From 283d646e57ecc4870e7c0580fe011060b8367269 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sun, 4 Mar 2018 12:33:31 -0800 Subject: [PATCH] add random_urfs individually --- .../gym/pybullet_data/random_urdfs/.DS_Store | Bin 0 -> 6148 bytes .../pybullet_data/random_urdfs/000/000.mtl | 10 + .../pybullet_data/random_urdfs/000/000.obj | 726 +++ .../pybullet_data/random_urdfs/000/000.urdf | 31 + .../pybullet_data/random_urdfs/001/001.mtl | 10 + .../pybullet_data/random_urdfs/001/001.obj | 486 ++ .../pybullet_data/random_urdfs/001/001.urdf | 31 + .../pybullet_data/random_urdfs/002/002.mtl | 10 + .../pybullet_data/random_urdfs/002/002.obj | 540 ++ .../pybullet_data/random_urdfs/002/002.urdf | 31 + .../pybullet_data/random_urdfs/003/003.mtl | 10 + .../pybullet_data/random_urdfs/003/003.obj | 414 ++ .../pybullet_data/random_urdfs/003/003.urdf | 31 + .../pybullet_data/random_urdfs/004/004.mtl | 10 + .../pybullet_data/random_urdfs/004/004.obj | 567 +++ .../pybullet_data/random_urdfs/004/004.urdf | 31 + .../pybullet_data/random_urdfs/005/005.mtl | 10 + .../pybullet_data/random_urdfs/005/005.obj | 420 ++ .../pybullet_data/random_urdfs/005/005.urdf | 31 + .../pybullet_data/random_urdfs/006/006.mtl | 10 + .../pybullet_data/random_urdfs/006/006.obj | 492 ++ .../pybullet_data/random_urdfs/006/006.urdf | 31 + .../pybullet_data/random_urdfs/007/007.mtl | 10 + .../pybullet_data/random_urdfs/007/007.obj | 435 ++ .../pybullet_data/random_urdfs/007/007.urdf | 31 + .../pybullet_data/random_urdfs/008/008.mtl | 10 + .../pybullet_data/random_urdfs/008/008.obj | 1221 +++++ .../pybullet_data/random_urdfs/008/008.urdf | 31 + .../pybullet_data/random_urdfs/009/009.mtl | 10 + .../pybullet_data/random_urdfs/009/009.obj | 138 + .../pybullet_data/random_urdfs/009/009.urdf | 31 + .../pybullet_data/random_urdfs/010/010.mtl | 10 + .../pybullet_data/random_urdfs/010/010.obj | 738 +++ .../pybullet_data/random_urdfs/010/010.urdf | 31 + .../pybullet_data/random_urdfs/011/011.mtl | 10 + .../pybullet_data/random_urdfs/011/011.obj | 525 ++ .../pybullet_data/random_urdfs/011/011.urdf | 31 + .../pybullet_data/random_urdfs/012/012.mtl | 10 + .../pybullet_data/random_urdfs/012/012.obj | 516 ++ .../pybullet_data/random_urdfs/012/012.urdf | 31 + .../pybullet_data/random_urdfs/013/013.mtl | 10 + .../pybullet_data/random_urdfs/013/013.obj | 516 ++ .../pybullet_data/random_urdfs/013/013.urdf | 31 + .../pybullet_data/random_urdfs/014/014.mtl | 10 + .../pybullet_data/random_urdfs/014/014.obj | 291 ++ .../pybullet_data/random_urdfs/014/014.urdf | 31 + .../pybullet_data/random_urdfs/015/015.mtl | 10 + .../pybullet_data/random_urdfs/015/015.obj | 453 ++ .../pybullet_data/random_urdfs/015/015.urdf | 31 + .../pybullet_data/random_urdfs/016/016.mtl | 10 + .../pybullet_data/random_urdfs/016/016.obj | 732 +++ .../pybullet_data/random_urdfs/016/016.urdf | 31 + .../pybullet_data/random_urdfs/017/017.mtl | 10 + .../pybullet_data/random_urdfs/017/017.obj | 681 +++ .../pybullet_data/random_urdfs/017/017.urdf | 31 + .../pybullet_data/random_urdfs/018/018.mtl | 10 + .../pybullet_data/random_urdfs/018/018.obj | 534 ++ .../pybullet_data/random_urdfs/018/018.urdf | 31 + .../pybullet_data/random_urdfs/019/019.mtl | 10 + .../pybullet_data/random_urdfs/019/019.obj | 588 +++ .../pybullet_data/random_urdfs/019/019.urdf | 31 + .../pybullet_data/random_urdfs/020/020.mtl | 10 + .../pybullet_data/random_urdfs/020/020.obj | 567 +++ .../pybullet_data/random_urdfs/020/020.urdf | 31 + .../pybullet_data/random_urdfs/021/021.mtl | 10 + .../pybullet_data/random_urdfs/021/021.obj | 459 ++ .../pybullet_data/random_urdfs/021/021.urdf | 31 + .../pybullet_data/random_urdfs/022/022.mtl | 10 + .../pybullet_data/random_urdfs/022/022.obj | 567 +++ .../pybullet_data/random_urdfs/022/022.urdf | 31 + .../pybullet_data/random_urdfs/023/023.mtl | 10 + .../pybullet_data/random_urdfs/023/023.obj | 189 + .../pybullet_data/random_urdfs/023/023.urdf | 31 + .../pybullet_data/random_urdfs/024/024.mtl | 10 + .../pybullet_data/random_urdfs/024/024.obj | 900 ++++ .../pybullet_data/random_urdfs/024/024.urdf | 31 + .../pybullet_data/random_urdfs/025/025.mtl | 10 + .../pybullet_data/random_urdfs/025/025.obj | 1089 ++++ .../pybullet_data/random_urdfs/025/025.urdf | 31 + .../pybullet_data/random_urdfs/026/026.mtl | 10 + .../pybullet_data/random_urdfs/026/026.obj | 453 ++ .../pybullet_data/random_urdfs/026/026.urdf | 31 + .../pybullet_data/random_urdfs/027/027.mtl | 10 + .../pybullet_data/random_urdfs/027/027.obj | 585 +++ .../pybullet_data/random_urdfs/027/027.urdf | 31 + .../pybullet_data/random_urdfs/028/028.mtl | 10 + .../pybullet_data/random_urdfs/028/028.obj | 657 +++ .../pybullet_data/random_urdfs/028/028.urdf | 31 + .../pybullet_data/random_urdfs/029/029.mtl | 10 + .../pybullet_data/random_urdfs/029/029.obj | 498 ++ .../pybullet_data/random_urdfs/029/029.urdf | 31 + .../pybullet_data/random_urdfs/030/030.mtl | 10 + .../pybullet_data/random_urdfs/030/030.obj | 453 ++ .../pybullet_data/random_urdfs/030/030.urdf | 31 + .../pybullet_data/random_urdfs/031/031.mtl | 10 + .../pybullet_data/random_urdfs/031/031.obj | 654 +++ .../pybullet_data/random_urdfs/031/031.urdf | 31 + .../pybullet_data/random_urdfs/032/032.mtl | 10 + .../pybullet_data/random_urdfs/032/032.obj | 561 ++ .../pybullet_data/random_urdfs/032/032.urdf | 31 + .../pybullet_data/random_urdfs/033/033.mtl | 10 + .../pybullet_data/random_urdfs/033/033.obj | 189 + .../pybullet_data/random_urdfs/033/033.urdf | 31 + .../pybullet_data/random_urdfs/034/034.mtl | 10 + .../pybullet_data/random_urdfs/034/034.obj | 987 ++++ .../pybullet_data/random_urdfs/034/034.urdf | 31 + .../pybullet_data/random_urdfs/035/035.mtl | 10 + .../pybullet_data/random_urdfs/035/035.obj | 540 ++ .../pybullet_data/random_urdfs/035/035.urdf | 31 + .../pybullet_data/random_urdfs/036/036.mtl | 10 + .../pybullet_data/random_urdfs/036/036.obj | 672 +++ .../pybullet_data/random_urdfs/036/036.urdf | 31 + .../pybullet_data/random_urdfs/037/037.mtl | 10 + .../pybullet_data/random_urdfs/037/037.obj | 1821 +++++++ .../pybullet_data/random_urdfs/037/037.urdf | 31 + .../pybullet_data/random_urdfs/038/038.mtl | 10 + .../pybullet_data/random_urdfs/038/038.obj | 486 ++ .../pybullet_data/random_urdfs/038/038.urdf | 31 + .../pybullet_data/random_urdfs/039/039.mtl | 10 + .../pybullet_data/random_urdfs/039/039.obj | 828 +++ .../pybullet_data/random_urdfs/039/039.urdf | 31 + .../pybullet_data/random_urdfs/040/040.mtl | 10 + .../pybullet_data/random_urdfs/040/040.obj | 576 +++ .../pybullet_data/random_urdfs/040/040.urdf | 31 + .../pybullet_data/random_urdfs/041/041.mtl | 10 + .../pybullet_data/random_urdfs/041/041.obj | 1155 +++++ .../pybullet_data/random_urdfs/041/041.urdf | 31 + .../pybullet_data/random_urdfs/042/042.mtl | 10 + .../pybullet_data/random_urdfs/042/042.obj | 1014 ++++ .../pybullet_data/random_urdfs/042/042.urdf | 31 + .../pybullet_data/random_urdfs/043/043.mtl | 10 + .../pybullet_data/random_urdfs/043/043.obj | 648 +++ .../pybullet_data/random_urdfs/043/043.urdf | 31 + .../pybullet_data/random_urdfs/044/044.mtl | 10 + .../pybullet_data/random_urdfs/044/044.obj | 636 +++ .../pybullet_data/random_urdfs/044/044.urdf | 31 + .../pybullet_data/random_urdfs/045/045.mtl | 10 + .../pybullet_data/random_urdfs/045/045.obj | 864 ++++ .../pybullet_data/random_urdfs/045/045.urdf | 31 + .../pybullet_data/random_urdfs/046/046.mtl | 10 + .../pybullet_data/random_urdfs/046/046.obj | 534 ++ .../pybullet_data/random_urdfs/046/046.urdf | 31 + .../pybullet_data/random_urdfs/047/047.mtl | 10 + .../pybullet_data/random_urdfs/047/047.obj | 540 ++ .../pybullet_data/random_urdfs/047/047.urdf | 31 + .../pybullet_data/random_urdfs/048/048.mtl | 10 + .../pybullet_data/random_urdfs/048/048.obj | 840 +++ .../pybullet_data/random_urdfs/048/048.urdf | 31 + .../pybullet_data/random_urdfs/049/049.mtl | 10 + .../pybullet_data/random_urdfs/049/049.obj | 489 ++ .../pybullet_data/random_urdfs/049/049.urdf | 31 + .../pybullet_data/random_urdfs/050/050.mtl | 10 + .../pybullet_data/random_urdfs/050/050.obj | 729 +++ .../pybullet_data/random_urdfs/050/050.urdf | 31 + .../pybullet_data/random_urdfs/051/051.mtl | 10 + .../pybullet_data/random_urdfs/051/051.obj | 393 ++ .../pybullet_data/random_urdfs/051/051.urdf | 31 + .../pybullet_data/random_urdfs/052/052.mtl | 10 + .../pybullet_data/random_urdfs/052/052.obj | 786 +++ .../pybullet_data/random_urdfs/052/052.urdf | 31 + .../pybullet_data/random_urdfs/053/053.mtl | 10 + .../pybullet_data/random_urdfs/053/053.obj | 729 +++ .../pybullet_data/random_urdfs/053/053.urdf | 31 + .../pybullet_data/random_urdfs/054/054.mtl | 10 + .../pybullet_data/random_urdfs/054/054.obj | 480 ++ .../pybullet_data/random_urdfs/054/054.urdf | 31 + .../pybullet_data/random_urdfs/055/055.mtl | 10 + .../pybullet_data/random_urdfs/055/055.obj | 555 ++ .../pybullet_data/random_urdfs/055/055.urdf | 31 + .../pybullet_data/random_urdfs/056/056.mtl | 10 + .../pybullet_data/random_urdfs/056/056.obj | 459 ++ .../pybullet_data/random_urdfs/056/056.urdf | 31 + .../pybullet_data/random_urdfs/057/057.mtl | 10 + .../pybullet_data/random_urdfs/057/057.obj | 420 ++ .../pybullet_data/random_urdfs/057/057.urdf | 31 + .../pybullet_data/random_urdfs/058/058.mtl | 10 + .../pybullet_data/random_urdfs/058/058.obj | 471 ++ .../pybullet_data/random_urdfs/058/058.urdf | 31 + .../pybullet_data/random_urdfs/059/059.mtl | 10 + .../pybullet_data/random_urdfs/059/059.obj | 669 +++ .../pybullet_data/random_urdfs/059/059.urdf | 31 + .../pybullet_data/random_urdfs/060/060.mtl | 10 + .../pybullet_data/random_urdfs/060/060.obj | 528 ++ .../pybullet_data/random_urdfs/060/060.urdf | 31 + .../pybullet_data/random_urdfs/061/061.mtl | 10 + .../pybullet_data/random_urdfs/061/061.obj | 669 +++ .../pybullet_data/random_urdfs/061/061.urdf | 31 + .../pybullet_data/random_urdfs/062/062.mtl | 10 + .../pybullet_data/random_urdfs/062/062.obj | 567 +++ .../pybullet_data/random_urdfs/062/062.urdf | 31 + .../pybullet_data/random_urdfs/063/063.mtl | 10 + .../pybullet_data/random_urdfs/063/063.obj | 399 ++ .../pybullet_data/random_urdfs/063/063.urdf | 31 + .../pybullet_data/random_urdfs/064/064.mtl | 10 + .../pybullet_data/random_urdfs/064/064.obj | 654 +++ .../pybullet_data/random_urdfs/064/064.urdf | 31 + .../pybullet_data/random_urdfs/065/065.mtl | 10 + .../pybullet_data/random_urdfs/065/065.obj | 1068 ++++ .../pybullet_data/random_urdfs/065/065.urdf | 31 + .../pybullet_data/random_urdfs/066/066.mtl | 10 + .../pybullet_data/random_urdfs/066/066.obj | 369 ++ .../pybullet_data/random_urdfs/066/066.urdf | 31 + .../pybullet_data/random_urdfs/067/067.mtl | 10 + .../pybullet_data/random_urdfs/067/067.obj | 438 ++ .../pybullet_data/random_urdfs/067/067.urdf | 31 + .../pybullet_data/random_urdfs/068/068.mtl | 10 + .../pybullet_data/random_urdfs/068/068.obj | 456 ++ .../pybullet_data/random_urdfs/068/068.urdf | 31 + .../pybullet_data/random_urdfs/069/069.mtl | 10 + .../pybullet_data/random_urdfs/069/069.obj | 486 ++ .../pybullet_data/random_urdfs/069/069.urdf | 31 + .../pybullet_data/random_urdfs/070/070.mtl | 10 + .../pybullet_data/random_urdfs/070/070.obj | 1197 +++++ .../pybullet_data/random_urdfs/070/070.urdf | 31 + .../pybullet_data/random_urdfs/071/071.mtl | 10 + .../pybullet_data/random_urdfs/071/071.obj | 519 ++ .../pybullet_data/random_urdfs/071/071.urdf | 31 + .../pybullet_data/random_urdfs/072/072.mtl | 10 + .../pybullet_data/random_urdfs/072/072.obj | 3027 +++++++++++ .../pybullet_data/random_urdfs/072/072.urdf | 31 + .../pybullet_data/random_urdfs/073/073.mtl | 10 + .../pybullet_data/random_urdfs/073/073.obj | 507 ++ .../pybullet_data/random_urdfs/073/073.urdf | 31 + .../pybullet_data/random_urdfs/074/074.mtl | 10 + .../pybullet_data/random_urdfs/074/074.obj | 189 + .../pybullet_data/random_urdfs/074/074.urdf | 31 + .../pybullet_data/random_urdfs/075/075.mtl | 10 + .../pybullet_data/random_urdfs/075/075.obj | 498 ++ .../pybullet_data/random_urdfs/075/075.urdf | 31 + .../pybullet_data/random_urdfs/076/076.mtl | 10 + .../pybullet_data/random_urdfs/076/076.obj | 837 +++ .../pybullet_data/random_urdfs/076/076.urdf | 31 + .../pybullet_data/random_urdfs/077/077.mtl | 10 + .../pybullet_data/random_urdfs/077/077.obj | 510 ++ .../pybullet_data/random_urdfs/077/077.urdf | 31 + .../pybullet_data/random_urdfs/078/078.mtl | 10 + .../pybullet_data/random_urdfs/078/078.obj | 633 +++ .../pybullet_data/random_urdfs/078/078.urdf | 31 + .../pybullet_data/random_urdfs/079/079.mtl | 10 + .../pybullet_data/random_urdfs/079/079.obj | 705 +++ .../pybullet_data/random_urdfs/079/079.urdf | 31 + .../pybullet_data/random_urdfs/080/080.mtl | 10 + .../pybullet_data/random_urdfs/080/080.obj | 651 +++ .../pybullet_data/random_urdfs/080/080.urdf | 31 + .../pybullet_data/random_urdfs/081/081.mtl | 10 + .../pybullet_data/random_urdfs/081/081.obj | 405 ++ .../pybullet_data/random_urdfs/081/081.urdf | 31 + .../pybullet_data/random_urdfs/082/082.mtl | 10 + .../pybullet_data/random_urdfs/082/082.obj | 567 +++ .../pybullet_data/random_urdfs/082/082.urdf | 31 + .../pybullet_data/random_urdfs/083/083.mtl | 10 + .../pybullet_data/random_urdfs/083/083.obj | 270 + .../pybullet_data/random_urdfs/083/083.urdf | 31 + .../pybullet_data/random_urdfs/084/084.mtl | 10 + .../pybullet_data/random_urdfs/084/084.obj | 651 +++ .../pybullet_data/random_urdfs/084/084.urdf | 31 + .../pybullet_data/random_urdfs/085/085.mtl | 10 + .../pybullet_data/random_urdfs/085/085.obj | 420 ++ .../pybullet_data/random_urdfs/085/085.urdf | 31 + .../pybullet_data/random_urdfs/086/086.mtl | 10 + .../pybullet_data/random_urdfs/086/086.obj | 3537 +++++++++++++ .../pybullet_data/random_urdfs/086/086.urdf | 31 + .../pybullet_data/random_urdfs/087/087.mtl | 10 + .../pybullet_data/random_urdfs/087/087.obj | 618 +++ .../pybullet_data/random_urdfs/087/087.urdf | 31 + .../pybullet_data/random_urdfs/088/088.mtl | 10 + .../pybullet_data/random_urdfs/088/088.obj | 378 ++ .../pybullet_data/random_urdfs/088/088.urdf | 31 + .../pybullet_data/random_urdfs/089/089.mtl | 10 + .../pybullet_data/random_urdfs/089/089.obj | 582 +++ .../pybullet_data/random_urdfs/089/089.urdf | 31 + .../pybullet_data/random_urdfs/090/090.mtl | 10 + .../pybullet_data/random_urdfs/090/090.obj | 444 ++ .../pybullet_data/random_urdfs/090/090.urdf | 31 + .../pybullet_data/random_urdfs/091/091.mtl | 10 + .../pybullet_data/random_urdfs/091/091.obj | 546 ++ .../pybullet_data/random_urdfs/091/091.urdf | 31 + .../pybullet_data/random_urdfs/092/092.mtl | 10 + .../pybullet_data/random_urdfs/092/092.obj | 552 ++ .../pybullet_data/random_urdfs/092/092.urdf | 31 + .../pybullet_data/random_urdfs/093/093.mtl | 10 + .../pybullet_data/random_urdfs/093/093.obj | 672 +++ .../pybullet_data/random_urdfs/093/093.urdf | 31 + .../pybullet_data/random_urdfs/094/094.mtl | 10 + .../pybullet_data/random_urdfs/094/094.obj | 606 +++ .../pybullet_data/random_urdfs/094/094.urdf | 31 + .../pybullet_data/random_urdfs/095/095.mtl | 10 + .../pybullet_data/random_urdfs/095/095.obj | 603 +++ .../pybullet_data/random_urdfs/095/095.urdf | 31 + .../pybullet_data/random_urdfs/096/096.mtl | 10 + .../pybullet_data/random_urdfs/096/096.obj | 519 ++ .../pybullet_data/random_urdfs/096/096.urdf | 31 + .../pybullet_data/random_urdfs/097/097.mtl | 10 + .../pybullet_data/random_urdfs/097/097.obj | 417 ++ .../pybullet_data/random_urdfs/097/097.urdf | 31 + .../pybullet_data/random_urdfs/098/098.mtl | 10 + .../pybullet_data/random_urdfs/098/098.obj | 342 ++ .../pybullet_data/random_urdfs/098/098.urdf | 31 + .../pybullet_data/random_urdfs/099/099.mtl | 10 + .../pybullet_data/random_urdfs/099/099.obj | 438 ++ .../pybullet_data/random_urdfs/099/099.urdf | 31 + .../pybullet_data/random_urdfs/100/100.mtl | 10 + .../pybullet_data/random_urdfs/100/100.obj | 489 ++ .../pybullet_data/random_urdfs/100/100.urdf | 31 + .../pybullet_data/random_urdfs/101/101.mtl | 10 + .../pybullet_data/random_urdfs/101/101.obj | 720 +++ .../pybullet_data/random_urdfs/101/101.urdf | 31 + .../pybullet_data/random_urdfs/102/102.mtl | 10 + .../pybullet_data/random_urdfs/102/102.obj | 387 ++ .../pybullet_data/random_urdfs/102/102.urdf | 31 + .../pybullet_data/random_urdfs/103/103.mtl | 10 + .../pybullet_data/random_urdfs/103/103.obj | 384 ++ .../pybullet_data/random_urdfs/103/103.urdf | 31 + .../pybullet_data/random_urdfs/104/104.mtl | 10 + .../pybullet_data/random_urdfs/104/104.obj | 189 + .../pybullet_data/random_urdfs/104/104.urdf | 31 + .../pybullet_data/random_urdfs/105/105.mtl | 10 + .../pybullet_data/random_urdfs/105/105.obj | 516 ++ .../pybullet_data/random_urdfs/105/105.urdf | 31 + .../pybullet_data/random_urdfs/106/106.mtl | 10 + .../pybullet_data/random_urdfs/106/106.obj | 453 ++ .../pybullet_data/random_urdfs/106/106.urdf | 31 + .../pybullet_data/random_urdfs/107/107.mtl | 10 + .../pybullet_data/random_urdfs/107/107.obj | 1083 ++++ .../pybullet_data/random_urdfs/107/107.urdf | 31 + .../pybullet_data/random_urdfs/108/108.mtl | 10 + .../pybullet_data/random_urdfs/108/108.obj | 843 +++ .../pybullet_data/random_urdfs/108/108.urdf | 31 + .../pybullet_data/random_urdfs/109/109.mtl | 10 + .../pybullet_data/random_urdfs/109/109.obj | 3237 ++++++++++++ .../pybullet_data/random_urdfs/109/109.urdf | 31 + .../pybullet_data/random_urdfs/110/110.mtl | 10 + .../pybullet_data/random_urdfs/110/110.obj | 2250 +++++++++ .../pybullet_data/random_urdfs/110/110.urdf | 31 + .../pybullet_data/random_urdfs/111/111.mtl | 10 + .../pybullet_data/random_urdfs/111/111.obj | 465 ++ .../pybullet_data/random_urdfs/111/111.urdf | 31 + .../pybullet_data/random_urdfs/112/112.mtl | 10 + .../pybullet_data/random_urdfs/112/112.obj | 396 ++ .../pybullet_data/random_urdfs/112/112.urdf | 31 + .../pybullet_data/random_urdfs/113/113.mtl | 10 + .../pybullet_data/random_urdfs/113/113.obj | 1161 +++++ .../pybullet_data/random_urdfs/113/113.urdf | 31 + .../pybullet_data/random_urdfs/114/114.mtl | 10 + .../pybullet_data/random_urdfs/114/114.obj | 456 ++ .../pybullet_data/random_urdfs/114/114.urdf | 31 + .../pybullet_data/random_urdfs/115/115.mtl | 10 + .../pybullet_data/random_urdfs/115/115.obj | 387 ++ .../pybullet_data/random_urdfs/115/115.urdf | 31 + .../pybullet_data/random_urdfs/116/116.mtl | 10 + .../pybullet_data/random_urdfs/116/116.obj | 720 +++ .../pybullet_data/random_urdfs/116/116.urdf | 31 + .../pybullet_data/random_urdfs/117/117.mtl | 10 + .../pybullet_data/random_urdfs/117/117.obj | 249 + .../pybullet_data/random_urdfs/117/117.urdf | 31 + .../pybullet_data/random_urdfs/118/118.mtl | 10 + .../pybullet_data/random_urdfs/118/118.obj | 633 +++ .../pybullet_data/random_urdfs/118/118.urdf | 31 + .../pybullet_data/random_urdfs/119/119.mtl | 10 + .../pybullet_data/random_urdfs/119/119.obj | 189 + .../pybullet_data/random_urdfs/119/119.urdf | 31 + .../pybullet_data/random_urdfs/120/120.mtl | 10 + .../pybullet_data/random_urdfs/120/120.obj | 633 +++ .../pybullet_data/random_urdfs/120/120.urdf | 31 + .../pybullet_data/random_urdfs/121/121.mtl | 10 + .../pybullet_data/random_urdfs/121/121.obj | 666 +++ .../pybullet_data/random_urdfs/121/121.urdf | 31 + .../pybullet_data/random_urdfs/122/122.mtl | 10 + .../pybullet_data/random_urdfs/122/122.obj | 486 ++ .../pybullet_data/random_urdfs/122/122.urdf | 31 + .../pybullet_data/random_urdfs/123/123.mtl | 10 + .../pybullet_data/random_urdfs/123/123.obj | 4197 +++++++++++++++ .../pybullet_data/random_urdfs/123/123.urdf | 31 + .../pybullet_data/random_urdfs/124/124.mtl | 10 + .../pybullet_data/random_urdfs/124/124.obj | 819 +++ .../pybullet_data/random_urdfs/124/124.urdf | 31 + .../pybullet_data/random_urdfs/125/125.mtl | 10 + .../pybullet_data/random_urdfs/125/125.obj | 576 +++ .../pybullet_data/random_urdfs/125/125.urdf | 31 + .../pybullet_data/random_urdfs/126/126.mtl | 10 + .../pybullet_data/random_urdfs/126/126.obj | 891 ++++ .../pybullet_data/random_urdfs/126/126.urdf | 31 + .../pybullet_data/random_urdfs/127/127.mtl | 10 + .../pybullet_data/random_urdfs/127/127.obj | 1863 +++++++ .../pybullet_data/random_urdfs/127/127.urdf | 31 + .../pybullet_data/random_urdfs/128/128.mtl | 10 + .../pybullet_data/random_urdfs/128/128.obj | 489 ++ .../pybullet_data/random_urdfs/128/128.urdf | 31 + .../pybullet_data/random_urdfs/129/129.mtl | 10 + .../pybullet_data/random_urdfs/129/129.obj | 621 +++ .../pybullet_data/random_urdfs/129/129.urdf | 31 + .../pybullet_data/random_urdfs/130/130.mtl | 10 + .../pybullet_data/random_urdfs/130/130.obj | 267 + .../pybullet_data/random_urdfs/130/130.urdf | 31 + .../pybullet_data/random_urdfs/131/131.mtl | 10 + .../pybullet_data/random_urdfs/131/131.obj | 498 ++ .../pybullet_data/random_urdfs/131/131.urdf | 31 + .../pybullet_data/random_urdfs/132/132.mtl | 10 + .../pybullet_data/random_urdfs/132/132.obj | 315 ++ .../pybullet_data/random_urdfs/132/132.urdf | 31 + .../pybullet_data/random_urdfs/133/133.mtl | 10 + .../pybullet_data/random_urdfs/133/133.obj | 243 + .../pybullet_data/random_urdfs/133/133.urdf | 31 + .../pybullet_data/random_urdfs/134/134.mtl | 10 + .../pybullet_data/random_urdfs/134/134.obj | 2883 +++++++++++ .../pybullet_data/random_urdfs/134/134.urdf | 31 + .../pybullet_data/random_urdfs/135/135.mtl | 10 + .../pybullet_data/random_urdfs/135/135.obj | 912 ++++ .../pybullet_data/random_urdfs/135/135.urdf | 31 + .../pybullet_data/random_urdfs/136/136.mtl | 10 + .../pybullet_data/random_urdfs/136/136.obj | 684 +++ .../pybullet_data/random_urdfs/136/136.urdf | 31 + .../pybullet_data/random_urdfs/137/137.mtl | 10 + .../pybullet_data/random_urdfs/137/137.obj | 336 ++ .../pybullet_data/random_urdfs/137/137.urdf | 31 + .../pybullet_data/random_urdfs/138/138.mtl | 10 + .../pybullet_data/random_urdfs/138/138.obj | 378 ++ .../pybullet_data/random_urdfs/138/138.urdf | 31 + .../pybullet_data/random_urdfs/139/139.mtl | 10 + .../pybullet_data/random_urdfs/139/139.obj | 705 +++ .../pybullet_data/random_urdfs/139/139.urdf | 31 + .../pybullet_data/random_urdfs/140/140.mtl | 10 + .../pybullet_data/random_urdfs/140/140.obj | 402 ++ .../pybullet_data/random_urdfs/140/140.urdf | 31 + .../pybullet_data/random_urdfs/141/141.mtl | 10 + .../pybullet_data/random_urdfs/141/141.obj | 918 ++++ .../pybullet_data/random_urdfs/141/141.urdf | 31 + .../pybullet_data/random_urdfs/142/142.mtl | 10 + .../pybullet_data/random_urdfs/142/142.obj | 591 +++ .../pybullet_data/random_urdfs/142/142.urdf | 31 + .../pybullet_data/random_urdfs/143/143.mtl | 10 + .../pybullet_data/random_urdfs/143/143.obj | 582 +++ .../pybullet_data/random_urdfs/143/143.urdf | 31 + .../pybullet_data/random_urdfs/144/144.mtl | 10 + .../pybullet_data/random_urdfs/144/144.obj | 567 +++ .../pybullet_data/random_urdfs/144/144.urdf | 31 + .../pybullet_data/random_urdfs/145/145.mtl | 10 + .../pybullet_data/random_urdfs/145/145.obj | 804 +++ .../pybullet_data/random_urdfs/145/145.urdf | 31 + .../pybullet_data/random_urdfs/146/146.mtl | 10 + .../pybullet_data/random_urdfs/146/146.obj | 801 +++ .../pybullet_data/random_urdfs/146/146.urdf | 31 + .../pybullet_data/random_urdfs/147/147.mtl | 10 + .../pybullet_data/random_urdfs/147/147.obj | 780 +++ .../pybullet_data/random_urdfs/147/147.urdf | 31 + .../pybullet_data/random_urdfs/148/148.mtl | 10 + .../pybullet_data/random_urdfs/148/148.obj | 324 ++ .../pybullet_data/random_urdfs/148/148.urdf | 31 + .../pybullet_data/random_urdfs/149/149.mtl | 10 + .../pybullet_data/random_urdfs/149/149.obj | 516 ++ .../pybullet_data/random_urdfs/149/149.urdf | 31 + .../pybullet_data/random_urdfs/150/150.mtl | 10 + .../pybullet_data/random_urdfs/150/150.obj | 456 ++ .../pybullet_data/random_urdfs/150/150.urdf | 31 + .../pybullet_data/random_urdfs/151/151.mtl | 10 + .../pybullet_data/random_urdfs/151/151.obj | 402 ++ .../pybullet_data/random_urdfs/151/151.urdf | 31 + .../pybullet_data/random_urdfs/152/152.mtl | 10 + .../pybullet_data/random_urdfs/152/152.obj | 474 ++ .../pybullet_data/random_urdfs/152/152.urdf | 31 + .../pybullet_data/random_urdfs/153/153.mtl | 10 + .../pybullet_data/random_urdfs/153/153.obj | 333 ++ .../pybullet_data/random_urdfs/153/153.urdf | 31 + .../pybullet_data/random_urdfs/154/154.mtl | 10 + .../pybullet_data/random_urdfs/154/154.obj | 492 ++ .../pybullet_data/random_urdfs/154/154.urdf | 31 + .../pybullet_data/random_urdfs/155/155.mtl | 10 + .../pybullet_data/random_urdfs/155/155.obj | 459 ++ .../pybullet_data/random_urdfs/155/155.urdf | 31 + .../pybullet_data/random_urdfs/156/156.mtl | 10 + .../pybullet_data/random_urdfs/156/156.obj | 924 ++++ .../pybullet_data/random_urdfs/156/156.urdf | 31 + .../pybullet_data/random_urdfs/157/157.mtl | 10 + .../pybullet_data/random_urdfs/157/157.obj | 378 ++ .../pybullet_data/random_urdfs/157/157.urdf | 31 + .../pybullet_data/random_urdfs/158/158.mtl | 10 + .../pybullet_data/random_urdfs/158/158.obj | 915 ++++ .../pybullet_data/random_urdfs/158/158.urdf | 31 + .../pybullet_data/random_urdfs/159/159.mtl | 10 + .../pybullet_data/random_urdfs/159/159.obj | 507 ++ .../pybullet_data/random_urdfs/159/159.urdf | 31 + .../pybullet_data/random_urdfs/160/160.mtl | 10 + .../pybullet_data/random_urdfs/160/160.obj | 420 ++ .../pybullet_data/random_urdfs/160/160.urdf | 31 + .../pybullet_data/random_urdfs/161/161.mtl | 10 + .../pybullet_data/random_urdfs/161/161.obj | 609 +++ .../pybullet_data/random_urdfs/161/161.urdf | 31 + .../pybullet_data/random_urdfs/162/162.mtl | 10 + .../pybullet_data/random_urdfs/162/162.obj | 687 +++ .../pybullet_data/random_urdfs/162/162.urdf | 31 + .../pybullet_data/random_urdfs/163/163.mtl | 10 + .../pybullet_data/random_urdfs/163/163.obj | 513 ++ .../pybullet_data/random_urdfs/163/163.urdf | 31 + .../pybullet_data/random_urdfs/164/164.mtl | 10 + .../pybullet_data/random_urdfs/164/164.obj | 606 +++ .../pybullet_data/random_urdfs/164/164.urdf | 31 + .../pybullet_data/random_urdfs/165/165.mtl | 10 + .../pybullet_data/random_urdfs/165/165.obj | 993 ++++ .../pybullet_data/random_urdfs/165/165.urdf | 31 + .../pybullet_data/random_urdfs/166/166.mtl | 10 + .../pybullet_data/random_urdfs/166/166.obj | 270 + .../pybullet_data/random_urdfs/166/166.urdf | 31 + .../pybullet_data/random_urdfs/167/167.mtl | 10 + .../pybullet_data/random_urdfs/167/167.obj | 1716 +++++++ .../pybullet_data/random_urdfs/167/167.urdf | 31 + .../pybullet_data/random_urdfs/168/168.mtl | 10 + .../pybullet_data/random_urdfs/168/168.obj | 73 + .../pybullet_data/random_urdfs/168/168.urdf | 31 + .../pybullet_data/random_urdfs/169/169.mtl | 10 + .../pybullet_data/random_urdfs/169/169.obj | 654 +++ .../pybullet_data/random_urdfs/169/169.urdf | 31 + .../pybullet_data/random_urdfs/170/170.mtl | 10 + .../pybullet_data/random_urdfs/170/170.obj | 363 ++ .../pybullet_data/random_urdfs/170/170.urdf | 31 + .../pybullet_data/random_urdfs/171/171.mtl | 10 + .../pybullet_data/random_urdfs/171/171.obj | 411 ++ .../pybullet_data/random_urdfs/171/171.urdf | 31 + .../pybullet_data/random_urdfs/172/172.mtl | 10 + .../pybullet_data/random_urdfs/172/172.obj | 714 +++ .../pybullet_data/random_urdfs/172/172.urdf | 31 + .../pybullet_data/random_urdfs/173/173.mtl | 10 + .../pybullet_data/random_urdfs/173/173.obj | 543 ++ .../pybullet_data/random_urdfs/173/173.urdf | 31 + .../pybullet_data/random_urdfs/174/174.mtl | 10 + .../pybullet_data/random_urdfs/174/174.obj | 858 ++++ .../pybullet_data/random_urdfs/174/174.urdf | 31 + .../pybullet_data/random_urdfs/175/175.mtl | 10 + .../pybullet_data/random_urdfs/175/175.obj | 816 +++ .../pybullet_data/random_urdfs/175/175.urdf | 31 + .../pybullet_data/random_urdfs/176/176.mtl | 10 + .../pybullet_data/random_urdfs/176/176.obj | 333 ++ .../pybullet_data/random_urdfs/176/176.urdf | 31 + .../pybullet_data/random_urdfs/177/177.mtl | 10 + .../pybullet_data/random_urdfs/177/177.obj | 867 ++++ .../pybullet_data/random_urdfs/177/177.urdf | 31 + .../pybullet_data/random_urdfs/178/178.mtl | 10 + .../pybullet_data/random_urdfs/178/178.obj | 3192 ++++++++++++ .../pybullet_data/random_urdfs/178/178.urdf | 31 + .../pybullet_data/random_urdfs/179/179.mtl | 10 + .../pybullet_data/random_urdfs/179/179.obj | 360 ++ .../pybullet_data/random_urdfs/179/179.urdf | 31 + .../pybullet_data/random_urdfs/180/180.mtl | 10 + .../pybullet_data/random_urdfs/180/180.obj | 597 +++ .../pybullet_data/random_urdfs/180/180.urdf | 31 + .../pybullet_data/random_urdfs/181/181.mtl | 10 + .../pybullet_data/random_urdfs/181/181.obj | 903 ++++ .../pybullet_data/random_urdfs/181/181.urdf | 31 + .../pybullet_data/random_urdfs/182/182.mtl | 10 + .../pybullet_data/random_urdfs/182/182.obj | 342 ++ .../pybullet_data/random_urdfs/182/182.urdf | 31 + .../pybullet_data/random_urdfs/183/183.mtl | 10 + .../pybullet_data/random_urdfs/183/183.obj | 483 ++ .../pybullet_data/random_urdfs/183/183.urdf | 31 + .../pybullet_data/random_urdfs/184/184.mtl | 10 + .../pybullet_data/random_urdfs/184/184.obj | 219 + .../pybullet_data/random_urdfs/184/184.urdf | 31 + .../pybullet_data/random_urdfs/185/185.mtl | 10 + .../pybullet_data/random_urdfs/185/185.obj | 189 + .../pybullet_data/random_urdfs/185/185.urdf | 31 + .../pybullet_data/random_urdfs/186/186.mtl | 10 + .../pybullet_data/random_urdfs/186/186.obj | 594 +++ .../pybullet_data/random_urdfs/186/186.urdf | 31 + .../pybullet_data/random_urdfs/187/187.mtl | 10 + .../pybullet_data/random_urdfs/187/187.obj | 423 ++ .../pybullet_data/random_urdfs/187/187.urdf | 31 + .../pybullet_data/random_urdfs/188/188.mtl | 10 + .../pybullet_data/random_urdfs/188/188.obj | 384 ++ .../pybullet_data/random_urdfs/188/188.urdf | 31 + .../pybullet_data/random_urdfs/189/189.mtl | 10 + .../pybullet_data/random_urdfs/189/189.obj | 900 ++++ .../pybullet_data/random_urdfs/189/189.urdf | 31 + .../pybullet_data/random_urdfs/190/190.mtl | 10 + .../pybullet_data/random_urdfs/190/190.obj | 864 ++++ .../pybullet_data/random_urdfs/190/190.urdf | 31 + .../pybullet_data/random_urdfs/191/191.mtl | 10 + .../pybullet_data/random_urdfs/191/191.obj | 510 ++ .../pybullet_data/random_urdfs/191/191.urdf | 31 + .../pybullet_data/random_urdfs/192/192.mtl | 10 + .../pybullet_data/random_urdfs/192/192.obj | 528 ++ .../pybullet_data/random_urdfs/192/192.urdf | 31 + .../pybullet_data/random_urdfs/193/193.mtl | 10 + .../pybullet_data/random_urdfs/193/193.obj | 519 ++ .../pybullet_data/random_urdfs/193/193.urdf | 31 + .../pybullet_data/random_urdfs/194/194.mtl | 10 + .../pybullet_data/random_urdfs/194/194.obj | 417 ++ .../pybullet_data/random_urdfs/194/194.urdf | 31 + .../pybullet_data/random_urdfs/195/195.mtl | 10 + .../pybullet_data/random_urdfs/195/195.obj | 1026 ++++ .../pybullet_data/random_urdfs/195/195.urdf | 31 + .../pybullet_data/random_urdfs/196/196.mtl | 10 + .../pybullet_data/random_urdfs/196/196.obj | 636 +++ .../pybullet_data/random_urdfs/196/196.urdf | 31 + .../pybullet_data/random_urdfs/197/197.mtl | 10 + .../pybullet_data/random_urdfs/197/197.obj | 522 ++ .../pybullet_data/random_urdfs/197/197.urdf | 31 + .../pybullet_data/random_urdfs/198/198.mtl | 10 + .../pybullet_data/random_urdfs/198/198.obj | 594 +++ .../pybullet_data/random_urdfs/198/198.urdf | 31 + .../pybullet_data/random_urdfs/199/199.mtl | 10 + .../pybullet_data/random_urdfs/199/199.obj | 387 ++ .../pybullet_data/random_urdfs/199/199.urdf | 31 + .../pybullet_data/random_urdfs/200/200.mtl | 10 + .../pybullet_data/random_urdfs/200/200.obj | 609 +++ .../pybullet_data/random_urdfs/200/200.urdf | 31 + .../pybullet_data/random_urdfs/201/201.mtl | 10 + .../pybullet_data/random_urdfs/201/201.obj | 1095 ++++ .../pybullet_data/random_urdfs/201/201.urdf | 31 + .../pybullet_data/random_urdfs/202/202.mtl | 10 + .../pybullet_data/random_urdfs/202/202.obj | 561 ++ .../pybullet_data/random_urdfs/202/202.urdf | 31 + .../pybullet_data/random_urdfs/203/203.mtl | 10 + .../pybullet_data/random_urdfs/203/203.obj | 702 +++ .../pybullet_data/random_urdfs/203/203.urdf | 31 + .../pybullet_data/random_urdfs/204/204.mtl | 10 + .../pybullet_data/random_urdfs/204/204.obj | 576 +++ .../pybullet_data/random_urdfs/204/204.urdf | 31 + .../pybullet_data/random_urdfs/205/205.mtl | 10 + .../pybullet_data/random_urdfs/205/205.obj | 858 ++++ .../pybullet_data/random_urdfs/205/205.urdf | 31 + .../pybullet_data/random_urdfs/206/206.mtl | 10 + .../pybullet_data/random_urdfs/206/206.obj | 576 +++ .../pybullet_data/random_urdfs/206/206.urdf | 31 + .../pybullet_data/random_urdfs/207/207.mtl | 10 + .../pybullet_data/random_urdfs/207/207.obj | 1062 ++++ .../pybullet_data/random_urdfs/207/207.urdf | 31 + .../pybullet_data/random_urdfs/208/208.mtl | 10 + .../pybullet_data/random_urdfs/208/208.obj | 351 ++ .../pybullet_data/random_urdfs/208/208.urdf | 31 + .../pybullet_data/random_urdfs/209/209.mtl | 10 + .../pybullet_data/random_urdfs/209/209.obj | 483 ++ .../pybullet_data/random_urdfs/209/209.urdf | 31 + .../pybullet_data/random_urdfs/210/210.mtl | 10 + .../pybullet_data/random_urdfs/210/210.obj | 489 ++ .../pybullet_data/random_urdfs/210/210.urdf | 31 + .../pybullet_data/random_urdfs/211/211.mtl | 10 + .../pybullet_data/random_urdfs/211/211.obj | 492 ++ .../pybullet_data/random_urdfs/211/211.urdf | 31 + .../pybullet_data/random_urdfs/212/212.mtl | 10 + .../pybullet_data/random_urdfs/212/212.obj | 387 ++ .../pybullet_data/random_urdfs/212/212.urdf | 31 + .../pybullet_data/random_urdfs/213/213.mtl | 10 + .../pybullet_data/random_urdfs/213/213.obj | 1020 ++++ .../pybullet_data/random_urdfs/213/213.urdf | 31 + .../pybullet_data/random_urdfs/214/214.mtl | 10 + .../pybullet_data/random_urdfs/214/214.obj | 477 ++ .../pybullet_data/random_urdfs/214/214.urdf | 31 + .../pybullet_data/random_urdfs/215/215.mtl | 10 + .../pybullet_data/random_urdfs/215/215.obj | 564 +++ .../pybullet_data/random_urdfs/215/215.urdf | 31 + .../pybullet_data/random_urdfs/216/216.mtl | 10 + .../pybullet_data/random_urdfs/216/216.obj | 423 ++ .../pybullet_data/random_urdfs/216/216.urdf | 31 + .../pybullet_data/random_urdfs/217/217.mtl | 10 + .../pybullet_data/random_urdfs/217/217.obj | 393 ++ .../pybullet_data/random_urdfs/217/217.urdf | 31 + .../pybullet_data/random_urdfs/218/218.mtl | 10 + .../pybullet_data/random_urdfs/218/218.obj | 486 ++ .../pybullet_data/random_urdfs/218/218.urdf | 31 + .../pybullet_data/random_urdfs/219/219.mtl | 10 + .../pybullet_data/random_urdfs/219/219.obj | 468 ++ .../pybullet_data/random_urdfs/219/219.urdf | 31 + .../pybullet_data/random_urdfs/220/220.mtl | 10 + .../pybullet_data/random_urdfs/220/220.obj | 657 +++ .../pybullet_data/random_urdfs/220/220.urdf | 31 + .../pybullet_data/random_urdfs/221/221.mtl | 10 + .../pybullet_data/random_urdfs/221/221.obj | 633 +++ .../pybullet_data/random_urdfs/221/221.urdf | 31 + .../pybullet_data/random_urdfs/222/222.mtl | 10 + .../pybullet_data/random_urdfs/222/222.obj | 387 ++ .../pybullet_data/random_urdfs/222/222.urdf | 31 + .../pybullet_data/random_urdfs/223/223.mtl | 10 + .../pybullet_data/random_urdfs/223/223.obj | 405 ++ .../pybullet_data/random_urdfs/223/223.urdf | 31 + .../pybullet_data/random_urdfs/224/224.mtl | 10 + .../pybullet_data/random_urdfs/224/224.obj | 600 +++ .../pybullet_data/random_urdfs/224/224.urdf | 31 + .../pybullet_data/random_urdfs/225/225.mtl | 10 + .../pybullet_data/random_urdfs/225/225.obj | 747 +++ .../pybullet_data/random_urdfs/225/225.urdf | 31 + .../pybullet_data/random_urdfs/226/226.mtl | 10 + .../pybullet_data/random_urdfs/226/226.obj | 369 ++ .../pybullet_data/random_urdfs/226/226.urdf | 31 + .../pybullet_data/random_urdfs/227/227.mtl | 10 + .../pybullet_data/random_urdfs/227/227.obj | 312 ++ .../pybullet_data/random_urdfs/227/227.urdf | 31 + .../pybullet_data/random_urdfs/228/228.mtl | 10 + .../pybullet_data/random_urdfs/228/228.obj | 189 + .../pybullet_data/random_urdfs/228/228.urdf | 31 + .../pybullet_data/random_urdfs/229/229.mtl | 10 + .../pybullet_data/random_urdfs/229/229.obj | 600 +++ .../pybullet_data/random_urdfs/229/229.urdf | 31 + .../pybullet_data/random_urdfs/230/230.mtl | 10 + .../pybullet_data/random_urdfs/230/230.obj | 1626 ++++++ .../pybullet_data/random_urdfs/230/230.urdf | 31 + .../pybullet_data/random_urdfs/231/231.mtl | 10 + .../pybullet_data/random_urdfs/231/231.obj | 351 ++ .../pybullet_data/random_urdfs/231/231.urdf | 31 + .../pybullet_data/random_urdfs/232/232.mtl | 10 + .../pybullet_data/random_urdfs/232/232.obj | 1218 +++++ .../pybullet_data/random_urdfs/232/232.urdf | 31 + .../pybullet_data/random_urdfs/233/233.mtl | 10 + .../pybullet_data/random_urdfs/233/233.obj | 714 +++ .../pybullet_data/random_urdfs/233/233.urdf | 31 + .../pybullet_data/random_urdfs/234/234.mtl | 10 + .../pybullet_data/random_urdfs/234/234.obj | 1050 ++++ .../pybullet_data/random_urdfs/234/234.urdf | 31 + .../pybullet_data/random_urdfs/235/235.mtl | 10 + .../pybullet_data/random_urdfs/235/235.obj | 417 ++ .../pybullet_data/random_urdfs/235/235.urdf | 31 + .../pybullet_data/random_urdfs/236/236.mtl | 10 + .../pybullet_data/random_urdfs/236/236.obj | 519 ++ .../pybullet_data/random_urdfs/236/236.urdf | 31 + .../pybullet_data/random_urdfs/237/237.mtl | 10 + .../pybullet_data/random_urdfs/237/237.obj | 438 ++ .../pybullet_data/random_urdfs/237/237.urdf | 31 + .../pybullet_data/random_urdfs/238/238.mtl | 10 + .../pybullet_data/random_urdfs/238/238.obj | 351 ++ .../pybullet_data/random_urdfs/238/238.urdf | 31 + .../pybullet_data/random_urdfs/239/239.mtl | 10 + .../pybullet_data/random_urdfs/239/239.obj | 411 ++ .../pybullet_data/random_urdfs/239/239.urdf | 31 + .../pybullet_data/random_urdfs/240/240.mtl | 10 + .../pybullet_data/random_urdfs/240/240.obj | 453 ++ .../pybullet_data/random_urdfs/240/240.urdf | 31 + .../pybullet_data/random_urdfs/241/241.mtl | 10 + .../pybullet_data/random_urdfs/241/241.obj | 582 +++ .../pybullet_data/random_urdfs/241/241.urdf | 31 + .../pybullet_data/random_urdfs/242/242.mtl | 10 + .../pybullet_data/random_urdfs/242/242.obj | 717 +++ .../pybullet_data/random_urdfs/242/242.urdf | 31 + .../pybullet_data/random_urdfs/243/243.mtl | 10 + .../pybullet_data/random_urdfs/243/243.obj | 180 + .../pybullet_data/random_urdfs/243/243.urdf | 31 + .../pybullet_data/random_urdfs/244/244.mtl | 10 + .../pybullet_data/random_urdfs/244/244.obj | 399 ++ .../pybullet_data/random_urdfs/244/244.urdf | 31 + .../pybullet_data/random_urdfs/245/245.mtl | 10 + .../pybullet_data/random_urdfs/245/245.obj | 954 ++++ .../pybullet_data/random_urdfs/245/245.urdf | 31 + .../pybullet_data/random_urdfs/246/246.mtl | 10 + .../pybullet_data/random_urdfs/246/246.obj | 657 +++ .../pybullet_data/random_urdfs/246/246.urdf | 31 + .../pybullet_data/random_urdfs/247/247.mtl | 10 + .../pybullet_data/random_urdfs/247/247.obj | 1197 +++++ .../pybullet_data/random_urdfs/247/247.urdf | 31 + .../pybullet_data/random_urdfs/248/248.mtl | 10 + .../pybullet_data/random_urdfs/248/248.obj | 414 ++ .../pybullet_data/random_urdfs/248/248.urdf | 31 + .../pybullet_data/random_urdfs/249/249.mtl | 10 + .../pybullet_data/random_urdfs/249/249.obj | 846 ++++ .../pybullet_data/random_urdfs/249/249.urdf | 31 + .../pybullet_data/random_urdfs/250/250.mtl | 10 + .../pybullet_data/random_urdfs/250/250.obj | 423 ++ .../pybullet_data/random_urdfs/250/250.urdf | 31 + .../pybullet_data/random_urdfs/251/251.mtl | 10 + .../pybullet_data/random_urdfs/251/251.obj | 432 ++ .../pybullet_data/random_urdfs/251/251.urdf | 31 + .../pybullet_data/random_urdfs/252/252.mtl | 10 + .../pybullet_data/random_urdfs/252/252.obj | 1206 +++++ .../pybullet_data/random_urdfs/252/252.urdf | 31 + .../pybullet_data/random_urdfs/253/253.mtl | 10 + .../pybullet_data/random_urdfs/253/253.obj | 591 +++ .../pybullet_data/random_urdfs/253/253.urdf | 31 + .../pybullet_data/random_urdfs/254/254.mtl | 10 + .../pybullet_data/random_urdfs/254/254.obj | 477 ++ .../pybullet_data/random_urdfs/254/254.urdf | 31 + .../pybullet_data/random_urdfs/255/255.mtl | 10 + .../pybullet_data/random_urdfs/255/255.obj | 393 ++ .../pybullet_data/random_urdfs/255/255.urdf | 31 + .../pybullet_data/random_urdfs/256/256.mtl | 10 + .../pybullet_data/random_urdfs/256/256.obj | 912 ++++ .../pybullet_data/random_urdfs/256/256.urdf | 31 + .../pybullet_data/random_urdfs/257/257.mtl | 10 + .../pybullet_data/random_urdfs/257/257.obj | 936 ++++ .../pybullet_data/random_urdfs/257/257.urdf | 31 + .../pybullet_data/random_urdfs/258/258.mtl | 10 + .../pybullet_data/random_urdfs/258/258.obj | 573 +++ .../pybullet_data/random_urdfs/258/258.urdf | 31 + .../pybullet_data/random_urdfs/259/259.mtl | 10 + .../pybullet_data/random_urdfs/259/259.obj | 531 ++ .../pybullet_data/random_urdfs/259/259.urdf | 31 + .../pybullet_data/random_urdfs/260/260.mtl | 10 + .../pybullet_data/random_urdfs/260/260.obj | 495 ++ .../pybullet_data/random_urdfs/260/260.urdf | 31 + .../pybullet_data/random_urdfs/261/261.mtl | 10 + .../pybullet_data/random_urdfs/261/261.obj | 393 ++ .../pybullet_data/random_urdfs/261/261.urdf | 31 + .../pybullet_data/random_urdfs/262/262.mtl | 10 + .../pybullet_data/random_urdfs/262/262.obj | 516 ++ .../pybullet_data/random_urdfs/262/262.urdf | 31 + .../pybullet_data/random_urdfs/263/263.mtl | 10 + .../pybullet_data/random_urdfs/263/263.obj | 621 +++ .../pybullet_data/random_urdfs/263/263.urdf | 31 + .../pybullet_data/random_urdfs/264/264.mtl | 10 + .../pybullet_data/random_urdfs/264/264.obj | 549 ++ .../pybullet_data/random_urdfs/264/264.urdf | 31 + .../pybullet_data/random_urdfs/265/265.mtl | 10 + .../pybullet_data/random_urdfs/265/265.obj | 576 +++ .../pybullet_data/random_urdfs/265/265.urdf | 31 + .../pybullet_data/random_urdfs/266/266.mtl | 10 + .../pybullet_data/random_urdfs/266/266.obj | 396 ++ .../pybullet_data/random_urdfs/266/266.urdf | 31 + .../pybullet_data/random_urdfs/267/267.mtl | 10 + .../pybullet_data/random_urdfs/267/267.obj | 1782 +++++++ .../pybullet_data/random_urdfs/267/267.urdf | 31 + .../pybullet_data/random_urdfs/268/268.mtl | 10 + .../pybullet_data/random_urdfs/268/268.obj | 534 ++ .../pybullet_data/random_urdfs/268/268.urdf | 31 + .../pybullet_data/random_urdfs/269/269.mtl | 10 + .../pybullet_data/random_urdfs/269/269.obj | 480 ++ .../pybullet_data/random_urdfs/269/269.urdf | 31 + .../pybullet_data/random_urdfs/270/270.mtl | 10 + .../pybullet_data/random_urdfs/270/270.obj | 948 ++++ .../pybullet_data/random_urdfs/270/270.urdf | 31 + .../pybullet_data/random_urdfs/271/271.mtl | 10 + .../pybullet_data/random_urdfs/271/271.obj | 447 ++ .../pybullet_data/random_urdfs/271/271.urdf | 31 + .../pybullet_data/random_urdfs/272/272.mtl | 10 + .../pybullet_data/random_urdfs/272/272.obj | 756 +++ .../pybullet_data/random_urdfs/272/272.urdf | 31 + .../pybullet_data/random_urdfs/273/273.mtl | 10 + .../pybullet_data/random_urdfs/273/273.obj | 498 ++ .../pybullet_data/random_urdfs/273/273.urdf | 31 + .../pybullet_data/random_urdfs/274/274.mtl | 10 + .../pybullet_data/random_urdfs/274/274.obj | 537 ++ .../pybullet_data/random_urdfs/274/274.urdf | 31 + .../pybullet_data/random_urdfs/275/275.mtl | 10 + .../pybullet_data/random_urdfs/275/275.obj | 564 +++ .../pybullet_data/random_urdfs/275/275.urdf | 31 + .../pybullet_data/random_urdfs/276/276.mtl | 10 + .../pybullet_data/random_urdfs/276/276.obj | 465 ++ .../pybullet_data/random_urdfs/276/276.urdf | 31 + .../pybullet_data/random_urdfs/277/277.mtl | 10 + .../pybullet_data/random_urdfs/277/277.obj | 576 +++ .../pybullet_data/random_urdfs/277/277.urdf | 31 + .../pybullet_data/random_urdfs/278/278.mtl | 10 + .../pybullet_data/random_urdfs/278/278.obj | 2226 ++++++++ .../pybullet_data/random_urdfs/278/278.urdf | 31 + .../pybullet_data/random_urdfs/279/279.mtl | 10 + .../pybullet_data/random_urdfs/279/279.obj | 228 + .../pybullet_data/random_urdfs/279/279.urdf | 31 + .../pybullet_data/random_urdfs/280/280.mtl | 10 + .../pybullet_data/random_urdfs/280/280.obj | 1080 ++++ .../pybullet_data/random_urdfs/280/280.urdf | 31 + .../pybullet_data/random_urdfs/281/281.mtl | 10 + .../pybullet_data/random_urdfs/281/281.obj | 540 ++ .../pybullet_data/random_urdfs/281/281.urdf | 31 + .../pybullet_data/random_urdfs/282/282.mtl | 10 + .../pybullet_data/random_urdfs/282/282.obj | 708 +++ .../pybullet_data/random_urdfs/282/282.urdf | 31 + .../pybullet_data/random_urdfs/283/283.mtl | 10 + .../pybullet_data/random_urdfs/283/283.obj | 753 +++ .../pybullet_data/random_urdfs/283/283.urdf | 31 + .../pybullet_data/random_urdfs/284/284.mtl | 10 + .../pybullet_data/random_urdfs/284/284.obj | 1884 +++++++ .../pybullet_data/random_urdfs/284/284.urdf | 31 + .../pybullet_data/random_urdfs/285/285.mtl | 10 + .../pybullet_data/random_urdfs/285/285.obj | 1278 +++++ .../pybullet_data/random_urdfs/285/285.urdf | 31 + .../pybullet_data/random_urdfs/286/286.mtl | 10 + .../pybullet_data/random_urdfs/286/286.obj | 456 ++ .../pybullet_data/random_urdfs/286/286.urdf | 31 + .../pybullet_data/random_urdfs/287/287.mtl | 10 + .../pybullet_data/random_urdfs/287/287.obj | 465 ++ .../pybullet_data/random_urdfs/287/287.urdf | 31 + .../pybullet_data/random_urdfs/288/288.mtl | 10 + .../pybullet_data/random_urdfs/288/288.obj | 495 ++ .../pybullet_data/random_urdfs/288/288.urdf | 31 + .../pybullet_data/random_urdfs/289/289.mtl | 10 + .../pybullet_data/random_urdfs/289/289.obj | 393 ++ .../pybullet_data/random_urdfs/289/289.urdf | 31 + .../pybullet_data/random_urdfs/290/290.mtl | 10 + .../pybullet_data/random_urdfs/290/290.obj | 969 ++++ .../pybullet_data/random_urdfs/290/290.urdf | 31 + .../pybullet_data/random_urdfs/291/291.mtl | 10 + .../pybullet_data/random_urdfs/291/291.obj | 726 +++ .../pybullet_data/random_urdfs/291/291.urdf | 31 + .../pybullet_data/random_urdfs/292/292.mtl | 10 + .../pybullet_data/random_urdfs/292/292.obj | 1530 ++++++ .../pybullet_data/random_urdfs/292/292.urdf | 31 + .../pybullet_data/random_urdfs/293/293.mtl | 10 + .../pybullet_data/random_urdfs/293/293.obj | 831 +++ .../pybullet_data/random_urdfs/293/293.urdf | 31 + .../pybullet_data/random_urdfs/294/294.mtl | 10 + .../pybullet_data/random_urdfs/294/294.obj | 531 ++ .../pybullet_data/random_urdfs/294/294.urdf | 31 + .../pybullet_data/random_urdfs/295/295.mtl | 10 + .../pybullet_data/random_urdfs/295/295.obj | 1416 ++++++ .../pybullet_data/random_urdfs/295/295.urdf | 31 + .../pybullet_data/random_urdfs/296/296.mtl | 10 + .../pybullet_data/random_urdfs/296/296.obj | 459 ++ .../pybullet_data/random_urdfs/296/296.urdf | 31 + .../pybullet_data/random_urdfs/297/297.mtl | 10 + .../pybullet_data/random_urdfs/297/297.obj | 1692 +++++++ .../pybullet_data/random_urdfs/297/297.urdf | 31 + .../pybullet_data/random_urdfs/298/298.mtl | 10 + .../pybullet_data/random_urdfs/298/298.obj | 474 ++ .../pybullet_data/random_urdfs/298/298.urdf | 31 + .../pybullet_data/random_urdfs/299/299.mtl | 10 + .../pybullet_data/random_urdfs/299/299.obj | 573 +++ .../pybullet_data/random_urdfs/299/299.urdf | 31 + .../pybullet_data/random_urdfs/300/300.mtl | 10 + .../pybullet_data/random_urdfs/300/300.obj | 633 +++ .../pybullet_data/random_urdfs/300/300.urdf | 31 + .../pybullet_data/random_urdfs/301/301.mtl | 10 + .../pybullet_data/random_urdfs/301/301.obj | 933 ++++ .../pybullet_data/random_urdfs/301/301.urdf | 31 + .../pybullet_data/random_urdfs/302/302.mtl | 10 + .../pybullet_data/random_urdfs/302/302.obj | 3426 +++++++++++++ .../pybullet_data/random_urdfs/302/302.urdf | 31 + .../pybullet_data/random_urdfs/303/303.mtl | 10 + .../pybullet_data/random_urdfs/303/303.obj | 759 +++ .../pybullet_data/random_urdfs/303/303.urdf | 31 + .../pybullet_data/random_urdfs/304/304.mtl | 10 + .../pybullet_data/random_urdfs/304/304.obj | 1668 ++++++ .../pybullet_data/random_urdfs/304/304.urdf | 31 + .../pybullet_data/random_urdfs/305/305.mtl | 10 + .../pybullet_data/random_urdfs/305/305.obj | 1014 ++++ .../pybullet_data/random_urdfs/305/305.urdf | 31 + .../pybullet_data/random_urdfs/306/306.mtl | 10 + .../pybullet_data/random_urdfs/306/306.obj | 1125 +++++ .../pybullet_data/random_urdfs/306/306.urdf | 31 + .../pybullet_data/random_urdfs/307/307.mtl | 10 + .../pybullet_data/random_urdfs/307/307.obj | 612 +++ .../pybullet_data/random_urdfs/307/307.urdf | 31 + .../pybullet_data/random_urdfs/308/308.mtl | 10 + .../pybullet_data/random_urdfs/308/308.obj | 336 ++ .../pybullet_data/random_urdfs/308/308.urdf | 31 + .../pybullet_data/random_urdfs/309/309.mtl | 10 + .../pybullet_data/random_urdfs/309/309.obj | 1221 +++++ .../pybullet_data/random_urdfs/309/309.urdf | 31 + .../pybullet_data/random_urdfs/310/310.mtl | 10 + .../pybullet_data/random_urdfs/310/310.obj | 618 +++ .../pybullet_data/random_urdfs/310/310.urdf | 31 + .../pybullet_data/random_urdfs/311/311.mtl | 10 + .../pybullet_data/random_urdfs/311/311.obj | 999 ++++ .../pybullet_data/random_urdfs/311/311.urdf | 31 + .../pybullet_data/random_urdfs/312/312.mtl | 10 + .../pybullet_data/random_urdfs/312/312.obj | 567 +++ .../pybullet_data/random_urdfs/312/312.urdf | 31 + .../pybullet_data/random_urdfs/313/313.mtl | 10 + .../pybullet_data/random_urdfs/313/313.obj | 639 +++ .../pybullet_data/random_urdfs/313/313.urdf | 31 + .../pybullet_data/random_urdfs/314/314.mtl | 10 + .../pybullet_data/random_urdfs/314/314.obj | 1089 ++++ .../pybullet_data/random_urdfs/314/314.urdf | 31 + .../pybullet_data/random_urdfs/315/315.mtl | 10 + .../pybullet_data/random_urdfs/315/315.obj | 2214 ++++++++ .../pybullet_data/random_urdfs/315/315.urdf | 31 + .../pybullet_data/random_urdfs/316/316.mtl | 10 + .../pybullet_data/random_urdfs/316/316.obj | 1479 ++++++ .../pybullet_data/random_urdfs/316/316.urdf | 31 + .../pybullet_data/random_urdfs/317/317.mtl | 10 + .../pybullet_data/random_urdfs/317/317.obj | 1188 +++++ .../pybullet_data/random_urdfs/317/317.urdf | 31 + .../pybullet_data/random_urdfs/318/318.mtl | 10 + .../pybullet_data/random_urdfs/318/318.obj | 846 ++++ .../pybullet_data/random_urdfs/318/318.urdf | 31 + .../pybullet_data/random_urdfs/319/319.mtl | 10 + .../pybullet_data/random_urdfs/319/319.obj | 378 ++ .../pybullet_data/random_urdfs/319/319.urdf | 31 + .../pybullet_data/random_urdfs/320/320.mtl | 10 + .../pybullet_data/random_urdfs/320/320.obj | 882 ++++ .../pybullet_data/random_urdfs/320/320.urdf | 31 + .../pybullet_data/random_urdfs/321/321.mtl | 10 + .../pybullet_data/random_urdfs/321/321.obj | 1350 +++++ .../pybullet_data/random_urdfs/321/321.urdf | 31 + .../pybullet_data/random_urdfs/322/322.mtl | 10 + .../pybullet_data/random_urdfs/322/322.obj | 1014 ++++ .../pybullet_data/random_urdfs/322/322.urdf | 31 + .../pybullet_data/random_urdfs/323/323.mtl | 10 + .../pybullet_data/random_urdfs/323/323.obj | 963 ++++ .../pybullet_data/random_urdfs/323/323.urdf | 31 + .../pybullet_data/random_urdfs/324/324.mtl | 10 + .../pybullet_data/random_urdfs/324/324.obj | 846 ++++ .../pybullet_data/random_urdfs/324/324.urdf | 31 + .../pybullet_data/random_urdfs/325/325.mtl | 10 + .../pybullet_data/random_urdfs/325/325.obj | 645 +++ .../pybullet_data/random_urdfs/325/325.urdf | 31 + .../pybullet_data/random_urdfs/326/326.mtl | 10 + .../pybullet_data/random_urdfs/326/326.obj | 996 ++++ .../pybullet_data/random_urdfs/326/326.urdf | 31 + .../pybullet_data/random_urdfs/327/327.mtl | 10 + .../pybullet_data/random_urdfs/327/327.obj | 504 ++ .../pybullet_data/random_urdfs/327/327.urdf | 31 + .../pybullet_data/random_urdfs/328/328.mtl | 10 + .../pybullet_data/random_urdfs/328/328.obj | 495 ++ .../pybullet_data/random_urdfs/328/328.urdf | 31 + .../pybullet_data/random_urdfs/329/329.mtl | 10 + .../pybullet_data/random_urdfs/329/329.obj | 426 ++ .../pybullet_data/random_urdfs/329/329.urdf | 31 + .../pybullet_data/random_urdfs/330/330.mtl | 10 + .../pybullet_data/random_urdfs/330/330.obj | 414 ++ .../pybullet_data/random_urdfs/330/330.urdf | 31 + .../pybullet_data/random_urdfs/331/331.mtl | 10 + .../pybullet_data/random_urdfs/331/331.obj | 387 ++ .../pybullet_data/random_urdfs/331/331.urdf | 31 + .../pybullet_data/random_urdfs/332/332.mtl | 10 + .../pybullet_data/random_urdfs/332/332.obj | 684 +++ .../pybullet_data/random_urdfs/332/332.urdf | 31 + .../pybullet_data/random_urdfs/333/333.mtl | 10 + .../pybullet_data/random_urdfs/333/333.obj | 669 +++ .../pybullet_data/random_urdfs/333/333.urdf | 31 + .../pybullet_data/random_urdfs/334/334.mtl | 10 + .../pybullet_data/random_urdfs/334/334.obj | 768 +++ .../pybullet_data/random_urdfs/334/334.urdf | 31 + .../pybullet_data/random_urdfs/335/335.mtl | 10 + .../pybullet_data/random_urdfs/335/335.obj | 918 ++++ .../pybullet_data/random_urdfs/335/335.urdf | 31 + .../pybullet_data/random_urdfs/336/336.mtl | 10 + .../pybullet_data/random_urdfs/336/336.obj | 465 ++ .../pybullet_data/random_urdfs/336/336.urdf | 31 + .../pybullet_data/random_urdfs/337/337.mtl | 10 + .../pybullet_data/random_urdfs/337/337.obj | 435 ++ .../pybullet_data/random_urdfs/337/337.urdf | 31 + .../pybullet_data/random_urdfs/338/338.mtl | 10 + .../pybullet_data/random_urdfs/338/338.obj | 1779 +++++++ .../pybullet_data/random_urdfs/338/338.urdf | 31 + .../pybullet_data/random_urdfs/339/339.mtl | 10 + .../pybullet_data/random_urdfs/339/339.obj | 744 +++ .../pybullet_data/random_urdfs/339/339.urdf | 31 + .../pybullet_data/random_urdfs/340/340.mtl | 10 + .../pybullet_data/random_urdfs/340/340.obj | 390 ++ .../pybullet_data/random_urdfs/340/340.urdf | 31 + .../pybullet_data/random_urdfs/341/341.mtl | 10 + .../pybullet_data/random_urdfs/341/341.obj | 660 +++ .../pybullet_data/random_urdfs/341/341.urdf | 31 + .../pybullet_data/random_urdfs/342/342.mtl | 10 + .../pybullet_data/random_urdfs/342/342.obj | 564 +++ .../pybullet_data/random_urdfs/342/342.urdf | 31 + .../pybullet_data/random_urdfs/343/343.mtl | 10 + .../pybullet_data/random_urdfs/343/343.obj | 549 ++ .../pybullet_data/random_urdfs/343/343.urdf | 31 + .../pybullet_data/random_urdfs/344/344.mtl | 10 + .../pybullet_data/random_urdfs/344/344.obj | 576 +++ .../pybullet_data/random_urdfs/344/344.urdf | 31 + .../pybullet_data/random_urdfs/345/345.mtl | 10 + .../pybullet_data/random_urdfs/345/345.obj | 495 ++ .../pybullet_data/random_urdfs/345/345.urdf | 31 + .../pybullet_data/random_urdfs/346/346.mtl | 10 + .../pybullet_data/random_urdfs/346/346.obj | 519 ++ .../pybullet_data/random_urdfs/346/346.urdf | 31 + .../pybullet_data/random_urdfs/347/347.mtl | 10 + .../pybullet_data/random_urdfs/347/347.obj | 438 ++ .../pybullet_data/random_urdfs/347/347.urdf | 31 + .../pybullet_data/random_urdfs/348/348.mtl | 10 + .../pybullet_data/random_urdfs/348/348.obj | 468 ++ .../pybullet_data/random_urdfs/348/348.urdf | 31 + .../pybullet_data/random_urdfs/349/349.mtl | 10 + .../pybullet_data/random_urdfs/349/349.obj | 555 ++ .../pybullet_data/random_urdfs/349/349.urdf | 31 + .../pybullet_data/random_urdfs/350/350.mtl | 10 + .../pybullet_data/random_urdfs/350/350.obj | 1056 ++++ .../pybullet_data/random_urdfs/350/350.urdf | 31 + .../pybullet_data/random_urdfs/351/351.mtl | 10 + .../pybullet_data/random_urdfs/351/351.obj | 573 +++ .../pybullet_data/random_urdfs/351/351.urdf | 31 + .../pybullet_data/random_urdfs/352/352.mtl | 10 + .../pybullet_data/random_urdfs/352/352.obj | 1008 ++++ .../pybullet_data/random_urdfs/352/352.urdf | 31 + .../pybullet_data/random_urdfs/353/353.mtl | 10 + .../pybullet_data/random_urdfs/353/353.obj | 471 ++ .../pybullet_data/random_urdfs/353/353.urdf | 31 + .../pybullet_data/random_urdfs/354/354.mtl | 10 + .../pybullet_data/random_urdfs/354/354.obj | 516 ++ .../pybullet_data/random_urdfs/354/354.urdf | 31 + .../pybullet_data/random_urdfs/355/355.mtl | 10 + .../pybullet_data/random_urdfs/355/355.obj | 3036 +++++++++++ .../pybullet_data/random_urdfs/355/355.urdf | 31 + .../pybullet_data/random_urdfs/356/356.mtl | 10 + .../pybullet_data/random_urdfs/356/356.obj | 483 ++ .../pybullet_data/random_urdfs/356/356.urdf | 31 + .../pybullet_data/random_urdfs/357/357.mtl | 10 + .../pybullet_data/random_urdfs/357/357.obj | 1431 ++++++ .../pybullet_data/random_urdfs/357/357.urdf | 31 + .../pybullet_data/random_urdfs/358/358.mtl | 10 + .../pybullet_data/random_urdfs/358/358.obj | 1074 ++++ .../pybullet_data/random_urdfs/358/358.urdf | 31 + .../pybullet_data/random_urdfs/359/359.mtl | 10 + .../pybullet_data/random_urdfs/359/359.obj | 561 ++ .../pybullet_data/random_urdfs/359/359.urdf | 31 + .../pybullet_data/random_urdfs/360/360.mtl | 10 + .../pybullet_data/random_urdfs/360/360.obj | 3558 +++++++++++++ .../pybullet_data/random_urdfs/360/360.urdf | 31 + .../pybullet_data/random_urdfs/361/361.mtl | 10 + .../pybullet_data/random_urdfs/361/361.obj | 1233 +++++ .../pybullet_data/random_urdfs/361/361.urdf | 31 + .../pybullet_data/random_urdfs/362/362.mtl | 10 + .../pybullet_data/random_urdfs/362/362.obj | 1815 +++++++ .../pybullet_data/random_urdfs/362/362.urdf | 31 + .../pybullet_data/random_urdfs/363/363.mtl | 10 + .../pybullet_data/random_urdfs/363/363.obj | 819 +++ .../pybullet_data/random_urdfs/363/363.urdf | 31 + .../pybullet_data/random_urdfs/364/364.mtl | 10 + .../pybullet_data/random_urdfs/364/364.obj | 570 +++ .../pybullet_data/random_urdfs/364/364.urdf | 31 + .../pybullet_data/random_urdfs/365/365.mtl | 10 + .../pybullet_data/random_urdfs/365/365.obj | 522 ++ .../pybullet_data/random_urdfs/365/365.urdf | 31 + .../pybullet_data/random_urdfs/366/366.mtl | 10 + .../pybullet_data/random_urdfs/366/366.obj | 252 + .../pybullet_data/random_urdfs/366/366.urdf | 31 + .../pybullet_data/random_urdfs/367/367.mtl | 10 + .../pybullet_data/random_urdfs/367/367.obj | 606 +++ .../pybullet_data/random_urdfs/367/367.urdf | 31 + .../pybullet_data/random_urdfs/368/368.mtl | 10 + .../pybullet_data/random_urdfs/368/368.obj | 429 ++ .../pybullet_data/random_urdfs/368/368.urdf | 31 + .../pybullet_data/random_urdfs/369/369.mtl | 10 + .../pybullet_data/random_urdfs/369/369.obj | 639 +++ .../pybullet_data/random_urdfs/369/369.urdf | 31 + .../pybullet_data/random_urdfs/370/370.mtl | 10 + .../pybullet_data/random_urdfs/370/370.obj | 417 ++ .../pybullet_data/random_urdfs/370/370.urdf | 31 + .../pybullet_data/random_urdfs/371/371.mtl | 10 + .../pybullet_data/random_urdfs/371/371.obj | 366 ++ .../pybullet_data/random_urdfs/371/371.urdf | 31 + .../pybullet_data/random_urdfs/372/372.mtl | 10 + .../pybullet_data/random_urdfs/372/372.obj | 612 +++ .../pybullet_data/random_urdfs/372/372.urdf | 31 + .../pybullet_data/random_urdfs/373/373.mtl | 10 + .../pybullet_data/random_urdfs/373/373.obj | 573 +++ .../pybullet_data/random_urdfs/373/373.urdf | 31 + .../pybullet_data/random_urdfs/374/374.mtl | 10 + .../pybullet_data/random_urdfs/374/374.obj | 492 ++ .../pybullet_data/random_urdfs/374/374.urdf | 31 + .../pybullet_data/random_urdfs/375/375.mtl | 10 + .../pybullet_data/random_urdfs/375/375.obj | 408 ++ .../pybullet_data/random_urdfs/375/375.urdf | 31 + .../pybullet_data/random_urdfs/376/376.mtl | 10 + .../pybullet_data/random_urdfs/376/376.obj | 1035 ++++ .../pybullet_data/random_urdfs/376/376.urdf | 31 + .../pybullet_data/random_urdfs/377/377.mtl | 10 + .../pybullet_data/random_urdfs/377/377.obj | 591 +++ .../pybullet_data/random_urdfs/377/377.urdf | 31 + .../pybullet_data/random_urdfs/378/378.mtl | 10 + .../pybullet_data/random_urdfs/378/378.obj | 2751 ++++++++++ .../pybullet_data/random_urdfs/378/378.urdf | 31 + .../pybullet_data/random_urdfs/379/379.mtl | 10 + .../pybullet_data/random_urdfs/379/379.obj | 723 +++ .../pybullet_data/random_urdfs/379/379.urdf | 31 + .../pybullet_data/random_urdfs/380/380.mtl | 10 + .../pybullet_data/random_urdfs/380/380.obj | 435 ++ .../pybullet_data/random_urdfs/380/380.urdf | 31 + .../pybullet_data/random_urdfs/381/381.mtl | 10 + .../pybullet_data/random_urdfs/381/381.obj | 1140 +++++ .../pybullet_data/random_urdfs/381/381.urdf | 31 + .../pybullet_data/random_urdfs/382/382.mtl | 10 + .../pybullet_data/random_urdfs/382/382.obj | 456 ++ .../pybullet_data/random_urdfs/382/382.urdf | 31 + .../pybullet_data/random_urdfs/383/383.mtl | 10 + .../pybullet_data/random_urdfs/383/383.obj | 543 ++ .../pybullet_data/random_urdfs/383/383.urdf | 31 + .../pybullet_data/random_urdfs/384/384.mtl | 10 + .../pybullet_data/random_urdfs/384/384.obj | 1689 +++++++ .../pybullet_data/random_urdfs/384/384.urdf | 31 + .../pybullet_data/random_urdfs/385/385.mtl | 10 + .../pybullet_data/random_urdfs/385/385.obj | 393 ++ .../pybullet_data/random_urdfs/385/385.urdf | 31 + .../pybullet_data/random_urdfs/386/386.mtl | 10 + .../pybullet_data/random_urdfs/386/386.obj | 468 ++ .../pybullet_data/random_urdfs/386/386.urdf | 31 + .../pybullet_data/random_urdfs/387/387.mtl | 10 + .../pybullet_data/random_urdfs/387/387.obj | 1206 +++++ .../pybullet_data/random_urdfs/387/387.urdf | 31 + .../pybullet_data/random_urdfs/388/388.mtl | 10 + .../pybullet_data/random_urdfs/388/388.obj | 450 ++ .../pybullet_data/random_urdfs/388/388.urdf | 31 + .../pybullet_data/random_urdfs/389/389.mtl | 10 + .../pybullet_data/random_urdfs/389/389.obj | 888 ++++ .../pybullet_data/random_urdfs/389/389.urdf | 31 + .../pybullet_data/random_urdfs/390/390.mtl | 10 + .../pybullet_data/random_urdfs/390/390.obj | 696 +++ .../pybullet_data/random_urdfs/390/390.urdf | 31 + .../pybullet_data/random_urdfs/391/391.mtl | 10 + .../pybullet_data/random_urdfs/391/391.obj | 774 +++ .../pybullet_data/random_urdfs/391/391.urdf | 31 + .../pybullet_data/random_urdfs/392/392.mtl | 10 + .../pybullet_data/random_urdfs/392/392.obj | 549 ++ .../pybullet_data/random_urdfs/392/392.urdf | 31 + .../pybullet_data/random_urdfs/393/393.mtl | 10 + .../pybullet_data/random_urdfs/393/393.obj | 444 ++ .../pybullet_data/random_urdfs/393/393.urdf | 31 + .../pybullet_data/random_urdfs/394/394.mtl | 10 + .../pybullet_data/random_urdfs/394/394.obj | 543 ++ .../pybullet_data/random_urdfs/394/394.urdf | 31 + .../pybullet_data/random_urdfs/395/395.mtl | 10 + .../pybullet_data/random_urdfs/395/395.obj | 3681 ++++++++++++++ .../pybullet_data/random_urdfs/395/395.urdf | 31 + .../pybullet_data/random_urdfs/396/396.mtl | 10 + .../pybullet_data/random_urdfs/396/396.obj | 564 +++ .../pybullet_data/random_urdfs/396/396.urdf | 31 + .../pybullet_data/random_urdfs/397/397.mtl | 10 + .../pybullet_data/random_urdfs/397/397.obj | 189 + .../pybullet_data/random_urdfs/397/397.urdf | 31 + .../pybullet_data/random_urdfs/398/398.mtl | 10 + .../pybullet_data/random_urdfs/398/398.obj | 483 ++ .../pybullet_data/random_urdfs/398/398.urdf | 31 + .../pybullet_data/random_urdfs/399/399.mtl | 10 + .../pybullet_data/random_urdfs/399/399.obj | 555 ++ .../pybullet_data/random_urdfs/399/399.urdf | 31 + .../pybullet_data/random_urdfs/400/400.mtl | 10 + .../pybullet_data/random_urdfs/400/400.obj | 1188 +++++ .../pybullet_data/random_urdfs/400/400.urdf | 31 + .../pybullet_data/random_urdfs/401/401.mtl | 10 + .../pybullet_data/random_urdfs/401/401.obj | 621 +++ .../pybullet_data/random_urdfs/401/401.urdf | 31 + .../pybullet_data/random_urdfs/402/402.mtl | 10 + .../pybullet_data/random_urdfs/402/402.obj | 606 +++ .../pybullet_data/random_urdfs/402/402.urdf | 31 + .../pybullet_data/random_urdfs/403/403.mtl | 10 + .../pybullet_data/random_urdfs/403/403.obj | 618 +++ .../pybullet_data/random_urdfs/403/403.urdf | 31 + .../pybullet_data/random_urdfs/404/404.mtl | 10 + .../pybullet_data/random_urdfs/404/404.obj | 600 +++ .../pybullet_data/random_urdfs/404/404.urdf | 31 + .../pybullet_data/random_urdfs/405/405.mtl | 10 + .../pybullet_data/random_urdfs/405/405.obj | 360 ++ .../pybullet_data/random_urdfs/405/405.urdf | 31 + .../pybullet_data/random_urdfs/406/406.mtl | 10 + .../pybullet_data/random_urdfs/406/406.obj | 480 ++ .../pybullet_data/random_urdfs/406/406.urdf | 31 + .../pybullet_data/random_urdfs/407/407.mtl | 10 + .../pybullet_data/random_urdfs/407/407.obj | 411 ++ .../pybullet_data/random_urdfs/407/407.urdf | 31 + .../pybullet_data/random_urdfs/408/408.mtl | 10 + .../pybullet_data/random_urdfs/408/408.obj | 453 ++ .../pybullet_data/random_urdfs/408/408.urdf | 31 + .../pybullet_data/random_urdfs/409/409.mtl | 10 + .../pybullet_data/random_urdfs/409/409.obj | 483 ++ .../pybullet_data/random_urdfs/409/409.urdf | 31 + .../pybullet_data/random_urdfs/410/410.mtl | 10 + .../pybullet_data/random_urdfs/410/410.obj | 630 +++ .../pybullet_data/random_urdfs/410/410.urdf | 31 + .../pybullet_data/random_urdfs/411/411.mtl | 10 + .../pybullet_data/random_urdfs/411/411.obj | 699 +++ .../pybullet_data/random_urdfs/411/411.urdf | 31 + .../pybullet_data/random_urdfs/412/412.mtl | 10 + .../pybullet_data/random_urdfs/412/412.obj | 366 ++ .../pybullet_data/random_urdfs/412/412.urdf | 31 + .../pybullet_data/random_urdfs/413/413.mtl | 10 + .../pybullet_data/random_urdfs/413/413.obj | 621 +++ .../pybullet_data/random_urdfs/413/413.urdf | 31 + .../pybullet_data/random_urdfs/414/414.mtl | 10 + .../pybullet_data/random_urdfs/414/414.obj | 501 ++ .../pybullet_data/random_urdfs/414/414.urdf | 31 + .../pybullet_data/random_urdfs/415/415.mtl | 10 + .../pybullet_data/random_urdfs/415/415.obj | 708 +++ .../pybullet_data/random_urdfs/415/415.urdf | 31 + .../pybullet_data/random_urdfs/416/416.mtl | 10 + .../pybullet_data/random_urdfs/416/416.obj | 507 ++ .../pybullet_data/random_urdfs/416/416.urdf | 31 + .../pybullet_data/random_urdfs/417/417.mtl | 10 + .../pybullet_data/random_urdfs/417/417.obj | 630 +++ .../pybullet_data/random_urdfs/417/417.urdf | 31 + .../pybullet_data/random_urdfs/418/418.mtl | 10 + .../pybullet_data/random_urdfs/418/418.obj | 591 +++ .../pybullet_data/random_urdfs/418/418.urdf | 31 + .../pybullet_data/random_urdfs/419/419.mtl | 10 + .../pybullet_data/random_urdfs/419/419.obj | 255 + .../pybullet_data/random_urdfs/419/419.urdf | 31 + .../pybullet_data/random_urdfs/420/420.mtl | 10 + .../pybullet_data/random_urdfs/420/420.obj | 720 +++ .../pybullet_data/random_urdfs/420/420.urdf | 31 + .../pybullet_data/random_urdfs/421/421.mtl | 10 + .../pybullet_data/random_urdfs/421/421.obj | 651 +++ .../pybullet_data/random_urdfs/421/421.urdf | 31 + .../pybullet_data/random_urdfs/422/422.mtl | 10 + .../pybullet_data/random_urdfs/422/422.obj | 588 +++ .../pybullet_data/random_urdfs/422/422.urdf | 31 + .../pybullet_data/random_urdfs/423/423.mtl | 10 + .../pybullet_data/random_urdfs/423/423.obj | 537 ++ .../pybullet_data/random_urdfs/423/423.urdf | 31 + .../pybullet_data/random_urdfs/424/424.mtl | 10 + .../pybullet_data/random_urdfs/424/424.obj | 432 ++ .../pybullet_data/random_urdfs/424/424.urdf | 31 + .../pybullet_data/random_urdfs/425/425.mtl | 10 + .../pybullet_data/random_urdfs/425/425.obj | 1017 ++++ .../pybullet_data/random_urdfs/425/425.urdf | 31 + .../pybullet_data/random_urdfs/426/426.mtl | 10 + .../pybullet_data/random_urdfs/426/426.obj | 486 ++ .../pybullet_data/random_urdfs/426/426.urdf | 31 + .../pybullet_data/random_urdfs/427/427.mtl | 10 + .../pybullet_data/random_urdfs/427/427.obj | 642 +++ .../pybullet_data/random_urdfs/427/427.urdf | 31 + .../pybullet_data/random_urdfs/428/428.mtl | 10 + .../pybullet_data/random_urdfs/428/428.obj | 693 +++ .../pybullet_data/random_urdfs/428/428.urdf | 31 + .../pybullet_data/random_urdfs/429/429.mtl | 10 + .../pybullet_data/random_urdfs/429/429.obj | 3180 ++++++++++++ .../pybullet_data/random_urdfs/429/429.urdf | 31 + .../pybullet_data/random_urdfs/430/430.mtl | 10 + .../pybullet_data/random_urdfs/430/430.obj | 810 +++ .../pybullet_data/random_urdfs/430/430.urdf | 31 + .../pybullet_data/random_urdfs/431/431.mtl | 10 + .../pybullet_data/random_urdfs/431/431.obj | 393 ++ .../pybullet_data/random_urdfs/431/431.urdf | 31 + .../pybullet_data/random_urdfs/432/432.mtl | 10 + .../pybullet_data/random_urdfs/432/432.obj | 822 +++ .../pybullet_data/random_urdfs/432/432.urdf | 31 + .../pybullet_data/random_urdfs/433/433.mtl | 10 + .../pybullet_data/random_urdfs/433/433.obj | 3057 +++++++++++ .../pybullet_data/random_urdfs/433/433.urdf | 31 + .../pybullet_data/random_urdfs/434/434.mtl | 10 + .../pybullet_data/random_urdfs/434/434.obj | 594 +++ .../pybullet_data/random_urdfs/434/434.urdf | 31 + .../pybullet_data/random_urdfs/435/435.mtl | 10 + .../pybullet_data/random_urdfs/435/435.obj | 789 +++ .../pybullet_data/random_urdfs/435/435.urdf | 31 + .../pybullet_data/random_urdfs/436/436.mtl | 10 + .../pybullet_data/random_urdfs/436/436.obj | 477 ++ .../pybullet_data/random_urdfs/436/436.urdf | 31 + .../pybullet_data/random_urdfs/437/437.mtl | 10 + .../pybullet_data/random_urdfs/437/437.obj | 477 ++ .../pybullet_data/random_urdfs/437/437.urdf | 31 + .../pybullet_data/random_urdfs/438/438.mtl | 10 + .../pybullet_data/random_urdfs/438/438.obj | 447 ++ .../pybullet_data/random_urdfs/438/438.urdf | 31 + .../pybullet_data/random_urdfs/439/439.mtl | 10 + .../pybullet_data/random_urdfs/439/439.obj | 3003 +++++++++++ .../pybullet_data/random_urdfs/439/439.urdf | 31 + .../pybullet_data/random_urdfs/440/440.mtl | 10 + .../pybullet_data/random_urdfs/440/440.obj | 534 ++ .../pybullet_data/random_urdfs/440/440.urdf | 31 + .../pybullet_data/random_urdfs/441/441.mtl | 10 + .../pybullet_data/random_urdfs/441/441.obj | 498 ++ .../pybullet_data/random_urdfs/441/441.urdf | 31 + .../pybullet_data/random_urdfs/442/442.mtl | 10 + .../pybullet_data/random_urdfs/442/442.obj | 636 +++ .../pybullet_data/random_urdfs/442/442.urdf | 31 + .../pybullet_data/random_urdfs/443/443.mtl | 10 + .../pybullet_data/random_urdfs/443/443.obj | 375 ++ .../pybullet_data/random_urdfs/443/443.urdf | 31 + .../pybullet_data/random_urdfs/444/444.mtl | 10 + .../pybullet_data/random_urdfs/444/444.obj | 2118 ++++++++ .../pybullet_data/random_urdfs/444/444.urdf | 31 + .../pybullet_data/random_urdfs/445/445.mtl | 10 + .../pybullet_data/random_urdfs/445/445.obj | 624 +++ .../pybullet_data/random_urdfs/445/445.urdf | 31 + .../pybullet_data/random_urdfs/446/446.mtl | 10 + .../pybullet_data/random_urdfs/446/446.obj | 501 ++ .../pybullet_data/random_urdfs/446/446.urdf | 31 + .../pybullet_data/random_urdfs/447/447.mtl | 10 + .../pybullet_data/random_urdfs/447/447.obj | 984 ++++ .../pybullet_data/random_urdfs/447/447.urdf | 31 + .../pybullet_data/random_urdfs/448/448.mtl | 10 + .../pybullet_data/random_urdfs/448/448.obj | 333 ++ .../pybullet_data/random_urdfs/448/448.urdf | 31 + .../pybullet_data/random_urdfs/449/449.mtl | 10 + .../pybullet_data/random_urdfs/449/449.obj | 711 +++ .../pybullet_data/random_urdfs/449/449.urdf | 31 + .../pybullet_data/random_urdfs/450/450.mtl | 10 + .../pybullet_data/random_urdfs/450/450.obj | 429 ++ .../pybullet_data/random_urdfs/450/450.urdf | 31 + .../pybullet_data/random_urdfs/451/451.mtl | 10 + .../pybullet_data/random_urdfs/451/451.obj | 453 ++ .../pybullet_data/random_urdfs/451/451.urdf | 31 + .../pybullet_data/random_urdfs/452/452.mtl | 10 + .../pybullet_data/random_urdfs/452/452.obj | 1134 +++++ .../pybullet_data/random_urdfs/452/452.urdf | 31 + .../pybullet_data/random_urdfs/453/453.mtl | 10 + .../pybullet_data/random_urdfs/453/453.obj | 462 ++ .../pybullet_data/random_urdfs/453/453.urdf | 31 + .../pybullet_data/random_urdfs/454/454.mtl | 10 + .../pybullet_data/random_urdfs/454/454.obj | 1422 ++++++ .../pybullet_data/random_urdfs/454/454.urdf | 31 + .../pybullet_data/random_urdfs/455/455.mtl | 10 + .../pybullet_data/random_urdfs/455/455.obj | 669 +++ .../pybullet_data/random_urdfs/455/455.urdf | 31 + .../pybullet_data/random_urdfs/456/456.mtl | 10 + .../pybullet_data/random_urdfs/456/456.obj | 591 +++ .../pybullet_data/random_urdfs/456/456.urdf | 31 + .../pybullet_data/random_urdfs/457/457.mtl | 10 + .../pybullet_data/random_urdfs/457/457.obj | 480 ++ .../pybullet_data/random_urdfs/457/457.urdf | 31 + .../pybullet_data/random_urdfs/458/458.mtl | 10 + .../pybullet_data/random_urdfs/458/458.obj | 408 ++ .../pybullet_data/random_urdfs/458/458.urdf | 31 + .../pybullet_data/random_urdfs/459/459.mtl | 10 + .../pybullet_data/random_urdfs/459/459.obj | 633 +++ .../pybullet_data/random_urdfs/459/459.urdf | 31 + .../pybullet_data/random_urdfs/460/460.mtl | 10 + .../pybullet_data/random_urdfs/460/460.obj | 282 ++ .../pybullet_data/random_urdfs/460/460.urdf | 31 + .../pybullet_data/random_urdfs/461/461.mtl | 10 + .../pybullet_data/random_urdfs/461/461.obj | 861 ++++ .../pybullet_data/random_urdfs/461/461.urdf | 31 + .../pybullet_data/random_urdfs/462/462.mtl | 10 + .../pybullet_data/random_urdfs/462/462.obj | 549 ++ .../pybullet_data/random_urdfs/462/462.urdf | 31 + .../pybullet_data/random_urdfs/463/463.mtl | 10 + .../pybullet_data/random_urdfs/463/463.obj | 426 ++ .../pybullet_data/random_urdfs/463/463.urdf | 31 + .../pybullet_data/random_urdfs/464/464.mtl | 10 + .../pybullet_data/random_urdfs/464/464.obj | 525 ++ .../pybullet_data/random_urdfs/464/464.urdf | 31 + .../pybullet_data/random_urdfs/465/465.mtl | 10 + .../pybullet_data/random_urdfs/465/465.obj | 639 +++ .../pybullet_data/random_urdfs/465/465.urdf | 31 + .../pybullet_data/random_urdfs/466/466.mtl | 10 + .../pybullet_data/random_urdfs/466/466.obj | 657 +++ .../pybullet_data/random_urdfs/466/466.urdf | 31 + .../pybullet_data/random_urdfs/467/467.mtl | 10 + .../pybullet_data/random_urdfs/467/467.obj | 477 ++ .../pybullet_data/random_urdfs/467/467.urdf | 31 + .../pybullet_data/random_urdfs/468/468.mtl | 10 + .../pybullet_data/random_urdfs/468/468.obj | 822 +++ .../pybullet_data/random_urdfs/468/468.urdf | 31 + .../pybullet_data/random_urdfs/469/469.mtl | 10 + .../pybullet_data/random_urdfs/469/469.obj | 189 + .../pybullet_data/random_urdfs/469/469.urdf | 31 + .../pybullet_data/random_urdfs/470/470.mtl | 10 + .../pybullet_data/random_urdfs/470/470.obj | 840 +++ .../pybullet_data/random_urdfs/470/470.urdf | 31 + .../pybullet_data/random_urdfs/471/471.mtl | 10 + .../pybullet_data/random_urdfs/471/471.obj | 657 +++ .../pybullet_data/random_urdfs/471/471.urdf | 31 + .../pybullet_data/random_urdfs/472/472.mtl | 10 + .../pybullet_data/random_urdfs/472/472.obj | 504 ++ .../pybullet_data/random_urdfs/472/472.urdf | 31 + .../pybullet_data/random_urdfs/473/473.mtl | 10 + .../pybullet_data/random_urdfs/473/473.obj | 489 ++ .../pybullet_data/random_urdfs/473/473.urdf | 31 + .../pybullet_data/random_urdfs/474/474.mtl | 10 + .../pybullet_data/random_urdfs/474/474.obj | 669 +++ .../pybullet_data/random_urdfs/474/474.urdf | 31 + .../pybullet_data/random_urdfs/475/475.mtl | 10 + .../pybullet_data/random_urdfs/475/475.obj | 618 +++ .../pybullet_data/random_urdfs/475/475.urdf | 31 + .../pybullet_data/random_urdfs/476/476.mtl | 10 + .../pybullet_data/random_urdfs/476/476.obj | 555 ++ .../pybullet_data/random_urdfs/476/476.urdf | 31 + .../pybullet_data/random_urdfs/477/477.mtl | 10 + .../pybullet_data/random_urdfs/477/477.obj | 873 ++++ .../pybullet_data/random_urdfs/477/477.urdf | 31 + .../pybullet_data/random_urdfs/478/478.mtl | 10 + .../pybullet_data/random_urdfs/478/478.obj | 528 ++ .../pybullet_data/random_urdfs/478/478.urdf | 31 + .../pybullet_data/random_urdfs/479/479.mtl | 10 + .../pybullet_data/random_urdfs/479/479.obj | 2454 +++++++++ .../pybullet_data/random_urdfs/479/479.urdf | 31 + .../pybullet_data/random_urdfs/480/480.mtl | 10 + .../pybullet_data/random_urdfs/480/480.obj | 507 ++ .../pybullet_data/random_urdfs/480/480.urdf | 31 + .../pybullet_data/random_urdfs/481/481.mtl | 10 + .../pybullet_data/random_urdfs/481/481.obj | 423 ++ .../pybullet_data/random_urdfs/481/481.urdf | 31 + .../pybullet_data/random_urdfs/482/482.mtl | 10 + .../pybullet_data/random_urdfs/482/482.obj | 420 ++ .../pybullet_data/random_urdfs/482/482.urdf | 31 + .../pybullet_data/random_urdfs/483/483.mtl | 10 + .../pybullet_data/random_urdfs/483/483.obj | 432 ++ .../pybullet_data/random_urdfs/483/483.urdf | 31 + .../pybullet_data/random_urdfs/484/484.mtl | 10 + .../pybullet_data/random_urdfs/484/484.obj | 480 ++ .../pybullet_data/random_urdfs/484/484.urdf | 31 + .../pybullet_data/random_urdfs/485/485.mtl | 10 + .../pybullet_data/random_urdfs/485/485.obj | 156 + .../pybullet_data/random_urdfs/485/485.urdf | 31 + .../pybullet_data/random_urdfs/486/486.mtl | 10 + .../pybullet_data/random_urdfs/486/486.obj | 807 +++ .../pybullet_data/random_urdfs/486/486.urdf | 31 + .../pybullet_data/random_urdfs/487/487.mtl | 10 + .../pybullet_data/random_urdfs/487/487.obj | 669 +++ .../pybullet_data/random_urdfs/487/487.urdf | 31 + .../pybullet_data/random_urdfs/488/488.mtl | 10 + .../pybullet_data/random_urdfs/488/488.obj | 327 ++ .../pybullet_data/random_urdfs/488/488.urdf | 31 + .../pybullet_data/random_urdfs/489/489.mtl | 10 + .../pybullet_data/random_urdfs/489/489.obj | 921 ++++ .../pybullet_data/random_urdfs/489/489.urdf | 31 + .../pybullet_data/random_urdfs/490/490.mtl | 10 + .../pybullet_data/random_urdfs/490/490.obj | 264 + .../pybullet_data/random_urdfs/490/490.urdf | 31 + .../pybullet_data/random_urdfs/491/491.mtl | 10 + .../pybullet_data/random_urdfs/491/491.obj | 732 +++ .../pybullet_data/random_urdfs/491/491.urdf | 31 + .../pybullet_data/random_urdfs/492/492.mtl | 10 + .../pybullet_data/random_urdfs/492/492.obj | 669 +++ .../pybullet_data/random_urdfs/492/492.urdf | 31 + .../pybullet_data/random_urdfs/493/493.mtl | 10 + .../pybullet_data/random_urdfs/493/493.obj | 852 ++++ .../pybullet_data/random_urdfs/493/493.urdf | 31 + .../pybullet_data/random_urdfs/494/494.mtl | 10 + .../pybullet_data/random_urdfs/494/494.obj | 852 ++++ .../pybullet_data/random_urdfs/494/494.urdf | 31 + .../pybullet_data/random_urdfs/495/495.mtl | 10 + .../pybullet_data/random_urdfs/495/495.obj | 1170 +++++ .../pybullet_data/random_urdfs/495/495.urdf | 31 + .../pybullet_data/random_urdfs/496/496.mtl | 10 + .../pybullet_data/random_urdfs/496/496.obj | 498 ++ .../pybullet_data/random_urdfs/496/496.urdf | 31 + .../pybullet_data/random_urdfs/497/497.mtl | 10 + .../pybullet_data/random_urdfs/497/497.obj | 564 +++ .../pybullet_data/random_urdfs/497/497.urdf | 31 + .../pybullet_data/random_urdfs/498/498.mtl | 10 + .../pybullet_data/random_urdfs/498/498.obj | 504 ++ .../pybullet_data/random_urdfs/498/498.urdf | 31 + .../pybullet_data/random_urdfs/499/499.mtl | 10 + .../pybullet_data/random_urdfs/499/499.obj | 402 ++ .../pybullet_data/random_urdfs/499/499.urdf | 31 + .../pybullet_data/random_urdfs/500/500.mtl | 10 + .../pybullet_data/random_urdfs/500/500.obj | 798 +++ .../pybullet_data/random_urdfs/500/500.urdf | 31 + .../pybullet_data/random_urdfs/501/501.mtl | 10 + .../pybullet_data/random_urdfs/501/501.obj | 471 ++ .../pybullet_data/random_urdfs/501/501.urdf | 31 + .../pybullet_data/random_urdfs/502/502.mtl | 10 + .../pybullet_data/random_urdfs/502/502.obj | 366 ++ .../pybullet_data/random_urdfs/502/502.urdf | 31 + .../pybullet_data/random_urdfs/503/503.mtl | 10 + .../pybullet_data/random_urdfs/503/503.obj | 4269 ++++++++++++++++ .../pybullet_data/random_urdfs/503/503.urdf | 31 + .../pybullet_data/random_urdfs/504/504.mtl | 10 + .../pybullet_data/random_urdfs/504/504.obj | 321 ++ .../pybullet_data/random_urdfs/504/504.urdf | 31 + .../pybullet_data/random_urdfs/505/505.mtl | 10 + .../pybullet_data/random_urdfs/505/505.obj | 1815 +++++++ .../pybullet_data/random_urdfs/505/505.urdf | 31 + .../pybullet_data/random_urdfs/506/506.mtl | 10 + .../pybullet_data/random_urdfs/506/506.obj | 378 ++ .../pybullet_data/random_urdfs/506/506.urdf | 31 + .../pybullet_data/random_urdfs/507/507.mtl | 10 + .../pybullet_data/random_urdfs/507/507.obj | 1947 +++++++ .../pybullet_data/random_urdfs/507/507.urdf | 31 + .../pybullet_data/random_urdfs/508/508.mtl | 10 + .../pybullet_data/random_urdfs/508/508.obj | 486 ++ .../pybullet_data/random_urdfs/508/508.urdf | 31 + .../pybullet_data/random_urdfs/509/509.mtl | 10 + .../pybullet_data/random_urdfs/509/509.obj | 558 ++ .../pybullet_data/random_urdfs/509/509.urdf | 31 + .../pybullet_data/random_urdfs/510/510.mtl | 10 + .../pybullet_data/random_urdfs/510/510.obj | 447 ++ .../pybullet_data/random_urdfs/510/510.urdf | 31 + .../pybullet_data/random_urdfs/511/511.mtl | 10 + .../pybullet_data/random_urdfs/511/511.obj | 189 + .../pybullet_data/random_urdfs/511/511.urdf | 31 + .../pybullet_data/random_urdfs/512/512.mtl | 10 + .../pybullet_data/random_urdfs/512/512.obj | 942 ++++ .../pybullet_data/random_urdfs/512/512.urdf | 31 + .../pybullet_data/random_urdfs/513/513.mtl | 10 + .../pybullet_data/random_urdfs/513/513.obj | 273 + .../pybullet_data/random_urdfs/513/513.urdf | 31 + .../pybullet_data/random_urdfs/514/514.mtl | 10 + .../pybullet_data/random_urdfs/514/514.obj | 408 ++ .../pybullet_data/random_urdfs/514/514.urdf | 31 + .../pybullet_data/random_urdfs/515/515.mtl | 10 + .../pybullet_data/random_urdfs/515/515.obj | 819 +++ .../pybullet_data/random_urdfs/515/515.urdf | 31 + .../pybullet_data/random_urdfs/516/516.mtl | 10 + .../pybullet_data/random_urdfs/516/516.obj | 546 ++ .../pybullet_data/random_urdfs/516/516.urdf | 31 + .../pybullet_data/random_urdfs/517/517.mtl | 10 + .../pybullet_data/random_urdfs/517/517.obj | 699 +++ .../pybullet_data/random_urdfs/517/517.urdf | 31 + .../pybullet_data/random_urdfs/518/518.mtl | 10 + .../pybullet_data/random_urdfs/518/518.obj | 798 +++ .../pybullet_data/random_urdfs/518/518.urdf | 31 + .../pybullet_data/random_urdfs/519/519.mtl | 10 + .../pybullet_data/random_urdfs/519/519.obj | 588 +++ .../pybullet_data/random_urdfs/519/519.urdf | 31 + .../pybullet_data/random_urdfs/520/520.mtl | 10 + .../pybullet_data/random_urdfs/520/520.obj | 849 ++++ .../pybullet_data/random_urdfs/520/520.urdf | 31 + .../pybullet_data/random_urdfs/521/521.mtl | 10 + .../pybullet_data/random_urdfs/521/521.obj | 501 ++ .../pybullet_data/random_urdfs/521/521.urdf | 31 + .../pybullet_data/random_urdfs/522/522.mtl | 10 + .../pybullet_data/random_urdfs/522/522.obj | 861 ++++ .../pybullet_data/random_urdfs/522/522.urdf | 31 + .../pybullet_data/random_urdfs/523/523.mtl | 10 + .../pybullet_data/random_urdfs/523/523.obj | 471 ++ .../pybullet_data/random_urdfs/523/523.urdf | 31 + .../pybullet_data/random_urdfs/524/524.mtl | 10 + .../pybullet_data/random_urdfs/524/524.obj | 3171 ++++++++++++ .../pybullet_data/random_urdfs/524/524.urdf | 31 + .../pybullet_data/random_urdfs/525/525.mtl | 10 + .../pybullet_data/random_urdfs/525/525.obj | 315 ++ .../pybullet_data/random_urdfs/525/525.urdf | 31 + .../pybullet_data/random_urdfs/526/526.mtl | 10 + .../pybullet_data/random_urdfs/526/526.obj | 537 ++ .../pybullet_data/random_urdfs/526/526.urdf | 31 + .../pybullet_data/random_urdfs/527/527.mtl | 10 + .../pybullet_data/random_urdfs/527/527.obj | 864 ++++ .../pybullet_data/random_urdfs/527/527.urdf | 31 + .../pybullet_data/random_urdfs/528/528.mtl | 10 + .../pybullet_data/random_urdfs/528/528.obj | 510 ++ .../pybullet_data/random_urdfs/528/528.urdf | 31 + .../pybullet_data/random_urdfs/529/529.mtl | 10 + .../pybullet_data/random_urdfs/529/529.obj | 642 +++ .../pybullet_data/random_urdfs/529/529.urdf | 31 + .../pybullet_data/random_urdfs/530/530.mtl | 10 + .../pybullet_data/random_urdfs/530/530.obj | 681 +++ .../pybullet_data/random_urdfs/530/530.urdf | 31 + .../pybullet_data/random_urdfs/531/531.mtl | 10 + .../pybullet_data/random_urdfs/531/531.obj | 366 ++ .../pybullet_data/random_urdfs/531/531.urdf | 31 + .../pybullet_data/random_urdfs/532/532.mtl | 10 + .../pybullet_data/random_urdfs/532/532.obj | 558 ++ .../pybullet_data/random_urdfs/532/532.urdf | 31 + .../pybullet_data/random_urdfs/533/533.mtl | 10 + .../pybullet_data/random_urdfs/533/533.obj | 513 ++ .../pybullet_data/random_urdfs/533/533.urdf | 31 + .../pybullet_data/random_urdfs/534/534.mtl | 10 + .../pybullet_data/random_urdfs/534/534.obj | 819 +++ .../pybullet_data/random_urdfs/534/534.urdf | 31 + .../pybullet_data/random_urdfs/535/535.mtl | 10 + .../pybullet_data/random_urdfs/535/535.obj | 576 +++ .../pybullet_data/random_urdfs/535/535.urdf | 31 + .../pybullet_data/random_urdfs/536/536.mtl | 10 + .../pybullet_data/random_urdfs/536/536.obj | 1119 ++++ .../pybullet_data/random_urdfs/536/536.urdf | 31 + .../pybullet_data/random_urdfs/537/537.mtl | 10 + .../pybullet_data/random_urdfs/537/537.obj | 510 ++ .../pybullet_data/random_urdfs/537/537.urdf | 31 + .../pybullet_data/random_urdfs/538/538.mtl | 10 + .../pybullet_data/random_urdfs/538/538.obj | 717 +++ .../pybullet_data/random_urdfs/538/538.urdf | 31 + .../pybullet_data/random_urdfs/539/539.mtl | 10 + .../pybullet_data/random_urdfs/539/539.obj | 849 ++++ .../pybullet_data/random_urdfs/539/539.urdf | 31 + .../pybullet_data/random_urdfs/540/540.mtl | 10 + .../pybullet_data/random_urdfs/540/540.obj | 507 ++ .../pybullet_data/random_urdfs/540/540.urdf | 31 + .../pybullet_data/random_urdfs/541/541.mtl | 10 + .../pybullet_data/random_urdfs/541/541.obj | 633 +++ .../pybullet_data/random_urdfs/541/541.urdf | 31 + .../pybullet_data/random_urdfs/542/542.mtl | 10 + .../pybullet_data/random_urdfs/542/542.obj | 387 ++ .../pybullet_data/random_urdfs/542/542.urdf | 31 + .../pybullet_data/random_urdfs/543/543.mtl | 10 + .../pybullet_data/random_urdfs/543/543.obj | 654 +++ .../pybullet_data/random_urdfs/543/543.urdf | 31 + .../pybullet_data/random_urdfs/544/544.mtl | 10 + .../pybullet_data/random_urdfs/544/544.obj | 354 ++ .../pybullet_data/random_urdfs/544/544.urdf | 31 + .../pybullet_data/random_urdfs/545/545.mtl | 10 + .../pybullet_data/random_urdfs/545/545.obj | 645 +++ .../pybullet_data/random_urdfs/545/545.urdf | 31 + .../pybullet_data/random_urdfs/546/546.mtl | 10 + .../pybullet_data/random_urdfs/546/546.obj | 1857 +++++++ .../pybullet_data/random_urdfs/546/546.urdf | 31 + .../pybullet_data/random_urdfs/547/547.mtl | 10 + .../pybullet_data/random_urdfs/547/547.obj | 744 +++ .../pybullet_data/random_urdfs/547/547.urdf | 31 + .../pybullet_data/random_urdfs/548/548.mtl | 10 + .../pybullet_data/random_urdfs/548/548.obj | 417 ++ .../pybullet_data/random_urdfs/548/548.urdf | 31 + .../pybullet_data/random_urdfs/549/549.mtl | 10 + .../pybullet_data/random_urdfs/549/549.obj | 987 ++++ .../pybullet_data/random_urdfs/549/549.urdf | 31 + .../pybullet_data/random_urdfs/550/550.mtl | 10 + .../pybullet_data/random_urdfs/550/550.obj | 1023 ++++ .../pybullet_data/random_urdfs/550/550.urdf | 31 + .../pybullet_data/random_urdfs/551/551.mtl | 10 + .../pybullet_data/random_urdfs/551/551.obj | 219 + .../pybullet_data/random_urdfs/551/551.urdf | 31 + .../pybullet_data/random_urdfs/552/552.mtl | 10 + .../pybullet_data/random_urdfs/552/552.obj | 1941 +++++++ .../pybullet_data/random_urdfs/552/552.urdf | 31 + .../pybullet_data/random_urdfs/553/553.mtl | 10 + .../pybullet_data/random_urdfs/553/553.obj | 528 ++ .../pybullet_data/random_urdfs/553/553.urdf | 31 + .../pybullet_data/random_urdfs/554/554.mtl | 10 + .../pybullet_data/random_urdfs/554/554.obj | 420 ++ .../pybullet_data/random_urdfs/554/554.urdf | 31 + .../pybullet_data/random_urdfs/555/555.mtl | 10 + .../pybullet_data/random_urdfs/555/555.obj | 411 ++ .../pybullet_data/random_urdfs/555/555.urdf | 31 + .../pybullet_data/random_urdfs/556/556.mtl | 10 + .../pybullet_data/random_urdfs/556/556.obj | 375 ++ .../pybullet_data/random_urdfs/556/556.urdf | 31 + .../pybullet_data/random_urdfs/557/557.mtl | 10 + .../pybullet_data/random_urdfs/557/557.obj | 813 +++ .../pybullet_data/random_urdfs/557/557.urdf | 31 + .../pybullet_data/random_urdfs/558/558.mtl | 10 + .../pybullet_data/random_urdfs/558/558.obj | 558 ++ .../pybullet_data/random_urdfs/558/558.urdf | 31 + .../pybullet_data/random_urdfs/559/559.mtl | 10 + .../pybullet_data/random_urdfs/559/559.obj | 423 ++ .../pybullet_data/random_urdfs/559/559.urdf | 31 + .../pybullet_data/random_urdfs/560/560.mtl | 10 + .../pybullet_data/random_urdfs/560/560.obj | 492 ++ .../pybullet_data/random_urdfs/560/560.urdf | 31 + .../pybullet_data/random_urdfs/561/561.mtl | 10 + .../pybullet_data/random_urdfs/561/561.obj | 717 +++ .../pybullet_data/random_urdfs/561/561.urdf | 31 + .../pybullet_data/random_urdfs/562/562.mtl | 10 + .../pybullet_data/random_urdfs/562/562.obj | 504 ++ .../pybullet_data/random_urdfs/562/562.urdf | 31 + .../pybullet_data/random_urdfs/563/563.mtl | 10 + .../pybullet_data/random_urdfs/563/563.obj | 189 + .../pybullet_data/random_urdfs/563/563.urdf | 31 + .../pybullet_data/random_urdfs/564/564.mtl | 10 + .../pybullet_data/random_urdfs/564/564.obj | 609 +++ .../pybullet_data/random_urdfs/564/564.urdf | 31 + .../pybullet_data/random_urdfs/565/565.mtl | 10 + .../pybullet_data/random_urdfs/565/565.obj | 249 + .../pybullet_data/random_urdfs/565/565.urdf | 31 + .../pybullet_data/random_urdfs/566/566.mtl | 10 + .../pybullet_data/random_urdfs/566/566.obj | 441 ++ .../pybullet_data/random_urdfs/566/566.urdf | 31 + .../pybullet_data/random_urdfs/567/567.mtl | 10 + .../pybullet_data/random_urdfs/567/567.obj | 321 ++ .../pybullet_data/random_urdfs/567/567.urdf | 31 + .../pybullet_data/random_urdfs/568/568.mtl | 10 + .../pybullet_data/random_urdfs/568/568.obj | 492 ++ .../pybullet_data/random_urdfs/568/568.urdf | 31 + .../pybullet_data/random_urdfs/569/569.mtl | 10 + .../pybullet_data/random_urdfs/569/569.obj | 489 ++ .../pybullet_data/random_urdfs/569/569.urdf | 31 + .../pybullet_data/random_urdfs/570/570.mtl | 10 + .../pybullet_data/random_urdfs/570/570.obj | 1626 ++++++ .../pybullet_data/random_urdfs/570/570.urdf | 31 + .../pybullet_data/random_urdfs/571/571.mtl | 10 + .../pybullet_data/random_urdfs/571/571.obj | 321 ++ .../pybullet_data/random_urdfs/571/571.urdf | 31 + .../pybullet_data/random_urdfs/572/572.mtl | 10 + .../pybullet_data/random_urdfs/572/572.obj | 591 +++ .../pybullet_data/random_urdfs/572/572.urdf | 31 + .../pybullet_data/random_urdfs/573/573.mtl | 10 + .../pybullet_data/random_urdfs/573/573.obj | 807 +++ .../pybullet_data/random_urdfs/573/573.urdf | 31 + .../pybullet_data/random_urdfs/574/574.mtl | 10 + .../pybullet_data/random_urdfs/574/574.obj | 537 ++ .../pybullet_data/random_urdfs/574/574.urdf | 31 + .../pybullet_data/random_urdfs/575/575.mtl | 10 + .../pybullet_data/random_urdfs/575/575.obj | 1038 ++++ .../pybullet_data/random_urdfs/575/575.urdf | 31 + .../pybullet_data/random_urdfs/576/576.mtl | 10 + .../pybullet_data/random_urdfs/576/576.obj | 837 +++ .../pybullet_data/random_urdfs/576/576.urdf | 31 + .../pybullet_data/random_urdfs/577/577.mtl | 10 + .../pybullet_data/random_urdfs/577/577.obj | 654 +++ .../pybullet_data/random_urdfs/577/577.urdf | 31 + .../pybullet_data/random_urdfs/578/578.mtl | 10 + .../pybullet_data/random_urdfs/578/578.obj | 645 +++ .../pybullet_data/random_urdfs/578/578.urdf | 31 + .../pybullet_data/random_urdfs/579/579.mtl | 10 + .../pybullet_data/random_urdfs/579/579.obj | 621 +++ .../pybullet_data/random_urdfs/579/579.urdf | 31 + .../pybullet_data/random_urdfs/580/580.mtl | 10 + .../pybullet_data/random_urdfs/580/580.obj | 1629 ++++++ .../pybullet_data/random_urdfs/580/580.urdf | 31 + .../pybullet_data/random_urdfs/581/581.mtl | 10 + .../pybullet_data/random_urdfs/581/581.obj | 495 ++ .../pybullet_data/random_urdfs/581/581.urdf | 31 + .../pybullet_data/random_urdfs/582/582.mtl | 10 + .../pybullet_data/random_urdfs/582/582.obj | 747 +++ .../pybullet_data/random_urdfs/582/582.urdf | 31 + .../pybullet_data/random_urdfs/583/583.mtl | 10 + .../pybullet_data/random_urdfs/583/583.obj | 513 ++ .../pybullet_data/random_urdfs/583/583.urdf | 31 + .../pybullet_data/random_urdfs/584/584.mtl | 10 + .../pybullet_data/random_urdfs/584/584.obj | 627 +++ .../pybullet_data/random_urdfs/584/584.urdf | 31 + .../pybullet_data/random_urdfs/585/585.mtl | 10 + .../pybullet_data/random_urdfs/585/585.obj | 819 +++ .../pybullet_data/random_urdfs/585/585.urdf | 31 + .../pybullet_data/random_urdfs/586/586.mtl | 10 + .../pybullet_data/random_urdfs/586/586.obj | 1152 +++++ .../pybullet_data/random_urdfs/586/586.urdf | 31 + .../pybullet_data/random_urdfs/587/587.mtl | 10 + .../pybullet_data/random_urdfs/587/587.obj | 666 +++ .../pybullet_data/random_urdfs/587/587.urdf | 31 + .../pybullet_data/random_urdfs/588/588.mtl | 10 + .../pybullet_data/random_urdfs/588/588.obj | 519 ++ .../pybullet_data/random_urdfs/588/588.urdf | 31 + .../pybullet_data/random_urdfs/589/589.mtl | 10 + .../pybullet_data/random_urdfs/589/589.obj | 573 +++ .../pybullet_data/random_urdfs/589/589.urdf | 31 + .../pybullet_data/random_urdfs/590/590.mtl | 10 + .../pybullet_data/random_urdfs/590/590.obj | 597 +++ .../pybullet_data/random_urdfs/590/590.urdf | 31 + .../pybullet_data/random_urdfs/591/591.mtl | 10 + .../pybullet_data/random_urdfs/591/591.obj | 486 ++ .../pybullet_data/random_urdfs/591/591.urdf | 31 + .../pybullet_data/random_urdfs/592/592.mtl | 10 + .../pybullet_data/random_urdfs/592/592.obj | 456 ++ .../pybullet_data/random_urdfs/592/592.urdf | 31 + .../pybullet_data/random_urdfs/593/593.mtl | 10 + .../pybullet_data/random_urdfs/593/593.obj | 492 ++ .../pybullet_data/random_urdfs/593/593.urdf | 31 + .../pybullet_data/random_urdfs/594/594.mtl | 10 + .../pybullet_data/random_urdfs/594/594.obj | 1155 +++++ .../pybullet_data/random_urdfs/594/594.urdf | 31 + .../pybullet_data/random_urdfs/595/595.mtl | 10 + .../pybullet_data/random_urdfs/595/595.obj | 483 ++ .../pybullet_data/random_urdfs/595/595.urdf | 31 + .../pybullet_data/random_urdfs/596/596.mtl | 10 + .../pybullet_data/random_urdfs/596/596.obj | 1212 +++++ .../pybullet_data/random_urdfs/596/596.urdf | 31 + .../pybullet_data/random_urdfs/597/597.mtl | 10 + .../pybullet_data/random_urdfs/597/597.obj | 279 + .../pybullet_data/random_urdfs/597/597.urdf | 31 + .../pybullet_data/random_urdfs/598/598.mtl | 10 + .../pybullet_data/random_urdfs/598/598.obj | 909 ++++ .../pybullet_data/random_urdfs/598/598.urdf | 31 + .../pybullet_data/random_urdfs/599/599.mtl | 10 + .../pybullet_data/random_urdfs/599/599.obj | 459 ++ .../pybullet_data/random_urdfs/599/599.urdf | 31 + .../pybullet_data/random_urdfs/600/600.mtl | 10 + .../pybullet_data/random_urdfs/600/600.obj | 555 ++ .../pybullet_data/random_urdfs/600/600.urdf | 31 + .../pybullet_data/random_urdfs/601/601.mtl | 10 + .../pybullet_data/random_urdfs/601/601.obj | 741 +++ .../pybullet_data/random_urdfs/601/601.urdf | 31 + .../pybullet_data/random_urdfs/602/602.mtl | 10 + .../pybullet_data/random_urdfs/602/602.obj | 2976 +++++++++++ .../pybullet_data/random_urdfs/602/602.urdf | 31 + .../pybullet_data/random_urdfs/603/603.mtl | 10 + .../pybullet_data/random_urdfs/603/603.obj | 615 +++ .../pybullet_data/random_urdfs/603/603.urdf | 31 + .../pybullet_data/random_urdfs/604/604.mtl | 10 + .../pybullet_data/random_urdfs/604/604.obj | 294 ++ .../pybullet_data/random_urdfs/604/604.urdf | 31 + .../pybullet_data/random_urdfs/605/605.mtl | 10 + .../pybullet_data/random_urdfs/605/605.obj | 738 +++ .../pybullet_data/random_urdfs/605/605.urdf | 31 + .../pybullet_data/random_urdfs/606/606.mtl | 10 + .../pybullet_data/random_urdfs/606/606.obj | 279 + .../pybullet_data/random_urdfs/606/606.urdf | 31 + .../pybullet_data/random_urdfs/607/607.mtl | 10 + .../pybullet_data/random_urdfs/607/607.obj | 888 ++++ .../pybullet_data/random_urdfs/607/607.urdf | 31 + .../pybullet_data/random_urdfs/608/608.mtl | 10 + .../pybullet_data/random_urdfs/608/608.obj | 666 +++ .../pybullet_data/random_urdfs/608/608.urdf | 31 + .../pybullet_data/random_urdfs/609/609.mtl | 10 + .../pybullet_data/random_urdfs/609/609.obj | 477 ++ .../pybullet_data/random_urdfs/609/609.urdf | 31 + .../pybullet_data/random_urdfs/610/610.mtl | 10 + .../pybullet_data/random_urdfs/610/610.obj | 720 +++ .../pybullet_data/random_urdfs/610/610.urdf | 31 + .../pybullet_data/random_urdfs/611/611.mtl | 10 + .../pybullet_data/random_urdfs/611/611.obj | 468 ++ .../pybullet_data/random_urdfs/611/611.urdf | 31 + .../pybullet_data/random_urdfs/612/612.mtl | 10 + .../pybullet_data/random_urdfs/612/612.obj | 1068 ++++ .../pybullet_data/random_urdfs/612/612.urdf | 31 + .../pybullet_data/random_urdfs/613/613.mtl | 10 + .../pybullet_data/random_urdfs/613/613.obj | 480 ++ .../pybullet_data/random_urdfs/613/613.urdf | 31 + .../pybullet_data/random_urdfs/614/614.mtl | 10 + .../pybullet_data/random_urdfs/614/614.obj | 1170 +++++ .../pybullet_data/random_urdfs/614/614.urdf | 31 + .../pybullet_data/random_urdfs/615/615.mtl | 10 + .../pybullet_data/random_urdfs/615/615.obj | 570 +++ .../pybullet_data/random_urdfs/615/615.urdf | 31 + .../pybullet_data/random_urdfs/616/616.mtl | 10 + .../pybullet_data/random_urdfs/616/616.obj | 684 +++ .../pybullet_data/random_urdfs/616/616.urdf | 31 + .../pybullet_data/random_urdfs/617/617.mtl | 10 + .../pybullet_data/random_urdfs/617/617.obj | 456 ++ .../pybullet_data/random_urdfs/617/617.urdf | 31 + .../pybullet_data/random_urdfs/618/618.mtl | 10 + .../pybullet_data/random_urdfs/618/618.obj | 372 ++ .../pybullet_data/random_urdfs/618/618.urdf | 31 + .../pybullet_data/random_urdfs/619/619.mtl | 10 + .../pybullet_data/random_urdfs/619/619.obj | 771 +++ .../pybullet_data/random_urdfs/619/619.urdf | 31 + .../pybullet_data/random_urdfs/620/620.mtl | 10 + .../pybullet_data/random_urdfs/620/620.obj | 693 +++ .../pybullet_data/random_urdfs/620/620.urdf | 31 + .../pybullet_data/random_urdfs/621/621.mtl | 10 + .../pybullet_data/random_urdfs/621/621.obj | 453 ++ .../pybullet_data/random_urdfs/621/621.urdf | 31 + .../pybullet_data/random_urdfs/622/622.mtl | 10 + .../pybullet_data/random_urdfs/622/622.obj | 543 ++ .../pybullet_data/random_urdfs/622/622.urdf | 31 + .../pybullet_data/random_urdfs/623/623.mtl | 10 + .../pybullet_data/random_urdfs/623/623.obj | 303 ++ .../pybullet_data/random_urdfs/623/623.urdf | 31 + .../pybullet_data/random_urdfs/624/624.mtl | 10 + .../pybullet_data/random_urdfs/624/624.obj | 438 ++ .../pybullet_data/random_urdfs/624/624.urdf | 31 + .../pybullet_data/random_urdfs/625/625.mtl | 10 + .../pybullet_data/random_urdfs/625/625.obj | 360 ++ .../pybullet_data/random_urdfs/625/625.urdf | 31 + .../pybullet_data/random_urdfs/626/626.mtl | 10 + .../pybullet_data/random_urdfs/626/626.obj | 840 +++ .../pybullet_data/random_urdfs/626/626.urdf | 31 + .../pybullet_data/random_urdfs/627/627.mtl | 10 + .../pybullet_data/random_urdfs/627/627.obj | 663 +++ .../pybullet_data/random_urdfs/627/627.urdf | 31 + .../pybullet_data/random_urdfs/628/628.mtl | 10 + .../pybullet_data/random_urdfs/628/628.obj | 450 ++ .../pybullet_data/random_urdfs/628/628.urdf | 31 + .../pybullet_data/random_urdfs/629/629.mtl | 10 + .../pybullet_data/random_urdfs/629/629.obj | 558 ++ .../pybullet_data/random_urdfs/629/629.urdf | 31 + .../pybullet_data/random_urdfs/630/630.mtl | 10 + .../pybullet_data/random_urdfs/630/630.obj | 639 +++ .../pybullet_data/random_urdfs/630/630.urdf | 31 + .../pybullet_data/random_urdfs/631/631.mtl | 10 + .../pybullet_data/random_urdfs/631/631.obj | 669 +++ .../pybullet_data/random_urdfs/631/631.urdf | 31 + .../pybullet_data/random_urdfs/632/632.mtl | 10 + .../pybullet_data/random_urdfs/632/632.obj | 696 +++ .../pybullet_data/random_urdfs/632/632.urdf | 31 + .../pybullet_data/random_urdfs/633/633.mtl | 10 + .../pybullet_data/random_urdfs/633/633.obj | 471 ++ .../pybullet_data/random_urdfs/633/633.urdf | 31 + .../pybullet_data/random_urdfs/634/634.mtl | 10 + .../pybullet_data/random_urdfs/634/634.obj | 681 +++ .../pybullet_data/random_urdfs/634/634.urdf | 31 + .../pybullet_data/random_urdfs/635/635.mtl | 10 + .../pybullet_data/random_urdfs/635/635.obj | 762 +++ .../pybullet_data/random_urdfs/635/635.urdf | 31 + .../pybullet_data/random_urdfs/636/636.mtl | 10 + .../pybullet_data/random_urdfs/636/636.obj | 447 ++ .../pybullet_data/random_urdfs/636/636.urdf | 31 + .../pybullet_data/random_urdfs/637/637.mtl | 10 + .../pybullet_data/random_urdfs/637/637.obj | 534 ++ .../pybullet_data/random_urdfs/637/637.urdf | 31 + .../pybullet_data/random_urdfs/638/638.mtl | 10 + .../pybullet_data/random_urdfs/638/638.obj | 486 ++ .../pybullet_data/random_urdfs/638/638.urdf | 31 + .../pybullet_data/random_urdfs/639/639.mtl | 10 + .../pybullet_data/random_urdfs/639/639.obj | 378 ++ .../pybullet_data/random_urdfs/639/639.urdf | 31 + .../pybullet_data/random_urdfs/640/640.mtl | 10 + .../pybullet_data/random_urdfs/640/640.obj | 1158 +++++ .../pybullet_data/random_urdfs/640/640.urdf | 31 + .../pybullet_data/random_urdfs/641/641.mtl | 10 + .../pybullet_data/random_urdfs/641/641.obj | 378 ++ .../pybullet_data/random_urdfs/641/641.urdf | 31 + .../pybullet_data/random_urdfs/642/642.mtl | 10 + .../pybullet_data/random_urdfs/642/642.obj | 369 ++ .../pybullet_data/random_urdfs/642/642.urdf | 31 + .../pybullet_data/random_urdfs/643/643.mtl | 10 + .../pybullet_data/random_urdfs/643/643.obj | 270 + .../pybullet_data/random_urdfs/643/643.urdf | 31 + .../pybullet_data/random_urdfs/644/644.mtl | 10 + .../pybullet_data/random_urdfs/644/644.obj | 525 ++ .../pybullet_data/random_urdfs/644/644.urdf | 31 + .../pybullet_data/random_urdfs/645/645.mtl | 10 + .../pybullet_data/random_urdfs/645/645.obj | 471 ++ .../pybullet_data/random_urdfs/645/645.urdf | 31 + .../pybullet_data/random_urdfs/646/646.mtl | 10 + .../pybullet_data/random_urdfs/646/646.obj | 936 ++++ .../pybullet_data/random_urdfs/646/646.urdf | 31 + .../pybullet_data/random_urdfs/647/647.mtl | 10 + .../pybullet_data/random_urdfs/647/647.obj | 573 +++ .../pybullet_data/random_urdfs/647/647.urdf | 31 + .../pybullet_data/random_urdfs/648/648.mtl | 10 + .../pybullet_data/random_urdfs/648/648.obj | 1191 +++++ .../pybullet_data/random_urdfs/648/648.urdf | 31 + .../pybullet_data/random_urdfs/649/649.mtl | 10 + .../pybullet_data/random_urdfs/649/649.obj | 189 + .../pybullet_data/random_urdfs/649/649.urdf | 31 + .../pybullet_data/random_urdfs/650/650.mtl | 10 + .../pybullet_data/random_urdfs/650/650.obj | 561 ++ .../pybullet_data/random_urdfs/650/650.urdf | 31 + .../pybullet_data/random_urdfs/651/651.mtl | 10 + .../pybullet_data/random_urdfs/651/651.obj | 849 ++++ .../pybullet_data/random_urdfs/651/651.urdf | 31 + .../pybullet_data/random_urdfs/652/652.mtl | 10 + .../pybullet_data/random_urdfs/652/652.obj | 822 +++ .../pybullet_data/random_urdfs/652/652.urdf | 31 + .../pybullet_data/random_urdfs/653/653.mtl | 10 + .../pybullet_data/random_urdfs/653/653.obj | 438 ++ .../pybullet_data/random_urdfs/653/653.urdf | 31 + .../pybullet_data/random_urdfs/654/654.mtl | 10 + .../pybullet_data/random_urdfs/654/654.obj | 456 ++ .../pybullet_data/random_urdfs/654/654.urdf | 31 + .../pybullet_data/random_urdfs/655/655.mtl | 10 + .../pybullet_data/random_urdfs/655/655.obj | 501 ++ .../pybullet_data/random_urdfs/655/655.urdf | 31 + .../pybullet_data/random_urdfs/656/656.mtl | 10 + .../pybullet_data/random_urdfs/656/656.obj | 438 ++ .../pybullet_data/random_urdfs/656/656.urdf | 31 + .../pybullet_data/random_urdfs/657/657.mtl | 10 + .../pybullet_data/random_urdfs/657/657.obj | 375 ++ .../pybullet_data/random_urdfs/657/657.urdf | 31 + .../pybullet_data/random_urdfs/658/658.mtl | 10 + .../pybullet_data/random_urdfs/658/658.obj | 648 +++ .../pybullet_data/random_urdfs/658/658.urdf | 31 + .../pybullet_data/random_urdfs/659/659.mtl | 10 + .../pybullet_data/random_urdfs/659/659.obj | 588 +++ .../pybullet_data/random_urdfs/659/659.urdf | 31 + .../pybullet_data/random_urdfs/660/660.mtl | 10 + .../pybullet_data/random_urdfs/660/660.obj | 582 +++ .../pybullet_data/random_urdfs/660/660.urdf | 31 + .../pybullet_data/random_urdfs/661/661.mtl | 10 + .../pybullet_data/random_urdfs/661/661.obj | 453 ++ .../pybullet_data/random_urdfs/661/661.urdf | 31 + .../pybullet_data/random_urdfs/662/662.mtl | 10 + .../pybullet_data/random_urdfs/662/662.obj | 885 ++++ .../pybullet_data/random_urdfs/662/662.urdf | 31 + .../pybullet_data/random_urdfs/663/663.mtl | 10 + .../pybullet_data/random_urdfs/663/663.obj | 546 ++ .../pybullet_data/random_urdfs/663/663.urdf | 31 + .../pybullet_data/random_urdfs/664/664.mtl | 10 + .../pybullet_data/random_urdfs/664/664.obj | 450 ++ .../pybullet_data/random_urdfs/664/664.urdf | 31 + .../pybullet_data/random_urdfs/665/665.mtl | 10 + .../pybullet_data/random_urdfs/665/665.obj | 531 ++ .../pybullet_data/random_urdfs/665/665.urdf | 31 + .../pybullet_data/random_urdfs/666/666.mtl | 10 + .../pybullet_data/random_urdfs/666/666.obj | 444 ++ .../pybullet_data/random_urdfs/666/666.urdf | 31 + .../pybullet_data/random_urdfs/667/667.mtl | 10 + .../pybullet_data/random_urdfs/667/667.obj | 750 +++ .../pybullet_data/random_urdfs/667/667.urdf | 31 + .../pybullet_data/random_urdfs/668/668.mtl | 10 + .../pybullet_data/random_urdfs/668/668.obj | 669 +++ .../pybullet_data/random_urdfs/668/668.urdf | 31 + .../pybullet_data/random_urdfs/669/669.mtl | 10 + .../pybullet_data/random_urdfs/669/669.obj | 609 +++ .../pybullet_data/random_urdfs/669/669.urdf | 31 + .../pybullet_data/random_urdfs/670/670.mtl | 10 + .../pybullet_data/random_urdfs/670/670.obj | 411 ++ .../pybullet_data/random_urdfs/670/670.urdf | 31 + .../pybullet_data/random_urdfs/671/671.mtl | 10 + .../pybullet_data/random_urdfs/671/671.obj | 477 ++ .../pybullet_data/random_urdfs/671/671.urdf | 31 + .../pybullet_data/random_urdfs/672/672.mtl | 10 + .../pybullet_data/random_urdfs/672/672.obj | 525 ++ .../pybullet_data/random_urdfs/672/672.urdf | 31 + .../pybullet_data/random_urdfs/673/673.mtl | 10 + .../pybullet_data/random_urdfs/673/673.obj | 687 +++ .../pybullet_data/random_urdfs/673/673.urdf | 31 + .../pybullet_data/random_urdfs/674/674.mtl | 10 + .../pybullet_data/random_urdfs/674/674.obj | 453 ++ .../pybullet_data/random_urdfs/674/674.urdf | 31 + .../pybullet_data/random_urdfs/675/675.mtl | 10 + .../pybullet_data/random_urdfs/675/675.obj | 699 +++ .../pybullet_data/random_urdfs/675/675.urdf | 31 + .../pybullet_data/random_urdfs/676/676.mtl | 10 + .../pybullet_data/random_urdfs/676/676.obj | 531 ++ .../pybullet_data/random_urdfs/676/676.urdf | 31 + .../pybullet_data/random_urdfs/677/677.mtl | 10 + .../pybullet_data/random_urdfs/677/677.obj | 450 ++ .../pybullet_data/random_urdfs/677/677.urdf | 31 + .../pybullet_data/random_urdfs/678/678.mtl | 10 + .../pybullet_data/random_urdfs/678/678.obj | 444 ++ .../pybullet_data/random_urdfs/678/678.urdf | 31 + .../pybullet_data/random_urdfs/679/679.mtl | 10 + .../pybullet_data/random_urdfs/679/679.obj | 372 ++ .../pybullet_data/random_urdfs/679/679.urdf | 31 + .../pybullet_data/random_urdfs/680/680.mtl | 10 + .../pybullet_data/random_urdfs/680/680.obj | 591 +++ .../pybullet_data/random_urdfs/680/680.urdf | 31 + .../pybullet_data/random_urdfs/681/681.mtl | 10 + .../pybullet_data/random_urdfs/681/681.obj | 717 +++ .../pybullet_data/random_urdfs/681/681.urdf | 31 + .../pybullet_data/random_urdfs/682/682.mtl | 10 + .../pybullet_data/random_urdfs/682/682.obj | 1296 +++++ .../pybullet_data/random_urdfs/682/682.urdf | 31 + .../pybullet_data/random_urdfs/683/683.mtl | 10 + .../pybullet_data/random_urdfs/683/683.obj | 1107 ++++ .../pybullet_data/random_urdfs/683/683.urdf | 31 + .../pybullet_data/random_urdfs/684/684.mtl | 10 + .../pybullet_data/random_urdfs/684/684.obj | 714 +++ .../pybullet_data/random_urdfs/684/684.urdf | 31 + .../pybullet_data/random_urdfs/685/685.mtl | 10 + .../pybullet_data/random_urdfs/685/685.obj | 360 ++ .../pybullet_data/random_urdfs/685/685.urdf | 31 + .../pybullet_data/random_urdfs/686/686.mtl | 10 + .../pybullet_data/random_urdfs/686/686.obj | 582 +++ .../pybullet_data/random_urdfs/686/686.urdf | 31 + .../pybullet_data/random_urdfs/687/687.mtl | 10 + .../pybullet_data/random_urdfs/687/687.obj | 516 ++ .../pybullet_data/random_urdfs/687/687.urdf | 31 + .../pybullet_data/random_urdfs/688/688.mtl | 10 + .../pybullet_data/random_urdfs/688/688.obj | 678 +++ .../pybullet_data/random_urdfs/688/688.urdf | 31 + .../pybullet_data/random_urdfs/689/689.mtl | 10 + .../pybullet_data/random_urdfs/689/689.obj | 861 ++++ .../pybullet_data/random_urdfs/689/689.urdf | 31 + .../pybullet_data/random_urdfs/690/690.mtl | 10 + .../pybullet_data/random_urdfs/690/690.obj | 597 +++ .../pybullet_data/random_urdfs/690/690.urdf | 31 + .../pybullet_data/random_urdfs/691/691.mtl | 10 + .../pybullet_data/random_urdfs/691/691.obj | 528 ++ .../pybullet_data/random_urdfs/691/691.urdf | 31 + .../pybullet_data/random_urdfs/692/692.mtl | 10 + .../pybullet_data/random_urdfs/692/692.obj | 585 +++ .../pybullet_data/random_urdfs/692/692.urdf | 31 + .../pybullet_data/random_urdfs/693/693.mtl | 10 + .../pybullet_data/random_urdfs/693/693.obj | 621 +++ .../pybullet_data/random_urdfs/693/693.urdf | 31 + .../pybullet_data/random_urdfs/694/694.mtl | 10 + .../pybullet_data/random_urdfs/694/694.obj | 498 ++ .../pybullet_data/random_urdfs/694/694.urdf | 31 + .../pybullet_data/random_urdfs/695/695.mtl | 10 + .../pybullet_data/random_urdfs/695/695.obj | 603 +++ .../pybullet_data/random_urdfs/695/695.urdf | 31 + .../pybullet_data/random_urdfs/696/696.mtl | 10 + .../pybullet_data/random_urdfs/696/696.obj | 1038 ++++ .../pybullet_data/random_urdfs/696/696.urdf | 31 + .../pybullet_data/random_urdfs/697/697.mtl | 10 + .../pybullet_data/random_urdfs/697/697.obj | 438 ++ .../pybullet_data/random_urdfs/697/697.urdf | 31 + .../pybullet_data/random_urdfs/698/698.mtl | 10 + .../pybullet_data/random_urdfs/698/698.obj | 627 +++ .../pybullet_data/random_urdfs/698/698.urdf | 31 + .../pybullet_data/random_urdfs/699/699.mtl | 10 + .../pybullet_data/random_urdfs/699/699.obj | 684 +++ .../pybullet_data/random_urdfs/699/699.urdf | 31 + .../pybullet_data/random_urdfs/700/700.mtl | 10 + .../pybullet_data/random_urdfs/700/700.obj | 819 +++ .../pybullet_data/random_urdfs/700/700.urdf | 31 + .../pybullet_data/random_urdfs/701/701.mtl | 10 + .../pybullet_data/random_urdfs/701/701.obj | 303 ++ .../pybullet_data/random_urdfs/701/701.urdf | 31 + .../pybullet_data/random_urdfs/702/702.mtl | 10 + .../pybullet_data/random_urdfs/702/702.obj | 435 ++ .../pybullet_data/random_urdfs/702/702.urdf | 31 + .../pybullet_data/random_urdfs/703/703.mtl | 10 + .../pybullet_data/random_urdfs/703/703.obj | 2076 ++++++++ .../pybullet_data/random_urdfs/703/703.urdf | 31 + .../pybullet_data/random_urdfs/704/704.mtl | 10 + .../pybullet_data/random_urdfs/704/704.obj | 804 +++ .../pybullet_data/random_urdfs/704/704.urdf | 31 + .../pybullet_data/random_urdfs/705/705.mtl | 10 + .../pybullet_data/random_urdfs/705/705.obj | 312 ++ .../pybullet_data/random_urdfs/705/705.urdf | 31 + .../pybullet_data/random_urdfs/706/706.mtl | 10 + .../pybullet_data/random_urdfs/706/706.obj | 1689 +++++++ .../pybullet_data/random_urdfs/706/706.urdf | 31 + .../pybullet_data/random_urdfs/707/707.mtl | 10 + .../pybullet_data/random_urdfs/707/707.obj | 240 + .../pybullet_data/random_urdfs/707/707.urdf | 31 + .../pybullet_data/random_urdfs/708/708.mtl | 10 + .../pybullet_data/random_urdfs/708/708.obj | 549 ++ .../pybullet_data/random_urdfs/708/708.urdf | 31 + .../pybullet_data/random_urdfs/709/709.mtl | 10 + .../pybullet_data/random_urdfs/709/709.obj | 888 ++++ .../pybullet_data/random_urdfs/709/709.urdf | 31 + .../pybullet_data/random_urdfs/710/710.mtl | 10 + .../pybullet_data/random_urdfs/710/710.obj | 435 ++ .../pybullet_data/random_urdfs/710/710.urdf | 31 + .../pybullet_data/random_urdfs/711/711.mtl | 10 + .../pybullet_data/random_urdfs/711/711.obj | 438 ++ .../pybullet_data/random_urdfs/711/711.urdf | 31 + .../pybullet_data/random_urdfs/712/712.mtl | 10 + .../pybullet_data/random_urdfs/712/712.obj | 522 ++ .../pybullet_data/random_urdfs/712/712.urdf | 31 + .../pybullet_data/random_urdfs/713/713.mtl | 10 + .../pybullet_data/random_urdfs/713/713.obj | 507 ++ .../pybullet_data/random_urdfs/713/713.urdf | 31 + .../pybullet_data/random_urdfs/714/714.mtl | 10 + .../pybullet_data/random_urdfs/714/714.obj | 330 ++ .../pybullet_data/random_urdfs/714/714.urdf | 31 + .../pybullet_data/random_urdfs/715/715.mtl | 10 + .../pybullet_data/random_urdfs/715/715.obj | 423 ++ .../pybullet_data/random_urdfs/715/715.urdf | 31 + .../pybullet_data/random_urdfs/716/716.mtl | 10 + .../pybullet_data/random_urdfs/716/716.obj | 1209 +++++ .../pybullet_data/random_urdfs/716/716.urdf | 31 + .../pybullet_data/random_urdfs/717/717.mtl | 10 + .../pybullet_data/random_urdfs/717/717.obj | 489 ++ .../pybullet_data/random_urdfs/717/717.urdf | 31 + .../pybullet_data/random_urdfs/718/718.mtl | 10 + .../pybullet_data/random_urdfs/718/718.obj | 393 ++ .../pybullet_data/random_urdfs/718/718.urdf | 31 + .../pybullet_data/random_urdfs/719/719.mtl | 10 + .../pybullet_data/random_urdfs/719/719.obj | 384 ++ .../pybullet_data/random_urdfs/719/719.urdf | 31 + .../pybullet_data/random_urdfs/720/720.mtl | 10 + .../pybullet_data/random_urdfs/720/720.obj | 852 ++++ .../pybullet_data/random_urdfs/720/720.urdf | 31 + .../pybullet_data/random_urdfs/721/721.mtl | 10 + .../pybullet_data/random_urdfs/721/721.obj | 666 +++ .../pybullet_data/random_urdfs/721/721.urdf | 31 + .../pybullet_data/random_urdfs/722/722.mtl | 10 + .../pybullet_data/random_urdfs/722/722.obj | 501 ++ .../pybullet_data/random_urdfs/722/722.urdf | 31 + .../pybullet_data/random_urdfs/723/723.mtl | 10 + .../pybullet_data/random_urdfs/723/723.obj | 918 ++++ .../pybullet_data/random_urdfs/723/723.urdf | 31 + .../pybullet_data/random_urdfs/724/724.mtl | 10 + .../pybullet_data/random_urdfs/724/724.obj | 534 ++ .../pybullet_data/random_urdfs/724/724.urdf | 31 + .../pybullet_data/random_urdfs/725/725.mtl | 10 + .../pybullet_data/random_urdfs/725/725.obj | 402 ++ .../pybullet_data/random_urdfs/725/725.urdf | 31 + .../pybullet_data/random_urdfs/726/726.mtl | 10 + .../pybullet_data/random_urdfs/726/726.obj | 609 +++ .../pybullet_data/random_urdfs/726/726.urdf | 31 + .../pybullet_data/random_urdfs/727/727.mtl | 10 + .../pybullet_data/random_urdfs/727/727.obj | 459 ++ .../pybullet_data/random_urdfs/727/727.urdf | 31 + .../pybullet_data/random_urdfs/728/728.mtl | 10 + .../pybullet_data/random_urdfs/728/728.obj | 1107 ++++ .../pybullet_data/random_urdfs/728/728.urdf | 31 + .../pybullet_data/random_urdfs/729/729.mtl | 10 + .../pybullet_data/random_urdfs/729/729.obj | 477 ++ .../pybullet_data/random_urdfs/729/729.urdf | 31 + .../pybullet_data/random_urdfs/730/730.mtl | 10 + .../pybullet_data/random_urdfs/730/730.obj | 510 ++ .../pybullet_data/random_urdfs/730/730.urdf | 31 + .../pybullet_data/random_urdfs/731/731.mtl | 10 + .../pybullet_data/random_urdfs/731/731.obj | 444 ++ .../pybullet_data/random_urdfs/731/731.urdf | 31 + .../pybullet_data/random_urdfs/732/732.mtl | 10 + .../pybullet_data/random_urdfs/732/732.obj | 1383 +++++ .../pybullet_data/random_urdfs/732/732.urdf | 31 + .../pybullet_data/random_urdfs/733/733.mtl | 10 + .../pybullet_data/random_urdfs/733/733.obj | 558 ++ .../pybullet_data/random_urdfs/733/733.urdf | 31 + .../pybullet_data/random_urdfs/734/734.mtl | 10 + .../pybullet_data/random_urdfs/734/734.obj | 609 +++ .../pybullet_data/random_urdfs/734/734.urdf | 31 + .../pybullet_data/random_urdfs/735/735.mtl | 10 + .../pybullet_data/random_urdfs/735/735.obj | 384 ++ .../pybullet_data/random_urdfs/735/735.urdf | 31 + .../pybullet_data/random_urdfs/736/736.mtl | 10 + .../pybullet_data/random_urdfs/736/736.obj | 837 +++ .../pybullet_data/random_urdfs/736/736.urdf | 31 + .../pybullet_data/random_urdfs/737/737.mtl | 10 + .../pybullet_data/random_urdfs/737/737.obj | 423 ++ .../pybullet_data/random_urdfs/737/737.urdf | 31 + .../pybullet_data/random_urdfs/738/738.mtl | 10 + .../pybullet_data/random_urdfs/738/738.obj | 480 ++ .../pybullet_data/random_urdfs/738/738.urdf | 31 + .../pybullet_data/random_urdfs/739/739.mtl | 10 + .../pybullet_data/random_urdfs/739/739.obj | 630 +++ .../pybullet_data/random_urdfs/739/739.urdf | 31 + .../pybullet_data/random_urdfs/740/740.mtl | 10 + .../pybullet_data/random_urdfs/740/740.obj | 486 ++ .../pybullet_data/random_urdfs/740/740.urdf | 31 + .../pybullet_data/random_urdfs/741/741.mtl | 10 + .../pybullet_data/random_urdfs/741/741.obj | 1686 ++++++ .../pybullet_data/random_urdfs/741/741.urdf | 31 + .../pybullet_data/random_urdfs/742/742.mtl | 10 + .../pybullet_data/random_urdfs/742/742.obj | 435 ++ .../pybullet_data/random_urdfs/742/742.urdf | 31 + .../pybullet_data/random_urdfs/743/743.mtl | 10 + .../pybullet_data/random_urdfs/743/743.obj | 522 ++ .../pybullet_data/random_urdfs/743/743.urdf | 31 + .../pybullet_data/random_urdfs/744/744.mtl | 10 + .../pybullet_data/random_urdfs/744/744.obj | 834 +++ .../pybullet_data/random_urdfs/744/744.urdf | 31 + .../pybullet_data/random_urdfs/745/745.mtl | 10 + .../pybullet_data/random_urdfs/745/745.obj | 543 ++ .../pybullet_data/random_urdfs/745/745.urdf | 31 + .../pybullet_data/random_urdfs/746/746.mtl | 10 + .../pybullet_data/random_urdfs/746/746.obj | 894 ++++ .../pybullet_data/random_urdfs/746/746.urdf | 31 + .../pybullet_data/random_urdfs/747/747.mtl | 10 + .../pybullet_data/random_urdfs/747/747.obj | 552 ++ .../pybullet_data/random_urdfs/747/747.urdf | 31 + .../pybullet_data/random_urdfs/748/748.mtl | 10 + .../pybullet_data/random_urdfs/748/748.obj | 1695 +++++++ .../pybullet_data/random_urdfs/748/748.urdf | 31 + .../pybullet_data/random_urdfs/749/749.mtl | 10 + .../pybullet_data/random_urdfs/749/749.obj | 567 +++ .../pybullet_data/random_urdfs/749/749.urdf | 31 + .../pybullet_data/random_urdfs/750/750.mtl | 10 + .../pybullet_data/random_urdfs/750/750.obj | 546 ++ .../pybullet_data/random_urdfs/750/750.urdf | 31 + .../pybullet_data/random_urdfs/751/751.mtl | 10 + .../pybullet_data/random_urdfs/751/751.obj | 603 +++ .../pybullet_data/random_urdfs/751/751.urdf | 31 + .../pybullet_data/random_urdfs/752/752.mtl | 10 + .../pybullet_data/random_urdfs/752/752.obj | 678 +++ .../pybullet_data/random_urdfs/752/752.urdf | 31 + .../pybullet_data/random_urdfs/753/753.mtl | 10 + .../pybullet_data/random_urdfs/753/753.obj | 459 ++ .../pybullet_data/random_urdfs/753/753.urdf | 31 + .../pybullet_data/random_urdfs/754/754.mtl | 10 + .../pybullet_data/random_urdfs/754/754.obj | 552 ++ .../pybullet_data/random_urdfs/754/754.urdf | 31 + .../pybullet_data/random_urdfs/755/755.mtl | 10 + .../pybullet_data/random_urdfs/755/755.obj | 849 ++++ .../pybullet_data/random_urdfs/755/755.urdf | 31 + .../pybullet_data/random_urdfs/756/756.mtl | 10 + .../pybullet_data/random_urdfs/756/756.obj | 1080 ++++ .../pybullet_data/random_urdfs/756/756.urdf | 31 + .../pybullet_data/random_urdfs/757/757.mtl | 10 + .../pybullet_data/random_urdfs/757/757.obj | 630 +++ .../pybullet_data/random_urdfs/757/757.urdf | 31 + .../pybullet_data/random_urdfs/758/758.mtl | 10 + .../pybullet_data/random_urdfs/758/758.obj | 1272 +++++ .../pybullet_data/random_urdfs/758/758.urdf | 31 + .../pybullet_data/random_urdfs/759/759.mtl | 10 + .../pybullet_data/random_urdfs/759/759.obj | 165 + .../pybullet_data/random_urdfs/759/759.urdf | 31 + .../pybullet_data/random_urdfs/760/760.mtl | 10 + .../pybullet_data/random_urdfs/760/760.obj | 762 +++ .../pybullet_data/random_urdfs/760/760.urdf | 31 + .../pybullet_data/random_urdfs/761/761.mtl | 10 + .../pybullet_data/random_urdfs/761/761.obj | 420 ++ .../pybullet_data/random_urdfs/761/761.urdf | 31 + .../pybullet_data/random_urdfs/762/762.mtl | 10 + .../pybullet_data/random_urdfs/762/762.obj | 606 +++ .../pybullet_data/random_urdfs/762/762.urdf | 31 + .../pybullet_data/random_urdfs/763/763.mtl | 10 + .../pybullet_data/random_urdfs/763/763.obj | 591 +++ .../pybullet_data/random_urdfs/763/763.urdf | 31 + .../pybullet_data/random_urdfs/764/764.mtl | 10 + .../pybullet_data/random_urdfs/764/764.obj | 606 +++ .../pybullet_data/random_urdfs/764/764.urdf | 31 + .../pybullet_data/random_urdfs/765/765.mtl | 10 + .../pybullet_data/random_urdfs/765/765.obj | 1050 ++++ .../pybullet_data/random_urdfs/765/765.urdf | 31 + .../pybullet_data/random_urdfs/766/766.mtl | 10 + .../pybullet_data/random_urdfs/766/766.obj | 384 ++ .../pybullet_data/random_urdfs/766/766.urdf | 31 + .../pybullet_data/random_urdfs/767/767.mtl | 10 + .../pybullet_data/random_urdfs/767/767.obj | 480 ++ .../pybullet_data/random_urdfs/767/767.urdf | 31 + .../pybullet_data/random_urdfs/768/768.mtl | 10 + .../pybullet_data/random_urdfs/768/768.obj | 1080 ++++ .../pybullet_data/random_urdfs/768/768.urdf | 31 + .../pybullet_data/random_urdfs/769/769.mtl | 10 + .../pybullet_data/random_urdfs/769/769.obj | 1095 ++++ .../pybullet_data/random_urdfs/769/769.urdf | 31 + .../pybullet_data/random_urdfs/770/770.mtl | 10 + .../pybullet_data/random_urdfs/770/770.obj | 642 +++ .../pybullet_data/random_urdfs/770/770.urdf | 31 + .../pybullet_data/random_urdfs/771/771.mtl | 10 + .../pybullet_data/random_urdfs/771/771.obj | 555 ++ .../pybullet_data/random_urdfs/771/771.urdf | 31 + .../pybullet_data/random_urdfs/772/772.mtl | 10 + .../pybullet_data/random_urdfs/772/772.obj | 747 +++ .../pybullet_data/random_urdfs/772/772.urdf | 31 + .../pybullet_data/random_urdfs/773/773.mtl | 10 + .../pybullet_data/random_urdfs/773/773.obj | 561 ++ .../pybullet_data/random_urdfs/773/773.urdf | 31 + .../pybullet_data/random_urdfs/774/774.mtl | 10 + .../pybullet_data/random_urdfs/774/774.obj | 708 +++ .../pybullet_data/random_urdfs/774/774.urdf | 31 + .../pybullet_data/random_urdfs/775/775.mtl | 10 + .../pybullet_data/random_urdfs/775/775.obj | 756 +++ .../pybullet_data/random_urdfs/775/775.urdf | 31 + .../pybullet_data/random_urdfs/776/776.mtl | 10 + .../pybullet_data/random_urdfs/776/776.obj | 600 +++ .../pybullet_data/random_urdfs/776/776.urdf | 31 + .../pybullet_data/random_urdfs/777/777.mtl | 10 + .../pybullet_data/random_urdfs/777/777.obj | 3735 ++++++++++++++ .../pybullet_data/random_urdfs/777/777.urdf | 31 + .../pybullet_data/random_urdfs/778/778.mtl | 10 + .../pybullet_data/random_urdfs/778/778.obj | 306 ++ .../pybullet_data/random_urdfs/778/778.urdf | 31 + .../pybullet_data/random_urdfs/779/779.mtl | 10 + .../pybullet_data/random_urdfs/779/779.obj | 603 +++ .../pybullet_data/random_urdfs/779/779.urdf | 31 + .../pybullet_data/random_urdfs/780/780.mtl | 10 + .../pybullet_data/random_urdfs/780/780.obj | 885 ++++ .../pybullet_data/random_urdfs/780/780.urdf | 31 + .../pybullet_data/random_urdfs/781/781.mtl | 10 + .../pybullet_data/random_urdfs/781/781.obj | 435 ++ .../pybullet_data/random_urdfs/781/781.urdf | 31 + .../pybullet_data/random_urdfs/782/782.mtl | 10 + .../pybullet_data/random_urdfs/782/782.obj | 4500 +++++++++++++++++ .../pybullet_data/random_urdfs/782/782.urdf | 31 + .../pybullet_data/random_urdfs/783/783.mtl | 10 + .../pybullet_data/random_urdfs/783/783.obj | 900 ++++ .../pybullet_data/random_urdfs/783/783.urdf | 31 + .../pybullet_data/random_urdfs/784/784.mtl | 10 + .../pybullet_data/random_urdfs/784/784.obj | 1002 ++++ .../pybullet_data/random_urdfs/784/784.urdf | 31 + .../pybullet_data/random_urdfs/785/785.mtl | 10 + .../pybullet_data/random_urdfs/785/785.obj | 744 +++ .../pybullet_data/random_urdfs/785/785.urdf | 31 + .../pybullet_data/random_urdfs/786/786.mtl | 10 + .../pybullet_data/random_urdfs/786/786.obj | 303 ++ .../pybullet_data/random_urdfs/786/786.urdf | 31 + .../pybullet_data/random_urdfs/787/787.mtl | 10 + .../pybullet_data/random_urdfs/787/787.obj | 372 ++ .../pybullet_data/random_urdfs/787/787.urdf | 31 + .../pybullet_data/random_urdfs/788/788.mtl | 10 + .../pybullet_data/random_urdfs/788/788.obj | 1080 ++++ .../pybullet_data/random_urdfs/788/788.urdf | 31 + .../pybullet_data/random_urdfs/789/789.mtl | 10 + .../pybullet_data/random_urdfs/789/789.obj | 459 ++ .../pybullet_data/random_urdfs/789/789.urdf | 31 + .../pybullet_data/random_urdfs/790/790.mtl | 10 + .../pybullet_data/random_urdfs/790/790.obj | 618 +++ .../pybullet_data/random_urdfs/790/790.urdf | 31 + .../pybullet_data/random_urdfs/791/791.mtl | 10 + .../pybullet_data/random_urdfs/791/791.obj | 396 ++ .../pybullet_data/random_urdfs/791/791.urdf | 31 + .../pybullet_data/random_urdfs/792/792.mtl | 10 + .../pybullet_data/random_urdfs/792/792.obj | 486 ++ .../pybullet_data/random_urdfs/792/792.urdf | 31 + .../pybullet_data/random_urdfs/793/793.mtl | 10 + .../pybullet_data/random_urdfs/793/793.obj | 636 +++ .../pybullet_data/random_urdfs/793/793.urdf | 31 + .../pybullet_data/random_urdfs/794/794.mtl | 10 + .../pybullet_data/random_urdfs/794/794.obj | 792 +++ .../pybullet_data/random_urdfs/794/794.urdf | 31 + .../pybullet_data/random_urdfs/795/795.mtl | 10 + .../pybullet_data/random_urdfs/795/795.obj | 2259 +++++++++ .../pybullet_data/random_urdfs/795/795.urdf | 31 + .../pybullet_data/random_urdfs/796/796.mtl | 10 + .../pybullet_data/random_urdfs/796/796.obj | 510 ++ .../pybullet_data/random_urdfs/796/796.urdf | 31 + .../pybullet_data/random_urdfs/797/797.mtl | 10 + .../pybullet_data/random_urdfs/797/797.obj | 486 ++ .../pybullet_data/random_urdfs/797/797.urdf | 31 + .../pybullet_data/random_urdfs/798/798.mtl | 10 + .../pybullet_data/random_urdfs/798/798.obj | 456 ++ .../pybullet_data/random_urdfs/798/798.urdf | 31 + .../pybullet_data/random_urdfs/799/799.mtl | 10 + .../pybullet_data/random_urdfs/799/799.obj | 528 ++ .../pybullet_data/random_urdfs/799/799.urdf | 31 + .../pybullet_data/random_urdfs/800/800.mtl | 10 + .../pybullet_data/random_urdfs/800/800.obj | 519 ++ .../pybullet_data/random_urdfs/800/800.urdf | 31 + .../pybullet_data/random_urdfs/801/801.mtl | 10 + .../pybullet_data/random_urdfs/801/801.obj | 555 ++ .../pybullet_data/random_urdfs/801/801.urdf | 31 + .../pybullet_data/random_urdfs/802/802.mtl | 10 + .../pybullet_data/random_urdfs/802/802.obj | 471 ++ .../pybullet_data/random_urdfs/802/802.urdf | 31 + .../pybullet_data/random_urdfs/803/803.mtl | 10 + .../pybullet_data/random_urdfs/803/803.obj | 522 ++ .../pybullet_data/random_urdfs/803/803.urdf | 31 + .../pybullet_data/random_urdfs/804/804.mtl | 10 + .../pybullet_data/random_urdfs/804/804.obj | 738 +++ .../pybullet_data/random_urdfs/804/804.urdf | 31 + .../pybullet_data/random_urdfs/805/805.mtl | 10 + .../pybullet_data/random_urdfs/805/805.obj | 387 ++ .../pybullet_data/random_urdfs/805/805.urdf | 31 + .../pybullet_data/random_urdfs/806/806.mtl | 10 + .../pybullet_data/random_urdfs/806/806.obj | 3354 ++++++++++++ .../pybullet_data/random_urdfs/806/806.urdf | 31 + .../pybullet_data/random_urdfs/807/807.mtl | 10 + .../pybullet_data/random_urdfs/807/807.obj | 288 ++ .../pybullet_data/random_urdfs/807/807.urdf | 31 + .../pybullet_data/random_urdfs/808/808.mtl | 10 + .../pybullet_data/random_urdfs/808/808.obj | 651 +++ .../pybullet_data/random_urdfs/808/808.urdf | 31 + .../pybullet_data/random_urdfs/809/809.mtl | 10 + .../pybullet_data/random_urdfs/809/809.obj | 528 ++ .../pybullet_data/random_urdfs/809/809.urdf | 31 + .../pybullet_data/random_urdfs/810/810.mtl | 10 + .../pybullet_data/random_urdfs/810/810.obj | 426 ++ .../pybullet_data/random_urdfs/810/810.urdf | 31 + .../pybullet_data/random_urdfs/811/811.mtl | 10 + .../pybullet_data/random_urdfs/811/811.obj | 510 ++ .../pybullet_data/random_urdfs/811/811.urdf | 31 + .../pybullet_data/random_urdfs/812/812.mtl | 10 + .../pybullet_data/random_urdfs/812/812.obj | 279 + .../pybullet_data/random_urdfs/812/812.urdf | 31 + .../pybullet_data/random_urdfs/813/813.mtl | 10 + .../pybullet_data/random_urdfs/813/813.obj | 786 +++ .../pybullet_data/random_urdfs/813/813.urdf | 31 + .../pybullet_data/random_urdfs/814/814.mtl | 10 + .../pybullet_data/random_urdfs/814/814.obj | 540 ++ .../pybullet_data/random_urdfs/814/814.urdf | 31 + .../pybullet_data/random_urdfs/815/815.mtl | 10 + .../pybullet_data/random_urdfs/815/815.obj | 693 +++ .../pybullet_data/random_urdfs/815/815.urdf | 31 + .../pybullet_data/random_urdfs/816/816.mtl | 10 + .../pybullet_data/random_urdfs/816/816.obj | 1017 ++++ .../pybullet_data/random_urdfs/816/816.urdf | 31 + .../pybullet_data/random_urdfs/817/817.mtl | 10 + .../pybullet_data/random_urdfs/817/817.obj | 1497 ++++++ .../pybullet_data/random_urdfs/817/817.urdf | 31 + .../pybullet_data/random_urdfs/818/818.mtl | 10 + .../pybullet_data/random_urdfs/818/818.obj | 492 ++ .../pybullet_data/random_urdfs/818/818.urdf | 31 + .../pybullet_data/random_urdfs/819/819.mtl | 10 + .../pybullet_data/random_urdfs/819/819.obj | 1359 +++++ .../pybullet_data/random_urdfs/819/819.urdf | 31 + .../pybullet_data/random_urdfs/820/820.mtl | 10 + .../pybullet_data/random_urdfs/820/820.obj | 858 ++++ .../pybullet_data/random_urdfs/820/820.urdf | 31 + .../pybullet_data/random_urdfs/821/821.mtl | 10 + .../pybullet_data/random_urdfs/821/821.obj | 456 ++ .../pybullet_data/random_urdfs/821/821.urdf | 31 + .../pybullet_data/random_urdfs/822/822.mtl | 10 + .../pybullet_data/random_urdfs/822/822.obj | 696 +++ .../pybullet_data/random_urdfs/822/822.urdf | 31 + .../pybullet_data/random_urdfs/823/823.mtl | 10 + .../pybullet_data/random_urdfs/823/823.obj | 564 +++ .../pybullet_data/random_urdfs/823/823.urdf | 31 + .../pybullet_data/random_urdfs/824/824.mtl | 10 + .../pybullet_data/random_urdfs/824/824.obj | 957 ++++ .../pybullet_data/random_urdfs/824/824.urdf | 31 + .../pybullet_data/random_urdfs/825/825.mtl | 10 + .../pybullet_data/random_urdfs/825/825.obj | 681 +++ .../pybullet_data/random_urdfs/825/825.urdf | 31 + .../pybullet_data/random_urdfs/826/826.mtl | 10 + .../pybullet_data/random_urdfs/826/826.obj | 1023 ++++ .../pybullet_data/random_urdfs/826/826.urdf | 31 + .../pybullet_data/random_urdfs/827/827.mtl | 10 + .../pybullet_data/random_urdfs/827/827.obj | 540 ++ .../pybullet_data/random_urdfs/827/827.urdf | 31 + .../pybullet_data/random_urdfs/828/828.mtl | 10 + .../pybullet_data/random_urdfs/828/828.obj | 189 + .../pybullet_data/random_urdfs/828/828.urdf | 31 + .../pybullet_data/random_urdfs/829/829.mtl | 10 + .../pybullet_data/random_urdfs/829/829.obj | 453 ++ .../pybullet_data/random_urdfs/829/829.urdf | 31 + .../pybullet_data/random_urdfs/830/830.mtl | 10 + .../pybullet_data/random_urdfs/830/830.obj | 594 +++ .../pybullet_data/random_urdfs/830/830.urdf | 31 + .../pybullet_data/random_urdfs/831/831.mtl | 10 + .../pybullet_data/random_urdfs/831/831.obj | 792 +++ .../pybullet_data/random_urdfs/831/831.urdf | 31 + .../pybullet_data/random_urdfs/832/832.mtl | 10 + .../pybullet_data/random_urdfs/832/832.obj | 1044 ++++ .../pybullet_data/random_urdfs/832/832.urdf | 31 + .../pybullet_data/random_urdfs/833/833.mtl | 10 + .../pybullet_data/random_urdfs/833/833.obj | 477 ++ .../pybullet_data/random_urdfs/833/833.urdf | 31 + .../pybullet_data/random_urdfs/834/834.mtl | 10 + .../pybullet_data/random_urdfs/834/834.obj | 534 ++ .../pybullet_data/random_urdfs/834/834.urdf | 31 + .../pybullet_data/random_urdfs/835/835.mtl | 10 + .../pybullet_data/random_urdfs/835/835.obj | 891 ++++ .../pybullet_data/random_urdfs/835/835.urdf | 31 + .../pybullet_data/random_urdfs/836/836.mtl | 10 + .../pybullet_data/random_urdfs/836/836.obj | 600 +++ .../pybullet_data/random_urdfs/836/836.urdf | 31 + .../pybullet_data/random_urdfs/837/837.mtl | 10 + .../pybullet_data/random_urdfs/837/837.obj | 549 ++ .../pybullet_data/random_urdfs/837/837.urdf | 31 + .../pybullet_data/random_urdfs/838/838.mtl | 10 + .../pybullet_data/random_urdfs/838/838.obj | 552 ++ .../pybullet_data/random_urdfs/838/838.urdf | 31 + .../pybullet_data/random_urdfs/839/839.mtl | 10 + .../pybullet_data/random_urdfs/839/839.obj | 582 +++ .../pybullet_data/random_urdfs/839/839.urdf | 31 + .../pybullet_data/random_urdfs/840/840.mtl | 10 + .../pybullet_data/random_urdfs/840/840.obj | 657 +++ .../pybullet_data/random_urdfs/840/840.urdf | 31 + .../pybullet_data/random_urdfs/841/841.mtl | 10 + .../pybullet_data/random_urdfs/841/841.obj | 1005 ++++ .../pybullet_data/random_urdfs/841/841.urdf | 31 + .../pybullet_data/random_urdfs/842/842.mtl | 10 + .../pybullet_data/random_urdfs/842/842.obj | 402 ++ .../pybullet_data/random_urdfs/842/842.urdf | 31 + .../pybullet_data/random_urdfs/843/843.mtl | 10 + .../pybullet_data/random_urdfs/843/843.obj | 363 ++ .../pybullet_data/random_urdfs/843/843.urdf | 31 + .../pybullet_data/random_urdfs/844/844.mtl | 10 + .../pybullet_data/random_urdfs/844/844.obj | 582 +++ .../pybullet_data/random_urdfs/844/844.urdf | 31 + .../pybullet_data/random_urdfs/845/845.mtl | 10 + .../pybullet_data/random_urdfs/845/845.obj | 1158 +++++ .../pybullet_data/random_urdfs/845/845.urdf | 31 + .../pybullet_data/random_urdfs/846/846.mtl | 10 + .../pybullet_data/random_urdfs/846/846.obj | 969 ++++ .../pybullet_data/random_urdfs/846/846.urdf | 31 + .../pybullet_data/random_urdfs/847/847.mtl | 10 + .../pybullet_data/random_urdfs/847/847.obj | 564 +++ .../pybullet_data/random_urdfs/847/847.urdf | 31 + .../pybullet_data/random_urdfs/848/848.mtl | 10 + .../pybullet_data/random_urdfs/848/848.obj | 459 ++ .../pybullet_data/random_urdfs/848/848.urdf | 31 + .../pybullet_data/random_urdfs/849/849.mtl | 10 + .../pybullet_data/random_urdfs/849/849.obj | 972 ++++ .../pybullet_data/random_urdfs/849/849.urdf | 31 + .../pybullet_data/random_urdfs/850/850.mtl | 10 + .../pybullet_data/random_urdfs/850/850.obj | 675 +++ .../pybullet_data/random_urdfs/850/850.urdf | 31 + .../pybullet_data/random_urdfs/851/851.mtl | 10 + .../pybullet_data/random_urdfs/851/851.obj | 522 ++ .../pybullet_data/random_urdfs/851/851.urdf | 31 + .../pybullet_data/random_urdfs/852/852.mtl | 10 + .../pybullet_data/random_urdfs/852/852.obj | 615 +++ .../pybullet_data/random_urdfs/852/852.urdf | 31 + .../pybullet_data/random_urdfs/853/853.mtl | 10 + .../pybullet_data/random_urdfs/853/853.obj | 2013 ++++++++ .../pybullet_data/random_urdfs/853/853.urdf | 31 + .../pybullet_data/random_urdfs/854/854.mtl | 10 + .../pybullet_data/random_urdfs/854/854.obj | 801 +++ .../pybullet_data/random_urdfs/854/854.urdf | 31 + .../pybullet_data/random_urdfs/855/855.mtl | 10 + .../pybullet_data/random_urdfs/855/855.obj | 561 ++ .../pybullet_data/random_urdfs/855/855.urdf | 31 + .../pybullet_data/random_urdfs/856/856.mtl | 10 + .../pybullet_data/random_urdfs/856/856.obj | 420 ++ .../pybullet_data/random_urdfs/856/856.urdf | 31 + .../pybullet_data/random_urdfs/857/857.mtl | 10 + .../pybullet_data/random_urdfs/857/857.obj | 327 ++ .../pybullet_data/random_urdfs/857/857.urdf | 31 + .../pybullet_data/random_urdfs/858/858.mtl | 10 + .../pybullet_data/random_urdfs/858/858.obj | 3921 ++++++++++++++ .../pybullet_data/random_urdfs/858/858.urdf | 31 + .../pybullet_data/random_urdfs/859/859.mtl | 10 + .../pybullet_data/random_urdfs/859/859.obj | 1806 +++++++ .../pybullet_data/random_urdfs/859/859.urdf | 31 + .../pybullet_data/random_urdfs/860/860.mtl | 10 + .../pybullet_data/random_urdfs/860/860.obj | 609 +++ .../pybullet_data/random_urdfs/860/860.urdf | 31 + .../pybullet_data/random_urdfs/861/861.mtl | 10 + .../pybullet_data/random_urdfs/861/861.obj | 423 ++ .../pybullet_data/random_urdfs/861/861.urdf | 31 + .../pybullet_data/random_urdfs/862/862.mtl | 10 + .../pybullet_data/random_urdfs/862/862.obj | 648 +++ .../pybullet_data/random_urdfs/862/862.urdf | 31 + .../pybullet_data/random_urdfs/863/863.mtl | 10 + .../pybullet_data/random_urdfs/863/863.obj | 396 ++ .../pybullet_data/random_urdfs/863/863.urdf | 31 + .../pybullet_data/random_urdfs/864/864.mtl | 10 + .../pybullet_data/random_urdfs/864/864.obj | 621 +++ .../pybullet_data/random_urdfs/864/864.urdf | 31 + .../pybullet_data/random_urdfs/865/865.mtl | 10 + .../pybullet_data/random_urdfs/865/865.obj | 285 ++ .../pybullet_data/random_urdfs/865/865.urdf | 31 + .../pybullet_data/random_urdfs/866/866.mtl | 10 + .../pybullet_data/random_urdfs/866/866.obj | 474 ++ .../pybullet_data/random_urdfs/866/866.urdf | 31 + .../pybullet_data/random_urdfs/867/867.mtl | 10 + .../pybullet_data/random_urdfs/867/867.obj | 615 +++ .../pybullet_data/random_urdfs/867/867.urdf | 31 + .../pybullet_data/random_urdfs/868/868.mtl | 10 + .../pybullet_data/random_urdfs/868/868.obj | 567 +++ .../pybullet_data/random_urdfs/868/868.urdf | 31 + .../pybullet_data/random_urdfs/869/869.mtl | 10 + .../pybullet_data/random_urdfs/869/869.obj | 618 +++ .../pybullet_data/random_urdfs/869/869.urdf | 31 + .../pybullet_data/random_urdfs/870/870.mtl | 10 + .../pybullet_data/random_urdfs/870/870.obj | 372 ++ .../pybullet_data/random_urdfs/870/870.urdf | 31 + .../pybullet_data/random_urdfs/871/871.mtl | 10 + .../pybullet_data/random_urdfs/871/871.obj | 1323 +++++ .../pybullet_data/random_urdfs/871/871.urdf | 31 + .../pybullet_data/random_urdfs/872/872.mtl | 10 + .../pybullet_data/random_urdfs/872/872.obj | 393 ++ .../pybullet_data/random_urdfs/872/872.urdf | 31 + .../pybullet_data/random_urdfs/873/873.mtl | 10 + .../pybullet_data/random_urdfs/873/873.obj | 849 ++++ .../pybullet_data/random_urdfs/873/873.urdf | 31 + .../pybullet_data/random_urdfs/874/874.mtl | 10 + .../pybullet_data/random_urdfs/874/874.obj | 798 +++ .../pybullet_data/random_urdfs/874/874.urdf | 31 + .../pybullet_data/random_urdfs/875/875.mtl | 10 + .../pybullet_data/random_urdfs/875/875.obj | 729 +++ .../pybullet_data/random_urdfs/875/875.urdf | 31 + .../pybullet_data/random_urdfs/876/876.mtl | 10 + .../pybullet_data/random_urdfs/876/876.obj | 189 + .../pybullet_data/random_urdfs/876/876.urdf | 31 + .../pybullet_data/random_urdfs/877/877.mtl | 10 + .../pybullet_data/random_urdfs/877/877.obj | 561 ++ .../pybullet_data/random_urdfs/877/877.urdf | 31 + .../pybullet_data/random_urdfs/878/878.mtl | 10 + .../pybullet_data/random_urdfs/878/878.obj | 1194 +++++ .../pybullet_data/random_urdfs/878/878.urdf | 31 + .../pybullet_data/random_urdfs/879/879.mtl | 10 + .../pybullet_data/random_urdfs/879/879.obj | 666 +++ .../pybullet_data/random_urdfs/879/879.urdf | 31 + .../pybullet_data/random_urdfs/880/880.mtl | 10 + .../pybullet_data/random_urdfs/880/880.obj | 432 ++ .../pybullet_data/random_urdfs/880/880.urdf | 31 + .../pybullet_data/random_urdfs/881/881.mtl | 10 + .../pybullet_data/random_urdfs/881/881.obj | 330 ++ .../pybullet_data/random_urdfs/881/881.urdf | 31 + .../pybullet_data/random_urdfs/882/882.mtl | 10 + .../pybullet_data/random_urdfs/882/882.obj | 1581 ++++++ .../pybullet_data/random_urdfs/882/882.urdf | 31 + .../pybullet_data/random_urdfs/883/883.mtl | 10 + .../pybullet_data/random_urdfs/883/883.obj | 1035 ++++ .../pybullet_data/random_urdfs/883/883.urdf | 31 + .../pybullet_data/random_urdfs/884/884.mtl | 10 + .../pybullet_data/random_urdfs/884/884.obj | 516 ++ .../pybullet_data/random_urdfs/884/884.urdf | 31 + .../pybullet_data/random_urdfs/885/885.mtl | 10 + .../pybullet_data/random_urdfs/885/885.obj | 750 +++ .../pybullet_data/random_urdfs/885/885.urdf | 31 + .../pybullet_data/random_urdfs/886/886.mtl | 10 + .../pybullet_data/random_urdfs/886/886.obj | 429 ++ .../pybullet_data/random_urdfs/886/886.urdf | 31 + .../pybullet_data/random_urdfs/887/887.mtl | 10 + .../pybullet_data/random_urdfs/887/887.obj | 525 ++ .../pybullet_data/random_urdfs/887/887.urdf | 31 + .../pybullet_data/random_urdfs/888/888.mtl | 10 + .../pybullet_data/random_urdfs/888/888.obj | 477 ++ .../pybullet_data/random_urdfs/888/888.urdf | 31 + .../pybullet_data/random_urdfs/889/889.mtl | 10 + .../pybullet_data/random_urdfs/889/889.obj | 786 +++ .../pybullet_data/random_urdfs/889/889.urdf | 31 + .../pybullet_data/random_urdfs/890/890.mtl | 10 + .../pybullet_data/random_urdfs/890/890.obj | 627 +++ .../pybullet_data/random_urdfs/890/890.urdf | 31 + .../pybullet_data/random_urdfs/891/891.mtl | 10 + .../pybullet_data/random_urdfs/891/891.obj | 810 +++ .../pybullet_data/random_urdfs/891/891.urdf | 31 + .../pybullet_data/random_urdfs/892/892.mtl | 10 + .../pybullet_data/random_urdfs/892/892.obj | 636 +++ .../pybullet_data/random_urdfs/892/892.urdf | 31 + .../pybullet_data/random_urdfs/893/893.mtl | 10 + .../pybullet_data/random_urdfs/893/893.obj | 456 ++ .../pybullet_data/random_urdfs/893/893.urdf | 31 + .../pybullet_data/random_urdfs/894/894.mtl | 10 + .../pybullet_data/random_urdfs/894/894.obj | 450 ++ .../pybullet_data/random_urdfs/894/894.urdf | 31 + .../pybullet_data/random_urdfs/895/895.mtl | 10 + .../pybullet_data/random_urdfs/895/895.obj | 1530 ++++++ .../pybullet_data/random_urdfs/895/895.urdf | 31 + .../pybullet_data/random_urdfs/896/896.mtl | 10 + .../pybullet_data/random_urdfs/896/896.obj | 450 ++ .../pybullet_data/random_urdfs/896/896.urdf | 31 + .../pybullet_data/random_urdfs/897/897.mtl | 10 + .../pybullet_data/random_urdfs/897/897.obj | 1383 +++++ .../pybullet_data/random_urdfs/897/897.urdf | 31 + .../pybullet_data/random_urdfs/898/898.mtl | 10 + .../pybullet_data/random_urdfs/898/898.obj | 276 + .../pybullet_data/random_urdfs/898/898.urdf | 31 + .../pybullet_data/random_urdfs/899/899.mtl | 10 + .../pybullet_data/random_urdfs/899/899.obj | 390 ++ .../pybullet_data/random_urdfs/899/899.urdf | 31 + .../pybullet_data/random_urdfs/900/900.mtl | 10 + .../pybullet_data/random_urdfs/900/900.obj | 492 ++ .../pybullet_data/random_urdfs/900/900.urdf | 31 + .../pybullet_data/random_urdfs/901/901.mtl | 10 + .../pybullet_data/random_urdfs/901/901.obj | 498 ++ .../pybullet_data/random_urdfs/901/901.urdf | 31 + .../pybullet_data/random_urdfs/902/902.mtl | 10 + .../pybullet_data/random_urdfs/902/902.obj | 486 ++ .../pybullet_data/random_urdfs/902/902.urdf | 31 + .../pybullet_data/random_urdfs/903/903.mtl | 10 + .../pybullet_data/random_urdfs/903/903.obj | 693 +++ .../pybullet_data/random_urdfs/903/903.urdf | 31 + .../pybullet_data/random_urdfs/904/904.mtl | 10 + .../pybullet_data/random_urdfs/904/904.obj | 1197 +++++ .../pybullet_data/random_urdfs/904/904.urdf | 31 + .../pybullet_data/random_urdfs/905/905.mtl | 10 + .../pybullet_data/random_urdfs/905/905.obj | 618 +++ .../pybullet_data/random_urdfs/905/905.urdf | 31 + .../pybullet_data/random_urdfs/906/906.mtl | 10 + .../pybullet_data/random_urdfs/906/906.obj | 432 ++ .../pybullet_data/random_urdfs/906/906.urdf | 31 + .../pybullet_data/random_urdfs/907/907.mtl | 10 + .../pybullet_data/random_urdfs/907/907.obj | 1218 +++++ .../pybullet_data/random_urdfs/907/907.urdf | 31 + .../pybullet_data/random_urdfs/908/908.mtl | 10 + .../pybullet_data/random_urdfs/908/908.obj | 504 ++ .../pybullet_data/random_urdfs/908/908.urdf | 31 + .../pybullet_data/random_urdfs/909/909.mtl | 10 + .../pybullet_data/random_urdfs/909/909.obj | 714 +++ .../pybullet_data/random_urdfs/909/909.urdf | 31 + .../pybullet_data/random_urdfs/910/910.mtl | 10 + .../pybullet_data/random_urdfs/910/910.obj | 603 +++ .../pybullet_data/random_urdfs/910/910.urdf | 31 + .../pybullet_data/random_urdfs/911/911.mtl | 10 + .../pybullet_data/random_urdfs/911/911.obj | 828 +++ .../pybullet_data/random_urdfs/911/911.urdf | 31 + .../pybullet_data/random_urdfs/912/912.mtl | 10 + .../pybullet_data/random_urdfs/912/912.obj | 333 ++ .../pybullet_data/random_urdfs/912/912.urdf | 31 + .../pybullet_data/random_urdfs/913/913.mtl | 10 + .../pybullet_data/random_urdfs/913/913.obj | 612 +++ .../pybullet_data/random_urdfs/913/913.urdf | 31 + .../pybullet_data/random_urdfs/914/914.mtl | 10 + .../pybullet_data/random_urdfs/914/914.obj | 603 +++ .../pybullet_data/random_urdfs/914/914.urdf | 31 + .../pybullet_data/random_urdfs/915/915.mtl | 10 + .../pybullet_data/random_urdfs/915/915.obj | 534 ++ .../pybullet_data/random_urdfs/915/915.urdf | 31 + .../pybullet_data/random_urdfs/916/916.mtl | 10 + .../pybullet_data/random_urdfs/916/916.obj | 1155 +++++ .../pybullet_data/random_urdfs/916/916.urdf | 31 + .../pybullet_data/random_urdfs/917/917.mtl | 10 + .../pybullet_data/random_urdfs/917/917.obj | 501 ++ .../pybullet_data/random_urdfs/917/917.urdf | 31 + .../pybullet_data/random_urdfs/918/918.mtl | 10 + .../pybullet_data/random_urdfs/918/918.obj | 561 ++ .../pybullet_data/random_urdfs/918/918.urdf | 31 + .../pybullet_data/random_urdfs/919/919.mtl | 10 + .../pybullet_data/random_urdfs/919/919.obj | 540 ++ .../pybullet_data/random_urdfs/919/919.urdf | 31 + .../pybullet_data/random_urdfs/920/920.mtl | 10 + .../pybullet_data/random_urdfs/920/920.obj | 690 +++ .../pybullet_data/random_urdfs/920/920.urdf | 31 + .../pybullet_data/random_urdfs/921/921.mtl | 10 + .../pybullet_data/random_urdfs/921/921.obj | 420 ++ .../pybullet_data/random_urdfs/921/921.urdf | 31 + .../pybullet_data/random_urdfs/922/922.mtl | 10 + .../pybullet_data/random_urdfs/922/922.obj | 2118 ++++++++ .../pybullet_data/random_urdfs/922/922.urdf | 31 + .../pybullet_data/random_urdfs/923/923.mtl | 10 + .../pybullet_data/random_urdfs/923/923.obj | 501 ++ .../pybullet_data/random_urdfs/923/923.urdf | 31 + .../pybullet_data/random_urdfs/924/924.mtl | 10 + .../pybullet_data/random_urdfs/924/924.obj | 249 + .../pybullet_data/random_urdfs/924/924.urdf | 31 + .../pybullet_data/random_urdfs/925/925.mtl | 10 + .../pybullet_data/random_urdfs/925/925.obj | 654 +++ .../pybullet_data/random_urdfs/925/925.urdf | 31 + .../pybullet_data/random_urdfs/926/926.mtl | 10 + .../pybullet_data/random_urdfs/926/926.obj | 393 ++ .../pybullet_data/random_urdfs/926/926.urdf | 31 + .../pybullet_data/random_urdfs/927/927.mtl | 10 + .../pybullet_data/random_urdfs/927/927.obj | 543 ++ .../pybullet_data/random_urdfs/927/927.urdf | 31 + .../pybullet_data/random_urdfs/928/928.mtl | 10 + .../pybullet_data/random_urdfs/928/928.obj | 369 ++ .../pybullet_data/random_urdfs/928/928.urdf | 31 + .../pybullet_data/random_urdfs/929/929.mtl | 10 + .../pybullet_data/random_urdfs/929/929.obj | 474 ++ .../pybullet_data/random_urdfs/929/929.urdf | 31 + .../pybullet_data/random_urdfs/930/930.mtl | 10 + .../pybullet_data/random_urdfs/930/930.obj | 498 ++ .../pybullet_data/random_urdfs/930/930.urdf | 31 + .../pybullet_data/random_urdfs/931/931.mtl | 10 + .../pybullet_data/random_urdfs/931/931.obj | 447 ++ .../pybullet_data/random_urdfs/931/931.urdf | 31 + .../pybullet_data/random_urdfs/932/932.mtl | 10 + .../pybullet_data/random_urdfs/932/932.obj | 909 ++++ .../pybullet_data/random_urdfs/932/932.urdf | 31 + .../pybullet_data/random_urdfs/933/933.mtl | 10 + .../pybullet_data/random_urdfs/933/933.obj | 2391 +++++++++ .../pybullet_data/random_urdfs/933/933.urdf | 31 + .../pybullet_data/random_urdfs/934/934.mtl | 10 + .../pybullet_data/random_urdfs/934/934.obj | 399 ++ .../pybullet_data/random_urdfs/934/934.urdf | 31 + .../pybullet_data/random_urdfs/935/935.mtl | 10 + .../pybullet_data/random_urdfs/935/935.obj | 567 +++ .../pybullet_data/random_urdfs/935/935.urdf | 31 + .../pybullet_data/random_urdfs/936/936.mtl | 10 + .../pybullet_data/random_urdfs/936/936.obj | 579 +++ .../pybullet_data/random_urdfs/936/936.urdf | 31 + .../pybullet_data/random_urdfs/937/937.mtl | 10 + .../pybullet_data/random_urdfs/937/937.obj | 429 ++ .../pybullet_data/random_urdfs/937/937.urdf | 31 + .../pybullet_data/random_urdfs/938/938.mtl | 10 + .../pybullet_data/random_urdfs/938/938.obj | 561 ++ .../pybullet_data/random_urdfs/938/938.urdf | 31 + .../pybullet_data/random_urdfs/939/939.mtl | 10 + .../pybullet_data/random_urdfs/939/939.obj | 246 + .../pybullet_data/random_urdfs/939/939.urdf | 31 + .../pybullet_data/random_urdfs/940/940.mtl | 10 + .../pybullet_data/random_urdfs/940/940.obj | 912 ++++ .../pybullet_data/random_urdfs/940/940.urdf | 31 + .../pybullet_data/random_urdfs/941/941.mtl | 10 + .../pybullet_data/random_urdfs/941/941.obj | 852 ++++ .../pybullet_data/random_urdfs/941/941.urdf | 31 + .../pybullet_data/random_urdfs/942/942.mtl | 10 + .../pybullet_data/random_urdfs/942/942.obj | 354 ++ .../pybullet_data/random_urdfs/942/942.urdf | 31 + .../pybullet_data/random_urdfs/943/943.mtl | 10 + .../pybullet_data/random_urdfs/943/943.obj | 417 ++ .../pybullet_data/random_urdfs/943/943.urdf | 31 + .../pybullet_data/random_urdfs/944/944.mtl | 10 + .../pybullet_data/random_urdfs/944/944.obj | 966 ++++ .../pybullet_data/random_urdfs/944/944.urdf | 31 + .../pybullet_data/random_urdfs/945/945.mtl | 10 + .../pybullet_data/random_urdfs/945/945.obj | 642 +++ .../pybullet_data/random_urdfs/945/945.urdf | 31 + .../pybullet_data/random_urdfs/946/946.mtl | 10 + .../pybullet_data/random_urdfs/946/946.obj | 360 ++ .../pybullet_data/random_urdfs/946/946.urdf | 31 + .../pybullet_data/random_urdfs/947/947.mtl | 10 + .../pybullet_data/random_urdfs/947/947.obj | 507 ++ .../pybullet_data/random_urdfs/947/947.urdf | 31 + .../pybullet_data/random_urdfs/948/948.mtl | 10 + .../pybullet_data/random_urdfs/948/948.obj | 654 +++ .../pybullet_data/random_urdfs/948/948.urdf | 0 .../pybullet_data/random_urdfs/949/949.mtl | 10 + .../pybullet_data/random_urdfs/949/949.obj | 402 ++ .../pybullet_data/random_urdfs/949/949.urdf | 31 + .../pybullet_data/random_urdfs/950/950.mtl | 10 + .../pybullet_data/random_urdfs/950/950.obj | 318 ++ .../pybullet_data/random_urdfs/950/950.urdf | 31 + .../pybullet_data/random_urdfs/951/951.mtl | 10 + .../pybullet_data/random_urdfs/951/951.obj | 576 +++ .../pybullet_data/random_urdfs/951/951.urdf | 31 + .../pybullet_data/random_urdfs/952/952.mtl | 10 + .../pybullet_data/random_urdfs/952/952.obj | 606 +++ .../pybullet_data/random_urdfs/952/952.urdf | 31 + .../pybullet_data/random_urdfs/953/953.mtl | 10 + .../pybullet_data/random_urdfs/953/953.obj | 468 ++ .../pybullet_data/random_urdfs/953/953.urdf | 31 + .../pybullet_data/random_urdfs/954/954.mtl | 10 + .../pybullet_data/random_urdfs/954/954.obj | 501 ++ .../pybullet_data/random_urdfs/954/954.urdf | 31 + .../pybullet_data/random_urdfs/955/955.mtl | 10 + .../pybullet_data/random_urdfs/955/955.obj | 414 ++ .../pybullet_data/random_urdfs/955/955.urdf | 31 + .../pybullet_data/random_urdfs/956/956.mtl | 10 + .../pybullet_data/random_urdfs/956/956.obj | 519 ++ .../pybullet_data/random_urdfs/956/956.urdf | 31 + .../pybullet_data/random_urdfs/957/957.mtl | 10 + .../pybullet_data/random_urdfs/957/957.obj | 666 +++ .../pybullet_data/random_urdfs/957/957.urdf | 31 + .../pybullet_data/random_urdfs/958/958.mtl | 10 + .../pybullet_data/random_urdfs/958/958.obj | 534 ++ .../pybullet_data/random_urdfs/958/958.urdf | 31 + .../pybullet_data/random_urdfs/959/959.mtl | 10 + .../pybullet_data/random_urdfs/959/959.obj | 345 ++ .../pybullet_data/random_urdfs/959/959.urdf | 31 + .../pybullet_data/random_urdfs/960/960.mtl | 10 + .../pybullet_data/random_urdfs/960/960.obj | 675 +++ .../pybullet_data/random_urdfs/960/960.urdf | 31 + .../pybullet_data/random_urdfs/961/961.mtl | 10 + .../pybullet_data/random_urdfs/961/961.obj | 396 ++ .../pybullet_data/random_urdfs/961/961.urdf | 31 + .../pybullet_data/random_urdfs/962/962.mtl | 10 + .../pybullet_data/random_urdfs/962/962.obj | 495 ++ .../pybullet_data/random_urdfs/962/962.urdf | 31 + .../pybullet_data/random_urdfs/963/963.mtl | 10 + .../pybullet_data/random_urdfs/963/963.obj | 285 ++ .../pybullet_data/random_urdfs/963/963.urdf | 31 + .../pybullet_data/random_urdfs/964/964.mtl | 10 + .../pybullet_data/random_urdfs/964/964.obj | 507 ++ .../pybullet_data/random_urdfs/964/964.urdf | 31 + .../pybullet_data/random_urdfs/965/965.mtl | 10 + .../pybullet_data/random_urdfs/965/965.obj | 1032 ++++ .../pybullet_data/random_urdfs/965/965.urdf | 31 + .../pybullet_data/random_urdfs/966/966.mtl | 10 + .../pybullet_data/random_urdfs/966/966.obj | 285 ++ .../pybullet_data/random_urdfs/966/966.urdf | 31 + .../pybullet_data/random_urdfs/967/967.mtl | 10 + .../pybullet_data/random_urdfs/967/967.obj | 531 ++ .../pybullet_data/random_urdfs/967/967.urdf | 31 + .../pybullet_data/random_urdfs/968/968.mtl | 10 + .../pybullet_data/random_urdfs/968/968.obj | 432 ++ .../pybullet_data/random_urdfs/968/968.urdf | 31 + .../pybullet_data/random_urdfs/969/969.mtl | 10 + .../pybullet_data/random_urdfs/969/969.obj | 369 ++ .../pybullet_data/random_urdfs/969/969.urdf | 31 + .../pybullet_data/random_urdfs/970/970.mtl | 10 + .../pybullet_data/random_urdfs/970/970.obj | 972 ++++ .../pybullet_data/random_urdfs/970/970.urdf | 31 + .../pybullet_data/random_urdfs/971/971.mtl | 10 + .../pybullet_data/random_urdfs/971/971.obj | 537 ++ .../pybullet_data/random_urdfs/971/971.urdf | 31 + .../pybullet_data/random_urdfs/972/972.mtl | 10 + .../pybullet_data/random_urdfs/972/972.obj | 648 +++ .../pybullet_data/random_urdfs/972/972.urdf | 31 + .../pybullet_data/random_urdfs/973/973.mtl | 10 + .../pybullet_data/random_urdfs/973/973.obj | 654 +++ .../pybullet_data/random_urdfs/973/973.urdf | 31 + .../pybullet_data/random_urdfs/974/974.mtl | 10 + .../pybullet_data/random_urdfs/974/974.obj | 621 +++ .../pybullet_data/random_urdfs/974/974.urdf | 31 + .../pybullet_data/random_urdfs/975/975.mtl | 10 + .../pybullet_data/random_urdfs/975/975.obj | 477 ++ .../pybullet_data/random_urdfs/975/975.urdf | 31 + .../pybullet_data/random_urdfs/976/976.mtl | 10 + .../pybullet_data/random_urdfs/976/976.obj | 750 +++ .../pybullet_data/random_urdfs/976/976.urdf | 31 + .../pybullet_data/random_urdfs/977/977.mtl | 10 + .../pybullet_data/random_urdfs/977/977.obj | 720 +++ .../pybullet_data/random_urdfs/977/977.urdf | 31 + .../pybullet_data/random_urdfs/978/978.mtl | 10 + .../pybullet_data/random_urdfs/978/978.obj | 408 ++ .../pybullet_data/random_urdfs/978/978.urdf | 31 + .../pybullet_data/random_urdfs/979/979.mtl | 10 + .../pybullet_data/random_urdfs/979/979.obj | 570 +++ .../pybullet_data/random_urdfs/979/979.urdf | 31 + .../pybullet_data/random_urdfs/980/980.mtl | 10 + .../pybullet_data/random_urdfs/980/980.obj | 501 ++ .../pybullet_data/random_urdfs/980/980.urdf | 31 + .../pybullet_data/random_urdfs/981/981.mtl | 10 + .../pybullet_data/random_urdfs/981/981.obj | 384 ++ .../pybullet_data/random_urdfs/981/981.urdf | 31 + .../pybullet_data/random_urdfs/982/982.mtl | 10 + .../pybullet_data/random_urdfs/982/982.obj | 546 ++ .../pybullet_data/random_urdfs/982/982.urdf | 31 + .../pybullet_data/random_urdfs/983/983.mtl | 10 + .../pybullet_data/random_urdfs/983/983.obj | 405 ++ .../pybullet_data/random_urdfs/983/983.urdf | 31 + .../pybullet_data/random_urdfs/984/984.mtl | 10 + .../pybullet_data/random_urdfs/984/984.obj | 582 +++ .../pybullet_data/random_urdfs/984/984.urdf | 31 + .../pybullet_data/random_urdfs/985/985.mtl | 10 + .../pybullet_data/random_urdfs/985/985.obj | 543 ++ .../pybullet_data/random_urdfs/985/985.urdf | 31 + .../pybullet_data/random_urdfs/986/986.mtl | 10 + .../pybullet_data/random_urdfs/986/986.obj | 189 + .../pybullet_data/random_urdfs/986/986.urdf | 31 + .../pybullet_data/random_urdfs/987/987.mtl | 10 + .../pybullet_data/random_urdfs/987/987.obj | 255 + .../pybullet_data/random_urdfs/987/987.urdf | 31 + .../pybullet_data/random_urdfs/988/988.mtl | 10 + .../pybullet_data/random_urdfs/988/988.obj | 537 ++ .../pybullet_data/random_urdfs/988/988.urdf | 31 + .../pybullet_data/random_urdfs/989/989.mtl | 10 + .../pybullet_data/random_urdfs/989/989.obj | 621 +++ .../pybullet_data/random_urdfs/989/989.urdf | 31 + .../pybullet_data/random_urdfs/990/990.mtl | 10 + .../pybullet_data/random_urdfs/990/990.obj | 3138 ++++++++++++ .../pybullet_data/random_urdfs/990/990.urdf | 31 + .../pybullet_data/random_urdfs/991/991.mtl | 10 + .../pybullet_data/random_urdfs/991/991.obj | 264 + .../pybullet_data/random_urdfs/991/991.urdf | 31 + .../pybullet_data/random_urdfs/992/992.mtl | 10 + .../pybullet_data/random_urdfs/992/992.obj | 573 +++ .../pybullet_data/random_urdfs/992/992.urdf | 31 + .../pybullet_data/random_urdfs/993/993.mtl | 10 + .../pybullet_data/random_urdfs/993/993.obj | 426 ++ .../pybullet_data/random_urdfs/993/993.urdf | 31 + .../pybullet_data/random_urdfs/994/994.mtl | 10 + .../pybullet_data/random_urdfs/994/994.obj | 438 ++ .../pybullet_data/random_urdfs/994/994.urdf | 31 + .../pybullet_data/random_urdfs/995/995.mtl | 10 + .../pybullet_data/random_urdfs/995/995.obj | 504 ++ .../pybullet_data/random_urdfs/995/995.urdf | 31 + .../pybullet_data/random_urdfs/996/996.mtl | 10 + .../pybullet_data/random_urdfs/996/996.obj | 390 ++ .../pybullet_data/random_urdfs/996/996.urdf | 31 + .../pybullet_data/random_urdfs/997/997.mtl | 10 + .../pybullet_data/random_urdfs/997/997.obj | 459 ++ .../pybullet_data/random_urdfs/997/997.urdf | 31 + .../pybullet_data/random_urdfs/998/998.mtl | 10 + .../pybullet_data/random_urdfs/998/998.obj | 336 ++ .../pybullet_data/random_urdfs/998/998.urdf | 31 + .../pybullet_data/random_urdfs/999/999.mtl | 10 + .../pybullet_data/random_urdfs/999/999.obj | 348 ++ .../pybullet_data/random_urdfs/999/999.urdf | 31 + 3001 files changed, 746723 insertions(+) create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/.DS_Store create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/000/000.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/000/000.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/000/000.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/001/001.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/001/001.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/001/001.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/002/002.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/002/002.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/002/002.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/003/003.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/003/003.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/003/003.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/004/004.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/004/004.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/004/004.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/005/005.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/005/005.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/005/005.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/006/006.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/006/006.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/006/006.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/007/007.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/007/007.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/007/007.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/008/008.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/008/008.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/008/008.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/009/009.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/009/009.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/009/009.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/010/010.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/010/010.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/010/010.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/011/011.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/011/011.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/011/011.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/012/012.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/012/012.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/012/012.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/013/013.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/013/013.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/013/013.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/014/014.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/014/014.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/014/014.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/015/015.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/015/015.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/015/015.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/016/016.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/016/016.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/016/016.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/017/017.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/017/017.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/017/017.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/018/018.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/018/018.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/018/018.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/019/019.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/019/019.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/019/019.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/020/020.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/020/020.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/020/020.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/021/021.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/021/021.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/021/021.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/022/022.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/022/022.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/022/022.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/023/023.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/023/023.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/023/023.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/024/024.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/024/024.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/024/024.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/025/025.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/025/025.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/025/025.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/026/026.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/026/026.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/026/026.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/027/027.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/027/027.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/027/027.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/028/028.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/028/028.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/028/028.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/029/029.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/029/029.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/029/029.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/030/030.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/030/030.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/030/030.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/031/031.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/031/031.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/031/031.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/032/032.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/032/032.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/032/032.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/033/033.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/033/033.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/033/033.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/034/034.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/034/034.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/034/034.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/035/035.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/035/035.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/035/035.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/036/036.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/036/036.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/036/036.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/037/037.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/037/037.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/037/037.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/038/038.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/038/038.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/038/038.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/039/039.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/039/039.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/039/039.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/040/040.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/040/040.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/040/040.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/041/041.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/041/041.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/041/041.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/042/042.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/042/042.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/042/042.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/043/043.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/043/043.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/043/043.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/044/044.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/044/044.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/044/044.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/045/045.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/045/045.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/045/045.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/046/046.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/046/046.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/046/046.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/047/047.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/047/047.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/047/047.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/048/048.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/048/048.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/048/048.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/049/049.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/049/049.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/049/049.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/050/050.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/050/050.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/050/050.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/051/051.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/051/051.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/051/051.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/052/052.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/052/052.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/052/052.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/053/053.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/053/053.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/053/053.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/054/054.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/054/054.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/054/054.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/055/055.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/055/055.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/055/055.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/056/056.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/056/056.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/056/056.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/057/057.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/057/057.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/057/057.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/058/058.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/058/058.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/058/058.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/059/059.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/059/059.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/059/059.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/060/060.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/060/060.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/060/060.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/061/061.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/061/061.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/061/061.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/062/062.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/062/062.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/062/062.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/063/063.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/063/063.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/063/063.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/064/064.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/064/064.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/064/064.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/065/065.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/065/065.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/065/065.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/066/066.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/066/066.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/066/066.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/067/067.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/067/067.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/067/067.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/068/068.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/068/068.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/068/068.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/069/069.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/069/069.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/069/069.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/070/070.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/070/070.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/070/070.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/071/071.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/071/071.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/071/071.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/072/072.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/072/072.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/072/072.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/073/073.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/073/073.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/073/073.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/074/074.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/074/074.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/074/074.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/075/075.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/075/075.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/075/075.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/076/076.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/076/076.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/076/076.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/077/077.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/077/077.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/077/077.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/078/078.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/078/078.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/078/078.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/079/079.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/079/079.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/079/079.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/080/080.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/080/080.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/080/080.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/081/081.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/081/081.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/081/081.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/082/082.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/082/082.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/082/082.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/083/083.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/083/083.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/083/083.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/084/084.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/084/084.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/084/084.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/085/085.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/085/085.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/085/085.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/086/086.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/086/086.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/086/086.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/087/087.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/087/087.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/087/087.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/088/088.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/088/088.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/088/088.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/089/089.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/089/089.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/089/089.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/090/090.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/090/090.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/090/090.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/091/091.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/091/091.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/091/091.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/092/092.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/092/092.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/092/092.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/093/093.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/093/093.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/093/093.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/094/094.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/094/094.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/094/094.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/095/095.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/095/095.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/095/095.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/096/096.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/096/096.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/096/096.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/097/097.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/097/097.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/097/097.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/098/098.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/098/098.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/098/098.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/099/099.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/099/099.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/099/099.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/100/100.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/100/100.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/100/100.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/101/101.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/101/101.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/101/101.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/102/102.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/102/102.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/102/102.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/103/103.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/103/103.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/103/103.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/104/104.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/104/104.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/104/104.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/105/105.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/105/105.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/105/105.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/106/106.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/106/106.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/106/106.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/107/107.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/107/107.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/107/107.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/108/108.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/108/108.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/108/108.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/109/109.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/109/109.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/109/109.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/110/110.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/110/110.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/110/110.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/111/111.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/111/111.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/111/111.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/112/112.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/112/112.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/112/112.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/113/113.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/113/113.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/113/113.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/114/114.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/114/114.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/114/114.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/115/115.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/115/115.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/115/115.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/116/116.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/116/116.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/116/116.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/117/117.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/117/117.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/117/117.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/118/118.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/118/118.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/118/118.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/119/119.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/119/119.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/119/119.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/120/120.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/120/120.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/120/120.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/121/121.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/121/121.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/121/121.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/122/122.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/122/122.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/122/122.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/123/123.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/123/123.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/123/123.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/124/124.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/124/124.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/124/124.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/125/125.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/125/125.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/125/125.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/126/126.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/126/126.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/126/126.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/127/127.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/127/127.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/127/127.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/128/128.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/128/128.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/128/128.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/129/129.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/129/129.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/129/129.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/130/130.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/130/130.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/130/130.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/131/131.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/131/131.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/131/131.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/132/132.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/132/132.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/132/132.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/133/133.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/133/133.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/133/133.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/134/134.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/134/134.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/134/134.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/135/135.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/135/135.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/135/135.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/136/136.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/136/136.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/136/136.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/137/137.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/137/137.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/137/137.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/138/138.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/138/138.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/138/138.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/139/139.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/139/139.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/139/139.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/140/140.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/140/140.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/140/140.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/141/141.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/141/141.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/141/141.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/142/142.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/142/142.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/142/142.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/143/143.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/143/143.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/143/143.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/144/144.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/144/144.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/144/144.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/145/145.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/145/145.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/145/145.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/146/146.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/146/146.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/146/146.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/147/147.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/147/147.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/147/147.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/148/148.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/148/148.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/148/148.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/149/149.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/149/149.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/149/149.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/150/150.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/150/150.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/150/150.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/151/151.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/151/151.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/151/151.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/152/152.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/152/152.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/152/152.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/153/153.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/153/153.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/153/153.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/154/154.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/154/154.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/154/154.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/155/155.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/155/155.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/155/155.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/156/156.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/156/156.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/156/156.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/157/157.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/157/157.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/157/157.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/158/158.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/158/158.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/158/158.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/159/159.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/159/159.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/159/159.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/160/160.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/160/160.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/160/160.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/161/161.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/161/161.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/161/161.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/162/162.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/162/162.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/162/162.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/163/163.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/163/163.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/163/163.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/164/164.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/164/164.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/164/164.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/165/165.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/165/165.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/165/165.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/166/166.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/166/166.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/166/166.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/167/167.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/167/167.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/167/167.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/168/168.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/168/168.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/168/168.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/169/169.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/169/169.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/169/169.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/170/170.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/170/170.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/170/170.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/171/171.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/171/171.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/171/171.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/172/172.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/172/172.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/172/172.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/173/173.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/173/173.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/173/173.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/174/174.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/174/174.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/174/174.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/175/175.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/175/175.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/175/175.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/176/176.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/176/176.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/176/176.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/177/177.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/177/177.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/177/177.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/178/178.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/178/178.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/178/178.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/179/179.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/179/179.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/179/179.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/180/180.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/180/180.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/180/180.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/181/181.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/181/181.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/181/181.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/182/182.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/182/182.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/182/182.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/183/183.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/183/183.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/183/183.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/184/184.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/184/184.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/184/184.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/185/185.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/185/185.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/185/185.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/186/186.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/186/186.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/186/186.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/187/187.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/187/187.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/187/187.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/188/188.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/188/188.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/188/188.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/189/189.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/189/189.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/189/189.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/190/190.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/190/190.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/190/190.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/191/191.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/191/191.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/191/191.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/192/192.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/192/192.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/192/192.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/193/193.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/193/193.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/193/193.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/194/194.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/194/194.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/194/194.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/195/195.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/195/195.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/195/195.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/196/196.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/196/196.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/196/196.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/197/197.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/197/197.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/197/197.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/198/198.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/198/198.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/198/198.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/199/199.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/199/199.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/199/199.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/200/200.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/200/200.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/200/200.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/201/201.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/201/201.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/201/201.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/202/202.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/202/202.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/202/202.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/203/203.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/203/203.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/203/203.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/204/204.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/204/204.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/204/204.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/205/205.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/205/205.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/205/205.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/206/206.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/206/206.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/206/206.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/207/207.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/207/207.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/207/207.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/208/208.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/208/208.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/208/208.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/209/209.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/209/209.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/209/209.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/210/210.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/210/210.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/210/210.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/211/211.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/211/211.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/211/211.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/212/212.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/212/212.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/212/212.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/213/213.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/213/213.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/213/213.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/214/214.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/214/214.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/214/214.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/215/215.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/215/215.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/215/215.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/216/216.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/216/216.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/216/216.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/217/217.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/217/217.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/217/217.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/218/218.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/218/218.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/218/218.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/219/219.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/219/219.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/219/219.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/220/220.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/220/220.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/220/220.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/221/221.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/221/221.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/221/221.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/222/222.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/222/222.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/222/222.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/223/223.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/223/223.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/223/223.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/224/224.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/224/224.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/224/224.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/225/225.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/225/225.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/225/225.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/226/226.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/226/226.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/226/226.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/227/227.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/227/227.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/227/227.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/228/228.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/228/228.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/228/228.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/229/229.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/229/229.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/229/229.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/230/230.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/230/230.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/230/230.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/231/231.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/231/231.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/231/231.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/232/232.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/232/232.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/232/232.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/233/233.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/233/233.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/233/233.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/234/234.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/234/234.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/234/234.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/235/235.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/235/235.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/235/235.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/236/236.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/236/236.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/236/236.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/237/237.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/237/237.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/237/237.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/238/238.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/238/238.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/238/238.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/239/239.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/239/239.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/239/239.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/240/240.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/240/240.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/240/240.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/241/241.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/241/241.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/241/241.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/242/242.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/242/242.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/242/242.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/243/243.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/243/243.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/243/243.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/244/244.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/244/244.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/244/244.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/245/245.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/245/245.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/245/245.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/246/246.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/246/246.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/246/246.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/247/247.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/247/247.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/247/247.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/248/248.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/248/248.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/248/248.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/249/249.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/249/249.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/249/249.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/250/250.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/250/250.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/250/250.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/251/251.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/251/251.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/251/251.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/252/252.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/252/252.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/252/252.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/253/253.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/253/253.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/253/253.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/254/254.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/254/254.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/254/254.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/255/255.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/255/255.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/255/255.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/256/256.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/256/256.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/256/256.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/257/257.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/257/257.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/257/257.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/258/258.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/258/258.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/258/258.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/259/259.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/259/259.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/259/259.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/260/260.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/260/260.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/260/260.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/261/261.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/261/261.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/261/261.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/262/262.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/262/262.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/262/262.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/263/263.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/263/263.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/263/263.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/264/264.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/264/264.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/264/264.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/265/265.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/265/265.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/265/265.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/266/266.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/266/266.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/266/266.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/267/267.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/267/267.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/267/267.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/268/268.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/268/268.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/268/268.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/269/269.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/269/269.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/269/269.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/270/270.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/270/270.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/270/270.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/271/271.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/271/271.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/271/271.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/272/272.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/272/272.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/272/272.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/273/273.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/273/273.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/273/273.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/274/274.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/274/274.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/274/274.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/275/275.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/275/275.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/275/275.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/276/276.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/276/276.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/276/276.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/277/277.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/277/277.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/277/277.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/278/278.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/278/278.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/278/278.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/279/279.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/279/279.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/279/279.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/280/280.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/280/280.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/280/280.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/281/281.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/281/281.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/281/281.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/282/282.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/282/282.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/282/282.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/283/283.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/283/283.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/283/283.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/284/284.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/284/284.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/284/284.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/285/285.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/285/285.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/285/285.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/286/286.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/286/286.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/286/286.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/287/287.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/287/287.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/287/287.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/288/288.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/288/288.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/288/288.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/289/289.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/289/289.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/289/289.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/290/290.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/290/290.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/290/290.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/291/291.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/291/291.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/291/291.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/292/292.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/292/292.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/292/292.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/293/293.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/293/293.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/293/293.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/294/294.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/294/294.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/294/294.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/295/295.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/295/295.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/295/295.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/296/296.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/296/296.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/296/296.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/297/297.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/297/297.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/297/297.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/298/298.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/298/298.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/298/298.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/299/299.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/299/299.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/299/299.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/300/300.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/300/300.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/300/300.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/301/301.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/301/301.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/301/301.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/302/302.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/302/302.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/302/302.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/303/303.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/303/303.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/303/303.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/304/304.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/304/304.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/304/304.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/305/305.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/305/305.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/305/305.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/306/306.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/306/306.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/306/306.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/307/307.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/307/307.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/307/307.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/308/308.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/308/308.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/308/308.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/309/309.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/309/309.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/309/309.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/310/310.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/310/310.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/310/310.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/311/311.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/311/311.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/311/311.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/312/312.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/312/312.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/312/312.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/313/313.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/313/313.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/313/313.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/314/314.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/314/314.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/314/314.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/315/315.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/315/315.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/315/315.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/316/316.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/316/316.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/316/316.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/317/317.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/317/317.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/317/317.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/318/318.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/318/318.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/318/318.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/319/319.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/319/319.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/319/319.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/320/320.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/320/320.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/320/320.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/321/321.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/321/321.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/321/321.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/322/322.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/322/322.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/322/322.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/323/323.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/323/323.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/323/323.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/324/324.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/324/324.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/324/324.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/325/325.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/325/325.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/325/325.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/326/326.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/326/326.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/326/326.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/327/327.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/327/327.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/327/327.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/328/328.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/328/328.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/328/328.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/329/329.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/329/329.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/329/329.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/330/330.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/330/330.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/330/330.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/331/331.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/331/331.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/331/331.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/332/332.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/332/332.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/332/332.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/333/333.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/333/333.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/333/333.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/334/334.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/334/334.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/334/334.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/335/335.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/335/335.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/335/335.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/336/336.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/336/336.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/336/336.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/337/337.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/337/337.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/337/337.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/338/338.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/338/338.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/338/338.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/339/339.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/339/339.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/339/339.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/340/340.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/340/340.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/340/340.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/341/341.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/341/341.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/341/341.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/342/342.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/342/342.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/342/342.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/343/343.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/343/343.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/343/343.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/344/344.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/344/344.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/344/344.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/345/345.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/345/345.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/345/345.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/346/346.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/346/346.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/346/346.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/347/347.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/347/347.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/347/347.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/348/348.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/348/348.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/348/348.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/349/349.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/349/349.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/349/349.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/350/350.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/350/350.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/350/350.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/351/351.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/351/351.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/351/351.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/352/352.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/352/352.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/352/352.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/353/353.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/353/353.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/353/353.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/354/354.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/354/354.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/354/354.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/355/355.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/355/355.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/355/355.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/356/356.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/356/356.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/356/356.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/357/357.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/357/357.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/357/357.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/358/358.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/358/358.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/358/358.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/359/359.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/359/359.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/359/359.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/360/360.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/360/360.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/360/360.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/361/361.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/361/361.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/361/361.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/362/362.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/362/362.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/362/362.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/363/363.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/363/363.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/363/363.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/364/364.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/364/364.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/364/364.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/365/365.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/365/365.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/365/365.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/366/366.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/366/366.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/366/366.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/367/367.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/367/367.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/367/367.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/368/368.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/368/368.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/368/368.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/369/369.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/369/369.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/369/369.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/370/370.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/370/370.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/370/370.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/371/371.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/371/371.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/371/371.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/372/372.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/372/372.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/372/372.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/373/373.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/373/373.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/373/373.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/374/374.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/374/374.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/374/374.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/375/375.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/375/375.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/375/375.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/376/376.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/376/376.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/376/376.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/377/377.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/377/377.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/377/377.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/378/378.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/378/378.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/378/378.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/379/379.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/379/379.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/379/379.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/380/380.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/380/380.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/380/380.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/381/381.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/381/381.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/381/381.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/382/382.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/382/382.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/382/382.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/383/383.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/383/383.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/383/383.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/384/384.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/384/384.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/384/384.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/385/385.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/385/385.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/385/385.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/386/386.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/386/386.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/386/386.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/387/387.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/387/387.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/387/387.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/388/388.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/388/388.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/388/388.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/389/389.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/389/389.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/389/389.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/390/390.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/390/390.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/390/390.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/391/391.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/391/391.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/391/391.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/392/392.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/392/392.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/392/392.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/393/393.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/393/393.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/393/393.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/394/394.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/394/394.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/394/394.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/395/395.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/395/395.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/395/395.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/396/396.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/396/396.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/396/396.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/397/397.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/397/397.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/397/397.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/398/398.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/398/398.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/398/398.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/399/399.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/399/399.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/399/399.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/400/400.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/400/400.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/400/400.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/401/401.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/401/401.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/401/401.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/402/402.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/402/402.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/402/402.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/403/403.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/403/403.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/403/403.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/404/404.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/404/404.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/404/404.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/405/405.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/405/405.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/405/405.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/406/406.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/406/406.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/406/406.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/407/407.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/407/407.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/407/407.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/408/408.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/408/408.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/408/408.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/409/409.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/409/409.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/409/409.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/410/410.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/410/410.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/410/410.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/411/411.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/411/411.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/411/411.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/412/412.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/412/412.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/412/412.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/413/413.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/413/413.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/413/413.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/414/414.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/414/414.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/414/414.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/415/415.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/415/415.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/415/415.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/416/416.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/416/416.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/416/416.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/417/417.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/417/417.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/417/417.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/418/418.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/418/418.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/418/418.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/419/419.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/419/419.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/419/419.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/420/420.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/420/420.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/420/420.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/421/421.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/421/421.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/421/421.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/422/422.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/422/422.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/422/422.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/423/423.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/423/423.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/423/423.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/424/424.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/424/424.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/424/424.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/425/425.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/425/425.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/425/425.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/426/426.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/426/426.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/426/426.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/427/427.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/427/427.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/427/427.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/428/428.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/428/428.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/428/428.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/429/429.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/429/429.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/429/429.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/430/430.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/430/430.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/430/430.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/431/431.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/431/431.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/431/431.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/432/432.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/432/432.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/432/432.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/433/433.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/433/433.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/433/433.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/434/434.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/434/434.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/434/434.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/435/435.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/435/435.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/435/435.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/436/436.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/436/436.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/436/436.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/437/437.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/437/437.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/437/437.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/438/438.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/438/438.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/438/438.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/439/439.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/439/439.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/439/439.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/440/440.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/440/440.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/440/440.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/441/441.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/441/441.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/441/441.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/442/442.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/442/442.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/442/442.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/443/443.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/443/443.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/443/443.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/444/444.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/444/444.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/444/444.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/445/445.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/445/445.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/445/445.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/446/446.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/446/446.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/446/446.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/447/447.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/447/447.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/447/447.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/448/448.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/448/448.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/448/448.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/449/449.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/449/449.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/449/449.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/450/450.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/450/450.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/450/450.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/451/451.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/451/451.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/451/451.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/452/452.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/452/452.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/452/452.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/453/453.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/453/453.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/453/453.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/454/454.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/454/454.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/454/454.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/455/455.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/455/455.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/455/455.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/456/456.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/456/456.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/456/456.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/457/457.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/457/457.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/457/457.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/458/458.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/458/458.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/458/458.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/459/459.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/459/459.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/459/459.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/460/460.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/460/460.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/460/460.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/461/461.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/461/461.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/461/461.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/462/462.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/462/462.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/462/462.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/463/463.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/463/463.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/463/463.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/464/464.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/464/464.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/464/464.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/465/465.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/465/465.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/465/465.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/466/466.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/466/466.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/466/466.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/467/467.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/467/467.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/467/467.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/468/468.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/468/468.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/468/468.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/469/469.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/469/469.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/469/469.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/470/470.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/470/470.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/470/470.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/471/471.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/471/471.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/471/471.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/472/472.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/472/472.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/472/472.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/473/473.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/473/473.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/473/473.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/474/474.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/474/474.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/474/474.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/475/475.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/475/475.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/475/475.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/476/476.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/476/476.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/476/476.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/477/477.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/477/477.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/477/477.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/478/478.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/478/478.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/478/478.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/479/479.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/479/479.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/479/479.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/480/480.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/480/480.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/480/480.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/481/481.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/481/481.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/481/481.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/482/482.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/482/482.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/482/482.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/483/483.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/483/483.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/483/483.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/484/484.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/484/484.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/484/484.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/485/485.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/485/485.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/485/485.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/486/486.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/486/486.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/486/486.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/487/487.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/487/487.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/487/487.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/488/488.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/488/488.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/488/488.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/489/489.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/489/489.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/489/489.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/490/490.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/490/490.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/490/490.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/491/491.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/491/491.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/491/491.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/492/492.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/492/492.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/492/492.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/493/493.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/493/493.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/493/493.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/494/494.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/494/494.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/494/494.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/495/495.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/495/495.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/495/495.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/496/496.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/496/496.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/496/496.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/497/497.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/497/497.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/497/497.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/498/498.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/498/498.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/498/498.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/499/499.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/499/499.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/499/499.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/500/500.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/500/500.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/500/500.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/501/501.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/501/501.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/501/501.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/502/502.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/502/502.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/502/502.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/503/503.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/503/503.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/503/503.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/504/504.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/504/504.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/504/504.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/505/505.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/505/505.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/505/505.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/506/506.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/506/506.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/506/506.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/507/507.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/507/507.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/507/507.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/508/508.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/508/508.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/508/508.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/509/509.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/509/509.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/509/509.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/510/510.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/510/510.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/510/510.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/511/511.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/511/511.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/511/511.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/512/512.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/512/512.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/512/512.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/513/513.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/513/513.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/513/513.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/514/514.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/514/514.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/514/514.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/515/515.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/515/515.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/515/515.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/516/516.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/516/516.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/516/516.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/517/517.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/517/517.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/517/517.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/518/518.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/518/518.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/518/518.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/519/519.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/519/519.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/519/519.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/520/520.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/520/520.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/520/520.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/521/521.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/521/521.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/521/521.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/522/522.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/522/522.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/522/522.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/523/523.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/523/523.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/523/523.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/524/524.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/524/524.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/524/524.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/525/525.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/525/525.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/525/525.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/526/526.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/526/526.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/526/526.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/527/527.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/527/527.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/527/527.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/528/528.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/528/528.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/528/528.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/529/529.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/529/529.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/529/529.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/530/530.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/530/530.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/530/530.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/531/531.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/531/531.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/531/531.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/532/532.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/532/532.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/532/532.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/533/533.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/533/533.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/533/533.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/534/534.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/534/534.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/534/534.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/535/535.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/535/535.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/535/535.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/536/536.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/536/536.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/536/536.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/537/537.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/537/537.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/537/537.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/538/538.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/538/538.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/538/538.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/539/539.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/539/539.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/539/539.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/540/540.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/540/540.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/540/540.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/541/541.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/541/541.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/541/541.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/542/542.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/542/542.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/542/542.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/543/543.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/543/543.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/543/543.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/544/544.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/544/544.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/544/544.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/545/545.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/545/545.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/545/545.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/546/546.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/546/546.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/546/546.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/547/547.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/547/547.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/547/547.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/548/548.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/548/548.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/548/548.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/549/549.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/549/549.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/549/549.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/550/550.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/550/550.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/550/550.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/551/551.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/551/551.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/551/551.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/552/552.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/552/552.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/552/552.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/553/553.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/553/553.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/553/553.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/554/554.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/554/554.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/554/554.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/555/555.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/555/555.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/555/555.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/556/556.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/556/556.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/556/556.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/557/557.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/557/557.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/557/557.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/558/558.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/558/558.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/558/558.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/559/559.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/559/559.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/559/559.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/560/560.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/560/560.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/560/560.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/561/561.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/561/561.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/561/561.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/562/562.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/562/562.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/562/562.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/563/563.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/563/563.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/563/563.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/564/564.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/564/564.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/564/564.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/565/565.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/565/565.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/565/565.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/566/566.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/566/566.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/566/566.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/567/567.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/567/567.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/567/567.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/568/568.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/568/568.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/568/568.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/569/569.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/569/569.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/569/569.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/570/570.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/570/570.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/570/570.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/571/571.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/571/571.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/571/571.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/572/572.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/572/572.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/572/572.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/573/573.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/573/573.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/573/573.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/574/574.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/574/574.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/574/574.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/575/575.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/575/575.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/575/575.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/576/576.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/576/576.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/576/576.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/577/577.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/577/577.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/577/577.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/578/578.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/578/578.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/578/578.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/579/579.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/579/579.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/579/579.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/580/580.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/580/580.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/580/580.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/581/581.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/581/581.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/581/581.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/582/582.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/582/582.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/582/582.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/583/583.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/583/583.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/583/583.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/584/584.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/584/584.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/584/584.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/585/585.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/585/585.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/585/585.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/586/586.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/586/586.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/586/586.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/587/587.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/587/587.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/587/587.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/588/588.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/588/588.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/588/588.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/589/589.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/589/589.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/589/589.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/590/590.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/590/590.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/590/590.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/591/591.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/591/591.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/591/591.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/592/592.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/592/592.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/592/592.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/593/593.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/593/593.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/593/593.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/594/594.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/594/594.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/594/594.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/595/595.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/595/595.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/595/595.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/596/596.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/596/596.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/596/596.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/597/597.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/597/597.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/597/597.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/598/598.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/598/598.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/598/598.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/599/599.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/599/599.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/599/599.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/600/600.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/600/600.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/600/600.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/601/601.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/601/601.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/601/601.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/602/602.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/602/602.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/602/602.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/603/603.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/603/603.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/603/603.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/604/604.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/604/604.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/604/604.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/605/605.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/605/605.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/605/605.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/606/606.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/606/606.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/606/606.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/607/607.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/607/607.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/607/607.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/608/608.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/608/608.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/608/608.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/609/609.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/609/609.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/609/609.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/610/610.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/610/610.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/610/610.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/611/611.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/611/611.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/611/611.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/612/612.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/612/612.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/612/612.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/613/613.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/613/613.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/613/613.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/614/614.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/614/614.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/614/614.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/615/615.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/615/615.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/615/615.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/616/616.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/616/616.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/616/616.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/617/617.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/617/617.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/617/617.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/618/618.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/618/618.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/618/618.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/619/619.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/619/619.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/619/619.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/620/620.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/620/620.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/620/620.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/621/621.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/621/621.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/621/621.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/622/622.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/622/622.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/622/622.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/623/623.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/623/623.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/623/623.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/624/624.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/624/624.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/624/624.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/625/625.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/625/625.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/625/625.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/626/626.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/626/626.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/626/626.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/627/627.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/627/627.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/627/627.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/628/628.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/628/628.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/628/628.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/629/629.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/629/629.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/629/629.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/630/630.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/630/630.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/630/630.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/631/631.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/631/631.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/631/631.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/632/632.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/632/632.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/632/632.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/633/633.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/633/633.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/633/633.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/634/634.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/634/634.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/634/634.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/635/635.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/635/635.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/635/635.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/636/636.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/636/636.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/636/636.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/637/637.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/637/637.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/637/637.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/638/638.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/638/638.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/638/638.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/639/639.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/639/639.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/639/639.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/640/640.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/640/640.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/640/640.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/641/641.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/641/641.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/641/641.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/642/642.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/642/642.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/642/642.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/643/643.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/643/643.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/643/643.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/644/644.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/644/644.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/644/644.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/645/645.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/645/645.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/645/645.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/646/646.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/646/646.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/646/646.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/647/647.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/647/647.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/647/647.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/648/648.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/648/648.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/648/648.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/649/649.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/649/649.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/649/649.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/650/650.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/650/650.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/650/650.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/651/651.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/651/651.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/651/651.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/652/652.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/652/652.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/652/652.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/653/653.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/653/653.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/653/653.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/654/654.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/654/654.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/654/654.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/655/655.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/655/655.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/655/655.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/656/656.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/656/656.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/656/656.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/657/657.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/657/657.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/657/657.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/658/658.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/658/658.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/658/658.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/659/659.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/659/659.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/659/659.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/660/660.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/660/660.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/660/660.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/661/661.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/661/661.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/661/661.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/662/662.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/662/662.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/662/662.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/663/663.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/663/663.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/663/663.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/664/664.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/664/664.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/664/664.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/665/665.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/665/665.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/665/665.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/666/666.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/666/666.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/666/666.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/667/667.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/667/667.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/667/667.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/668/668.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/668/668.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/668/668.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/669/669.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/669/669.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/669/669.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/670/670.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/670/670.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/670/670.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/671/671.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/671/671.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/671/671.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/672/672.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/672/672.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/672/672.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/673/673.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/673/673.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/673/673.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/674/674.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/674/674.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/674/674.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/675/675.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/675/675.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/675/675.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/676/676.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/676/676.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/676/676.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/677/677.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/677/677.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/677/677.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/678/678.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/678/678.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/678/678.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/679/679.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/679/679.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/679/679.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/680/680.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/680/680.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/680/680.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/681/681.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/681/681.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/681/681.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/682/682.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/682/682.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/682/682.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/683/683.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/683/683.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/683/683.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/684/684.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/684/684.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/684/684.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/685/685.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/685/685.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/685/685.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/686/686.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/686/686.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/686/686.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/687/687.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/687/687.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/687/687.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/688/688.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/688/688.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/688/688.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/689/689.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/689/689.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/689/689.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/690/690.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/690/690.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/690/690.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/691/691.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/691/691.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/691/691.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/692/692.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/692/692.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/692/692.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/693/693.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/693/693.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/693/693.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/694/694.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/694/694.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/694/694.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/695/695.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/695/695.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/695/695.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/696/696.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/696/696.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/696/696.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/697/697.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/697/697.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/697/697.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/698/698.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/698/698.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/698/698.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/699/699.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/699/699.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/699/699.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/700/700.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/700/700.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/700/700.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/701/701.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/701/701.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/701/701.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/702/702.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/702/702.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/702/702.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/703/703.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/703/703.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/703/703.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/704/704.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/704/704.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/704/704.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/705/705.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/705/705.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/705/705.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/706/706.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/706/706.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/706/706.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/707/707.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/707/707.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/707/707.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/708/708.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/708/708.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/708/708.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/709/709.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/709/709.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/709/709.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/710/710.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/710/710.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/710/710.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/711/711.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/711/711.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/711/711.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/712/712.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/712/712.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/712/712.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/713/713.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/713/713.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/713/713.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/714/714.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/714/714.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/714/714.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/715/715.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/715/715.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/715/715.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/716/716.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/716/716.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/716/716.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/717/717.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/717/717.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/717/717.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/718/718.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/718/718.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/718/718.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/719/719.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/719/719.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/719/719.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/720/720.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/720/720.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/720/720.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/721/721.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/721/721.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/721/721.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/722/722.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/722/722.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/722/722.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/723/723.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/723/723.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/723/723.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/724/724.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/724/724.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/724/724.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/725/725.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/725/725.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/725/725.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/726/726.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/726/726.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/726/726.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/727/727.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/727/727.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/727/727.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/728/728.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/728/728.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/728/728.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/729/729.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/729/729.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/729/729.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/730/730.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/730/730.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/730/730.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/731/731.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/731/731.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/731/731.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/732/732.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/732/732.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/732/732.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/733/733.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/733/733.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/733/733.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/734/734.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/734/734.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/734/734.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/735/735.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/735/735.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/735/735.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/736/736.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/736/736.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/736/736.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/737/737.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/737/737.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/737/737.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/738/738.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/738/738.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/738/738.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/739/739.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/739/739.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/739/739.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/740/740.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/740/740.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/740/740.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/741/741.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/741/741.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/741/741.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/742/742.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/742/742.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/742/742.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/743/743.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/743/743.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/743/743.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/744/744.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/744/744.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/744/744.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/745/745.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/745/745.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/745/745.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/746/746.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/746/746.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/746/746.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/747/747.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/747/747.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/747/747.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/748/748.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/748/748.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/748/748.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/749/749.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/749/749.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/749/749.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/750/750.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/750/750.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/750/750.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/751/751.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/751/751.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/751/751.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/752/752.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/752/752.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/752/752.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/753/753.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/753/753.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/753/753.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/754/754.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/754/754.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/754/754.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/755/755.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/755/755.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/755/755.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/756/756.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/756/756.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/756/756.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/757/757.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/757/757.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/757/757.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/758/758.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/758/758.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/758/758.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/759/759.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/759/759.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/759/759.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/760/760.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/760/760.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/760/760.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/761/761.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/761/761.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/761/761.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/762/762.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/762/762.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/762/762.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/763/763.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/763/763.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/763/763.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/764/764.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/764/764.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/764/764.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/765/765.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/765/765.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/765/765.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/766/766.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/766/766.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/766/766.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/767/767.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/767/767.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/767/767.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/768/768.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/768/768.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/768/768.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/769/769.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/769/769.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/769/769.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/770/770.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/770/770.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/770/770.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/771/771.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/771/771.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/771/771.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/772/772.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/772/772.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/772/772.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/773/773.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/773/773.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/773/773.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/774/774.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/774/774.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/774/774.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/775/775.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/775/775.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/775/775.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/776/776.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/776/776.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/776/776.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/777/777.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/777/777.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/777/777.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/778/778.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/778/778.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/778/778.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/779/779.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/779/779.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/779/779.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/780/780.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/780/780.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/780/780.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/781/781.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/781/781.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/781/781.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/782/782.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/782/782.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/782/782.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/783/783.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/783/783.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/783/783.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/784/784.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/784/784.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/784/784.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/785/785.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/785/785.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/785/785.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/786/786.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/786/786.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/786/786.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/787/787.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/787/787.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/787/787.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/788/788.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/788/788.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/788/788.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/789/789.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/789/789.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/789/789.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/790/790.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/790/790.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/790/790.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/791/791.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/791/791.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/791/791.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/792/792.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/792/792.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/792/792.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/793/793.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/793/793.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/793/793.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/794/794.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/794/794.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/794/794.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/795/795.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/795/795.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/795/795.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/796/796.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/796/796.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/796/796.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/797/797.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/797/797.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/797/797.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/798/798.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/798/798.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/798/798.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/799/799.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/799/799.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/799/799.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/800/800.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/800/800.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/800/800.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/801/801.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/801/801.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/801/801.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/802/802.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/802/802.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/802/802.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/803/803.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/803/803.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/803/803.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/804/804.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/804/804.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/804/804.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/805/805.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/805/805.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/805/805.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/806/806.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/806/806.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/806/806.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/807/807.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/807/807.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/807/807.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/808/808.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/808/808.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/808/808.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/809/809.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/809/809.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/809/809.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/810/810.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/810/810.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/810/810.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/811/811.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/811/811.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/811/811.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/812/812.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/812/812.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/812/812.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/813/813.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/813/813.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/813/813.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/814/814.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/814/814.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/814/814.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/815/815.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/815/815.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/815/815.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/816/816.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/816/816.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/816/816.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/817/817.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/817/817.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/817/817.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/818/818.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/818/818.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/818/818.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/819/819.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/819/819.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/819/819.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/820/820.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/820/820.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/820/820.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/821/821.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/821/821.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/821/821.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/822/822.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/822/822.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/822/822.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/823/823.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/823/823.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/823/823.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/824/824.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/824/824.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/824/824.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/825/825.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/825/825.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/825/825.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/826/826.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/826/826.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/826/826.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/827/827.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/827/827.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/827/827.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/828/828.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/828/828.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/828/828.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/829/829.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/829/829.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/829/829.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/830/830.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/830/830.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/830/830.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/831/831.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/831/831.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/831/831.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/832/832.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/832/832.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/832/832.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/833/833.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/833/833.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/833/833.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/834/834.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/834/834.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/834/834.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/835/835.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/835/835.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/835/835.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/836/836.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/836/836.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/836/836.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/837/837.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/837/837.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/837/837.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/838/838.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/838/838.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/838/838.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/839/839.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/839/839.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/839/839.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/840/840.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/840/840.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/840/840.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/841/841.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/841/841.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/841/841.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/842/842.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/842/842.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/842/842.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/843/843.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/843/843.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/843/843.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/844/844.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/844/844.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/844/844.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/845/845.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/845/845.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/845/845.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/846/846.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/846/846.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/846/846.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/847/847.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/847/847.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/847/847.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/848/848.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/848/848.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/848/848.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/849/849.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/849/849.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/849/849.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/850/850.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/850/850.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/850/850.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/851/851.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/851/851.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/851/851.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/852/852.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/852/852.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/852/852.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/853/853.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/853/853.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/853/853.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/854/854.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/854/854.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/854/854.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/855/855.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/855/855.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/855/855.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/856/856.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/856/856.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/856/856.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/857/857.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/857/857.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/857/857.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/858/858.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/858/858.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/858/858.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/859/859.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/859/859.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/859/859.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/860/860.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/860/860.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/860/860.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/861/861.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/861/861.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/861/861.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/862/862.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/862/862.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/862/862.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/863/863.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/863/863.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/863/863.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/864/864.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/864/864.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/864/864.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/865/865.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/865/865.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/865/865.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/866/866.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/866/866.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/866/866.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/867/867.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/867/867.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/867/867.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/868/868.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/868/868.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/868/868.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/869/869.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/869/869.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/869/869.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/870/870.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/870/870.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/870/870.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/871/871.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/871/871.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/871/871.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/872/872.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/872/872.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/872/872.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/873/873.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/873/873.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/873/873.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/874/874.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/874/874.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/874/874.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/875/875.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/875/875.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/875/875.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/876/876.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/876/876.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/876/876.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/877/877.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/877/877.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/877/877.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/878/878.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/878/878.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/878/878.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/879/879.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/879/879.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/879/879.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/880/880.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/880/880.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/880/880.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/881/881.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/881/881.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/881/881.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/882/882.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/882/882.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/882/882.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/883/883.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/883/883.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/883/883.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/884/884.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/884/884.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/884/884.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/885/885.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/885/885.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/885/885.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/886/886.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/886/886.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/886/886.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/887/887.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/887/887.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/887/887.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/888/888.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/888/888.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/888/888.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/889/889.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/889/889.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/889/889.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/890/890.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/890/890.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/890/890.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/891/891.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/891/891.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/891/891.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/892/892.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/892/892.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/892/892.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/893/893.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/893/893.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/893/893.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/894/894.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/894/894.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/894/894.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/895/895.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/895/895.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/895/895.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/896/896.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/896/896.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/896/896.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/897/897.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/897/897.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/897/897.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/898/898.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/898/898.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/898/898.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/899/899.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/899/899.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/899/899.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/900/900.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/900/900.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/900/900.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/901/901.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/901/901.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/901/901.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/902/902.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/902/902.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/902/902.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/903/903.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/903/903.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/903/903.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/904/904.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/904/904.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/904/904.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/905/905.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/905/905.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/905/905.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/906/906.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/906/906.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/906/906.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/907/907.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/907/907.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/907/907.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/908/908.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/908/908.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/908/908.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/909/909.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/909/909.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/909/909.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/910/910.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/910/910.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/910/910.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/911/911.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/911/911.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/911/911.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/912/912.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/912/912.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/912/912.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/913/913.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/913/913.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/913/913.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/914/914.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/914/914.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/914/914.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/915/915.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/915/915.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/915/915.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/916/916.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/916/916.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/916/916.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/917/917.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/917/917.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/917/917.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/918/918.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/918/918.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/918/918.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/919/919.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/919/919.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/919/919.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/920/920.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/920/920.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/920/920.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/921/921.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/921/921.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/921/921.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/922/922.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/922/922.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/922/922.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/923/923.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/923/923.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/923/923.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/924/924.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/924/924.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/924/924.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/925/925.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/925/925.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/925/925.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/926/926.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/926/926.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/926/926.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/927/927.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/927/927.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/927/927.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/928/928.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/928/928.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/928/928.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/929/929.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/929/929.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/929/929.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/930/930.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/930/930.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/930/930.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/931/931.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/931/931.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/931/931.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/932/932.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/932/932.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/932/932.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/933/933.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/933/933.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/933/933.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/934/934.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/934/934.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/934/934.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/935/935.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/935/935.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/935/935.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/936/936.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/936/936.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/936/936.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/937/937.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/937/937.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/937/937.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/938/938.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/938/938.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/938/938.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/939/939.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/939/939.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/939/939.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/940/940.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/940/940.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/940/940.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/941/941.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/941/941.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/941/941.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/942/942.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/942/942.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/942/942.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/943/943.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/943/943.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/943/943.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/944/944.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/944/944.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/944/944.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/945/945.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/945/945.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/945/945.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/946/946.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/946/946.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/946/946.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/947/947.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/947/947.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/947/947.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/948/948.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/948/948.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/948/948.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/949/949.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/949/949.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/949/949.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/950/950.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/950/950.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/950/950.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/951/951.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/951/951.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/951/951.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/952/952.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/952/952.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/952/952.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/953/953.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/953/953.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/953/953.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/954/954.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/954/954.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/954/954.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/955/955.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/955/955.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/955/955.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/956/956.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/956/956.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/956/956.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/957/957.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/957/957.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/957/957.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/958/958.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/958/958.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/958/958.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/959/959.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/959/959.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/959/959.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/960/960.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/960/960.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/960/960.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/961/961.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/961/961.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/961/961.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/962/962.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/962/962.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/962/962.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/963/963.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/963/963.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/963/963.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/964/964.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/964/964.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/964/964.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/965/965.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/965/965.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/965/965.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/966/966.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/966/966.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/966/966.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/967/967.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/967/967.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/967/967.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/968/968.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/968/968.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/968/968.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/969/969.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/969/969.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/969/969.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/970/970.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/970/970.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/970/970.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/971/971.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/971/971.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/971/971.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/972/972.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/972/972.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/972/972.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/973/973.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/973/973.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/973/973.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/974/974.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/974/974.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/974/974.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/975/975.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/975/975.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/975/975.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/976/976.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/976/976.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/976/976.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/977/977.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/977/977.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/977/977.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/978/978.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/978/978.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/978/978.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/979/979.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/979/979.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/979/979.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/980/980.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/980/980.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/980/980.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/981/981.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/981/981.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/981/981.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/982/982.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/982/982.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/982/982.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/983/983.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/983/983.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/983/983.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/984/984.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/984/984.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/984/984.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/985/985.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/985/985.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/985/985.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/986/986.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/986/986.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/986/986.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/987/987.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/987/987.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/987/987.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/988/988.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/988/988.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/988/988.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/989/989.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/989/989.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/989/989.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/990/990.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/990/990.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/990/990.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/991/991.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/991/991.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/991/991.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/992/992.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/992/992.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/992/992.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/993/993.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/993/993.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/993/993.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/994/994.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/994/994.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/994/994.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/995/995.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/995/995.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/995/995.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/996/996.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/996/996.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/996/996.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/997/997.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/997/997.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/997/997.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/998/998.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/998/998.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/998/998.urdf create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/999/999.mtl create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/999/999.obj create mode 100644 examples/pybullet/gym/pybullet_data/random_urdfs/999/999.urdf diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/.DS_Store b/examples/pybullet/gym/pybullet_data/random_urdfs/.DS_Store new file mode 100644 index 0000000000000000000000000000000000000000..70d1d2590c36240cc6e86964f7e1e96695dac4cb GIT binary patch literal 6148 zcmeHK!AiqG5Z!I7CWzRBpvS#<>mgNX^&o^=58i}|9#k|j#Rg(hn$)1RlHbrj@(cVO zXLiR@sUEzDlo^tamz`dccQP*yv$wB+ryAjwU+C2we2*ApI;285%KFHqa?ls&*uU-%fbvW1I)m@GeCEqwLI?!@^ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/001/001.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/001/001.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/001/001.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/001/001.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/001/001.obj new file mode 100644 index 000000000..17e452b35 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/001/001.obj @@ -0,0 +1,486 @@ +o convex_0 +v -0.979316 1.413489 -1.101248 +v 1.002475 2.319402 1.115932 +v 0.935361 2.319402 1.115932 +v 0.733805 4.234614 -0.966689 +v -0.945759 4.167414 1.048653 +v 1.069589 -0.166152 1.082076 +v -1.012873 -0.166152 1.048653 +v 1.036032 -0.166152 -1.000329 +v -1.079987 4.133814 -1.101248 +v 1.036032 4.133814 0.947734 +v -0.979316 -0.166152 -1.067391 +v 1.069589 3.999413 -0.933049 +v -1.113544 2.151401 0.981374 +v 1.069589 1.312257 -1.000329 +v -1.046430 -0.166152 0.309448 +v 1.069589 3.596210 1.015013 +v -1.079987 3.159408 -1.101248 +v 1.036032 4.234614 -0.563447 +v -0.844874 4.133383 -1.101248 +v -0.979316 4.099783 1.048653 +v -1.079987 4.133814 -0.597087 +v -0.273762 3.494979 1.082293 +v -1.079987 0.606653 0.645411 +v 1.069589 1.447089 1.115932 +v -0.609760 4.167414 1.048653 +v 1.069589 0.573053 -1.000329 +v -1.113544 2.689005 0.511069 +v 1.036032 4.166983 0.712690 +v -0.844874 2.050601 -1.101248 +v 1.069589 4.033013 0.847032 +v -0.979316 4.167414 0.578349 +v -0.710432 -0.166152 -1.067391 +v 1.036032 4.234614 -0.933049 +v -1.012873 0.405052 -0.865770 +v 0.565806 -0.166152 1.082076 +v 1.036032 4.066183 0.981374 +v 1.069589 3.025007 -0.966689 +v -0.576203 4.167414 -1.067391 +v -1.046430 -0.166152 0.712473 +v -1.113544 2.655404 0.443790 +v -1.113544 2.285802 0.981374 +v -0.173091 4.166983 1.014796 +v 1.069589 2.285371 1.115932 +v -1.046430 0.371451 1.015013 +f 23 39 44 +f 6 7 8 +f 8 7 11 +f 12 6 14 +f 11 7 15 +f 6 12 16 +f 9 1 17 +f 1 11 17 +f 4 5 18 +f 1 9 19 +f 20 5 21 +f 3 2 22 +f 7 3 22 +f 5 20 22 +f 20 7 22 +f 17 15 23 +f 2 3 24 +f 3 7 24 +f 6 16 24 +f 18 5 25 +f 5 22 25 +f 6 8 26 +f 14 6 26 +f 19 14 26 +f 21 9 27 +f 8 1 29 +f 1 19 29 +f 26 8 29 +f 19 26 29 +f 16 12 30 +f 28 10 30 +f 18 28 30 +f 5 4 31 +f 21 5 31 +f 9 21 31 +f 1 8 32 +f 8 11 32 +f 11 1 32 +f 4 18 33 +f 30 12 33 +f 18 30 33 +f 11 15 34 +f 17 11 34 +f 15 17 34 +f 7 6 35 +f 24 7 35 +f 6 24 35 +f 10 25 36 +f 30 10 36 +f 16 30 36 +f 12 14 37 +f 19 4 37 +f 14 19 37 +f 4 33 37 +f 33 12 37 +f 19 9 38 +f 4 19 38 +f 31 4 38 +f 9 31 38 +f 15 7 39 +f 23 15 39 +f 9 17 40 +f 23 13 40 +f 17 23 40 +f 27 9 40 +f 13 27 40 +f 13 7 41 +f 7 20 41 +f 20 21 41 +f 27 13 41 +f 21 27 41 +f 25 10 42 +f 18 25 42 +f 10 28 42 +f 28 18 42 +f 22 2 43 +f 2 24 43 +f 24 16 43 +f 25 22 43 +f 16 36 43 +f 36 25 43 +f 7 13 44 +f 13 23 44 +f 39 7 44 +o convex_1 +v 0.565789 -3.827665 -1.000293 +v -0.475383 -1.442944 1.082339 +v -0.945715 -1.442944 1.082339 +v -0.912077 -1.442944 -1.034060 +v -1.012993 -3.794087 0.947889 +v 1.069760 -1.443187 1.082339 +v 1.036121 -3.928640 0.914328 +v 1.002482 -1.443187 -1.034060 +v -0.912077 -3.827665 -1.034060 +v 0.968844 -3.827421 -0.966732 +v -0.845003 -3.794087 1.015010 +v -0.979354 -1.442944 -0.261334 +v 1.069760 -2.047579 1.082339 +v 1.002482 -2.719126 -1.034060 +v -0.945715 -3.827665 -0.832489 +v 0.801057 -3.928640 0.947889 +v 1.036121 -3.928640 0.578306 +v -0.979354 -1.442944 1.015010 +v -0.945715 -2.047579 1.082339 +v 1.036121 -1.879693 -0.429345 +v -0.945715 -1.442944 -1.000293 +v 1.036121 -3.894576 0.242491 +v -1.012993 -3.424493 0.679195 +v 1.069760 -2.853435 0.981449 +v 1.002482 -3.860999 -0.597149 +v -1.012993 -3.323761 1.015010 +v -0.945715 -3.827665 -0.294895 +v 0.935205 -3.860999 -0.664478 +v 1.069760 -1.745383 0.779878 +v 1.036121 -3.827421 0.947889 +v -0.979354 -2.987745 1.048571 +v -1.012993 -3.794087 0.679195 +v 0.935205 -3.625957 -1.000293 +v -0.710651 -3.827665 -1.034060 +v -0.979354 -3.794087 1.015010 +v 1.002482 -2.954167 -1.000293 +f 66 69 80 +f 47 46 48 +f 46 47 50 +f 48 46 52 +f 46 50 52 +f 48 52 53 +f 47 48 56 +f 50 47 57 +f 53 52 58 +f 59 53 60 +f 51 60 61 +f 60 53 61 +f 47 56 62 +f 57 47 63 +f 52 50 64 +f 58 52 64 +f 48 53 65 +f 56 48 65 +f 53 59 65 +f 59 56 65 +f 50 57 68 +f 51 61 68 +f 61 66 68 +f 66 64 68 +f 66 61 69 +f 47 62 70 +f 62 56 70 +f 63 47 70 +f 67 49 70 +f 56 67 70 +f 49 59 71 +f 60 49 71 +f 59 60 71 +f 45 54 72 +f 61 53 72 +f 54 69 72 +f 69 61 72 +f 64 50 73 +f 50 68 73 +f 68 64 73 +f 57 55 74 +f 60 51 74 +f 55 60 74 +f 68 57 74 +f 51 68 74 +f 55 57 75 +f 57 63 75 +f 63 70 75 +f 59 49 76 +f 56 59 76 +f 49 67 76 +f 67 56 76 +f 54 45 77 +f 58 54 77 +f 58 77 78 +f 53 58 78 +f 45 72 78 +f 72 53 78 +f 77 45 78 +f 49 60 79 +f 60 55 79 +f 70 49 79 +f 55 75 79 +f 75 70 79 +f 54 58 80 +f 58 64 80 +f 64 66 80 +f 69 54 80 +o convex_2 +v 3.051815 -1.005983 0.444060 +v 1.977069 -0.300527 -0.429322 +v 1.977069 -0.300527 -0.462890 +v 1.069813 -1.308306 -0.429322 +v 1.069813 -0.300527 0.477627 +v 2.950719 -1.409117 -0.462890 +v 1.069813 -1.308306 0.444060 +v 3.118811 -0.367806 0.578434 +v 3.018116 -0.334275 -0.496562 +v 1.069813 -0.300527 -0.462890 +v 2.984418 -1.341838 0.444060 +v 1.069813 -1.274667 0.477627 +v 2.816526 -0.334166 0.578434 +v 1.271604 -1.173748 -0.462890 +v 3.018116 -0.703660 -0.496562 +v 2.547740 -1.409117 -0.462890 +v 2.984418 -1.375477 0.343147 +v 2.715631 -0.535896 0.578434 +v 1.943370 -0.300527 0.511089 +v 2.379848 -0.636489 -0.496562 +v 3.085313 -0.334275 0.040936 +v 2.917221 -1.409117 -0.127006 +v 3.118811 -0.468617 0.578434 +v 2.984418 -1.308306 -0.294948 +v 3.018116 -1.173748 0.477627 +v 1.439495 -1.341838 -0.395755 +v 1.540190 -0.300527 0.511089 +v 1.977069 -1.341838 0.444060 +v 2.950719 -0.838219 -0.496562 +v 2.312651 -0.334166 -0.496562 +v 1.741780 -1.341838 -0.462890 +f 100 109 111 +f 82 83 85 +f 85 84 87 +f 84 85 90 +f 85 83 90 +f 85 87 92 +f 84 90 94 +f 88 93 98 +f 82 85 99 +f 94 90 100 +f 89 95 100 +f 83 82 101 +f 89 83 101 +f 93 88 101 +f 95 89 101 +f 82 99 101 +f 99 93 101 +f 87 96 102 +f 96 86 102 +f 86 97 102 +f 88 98 103 +f 101 88 103 +f 95 101 103 +f 86 95 104 +f 81 97 104 +f 97 86 104 +f 103 81 104 +f 95 103 104 +f 92 91 105 +f 97 81 105 +f 91 97 105 +f 98 92 105 +f 81 103 105 +f 103 98 105 +f 87 84 106 +f 84 96 106 +f 96 87 106 +f 85 92 107 +f 92 98 107 +f 98 93 107 +f 99 85 107 +f 93 99 107 +f 91 92 108 +f 92 87 108 +f 97 91 108 +f 87 102 108 +f 102 97 108 +f 95 86 109 +f 86 96 109 +f 100 95 109 +f 83 89 110 +f 90 83 110 +f 89 100 110 +f 100 90 110 +f 84 94 111 +f 96 84 111 +f 94 100 111 +f 109 96 111 +o convex_3 +v -2.356513 -1.409117 0.074319 +v -2.726164 -0.199746 -0.530143 +v -2.726164 -0.199746 -0.563750 +v -1.046587 -0.233366 0.544699 +v -1.046587 -1.409117 -0.563750 +v -3.095615 -0.367727 0.443879 +v -1.046587 -1.375497 0.612028 +v -2.994728 -1.274637 -0.429322 +v -1.046587 -0.266986 -0.496536 +v -3.061919 -1.375497 0.477486 +v -2.961232 -0.199746 -0.563750 +v -2.994728 -0.905173 -0.496536 +v -1.147474 -1.207397 0.612028 +v -3.095615 -1.073154 0.477486 +v -2.927536 -1.308257 -0.429322 +v -1.214665 -0.233366 0.544699 +v -1.248361 -1.409117 -0.563750 +v -1.046587 -1.409117 0.175140 +v -3.061919 -0.300606 0.107926 +v -2.323017 -0.233366 -0.563750 +v -2.961232 -0.434967 -0.563750 +v -3.028424 -1.308257 -0.261404 +v -3.095615 -0.367727 0.276075 +v -1.046587 -1.207397 -0.563750 +v -2.591782 -0.334226 0.477486 +v -3.061919 -1.375497 0.276075 +v -1.046587 -0.233366 0.309682 +v -2.961232 -0.199746 -0.496536 +v -1.483429 -1.409117 -0.530143 +v -2.726164 -1.308257 -0.462929 +v -2.726164 -1.375497 0.511207 +v -2.994728 -0.233366 -0.462929 +v -1.516925 -0.266986 -0.530143 +v -3.095615 -1.207516 0.410272 +f 133 137 145 +f 114 113 115 +f 116 115 118 +f 115 116 120 +f 113 114 122 +f 114 116 122 +f 118 115 124 +f 124 115 127 +f 116 112 128 +f 122 116 128 +f 112 116 129 +f 116 118 129 +f 117 127 130 +f 116 114 131 +f 114 120 131 +f 123 122 132 +f 122 128 132 +f 123 119 133 +f 119 126 133 +f 125 117 134 +f 117 130 134 +f 123 133 134 +f 120 116 135 +f 116 131 135 +f 125 124 136 +f 117 125 136 +f 127 117 136 +f 124 127 136 +f 112 121 137 +f 126 112 137 +f 133 126 137 +f 114 115 138 +f 120 114 138 +f 115 120 138 +f 115 113 139 +f 113 122 139 +f 127 115 139 +f 122 130 139 +f 130 127 139 +f 112 126 140 +f 128 112 140 +f 128 140 141 +f 119 123 141 +f 126 119 141 +f 123 132 141 +f 132 128 141 +f 140 126 141 +f 121 112 142 +f 118 124 142 +f 125 121 142 +f 124 125 142 +f 112 129 142 +f 129 118 142 +f 122 123 143 +f 130 122 143 +f 123 134 143 +f 134 130 143 +f 131 120 144 +f 120 135 144 +f 135 131 144 +f 121 125 145 +f 125 134 145 +f 134 133 145 +f 137 121 145 +o convex_4 +v -1.046587 -0.737330 -0.530156 +v 1.069813 -1.140315 1.082339 +v 1.069605 -0.166152 1.082339 +v 1.036045 -0.300606 -1.033982 +v -1.012819 -0.166152 1.048666 +v -0.945697 -1.442711 -1.033982 +v -0.945697 -1.442711 1.082339 +v 1.002484 -1.442711 -1.033982 +v -0.979258 -0.166152 -1.067654 +v 1.069813 -1.442711 1.082339 +v 1.036045 -0.166152 -1.000099 +v -1.046587 -1.375484 0.611975 +v 1.069813 -1.308257 -0.429138 +v -1.046587 -1.409097 -0.563618 +v -1.046587 -0.166152 0.678899 +v -0.911929 -1.140315 -1.067654 +v 1.069605 -0.300731 -0.462811 +v -1.046587 -0.266992 -0.496483 +v 0.565780 -0.166152 1.082339 +v -0.979258 -1.442711 1.048666 +v -0.710565 -0.166152 -1.067654 +v 1.036045 -1.073088 -1.033982 +f 153 166 167 +f 147 148 152 +f 152 151 153 +f 150 148 154 +f 147 152 155 +f 152 153 155 +f 154 148 156 +f 147 155 158 +f 155 153 158 +f 146 154 159 +f 154 151 159 +f 157 146 159 +f 150 154 160 +f 146 157 160 +f 157 150 160 +f 153 151 161 +f 151 154 161 +f 148 147 162 +f 156 148 162 +f 149 156 162 +f 147 158 162 +f 154 146 163 +f 146 160 163 +f 160 154 163 +f 148 150 164 +f 152 148 164 +f 150 152 164 +f 152 150 165 +f 151 152 165 +f 150 157 165 +f 159 151 165 +f 157 159 165 +f 156 149 166 +f 154 156 166 +f 153 161 166 +f 161 154 166 +f 158 153 167 +f 149 162 167 +f 162 158 167 +f 166 149 167 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/001/001.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/001/001.urdf new file mode 100644 index 000000000..76e656ab8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/001/001.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/002/002.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/002/002.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/002/002.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/002/002.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/002/002.obj new file mode 100644 index 000000000..3e1d619ad --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/002/002.obj @@ -0,0 +1,540 @@ +o convex_0 +v 2.374328 0.799649 1.088873 +v 2.335068 -0.218424 -1.025047 +v 3.431175 -0.179101 -1.103388 +v 1.826274 1.817308 -1.064325 +v 3.509497 1.817515 1.049810 +v 3.548758 1.817515 -1.103388 +v 3.509497 -0.179101 1.010532 +v 1.630370 -0.218424 1.088873 +v 1.630370 1.895956 1.010532 +v 1.630370 -0.218424 -0.946706 +v 3.666141 -0.179101 -1.103388 +v 1.630370 1.817308 -1.025047 +v 2.804800 -0.218424 1.049810 +v 2.374328 1.895956 0.971254 +v 1.630370 1.895956 0.266614 +v 3.548758 -0.179101 0.814787 +v 1.630370 1.543283 1.049810 +v 3.509497 0.643181 1.049810 +v 3.196409 1.856632 1.049810 +v 1.630370 0.995233 -1.025047 +v 3.548758 1.817515 -0.477089 +v 2.961443 1.817515 -1.103388 +v 3.666141 -0.100660 -1.025047 +v 2.765738 -0.218424 -1.025047 +v 2.061240 -0.179101 1.088873 +v 3.548758 1.386609 0.579979 +v 1.630370 1.856632 -0.555215 +v 2.335068 1.856632 1.049810 +v 1.747952 -0.179101 -0.985984 +v 3.157148 -0.139984 1.049810 +v 1.630370 0.447390 1.088873 +v 3.587819 1.308375 -1.103388 +v 3.548758 0.095131 0.814787 +f 23 26 33 +f 8 9 10 +f 2 8 10 +f 2 3 11 +f 3 6 11 +f 10 9 12 +f 8 2 13 +f 9 14 15 +f 12 9 15 +f 14 6 15 +f 7 13 16 +f 13 11 16 +f 9 8 17 +f 5 1 18 +f 16 5 18 +f 7 16 18 +f 1 5 19 +f 6 14 19 +f 14 9 19 +f 4 3 20 +f 12 4 20 +f 10 12 20 +f 19 5 21 +f 6 19 21 +f 3 4 22 +f 6 3 22 +f 16 11 23 +f 2 11 24 +f 13 2 24 +f 11 13 24 +f 1 8 25 +f 8 13 25 +f 18 1 25 +f 21 5 26 +f 23 21 26 +f 4 12 27 +f 15 6 27 +f 12 15 27 +f 22 4 27 +f 6 22 27 +f 17 1 28 +f 9 17 28 +f 1 19 28 +f 19 9 28 +f 3 2 29 +f 2 10 29 +f 20 3 29 +f 10 20 29 +f 13 7 30 +f 7 18 30 +f 25 13 30 +f 18 25 30 +f 8 1 31 +f 1 17 31 +f 17 8 31 +f 11 6 32 +f 6 21 32 +f 23 11 32 +f 21 23 32 +f 5 16 33 +f 16 23 33 +f 26 5 33 +o convex_1 +v -1.189010 -2.215534 0.188488 +v -1.737018 -3.977127 0.188488 +v -1.697813 -4.094593 -0.163778 +v -1.149805 -4.172772 0.227658 +v -1.384748 -2.215534 -0.242173 +v -1.737018 -2.215534 0.266829 +v -1.228158 -4.212254 -0.281344 +v -1.658666 -2.215534 -0.242173 +v -1.189010 -2.215534 -0.202949 +v -1.697813 -4.212254 0.227658 +v -1.737018 -2.607216 0.031859 +v -1.502076 -3.076883 -0.281344 +v -1.697813 -3.977127 -0.202949 +v -1.189010 -4.212254 -0.202949 +v -1.149805 -3.546355 0.227658 +v -1.737018 -3.076883 0.266829 +v -1.619518 -2.215534 0.266829 +v -1.149805 -3.428889 0.071030 +v -1.228158 -3.585445 -0.281344 +v -1.306453 -4.212254 -0.281344 +v -1.189010 -2.842148 -0.242173 +f 40 52 54 +f 34 38 39 +f 39 38 41 +f 38 34 42 +f 35 36 43 +f 35 39 44 +f 39 41 44 +f 41 38 45 +f 41 45 46 +f 36 35 46 +f 35 44 46 +f 44 41 46 +f 37 43 47 +f 43 40 47 +f 39 35 49 +f 35 43 49 +f 43 37 49 +f 34 39 50 +f 37 48 50 +f 48 34 50 +f 39 49 50 +f 49 37 50 +f 42 34 51 +f 37 47 51 +f 48 37 51 +f 34 48 51 +f 40 45 52 +f 45 38 52 +f 43 36 53 +f 40 43 53 +f 45 40 53 +f 46 45 53 +f 36 46 53 +f 38 42 54 +f 47 40 54 +f 42 51 54 +f 51 47 54 +f 52 38 54 +o convex_2 +v -1.658602 -2.215339 -0.516152 +v -1.384752 2.912902 1.088873 +v -1.502228 2.912902 1.088873 +v -0.758278 3.814544 -1.103388 +v -2.441839 3.853408 -0.946921 +v -0.562420 -2.175877 1.088873 +v -2.441839 -2.137013 0.971469 +v -0.562420 -2.175877 -0.946706 +v -0.562616 3.892870 0.971254 +v -2.480933 -2.058089 -0.946921 +v -2.402551 3.892870 1.049595 +v -2.559120 1.934728 -0.320407 +v -0.562616 3.813946 -1.103388 +v -2.402551 -0.648227 1.088873 +v -2.285075 -0.100545 -1.025262 +v -0.562420 -0.256598 -1.064325 +v -2.520026 1.856402 0.853850 +v -2.559120 2.248030 -0.946921 +v -0.562616 2.483007 1.088873 +v -2.480933 -2.137013 -0.046106 +v -2.324168 3.853408 -0.985769 +v -1.619508 3.892870 -0.320192 +v -2.480933 -2.137013 -0.907643 +v -1.736984 -2.215339 0.266614 +v -0.797372 -2.215339 -0.750961 +v -0.562616 3.853408 -0.868365 +v -2.441839 -1.979764 1.010532 +v -2.441839 3.422318 1.010532 +v -2.559120 1.543099 -0.946921 +v -0.601709 3.696159 1.010532 +v -2.441839 3.853408 -0.046106 +v -0.875754 -0.140007 -1.064325 +v -2.480933 1.307524 1.010532 +v -2.520026 0.877630 -0.985984 +v -0.954137 -2.137013 1.088873 +v -2.285075 -2.175877 -0.750961 +v -2.402551 3.892870 -0.203003 +v -0.562616 3.892870 0.031591 +v -1.658602 -2.175877 -0.946706 +v -1.306565 3.853408 -1.064325 +v -2.402551 0.212758 1.088873 +v -0.601709 2.991826 -1.103388 +v -0.758278 -1.667059 -0.985769 +v -1.189089 -2.215339 0.188273 +v -2.128505 3.892870 1.049595 +v -2.480933 3.461780 -0.946921 +v -2.285075 0.134432 -1.025262 +v -2.480933 -1.000992 -0.985984 +v -2.559120 2.248030 -0.829302 +v -1.854460 -2.215339 -0.359470 +f 90 55 104 +f 56 57 60 +f 57 56 65 +f 60 57 68 +f 60 62 70 +f 63 60 70 +f 56 60 73 +f 60 63 73 +f 61 71 74 +f 71 66 74 +f 65 63 76 +f 60 61 78 +f 62 60 79 +f 78 55 79 +f 70 67 80 +f 71 61 81 +f 66 71 82 +f 66 72 83 +f 74 66 83 +f 64 77 83 +f 77 74 83 +f 56 73 84 +f 73 63 84 +f 65 59 85 +f 82 65 85 +f 64 69 86 +f 70 64 86 +f 81 68 87 +f 71 81 87 +f 82 71 87 +f 65 82 87 +f 83 72 88 +f 61 60 89 +f 60 68 89 +f 81 61 89 +f 68 81 89 +f 61 74 90 +f 74 77 90 +f 59 65 91 +f 75 59 91 +f 65 76 91 +f 76 75 91 +f 63 70 92 +f 76 63 92 +f 70 80 92 +f 80 76 92 +f 77 64 93 +f 62 79 93 +f 79 55 93 +f 90 77 93 +f 55 90 93 +f 67 58 94 +f 75 76 94 +f 80 67 94 +f 76 80 94 +f 57 65 95 +f 68 57 95 +f 65 87 95 +f 87 68 95 +f 58 67 96 +f 69 58 96 +f 67 70 96 +f 86 69 96 +f 70 86 96 +f 70 62 97 +f 64 70 97 +f 62 93 97 +f 93 64 97 +f 60 78 98 +f 79 60 98 +f 78 79 98 +f 65 56 99 +f 63 65 99 +f 56 84 99 +f 84 63 99 +f 59 75 100 +f 85 59 100 +f 75 88 100 +f 88 72 100 +f 58 69 101 +f 69 88 101 +f 88 75 101 +f 94 58 101 +f 75 94 101 +f 69 64 102 +f 64 83 102 +f 88 69 102 +f 83 88 102 +f 72 66 103 +f 66 82 103 +f 82 85 103 +f 85 100 103 +f 100 72 103 +f 55 78 104 +f 78 61 104 +f 61 90 104 +o convex_3 +v -0.523250 2.952164 -1.103388 +v -0.523250 2.482609 1.088873 +v -0.562401 2.482609 1.088873 +v -0.523250 -4.251409 -1.025262 +v -0.366644 -4.211548 1.010532 +v -0.366644 1.816940 -1.064325 +v -0.405815 3.892870 0.971254 +v -0.562401 -2.606768 1.088873 +v -0.366644 -4.251409 -1.025262 +v -0.562420 3.813946 -1.103388 +v -0.366644 1.816940 1.088873 +v -0.562401 -2.175478 -0.946706 +v -0.562420 3.892870 0.971254 +v -0.523250 3.813946 -1.103388 +v -0.444985 -4.211548 0.579764 +v -0.523250 -4.251409 -0.515938 +v -0.366644 -2.723958 1.088873 +v -0.444985 3.892870 0.148995 +v -0.444985 -3.820119 1.049595 +v -0.562401 -0.256599 -1.064325 +v -0.405815 3.892870 0.814787 +v -0.366644 -0.140206 -1.064325 +v -0.405815 3.579567 1.010532 +f 111 117 127 +f 106 107 112 +f 108 105 113 +f 110 109 113 +f 109 110 115 +f 110 111 115 +f 106 112 115 +f 108 112 116 +f 112 114 116 +f 112 107 117 +f 114 112 117 +f 110 105 118 +f 105 114 118 +f 119 112 120 +f 112 108 120 +f 108 113 120 +f 113 109 120 +f 109 119 120 +f 109 115 121 +f 115 112 121 +f 117 111 122 +f 114 117 122 +f 110 118 122 +f 118 114 122 +f 119 109 123 +f 112 119 123 +f 109 121 123 +f 121 112 123 +f 105 108 124 +f 114 105 124 +f 108 116 124 +f 116 114 124 +f 111 110 125 +f 110 122 125 +f 122 111 125 +f 105 110 126 +f 113 105 126 +f 110 113 126 +f 107 106 127 +f 115 111 127 +f 106 115 127 +f 117 107 127 +o convex_4 +v 0.494981 1.112745 -1.064447 +v 0.416598 1.856387 1.089088 +v 1.630263 0.446616 1.088877 +v -0.366644 -4.212047 1.010459 +v 1.630263 -4.251409 -0.946821 +v -0.366644 -4.251409 -1.025028 +v -0.366644 1.817630 -1.064447 +v 1.630263 1.817024 -1.025239 +v 1.512786 -4.212047 1.010459 +v -0.366644 1.817024 1.089088 +v 1.551880 1.935111 1.010459 +v -0.366644 -2.723551 1.089088 +v 0.338216 1.935111 -0.281324 +v 0.220739 -4.251409 -1.025028 +v 1.630263 -4.251409 -0.437738 +v 1.630263 1.895749 1.010459 +v 1.630263 -0.218907 1.088877 +v 1.630263 1.034020 -1.025239 +v 1.473497 -1.119998 1.088877 +v -0.366644 -0.101426 -1.064447 +v -0.366644 -4.251409 -0.163698 +v 0.338216 1.935111 0.305754 +v 1.081973 -4.251409 -0.986030 +v 0.807926 1.935111 -0.202907 +v -0.209878 -3.781485 1.049668 +v 1.590974 -4.251409 -0.007073 +v 0.807926 -3.507161 1.049668 +v 0.690450 1.817024 -1.064447 +v 1.630263 1.503944 1.049668 +v 1.630263 1.855781 -0.594363 +v 0.025075 1.856387 1.089088 +v -0.014019 -2.646038 1.089088 +f 152 154 159 +f 133 131 134 +f 130 132 135 +f 134 131 137 +f 129 137 139 +f 137 131 139 +f 132 133 141 +f 132 130 142 +f 133 132 142 +f 130 135 143 +f 138 129 143 +f 130 129 144 +f 142 130 144 +f 136 142 144 +f 135 132 145 +f 136 144 146 +f 134 128 147 +f 133 134 147 +f 128 141 147 +f 141 133 147 +f 131 133 148 +f 133 142 148 +f 134 137 149 +f 140 134 149 +f 138 140 149 +f 132 141 150 +f 145 132 150 +f 141 145 150 +f 135 140 151 +f 140 138 151 +f 131 136 152 +f 139 131 152 +f 136 131 153 +f 142 136 153 +f 131 148 153 +f 148 142 153 +f 136 146 154 +f 152 136 154 +f 128 134 155 +f 134 140 155 +f 140 135 155 +f 141 128 155 +f 135 145 155 +f 145 141 155 +f 129 130 156 +f 130 143 156 +f 143 129 156 +f 143 135 157 +f 138 143 157 +f 135 151 157 +f 151 138 157 +f 137 129 158 +f 129 138 158 +f 149 137 158 +f 138 149 158 +f 129 139 159 +f 144 129 159 +f 146 144 159 +f 139 152 159 +f 154 146 159 +o convex_5 +v 0.416555 3.579391 -0.281344 +v 0.494858 3.148741 0.345139 +v 0.455649 3.148741 0.345139 +v 0.338253 1.935509 -0.281344 +v 0.808011 1.935509 -0.202972 +v 0.768803 3.970981 0.266768 +v 0.768803 1.935509 0.345139 +v 0.220684 3.931723 0.305953 +v 0.338253 1.935509 0.305953 +v 0.729651 3.892663 -0.202972 +v 0.220684 3.814345 -0.281344 +v 0.220684 3.227059 -0.085476 +v 0.299044 2.013628 0.227643 +v 0.808011 2.013628 0.305953 +v 0.808011 2.796808 -0.046351 +v 0.299044 2.013628 -0.281344 +v 0.494858 2.561854 -0.281344 +v 0.651349 3.853405 -0.242097 +v 0.377347 3.970981 0.305953 +v 0.768803 3.931723 -0.007165 +v 0.768803 2.405218 0.345139 +v 0.533837 1.935509 0.345139 +v 0.768803 3.383696 -0.202972 +v 0.690442 1.935509 -0.242097 +v 0.299044 2.091946 0.305953 +v 0.220684 3.892663 -0.046351 +v 0.220684 3.227059 -0.281344 +f 175 171 186 +f 161 162 166 +f 163 164 166 +f 163 166 168 +f 160 163 170 +f 167 170 171 +f 163 168 172 +f 166 164 173 +f 173 164 174 +f 165 173 174 +f 170 163 175 +f 163 172 175 +f 172 171 175 +f 163 160 176 +f 170 169 177 +f 160 170 177 +f 176 160 177 +f 162 161 178 +f 161 165 178 +f 167 162 178 +f 165 174 179 +f 178 165 179 +f 169 178 179 +f 165 161 180 +f 161 166 180 +f 173 165 180 +f 166 173 180 +f 166 162 181 +f 168 166 181 +f 174 164 182 +f 164 177 182 +f 177 169 182 +f 169 179 182 +f 179 174 182 +f 164 163 183 +f 163 176 183 +f 177 164 183 +f 176 177 183 +f 162 167 184 +f 167 171 184 +f 172 168 184 +f 171 172 184 +f 181 162 184 +f 168 181 184 +f 170 167 185 +f 169 170 185 +f 167 178 185 +f 178 169 185 +f 171 170 186 +f 170 175 186 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/002/002.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/002/002.urdf new file mode 100644 index 000000000..ca392970e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/002/002.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/003/003.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/003/003.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/003/003.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/003/003.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/003/003.obj new file mode 100644 index 000000000..cebb95a5e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/003/003.obj @@ -0,0 +1,414 @@ +o convex_0 +v 0.903918 3.489738 0.788438 +v -1.072678 -0.957746 -1.033597 +v 0.347946 -0.957746 -1.064680 +v 0.502287 -0.957746 1.066520 +v -1.041553 3.397237 1.035437 +v -1.072678 3.458612 -1.002722 +v 1.058473 3.489738 -0.971847 +v -1.010856 -0.957746 1.004562 +v 1.027562 -0.957746 0.973687 +v 0.965740 -0.957746 -1.033388 +v 1.120296 3.459050 1.004562 +v 0.749576 0.339894 -1.064680 +v 0.100872 3.520864 0.294231 +v -1.072678 -0.710054 -0.323266 +v 1.027562 -0.895494 0.479480 +v -1.072678 1.821657 -1.033597 +v 0.471591 3.489738 -1.002722 +v 0.625932 0.154454 1.066520 +v -1.041767 1.636656 1.035437 +v -1.072678 3.458612 -0.354141 +v 0.996651 0.031266 -1.033388 +v -0.300329 3.427924 1.035437 +v 1.120296 3.397237 0.881062 +v -1.010856 0.216267 1.035437 +v -1.041767 -0.926181 0.664729 +v 0.255428 -0.957746 1.066520 +v 0.996651 3.149546 -1.002722 +v 0.533198 3.520864 -0.261308 +v 1.089384 1.636218 1.004562 +v -1.072678 3.427924 -0.168683 +v 0.378857 3.520864 0.479480 +v -1.041553 3.427924 0.602980 +v 1.058473 3.273172 -0.940972 +v 1.058473 -0.030547 0.942812 +v 0.996651 -0.926620 -0.477432 +v 0.625932 -0.957746 -1.064680 +v 0.039264 3.489738 -1.002722 +v -0.547404 3.427924 1.035437 +v 1.058473 3.489738 -0.045184 +v 0.873006 1.914158 1.035437 +v 0.533198 3.459050 1.004562 +v -1.072678 -0.957746 -0.384807 +v 0.625932 -0.030547 1.066520 +f 29 11 43 +f 2 3 4 +f 2 4 8 +f 4 3 9 +f 9 3 10 +f 6 2 14 +f 3 2 16 +f 2 6 16 +f 12 3 16 +f 6 12 16 +f 13 6 20 +f 6 14 20 +f 10 12 21 +f 7 11 23 +f 19 8 24 +f 8 19 25 +f 19 14 25 +f 8 4 26 +f 4 18 26 +f 18 5 26 +f 5 19 26 +f 24 8 26 +f 19 24 26 +f 12 17 27 +f 17 7 27 +f 7 21 27 +f 21 12 27 +f 6 13 28 +f 7 17 28 +f 23 11 29 +f 19 5 30 +f 14 19 30 +f 5 20 30 +f 20 14 30 +f 1 28 31 +f 28 13 31 +f 5 13 32 +f 20 5 32 +f 13 20 32 +f 21 7 33 +f 7 23 33 +f 23 21 33 +f 9 15 34 +f 29 9 34 +f 23 29 34 +f 9 10 35 +f 15 9 35 +f 10 21 35 +f 21 23 35 +f 34 15 35 +f 23 34 35 +f 10 3 36 +f 3 12 36 +f 12 10 36 +f 12 6 37 +f 17 12 37 +f 6 28 37 +f 28 17 37 +f 13 5 38 +f 5 18 38 +f 22 11 38 +f 18 22 38 +f 31 13 38 +f 1 11 39 +f 11 7 39 +f 28 1 39 +f 7 28 39 +f 18 11 40 +f 11 22 40 +f 22 18 40 +f 11 1 41 +f 1 31 41 +f 38 11 41 +f 31 38 41 +f 2 8 42 +f 14 2 42 +f 8 25 42 +f 25 14 42 +f 4 9 43 +f 18 4 43 +f 11 18 43 +f 9 29 43 +o convex_1 +v -0.176905 -1.050570 2.981342 +v 0.440758 -2.069567 1.808025 +v 0.502556 -2.069567 1.808025 +v -0.578487 -1.019665 1.066520 +v -0.454785 -2.069567 2.919683 +v 0.440758 -0.957963 3.012072 +v 0.440758 -1.081475 1.066520 +v -0.485790 -2.038662 1.066520 +v 0.471657 -2.069567 3.105059 +v 0.502556 -2.038662 1.066520 +v -0.454785 -1.112271 2.950613 +v -0.362088 -2.069567 3.012072 +v 0.162667 -0.957963 2.487072 +v -0.578487 -1.112271 1.313954 +v 0.502556 -1.760734 1.066520 +v -0.485790 -1.112271 2.857625 +v 0.471657 -1.575412 3.074130 +v -0.300396 -1.019665 1.066520 +v 0.471657 -1.266688 1.066520 +v -0.516583 -1.822435 1.128578 +v 0.131874 -0.988759 3.012072 +v 0.378854 -2.038662 3.105059 +v 0.440758 -0.957963 2.734307 +v 0.471657 -1.297593 2.456143 +v -0.454785 -1.513711 2.981342 +v -0.578487 -1.019665 1.190237 +v 0.378854 -1.019665 3.043001 +v -0.300396 -1.112271 2.981342 +v 0.502556 -2.007757 2.024131 +v -0.578487 -1.204986 1.128578 +v -0.393093 -1.081475 2.857625 +v 0.440758 -1.050570 1.406343 +v -0.454785 -2.007757 2.981342 +v -0.207804 -0.988759 1.591919 +f 66 75 77 +f 45 46 48 +f 46 45 51 +f 45 48 51 +f 47 50 51 +f 48 46 52 +f 46 51 53 +f 51 50 53 +f 48 52 55 +f 46 53 58 +f 53 50 58 +f 50 47 61 +f 58 50 62 +f 51 48 63 +f 49 56 64 +f 55 52 65 +f 56 49 66 +f 49 62 66 +f 49 60 67 +f 62 49 67 +f 58 62 67 +f 54 59 68 +f 55 65 68 +f 47 57 69 +f 57 59 69 +f 64 56 69 +f 60 49 70 +f 52 60 70 +f 49 64 70 +f 65 52 70 +f 44 54 71 +f 64 44 71 +f 54 68 71 +f 68 65 71 +f 70 64 71 +f 65 70 71 +f 52 46 72 +f 46 58 72 +f 60 52 72 +f 58 67 72 +f 67 60 72 +f 47 51 73 +f 57 47 73 +f 48 57 73 +f 51 63 73 +f 63 48 73 +f 54 44 74 +f 59 54 74 +f 44 64 74 +f 69 59 74 +f 64 69 74 +f 50 61 75 +f 62 50 75 +f 66 62 75 +f 48 55 76 +f 57 48 76 +f 59 57 76 +f 55 68 76 +f 68 59 76 +f 61 47 77 +f 56 66 77 +f 47 69 77 +f 69 56 77 +f 75 61 77 +o convex_2 +v -0.176866 -0.957864 -1.064680 +v 0.409868 -2.162219 -3.072333 +v -0.516713 -2.162101 -3.010429 +v 0.564243 -2.131329 -1.064680 +v 0.440743 -1.050534 -2.948721 +v -0.485726 -2.069549 -1.064680 +v -0.485726 -1.050534 -3.072333 +v 0.626104 -1.019526 -1.064680 +v -0.516713 -0.957864 -1.064680 +v 0.564243 -2.162219 -3.072333 +v 0.348007 -1.019644 -2.701302 +v 0.533368 -2.162219 -1.620833 +v -0.516713 -0.988753 -2.022324 +v 0.533368 -1.019526 -2.176396 +v 0.193632 -2.131329 -1.064680 +v -0.516713 -2.162101 -2.670645 +v -0.516713 -1.698869 -1.064680 +v 0.595118 -1.853319 -1.064680 +v -0.516713 -2.038659 -3.041282 +v 0.533368 -1.791539 -3.041282 +v -0.269491 -0.957864 -1.404464 +v 0.471618 -1.050534 -2.886817 +v -0.392990 -1.050534 -3.072333 +v 0.564243 -2.100439 -3.072333 +v 0.348007 -0.988753 -1.157438 +v -0.516713 -1.729759 -3.041282 +v -0.485726 -2.100439 -1.435514 +v 0.193632 -2.162101 -3.072333 +v 0.626104 -1.019526 -1.126584 +v -0.485726 -1.019644 -2.670645 +v 0.533368 -1.976879 -3.072333 +v -0.516713 -1.019644 -2.300008 +f 103 90 109 +f 81 78 83 +f 78 81 85 +f 83 78 86 +f 79 84 87 +f 79 87 89 +f 87 81 89 +f 80 86 90 +f 81 83 92 +f 89 81 92 +f 89 92 93 +f 80 79 93 +f 86 80 93 +f 79 89 93 +f 86 93 94 +f 83 86 94 +f 93 83 94 +f 85 81 95 +f 81 87 95 +f 80 90 96 +f 86 78 98 +f 90 86 98 +f 91 88 98 +f 82 88 99 +f 88 91 99 +f 97 82 99 +f 87 84 100 +f 88 82 100 +f 84 88 100 +f 99 91 101 +f 97 99 101 +f 87 100 101 +f 78 85 102 +f 98 78 102 +f 91 98 102 +f 84 96 103 +f 96 90 103 +f 92 83 104 +f 93 92 104 +f 83 93 104 +f 79 80 105 +f 84 79 105 +f 80 96 105 +f 96 84 105 +f 85 95 106 +f 95 87 106 +f 87 101 106 +f 101 91 106 +f 102 85 106 +f 91 102 106 +f 88 84 107 +f 84 90 107 +f 90 98 107 +f 98 88 107 +f 82 97 108 +f 100 82 108 +f 97 101 108 +f 101 100 108 +f 90 84 109 +f 84 103 109 +o convex_3 +v -0.856403 -2.532835 -1.033388 +v 1.027580 -0.958078 0.973687 +v 1.027580 -1.699072 0.973687 +v -1.010797 -2.625439 1.004562 +v -1.072679 -0.958078 -1.033388 +v 0.934861 -2.656362 -1.064680 +v 0.965699 -0.958078 -1.033388 +v -1.010797 -0.958078 1.004562 +v 0.996537 -2.656362 0.973687 +v -1.072679 -2.501912 -1.033388 +v 0.502516 -2.038729 1.066520 +v -0.578452 -1.019758 1.066520 +v -0.887241 -2.656362 1.004562 +v -0.516570 -0.958078 -1.064680 +v -1.072679 -0.958078 -0.384807 +v 0.502516 -0.958078 1.066520 +v -0.084019 -2.594516 -1.064680 +v -0.485733 -2.038729 1.066520 +v 0.626072 -0.958078 -1.064680 +v -1.041635 -2.594516 0.417731 +v 0.965699 -2.625439 -0.477432 +v 0.996537 -1.019758 -0.415682 +v -1.041635 -0.958078 0.634063 +v -1.010797 -2.625439 0.510355 +v 0.718791 -2.656362 -1.064680 +v 0.965699 -1.668315 -1.033388 +v 0.378753 -2.656362 1.004562 +v -1.072679 -2.532835 -0.601140 +v 0.996537 -2.656362 0.541439 +v -0.485733 -2.069486 -1.064680 +v 1.027580 -0.988835 0.541439 +v -0.794522 -2.378386 1.035437 +v -1.072679 -2.532835 -0.786389 +f 129 137 142 +f 114 111 116 +f 111 114 117 +f 112 111 120 +f 118 112 120 +f 117 113 121 +f 115 118 122 +f 114 116 123 +f 119 114 123 +f 117 114 124 +f 114 119 124 +f 111 117 125 +f 120 111 125 +f 117 121 125 +f 121 120 125 +f 110 119 126 +f 123 115 126 +f 120 121 127 +f 116 115 128 +f 123 116 128 +f 115 123 128 +f 113 117 132 +f 117 124 132 +f 129 113 132 +f 124 129 132 +f 122 113 133 +f 113 129 133 +f 115 122 134 +f 126 115 134 +f 122 133 134 +f 133 126 134 +f 115 116 135 +f 130 115 135 +f 116 131 135 +f 118 120 136 +f 122 118 136 +f 124 119 137 +f 129 124 137 +f 112 118 138 +f 118 115 138 +f 115 130 138 +f 119 123 139 +f 126 119 139 +f 123 126 139 +f 111 112 140 +f 116 111 140 +f 131 116 140 +f 130 135 140 +f 135 131 140 +f 112 138 140 +f 138 130 140 +f 121 113 141 +f 113 122 141 +f 127 121 141 +f 120 127 141 +f 136 120 141 +f 122 136 141 +f 119 110 142 +f 110 126 142 +f 126 133 142 +f 133 129 142 +f 137 119 142 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/003/003.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/003/003.urdf new file mode 100644 index 000000000..64231c27a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/003/003.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/004/004.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/004/004.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/004/004.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/004/004.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/004/004.obj new file mode 100644 index 000000000..3dd52f89b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/004/004.obj @@ -0,0 +1,567 @@ +o convex_0 +v 0.052627 -1.665726 4.824636 +v 0.412980 -2.466341 4.464471 +v 0.452954 -2.386158 3.023411 +v -0.587897 -2.426250 4.584393 +v -0.507714 -1.265297 2.823141 +v 0.493046 -1.305388 2.823141 +v -0.507714 -2.306097 2.823141 +v 0.613203 -1.425420 4.784863 +v -0.467740 -1.385450 4.664541 +v 0.613203 -2.346189 2.823141 +v 0.493046 -2.466341 4.704715 +v -0.587897 -2.426250 4.865010 +v -0.187452 -1.225205 2.863315 +v 0.613203 -1.585543 4.824636 +v -0.467740 -2.346189 2.903289 +v -0.467740 -1.505481 4.744689 +v -0.147478 -2.466341 4.744689 +v 0.613203 -1.585543 4.104306 +v 0.493046 -1.305388 3.263654 +v 0.132692 -2.466341 4.784863 +v -0.587897 -2.346189 4.865010 +v 0.533020 -1.425420 4.824636 +v -0.547805 -2.346189 3.423949 +v 0.613203 -2.185944 2.863315 +v -0.187452 -2.226035 4.865010 +v -0.387675 -1.225205 2.823141 +v 0.533020 -2.226035 4.744689 +f 14 20 27 +f 5 6 7 +f 7 6 10 +f 2 3 11 +f 3 10 11 +f 10 8 14 +f 10 3 15 +f 7 10 15 +f 3 2 17 +f 2 11 17 +f 12 4 17 +f 15 3 17 +f 4 15 17 +f 6 8 18 +f 8 10 18 +f 8 6 19 +f 6 13 19 +f 13 8 19 +f 17 11 20 +f 12 17 20 +f 5 4 21 +f 9 5 21 +f 4 12 21 +f 1 16 21 +f 16 9 21 +f 8 13 22 +f 13 9 22 +f 14 8 22 +f 16 1 22 +f 9 16 22 +f 1 21 22 +f 4 5 23 +f 5 7 23 +f 15 4 23 +f 7 15 23 +f 10 6 24 +f 6 18 24 +f 18 10 24 +f 20 14 25 +f 12 20 25 +f 21 12 25 +f 14 22 25 +f 22 21 25 +f 6 5 26 +f 5 9 26 +f 13 6 26 +f 9 13 26 +f 11 10 27 +f 10 14 27 +f 20 11 27 +o convex_1 +v -1.028172 1.777823 -2.741833 +v 1.093642 3.138665 2.782368 +v 0.973369 3.138665 2.782967 +v 0.933278 1.057303 2.742194 +v 1.013460 1.057303 -3.221520 +v -0.988080 1.177284 2.823141 +v -0.948205 3.178447 -3.181946 +v 0.933278 3.098459 -3.302467 +v -0.948205 3.138453 2.702620 +v -0.988080 1.057303 -3.302467 +v -1.108354 1.057303 1.061489 +v -1.108354 3.138453 -1.540815 +v -0.787840 3.218863 0.701124 +v 1.013460 3.178658 0.580003 +v 1.053551 1.497445 1.141237 +v 1.013460 1.777612 -3.261694 +v -1.108354 3.138453 -0.739737 +v -0.427666 3.178447 -3.221520 +v -1.108354 2.698100 -1.620563 +v 1.013460 1.137079 1.501602 +v -0.988080 3.218863 0.861220 +v 1.013460 2.858498 -1.460468 +v -0.707873 1.137290 2.823141 +v -0.948205 2.978267 2.742194 +v -0.988080 2.778087 2.382428 +v -1.108354 1.057303 0.541028 +v -0.948205 3.178447 2.382428 +v 1.053551 3.178658 1.501602 +v -0.988080 3.178447 -3.021850 +v 0.533013 3.138665 -3.261694 +v -0.387575 1.057303 -3.302467 +v -0.988080 1.497656 2.823141 +v -0.948205 1.457451 -3.302467 +v -1.108354 1.337470 1.021315 +v 0.412955 1.097085 2.782967 +v 0.573104 1.057303 2.742194 +v 0.973369 1.337470 2.742194 +v 0.973369 3.098459 -2.381468 +v 0.773344 1.097085 -3.261694 +v 1.013460 1.057303 0.780872 +v 0.733253 3.098459 -3.302467 +v -0.467757 1.137290 2.823141 +v 0.933278 2.738094 -3.302467 +v 1.053551 2.618113 2.782368 +v 1.093642 3.138665 2.702620 +v 0.773344 3.138665 2.782967 +f 51 59 73 +f 32 31 37 +f 37 31 38 +f 39 38 44 +f 34 40 45 +f 40 41 45 +f 28 37 46 +f 38 39 46 +f 40 34 48 +f 39 44 48 +f 33 38 50 +f 36 44 52 +f 37 38 53 +f 46 37 53 +f 38 46 53 +f 30 29 54 +f 44 36 54 +f 48 44 54 +f 48 54 55 +f 41 40 55 +f 40 48 55 +f 54 29 55 +f 37 28 56 +f 34 37 56 +f 28 46 56 +f 46 39 56 +f 48 34 56 +f 39 48 56 +f 41 35 57 +f 35 45 57 +f 45 41 57 +f 32 37 58 +f 37 35 58 +f 29 30 59 +f 38 33 59 +f 33 50 59 +f 51 36 59 +f 36 52 59 +f 37 34 60 +f 35 37 60 +f 34 45 60 +f 44 38 61 +f 52 44 61 +f 38 59 61 +f 59 52 61 +f 62 50 63 +f 38 31 63 +f 50 38 63 +f 31 62 63 +f 42 29 64 +f 31 47 64 +f 47 42 64 +f 35 41 65 +f 43 35 65 +f 49 43 65 +f 41 55 65 +f 43 32 66 +f 32 58 66 +f 31 32 67 +f 32 42 67 +f 47 31 67 +f 42 47 67 +f 45 35 68 +f 35 60 68 +f 60 45 68 +f 29 59 69 +f 59 50 69 +f 50 62 69 +f 35 43 70 +f 58 35 70 +f 43 66 70 +f 66 58 70 +f 62 31 71 +f 64 29 71 +f 31 64 71 +f 29 69 71 +f 69 62 71 +f 29 42 72 +f 42 32 72 +f 32 43 72 +f 43 49 72 +f 55 29 72 +f 49 65 72 +f 65 55 72 +f 36 51 73 +f 30 54 73 +f 54 36 73 +f 59 30 73 +o convex_2 +v 0.533012 -2.946574 0.700697 +v 1.093642 -2.345942 -0.659264 +v 1.093642 -2.465985 -0.659264 +v -1.108358 -2.306066 -3.261835 +v -1.068267 -0.824839 2.662900 +v 0.933277 -0.865130 -3.262431 +v 0.933277 -0.945297 2.823141 +v -0.948209 -2.826530 2.823141 +v -1.028175 -0.824839 -3.181417 +v 0.973369 -2.866406 -3.061683 +v 1.053551 -2.866406 2.702216 +v -1.108358 -2.866614 -3.261835 +v 1.013460 -0.825046 0.821026 +v -1.108358 -2.866614 0.300393 +v 1.093642 -2.906490 -1.620708 +v 0.933277 -2.826323 -3.221924 +v -1.108358 -1.185384 0.259886 +v -0.667785 -1.145300 2.823141 +v 0.613194 -2.345942 2.823141 +v 0.933277 -0.825046 -1.941190 +v -0.587818 -2.866406 2.782634 +v 0.973369 -2.946574 1.301748 +v 1.053551 -2.506069 2.702216 +v 1.013460 -2.946574 -0.299467 +v -1.068267 -1.265551 -3.221924 +v 0.853311 -0.905214 2.782634 +v -0.988084 -2.786447 2.622394 +v -1.068267 -1.145300 2.702216 +v -0.307611 -2.866406 -3.262431 +v 1.013460 -0.825046 0.219975 +v 1.093642 -2.426109 -1.179898 +v -0.988084 -0.865130 2.742723 +v 0.332771 -0.865130 -3.262431 +v -1.068267 -2.826530 1.341064 +v 0.933277 -1.665765 -3.262431 +v 0.973369 -1.305635 2.782634 +v -1.068267 -0.824839 0.220570 +v 1.053551 -2.906490 -1.900683 +v 0.492921 -2.946574 0.860937 +v -0.067279 -2.866406 2.782634 +v 1.093642 -2.906490 -0.819505 +v 1.013460 -2.906490 2.142267 +f 95 114 115 +f 76 75 84 +f 82 78 86 +f 77 85 87 +f 75 76 88 +f 83 79 88 +f 77 87 90 +f 81 80 91 +f 80 81 92 +f 84 80 92 +f 79 82 93 +f 81 87 94 +f 84 75 96 +f 80 84 96 +f 75 86 96 +f 74 85 97 +f 95 74 97 +f 77 90 98 +f 90 82 98 +f 86 78 99 +f 80 86 99 +f 78 90 101 +f 90 87 101 +f 100 81 101 +f 85 77 102 +f 89 83 102 +f 86 75 103 +f 82 86 103 +f 79 93 103 +f 93 82 103 +f 75 88 104 +f 88 79 104 +f 103 75 104 +f 79 103 104 +f 91 80 105 +f 81 91 105 +f 99 78 105 +f 80 99 105 +f 78 101 105 +f 101 81 105 +f 82 79 106 +f 77 98 106 +f 98 82 106 +f 102 77 106 +f 79 102 106 +f 87 81 107 +f 81 100 107 +f 101 87 107 +f 100 101 107 +f 79 83 108 +f 83 89 108 +f 102 79 108 +f 89 102 108 +f 86 80 109 +f 80 96 109 +f 96 86 109 +f 78 82 110 +f 82 90 110 +f 90 78 110 +f 83 88 111 +f 97 85 111 +f 88 97 111 +f 85 102 111 +f 102 83 111 +f 85 74 112 +f 87 85 112 +f 94 87 112 +f 74 95 112 +f 95 94 112 +f 92 81 113 +f 84 92 113 +f 81 94 113 +f 76 84 114 +f 88 76 114 +f 97 88 114 +f 95 97 114 +f 94 95 115 +f 84 113 115 +f 113 94 115 +f 114 84 115 +o convex_3 +v -1.108373 -0.384408 -0.699638 +v 1.093642 0.096146 0.420554 +v 1.093642 -0.264131 0.420554 +v 0.973368 1.056884 -1.220397 +v -1.108373 1.056884 0.780946 +v 0.933276 -0.824807 -1.220181 +v -1.068282 -0.824807 0.701194 +v -0.948007 1.056884 -1.300364 +v 1.013459 1.056884 0.780946 +v 1.013028 -0.824807 0.861345 +v -0.908131 -0.824807 -1.340671 +v 1.093642 -0.464346 -0.860004 +v 1.093642 0.616300 -0.699853 +v -1.108373 0.696423 -0.739729 +v -1.108373 -0.384408 0.741070 +v 1.013459 0.936608 0.821038 +v -0.547523 -0.784654 -1.340671 +v 1.053551 1.056884 0.740855 +v 0.732819 -0.824807 0.861345 +v -0.948007 -0.824807 -1.300580 +v -0.868040 0.176085 -1.340456 +v -1.108373 0.375931 0.780946 +v 0.973368 -0.824807 -1.180521 +v 0.933276 -0.304285 0.861129 +v 0.332766 1.056884 -1.260273 +v 1.093642 -0.544469 0.380678 +v 1.093642 0.616300 0.340586 +v -1.068282 -0.824807 0.300495 +v 1.013459 0.896638 -1.140213 +v 0.973368 -0.704531 -1.220181 +v 1.013028 -0.824807 -0.139865 +v 1.013459 1.056884 -0.739945 +v -0.827733 -0.824807 0.740855 +f 134 137 148 +f 120 119 123 +f 119 120 124 +f 122 121 125 +f 121 122 126 +f 117 118 127 +f 117 127 128 +f 116 120 129 +f 120 123 129 +f 120 116 130 +f 116 122 130 +f 124 120 131 +f 121 126 132 +f 118 117 133 +f 119 124 133 +f 125 118 133 +f 124 131 133 +f 131 125 133 +f 122 125 134 +f 126 122 135 +f 123 126 135 +f 116 129 135 +f 129 123 135 +f 126 123 136 +f 132 126 136 +f 120 130 137 +f 134 120 137 +f 125 121 138 +f 131 120 139 +f 125 131 139 +f 134 125 139 +f 120 134 139 +f 123 119 140 +f 119 132 140 +f 136 123 140 +f 132 136 140 +f 118 125 141 +f 127 118 141 +f 117 128 142 +f 133 117 142 +f 128 133 142 +f 122 116 143 +f 116 135 143 +f 135 122 143 +f 128 127 144 +f 132 119 145 +f 121 132 145 +f 138 121 145 +f 127 138 145 +f 144 127 145 +f 119 144 145 +f 125 138 146 +f 138 127 146 +f 141 125 146 +f 127 141 146 +f 119 133 147 +f 133 128 147 +f 128 144 147 +f 144 119 147 +f 130 122 148 +f 122 134 148 +f 137 130 148 +o convex_4 +v -3.110206 -0.464454 -0.059526 +v -1.108569 0.696554 0.180620 +v -1.108569 0.576280 0.220625 +v -1.148735 -0.424362 -0.700065 +v -2.909768 0.616371 -0.700065 +v -1.108569 -0.464454 0.340868 +v -3.069844 0.576280 0.220625 +v -1.108569 0.696554 -0.740070 +v -3.069844 -0.464454 -0.820195 +v -3.110206 -0.504545 0.340868 +v -2.909768 0.696554 0.180620 +v -2.269268 -0.024035 -0.820195 +v -1.108569 -0.464454 -0.219774 +v -3.069844 0.656463 -0.019634 +v -3.110206 -0.344297 0.340868 +v -2.989904 0.656463 -0.419801 +v -1.348782 0.456123 -0.780076 +v -2.669556 -0.464454 -0.820195 +v -2.389374 -0.504545 0.300749 +v -1.509053 0.696554 -0.740070 +v -3.029874 -0.184166 -0.820195 +v -1.108569 0.096004 -0.740070 +v -3.110206 0.215926 0.180620 +v -1.108569 -0.384388 0.340868 +v -2.989904 0.336083 -0.740070 +f 153 169 173 +f 150 151 154 +f 151 150 155 +f 150 154 156 +f 149 157 158 +f 155 150 159 +f 150 156 159 +f 156 154 161 +f 155 159 162 +f 151 155 163 +f 149 158 163 +f 158 154 163 +f 162 159 164 +f 157 160 166 +f 152 161 166 +f 166 161 167 +f 154 158 167 +f 158 157 167 +f 161 154 167 +f 157 166 167 +f 159 156 168 +f 153 164 168 +f 164 159 168 +f 156 165 168 +f 168 165 169 +f 160 157 169 +f 165 160 169 +f 153 168 169 +f 161 152 170 +f 156 161 170 +f 165 156 170 +f 160 165 170 +f 152 166 170 +f 166 160 170 +f 157 149 171 +f 162 157 171 +f 155 162 171 +f 163 155 171 +f 149 163 171 +f 154 151 172 +f 151 163 172 +f 163 154 172 +f 157 162 173 +f 164 153 173 +f 162 164 173 +f 169 157 173 +o convex_5 +v 3.015332 0.456280 0.260685 +v 1.093642 -0.464509 -0.860231 +v 1.093642 -0.464509 -0.459786 +v 1.093642 0.616481 -0.699983 +v 3.015332 -0.424300 -0.820140 +v 1.093642 -0.424300 0.260685 +v 1.093642 0.616481 0.340868 +v 2.975162 0.576272 -0.740074 +v 3.095475 -0.344305 0.300777 +v 2.975162 0.616481 0.260685 +v 2.855240 -0.384408 0.300777 +v 1.333878 -0.304307 -0.860231 +v 3.015332 -0.104108 -0.820140 +v 1.854519 -0.424300 0.260685 +v 1.093642 -0.184209 0.300777 +v 3.015332 0.135982 0.300777 +v 3.015332 0.416176 -0.579943 +v 2.975162 0.616481 -0.139760 +v 3.015332 -0.424300 -0.539852 +v 2.374573 0.336181 -0.780048 +v 1.854519 -0.384408 0.300777 +v 1.494362 -0.464509 -0.860231 +f 178 192 195 +f 175 176 177 +f 177 176 179 +f 177 179 180 +f 177 180 183 +f 182 180 184 +f 175 177 185 +f 182 178 186 +f 179 176 187 +f 184 179 187 +f 180 179 188 +f 182 174 189 +f 180 182 189 +f 183 180 189 +f 174 183 189 +f 174 182 190 +f 186 181 190 +f 182 186 190 +f 181 177 191 +f 177 183 191 +f 183 174 191 +f 174 190 191 +f 190 181 191 +f 178 182 192 +f 182 184 192 +f 187 176 192 +f 184 187 192 +f 177 181 193 +f 185 177 193 +f 181 186 193 +f 186 185 193 +f 179 184 194 +f 184 180 194 +f 188 179 194 +f 180 188 194 +f 176 175 195 +f 175 185 195 +f 185 186 195 +f 186 178 195 +f 192 176 195 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/004/004.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/004/004.urdf new file mode 100644 index 000000000..4e98412f7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/004/004.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/005/005.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/005/005.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/005/005.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/005/005.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/005/005.obj new file mode 100644 index 000000000..8a039f0d4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/005/005.obj @@ -0,0 +1,420 @@ +o convex_0 +v 3.618518 -0.270520 0.624223 +v 1.604550 -1.897218 0.585536 +v 1.682034 -1.897218 0.585536 +v 2.185575 -0.967191 -1.079936 +v 1.604550 0.271996 1.050209 +v 3.502392 -1.819504 1.128015 +v 3.502392 -1.780859 -0.924757 +v 3.424909 0.155636 -1.002131 +v 1.604550 0.116991 -1.002347 +v 1.604550 -1.819716 -1.079936 +v 3.463749 0.233139 1.089112 +v 1.604550 -1.897218 1.011738 +v 3.192460 -1.819504 -0.963660 +v 3.541232 -0.231875 -0.653518 +v 3.463749 0.194281 -0.537458 +v 1.604550 0.155636 -0.963444 +v 3.579875 -1.161053 0.895462 +v 2.379184 0.233139 1.089112 +v 3.502392 -1.471062 -0.963660 +v 1.604550 -0.580317 1.050209 +v 3.618518 -0.386667 0.314514 +v 3.463749 0.233139 0.314514 +v 1.991966 -1.819716 -1.079936 +v 1.643391 -1.858361 -0.653734 +v 3.463749 -0.270520 -1.002131 +v 3.424909 -1.819504 -0.692421 +v 3.037691 0.194281 -0.614831 +v 1.875840 -1.897218 0.701596 +v 3.502392 -1.161053 1.128015 +v 1.604550 -1.044693 -1.079936 +v 2.340541 0.271996 1.011738 +v 3.541232 -1.664712 1.050425 +v 3.502392 0.155636 1.050425 +v 2.030806 -1.858361 1.050209 +v 3.618518 -0.657819 0.701813 +v 1.604550 0.271996 0.934149 +v 2.960208 -0.309165 -1.041033 +v 3.463749 0.155636 -0.963660 +v 3.424909 -1.819504 1.128015 +v 3.502392 -1.819504 0.043274 +v 3.579875 -0.309165 -0.227532 +v 3.386266 -1.780859 -0.963660 +f 23 19 42 +f 2 5 9 +f 2 9 10 +f 2 3 12 +f 5 2 12 +f 9 5 16 +f 8 9 16 +f 11 5 18 +f 5 12 20 +f 18 5 20 +f 10 4 23 +f 3 2 24 +f 2 10 24 +f 13 3 24 +f 10 23 24 +f 23 13 24 +f 19 23 25 +f 13 7 26 +f 15 8 27 +f 8 16 27 +f 22 15 27 +f 12 3 28 +f 6 12 28 +f 3 13 28 +f 13 26 28 +f 11 18 29 +f 9 4 30 +f 4 10 30 +f 10 9 30 +f 5 11 31 +f 11 22 31 +f 22 27 31 +f 29 6 32 +f 29 32 33 +f 1 15 33 +f 22 11 33 +f 15 22 33 +f 11 29 33 +f 32 17 33 +f 20 12 34 +f 21 1 35 +f 7 21 35 +f 32 7 35 +f 17 32 35 +f 1 33 35 +f 33 17 35 +f 16 5 36 +f 27 16 36 +f 5 31 36 +f 31 27 36 +f 9 8 37 +f 4 9 37 +f 23 4 37 +f 8 25 37 +f 25 23 37 +f 8 15 38 +f 15 1 38 +f 14 19 38 +f 25 8 38 +f 19 25 38 +f 12 6 39 +f 18 20 39 +f 6 29 39 +f 29 18 39 +f 34 12 39 +f 20 34 39 +f 26 7 40 +f 6 28 40 +f 28 26 40 +f 32 6 40 +f 7 32 40 +f 7 19 41 +f 19 14 41 +f 1 21 41 +f 21 7 41 +f 38 1 41 +f 14 38 41 +f 7 13 42 +f 19 7 42 +f 13 23 42 +o convex_1 +v 1.526965 -1.818886 -1.118672 +v 0.287570 1.355519 1.050542 +v 0.248728 1.355519 1.050542 +v 0.248728 4.184155 -1.118672 +v 1.604452 4.261801 0.973040 +v -0.409811 -1.857709 -1.002312 +v 1.604452 -1.897139 1.011685 +v -0.409811 4.067685 0.934183 +v -0.409811 -1.935355 0.934183 +v 1.526965 4.183548 -1.118672 +v -0.409811 4.184155 -1.079815 +v 1.604452 -1.818886 -1.079602 +v -0.409811 -0.308420 1.011685 +v -0.409811 1.782575 -1.079815 +v 1.604452 -0.501929 1.050542 +v 1.565610 4.183548 -0.924810 +v -0.409811 2.866592 1.011685 +v 0.558676 -1.857709 -1.079602 +v 1.604452 3.331257 1.011685 +v 0.520031 4.183548 0.973040 +v 1.604452 0.118029 -1.002100 +v -0.215995 -1.935355 0.973040 +v 1.255860 -1.818886 -1.118672 +v 1.604452 -1.857709 -0.692303 +v 1.565610 1.008537 1.050542 +v 1.565610 4.261801 0.508239 +v 0.790939 3.525373 1.011685 +v -0.138509 -1.857709 -1.041170 +v -0.409811 4.184155 -0.769805 +v 1.333149 4.261801 0.973040 +v 1.139531 -1.897139 1.011685 +v -0.332324 4.105902 0.934183 +v 1.604452 -1.897139 0.546884 +v -0.332324 -1.935355 0.818036 +v 1.604452 4.261801 0.818036 +v -0.409811 -1.896532 -0.305004 +v -0.370969 3.718883 0.973040 +v 0.868228 0.233892 1.050542 +v -0.409811 -1.741846 0.972828 +v 1.565610 -1.664199 -1.118672 +f 52 54 82 +f 50 48 51 +f 43 46 52 +f 48 50 53 +f 47 49 54 +f 50 51 55 +f 53 46 56 +f 48 53 56 +f 44 45 57 +f 49 47 57 +f 55 45 59 +f 50 55 59 +f 57 47 61 +f 47 54 63 +f 54 52 63 +f 52 58 63 +f 46 43 65 +f 56 46 65 +f 43 60 65 +f 54 49 66 +f 43 54 66 +f 60 43 66 +f 44 57 67 +f 61 44 67 +f 57 61 67 +f 52 46 68 +f 46 53 68 +f 58 52 68 +f 45 44 69 +f 59 45 69 +f 44 61 69 +f 61 47 69 +f 48 56 70 +f 56 65 70 +f 65 60 70 +f 53 50 71 +f 68 53 72 +f 47 68 72 +f 69 47 72 +f 62 69 72 +f 53 71 72 +f 49 57 73 +f 55 64 73 +f 64 49 73 +f 50 62 74 +f 71 50 74 +f 62 72 74 +f 72 71 74 +f 49 64 75 +f 66 49 75 +f 66 75 76 +f 64 51 76 +f 60 66 76 +f 75 64 76 +f 47 63 77 +f 63 58 77 +f 68 47 77 +f 58 68 77 +f 51 48 78 +f 48 70 78 +f 70 60 78 +f 76 51 78 +f 60 76 78 +f 50 59 79 +f 62 50 79 +f 59 69 79 +f 69 62 79 +f 45 55 80 +f 57 45 80 +f 73 57 80 +f 55 73 80 +f 55 51 81 +f 51 64 81 +f 64 55 81 +f 43 52 82 +f 54 43 82 +o convex_2 +v -1.378370 1.394723 -1.079936 +v -2.423953 2.131080 1.128015 +v -1.959227 2.169293 1.050425 +v -0.603696 -3.949020 1.011738 +v -2.617769 -3.833774 -0.963660 +v -2.423953 -3.678496 1.011522 +v -0.603696 -3.910807 -0.924973 +v -0.603696 2.092260 1.011738 +v -2.423953 2.246325 -1.079936 +v -0.603696 2.169899 -1.079936 +v -2.578927 1.355904 1.050425 +v -2.462795 -3.794955 0.817873 +v -0.642341 -2.322848 -1.002347 +v -2.462795 2.246325 -1.002347 +v -2.578927 -3.252089 -1.002130 +v -0.603696 2.169899 0.856776 +v -2.578927 -0.348514 0.972836 +v -0.758473 2.091654 1.050425 +v -2.540282 2.131080 1.127798 +v -2.617769 -3.833774 -0.731107 +v -0.642341 -3.949020 -0.847384 +v -0.952289 -3.949020 0.701813 +v -2.617769 -3.485006 -0.963660 +v -2.307821 -3.871987 -0.615047 +v -1.417212 -3.871987 -0.963444 +v -2.036714 -3.833774 1.011522 +v -2.462795 1.588214 -1.079936 +v -2.540282 2.169293 0.972836 +v -0.642341 1.704672 -1.079936 +v -2.578927 1.317084 0.972836 +v -2.230333 2.246325 -1.041033 +v -2.423953 2.246325 -0.847384 +v -0.603696 -3.368547 -0.963444 +v -2.540282 2.053441 1.127798 +v -2.230333 -3.871987 -0.963660 +v -2.540282 2.169293 0.740499 +v -1.184750 1.394723 -1.079936 +v -1.571989 2.053441 1.089112 +v -0.797315 -3.949020 1.011738 +v -2.540282 -3.833774 -0.188846 +v -2.578927 1.045954 1.050425 +f 116 93 123 +f 86 89 90 +f 90 89 92 +f 83 91 92 +f 90 92 98 +f 94 88 99 +f 85 84 100 +f 86 90 100 +f 98 85 100 +f 90 98 100 +f 84 85 101 +f 94 99 102 +f 89 86 103 +f 103 86 104 +f 97 87 105 +f 87 102 105 +f 102 93 105 +f 102 87 106 +f 103 104 106 +f 97 95 107 +f 88 94 108 +f 91 83 109 +f 96 91 109 +f 83 97 109 +f 105 96 109 +f 97 105 109 +f 101 85 110 +f 93 101 110 +f 83 92 111 +f 92 95 111 +f 96 105 112 +f 105 93 112 +f 92 91 113 +f 91 96 113 +f 98 92 113 +f 98 113 114 +f 85 98 114 +f 110 85 114 +f 96 110 114 +f 113 96 114 +f 92 89 115 +f 95 92 115 +f 89 107 115 +f 107 95 115 +f 86 84 116 +f 84 101 116 +f 101 93 116 +f 88 108 116 +f 87 97 117 +f 89 103 117 +f 106 87 117 +f 103 106 117 +f 107 89 117 +f 97 107 117 +f 110 96 118 +f 93 110 118 +f 96 112 118 +f 112 93 118 +f 97 83 119 +f 95 97 119 +f 83 111 119 +f 111 95 119 +f 84 86 120 +f 100 84 120 +f 86 100 120 +f 104 86 121 +f 108 104 121 +f 86 116 121 +f 116 108 121 +f 94 102 122 +f 102 106 122 +f 106 104 122 +f 108 94 122 +f 104 108 122 +f 99 88 123 +f 93 102 123 +f 102 99 123 +f 88 116 123 +o convex_3 +v -0.603472 -2.283660 -1.002335 +v -0.409838 2.828305 1.011806 +v -0.409838 3.680299 0.972904 +v -0.409819 -3.950225 -0.924939 +v -0.603472 -3.949429 1.011806 +v -0.526011 4.184329 -1.079936 +v -0.603472 2.478748 1.011806 +v -0.409838 4.184329 -1.079936 +v -0.409819 -2.205627 0.972904 +v -0.603472 2.169004 -1.079936 +v -0.603472 -3.949429 -0.924939 +v -0.487299 4.105499 0.663114 +v -0.526011 -3.949429 0.779209 +v -0.409838 1.782024 -1.079936 +v -0.409838 4.067279 0.934206 +v -0.409819 -3.950225 -0.653643 +v -0.526011 -3.678701 1.011806 +v -0.487299 3.951026 0.934206 +v -0.526011 4.184329 -0.769942 +v -0.409819 -1.857663 -1.002335 +v -0.409838 -0.269928 1.011806 +f 140 132 144 +f 125 126 130 +f 124 128 130 +f 128 125 130 +f 126 125 132 +f 124 130 133 +f 130 129 133 +f 129 131 133 +f 124 127 134 +f 128 124 134 +f 127 128 134 +f 124 133 137 +f 133 131 137 +f 126 132 138 +f 131 135 138 +f 128 127 139 +f 127 132 139 +f 136 128 139 +f 132 136 139 +f 125 128 140 +f 128 136 140 +f 136 132 140 +f 130 126 141 +f 135 130 141 +f 126 138 141 +f 138 135 141 +f 129 130 142 +f 131 129 142 +f 130 135 142 +f 135 131 142 +f 127 124 143 +f 132 127 143 +f 124 137 143 +f 137 131 143 +f 138 132 143 +f 131 138 143 +f 132 125 144 +f 125 140 144 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/005/005.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/005/005.urdf new file mode 100644 index 000000000..94d125a7c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/005/005.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/006/006.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/006/006.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/006/006.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/006/006.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/006/006.obj new file mode 100644 index 000000000..d2bf8db67 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/006/006.obj @@ -0,0 +1,492 @@ +o convex_0 +v -0.041741 5.289561 -0.925809 +v -0.007161 2.832555 1.046723 +v -0.041741 2.832555 1.046723 +v 0.061998 -0.973639 -1.029669 +v -1.010751 -0.973639 -0.025823 +v 0.996428 -0.972951 0.077428 +v 0.961652 5.116959 -0.095130 +v -0.768302 5.150654 0.735142 +v -0.802881 5.081201 -0.717885 +v -0.110900 -0.973639 1.011967 +v 0.719400 5.116271 0.769694 +v 0.753979 -0.938568 -0.821949 +v -0.041741 6.051487 0.077631 +v 0.719400 -0.972951 0.804246 +v 0.719400 5.116271 -0.752641 +v -0.768302 -0.972951 -0.752641 +v -0.733722 -0.972951 0.804450 +v -1.010751 5.081888 0.077428 +v -0.041741 5.185037 0.977415 +v -0.007161 3.559411 -1.029669 +v 0.719400 5.843126 0.008527 +v -0.768302 5.808056 -0.060375 +v -0.007161 5.808056 0.769694 +v -0.041741 5.843814 -0.683536 +v 0.753979 2.245294 0.804246 +v 0.961652 5.116959 0.112184 +v -0.803078 -0.973639 0.700589 +v 0.996428 -0.972951 -0.095130 +v -0.180058 -0.973639 -0.994914 +v -0.733722 4.597776 -0.787193 +v -1.010751 5.081888 -0.095130 +v 0.096577 -0.973639 1.011967 +v -0.041741 5.081888 -0.994914 +v -0.733722 2.521733 0.804450 +v -0.802881 3.351737 0.735142 +v -1.010751 -0.973639 0.077428 +v -0.699143 5.739290 0.285148 +v 0.511923 5.669837 0.596526 +v 0.131156 3.663247 -0.994914 +v 0.788755 -0.972951 0.735142 +v 0.546503 5.635453 -0.544921 +v 0.373409 2.107074 0.942862 +v -0.560825 5.635453 -0.579676 +v 0.096577 5.116959 0.977415 +v 0.753979 5.081201 -0.718089 +v -0.076320 2.522420 1.046723 +v -0.733722 5.047505 0.769694 +v 0.753979 5.116271 0.735142 +v -0.007161 5.774361 -0.752641 +v -0.595405 5.635453 0.561974 +v -0.041741 6.051487 -0.060578 +v 0.753979 5.808056 0.077428 +v -0.768302 5.116271 -0.752641 +v 0.684820 4.320649 -0.787193 +v -0.110900 5.116959 0.977415 +v -0.768302 5.808056 0.077631 +v 0.684820 2.314060 0.839002 +v 0.753979 5.808056 -0.025823 +v 0.027418 1.552821 1.046723 +v -0.076320 -0.938568 -1.029669 +v 0.027418 5.013122 -0.994914 +v -0.733722 2.589811 -0.787193 +v 0.857914 -0.938568 0.527421 +v -0.110900 4.390103 -0.994914 +f 60 30 64 +f 5 4 10 +f 3 2 19 +f 21 13 23 +f 6 7 26 +f 5 10 27 +f 10 17 27 +f 7 6 28 +f 4 12 28 +f 12 7 28 +f 4 5 29 +f 5 16 29 +f 16 5 31 +f 9 16 31 +f 5 18 31 +f 22 9 31 +f 18 22 31 +f 10 4 32 +f 4 28 32 +f 28 6 32 +f 1 15 33 +f 8 18 35 +f 27 17 35 +f 17 34 35 +f 18 5 36 +f 5 27 36 +f 35 18 36 +f 27 35 36 +f 23 11 38 +f 12 4 39 +f 4 20 39 +f 25 14 40 +f 32 6 40 +f 14 32 40 +f 24 21 41 +f 32 14 42 +f 22 24 43 +f 19 2 44 +f 23 19 44 +f 11 23 44 +f 2 42 44 +f 7 12 45 +f 12 15 45 +f 2 3 46 +f 17 10 46 +f 34 17 46 +f 34 46 47 +f 8 35 47 +f 35 34 47 +f 11 25 48 +f 25 26 48 +f 38 11 48 +f 15 1 49 +f 41 15 49 +f 24 41 49 +f 43 24 49 +f 8 23 50 +f 37 8 50 +f 23 37 50 +f 13 21 51 +f 22 13 51 +f 21 24 51 +f 24 22 51 +f 21 23 52 +f 26 7 52 +f 23 38 52 +f 48 26 52 +f 38 48 52 +f 16 9 53 +f 9 22 53 +f 30 16 53 +f 1 33 53 +f 33 30 53 +f 22 43 53 +f 49 1 53 +f 43 49 53 +f 15 12 54 +f 12 39 54 +f 3 19 55 +f 23 8 55 +f 19 23 55 +f 46 3 55 +f 47 46 55 +f 8 47 55 +f 18 8 56 +f 13 22 56 +f 22 18 56 +f 23 13 56 +f 8 37 56 +f 37 23 56 +f 25 11 57 +f 14 25 57 +f 42 14 57 +f 11 44 57 +f 44 42 57 +f 15 41 58 +f 41 21 58 +f 7 45 58 +f 45 15 58 +f 52 7 58 +f 21 52 58 +f 10 32 59 +f 42 2 59 +f 32 42 59 +f 2 46 59 +f 46 10 59 +f 20 4 60 +f 4 29 60 +f 29 30 60 +f 33 15 61 +f 20 33 61 +f 39 20 61 +f 15 54 61 +f 54 39 61 +f 29 16 62 +f 30 29 62 +f 16 30 62 +f 6 26 63 +f 26 25 63 +f 25 40 63 +f 40 6 63 +f 33 20 64 +f 30 33 64 +f 20 60 64 +o convex_1 +v -0.353078 -1.700376 1.150166 +v 0.027397 -3.984407 -2.033221 +v -0.214668 -3.915099 -2.033221 +v -0.041706 -3.672745 2.741860 +v 0.996266 -1.700600 -0.164093 +v -0.976024 -2.876822 -2.067605 +v 1.031021 -2.946130 2.119410 +v 0.788753 -2.946130 -2.690055 +v -1.045330 -2.946130 2.049459 +v -0.837614 -1.700600 -0.960236 +v 0.061949 -2.150430 2.811219 +v -0.041706 -2.185084 -2.828772 +v 0.823305 -3.742053 0.977066 +v -0.803062 -3.672745 1.668875 +v 0.823305 -3.672745 -2.032629 +v -0.041706 -3.672745 -2.794389 +v -0.941472 -1.700600 0.700224 +v -0.733755 -3.741829 -2.032629 +v -0.007154 -3.949753 1.807592 +v 1.031021 -2.946130 -1.860121 +v 0.857856 -1.700376 1.011449 +v -0.768307 -2.876822 2.811219 +v 0.823305 -1.700376 -1.029002 +v -0.768307 -2.945906 -2.794389 +v 0.788753 -2.946130 2.776243 +v 0.788753 -3.707399 2.049459 +v -1.010575 -1.700600 -0.129117 +v 0.027397 -2.980560 3.019295 +v 0.061949 -2.946130 -3.036848 +v 0.753998 -2.115776 -2.067012 +v -0.803062 -2.185084 2.049459 +v 0.788753 -2.115776 2.049459 +v -0.041706 -1.700600 -1.479537 +v -1.045330 -2.980560 0.423382 +v -0.768307 -2.185084 -2.032629 +v -0.768307 -3.638091 2.118817 +v -0.041706 -1.700600 1.461984 +v 0.581037 -3.845791 -1.098361 +v -0.007154 -3.984407 0.458357 +v -0.872165 -1.700600 0.977066 +v 0.650343 -2.565607 -2.690055 +v 0.996266 -3.188260 -0.510294 +v 0.511933 -3.534129 -2.621289 +v -0.041706 -2.150430 2.811219 +v -0.976024 -3.049644 -2.067605 +v 0.996266 -2.876822 -2.136370 +v 1.031021 -2.150430 -0.025968 +v 0.823305 -3.742053 -1.582686 +v -0.595346 -2.392784 -2.620696 +v 0.027397 -2.150430 -2.794389 +v 0.615588 -2.392784 2.638118 +v 0.546485 -3.499699 2.603735 +v 0.131255 -3.984407 -0.440935 +v -0.595346 -3.534353 -2.551930 +v -0.595346 -2.323477 2.568760 +v -0.629897 -3.361306 2.638118 +v 0.131255 -3.915099 2.015668 +v 1.031021 -2.842391 2.084434 +v 0.027397 -3.742053 -2.725030 +v 0.719447 -2.946130 -2.794389 +v 0.996266 -1.700600 0.180922 +v 0.061949 -3.672745 2.741860 +v 1.031021 -3.015214 2.015075 +v 0.027397 -2.807961 3.019295 +f 75 108 128 +f 74 65 87 +f 85 69 87 +f 65 85 87 +f 71 89 90 +f 65 74 91 +f 73 81 91 +f 81 65 91 +f 86 68 92 +f 88 76 93 +f 80 88 93 +f 81 73 95 +f 73 86 95 +f 85 75 96 +f 74 87 97 +f 78 73 98 +f 82 78 98 +f 91 70 98 +f 73 91 98 +f 74 76 99 +f 88 70 99 +f 70 91 99 +f 91 74 99 +f 73 78 100 +f 83 68 100 +f 78 83 100 +f 86 73 100 +f 85 65 101 +f 75 85 101 +f 67 66 103 +f 82 67 103 +f 78 82 103 +f 83 78 103 +f 65 81 104 +f 81 95 104 +f 101 65 104 +f 94 72 105 +f 72 79 107 +f 75 101 108 +f 101 104 108 +f 70 88 109 +f 88 82 109 +f 98 70 109 +f 82 98 109 +f 79 72 110 +f 69 84 110 +f 84 79 110 +f 87 69 110 +f 72 94 110 +f 94 87 110 +f 84 69 111 +f 71 84 111 +f 66 79 112 +f 79 84 112 +f 102 66 112 +f 77 102 112 +f 106 77 112 +f 84 106 112 +f 76 88 113 +f 99 76 113 +f 88 99 113 +f 76 74 114 +f 93 76 114 +f 87 94 114 +f 74 97 114 +f 97 87 114 +f 94 105 114 +f 75 89 115 +f 96 75 115 +f 89 96 115 +f 90 89 116 +f 66 102 117 +f 102 77 117 +f 103 66 117 +f 83 103 117 +f 80 82 118 +f 88 80 118 +f 82 88 118 +f 95 86 119 +f 104 95 119 +f 86 108 119 +f 108 104 119 +f 68 86 120 +f 100 68 120 +f 86 100 120 +f 68 83 121 +f 77 90 121 +f 117 77 121 +f 83 117 121 +f 89 71 122 +f 85 96 122 +f 96 89 122 +f 71 111 122 +f 66 67 123 +f 79 66 123 +f 67 82 123 +f 82 80 123 +f 107 79 123 +f 80 107 123 +f 80 93 124 +f 105 72 124 +f 72 107 124 +f 107 80 124 +f 93 114 124 +f 114 105 124 +f 69 85 125 +f 111 69 125 +f 85 122 125 +f 122 111 125 +f 92 68 126 +f 89 92 126 +f 116 89 126 +f 90 116 126 +f 68 121 126 +f 121 90 126 +f 84 71 127 +f 71 90 127 +f 90 77 127 +f 77 106 127 +f 106 84 127 +f 89 75 128 +f 86 92 128 +f 92 89 128 +f 108 86 128 +o convex_2 +v -0.941397 -1.700234 -0.545015 +v 0.996371 -1.631095 0.181336 +v 0.996371 -1.700234 0.181336 +v -0.041769 -1.700234 1.323575 +v -0.802887 -0.973639 0.735149 +v 0.338791 -0.973639 -0.960375 +v 0.788703 -0.973639 0.769762 +v 0.788703 -1.700234 -1.029338 +v -0.733730 -0.973639 -0.787309 +v -0.041769 -1.700234 -1.375735 +v -0.872241 -1.700234 0.942828 +v 0.996371 -0.973639 -0.095042 +v 0.857860 -1.700234 0.977442 +v -1.010751 -0.973639 0.112109 +v -0.041769 -0.973639 1.046668 +v -0.837466 -1.665665 -0.960375 +v 0.754125 -0.973639 -0.821658 +v -1.010751 -1.700234 0.181336 +v -0.041769 -1.008350 -1.064215 +v 0.892439 -1.596455 -0.787309 +v -0.768309 -0.973639 0.804375 +v -1.010751 -0.973639 -0.060429 +v 0.027388 -1.665665 1.323575 +v 0.027388 -1.665665 -1.375735 +v 0.996371 -0.973639 0.077496 +v 0.788703 -1.665665 1.046404 +v 0.996371 -1.700234 -0.129656 +v 0.754125 -0.973639 0.804375 +v -0.941397 -1.596455 0.700535 +v -0.837466 -1.527245 0.942828 +v -0.768309 -1.008350 -0.787309 +v -1.010751 -1.700234 -0.129656 +v -0.041769 -1.665665 -1.375735 +v 0.892439 -1.665665 0.873338 +v 0.027388 -1.042920 1.081282 +v 0.823282 -1.596455 -0.994724 +v -0.041769 -1.665665 1.323575 +v -0.872241 -1.700234 -0.856535 +v -0.110925 -0.973639 -1.029602 +f 147 161 167 +f 129 131 132 +f 134 133 135 +f 131 129 136 +f 133 134 137 +f 136 129 138 +f 129 132 139 +f 130 131 140 +f 134 135 140 +f 132 131 141 +f 133 137 142 +f 135 133 143 +f 134 140 145 +f 129 139 146 +f 145 140 148 +f 143 133 149 +f 142 137 150 +f 146 142 150 +f 136 138 152 +f 134 145 152 +f 147 134 152 +f 130 140 153 +f 140 135 153 +f 132 141 154 +f 141 135 154 +f 151 132 154 +f 131 136 155 +f 140 131 155 +f 136 148 155 +f 148 140 155 +f 135 143 156 +f 154 135 156 +f 151 154 156 +f 133 142 157 +f 146 139 157 +f 142 146 157 +f 149 133 158 +f 133 157 158 +f 157 139 158 +f 150 137 159 +f 144 150 159 +f 129 146 160 +f 150 129 160 +f 146 150 160 +f 138 144 161 +f 152 138 161 +f 147 152 161 +f 159 137 161 +f 144 159 161 +f 131 130 162 +f 141 131 162 +f 135 141 162 +f 130 153 162 +f 153 135 162 +f 156 143 163 +f 151 156 163 +f 148 136 164 +f 145 148 164 +f 136 152 164 +f 152 145 164 +f 139 132 165 +f 143 149 165 +f 132 151 165 +f 158 139 165 +f 149 158 165 +f 163 143 165 +f 151 163 165 +f 138 129 166 +f 144 138 166 +f 129 150 166 +f 150 144 166 +f 137 134 167 +f 134 147 167 +f 161 137 167 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/006/006.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/006/006.urdf new file mode 100644 index 000000000..fd69070d5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/006/006.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/007/007.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/007/007.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/007/007.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/007/007.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/007/007.obj new file mode 100644 index 000000000..eb66f1010 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/007/007.obj @@ -0,0 +1,435 @@ +o convex_0 +v 1.107172 2.874954 0.698825 +v -1.069147 1.904010 -1.075476 +v -1.069147 1.904010 -1.041916 +v 1.073513 -1.811511 0.665474 +v -1.035489 -1.812143 1.000240 +v 1.006622 -1.811511 -0.941444 +v -0.935151 4.649852 0.966680 +v 1.040068 4.582803 -0.975005 +v -1.002043 -1.812143 -0.975005 +v 1.040068 4.515754 0.966680 +v -1.035489 4.616327 -1.041916 +v 1.006622 -1.745094 1.033801 +v -0.935151 3.243090 1.033801 +v -0.868047 2.171573 -1.109037 +v 0.939730 4.448705 1.000031 +v -1.035489 4.582170 -0.606678 +v 1.073513 4.146985 -0.606678 +v -0.533376 -1.812143 -1.008355 +v -1.002043 -0.539479 1.033801 +v -1.035489 -1.812143 -0.874533 +v 1.107172 2.037475 0.966680 +v 1.073513 -1.811511 0.297148 +v 0.705184 4.582170 -1.008565 +v -1.069147 3.009052 -1.109037 +v 1.040068 -0.137186 1.033801 +v 0.571400 4.582170 0.966680 +v -0.466484 4.649852 0.531442 +v 0.571400 -1.812143 -0.975005 +v -0.165046 3.343663 1.033801 +v 0.102520 -1.812143 1.033801 +v -1.035489 -1.510423 1.000240 +v -1.069147 3.544178 -1.008565 +v -1.069147 2.071632 -1.109037 +v -0.968597 4.649852 0.498091 +v -0.935151 4.214034 1.000240 +v 1.040068 4.548646 0.933119 +v 1.107172 2.807905 0.598353 +v -0.566822 4.616327 -1.008355 +v 1.040068 3.745324 -0.975005 +v 0.973176 -1.811511 1.033801 +v 1.040068 4.582803 -0.606678 +v -0.667159 -1.812143 -1.008355 +v 1.107172 2.774380 0.966680 +v -0.466484 -1.543948 1.033801 +v -0.834601 4.616327 -1.041916 +v -0.935151 4.649852 0.163116 +v -0.600267 4.649852 0.966680 +v -0.868047 2.673807 -1.109037 +v -1.069147 2.439136 -0.874533 +v 0.337067 4.616327 -0.305263 +v 1.073513 2.071000 1.000031 +f 25 43 51 +f 3 2 5 +f 5 9 18 +f 12 13 19 +f 5 2 20 +f 9 5 20 +f 12 4 21 +f 6 17 22 +f 21 4 22 +f 2 3 24 +f 13 12 25 +f 12 21 25 +f 15 10 26 +f 5 18 28 +f 18 14 28 +f 6 22 28 +f 22 4 28 +f 23 6 28 +f 14 23 28 +f 13 25 29 +f 25 15 29 +f 12 19 30 +f 28 4 30 +f 5 28 30 +f 5 19 31 +f 16 11 32 +f 24 3 32 +f 11 24 32 +f 31 16 32 +f 14 18 33 +f 20 2 33 +f 9 20 33 +f 24 14 33 +f 2 24 33 +f 11 16 34 +f 7 27 34 +f 31 7 34 +f 16 31 34 +f 15 7 35 +f 19 13 35 +f 13 29 35 +f 29 15 35 +f 7 31 35 +f 31 19 35 +f 1 17 36 +f 26 10 36 +f 17 1 37 +f 1 21 37 +f 22 17 37 +f 21 22 37 +f 17 6 39 +f 8 17 39 +f 6 23 39 +f 23 8 39 +f 4 12 40 +f 30 4 40 +f 12 30 40 +f 17 8 41 +f 27 26 41 +f 36 17 41 +f 26 36 41 +f 18 9 42 +f 9 33 42 +f 33 18 42 +f 21 1 43 +f 25 21 43 +f 1 36 43 +f 36 10 43 +f 19 5 44 +f 5 30 44 +f 30 19 44 +f 8 23 45 +f 23 24 45 +f 24 11 45 +f 38 8 45 +f 38 45 46 +f 11 34 46 +f 34 27 46 +f 45 11 46 +f 7 15 47 +f 15 26 47 +f 27 7 47 +f 26 27 47 +f 23 14 48 +f 14 24 48 +f 24 23 48 +f 3 5 49 +f 5 31 49 +f 32 3 49 +f 31 32 49 +f 8 38 50 +f 41 8 50 +f 27 41 50 +f 38 46 50 +f 46 27 50 +f 10 15 51 +f 15 25 51 +f 43 10 51 +o convex_1 +v 2.144853 -2.381466 0.565029 +v 1.073690 -2.080159 -0.606809 +v 1.073690 -2.916834 -0.439387 +v 3.116056 -3.050735 -0.506285 +v 2.982111 -1.912753 -0.539793 +v 1.073690 -1.879248 0.531521 +v 1.073690 -2.983844 0.598537 +v 3.116056 -3.017349 0.531521 +v 2.948525 -1.845625 0.498013 +v 1.073690 -1.912753 -0.338863 +v 1.509113 -3.017349 0.263692 +v 1.475726 -1.946258 -0.606809 +v 3.015498 -1.946258 -0.539793 +v 1.810590 -2.983844 -0.472777 +v 2.278798 -1.845625 0.431115 +v 2.847966 -1.879248 -0.305473 +v 1.475726 -2.649032 0.598537 +v 2.714221 -1.979762 0.531521 +v 3.116056 -2.883447 0.498013 +v 1.073690 -2.950339 -0.305473 +v 1.107477 -1.879248 0.129778 +v 1.877362 -1.912753 -0.573301 +v 1.073690 -1.946258 -0.606809 +v 2.814579 -3.050735 -0.405879 +v 2.546689 -3.017349 -0.506285 +v 1.643058 -2.983844 0.598537 +v 3.116056 -2.916834 -0.506285 +v 3.082470 -2.682537 0.531521 +v 1.073690 -2.615527 0.598537 +v 2.982111 -1.879248 0.096152 +v 1.073690 -2.983844 0.163168 +f 71 75 82 +f 53 54 57 +f 57 54 58 +f 53 57 61 +f 59 58 62 +f 55 53 63 +f 55 63 64 +f 63 56 64 +f 54 53 65 +f 57 60 66 +f 60 56 67 +f 66 60 67 +f 60 57 69 +f 68 52 69 +f 59 55 70 +f 58 54 71 +f 54 65 71 +f 61 57 72 +f 57 66 72 +f 66 67 72 +f 72 67 73 +f 56 63 73 +f 67 56 73 +f 61 72 73 +f 61 73 74 +f 53 61 74 +f 63 53 74 +f 73 63 74 +f 55 59 75 +f 59 62 75 +f 65 55 75 +f 71 65 75 +f 53 55 76 +f 65 53 76 +f 55 65 76 +f 58 59 77 +f 52 68 77 +f 68 58 77 +f 55 64 78 +f 70 55 78 +f 64 70 78 +f 69 52 79 +f 60 69 79 +f 59 70 79 +f 52 77 79 +f 77 59 79 +f 57 58 80 +f 58 68 80 +f 69 57 80 +f 68 69 80 +f 56 60 81 +f 64 56 81 +f 70 64 81 +f 60 79 81 +f 79 70 81 +f 62 58 82 +f 58 71 82 +f 75 62 82 +o convex_2 +v -1.069147 -1.912648 0.431003 +v -3.077878 -3.017489 -0.606688 +v -3.077878 -3.017489 -0.104513 +v -1.069147 -3.017378 0.531511 +v -2.943975 -2.013159 0.598314 +v -1.069147 -1.912648 -0.573226 +v -3.044451 -1.946189 -0.539642 +v -1.069147 -3.017378 -0.472839 +v -3.044451 -2.950408 0.631898 +v -2.341317 -1.946189 0.564852 +v -1.236673 -1.879107 -0.506180 +v -1.337148 -2.950408 0.564852 +v -2.140562 -2.548586 -0.606688 +v -3.044451 -1.946189 -0.271824 +v -1.102770 -1.912648 0.464465 +v -2.642548 -1.946189 0.564852 +v -1.203246 -2.983949 -0.506180 +v -3.077878 -2.314469 -0.573105 +v -2.843500 -2.983949 0.598314 +v -2.642548 -3.017489 -0.606688 +v -2.743024 -1.979729 0.598314 +v -1.069147 -2.716068 0.531511 +v -3.077878 -2.682638 -0.606688 +v -3.044451 -2.883438 0.631898 +v -3.010828 -1.946189 -0.037589 +v -1.404198 -1.912759 0.464465 +v -1.069147 -1.879107 -0.539764 +v -1.404198 -3.017489 0.531390 +f 102 90 110 +f 83 86 88 +f 88 86 90 +f 91 86 94 +f 93 89 96 +f 92 97 98 +f 88 90 99 +f 95 88 99 +f 84 85 100 +f 89 88 100 +f 96 89 100 +f 91 85 101 +f 86 91 101 +f 85 84 102 +f 84 95 102 +f 99 90 102 +f 95 99 102 +f 98 87 103 +f 92 98 103 +f 86 83 104 +f 94 86 104 +f 83 97 104 +f 97 92 104 +f 103 94 104 +f 92 103 104 +f 95 84 105 +f 88 95 105 +f 84 100 105 +f 100 88 105 +f 85 91 106 +f 91 94 106 +f 87 96 106 +f 100 85 106 +f 96 100 106 +f 103 87 106 +f 94 103 106 +f 96 87 107 +f 93 96 107 +f 87 98 107 +f 98 93 107 +f 97 93 108 +f 93 98 108 +f 98 97 108 +f 83 88 109 +f 88 89 109 +f 89 93 109 +f 97 83 109 +f 93 97 109 +f 90 86 110 +f 101 85 110 +f 86 101 110 +f 85 102 110 +o convex_3 +v -0.298934 -3.519459 0.966490 +v 0.772065 -3.419088 -1.075555 +v 0.772065 -3.318548 -1.075555 +v -1.069147 -3.486058 -0.941346 +v -1.035587 -1.812314 1.000145 +v 1.006569 -1.812314 -0.941552 +v 1.006569 -1.812314 1.000145 +v -1.002026 -1.812314 -0.974795 +v 0.939658 -3.419088 1.033801 +v -1.069147 -3.553029 0.966490 +v 1.006569 -3.553029 -1.075555 +v 1.073690 -2.983867 0.598344 +v -1.069147 -1.879284 -0.573200 +v 1.073690 -1.946254 -0.606649 +v -0.633910 -1.812314 -1.008451 +v 1.073690 -1.812314 0.665242 +v 0.169654 -1.812314 1.033801 +v -1.035587 -2.615957 1.000145 +v 1.073690 -2.916897 -0.439197 +v -0.365845 -3.553029 -0.204847 +v 0.973219 -3.553029 -0.774101 +v 0.973219 -1.946254 -0.975001 +v -1.069147 -1.912854 0.430892 +v 0.973219 -1.812314 1.033801 +v -0.767732 -3.452488 -0.974795 +v 0.504420 -3.553029 -1.041900 +v -1.069147 -3.519459 -0.372092 +v -1.035587 -2.013224 -0.974795 +v 0.939658 -3.452488 0.698897 +v -0.801083 -3.553029 0.966490 +v -0.432966 -1.812314 -1.008451 +v -1.069147 -2.816356 0.966490 +v -0.265374 -3.486058 1.000145 +v 1.006569 -3.385518 -1.075555 +v -1.069147 -3.553029 0.497996 +v 0.973219 -2.849926 1.033801 +v 0.973219 -3.486058 0.162886 +v -1.035587 -2.381475 -0.974795 +v -1.069147 -2.749386 -0.941346 +f 123 138 149 +f 116 115 117 +f 115 116 118 +f 112 113 121 +f 115 118 123 +f 114 120 123 +f 113 112 125 +f 118 116 125 +f 116 117 126 +f 117 122 126 +f 124 116 126 +f 122 124 126 +f 117 115 127 +f 119 127 128 +f 115 120 128 +f 127 115 128 +f 122 121 129 +f 121 124 129 +f 124 122 129 +f 121 120 130 +f 120 121 131 +f 115 123 133 +f 123 120 133 +f 117 127 134 +f 127 119 134 +f 112 121 135 +f 121 130 136 +f 114 135 136 +f 135 121 136 +f 120 114 137 +f 114 136 137 +f 136 130 137 +f 123 118 138 +f 118 125 138 +f 119 111 139 +f 111 131 139 +f 111 119 140 +f 119 120 140 +f 131 111 140 +f 120 131 140 +f 113 125 141 +f 125 116 141 +f 116 132 141 +f 120 115 142 +f 115 133 142 +f 133 120 142 +f 120 119 143 +f 119 128 143 +f 128 120 143 +f 121 113 144 +f 116 124 144 +f 124 121 144 +f 132 116 144 +f 113 141 144 +f 141 132 144 +f 130 120 145 +f 120 137 145 +f 137 130 145 +f 122 117 146 +f 119 122 146 +f 117 134 146 +f 134 119 146 +f 122 119 147 +f 121 122 147 +f 131 121 147 +f 119 139 147 +f 139 131 147 +f 125 112 148 +f 135 114 148 +f 112 135 148 +f 114 138 148 +f 138 125 148 +f 114 123 149 +f 138 114 149 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/007/007.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/007/007.urdf new file mode 100644 index 000000000..5b9384539 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/007/007.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/008/008.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/008/008.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/008/008.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/008/008.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/008/008.obj new file mode 100644 index 000000000..6c0ee13f5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/008/008.obj @@ -0,0 +1,1221 @@ +o convex_0 +v -1.211401 -0.693508 -0.088100 +v 1.213063 -0.573752 0.180740 +v 1.182923 -0.573752 0.330346 +v 1.063314 -1.112469 0.150744 +v 0.045684 -1.082464 -1.943358 +v 0.045684 -1.112469 1.886393 +v -1.091554 -1.112469 -0.177713 +v -0.882001 -0.573752 0.958764 +v -0.493033 -0.573752 -1.195330 +v 0.883662 -0.573752 -0.896119 +v 0.524597 -0.573752 1.198358 +v -0.403326 -1.112469 -1.764131 +v -0.941805 -1.112469 0.869151 +v 0.973607 -1.112469 -0.596908 +v 0.434652 -1.112469 1.707167 +v -1.181261 -0.573752 -0.447303 +v 0.434652 -1.112469 -1.704139 +v 0.524597 -0.573752 -1.165334 +v 1.153021 -0.603705 -0.477299 +v -1.181261 -0.573752 0.390338 +v -0.373186 -0.573752 1.168362 +v -1.001847 -1.112469 -0.596908 +v 0.973607 -1.082464 0.599561 +v -0.911903 -0.573752 -0.896119 +v 1.123118 -0.573752 0.509948 +v -1.091554 -1.112469 0.150744 +v 0.045684 -1.082464 1.886393 +v 1.123118 -0.992661 0.001139 +v 0.853760 -0.573752 0.899147 +v 0.045684 -0.573752 -1.225327 +v 0.105489 -0.573752 1.228354 +v -0.911903 -1.112469 0.929143 +v -0.403326 -1.082464 -1.764131 +v 0.434652 -1.082464 -1.704139 +v 1.213063 -0.573752 -0.177713 +v -0.882001 -1.112469 -0.866123 +v 0.434652 -1.082464 1.707167 +v -0.941805 -0.573752 0.899147 +v 1.123118 -0.633657 0.509948 +v -1.211401 -0.603705 -0.327693 +v -1.151359 -0.633657 -0.506920 +v -1.001847 -1.112469 0.659553 +v -1.211401 -0.603705 0.210737 +v 0.853760 -1.112469 -0.866123 +v 0.165531 -1.082464 1.856772 +f 37 11 45 +f 2 3 4 +f 4 6 7 +f 3 2 8 +f 8 2 9 +f 9 2 10 +f 3 8 11 +f 4 7 12 +f 7 6 13 +f 4 12 14 +f 6 4 15 +f 8 9 16 +f 12 5 17 +f 14 12 17 +f 9 10 18 +f 8 16 20 +f 11 8 21 +f 12 7 22 +f 4 3 23 +f 15 4 23 +f 16 9 24 +f 3 11 25 +f 1 7 26 +f 7 13 26 +f 21 8 27 +f 2 4 28 +f 4 14 28 +f 14 19 28 +f 25 11 29 +f 5 9 30 +f 18 5 30 +f 9 18 30 +f 11 21 31 +f 27 11 31 +f 21 27 31 +f 13 6 32 +f 6 27 32 +f 9 5 33 +f 5 12 33 +f 24 9 33 +f 17 5 34 +f 5 18 34 +f 18 10 34 +f 10 19 34 +f 19 17 34 +f 10 2 35 +f 19 10 35 +f 2 28 35 +f 28 19 35 +f 12 22 36 +f 15 25 37 +f 29 11 37 +f 25 29 37 +f 20 13 38 +f 8 20 38 +f 27 8 38 +f 13 32 38 +f 32 27 38 +f 23 3 39 +f 15 23 39 +f 3 25 39 +f 25 15 39 +f 7 1 40 +f 20 16 40 +f 22 7 40 +f 22 40 41 +f 16 24 41 +f 33 12 41 +f 24 33 41 +f 12 36 41 +f 36 22 41 +f 40 16 41 +f 13 20 42 +f 26 13 42 +f 26 42 43 +f 1 26 43 +f 40 1 43 +f 20 40 43 +f 42 20 43 +f 14 17 44 +f 19 14 44 +f 17 19 44 +f 6 15 45 +f 27 6 45 +f 11 27 45 +f 15 37 45 +o convex_1 +v -0.672655 1.162556 0.959057 +v 0.015750 3.407210 0.031334 +v 0.045658 3.347001 0.121044 +v 1.182943 1.162556 -0.477284 +v -0.911920 1.162556 -0.926227 +v 0.763971 2.568898 0.929023 +v 0.823787 2.419254 -0.806679 +v -0.822196 2.598783 0.629859 +v -0.852104 2.389369 -0.866355 +v 0.853695 1.162556 0.929023 +v -1.361059 1.162556 0.061172 +v -0.792288 3.107703 -0.028145 +v 0.494539 1.162556 -0.956261 +v 0.734062 3.107703 0.001693 +v 1.272926 1.192441 0.001496 +v 0.045658 2.808416 -0.776448 +v -0.193608 2.778531 0.809475 +v -1.241169 1.222325 0.480080 +v -0.044067 1.401854 1.019125 +v -0.852104 2.419254 0.749603 +v -0.133791 1.371969 -0.986295 +v 0.883604 1.162556 -0.866355 +v 1.182943 1.162556 0.390370 +v -0.882012 1.162556 0.899185 +v -1.181352 1.252210 -0.477284 +v 0.374906 1.162556 1.019125 +v -0.732471 2.479244 -0.866355 +v -0.073975 3.407210 -0.028145 +v -0.672655 1.192441 -0.986099 +v -0.792288 3.077818 0.061172 +v -1.361059 1.192441 0.001496 +v 0.763971 3.047933 0.060976 +v 0.823787 2.539013 -0.686738 +v 0.763971 2.299495 -0.836321 +v 0.763971 2.748426 0.659697 +v 0.165291 3.347001 -0.028145 +v -0.103625 3.377105 0.061172 +v 0.853695 2.359265 -0.806679 +v 0.704154 1.491728 0.989091 +v -0.522856 1.192441 0.989091 +v -0.732471 2.299495 -0.896193 +v 0.015750 2.748426 0.839509 +v 0.883604 1.491728 -0.866355 +v -0.822196 2.838300 -0.357540 +v 1.272926 1.192441 -0.058180 +v -1.361059 1.192441 0.061172 +v -0.044067 2.808416 -0.776448 +v 0.793879 2.509128 0.899185 +v 0.734062 3.107703 0.060976 +v -0.762379 2.210061 0.809475 +v 0.763971 3.047933 -0.028342 +v 0.225107 1.192441 -0.986295 +v 0.464631 2.599002 -0.806679 +v 0.494539 2.239726 0.959057 +v -0.343149 1.401854 0.989091 +v 0.614430 2.658772 0.869347 +v 0.315090 1.401854 1.019125 +v -0.822196 3.017829 0.031138 +v 0.704154 1.282315 -0.926227 +v -0.073975 2.868185 0.719765 +v 0.853695 1.312199 0.929023 +v -0.762379 3.107703 -0.058180 +v 1.153035 1.222325 0.450242 +v -0.313241 1.162556 1.019125 +f 100 85 109 +f 49 46 50 +f 46 49 55 +f 50 46 56 +f 49 50 58 +f 62 53 65 +f 49 58 67 +f 55 49 68 +f 49 60 68 +f 56 46 69 +f 63 56 69 +f 65 63 69 +f 54 50 70 +f 46 55 71 +f 50 54 74 +f 58 50 74 +f 53 62 75 +f 50 56 76 +f 70 50 76 +f 54 70 76 +f 60 77 80 +f 73 47 81 +f 61 73 81 +f 78 61 81 +f 59 78 81 +f 48 47 82 +f 47 73 82 +f 73 57 82 +f 57 75 82 +f 75 62 82 +f 52 78 83 +f 79 52 83 +f 71 55 84 +f 54 72 86 +f 74 54 86 +f 66 74 86 +f 79 66 86 +f 49 67 88 +f 83 49 88 +f 79 83 88 +f 72 54 89 +f 54 76 89 +f 76 57 89 +f 60 49 90 +f 77 60 90 +f 49 83 90 +f 83 78 90 +f 56 63 91 +f 63 65 91 +f 76 56 91 +f 61 72 92 +f 73 61 92 +f 72 73 92 +f 68 60 93 +f 80 51 93 +f 60 80 93 +f 47 48 94 +f 77 59 94 +f 48 80 94 +f 80 77 94 +f 81 47 94 +f 59 81 94 +f 62 65 95 +f 69 46 95 +f 65 69 95 +f 46 85 95 +f 59 77 96 +f 78 59 96 +f 77 90 96 +f 90 78 96 +f 58 74 97 +f 74 66 97 +f 66 79 97 +f 72 61 98 +f 78 52 98 +f 61 78 98 +f 52 79 98 +f 86 72 98 +f 79 86 98 +f 51 87 99 +f 99 87 100 +f 87 62 100 +f 62 95 100 +f 95 85 100 +f 64 99 100 +f 80 48 101 +f 51 80 101 +f 87 51 101 +f 64 71 102 +f 84 51 102 +f 71 84 102 +f 99 64 102 +f 51 99 102 +f 65 53 103 +f 75 57 103 +f 53 75 103 +f 57 76 103 +f 91 65 103 +f 76 91 103 +f 67 58 104 +f 88 67 104 +f 79 88 104 +f 58 97 104 +f 97 79 104 +f 48 82 105 +f 82 62 105 +f 62 87 105 +f 101 48 105 +f 87 101 105 +f 51 84 106 +f 84 55 106 +f 93 51 106 +f 57 73 107 +f 73 72 107 +f 72 89 107 +f 89 57 107 +f 55 68 108 +f 68 93 108 +f 106 55 108 +f 93 106 108 +f 46 71 109 +f 71 64 109 +f 85 46 109 +f 64 100 109 +o convex_2 +v -0.403185 -1.292276 1.617884 +v -0.073849 -2.249872 1.258833 +v 0.075534 -2.249872 1.258833 +v 0.075534 -1.681171 2.994614 +v 0.524550 -1.112581 1.258833 +v 0.434790 -2.010278 2.036919 +v -0.522973 -1.890593 1.258833 +v -0.223557 -1.980440 2.605317 +v 0.015803 -1.262215 2.754850 +v 0.404762 -1.591546 2.784927 +v -0.373157 -1.112581 1.258833 +v -0.343345 -1.651444 2.724944 +v 0.075534 -2.040227 2.754850 +v 0.464710 -2.040227 1.258833 +v 0.554470 -1.621384 1.827402 +v 0.434790 -1.112581 1.767588 +v -0.373157 -2.070177 1.947198 +v -0.343345 -1.112581 1.498257 +v -0.403185 -2.159913 1.258833 +v -0.492945 -1.681171 1.797495 +v 0.015803 -2.189974 1.977105 +v 0.584498 -1.501587 1.258833 +v -0.253477 -1.352063 2.485520 +v 0.015803 -1.112581 1.947198 +v 0.105454 -1.262215 2.754850 +v 0.374950 -2.070177 2.036919 +v 0.315002 -1.950491 2.575410 +v -0.014117 -2.040227 2.754850 +v 0.344922 -1.352063 2.575410 +v -0.014117 -1.621384 2.994614 +v 0.434790 -1.591546 2.695037 +v -0.343345 -1.710897 2.724944 +v -0.522973 -1.681171 1.258833 +v -0.463025 -1.740958 2.036919 +v 0.404762 -1.651444 2.784927 +v 0.524550 -1.142530 1.408367 +v -0.343345 -1.292276 2.036919 +v -0.463025 -1.651444 2.066825 +v 0.524550 -1.740958 1.976935 +v 0.075534 -1.591546 2.994614 +v 0.404762 -2.100126 1.318647 +v -0.343345 -2.070177 2.066825 +v -0.313317 -1.710897 2.784927 +v 0.584498 -1.411850 1.348554 +v -0.313317 -1.651444 2.784927 +f 152 139 154 +f 112 111 114 +f 114 111 116 +f 114 116 120 +f 112 114 123 +f 114 120 125 +f 120 110 127 +f 125 120 127 +f 116 111 128 +f 126 116 128 +f 111 112 130 +f 128 111 130 +f 123 114 131 +f 124 123 131 +f 118 127 132 +f 127 118 133 +f 125 127 133 +f 133 118 134 +f 125 133 134 +f 130 112 135 +f 122 130 135 +f 135 115 136 +f 122 135 136 +f 122 113 137 +f 130 122 137 +f 134 119 138 +f 125 134 138 +f 137 113 139 +f 138 119 140 +f 125 138 140 +f 110 120 142 +f 120 116 142 +f 129 110 142 +f 116 129 142 +f 116 126 143 +f 129 116 143 +f 126 141 143 +f 119 113 144 +f 113 122 144 +f 136 115 144 +f 122 136 144 +f 140 119 144 +f 114 125 145 +f 125 140 145 +f 127 110 146 +f 121 132 146 +f 132 127 146 +f 110 129 147 +f 141 121 147 +f 129 143 147 +f 143 141 147 +f 146 110 147 +f 121 146 147 +f 115 123 148 +f 123 124 148 +f 124 140 148 +f 144 115 148 +f 140 144 148 +f 113 119 149 +f 134 118 149 +f 119 134 149 +f 118 139 149 +f 139 113 149 +f 112 123 150 +f 123 115 150 +f 115 135 150 +f 135 112 150 +f 126 128 151 +f 128 130 151 +f 137 117 151 +f 130 137 151 +f 117 141 151 +f 141 126 151 +f 117 137 152 +f 137 139 152 +f 141 117 152 +f 121 141 152 +f 131 114 153 +f 124 131 153 +f 140 124 153 +f 114 145 153 +f 145 140 153 +f 118 132 154 +f 132 121 154 +f 139 118 154 +f 121 152 154 +o convex_3 +v -1.271264 -0.483744 -0.088316 +v -1.271264 1.162336 0.180855 +v -1.271264 1.162336 -0.088316 +v -3.037065 0.383929 -0.028368 +v -1.510830 0.324311 0.540219 +v -1.331242 0.294503 -0.567252 +v -2.797672 0.324311 0.390511 +v -2.797672 0.413898 -0.387624 +v -2.797672 0.773052 0.001444 +v -1.271264 -0.274117 0.390511 +v -2.767597 -0.034842 0.061175 +v -1.301340 1.072266 0.450351 +v -1.271264 -0.304086 -0.447464 +v -1.361145 0.952548 -0.417544 +v -2.468400 0.025097 -0.297756 +v -2.617912 0.683304 -0.297756 +v -2.617912 0.653334 0.300643 +v -2.049592 0.383929 -0.507304 +v -1.271264 0.294503 0.540219 +v -2.019690 0.354120 0.510191 +v -2.588009 0.055067 0.300643 +v -1.301340 -0.483744 0.031255 +v -1.271264 0.353959 -0.567252 +v -2.737695 -0.034842 -0.028368 +v -1.361317 -0.274117 0.390511 +v -2.797672 0.354120 -0.387624 +v -2.707792 0.383929 0.420323 +v -1.421122 1.162336 -0.028368 +v -1.391220 -0.274117 -0.447355 +v -3.037065 0.383929 0.061175 +v -1.271264 0.952548 -0.417544 +v -2.079495 0.773052 -0.387624 +v -1.959885 0.264533 -0.507304 +v -2.707792 0.324311 0.420323 +v -1.271264 0.503646 0.540219 +v -2.767597 0.743082 0.091203 +v -2.797672 0.773052 -0.028368 +v -1.331242 -0.214338 0.420431 +v -1.451025 1.162336 0.031255 +v -2.827575 0.383929 0.360591 +v -1.301340 -0.483744 -0.088316 +v -1.331242 1.162336 -0.088316 +v -3.007162 0.294503 -0.028368 +f 165 184 197 +f 157 156 155 +f 155 156 164 +f 157 155 167 +f 164 156 173 +f 161 165 175 +f 155 164 176 +f 157 167 177 +f 167 160 177 +f 160 172 177 +f 172 168 177 +f 175 165 179 +f 165 176 179 +f 176 164 179 +f 158 162 180 +f 162 172 180 +f 169 178 180 +f 166 171 181 +f 174 166 181 +f 156 157 182 +f 160 167 183 +f 178 169 183 +f 169 180 183 +f 163 158 184 +f 165 161 184 +f 168 157 185 +f 157 177 185 +f 177 168 185 +f 162 170 186 +f 170 168 186 +f 172 162 186 +f 168 172 186 +f 172 160 187 +f 180 172 187 +f 160 183 187 +f 183 180 187 +f 161 175 188 +f 175 179 188 +f 181 161 188 +f 174 181 188 +f 156 166 189 +f 173 156 189 +f 159 173 189 +f 174 159 189 +f 166 174 189 +f 166 163 190 +f 171 166 190 +f 163 184 190 +f 162 158 191 +f 158 163 191 +f 170 162 191 +f 164 173 192 +f 173 159 192 +f 159 174 192 +f 179 164 192 +f 174 188 192 +f 188 179 192 +f 166 156 193 +f 163 166 193 +f 156 182 193 +f 191 163 193 +f 182 191 193 +f 161 181 194 +f 181 171 194 +f 184 161 194 +f 171 190 194 +f 190 184 194 +f 167 155 195 +f 176 165 195 +f 155 176 195 +f 165 178 195 +f 183 167 195 +f 178 183 195 +f 157 168 196 +f 168 170 196 +f 182 157 196 +f 170 191 196 +f 191 182 196 +f 178 165 197 +f 158 180 197 +f 180 178 197 +f 184 158 197 +o convex_4 +v -0.073791 -2.159951 -2.003977 +v 0.584483 -1.262230 -1.225748 +v 0.554546 -1.112469 -1.225748 +v 0.404861 -1.621445 -2.751955 +v -0.522848 -1.112575 -1.345715 +v -0.073791 -1.232383 -2.722049 +v 0.404861 -2.010296 -1.225748 +v -0.433036 -1.651186 -2.722049 +v -0.433036 -2.040248 -1.225748 +v 0.015678 -2.040248 -2.751955 +v 0.404861 -2.010296 -2.034228 +v -0.582836 -1.501742 -1.225748 +v -0.433036 -2.040248 -2.003977 +v -0.044082 -1.591493 -2.991716 +v 0.464735 -1.112469 -1.704751 +v 0.045615 -2.189798 -1.225748 +v 0.554546 -1.621340 -1.914088 +v 0.015678 -1.202431 -2.722049 +v -0.403099 -1.112575 -1.824718 +v -0.552785 -1.651186 -1.914261 +v -0.522848 -1.112575 -1.225748 +v 0.315049 -1.322134 -2.542445 +v -0.313402 -1.950392 -2.572350 +v -0.313402 -1.322134 -2.572350 +v 0.584483 -1.501637 -1.225748 +v 0.284998 -1.950392 -2.572350 +v -0.103842 -2.189798 -1.225748 +v 0.045615 -2.159951 -2.003977 +v -0.044082 -2.040248 -2.751955 +v 0.045615 -1.112575 -2.003977 +v -0.014145 -1.681033 -2.991716 +v 0.464735 -1.920439 -1.345715 +v -0.433036 -1.591493 -2.692144 +v -0.403099 -2.070095 -1.974072 +v -0.582836 -1.411885 -1.405353 +v 0.404861 -1.681033 -2.722049 +v 0.524609 -1.172479 -1.555225 +v -0.373162 -1.591493 -2.781860 +v -0.462974 -1.980344 -1.225748 +v 0.075552 -1.591493 -2.961465 +v 0.494672 -1.800842 -2.003977 +v 0.105489 -1.232383 -2.692144 +v -0.044082 -2.070095 -2.662412 +v -0.433036 -1.112575 -1.764562 +v -0.044082 -2.189798 -1.704751 +f 231 198 242 +f 199 200 204 +f 204 200 206 +f 206 200 209 +f 204 206 213 +f 208 204 213 +f 211 203 215 +f 215 203 216 +f 205 210 217 +f 209 200 218 +f 200 212 218 +f 212 202 218 +f 212 201 219 +f 210 205 220 +f 216 203 221 +f 199 204 222 +f 214 199 222 +f 208 207 223 +f 213 206 224 +f 207 208 225 +f 208 213 225 +f 220 205 226 +f 212 215 227 +f 216 212 227 +f 215 216 227 +f 207 226 228 +f 226 205 228 +f 204 208 229 +f 222 204 229 +f 214 222 229 +f 205 217 230 +f 206 210 231 +f 210 220 231 +f 224 206 231 +f 217 209 232 +f 209 218 232 +f 218 202 232 +f 202 230 232 +f 230 217 232 +f 201 214 233 +f 223 207 233 +f 208 223 233 +f 228 201 233 +f 207 228 233 +f 200 199 234 +f 212 200 234 +f 201 212 234 +f 199 214 234 +f 214 201 234 +f 203 211 235 +f 221 203 235 +f 211 228 235 +f 228 205 235 +f 205 230 235 +f 230 221 235 +f 206 209 236 +f 210 206 236 +f 209 217 236 +f 217 210 236 +f 211 215 237 +f 201 228 237 +f 228 211 237 +f 229 208 238 +f 214 229 238 +f 233 214 238 +f 208 233 238 +f 215 212 239 +f 219 201 239 +f 212 219 239 +f 201 237 239 +f 237 215 239 +f 225 198 240 +f 207 225 240 +f 226 207 240 +f 220 226 240 +f 231 220 240 +f 198 231 240 +f 202 212 241 +f 212 216 241 +f 216 221 241 +f 230 202 241 +f 221 230 241 +f 213 224 242 +f 198 225 242 +f 225 213 242 +f 224 231 242 +o convex_5 +v -1.091674 -1.112625 -0.147731 +v 1.063404 -1.112625 0.120983 +v 0.973539 -1.112625 0.510071 +v -0.014135 -2.698692 -0.087909 +v -0.463039 -2.160013 1.258579 +v 0.554379 -1.112625 -1.225748 +v -0.822079 -2.040289 -0.806263 +v -0.373174 -1.112625 1.258579 +v 0.434769 -2.099918 1.258579 +v 0.793809 -2.040134 -0.806263 +v -0.881989 -2.189827 0.929313 +v 0.045564 -2.219642 -1.225748 +v -0.552905 -1.112625 -1.225748 +v 0.734109 -2.339520 0.180805 +v -0.014135 -2.668877 0.779514 +v 0.524635 -1.112625 1.258579 +v -0.911944 -1.112625 0.929313 +v -0.792124 -2.399460 0.031249 +v -0.014135 -2.608782 -0.716529 +v 0.764064 -2.100073 0.809425 +v 0.973539 -1.112625 -0.596885 +v -0.433084 -2.040289 -1.225748 +v -0.881989 -1.112625 -0.866085 +v 0.704154 -2.399305 -0.028087 +v 0.434769 -1.980194 -1.225748 +v 0.614289 -1.352072 1.228424 +v 0.614289 -1.381886 -1.225748 +v -0.552905 -1.741213 1.258579 +v 0.045564 -2.279581 1.258579 +v 1.063404 -1.202379 0.001824 +v -0.582860 -1.501765 -1.225748 +v -1.001809 -1.172409 0.659869 +v -0.582860 -2.339520 1.048714 +v -0.852034 -2.010164 -0.776352 +v -0.073834 -2.668877 0.779514 +v -0.133744 -2.548998 -0.746441 +v -0.103789 -2.698692 0.001824 +v -1.091674 -1.172409 -0.087909 +v 0.943584 -1.232348 0.629958 +v -1.001809 -1.142594 -0.596885 +v 0.135430 -2.519028 -0.746441 +v 0.853719 -1.142594 -0.866085 +v -0.852034 -2.279736 0.600047 +v -1.091674 -1.142594 0.091071 +v 0.734109 -2.100073 -0.806263 +v 0.644244 -1.112625 1.168602 +v -0.822079 -2.070103 -0.776352 +v 0.734109 -2.339520 -0.147731 +v -0.073834 -2.608782 -0.686618 +v 0.793809 -2.040134 0.749603 +v 0.015820 -2.698692 0.061160 +v 0.584334 -1.501765 1.258579 +v -0.043879 -2.249611 -1.195351 +v 0.614289 -2.219797 0.809425 +v 0.314949 -2.099918 -1.195351 +v -0.433084 -2.369490 1.078869 +v 0.823764 -1.292133 0.869247 +v 1.063404 -1.142594 -0.117820 +v -0.672514 -2.309551 1.019046 +v -0.881989 -1.232348 -0.866085 +v -0.822079 -2.219797 -0.387264 +v -0.403129 -2.070103 -1.225748 +v -0.552905 -1.890596 1.258579 +v -0.672514 -1.112625 -1.135772 +f 273 302 306 +f 245 244 243 +f 243 244 248 +f 245 243 250 +f 250 247 251 +f 243 248 255 +f 248 254 255 +f 245 250 258 +f 250 251 258 +f 250 243 259 +f 248 244 263 +f 255 254 264 +f 243 255 265 +f 256 257 266 +f 246 261 266 +f 254 248 267 +f 267 248 269 +f 252 267 269 +f 247 250 270 +f 250 259 270 +f 251 247 271 +f 257 251 271 +f 264 249 273 +f 255 264 273 +f 253 259 274 +f 273 249 276 +f 257 271 277 +f 277 260 279 +f 243 276 280 +f 244 245 281 +f 243 265 282 +f 276 243 282 +f 261 254 283 +f 266 261 283 +f 248 263 284 +f 263 252 284 +f 269 248 284 +f 252 269 284 +f 260 277 285 +f 253 280 285 +f 259 243 286 +f 253 274 286 +f 274 259 286 +f 280 253 286 +f 243 280 286 +f 267 252 287 +f 245 258 288 +f 258 268 288 +f 281 245 288 +f 249 264 289 +f 276 249 289 +f 256 266 290 +f 252 272 290 +f 272 256 290 +f 266 283 290 +f 287 252 290 +f 283 287 290 +f 261 246 291 +f 260 278 291 +f 278 261 291 +f 246 279 291 +f 279 260 291 +f 262 256 292 +f 256 272 292 +f 272 244 292 +f 244 281 292 +f 281 262 292 +f 246 266 293 +f 266 257 293 +f 257 277 293 +f 279 246 293 +f 277 279 293 +f 258 251 294 +f 251 262 294 +f 268 258 294 +f 254 261 295 +f 261 278 295 +f 251 257 296 +f 257 256 296 +f 256 262 296 +f 262 251 296 +f 254 267 297 +f 283 254 297 +f 267 287 297 +f 287 283 297 +f 271 247 298 +f 247 275 298 +f 277 271 298 +f 275 277 298 +f 262 281 299 +f 288 268 299 +f 281 288 299 +f 294 262 299 +f 268 294 299 +f 263 244 300 +f 252 263 300 +f 272 252 300 +f 244 272 300 +f 247 253 301 +f 275 247 301 +f 277 275 301 +f 253 285 301 +f 285 277 301 +f 273 276 302 +f 282 265 302 +f 276 282 302 +f 278 260 303 +f 280 276 303 +f 260 285 303 +f 285 280 303 +f 276 289 303 +f 289 278 303 +f 264 254 304 +f 289 264 304 +f 278 289 304 +f 254 295 304 +f 295 278 304 +f 253 247 305 +f 259 253 305 +f 247 270 305 +f 270 259 305 +f 265 255 306 +f 255 273 306 +f 302 265 306 +o convex_6 +v 0.913453 0.054929 0.929149 +v -0.492819 -0.573530 -1.195817 +v -0.822114 -0.573530 -0.986026 +v -0.911944 1.162166 -0.926221 +v -0.882165 -0.573530 0.959051 +v 1.153164 -0.573530 -0.477211 +v 0.853648 1.162166 0.929149 +v 0.883674 1.162166 -0.866416 +v -1.271264 1.162166 0.450237 +v 0.524599 -0.573530 1.198507 +v -0.552623 1.162166 0.989191 +v -1.271264 -0.333971 -0.417406 +v 1.242994 1.042387 0.390432 +v 0.524599 -0.483653 -1.165677 +v 1.242994 -0.333971 0.450237 +v 1.242994 0.443830 -0.566918 +v -1.181434 -0.573530 0.420334 +v 0.045424 1.072289 -1.016165 +v -1.271264 0.982582 -0.417406 +v -0.882165 0.593512 0.988954 +v 0.135254 -0.543458 1.228647 +v 1.212969 1.162166 -0.387504 +v -1.271264 0.354123 0.569846 +v 0.374965 1.162166 1.018856 +v 0.943479 -0.064680 -0.926221 +v -1.271264 0.264416 -0.566918 +v 1.242994 -0.573530 0.061031 +v 1.242994 0.443830 0.570083 +v 0.823869 -0.573530 -0.956123 +v -0.941969 -0.154557 -0.956123 +v 0.853648 -0.573530 0.929149 +v -1.271264 -0.513555 -0.058103 +v -0.433014 -0.573530 1.138703 +v -0.672479 1.162166 -0.986026 +v 0.045424 -0.333971 -1.195817 +v -0.882165 1.162166 0.899247 +v -0.402989 0.922608 1.048996 +v 0.524599 1.162166 -0.956123 +v 1.242994 -0.304069 -0.447309 +v -1.181434 -0.573530 -0.477211 +v -1.211213 1.162166 -0.447309 +v -1.271264 -0.304069 0.390432 +v 1.242994 1.162166 0.091171 +v 0.913453 0.892705 -0.896319 +v 0.524599 -0.423848 1.198507 +v 1.242994 1.012485 -0.447309 +v 0.344939 -0.573530 -1.195817 +v 0.704014 1.162166 0.988954 +v -0.941969 0.413928 -0.956123 +v -0.373209 -0.184459 1.138703 +v -0.911944 -0.573530 -0.926221 +v 0.883674 0.473732 0.959051 +v -0.492819 -0.453750 -1.195817 +v 1.153164 -0.573530 0.480139 +v -0.283379 1.012485 1.048996 +v -0.882165 -0.034778 0.988954 +v -0.941969 -0.573530 0.899247 +v 0.943479 0.294318 -0.926221 +v 0.704014 1.162166 -0.926221 +v -0.283379 -0.364043 -1.195817 +v 1.182943 1.162166 0.420334 +v -1.271264 0.384025 -0.566918 +v -1.271264 1.072289 0.480139 +v 1.242994 0.204611 -0.566918 +f 345 331 370 +f 309 308 311 +f 311 308 312 +f 310 313 314 +f 313 310 315 +f 311 312 316 +f 313 315 317 +f 319 321 322 +f 309 311 323 +f 318 315 325 +f 314 313 328 +f 315 318 329 +f 313 317 330 +f 318 325 332 +f 316 312 333 +f 322 321 333 +f 319 313 334 +f 321 319 334 +f 312 308 335 +f 320 331 335 +f 308 309 336 +f 307 316 337 +f 316 333 337 +f 334 307 337 +f 321 334 337 +f 329 318 338 +f 311 316 339 +f 316 327 339 +f 310 314 340 +f 317 315 342 +f 326 317 342 +f 317 326 343 +f 340 314 344 +f 324 340 344 +f 341 324 344 +f 333 312 345 +f 322 333 345 +f 312 335 345 +f 335 331 345 +f 309 323 346 +f 338 318 346 +f 323 338 346 +f 315 310 347 +f 310 325 347 +f 325 315 347 +f 338 323 348 +f 329 338 348 +f 319 322 349 +f 328 313 349 +f 327 316 351 +f 330 327 351 +f 314 328 352 +f 349 322 352 +f 328 349 352 +f 350 314 352 +f 322 350 352 +f 335 308 353 +f 320 335 353 +f 308 341 353 +f 344 320 353 +f 341 344 353 +f 313 330 354 +f 351 313 354 +f 330 351 354 +f 308 336 355 +f 336 332 355 +f 326 339 356 +f 339 327 356 +f 343 326 356 +f 327 343 356 +f 318 332 357 +f 336 309 357 +f 332 336 357 +f 309 346 357 +f 346 318 357 +f 316 307 358 +f 307 334 358 +f 334 313 358 +f 313 351 358 +f 351 316 358 +f 310 340 359 +f 341 308 359 +f 308 355 359 +f 355 310 359 +f 333 321 360 +f 337 333 360 +f 321 337 360 +f 330 317 361 +f 327 330 361 +f 317 343 361 +f 343 327 361 +f 326 329 362 +f 311 339 362 +f 339 326 362 +f 323 311 363 +f 348 323 363 +f 329 348 363 +f 311 362 363 +f 362 329 363 +f 331 320 364 +f 322 331 364 +f 350 322 364 +f 320 350 364 +f 344 314 365 +f 320 344 365 +f 314 350 365 +f 350 320 365 +f 340 324 366 +f 324 341 366 +f 359 340 366 +f 341 359 366 +f 313 319 367 +f 349 313 367 +f 319 349 367 +f 325 310 368 +f 332 325 368 +f 310 355 368 +f 355 332 368 +f 315 329 369 +f 329 326 369 +f 342 315 369 +f 326 342 369 +f 331 322 370 +f 322 345 370 +o convex_7 +v 1.242994 0.024939 -0.507304 +v 1.332842 1.162336 0.001335 +v 1.332842 1.162336 -0.058396 +v 2.948931 0.294535 0.031363 +v 1.242994 -0.244340 0.450351 +v 1.242994 0.982606 0.420431 +v 2.739510 0.384084 0.390511 +v 2.679722 0.443889 -0.357596 +v 1.273055 -0.453973 -0.058396 +v 1.242994 0.952703 -0.447464 +v 2.709616 0.743229 0.031363 +v 2.769403 -0.004805 -0.028368 +v 1.422690 -0.244340 -0.417544 +v 1.602218 0.413986 0.540219 +v 1.931381 0.324437 -0.507304 +v 2.679722 0.294535 -0.357596 +v 2.709616 -0.004805 0.091095 +v 2.530087 0.683266 -0.237916 +v 1.242994 0.383926 -0.567252 +v 1.242994 -0.453973 0.091095 +v 2.530087 0.653363 0.300643 +v 1.242994 0.533754 0.540219 +v 2.559981 0.084902 0.300643 +v 2.559981 0.055000 -0.267836 +v 1.273055 1.042568 0.360483 +v 1.961275 0.413986 0.510191 +v 2.948931 0.413986 -0.028368 +v 1.303116 0.952703 -0.447464 +v 1.242994 -0.304303 -0.387624 +v 1.242994 1.162336 -0.088316 +v 2.709616 0.324437 0.390511 +v 1.273055 -0.244340 0.450351 +v 1.303116 0.982606 0.420431 +v 1.901488 0.383926 -0.507304 +v 1.332842 0.264633 0.540219 +v 2.649662 0.743229 -0.058288 +v 1.273055 -0.453973 0.091095 +v 1.931381 0.354182 0.510191 +v 2.021229 0.743229 -0.387624 +v 2.709616 -0.004805 -0.088316 +v 2.919038 0.324437 -0.088316 +v 2.919038 0.384084 0.121123 +v 1.273055 1.072471 -0.267836 +v 2.619768 0.324437 -0.387624 +v 1.273055 1.132276 0.150935 +f 400 376 415 +f 371 375 376 +f 371 376 380 +f 373 372 381 +f 383 371 385 +f 382 374 387 +f 371 380 389 +f 385 371 389 +f 375 371 390 +f 377 381 391 +f 376 375 392 +f 383 386 394 +f 391 381 395 +f 392 384 396 +f 389 380 398 +f 383 379 399 +f 371 383 399 +f 390 371 399 +f 379 390 399 +f 372 373 400 +f 380 376 400 +f 374 377 401 +f 387 374 401 +f 393 387 401 +f 375 390 402 +f 387 393 402 +f 393 401 402 +f 377 391 403 +f 376 392 403 +f 395 376 403 +f 391 395 403 +f 396 377 403 +f 392 396 403 +f 385 389 404 +f 389 398 404 +f 392 375 405 +f 384 392 405 +f 375 402 405 +f 373 381 406 +f 378 388 406 +f 397 378 406 +f 381 397 406 +f 379 382 407 +f 382 387 407 +f 390 379 407 +f 402 390 407 +f 387 402 407 +f 377 396 408 +f 396 384 408 +f 401 377 408 +f 402 401 408 +f 384 405 408 +f 405 402 408 +f 388 378 409 +f 398 388 409 +f 378 404 409 +f 404 398 409 +f 382 379 410 +f 379 383 410 +f 386 382 410 +f 383 394 410 +f 394 386 410 +f 374 382 411 +f 386 378 411 +f 382 386 411 +f 397 374 411 +f 378 397 411 +f 377 374 412 +f 381 377 412 +f 374 397 412 +f 397 381 412 +f 398 380 413 +f 388 398 413 +f 400 373 413 +f 380 400 413 +f 373 406 413 +f 406 388 413 +f 383 385 414 +f 386 383 414 +f 378 386 414 +f 404 378 414 +f 385 404 414 +f 381 372 415 +f 376 395 415 +f 395 381 415 +f 372 400 415 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/008/008.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/008/008.urdf new file mode 100644 index 000000000..04e84c682 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/008/008.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/009/009.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/009/009.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/009/009.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/009/009.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/009/009.obj new file mode 100644 index 000000000..ff62cd4ee --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/009/009.obj @@ -0,0 +1,138 @@ +o convex_0 +v -1.109323 -1.239192 0.517674 +v -1.109323 -3.103187 -0.937661 +v -1.050910 -3.103187 -0.937661 +v 0.433454 3.039576 -1.054202 +v 0.986584 -3.044862 1.012565 +v -1.080011 3.010113 0.954500 +v 0.986584 3.010113 1.041906 +v 1.044997 -3.102585 -0.937455 +v -0.934506 3.010113 -0.995726 +v -1.109323 -3.015399 0.954500 +v 0.986584 3.039576 -1.054202 +v -1.109323 -2.578863 -0.966796 +v 0.841079 -3.044862 1.041906 +v -0.847203 3.010113 0.983635 +v 1.015685 0.593535 -1.024862 +v -0.963607 2.864000 -0.995932 +v -0.818102 3.039576 0.371997 +v 1.044997 -2.607725 -0.966591 +v -1.080011 3.010113 0.721622 +v 1.044997 -3.102585 -0.646307 +v 0.578959 3.010113 1.041906 +v -0.701697 -2.811562 0.983635 +v 0.986584 3.039576 0.663351 +v -1.109323 -3.103187 -0.588241 +v -0.585293 2.981251 -1.025067 +v -1.109323 -0.133423 -0.064214 +v 0.957483 2.194766 -1.054202 +v -1.109323 -3.044862 0.721417 +v 0.957483 -3.073723 0.517879 +v 1.044997 -2.112864 -0.937455 +v 0.986584 -2.782700 1.041906 +v -0.643495 3.039576 -0.733713 +v 1.015685 0.855697 -0.966591 +v -0.235870 -3.044862 0.983635 +v -0.992708 0.826233 -0.995932 +v 0.578959 2.340278 1.041906 +v 1.015685 -3.102585 -0.471699 +v -0.818102 1.001208 0.983635 +v -1.109323 -2.316701 0.954500 +v -0.963607 3.010113 -0.937661 +v -1.109323 -2.375026 -0.908525 +v 0.433454 2.981251 -1.054202 +v -1.080011 2.660765 0.575945 +v -0.759899 -1.326379 0.983635 +v -1.109323 -0.075098 0.022782 +v -0.672596 -3.014797 0.983635 +v 0.608271 1.554394 1.041906 +f 36 44 47 +f 1 2 10 +f 2 1 12 +f 11 4 17 +f 3 2 18 +f 8 3 18 +f 2 12 18 +f 6 17 19 +f 3 8 20 +f 8 18 20 +f 13 7 21 +f 6 14 23 +f 17 6 23 +f 11 17 23 +f 21 7 23 +f 14 21 23 +f 2 3 24 +f 10 2 24 +f 3 20 24 +f 9 4 25 +f 16 9 25 +f 12 1 26 +f 4 11 27 +f 11 15 27 +f 18 12 27 +f 15 18 27 +f 10 24 28 +f 5 13 29 +f 18 15 30 +f 7 20 30 +f 20 18 30 +f 13 5 31 +f 7 13 31 +f 5 20 31 +f 20 7 31 +f 4 9 32 +f 17 4 32 +f 15 11 33 +f 23 7 33 +f 11 23 33 +f 7 30 33 +f 30 15 33 +f 10 28 34 +f 28 24 34 +f 24 29 34 +f 29 13 34 +f 12 16 35 +f 25 12 35 +f 16 25 35 +f 13 21 36 +f 21 14 36 +f 20 5 37 +f 24 20 37 +f 29 24 37 +f 5 29 37 +f 14 10 38 +f 36 14 38 +f 6 1 39 +f 1 10 39 +f 10 14 39 +f 14 6 39 +f 9 16 40 +f 19 17 40 +f 32 9 40 +f 17 32 40 +f 16 12 41 +f 12 26 41 +f 26 16 41 +f 25 4 42 +f 12 25 42 +f 4 27 42 +f 27 12 42 +f 16 26 43 +f 26 19 43 +f 40 16 43 +f 19 40 43 +f 10 22 44 +f 38 10 44 +f 36 38 44 +f 1 6 45 +f 6 19 45 +f 26 1 45 +f 19 26 45 +f 22 10 46 +f 13 22 46 +f 10 34 46 +f 34 13 46 +f 22 13 47 +f 13 36 47 +f 44 22 47 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/009/009.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/009/009.urdf new file mode 100644 index 000000000..db1201a70 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/009/009.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/010/010.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/010/010.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/010/010.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/010/010.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/010/010.obj new file mode 100644 index 000000000..5b1c89a67 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/010/010.obj @@ -0,0 +1,738 @@ +o convex_0 +v 0.274352 0.691976 -2.892162 +v 0.408691 -0.281977 -1.448219 +v 0.442157 -0.281977 -1.448219 +v 0.442157 0.792778 -1.078624 +v -0.464468 0.691976 -1.213006 +v -0.464468 -0.113975 -2.824704 +v -0.430907 -0.248376 -1.078624 +v -0.498124 0.893579 -2.757602 +v 0.475908 -0.248376 -2.757602 +v 0.475908 0.759177 -2.892162 +v 0.442157 -0.281977 -1.078624 +v -0.430907 0.759177 -1.078624 +v -0.464468 -0.181176 -2.354633 +v -0.296567 0.893579 -2.354633 +v 0.341474 -0.248376 -2.791153 +v 0.475908 0.289231 -2.052318 +v -0.498124 0.289231 -2.724051 +v 0.274352 0.826378 -1.213006 +v -0.430907 -0.248376 -1.515322 +v -0.498124 0.859979 -2.119420 +v -0.263006 0.053913 -2.858256 +v 0.475908 0.557690 -2.892162 +v 0.475908 -0.248376 -2.052318 +v -0.330128 0.893579 -2.757602 +f 14 18 24 +f 1 8 10 +f 2 3 11 +f 7 2 11 +f 4 7 11 +f 3 9 11 +f 7 4 12 +f 5 7 12 +f 3 2 15 +f 9 3 15 +f 13 6 15 +f 10 4 16 +f 9 10 16 +f 4 11 16 +f 8 6 17 +f 13 7 17 +f 6 13 17 +f 4 10 18 +f 12 4 18 +f 2 7 19 +f 7 13 19 +f 15 2 19 +f 13 15 19 +f 7 5 20 +f 5 12 20 +f 14 8 20 +f 17 7 20 +f 8 17 20 +f 12 18 20 +f 18 14 20 +f 6 8 21 +f 8 1 21 +f 15 6 21 +f 15 21 22 +f 1 10 22 +f 10 9 22 +f 9 15 22 +f 21 1 22 +f 11 9 23 +f 9 16 23 +f 16 11 23 +f 10 8 24 +f 8 14 24 +f 18 10 24 +o convex_1 +v -1.102742 2.572945 -2.018796 +v -2.983382 2.069155 -2.186759 +v -2.647640 2.035601 -1.615906 +v -0.598886 2.069155 -2.119588 +v -2.513344 2.572945 -1.481494 +v -0.598886 1.968374 -1.515184 +v -0.632703 2.572945 -1.515184 +v -3.016956 2.505718 -2.052417 +v -3.084348 2.136323 -1.548735 +v -0.598886 2.572945 -2.018796 +v -3.016956 2.505718 -1.481494 +v -0.598886 2.203551 -2.153139 +v -3.016956 2.270659 -2.153139 +v -1.505875 2.069155 -2.186759 +v -3.084348 2.069155 -1.582355 +v -3.016956 2.539273 -1.817420 +v -2.412378 2.472164 -2.085968 +v -0.666278 1.968374 -1.582355 +v -1.472301 2.002046 -1.515184 +f 33 39 43 +f 25 29 31 +f 29 30 31 +f 30 28 34 +f 25 31 34 +f 31 30 34 +f 30 29 35 +f 34 28 36 +f 26 37 38 +f 36 28 38 +f 37 36 38 +f 26 27 39 +f 33 32 39 +f 32 37 39 +f 37 26 39 +f 29 25 40 +f 25 32 40 +f 32 33 40 +f 35 29 40 +f 33 35 40 +f 32 25 41 +f 25 34 41 +f 34 36 41 +f 36 37 41 +f 37 32 41 +f 27 26 42 +f 30 27 42 +f 28 30 42 +f 26 38 42 +f 38 28 42 +f 27 30 43 +f 30 35 43 +f 35 33 43 +f 39 27 43 +o convex_2 +v -0.363570 0.759098 1.272857 +v 0.375059 -0.281977 2.851024 +v 0.475860 -0.281977 2.851024 +v 0.509460 0.927167 3.220540 +v -0.565171 -0.281977 3.186792 +v 0.509460 -0.114027 1.272857 +v -0.598886 -0.214750 1.272857 +v -0.430885 0.792712 3.119676 +v 0.576660 0.859939 1.272857 +v 0.509460 -0.080414 3.220540 +v -0.430885 0.759098 1.474394 +v 0.475860 -0.281977 3.220540 +v -0.565171 -0.046800 3.186792 +v 0.576660 0.893435 1.608815 +v 0.139858 -0.181136 1.272857 +v 0.576660 0.557653 1.340163 +v -0.565171 0.053923 1.272857 +v 0.442145 0.927167 3.052561 +v 0.576660 0.859939 1.978141 +v -0.027913 -0.214750 3.220540 +v -0.262884 0.826326 3.153234 +v -0.598886 -0.248363 1.978141 +v 0.475860 -0.181136 1.575258 +v 0.341459 0.859939 1.340163 +v 0.543060 0.893435 2.817466 +v -0.363570 -0.214750 1.272857 +v -0.598886 -0.147522 1.541700 +v -0.464370 0.624644 3.052561 +f 60 70 71 +f 45 46 48 +f 44 49 50 +f 49 44 52 +f 48 46 55 +f 46 49 55 +f 49 53 55 +f 53 47 55 +f 50 49 58 +f 49 52 59 +f 53 49 59 +f 52 57 59 +f 44 50 60 +f 54 44 60 +f 47 57 61 +f 53 59 62 +f 59 57 62 +f 55 47 63 +f 48 55 63 +f 56 48 63 +f 47 56 63 +f 54 51 64 +f 56 47 64 +f 51 56 64 +f 47 61 64 +f 61 54 64 +f 46 45 65 +f 45 48 65 +f 48 56 65 +f 49 46 66 +f 46 58 66 +f 58 49 66 +f 52 44 67 +f 44 54 67 +f 57 52 67 +f 54 61 67 +f 61 57 67 +f 47 53 68 +f 57 47 68 +f 53 62 68 +f 62 57 68 +f 58 46 69 +f 50 58 69 +f 46 65 69 +f 65 50 69 +f 60 50 70 +f 50 65 70 +f 65 56 70 +f 51 54 71 +f 56 51 71 +f 54 60 71 +f 70 56 71 +o convex_3 +v -0.531711 2.807863 2.447959 +v 0.576670 2.304388 2.078683 +v 0.576670 2.237128 2.078683 +v -0.497970 1.767066 1.272666 +v -0.430920 1.901370 3.220639 +v 0.475770 2.774341 1.272666 +v 0.475770 2.807863 3.187104 +v 0.509404 1.901370 3.153372 +v 0.543037 1.834218 1.272666 +v -0.497970 2.807863 1.272666 +v -0.531711 2.875231 3.287905 +v 0.576670 2.774449 1.440734 +v 0.475770 1.867740 3.019036 +v -0.464445 2.875231 2.515226 +v -0.531711 2.673559 3.287905 +v -0.464445 1.834218 2.548761 +v 0.509404 2.807863 2.985501 +v -0.195703 1.767066 1.306398 +v 0.543037 1.934891 2.985501 +v -0.162178 2.875231 3.187104 +v 0.576670 2.169976 1.272863 +v -0.330128 2.774341 3.287905 +v 0.543037 1.834218 1.877277 +v -0.497970 2.841493 1.575070 +v -0.430920 1.867740 3.153372 +f 87 89 96 +f 75 77 80 +f 75 72 81 +f 77 75 81 +f 73 74 83 +f 83 77 85 +f 72 75 86 +f 82 72 86 +f 86 75 87 +f 73 83 88 +f 75 80 89 +f 87 75 89 +f 74 73 90 +f 78 79 90 +f 73 88 90 +f 88 78 90 +f 82 78 91 +f 85 82 91 +f 83 85 91 +f 78 88 91 +f 88 83 91 +f 80 77 92 +f 83 74 92 +f 77 83 92 +f 76 79 93 +f 79 78 93 +f 78 82 93 +f 86 76 93 +f 82 86 93 +f 79 84 94 +f 89 80 94 +f 84 89 94 +f 74 90 94 +f 90 79 94 +f 80 92 94 +f 92 74 94 +f 81 72 95 +f 77 81 95 +f 72 82 95 +f 85 77 95 +f 82 85 95 +f 79 76 96 +f 84 79 96 +f 76 86 96 +f 86 87 96 +f 89 84 96 +o convex_4 +v -0.598886 2.035673 -1.951871 +v 0.610258 2.673559 -1.582500 +v 0.610258 2.203606 -1.582500 +v 0.576644 2.002043 -2.858574 +v -0.531659 2.807863 -2.757520 +v -0.565272 2.875231 -1.078621 +v -0.498045 1.767066 -1.078621 +v -0.464431 1.767066 -2.824773 +v 0.576644 1.867631 -1.078621 +v 0.442190 2.774341 -2.623187 +v 0.442190 2.841493 -1.078621 +v 0.576644 1.867740 -2.858574 +v 0.475803 2.673559 -2.791147 +v -0.229373 1.767066 -2.723893 +v 0.610258 2.640038 -2.153109 +v -0.598886 1.968521 -1.515246 +v -0.598886 2.572778 -2.052229 +v 0.509417 2.807863 -1.078621 +v -0.531659 1.767066 -1.078621 +v -0.598886 2.102825 -2.153109 +v -0.531659 2.875231 -1.313834 +v 0.374962 2.069303 -2.858574 +v 0.610258 2.069195 -2.119483 +v 0.576644 2.404953 -1.078621 +v 0.341349 2.774341 -2.757520 +v 0.307853 1.834218 -1.078621 +v -0.498045 1.767066 -2.556108 +f 116 104 123 +f 99 98 105 +f 102 103 105 +f 102 105 107 +f 103 104 110 +f 104 108 110 +f 108 105 110 +f 98 99 111 +f 108 100 111 +f 100 109 111 +f 109 106 111 +f 102 101 113 +f 97 112 113 +f 112 102 113 +f 107 105 114 +f 106 107 114 +f 98 111 114 +f 111 106 114 +f 103 102 115 +f 104 103 115 +f 102 112 115 +f 101 104 116 +f 97 113 116 +f 113 101 116 +f 101 102 117 +f 102 107 117 +f 104 101 118 +f 100 108 118 +f 108 104 118 +f 109 100 118 +f 101 109 118 +f 99 105 119 +f 105 108 119 +f 111 99 119 +f 108 111 119 +f 105 98 120 +f 98 114 120 +f 114 105 120 +f 107 106 121 +f 109 101 121 +f 106 109 121 +f 101 117 121 +f 117 107 121 +f 105 103 122 +f 103 110 122 +f 110 105 122 +f 112 97 123 +f 104 115 123 +f 115 112 123 +f 97 116 123 +o convex_5 +v 1.349376 2.035624 -2.119578 +v 3.028328 2.673641 -1.515144 +v 3.061902 2.438527 -1.548745 +v 0.610258 2.203544 -1.582345 +v 0.610258 2.640044 -2.119578 +v 2.960936 2.002027 -2.153178 +v 3.095719 2.505721 -2.018839 +v 0.610258 2.673641 -1.582345 +v 3.061902 2.102818 -1.582345 +v 0.610258 2.069221 -1.615945 +v 0.610258 2.069221 -2.119578 +v 1.013634 2.640044 -2.119578 +v 1.953711 2.069221 -1.582345 +v 2.289209 2.673641 -1.750222 +v 0.778372 2.673641 -1.548745 +v 2.793308 2.572850 -1.515144 +v 3.028328 2.203544 -2.119578 +v 1.651787 2.035624 -2.153178 +v 2.960936 2.002027 -2.052377 +v 0.610258 2.673641 -1.850899 +f 137 135 143 +f 125 126 130 +f 128 127 131 +f 126 125 132 +f 130 126 132 +f 127 128 133 +f 124 133 134 +f 133 128 134 +f 127 133 136 +f 125 130 137 +f 131 125 137 +f 130 135 137 +f 125 131 138 +f 131 127 138 +f 132 125 139 +f 127 136 139 +f 136 132 139 +f 125 138 139 +f 138 127 139 +f 132 129 140 +f 130 132 140 +f 129 135 140 +f 135 130 140 +f 129 124 141 +f 134 128 141 +f 124 134 141 +f 128 135 141 +f 135 129 141 +f 124 129 142 +f 129 132 142 +f 133 124 142 +f 132 136 142 +f 136 133 142 +f 128 131 143 +f 135 128 143 +f 131 137 143 +o convex_6 +v 0.408621 -0.651898 -0.910296 +v 0.912345 -0.315998 1.272666 +v 1.046798 -0.315564 1.272452 +v -0.665948 -4.749091 1.171799 +v 1.080464 -4.614123 -0.809429 +v -1.035429 -0.315998 -0.775878 +v -1.069095 -4.749091 -0.809643 +v -1.001764 -0.315998 1.205350 +v 0.946011 -4.614123 1.272666 +v 1.013132 -0.315564 -0.776092 +v -0.968308 -4.749091 1.171585 +v -1.069095 -2.096179 0.130858 +v 0.408621 -4.647974 1.272666 +v -0.464584 -0.315998 -0.876531 +v 1.046798 -4.647974 -0.809429 +v -1.035429 -0.315998 1.104483 +v 1.080464 -4.614123 -0.473704 +v 1.080464 -3.606425 -0.809429 +v 1.046798 -1.155313 1.272452 +v -1.001764 -2.398228 1.205350 +v -1.069095 -2.565310 -0.809643 +v 0.475742 -0.315998 -0.910296 +v -1.069095 -4.647974 -0.473704 +v 0.778103 -4.647974 1.272666 +v 0.576529 -1.189597 1.272666 +v 0.979677 -4.614123 0.970278 +v 1.013132 -0.349849 -0.809429 +v 0.912345 -3.505742 -0.842980 +v -0.833856 -4.749091 -0.809643 +v -0.833856 -3.203259 -0.843194 +v 1.046798 -0.315564 0.902962 +v -1.001764 -0.315998 -0.809643 +v -0.632282 -4.715240 1.205136 +v 0.207048 -0.349415 -0.910510 +v -1.069095 -1.961645 0.063542 +v -0.632282 -4.749091 0.768544 +f 172 158 179 +f 145 146 151 +f 146 145 152 +f 150 147 154 +f 152 145 156 +f 154 147 156 +f 151 146 159 +f 146 153 159 +f 153 149 159 +f 158 148 160 +f 146 160 161 +f 160 148 161 +f 146 152 162 +f 160 146 162 +f 156 151 163 +f 151 159 163 +f 159 155 163 +f 150 155 164 +f 157 153 165 +f 150 154 166 +f 155 150 166 +f 154 163 166 +f 163 155 166 +f 156 147 167 +f 152 156 167 +f 147 158 167 +f 158 152 167 +f 145 151 168 +f 156 145 168 +f 151 156 168 +f 152 158 169 +f 158 160 169 +f 162 152 169 +f 160 162 169 +f 153 161 170 +f 165 153 170 +f 165 170 171 +f 150 144 171 +f 148 158 171 +f 161 148 171 +f 144 165 171 +f 170 161 171 +f 147 150 172 +f 150 171 172 +f 171 158 172 +f 144 150 173 +f 150 164 173 +f 153 146 174 +f 161 153 174 +f 146 161 174 +f 149 153 175 +f 153 157 175 +f 164 149 175 +f 157 173 175 +f 173 164 175 +f 154 156 176 +f 163 154 176 +f 156 163 176 +f 165 144 177 +f 157 165 177 +f 144 173 177 +f 173 157 177 +f 159 149 178 +f 155 159 178 +f 149 164 178 +f 164 155 178 +f 158 147 179 +f 147 172 179 +o convex_7 +v -0.968206 -0.315564 -0.809643 +v 1.080441 1.363618 1.272666 +v 1.013126 1.363618 1.272666 +v -1.035521 1.430976 -0.776042 +v -1.035521 0.020546 1.205465 +v 0.979572 -0.315564 -0.809412 +v 1.046680 -0.315564 1.272666 +v 0.979572 1.397297 -0.775812 +v -1.035521 1.329938 1.238835 +v 0.442297 0.792607 -1.078446 +v -1.001760 -0.315564 1.205465 +v -0.430931 -0.281885 -1.078446 +v 0.442297 1.430976 0.768429 +v -1.035521 -0.315564 -0.776042 +v -0.430931 0.759098 -1.078446 +v -0.598700 -0.214526 1.272666 +v 0.442297 -0.281885 -1.078446 +v 1.080441 1.296601 0.768659 +v -0.430931 1.430976 0.701228 +v 1.080441 0.154921 1.238835 +v 0.542958 1.430976 -0.406667 +v -0.430931 0.725419 1.272666 +v 0.946018 1.363618 -0.809412 +v -1.035521 -0.315564 1.104664 +v 0.039237 1.363789 1.238835 +v 0.542958 1.430976 0.768429 +v 0.979572 0.792607 -0.809412 +f 189 202 206 +f 181 182 186 +f 180 185 186 +f 183 184 188 +f 180 186 190 +f 188 184 190 +f 182 181 192 +f 184 183 193 +f 180 190 193 +f 191 180 193 +f 183 191 193 +f 183 189 194 +f 191 183 194 +f 189 191 194 +f 186 182 195 +f 190 186 195 +f 188 190 195 +f 185 180 196 +f 189 185 196 +f 180 191 196 +f 191 189 196 +f 187 181 197 +f 183 188 198 +f 192 183 198 +f 181 186 199 +f 186 185 199 +f 197 181 199 +f 185 197 199 +f 187 183 200 +f 183 192 200 +f 182 188 201 +f 195 182 201 +f 188 195 201 +f 183 187 202 +f 189 183 202 +f 190 184 203 +f 184 193 203 +f 193 190 203 +f 188 182 204 +f 182 192 204 +f 198 188 204 +f 192 198 204 +f 181 187 205 +f 192 181 205 +f 187 200 205 +f 200 192 205 +f 185 189 206 +f 197 185 206 +f 187 197 206 +f 202 187 206 +o convex_8 +v 0.475754 3.311820 0.668028 +v -0.598886 2.908861 -0.373113 +v -0.598886 2.908861 -0.171457 +v 0.576670 2.908861 0.668028 +v 0.543070 3.278230 -0.339466 +v -0.430884 3.278230 0.634494 +v -0.498084 3.345411 -0.339466 +v -0.464484 2.908861 0.768856 +v 0.543070 2.908861 -0.272173 +v 0.442268 3.345411 0.668028 +v -0.430884 3.244639 0.735210 +v -0.498084 3.345411 -0.104276 +v -0.128594 3.345411 -0.205104 +v -0.262996 2.942452 0.768856 +f 216 217 220 +f 209 208 210 +f 207 210 211 +f 208 209 213 +f 211 208 213 +f 209 210 214 +f 210 208 215 +f 211 210 215 +f 208 211 215 +f 207 211 216 +f 209 214 217 +f 216 212 217 +f 217 212 218 +f 213 209 218 +f 212 216 218 +f 216 213 218 +f 209 217 218 +f 211 213 219 +f 216 211 219 +f 213 216 219 +f 210 207 220 +f 214 210 220 +f 207 216 220 +f 217 214 220 +o convex_9 +v -0.598886 1.431009 -0.070801 +v 0.576670 1.666058 0.298476 +v 0.576670 1.531768 0.298476 +v -0.498084 1.733220 0.802444 +v -0.565285 1.766817 -0.339473 +v 0.543070 1.431009 -0.406700 +v 0.543070 1.431009 0.768830 +v 0.576670 1.766817 -0.339473 +v 0.543070 1.766817 0.768830 +v -0.430884 1.431009 0.735216 +v -0.498084 1.431009 -0.339473 +v -0.531685 1.766817 0.600762 +f 229 225 232 +f 226 223 227 +f 223 222 227 +f 221 226 227 +f 222 223 228 +f 226 225 228 +f 223 226 228 +f 227 222 229 +f 224 227 229 +f 222 228 229 +f 228 225 229 +f 224 221 230 +f 227 224 230 +f 221 227 230 +f 221 225 231 +f 225 226 231 +f 226 221 231 +f 221 224 232 +f 225 221 232 +f 224 229 232 +o convex_10 +v -0.598886 2.136478 -0.305866 +v 0.610235 2.572833 1.205465 +v 0.610235 2.505659 1.205465 +v 0.576622 1.867779 -1.078446 +v -0.296487 2.875063 -1.078446 +v -0.498047 1.766961 1.272666 +v -0.498047 2.807889 1.272666 +v 0.509396 2.841532 -1.044846 +v -0.531542 1.766961 -1.078446 +v 0.543009 1.834136 1.272666 +v 0.576622 2.908707 0.667858 +v -0.598886 2.875063 -1.044846 +v 0.576622 1.766961 -0.339466 +v -0.598886 2.908707 -0.104263 +v 0.475901 2.774357 1.272666 +v 0.576622 2.404841 -1.078446 +v -0.464434 2.908707 0.768429 +v 0.509396 2.908707 -0.272265 +v 0.543009 1.766961 0.768429 +v 0.610235 2.774357 0.432654 +v -0.565155 1.766961 0.063739 +v -0.565155 1.800605 -0.843243 +v -0.598886 2.908707 -0.574439 +v 0.576622 1.766961 0.264652 +v 0.576622 2.740714 1.272666 +f 243 247 257 +f 237 236 241 +f 239 238 242 +f 237 241 244 +f 236 235 245 +f 241 236 245 +f 238 241 245 +f 233 238 246 +f 238 239 246 +f 244 233 246 +f 239 242 247 +f 243 239 247 +f 236 237 248 +f 237 240 248 +f 239 243 249 +f 246 239 249 +f 243 246 249 +f 240 237 250 +f 243 240 250 +f 246 243 250 +f 242 238 251 +f 238 245 251 +f 234 235 252 +f 235 236 252 +f 243 234 252 +f 240 243 252 +f 236 248 252 +f 248 240 252 +f 238 233 253 +f 241 238 253 +f 241 253 254 +f 233 244 254 +f 244 241 254 +f 253 233 254 +f 237 244 255 +f 244 246 255 +f 250 237 255 +f 246 250 255 +f 235 242 256 +f 245 235 256 +f 242 251 256 +f 251 245 256 +f 235 234 257 +f 242 235 257 +f 234 243 257 +f 247 242 257 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/010/010.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/010/010.urdf new file mode 100644 index 000000000..76a0dd8df --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/010/010.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/011/011.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/011/011.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/011/011.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/011/011.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/011/011.obj new file mode 100644 index 000000000..6ab9d51a3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/011/011.obj @@ -0,0 +1,525 @@ +o convex_0 +v 1.066805 -2.655170 0.063326 +v -1.110794 -2.781513 -0.946315 +v -0.290140 -2.781513 -0.977776 +v -0.984506 1.731065 -1.072779 +v -0.984506 1.731065 0.946710 +v 0.940517 1.731065 -0.977983 +v -1.110794 -2.781513 0.978584 +v 1.003661 1.731507 1.041713 +v 1.098377 -2.623363 0.946917 +v 1.003661 -2.749707 -0.977983 +v -1.110794 1.731065 0.441889 +v 0.972089 1.478820 -0.977983 +v 0.561654 -2.781513 0.473350 +v 1.098377 -1.802573 0.978584 +v -1.016078 1.415207 -1.072779 +v 1.035233 1.068425 1.041713 +v 0.593226 1.731065 1.041713 +v -1.110794 -2.054818 -0.977776 +v 1.035233 0.500322 1.041713 +v -1.110794 1.509744 0.631274 +v 1.098377 -2.212968 0.978584 +v -0.858219 1.731065 -1.072779 +v 1.098377 -2.655170 0.631274 +v -1.110794 -2.307505 0.978584 +v -0.763503 -2.781513 0.978584 +v 0.466938 -2.781513 -0.977983 +v -1.110794 -2.370677 -0.977776 +v -1.016078 1.572915 -1.072779 +v 1.066805 -2.655170 0.915456 +v 1.003661 -2.749707 -0.536084 +v 1.098377 -1.834380 0.915456 +v -1.016078 1.699259 0.883788 +v 1.003661 1.731507 0.852327 +v 1.003661 -2.560192 -0.977983 +f 10 22 34 +f 2 3 7 +f 2 7 11 +f 5 8 11 +f 7 3 13 +f 8 5 17 +f 16 8 17 +f 2 11 18 +f 14 16 19 +f 17 7 19 +f 16 17 19 +f 11 7 20 +f 9 14 21 +f 14 19 21 +f 6 12 22 +f 10 15 22 +f 15 4 22 +f 10 1 23 +f 1 12 23 +f 14 9 23 +f 17 5 24 +f 7 17 24 +f 20 7 24 +f 7 13 25 +f 19 7 25 +f 9 21 25 +f 21 19 25 +f 13 3 26 +f 10 13 26 +f 3 15 26 +f 15 10 26 +f 3 2 27 +f 15 3 27 +f 2 18 27 +f 18 15 27 +f 11 4 28 +f 4 15 28 +f 18 11 28 +f 15 18 28 +f 23 9 29 +f 25 13 29 +f 9 25 29 +f 13 10 30 +f 10 23 30 +f 29 13 30 +f 23 29 30 +f 12 16 31 +f 16 14 31 +f 23 12 31 +f 14 23 31 +f 5 11 32 +f 11 20 32 +f 24 5 32 +f 20 24 32 +f 4 11 33 +f 11 8 33 +f 12 6 33 +f 8 16 33 +f 16 12 33 +f 22 4 33 +f 6 22 33 +f 1 10 34 +f 12 1 34 +f 22 12 34 +o convex_1 +v 1.919124 2.678131 -0.536266 +v 2.991951 2.867652 0.505200 +v 2.991951 2.488826 0.505200 +v 1.098562 2.835975 0.473597 +v 1.098562 1.794743 0.473597 +v 2.928746 1.826312 -0.441560 +v 1.098562 1.794743 -0.441560 +v 2.928746 1.763175 0.473597 +v 2.928746 2.772837 -0.504562 +v 1.098562 2.772837 -0.504562 +v 2.991951 2.867652 0.252683 +v 2.928746 2.520395 -0.536266 +v 2.265921 2.867652 0.505200 +v 2.928746 1.763175 0.189579 +v 2.013654 1.763175 0.473597 +v 1.098562 2.015725 -0.473061 +v 1.982329 2.867652 0.441994 +v 2.928746 2.330981 0.505200 +v 1.698182 1.794743 -0.441560 +v 2.991951 2.804406 0.126476 +v 2.928746 2.741268 -0.536266 +v 1.098562 2.520395 -0.504562 +f 50 44 56 +f 39 38 41 +f 41 38 44 +f 43 44 45 +f 36 37 45 +f 37 36 47 +f 38 39 47 +f 36 45 47 +f 40 37 48 +f 37 42 48 +f 48 42 49 +f 39 41 49 +f 41 48 49 +f 41 44 50 +f 35 46 50 +f 44 38 51 +f 45 44 51 +f 38 47 51 +f 47 45 51 +f 42 37 52 +f 37 47 52 +f 47 39 52 +f 49 42 52 +f 39 49 52 +f 46 40 53 +f 40 48 53 +f 48 41 53 +f 41 50 53 +f 50 46 53 +f 37 40 54 +f 43 45 54 +f 45 37 54 +f 40 46 54 +f 54 46 55 +f 35 44 55 +f 44 43 55 +f 46 35 55 +f 43 54 55 +f 44 35 56 +f 35 50 56 +o convex_2 +v 0.277791 -6.663030 -0.157511 +v -0.163908 -4.801709 0.347402 +v -0.227113 -4.801709 0.347402 +v 0.151565 -4.801709 -0.315349 +v -0.195541 -6.726229 -0.252227 +v 0.372506 -6.726229 0.347402 +v -0.258685 -6.758020 0.347402 +v 0.246219 -4.801709 0.284280 +v -0.227113 -4.801709 -0.220633 +v 0.277791 -4.801709 -0.315349 +v 0.277791 -6.442214 -0.252227 +v 0.277791 -5.117132 0.315808 +v -0.258685 -6.758020 0.157970 +v -0.258685 -5.432746 0.315808 +v 0.277791 -5.274939 -0.315349 +v 0.309362 -5.243340 -0.157511 +v 0.372506 -6.726229 0.284280 +v 0.340934 -6.126600 0.347402 +v -0.227113 -5.842586 -0.220633 +v 0.151565 -6.758020 0.315808 +v -0.132336 -6.726229 -0.252227 +f 76 69 77 +f 59 58 60 +f 58 59 62 +f 62 59 63 +f 60 58 64 +f 59 60 65 +f 60 61 65 +f 60 64 66 +f 64 58 68 +f 66 64 68 +f 65 69 70 +f 63 59 70 +f 59 65 70 +f 69 63 70 +f 61 60 71 +f 60 66 71 +f 67 71 72 +f 66 68 72 +f 71 66 72 +f 57 67 73 +f 67 72 73 +f 72 62 73 +f 58 62 74 +f 68 58 74 +f 62 72 74 +f 72 68 74 +f 65 61 75 +f 61 69 75 +f 69 65 75 +f 62 63 76 +f 63 69 76 +f 73 62 76 +f 73 76 77 +f 67 57 77 +f 69 61 77 +f 61 71 77 +f 71 67 77 +f 57 73 77 +o convex_3 +v 0.435638 -3.696914 0.473566 +v -0.574281 -3.033990 -0.504546 +v -0.511001 -3.885926 -0.536130 +v -0.511001 -4.643356 0.568319 +v 0.561864 -4.769693 -0.441489 +v 0.498695 -2.781513 -0.473073 +v -0.574281 -2.781513 0.568319 +v 0.561864 -2.781513 0.473566 +v -0.447944 -4.674990 -0.567826 +v 0.467111 -4.643356 0.410397 +v -0.574281 -2.781513 -0.504546 +v -0.226965 -4.801327 0.347340 +v -0.321718 -4.674990 0.568319 +v -0.226965 -4.801327 -0.220510 +v 0.246243 -4.801327 0.284283 +v -0.258549 -2.781513 0.568319 +v 0.498695 -4.390879 0.441982 +v -0.290134 -4.643356 -0.567826 +v 0.530280 -3.476071 -0.473073 +v 0.561864 -4.769693 -0.283678 +v -0.479528 -4.706426 0.568319 +v -0.416360 -4.296373 -0.567826 +v 0.561864 -2.781513 0.284172 +v 0.404054 -4.769495 -0.472962 +v 0.561864 -3.002752 0.473566 +v -0.574281 -3.002752 0.568319 +v 0.498695 -4.674792 0.347229 +v 0.277716 -4.801327 -0.315152 +v 0.372358 -4.674990 0.441982 +v 0.561864 -4.359245 -0.441489 +v 0.025264 -3.822658 0.536735 +v -0.479528 -4.674990 -0.062700 +f 86 98 109 +f 83 84 85 +f 80 79 86 +f 84 83 88 +f 79 84 88 +f 86 79 88 +f 84 81 90 +f 89 91 92 +f 85 84 93 +f 84 90 93 +f 78 90 94 +f 95 83 96 +f 82 85 97 +f 90 81 98 +f 86 91 98 +f 91 89 98 +f 89 92 98 +f 88 83 99 +f 86 88 99 +f 83 95 99 +f 95 86 99 +f 85 82 100 +f 83 85 100 +f 96 83 100 +f 91 86 101 +f 86 95 101 +f 96 82 101 +f 95 96 101 +f 90 78 102 +f 78 94 102 +f 97 85 102 +f 79 81 103 +f 84 79 103 +f 81 84 103 +f 94 87 104 +f 92 97 104 +f 102 94 104 +f 97 102 104 +f 92 91 105 +f 82 97 105 +f 97 92 105 +f 91 101 105 +f 101 82 105 +f 87 94 106 +f 94 90 106 +f 90 98 106 +f 98 92 106 +f 104 87 106 +f 92 104 106 +f 82 96 107 +f 100 82 107 +f 96 100 107 +f 85 93 108 +f 93 90 108 +f 90 102 108 +f 102 85 108 +f 79 80 109 +f 81 79 109 +f 80 86 109 +f 98 81 109 +o convex_4 +v -1.773762 2.236582 0.599879 +v -3.098887 2.741215 -0.567826 +v -3.098887 2.867652 -0.567826 +v -1.079272 1.857829 -0.473070 +v -3.004193 1.763196 0.442028 +v -1.079272 2.836071 0.505123 +v -2.972760 2.867652 0.599879 +v -1.079272 1.731615 0.599764 +v -1.079272 2.741327 -0.441523 +v -2.941129 1.857940 -0.504617 +v -2.372964 1.731726 0.505008 +v -2.593983 2.583531 -0.567826 +v -3.004193 2.488788 0.568217 +v -1.331723 2.772908 -0.473070 +v -1.079272 1.731615 0.410481 +v -2.562353 1.889410 -0.536164 +v -1.173966 2.836071 0.536670 +v -3.004193 1.763196 0.220969 +v -1.079272 2.836071 0.284178 +v -2.562353 2.867652 0.599879 +v -3.035824 2.330992 -0.567826 +v -2.688480 2.867652 -0.409975 +v -3.098887 2.867652 -0.409975 +v -1.458048 1.826248 -0.315219 +v -2.972760 1.794778 0.473461 +v -2.972760 2.678164 0.599879 +v -2.657047 2.835959 -0.567826 +v -1.079272 2.141838 -0.473070 +v -1.079272 1.826248 0.599764 +v -2.972760 1.952573 -0.536164 +v -3.004193 2.867652 0.505008 +v -1.079272 2.772908 -0.346881 +f 131 128 141 +f 113 115 117 +f 115 113 118 +f 111 112 121 +f 113 117 124 +f 117 120 124 +f 113 119 125 +f 121 113 125 +f 114 111 127 +f 120 114 127 +f 124 120 127 +f 115 118 128 +f 116 110 129 +f 112 116 129 +f 126 115 129 +f 115 128 129 +f 111 121 130 +f 121 125 130 +f 127 111 130 +f 123 112 131 +f 112 129 131 +f 129 128 131 +f 112 111 132 +f 111 114 132 +f 116 112 132 +f 114 122 132 +f 119 113 133 +f 113 124 133 +f 127 119 133 +f 124 127 133 +f 114 120 134 +f 120 117 134 +f 122 114 134 +f 122 134 135 +f 110 116 135 +f 117 110 135 +f 116 122 135 +f 134 117 135 +f 121 112 136 +f 112 123 136 +f 136 123 137 +f 118 113 137 +f 113 121 137 +f 123 118 137 +f 121 136 137 +f 117 115 138 +f 110 117 138 +f 115 126 138 +f 129 110 138 +f 126 129 138 +f 125 119 139 +f 119 127 139 +f 130 125 139 +f 127 130 139 +f 122 116 140 +f 116 132 140 +f 132 122 140 +f 118 123 141 +f 128 118 141 +f 123 131 141 +o convex_5 +v -1.078950 2.047177 -0.472900 +v 1.098164 2.835860 0.473393 +v 1.003525 3.246330 0.883612 +v 0.782702 3.404165 -1.009623 +v -0.921219 3.404165 0.946972 +v 1.003525 1.731507 1.041688 +v 0.940433 1.731507 -0.977835 +v -0.952766 3.340965 -1.104339 +v -0.984312 1.731507 0.946972 +v -0.984312 1.731507 -1.072551 +v 0.971979 3.309366 1.104832 +v 1.098164 2.867624 -0.599188 +v -1.078950 2.835860 0.504965 +v 1.098164 1.794706 -0.441328 +v 0.940433 3.404165 -0.977835 +v -1.078950 1.731507 0.694180 +v 0.971979 3.372565 0.157890 +v -0.668850 3.309366 -1.104339 +v 1.098164 1.794706 0.473393 +v 1.003525 1.858070 1.073044 +v -1.078950 2.741389 -0.441328 +v -0.952766 3.372565 -0.599188 +v -0.731942 3.372565 0.978544 +v -0.984312 2.678025 -1.104339 +v 0.782702 3.340965 1.073044 +v 0.403934 3.404165 -1.009407 +v 0.908886 3.277602 1.104832 +v 0.751155 3.404165 -0.378184 +v -1.015858 1.731507 -0.946479 +v 0.971979 3.340965 -0.946479 +v -0.826581 1.731507 -1.072551 +v -0.605757 3.404165 0.852040 +v -1.078950 1.858070 -0.472900 +v -0.952766 3.214730 0.915184 +v -0.921219 3.404165 0.662825 +v 1.003525 2.489246 1.073044 +v -0.574211 3.372565 -1.072551 +v 0.940433 1.889342 1.073044 +v -0.921219 2.678025 -1.104339 +v -0.952766 3.372565 -0.094253 +f 163 154 181 +f 148 147 150 +f 148 150 151 +f 143 144 152 +f 144 143 153 +f 147 148 155 +f 153 143 155 +f 148 153 155 +f 145 146 156 +f 148 145 156 +f 151 150 157 +f 154 142 157 +f 152 144 158 +f 144 153 158 +f 145 148 159 +f 149 145 159 +f 155 143 160 +f 147 155 160 +f 150 147 161 +f 160 143 161 +f 147 160 161 +f 142 154 162 +f 154 149 162 +f 149 154 163 +f 146 150 164 +f 152 146 164 +f 149 159 165 +f 162 149 165 +f 146 152 166 +f 152 158 166 +f 146 145 167 +f 161 152 168 +f 164 150 168 +f 152 164 168 +f 156 146 169 +f 158 156 169 +f 166 158 169 +f 151 157 170 +f 142 162 170 +f 165 151 170 +f 162 165 170 +f 153 148 171 +f 148 156 171 +f 158 153 171 +f 156 158 171 +f 148 151 172 +f 151 165 172 +f 146 166 173 +f 169 146 173 +f 166 169 173 +f 157 142 174 +f 170 157 174 +f 142 170 174 +f 150 146 175 +f 146 154 175 +f 157 150 175 +f 154 157 175 +f 163 146 176 +f 146 167 176 +f 167 163 176 +f 143 152 177 +f 161 143 177 +f 152 161 177 +f 145 149 178 +f 149 163 178 +f 167 145 178 +f 163 167 178 +f 150 161 179 +f 168 150 179 +f 161 168 179 +f 159 148 180 +f 165 159 180 +f 148 172 180 +f 172 165 180 +f 154 146 181 +f 146 163 181 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/011/011.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/011/011.urdf new file mode 100644 index 000000000..4ee8f6898 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/011/011.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/012/012.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/012/012.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/012/012.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/012/012.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/012/012.obj new file mode 100644 index 000000000..13f1845ce --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/012/012.obj @@ -0,0 +1,516 @@ +o convex_0 +v 1.079527 -0.322250 -0.340763 +v -1.102832 -0.517922 -0.764157 +v -1.102832 -0.517922 -0.731540 +v 0.883849 -3.708951 0.994234 +v -0.907155 0.621606 0.994234 +v -1.037678 -3.676630 -1.024675 +v -1.037678 -3.839108 0.994444 +v 1.079527 -3.677067 -0.927033 +v 0.916533 0.622043 -1.057503 +v 1.079527 0.622043 1.027061 +v -1.102832 0.621606 -1.057503 +v 1.079527 -3.677067 0.994444 +v -0.646750 -1.071744 1.059468 +v -1.037678 0.621606 0.440580 +v 0.525819 0.459129 -1.090120 +v 1.014158 0.622043 -0.829392 +v -0.581595 0.621606 1.059468 +v 1.079527 -3.025409 -0.959651 +v 0.134892 -0.811430 1.059679 +v -1.070148 -3.057730 -0.959651 +v -0.972523 0.621606 0.961827 +v -0.842214 -3.839108 0.766333 +v -1.102832 0.621606 -0.601281 +v -1.070148 -0.876509 -1.057503 +v 1.079527 0.622043 -0.080034 +v -1.037678 -3.708951 -0.829181 +v -0.093043 -3.676630 -0.992268 +v -0.874684 -2.796979 1.026851 +v 1.014158 -0.355007 -1.024885 +v 0.200046 0.622043 -1.090120 +v -1.004993 -0.778673 0.961616 +v -0.125513 0.622043 1.059679 +v -0.353661 -3.807224 0.994444 +v 0.688599 -3.676630 -0.959651 +v -0.907155 -3.676630 -1.024675 +v 1.046842 0.622043 -0.536256 +v -1.004993 -1.560488 0.994444 +v 0.981688 0.622043 -1.024885 +f 16 29 38 +f 8 1 10 +f 2 3 11 +f 4 8 12 +f 8 10 12 +f 9 10 16 +f 1 8 18 +f 15 9 18 +f 12 10 19 +f 3 2 20 +f 7 3 20 +f 2 11 20 +f 11 6 20 +f 3 7 23 +f 11 3 23 +f 7 14 23 +f 6 11 24 +f 10 1 25 +f 16 10 25 +f 20 6 26 +f 7 20 26 +f 22 7 26 +f 8 22 26 +f 4 12 28 +f 12 19 28 +f 19 13 28 +f 18 9 29 +f 10 9 30 +f 15 6 30 +f 9 15 30 +f 6 24 30 +f 24 11 30 +f 14 7 31 +f 21 14 31 +f 5 17 32 +f 17 13 32 +f 19 10 32 +f 13 19 32 +f 21 5 32 +f 14 21 32 +f 11 23 32 +f 23 14 32 +f 10 30 32 +f 30 11 32 +f 8 4 33 +f 7 22 33 +f 22 8 33 +f 4 28 33 +f 28 7 33 +f 18 8 34 +f 15 18 34 +f 8 26 34 +f 27 15 34 +f 26 27 34 +f 6 15 35 +f 26 6 35 +f 15 27 35 +f 27 26 35 +f 1 18 36 +f 25 1 36 +f 16 25 36 +f 29 16 36 +f 18 29 36 +f 17 5 37 +f 13 17 37 +f 5 21 37 +f 7 28 37 +f 28 13 37 +f 31 7 37 +f 21 31 37 +f 9 16 38 +f 29 9 38 +o convex_1 +v 2.675545 0.687852 -0.438615 +v 2.512577 1.860243 0.310404 +v 2.512577 1.860243 0.245345 +v 1.079699 0.687852 -0.275688 +v 1.079699 1.860243 -0.536371 +v 1.079699 0.818117 0.473332 +v 3.066436 0.687737 0.473332 +v 2.936139 1.795053 -0.568957 +v 1.079699 1.827533 0.538503 +v 3.066436 1.827648 0.571088 +v 3.066436 0.752812 -0.471200 +v 1.079699 0.687852 -0.471200 +v 1.307816 0.752927 0.473332 +v 2.903468 1.599482 0.571088 +v 2.903468 1.827648 -0.568957 +v 1.242473 0.948383 -0.503674 +v 3.066436 0.818003 0.505917 +v 1.079699 1.860243 0.082418 +v 2.545054 0.687852 0.473332 +v 1.079699 1.534407 -0.536371 +v 1.991583 1.860243 -0.536371 +v 3.066436 0.915788 -0.471200 +v 3.066436 0.687737 -0.308273 +v 2.805842 1.729862 -0.568957 +v 3.066436 1.827648 0.473332 +v 2.349803 1.762343 0.571088 +v 2.512577 0.687852 -0.471200 +f 54 62 65 +f 40 41 43 +f 43 42 44 +f 43 44 47 +f 41 40 48 +f 40 47 48 +f 48 45 49 +f 42 43 50 +f 45 42 50 +f 44 42 51 +f 44 51 52 +f 45 48 55 +f 48 52 55 +f 52 51 55 +f 40 43 56 +f 47 40 56 +f 43 47 56 +f 42 45 57 +f 51 42 57 +f 45 55 57 +f 55 51 57 +f 50 43 58 +f 54 50 58 +f 43 41 59 +f 41 53 59 +f 53 43 59 +f 49 46 60 +f 48 49 60 +f 39 49 61 +f 49 45 61 +f 45 50 61 +f 46 49 62 +f 43 53 62 +f 53 46 62 +f 58 43 62 +f 54 58 62 +f 41 48 63 +f 53 41 63 +f 46 53 63 +f 60 46 63 +f 48 60 63 +f 47 44 64 +f 48 47 64 +f 44 52 64 +f 52 48 64 +f 49 39 65 +f 50 54 65 +f 39 61 65 +f 61 50 65 +f 62 49 65 +o convex_2 +v -2.861446 1.599483 0.571088 +v -2.015015 1.208916 -0.601529 +v -2.015015 1.404142 -0.601529 +v -1.103039 1.176321 0.505892 +v -2.959470 0.752930 0.538375 +v -1.103039 0.687740 -0.503735 +v -1.103039 1.762343 -0.438538 +v -3.089780 1.762343 -0.568816 +v -2.926795 0.720335 -0.568816 +v -1.103039 1.860128 0.440695 +v -1.200675 0.818120 0.505892 +v -3.089780 1.729748 0.571088 +v -1.103039 1.729748 -0.601529 +v -2.405556 1.794938 0.538375 +v -1.135520 0.687740 -0.536333 +v -3.089780 1.632078 -0.503735 +v -1.852224 1.762343 -0.601529 +v -2.080170 0.687740 -0.503735 +v -1.103039 0.850600 0.505892 +v -1.168000 0.687740 -0.373342 +v -1.135520 1.860128 0.277819 +v -2.666176 0.752930 0.538375 +v -3.057106 1.371547 0.571088 +v -2.926795 0.720335 0.049746 +v -1.363659 1.860128 0.440580 +v -3.089780 1.762343 0.245335 +v -2.959470 0.752930 -0.177867 +v -2.796485 1.762343 0.571088 +v -1.330985 1.827533 0.473293 +v -1.103039 1.534407 -0.601529 +v -2.112650 0.720335 -0.568816 +f 67 95 96 +f 69 71 72 +f 68 67 73 +f 73 67 74 +f 69 72 75 +f 67 68 78 +f 72 71 78 +f 73 74 81 +f 77 73 81 +f 68 73 82 +f 78 68 82 +f 72 78 82 +f 74 80 83 +f 80 71 83 +f 71 69 84 +f 76 71 84 +f 71 76 85 +f 83 71 85 +f 75 72 86 +f 82 73 86 +f 72 82 86 +f 76 84 87 +f 70 85 87 +f 85 76 87 +f 66 77 88 +f 77 81 88 +f 84 66 88 +f 70 87 88 +f 87 84 88 +f 70 74 89 +f 74 83 89 +f 85 70 89 +f 83 85 89 +f 79 75 90 +f 75 86 90 +f 86 73 90 +f 73 77 91 +f 79 90 91 +f 90 73 91 +f 74 70 92 +f 81 74 92 +f 70 88 92 +f 88 81 92 +f 77 66 93 +f 66 84 93 +f 84 69 93 +f 91 77 93 +f 79 91 93 +f 69 75 94 +f 75 79 94 +f 93 69 94 +f 79 93 94 +f 67 78 95 +f 78 71 95 +f 71 80 95 +f 95 80 96 +f 74 67 96 +f 80 74 96 +o convex_3 +v -0.516458 1.436645 -1.090314 +v 0.590920 1.827555 -3.011712 +v 0.590920 1.729770 -3.011712 +v -0.483780 1.827670 -3.077055 +v 0.460564 0.655167 -3.044189 +v 0.428004 1.827670 -1.090314 +v -0.614254 0.687762 -1.090314 +v 0.493123 0.752953 -1.090314 +v -0.451339 0.818028 -3.077055 +v -0.451339 1.729885 -1.090314 +v 0.558242 0.785548 -3.044189 +v 0.590920 1.827555 -3.077055 +v 0.525683 0.687762 -2.034872 +v -0.483780 1.827670 -2.523000 +v -0.483780 0.785433 -2.848744 +v 0.460564 1.827555 -1.188135 +v -0.223304 0.687762 -1.090314 +v -0.581577 0.687762 -1.416057 +v 0.525683 0.655167 -2.783595 +v 0.493123 0.720358 -1.188135 +v 0.232529 1.827670 -1.188135 +v -0.614254 0.752838 -1.122986 +v 0.558242 1.404050 -3.077055 +v -0.483780 1.436645 -3.077055 +v -0.483780 1.795075 -2.002395 +v 0.493123 0.883218 -1.090314 +f 112 102 122 +f 102 97 103 +f 99 98 104 +f 102 103 104 +f 97 102 106 +f 98 99 108 +f 102 98 108 +f 100 102 108 +f 105 100 108 +f 99 107 108 +f 99 104 109 +f 107 99 109 +f 102 100 110 +f 105 101 111 +f 98 102 112 +f 104 103 113 +f 101 103 114 +f 111 101 114 +f 103 111 114 +f 103 101 115 +f 101 107 115 +f 107 109 115 +f 113 103 115 +f 113 115 116 +f 109 104 116 +f 104 113 116 +f 115 109 116 +f 106 102 117 +f 102 110 117 +f 103 97 118 +f 110 100 118 +f 111 103 118 +f 101 105 119 +f 107 101 119 +f 105 108 119 +f 108 107 119 +f 100 105 120 +f 105 111 120 +f 118 100 120 +f 111 118 120 +f 97 106 121 +f 106 117 121 +f 117 110 121 +f 118 97 121 +f 110 118 121 +f 104 98 122 +f 102 104 122 +f 98 112 122 +o convex_4 +v 0.590757 1.827406 1.092252 +v -1.070161 2.250911 -1.090120 +v -1.102845 0.622652 -1.057436 +v 0.981687 0.752975 -1.057222 +v -0.972321 0.622652 0.961728 +v 0.916532 2.381406 -1.090120 +v -0.972321 2.381406 0.929044 +v 1.079527 0.622652 1.027097 +v 1.079527 2.348524 1.027097 +v 0.558287 0.622652 -1.090120 +v -1.102845 2.381406 -0.796816 +v -1.102845 0.850760 0.505643 +v 1.079527 1.860115 -0.536196 +v -0.451295 0.622652 1.092252 +v -0.614289 1.762330 1.092252 +v 1.079527 0.687899 -0.471041 +v -1.102845 1.860115 0.440488 +v -0.027895 2.381406 0.994412 +v 0.981687 0.622652 -1.024751 +v -0.874696 2.381406 -1.090120 +v 0.493132 0.720437 1.092252 +v -0.614289 0.687899 -1.090120 +v 0.981687 2.381406 -0.536196 +v -0.939851 2.381406 0.961728 +v 0.949003 2.218374 -1.090120 +v -1.102845 2.348524 -1.057436 +v -0.972321 2.153126 0.961728 +v -0.907380 0.622652 0.994412 +v -1.037476 0.622652 0.440488 +v 0.981687 2.381406 -0.112582 +v 0.623442 2.348524 1.027097 +f 140 146 153 +f 127 125 130 +f 123 130 131 +f 124 128 132 +f 130 125 132 +f 129 128 133 +f 133 125 134 +f 131 130 135 +f 127 130 136 +f 136 123 137 +f 126 135 138 +f 135 130 138 +f 129 133 139 +f 133 134 139 +f 128 129 140 +f 132 126 141 +f 130 132 141 +f 126 138 141 +f 138 130 141 +f 128 124 142 +f 133 128 142 +f 130 123 143 +f 123 136 143 +f 136 130 143 +f 125 124 144 +f 132 125 144 +f 124 132 144 +f 131 135 145 +f 128 140 145 +f 140 129 146 +f 132 128 147 +f 126 132 147 +f 135 126 147 +f 128 145 147 +f 145 135 147 +f 124 125 148 +f 125 133 148 +f 142 124 148 +f 133 142 148 +f 134 127 149 +f 129 139 149 +f 139 134 149 +f 146 129 149 +f 137 146 149 +f 127 136 150 +f 136 137 150 +f 149 127 150 +f 137 149 150 +f 125 127 151 +f 134 125 151 +f 127 134 151 +f 140 131 152 +f 131 145 152 +f 145 140 152 +f 123 131 153 +f 137 123 153 +f 131 140 153 +f 146 137 153 +o convex_5 +v -0.060506 0.720307 1.352871 +v 0.590920 1.827670 1.222562 +v 0.590920 1.762416 1.222562 +v 0.493123 0.785452 3.079187 +v -0.614254 1.762416 2.916202 +v -0.614254 1.762416 1.092252 +v -0.549017 0.752933 3.079187 +v 0.460564 1.827670 3.079187 +v 0.493123 0.720307 1.092252 +v -0.418661 0.752933 1.092252 +v 0.428004 1.827670 1.092252 +v -0.581577 1.794935 2.948877 +v -0.092948 0.720307 3.079187 +v -0.483780 0.720307 1.906592 +v 0.493123 0.752933 3.046512 +v -0.386102 1.794935 1.092252 +v 0.590920 1.697271 1.092252 +v 0.167292 1.827670 3.046512 +v -0.614254 1.534353 2.948877 +v 0.493123 1.176324 3.079187 +v -0.451339 0.818079 1.092252 +v -0.516458 0.720307 3.079187 +v -0.614254 1.729789 1.092252 +v -0.549017 0.850597 3.079187 +v 0.525683 0.980888 1.124926 +f 170 168 178 +f 156 155 157 +f 160 157 161 +f 159 162 163 +f 162 154 163 +f 161 155 164 +f 162 159 164 +f 159 158 165 +f 157 160 166 +f 154 162 166 +f 163 154 167 +f 154 166 167 +f 156 157 168 +f 157 166 168 +f 166 162 168 +f 164 159 169 +f 159 165 169 +f 155 156 170 +f 164 155 170 +f 162 164 170 +f 156 168 170 +f 161 164 171 +f 164 169 171 +f 169 165 171 +f 158 159 172 +f 165 158 172 +f 157 155 173 +f 155 161 173 +f 161 157 173 +f 159 163 174 +f 163 167 174 +f 166 160 175 +f 160 167 175 +f 167 166 175 +f 167 160 176 +f 172 159 176 +f 160 172 176 +f 159 174 176 +f 174 167 176 +f 160 161 177 +f 161 171 177 +f 171 165 177 +f 172 160 177 +f 165 172 177 +f 168 162 178 +f 162 170 178 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/012/012.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/012/012.urdf new file mode 100644 index 000000000..e3388e5ea --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/012/012.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/013/013.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/013/013.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/013/013.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/013/013.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/013/013.obj new file mode 100644 index 000000000..af7076267 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/013/013.obj @@ -0,0 +1,516 @@ +o convex_0 +v -1.402748 0.731818 -1.771021 +v -0.941813 -0.498125 -3.116056 +v -0.864923 -0.498125 -3.116056 +v -1.748602 -0.421073 -1.079363 +v -1.864089 0.616360 -3.038895 +v -0.826427 0.616360 -1.079363 +v -0.864923 0.731818 -3.000414 +v -0.826427 -0.382667 -1.079363 +v -1.787097 0.693171 -1.079363 +v -1.748602 -0.382667 -3.038895 +v -1.787097 -0.382667 -1.079363 +v -1.864089 0.347280 -2.923651 +v -0.826427 -0.382667 -1.886264 +v -1.864089 0.616360 -2.385518 +v -0.826427 -0.421073 -1.271368 +v -1.556528 -0.421073 -3.077375 +v -1.095492 0.731818 -3.000414 +v -0.864923 -0.267450 -3.116056 +v -1.787097 0.693171 -1.617297 +v -0.864923 0.731818 -2.577723 +v -1.441142 0.693171 -1.117644 +v -0.864923 0.539428 -3.038895 +v -0.980207 -0.498125 -2.923651 +v -1.787097 -0.190398 -3.038895 +v -1.133886 -0.421073 -3.116056 +f 5 18 25 +f 6 4 8 +f 4 6 9 +f 4 9 11 +f 10 4 11 +f 7 6 13 +f 6 8 13 +f 9 5 14 +f 11 9 14 +f 5 12 14 +f 12 11 14 +f 8 4 15 +f 3 13 15 +f 13 8 15 +f 4 10 16 +f 1 7 17 +f 7 5 17 +f 3 2 18 +f 13 3 18 +f 9 1 19 +f 5 9 19 +f 1 17 19 +f 17 5 19 +f 7 1 20 +f 6 7 20 +f 1 9 21 +f 9 6 21 +f 20 1 21 +f 6 20 21 +f 5 7 22 +f 7 13 22 +f 18 5 22 +f 13 18 22 +f 2 3 23 +f 3 15 23 +f 15 4 23 +f 16 2 23 +f 4 16 23 +f 10 11 24 +f 12 5 24 +f 11 12 24 +f 5 16 24 +f 16 10 24 +f 2 16 25 +f 16 5 25 +f 18 2 25 +o convex_1 +v 1.671958 3.114383 0.919481 +v -0.672575 -2.880840 -0.963345 +v 1.287422 -2.919125 -1.002040 +v -0.249755 -2.803671 1.073435 +v -0.672575 3.153266 -1.001833 +v -0.672575 3.075500 1.034739 +v 1.748768 3.153266 -0.925063 +v 1.710243 -2.880840 0.996458 +v 1.710243 -2.958009 -1.002040 +v -0.672575 -2.803671 1.073228 +v 1.787294 -1.535474 0.573500 +v -0.134419 3.153266 -1.040528 +v 0.019444 3.037812 1.034946 +v 1.787294 -2.073262 -0.771317 +v 1.787294 0.654559 0.535218 +v 1.518095 3.114383 0.957970 +v -0.672575 3.153266 0.035490 +v -0.557239 1.346684 1.073435 +v 0.250117 -2.880840 0.419753 +v 1.748768 1.192346 -0.963552 +v -0.518713 3.114383 -1.040528 +v 1.710243 -1.881237 0.996458 +v 1.748768 3.153266 -0.310077 +v 1.787294 -2.381338 0.458242 +v 1.787294 0.615675 -0.579082 +v 1.210612 -2.958009 -0.809805 +v -0.672575 -2.880840 -0.387054 +v -0.634049 3.114383 0.919688 +v 1.710243 -2.073860 -1.002040 +v -0.326566 -2.841957 0.957970 +v 1.748768 -2.765386 -0.925063 +v 1.325948 3.153266 -0.963552 +v 1.710243 3.153266 0.112467 +v 0.864843 -2.803671 1.034946 +v 1.633432 -2.919125 0.342983 +v -0.095893 -2.919125 -0.963552 +v 1.671958 2.307403 0.957970 +v -0.672575 1.039205 1.073228 +v -0.057608 2.845190 -1.040528 +v 1.710243 -2.958009 -0.502312 +v 0.672455 3.114383 0.996458 +v 1.287422 -2.880840 0.996458 +f 44 60 67 +f 30 27 31 +f 27 28 34 +f 31 27 35 +f 30 32 37 +f 36 39 40 +f 30 31 42 +f 32 30 42 +f 35 29 43 +f 38 31 43 +f 32 39 45 +f 28 27 46 +f 27 30 46 +f 30 37 46 +f 33 36 47 +f 36 40 47 +f 40 26 47 +f 38 43 47 +f 26 40 48 +f 40 32 48 +f 32 42 48 +f 36 33 49 +f 39 36 49 +f 39 32 50 +f 40 39 50 +f 32 40 50 +f 51 44 52 +f 35 27 52 +f 42 31 53 +f 45 34 54 +f 52 44 55 +f 35 52 55 +f 34 45 56 +f 45 39 56 +f 49 33 56 +f 39 49 56 +f 37 32 57 +f 32 45 57 +f 41 26 58 +f 26 48 58 +f 48 42 58 +f 29 33 59 +f 43 29 59 +f 33 47 59 +f 47 43 59 +f 27 34 61 +f 34 51 61 +f 51 52 61 +f 52 27 61 +f 26 41 62 +f 41 38 62 +f 47 26 62 +f 38 47 62 +f 31 35 63 +f 43 31 63 +f 35 43 63 +f 34 28 64 +f 28 46 64 +f 46 37 64 +f 54 34 64 +f 45 54 64 +f 37 57 64 +f 57 45 64 +f 51 34 65 +f 44 51 65 +f 56 33 65 +f 34 56 65 +f 33 60 65 +f 60 44 65 +f 31 38 66 +f 38 41 66 +f 53 31 66 +f 42 53 66 +f 41 58 66 +f 58 42 66 +f 33 29 67 +f 29 35 67 +f 35 55 67 +f 55 44 67 +f 60 33 67 +o convex_2 +v -1.326097 -0.420358 -1.078964 +v -0.826483 0.731471 1.111870 +v -0.903347 0.731471 1.111870 +v -2.402189 -2.803758 1.111870 +v -2.248292 3.153266 -1.001976 +v -2.248292 3.153266 1.034882 +v -0.672586 3.153266 -1.001762 +v -0.672756 -2.881138 -0.963589 +v -2.402189 -2.842153 -1.001976 +v -0.672756 -2.803168 1.073269 +v -0.672586 3.075887 1.034668 +v -2.402189 0.961837 0.304461 +v -2.248292 2.960704 1.073269 +v -1.825542 0.961837 -1.078964 +v -0.826483 -0.381964 -1.078964 +v -2.363588 -0.612920 1.111870 +v -2.402189 -2.842153 0.534996 +v -2.286724 2.845521 0.996496 +v -0.672586 3.153266 0.073926 +v -1.556519 -2.803168 1.111870 +v -2.132997 2.576170 -1.040363 +v -0.826483 0.616288 -1.078964 +v -2.402189 0.961837 0.534996 +v -2.402189 -2.419225 -1.001976 +v -0.672756 -2.842153 0.612199 +v -1.710246 -2.842153 -1.001976 +v -0.749619 -0.381964 1.111870 +v -0.749619 3.114281 1.034882 +v -2.286724 2.652959 -0.732840 +v -1.787110 -0.381964 -1.078964 +v -1.287665 -2.881138 -0.886601 +v -0.672756 -2.881138 -0.425531 +v -1.787110 0.577894 1.111870 +v -2.402189 -2.150465 1.111870 +v -0.672586 0.769866 1.073055 +f 92 99 102 +f 69 70 71 +f 72 73 74 +f 76 71 79 +f 70 69 80 +f 69 78 80 +f 74 75 82 +f 68 81 82 +f 71 70 83 +f 71 76 84 +f 73 72 85 +f 80 73 85 +f 83 80 85 +f 74 73 86 +f 78 74 86 +f 69 71 87 +f 72 74 88 +f 81 76 88 +f 81 88 89 +f 74 82 89 +f 82 81 89 +f 88 74 89 +f 79 71 90 +f 85 79 90 +f 83 85 90 +f 76 79 91 +f 72 88 91 +f 88 76 91 +f 71 84 92 +f 87 71 92 +f 77 87 92 +f 75 76 93 +f 76 68 93 +f 82 75 93 +f 68 82 93 +f 78 69 94 +f 69 87 94 +f 87 77 94 +f 73 80 95 +f 80 78 95 +f 86 73 95 +f 78 86 95 +f 85 72 96 +f 79 85 96 +f 72 91 96 +f 91 79 96 +f 68 76 97 +f 81 68 97 +f 76 81 97 +f 76 75 98 +f 84 76 98 +f 92 84 99 +f 98 75 99 +f 84 98 99 +f 70 80 100 +f 83 70 100 +f 80 83 100 +f 71 83 101 +f 90 71 101 +f 83 90 101 +f 75 74 102 +f 74 78 102 +f 77 92 102 +f 94 77 102 +f 78 94 102 +f 99 75 102 +o convex_3 +v -0.864957 0.731818 1.342699 +v -1.825492 -0.498125 1.111870 +v -1.787007 -0.498125 1.111870 +v -1.287610 -0.344141 3.072091 +v -1.864089 0.654766 2.995148 +v -0.749616 -0.382667 1.111870 +v -0.711244 0.693171 3.072091 +v -1.787007 0.577834 1.111870 +v -1.825492 -0.305856 3.033331 +v -0.864957 -0.344141 3.072091 +v -0.788100 0.731818 1.111870 +v -1.864089 -0.151993 1.381074 +v -1.864089 -0.190398 3.033331 +v -1.057041 0.693171 3.072091 +v -0.826472 -0.382667 2.418556 +v -0.711244 0.347280 2.533874 +v -1.825492 0.462738 1.111870 +v -1.210754 0.693171 1.227189 +v -1.825492 0.654766 3.033331 +v -0.826472 -0.229045 3.033331 +v -1.864089 0.616360 2.341805 +v -0.711244 0.693171 2.649001 +v -1.825492 -0.344141 2.841262 +v -1.671779 0.616360 1.150438 +v -0.749616 -0.113587 1.111870 +f 124 118 127 +f 104 105 106 +f 105 104 108 +f 108 104 110 +f 106 105 112 +f 109 106 112 +f 103 109 113 +f 108 110 113 +f 111 106 115 +f 107 114 115 +f 114 104 115 +f 103 107 116 +f 106 109 116 +f 109 103 116 +f 105 108 117 +f 112 105 117 +f 110 104 119 +f 104 114 119 +f 107 103 120 +f 103 113 120 +f 115 106 121 +f 107 115 121 +f 116 107 121 +f 106 116 121 +f 109 112 122 +f 117 108 122 +f 112 117 122 +f 118 109 122 +f 108 118 122 +f 107 110 123 +f 114 107 123 +f 110 119 123 +f 119 114 123 +f 113 109 124 +f 109 118 124 +f 104 106 125 +f 106 111 125 +f 115 104 125 +f 111 115 125 +f 110 107 126 +f 113 110 126 +f 107 120 126 +f 120 113 126 +f 108 113 127 +f 118 108 127 +f 113 124 127 +o convex_4 +v 3.708883 -1.343860 0.073926 +v 1.787302 -1.535979 -0.617736 +v 1.787302 -1.382262 -0.617736 +v 1.787302 -1.382262 0.573560 +v 3.785762 -2.342854 0.612206 +v 1.787302 -2.381256 -0.502278 +v 3.670346 -2.304452 -0.502278 +v 1.826035 -2.381256 0.496749 +v 3.632004 -1.266948 -0.540684 +v 3.747225 -1.420773 0.535154 +v 1.902914 -1.343860 0.458223 +v 3.286147 -1.266948 -0.579089 +v 3.747225 -2.342854 0.035520 +v 3.670346 -1.843302 -0.540684 +v 2.133550 -2.381256 -0.502278 +v 1.787302 -2.381256 0.458223 +v 3.632004 -1.266948 -0.348656 +v 3.708883 -1.382262 0.458223 +v 3.747225 -2.112334 0.612206 +v 3.516588 -2.342854 0.612206 +v 3.439709 -2.342854 -0.502278 +v 2.440870 -1.382262 0.573560 +v 1.826035 -2.227539 -0.540684 +v 1.787302 -1.535979 0.573560 +v 2.171892 -1.343860 -0.617736 +v 3.708883 -2.266050 -0.463752 +v 3.670346 -1.574490 -0.540684 +f 128 153 154 +f 130 129 131 +f 131 129 133 +f 130 131 138 +f 137 132 140 +f 134 129 141 +f 132 135 142 +f 135 133 142 +f 140 132 142 +f 131 133 143 +f 133 135 143 +f 128 136 144 +f 136 139 144 +f 139 138 144 +f 137 128 145 +f 128 144 145 +f 144 138 145 +f 132 137 146 +f 135 132 147 +f 146 131 147 +f 132 146 147 +f 129 134 148 +f 134 140 148 +f 140 142 148 +f 138 131 149 +f 137 145 149 +f 145 138 149 +f 131 146 149 +f 146 137 149 +f 133 129 150 +f 142 133 150 +f 129 148 150 +f 148 142 150 +f 131 143 151 +f 143 135 151 +f 147 131 151 +f 135 147 151 +f 129 130 152 +f 130 138 152 +f 138 139 152 +f 141 129 152 +f 139 141 152 +f 128 137 153 +f 140 134 153 +f 137 140 153 +f 134 141 153 +f 153 141 154 +f 136 128 154 +f 139 136 154 +f 141 139 154 +o convex_5 +v 3.632023 -0.459689 0.612206 +v 1.787493 0.462591 -0.579300 +v 1.787493 0.616432 -0.579300 +v 3.747330 0.616432 -0.579300 +v 1.787493 0.654946 0.535230 +v 1.787493 -0.344254 -0.502323 +v 3.747330 -0.305739 -0.579300 +v 3.632023 0.654946 0.458370 +v 1.787493 -0.382769 0.535230 +v 3.093859 -0.459689 0.343138 +v 3.708766 0.654946 -0.041163 +v 3.747330 -0.344254 -0.502323 +v 1.864429 -0.382769 0.573718 +v 2.018108 -0.344254 -0.540812 +v 3.670395 -0.459689 0.496858 +v 1.787493 0.654946 -0.079418 +v 1.787493 -0.382769 -0.271743 +v 3.747330 -0.305739 -0.233371 +v 3.708766 0.654946 -0.271743 +v 2.133415 0.654946 0.535230 +v 2.210350 -0.421174 0.573718 +v 3.632023 -0.382769 0.612206 +v 2.940181 -0.305739 -0.579300 +v 3.747330 0.616432 -0.310231 +f 169 172 178 +f 156 157 158 +f 157 156 159 +f 159 156 160 +f 156 158 161 +f 159 160 163 +f 159 162 165 +f 161 158 166 +f 159 163 167 +f 160 156 168 +f 161 166 168 +f 155 164 169 +f 165 162 169 +f 164 166 169 +f 157 159 170 +f 159 165 170 +f 163 160 171 +f 166 164 171 +f 160 168 171 +f 168 166 171 +f 166 158 172 +f 169 166 172 +f 158 157 173 +f 165 158 173 +f 157 170 173 +f 170 165 173 +f 162 159 174 +f 164 155 175 +f 155 167 175 +f 167 163 175 +f 163 171 175 +f 171 164 175 +f 167 155 176 +f 159 167 176 +f 155 169 176 +f 169 162 176 +f 174 159 176 +f 162 174 176 +f 156 161 177 +f 168 156 177 +f 161 168 177 +f 158 165 178 +f 165 169 178 +f 172 158 178 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/013/013.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/013/013.urdf new file mode 100644 index 000000000..cdaf2127f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/013/013.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/014/014.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/014/014.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/014/014.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/014/014.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/014/014.obj new file mode 100644 index 000000000..d6b262ea8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/014/014.obj @@ -0,0 +1,291 @@ +o convex_0 +v 0.990579 -3.172153 -0.054372 +v -0.958693 -3.076150 1.095901 +v -1.022698 -3.076150 1.095901 +v 0.862775 -0.455713 -1.045352 +v -0.990695 -4.034770 -0.949356 +v -1.022698 -0.456063 1.063833 +v 0.990579 -0.456063 0.999906 +v -0.958693 -0.456063 -0.981215 +v 0.926574 -3.971003 1.031974 +v 0.926574 -3.971003 -0.981215 +v -0.990695 -3.938768 1.095901 +v 1.054584 -1.414683 -1.013283 +v -0.926690 -2.181649 -1.013283 +v -1.054701 -2.405187 0.616341 +v 1.022582 -0.456063 -1.045352 +v 0.990579 -2.308834 0.999696 +v -0.415473 -3.971003 1.095901 +v 1.054584 -2.181649 -0.789642 +v -1.054701 -0.616183 1.031765 +v -0.575074 -0.456063 1.063833 +v 0.543161 -3.906884 1.063833 +v 0.319349 -4.002886 -0.981215 +v 0.958576 -3.843116 -0.981215 +v -0.990695 -4.034770 -0.565582 +v 1.022582 -0.871605 -1.045352 +v -1.022698 -3.363456 -0.310082 +v -0.383471 -4.002886 -0.981215 +v -1.022698 -3.427224 1.095901 +v 1.054584 -1.893993 -0.597860 +v -0.543277 -4.034770 -0.917287 +v -0.926690 -1.670455 -1.013283 +v -1.054701 -2.405187 1.063833 +v 0.958576 -3.235570 1.031974 +v -0.990695 -3.971003 0.903910 +v 1.054584 -2.181649 -1.013283 +v -0.958693 -3.619228 -0.981215 +v 1.022582 -2.021879 0.328563 +v 0.958576 -3.587344 0.680269 +v -0.575074 -2.405187 -1.013283 +v 1.022582 -0.456063 -0.757573 +v -0.990695 -3.651112 -0.949356 +v -1.022698 -3.300039 -0.310082 +v 0.958576 -3.843116 -0.789432 +v -1.022698 -0.456063 0.584273 +v 1.054584 -1.414683 -0.949356 +v -1.054701 -0.616183 1.063833 +f 19 32 46 +f 3 2 6 +f 2 3 11 +f 2 11 17 +f 6 2 20 +f 4 6 20 +f 7 4 20 +f 2 17 20 +f 20 17 21 +f 17 9 21 +f 7 20 21 +f 10 9 22 +f 9 10 23 +f 9 17 24 +f 13 4 25 +f 4 15 25 +f 15 12 25 +f 10 22 25 +f 22 5 27 +f 25 22 27 +f 11 3 28 +f 5 24 28 +f 26 5 28 +f 14 26 28 +f 18 12 29 +f 5 22 30 +f 22 9 30 +f 24 5 30 +f 9 24 30 +f 8 4 31 +f 4 13 31 +f 13 5 31 +f 19 14 32 +f 28 3 32 +f 14 28 32 +f 16 7 33 +f 7 21 33 +f 21 9 33 +f 17 11 34 +f 24 17 34 +f 11 28 34 +f 28 24 34 +f 12 18 35 +f 23 10 35 +f 18 23 35 +f 25 12 35 +f 10 25 35 +f 5 13 36 +f 27 5 36 +f 13 27 36 +f 7 16 37 +f 29 7 37 +f 18 29 37 +f 16 33 37 +f 37 33 38 +f 1 18 38 +f 33 9 38 +f 18 37 38 +f 13 25 39 +f 27 13 39 +f 25 27 39 +f 4 7 40 +f 15 4 40 +f 12 15 40 +f 5 26 41 +f 8 31 41 +f 31 5 41 +f 19 8 42 +f 14 19 42 +f 26 14 42 +f 41 26 42 +f 8 41 42 +f 18 1 43 +f 9 23 43 +f 23 18 43 +f 1 38 43 +f 38 9 43 +f 6 4 44 +f 4 8 44 +f 19 6 44 +f 8 19 44 +f 7 29 45 +f 29 12 45 +f 40 7 45 +f 12 40 45 +f 3 6 46 +f 6 19 46 +f 32 3 46 +o convex_1 +v 0.926574 1.686329 -1.109270 +v -0.958684 2.036820 1.127861 +v -1.022689 2.036820 1.127861 +v -1.022689 -0.455269 1.063699 +v -0.990686 3.890561 -1.045108 +v 1.054584 3.986513 0.999756 +v 0.990579 -0.455713 0.999756 +v -0.958684 -0.455269 -0.981165 +v 1.022582 -0.455713 -1.045326 +v 0.926574 3.954529 -1.109270 +v -0.958684 4.050037 1.031727 +v -0.862882 4.082465 -1.077298 +v -1.054691 2.388200 -0.981165 +v 0.894572 4.018497 1.031946 +v 0.319352 4.082465 -0.438087 +v 1.022582 -0.391745 0.967784 +v -0.990686 3.762625 1.063699 +v -1.022689 0.599316 -0.981165 +v -0.990686 -0.359317 1.095670 +v 1.054584 1.876456 0.967784 +v 1.054584 3.986513 0.807926 +v -1.054691 2.004836 -0.150343 +v 1.022582 3.890561 1.031946 +v -1.054691 1.525964 -0.949412 +v 0.191549 4.082465 0.073020 +v 0.990579 3.986513 -0.214286 +v -0.958684 4.082465 -0.182315 +v -0.990686 -0.327332 -0.981165 +v 0.479158 2.548120 -1.109270 +v 1.022582 -0.135872 -1.045326 +v -0.894885 3.986513 1.063699 +v -1.022689 -0.455269 0.584345 +v -0.926681 1.972852 1.127861 +v -0.990686 3.890561 0.935813 +v 0.958577 0.407856 -1.077079 +v 0.319352 3.986513 -1.109270 +v -0.862882 3.922545 -1.077298 +v 0.990579 4.018497 0.904060 +v -0.415467 4.050037 1.031727 +v -0.958684 4.082465 -1.045108 +v 0.958577 3.954529 -0.725611 +v 0.638964 3.986513 -1.109270 +v -1.054691 2.388200 -0.533782 +v 0.830773 -0.455713 -1.045326 +v 0.958577 2.612088 -1.109270 +v 1.054584 2.356216 0.999756 +v -0.735079 4.082465 -1.077298 +v -1.022689 2.228280 1.095670 +v -0.990686 3.474769 -1.045326 +v -1.022689 -0.359317 1.095670 +v -0.958684 1.813376 1.127861 +v 0.798771 3.986513 -0.981384 +v 1.054584 2.388200 0.872088 +f 67 66 99 +f 53 55 62 +f 50 53 65 +f 62 55 66 +f 52 66 67 +f 52 60 69 +f 60 48 69 +f 59 64 70 +f 50 68 70 +f 68 59 70 +f 61 58 71 +f 57 71 73 +f 71 58 73 +f 47 54 75 +f 56 47 75 +f 67 55 76 +f 72 67 76 +f 49 48 77 +f 48 60 77 +f 63 49 77 +f 57 63 77 +f 50 70 78 +f 70 64 78 +f 74 54 78 +f 64 74 78 +f 48 49 79 +f 69 48 79 +f 53 69 79 +f 51 59 80 +f 63 57 80 +f 68 63 80 +f 73 51 80 +f 57 73 80 +f 54 47 81 +f 47 55 81 +f 56 75 82 +f 82 75 83 +f 54 74 83 +f 75 54 83 +f 58 82 83 +f 60 52 84 +f 52 67 84 +f 71 60 84 +f 61 71 84 +f 72 61 84 +f 67 72 84 +f 71 57 85 +f 60 71 85 +f 77 60 85 +f 57 77 85 +f 58 51 86 +f 51 73 86 +f 73 58 86 +f 56 72 87 +f 72 76 87 +f 56 82 88 +f 82 58 88 +f 59 68 89 +f 80 59 89 +f 68 80 89 +f 53 50 90 +f 55 53 90 +f 50 78 90 +f 78 54 90 +f 54 81 90 +f 81 55 90 +f 55 47 91 +f 47 56 91 +f 76 55 91 +f 56 87 91 +f 87 76 91 +f 53 62 92 +f 66 52 92 +f 62 66 92 +f 69 53 92 +f 52 69 92 +f 58 61 93 +f 61 88 93 +f 88 58 93 +f 49 63 94 +f 68 49 94 +f 63 68 94 +f 51 58 95 +f 59 51 95 +f 64 59 95 +f 74 64 95 +f 58 83 95 +f 83 74 95 +f 50 65 96 +f 49 68 96 +f 68 50 96 +f 65 53 97 +f 79 49 97 +f 53 79 97 +f 96 65 97 +f 49 96 97 +f 72 56 98 +f 61 72 98 +f 56 88 98 +f 88 61 98 +f 66 55 99 +f 55 67 99 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/014/014.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/014/014.urdf new file mode 100644 index 000000000..41e9cb23d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/014/014.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/015/015.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/015/015.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/015/015.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/015/015.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/015/015.obj new file mode 100644 index 000000000..97ed42c8d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/015/015.obj @@ -0,0 +1,453 @@ +o convex_0 +v 0.224135 -1.838820 -1.006133 +v 0.135891 -2.368196 -2.947328 +v -0.069989 -2.338759 -2.947328 +v 0.106498 -1.691775 -2.976695 +v -0.275870 -2.368196 -1.006133 +v -0.246477 -1.662270 -3.006063 +v 0.341836 -2.221082 -1.182926 +v -0.246477 -1.809453 -1.065260 +v 0.282985 -1.721212 -2.947328 +v -0.305327 -2.279886 -2.976695 +v 0.224135 -2.368196 -2.947328 +v 0.165285 -1.780016 -1.123995 +v 0.341836 -2.132841 -1.006133 +v -0.305327 -2.103405 -2.476664 +v 0.282985 -1.721212 -2.564962 +v 0.282985 -1.927061 -2.947328 +v -0.275870 -1.780016 -3.006063 +v -0.275870 -2.162278 -1.006133 +v 0.282985 -2.309323 -2.153229 +v -0.305327 -2.309323 -2.711996 +v -0.128776 -2.338759 -1.006133 +v -0.158233 -1.809453 -1.006133 +v 0.224135 -1.809453 -1.035892 +v -0.305327 -2.309323 -1.977024 +v -0.275870 -1.956498 -1.447625 +v -0.217020 -1.662270 -2.947328 +v -0.158233 -1.838820 -3.006063 +v 0.224135 -2.368196 -2.800294 +v 0.282985 -2.221082 -1.006133 +f 21 7 29 +f 3 2 5 +f 2 3 10 +f 5 2 11 +f 2 10 11 +f 1 5 13 +f 7 9 13 +f 9 4 15 +f 13 9 15 +f 4 9 16 +f 9 7 16 +f 11 4 16 +f 8 6 17 +f 10 14 17 +f 5 1 18 +f 16 7 19 +f 11 16 19 +f 3 5 20 +f 10 3 20 +f 14 10 20 +f 13 5 21 +f 19 7 21 +f 12 8 22 +f 18 1 22 +f 8 18 22 +f 1 13 23 +f 15 12 23 +f 13 15 23 +f 22 1 23 +f 12 22 23 +f 5 18 24 +f 20 5 24 +f 14 20 24 +f 8 17 25 +f 17 14 25 +f 18 8 25 +f 24 18 25 +f 14 24 25 +f 4 6 26 +f 6 8 26 +f 8 12 26 +f 15 4 26 +f 12 15 26 +f 6 4 27 +f 4 11 27 +f 11 10 27 +f 17 6 27 +f 10 17 27 +f 5 11 28 +f 11 19 28 +f 21 5 28 +f 19 21 28 +f 7 13 29 +f 13 21 29 +o convex_1 +v -0.746468 3.043862 -1.064756 +v -0.481624 1.278967 1.082227 +v -0.511228 1.278967 1.082227 +v -0.981708 -1.632853 -0.976472 +v 1.018228 -1.632853 -0.947254 +v 1.047831 2.955779 0.935087 +v 0.930013 -1.632853 0.994153 +v -0.981708 -1.632853 1.082227 +v 0.959418 2.896903 -0.947254 +v -0.981906 2.955779 1.052799 +v -0.981906 3.073532 -0.858760 +v 0.371120 3.103201 0.376165 +v 0.429930 -1.309266 1.082227 +v 0.988823 -1.632853 0.964725 +v -0.952303 2.337811 -1.064756 +v 0.282905 3.103201 -0.299838 +v 1.018228 -0.043660 -0.947254 +v -0.981708 -1.220720 -1.005900 +v 0.988823 2.514440 0.964725 +v 1.047831 2.955779 0.552733 +v 1.047831 1.749977 0.935087 +v -0.216980 3.103201 0.258663 +v -0.628848 2.955779 1.052799 +v 0.988823 2.926109 -0.623546 +v 0.606359 2.955779 -0.976682 +v -0.952303 3.073532 -1.064756 +v 1.018228 -1.632853 -0.388122 +v 0.429930 -1.632853 1.082227 +v -0.981906 2.984986 0.935087 +v 1.018228 -0.220289 0.964725 +v 0.341715 -0.867927 1.082227 +v -0.981906 2.426357 -1.035328 +v -0.981708 -0.308371 1.082227 +v -0.775873 3.073532 -1.064756 +v 0.959418 2.926109 -0.917826 +v 0.812393 2.955779 0.964515 +v 0.988823 1.896472 -0.947254 +v -0.246385 3.103201 -0.270410 +v -0.746468 2.984986 0.964515 +v 0.959418 2.985449 0.847013 +v -0.922898 2.337811 -1.064756 +v 0.930013 -0.926339 0.994153 +v 0.371120 3.103201 0.199597 +v -0.981906 3.073532 -0.770476 +v -0.952303 -1.220720 -1.005900 +f 47 70 74 +f 33 34 36 +f 33 36 37 +f 31 32 37 +f 32 31 39 +f 31 37 42 +f 36 34 43 +f 34 46 49 +f 34 49 50 +f 49 35 50 +f 41 45 51 +f 39 31 52 +f 34 30 54 +f 46 34 54 +f 30 44 55 +f 43 34 56 +f 34 50 56 +f 37 36 57 +f 36 42 57 +f 42 37 57 +f 40 39 58 +f 41 51 58 +f 36 43 59 +f 35 48 59 +f 50 35 59 +f 43 56 59 +f 56 50 59 +f 31 42 60 +f 42 48 60 +f 52 31 60 +f 48 52 60 +f 33 37 61 +f 37 39 61 +f 39 40 61 +f 47 33 61 +f 44 47 61 +f 55 44 61 +f 40 55 61 +f 37 32 62 +f 32 39 62 +f 39 37 62 +f 54 30 63 +f 45 54 63 +f 30 55 63 +f 55 45 63 +f 53 38 64 +f 49 53 64 +f 54 45 64 +f 38 54 64 +f 48 35 65 +f 52 48 65 +f 49 46 66 +f 38 53 66 +f 53 49 66 +f 54 38 66 +f 46 54 66 +f 51 45 67 +f 55 40 67 +f 45 55 67 +f 39 52 68 +f 58 39 68 +f 41 58 68 +f 52 65 68 +f 68 65 69 +f 35 49 69 +f 65 35 69 +f 41 68 69 +f 30 34 70 +f 44 30 70 +f 47 44 70 +f 42 36 71 +f 48 42 71 +f 36 59 71 +f 59 48 71 +f 45 41 72 +f 64 45 72 +f 49 64 72 +f 41 69 72 +f 69 49 72 +f 40 58 73 +f 58 51 73 +f 67 40 73 +f 51 67 73 +f 34 33 74 +f 33 47 74 +f 70 34 74 +o convex_2 +v 0.371252 5.073763 0.288112 +v -0.305327 4.397331 0.082167 +v -0.275856 3.338729 -0.182437 +v 0.312310 5.073763 -0.241287 +v 0.282971 3.103201 0.288112 +v 0.282971 3.103201 -0.300138 +v -0.246451 5.073763 -0.211831 +v -0.305327 5.103326 0.288112 +v -0.217046 3.103201 0.258655 +v -0.246451 3.103201 -0.270681 +v 0.282971 4.544364 0.347025 +v 0.312310 3.309361 0.317568 +v -0.246451 4.691398 -0.241287 +v 0.371252 5.073763 0.347025 +v 0.135814 3.368292 -0.300138 +v 0.312310 3.838760 -0.270681 +v -0.305327 4.691398 0.288112 +v -0.275856 5.073763 -0.153044 +v 0.253566 3.162328 0.317568 +v -0.128765 5.103326 0.317568 +v -0.011145 5.103326 0.023444 +v -0.246451 3.662359 -0.270681 +v 0.106409 5.073763 -0.241287 +v 0.341781 5.073763 -0.064800 +v -0.246451 3.132961 0.052774 +v -0.275856 4.338400 0.288112 +v -0.305327 5.103326 0.111624 +v 0.312310 4.367963 -0.270681 +f 78 98 102 +f 80 79 83 +f 80 83 84 +f 79 80 86 +f 85 86 88 +f 86 75 88 +f 80 84 89 +f 86 80 90 +f 75 86 90 +f 76 77 91 +f 82 76 91 +f 77 76 92 +f 81 87 92 +f 83 79 93 +f 86 85 93 +f 79 86 93 +f 85 88 94 +f 82 91 94 +f 93 85 94 +f 88 75 95 +f 82 94 95 +f 94 88 95 +f 84 77 96 +f 89 84 96 +f 87 89 96 +f 77 92 96 +f 92 87 96 +f 87 81 97 +f 89 87 97 +f 95 78 97 +f 81 95 97 +f 75 90 98 +f 95 75 98 +f 78 95 98 +f 77 84 99 +f 84 83 99 +f 91 77 99 +f 83 91 99 +f 91 83 100 +f 83 93 100 +f 94 91 100 +f 93 94 100 +f 76 82 101 +f 92 76 101 +f 81 92 101 +f 95 81 101 +f 82 95 101 +f 80 89 102 +f 90 80 102 +f 97 78 102 +f 89 97 102 +f 98 90 102 +o convex_3 +v -0.275767 -2.368265 -1.005929 +v 1.047782 -2.985764 -0.564745 +v 0.988975 -1.632853 0.964475 +v -0.981846 -2.985764 1.082233 +v -0.981846 -1.632853 1.082233 +v 1.018379 -1.632853 -0.947050 +v -0.981846 -1.632853 -0.976694 +v -0.981846 -3.103677 -0.947254 +v 0.959572 -2.985764 0.993914 +v 1.047782 -3.103677 -0.947050 +v 0.429914 -1.632853 1.082233 +v 0.959572 -3.015422 0.935035 +v -0.981846 -3.103677 -0.682299 +v 0.224090 -1.839022 -1.005929 +v 0.929970 -2.956393 -0.976694 +v 1.047782 -1.956503 -0.917610 +v -0.893437 -3.044649 -0.976694 +v 0.253494 -2.250639 1.082233 +v 0.988975 -3.015422 0.729163 +v -0.981846 -3.015422 0.788042 +v 0.959572 -1.839022 0.993914 +v 0.400510 -2.221413 -1.005929 +v -0.775823 -2.985764 1.082233 +v 0.988975 -2.191899 0.964475 +v -0.246364 -1.839022 -1.005929 +v -0.981846 -2.985764 -0.976694 +v 0.812356 -2.662257 1.023354 +v 0.871163 -3.103677 -0.888171 +v 1.018379 -1.632853 -0.388108 +f 118 108 131 +f 107 105 108 +f 106 107 109 +f 107 108 109 +f 106 109 110 +f 107 106 113 +f 105 107 113 +f 106 110 115 +f 110 112 115 +f 109 108 116 +f 108 112 117 +f 105 104 118 +f 104 112 118 +f 112 108 118 +f 112 110 119 +f 103 117 119 +f 117 112 119 +f 113 106 120 +f 112 104 121 +f 111 114 121 +f 114 112 121 +f 114 106 122 +f 115 114 122 +f 106 115 122 +f 111 105 123 +f 105 113 123 +f 103 116 124 +f 116 108 124 +f 117 103 124 +f 108 117 124 +f 106 114 125 +f 114 111 125 +f 120 106 125 +f 111 120 125 +f 104 105 126 +f 105 111 126 +f 121 104 126 +f 111 121 126 +f 103 109 127 +f 116 103 127 +f 109 116 127 +f 109 103 128 +f 110 109 128 +f 103 119 128 +f 119 110 128 +f 120 111 129 +f 113 120 129 +f 111 123 129 +f 123 113 129 +f 112 114 130 +f 115 112 130 +f 114 115 130 +f 108 105 131 +f 105 118 131 +o convex_4 +v -0.099305 -1.750553 1.082437 +v 0.341836 -2.132859 3.052999 +v 0.312364 -2.103465 3.052999 +v -0.334744 -2.191645 2.994264 +v 0.282959 -2.250495 1.082437 +v 0.312364 -1.632853 1.112196 +v -0.217058 -1.780010 3.082367 +v -0.275801 -2.221102 1.082437 +v 0.341836 -1.838797 2.964897 +v 0.341836 -2.280016 3.052999 +v -0.275801 -1.809404 1.082437 +v -0.128710 -2.250495 1.082437 +v -0.158181 -1.750553 2.847231 +v 0.312364 -1.927104 1.082437 +v 0.341836 -1.750553 2.229533 +v 0.253554 -2.280016 3.052999 +v 0.312364 -2.280016 1.906295 +v -0.305272 -2.221102 1.876927 +v -0.246396 -1.780010 2.464865 +v -0.040495 -1.780010 3.052999 +v -0.334744 -2.132859 2.994264 +v 0.282959 -1.632853 1.082437 +v 0.341836 -2.280016 2.758932 +v -0.011090 -2.015221 3.082367 +v -0.334744 -2.162252 2.670634 +f 152 142 156 +f 133 134 138 +f 132 136 139 +f 134 133 140 +f 140 133 141 +f 132 139 142 +f 139 136 143 +f 136 132 145 +f 140 141 146 +f 145 137 146 +f 147 143 148 +f 143 136 148 +f 136 145 148 +f 141 147 148 +f 139 143 149 +f 147 135 149 +f 143 147 149 +f 132 142 150 +f 138 144 150 +f 138 134 151 +f 134 140 151 +f 137 144 151 +f 144 138 151 +f 140 146 151 +f 146 137 151 +f 135 138 152 +f 138 150 152 +f 150 142 152 +f 144 137 153 +f 145 132 153 +f 137 145 153 +f 132 150 153 +f 150 144 153 +f 146 141 154 +f 145 146 154 +f 148 145 154 +f 141 148 154 +f 133 138 155 +f 138 135 155 +f 141 133 155 +f 135 147 155 +f 147 141 155 +f 142 139 156 +f 149 135 156 +f 139 149 156 +f 135 152 156 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/015/015.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/015/015.urdf new file mode 100644 index 000000000..bd97ccb74 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/015/015.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/016/016.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/016/016.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/016/016.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/016/016.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/016/016.obj new file mode 100644 index 000000000..7b70685af --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/016/016.obj @@ -0,0 +1,732 @@ +o convex_0 +v 0.996620 1.593728 0.279773 +v -1.523451 -0.631386 -0.041700 +v -1.523451 -0.631386 0.065202 +v -0.692257 2.960788 -0.014879 +v 0.835787 -0.631386 -0.819329 +v 0.835787 -0.631386 0.896473 +v 0.004594 2.665596 -0.712043 +v 0.004594 2.665596 0.762366 +v -0.772538 0.387826 -0.872780 +v -0.772538 0.199940 0.896281 +v 0.808757 2.773301 -0.095343 +v -0.772538 2.183714 0.681710 +v 0.889308 2.370802 0.735545 +v 1.238004 -0.631386 0.011942 +v -0.772538 2.237168 -0.658209 +v 0.058115 3.443867 0.038381 +v 0.835787 0.575712 -0.819329 +v -1.094474 -0.631386 -0.685222 +v -1.040953 -0.631386 0.735545 +v 0.272738 0.387427 1.003759 +v 0.111906 0.280519 -0.953435 +v 1.210973 -0.604260 0.520974 +v 1.103932 0.629166 -0.390187 +v 0.808757 0.360700 0.976937 +v -0.772538 2.853482 0.038381 +v 1.184213 -0.631386 -0.443829 +v 0.647924 2.076009 -0.577936 +v -0.477634 -0.631386 -0.819137 +v 0.004594 -0.631386 0.896473 +v -1.282067 -0.523681 0.494152 +v 0.058115 0.602040 -0.953435 +v -1.335588 -0.604260 -0.417008 +v 0.004594 0.468007 1.003759 +v 0.058115 2.665596 -0.712043 +v 0.218947 -0.631386 -0.872971 +v 0.004594 3.068494 0.413880 +v 1.023380 -0.496954 0.788996 +v 1.238004 -0.524080 0.172488 +v 0.889308 2.022555 0.788996 +v -0.048927 3.255582 -0.148986 +v 0.835787 2.719449 0.065202 +v -0.772538 0.092633 -0.872780 +v 1.076901 0.870506 -0.390187 +v -0.692257 2.960788 0.038381 +v 0.916068 2.263895 0.708532 +v -0.772538 -0.603862 0.816009 +v -0.719018 2.263895 0.681710 +v 0.808757 0.012453 0.976937 +v 0.755236 0.548586 -0.846150 +v 0.058115 3.068494 -0.363557 +v -0.772538 2.853482 -0.014879 +v 0.165426 2.719449 0.708723 +v 0.111906 3.389616 0.092023 +v -0.719018 1.834669 0.735545 +v -1.523451 -0.604260 0.065202 +v -0.692257 2.371201 -0.604758 +v -1.523451 -0.604260 -0.041700 +v -0.102718 0.468406 -0.953435 +v -0.745778 2.102736 -0.685222 +v -1.094474 -0.523681 -0.685222 +v -0.799569 -0.603862 -0.792507 +v 0.004594 0.387427 1.003759 +v 0.004594 3.443867 0.038381 +v 0.380050 -0.443500 -0.899793 +f 21 49 64 +f 3 2 5 +f 3 5 6 +f 6 5 14 +f 5 2 18 +f 3 6 19 +f 10 12 19 +f 6 14 22 +f 14 5 26 +f 5 17 26 +f 23 14 26 +f 17 23 26 +f 5 18 28 +f 19 6 29 +f 3 19 30 +f 19 12 30 +f 18 2 32 +f 20 8 33 +f 11 27 34 +f 27 17 34 +f 31 7 34 +f 5 28 35 +f 6 22 37 +f 22 14 38 +f 14 23 38 +f 13 8 39 +f 8 20 39 +f 20 24 39 +f 37 22 39 +f 24 37 39 +f 18 9 42 +f 21 35 42 +f 35 28 42 +f 23 17 43 +f 27 11 43 +f 17 27 43 +f 1 38 43 +f 38 23 43 +f 41 1 43 +f 11 41 43 +f 4 25 44 +f 38 1 45 +f 22 38 45 +f 13 39 45 +f 39 22 45 +f 1 41 45 +f 41 13 45 +f 10 19 46 +f 19 29 46 +f 25 12 47 +f 8 36 47 +f 44 25 47 +f 36 44 47 +f 24 20 48 +f 29 6 48 +f 6 37 48 +f 37 24 48 +f 17 5 49 +f 21 31 49 +f 34 17 49 +f 31 34 49 +f 16 11 50 +f 34 7 50 +f 11 34 50 +f 7 40 50 +f 4 15 51 +f 25 4 51 +f 8 13 52 +f 36 8 52 +f 36 52 53 +f 11 16 53 +f 16 36 53 +f 13 41 53 +f 41 11 53 +f 52 13 53 +f 12 10 54 +f 33 8 54 +f 10 33 54 +f 8 47 54 +f 47 12 54 +f 2 3 55 +f 12 25 55 +f 3 30 55 +f 30 12 55 +f 25 51 55 +f 15 4 56 +f 7 15 56 +f 4 40 56 +f 40 7 56 +f 32 2 57 +f 15 32 57 +f 51 15 57 +f 2 55 57 +f 55 51 57 +f 7 31 58 +f 31 21 58 +f 42 9 58 +f 21 42 58 +f 15 7 59 +f 9 15 59 +f 7 58 59 +f 58 9 59 +f 15 9 60 +f 9 18 60 +f 32 15 60 +f 18 32 60 +f 28 18 61 +f 18 42 61 +f 42 28 61 +f 33 10 62 +f 20 33 62 +f 10 46 62 +f 46 29 62 +f 48 20 62 +f 29 48 62 +f 36 16 63 +f 40 4 63 +f 4 44 63 +f 44 36 63 +f 16 50 63 +f 50 40 63 +f 5 35 64 +f 35 21 64 +f 49 5 64 +o convex_1 +v 1.318620 -2.159606 -0.095382 +v 1.318620 -0.711819 0.172574 +v 1.318620 -0.711819 0.065325 +v 3.061143 -1.569636 0.038431 +v 1.264815 -1.435713 0.574785 +v 1.264815 -1.596420 -0.551272 +v 2.819722 -1.542993 -0.390344 +v 2.792819 -1.542993 0.413856 +v 1.264815 -0.953306 -0.417129 +v 2.819722 -1.167725 0.011756 +v 1.264815 -0.792456 0.494320 +v 2.042356 -1.944904 0.360287 +v 2.792819 -1.944904 -0.041813 +v 1.962000 -1.998615 -0.390344 +v 1.264815 -1.971830 0.413856 +v 1.264815 -2.052326 -0.417129 +v 1.854741 -1.542709 0.547890 +v 2.605380 -1.248078 0.333392 +v 2.524847 -1.248078 -0.309880 +v 2.176342 -1.569636 -0.497593 +v 1.747481 -2.132680 0.011756 +v 1.345347 -0.926521 -0.390344 +v 1.291718 -1.757412 -0.551272 +v 2.632106 -1.837765 -0.309880 +v 2.739366 -1.918261 0.092110 +v 1.318620 -0.792456 0.494320 +v 2.819722 -1.167725 0.065325 +v 1.264815 -2.159606 0.065325 +v 2.819722 -1.596420 -0.390344 +v 2.122713 -1.194509 -0.390344 +v 1.318620 -1.221294 0.574785 +v 2.605380 -1.837765 0.279713 +v 1.962000 -1.623205 0.521105 +v 2.792819 -1.516066 0.413856 +v 1.962000 -2.105895 -0.041813 +v 1.291718 -0.765530 -0.095382 +v 3.034241 -1.462497 0.038431 +v 1.962000 -1.462497 -0.497593 +v 2.122713 -2.079111 0.011756 +v 2.176342 -1.971830 -0.363559 +v 1.506236 -1.837624 0.467536 +v 3.034241 -1.569636 -0.068598 +v 2.069259 -1.650131 -0.497593 +v 1.264815 -0.711819 0.038541 +v 1.291718 -0.765530 0.467536 +v 1.291718 -2.079111 -0.390344 +v 1.372250 -0.926521 0.521105 +v 2.792819 -1.167725 -0.014918 +v 3.034241 -1.516066 -0.068598 +v 2.095986 -1.542709 0.521105 +v 2.846625 -1.891335 0.011756 +v 1.345347 -0.953306 -0.417129 +v 2.632106 -1.248078 -0.256200 +v 1.988727 -1.864550 0.413856 +v 1.398977 -1.971830 0.413856 +v 2.766093 -1.569636 0.413856 +v 2.069259 -1.971830 -0.390344 +v 2.069259 -1.998615 -0.363559 +v 1.962000 -1.971830 0.333392 +f 119 92 123 +f 70 69 73 +f 67 66 74 +f 73 69 75 +f 69 70 79 +f 79 70 80 +f 78 80 87 +f 80 70 87 +f 70 84 87 +f 90 82 91 +f 74 66 91 +f 79 80 92 +f 65 85 92 +f 84 71 93 +f 77 88 93 +f 83 71 94 +f 71 84 94 +f 75 69 95 +f 69 81 95 +f 76 89 96 +f 72 68 98 +f 82 90 98 +f 91 82 98 +f 85 65 99 +f 86 73 100 +f 74 91 101 +f 98 68 101 +f 91 98 101 +f 84 70 102 +f 94 84 102 +f 89 76 103 +f 77 89 103 +f 99 77 103 +f 85 99 103 +f 88 77 104 +f 93 88 104 +f 69 79 105 +f 81 69 105 +f 97 81 105 +f 93 71 106 +f 77 93 106 +f 87 84 107 +f 84 93 107 +f 66 67 108 +f 73 75 108 +f 67 100 108 +f 100 73 108 +f 75 90 109 +f 90 91 109 +f 91 66 109 +f 66 108 109 +f 108 75 109 +f 80 78 110 +f 65 92 110 +f 92 80 110 +f 99 65 110 +f 90 75 111 +f 75 95 111 +f 98 90 111 +f 74 71 112 +f 67 74 112 +f 100 67 112 +f 86 100 112 +f 71 74 113 +f 101 68 113 +f 74 101 113 +f 68 106 113 +f 106 71 113 +f 95 81 114 +f 81 97 114 +f 72 98 114 +f 111 95 114 +f 98 111 114 +f 68 72 115 +f 72 89 115 +f 89 77 115 +f 106 68 115 +f 77 106 115 +f 70 73 116 +f 73 86 116 +f 86 83 116 +f 83 94 116 +f 102 70 116 +f 94 102 116 +f 71 83 117 +f 83 86 117 +f 112 71 117 +f 86 112 117 +f 97 105 118 +f 118 105 119 +f 79 92 119 +f 105 79 119 +f 76 118 119 +f 89 72 120 +f 76 96 120 +f 96 89 120 +f 72 114 120 +f 114 97 120 +f 118 76 120 +f 97 118 120 +f 78 87 121 +f 93 104 121 +f 87 107 121 +f 107 93 121 +f 77 99 122 +f 104 77 122 +f 110 78 122 +f 99 110 122 +f 78 121 122 +f 121 104 122 +f 92 85 123 +f 103 76 123 +f 85 103 123 +f 76 119 123 +o convex_2 +v -1.657752 -2.132648 0.011819 +v -1.335840 -0.631386 0.306644 +v -1.335840 -0.631386 -0.390391 +v -3.024760 -1.515977 -0.068558 +v -1.335840 -1.891330 0.467507 +v -1.335840 -1.918224 -0.417184 +v -2.783368 -1.596368 0.387022 +v -2.756748 -1.515977 -0.443869 +v -2.783368 -1.141066 0.011819 +v -2.783368 -1.971720 -0.041766 +v -1.362790 -1.248057 0.574785 +v -1.335840 -1.167814 -0.524461 +v -2.086637 -1.971720 0.387022 +v -1.389575 -0.738672 0.467507 +v -2.086637 -1.918077 -0.417076 +v -1.925929 -1.569620 0.547884 +v -1.577232 -0.631386 0.065189 +v -2.113586 -1.542872 -0.524461 +v -1.335840 -2.132795 0.065189 +v -2.595710 -1.194562 -0.309799 +v -2.595710 -1.274952 0.306537 +v -2.622660 -1.837687 -0.336699 +v -2.086637 -1.971720 -0.363491 +v -2.569091 -1.891330 0.279852 +v -2.783368 -1.141066 -0.041766 +v -1.389575 -0.685029 -0.417184 +v -2.033067 -2.105901 0.011819 +v -1.335840 -1.408839 -0.524461 +v -1.335840 -2.132795 -0.041766 +v -2.810318 -1.489082 -0.417076 +v -1.335840 -1.435440 0.574785 +v -3.024760 -1.569620 0.011819 +v -2.274294 -1.569620 0.494299 +v -1.443144 -1.971867 0.413814 +v -1.389575 -0.631386 -0.363491 +v -2.113586 -1.489082 -0.524461 +v -2.783368 -1.569620 0.387022 +v -2.059852 -1.650011 0.521092 +v -2.033067 -1.998615 0.360229 +v -2.810318 -1.542872 -0.417076 +v -2.783368 -1.971720 -0.014973 +v -2.810318 -1.944972 -0.068558 +v -2.649445 -1.221457 0.226159 +v -1.362790 -0.685029 0.413814 +v -2.059852 -2.079006 -0.095351 +v -1.335840 -1.971867 -0.363491 +v -2.756748 -1.489082 -0.443869 +v -3.024760 -1.515977 0.011819 +v -1.335840 -0.738672 0.467507 +v -1.577232 -0.631386 0.011819 +v -3.024760 -1.569620 -0.068558 +v -2.676229 -1.301847 -0.363491 +v -2.033067 -1.944972 0.413814 +v -1.443144 -0.631386 0.226159 +v -1.845410 -1.462481 0.547884 +v -2.703014 -1.435587 0.360229 +v -2.622660 -1.837687 0.306537 +v -1.845410 -1.650011 -0.497561 +v -2.729798 -1.141066 0.065189 +v -2.676229 -1.167667 -0.202629 +v -2.729798 -1.918077 -0.175836 +f 165 163 184 +f 126 125 128 +f 126 128 129 +f 126 129 135 +f 125 126 140 +f 138 131 141 +f 129 128 142 +f 131 138 145 +f 145 138 146 +f 138 129 146 +f 127 132 148 +f 132 140 148 +f 126 135 149 +f 135 129 151 +f 141 135 151 +f 142 124 152 +f 129 142 152 +f 127 148 153 +f 128 125 154 +f 139 128 154 +f 134 139 154 +f 142 128 157 +f 140 126 158 +f 126 149 158 +f 149 143 158 +f 135 141 159 +f 141 131 159 +f 149 135 159 +f 155 130 160 +f 130 156 160 +f 156 137 160 +f 128 139 161 +f 156 130 161 +f 139 156 161 +f 124 142 162 +f 150 124 162 +f 157 136 162 +f 142 157 162 +f 131 145 163 +f 127 153 163 +f 153 131 163 +f 136 147 164 +f 133 150 164 +f 130 155 164 +f 162 136 164 +f 150 162 164 +f 133 164 165 +f 164 155 165 +f 144 137 166 +f 133 146 168 +f 124 150 168 +f 150 133 168 +f 152 124 168 +f 146 152 168 +f 146 129 169 +f 129 152 169 +f 152 146 169 +f 131 153 170 +f 159 131 170 +f 149 159 170 +f 132 127 171 +f 127 155 171 +f 160 132 171 +f 155 160 171 +f 137 134 172 +f 154 125 172 +f 134 154 172 +f 167 137 172 +f 125 167 172 +f 148 140 173 +f 140 158 173 +f 158 148 173 +f 155 127 174 +f 127 163 174 +f 165 155 174 +f 163 165 174 +f 143 149 175 +f 153 148 175 +f 149 170 175 +f 170 153 175 +f 130 136 176 +f 157 128 176 +f 136 157 176 +f 128 161 176 +f 161 130 176 +f 125 140 177 +f 140 132 177 +f 167 125 177 +f 134 137 178 +f 139 134 178 +f 137 156 178 +f 156 139 178 +f 137 144 179 +f 132 160 179 +f 160 137 179 +f 166 132 179 +f 144 166 179 +f 136 130 180 +f 147 136 180 +f 130 164 180 +f 164 147 180 +f 129 138 181 +f 138 141 181 +f 151 129 181 +f 141 151 181 +f 132 166 182 +f 166 137 182 +f 137 167 182 +f 177 132 182 +f 167 177 182 +f 148 158 183 +f 158 143 183 +f 143 175 183 +f 175 148 183 +f 145 146 184 +f 146 133 184 +f 163 145 184 +f 133 165 184 +o convex_3 +v -1.335840 -0.631386 -0.416940 +v 1.264815 -0.631386 0.118973 +v 1.264815 -0.631386 0.091953 +v 0.326481 -2.534958 0.011756 +v -0.719025 -0.631386 0.815799 +v 0.889329 -1.891180 -0.792460 +v -1.335840 -2.132667 -0.041593 +v 0.862345 -1.864348 0.735602 +v 0.835615 -0.631386 -0.819308 +v -1.335840 -1.891366 0.467473 +v -0.799468 -1.784039 -0.658395 +v 1.264815 -2.105835 -0.336570 +v 0.808886 -0.631386 0.896515 +v -0.772738 -0.631386 -0.792287 +v 1.264815 -1.971675 0.413778 +v -1.308856 -0.631386 0.467473 +v -0.102464 -1.810871 0.762277 +v -0.719025 -2.481295 -0.014918 +v -1.335840 -1.918012 -0.416940 +v 1.264815 -1.676898 -0.578025 +v 1.050215 -2.239808 -0.551005 +v 0.808886 -2.508126 0.038257 +v 1.264815 -1.194669 0.574690 +v 1.184117 -0.631386 -0.443787 +v -0.746009 -1.837702 0.681907 +v -1.335840 -1.435783 0.574517 +v -1.335840 -1.274979 -0.551005 +v 0.245784 -0.658218 -0.873003 +v -0.129193 -2.534958 0.038431 +v 1.184117 -0.631386 0.574690 +v 0.004454 -0.899519 0.869667 +v 1.264815 -2.186144 0.011756 +v -0.665311 -1.784039 -0.685243 +v -1.094511 -0.712068 0.708755 +v 0.808886 -1.676711 0.789125 +v -0.799468 -2.454277 0.038431 +v -1.147970 -0.685236 -0.658395 +v 1.264815 -1.435970 0.574690 +v -0.772738 -1.837702 -0.631547 +v 1.264815 -0.926537 -0.417113 +v 0.943042 -1.971675 -0.765612 +v 1.023486 -0.685050 0.789125 +v 0.058168 -1.837516 0.762277 +v 0.326481 -2.320303 0.279539 +v -1.335840 -1.944844 0.440625 +v 0.514097 -0.631386 -0.873003 +v -0.772738 -2.454277 -0.041593 +v -0.129193 -2.534958 -0.014918 +v -1.335840 -0.712068 0.467473 +v 1.103674 -0.658404 -0.578025 +v 0.996502 -2.213162 -0.578025 +v -0.048750 -1.784039 -0.738765 +v -0.772738 -0.685236 -0.792287 +v -1.335840 -2.132667 0.092126 +v 0.808886 -2.427631 0.145475 +v -0.772738 -1.355474 0.735429 +v 1.264815 -0.765732 0.494147 +v -0.209636 -0.631386 0.869667 +v 1.264815 -1.998507 -0.470635 +v -1.308856 -1.944844 -0.416940 +v 0.808886 -0.711882 0.896515 +v 0.004454 -1.676711 0.789125 +v 0.889329 -0.631386 -0.792460 +v 0.916058 -1.757393 -0.792460 +f 247 204 248 +f 185 186 187 +f 186 185 189 +f 185 187 193 +f 185 191 194 +f 187 186 196 +f 186 189 197 +f 185 193 198 +f 196 186 199 +f 189 185 200 +f 191 185 203 +f 187 196 204 +f 188 205 206 +f 199 186 207 +f 193 187 208 +f 185 194 210 +f 194 209 210 +f 203 185 211 +f 195 203 211 +f 188 206 213 +f 186 197 214 +f 196 199 216 +f 205 196 216 +f 199 206 216 +f 206 205 216 +f 189 200 218 +f 202 213 220 +f 213 209 220 +f 185 198 221 +f 211 185 221 +f 192 199 222 +f 199 207 222 +f 219 192 222 +f 195 217 223 +f 187 204 224 +f 208 187 224 +f 217 190 225 +f 223 217 225 +f 214 197 226 +f 207 214 226 +f 222 207 226 +f 219 222 226 +f 201 209 227 +f 209 213 227 +f 192 219 227 +f 192 227 228 +f 227 213 228 +f 194 191 229 +f 209 194 229 +f 220 209 229 +f 198 193 230 +f 190 212 230 +f 212 198 230 +f 220 191 231 +f 202 220 231 +f 205 188 232 +f 202 205 232 +f 188 213 232 +f 213 202 232 +f 200 185 233 +f 185 210 233 +f 218 200 233 +f 210 218 233 +f 224 204 234 +f 208 224 234 +f 205 202 235 +f 225 205 235 +f 223 225 235 +f 202 231 235 +f 231 223 235 +f 212 190 236 +f 190 217 236 +f 236 217 237 +f 195 211 237 +f 198 212 237 +f 217 195 237 +f 221 198 237 +f 211 221 237 +f 212 236 237 +f 191 220 238 +f 229 191 238 +f 220 229 238 +f 199 192 239 +f 206 199 239 +f 213 206 239 +f 192 228 239 +f 228 213 239 +f 209 201 240 +f 210 209 240 +f 215 189 240 +f 189 218 240 +f 218 210 240 +f 207 186 241 +f 186 214 241 +f 214 207 241 +f 197 189 242 +f 189 215 242 +f 204 196 243 +f 196 205 243 +f 225 204 243 +f 205 225 243 +f 191 203 244 +f 203 195 244 +f 195 223 244 +f 231 191 244 +f 223 231 244 +f 226 197 245 +f 219 226 245 +f 197 242 245 +f 242 215 245 +f 201 227 246 +f 227 219 246 +f 240 201 246 +f 215 240 246 +f 245 215 246 +f 219 245 246 +f 193 208 247 +f 234 204 247 +f 208 234 247 +f 225 190 248 +f 204 225 248 +f 190 230 248 +f 230 193 248 +f 193 247 248 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/016/016.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/016/016.urdf new file mode 100644 index 000000000..5e64aa524 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/016/016.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/017/017.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/017/017.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/017/017.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/017/017.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/017/017.obj new file mode 100644 index 000000000..87d4aaba9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/017/017.obj @@ -0,0 +1,681 @@ +o convex_0 +v -0.562170 -1.300671 1.066537 +v -1.117246 -1.448753 0.326233 +v -1.117246 -1.448753 0.400392 +v 1.103059 -3.557683 -1.079362 +v 1.103059 -1.152589 -1.079362 +v 1.103059 -3.483289 1.066324 +v -1.006187 -3.557683 -1.116762 +v -0.969023 -3.446328 0.955406 +v 1.103059 -1.152589 1.066324 +v -1.043134 -1.152589 -1.079576 +v -1.043134 -1.152589 0.955406 +v -1.006187 -3.483289 0.622440 +v -1.043134 -3.335207 -0.968444 +v -0.932075 -3.113203 0.992165 +v -1.117246 -1.152589 0.659413 +v 1.028947 -3.557683 -0.598506 +v -0.969023 -3.483289 0.881461 +v -0.265941 -3.520251 -1.116548 +v -1.006187 -2.780313 -1.116762 +v -1.006187 -3.335207 0.955406 +v -0.636064 -1.152589 1.066537 +v 1.028947 -3.483289 1.066324 +v -0.969023 -3.557683 -1.005417 +v -0.673228 -3.446328 0.992165 +v -0.636064 -1.300671 1.066537 +f 14 22 25 +f 4 5 6 +f 1 6 9 +f 6 5 9 +f 9 5 10 +f 9 10 11 +f 3 2 13 +f 2 10 13 +f 10 7 13 +f 12 3 13 +f 7 12 13 +f 2 3 15 +f 10 2 15 +f 11 10 15 +f 4 6 16 +f 7 4 16 +f 12 7 17 +f 5 4 18 +f 4 7 18 +f 7 10 19 +f 10 5 19 +f 5 18 19 +f 18 7 19 +f 3 12 20 +f 8 14 20 +f 14 11 20 +f 15 3 20 +f 11 15 20 +f 17 8 20 +f 12 17 20 +f 1 9 21 +f 9 11 21 +f 11 14 21 +f 6 1 22 +f 16 6 22 +f 17 16 22 +f 7 16 23 +f 17 7 23 +f 16 17 23 +f 14 8 24 +f 8 17 24 +f 22 14 24 +f 17 22 24 +f 1 21 25 +f 21 14 25 +f 22 1 25 +o convex_1 +v -1.080240 0.364854 0.918372 +v 1.103059 0.253810 -0.857697 +v 1.103059 0.068814 -0.857697 +v 1.065872 0.364854 1.103543 +v -0.636143 0.068814 1.066378 +v -1.043054 0.364854 -1.042650 +v -1.043054 0.068814 -1.042650 +v 1.065872 0.068814 1.066378 +v 1.103059 0.364854 -1.116762 +v -1.080240 0.068814 0.918372 +v 1.103059 0.068814 -1.116762 +v -0.895164 0.364854 0.992484 +v -0.043943 0.364854 1.066378 +v 0.769665 0.290786 -1.116762 +f 34 36 39 +f 28 27 29 +f 26 29 31 +f 26 31 32 +f 28 30 32 +f 28 29 33 +f 29 30 33 +f 30 28 33 +f 27 28 34 +f 29 27 34 +f 31 29 34 +f 26 32 35 +f 32 30 35 +f 28 32 36 +f 34 28 36 +f 29 26 37 +f 26 35 37 +f 35 30 37 +f 30 29 38 +f 29 37 38 +f 37 30 38 +f 32 31 39 +f 31 34 39 +f 36 32 39 +o convex_2 +v -1.339602 -0.264384 0.585472 +v -2.005498 -1.004192 -0.598691 +v -2.005498 -0.967140 -0.598691 +v -3.078167 -0.967140 0.548380 +v -3.078167 0.031696 -0.450670 +v -1.117637 -0.079348 -0.487646 +v -1.117637 -1.115349 0.585472 +v -2.967282 -0.005356 0.511404 +v -3.115129 -0.967140 -0.561599 +v -1.117637 -1.041132 -0.598691 +v -1.117637 -0.005356 0.548380 +v -2.523351 -0.967140 0.585472 +v -3.004244 -0.227332 0.548380 +v -1.154598 -0.190392 -0.524623 +v -1.302445 -1.115349 0.511404 +v -1.561567 -1.041132 -0.598691 +v -3.041205 0.031696 -0.043586 +v -2.782278 0.031696 -0.450670 +v -3.115129 -0.560128 -0.524623 +v -2.634236 -0.005356 0.548380 +v -1.117637 -0.005356 0.363383 +v -3.078167 -0.782216 0.548380 +v -1.302445 -0.819156 -0.598691 +v -1.154598 -1.115349 0.326407 +v -3.115129 -0.967140 -0.043586 +v -1.117637 -0.190392 0.585472 +f 50 59 65 +f 42 41 48 +f 41 42 49 +f 45 46 49 +f 46 45 50 +f 43 46 51 +f 46 40 51 +f 45 49 53 +f 46 43 54 +f 48 41 55 +f 41 49 55 +f 52 47 56 +f 53 44 57 +f 45 53 57 +f 44 56 57 +f 56 50 57 +f 42 48 58 +f 44 53 58 +f 51 40 59 +f 47 52 59 +f 52 51 59 +f 50 56 59 +f 56 47 59 +f 50 45 60 +f 45 57 60 +f 57 50 60 +f 43 51 61 +f 51 52 61 +f 56 44 61 +f 52 56 61 +f 44 58 61 +f 49 42 62 +f 53 49 62 +f 42 58 62 +f 58 53 62 +f 49 46 63 +f 46 54 63 +f 54 48 63 +f 55 49 63 +f 48 55 63 +f 54 43 64 +f 48 54 64 +f 58 48 64 +f 43 61 64 +f 61 58 64 +f 40 46 65 +f 46 50 65 +f 59 40 65 +o convex_3 +v -1.968384 2.473962 -0.709597 +v -3.115520 2.103991 0.918267 +v -3.115520 2.103991 0.955323 +v -1.080241 0.439226 -1.042701 +v -1.080241 2.436986 0.955522 +v -3.078464 0.365064 0.918267 +v -2.967296 0.512969 -1.005446 +v -1.080241 0.475992 0.918466 +v -1.080241 2.510938 -1.079756 +v -2.930241 2.400010 -1.042502 +v -3.115520 2.400010 0.955323 +v -2.782416 0.476203 -1.042502 +v -2.930241 2.436986 0.770443 +v -2.412257 0.957102 0.955323 +v -2.967296 2.400010 -0.968589 +v -1.709392 1.770786 -1.079756 +v -1.080241 1.179168 0.955522 +v -1.487456 0.439226 0.918466 +v -1.302376 2.510938 -0.783709 +v -3.078464 0.402040 0.733188 +v -3.115520 2.363034 0.844355 +v -3.078464 1.068240 0.955323 +v -1.080241 0.439226 -0.524517 +v -2.523424 2.436986 -1.005446 +v -2.930241 0.512969 -1.042502 +v -1.709392 2.436986 0.955522 +v -3.041408 0.402040 0.252259 +f 85 72 92 +f 68 67 71 +f 69 70 73 +f 70 69 74 +f 67 68 76 +f 75 72 80 +f 76 78 80 +f 74 69 81 +f 75 74 81 +f 69 77 81 +f 73 70 82 +f 79 73 82 +f 79 71 83 +f 73 79 83 +f 70 74 84 +f 66 78 84 +f 71 67 85 +f 72 85 86 +f 67 76 86 +f 80 72 86 +f 76 80 86 +f 85 67 86 +f 68 71 87 +f 71 79 87 +f 79 82 87 +f 71 69 88 +f 69 73 88 +f 83 71 88 +f 73 83 88 +f 74 75 89 +f 78 66 89 +f 75 80 89 +f 80 78 89 +f 66 84 89 +f 84 74 89 +f 72 75 90 +f 77 72 90 +f 75 81 90 +f 81 77 90 +f 76 68 91 +f 78 76 91 +f 82 70 91 +f 70 84 91 +f 84 78 91 +f 68 87 91 +f 87 82 91 +f 69 71 92 +f 77 69 92 +f 72 77 92 +f 71 85 92 +o convex_4 +v 2.731238 1.364179 1.066161 +v 0.585235 0.475985 -1.116762 +v 0.585235 0.512958 -1.116762 +v -1.080240 1.179317 0.955319 +v -1.080240 2.510754 -1.079597 +v 3.027168 2.473781 -1.042433 +v -1.080240 2.436809 0.955319 +v 2.953083 0.475985 0.659308 +v 3.101253 2.473781 0.955319 +v -1.080240 0.365068 0.918372 +v 2.953083 0.402254 -0.931591 +v -1.042994 0.365068 -1.042433 +v 1.065763 0.364854 1.103543 +v 2.916245 0.512958 1.103325 +v 1.843039 2.548153 -0.080504 +v 1.103010 0.364854 -1.116762 +v -0.192042 2.548153 -1.005703 +v 1.398940 2.029898 1.029431 +v 2.989921 2.510967 0.844478 +v 0.733404 0.475985 1.103543 +v 1.768954 2.548153 -0.968539 +v 3.101253 2.177788 0.659308 +v -1.080240 0.439226 -1.042433 +v -0.857986 0.365068 0.992267 +v 2.989921 0.883110 -0.968539 +v 1.324855 0.512958 -1.116762 +v 2.323977 0.957055 1.103325 +v 0.363390 2.399836 0.992484 +v 2.989921 0.624089 -0.635580 +v 0.473903 2.548153 -0.450627 +v 1.103010 0.771979 -1.116762 +v 2.953083 0.587116 1.103325 +v 2.953083 0.402254 -0.598415 +v 3.027168 2.251946 -1.042433 +v 2.804914 0.402254 -0.968539 +v 2.657153 2.510967 -1.005486 +v 0.067051 0.364854 1.066378 +v 1.583947 2.436809 0.992484 +v -1.080240 2.510754 -0.746421 +v 3.064006 2.437022 -0.487357 +v 2.953083 0.883110 1.103325 +v -1.080240 2.214760 -1.079597 +v 3.101253 2.214974 0.918372 +v 1.028925 0.624089 1.103543 +f 133 119 136 +f 95 94 97 +f 97 96 99 +f 96 97 102 +f 105 100 106 +f 94 95 108 +f 104 94 108 +f 101 98 111 +f 99 101 111 +f 97 109 113 +f 109 107 113 +f 107 111 113 +f 102 97 115 +f 94 104 115 +f 104 102 115 +f 99 96 116 +f 96 102 116 +f 108 95 118 +f 103 117 121 +f 117 114 121 +f 107 109 122 +f 99 111 122 +f 111 107 122 +f 95 97 123 +f 97 98 123 +f 118 95 123 +f 98 118 123 +f 106 100 124 +f 105 106 124 +f 100 105 125 +f 108 103 125 +f 105 108 125 +f 121 100 125 +f 103 121 125 +f 118 98 126 +f 118 126 127 +f 103 108 127 +f 117 103 127 +f 108 118 127 +f 126 117 127 +f 98 97 128 +f 111 98 128 +f 97 113 128 +f 113 111 128 +f 102 104 129 +f 104 108 129 +f 108 105 129 +f 112 99 129 +f 105 112 129 +f 99 116 129 +f 116 102 129 +f 101 99 130 +f 93 101 130 +f 110 93 130 +f 99 120 130 +f 120 110 130 +f 97 99 131 +f 109 97 131 +f 99 122 131 +f 122 109 131 +f 98 101 132 +f 101 114 132 +f 114 117 132 +f 126 98 132 +f 117 126 132 +f 101 93 133 +f 93 110 133 +f 110 119 133 +f 124 101 133 +f 105 124 133 +f 97 94 134 +f 94 115 134 +f 115 97 134 +f 114 101 135 +f 100 121 135 +f 121 114 135 +f 101 124 135 +f 124 100 135 +f 99 112 136 +f 112 105 136 +f 119 110 136 +f 120 99 136 +f 110 120 136 +f 105 133 136 +o convex_5 +v 1.473308 -1.078145 0.511404 +v 1.140447 -0.967111 -0.598691 +v 1.140447 -0.893166 -0.598691 +v 3.101332 -1.078145 -0.450670 +v 2.916090 0.031609 0.474427 +v 1.140447 0.031609 -0.487646 +v 2.952946 0.068582 -0.487646 +v 1.140447 -0.042336 0.437451 +v 3.064092 -1.115349 0.585472 +v 1.140447 -1.115349 0.474427 +v 1.473308 -0.005363 0.474427 +v 2.952946 0.068582 0.067343 +v 1.140447 -1.115349 0.252339 +v 1.769313 -1.041172 -0.524623 +v 3.027043 -1.115349 -0.117538 +v 1.140447 -0.153369 0.474427 +v 1.917315 0.068582 -0.487646 +v 3.101332 -0.930139 -0.339626 +v 1.140447 0.031609 -0.154630 +v 2.952946 -0.005363 0.474427 +v 2.508940 -1.078145 -0.487646 +v 2.952946 -1.041172 0.585472 +v 2.472083 -0.190341 -0.524623 +v 2.397986 0.031609 0.474427 +v 1.140447 -1.004200 -0.561599 +f 157 150 161 +f 139 138 142 +f 142 138 144 +f 144 138 146 +f 145 137 146 +f 146 138 149 +f 145 146 149 +f 140 145 151 +f 145 149 151 +f 144 146 152 +f 146 137 152 +f 147 144 152 +f 148 143 153 +f 140 143 154 +f 145 140 154 +f 143 148 154 +f 142 144 155 +f 144 147 155 +f 153 142 155 +f 148 153 155 +f 141 145 156 +f 148 141 156 +f 145 154 156 +f 154 148 156 +f 138 140 157 +f 149 150 157 +f 151 149 157 +f 140 151 157 +f 137 145 158 +f 145 141 158 +f 152 137 158 +f 147 152 158 +f 138 139 159 +f 140 138 159 +f 139 142 159 +f 143 140 159 +f 142 153 159 +f 153 143 159 +f 141 148 160 +f 155 147 160 +f 148 155 160 +f 158 141 160 +f 147 158 160 +f 149 138 161 +f 150 149 161 +f 138 157 161 +o convex_6 +v -0.599175 -0.745193 1.288872 +v 0.621993 -1.004232 3.027506 +v 0.621993 -1.041205 3.027506 +v 0.584937 -0.523358 1.066538 +v -0.450952 0.031577 3.064761 +v -0.414015 -1.115150 3.101816 +v 0.584937 -1.152354 1.066538 +v -0.562119 0.031577 1.066538 +v 0.473770 -0.079341 2.990450 +v -0.599175 -1.152354 1.066538 +v 0.547762 -0.079341 1.066538 +v -0.155103 0.031577 2.324641 +v -0.450952 -1.115150 3.027506 +v 0.473770 -0.042368 1.066538 +v -0.488007 -0.079341 2.842625 +v 0.214738 -1.152354 1.806657 +v -0.229095 0.031577 3.064761 +v -0.599175 -1.152354 1.325729 +v 0.547762 -0.079341 1.658633 +v -0.562119 0.031577 1.547665 +v 0.399777 -1.078177 2.990450 +v -0.303087 0.031577 1.066538 +v 0.584937 -0.745193 3.027506 +v -0.599175 -0.338380 1.066538 +v -0.155103 -1.115150 3.064761 +f 177 182 186 +f 163 164 165 +f 164 163 167 +f 165 164 168 +f 165 168 169 +f 169 168 171 +f 165 169 172 +f 169 166 173 +f 167 166 174 +f 172 169 175 +f 174 166 176 +f 171 168 177 +f 166 167 178 +f 173 166 178 +f 170 175 178 +f 175 173 178 +f 162 171 179 +f 167 174 179 +f 176 162 179 +f 174 176 179 +f 177 167 179 +f 171 177 179 +f 163 165 180 +f 165 172 180 +f 172 175 180 +f 175 170 180 +f 166 169 181 +f 162 176 181 +f 176 166 181 +f 168 164 182 +f 177 168 182 +f 169 173 183 +f 175 169 183 +f 173 175 183 +f 167 163 184 +f 178 167 184 +f 170 178 184 +f 163 180 184 +f 180 170 184 +f 171 162 185 +f 169 171 185 +f 162 181 185 +f 181 169 185 +f 164 167 186 +f 167 177 186 +f 182 164 186 +o convex_7 +v -0.562083 -0.412408 -2.929836 +v 0.584988 -0.449381 -1.117153 +v 0.584988 -1.115349 -1.117153 +v -0.599175 0.031609 -1.117153 +v 0.510920 0.068582 -3.077683 +v -0.488130 -1.041172 -3.114645 +v -0.525107 -1.041172 -1.117153 +v 0.436967 -1.004200 -2.966798 +v 0.547896 0.031609 -1.117153 +v -0.562083 -0.079424 -3.077683 +v 0.214879 -1.115349 -1.708930 +v -0.562083 -0.856194 -1.154114 +v -0.599175 -0.005363 -2.041975 +v 0.473943 -0.597155 -3.040721 +v 0.584988 -1.115349 -1.264999 +v -0.303134 -1.078145 -1.117153 +v -0.525107 -1.041172 -2.448749 +v 0.029883 -0.449381 -3.114645 +v 0.473943 0.068582 -2.374825 +v 0.399875 0.068582 -3.077683 +v -0.340110 -1.041172 -3.114645 +v -0.525107 -0.375436 -3.114645 +v 0.547896 0.031609 -2.041975 +v -0.414062 -0.042336 -3.077683 +v -0.599175 -0.264402 -1.264999 +v -0.525107 -0.856194 -3.114645 +f 196 208 212 +f 189 188 190 +f 189 190 193 +f 190 188 195 +f 193 190 198 +f 196 187 199 +f 194 200 201 +f 188 189 201 +f 191 188 201 +f 189 197 201 +f 197 194 201 +f 200 191 201 +f 189 193 202 +f 197 189 202 +f 192 197 202 +f 198 187 203 +f 193 198 203 +f 202 193 203 +f 192 202 203 +f 191 200 204 +f 190 195 205 +f 195 191 205 +f 199 190 206 +f 190 205 206 +f 205 191 206 +f 197 192 207 +f 194 197 207 +f 200 194 207 +f 192 204 207 +f 204 200 207 +f 191 204 208 +f 204 192 208 +f 206 191 208 +f 188 191 209 +f 195 188 209 +f 191 195 209 +f 196 199 210 +f 199 206 210 +f 208 196 210 +f 206 208 210 +f 187 198 211 +f 198 190 211 +f 190 199 211 +f 199 187 211 +f 187 196 212 +f 203 187 212 +f 192 203 212 +f 208 192 212 +o convex_8 +v 1.139966 -0.153358 0.474337 +v -0.598900 -0.301313 -1.116762 +v -0.598900 0.031646 -1.116762 +v -1.043007 -1.152234 0.955406 +v 1.102847 -1.152234 -1.116762 +v -1.043007 0.068694 0.955406 +v 1.102847 -1.152234 1.066537 +v -1.043007 -1.152234 -1.079576 +v 1.102847 0.068694 -1.116762 +v 1.065948 0.068694 1.066537 +v -1.043007 0.068694 -1.042389 +v -0.636019 -1.152234 1.066537 +v -1.117246 -0.486317 -0.561320 +v -0.636019 0.068694 1.066537 +v -1.117246 -1.152234 0.659413 +v -1.117246 -0.005403 0.548282 +v 1.139966 -1.004160 -0.598292 +v 1.139966 0.031646 -0.487375 +v -1.117246 -1.041208 -0.598292 +v 1.139966 -1.115186 0.474337 +v -0.524882 -1.041208 -1.116762 +v -1.117246 -0.079381 -0.487375 +v -1.080126 0.068694 0.881461 +v 1.102847 -0.597223 1.066537 +f 213 222 236 +f 214 215 217 +f 216 217 219 +f 215 214 220 +f 217 216 220 +f 217 215 221 +f 221 218 222 +f 215 220 223 +f 221 215 223 +f 218 221 223 +f 218 216 224 +f 216 219 224 +f 219 222 224 +f 222 218 226 +f 218 224 226 +f 224 222 226 +f 220 216 227 +f 225 227 228 +f 217 221 229 +f 229 221 230 +f 221 222 230 +f 222 213 230 +f 213 229 230 +f 223 220 231 +f 225 223 231 +f 220 227 231 +f 227 225 231 +f 213 219 232 +f 219 217 232 +f 229 213 232 +f 217 229 232 +f 214 217 233 +f 220 214 233 +f 217 220 233 +f 223 225 234 +f 225 228 234 +f 228 223 234 +f 216 218 235 +f 218 223 235 +f 227 216 235 +f 228 227 235 +f 223 228 235 +f 219 213 236 +f 222 219 236 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/017/017.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/017/017.urdf new file mode 100644 index 000000000..f4b48caa4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/017/017.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/018/018.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/018/018.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/018/018.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/018/018.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/018/018.obj new file mode 100644 index 000000000..283281141 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/018/018.obj @@ -0,0 +1,534 @@ +o convex_0 +v -0.007823 4.448005 1.061440 +v -1.114950 0.462298 0.286344 +v -1.114950 0.462298 0.544709 +v 1.062640 0.462298 1.024560 +v 1.062640 4.337204 -1.005064 +v -1.004109 4.300531 -0.931096 +v 0.804083 0.462298 -0.968185 +v -1.077861 4.411332 1.098529 +v -1.040985 0.536426 -1.042153 +v 0.951800 4.448005 0.987681 +v -1.004109 0.462298 1.061440 +v 1.025551 0.462298 -0.598972 +v -1.114950 3.709854 1.061440 +v -0.376581 0.462298 -1.042153 +v 1.062640 4.373878 -0.451454 +v 0.324485 0.462298 1.061440 +v -1.040985 2.860901 -0.931096 +v 0.951800 1.976056 -1.005064 +v 1.062640 0.462298 -0.156000 +v 0.951800 4.373878 -0.857547 +v -1.077861 4.411332 0.655557 +v 0.951800 3.857328 1.024560 +v 0.988676 4.448005 0.766195 +v -0.413457 4.300141 -0.968185 +v 0.951800 0.536816 -0.931305 +v -1.040985 0.868828 -1.042153 +v -1.114950 1.901928 0.987681 +v 0.103017 1.496179 -1.042153 +v -1.040985 4.300531 -0.525213 +v -1.114950 2.345131 0.470950 +v 0.656580 4.337204 -1.005064 +v -1.004109 0.462298 -1.042153 +v 1.062640 3.783591 -1.005064 +v -0.856606 4.374268 1.098529 +v -0.339706 4.448005 0.987681 +v -1.040985 0.720964 1.061440 +v 0.988676 4.448005 0.581798 +v -1.114950 0.720964 0.249464 +v 0.804083 4.448005 1.024560 +f 22 10 39 +f 3 2 4 +f 4 2 7 +f 3 4 11 +f 4 7 12 +f 2 3 13 +f 7 2 14 +f 4 5 15 +f 11 4 16 +f 7 14 18 +f 5 4 19 +f 4 12 19 +f 15 5 20 +f 13 8 21 +f 20 6 21 +f 4 10 22 +f 16 4 22 +f 1 10 23 +f 10 4 23 +f 4 15 23 +f 12 7 25 +f 7 18 25 +f 14 9 26 +f 17 6 26 +f 6 24 26 +f 13 3 27 +f 18 14 28 +f 14 26 28 +f 6 17 29 +f 13 21 29 +f 21 6 29 +f 2 13 30 +f 29 17 30 +f 13 29 30 +f 20 5 31 +f 6 20 31 +f 24 6 31 +f 26 24 31 +f 5 28 31 +f 28 26 31 +f 2 9 32 +f 14 2 32 +f 9 14 32 +f 5 19 33 +f 19 12 33 +f 12 25 33 +f 25 18 33 +f 28 5 33 +f 18 28 33 +f 1 8 34 +f 8 11 34 +f 11 16 34 +f 22 1 34 +f 16 22 34 +f 8 1 35 +f 21 8 35 +f 20 21 35 +f 1 23 35 +f 3 11 36 +f 11 8 36 +f 8 13 36 +f 27 3 36 +f 13 27 36 +f 15 20 37 +f 23 15 37 +f 20 35 37 +f 35 23 37 +f 9 2 38 +f 26 9 38 +f 17 26 38 +f 2 30 38 +f 30 17 38 +f 10 1 39 +f 1 22 39 +o convex_1 +v -1.040982 -1.899862 -0.968134 +v 1.025732 -3.080784 1.024394 +v 1.025522 -1.752200 1.061462 +v -1.077861 -1.899862 1.098529 +v -0.856375 -3.671432 -1.115970 +v 0.951764 -1.789397 -1.041835 +v -1.004102 -3.634423 0.950477 +v 0.951764 -3.560591 -1.004985 +v 1.025732 -3.560591 1.024394 +v -1.114950 -1.752200 -0.783665 +v -1.004102 -3.671432 -1.115970 +v -1.077861 -1.752200 1.098529 +v 1.025522 -1.752200 -0.562345 +v 0.878005 -1.752200 -1.078902 +v 0.914884 -3.597413 0.913843 +v -1.040982 -3.302089 0.987544 +v 0.878005 -1.789397 1.098312 +v -0.745737 -3.634423 0.987544 +v 0.545671 -3.597413 -1.041835 +v -0.598219 -3.671432 -0.636046 +v -1.040982 -3.338911 -1.078902 +v 1.025732 -3.449751 0.397069 +v 0.619639 -1.752200 -1.078902 +v -1.077861 -1.752200 -0.931284 +v -1.114950 -1.863041 -0.488427 +v 0.988643 -3.006953 -0.820299 +v -0.856375 -3.412741 -1.115970 +v 0.213756 -2.859290 1.061245 +v -1.004102 -3.671432 -0.156339 +v 0.656519 -3.597413 -1.004985 +v -0.487371 -3.634423 0.987544 +v 1.025522 -2.195374 -0.562345 +v -0.635099 -2.047712 1.098529 +f 57 67 72 +f 41 42 48 +f 42 49 51 +f 42 41 52 +f 49 42 52 +f 49 52 53 +f 45 47 53 +f 52 45 53 +f 47 48 54 +f 48 42 56 +f 42 51 56 +f 43 55 57 +f 55 46 57 +f 44 53 58 +f 53 47 58 +f 50 44 59 +f 40 50 60 +f 48 47 61 +f 41 48 61 +f 52 41 61 +f 49 53 62 +f 40 60 63 +f 60 49 63 +f 62 40 63 +f 49 62 63 +f 43 51 64 +f 51 49 64 +f 55 43 64 +f 49 60 64 +f 60 55 64 +f 47 45 65 +f 45 52 65 +f 61 47 65 +f 44 50 66 +f 50 40 66 +f 53 44 66 +f 40 62 66 +f 62 53 66 +f 48 56 67 +f 57 48 67 +f 46 55 68 +f 57 46 68 +f 50 59 68 +f 60 50 68 +f 55 60 68 +f 47 54 69 +f 44 58 69 +f 58 47 69 +f 54 59 69 +f 59 44 69 +f 54 48 70 +f 48 57 70 +f 59 54 70 +f 57 68 70 +f 68 59 70 +f 52 61 71 +f 65 52 71 +f 61 65 71 +f 51 43 72 +f 56 51 72 +f 43 57 72 +f 67 56 72 +o convex_2 +v 1.099744 -0.866339 -0.119406 +v 3.092402 -0.312838 0.212628 +v 3.055338 -0.386654 0.249533 +v 3.018470 -0.829431 -0.156310 +v 1.099744 -0.349746 -0.267079 +v 1.099744 -0.903248 0.212628 +v 1.099744 -0.423562 0.249533 +v 2.981601 -0.940217 0.286546 +v 2.907864 -0.423562 -0.193215 +v 1.616489 -0.829431 -0.230120 +v 2.981601 -0.940217 0.138819 +v 1.579620 -0.349746 -0.267079 +v 2.870800 -0.829431 -0.193215 +v 1.099744 -0.349746 -0.045596 +v 1.099744 -0.608104 -0.267079 +v 2.427988 -0.940217 0.286546 +v 3.018470 -0.681798 0.286546 +v 3.055338 -0.792523 -0.156310 +v 2.280318 -0.349746 0.249533 +v 2.354250 -0.866339 -0.156310 +v 2.649394 -0.312838 0.065009 +f 77 86 93 +f 77 73 78 +f 77 78 79 +f 78 73 83 +f 76 83 85 +f 84 81 85 +f 77 79 86 +f 73 77 87 +f 82 73 87 +f 77 84 87 +f 85 82 87 +f 84 85 87 +f 79 78 88 +f 78 83 88 +f 83 80 88 +f 74 75 89 +f 80 74 89 +f 79 88 89 +f 88 80 89 +f 74 80 90 +f 81 74 90 +f 83 76 90 +f 80 83 90 +f 76 85 90 +f 85 81 90 +f 75 74 91 +f 74 86 91 +f 86 79 91 +f 89 75 91 +f 79 89 91 +f 73 82 92 +f 83 73 92 +f 82 85 92 +f 85 83 92 +f 74 81 93 +f 84 77 93 +f 81 84 93 +f 86 74 93 +o convex_3 +v -1.742424 -0.423577 0.360294 +v -3.071090 -0.497379 -0.340827 +v -3.071090 -0.681787 -0.303904 +v -1.114950 -0.977061 -0.340827 +v -1.114950 -0.312841 -0.230058 +v -1.114950 -0.977061 0.323371 +v -2.997180 -0.829391 0.249526 +v -2.960224 -0.386708 0.323371 +v -2.886505 -0.903193 -0.266981 +v -1.114950 -0.386708 0.360294 +v -3.071090 -0.423577 -0.340827 +v -1.668705 -0.977061 -0.340827 +v -1.114950 -0.792523 -0.340827 +v -1.447164 -0.977061 0.286449 +v -3.034135 -0.866325 0.065049 +v -1.188860 -0.349775 0.249526 +v -2.738875 -0.386708 -0.303904 +v -2.997180 -0.718721 0.286449 +v -2.222076 -0.349775 0.138826 +f 110 101 112 +f 97 98 99 +f 99 94 101 +f 94 99 103 +f 99 98 103 +f 101 94 103 +f 95 96 104 +f 97 95 104 +f 96 95 105 +f 95 97 105 +f 97 99 105 +f 102 96 105 +f 98 97 106 +f 97 104 106 +f 104 98 106 +f 99 100 107 +f 105 99 107 +f 102 105 107 +f 96 102 108 +f 104 96 108 +f 107 100 108 +f 102 107 108 +f 103 98 109 +f 101 103 109 +f 98 104 110 +f 104 101 110 +f 100 99 111 +f 99 101 111 +f 101 104 111 +f 108 100 111 +f 104 108 111 +f 109 98 112 +f 101 109 112 +f 98 110 112 +o convex_4 +v 0.324416 -1.161335 -3.109018 +v -1.078042 -1.752200 -1.300616 +v -1.078042 -1.752200 -1.079061 +v -1.041018 0.351425 -1.079061 +v 0.914978 -1.604484 -1.079061 +v 0.988824 0.425390 -3.035100 +v -1.078042 0.314336 -2.997943 +v 0.914978 0.277460 -1.079061 +v -1.003994 -1.641360 -3.109018 +v 0.914978 -1.604484 -3.109018 +v -1.041018 -1.382803 -3.109018 +v 0.951800 0.314336 -1.300616 +v 0.951800 -1.530732 -3.109018 +v 0.988824 -0.091511 -2.887464 +v -1.078042 -0.054635 -3.035100 +v -0.376813 0.351425 -1.079061 +v -1.078042 -0.829240 -1.079061 +v -1.041018 0.351425 -1.928122 +v -0.893327 -1.752200 -1.079061 +v -1.078042 -1.715111 -1.928122 +v -0.376813 -1.641360 -3.109018 +v 0.361238 0.388301 -3.035100 +v 0.914978 0.314549 -1.152979 +v 0.988824 0.425390 -2.924224 +v -1.078042 0.314336 -2.444354 +v 0.877954 0.425390 -3.035100 +v 0.988824 0.351425 -2.481313 +v 0.951800 -1.124459 -3.109018 +v 0.213749 -0.312979 -3.072059 +v 0.508727 -1.641360 -1.079061 +f 131 122 142 +f 116 115 117 +f 114 115 119 +f 116 117 120 +f 121 113 122 +f 113 121 123 +f 120 117 124 +f 117 122 125 +f 122 113 125 +f 125 118 126 +f 117 125 126 +f 114 119 127 +f 116 120 128 +f 115 116 129 +f 119 115 129 +f 119 116 130 +f 115 114 131 +f 117 115 131 +f 114 122 131 +f 123 121 132 +f 114 127 132 +f 127 123 132 +f 122 114 133 +f 121 122 133 +f 114 132 133 +f 132 121 133 +f 127 119 134 +f 120 124 135 +f 128 120 135 +f 128 135 136 +f 126 118 136 +f 116 128 136 +f 135 124 136 +f 116 119 137 +f 129 116 137 +f 119 129 137 +f 130 116 138 +f 119 130 138 +f 134 119 138 +f 116 136 138 +f 136 118 138 +f 124 117 139 +f 117 126 139 +f 126 136 139 +f 136 124 139 +f 125 113 140 +f 118 125 140 +f 113 123 141 +f 123 127 141 +f 127 134 141 +f 138 118 141 +f 134 138 141 +f 140 113 141 +f 118 140 141 +f 122 117 142 +f 117 131 142 +o convex_5 +v 0.951710 0.314463 2.980466 +v -1.077883 -1.752200 -1.079061 +v -1.077883 -0.792353 -1.079061 +v 0.914859 -1.714916 -1.079061 +v -0.967114 -1.678282 2.943572 +v -1.004182 0.462298 -1.041766 +v -0.930264 0.462298 3.017761 +v 0.951710 0.462298 -0.894191 +v 1.062478 -1.604365 2.980466 +v 1.099545 0.425231 0.360601 +v -1.114950 0.462298 0.508177 +v 1.025627 -1.752200 -0.561745 +v -1.077883 -1.752200 1.098077 +v 0.914859 0.277612 -1.079061 +v 1.025627 -1.752200 1.098077 +v 0.472004 0.425231 3.017761 +v 1.099328 -0.829203 -0.229700 +v -1.004182 -1.567297 2.906678 +v 1.062478 0.462298 1.024289 +v -1.114950 -1.752200 -0.857297 +v -0.967114 -0.239162 3.017761 +v -1.041032 0.351530 -1.079061 +v 0.361236 -0.939972 3.017761 +v 0.656473 -1.641432 2.980466 +v 1.025627 0.462298 -0.598639 +v 0.951710 -1.752200 -1.004872 +v 1.062478 -1.346194 2.980466 +v -0.967114 0.351530 2.943572 +v 0.951710 0.388380 2.906678 +v -1.114950 -0.976822 0.323707 +v -1.077883 -1.604365 1.356735 +v -1.114950 -0.312863 -0.230101 +v 1.099328 -0.792353 0.545471 +v -0.413708 -1.678282 2.943572 +v -0.044553 -1.641432 2.980466 +v 1.099328 -0.349713 -0.266594 +v 1.062478 -1.641432 2.721808 +v 0.767241 0.462298 -0.967979 +v -0.671877 0.462298 3.017761 +v -1.114950 -1.714916 -0.303889 +v -0.967114 -1.161292 2.980466 +v -1.114950 0.462298 0.323707 +f 164 174 184 +f 144 145 146 +f 148 149 150 +f 149 148 153 +f 144 154 155 +f 146 145 156 +f 147 155 157 +f 155 154 157 +f 155 147 160 +f 150 149 161 +f 145 144 162 +f 144 155 162 +f 158 149 163 +f 156 145 164 +f 148 156 164 +f 151 158 165 +f 158 163 165 +f 151 165 166 +f 156 150 167 +f 150 161 167 +f 161 152 167 +f 144 146 168 +f 154 144 168 +f 146 156 168 +f 159 154 168 +f 156 167 168 +f 143 158 169 +f 158 151 169 +f 152 161 169 +f 149 153 170 +f 153 160 170 +f 163 149 170 +f 160 163 170 +f 158 143 171 +f 161 158 171 +f 143 169 171 +f 169 161 171 +f 153 162 172 +f 160 153 173 +f 155 160 173 +f 153 172 173 +f 145 162 174 +f 162 153 174 +f 164 145 174 +f 159 152 175 +f 169 151 175 +f 152 169 175 +f 147 157 176 +f 166 147 176 +f 157 166 176 +f 147 166 177 +f 166 165 177 +f 152 159 178 +f 167 152 178 +f 159 168 178 +f 168 167 178 +f 157 154 179 +f 154 159 179 +f 166 157 179 +f 151 166 179 +f 159 175 179 +f 175 151 179 +f 148 150 180 +f 156 148 180 +f 150 156 180 +f 149 158 181 +f 161 149 181 +f 158 161 181 +f 162 155 182 +f 172 162 182 +f 173 172 182 +f 155 173 182 +f 160 147 183 +f 163 160 183 +f 165 163 183 +f 147 177 183 +f 177 165 183 +f 153 148 184 +f 148 164 184 +f 174 153 184 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/018/018.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/018/018.urdf new file mode 100644 index 000000000..2a3cabec0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/018/018.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/019/019.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/019/019.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/019/019.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/019/019.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/019/019.obj new file mode 100644 index 000000000..3093559a0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/019/019.obj @@ -0,0 +1,588 @@ +o convex_0 +v 0.883490 -2.509147 1.061582 +v -1.251912 -3.896877 -1.002355 +v -0.753378 -3.932702 -1.002355 +v 0.954771 -0.018319 -0.966589 +v -1.073925 -0.018319 1.026022 +v -1.109350 -3.968527 1.061787 +v 0.954555 -3.968527 -1.002355 +v -1.251912 -0.018319 -1.002355 +v 0.812209 -0.018319 1.097553 +v 0.883490 -4.039784 1.026022 +v 0.919131 -4.039784 0.883780 +v -1.109350 -2.082002 1.061787 +v 0.954771 -0.018319 -0.575220 +v -1.251912 -0.018319 -0.788582 +v 0.919131 -1.976101 -1.002355 +v 0.847850 -1.513525 1.097553 +v 0.171546 -0.018319 1.097553 +v -0.682313 -4.003565 1.061787 +v 0.954555 -4.003565 -0.503894 +v -1.109350 -0.196264 0.954901 +v -1.144990 -3.968527 0.634653 +v 0.883490 -3.434694 1.061582 +v -0.255276 -0.018319 -1.002355 +v 0.847850 -0.054145 0.883780 +v 0.563158 -4.039784 0.741334 +v 0.954555 -1.193067 -0.254766 +v 0.171546 -4.003565 1.061582 +v -1.251912 -3.896877 -0.930823 +v 0.954555 -4.003565 -0.219206 +v -1.216271 -3.932309 -0.575014 +v -0.575608 -0.018319 1.061787 +v 0.278467 -3.968527 -0.966589 +v 0.919131 -3.648070 0.883780 +f 29 26 33 +f 3 2 7 +f 5 4 8 +f 7 2 8 +f 4 5 9 +f 4 9 13 +f 5 8 14 +f 8 2 14 +f 4 7 15 +f 7 8 15 +f 1 9 16 +f 9 5 17 +f 12 6 17 +f 16 9 17 +f 6 16 17 +f 16 6 18 +f 7 4 19 +f 4 13 19 +f 12 5 20 +f 5 14 20 +f 14 12 20 +f 6 12 21 +f 12 14 21 +f 18 6 21 +f 11 1 22 +f 10 11 22 +f 1 16 22 +f 8 4 23 +f 4 15 23 +f 15 8 23 +f 9 1 24 +f 13 9 24 +f 11 10 25 +f 10 18 25 +f 19 11 25 +f 24 1 26 +f 13 24 26 +f 18 10 27 +f 16 18 27 +f 10 22 27 +f 22 16 27 +f 14 2 28 +f 21 14 28 +f 19 13 29 +f 11 19 29 +f 13 26 29 +f 2 3 30 +f 18 21 30 +f 3 25 30 +f 25 18 30 +f 28 2 30 +f 21 28 30 +f 5 12 31 +f 17 5 31 +f 12 17 31 +f 3 7 32 +f 7 19 32 +f 25 3 32 +f 19 25 32 +f 1 11 33 +f 26 1 33 +f 11 29 33 +o convex_1 +v 2.129205 -0.516599 -0.076916 +v 1.488646 -1.939653 0.136578 +v 1.559920 -2.010864 -0.219338 +v 1.524318 -0.018121 -0.219338 +v 1.488646 -0.018121 0.243326 +v 2.200410 -1.903950 0.278945 +v 2.093603 -2.010864 -0.290522 +v 2.164808 -0.018121 0.207762 +v 2.022399 -0.018121 -0.219338 +v 1.488646 -1.832738 0.207762 +v 2.200410 -0.623319 0.243326 +v 1.880060 -1.903950 -0.290522 +v 2.093603 -1.583597 -0.290522 +v 2.200410 -0.623319 0.172142 +v 2.058001 -1.903950 0.278945 +v 1.844528 -0.018121 0.243326 +v 1.488646 -0.765546 0.243326 +v 2.164808 -0.089332 0.065395 +v 2.200410 -1.903950 0.172142 +v 1.631124 -2.010864 -0.254846 +v 1.986867 -2.010864 -0.148155 +f 40 39 54 +f 36 35 37 +f 37 35 38 +f 37 38 41 +f 37 41 42 +f 38 35 43 +f 37 42 46 +f 42 34 46 +f 45 37 46 +f 40 45 46 +f 44 39 47 +f 41 44 47 +f 40 46 47 +f 35 39 48 +f 39 38 48 +f 43 35 48 +f 38 39 49 +f 41 38 49 +f 39 44 49 +f 44 41 49 +f 38 43 50 +f 48 38 50 +f 43 48 50 +f 34 42 51 +f 42 41 51 +f 46 34 51 +f 41 47 51 +f 47 46 51 +f 39 40 52 +f 47 39 52 +f 40 47 52 +f 36 37 53 +f 40 36 53 +f 37 45 53 +f 45 40 53 +f 35 36 54 +f 39 35 54 +f 36 40 54 +o convex_2 +v -3.245045 0.053355 0.670230 +v -0.967165 2.188757 -0.788624 +v -0.967165 2.188757 -1.073538 +v -0.540079 -0.017926 -1.002048 +v -0.540079 0.160060 1.061962 +v -3.138075 2.117260 0.990472 +v -3.138075 0.266981 -1.037793 +v -0.540079 2.153116 0.919400 +v -3.066850 2.010771 -0.930976 +v -3.245045 0.088995 1.061962 +v -0.540079 2.153116 -1.037793 +v -3.138075 -0.017926 -1.037793 +v -0.540079 -0.017926 1.061962 +v -3.031369 2.153116 0.812583 +v -1.323290 2.188757 -1.073538 +v -1.252065 2.188757 0.919400 +v -3.102594 1.654799 -0.966512 +v -0.540079 2.081836 0.955145 +v -0.540079 0.551673 -1.037793 +v -1.074135 -0.017926 1.026217 +v -3.245045 0.373903 1.061962 +v -2.888919 2.046195 -0.966512 +v -3.102594 2.046195 -0.539454 +v -3.245045 0.053355 0.883864 +v -3.138075 -0.017926 -0.788415 +v -3.066850 1.974914 -0.966512 +v -3.245045 0.373903 0.883864 +v -2.461833 -0.017926 -1.037793 +v -1.429996 1.868425 -1.073538 +v -1.572446 2.188757 -0.752879 +v -3.173555 0.088995 -0.646271 +v -3.138075 2.117260 0.705766 +v -3.102594 1.903849 -0.824369 +v -0.789234 2.117260 -1.073538 +v -2.995625 2.117260 0.990472 +f 60 75 89 +f 57 56 62 +f 59 58 62 +f 57 62 65 +f 62 58 65 +f 58 59 67 +f 59 64 67 +f 66 58 67 +f 56 57 69 +f 62 56 70 +f 68 60 70 +f 56 69 70 +f 59 62 72 +f 62 70 72 +f 65 58 73 +f 67 64 74 +f 66 67 74 +f 55 64 75 +f 64 59 75 +f 76 63 77 +f 68 76 77 +f 64 55 78 +f 55 66 78 +f 74 64 78 +f 74 78 79 +f 66 74 79 +f 78 66 79 +f 69 61 80 +f 61 71 80 +f 63 76 80 +f 76 69 80 +f 75 60 81 +f 55 75 81 +f 58 66 82 +f 73 58 82 +f 73 82 83 +f 66 61 83 +f 69 57 83 +f 61 69 83 +f 82 66 83 +f 68 70 84 +f 70 69 84 +f 76 68 84 +f 69 76 84 +f 66 55 85 +f 61 66 85 +f 71 61 85 +f 60 68 86 +f 68 77 86 +f 81 60 86 +f 81 86 87 +f 77 63 87 +f 80 71 87 +f 63 80 87 +f 55 81 87 +f 85 55 87 +f 71 85 87 +f 86 77 87 +f 57 65 88 +f 65 73 88 +f 73 83 88 +f 83 57 88 +f 70 60 89 +f 59 72 89 +f 72 70 89 +f 75 59 89 +o convex_3 +v 0.172026 -0.017926 -0.966568 +v 2.947904 2.188757 -0.824006 +v 2.876707 2.153116 1.026272 +v 0.172026 2.153116 -1.037849 +v 2.769639 0.053355 -1.109130 +v 0.172026 -0.017926 1.097553 +v 2.769639 0.053355 1.061913 +v 0.172026 2.117260 0.919351 +v 2.947904 2.188757 -1.073489 +v 2.271530 -0.017926 0.349968 +v 1.417707 2.188757 0.456673 +v 0.207625 0.729659 1.097553 +v 0.172026 0.658594 -1.037849 +v 2.947904 1.868425 -0.966568 +v 1.559829 0.800940 1.097553 +v 2.841108 0.694019 -1.109130 +v 0.172026 2.010771 0.954992 +v 0.954924 -0.017926 -0.966568 +v 0.172026 2.153116 0.349968 +v 2.663115 0.017715 0.883711 +v 2.912034 2.081836 0.385609 +v 2.520720 2.153116 1.026056 +v 2.556319 0.053355 -1.109130 +v 1.382108 2.188757 -0.397185 +v 1.986741 2.153116 -1.073273 +v 0.812530 -0.017926 1.097553 +v 2.805510 0.480392 1.026056 +v 2.378326 1.654799 1.061913 +v 2.485122 0.017715 -0.753157 +v 1.737551 0.053355 1.097553 +v 2.200333 2.188757 0.207622 +v 2.947904 2.117260 -0.432825 +v 2.769639 0.800940 -1.109130 +v 2.057938 -0.017926 -0.183558 +v 0.172026 0.231557 -1.001992 +v 2.805510 0.302406 -1.037849 +v 2.876707 1.903849 1.026272 +f 116 121 126 +f 93 90 95 +f 93 95 97 +f 95 90 99 +f 91 98 100 +f 90 93 102 +f 98 91 103 +f 101 95 104 +f 98 103 105 +f 97 95 106 +f 95 101 106 +f 90 94 107 +f 99 90 107 +f 93 97 108 +f 97 100 108 +f 94 96 109 +f 92 100 111 +f 100 97 111 +f 97 106 111 +f 106 101 111 +f 94 90 112 +f 102 93 112 +f 105 94 112 +f 98 93 113 +f 100 98 113 +f 93 108 113 +f 108 100 113 +f 93 98 114 +f 95 99 115 +f 104 95 115 +f 109 96 115 +f 99 109 115 +f 96 103 116 +f 96 92 117 +f 104 96 117 +f 101 104 117 +f 92 111 117 +f 111 101 117 +f 107 94 118 +f 94 109 118 +f 109 99 118 +f 96 104 119 +f 104 115 119 +f 115 96 119 +f 92 91 120 +f 100 92 120 +f 91 100 120 +f 91 92 121 +f 103 91 121 +f 92 110 121 +f 116 103 121 +f 98 105 122 +f 112 93 122 +f 105 112 122 +f 93 114 122 +f 114 98 122 +f 99 107 123 +f 107 118 123 +f 118 99 123 +f 90 102 124 +f 112 90 124 +f 102 112 124 +f 96 94 125 +f 103 96 125 +f 94 105 125 +f 105 103 125 +f 92 96 126 +f 110 92 126 +f 96 116 126 +f 121 110 126 +o convex_4 +v 2.164801 2.260059 -0.076916 +v 1.524238 4.074774 0.243326 +v 1.524238 4.074774 0.278945 +v 2.164801 4.110707 0.172142 +v 1.702301 4.003660 -0.290522 +v 1.595529 2.188757 0.278945 +v 1.559917 2.188757 -0.183719 +v 2.200479 2.188757 0.207762 +v 2.093575 3.149732 -0.290522 +v 2.058029 4.039217 -0.290522 +v 2.129188 2.188757 -0.254846 +v 1.595529 4.039217 -0.183719 +v 1.702301 4.110707 0.278945 +v 2.058029 2.402662 -0.290522 +v 2.164801 4.074774 0.029776 +v 1.559917 2.366917 -0.219338 +v 2.200479 2.936203 0.207762 +v 1.737847 2.188757 0.278945 +v 1.559917 2.188757 0.100959 +v 1.595529 4.110707 0.136578 +f 139 130 146 +f 129 128 133 +f 132 133 134 +f 135 131 136 +f 127 134 137 +f 134 133 137 +f 136 131 138 +f 129 132 139 +f 131 135 140 +f 137 133 140 +f 135 137 140 +f 136 130 141 +f 135 136 141 +f 127 137 141 +f 137 135 141 +f 133 128 142 +f 128 138 142 +f 138 131 142 +f 131 140 142 +f 140 133 142 +f 134 127 143 +f 130 139 143 +f 141 130 143 +f 127 141 143 +f 132 134 144 +f 139 132 144 +f 134 143 144 +f 143 139 144 +f 132 129 145 +f 133 132 145 +f 129 133 145 +f 128 129 146 +f 130 136 146 +f 138 128 146 +f 136 138 146 +f 129 139 146 +o convex_5 +v 0.171689 1.085415 2.023118 +v -0.326459 0.729499 1.097943 +v -0.290853 0.729499 1.097943 +v -0.255314 0.836385 2.983598 +v -0.433210 1.405657 2.521108 +v 0.100477 1.334515 1.097943 +v 0.136083 1.441332 3.090296 +v 0.171689 0.765174 1.097943 +v -0.362064 1.334515 1.097943 +v -0.504421 0.871991 3.054795 +v 0.029332 0.836385 2.948097 +v -0.433210 1.405657 3.054795 +v -0.397604 0.765174 1.311340 +v -0.504421 0.943132 2.734505 +v 0.136083 1.441332 2.699004 +v 0.029332 0.800780 2.699004 +v -0.290853 1.370051 1.347036 +v 0.136083 0.765174 1.667131 +v 0.136083 1.298840 3.054795 +v -0.184103 1.441332 2.983598 +v 0.136083 1.192163 1.133444 +v -0.504421 1.085415 2.983598 +f 155 160 168 +f 149 148 152 +f 149 152 154 +f 152 148 155 +f 148 150 156 +f 156 150 157 +f 156 153 158 +f 155 148 159 +f 148 156 159 +f 159 156 160 +f 155 159 160 +f 153 147 161 +f 148 149 162 +f 150 148 162 +f 157 150 162 +f 155 151 163 +f 152 155 163 +f 161 152 163 +f 149 154 164 +f 154 147 164 +f 162 149 164 +f 157 162 164 +f 147 153 165 +f 153 156 165 +f 156 157 165 +f 164 147 165 +f 157 164 165 +f 151 158 166 +f 158 153 166 +f 153 161 166 +f 163 151 166 +f 161 163 166 +f 147 154 167 +f 154 152 167 +f 161 147 167 +f 152 161 167 +f 151 155 168 +f 158 151 168 +f 156 158 168 +f 160 156 168 +o convex_6 +v 0.029367 1.334515 -1.037946 +v -0.397628 0.729499 -2.995488 +v -0.468867 1.085415 -2.995488 +v 0.029367 1.441332 -2.995488 +v 0.136163 0.729499 -1.749797 +v -0.433248 1.298840 -1.037946 +v -0.362071 0.871991 -1.037946 +v -0.504487 1.441332 -2.959656 +v 0.064924 0.729499 -2.924015 +v 0.136163 0.729499 -1.037946 +v -0.468867 1.263304 -1.216148 +v 0.136163 0.907527 -1.037946 +v 0.029367 1.370051 -1.287429 +v -0.397628 0.765174 -2.319086 +v -0.468867 1.334515 -1.287429 +v 0.064924 0.729499 -1.037946 +v 0.029367 1.441332 -2.603634 +v -0.397628 0.907527 -1.037946 +v 0.064924 1.085415 -2.959656 +v -0.504487 1.298840 -2.603634 +f 183 176 188 +f 170 171 172 +f 169 174 175 +f 172 171 176 +f 173 170 177 +f 170 173 178 +f 169 175 178 +f 173 172 180 +f 169 178 180 +f 178 173 180 +f 169 180 181 +f 171 170 182 +f 174 169 183 +f 179 174 183 +f 169 181 183 +f 181 176 183 +f 170 178 184 +f 178 175 184 +f 182 170 184 +f 175 182 184 +f 172 176 185 +f 180 172 185 +f 176 181 185 +f 181 180 185 +f 175 174 186 +f 174 179 186 +f 182 175 186 +f 179 182 186 +f 170 172 187 +f 172 173 187 +f 177 170 187 +f 173 177 187 +f 176 171 188 +f 171 182 188 +f 182 179 188 +f 179 183 188 +o convex_7 +v 0.171755 0.231358 -1.002201 +v 0.100544 1.334543 1.097553 +v -0.362120 1.334543 1.097553 +v 0.171755 2.153165 -1.037946 +v -0.540079 -0.017926 -1.002201 +v 0.171755 -0.017926 1.061808 +v -0.540079 2.153165 -1.037946 +v -0.540079 -0.017926 1.061808 +v -0.540079 2.153165 0.919456 +v 0.171755 2.117250 0.919456 +v 0.171755 -0.017926 -0.966665 +v 0.171755 0.658521 -1.037946 +v 0.171755 0.017777 1.097553 +v 0.064868 2.153165 0.919456 +v -0.540079 0.551624 -1.037946 +v -0.540079 2.081972 0.954782 +f 202 197 204 +f 189 192 194 +f 195 193 196 +f 193 194 196 +f 192 195 197 +f 195 196 197 +f 194 192 198 +f 193 189 199 +f 194 193 199 +f 189 194 199 +f 192 189 200 +f 189 193 200 +f 195 192 200 +f 190 191 201 +f 191 196 201 +f 196 194 201 +f 198 190 201 +f 194 198 201 +f 192 197 202 +f 190 198 202 +f 198 192 202 +f 193 195 203 +f 200 193 203 +f 195 200 203 +f 191 190 204 +f 196 191 204 +f 197 196 204 +f 190 202 204 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/019/019.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/019/019.urdf new file mode 100644 index 000000000..070611bd9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/019/019.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/020/020.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/020/020.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/020/020.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/020/020.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/020/020.obj new file mode 100644 index 000000000..d45ebea87 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/020/020.obj @@ -0,0 +1,567 @@ +o convex_0 +v 0.575037 -3.957102 -0.984905 +v -0.979008 -2.662039 1.087170 +v -1.011432 -2.662039 1.087170 +v -0.979008 -0.525661 -1.049778 +v 1.093191 -0.526041 0.925094 +v 0.931281 -4.377759 0.925094 +v -0.914160 -4.280772 -0.952576 +v 0.963496 -0.526041 -1.017449 +v -0.979008 -0.525661 1.054626 +v 1.060767 -4.410849 -0.920031 +v -0.979008 -4.248443 1.087170 +v -0.979008 -2.435736 -1.114652 +v 1.060767 -2.759026 0.925094 +v -1.043856 -2.338749 0.763233 +v -0.299153 -4.280772 1.054626 +v -0.881736 -4.313482 -0.952576 +v -1.043856 -0.817002 0.763233 +v -0.590340 -0.525661 1.054626 +v -0.946584 -3.957102 -0.985120 +v 1.093191 -0.526041 0.633702 +v -1.011432 -2.338749 -0.564196 +v -0.914160 -0.622648 -1.082107 +v 1.093191 -1.982369 0.925094 +v 1.060767 -4.410849 -0.596310 +v 0.866433 -4.345430 0.957639 +v 1.060767 -3.957102 -0.920031 +v -0.849522 -2.435736 -1.114652 +v 0.995920 -4.281153 -0.952576 +v 0.963496 -4.281153 0.925094 +v -0.979008 -4.216114 0.536499 +v -1.043856 -2.532342 1.054626 +v -0.719826 -3.924773 1.087170 +v 0.736947 -0.526041 0.957639 +v 0.769162 -4.410849 -0.823044 +v 0.963496 -0.849331 -1.017449 +v 0.801586 -4.377759 0.828107 +v -1.011432 -0.525661 0.989968 +v -0.946584 -1.982749 -1.114652 +v -0.849522 -4.313482 -0.758386 +v -0.946584 -4.281153 -0.564196 +v -1.011432 -3.601102 1.022081 +v -0.979008 -2.953381 -1.049778 +v 0.477974 -4.345811 -0.952576 +v -0.558125 -4.280772 1.054626 +v -1.043856 -1.917711 1.054626 +v -1.011432 -0.525661 0.050702 +v 0.866433 -3.827405 0.957639 +v -0.914160 -3.989431 -0.985120 +v -0.979008 -0.623028 -1.082107 +f 22 38 49 +f 3 2 9 +f 2 3 11 +f 8 4 18 +f 9 2 18 +f 4 9 18 +f 16 7 19 +f 8 18 20 +f 18 5 20 +f 14 17 21 +f 4 8 22 +f 20 5 23 +f 10 20 23 +f 10 23 24 +f 23 13 24 +f 15 6 25 +f 13 23 25 +f 23 5 25 +f 10 8 26 +f 20 10 26 +f 8 20 26 +f 1 27 28 +f 6 24 29 +f 24 13 29 +f 25 6 29 +f 13 25 29 +f 11 3 31 +f 17 14 31 +f 2 11 32 +f 11 15 32 +f 18 2 32 +f 18 32 33 +f 5 18 33 +f 32 15 33 +f 16 10 34 +f 10 24 34 +f 8 10 35 +f 27 8 35 +f 10 28 35 +f 28 27 35 +f 24 6 36 +f 34 24 36 +f 9 4 37 +f 22 8 38 +f 8 27 38 +f 27 12 38 +f 11 16 39 +f 16 34 39 +f 34 36 39 +f 16 11 40 +f 7 16 40 +f 19 7 40 +f 11 30 40 +f 30 19 40 +f 14 21 41 +f 30 11 41 +f 21 30 41 +f 11 31 41 +f 31 14 41 +f 12 19 42 +f 21 12 42 +f 19 30 42 +f 30 21 42 +f 10 16 43 +f 28 10 43 +f 1 28 43 +f 15 11 44 +f 6 15 44 +f 36 6 44 +f 11 39 44 +f 39 36 44 +f 3 9 45 +f 31 3 45 +f 17 31 45 +f 9 37 45 +f 37 17 45 +f 4 17 46 +f 37 4 46 +f 17 37 46 +f 25 5 47 +f 15 25 47 +f 5 33 47 +f 33 15 47 +f 19 12 48 +f 16 19 48 +f 27 1 48 +f 12 27 48 +f 43 16 48 +f 1 43 48 +f 17 4 49 +f 12 21 49 +f 21 17 49 +f 4 22 49 +f 38 12 49 +o convex_1 +v 1.093163 2.226756 0.892670 +v -1.011476 -0.525281 0.050689 +v -0.979052 -0.525281 -1.049639 +v -1.011476 2.356516 -0.628753 +v 0.963675 -0.525281 -1.017215 +v 1.028314 2.356516 -1.082063 +v -0.979052 -0.525281 1.054581 +v 1.093163 -0.525281 0.925094 +v -0.946628 2.356516 1.022157 +v -0.946628 2.356516 -1.049639 +v 0.866403 2.356516 0.957518 +v -0.493318 2.129718 1.054790 +v -1.011476 1.708563 0.504208 +v 1.125587 1.741285 0.925094 +v 0.995890 0.187270 -1.049848 +v -0.590381 -0.525281 1.054790 +v 1.093163 -0.525281 0.633695 +v -0.234343 2.356516 -1.082272 +v 0.995890 1.190370 -1.082063 +v -1.011476 -0.460401 0.989733 +v 1.093163 2.356516 0.245024 +v -0.946628 2.064838 1.054581 +v 1.028314 2.096996 -1.082063 +v -1.011476 2.356516 -0.045956 +v 0.736916 -0.525281 0.957518 +v -0.007584 2.356516 1.022366 +v 0.995890 -0.104125 -1.017215 +v -0.979052 2.356516 -0.952576 +v 1.060739 2.356516 0.925094 +v -0.557957 -0.525281 -1.049848 +v 1.125587 1.643683 0.892670 +v -1.011476 2.161876 0.277449 +f 73 62 81 +f 52 51 53 +f 51 52 54 +f 51 54 56 +f 56 54 57 +f 55 53 58 +f 53 55 59 +f 55 58 60 +f 53 51 62 +f 60 57 63 +f 56 57 65 +f 57 54 66 +f 52 59 67 +f 59 55 67 +f 52 67 68 +f 51 56 69 +f 62 51 69 +f 58 62 69 +f 55 60 70 +f 50 63 70 +f 61 58 71 +f 56 65 71 +f 65 61 71 +f 69 56 71 +f 58 69 71 +f 67 55 72 +f 64 68 72 +f 68 67 72 +f 58 53 73 +f 53 62 73 +f 57 60 74 +f 65 57 74 +f 65 74 75 +f 60 58 75 +f 58 61 75 +f 61 65 75 +f 74 60 75 +f 54 64 76 +f 66 54 76 +f 72 66 76 +f 64 72 76 +f 52 53 77 +f 59 52 77 +f 53 59 77 +f 63 50 78 +f 60 63 78 +f 50 70 78 +f 70 60 78 +f 54 52 79 +f 64 54 79 +f 52 68 79 +f 68 64 79 +f 63 57 80 +f 57 66 80 +f 55 70 80 +f 70 63 80 +f 66 72 80 +f 72 55 80 +f 62 58 81 +f 58 73 81 +o convex_2 +v 0.575049 3.198500 0.990031 +v -0.979007 3.586866 -1.114652 +v -0.979007 3.748724 -1.114652 +v 1.093207 3.813604 -1.114652 +v 1.060574 3.036566 -1.114652 +v -0.979007 3.813604 0.925135 +v -0.979007 3.036566 0.957480 +v 0.963511 3.716398 0.925135 +v -0.979007 3.036566 -1.082101 +v 1.028359 3.036566 0.925135 +v -1.043856 3.036566 0.309965 +v -0.914159 3.781126 -1.114652 +v 1.093207 3.813604 -0.887620 +v 0.995935 3.586866 0.957480 +v -1.043856 3.328032 0.633825 +v 0.413137 3.813604 -1.114652 +v -0.752248 3.036566 0.990031 +v -1.011222 3.522139 -0.985066 +v 0.251226 3.716398 0.957480 +v -0.104812 3.036566 -1.114652 +v 1.093207 3.554465 -0.952515 +v -1.011222 3.651594 0.828101 +v 0.995935 3.036566 0.957480 +v -1.011222 3.036566 -0.855481 +v 1.060574 3.813604 -0.790791 +v -0.946583 3.522139 0.957480 +v -0.914159 3.813604 0.925135 +v 0.931296 3.716398 0.957480 +v 1.060574 3.036566 -0.596310 +v -0.979007 3.781126 -1.017411 +v 0.542625 3.036566 0.990031 +v -0.979007 3.813604 0.795550 +f 111 103 113 +f 83 84 85 +f 83 85 86 +f 86 88 90 +f 88 86 91 +f 90 88 92 +f 85 84 93 +f 85 87 94 +f 91 94 95 +f 94 89 95 +f 92 88 96 +f 87 85 97 +f 85 93 97 +f 88 91 98 +f 84 83 99 +f 83 90 99 +f 92 96 99 +f 98 82 100 +f 83 86 101 +f 90 83 101 +f 86 90 101 +f 86 85 102 +f 85 94 102 +f 94 91 102 +f 88 87 103 +f 96 88 103 +f 99 96 103 +f 91 95 104 +f 95 82 104 +f 98 91 104 +f 90 92 105 +f 99 90 105 +f 92 99 105 +f 94 87 106 +f 89 94 106 +f 87 88 107 +f 88 98 107 +f 100 87 107 +f 98 100 107 +f 87 100 108 +f 106 87 108 +f 106 108 109 +f 82 95 109 +f 95 89 109 +f 100 82 109 +f 89 106 109 +f 108 100 109 +f 91 86 110 +f 86 102 110 +f 102 91 110 +f 93 84 111 +f 84 99 111 +f 99 103 111 +f 82 98 112 +f 104 82 112 +f 98 104 112 +f 87 97 113 +f 97 93 113 +f 103 87 113 +f 93 111 113 +o convex_3 +v -1.076235 2.906879 0.212844 +v -3.083779 2.421357 -0.337538 +v -3.083779 2.421357 -0.240361 +v -2.986310 3.004110 0.148082 +v -1.076235 2.971658 -0.272776 +v -1.238159 2.486136 0.245192 +v -1.076235 2.356642 -0.337538 +v -2.954082 2.453747 0.309955 +v -3.083779 2.939268 -0.208013 +v -1.076235 2.874490 0.342436 +v -2.954082 3.004110 0.212844 +v -2.986310 2.421357 0.245192 +v -2.468310 2.615629 -0.337538 +v -1.076235 2.356642 -0.240361 +v -2.792158 2.388968 -0.305124 +v -1.076235 2.518525 0.245192 +v -3.083779 2.971658 -0.175598 +v -2.921855 2.583240 0.309955 +v -2.468310 2.453747 0.309955 +v -2.662658 3.004110 0.212844 +v -1.529583 2.712607 0.342436 +v -3.051355 2.550851 -0.337538 +v -1.270583 2.874490 0.342436 +v -1.076235 2.453747 -0.337538 +v -1.594432 2.356642 -0.305124 +v -2.986310 3.004110 0.050905 +v -3.083779 2.971658 -0.110836 +v -1.076235 2.971658 -0.208013 +f 118 133 141 +f 118 114 120 +f 115 116 122 +f 120 114 123 +f 117 121 124 +f 121 117 125 +f 120 115 126 +f 120 123 127 +f 116 115 128 +f 115 120 128 +f 125 116 128 +f 127 123 129 +f 119 127 129 +f 122 116 130 +f 118 122 130 +f 124 121 131 +f 121 125 132 +f 127 119 132 +f 125 127 132 +f 123 114 133 +f 124 123 133 +f 117 124 133 +f 119 129 134 +f 129 123 134 +f 131 121 134 +f 121 132 134 +f 132 119 134 +f 115 122 135 +f 122 118 135 +f 126 115 135 +f 118 126 135 +f 123 124 136 +f 124 131 136 +f 134 123 136 +f 131 134 136 +f 118 120 137 +f 120 126 137 +f 126 118 137 +f 120 127 138 +f 127 125 138 +f 125 128 138 +f 128 120 138 +f 130 117 139 +f 118 130 139 +f 133 118 139 +f 117 133 139 +f 116 125 140 +f 125 117 140 +f 117 130 140 +f 130 116 140 +f 114 118 141 +f 133 114 141 +o convex_4 +v -0.169470 2.680364 1.022411 +v -0.007653 3.004012 -1.114652 +v -0.266729 2.356516 -1.082228 +v 1.093207 2.356516 0.633740 +v -0.946485 2.356516 1.022411 +v 1.060716 3.036424 -1.114652 +v -1.043745 3.036424 0.471828 +v 1.028226 3.036424 0.924929 +v -0.978976 3.036424 -1.082228 +v 1.028226 2.356516 -1.082018 +v -0.978976 2.356516 -0.984955 +v -0.946485 3.036424 0.989987 +v 1.060716 2.356516 0.924929 +v -1.076235 2.356516 -0.337519 +v -1.076235 3.004012 0.407189 +v 1.093207 2.971667 -0.078335 +v 1.093207 2.356516 -0.337310 +v 0.542777 3.036424 0.989987 +v -0.007653 2.356516 1.022411 +v -1.076235 2.971667 -0.272671 +v -1.076235 2.486095 0.180430 +v -0.946485 2.356516 -1.049804 +v 1.028226 2.712642 -1.114652 +v 0.963457 2.842155 0.957353 +v -0.978976 3.036424 0.957563 +v 1.093207 2.906911 0.212645 +v 1.060716 2.680364 0.924929 +v 0.866409 2.356516 0.957353 +v 1.060716 2.809743 -1.114652 +f 151 164 170 +f 144 145 146 +f 147 148 149 +f 143 144 150 +f 147 143 150 +f 148 147 150 +f 145 144 151 +f 144 146 152 +f 146 142 153 +f 149 148 153 +f 146 145 154 +f 152 146 155 +f 150 152 155 +f 148 150 156 +f 147 149 157 +f 145 151 158 +f 157 145 158 +f 147 157 158 +f 153 142 159 +f 149 153 159 +f 142 146 160 +f 146 154 160 +f 159 142 160 +f 150 155 161 +f 156 150 161 +f 155 156 161 +f 155 146 162 +f 146 156 162 +f 156 155 162 +f 150 144 163 +f 144 152 163 +f 152 150 163 +f 144 143 164 +f 143 147 164 +f 151 144 164 +f 149 159 165 +f 159 160 165 +f 146 153 166 +f 153 148 166 +f 148 156 166 +f 156 146 166 +f 145 157 167 +f 157 149 167 +f 154 145 168 +f 149 165 168 +f 165 154 168 +f 145 167 168 +f 167 149 168 +f 160 154 169 +f 154 165 169 +f 165 160 169 +f 158 151 170 +f 147 158 170 +f 164 147 170 +o convex_5 +v 1.093207 2.550851 0.310057 +v 3.068130 3.036424 0.277601 +v 3.068130 2.939256 0.277601 +v 1.093207 2.356516 -0.337538 +v 1.093207 2.971667 -0.207969 +v 3.100751 2.453750 -0.240361 +v 3.035903 3.036424 -0.305146 +v 3.035903 2.453750 0.180487 +v 1.222903 2.939256 0.212879 +v 1.320176 2.453750 0.310057 +v 2.323358 2.842155 -0.337538 +v 2.614782 3.036424 0.277601 +v 1.093207 2.421339 0.212879 +v 2.517903 3.036424 -0.305146 +v 3.068130 2.809743 -0.305146 +v 2.485282 2.842155 0.310057 +v 1.093207 2.906911 0.212879 +v 1.255131 2.356516 -0.272753 +v 1.093207 2.453750 -0.337538 +v 1.093207 2.971667 -0.078462 +v 1.579176 3.004012 -0.175640 +v 2.550130 2.421339 -0.272753 +v 1.676055 2.971667 0.245272 +v 3.068130 2.453750 0.148094 +v 2.355782 2.874500 0.310057 +f 182 193 195 +f 174 171 175 +f 172 173 176 +f 172 177 182 +f 171 174 183 +f 180 171 183 +f 178 180 183 +f 177 181 184 +f 182 177 184 +f 172 176 185 +f 177 172 185 +f 174 181 185 +f 181 177 185 +f 173 172 186 +f 178 173 186 +f 171 180 186 +f 180 178 186 +f 175 171 187 +f 183 174 188 +f 178 183 188 +f 174 175 189 +f 181 174 189 +f 175 184 189 +f 184 181 189 +f 175 187 190 +f 187 179 190 +f 184 175 191 +f 182 184 191 +f 190 182 191 +f 175 190 191 +f 185 176 192 +f 174 185 192 +f 188 174 192 +f 187 171 193 +f 179 187 193 +f 190 179 193 +f 182 190 193 +f 176 173 194 +f 173 178 194 +f 178 188 194 +f 192 176 194 +f 188 192 194 +f 172 182 195 +f 186 172 195 +f 171 186 195 +f 193 171 195 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/020/020.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/020/020.urdf new file mode 100644 index 000000000..059760007 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/020/020.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/021/021.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/021/021.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/021/021.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/021/021.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/021/021.obj new file mode 100644 index 000000000..09f619ca6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/021/021.obj @@ -0,0 +1,459 @@ +o convex_0 +v -0.038889 -0.938967 -1.081254 +v -1.052827 3.548701 1.039618 +v -0.100132 3.487202 1.008868 +v 0.944740 -0.938967 1.039618 +v 0.944740 3.517951 -1.081254 +v -1.052827 -0.938967 0.978118 +v -0.929926 3.487202 -1.050505 +v 1.006398 -0.938967 -1.050294 +v 0.975465 3.394514 0.947158 +v -0.960651 -0.938967 -0.989006 +v -1.114486 3.548701 0.824161 +v -1.022102 -0.938967 -0.466265 +v 0.576035 -0.938967 -1.112004 +v -0.960651 3.241206 -1.019545 +v 0.545309 3.548701 -0.435515 +v -1.083553 -0.723720 0.978118 +v 0.975465 2.779964 -1.081254 +v 0.084221 3.517951 -1.081044 +v 0.975465 3.148518 0.977908 +v 1.006398 -0.938967 -0.620012 +v 0.944740 -0.139480 1.039618 +v -1.083553 0.721066 1.008657 +v 1.006398 0.168015 -1.050294 +v -0.407386 3.548701 -0.374016 +v -1.114486 2.103475 0.978118 +v -0.530288 -0.723720 -1.050294 +v 0.975465 1.826730 0.977908 +v 0.698936 -0.938967 1.039618 +v 0.698936 0.414011 -1.112004 +v 0.975465 3.425264 0.762872 +v 0.422200 -0.938967 -1.112004 +v -0.929926 2.595467 -1.050505 +v -1.114486 3.425703 1.039618 +v -0.991376 -0.600722 -0.835259 +v -1.114486 3.425703 0.793622 +v 0.330024 3.548701 -0.128231 +v -1.052827 0.168015 -0.066732 +v -0.960651 0.413571 -1.019545 +v -1.022102 3.517951 -0.281978 +v 0.975465 -0.938967 0.301630 +v 0.791113 3.425264 0.978118 +v 0.944740 3.517951 -0.743010 +v -1.052827 -0.908217 0.209592 +v 0.975465 1.365927 -1.081254 +v -1.114486 2.748775 0.793622 +v 0.975465 3.425264 0.547626 +v -0.714848 3.517951 -0.773549 +v -1.083553 -0.569973 0.885659 +f 45 43 48 +f 1 4 6 +f 4 1 8 +f 1 6 10 +f 10 6 12 +f 8 1 13 +f 11 2 15 +f 15 5 18 +f 9 19 20 +f 4 8 20 +f 3 2 21 +f 2 4 21 +f 19 3 21 +f 4 19 21 +f 16 6 22 +f 8 17 23 +f 9 20 23 +f 20 8 23 +f 11 15 24 +f 15 18 24 +f 1 10 26 +f 19 4 27 +f 20 19 27 +f 4 2 28 +f 6 4 28 +f 22 6 28 +f 8 13 29 +f 5 17 29 +f 18 5 29 +f 9 23 30 +f 13 1 31 +f 7 18 31 +f 1 26 31 +f 29 13 31 +f 18 29 31 +f 14 7 32 +f 7 31 32 +f 31 26 32 +f 2 11 33 +f 16 22 33 +f 11 25 33 +f 25 16 33 +f 28 2 33 +f 22 28 33 +f 10 12 34 +f 14 34 35 +f 25 11 35 +f 2 3 36 +f 15 2 36 +f 30 15 36 +f 34 12 37 +f 35 34 37 +f 26 10 38 +f 14 32 38 +f 32 26 38 +f 10 34 38 +f 34 14 38 +f 7 14 39 +f 11 24 39 +f 14 35 39 +f 35 11 39 +f 4 20 40 +f 27 4 40 +f 20 27 40 +f 3 19 41 +f 19 9 41 +f 9 30 41 +f 36 3 41 +f 30 36 41 +f 5 15 42 +f 15 30 42 +f 30 5 42 +f 12 6 43 +f 6 16 43 +f 37 12 43 +f 17 8 44 +f 8 29 44 +f 29 17 44 +f 25 35 45 +f 35 37 45 +f 37 43 45 +f 17 5 46 +f 23 17 46 +f 5 30 46 +f 30 23 46 +f 18 7 47 +f 24 18 47 +f 7 39 47 +f 39 24 47 +f 16 25 48 +f 43 16 48 +f 25 45 48 +o convex_1 +v -0.561188 -1.799527 1.777500 +v 0.606811 -1.092778 2.145916 +v 0.606811 -1.123419 2.145916 +v -0.622687 -1.092778 3.067934 +v 0.453124 -2.045500 3.006727 +v 0.545312 -2.106887 1.101288 +v -0.530378 -1.092778 1.132185 +v -0.468879 -2.106782 3.098831 +v -0.530378 -2.076141 1.101093 +v 0.606811 -1.123419 1.101288 +v 0.545312 -1.061926 3.006727 +v -0.591877 -1.031179 2.453321 +v 0.606811 -1.092778 1.254990 +v 0.576002 -1.246405 2.976026 +v 0.330006 -1.031179 3.006531 +v 0.483813 -2.076141 2.637724 +v -0.622687 -1.031179 2.852829 +v -0.530378 -1.123524 1.101093 +v 0.545312 -2.106887 1.408693 +v 0.576002 -1.861020 1.162691 +v -0.345881 -1.983901 3.098831 +v 0.207128 -2.106782 1.101093 +v -0.561188 -1.031179 3.067934 +v -0.561188 -1.830274 1.531694 +v 0.237938 -2.076141 3.037233 +v -0.499689 -1.953155 3.067934 +v 0.483813 -1.953155 3.006727 +v 0.606811 -1.369391 1.101288 +v -0.561188 -1.092778 1.562395 +v 0.576002 -1.676541 1.900501 +v -0.530378 -2.076141 1.439394 +v 0.576002 -1.061926 2.976026 +v -0.376691 -2.106782 3.098831 +v -0.622687 -1.154271 2.883530 +v 0.576002 -1.061926 2.207319 +f 63 80 83 +f 50 51 58 +f 55 60 61 +f 58 55 61 +f 50 58 61 +f 51 50 62 +f 61 60 63 +f 60 55 65 +f 63 60 65 +f 55 58 66 +f 56 54 67 +f 67 54 68 +f 54 56 70 +f 56 57 70 +f 66 58 70 +f 57 66 70 +f 52 56 71 +f 59 63 71 +f 65 52 71 +f 63 65 71 +f 56 69 71 +f 69 59 71 +f 66 57 72 +f 64 53 73 +f 59 69 73 +f 56 52 74 +f 62 59 75 +f 53 64 75 +f 64 67 75 +f 73 53 75 +f 59 73 75 +f 58 51 76 +f 51 68 76 +f 68 54 76 +f 54 70 76 +f 70 58 76 +f 65 55 77 +f 55 66 77 +f 72 65 77 +f 66 72 77 +f 51 62 78 +f 68 51 78 +f 67 68 78 +f 62 75 78 +f 75 67 78 +f 57 56 79 +f 49 72 79 +f 72 57 79 +f 74 49 79 +f 56 74 79 +f 50 61 80 +f 62 50 80 +f 59 62 80 +f 63 59 80 +f 56 67 81 +f 67 64 81 +f 69 56 81 +f 64 73 81 +f 73 69 81 +f 52 65 82 +f 72 49 82 +f 65 72 82 +f 49 74 82 +f 74 52 82 +f 61 63 83 +f 80 61 83 +o convex_2 +v -0.038658 -0.969722 -1.142871 +v -0.345959 -2.106990 -1.327305 +v -0.315206 -2.106990 -1.327305 +v 0.514552 -1.000592 -2.986829 +v -0.561115 -1.092744 -2.956121 +v 0.606811 -2.045364 -3.017726 +v 0.606811 -1.983853 -1.081267 +v -0.561115 -2.014609 -2.986829 +v -0.499610 -1.123500 -1.081267 +v 0.576058 -0.938967 -1.081267 +v -0.561115 -2.106990 -1.081267 +v -0.468971 -1.000592 -1.234993 +v 0.176384 -1.000592 -2.986829 +v 0.453047 -2.076234 -2.740980 +v 0.606811 -1.615130 -2.341406 +v -0.561115 -1.062103 -2.402820 +v 0.576058 -2.014609 -1.142871 +v 0.483799 -0.969837 -2.802395 +v 0.576058 -1.522978 -3.017726 +v -0.530362 -1.062103 -2.956121 +v 0.022734 -2.045364 -3.017726 +v 0.545305 -0.969837 -2.402820 +v -0.468971 -1.000592 -1.081267 +v -0.561115 -1.676527 -2.986829 +v -0.561115 -2.045364 -2.525839 +v 0.576058 -0.938967 -1.327305 +v 0.606811 -2.045364 -2.187679 +v -0.376712 -2.106990 -1.081267 +v -0.561115 -2.014609 -1.081267 +v 0.606811 -1.830305 -1.081267 +v 0.422294 -0.938967 -1.112164 +f 109 101 114 +f 92 90 93 +f 85 86 94 +f 88 91 94 +f 90 92 94 +f 86 85 97 +f 90 89 98 +f 88 94 99 +f 95 84 101 +f 87 96 101 +f 96 95 101 +f 96 87 102 +f 98 89 102 +f 95 96 103 +f 88 99 103 +f 99 95 103 +f 89 97 104 +f 102 89 104 +f 87 101 105 +f 102 87 105 +f 98 102 105 +f 92 93 106 +f 84 95 106 +f 99 92 106 +f 95 99 106 +f 91 88 107 +f 96 102 107 +f 88 103 107 +f 103 96 107 +f 104 91 107 +f 102 104 107 +f 85 94 108 +f 94 91 108 +f 97 85 108 +f 91 104 108 +f 104 97 108 +f 93 98 109 +f 98 105 109 +f 105 101 109 +f 89 90 110 +f 97 89 110 +f 90 100 110 +f 110 100 111 +f 94 86 111 +f 90 94 111 +f 86 97 111 +f 100 90 111 +f 97 110 111 +f 94 92 112 +f 99 94 112 +f 92 99 112 +f 93 90 113 +f 90 98 113 +f 98 93 113 +f 101 84 114 +f 84 106 114 +f 106 93 114 +f 93 109 114 +o convex_3 +v -1.053011 -1.983944 0.486076 +v 1.037136 -2.444933 -0.988982 +v 1.037136 -2.506432 -0.988982 +v 0.944863 -1.768950 1.070331 +v -0.499580 -0.938967 -1.050505 +v -0.929844 -2.660264 -0.927459 +v 0.944863 -2.598765 1.070331 +v -1.053011 -0.938967 0.977833 +v 1.006242 -0.938967 -1.050505 +v -1.022117 -2.567931 0.977833 +v 0.944863 -0.938967 1.039569 +v -0.960738 -0.938967 -0.988982 +v -0.530474 -1.123464 1.101092 +v -0.561164 -2.106942 -1.081266 +v 1.037136 -2.506432 -1.050505 +v -0.561164 -2.106942 1.101092 +v -0.130695 -2.660264 -0.251346 +v -0.991428 -2.629430 -0.865936 +v -1.053011 -2.598765 0.824239 +v -1.022117 -0.938967 -0.466463 +v 0.606667 -1.123632 1.101092 +v 0.606667 -0.938967 -1.081266 +v 0.975552 -2.598765 0.885548 +v -0.960738 -2.629430 -0.958220 +v 1.006242 -0.938967 -0.620057 +v -0.468891 -1.000466 -1.081266 +v 0.606667 -1.983944 -1.081266 +v -0.315240 -2.660264 -0.097539 +v 0.053441 -2.291270 1.101092 +v -1.053011 -1.031299 0.240197 +v -0.530474 -2.629430 -0.988982 +v -0.407308 -2.598765 1.008594 +v -0.130695 -2.660264 -0.343417 +v 0.975552 -2.598765 0.731954 +v 0.545288 -2.106942 1.101092 +v 0.975552 -1.061965 0.363030 +v -0.991428 -1.277127 -0.865936 +v -0.960738 -1.768950 -0.988982 +v -1.053011 -1.983944 0.977833 +v 0.821901 -2.537097 -0.927459 +v 0.637561 -2.598765 1.070331 +v -1.053011 -2.567931 0.639670 +v -0.991428 -2.537097 -0.896697 +f 132 156 157 +f 119 122 123 +f 123 122 125 +f 122 119 126 +f 125 122 127 +f 116 117 129 +f 123 116 129 +f 127 122 130 +f 122 115 133 +f 132 120 133 +f 122 126 134 +f 121 118 135 +f 118 125 135 +f 125 127 135 +f 127 130 135 +f 119 123 136 +f 123 129 136 +f 117 116 137 +f 118 121 137 +f 125 118 137 +f 129 117 137 +f 121 131 137 +f 120 132 138 +f 116 123 139 +f 123 125 139 +f 126 119 140 +f 128 126 140 +f 119 136 140 +f 136 128 140 +f 129 128 141 +f 128 136 141 +f 136 129 141 +f 120 131 142 +f 131 121 142 +f 133 120 142 +f 130 124 143 +f 135 130 143 +f 115 122 144 +f 122 134 144 +f 128 129 145 +f 138 128 145 +f 120 138 145 +f 124 133 146 +f 133 142 146 +f 143 124 146 +f 131 120 147 +f 137 131 147 +f 120 145 147 +f 129 137 148 +f 137 147 148 +f 121 135 149 +f 143 121 149 +f 135 143 149 +f 137 116 150 +f 125 137 150 +f 116 139 150 +f 139 125 150 +f 134 126 151 +f 126 128 152 +f 128 138 152 +f 124 130 153 +f 130 122 153 +f 122 133 153 +f 133 124 153 +f 145 129 154 +f 147 145 154 +f 129 148 154 +f 148 147 154 +f 142 121 155 +f 121 143 155 +f 146 142 155 +f 143 146 155 +f 133 115 156 +f 132 133 156 +f 138 132 157 +f 115 144 157 +f 144 134 157 +f 151 126 157 +f 134 151 157 +f 126 152 157 +f 152 138 157 +f 156 115 157 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/021/021.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/021/021.urdf new file mode 100644 index 000000000..e749351a8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/021/021.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/022/022.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/022/022.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/022/022.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/022/022.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/022/022.obj new file mode 100644 index 000000000..c14238ba6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/022/022.obj @@ -0,0 +1,567 @@ +o convex_0 +v -0.583299 -1.467417 -1.999302 +v -0.756145 -0.746288 0.536768 +v -0.813760 -0.746288 0.536768 +v -0.640914 3.863890 -0.731267 +v 0.425360 0.751712 -0.702719 +v -1.563149 0.924219 -0.817408 +v 0.137088 2.739657 -1.595407 +v -0.525878 3.200851 0.075529 +v 0.137088 -1.438079 0.075529 +v -1.332493 2.797159 0.190714 +v -1.246070 -1.409328 0.075529 +v -1.188455 2.595314 -1.278647 +v 0.165896 -1.380576 -1.538063 +v -1.246070 -1.553671 -1.624452 +v -0.525878 -2.130456 -0.616330 +v 0.165896 3.085259 -0.673923 +v 0.223511 1.039225 0.017688 +v -0.698529 3.172099 -1.480470 +v -1.418916 0.952971 -1.480470 +v -0.381645 -1.351825 0.536768 +v -1.361301 3.142761 -0.702471 +v -1.476532 0.492364 0.133122 +v -0.208799 -0.256930 -1.999302 +v 0.367550 0.694209 -1.509267 +v -0.871375 -1.121228 -1.999302 +v -0.496876 -2.043616 -1.538063 +v -0.612106 -2.014865 0.075529 +v -0.295222 -0.919383 0.536768 +v -0.842568 -1.294322 0.536768 +v -1.332493 -1.236820 -0.702471 +v -0.151183 -0.861880 -1.999302 +v -0.900183 1.125478 -1.739886 +v -0.006950 2.624065 -0.155091 +v -1.188455 -0.198840 0.392537 +v -1.563149 0.866717 -0.443303 +v 0.194704 -1.381163 -0.645126 +v -0.295222 1.327324 0.277352 +v 0.425360 0.981722 -0.731267 +v -0.266414 -1.351825 -1.999302 +v -1.274878 2.681568 0.219511 +v -1.447724 -0.256930 -1.134665 +v -0.583299 3.863890 -0.673923 +v 0.165896 3.114597 -0.817656 +v -0.727337 -2.014865 -0.904046 +v -1.073029 -1.351825 0.363741 +v 0.165896 2.595314 -1.595656 +v -1.563149 0.636707 -0.616330 +v -0.179991 -1.639925 0.277352 +v -1.390109 2.999005 -0.702471 +v -1.274878 -1.524920 -1.595656 +v -0.554686 3.834552 -0.760064 +v 0.338742 0.291105 -1.538063 +v -0.986606 -1.668676 -1.739886 +v -1.476532 0.952971 0.133122 +v -0.179991 -1.784268 -1.134665 +v -0.784952 -0.746288 -1.999302 +v 0.108281 -1.495581 0.075529 +v -0.525878 3.258353 0.046732 +v -1.274878 -1.236820 0.104325 +v -1.563149 1.154816 -0.616330 +v 0.252319 0.981135 -0.039657 +v -1.303685 -1.149979 -1.595656 +v -0.583299 -2.043616 -1.509267 +v -0.871375 3.517701 -0.385462 +f 58 42 64 +f 12 18 19 +f 2 3 20 +f 4 18 21 +f 18 12 21 +f 12 19 21 +f 18 7 23 +f 23 1 25 +f 9 17 28 +f 2 20 28 +f 20 9 28 +f 20 3 29 +f 27 20 29 +f 1 23 31 +f 19 18 32 +f 18 23 32 +f 25 19 32 +f 8 17 33 +f 17 16 33 +f 29 3 34 +f 5 9 36 +f 13 5 36 +f 17 8 37 +f 28 17 37 +f 5 24 38 +f 26 1 39 +f 13 26 39 +f 1 31 39 +f 31 13 39 +f 3 2 40 +f 8 10 40 +f 2 28 40 +f 34 3 40 +f 10 34 40 +f 37 8 40 +f 28 37 40 +f 6 19 41 +f 42 16 43 +f 16 38 43 +f 27 11 44 +f 15 27 44 +f 11 27 45 +f 27 29 45 +f 34 22 45 +f 29 34 45 +f 23 7 46 +f 31 23 46 +f 24 31 46 +f 38 24 46 +f 7 43 46 +f 43 38 46 +f 35 6 47 +f 22 35 47 +f 6 41 47 +f 41 30 47 +f 9 20 48 +f 20 27 48 +f 19 6 49 +f 10 21 49 +f 21 19 49 +f 11 30 50 +f 30 41 50 +f 44 11 50 +f 14 44 50 +f 18 4 51 +f 7 18 51 +f 4 42 51 +f 42 43 51 +f 43 7 51 +f 5 13 52 +f 24 5 52 +f 13 31 52 +f 31 24 52 +f 25 1 53 +f 14 25 53 +f 1 26 53 +f 34 10 54 +f 22 34 54 +f 10 35 54 +f 35 22 54 +f 26 13 55 +f 15 26 55 +f 13 36 55 +f 23 25 56 +f 32 23 56 +f 25 32 56 +f 27 15 57 +f 36 9 57 +f 9 48 57 +f 48 27 57 +f 15 55 57 +f 55 36 57 +f 10 8 58 +f 8 33 58 +f 33 16 58 +f 16 42 58 +f 30 11 59 +f 11 45 59 +f 45 22 59 +f 22 47 59 +f 47 30 59 +f 6 35 60 +f 35 10 60 +f 49 6 60 +f 10 49 60 +f 9 5 61 +f 17 9 61 +f 16 17 61 +f 38 16 61 +f 5 38 61 +f 25 14 62 +f 19 25 62 +f 41 19 62 +f 14 50 62 +f 50 41 62 +f 26 15 63 +f 44 14 63 +f 15 44 63 +f 14 53 63 +f 53 26 63 +f 21 10 64 +f 4 21 64 +f 42 4 64 +f 10 58 64 +o convex_1 +v -0.727360 -1.409960 1.920152 +v -0.151076 -0.747146 1.891338 +v 0.252361 -0.833603 1.891338 +v -0.611999 -1.150589 2.294725 +v -0.900206 -0.833603 1.862525 +v -0.208691 -1.409960 1.862525 +v -0.525446 -1.352344 2.208200 +v -0.929013 -1.352344 1.862525 +v -0.727360 -0.948969 2.208200 +v 0.367722 -0.891286 1.862525 +v -0.813783 -1.179295 2.237014 +v -0.640937 -1.381050 2.208200 +v 0.367722 -0.891286 1.891338 +v -0.611999 -0.977810 2.237014 +v -0.957951 -1.035358 1.920152 +v -0.871398 -0.833603 1.948965 +f 69 79 80 +f 70 65 72 +f 69 70 72 +f 66 67 74 +f 69 66 74 +f 70 69 74 +f 68 73 75 +f 65 70 76 +f 71 68 76 +f 70 71 76 +f 72 65 76 +f 68 75 76 +f 75 72 76 +f 68 71 77 +f 71 70 77 +f 74 67 77 +f 70 74 77 +f 67 66 78 +f 66 73 78 +f 73 68 78 +f 77 67 78 +f 68 77 78 +f 69 72 79 +f 72 75 79 +f 79 75 80 +f 66 69 80 +f 73 66 80 +f 75 73 80 +o convex_2 +v -0.813791 -1.208196 -2.748688 +v -0.266408 -1.121815 -2.748688 +v -0.266408 -1.179357 -2.748688 +v -0.554513 -1.093021 -3.699528 +v -0.669710 -0.891286 -2.748688 +v -0.554513 -1.323460 -3.440107 +v -0.813791 -1.064228 -3.411344 +v -0.525742 -0.920124 -3.497725 +v -0.324007 -1.150563 -3.497725 +v -0.410489 -1.352299 -2.748688 +v -0.352834 -0.920124 -2.748688 +v -0.784964 -0.920124 -2.777544 +v -0.756136 -1.294622 -2.864018 +v -0.352834 -1.323460 -2.921636 +v -0.583228 -0.891286 -3.353726 +v -0.352834 -0.948918 -3.094491 +v -0.640883 -1.352299 -2.748688 +v -0.612055 -1.323460 -3.411344 +v -0.842675 -1.064228 -2.748688 +v -0.813791 -1.121815 -3.382489 +f 99 87 100 +f 83 82 81 +f 81 82 85 +f 84 87 88 +f 84 88 89 +f 82 83 89 +f 86 84 89 +f 83 81 90 +f 85 82 91 +f 89 83 94 +f 86 89 94 +f 90 86 94 +f 83 90 94 +f 88 87 95 +f 85 91 95 +f 91 88 95 +f 92 85 95 +f 87 92 95 +f 89 88 96 +f 82 89 96 +f 91 82 96 +f 88 91 96 +f 86 90 97 +f 90 81 97 +f 81 93 97 +f 97 93 98 +f 84 86 98 +f 86 97 98 +f 81 85 99 +f 85 92 99 +f 92 87 99 +f 87 84 100 +f 93 81 100 +f 98 93 100 +f 84 98 100 +f 81 99 100 +o convex_3 +v -0.698580 -1.409807 -2.143425 +v -0.237522 -0.401527 -1.999302 +v -0.237522 -0.401527 -2.028126 +v -0.266296 -1.352203 -1.999302 +v -0.266296 -1.179286 -2.748595 +v -0.784902 -0.920068 -2.748595 +v -0.784902 -0.747256 -1.999302 +v -0.583282 -1.381005 -2.719771 +v -0.871494 -1.236995 -1.999302 +v -0.323979 -0.920068 -2.748595 +v -0.784902 -1.265797 -2.748595 +v -0.179839 -0.920068 -2.028126 +v -0.525666 -1.467516 -1.999302 +v -0.381662 -1.352203 -2.748595 +v -0.842652 -1.064078 -2.748595 +v -0.496892 -0.516735 -2.028126 +v -0.583282 -0.862464 -2.719771 +v -0.784902 -1.381005 -2.114674 +f 113 109 118 +f 104 102 107 +f 104 107 109 +f 103 105 110 +f 105 106 110 +f 106 105 111 +f 103 102 112 +f 102 104 112 +f 104 105 112 +f 105 103 112 +f 101 108 113 +f 104 109 113 +f 105 104 114 +f 111 105 114 +f 108 111 114 +f 113 108 114 +f 104 113 114 +f 107 106 115 +f 109 107 115 +f 106 111 115 +f 111 109 115 +f 102 103 116 +f 103 106 116 +f 106 107 116 +f 107 102 116 +f 106 103 117 +f 103 110 117 +f 110 106 117 +f 108 101 118 +f 111 108 118 +f 109 111 118 +f 101 113 118 +o convex_4 +v -0.813845 -1.323491 0.536768 +v -0.208872 -0.804784 0.709665 +v 0.252367 -0.862438 0.709665 +v -0.554305 -1.438801 0.709665 +v -0.929030 -0.891297 0.709665 +v -0.784924 -0.833642 0.536768 +v -0.323933 -1.294695 0.536768 +v -0.295261 -0.862438 0.536768 +v 0.310084 -1.006545 0.680843 +v -0.122235 -1.381146 0.709665 +v -0.871438 -1.381146 0.709665 +v -0.554305 -1.409943 0.536768 +v -0.929030 -1.121792 0.623216 +f 129 123 131 +f 121 120 122 +f 122 120 123 +f 123 120 124 +f 119 124 125 +f 120 121 126 +f 124 120 126 +f 125 124 126 +f 125 126 127 +f 126 121 127 +f 121 122 128 +f 125 127 128 +f 127 121 128 +f 122 123 129 +f 119 125 130 +f 128 122 130 +f 125 128 130 +f 129 119 130 +f 122 129 130 +f 123 124 131 +f 124 119 131 +f 119 129 131 +o convex_5 +v 3.998893 -1.208086 1.775893 +v -2.628738 -1.208193 0.709682 +v -2.773459 -1.179357 0.738568 +v -2.513552 -1.640517 1.660572 +v -2.369815 -0.603068 1.747120 +v 6.131312 -1.121792 1.026758 +v -2.139443 -0.631904 0.738568 +v 3.738986 -1.640517 1.257287 +v 4.142629 -0.660740 1.314835 +v -2.369815 -1.611681 0.738568 +v 3.825621 -1.121792 0.767455 +v -3.608312 -1.064228 1.314722 +v 0.511806 -0.689575 1.862441 +v -0.352582 -1.438773 1.862441 +v 3.767536 -1.554009 1.689459 +v 6.216963 -1.121792 1.458930 +v 4.171180 -0.804919 0.882663 +v 3.969358 -1.496337 0.911550 +v 3.163055 -0.689575 1.718233 +v -2.513552 -0.574232 0.911437 +v 6.131312 -1.352265 1.228513 +v 0.339519 -0.574232 1.747007 +v -3.119017 -0.747247 1.718233 +v -3.205653 -1.525173 0.882776 +v -3.119017 -0.689575 0.882776 +v -3.032382 -1.496337 1.689459 +v 0.396620 -1.669353 1.660572 +v -2.513552 -1.669353 0.853889 +v 6.101778 -0.920155 1.286061 +v -1.966172 -0.689575 1.833441 +v 0.483255 -0.833648 0.709795 +v -0.323047 -1.438773 0.709795 +v 3.767536 -0.632011 1.257287 +v 3.480063 -1.121792 1.833441 +v -3.349390 -0.689575 1.343609 +v -3.377940 -1.525173 1.286061 +v -2.283180 -1.554009 1.775893 +v -3.349390 -1.179357 1.689459 +v 1.519930 -1.582845 1.775893 +v 4.171180 -0.747247 1.631799 +v -3.349390 -1.064228 0.853889 +v -2.542102 -0.574232 1.516478 +v 4.199730 -1.525173 1.660572 +v -2.600188 -1.669353 1.401269 +v 4.171180 -1.611681 1.401269 +v 1.836938 -1.496337 0.796229 +v -2.542102 -0.948884 1.804667 +v 2.442404 -1.150521 1.862441 +v 2.095861 -0.660740 1.804780 +v -2.513552 -0.891320 0.709682 +v -1.015148 -0.660740 1.862441 +v 2.499505 -0.603068 1.286061 +v 0.368069 -1.611681 0.882663 +v 4.114079 -0.660740 1.199740 +v 6.447336 -1.121792 1.228513 +v -0.957063 -1.352265 1.862441 +v 6.101778 -1.236922 1.055645 +v 4.199730 -1.179250 0.796342 +v 6.159863 -0.948884 1.199740 +v 4.114079 -1.121792 1.775893 +v 0.656527 -1.669353 1.257287 +v 6.131312 -1.208193 1.458930 +v 4.199730 -1.611681 1.228513 +v -2.542102 -1.496337 0.709682 +f 181 162 195 +f 137 142 148 +f 151 138 156 +f 155 141 159 +f 136 154 161 +f 138 148 162 +f 148 142 162 +f 162 142 163 +f 150 140 164 +f 138 151 164 +f 153 150 164 +f 146 132 165 +f 143 154 166 +f 154 136 166 +f 156 143 166 +f 151 156 166 +f 143 155 167 +f 135 157 167 +f 155 159 167 +f 157 135 168 +f 135 158 168 +f 154 143 169 +f 143 167 169 +f 167 157 169 +f 157 168 169 +f 158 146 170 +f 146 165 170 +f 168 158 170 +f 145 168 170 +f 140 150 171 +f 147 160 171 +f 160 140 171 +f 155 143 172 +f 143 156 172 +f 136 153 173 +f 153 151 173 +f 166 136 173 +f 151 166 173 +f 132 146 174 +f 158 135 175 +f 159 158 175 +f 135 167 175 +f 167 159 175 +f 158 139 176 +f 146 158 176 +f 174 146 176 +f 152 174 176 +f 141 163 177 +f 163 142 177 +f 161 154 178 +f 169 168 178 +f 154 169 178 +f 144 145 179 +f 165 144 179 +f 145 170 179 +f 170 165 179 +f 150 153 180 +f 144 165 180 +f 165 150 180 +f 133 134 181 +f 156 138 181 +f 138 162 181 +f 134 172 181 +f 172 156 181 +f 145 144 182 +f 153 136 182 +f 136 161 182 +f 144 180 182 +f 180 153 182 +f 151 153 183 +f 164 151 183 +f 153 164 183 +f 149 139 184 +f 139 159 184 +f 159 141 184 +f 141 177 184 +f 177 149 184 +f 148 138 185 +f 140 160 185 +f 164 140 185 +f 138 164 185 +f 160 147 186 +f 168 145 187 +f 161 178 187 +f 178 168 187 +f 145 182 187 +f 182 161 187 +f 152 149 188 +f 137 186 188 +f 186 152 188 +f 142 137 189 +f 149 177 189 +f 177 142 189 +f 137 188 189 +f 188 149 189 +f 137 148 190 +f 148 185 190 +f 185 160 190 +f 186 137 190 +f 160 186 190 +f 165 132 191 +f 150 165 191 +f 171 150 191 +f 147 171 191 +f 139 158 192 +f 159 139 192 +f 158 159 192 +f 132 174 193 +f 174 152 193 +f 152 186 193 +f 186 147 193 +f 191 132 193 +f 147 191 193 +f 139 149 194 +f 149 152 194 +f 176 139 194 +f 152 176 194 +f 134 133 195 +f 141 155 195 +f 163 141 195 +f 162 163 195 +f 172 134 195 +f 155 172 195 +f 133 181 195 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/022/022.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/022/022.urdf new file mode 100644 index 000000000..249fbcb27 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/022/022.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/023/023.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/023/023.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/023/023.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/023/023.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/023/023.obj new file mode 100644 index 000000000..b4ad48827 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/023/023.obj @@ -0,0 +1,189 @@ +o convex_0 +v 1.084530 -1.692584 0.704344 +v -1.086686 1.637745 0.614828 +v -1.086686 1.637745 0.674366 +v 1.114480 2.976781 -0.961030 +v -1.027003 -3.060690 -0.961239 +v -1.056736 2.947105 -1.020777 +v 0.935861 3.005851 1.061360 +v -0.967535 -3.060690 1.091129 +v 1.025063 -2.941382 -1.050336 +v -1.086686 2.916824 1.091129 +v 1.054797 -3.031014 1.031591 +v -0.372643 3.096089 0.317350 +v 0.519588 1.579000 1.091129 +v -0.045571 -3.090365 0.198485 +v -0.997269 -2.882636 1.091129 +v 0.222034 -0.680586 -1.050546 +v 0.965595 2.679419 1.061360 +v 0.459904 3.096089 0.020291 +v 1.084530 -2.763328 0.942075 +v 1.114480 1.519648 -0.425821 +v 1.054797 1.965388 -0.990799 +v 0.846660 -2.971057 -1.050336 +v -1.086686 2.947105 0.109178 +v 0.430171 3.005851 1.091129 +v -0.789132 -3.090971 -0.633993 +v 1.054797 -1.543600 -1.020777 +v -0.818866 -3.090971 0.882747 +v -1.056736 0.983671 -0.991008 +v -0.699930 -3.031014 1.091129 +v 1.054797 3.006457 -0.901492 +v -0.967535 2.976781 -0.931471 +v 0.906127 3.036132 1.001822 +v 0.995329 -0.205170 1.061360 +v -0.759398 2.917430 -1.020777 +v 1.025063 -1.930595 -1.050336 +v 1.114480 2.976781 -0.782627 +v -1.027003 -3.060690 -0.663761 +v 1.114480 2.144047 -0.931471 +v -1.056736 2.382058 -1.020777 +v 0.668257 -2.882031 -1.050546 +v 1.054797 -3.000733 -0.009268 +v -0.164506 3.096089 0.466194 +v -1.086686 2.054415 1.091129 +v -1.027003 2.946500 1.031591 +v 0.430171 2.976175 -0.991008 +v 1.054797 -2.882031 -0.217439 +v -1.056736 -0.859245 -0.247208 +v 0.965595 2.946500 1.001822 +v 1.054797 -1.602952 1.031591 +v 0.459904 3.096089 0.347119 +v 0.132832 -3.060690 1.061150 +v -0.580995 -3.060690 -0.961239 +v 0.549321 -3.060690 0.466404 +v -0.283441 3.096089 0.168716 +v 0.251768 -3.031014 1.061150 +v 1.084530 -2.763328 0.882747 +v -0.997269 -3.060690 0.912516 +v 1.084530 3.006457 -0.455380 +v -0.699930 2.976175 -0.991008 +v -0.521528 3.065808 0.525732 +v 0.519588 3.005851 1.091129 +v 0.668257 -1.335266 -1.050546 +v 1.025063 -2.971057 -0.782627 +v -0.848600 2.946500 1.091129 +f 60 44 64 +f 2 3 10 +f 10 8 13 +f 8 10 15 +f 1 19 20 +f 2 10 23 +f 10 13 24 +f 22 14 25 +f 5 25 27 +f 25 14 27 +f 2 23 28 +f 13 8 29 +f 6 23 31 +f 13 29 33 +f 16 6 34 +f 21 4 35 +f 4 26 35 +f 26 9 35 +f 20 4 36 +f 5 27 37 +f 4 20 38 +f 26 4 38 +f 6 16 39 +f 23 6 39 +f 5 28 39 +f 28 23 39 +f 9 22 40 +f 22 5 40 +f 35 9 40 +f 5 39 40 +f 39 16 40 +f 18 12 42 +f 24 32 42 +f 10 3 43 +f 15 10 43 +f 3 37 43 +f 37 15 43 +f 23 10 44 +f 4 21 45 +f 30 4 45 +f 34 6 45 +f 9 26 46 +f 26 38 46 +f 41 9 46 +f 3 2 47 +f 2 28 47 +f 28 5 47 +f 37 3 47 +f 5 37 47 +f 7 17 48 +f 1 20 48 +f 20 36 48 +f 19 1 49 +f 11 19 49 +f 33 11 49 +f 17 33 49 +f 1 48 49 +f 48 17 49 +f 32 18 50 +f 18 42 50 +f 42 32 50 +f 14 11 51 +f 8 27 51 +f 27 14 51 +f 29 8 51 +f 5 22 52 +f 25 5 52 +f 22 25 52 +f 11 14 53 +f 41 11 53 +f 12 18 54 +f 18 31 54 +f 31 12 54 +f 11 33 55 +f 33 29 55 +f 51 11 55 +f 29 51 55 +f 19 11 56 +f 20 19 56 +f 38 20 56 +f 11 41 56 +f 46 38 56 +f 41 46 56 +f 8 15 57 +f 27 8 57 +f 15 37 57 +f 37 27 57 +f 4 30 58 +f 30 18 58 +f 32 7 58 +f 18 32 58 +f 36 4 58 +f 7 48 58 +f 48 36 58 +f 18 30 59 +f 31 18 59 +f 6 31 59 +f 30 45 59 +f 45 6 59 +f 12 31 60 +f 31 23 60 +f 42 12 60 +f 23 44 60 +f 17 7 61 +f 24 13 61 +f 7 32 61 +f 32 24 61 +f 33 17 61 +f 13 33 61 +f 16 34 62 +f 21 35 62 +f 35 40 62 +f 40 16 62 +f 45 21 62 +f 34 45 62 +f 22 9 63 +f 14 22 63 +f 9 41 63 +f 53 14 63 +f 41 53 63 +f 10 24 64 +f 24 42 64 +f 44 10 64 +f 42 60 64 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/023/023.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/023/023.urdf new file mode 100644 index 000000000..26c7a4c23 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/023/023.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/024/024.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/024/024.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/024/024.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/024/024.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/024/024.obj new file mode 100644 index 000000000..bf298492d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/024/024.obj @@ -0,0 +1,900 @@ +o convex_0 +v 0.928369 -1.924785 0.662544 +v -1.003441 -3.124199 -0.010217 +v -0.915595 -3.124199 -0.303006 +v -1.003441 -0.578392 -0.303006 +v 0.752677 -0.578392 -0.859126 +v -0.798467 -0.578392 0.896814 +v 0.723395 -3.826515 0.106424 +v -0.008054 -3.797396 0.808839 +v -0.037336 -3.124199 -0.976163 +v 0.811241 -0.578392 0.867555 +v -0.769185 -0.578392 -0.829867 +v -0.739903 -3.914564 -0.010217 +v 0.752677 -3.065615 -0.712633 +v -0.739903 -3.094734 0.779778 +v 0.108673 -3.065615 1.014049 +v 1.045497 -0.578392 -0.332265 +v -0.037336 -3.885099 -0.712831 +v -0.769185 -3.153665 -0.712831 +v 0.986933 -3.065962 -0.010217 +v 0.752677 -3.094734 0.779778 +v -0.974159 -0.783263 0.691803 +v -0.095900 -0.578392 -1.005620 +v -0.008054 -4.119435 0.106424 +v 0.108673 -0.578392 1.014049 +v 0.986933 -0.578392 0.604026 +v -0.125182 -2.889863 1.014049 +v -0.857031 -1.924785 0.838296 +v 0.547904 -3.651109 -0.507820 +v -0.534929 -3.680575 0.604026 +v 0.050310 -3.855980 0.779580 +v 0.899087 -1.719915 0.808839 +v -0.593493 -3.680575 -0.537079 +v 0.108673 -0.841847 -1.005620 +v 0.664831 -3.065615 -0.771349 +v 0.577186 -3.592872 0.633285 +v -1.003441 -3.094734 0.077165 +v 0.986933 -3.065962 0.077165 +v 0.781959 -1.163886 -0.829867 +v 0.723395 -3.826515 0.018646 +v -0.739903 -3.885446 0.106424 +v -0.066618 -0.578392 1.014049 +v 0.021028 -3.065615 -0.976163 +v 0.021028 -4.119435 -0.010415 +v -0.798467 -3.124199 -0.683572 +v 1.016215 -0.812381 0.369953 +v -0.974159 -0.578392 0.691803 +v -0.652057 -3.124199 -0.771349 +v 0.840523 -0.812381 0.867555 +v -0.037336 -2.100538 -1.005620 +v -0.037336 -3.855980 0.779580 +v -0.066618 -3.094734 1.014049 +v -0.857031 -1.573628 0.867358 +v -0.769185 -0.783263 -0.829867 +v 0.752677 -2.948447 0.809037 +v -0.008054 -3.885099 -0.712831 +v 1.045497 -0.988134 -0.215031 +v -0.066618 -3.094734 -0.976163 +v -0.886313 -0.695560 -0.595597 +v -0.769185 -3.885446 -0.010217 +v 0.781959 -3.036496 0.750519 +v 0.957651 -0.578392 0.721260 +v 0.577186 -3.563406 -0.566535 +v -0.183746 -4.090317 0.018844 +v 0.957651 -0.900431 -0.507820 +f 13 38 64 +f 3 2 4 +f 5 4 6 +f 5 6 10 +f 4 5 11 +f 5 10 16 +f 13 16 19 +f 11 5 22 +f 10 6 24 +f 16 10 25 +f 15 24 26 +f 14 26 27 +f 15 8 30 +f 20 15 30 +f 23 7 30 +f 1 25 31 +f 17 12 32 +f 18 17 32 +f 22 5 33 +f 7 20 35 +f 30 7 35 +f 20 30 35 +f 4 2 36 +f 14 27 36 +f 27 21 36 +f 7 19 37 +f 25 1 37 +f 13 34 38 +f 19 7 39 +f 13 19 39 +f 29 14 40 +f 14 36 40 +f 24 6 41 +f 6 26 41 +f 26 24 41 +f 33 5 42 +f 34 9 42 +f 5 38 42 +f 38 34 42 +f 7 23 43 +f 39 7 43 +f 3 4 44 +f 16 25 45 +f 25 37 45 +f 6 4 46 +f 4 36 46 +f 36 21 46 +f 9 17 47 +f 17 18 47 +f 10 24 48 +f 24 15 48 +f 22 33 49 +f 33 42 49 +f 42 9 49 +f 8 14 50 +f 14 29 50 +f 30 8 50 +f 23 30 50 +f 40 23 50 +f 29 40 50 +f 14 8 51 +f 8 15 51 +f 26 14 51 +f 15 26 51 +f 26 6 52 +f 21 27 52 +f 27 26 52 +f 6 46 52 +f 46 21 52 +f 11 22 53 +f 18 44 53 +f 47 18 53 +f 22 49 53 +f 15 20 54 +f 48 15 54 +f 31 48 54 +f 17 9 55 +f 9 34 55 +f 28 39 55 +f 43 17 55 +f 39 43 55 +f 19 16 56 +f 37 19 56 +f 16 45 56 +f 45 37 56 +f 9 47 57 +f 49 9 57 +f 47 53 57 +f 53 49 57 +f 4 11 58 +f 44 4 58 +f 11 53 58 +f 53 44 58 +f 2 3 59 +f 32 12 59 +f 18 32 59 +f 36 2 59 +f 12 40 59 +f 40 36 59 +f 3 44 59 +f 44 18 59 +f 20 7 60 +f 1 31 60 +f 7 37 60 +f 37 1 60 +f 54 20 60 +f 31 54 60 +f 25 10 61 +f 31 25 61 +f 10 48 61 +f 48 31 61 +f 34 13 62 +f 13 39 62 +f 39 28 62 +f 55 34 62 +f 28 55 62 +f 12 17 63 +f 40 12 63 +f 23 40 63 +f 17 43 63 +f 43 23 63 +f 5 16 64 +f 16 13 64 +f 38 5 64 +o convex_1 +v 0.664688 0.417154 0.926002 +v -0.037246 -0.138895 -1.034890 +v -0.037246 0.417154 -1.034890 +v -1.266876 0.417154 0.370045 +v -0.798256 -0.578045 0.896720 +v 1.045317 -0.578045 -0.332322 +v -0.769092 -0.578045 -0.829715 +v 0.811007 -0.578045 0.867438 +v 1.279628 0.417154 0.077225 +v 0.840420 0.417154 -0.859198 +v -0.798256 0.417154 -0.858998 +v 0.752679 -0.578045 -0.859198 +v -0.739678 0.417154 0.896720 +v -1.003153 -0.578045 -0.303040 +v -0.066660 -0.578045 1.014049 +v -1.266876 0.387832 0.047943 +v 0.957576 -0.578045 0.721028 +v -0.973989 -0.578045 0.691746 +v -0.037246 0.417154 1.014049 +v 0.986740 0.417154 0.662664 +v 0.108824 -0.578045 -1.005608 +v 1.074731 0.270640 -0.449450 +v 0.752679 0.007228 0.926002 +v -0.739678 0.212094 0.926002 +v 1.045317 -0.548723 0.252917 +v 1.250214 0.387832 0.282199 +v 0.811007 -0.519498 -0.829916 +v 0.021082 -0.431629 -1.034890 +v -0.798256 0.036453 -0.858998 +v 0.079411 -0.578045 1.014049 +v -1.266876 0.358607 0.370045 +v 0.489204 0.329187 -0.947044 +v 1.191637 0.329187 -0.215194 +v -1.120308 0.417154 -0.273758 +v 0.079411 0.417154 1.014049 +v -0.798256 -0.519498 -0.800634 +v -1.061730 0.417154 0.603900 +v 0.781843 0.417154 0.896720 +v 0.723265 -0.197442 -0.888480 +v -0.095824 -0.578045 -1.005608 +v -0.476453 0.387832 -0.946844 +v -0.944825 -0.226764 0.750510 +v -1.003153 -0.519498 0.633382 +v 1.279628 0.387832 0.135789 +v -0.564444 -0.022094 0.955284 +v 0.050246 0.417154 -1.034890 +v 0.869585 0.300060 -0.829916 +v 1.016153 -0.548723 -0.419968 +v -0.769092 -0.255989 -0.858998 +v 1.221050 0.417154 0.340562 +v 0.752679 -0.519498 0.896720 +v 0.986740 -0.578045 0.604100 +v 1.074731 0.417154 -0.449450 +v 0.137988 -0.022094 1.014049 +v -0.973989 -0.578045 -0.390886 +v -0.944825 -0.578045 0.750510 +v -0.739678 -0.226764 0.926002 +v -0.827669 0.241513 -0.829715 +f 100 98 122 +f 65 67 68 +f 70 69 71 +f 69 70 72 +f 67 65 73 +f 67 73 74 +f 68 67 75 +f 70 71 76 +f 65 68 77 +f 71 69 78 +f 69 72 79 +f 72 70 81 +f 78 69 82 +f 65 77 83 +f 73 65 84 +f 76 71 85 +f 72 81 87 +f 83 77 88 +f 70 76 91 +f 76 74 91 +f 66 67 92 +f 76 85 92 +f 79 72 94 +f 83 79 94 +f 68 80 95 +f 80 78 95 +f 73 70 97 +f 68 75 98 +f 80 68 98 +f 65 83 99 +f 87 65 99 +f 83 94 99 +f 93 71 100 +f 80 98 100 +f 77 68 101 +f 88 77 101 +f 84 65 102 +f 81 84 102 +f 87 81 102 +f 65 87 102 +f 74 76 103 +f 76 92 103 +f 96 74 103 +f 92 96 103 +f 85 71 104 +f 66 92 104 +f 92 85 104 +f 67 66 105 +f 75 67 105 +f 93 75 105 +f 69 88 106 +f 68 95 106 +f 101 68 106 +f 88 101 106 +f 78 82 107 +f 95 78 107 +f 82 95 107 +f 70 73 108 +f 89 70 108 +f 73 90 108 +f 79 83 109 +f 83 88 109 +f 67 74 110 +f 92 67 110 +f 74 96 110 +f 96 92 110 +f 91 74 111 +f 86 91 111 +f 70 91 112 +f 91 86 112 +f 97 70 112 +f 86 97 112 +f 71 93 113 +f 104 71 113 +f 66 104 113 +f 105 66 113 +f 93 105 113 +f 73 84 114 +f 84 81 114 +f 81 90 114 +f 90 73 114 +f 72 87 115 +f 94 72 115 +f 87 94 115 +f 81 70 116 +f 70 89 116 +f 90 81 116 +f 89 108 116 +f 108 90 116 +f 74 73 117 +f 73 97 117 +f 97 86 117 +f 111 74 117 +f 86 111 117 +f 94 87 118 +f 87 99 118 +f 99 94 118 +f 71 78 119 +f 78 80 119 +f 100 71 119 +f 80 100 119 +f 82 69 120 +f 95 82 120 +f 69 106 120 +f 106 95 120 +f 69 79 121 +f 88 69 121 +f 79 109 121 +f 109 88 121 +f 75 93 122 +f 98 75 122 +f 93 100 122 +o convex_2 +v 0.928186 1.997870 -0.829916 +v -1.149794 1.266000 -0.156630 +v -1.149794 1.266000 0.106507 +v -0.769288 3.724426 0.018661 +v 0.840580 1.266261 0.838156 +v -0.008036 3.665761 0.750510 +v -0.066761 1.266000 -1.034890 +v -0.037399 3.695224 -0.741870 +v 0.752734 3.636559 0.047943 +v -0.798410 1.266000 0.808874 +v -0.798410 2.875749 -0.800434 +v 1.308932 1.266261 -0.039502 +v -0.798410 2.963354 0.721028 +v 0.723372 2.992816 0.750310 +v -0.037399 3.022018 0.984566 +v -0.886256 1.266000 -0.858998 +v -0.008036 2.963615 -1.005408 +v 0.781856 2.963354 -0.742070 +v -1.032586 2.992816 -0.039502 +v 0.928186 1.266261 -0.858998 +v -0.008036 3.929620 0.047943 +v -0.008036 1.266000 1.014049 +v 1.016032 2.934152 0.047943 +v -0.915378 1.705330 -0.858998 +v -0.593596 3.490551 -0.595660 +v 0.840580 1.734532 0.838156 +v 1.250208 1.295462 -0.332122 +v -0.593596 3.519752 0.574818 +v 0.577042 3.490290 -0.537096 +v -0.827772 3.695224 -0.039502 +v 1.308932 1.295462 0.018661 +v 0.518559 3.490290 0.574818 +v 0.138053 2.758681 -1.005408 +v -0.125245 3.665761 0.750510 +v -0.125245 2.904950 0.984566 +v -0.886256 1.383328 0.721028 +v 0.723372 3.665761 -0.039502 +v -1.120432 1.295723 -0.361404 +v 0.079569 2.875749 0.984566 +v -0.856894 1.734793 -0.888280 +v 0.108691 1.295462 -1.034890 +v 0.957548 1.705330 -0.858998 +v 0.986910 2.934152 -0.127348 +v -0.125245 3.929620 -0.010421 +v -0.798410 2.846547 0.750510 +v -0.125245 2.787622 -1.005408 +v -1.032586 2.934152 0.047943 +v -0.827772 3.695224 0.047943 +v 0.811218 2.232266 0.809074 +v -1.032586 2.875749 -0.127348 +v 0.781856 1.295462 0.867638 +v 0.723372 3.665761 0.077225 +v 0.781856 2.934152 0.662664 +v -0.008036 3.695224 -0.741870 +v 0.811218 2.875749 -0.742070 +v -0.037399 2.173602 -1.034890 +v -0.827772 2.934152 -0.712788 +v -0.769288 2.963354 0.750510 +v -0.008036 3.900158 -0.127348 +v 0.050447 1.295462 1.014049 +v 0.342866 2.904950 -0.917562 +v -0.095882 3.783090 0.486972 +v -0.769288 2.934152 -0.800434 +v 0.869702 1.763734 0.809074 +f 171 148 186 +f 125 124 129 +f 125 129 132 +f 136 128 137 +f 129 124 138 +f 124 125 141 +f 134 129 142 +f 132 129 144 +f 129 134 144 +f 134 127 144 +f 134 142 149 +f 130 147 152 +f 127 134 153 +f 134 145 153 +f 128 136 154 +f 137 128 156 +f 132 144 157 +f 144 137 157 +f 125 132 158 +f 140 151 159 +f 138 124 160 +f 146 138 160 +f 136 137 161 +f 129 138 162 +f 138 146 162 +f 146 133 162 +f 142 129 163 +f 163 155 164 +f 123 149 164 +f 149 142 164 +f 142 163 164 +f 131 145 165 +f 145 134 165 +f 134 149 165 +f 159 131 165 +f 140 159 165 +f 152 126 166 +f 130 152 166 +f 132 157 167 +f 125 158 167 +f 158 132 167 +f 162 133 168 +f 141 125 169 +f 125 167 169 +f 167 135 169 +f 135 150 170 +f 152 141 170 +f 126 152 170 +f 150 156 170 +f 141 169 170 +f 169 135 170 +f 136 161 171 +f 161 148 171 +f 124 141 172 +f 160 124 172 +f 146 160 172 +f 144 127 173 +f 127 148 173 +f 148 161 173 +f 136 131 174 +f 143 128 174 +f 128 154 174 +f 154 136 174 +f 159 143 174 +f 131 159 174 +f 131 136 175 +f 145 131 175 +f 153 145 175 +f 136 171 175 +f 171 153 175 +f 139 130 176 +f 151 140 176 +f 159 151 176 +f 123 140 177 +f 149 123 177 +f 140 165 177 +f 165 149 177 +f 139 155 178 +f 129 162 178 +f 163 129 178 +f 155 163 178 +f 168 139 178 +f 162 168 178 +f 133 146 179 +f 141 152 179 +f 152 147 179 +f 172 141 179 +f 146 172 179 +f 150 135 180 +f 137 156 180 +f 156 150 180 +f 157 137 180 +f 135 167 180 +f 167 157 180 +f 143 159 181 +f 130 166 181 +f 166 143 181 +f 176 130 181 +f 159 176 181 +f 137 144 182 +f 161 137 182 +f 144 173 182 +f 173 161 182 +f 140 123 183 +f 155 139 183 +f 164 155 183 +f 123 164 183 +f 139 176 183 +f 176 140 183 +f 128 143 184 +f 156 128 184 +f 143 166 184 +f 166 126 184 +f 126 170 184 +f 170 156 184 +f 130 139 185 +f 147 130 185 +f 168 133 185 +f 139 168 185 +f 133 179 185 +f 179 147 185 +f 148 127 186 +f 127 153 186 +f 153 171 186 +o convex_3 +v 2.567311 0.709962 0.194427 +v 1.396950 1.266000 0.018850 +v 1.396950 1.266000 -0.039657 +v 1.308932 0.417154 0.282273 +v 1.308932 0.622053 -0.186010 +v 2.684396 0.973191 -0.156728 +v 2.655166 0.943944 0.252991 +v 1.308932 1.119512 0.252991 +v 1.308932 1.148760 -0.273856 +v 2.743020 0.709962 0.018850 +v 2.713627 1.119512 0.077356 +v 1.367720 0.417154 0.077356 +v 2.977190 0.885448 0.077356 +v 1.338489 0.885448 0.311555 +v 2.333141 1.119512 -0.127503 +v 1.484805 0.943944 -0.273856 +v 2.743020 0.826953 0.252991 +v 2.128691 0.739210 -0.156728 +v 1.514035 1.148760 0.223709 +v 1.601890 0.739210 0.311555 +v 1.308932 1.207421 -0.244574 +v 1.338489 0.534394 -0.098221 +v 2.655166 0.914696 -0.156728 +v 2.538081 1.061017 0.194427 +v 2.743020 0.709962 0.077356 +v 2.772251 0.973191 -0.127503 +v 1.308932 0.563641 0.311555 +v 2.918566 0.973191 0.106638 +v 1.308932 1.266000 0.018850 +v 2.684396 1.119512 0.018850 +v 2.567311 0.768458 -0.098221 +v 2.655166 1.119512 0.106638 +v 1.338489 0.417154 0.282273 +f 203 213 219 +f 191 190 194 +f 191 194 195 +f 189 188 197 +f 193 194 200 +f 195 192 202 +f 191 195 202 +f 191 202 204 +f 194 193 205 +f 193 200 206 +f 203 193 206 +f 192 195 207 +f 195 194 207 +f 189 201 207 +f 201 192 207 +f 190 191 208 +f 198 190 208 +f 196 198 208 +f 191 204 208 +f 202 192 209 +f 204 202 209 +f 205 193 210 +f 198 196 211 +f 196 199 211 +f 203 187 211 +f 199 203 211 +f 199 196 212 +f 192 201 212 +f 196 209 212 +f 209 192 212 +f 194 190 213 +f 200 194 213 +f 206 200 213 +f 203 206 213 +f 193 203 214 +f 203 199 214 +f 199 212 214 +f 188 189 215 +f 205 188 215 +f 194 205 215 +f 189 207 215 +f 207 194 215 +f 189 197 216 +f 201 189 216 +f 212 201 216 +f 197 214 216 +f 214 212 216 +f 196 208 217 +f 208 204 217 +f 209 196 217 +f 204 209 217 +f 197 188 218 +f 188 205 218 +f 210 193 218 +f 205 210 218 +f 193 214 218 +f 214 197 218 +f 190 198 219 +f 187 203 219 +f 211 187 219 +f 198 211 219 +f 213 190 219 +o convex_4 +v -1.267091 0.446473 -0.068945 +v -1.237784 1.207459 0.106547 +v -1.237784 1.207459 -0.098169 +v -3.052203 0.973214 0.018873 +v -1.237784 0.417154 0.370071 +v -1.530506 0.914730 -0.332397 +v -1.559814 1.061095 0.311478 +v -2.817918 0.739279 -0.039648 +v -2.759480 1.148898 -0.039648 +v -2.700865 0.914730 0.223732 +v -2.759480 0.914730 -0.215283 +v -1.237784 0.534276 -0.244580 +v -1.237784 1.148898 -0.273804 +v -1.237784 0.826927 0.399367 +v -2.583811 1.090336 0.165068 +v -2.028028 0.680640 -0.244580 +v -2.817918 0.739279 0.048026 +v -1.237784 1.119578 0.311478 +v -1.296399 0.417154 0.018873 +v -2.583811 1.090336 -0.156762 +v -2.730172 1.148898 0.048026 +v -1.237784 0.826927 -0.332397 +v -2.700865 0.973214 0.223732 +v -1.267091 0.622157 0.399367 +v -1.355015 0.534276 -0.244580 +v -2.759480 0.943972 -0.215283 +v -2.817918 0.914730 0.194436 +v -1.267091 0.417154 0.370071 +v -1.267091 1.178062 -0.244580 +v -1.325707 0.826927 0.399367 +v -1.325707 1.002456 -0.332397 +v -2.671557 0.797685 -0.185987 +v -3.052203 0.914730 -0.010352 +v -1.589122 1.207459 0.048026 +v -1.559814 1.119578 0.282182 +v -2.876534 0.973214 -0.156762 +v -2.847226 0.739279 0.018873 +f 236 252 256 +f 222 221 224 +f 224 220 231 +f 222 224 231 +f 222 231 232 +f 224 221 233 +f 230 225 235 +f 233 221 237 +f 220 224 238 +f 227 220 238 +f 228 223 240 +f 232 231 241 +f 235 225 241 +f 240 223 242 +f 234 240 242 +f 224 233 243 +f 220 227 244 +f 231 220 244 +f 227 235 244 +f 241 231 244 +f 235 241 244 +f 225 230 245 +f 239 232 245 +f 242 223 246 +f 229 242 246 +f 238 224 247 +f 224 243 247 +f 243 229 247 +f 229 246 247 +f 246 236 247 +f 228 222 248 +f 222 232 248 +f 239 228 248 +f 232 239 248 +f 233 237 249 +f 237 226 249 +f 242 229 249 +f 226 242 249 +f 229 243 249 +f 243 233 249 +f 241 225 250 +f 232 241 250 +f 225 245 250 +f 245 232 250 +f 227 230 251 +f 235 227 251 +f 230 235 251 +f 230 227 252 +f 236 246 252 +f 246 223 252 +f 221 222 253 +f 222 228 253 +f 240 221 253 +f 228 240 253 +f 237 221 254 +f 226 237 254 +f 221 240 254 +f 240 234 254 +f 242 226 254 +f 234 242 254 +f 223 228 255 +f 228 239 255 +f 245 230 255 +f 239 245 255 +f 230 252 255 +f 252 223 255 +f 227 238 256 +f 238 247 256 +f 247 236 256 +f 252 227 256 +o convex_5 +v 0.079535 0.622053 1.014049 +v -0.066537 0.680715 -1.034890 +v -0.066537 1.266000 -1.034890 +v 1.308683 1.148760 -0.303040 +v -0.886136 1.266000 0.721028 +v -1.237357 0.417154 -0.039502 +v 1.308683 0.417154 0.047943 +v 0.840306 1.266000 0.838156 +v -0.886136 1.266000 -0.858998 +v 0.840306 0.417154 -0.859198 +v -0.739815 0.417154 0.896720 +v -0.827558 0.417154 -0.858998 +v 0.781976 0.417154 0.896720 +v 0.928298 1.266000 -0.859198 +v -1.237357 1.119512 0.311280 +v -0.007959 1.266000 1.014049 +v 1.308683 0.885448 0.311280 +v -1.237357 1.031770 -0.332122 +v -1.237357 0.417154 0.399126 +v 1.308683 1.266000 0.047943 +v 0.079535 0.417154 -1.034890 +v -1.179028 1.266000 -0.127148 +v 1.308683 0.417154 0.281998 +v -0.798393 1.061017 0.838156 +v -0.037373 0.417154 1.014049 +v 1.308683 0.622053 -0.185912 +v -1.237357 0.592806 -0.273758 +v -1.237357 0.797705 0.428408 +v 0.869719 0.475732 -0.859198 +v 0.079535 1.266000 -1.034890 +v -0.827558 1.236669 -0.888480 +v 1.308683 1.119512 0.252917 +v 1.308683 0.973191 -0.303040 +v 0.781976 0.709962 0.896720 +v -0.213108 0.417154 -1.005608 +v -1.237357 1.178091 -0.244276 +v 1.279519 1.266000 -0.303040 +v -0.856971 0.417154 0.808874 +v -1.237357 0.826953 -0.332122 +v -0.768979 1.207421 0.838156 +v 0.050370 1.266000 1.014049 +v -1.179028 1.266000 0.077225 +v 1.074619 0.417154 -0.478732 +v 0.869719 0.417154 0.808874 +v 0.811141 1.207421 0.867438 +v -0.739815 0.563641 0.896720 +v 0.928298 1.148760 -0.859198 +v -1.237357 0.505063 -0.214994 +v 1.308683 0.563641 0.311280 +v 0.869719 1.266000 0.808874 +f 264 301 306 +f 259 261 264 +f 261 259 265 +f 263 262 266 +f 262 263 267 +f 266 262 268 +f 267 263 269 +f 259 264 270 +f 264 261 272 +f 263 260 273 +f 262 271 274 +f 262 267 275 +f 271 262 275 +f 270 264 276 +f 273 260 276 +f 258 259 277 +f 266 268 277 +f 261 265 278 +f 269 263 279 +f 263 273 279 +f 269 257 281 +f 267 269 281 +f 257 272 281 +f 260 263 282 +f 262 274 283 +f 261 271 284 +f 271 275 284 +f 280 261 284 +f 266 277 285 +f 259 270 286 +f 277 259 286 +f 270 277 286 +f 259 258 287 +f 265 259 287 +f 268 265 287 +f 273 276 288 +f 270 260 289 +f 260 282 289 +f 282 285 289 +f 257 269 290 +f 258 277 291 +f 277 268 291 +f 287 258 291 +f 268 287 291 +f 265 274 292 +f 274 271 292 +f 278 265 292 +f 260 270 293 +f 276 260 293 +f 270 276 293 +f 275 267 294 +f 284 275 294 +f 280 284 294 +f 265 268 295 +f 274 265 295 +f 268 283 295 +f 283 274 295 +f 272 261 296 +f 261 280 296 +f 264 272 297 +f 272 257 297 +f 257 290 297 +f 271 261 298 +f 261 278 298 +f 292 271 298 +f 278 292 298 +f 263 266 299 +f 282 263 299 +f 266 285 299 +f 285 282 299 +f 269 279 300 +f 290 269 300 +f 264 297 301 +f 297 290 301 +f 267 281 302 +f 281 272 302 +f 294 267 302 +f 280 294 302 +f 272 296 302 +f 296 280 302 +f 277 270 303 +f 285 277 303 +f 270 289 303 +f 289 285 303 +f 268 262 304 +f 262 283 304 +f 283 268 304 +f 279 273 305 +f 273 300 305 +f 300 279 305 +f 276 264 306 +f 273 288 306 +f 288 276 306 +f 300 273 306 +f 290 300 306 +f 301 290 306 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/024/024.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/024/024.urdf new file mode 100644 index 000000000..720066cf2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/024/024.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/025/025.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/025/025.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/025/025.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/025/025.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/025/025.obj new file mode 100644 index 000000000..aa478fdfd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/025/025.obj @@ -0,0 +1,1089 @@ +o convex_0 +v -0.170699 -3.651910 -0.007164 +v 0.798203 -0.210510 1.763651 +v 0.831723 -0.344363 1.696564 +v 0.029626 -0.478216 -0.575455 +v -0.838914 -0.210883 1.663365 +v 0.731361 -3.284281 1.395933 +v 0.965206 -0.210510 -0.341224 +v -0.805593 -3.551614 0.694156 +v -0.872235 -0.210883 -0.308024 +v 0.764882 -3.184357 -0.140880 +v -0.638389 -2.582578 1.629707 +v -0.605068 -2.482282 -0.341224 +v 1.032247 -2.048285 0.660956 +v -0.003495 -3.852130 1.162160 +v -1.006117 -2.148209 0.627527 +v 0.397154 -1.413695 -0.575455 +v -0.772072 -3.284281 1.395933 +v -0.772072 -3.117617 -0.107451 +v 0.029626 -4.019540 0.594098 +v 0.631199 -2.348802 1.696793 +v 0.798203 -3.484874 0.594098 +v -0.003495 -3.685094 1.429362 +v -0.471386 -1.179919 -0.575455 +v 0.062947 -3.618354 -0.140880 +v -0.972597 -0.210883 0.727584 +v -0.939076 -2.048658 1.429133 +v 0.998727 -0.210510 0.794442 +v 0.931885 -1.947989 1.462791 +v 0.998727 -1.814881 -0.174080 +v -0.939076 -1.848438 -0.107451 +v 0.062947 -2.749615 -0.374653 +v 0.430675 -0.712366 1.763651 +v 0.931885 -0.544956 -0.408311 +v 0.597678 -2.482282 -0.374882 +v -0.070337 -2.783171 1.663136 +v -0.772072 -1.614288 1.663365 +v -0.371024 -1.480808 -0.575455 +v 0.931885 -0.210510 -0.408311 +v -0.972597 -1.915178 0.059694 +v -0.738751 -3.217541 -0.107451 +v 0.764882 -1.580732 1.729993 +v -0.371024 -0.612069 -0.575455 +v 0.731361 -3.251097 -0.140880 +v -0.070337 -4.019540 0.627298 +v -0.571548 -3.451317 1.395933 +v -0.805593 -3.484874 0.494040 +v -0.738751 -1.614288 -0.341224 +v 0.497516 -1.046439 -0.575455 +v -1.006117 -2.048658 0.861300 +v -0.939076 -1.647472 1.462791 +v 0.698040 -3.585170 0.660498 +v -0.638389 -0.210883 1.696564 +v 0.998727 -0.210510 0.293467 +v -0.070337 -2.749615 -0.374653 +v 0.998727 -1.914805 -0.140880 +v 0.564357 -2.582951 1.663365 +v -0.037016 -3.685094 -0.107451 +v 0.063146 -1.580732 -0.575455 +v 0.029626 -3.752207 1.395933 +v 0.363833 -0.611696 -0.575455 +v -1.006117 -1.380512 0.660727 +v 0.698040 -2.950208 -0.241167 +v 1.032247 -1.614288 0.660956 +v 0.698040 -3.050504 1.496220 +f 22 59 64 +f 13 6 21 +f 4 16 23 +f 5 2 25 +f 2 3 27 +f 7 2 27 +f 3 2 28 +f 6 13 28 +f 27 3 28 +f 7 29 33 +f 11 22 35 +f 20 32 35 +f 35 32 36 +f 17 11 36 +f 26 17 36 +f 11 35 36 +f 12 23 37 +f 23 16 37 +f 2 7 38 +f 4 9 38 +f 25 2 38 +f 9 25 38 +f 7 33 38 +f 25 9 39 +f 30 18 39 +f 9 30 39 +f 18 12 40 +f 28 2 41 +f 2 32 41 +f 32 20 41 +f 9 4 42 +f 4 23 42 +f 23 9 42 +f 10 21 43 +f 19 24 43 +f 19 14 44 +f 11 17 45 +f 17 8 45 +f 22 11 45 +f 8 44 45 +f 44 14 45 +f 8 15 46 +f 15 39 46 +f 39 18 46 +f 40 1 46 +f 18 40 46 +f 1 44 46 +f 44 8 46 +f 12 18 47 +f 9 23 47 +f 23 12 47 +f 18 30 47 +f 30 9 47 +f 16 4 48 +f 33 34 48 +f 34 16 48 +f 38 33 48 +f 15 8 49 +f 8 17 49 +f 17 26 49 +f 49 26 50 +f 5 25 50 +f 36 5 50 +f 26 36 50 +f 25 49 50 +f 14 19 51 +f 21 6 51 +f 43 21 51 +f 19 43 51 +f 2 5 52 +f 32 2 52 +f 36 32 52 +f 5 36 52 +f 7 27 53 +f 29 7 53 +f 31 24 54 +f 12 37 54 +f 40 12 54 +f 13 21 55 +f 21 10 55 +f 29 13 55 +f 10 29 55 +f 35 22 56 +f 20 35 56 +f 24 19 57 +f 1 40 57 +f 44 1 57 +f 19 44 57 +f 54 24 57 +f 40 54 57 +f 16 34 58 +f 34 31 58 +f 37 16 58 +f 31 54 58 +f 54 37 58 +f 45 14 59 +f 22 45 59 +f 51 6 59 +f 14 51 59 +f 4 38 60 +f 48 4 60 +f 38 48 60 +f 39 15 61 +f 25 39 61 +f 15 49 61 +f 49 25 61 +f 29 10 62 +f 24 31 62 +f 33 29 62 +f 34 33 62 +f 31 34 62 +f 10 43 62 +f 43 24 62 +f 28 13 63 +f 27 28 63 +f 13 29 63 +f 53 27 63 +f 29 53 63 +f 6 28 64 +f 41 20 64 +f 28 41 64 +f 20 56 64 +f 56 22 64 +f 59 6 64 +o convex_1 +v -0.036823 1.994933 0.093593 +v 0.531027 -0.210510 -0.407984 +v 0.931873 -0.210510 -0.407984 +v -0.070343 0.858965 3.701768 +v -0.972597 -0.210510 0.661322 +v -0.838915 1.794163 -0.575456 +v 0.865032 1.861086 -0.575456 +v -0.772074 1.660533 2.832591 +v 0.731350 1.660533 2.732526 +v 0.798191 -0.210510 1.763285 +v -0.638392 0.290982 3.133202 +v -0.872435 -0.043202 -0.575456 +v 0.931873 0.925457 2.766021 +v -1.006117 0.925457 2.765602 +v -0.070343 1.928010 2.799515 +v -0.003502 0.157135 3.434232 +v 1.032234 0.791826 -0.575037 +v -0.838915 -0.210510 1.662802 +v 0.698029 0.858965 3.434232 +v -0.036823 1.693779 3.501221 +v -0.805594 0.858750 3.467726 +v -0.972597 1.092549 -0.575456 +v 0.998714 -0.210510 0.794880 +v -0.738753 1.894332 -0.575456 +v 0.931873 -0.110126 -0.575456 +v 1.032234 1.025842 0.126669 +v 0.698029 0.190597 2.732526 +v 0.731350 1.928010 -0.541543 +v -0.872435 -0.210510 -0.307501 +v -0.036823 -0.076664 2.699032 +v 0.664509 1.727456 2.732526 +v 0.698029 1.025842 3.434232 +v 0.931873 1.059087 2.632043 +v -0.638392 1.459979 3.300673 +v -0.805594 1.660533 2.732108 +v -0.003502 1.994933 -0.575456 +v 0.564347 1.560364 3.166696 +v 0.029619 1.928010 2.732526 +v -0.772074 0.090428 2.531560 +v -1.006117 0.992164 2.699032 +v 0.531027 0.357689 3.233685 +v -0.137184 1.928010 2.732526 +v -0.070343 0.157135 3.434232 +v -0.805594 0.958919 3.467726 +v -0.972597 0.758797 -0.575456 +v -1.006117 0.792258 2.632043 +v -0.605071 1.760702 2.732108 +v -0.036823 0.992380 3.701768 +v 0.965393 -0.210510 -0.307501 +v 1.032234 1.092333 -0.575037 +v -0.605071 1.927794 -0.541543 +v 0.063140 1.994933 0.093593 +v 0.865032 1.861086 -0.474554 +v -0.070343 1.693779 3.501221 +v -0.838915 -0.076664 -0.575456 +v -0.872435 1.459979 2.732108 +v -0.805594 1.861086 -0.441478 +v 0.263663 1.861086 2.732526 +v -1.006117 0.892211 2.197455 +v 0.931873 0.825504 2.665538 +v -0.605071 0.357689 3.266760 +v 0.998714 -0.210510 0.293722 +v 0.397145 1.560148 3.334168 +v 0.397145 0.892211 3.567791 +f 96 112 128 +f 66 67 69 +f 69 67 74 +f 70 71 76 +f 69 74 82 +f 70 76 86 +f 74 67 87 +f 71 70 88 +f 67 66 89 +f 76 71 89 +f 77 87 90 +f 87 81 90 +f 80 74 91 +f 66 69 93 +f 69 76 93 +f 74 80 94 +f 82 74 94 +f 77 73 96 +f 83 77 96 +f 73 77 97 +f 77 90 97 +f 71 88 100 +f 92 71 100 +f 73 95 101 +f 95 84 101 +f 96 73 101 +f 79 84 102 +f 75 85 103 +f 70 86 104 +f 83 80 105 +f 80 91 105 +f 91 83 105 +f 79 65 106 +f 80 68 107 +f 68 85 107 +f 94 80 107 +f 82 94 107 +f 75 103 107 +f 103 82 107 +f 78 85 108 +f 85 68 108 +f 98 72 108 +f 72 99 108 +f 76 69 109 +f 86 76 109 +f 69 82 110 +f 85 78 110 +f 82 103 110 +f 103 85 110 +f 78 104 110 +f 99 72 111 +f 106 88 111 +f 96 84 112 +f 108 68 112 +f 87 67 113 +f 67 89 113 +f 89 81 113 +f 89 71 114 +f 81 89 114 +f 90 81 114 +f 65 100 115 +f 100 88 115 +f 106 65 115 +f 88 106 115 +f 65 79 116 +f 100 65 116 +f 92 100 116 +f 79 102 116 +f 102 92 116 +f 71 92 117 +f 95 73 117 +f 92 95 117 +f 73 97 117 +f 97 90 117 +f 114 71 117 +f 90 114 117 +f 84 79 118 +f 72 98 118 +f 79 106 118 +f 98 108 118 +f 111 72 118 +f 106 111 118 +f 112 84 118 +f 108 112 118 +f 89 66 119 +f 76 89 119 +f 66 93 119 +f 93 76 119 +f 99 70 120 +f 104 78 120 +f 70 104 120 +f 78 108 120 +f 108 99 120 +f 88 70 121 +f 70 99 121 +f 99 111 121 +f 111 88 121 +f 84 95 122 +f 95 92 122 +f 102 84 122 +f 92 102 122 +f 104 86 123 +f 109 69 123 +f 86 109 123 +f 69 110 123 +f 110 104 123 +f 77 83 124 +f 74 87 124 +f 87 77 124 +f 91 74 124 +f 83 91 124 +f 85 75 125 +f 107 85 125 +f 75 107 125 +f 81 87 126 +f 87 113 126 +f 113 81 126 +f 84 96 127 +f 101 84 127 +f 96 101 127 +f 68 80 128 +f 80 83 128 +f 83 96 128 +f 112 68 128 +o convex_2 +v -0.003646 -0.444421 -2.246429 +v 0.029639 -1.647273 -2.179506 +v 0.063028 -1.647273 -2.179506 +v -0.036931 -1.079168 -4.318026 +v -0.538296 -1.079168 -2.112583 +v 0.531004 -0.945766 -2.112583 +v 0.397237 -1.012644 -4.016871 +v -0.404529 -1.045847 -4.016871 +v -0.504802 -0.511416 -2.112583 +v 0.029639 -0.645054 -3.983842 +v 0.397237 -1.446758 -3.182059 +v -0.103710 -1.413319 -3.983842 +v -0.437918 -1.480197 -2.112583 +v 0.397237 -0.544855 -2.112583 +v 0.497510 -1.513518 -2.112583 +v 0.531004 -1.045847 -3.148597 +v -0.538296 -1.045847 -3.148597 +v -0.404529 -1.446758 -2.948259 +v 0.397237 -0.678492 -3.215304 +v -0.437918 -0.645054 -3.115135 +v 0.096522 -1.413319 -3.950380 +v -0.036931 -1.546957 -3.282012 +v -0.304360 -0.745252 -3.783072 +v -0.003646 -0.511416 -3.014966 +v 0.397237 -1.079168 -4.016871 +v -0.337645 -1.346442 -3.649442 +v 0.397237 -0.544855 -2.279675 +v 0.296964 -0.745252 -3.783072 +v -0.036931 -0.645054 -3.950380 +v 0.129912 -1.546957 -3.115135 +v -0.036931 -1.012644 -4.318026 +v -0.404529 -0.477978 -2.146044 +v 0.531004 -1.346560 -2.413521 +v 0.430626 -0.578294 -2.246429 +v -0.404529 -0.979205 -3.983842 +v -0.003646 -1.647273 -2.112583 +v 0.296964 -1.346442 -3.783072 +v -0.538296 -0.879007 -2.881336 +v -0.504802 -1.279682 -2.480228 +v -0.003646 -1.413319 -4.050333 +v 0.531004 -1.112607 -3.115135 +v 0.129912 -1.012644 -4.251103 +v 0.029639 -0.444421 -2.112583 +v -0.538296 -0.745252 -2.112583 +v 0.531004 -1.012644 -3.115135 +v 0.129912 -1.079168 -4.251103 +v -0.437918 -1.346442 -3.081890 +v 0.363847 -1.480197 -3.081890 +f 158 149 176 +f 133 134 137 +f 136 132 140 +f 134 133 141 +f 137 134 142 +f 134 141 143 +f 131 130 150 +f 146 140 150 +f 135 144 153 +f 136 140 154 +f 140 146 154 +f 147 138 155 +f 152 129 155 +f 138 152 155 +f 135 138 156 +f 147 135 156 +f 138 147 156 +f 151 148 157 +f 152 138 157 +f 150 149 158 +f 131 150 158 +f 132 136 159 +f 157 138 159 +f 148 137 160 +f 129 152 160 +f 157 148 160 +f 152 157 160 +f 134 143 161 +f 143 139 161 +f 144 134 161 +f 142 134 162 +f 155 142 162 +f 147 155 162 +f 136 145 163 +f 148 151 163 +f 151 157 163 +f 159 136 163 +f 157 159 163 +f 130 131 164 +f 131 143 164 +f 143 141 164 +f 141 146 164 +f 150 130 164 +f 146 150 164 +f 139 149 165 +f 153 139 165 +f 149 153 165 +f 145 133 166 +f 137 148 166 +f 163 145 166 +f 148 163 166 +f 141 133 167 +f 133 145 167 +f 146 141 167 +f 140 132 168 +f 150 140 168 +f 149 150 168 +f 153 149 168 +f 153 144 169 +f 139 153 169 +f 161 139 169 +f 144 161 169 +f 138 135 170 +f 135 153 170 +f 132 159 170 +f 159 138 170 +f 137 142 171 +f 142 155 171 +f 155 129 171 +f 129 160 171 +f 160 137 171 +f 133 137 172 +f 166 133 172 +f 137 166 172 +f 144 135 173 +f 134 144 173 +f 135 147 173 +f 162 134 173 +f 147 162 173 +f 168 132 174 +f 153 168 174 +f 170 153 174 +f 132 170 174 +f 145 136 175 +f 136 154 175 +f 154 146 175 +f 167 145 175 +f 146 167 175 +f 143 131 176 +f 139 143 176 +f 149 139 176 +f 131 158 176 +o convex_3 +v 0.029688 -2.014964 -1.477542 +v 0.096503 -0.511312 -0.575606 +v -0.103835 -0.511312 -0.575606 +v -0.003666 -0.411162 -2.112583 +v -0.538296 -1.079354 -2.112583 +v 0.530964 -1.346419 -2.112583 +v -0.371096 -1.413185 -0.575606 +v 0.430688 -1.446745 -0.675955 +v 0.464149 -0.210687 -1.377343 +v -0.538296 -0.210511 -1.243896 +v -0.471372 -1.847872 -1.310695 +v -0.037019 -1.647220 -2.112583 +v 0.530964 -1.780929 -1.277295 +v 0.029688 -1.947845 -0.943150 +v 0.464149 -0.878879 -0.575606 +v -0.438019 -0.210511 -1.778287 +v 0.363872 -0.210511 -1.811687 +v -0.471372 -0.945998 -0.575606 +v 0.363872 -0.210511 -0.943150 +v 0.530964 -0.912439 -2.112583 +v -0.404449 -0.210511 -0.909751 +v -0.504726 -0.511312 -2.112583 +v -0.438019 -1.480128 -2.112583 +v 0.564426 -1.446745 -1.243896 +v 0.363872 -1.847872 -1.677938 +v -0.337742 -1.981404 -1.444142 +v 0.096503 -1.513688 -0.575606 +v -0.270819 -1.947845 -1.043499 +v 0.497503 -1.513688 -2.112583 +v -0.037019 -1.981404 -1.677938 +v 0.363872 -1.947845 -1.277295 +v -0.538296 -0.678404 -1.277295 +v 0.430688 -0.578254 -2.112583 +v 0.397226 -1.780752 -0.943150 +v -0.003666 -0.210511 -0.809553 +v 0.497503 -0.979205 -0.642555 +v -0.103835 -0.210511 -1.911885 +v -0.371096 -0.611638 -0.575606 +v 0.363872 -0.611638 -0.575606 +v -0.538296 -0.210511 -1.611140 +v -0.471372 -1.112737 -0.575606 +v 0.363872 -1.413185 -0.575606 +v 0.430688 -0.210687 -1.043499 +v 0.464149 -0.210687 -1.577740 +v -0.371096 -1.814312 -0.943150 +v 0.029688 -2.014964 -1.210496 +v -0.504726 -1.346596 -1.210496 +v -0.304280 -1.914638 -1.644539 +v -0.471372 -0.210511 -0.976700 +v 0.029688 -1.981404 -1.677938 +v 0.464149 -1.179503 -0.575606 +v -0.371096 -1.981404 -1.277295 +v 0.096503 -1.680780 -2.078882 +v 0.530964 -1.780929 -1.377343 +v -0.471372 -1.814312 -1.444142 +v -0.037019 -1.947845 -0.943150 +v 0.564426 -1.546894 -1.243896 +f 189 230 233 +f 181 180 182 +f 178 179 183 +f 181 182 188 +f 178 183 191 +f 192 186 193 +f 183 179 194 +f 193 186 195 +f 185 193 195 +f 182 180 196 +f 195 186 197 +f 180 181 198 +f 181 188 199 +f 182 196 200 +f 196 185 200 +f 191 183 203 +f 188 182 205 +f 177 202 206 +f 186 181 208 +f 180 193 209 +f 196 180 209 +f 189 184 210 +f 207 189 210 +f 190 207 210 +f 179 178 211 +f 197 179 211 +f 195 197 211 +f 200 185 212 +f 192 193 213 +f 193 180 213 +f 180 198 213 +f 198 192 213 +f 194 179 214 +f 179 197 214 +f 178 191 215 +f 211 178 215 +f 195 211 215 +f 181 186 216 +f 186 192 216 +f 198 181 216 +f 192 198 216 +f 183 194 217 +f 194 186 217 +f 186 208 217 +f 203 190 218 +f 191 203 218 +f 210 184 218 +f 190 210 218 +f 185 195 219 +f 191 212 219 +f 212 185 219 +f 215 191 219 +f 195 215 219 +f 193 185 220 +f 185 196 220 +f 209 193 220 +f 196 209 220 +f 183 217 221 +f 217 187 221 +f 207 190 222 +f 177 207 222 +f 181 187 223 +f 208 181 223 +f 187 217 223 +f 217 208 223 +f 199 188 224 +f 188 206 224 +f 206 202 224 +f 186 194 225 +f 197 186 225 +f 194 214 225 +f 214 197 225 +f 205 201 226 +f 177 206 226 +f 207 177 226 +f 201 207 226 +f 184 189 227 +f 212 191 227 +f 191 218 227 +f 218 184 227 +f 202 177 228 +f 187 202 228 +f 221 187 228 +f 204 221 228 +f 177 222 228 +f 222 204 228 +f 188 205 229 +f 206 188 229 +f 205 226 229 +f 226 206 229 +f 205 182 230 +f 201 205 230 +f 189 207 230 +f 207 201 230 +f 187 181 231 +f 181 199 231 +f 202 187 231 +f 199 224 231 +f 224 202 231 +f 203 183 232 +f 190 203 232 +f 183 221 232 +f 221 204 232 +f 222 190 232 +f 204 222 232 +f 182 200 233 +f 200 212 233 +f 227 189 233 +f 212 227 233 +f 230 182 233 +o convex_4 +v 0.965209 1.059107 -1.544360 +v -1.006039 0.825484 -1.377589 +v -0.972519 0.892368 -1.510902 +v -0.070294 2.195428 -0.742574 +v 0.898370 -0.110185 -0.575455 +v -0.070294 0.224000 -2.313035 +v -0.872361 -0.043301 -0.575629 +v -0.003456 1.827801 -2.246118 +v 0.865050 1.861008 -0.575455 +v -0.838842 1.827801 -0.575629 +v -0.738683 1.727476 -2.079000 +v -0.638325 -0.009859 -1.978798 +v 0.697854 0.224000 -2.045542 +v 0.530856 2.161986 -1.844965 +v 0.363859 -0.210510 -1.844965 +v -0.438008 2.195428 -1.778222 +v 0.731373 1.760682 -2.012083 +v -0.471328 -0.210510 -0.976609 +v -0.738683 0.157116 -2.079000 +v 0.965209 1.794124 -1.344130 +v 1.032247 1.092549 -0.575455 +v 0.965209 0.224235 -1.377415 +v -0.939200 1.727476 -1.411047 +v -0.003456 1.192639 -2.346493 +v 0.631015 2.195428 -1.344304 +v -0.972519 1.092314 -0.575629 +v -0.772003 0.892368 -2.145743 +v -0.571686 2.195428 -1.210470 +v -0.404489 -0.210510 -1.811680 +v 0.764692 0.992459 -2.079000 +v -0.939200 0.190558 -1.411047 +v 0.029665 -0.210510 -0.809490 +v 1.032247 0.892368 -1.344130 +v 0.029665 -0.043301 -2.145917 +v 0.965209 -0.009859 -0.575455 +v -0.003456 2.195428 -1.945340 +v 0.464017 2.195428 -0.909692 +v -0.538167 -0.210510 -1.577818 +v -0.070294 1.994776 -0.575629 +v -0.003456 0.691716 -2.346493 +v -1.006039 0.926046 -0.909865 +v -0.404489 2.195428 -0.842949 +v 0.597695 -0.009859 -1.878423 +v 0.430498 -0.210510 -1.010067 +v 0.397178 0.224000 -2.179375 +v -0.838842 -0.076743 -0.575629 +v 0.063184 1.727476 -2.279403 +v -0.103614 1.025429 -2.346493 +v -0.070294 1.760682 -2.279403 +v -0.671844 2.095102 -1.344304 +v -0.838842 0.992459 -1.978798 +v 0.931889 -0.076743 -0.675830 +v -0.772003 -0.043301 -1.310672 +v -0.939200 1.727476 -1.210470 +v -1.006039 1.092314 -1.377589 +v -0.972519 0.725158 -0.575629 +v -0.939200 0.157116 -1.110442 +v 1.032247 1.125991 -1.344130 +v 0.731373 1.927892 -0.575629 +v -0.772003 0.524742 -2.112458 +v 0.664534 1.794359 -2.045542 +v 1.032247 0.792042 -0.575455 +v -0.671844 1.927892 -0.575629 +v 0.731373 0.357768 -2.045542 +f 278 263 297 +f 250 247 253 +f 242 238 254 +f 253 242 254 +f 249 237 258 +f 242 253 258 +f 253 247 258 +f 242 243 259 +f 237 249 261 +f 248 251 262 +f 250 234 263 +f 252 245 264 +f 251 248 265 +f 263 234 266 +f 246 248 267 +f 252 239 267 +f 245 252 267 +f 262 245 267 +f 248 262 267 +f 254 238 268 +f 255 266 268 +f 247 241 269 +f 244 249 269 +f 249 258 269 +f 258 247 269 +f 258 237 270 +f 242 258 270 +f 245 262 271 +f 262 251 271 +f 257 263 273 +f 237 261 275 +f 261 243 275 +f 248 246 276 +f 246 255 276 +f 248 238 277 +f 238 265 277 +f 265 248 277 +f 267 239 278 +f 246 267 278 +f 239 273 278 +f 273 263 278 +f 238 240 279 +f 265 238 279 +f 251 265 279 +f 271 251 279 +f 263 257 280 +f 260 244 281 +f 239 260 281 +f 273 239 281 +f 257 273 281 +f 269 241 282 +f 244 269 282 +f 241 280 282 +f 280 257 282 +f 281 244 282 +f 257 281 282 +f 249 244 283 +f 244 256 283 +f 243 261 283 +f 261 249 283 +f 256 244 284 +f 244 260 284 +f 238 248 285 +f 268 238 285 +f 255 268 285 +f 248 276 285 +f 276 255 285 +f 240 264 286 +f 264 245 286 +f 245 271 286 +f 279 240 286 +f 271 279 286 +f 259 243 287 +f 274 259 287 +f 243 283 287 +f 283 256 287 +f 236 235 288 +f 235 274 288 +f 284 236 288 +f 256 284 288 +f 287 256 288 +f 274 287 288 +f 240 238 289 +f 238 242 289 +f 242 259 289 +f 259 274 289 +f 289 274 290 +f 235 264 290 +f 264 240 290 +f 274 235 290 +f 240 289 290 +f 234 250 291 +f 250 253 291 +f 253 254 291 +f 266 234 291 +f 254 266 291 +f 270 237 292 +f 242 270 292 +f 237 272 292 +f 272 242 292 +f 235 236 293 +f 239 252 293 +f 260 239 293 +f 264 235 293 +f 252 264 293 +f 236 284 293 +f 284 260 293 +f 241 247 294 +f 247 250 294 +f 250 263 294 +f 280 241 294 +f 263 280 294 +f 266 254 295 +f 254 268 295 +f 268 266 295 +f 243 242 296 +f 272 237 296 +f 242 272 296 +f 237 275 296 +f 275 243 296 +f 255 246 297 +f 266 255 297 +f 263 266 297 +f 246 278 297 +o convex_5 +v 0.564403 2.228889 -1.243883 +v -0.571711 2.195630 -1.310714 +v -0.571711 2.195630 -1.277354 +v -0.270854 4.267208 -1.477516 +v 0.129946 2.195630 -1.911977 +v -0.003654 3.732430 -0.842893 +v 0.430689 3.765892 -1.577819 +v -0.103711 2.195630 -0.776062 +v -0.371140 3.698766 -1.711482 +v -0.337597 3.732430 -0.909725 +v 0.263546 4.267208 -1.110220 +v 0.397260 2.195630 -0.909725 +v -0.437882 2.195630 -1.744842 +v 0.497546 2.195630 -1.811674 +v 0.296975 3.799354 -1.744842 +v -0.504740 3.698766 -1.310714 +v 0.397260 3.732430 -1.010028 +v -0.437882 2.195630 -0.876365 +v -0.203997 4.267208 -1.043388 +v 0.163260 4.267208 -1.611179 +v -0.103711 3.765892 -1.811674 +v 0.497546 3.732430 -1.410684 +v 0.597832 2.195630 -1.444155 +v -0.437882 3.698766 -1.611179 +v 0.062974 3.732430 -0.842893 +v -0.003654 2.228889 -1.911977 +v 0.062974 2.228889 -0.776062 +v -0.070397 4.267208 -1.644650 +v 0.296975 4.267208 -1.410684 +v 0.363832 3.732430 -1.744842 +v 0.029660 4.233746 -0.976556 +v -0.471426 3.698766 -1.177051 +v -0.003654 3.799354 -1.811674 +v 0.497546 3.732430 -1.344075 +v -0.270854 4.267208 -1.177051 +v 0.430689 2.395994 -0.943196 +v -0.203997 2.228889 -1.845145 +v 0.597832 2.295812 -1.344075 +v -0.404568 3.765892 -1.678010 +f 325 318 336 +f 300 299 302 +f 300 302 305 +f 305 303 307 +f 305 302 309 +f 302 299 310 +f 309 302 311 +f 299 300 313 +f 300 305 315 +f 305 307 315 +f 308 301 316 +f 301 308 317 +f 311 304 319 +f 298 309 320 +f 309 311 320 +f 311 319 320 +f 310 299 321 +f 299 313 321 +f 309 314 322 +f 302 310 323 +f 303 305 324 +f 305 309 324 +f 322 303 324 +f 309 322 324 +f 301 317 325 +f 317 308 326 +f 319 304 326 +f 304 311 327 +f 311 302 327 +f 312 317 327 +f 317 326 327 +f 326 304 327 +f 307 303 328 +f 314 308 328 +f 316 307 328 +f 308 316 328 +f 303 322 328 +f 322 314 328 +f 313 300 329 +f 300 315 329 +f 315 307 329 +f 317 312 330 +f 302 323 330 +f 323 318 330 +f 325 317 330 +f 318 325 330 +f 327 302 330 +f 312 327 330 +f 308 314 331 +f 326 308 331 +f 319 326 331 +f 301 313 332 +f 307 316 332 +f 316 301 332 +f 313 329 332 +f 329 307 332 +f 309 298 333 +f 298 314 333 +f 314 309 333 +f 310 306 334 +f 306 318 334 +f 323 310 334 +f 318 323 334 +f 314 298 335 +f 298 320 335 +f 320 319 335 +f 331 314 335 +f 319 331 335 +f 306 310 336 +f 313 301 336 +f 318 306 336 +f 310 321 336 +f 321 313 336 +f 301 325 336 +o convex_6 +v -0.070451 4.267208 -1.644761 +v 0.029695 4.868980 -1.009861 +v 0.096588 5.069344 -1.043359 +v -0.270966 5.737451 -1.343905 +v 0.196790 5.770618 -1.343905 +v -0.237491 4.267208 -1.110167 +v 0.263684 4.267208 -1.143603 +v -0.070451 5.770618 -1.076794 +v 0.196790 4.267208 -1.577828 +v -0.037032 5.770618 -1.544455 +v -0.237491 4.267208 -1.544455 +v -0.070451 6.004830 -1.343905 +v -0.237491 5.102851 -1.544455 +v -0.304385 4.400897 -1.310718 +v -0.237491 5.136019 -1.110167 +v 0.163427 5.470072 -1.110167 +v -0.070451 4.267208 -1.009861 +v 0.196790 5.035837 -1.544455 +v 0.263684 5.102851 -1.343905 +v -0.003724 5.136019 -1.611264 +v 0.263684 4.267208 -1.444211 +v 0.196790 5.737451 -1.243785 +v -0.270966 5.737451 -1.277220 +v -0.204128 4.434404 -1.043359 +v 0.063169 4.267208 -1.009861 +v 0.230265 4.868980 -1.110167 +v -0.304385 5.136019 -1.343905 +v -0.003724 5.770618 -1.076794 +v -0.003724 6.004830 -1.277220 +v 0.029695 4.367730 -1.644761 +v 0.096588 5.636929 -1.511020 +v -0.204128 5.536747 -1.511020 +v -0.304385 5.069344 -1.277220 +v -0.070451 5.102851 -1.611264 +f 349 368 370 +f 342 337 343 +f 343 337 345 +f 337 342 347 +f 346 340 348 +f 341 346 348 +f 337 347 349 +f 347 342 350 +f 342 343 353 +f 354 341 355 +f 343 345 357 +f 345 354 357 +f 355 343 357 +f 354 355 357 +f 355 341 358 +f 348 340 359 +f 344 348 359 +f 351 344 359 +f 338 344 360 +f 351 342 360 +f 344 351 360 +f 353 338 360 +f 342 353 360 +f 339 338 361 +f 338 353 361 +f 353 343 361 +f 352 339 362 +f 343 355 362 +f 358 352 362 +f 355 358 362 +f 339 361 362 +f 361 343 362 +f 340 349 363 +f 349 347 363 +f 347 350 363 +f 359 340 363 +f 338 339 364 +f 344 338 364 +f 339 352 364 +f 352 358 364 +f 364 358 365 +f 348 344 365 +f 341 348 365 +f 358 341 365 +f 344 364 365 +f 345 337 366 +f 354 345 366 +f 356 354 366 +f 346 341 367 +f 341 354 367 +f 356 346 367 +f 354 356 367 +f 340 346 368 +f 349 340 368 +f 350 342 369 +f 342 351 369 +f 351 359 369 +f 363 350 369 +f 359 363 369 +f 337 349 370 +f 346 356 370 +f 366 337 370 +f 356 366 370 +f 368 346 370 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/025/025.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/025/025.urdf new file mode 100644 index 000000000..d9766c435 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/025/025.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/026/026.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/026/026.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/026/026.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/026/026.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/026/026.obj new file mode 100644 index 000000000..12c32c708 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/026/026.obj @@ -0,0 +1,453 @@ +o convex_0 +v 0.275381 -1.991504 -1.774475 +v -0.316400 -4.389457 -1.743442 +v 0.088492 -4.452079 -1.992504 +v -0.285220 -1.991504 -2.054876 +v 0.057248 -1.991504 -1.432007 +v 0.306497 -4.327316 -1.556630 +v -0.316400 -4.389457 -1.463163 +v -0.285220 -2.147337 -1.463163 +v 0.181904 -1.991504 -2.054876 +v 0.337677 -1.991504 -1.432007 +v 0.213084 -4.389457 -2.023660 +v -0.285220 -4.358627 -1.992504 +v -0.316400 -2.178408 -1.992504 +v 0.337677 -3.361487 -1.494318 +v -0.285220 -1.991504 -1.525474 +v -0.285220 -2.614596 -2.054876 +v -0.316400 -3.424110 -1.463163 +v 0.181904 -3.143995 -2.054876 +v 0.275381 -4.389457 -1.774475 +v -0.254104 -4.389457 -1.463163 +v 0.337677 -1.991504 -1.525474 +v 0.337677 -2.240789 -1.432007 +v 0.213084 -2.583526 -2.023660 +v 0.213084 -4.452079 -1.930193 +v -0.285220 -3.673395 -2.023660 +f 13 16 25 +f 1 4 5 +f 2 3 7 +f 4 1 9 +f 1 5 10 +f 3 2 12 +f 11 3 12 +f 2 7 13 +f 12 2 13 +f 5 4 15 +f 8 5 15 +f 4 13 15 +f 4 9 16 +f 13 4 16 +f 7 5 17 +f 5 8 17 +f 13 7 17 +f 8 15 17 +f 15 13 17 +f 9 11 18 +f 16 9 18 +f 11 16 18 +f 14 6 19 +f 6 14 20 +f 1 10 21 +f 10 14 21 +f 19 11 21 +f 14 19 21 +f 5 7 22 +f 10 5 22 +f 14 10 22 +f 7 20 22 +f 20 14 22 +f 9 1 23 +f 11 9 23 +f 1 21 23 +f 21 11 23 +f 7 3 24 +f 3 11 24 +f 19 6 24 +f 11 19 24 +f 20 7 24 +f 6 20 24 +f 11 12 25 +f 12 13 25 +f 16 11 25 +o convex_1 +v 1.085193 1.309563 1.308948 +v -1.095063 2.493107 -0.715515 +v -1.095063 2.493107 -0.684210 +v -1.001587 -2.489239 -0.715515 +v -1.032746 -2.458141 1.308948 +v 0.991717 -2.427043 -0.777711 +v 0.929400 3.739455 -0.746613 +v -0.970428 3.707748 1.246338 +v 1.022876 -2.364848 1.308948 +v 1.085193 3.707748 1.308948 +v -1.095063 3.645552 -0.715515 +v -0.565579 -0.869717 -0.809016 +v -1.032746 -0.682521 1.308948 +v 1.085193 3.707748 0.997348 +v 0.804765 -1.928870 -0.809016 +v -0.876952 3.707748 1.277435 +v -1.032746 -2.458141 -0.310415 +v 1.054034 -1.959358 1.277643 +v -1.095063 3.645552 -0.466111 +v 0.150645 -2.458141 0.156880 +v -0.565579 -1.803869 -0.809016 +v 0.991717 -1.149597 -0.777711 +v 0.493178 -0.308739 -0.809016 +v 1.022876 3.739455 0.249966 +v 0.431074 3.707748 1.308948 +v 0.586867 3.739455 -0.715308 +v -0.565579 -2.458141 1.308948 +v 1.022876 -2.395946 0.063172 +v -1.032746 -2.022163 -0.715515 +v 0.275280 -2.458141 -0.777711 +v -1.001587 0.251630 1.308948 +v 0.960558 3.739455 -0.497209 +v -0.970428 3.707748 0.903848 +v 0.773606 3.739455 -0.746613 +v 0.991717 -2.427043 -0.341720 +v -0.658841 3.676650 -0.715308 +v -0.783476 -2.458141 -0.746613 +v 0.960558 0.563218 -0.777711 +v -1.001587 3.676650 0.841652 +v -0.970428 -2.489239 -0.497209 +v 1.085193 1.309563 1.277643 +v -0.970428 3.458356 1.277435 +v 0.618026 -2.395946 1.184349 +v 0.960558 1.901030 -0.746613 +v 0.960558 3.739455 0.312369 +f 49 51 70 +f 28 27 30 +f 26 30 34 +f 30 26 35 +f 27 28 36 +f 27 36 37 +f 30 35 38 +f 35 26 39 +f 29 30 42 +f 30 27 42 +f 26 34 43 +f 28 30 44 +f 36 28 44 +f 33 36 44 +f 30 38 44 +f 27 37 46 +f 37 40 46 +f 39 31 47 +f 31 40 47 +f 40 37 48 +f 35 39 49 +f 39 47 49 +f 38 35 50 +f 49 32 51 +f 34 30 52 +f 43 34 53 +f 42 27 54 +f 29 42 54 +f 27 46 54 +f 46 29 54 +f 40 31 55 +f 46 40 55 +f 38 50 56 +f 50 41 56 +f 32 49 57 +f 36 33 58 +f 33 51 58 +f 37 36 59 +f 32 48 59 +f 48 37 59 +f 51 32 59 +f 31 53 60 +f 53 34 60 +f 55 31 60 +f 45 55 60 +f 36 58 61 +f 58 51 61 +f 59 36 61 +f 51 59 61 +f 29 46 62 +f 55 29 62 +f 46 55 62 +f 32 47 63 +f 47 40 63 +f 48 32 63 +f 40 48 63 +f 38 33 64 +f 33 44 64 +f 44 38 64 +f 30 29 65 +f 52 30 65 +f 45 52 65 +f 29 55 65 +f 55 45 65 +f 39 26 66 +f 31 39 66 +f 26 43 66 +f 53 31 66 +f 43 53 66 +f 33 38 67 +f 41 33 67 +f 38 56 67 +f 56 41 67 +f 34 52 68 +f 52 45 68 +f 60 34 68 +f 45 60 68 +f 47 32 69 +f 49 47 69 +f 32 57 69 +f 57 49 69 +f 33 41 70 +f 35 49 70 +f 50 35 70 +f 41 50 70 +f 51 33 70 +o convex_2 +v -0.440922 -1.804613 1.309149 +v 0.586849 -0.932596 1.371521 +v 0.586849 -0.963767 1.371521 +v -0.565572 -1.835674 3.364618 +v -0.565572 -0.839193 1.309149 +v 0.431064 -0.839083 3.177501 +v 0.493333 -1.898016 3.364618 +v 0.431064 -1.960357 1.309149 +v -0.503191 -0.932596 3.208687 +v 0.368683 -0.901425 1.309149 +v 0.275280 -1.960357 1.433893 +v 0.493333 -1.648868 3.333230 +v -0.409675 -0.901425 3.208687 +v -0.565572 -1.025999 1.309149 +v 0.462199 -0.839083 3.021771 +v -0.534325 -1.835674 2.679126 +v -0.565572 -0.870254 1.869896 +v 0.493333 -1.898016 2.866042 +v 0.275280 -1.898016 3.333230 +v -0.378541 -1.835674 1.309149 +v -0.565572 -1.773442 3.364618 +v -0.409675 -1.866845 3.021771 +v 0.586849 -0.963767 1.309149 +v -0.472057 -1.804613 1.527251 +v -0.565572 -0.839193 1.527251 +v -0.440922 -0.839193 1.309149 +v -0.440922 -1.025999 3.239672 +v 0.555602 -0.901425 1.558437 +v -0.534325 -1.244085 3.270858 +v 0.337549 -0.839193 3.177501 +v 0.431064 -1.804503 3.364618 +v 0.462199 -1.929187 2.647940 +v 0.493333 -1.555355 3.302044 +f 72 85 103 +f 73 72 77 +f 71 75 78 +f 78 75 80 +f 77 72 82 +f 75 71 84 +f 74 75 84 +f 75 76 85 +f 74 84 86 +f 75 74 87 +f 73 77 88 +f 77 74 89 +f 71 78 90 +f 78 81 90 +f 74 77 91 +f 87 74 91 +f 74 86 92 +f 89 74 92 +f 81 89 92 +f 90 81 92 +f 86 90 92 +f 72 73 93 +f 80 72 93 +f 78 80 93 +f 73 88 93 +f 88 78 93 +f 84 71 94 +f 86 84 94 +f 71 90 94 +f 90 86 94 +f 76 75 95 +f 79 83 95 +f 75 87 95 +f 87 79 95 +f 80 75 96 +f 75 85 96 +f 82 76 97 +f 76 83 97 +f 83 79 97 +f 72 80 98 +f 85 72 98 +f 80 96 98 +f 96 85 98 +f 79 87 99 +f 87 91 99 +f 97 79 99 +f 91 97 99 +f 83 76 100 +f 76 95 100 +f 95 83 100 +f 77 82 101 +f 91 77 101 +f 82 97 101 +f 97 91 101 +f 81 78 102 +f 88 77 102 +f 78 88 102 +f 77 89 102 +f 89 81 102 +f 82 72 103 +f 76 82 103 +f 85 76 103 +o convex_3 +v 0.431110 -0.870357 -2.023413 +v -0.503170 -1.991504 -2.708889 +v -0.440870 -1.991504 -2.708889 +v 0.306512 -1.960132 -0.809016 +v -0.565572 -0.870357 -0.809214 +v -0.534371 -0.745869 -2.677578 +v 0.462208 -1.866765 -2.833539 +v -0.565572 -1.804396 -0.809214 +v 0.431110 -0.932727 -0.809016 +v 0.462208 -0.932727 -2.740002 +v 0.275310 -0.714622 -1.400955 +v 0.493409 -1.960132 -0.809016 +v 0.337610 -0.714622 -2.085837 +v -0.347474 -0.714622 -1.525605 +v -0.253973 -1.991504 -1.463379 +v 0.213011 -1.991504 -1.992300 +v 0.337610 -0.839235 -2.740002 +v 0.493409 -1.929010 -1.930074 +v 0.306512 -1.897888 -2.833539 +v -0.565572 -0.808113 -1.650057 +v -0.472072 -1.929010 -2.739804 +v 0.462208 -1.244073 -0.809016 +v -0.534371 -1.648786 -2.210487 +v 0.399909 -0.994971 -2.770917 +v 0.493409 -1.804396 -0.809016 +v 0.337610 -1.991504 -1.432266 +v -0.316376 -0.714622 -2.085837 +v -0.285174 -0.776991 -2.708889 +v -0.503170 -1.181829 -2.708889 +v 0.368811 -1.897888 -2.833539 +v 0.431110 -1.679908 -2.833539 +v -0.565572 -0.839235 -0.933864 +v 0.493409 -1.866765 -2.054526 +f 128 121 136 +f 107 108 111 +f 108 107 112 +f 104 112 113 +f 108 112 114 +f 112 107 115 +f 112 104 116 +f 104 113 116 +f 114 112 116 +f 114 116 117 +f 105 106 118 +f 111 105 118 +f 107 111 118 +f 118 106 119 +f 116 113 120 +f 109 116 120 +f 106 105 122 +f 111 108 123 +f 122 105 124 +f 113 112 125 +f 112 115 125 +f 109 105 126 +f 105 111 126 +f 123 109 126 +f 111 123 126 +f 120 113 127 +f 115 121 128 +f 113 125 128 +f 125 115 128 +f 115 107 129 +f 107 118 129 +f 118 119 129 +f 121 115 129 +f 119 121 129 +f 116 109 130 +f 117 116 130 +f 109 117 130 +f 109 120 131 +f 120 127 131 +f 105 109 132 +f 124 105 132 +f 122 124 132 +f 109 131 132 +f 131 122 132 +f 119 106 133 +f 110 121 133 +f 121 119 133 +f 106 122 133 +f 122 110 133 +f 113 110 134 +f 110 122 134 +f 127 113 134 +f 122 131 134 +f 131 127 134 +f 108 114 135 +f 114 117 135 +f 117 109 135 +f 109 123 135 +f 123 108 135 +f 110 113 136 +f 121 110 136 +f 113 128 136 +o convex_4 +v 0.337677 1.714931 -1.525477 +v -0.347547 -0.714497 -1.681206 +v -0.347547 -0.714497 -1.525477 +v 0.337677 -0.714497 -2.085956 +v -0.222924 1.621474 -2.054770 +v 0.275365 -0.714497 -1.400867 +v -0.253979 1.590321 -1.525477 +v -0.316358 -0.714497 -2.085956 +v 0.337677 1.652626 -1.961345 +v -0.285168 1.465711 -1.587782 +v 0.337677 1.559168 -1.494358 +v 0.337677 -0.714497 -1.805616 +v 0.213054 -0.558734 -1.400867 +v 0.275365 1.652626 -1.992464 +v -0.285168 0.002013 -2.085956 +v -0.253979 1.621474 -1.836802 +v -0.285168 1.434320 -1.525477 +v -0.160613 1.621474 -2.054770 +v -0.253979 1.123032 -2.054770 +v -0.347547 -0.402971 -1.525477 +f 149 153 156 +f 139 138 140 +f 139 140 142 +f 140 138 144 +f 137 140 145 +f 144 138 146 +f 140 137 147 +f 137 143 147 +f 142 140 148 +f 140 147 148 +f 147 142 148 +f 139 142 149 +f 142 147 149 +f 147 143 149 +f 141 137 150 +f 137 145 150 +f 145 140 150 +f 140 144 151 +f 137 141 152 +f 143 137 152 +f 146 143 152 +f 143 146 153 +f 149 143 153 +f 141 150 154 +f 150 140 154 +f 140 151 154 +f 151 141 154 +f 144 146 155 +f 141 151 155 +f 151 144 155 +f 152 141 155 +f 146 152 155 +f 138 139 156 +f 146 138 156 +f 139 149 156 +f 153 146 156 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/026/026.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/026/026.urdf new file mode 100644 index 000000000..161704c88 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/026/026.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/027/027.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/027/027.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/027/027.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/027/027.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/027/027.obj new file mode 100644 index 000000000..6bba99696 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/027/027.obj @@ -0,0 +1,585 @@ +o convex_0 +v 2.353401 -2.054929 -0.163520 +v -3.112154 -4.162848 -1.100924 +v -3.112154 -4.162848 -0.749316 +v 2.977795 -4.123857 1.046413 +v -3.034256 -2.211329 0.928993 +v 2.939147 -4.123857 -0.983504 +v -3.112154 -2.015938 -1.022716 +v -2.956358 -4.124074 1.124621 +v 3.055693 -2.094138 0.968206 +v 2.939147 -2.133130 -1.022716 +v 1.025509 -2.015938 1.124621 +v -0.223278 -4.240830 -0.124743 +v 1.221160 -2.015938 -1.100924 +v -1.043323 -2.015938 1.007200 +v -2.760707 -4.162848 1.046196 +v 2.704849 -3.811492 -1.022716 +v 0.244715 -4.240830 -0.436920 +v -2.760707 -2.054929 -1.061711 +v 2.977795 -3.928683 -0.827306 +v 1.376956 -2.406503 -1.100924 +v -2.995005 -3.616318 1.085190 +v 1.259807 -2.328303 1.124621 +v -0.964821 -4.240830 -0.515128 +v 3.017046 -2.094138 -0.163520 +v -3.034256 -2.172121 0.889998 +v -2.136313 -4.124074 1.124621 +v -2.565660 -4.162848 -1.100924 +v -0.028231 -2.015938 -1.100924 +v 2.899897 -2.133130 1.007200 +v -3.034256 -2.445276 0.968206 +v -3.112154 -2.015938 -0.866519 +v 3.055693 -2.406285 0.655810 +v 2.548449 -2.054929 0.460835 +v 2.197001 -4.163065 -0.827306 +v -3.112154 -3.772501 -1.100924 +v 1.728404 -4.162848 0.772795 +v 2.977795 -2.133130 -0.944509 +v -3.034256 -4.162848 0.382410 +v 2.743496 -2.094138 -1.022716 +v 2.197001 -3.303953 1.085190 +v -2.956358 -3.967674 1.124621 +v -2.253463 -4.201839 -0.866519 +v -3.073507 -2.133130 0.226212 +v 2.001954 -4.124074 -1.022716 +v 2.939147 -2.953033 -1.022716 +v -1.043323 -4.162848 -1.061494 +v 2.977795 -3.772501 1.046413 +v 0.674061 -4.123857 1.085408 +v -3.073507 -2.211329 -1.061711 +v 2.977795 -4.123857 0.343415 +v 2.314150 -2.094138 -1.061494 +v -3.034256 -2.640668 0.968206 +v 1.338309 -2.015938 -0.866519 +v -2.995005 -4.124074 0.968206 +v -2.370612 -2.172121 0.968206 +f 30 11 55 +f 2 3 7 +f 7 11 13 +f 11 7 14 +f 4 12 17 +f 2 13 20 +f 11 8 22 +f 12 15 23 +f 17 12 23 +f 5 14 25 +f 8 15 26 +f 22 8 26 +f 2 20 27 +f 20 16 27 +f 13 2 28 +f 7 13 28 +f 18 7 28 +f 9 11 29 +f 11 22 29 +f 7 3 31 +f 14 7 31 +f 25 14 31 +f 9 4 32 +f 24 9 32 +f 19 24 32 +f 11 9 33 +f 24 1 33 +f 9 24 33 +f 4 17 34 +f 2 7 35 +f 28 2 35 +f 12 4 36 +f 4 15 36 +f 15 12 36 +f 19 6 37 +f 24 19 37 +f 15 8 38 +f 23 15 38 +f 1 24 39 +f 37 10 39 +f 24 37 39 +f 8 11 41 +f 21 8 41 +f 11 30 41 +f 30 21 41 +f 3 2 42 +f 2 27 42 +f 38 3 42 +f 23 38 42 +f 5 25 43 +f 30 5 43 +f 31 3 43 +f 25 31 43 +f 16 6 44 +f 27 16 44 +f 6 16 45 +f 16 20 45 +f 37 6 45 +f 10 37 45 +f 17 23 46 +f 6 34 46 +f 34 17 46 +f 23 42 46 +f 42 27 46 +f 44 6 46 +f 27 44 46 +f 4 9 47 +f 9 29 47 +f 29 22 47 +f 40 4 47 +f 22 40 47 +f 15 4 48 +f 26 15 48 +f 22 26 48 +f 4 40 48 +f 40 22 48 +f 7 18 49 +f 18 28 49 +f 35 7 49 +f 28 35 49 +f 6 19 50 +f 32 4 50 +f 19 32 50 +f 4 34 50 +f 34 6 50 +f 20 13 51 +f 39 10 51 +f 13 39 51 +f 10 45 51 +f 45 20 51 +f 21 30 52 +f 43 3 52 +f 30 43 52 +f 13 11 53 +f 11 33 53 +f 33 1 53 +f 39 13 53 +f 1 39 53 +f 8 21 54 +f 38 8 54 +f 3 38 54 +f 21 52 54 +f 52 3 54 +f 14 5 55 +f 11 14 55 +f 5 30 55 +o convex_1 +v 0.362040 -1.664353 -1.100924 +v 1.103854 -1.898483 1.085576 +v 1.103854 -2.015720 1.085576 +v -1.043182 -2.015720 1.007456 +v -1.043182 -1.430050 0.968289 +v -0.926097 -2.015720 -1.061757 +v 1.064966 -1.430050 1.085576 +v -0.964985 -1.430050 -1.061757 +v 1.064966 -2.015720 -1.100924 +v 1.025658 -1.430050 -1.061757 +v 1.103854 -1.430050 0.890170 +v -1.043182 -2.015720 0.499570 +v 0.362040 -1.976622 1.085576 +v 1.064966 -1.742377 -1.100924 +v -0.964985 -1.859442 -1.061757 +v -0.964985 -1.742377 1.007456 +v 0.010997 -2.015720 -1.100924 +f 70 63 72 +f 58 59 61 +f 58 57 62 +f 60 62 63 +f 58 61 64 +f 63 62 65 +f 56 63 65 +f 57 58 66 +f 62 57 66 +f 58 64 66 +f 65 62 66 +f 59 60 67 +f 61 59 67 +f 60 63 67 +f 59 58 68 +f 58 62 68 +f 64 56 69 +f 56 65 69 +f 66 64 69 +f 65 66 69 +f 61 67 70 +f 67 63 70 +f 60 59 71 +f 62 60 71 +f 59 68 71 +f 68 62 71 +f 63 56 72 +f 56 64 72 +f 64 61 72 +f 61 70 72 +o convex_2 +v 1.025910 2.551725 -0.398151 +v -1.082226 0.561227 -1.022770 +v -1.082226 0.561227 -0.983764 +v 1.025910 -1.429271 -0.007674 +v -0.965142 2.551725 -0.007674 +v 1.025910 -1.429271 -1.061880 +v -0.965142 -1.429271 -0.007674 +v -0.926045 2.551725 -1.061880 +v 1.064798 2.551725 -0.983764 +v -0.965142 -1.429271 -1.061880 +v 0.986812 2.551725 -0.007674 +v -1.082226 2.551725 -0.866538 +v -1.004241 -0.258436 -0.163906 +v -1.082226 2.551725 -1.061880 +v -1.043338 -0.648584 -1.022770 +v 1.025910 -1.195416 -1.061880 +v 1.064798 2.473773 -0.827531 +v -1.004241 -1.234391 -1.061880 +v 0.127919 2.551725 -1.022770 +v 1.064798 2.200552 -0.983764 +f 81 89 92 +f 78 76 79 +f 76 77 79 +f 77 73 80 +f 80 73 81 +f 78 79 82 +f 80 78 82 +f 76 73 83 +f 73 77 83 +f 77 76 83 +f 74 75 84 +f 77 80 84 +f 75 79 85 +f 79 77 85 +f 84 75 85 +f 77 84 85 +f 80 82 86 +f 74 84 86 +f 84 80 86 +f 75 74 87 +f 79 75 87 +f 78 80 88 +f 81 78 88 +f 73 76 89 +f 81 73 89 +f 82 79 90 +f 74 86 90 +f 86 82 90 +f 87 74 90 +f 79 87 90 +f 80 81 91 +f 88 80 91 +f 81 88 91 +f 76 78 92 +f 78 81 92 +f 89 76 92 +o convex_3 +v 1.064966 1.224596 0.421913 +v -1.043182 -1.429271 0.773074 +v -1.043182 -1.429271 0.968416 +v -1.004083 2.551725 1.046532 +v -0.965195 2.551725 -0.007674 +v 1.025868 -1.429271 -0.007674 +v 1.064966 -1.429271 1.046532 +v 0.947882 2.551725 1.046532 +v -0.965195 -1.429271 -0.007674 +v 0.986770 2.551725 -0.007674 +v 0.323152 -1.429271 1.046532 +v -1.043182 0.990351 0.656055 +v 1.103854 -0.024191 0.656055 +v 1.103854 -1.429271 0.968416 +v -1.004083 2.551725 0.265681 +v -1.004083 1.966307 1.046532 +v 1.025868 2.356845 0.304687 +v -1.043182 0.834448 0.968416 +v -0.457760 -1.429271 1.007422 +v 1.103854 -0.180094 0.577938 +f 106 98 112 +f 95 94 98 +f 95 98 99 +f 97 96 100 +f 96 99 100 +f 98 94 101 +f 97 98 101 +f 98 97 102 +f 97 100 102 +f 95 99 103 +f 99 96 103 +f 94 95 104 +f 101 94 104 +f 105 100 106 +f 99 98 106 +f 100 99 106 +f 96 97 107 +f 97 101 107 +f 104 96 107 +f 101 104 107 +f 96 95 108 +f 103 96 108 +f 93 102 109 +f 102 100 109 +f 105 93 109 +f 100 105 109 +f 95 96 110 +f 104 95 110 +f 96 104 110 +f 95 103 111 +f 108 95 111 +f 103 108 111 +f 98 102 112 +f 102 93 112 +f 93 105 112 +f 105 106 112 +o convex_4 +v -0.848080 4.075414 1.124621 +v -1.121481 3.216531 -1.061880 +v -0.730878 3.216531 -1.061880 +v -1.082268 5.949121 -0.944379 +v 1.104064 5.831964 -0.983760 +v 0.947866 3.216531 1.085454 +v 0.986861 5.949121 1.085454 +v 1.064851 3.216531 -0.983760 +v -0.965065 5.871017 1.046501 +v -1.004278 3.216531 1.085454 +v 1.064851 3.216531 0.031371 +v -1.121481 4.894977 -1.022713 +v 1.025856 5.949121 1.046287 +v -1.082268 5.949121 -0.515040 +v 1.104064 3.685158 -0.827306 +v -0.106087 5.910069 -0.983546 +v -1.043273 4.153518 -1.061880 +v 1.104064 5.831964 -0.476088 +v -0.457695 5.910069 1.046501 +v -1.121481 3.919205 -0.866259 +v -0.965065 3.802315 1.124621 +v 0.323076 5.831964 1.085454 +v -0.730878 5.949121 -0.944379 +v -0.691883 3.880420 -1.061880 +v 1.025856 5.949121 0.929000 +v 1.104064 3.685158 -0.983760 +v -1.121481 4.934029 -0.944379 +v 0.752456 5.949121 1.085454 +v 0.986861 4.504989 1.085454 +v -1.004278 5.910069 0.538829 +v -1.082268 5.636703 -0.983546 +v -0.730878 3.841367 1.124621 +v -0.926070 5.090239 1.085454 +v -1.004278 3.333688 1.085454 +f 142 126 146 +f 114 115 118 +f 118 115 120 +f 114 118 122 +f 118 120 123 +f 116 119 125 +f 119 116 126 +f 123 120 127 +f 115 114 129 +f 114 124 129 +f 124 128 129 +f 128 117 129 +f 117 125 130 +f 125 123 130 +f 127 117 130 +f 123 127 130 +f 114 122 132 +f 124 114 132 +f 122 118 133 +f 116 125 135 +f 128 116 135 +f 115 129 136 +f 129 117 136 +f 125 117 137 +f 117 128 137 +f 135 125 137 +f 128 135 137 +f 120 115 138 +f 117 127 138 +f 127 120 138 +f 115 136 138 +f 136 117 138 +f 116 124 139 +f 126 116 139 +f 124 132 139 +f 113 119 140 +f 119 126 140 +f 131 121 140 +f 126 131 140 +f 134 113 140 +f 121 134 140 +f 118 123 141 +f 125 119 141 +f 123 125 141 +f 121 131 142 +f 131 126 142 +f 124 116 143 +f 116 128 143 +f 128 124 143 +f 119 113 144 +f 113 133 144 +f 133 118 144 +f 118 141 144 +f 141 119 144 +f 133 113 145 +f 121 133 145 +f 113 134 145 +f 134 121 145 +f 132 122 146 +f 133 121 146 +f 122 133 146 +f 126 139 146 +f 139 132 146 +f 121 142 146 +o convex_5 +v -2.527073 3.138174 0.265639 +v -3.112758 2.981934 -0.359076 +v -3.112758 2.786864 -0.320001 +v -1.082436 3.060085 -0.359076 +v -1.082436 2.669638 0.265639 +v -2.956350 2.630624 0.226563 +v -1.082436 2.591549 -0.241911 +v -1.082436 3.216263 -0.241911 +v -2.995303 3.177188 0.187549 +v -1.082436 3.060085 0.226563 +v -2.839293 3.138174 -0.359076 +v -3.112758 2.630624 -0.280987 +v -1.590017 3.216263 -0.359076 +v -2.956350 3.177188 0.265639 +v -1.238844 2.591549 -0.085672 +v -2.097597 2.591549 -0.202897 +v -3.112758 3.099038 -0.320001 +v -3.112758 2.630624 -0.163761 +v -1.941587 2.669638 0.265639 +v -2.292561 2.630624 -0.280987 +v -1.434205 3.099038 0.226563 +f 154 160 167 +f 149 148 150 +f 150 151 153 +f 151 150 154 +f 147 151 156 +f 151 154 156 +f 150 148 157 +f 148 149 158 +f 154 150 159 +f 150 157 159 +f 157 155 159 +f 151 147 160 +f 155 152 160 +f 154 159 160 +f 159 155 160 +f 151 152 161 +f 153 151 161 +f 158 153 162 +f 161 152 162 +f 153 161 162 +f 157 148 163 +f 155 157 163 +f 148 158 163 +f 163 158 164 +f 152 155 164 +f 158 162 164 +f 162 152 164 +f 155 163 164 +f 152 151 165 +f 151 160 165 +f 160 152 165 +f 149 150 166 +f 150 153 166 +f 158 149 166 +f 153 158 166 +f 147 156 167 +f 156 154 167 +f 160 147 167 +o convex_6 +v 1.064809 3.216263 -0.007594 +v -1.082226 2.552634 -1.061459 +v -1.082226 2.552634 -0.827314 +v -1.082226 3.216263 -1.061459 +v -1.004240 3.216263 1.085156 +v 0.947725 2.552634 1.046272 +v 1.064809 2.552634 -0.983691 +v -1.004240 2.552634 1.046272 +v 0.947725 3.216263 1.085366 +v 1.064809 3.216263 -0.983691 +v -1.082226 2.864926 0.265436 +v 1.064809 2.747792 0.265436 +v -1.004240 2.864926 1.085156 +v -0.769861 3.060019 -1.061459 +v -1.082226 3.216263 -0.241739 +v 1.064809 3.138109 0.343415 +v -1.082226 2.669703 0.265436 +f 180 178 184 +f 169 170 171 +f 168 171 172 +f 170 169 173 +f 173 169 174 +f 170 173 175 +f 168 172 176 +f 171 168 177 +f 168 174 177 +f 171 170 178 +f 174 168 179 +f 173 174 179 +f 175 173 180 +f 173 176 180 +f 176 172 180 +f 172 178 180 +f 169 171 181 +f 174 169 181 +f 171 177 181 +f 177 174 181 +f 172 171 182 +f 171 178 182 +f 178 172 182 +f 176 173 183 +f 168 176 183 +f 179 168 183 +f 173 179 183 +f 170 175 184 +f 178 170 184 +f 175 180 184 +o convex_7 +v 3.055907 2.942874 0.031371 +v 1.065020 3.020941 -0.320031 +v 1.065020 2.669722 -0.202874 +v 1.065020 3.138174 0.343629 +v 3.016928 2.591549 0.304622 +v 3.016928 2.591549 -0.280956 +v 3.055907 3.060001 -0.241881 +v 2.938968 3.099114 0.382773 +v 1.143369 2.669722 0.226472 +v 1.104389 3.138174 -0.085717 +v 2.431258 2.591549 0.304622 +v 1.338657 3.099114 -0.320031 +v 2.509412 2.591549 -0.280956 +v 2.236165 3.138174 0.304622 +v 1.065020 2.747789 0.265547 +v 2.665526 3.099114 -0.124793 +v 3.055907 2.825855 -0.280956 +v 2.938968 2.708782 0.343629 +v 1.104389 3.060001 0.343629 +f 202 192 203 +f 186 187 188 +f 189 185 192 +f 185 191 192 +f 186 188 194 +f 190 189 195 +f 193 187 195 +f 190 186 196 +f 186 194 196 +f 187 186 197 +f 186 190 197 +f 195 187 197 +f 190 195 197 +f 188 192 198 +f 194 188 198 +f 188 187 199 +f 187 193 199 +f 193 195 199 +f 192 191 200 +f 191 196 200 +f 196 194 200 +f 198 192 200 +f 194 198 200 +f 185 189 201 +f 189 190 201 +f 191 185 201 +f 190 196 201 +f 196 191 201 +f 189 192 202 +f 195 189 202 +f 195 202 203 +f 192 188 203 +f 188 199 203 +f 199 195 203 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/027/027.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/027/027.urdf new file mode 100644 index 000000000..c22d5610f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/027/027.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/028/028.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/028/028.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/028/028.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/028/028.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/028/028.obj new file mode 100644 index 000000000..6d7f62979 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/028/028.obj @@ -0,0 +1,657 @@ +o convex_0 +v 2.588922 -2.023297 -0.195992 +v 4.621786 0.133933 0.425957 +v 4.621786 0.133933 -1.025750 +v 0.639103 0.092390 0.343171 +v 4.580068 -1.898883 1.048328 +v 0.639103 -1.940426 -0.984146 +v 0.639103 -1.898883 1.090143 +v 4.497023 -1.981754 -1.025750 +v 1.634481 0.092390 1.090143 +v 0.639103 0.009303 -0.984146 +v 4.580068 0.133933 0.965542 +v 0.639103 0.092390 1.048328 +v 2.257129 -2.065055 0.965542 +v 2.091038 -1.898883 -1.067354 +v 4.455695 -1.691382 1.090143 +v 3.044698 0.092390 1.090143 +v 1.302688 0.009303 -1.025750 +v 2.962042 -2.065055 0.633555 +v 3.293835 -1.193510 -1.067354 +v 3.957810 0.133933 -1.025750 +v 1.012224 -1.981754 1.048328 +v 4.621786 -0.198197 -1.025750 +v 3.709064 0.133933 1.006935 +v 4.580068 -1.898883 0.550558 +v 2.547594 -0.986225 -1.067354 +v 3.335163 -1.940426 -1.067354 +v 2.754233 -1.981969 -0.942753 +v 2.547594 -2.065055 0.550558 +v 2.795951 -2.065055 0.965542 +v 0.639103 -1.940426 1.048328 +v 1.261361 -1.940426 -1.025750 +v 4.580068 -0.447241 1.006935 +v 0.639103 -1.483882 1.090143 +v 4.455695 -1.981754 -0.776760 +v 4.123512 -1.940426 1.048328 +f 21 29 35 +f 4 6 7 +f 6 4 10 +f 2 3 11 +f 4 7 12 +f 9 7 15 +f 9 15 16 +f 10 4 20 +f 11 3 20 +f 17 10 20 +f 6 13 21 +f 3 2 22 +f 2 5 22 +f 12 9 23 +f 4 12 23 +f 16 11 23 +f 9 16 23 +f 20 4 23 +f 11 20 23 +f 5 8 24 +f 22 5 24 +f 8 22 24 +f 14 17 25 +f 3 19 25 +f 19 14 25 +f 17 20 25 +f 20 3 25 +f 19 3 26 +f 14 19 26 +f 3 22 26 +f 22 8 26 +f 1 6 27 +f 27 8 28 +f 6 1 28 +f 13 6 28 +f 8 18 28 +f 18 13 28 +f 1 27 28 +f 18 5 29 +f 13 18 29 +f 21 13 29 +f 7 6 30 +f 21 7 30 +f 6 21 30 +f 6 10 31 +f 10 17 31 +f 17 14 31 +f 26 8 31 +f 14 26 31 +f 27 6 31 +f 8 27 31 +f 5 2 32 +f 2 11 32 +f 15 5 32 +f 11 16 32 +f 16 15 32 +f 7 9 33 +f 9 12 33 +f 12 7 33 +f 8 5 34 +f 18 8 34 +f 5 18 34 +f 5 15 35 +f 15 7 35 +f 7 21 35 +f 29 5 35 +o convex_1 +v 0.555619 2.996592 -0.029848 +v -1.560275 3.245315 -0.610940 +v -1.560275 3.245315 -0.569149 +v -1.518671 1.710566 -0.196017 +v -1.435674 3.992442 0.965571 +v 0.555619 1.710566 1.007163 +v 0.597223 1.710566 -0.984272 +v 0.514015 3.992202 -0.984272 +v 0.514015 4.033656 0.965571 +v -1.560275 4.158496 -1.025864 +v -1.394070 1.710566 1.007163 +v -1.477067 1.710566 -1.025864 +v 0.472622 4.075109 0.965571 +v -1.477067 1.710566 0.882586 +v 0.265024 3.120954 1.007163 +v -0.522919 4.075109 -1.025864 +v -1.560275 4.158496 -0.735119 +v -1.352677 4.033895 0.924178 +v -1.145290 4.158496 -0.693925 +v 0.597223 1.752499 -0.278802 +v -1.477067 4.033895 0.592239 +v 0.555619 3.203861 -0.984272 +v -1.518671 2.250184 -1.025864 +v -1.186683 2.582054 1.007163 +v 0.514015 4.075109 0.799402 +v -1.518671 1.710566 0.260300 +v 0.182238 4.075109 0.965571 +v -1.269680 1.710566 -1.025864 +v -0.813303 4.116803 -0.984272 +f 54 60 64 +f 38 37 39 +f 41 39 42 +f 37 38 45 +f 39 41 46 +f 42 39 47 +f 39 46 49 +f 46 40 49 +f 41 44 50 +f 46 41 50 +f 44 48 50 +f 47 45 51 +f 45 38 52 +f 45 52 54 +f 41 42 55 +f 36 44 55 +f 44 41 55 +f 49 40 56 +f 52 38 56 +f 40 53 56 +f 53 52 56 +f 42 51 57 +f 51 43 57 +f 36 55 57 +f 55 42 57 +f 39 37 58 +f 37 45 58 +f 47 39 58 +f 45 47 58 +f 40 46 59 +f 50 40 59 +f 46 50 59 +f 44 36 60 +f 48 44 60 +f 54 48 60 +f 36 57 60 +f 57 43 60 +f 38 39 61 +f 39 49 61 +f 56 38 61 +f 49 56 61 +f 40 50 62 +f 50 48 62 +f 53 40 62 +f 52 53 62 +f 48 54 62 +f 54 52 62 +f 42 47 63 +f 51 42 63 +f 47 51 63 +f 43 51 64 +f 51 45 64 +f 45 54 64 +f 60 43 64 +o convex_2 +v -1.767764 -1.981969 -1.067354 +v -2.638947 0.009303 1.090143 +v -3.510321 0.009303 1.090143 +v -3.427288 0.133933 -1.025750 +v -3.510321 -2.065055 1.048539 +v -1.560275 0.009303 1.006935 +v -1.560275 0.050631 -1.067354 +v -1.560275 -1.940426 0.965542 +v -3.468709 -1.981969 -1.067354 +v -1.560275 -2.065055 -1.025539 +v -2.638947 -2.023297 1.048539 +v -3.095345 0.133933 -0.652159 +v -3.510321 0.009303 0.467772 +v -1.560275 -1.650054 1.006935 +v -3.427288 -1.774253 1.090143 +v -3.510321 -2.065055 0.550558 +v -1.809376 0.050631 0.633555 +v -3.468709 0.050847 -0.693551 +v -3.510321 0.050847 0.674948 +v -3.468709 -1.525425 -1.067354 +v -2.058285 0.092390 -1.025539 +v -1.809376 0.009303 1.048539 +v -3.178378 -2.065055 1.048539 +v -2.680368 -2.023297 -1.067354 +v -1.560275 0.050631 0.094180 +v -1.933830 0.050631 -1.067354 +v -3.510321 -0.944897 0.342960 +f 77 84 91 +f 71 70 72 +f 71 65 73 +f 65 71 74 +f 71 72 74 +f 74 72 75 +f 69 67 77 +f 72 70 78 +f 75 72 78 +f 75 78 79 +f 66 67 79 +f 67 69 79 +f 78 66 79 +f 74 69 80 +f 69 77 80 +f 82 77 83 +f 67 66 83 +f 76 68 83 +f 77 67 83 +f 66 81 83 +f 81 76 83 +f 68 82 83 +f 71 73 84 +f 82 68 84 +f 77 82 84 +f 71 68 85 +f 68 76 85 +f 66 78 86 +f 78 70 86 +f 81 66 86 +f 70 81 86 +f 69 74 87 +f 74 75 87 +f 75 79 87 +f 79 69 87 +f 73 65 88 +f 65 74 88 +f 74 80 88 +f 80 73 88 +f 70 71 89 +f 81 70 89 +f 76 81 89 +f 71 85 89 +f 85 76 89 +f 68 71 90 +f 84 68 90 +f 71 84 90 +f 73 80 91 +f 80 77 91 +f 84 73 91 +o convex_3 +v -0.979378 0.548853 1.380889 +v 0.099339 1.378643 3.040185 +v 0.057832 1.669076 3.081578 +v 0.099339 1.544556 1.090143 +v -1.062391 1.503049 3.123170 +v 0.016325 0.590359 3.040185 +v -0.979378 1.503049 1.090143 +v 0.016325 0.590359 1.090143 +v -0.937758 0.507346 2.998594 +v -1.020771 0.590359 1.090143 +v 0.099339 0.590359 2.293323 +v -0.066688 0.548853 1.090143 +v -0.979378 0.548853 3.040185 +v -1.062391 0.963805 1.961782 +v 0.099339 1.586062 1.131735 +v -0.066688 1.669076 2.998594 +v -1.020771 1.503049 1.339297 +v 0.099339 0.631866 3.040185 +v -1.062391 1.170997 3.081578 +v 0.057832 0.590359 1.339297 +v -1.062391 1.503049 2.293323 +v -0.937758 1.378643 3.123170 +v -0.564312 1.544556 1.090143 +v -1.020771 0.548853 1.588251 +f 110 105 115 +f 98 95 99 +f 98 99 101 +f 95 93 102 +f 100 92 103 +f 97 100 103 +f 92 101 103 +f 101 99 103 +f 102 97 103 +f 100 97 104 +f 94 93 106 +f 93 95 106 +f 96 94 107 +f 94 106 107 +f 98 101 108 +f 101 105 108 +f 107 98 108 +f 93 94 109 +f 102 93 109 +f 97 102 109 +f 104 96 110 +f 96 105 110 +f 99 95 111 +f 95 102 111 +f 103 99 111 +f 102 103 111 +f 105 96 112 +f 96 107 112 +f 107 108 112 +f 108 105 112 +f 94 96 113 +f 96 104 113 +f 104 97 113 +f 109 94 113 +f 97 109 113 +f 95 98 114 +f 106 95 114 +f 98 107 114 +f 107 106 114 +f 92 100 115 +f 101 92 115 +f 100 104 115 +f 105 101 115 +f 104 110 115 +o convex_4 +v 0.306583 0.175423 -1.025628 +v -1.435646 -2.064836 -1.150327 +v -1.352775 -2.064836 -1.150327 +v -1.560275 -1.940280 1.090144 +v 0.638713 -1.940280 1.090144 +v -1.477189 0.175423 1.006464 +v -1.477189 0.133539 -3.058542 +v 0.555627 -1.940280 -2.975683 +v 0.638498 0.092313 1.048304 +v 0.514084 0.050648 -3.100381 +v -1.518732 -1.940280 -3.100381 +v -1.560275 0.050648 -1.067058 +v 0.638498 0.175423 -0.984199 +v -1.477189 0.009202 1.090144 +v 0.638713 -1.940280 -1.191756 +v 0.555627 0.175423 1.048304 +v -1.560275 0.009202 1.006464 +v 0.555627 -0.364028 -3.100381 +v -1.560275 -2.064836 -0.985019 +v 0.555627 0.092313 1.090144 +v -1.435646 0.175423 -1.067058 +v 0.597170 -1.483939 -2.643837 +v -1.518732 -0.364248 -3.058542 +v -0.149746 0.092313 -3.100381 +v 0.431213 -1.940280 -3.016702 +v -1.518732 -1.981725 -2.768126 +v 0.140841 -1.981945 -1.067058 +v 0.638498 -0.032244 -1.398903 +v -0.896231 0.133758 -3.058542 +v 0.555627 0.050648 -3.016702 +v -1.518732 -1.525384 -3.100381 +v -1.352775 -1.940280 -3.100381 +v -1.352775 -2.064836 -0.943590 +v -1.352775 0.175423 1.048304 +v 0.597170 -1.940280 -2.560568 +v -0.025331 -1.981945 -2.394850 +f 123 142 151 +f 121 122 127 +f 116 121 128 +f 124 120 128 +f 119 120 129 +f 128 120 130 +f 128 121 131 +f 124 128 131 +f 127 119 132 +f 121 127 132 +f 119 129 132 +f 129 121 132 +f 126 125 133 +f 117 118 134 +f 119 127 134 +f 127 126 134 +f 120 124 135 +f 129 120 135 +f 124 131 135 +f 121 116 136 +f 122 121 136 +f 123 133 137 +f 127 122 138 +f 125 126 139 +f 128 125 139 +f 133 123 140 +f 118 117 141 +f 117 134 141 +f 134 126 141 +f 130 120 142 +f 128 130 143 +f 130 137 143 +f 116 128 144 +f 136 116 144 +f 122 136 144 +f 139 122 144 +f 128 139 144 +f 125 128 145 +f 133 125 145 +f 137 133 145 +f 128 143 145 +f 143 137 145 +f 126 127 146 +f 138 122 146 +f 127 138 146 +f 122 139 146 +f 139 126 146 +f 126 133 147 +f 133 140 147 +f 141 126 147 +f 140 141 147 +f 120 119 148 +f 134 118 148 +f 119 134 148 +f 118 142 148 +f 142 120 148 +f 121 129 149 +f 131 121 149 +f 129 135 149 +f 135 131 149 +f 123 137 150 +f 137 130 150 +f 142 123 150 +f 130 142 150 +f 140 123 151 +f 118 141 151 +f 141 140 151 +f 142 118 151 +o convex_5 +v -1.560275 -2.065055 2.915410 +v 0.555627 0.092443 2.168657 +v 0.555627 0.050838 2.956929 +v 0.638713 -2.065055 2.873891 +v -1.477189 0.009446 1.090338 +v 0.555627 -1.940243 1.090338 +v -1.477189 0.092443 3.040161 +v -1.560275 -1.940243 1.090338 +v 0.555627 0.092443 1.090338 +v 0.638713 -2.065055 3.081290 +v -1.518517 0.050838 3.040161 +v -0.688945 0.092443 3.040161 +v -1.560275 -1.815853 2.957124 +v 0.223712 -2.065055 3.081290 +v -0.191074 0.092443 1.090338 +v -1.560275 -1.442473 1.297737 +v 0.596955 -1.566863 3.081290 +v -1.518517 -0.488536 3.040161 +v 0.596955 -0.571533 2.998447 +v -0.357246 -1.981847 1.546655 +v -1.477189 0.092443 2.417575 +v 0.596955 -1.981847 1.712730 +v 0.555627 -0.239545 2.998447 +v -1.560275 -2.065055 2.832567 +v -1.477189 0.050838 1.505136 +v 0.596955 -2.065055 2.791049 +v -1.518517 -0.612926 1.131857 +v 0.638713 -1.815853 3.039966 +v -1.560275 -1.566863 2.957124 +f 167 164 180 +f 156 157 159 +f 157 156 160 +f 158 153 160 +f 152 155 161 +f 154 153 163 +f 153 158 163 +f 159 152 164 +f 152 161 165 +f 164 152 165 +f 160 156 166 +f 158 160 166 +f 159 164 167 +f 158 162 168 +f 163 158 168 +f 162 165 168 +f 165 161 168 +f 162 164 169 +f 165 162 169 +f 164 165 169 +f 153 154 170 +f 160 153 170 +f 168 161 170 +f 159 157 171 +f 162 158 172 +f 158 166 172 +f 155 157 173 +f 160 155 173 +f 157 160 173 +f 154 163 174 +f 163 168 174 +f 170 154 174 +f 168 170 174 +f 155 152 175 +f 152 159 175 +f 159 171 175 +f 156 162 176 +f 166 156 176 +f 162 172 176 +f 172 166 176 +f 157 155 177 +f 171 157 177 +f 155 175 177 +f 175 171 177 +f 156 159 178 +f 162 156 178 +f 159 167 178 +f 167 162 178 +f 155 160 179 +f 161 155 179 +f 160 170 179 +f 170 161 179 +f 164 162 180 +f 162 167 180 +o convex_6 +v -0.813368 1.544556 -1.108845 +v -0.937847 0.507346 -2.975910 +v -0.979272 0.590359 -2.975910 +v 0.016358 1.544556 -2.975910 +v 0.016358 0.548853 -1.108845 +v -1.020901 0.507346 -1.108845 +v -1.020901 1.544556 -2.975910 +v -0.025169 1.669076 -1.108845 +v 0.016358 0.548853 -2.934058 +v -1.020901 1.503049 -1.316459 +v -0.066696 0.507346 -1.108845 +v -0.232600 1.669076 -1.233486 +v -0.564308 0.507346 -2.975910 +v 0.016358 1.586062 -2.104516 +v -1.020901 1.046818 -2.975910 +v -0.979272 1.503049 -1.108845 +v -0.813368 1.586062 -2.477709 +v -1.020901 0.507346 -1.689835 +f 186 195 198 +f 182 183 184 +f 185 181 186 +f 184 183 187 +f 181 185 188 +f 184 185 189 +f 187 186 190 +f 186 182 191 +f 185 186 191 +f 189 185 191 +f 181 188 192 +f 188 184 192 +f 182 184 193 +f 184 189 193 +f 191 182 193 +f 189 191 193 +f 185 184 194 +f 188 185 194 +f 184 188 194 +f 187 183 195 +f 186 187 195 +f 186 181 196 +f 181 190 196 +f 190 186 196 +f 184 187 197 +f 190 181 197 +f 187 190 197 +f 192 184 197 +f 181 192 197 +f 183 182 198 +f 182 186 198 +f 195 183 198 +o convex_7 +v -1.518639 1.420097 0.218814 +v 0.638713 0.217048 -0.486343 +v 0.638713 0.175423 -0.486343 +v 0.555722 0.341470 1.048600 +v 0.597112 1.710566 -0.984215 +v -1.435647 0.175423 -1.067302 +v -1.477249 0.175423 1.007057 +v 0.555722 1.710566 1.007057 +v -1.477249 1.710566 -1.025759 +v -1.394046 1.710566 1.007057 +v 0.638713 0.175423 -0.984215 +v -0.025217 1.668941 -1.108845 +v 0.555722 0.175423 1.048600 +v -0.979089 1.502895 1.090143 +v -0.025429 0.507366 -1.108845 +v -1.186673 0.341470 1.090143 +v 0.099164 1.544519 1.090143 +v -0.979089 1.502895 -1.108845 +v -1.477249 1.710566 0.923971 +v 0.597112 0.258522 0.757798 +v -1.477249 1.046680 -1.067302 +v 0.597112 1.710566 -0.154214 +v -1.477249 0.175423 0.218814 +v -1.103682 0.424418 -1.108845 +v -0.191411 0.299996 1.090143 +v -1.518639 1.710566 -0.154214 +v -0.357183 0.175423 -1.067302 +v 0.638713 0.590465 -0.984215 +v -1.352656 0.175423 1.048600 +f 223 214 227 +f 204 201 205 +f 206 203 207 +f 206 207 208 +f 200 201 209 +f 201 204 209 +f 207 203 210 +f 205 201 211 +f 210 209 213 +f 212 208 214 +f 212 214 215 +f 202 206 215 +f 206 208 215 +f 211 202 215 +f 208 212 215 +f 207 210 216 +f 210 213 216 +f 199 205 217 +f 208 207 217 +f 205 208 217 +f 201 200 218 +f 206 202 218 +f 211 201 218 +f 202 211 218 +f 207 216 219 +f 203 206 220 +f 218 200 220 +f 206 218 220 +f 205 199 221 +f 204 205 221 +f 199 219 221 +f 219 204 221 +f 216 213 222 +f 204 219 222 +f 219 216 222 +f 215 214 223 +f 211 215 223 +f 199 217 224 +f 217 207 224 +f 219 199 224 +f 207 219 224 +f 209 204 225 +f 213 209 225 +f 204 222 225 +f 222 213 225 +f 200 209 226 +f 209 210 226 +f 210 203 226 +f 220 200 226 +f 203 220 226 +f 208 205 227 +f 205 211 227 +f 214 208 227 +f 211 223 227 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/028/028.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/028/028.urdf new file mode 100644 index 000000000..6c4a3e8de --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/028/028.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/029/029.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/029/029.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/029/029.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/029/029.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/029/029.obj new file mode 100644 index 000000000..7505caf98 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/029/029.obj @@ -0,0 +1,498 @@ +o convex_0 +v 1.096921 0.996615 -0.566007 +v -1.075109 -3.467506 0.761109 +v -1.075109 -3.467506 0.942041 +v -1.044919 1.177869 -0.234122 +v -0.954347 -3.497638 -1.048633 +v 1.036540 -3.406779 0.941828 +v 0.222028 1.177869 1.092994 +v 0.976158 -3.497174 -1.079036 +v -0.320767 1.177869 -1.079036 +v -0.954347 1.177869 0.972232 +v 0.976158 1.177406 0.972019 +v 1.036540 1.177406 -1.079036 +v -1.014728 1.177869 -0.958274 +v 1.036540 -3.557901 0.429011 +v 1.096921 1.177869 0.127529 +v -0.773415 -2.169991 -1.079036 +v -1.044919 1.026747 0.399033 +v 0.614083 -3.557901 0.911637 +v 1.096921 -0.752875 0.187911 +v 0.101266 0.966020 1.092994 +v 0.976158 1.116679 1.002422 +v -1.014728 -3.497638 -0.264312 +v -0.984537 0.905757 0.972232 +v 1.066731 -2.562166 0.730706 +v 0.915777 -3.527306 -0.867701 +v -0.954347 -3.497638 0.941828 +v 1.096921 0.242397 -0.445457 +v -1.014728 0.664704 -0.958274 +v -1.075109 -2.442102 0.821278 +v -0.984537 0.664704 -0.988464 +v -0.019072 -3.497638 -1.079036 +v 1.036540 -3.557901 0.911637 +v 1.066731 1.026747 0.429224 +v -0.984537 -1.989200 -1.018442 +v -0.984537 -0.331032 0.972232 +v 1.036540 0.332792 -1.079036 +v 1.036540 -2.351244 0.941828 +v 1.006349 -2.652561 -0.927870 +v 0.131456 -3.497638 0.942041 +v -1.075109 -2.562166 0.640346 +v -0.954347 -2.080059 -1.048633 +v 0.976158 -3.557901 0.308461 +v -0.713033 -2.804146 -1.079036 +v -0.984537 -3.467506 -0.777342 +v -0.381148 -0.843734 1.032613 +v -1.014728 1.177869 0.640346 +f 23 10 46 +f 4 7 9 +f 7 4 10 +f 8 9 12 +f 4 9 13 +f 9 7 15 +f 7 11 15 +f 1 12 15 +f 12 9 15 +f 9 8 16 +f 1 15 19 +f 6 7 20 +f 7 10 20 +f 7 6 21 +f 11 7 21 +f 3 2 22 +f 5 18 22 +f 20 10 23 +f 14 19 24 +f 19 15 24 +f 8 14 25 +f 3 22 26 +f 22 18 26 +f 1 19 27 +f 4 13 28 +f 22 2 28 +f 2 3 29 +f 17 4 29 +f 3 23 29 +f 23 17 29 +f 13 9 30 +f 9 16 30 +f 16 8 31 +f 25 5 31 +f 8 25 31 +f 18 14 32 +f 24 6 32 +f 14 24 32 +f 15 11 33 +f 11 21 33 +f 24 15 33 +f 28 13 34 +f 23 3 35 +f 20 23 35 +f 12 1 36 +f 8 12 36 +f 21 6 37 +f 6 24 37 +f 33 21 37 +f 24 33 37 +f 14 8 38 +f 19 14 38 +f 1 27 38 +f 27 19 38 +f 36 1 38 +f 8 36 38 +f 6 20 39 +f 26 18 39 +f 18 32 39 +f 32 6 39 +f 28 2 40 +f 4 28 40 +f 2 29 40 +f 29 4 40 +f 16 5 41 +f 13 30 41 +f 30 16 41 +f 5 34 41 +f 34 13 41 +f 18 5 42 +f 14 18 42 +f 5 25 42 +f 25 14 42 +f 5 16 43 +f 31 5 43 +f 16 31 43 +f 5 22 44 +f 22 28 44 +f 34 5 44 +f 28 34 44 +f 3 26 45 +f 35 3 45 +f 20 35 45 +f 39 20 45 +f 26 39 45 +f 10 4 46 +f 4 17 46 +f 17 23 46 +o convex_1 +v -3.065786 1.268477 0.037122 +v -1.045143 1.901879 0.218113 +v -1.045143 1.841527 0.248257 +v -1.045143 1.238203 -0.264507 +v -2.945118 1.750967 -0.324859 +v -2.945118 1.871606 0.248257 +v -1.196129 1.358972 0.338817 +v -1.045143 1.750967 -0.324859 +v -3.096305 1.238203 0.218113 +v -3.035669 1.389116 -0.294586 +v -1.316797 1.901879 0.097474 +v -1.045143 1.479611 0.338817 +v -3.035669 1.811319 0.248257 +v -1.045143 1.781111 -0.294586 +v -1.045143 1.238203 -0.204090 +v -3.065786 1.570041 0.248257 +v -1.950256 1.901879 0.248257 +v -3.035669 1.358972 -0.264507 +v -1.346914 1.358972 0.338817 +v -2.854767 1.871606 0.187970 +v -2.915001 1.238203 0.218113 +f 61 53 67 +f 48 49 50 +f 48 50 54 +f 47 50 55 +f 54 50 56 +f 51 54 56 +f 50 49 58 +f 52 51 59 +f 51 56 59 +f 48 54 60 +f 54 51 60 +f 57 48 60 +f 51 57 60 +f 55 50 61 +f 50 58 61 +f 58 53 61 +f 56 55 62 +f 59 56 62 +f 49 48 63 +f 48 57 63 +f 58 49 63 +f 52 58 63 +f 50 47 64 +f 47 55 64 +f 56 50 64 +f 55 56 64 +f 55 53 65 +f 58 52 65 +f 53 58 65 +f 52 59 65 +f 62 55 65 +f 59 62 65 +f 51 52 66 +f 57 51 66 +f 63 57 66 +f 52 63 66 +f 53 55 67 +f 55 61 67 +o convex_2 +v 2.393808 1.238321 0.338817 +v 1.398781 1.901811 -0.234355 +v 1.398781 1.901811 -0.294692 +v 2.966933 1.841445 -0.174018 +v 3.087950 1.268471 -0.294692 +v 1.097116 1.238321 -0.294692 +v 1.097116 1.871594 0.187943 +v 2.966933 1.750997 0.278480 +v 1.097116 1.268471 0.278480 +v 2.936922 1.208104 0.338817 +v 1.097116 1.901811 -0.294692 +v 1.097116 1.811295 0.218143 +v 2.966933 1.841445 -0.023144 +v 2.966933 1.208104 0.127606 +v 2.303387 1.208104 0.308555 +v 3.087950 1.358919 -0.294692 +v 2.665268 1.811295 0.248280 +v 2.333592 1.871594 -0.234355 +v 2.032317 1.871594 0.037131 +v 2.816100 1.358919 0.338817 +v 1.428987 1.238321 0.278480 +f 73 82 88 +f 70 72 73 +f 74 73 76 +f 72 75 77 +f 69 70 78 +f 70 73 78 +f 73 74 78 +f 74 69 78 +f 76 68 79 +f 74 76 79 +f 73 72 81 +f 72 77 81 +f 81 77 82 +f 77 68 82 +f 73 81 82 +f 72 70 83 +f 75 72 83 +f 71 80 83 +f 80 75 83 +f 74 79 84 +f 79 75 84 +f 75 80 84 +f 70 69 85 +f 80 71 85 +f 83 70 85 +f 71 83 85 +f 69 74 86 +f 74 84 86 +f 84 80 86 +f 85 69 86 +f 80 85 86 +f 68 77 87 +f 77 75 87 +f 75 79 87 +f 79 68 87 +f 68 76 88 +f 76 73 88 +f 82 68 88 +o convex_3 +v -1.044942 1.449499 -0.294503 +v 1.096921 1.328884 0.278483 +v 0.976158 2.082907 0.911850 +v 1.066521 2.595558 -1.079036 +v -0.924179 2.625889 0.972232 +v -0.954370 1.177937 0.972232 +v 1.036540 1.177937 -1.079036 +v -1.014752 2.595558 -0.928083 +v -1.014752 1.177937 -0.958274 +v 0.945968 2.565369 1.002422 +v 0.945968 1.177937 1.002422 +v -0.260613 1.811345 1.092994 +v -0.350975 1.931961 -1.079036 +v -1.044942 1.901913 0.217889 +v 0.222020 1.177937 1.092994 +v -1.014752 2.625889 -0.807320 +v -0.320784 1.177937 -1.079036 +v -0.501719 2.625889 1.002422 +v 1.096921 1.871724 0.187911 +v 1.096921 1.177937 -0.596198 +v -1.014752 1.177937 0.640346 +v 0.855396 2.414564 1.032613 +v 0.644270 2.595558 -1.079036 +v -0.954370 2.505132 0.911850 +v 1.006349 2.595558 -0.264312 +v 0.372763 1.630351 1.092994 +v -0.200231 1.268505 1.092994 +v -0.863798 2.535321 1.002422 +v -0.924179 2.535321 -0.958274 +v 0.976158 1.177937 0.972232 +v 1.096921 1.931961 -0.686557 +v -1.044942 1.177937 -0.113571 +v -1.014752 2.625889 -0.475435 +v 1.096921 1.177937 0.127529 +v -0.893989 1.359073 -0.988464 +v -1.044942 1.479688 0.338652 +v -0.984561 1.208268 0.911850 +f 124 109 125 +f 95 94 97 +f 89 96 97 +f 94 95 99 +f 92 95 101 +f 96 89 102 +f 94 99 103 +f 96 102 104 +f 95 97 105 +f 101 95 105 +f 92 104 106 +f 104 93 106 +f 91 90 107 +f 98 91 107 +f 92 98 107 +f 95 92 108 +f 99 95 108 +f 107 90 108 +f 97 94 109 +f 99 98 110 +f 98 106 110 +f 106 100 110 +f 92 101 111 +f 104 92 111 +f 96 104 111 +f 98 92 113 +f 92 106 113 +f 106 98 113 +f 103 99 114 +f 100 103 114 +f 99 110 114 +f 110 100 114 +f 100 94 115 +f 94 103 115 +f 103 100 115 +f 93 94 116 +f 94 100 116 +f 106 93 116 +f 100 106 116 +f 97 96 117 +f 111 101 117 +f 96 111 117 +f 90 91 118 +f 91 98 118 +f 98 99 118 +f 99 108 118 +f 92 107 119 +f 108 92 119 +f 107 108 119 +f 89 97 120 +f 102 89 120 +f 97 109 120 +f 93 104 121 +f 104 102 121 +f 112 93 121 +f 102 112 121 +f 108 90 122 +f 90 118 122 +f 118 108 122 +f 105 97 123 +f 101 105 123 +f 97 117 123 +f 117 101 123 +f 112 102 124 +f 102 120 124 +f 120 109 124 +f 94 93 125 +f 109 94 125 +f 93 112 125 +f 112 124 125 +o convex_4 +v -0.351031 1.238262 -2.798215 +v 0.342676 1.811313 -1.652356 +v 0.342676 1.781140 -1.652356 +v -0.260515 1.811313 -1.079231 +v -0.260515 1.841486 -3.070065 +v 0.282309 1.268435 -2.949048 +v -0.109700 1.268435 -1.079231 +v 0.342676 1.720794 -3.009459 +v 0.252160 1.419241 -1.079231 +v 0.312459 1.841486 -1.079231 +v -0.260515 1.268435 -1.079231 +v -0.351031 1.238262 -3.070065 +v -0.139850 1.841486 -3.070065 +v 0.252160 1.358954 -1.320680 +v -0.230366 1.238262 -1.531729 +v 0.010897 1.238262 -3.009459 +v 0.282309 1.268435 -2.707794 +v -0.351031 1.328781 -2.798215 +v -0.260515 1.841486 -2.164875 +v 0.342676 1.750967 -2.919037 +v 0.342676 1.630334 -3.009459 +v 0.312459 1.841486 -1.380896 +v 0.312459 1.660507 -1.200053 +v 0.041047 1.841486 -1.079231 +f 135 144 149 +f 127 128 133 +f 129 132 134 +f 128 127 135 +f 129 134 135 +f 129 126 136 +f 132 129 136 +f 130 135 138 +f 137 130 138 +f 134 132 139 +f 136 126 140 +f 132 136 140 +f 126 137 140 +f 140 137 141 +f 139 132 142 +f 132 140 142 +f 140 141 142 +f 141 131 142 +f 126 129 143 +f 137 126 143 +f 130 137 143 +f 135 130 144 +f 143 129 144 +f 130 143 144 +f 127 133 145 +f 133 138 145 +f 133 128 146 +f 138 133 146 +f 137 138 146 +f 141 137 146 +f 131 141 146 +f 128 142 146 +f 142 131 146 +f 135 127 147 +f 138 135 147 +f 127 145 147 +f 145 138 147 +f 128 135 148 +f 135 134 148 +f 134 139 148 +f 142 128 148 +f 139 142 148 +f 129 135 149 +f 144 129 149 +o convex_5 +v 0.101345 1.328790 1.093192 +v 0.342676 1.328790 3.114190 +v 0.312459 1.328790 3.114190 +v 0.010897 1.841489 1.786970 +v -0.351031 1.268426 2.932980 +v 0.252160 1.841489 2.963050 +v 0.312459 1.750943 1.093192 +v -0.260515 1.811307 1.093192 +v -0.290665 1.750943 2.963050 +v -0.200216 1.268426 1.093192 +v 0.342676 1.268426 2.631295 +v 0.252160 1.389098 1.093192 +v 0.282309 1.841489 2.751969 +v 0.101345 1.841489 2.963050 +v -0.320814 1.720818 2.963050 +v 0.282309 1.268426 3.114190 +v -0.260515 1.630328 1.123460 +v 0.342676 1.449461 3.053655 +v -0.290665 1.781125 1.636226 +v -0.260515 1.811307 1.545820 +v 0.222011 1.781125 1.183797 +v -0.230366 1.268426 1.304471 +v -0.109700 1.268426 1.093192 +f 160 159 172 +f 152 151 155 +f 156 150 157 +f 157 150 159 +f 154 159 160 +f 150 156 161 +f 156 160 161 +f 160 150 161 +f 153 155 162 +f 152 155 163 +f 155 153 163 +f 158 152 163 +f 152 158 164 +f 151 152 165 +f 160 151 165 +f 154 160 165 +f 152 164 165 +f 164 154 165 +f 157 159 166 +f 155 151 167 +f 151 160 167 +f 160 156 167 +f 162 155 167 +f 156 162 167 +f 154 164 168 +f 164 158 168 +f 166 154 168 +f 157 166 168 +f 153 157 169 +f 163 153 169 +f 158 163 169 +f 157 168 169 +f 168 158 169 +f 156 157 170 +f 157 153 170 +f 153 162 170 +f 162 156 170 +f 159 154 171 +f 154 166 171 +f 166 159 171 +f 159 150 172 +f 150 160 172 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/029/029.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/029/029.urdf new file mode 100644 index 000000000..eab5cb329 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/029/029.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/030/030.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/030/030.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/030/030.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/030/030.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/030/030.obj new file mode 100644 index 000000000..ba3b618ea --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/030/030.obj @@ -0,0 +1,453 @@ +o convex_0 +v 0.491523 4.253004 -0.165567 +v -1.082855 0.261758 -1.007720 +v -0.863140 0.261758 -1.044724 +v 0.930953 0.261758 1.005466 +v -1.009476 4.253004 1.079058 +v -0.972892 0.261758 1.079058 +v 1.077501 0.261758 -1.007928 +v -1.082855 4.142830 -0.934544 +v 1.040705 4.142830 0.969085 +v 0.930953 4.253004 -0.934544 +v 0.308392 0.444989 1.079058 +v 1.077501 3.007888 0.419846 +v -0.240579 0.811062 -1.044724 +v -1.046060 3.117671 0.529402 +v 0.967537 0.408265 1.005466 +v 1.004121 3.007888 -0.971340 +v 1.077501 0.261758 -0.458688 +v -1.009476 3.520077 -0.971132 +v -1.082855 4.179555 -0.495069 +v -1.082855 0.408265 -0.678426 +v 0.967537 4.253004 -0.788191 +v -0.716593 4.215889 1.079058 +v 0.711238 3.557192 -0.971132 +v 1.077501 1.213859 -0.934752 +v 0.528107 4.253004 -0.934544 +v 0.857574 3.044613 1.005466 +v -1.082855 4.179555 -0.788191 +v 1.040705 4.142830 0.493022 +v 0.162056 0.298482 -1.044724 +v 1.040705 3.190729 0.969085 +v -1.009476 2.824656 1.079058 +v -0.899724 4.253004 0.676171 +v -0.826556 4.253004 1.079058 +v 0.711238 0.261758 1.042054 +v -1.082855 1.690105 -1.007720 +v 0.784406 1.506873 -1.007720 +v -1.046060 4.215889 0.529402 +v -0.606841 0.774728 -1.044724 +v 0.967537 1.946786 1.005673 +v -1.082855 1.360366 -0.531865 +v 0.564691 4.142830 1.005466 +f 33 22 41 +f 2 3 4 +f 2 4 6 +f 4 3 7 +f 5 1 10 +f 5 6 11 +f 4 7 17 +f 7 12 17 +f 15 4 17 +f 8 2 19 +f 2 6 20 +f 19 2 20 +f 1 9 21 +f 10 1 21 +f 16 10 21 +f 5 11 22 +f 10 16 23 +f 13 18 23 +f 12 7 24 +f 7 16 24 +f 16 21 24 +f 5 10 25 +f 18 8 25 +f 10 23 25 +f 23 18 25 +f 8 19 27 +f 19 5 27 +f 25 8 27 +f 9 12 28 +f 21 9 28 +f 12 24 28 +f 24 21 28 +f 7 3 29 +f 3 13 29 +f 12 9 30 +f 17 12 30 +f 15 17 30 +f 6 5 31 +f 5 14 31 +f 14 20 31 +f 20 6 31 +f 5 25 32 +f 27 5 32 +f 25 27 32 +f 1 5 33 +f 9 1 33 +f 5 22 33 +f 6 4 34 +f 11 6 34 +f 4 15 34 +f 3 2 35 +f 2 8 35 +f 8 18 35 +f 16 7 36 +f 23 16 36 +f 13 23 36 +f 7 29 36 +f 29 13 36 +f 14 5 37 +f 5 19 37 +f 19 14 37 +f 13 3 38 +f 18 13 38 +f 3 35 38 +f 35 18 38 +f 26 11 39 +f 9 26 39 +f 30 9 39 +f 15 30 39 +f 11 34 39 +f 34 15 39 +f 14 19 40 +f 20 14 40 +f 19 20 40 +f 22 11 41 +f 11 26 41 +f 26 9 41 +f 9 33 41 +o convex_1 +v 0.564828 -3.875909 -0.532087 +v 0.528161 -1.971875 0.603038 +v 0.418374 -1.971875 0.603038 +v -0.240559 -1.971875 -0.532087 +v -0.423679 -3.875909 0.529704 +v -0.497013 -3.839056 -0.495420 +v -0.497013 -1.971875 0.493148 +v 0.454934 -3.912572 0.493148 +v 0.601495 -1.971875 -0.458753 +v -0.460346 -1.971875 -0.532087 +v 0.601495 -3.802392 -0.275751 +v -0.497013 -3.875909 -0.019414 +v -0.497013 -3.692591 -0.532087 +v 0.418374 -3.912572 0.529704 +v -0.460346 -3.729445 0.529704 +v -0.497013 -2.557922 -0.532087 +v 0.601495 -3.546317 -0.532087 +v 0.601495 -2.008539 -0.202528 +v 0.015789 -3.912572 0.456369 +v 0.454934 -2.228520 0.603038 +v 0.601495 -3.253389 -0.129193 +f 52 59 62 +f 44 43 45 +f 44 45 48 +f 45 43 50 +f 45 42 51 +f 48 45 51 +f 49 42 52 +f 47 42 53 +f 48 47 53 +f 42 47 54 +f 47 48 54 +f 51 42 54 +f 49 43 55 +f 44 48 56 +f 53 46 56 +f 48 53 56 +f 48 51 57 +f 54 48 57 +f 51 54 57 +f 42 45 58 +f 45 50 58 +f 52 42 58 +f 50 52 58 +f 50 43 59 +f 52 50 59 +f 42 49 60 +f 53 42 60 +f 46 53 60 +f 55 46 60 +f 49 55 60 +f 43 44 61 +f 55 43 61 +f 46 55 61 +f 44 56 61 +f 56 46 61 +f 43 49 62 +f 49 52 62 +f 59 43 62 +o convex_2 +v -0.533530 -1.202733 1.189199 +v 0.601495 -1.129517 3.092745 +v 0.564828 -1.019749 3.092745 +v 0.564828 -0.397469 1.116069 +v -0.460314 -0.324253 3.129606 +v -0.606864 -1.349387 3.056082 +v 0.454945 -1.312613 1.116069 +v -0.423647 -0.324253 1.116069 +v 0.454945 -0.214373 3.019418 +v 0.601495 -1.312613 3.092745 +v -0.533530 -1.349387 1.116069 +v -0.020782 -1.349387 3.092745 +v 0.564828 -0.360916 1.152535 +v -0.606864 -1.239397 2.946288 +v 0.601495 -1.312613 2.763168 +v 0.125414 -1.349387 2.104604 +v 0.345062 -0.214373 2.872961 +v -0.460314 -0.324253 2.214003 +v -0.460314 -0.507348 1.152535 +v 0.491612 -1.312613 1.408786 +v -0.203881 -0.324253 1.116069 +f 79 75 83 +f 64 65 67 +f 66 69 70 +f 65 64 71 +f 67 65 71 +f 64 67 72 +f 70 69 73 +f 67 68 74 +f 72 67 74 +f 68 73 74 +f 71 64 75 +f 68 67 76 +f 63 73 76 +f 73 68 76 +f 64 72 77 +f 75 64 77 +f 66 75 77 +f 73 69 78 +f 72 74 78 +f 74 73 78 +f 77 72 78 +f 67 71 79 +f 71 75 79 +f 76 67 80 +f 67 79 80 +f 79 70 80 +f 73 63 81 +f 70 73 81 +f 63 76 81 +f 76 80 81 +f 80 70 81 +f 69 66 82 +f 66 77 82 +f 78 69 82 +f 77 78 82 +f 66 70 83 +f 75 66 83 +f 70 79 83 +o convex_3 +v 0.198687 -1.386004 -2.985152 +v 0.528261 -0.287496 -1.118152 +v -0.496913 -0.287496 -1.118152 +v 0.491594 -0.287496 -2.985152 +v 0.491594 -1.349337 -1.118152 +v -0.533580 -1.312670 -3.095078 +v -0.570247 -1.276110 -1.118152 +v -0.533580 -0.324163 -2.948575 +v 0.491594 -1.349337 -2.692145 +v 0.454927 -1.386004 -2.948575 +v 0.528261 -1.312670 -1.191500 +v 0.528261 -0.470617 -2.033557 +v -0.570247 -0.909977 -1.191500 +v 0.088686 -0.287496 -2.985152 +v -0.570247 -1.239443 -2.070134 +v -0.387127 -1.349337 -2.985152 +v 0.271914 -1.349337 -1.118152 +v -0.350459 -1.276110 -3.095078 +v -0.533580 -1.166216 -3.095078 +v -0.496913 -0.287496 -2.033557 +v -0.533580 -0.470617 -1.118152 +v 0.491594 -1.386004 -2.179673 +v 0.345140 -1.386004 -2.985152 +f 101 87 106 +f 86 85 87 +f 85 86 88 +f 88 86 90 +f 87 92 93 +f 85 88 94 +f 94 92 95 +f 87 85 95 +f 92 87 95 +f 85 94 95 +f 86 87 97 +f 89 90 98 +f 90 96 98 +f 96 91 98 +f 89 84 99 +f 90 89 99 +f 90 99 100 +f 88 90 100 +f 99 84 100 +f 97 87 102 +f 91 97 102 +f 89 98 102 +f 98 91 102 +f 101 89 102 +f 87 101 102 +f 91 86 103 +f 86 97 103 +f 97 91 103 +f 90 86 104 +f 86 91 104 +f 96 90 104 +f 91 96 104 +f 93 92 105 +f 84 93 105 +f 94 88 105 +f 92 94 105 +f 88 100 105 +f 100 84 105 +f 84 89 106 +f 93 84 106 +f 87 93 106 +f 89 101 106 +o convex_4 +v 0.564907 -0.397662 1.115675 +v -1.595636 -1.898412 -1.117958 +v -1.595636 -1.861899 -1.117958 +v 3.018097 -1.898630 -1.007982 +v 2.871171 0.261539 -0.971250 +v -2.986620 0.261539 -0.971250 +v -2.986620 -1.861680 1.078943 +v 2.944634 -1.788654 1.005699 +v -2.949888 0.188295 0.968967 +v 3.054829 0.261539 1.005699 +v -3.096815 -1.861680 -1.081226 +v 1.077343 -1.971656 1.042212 +v 0.528175 -0.287905 -1.117958 +v -1.228922 0.261539 1.078943 +v -0.459966 -1.971656 -0.532001 +v 2.981366 0.151782 -0.971250 +v -0.643022 -1.825386 1.115675 +v 2.761578 -1.788654 1.042430 +v -0.496698 -0.287905 -1.117958 +v 3.054829 -1.788654 -0.861493 +v 0.198795 0.261321 -1.044713 +v 0.528175 -1.349186 -1.117958 +v -3.060083 -1.861680 0.639476 +v -0.643022 -0.104684 1.115675 +v -0.496698 -1.971656 0.492768 +v -2.693971 -1.898630 -1.081226 +v -0.936273 -1.935143 -1.117958 +v -2.986620 0.261539 -0.422025 +v 0.601036 -1.971656 -0.458756 +v 3.054829 0.261539 0.309984 +v -3.096815 -1.495676 -1.007763 +v 3.054829 -0.251173 1.005699 +v 0.454712 -1.312673 1.115675 +v 0.345119 0.261321 1.078943 +v -2.986620 -0.397444 0.968967 +v 2.981366 -1.825167 0.456473 +v 3.018097 -1.385699 -1.007982 +v -1.411978 -1.825167 1.115675 +v -3.023352 -0.287686 -1.007763 +v -0.899541 0.261321 -1.044713 +v -3.023352 -1.275942 1.042212 +v 2.138947 -1.935143 -0.019289 +v 3.018097 -0.617178 -0.971250 +v -3.096815 -1.751922 -1.081226 +v -2.877027 -1.641946 1.078943 +v 2.981366 0.261539 -0.934737 +v -3.096815 -1.788654 -0.495269 +v 0.528175 -1.935143 1.078943 +v -3.023352 -1.861680 1.042212 +v 3.018097 -1.898630 -0.824761 +f 142 148 156 +f 111 112 116 +f 109 108 117 +f 108 109 119 +f 116 112 120 +f 119 111 122 +f 116 107 124 +f 118 114 124 +f 119 109 125 +f 112 111 127 +f 111 119 127 +f 119 125 127 +f 108 119 128 +f 119 110 128 +f 123 107 130 +f 118 113 131 +f 121 118 131 +f 117 108 132 +f 129 117 132 +f 121 131 132 +f 108 128 133 +f 128 110 133 +f 132 108 133 +f 121 132 133 +f 120 112 134 +f 115 120 134 +f 118 121 135 +f 133 110 135 +f 121 133 135 +f 111 116 136 +f 116 126 136 +f 124 114 138 +f 116 124 138 +f 126 116 138 +f 107 123 139 +f 124 107 139 +f 123 124 139 +f 107 116 140 +f 116 120 140 +f 130 107 140 +f 120 130 140 +f 115 134 141 +f 134 137 141 +f 114 118 142 +f 138 114 142 +f 126 138 142 +f 110 119 143 +f 119 122 143 +f 126 110 143 +f 130 113 144 +f 123 130 144 +f 112 125 145 +f 134 112 145 +f 137 134 145 +f 125 112 146 +f 112 127 146 +f 127 125 146 +f 113 115 147 +f 115 141 147 +f 135 110 148 +f 118 135 148 +f 142 118 148 +f 136 126 149 +f 143 122 149 +f 126 143 149 +f 109 117 150 +f 125 109 150 +f 117 137 150 +f 145 125 150 +f 137 145 150 +f 115 113 151 +f 120 115 151 +f 113 130 151 +f 130 120 151 +f 122 111 152 +f 111 136 152 +f 149 122 152 +f 136 149 152 +f 117 129 153 +f 137 117 153 +f 141 137 153 +f 129 147 153 +f 147 141 153 +f 113 118 154 +f 118 124 154 +f 124 123 154 +f 144 113 154 +f 123 144 154 +f 131 113 155 +f 129 132 155 +f 132 131 155 +f 113 147 155 +f 147 129 155 +f 110 126 156 +f 126 142 156 +f 148 110 156 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/030/030.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/030/030.urdf new file mode 100644 index 000000000..ab3ac6165 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/030/030.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/031/031.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/031/031.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/031/031.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/031/031.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/031/031.obj new file mode 100644 index 000000000..1376cca45 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/031/031.obj @@ -0,0 +1,654 @@ +o convex_0 +v -2.801137 0.899168 1.007240 +v -2.222667 0.474990 0.313188 +v -2.222667 0.552125 0.313188 +v -4.150836 0.590692 0.467462 +v -2.145524 1.092005 0.390361 +v -2.145524 0.590692 1.007240 +v -4.111970 1.130572 0.930139 +v -4.073497 0.629260 0.968726 +v -4.111970 1.053373 0.467462 +v -2.145524 1.053373 0.968726 +v -2.145524 0.474990 0.467462 +v -2.415621 1.130572 0.506120 +v -4.111970 0.552125 0.506120 +v -2.492763 0.667891 1.045898 +v -4.150836 1.092005 0.544706 +v -4.150836 0.783594 0.968726 +v -3.880739 0.552125 0.428947 +v -2.145524 0.976303 1.007240 +v -3.687981 0.706394 1.007240 +f 7 16 19 +f 2 3 5 +f 5 3 9 +f 6 5 10 +f 2 5 11 +f 5 6 11 +f 6 8 11 +f 10 5 12 +f 7 10 12 +f 8 4 13 +f 2 11 13 +f 11 8 13 +f 8 6 14 +f 9 4 15 +f 5 9 15 +f 12 5 15 +f 7 12 15 +f 4 8 16 +f 15 4 16 +f 7 15 16 +f 3 2 17 +f 9 3 17 +f 4 9 17 +f 2 13 17 +f 13 4 17 +f 7 1 18 +f 6 10 18 +f 10 7 18 +f 1 14 18 +f 14 6 18 +f 1 7 19 +f 14 1 19 +f 8 14 19 +f 16 8 19 +o convex_1 +v -2.145524 -1.375237 0.120642 +v -0.178881 1.901846 1.740045 +v -0.448782 1.901846 1.740045 +v -0.140212 -4.152355 1.662812 +v -0.140212 1.862833 -0.380751 +v -2.145524 1.862833 1.701221 +v -0.140212 -4.229781 -0.342134 +v -2.029712 -4.074929 1.624195 +v -1.991239 1.901846 -0.342134 +v -2.068382 -4.190768 -0.342134 +v -2.145524 0.859902 0.159050 +v -0.140212 -2.918347 1.701221 +v -0.448782 -2.686670 -0.380751 +v -0.140212 1.901246 1.740045 +v -2.068382 -4.190768 0.236284 +v -2.068382 -2.455594 1.662812 +v -0.950110 1.862833 -0.380958 +v -2.068382 1.670170 -0.226492 +v -0.256024 -4.190768 1.431320 +v -2.106855 -3.612176 -0.265109 +v -2.106855 0.744664 1.701221 +v -1.258484 -4.113942 1.662604 +v -1.528384 -4.229781 -0.265109 +v -1.952570 -4.113942 1.585579 +v -2.145524 1.323255 1.701221 +v -2.068382 -0.528357 -0.342134 +v -2.068382 1.901846 0.043408 +v -0.140212 -2.725683 -0.380751 +v -1.374099 1.901846 -0.342134 +v -2.068382 -4.152355 0.621826 +v -0.140212 -4.229781 0.236284 +v -2.145524 0.127060 1.122803 +v -0.911637 -1.645326 1.701428 +v -0.178881 1.207417 1.740045 +v -2.145524 1.862833 1.469937 +v -0.140212 1.901246 1.392704 +v -2.068382 1.901846 0.274900 +f 46 25 56 +f 24 23 26 +f 22 21 28 +f 20 25 30 +f 23 24 31 +f 21 22 33 +f 31 24 33 +f 32 29 36 +f 20 30 39 +f 29 34 39 +f 40 35 41 +f 23 31 41 +f 35 27 41 +f 29 26 42 +f 34 29 42 +f 38 34 42 +f 27 34 43 +f 38 23 43 +f 34 38 43 +f 23 41 43 +f 41 27 43 +f 22 25 44 +f 25 20 44 +f 40 22 44 +f 35 40 44 +f 28 36 45 +f 36 29 45 +f 37 28 45 +f 30 37 45 +f 39 30 45 +f 29 39 45 +f 22 28 46 +f 28 37 46 +f 37 30 46 +f 24 26 47 +f 26 29 47 +f 29 32 47 +f 36 24 47 +f 32 36 47 +f 28 21 48 +f 24 36 48 +f 36 28 48 +f 34 27 49 +f 27 35 49 +f 20 39 49 +f 39 34 49 +f 26 23 50 +f 23 38 50 +f 42 26 50 +f 38 42 50 +f 44 20 51 +f 35 44 51 +f 20 49 51 +f 49 35 51 +f 40 41 52 +f 41 31 52 +f 33 22 53 +f 31 33 53 +f 22 40 53 +f 52 31 53 +f 40 52 53 +f 30 25 54 +f 25 46 54 +f 46 30 54 +f 21 33 55 +f 33 24 55 +f 48 21 55 +f 24 48 55 +f 25 22 56 +f 22 46 56 +o convex_2 +v 0.052576 -0.449701 -2.347548 +v -0.024521 1.862037 -0.188140 +v 0.091170 3.444005 -0.342712 +v 0.052576 -4.228981 -0.188140 +v -0.140212 -4.228981 -0.342493 +v -0.024521 3.944922 -2.424834 +v -0.101641 3.905713 -0.381245 +v -0.101641 -2.223714 -2.270481 +v 0.091170 -2.223714 -2.270481 +v 0.091170 3.945722 -2.424834 +v -0.140212 1.862037 -0.188140 +v 0.091170 -2.262123 -0.342493 +v -0.101641 3.905713 -1.036752 +v -0.101641 -0.950618 -2.309014 +v 0.091170 3.906513 -0.381245 +v -0.140212 -4.228981 -0.188140 +v -0.140212 1.862037 -0.381245 +v 0.052576 -4.228981 -0.342493 +v -0.063070 3.944922 -1.846175 +v 0.052576 -0.912209 -0.188140 +v -0.101641 -1.953251 -2.309014 +v -0.063070 1.862037 -2.386081 +v 0.091170 -2.030869 -2.308795 +v 0.091170 3.173542 -2.424834 +f 66 79 80 +f 61 64 65 +f 59 65 66 +f 60 58 67 +f 65 59 68 +f 67 63 69 +f 58 59 71 +f 59 66 71 +f 67 58 71 +f 63 67 71 +f 61 60 72 +f 60 67 72 +f 67 61 72 +f 61 67 73 +f 67 69 73 +f 69 70 73 +f 60 61 74 +f 61 65 74 +f 68 60 74 +f 65 68 74 +f 66 62 75 +f 69 63 75 +f 70 69 75 +f 71 66 75 +f 63 71 75 +f 59 58 76 +f 58 60 76 +f 68 59 76 +f 60 68 76 +f 64 61 77 +f 61 73 77 +f 73 70 77 +f 75 62 78 +f 70 75 78 +f 77 70 78 +f 65 64 79 +f 66 65 79 +f 77 57 79 +f 64 77 79 +f 62 66 80 +f 57 77 80 +f 78 62 80 +f 77 78 80 +f 79 57 80 +o convex_3 +v 1.170802 0.205640 -2.424834 +v 0.785384 1.361577 -0.188140 +v 0.631179 1.361577 -0.188140 +v 0.091170 3.945114 -2.424834 +v 2.057918 3.868538 -0.265426 +v 0.091363 -2.262425 -0.342493 +v 1.903520 -2.224137 -0.226892 +v 1.942216 3.829642 -2.385862 +v 1.980719 -2.185241 -2.308795 +v 0.091363 -2.223529 -2.270481 +v 0.091170 3.906219 -0.381026 +v 2.019222 -1.337433 -2.039061 +v 0.438470 0.476088 -0.188140 +v 0.091363 -2.030873 -2.308795 +v 1.980719 3.598090 -2.231729 +v 1.556413 -0.102488 -2.424834 +v 1.517910 0.707032 -0.188140 +v 0.129866 3.906219 -0.342493 +v 2.057918 2.325466 -0.728265 +v 0.091363 -2.108057 -0.304178 +v 0.399774 -2.262425 -1.036752 +v 1.942216 -2.146345 -0.728265 +v 1.633612 1.669705 -2.424834 +v 0.399774 1.323289 -0.188140 +v 0.862584 3.906826 -0.304178 +v 2.057918 3.868538 -0.612446 +v 0.091363 3.134986 -2.424834 +v 1.903520 2.787962 -0.226892 +v 0.284072 3.945114 -2.424834 +v 2.057918 3.173882 -0.265426 +v 1.980719 -0.064200 -2.347548 +v 1.556413 3.868538 -0.265426 +v 0.978286 -2.262425 -0.381026 +v 0.476781 0.244536 -0.188140 +v 0.091363 0.012984 -0.304178 +v 0.129866 3.945114 -1.614755 +v 1.980719 -2.146345 -1.576221 +v 0.631179 -2.185241 -2.308795 +v 0.091363 -0.526697 -2.347548 +v 1.942216 -1.298537 -0.265426 +v 0.631179 -2.223529 -2.270481 +v 1.865017 -1.606665 -2.347548 +v 1.980719 2.634202 -2.347548 +v 0.168369 -2.262425 -0.304178 +v 0.553980 3.906219 -2.424834 +v 0.091363 3.713562 -0.342493 +v 1.942216 2.633594 -2.385862 +v 0.091363 -2.262425 -1.306487 +v 1.402207 1.360969 -0.188140 +v 1.826321 -2.224137 -0.226892 +v 1.440711 0.321112 -0.188140 +v 2.057918 2.788570 -0.766799 +f 92 123 132 +f 82 83 93 +f 90 84 94 +f 81 84 96 +f 94 81 96 +f 82 93 97 +f 91 86 100 +f 96 84 103 +f 93 83 104 +f 100 93 104 +f 95 88 106 +f 85 99 106 +f 84 81 107 +f 83 82 108 +f 87 85 108 +f 97 87 108 +f 104 83 108 +f 103 84 109 +f 85 106 109 +f 106 88 109 +f 85 87 110 +f 99 85 110 +f 92 89 111 +f 98 104 112 +f 85 105 112 +f 105 98 112 +f 108 85 112 +f 104 108 112 +f 89 87 113 +f 86 101 113 +f 101 89 113 +f 97 93 114 +f 93 100 114 +f 91 100 115 +f 100 104 115 +f 84 91 116 +f 91 98 116 +f 105 85 116 +f 98 105 116 +f 109 84 116 +f 85 109 116 +f 87 89 117 +f 89 92 117 +f 92 99 117 +f 102 87 117 +f 99 102 117 +f 89 90 118 +f 90 94 118 +f 94 96 118 +f 81 94 119 +f 94 84 119 +f 107 81 119 +f 84 107 119 +f 87 102 120 +f 102 99 120 +f 110 87 120 +f 99 110 120 +f 90 89 121 +f 89 101 121 +f 111 89 122 +f 96 111 122 +f 89 118 122 +f 118 96 122 +f 88 95 123 +f 92 111 123 +f 111 88 123 +f 100 86 124 +f 86 113 124 +f 113 87 124 +f 114 100 124 +f 88 103 125 +f 103 109 125 +f 109 88 125 +f 98 91 126 +f 104 98 126 +f 91 115 126 +f 115 104 126 +f 103 88 127 +f 96 103 127 +f 88 111 127 +f 111 96 127 +f 84 90 128 +f 91 84 128 +f 86 91 128 +f 101 86 128 +f 90 121 128 +f 121 101 128 +f 82 97 129 +f 108 82 129 +f 97 108 129 +f 87 114 130 +f 124 87 130 +f 114 124 130 +f 87 97 131 +f 114 87 131 +f 97 114 131 +f 99 92 132 +f 95 106 132 +f 106 99 132 +f 123 95 132 +o convex_4 +v -0.024521 -4.229781 0.313347 +v 0.014028 1.901846 1.740045 +v -0.140212 1.901846 1.740045 +v -0.140212 1.862833 -0.188140 +v -0.140212 -4.152355 1.662661 +v 0.091170 1.130591 0.390353 +v 0.052599 -4.152355 1.662661 +v 0.052599 -4.229781 -0.188140 +v -0.140212 -4.229781 -0.188140 +v 0.014028 1.862833 -0.110944 +v 0.052599 1.901246 1.740045 +v 0.091170 0.628826 0.968847 +v 0.052599 -0.952697 -0.188140 +v 0.052599 -3.264662 1.701353 +v -0.140212 -2.995173 1.701353 +v -0.024521 1.862833 -0.188140 +v 0.052599 1.901246 1.200055 +v 0.091170 0.512987 0.429045 +v 0.052599 -4.190768 1.508459 +v 0.052599 0.898915 1.740045 +v -0.140212 -4.190768 1.469956 +f 151 137 153 +f 135 136 137 +f 136 140 141 +f 137 136 141 +f 140 133 141 +f 134 135 143 +f 138 143 144 +f 138 140 145 +f 140 136 145 +f 142 138 145 +f 137 139 146 +f 139 144 146 +f 135 137 147 +f 137 146 147 +f 145 136 148 +f 142 145 148 +f 135 134 149 +f 136 135 149 +f 138 142 149 +f 134 143 149 +f 143 138 149 +f 148 136 149 +f 142 148 149 +f 140 138 150 +f 138 144 150 +f 150 144 151 +f 139 137 151 +f 133 140 151 +f 144 139 151 +f 140 150 151 +f 143 135 152 +f 144 143 152 +f 146 144 152 +f 135 147 152 +f 147 146 152 +f 141 133 153 +f 137 141 153 +f 133 151 153 +o convex_5 +v 1.556590 1.361849 2.357203 +v 0.476944 0.243608 1.046419 +v 0.438331 0.436456 1.046419 +v 0.399718 0.359340 3.706532 +v 0.361222 1.361849 3.629182 +v 1.402255 0.282224 3.706532 +v 1.517977 0.397957 1.046419 +v 0.399718 1.323232 1.046419 +v 1.517977 1.439082 3.667727 +v 1.440868 1.400348 1.046419 +v 0.361222 1.053268 1.046419 +v 1.363642 0.282224 1.162054 +v 0.438331 0.282224 3.706532 +v 0.515440 1.361849 1.084964 +v 1.479364 0.745154 3.706532 +v 1.556590 1.246116 1.046419 +v 1.170927 0.243608 2.665302 +v 1.170927 1.439082 3.513548 +v 1.517977 0.397957 1.779031 +v 0.438331 0.243608 1.547502 +v 1.479364 1.439082 2.125935 +v 1.440868 0.282224 3.475003 +v 1.517977 1.130384 3.667727 +v 0.939482 0.243608 1.046419 +v 0.361222 1.092001 3.629182 +v 0.399718 0.552189 3.706532 +v 0.361222 1.246116 1.046419 +v 1.440868 0.282224 2.125935 +v 1.247919 1.439082 3.667727 +f 179 168 182 +f 155 156 160 +f 160 156 161 +f 160 161 163 +f 161 156 164 +f 159 157 166 +f 161 158 167 +f 163 161 167 +f 157 159 168 +f 163 154 169 +f 160 163 169 +f 159 166 170 +f 167 158 171 +f 169 154 172 +f 160 169 172 +f 156 155 173 +f 164 156 173 +f 157 164 173 +f 166 157 173 +f 155 170 173 +f 170 166 173 +f 162 154 174 +f 154 163 174 +f 163 167 174 +f 171 162 174 +f 167 171 174 +f 168 159 175 +f 159 170 175 +f 160 172 175 +f 172 168 175 +f 154 162 176 +f 162 168 176 +f 168 172 176 +f 172 154 176 +f 155 160 177 +f 160 165 177 +f 170 155 177 +f 165 170 177 +f 157 158 178 +f 164 157 178 +f 158 164 178 +f 158 157 179 +f 157 168 179 +f 158 161 180 +f 164 158 180 +f 161 164 180 +f 165 160 181 +f 170 165 181 +f 160 175 181 +f 175 170 181 +f 168 162 182 +f 171 158 182 +f 162 171 182 +f 158 179 182 +o convex_6 +v 0.746930 0.243608 -0.188140 +v 1.440741 1.400518 0.351752 +v 1.440741 1.400518 0.274542 +v 0.399732 1.323285 0.351752 +v 1.440741 0.320841 0.351752 +v 1.440741 1.361902 -0.188140 +v 0.399732 1.323285 -0.188140 +v 0.476849 0.243608 0.351752 +v 1.517974 0.397960 -0.188140 +v 0.399732 0.629320 -0.188140 +v 1.556590 1.130542 0.351752 +v 0.361116 0.860566 0.351752 +v 0.476849 0.243608 -0.188140 +v 1.556590 0.436464 0.351752 +v 0.631081 1.361902 -0.188140 +v 1.440741 0.320841 -0.188140 +v 1.556590 0.783560 0.043280 +v 0.824046 0.243608 0.351752 +v 0.361116 1.169045 0.043280 +v 0.592698 1.361902 0.351752 +f 197 189 202 +f 184 186 187 +f 188 183 189 +f 187 186 190 +f 183 188 191 +f 189 183 192 +f 185 184 193 +f 184 187 193 +f 188 185 193 +f 190 186 194 +f 192 190 194 +f 183 190 195 +f 192 183 195 +f 190 192 195 +f 193 187 196 +f 185 188 197 +f 188 189 197 +f 183 191 198 +f 196 187 198 +f 191 196 198 +f 191 188 199 +f 188 193 199 +f 196 191 199 +f 193 196 199 +f 190 183 200 +f 187 190 200 +f 183 198 200 +f 198 187 200 +f 186 189 201 +f 189 192 201 +f 194 186 201 +f 192 194 201 +f 184 185 202 +f 186 184 202 +f 189 186 202 +f 185 197 202 +o convex_7 +v 0.091170 0.513584 0.467466 +v 1.440673 1.400518 1.045898 +v 1.440673 1.400518 0.351752 +v 1.980663 0.590703 0.390346 +v 0.939941 0.243608 1.045898 +v 0.091170 1.130542 0.968711 +v 0.399763 1.323285 0.351752 +v 0.476958 0.243608 0.351752 +v 1.941971 0.899183 0.968711 +v 0.476958 0.243608 1.045898 +v 1.980663 1.169045 0.506060 +v 1.440673 0.320841 1.045898 +v 0.553965 1.361902 1.045898 +v 1.440673 0.320841 0.351752 +v 0.091170 1.130542 0.390346 +v 0.091170 0.629320 0.968711 +v 1.980663 0.629320 0.853065 +v 2.019355 0.706440 0.351752 +v 1.903656 1.169045 0.930185 +v 0.399763 1.323285 1.045898 +v 0.824054 0.243608 0.351752 +v 0.592845 1.361902 0.351752 +v 1.941971 0.629320 0.968711 +v 1.941971 1.207662 0.660299 +f 221 213 226 +f 209 205 210 +f 207 204 212 +f 203 210 212 +f 210 207 212 +f 204 207 214 +f 211 204 214 +f 204 205 215 +f 212 204 215 +f 210 205 216 +f 214 207 216 +f 206 214 216 +f 203 208 217 +f 208 209 217 +f 210 203 217 +f 209 210 217 +f 208 203 218 +f 203 212 218 +f 213 211 219 +f 214 206 219 +f 205 213 220 +f 216 205 220 +f 206 216 220 +f 219 206 220 +f 213 219 220 +f 204 211 221 +f 211 213 221 +f 209 208 222 +f 215 209 222 +f 212 215 222 +f 208 218 222 +f 218 212 222 +f 207 210 223 +f 210 216 223 +f 216 207 223 +f 205 209 224 +f 215 205 224 +f 209 215 224 +f 211 214 225 +f 219 211 225 +f 214 219 225 +f 205 204 226 +f 213 205 226 +f 204 221 226 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/031/031.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/031/031.urdf new file mode 100644 index 000000000..d206051fc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/031/031.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/032/032.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/032/032.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/032/032.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/032/032.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/032/032.obj new file mode 100644 index 000000000..69b35fd5f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/032/032.obj @@ -0,0 +1,561 @@ +o convex_0 +v -2.230096 -2.800524 0.801177 +v 1.077188 -0.559896 0.907915 +v 1.112516 -0.595646 0.907915 +v 1.077188 -0.559896 -1.012330 +v -3.083721 -0.737988 -0.763344 +v 1.112926 -2.657962 -0.941102 +v -2.976915 -2.729243 -0.976611 +v -2.976915 -0.702458 0.978935 +v 1.041449 -2.657962 1.014654 +v -2.976915 -2.800304 1.014654 +v -3.083721 -0.773519 -1.047840 +v -1.091792 -0.559896 1.014445 +v -0.807935 -2.800524 1.085673 +v -1.091792 -0.559896 -0.976611 +v 1.112926 -1.662445 -1.012330 +v -3.012244 -2.480309 -1.012121 +v -2.941176 -2.764774 -0.834572 +v 1.112926 -2.657962 0.978935 +v 1.041449 -0.559896 0.943425 +v 0.899315 -2.657962 -0.976611 +v -3.012244 -2.480309 0.694439 +v -0.985397 -2.551151 1.085673 +v -3.012244 -0.702458 0.552191 +v 1.112516 -0.737769 -1.012330 +v -3.083721 -0.986923 -1.047840 +v -0.950069 -2.800524 0.872406 +v -3.012244 -2.657962 -0.976611 +v -0.843264 -0.559896 1.014445 +v 1.077188 -2.515840 1.014654 +v -3.083721 -1.129265 -0.656605 +v -2.976915 -2.800304 0.374433 +v -1.234337 -2.764774 1.085673 +v -1.554344 -0.631177 1.014445 +v -2.976915 -2.480309 1.014654 +v -1.020725 -0.559896 -1.012330 +v -3.012244 -0.702458 0.303204 +v -2.834781 -0.773519 -1.047840 +v -2.550103 -0.666708 0.978935 +f 36 23 38 +f 2 3 4 +f 2 4 12 +f 10 1 13 +f 11 5 14 +f 12 4 14 +f 13 6 18 +f 9 13 18 +f 15 3 18 +f 6 15 18 +f 3 2 19 +f 2 12 19 +f 15 6 20 +f 16 15 20 +f 7 16 20 +f 6 17 20 +f 17 7 20 +f 21 8 23 +f 4 3 24 +f 3 15 24 +f 5 11 25 +f 15 16 25 +f 13 1 26 +f 6 13 26 +f 17 6 26 +f 16 7 27 +f 10 21 27 +f 25 16 27 +f 19 12 28 +f 12 22 28 +f 28 22 29 +f 13 9 29 +f 18 3 29 +f 9 18 29 +f 3 19 29 +f 22 13 29 +f 19 28 29 +f 23 5 30 +f 21 23 30 +f 5 25 30 +f 27 21 30 +f 25 27 30 +f 1 10 31 +f 7 17 31 +f 26 1 31 +f 17 26 31 +f 27 7 31 +f 10 27 31 +f 10 13 32 +f 13 22 32 +f 32 22 33 +f 12 8 33 +f 22 12 33 +f 8 32 33 +f 8 21 34 +f 21 10 34 +f 32 8 34 +f 10 32 34 +f 4 11 35 +f 11 14 35 +f 14 4 35 +f 14 5 36 +f 5 23 36 +f 11 4 37 +f 4 24 37 +f 24 15 37 +f 25 11 37 +f 15 25 37 +f 8 12 38 +f 12 14 38 +f 23 8 38 +f 14 36 38 +o convex_1 +v 2.215436 -2.729184 0.196549 +v 2.713270 -0.915783 0.979186 +v 2.642042 -0.915783 0.979186 +v 2.962187 -0.595796 -1.012330 +v 1.112926 -0.738036 -1.012330 +v 2.997801 -2.657959 -1.048049 +v 1.112926 -2.657959 0.979186 +v 1.112926 -2.657959 -0.941290 +v 1.112926 -0.702319 0.907947 +v 2.962187 -2.657959 0.907947 +v 3.033416 -0.631095 0.943467 +v 3.069030 -1.093531 -1.012330 +v 2.819921 -2.729184 0.943467 +v 1.397649 -0.666602 0.943467 +v 3.069030 -0.595796 -0.052092 +v 1.148541 -2.657959 -0.976611 +v 1.184155 -0.702319 -0.976611 +v 1.290998 -2.693676 -0.727771 +v 2.962187 -2.693467 -0.870051 +v 3.033416 -1.449026 -1.048049 +v 2.642042 -0.595796 -0.727573 +v 2.571005 -2.657959 -1.048049 +v 1.112926 -1.627191 0.979186 +v 1.610952 -2.693676 0.979186 +v 2.997801 -0.595796 0.623388 +v 3.069030 -0.595796 -1.012330 +v 1.112926 -1.627191 -1.012330 +v 1.290998 -0.666602 0.587867 +v 2.962187 -2.729184 0.125509 +v 3.033416 -0.986799 0.943467 +v 1.931097 -2.693676 0.979186 +v 2.962187 -2.444495 0.943467 +v 2.322088 -2.729184 0.907947 +v 2.215436 -0.631304 0.943467 +v 2.962187 -2.729184 0.765667 +v 2.713270 -0.595796 -1.012132 +v 1.112926 -0.702319 -0.692251 +v 2.642042 -0.595796 -0.478931 +v 1.112926 -0.809051 0.943467 +f 61 52 77 +f 40 41 45 +f 45 43 46 +f 43 45 47 +f 41 40 49 +f 45 46 56 +f 46 54 56 +f 56 54 57 +f 50 44 58 +f 53 42 59 +f 57 54 60 +f 44 57 60 +f 43 58 60 +f 58 44 60 +f 45 41 61 +f 47 45 61 +f 41 52 61 +f 40 45 62 +f 45 56 62 +f 49 53 63 +f 53 59 63 +f 53 50 64 +f 42 53 64 +f 58 42 64 +f 50 58 64 +f 46 43 65 +f 54 46 65 +f 43 60 65 +f 60 54 65 +f 47 52 66 +f 51 39 67 +f 39 56 67 +f 56 57 67 +f 57 44 67 +f 49 40 68 +f 53 49 68 +f 50 53 68 +f 40 62 69 +f 62 51 69 +f 51 48 70 +f 68 40 70 +f 48 68 70 +f 40 69 70 +f 69 51 70 +f 39 51 71 +f 56 39 71 +f 51 62 71 +f 62 56 71 +f 41 49 72 +f 52 41 72 +f 49 63 72 +f 66 52 72 +f 44 50 73 +f 48 51 73 +f 67 44 73 +f 51 67 73 +f 68 48 73 +f 50 68 73 +f 43 55 74 +f 42 58 74 +f 58 43 74 +f 59 42 74 +f 55 66 74 +f 66 59 74 +f 43 47 75 +f 55 43 75 +f 47 66 75 +f 66 55 75 +f 63 59 76 +f 59 66 76 +f 72 63 76 +f 66 72 76 +f 52 47 77 +f 47 61 77 +o convex_2 +v 0.614810 1.716297 0.979039 +v -1.091923 -0.559896 -0.976744 +v -1.020783 -0.559896 -1.012483 +v 1.041653 -0.559896 0.943502 +v 1.006189 1.644999 -1.012483 +v -1.056459 1.716297 1.050317 +v -1.056459 1.716297 -0.976744 +v -1.091923 -0.559896 1.014577 +v 1.077117 -0.559896 -1.012483 +v 1.006189 1.716297 0.943502 +v 1.077117 0.400401 0.907964 +v 1.006189 1.716297 -0.976744 +v -1.091923 1.289399 -0.976744 +v -0.345055 1.680648 1.050317 +v -0.309591 1.716297 -1.012483 +v 1.041653 1.218324 -1.012483 +v 1.077117 -0.559896 0.907964 +v 1.041653 1.396124 0.943502 +v -1.091923 0.293676 0.979039 +v 1.077117 0.222601 -1.012483 +v -0.949855 0.720128 1.050317 +v -0.771897 -0.488598 1.014577 +v 0.187968 1.040524 1.014577 +f 99 81 100 +f 79 80 81 +f 83 78 84 +f 79 81 85 +f 81 80 86 +f 80 82 86 +f 84 78 87 +f 84 87 89 +f 80 79 90 +f 84 80 90 +f 83 84 90 +f 79 85 90 +f 78 83 91 +f 82 80 92 +f 80 84 92 +f 89 82 92 +f 84 89 92 +f 86 82 93 +f 82 89 93 +f 81 86 94 +f 88 81 94 +f 86 88 94 +f 87 78 95 +f 81 88 95 +f 89 87 95 +f 88 93 95 +f 93 89 95 +f 85 83 96 +f 83 90 96 +f 90 85 96 +f 88 86 97 +f 86 93 97 +f 93 88 97 +f 83 85 98 +f 91 83 98 +f 91 98 99 +f 85 81 99 +f 98 85 99 +f 78 91 100 +f 95 78 100 +f 81 95 100 +f 91 99 100 +o convex_3 +v -2.763545 2.107681 0.587965 +v -1.270190 1.858719 -0.550132 +v -1.270190 1.929788 -0.550132 +v -3.047857 2.569737 -0.478945 +v -1.092136 2.925413 0.481241 +v -1.092136 1.787539 0.445703 +v -2.941216 1.787539 -0.443407 +v -1.092136 2.889768 -0.478945 +v -2.976827 2.854233 0.552316 +v -2.941216 1.787539 0.587965 +v -3.047857 2.783165 -0.478945 +v -1.092136 1.858719 -0.550132 +v -1.305800 2.711985 0.516778 +v -1.127938 2.747519 -0.514482 +v -2.656713 1.787539 -0.478945 +v -2.656713 1.787539 0.587965 +v -1.448052 2.925413 0.445703 +v -2.585682 2.818699 -0.478945 +v -3.047857 2.711985 -0.194421 +v -1.092136 1.787539 0.232254 +v -1.483663 2.889768 0.516778 +v -1.092136 2.320998 0.481241 +v -2.443431 1.787539 -0.478945 +v -1.448052 2.889768 -0.265607 +v -2.976827 2.854233 0.481241 +v -2.976827 2.498557 0.552316 +v -1.127938 2.072036 -0.550132 +f 114 112 127 +f 103 102 104 +f 105 106 108 +f 107 106 110 +f 104 107 110 +f 101 109 110 +f 103 104 111 +f 102 103 112 +f 108 106 112 +f 108 112 114 +f 104 102 115 +f 106 107 115 +f 107 104 115 +f 102 112 115 +f 101 110 116 +f 110 106 116 +f 113 101 116 +f 105 108 117 +f 109 105 117 +f 114 111 118 +f 108 114 118 +f 104 110 119 +f 111 104 119 +f 109 111 119 +f 112 106 120 +f 106 115 120 +f 109 101 121 +f 105 109 121 +f 113 105 121 +f 101 113 121 +f 106 105 122 +f 105 113 122 +f 116 106 122 +f 113 116 122 +f 115 112 123 +f 112 120 123 +f 120 115 123 +f 117 108 124 +f 108 118 124 +f 124 118 125 +f 111 109 125 +f 109 117 125 +f 118 111 125 +f 117 124 125 +f 110 109 126 +f 119 110 126 +f 109 119 126 +f 103 111 127 +f 112 103 127 +f 111 114 127 +o convex_4 +v -0.202959 3.387688 1.049937 +v -0.167425 1.752043 -1.012483 +v -0.309562 1.716624 -1.012278 +v 1.006230 1.716457 0.943335 +v 0.934956 3.245342 -0.976744 +v -1.056396 1.716624 1.049937 +v -1.056396 3.352101 -0.976538 +v 1.006230 1.716457 -0.976744 +v 0.970490 3.280928 0.943335 +v -1.020862 3.423275 1.085882 +v -1.056396 1.716624 -0.976538 +v -1.092136 3.067576 0.659061 +v 1.006230 2.818637 -0.478854 +v -0.274028 1.787630 1.049937 +v -1.092136 1.858803 -0.549923 +v 0.757080 3.280928 -0.870141 +v -0.914259 3.423275 0.659061 +v 0.863888 3.316515 0.872472 +v -1.092136 3.174336 -0.336512 +v -1.092136 1.787630 0.445651 +v -0.629575 2.747631 1.085882 +v 0.970490 3.138749 -0.976744 +v 1.006230 2.747631 0.552048 +v -0.807451 3.352101 -0.976538 +v 0.401533 1.752043 -1.012483 +v -1.020862 2.178748 1.085882 +v -0.700643 3.423275 1.085882 +v 0.650477 3.316515 0.978869 +v 0.970490 3.280928 0.125432 +v -1.056396 3.387688 -0.300773 +v 0.188122 1.716457 1.014608 +v 1.006230 2.356514 0.943540 +v 0.934956 3.280928 -0.443320 +v -0.736383 3.423275 0.908006 +v 1.006230 2.178748 -0.976744 +v -1.056396 3.280928 0.908006 +v 0.650477 2.356681 0.978869 +f 159 155 164 +f 129 130 134 +f 134 130 138 +f 130 135 138 +f 131 135 140 +f 134 138 142 +f 134 142 146 +f 142 139 146 +f 138 133 147 +f 133 139 147 +f 142 138 147 +f 139 142 147 +f 131 140 150 +f 140 136 150 +f 129 134 151 +f 143 132 151 +f 144 143 151 +f 130 129 152 +f 135 130 152 +f 132 149 152 +f 129 151 152 +f 151 132 152 +f 137 133 153 +f 133 141 153 +f 148 137 153 +f 141 148 153 +f 144 137 154 +f 128 145 154 +f 148 128 154 +f 137 148 154 +f 145 128 155 +f 136 145 155 +f 128 148 155 +f 136 140 156 +f 145 136 156 +f 149 132 156 +f 140 149 156 +f 137 144 157 +f 134 146 157 +f 151 134 157 +f 144 151 157 +f 135 131 158 +f 133 138 158 +f 138 135 158 +f 141 133 158 +f 148 141 158 +f 131 150 159 +f 150 136 159 +f 136 155 159 +f 132 143 160 +f 156 132 160 +f 145 156 160 +f 143 144 161 +f 144 154 161 +f 154 145 161 +f 160 143 161 +f 145 160 161 +f 140 135 162 +f 149 140 162 +f 135 152 162 +f 152 149 162 +f 133 137 163 +f 139 133 163 +f 146 139 163 +f 137 157 163 +f 157 146 163 +f 155 148 164 +f 158 131 164 +f 148 158 164 +f 131 159 164 +o convex_5 +v 2.962023 2.818828 0.552400 +v 2.393070 2.463117 -0.585697 +v 2.393070 2.534238 -0.585697 +v 1.006425 1.716297 0.552400 +v 1.006425 2.818828 -0.478973 +v 2.926691 1.751911 -0.478973 +v 1.006425 1.716297 -0.514510 +v 2.962023 1.751911 0.516750 +v 1.006425 2.747599 0.552400 +v 2.926691 2.783214 -0.550048 +v 3.068828 2.818720 0.481213 +v 2.997759 1.823032 -0.372248 +v 2.393070 1.716297 -0.478973 +v 2.997759 2.000887 0.552400 +v 1.041959 2.818828 -0.052186 +v 1.326435 2.818828 -0.514510 +v 2.926691 2.747599 -0.585697 +v 1.468775 2.000887 -0.550048 +v 1.931124 2.818828 -0.514510 +v 2.997759 1.823032 0.516750 +v 2.570944 2.818828 0.552400 +v 1.006425 2.320876 -0.514510 +v 3.068828 2.712093 0.552288 +v 1.290901 1.716297 0.552400 +v 2.962023 2.783214 -0.407786 +v 2.926691 2.569852 -0.585697 +v 1.539843 1.716297 -0.514510 +v 2.570944 2.783214 -0.585697 +v 2.962023 2.818828 0.161040 +f 174 183 193 +f 168 169 171 +f 168 165 173 +f 169 168 173 +f 172 170 176 +f 168 171 177 +f 170 172 177 +f 165 168 178 +f 165 169 179 +f 169 173 179 +f 169 165 180 +f 166 167 181 +f 167 166 182 +f 180 165 183 +f 172 176 184 +f 178 172 184 +f 173 165 185 +f 165 179 185 +f 179 173 185 +f 171 169 186 +f 169 180 186 +f 180 167 186 +f 167 182 186 +f 182 171 186 +f 175 165 187 +f 176 175 187 +f 165 178 187 +f 184 176 187 +f 178 184 187 +f 168 177 188 +f 177 172 188 +f 178 168 188 +f 172 178 188 +f 174 175 189 +f 175 176 189 +f 181 174 189 +f 176 181 189 +f 176 170 190 +f 166 181 190 +f 181 176 190 +f 177 171 191 +f 170 177 191 +f 182 166 191 +f 171 182 191 +f 190 170 191 +f 166 190 191 +f 167 180 192 +f 181 167 192 +f 174 181 192 +f 183 174 192 +f 180 183 192 +f 165 175 193 +f 175 174 193 +f 183 165 193 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/032/032.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/032/032.urdf new file mode 100644 index 000000000..81ca36337 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/032/032.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/033/033.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/033/033.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/033/033.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/033/033.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/033/033.obj new file mode 100644 index 000000000..1fb6526e8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/033/033.obj @@ -0,0 +1,189 @@ +o convex_0 +v 0.986851 0.288942 0.072628 +v -1.034183 -0.375593 -0.003734 +v -1.034183 -0.375593 0.021786 +v -0.675913 3.051976 -0.080492 +v 0.014515 -2.192186 -0.950352 +v -0.036327 -2.294698 0.993726 +v 0.756577 2.641931 -0.822356 +v 0.654101 2.923241 0.635456 +v -0.752671 2.258110 0.686694 +v -0.727151 2.309366 -0.694558 +v 0.628581 -3.036712 -0.361807 +v -0.599154 -3.011084 -0.515323 +v -0.624675 -2.907977 0.635456 +v 0.654101 -2.294101 0.763452 +v -0.189843 3.000720 -0.873594 +v 0.014515 1.874885 0.942686 +v 0.705339 -2.320325 -0.694360 +v -0.727151 -1.552088 -0.719880 +v -0.829429 -0.068059 0.763452 +v 0.858855 3.000720 0.098346 +v 0.756577 0.032664 0.788972 +v -0.982945 2.258706 0.021786 +v 0.500584 -3.036712 0.609936 +v 0.910093 -2.320325 0.047108 +v -0.957425 -2.294698 0.047306 +v -0.036327 0.723422 -1.001590 +v -0.011005 3.026348 0.737932 +v 0.986851 2.258706 0.047108 +v -0.752671 -2.294101 0.763452 +v -0.087565 0.083919 1.019444 +v 0.014515 -2.985456 -0.745598 +v 0.986851 0.058888 -0.080492 +v 0.756577 2.309962 0.712214 +v -0.599154 3.025752 0.482137 +v -0.752671 0.186431 -0.745598 +v -0.752671 -3.011084 0.123866 +v -0.062045 2.233078 -0.975872 +v -0.701433 -2.319729 -0.694558 +v -0.624675 2.974496 -0.617602 +v -0.087565 -3.011084 0.789170 +v 0.730859 -0.554392 -0.771118 +v 0.065753 0.032664 -1.001392 +v 0.014515 0.109547 1.019444 +v 0.091471 3.026348 -0.771118 +v 0.730859 -3.036712 0.047108 +v -0.036327 2.284334 0.916968 +v -0.062045 -0.094283 -1.001590 +v -1.034183 0.493368 -0.003734 +v 0.679819 3.026348 0.533177 +v -0.113085 -2.269070 0.993726 +v -0.778191 2.974496 -0.003734 +v 0.577343 -3.010488 -0.540843 +v 0.756577 1.874885 -0.822356 +v -0.957425 -2.294698 -0.003734 +v -0.778191 0.032664 0.789170 +v -0.778191 -2.166559 0.737932 +v 0.500584 2.974496 -0.540843 +v -0.087565 -2.269070 -0.924832 +v -0.241082 -3.036712 0.430701 +v -0.803909 0.058292 -0.643122 +v -0.957425 2.258706 -0.106012 +v -1.034183 -0.145539 0.072826 +v -0.573634 -3.011084 0.635456 +v 0.961133 2.309962 -0.106012 +f 28 32 64 +f 6 14 21 +f 19 9 22 +f 14 6 23 +f 11 17 24 +f 21 14 24 +f 1 21 24 +f 3 2 25 +f 21 1 28 +f 11 12 31 +f 5 17 31 +f 1 24 32 +f 24 17 32 +f 28 1 32 +f 28 20 33 +f 21 28 33 +f 22 9 34 +f 27 4 34 +f 9 27 34 +f 13 29 36 +f 29 25 36 +f 15 7 37 +f 10 15 37 +f 35 10 37 +f 31 12 38 +f 4 15 39 +f 15 10 39 +f 23 6 40 +f 17 5 41 +f 32 17 41 +f 37 7 42 +f 26 37 42 +f 41 5 42 +f 6 21 43 +f 16 30 43 +f 30 6 43 +f 33 16 43 +f 21 33 43 +f 7 15 44 +f 15 4 44 +f 23 11 45 +f 14 23 45 +f 24 14 45 +f 11 24 45 +f 27 9 46 +f 8 27 46 +f 9 30 46 +f 30 16 46 +f 33 8 46 +f 16 33 46 +f 18 35 47 +f 37 26 47 +f 35 37 47 +f 42 5 47 +f 26 42 47 +f 2 3 48 +f 4 27 49 +f 27 8 49 +f 8 33 49 +f 33 20 49 +f 44 4 49 +f 20 44 49 +f 6 30 50 +f 40 6 50 +f 34 4 51 +f 22 34 51 +f 4 39 51 +f 17 11 52 +f 11 31 52 +f 31 17 52 +f 7 32 53 +f 32 41 53 +f 42 7 53 +f 41 42 53 +f 2 18 54 +f 25 2 54 +f 12 36 54 +f 36 25 54 +f 18 38 54 +f 38 12 54 +f 9 19 55 +f 19 29 55 +f 30 9 55 +f 29 50 55 +f 50 30 55 +f 29 19 56 +f 25 29 56 +f 20 7 57 +f 7 44 57 +f 44 20 57 +f 5 31 58 +f 38 18 58 +f 31 38 58 +f 47 5 58 +f 18 47 58 +f 12 11 59 +f 11 23 59 +f 36 12 59 +f 23 40 59 +f 18 2 60 +f 10 35 60 +f 35 18 60 +f 2 48 60 +f 60 48 61 +f 39 10 61 +f 48 22 61 +f 22 51 61 +f 51 39 61 +f 10 60 61 +f 19 22 62 +f 3 25 62 +f 48 3 62 +f 22 48 62 +f 56 19 62 +f 25 56 62 +f 29 13 63 +f 13 36 63 +f 50 29 63 +f 40 50 63 +f 36 59 63 +f 59 40 63 +f 7 20 64 +f 20 28 64 +f 32 7 64 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/033/033.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/033/033.urdf new file mode 100644 index 000000000..3b04ac2d3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/033/033.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/034/034.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/034/034.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/034/034.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/034/034.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/034/034.obj new file mode 100644 index 000000000..52ab794b9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/034/034.obj @@ -0,0 +1,987 @@ +o convex_0 +v -0.255511 1.498524 -0.842384 +v 0.260926 4.218771 1.052024 +v 0.226709 4.218771 1.052024 +v 0.260926 4.977114 -0.739005 +v 1.225367 1.188184 -0.084540 +v -0.565453 1.188184 0.741886 +v -0.772346 4.322616 -0.015553 +v 1.018872 4.184554 -0.773397 +v 0.984257 1.188184 0.845266 +v 1.018872 4.253386 0.776279 +v 0.295342 1.188184 -1.014750 +v -0.358958 4.839451 0.603913 +v -0.772346 1.188184 -0.015553 +v -0.531236 4.253784 -0.739005 +v 0.984257 4.977114 0.018637 +v 1.259982 4.184554 0.053029 +v 0.192293 4.218771 -1.014750 +v 1.018872 1.222799 -0.773397 +v 0.157878 1.188184 1.052024 +v -0.496621 4.253784 0.810873 +v -0.565453 5.045548 0.018637 +v 0.295342 5.011331 0.776279 +v -0.496621 1.188184 -0.739005 +v 0.260926 5.252839 -0.015755 +v -0.772346 4.253784 0.121814 +v 1.225367 1.188184 0.156206 +v 1.018872 2.945184 -0.807992 +v 1.225367 3.978059 -0.187919 +v 1.018872 4.012276 0.810873 +v -0.358958 4.839451 -0.532449 +v -0.565453 4.253784 -0.704613 +v 0.812177 4.770221 -0.566841 +v -0.496621 1.188184 0.810873 +v 0.295342 1.188184 1.052024 +v 0.157878 5.011331 0.776279 +v 0.846394 4.804836 0.535128 +v 0.398789 4.184554 -0.980156 +v -0.565453 4.253784 0.707292 +v 1.053288 2.600628 0.741886 +v 0.157878 4.977114 -0.739005 +v 1.259982 2.394132 -0.050148 +v 0.984257 3.083246 0.845266 +v -0.565453 5.045548 0.087422 +v 0.123263 5.252839 0.053029 +v -0.772346 1.188184 0.052827 +v 0.226709 1.188184 -1.014750 +v 0.329758 3.323560 -1.014750 +v 1.053288 2.807919 -0.739005 +v 1.259982 2.222252 0.087422 +v 1.259982 4.184554 -0.050148 +v -0.462205 2.531796 -0.773600 +v 0.984257 4.942499 -0.084540 +v 0.984257 4.150337 -0.807992 +v 0.433205 1.533138 1.017429 +v -0.668899 4.253784 -0.394677 +v 0.260926 5.252839 0.087422 +v 1.018872 1.429692 0.810873 +v 0.088847 2.807919 -0.980156 +v -0.462205 4.253784 -0.773600 +v -0.531236 1.188184 -0.670018 +v 1.259982 3.736949 0.087422 +v -0.048817 1.257413 0.983037 +v 0.157878 2.049576 1.052024 +v 1.018872 1.188184 -0.739005 +f 11 18 64 +f 6 5 9 +f 5 6 11 +f 11 6 13 +f 15 10 16 +f 2 3 19 +f 6 9 19 +f 3 2 22 +f 2 10 22 +f 11 13 23 +f 7 13 25 +f 9 5 26 +f 18 11 27 +f 10 2 29 +f 16 10 29 +f 21 30 31 +f 14 23 31 +f 30 14 31 +f 8 4 32 +f 6 19 33 +f 20 6 33 +f 2 19 34 +f 19 9 34 +f 20 3 35 +f 12 20 35 +f 3 22 35 +f 10 15 36 +f 22 10 36 +f 15 22 36 +f 17 4 37 +f 6 20 38 +f 20 12 38 +f 25 6 38 +f 4 17 40 +f 24 4 40 +f 14 30 40 +f 30 21 40 +f 5 18 41 +f 29 2 42 +f 9 29 42 +f 21 7 43 +f 7 25 43 +f 12 35 43 +f 38 12 43 +f 25 38 43 +f 24 40 44 +f 40 21 44 +f 21 43 44 +f 43 35 44 +f 13 6 45 +f 25 13 45 +f 6 25 45 +f 17 11 46 +f 23 1 46 +f 11 23 46 +f 11 17 47 +f 27 11 47 +f 17 37 47 +f 27 8 48 +f 18 27 48 +f 8 28 48 +f 41 18 48 +f 28 41 48 +f 26 5 49 +f 5 41 49 +f 41 16 49 +f 15 16 50 +f 28 8 50 +f 16 41 50 +f 41 28 50 +f 1 23 51 +f 23 14 51 +f 4 24 52 +f 24 15 52 +f 32 4 52 +f 8 32 52 +f 50 8 52 +f 15 50 52 +f 4 8 53 +f 8 27 53 +f 37 4 53 +f 27 47 53 +f 47 37 53 +f 2 34 54 +f 34 9 54 +f 42 2 54 +f 9 42 54 +f 13 7 55 +f 7 21 55 +f 21 31 55 +f 31 13 55 +f 22 15 56 +f 15 24 56 +f 35 22 56 +f 24 44 56 +f 44 35 56 +f 9 26 57 +f 29 9 57 +f 39 29 57 +f 26 49 57 +f 49 39 57 +f 46 1 58 +f 17 46 58 +f 1 51 58 +f 58 51 59 +f 40 17 59 +f 14 40 59 +f 51 14 59 +f 17 58 59 +f 23 13 60 +f 13 31 60 +f 31 23 60 +f 16 29 61 +f 29 39 61 +f 39 49 61 +f 49 16 61 +f 33 19 62 +f 20 33 62 +f 19 3 63 +f 3 20 63 +f 62 19 63 +f 20 62 63 +f 5 11 64 +f 18 5 64 +o convex_1 +v -1.805571 -3.978445 -0.532476 +v -1.736841 -3.014257 0.604223 +v -1.633583 -3.014257 0.569763 +v -1.736841 -4.564317 0.397465 +v -2.287980 -3.014257 0.190706 +v -1.289067 -3.014257 -0.498016 +v -1.358013 -4.495189 -0.015698 +v -2.149980 -4.564317 -0.015698 +v -2.149980 -3.014257 -0.429097 +v -1.289067 -3.083213 0.397465 +v -2.149980 -3.806827 0.466266 +v -1.771260 -4.529581 -0.429097 +v -2.149980 -3.806827 -0.394637 +v -1.185701 -3.014257 0.052867 +v -1.736841 -4.771015 -0.050158 +v -1.805571 -3.014257 -0.601395 +v -1.358013 -3.737699 -0.463556 +v -2.184615 -3.014257 0.500844 +v -1.358013 -3.806827 0.362887 +v -2.287980 -3.634522 0.018408 +v -1.220336 -3.668914 -0.084617 +v -1.736841 -3.875440 0.535185 +v -2.081249 -4.357448 0.328427 +v -1.461379 -4.323055 -0.360177 +v -1.702421 -3.772263 -0.566936 +v -2.012303 -4.357448 -0.360177 +v -2.184615 -4.495189 0.052867 +v -2.287980 -3.014257 -0.050158 +v -1.358013 -4.495189 -0.084617 +v -1.461379 -4.323055 0.294203 +v -1.840098 -4.529581 0.397465 +v -1.254647 -3.703306 0.087327 +v -1.185701 -3.048821 -0.153537 +v -2.184615 -3.806827 0.397465 +v -1.633583 -3.048821 -0.601395 +v -1.805571 -4.771015 0.018408 +v -1.323702 -3.014257 0.431924 +v -2.115668 -3.772263 -0.429097 +v -2.184615 -4.426232 -0.050158 +v -1.805571 -4.529581 -0.429097 +v -1.771260 -3.083213 0.604223 +v -2.253453 -3.806827 0.156247 +v -1.805571 -4.736279 -0.119077 +v -1.736841 -4.391840 -0.463556 +v -2.219034 -3.186562 0.431924 +v -1.668110 -3.668914 0.535185 +f 83 101 110 +f 66 67 69 +f 69 67 70 +f 69 70 73 +f 70 67 78 +f 71 68 79 +f 73 70 80 +f 66 69 82 +f 81 70 85 +f 68 83 86 +f 65 80 89 +f 70 81 89 +f 69 73 92 +f 73 77 92 +f 84 69 92 +f 77 84 92 +f 71 79 93 +f 79 76 93 +f 85 71 93 +f 81 85 93 +f 76 88 93 +f 88 81 93 +f 68 71 94 +f 83 68 94 +f 71 83 94 +f 86 75 95 +f 68 86 95 +f 75 87 95 +f 91 72 95 +f 87 91 95 +f 78 74 96 +f 83 71 96 +f 74 83 96 +f 85 78 96 +f 71 85 96 +f 70 78 97 +f 85 70 97 +f 78 85 97 +f 87 75 98 +f 91 87 98 +f 80 70 99 +f 89 80 99 +f 70 89 99 +f 79 68 100 +f 68 95 100 +f 95 72 100 +f 78 67 101 +f 74 78 101 +f 83 74 101 +f 77 73 102 +f 80 65 102 +f 73 80 102 +f 90 77 102 +f 84 77 103 +f 90 72 103 +f 77 90 103 +f 72 91 103 +f 91 84 103 +f 72 90 104 +f 102 65 104 +f 90 102 104 +f 66 82 105 +f 82 75 105 +f 86 66 105 +f 75 86 105 +f 69 84 106 +f 84 91 106 +f 91 98 106 +f 76 79 107 +f 79 100 107 +f 100 72 107 +f 104 76 107 +f 72 104 107 +f 88 76 108 +f 81 88 108 +f 65 89 108 +f 89 81 108 +f 104 65 108 +f 76 104 108 +f 82 69 109 +f 75 82 109 +f 98 75 109 +f 69 106 109 +f 106 98 109 +f 67 66 110 +f 66 86 110 +f 86 83 110 +f 101 67 110 +o convex_2 +v -0.841006 -0.361897 0.500695 +v 1.604060 -0.361897 0.052726 +v 1.604060 -0.361897 0.018789 +v -0.220866 -2.842026 -0.119016 +v 2.293149 -1.877262 1.051710 +v 2.293149 -1.842788 -1.014750 +v -0.599886 -0.361897 -0.876739 +v -0.875685 -2.704133 0.845208 +v -0.875685 -2.704133 -0.773488 +v 2.982239 -2.600713 -0.015560 +v -0.014424 -0.361897 1.051710 +v 3.050781 -1.016402 0.052931 +v 1.191177 -0.361897 -0.842391 +v 2.327420 -2.600713 0.776306 +v 1.191177 -0.361897 0.913905 +v 2.258879 -2.600713 -0.739140 +v 3.016510 -1.739854 -0.773488 +v 3.050781 -1.774085 0.776306 +v -0.875685 -1.464554 -0.945847 +v -0.875685 -1.980681 1.017362 +v 2.293149 -2.842026 0.018789 +v 0.398866 -0.361897 -0.980196 +v 3.292309 -1.842788 -0.015560 +v -0.875685 -0.740860 0.914111 +v 0.467816 -1.877262 1.086470 +v -0.875685 -0.671913 -0.842391 +v 2.775390 -1.189011 -0.601335 +v -0.117645 -1.843031 -0.980196 +v 2.844340 -1.223242 0.604152 +v -0.841006 -2.842026 0.121834 +v 2.844340 -2.394117 -0.566780 +v 2.327420 -2.531767 0.845003 +v 2.844340 -2.394117 0.604152 +v 0.467816 -0.361897 1.051710 +v 1.845588 -1.842788 1.086470 +v -0.841006 -2.738363 0.810860 +v 3.050781 -1.016402 -0.050114 +v -0.634157 -0.361897 0.948459 +v 2.189929 -1.636192 1.051710 +v 0.192425 -1.154295 1.086470 +v 2.293149 -2.566240 -0.773488 +v -0.875685 -1.980681 -0.945847 +v 2.258879 -1.016402 0.810860 +v -0.875685 -0.361897 -0.015560 +v -0.841006 -2.738363 -0.704586 +v 3.016510 -1.911735 -0.738934 +v 3.050781 -2.531767 0.052931 +v 0.089204 -0.361897 -0.980196 +v -0.703106 -1.877262 1.051916 +v 2.258879 -1.739611 -1.014750 +v 1.741959 -1.843031 -1.014750 +v 2.293149 -2.842026 0.052726 +v 3.050781 -1.842788 0.776306 +v 3.292309 -1.739854 -0.015560 +v 2.258879 -1.050876 -0.773488 +v -0.875685 -1.601961 1.017362 +v 0.192425 -2.842026 0.190737 +v 1.122227 -0.361897 0.948665 +v -0.737785 -0.361897 -0.773488 +v -0.875685 -2.842026 -0.084462 +v 3.050781 -2.531767 -0.015560 +v 2.982239 -2.600713 0.052931 +v 1.087956 -0.361897 -0.876945 +v -0.806735 -0.361897 0.845208 +f 134 148 174 +f 111 112 113 +f 111 113 117 +f 112 111 121 +f 113 112 122 +f 117 113 123 +f 112 121 125 +f 122 112 125 +f 119 118 129 +f 129 118 130 +f 126 120 131 +f 117 123 132 +f 129 130 134 +f 117 129 136 +f 129 134 136 +f 122 125 139 +f 128 122 139 +f 114 131 140 +f 120 126 141 +f 142 124 143 +f 125 121 144 +f 135 118 145 +f 118 142 145 +f 142 115 145 +f 118 140 146 +f 142 118 146 +f 124 142 146 +f 113 122 147 +f 123 113 147 +f 137 123 147 +f 127 137 147 +f 121 111 148 +f 115 128 149 +f 145 115 149 +f 144 145 149 +f 144 121 150 +f 135 145 150 +f 145 144 150 +f 119 116 151 +f 126 119 151 +f 141 126 151 +f 119 129 152 +f 129 138 152 +f 139 125 153 +f 128 139 153 +f 149 128 153 +f 111 117 154 +f 134 111 154 +f 136 134 154 +f 119 126 155 +f 131 114 155 +f 126 131 155 +f 116 127 156 +f 127 133 156 +f 151 116 156 +f 141 151 156 +f 129 117 158 +f 117 132 158 +f 138 129 158 +f 130 118 159 +f 118 135 159 +f 150 121 159 +f 135 150 159 +f 127 116 160 +f 158 132 160 +f 158 160 161 +f 116 119 161 +f 119 152 161 +f 152 138 161 +f 138 158 161 +f 160 116 161 +f 131 120 162 +f 140 131 162 +f 124 146 162 +f 128 115 163 +f 133 128 163 +f 115 142 163 +f 142 143 163 +f 157 133 163 +f 143 157 163 +f 122 128 164 +f 133 127 164 +f 128 133 164 +f 147 122 164 +f 127 147 164 +f 123 137 165 +f 137 127 165 +f 127 160 165 +f 134 130 166 +f 121 148 166 +f 148 134 166 +f 130 159 166 +f 159 121 166 +f 146 140 167 +f 140 162 167 +f 162 146 167 +f 125 144 168 +f 144 149 168 +f 153 125 168 +f 149 153 168 +f 117 136 169 +f 154 117 169 +f 136 154 169 +f 118 119 170 +f 114 140 170 +f 140 118 170 +f 119 155 170 +f 155 114 170 +f 120 141 171 +f 156 133 171 +f 141 156 171 +f 157 120 171 +f 133 157 171 +f 143 124 172 +f 120 157 172 +f 157 143 172 +f 162 120 172 +f 124 162 172 +f 132 123 173 +f 160 132 173 +f 123 165 173 +f 165 160 173 +f 111 134 174 +f 148 111 174 +o convex_3 +v 0.123344 1.153437 1.052024 +v 0.226875 0.809160 -1.014750 +v 0.088911 -0.361897 -0.980156 +v 1.535552 -0.361897 0.087422 +v -0.772140 -0.361897 0.879658 +v -0.772140 1.188184 -0.015553 +v 1.018828 1.188184 -0.773600 +v -0.703275 -0.361897 -0.807992 +v 1.156326 -0.051759 0.914050 +v 1.018828 1.188184 0.776279 +v 1.190992 -0.361897 -0.842384 +v -0.496678 1.188184 -0.738803 +v 0.467671 -0.361897 1.052024 +v -0.565544 1.188184 0.741684 +v 1.259857 1.153437 0.018637 +v -0.841238 -0.361897 -0.084540 +v 0.226875 1.188184 -1.014750 +v 1.121893 -0.361897 0.948645 +v -0.014387 -0.361897 1.052024 +v 0.295740 1.188184 1.052024 +v 1.535552 -0.327302 -0.015755 +v -0.565544 -0.223974 -0.876776 +v -0.806573 0.189341 0.535128 +v -0.634409 -0.327302 0.948443 +v -0.737708 -0.258417 -0.738803 +v 0.433238 -0.258417 -0.980156 +v 0.984162 1.188184 0.845063 +v -0.496678 1.188184 0.810671 +v 0.502104 0.878046 -0.980156 +v -0.565544 0.774718 -0.773600 +v -0.841238 -0.327302 0.431749 +v 1.225424 1.188184 0.156408 +v 1.190992 -0.258417 -0.842384 +v -0.772140 -0.223974 0.879658 +v -0.772140 1.153437 0.087219 +v 1.087693 -0.361897 -0.876776 +v 0.398806 0.912489 1.052024 +v 1.018828 1.153437 0.810873 +v 1.535552 -0.327302 0.087422 +v 1.190992 -0.361897 0.914050 +v -0.772140 -0.292859 -0.601233 +v 0.949730 1.188184 -0.807789 +v -0.841238 -0.120645 0.052827 +v 0.088911 1.118994 -0.980156 +v 0.054478 0.946932 1.052024 +v 0.949730 -0.155088 0.983037 +v -0.772140 0.981375 -0.118932 +v 0.295740 1.188184 -1.014750 +v 1.156326 1.188184 -0.325691 +v -0.806573 -0.361897 0.810671 +v 1.018828 0.809160 0.879658 +f 194 211 225 +f 177 178 179 +f 177 179 182 +f 181 180 184 +f 178 177 185 +f 180 181 186 +f 179 178 187 +f 184 180 188 +f 182 179 190 +f 186 181 191 +f 187 178 192 +f 187 175 193 +f 179 187 193 +f 175 187 194 +f 184 188 194 +f 178 185 195 +f 176 177 196 +f 177 182 196 +f 191 176 196 +f 179 193 198 +f 177 176 200 +f 184 194 201 +f 175 194 202 +f 194 188 202 +f 180 186 204 +f 196 182 204 +f 182 199 204 +f 181 184 206 +f 195 185 207 +f 181 195 207 +f 188 197 208 +f 179 198 208 +f 202 188 208 +f 198 202 208 +f 188 180 209 +f 197 188 209 +f 205 197 209 +f 185 177 210 +f 177 200 210 +f 200 203 210 +f 207 185 210 +f 203 207 210 +f 194 187 211 +f 201 183 212 +f 184 201 212 +f 206 184 212 +f 206 212 213 +f 178 195 213 +f 195 189 213 +f 189 206 213 +f 212 183 213 +f 183 192 214 +f 192 178 214 +f 178 213 214 +f 213 183 214 +f 182 190 215 +f 199 182 215 +f 191 181 216 +f 181 207 216 +f 207 203 216 +f 180 190 217 +f 190 205 217 +f 209 180 217 +f 205 209 217 +f 186 191 218 +f 191 196 218 +f 204 186 218 +f 196 204 218 +f 193 175 219 +f 198 193 219 +f 175 202 219 +f 202 198 219 +f 192 183 220 +f 187 192 220 +f 183 211 220 +f 211 187 220 +f 190 180 221 +f 180 204 221 +f 204 199 221 +f 215 190 221 +f 199 215 221 +f 176 191 222 +f 200 176 222 +f 203 200 222 +f 191 216 222 +f 216 203 222 +f 195 181 223 +f 189 195 223 +f 181 206 223 +f 206 189 223 +f 190 179 224 +f 205 190 224 +f 197 205 224 +f 208 197 224 +f 179 208 224 +f 183 201 225 +f 201 194 225 +f 211 183 225 +o convex_4 +v -2.287814 -2.600791 -0.773593 +v -0.875695 -1.602403 1.017578 +v -0.875695 -1.292114 0.982767 +v -0.875695 -1.808251 -0.980304 +v -2.356794 -0.430789 0.018637 +v -2.184523 -3.014257 0.535122 +v -0.875695 -2.841790 -0.050202 +v -0.875695 -0.672041 -0.842236 +v -2.460085 -1.739719 0.741833 +v -2.425595 -1.085760 -0.773593 +v -0.875695 -0.741079 0.913929 +v -2.666845 -2.600791 -0.050202 +v -0.979165 -2.669575 0.879510 +v -1.667890 -3.014257 -0.635720 +v -1.839982 -0.430789 0.569541 +v -1.702380 -1.842896 1.017578 +v -0.875695 -0.430789 -0.015782 +v -2.666845 -1.223076 -0.015782 +v -2.391284 -1.085760 0.707218 +v -0.875695 -2.703968 -0.773593 +v -1.805671 -0.430789 -0.532267 +v -1.771360 -0.982078 -0.945494 +v -2.391284 -2.600791 0.741833 +v -1.736870 -2.462969 -0.945494 +v -1.289216 -3.014257 0.431668 +v -2.184523 -3.014257 -0.429009 +v -1.771360 -1.085760 0.948348 +v -2.460085 -1.842896 -0.808012 +v -1.771360 -2.600791 0.948348 +v -0.875695 -2.738613 0.810671 +v -1.254726 -3.014257 -0.463428 +v -2.460085 -2.600791 -0.704559 +v -1.839982 -1.739719 -0.980304 +v -2.219013 -0.430789 -0.394590 +v -2.701157 -1.773859 -0.119040 +v -2.184523 -0.430789 0.466283 +v -0.875695 -1.980718 1.017578 +v -2.632355 -1.016723 -0.119040 +v -1.667890 -3.014257 0.604156 +v -2.701157 -2.083895 0.018637 +v -2.322304 -3.014257 -0.050202 +v -2.563376 -2.600791 0.363025 +v -1.564599 -2.600791 -0.911270 +v -2.528886 -1.050862 0.363025 +v -2.391284 -0.982078 -0.773593 +v -1.392507 -0.430789 0.431668 +v -1.151435 -3.014257 0.052861 +v -2.494575 -1.739719 -0.773593 +v -1.392507 -0.430789 -0.429009 +v -1.839982 -2.600791 -0.911270 +v -1.839982 -1.911934 0.982767 +v -2.253503 -3.014257 0.431864 +v -0.944675 -0.741079 -0.876851 +v -1.667890 -1.326506 -0.980304 +v -2.425595 -0.947685 -0.704559 +v -1.771360 -3.014257 -0.635720 +v -2.701157 -1.705327 0.018637 +v -2.460085 -2.015110 0.741833 +v -1.771360 -2.669575 0.913929 +v -1.771360 -2.049503 -0.980304 +v -2.425595 -2.634930 0.707218 +v -2.253503 -0.430789 0.363025 +v -2.632355 -1.016723 0.018637 +v -2.666845 -2.600791 0.052861 +f 286 267 289 +f 228 227 229 +f 229 227 232 +f 228 229 233 +f 228 233 236 +f 236 233 242 +f 230 240 242 +f 229 232 245 +f 230 242 246 +f 246 233 247 +f 231 239 250 +f 239 231 251 +f 227 228 252 +f 228 236 252 +f 236 240 252 +f 241 227 252 +f 244 234 252 +f 232 227 255 +f 245 232 256 +f 239 245 256 +f 250 239 256 +f 253 226 257 +f 235 247 258 +f 253 235 258 +f 230 246 259 +f 257 237 260 +f 240 230 261 +f 252 240 261 +f 244 252 261 +f 227 241 262 +f 254 238 262 +f 241 254 262 +f 255 227 262 +f 238 255 262 +f 260 243 263 +f 231 250 264 +f 255 238 264 +f 250 255 264 +f 260 237 265 +f 251 231 266 +f 257 251 266 +f 237 257 266 +f 229 245 268 +f 245 239 268 +f 249 229 268 +f 234 244 269 +f 247 235 270 +f 246 247 270 +f 259 246 270 +f 240 236 271 +f 236 242 271 +f 242 240 271 +f 232 255 272 +f 255 250 272 +f 256 232 272 +f 250 256 272 +f 235 253 273 +f 253 257 273 +f 257 260 273 +f 263 235 273 +f 260 263 273 +f 242 233 274 +f 233 246 274 +f 246 242 274 +f 226 253 275 +f 268 239 275 +f 249 268 275 +f 241 252 276 +f 252 234 276 +f 254 241 276 +f 248 254 276 +f 266 231 277 +f 233 229 278 +f 247 233 278 +f 247 278 279 +f 229 258 279 +f 258 247 279 +f 278 229 279 +f 230 259 280 +f 263 230 280 +f 235 263 280 +f 270 235 280 +f 259 270 280 +f 239 251 281 +f 257 226 281 +f 251 257 281 +f 226 275 281 +f 275 239 281 +f 243 260 282 +f 265 234 282 +f 260 265 282 +f 234 269 282 +f 269 243 282 +f 234 265 283 +f 265 267 283 +f 276 234 283 +f 248 276 283 +f 238 254 284 +f 254 248 284 +f 231 264 284 +f 264 238 284 +f 229 249 285 +f 258 229 285 +f 253 258 285 +f 275 253 285 +f 249 275 285 +f 277 231 286 +f 248 283 286 +f 283 267 286 +f 231 284 286 +f 284 248 286 +f 261 230 287 +f 244 261 287 +f 269 244 287 +f 269 287 288 +f 230 263 288 +f 263 243 288 +f 243 269 288 +f 287 230 288 +f 265 237 289 +f 237 266 289 +f 267 265 289 +f 266 277 289 +f 277 286 289 +o convex_5 +v -1.220147 -0.430789 0.018637 +v -2.322427 -0.430789 -0.084621 +v -2.253480 -0.430789 -0.291352 +v -1.771287 1.188184 0.052948 +v -1.805706 -0.430789 0.569777 +v -1.633502 0.189320 -0.463556 +v -1.358148 0.912597 0.052948 +v -2.150115 0.912597 0.018637 +v -2.184426 0.258415 0.397357 +v -1.736868 0.946986 0.397357 +v -1.805706 0.912597 -0.360191 +v -1.392459 -0.430789 -0.429137 +v -1.392459 0.189320 0.397357 +v -1.392459 0.430360 -0.325771 +v -1.805706 -0.430789 -0.532503 +v -2.150115 0.223709 -0.360191 +v -2.219061 -0.430789 0.431884 +v -1.392459 -0.430789 0.431884 +v -2.287899 0.223709 -0.015782 +v -1.633502 0.878050 -0.360191 +v -2.081168 0.774724 0.294099 +v -1.358148 0.946986 -0.015782 +v -1.771287 0.327035 0.500722 +v -2.322427 -0.396242 0.156314 +v -1.254782 0.189320 -0.015782 +v -1.358148 -0.086266 -0.394718 +v -1.771287 1.188184 -0.050202 +v -2.081168 0.878050 -0.153567 +v -1.461406 0.774724 0.294099 +v -1.771287 0.361582 -0.463556 +v -2.184426 -0.430789 -0.394718 +v -1.805706 0.946986 0.397357 +v -2.115695 0.981375 0.018637 +v -2.287899 0.189320 0.087368 +v -1.909072 0.154932 0.500722 +v -2.184426 -0.361853 0.466303 +v -1.702556 1.188184 0.052948 +v -1.323513 -0.396242 -0.360191 +v -1.254782 0.120384 0.052948 +v -1.323513 -0.396242 0.328518 +v -1.702556 1.188184 -0.050202 +v -1.426878 0.740335 -0.256933 +v -2.012330 0.774724 -0.291352 +v -2.150115 0.878050 -0.050202 +v -1.771287 -0.396242 0.569777 +v -1.736868 -0.361853 -0.532503 +f 304 319 335 +f 290 291 292 +f 291 290 294 +f 290 292 301 +f 301 292 304 +f 291 294 306 +f 294 290 307 +f 292 291 308 +f 305 292 308 +f 297 298 310 +f 302 299 312 +f 291 306 313 +f 306 298 313 +f 308 291 313 +f 311 296 314 +f 303 311 314 +f 301 295 315 +f 295 309 315 +f 309 303 315 +f 303 314 315 +f 316 300 317 +f 296 299 318 +f 302 296 318 +f 299 302 318 +f 305 300 319 +f 304 305 319 +f 309 295 319 +f 300 309 319 +f 304 292 320 +f 292 305 320 +f 305 304 320 +f 299 293 321 +f 310 298 321 +f 312 299 321 +f 297 310 322 +f 293 316 322 +f 316 317 322 +f 321 293 322 +f 310 321 322 +f 298 297 323 +f 297 308 323 +f 313 298 323 +f 308 313 323 +f 294 312 324 +f 321 298 324 +f 312 321 324 +f 306 294 325 +f 298 306 325 +f 294 324 325 +f 324 298 325 +f 293 299 326 +f 299 296 326 +f 296 311 326 +f 316 293 326 +f 290 301 327 +f 314 290 327 +f 301 315 327 +f 315 314 327 +f 296 302 328 +f 290 314 328 +f 314 296 328 +f 307 290 329 +f 302 307 329 +f 290 328 329 +f 328 302 329 +f 309 300 330 +f 311 309 330 +f 300 316 330 +f 326 311 330 +f 316 326 330 +f 303 309 331 +f 311 303 331 +f 309 311 331 +f 300 305 332 +f 305 317 332 +f 317 300 332 +f 308 297 333 +f 305 308 333 +f 317 305 333 +f 297 322 333 +f 322 317 333 +f 294 307 334 +f 307 302 334 +f 312 294 334 +f 302 312 334 +f 295 301 335 +f 301 304 335 +f 319 295 335 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/034/034.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/034/034.urdf new file mode 100644 index 000000000..5fc9cab6f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/034/034.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/035/035.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/035/035.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/035/035.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/035/035.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/035/035.obj new file mode 100644 index 000000000..9814c575a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/035/035.obj @@ -0,0 +1,540 @@ +o convex_0 +v 2.380328 -2.764405 -0.488352 +v 2.763828 -1.645824 -0.264658 +v 2.763828 -1.645824 -0.552296 +v 1.070398 -1.709768 0.310399 +v 3.083674 -2.668489 0.566285 +v 1.070398 -2.764405 -0.488352 +v 1.070398 -2.764405 0.534313 +v 2.955775 -1.709768 0.470259 +v 1.070398 -1.709768 -0.520324 +v 3.019626 -2.732433 -0.552296 +v 1.070398 -1.741849 0.534313 +v 2.955775 -1.645933 -0.552296 +v 1.485823 -2.764405 0.566285 +v 3.083674 -2.476657 0.566285 +v 2.348403 -2.732433 -0.552296 +v 2.156653 -1.645824 -0.552296 +v 3.019626 -2.732433 -0.200714 +v 1.070398 -2.380851 -0.520324 +v 2.252429 -1.709768 0.502231 +v 2.987701 -1.869628 -0.552296 +v 2.987701 -1.741849 0.470259 +v 1.773547 -1.741849 -0.552296 +v 3.083674 -2.636407 0.246565 +v 1.294073 -1.677796 -0.488352 +v 1.230222 -2.732433 0.566285 +v 1.357924 -2.764405 -0.520324 +v 2.955775 -1.645933 -0.200714 +f 21 12 27 +f 6 1 7 +f 4 6 7 +f 6 4 9 +f 4 7 11 +f 3 2 12 +f 10 3 12 +f 7 1 13 +f 13 5 14 +f 3 10 15 +f 2 3 16 +f 4 2 16 +f 3 15 16 +f 1 10 17 +f 10 5 17 +f 13 1 17 +f 5 13 17 +f 6 9 18 +f 4 11 19 +f 11 14 19 +f 14 8 19 +f 10 12 20 +f 14 20 21 +f 8 14 21 +f 20 12 21 +f 9 16 22 +f 16 15 22 +f 18 9 22 +f 15 18 22 +f 5 10 23 +f 14 5 23 +f 10 20 23 +f 20 14 23 +f 9 4 24 +f 4 16 24 +f 16 9 24 +f 11 7 25 +f 7 13 25 +f 14 11 25 +f 13 14 25 +f 1 6 26 +f 10 1 26 +f 15 10 26 +f 6 18 26 +f 18 15 26 +f 2 4 27 +f 12 2 27 +f 4 19 27 +f 19 8 27 +f 8 21 27 +o convex_1 +v 0.079473 2.125391 2.611633 +v -0.208034 1.486202 2.931275 +v -0.176174 1.518174 2.068338 +v 0.303202 1.550146 2.995203 +v 0.207267 2.061448 1.045676 +v -0.304028 2.125391 1.045676 +v 0.175348 1.614090 1.045676 +v -0.176174 2.125391 2.995203 +v 0.239245 2.093420 2.963143 +v -0.176174 1.582181 1.045676 +v -0.208034 2.125391 2.931275 +v 0.271224 1.550146 2.387789 +v -0.304028 2.029476 1.141664 +v -0.208034 1.486202 2.995203 +v -0.176174 1.550146 1.205592 +v 0.239245 2.093420 2.196004 +v -0.304028 2.125391 1.333640 +v -0.176174 2.125391 1.077736 +v 0.207267 1.518174 2.963143 +v -0.208034 1.646062 1.045676 +f 37 42 47 +f 33 32 34 +f 28 33 35 +f 35 31 36 +f 28 35 36 +f 33 34 37 +f 35 33 38 +f 32 31 39 +f 34 32 39 +f 31 35 41 +f 35 38 41 +f 40 29 41 +f 30 29 42 +f 37 34 42 +f 34 39 42 +f 31 32 43 +f 28 36 43 +f 36 31 43 +f 38 33 44 +f 33 40 44 +f 41 38 44 +f 40 41 44 +f 32 33 45 +f 33 28 45 +f 43 32 45 +f 28 43 45 +f 29 30 46 +f 39 31 46 +f 41 29 46 +f 31 41 46 +f 30 42 46 +f 42 39 46 +f 33 37 47 +f 29 40 47 +f 40 33 47 +f 42 29 47 +o convex_2 +v -1.294799 -2.796364 0.406303 +v -1.103014 -1.645824 0.598244 +v -1.103014 -1.869603 0.598244 +v -3.052541 -1.677921 0.470247 +v -1.103014 -1.645824 -0.520228 +v -3.020481 -2.732395 -0.456393 +v -2.924684 -1.645824 -0.520337 +v -1.103014 -2.636442 -0.488256 +v -3.020481 -2.668427 0.470247 +v -1.103014 -2.700411 0.502219 +v -2.892625 -2.604457 0.502328 +v -2.956362 -2.125253 -0.520337 +v -1.902213 -2.700411 -0.488256 +v -3.020481 -1.645824 0.054830 +v -1.103014 -2.796364 0.342468 +v -2.892625 -1.677921 0.502328 +v -1.358918 -2.796364 0.470247 +v -1.326859 -1.645824 0.598244 +v -3.020481 -2.732395 -0.200617 +v -2.956362 -1.645824 -0.488256 +v -3.052541 -2.157238 0.470247 +v -1.262930 -2.668427 -0.488256 +v -2.988422 -2.604457 -0.488256 +v -2.541114 -2.732395 -0.456393 +v -3.020481 -1.645824 0.246552 +f 51 65 72 +f 49 50 52 +f 49 52 54 +f 52 50 55 +f 55 50 57 +f 57 50 58 +f 54 52 59 +f 52 55 59 +f 53 51 61 +f 49 54 61 +f 48 53 62 +f 55 57 62 +f 51 58 63 +f 53 48 64 +f 58 56 64 +f 57 58 64 +f 48 62 64 +f 62 57 64 +f 50 49 65 +f 58 50 65 +f 49 61 65 +f 51 63 65 +f 63 58 65 +f 53 64 66 +f 64 56 66 +f 54 59 67 +f 59 53 67 +f 53 61 67 +f 61 54 67 +f 51 53 68 +f 56 58 68 +f 58 51 68 +f 53 66 68 +f 66 56 68 +f 59 55 69 +f 60 59 69 +f 55 62 69 +f 62 60 69 +f 53 59 70 +f 59 60 70 +f 60 53 70 +f 53 60 71 +f 62 53 71 +f 60 62 71 +f 61 51 72 +f 65 61 72 +o convex_3 +v 1.038095 -0.782919 -0.839669 +v -1.103014 -3.211578 -0.999685 +v -1.103014 -3.211578 -0.392243 +v 1.070216 -3.307716 0.949623 +v -1.070892 -0.783166 1.045632 +v -1.038983 -0.783166 -1.031688 +v 0.942367 -3.307716 -0.935472 +v 1.006185 -0.782919 1.045632 +v -1.070892 -3.115687 1.077636 +v 0.718577 -0.782919 -0.999685 +v 0.878336 -3.275340 1.077636 +v 1.070216 -2.795886 -0.520049 +v -1.070892 -0.943066 1.077636 +v 1.070216 -0.782919 -0.520049 +v -1.103014 -1.646184 -0.520049 +v 0.622636 -3.307716 -0.967475 +v 0.846426 -3.307716 1.045426 +v -1.103014 -1.646184 0.598206 +v -0.974952 -3.243459 -0.999685 +v 1.006185 -1.518165 -0.967682 +v 1.038095 -1.262373 1.045632 +v -0.751374 -1.230492 -1.031688 +v -1.070892 -3.147568 0.949623 +v 0.974276 -2.795886 -0.967475 +v 1.070216 -3.179696 1.045632 +v 1.070216 -1.741827 0.534200 +v -1.103014 -2.796133 0.470193 +v -0.527584 -3.179696 -0.999685 +v -1.070892 -1.326383 -1.031688 +v 1.006185 -0.782919 -0.967682 +v 0.974276 -3.275340 -0.871672 +v -1.103014 -2.444698 -0.999685 +v 0.462878 -3.275340 1.077636 +f 81 95 105 +f 78 77 82 +f 80 73 82 +f 77 80 82 +f 80 77 85 +f 83 80 85 +f 81 83 85 +f 73 80 86 +f 84 73 86 +f 76 84 86 +f 74 75 87 +f 77 78 87 +f 79 76 88 +f 76 83 89 +f 88 76 89 +f 85 77 90 +f 81 85 90 +f 87 75 90 +f 77 87 90 +f 75 74 91 +f 89 75 91 +f 88 89 91 +f 73 84 92 +f 80 83 93 +f 86 80 93 +f 78 82 94 +f 81 75 95 +f 79 88 96 +f 82 92 96 +f 92 84 96 +f 94 82 96 +f 83 76 97 +f 76 86 97 +f 93 83 97 +f 93 97 98 +f 86 93 98 +f 97 86 98 +f 75 81 99 +f 90 75 99 +f 81 90 99 +f 88 91 100 +f 96 88 100 +f 94 96 100 +f 87 78 101 +f 91 74 101 +f 78 94 101 +f 100 91 101 +f 94 100 101 +f 82 73 102 +f 73 92 102 +f 92 82 102 +f 76 79 103 +f 84 76 103 +f 79 96 103 +f 96 84 103 +f 74 87 104 +f 101 74 104 +f 87 101 104 +f 83 81 105 +f 75 89 105 +f 89 83 105 +f 95 75 105 +o convex_4 +v -0.208099 2.029441 -1.063842 +v 0.239258 1.486202 -3.012940 +v 0.303202 1.486202 -3.012940 +v -0.272043 2.157351 -2.980940 +v -0.335987 1.582118 -1.063842 +v 0.239258 2.061435 -1.063842 +v 0.303202 1.486202 -1.063842 +v 0.303202 2.029441 -2.948940 +v -0.240071 1.582118 -3.045134 +v -0.335987 2.157351 -2.725327 +v -0.304015 1.997447 -1.063842 +v -0.272043 1.550125 -1.159842 +v -0.335987 2.061435 -2.980940 +v 0.271230 2.061435 -1.543262 +v 0.111433 1.486202 -1.063842 +v -0.272043 1.582118 -2.853133 +v -0.208099 2.157351 -2.948940 +v -0.080274 1.646106 -3.045134 +v 0.239258 2.061435 -2.948940 +v 0.303202 2.029441 -2.341713 +v 0.047489 2.061435 -1.063842 +f 111 115 126 +f 106 110 111 +f 111 110 112 +f 107 108 112 +f 112 108 113 +f 108 107 114 +f 110 106 116 +f 115 110 116 +f 106 115 116 +f 109 114 118 +f 110 115 118 +f 115 109 118 +f 111 112 119 +f 112 110 120 +f 107 112 120 +f 110 117 120 +f 117 107 120 +f 114 107 121 +f 117 110 121 +f 107 117 121 +f 118 114 121 +f 110 118 121 +f 109 115 122 +f 115 111 122 +f 111 119 122 +f 113 108 123 +f 109 113 123 +f 108 114 123 +f 114 109 123 +f 113 109 124 +f 119 113 124 +f 109 122 124 +f 122 119 124 +f 112 113 125 +f 119 112 125 +f 113 119 125 +f 106 111 126 +f 115 106 126 +o convex_5 +v 0.558797 2.892418 -0.200592 +v -1.070829 -0.782559 1.013673 +v -1.038970 -0.782559 -1.031644 +v 1.070007 -0.782559 -0.520212 +v -0.943184 2.763983 -1.063648 +v 0.942362 2.828381 1.045470 +v -1.070829 2.828021 1.013673 +v 1.070007 2.828021 -1.031644 +v 1.006289 -0.782559 1.045470 +v 1.006289 -0.782559 -0.967431 +v -1.070829 -0.782559 1.045676 +v 0.303087 1.485746 -1.063648 +v -0.559619 2.892418 -0.584218 +v 1.070007 2.828021 -0.552009 +v -0.399905 2.892418 0.502240 +v -1.070829 1.741537 1.045676 +v 0.974220 2.572229 1.045470 +v 0.750579 -0.750900 -0.999435 +v -0.975043 1.965310 -1.063648 +v 1.006289 0.655773 1.045470 +v -1.038970 -0.239317 -1.031644 +v 1.038148 0.048493 -0.999435 +v 0.463010 2.892418 0.566041 +v -0.208123 2.828381 1.045676 +v -0.144196 2.796362 -1.063648 +v -0.655406 -0.782919 -1.031644 +v -0.975043 1.293992 -1.063648 +v -1.007112 2.796002 -0.136792 +v 1.070007 -0.686502 -0.680022 +v 0.558797 2.892418 -0.520212 +v 1.070007 2.348457 -1.031644 +v 1.070007 1.773556 -0.488209 +v 0.974220 2.828021 0.981463 +v 0.303087 2.348817 -1.063648 +v 1.006289 -0.271336 -0.999435 +v -1.070829 2.828021 0.981670 +f 154 147 162 +f 133 128 137 +f 130 134 140 +f 134 127 140 +f 127 139 141 +f 139 133 141 +f 133 137 142 +f 131 138 145 +f 145 129 147 +f 127 141 149 +f 141 133 149 +f 137 135 150 +f 133 142 150 +f 142 137 150 +f 143 132 150 +f 135 146 150 +f 146 143 150 +f 132 149 150 +f 149 133 150 +f 138 131 151 +f 131 139 151 +f 139 134 151 +f 128 129 152 +f 130 135 152 +f 136 130 152 +f 137 128 152 +f 135 137 152 +f 144 136 152 +f 138 144 152 +f 129 145 153 +f 145 138 153 +f 152 129 153 +f 138 152 153 +f 139 131 154 +f 131 145 154 +f 145 147 154 +f 134 130 155 +f 130 136 155 +f 136 148 155 +f 127 134 156 +f 139 127 156 +f 134 139 156 +f 138 134 157 +f 134 155 157 +f 155 148 157 +f 135 130 158 +f 130 140 158 +f 146 135 158 +f 140 146 158 +f 140 127 159 +f 132 143 159 +f 146 140 159 +f 143 146 159 +f 127 149 159 +f 149 132 159 +f 134 138 160 +f 138 151 160 +f 151 134 160 +f 136 144 161 +f 144 138 161 +f 148 136 161 +f 138 157 161 +f 157 148 161 +f 129 128 162 +f 128 133 162 +f 133 139 162 +f 147 129 162 +f 139 154 162 +o convex_6 +v -0.527607 3.436086 -0.616215 +v 0.590825 4.873905 0.630203 +v 0.590825 4.873905 0.470253 +v 0.558841 2.892418 -0.200539 +v -0.431767 2.892418 0.438287 +v -0.559703 4.745698 -0.616215 +v 0.526856 4.713889 -0.552284 +v -0.495622 4.809898 0.502219 +v 0.462888 2.892418 0.566150 +v -0.559703 2.892418 -0.584128 +v 0.558841 2.892418 -0.520196 +v 0.590825 3.180060 -0.360490 +v -0.559703 4.777895 -0.552162 +v -0.559703 2.892418 -0.424299 +v 0.590825 4.426441 0.598116 +v 0.367048 2.892418 0.566150 +v 0.558841 4.777895 -0.264592 +v 0.335064 2.892418 -0.552162 +v 0.175256 4.745698 -0.584128 +v -0.559703 4.777895 -0.296436 +v -0.463751 3.659527 0.470253 +v 0.303080 4.873905 0.598238 +v 0.526856 3.819543 -0.552284 +v 0.590825 4.841708 0.214649 +v -0.335814 4.586070 -0.616215 +f 181 185 187 +f 167 166 171 +f 166 167 172 +f 168 163 172 +f 166 172 173 +f 165 164 174 +f 166 173 174 +f 173 169 174 +f 168 172 175 +f 175 172 176 +f 172 167 176 +f 164 171 177 +f 171 166 177 +f 174 164 177 +f 166 174 177 +f 171 164 178 +f 167 171 178 +f 174 169 179 +f 172 163 180 +f 173 172 180 +f 168 175 181 +f 179 169 181 +f 175 179 181 +f 170 175 182 +f 175 176 182 +f 176 170 182 +f 176 167 183 +f 170 176 183 +f 178 170 183 +f 167 178 183 +f 164 165 184 +f 165 175 184 +f 175 170 184 +f 178 164 184 +f 170 178 184 +f 169 173 185 +f 180 163 185 +f 173 180 185 +f 181 169 185 +f 165 174 186 +f 175 165 186 +f 174 179 186 +f 179 175 186 +f 163 168 187 +f 168 181 187 +f 185 163 187 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/035/035.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/035/035.urdf new file mode 100644 index 000000000..ec966ec6a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/035/035.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/036/036.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/036/036.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/036/036.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/036/036.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/036/036.obj new file mode 100644 index 000000000..9288ad4ac --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/036/036.obj @@ -0,0 +1,672 @@ +o convex_0 +v -0.611977 2.560527 -0.602703 +v 1.000144 1.351589 -0.013622 +v 0.845087 1.289723 0.792227 +v -0.891119 1.258621 -0.726393 +v -0.767034 1.320657 0.978384 +v 0.007857 2.746465 0.730507 +v 0.782946 2.126615 -0.850580 +v 0.751974 2.839604 -0.075342 +v 0.039027 1.258621 -1.284863 +v -0.798006 2.746465 -0.013622 +v 0.039027 2.746465 -0.819720 +v 0.069999 1.258621 1.257619 +v 0.845087 1.258451 -1.005628 +v 0.751974 2.498491 0.544101 +v 1.000144 2.374589 -0.323468 +v -1.015204 2.002713 -0.044482 +v -0.053889 2.994779 -0.075591 +v -0.767034 2.033816 -0.788611 +v -0.767034 2.002713 0.761367 +v -0.984035 1.258621 0.110068 +v -0.084861 2.715702 0.761367 +v -0.798006 1.320657 -0.943410 +v 0.814115 1.258451 0.885305 +v 0.565945 2.622393 -0.633563 +v -0.053889 2.746465 -0.819720 +v -0.611977 2.498491 0.575459 +v -0.860147 1.258621 0.761367 +v -0.022917 1.289723 -1.284863 +v 0.690030 2.467558 0.606319 +v -0.022917 1.475662 1.195400 +v 1.000144 1.258451 -0.075342 +v -0.798006 2.746465 -0.075342 +v -0.053889 2.994779 0.017238 +v -1.015204 1.971780 0.048098 +v 0.007857 2.653666 0.792476 +v 1.000144 2.343486 -0.385438 +v 0.751974 2.839604 -0.137312 +v 0.721002 2.126615 -0.881440 +v 0.069999 1.289723 1.257619 +v 0.814115 1.289723 -1.036737 +v 0.658861 2.560527 0.575459 +v -0.767034 1.847708 0.823336 +v 0.039027 1.289723 -1.284863 +v -0.022917 2.808501 -0.695533 +v -0.798006 2.033816 -0.726393 +v -0.984035 1.258621 -0.075342 +v -0.828978 1.258621 -0.912549 +v -0.798006 1.258621 0.947523 +v 1.000144 2.281450 -0.261499 +v 0.782946 1.351589 0.885305 +v 0.782946 1.940677 -0.912549 +v -0.828978 2.684599 -0.013622 +v -0.394975 2.622563 0.637179 +v 0.721002 2.250517 -0.819471 +v 0.039027 2.033816 1.009493 +v 0.007857 2.994779 -0.075591 +v -0.115833 2.746465 -0.788611 +v -0.053889 2.746465 0.730507 +v 0.162914 2.963506 -0.013622 +v -0.891119 1.413625 0.637179 +v 0.782946 2.715532 0.079207 +v 0.658861 2.560527 -0.602703 +v -0.271088 1.289723 1.164540 +v -0.673920 2.591460 0.389302 +f 26 53 64 +f 3 14 23 +f 20 23 27 +f 22 18 28 +f 25 11 28 +f 18 25 28 +f 2 3 31 +f 15 2 31 +f 3 23 31 +f 23 13 31 +f 10 17 32 +f 1 18 32 +f 17 10 33 +f 6 21 35 +f 15 31 36 +f 31 13 36 +f 8 15 37 +f 24 11 37 +f 15 36 37 +f 12 23 39 +f 13 9 40 +f 8 6 41 +f 14 8 41 +f 29 14 41 +f 6 35 41 +f 35 29 41 +f 21 19 42 +f 30 21 42 +f 9 28 43 +f 28 11 43 +f 11 38 43 +f 40 9 43 +f 11 25 44 +f 32 17 44 +f 37 11 44 +f 4 16 45 +f 16 32 45 +f 32 18 45 +f 4 13 46 +f 16 4 46 +f 13 23 46 +f 23 20 46 +f 34 16 46 +f 20 34 46 +f 13 4 47 +f 9 13 47 +f 18 22 47 +f 28 9 47 +f 22 28 47 +f 4 45 47 +f 45 18 47 +f 23 12 48 +f 27 23 48 +f 5 42 48 +f 3 2 49 +f 14 3 49 +f 2 15 49 +f 15 14 49 +f 23 14 50 +f 14 29 50 +f 39 23 50 +f 29 39 50 +f 7 36 51 +f 36 13 51 +f 38 7 51 +f 13 40 51 +f 43 38 51 +f 40 43 51 +f 10 32 52 +f 32 16 52 +f 16 34 52 +f 34 19 52 +f 21 10 53 +f 19 21 53 +f 26 19 53 +f 11 24 54 +f 36 7 54 +f 7 38 54 +f 38 11 54 +f 21 30 55 +f 35 21 55 +f 29 35 55 +f 39 29 55 +f 30 39 55 +f 17 33 56 +f 44 17 56 +f 37 44 56 +f 18 1 57 +f 25 18 57 +f 1 32 57 +f 44 25 57 +f 32 44 57 +f 21 6 58 +f 10 21 58 +f 6 33 58 +f 33 10 58 +f 6 8 59 +f 33 6 59 +f 8 37 59 +f 56 33 59 +f 37 56 59 +f 20 27 60 +f 19 34 60 +f 34 20 60 +f 42 19 60 +f 27 48 60 +f 48 42 60 +f 8 14 61 +f 15 8 61 +f 14 15 61 +f 24 37 62 +f 37 36 62 +f 54 24 62 +f 36 54 62 +f 12 39 63 +f 39 30 63 +f 42 5 63 +f 30 42 63 +f 5 48 63 +f 48 12 63 +f 19 26 64 +f 10 52 64 +f 52 19 64 +f 53 10 64 +o convex_1 +v -1.015204 -1.997257 -0.044573 +v 1.031183 -2.244988 0.389230 +v 0.969087 -1.625314 0.730112 +v 0.038838 -1.253025 -1.408886 +v -0.767017 -1.253198 1.009395 +v -0.053907 -3.020359 0.079147 +v -0.022858 -2.772109 0.823294 +v 0.038838 -2.772109 -0.757660 +v 0.814045 -1.253198 -0.943762 +v -0.829114 -1.253198 -1.005622 +v 0.906990 -1.253198 0.978335 +v 0.721100 -2.617104 -0.571558 +v -0.798066 -2.710176 -0.013774 +v 0.721100 -2.927287 0.110207 +v 0.069886 -1.377236 1.257619 +v 0.814045 -2.152088 0.854354 +v -0.767017 -2.090502 -0.757399 +v -0.767017 -1.966463 0.823294 +v 1.031183 -1.253198 -0.044834 +v -0.984156 -1.253198 0.172067 +v 1.031183 -2.431132 0.265249 +v -0.115803 -2.772109 -0.757660 +v -0.611976 -2.555171 0.575332 +v 0.596907 -2.648070 0.637453 +v -1.015204 -1.966463 0.110207 +v -0.611976 -2.555171 -0.571297 +v -0.053907 -1.284337 1.257619 +v -0.767017 -2.710176 0.141007 +v 0.007990 -1.284337 -1.408886 +v -0.053907 -3.020359 -0.044834 +v 0.721100 -2.585964 -0.602357 +v -0.891011 -1.315130 0.730373 +v -0.984156 -1.284164 -0.199354 +v 0.038838 -2.772109 0.823294 +v 0.721100 -2.927287 0.048086 +v 1.000135 -2.431132 0.389230 +v 1.031183 -1.966290 0.048086 +v 0.782997 -2.554998 -0.478376 +v -0.798066 -1.904357 -0.819520 +v 0.038838 -1.284337 -1.408886 +v 0.131983 -1.253025 1.257619 +v 0.875942 -1.594347 0.947536 +v -0.891011 -1.284164 -0.819520 +v 0.814045 -2.834215 0.141268 +v 0.814045 -1.284337 -0.943762 +v -0.704921 -2.772109 0.079147 +v -0.798066 -1.377063 0.978335 +v -0.487983 -2.586137 0.668252 +v -0.084955 -2.740969 -0.788720 +v 0.751948 -2.121295 0.885415 +v -1.015204 -1.439169 0.048086 +v -0.859962 -2.524031 0.079147 +v -0.022858 -2.865181 -0.540497 +v 0.782997 -2.865181 0.017287 +v -0.611976 -2.803248 -0.013774 +v -0.798066 -2.028396 -0.757399 +v 0.845093 -1.284337 -0.850580 +v 0.038838 -3.020359 0.079147 +v 0.131983 -1.315303 1.257619 +v 1.031183 -2.338060 0.389230 +v 1.031183 -1.253198 0.017287 +v 0.007990 -1.470135 1.226558 +v -0.767017 -2.028396 -0.788459 +v -0.767017 -1.873218 0.854354 +f 126 91 128 +f 73 68 83 +f 68 74 84 +f 83 66 85 +f 77 81 90 +f 86 77 90 +f 81 86 90 +f 87 82 92 +f 74 68 93 +f 76 72 95 +f 69 84 96 +f 84 74 97 +f 71 70 98 +f 79 71 98 +f 78 88 98 +f 88 80 98 +f 72 76 99 +f 80 88 100 +f 83 85 101 +f 101 85 102 +f 76 95 102 +f 74 93 103 +f 68 73 104 +f 93 68 104 +f 95 72 104 +f 83 68 105 +f 84 69 105 +f 68 84 105 +f 69 91 105 +f 91 79 105 +f 65 97 107 +f 97 74 107 +f 74 103 107 +f 88 78 108 +f 78 99 108 +f 85 100 108 +f 100 88 108 +f 102 95 109 +f 104 73 109 +f 95 104 109 +f 70 71 110 +f 71 92 110 +f 92 77 110 +f 94 70 110 +f 89 82 111 +f 91 69 111 +f 69 96 111 +f 96 89 111 +f 71 82 112 +f 82 87 112 +f 92 71 112 +f 87 92 112 +f 72 86 113 +f 93 104 113 +f 104 72 113 +f 79 98 114 +f 98 80 114 +f 80 106 114 +f 65 89 115 +f 96 84 115 +f 89 96 115 +f 97 65 115 +f 84 97 115 +f 65 77 116 +f 89 65 116 +f 82 89 116 +f 77 92 116 +f 92 82 116 +f 86 72 117 +f 94 86 117 +f 72 99 117 +f 99 94 117 +f 99 76 118 +f 102 85 118 +f 76 102 118 +f 108 99 118 +f 85 108 118 +f 77 86 119 +f 86 94 119 +f 110 77 119 +f 94 110 119 +f 77 65 120 +f 81 77 120 +f 103 81 120 +f 65 107 120 +f 107 103 120 +f 73 83 121 +f 83 101 121 +f 101 102 121 +f 109 73 121 +f 102 109 121 +f 70 94 122 +f 98 70 122 +f 78 98 122 +f 99 78 122 +f 94 99 122 +f 75 105 123 +f 105 79 123 +f 106 75 123 +f 79 114 123 +f 114 106 123 +f 66 67 124 +f 67 75 124 +f 85 66 124 +f 80 100 124 +f 100 85 124 +f 75 106 124 +f 106 80 124 +f 67 66 125 +f 75 67 125 +f 66 83 125 +f 105 75 125 +f 83 105 125 +f 71 79 126 +f 79 91 126 +f 86 81 127 +f 81 103 127 +f 103 93 127 +f 113 86 127 +f 93 113 127 +f 82 71 128 +f 111 82 128 +f 91 111 128 +f 71 126 128 +o convex_2 +v 0.069860 0.979398 2.156078 +v 0.008113 -1.253025 -1.501312 +v 0.038888 -1.253025 -1.501312 +v 0.069860 0.824247 -2.772316 +v -0.984183 0.048930 -2.059299 +v -0.705038 -0.756761 2.125309 +v 1.031183 -1.253025 0.017029 +v 1.031183 0.048930 1.970280 +v -0.953013 0.979398 0.202827 +v 1.000014 0.979398 -0.168178 +v 0.813983 -0.044160 -2.772316 +v -0.984183 -1.253025 0.172058 +v 0.038888 -0.756761 2.776196 +v -0.736010 0.017900 2.776788 +v 0.038888 -0.787791 -2.803085 +v 0.596980 0.607255 2.528267 +v 0.907097 -1.253025 0.977974 +v -0.860097 -1.253025 -0.943325 +v -0.736010 0.079961 -2.803677 +v -0.829124 0.979398 -1.160484 +v 0.813983 0.979398 -1.532673 +v 1.031183 0.017900 -2.059299 +v 0.813983 -0.818821 -2.059891 +v 0.752038 -0.013130 2.744835 +v -0.953013 -0.044160 2.093948 +v -0.705038 0.762187 2.032410 +v -0.797955 -1.253025 1.009335 +v 0.008113 0.762187 2.744835 +v 0.100832 0.079961 -3.051605 +v 0.783011 0.793217 2.001049 +v 0.069860 0.017900 2.993355 +v -0.736010 -0.756761 -2.090660 +v -0.736010 0.793217 -2.059299 +v 0.813983 -1.253025 -0.942733 +v -0.022860 0.979398 -2.307228 +v 0.069860 -1.253025 1.318802 +v 0.566008 -0.570798 2.559036 +v 0.627952 0.638285 -2.524387 +v 0.876125 0.979398 0.947205 +v -0.797955 0.979398 1.133003 +v -0.984183 0.017900 -0.323207 +v -0.519007 0.638285 -2.617878 +v 0.627952 -0.601829 -2.617286 +v -0.549980 -0.508738 -2.648647 +v -0.488035 -0.601829 2.621758 +v -0.457063 0.607255 2.590397 +v 0.783011 -0.756761 1.970280 +v 0.813983 0.048930 -2.772316 +v 0.783011 0.793217 -2.028530 +v 0.100832 -0.787791 -2.803085 +v -0.953013 0.048930 2.063179 +v -0.984183 -1.253025 -0.168178 +v -0.022860 -0.756761 2.776196 +v -0.022860 0.824247 -2.772316 +v -0.022860 0.017900 -3.051605 +v -0.860097 -1.253025 0.854306 +v 1.000014 -0.198655 -2.028530 +v 0.752038 0.110991 2.714657 +v -0.984183 -0.013130 -2.059299 +v -0.953013 0.979398 -0.168178 +v -0.053832 0.017900 2.993355 +v -0.705038 -0.044160 -2.803677 +v -0.736010 -0.044160 2.776788 +v -0.177918 0.979398 1.969688 +f 168 154 192 +f 130 131 135 +f 137 129 138 +f 130 135 140 +f 131 130 143 +f 135 136 145 +f 140 135 145 +f 130 140 146 +f 143 130 146 +f 137 138 148 +f 148 138 149 +f 136 135 150 +f 138 136 150 +f 149 138 150 +f 140 145 155 +f 129 156 158 +f 156 144 158 +f 141 152 159 +f 143 146 160 +f 147 133 161 +f 133 148 161 +f 135 131 162 +f 151 135 162 +f 148 149 163 +f 149 132 163 +f 161 148 163 +f 145 141 164 +f 155 145 164 +f 141 145 165 +f 152 141 165 +f 136 138 167 +f 138 129 167 +f 158 136 167 +f 129 158 167 +f 129 137 168 +f 137 133 169 +f 133 140 169 +f 147 161 170 +f 139 151 171 +f 143 160 172 +f 154 142 174 +f 142 156 174 +f 156 154 174 +f 145 136 175 +f 136 152 175 +f 165 145 175 +f 152 165 175 +f 150 139 176 +f 157 132 176 +f 139 157 176 +f 132 166 176 +f 176 166 177 +f 132 149 177 +f 149 150 177 +f 166 132 177 +f 150 176 177 +f 131 143 178 +f 157 139 178 +f 162 131 178 +f 151 162 178 +f 139 171 178 +f 171 151 178 +f 140 153 179 +f 153 142 179 +f 142 154 179 +f 168 137 179 +f 154 168 179 +f 137 169 179 +f 169 140 179 +f 140 133 180 +f 146 140 180 +f 134 155 181 +f 141 159 181 +f 164 141 181 +f 155 164 181 +f 173 134 181 +f 132 157 182 +f 163 132 182 +f 161 163 182 +f 147 170 182 +f 170 161 182 +f 178 143 183 +f 157 178 183 +f 182 157 183 +f 147 182 183 +f 153 140 184 +f 134 153 184 +f 155 134 184 +f 140 155 184 +f 139 150 185 +f 150 135 185 +f 135 151 185 +f 151 139 185 +f 152 136 186 +f 144 156 186 +f 136 158 186 +f 158 144 186 +f 159 152 186 +f 156 159 186 +f 133 147 187 +f 160 146 187 +f 180 133 187 +f 146 180 187 +f 133 137 188 +f 148 133 188 +f 137 148 188 +f 156 142 189 +f 159 156 189 +f 181 159 189 +f 143 172 190 +f 172 160 190 +f 183 143 190 +f 147 183 190 +f 187 147 190 +f 160 187 190 +f 153 134 191 +f 142 153 191 +f 134 173 191 +f 173 181 191 +f 189 142 191 +f 181 189 191 +f 156 129 192 +f 154 156 192 +f 129 168 192 +o convex_3 +v -0.984198 1.072452 -0.013646 +v 1.000177 1.010452 0.078916 +v 0.969099 1.010452 0.296291 +v 1.000177 1.258451 -0.014065 +v 0.038874 0.979452 -2.215039 +v 0.007990 0.979452 2.063771 +v -0.984198 1.258451 -0.044640 +v 0.007990 1.258451 1.350496 +v 0.069759 1.258451 -1.377789 +v -0.828999 0.979452 -1.067433 +v 0.813899 0.979452 -1.470770 +v -0.828999 1.258451 -0.943458 +v -0.798114 1.258451 0.978153 +v -0.798114 0.979452 1.040559 +v 0.813899 1.258451 0.885172 +v 0.844978 1.258451 -1.005445 +v 0.876057 0.979452 0.916165 +v 0.007990 1.010452 -2.215039 +v 0.069759 1.010452 2.063771 +v -0.952925 0.979452 0.234303 +v 1.000177 0.979452 -0.137202 +v -0.208979 1.010452 -1.997664 +v 0.721052 1.010452 -1.594326 +v -0.860078 1.258451 0.792191 +v -0.022895 1.227396 -1.501764 +v 0.844978 1.165396 0.916165 +v -0.115937 1.010452 1.939377 +v 0.162995 1.010452 1.970371 +v 0.038874 1.010452 -2.215039 +v 0.007990 1.010452 2.063771 +v 0.844978 1.010452 -1.315383 +v -0.890962 1.258451 -0.726502 +v -0.984198 1.010452 0.048341 +v 1.000177 1.258451 -0.075634 +v -0.798114 1.072452 1.040559 +v -0.984198 1.258451 0.079335 +f 225 212 228 +f 195 194 196 +f 196 199 200 +f 199 196 201 +f 197 198 202 +f 198 197 203 +f 199 201 204 +f 200 199 205 +f 202 198 206 +f 196 200 207 +f 201 196 208 +f 194 195 209 +f 195 196 209 +f 198 203 209 +f 207 200 211 +f 202 206 212 +f 196 194 213 +f 194 209 213 +f 209 203 213 +f 197 202 214 +f 202 204 214 +f 210 197 214 +f 204 210 214 +f 203 197 215 +f 208 203 215 +f 205 199 216 +f 212 206 216 +f 204 201 217 +f 210 204 217 +f 196 207 218 +f 209 196 218 +f 206 198 219 +f 198 209 220 +f 211 198 220 +f 207 211 220 +f 218 207 220 +f 209 218 220 +f 201 208 221 +f 197 210 221 +f 215 197 221 +f 208 215 221 +f 217 201 221 +f 210 217 221 +f 200 205 222 +f 198 211 222 +f 211 200 222 +f 219 198 222 +f 205 219 222 +f 203 208 223 +f 213 203 223 +f 193 199 224 +f 202 193 224 +f 199 204 224 +f 204 202 224 +f 199 193 225 +f 193 202 225 +f 202 212 225 +f 208 196 226 +f 196 213 226 +f 223 208 226 +f 213 223 226 +f 205 216 227 +f 216 206 227 +f 206 219 227 +f 219 205 227 +f 216 199 228 +f 212 216 228 +f 199 225 228 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/036/036.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/036/036.urdf new file mode 100644 index 000000000..c328b0344 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/036/036.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/037/037.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/037/037.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/037/037.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/037/037.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/037/037.obj new file mode 100644 index 000000000..e9a77773e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/037/037.obj @@ -0,0 +1,1821 @@ +o convex_0 +v -2.996899 -0.040836 -0.291046 +v -1.099531 0.476745 -0.252733 +v -1.099531 0.457493 -0.233567 +v -1.099531 -0.040836 -0.329397 +v -3.073621 0.476745 -0.291046 +v -3.016031 -0.040836 -0.233567 +v -1.099531 0.476745 -0.310212 +v -3.073621 0.457493 -0.233567 +v -1.099531 -0.040836 -0.310212 +v -1.674655 -0.021635 -0.329397 +v -1.118856 0.265781 -0.329397 +v -2.901045 -0.040836 -0.310212 +f 5 11 12 +f 2 3 4 +f 1 4 6 +f 5 1 6 +f 2 4 7 +f 5 2 7 +f 3 2 8 +f 2 5 8 +f 6 3 8 +f 5 6 8 +f 4 3 9 +f 3 6 9 +f 6 4 9 +f 7 4 11 +f 5 7 11 +f 4 10 11 +f 11 10 12 +f 4 1 12 +f 1 5 12 +f 10 4 12 +o convex_1 +v -2.191819 -0.673413 0.590747 +v -1.559642 -0.615966 -0.367736 +v -1.559642 -0.596800 -0.367736 +v -2.920268 -0.596800 -0.310130 +v -1.099529 -0.558417 0.590747 +v -3.054627 -0.558417 0.571514 +v -3.054627 -0.730928 0.494768 +v -1.214557 -0.654264 -0.252523 +v -2.958739 -0.558417 -0.118452 +v -1.099529 -0.596800 -0.367736 +v -1.099529 -0.596817 0.513720 +v -2.920268 -0.615966 -0.310130 +v -2.939599 -0.730928 0.571514 +v -1.099529 -0.635098 -0.367736 +v -1.099529 -0.558417 0.475628 +f 22 21 27 +f 15 14 16 +f 13 17 18 +f 15 16 21 +f 18 17 21 +f 19 18 21 +f 14 15 22 +f 15 21 22 +f 17 13 23 +f 22 17 23 +f 16 14 24 +f 20 19 24 +f 21 16 24 +f 19 21 24 +f 13 18 25 +f 18 19 25 +f 19 20 25 +f 23 13 25 +f 20 23 25 +f 14 22 26 +f 23 20 26 +f 22 23 26 +f 24 14 26 +f 20 24 26 +f 21 17 27 +f 17 22 27 +o convex_2 +v -3.054325 -0.558337 0.552412 +v -1.099338 0.285048 0.648251 +v -1.099338 -0.002548 0.648251 +v -2.977772 0.150819 0.629066 +v -3.016048 -0.040911 0.552412 +v -1.099338 -0.577386 0.590762 +v -1.713106 -0.615926 0.609919 +v -1.099338 0.285048 0.629066 +v -2.977772 0.285048 0.609919 +v -3.054325 -0.443334 0.590753 +v -1.138189 -0.481609 0.629076 +v -1.118859 0.035816 0.609919 +v -2.057980 0.285048 0.648251 +v -2.555961 -0.558337 0.552412 +v -1.099338 -0.462472 0.590762 +v -1.962480 0.285048 0.609919 +f 36 35 43 +f 29 30 33 +f 29 33 35 +f 29 35 36 +f 32 28 37 +f 28 34 37 +f 34 31 37 +f 31 36 37 +f 36 32 37 +f 33 30 38 +f 34 33 38 +f 31 34 38 +f 32 35 39 +f 30 29 40 +f 29 36 40 +f 36 31 40 +f 38 30 40 +f 31 38 40 +f 28 32 41 +f 34 28 41 +f 33 34 41 +f 35 33 42 +f 32 39 42 +f 39 35 42 +f 41 32 42 +f 33 41 42 +f 35 32 43 +f 32 36 43 +o convex_3 +v -3.054620 0.093368 -0.175895 +v -2.977975 0.304111 0.628995 +v -2.977975 0.323307 0.552220 +v -2.882136 -0.596654 -0.310135 +v -3.054601 -0.558365 0.552404 +v -2.977975 0.457472 -0.233545 +v -3.073795 0.457472 -0.233545 +v -2.882136 -0.040900 -0.310135 +v -3.035444 0.304111 0.628995 +v -2.939662 -0.558262 -0.290919 +v -2.977975 -0.040900 0.609778 +v -3.054601 -0.558365 0.360514 +v -3.035444 -0.558365 0.552404 +v -3.073795 -0.079189 0.111618 +v -2.997113 -0.136673 -0.310135 +v -3.054620 0.361595 0.360606 +f 57 48 59 +f 46 45 51 +f 45 47 51 +f 49 46 51 +f 50 49 51 +f 45 46 52 +f 47 45 54 +f 45 52 54 +f 52 48 54 +f 47 48 55 +f 44 53 55 +f 53 47 55 +f 48 47 56 +f 47 54 56 +f 54 48 56 +f 50 44 57 +f 55 48 57 +f 44 55 57 +f 44 50 58 +f 51 47 58 +f 50 51 58 +f 53 44 58 +f 47 53 58 +f 46 49 59 +f 49 50 59 +f 52 46 59 +f 48 52 59 +f 50 57 59 +o convex_4 +v -0.965156 -0.941691 -0.770254 +v -0.926824 0.016470 -0.501924 +v -0.926824 0.016470 -0.751114 +v -1.003476 -0.309367 -0.923653 +v -1.003476 -1.018388 -0.501924 +v -0.926824 -0.749998 -0.501924 +v -1.003476 -1.018388 -0.981166 +v -0.965156 0.016470 -0.981166 +v -0.945995 0.016470 -0.501924 +v -1.022659 -0.864993 -0.981166 +v -0.984305 -0.903291 -0.981166 +v -0.984305 0.016470 -0.866140 +v -0.907664 -0.270968 -0.521110 +f 70 62 72 +f 61 64 65 +f 64 60 65 +f 60 64 66 +f 61 62 67 +f 64 61 68 +f 61 67 68 +f 64 63 69 +f 66 64 69 +f 63 67 69 +f 67 66 69 +f 65 60 70 +f 60 66 70 +f 67 62 70 +f 66 67 70 +f 63 64 71 +f 67 63 71 +f 64 68 71 +f 68 67 71 +f 62 61 72 +f 61 65 72 +f 65 70 72 +o convex_5 +v -2.709353 -0.596757 -0.329397 +v -1.099338 -0.040836 -0.310235 +v -1.099338 -0.079200 -0.310235 +v -1.099338 -0.366629 -0.367736 +v -2.882117 -0.040836 -0.310235 +v -2.651940 -0.596757 -0.291057 +v -1.099338 -0.596757 -0.348559 +v -1.099338 -0.040836 -0.348559 +v -1.655497 -0.040836 -0.291057 +v -1.540321 -0.596757 -0.367736 +v -2.882117 -0.040836 -0.291057 +v -2.882117 -0.596757 -0.291057 +f 78 83 84 +f 74 75 76 +f 78 73 79 +f 76 75 79 +f 75 78 79 +f 74 76 80 +f 76 77 80 +f 77 74 80 +f 75 74 81 +f 74 77 81 +f 78 75 81 +f 73 77 82 +f 77 76 82 +f 79 73 82 +f 76 79 82 +f 81 77 83 +f 78 81 83 +f 77 73 84 +f 73 78 84 +f 83 77 84 +o convex_6 +v -0.907641 -0.424280 0.609797 +v -0.946011 -0.654266 -0.060952 +v -1.099300 -0.615889 -0.060952 +v -0.946011 -0.654266 0.648256 +v -1.099300 -0.251742 0.609797 +v -1.099300 -0.577551 0.609797 +v -0.926835 -0.251742 0.609797 +v -0.907641 -0.596700 -0.060952 +v -0.907641 -0.635038 0.628957 +f 86 92 93 +f 87 86 88 +f 89 87 90 +f 87 88 90 +f 88 89 90 +f 89 88 91 +f 89 91 92 +f 86 87 92 +f 87 89 92 +f 91 85 92 +f 92 85 93 +f 88 86 93 +f 85 91 93 +f 91 88 93 +o convex_7 +v -2.977966 0.323414 0.552359 +v -2.977966 0.438375 -0.233548 +v -2.977966 0.419210 -0.175976 +v -1.099338 0.457558 -0.233548 +v -1.099338 0.285065 0.629008 +v -1.099338 0.342580 0.590597 +v -2.747734 0.457558 -0.137651 +v -2.977966 0.285065 0.533111 +v -1.137771 0.419210 -0.156813 +v -1.099338 0.457558 -0.118403 +v -1.904779 0.323414 0.648256 +v -2.977966 0.285065 0.629008 +v -2.977966 0.438375 -0.041840 +f 94 104 106 +f 94 95 96 +f 98 97 99 +f 97 95 100 +f 94 96 101 +f 98 101 102 +f 96 95 102 +f 95 97 102 +f 97 98 102 +f 101 96 102 +f 99 97 103 +f 97 100 103 +f 100 99 103 +f 98 99 104 +f 94 101 105 +f 101 98 105 +f 98 104 105 +f 104 94 105 +f 95 94 106 +f 100 95 106 +f 99 100 106 +f 104 99 106 +o convex_8 +v 1.009326 -1.171764 0.763334 +v 1.028496 0.860056 1.165838 +v 1.028496 0.879308 0.954900 +v 1.066835 -1.171764 1.050776 +v 0.990156 -1.133260 1.165838 +v 0.990156 0.879308 0.686643 +v 0.990156 0.860056 1.165838 +v 1.028496 0.879308 0.725012 +v 1.028496 -0.730787 0.686643 +v 0.990156 -1.018354 0.686643 +f 115 107 116 +f 109 108 110 +f 107 110 111 +f 110 108 111 +f 108 109 113 +f 111 108 113 +f 112 111 113 +f 109 112 113 +f 109 110 114 +f 112 109 114 +f 112 114 115 +f 110 107 115 +f 114 110 115 +f 107 111 116 +f 111 112 116 +f 112 115 116 +o convex_9 +v 1.028511 -0.098567 2.680242 +v 1.028511 -0.826774 3.178604 +v 0.990156 -0.826774 3.178604 +v 1.009343 0.668442 3.082747 +v 1.086004 -1.210186 2.910349 +v 0.990156 -0.137000 2.680242 +v 1.047650 -1.190694 2.680242 +v 1.086004 -1.210186 3.178604 +v 0.990156 -1.210186 3.159433 +v 0.990156 0.668442 3.044403 +v 1.009343 0.323095 2.680242 +v 1.086004 -0.960830 3.178604 +v 1.066818 -0.960830 2.680242 +f 128 121 129 +f 119 118 120 +f 122 117 123 +f 118 119 124 +f 119 122 125 +f 123 121 125 +f 122 123 125 +f 124 119 125 +f 121 124 125 +f 119 120 126 +f 122 119 126 +f 122 126 127 +f 120 117 127 +f 117 122 127 +f 126 120 127 +f 120 118 128 +f 117 120 128 +f 118 124 128 +f 124 121 128 +f 123 117 129 +f 121 123 129 +f 117 128 129 +o convex_10 +v 3.022123 -0.347619 -0.444321 +v 2.945494 0.400066 0.648256 +v 2.926312 0.400066 0.648256 +v 2.964643 -0.692511 0.590684 +v 3.098820 -0.596629 0.590684 +v 2.964660 -0.711775 -0.463584 +v 2.983809 0.342493 -0.425057 +v 2.926312 0.342384 -0.118474 +v 2.926312 -0.175009 0.628884 +v 3.041289 -0.711775 -0.405903 +v 2.964660 0.400066 0.590575 +v 3.098820 -0.692511 0.437229 +v 2.964643 0.304075 -0.444321 +v 2.983792 0.361539 -0.099211 +f 140 134 143 +f 132 136 137 +f 131 132 138 +f 133 134 138 +f 134 131 138 +f 135 133 138 +f 137 135 138 +f 132 137 138 +f 135 130 139 +f 133 135 139 +f 132 131 140 +f 131 134 140 +f 134 133 141 +f 130 136 141 +f 136 134 141 +f 139 130 141 +f 133 139 141 +f 130 135 142 +f 136 130 142 +f 135 137 142 +f 137 136 142 +f 136 132 143 +f 134 136 143 +f 132 140 143 +o convex_11 +v -1.099338 0.380840 0.360655 +v -1.099338 -0.251703 0.609805 +v -0.926828 -0.251703 0.609805 +v -0.984342 0.438383 -0.156791 +v -0.946010 0.476745 0.648178 +v -1.099338 0.457493 -0.156791 +v -1.099338 0.323297 0.648178 +v -0.946010 0.476745 0.054064 +v -0.926828 -0.251703 0.648178 +f 148 150 152 +f 146 145 147 +f 145 144 149 +f 147 145 149 +f 144 148 149 +f 144 145 150 +f 148 144 150 +f 146 147 151 +f 148 146 151 +f 147 149 151 +f 149 148 151 +f 145 146 152 +f 146 148 152 +f 150 145 152 +o convex_12 +v -0.945977 -0.654266 0.648373 +v -1.003474 0.860138 1.836709 +v -0.984312 0.687440 1.798319 +v -1.022659 -0.328141 1.836709 +v -0.965150 0.476645 0.648373 +v -0.907641 -0.634995 0.686646 +v -0.945988 0.860138 1.204325 +v -0.984312 -0.404929 1.836709 +v -1.022659 0.860138 1.759929 +v -0.965150 -0.654266 0.667451 +v -0.926826 0.093301 0.648373 +v -0.965150 -0.654266 1.146741 +v -0.984312 0.860138 1.185130 +f 161 159 165 +f 154 155 159 +f 155 158 159 +f 155 154 160 +f 154 156 160 +f 158 155 160 +f 156 154 161 +f 154 159 161 +f 157 153 162 +f 156 161 162 +f 161 157 162 +f 153 157 163 +f 158 153 163 +f 157 159 163 +f 159 158 163 +f 153 158 164 +f 160 156 164 +f 158 160 164 +f 162 153 164 +f 156 162 164 +f 159 157 165 +f 157 161 165 +o convex_13 +v -1.099285 0.284885 -0.329358 +v -0.907641 -0.596697 -0.061081 +v -1.099285 -0.596697 -0.061081 +v -0.926853 -0.654266 -0.501924 +v -0.984355 0.476745 -0.156879 +v -0.946008 0.342454 -0.501924 +v -1.099285 -0.635002 -0.367721 +v -1.099285 0.457481 -0.156879 +v -0.984318 0.476745 -0.501924 +v -0.907660 -0.251615 -0.501924 +v -0.946026 -0.654266 -0.061081 +f 172 169 176 +f 168 167 170 +f 170 167 171 +f 168 166 172 +f 166 168 173 +f 168 170 173 +f 170 171 174 +f 171 169 174 +f 172 166 174 +f 169 172 174 +f 166 173 174 +f 173 170 174 +f 167 169 175 +f 171 167 175 +f 169 171 175 +f 167 168 176 +f 169 167 176 +f 168 172 176 +o convex_14 +v -0.888471 -1.095164 -2.840624 +v 0.932647 -1.075999 -0.904487 +v -0.159917 -1.056829 -0.923818 +v 0.932647 -1.075999 -2.840624 +v 0.108188 -1.095164 -0.904487 +v 0.932647 -1.095168 -2.840624 +v -0.888471 -1.056829 -1.518153 +v -0.888471 -1.075999 -0.923818 +v -0.888471 -1.075999 -2.840624 +v 0.932647 -1.095168 -0.904487 +v -0.888471 -1.095164 -1.498822 +v -0.888471 -1.056829 -0.923818 +f 183 184 188 +f 179 178 180 +f 180 178 182 +f 177 180 182 +f 179 180 183 +f 183 177 184 +f 180 177 185 +f 183 180 185 +f 177 183 185 +f 178 181 186 +f 182 178 186 +f 177 182 186 +f 184 177 187 +f 181 184 187 +f 177 186 187 +f 186 181 187 +f 178 179 188 +f 181 178 188 +f 179 183 188 +f 184 181 188 +o convex_15 +v 0.721717 0.879301 1.069847 +v -0.792623 0.898469 -0.501768 +v -0.792623 0.879309 -0.118482 +v -0.792623 0.898476 1.031534 +v 0.932647 0.917643 -0.501768 +v 0.932647 0.840974 0.954907 +v -0.792623 0.860149 1.089003 +v 0.932647 0.879309 -0.233421 +v -0.792623 0.917643 -0.501768 +v 0.031676 0.917643 0.149866 +v 0.932647 0.917643 -0.195108 +v 0.932647 0.860149 1.089003 +v 0.932647 0.898469 -0.501768 +v 0.606710 0.840974 1.089003 +v -0.773371 0.917643 -0.080169 +f 192 198 203 +f 190 191 192 +f 192 191 195 +f 189 192 195 +f 191 190 196 +f 193 194 196 +f 194 191 196 +f 190 192 197 +f 193 190 197 +f 193 197 198 +f 192 189 198 +f 194 193 199 +f 193 198 199 +f 198 189 199 +f 189 195 200 +f 194 199 200 +f 199 189 200 +f 190 193 201 +f 196 190 201 +f 193 196 201 +f 191 194 202 +f 195 191 202 +f 200 195 202 +f 194 200 202 +f 197 192 203 +f 198 197 203 +o convex_16 +v -0.792623 0.917628 1.530358 +v 0.990156 0.860153 3.063442 +v 0.894176 0.879315 3.063442 +v 0.990156 0.860153 1.089159 +v -0.792623 0.860142 1.127810 +v -0.792623 0.955986 3.063442 +v 0.874980 0.840968 3.063442 +v -0.466641 0.955986 2.507450 +v 0.932394 0.879315 1.166074 +v 0.990156 0.840968 1.089159 +v -0.792623 0.936791 3.063442 +v -0.792623 0.898489 1.108678 +v -0.466641 0.955986 3.063442 +v 0.644978 0.840968 1.089159 +v -0.792623 0.955986 2.411596 +v -0.160030 0.898489 3.063442 +f 210 214 219 +f 205 206 209 +f 204 208 209 +f 205 209 210 +f 206 205 212 +f 205 207 212 +f 204 211 212 +f 207 205 213 +f 205 210 213 +f 209 208 214 +f 210 209 214 +f 208 204 215 +f 212 207 215 +f 204 212 215 +f 209 206 216 +f 211 209 216 +f 206 212 216 +f 212 211 216 +f 210 208 217 +f 207 213 217 +f 213 210 217 +f 208 215 217 +f 215 207 217 +f 204 209 218 +f 211 204 218 +f 209 211 218 +f 208 210 219 +f 214 208 219 +o convex_17 +v 1.009339 0.879221 0.686596 +v 1.066820 -0.232533 -0.386874 +v 1.105163 -0.232533 -0.386874 +v 0.990167 0.687490 -0.636111 +v 0.990179 0.285098 0.514007 +v 1.105163 0.323400 0.514007 +v 1.105163 0.342440 -0.329258 +v 0.990167 0.361702 -0.636111 +v 0.990167 0.898372 0.188121 +v 1.009339 0.898372 0.188121 +v 1.009339 0.687490 -0.636111 +v 0.990167 0.476829 0.686596 +v 1.047671 -0.194120 -0.386874 +f 224 227 232 +f 221 222 224 +f 224 222 225 +f 225 222 226 +f 222 221 227 +f 223 227 228 +f 220 225 229 +f 225 226 229 +f 228 220 229 +f 223 228 229 +f 226 222 230 +f 222 227 230 +f 227 223 230 +f 223 229 230 +f 229 226 230 +f 225 220 231 +f 224 225 231 +f 227 224 231 +f 228 227 231 +f 220 228 231 +f 221 224 232 +f 227 221 232 +o convex_18 +v 1.028496 -0.117515 2.680241 +v 1.028496 -1.191017 2.239232 +v 0.990156 -1.152557 1.242625 +v 0.990156 -0.155869 2.680241 +v 1.009326 -0.117515 1.165838 +v 1.066835 -1.191017 2.469150 +v 0.990156 -0.117515 1.165838 +v 1.009326 -1.133433 1.165838 +v 1.028496 -1.018369 2.680241 +v 1.066835 -0.980120 2.680241 +v 0.990156 -1.152557 1.587724 +f 241 236 243 +f 234 235 238 +f 235 236 239 +f 236 233 239 +f 233 237 239 +f 239 237 240 +f 238 235 240 +f 237 238 240 +f 235 239 240 +f 233 236 241 +f 234 238 241 +f 241 238 242 +f 237 233 242 +f 238 237 242 +f 233 241 242 +f 235 234 243 +f 236 235 243 +f 234 241 243 +o convex_19 +v 1.009326 0.304227 2.680241 +v 0.990156 -0.117515 1.165838 +v 0.990156 0.860138 1.165838 +v 1.028496 0.860138 1.165838 +v 0.990156 0.860138 2.660822 +v 1.028496 0.112544 1.165838 +v 0.990156 -0.117515 2.680241 +v 1.028496 0.860138 1.722028 +v 1.009326 -0.117515 2.680241 +v 1.009326 0.860138 2.660822 +v 1.009326 -0.117515 1.165838 +f 252 245 254 +f 245 246 247 +f 246 245 248 +f 247 246 248 +f 245 247 249 +f 244 248 250 +f 248 245 250 +f 247 248 251 +f 249 247 251 +f 249 251 252 +f 244 250 252 +f 250 245 252 +f 251 244 252 +f 248 244 253 +f 244 251 253 +f 251 248 253 +f 245 249 254 +f 249 252 254 +o convex_20 +v 1.929699 -0.673443 -0.310242 +v 1.373645 -0.692598 -0.463584 +v 1.373645 -0.673443 -0.463584 +v 2.964632 -0.711775 -0.463584 +v 2.964632 -0.654271 -0.463584 +v 2.964632 -0.711775 -0.310242 +v 1.105174 -0.692598 -0.310242 +v 1.105174 -0.654271 -0.425234 +v 1.527083 -0.711775 -0.463584 +f 260 261 263 +f 256 257 258 +f 258 257 259 +f 259 255 260 +f 258 259 260 +f 260 255 261 +f 257 256 262 +f 255 259 262 +f 259 257 262 +f 261 255 262 +f 256 261 262 +f 256 258 263 +f 258 260 263 +f 261 256 263 +o convex_21 +v 1.105174 -0.539240 -0.406075 +v 2.964632 0.304218 -0.406060 +v 2.964632 0.284984 -0.406060 +v 1.105174 0.304218 -0.310242 +v 2.964632 -0.654266 -0.444400 +v 2.657756 0.208332 -0.444415 +v 1.105174 -0.520007 -0.444400 +v 1.124468 0.304218 -0.348596 +v 2.964632 -0.424215 -0.463584 +v 1.603711 -0.654266 -0.463584 +v 2.964632 -0.443354 -0.425230 +v 2.964632 0.304218 -0.444415 +v 1.201096 0.284984 -0.310242 +v 1.737856 -0.654266 -0.425230 +v 2.964632 -0.654266 -0.463584 +v 1.105174 -0.654266 -0.425230 +f 273 277 279 +f 265 266 268 +f 264 267 270 +f 270 267 271 +f 267 265 271 +f 269 270 271 +f 265 268 272 +f 270 269 273 +f 268 266 274 +f 271 265 275 +f 269 271 275 +f 265 272 275 +f 273 269 275 +f 272 273 275 +f 266 265 276 +f 265 267 276 +f 267 264 276 +f 274 266 276 +f 268 274 276 +f 273 268 277 +f 276 264 277 +f 268 276 277 +f 272 268 278 +f 268 273 278 +f 273 272 278 +f 264 270 279 +f 270 273 279 +f 277 264 279 +o convex_22 +v 2.964632 -0.654243 0.571578 +v 1.105174 -0.692584 -0.310227 +v 1.105174 -0.692584 -0.252568 +v 1.105174 -0.577587 0.571578 +v 2.964632 -0.692584 -0.310227 +v 2.926227 -0.692584 0.571578 +v 1.105174 -0.654243 -0.290979 +v 1.105174 -0.615941 0.571578 +v 2.964632 -0.711775 0.054113 +v 1.910406 -0.711775 -0.310227 +v 1.143579 -0.577587 0.552329 +v 2.964632 -0.711775 -0.310227 +v 2.964632 -0.673420 0.034951 +f 284 290 292 +f 281 282 283 +f 280 283 285 +f 281 283 286 +f 284 281 286 +f 283 282 287 +f 282 285 287 +f 285 283 287 +f 284 280 288 +f 280 285 288 +f 288 285 289 +f 282 281 289 +f 281 284 289 +f 285 282 289 +f 283 280 290 +f 286 283 290 +f 284 286 290 +f 284 288 291 +f 288 289 291 +f 289 284 291 +f 280 284 292 +f 290 280 292 +o convex_23 +v 1.277724 -0.615915 0.667411 +v 2.964632 -0.175024 0.609925 +v 2.964632 -0.175024 0.590762 +v 2.964632 -0.673435 0.590762 +v 1.105174 -0.577568 0.571578 +v 1.105174 -0.175024 0.629087 +v 1.680339 -0.232544 0.686596 +v 1.105174 -0.596742 0.686596 +v 2.868711 -0.673435 0.609925 +v 2.964632 -0.673435 0.571578 +v 1.105174 -0.175024 0.609925 +v 2.945339 -0.175024 0.629087 +v 1.124468 -0.615915 0.571578 +v 1.354716 -0.596742 0.686596 +v 1.488860 -0.175024 0.667411 +v 1.124468 -0.424230 0.686596 +f 307 298 308 +f 295 294 296 +f 294 295 298 +f 298 297 300 +f 300 293 301 +f 295 296 302 +f 297 295 302 +f 296 301 302 +f 295 297 303 +f 298 295 303 +f 297 298 303 +f 296 294 304 +f 294 298 304 +f 301 296 304 +f 293 300 305 +f 300 297 305 +f 301 293 305 +f 297 302 305 +f 302 301 305 +f 299 300 306 +f 300 301 306 +f 304 299 306 +f 301 304 306 +f 304 298 307 +f 299 304 307 +f 300 299 308 +f 298 300 308 +f 299 307 308 +o convex_24 +v -1.003503 -0.405060 1.836896 +v -1.080155 0.860138 3.063635 +v -1.060984 0.860138 2.967571 +v -0.984320 -0.405060 3.063635 +v -1.003503 0.860138 1.836896 +v -1.099315 0.783354 2.948478 +v -1.022674 -0.328276 1.836896 +v -1.003503 -0.405060 3.063635 +v -0.984320 -0.309080 1.836896 +v -1.041823 0.860138 2.047757 +v -0.984320 -0.174833 3.063635 +v -1.003503 0.860138 2.086182 +f 319 313 320 +f 310 311 313 +f 313 309 315 +f 312 310 316 +f 309 312 316 +f 310 314 316 +f 314 315 316 +f 315 309 316 +f 312 309 317 +f 309 313 317 +f 310 313 318 +f 314 310 318 +f 313 315 318 +f 315 314 318 +f 311 310 319 +f 310 312 319 +f 312 317 319 +f 317 313 319 +f 313 311 320 +f 311 319 320 +o convex_25 +v 2.542541 0.400057 0.475632 +v 2.562016 0.304227 -0.425245 +v 2.562016 0.323402 -0.425245 +v 1.105356 0.342550 -0.329265 +v 1.105356 0.304218 0.533238 +v 2.926227 0.361706 0.398979 +v 2.964632 0.361725 -0.290986 +v 1.105356 0.304227 -0.329265 +v 2.964632 0.304227 -0.406012 +v 1.105356 0.323402 0.533238 +v 1.450637 0.304218 0.533238 +v 2.926227 0.400057 0.533238 +v 1.469749 0.361706 -0.099308 +v 2.964632 0.342550 -0.425245 +v 2.830123 0.400057 0.379840 +f 333 321 335 +f 323 322 324 +f 324 322 328 +f 325 324 328 +f 322 325 328 +f 324 325 330 +f 330 325 331 +f 325 322 331 +f 322 329 331 +f 329 326 331 +f 326 329 332 +f 329 327 332 +f 321 330 332 +f 330 331 332 +f 331 326 332 +f 327 324 333 +f 330 321 333 +f 324 330 333 +f 322 323 334 +f 323 324 334 +f 324 327 334 +f 329 322 334 +f 327 329 334 +f 321 332 335 +f 332 327 335 +f 327 333 335 +o convex_26 +v 0.990167 -0.673495 0.667366 +v 1.028510 -1.191017 -0.080176 +v 1.047671 -1.191017 -0.080176 +v 1.085991 -0.673495 -0.386906 +v 1.105174 -0.596852 0.686596 +v 1.009339 -1.191017 0.590552 +v 1.085991 -1.171839 -0.329322 +v 1.009339 -0.520078 0.667366 +v 1.066820 -0.711850 -0.367676 +v 0.990167 -1.171839 0.322282 +v 1.105174 -0.654384 -0.290967 +v 1.047671 -1.171839 -0.367676 +v 1.105174 -0.520078 0.667366 +v 0.990167 -1.037533 0.686596 +f 336 345 349 +f 337 338 341 +f 341 338 342 +f 340 341 342 +f 336 343 344 +f 343 339 344 +f 337 341 345 +f 336 344 345 +f 342 339 346 +f 340 342 346 +f 339 343 346 +f 338 337 347 +f 342 338 347 +f 339 342 347 +f 344 339 347 +f 337 345 347 +f 345 344 347 +f 343 340 348 +f 340 346 348 +f 346 343 348 +f 341 340 349 +f 343 336 349 +f 340 343 349 +f 345 341 349 +o convex_27 +v -1.022644 0.074326 -2.840475 +v -0.984335 0.898477 -2.016410 +v -0.984335 0.898477 -2.131492 +v -0.945981 0.016759 -2.016410 +v -0.984335 0.112647 -2.859711 +v -1.060987 0.898477 -2.802170 +v -1.003484 0.591654 -2.016410 +v -1.022644 0.898477 -2.840475 +v -0.984335 0.016759 -2.188951 +v -0.945981 0.246855 -2.035645 +v -1.022644 0.859984 -2.112257 +f 358 356 360 +f 353 350 354 +f 351 352 355 +f 353 351 356 +f 354 350 357 +f 355 352 357 +f 350 355 357 +f 350 353 358 +f 353 356 358 +f 352 351 359 +f 351 353 359 +f 353 354 359 +f 354 357 359 +f 357 352 359 +f 351 355 360 +f 355 350 360 +f 356 351 360 +f 350 358 360 +o convex_28 +v -1.003489 -0.328513 -2.878886 +v -0.965143 0.016564 -2.457230 +v -0.984305 0.016564 -2.457230 +v -0.965143 -1.095168 -2.457230 +v -0.888471 0.016564 -2.898089 +v -0.888471 -1.095168 -2.878886 +v -0.888471 -1.075798 -2.457230 +v -0.965143 -1.075798 -2.878886 +v -1.003489 0.016564 -2.898089 +v -1.003489 -0.002698 -2.553118 +f 363 369 370 +f 362 363 364 +f 363 362 365 +f 362 364 367 +f 365 362 367 +f 366 365 367 +f 364 366 367 +f 364 361 368 +f 366 364 368 +f 366 368 369 +f 363 365 369 +f 365 366 369 +f 368 361 369 +f 364 363 370 +f 361 364 370 +f 369 361 370 +o convex_29 +v -0.811733 0.745143 -2.917302 +v 0.951817 0.975156 -2.859793 +v 0.951817 0.591763 -2.859793 +v -0.888471 0.975156 -2.859793 +v 0.951817 0.975156 -2.917302 +v 0.951817 0.591763 -2.917302 +v -0.888471 0.591763 -2.878967 +v -0.888471 0.975156 -2.917302 +v -0.236553 0.591763 -2.917302 +f 376 377 379 +f 373 372 374 +f 372 373 375 +f 374 372 375 +f 371 375 376 +f 375 373 376 +f 373 374 377 +f 376 373 377 +f 375 371 378 +f 374 375 378 +f 377 374 378 +f 371 377 378 +f 371 376 379 +f 377 371 379 +o convex_30 +v -1.041789 0.955971 2.334932 +v -0.792653 0.955971 3.120994 +v -0.811836 0.975156 3.120994 +v -0.792653 0.898485 1.146668 +v -1.099338 0.860138 3.120994 +v -0.792653 0.860138 3.120994 +v -0.984301 0.860138 1.165988 +v -1.099338 0.975156 3.140314 +v -0.984301 0.898485 1.165988 +v -0.792653 0.879323 1.146668 +v -0.811836 0.975156 2.852664 +v -1.099338 0.975156 2.929357 +f 390 380 391 +f 383 381 385 +f 385 384 386 +f 381 382 387 +f 385 381 387 +f 384 385 387 +f 380 383 388 +f 383 386 388 +f 383 385 389 +f 386 383 389 +f 385 386 389 +f 382 381 390 +f 381 383 390 +f 383 380 390 +f 387 382 390 +f 387 390 391 +f 386 384 391 +f 384 387 391 +f 380 388 391 +f 388 386 391 +o convex_31 +v 1.028510 -1.114203 -0.693566 +v 1.047671 0.361727 -0.386945 +v 1.028510 0.361727 -0.386945 +v 1.066820 -1.171847 -0.386945 +v 1.105174 -0.673315 -0.482809 +v 0.990167 0.361727 -0.636080 +v 0.990167 -1.133267 -0.655229 +v 1.009339 -0.941721 -0.789429 +v 1.009339 0.035827 -0.406134 +v 1.009339 0.361727 -0.636080 +v 1.105174 -0.194299 -0.386945 +v 0.990167 0.361727 -0.501958 +v 1.085991 -1.171847 -0.463620 +f 396 402 404 +f 393 394 395 +f 394 393 397 +f 396 392 399 +f 392 398 399 +f 398 397 399 +f 395 394 400 +f 398 395 400 +f 397 393 401 +f 396 399 401 +f 399 397 401 +f 393 395 402 +f 401 393 402 +f 396 401 402 +f 394 397 403 +f 397 398 403 +f 400 394 403 +f 398 400 403 +f 392 396 404 +f 398 392 404 +f 395 398 404 +f 402 395 404 +o convex_32 +v 1.239405 -0.155828 0.648236 +v 2.926293 0.400057 0.648249 +v 2.926293 0.400057 0.533238 +v 2.926293 -0.175024 0.609881 +v 1.105174 0.323387 0.533238 +v 1.105174 -0.117493 0.590783 +v 2.178664 -0.175024 0.667426 +v 1.124604 0.265800 0.571593 +v 1.143857 0.227465 0.533238 +v 2.446770 0.169991 0.667426 +v 2.926293 -0.175024 0.629072 +v 1.105174 -0.175024 0.609881 +v 2.772632 0.400057 0.648249 +f 412 414 417 +f 407 406 408 +f 407 408 413 +f 409 407 413 +f 410 409 413 +f 408 410 413 +f 405 411 414 +f 412 405 414 +f 408 406 415 +f 411 408 415 +f 406 414 415 +f 414 411 415 +f 409 410 416 +f 410 408 416 +f 411 405 416 +f 408 411 416 +f 405 412 416 +f 412 409 416 +f 406 407 417 +f 407 409 417 +f 409 412 417 +f 414 406 417 +o convex_33 +v -0.984305 -0.405060 3.063635 +v -0.926826 -1.229356 2.948609 +v -0.945992 -1.210152 2.737698 +v -0.945992 -0.405060 1.146668 +v -0.984305 -0.884259 1.242554 +v -0.945992 -1.075890 1.146668 +v -0.907641 -1.171746 3.063635 +v -1.003480 -0.443467 3.063635 +v -1.003480 -0.405060 1.511072 +v -0.965139 -0.424264 3.063635 +v -0.926826 -1.114216 1.587630 +v -0.945992 -1.210152 3.063635 +v -1.003480 -0.615975 1.568491 +v -0.965139 -1.075890 1.146668 +v -0.984305 -0.405060 1.223414 +f 431 422 432 +f 424 418 425 +f 418 421 426 +f 425 418 426 +f 421 418 427 +f 418 424 427 +f 424 421 427 +f 423 421 428 +f 424 419 428 +f 421 424 428 +f 420 419 429 +f 419 424 429 +f 424 425 429 +f 429 425 430 +f 426 422 430 +f 425 426 430 +f 422 429 430 +f 419 420 431 +f 421 423 431 +f 428 419 431 +f 423 428 431 +f 420 429 431 +f 429 422 431 +f 426 421 432 +f 422 426 432 +f 421 431 432 +o convex_34 +v -0.926811 -0.002679 -1.652235 +v -0.965162 -1.018388 -2.457230 +v -0.984309 -0.251819 -2.457230 +v -1.022650 -1.018388 -0.981454 +v -0.984309 0.016470 -0.981454 +v -0.984309 -0.979989 -1.038954 +v -0.926811 -0.749998 -2.457230 +v -0.984309 0.016470 -2.457230 +v -0.945996 0.016470 -1.115524 +v -0.945996 0.016470 -2.246157 +v -0.984309 -1.018388 -2.226943 +v -0.945996 -1.018388 -2.188658 +v -1.022650 -0.884142 -1.000525 +v -1.022650 -1.018388 -1.134738 +v -0.965162 -0.405214 -0.981454 +f 441 437 447 +f 434 435 439 +f 439 435 440 +f 440 437 441 +f 440 441 442 +f 433 439 442 +f 439 440 442 +f 441 433 442 +f 435 434 443 +f 434 436 443 +f 436 434 444 +f 433 438 444 +f 438 436 444 +f 439 433 444 +f 434 439 444 +f 436 437 445 +f 437 440 445 +f 445 440 446 +f 440 435 446 +f 435 443 446 +f 443 436 446 +f 436 445 446 +f 437 436 447 +f 438 433 447 +f 436 438 447 +f 433 441 447 +o convex_35 +v -0.485601 -1.037659 -2.859808 +v 0.664007 -1.095168 -2.936462 +v 0.664007 -1.056833 -2.936462 +v 0.932647 -1.095168 -2.840633 +v -0.888471 -1.095168 -2.878974 +v 0.932647 -1.037659 -2.917287 +f 448 451 453 +f 451 448 452 +f 448 450 452 +f 450 449 452 +f 449 451 452 +f 450 448 453 +f 449 450 453 +f 451 449 453 +o convex_36 +v -0.984305 -1.095151 -2.284590 +v -0.888471 -1.056844 -0.923762 +v -0.984305 -1.018489 -0.501924 +v -1.022659 -1.114338 -0.501924 +v -0.984305 -1.018489 -2.246311 +v -0.888471 -1.095151 -2.457230 +v -0.946003 -1.018489 -2.457230 +v -1.022659 -1.018489 -1.153820 +f 456 458 461 +f 455 456 457 +f 455 457 459 +f 457 454 459 +f 456 455 460 +f 454 458 460 +f 458 456 460 +f 455 459 460 +f 459 454 460 +f 457 456 461 +f 454 457 461 +f 458 454 461 +o convex_37 +v -0.945943 0.840968 -0.502160 +v -0.792640 0.898474 1.146668 +v -0.792640 0.879310 1.146668 +v -0.888494 0.975156 -2.917126 +v -0.965145 0.898474 1.146668 +v -1.060998 0.975156 -2.744487 +v -0.888494 0.898487 -2.917126 +v -1.060998 0.898487 -2.917126 +v -0.965145 0.840968 1.146668 +v -0.792640 0.879310 -0.118693 +v -0.792640 0.860146 1.127176 +v -0.792640 0.917638 -0.502160 +v -0.888494 0.975156 -2.590941 +f 473 465 474 +f 464 463 466 +f 465 468 469 +f 467 465 469 +f 468 462 469 +f 467 469 470 +f 464 466 470 +f 466 467 470 +f 469 462 470 +f 463 464 471 +f 462 468 471 +f 470 462 472 +f 464 470 472 +f 462 471 472 +f 471 464 472 +f 468 465 473 +f 463 471 473 +f 471 468 473 +f 466 463 474 +f 467 466 474 +f 465 467 474 +f 463 473 474 +o convex_38 +v -0.945994 0.879308 -0.502072 +v -0.965154 0.016757 -2.016328 +v -0.984314 0.227667 -2.016328 +v -0.965154 0.016757 -0.502072 +v -0.926818 0.016757 -1.882024 +v -1.003489 0.879308 -2.016328 +v -0.926818 0.879308 -1.115631 +v -0.926818 0.016757 -0.502072 +v -0.984314 0.687480 -0.502072 +v -0.984314 0.016757 -0.866442 +v -0.965154 0.649148 -2.016328 +v -0.926818 0.879308 -0.502072 +v -1.003489 0.610816 -1.997057 +f 477 484 487 +f 478 476 479 +f 476 477 480 +f 480 475 481 +f 479 481 482 +f 475 478 482 +f 478 479 482 +f 478 475 483 +f 475 480 483 +f 477 476 484 +f 476 478 484 +f 478 483 484 +f 479 476 485 +f 476 480 485 +f 480 481 485 +f 481 479 485 +f 481 475 486 +f 482 481 486 +f 475 482 486 +f 480 477 487 +f 483 480 487 +f 484 483 487 +o convex_39 +v 0.951830 -1.095168 -2.878721 +v 0.970985 0.591763 -1.479577 +v 0.970985 0.591763 -2.131522 +v 0.932653 0.591763 -2.035698 +v 0.932653 -1.095168 -1.479577 +v 0.990151 -1.095168 -2.533783 +v 0.932653 0.591763 -2.916936 +v 0.990151 -0.711745 -2.936329 +v 0.970979 -1.095168 -1.479577 +v 0.932653 -1.075848 -2.936329 +v 0.970985 0.361412 -2.916936 +v 0.951819 0.591763 -1.479577 +v 0.990151 -0.577497 -2.399601 +v 0.990151 -1.075848 -2.936329 +f 497 495 501 +f 489 490 491 +f 492 488 493 +f 491 490 494 +f 492 491 494 +f 489 492 496 +f 492 493 496 +f 488 492 497 +f 492 494 497 +f 494 495 497 +f 494 490 498 +f 490 495 498 +f 495 494 498 +f 489 491 499 +f 491 492 499 +f 492 489 499 +f 490 489 500 +f 495 490 500 +f 493 495 500 +f 489 496 500 +f 496 493 500 +f 493 488 501 +f 495 493 501 +f 488 497 501 +o convex_40 +v 0.970979 -1.133507 -0.751201 +v 0.990151 0.591763 -0.616942 +v 0.970979 0.591763 -0.616942 +v 0.970979 0.591763 -1.479577 +v 0.932647 -0.673312 -0.847040 +v 0.970979 -1.095003 -1.479577 +v 0.932647 -1.095003 -1.479577 +v 0.932647 0.591763 -0.923711 +v 0.990151 -1.114086 -0.827872 +v 0.951824 0.591763 -1.479577 +v 0.932647 -1.095003 -0.885460 +v 0.970979 -0.500717 -0.636194 +f 506 512 513 +f 504 503 505 +f 507 502 508 +f 505 507 508 +f 504 505 509 +f 506 504 509 +f 508 506 509 +f 505 503 510 +f 502 507 510 +f 507 505 510 +f 505 508 511 +f 509 505 511 +f 508 509 511 +f 508 502 512 +f 506 508 512 +f 503 504 513 +f 504 506 513 +f 510 503 513 +f 502 510 513 +f 512 502 513 +o convex_41 +v -0.888350 0.955981 -2.859793 +v 0.913478 0.917660 -0.501924 +v 0.913478 0.898485 -0.501924 +v -0.888350 0.917660 -0.501924 +v 0.913478 0.975156 -2.591140 +v 0.913478 0.936821 -2.610528 +v -0.888350 0.898485 -1.211639 +v -0.888350 0.975156 -2.572214 +v 0.913478 0.936821 -0.808659 +v -0.888350 0.936821 -2.610528 +v 0.913478 0.975156 -2.859793 +v -0.888350 0.898485 -0.501924 +v 0.875028 0.898485 -0.847203 +v -0.888350 0.975156 -2.859793 +v 0.913478 0.955981 -2.859793 +f 524 519 528 +f 516 515 517 +f 515 516 518 +f 518 516 519 +f 517 514 520 +f 514 517 521 +f 518 521 522 +f 517 515 522 +f 515 518 522 +f 521 517 522 +f 514 519 523 +f 520 514 523 +f 519 520 523 +f 518 519 524 +f 521 518 524 +f 516 517 525 +f 520 516 525 +f 517 520 525 +f 519 516 526 +f 516 520 526 +f 520 519 526 +f 514 521 527 +f 524 514 527 +f 521 524 527 +f 519 514 528 +f 514 524 528 +o convex_42 +v 0.932655 0.917625 -0.214378 +v 0.932655 0.591763 -2.859793 +v 0.913478 0.936802 -2.610481 +v 0.990149 0.917625 -0.329564 +v 0.932655 0.591763 -0.828188 +v 0.951817 0.975156 -2.859793 +v 0.990156 0.591763 -0.617143 +v 0.932655 0.840953 1.089003 +v 0.990149 0.860131 1.089003 +v 0.970979 0.591763 -2.054263 +v 0.913478 0.917625 -0.501957 +v 0.913478 0.975156 -2.859793 +v 0.951817 0.591763 -2.859793 +v 0.990156 0.802599 -0.732329 +f 535 538 542 +f 529 532 534 +f 533 530 535 +f 533 535 536 +f 536 535 537 +f 532 529 537 +f 529 536 537 +f 535 530 538 +f 531 530 539 +f 530 533 539 +f 536 529 539 +f 533 536 539 +f 530 531 540 +f 529 534 540 +f 534 530 540 +f 531 539 540 +f 539 529 540 +f 530 534 541 +f 538 530 541 +f 534 538 541 +f 534 532 542 +f 537 535 542 +f 532 537 542 +f 538 534 542 +o convex_43 +v -0.926828 -0.826860 0.954956 +v -1.080138 -1.229356 1.031609 +v -1.060972 -1.229356 1.031609 +v -1.022640 -1.114236 -0.501924 +v -0.965176 -0.654266 0.667389 +v -0.946010 -1.190964 0.628982 +v -0.926828 -0.654266 -0.501924 +v -1.099338 -1.171824 1.108100 +v -0.965176 -0.730993 -0.501924 +v -0.946010 -0.654266 1.146668 +v -0.946010 -1.056761 1.146668 +v -0.984342 -1.056761 -0.501924 +v -0.926828 -0.750133 -0.501924 +v -1.022640 -1.037622 -0.501924 +f 550 551 556 +f 545 544 546 +f 545 546 548 +f 544 545 550 +f 546 544 550 +f 549 546 551 +f 547 549 551 +f 550 547 551 +f 543 549 552 +f 549 547 552 +f 547 550 552 +f 552 550 553 +f 548 543 553 +f 545 548 553 +f 550 545 553 +f 543 552 553 +f 548 546 554 +f 546 549 554 +f 554 549 555 +f 543 548 555 +f 549 543 555 +f 548 554 555 +f 546 550 556 +f 551 546 556 +o convex_44 +v -1.003489 0.534323 -0.233398 +v -0.984314 0.476745 -0.501924 +v -0.965154 0.476745 -0.501924 +v -0.945994 0.840968 -0.501924 +v -0.945994 0.476745 1.146668 +v -0.965154 0.840968 1.146668 +v -0.926818 0.725919 -0.501924 +v -0.945994 0.840968 1.146668 +v -1.003489 0.610976 -0.501924 +v -0.965154 0.476745 1.146668 +v -0.926818 0.591795 -0.099297 +v -0.965154 0.840968 -0.175949 +v -0.926818 0.840968 -0.137542 +f 564 567 569 +f 559 558 560 +f 558 559 561 +f 559 560 563 +f 560 562 564 +f 562 561 564 +f 558 557 565 +f 560 558 565 +f 557 562 565 +f 557 558 566 +f 558 561 566 +f 562 557 566 +f 561 562 566 +f 561 559 567 +f 559 563 567 +f 564 561 567 +f 562 560 568 +f 560 565 568 +f 565 562 568 +f 563 560 569 +f 560 564 569 +f 567 563 569 +o convex_45 +v -1.003461 0.476692 -2.859793 +v -1.060998 0.783343 -2.898129 +v -1.022629 0.036006 -2.898129 +v -0.888471 0.898477 -2.917302 +v -0.888471 0.016759 -2.878967 +f 572 573 574 +f 570 571 572 +f 572 571 573 +f 571 570 573 +f 573 570 574 +f 570 572 574 +o convex_46 +v -0.792653 0.304017 3.140314 +v -1.099338 0.802460 3.063635 +v -1.099338 0.802460 3.121129 +v -0.926843 -1.229356 3.063635 +v -0.792653 0.860138 3.101974 +v -0.792653 -1.229356 3.101974 +v -0.945995 -1.075957 3.101974 +v -1.060942 0.860138 3.140314 +v -0.850171 -1.190904 3.063635 +v -0.792653 0.840912 3.140314 +f 579 582 584 +f 579 575 580 +f 577 576 581 +f 576 578 581 +f 580 575 581 +f 578 580 581 +f 576 577 582 +f 579 576 582 +f 581 575 582 +f 577 581 582 +f 578 576 583 +f 576 579 583 +f 580 578 583 +f 579 580 583 +f 575 579 584 +f 582 575 584 +o convex_47 +v 0.990152 0.840968 0.284078 +v 0.990152 -1.075852 1.127498 +v 0.970988 -1.075852 1.127498 +v 0.990152 0.610839 -0.501924 +v 0.951821 0.840968 -0.501924 +v 0.970988 -1.191017 0.552192 +v 0.970988 0.495873 0.705628 +v 0.951821 0.419097 0.264938 +v 0.990152 -1.191017 0.552192 +v 0.990152 0.457485 0.724928 +v 0.951821 0.687416 -0.501924 +v 0.970988 0.840968 0.284078 +f 592 591 596 +f 585 586 588 +f 585 588 589 +f 586 587 590 +f 590 587 592 +f 587 591 592 +f 588 586 593 +f 586 590 593 +f 590 588 593 +f 586 585 594 +f 587 586 594 +f 585 591 594 +f 591 587 594 +f 589 588 595 +f 588 590 595 +f 592 589 595 +f 590 592 595 +f 585 589 596 +f 591 585 596 +f 589 592 596 +o convex_48 +v 0.970988 -1.075999 1.185191 +v 0.990154 0.840968 3.063635 +v 0.970988 0.840968 3.063635 +v 0.990154 0.840968 2.603401 +v 0.990154 -1.075999 1.204498 +v 0.970988 0.840968 2.603401 +v 0.970988 0.630057 3.063635 +v 0.990154 0.630057 3.063635 +f 598 603 604 +f 599 598 600 +f 597 600 601 +f 600 598 601 +f 597 599 602 +f 599 600 602 +f 600 597 602 +f 599 597 603 +f 598 599 603 +f 597 601 603 +f 603 601 604 +f 601 598 604 +o convex_49 +v -0.504858 -1.190896 3.121150 +v 0.990156 -0.155854 3.140308 +v 0.970786 -0.443459 3.159476 +v -0.581468 -0.155854 3.140308 +v -0.792623 -0.520168 3.082805 +v 0.990156 -1.210126 3.159476 +v -0.447445 -1.229356 3.082805 +v 0.683196 -1.210126 3.178643 +v 0.990156 -0.155854 3.121150 +v 0.376759 -0.501149 3.178643 +v -0.792623 -0.155854 3.101991 +v -0.792623 -1.229356 3.101991 +v 0.990156 -0.482024 3.121150 +v 0.990156 -0.807563 3.178643 +v 0.414976 -0.155854 3.159476 +v -0.792623 -0.577647 3.121150 +f 615 616 620 +f 611 610 612 +f 608 606 613 +f 606 610 613 +f 611 609 613 +f 608 612 614 +f 608 613 615 +f 613 609 615 +f 609 611 616 +f 612 605 616 +f 611 612 616 +f 615 609 616 +f 610 611 617 +f 613 610 617 +f 611 613 617 +f 606 607 618 +f 610 606 618 +f 612 610 618 +f 614 612 618 +f 614 618 619 +f 607 606 619 +f 606 608 619 +f 608 614 619 +f 618 607 619 +f 612 608 620 +f 605 612 620 +f 608 615 620 +f 616 605 620 +o convex_50 +v -0.888471 -1.037659 -2.878963 +v 0.932647 0.591763 -2.898133 +v 0.932647 -0.117521 -2.898133 +v 0.683259 -0.980081 -2.936472 +v -0.888471 0.591763 -2.898133 +v -0.466705 -1.018360 -2.859793 +v 0.932647 -0.021822 -2.936472 +v -0.888471 -0.289937 -2.859793 +v 0.932647 -1.037659 -2.917287 +v 0.453302 0.438327 -2.878970 +v -0.159739 0.591763 -2.917287 +v -0.888471 -0.309077 -2.898133 +v -0.888471 0.591763 -2.878963 +v 0.702333 -1.037659 -2.898133 +v 0.932647 0.591763 -2.917287 +v -0.505031 -1.037659 -2.898133 +v -0.332474 -0.462513 -2.859793 +v -0.888471 -1.037659 -2.859793 +v 0.932647 -1.037659 -2.936472 +f 636 624 639 +f 622 623 627 +f 625 621 628 +f 627 623 629 +f 623 622 630 +f 625 622 631 +f 627 624 631 +f 621 625 632 +f 631 624 632 +f 625 631 632 +f 622 625 633 +f 625 628 633 +f 630 622 633 +f 628 630 633 +f 623 626 634 +f 621 629 634 +f 629 623 634 +f 622 627 635 +f 631 622 635 +f 627 631 635 +f 629 621 636 +f 621 632 636 +f 632 624 636 +f 626 623 637 +f 628 626 637 +f 623 630 637 +f 630 628 637 +f 628 621 638 +f 626 628 638 +f 634 626 638 +f 621 634 638 +f 624 627 639 +f 627 629 639 +f 629 636 639 +o convex_51 +v 0.990156 -0.155854 3.121138 +v -0.466641 0.955934 3.121129 +v -0.313248 0.936671 3.121129 +v 0.970786 0.553487 3.063644 +v -0.792623 -0.155854 3.101989 +v -0.792623 0.955934 3.063644 +v -0.198247 -0.155854 3.159483 +v 0.990156 0.860056 3.082821 +v -0.792623 0.821749 3.140306 +v 0.970786 -0.098175 3.140306 +v 0.990156 -0.136592 3.101989 +v 0.395431 -0.136592 3.159483 +v -0.792623 0.265855 3.140306 +v 0.894176 0.879210 3.063644 +v -0.332444 0.246701 3.159483 +v 0.970786 0.610949 3.101980 +f 654 651 655 +f 643 644 645 +f 644 640 646 +f 641 642 647 +f 642 641 648 +f 641 645 648 +f 645 644 648 +f 640 647 649 +f 640 644 650 +f 644 643 650 +f 647 640 650 +f 643 647 650 +f 646 640 651 +f 640 649 651 +f 644 646 652 +f 648 644 652 +f 645 641 653 +f 643 645 653 +f 641 647 653 +f 647 643 653 +f 642 648 654 +f 646 651 654 +f 652 646 654 +f 648 652 654 +f 647 642 655 +f 649 647 655 +f 651 649 655 +f 642 654 655 +o convex_52 +v 0.990167 -0.385830 0.629064 +v 1.009339 -0.174881 0.686579 +v 1.105174 0.131676 0.590766 +v 0.990167 0.304150 0.514069 +v 1.105174 -0.462449 0.648230 +f 659 658 660 +f 657 658 659 +f 656 657 659 +f 656 659 660 +f 657 656 660 +f 658 657 660 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/037/037.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/037/037.urdf new file mode 100644 index 000000000..da0f285da --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/037/037.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/038/038.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/038/038.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/038/038.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/038/038.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/038/038.obj new file mode 100644 index 000000000..73e731a08 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/038/038.obj @@ -0,0 +1,486 @@ +o convex_0 +v 1.736256 -0.239216 -0.145197 +v 3.469153 0.264948 0.169915 +v 3.500635 0.201872 0.201431 +v 3.626954 -0.302292 -0.208230 +v 1.641614 -0.302292 0.232947 +v 1.641614 0.201872 -0.208230 +v 1.641614 0.264948 0.201431 +v 3.500635 0.201872 -0.271263 +v 3.626954 -0.176195 0.264464 +v 1.641614 -0.207733 -0.239746 +v 3.595277 -0.302292 -0.050648 +v 3.595277 -0.018672 0.264464 +v 2.209076 -0.207733 0.264464 +v 2.335006 -0.018672 -0.271263 +v 1.641614 0.233410 -0.145197 +v 3.091169 -0.302292 -0.208230 +v 1.830703 0.201872 -0.239746 +v 3.532312 0.012811 -0.271263 +v 3.343223 -0.207733 0.264464 +v 3.185616 0.264948 0.106882 +v 1.641614 -0.302292 0.138398 +v 3.626954 -0.081692 0.169915 +v 2.650025 0.201872 -0.271263 +v 1.641614 0.264948 0.075365 +v 3.469153 0.233410 -0.113681 +f 15 24 25 +f 6 5 7 +f 3 2 7 +f 2 3 8 +f 5 6 10 +f 5 4 11 +f 4 9 11 +f 3 7 12 +f 9 12 13 +f 7 5 13 +f 12 7 13 +f 6 7 15 +f 4 5 16 +f 1 10 16 +f 10 4 16 +f 10 6 17 +f 14 10 17 +f 6 15 17 +f 8 4 18 +f 4 10 18 +f 14 8 18 +f 10 14 18 +f 5 11 19 +f 11 9 19 +f 9 13 19 +f 13 5 19 +f 7 2 20 +f 10 1 21 +f 5 10 21 +f 1 16 21 +f 16 5 21 +f 8 3 22 +f 4 8 22 +f 9 4 22 +f 3 12 22 +f 12 9 22 +f 8 14 23 +f 15 8 23 +f 14 17 23 +f 17 15 23 +f 15 7 24 +f 7 20 24 +f 24 20 25 +f 2 8 25 +f 8 15 25 +f 20 2 25 +o convex_1 +v 1.641605 0.232880 -0.144932 +v -0.564307 -0.302471 0.201172 +v -0.564307 -0.302471 0.327398 +v -0.438206 3.069635 0.957511 +v -0.438206 2.943316 -1.090610 +v -0.249054 -2.980425 -0.933031 +v 1.483978 -3.043585 0.925954 +v 1.610079 3.037755 0.989271 +v 1.641605 -3.011704 -0.932827 +v 1.547029 3.005874 -0.995940 +v -0.406681 -3.012306 0.989271 +v -0.469731 -2.948545 -0.932827 +v 1.641605 -3.075465 -0.775248 +v -0.564307 0.296039 -0.270954 +v -0.438206 2.721958 0.989271 +v 1.641605 -0.301268 0.232728 +v -0.217528 2.375484 -1.090610 +v 1.578554 2.690679 -0.995940 +v 1.420927 3.006476 -1.027497 +v 0.286662 -3.011704 0.989271 +v -0.501257 -2.602071 -0.838361 +v -0.469731 2.785118 -0.995940 +v -0.469731 2.785118 0.894601 +v -0.438206 -2.791549 0.957511 +v -0.469731 -2.381916 -0.964384 +v 0.822161 -3.075465 -0.208045 +v 1.610079 3.037755 0.201172 +v -0.438206 3.069635 0.547886 +v 1.326351 3.069635 0.925954 +v -0.564307 0.516194 0.327398 +v -0.186003 2.974596 -1.090610 +v 1.610079 2.123448 0.957714 +v -0.091427 -3.043585 0.705466 +v 1.168724 -3.075465 -0.932827 +v -0.469731 1.147186 -1.059053 +v -0.469731 -2.980425 -0.208045 +v 1.515503 -3.075465 0.264285 +v 0.948263 -3.043585 0.957511 +v 1.641605 -2.318757 -0.932827 +v 1.578554 3.037755 -0.239601 +v 0.979788 3.006476 -1.027497 +v 1.578554 1.209744 -0.995940 +v -0.438206 -3.012306 0.390511 +v 1.547029 -0.365028 0.957511 +v -0.438206 -1.814084 0.989271 +v 1.641605 0.200999 -0.208045 +v 1.578554 3.005874 -0.869918 +v 1.515503 -3.075465 -0.932827 +v -0.564307 -0.207431 -0.208045 +v -0.438206 2.974596 -0.964384 +v -0.469731 1.681935 0.894601 +v 0.349712 -3.043585 0.957511 +v 1.578554 -3.075465 -0.082022 +v 1.610079 2.879556 0.989271 +v 1.641605 0.264159 0.201172 +v -0.438206 -3.012306 0.705466 +v -0.059901 2.848277 -1.090610 +v -0.469731 -2.980425 -0.523203 +v -0.469731 1.588098 -1.059053 +f 60 46 84 +f 34 26 38 +f 27 28 39 +f 33 29 40 +f 36 33 40 +f 38 26 41 +f 35 43 44 +f 33 36 45 +f 28 27 46 +f 40 29 48 +f 29 47 48 +f 31 37 50 +f 37 46 50 +f 47 29 53 +f 29 33 54 +f 33 52 54 +f 53 29 54 +f 39 28 55 +f 47 39 55 +f 28 48 55 +f 48 47 55 +f 42 30 56 +f 32 41 57 +f 31 50 59 +f 38 51 59 +f 30 42 60 +f 42 50 60 +f 50 46 60 +f 28 46 61 +f 51 38 62 +f 58 51 62 +f 45 36 63 +f 62 32 63 +f 26 34 64 +f 34 43 64 +f 35 44 65 +f 44 53 65 +f 54 52 65 +f 53 54 65 +f 53 44 66 +f 44 56 66 +f 56 53 66 +f 43 34 67 +f 44 43 67 +f 51 58 68 +f 59 51 68 +f 32 57 69 +f 63 32 69 +f 36 40 70 +f 40 48 70 +f 49 36 70 +f 28 49 70 +f 52 26 71 +f 26 64 71 +f 64 43 71 +f 43 35 72 +f 35 65 72 +f 65 52 72 +f 52 71 72 +f 71 43 72 +f 34 38 73 +f 42 34 73 +f 50 42 73 +f 38 59 73 +f 59 50 73 +f 27 39 74 +f 46 27 74 +f 39 46 74 +f 30 47 75 +f 47 53 75 +f 56 30 75 +f 53 56 75 +f 48 28 76 +f 28 70 76 +f 70 48 76 +f 36 58 77 +f 58 62 77 +f 62 63 77 +f 63 36 77 +f 41 32 78 +f 38 41 78 +f 32 62 78 +f 62 38 78 +f 41 33 79 +f 33 45 79 +f 57 41 79 +f 45 63 79 +f 69 57 79 +f 63 69 79 +f 41 26 80 +f 33 41 80 +f 26 52 80 +f 52 33 80 +f 36 49 81 +f 49 28 81 +f 58 36 81 +f 28 61 81 +f 68 58 81 +f 61 68 81 +f 34 42 82 +f 42 56 82 +f 56 44 82 +f 67 34 82 +f 44 67 82 +f 37 31 83 +f 46 37 83 +f 31 59 83 +f 61 46 83 +f 59 68 83 +f 68 61 83 +f 46 39 84 +f 39 47 84 +f 47 30 84 +f 30 60 84 +o convex_2 +v -2.329026 -0.333746 -0.082171 +v -2.486593 0.296415 0.327491 +v -2.518106 0.296415 0.327491 +v -2.108513 0.359488 -0.176673 +v -2.108513 -0.207742 0.295953 +v -2.486593 0.327916 -0.176673 +v -2.518106 -0.333746 0.232932 +v -2.108513 -0.239243 -0.208212 +v -2.486593 -0.365318 -0.239750 +v -2.108513 0.264914 0.264359 +v -2.518106 -0.365318 -0.082171 +v -2.108513 0.138769 -0.208212 +v -2.140027 -0.239243 0.295953 +v -2.486593 0.201912 -0.208212 +v -2.518106 0.138769 0.327491 +f 91 97 99 +f 87 86 88 +f 87 88 90 +f 88 89 92 +f 92 85 93 +f 88 86 94 +f 89 88 94 +f 86 89 94 +f 87 90 95 +f 85 91 95 +f 91 87 95 +f 93 85 95 +f 88 92 96 +f 92 93 96 +f 91 85 97 +f 85 92 97 +f 92 89 97 +f 90 88 98 +f 95 90 98 +f 93 95 98 +f 88 96 98 +f 96 93 98 +f 86 87 99 +f 89 86 99 +f 87 91 99 +f 97 89 99 +o convex_3 +v -2.108461 0.138846 -0.208212 +v -2.045447 -0.113236 0.327491 +v -2.076957 -0.113236 0.327491 +v -2.045447 -0.838019 -0.239750 +v -2.045447 0.422515 -0.239750 +v -2.108461 0.264825 0.264359 +v -2.108461 -0.207752 0.327491 +v -2.076957 -0.838019 -0.239750 +v -2.045447 0.264825 0.232932 +v -2.108461 -0.239092 -0.208212 +v -2.108461 0.359464 -0.176673 +f 100 105 110 +f 101 103 104 +f 102 101 105 +f 105 100 106 +f 101 102 106 +f 103 101 106 +f 102 105 106 +f 103 106 107 +f 100 104 107 +f 104 103 107 +f 101 104 108 +f 105 101 108 +f 104 105 108 +f 106 100 109 +f 107 106 109 +f 100 107 109 +f 104 100 110 +f 105 104 110 +o convex_4 +v -1.100082 3.037949 0.232876 +v -2.045434 -3.043779 -0.460294 +v -1.446700 -3.075379 -0.491832 +v -1.824818 -3.011572 0.611111 +v -2.013820 3.069549 -0.491832 +v -2.045434 2.974750 0.579573 +v -0.974081 -2.885781 0.421994 +v -0.942580 3.101149 -0.523370 +v -0.974081 2.911550 0.548035 +v -0.974081 -3.106979 -0.491720 +v -0.879465 -0.837877 0.327379 +v -1.950819 -2.979972 0.611111 +v -0.879465 -0.270297 -0.334253 +v -2.045434 -0.585079 0.358806 +v -2.045434 3.069549 -0.397217 +v -1.226083 -3.075379 0.484958 +v -2.045434 3.069549 0.548035 +v -0.879465 0.296067 0.358918 +v -0.942580 0.548257 -0.523370 +v -2.013820 0.453458 -0.491832 +v -1.415199 3.037949 -0.523370 +v -1.950819 -0.711478 0.611111 +v -1.761703 3.101149 0.327379 +v -0.974081 -3.106979 -0.019094 +v -0.942580 3.068941 -0.145135 +v -1.005581 2.974750 0.548035 +v -2.045434 1.462217 0.579573 +v -0.974081 2.659360 0.548035 +v -0.942580 -2.539399 -0.334253 +v -2.045434 -3.012180 -0.365679 +v -1.005581 -3.075379 0.421994 +v -0.879465 0.201875 -0.239638 +v -0.879465 -0.616679 0.358918 +v -1.226083 -3.106979 -0.397217 +v -1.950819 -3.043779 -0.082059 +v -2.045434 2.785759 -0.460294 +v -1.320698 3.101149 -0.523370 +v -0.879465 -0.900468 0.138262 +v -1.950819 -3.012180 0.579573 +v -1.761703 3.068941 0.548035 +v -1.005581 -2.098219 0.453420 +v -1.289198 -3.075379 0.484958 +v -1.068582 3.101149 -0.239638 +f 135 118 153 +f 112 113 120 +f 116 112 124 +f 112 116 125 +f 125 116 127 +f 121 123 128 +f 120 113 129 +f 118 123 129 +f 123 120 129 +f 113 112 130 +f 112 115 130 +f 129 113 131 +f 118 129 131 +f 113 130 131 +f 130 115 131 +f 114 119 132 +f 119 116 132 +f 122 114 132 +f 116 122 132 +f 115 125 133 +f 125 127 133 +f 121 117 134 +f 119 128 135 +f 128 118 135 +f 116 119 136 +f 135 111 136 +f 119 135 136 +f 122 116 137 +f 116 124 137 +f 124 122 137 +f 119 114 138 +f 114 126 138 +f 128 119 138 +f 120 123 139 +f 134 120 139 +f 121 134 139 +f 124 112 140 +f 122 124 140 +f 117 126 141 +f 134 117 141 +f 126 134 141 +f 123 118 142 +f 118 128 142 +f 128 123 142 +f 117 121 143 +f 121 128 143 +f 138 117 143 +f 128 138 143 +f 112 120 144 +f 120 134 144 +f 112 144 145 +f 115 112 146 +f 112 125 146 +f 125 115 146 +f 131 115 147 +f 118 131 147 +f 133 118 147 +f 115 133 147 +f 123 121 148 +f 139 123 148 +f 121 139 148 +f 114 122 149 +f 140 112 149 +f 122 140 149 +f 112 145 149 +f 127 116 150 +f 111 133 150 +f 133 127 150 +f 116 136 150 +f 136 111 150 +f 126 117 151 +f 138 126 151 +f 117 138 151 +f 126 114 152 +f 134 126 152 +f 144 134 152 +f 145 144 152 +f 114 149 152 +f 149 145 152 +f 133 111 153 +f 118 133 153 +f 111 135 153 +o convex_5 +v -0.879391 0.107338 -0.271260 +v -0.564320 -0.081621 0.327491 +v -0.564320 0.296428 0.295943 +v -0.564320 0.044309 -0.271260 +v -0.879391 -0.333805 0.327491 +v -0.879391 0.327975 0.232914 +v -0.627396 -0.239228 -0.239712 +v -0.564320 0.296428 -0.239712 +v -0.879391 -0.270775 -0.302742 +v -0.564320 -0.302258 0.327491 +v -0.847900 0.233398 -0.239712 +v -0.847900 -0.113169 -0.334290 +v -0.658888 -0.333805 0.264461 +v -0.564320 -0.239228 -0.145135 +v -0.847900 0.327975 0.264461 +f 161 159 168 +f 156 155 157 +f 155 156 158 +f 154 158 159 +f 156 157 161 +f 158 154 162 +f 157 155 163 +f 155 158 163 +f 154 159 164 +f 159 161 164 +f 164 161 165 +f 157 160 165 +f 161 157 165 +f 162 154 165 +f 160 162 165 +f 154 164 165 +f 158 162 166 +f 162 160 166 +f 163 158 166 +f 163 166 167 +f 160 157 167 +f 157 163 167 +f 166 160 167 +f 158 156 168 +f 159 158 168 +f 156 161 168 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/038/038.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/038/038.urdf new file mode 100644 index 000000000..003f9dc07 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/038/038.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/039/039.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/039/039.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/039/039.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/039/039.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/039/039.obj new file mode 100644 index 000000000..6da954c4b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/039/039.obj @@ -0,0 +1,828 @@ +o convex_0 +v -2.927232 -1.178128 -0.155753 +v -0.428313 1.057749 -0.155753 +v -0.428313 1.057749 -0.353096 +v -0.428313 -1.441072 -0.517450 +v -0.428313 -0.914940 0.929339 +v -3.190057 0.695988 0.699007 +v -3.420202 -0.191661 -0.747585 +v -0.428313 0.926155 0.962131 +v -3.518935 -0.224193 0.797581 +v -0.559725 0.926155 -0.912136 +v -1.907918 -0.947716 -0.945124 +v -3.650347 0.597414 -0.089972 +v -2.696739 -1.243925 0.402895 +v -3.683374 -0.980737 0.106979 +v -0.428313 -0.980737 -0.977917 +v -3.190057 -1.079555 -0.649012 +v -0.428313 -1.441072 0.337114 +v -2.664060 0.860358 -0.353096 +v -2.236449 -0.980737 0.863558 +v -2.203769 -0.159130 0.995120 +v -3.979574 -0.158885 0.008602 +v -1.973624 -0.126109 -1.010905 +v -2.171090 0.597414 -0.846355 +v -0.460992 1.024728 0.797777 +v -0.428313 0.268429 -1.010905 +v -1.875238 0.630190 0.962131 +v -0.460992 -1.342254 -0.780574 +v -0.494019 -1.112086 0.896350 +v -3.255763 -0.816366 0.600434 +v -0.428313 -0.027291 0.995120 +v -3.190057 0.334226 -0.616023 +v -2.072357 -0.355787 0.995120 +v -3.157377 0.729008 0.600434 +v -3.979574 -0.158885 0.074186 +v -3.650347 -1.013757 0.172760 +v -3.518935 -0.191661 -0.682000 +v -0.428313 0.958931 -0.879343 +v -3.946547 -0.257214 -0.056983 +v -0.559725 -0.651751 -1.010905 +v -1.151775 0.400268 0.995120 +v -0.526698 -1.441072 -0.484658 +v -0.658110 1.024728 0.567249 +v -3.387523 -0.520402 -0.714596 +v -2.729766 -1.243925 0.238540 +v -1.217482 -0.947716 -0.977917 +v -3.979574 -0.257214 0.074186 +v -2.894205 -1.112331 -0.682000 +v -3.485908 -0.126109 0.797581 +v -3.650347 0.597414 -0.024191 +v -1.480306 -0.421584 0.995120 +v -3.223084 0.663211 0.699007 +v -1.973624 -0.224193 -1.010905 +v -0.526698 1.057749 -0.188741 +v -2.171090 -0.882163 0.896350 +v -0.526698 -1.441072 0.271333 +v -2.927232 0.729008 0.731800 +v -3.124351 -0.816366 0.666019 +v -2.532300 -1.243925 0.435883 +v -0.625431 0.958931 -0.846355 +v -3.223084 -1.079555 -0.616023 +v -2.664060 0.860358 -0.287315 +v -3.288790 0.465820 -0.451669 +v -2.072357 -1.013513 0.863558 +v -1.283188 -1.210904 -0.813562 +f 27 47 64 +f 3 2 4 +f 4 2 5 +f 5 2 8 +f 3 4 15 +f 4 5 17 +f 18 10 23 +f 22 7 23 +f 10 22 23 +f 8 2 24 +f 3 15 25 +f 22 10 25 +f 15 4 27 +f 17 5 28 +f 5 8 30 +f 23 7 31 +f 20 9 32 +f 30 20 32 +f 18 12 33 +f 12 21 34 +f 29 9 35 +f 13 29 35 +f 21 12 36 +f 31 7 36 +f 12 31 36 +f 3 25 37 +f 25 10 37 +f 21 36 38 +f 25 15 39 +f 22 25 39 +f 8 26 40 +f 26 20 40 +f 30 8 40 +f 20 30 40 +f 1 16 41 +f 4 17 41 +f 33 24 42 +f 7 11 43 +f 11 16 43 +f 36 7 43 +f 38 36 43 +f 35 1 44 +f 13 35 44 +f 1 41 44 +f 15 27 45 +f 27 11 45 +f 39 15 45 +f 9 34 46 +f 34 21 46 +f 14 35 46 +f 35 9 46 +f 38 14 46 +f 21 38 46 +f 16 11 47 +f 27 4 47 +f 41 16 47 +f 4 41 47 +f 9 20 48 +f 20 26 48 +f 34 9 48 +f 6 33 49 +f 33 12 49 +f 12 34 49 +f 28 5 50 +f 5 30 50 +f 32 28 50 +f 30 32 50 +f 26 6 51 +f 48 26 51 +f 34 48 51 +f 6 49 51 +f 49 34 51 +f 11 7 52 +f 7 22 52 +f 22 39 52 +f 45 11 52 +f 39 45 52 +f 2 3 53 +f 3 18 53 +f 24 2 53 +f 42 24 53 +f 9 19 54 +f 32 9 54 +f 28 32 54 +f 17 13 55 +f 41 17 55 +f 13 44 55 +f 44 41 55 +f 8 24 56 +f 6 26 56 +f 26 8 56 +f 33 6 56 +f 24 33 56 +f 19 9 57 +f 13 19 57 +f 9 29 57 +f 29 13 57 +f 13 17 58 +f 17 28 58 +f 18 3 59 +f 10 18 59 +f 3 37 59 +f 37 10 59 +f 16 1 60 +f 1 35 60 +f 35 14 60 +f 14 38 60 +f 43 16 60 +f 38 43 60 +f 18 33 61 +f 33 42 61 +f 53 18 61 +f 42 53 61 +f 12 18 62 +f 18 23 62 +f 31 12 62 +f 23 31 62 +f 19 13 63 +f 54 19 63 +f 28 54 63 +f 13 58 63 +f 58 28 63 +f 11 27 64 +f 47 11 64 +o convex_1 +v -0.559549 1.551279 0.008550 +v -0.427923 2.208927 0.041346 +v -0.427923 2.208927 -0.024303 +v -1.973549 1.847336 0.041346 +v -0.427923 1.847336 0.304521 +v -0.427923 1.847336 -0.287421 +v -1.710447 1.814441 -0.188745 +v -1.775958 1.650029 0.041346 +v -1.710447 2.044451 0.041346 +v -0.526718 2.110241 -0.254509 +v -0.756838 2.110241 0.238698 +v -1.644483 1.847336 0.205845 +v -0.427923 1.617134 0.205845 +v -0.724158 1.650029 -0.188745 +v -1.743278 2.044451 -0.024303 +v -1.677314 1.650029 -0.057215 +v -0.427923 2.110241 0.271610 +v -0.427923 1.617134 -0.155833 +v -1.381533 1.682924 0.172875 +v -1.480026 2.011620 -0.155833 +v -1.578821 1.978724 0.172875 +v -1.940567 1.814441 -0.057215 +v -1.578821 1.617134 0.041346 +v -0.427923 2.143137 -0.221598 +v -1.677314 1.880103 -0.188745 +v -0.559549 1.847336 -0.287421 +v -0.592380 1.617134 0.205845 +v -0.526718 1.847336 0.304521 +f 83 91 92 +f 67 66 69 +f 67 69 70 +f 66 73 75 +f 68 72 76 +f 70 69 77 +f 66 67 79 +f 73 66 79 +f 68 73 79 +f 78 65 80 +f 71 78 80 +f 69 66 81 +f 66 75 81 +f 75 76 81 +f 77 65 82 +f 70 77 82 +f 65 78 82 +f 78 70 82 +f 76 72 83 +f 79 74 84 +f 73 68 85 +f 75 73 85 +f 76 75 85 +f 68 76 85 +f 72 68 86 +f 68 79 86 +f 80 72 86 +f 71 80 86 +f 80 65 87 +f 72 80 87 +f 83 72 87 +f 67 70 88 +f 70 74 88 +f 79 67 88 +f 74 79 88 +f 84 74 89 +f 79 84 89 +f 86 79 89 +f 71 86 89 +f 74 70 90 +f 70 78 90 +f 78 71 90 +f 71 89 90 +f 89 74 90 +f 65 77 91 +f 77 69 91 +f 87 65 91 +f 83 87 91 +f 69 81 92 +f 81 76 92 +f 76 83 92 +f 91 69 92 +o convex_2 +v 2.268701 0.169753 0.041198 +v -0.427923 -1.506817 -0.484658 +v -0.427923 -1.506817 -0.385888 +v 1.808089 -2.953934 -0.056983 +v -0.427923 0.202780 0.995120 +v 0.690479 1.254873 -1.010905 +v 1.906810 1.255308 0.896154 +v 0.953120 -2.887445 0.797777 +v 1.347741 -2.526318 -1.010905 +v -0.427923 0.926339 -0.912136 +v 2.038527 1.254873 -0.846355 +v 1.775358 -2.098701 0.962131 +v -0.197485 1.254873 0.797777 +v 0.295594 -2.756205 -0.879343 +v 0.164141 -2.624530 0.764788 +v 2.038263 -1.901406 -0.780574 +v -0.427923 -0.685046 -1.010905 +v 2.071258 -2.000054 0.666019 +v -0.427923 -1.112228 0.896350 +v 0.986115 -3.184256 -0.089972 +v 0.361320 -2.098701 0.995120 +v 0.197136 -2.920907 0.106979 +v 1.479194 1.254873 0.962131 +v 1.775358 1.255308 -0.977917 +v -0.164754 1.254873 -0.945124 +v 1.282015 -2.986527 -0.747781 +v 1.775358 -2.756639 0.699007 +v -0.427923 0.926339 0.962131 +v 2.038527 1.254873 0.797777 +v 2.268701 -0.323918 -0.287315 +v 1.874079 -2.230376 -0.911939 +v 2.268701 -0.323918 0.370102 +v 2.071258 -2.230376 -0.024191 +v 1.347741 -0.356511 0.995120 +v 1.808089 -2.789232 -0.649012 +v -0.427923 -1.473790 0.337114 +v 2.038263 -1.933999 0.797581 +v -0.427923 1.090606 -0.287315 +v 1.051841 -3.184256 0.073990 +v -0.427923 -1.342115 -0.780574 +v 0.229867 -2.822259 -0.616219 +v 0.953120 -3.019554 -0.780574 +v 1.051841 -2.262968 0.995120 +v 0.262862 -1.835352 -1.010905 +v -0.427923 0.300993 -1.010905 +v -0.033038 1.254873 0.962131 +v 1.413468 1.189253 -1.010905 +v 2.071258 -2.164321 0.534457 +v 0.328589 -2.756205 0.731996 +v 0.164141 -2.098701 0.962131 +v 0.197136 -2.920907 -0.122960 +v 2.071258 -2.131294 -0.353096 +v -0.427923 -0.980553 -0.977917 +v 1.808089 -2.230376 -0.944928 +v 1.874079 -2.624530 0.698811 +v 1.216289 -2.887879 0.764788 +v 1.808089 1.255308 0.929143 +v 2.268701 -0.455158 -0.155753 +v 0.229867 -2.723177 -0.846355 +v -0.427923 1.024551 0.830373 +v 2.005532 1.156226 -0.879147 +v 1.808089 -2.953934 0.041198 +v 2.268701 -0.027542 -0.287315 +v 1.117568 -3.052147 -0.747781 +f 112 134 156 +f 94 95 97 +f 94 97 102 +f 98 101 109 +f 94 102 109 +f 97 95 111 +f 107 100 113 +f 95 94 114 +f 99 103 116 +f 116 98 117 +f 105 116 117 +f 102 97 120 +f 93 103 121 +f 103 99 121 +f 108 103 122 +f 93 121 124 +f 122 93 124 +f 97 113 126 +f 115 97 126 +f 118 101 127 +f 96 118 127 +f 123 108 127 +f 125 96 127 +f 111 95 128 +f 107 111 128 +f 95 114 128 +f 114 107 128 +f 99 104 129 +f 121 99 129 +f 124 121 129 +f 110 124 129 +f 117 102 130 +f 105 117 130 +f 102 120 130 +f 112 96 131 +f 114 112 131 +f 94 109 132 +f 106 101 134 +f 133 106 134 +f 112 133 134 +f 100 104 135 +f 113 100 135 +f 126 113 135 +f 104 126 135 +f 101 106 136 +f 109 101 136 +f 98 109 137 +f 109 102 137 +f 102 117 137 +f 117 98 137 +f 97 115 138 +f 120 97 138 +f 105 120 138 +f 101 98 139 +f 98 116 139 +f 116 101 139 +f 124 110 140 +f 100 107 141 +f 107 114 141 +f 131 100 141 +f 114 131 141 +f 97 111 142 +f 111 107 142 +f 113 97 142 +f 107 113 142 +f 114 94 143 +f 112 114 143 +f 133 112 143 +f 94 133 143 +f 108 122 144 +f 127 108 144 +f 125 127 144 +f 132 109 145 +f 136 106 145 +f 109 136 145 +f 101 116 146 +f 127 101 146 +f 123 127 146 +f 104 119 147 +f 129 104 147 +f 110 129 147 +f 140 110 147 +f 104 100 148 +f 119 104 148 +f 100 131 148 +f 131 119 148 +f 104 99 149 +f 99 116 149 +f 116 105 149 +f 126 104 149 +f 115 126 149 +f 105 138 149 +f 138 115 149 +f 122 124 150 +f 124 140 150 +f 140 125 150 +f 144 122 150 +f 125 144 150 +f 94 132 151 +f 106 133 151 +f 133 94 151 +f 145 106 151 +f 132 145 151 +f 120 105 152 +f 105 130 152 +f 130 120 152 +f 103 108 153 +f 116 103 153 +f 108 123 153 +f 146 116 153 +f 123 146 153 +f 96 125 154 +f 131 96 154 +f 119 131 154 +f 125 140 154 +f 147 119 154 +f 140 147 154 +f 103 93 155 +f 93 122 155 +f 122 103 155 +f 96 112 156 +f 101 118 156 +f 118 96 156 +f 134 101 156 +o convex_3 +v 2.268701 2.175993 0.238643 +v 0.427310 2.044602 -1.043791 +v 0.098415 1.748695 -1.010802 +v 0.164141 2.504708 0.731902 +v -0.033038 1.255465 0.962234 +v 2.038527 1.255465 -0.846252 +v 1.972537 1.255465 0.863464 +v 1.808089 2.570483 -0.846448 +v 1.775094 2.570483 0.797683 +v -0.164754 1.255465 -0.944825 +v 0.164141 2.702032 -0.418577 +v -0.427923 2.208959 0.074289 +v 1.117568 2.866705 0.008508 +v 0.098415 2.570640 -0.846448 +v 0.854663 2.208959 0.962234 +v 1.840820 2.767806 0.041301 +v -0.427923 1.551372 0.074289 +v 1.808089 1.288274 -0.977813 +v 2.268701 2.241768 -0.352993 +v 2.268701 1.452789 0.041104 +v 0.953120 2.735156 -0.813459 +v -0.427923 2.110219 -0.254223 +v 0.229867 2.767964 0.008508 +v 0.887658 2.669381 0.731902 +v 0.788936 2.241610 -1.043791 +v 1.840820 1.584180 0.929245 +v -0.427923 2.110219 0.271632 +v 1.874079 2.471900 0.830476 +v -0.164754 1.255465 0.830672 +v 2.071258 1.650112 0.797487 +v 0.657484 1.255465 -1.010802 +v 1.873815 2.406125 -0.879044 +v 1.117568 1.255623 0.962234 +v 1.840820 2.767806 -0.122661 +v 2.235705 2.373159 -0.024480 +v 2.268701 1.617304 -0.352993 +v 0.591494 2.175993 0.962234 +v 2.038527 1.551529 -0.879240 +v 1.840820 1.617146 -0.977813 +v 0.887658 2.866705 -0.024480 +v 1.874079 2.570483 0.764695 +v 2.268701 1.617304 0.271436 +v 2.038527 1.255465 0.797487 +v 0.920389 1.748853 -1.043791 +v -0.427923 1.617304 -0.188442 +v 0.131146 1.946019 0.896453 +v 0.920389 2.702189 0.665925 +v 1.874079 2.537674 -0.846252 +v -0.427923 1.649955 0.238643 +v 0.361320 2.800772 -0.089869 +v 0.164141 2.603449 0.468779 +v -0.066033 1.321240 0.929245 +v 1.051841 2.866705 -0.122661 +v 0.493036 2.307542 -1.010802 +v 0.098415 1.880244 -1.010802 +v 0.098415 2.603449 -0.780471 +v 1.775094 2.537832 -0.879044 +v 0.131146 2.373317 0.764891 +v 1.808089 1.255623 0.929245 +v 2.268701 1.781662 -0.418773 +v 1.775094 2.800772 -0.056880 +v 0.887658 2.735156 -0.813459 +v 1.183294 1.255623 -1.010802 +v -0.427923 2.208959 -0.056880 +f 212 170 220 +f 161 162 163 +f 162 161 166 +f 175 157 176 +f 170 166 178 +f 173 168 178 +f 171 165 180 +f 160 168 183 +f 168 173 183 +f 165 171 184 +f 171 182 184 +f 166 161 185 +f 173 166 185 +f 182 163 186 +f 157 184 186 +f 184 182 186 +f 159 158 187 +f 166 159 187 +f 162 166 187 +f 171 161 189 +f 182 171 189 +f 157 175 191 +f 190 172 191 +f 176 162 192 +f 175 176 192 +f 161 171 193 +f 180 160 193 +f 171 180 193 +f 162 174 194 +f 194 174 195 +f 188 194 195 +f 172 169 197 +f 184 157 197 +f 165 184 197 +f 157 191 197 +f 191 172 197 +f 176 157 198 +f 157 186 198 +f 198 186 199 +f 163 162 199 +f 162 176 199 +f 186 163 199 +f 176 198 199 +f 158 181 200 +f 187 158 200 +f 195 174 200 +f 181 195 200 +f 166 173 201 +f 178 166 201 +f 173 178 201 +f 161 193 202 +f 180 165 203 +f 160 180 203 +f 169 196 203 +f 196 179 203 +f 165 197 203 +f 197 169 203 +f 164 190 204 +f 191 175 204 +f 190 191 204 +f 194 188 204 +f 175 194 204 +f 183 173 205 +f 173 185 205 +f 185 183 205 +f 167 179 206 +f 179 196 206 +f 168 160 207 +f 179 168 207 +f 160 203 207 +f 203 179 207 +f 185 161 208 +f 183 185 208 +f 161 202 208 +f 196 169 209 +f 181 158 210 +f 158 159 211 +f 159 166 211 +f 166 170 211 +f 210 158 211 +f 170 210 211 +f 177 164 213 +f 181 177 213 +f 195 181 213 +f 188 195 213 +f 164 204 213 +f 204 188 213 +f 160 183 214 +f 193 160 214 +f 202 193 214 +f 183 208 214 +f 208 202 214 +f 161 163 215 +f 163 182 215 +f 189 161 215 +f 182 189 215 +f 192 162 216 +f 175 192 216 +f 162 194 216 +f 194 175 216 +f 169 172 217 +f 164 177 217 +f 172 190 217 +f 190 164 217 +f 209 169 217 +f 177 209 217 +f 177 181 218 +f 167 206 218 +f 206 196 218 +f 209 177 218 +f 196 209 218 +f 210 170 218 +f 181 210 218 +f 212 167 218 +f 170 212 218 +f 174 162 219 +f 162 187 219 +f 187 200 219 +f 200 174 219 +f 170 178 220 +f 178 168 220 +f 168 179 220 +f 179 167 220 +f 167 212 220 +o convex_4 +v 2.597805 -0.191571 0.370228 +v 2.268701 -0.323159 -0.287356 +v 2.268701 -0.027246 -0.287356 +v 4.011641 -0.191571 0.008602 +v 2.268701 0.137195 0.074270 +v 2.268701 -0.454747 0.205800 +v 3.781319 0.071372 0.041436 +v 3.781319 -0.388924 0.074270 +v 3.748391 -0.191571 -0.221559 +v 3.682536 -0.093011 0.271597 +v 2.268701 0.005608 0.337394 +v 2.301628 -0.454747 -0.155827 +v 3.025351 0.038519 -0.221559 +v 2.334556 -0.323159 0.370228 +v 3.485142 -0.323159 0.238698 +v 3.386700 -0.356012 -0.155827 +v 3.025351 0.038519 0.271597 +v 2.433167 0.137195 -0.024297 +v 3.715464 -0.191571 0.271597 +v 3.748391 0.071372 -0.024297 +v 3.715464 -0.125980 -0.221559 +v 2.466095 -0.421835 0.271597 +v 4.011641 -0.125980 0.074270 +v 3.748391 -0.388924 0.008602 +v 2.630733 -0.454747 0.074270 +v 2.663660 -0.191571 -0.287356 +v 3.123963 -0.125980 0.337394 +v 2.268701 0.071372 -0.155827 +v 3.814246 -0.125980 -0.188725 +v 3.616681 0.005608 -0.155827 +f 240 249 250 +f 223 222 225 +f 225 222 226 +f 225 226 231 +f 226 222 232 +f 221 231 234 +f 231 226 234 +f 222 229 236 +f 232 222 236 +f 227 225 237 +f 230 227 237 +f 225 231 237 +f 225 227 238 +f 235 228 239 +f 234 235 239 +f 238 227 240 +f 233 238 240 +f 223 233 241 +f 226 228 242 +f 234 226 242 +f 228 235 242 +f 235 234 242 +f 228 224 243 +f 227 230 243 +f 239 228 243 +f 230 239 243 +f 240 227 243 +f 224 228 244 +f 229 224 244 +f 236 229 244 +f 232 236 244 +f 228 226 245 +f 226 232 245 +f 244 228 245 +f 232 244 245 +f 222 223 246 +f 229 222 246 +f 223 241 246 +f 241 229 246 +f 231 221 247 +f 221 234 247 +f 230 237 247 +f 237 231 247 +f 239 230 247 +f 234 239 247 +f 223 225 248 +f 233 223 248 +f 225 238 248 +f 238 233 248 +f 224 229 249 +f 229 241 249 +f 243 224 249 +f 240 243 249 +f 233 240 250 +f 241 233 250 +f 249 241 250 +o convex_5 +v 2.367493 1.485536 -0.155811 +v 2.301808 2.274763 0.008492 +v 2.301808 2.274763 -0.188725 +v 4.077412 1.880029 -0.024355 +v 2.268701 1.748612 0.304453 +v 2.268701 1.748612 -0.386010 +v 3.814320 1.814521 0.205777 +v 3.814320 1.781607 -0.221572 +v 3.715351 1.617114 0.041407 +v 2.268701 1.551365 0.238692 +v 2.268701 2.208934 -0.353096 +v 3.880004 2.044441 -0.057202 +v 2.334562 2.110270 0.238692 +v 2.992291 1.584199 -0.254487 +v 3.649843 2.011526 0.140015 +v 2.268701 1.452621 0.041407 +v 3.715351 1.847356 -0.254487 +v 3.781389 1.617114 -0.057202 +v 2.729377 1.584199 0.238692 +v 2.268701 1.912863 0.304453 +v 2.268701 1.584199 -0.320249 +v 3.814320 1.880029 0.205777 +v 3.649843 2.011526 -0.188725 +v 2.301808 2.011526 -0.386010 +v 3.880004 2.044441 0.008492 +v 4.011550 1.748612 0.008492 +v 2.268701 2.176100 0.172930 +v 3.616736 1.682863 0.172930 +v 3.715351 1.715778 -0.221572 +v 2.367493 1.452621 -0.057202 +v 2.531792 1.814521 0.304453 +v 3.814320 1.880029 -0.221572 +f 273 262 282 +f 255 256 260 +f 252 253 261 +f 256 255 261 +f 253 252 262 +f 261 253 262 +f 260 256 266 +f 255 260 269 +f 266 259 269 +f 260 266 269 +f 261 255 270 +f 264 251 271 +f 256 264 271 +f 251 266 271 +f 266 256 271 +f 257 254 272 +f 265 263 272 +f 263 270 272 +f 261 262 273 +f 256 261 274 +f 267 256 274 +f 261 267 274 +f 262 252 275 +f 254 262 275 +f 252 265 275 +f 272 254 275 +f 265 272 275 +f 254 257 276 +f 258 254 276 +f 257 259 276 +f 268 258 276 +f 259 268 276 +f 252 261 277 +f 265 252 277 +f 263 265 277 +f 261 270 277 +f 270 263 277 +f 259 257 278 +f 257 269 278 +f 269 259 278 +f 264 256 279 +f 267 258 279 +f 256 267 279 +f 258 268 279 +f 268 264 279 +f 251 264 280 +f 266 251 280 +f 259 266 280 +f 268 259 280 +f 264 268 280 +f 255 269 281 +f 269 257 281 +f 270 255 281 +f 257 272 281 +f 272 270 281 +f 254 258 282 +f 262 254 282 +f 258 267 282 +f 267 261 282 +f 261 273 282 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/039/039.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/039/039.urdf new file mode 100644 index 000000000..ae60099cc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/039/039.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/040/040.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/040/040.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/040/040.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/040/040.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/040/040.obj new file mode 100644 index 000000000..bba92d72f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/040/040.obj @@ -0,0 +1,576 @@ +o convex_0 +v 1.105469 -1.391385 0.597337 +v -1.083008 -2.107677 -0.556088 +v -1.083008 -2.107677 0.637089 +v -1.083008 0.120591 -0.476795 +v 0.946089 -2.107677 -1.073699 +v 1.065624 0.120591 0.955522 +v 0.946089 0.120591 -1.033738 +v -1.043163 0.120591 1.035025 +v 1.025779 -2.107677 0.955311 +v -0.963472 0.120591 -0.954024 +v -1.043163 -2.107677 1.074987 +v -0.923627 -2.107677 -0.954024 +v -0.963472 -0.237773 1.074987 +v 0.030939 -2.107677 1.035025 +v 1.105469 -2.107677 0.557586 +v 0.667602 -2.067761 -1.073699 +v 1.065624 0.120591 0.398580 +v 0.906244 -1.072937 -1.073699 +v -1.003318 -2.107677 -0.914483 +v -1.043163 0.120591 -0.795018 +v -1.083008 0.080676 0.119688 +v 0.627757 -0.516306 0.995273 +v 1.065410 -1.948452 0.955311 +v -0.684986 -2.067761 1.074987 +v -0.247333 0.120591 1.035025 +v 0.667602 0.120591 -1.033738 +v 1.105469 -1.391385 0.557586 +f 7 17 27 +f 2 3 4 +f 3 2 5 +f 4 6 7 +f 6 4 8 +f 3 5 9 +f 4 7 10 +f 8 3 11 +f 3 9 11 +f 5 2 12 +f 8 11 13 +f 11 9 14 +f 9 5 15 +f 5 12 16 +f 12 10 16 +f 6 1 17 +f 7 6 17 +f 7 5 18 +f 5 16 18 +f 16 10 18 +f 12 2 19 +f 10 12 19 +f 2 4 20 +f 4 10 20 +f 19 2 20 +f 10 19 20 +f 4 3 21 +f 3 8 21 +f 8 4 21 +f 22 14 23 +f 1 6 23 +f 14 9 23 +f 15 1 23 +f 9 15 23 +f 6 22 23 +f 13 11 24 +f 11 14 24 +f 22 13 24 +f 14 22 24 +f 6 8 25 +f 8 13 25 +f 22 6 25 +f 13 22 25 +f 10 7 26 +f 7 18 26 +f 18 10 26 +f 5 7 27 +f 1 15 27 +f 15 5 27 +f 17 1 27 +o convex_1 +v 0.468846 2.348807 3.024397 +v -1.043217 0.240223 1.074987 +v -1.043217 0.240223 2.944949 +v 1.025795 0.200382 2.785662 +v 1.025795 2.348807 1.075181 +v -1.003319 2.348593 1.074987 +v 0.946202 0.240223 1.075181 +v -0.963422 2.388648 2.944949 +v 0.985897 2.308752 3.064122 +v 1.025795 0.200382 3.064122 +v -0.605355 0.200596 2.984673 +v -0.486066 0.200596 1.552652 +v -1.003319 2.388648 2.745938 +v 0.627830 2.308752 3.064122 +v -1.043217 1.075817 1.672019 +v 1.025795 2.348807 1.871030 +v 0.985897 0.200382 1.831306 +v 1.025795 1.910768 1.075181 +v -1.043217 0.757516 2.944949 +v -0.844133 0.200596 2.865500 +v 1.025795 0.757516 3.064122 +v -1.003319 2.229284 2.944949 +v -0.764540 2.388648 2.944949 +v 0.906506 0.319691 3.064122 +v -0.923726 2.388648 2.586846 +f 40 50 52 +f 31 32 37 +f 29 34 39 +f 28 35 41 +f 36 28 41 +f 37 36 41 +f 29 30 42 +f 33 29 42 +f 40 33 42 +f 28 36 43 +f 37 32 43 +f 31 37 44 +f 39 34 44 +f 32 31 45 +f 29 33 45 +f 33 32 45 +f 34 29 45 +f 31 44 45 +f 44 34 45 +f 30 38 46 +f 42 30 46 +f 40 42 46 +f 30 29 47 +f 37 38 47 +f 38 30 47 +f 29 39 47 +f 44 37 47 +f 39 44 47 +f 36 37 48 +f 43 36 48 +f 37 43 48 +f 35 40 49 +f 41 35 49 +f 38 41 49 +f 46 38 49 +f 40 46 49 +f 35 28 50 +f 40 35 50 +f 28 43 50 +f 43 32 50 +f 38 37 51 +f 37 41 51 +f 41 38 51 +f 32 33 52 +f 33 40 52 +f 50 32 52 +o convex_2 +v -1.083008 -2.266940 0.477942 +v -3.072337 -3.261546 -0.595972 +v -3.072337 -3.261546 -0.397148 +v -2.952970 -2.187366 -0.556256 +v -1.083008 -3.181973 -0.595972 +v -2.952970 -3.301391 0.597333 +v -2.992694 -2.227095 0.637050 +v -1.083008 -3.221701 0.597333 +v -1.083008 -2.107677 -0.516418 +v -3.032418 -2.227095 -0.595972 +v -1.282213 -3.221701 -0.198204 +v -1.123122 -2.266940 0.517780 +v -1.123122 -2.107677 -0.397148 +v -2.316213 -2.227095 0.597333 +v -2.753959 -3.261546 -0.595972 +v -2.753959 -3.301391 0.557496 +v -3.072337 -2.863563 -0.516418 +v -1.839327 -2.147521 -0.556256 +v -2.992694 -2.346513 0.637050 +f 60 59 71 +f 55 54 58 +f 57 53 60 +f 53 57 61 +f 57 54 62 +f 59 56 62 +f 57 60 63 +f 60 53 64 +f 56 59 65 +f 53 61 65 +f 61 56 65 +f 64 53 65 +f 64 65 66 +f 59 60 66 +f 60 64 66 +f 65 59 66 +f 54 57 67 +f 57 63 67 +f 67 63 68 +f 58 54 68 +f 60 58 68 +f 63 60 68 +f 54 67 68 +f 54 55 69 +f 55 59 69 +f 62 54 69 +f 59 62 69 +f 61 57 70 +f 56 61 70 +f 57 62 70 +f 62 56 70 +f 55 58 71 +f 59 55 71 +f 58 60 71 +o convex_3 +v 0.786978 0.200378 -1.909531 +v 1.065679 2.309067 -1.113875 +v 1.065679 1.592617 -1.113875 +v -1.122798 2.309067 -1.113875 +v 1.025834 2.309067 -3.023176 +v -0.963418 0.319683 -2.983452 +v -1.082739 0.280052 -1.113875 +v -1.003263 2.309067 -2.943727 +v 0.985989 0.240215 -3.103014 +v 0.985989 0.200378 -1.113875 +v 1.025834 0.797317 -3.103014 +v -0.645086 0.280052 -3.023176 +v -1.043108 2.229393 -2.665267 +v 1.025834 0.280052 -2.824165 +v -0.486135 2.269024 -2.983452 +v 1.065679 1.910901 -1.909531 +v -1.003263 0.280052 -2.466061 +v 0.468860 0.200378 -1.113875 +v 0.627812 0.240215 -3.103014 +v 1.025834 0.558500 -1.113875 +v -1.082739 0.359520 -1.272773 +v -0.963418 1.314169 -2.983452 +v 0.508491 2.309067 -3.023176 +v -1.122798 2.269024 -1.312692 +v -0.844097 0.280052 -2.983452 +v 0.985989 0.200378 -2.227326 +v 1.065679 1.473311 -1.869807 +v -1.003263 1.393637 -2.943727 +f 88 92 99 +f 74 73 75 +f 75 73 76 +f 74 75 78 +f 75 76 79 +f 74 78 81 +f 80 82 85 +f 73 74 87 +f 76 73 87 +f 82 76 87 +f 72 81 89 +f 81 78 89 +f 78 88 89 +f 82 80 90 +f 86 82 90 +f 74 81 91 +f 85 74 91 +f 81 85 91 +f 88 78 92 +f 77 79 93 +f 83 77 93 +f 79 86 93 +f 90 83 93 +f 86 90 93 +f 79 76 94 +f 76 82 94 +f 86 79 94 +f 82 86 94 +f 78 75 95 +f 75 79 95 +f 79 84 95 +f 92 78 95 +f 84 92 95 +f 77 83 96 +f 88 77 96 +f 72 89 96 +f 89 88 96 +f 83 90 96 +f 96 90 97 +f 81 72 97 +f 85 81 97 +f 80 85 97 +f 90 80 97 +f 72 96 97 +f 74 85 98 +f 85 82 98 +f 87 74 98 +f 82 87 98 +f 79 77 99 +f 84 79 99 +f 77 88 99 +f 92 84 99 +o convex_4 +v -1.082914 0.120591 -0.476827 +v 3.094993 2.348858 -0.874634 +v 2.617414 2.269027 0.995082 +v -3.032118 2.348858 -1.073645 +v -3.112322 0.279815 1.074987 +v 3.014789 0.160506 1.035142 +v 3.054891 0.240118 -1.033800 +v -3.032118 2.308943 0.915607 +v -3.112322 0.319730 -0.993955 +v -1.003318 2.348858 1.074987 +v 1.065585 2.308943 -1.113490 +v -1.281602 0.279815 -1.113490 +v 2.935800 2.189633 0.995082 +v -1.042812 0.120591 1.035142 +v 0.945886 0.120591 -1.033800 +v 1.025483 2.348858 1.074987 +v 3.094993 0.797185 0.716596 +v 3.094993 2.348858 -0.993955 +v 0.985989 0.200203 -1.113490 +v 0.945886 0.240118 1.074987 +v -3.112322 1.195245 -0.436982 +v -0.963215 0.120591 -0.954324 +v -3.112322 0.677876 1.074987 +v -1.122409 2.308943 -1.113490 +v 1.065585 0.120591 0.955237 +v 3.094993 0.478736 -0.357292 +v -2.992624 2.269027 0.955452 +v 3.054891 0.200421 -0.476612 +v -3.032118 1.751658 -1.073645 +v -3.112322 0.279815 0.318788 +v 3.054891 1.155330 -1.033800 +v 2.975295 0.956409 1.035142 +v 2.975295 2.269027 0.597275 +v 3.094993 1.036021 0.676751 +v -2.753834 0.319730 -1.033586 +v 1.383971 2.348858 0.995297 +v 3.094993 1.155330 -0.993955 +v -3.072220 1.910882 -0.436982 +v -3.112322 0.837100 -0.993955 +v 3.094993 2.308943 -0.715468 +v 3.014789 0.160506 0.835917 +f 114 127 140 +f 101 103 109 +f 103 107 109 +f 104 100 113 +f 113 100 114 +f 101 109 115 +f 109 104 115 +f 112 102 115 +f 112 105 116 +f 103 101 117 +f 110 103 117 +f 101 116 117 +f 110 106 118 +f 111 110 118 +f 106 114 118 +f 114 111 118 +f 104 113 119 +f 113 105 119 +f 115 104 119 +f 105 115 119 +f 108 104 120 +f 114 100 121 +f 111 114 121 +f 104 109 122 +f 107 120 122 +f 120 104 122 +f 103 110 123 +f 111 103 123 +f 110 111 123 +f 105 113 124 +f 113 114 124 +f 116 105 125 +f 117 116 125 +f 109 107 126 +f 122 109 126 +f 107 122 126 +f 114 106 127 +f 125 105 127 +f 106 125 127 +f 108 103 128 +f 103 111 128 +f 100 104 129 +f 104 108 129 +f 121 100 129 +f 108 121 129 +f 106 110 130 +f 110 117 130 +f 117 106 130 +f 105 112 131 +f 115 105 131 +f 112 115 131 +f 101 102 132 +f 102 112 132 +f 116 101 133 +f 112 116 133 +f 132 112 133 +f 121 108 134 +f 111 121 134 +f 108 128 134 +f 128 111 134 +f 102 101 135 +f 115 102 135 +f 101 115 135 +f 106 117 136 +f 125 106 136 +f 117 125 136 +f 107 103 137 +f 103 120 137 +f 120 107 137 +f 103 108 138 +f 120 103 138 +f 108 120 138 +f 101 132 139 +f 133 101 139 +f 132 133 139 +f 105 124 140 +f 124 114 140 +f 127 105 140 +o convex_5 +v -0.565660 -2.824162 1.074987 +v 0.747122 -3.659392 -1.113490 +v 0.309601 -3.699086 -1.073645 +v -0.923572 -2.107677 -0.954110 +v 1.105253 -2.107844 0.637120 +v 1.025862 -3.738946 0.955452 +v -1.043094 -3.699253 1.074987 +v 0.946035 -2.107844 -1.073645 +v -0.963485 -3.818667 -0.914265 +v -1.043094 -2.107677 1.074987 +v 1.145166 -3.221596 -0.516457 +v 1.025862 -2.107844 0.955452 +v -1.083008 -2.107677 -0.556088 +v 0.946035 -3.659392 -1.033800 +v 1.145166 -2.187398 -0.556302 +v -1.083008 -3.181903 -0.595933 +v 1.145166 -3.142042 0.597275 +v -1.083008 -2.943577 0.756441 +v 0.031079 -3.738946 1.035142 +v -0.724659 -3.818667 -0.954110 +v 0.985949 -3.738946 0.239098 +v 0.946035 -2.943242 -1.113490 +v -0.963485 -3.818667 -0.595933 +v -1.003181 -2.107677 -0.914265 +v 0.628036 -2.107844 0.995297 +v -0.923572 -3.818667 -0.954110 +v 1.145166 -2.227258 0.517585 +v -1.083008 -2.107677 0.637120 +v 0.667731 -2.107844 -1.073645 +v 0.667731 -3.738946 0.995297 +v -0.684964 -2.107677 1.074987 +v -1.003181 -3.778639 -0.357292 +v -0.565660 -3.699253 1.074987 +v 1.025862 -3.738946 0.676751 +v 0.866644 -2.982935 -1.113490 +v 0.906340 -3.659392 -1.113490 +f 162 154 176 +f 142 143 144 +f 147 141 150 +f 150 144 153 +f 148 145 155 +f 146 151 157 +f 152 146 157 +f 151 155 157 +f 147 150 158 +f 156 147 158 +f 153 156 158 +f 151 154 162 +f 155 151 162 +f 148 155 162 +f 159 147 163 +f 149 160 163 +f 160 146 163 +f 153 144 164 +f 149 156 164 +f 156 153 164 +f 143 142 166 +f 144 143 166 +f 142 160 166 +f 160 149 166 +f 164 144 166 +f 149 164 166 +f 145 152 167 +f 155 145 167 +f 152 157 167 +f 157 155 167 +f 150 153 168 +f 158 150 168 +f 153 158 168 +f 144 148 169 +f 148 162 169 +f 146 152 170 +f 159 163 170 +f 163 146 170 +f 165 141 170 +f 152 165 170 +f 148 144 171 +f 145 148 171 +f 144 150 171 +f 150 141 171 +f 152 145 171 +f 141 165 171 +f 165 152 171 +f 156 149 172 +f 147 156 172 +f 163 147 172 +f 149 163 172 +f 141 147 173 +f 147 159 173 +f 170 141 173 +f 159 170 173 +f 151 146 174 +f 154 151 174 +f 146 160 174 +f 161 154 174 +f 160 161 174 +f 142 144 175 +f 162 142 175 +f 144 169 175 +f 169 162 175 +f 160 142 176 +f 154 161 176 +f 161 160 176 +f 142 162 176 +o convex_6 +v 2.975380 -2.943234 0.597501 +v 1.145260 -2.625116 -0.556423 +v 1.145260 -2.187324 -0.556423 +v 1.145260 -3.142202 0.597501 +v 2.935563 -3.181953 -0.436919 +v 3.055016 -2.147467 0.597501 +v 2.935563 -2.147467 -0.436919 +v 1.145260 -2.227075 0.517869 +v 1.145260 -3.221810 -0.516551 +v 3.015198 -3.181953 0.557629 +v 1.225082 -2.147467 -0.357288 +v 2.577577 -3.221810 0.398478 +v 1.543437 -2.227075 -0.556423 +v 2.577577 -3.181953 -0.476792 +v 1.145260 -3.221810 -0.078747 +v 3.055016 -2.386292 0.398478 +v 1.145260 -2.823769 0.597501 +v 2.696843 -2.147467 -0.476792 +v 1.742339 -3.181953 0.597501 +v 2.816296 -2.147467 0.597501 +v 1.941241 -3.221810 -0.476792 +v 2.975380 -3.062594 -0.237897 +v 1.662703 -2.187324 0.517869 +f 184 196 199 +f 179 178 180 +f 180 177 182 +f 179 180 184 +f 180 178 185 +f 182 177 186 +f 182 183 187 +f 179 184 187 +f 181 186 188 +f 178 179 189 +f 185 178 190 +f 178 189 190 +f 180 185 191 +f 185 188 191 +f 183 182 192 +f 182 186 192 +f 180 182 193 +f 184 180 193 +f 183 181 194 +f 187 183 194 +f 179 187 194 +f 189 179 194 +f 190 189 194 +f 181 190 194 +f 177 180 195 +f 186 177 195 +f 188 186 195 +f 180 191 195 +f 191 188 195 +f 182 187 196 +f 193 182 196 +f 184 193 196 +f 188 185 197 +f 181 188 197 +f 190 181 197 +f 185 190 197 +f 181 183 198 +f 186 181 198 +f 183 192 198 +f 192 186 198 +f 187 184 199 +f 196 187 199 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/040/040.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/040/040.urdf new file mode 100644 index 000000000..7360d1355 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/040/040.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/041/041.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/041/041.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/041/041.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/041/041.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/041/041.obj new file mode 100644 index 000000000..f2192a963 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/041/041.obj @@ -0,0 +1,1155 @@ +o convex_0 +v 1.422686 -1.983058 0.639369 +v 1.249295 -2.086733 -0.573846 +v 1.249295 -2.190743 -0.539170 +v 3.017123 -1.948351 -0.019135 +v 1.249295 -1.428412 -0.123166 +v 1.249295 -2.572188 0.084539 +v 2.774341 -1.567130 -0.019135 +v 2.774341 -2.329349 0.049862 +v 2.774341 -1.913756 -0.400462 +v 1.353295 -1.497827 -0.539170 +v 1.249295 -1.497827 0.465984 +v 2.739559 -1.913756 0.431307 +v 1.249295 -2.433359 0.500542 +v 2.046686 -2.364056 -0.365785 +v 2.012078 -2.364056 0.431307 +v 1.977468 -1.601725 0.465984 +v 1.249295 -2.468066 -0.400462 +v 2.116077 -1.463119 0.049862 +v 2.012078 -1.983058 -0.539170 +v 2.323559 -1.601725 -0.365785 +v 1.907904 -2.502662 0.015541 +v 2.635732 -2.190743 -0.331108 +v 2.046686 -2.017430 0.570015 +v 2.670167 -1.601725 0.188688 +v 2.739559 -1.983058 0.431307 +v 1.249295 -2.086733 0.639369 +v 1.249295 -1.671140 -0.573846 +v 2.774341 -2.329349 -0.019135 +v 2.601123 -2.260046 0.292719 +v 1.353295 -1.567130 0.535338 +v 2.012078 -1.913756 0.570015 +v 2.739559 -2.017430 -0.400462 +v 2.012078 -1.463119 -0.088489 +v 2.601123 -1.705735 0.361954 +v 2.012078 -2.329349 -0.400462 +v 2.982341 -1.913756 0.084539 +v 1.353295 -1.428412 0.049862 +v 2.012078 -1.532422 -0.365785 +v 2.774341 -1.567130 0.049862 +v 1.942686 -1.567130 0.431307 +v 2.566168 -1.636432 -0.296432 +v 2.081295 -2.468066 0.084539 +f 21 28 42 +f 2 3 5 +f 5 3 6 +f 7 4 9 +f 5 6 11 +f 11 6 13 +f 13 6 15 +f 6 3 17 +f 3 2 19 +f 10 9 19 +f 9 10 20 +f 6 17 21 +f 17 14 21 +f 13 15 23 +f 12 23 25 +f 23 15 25 +f 11 13 26 +f 23 1 26 +f 13 23 26 +f 2 5 27 +f 5 10 27 +f 19 2 27 +f 10 19 27 +f 4 8 28 +f 21 14 28 +f 14 22 28 +f 15 8 29 +f 8 25 29 +f 25 15 29 +f 26 1 30 +f 11 26 30 +f 12 16 31 +f 1 23 31 +f 23 12 31 +f 16 30 31 +f 30 1 31 +f 9 4 32 +f 19 9 32 +f 4 28 32 +f 28 22 32 +f 10 5 33 +f 5 18 33 +f 18 7 33 +f 16 12 34 +f 24 16 34 +f 17 3 35 +f 14 17 35 +f 3 19 35 +f 22 14 35 +f 19 32 35 +f 32 22 35 +f 8 4 36 +f 25 8 36 +f 12 25 36 +f 5 11 37 +f 18 5 37 +f 11 18 37 +f 7 20 38 +f 20 10 38 +f 10 33 38 +f 33 7 38 +f 4 7 39 +f 7 18 39 +f 34 12 39 +f 24 34 39 +f 36 4 39 +f 12 36 39 +f 18 11 40 +f 16 24 40 +f 11 30 40 +f 30 16 40 +f 39 18 40 +f 24 39 40 +f 7 9 41 +f 20 7 41 +f 9 20 41 +f 15 6 42 +f 8 15 42 +f 6 21 42 +f 28 8 42 +o convex_1 +v -1.662461 -2.606618 0.015212 +v -1.246461 -1.359099 -0.019465 +v -1.246461 -1.359099 -0.088462 +v -3.014289 -2.017505 0.049889 +v -1.281243 -2.086797 -0.643173 +v -1.246461 -2.190736 0.570042 +v -2.771507 -1.982984 -0.400435 +v -2.771507 -2.017505 0.396658 +v -1.246461 -2.502679 -0.469789 +v -2.771507 -2.433386 0.049889 +v -2.771507 -1.636395 0.015212 +v -1.315852 -1.463163 -0.539142 +v -1.350461 -1.532456 0.431335 +v -1.246461 -2.502679 0.500688 +v -2.182288 -2.398740 -0.400435 +v -1.905070 -2.468032 0.465893 +v -2.009243 -2.017505 0.535246 +v -2.598289 -1.705813 -0.296523 +v -1.246461 -2.641390 0.084566 +v -1.246461 -1.879045 -0.643173 +v -2.563507 -1.740460 0.292508 +v -1.246461 -1.913691 0.570042 +v -2.563507 -2.364094 0.327185 +v -2.736724 -2.433386 -0.053785 +v -2.736724 -2.086797 -0.400435 +v -3.014289 -2.052151 -0.053785 +v -2.078461 -1.982984 -0.539142 +v -2.009243 -2.571971 0.015212 +v -2.113243 -1.497810 -0.019465 +v -2.771507 -2.086797 0.396658 +v -1.315852 -1.497810 0.396658 +v -1.939852 -1.567102 -0.435112 +v -1.281243 -2.537325 -0.400435 +v -1.246461 -1.463163 -0.539142 +v -1.801243 -1.463163 -0.192493 +v -2.598289 -2.329447 -0.296523 +v -1.246461 -1.532456 0.431335 +v -2.771507 -1.636395 -0.019465 +v -1.662461 -1.567102 0.396658 +v -2.043852 -2.433386 -0.400435 +v -1.281243 -2.468032 -0.504465 +v -2.009243 -2.086797 0.535246 +f 72 58 84 +f 45 44 48 +f 45 48 51 +f 46 50 53 +f 51 48 56 +f 56 48 58 +f 51 56 61 +f 56 58 61 +f 45 51 62 +f 51 47 62 +f 53 50 63 +f 48 44 64 +f 59 48 64 +f 55 59 64 +f 52 58 65 +f 47 57 67 +f 52 46 68 +f 66 52 68 +f 67 66 68 +f 49 67 68 +f 49 54 69 +f 62 47 69 +f 54 62 69 +f 67 49 69 +f 47 67 69 +f 58 52 70 +f 43 61 70 +f 61 58 70 +f 52 66 70 +f 44 45 71 +f 50 46 72 +f 46 52 72 +f 59 50 72 +f 52 65 72 +f 65 58 72 +f 44 71 73 +f 71 53 73 +f 54 49 74 +f 49 60 74 +f 61 43 75 +f 51 61 75 +f 43 70 75 +f 54 45 76 +f 45 62 76 +f 62 54 76 +f 45 54 77 +f 71 45 77 +f 54 74 77 +f 57 66 78 +f 67 57 78 +f 66 67 78 +f 64 44 79 +f 55 64 79 +f 73 55 79 +f 44 73 79 +f 46 53 80 +f 60 49 80 +f 68 46 80 +f 49 68 80 +f 53 71 80 +f 74 60 80 +f 71 77 80 +f 77 74 80 +f 59 55 81 +f 50 59 81 +f 63 50 81 +f 53 63 81 +f 73 53 81 +f 55 73 81 +f 66 57 82 +f 70 66 82 +f 51 75 82 +f 75 70 82 +f 47 51 83 +f 57 47 83 +f 51 82 83 +f 82 57 83 +f 58 48 84 +f 48 59 84 +f 59 72 84 +o convex_2 +v -1.246461 -2.363978 -0.573561 +v 1.249251 -1.913708 0.639138 +v 1.249251 -2.121728 0.639138 +v 0.902597 -1.289647 -1.093714 +v -0.864873 -1.289647 0.985906 +v 0.590389 -3.092138 0.604461 +v 0.867907 -2.883941 -0.920330 +v -1.003632 -1.289647 -1.059037 +v -0.830428 -2.849359 0.847199 +v 0.867907 -1.289647 1.020583 +v -0.761048 -2.918699 -0.781623 +v -1.246461 -1.497667 0.431077 +v -0.067740 -1.324582 -1.301775 +v 0.174600 -2.814600 0.985906 +v 1.249251 -1.497667 -0.538885 +v -0.067740 -1.358987 1.228644 +v 1.249251 -2.606580 0.015202 +v -1.246461 -2.502658 0.500430 +v -0.968943 -2.987863 0.049879 +v 0.382494 -3.092138 -0.642915 +v 0.833218 -2.883941 0.847199 +v -0.102430 -2.814600 -0.989436 +v 0.937287 -3.022621 -0.088333 +v -1.246461 -1.359163 -0.192364 +v -0.067740 -3.057203 0.847199 +v 1.110492 -1.289647 0.500430 +v 1.249251 -2.190892 -0.573561 +v -0.899563 -2.780019 -0.816299 +v -0.171810 -3.057203 -0.746698 +v -1.246461 -2.675920 0.015202 +v -1.246461 -2.087147 0.604461 +v 1.249251 -1.497667 0.500430 +v 0.070775 -1.289647 1.228644 +v -0.171810 -2.814600 0.985906 +v -1.246461 -1.463085 -0.538885 +v -0.830428 -2.087147 -0.989684 +v -1.107702 -1.289647 0.569784 +v 0.763838 -2.121728 0.985906 +v -0.622533 -3.022621 0.639138 +v 1.249251 -2.468076 0.465753 +v 1.249251 -2.502658 -0.434854 +v 1.110492 -1.289647 -0.608238 +v -1.246461 -2.087147 -0.677592 +v 0.036085 -1.289647 -1.301775 +v -0.899563 -2.883941 -0.746946 +v 0.625079 -3.092138 -0.504208 +v 0.243979 -3.092138 0.500678 +v -0.657223 -3.022621 -0.469531 +v 0.937287 -3.022621 0.084556 +v 0.937287 -1.289647 0.985659 +v -1.246461 -2.537416 -0.469531 +v -0.795738 -3.022621 0.084556 +v 1.249251 -1.428504 0.084556 +v -0.864873 -1.393745 0.985906 +v -1.142392 -1.289647 -0.677592 +v 0.833218 -2.745437 0.881876 +v 1.006667 -1.913708 -0.920330 +v 0.105220 -2.814600 -0.989436 +v -0.102430 -3.057203 -0.781375 +v 0.036085 -1.324582 -1.301775 +v -0.968943 -2.953281 0.223263 +v 0.763838 -3.092138 0.084556 +v -0.934253 -1.289647 0.916553 +v -0.968943 -1.428504 -1.059037 +f 127 92 148 +f 89 88 92 +f 88 89 94 +f 86 87 99 +f 99 87 101 +f 96 85 102 +f 85 96 108 +f 90 105 109 +f 105 98 109 +f 88 94 110 +f 88 99 111 +f 99 101 111 +f 106 95 112 +f 102 85 114 +f 102 93 115 +f 96 102 115 +f 86 99 116 +f 94 89 117 +f 89 100 117 +f 100 98 117 +f 100 93 118 +f 98 100 118 +f 93 109 118 +f 109 98 118 +f 85 108 119 +f 97 106 120 +f 106 112 120 +f 89 92 121 +f 108 96 121 +f 94 117 122 +f 117 98 122 +f 109 93 123 +f 101 87 124 +f 87 105 124 +f 107 91 125 +f 101 107 125 +f 91 111 125 +f 111 101 125 +f 99 88 126 +f 88 110 126 +f 112 85 127 +f 85 119 127 +f 119 92 127 +f 92 88 128 +f 97 92 128 +f 112 95 129 +f 103 114 129 +f 90 104 130 +f 104 91 130 +f 91 107 130 +f 104 90 131 +f 90 109 131 +f 113 104 131 +f 109 123 131 +f 95 113 132 +f 129 95 132 +f 103 129 132 +f 105 90 133 +f 107 101 133 +f 101 124 133 +f 124 105 133 +f 87 86 134 +f 110 94 134 +f 86 116 134 +f 116 110 134 +f 94 122 134 +f 85 112 135 +f 114 85 135 +f 112 129 135 +f 129 114 135 +f 123 103 136 +f 113 131 136 +f 131 123 136 +f 132 113 136 +f 103 132 136 +f 116 99 137 +f 110 116 137 +f 99 126 137 +f 126 110 137 +f 100 89 138 +f 93 100 138 +f 115 93 138 +f 92 119 139 +f 119 108 139 +f 121 92 139 +f 108 121 139 +f 105 87 140 +f 98 105 140 +f 122 98 140 +f 87 134 140 +f 134 122 140 +f 91 88 141 +f 88 111 141 +f 111 91 141 +f 106 97 142 +f 91 104 143 +f 95 106 143 +f 113 95 143 +f 104 113 143 +f 142 91 143 +f 106 142 143 +f 88 91 144 +f 128 88 144 +f 97 128 144 +f 91 142 144 +f 142 97 144 +f 93 102 145 +f 102 114 145 +f 114 103 145 +f 123 93 145 +f 103 123 145 +f 90 130 146 +f 130 107 146 +f 133 90 146 +f 107 133 146 +f 96 115 147 +f 89 121 147 +f 121 96 147 +f 138 89 147 +f 115 138 147 +f 92 97 148 +f 97 120 148 +f 120 112 148 +f 112 127 148 +o convex_3 +v -0.241125 -1.012395 -1.960100 +v 1.110564 -1.254936 0.500227 +v 1.006469 -1.012395 0.777689 +v -0.934282 -1.289593 0.951053 +v -0.067781 -1.012395 1.991237 +v 0.902374 -1.289593 -1.093280 +v -1.038376 -1.289593 -1.024415 +v -1.038376 -1.012395 0.673991 +v 1.041094 -1.012395 -0.816218 +v 0.937220 -1.289593 0.985886 +v -1.038376 -1.012395 -1.024415 +v -0.033156 -1.047051 -2.099031 +v -0.033156 -1.289593 1.332614 +v -0.067781 -1.289593 -1.405575 +v -1.142471 -1.289593 -0.019465 +v 0.867750 -1.012395 -1.266644 +v 0.035873 -1.047051 1.991237 +v 1.075719 -1.289593 -0.712120 +v 0.902374 -1.012395 1.054751 +v 1.110564 -1.047051 0.361696 +v -0.934282 -1.012395 0.951053 +v -0.968906 -1.047051 -1.197779 +v -1.073001 -1.012395 -0.816218 +v -1.073001 -1.289593 0.604325 +v -0.033156 -1.081681 1.921571 +v -1.107626 -1.289593 -0.746552 +v 1.075719 -1.012395 -0.712120 +v -0.033156 -1.012395 -2.099031 +v 1.110564 -1.289593 0.326863 +v 0.625376 -1.047051 -1.509273 +f 176 164 178 +f 151 149 153 +f 154 152 155 +f 153 149 156 +f 149 151 157 +f 150 151 158 +f 152 154 158 +f 156 149 159 +f 155 149 160 +f 152 158 161 +f 154 155 162 +f 160 154 162 +f 155 160 162 +f 155 152 163 +f 149 157 164 +f 158 154 166 +f 164 157 166 +f 154 164 166 +f 151 153 167 +f 158 151 167 +f 153 165 167 +f 165 158 167 +f 151 150 168 +f 152 153 169 +f 153 156 169 +f 149 155 170 +f 159 149 170 +f 155 159 170 +f 156 159 171 +f 163 156 171 +f 163 152 172 +f 156 163 172 +f 152 169 172 +f 169 156 172 +f 153 152 173 +f 152 161 173 +f 161 158 173 +f 165 153 173 +f 158 165 173 +f 159 155 174 +f 155 163 174 +f 171 159 174 +f 163 171 174 +f 157 151 175 +f 166 157 175 +f 151 168 175 +f 160 149 176 +f 149 164 176 +f 150 158 177 +f 158 166 177 +f 168 150 177 +f 166 175 177 +f 175 168 177 +f 154 160 178 +f 164 154 178 +f 160 176 178 +o convex_4 +v 0.590656 -1.012341 1.470677 +v -0.067788 -1.012341 -2.202457 +v -0.033078 -1.012341 -2.202457 +v 1.041258 1.171446 -0.608153 +v -1.038414 1.171446 0.985557 +v -1.038414 -1.012341 0.673822 +v -0.830363 -0.041650 -2.791489 +v 0.070632 0.790096 2.787685 +v 0.867917 -0.041650 -2.549226 +v -0.726442 -0.110909 2.753245 +v -0.033078 0.720623 -2.757050 +v 1.075969 -1.012341 0.465998 +v 0.798497 -0.007020 2.753245 +v -1.038414 1.171446 -0.919889 +v 1.041258 1.171446 0.847206 +v -0.033078 -0.769508 2.787685 +v -1.073124 -1.012341 -0.850416 +v 1.075969 -1.012341 -0.712065 +v -0.033078 -0.804351 -2.792083 +v 0.937128 1.171446 -1.093273 +v -1.073124 -0.041650 -2.064106 +v -0.830363 -0.838980 -2.098546 +v -1.003704 -0.041650 2.060302 +v 0.035922 -0.007020 -3.034939 +v 0.035922 -0.041650 3.031135 +v 1.006548 -0.007020 2.060302 +v 1.041258 0.027609 -2.063512 +v 0.625156 0.443375 -2.653138 +v 0.729287 -0.769508 2.060302 +v -0.760942 -0.804351 2.025269 +v 0.763997 -0.769508 -2.029073 +v -0.067788 -1.012341 2.094741 +v -0.622522 0.408745 2.649333 +v -1.073124 1.171446 0.777140 +v 0.625156 0.616735 2.545422 +v 0.070632 1.032715 2.025863 +v 1.075969 1.171446 0.327053 +v -0.622522 0.512634 -2.583665 +v 0.763997 -0.076279 -2.792083 +v -0.865073 1.171446 -1.162745 +v 0.833207 0.720623 -2.064106 +v -0.760942 0.027609 2.753245 +v 0.833207 1.171446 1.123908 +v -1.073124 -0.249640 0.569910 +v 0.867917 -1.012341 -1.335536 +v -0.587811 -0.665619 -2.618104 +v 0.035922 0.928613 -2.133579 +v -0.726442 0.720623 2.164214 +v 0.486525 -0.596361 2.614894 +v 0.521235 -0.596361 -2.618698 +v 0.763997 0.096654 2.788278 +v 1.075969 -0.145752 -1.301097 +v 0.001422 0.790096 2.787685 +v -1.003704 -1.012341 -1.231624 +v -0.587811 -0.630990 2.510982 +v 0.070632 0.685994 -2.792083 +v -0.865073 1.171446 1.158941 +v 0.798497 0.790096 2.025269 +v -0.102498 -0.007020 -3.034939 +v 0.763997 0.027609 -2.792083 +v -1.073124 -0.145752 -2.064106 +v 1.006548 -0.215010 -1.994634 +v -0.830363 -0.110909 -2.791489 +v -0.033078 0.062238 3.031135 +f 231 220 242 +f 179 180 181 +f 180 179 184 +f 179 181 190 +f 183 182 192 +f 182 183 193 +f 180 184 195 +f 190 181 196 +f 181 180 197 +f 192 182 198 +f 192 185 199 +f 197 180 200 +f 188 194 203 +f 194 191 203 +f 198 182 205 +f 179 190 207 +f 194 179 207 +f 190 204 207 +f 204 191 207 +f 201 184 208 +f 188 201 208 +f 184 179 210 +f 179 194 210 +f 208 184 210 +f 194 208 210 +f 183 192 212 +f 192 199 212 +f 199 195 212 +f 201 183 212 +f 182 193 215 +f 190 196 215 +f 204 190 215 +f 193 204 215 +f 205 182 215 +f 189 185 216 +f 185 192 216 +f 197 202 217 +f 192 198 218 +f 189 216 218 +f 216 192 218 +f 198 205 219 +f 183 201 220 +f 201 188 220 +f 193 183 221 +f 214 186 221 +f 195 184 222 +f 184 201 222 +f 212 195 222 +f 201 212 222 +f 196 181 223 +f 181 197 223 +f 209 196 223 +f 197 209 223 +f 197 200 224 +f 198 189 225 +f 189 218 225 +f 218 198 225 +f 183 220 226 +f 220 211 226 +f 191 194 227 +f 194 207 227 +f 207 191 227 +f 209 197 228 +f 197 217 228 +f 217 209 228 +f 203 191 229 +f 191 204 229 +f 204 193 229 +f 213 186 229 +f 196 205 230 +f 215 196 230 +f 205 215 230 +f 186 214 231 +f 211 220 231 +f 183 226 231 +f 226 211 231 +f 180 195 232 +f 200 180 232 +f 194 188 233 +f 208 194 233 +f 188 208 233 +f 189 198 234 +f 198 219 234 +f 219 206 234 +f 221 183 235 +f 214 221 235 +f 183 231 235 +f 231 214 235 +f 186 213 236 +f 193 221 236 +f 221 186 236 +f 229 193 236 +f 213 229 236 +f 185 189 237 +f 202 197 237 +f 189 234 237 +f 234 202 237 +f 205 187 238 +f 217 202 238 +f 187 217 238 +f 219 205 238 +f 206 219 238 +f 202 234 238 +f 234 206 238 +f 199 185 239 +f 195 199 239 +f 232 195 239 +f 200 232 239 +f 187 205 240 +f 205 196 240 +f 196 209 240 +f 217 187 240 +f 209 217 240 +f 197 224 241 +f 224 200 241 +f 185 237 241 +f 237 197 241 +f 239 185 241 +f 200 239 241 +f 188 203 242 +f 220 188 242 +f 229 186 242 +f 203 229 242 +f 186 231 242 +o convex_5 +v 0.140060 2.557784 2.026178 +v -0.033158 1.414089 1.228644 +v 0.070638 1.414089 1.228644 +v 0.036040 1.656899 2.788424 +v -0.587859 2.107219 1.228644 +v 0.556030 2.176593 1.228644 +v -0.345107 1.934151 2.753815 +v 0.452009 2.003525 2.719037 +v -0.414529 2.523097 1.228644 +v 0.036040 2.453846 2.719037 +v 0.452009 1.552960 1.298032 +v -0.449128 1.552960 1.263423 +v 0.452009 2.523097 1.228644 +v -0.345107 2.419158 2.129836 +v 0.417298 2.419158 2.164275 +v 0.070638 1.552960 2.580261 +v -0.067869 2.661845 1.263423 +v 0.070638 2.072532 2.961809 +v -0.345107 1.587525 2.095227 +v 0.556030 2.072532 1.956791 +v 0.417298 1.622212 2.060617 +v -0.345107 2.072532 2.719037 +v -0.587859 1.934151 1.263423 +v 0.070638 1.448899 1.852624 +v -0.206488 1.656899 2.614871 +v 0.105349 2.453846 2.719037 +v 0.556030 1.899464 1.228644 +v 0.243968 1.656899 2.614871 +v 0.556030 2.003525 1.956791 +v 0.070638 2.661845 1.228644 +v 0.347989 2.349784 2.545822 +v -0.483838 2.453846 1.263423 +v -0.379818 2.037967 2.649649 +v -0.241199 2.349784 2.545822 +v -0.414529 1.518273 1.228644 +v -0.067869 1.483586 1.991400 +v 0.001329 2.557784 2.129836 +v 0.070638 1.968838 2.961809 +v 0.347989 2.488532 2.026178 +v 0.452009 2.107219 2.649649 +v 0.001329 1.587525 2.719037 +v -0.137066 2.037967 2.892421 +v 0.486608 2.453846 1.263423 +v 0.452009 1.552960 1.228644 +f 269 253 286 +f 245 244 247 +f 245 247 248 +f 248 247 251 +f 248 251 255 +f 251 256 259 +f 261 249 265 +f 254 261 265 +f 244 245 266 +f 245 253 266 +f 263 258 266 +f 253 263 266 +f 249 261 267 +f 260 250 268 +f 252 260 268 +f 245 248 269 +f 248 262 269 +f 250 246 270 +f 263 250 270 +f 258 263 270 +f 262 250 271 +f 250 263 271 +f 263 253 271 +f 253 269 271 +f 269 262 271 +f 255 251 272 +f 251 259 272 +f 257 268 273 +f 251 247 274 +f 256 251 274 +f 249 264 275 +f 264 256 275 +f 247 265 275 +f 265 249 275 +f 274 247 275 +f 256 274 275 +f 252 256 276 +f 256 264 276 +f 264 252 276 +f 247 244 277 +f 261 254 277 +f 265 247 277 +f 254 265 277 +f 244 266 278 +f 266 258 278 +f 277 244 278 +f 261 277 278 +f 256 252 279 +f 259 256 279 +f 268 243 279 +f 252 268 279 +f 243 272 279 +f 272 259 279 +f 249 246 280 +f 246 250 280 +f 250 260 280 +f 257 255 281 +f 243 268 281 +f 268 257 281 +f 272 243 281 +f 255 272 281 +f 250 262 282 +f 262 257 282 +f 268 250 282 +f 257 273 282 +f 273 268 282 +f 246 249 283 +f 249 267 283 +f 267 261 283 +f 270 246 283 +f 258 270 283 +f 278 258 283 +f 261 278 283 +f 260 252 284 +f 264 249 284 +f 252 264 284 +f 249 280 284 +f 280 260 284 +f 248 255 285 +f 255 257 285 +f 262 248 285 +f 257 262 285 +f 253 245 286 +f 245 269 286 +o convex_6 +v 0.036040 2.627182 -1.232449 +v -0.067869 1.379426 -1.336449 +v 0.001329 1.379426 -1.336449 +v -0.067869 2.037869 -3.000276 +v -0.587859 2.037869 -1.232449 +v 0.556030 1.899487 -1.232449 +v 0.382700 2.072556 -2.757494 +v -0.449128 2.037869 -2.722712 +v 0.036040 1.622236 -2.653321 +v -0.483838 1.518296 -1.232449 +v -0.033158 2.384495 -2.792276 +v -0.414529 2.453869 -1.579404 +v 0.417298 2.488434 -1.267231 +v 0.452009 1.518296 -1.232449 +v -0.449128 1.587548 -1.960622 +v 0.382700 1.622236 -2.099231 +v 0.347989 2.419182 -2.064449 +v -0.067869 1.622236 -2.688276 +v 0.486608 2.037869 -2.202885 +v -0.553148 2.037869 -2.029840 +v -0.449128 2.419182 -1.232449 +v -0.379818 2.384495 -2.168276 +v 0.382700 1.934174 -2.722712 +v -0.033158 2.523121 -2.099231 +v -0.449128 1.968861 -2.722712 +v 0.556030 2.107243 -1.232449 +v 0.278679 2.315121 -2.584276 +v 0.001329 1.968861 -3.000276 +v -0.310508 1.691487 -2.549494 +v -0.067869 2.627182 -1.267231 +v -0.553148 1.934174 -1.960622 +v -0.310508 2.315121 -2.584276 +v 0.486608 1.899487 -2.029840 +v 0.001329 1.483609 -2.029840 +v -0.102468 1.379426 -1.232449 +v 0.209370 1.691487 -2.618712 +v -0.102468 1.483609 -1.995231 +v 0.382700 1.483609 -1.267231 +v 0.001329 2.384495 -2.792276 +v 0.382700 2.384495 -2.029840 +v -0.587859 1.934174 -1.336449 +v 0.036040 2.523121 -2.064449 +v -0.483838 1.656922 -1.960622 +f 327 317 329 +f 287 291 292 +f 292 291 296 +f 290 294 297 +f 292 296 300 +f 287 299 303 +f 291 287 307 +f 306 291 307 +f 298 306 307 +f 294 306 308 +f 306 298 308 +f 293 305 309 +f 297 308 310 +f 294 290 311 +f 306 294 311 +f 287 292 312 +f 299 287 312 +f 292 305 312 +f 295 304 314 +f 293 309 314 +f 311 290 314 +f 304 311 314 +f 304 301 315 +f 311 304 315 +f 301 311 315 +f 307 287 316 +f 298 307 316 +f 308 298 316 +f 287 310 316 +f 310 308 316 +f 306 311 317 +f 297 294 318 +f 308 297 318 +f 294 308 318 +f 292 300 319 +f 300 302 319 +f 305 292 319 +f 302 309 319 +f 309 305 319 +f 289 288 320 +f 295 302 320 +f 304 295 320 +f 288 289 321 +f 300 296 321 +f 301 288 321 +f 296 301 321 +f 302 295 322 +f 309 302 322 +f 295 314 322 +f 314 309 322 +f 288 301 323 +f 301 304 323 +f 320 288 323 +f 304 320 323 +f 302 300 324 +f 289 320 324 +f 320 302 324 +f 321 289 324 +f 300 321 324 +f 290 297 325 +f 297 310 325 +f 313 293 325 +f 303 313 325 +f 314 290 325 +f 293 314 325 +f 303 299 326 +f 305 293 326 +f 299 312 326 +f 312 305 326 +f 293 313 326 +f 313 303 326 +f 296 291 327 +f 291 306 327 +f 306 317 327 +f 287 303 328 +f 310 287 328 +f 303 325 328 +f 325 310 328 +f 301 296 329 +f 311 301 329 +f 317 311 329 +f 296 327 329 +o convex_7 +v -0.449114 2.453707 -1.232449 +v 1.041316 1.552882 0.881740 +v 1.006544 1.899508 0.916430 +v -1.038373 1.171447 0.985811 +v 0.902642 1.171447 -1.093446 +v 0.590523 3.008271 0.639148 +v -0.899699 2.834959 0.847291 +v -1.003601 1.171447 -0.989616 +v 0.798533 2.904394 -0.850854 +v -0.726461 2.939019 -0.712333 +v 0.833305 1.171447 1.124573 +v 0.036036 2.696455 1.228644 +v 0.902642 2.800516 0.951121 +v -1.003601 2.627019 -0.019007 +v -0.622559 1.934317 1.228644 +v 1.006544 2.523142 0.084342 +v -0.171767 3.043081 -0.885785 +v 0.417285 2.523142 -1.232449 +v -0.067658 1.344943 -1.232449 +v 1.041316 1.171447 -0.608262 +v -0.622559 3.008271 0.604698 +v -0.864927 2.800333 -0.851095 +v -0.864927 1.171447 -1.163068 +v 0.590523 2.141890 1.228644 +v -0.864927 1.171447 1.159263 +v -1.073145 1.864882 0.708529 +v -0.033094 3.008271 0.916671 +v 0.070601 1.379752 1.228644 +v 0.763969 3.008271 -0.123078 +v -1.038373 1.344943 -0.851095 +v -0.795798 3.008271 -0.088387 +v 0.937207 1.968943 -0.920235 +v 1.041316 1.171447 0.847050 +v -0.483679 2.523142 1.228644 +v 0.590523 2.072821 -1.232449 +v -1.003601 1.761004 1.020502 +v 0.937207 2.869768 -0.019007 +v -0.033094 2.661645 -1.232449 +v 1.041316 2.211141 0.327175 +v -1.073145 1.171447 0.465937 +v -0.969036 1.656943 -1.024306 +v -1.038373 1.726195 -0.677643 +v -0.969036 2.800333 -0.157768 +v -0.587787 3.043081 -0.539122 +v 0.486622 2.523142 1.228644 +v -0.587787 2.072821 -1.232449 +v 0.174710 3.043081 -0.712333 +v 0.451850 1.483630 -1.232449 +v -0.102430 2.973645 0.985811 +v 0.001471 3.008271 -0.954925 +v -0.934264 2.661645 0.881981 +v -0.899699 2.592393 -0.885785 +v 0.937207 2.731081 0.881740 +v 0.451850 1.553065 1.228644 +v 0.105373 2.973645 0.985811 +v -0.969036 2.800333 0.258035 +v 0.971772 1.656943 -0.920235 +v 0.798533 2.869768 -0.885545 +v 0.937207 1.310317 -1.058756 +v 0.937207 1.760821 1.020502 +v 0.763969 3.008271 0.153964 +v 1.041316 1.691569 -0.330979 +v -1.073145 1.864882 0.500627 +v -0.518451 1.553065 -1.232449 +f 352 375 393 +f 334 333 337 +f 333 334 340 +f 330 347 348 +f 340 334 349 +f 339 346 351 +f 334 337 352 +f 348 334 352 +f 341 344 353 +f 333 340 354 +f 353 344 357 +f 344 354 357 +f 354 340 357 +f 336 350 360 +f 339 351 360 +f 331 340 362 +f 349 331 362 +f 340 349 362 +f 344 341 363 +f 348 347 364 +f 354 344 365 +f 333 354 365 +f 355 333 365 +f 344 363 365 +f 338 358 366 +f 345 361 366 +f 347 330 367 +f 330 351 367 +f 351 346 367 +f 331 349 368 +f 337 333 369 +f 333 355 369 +f 359 337 369 +f 352 337 370 +f 337 359 370 +f 370 359 371 +f 360 351 372 +f 371 343 372 +f 346 339 373 +f 350 356 373 +f 339 360 373 +f 360 350 373 +f 342 341 374 +f 353 342 374 +f 341 353 374 +f 330 348 375 +f 352 370 375 +f 356 335 376 +f 358 338 376 +f 346 373 376 +f 373 356 376 +f 334 348 377 +f 364 334 377 +f 348 364 377 +f 350 336 378 +f 356 350 378 +f 336 363 378 +f 363 341 378 +f 367 346 379 +f 376 338 379 +f 346 376 379 +f 363 336 380 +f 355 365 380 +f 365 363 380 +f 351 330 381 +f 370 371 381 +f 372 351 381 +f 371 372 381 +f 330 375 381 +f 375 370 381 +f 332 331 382 +f 342 332 382 +f 366 342 382 +f 345 366 382 +f 331 368 382 +f 368 345 382 +f 340 353 383 +f 357 340 383 +f 353 357 383 +f 341 342 384 +f 342 335 384 +f 335 356 384 +f 378 341 384 +f 356 378 384 +f 343 355 385 +f 336 360 385 +f 372 343 385 +f 360 372 385 +f 380 336 385 +f 355 380 385 +f 361 345 386 +f 364 347 387 +f 338 366 387 +f 366 361 387 +f 347 367 387 +f 379 338 387 +f 367 379 387 +f 349 334 388 +f 334 364 388 +f 386 349 388 +f 361 386 388 +f 364 387 388 +f 387 361 388 +f 331 332 389 +f 340 331 389 +f 332 342 389 +f 353 340 389 +f 342 353 389 +f 335 342 390 +f 342 366 390 +f 366 358 390 +f 376 335 390 +f 358 376 390 +f 345 368 391 +f 368 349 391 +f 349 386 391 +f 386 345 391 +f 355 343 392 +f 369 355 392 +f 359 369 392 +f 371 359 392 +f 343 371 392 +f 348 352 393 +f 375 348 393 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/041/041.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/041/041.urdf new file mode 100644 index 000000000..7223c1a29 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/041/041.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/042/042.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/042/042.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/042/042.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/042/042.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/042/042.obj new file mode 100644 index 000000000..4c625ac2f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/042/042.obj @@ -0,0 +1,1014 @@ +o convex_0 +v 0.286166 -2.192737 -0.683087 +v 0.221220 -0.470050 1.623955 +v 0.123698 -0.470050 1.623955 +v 0.253591 -3.459649 1.169010 +v -0.818741 -0.665431 0.097038 +v 1.163659 -0.470050 -0.455614 +v 1.033562 -3.426972 0.388885 +v -0.526176 -3.426972 0.421708 +v 1.066137 -0.470050 1.299030 +v -0.656069 -0.470390 -0.715401 +v -0.688644 -0.470390 1.299030 +v 0.286166 -3.492326 -0.423045 +v 1.098509 -0.535404 -0.682832 +v 0.286166 -3.947420 0.421708 +v 1.261181 -1.997697 0.356571 +v 0.286166 -0.470050 -0.975442 +v 1.001191 -2.030033 1.136441 +v -0.591123 -1.965360 1.136441 +v -0.818741 -1.867670 0.324256 +v -0.526176 -2.030033 -0.455614 +v 1.001191 -2.030033 -0.455614 +v 1.228606 -0.470050 0.454023 +v -0.331132 -3.069909 -0.227887 +v 0.838519 -3.069568 -0.260710 +v -0.363707 -3.036891 0.974106 +v 0.838519 -3.069568 0.941537 +v -0.526176 -3.426972 0.324256 +v -0.818741 -0.470390 0.519160 +v 0.188848 -1.835674 -0.747970 +v 0.221220 -3.492326 -0.423045 +v 1.001191 -3.492326 0.324256 +v 0.156273 -3.394636 1.169010 +v 0.221220 -3.947420 0.324256 +v -0.721220 -0.535404 -0.553066 +v 0.156273 -0.502727 -0.975188 +v 1.131084 -0.665431 1.103872 +v -0.786166 -1.932683 0.486591 +v -0.753591 -1.965360 0.129352 +v 1.228606 -1.965360 0.194490 +v 0.253591 -3.329622 1.201324 +v 1.066137 -0.665431 1.299030 +v 1.033562 -3.426972 0.324256 +v -0.721220 -0.535404 1.201578 +v 1.001191 -3.492326 0.388885 +v 1.228606 -0.470050 0.129607 +v 0.221220 -3.947420 0.421708 +v 0.286166 -3.426972 -0.455359 +v 0.871094 -1.802997 -0.552811 +v 0.286166 -3.947420 0.324256 +v -0.558751 -1.867670 1.169010 +v 0.221220 -2.744501 -0.585380 +v -0.656069 -0.502727 -0.715401 +v 0.123698 -0.502727 1.623955 +v -0.656069 -0.925144 1.266462 +v 0.221220 -0.502727 1.623955 +v 0.253591 -0.567740 -0.975188 +v 0.546157 -3.264609 1.071303 +v -0.201239 -3.167259 -0.293024 +v -0.461229 -3.491986 0.421708 +v -0.753591 -0.470390 -0.390476 +v 0.188848 -3.297286 1.201324 +v 0.221220 -3.459649 1.169010 +v 1.033562 -1.997697 -0.390476 +v 1.098509 -0.470050 -0.682832 +f 13 16 64 +f 3 2 6 +f 6 2 9 +f 3 6 16 +f 7 15 17 +f 6 9 22 +f 18 8 25 +f 7 17 26 +f 8 19 27 +f 20 23 27 +f 11 3 28 +f 3 16 28 +f 5 19 28 +f 12 24 31 +f 25 8 32 +f 18 25 32 +f 30 12 33 +f 27 30 33 +f 10 16 35 +f 17 15 36 +f 22 9 36 +f 15 22 36 +f 8 18 37 +f 19 8 37 +f 27 19 38 +f 20 27 38 +f 19 34 38 +f 34 20 38 +f 13 6 39 +f 6 15 39 +f 9 2 41 +f 36 9 41 +f 17 36 41 +f 15 7 42 +f 24 21 42 +f 7 31 42 +f 31 24 42 +f 39 15 42 +f 11 28 43 +f 28 19 43 +f 37 18 43 +f 19 37 43 +f 4 14 44 +f 7 26 44 +f 31 7 44 +f 14 31 44 +f 15 6 45 +f 6 22 45 +f 22 15 45 +f 14 4 46 +f 33 14 46 +f 24 12 47 +f 21 24 47 +f 12 30 47 +f 13 21 48 +f 47 1 48 +f 21 47 48 +f 31 14 49 +f 12 31 49 +f 14 33 49 +f 33 12 49 +f 18 32 50 +f 30 20 51 +f 1 47 51 +f 47 30 51 +f 20 34 52 +f 34 10 52 +f 10 35 52 +f 35 29 52 +f 51 20 52 +f 29 51 52 +f 2 3 53 +f 3 11 53 +f 50 53 54 +f 11 43 54 +f 43 18 54 +f 18 50 54 +f 53 11 54 +f 40 17 55 +f 41 2 55 +f 17 41 55 +f 2 53 55 +f 53 40 55 +f 16 13 56 +f 35 16 56 +f 29 35 56 +f 48 1 56 +f 13 48 56 +f 1 51 56 +f 51 29 56 +f 26 17 57 +f 17 40 57 +f 40 4 57 +f 4 44 57 +f 44 26 57 +f 23 20 58 +f 27 23 58 +f 20 30 58 +f 30 27 58 +f 8 27 59 +f 32 8 59 +f 27 33 59 +f 33 46 59 +f 16 10 60 +f 19 5 60 +f 5 28 60 +f 28 16 60 +f 34 19 60 +f 10 34 60 +f 50 32 61 +f 40 53 61 +f 53 50 61 +f 4 40 62 +f 46 4 62 +f 32 59 62 +f 59 46 62 +f 61 32 62 +f 40 61 62 +f 21 13 63 +f 13 39 63 +f 42 21 63 +f 39 42 63 +f 6 13 64 +f 16 6 64 +o convex_1 +v -2.216192 1.284770 -1.333180 +v -2.833666 0.992300 -1.690635 +v -2.833666 0.992300 -1.625720 +v -2.151192 0.212425 -1.690635 +v -2.151192 1.414772 -1.950657 +v -2.671064 0.862566 -1.398216 +v -2.768666 1.122302 -1.885622 +v -2.151192 1.577374 -1.593202 +v -2.183792 0.635163 -1.918079 +v -2.151192 0.732431 -1.398216 +v -2.703598 1.219702 -1.528227 +v -2.671064 0.894899 -1.885622 +v -2.736065 1.252169 -1.723093 +v -2.606063 1.122302 -1.950657 +v -2.541130 1.122302 -1.333180 +v -2.151192 1.414772 -1.365759 +v -2.183792 0.212425 -1.658117 +v -2.183792 1.577374 -1.723093 +v -2.768666 0.862566 -1.690635 +v -2.768666 1.057368 -1.430734 +v -2.248793 1.414772 -1.950657 +v -2.151192 0.992300 -1.333180 +v -2.151192 0.992300 -1.950657 +v -2.736065 0.829965 -1.560745 +v -2.216192 1.414772 -1.365759 +f 84 79 89 +f 68 69 72 +f 68 72 74 +f 66 71 76 +f 73 68 76 +f 66 67 77 +f 71 66 77 +f 75 72 77 +f 76 71 78 +f 73 76 78 +f 74 72 80 +f 74 70 81 +f 68 74 81 +f 76 68 81 +f 72 69 82 +f 77 72 82 +f 67 66 83 +f 66 76 83 +f 76 81 83 +f 77 67 84 +f 75 77 84 +f 70 79 84 +f 71 77 85 +f 69 78 85 +f 78 71 85 +f 82 69 85 +f 77 82 85 +f 70 74 86 +f 65 79 86 +f 79 70 86 +f 80 65 86 +f 74 80 86 +f 69 68 87 +f 68 73 87 +f 78 69 87 +f 73 78 87 +f 81 70 88 +f 67 83 88 +f 83 81 88 +f 84 67 88 +f 70 84 88 +f 72 75 89 +f 79 65 89 +f 65 80 89 +f 80 72 89 +f 75 84 89 +o convex_2 +v -0.493690 0.407538 -2.437948 +v 0.286014 2.097354 -1.203185 +v 0.286014 2.097354 -1.723255 +v 1.488672 0.667637 -1.658283 +v -0.753591 0.180158 -1.203185 +v -1.306223 1.414743 -1.658283 +v 0.968596 1.739572 -2.438095 +v 1.001153 0.017743 -1.203185 +v 1.001153 0.310325 -2.405609 +v -0.493690 1.739807 -2.372976 +v 1.163659 1.804773 -1.203332 +v 0.188619 -0.307321 -1.235818 +v -0.623641 1.967187 -1.203185 +v 0.156063 1.057196 -2.698129 +v -1.306223 0.765085 -1.950657 +v 1.488672 1.349542 -2.015483 +v -1.306223 1.024713 -1.365908 +v 1.001153 0.959747 -2.632865 +v -0.526246 1.057196 -2.600379 +v 0.221175 0.245124 -2.470434 +v 1.488672 1.187127 -1.300790 +v 1.001153 1.999435 -1.755741 +v -0.558802 0.310325 -2.308004 +v -0.558802 1.999670 -1.690769 +v 0.188619 1.804538 -2.470434 +v 1.488672 0.765085 -2.015483 +v -1.306223 1.122162 -1.950657 +v -1.306223 0.634918 -1.723401 +v -0.623641 0.050226 -1.300936 +v 1.163659 0.147675 -1.203332 +v 1.488672 1.479709 -1.593311 +v 1.033435 0.212641 -2.112941 +v -0.916098 1.349542 -1.203185 +v 1.001153 1.966952 -1.203185 +v -1.306223 1.284576 -1.398394 +v -1.306223 0.700119 -1.430880 +v 0.188619 0.959747 -2.698129 +v 0.253731 -0.307321 -1.203185 +v 1.391004 1.024713 -1.203332 +v 1.488672 0.765085 -1.398394 +v 1.001153 1.804538 -2.308004 +v -0.558802 0.147675 -1.820859 +v 0.416238 1.057196 -2.698129 +v 0.188619 2.097354 -1.755741 +v 1.033435 1.122162 -2.600525 +v 1.001153 0.277607 -2.372976 +v -0.526246 0.959747 -2.600379 +v 1.391004 0.992465 -2.210546 +v -0.428578 0.310325 -2.405462 +v 1.065991 0.050226 -1.333276 +v 1.488672 0.700119 -1.918171 +v 0.091225 2.097354 -1.203185 +v 1.488672 1.479709 -1.755741 +v 0.318570 0.245124 -2.470434 +v -0.558802 0.375291 -2.405462 +v 1.065991 0.342808 -2.372976 +v 1.488672 1.414743 -1.365762 +v 0.253731 -0.307321 -1.235818 +v 1.228498 1.577157 -2.243032 +v 0.318570 1.804538 -2.470434 +v -0.526246 1.544674 -2.437948 +v -0.753591 1.837020 -1.203185 +v -1.306223 1.024713 -1.982997 +v 0.838372 2.031918 -1.755741 +f 130 133 153 +f 91 94 97 +f 94 91 102 +f 95 104 106 +f 93 105 110 +f 99 95 113 +f 95 102 113 +f 103 108 114 +f 105 93 115 +f 95 99 116 +f 104 95 116 +f 106 104 117 +f 104 112 117 +f 101 94 118 +f 94 117 118 +f 110 105 120 +f 111 100 120 +f 94 102 122 +f 106 94 122 +f 91 97 123 +f 100 111 123 +f 95 106 124 +f 106 122 124 +f 94 106 125 +f 117 94 125 +f 106 117 125 +f 109 90 126 +f 97 94 127 +f 94 101 127 +f 110 100 128 +f 97 119 128 +f 123 97 128 +f 100 123 128 +f 93 110 129 +f 119 93 129 +f 110 128 129 +f 128 119 129 +f 112 101 131 +f 117 112 131 +f 118 117 131 +f 101 118 131 +f 103 114 132 +f 126 103 132 +f 107 126 132 +f 91 92 133 +f 99 113 133 +f 114 99 133 +f 132 96 134 +f 107 132 134 +f 108 103 136 +f 103 126 136 +f 126 90 136 +f 105 115 137 +f 134 105 137 +f 107 134 137 +f 90 109 138 +f 109 101 138 +f 101 112 138 +f 119 97 139 +f 115 93 140 +f 93 119 140 +f 119 139 140 +f 139 121 140 +f 102 91 141 +f 113 102 141 +f 91 133 141 +f 133 113 141 +f 120 105 142 +f 111 120 142 +f 130 111 142 +f 107 98 143 +f 101 109 143 +f 126 107 143 +f 109 126 143 +f 98 135 143 +f 112 104 144 +f 136 90 144 +f 104 136 144 +f 90 138 144 +f 138 112 144 +f 98 107 145 +f 135 98 145 +f 121 135 145 +f 107 137 145 +f 137 115 145 +f 115 140 145 +f 140 121 145 +f 100 110 146 +f 120 100 146 +f 110 120 146 +f 97 127 147 +f 127 101 147 +f 135 121 147 +f 139 97 147 +f 121 139 147 +f 101 143 147 +f 143 135 147 +f 96 130 148 +f 134 96 148 +f 105 134 148 +f 142 105 148 +f 130 142 148 +f 130 96 149 +f 96 132 149 +f 132 114 149 +f 114 133 149 +f 133 130 149 +f 114 108 150 +f 99 114 150 +f 116 99 150 +f 108 116 150 +f 102 95 151 +f 122 102 151 +f 95 124 151 +f 124 122 151 +f 104 116 152 +f 116 108 152 +f 136 104 152 +f 108 136 152 +f 92 91 153 +f 91 123 153 +f 123 111 153 +f 111 130 153 +f 133 92 153 +o convex_3 +v 1.488673 0.667408 -1.755604 +v 1.521480 1.447378 -1.593263 +v 1.521480 1.447378 -1.755604 +v 3.243264 0.960049 -1.593263 +v 1.488673 0.992497 -1.333253 +v 1.488673 1.024945 -2.080652 +v 2.983382 0.992497 -1.885536 +v 2.885818 1.219785 -1.528297 +v 2.983382 0.764904 -1.625746 +v 1.651335 0.732456 -1.983057 +v 3.015845 1.024945 -1.398292 +v 1.488673 1.382330 -1.398292 +v 1.553944 0.764904 -1.430775 +v 2.820891 1.187261 -1.820570 +v 1.586408 1.317358 -1.983057 +v 3.048309 1.219785 -1.658229 +v 2.918454 0.894924 -1.430775 +v 2.723499 0.829952 -1.853053 +v 1.521480 1.187261 -1.333253 +v 1.618871 0.667408 -1.658229 +v 2.171271 0.797428 -1.430775 +v 1.488673 1.349882 -1.950575 +v 2.983382 1.024945 -1.885536 +v 2.983382 0.764904 -1.658229 +v 1.488673 0.732456 -1.983057 +v 2.853354 1.187261 -1.463258 +f 164 169 179 +f 154 158 159 +f 159 160 163 +f 155 156 165 +f 159 158 165 +f 161 155 165 +f 158 154 166 +f 156 167 168 +f 156 155 169 +f 155 161 169 +f 164 157 169 +f 167 156 169 +f 162 157 170 +f 164 158 170 +f 157 164 170 +f 163 160 171 +f 158 164 172 +f 165 158 172 +f 164 165 172 +f 166 154 173 +f 166 173 174 +f 158 166 174 +f 162 170 174 +f 170 158 174 +f 173 162 174 +f 165 156 175 +f 159 165 175 +f 156 168 175 +f 168 159 175 +f 160 159 176 +f 157 160 176 +f 159 168 176 +f 168 167 176 +f 169 157 176 +f 167 169 176 +f 160 157 177 +f 157 162 177 +f 154 163 177 +f 171 160 177 +f 163 171 177 +f 173 154 177 +f 162 173 177 +f 154 159 178 +f 163 154 178 +f 159 163 178 +f 161 165 179 +f 165 164 179 +f 169 161 179 +o convex_4 +v 1.228631 1.642083 -1.203185 +v -0.916238 1.089683 -1.203185 +v -0.916238 1.089683 -1.170626 +v 0.676158 -0.469808 -0.813276 +v 0.156197 2.129599 -0.813276 +v 0.286020 -0.307218 -1.203185 +v -0.721169 0.017708 -0.813276 +v 1.228631 1.154821 -0.813276 +v 1.163608 0.147729 -1.203185 +v -0.656146 1.934440 -1.203185 +v -0.721169 1.902125 -0.813276 +v -0.753458 0.147729 -1.203185 +v -0.266008 -0.469554 -0.845759 +v 1.001051 1.967008 -1.203185 +v 1.033562 1.934694 -0.813276 +v 1.131097 0.017708 -0.813276 +v 1.358677 1.024800 -1.203185 +v 0.058885 2.097030 -1.203185 +v -0.850992 1.187135 -0.813276 +v -0.850992 1.609514 -1.203185 +v 1.098585 0.050022 -1.203185 +v 0.286020 -0.469554 -0.975729 +v 0.156197 -0.307218 -1.203185 +v 1.358677 1.187135 -1.170626 +v -0.656146 0.050277 -1.203185 +v -0.266008 -0.469554 -0.813276 +v 1.131097 1.804673 -0.910725 +v 0.676158 -0.469808 -0.845759 +v 0.286020 2.097030 -1.203185 +v -0.591123 1.967008 -1.105660 +v -0.850992 0.959662 -0.813276 +v -0.850992 0.570107 -1.170626 +v -0.883504 1.479492 -1.170626 +v 1.228631 0.959662 -0.813276 +f 196 203 213 +f 181 180 185 +f 183 184 186 +f 184 183 187 +f 185 180 188 +f 180 181 189 +f 186 184 190 +f 181 185 191 +f 186 191 192 +f 180 189 193 +f 184 187 194 +f 193 184 194 +f 187 183 195 +f 195 188 196 +f 188 180 196 +f 193 189 197 +f 186 190 198 +f 189 181 199 +f 190 189 199 +f 185 188 200 +f 188 195 200 +f 201 192 202 +f 191 185 202 +f 185 201 202 +f 196 180 203 +f 192 191 204 +f 202 192 204 +f 191 202 204 +f 183 186 205 +f 186 192 205 +f 192 183 205 +f 180 193 206 +f 194 187 206 +f 193 194 206 +f 203 180 206 +f 187 203 206 +f 183 192 207 +f 195 183 207 +f 185 200 207 +f 200 195 207 +f 201 185 207 +f 192 201 207 +f 184 193 208 +f 197 184 208 +f 193 197 208 +f 190 184 209 +f 189 190 209 +f 184 197 209 +f 197 189 209 +f 198 182 210 +f 186 198 210 +f 182 181 211 +f 181 191 211 +f 191 186 211 +f 210 182 211 +f 186 210 211 +f 181 182 212 +f 182 198 212 +f 198 190 212 +f 190 199 212 +f 199 181 212 +f 187 195 213 +f 195 196 213 +f 203 187 213 +o convex_5 +v 0.253664 1.381971 3.313641 +v -0.363633 -0.470050 -0.813200 +v -0.396208 -0.437478 -0.813200 +v 1.066004 1.902104 -0.813200 +v -0.721144 1.902104 -0.812786 +v 1.228676 -0.470050 0.421958 +v -0.688569 -0.469796 1.299015 +v -0.558676 1.837214 2.403503 +v 1.033633 1.024697 3.086210 +v 0.286036 2.097027 2.371249 +v 0.188718 0.277832 3.151131 +v 1.098579 -0.469796 -0.682944 +v -0.818665 1.024697 2.436170 +v -0.818665 -0.469796 0.064684 +v 1.228676 1.154730 2.338995 +v 1.066004 -0.469796 1.299015 +v 1.001058 1.836960 2.371249 +v -0.558676 0.992125 3.151131 +v 1.228676 1.154730 -0.812786 +v 0.156346 2.129599 -0.812786 +v -0.851240 0.959553 -0.812786 +v 0.253664 1.836960 3.151131 +v 0.156346 -0.469796 1.688956 +v 0.838590 0.440183 2.858778 +v -0.851240 1.089586 1.949054 +v -0.688569 -0.437224 -0.682944 +v -0.396208 0.472755 2.956367 +v 0.253664 1.024697 3.411229 +v 0.773643 -0.470050 -0.813200 +v 0.156346 2.129599 1.396190 +v -0.851240 -0.274873 0.324783 +v 1.228676 0.894664 2.306328 +v -0.363633 1.642037 2.956367 +v 0.838590 1.609720 2.956367 +v -0.688569 1.934676 -0.682944 +v 0.156346 2.097027 2.371249 +v 1.001058 1.934676 -0.618022 +v 0.253664 0.277832 3.151131 +v -0.851240 1.187048 -0.812786 +v 1.001058 1.154476 3.118877 +v -0.591047 0.277578 2.436170 +v -0.526101 1.154476 3.151131 +v 1.163526 -0.469796 -0.455513 +v -0.818665 1.154476 2.371249 +v -0.786090 -0.469796 0.779645 +v 1.131154 -0.014806 -0.813200 +v -0.558676 1.869786 2.208739 +v 1.001058 0.245260 2.371249 +v 0.221089 2.129599 1.428857 +v 1.098579 -0.469796 1.234507 +v 0.968686 1.024443 3.151544 +v -0.721144 0.017511 -0.812786 +v 0.091400 2.129599 0.194940 +v 0.221089 2.129599 -0.682530 +v 1.228676 -0.470050 0.161859 +v -0.818665 0.959553 2.403503 +v -0.591047 1.804642 2.273660 +v -0.753719 -0.469796 -0.390591 +v 0.708493 0.440183 2.989035 +v 1.228676 0.959553 -0.812786 +v 0.221089 1.836960 3.151131 +v 0.188718 1.089586 3.411229 +v 0.221089 -0.469796 1.688956 +v 0.936111 1.869786 2.338582 +f 250 223 277 +f 215 216 217 +f 217 216 218 +f 215 219 220 +f 228 217 230 +f 217 228 232 +f 228 219 232 +f 217 218 233 +f 230 223 235 +f 220 219 236 +f 224 220 236 +f 216 215 239 +f 220 224 240 +f 224 231 240 +f 231 224 241 +f 215 217 242 +f 219 215 242 +f 234 227 244 +f 238 234 244 +f 219 228 245 +f 228 222 245 +f 230 235 247 +f 233 218 248 +f 243 248 249 +f 235 223 249 +f 230 217 250 +f 224 236 251 +f 241 224 251 +f 218 216 252 +f 216 234 252 +f 238 218 252 +f 234 238 252 +f 222 228 253 +f 228 230 253 +f 235 214 253 +f 214 241 253 +f 230 247 253 +f 247 235 253 +f 220 240 254 +f 240 231 254 +f 246 221 255 +f 226 231 257 +f 218 238 257 +f 238 226 257 +f 255 221 257 +f 231 255 257 +f 215 220 258 +f 227 215 258 +f 244 227 258 +f 217 232 259 +f 242 217 259 +f 225 242 259 +f 256 225 259 +f 248 218 260 +f 249 248 260 +f 221 249 260 +f 222 237 261 +f 237 229 261 +f 245 222 261 +f 233 243 262 +f 243 249 262 +f 249 223 262 +f 223 250 262 +f 229 219 263 +f 219 245 263 +f 261 229 263 +f 245 261 263 +f 237 222 264 +f 241 251 264 +f 222 253 264 +f 253 241 264 +f 234 216 265 +f 216 239 265 +f 243 233 266 +f 233 248 266 +f 248 243 266 +f 217 233 267 +f 250 217 267 +f 233 262 267 +f 262 250 267 +f 232 219 268 +f 219 242 268 +f 242 225 268 +f 225 256 268 +f 231 226 269 +f 226 238 269 +f 238 244 269 +f 220 254 269 +f 254 231 269 +f 258 220 269 +f 244 258 269 +f 218 257 270 +f 257 221 270 +f 260 218 270 +f 221 260 270 +f 215 227 271 +f 227 234 271 +f 239 215 271 +f 234 265 271 +f 265 239 271 +f 229 237 272 +f 251 229 272 +f 237 264 272 +f 264 251 272 +f 259 232 273 +f 256 259 273 +f 232 268 273 +f 268 256 273 +f 214 235 274 +f 221 246 274 +f 249 221 274 +f 235 249 274 +f 246 255 274 +f 274 255 275 +f 241 214 275 +f 231 241 275 +f 255 231 275 +f 214 274 275 +f 219 229 276 +f 236 219 276 +f 251 236 276 +f 229 251 276 +f 223 230 277 +f 230 250 277 +o convex_6 +v -1.598743 3.526445 -1.528227 +v -2.151141 -0.079391 -1.690635 +v -2.021105 -1.347053 -1.625720 +v -1.501216 0.310207 -1.950597 +v -1.728779 -1.606589 -1.398216 +v -2.151141 1.187095 -1.333180 +v -1.858688 3.527033 -1.885622 +v -2.151141 0.928148 -1.950657 +v -1.533789 1.121770 -1.365759 +v -1.728779 -1.606589 -1.853104 +v -1.533789 -1.509483 -1.625720 +v -1.923642 3.689464 -1.658117 +v -1.566234 3.721832 -1.690635 +v -1.761224 3.689464 -1.463252 +v -1.728779 2.714293 -1.950657 +v -2.151141 1.447219 -1.950657 +v -1.501216 1.478999 -1.398216 +v -1.728779 2.681925 -1.365759 +v -1.501216 -0.144716 -1.430734 +v -1.793733 -1.964995 -1.625720 +v -1.956087 -1.412378 -1.463252 +v -1.956087 -1.216403 -1.820586 +v -1.826179 -0.599050 -1.950657 +v -1.501216 1.089402 -1.950597 +v -1.728779 3.721832 -1.885622 +v -1.761224 4.047281 -1.723093 +v -2.151141 1.447219 -1.365759 +v -1.793733 1.544324 -1.333180 +v -1.501216 2.259371 -1.658117 +v -2.151141 0.960517 -1.333180 +v -1.761224 -0.891542 -1.365759 +v -1.988660 -1.639546 -1.658117 +v -1.566234 -1.021604 -1.853104 +v -1.826179 -1.606589 -1.398216 +v -1.923642 3.721832 -1.723093 +v -2.151141 1.609649 -1.593202 +v -1.501216 -0.924499 -1.690635 +v -1.858688 3.527033 -1.495709 +v -2.151141 0.603288 -1.918079 +v -1.566234 3.721832 -1.625720 +v -1.598743 -1.379422 -1.463252 +v -1.728779 -1.964995 -1.593202 +v -1.598743 3.526445 -1.788128 +v -1.988660 -1.574809 -1.560745 +v -1.793733 -1.606589 -1.853104 +v -1.598743 3.136259 -1.463252 +v -1.826179 2.681925 -1.365759 +v -2.151141 -0.079391 -1.625720 +v -1.988660 -0.632007 -1.885622 +v -1.566234 -1.639546 -1.658117 +v -1.793733 3.364603 -1.918079 +v -1.761224 4.047281 -1.658117 +v -1.728779 -0.567270 -1.950657 +f 310 287 330 +f 279 283 285 +f 285 283 293 +f 292 285 293 +f 286 294 295 +f 286 282 296 +f 281 294 296 +f 294 286 296 +f 285 292 300 +f 281 292 301 +f 294 281 301 +f 301 292 302 +f 302 284 303 +f 290 302 303 +f 293 283 304 +f 286 295 305 +f 301 290 306 +f 294 301 306 +f 283 279 307 +f 305 283 307 +f 305 307 308 +f 282 286 308 +f 286 305 308 +f 280 279 309 +f 307 298 311 +f 308 307 311 +f 282 308 311 +f 284 293 312 +f 303 284 312 +f 304 289 313 +f 293 304 313 +f 312 293 313 +f 289 312 313 +f 281 296 314 +f 296 288 314 +f 310 281 314 +f 288 310 314 +f 291 289 315 +f 289 304 315 +f 304 291 315 +f 279 285 316 +f 309 279 316 +f 299 309 316 +f 291 278 317 +f 290 303 317 +f 306 290 317 +f 294 306 317 +f 282 288 318 +f 296 282 318 +f 288 296 318 +f 288 282 319 +f 297 287 319 +f 282 311 319 +f 311 297 319 +f 290 301 320 +f 302 290 320 +f 301 302 320 +f 298 307 321 +f 280 309 321 +f 309 297 321 +f 297 311 321 +f 311 298 321 +f 287 297 322 +f 300 287 322 +f 297 309 322 +f 309 299 322 +f 278 291 323 +f 291 295 323 +f 295 294 323 +f 317 278 323 +f 294 317 323 +f 295 291 324 +f 291 304 324 +f 304 283 324 +f 283 305 324 +f 305 295 324 +f 279 280 325 +f 307 279 325 +f 280 321 325 +f 321 307 325 +f 285 300 326 +f 316 285 326 +f 299 316 326 +f 300 322 326 +f 322 299 326 +f 287 310 327 +f 310 288 327 +f 288 319 327 +f 319 287 327 +f 293 284 328 +f 292 293 328 +f 284 302 328 +f 302 292 328 +f 289 291 329 +f 303 312 329 +f 312 289 329 +f 291 317 329 +f 317 303 329 +f 292 281 330 +f 287 300 330 +f 300 292 330 +f 281 310 330 +o convex_7 +v -1.501197 0.440107 -1.950600 +v -1.306242 1.154609 -1.365736 +v -1.306242 1.284834 -1.398254 +v -1.501197 1.447073 -1.398254 +v -1.501197 -0.339940 -1.593190 +v -1.306242 1.122378 -1.950600 +v -1.501197 1.772201 -1.658168 +v -1.306242 0.732138 -1.950600 +v -1.306242 0.635227 -1.463233 +v -1.468698 -0.405052 -1.690629 +v -1.501197 0.244987 -1.430772 +v -1.501197 1.089497 -1.950600 +v -1.306242 1.479737 -1.658168 +v -1.468698 1.804865 -1.593190 +v -1.501197 1.024818 -1.365736 +v -1.306242 0.570115 -1.723147 +f 339 340 346 +f 332 333 334 +f 334 331 335 +f 333 332 336 +f 331 334 337 +f 336 332 338 +f 331 336 338 +f 338 332 339 +f 335 331 340 +f 331 338 340 +f 339 335 340 +f 334 335 341 +f 339 332 341 +f 335 339 341 +f 336 331 342 +f 331 337 342 +f 337 336 342 +f 333 336 343 +f 334 333 344 +f 336 337 344 +f 337 334 344 +f 333 343 344 +f 343 336 344 +f 332 334 345 +f 341 332 345 +f 334 341 345 +f 338 339 346 +f 340 338 346 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/042/042.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/042/042.urdf new file mode 100644 index 000000000..7a4a78e97 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/042/042.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/043/043.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/043/043.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/043/043.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/043/043.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/043/043.obj new file mode 100644 index 000000000..82018870e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/043/043.obj @@ -0,0 +1,648 @@ +o convex_0 +v -0.314176 -1.457435 1.669432 +v -1.105910 -3.990989 -0.428677 +v -1.105910 -3.990989 1.550502 +v 1.110858 -4.070438 -0.507964 +v -0.987193 -1.418230 -0.468534 +v 1.031858 -1.418230 1.669219 +v 1.110858 -3.990989 1.550289 +v 1.071358 -1.418230 -0.389034 +v -1.066410 -1.418230 1.669432 +v -1.105910 -3.832609 1.589932 +v -1.066410 -1.418230 0.323479 +v -0.789260 -4.030454 1.352499 +v -0.512109 -4.030454 -0.468534 +v 1.110858 -4.030454 1.510859 +v 1.110858 -2.724472 -0.072314 +v -1.066410 -2.724472 -0.468534 +v 0.437841 -4.070438 0.125476 +v -1.105910 -3.278541 -0.072527 +v 1.071358 -2.407713 1.629576 +v -0.947693 -1.932834 1.669432 +v -0.670543 -1.418230 -0.468534 +v 1.071358 -1.418230 0.402766 +v 1.110858 -3.001246 -0.468320 +v 0.833708 -4.070438 -0.507964 +v 1.031858 -1.576350 1.669219 +v -1.026693 -1.655540 -0.468534 +v 1.110858 -3.792885 1.550289 +v 1.110858 -4.070438 0.204763 +v -0.907976 -3.832609 1.589932 +v 1.110858 -3.872075 -0.507964 +v 1.071358 -2.091213 -0.428677 +f 23 30 31 +f 5 6 8 +f 1 6 9 +f 6 5 9 +f 2 3 10 +f 9 5 11 +f 3 2 12 +f 12 2 13 +f 7 3 14 +f 4 7 14 +f 3 12 14 +f 7 4 15 +f 13 2 16 +f 12 13 17 +f 2 10 18 +f 10 9 18 +f 9 11 18 +f 16 2 18 +f 11 16 18 +f 1 9 20 +f 9 10 20 +f 5 8 21 +f 8 6 22 +f 15 8 22 +f 6 19 22 +f 15 4 23 +f 8 15 23 +f 13 16 24 +f 4 17 24 +f 17 13 24 +f 6 1 25 +f 19 6 25 +f 1 20 25 +f 11 5 26 +f 16 11 26 +f 5 24 26 +f 24 16 26 +f 7 15 27 +f 19 7 27 +f 15 22 27 +f 22 19 27 +f 4 14 28 +f 14 12 28 +f 17 4 28 +f 12 17 28 +f 3 7 29 +f 10 3 29 +f 7 19 29 +f 20 10 29 +f 19 25 29 +f 25 20 29 +f 5 21 30 +f 23 4 30 +f 4 24 30 +f 24 5 30 +f 21 8 31 +f 8 23 31 +f 30 21 31 +o convex_1 +v -2.966737 -1.338397 0.679563 +v -1.066921 -0.705043 0.362944 +v -1.066921 -0.744667 0.719114 +v -1.066921 -1.417715 0.402549 +v -3.046178 -0.744667 0.283735 +v -1.066921 -1.417715 0.837927 +v -3.006264 -0.942716 0.837927 +v -2.966737 -1.259289 0.283735 +v -1.066921 -0.823914 0.283735 +v -1.621074 -0.784290 0.837927 +v -2.966737 -1.338397 0.837927 +v -3.046178 -0.823914 0.679563 +v -1.066921 -0.784290 0.837927 +v -1.066921 -1.378091 0.362944 +v -2.927210 -0.744667 0.442099 +v -1.700322 -1.417715 0.837927 +v -1.066921 -0.705043 0.283735 +v -2.808435 -1.298843 0.323340 +f 32 39 49 +f 33 34 35 +f 35 34 37 +f 39 36 40 +f 33 35 40 +f 38 37 41 +f 37 38 42 +f 42 38 43 +f 39 32 43 +f 36 39 43 +f 38 41 43 +f 32 42 43 +f 37 34 44 +f 34 41 44 +f 41 37 44 +f 35 39 45 +f 39 40 45 +f 40 35 45 +f 34 33 46 +f 33 36 46 +f 41 34 46 +f 36 43 46 +f 43 41 46 +f 32 35 47 +f 35 37 47 +f 42 32 47 +f 37 42 47 +f 36 33 48 +f 40 36 48 +f 33 40 48 +f 35 32 49 +f 39 35 49 +o convex_2 +v 0.160799 0.561930 -3.596097 +v 0.398403 1.274602 -2.487822 +v 0.239977 1.274602 -2.487822 +v 0.358779 1.116176 -4.388184 +v -0.314269 0.839088 -4.427873 +v -0.155843 0.720356 -2.487822 +v -0.195467 1.116176 -4.110925 +v -0.195467 1.116176 -2.487822 +v 0.279601 0.601554 -4.388184 +v 0.200423 0.561930 -2.487822 +v -0.314269 0.720356 -4.427873 +v -0.155843 1.116176 -4.348494 +v 0.398403 1.195284 -2.487822 +v 0.121245 1.234978 -3.240218 +v 0.200423 0.561930 -4.388184 +v -0.195467 0.720356 -2.646201 +v 0.239977 0.561930 -3.042149 +v -0.274645 0.957750 -3.398597 +v 0.160799 0.561930 -2.487822 +v -0.116289 1.155730 -4.110925 +v 0.398403 1.274602 -2.765080 +f 53 69 70 +f 51 52 55 +f 55 52 57 +f 51 55 59 +f 54 53 60 +f 53 58 60 +f 53 54 61 +f 54 56 61 +f 58 53 62 +f 51 59 62 +f 59 50 64 +f 50 60 64 +f 60 58 64 +f 55 57 65 +f 58 62 66 +f 62 59 66 +f 59 64 66 +f 64 58 66 +f 56 54 67 +f 57 56 67 +f 54 60 67 +f 65 57 67 +f 60 65 67 +f 59 55 68 +f 50 59 68 +f 60 50 68 +f 55 65 68 +f 65 60 68 +f 57 52 69 +f 56 57 69 +f 53 61 69 +f 61 56 69 +f 52 63 69 +f 69 63 70 +f 52 51 70 +f 51 62 70 +f 62 53 70 +f 63 52 70 +o convex_3 +v -0.670543 -0.071413 -2.170993 +v 1.110858 2.026867 -2.210524 +v 1.110858 2.026867 -2.448097 +v -1.105910 1.987154 -2.408566 +v -0.947476 1.947441 -0.508177 +v 1.031858 -0.071196 -0.508177 +v -0.907976 0.007796 -0.508177 +v 1.031858 -0.189901 -2.329117 +v 1.031858 1.907728 -0.508177 +v -1.066410 -0.031700 -2.448097 +v 0.358624 0.403841 -2.487822 +v -0.947476 0.007796 -0.587433 +v -0.195459 1.116071 -2.487822 +v -0.749760 -0.031700 -0.587433 +v 1.071358 0.205927 -2.369035 +v -1.066410 1.987154 -1.735378 +v -1.066410 -0.031700 -2.131462 +v 0.992141 -0.110909 -0.626963 +v 0.200408 2.026867 -2.448097 +v 0.912925 -0.189901 -2.210524 +v 1.031858 1.947441 -0.825005 +v 1.110858 1.907728 -2.012482 +v 0.714991 1.313986 -2.487822 +v 0.952642 -0.150405 -2.369035 +v -1.105910 1.116071 -2.369035 +v 1.110858 1.393195 -2.369035 +v -0.987193 1.709814 -0.785475 +v -1.066410 0.839382 -2.448097 +v -0.432893 0.284919 -2.487822 +v -0.353676 1.987154 -2.448097 +v -0.472610 1.947441 -0.508177 +v 1.110858 1.630605 -2.448097 +v -1.105910 1.868232 -2.210524 +v 0.754491 2.026867 -2.170993 +f 75 101 104 +f 76 75 77 +f 75 76 79 +f 77 75 82 +f 76 77 84 +f 77 82 84 +f 76 78 85 +f 80 71 87 +f 71 84 87 +f 84 82 87 +f 78 76 88 +f 76 84 88 +f 72 73 89 +f 74 86 89 +f 71 80 90 +f 80 78 90 +f 84 71 90 +f 78 88 90 +f 88 84 90 +f 79 72 91 +f 73 72 92 +f 72 79 92 +f 79 76 92 +f 81 83 93 +f 89 73 93 +f 78 80 94 +f 80 81 94 +f 85 78 94 +f 74 80 95 +f 87 82 95 +f 80 87 95 +f 76 85 96 +f 73 92 96 +f 92 76 96 +f 82 75 97 +f 75 86 97 +f 80 74 98 +f 74 83 98 +f 98 83 99 +f 81 80 99 +f 83 81 99 +f 80 98 99 +f 83 74 100 +f 74 89 100 +f 93 83 100 +f 89 93 100 +f 75 79 101 +f 91 72 101 +f 79 91 101 +f 81 93 102 +f 93 73 102 +f 94 81 102 +f 85 94 102 +f 73 96 102 +f 96 85 102 +f 86 74 103 +f 74 95 103 +f 95 82 103 +f 82 97 103 +f 97 86 103 +f 86 75 104 +f 72 89 104 +f 89 86 104 +f 101 72 104 +o convex_4 +v -3.006531 -0.150401 1.471207 +v 1.427342 2.026867 0.085939 +v 1.427342 2.026867 -0.032754 +v 2.971778 -0.190165 1.669319 +v -0.828942 -0.229928 -0.507747 +v -3.046178 1.868255 1.669102 +v -2.927237 1.987103 -0.507964 +v 3.090720 0.166160 -0.389270 +v 3.090720 1.868255 1.629610 +v 3.050472 1.947561 -0.468255 +v -3.046178 -0.189944 -0.428762 +v -1.066224 -0.229928 1.708595 +v 1.269354 1.987103 1.708595 +v 3.090720 -0.110859 -0.349561 +v -0.947282 1.987103 1.708595 +v -3.006531 0.166160 1.669102 +v 1.031471 -0.071537 -0.507747 +v 1.071118 -0.229928 -0.309851 +v 2.852837 -0.150401 1.708812 +v -2.293483 2.026867 -0.468471 +v 1.031471 1.908018 -0.507747 +v -0.789294 2.026867 0.719118 +v 3.090720 1.907798 1.471207 +v 0.991824 -0.229928 1.708595 +v -2.927237 1.987103 -0.032971 +v 3.090720 1.274234 1.550626 +v -3.006531 -0.111080 1.629610 +v 1.031471 2.026867 -0.389053 +v -3.006531 0.760181 -0.468471 +v -3.046178 -0.189944 0.085939 +v 3.090720 1.907798 0.363036 +v 3.011425 0.047532 1.669319 +v -3.046178 1.868255 1.352513 +v 1.743918 1.868476 1.708595 +v -3.046178 0.918130 1.669102 +v 3.050472 1.551694 -0.468255 +v 0.991824 2.026867 0.798319 +v -1.185165 1.987103 1.629610 +v 3.050472 1.947561 0.164924 +v 3.050472 -0.150401 0.481730 +v 3.050472 1.036758 1.669319 +v -0.947282 -0.229928 -0.507747 +v 3.090720 -0.110859 -0.151665 +v -2.927237 1.709864 -0.507964 +v -3.046178 0.086854 -0.428762 +v -3.006531 0.641333 -0.468471 +v 3.050472 1.907798 1.589901 +f 127 143 151 +f 107 106 114 +f 112 113 118 +f 110 116 119 +f 118 109 121 +f 112 118 121 +f 116 109 122 +f 109 118 122 +f 119 116 123 +f 117 119 123 +f 106 107 124 +f 114 111 124 +f 111 114 125 +f 121 111 125 +f 114 121 125 +f 106 124 126 +f 113 112 127 +f 122 108 128 +f 116 122 128 +f 108 123 128 +f 123 116 128 +f 111 110 129 +f 124 111 129 +f 118 113 130 +f 105 116 131 +f 116 120 131 +f 107 114 132 +f 124 107 132 +f 114 124 132 +f 110 115 134 +f 116 105 134 +f 115 116 134 +f 105 131 134 +f 112 114 135 +f 127 112 135 +f 114 127 135 +f 123 108 136 +f 110 111 137 +f 115 110 137 +f 111 133 137 +f 113 117 138 +f 117 123 138 +f 116 110 139 +f 120 116 139 +f 131 120 139 +f 110 134 139 +f 134 131 139 +f 114 112 140 +f 121 114 140 +f 112 121 140 +f 119 117 141 +f 106 126 141 +f 126 119 141 +f 110 119 142 +f 119 126 142 +f 126 124 142 +f 129 110 142 +f 124 129 142 +f 114 106 143 +f 127 114 143 +f 108 122 144 +f 122 118 144 +f 136 108 144 +f 130 113 145 +f 123 136 145 +f 136 130 145 +f 113 138 145 +f 138 123 145 +f 109 116 146 +f 116 115 146 +f 118 130 147 +f 130 136 147 +f 144 118 147 +f 136 144 147 +f 121 109 148 +f 111 121 148 +f 133 111 148 +f 109 146 148 +f 133 115 149 +f 115 137 149 +f 137 133 149 +f 115 133 150 +f 146 115 150 +f 133 148 150 +f 148 146 150 +f 117 113 151 +f 113 127 151 +f 141 117 151 +f 106 141 151 +f 143 106 151 +o convex_5 +v -0.710136 0.839382 3.688282 +v -1.066321 -0.110909 1.709025 +v 0.319198 -0.150622 2.184318 +v 0.952487 1.987154 1.709025 +v -0.947592 1.986937 1.709025 +v 1.110862 2.026650 3.569701 +v 1.031781 0.007796 3.609228 +v -0.947592 1.986937 3.688282 +v -0.987239 -0.189901 3.648755 +v 0.992134 -0.110909 1.709025 +v -0.551760 2.026867 3.688282 +v 1.110862 2.026650 3.173850 +v 1.031781 -0.071413 2.738277 +v -1.026674 -0.110909 3.411206 +v 0.635736 0.403841 3.648755 +v 1.110862 1.115855 3.530174 +v -1.066321 0.166214 1.946769 +v 0.358632 -0.071413 3.648755 +v 0.992134 1.551613 3.609228 +v 0.992134 0.878878 1.709025 +v -0.907945 2.026867 3.490453 +v 0.992134 2.026650 2.896579 +v 0.517221 -0.150622 2.224039 +v -0.987239 0.483050 3.688282 +v -0.749570 -0.189901 3.490453 +v 1.071215 0.205710 3.609228 +v 1.031781 -0.071413 2.342620 +v 0.952487 -0.031700 3.530174 +v -1.026674 -0.150405 2.461588 +v -0.987239 1.432691 1.709025 +v 0.833758 2.026650 3.609228 +v 0.992134 1.987154 1.986295 +f 163 171 183 +f 155 153 156 +f 154 153 161 +f 153 155 161 +f 159 152 162 +f 162 157 163 +f 153 160 165 +f 162 152 166 +f 163 157 167 +f 153 165 168 +f 165 159 168 +f 158 166 169 +f 166 152 169 +f 162 166 170 +f 161 155 171 +f 163 161 171 +f 156 159 172 +f 159 162 172 +f 155 156 173 +f 163 155 173 +f 162 163 173 +f 156 172 173 +f 172 162 173 +f 154 161 174 +f 161 164 174 +f 152 159 175 +f 159 165 175 +f 165 160 175 +f 169 152 175 +f 160 169 175 +f 169 160 176 +f 154 174 176 +f 158 164 177 +f 166 158 177 +f 167 157 177 +f 157 170 177 +f 170 166 177 +f 161 163 178 +f 164 161 178 +f 163 167 178 +f 177 164 178 +f 167 177 178 +f 164 158 179 +f 158 169 179 +f 174 164 179 +f 169 176 179 +f 176 174 179 +f 153 154 180 +f 160 153 180 +f 154 176 180 +f 176 160 180 +f 156 153 181 +f 159 156 181 +f 153 168 181 +f 168 159 181 +f 157 162 182 +f 170 157 182 +f 162 170 182 +f 155 163 183 +f 171 155 183 +o convex_6 +v -0.987239 -0.586334 -0.507960 +v 1.110862 -0.625973 0.956431 +v 1.110862 -0.705136 0.956431 +v -1.066321 -0.982146 1.708808 +v 1.071428 -1.417598 -0.389038 +v 1.071428 -0.230044 -0.310046 +v -1.066321 -0.230044 1.708808 +v 1.031781 -1.417598 1.669312 +v -0.987239 -1.417598 -0.468247 +v 0.992134 -0.230044 1.709025 +v -1.066321 -1.417598 1.669095 +v -0.947592 -0.230044 -0.507960 +v -1.066321 -0.705136 0.283913 +v 1.110862 -1.417598 0.283913 +v 1.071428 -0.348846 -0.349542 +v -1.066321 -1.417598 0.323626 +v 1.031781 -0.230044 1.550390 +v 0.992134 -0.705136 1.709025 +v -0.828864 -0.230044 -0.507960 +v 1.110862 -0.507171 0.363122 +v 1.110862 -1.259157 0.837726 +v -0.670489 -1.417598 -0.468247 +v 1.071428 -1.219634 -0.389038 +f 202 198 206 +f 186 185 191 +f 188 191 192 +f 190 187 193 +f 189 190 193 +f 187 190 194 +f 191 187 194 +f 192 191 194 +f 190 189 195 +f 190 195 196 +f 184 192 196 +f 194 190 196 +f 195 184 196 +f 185 186 197 +f 191 188 197 +f 192 194 199 +f 196 192 199 +f 194 196 199 +f 191 185 200 +f 189 193 200 +f 193 191 200 +f 187 191 201 +f 193 187 201 +f 191 193 201 +f 188 184 202 +f 184 195 202 +f 195 189 202 +f 189 198 202 +f 185 197 203 +f 198 189 203 +f 197 198 203 +f 200 185 203 +f 189 200 203 +f 186 191 204 +f 197 186 204 +f 191 197 204 +f 184 188 205 +f 192 184 205 +f 188 192 205 +f 197 188 206 +f 198 197 206 +f 188 202 206 +o convex_7 +v 1.942692 -1.378091 0.560858 +v 3.050805 -0.705043 0.521308 +v 3.090720 -0.744667 0.798323 +v 1.111462 -0.744667 0.798323 +v 1.111462 -0.784290 0.362944 +v 1.111462 -1.417715 0.283735 +v 1.111462 -1.259289 0.837927 +v 3.050805 -1.298843 0.560858 +v 3.050805 -0.705043 0.323340 +v 2.892503 -1.298843 0.837927 +v 2.932030 -1.298843 0.402549 +v 2.536179 -0.744667 0.837927 +v 2.654953 -0.705043 0.323340 +v 1.705143 -1.219735 0.283735 +v 1.428066 -1.417715 0.442099 +v 3.090720 -0.942716 0.837927 +v 1.111462 -1.259289 0.283735 +v 3.050805 -1.021894 0.362944 +f 222 214 224 +f 210 211 212 +f 210 212 213 +f 208 209 215 +f 207 214 216 +f 209 208 218 +f 208 210 218 +f 210 213 218 +f 213 216 218 +f 210 208 219 +f 211 210 219 +f 208 215 219 +f 219 215 220 +f 217 212 220 +f 213 212 221 +f 214 207 221 +f 207 216 221 +f 216 213 221 +f 212 217 221 +f 217 214 221 +f 216 214 222 +f 209 218 222 +f 218 216 222 +f 212 211 223 +f 211 219 223 +f 219 220 223 +f 220 212 223 +f 215 209 224 +f 214 217 224 +f 220 215 224 +f 217 220 224 +f 209 222 224 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/043/043.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/043/043.urdf new file mode 100644 index 000000000..a0307e636 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/043/043.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/044/044.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/044/044.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/044/044.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/044/044.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/044/044.obj new file mode 100644 index 000000000..f7ecbf4ae --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/044/044.obj @@ -0,0 +1,636 @@ +o convex_0 +v -1.239321 0.934320 -0.893752 +v 0.805770 3.589200 1.115673 +v 0.841766 2.943330 0.936225 +v 0.733994 3.589200 -1.109133 +v -1.167545 3.697115 0.864359 +v 0.769989 0.934320 1.115673 +v 0.805770 0.934320 -1.109133 +v -1.275102 3.589200 -1.072982 +v -1.167545 0.934320 1.043589 +v -1.167545 0.934320 -1.109133 +v -1.311098 0.934320 -0.355408 +v 0.877761 1.328928 0.038985 +v -0.880439 3.697115 0.971940 +v -0.665110 0.970292 1.115673 +v 0.877761 0.934320 0.433814 +v 0.769989 3.266265 -0.929685 +v -1.167545 2.333163 1.007873 +v 0.554660 3.589200 1.115673 +v -0.808663 3.697115 0.577329 +v -1.239321 3.624901 -0.785953 +v 0.805770 1.831451 -1.109133 +v -1.239321 1.615891 0.469530 +v 0.195778 3.553228 -1.109133 +v 0.339545 3.625171 -0.642438 +v -1.275102 3.553498 -0.893752 +v 0.877761 1.831451 0.613262 +v 0.805770 3.589200 0.613262 +v -1.311098 1.257255 -0.427057 +v 0.375326 3.625171 1.079740 +v -1.131549 3.230564 0.971940 +v -1.311098 0.934320 -0.462990 +v -1.239321 1.938825 -1.072982 +v -1.167545 3.661143 0.900074 +v 0.805770 2.369134 1.115673 +v -1.023992 0.934320 1.079740 +v 0.841766 2.046741 -0.283760 +f 27 26 36 +f 6 1 7 +f 1 6 9 +f 7 1 10 +f 4 7 10 +f 1 9 11 +f 6 2 14 +f 6 7 15 +f 7 12 15 +f 14 2 18 +f 5 13 19 +f 4 8 20 +f 8 5 20 +f 5 19 20 +f 7 4 21 +f 12 7 21 +f 4 16 21 +f 11 9 22 +f 9 17 22 +f 8 4 23 +f 4 10 23 +f 10 8 23 +f 4 20 24 +f 20 19 24 +f 5 8 25 +f 6 15 26 +f 15 12 26 +f 2 3 27 +f 16 4 27 +f 4 24 27 +f 3 26 27 +f 11 22 28 +f 25 8 28 +f 18 2 29 +f 13 18 29 +f 19 13 29 +f 24 19 29 +f 2 27 29 +f 27 24 29 +f 17 14 30 +f 14 18 30 +f 18 13 30 +f 1 11 31 +f 28 8 31 +f 11 28 31 +f 10 1 32 +f 8 10 32 +f 1 31 32 +f 31 8 32 +f 13 5 33 +f 22 17 33 +f 5 25 33 +f 28 22 33 +f 25 28 33 +f 30 13 33 +f 17 30 33 +f 3 2 34 +f 2 6 34 +f 26 3 34 +f 6 26 34 +f 9 6 35 +f 6 14 35 +f 17 9 35 +f 14 17 35 +f 12 21 36 +f 21 16 36 +f 26 12 36 +f 16 27 36 +o convex_1 +v 1.774964 -0.322317 -0.750139 +v 1.523774 -2.510811 -0.211907 +v 1.559738 -2.510811 -0.211907 +v 1.452125 -0.393874 1.079677 +v 2.815411 -2.510811 1.115459 +v 2.887200 -0.393874 -1.001256 +v 2.743622 -2.438825 -0.929478 +v 2.815411 -0.465646 1.007898 +v 1.452125 -0.573410 -1.073249 +v 1.452125 -2.474604 1.079677 +v 1.452125 -2.474604 -0.929692 +v 1.452125 -0.322317 -1.073249 +v 2.851235 -0.429653 0.828345 +v 1.487950 -0.358096 0.864127 +v 2.815411 -0.357882 -0.929478 +v 2.169592 -2.510811 1.115673 +v 2.815411 -2.115961 1.115459 +v 2.815411 -2.510811 0.864341 +v 2.887200 -0.501639 -1.001256 +v 1.487950 -2.259290 -0.965474 +v 1.739000 -0.393874 -1.073249 +v 2.815411 -1.541575 -0.965474 +v 2.887200 -0.429653 -0.642578 +v 2.851235 -0.501639 0.935905 +v 2.241381 -0.429653 1.043680 +v 2.026015 -0.393874 1.043894 +v 1.774964 -2.474604 -0.929692 +v 2.779446 -2.474604 -0.104347 +f 63 43 64 +f 38 39 41 +f 40 45 46 +f 46 45 47 +f 39 38 47 +f 38 46 47 +f 45 40 48 +f 37 48 50 +f 48 40 50 +f 48 37 51 +f 42 48 51 +f 49 42 51 +f 37 50 51 +f 38 41 52 +f 40 46 52 +f 46 38 52 +f 40 52 53 +f 52 41 53 +f 41 39 54 +f 41 54 55 +f 45 43 56 +f 47 45 56 +f 43 45 57 +f 48 42 57 +f 45 48 57 +f 42 55 57 +f 57 55 58 +f 55 54 58 +f 43 57 58 +f 42 49 59 +f 55 42 59 +f 41 55 59 +f 49 44 60 +f 44 53 60 +f 53 41 60 +f 59 49 60 +f 41 59 60 +f 40 53 61 +f 53 44 61 +f 44 49 62 +f 50 40 62 +f 49 51 62 +f 51 50 62 +f 61 44 62 +f 40 61 62 +f 39 47 63 +f 56 43 63 +f 47 56 63 +f 54 39 64 +f 43 58 64 +f 58 54 64 +f 39 63 64 +o convex_2 +v -1.526081 -0.680957 1.115673 +v -1.346651 -0.609186 -1.109133 +v -1.813541 -1.075594 -1.073200 +v 1.451911 -2.474604 1.079740 +v -3.284688 -2.331275 1.043589 +v 1.451911 -2.474604 -0.929467 +v 1.451911 -0.358093 0.936225 +v -3.176658 -2.474818 -0.929467 +v -3.284688 -0.393657 -0.929467 +v 1.451911 -0.322100 -1.072982 +v -3.105257 -0.393657 1.007656 +v -1.346651 -2.510811 1.079740 +v 0.626159 -0.322100 1.115673 +v -1.167220 -0.322314 -1.109133 +v 0.985021 -2.474604 -0.965400 +v -1.167220 -0.322314 1.115673 +v 0.913156 -0.573193 -1.109133 +v -3.140957 -2.402832 -0.965400 +v 1.451911 -0.393871 1.079740 +v -1.167220 -1.470016 1.115673 +v -3.176658 -0.393657 0.684911 +v -1.095819 -2.510811 0.397881 +v -3.212822 -2.331275 -0.929467 +v -0.162965 -2.510811 1.079740 +v -3.105257 -0.393657 -0.965400 +v -2.208103 -2.438825 1.079740 +v -3.284688 -0.824501 -0.929467 +v -3.284688 -0.393657 -0.678371 +v -3.284688 -2.187517 1.043589 +v 1.451911 -2.259503 -0.965400 +v -3.248523 -2.402832 0.254149 +v 1.164451 -0.322100 -1.109133 +v -2.566965 -1.613559 1.079740 +v -3.284688 -2.259503 0.720626 +v -3.140957 -0.429864 1.007656 +v -1.275249 -0.322314 -0.104312 +v 1.451911 -0.322100 -0.534856 +v -3.105257 -2.367054 1.043589 +f 69 95 102 +f 68 70 71 +f 71 70 74 +f 67 66 79 +f 75 65 80 +f 65 77 80 +f 66 78 81 +f 79 66 81 +f 67 79 82 +f 79 72 82 +f 68 71 83 +f 77 68 83 +f 71 77 83 +f 77 65 84 +f 68 77 84 +f 75 80 85 +f 76 72 86 +f 72 79 86 +f 79 70 86 +f 82 72 87 +f 70 68 88 +f 68 84 88 +f 84 76 88 +f 86 70 88 +f 76 86 88 +f 66 67 89 +f 78 66 89 +f 73 78 89 +f 67 82 89 +f 82 73 89 +f 84 65 90 +f 76 84 90 +f 69 73 91 +f 73 82 91 +f 82 87 91 +f 73 69 92 +f 85 92 93 +f 92 69 93 +f 74 70 94 +f 70 79 94 +f 79 81 94 +f 72 76 95 +f 87 72 95 +f 77 74 96 +f 78 77 96 +f 81 78 96 +f 74 94 96 +f 94 81 96 +f 90 65 97 +f 69 90 97 +f 93 69 97 +f 69 91 98 +f 91 87 98 +f 95 69 98 +f 87 95 98 +f 65 75 99 +f 75 85 99 +f 85 93 99 +f 97 65 99 +f 93 97 99 +f 77 78 100 +f 78 73 100 +f 80 77 100 +f 85 80 100 +f 73 92 100 +f 92 85 100 +f 71 74 101 +f 77 71 101 +f 74 77 101 +f 90 69 102 +f 76 90 102 +f 95 76 102 +o convex_3 +v 2.815411 0.826296 -0.140224 +v 2.169591 0.252335 -0.283718 +v 2.277345 0.252335 -0.283718 +v 2.169591 0.252335 0.290257 +v 2.169591 0.898085 -0.211971 +v 2.887200 0.216370 -0.247813 +v 2.743622 0.826296 0.326099 +v 2.815411 0.252335 0.254352 +v 2.169591 0.898085 0.254352 +v 2.779516 0.933909 -0.319559 +v 2.887200 0.324124 -0.068477 +v 2.169591 0.575175 -0.283718 +f 107 112 114 +f 104 106 107 +f 104 105 108 +f 106 104 108 +f 106 108 110 +f 109 106 110 +f 107 106 111 +f 106 109 111 +f 111 109 112 +f 105 104 112 +f 108 105 112 +f 103 108 112 +f 109 103 112 +f 107 111 112 +f 108 103 113 +f 103 109 113 +f 110 108 113 +f 109 110 113 +f 104 107 114 +f 112 104 114 +o convex_4 +v -3.248888 0.288223 0.074968 +v -1.562665 0.934050 -0.140182 +v -1.311154 0.898081 -0.032579 +v -3.141152 0.934050 0.254380 +v -1.311154 0.288223 0.290285 +v -1.311154 0.395860 -0.283746 +v -3.212850 0.790444 -0.247841 +v -3.176811 0.252321 -0.211992 +v -1.311154 0.826278 0.290285 +v -3.248888 0.252321 0.182626 +v -1.311154 0.790444 -0.283746 +v -2.423416 0.288223 -0.247841 +v -1.849645 0.898081 -0.247841 +v -3.176811 0.934050 0.182626 +v -3.176811 0.754542 0.254380 +v -2.172474 0.252321 0.182626 +v -1.311154 0.288223 0.182626 +v -1.777948 0.360026 -0.283746 +v -3.212850 0.575301 -0.247841 +v -2.782094 0.252321 0.218532 +v -2.890020 0.934050 0.254380 +v -1.311154 0.898081 -0.247841 +f 125 127 136 +f 117 119 120 +f 119 117 123 +f 121 115 124 +f 115 122 124 +f 117 120 125 +f 125 121 127 +f 118 116 128 +f 121 124 128 +f 116 127 128 +f 127 121 128 +f 123 118 129 +f 119 123 129 +f 118 128 129 +f 128 124 129 +f 124 122 130 +f 120 119 131 +f 126 120 131 +f 122 126 131 +f 119 130 131 +f 130 122 131 +f 125 120 132 +f 121 125 132 +f 120 126 132 +f 126 122 132 +f 115 121 133 +f 122 115 133 +f 121 132 133 +f 132 122 133 +f 119 129 134 +f 129 124 134 +f 130 119 134 +f 124 130 134 +f 117 116 135 +f 116 118 135 +f 123 117 135 +f 118 123 135 +f 116 117 136 +f 117 125 136 +f 127 116 136 +o convex_5 +v 1.595518 0.324082 -3.010941 +v 2.133640 0.862222 -0.355837 +v 2.133640 0.754570 -0.355837 +v 1.451911 0.862222 -0.355837 +v 1.739057 0.862222 -3.010941 +v 1.523781 0.324082 -0.355837 +v 2.097738 0.288198 -2.939131 +v 2.025935 0.359966 -0.355837 +v 1.990101 0.790454 -2.939131 +v 1.559683 0.898166 -2.508537 +v 1.559683 0.862222 -3.010941 +v 1.523781 0.898166 -0.355837 +v 1.523781 0.324082 -1.253062 +v 2.133640 0.862222 -0.643077 +v 1.703155 0.324082 -3.082751 +v 2.025935 0.718686 -2.939131 +v 2.025935 0.288198 -2.257335 +v 1.882463 0.288198 -2.974902 +v 1.451911 0.826338 -0.463685 +v 1.774958 0.324082 -0.355837 +v 1.667320 0.898166 -0.355837 +v 2.097738 0.862222 -1.109442 +f 150 152 158 +f 139 138 140 +f 139 140 142 +f 139 142 144 +f 143 139 144 +f 146 141 147 +f 140 146 147 +f 140 138 148 +f 146 140 148 +f 138 139 150 +f 139 143 150 +f 147 141 151 +f 137 147 151 +f 141 145 152 +f 150 143 152 +f 143 151 152 +f 151 141 152 +f 143 144 153 +f 142 149 154 +f 149 137 154 +f 137 151 154 +f 151 143 154 +f 143 153 154 +f 153 142 154 +f 142 140 155 +f 147 137 155 +f 140 147 155 +f 149 142 155 +f 137 149 155 +f 144 142 156 +f 142 153 156 +f 153 144 156 +f 148 138 157 +f 146 148 157 +f 138 150 157 +f 150 146 157 +f 145 141 158 +f 141 146 158 +f 146 150 158 +f 152 145 158 +o convex_6 +v 1.451982 0.898081 -0.355233 +v 2.169591 0.826278 2.263644 +v 2.169591 0.790444 2.263644 +v 1.523771 0.934050 2.981070 +v 1.451982 0.252321 0.326457 +v 2.169591 0.252321 -0.283423 +v 1.703173 0.324124 3.052880 +v 2.169591 0.898081 -0.211613 +v 2.097731 0.467664 3.088954 +v 1.451982 0.252321 -0.283423 +v 2.025942 0.862180 3.052880 +v 1.595560 0.324124 3.052880 +v 2.169591 0.252321 0.290721 +v 2.133626 0.862180 -0.355233 +v 1.451982 0.898081 1.008147 +v 1.595560 0.934050 0.721244 +v 1.703173 0.934050 2.981070 +v 1.487876 0.324124 -0.355233 +v 2.025942 0.395860 3.088954 +v 2.133626 0.646904 3.088954 +v 2.169591 0.898081 0.756981 +v 1.559665 0.503498 3.017144 +v 2.133626 0.826278 3.052880 +v 2.025942 0.360026 -0.355233 +v 1.846540 0.503498 3.088954 +f 177 178 183 +f 160 161 164 +f 160 164 166 +f 163 159 168 +f 164 163 168 +f 163 165 170 +f 164 161 171 +f 163 164 171 +f 165 163 171 +f 159 166 172 +f 166 164 172 +f 162 159 173 +f 159 163 173 +f 163 162 173 +f 159 162 174 +f 166 159 174 +f 166 174 175 +f 162 169 175 +f 174 162 175 +f 168 159 176 +f 164 168 176 +f 159 172 176 +f 170 165 177 +f 165 171 177 +f 171 167 177 +f 161 160 178 +f 171 161 178 +f 167 171 178 +f 177 167 178 +f 160 166 179 +f 166 175 179 +f 175 169 179 +f 162 163 180 +f 170 162 180 +f 163 170 180 +f 178 160 181 +f 169 178 181 +f 160 179 181 +f 179 169 181 +f 172 164 182 +f 164 176 182 +f 176 172 182 +f 169 162 183 +f 162 170 183 +f 170 177 183 +f 178 169 183 +o convex_7 +v -0.665211 0.934050 1.115673 +v -1.203386 0.754437 -1.109133 +v -1.203386 0.898029 -1.109133 +v 0.949536 -0.321889 -1.109133 +v -1.167537 -0.321889 1.115673 +v 0.770070 0.934050 1.115673 +v 0.805698 0.934050 -1.109133 +v 0.770070 -0.321889 1.079740 +v -1.167537 -0.321889 -1.109133 +v -1.311154 0.826356 0.290299 +v 0.949536 0.898029 0.361948 +v -1.167537 0.934050 1.043807 +v -1.311154 -0.249970 -0.427274 +v -1.311154 0.934050 -0.427274 +v 0.949536 0.252479 0.361948 +v 0.949536 0.826356 -0.319475 +v 0.662303 -0.321889 1.115673 +v 0.877617 -0.321889 0.469747 +v -1.311154 0.288254 0.290299 +v -1.167537 0.934050 -1.109133 +v -1.275084 -0.321889 -0.606722 +v -1.167537 0.718662 1.079740 +v 0.841768 0.718662 -1.109133 +v 0.770070 -0.142276 1.115673 +f 200 191 207 +f 185 186 187 +f 184 188 189 +f 187 186 190 +f 184 189 190 +f 188 187 191 +f 185 187 192 +f 187 188 192 +f 190 189 194 +f 184 190 195 +f 186 185 196 +f 196 193 197 +f 195 190 197 +f 193 195 197 +f 186 196 197 +f 187 194 198 +f 194 189 198 +f 194 187 199 +f 190 194 199 +f 189 188 200 +f 188 191 200 +f 191 187 201 +f 187 198 201 +f 198 191 201 +f 188 193 202 +f 196 188 202 +f 193 196 202 +f 190 186 203 +f 186 197 203 +f 197 190 203 +f 185 192 204 +f 192 188 204 +f 196 185 204 +f 188 196 204 +f 188 184 205 +f 193 188 205 +f 184 195 205 +f 195 193 205 +f 187 190 206 +f 199 187 206 +f 190 199 206 +f 191 198 207 +f 198 189 207 +f 189 200 207 +o convex_8 +v 1.308333 0.898103 0.146792 +v 1.380073 0.252318 0.074925 +v 1.451813 0.252318 0.074925 +v 1.415968 0.898103 -0.355570 +v 0.949536 0.288226 -0.319672 +v 0.949536 0.898103 0.326211 +v 0.949536 0.252318 0.362110 +v 0.949536 0.826285 -0.355570 +v 1.451813 0.359980 0.326211 +v 1.451813 0.288226 -0.283774 +v 1.451813 0.862194 0.218517 +v 1.451813 0.790440 -0.355570 +v 1.451813 0.252318 0.326211 +v 1.093114 0.898103 0.326211 +f 218 208 221 +f 210 209 212 +f 208 211 213 +f 213 212 214 +f 209 210 214 +f 212 209 214 +f 213 211 215 +f 212 213 215 +f 210 212 217 +f 216 210 217 +f 216 217 218 +f 211 208 218 +f 215 211 219 +f 212 215 219 +f 217 212 219 +f 218 217 219 +f 211 218 219 +f 214 210 220 +f 210 216 220 +f 216 214 220 +f 208 213 221 +f 213 214 221 +f 214 216 221 +f 216 218 221 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/044/044.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/044/044.urdf new file mode 100644 index 000000000..c8505a487 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/044/044.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/045/045.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/045/045.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/045/045.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/045/045.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/045/045.obj new file mode 100644 index 000000000..10b731d1e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/045/045.obj @@ -0,0 +1,864 @@ +o convex_0 +v -0.009663 -1.945879 2.947598 +v -0.038573 -2.668490 1.271582 +v 0.366058 -2.466220 1.271415 +v 0.048047 -1.107773 1.271582 +v -0.558844 -2.090401 1.271582 +v 0.423878 -2.061528 2.716585 +v 0.452788 -1.165827 1.300458 +v -0.414183 -2.061528 2.716418 +v 0.048047 -2.437193 2.745295 +v -0.472003 -2.523968 1.387255 +v -0.009663 -1.657141 2.745295 +v -0.356473 -1.396970 1.358379 +v 0.568428 -1.888132 1.271415 +v 0.423878 -2.466220 2.051920 +v -0.385273 -1.657141 2.138383 +v -0.414183 -2.466067 1.965290 +v -0.529823 -2.032501 2.052087 +v 0.539518 -2.003627 1.994167 +v 0.337037 -1.830537 2.629788 +v -0.009663 -2.581716 2.080964 +v -0.182902 -1.686015 2.658665 +v 0.452788 -2.437193 1.271415 +v -0.038573 -2.061528 2.976642 +v -0.269743 -2.350419 2.571868 +v 0.337037 -2.350419 2.571868 +v -0.385273 -1.454871 1.271582 +v -0.443203 -2.552842 1.271582 +v 0.568428 -1.657141 1.271415 +v -0.009663 -2.437193 2.745295 +v 0.394968 -2.032501 2.774338 +v 0.019247 -2.668490 1.358379 +v -0.414183 -2.003627 2.716418 +v 0.192597 -1.107773 1.300625 +v -0.529823 -2.119275 1.994167 +v 0.048047 -1.657141 2.716418 +v -0.067372 -1.657141 2.745295 +v 0.481698 -2.350572 1.531806 +v 0.048047 -1.107773 1.300625 +v 0.423878 -2.003627 2.687541 +v 0.048047 -2.061528 2.976642 +v -0.558844 -2.206050 1.329502 +v -0.327563 -1.743915 2.542991 +v -0.414183 -1.657141 1.994167 +v -0.443203 -2.552842 1.358379 +v -0.529823 -2.003627 2.023043 +v 0.048047 -2.581716 2.052087 +v 0.510608 -2.148302 2.051920 +v 0.394968 -2.148302 2.716585 +v 0.250418 -1.714888 2.571868 +v 0.452788 -1.165827 1.271415 +v 0.423878 -2.466220 1.271415 +v 0.048047 -2.003627 2.976642 +v 0.366058 -1.136800 1.300458 +v -0.009663 -1.628267 2.687541 +f 35 53 54 +f 3 13 22 +f 8 16 24 +f 9 14 25 +f 12 4 26 +f 3 2 27 +f 5 3 27 +f 13 3 28 +f 7 18 28 +f 18 13 28 +f 20 9 29 +f 16 20 29 +f 23 8 29 +f 9 23 29 +f 8 24 29 +f 24 16 29 +f 20 2 31 +f 17 8 32 +f 23 1 32 +f 8 23 32 +f 16 8 34 +f 10 16 34 +f 8 17 34 +f 30 19 35 +f 1 11 36 +f 32 1 36 +f 21 32 36 +f 13 18 37 +f 22 13 37 +f 14 22 37 +f 4 12 38 +f 12 15 38 +f 33 4 38 +f 21 36 38 +f 6 18 39 +f 18 7 39 +f 7 19 39 +f 30 6 39 +f 19 30 39 +f 23 9 40 +f 17 5 41 +f 5 27 41 +f 27 10 41 +f 10 34 41 +f 34 17 41 +f 15 32 42 +f 32 21 42 +f 38 15 42 +f 21 38 42 +f 15 12 43 +f 12 26 43 +f 32 15 43 +f 16 10 44 +f 2 20 44 +f 20 16 44 +f 27 2 44 +f 10 27 44 +f 5 17 45 +f 26 5 45 +f 17 32 45 +f 43 26 45 +f 32 43 45 +f 14 9 46 +f 9 20 46 +f 20 31 46 +f 31 14 46 +f 6 14 47 +f 18 6 47 +f 37 18 47 +f 14 37 47 +f 14 6 48 +f 9 25 48 +f 25 14 48 +f 6 30 48 +f 40 9 48 +f 30 40 48 +f 19 7 49 +f 7 35 49 +f 35 19 49 +f 3 5 50 +f 5 26 50 +f 26 4 50 +f 28 3 50 +f 7 28 50 +f 4 33 50 +f 2 3 51 +f 3 22 51 +f 22 14 51 +f 31 2 51 +f 14 31 51 +f 11 1 52 +f 1 23 52 +f 35 11 52 +f 30 35 52 +f 23 40 52 +f 40 30 52 +f 35 7 53 +f 7 50 53 +f 50 33 53 +f 11 35 54 +f 36 11 54 +f 33 38 54 +f 38 36 54 +f 53 33 54 +o convex_1 +v -0.067315 2.996345 -0.809490 +v 0.192632 -0.991786 1.271415 +v 0.076922 -0.991786 1.271415 +v 0.076922 -1.049963 -1.358939 +v -1.021323 -0.124599 0.086005 +v 0.741855 2.273760 0.837571 +v -0.789902 2.360605 0.721965 +v 0.973076 -0.413802 -0.809490 +v -0.847758 2.187336 -0.867421 +v 0.799510 2.187336 -0.867164 +v -0.789902 -1.049963 -1.011864 +v 0.886293 -1.049963 0.751060 +v -0.818830 -1.049963 0.866666 +v 0.452780 3.256880 0.432822 +v -0.818830 3.025434 -0.029601 +v 0.944148 2.158247 -0.029344 +v -0.183025 2.331516 0.953177 +v 0.770582 -1.049963 -1.040701 +v 0.452780 3.256880 -0.462672 +v -1.021323 2.273760 -0.000507 +v -0.009459 2.389694 -1.011864 +v -0.472100 3.256880 0.403985 +v 0.973076 -0.182355 0.664034 +v -0.963468 -0.326957 -0.751816 +v -0.472100 3.227791 -0.520347 +v 0.568290 -1.049963 1.184389 +v -0.356390 -0.963118 1.184389 +v -0.443173 -0.934029 -1.271913 +v 0.741855 2.996345 0.028331 +v -0.876685 0.279694 0.808734 +v -0.096242 3.025434 0.750802 +v 1.030931 -0.124599 -0.000507 +v -0.905613 -1.049963 0.230705 +v 0.944148 -1.049963 -0.086760 +v 0.510635 -0.963118 -1.214239 +v 0.799510 -0.876273 0.982272 +v 0.481708 -0.934029 1.242320 +v -0.645465 3.025434 0.548428 +v 0.799510 2.042735 -0.896001 +v -0.616538 2.996345 -0.636210 +v 0.973076 0.020002 -0.780653 +v 0.568290 2.967677 -0.636210 +v 0.019067 3.256880 -0.636210 +v 0.915220 -1.020874 -0.780653 +v -0.616538 3.256880 -0.029601 +v 1.030931 0.221938 -0.058181 +v 0.568290 2.967677 0.577522 +v 0.944148 -0.009087 0.751060 +v -0.876685 -0.963118 -0.751816 +v -0.789902 2.157825 0.750802 +v -0.818830 2.331516 0.693128 +v 0.047994 2.389694 0.924340 +v -0.067315 3.256880 0.577522 +v 0.105849 2.880832 -0.838584 +v 0.741855 2.996345 -0.086760 +v -1.021323 -0.066843 -0.144692 +v -0.789902 -0.326957 -1.011864 +v -0.558682 -1.049963 1.068783 +v 0.886293 2.216003 -0.404998 +v -0.876685 2.186914 -0.780653 +v 0.568290 3.256880 0.086005 +v 0.047994 2.996345 0.751060 +v -0.211953 2.360605 -0.982770 +v 0.019067 -1.020874 -1.358939 +f 117 75 118 +f 65 58 66 +f 65 66 67 +f 57 56 71 +f 66 58 72 +f 68 73 76 +f 56 57 80 +f 67 66 80 +f 57 71 81 +f 58 65 82 +f 60 70 83 +f 59 67 84 +f 74 59 84 +f 61 71 85 +f 77 66 86 +f 65 67 87 +f 67 59 87 +f 66 72 88 +f 62 86 88 +f 86 66 88 +f 72 58 89 +f 66 77 90 +f 60 80 90 +f 80 66 90 +f 71 56 91 +f 56 80 91 +f 80 60 91 +f 61 85 92 +f 62 72 93 +f 58 75 93 +f 75 64 93 +f 89 58 93 +f 72 89 93 +f 55 63 94 +f 63 69 94 +f 79 55 94 +f 69 79 94 +f 62 93 95 +f 93 64 95 +f 76 73 97 +f 55 79 97 +f 73 96 97 +f 72 62 98 +f 62 88 98 +f 88 72 98 +f 79 69 99 +f 69 92 99 +f 92 76 99 +f 76 97 99 +f 97 79 99 +f 70 77 100 +f 86 62 100 +f 77 86 100 +f 95 70 100 +f 62 95 100 +f 60 83 101 +f 83 68 101 +f 70 60 102 +f 77 70 102 +f 60 90 102 +f 90 77 102 +f 78 65 103 +f 65 87 103 +f 87 78 103 +f 71 61 104 +f 81 71 104 +f 84 81 104 +f 84 104 105 +f 69 74 105 +f 74 84 105 +f 61 92 105 +f 92 69 105 +f 104 61 105 +f 85 71 106 +f 71 91 106 +f 91 60 106 +f 68 76 107 +f 76 92 107 +f 92 85 107 +f 75 55 108 +f 64 75 108 +f 96 64 108 +f 55 97 108 +f 97 96 108 +f 83 70 109 +f 64 96 109 +f 96 73 109 +f 59 74 110 +f 74 78 110 +f 87 59 110 +f 78 87 110 +f 78 63 111 +f 65 78 111 +f 82 65 111 +f 63 82 111 +f 80 57 112 +f 67 80 112 +f 57 81 112 +f 84 67 112 +f 81 84 112 +f 95 64 113 +f 70 95 113 +f 64 109 113 +f 109 70 113 +f 69 63 114 +f 74 69 114 +f 63 78 114 +f 78 74 114 +f 73 68 115 +f 68 83 115 +f 83 109 115 +f 109 73 115 +f 60 101 116 +f 101 68 116 +f 106 60 116 +f 85 106 116 +f 68 107 116 +f 107 85 116 +f 63 55 117 +f 55 75 117 +f 82 63 117 +f 82 117 118 +f 75 58 118 +f 58 82 118 +o convex_2 +v -0.298586 3.257053 -0.549566 +v -0.009649 3.459331 0.577695 +v -0.038622 3.459331 0.577695 +v 0.048071 5.020084 -0.000433 +v 0.568451 3.257053 -0.086944 +v -0.558776 3.257053 0.115193 +v -0.356418 4.788638 0.028444 +v 0.076930 4.701996 -0.404944 +v 0.337120 4.644178 0.288572 +v -0.067481 4.759642 0.433074 +v 0.452786 3.372690 -0.462817 +v 0.423926 3.257053 0.462069 +v 0.423926 4.759815 0.028444 +v -0.356418 4.066511 -0.433821 +v -0.414251 4.008693 0.375320 +v 0.019098 3.257053 -0.636315 +v 0.394953 4.008693 0.462069 +v -0.587749 3.401513 -0.086944 +v -0.443111 3.257053 0.404197 +v 0.423926 4.066339 -0.376068 +v 0.539478 4.008520 0.057320 +v -0.443111 3.257053 -0.491693 +v 0.048071 4.008693 -0.549566 +v -0.356418 4.759642 -0.058068 +v -0.038622 4.037516 0.548699 +v 0.019098 4.788638 0.433074 +v -0.500943 4.095334 -0.058068 +v 0.019098 3.257053 0.577695 +v -0.125201 4.673173 -0.347191 +v -0.298586 4.586360 0.317448 +v 0.568451 3.343867 0.086197 +v 0.337120 4.586360 -0.260323 +v 0.423926 4.759815 0.086197 +v 0.019098 5.020084 0.086197 +v 0.452786 3.257053 -0.462817 +v 0.105903 4.759642 -0.376068 +v 0.539478 4.008520 -0.000433 +v -0.500943 4.095334 -0.000433 +v -0.443111 3.372517 -0.491693 +v 0.019098 4.788638 -0.347191 +v -0.443111 3.488327 0.404197 +v -0.096341 4.008693 -0.520689 +v -0.269613 4.586360 -0.289438 +v 0.452786 3.314871 0.433074 +v 0.019098 4.037516 0.548699 +v -0.587749 3.257053 -0.115821 +v 0.076930 3.979524 -0.549566 +v 0.279288 4.586360 0.375320 +v -0.385278 4.701996 0.028444 +v -0.096341 4.962265 -0.000433 +v -0.587749 3.343694 -0.000433 +v 0.019098 4.673173 0.462069 +v -0.067481 3.401513 -0.607319 +v 0.423926 3.950874 -0.404944 +v 0.019098 4.557537 -0.433821 +v 0.076930 5.020084 0.057320 +v 0.452786 4.008520 -0.318196 +v 0.365980 3.314698 0.490946 +v 0.539478 3.950874 0.086197 +f 162 149 177 +f 119 123 124 +f 124 123 130 +f 123 119 134 +f 124 130 137 +f 119 124 140 +f 121 120 143 +f 128 133 143 +f 142 132 145 +f 120 121 146 +f 135 120 146 +f 121 137 146 +f 137 130 146 +f 128 125 148 +f 133 128 148 +f 130 123 149 +f 131 138 150 +f 127 135 151 +f 139 131 151 +f 144 127 151 +f 125 128 152 +f 128 144 152 +f 129 123 153 +f 123 134 153 +f 134 129 153 +f 122 131 154 +f 131 150 154 +f 150 138 154 +f 131 139 155 +f 149 123 155 +f 139 149 155 +f 145 136 156 +f 119 140 157 +f 145 132 157 +f 136 145 157 +f 126 147 158 +f 147 142 158 +f 122 154 158 +f 154 126 158 +f 133 124 159 +f 137 121 159 +f 124 137 159 +f 121 143 159 +f 143 133 159 +f 132 142 161 +f 147 132 161 +f 142 147 161 +f 135 130 162 +f 130 149 162 +f 120 135 163 +f 143 120 163 +f 140 124 164 +f 157 140 164 +f 136 157 164 +f 129 134 165 +f 141 126 165 +f 134 141 165 +f 135 127 166 +f 127 144 166 +f 125 142 167 +f 142 145 167 +f 148 125 167 +f 133 148 167 +f 156 133 167 +f 145 156 167 +f 142 125 168 +f 152 122 168 +f 125 152 168 +f 122 158 168 +f 158 142 168 +f 124 133 169 +f 133 156 169 +f 156 136 169 +f 164 124 169 +f 136 164 169 +f 128 143 170 +f 144 128 170 +f 163 135 170 +f 143 163 170 +f 135 166 170 +f 166 144 170 +f 134 119 171 +f 141 134 171 +f 119 157 171 +f 157 132 171 +f 132 160 171 +f 160 141 171 +f 126 154 172 +f 154 138 172 +f 129 165 172 +f 165 126 172 +f 126 141 173 +f 147 126 173 +f 132 147 173 +f 160 132 173 +f 141 160 173 +f 131 122 174 +f 151 131 174 +f 144 151 174 +f 152 144 174 +f 122 152 174 +f 123 129 175 +f 138 131 175 +f 155 123 175 +f 131 155 175 +f 129 172 175 +f 172 138 175 +f 130 135 176 +f 135 146 176 +f 146 130 176 +f 149 139 177 +f 151 135 177 +f 139 151 177 +f 135 162 177 +o convex_3 +v 0.568356 -1.483725 -1.301129 +v -0.038513 -2.610833 -1.474780 +v -0.443132 -2.466296 -1.995053 +v 0.366106 -2.032535 -2.775038 +v -0.414256 -1.194499 -1.301129 +v -0.067507 -1.628108 -2.775038 +v -0.443132 -2.061564 -2.803895 +v 0.481610 -2.350484 -1.301129 +v -0.587749 -1.888151 -1.301129 +v -0.009637 -2.408390 -2.775038 +v 0.192613 -1.049963 -1.330326 +v -0.443132 -2.466296 -1.301129 +v 0.481610 -1.223529 -1.388040 +v 0.394982 -2.379361 -2.081623 +v -0.009637 -1.974782 -3.035259 +v 0.568356 -1.945905 -1.821572 +v 0.221489 -1.686014 -2.630583 +v -0.096383 -1.049963 -1.330326 +v -0.558754 -2.032688 -1.937169 +v 0.048115 -2.610833 -1.301129 +v 0.366106 -1.945905 -2.775038 +v -0.327509 -1.743768 -2.601557 +v 0.626227 -1.830398 -1.301129 +v 0.019239 -2.552927 -2.023910 +v -0.327509 -2.350637 -2.601557 +v -0.009637 -1.628108 -2.775038 +v 0.510605 -1.223529 -1.301129 +v 0.539480 -2.032535 -1.995053 +v -0.558754 -1.686014 -1.330326 +v -0.443132 -2.032688 -2.803895 +v -0.038513 -2.061564 -3.035259 +v 0.221489 -2.321760 -2.630583 +v -0.414256 -1.194499 -1.330326 +v -0.067507 -2.408390 -2.775038 +v -0.472007 -2.437114 -1.301129 +v -0.529759 -2.177224 -2.052767 +v -0.009637 -1.049963 -1.388040 +v 0.423858 -2.408237 -1.590377 +v 0.539480 -1.801521 -1.850429 +v -0.067507 -1.974782 -3.035259 +v -0.038513 -2.552927 -2.023910 +v 0.366106 -2.408237 -2.023910 +v -0.067507 -2.610833 -1.301129 +v 0.192613 -1.049963 -1.301129 +v 0.626227 -1.772645 -1.359013 +v 0.510605 -1.223529 -1.330156 +v 0.423858 -1.974782 -2.572870 +v 0.481610 -2.350484 -1.416896 +v 0.279360 -1.715044 -2.601557 +v -0.414256 -2.466296 -2.081793 +v 0.308236 -2.234824 -2.630583 +v 0.105867 -1.049963 -1.388040 +f 203 214 229 +f 178 182 185 +f 185 182 186 +f 185 186 189 +f 185 189 197 +f 181 192 198 +f 178 185 200 +f 197 179 201 +f 180 184 202 +f 188 190 203 +f 192 183 203 +f 190 194 203 +f 198 192 203 +f 194 198 203 +f 182 178 204 +f 191 181 205 +f 193 200 205 +f 186 182 206 +f 196 186 206 +f 196 206 207 +f 184 196 207 +f 199 183 207 +f 181 187 208 +f 192 181 208 +f 187 181 209 +f 191 187 209 +f 182 195 210 +f 195 183 210 +f 183 199 210 +f 206 182 210 +f 207 206 210 +f 199 207 210 +f 187 201 211 +f 202 184 211 +f 184 208 211 +f 208 187 211 +f 180 189 212 +f 189 186 212 +f 184 180 213 +f 196 184 213 +f 186 196 213 +f 180 212 213 +f 212 186 213 +f 183 195 214 +f 195 188 214 +f 203 183 214 +f 185 197 215 +f 183 192 217 +f 207 183 217 +f 184 207 217 +f 208 184 217 +f 192 208 217 +f 201 179 218 +f 211 201 218 +f 187 191 219 +f 201 187 219 +f 197 201 219 +f 191 215 219 +f 215 197 219 +f 180 179 220 +f 189 180 220 +f 179 197 220 +f 197 189 220 +f 195 182 221 +f 188 195 221 +f 182 204 221 +f 204 188 221 +f 178 200 222 +f 200 193 222 +f 193 216 222 +f 222 216 223 +f 190 188 223 +f 204 178 223 +f 188 204 223 +f 178 222 223 +f 181 198 224 +f 205 181 224 +f 193 205 224 +f 216 193 224 +f 223 216 224 +f 198 223 224 +f 200 185 225 +f 191 205 225 +f 205 200 225 +f 185 215 225 +f 215 191 225 +f 194 190 226 +f 198 194 226 +f 190 223 226 +f 223 198 226 +f 179 180 227 +f 180 202 227 +f 202 211 227 +f 218 179 227 +f 211 218 227 +f 181 191 228 +f 209 181 228 +f 191 209 228 +f 188 203 229 +f 214 188 229 +o convex_4 +v -0.356305 -1.050155 1.184539 +v 0.048048 -3.015310 -0.173753 +v 0.019256 -2.986261 -0.347253 +v 0.915243 -1.050155 -0.607126 +v -0.761020 -1.079012 -1.069711 +v 0.481736 -2.437210 1.271163 +v -0.703255 -2.494924 0.953120 +v 0.481736 -2.379304 -1.300877 +v -0.472016 -2.437210 -1.300877 +v 0.770741 -1.050155 1.010786 +v 0.828505 -2.263877 0.144038 +v 0.221523 -1.050155 -1.300877 +v -0.905703 -1.050155 0.432870 +v -0.558753 -2.726164 1.068955 +v -0.703255 -2.176921 -0.751920 +v 0.105813 -2.957404 0.808578 +v -0.558753 -2.090350 1.271163 +v 0.452763 -1.050155 1.271163 +v 0.770741 -2.292733 -0.751920 +v 0.828505 -1.050155 -0.982835 +v 0.019256 -2.957404 -0.751920 +v 0.886270 -1.165775 0.750913 +v -0.818966 -1.050155 0.866244 +v 0.770741 -2.321590 0.750661 +v -0.443224 -1.050155 -1.272170 +v -0.096273 -2.668450 1.271163 +v 0.626238 -1.830446 -1.300877 +v 0.105813 -3.015310 -0.058169 +v -0.847758 -1.050155 -0.780627 +v 0.048048 -2.610544 -1.300877 +v -0.761020 -2.292733 0.866244 +v 0.597265 -1.772732 1.271163 +v -0.587726 -1.888352 -1.300877 +v 0.944216 -1.050155 -0.000504 +v 0.076840 -2.957404 -0.751920 +v -0.674283 -2.292733 -0.780627 +v -0.356305 -1.368158 1.271163 +v 0.510528 -1.194632 -1.300877 +v -0.847758 -1.165775 -0.751920 +v -0.472016 -2.552830 1.271163 +v 0.828505 -2.263877 -0.144542 +v 0.048048 -2.986261 0.750661 +v 0.886270 -1.281395 -0.780627 +v 0.799532 -2.321590 -0.029211 +v -0.500988 -2.437210 -1.214253 +v -0.674283 -2.408353 1.068955 +v 0.799532 -2.177114 0.750661 +v 0.019256 -2.726164 1.213246 +v -0.587726 -2.697307 1.010786 +v 0.308261 -2.755213 -0.751920 +v -0.443224 -1.165775 -1.300877 +v 0.770741 -2.321590 -0.607378 +v -0.761020 -2.292733 0.779620 +v -0.905703 -1.108062 0.403911 +v 0.105813 -3.015310 0.143786 +v 0.048048 -1.050155 1.271163 +v -0.154038 -2.581687 -1.300877 +v 0.048048 -3.015310 0.288328 +v -0.645491 -1.628255 -1.243212 +v 0.799532 -2.061494 -0.780627 +v -0.587726 -2.263877 1.242204 +v 0.886270 -1.050155 0.750913 +v -0.558753 -1.050155 1.068955 +v 0.741768 -2.321590 -0.809586 +f 281 279 293 +f 233 230 239 +f 230 233 241 +f 237 238 241 +f 230 241 242 +f 232 231 243 +f 239 230 247 +f 246 235 247 +f 241 233 249 +f 231 232 250 +f 232 243 250 +f 230 242 252 +f 235 245 253 +f 242 241 254 +f 235 246 255 +f 237 241 256 +f 254 234 258 +f 242 254 258 +f 238 237 259 +f 252 242 260 +f 239 247 261 +f 247 235 261 +f 251 239 261 +f 241 238 262 +f 233 239 263 +f 231 250 264 +f 257 231 264 +f 259 237 264 +f 250 259 264 +f 244 262 265 +f 246 247 266 +f 241 249 267 +f 256 241 267 +f 249 256 267 +f 258 234 268 +f 243 255 269 +f 255 246 269 +f 263 240 270 +f 249 233 272 +f 256 249 272 +f 233 263 272 +f 263 270 272 +f 240 253 273 +f 270 240 273 +f 238 250 274 +f 262 238 274 +f 265 262 274 +f 236 243 275 +f 260 236 275 +f 252 260 275 +f 243 269 275 +f 235 253 276 +f 253 240 276 +f 261 235 276 +f 251 261 276 +f 240 263 276 +f 263 251 276 +f 245 235 277 +f 235 255 277 +f 255 243 277 +f 243 271 277 +f 271 245 277 +f 243 236 278 +f 250 243 278 +f 236 265 278 +f 274 250 278 +f 265 274 278 +f 264 237 279 +f 257 264 279 +f 234 254 280 +f 254 241 280 +f 241 262 280 +f 248 270 281 +f 273 257 281 +f 270 273 281 +f 257 279 281 +f 236 260 282 +f 265 236 282 +f 244 265 282 +f 268 244 282 +f 268 282 283 +f 242 258 283 +f 260 242 283 +f 258 268 283 +f 282 260 283 +f 253 245 284 +f 231 257 284 +f 245 271 284 +f 273 253 284 +f 257 273 284 +f 247 230 285 +f 230 266 285 +f 266 247 285 +f 250 238 286 +f 238 259 286 +f 259 250 286 +f 243 231 287 +f 271 243 287 +f 231 284 287 +f 284 271 287 +f 262 244 288 +f 268 234 288 +f 244 268 288 +f 234 280 288 +f 280 262 288 +f 248 256 289 +f 270 248 289 +f 256 272 289 +f 272 270 289 +f 246 252 290 +f 269 246 290 +f 252 275 290 +f 275 269 290 +f 239 251 291 +f 263 239 291 +f 251 263 291 +f 230 252 292 +f 252 246 292 +f 266 230 292 +f 246 266 292 +f 237 256 293 +f 256 248 293 +f 279 237 293 +f 248 281 293 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/045/045.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/045/045.urdf new file mode 100644 index 000000000..903a9a544 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/045/045.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/046/046.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/046/046.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/046/046.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/046/046.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/046/046.obj new file mode 100644 index 000000000..28b34a222 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/046/046.obj @@ -0,0 +1,534 @@ +o convex_0 +v -1.065629 -2.851696 1.994008 +v 1.095056 -2.662210 2.031945 +v 1.095056 -3.003397 2.031945 +v 1.094845 -2.434799 -0.659435 +v -1.027559 -1.563081 2.031945 +v -1.027559 -2.965612 -0.659435 +v 0.981269 -1.563222 -0.659435 +v -1.027559 -1.563081 -0.659435 +v 1.094845 -1.563222 2.031945 +v 1.019128 -3.003397 -0.659435 +v -0.951842 -2.927546 2.031945 +v 0.488474 -3.003397 2.031945 +v -0.989700 -2.965612 0.629614 +v 1.094845 -1.563222 1.311679 +v 1.019128 -1.563222 -0.355944 +v 1.094845 -2.283239 -0.659435 +v -1.065629 -2.889621 2.031945 +v 1.095056 -3.003397 1.690780 +f 4 16 18 +f 3 2 5 +f 4 6 7 +f 1 5 8 +f 6 1 8 +f 7 6 8 +f 5 2 9 +f 8 5 9 +f 6 4 10 +f 3 5 11 +f 10 3 12 +f 6 10 12 +f 3 11 12 +f 6 12 13 +f 12 11 13 +f 8 9 14 +f 9 2 14 +f 7 8 15 +f 8 14 15 +f 15 14 16 +f 4 7 16 +f 14 2 16 +f 7 15 16 +f 5 1 17 +f 1 6 17 +f 11 5 17 +f 6 13 17 +f 13 11 17 +f 2 3 18 +f 3 10 18 +f 10 4 18 +f 16 2 18 +o convex_1 +v -0.989689 -2.358912 -2.175705 +v 1.095056 -1.563081 -1.379741 +v 1.095056 -1.866510 -1.379741 +v -1.065443 -1.563081 -1.379741 +v -1.065443 -2.965479 -1.379741 +v 1.019087 -3.041155 -2.137683 +v 0.905456 -1.563081 -2.137683 +v 1.019087 -3.003389 -1.379741 +v -1.103536 -1.563081 -2.137683 +v -1.103536 -2.927568 -2.175705 +v 1.056964 -1.563081 -1.948198 +v -1.103536 -2.056062 -1.531361 +v -0.989689 -2.965479 -2.175705 +v 0.943333 -3.041155 -1.607171 +v 0.602009 -3.041155 -2.137683 +v 1.056964 -2.851748 -1.872388 +v 1.019087 -1.828599 -2.137683 +v -0.648580 -2.927568 -2.175705 +v 1.056964 -2.813837 -1.379741 +v -1.103536 -2.927568 -1.758790 +f 30 28 38 +f 21 20 22 +f 21 22 23 +f 22 20 25 +f 21 23 26 +f 25 19 27 +f 22 25 27 +f 27 19 28 +f 20 21 29 +f 25 20 29 +f 23 22 30 +f 22 27 30 +f 27 28 30 +f 23 28 31 +f 28 19 31 +f 26 23 32 +f 24 26 32 +f 23 31 33 +f 31 24 33 +f 32 23 33 +f 24 32 33 +f 26 24 34 +f 29 21 34 +f 24 29 34 +f 29 24 35 +f 25 29 35 +f 19 25 36 +f 24 31 36 +f 31 19 36 +f 35 24 36 +f 25 35 36 +f 21 26 37 +f 34 21 37 +f 26 34 37 +f 28 23 38 +f 23 30 38 +o convex_2 +v -0.838181 0.635511 -2.099495 +v 1.095056 -1.487112 2.031548 +v 0.564132 0.597418 2.069851 +v -1.027566 -1.563081 2.031548 +v 1.019087 -1.563081 -2.099495 +v 1.056964 0.635511 -2.023711 +v -1.103536 -1.563081 -2.137799 +v -1.027566 0.635511 1.955764 +v 1.056964 0.635511 1.955764 +v -1.103536 0.635511 -2.061603 +v 1.095056 -1.563081 -1.454920 +v 1.095056 -1.563081 2.031548 +v 1.095056 0.294187 0.856486 +v -0.231717 0.597418 -2.137799 +v -0.458980 0.635511 2.069851 +v 0.867579 -1.487112 -2.137799 +v 1.019087 0.635511 -2.099495 +v -0.610488 -1.070034 2.069851 +v -1.103536 -1.563081 -1.568596 +v -1.027566 0.407818 1.993655 +v 1.056964 0.597418 1.993655 +v 0.412623 -0.463785 2.069851 +v -1.103536 0.635511 -1.871732 +v -0.534734 0.635511 -2.137799 +v 1.056964 -1.563081 -1.947927 +v 1.095056 -1.259419 -1.454920 +v 1.095056 -1.032372 1.993655 +f 51 59 65 +f 43 42 45 +f 44 39 46 +f 44 46 47 +f 39 45 48 +f 46 39 48 +f 42 43 49 +f 40 41 50 +f 49 40 50 +f 42 49 50 +f 44 47 51 +f 40 49 51 +f 41 47 53 +f 47 46 53 +f 43 45 54 +f 45 52 54 +f 54 52 55 +f 44 43 55 +f 39 44 55 +f 43 54 55 +f 42 50 56 +f 41 53 56 +f 53 42 56 +f 45 42 57 +f 48 45 57 +f 42 53 58 +f 53 46 58 +f 57 42 58 +f 41 40 59 +f 47 41 59 +f 51 47 59 +f 50 41 60 +f 41 56 60 +f 56 50 60 +f 46 48 61 +f 48 57 61 +f 58 46 61 +f 57 58 61 +f 45 39 62 +f 52 45 62 +f 55 52 62 +f 39 55 62 +f 43 44 63 +f 49 43 63 +f 44 49 63 +f 49 44 64 +f 44 51 64 +f 51 49 64 +f 40 51 65 +f 59 40 65 +o convex_3 +v -0.572682 -0.236315 3.434242 +v 0.564247 0.597441 2.449149 +v 0.526295 0.597441 3.206779 +v 0.488344 -0.387927 4.041002 +v 0.412556 -0.463733 2.070044 +v -0.458943 0.635511 2.070044 +v -0.610633 0.521746 3.964988 +v -0.458943 -0.501692 2.070044 +v -0.572682 -0.463733 3.889168 +v 0.450508 0.597441 3.964988 +v 0.564247 0.597441 2.070044 +v -0.496894 -0.425774 2.221686 +v -0.572682 0.407870 4.002802 +v -0.610633 0.445829 3.661705 +v 0.450508 -0.425774 2.335514 +v 0.185194 0.635511 2.108051 +v -0.458943 0.635511 2.411335 +v 0.564247 0.445829 2.070044 +v 0.488344 0.332064 4.002802 +v 0.147243 0.597441 3.964988 +v 0.109406 -0.122550 4.041002 +v -0.458943 -0.463733 3.851161 +v 0.488344 -0.387927 3.472249 +v -0.421106 -0.501692 2.411335 +f 87 74 89 +f 71 70 73 +f 70 71 76 +f 71 73 77 +f 74 66 77 +f 73 74 77 +f 72 74 78 +f 72 71 79 +f 74 72 79 +f 66 74 79 +f 71 77 79 +f 77 66 79 +f 69 70 80 +f 68 67 81 +f 75 68 81 +f 67 76 81 +f 76 71 81 +f 71 72 82 +f 75 81 82 +f 81 71 82 +f 67 69 83 +f 76 67 83 +f 70 76 83 +f 80 70 83 +f 67 68 84 +f 69 67 84 +f 68 75 84 +f 75 78 84 +f 72 78 85 +f 78 75 85 +f 82 72 85 +f 75 82 85 +f 74 69 86 +f 78 74 86 +f 69 84 86 +f 84 78 86 +f 70 69 87 +f 69 74 87 +f 69 80 88 +f 83 69 88 +f 80 83 88 +f 73 70 89 +f 74 73 89 +f 70 87 89 +o convex_4 +v -0.193744 1.734866 -3.577981 +v 0.299014 1.962284 -3.767540 +v 0.299014 1.886478 -3.767540 +v 0.261019 1.962284 -2.137995 +v -0.193744 2.341255 -4.146856 +v -0.193744 2.265390 -2.137995 +v 0.261019 2.303322 -2.137995 +v -0.269498 1.772799 -2.137995 +v 0.223141 1.734866 -2.137995 +v -0.307494 1.772799 -4.070757 +v 0.185205 2.341255 -4.032806 +v 0.299014 1.848605 -4.070757 +v -0.193744 2.341255 -3.464323 +v -0.307494 1.848605 -3.957100 +v 0.223141 2.341255 -3.691638 +v 0.223141 1.734866 -2.630772 +v -0.117930 1.734866 -2.137995 +v -0.080053 1.772799 -4.032806 +f 101 105 107 +f 92 91 93 +f 93 91 96 +f 95 93 96 +f 93 95 97 +f 92 93 98 +f 93 97 98 +f 90 97 99 +f 91 92 101 +f 92 98 101 +f 99 94 101 +f 94 100 101 +f 95 96 102 +f 100 94 102 +f 97 95 103 +f 94 99 103 +f 99 97 103 +f 95 102 103 +f 102 94 103 +f 96 91 104 +f 91 101 104 +f 101 100 104 +f 102 96 104 +f 100 102 104 +f 98 90 105 +f 101 98 105 +f 97 90 106 +f 90 98 106 +f 98 97 106 +f 90 99 107 +f 99 101 107 +f 105 90 107 +o convex_5 +v 0.791714 3.137230 1.917660 +v 0.829572 0.635511 -2.099840 +v -1.103324 0.635759 -2.061881 +v -0.269592 0.635759 2.031945 +v -1.065466 3.099197 -1.872088 +v -1.027607 3.061164 1.918068 +v 1.056934 3.023380 -2.061881 +v 1.056934 0.635511 1.955619 +v -1.027607 0.635759 1.955619 +v 1.056934 3.137230 1.918068 +v 1.056934 0.635511 -2.023514 +v -0.193664 2.265208 -2.137799 +v -0.989749 3.175014 -0.545166 +v -1.065466 3.061164 -1.985964 +v 0.298919 3.175014 1.159711 +v 0.867430 3.061413 -1.872088 +v -0.496954 0.635759 -2.137799 +v 0.981217 2.758144 1.955619 +v -0.572671 1.052878 2.031945 +v -0.951890 3.175014 0.515229 +v -1.103324 1.318114 -1.985964 +v 1.019076 0.673544 1.993986 +v 0.261061 2.303241 -2.137390 +v 1.019076 0.635511 -2.099840 +v -0.534813 3.175014 -0.393331 +v -0.534813 3.099197 1.918068 +v -0.913820 2.568477 1.955619 +v 1.056934 3.137230 1.500931 +v -0.951890 0.635759 1.993986 +v 0.526281 3.023380 -2.061473 +v -1.065466 3.099197 -1.492909 +v 1.019076 1.507782 -2.099840 +v -1.103324 0.863211 -2.061881 +v -1.027607 3.099197 1.614807 +v -1.103324 0.635759 -1.910046 +v 0.450565 3.136981 1.917660 +v 0.450565 3.061164 -2.023514 +v -1.027607 2.075789 1.955619 +v 0.223202 1.734985 -2.137390 +v -0.496954 1.090663 2.031945 +f 134 126 147 +f 109 115 116 +f 115 114 117 +f 115 109 118 +f 114 115 118 +f 108 117 122 +f 109 110 124 +f 122 120 127 +f 112 121 128 +f 111 115 129 +f 115 117 129 +f 117 125 129 +f 118 109 131 +f 114 118 131 +f 109 124 131 +f 120 122 132 +f 122 123 132 +f 113 125 133 +f 125 113 134 +f 117 114 135 +f 122 117 135 +f 123 122 135 +f 114 123 135 +f 115 111 136 +f 116 115 136 +f 111 126 136 +f 119 121 137 +f 114 130 137 +f 130 119 137 +f 120 112 138 +f 112 128 138 +f 128 113 138 +f 130 114 139 +f 131 130 139 +f 114 131 139 +f 121 119 140 +f 124 110 140 +f 119 124 140 +f 110 128 140 +f 128 121 140 +f 127 120 141 +f 113 133 141 +f 133 127 141 +f 120 138 141 +f 138 113 141 +f 110 109 142 +f 109 116 142 +f 113 128 142 +f 128 110 142 +f 117 108 143 +f 108 122 143 +f 125 117 143 +f 122 127 143 +f 133 125 143 +f 127 133 143 +f 112 120 144 +f 121 112 144 +f 123 114 144 +f 120 132 144 +f 132 123 144 +f 114 137 144 +f 137 121 144 +f 134 113 145 +f 126 134 145 +f 116 136 145 +f 136 126 145 +f 142 116 145 +f 113 142 145 +f 124 119 146 +f 119 130 146 +f 131 124 146 +f 130 131 146 +f 126 111 147 +f 111 129 147 +f 129 125 147 +f 125 134 147 +o convex_6 +v 0.374475 -3.003467 -1.379522 +v 1.095056 -2.283380 -0.659435 +v 1.095056 -2.435010 -0.659435 +v -1.027559 -2.283380 -0.659435 +v 1.056775 -2.283380 -1.379522 +v 1.018916 -3.003467 -0.659435 +v -1.065629 -2.965542 -1.379522 +v -1.027559 -2.283380 -1.379522 +v -1.027559 -2.965542 -0.659435 +v 1.018916 -3.003467 -1.379522 +v 1.095056 -2.510861 -1.341668 +f 157 152 158 +f 150 149 151 +f 151 149 152 +f 150 151 153 +f 152 148 154 +f 151 152 155 +f 152 154 155 +f 154 151 155 +f 153 151 156 +f 148 153 156 +f 154 148 156 +f 151 154 156 +f 148 152 157 +f 153 148 157 +f 153 157 158 +f 149 150 158 +f 152 149 158 +f 150 153 158 +o convex_7 +v 2.724930 -2.169522 -1.265876 +v 1.056893 -1.563081 -1.152160 +v 1.056893 -1.563081 -1.379593 +v -3.112593 -2.283309 -1.303805 +v -1.027245 -2.283309 -0.659435 +v -2.960184 -1.601081 -0.773222 +v 3.027934 -1.601010 -0.697364 +v -3.112593 -1.714727 -1.341734 +v 1.094391 -2.283309 -0.659435 +v 1.056893 -2.283309 -1.379593 +v -3.112593 -2.169522 -0.697364 +v 3.066037 -1.676868 -1.341664 +v -1.064743 -1.563081 -0.659435 +v 2.989832 -2.093735 -0.773222 +v -1.064743 -1.563081 -1.379593 +v -1.027245 -2.283309 -1.379593 +v 2.952334 -2.169522 -1.227947 +v 0.980688 -1.563081 -0.659435 +v 2.724930 -1.752656 -1.379663 +v 3.066037 -1.638939 -1.190089 +v -2.960184 -1.676939 -0.735293 +v -3.112593 -2.055806 -1.341734 +v 3.027934 -1.752656 -0.697364 +v 2.989832 -2.131664 -0.849080 +v 3.066037 -1.790585 -1.341664 +v -2.960184 -1.601081 -0.849010 +v -3.112593 -2.093735 -0.697364 +v 2.989832 -2.017877 -0.735293 +f 172 181 186 +f 161 160 165 +f 163 162 167 +f 167 162 168 +f 162 163 169 +f 166 162 169 +f 160 161 171 +f 163 167 171 +f 169 163 171 +f 171 161 173 +f 164 171 173 +f 168 162 174 +f 168 159 175 +f 167 168 175 +f 165 160 176 +f 167 165 176 +f 160 171 176 +f 171 167 176 +f 161 170 177 +f 173 161 177 +f 168 174 177 +f 174 173 177 +f 161 165 178 +f 170 161 178 +f 171 164 179 +f 162 166 180 +f 166 173 180 +f 174 162 180 +f 173 174 180 +f 165 167 181 +f 178 165 181 +f 172 167 182 +f 167 175 182 +f 159 168 183 +f 175 159 183 +f 168 177 183 +f 177 170 183 +f 170 178 183 +f 181 172 183 +f 178 181 183 +f 172 182 183 +f 182 175 183 +f 166 164 184 +f 164 173 184 +f 173 166 184 +f 164 166 185 +f 166 169 185 +f 169 171 185 +f 179 164 185 +f 171 179 185 +f 167 172 186 +f 181 167 186 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/046/046.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/046/046.urdf new file mode 100644 index 000000000..e57f07b63 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/046/046.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/047/047.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/047/047.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/047/047.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/047/047.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/047/047.obj new file mode 100644 index 000000000..a0870d5c2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/047/047.obj @@ -0,0 +1,540 @@ +o convex_0 +v 0.329308 3.532847 -2.016019 +v -0.340814 4.437079 -1.613998 +v -0.307229 2.795638 -1.681010 +v -0.340814 5.241196 -2.049499 +v 0.195231 5.174535 -1.546986 +v 0.295789 2.795638 -1.613998 +v -0.273710 2.795638 -1.982487 +v 0.228751 5.308595 -2.016019 +v 0.329308 2.795638 -2.083084 +v -0.307229 2.795638 -1.546986 +v -0.340814 5.241196 -1.580571 +v -0.340814 4.571139 -2.049499 +v 0.329308 3.566301 -2.083084 +v 0.161778 2.795638 -2.083084 +v 0.262270 5.107382 -1.949059 +v -0.106179 2.896490 -1.546986 +v -0.072660 5.274896 -2.049499 +v 0.262270 3.332125 -1.580571 +v -0.307229 3.432486 -1.546986 +v 0.061220 5.308595 -1.882047 +v 0.295789 2.929698 -1.613998 +f 18 6 21 +f 6 3 7 +f 1 6 9 +f 6 7 9 +f 2 3 10 +f 3 6 10 +f 4 2 11 +f 2 10 11 +f 3 2 12 +f 2 4 12 +f 7 3 12 +f 1 9 13 +f 13 9 14 +f 9 7 14 +f 12 4 14 +f 7 12 14 +f 4 13 14 +f 8 5 15 +f 1 13 15 +f 13 8 15 +f 5 10 16 +f 10 6 16 +f 8 13 17 +f 13 4 17 +f 5 16 18 +f 16 6 18 +f 10 5 19 +f 5 11 19 +f 11 10 19 +f 5 8 20 +f 4 11 20 +f 11 5 20 +f 17 4 20 +f 8 17 20 +f 6 1 21 +f 15 5 21 +f 1 15 21 +f 5 18 21 +o convex_1 +v -0.541850 1.790569 1.703421 +v 0.027753 1.623042 1.301229 +v 0.429754 1.623042 1.301229 +v -0.340683 2.829025 1.301229 +v 0.597357 2.661498 3.210654 +v -0.474720 1.757158 3.311005 +v -0.474720 2.627969 3.210654 +v 0.463320 1.656571 3.311005 +v 0.463320 2.762085 1.301229 +v -0.541850 1.690100 1.301229 +v -0.474720 2.795496 1.736871 +v 0.597357 2.560911 2.976108 +v -0.474720 2.728438 1.301229 +v -0.541850 1.690100 1.803772 +v 0.496773 1.723511 3.311005 +v 0.496773 2.694909 1.468875 +v -0.474720 1.958096 3.311005 +v -0.474720 2.661498 3.110106 +v 0.329170 1.656571 3.311005 +v 0.463320 1.623042 2.272864 +v -0.541850 1.924567 1.301229 +v -0.508285 1.723629 2.708112 +v 0.597357 2.460560 3.177007 +v 0.563792 2.694909 2.741562 +v 0.027753 2.661498 3.210654 +v 0.597357 2.627969 2.875560 +v -0.374248 1.656571 1.334876 +v 0.396189 1.623042 2.473566 +v -0.474720 2.493971 3.244105 +v 0.563792 2.426913 3.244105 +f 50 38 51 +f 24 23 25 +f 24 25 30 +f 25 23 31 +f 26 25 32 +f 25 31 34 +f 32 25 34 +f 28 22 35 +f 22 31 35 +f 27 29 36 +f 24 30 37 +f 27 36 38 +f 22 28 39 +f 29 27 40 +f 23 24 41 +f 36 29 41 +f 31 22 42 +f 34 31 42 +f 32 34 42 +f 22 39 42 +f 39 32 42 +f 28 35 43 +f 27 38 43 +f 40 27 43 +f 35 40 43 +f 24 33 44 +f 33 26 44 +f 26 36 44 +f 41 24 44 +f 36 41 44 +f 25 26 45 +f 30 25 45 +f 26 32 46 +f 39 28 46 +f 32 39 46 +f 33 24 47 +f 26 33 47 +f 24 37 47 +f 37 30 47 +f 45 26 47 +f 30 45 47 +f 31 23 48 +f 35 31 48 +f 40 35 48 +f 40 48 49 +f 29 40 49 +f 23 41 49 +f 41 29 49 +f 48 23 49 +f 28 43 50 +f 43 38 50 +f 26 46 50 +f 46 28 50 +f 36 26 51 +f 38 36 51 +f 26 50 51 +o convex_2 +v -0.072660 1.589418 -1.513556 +v -0.340814 -0.755970 -2.116514 +v -0.340814 -0.755970 -2.049483 +v 0.295789 -0.755970 -1.714586 +v 0.329308 1.589418 -2.116514 +v -0.307229 1.589418 -2.116514 +v -0.273710 -0.856528 -1.580587 +v 0.295789 0.182329 -1.480040 +v 0.262270 -0.755970 -2.082999 +v 0.262270 1.589418 -1.513556 +v -0.206671 1.589418 -1.547071 +v 0.295789 -0.755970 -1.480040 +v -0.139698 -0.722451 -2.150030 +v -0.307229 0.316406 -1.781617 +v -0.307229 0.584080 -2.150030 +v -0.206671 -0.823009 -1.547071 +v 0.295789 0.148809 -2.116514 +v 0.329308 0.650880 -1.781617 +v -0.307229 1.589418 -1.982516 +v 0.161778 -0.320220 -1.480040 +v -0.240191 0.919273 -1.547071 +v 0.329308 1.589418 -1.915484 +v -0.340814 0.048252 -2.150030 +v 0.195231 -0.755970 -2.116514 +v 0.228751 0.751677 -1.480040 +v 0.329308 1.120149 -2.116514 +v -0.106179 1.086629 -1.513556 +v -0.307229 -0.387259 -1.714586 +f 72 65 79 +f 52 56 57 +f 54 53 58 +f 55 58 60 +f 56 52 61 +f 52 57 62 +f 58 55 63 +f 57 56 66 +f 56 64 66 +f 58 63 67 +f 55 60 68 +f 63 55 69 +f 59 63 69 +f 62 57 70 +f 63 59 71 +f 67 63 71 +f 58 67 72 +f 62 70 72 +f 70 65 72 +f 56 61 73 +f 61 59 73 +f 69 56 73 +f 59 69 73 +f 53 54 74 +f 64 53 74 +f 54 65 74 +f 57 66 74 +f 66 64 74 +f 70 57 74 +f 65 70 74 +f 58 53 75 +f 60 58 75 +f 53 64 75 +f 68 60 75 +f 64 68 75 +f 61 52 76 +f 59 61 76 +f 71 59 76 +f 64 56 77 +f 55 68 77 +f 68 64 77 +f 56 69 77 +f 69 55 77 +f 52 62 78 +f 67 71 78 +f 62 72 78 +f 72 67 78 +f 76 52 78 +f 71 76 78 +f 54 58 79 +f 65 54 79 +f 58 72 79 +o convex_3 +v 0.530332 2.795637 -2.317374 +v -0.307190 1.589418 -2.116340 +v -0.608863 1.656600 -2.853724 +v -0.474671 2.728455 -0.877241 +v 0.496812 1.656600 -0.877241 +v 0.463178 1.623068 -2.786390 +v -0.407747 2.728455 -2.786390 +v -0.508305 1.656600 -0.877241 +v 0.563851 2.728455 -0.877241 +v 0.496812 2.795637 -2.753110 +v -0.307190 2.795637 -1.547291 +v 0.329216 1.589418 -1.312590 +v 0.563851 2.427018 -0.910521 +v -0.441267 2.728455 -2.685970 +v -0.608863 1.757079 -2.853724 +v 0.530332 2.761987 -2.686163 +v 0.496812 1.623068 -1.714658 +v -0.407747 1.857676 -2.853724 +v 0.295697 2.795637 -1.614238 +v -0.139594 2.761987 -2.786390 +v -0.608863 1.690015 -2.618829 +v -0.206747 1.589418 -1.547291 +v 0.329216 1.589418 -2.116340 +v -0.307190 1.623068 -2.819864 +v -0.474671 2.728455 -1.379730 +v -0.273670 2.795637 -1.982446 +v 0.463178 1.623068 -0.910715 +v 0.530332 1.857558 -0.877241 +v -0.541709 1.690015 -1.379730 +v -0.474671 2.460432 -2.819864 +f 99 97 109 +f 82 81 87 +f 84 83 87 +f 83 84 88 +f 83 88 90 +f 80 89 90 +f 80 88 95 +f 89 80 95 +f 85 89 95 +f 88 92 95 +f 95 92 96 +f 85 95 96 +f 85 82 97 +f 89 85 97 +f 82 94 97 +f 88 80 98 +f 80 90 98 +f 90 88 98 +f 89 97 99 +f 82 87 100 +f 94 82 100 +f 83 94 100 +f 87 81 101 +f 81 91 101 +f 91 87 101 +f 91 81 102 +f 85 96 102 +f 96 91 102 +f 81 82 103 +f 82 85 103 +f 102 81 103 +f 85 102 103 +f 83 90 104 +f 90 93 104 +f 94 83 104 +f 93 94 104 +f 90 89 105 +f 86 93 105 +f 93 90 105 +f 99 86 105 +f 89 99 105 +f 84 87 106 +f 87 91 106 +f 91 96 106 +f 96 84 106 +f 88 84 107 +f 92 88 107 +f 96 92 107 +f 84 96 107 +f 87 83 108 +f 100 87 108 +f 83 100 108 +f 93 86 109 +f 94 93 109 +f 97 94 109 +f 86 99 109 +o convex_4 +v 0.128157 -3.972451 -0.876864 +v 0.965816 -4.106489 1.301033 +v 0.965816 -2.766559 1.233879 +v -0.977289 -4.475148 1.233666 +v -1.010762 -2.598845 -0.843181 +v -1.044442 -4.877260 -0.776028 +v 1.066442 -4.776676 -0.876864 +v 0.999289 -2.598845 -0.742771 +v -0.977289 -2.598845 1.133256 +v 0.999289 -4.743000 1.267136 +v -0.977289 -4.843584 1.233666 +v 0.965816 -2.598845 1.200196 +v -1.044442 -4.877260 -0.206398 +v 1.066442 -4.441471 -0.876864 +v -1.044442 -3.235579 -0.776028 +v 0.396150 -4.776676 1.301033 +v -0.742769 -4.877260 -0.608464 +v -0.675822 -4.843584 -0.809498 +v 0.999289 -2.598845 0.061363 +v 1.066442 -4.642639 -0.575207 +v -1.010762 -2.598845 0.228713 +v 0.329203 -2.598845 1.200196 +v -1.010762 -3.034857 -0.843181 +v 0.563723 -4.776676 -0.876864 +v -0.608876 -4.776453 1.267349 +v -0.910342 -2.598845 -0.843181 +v 0.597196 -4.776676 0.898540 +v -1.044442 -4.374564 -0.240081 +v 0.396150 -4.541832 1.301033 +v 0.965816 -4.743000 1.301033 +v -0.910342 -4.843584 1.233666 +v -1.044442 -4.173396 -0.809498 +v 1.032763 -3.369617 -0.709301 +f 128 123 142 +f 117 114 118 +f 112 111 119 +f 117 118 121 +f 112 119 121 +f 113 118 122 +f 120 113 122 +f 116 110 123 +f 115 122 124 +f 115 116 126 +f 122 115 126 +f 117 121 128 +f 123 128 129 +f 119 116 129 +f 121 119 129 +f 116 123 129 +f 128 121 129 +f 118 114 130 +f 114 124 130 +f 118 113 131 +f 112 121 131 +f 121 118 131 +f 114 110 132 +f 110 116 133 +f 116 115 133 +f 115 127 133 +f 113 120 134 +f 120 125 134 +f 131 113 134 +f 110 114 135 +f 114 117 135 +f 123 110 135 +f 117 123 135 +f 116 119 136 +f 119 125 136 +f 126 116 136 +f 122 118 137 +f 124 122 137 +f 118 130 137 +f 130 124 137 +f 111 112 138 +f 125 111 138 +f 112 131 138 +f 134 125 138 +f 131 134 138 +f 119 111 139 +f 111 125 139 +f 125 119 139 +f 120 122 140 +f 125 120 140 +f 122 126 140 +f 136 125 140 +f 126 136 140 +f 124 114 141 +f 115 124 141 +f 127 115 141 +f 132 110 141 +f 114 132 141 +f 110 133 141 +f 133 127 141 +f 123 117 142 +f 117 128 142 +o convex_5 +v -0.273710 1.354586 -0.876864 +v -0.608619 2.928957 1.301033 +v -0.809727 3.029399 1.267349 +v -0.977283 -2.598845 1.133256 +v 0.965879 -2.598845 1.200196 +v 0.965879 3.264723 -0.843181 +v 0.999227 -2.598845 -0.742558 +v -1.010835 -2.598845 -0.843181 +v -1.077735 3.163706 -0.809711 +v 0.965879 3.130416 1.166726 +v -1.077735 3.129842 1.200409 +v -1.077735 0.918951 1.301033 +v 0.463211 2.761935 1.301033 +v 0.999227 1.823511 1.166939 +v 0.597215 1.589336 -0.876864 +v -1.044387 -2.431249 -0.608677 +v -0.876831 3.197570 -0.843181 +v 0.898775 3.264723 -0.340704 +v 0.429659 1.589336 1.301033 +v -0.474615 2.728071 -0.876864 +v 0.999227 2.058260 0.262183 +v 0.329206 -2.598845 1.200196 +v -1.077735 0.014965 0.664249 +v 0.999227 -0.353516 1.166939 +v 0.932327 3.163706 1.166939 +v -1.077735 2.694781 -0.843181 +v 0.362758 3.264723 -0.776241 +v 0.999227 -2.598845 0.028106 +v -0.977283 -2.162636 1.166726 +v 0.999227 -1.023327 -0.742771 +v -0.910382 -2.598845 -0.843181 +v 0.563866 2.694781 -0.876864 +v 0.965879 -0.621555 1.200409 +v -1.077735 1.655915 1.301033 +v 0.965879 2.694781 -0.843181 +v -1.077735 3.163706 0.161986 +v -0.508167 1.655915 -0.876864 +v -1.077735 0.583759 1.200409 +v -1.044387 -2.364096 -0.474584 +v 0.396310 -2.598845 -0.776241 +v -1.077735 3.062689 1.233666 +v 0.664318 3.163706 1.166939 +v -1.010835 -1.727001 1.032846 +v 0.965879 3.197570 0.697719 +f 184 167 186 +f 147 146 149 +f 149 146 150 +f 153 151 154 +f 144 154 155 +f 150 146 158 +f 154 147 161 +f 147 155 161 +f 155 154 161 +f 157 143 162 +f 159 148 162 +f 156 149 163 +f 152 156 163 +f 146 147 164 +f 147 154 164 +f 154 151 165 +f 149 156 166 +f 145 144 167 +f 153 145 167 +f 144 155 167 +f 155 152 167 +f 150 158 168 +f 151 159 168 +f 159 162 168 +f 165 151 168 +f 158 165 168 +f 148 159 169 +f 160 148 169 +f 153 160 169 +f 147 149 170 +f 166 147 170 +f 149 166 170 +f 154 146 171 +f 146 164 171 +f 164 154 171 +f 148 163 172 +f 163 149 172 +f 150 143 173 +f 149 150 173 +f 143 157 173 +f 148 157 174 +f 157 162 174 +f 162 148 174 +f 152 155 175 +f 155 147 175 +f 156 152 175 +f 147 166 175 +f 166 156 175 +f 154 144 176 +f 153 154 176 +f 157 148 177 +f 149 157 177 +f 148 172 177 +f 172 149 177 +f 151 153 178 +f 159 151 178 +f 169 159 178 +f 153 169 178 +f 143 150 179 +f 162 143 179 +f 150 168 179 +f 168 162 179 +f 146 154 180 +f 154 165 180 +f 180 165 181 +f 158 146 181 +f 165 158 181 +f 157 149 182 +f 149 173 182 +f 173 157 182 +f 144 145 183 +f 145 153 183 +f 176 144 183 +f 153 176 183 +f 160 153 184 +f 153 167 184 +f 146 180 185 +f 180 181 185 +f 181 146 185 +f 148 160 186 +f 163 148 186 +f 152 163 186 +f 167 152 186 +f 160 184 186 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/047/047.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/047/047.urdf new file mode 100644 index 000000000..b7dbb4584 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/047/047.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/048/048.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/048/048.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/048/048.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/048/048.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/048/048.obj new file mode 100644 index 000000000..43af9d9ca --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/048/048.obj @@ -0,0 +1,840 @@ +o convex_0 +v -0.996473 0.320350 -0.752250 +v 0.471939 -0.074970 1.224425 +v 0.104733 -0.074970 1.224425 +v -0.036261 3.850362 0.037967 +v 0.810947 -0.216696 -0.978170 +v -0.911669 -0.216696 0.800510 +v 0.669746 2.777066 0.828687 +v 0.697945 2.635738 -0.752501 +v -0.685664 2.550942 0.602767 +v -0.770467 2.635738 -0.724072 +v -0.064460 -0.216696 -1.345730 +v 1.008546 -0.216696 0.122750 +v -0.855271 2.974527 0.066396 +v -0.177463 3.172386 0.772333 +v -0.064460 3.285449 -0.752501 +v 0.952149 0.715670 0.772333 +v 1.036952 0.856998 -0.018387 +v 0.726143 3.144121 -0.046564 +v -0.911669 0.970060 0.800510 +v -1.052870 -0.216696 0.009790 +v -1.081276 0.970060 0.066396 +v -0.601067 -0.216696 -1.147735 +v 0.980347 0.659139 -0.752501 +v -0.403261 -0.216696 1.139642 +v 0.895544 -0.216696 0.856864 +v -0.431667 1.195787 1.026430 +v -1.024672 0.687404 -0.695895 +v 0.443741 -0.047102 -1.176164 +v -0.318664 3.624237 -0.018387 +v -0.827072 -0.216696 -0.978421 +v 0.697945 2.550544 -0.780678 +v 0.697945 -0.216696 1.083036 +v -0.827072 3.087590 0.066396 +v 0.697945 2.691871 0.828687 +v 0.923950 -0.216696 -0.780678 +v -0.008270 3.285449 -0.752501 +v 0.754342 3.031058 -0.046564 +v -0.516263 -0.103235 -1.204341 +v -0.798874 2.550544 -0.724072 +v -0.968274 -0.216696 -0.724072 +v 0.584942 2.833200 0.828687 +v -0.036261 3.822096 -0.074490 +v -0.177463 3.228917 0.744156 +v -0.036261 -0.188430 -1.345730 +v -1.081276 0.630873 0.122750 +v -0.092659 3.850362 0.037967 +v -0.940075 0.941396 0.744156 +v -0.827072 2.946262 -0.215627 +v 1.036952 0.856998 0.037967 +v -0.008270 -0.216696 1.224425 +v 0.952149 0.546077 0.800762 +v 0.726143 3.031058 0.235710 +v 1.008546 -0.216696 -0.074490 +v -0.883470 -0.131899 0.857116 +v 0.669746 2.748403 -0.667718 +v -1.081276 0.800467 -0.131095 +v -1.024672 0.518209 -0.724072 +v 0.782541 -0.188032 -1.006598 +v -0.092659 3.793831 -0.102918 +v -0.064460 -0.188430 -1.345730 +v -0.008270 3.822096 0.066396 +v 0.754342 0.376881 0.998253 +v -1.024672 -0.188032 0.292064 +v -0.120858 3.228917 0.744156 +f 41 61 64 +f 5 6 11 +f 6 5 12 +f 9 13 19 +f 14 9 19 +f 11 6 20 +f 11 20 22 +f 6 12 24 +f 24 12 25 +f 3 14 26 +f 14 19 26 +f 19 24 26 +f 22 20 30 +f 8 23 31 +f 24 25 32 +f 13 9 33 +f 7 2 34 +f 12 5 35 +f 5 23 35 +f 8 31 36 +f 8 18 37 +f 23 8 37 +f 17 23 37 +f 11 22 38 +f 22 30 38 +f 38 30 39 +f 10 38 39 +f 1 30 40 +f 30 20 40 +f 3 2 41 +f 2 7 41 +f 14 3 41 +f 4 18 42 +f 36 15 42 +f 9 14 43 +f 33 9 43 +f 31 28 44 +f 15 36 44 +f 36 31 44 +f 29 33 46 +f 4 42 46 +f 43 4 46 +f 33 43 46 +f 19 13 47 +f 13 21 47 +f 45 6 47 +f 21 45 47 +f 29 10 48 +f 13 33 48 +f 33 29 48 +f 39 27 48 +f 10 39 48 +f 12 17 49 +f 34 16 49 +f 17 37 49 +f 2 3 50 +f 3 26 50 +f 26 24 50 +f 32 2 50 +f 24 32 50 +f 25 12 51 +f 32 25 51 +f 16 34 51 +f 12 49 51 +f 49 16 51 +f 7 34 52 +f 37 18 52 +f 34 49 52 +f 49 37 52 +f 17 12 53 +f 23 17 53 +f 12 35 53 +f 35 23 53 +f 6 24 54 +f 24 19 54 +f 47 6 54 +f 19 47 54 +f 18 8 55 +f 8 36 55 +f 42 18 55 +f 36 42 55 +f 21 13 56 +f 20 45 56 +f 45 21 56 +f 13 48 56 +f 48 27 56 +f 30 1 57 +f 39 30 57 +f 27 39 57 +f 1 40 57 +f 40 20 57 +f 20 56 57 +f 56 27 57 +f 5 11 58 +f 23 5 58 +f 31 23 58 +f 28 31 58 +f 11 44 58 +f 44 28 58 +f 15 10 59 +f 10 29 59 +f 42 15 59 +f 29 46 59 +f 46 42 59 +f 10 15 60 +f 38 10 60 +f 11 38 60 +f 44 11 60 +f 15 44 60 +f 18 4 61 +f 41 7 61 +f 7 52 61 +f 52 18 61 +f 2 32 62 +f 34 2 62 +f 32 51 62 +f 51 34 62 +f 20 6 63 +f 6 45 63 +f 45 20 63 +f 14 41 64 +f 43 14 64 +f 4 43 64 +f 61 4 64 +o convex_1 +v 0.020177 -2.391442 -0.611400 +v 0.104884 -2.391442 0.603069 +v -0.036331 -2.391442 0.603069 +v 0.048376 -4.199023 -0.018075 +v -0.544681 -2.419752 -0.074542 +v 0.585035 -2.419929 -0.018193 +v -0.375157 -3.944765 -0.046368 +v 0.387313 -3.973075 -0.074542 +v -0.036331 -3.916279 -0.441760 +v 0.104884 -3.888146 0.348786 +v 0.472019 -2.391442 0.461721 +v 0.415511 -2.391442 -0.470172 +v -0.431555 -2.391442 0.405135 +v -0.375157 -3.182524 -0.413466 +v -0.036331 -3.916279 0.348786 +v 0.359003 -3.295232 -0.413466 +v -0.375157 -2.391442 -0.470053 +v 0.387313 -3.210480 0.405254 +v -0.318649 -3.351675 0.320612 +v 0.585035 -2.419929 0.122797 +v 0.387313 -3.944765 0.009743 +v 0.020177 -3.916279 -0.441760 +v -0.290340 -3.747128 -0.328943 +v 0.472019 -2.419929 -0.413585 +v 0.048376 -3.407941 0.461721 +v -0.036331 -4.199023 -0.074542 +v -0.459864 -3.295232 -0.018075 +v -0.036331 -3.323365 -0.526520 +v 0.274297 -3.803570 -0.328943 +v 0.302495 -3.775260 0.264144 +v -0.375157 -3.944765 -0.018075 +v 0.330694 -2.419752 0.546363 +v -0.262142 -3.718818 0.264144 +v -0.431555 -2.391442 -0.413466 +v -0.036331 -4.001031 -0.385292 +v -0.544681 -2.391442 0.009743 +v 0.020177 -3.323365 -0.526520 +v -0.092618 -2.419752 -0.582988 +v -0.459864 -3.295232 -0.074542 +v -0.290340 -2.419752 0.489896 +v -0.008132 -3.210657 0.489896 +v 0.020177 -4.001031 -0.385292 +v 0.500218 -3.182170 0.038036 +v -0.036331 -4.199023 -0.018075 +v 0.048376 -3.973075 0.320612 +v 0.528527 -2.391442 -0.244064 +v 0.415511 -3.182170 0.348786 +v 0.330694 -3.182524 0.433428 +v 0.443820 -3.605755 -0.046368 +v -0.431555 -2.419752 0.405135 +f 83 104 114 +f 67 66 65 +f 65 66 75 +f 65 75 76 +f 67 65 77 +f 65 76 80 +f 77 65 81 +f 68 72 85 +f 71 78 87 +f 78 73 87 +f 72 80 88 +f 80 76 88 +f 79 74 89 +f 73 78 92 +f 86 73 92 +f 80 72 93 +f 86 80 93 +f 82 74 94 +f 85 82 94 +f 71 90 95 +f 91 71 95 +f 75 66 96 +f 82 75 96 +f 79 83 97 +f 83 95 97 +f 95 79 97 +f 78 69 98 +f 77 81 98 +f 81 78 98 +f 73 86 99 +f 71 87 99 +f 87 73 99 +f 90 71 99 +f 69 91 100 +f 98 69 100 +f 77 98 100 +f 65 80 101 +f 80 86 101 +f 92 65 101 +f 86 92 101 +f 81 65 102 +f 78 81 102 +f 92 78 102 +f 65 92 102 +f 69 78 103 +f 78 71 103 +f 91 69 103 +f 71 91 103 +f 67 77 104 +f 104 83 105 +f 66 67 105 +f 83 79 105 +f 89 66 105 +f 79 89 105 +f 67 104 105 +f 72 68 106 +f 68 90 106 +f 93 72 106 +f 86 93 106 +f 99 86 106 +f 90 99 106 +f 70 84 107 +f 90 68 108 +f 79 95 108 +f 95 90 108 +f 74 79 109 +f 68 85 109 +f 94 74 109 +f 85 94 109 +f 108 68 109 +f 79 108 109 +f 76 75 110 +f 84 70 110 +f 75 84 110 +f 88 76 110 +f 75 82 111 +f 84 75 111 +f 82 85 111 +f 107 84 111 +f 85 107 111 +f 74 82 112 +f 66 89 112 +f 89 74 112 +f 96 66 112 +f 82 96 112 +f 85 72 113 +f 72 88 113 +f 70 107 113 +f 107 85 113 +f 110 70 113 +f 88 110 113 +f 95 83 114 +f 91 95 114 +f 100 91 114 +f 77 100 114 +f 104 77 114 +o convex_2 +v -0.120952 -1.092088 2.975231 +v -0.008064 -1.713599 1.252997 +v 0.330816 -1.600520 1.252823 +v 0.020185 -0.273183 1.252997 +v -0.516438 -1.092088 1.252997 +v 0.415563 -1.148628 2.721137 +v 0.443812 -0.358062 1.281036 +v -0.008064 -1.515781 2.777563 +v -0.431583 -1.148628 2.692923 +v -0.008064 -0.753556 2.777563 +v -0.403334 -1.572180 1.281210 +v -0.403334 -0.612137 1.591731 +v 0.585057 -0.922893 1.252823 +v 0.443812 -1.543981 1.874213 +v -0.290338 -0.809814 2.579895 +v -0.375193 -1.515781 1.958853 +v 0.387314 -1.092088 2.805951 +v -0.516438 -1.148628 2.015454 +v -0.375193 -0.527399 1.252997 +v 0.472061 -1.543981 1.252823 +v 0.330816 -1.402843 2.636322 +v 0.528451 -1.120287 1.987241 +v -0.008064 -1.148628 3.032006 +v 0.020185 -1.657059 1.930640 +v 0.274210 -0.838154 2.608109 +v 0.415563 -0.329863 1.309250 +v -0.262197 -1.431043 2.579895 +v -0.403334 -1.007349 2.664536 +v -0.064562 -0.725216 2.721137 +v 0.048326 -1.515781 2.777563 +v -0.516438 -1.261565 1.252997 +v 0.076575 -1.713599 1.365850 +v 0.415563 -1.543981 2.043494 +v -0.516438 -1.063748 1.930640 +v 0.161322 -0.273183 1.281210 +v 0.387314 -1.176827 2.805951 +v 0.556700 -0.753415 1.281036 +v -0.403334 -0.753556 2.100094 +v -0.036205 -0.301523 1.281210 +v -0.375193 -1.148628 2.777563 +v 0.500310 -1.261565 2.071707 +v -0.008064 -1.092088 3.032006 +v -0.064562 -0.781615 2.805777 +v 0.415563 -0.329863 1.252823 +v 0.133073 -1.628860 2.015454 +v -0.431583 -0.697017 1.252997 +v -0.346836 -1.600520 1.252997 +v 0.415563 -1.120287 2.721137 +v 0.500310 -1.431043 1.281036 +v 0.443812 -1.572180 1.252823 +v -0.375193 -1.092088 2.777563 +v -0.346836 -0.809814 2.466868 +v -0.064562 -1.628860 1.958853 +v -0.205699 -0.781615 2.664536 +f 153 166 168 +f 130 123 132 +f 125 130 132 +f 117 127 134 +f 124 131 139 +f 139 131 140 +f 131 121 140 +f 124 139 140 +f 130 122 141 +f 123 130 141 +f 137 122 144 +f 122 138 144 +f 119 117 145 +f 132 119 145 +f 125 132 145 +f 138 116 146 +f 135 144 147 +f 146 128 147 +f 119 132 148 +f 132 123 148 +f 123 142 148 +f 124 140 149 +f 143 124 149 +f 118 143 149 +f 120 131 150 +f 131 137 150 +f 144 135 150 +f 137 144 150 +f 147 120 150 +f 135 147 150 +f 127 121 151 +f 136 127 151 +f 126 148 152 +f 148 142 152 +f 118 133 153 +f 133 126 153 +f 143 118 153 +f 137 115 154 +f 122 137 154 +f 141 122 154 +f 123 141 154 +f 136 120 155 +f 120 147 155 +f 147 128 155 +f 131 124 156 +f 115 137 156 +f 137 131 156 +f 124 143 157 +f 115 156 157 +f 156 124 157 +f 117 119 158 +f 127 117 158 +f 121 127 158 +f 133 118 158 +f 140 121 158 +f 118 149 158 +f 149 140 158 +f 144 138 159 +f 138 146 159 +f 146 147 159 +f 147 144 159 +f 126 133 160 +f 119 148 160 +f 148 126 160 +f 158 119 160 +f 133 158 160 +f 117 116 161 +f 130 125 161 +f 145 117 161 +f 125 145 161 +f 131 120 162 +f 121 131 162 +f 120 136 162 +f 151 121 162 +f 136 151 162 +f 134 127 163 +f 128 134 163 +f 127 136 163 +f 155 128 163 +f 136 155 163 +f 116 117 164 +f 117 134 164 +f 134 128 164 +f 146 116 164 +f 128 146 164 +f 142 123 165 +f 154 115 165 +f 123 154 165 +f 115 157 165 +f 142 129 166 +f 126 152 166 +f 152 142 166 +f 153 126 166 +f 122 130 167 +f 116 138 167 +f 138 122 167 +f 161 116 167 +f 130 161 167 +f 129 142 168 +f 143 153 168 +f 157 143 168 +f 142 165 168 +f 165 157 168 +f 166 129 168 +o convex_3 +v 0.161283 -0.216845 -1.261285 +v 0.020065 -1.741693 -1.289415 +v 0.048356 -1.741693 -1.289415 +v -0.036280 -1.148713 -3.011917 +v -0.629326 -0.866555 -1.204847 +v 0.585057 -1.063916 -1.204670 +v 0.359084 -1.176780 -2.729551 +v -0.488107 -0.245210 -1.204847 +v -0.375180 -1.233361 -2.785989 +v -0.036280 -0.781758 -2.757682 +v -0.459816 -1.515817 -1.204847 +v -0.036280 -1.572249 -2.757682 +v 0.500302 -1.572249 -1.204670 +v 0.415548 -0.329708 -1.204670 +v -0.403353 -1.543884 -2.023814 +v 0.415548 -1.544033 -1.995507 +v 0.528475 -1.120348 -1.854324 +v 0.302620 -0.922837 -2.588368 +v -0.092744 -0.216845 -1.374160 +v -0.516280 -1.233361 -2.023814 +v -0.375180 -1.176929 -2.785989 +v 0.020065 -0.781758 -2.757682 +v 0.048356 -1.572249 -2.729374 +v -0.290425 -0.894771 -2.588192 +v 0.048356 -1.685261 -2.023814 +v 0.387375 -1.120348 -2.644806 +v 0.585057 -0.866555 -1.232978 +v -0.375180 -1.572249 -2.051944 +v -0.008108 -1.741693 -1.204847 +v -0.290425 -1.487602 -2.588192 +v 0.302620 -1.459236 -2.531754 +v -0.488107 -0.245210 -1.232978 +v 0.076528 -1.176929 -2.983610 +v 0.415548 -0.329708 -1.232978 +v 0.500302 -1.261576 -1.938892 +v -0.008108 -1.685261 -2.023814 +v 0.387375 -1.572249 -1.938892 +v -0.516280 -0.329858 -1.232978 +v -0.544571 -1.092132 -1.882631 +v -0.629326 -0.922987 -1.232978 +v 0.274329 -1.120348 -2.814296 +v -0.036280 -1.205145 -3.011917 +v 0.217747 -0.838339 -2.588192 +v -0.008108 -0.216845 -1.374160 +v 0.189455 -0.216845 -1.204847 +v 0.020065 -1.515817 -2.814119 +v -0.375180 -0.216845 -1.232978 +v -0.488107 -1.402805 -1.543651 +v 0.387375 -1.176780 -2.644806 +v 0.556766 -1.092132 -1.628396 +v 0.302620 -1.657046 -1.232978 +v 0.359084 -1.063916 -2.672936 +v -0.431644 -1.543884 -1.600088 +f 216 183 221 +f 173 179 181 +f 176 173 182 +f 173 181 182 +f 181 174 182 +f 177 183 188 +f 172 177 189 +f 178 172 189 +f 172 178 190 +f 178 187 190 +f 178 189 192 +f 171 170 193 +f 180 191 193 +f 182 174 195 +f 185 194 195 +f 170 171 197 +f 181 179 197 +f 177 180 198 +f 183 177 198 +f 180 196 198 +f 196 183 198 +f 191 175 199 +f 184 191 199 +f 178 192 200 +f 192 189 200 +f 172 190 201 +f 190 169 202 +f 182 195 202 +f 195 194 202 +f 181 184 203 +f 193 170 204 +f 180 193 204 +f 196 180 204 +f 197 196 204 +f 170 197 204 +f 184 181 205 +f 191 184 205 +f 193 191 205 +f 173 176 206 +f 176 200 206 +f 200 189 206 +f 177 188 207 +f 189 177 207 +f 173 206 207 +f 206 189 207 +f 179 173 208 +f 173 207 208 +f 207 188 208 +f 201 190 209 +f 175 201 209 +f 177 172 210 +f 180 177 210 +f 172 201 210 +f 186 190 211 +f 190 202 211 +f 202 186 211 +f 187 169 212 +f 169 190 212 +f 190 187 212 +f 176 182 213 +f 169 187 213 +f 202 169 213 +f 182 202 213 +f 175 191 214 +f 191 180 214 +f 201 175 214 +f 180 210 214 +f 210 201 214 +f 187 178 215 +f 200 176 215 +f 178 200 215 +f 176 213 215 +f 213 187 215 +f 188 183 216 +f 179 208 216 +f 208 188 216 +f 175 194 217 +f 194 185 217 +f 199 175 217 +f 184 199 217 +f 203 184 217 +f 185 203 217 +f 174 181 218 +f 195 174 218 +f 185 195 218 +f 181 203 218 +f 203 185 218 +f 171 193 219 +f 197 171 219 +f 181 197 219 +f 205 181 219 +f 193 205 219 +f 190 186 220 +f 194 175 220 +f 186 202 220 +f 202 194 220 +f 209 190 220 +f 175 209 220 +f 183 196 221 +f 196 197 221 +f 197 179 221 +f 179 216 221 +o convex_4 +v -0.403411 -0.216696 1.139622 +v -0.064559 -2.391442 -0.611383 +v 0.076512 -2.391442 -0.611383 +v 0.415364 -0.216696 -1.204513 +v 0.839182 -1.741530 0.885390 +v -0.968300 -0.216696 -0.724189 +v -0.855282 -1.769843 0.913531 +v 0.895691 -0.216696 0.857008 +v 0.867436 -1.713430 -0.724189 +v -0.459920 -1.515881 -1.204513 +v 0.471873 -2.391442 0.518111 +v 0.415364 -1.600606 1.252668 +v -0.770518 -2.165367 -0.046636 +v 0.923945 -0.216696 -0.780711 +v -0.911791 -0.216696 0.800485 +v 0.500128 -1.572293 -1.204513 +v -0.855282 -1.713430 -0.752330 +v -0.431464 -2.391442 0.461829 +v 1.008709 -1.092470 0.066169 +v -0.996554 -1.487355 0.066169 +v -0.516228 -0.216696 -1.204513 +v -0.403411 -1.572293 1.252668 +v 0.443619 -0.216696 1.252668 +v 0.754418 -2.250092 0.038028 +v -0.036304 -2.108742 0.998435 +v 0.471873 -2.391442 -0.469716 +v -1.053063 -0.216696 0.066169 +v -0.431464 -2.391442 -0.469716 +v -0.516228 -1.120569 1.252668 +v -0.629246 -0.923020 -1.204513 +v 0.584891 -0.951120 1.252668 +v 0.020205 -1.770055 -1.204513 +v 1.008709 -0.216696 0.122692 +v 0.613146 -0.951120 -1.204513 +v 0.980455 -1.515668 -0.074537 +v -0.375157 -0.499183 1.252668 +v 0.839182 -1.713430 -0.808853 +v 0.810927 -0.216696 -0.978181 +v -0.572737 -2.391442 0.010368 +v -0.008252 -2.391442 0.631157 +v -0.798773 -0.216696 -1.006562 +v -0.883536 -0.216696 0.857008 +v -0.883536 -1.628706 0.857008 +v -0.996554 -1.402631 -0.074537 +v 0.923945 -0.273321 0.772344 +v 0.980455 -1.515668 0.151074 +v 0.669655 -0.527708 1.167763 +v -0.008252 -1.713430 1.252668 +v -0.008252 -2.137054 -0.893517 +v 0.669655 -2.080642 0.715821 +v 0.076512 -2.137054 0.970054 +v 0.613146 -2.391442 -0.018014 +v 0.923945 -0.471083 -0.780711 +v 0.782673 -2.193467 0.122692 +v -0.911791 -1.036057 -0.752330 +v 1.008709 -0.216696 -0.074537 +v 0.500128 -1.543981 1.252668 +v -0.996554 -0.358259 0.433447 +v -0.798773 -2.052330 0.320402 +v -1.024809 -1.064157 0.066169 +v 0.641400 -2.137054 -0.582761 +v 0.048459 -0.216696 1.252668 +v -0.572737 -2.193680 -0.554861 +v -0.290393 -2.024230 0.970054 +f 246 243 285 +f 222 225 227 +f 225 222 229 +f 223 224 232 +f 225 229 235 +f 222 227 236 +f 231 225 237 +f 223 232 239 +f 238 234 241 +f 227 225 242 +f 225 231 242 +f 229 222 244 +f 243 233 244 +f 232 224 247 +f 236 227 248 +f 223 239 249 +f 228 243 250 +f 243 244 250 +f 231 238 251 +f 242 231 251 +f 244 233 252 +f 231 237 253 +f 235 229 254 +f 237 225 255 +f 250 244 257 +f 237 255 258 +f 258 255 259 +f 225 235 259 +f 255 225 259 +f 234 249 260 +f 249 239 260 +f 239 232 261 +f 246 239 261 +f 227 242 262 +f 242 251 262 +f 222 236 263 +f 236 228 263 +f 228 250 263 +f 257 222 263 +f 250 257 263 +f 228 236 264 +f 241 228 264 +f 238 241 265 +f 229 226 266 +f 254 229 266 +f 240 254 266 +f 256 240 267 +f 266 226 267 +f 240 266 267 +f 226 229 268 +f 229 244 268 +f 252 226 268 +f 244 252 268 +f 233 243 269 +f 243 246 269 +f 224 223 270 +f 247 224 270 +f 237 247 270 +f 223 249 270 +f 249 231 270 +f 231 253 270 +f 253 237 270 +f 261 232 272 +f 246 261 272 +f 233 269 272 +f 269 246 272 +f 271 233 272 +f 232 271 272 +f 245 232 273 +f 232 247 273 +f 247 245 273 +f 256 230 274 +f 240 256 274 +f 230 258 274 +f 258 259 274 +f 259 235 274 +f 245 230 275 +f 232 245 275 +f 230 256 275 +f 267 226 275 +f 256 267 275 +f 226 271 275 +f 271 232 275 +f 251 238 276 +f 227 262 276 +f 262 251 276 +f 265 227 276 +f 238 265 276 +f 235 254 277 +f 254 240 277 +f 274 235 277 +f 240 274 277 +f 226 252 278 +f 252 233 278 +f 271 226 278 +f 233 271 278 +f 236 248 279 +f 264 236 279 +f 239 228 280 +f 228 241 280 +f 241 234 280 +f 234 260 280 +f 260 239 280 +f 248 227 281 +f 241 264 281 +f 227 265 281 +f 265 241 281 +f 279 248 281 +f 264 279 281 +f 230 245 282 +f 247 237 282 +f 245 247 282 +f 258 230 282 +f 237 258 282 +f 244 222 283 +f 222 257 283 +f 257 244 283 +f 238 231 284 +f 234 238 284 +f 231 249 284 +f 249 234 284 +f 228 239 285 +f 243 228 285 +f 239 246 285 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/048/048.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/048/048.urdf new file mode 100644 index 000000000..59ec1735f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/048/048.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/049/049.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/049/049.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/049/049.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/049/049.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/049/049.obj new file mode 100644 index 000000000..aa47807a4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/049/049.obj @@ -0,0 +1,489 @@ +o convex_0 +v -3.394149 -0.471322 -0.247208 +v -3.642071 0.166356 0.213257 +v -3.642071 0.166356 0.142408 +v -3.110757 0.060000 0.284106 +v -3.819201 -0.506840 0.177833 +v -3.748334 0.024613 -0.247208 +v -3.110757 0.060000 -0.211784 +v -3.110757 -0.506840 0.213257 +v -3.854743 -0.506840 -0.176359 +v -3.110757 -0.435869 -0.247208 +v -3.783804 0.166356 0.177833 +v -3.712938 -0.471322 0.213257 +f 11 5 12 +f 3 2 4 +f 3 4 7 +f 6 3 7 +f 7 4 8 +f 8 5 9 +f 6 1 9 +f 1 8 9 +f 1 6 10 +f 6 7 10 +f 7 8 10 +f 8 1 10 +f 2 3 11 +f 3 6 11 +f 9 5 11 +f 6 9 11 +f 4 2 12 +f 8 4 12 +f 5 8 12 +f 2 11 12 +o convex_1 +v 4.294961 -0.719442 -0.566040 +v 0.362001 -1.215328 -1.062105 +v 0.362001 -1.215328 1.028137 +v 0.362001 0.910345 -1.062105 +v 4.153166 0.804010 0.992809 +v 4.330701 0.910553 -1.026778 +v 0.362001 0.839386 1.028137 +v 4.188907 -1.179952 1.099003 +v 4.224258 -1.144368 -0.991239 +v 2.027410 0.910345 -0.176169 +v 1.070975 -1.215328 -1.062105 +v 0.433093 -1.215328 1.063464 +v 4.188907 0.378875 1.028137 +v 4.330701 0.910553 -0.778639 +v 3.763522 -1.179952 -0.955911 +v 2.063150 -1.215328 0.779998 +v 2.063150 -0.294099 -1.062105 +v 4.294961 -1.144368 -0.955911 +v 0.362001 0.874761 0.602938 +v 4.082463 -0.967281 1.099003 +v 1.992058 0.910345 -1.062105 +v 1.992058 0.804010 1.028137 +v 4.224258 0.839386 0.532072 +v 4.330701 0.378875 -1.026778 +v 4.224258 -0.860945 0.709344 +v 3.515673 -1.108992 1.099003 +v 4.224258 0.910345 -0.601368 +v 4.330701 0.591546 -0.743312 +v 4.188907 -1.179952 0.496533 +v 4.294961 -1.144368 -0.743101 +v 0.893829 0.839386 1.028137 +v 4.153166 0.449835 1.028137 +v 1.850264 -1.215328 1.063464 +v 4.153166 0.839386 0.567399 +f 43 17 46 +f 14 15 16 +f 16 15 19 +f 15 14 23 +f 14 16 23 +f 19 15 24 +f 15 23 24 +f 18 16 26 +f 16 22 26 +f 23 21 27 +f 23 27 28 +f 24 23 28 +f 23 16 29 +f 27 21 30 +f 16 19 31 +f 22 16 31 +f 20 25 32 +f 16 18 33 +f 29 16 33 +f 18 29 33 +f 17 25 35 +f 25 26 35 +f 21 23 36 +f 18 26 36 +f 29 18 36 +f 23 29 36 +f 30 21 36 +f 25 20 37 +f 19 24 38 +f 24 20 38 +f 32 19 38 +f 20 32 38 +f 26 22 39 +f 35 26 39 +f 26 25 40 +f 36 26 40 +f 25 37 40 +f 37 13 40 +f 28 27 41 +f 20 28 41 +f 30 20 41 +f 27 30 41 +f 20 30 42 +f 30 36 42 +f 37 20 42 +f 13 37 42 +f 40 13 42 +f 36 40 42 +f 31 19 43 +f 19 32 43 +f 34 17 43 +f 32 34 43 +f 25 17 44 +f 32 25 44 +f 17 34 44 +f 34 32 44 +f 20 24 45 +f 28 20 45 +f 24 28 45 +f 22 31 46 +f 17 35 46 +f 39 22 46 +f 35 39 46 +f 31 43 46 +o convex_2 +v -2.153813 0.166356 0.071601 +v -2.330987 -0.506840 0.142415 +v -2.224682 -0.506840 0.142415 +v -2.189248 -0.400417 -0.318182 +v -1.835017 -0.471322 0.248713 +v -2.437291 0.166356 0.284196 +v -1.835017 0.095452 -0.176401 +v -2.437291 0.130904 -0.176401 +v -2.437291 -0.506840 0.461384 +v -1.835017 0.095452 0.248713 +v -1.835017 -0.435869 -0.282699 +v -2.437291 -0.400417 -0.282699 +v -1.835017 -0.294127 -0.318182 +f 53 57 59 +f 52 47 54 +f 47 53 54 +f 48 49 55 +f 49 51 55 +f 52 54 55 +f 47 52 56 +f 53 47 56 +f 51 53 56 +f 55 51 56 +f 52 55 56 +f 49 48 57 +f 51 49 57 +f 53 51 57 +f 54 50 58 +f 48 55 58 +f 55 54 58 +f 57 48 58 +f 50 57 58 +f 50 54 59 +f 54 53 59 +f 57 50 59 +o convex_3 +v 0.149316 2.894904 -0.885063 +v -1.834958 -0.470475 0.142235 +v -1.834958 -0.470475 0.213202 +v 0.326518 -3.128295 1.028029 +v 0.220067 -3.164091 -1.097748 +v 0.291034 2.859108 0.992761 +v -1.728508 2.859108 -0.920546 +v -1.728508 -3.199887 -0.991298 +v -1.799475 -3.199887 1.099211 +v -1.834958 2.823313 0.957278 +v 0.362001 0.874245 -1.062050 +v -1.799475 0.307482 -1.062265 +v 0.220067 2.859108 -1.026781 +v 0.362001 0.839046 1.028029 +v 0.362001 -1.215023 -1.062050 +v -1.799475 -1.250818 -1.062265 +v -0.984432 2.894308 0.354920 +v -1.799475 1.405809 -1.026566 +v 0.291034 -1.286017 1.063513 +v 0.291034 -3.164091 -0.034537 +v 0.362001 -1.215023 1.028029 +v -0.311323 -3.164091 -1.097748 +v 0.149316 1.441604 1.028029 +v 0.184799 1.582997 -1.062050 +v -1.834958 -0.435873 -0.317974 +v -1.834958 2.823313 0.496424 +v -1.090667 -3.199887 0.992761 +v -1.763991 -2.667726 -1.026566 +v 0.184799 -1.888576 -1.097748 +v -1.763991 2.575727 -0.955814 +v 0.043081 2.894904 0.709324 +v -0.275840 -3.164091 1.063728 +v -1.516038 -2.880710 1.099211 +v -1.374319 0.874841 -1.062265 +v -1.055184 -3.199887 -0.955814 +v -1.799475 -3.199887 0.850827 +v 0.255551 2.859108 -0.282705 +v -1.799475 2.859108 0.284168 +v -1.055184 2.894308 -0.424424 +v 0.149316 -3.164091 0.992761 +v -1.516038 2.859108 -0.955814 +v -1.834958 1.760185 0.957278 +v 0.326518 -3.128295 0.638357 +v 0.043081 2.823313 -1.026781 +v 0.043081 2.859108 0.992761 +v -1.763991 -3.022102 1.099211 +v 0.255551 -3.164091 -0.707646 +v -1.763991 -3.199887 -0.530444 +v -0.913680 -3.199887 0.248470 +v -1.480554 -3.199887 -1.026566 +f 94 67 109 +f 62 61 68 +f 61 62 69 +f 70 65 73 +f 70 73 74 +f 64 70 74 +f 74 73 80 +f 63 74 80 +f 78 63 80 +f 73 78 80 +f 75 71 81 +f 73 65 82 +f 78 73 82 +f 72 70 83 +f 61 69 84 +f 71 75 84 +f 77 71 84 +f 77 84 85 +f 84 69 85 +f 68 67 86 +f 75 81 87 +f 70 64 88 +f 64 81 88 +f 81 71 88 +f 83 70 88 +f 77 85 89 +f 85 66 89 +f 65 60 90 +f 76 69 90 +f 63 78 91 +f 68 86 91 +f 78 82 92 +f 91 78 92 +f 68 91 92 +f 71 77 93 +f 88 71 93 +f 83 88 93 +f 86 67 94 +f 68 61 95 +f 67 68 95 +f 61 84 95 +f 84 75 95 +f 60 65 96 +f 65 70 96 +f 70 72 96 +f 72 60 96 +f 69 76 97 +f 66 85 97 +f 85 69 97 +f 60 66 98 +f 90 60 98 +f 76 90 98 +f 66 97 98 +f 97 76 98 +f 79 63 99 +f 63 91 99 +f 91 86 99 +f 66 60 100 +f 60 72 100 +f 89 66 100 +f 77 89 100 +f 62 68 101 +f 69 62 101 +f 68 69 101 +f 74 63 102 +f 63 79 102 +f 79 74 102 +f 72 83 103 +f 93 77 103 +f 83 93 103 +f 100 72 103 +f 77 100 103 +f 82 65 104 +f 65 90 104 +f 90 69 104 +f 69 68 105 +f 68 92 105 +f 92 82 105 +f 82 104 105 +f 104 69 105 +f 64 74 106 +f 74 79 106 +f 87 67 107 +f 75 87 107 +f 67 95 107 +f 95 75 107 +f 94 64 108 +f 86 94 108 +f 79 99 108 +f 99 86 108 +f 64 106 108 +f 106 79 108 +f 81 64 109 +f 67 87 109 +f 87 81 109 +f 64 94 109 +o convex_4 +v -0.665623 3.497320 -0.318168 +v -1.126262 4.666368 -0.282719 +v -1.090789 4.134928 -0.318168 +v -0.984515 2.894904 0.319562 +v -0.417603 4.843711 0.355080 +v -1.126262 4.914689 0.284182 +v -0.417603 4.914689 -0.318168 +v -0.382130 2.894904 0.248664 +v -0.984515 2.894904 -0.353617 +v -0.523877 2.894904 -0.211822 +v -1.126262 4.914689 -0.282719 +v -1.090789 4.276487 0.319562 +v -0.771896 2.894904 0.319562 +v -1.019843 3.143225 -0.353617 +v -0.382130 2.894904 0.177836 +v -0.878097 4.914689 0.319562 +v -0.878097 2.894904 -0.353617 +v -1.090789 4.454029 -0.318168 +f 116 123 127 +f 116 114 117 +f 117 113 118 +f 117 118 119 +f 110 116 119 +f 112 111 120 +f 111 115 120 +f 115 116 120 +f 111 112 121 +f 113 114 121 +f 115 111 121 +f 114 113 122 +f 113 117 122 +f 117 114 122 +f 118 113 123 +f 121 112 123 +f 113 121 123 +f 116 117 124 +f 117 119 124 +f 119 116 124 +f 114 116 125 +f 116 115 125 +f 121 114 125 +f 115 121 125 +f 116 110 126 +f 119 118 126 +f 110 119 126 +f 123 116 126 +f 118 123 126 +f 112 120 127 +f 120 116 127 +f 123 112 127 +o convex_5 +v -3.110546 -0.258775 -0.637158 +v -2.437416 -0.329624 -2.479588 +v -2.437416 -0.365017 -2.479588 +v -3.004200 0.060014 -3.046656 +v -2.543762 0.130862 -0.318182 +v -3.004200 -0.506715 -2.975773 +v -2.579145 -0.400473 -0.318182 +v -2.543762 0.060014 -3.082098 +v -3.075097 0.095469 -0.318182 +v -3.110546 -0.435866 -0.318182 +v -2.508313 -0.400473 -2.975773 +v -2.508313 -0.365017 -0.318182 +v -2.614594 0.130862 -1.204226 +v -2.543762 0.095469 -2.798294 +v -2.437416 -0.294168 -2.975773 +v -3.110546 -0.435866 -0.956134 +v -3.039649 -0.471322 -1.027017 +v -3.039649 0.060014 -2.408705 +v -2.968817 -0.506715 -2.834006 +v -3.004200 -0.471322 -3.011215 +f 143 145 147 +f 134 132 136 +f 134 136 137 +f 136 128 137 +f 130 134 138 +f 130 129 139 +f 129 132 139 +f 132 134 139 +f 134 130 139 +f 131 136 140 +f 136 132 140 +f 135 131 141 +f 131 140 141 +f 140 132 141 +f 129 130 142 +f 132 129 142 +f 130 138 142 +f 138 135 142 +f 141 132 142 +f 135 141 142 +f 137 128 143 +f 133 137 143 +f 134 137 144 +f 137 133 144 +f 128 136 145 +f 136 131 145 +f 143 128 145 +f 138 134 146 +f 133 138 146 +f 144 133 146 +f 134 144 146 +f 131 135 147 +f 138 133 147 +f 135 138 147 +f 133 143 147 +f 145 131 147 +o convex_6 +v -2.437416 0.201857 0.780551 +v -3.110546 -0.506840 0.001116 +v -3.075097 -0.506840 0.001116 +v -3.004200 -0.506840 3.012310 +v -3.004200 0.201857 3.083561 +v -2.472865 -0.329596 2.941392 +v -2.437416 -0.506840 0.213871 +v -3.075097 0.095511 -0.317516 +v -2.543762 0.201857 2.976685 +v -2.437416 -0.294217 -0.282224 +v -2.437416 0.130959 -0.176013 +v -3.110546 -0.435942 -0.317516 +v -3.110546 0.060062 0.284789 +v -2.437416 -0.435942 1.630237 +v -2.579145 0.130959 -0.317516 +v -2.579145 -0.400424 -0.317516 +v -2.508313 0.130959 2.976685 +v -2.579145 0.166408 -0.069802 +v -2.543762 -0.365045 2.976685 +v -3.004200 0.201857 2.799556 +v -2.437416 -0.506840 0.639047 +v -2.968817 -0.506840 3.012310 +v -2.437416 0.201857 0.993305 +f 156 164 170 +f 149 150 151 +f 151 150 154 +f 148 152 156 +f 148 154 157 +f 148 157 158 +f 150 149 159 +f 149 151 160 +f 151 152 160 +f 159 149 160 +f 155 159 160 +f 154 148 161 +f 158 157 162 +f 159 155 162 +f 159 162 163 +f 154 150 163 +f 157 154 163 +f 150 159 163 +f 162 157 163 +f 156 152 164 +f 148 158 165 +f 162 155 165 +f 158 162 165 +f 161 153 166 +f 153 164 166 +f 164 152 166 +f 152 148 167 +f 160 152 167 +f 155 160 167 +f 148 165 167 +f 165 155 167 +f 151 154 168 +f 154 161 168 +f 168 161 169 +f 152 151 169 +f 166 152 169 +f 161 166 169 +f 151 168 169 +f 148 156 170 +f 161 148 170 +f 153 161 170 +f 164 153 170 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/049/049.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/049/049.urdf new file mode 100644 index 000000000..2d053d81b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/049/049.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/050/050.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/050/050.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/050/050.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/050/050.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/050/050.obj new file mode 100644 index 000000000..efe4a5d05 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/050/050.obj @@ -0,0 +1,729 @@ +o convex_0 +v 0.059251 0.385848 1.058400 +v -0.134367 -2.230036 -0.459243 +v -0.005288 -2.230036 -0.459243 +v 0.026880 -0.422014 -2.944974 +v -1.038724 0.385592 -0.233078 +v 0.995777 0.385592 -0.297339 +v 0.898867 -2.003681 1.090948 +v -0.909443 -1.906636 1.090948 +v -0.812533 -1.164069 -2.912844 +v 0.769788 -1.906636 -2.202218 +v 0.995777 -1.131805 -2.234765 +v -0.812533 -1.874628 -2.137957 +v 1.028147 -0.454021 1.090948 +v -0.973982 -0.131133 1.090948 +v -0.844904 0.385848 -1.168617 +v 0.026880 -1.906892 -2.912426 +v -1.038724 -1.131805 -2.170087 +v 0.801957 0.385592 -1.104357 +v 0.769788 -1.131805 -2.945391 +v -1.038724 -1.228595 1.090948 +v 0.931237 0.385592 0.735426 +v -0.618714 -2.197517 0.089479 +v 0.026880 -2.165254 -2.169670 +v 0.640508 -2.197517 -0.103722 +v -0.101996 -2.165254 1.090948 +v -0.037457 -1.228851 -3.171139 +v -0.909443 0.385592 0.832652 +v -0.005288 0.385848 -1.492009 +v 1.028147 -1.357904 1.090948 +v -0.618714 -0.550811 -2.718809 +v 0.575969 -0.551067 -2.686678 +v -0.909443 -1.906636 -0.297756 +v -0.651084 -2.197517 -0.200948 +v -0.522006 -1.745575 -2.751357 +v -0.069828 -0.389495 -2.912426 +v 0.608137 -1.648530 -2.783904 +v 0.866496 -1.971418 -0.362017 +v -0.812533 -2.036201 1.090948 +v 0.931237 -0.163396 1.090948 +v -0.780163 -1.906892 -2.170087 +v 0.995777 -1.196332 -2.202218 +v -0.812533 -1.099542 -2.912844 +v 0.834327 -2.068464 1.090948 +v 0.737418 -2.068464 -1.136487 +v 0.931237 -1.939155 1.058818 +v -0.037457 -2.165254 -2.169670 +v -0.037457 -1.099542 -3.171139 +v -1.038724 -1.067279 -2.170087 +v -0.005288 0.353328 1.090948 +v -0.231277 -2.230036 0.089479 +v 0.188329 -2.165254 1.090948 +v -0.101996 -1.874628 -2.912426 +v -0.780163 -0.357231 -2.234348 +v 0.769788 -1.196332 -2.945391 +v 0.834327 0.385592 -1.040096 +v -1.006353 0.385592 0.348191 +v 0.737418 -1.939155 -2.202218 +v -1.006353 -0.292705 1.090948 +v 0.026880 -0.389495 -2.912426 +v 0.995777 0.385592 0.219252 +v 0.511227 -2.197517 -0.652861 +v -0.941814 -1.777583 -0.136269 +v -0.812533 -2.003937 -1.007548 +v -0.909443 0.385592 -0.943287 +f 15 48 64 +f 8 7 13 +f 11 6 13 +f 8 13 14 +f 9 12 17 +f 8 14 20 +f 5 17 20 +f 3 2 23 +f 7 8 25 +f 1 15 27 +f 1 6 28 +f 15 1 28 +f 13 7 29 +f 11 13 29 +f 19 4 31 +f 17 12 32 +f 15 28 35 +f 30 15 35 +f 25 8 38 +f 22 25 38 +f 8 32 38 +f 33 22 38 +f 32 33 38 +f 14 13 39 +f 21 1 39 +f 13 21 39 +f 12 9 40 +f 9 34 40 +f 11 29 41 +f 37 10 41 +f 9 17 42 +f 26 9 42 +f 30 35 42 +f 7 25 43 +f 37 7 44 +f 10 37 44 +f 7 43 44 +f 43 24 44 +f 29 7 45 +f 7 37 45 +f 41 29 45 +f 37 41 45 +f 23 2 46 +f 16 23 46 +f 2 33 46 +f 33 40 46 +f 4 19 47 +f 19 26 47 +f 35 4 47 +f 26 42 47 +f 42 35 47 +f 17 5 48 +f 42 17 48 +f 1 27 49 +f 27 14 49 +f 39 1 49 +f 14 39 49 +f 2 3 50 +f 3 24 50 +f 25 22 50 +f 33 2 50 +f 22 33 50 +f 43 25 51 +f 24 43 51 +f 50 24 51 +f 25 50 51 +f 9 26 52 +f 26 16 52 +f 34 9 52 +f 40 34 52 +f 16 46 52 +f 46 40 52 +f 15 30 53 +f 30 42 53 +f 48 15 53 +f 42 48 53 +f 19 11 54 +f 16 26 54 +f 26 19 54 +f 10 36 54 +f 36 16 54 +f 41 10 54 +f 11 41 54 +f 6 11 55 +f 11 19 55 +f 28 6 55 +f 18 28 55 +f 31 18 55 +f 19 31 55 +f 15 5 56 +f 14 27 56 +f 27 15 56 +f 23 16 57 +f 36 10 57 +f 16 36 57 +f 10 44 57 +f 44 23 57 +f 5 20 58 +f 20 14 58 +f 56 5 58 +f 14 56 58 +f 28 18 59 +f 31 4 59 +f 18 31 59 +f 4 35 59 +f 35 28 59 +f 6 1 60 +f 13 6 60 +f 1 21 60 +f 21 13 60 +f 3 23 61 +f 24 3 61 +f 23 44 61 +f 44 24 61 +f 8 20 62 +f 20 17 62 +f 17 32 62 +f 32 8 62 +f 32 12 63 +f 33 32 63 +f 12 40 63 +f 40 33 63 +f 5 15 64 +f 48 5 64 +o convex_1 +v 0.059241 3.550734 -1.039710 +v 0.026979 0.483017 1.058827 +v -0.037347 0.483017 1.058827 +v -0.069809 0.385848 -1.427391 +v -1.038484 1.936418 -0.168220 +v 0.737353 3.389130 0.509795 +v 0.995653 0.385848 -0.296960 +v -0.683396 3.421175 0.477428 +v -0.941696 0.386192 0.768249 +v 0.705091 3.582779 -0.910727 +v -0.844908 0.386192 -1.136813 +v -0.521884 3.873598 -0.684640 +v 0.931128 0.385848 0.735882 +v 0.801879 0.385848 -1.104445 +v 0.931128 3.389130 -0.168220 +v 0.059241 3.873598 0.445304 +v -0.715659 3.389130 -0.846235 +v -0.005284 3.389130 0.735882 +v -0.941696 3.324351 -0.200101 +v 0.640566 3.873598 -0.296960 +v -1.038484 0.386192 -0.232468 +v -0.489621 3.873598 0.283709 +v -0.069809 3.389130 -1.104445 +v 0.995653 2.161768 -0.232468 +v 0.156029 3.905987 -0.813867 +v -0.877171 0.418582 0.832741 +v 0.640566 3.389130 0.574530 +v 0.026979 0.418237 -1.427391 +v -0.844908 0.580186 -1.136813 +v 0.543579 3.808818 0.348444 +v 0.672828 3.582779 -0.942851 +v 0.898865 0.547451 0.768249 +v 0.995653 1.064308 0.283953 +v -0.650934 3.873598 -0.135852 +v -0.134334 3.841208 -0.942851 +v 0.059241 0.385848 1.058827 +v -0.747921 3.389130 0.380812 +v -0.973959 0.418582 0.671146 +v 0.866603 0.579841 -0.910727 +v -0.941696 0.870659 -0.781500 +v 0.543579 3.905987 -0.555414 +v -0.392634 3.905987 -0.200344 +v 0.898865 3.389130 -0.006869 +v 0.737353 3.550390 -0.846235 +v 0.059241 3.389130 0.735882 +v -0.941696 3.259572 -0.136096 +v -0.650934 3.389130 0.509795 +v 0.640566 3.873598 -0.071360 +v -0.005284 3.389130 -1.104445 +v -0.037347 3.356741 0.735882 +v 0.059241 0.450627 1.058827 +v -0.812646 0.450627 -1.168937 +v 0.737353 0.450972 -1.136813 +v 0.995653 0.385848 0.219217 +v -0.909433 3.421175 -0.232468 +v -1.038484 1.839249 -0.232468 +v -0.747921 3.227526 -0.813624 +v -0.554147 0.418237 0.929600 +v -0.069809 0.450627 -1.427391 +v -0.586409 3.356741 -0.910727 +v -1.038484 0.386192 -0.071604 +v 0.737353 3.324351 0.542163 +v 0.995653 2.355761 -0.135852 +v 0.963391 0.483017 0.606655 +f 107 126 128 +f 68 71 77 +f 71 68 78 +f 67 66 82 +f 75 68 85 +f 82 80 86 +f 72 73 90 +f 78 68 92 +f 91 70 94 +f 80 91 94 +f 74 78 95 +f 71 88 97 +f 81 76 99 +f 76 89 99 +f 95 65 99 +f 89 95 99 +f 66 67 100 +f 68 77 100 +f 77 96 100 +f 73 72 101 +f 72 86 101 +f 86 98 101 +f 73 101 102 +f 71 78 103 +f 88 71 103 +f 75 85 104 +f 93 75 104 +f 84 74 105 +f 74 95 105 +f 95 89 105 +f 86 80 106 +f 89 76 106 +f 76 98 106 +f 98 86 106 +f 80 105 106 +f 105 89 106 +f 78 74 108 +f 74 84 108 +f 84 79 108 +f 79 88 108 +f 103 78 108 +f 88 103 108 +f 82 66 109 +f 80 82 109 +f 91 80 109 +f 83 69 110 +f 101 83 110 +f 69 102 110 +f 102 101 110 +f 86 72 111 +f 82 86 111 +f 72 90 111 +f 79 84 112 +f 94 70 112 +f 80 94 112 +f 84 105 112 +f 105 80 112 +f 70 107 112 +f 107 79 112 +f 65 95 113 +f 95 92 113 +f 99 65 113 +f 87 99 113 +f 67 82 114 +f 82 111 114 +f 111 90 114 +f 96 91 115 +f 66 100 115 +f 100 96 115 +f 109 66 115 +f 91 109 115 +f 68 75 116 +f 75 93 116 +f 93 81 116 +f 78 92 117 +f 95 78 117 +f 92 95 117 +f 77 71 118 +f 71 97 118 +f 76 81 119 +f 81 83 119 +f 98 76 119 +f 83 101 119 +f 101 98 119 +f 69 83 120 +f 85 69 120 +f 83 104 120 +f 104 85 120 +f 83 81 121 +f 81 93 121 +f 104 83 121 +f 93 104 121 +f 90 73 122 +f 100 67 122 +f 73 100 122 +f 67 114 122 +f 114 90 122 +f 92 68 123 +f 87 113 123 +f 113 92 123 +f 68 116 123 +f 116 87 123 +f 81 99 124 +f 99 87 124 +f 87 116 124 +f 116 81 124 +f 85 68 125 +f 69 85 125 +f 68 100 125 +f 100 73 125 +f 102 69 125 +f 73 102 125 +f 70 91 126 +f 96 77 126 +f 91 96 126 +f 107 70 126 +f 88 79 127 +f 97 88 127 +f 79 107 127 +f 107 97 127 +f 97 107 128 +f 77 118 128 +f 118 97 128 +f 126 77 128 +o convex_2 +v -1.264788 -1.487141 1.575870 +v -1.264788 -0.809135 1.866382 +v -1.264788 -0.809135 1.737338 +v -3.008540 -1.132071 1.834103 +v -1.264788 -1.487141 2.124687 +v -1.297389 -0.938324 1.479033 +v -1.297389 -0.906045 2.124687 +v -2.620907 -1.325673 1.995498 +v -2.750118 -1.164350 1.608149 +v -2.782378 -0.970603 1.769617 +v -2.782378 -1.357952 1.801896 +v -2.782378 -1.164350 2.027850 +v -1.458861 -1.551844 1.866382 +v -1.361910 -1.228836 1.446609 +v -1.426430 -1.228836 2.189318 +v -2.782378 -0.970603 1.834103 +v -2.459435 -1.002955 1.608149 +v -1.264788 -1.132071 2.189318 +v -1.329649 -1.454862 1.543591 +v -2.782378 -1.357952 1.866382 +v -2.750118 -1.228836 2.027850 +v -2.394915 -1.002955 1.995498 +v -2.524127 -1.325673 1.672780 +v -1.361910 -1.551844 1.769617 +v -1.264788 -1.132071 1.446609 +v -1.329649 -1.487141 2.124687 +v -1.297389 -0.841487 1.640501 +v -2.717858 -1.099792 1.608149 +v -1.297389 -1.551844 1.963219 +f 154 148 157 +f 131 130 129 +f 129 130 133 +f 130 131 138 +f 132 137 139 +f 135 130 144 +f 130 138 144 +f 138 132 144 +f 132 140 144 +f 133 130 146 +f 130 135 146 +f 135 140 146 +f 143 133 146 +f 140 143 146 +f 142 129 147 +f 137 142 147 +f 132 139 148 +f 139 141 148 +f 140 132 149 +f 143 140 149 +f 148 136 149 +f 132 148 149 +f 140 135 150 +f 135 144 150 +f 144 140 150 +f 129 139 151 +f 139 137 151 +f 147 129 151 +f 137 147 151 +f 139 129 152 +f 141 139 152 +f 131 129 153 +f 134 131 153 +f 129 142 153 +f 133 143 154 +f 136 148 154 +f 149 136 154 +f 143 149 154 +f 131 134 155 +f 138 131 155 +f 134 145 155 +f 145 138 155 +f 137 132 156 +f 132 138 156 +f 142 137 156 +f 145 134 156 +f 138 145 156 +f 134 153 156 +f 153 142 156 +f 129 133 157 +f 148 141 157 +f 152 129 157 +f 141 152 157 +f 133 154 157 +o convex_3 +v -0.101971 -2.197742 1.802130 +v 0.027007 0.321258 1.123704 +v 0.027007 0.321258 1.091365 +v 1.318548 -1.551718 1.737452 +v -0.005111 -1.196158 2.867583 +v -0.941586 -1.810127 1.091365 +v -1.264535 -0.906187 2.156817 +v 0.898740 -2.003688 1.091365 +v 0.737392 -0.518820 2.479861 +v 0.801881 -1.939332 2.576878 +v -0.683379 -1.906784 2.576705 +v 0.995600 -0.260164 1.091365 +v -0.747868 -0.518573 2.544365 +v -0.973957 -0.131206 1.091365 +v 1.318548 -0.906187 2.124652 +v -1.264535 -1.519417 1.640435 +v -0.812609 -2.035989 1.091365 +v 0.801881 -1.196405 2.738226 +v -0.715750 -1.325363 2.770565 +v 0.091495 -0.453971 2.576878 +v 0.801881 -2.133139 1.931139 +v 1.318548 -1.099501 1.446922 +v 0.027007 -2.003934 2.641383 +v -1.264535 -1.487116 2.124652 +v 0.188354 -2.165440 1.091365 +v -0.715750 -2.100591 1.931139 +v -1.264535 -1.099501 1.414409 +v 1.318548 -1.486869 2.124652 +v 0.898740 -0.163507 1.188382 +v -0.812609 -0.227863 1.769617 +v 1.060341 -1.196405 1.091365 +v -1.264535 -0.776983 1.898800 +v 0.091495 -2.197742 1.963478 +v -0.715750 -1.131802 2.770565 +v 1.318548 -0.809284 1.898974 +v -1.038699 -1.228706 1.091365 +v -0.037482 0.321258 1.123704 +v -0.166459 -0.453971 2.576878 +v 0.091495 -1.260761 2.867583 +v -1.264535 -1.551718 1.963304 +v -0.134341 -2.165440 1.091365 +v 0.834252 -2.100591 1.349904 +v -0.747868 -0.486272 2.512200 +v 0.769763 -0.292465 1.834296 +v 1.318548 -1.325610 1.479087 +v 1.318548 -1.293308 2.189157 +v -1.264535 -0.873886 1.479087 +v 0.801881 -1.325610 2.738226 +v 1.318548 -0.873886 1.543591 +v 0.866622 -1.906784 2.544365 +v 1.254060 -1.648375 1.866635 +v -1.070817 -1.228706 2.415183 +v -0.941586 -0.098904 1.123704 +v 0.705022 -1.196405 2.770565 +v -0.715750 -1.939085 2.479861 +v -0.586520 -2.132893 1.898800 +v 0.059124 -2.197742 1.382069 +v 0.123866 -2.003934 2.641383 +v 1.254060 -0.809284 2.092313 +v -1.232417 -0.809284 2.092313 +v -1.264535 -1.228706 1.414409 +v 0.769763 -0.744681 2.576878 +v -0.683379 -0.550874 2.576705 +v -1.006328 -0.260164 1.091365 +f 184 204 221 +f 163 160 165 +f 165 160 169 +f 160 163 171 +f 163 165 174 +f 173 163 174 +f 166 159 177 +f 172 161 179 +f 176 168 180 +f 164 173 181 +f 168 176 181 +f 174 165 182 +f 173 164 184 +f 161 172 185 +f 160 159 186 +f 169 160 186 +f 165 169 188 +f 169 179 188 +f 184 164 189 +f 170 164 191 +f 176 162 191 +f 172 179 192 +f 169 186 192 +f 171 163 193 +f 159 160 194 +f 160 171 194 +f 177 159 194 +f 162 177 195 +f 177 194 195 +f 162 176 196 +f 176 180 196 +f 173 174 197 +f 181 173 197 +f 174 183 197 +f 174 182 198 +f 182 165 199 +f 164 170 200 +f 194 187 200 +f 170 195 200 +f 195 194 200 +f 159 166 201 +f 186 159 201 +f 161 165 202 +f 179 161 202 +f 165 188 202 +f 188 179 202 +f 172 175 203 +f 185 172 203 +f 189 171 204 +f 184 189 204 +f 196 167 205 +f 203 175 205 +f 179 169 206 +f 169 192 206 +f 192 179 206 +f 167 178 207 +f 185 203 207 +f 205 167 207 +f 203 205 207 +f 165 161 208 +f 161 185 208 +f 199 165 208 +f 178 199 208 +f 207 178 208 +f 185 207 208 +f 164 181 209 +f 181 176 209 +f 191 164 209 +f 176 191 209 +f 171 189 210 +f 194 171 210 +f 187 194 210 +f 177 162 211 +f 162 196 211 +f 205 175 211 +f 196 205 211 +f 180 168 212 +f 168 181 212 +f 181 197 212 +f 197 183 212 +f 183 174 213 +f 190 180 213 +f 158 190 213 +f 198 158 213 +f 174 198 213 +f 180 212 213 +f 212 183 213 +f 178 190 214 +f 190 158 214 +f 158 198 214 +f 198 182 214 +f 199 178 214 +f 182 199 214 +f 178 167 215 +f 190 178 215 +f 180 190 215 +f 167 196 215 +f 196 180 215 +f 166 172 216 +f 172 192 216 +f 192 186 216 +f 201 166 216 +f 186 201 216 +f 189 164 217 +f 164 200 217 +f 200 187 217 +f 210 189 217 +f 187 210 217 +f 163 173 218 +f 173 184 218 +f 193 163 218 +f 184 193 218 +f 172 166 219 +f 175 172 219 +f 166 177 219 +f 211 175 219 +f 177 211 219 +f 170 191 220 +f 191 162 220 +f 162 195 220 +f 195 170 220 +f 171 193 221 +f 193 184 221 +f 204 171 221 +o convex_4 +v 1.351301 -0.970632 2.124687 +v 1.318801 -1.228832 1.446609 +v 1.318801 -1.390304 1.511312 +v 3.030261 -1.228832 1.801896 +v 1.318801 -1.519439 2.060129 +v 1.318801 -0.873763 1.608149 +v 2.771766 -1.002898 1.769617 +v 2.674936 -1.164369 2.027850 +v 2.804099 -1.390304 1.801896 +v 2.707268 -1.196566 1.608149 +v 1.351301 -1.551705 1.737338 +v 1.318801 -1.228832 2.189318 +v 1.318801 -0.841357 1.930940 +v 1.415967 -0.938365 1.511312 +v 2.707268 -1.293435 1.995498 +v 2.352110 -1.002898 1.995498 +v 1.609629 -1.454836 1.575870 +v 1.480465 -1.487172 2.092408 +v 1.545131 -0.841357 1.769617 +v 2.707268 -1.293435 1.640501 +v 1.512798 -1.551705 1.866382 +v 2.707268 -1.390304 1.898661 +v 2.836432 -1.164369 1.995498 +v 1.448300 -0.906029 2.092408 +v 2.610438 -1.067500 1.640501 +v 2.739601 -1.002898 1.834103 +v 1.383634 -1.164369 1.446609 +f 235 231 248 +f 223 224 226 +f 223 226 227 +f 228 225 231 +f 226 224 232 +f 227 226 233 +f 229 222 233 +f 233 222 234 +f 227 233 234 +f 223 227 235 +f 227 228 235 +f 229 233 236 +f 232 224 238 +f 230 232 238 +f 233 226 239 +f 236 233 239 +f 228 227 240 +f 227 234 240 +f 224 223 241 +f 225 230 241 +f 223 231 241 +f 231 225 241 +f 238 224 241 +f 230 238 241 +f 226 232 242 +f 232 230 242 +f 230 225 243 +f 225 236 243 +f 239 226 243 +f 236 239 243 +f 226 242 243 +f 242 230 243 +f 236 225 244 +f 229 236 244 +f 237 229 244 +f 222 229 245 +f 234 222 245 +f 229 237 245 +f 228 231 246 +f 235 228 246 +f 231 235 246 +f 225 228 247 +f 228 240 247 +f 240 234 247 +f 244 225 247 +f 237 244 247 +f 234 245 247 +f 245 237 247 +f 231 223 248 +f 223 235 248 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/050/050.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/050/050.urdf new file mode 100644 index 000000000..98adb2cee --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/050/050.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/051/051.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/051/051.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/051/051.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/051/051.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/051/051.obj new file mode 100644 index 000000000..fb0c3a19d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/051/051.obj @@ -0,0 +1,393 @@ +o convex_0 +v -1.034459 -3.607691 -1.068868 +v 1.083659 -3.363071 0.682332 +v 1.083659 -3.566856 0.682332 +v 1.042814 -1.693130 -1.435774 +v -0.912132 -1.693130 0.723027 +v -0.993614 -1.693130 -1.354168 +v 1.042814 -3.566856 -1.313257 +v -0.993614 -3.689166 0.763938 +v 1.042814 -1.693130 0.723027 +v -1.034459 -3.566856 -1.313257 +v 1.042814 -3.607495 -1.272561 +v -1.034459 -2.141340 -1.354168 +v -0.952977 -1.693130 0.560030 +v -0.545567 -3.689166 0.274946 +v 1.001970 -2.100700 -1.435774 +v -1.034459 -3.566856 0.030557 +v -0.993614 -3.159482 0.763938 +v 0.391166 -3.607495 0.723027 +v -1.034459 -2.670828 -1.354168 +v 0.309684 -3.607495 -1.313257 +v 0.635404 -3.607495 0.641421 +v 1.083659 -3.566856 0.274946 +v 0.757731 -1.693130 -1.435774 +v -0.790013 -3.689166 0.763938 +v -0.993614 -1.693130 -0.539396 +v 1.042814 -3.607495 -0.824480 +v -0.912132 -3.689166 0.315641 +v -0.627049 -3.689166 0.723027 +v -0.952977 -1.856080 0.723027 +f 25 16 29 +f 5 4 6 +f 3 2 9 +f 2 4 9 +f 4 5 9 +f 10 1 12 +f 5 6 13 +f 4 7 15 +f 1 8 16 +f 12 1 16 +f 9 5 17 +f 16 8 17 +f 3 9 18 +f 10 12 19 +f 15 10 19 +f 1 10 20 +f 7 11 20 +f 11 14 20 +f 15 7 20 +f 10 15 20 +f 2 3 22 +f 4 2 22 +f 7 4 22 +f 11 7 22 +f 3 11 22 +f 6 4 23 +f 12 6 23 +f 4 15 23 +f 19 12 23 +f 15 19 23 +f 8 14 24 +f 9 17 24 +f 17 8 24 +f 3 18 24 +f 18 9 24 +f 6 12 25 +f 13 6 25 +f 12 16 25 +f 11 3 26 +f 14 11 26 +f 3 21 26 +f 8 1 27 +f 14 8 27 +f 1 20 27 +f 20 14 27 +f 21 3 28 +f 24 14 28 +f 3 24 28 +f 14 26 28 +f 26 21 28 +f 5 13 29 +f 16 17 29 +f 17 5 29 +f 13 25 29 +o convex_1 +v 0.228187 2.502617 4.225683 +v -0.545712 0.221880 -1.434849 +v -0.097476 0.221880 -1.434849 +v -1.075310 2.461535 -3.308933 +v 1.042872 2.339404 -3.391074 +v 1.002085 0.221880 4.510384 +v -1.034523 0.221880 4.673868 +v 1.042872 0.384647 -3.349605 +v -1.034523 2.339404 4.592525 +v 1.042872 2.502617 4.756009 +v -0.952949 0.466141 -3.308933 +v -1.075310 0.221880 -1.353506 +v 1.083659 0.221880 -1.394975 +v -1.075310 2.502617 2.147443 +v 1.083659 2.461535 -1.190819 +v 0.961298 0.221880 4.714540 +v 1.083659 0.425506 2.106771 +v 1.083659 2.461535 4.022325 +v -1.034523 0.466141 4.714540 +v -0.423350 0.425506 -3.349605 +v 1.083659 1.972790 -2.983560 +v -1.034523 2.502617 0.642593 +v 1.042872 1.565539 4.756009 +v 1.042872 2.461535 -1.598333 +v 0.757574 2.502617 4.756009 +v -1.034523 2.502617 2.799784 +v -0.993736 0.425506 -3.024232 +v 0.798361 2.380040 -3.349605 +v -0.912161 2.380040 4.592525 +v 1.083659 0.425506 -2.738733 +v -0.708649 0.832756 -3.349605 +v 1.042872 0.221880 3.573342 +v -1.075310 2.094920 -3.308933 +v -0.504924 2.380040 -3.349605 +v -1.075310 0.262516 -0.661291 +v 1.042872 1.199371 4.673070 +v -0.749436 2.339404 4.632399 +v 1.042872 2.502617 4.348495 +v -0.871586 2.461535 -3.267464 +v -0.627074 0.221880 4.714540 +v 0.716998 0.384647 -3.349605 +v -0.708649 0.425506 -3.308933 +v 1.083659 0.221880 1.862742 +v -1.075310 0.384647 -1.678879 +v -1.075310 1.728305 1.414557 +v 0.920511 2.217051 -3.391074 +v 0.961298 1.443185 4.756009 +v 0.594637 2.054284 4.756009 +v 1.042872 2.380040 -3.105575 +v -0.993736 0.751261 -3.308933 +f 62 60 79 +f 31 32 35 +f 31 35 36 +f 32 31 37 +f 31 36 41 +f 35 32 42 +f 32 37 42 +f 30 39 43 +f 33 41 43 +f 36 35 45 +f 42 44 46 +f 46 44 47 +f 44 39 47 +f 38 43 48 +f 43 36 48 +f 37 34 50 +f 34 44 50 +f 44 42 50 +f 43 39 51 +f 33 43 51 +f 47 39 52 +f 39 30 54 +f 52 39 54 +f 30 43 55 +f 43 38 55 +f 34 33 57 +f 54 30 58 +f 30 55 58 +f 55 38 58 +f 42 37 59 +f 37 50 59 +f 50 42 59 +f 49 40 60 +f 35 42 61 +f 41 33 62 +f 33 60 62 +f 33 34 63 +f 60 33 63 +f 41 36 64 +f 43 41 64 +f 45 35 65 +f 46 47 65 +f 52 45 65 +f 47 52 65 +f 35 61 65 +f 61 46 65 +f 38 48 66 +f 48 54 66 +f 54 58 66 +f 58 38 66 +f 39 44 67 +f 51 39 67 +f 44 53 67 +f 53 51 67 +f 33 51 68 +f 51 53 68 +f 57 33 68 +f 53 57 68 +f 36 45 69 +f 48 36 69 +f 37 31 70 +f 31 41 70 +f 49 70 71 +f 40 49 71 +f 56 40 71 +f 41 56 71 +f 70 41 71 +f 42 46 72 +f 61 42 72 +f 46 61 72 +f 56 41 73 +f 41 62 73 +f 62 56 73 +f 36 43 74 +f 64 36 74 +f 43 64 74 +f 34 37 75 +f 49 60 75 +f 63 34 75 +f 60 63 75 +f 37 70 75 +f 70 49 75 +f 45 52 76 +f 52 54 76 +f 69 45 76 +f 48 69 76 +f 54 48 77 +f 48 76 77 +f 76 54 77 +f 44 34 78 +f 53 44 78 +f 34 57 78 +f 57 53 78 +f 40 56 79 +f 60 40 79 +f 56 62 79 +o convex_2 +v -0.301337 -0.348981 -3.065171 +v 0.309686 -0.837631 -1.802409 +v 0.309686 -0.919158 -1.802409 +v -0.382816 -0.267455 -1.476510 +v -0.301337 -0.878330 -1.476510 +v 0.228208 -0.919158 -3.472545 +v 0.187468 -0.348981 -3.472545 +v 0.228208 -0.389681 -1.476510 +v -0.179119 -0.796868 -3.309595 +v 0.309686 -0.796868 -3.472545 +v -0.301337 -0.430444 -3.309595 +v 0.268947 -0.878330 -1.476510 +v -0.179119 -0.267455 -1.476510 +v -0.342076 -0.267455 -1.965358 +v 0.187468 -0.348981 -1.476510 +v -0.016229 -0.348981 -3.431710 +v 0.309686 -0.919158 -3.472545 +v -0.260530 -0.837631 -2.332288 +v -0.342076 -0.633942 -1.517345 +v -0.301337 -0.471144 -3.268760 +f 84 98 99 +f 82 84 85 +f 83 84 87 +f 81 82 89 +f 85 86 89 +f 87 81 89 +f 86 87 89 +f 83 80 90 +f 85 88 90 +f 82 81 91 +f 84 82 91 +f 81 87 91 +f 87 84 91 +f 83 87 92 +f 80 83 93 +f 83 92 93 +f 92 86 93 +f 87 86 94 +f 86 92 94 +f 92 87 94 +f 86 85 95 +f 90 80 95 +f 85 90 95 +f 80 93 95 +f 93 86 95 +f 82 85 96 +f 89 82 96 +f 85 89 96 +f 85 84 97 +f 88 85 97 +f 84 83 98 +f 83 90 99 +f 90 88 99 +f 97 84 99 +f 88 97 99 +f 98 83 99 +o convex_3 +v -0.341993 -0.634085 -1.476510 +v 1.083659 -1.489230 4.756009 +v 1.083659 -1.570753 4.756009 +v -1.034531 0.221434 4.674259 +v 1.083659 0.221434 -1.394150 +v -0.993743 -1.693130 -1.353885 +v 1.042872 -1.693130 -1.435635 +v -0.952956 -1.652275 4.469884 +v 0.961297 0.221434 4.715134 +v -1.075318 0.221434 -1.353885 +v -0.993743 -1.611608 4.591899 +v 1.042872 -1.693130 0.723418 +v 1.083659 0.221434 1.822162 +v 1.083659 -1.122659 -1.435635 +v -0.138268 -1.693130 2.311441 +v -1.075318 -0.145324 -1.353885 +v -1.034531 -0.226660 4.674259 +v 1.042872 0.221434 3.615170 +v 1.042872 -1.611608 -1.476510 +v -1.034531 -1.204182 -1.353885 +v -0.179055 -0.267515 -1.476510 +v -0.301205 0.221434 4.715134 +v 0.309547 -1.611608 4.673649 +v -0.545718 0.221434 -1.435024 +v -0.912380 -1.693130 0.724028 +v 1.002085 0.099056 4.715134 +v 0.961297 -1.570753 4.756009 +v -0.301205 -0.878279 -1.476510 +v 0.187396 -0.349037 -1.476510 +v 1.042872 -1.122659 4.756009 +v 1.042872 -0.389705 -1.435635 +v -1.075318 0.180579 -0.783465 +v -0.993743 -1.652275 3.900074 +v -0.382780 -0.267515 -1.476510 +v -0.993743 -0.349037 4.674259 +v -0.179055 0.221434 -1.435024 +f 128 120 135 +f 101 102 104 +f 104 103 108 +f 103 104 109 +f 106 102 111 +f 105 106 111 +f 101 104 112 +f 104 108 112 +f 104 102 113 +f 102 106 113 +f 105 111 114 +f 115 110 116 +f 101 112 117 +f 112 108 117 +f 106 105 118 +f 104 113 118 +f 113 106 118 +f 110 115 119 +f 118 100 120 +f 108 103 121 +f 103 116 121 +f 110 107 122 +f 111 102 122 +f 107 114 122 +f 114 111 122 +f 109 104 123 +f 105 114 124 +f 114 107 124 +f 101 117 125 +f 117 108 125 +f 102 101 126 +f 121 116 126 +f 122 102 126 +f 110 122 126 +f 105 100 127 +f 100 118 127 +f 118 105 127 +f 118 120 128 +f 108 121 129 +f 101 125 129 +f 125 108 129 +f 126 101 129 +f 121 126 129 +f 104 118 130 +f 128 104 130 +f 118 128 130 +f 103 109 131 +f 109 115 131 +f 115 116 131 +f 116 103 131 +f 107 110 132 +f 119 105 132 +f 110 119 132 +f 105 124 132 +f 124 107 132 +f 100 105 133 +f 115 109 133 +f 105 119 133 +f 119 115 133 +f 120 100 133 +f 109 123 133 +f 123 120 133 +f 116 110 134 +f 110 126 134 +f 126 116 134 +f 123 104 135 +f 120 123 135 +f 104 128 135 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/051/051.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/051/051.urdf new file mode 100644 index 000000000..d4489e2b3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/051/051.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/052/052.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/052/052.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/052/052.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/052/052.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/052/052.obj new file mode 100644 index 000000000..3e60812d1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/052/052.obj @@ -0,0 +1,786 @@ +o convex_0 +v 2.684837 -2.348429 0.504092 +v 1.028392 -2.629690 -0.558372 +v 1.028392 -2.317264 -0.558372 +v 4.122021 -2.379595 -0.339473 +v 1.028392 -1.785908 0.222828 +v 1.028392 -2.817124 0.347897 +v 3.840751 -1.911011 -0.402064 +v 3.996974 -2.785848 0.035282 +v 4.153197 -2.004728 0.097759 +v 1.028392 -1.785908 -0.464429 +v 1.028392 -1.848459 0.535331 +v 1.059910 -2.879565 -0.433190 +v 3.965798 -2.410871 0.379023 +v 1.059910 -2.754683 0.472853 +v 4.528338 -2.410871 -0.058209 +v 3.309729 -1.879735 0.191590 +v 3.372082 -2.723297 -0.308234 +v 2.684837 -2.754683 0.379023 +v 1.622451 -2.910951 0.035395 +v 2.559790 -2.567139 -0.495781 +v 1.028392 -2.410760 0.597922 +v 2.747532 -2.004728 0.441614 +v 4.059327 -2.442036 -0.370712 +v 3.184682 -2.036003 -0.464542 +v 2.716356 -2.879675 0.035282 +v 2.434743 -2.817124 -0.370712 +v 3.559824 -1.879735 -0.120800 +v 4.215892 -1.973452 -0.026970 +v 1.153439 -1.817294 -0.495781 +v 1.028392 -2.910951 0.097873 +v 3.996974 -2.785848 -0.026970 +v 3.622176 -2.692131 0.285306 +v 4.465986 -2.410871 0.066521 +v 2.184991 -2.254713 -0.526906 +v 3.778056 -2.129720 0.316545 +v 2.278520 -2.410760 0.535331 +v 1.122263 -2.754683 -0.526906 +v 1.372357 -1.785908 -0.151926 +v 3.903103 -2.442036 -0.402064 +v 1.278486 -2.317264 0.597922 +v 2.434743 -1.848459 0.316659 +v 1.028392 -2.910951 -0.245643 +v 4.122021 -2.410871 0.316545 +v 2.372391 -2.879565 -0.120687 +v 1.216134 -1.785908 -0.464429 +v 1.747498 -1.911011 0.504092 +v 4.340940 -2.098555 0.035282 +v 3.653352 -1.942286 -0.433303 +v 2.559790 -2.848400 0.160351 +v 4.465986 -2.317264 -0.089448 +v 3.965798 -2.286098 0.347784 +v 3.747223 -2.723297 -0.214517 +v 3.403258 -1.879735 0.160351 +v 2.653661 -2.504587 -0.495781 +v 1.278486 -2.036003 -0.526906 +v 2.497095 -2.723407 0.410375 +v 1.341181 -2.473422 -0.558372 +v 2.716356 -2.410871 0.504092 +f 36 56 58 +f 3 2 5 +f 5 2 6 +f 3 5 10 +f 5 6 11 +f 14 6 18 +f 11 6 21 +f 6 14 21 +f 1 13 22 +f 7 4 23 +f 4 15 23 +f 7 27 28 +f 3 10 29 +f 6 2 30 +f 19 25 30 +f 15 8 31 +f 23 15 31 +f 8 25 31 +f 18 8 32 +f 13 18 32 +f 8 15 33 +f 9 16 35 +f 16 22 35 +f 21 14 36 +f 12 2 37 +f 2 20 37 +f 26 12 37 +f 20 26 37 +f 10 5 38 +f 7 23 39 +f 23 17 39 +f 17 26 39 +f 26 20 39 +f 11 21 40 +f 36 1 40 +f 21 36 40 +f 5 11 41 +f 22 16 41 +f 2 12 42 +f 25 19 42 +f 30 2 42 +f 19 30 42 +f 32 8 43 +f 13 32 43 +f 8 33 43 +f 12 26 44 +f 31 25 44 +f 26 31 44 +f 42 12 44 +f 25 42 44 +f 27 7 45 +f 29 10 45 +f 7 29 45 +f 10 38 45 +f 38 27 45 +f 1 22 46 +f 11 40 46 +f 40 1 46 +f 41 11 46 +f 22 41 46 +f 28 9 47 +f 33 15 47 +f 43 33 47 +f 29 7 48 +f 24 29 48 +f 7 39 48 +f 18 6 49 +f 8 18 49 +f 25 8 49 +f 6 30 49 +f 30 25 49 +f 4 7 50 +f 15 4 50 +f 7 28 50 +f 47 15 50 +f 28 47 50 +f 22 13 51 +f 9 35 51 +f 35 22 51 +f 13 43 51 +f 47 9 51 +f 43 47 51 +f 17 23 52 +f 26 17 52 +f 23 31 52 +f 31 26 52 +f 16 9 53 +f 28 27 53 +f 9 28 53 +f 38 5 53 +f 27 38 53 +f 5 41 53 +f 41 16 53 +f 34 24 54 +f 39 20 54 +f 24 48 54 +f 48 39 54 +f 3 29 55 +f 29 24 55 +f 34 3 55 +f 24 34 55 +f 18 13 56 +f 14 18 56 +f 36 14 56 +f 2 3 57 +f 20 2 57 +f 3 34 57 +f 54 20 57 +f 34 54 57 +f 13 1 58 +f 1 36 58 +f 56 13 58 +o convex_1 +v -0.596487 -0.535983 0.972937 +v -0.533972 -1.785786 -1.027140 +v -1.034089 -1.785786 -0.995815 +v -0.003075 -1.785786 0.972937 +v 0.559318 -0.535983 -0.745610 +v -1.409177 -0.535983 -0.870712 +v -1.471453 -1.785786 0.660278 +v 0.903387 -1.785786 0.254037 +v 0.590814 -0.535983 0.785380 +v -1.377681 -0.535983 0.878963 +v 0.528061 -1.785786 -0.745610 +v -1.440195 -1.785786 -0.776934 +v 0.309498 -0.535983 -0.933362 +v -1.252651 -1.785786 0.910287 +v -1.502710 -0.535983 -0.151813 +v 0.622071 -1.785786 0.754056 +v -0.784269 -0.535983 -0.995815 +v 0.340755 -0.535983 0.941612 +v 0.778358 -1.785786 -0.495796 +v 0.309498 -1.785786 -0.933362 +v -1.534206 -1.785786 0.347619 +v 0.622071 -0.567304 -0.433147 +v -1.440195 -0.535983 0.816509 +v -1.502710 -0.567304 -0.526925 +v -1.315405 -1.598223 -0.964295 +v 0.340755 -1.785786 0.941612 +v 0.871891 -1.754464 -0.214462 +v -0.690259 -1.785786 0.972937 +v 0.809376 -1.691943 0.566500 +v -1.284148 -0.598504 -0.964295 +v -1.534206 -1.785786 0.004027 +v -0.315410 -0.535983 -0.995815 +v -1.315405 -0.535983 0.910287 +v -0.440200 -1.629545 -1.027140 +v -0.096847 -0.535983 0.972937 +v -1.409177 -1.785786 0.785380 +v 0.903387 -1.754464 0.254037 +v 0.715843 -1.317064 -0.589378 +v -1.502710 -1.567024 -0.401822 +v -1.502710 -0.598504 0.035352 +v 0.497042 -0.692346 -0.808259 +v -1.377681 -1.754464 -0.901841 +v 0.590814 -0.598504 -0.714481 +v 0.559318 -1.036026 0.816509 +v -1.534206 -1.504503 0.097610 +v -1.440195 -0.535983 -0.808259 +f 82 73 104 +f 61 60 62 +f 59 63 64 +f 61 62 65 +f 62 60 66 +f 63 59 67 +f 59 64 68 +f 66 60 69 +f 61 65 70 +f 64 63 71 +f 65 62 72 +f 68 64 73 +f 62 66 74 +f 60 61 75 +f 64 71 75 +f 67 59 76 +f 66 69 77 +f 69 60 78 +f 70 65 79 +f 63 67 80 +f 68 73 81 +f 79 65 81 +f 62 74 84 +f 76 62 84 +f 66 77 85 +f 62 59 86 +f 72 62 86 +f 74 66 87 +f 67 74 87 +f 75 61 88 +f 64 75 88 +f 61 83 88 +f 83 64 88 +f 70 79 89 +f 75 71 90 +f 59 68 91 +f 68 72 91 +f 86 59 91 +f 72 86 91 +f 60 75 92 +f 78 60 92 +f 71 78 92 +f 90 71 92 +f 75 90 92 +f 59 62 93 +f 76 59 93 +f 62 76 93 +f 65 72 94 +f 72 68 94 +f 81 65 94 +f 68 81 94 +f 80 67 95 +f 66 85 95 +f 85 80 95 +f 87 66 95 +f 67 87 95 +f 77 69 96 +f 85 77 96 +f 82 70 97 +f 70 89 97 +f 89 82 97 +f 81 73 98 +f 79 81 98 +f 71 63 99 +f 69 78 99 +f 78 71 99 +f 96 69 99 +f 61 70 100 +f 70 64 100 +f 83 61 100 +f 64 83 100 +f 63 80 101 +f 80 85 101 +f 85 96 101 +f 99 63 101 +f 96 99 101 +f 74 67 102 +f 67 76 102 +f 84 74 102 +f 76 84 102 +f 73 82 103 +f 89 79 103 +f 82 89 103 +f 98 73 103 +f 79 98 103 +f 64 70 104 +f 73 64 104 +f 70 82 104 +o convex_2 +v 0.153294 4.213782 -0.558176 +v -1.502955 -0.535347 -0.495790 +v -1.502955 -0.535347 -0.183052 +v 0.590875 -0.535347 0.660272 +v -1.252908 3.713738 0.816540 +v 0.309470 -0.535861 -0.933098 +v -1.190397 3.619691 -0.745738 +v -1.346573 -0.504512 0.910422 +v 0.246959 3.713738 0.816540 +v 0.465852 2.338490 -0.870712 +v -1.252908 -0.535861 -0.964594 +v -0.534128 4.714339 0.066291 +v -0.471617 3.714252 1.066690 +v -0.440463 3.714252 -0.995888 +v 0.559517 3.713738 0.035401 +v 0.340829 -0.535861 0.941514 +v -1.440238 3.745088 0.066493 +v 0.590875 -0.535347 -0.651856 +v 0.497005 2.182773 0.847834 +v -0.440463 4.495410 0.816540 +v -1.221550 4.463547 0.004309 +v 0.309470 4.463547 0.066493 +v -0.471617 4.432712 -0.745738 +v -1.440238 0.339858 0.878926 +v -1.346573 2.151424 -0.808124 +v 0.340829 3.682389 -0.745738 +v -0.596640 -0.535347 0.972808 +v -0.315440 -0.535347 -0.995888 +v -1.221550 0.620458 0.972808 +v -1.440238 0.152277 -0.839418 +v 0.590875 0.183113 -0.714444 +v -1.065374 4.307315 0.566390 +v -0.284287 3.495323 -0.995888 +v -1.440238 -0.535347 0.847632 +v 0.309470 3.713738 0.785246 +v -1.002862 4.245131 -0.558176 +v -1.440238 3.651554 -0.058279 +v -1.252908 2.369839 0.910220 +v 0.590875 0.402042 0.628978 +v 0.121936 4.245131 0.628978 +v 0.559517 -0.535347 0.816540 +v -1.190397 0.496089 -0.964594 +v 0.559517 3.463459 -0.151758 +v -1.440238 3.682389 0.160173 +v -0.534128 4.495410 0.816540 +v -0.377952 4.432712 -0.745738 +v -0.096752 -0.535347 0.972606 +v -0.784174 -0.535347 -0.995888 +v 0.340829 0.464226 0.941514 +v 0.340829 0.839388 -0.933098 +v -0.409310 4.714339 0.004309 +v 0.559517 -0.316417 -0.776830 +v -0.502770 3.588856 -0.995888 +v -1.440238 -0.473162 -0.839418 +v -1.221550 4.463547 0.066493 +v 0.559517 3.494809 0.160173 +v -0.502770 3.714252 1.066690 +v -1.190397 0.277160 0.972808 +v 0.090783 0.339344 -0.964594 +v 0.309470 3.651554 -0.777032 +v 0.309470 4.463547 0.035401 +v -1.471596 0.402042 -0.620562 +v -1.315215 2.463373 0.878926 +v -1.190397 3.713738 0.847632 +f 167 142 168 +f 107 106 115 +f 115 110 120 +f 106 107 121 +f 108 120 122 +f 120 110 122 +f 113 117 123 +f 117 113 124 +f 118 111 127 +f 125 116 127 +f 110 115 132 +f 128 112 133 +f 108 122 135 +f 132 118 137 +f 107 115 138 +f 115 120 138 +f 128 107 138 +f 112 128 138 +f 131 112 138 +f 120 131 138 +f 113 123 139 +f 124 113 139 +f 119 126 139 +f 111 125 140 +f 127 111 140 +f 125 127 140 +f 106 121 141 +f 125 111 141 +f 121 125 141 +f 111 129 141 +f 129 134 141 +f 108 135 143 +f 135 119 143 +f 126 124 144 +f 124 139 144 +f 139 126 144 +f 120 108 145 +f 108 143 145 +f 143 123 145 +f 115 134 146 +f 134 129 146 +f 114 130 147 +f 130 119 147 +f 135 114 147 +f 119 135 147 +f 121 107 148 +f 107 128 148 +f 124 116 149 +f 117 124 149 +f 136 109 149 +f 118 127 150 +f 105 130 150 +f 120 117 151 +f 117 131 151 +f 131 120 151 +f 132 115 152 +f 118 132 152 +f 115 146 152 +f 117 120 153 +f 123 117 153 +f 120 145 153 +f 145 123 153 +f 137 114 154 +f 116 124 155 +f 124 126 155 +f 127 116 155 +f 150 127 155 +f 122 110 156 +f 114 135 156 +f 135 122 156 +f 110 154 156 +f 154 114 156 +f 111 118 157 +f 129 111 157 +f 146 129 157 +f 118 152 157 +f 152 146 157 +f 115 106 158 +f 106 134 158 +f 134 115 158 +f 116 125 159 +f 125 121 159 +f 109 136 159 +f 121 148 159 +f 148 109 159 +f 149 116 159 +f 136 149 159 +f 139 123 160 +f 119 139 160 +f 123 143 160 +f 143 119 160 +f 131 117 161 +f 142 133 161 +f 117 149 161 +f 112 131 162 +f 133 112 162 +f 131 161 162 +f 161 133 162 +f 110 132 163 +f 132 137 163 +f 154 110 163 +f 137 154 163 +f 130 114 164 +f 114 137 164 +f 137 118 164 +f 118 150 164 +f 150 130 164 +f 126 119 165 +f 119 130 165 +f 130 105 165 +f 105 150 165 +f 155 126 165 +f 150 155 165 +f 134 106 166 +f 106 141 166 +f 141 134 166 +f 128 133 167 +f 133 142 167 +f 109 148 167 +f 148 128 167 +f 149 109 168 +f 142 161 168 +f 161 149 168 +f 109 167 168 +o convex_3 +v -1.690673 -2.723444 -0.089558 +v -1.596892 -2.035918 0.004104 +v -1.596892 -2.035918 -0.027117 +v -3.471596 -2.317227 0.035389 +v -1.596892 -2.567176 0.285410 +v -1.596892 -2.348521 -0.370865 +v -3.252835 -2.598402 -0.027117 +v -3.252835 -2.317227 0.222905 +v -3.065273 -2.160959 -0.152063 +v -1.628275 -2.129800 0.285410 +v -3.190253 -2.442134 -0.214569 +v -1.596892 -2.660923 -0.308359 +v -3.065273 -2.098438 0.004104 +v -1.690673 -2.098438 -0.308359 +v -2.909093 -2.567176 0.191620 +v -1.596892 -2.692082 0.160400 +v -2.565351 -2.348521 -0.308359 +v -3.252835 -2.598402 0.066609 +v -3.002874 -2.160959 0.160400 +v -2.534152 -2.598402 -0.245854 +v -1.596892 -2.067279 0.191620 +v -3.221452 -2.317227 -0.214569 +v -2.846511 -2.379681 0.254126 +v -2.627750 -2.067279 -0.058337 +v -2.721531 -2.660923 -0.027117 +v -2.471937 -2.129800 -0.245854 +v -3.221452 -2.129800 0.004104 +v -3.471596 -2.379681 -0.027117 +v -3.221452 -2.410840 0.222905 +v -2.534152 -2.410840 -0.308359 +v -1.628275 -2.723444 0.066609 +v -1.784454 -2.067279 -0.245854 +v -1.596892 -2.098438 -0.308359 +v -1.628275 -2.723444 -0.152063 +v -1.628275 -2.660923 0.222905 +f 186 184 203 +f 171 170 173 +f 171 173 174 +f 174 173 180 +f 180 173 184 +f 182 174 185 +f 176 178 187 +f 175 179 188 +f 173 170 189 +f 178 173 189 +f 187 178 189 +f 181 187 189 +f 185 179 190 +f 178 176 191 +f 173 178 191 +f 170 171 192 +f 177 181 192 +f 189 170 192 +f 181 189 192 +f 186 175 193 +f 175 188 193 +f 182 185 194 +f 190 177 194 +f 185 190 194 +f 177 192 194 +f 172 176 195 +f 181 177 195 +f 176 187 195 +f 187 181 195 +f 190 172 195 +f 177 190 195 +f 179 175 196 +f 175 186 196 +f 186 172 196 +f 172 190 196 +f 190 179 196 +f 176 172 197 +f 183 173 197 +f 172 186 197 +f 186 183 197 +f 191 176 197 +f 173 191 197 +f 174 180 198 +f 179 185 198 +f 185 174 198 +f 188 179 198 +f 180 188 198 +f 184 186 199 +f 193 169 199 +f 186 193 199 +f 192 171 200 +f 182 194 200 +f 194 192 200 +f 171 174 201 +f 174 182 201 +f 200 171 201 +f 182 200 201 +f 180 184 202 +f 188 180 202 +f 169 193 202 +f 193 188 202 +f 199 169 202 +f 184 199 202 +f 173 183 203 +f 184 173 203 +f 183 186 203 +o convex_4 +v 0.278095 -2.848188 0.816509 +v -0.690354 -2.411045 -1.027140 +v -0.565218 -2.942107 -0.870712 +v -1.502832 -2.879547 0.722731 +v 1.028391 -1.786064 0.222712 +v -1.377697 -1.785908 0.816509 +v -1.409045 -1.785908 -0.839584 +v 0.997043 -2.910749 -0.433147 +v -1.252819 -3.379719 -0.058035 +v 0.309443 -1.785908 -0.933362 +v 0.340791 -1.785908 0.941612 +v -1.502832 -2.973153 -0.620703 +v 1.028391 -2.785784 0.441397 +v 0.403230 -3.067072 -0.839388 +v 0.247004 -3.285956 0.004027 +v -1.346606 -3.192037 0.754056 +v 1.028391 -1.817422 -0.495796 +v -1.596619 -2.036150 0.035156 +v -0.627657 -2.442247 0.972937 +v -1.284167 -3.129477 -0.745610 +v 0.278095 -3.035870 0.754056 +v 0.997043 -2.379843 0.628953 +v -1.284167 -1.785908 -0.964490 +v 1.028391 -2.660819 -0.558054 +v -0.408992 -3.379719 0.035352 +v -1.252819 -1.785908 0.910287 +v -1.502832 -3.192037 -0.089359 +v 0.278095 -2.317438 0.972937 +v -1.252819 -2.504964 -0.964490 +v 1.028391 -1.848624 0.535371 +v -1.596619 -2.660663 -0.308044 +v 0.247004 -2.317438 -0.964295 +v -0.408992 -1.785908 -1.027140 +v -1.533924 -1.785908 0.347815 +v -0.377644 -3.160679 -0.745610 +v 0.997043 -2.941951 0.066481 +v -0.690354 -1.785908 0.972937 +v -1.221471 -2.411045 0.910287 +v -1.596619 -2.598414 0.285166 +v -0.440340 -3.379719 -0.089359 +v -0.346553 -3.129477 0.754056 +v -1.596619 -2.098554 -0.308044 +v -1.502832 -3.129477 0.535175 +v -1.471484 -2.442247 -0.776934 +v 0.403230 -3.098274 -0.808259 +v -0.377644 -2.442247 -1.027140 +v -1.471484 -1.879827 0.722731 +v -0.471431 -3.098430 0.785380 +v -1.596619 -2.192473 0.316490 +v -0.627657 -3.129477 -0.808259 +v 0.340791 -2.379687 -0.933362 +v 1.028391 -2.286080 -0.558054 +v -1.533924 -1.785908 -0.027102 +v 1.028391 -2.910749 -0.370693 +v 1.028391 -1.786064 -0.464471 +v -1.596619 -2.754582 0.003832 +v -1.284167 -3.129477 0.785380 +v -1.252819 -3.160679 -0.714481 +v -1.284167 -3.348360 0.128934 +v -1.127941 -3.223395 0.660278 +v -0.003010 -1.785908 0.972937 +v -1.065245 -1.817266 -0.995815 +v 0.309443 -3.254598 -0.120488 +v -0.315205 -2.442247 0.972937 +f 260 251 267 +f 210 209 213 +f 213 209 214 +f 208 216 220 +f 204 224 225 +f 224 216 225 +f 210 213 226 +f 211 217 227 +f 220 216 227 +f 218 224 228 +f 209 207 229 +f 214 209 229 +f 215 223 230 +f 223 212 230 +f 204 225 231 +f 225 214 231 +f 205 206 232 +f 223 215 232 +f 208 214 233 +f 216 208 233 +f 214 225 233 +f 225 216 233 +f 215 230 234 +f 226 213 236 +f 213 235 236 +f 209 210 237 +f 216 224 239 +f 224 218 239 +f 214 229 240 +f 222 231 240 +f 207 219 241 +f 229 207 241 +f 240 229 241 +f 222 240 241 +f 221 234 242 +f 228 212 243 +f 218 228 243 +f 228 224 244 +f 234 221 245 +f 219 207 246 +f 207 242 246 +f 210 226 247 +f 232 215 247 +f 226 232 247 +f 215 234 247 +f 245 210 247 +f 234 245 247 +f 217 211 248 +f 243 238 248 +f 206 205 249 +f 217 206 249 +f 235 217 249 +f 205 236 249 +f 236 235 249 +f 207 209 250 +f 209 237 250 +f 224 204 251 +f 219 244 251 +f 244 224 251 +f 237 221 252 +f 242 207 252 +f 221 242 252 +f 207 250 252 +f 250 237 252 +f 206 217 253 +f 232 206 253 +f 223 232 253 +f 217 248 253 +f 248 238 253 +f 227 217 254 +f 235 213 254 +f 217 235 254 +f 213 220 255 +f 220 227 255 +f 227 254 255 +f 254 213 255 +f 237 210 256 +f 221 237 256 +f 210 245 256 +f 245 221 256 +f 211 227 257 +f 227 216 257 +f 216 239 257 +f 248 211 257 +f 214 208 258 +f 213 214 258 +f 208 220 258 +f 220 213 258 +f 234 230 259 +f 242 234 259 +f 230 246 259 +f 246 242 259 +f 241 219 260 +f 222 241 260 +f 219 251 260 +f 212 223 261 +f 243 212 261 +f 238 243 261 +f 223 253 261 +f 253 238 261 +f 212 228 262 +f 230 212 262 +f 219 246 262 +f 246 230 262 +f 244 219 263 +f 228 244 263 +f 262 228 263 +f 219 262 263 +f 231 214 264 +f 214 240 264 +f 240 231 264 +f 205 232 265 +f 232 226 265 +f 236 205 265 +f 226 236 265 +f 239 218 266 +f 218 243 266 +f 243 248 266 +f 257 239 266 +f 248 257 266 +f 204 231 267 +f 231 222 267 +f 251 204 267 +f 222 260 267 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/052/052.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/052/052.urdf new file mode 100644 index 000000000..966b64e8a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/052/052.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/053/053.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/053/053.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/053/053.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/053/053.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/053/053.obj new file mode 100644 index 000000000..669f1d2c0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/053/053.obj @@ -0,0 +1,729 @@ +o convex_0 +v -1.495735 3.911468 -1.040790 +v 0.526751 3.024888 1.052693 +v -1.353608 3.946916 1.123669 +v -1.602225 2.102297 0.591241 +v 0.455688 2.102297 -1.040790 +v 0.491115 3.982364 -0.934008 +v -1.602225 2.102297 -0.934220 +v 0.526751 2.102109 1.052693 +v 0.455688 3.982364 0.981504 +v -1.566589 2.244090 0.981716 +v -1.495735 4.018188 -0.259839 +v -1.495735 3.946916 1.123669 +v -1.353608 4.018188 -1.040790 +v -1.602225 2.528050 -0.969814 +v 0.029934 4.018188 0.520264 +v 0.491115 3.734039 1.052693 +v -0.005701 2.102297 1.052481 +v 0.526751 2.102109 0.449288 +v -1.566589 2.102297 0.946122 +v -0.112192 4.018188 -0.969602 +v -1.495735 2.102297 -0.969814 +v -0.927855 4.018188 0.484882 +v 0.065362 2.102297 -1.040790 +v 0.491115 3.947104 1.016887 +v -1.566589 2.740927 1.017099 +v -1.495735 4.018188 -1.040790 +v 0.171852 4.018188 -0.330815 +v 0.455688 2.208642 -1.040790 +v -1.495735 3.876020 1.123669 +v 0.491115 3.627695 -0.934008 +v -1.531162 3.592059 -0.898838 +v 0.349197 3.946916 1.052481 +f 16 24 32 +f 2 3 8 +f 4 7 8 +f 3 9 12 +f 5 1 13 +f 7 4 14 +f 13 11 15 +f 3 2 16 +f 6 2 18 +f 8 7 18 +f 2 8 18 +f 4 8 19 +f 10 4 19 +f 8 17 19 +f 17 10 19 +f 13 15 20 +f 14 1 21 +f 7 14 21 +f 18 7 21 +f 12 9 22 +f 11 12 22 +f 9 15 22 +f 15 11 22 +f 1 5 23 +f 5 18 23 +f 21 1 23 +f 18 21 23 +f 2 6 24 +f 6 9 24 +f 16 2 24 +f 4 10 25 +f 14 4 25 +f 12 14 25 +f 13 1 26 +f 11 13 26 +f 1 14 26 +f 9 6 27 +f 15 9 27 +f 6 20 27 +f 20 15 27 +f 6 5 28 +f 5 13 28 +f 20 6 28 +f 13 20 28 +f 8 3 29 +f 3 12 29 +f 17 8 29 +f 10 17 29 +f 25 10 29 +f 12 25 29 +f 5 6 30 +f 6 18 30 +f 18 5 30 +f 12 11 31 +f 14 12 31 +f 11 26 31 +f 26 14 31 +f 9 3 32 +f 3 16 32 +f 24 9 32 +o convex_1 +v -3.518095 -1.268749 -0.295645 +v -1.602420 -0.736526 0.236592 +v -1.779966 -1.304197 0.272078 +v -1.602420 -1.233176 -0.331131 +v -3.518095 -0.772036 0.165560 +v -3.589075 -0.807547 -0.295645 +v -3.447115 -1.304197 0.272078 +v -1.602420 -0.807547 -0.224613 +v -3.411528 -1.375219 -0.295645 +v -1.602420 -1.339645 0.236592 +v -3.482508 -1.162279 0.272078 +v -1.673399 -1.339645 -0.011813 +v -2.241043 -0.736526 0.059160 +v -2.418395 -1.339645 0.272078 +v -1.673399 -1.268749 -0.331131 +v -1.602420 -0.772036 -0.153699 +v -2.063691 -0.807547 -0.260159 +v -2.028298 -0.736526 0.236592 +v -2.276630 -1.268749 -0.331131 +v -1.602420 -1.162279 -0.331131 +v -2.595747 -1.055872 0.272078 +f 50 43 53 +f 34 36 40 +f 39 33 41 +f 34 35 42 +f 36 34 42 +f 37 38 43 +f 38 33 43 +f 33 39 43 +f 39 35 43 +f 42 41 44 +f 36 42 44 +f 38 37 45 +f 35 39 46 +f 39 41 46 +f 41 42 46 +f 42 35 46 +f 36 44 47 +f 44 41 47 +f 34 40 48 +f 45 34 48 +f 38 45 48 +f 48 40 49 +f 38 48 49 +f 37 43 50 +f 34 45 50 +f 45 37 50 +f 33 38 51 +f 41 33 51 +f 36 47 51 +f 47 41 51 +f 40 36 52 +f 38 49 52 +f 49 40 52 +f 36 51 52 +f 51 38 52 +f 35 34 53 +f 43 35 53 +f 34 50 53 +o convex_2 +v 1.875103 -1.339736 0.236575 +v 2.549199 -0.665560 -0.011750 +v 2.549199 -0.665560 -0.189179 +v 2.584623 -1.304232 -0.295649 +v 1.875103 -0.701064 -0.260138 +v 2.584623 -0.913954 0.343044 +v 1.910666 -0.772137 0.307534 +v 1.875103 -1.339736 -0.260138 +v 2.584623 -1.233158 0.343044 +v 2.584623 -0.736567 0.307534 +v 2.123556 -1.233158 0.343044 +v 2.513705 -1.339736 -0.260138 +v 2.052639 -0.665560 -0.260138 +v 1.875103 -0.807575 0.307534 +f 64 60 67 +f 54 58 61 +f 58 57 61 +f 57 59 62 +f 56 55 63 +f 57 56 63 +f 59 57 63 +f 55 60 63 +f 60 59 63 +f 59 60 64 +f 54 62 64 +f 62 59 64 +f 54 61 65 +f 61 57 65 +f 62 54 65 +f 57 62 65 +f 55 56 66 +f 56 57 66 +f 57 58 66 +f 58 60 66 +f 60 55 66 +f 58 54 67 +f 60 58 67 +f 54 64 67 +o convex_3 +v -1.566555 -0.381669 0.591289 +v 0.526751 -0.239803 0.946209 +v 0.491098 -0.097833 0.946209 +v 0.491098 -0.097833 -1.111756 +v 0.491098 -0.630077 -1.111756 +v -1.460209 -0.097833 -0.934296 +v -1.495658 -0.630077 1.088002 +v -1.495658 -0.630077 -0.934296 +v -1.495658 -0.097833 1.123669 +v 0.526751 -0.630077 0.946209 +v 0.526751 -0.204376 -0.969526 +v -1.389312 -0.559066 -0.969744 +v -1.566555 -0.630077 0.200922 +v -1.495658 -0.097833 -0.756836 +v 0.278202 -0.097833 -1.111756 +v 0.526751 -0.630077 -0.969526 +v -1.531106 -0.097833 1.052554 +v 0.313650 -0.630077 -1.111756 +v -1.424761 -0.133364 1.123669 +v -1.566555 -0.630077 0.662186 +v 0.242753 -0.097833 0.981657 +f 86 77 88 +f 70 71 73 +f 72 74 75 +f 70 73 76 +f 74 72 77 +f 70 69 78 +f 71 70 78 +f 72 71 78 +f 69 77 78 +f 75 73 79 +f 75 74 80 +f 75 80 81 +f 73 75 81 +f 76 73 81 +f 80 68 81 +f 71 72 82 +f 73 71 82 +f 79 73 82 +f 77 72 83 +f 72 78 83 +f 78 77 83 +f 74 76 84 +f 81 68 84 +f 76 81 84 +f 72 75 85 +f 75 79 85 +f 82 72 85 +f 79 82 85 +f 76 74 86 +f 74 77 86 +f 68 80 87 +f 80 74 87 +f 84 68 87 +f 74 84 87 +f 69 70 88 +f 70 76 88 +f 77 69 88 +f 76 86 88 +o convex_4 +v -1.495630 -1.091560 1.052703 +v 0.313680 -0.807752 -1.111756 +v 0.313680 -0.630216 -1.111756 +v 0.562186 -1.233395 0.945921 +v -1.566478 -2.013693 -1.004974 +v 0.562186 -2.049394 0.945921 +v 0.491122 -1.978269 -1.111756 +v -1.495630 -0.630216 -0.934209 +v 0.526654 -0.630216 0.945921 +v -1.495630 -1.978269 0.981515 +v -1.531162 -0.630216 1.016897 +v 0.597717 -0.736765 -0.330805 +v -1.602225 -0.665779 0.342728 +v 0.491122 -0.630216 -1.111756 +v -0.537786 -2.049394 0.200988 +v -1.069898 -0.630216 1.052703 +v 0.597717 -1.836295 0.697610 +v -1.602225 -1.339805 0.236370 +v -0.325027 -2.013693 -1.040568 +v -1.602225 -0.807752 -0.224447 +v -1.460099 -0.665779 -0.969592 +v -1.531162 -1.907282 0.946133 +v 0.597717 -1.410514 -0.295423 +v 0.597717 -0.772189 0.271752 +v 0.526654 -1.871858 -0.969592 +v -1.531162 -2.013693 0.130011 +v 0.562186 -2.049394 0.626633 +v -0.608633 -2.049394 0.378322 +v 0.526654 -0.630216 -0.969592 +v -0.998834 -2.013693 -1.040780 +v -1.531162 -1.055997 -0.969592 +v -1.531162 -1.729885 -1.004974 +v -0.325027 -2.049394 0.059035 +v 0.242832 -2.049394 0.945921 +f 98 116 122 +f 90 91 95 +f 91 96 97 +f 94 89 98 +f 97 96 99 +f 99 96 101 +f 95 91 102 +f 91 97 102 +f 94 92 104 +f 89 94 104 +f 92 97 104 +f 99 89 104 +f 97 99 104 +f 92 94 105 +f 101 96 108 +f 93 106 108 +f 106 101 108 +f 96 91 109 +f 98 89 110 +f 89 99 110 +f 99 101 110 +f 106 93 110 +f 101 106 110 +f 100 105 111 +f 97 92 112 +f 100 97 112 +f 92 105 112 +f 105 100 112 +f 95 102 113 +f 100 111 113 +f 111 105 113 +f 98 110 114 +f 110 93 114 +f 94 103 115 +f 105 94 115 +f 107 95 115 +f 95 113 115 +f 113 105 115 +f 93 103 116 +f 103 94 116 +f 114 93 116 +f 98 114 116 +f 97 100 117 +f 102 97 117 +f 113 102 117 +f 100 113 117 +f 91 90 118 +f 90 95 118 +f 95 107 118 +f 93 108 119 +f 108 96 119 +f 96 109 119 +f 119 109 120 +f 109 91 120 +f 91 118 120 +f 118 93 120 +f 93 119 120 +f 103 93 121 +f 115 103 121 +f 107 115 121 +f 93 118 121 +f 118 107 121 +f 94 98 122 +f 116 94 122 +o convex_5 +v 1.732992 -1.197630 0.449417 +v 0.597842 -0.772169 -0.331131 +v 0.597842 -0.736679 -0.331131 +v 1.804009 -0.736679 -0.331055 +v 1.875026 -1.339590 -0.260075 +v 0.597842 -1.375080 -0.118116 +v 1.165604 -0.665560 0.449417 +v 0.597842 -1.304100 0.272005 +v 1.804009 -0.665560 0.449417 +v 1.520190 -1.339590 0.449417 +v 0.597842 -0.772169 0.272005 +v 1.165604 -1.233120 -0.331055 +v 1.804009 -0.665560 -0.331055 +v 1.875026 -1.339590 0.236477 +v 1.875026 -0.701189 -0.260075 +v 0.633351 -1.375080 -0.224624 +v 0.952553 -0.665560 -0.331131 +v 1.697608 -1.375080 0.342832 +v 1.201113 -1.268610 0.449417 +v 1.875026 -0.807658 0.307457 +v 1.732992 -1.197630 -0.331055 +f 139 126 143 +f 125 124 128 +f 125 128 130 +f 129 123 131 +f 123 129 132 +f 129 125 133 +f 130 129 133 +f 125 130 133 +f 127 126 135 +f 129 131 135 +f 131 123 136 +f 127 135 137 +f 135 131 137 +f 136 127 137 +f 128 124 138 +f 124 134 138 +f 134 127 138 +f 124 125 139 +f 125 129 139 +f 135 126 139 +f 129 135 139 +f 130 128 140 +f 123 132 140 +f 132 130 140 +f 127 136 140 +f 136 123 140 +f 128 138 140 +f 138 127 140 +f 129 130 141 +f 132 129 141 +f 130 132 141 +f 131 136 142 +f 137 131 142 +f 136 137 142 +f 126 127 143 +f 134 124 143 +f 127 134 143 +f 124 139 143 +o convex_6 +v 1.165444 -1.162262 -1.609038 +v 1.839620 -1.091296 -2.566452 +v 1.804116 -0.665619 -0.331131 +v 1.272021 -0.807551 -3.027550 +v 1.733042 -1.197745 -0.331131 +v 1.200948 -0.665619 -0.331131 +v 1.804116 -0.630136 -2.992331 +v 1.200948 -1.233228 -3.098800 +v 1.165444 -1.233228 -0.331131 +v 1.768546 -1.197745 -3.098800 +v 1.200948 -0.665619 -0.898970 +v 1.520152 -1.233228 -0.331131 +v 1.839620 -0.665619 -2.992331 +v 1.413838 -0.630136 -1.395828 +v 1.804116 -1.197745 -1.749914 +v 1.200948 -1.126779 -3.098800 +v 1.165444 -0.843034 -0.473091 +v 1.839620 -1.162262 -3.098800 +v 1.413838 -1.233228 -3.098800 +v 1.484912 -0.807551 -3.063311 +v 1.804116 -0.630136 -2.069594 +v 1.697671 -0.630136 -2.708412 +f 154 157 165 +f 148 146 149 +f 148 149 152 +f 144 151 152 +f 148 152 155 +f 152 151 155 +f 146 145 156 +f 149 146 157 +f 154 149 157 +f 145 146 158 +f 146 148 158 +f 148 155 158 +f 155 153 158 +f 151 144 159 +f 153 151 159 +f 154 147 159 +f 154 159 160 +f 144 152 160 +f 152 149 160 +f 149 154 160 +f 159 144 160 +f 156 145 161 +f 150 156 161 +f 145 158 161 +f 158 153 161 +f 153 159 161 +f 151 153 162 +f 155 151 162 +f 153 155 162 +f 147 150 163 +f 159 147 163 +f 150 161 163 +f 161 159 163 +f 146 156 164 +f 156 150 164 +f 157 146 164 +f 150 157 164 +f 150 147 165 +f 147 154 165 +f 157 150 165 +o convex_7 +v 0.455664 -0.026770 -1.147430 +v -1.602225 1.214897 -1.856915 +v -1.602225 1.214897 -1.786043 +v 0.562234 2.031046 -3.063078 +v -1.531037 0.044293 -3.098800 +v 0.455664 2.031046 -1.147430 +v -1.424678 2.102109 -2.992015 +v 0.455664 -0.097833 -2.921334 +v -1.460061 0.079825 -1.147239 +v -1.602225 2.102109 -1.147239 +v 0.491258 -0.062301 -1.218493 +v 0.100782 2.066578 -3.063078 +v -1.353702 0.044293 -1.147239 +v 0.491258 0.221736 -2.956674 +v -1.566631 0.186204 -2.956865 +v -1.495655 0.115356 -1.147239 +v -1.034415 2.102109 -1.182770 +v 0.278117 -0.097833 -2.672804 +v -1.460061 2.102109 -2.850271 +v 0.491258 0.789379 -1.147430 +v 0.526640 1.676161 -3.063078 +v -1.460061 1.676161 -3.027737 +v -1.602225 1.534250 -1.147239 +v -0.572963 -0.026770 -3.027546 +v -0.928056 2.102109 -2.992015 +v 0.491258 -0.062301 -2.211467 +v 0.491258 2.031046 -1.573236 +v -1.531037 0.221736 -3.098800 +v 0.562234 1.959983 -2.921334 +v -1.602225 2.102109 -1.289174 +v -0.147741 2.066578 -1.147430 +v 0.562234 1.853604 -3.063078 +v -1.566631 0.257267 -2.956865 +v -0.041170 2.066578 -3.063078 +v -1.424678 0.044293 -3.098800 +v 0.100782 2.066578 -2.530869 +v -0.786104 0.008762 -1.147239 +f 166 185 202 +f 167 168 175 +f 174 170 178 +f 175 174 178 +f 168 167 180 +f 170 174 181 +f 174 175 181 +f 168 180 181 +f 180 170 181 +f 172 175 182 +f 173 176 183 +f 178 170 183 +f 175 172 184 +f 166 176 185 +f 184 172 187 +f 175 168 188 +f 181 175 188 +f 168 181 188 +f 179 173 189 +f 183 170 189 +f 173 183 189 +f 186 179 189 +f 177 172 190 +f 172 182 190 +f 176 173 191 +f 173 179 191 +f 171 185 192 +f 177 169 193 +f 170 180 193 +f 185 176 194 +f 169 192 194 +f 192 185 194 +f 167 175 195 +f 175 184 195 +f 175 171 196 +f 182 175 196 +f 179 186 197 +f 176 191 197 +f 191 179 197 +f 169 194 197 +f 194 176 197 +f 180 167 198 +f 184 187 198 +f 193 180 198 +f 187 193 198 +f 167 195 198 +f 195 184 198 +f 172 177 199 +f 187 172 199 +f 177 193 199 +f 193 187 199 +f 189 170 200 +f 186 189 200 +f 193 169 200 +f 170 193 200 +f 169 197 200 +f 197 186 200 +f 169 177 201 +f 177 190 201 +f 190 182 201 +f 192 169 201 +f 171 192 201 +f 196 171 201 +f 182 196 201 +f 171 175 202 +f 176 166 202 +f 175 178 202 +f 183 176 202 +f 178 183 202 +f 185 171 202 +o convex_8 +v -1.460213 0.079610 -1.147239 +v 0.633200 1.959983 3.039685 +v -0.182984 1.959983 3.075230 +v -1.602225 2.102109 -1.147239 +v -1.495662 0.008762 3.075230 +v 0.491188 -0.097833 -1.111280 +v 0.455740 2.030831 -1.147239 +v 0.597533 -0.097833 2.933049 +v -1.602225 1.959983 3.075230 +v -1.531110 -0.097833 1.016487 +v 0.526636 2.102109 1.052033 +v -1.495662 -0.097833 -0.685561 +v -1.566558 2.102109 0.946636 +v 0.455740 2.102109 -1.040603 +v -1.602225 1.569782 -1.147239 +v -1.602225 1.498719 3.075230 +v 0.526636 0.611937 -0.472702 +v 0.633200 1.427655 3.039685 +v 0.491188 -0.026770 -1.147239 +v 0.597533 -0.097833 2.294470 +v 0.349177 -0.097833 2.968181 +v -1.531110 0.115141 3.075230 +v -1.460213 -0.097833 -0.933966 +v -1.282754 -0.026770 3.039685 +v -1.069846 0.115141 3.075230 +v 0.526636 2.102109 0.414281 +v 0.633200 1.108518 2.968594 +v -0.041191 1.285960 3.075230 +v 0.491188 0.824911 -1.147239 +v -1.495662 0.150673 -1.147239 +v 0.633200 1.959983 2.968594 +v -1.353650 0.044293 -1.147239 +v 0.597533 0.150888 2.968594 +f 227 223 235 +f 203 206 209 +f 207 205 211 +f 208 210 212 +f 205 204 213 +f 211 205 213 +f 208 212 214 +f 206 211 215 +f 213 206 215 +f 211 213 215 +f 209 206 216 +f 206 213 216 +f 206 203 217 +f 211 206 217 +f 214 212 217 +f 207 211 218 +f 211 217 218 +f 217 212 218 +f 203 209 221 +f 219 208 221 +f 210 208 222 +f 208 219 222 +f 212 210 223 +f 212 207 224 +f 207 218 224 +f 218 212 224 +f 208 214 225 +f 207 212 226 +f 223 207 226 +f 212 223 226 +f 205 207 227 +f 207 223 227 +f 213 204 228 +f 209 216 228 +f 216 213 228 +f 220 210 229 +f 204 220 229 +f 210 222 229 +f 222 219 229 +f 204 205 230 +f 220 204 230 +f 205 227 230 +f 227 220 230 +f 221 209 231 +f 219 221 231 +f 209 228 231 +f 228 219 231 +f 217 203 232 +f 214 217 232 +f 203 225 232 +f 225 214 232 +f 228 204 233 +f 219 228 233 +f 204 229 233 +f 229 219 233 +f 203 221 234 +f 221 208 234 +f 225 203 234 +f 208 225 234 +f 210 220 235 +f 223 210 235 +f 220 227 235 +o convex_9 +v 1.804109 -0.878583 3.004035 +v 1.555659 -1.339736 0.449493 +v 1.697577 -1.339736 0.449493 +v 1.804109 -0.665560 0.449493 +v 1.200927 -0.701064 1.194857 +v 1.307397 -1.268662 2.933097 +v 1.200927 -1.268662 0.449493 +v 1.662129 -0.665560 2.933097 +v 1.839620 -1.162217 3.075230 +v 1.271948 -0.807575 3.039504 +v 1.200927 -0.665560 0.449493 +v 1.768598 -1.304232 1.372202 +v 1.768598 -0.665560 2.933097 +v 1.484888 -1.268662 2.968566 +v 1.733150 -1.339736 0.485219 +v 1.271948 -0.878583 3.039504 +v 1.733150 -1.339736 0.839910 +v 1.804109 -0.807575 2.968566 +f 239 248 253 +f 238 237 239 +f 239 237 242 +f 237 241 242 +f 244 236 245 +f 243 240 245 +f 239 242 246 +f 242 240 246 +f 243 239 246 +f 240 243 246 +f 239 244 247 +f 239 243 248 +f 245 236 248 +f 243 245 248 +f 244 241 249 +f 247 244 249 +f 237 238 250 +f 238 239 250 +f 239 247 250 +f 240 242 251 +f 242 241 251 +f 241 244 251 +f 244 245 251 +f 245 240 251 +f 241 237 252 +f 249 241 252 +f 247 249 252 +f 250 247 252 +f 237 250 252 +f 244 239 253 +f 236 244 253 +f 248 236 253 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/053/053.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/053/053.urdf new file mode 100644 index 000000000..45947a2f3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/053/053.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/054/054.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/054/054.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/054/054.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/054/054.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/054/054.obj new file mode 100644 index 000000000..5ef869e6c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/054/054.obj @@ -0,0 +1,480 @@ +o convex_0 +v 1.103785 3.126493 0.703804 +v -0.930110 3.721531 1.110719 +v -0.554739 3.721531 1.079401 +v -0.930110 3.564942 -1.111107 +v -1.055445 -0.784707 1.079183 +v 1.041011 -0.784707 -1.048254 +v 1.009730 -0.784707 1.047866 +v 1.041011 3.658455 -1.079789 +v -0.930110 -0.784707 -1.048471 +v 1.103785 3.690213 0.922812 +v -1.023953 3.032980 1.047866 +v 0.509024 -0.658994 1.110719 +v -1.055445 -0.659435 0.422161 +v -0.992672 3.721531 0.828858 +v 1.072292 3.658455 -0.766828 +v -0.930110 -0.001761 -1.079789 +v 1.072292 3.251764 0.954130 +v -0.523247 3.596260 -1.111107 +v -0.961391 -0.784707 -0.923200 +v 1.041011 -0.784707 0.015247 +v -0.961391 2.719802 -0.797929 +v -0.992672 3.377035 1.110719 +v -0.523247 3.721531 0.609851 +v 0.352619 -0.784707 1.110719 +v -1.055445 0.874697 1.079183 +v 1.072292 0.655031 -0.078271 +v -0.961391 3.627578 -0.422332 +v -0.867548 2.907709 -1.111107 +v 1.103785 3.251764 0.891494 +v 0.696921 3.658455 -0.985618 +v 1.041011 3.345717 -1.079789 +v -0.930110 3.596260 -0.923200 +v 0.352619 3.690213 -0.297279 +v 1.009730 -0.533723 1.047866 +v -0.992672 3.721531 1.110719 +v 0.915888 3.690213 0.953912 +v -0.992672 3.627578 0.422161 +v 1.103785 3.690213 0.797540 +v 0.603078 0.217464 1.079401 +v -1.055445 -0.784707 0.422161 +v 1.041011 0.529760 1.016765 +f 17 34 41 +f 5 6 7 +f 6 5 9 +f 2 3 14 +f 6 9 16 +f 9 5 19 +f 4 16 19 +f 16 9 19 +f 7 6 20 +f 4 19 21 +f 19 13 21 +f 12 2 22 +f 3 10 23 +f 14 3 23 +f 5 7 24 +f 7 12 24 +f 22 5 24 +f 12 22 24 +f 13 5 25 +f 11 13 25 +f 5 22 25 +f 15 1 26 +f 6 15 26 +f 20 6 26 +f 4 21 27 +f 16 4 28 +f 6 16 28 +f 18 6 28 +f 4 18 28 +f 1 10 29 +f 26 1 29 +f 20 26 29 +f 8 18 30 +f 14 23 30 +f 15 6 31 +f 8 15 31 +f 6 18 31 +f 18 8 31 +f 18 4 32 +f 27 14 32 +f 4 27 32 +f 30 18 32 +f 14 30 32 +f 8 30 33 +f 30 23 33 +f 12 7 34 +f 17 12 34 +f 2 14 35 +f 14 11 35 +f 22 2 35 +f 11 25 35 +f 25 22 35 +f 10 3 36 +f 17 10 36 +f 3 17 36 +f 13 11 37 +f 11 14 37 +f 21 13 37 +f 14 27 37 +f 27 21 37 +f 10 1 38 +f 1 15 38 +f 15 8 38 +f 23 10 38 +f 8 33 38 +f 33 23 38 +f 3 2 39 +f 2 12 39 +f 17 3 39 +f 12 17 39 +f 5 13 40 +f 19 5 40 +f 13 19 40 +f 10 17 41 +f 7 20 41 +f 29 10 41 +f 20 29 41 +f 34 7 41 +o convex_1 +v 0.290167 -2.505839 0.046721 +v -0.366992 -4.477318 -0.266089 +v -0.304403 -4.477318 -0.297395 +v 0.258840 -4.414407 0.265799 +v -0.335665 -2.505839 0.234493 +v -0.304403 -2.505839 -0.328762 +v 0.290167 -4.383144 -0.360067 +v -0.241813 -4.383144 0.234493 +v 0.290167 -2.505839 -0.234845 +v 0.258840 -2.505839 0.265799 +v -0.210486 -3.351090 0.265799 +v 0.290167 -4.414407 0.171882 +v -0.366992 -4.477318 -0.203601 +v -0.335665 -2.819045 -0.234845 +v -0.179223 -2.568751 -0.328762 +v -0.179223 -4.383144 0.265799 +v -0.210486 -2.505839 0.265799 +v 0.133661 -4.445863 0.140577 +v -0.366992 -4.133043 -0.266089 +v 0.227578 -4.352075 -0.360067 +v -0.273076 -4.414407 0.140577 +f 59 57 62 +f 44 43 47 +f 46 42 47 +f 47 42 50 +f 42 48 50 +f 42 46 51 +f 45 51 52 +f 48 42 53 +f 42 51 53 +f 51 45 53 +f 43 44 54 +f 46 47 55 +f 48 47 56 +f 47 50 56 +f 50 48 56 +f 46 49 57 +f 52 46 57 +f 45 52 57 +f 51 46 58 +f 46 52 58 +f 52 51 58 +f 44 48 59 +f 53 45 59 +f 48 53 59 +f 54 44 59 +f 45 57 59 +f 47 43 60 +f 43 54 60 +f 54 46 60 +f 46 55 60 +f 55 47 60 +f 44 47 61 +f 48 44 61 +f 47 48 61 +f 49 46 62 +f 46 54 62 +f 57 49 62 +f 54 59 62 +o convex_2 +v -0.585932 -1.285510 -1.643284 +v 0.571694 -0.909947 -2.863405 +v 0.571694 -0.941225 -2.863405 +v 0.540413 -1.723402 -1.079814 +v -0.523370 -1.973740 -3.050962 +v 0.477851 -1.942462 -2.988443 +v -0.585932 -0.878783 -3.019902 +v 0.446570 -0.847505 -1.079814 +v -0.492089 -1.879792 -1.079814 +v -0.585932 -0.816000 -1.079814 +v 0.571694 -0.909947 -3.113880 +v 0.540413 -1.817236 -1.079814 +v -0.554651 -1.911070 -3.050962 +v 0.446570 -1.942462 -2.644189 +v 0.415289 -0.847505 -1.737062 +v 0.571694 -1.066451 -3.113880 +v -0.492089 -0.878783 -3.050962 +v 0.509132 -1.848628 -2.988443 +v 0.070970 -1.973740 -3.019902 +v -0.398132 -0.847505 -2.331194 +v -0.585932 -1.348066 -3.019902 +v 0.321332 -0.910061 -3.113880 +v -0.523370 -1.973740 -2.769626 +v -0.116490 -0.878783 -3.050962 +v -0.585932 -1.097729 -1.079814 +v -0.304289 -0.816000 -1.111273 +v -0.554651 -1.911070 -2.831946 +v 0.477851 -0.847505 -1.486786 +v -0.429527 -1.879792 -1.079814 +v 0.571694 -1.129007 -3.082222 +v 0.070970 -1.973740 -2.957382 +v 0.509132 -1.911184 -2.268874 +f 91 76 94 +f 65 64 66 +f 66 70 71 +f 69 63 72 +f 71 70 72 +f 64 65 73 +f 65 66 74 +f 66 71 74 +f 73 65 78 +f 75 69 79 +f 68 78 80 +f 67 78 81 +f 78 68 81 +f 69 72 82 +f 79 69 82 +f 63 69 83 +f 69 75 83 +f 67 75 84 +f 78 67 84 +f 73 78 84 +f 75 79 84 +f 79 73 84 +f 75 67 85 +f 67 81 85 +f 77 73 86 +f 73 79 86 +f 82 77 86 +f 79 82 86 +f 63 71 87 +f 72 63 87 +f 71 72 87 +f 72 70 88 +f 82 72 88 +f 77 82 88 +f 71 63 89 +f 63 83 89 +f 83 75 89 +f 85 71 89 +f 75 85 89 +f 66 64 90 +f 70 66 90 +f 64 73 90 +f 73 77 90 +f 88 70 90 +f 77 88 90 +f 74 71 91 +f 71 85 91 +f 65 74 92 +f 78 65 92 +f 74 80 92 +f 80 78 92 +f 68 76 93 +f 81 68 93 +f 85 81 93 +f 76 91 93 +f 91 85 93 +f 76 68 94 +f 68 80 94 +f 80 74 94 +f 74 91 94 +o convex_3 +v 0.290060 -2.505839 0.046544 +v 1.041155 -0.784875 -0.015424 +v 0.508973 -0.784707 1.110719 +v -0.930104 -0.784707 -1.048508 +v -1.086739 -2.442998 1.048108 +v 1.009703 -2.411831 -1.048508 +v 0.978460 -2.317822 1.079413 +v -0.930104 -2.474503 -1.048508 +v -1.055287 -0.784707 1.079413 +v 1.041155 -0.784875 -1.048508 +v 1.009703 -0.784875 1.048108 +v -0.554765 -1.973798 1.110719 +v 0.728095 -1.973629 -1.079814 +v -1.055287 -0.784707 0.422210 +v -0.961348 -2.474503 -0.985683 +v -0.586009 -0.816211 -1.079814 +v 0.978460 -2.442998 -0.985683 +v 1.041155 -1.817117 -0.797849 +v 0.258608 -2.505839 0.265683 +v 0.759547 -2.130142 1.110719 +v -0.335644 -2.505839 0.234377 +v -1.086739 -2.192814 0.797663 +v -0.961348 -0.784707 -0.923286 +v -0.429375 -2.411831 1.079413 +v -0.586009 -0.784707 1.110719 +v -1.086739 -1.316917 1.079413 +v -0.492070 -1.848621 -1.079814 +v 0.446486 -0.847379 -1.079814 +v 0.290060 -2.505839 -0.234563 +v 1.009703 -2.411831 -0.391091 +v 0.915973 -2.349158 0.985496 +v -0.398131 -2.474335 -1.048508 +v -0.992800 -2.474503 -0.547619 +v -0.304192 -2.505839 -0.328480 +v -0.085279 -2.067638 -1.079814 +v 0.759547 -2.349158 1.079413 +v -1.086739 -1.817285 1.079413 +v 0.978460 -1.723276 1.079413 +v 0.915973 -2.442998 -1.048508 +f 126 129 133 +f 97 98 103 +f 97 96 104 +f 98 97 104 +f 96 97 105 +f 101 96 105 +f 104 100 107 +f 103 98 108 +f 98 102 109 +f 102 98 110 +f 98 104 110 +f 96 101 112 +f 104 96 112 +f 100 104 112 +f 95 111 113 +f 97 106 114 +f 113 99 115 +f 95 113 115 +f 108 98 117 +f 98 109 117 +f 116 108 117 +f 106 99 118 +f 99 113 118 +f 114 106 118 +f 97 103 119 +f 106 97 119 +f 103 108 120 +f 116 99 120 +f 108 116 120 +f 119 103 120 +f 102 110 121 +f 110 107 121 +f 104 107 122 +f 110 104 122 +f 107 110 122 +f 111 95 123 +f 95 115 123 +f 111 100 124 +f 112 101 124 +f 100 112 124 +f 113 111 124 +f 113 124 125 +f 124 101 125 +f 115 99 127 +f 99 116 127 +f 117 109 127 +f 116 117 127 +f 109 102 128 +f 123 115 128 +f 102 126 128 +f 126 123 128 +f 115 127 128 +f 127 109 128 +f 102 121 129 +f 121 107 129 +f 126 102 129 +f 101 114 130 +f 118 113 130 +f 114 118 130 +f 113 125 130 +f 125 101 130 +f 99 106 131 +f 106 119 131 +f 119 120 131 +f 120 99 131 +f 105 97 132 +f 101 105 132 +f 114 101 132 +f 97 114 132 +f 107 100 133 +f 100 111 133 +f 111 123 133 +f 123 126 133 +f 129 107 133 +o convex_4 +v -0.460695 -1.066512 3.050757 +v -0.554651 -1.973853 1.110915 +v -0.273008 -1.973853 1.110915 +v -0.585932 -0.784707 1.110915 +v 0.571694 -0.816018 2.737677 +v 0.321332 -1.848606 2.956853 +v 0.509132 -1.942541 1.110719 +v 0.415289 -0.910070 1.142282 +v -0.429527 -1.942425 3.082124 +v -0.554651 -0.878758 2.925682 +v 0.571694 -0.816018 3.019587 +v 0.477851 -1.692048 2.956853 +v -0.585932 -1.848606 1.298528 +v -0.273008 -1.754671 3.113491 +v 0.446570 -1.035200 1.110719 +v 0.571694 -1.035200 3.019587 +v -0.554651 -1.035084 3.019391 +v -0.585932 -0.847446 2.080934 +v -0.273008 -1.942425 3.050757 +v 0.352727 -0.816018 3.019587 +v 0.477851 -1.848490 2.456160 +v 0.540413 -1.629541 1.642975 +v -0.492089 -0.878758 3.019391 +v -0.366965 -1.598112 3.113491 +v -0.523370 -1.973853 1.799221 +v 0.509132 -1.754671 1.110719 +v -0.585932 -1.942425 1.110915 +v 0.509132 -1.942541 1.173452 +v 0.415289 -1.848490 2.769044 +v -0.554651 -0.784707 1.110915 +v 0.571694 -1.129019 2.424793 +v -0.460695 -1.754671 3.050757 +f 150 146 165 +f 136 135 140 +f 139 145 147 +f 141 138 148 +f 138 144 149 +f 144 147 149 +f 147 145 149 +f 146 150 151 +f 143 137 151 +f 137 146 151 +f 150 143 151 +f 147 142 152 +f 139 147 152 +f 144 137 153 +f 134 144 153 +f 149 145 154 +f 149 154 155 +f 137 143 156 +f 150 134 156 +f 143 150 156 +f 153 137 156 +f 134 153 156 +f 144 134 157 +f 142 147 157 +f 147 144 157 +f 134 150 157 +f 150 142 157 +f 135 136 158 +f 152 142 158 +f 140 148 159 +f 155 140 159 +f 140 135 160 +f 146 137 160 +f 142 146 160 +f 137 148 160 +f 148 140 160 +f 135 158 160 +f 158 142 160 +f 136 140 161 +f 155 154 161 +f 140 155 161 +f 158 136 161 +f 152 158 161 +f 145 139 162 +f 139 152 162 +f 154 145 162 +f 152 161 162 +f 161 154 162 +f 138 141 163 +f 137 144 163 +f 144 138 163 +f 148 137 163 +f 141 148 163 +f 148 138 164 +f 138 149 164 +f 149 155 164 +f 159 148 164 +f 155 159 164 +f 146 142 165 +f 142 150 165 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/054/054.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/054/054.urdf new file mode 100644 index 000000000..3e020ca25 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/054/054.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/055/055.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/055/055.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/055/055.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/055/055.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/055/055.obj new file mode 100644 index 000000000..04c60249e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/055/055.obj @@ -0,0 +1,555 @@ +o convex_0 +v -0.863468 -3.369915 -1.106568 +v -0.970348 -2.158064 1.104245 +v -1.005975 -2.158064 1.104245 +v -0.328447 -1.230691 -1.070861 +v 0.990571 -3.583907 1.068538 +v 1.062031 -1.230691 -0.642808 +v 0.954944 -3.548203 -0.999230 +v 0.954944 -1.230691 1.032615 +v -1.041808 -3.583907 1.104245 +v -1.041808 -1.230691 -0.999447 +v -0.970348 -1.230691 1.068538 +v -0.970348 -3.583907 -1.034938 +v 0.954944 -1.230691 -1.035154 +v 1.026198 -1.230691 0.854512 +v 0.562637 -3.548203 1.104029 +v -0.007599 -3.583907 -1.070861 +v 0.990571 -3.334212 -0.963740 +v -1.041808 -3.583907 0.462382 +v -1.041808 -2.585356 1.068538 +v 1.062031 -1.730312 -0.678515 +v 0.455756 -1.230691 -1.070861 +v 0.954944 -3.262804 -1.035154 +v -1.005975 -1.230691 0.747607 +v 1.026198 -2.372056 0.925710 +v 0.990571 -3.583907 0.248139 +v 0.990571 -2.478476 1.068538 +v 0.170330 -1.587497 1.068322 +v -1.005975 -1.552024 -1.034938 +v -0.934721 -3.583907 -1.106568 +v 1.062031 -1.230691 -0.321877 +v -0.399906 -1.230691 1.068322 +f 27 8 31 +f 6 4 8 +f 2 3 9 +f 8 4 10 +f 3 2 11 +f 8 10 11 +f 5 9 12 +f 4 6 13 +f 6 8 14 +f 2 9 15 +f 9 5 15 +f 5 12 16 +f 9 10 18 +f 12 9 18 +f 10 12 18 +f 9 3 19 +f 10 9 19 +f 3 11 19 +f 13 6 20 +f 17 13 20 +f 1 4 21 +f 4 13 21 +f 7 16 22 +f 16 1 22 +f 17 7 22 +f 13 17 22 +f 1 21 22 +f 21 13 22 +f 11 10 23 +f 10 19 23 +f 19 11 23 +f 5 20 24 +f 5 16 25 +f 16 7 25 +f 7 17 25 +f 20 5 25 +f 17 20 25 +f 14 8 26 +f 15 5 26 +f 5 24 26 +f 24 14 26 +f 2 15 27 +f 26 8 27 +f 15 26 27 +f 4 1 28 +f 10 4 28 +f 12 10 29 +f 1 16 29 +f 16 12 29 +f 28 1 29 +f 10 28 29 +f 6 14 30 +f 20 6 30 +f 14 24 30 +f 24 20 30 +f 11 2 31 +f 8 11 31 +f 2 27 31 +o convex_1 +v 1.026362 0.552580 -2.924987 +v -1.077466 0.338599 -1.213746 +v -1.077466 0.338599 -1.071109 +v -0.934753 2.406444 -1.071109 +v -0.970380 2.299347 -3.103233 +v 0.919276 2.334904 -1.070910 +v 0.990530 2.477771 -2.996405 +v 0.919276 0.409713 -1.070910 +v -0.970380 0.409713 -2.996206 +v 1.026362 0.302616 -2.996405 +v -0.185975 0.302616 -1.070910 +v 0.954903 2.121136 -1.142328 +v -0.578075 0.873445 -3.067425 +v -1.006007 1.906942 -1.071109 +v -0.898921 0.302829 -1.213746 +v -0.863294 2.334904 -3.103233 +v -0.720787 0.374156 -2.996206 +v -0.613907 2.299347 -3.103233 +v 0.990530 0.338386 -2.140386 +v 0.740937 2.477771 -2.746741 +v 0.669684 0.302616 -2.996405 +v 0.633851 2.442001 -3.031816 +v 0.990530 2.442001 -2.568296 +v -0.613907 2.406444 -1.071109 +v -0.970380 2.370461 -1.998148 +v 0.455717 0.516597 -3.031816 +v 0.954903 0.409713 -1.356382 +v -1.077466 0.516597 -1.106917 +v -0.827667 1.800058 -3.103233 +v -1.006007 0.374156 -2.461269 +v 0.954903 2.477771 -2.817960 +v -0.970380 2.370461 -1.071109 +v 0.812396 2.477771 -2.960597 +v 1.026362 0.302616 -2.889179 +v 0.954903 2.370674 -1.499019 +f 62 55 66 +f 38 32 41 +f 39 37 42 +f 37 39 43 +f 34 42 45 +f 34 33 46 +f 42 34 46 +f 40 44 48 +f 36 47 49 +f 39 42 50 +f 41 42 52 +f 42 46 52 +f 46 48 52 +f 38 41 53 +f 47 38 53 +f 49 47 53 +f 32 38 54 +f 43 32 54 +f 35 37 55 +f 51 35 55 +f 36 45 56 +f 47 36 56 +f 48 44 57 +f 41 52 57 +f 52 48 57 +f 53 41 57 +f 49 53 57 +f 43 39 58 +f 39 50 58 +f 33 34 59 +f 36 33 59 +f 34 45 59 +f 45 36 59 +f 40 36 60 +f 44 40 60 +f 36 49 60 +f 57 44 60 +f 49 57 60 +f 33 36 61 +f 36 40 61 +f 46 33 61 +f 40 48 61 +f 48 46 61 +f 38 51 62 +f 51 55 62 +f 37 35 63 +f 42 37 63 +f 45 42 63 +f 35 56 63 +f 56 45 63 +f 38 47 64 +f 35 51 64 +f 51 38 64 +f 56 35 64 +f 47 56 64 +f 41 32 65 +f 42 41 65 +f 32 43 65 +f 50 42 65 +f 43 58 65 +f 58 50 65 +f 37 43 66 +f 54 38 66 +f 43 54 66 +f 55 37 66 +f 38 62 66 +o convex_2 +v 0.313012 0.623596 3.101109 +v 0.241758 0.266958 -1.070910 +v 0.919286 0.266958 -1.070910 +v -0.649326 2.406357 -1.070910 +v 0.990540 2.370650 2.887117 +v -1.041633 0.480984 3.029234 +v -1.077466 2.477771 3.029234 +v -1.077466 0.338588 -1.070910 +v 0.919286 2.334942 -1.070910 +v 0.990540 0.445493 3.101109 +v -0.970379 2.406357 -1.070910 +v -0.934753 0.266958 1.032660 +v 1.026373 0.266958 0.284914 +v 1.026373 2.334942 0.427031 +v 1.026373 0.873330 -0.785452 +v -0.078884 2.442064 3.029642 +v -1.077466 2.406357 0.890543 +v 0.954913 0.266958 1.032660 +v -1.077466 0.266958 -0.820981 +v 0.990540 2.049718 3.029642 +v 1.026373 2.334942 1.888626 +v -0.934753 2.370650 3.065171 +v -1.041633 0.445277 2.993705 +v 0.990540 0.409786 2.887117 +v -0.649326 2.477771 2.993705 +v 1.026373 0.266958 -0.785452 +v 0.990540 0.802132 3.101109 +v -1.041633 1.301383 -1.034564 +v 0.954913 2.299235 -0.856918 +v -1.077466 2.477771 2.387259 +v -0.720785 0.766425 3.065171 +v -1.077466 2.227821 3.029234 +v 0.954913 2.370650 2.994113 +v 0.990540 2.370650 2.423197 +v -1.006006 2.406357 -0.606989 +v -0.043257 2.085425 3.065171 +v 0.954913 0.266958 -1.034564 +v -1.077466 0.552615 -1.070910 +v -1.077466 0.266958 -0.963506 +v -0.364311 0.445277 3.065171 +v -1.006006 0.266958 0.605494 +v 0.420098 2.370650 3.029642 +f 88 102 108 +f 69 68 70 +f 70 68 74 +f 69 70 75 +f 70 74 77 +f 68 69 78 +f 78 69 79 +f 80 79 81 +f 74 73 83 +f 78 79 84 +f 73 74 85 +f 68 78 85 +f 76 79 87 +f 80 71 87 +f 79 80 87 +f 71 86 87 +f 82 73 88 +f 79 76 90 +f 78 84 90 +f 84 79 90 +f 89 78 90 +f 75 70 91 +f 73 82 91 +f 79 69 92 +f 81 79 92 +f 67 76 93 +f 76 87 93 +f 87 86 93 +f 88 67 93 +f 75 80 95 +f 80 81 95 +f 81 75 95 +f 70 77 96 +f 83 73 96 +f 91 70 96 +f 73 91 96 +f 67 88 97 +f 88 72 97 +f 73 85 98 +f 72 88 98 +f 88 73 98 +f 89 72 98 +f 85 89 98 +f 71 82 99 +f 86 71 99 +f 71 80 100 +f 80 75 100 +f 82 71 100 +f 75 91 100 +f 91 82 100 +f 77 94 101 +f 94 83 101 +f 96 77 101 +f 83 96 101 +f 93 86 102 +f 88 93 102 +f 69 75 103 +f 75 81 103 +f 92 69 103 +f 81 92 103 +f 77 74 104 +f 74 83 104 +f 94 77 104 +f 83 94 104 +f 74 68 105 +f 85 74 105 +f 68 85 105 +f 76 67 106 +f 72 89 106 +f 90 76 106 +f 89 90 106 +f 67 97 106 +f 97 72 106 +f 85 78 107 +f 78 89 107 +f 89 85 107 +f 82 88 108 +f 99 82 108 +f 86 99 108 +f 102 86 108 +o convex_3 +v -1.648211 -0.053967 -0.108028 +v -3.073981 -1.195032 -0.607352 +v -3.073981 -1.195032 -0.250626 +v -1.077665 -1.159290 -0.143735 +v -3.109789 -0.053967 0.533549 +v -1.077665 -1.052287 0.569371 +v -1.077466 -0.089709 -0.571645 +v -3.073981 -0.125340 -0.464524 +v -1.077466 -0.125340 0.462250 +v -3.002762 -1.195032 0.426542 +v -1.077665 -1.159290 -0.500231 +v -1.648211 -1.195032 -0.535938 +v -3.073981 -0.374975 -0.535938 +v -1.149083 -0.053967 -0.500231 +v -2.182751 -0.731391 -0.607352 +v -2.646270 -1.195032 0.426542 +v -3.038372 -0.945284 0.462250 +v -1.077665 -0.874024 0.569371 +v -1.327329 -1.052287 0.569371 +v -1.790848 -0.089709 0.497957 +v -3.109789 -0.089709 0.034455 +v -3.038372 -0.945284 -0.607352 +v -3.109789 -0.303603 0.497957 +v -1.077466 -0.303603 -0.571645 +v -3.002762 -0.125340 -0.500231 +v -2.681880 -1.195032 -0.607352 +v -1.077466 -0.089709 0.177053 +v -1.719629 -1.195032 -0.072436 +v -1.113473 -1.088029 0.426542 +v -3.073981 -0.053967 0.426542 +f 122 133 138 +f 111 110 118 +f 118 110 120 +f 119 112 120 +f 113 109 122 +f 114 118 124 +f 118 120 124 +f 111 118 125 +f 114 117 126 +f 118 114 127 +f 113 125 127 +f 125 118 127 +f 126 113 127 +f 114 126 127 +f 109 113 128 +f 113 126 128 +f 126 117 128 +f 121 110 129 +f 116 121 129 +f 110 121 130 +f 121 115 130 +f 115 123 130 +f 123 110 130 +f 110 111 131 +f 111 125 131 +f 125 113 131 +f 129 110 131 +f 113 129 131 +f 114 112 132 +f 117 114 132 +f 115 117 132 +f 112 119 132 +f 123 115 132 +f 115 121 133 +f 121 116 133 +f 122 115 133 +f 120 110 134 +f 119 120 134 +f 110 123 134 +f 132 119 134 +f 123 132 134 +f 117 115 135 +f 122 109 135 +f 115 122 135 +f 109 128 135 +f 128 117 135 +f 120 112 136 +f 124 120 136 +f 124 136 137 +f 112 114 137 +f 114 124 137 +f 136 112 137 +f 113 122 138 +f 129 113 138 +f 116 129 138 +f 133 116 138 +o convex_4 +v 1.061822 -0.446390 0.676123 +v -0.328558 -1.230690 -1.070910 +v -1.041654 -1.230690 -0.999496 +v -1.077466 0.266958 -0.963893 +v -0.970449 -1.230690 1.068587 +v -0.934637 0.266958 1.032775 +v 0.955014 0.266958 -1.034889 +v 1.061822 -1.230690 -0.642843 +v 0.955014 0.266958 0.961361 +v 0.955014 -1.230690 1.032775 +v 0.955014 -1.230690 -1.034889 +v -1.077466 -0.838247 0.569315 +v 1.062031 0.231188 -0.642843 +v 0.241918 0.266958 -1.070910 +v -0.899035 0.159941 1.068587 +v -1.077466 -0.125486 0.462299 +v 0.919202 -0.802770 -1.070910 +v -1.077466 -1.159297 -0.464621 +v 1.026219 -1.230690 0.854554 +v 0.955014 0.052777 0.996963 +v 1.062031 -0.053946 0.604918 +v -1.006052 0.266958 0.569315 +v -0.970449 -0.446390 1.068587 +v -1.041654 -0.588737 -0.999496 +v -0.435575 -1.230690 1.068587 +v 1.061822 -1.088050 0.533503 +v 0.919202 0.266958 -1.070910 +v -1.077466 -1.052280 0.569315 +v 1.026219 0.266958 0.390884 +v 0.455742 -1.230690 -1.070910 +f 155 149 168 +f 141 140 143 +f 142 144 145 +f 143 140 146 +f 145 144 147 +f 143 146 148 +f 146 140 149 +f 149 145 151 +f 146 149 151 +f 142 145 152 +f 147 144 153 +f 142 150 154 +f 145 149 155 +f 140 152 155 +f 142 141 156 +f 141 143 156 +f 150 142 156 +f 148 146 157 +f 148 157 158 +f 139 147 158 +f 147 153 158 +f 153 148 158 +f 157 139 158 +f 147 139 159 +f 146 151 159 +f 144 142 160 +f 142 154 160 +f 154 144 160 +f 150 143 161 +f 143 153 161 +f 153 144 161 +f 144 154 161 +f 154 150 161 +f 140 141 162 +f 141 142 162 +f 152 140 162 +f 142 152 162 +f 143 148 163 +f 153 143 163 +f 148 153 163 +f 139 157 164 +f 157 146 164 +f 159 139 164 +f 146 159 164 +f 152 145 165 +f 145 155 165 +f 155 152 165 +f 143 150 166 +f 156 143 166 +f 150 156 166 +f 145 147 167 +f 151 145 167 +f 147 159 167 +f 159 151 167 +f 149 140 168 +f 140 155 168 +o convex_5 +v 2.880436 -0.089674 -0.143669 +v 2.131612 -1.088009 -0.571694 +v 1.062031 -1.123716 -0.535872 +v 3.058895 -1.088009 0.497908 +v 1.062031 -0.125381 0.605029 +v 1.062031 -0.053967 -0.535872 +v 1.062031 -1.088009 0.533615 +v 3.058895 -0.980887 -0.571694 +v 3.023125 -0.196691 0.533615 +v 2.916206 -0.125381 -0.464573 +v 2.737942 -1.088009 -0.535872 +v 1.597017 -0.196691 0.605029 +v 2.167382 -0.053967 -0.500280 +v 1.133376 -0.053967 -0.143669 +v 3.023125 -0.160984 0.462201 +v 1.668361 -1.123716 -0.214968 +v 2.951585 -0.089674 -0.321974 +v 1.454523 -0.125381 0.605029 +v 3.058895 -1.052301 -0.571694 +v 1.133376 -0.374913 0.605029 +v 3.058895 -0.624444 0.497908 +v 2.523714 -0.053967 -0.428865 +v 1.561247 -0.053967 -0.535872 +f 181 176 191 +f 171 173 174 +f 170 171 174 +f 173 171 175 +f 170 174 176 +f 171 170 179 +f 172 177 180 +f 178 176 181 +f 174 173 182 +f 181 174 182 +f 175 171 184 +f 172 175 184 +f 171 179 184 +f 179 172 184 +f 176 178 185 +f 169 183 185 +f 183 176 185 +f 173 180 186 +f 180 177 186 +f 182 173 186 +f 183 169 186 +f 177 183 186 +f 170 176 187 +f 176 172 187 +f 179 170 187 +f 172 179 187 +f 175 172 188 +f 173 175 188 +f 172 180 188 +f 180 173 188 +f 172 176 189 +f 177 172 189 +f 176 183 189 +f 183 177 189 +f 178 181 190 +f 181 182 190 +f 185 178 190 +f 169 185 190 +f 186 169 190 +f 182 186 190 +f 176 174 191 +f 174 181 191 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/055/055.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/055/055.urdf new file mode 100644 index 000000000..ad1074e3b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/055/055.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/056/056.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/056/056.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/056/056.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/056/056.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/056/056.obj new file mode 100644 index 000000000..d02407e4c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/056/056.obj @@ -0,0 +1,459 @@ +o convex_0 +v -2.430461 -1.688867 0.536195 +v -2.560949 -0.775499 -0.605739 +v -3.474173 -1.134542 -0.573086 +v -3.539714 -0.677579 0.503542 +v -1.516841 -0.775611 0.470889 +v -1.516841 -1.721507 -0.475127 +v -3.539714 -1.786899 -0.507780 +v -3.441699 -1.819539 0.568848 +v -1.516841 -0.742971 -0.605739 +v -1.516841 -1.754259 0.470889 +v -3.474173 -0.742859 -0.573086 +v -1.908506 -1.754259 -0.507780 +v -3.278538 -1.754259 -0.540433 +v -3.409027 -1.329936 0.568848 +v -2.984889 -1.819539 0.568848 +v -3.082706 -0.677579 0.503542 +v -3.539714 -0.677579 0.275201 +v -1.582185 -0.938701 -0.605739 +v -1.516841 -0.742971 0.144589 +v -3.539714 -0.775499 0.536195 +v -3.441699 -1.819539 -0.018445 +v -3.474173 -1.721619 0.568848 +v -1.745345 -1.754259 -0.475127 +v -2.984889 -1.558306 0.568848 +v -2.952218 -1.786899 -0.507780 +v -3.474173 -0.677579 0.209895 +v -1.712674 -0.742971 0.470889 +f 19 16 27 +f 5 6 9 +f 5 1 10 +f 6 5 10 +f 2 3 11 +f 3 7 11 +f 9 2 11 +f 3 2 13 +f 7 3 13 +f 14 8 15 +f 10 1 15 +f 7 4 17 +f 11 7 17 +f 4 16 17 +f 2 9 18 +f 9 6 18 +f 6 12 18 +f 13 2 18 +f 12 13 18 +f 5 9 19 +f 9 16 19 +f 4 7 20 +f 14 5 20 +f 16 4 20 +f 5 16 20 +f 8 7 21 +f 15 8 21 +f 7 8 22 +f 8 14 22 +f 20 7 22 +f 14 20 22 +f 6 10 23 +f 12 6 23 +f 10 15 23 +f 15 21 23 +f 1 5 24 +f 5 14 24 +f 14 15 24 +f 15 1 24 +f 7 13 25 +f 13 12 25 +f 21 7 25 +f 12 23 25 +f 23 21 25 +f 9 11 26 +f 16 9 26 +f 11 17 26 +f 17 16 26 +f 16 5 27 +f 5 19 27 +o convex_1 +v 0.636598 -0.742556 -0.442474 +v -1.516803 -1.981789 0.633902 +v -1.516803 -1.981789 0.699087 +v -1.418787 3.759245 1.025633 +v -1.418787 3.726650 -1.062351 +v 0.636598 3.857635 1.025633 +v 0.571254 -2.209957 0.960240 +v -1.386115 -2.243156 -1.062351 +v 0.538582 3.823833 -1.095151 +v 0.505910 -2.308951 -0.964574 +v -1.386115 -2.243156 0.960033 +v -1.516803 -0.741952 -0.605644 +v -1.451459 3.465886 1.025633 +v 0.636598 -1.786216 0.601310 +v -1.451459 2.029872 1.025633 +v 0.603926 3.857635 -0.246713 +v 0.636598 -1.884002 -0.605644 +v 0.571254 -0.872334 0.992625 +v 0.179612 -2.308951 -0.997166 +v 0.081807 3.823833 -1.095151 +v -1.484131 -2.243156 0.927648 +v -1.190505 -2.275752 -1.062351 +v -1.516803 -1.721025 -0.475067 +v 0.538582 1.703918 -1.062143 +v -1.027355 -2.275752 0.503533 +v 0.114479 3.857635 0.927648 +v 0.571254 3.824436 -0.931982 +v 0.636598 3.857635 0.438141 +v 0.636598 2.976349 1.025633 +v -1.516803 -0.775152 0.470733 +v -1.451459 2.552004 -0.931982 +v -1.418787 3.759245 0.372956 +v 0.016673 -2.308951 -0.442267 +v 0.538582 3.367496 -1.095151 +v -1.484131 -0.089439 0.992833 +v 0.603926 -0.677365 0.992833 +v 0.505910 3.857635 -0.703420 +v 0.538582 -2.242553 -0.899182 +v -1.484131 -2.243156 0.568718 +v -0.635713 -2.243156 0.960033 +v -1.418787 1.964682 -1.062351 +v -1.027355 3.759245 -1.062351 +v 0.505910 -2.308951 -0.638236 +v 0.505910 -1.557444 -0.997166 +v 0.538582 0.367502 -1.029551 +v -1.027355 3.791841 1.025633 +v 0.636598 1.899491 0.992833 +f 56 63 74 +f 29 30 39 +f 33 31 40 +f 28 33 41 +f 33 40 42 +f 28 41 44 +f 41 34 44 +f 30 29 48 +f 29 39 50 +f 39 35 50 +f 38 48 52 +f 48 49 52 +f 33 43 53 +f 43 28 54 +f 36 43 54 +f 28 44 54 +f 33 28 55 +f 28 43 55 +f 43 33 55 +f 41 33 56 +f 33 42 56 +f 42 45 56 +f 39 30 57 +f 30 40 57 +f 40 39 57 +f 40 32 58 +f 39 40 58 +f 40 31 59 +f 32 40 59 +f 46 37 60 +f 49 46 60 +f 52 49 60 +f 35 47 61 +f 47 36 61 +f 49 35 61 +f 44 51 61 +f 51 49 61 +f 36 54 61 +f 54 44 61 +f 40 30 62 +f 42 40 62 +f 38 45 62 +f 45 42 62 +f 30 48 62 +f 48 38 62 +f 34 41 63 +f 45 34 63 +f 56 45 63 +f 43 36 64 +f 36 47 64 +f 53 43 64 +f 34 37 65 +f 44 34 65 +f 48 29 66 +f 49 48 66 +f 35 49 66 +f 29 50 66 +f 50 35 66 +f 34 45 67 +f 45 38 67 +f 38 52 67 +f 52 60 67 +f 35 39 68 +f 32 47 68 +f 47 35 68 +f 58 32 68 +f 39 58 68 +f 47 32 69 +f 32 59 69 +f 64 47 69 +f 59 64 69 +f 37 34 70 +f 60 37 70 +f 34 67 70 +f 67 60 70 +f 37 46 71 +f 46 49 71 +f 49 51 71 +f 51 44 72 +f 65 37 72 +f 44 65 72 +f 37 71 72 +f 71 51 72 +f 31 33 73 +f 33 53 73 +f 59 31 73 +f 53 64 73 +f 64 59 73 +f 41 56 74 +f 63 41 74 +o convex_2 +v 0.995605 -1.493101 0.601476 +v 2.170056 -1.721596 3.048534 +v 2.137443 -1.493101 3.048534 +v 2.039483 -0.645047 0.601476 +v 1.126178 -0.677774 2.982902 +v 1.126178 -1.754086 3.048534 +v 1.974255 -1.688869 0.601476 +v 0.962873 -0.677774 0.601476 +v 1.974255 -0.612439 2.917989 +v 1.028219 -1.819303 0.601476 +v 2.170056 -1.786695 2.917989 +v 2.072097 -1.688869 0.927958 +v 1.028219 -0.645165 0.601476 +v 1.093446 -1.786695 2.689236 +v 1.647881 -1.819303 1.776380 +v 2.006869 -0.612439 2.787205 +v 1.941642 -0.612439 1.384985 +v 1.647881 -0.612557 2.297841 +v 0.962873 -0.742990 0.732021 +v 1.256634 -1.819303 0.601476 +v 1.093446 -0.677774 2.656660 +v 1.028219 -1.819303 1.091319 +v 1.550158 -1.786695 3.048534 +v 2.039483 -0.645047 1.352169 +v 2.039483 -1.656261 0.601476 +v 1.093446 -1.754086 2.754868 +v 2.006869 -0.742990 2.950565 +f 90 83 101 +f 77 79 80 +f 76 77 80 +f 75 78 81 +f 78 75 82 +f 75 81 84 +f 78 76 85 +f 85 81 86 +f 78 85 86 +f 78 82 87 +f 81 85 89 +f 78 87 91 +f 90 78 91 +f 83 90 91 +f 79 83 92 +f 87 79 92 +f 91 87 92 +f 83 91 92 +f 82 75 93 +f 84 81 94 +f 81 89 94 +f 89 84 94 +f 87 82 95 +f 79 87 95 +f 82 93 95 +f 75 84 96 +f 89 88 96 +f 84 89 96 +f 93 75 96 +f 76 80 97 +f 85 76 97 +f 80 88 97 +f 89 85 97 +f 88 89 97 +f 77 76 98 +f 76 78 98 +f 90 77 98 +f 78 90 98 +f 81 78 99 +f 78 86 99 +f 86 81 99 +f 80 79 100 +f 88 80 100 +f 79 95 100 +f 95 93 100 +f 96 88 100 +f 93 96 100 +f 79 77 101 +f 83 79 101 +f 77 90 101 +o convex_3 +v 0.962965 -1.656313 -0.834521 +v 2.170060 -1.427879 -0.638842 +v 2.137330 -0.840872 -0.638842 +v 2.137330 -0.677738 -3.085425 +v 2.039496 -1.786682 -2.987226 +v 1.060800 -0.775573 -2.954653 +v 1.126141 -0.644974 -0.638603 +v 1.060800 -1.786912 -3.019799 +v 1.223975 -1.786912 -0.638603 +v 2.170060 -1.688848 -0.867094 +v 2.104719 -0.612554 -0.638842 +v 2.170060 -1.754147 -2.987226 +v 0.962965 -1.786912 -0.638603 +v 1.974273 -0.677738 -3.085425 +v 1.060800 -0.742923 -2.661015 +v 2.170060 -1.656198 -0.638842 +v 2.072107 -0.612554 -1.291265 +v 2.137330 -1.786682 -2.824121 +v 1.093529 -0.677623 -1.062773 +v 2.170060 -1.330045 -3.019799 +v 0.962965 -1.786912 -1.095346 +v 1.060800 -1.395229 -3.019799 +v 1.680652 -1.786912 -3.019799 +v 0.962965 -1.623663 -0.638603 +v 2.137330 -0.873522 -3.085425 +v 2.072107 -0.645089 -2.432524 +v 1.223975 -0.742923 -2.987226 +v 1.060800 -0.742923 -2.204272 +v 2.137330 -0.677738 -2.367378 +f 121 105 130 +f 103 104 110 +f 104 108 110 +f 108 104 112 +f 103 111 113 +f 110 108 114 +f 109 110 114 +f 108 115 116 +f 103 110 117 +f 111 103 117 +f 110 111 117 +f 112 105 118 +f 108 112 118 +f 111 110 119 +f 106 113 119 +f 113 111 119 +f 108 116 120 +f 103 113 121 +f 102 107 122 +f 114 102 122 +f 109 114 122 +f 115 109 123 +f 122 107 123 +f 109 122 123 +f 110 109 124 +f 113 106 124 +f 106 119 124 +f 119 110 124 +f 107 102 125 +f 102 114 125 +f 114 108 125 +f 116 107 125 +f 108 120 125 +f 115 105 126 +f 109 115 126 +f 105 121 126 +f 121 113 126 +f 124 109 126 +f 113 124 126 +f 115 108 127 +f 105 115 127 +f 118 105 127 +f 108 118 127 +f 107 116 128 +f 116 115 128 +f 123 107 128 +f 115 123 128 +f 120 116 129 +f 116 125 129 +f 125 120 129 +f 104 103 130 +f 112 104 130 +f 105 112 130 +f 103 121 130 +o convex_4 +v 2.169973 -0.612544 -0.181436 +v 0.963114 -1.786694 -0.638367 +v 0.963114 -1.819421 -0.246608 +v 2.594106 -1.656378 -0.442487 +v 2.496290 -1.656378 0.601354 +v 0.636599 -0.742979 0.503536 +v 1.126272 -0.645153 -0.638367 +v 0.636599 -1.819421 0.568829 +v 2.594106 -0.710252 0.503415 +v 2.594106 -0.645035 -0.507659 +v 0.636599 -0.808196 -0.475012 +v 1.028259 -0.645153 0.601476 +v 2.169973 -1.656259 -0.638367 +v 0.636599 -1.754086 -0.507659 +v 1.224088 -1.819421 0.601476 +v 2.104630 -0.612544 -0.638367 +v 2.039486 -0.645153 0.601476 +v 2.659449 -0.645035 -0.246729 +v 0.636599 -0.710370 -0.442366 +v 2.626778 -1.558433 -0.442487 +v 2.528764 -1.525825 0.601354 +v 1.191417 -1.786694 -0.638367 +v 2.659449 -0.971358 -0.475134 +v 1.224088 -1.819421 0.307778 +v 2.594106 -1.656378 -0.148789 +v 2.496290 -0.612544 -0.442487 +v 0.636599 -1.395272 0.568829 +v 2.594106 -0.808196 0.503415 +f 151 155 158 +f 137 132 141 +f 138 136 141 +f 132 137 143 +f 132 133 144 +f 133 138 144 +f 141 132 144 +f 138 141 144 +f 138 133 145 +f 142 138 145 +f 142 131 146 +f 137 142 146 +f 143 137 146 +f 140 143 146 +f 131 142 147 +f 145 135 147 +f 142 145 147 +f 147 139 148 +f 141 136 149 +f 137 141 149 +f 142 137 149 +f 136 142 149 +f 134 143 150 +f 147 135 151 +f 139 147 151 +f 133 132 152 +f 132 143 152 +f 143 134 152 +f 143 140 153 +f 140 148 153 +f 150 143 153 +f 148 150 153 +f 145 133 154 +f 134 145 154 +f 133 152 154 +f 152 134 154 +f 145 134 155 +f 135 145 155 +f 134 150 155 +f 151 135 155 +f 146 131 156 +f 140 146 156 +f 131 147 156 +f 148 140 156 +f 147 148 156 +f 136 138 157 +f 142 136 157 +f 138 142 157 +f 148 139 158 +f 150 148 158 +f 139 151 158 +f 155 150 158 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/056/056.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/056/056.urdf new file mode 100644 index 000000000..58de355df --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/056/056.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/057/057.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/057/057.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/057/057.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/057/057.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/057/057.obj new file mode 100644 index 000000000..7c8ac7f2a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/057/057.obj @@ -0,0 +1,420 @@ +o convex_0 +v -0.950727 -4.072556 -1.079419 +v 1.080165 -2.696913 1.082496 +v 0.523045 -2.696913 1.082496 +v 1.014511 -4.269123 1.016755 +v 1.014511 -2.696913 -0.981023 +v -1.016173 -2.696913 1.049626 +v 1.047234 -4.269123 -1.046763 +v -1.049104 -4.236253 0.984100 +v -1.016173 -2.696913 -0.981023 +v -0.918005 -4.367570 -1.112289 +v 0.850689 -4.301829 0.853049 +v 1.047234 -3.875988 1.049411 +v -1.049104 -4.269123 0.754653 +v 0.949066 -4.301993 -1.046763 +v -0.524915 -4.367570 -0.686265 +v -1.016173 -3.122917 1.049626 +v -1.016173 -2.893480 -1.013678 +v 1.014511 -3.090047 -1.013678 +v -1.049104 -3.450638 1.016755 +v 1.047234 -3.450475 -1.013678 +v 1.080165 -3.090047 1.082496 +v 1.080165 -2.696913 0.558291 +v 0.130164 -4.269123 1.016755 +v -0.754183 -4.269123 -1.112289 +v -1.049104 -4.269123 0.558291 +v 0.981789 -4.006979 1.049411 +v 1.047234 -4.269123 -0.194931 +v -0.950727 -4.367570 -0.817102 +v -1.016173 -3.057340 -1.013678 +v 1.080165 -3.221201 1.016755 +v 1.047234 -4.105426 -1.046763 +v -0.524915 -4.367570 -1.079419 +v -0.950727 -3.319484 -1.046548 +f 18 24 33 +f 3 2 5 +f 3 5 6 +f 6 5 9 +f 10 7 14 +f 4 11 14 +f 14 11 15 +f 3 6 16 +f 9 5 17 +f 10 1 17 +f 17 5 18 +f 6 9 19 +f 13 8 19 +f 16 6 19 +f 8 16 19 +f 18 5 20 +f 2 3 21 +f 3 16 21 +f 5 2 22 +f 20 5 22 +f 2 21 22 +f 11 4 23 +f 8 13 23 +f 13 11 23 +f 16 8 23 +f 7 10 24 +f 9 17 25 +f 19 9 25 +f 13 19 25 +f 4 12 26 +f 12 21 26 +f 21 16 26 +f 23 4 26 +f 16 23 26 +f 12 4 27 +f 4 14 27 +f 14 7 27 +f 1 10 28 +f 11 13 28 +f 15 11 28 +f 10 15 28 +f 13 25 28 +f 28 25 29 +f 17 1 29 +f 25 17 29 +f 1 28 29 +f 21 12 30 +f 7 22 30 +f 22 21 30 +f 12 27 30 +f 27 7 30 +f 18 20 31 +f 20 22 31 +f 22 7 31 +f 7 24 31 +f 24 18 31 +f 10 14 32 +f 14 15 32 +f 15 10 32 +f 10 17 33 +f 17 18 33 +f 24 10 33 +o convex_1 +v 1.112910 1.823477 0.984100 +v -1.114620 2.151198 1.016970 +v -1.114620 2.151198 1.049626 +v -1.016282 -2.696913 1.049626 +v -0.983358 1.233776 -1.112289 +v 1.014573 -2.696913 -0.981238 +v 1.014573 2.315059 -0.948153 +v 1.079986 -2.696913 1.082496 +v -1.048989 -2.565432 -0.981238 +v -1.016282 2.315059 -1.112289 +v 1.079986 2.315059 1.049411 +v -1.114620 2.315059 1.049626 +v -1.081695 1.856348 1.082496 +v -1.016282 -2.696913 -0.981238 +v 1.079986 2.118328 -0.522344 +v 1.112910 -2.303452 0.787523 +v 1.112910 1.954468 1.082496 +v -0.983576 -2.533052 1.082496 +v -0.721488 1.495756 -1.112289 +v 0.850822 1.364766 -0.981238 +v -1.048989 -1.451769 -0.981238 +v 1.112910 -2.565432 1.082496 +v 1.047279 -2.238202 -0.555214 +v -1.048989 -2.369192 -0.424163 +v 1.014573 -1.320779 -0.981238 +v 0.752485 2.315059 -0.981238 +v 1.079986 2.315059 -0.522344 +v -0.885238 2.282188 -1.112289 +v -1.081695 0.545954 1.082496 +v -1.114620 2.315059 1.016970 +v -0.721488 1.233776 -1.112289 +v 0.621441 -1.451769 -1.013678 +f 39 64 65 +f 37 39 41 +f 36 35 42 +f 38 42 43 +f 40 43 44 +f 44 43 45 +f 35 36 45 +f 45 36 46 +f 39 37 47 +f 38 39 47 +f 37 42 47 +f 42 38 47 +f 44 45 50 +f 46 41 50 +f 45 46 50 +f 49 34 50 +f 37 41 51 +f 41 46 51 +f 38 43 52 +f 42 35 54 +f 43 42 54 +f 41 39 55 +f 39 49 55 +f 50 41 55 +f 49 50 55 +f 39 48 56 +f 49 39 56 +f 48 49 56 +f 36 42 57 +f 42 37 57 +f 48 39 58 +f 53 40 58 +f 52 53 58 +f 43 40 59 +f 40 53 59 +f 53 52 59 +f 40 44 60 +f 34 49 60 +f 49 48 60 +f 44 50 60 +f 50 34 60 +f 48 58 60 +f 58 40 60 +f 52 43 61 +f 43 59 61 +f 59 52 61 +f 46 36 62 +f 37 51 62 +f 51 46 62 +f 36 57 62 +f 57 37 62 +f 45 43 63 +f 35 45 63 +f 54 35 63 +f 43 54 63 +f 39 38 64 +f 38 52 64 +f 64 52 65 +f 58 39 65 +f 52 58 65 +o convex_2 +v -3.046995 2.413336 -0.031218 +v -1.147378 3.035734 -0.227740 +v -1.147378 2.904629 0.328998 +v -3.014269 2.970215 0.296234 +v -1.147378 2.446129 0.328998 +v -1.147378 2.511716 -0.326033 +v -3.046995 2.970215 -0.326033 +v -3.079910 2.347817 0.197941 +v -2.981543 2.511716 -0.227740 +v -3.014269 2.839177 0.328998 +v -1.147378 3.035734 -0.293269 +v -1.278660 2.413336 0.263469 +v -1.147378 2.478922 -0.260504 +v -2.654094 2.970215 0.328998 +v -2.883365 2.347817 0.132476 +v -3.046995 2.871835 -0.326033 +v -1.409753 3.035734 -0.260504 +v -3.079910 2.446129 0.230705 +v -2.588454 2.511716 -0.260504 +v -2.523002 2.970215 -0.326033 +v -2.228279 2.380677 0.263469 +f 75 83 86 +f 67 68 70 +f 67 70 71 +f 70 68 75 +f 67 71 76 +f 71 70 78 +f 70 77 78 +f 68 67 79 +f 67 69 79 +f 75 68 79 +f 69 75 79 +f 73 66 80 +f 78 77 80 +f 66 78 80 +f 72 71 81 +f 66 73 81 +f 73 72 81 +f 74 66 81 +f 69 67 82 +f 72 69 82 +f 67 76 82 +f 76 72 82 +f 69 72 83 +f 72 73 83 +f 75 69 83 +f 66 74 84 +f 78 66 84 +f 71 78 84 +f 81 71 84 +f 74 81 84 +f 71 72 85 +f 76 71 85 +f 72 76 85 +f 70 75 86 +f 77 70 86 +f 73 80 86 +f 80 77 86 +f 83 73 86 +o convex_3 +v 1.112923 3.068274 0.132316 +v -1.016176 2.315059 -1.112289 +v -1.016176 2.577241 -1.112289 +v -1.114412 2.642751 1.049738 +v -1.048921 3.789168 -1.079274 +v 1.014466 2.315059 -0.948486 +v 1.047211 3.789168 0.918526 +v 1.079957 2.315059 1.049738 +v 1.014466 3.625105 -0.948486 +v -1.114412 3.690615 0.984132 +v -1.114412 2.315059 1.049738 +v -1.147378 2.511732 -0.326078 +v 0.817995 3.658005 -0.981077 +v 1.112923 2.380713 -0.325866 +v -0.524999 3.723514 0.984132 +v -1.147378 3.035952 -0.293275 +v 1.047211 3.756124 0.296118 +v -0.852450 3.789168 -1.079274 +v -1.048921 3.789168 -0.719078 +v 1.079957 3.232193 0.984132 +v 1.112923 2.970443 -0.358669 +v -1.147378 2.446222 0.328921 +v 0.719539 3.789168 0.918526 +v -1.048921 3.395966 1.016935 +v 0.752284 2.315059 -0.981077 +v -1.081666 3.756124 -0.653472 +v -0.917941 2.413612 -1.112289 +v 1.014466 3.658005 -0.882880 +v 1.079957 3.592495 0.558118 +v 1.079957 2.380713 1.049738 +v 1.112923 2.446222 0.296118 +v 0.752284 3.756124 0.951329 +v 0.883486 3.789168 0.525527 +v -1.048921 3.133784 -1.079274 +v -0.361052 3.723514 0.984132 +v -0.623234 3.789168 -0.915683 +v -1.147378 2.872034 0.328921 +v 1.079957 2.315059 -0.522472 +f 100 94 124 +f 89 88 91 +f 88 92 94 +f 94 90 97 +f 88 94 97 +f 95 92 99 +f 91 98 102 +f 89 91 104 +f 91 93 104 +f 93 91 105 +f 96 101 105 +f 92 95 107 +f 100 92 107 +f 87 100 107 +f 88 97 108 +f 97 90 108 +f 98 88 108 +f 102 98 108 +f 101 93 109 +f 93 105 109 +f 105 101 109 +f 96 90 110 +f 101 96 110 +f 92 88 111 +f 99 92 111 +f 102 96 112 +f 91 102 112 +f 105 91 112 +f 96 105 112 +f 88 89 113 +f 104 99 113 +f 89 104 113 +f 111 88 113 +f 99 111 113 +f 95 99 114 +f 99 104 114 +f 107 95 114 +f 107 114 115 +f 103 93 115 +f 106 87 115 +f 93 106 115 +f 87 107 115 +f 114 103 115 +f 90 94 116 +f 110 90 116 +f 94 100 117 +f 100 87 117 +f 87 106 117 +f 116 94 117 +f 106 116 117 +f 106 93 118 +f 93 103 119 +f 104 93 119 +f 103 114 119 +f 91 88 120 +f 88 98 120 +f 98 91 120 +f 93 101 121 +f 101 110 121 +f 116 106 121 +f 110 116 121 +f 118 93 121 +f 106 118 121 +f 114 104 122 +f 104 119 122 +f 119 114 122 +f 90 96 123 +f 96 102 123 +f 108 90 123 +f 102 108 123 +f 94 92 124 +f 92 100 124 +o convex_4 +v 2.586955 3.035734 -0.063976 +v 1.112923 2.904686 -0.358791 +v 1.112923 2.577219 -0.260498 +v 1.112923 3.035734 0.197947 +v 3.111160 2.413333 0.296240 +v 3.111160 2.511725 -0.227734 +v 1.112923 2.446171 0.296240 +v 3.078300 2.937342 0.296240 +v 3.078300 3.035734 -0.260498 +v 1.112923 2.446171 -0.129505 +v 1.112923 3.002896 -0.293262 +v 2.881723 2.970180 -0.293262 +v 3.111160 2.413333 0.165183 +v 1.440746 2.413333 0.263476 +v 2.554095 2.937342 0.296240 +v 1.112923 3.035734 -0.096740 +v 1.112923 2.478887 -0.227734 +v 1.408082 2.970180 -0.358791 +v 1.702849 3.035734 0.197947 +v 1.112923 2.544381 0.296240 +v 3.111160 2.708267 -0.194969 +f 133 132 145 +f 126 127 128 +f 127 126 130 +f 128 127 131 +f 131 129 132 +f 128 125 133 +f 125 132 133 +f 131 127 134 +f 126 128 135 +f 133 130 136 +f 130 129 137 +f 134 130 137 +f 134 137 138 +f 129 131 138 +f 131 134 138 +f 137 129 138 +f 132 128 139 +f 131 132 139 +f 128 133 140 +f 135 128 140 +f 133 135 140 +f 127 130 141 +f 134 127 141 +f 130 134 141 +f 130 126 142 +f 126 135 142 +f 135 133 142 +f 136 130 142 +f 133 136 142 +f 125 128 143 +f 132 125 143 +f 128 132 143 +f 128 131 144 +f 139 128 144 +f 131 139 144 +f 129 130 145 +f 132 129 145 +f 130 133 145 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/057/057.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/057/057.urdf new file mode 100644 index 000000000..d1bbb7bb1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/057/057.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/058/058.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/058/058.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/058/058.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/058/058.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/058/058.obj new file mode 100644 index 000000000..38b2dd671 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/058/058.obj @@ -0,0 +1,471 @@ +o convex_0 +v 0.486542 -4.047078 0.602560 +v -0.622916 -2.845655 -0.476073 +v -0.622916 -2.845655 -0.414423 +v -0.499499 -4.756126 0.078538 +v 0.548191 -4.725145 -0.476073 +v 0.455717 -2.752906 -0.476073 +v -0.437849 -2.752906 0.540910 +v -0.468674 -4.725145 -0.599372 +v 0.517367 -2.752906 0.540793 +v -0.499499 -4.756126 0.510086 +v 0.548191 -4.725145 0.602560 +v -0.622916 -2.752906 -0.506898 +v 0.579016 -4.416897 -0.352656 +v 0.239826 -4.756126 0.602560 +v -0.314668 -4.386111 -0.599372 +v -0.283843 -3.030565 0.571735 +v -0.468674 -2.938208 0.540910 +v -0.499499 -4.540039 -0.599372 +v -0.530324 -3.091940 -0.537722 +v -0.376200 -4.756126 0.540910 +v 0.486542 -2.999583 -0.445248 +v 0.548191 -4.108649 0.602560 +v -0.530324 -4.386111 0.325137 +v 0.579016 -4.725145 -0.445248 +v 0.517367 -2.752906 0.355844 +v -0.283843 -4.725145 -0.599372 +v -0.006655 -4.756126 0.078538 +v 0.147469 -3.923935 0.602560 +v 0.579016 -4.725145 -0.106175 +v 0.548191 -4.262773 -0.476073 +v -0.468674 -2.752906 0.510086 +v -0.468674 -4.047274 0.540910 +v -0.499499 -4.201005 0.510086 +v -0.222193 -2.752906 -0.506898 +v 0.548191 -3.492937 0.140188 +f 29 13 35 +f 6 7 9 +f 2 3 12 +f 7 6 12 +f 10 4 14 +f 11 1 14 +f 1 9 16 +f 9 7 16 +f 16 7 17 +f 4 2 18 +f 8 4 18 +f 2 12 18 +f 15 8 18 +f 15 18 19 +f 18 12 19 +f 10 14 20 +f 9 1 22 +f 1 11 22 +f 3 2 23 +f 2 4 23 +f 4 10 23 +f 21 13 24 +f 6 9 25 +f 21 6 25 +f 13 21 25 +f 4 8 26 +f 15 6 26 +f 8 15 26 +f 14 4 27 +f 5 24 27 +f 24 14 27 +f 4 26 27 +f 26 5 27 +f 14 1 28 +f 1 16 28 +f 16 14 28 +f 11 14 29 +f 22 11 29 +f 24 13 29 +f 14 24 29 +f 6 21 30 +f 24 5 30 +f 21 24 30 +f 5 26 30 +f 26 6 30 +f 12 3 31 +f 7 12 31 +f 3 17 31 +f 17 7 31 +f 14 16 32 +f 17 10 32 +f 16 17 32 +f 10 20 32 +f 20 14 32 +f 17 3 33 +f 10 17 33 +f 3 23 33 +f 23 10 33 +f 12 6 34 +f 6 15 34 +f 15 19 34 +f 19 12 34 +f 9 22 35 +f 25 9 35 +f 13 25 35 +f 22 29 35 +o convex_1 +v -0.746048 -2.752906 -0.999769 +v 0.116577 1.869909 1.064842 +v -0.067984 1.869909 1.064842 +v 1.072117 1.869909 -1.061641 +v 1.072117 -2.721683 1.064631 +v -1.023524 1.869909 -0.999980 +v -0.961863 -2.752906 1.064631 +v 1.010455 -2.752906 -1.092472 +v -1.023524 1.869909 1.064631 +v 1.010455 1.869909 1.033800 +v -1.054355 -2.721683 -0.999980 +v -1.085185 1.099289 0.017016 +v 1.072117 0.390210 -1.092472 +v -1.085185 1.869909 -0.506686 +v 1.072117 -2.752906 0.201578 +v 0.671318 -2.537060 -1.092472 +v 1.072117 1.283912 0.016593 +v -0.992693 -2.136139 0.910476 +v 1.072117 -1.334748 1.064631 +v 1.041286 -2.321214 -1.092472 +v 1.010455 0.975755 -1.092472 +v -0.622725 -2.752906 -1.030811 +v -1.023524 0.575286 1.064631 +v -1.085185 -0.195334 -0.568348 +v 0.455503 1.869909 -1.061641 +v 0.085958 -2.752906 1.064842 +v 1.041286 -0.287646 1.064631 +v -1.023524 -2.752906 -0.167758 +v 1.072117 1.869909 -0.414194 +v -1.085185 1.869909 -0.106097 +v 1.041286 -2.752906 -0.907276 +v -1.054355 -2.444296 -0.783953 +v 1.072117 -2.752906 0.571337 +v -0.992693 -2.752906 0.633210 +v 1.041286 0.420981 1.033800 +v -1.054355 -2.321214 -0.999980 +f 59 49 71 +f 38 37 39 +f 38 39 41 +f 42 36 43 +f 38 41 44 +f 39 37 45 +f 39 40 48 +f 44 41 49 +f 42 43 50 +f 48 40 50 +f 48 43 51 +f 40 39 52 +f 37 40 54 +f 40 52 54 +f 43 48 55 +f 48 50 55 +f 39 48 56 +f 51 41 56 +f 48 51 56 +f 43 36 57 +f 36 46 57 +f 51 43 57 +f 41 51 57 +f 42 38 58 +f 38 44 58 +f 44 47 58 +f 53 42 58 +f 47 53 58 +f 47 49 59 +f 41 39 60 +f 39 56 60 +f 56 41 60 +f 37 38 61 +f 40 37 61 +f 38 42 61 +f 42 50 61 +f 45 37 62 +f 37 54 62 +f 54 45 62 +f 36 42 63 +f 46 36 63 +f 39 45 64 +f 52 39 64 +f 45 52 64 +f 47 44 65 +f 44 49 65 +f 49 47 65 +f 50 43 66 +f 43 55 66 +f 55 50 66 +f 53 47 67 +f 59 46 67 +f 47 59 67 +f 46 63 67 +f 50 40 68 +f 40 61 68 +f 61 50 68 +f 42 53 69 +f 63 42 69 +f 53 67 69 +f 67 63 69 +f 52 45 70 +f 45 54 70 +f 54 52 70 +f 49 41 71 +f 57 46 71 +f 41 57 71 +f 46 59 71 +o convex_2 +v 2.212284 1.931610 0.109411 +v 2.951850 2.578678 0.325125 +v 2.951850 2.578678 0.294300 +v 1.103327 2.455409 0.047822 +v 3.106155 2.486194 -0.229480 +v 1.103327 1.993245 -0.229480 +v 1.103327 1.962459 0.355950 +v 3.044198 1.931610 0.294300 +v 3.106155 2.054879 -0.229480 +v 1.103327 2.455409 -0.260305 +v 1.103327 2.393774 0.232650 +v 2.027785 2.332140 0.355950 +v 2.828524 2.517043 -0.229480 +v 3.074981 1.931610 0.171061 +v 1.319001 2.486194 -0.167831 +v 1.565458 1.962459 -0.137006 +v 3.013416 2.270505 0.325125 +v 2.181306 2.424560 -0.260305 +v 1.134110 2.239783 -0.260305 +v 1.134110 2.116514 0.355950 +v 2.366197 1.931610 0.325125 +v 1.349784 2.455409 0.232650 +v 1.534676 1.962459 0.355950 +v 1.103327 1.962459 0.109411 +v 3.044198 2.547829 0.047822 +f 88 76 96 +f 75 77 78 +f 77 75 81 +f 75 78 82 +f 79 72 85 +f 80 76 85 +f 73 74 86 +f 75 73 86 +f 81 75 86 +f 74 84 86 +f 84 81 86 +f 77 80 87 +f 85 72 87 +f 80 85 87 +f 73 83 88 +f 85 76 88 +f 79 85 88 +f 76 80 89 +f 84 76 89 +f 81 84 89 +f 80 77 90 +f 77 81 90 +f 89 80 90 +f 81 89 90 +f 82 78 91 +f 78 83 91 +f 78 72 92 +f 72 79 92 +f 79 88 92 +f 73 75 93 +f 75 82 93 +f 83 73 93 +f 82 91 93 +f 91 83 93 +f 83 78 94 +f 88 83 94 +f 78 92 94 +f 92 88 94 +f 72 78 95 +f 78 77 95 +f 87 72 95 +f 77 87 95 +f 74 73 96 +f 84 74 96 +f 76 84 96 +f 73 88 96 +o convex_3 +v -3.057240 2.024106 0.140242 +v -1.085197 2.578741 0.047786 +v -1.085197 2.578741 -0.229474 +v -1.085197 1.962450 0.201862 +v -2.718206 1.931656 -0.260311 +v -3.088418 2.455364 0.294318 +v -2.965079 2.517086 -0.198638 +v -1.085197 2.085695 -0.260311 +v -3.057240 1.900728 0.232644 +v -1.208536 2.547880 0.232644 +v -2.934294 2.085695 -0.260311 +v -1.609141 1.931656 0.232644 +v -2.564474 2.547880 -0.137018 +v -2.995669 1.900728 -0.075399 +v -3.057240 2.486158 0.232644 +v -2.965079 1.931656 0.263481 +v -1.794246 2.578741 -0.229474 +v -1.085197 2.332119 -0.260311 +v -2.872330 2.362980 0.294318 +v -1.085197 2.054900 -0.229474 +v -1.270499 2.054900 0.232644 +v -1.085197 1.962450 0.140242 +v -1.085197 2.547880 0.201862 +v -2.965079 1.931656 -0.229474 +v -3.088418 2.455364 0.201862 +v -2.410350 1.900728 0.232644 +v -1.455409 2.547880 0.232644 +f 109 111 123 +f 99 98 100 +f 99 100 104 +f 104 101 107 +f 105 97 110 +f 109 103 111 +f 102 105 112 +f 98 99 113 +f 107 103 113 +f 109 98 113 +f 103 109 113 +f 99 104 114 +f 104 107 114 +f 113 99 114 +f 107 113 114 +f 106 102 115 +f 102 112 115 +f 112 108 115 +f 104 100 116 +f 101 104 116 +f 100 106 117 +f 108 100 117 +f 106 115 117 +f 115 108 117 +f 100 108 118 +f 110 101 118 +f 108 110 118 +f 116 100 118 +f 101 116 118 +f 100 98 119 +f 98 106 119 +f 106 100 119 +f 103 107 120 +f 107 101 120 +f 110 97 120 +f 101 110 120 +f 97 105 121 +f 105 102 121 +f 102 111 121 +f 111 103 121 +f 120 97 121 +f 103 120 121 +f 105 110 122 +f 110 108 122 +f 112 105 122 +f 108 112 122 +f 106 98 123 +f 102 106 123 +f 98 109 123 +f 111 102 123 +o convex_4 +v -0.869233 3.194866 1.003020 +v 0.455658 1.870054 -1.061654 +v 0.455658 2.239843 -1.061654 +v 1.010372 1.870054 1.033827 +v 1.102896 3.225706 -1.061654 +v -1.023439 1.870054 -0.999832 +v -0.961757 3.287386 -0.999832 +v -1.023439 1.870054 1.064634 +v 0.979531 3.195011 1.033827 +v 1.072055 1.870054 -1.061654 +v 0.239768 3.349066 0.294050 +v -1.054281 3.164026 1.064634 +v 1.102896 1.962574 0.355663 +v -1.085122 2.732702 -0.414088 +v -0.437883 3.349066 -0.475910 +v -1.085122 1.962574 0.201630 +v 0.116618 1.900894 1.064842 +v -1.023439 3.225706 -0.938219 +v 1.102896 2.486418 0.294258 +v 0.948690 3.256546 -0.999832 +v -1.085122 1.870054 -0.506717 +v -1.054281 3.194866 0.910600 +v 0.517126 3.225706 -1.061654 +v 1.041214 3.225706 0.047596 +v 1.010372 3.102491 0.910600 +v 0.887221 3.225706 0.941407 +v -0.407042 3.133331 1.064634 +v -0.098843 3.349066 -0.445103 +v 1.102896 1.993414 -0.229248 +v -1.054281 2.671022 1.064634 +v -0.992598 3.287386 -0.907412 +v -1.085122 2.548097 0.201630 +v -0.314518 3.349066 -0.229456 +v 0.979531 3.256546 -0.753170 +v -1.023439 2.486418 -0.999832 +v 1.102896 3.225706 -0.969025 +v 0.178300 3.349066 0.294050 +v -0.561248 3.194866 1.033827 +v 1.010372 2.209003 1.033827 +f 142 148 162 +f 125 126 128 +f 126 125 129 +f 125 127 129 +f 129 127 131 +f 127 125 133 +f 125 128 133 +f 127 133 136 +f 131 127 140 +f 136 128 142 +f 128 130 143 +f 129 131 144 +f 131 139 144 +f 139 137 144 +f 137 141 144 +f 135 124 145 +f 137 135 145 +f 141 137 145 +f 128 126 146 +f 130 128 146 +f 147 132 148 +f 132 147 149 +f 147 134 149 +f 132 135 150 +f 140 132 150 +f 135 140 150 +f 130 138 151 +f 138 134 151 +f 143 130 151 +f 134 143 151 +f 133 128 152 +f 128 136 152 +f 136 133 152 +f 139 131 153 +f 135 139 153 +f 131 140 153 +f 140 135 153 +f 138 130 154 +f 130 141 154 +f 145 138 154 +f 141 145 154 +f 135 137 155 +f 139 135 155 +f 137 139 155 +f 134 138 156 +f 138 145 156 +f 128 143 157 +f 143 134 157 +f 134 147 157 +f 126 129 158 +f 141 130 158 +f 129 144 158 +f 144 141 158 +f 146 126 158 +f 130 146 158 +f 142 128 159 +f 148 142 159 +f 147 148 159 +f 128 157 159 +f 157 147 159 +f 145 124 160 +f 149 134 160 +f 134 156 160 +f 156 145 160 +f 124 135 161 +f 135 132 161 +f 132 149 161 +f 160 124 161 +f 149 160 161 +f 127 136 162 +f 140 127 162 +f 132 140 162 +f 136 142 162 +f 148 132 162 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/058/058.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/058/058.urdf new file mode 100644 index 000000000..5846089b3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/058/058.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/059/059.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/059/059.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/059/059.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/059/059.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/059/059.obj new file mode 100644 index 000000000..91e32c69b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/059/059.obj @@ -0,0 +1,669 @@ +o convex_0 +v 0.220164 -2.637290 0.894548 +v -0.028028 -1.364241 -0.999784 +v -0.028028 -1.240177 -0.999784 +v -1.239195 -1.240003 0.055960 +v 1.027527 -1.240177 0.801284 +v 0.158116 -2.854576 -0.751211 +v 0.872407 -2.078479 -0.782233 +v -0.711294 -2.730512 -0.098954 +v -0.866414 -1.240003 0.801086 +v 0.779335 -2.761528 0.024938 +v -0.897438 -1.302209 -0.813256 +v 1.276211 -1.240177 -0.036909 +v -0.524904 -2.482036 0.801086 +v 0.002996 -3.010004 0.086982 +v 0.996503 -1.240177 -0.844278 +v 0.033774 -1.240177 1.018835 +v -0.555928 -2.513052 -0.751211 +v 0.282212 -2.357798 -0.999784 +v 0.375284 -2.357798 1.018835 +v 0.841383 -2.078479 0.770262 +v 0.065044 -2.854576 0.770262 +v -0.742318 -2.730512 0.086982 +v -1.239195 -1.333398 -0.005887 +v 0.623969 -2.606274 0.583931 +v 0.065044 -1.892209 1.018835 +v 0.654993 -2.575084 -0.595902 +v 0.406554 -2.326608 -0.999784 +v 0.965479 -1.240177 0.863328 +v 0.065044 -2.854576 -0.751211 +v -0.897438 -1.240003 -0.813256 +v 1.276211 -1.271193 -0.005887 +v 0.748065 -2.792717 -0.036909 +v 0.002996 -3.010004 -0.067734 +v 0.158116 -1.240177 -0.999784 +v -0.866414 -1.333398 0.801086 +v -1.239195 -1.333398 0.024938 +v -0.804366 -1.302209 0.832306 +v -0.369538 -2.606274 0.801086 +v 0.096068 -3.010004 0.024938 +v 0.934455 -1.333225 -0.875300 +v -0.587198 -2.575258 -0.626925 +v 0.127092 -2.854576 0.739240 +v -0.649246 -2.792717 0.055960 +v 0.779335 -2.761528 -0.036909 +v 0.096068 -1.985431 -0.999784 +v 0.158116 -2.388814 0.987615 +v -1.239195 -1.271193 -0.067931 +v -0.773342 -2.668479 -0.005887 +v 0.127092 -1.302209 1.018835 +v 0.996503 -1.364415 0.832306 +v 0.406554 -2.295592 1.018835 +v 1.276211 -1.271193 -0.036909 +v 0.841383 -2.140512 0.708020 +v 0.748065 -2.792717 0.024938 +v -0.587198 -2.482036 -0.720189 +v 0.561674 -1.923398 -0.968564 +v 0.996503 -1.302209 -0.844278 +v -0.618222 -2.420003 0.645975 +v 0.530650 -2.668306 -0.626727 +v 0.779335 -2.233733 0.739240 +v 0.872407 -2.109495 -0.751211 +v -0.307490 -2.916955 -0.005887 +v 0.313236 -2.761528 0.708217 +v -0.369538 -2.637290 -0.751211 +f 41 17 64 +f 3 2 11 +f 9 5 12 +f 2 3 18 +f 19 16 25 +f 18 3 27 +f 6 18 27 +f 7 26 27 +f 5 9 28 +f 9 16 28 +f 18 6 29 +f 4 9 30 +f 3 11 30 +f 9 12 30 +f 12 15 30 +f 12 5 31 +f 29 6 33 +f 27 3 34 +f 3 30 34 +f 30 15 34 +f 9 4 35 +f 4 23 36 +f 35 4 36 +f 16 9 37 +f 13 25 37 +f 25 16 37 +f 9 35 37 +f 35 13 37 +f 21 1 38 +f 22 21 38 +f 13 22 38 +f 6 32 39 +f 14 33 39 +f 33 6 39 +f 7 27 40 +f 34 15 40 +f 1 21 42 +f 21 14 42 +f 14 39 42 +f 14 21 43 +f 21 22 43 +f 22 8 43 +f 31 10 44 +f 10 32 44 +f 32 26 44 +f 11 2 45 +f 17 11 45 +f 18 17 45 +f 2 18 45 +f 1 19 46 +f 25 13 46 +f 19 25 46 +f 38 1 46 +f 13 38 46 +f 23 4 47 +f 4 30 47 +f 30 11 47 +f 8 22 48 +f 22 36 48 +f 36 23 48 +f 41 8 48 +f 23 47 48 +f 16 19 49 +f 28 16 49 +f 5 28 50 +f 31 5 50 +f 20 31 50 +f 19 20 51 +f 49 19 51 +f 28 49 51 +f 20 50 51 +f 50 28 51 +f 15 12 52 +f 12 31 52 +f 31 44 52 +f 10 31 53 +f 31 20 53 +f 10 24 54 +f 32 10 54 +f 39 32 54 +f 42 39 54 +f 11 17 55 +f 17 41 55 +f 47 11 55 +f 41 48 55 +f 48 47 55 +f 27 34 56 +f 40 27 56 +f 34 40 56 +f 7 40 57 +f 40 15 57 +f 52 7 57 +f 15 52 57 +f 22 13 58 +f 13 35 58 +f 36 22 58 +f 35 36 58 +f 6 27 59 +f 27 26 59 +f 32 6 59 +f 26 32 59 +f 20 19 60 +f 19 24 60 +f 24 10 60 +f 10 53 60 +f 53 20 60 +f 26 7 61 +f 44 26 61 +f 7 52 61 +f 52 44 61 +f 8 29 62 +f 33 14 62 +f 29 33 62 +f 14 43 62 +f 43 8 62 +f 19 1 63 +f 24 19 63 +f 1 42 63 +f 54 24 63 +f 42 54 63 +f 17 18 64 +f 29 8 64 +f 18 29 64 +f 8 41 64 +o convex_1 +v -0.245410 2.455555 0.987770 +v -0.059110 1.244451 -1.030840 +v -0.059110 1.461847 -1.030840 +v 1.307267 1.244627 0.024801 +v -1.021878 1.244451 0.863325 +v -0.121124 2.921378 -0.720237 +v -1.332465 1.275658 -0.067871 +v 0.717100 2.797076 0.055963 +v 0.903400 1.244627 0.801409 +v -0.804570 2.797076 0.086921 +v 0.934407 1.337721 -0.813316 +v -0.990613 1.337898 -0.875233 +v -0.121124 2.859315 0.801409 +v 0.530541 2.517618 0.801409 +v 0.530541 2.548649 -0.751196 +v -0.369697 2.424347 -0.999678 +v -0.897592 2.114034 0.770043 +v 0.033911 1.244451 1.018728 +v -0.804570 2.207128 -0.782154 +v -0.027844 3.045680 0.118083 +v -0.307424 2.269191 1.049890 +v -0.928599 1.244451 -0.906395 +v -0.649277 2.672951 -0.533876 +v 1.307267 1.275658 -0.036912 +v 0.934407 1.244627 -0.813316 +v -0.804570 2.797076 -0.036912 +v -0.027844 2.020940 -0.999678 +v -0.680284 2.641743 0.552723 +v -0.462718 2.300222 1.018728 +v -0.090117 1.865607 1.049890 +v 0.717100 2.766045 -0.067871 +v -1.332465 1.244451 0.025004 +v -0.866585 1.306690 0.925446 +v -0.090117 3.045680 -0.068074 +v 0.903400 1.337721 0.801409 +v 0.592813 2.486587 -0.689075 +v -0.866585 2.052148 -0.782154 +v 1.307267 1.275658 0.024801 +v -0.183138 1.244451 1.018728 +v 0.655086 2.703806 0.335403 +v 0.468527 2.610888 -0.751196 +v -0.276417 2.424524 -0.999678 +v -0.245410 2.828284 0.770246 +v -1.332465 1.275658 0.025004 +v 0.841386 1.275658 0.832367 +v -0.431711 2.300222 -0.999678 +v -0.090117 2.921378 -0.720237 +v -0.090117 3.045680 0.118083 +v -0.027844 3.045680 -0.068074 +v 0.002904 1.430815 -1.030840 +v -0.773305 2.828284 -0.005750 +v 0.717100 2.797076 -0.005954 +v 0.561806 2.486587 0.770246 +v -0.369697 2.237983 1.049890 +v -0.959606 1.679419 0.832367 +v -0.618011 2.548649 0.708126 +v 0.779114 2.672775 0.055963 +v -0.866585 2.145065 -0.689075 +v 0.561806 2.641920 -0.595996 +v -0.307424 2.828284 -0.689075 +v -0.152131 2.890347 0.708126 +v -0.369697 2.455555 0.987566 +v 0.934407 1.306690 0.770246 +v 0.499534 2.548649 0.801409 +f 78 104 128 +f 66 68 82 +f 69 66 82 +f 68 73 82 +f 77 72 84 +f 66 69 86 +f 71 76 86 +f 80 83 87 +f 68 66 89 +f 88 68 89 +f 75 88 89 +f 71 74 90 +f 87 83 90 +f 79 75 91 +f 74 81 92 +f 78 85 94 +f 86 69 96 +f 71 86 96 +f 93 69 97 +f 75 79 100 +f 88 75 100 +f 95 88 100 +f 76 71 101 +f 68 88 102 +f 69 82 103 +f 82 94 103 +f 97 69 103 +f 72 77 104 +f 67 80 106 +f 80 70 106 +f 79 91 106 +f 105 79 106 +f 74 92 107 +f 74 71 108 +f 81 74 108 +f 71 96 108 +f 96 69 108 +f 82 73 109 +f 78 94 109 +f 94 82 109 +f 73 99 109 +f 99 78 109 +f 67 66 110 +f 80 67 110 +f 83 80 110 +f 66 86 110 +f 86 76 110 +f 76 101 110 +f 101 83 110 +f 70 98 111 +f 106 70 111 +f 105 106 111 +f 84 98 112 +f 84 72 113 +f 98 84 113 +f 111 98 113 +f 66 67 114 +f 89 66 114 +f 75 89 114 +f 91 75 114 +f 67 106 114 +f 106 91 114 +f 90 74 115 +f 98 70 115 +f 112 98 115 +f 74 112 115 +f 113 72 116 +f 111 113 116 +f 78 99 117 +f 104 78 117 +f 85 93 118 +f 94 85 118 +f 93 97 118 +f 103 94 118 +f 97 103 118 +f 93 81 119 +f 69 93 119 +f 108 69 119 +f 81 108 119 +f 92 81 120 +f 81 93 120 +f 107 92 120 +f 88 95 121 +f 102 88 121 +f 72 104 121 +f 116 72 121 +f 95 116 121 +f 117 102 121 +f 104 117 121 +f 71 90 122 +f 90 83 122 +f 101 71 122 +f 83 101 122 +f 100 79 123 +f 95 100 123 +f 79 105 123 +f 105 111 123 +f 116 95 123 +f 111 116 123 +f 70 80 124 +f 80 87 124 +f 87 90 124 +f 90 115 124 +f 115 70 124 +f 77 84 125 +f 74 107 125 +f 107 77 125 +f 84 112 125 +f 112 74 125 +f 65 77 126 +f 85 65 126 +f 93 85 126 +f 77 107 126 +f 120 93 126 +f 107 120 126 +f 73 68 127 +f 99 73 127 +f 68 102 127 +f 117 99 127 +f 102 117 127 +f 77 65 128 +f 65 85 128 +f 85 78 128 +f 104 77 128 +o convex_2 +v 0.313115 -0.960530 0.987615 +v -0.121485 -0.991606 -0.999784 +v -0.493707 -0.991606 -0.937542 +v 0.095609 -1.239976 1.018835 +v 2.114715 -0.991606 -0.067931 +v 0.934441 -1.239976 -0.875498 +v -2.077802 -0.991606 0.024938 +v -0.928307 -1.239976 -0.782233 +v 1.027599 -1.239976 0.832306 +v -0.897528 -1.239976 0.801284 +v 1.400231 -0.960530 -0.813256 +v -0.959496 -0.960530 0.832306 +v 1.555357 -0.960530 0.770262 +v -0.959496 -0.960530 -0.844475 +v -1.332128 -1.239976 0.024938 +v 1.369041 -1.239976 -0.036909 +v -0.027917 -1.239976 -0.999784 +v -2.015423 -0.960530 -0.067734 +v 0.189178 -0.960530 -0.999784 +v 2.114715 -0.960530 0.024740 +v 1.245104 -0.991606 0.863328 +v 2.114715 -0.991606 0.024740 +v -0.152265 -0.960530 0.987615 +v 0.996820 -1.239976 -0.844278 +v -0.959496 -1.053706 -0.844475 +v 1.555357 -0.991606 0.770262 +v -0.928307 -1.115750 0.832306 +v -1.984233 -0.960530 0.118202 +v 1.400231 -0.991606 -0.813256 +v 1.151946 -0.991606 -0.875498 +v 0.157578 -1.239976 -0.999784 +v 0.033641 -1.239976 1.018835 +v -0.897528 -1.239976 -0.813256 +v -2.077802 -0.991606 -0.005689 +v 1.462199 -1.208899 0.024740 +f 144 150 163 +f 134 132 136 +f 132 134 137 +f 136 132 138 +f 129 139 140 +f 139 129 141 +f 130 131 142 +f 140 139 142 +f 138 135 143 +f 136 138 143 +f 137 134 144 +f 131 130 145 +f 134 136 145 +f 140 142 146 +f 130 142 147 +f 142 139 147 +f 145 130 147 +f 133 139 148 +f 139 141 148 +f 129 132 149 +f 132 137 149 +f 141 129 149 +f 144 133 150 +f 133 148 150 +f 148 141 150 +f 132 129 151 +f 129 140 151 +f 133 144 152 +f 144 134 152 +f 142 131 153 +f 131 145 153 +f 146 142 153 +f 149 137 154 +f 141 149 154 +f 137 150 154 +f 150 141 154 +f 135 138 156 +f 146 135 156 +f 140 146 156 +f 138 155 156 +f 155 140 156 +f 139 133 157 +f 133 152 157 +f 152 134 157 +f 147 139 158 +f 139 157 158 +f 157 134 158 +f 134 145 159 +f 145 147 159 +f 158 134 159 +f 147 158 159 +f 138 132 160 +f 132 151 160 +f 151 140 160 +f 155 138 160 +f 140 155 160 +f 145 136 161 +f 153 145 161 +f 146 153 161 +f 143 135 162 +f 136 143 162 +f 135 146 162 +f 161 136 162 +f 146 161 162 +f 137 144 163 +f 150 137 163 +o convex_3 +v -3.008885 -0.028750 -0.006002 +v 1.337988 1.244451 0.024895 +v 1.586750 1.151211 0.024895 +v 0.002655 1.244451 -1.030840 +v 1.462369 -0.960287 -0.813353 +v 0.375211 -0.960287 0.987536 +v -0.990631 1.244451 0.894442 +v 2.735512 -0.028534 0.770250 +v -2.046694 -0.711646 -0.751156 +v 2.735512 0.033194 -0.720259 +v -1.984504 -0.804887 0.770049 +v -2.481440 0.685227 -0.595866 +v 2.704417 -0.805102 0.024895 +v -0.152234 -0.960287 -0.999741 +v 0.033750 1.244451 1.018835 +v -2.015599 0.002546 1.018835 +v -2.729615 0.840627 0.024895 +v -2.077789 0.095786 -0.999741 +v 2.735512 0.716307 0.055793 +v -2.170488 -0.960502 -0.006002 +v 2.021496 -0.059614 -0.999741 +v -2.760710 0.033410 0.770049 +v -0.990631 1.244451 -0.875549 +v 0.965433 1.244451 -0.813353 +v 1.617845 -0.960287 0.770250 +v 2.052005 -0.090694 0.987737 +v 2.052005 0.716307 0.770250 +v -2.760710 -0.742942 0.086891 +v -2.760710 0.033410 -0.751156 +v 2.983687 -0.059614 -0.006002 +v 0.934338 1.244451 0.801348 +v 2.052005 0.716307 -0.751156 +v 2.487337 -0.618622 -0.595866 +v -1.425377 1.244451 0.024695 +v -2.512535 0.623283 0.583861 +v 0.002655 -0.339118 -1.030840 +v -0.152234 -0.960287 0.987536 +v 2.238576 -0.960287 -0.036900 +v 2.456242 -0.649702 0.583861 +v -2.015599 0.840627 -0.782254 +v -0.990631 -0.960287 -0.844451 +v -1.735742 0.126866 -1.030840 +v -2.574139 -0.525382 -0.564767 +v -2.574139 -0.587758 0.583861 +v 0.033750 0.374858 1.018835 +v 2.580036 0.530043 -0.533870 +v 2.735512 -0.121990 -0.720259 +v -2.760710 -0.742942 -0.036900 +v 2.580036 0.467883 0.614959 +v -0.959536 -0.960287 0.832245 +v 0.219735 -0.960287 -0.999741 +v 1.990401 -0.742942 -0.782254 +v 2.704417 -0.805102 -0.067798 +v 2.021496 0.033626 -0.999741 +v -2.729615 0.840627 -0.036900 +v -1.984504 0.778467 0.770049 +v 2.021496 0.033626 0.987737 +v -3.008885 0.095354 0.055993 +v -2.015599 -0.059614 1.018835 +v -1.984504 -0.028534 -0.999741 +v -2.760710 0.095354 -0.751156 +v 1.990401 -0.805102 0.739151 +v 1.400179 -0.805102 0.894442 +v -2.760710 -0.028750 0.770049 +f 174 222 227 +f 165 167 170 +f 165 170 178 +f 178 170 179 +f 166 165 182 +f 170 167 186 +f 167 181 186 +f 165 166 187 +f 167 165 187 +f 166 182 187 +f 169 183 188 +f 183 174 191 +f 171 176 193 +f 173 182 193 +f 182 171 193 +f 165 178 194 +f 182 165 194 +f 178 190 194 +f 190 182 194 +f 187 182 195 +f 180 170 197 +f 170 186 197 +f 170 180 198 +f 180 185 198 +f 167 184 199 +f 183 169 200 +f 183 168 201 +f 176 188 201 +f 188 183 201 +f 176 171 202 +f 186 181 203 +f 172 177 204 +f 183 172 204 +f 177 183 204 +f 181 167 205 +f 167 199 205 +f 199 177 205 +f 192 172 206 +f 191 174 207 +f 178 179 208 +f 189 178 208 +f 169 189 208 +f 182 173 209 +f 173 195 209 +f 195 182 209 +f 184 173 210 +f 173 193 210 +f 172 183 211 +f 191 164 211 +f 183 191 211 +f 164 192 211 +f 206 172 211 +f 192 206 211 +f 171 182 212 +f 182 190 212 +f 190 171 212 +f 174 183 213 +f 200 174 213 +f 183 200 213 +f 168 183 214 +f 183 177 214 +f 184 168 214 +f 177 199 214 +f 199 184 214 +f 168 184 215 +f 184 210 215 +f 210 196 215 +f 193 176 216 +f 201 168 216 +f 176 201 216 +f 210 193 216 +f 196 210 216 +f 168 215 216 +f 215 196 216 +f 184 167 217 +f 173 184 217 +f 167 187 217 +f 195 173 217 +f 187 195 217 +f 180 197 218 +f 197 186 218 +f 203 175 218 +f 186 203 218 +f 179 170 219 +f 185 179 219 +f 170 198 219 +f 198 185 219 +f 189 171 220 +f 178 189 220 +f 190 178 220 +f 171 190 220 +f 185 180 221 +f 180 218 221 +f 179 185 222 +f 200 169 222 +f 174 200 222 +f 169 208 222 +f 208 179 222 +f 177 172 223 +f 172 192 223 +f 192 181 223 +f 181 205 223 +f 205 177 223 +f 192 164 224 +f 181 192 224 +f 175 203 224 +f 203 181 224 +f 218 175 224 +f 164 221 224 +f 221 218 224 +f 188 176 225 +f 171 189 225 +f 202 171 225 +f 176 202 225 +f 169 188 226 +f 189 169 226 +f 188 225 226 +f 225 189 226 +f 164 191 227 +f 207 174 227 +f 191 207 227 +f 185 221 227 +f 221 164 227 +f 222 185 227 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/059/059.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/059/059.urdf new file mode 100644 index 000000000..6d5e08401 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/059/059.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/060/060.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/060/060.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/060/060.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/060/060.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/060/060.obj new file mode 100644 index 000000000..ad6d8c4b8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/060/060.obj @@ -0,0 +1,528 @@ +o convex_0 +v -0.321701 -2.557055 -2.469536 +v 0.225375 -2.042175 -2.244364 +v 0.225375 -2.042175 -2.308749 +v 0.321962 -2.589207 -2.115593 +v -0.289505 -2.138744 -2.115593 +v 0.193179 -2.557055 -2.566113 +v -0.289505 -2.106592 -2.533921 +v -0.225113 -2.621472 -2.115593 +v 0.225375 -2.074440 -2.469536 +v 0.193179 -2.042175 -2.115593 +v 0.321962 -2.363975 -2.212215 +v -0.321701 -2.589207 -2.373002 +f 6 8 12 +f 1 5 7 +f 6 1 7 +f 4 5 8 +f 6 4 8 +f 7 3 9 +f 6 7 9 +f 2 3 10 +f 5 4 10 +f 3 7 10 +f 7 5 10 +f 3 2 11 +f 4 6 11 +f 9 3 11 +f 6 9 11 +f 2 10 11 +f 10 4 11 +f 5 1 12 +f 1 6 12 +f 8 5 12 +o convex_1 +v -0.418170 -1.366181 -0.506257 +v 0.836692 4.716285 1.617651 +v 0.804635 4.716285 1.617651 +v -0.514744 4.684064 -0.538427 +v -0.933099 -1.430015 1.488752 +v 0.933266 -1.397794 -0.602986 +v 1.062099 -1.366181 1.488535 +v 1.094358 4.619014 -0.538427 +v -0.933099 4.651235 1.456581 +v -0.965357 2.398808 -0.506257 +v -0.933099 -1.365573 -0.441916 +v -0.965357 4.684064 -0.506257 +v 0.997784 4.490130 1.617651 +v 1.094358 -0.496823 1.167047 +v 0.193132 -1.493849 0.169542 +v -0.707893 -0.722370 1.520922 +v 1.062099 2.559305 -0.570598 +v 1.062099 -0.850646 1.520922 +v -0.965357 4.684064 0.233883 +v 1.094358 4.619014 -0.119993 +v 0.643745 -0.689541 -0.602986 +v 0.965525 -1.397794 -0.409745 +v 0.225189 -1.493849 0.780783 +v -0.353854 -1.494457 0.201713 +v -0.836524 4.168529 -0.538427 +v 0.997784 4.715677 1.263558 +v -0.739950 4.490738 1.488752 +v 1.029841 3.396442 -0.570598 +v 0.772376 4.136308 1.617651 +v -0.965357 1.658334 -0.441916 +v -0.096188 4.715677 0.491465 +v 1.094358 3.685822 -0.538427 +v -0.933099 1.786610 1.488752 +v 1.062099 0.533032 1.520922 +v 1.062099 -1.366181 1.038147 +v -0.933099 -0.496823 -0.474086 +v 0.933266 -0.078558 -0.602986 +v -0.321596 4.684064 1.520922 +v -0.933099 -1.397794 -0.087822 +v 0.386280 -1.397794 -0.570598 +v 1.062099 4.651235 -0.055652 +v 0.997784 4.715677 1.552876 +v 1.094358 -0.367939 1.199000 +v -0.192964 -1.494457 0.748395 +v 0.965525 -0.915088 -0.602986 +v -0.385911 4.684064 -0.506257 +v -0.707893 -1.430015 1.488752 +v 0.482855 4.716285 1.552876 +v -0.707893 -0.400160 1.520922 +v 1.094358 4.200750 0.008689 +v -0.804266 4.684064 0.716441 +v 1.062099 -1.011750 0.877294 +v 0.997784 4.136308 1.617651 +v -0.804266 -1.365573 -0.474086 +f 52 36 66 +f 14 15 25 +f 28 17 30 +f 24 22 31 +f 26 20 32 +f 27 18 34 +f 34 19 35 +f 27 34 35 +f 18 27 36 +f 24 16 37 +f 22 24 37 +f 32 20 38 +f 16 20 40 +f 20 29 40 +f 25 15 41 +f 28 30 41 +f 22 23 42 +f 17 31 42 +f 31 22 42 +f 16 24 43 +f 24 31 43 +f 14 38 43 +f 20 26 44 +f 29 20 44 +f 17 28 45 +f 21 31 45 +f 31 17 45 +f 39 21 45 +f 25 30 46 +f 26 19 47 +f 19 34 47 +f 23 22 48 +f 33 13 48 +f 22 37 48 +f 37 33 48 +f 18 33 49 +f 37 16 49 +f 33 37 49 +f 16 40 49 +f 39 15 50 +f 21 39 50 +f 23 36 51 +f 36 17 51 +f 17 42 51 +f 42 23 51 +f 13 33 52 +f 33 18 52 +f 18 36 52 +f 38 20 53 +f 14 25 54 +f 38 14 54 +f 32 38 54 +f 19 26 55 +f 30 19 55 +f 26 32 55 +f 25 46 55 +f 46 30 55 +f 35 17 56 +f 27 35 56 +f 17 36 56 +f 36 27 56 +f 34 18 57 +f 29 34 57 +f 40 29 57 +f 18 49 57 +f 49 40 57 +f 20 16 58 +f 16 43 58 +f 43 38 58 +f 53 20 58 +f 38 53 58 +f 30 17 59 +f 19 30 59 +f 17 35 59 +f 35 19 59 +f 15 14 60 +f 14 43 60 +f 50 15 60 +f 15 39 61 +f 41 15 61 +f 28 41 61 +f 45 28 61 +f 39 45 61 +f 54 25 62 +f 32 54 62 +f 25 55 62 +f 55 32 62 +f 31 21 63 +f 43 31 63 +f 21 50 63 +f 60 43 63 +f 50 60 63 +f 34 29 64 +f 44 26 64 +f 29 44 64 +f 26 47 64 +f 47 34 64 +f 30 25 65 +f 25 41 65 +f 41 30 65 +f 36 23 66 +f 48 13 66 +f 23 48 66 +f 13 52 66 +o convex_2 +v -0.353797 -1.624361 -2.115593 +v -0.353797 0.692791 -0.924817 +v 0.225390 0.629010 -1.021445 +v 0.386257 -5.324824 -1.053616 +v 0.547235 0.693392 -2.051136 +v -0.546970 -5.324223 -2.051136 +v 0.515039 -5.453588 -2.115477 +v -0.579166 -5.389206 -0.989275 +v -0.579166 0.435262 -2.051136 +v 0.482844 0.596518 -1.150127 +v 0.354062 -2.652669 -0.924817 +v -0.450384 0.531535 -0.924817 +v 0.482844 -5.356113 -1.278926 +v -0.546970 0.628408 -2.083306 +v 0.547235 0.307100 -1.761484 +v -0.579166 -4.133456 -0.989275 +v 0.289671 -2.268182 -2.115593 +v 0.450648 -4.681004 -1.053616 +v -0.321602 -2.460124 -0.924817 +v -0.579166 -5.356113 -1.600515 +v 0.450648 0.596518 -1.053616 +v 0.547235 -2.814527 -2.051136 +v -0.032063 0.660299 -2.083306 +v 0.354062 -2.171909 -0.924817 +v 0.418453 -5.453588 -2.115593 +v -0.514775 0.660299 -1.504120 +v 0.515039 -5.453588 -1.954624 +v -0.450384 0.692791 -1.278926 +v 0.321867 0.596518 -1.021445 +v 0.547235 0.693392 -1.857996 +v -0.385993 -1.206179 -2.115593 +v 0.547235 -1.721235 -2.083306 +v -0.514775 -5.389206 -0.989275 +v -0.546970 -1.720634 -2.083306 +v -0.579166 0.210226 -1.954508 +v -0.289407 -2.203800 -2.115593 +v -0.579166 -5.389206 -1.278926 +v 0.289671 0.693392 -2.051136 +v -0.289407 -5.389206 -1.021445 +v 0.418453 -5.292333 -1.053616 +v -0.450384 0.692791 -0.989275 +v 0.354062 -2.492015 -2.115593 +f 71 98 108 +f 77 68 78 +f 76 79 81 +f 75 74 82 +f 74 78 82 +f 79 76 84 +f 74 77 85 +f 78 74 85 +f 77 78 85 +f 75 72 86 +f 74 75 86 +f 77 84 87 +f 84 76 87 +f 71 81 88 +f 81 79 88 +f 71 83 89 +f 68 77 90 +f 77 87 90 +f 67 83 91 +f 80 75 92 +f 73 88 93 +f 88 79 93 +f 91 73 93 +f 74 91 93 +f 80 92 94 +f 69 68 95 +f 87 69 95 +f 68 90 95 +f 90 87 95 +f 68 69 96 +f 81 71 96 +f 76 81 96 +f 69 87 96 +f 87 76 96 +f 67 72 97 +f 83 67 97 +f 80 89 97 +f 89 83 97 +f 71 88 98 +f 88 73 98 +f 77 74 99 +f 74 93 99 +f 72 75 100 +f 75 80 100 +f 97 72 100 +f 80 97 100 +f 75 82 101 +f 82 78 101 +f 78 92 101 +f 92 75 101 +f 72 67 102 +f 67 91 102 +f 91 72 102 +f 86 72 103 +f 74 86 103 +f 72 91 103 +f 91 74 103 +f 71 89 104 +f 89 80 104 +f 80 94 104 +f 96 71 104 +f 79 70 105 +f 93 79 105 +f 70 99 105 +f 99 93 105 +f 70 79 106 +f 84 77 106 +f 79 84 106 +f 77 99 106 +f 99 70 106 +f 78 68 107 +f 92 78 107 +f 94 92 107 +f 68 96 107 +f 104 94 107 +f 96 104 107 +f 83 71 108 +f 73 91 108 +f 91 83 108 +f 98 73 108 +o convex_3 +v -0.353884 -2.170927 -0.570677 +v 0.354145 -2.589238 -0.602935 +v 0.354076 -2.589238 -0.442045 +v 0.289691 -2.074358 0.104943 +v -0.257133 -2.621447 0.104943 +v 0.354145 -2.170984 -0.924716 +v -0.289429 -2.557030 -0.924716 +v -0.353884 -2.074358 0.104943 +v 0.321849 -2.589238 0.104943 +v 0.354145 -2.653655 -0.924716 +v -0.321657 -2.170984 -0.924716 +v -0.031958 -2.074358 -0.216939 +v -0.289429 -2.621447 -0.055948 +v 0.354145 -2.138775 -0.795984 +v 0.321849 -2.331912 0.104943 +v -0.321657 -2.460518 -0.924716 +v -0.353884 -2.203135 0.104943 +v -0.353884 -2.106567 -0.442045 +v 0.257533 -2.653655 -0.924716 +v 0.354145 -2.653655 -0.731668 +f 127 118 128 +f 113 112 116 +f 112 113 117 +f 114 110 118 +f 115 114 118 +f 114 115 119 +f 116 112 120 +f 111 110 122 +f 110 114 122 +f 114 119 122 +f 120 112 122 +f 117 111 123 +f 112 117 123 +f 111 122 123 +f 122 112 123 +f 109 119 124 +f 119 115 124 +f 115 121 124 +f 124 121 125 +f 116 109 125 +f 113 116 125 +f 121 113 125 +f 109 124 125 +f 109 116 126 +f 119 109 126 +f 116 120 126 +f 122 119 126 +f 120 122 126 +f 115 118 127 +f 121 115 127 +f 113 121 127 +f 110 111 128 +f 111 117 128 +f 117 113 128 +f 118 110 128 +f 113 127 128 +o convex_4 +v -0.160735 -2.074358 2.357820 +v -0.160735 -2.718021 3.226670 +v -0.128539 -2.718021 3.226670 +v 0.032260 -2.589238 0.845256 +v 0.257511 -2.106617 3.484047 +v 0.321902 -2.589238 0.845256 +v -0.289458 -2.074358 0.845256 +v 0.160984 -2.074358 0.845256 +v -0.289458 -2.106617 3.516287 +v 0.193179 -2.589238 3.613007 +v -0.192870 -2.556980 0.845256 +v -0.225066 -2.653567 3.580496 +v -0.289458 -2.235337 1.135414 +v 0.225315 -2.170946 0.845256 +v 0.289707 -2.621434 0.941975 +v 0.257511 -2.299666 3.516287 +v 0.257511 -2.106617 2.550446 +v 0.064456 -2.653567 3.613007 +v -0.289458 -2.235337 3.516287 +v -0.225066 -2.653567 3.001262 +v 0.321902 -2.524910 0.845256 +v 0.321902 -2.589238 1.102904 +v -0.289458 -2.074358 2.711645 +v -0.128539 -2.718021 3.580496 +v 0.225315 -2.589238 3.194430 +v 0.257511 -2.138813 3.516287 +f 144 150 154 +f 134 132 135 +f 134 135 136 +f 129 133 136 +f 135 129 136 +f 132 130 139 +f 135 132 139 +f 137 135 141 +f 135 139 141 +f 134 136 142 +f 131 130 143 +f 130 132 143 +f 132 134 143 +f 136 133 145 +f 142 136 145 +f 138 137 146 +f 137 140 146 +f 140 137 147 +f 141 140 147 +f 137 141 147 +f 139 130 148 +f 130 140 148 +f 141 139 148 +f 140 141 148 +f 134 142 149 +f 145 133 149 +f 142 145 149 +f 143 134 150 +f 134 149 150 +f 149 133 150 +f 133 129 151 +f 129 135 151 +f 137 133 151 +f 135 137 151 +f 130 131 152 +f 140 130 152 +f 131 143 152 +f 146 140 152 +f 143 146 152 +f 144 138 153 +f 138 146 153 +f 146 143 153 +f 143 150 153 +f 150 144 153 +f 133 137 154 +f 137 138 154 +f 138 144 154 +f 150 133 154 +o convex_5 +v -0.257297 -2.621220 0.105044 +v 0.161006 -2.074585 0.845256 +v -0.289514 -2.074585 0.845256 +v -0.192861 -3.329274 0.780842 +v 0.289744 -3.361407 0.169457 +v 0.193223 -1.495062 0.169457 +v -0.353884 -1.495062 0.201628 +v 0.225375 -1.495062 0.780842 +v 0.321962 -2.589276 0.845256 +v -0.160709 -3.426050 0.137287 +v 0.321962 -2.331836 0.105044 +v -0.353884 -2.203116 0.105044 +v 0.193223 -3.329274 0.684258 +v -0.192861 -1.495062 0.748672 +v -0.353884 -2.106718 0.426966 +v -0.225079 -3.232687 0.716429 +v 0.257593 -1.591838 0.555504 +v -0.192861 -2.846527 0.845256 +v 0.257593 -3.426050 0.265969 +v -0.192861 -3.393729 0.169457 +v 0.321962 -2.589276 0.105044 +v -0.353884 -2.042263 0.105044 +v 0.289744 -2.074585 0.105044 +v -0.353884 -1.495062 0.298212 +v -0.064122 -3.329274 0.780842 +v -0.321666 -2.106718 0.716429 +v 0.321962 -2.878849 0.555504 +v 0.225375 -3.329274 0.619845 +f 159 181 182 +f 160 161 162 +f 157 156 162 +f 156 157 163 +f 162 156 163 +f 155 164 166 +f 165 155 166 +f 162 161 168 +f 157 162 168 +f 161 166 169 +f 169 166 170 +f 158 157 170 +f 160 162 171 +f 162 163 171 +f 163 165 171 +f 157 158 172 +f 163 157 172 +f 158 164 173 +f 164 159 173 +f 164 158 174 +f 166 164 174 +f 170 166 174 +f 158 170 174 +f 164 155 175 +f 159 164 175 +f 155 165 175 +f 165 163 175 +f 161 160 176 +f 166 161 176 +f 165 166 176 +f 160 171 177 +f 171 165 177 +f 176 160 177 +f 165 176 177 +f 157 168 178 +f 168 161 178 +f 161 169 178 +f 167 163 179 +f 172 158 179 +f 163 172 179 +f 158 173 179 +f 173 167 179 +f 169 170 180 +f 170 157 180 +f 157 178 180 +f 178 169 180 +f 159 175 181 +f 175 163 181 +f 163 167 182 +f 173 159 182 +f 167 173 182 +f 181 163 182 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/060/060.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/060/060.urdf new file mode 100644 index 000000000..44fb42418 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/060/060.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/061/061.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/061/061.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/061/061.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/061/061.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/061/061.obj new file mode 100644 index 000000000..fc2a8fff2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/061/061.obj @@ -0,0 +1,669 @@ +o convex_0 +v 0.236168 -0.010111 -3.485518 +v 0.586128 0.562366 -1.545111 +v 0.586128 -0.328117 -1.545111 +v -0.558807 -0.423693 -1.545111 +v -0.526972 0.689655 -3.421889 +v -0.558807 0.689655 -1.545111 +v -0.526972 -0.423693 -3.421889 +v 0.522570 0.657833 -3.453608 +v 0.586128 -0.360049 -3.485518 +v 0.331673 0.657724 -1.577020 +v -0.240682 -0.423693 -1.895167 +v 0.045271 0.689655 -2.340381 +v -0.558807 -0.423693 -2.467830 +v 0.554405 -0.360049 -1.545111 +v 0.363396 -0.391871 -3.485518 +v 0.554405 0.498612 -3.389979 +v -0.431579 0.562257 -3.453608 +v -0.463414 -0.423693 -3.453608 +v 0.554405 0.625901 -1.545111 +v -0.558807 0.689655 -2.276752 +v 0.586128 -0.073647 -3.485518 +v -0.177124 -0.423693 -3.453608 +v -0.145290 0.689655 -3.421889 +v -0.113455 0.689655 -1.545111 +v 0.522570 0.657833 -2.721967 +f 10 19 25 +f 3 2 4 +f 4 2 6 +f 2 3 9 +f 4 7 11 +f 5 6 12 +f 4 6 13 +f 7 4 13 +f 5 7 13 +f 3 4 14 +f 9 3 14 +f 4 11 14 +f 14 11 15 +f 1 9 15 +f 9 14 15 +f 8 2 16 +f 8 1 17 +f 5 8 17 +f 7 5 18 +f 11 7 18 +f 1 15 18 +f 5 17 18 +f 17 1 18 +f 6 2 19 +f 2 8 19 +f 6 5 20 +f 5 13 20 +f 13 6 20 +f 1 8 21 +f 2 9 21 +f 9 1 21 +f 16 2 21 +f 8 16 21 +f 15 11 22 +f 11 18 22 +f 18 15 22 +f 8 5 23 +f 5 12 23 +f 12 8 23 +f 12 6 24 +f 10 12 24 +f 6 19 24 +f 19 10 24 +f 8 12 25 +f 12 10 25 +f 19 8 25 +o convex_1 +v -1.067878 1.325829 -1.385887 +v 0.522436 0.753123 0.617967 +v 1.063389 3.138900 0.522474 +v 0.999760 -2.809319 -1.544899 +v -0.972330 -2.841169 0.490503 +v -1.004249 3.234452 0.554235 +v 1.063389 3.138900 -1.449619 +v 0.967841 -2.776867 0.617967 +v -1.004249 -2.904870 -1.545111 +v -1.067878 3.234452 -1.417647 +v -0.558844 0.688821 -1.544899 +v -0.367956 -2.140460 0.617967 +v 1.031470 -1.981808 -1.226662 +v 1.063389 3.202000 -0.082027 +v -1.004249 -2.522665 0.331490 +v 0.586065 0.562020 -1.544899 +v -1.035959 3.170751 0.331490 +v 1.063389 1.866085 0.490503 +v -0.590554 -0.041936 0.617967 +v -1.035959 -2.586366 -1.512927 +v -0.049810 3.234452 0.554023 +v -0.654184 -2.904870 -1.131170 +v 0.999760 -2.809319 -0.463572 +v -0.399875 3.234452 -1.417647 +v -1.004249 -1.250450 0.522474 +v 0.776953 -2.809319 0.426771 +v 0.999760 -1.822556 0.585783 +v -1.067878 3.107050 -0.813357 +v 1.063389 1.134727 -0.241039 +v 0.236209 3.170751 -1.449407 +v 0.363467 3.233851 0.522474 +v 0.904212 3.170150 -1.449407 +v 1.031470 -1.727005 -1.513139 +v -0.495215 0.625120 0.617967 +v -1.004249 -2.873019 -0.177519 +v -1.004249 0.975475 0.554235 +v 1.031470 2.025337 -1.481379 +v 1.063389 2.406941 -1.449619 +v -1.067878 1.961636 -1.449407 +v -0.558844 -2.904870 -1.544899 +v 1.063389 3.202000 0.490503 +v -1.067878 2.120287 -1.004130 +v 0.999760 -2.745017 -0.209279 +v -0.686102 -2.841169 0.490714 +v 0.395178 -2.808718 0.585783 +v 0.617984 -2.840568 -1.544899 +v -1.004249 -2.618216 -1.545111 +v -0.590554 -0.359239 0.617967 +v 1.031470 -0.231837 -1.513139 +v -0.908701 -2.236612 0.522474 +v -0.845071 1.707434 0.585995 +v 0.967841 -2.554515 0.617967 +v -1.004249 -1.823157 0.490503 +v -1.004249 -2.904870 -0.940398 +v 0.299838 0.656970 -1.544899 +v -1.004249 -2.841169 0.172478 +v -0.654184 -2.808718 0.522474 +f 70 37 82 +f 33 27 37 +f 28 32 39 +f 31 35 42 +f 32 28 43 +f 37 27 44 +f 40 26 45 +f 27 28 46 +f 31 27 46 +f 35 31 46 +f 29 38 48 +f 35 46 49 +f 48 33 51 +f 47 48 51 +f 28 33 52 +f 43 28 52 +f 35 26 53 +f 42 35 53 +f 32 43 54 +f 43 38 54 +f 36 35 55 +f 35 49 55 +f 39 49 56 +f 49 46 56 +f 39 32 57 +f 49 39 57 +f 36 55 57 +f 55 49 57 +f 38 29 58 +f 54 38 58 +f 27 31 59 +f 44 27 59 +f 31 42 61 +f 42 50 61 +f 41 32 62 +f 32 54 63 +f 58 32 63 +f 54 58 63 +f 26 35 64 +f 35 36 64 +f 45 26 64 +f 47 34 65 +f 48 47 65 +f 28 39 66 +f 46 28 66 +f 39 56 66 +f 56 46 66 +f 26 40 67 +f 53 26 67 +f 42 53 67 +f 38 43 68 +f 48 38 68 +f 33 48 68 +f 52 33 68 +f 43 52 68 +f 47 51 69 +f 30 60 69 +f 33 37 70 +f 51 33 70 +f 30 69 70 +f 69 51 70 +f 34 29 71 +f 29 48 71 +f 65 34 71 +f 48 65 71 +f 29 34 72 +f 41 29 72 +f 34 45 72 +f 64 36 72 +f 45 64 72 +f 37 44 73 +f 61 50 73 +f 29 41 74 +f 58 29 74 +f 32 58 74 +f 62 32 74 +f 41 62 74 +f 30 37 75 +f 50 30 75 +f 37 73 75 +f 73 50 75 +f 59 31 76 +f 44 59 76 +f 31 61 76 +f 73 44 76 +f 61 73 76 +f 28 27 77 +f 33 28 77 +f 27 33 77 +f 40 30 78 +f 30 50 78 +f 50 42 78 +f 67 40 78 +f 42 67 78 +f 45 34 79 +f 34 47 79 +f 60 45 79 +f 47 69 79 +f 69 60 79 +f 32 41 80 +f 57 32 80 +f 36 57 80 +f 41 72 80 +f 72 36 80 +f 30 40 81 +f 40 45 81 +f 60 30 81 +f 45 60 81 +f 37 30 82 +f 30 70 82 +o convex_2 +v 0.109047 -1.600662 3.671405 +v 0.363570 -1.855173 2.813171 +v 0.363570 -1.887001 2.813171 +v -0.336190 -2.045908 1.890629 +v 0.109047 -2.205051 4.530168 +v -0.336190 -1.918712 4.530168 +v -0.240797 -1.664319 1.890629 +v 0.363570 -2.045908 1.890629 +v 0.331701 -1.600662 4.594211 +v 0.204511 -1.664319 1.890629 +v -0.177131 -1.600662 4.498411 +v -0.368059 -2.077736 4.530168 +v 0.236309 -2.173222 4.371118 +v -0.304392 -2.077736 1.954408 +v -0.272595 -1.664319 3.830455 +v 0.204511 -2.205051 4.180311 +v -0.336190 -1.950540 1.954408 +v 0.363570 -1.918712 2.017922 +v 0.299904 -1.600662 3.734919 +v 0.331701 -1.664319 4.594211 +v -0.272595 -2.109506 3.893969 +v -0.272595 -1.664319 4.466654 +v 0.236309 -1.632490 2.526829 +v 0.299904 -2.077736 2.208729 +v 0.109047 -1.696207 4.594211 +v 0.204511 -2.205051 4.530168 +v -0.240797 -1.632490 3.131271 +v 0.109047 -2.205051 4.180311 +f 103 96 110 +f 84 85 90 +f 86 89 90 +f 85 84 91 +f 90 89 92 +f 91 83 93 +f 90 85 95 +f 86 90 96 +f 94 86 96 +f 89 86 99 +f 86 94 99 +f 94 88 99 +f 88 97 99 +f 97 89 99 +f 84 90 100 +f 91 84 100 +f 90 92 100 +f 83 91 101 +f 91 100 101 +f 85 91 102 +f 95 85 102 +f 87 94 103 +f 94 96 103 +f 88 93 104 +f 97 88 104 +f 89 83 105 +f 92 89 105 +f 100 92 105 +f 101 100 105 +f 83 101 105 +f 96 90 106 +f 90 98 106 +f 98 96 106 +f 93 88 107 +f 91 93 107 +f 94 87 107 +f 88 94 107 +f 102 91 107 +f 102 107 108 +f 90 95 108 +f 98 90 108 +f 87 98 108 +f 95 102 108 +f 107 87 108 +f 83 89 109 +f 93 83 109 +f 89 97 109 +f 104 93 109 +f 97 104 109 +f 98 87 110 +f 96 98 110 +f 87 103 110 +o convex_3 +v 0.363570 1.039752 1.381418 +v -0.368059 0.721465 1.699455 +v -0.368059 0.721465 1.731278 +v -0.209000 3.139022 1.667571 +v -0.177131 0.753649 1.190546 +v 0.268106 3.075365 1.222430 +v 0.331701 3.139022 1.794860 +v 0.363570 0.721465 1.699455 +v -0.209000 2.948050 1.317835 +v 0.363570 0.721465 1.222430 +v -0.240797 2.916103 1.826745 +v 0.363570 0.944147 1.731278 +v 0.236309 3.139022 1.826745 +v 0.299904 3.106838 1.317835 +v -0.272595 1.166829 1.763100 +v -0.081738 3.075365 1.286013 +v 0.331701 3.139022 1.635873 +v -0.209000 3.139022 1.826745 +v 0.172642 3.075365 1.222430 +v -0.177131 2.693658 1.826745 +v -0.209000 3.075365 1.349720 +v -0.113536 0.721465 1.190546 +v -0.209000 2.343424 1.286013 +v 0.299904 2.852446 1.222430 +v 0.109047 0.721465 1.731278 +f 130 125 135 +f 113 112 118 +f 118 112 120 +f 111 118 120 +f 112 113 121 +f 111 117 122 +f 118 111 122 +f 117 114 123 +f 122 117 123 +f 121 113 125 +f 115 119 126 +f 114 124 126 +f 117 111 127 +f 114 117 127 +f 111 120 127 +f 124 114 127 +f 114 121 128 +f 121 123 128 +f 123 114 128 +f 116 115 129 +f 124 116 129 +f 115 126 129 +f 126 124 129 +f 123 121 130 +f 122 123 130 +f 121 125 130 +f 119 112 131 +f 112 121 131 +f 121 114 131 +f 114 126 131 +f 126 119 131 +f 112 115 132 +f 115 116 132 +f 120 112 132 +f 115 112 133 +f 112 119 133 +f 119 115 133 +f 116 124 134 +f 127 120 134 +f 124 127 134 +f 132 116 134 +f 120 132 134 +f 113 118 135 +f 118 122 135 +f 125 113 135 +f 122 130 135 +o convex_4 +v 0.331717 -2.968490 1.445056 +v -0.336249 -2.682169 1.763106 +v -0.336249 -2.682169 1.794935 +v 0.363570 -2.236861 1.317860 +v -0.208972 -2.777562 1.190546 +v 0.363570 -2.236861 1.763106 +v -0.336249 -2.236861 1.317860 +v 0.363570 -2.936549 1.794935 +v -0.336249 -2.268802 1.794935 +v -0.272610 -2.904823 1.763106 +v 0.331717 -2.968490 1.190546 +v 0.363570 -2.268802 1.286091 +v -0.304395 -2.873026 1.635792 +v 0.204439 -2.968490 1.190546 +v -0.049909 -2.682169 1.190546 +v -0.336249 -2.236861 1.763106 +v -0.177187 -2.841157 1.190546 +v 0.363570 -2.554979 1.794935 +v 0.331717 -2.777562 1.190546 +f 150 147 154 +f 141 139 142 +f 137 138 142 +f 139 141 143 +f 142 138 144 +f 138 143 144 +f 136 143 145 +f 143 138 145 +f 143 136 146 +f 142 139 147 +f 139 143 147 +f 143 146 147 +f 138 137 148 +f 137 142 148 +f 142 140 148 +f 145 138 148 +f 136 145 149 +f 140 146 149 +f 146 136 149 +f 145 148 149 +f 140 142 150 +f 146 140 150 +f 142 147 150 +f 141 142 151 +f 144 141 151 +f 142 144 151 +f 148 140 152 +f 140 149 152 +f 149 148 152 +f 143 141 153 +f 141 144 153 +f 144 143 153 +f 147 146 154 +f 146 150 154 +o convex_5 +v 0.140844 -1.632493 1.890365 +v -0.336190 -2.236861 1.317686 +v -0.368059 -2.204920 1.127125 +v 0.363570 -2.236861 1.317686 +v -0.177131 -1.505232 0.617967 +v -0.336190 -1.982338 1.890365 +v 0.236309 -1.664363 0.617967 +v 0.204511 -2.173194 0.617967 +v 0.363570 -2.236861 1.763075 +v -0.240797 -1.505232 1.794835 +v -0.368059 -2.014064 0.617967 +v 0.204511 -1.505232 1.858480 +v 0.363570 -1.950469 1.890365 +v -0.336190 -2.236861 1.763075 +v -0.304392 -1.537173 1.095365 +v 0.204511 -1.505232 1.222530 +v -0.240797 -2.173194 0.617967 +v 0.077249 -2.204920 0.681611 +v 0.363570 -2.045933 1.890365 +v -0.240797 -1.664363 1.890365 +v 0.363570 -2.141325 1.254166 +v -0.368059 -2.141325 0.617967 +f 165 171 176 +f 159 161 162 +f 156 158 163 +f 157 160 165 +f 159 162 165 +f 159 164 166 +f 155 160 167 +f 163 158 167 +f 166 155 167 +f 157 156 168 +f 160 157 168 +f 156 163 168 +f 164 159 169 +f 160 164 169 +f 165 160 169 +f 159 165 169 +f 161 159 170 +f 159 166 170 +f 167 161 170 +f 166 167 170 +f 165 162 171 +f 158 156 172 +f 162 158 172 +f 156 171 172 +f 171 162 172 +f 167 160 173 +f 163 167 173 +f 160 168 173 +f 168 163 173 +f 160 155 174 +f 164 160 174 +f 155 166 174 +f 166 164 174 +f 162 161 175 +f 158 162 175 +f 167 158 175 +f 161 167 175 +f 156 157 176 +f 157 165 176 +f 171 156 176 +o convex_6 +v 0.268122 -0.455503 1.635854 +v -0.368059 -0.487357 1.158736 +v -0.368059 -0.487357 1.190589 +v 0.204483 -1.505232 1.858555 +v 0.172698 -1.505232 1.190589 +v -0.240713 -1.505232 1.763063 +v -0.272498 -0.455503 1.699424 +v 0.331760 -0.519210 1.317867 +v -0.304352 -1.473378 1.158736 +v 0.236268 -0.487357 1.763063 +v -0.272498 -0.455503 1.158736 +v -0.272498 -0.551064 1.731278 +v 0.236268 -1.314213 1.222374 +v 0.331760 -0.455503 1.445075 +v 0.109059 -1.441525 1.858555 +v -0.177075 -1.505232 1.158736 +v -0.208928 -1.505232 1.794916 +v -0.304352 -0.455503 1.635854 +v -0.177075 -0.678273 1.158736 +v -0.272498 -1.505232 1.540362 +f 185 192 196 +f 181 180 182 +f 179 178 185 +f 177 183 186 +f 183 177 187 +f 185 178 187 +f 186 183 188 +f 180 181 189 +f 184 180 189 +f 180 184 190 +f 177 186 190 +f 186 180 190 +f 187 177 190 +f 184 187 190 +f 180 186 191 +f 186 188 191 +f 181 182 192 +f 185 187 192 +f 182 180 193 +f 188 182 193 +f 180 191 193 +f 191 188 193 +f 178 179 194 +f 179 182 194 +f 187 178 194 +f 183 187 194 +f 182 188 194 +f 188 183 194 +f 187 184 195 +f 189 181 195 +f 184 189 195 +f 181 192 195 +f 192 187 195 +f 182 179 196 +f 179 185 196 +f 192 182 196 +o convex_7 +v -0.590729 0.466970 1.699427 +v 0.586240 -0.264488 0.872589 +v 0.586240 -0.296401 0.872589 +v 0.490732 -0.391793 2.621994 +v 0.427137 0.689552 2.526461 +v -0.527018 -0.328083 2.494486 +v -0.495221 0.625957 0.618163 +v -0.590729 -0.359996 0.618163 +v 0.490732 0.657755 0.617966 +v -0.590729 0.625957 2.558240 +v 0.554327 -0.328198 0.617966 +v -0.368031 -0.455503 1.095237 +v -0.272523 0.721465 1.031680 +v 0.331629 -0.455503 1.318081 +v -0.272523 -0.455503 1.699427 +v -0.368031 0.721465 1.731206 +v 0.363427 0.721465 1.222549 +v 0.458935 0.594160 2.367175 +v -0.590729 0.371462 2.558240 +v -0.590729 -0.009993 0.618163 +v -0.431626 0.657755 2.558240 +v -0.590729 -0.328083 1.254328 +v 0.586240 -0.137298 0.617966 +v 0.490732 -0.105500 2.590019 +v 0.427137 0.594160 2.558240 +v 0.490732 0.657755 1.127016 +v -0.527018 0.625957 0.904368 +v -0.113420 -0.359996 2.558240 +v 0.236237 -0.455503 1.731206 +v 0.363427 0.721465 1.699427 +v -0.558816 0.657755 2.462707 +v 0.522530 -0.328198 2.240256 +v -0.463308 -0.423475 0.904368 +v 0.140729 0.689437 2.526461 +v 0.458935 0.689552 2.081165 +f 213 226 231 +f 197 204 206 +f 199 200 207 +f 204 205 207 +f 205 203 209 +f 207 200 210 +f 208 207 210 +f 208 210 211 +f 202 208 211 +f 209 203 212 +f 209 212 213 +f 205 209 213 +f 200 206 215 +f 206 204 215 +f 204 197 216 +f 203 205 216 +f 205 204 216 +f 206 200 217 +f 204 202 218 +f 202 215 218 +f 215 204 218 +f 198 199 219 +f 199 207 219 +f 207 205 219 +f 214 198 219 +f 214 201 220 +f 217 200 221 +f 201 217 221 +f 200 220 221 +f 220 201 221 +f 219 205 222 +f 197 206 223 +f 212 203 223 +f 216 197 223 +f 203 216 223 +f 211 200 224 +f 202 211 224 +f 200 215 224 +f 215 202 224 +f 210 200 225 +f 211 210 225 +f 200 211 225 +f 212 201 226 +f 213 212 226 +f 206 217 227 +f 217 212 227 +f 223 206 227 +f 212 223 227 +f 199 198 228 +f 200 199 228 +f 198 214 228 +f 220 200 228 +f 214 220 228 +f 202 204 229 +f 204 207 229 +f 208 202 229 +f 207 208 229 +f 201 212 230 +f 217 201 230 +f 212 217 230 +f 205 213 231 +f 201 214 231 +f 214 219 231 +f 222 205 231 +f 219 222 231 +f 226 201 231 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/061/061.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/061/061.urdf new file mode 100644 index 000000000..712a44fe8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/061/061.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/062/062.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/062/062.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/062/062.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/062/062.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/062/062.obj new file mode 100644 index 000000000..b095e0c7e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/062/062.obj @@ -0,0 +1,567 @@ +o convex_0 +v -2.299066 -2.092845 -0.075847 +v -1.100581 -1.461914 -0.170461 +v -1.100581 -1.461914 -0.328304 +v -2.961501 -1.556618 -0.012749 +v -1.100581 -2.124368 0.302612 +v -2.992956 -1.619664 0.334193 +v -2.992956 -2.155958 0.271095 +v -1.100581 -1.588141 0.302612 +v -3.024787 -1.966618 -0.233559 +v -1.100581 -2.092845 -0.202043 +v -2.835305 -1.525028 -0.233559 +v -2.866760 -1.935095 -0.265141 +v -2.551270 -2.155958 0.113318 +v -1.479169 -1.461914 -0.170461 +v -1.826114 -1.619664 0.334193 +v -2.992956 -1.777482 0.334193 +v -2.803662 -1.588141 0.271095 +v -2.898403 -1.998209 -0.233559 +v -1.100581 -1.998209 -0.233559 +v -2.929858 -1.556618 -0.233559 +v -1.100581 -2.124368 0.081801 +v -2.551270 -1.525028 -0.265141 +v -2.047051 -2.124368 0.302612 +f 16 7 23 +f 3 2 5 +f 5 2 8 +f 6 4 9 +f 3 5 10 +f 5 7 13 +f 1 10 13 +f 2 3 14 +f 8 2 14 +f 3 11 14 +f 11 4 14 +f 5 8 15 +f 8 6 15 +f 6 9 16 +f 9 7 16 +f 5 15 16 +f 15 6 16 +f 4 6 17 +f 6 8 17 +f 14 4 17 +f 8 14 17 +f 7 9 18 +f 10 1 18 +f 9 12 18 +f 12 10 18 +f 13 7 18 +f 1 13 18 +f 3 10 19 +f 12 3 19 +f 10 12 19 +f 9 4 20 +f 4 11 20 +f 12 9 20 +f 10 5 21 +f 5 13 21 +f 13 10 21 +f 11 3 22 +f 3 12 22 +f 20 11 22 +f 12 20 22 +f 7 5 23 +f 5 16 23 +o convex_1 +v 0.476958 1.251306 1.091332 +v -1.100362 0.809503 0.302392 +v -1.037243 0.809503 -1.021953 +v -1.100362 3.301752 0.807117 +v 1.107929 3.175383 -0.927570 +v 1.076370 0.809503 -0.959102 +v -1.068803 3.238567 -1.085230 +v 0.950132 3.175383 1.059587 +v 0.950132 0.809747 1.059587 +v -1.037243 0.809503 1.059374 +v -1.100362 3.301752 1.091119 +v -0.658531 3.238567 -1.085230 +v 1.044810 0.809503 0.050136 +v -1.005684 0.872687 -1.053485 +v -1.100362 0.809503 0.838650 +v 0.981692 3.175383 0.807331 +v 1.107929 2.197365 -0.769910 +v 1.076370 2.134181 -0.959102 +v -1.068803 2.260550 -1.085230 +v 0.256042 0.809747 1.091332 +v -0.500950 3.270037 1.091119 +v -1.068803 2.070996 1.091119 +v 0.981692 0.809503 0.870395 +v -1.100362 3.270037 0.333924 +v -1.005684 2.102467 -1.085230 +v 0.413839 3.207097 -0.990634 +v 1.076370 0.809503 -0.422844 +v -1.037243 3.270037 -0.548972 +v 0.887013 3.175383 -0.959102 +v -0.974124 3.301752 1.027842 +v 1.107929 3.175383 -0.832760 +v -0.280035 3.143912 1.091119 +v -1.068803 1.220080 1.059374 +f 45 34 56 +f 25 26 29 +f 31 24 32 +f 25 29 33 +f 27 25 34 +f 33 29 36 +f 29 26 37 +f 25 33 38 +f 34 25 38 +f 29 28 40 +f 28 29 41 +f 29 35 41 +f 26 25 42 +f 25 30 42 +f 30 35 42 +f 37 26 42 +f 32 24 43 +f 33 32 43 +f 24 34 43 +f 34 24 44 +f 33 43 45 +f 43 34 45 +f 31 32 46 +f 32 33 46 +f 33 36 46 +f 39 31 46 +f 36 40 46 +f 40 39 46 +f 25 27 47 +f 30 25 47 +f 27 30 47 +f 35 29 48 +f 29 37 48 +f 42 35 48 +f 37 42 48 +f 36 29 50 +f 40 36 50 +f 29 40 50 +f 30 27 51 +f 35 30 51 +f 27 49 51 +f 49 35 51 +f 28 41 52 +f 41 35 52 +f 49 28 52 +f 35 49 52 +f 27 34 53 +f 31 39 53 +f 44 31 53 +f 34 44 53 +f 49 27 53 +f 28 49 53 +f 39 40 54 +f 40 28 54 +f 53 39 54 +f 28 53 54 +f 24 31 55 +f 44 24 55 +f 31 44 55 +f 38 33 56 +f 34 38 56 +f 33 45 56 +o convex_2 +v 1.076169 -0.421083 -0.296577 +v -1.100180 -2.281847 -0.012669 +v -1.100180 -2.281847 0.270832 +v 1.044634 -2.818449 -1.022348 +v 0.950028 -2.786657 1.059784 +v -1.005574 -0.421324 1.059784 +v -1.005574 -0.421324 -0.990757 +v -1.005574 -2.881550 -0.927372 +v 0.950028 -0.421324 1.059784 +v -0.942504 -2.786657 1.059784 +v 1.044634 -0.421083 -0.990553 +v 1.076169 -2.060993 0.334014 +v -1.100180 -0.421324 0.680900 +v -1.100180 -1.620007 -0.422736 +v 0.571394 -2.849999 -1.022348 +v 0.540072 -0.736589 -1.022348 +v -0.974039 -2.818208 0.901831 +v -1.005574 -1.556905 -0.990757 +v -0.879434 -2.881550 -0.548895 +v -1.100180 -0.421324 -0.075850 +v 1.076169 -0.452634 -0.958963 +v 1.013098 -2.818449 0.018718 +v -0.974039 -2.660455 1.059784 +v -1.005574 -2.786657 -0.958963 +v 1.076169 -2.218987 -0.454327 +v -1.100180 -2.250297 0.460173 +v 0.981563 -0.421083 0.901831 +v -1.037110 -0.421324 -0.895985 +v 0.886958 -2.849999 -0.959166 +v 0.981563 -2.534252 0.965012 +v 1.076169 -1.619766 0.334014 +v -0.879434 -2.818208 1.027990 +v 1.044634 -1.682385 -1.022348 +v 0.981563 -2.786657 0.902035 +v -1.037110 -0.578836 0.996399 +v -0.343124 -2.881550 -0.927372 +f 85 78 92 +f 59 58 64 +f 62 61 65 +f 61 62 66 +f 58 59 69 +f 64 58 70 +f 58 69 70 +f 63 67 72 +f 60 71 72 +f 59 64 73 +f 63 72 74 +f 72 71 74 +f 73 64 75 +f 70 69 76 +f 67 57 77 +f 57 68 77 +f 60 68 78 +f 66 62 79 +f 73 66 79 +f 64 70 80 +f 71 64 80 +f 74 71 80 +f 68 60 81 +f 60 77 81 +f 77 68 81 +f 69 59 82 +f 59 73 82 +f 73 79 82 +f 62 65 83 +f 57 67 83 +f 69 62 83 +f 67 76 83 +f 76 69 83 +f 67 63 84 +f 63 74 84 +f 76 67 84 +f 70 76 84 +f 80 70 84 +f 74 80 84 +f 71 60 85 +f 60 78 85 +f 65 61 86 +f 83 65 86 +f 83 86 87 +f 68 57 87 +f 57 83 87 +f 86 68 87 +f 61 66 88 +f 66 73 88 +f 75 61 88 +f 73 75 88 +f 60 72 89 +f 72 67 89 +f 67 77 89 +f 77 60 89 +f 78 68 90 +f 61 78 90 +f 86 61 90 +f 68 86 90 +f 62 69 91 +f 79 62 91 +f 69 82 91 +f 82 79 91 +f 64 71 92 +f 61 75 92 +f 75 64 92 +f 78 61 92 +f 71 85 92 +o convex_3 +v 3.063871 -1.840472 -0.044265 +v 1.076382 -2.061316 -0.328304 +v 1.076382 -1.998184 -0.328304 +v 1.076382 -2.061316 0.334193 +v 1.108093 -1.493539 -0.107363 +v 3.000644 -1.493539 0.334193 +v 2.969127 -1.461914 -0.265141 +v 2.937611 -2.029750 0.271095 +v 1.076382 -1.588178 0.334193 +v 3.063871 -1.998184 -0.233559 +v 1.076382 -1.493539 -0.296722 +v 2.401245 -2.061316 0.050220 +v 2.527311 -1.493539 0.334193 +v 1.644264 -2.061316 0.334193 +v 3.000644 -1.461914 0.081801 +v 2.558828 -2.029750 -0.265141 +v 2.180240 -1.461914 -0.233559 +v 1.802041 -1.493539 -0.296722 +v 3.000644 -1.588178 0.334193 +v 3.000644 -1.682759 -0.265141 +f 102 108 112 +f 95 94 96 +f 95 96 101 +f 96 98 101 +f 99 93 102 +f 93 100 102 +f 95 101 103 +f 101 97 103 +f 96 94 104 +f 102 100 104 +f 97 101 105 +f 101 98 105 +f 98 96 106 +f 96 104 106 +f 104 100 106 +f 98 93 107 +f 93 99 107 +f 97 105 107 +f 105 98 107 +f 104 94 108 +f 102 104 108 +f 103 97 109 +f 99 103 109 +f 107 99 109 +f 97 107 109 +f 99 95 110 +f 103 99 110 +f 95 103 110 +f 93 98 111 +f 100 93 111 +f 98 106 111 +f 106 100 111 +f 94 95 112 +f 95 99 112 +f 99 102 112 +f 108 94 112 +o convex_4 +v -0.469370 -0.326181 -2.567898 +v 0.603170 0.777955 -2.883367 +v 0.603170 0.714811 -2.883367 +v 0.476906 0.178751 -1.022552 +v -0.595634 0.714811 -1.022552 +v -0.532384 0.777955 -2.977926 +v 0.571604 -0.263037 -3.104480 +v -0.532384 -0.357753 -1.022552 +v 0.508472 -0.294609 -1.148902 +v 0.445340 0.714811 -1.022552 +v -0.469370 -0.294609 -3.104480 +v 0.603170 0.777955 -3.041101 +v -0.563950 0.714811 -2.883367 +v 0.350642 -0.326181 -1.022552 +v -0.563950 0.746383 -1.558929 +v 0.603170 -0.010571 -3.041101 +v -0.437804 -0.357753 -1.716663 +v -0.248525 -0.010571 -3.104480 +v -0.532384 -0.357753 -1.369607 +v -0.595634 0.493917 -1.054139 +v -0.500936 -0.042143 -3.072689 +v -0.122378 -0.357753 -1.085727 +v 0.540038 -0.294609 -2.094696 +v 0.571604 0.777955 -2.757220 +v -0.059246 -0.294609 -3.104480 +v 0.224495 0.462456 -3.072689 +v -0.563950 0.777955 -2.788808 +v 0.571604 -0.073715 -3.104480 +f 130 138 140 +f 116 117 120 +f 115 114 121 +f 114 116 121 +f 116 114 122 +f 117 116 122 +f 114 115 124 +f 118 114 124 +f 116 120 126 +f 121 116 126 +f 117 122 127 +f 115 121 128 +f 124 115 128 +f 119 124 128 +f 119 123 130 +f 123 113 131 +f 113 129 131 +f 129 120 131 +f 120 117 132 +f 117 125 132 +f 131 120 132 +f 125 131 132 +f 125 118 133 +f 118 130 133 +f 130 123 133 +f 123 131 133 +f 131 125 133 +f 126 120 134 +f 120 129 134 +f 134 129 135 +f 121 126 135 +f 119 128 135 +f 128 121 135 +f 129 119 135 +f 126 134 135 +f 114 118 136 +f 122 114 136 +f 127 122 136 +f 113 123 137 +f 123 119 137 +f 129 113 137 +f 119 129 137 +f 118 124 138 +f 130 118 138 +f 125 117 139 +f 118 125 139 +f 117 127 139 +f 136 118 139 +f 127 136 139 +f 124 119 140 +f 119 130 140 +f 138 124 140 +o convex_5 +v 0.634452 -0.042205 1.091332 +v -1.037110 -0.326187 -1.022348 +v -1.037110 0.809503 -1.022348 +v 1.076366 -0.357741 -0.990692 +v -1.005575 -0.420848 1.059676 +v 0.950014 0.809503 1.059676 +v -1.037110 0.809503 1.059676 +v 1.076366 0.809503 -0.959037 +v 0.950014 -0.420848 1.059676 +v -1.100393 -0.420848 -0.044130 +v 1.044618 -0.420848 -0.990692 +v -1.100393 0.809503 0.838915 +v 1.076366 -0.420848 -0.296546 +v -1.005575 -0.420848 -0.990692 +v 0.445243 0.683168 -1.022348 +v -0.500804 0.777949 1.091332 +v 1.076366 0.809503 -0.391099 +v -1.100393 -0.420848 0.681051 +v -0.595622 -0.326187 1.091332 +v 0.981549 0.399305 0.901812 +v 0.476777 -0.294634 -1.022348 +v -1.100393 0.809503 0.302633 +v 0.539847 0.809503 1.091332 +v 0.981549 -0.420848 0.901812 +v 0.634452 -0.389295 1.091332 +v -1.037110 -0.073758 1.059676 +v 1.076366 0.241417 -0.990692 +v 0.981549 0.809503 0.870157 +f 160 157 168 +f 146 143 147 +f 143 146 148 +f 146 141 149 +f 143 142 150 +f 149 145 150 +f 149 150 151 +f 147 143 152 +f 144 148 153 +f 151 144 153 +f 149 151 153 +f 150 142 154 +f 142 151 154 +f 151 150 154 +f 142 143 155 +f 143 148 155 +f 148 146 157 +f 153 148 157 +f 150 145 158 +f 152 150 158 +f 141 156 159 +f 156 147 159 +f 146 149 160 +f 153 157 160 +f 151 142 161 +f 144 151 161 +f 142 155 161 +f 143 150 162 +f 152 143 162 +f 150 152 162 +f 141 146 163 +f 146 147 163 +f 156 141 163 +f 147 156 163 +f 149 153 164 +f 160 149 164 +f 153 160 164 +f 149 141 165 +f 145 149 165 +f 159 145 165 +f 141 159 165 +f 147 152 166 +f 158 145 166 +f 152 158 166 +f 145 159 166 +f 159 147 166 +f 148 144 167 +f 155 148 167 +f 144 161 167 +f 161 155 167 +f 157 146 168 +f 146 160 168 +o convex_6 +v -0.595634 -0.326206 1.091332 +v 0.603151 0.714727 2.952366 +v 0.603151 0.493917 2.952366 +v -0.595634 -0.294538 3.078822 +v -0.500937 0.777955 1.091332 +v 0.603151 -0.294646 1.091332 +v -0.500937 0.714727 2.984077 +v 0.476889 0.714727 1.123043 +v 0.508455 -0.262978 3.047111 +v 0.603151 0.746395 2.573973 +v 0.035207 0.746287 2.984077 +v -0.059372 -0.294538 3.078822 +v -0.595634 -0.105287 1.249109 +v 0.603151 -0.294646 1.564664 +v 0.603151 -0.073727 1.091332 +v -0.532385 -0.326206 2.132157 +v -0.500937 0.777955 1.785475 +v -0.248530 0.777955 1.091332 +v -0.374675 0.683168 3.015594 +v 0.413758 -0.010716 3.047111 +v -0.595634 -0.199967 3.078822 +v -0.532385 0.588488 1.091332 +v -0.500937 0.746287 2.826105 +v -0.216965 -0.326206 1.091332 +v 0.476889 0.683168 1.091332 +v 0.571586 0.746395 2.952366 +v 0.571586 -0.294646 1.911736 +v 0.540020 -0.231418 2.763267 +f 177 182 196 +f 170 171 174 +f 169 173 174 +f 171 170 177 +f 170 174 178 +f 169 172 181 +f 174 171 182 +f 174 173 183 +f 178 174 183 +f 176 178 183 +f 172 169 184 +f 180 172 184 +f 178 176 186 +f 183 173 186 +f 173 185 186 +f 179 175 187 +f 187 180 188 +f 177 170 188 +f 180 177 188 +f 172 180 189 +f 181 172 189 +f 187 175 189 +f 180 187 189 +f 173 169 190 +f 169 181 190 +f 185 173 190 +f 181 189 190 +f 190 189 191 +f 175 179 191 +f 179 185 191 +f 189 175 191 +f 185 190 191 +f 169 174 192 +f 174 182 192 +f 184 169 192 +f 176 183 193 +f 186 176 193 +f 183 186 193 +f 170 178 194 +f 185 179 194 +f 178 186 194 +f 186 185 194 +f 179 187 194 +f 187 188 194 +f 188 170 194 +f 177 180 195 +f 182 177 195 +f 180 184 195 +f 192 182 195 +f 184 192 195 +f 171 177 196 +f 182 171 196 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/062/062.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/062/062.urdf new file mode 100644 index 000000000..549020b8e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/062/062.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/063/063.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/063/063.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/063/063.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/063/063.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/063/063.obj new file mode 100644 index 000000000..154591744 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/063/063.obj @@ -0,0 +1,399 @@ +o convex_0 +v 0.312743 -1.337582 -2.260643 +v 1.203994 0.183906 -0.108613 +v 1.203994 0.183906 -0.145692 +v -2.989557 0.146631 -1.147443 +v -3.100585 -1.894298 -0.108399 +v 2.948273 -2.042959 -0.145692 +v 3.096310 0.035245 -2.112116 +v -3.026566 -2.042959 -2.112116 +v 3.096310 -2.005685 -2.186487 +v -2.989557 0.146631 -2.149409 +v -2.989557 0.109357 -0.108399 +v 2.985282 0.109575 -0.145477 +v 1.055351 -1.968411 -0.071321 +v -0.985608 0.183906 -0.071107 +v 0.461386 -0.966365 -2.260643 +v 2.948273 0.072301 -1.926726 +v -1.690600 0.146413 -2.149194 +v 1.055351 0.183906 -0.071321 +v -2.247556 -1.115026 -0.071107 +v -3.026566 -0.410085 -2.149409 +v 3.022291 0.109575 -0.405452 +v 2.985282 -2.042959 -0.887682 +v -0.205991 -1.263251 -2.260643 +v 2.465335 -2.042959 -0.145692 +v -3.063576 -2.005467 -1.555516 +v -3.100585 -1.523081 -0.182770 +v -2.470217 -1.894298 -2.149409 +v 2.985282 -0.966365 -0.145477 +v -1.059626 -1.857242 -0.071107 +v -3.026566 -0.261642 -0.108399 +v -2.135922 0.072301 -0.071107 +v 0.684047 -0.595802 -2.223351 +v 2.020013 -1.597412 -2.223565 +v -3.100585 -1.857242 -0.664999 +v 3.096310 -2.005685 -2.112116 +v 2.354308 -2.005467 -2.186273 +v -3.063576 -1.968411 -1.778199 +v -3.026566 -0.706971 -2.149409 +v 2.502951 0.072301 -2.112331 +v -2.544235 -2.042959 -2.112116 +v 0.164707 -0.929527 -2.260643 +v 2.317299 0.146631 -0.182770 +v -0.799956 0.109357 -2.149194 +v -3.026566 -2.042959 -2.037960 +v 2.985282 -1.671525 -2.186487 +v 2.985282 -2.042959 -0.553765 +v 1.166378 0.183906 -0.182770 +v 2.465335 -0.187529 -2.149194 +v 0.832690 -1.300526 -2.260643 +f 48 33 49 +f 2 3 14 +f 10 4 14 +f 4 11 14 +f 12 2 18 +f 13 12 18 +f 2 14 18 +f 14 13 18 +f 7 16 21 +f 6 8 22 +f 15 1 23 +f 20 10 23 +f 8 6 24 +f 13 5 24 +f 6 13 24 +f 24 5 25 +f 23 1 27 +f 13 6 28 +f 12 13 28 +f 21 12 28 +f 5 13 29 +f 13 14 29 +f 19 5 29 +f 14 19 29 +f 4 10 30 +f 11 4 30 +f 5 19 30 +f 10 20 30 +f 26 5 30 +f 20 26 30 +f 14 11 31 +f 19 14 31 +f 11 30 31 +f 30 19 31 +f 25 5 34 +f 5 26 34 +f 26 20 34 +f 9 7 35 +f 7 21 35 +f 22 9 35 +f 21 28 35 +f 1 9 36 +f 9 8 36 +f 27 1 36 +f 8 27 36 +f 8 25 37 +f 25 34 37 +f 34 20 37 +f 20 23 38 +f 27 8 38 +f 23 27 38 +f 8 37 38 +f 37 20 38 +f 16 7 39 +f 8 9 40 +f 22 8 40 +f 9 22 40 +f 10 17 41 +f 15 23 41 +f 23 10 41 +f 32 15 41 +f 17 32 41 +f 3 2 42 +f 2 12 42 +f 16 3 42 +f 12 21 42 +f 21 16 42 +f 32 17 43 +f 39 7 43 +f 17 39 43 +f 8 24 44 +f 25 8 44 +f 24 25 44 +f 7 9 45 +f 9 33 45 +f 6 22 46 +f 28 6 46 +f 22 35 46 +f 35 28 46 +f 14 3 47 +f 10 14 47 +f 3 16 47 +f 17 10 47 +f 16 39 47 +f 39 17 47 +f 15 32 48 +f 43 7 48 +f 32 43 48 +f 7 45 48 +f 45 33 48 +f 9 1 49 +f 1 15 49 +f 33 9 49 +f 15 48 49 +o convex_1 +v 1.055624 1.000928 -0.145343 +v -1.059898 3.523527 -0.108247 +v -1.059898 3.523527 -0.071121 +v -0.985557 0.184679 -0.108247 +v 0.869873 4.155148 -0.219550 +v 0.944215 4.155148 -0.071121 +v -0.317519 0.184679 -0.219550 +v 1.055624 0.184679 -0.071121 +v -0.985557 0.184679 -0.071121 +v -1.059898 4.006279 -0.108247 +v 0.164561 0.184679 -0.219550 +v -0.317519 1.075168 -0.219550 +v 1.055624 0.184679 -0.145343 +v 0.944215 4.080520 -0.219550 +v -1.059898 4.006279 -0.071121 +v -0.837081 0.184679 -0.145343 +v 1.018349 1.817177 -0.182425 +v -0.837081 3.041551 -0.145343 +f 61 65 67 +f 52 51 53 +f 55 52 57 +f 50 55 57 +f 53 56 57 +f 52 53 58 +f 57 52 58 +f 53 57 58 +f 51 52 59 +f 56 54 60 +f 57 56 60 +f 54 56 61 +f 50 57 62 +f 57 60 62 +f 55 50 63 +f 54 55 63 +f 60 54 63 +f 52 55 64 +f 55 54 64 +f 59 52 64 +f 54 59 64 +f 53 51 65 +f 56 53 65 +f 51 59 65 +f 61 56 65 +f 50 62 66 +f 62 60 66 +f 60 63 66 +f 63 50 66 +f 59 54 67 +f 54 61 67 +f 65 59 67 +o convex_2 +v -0.206209 -1.115037 3.788469 +v 0.387564 -1.226380 1.970423 +v 0.387564 -1.263495 1.970423 +v -0.354724 -0.669788 1.933072 +v 0.276177 -0.669788 3.899751 +v 0.276177 -0.632612 1.933072 +v -0.317523 -0.632612 3.825627 +v -0.317523 -1.115037 1.933072 +v 0.201919 -1.263495 3.899751 +v -0.243338 -1.189266 2.007581 +v 0.090605 -1.263495 3.899751 +v 0.313306 -1.263495 1.933072 +v 0.016420 -0.632612 3.862785 +v -0.317523 -0.706902 3.825627 +v 0.239048 -1.152151 3.862785 +v -0.206209 -1.152151 3.640030 +v 0.053476 -1.263495 3.343151 +f 79 78 84 +f 70 69 72 +f 72 69 73 +f 73 71 74 +f 71 73 75 +f 72 74 78 +f 70 76 78 +f 76 72 78 +f 69 70 79 +f 73 69 79 +f 75 73 79 +f 77 75 79 +f 70 78 79 +f 72 73 80 +f 73 74 80 +f 74 72 80 +f 74 71 81 +f 71 75 81 +f 68 78 81 +f 78 74 81 +f 70 72 82 +f 76 70 82 +f 72 76 82 +f 75 77 83 +f 78 68 83 +f 77 78 83 +f 68 81 83 +f 81 75 83 +f 78 77 84 +f 77 79 84 +o convex_3 +v 0.053618 -4.009827 0.819701 +v 0.127730 -2.005845 1.190722 +v -0.169101 -2.005845 1.190722 +v -0.169101 -2.005845 0.559838 +v 0.350449 -2.005845 0.559838 +v -0.206267 -4.009827 1.190722 +v 0.201952 -4.009827 1.116493 +v -0.169101 -3.972557 0.597015 +v 0.350449 -3.861333 0.634129 +v 0.276173 -2.005845 1.153607 +v -0.131991 -3.304628 0.559838 +v 0.239063 -3.861333 0.597015 +v -0.020604 -3.898408 1.190722 +v 0.350449 -2.005845 0.745472 +v 0.239063 -3.007836 1.153607 +v 0.350449 -3.861333 0.671243 +v -0.206267 -3.898408 1.042264 +f 92 90 101 +f 87 86 88 +f 88 86 89 +f 86 87 90 +f 90 85 91 +f 85 90 92 +f 91 85 93 +f 85 92 93 +f 89 86 94 +f 88 89 95 +f 92 88 95 +f 89 93 96 +f 93 92 96 +f 95 89 96 +f 92 95 96 +f 86 90 97 +f 90 91 97 +f 93 89 98 +f 89 94 98 +f 94 86 99 +f 86 97 99 +f 97 91 99 +f 91 93 100 +f 93 98 100 +f 98 94 100 +f 99 91 100 +f 94 99 100 +f 87 88 101 +f 90 87 101 +f 88 92 101 +o convex_4 +v 1.055624 1.779041 0.893905 +v -1.059898 -1.856885 -0.071107 +v -0.948490 -1.893673 -0.071107 +v -1.059898 -1.856885 1.784563 +v -1.059898 4.006189 -0.071107 +v 1.055624 -1.968454 -0.071107 +v -1.022624 4.043579 1.858719 +v 1.018349 -2.005845 1.858719 +v 0.944215 4.155148 -0.071107 +v 1.018349 4.117757 1.784563 +v -0.354586 -0.781003 1.933072 +v 0.647263 -1.522783 1.933072 +v -0.169043 -2.005845 0.560006 +v 1.055624 -1.856885 1.710211 +v 1.055624 1.110836 -0.071107 +v -0.243178 4.080367 1.858523 +v -1.059898 1.222405 1.821445 +v -0.874148 4.080367 1.858523 +v 1.055416 2.744560 1.079295 +v -0.169043 -2.005845 1.190529 +v -1.022624 1.742253 1.858719 +v 0.684330 4.155148 -0.071107 +v 0.944215 4.155148 1.153451 +v 1.018349 4.117757 1.264882 +v 0.498787 4.117757 1.821641 +v 0.275970 -0.632045 1.933072 +v 1.055624 -2.005845 0.930983 +v 1.018349 -0.409511 1.858719 +v -0.280245 -1.151290 1.933072 +v -1.059898 4.006189 0.337341 +v -0.280245 -1.931063 1.821641 +v -1.022624 4.043579 0.745592 +v 0.387586 -1.968454 -0.071107 +v -1.059898 -0.297942 1.821445 +v 0.981282 3.338587 -0.033832 +v 0.906941 -1.856885 1.895797 +v 0.573129 -1.560174 1.933072 +f 137 113 138 +f 103 104 105 +f 104 103 106 +f 103 105 106 +f 104 106 107 +f 107 106 110 +f 107 102 115 +f 102 107 116 +f 107 110 116 +f 106 105 118 +f 115 102 120 +f 111 115 120 +f 102 116 120 +f 105 104 121 +f 104 114 121 +f 114 109 121 +f 112 108 122 +f 108 118 122 +f 110 106 123 +f 123 119 124 +f 111 110 124 +f 110 123 124 +f 110 111 125 +f 111 120 125 +f 120 116 125 +f 113 111 126 +f 119 117 126 +f 124 119 126 +f 111 124 126 +f 108 112 127 +f 112 113 127 +f 119 108 127 +f 117 119 127 +f 113 126 127 +f 126 117 127 +f 114 107 128 +f 109 114 128 +f 107 115 128 +f 115 109 128 +f 111 113 129 +f 109 115 129 +f 115 111 129 +f 112 105 130 +f 113 112 130 +f 108 106 131 +f 106 118 131 +f 118 108 131 +f 105 121 132 +f 121 109 132 +f 106 108 133 +f 108 119 133 +f 123 106 133 +f 119 123 133 +f 104 107 134 +f 114 104 134 +f 107 114 134 +f 105 112 135 +f 118 105 135 +f 112 122 135 +f 122 118 135 +f 116 110 136 +f 110 125 136 +f 125 116 136 +f 109 129 137 +f 129 113 137 +f 132 109 137 +f 132 137 138 +f 130 105 138 +f 113 130 138 +f 105 132 138 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/063/063.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/063/063.urdf new file mode 100644 index 000000000..311be0ea5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/063/063.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/064/064.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/064/064.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/064/064.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/064/064.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/064/064.obj new file mode 100644 index 000000000..1c904ffe8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/064/064.obj @@ -0,0 +1,654 @@ +o convex_0 +v -0.904678 0.700732 -0.331392 +v 0.271502 1.111579 1.255097 +v 0.353650 1.111579 1.227558 +v -0.029171 -3.292766 0.762335 +v 0.982913 -0.147425 -0.741784 +v -0.494340 -3.183438 -0.550479 +v 0.080091 1.111579 -1.234546 +v 0.873450 -2.663264 0.872000 +v 0.846135 -2.499272 -0.851205 +v -0.822530 1.111579 0.872000 +v -0.713066 -2.609034 0.707746 +v 1.010229 1.111145 0.023679 +v -0.685751 -2.499706 -0.686951 +v 0.599892 -3.238101 -0.441057 +v -0.904678 -2.581702 0.023923 +v -0.767898 1.111579 -0.796616 +v -0.056487 -2.636365 -0.905794 +v 0.873450 0.865157 0.762335 +v -0.111319 -2.581702 0.953883 +v 0.982913 -2.526604 -0.057961 +v 0.545060 1.111579 -1.124880 +v -0.631119 -3.320531 0.051217 +v -0.248098 0.919387 1.172970 +v 1.065061 -0.338749 0.023679 +v -0.986825 -0.366081 -0.030666 +v 0.709355 -3.238101 0.078512 +v 0.080091 -3.292766 -0.659900 +v -0.850046 -0.448510 0.789873 +v 0.928282 1.111145 -0.769322 +v -0.795214 -0.503174 -0.741784 +v 0.353650 0.974051 -1.234546 +v -0.931993 1.111579 0.270060 +v 0.928081 0.180992 0.762335 +v -0.521656 -3.320531 0.516197 +v -0.220782 1.056047 -1.124880 +v 0.846135 -2.389944 -0.878743 +v 0.599892 -3.238101 0.434070 +v 0.490429 1.111579 1.145431 +v -0.986825 -0.338749 0.105806 +v -0.302729 -0.667599 -0.987921 +v 0.052776 1.083813 1.255097 +v 1.010229 -2.198621 -0.030666 +v -0.330045 -0.694931 1.036010 +v 0.025460 -2.609034 0.953883 +v 0.955598 0.044332 0.707746 +v 0.326334 -2.553936 -0.905794 +v -0.904678 -2.553936 -0.030666 +v 0.846135 1.111145 0.762335 +v 0.955598 0.810060 -0.769322 +v -0.931993 1.111579 -0.085255 +v -0.658435 -2.472374 -0.714489 +v -0.083802 -3.320531 -0.139844 +v -0.494340 -3.320531 -0.413763 +v 0.736671 -3.210770 -0.003372 +v -0.822530 -0.448510 0.817167 +v -0.904678 1.111579 0.543492 +v 0.517744 -3.265433 -0.522941 +v -0.083802 -3.238101 0.789873 +v -0.056487 -2.389944 -0.933332 +v 1.065061 -0.229421 -0.057961 +v -0.740583 -2.225953 0.735040 +v 0.900766 -2.389944 0.789629 +v 0.873450 -2.471940 -0.769078 +v -0.548972 1.111579 1.036010 +f 55 23 64 +f 2 3 7 +f 3 2 8 +f 2 7 10 +f 10 7 16 +f 7 3 21 +f 6 17 27 +f 21 12 29 +f 1 16 30 +f 25 1 30 +f 7 21 31 +f 10 16 32 +f 11 15 34 +f 15 22 34 +f 16 7 35 +f 30 16 35 +f 31 21 36 +f 8 4 37 +f 4 26 37 +f 26 8 37 +f 3 8 38 +f 21 3 38 +f 12 21 38 +f 8 33 38 +f 33 18 38 +f 25 15 39 +f 15 28 39 +f 35 7 40 +f 23 19 41 +f 8 20 42 +f 19 23 43 +f 8 2 44 +f 2 41 44 +f 41 19 44 +f 12 18 45 +f 24 12 45 +f 33 8 45 +f 18 33 45 +f 9 27 46 +f 27 17 46 +f 36 9 46 +f 31 36 46 +f 13 6 47 +f 22 15 47 +f 15 25 47 +f 30 13 47 +f 25 30 47 +f 18 12 48 +f 12 38 48 +f 38 18 48 +f 29 12 49 +f 21 29 49 +f 5 36 49 +f 36 21 49 +f 16 1 50 +f 1 25 50 +f 32 16 50 +f 25 39 50 +f 39 32 50 +f 6 13 51 +f 17 6 51 +f 13 30 51 +f 30 35 51 +f 35 40 51 +f 26 4 52 +f 4 34 52 +f 34 22 52 +f 6 27 53 +f 47 6 53 +f 22 47 53 +f 52 22 53 +f 27 52 53 +f 14 9 54 +f 20 8 54 +f 8 26 54 +f 26 14 54 +f 10 28 55 +f 43 23 55 +f 28 10 56 +f 10 32 56 +f 39 28 56 +f 32 39 56 +f 9 14 57 +f 14 26 57 +f 27 9 57 +f 26 52 57 +f 52 27 57 +f 4 8 58 +f 19 11 58 +f 34 4 58 +f 11 34 58 +f 8 44 58 +f 44 19 58 +f 7 31 59 +f 40 7 59 +f 46 17 59 +f 31 46 59 +f 17 51 59 +f 51 40 59 +f 12 24 60 +f 42 5 60 +f 24 42 60 +f 5 49 60 +f 49 12 60 +f 15 11 61 +f 11 19 61 +f 28 15 61 +f 19 43 61 +f 55 28 61 +f 43 55 61 +f 8 42 62 +f 42 24 62 +f 24 45 62 +f 45 8 62 +f 36 5 63 +f 9 36 63 +f 5 42 63 +f 42 20 63 +f 54 9 63 +f 20 54 63 +f 2 10 64 +f 41 2 64 +f 23 41 64 +f 10 55 64 +o convex_1 +v -0.193396 2.096307 -1.234546 +v 0.080036 1.111579 -1.289547 +v 0.326382 1.111579 -1.289547 +v -0.029212 1.795410 -3.012513 +v 0.271654 1.986926 -1.234546 +v -0.220760 1.385329 -1.234546 +v -0.220760 1.740719 -2.766400 +v 0.134833 1.850100 -2.711747 +v -0.083940 2.014271 -2.656920 +v -0.029212 1.522056 -2.739074 +v -0.330216 1.877545 -1.289547 +v 0.381110 1.522056 -1.234546 +v 0.162197 1.740719 -2.711747 +v 0.025447 2.123752 -1.316873 +v -0.248124 1.986926 -2.055561 +v -0.193396 1.303194 -1.262220 +v 0.162197 1.986926 -2.137193 +v 0.025447 1.522056 -2.739074 +v -0.275488 2.068962 -1.234546 +v 0.326382 1.111579 -1.234546 +v -0.029212 1.986926 -2.793727 +v 0.244290 1.795410 -2.000734 +v -0.275488 1.713374 -1.918754 +v -0.111304 1.986926 -2.739074 +v -0.166032 1.604092 -2.602267 +v 0.381110 1.440020 -1.262220 +v -0.001848 1.740719 -3.012513 +v -0.330216 1.822755 -1.234546 +v 0.162197 1.795410 -2.711747 +v -0.056576 2.123752 -1.399027 +v -0.220760 1.795410 -2.739074 +v -0.275488 2.068962 -1.344200 +v 0.271654 1.986926 -1.289547 +v 0.080036 1.111579 -1.234546 +v -0.083940 1.740719 -2.985187 +v 0.134833 1.713374 -2.766400 +v -0.029212 2.014271 -2.629593 +v 0.080036 1.959581 -2.629593 +v 0.025447 2.123752 -1.234546 +f 78 94 103 +f 69 65 70 +f 67 66 74 +f 69 70 76 +f 74 66 80 +f 67 74 82 +f 70 65 83 +f 66 67 84 +f 76 70 84 +f 72 68 85 +f 80 70 87 +f 71 80 87 +f 85 68 88 +f 73 85 88 +f 71 74 89 +f 80 71 89 +f 74 80 89 +f 67 77 90 +f 84 67 90 +f 76 84 90 +f 68 72 91 +f 82 74 91 +f 75 71 92 +f 70 83 92 +f 83 75 92 +f 87 70 92 +f 71 87 92 +f 72 81 93 +f 86 76 93 +f 90 77 93 +f 76 90 93 +f 91 72 93 +f 71 75 95 +f 75 79 95 +f 79 88 95 +f 79 75 96 +f 83 65 96 +f 75 83 96 +f 73 88 96 +f 88 79 96 +f 65 94 96 +f 94 73 96 +f 69 76 97 +f 78 69 97 +f 81 78 97 +f 76 86 97 +f 93 81 97 +f 86 93 97 +f 80 66 98 +f 70 80 98 +f 66 84 98 +f 84 70 98 +f 74 71 99 +f 88 68 99 +f 68 91 99 +f 91 74 99 +f 71 95 99 +f 95 88 99 +f 77 67 100 +f 67 82 100 +f 82 91 100 +f 93 77 100 +f 91 93 100 +f 78 81 101 +f 85 73 101 +f 73 94 101 +f 94 78 101 +f 81 72 102 +f 72 85 102 +f 101 81 102 +f 85 101 102 +f 65 69 103 +f 69 78 103 +f 94 65 103 +o convex_2 +v -0.877298 1.111579 -0.386225 +v 1.010360 1.139141 0.023679 +v 1.010360 1.111579 0.023679 +v -0.357470 1.877676 1.255097 +v -0.029297 2.807818 -0.769322 +v 0.353634 1.111579 -1.234546 +v 0.763945 2.725630 0.105562 +v 0.299066 1.111579 1.255097 +v -0.658453 2.780422 0.105806 +v 0.873463 2.506626 -0.796616 +v -0.740401 2.397373 -0.851205 +v -0.849919 1.111579 0.817167 +v 0.736566 2.260392 0.789873 +v -0.822540 2.342581 0.899294 +v -0.001918 2.643607 0.926345 +v -0.302711 2.041555 -1.234546 +v 0.928222 1.111579 -0.769322 +v -0.740401 1.111579 -0.823911 +v 0.299066 1.959698 1.255097 +v 0.846084 1.111579 0.762578 +v -0.904678 2.068951 0.078268 +v 0.244307 2.041721 -1.234546 +v 0.955601 2.041555 0.078512 +v -0.521556 2.780422 0.488659 +v -0.193383 1.303186 -1.234546 +v 0.025462 2.698067 -0.933332 +v -0.494367 2.807818 -0.522941 +v -0.193383 1.111579 1.200264 +v -0.932057 1.111579 0.270060 +v 0.490531 2.780256 -0.468108 +v 0.408393 1.467397 -1.234546 +v 0.463152 2.725630 0.488659 +v -0.111245 2.096347 1.255097 +v 0.381014 1.522189 1.255097 +v 0.216927 2.807818 -0.276803 +v -0.822540 1.275790 0.899294 +v -0.330090 1.823050 -1.234546 +v -0.932057 1.549420 -0.003128 +v 0.900842 2.096347 -0.796616 +v -0.795160 2.287789 0.954127 +v -0.767781 1.303186 -0.823911 +v -0.001918 2.753026 0.625619 +v 0.052651 1.111579 -1.234546 +v -0.193383 1.303186 1.255097 +v -0.631074 2.807818 -0.085255 +v 0.928222 2.260392 -0.413519 +v -0.083866 2.643607 0.926345 +v -0.849919 2.096347 0.844462 +v 0.846084 2.506626 -0.823911 +v 0.025462 2.151140 -1.234546 +v -0.767781 2.342581 -0.769078 +v -0.685833 2.725464 -0.030666 +v 0.736566 1.111579 -0.960626 +v 0.490531 1.111579 1.145431 +v -0.795160 1.111579 0.899294 +v 0.955601 1.139141 -0.632362 +v 0.791325 2.698233 -0.112793 +v -0.193383 2.807818 0.078512 +v -0.275332 2.041555 1.255097 +v 0.873463 2.424603 -0.823911 +v 0.299066 1.986929 -1.234546 +v -0.247952 2.096347 -1.234546 +v 0.763945 2.014159 0.789873 +v 0.846084 2.534022 -0.796616 +f 133 160 167 +f 106 104 109 +f 104 106 111 +f 104 111 115 +f 106 109 120 +f 109 104 121 +f 107 111 122 +f 116 118 122 +f 106 105 123 +f 111 106 123 +f 109 119 125 +f 110 116 126 +f 123 105 126 +f 112 117 127 +f 119 109 128 +f 108 129 130 +f 129 114 130 +f 115 111 131 +f 104 115 132 +f 109 125 134 +f 116 110 135 +f 118 116 135 +f 107 122 136 +f 122 118 136 +f 122 111 137 +f 116 122 137 +f 108 130 138 +f 133 108 138 +f 110 133 138 +f 135 110 138 +f 114 119 140 +f 119 128 140 +f 128 121 140 +f 104 132 141 +f 132 124 141 +f 117 139 143 +f 139 107 143 +f 121 104 144 +f 114 140 144 +f 140 121 144 +f 118 135 145 +f 135 138 145 +f 109 121 146 +f 128 109 146 +f 121 128 146 +f 111 107 147 +f 131 111 147 +f 112 127 148 +f 130 114 148 +f 138 130 148 +f 126 105 149 +f 142 113 149 +f 127 117 150 +f 136 118 150 +f 117 143 150 +f 118 145 150 +f 145 127 150 +f 117 124 151 +f 132 115 151 +f 124 132 151 +f 115 139 151 +f 139 117 151 +f 125 119 153 +f 129 152 153 +f 152 125 153 +f 104 141 154 +f 141 124 154 +f 144 104 154 +f 114 144 154 +f 117 112 155 +f 124 117 155 +f 112 148 155 +f 148 114 155 +f 114 154 155 +f 154 124 155 +f 120 109 156 +f 109 134 156 +f 142 120 156 +f 111 123 157 +f 137 111 157 +f 123 137 157 +f 115 131 158 +f 139 115 158 +f 107 139 158 +f 147 107 158 +f 131 147 158 +f 105 106 159 +f 106 120 159 +f 120 142 159 +f 149 105 159 +f 142 149 159 +f 110 126 160 +f 133 110 160 +f 149 113 160 +f 126 149 160 +f 127 145 161 +f 145 138 161 +f 148 127 161 +f 138 148 161 +f 107 136 162 +f 143 107 162 +f 136 150 162 +f 150 143 162 +f 113 142 163 +f 152 113 163 +f 156 134 163 +f 142 156 163 +f 134 125 164 +f 125 152 164 +f 163 134 164 +f 152 163 164 +f 119 114 165 +f 114 129 165 +f 153 119 165 +f 129 153 165 +f 126 116 166 +f 123 126 166 +f 116 137 166 +f 137 123 166 +f 129 108 167 +f 108 133 167 +f 152 129 167 +f 113 152 167 +f 160 113 167 +o convex_3 +v -0.193369 1.303181 1.255169 +v 0.107507 1.959607 1.993709 +v -0.001891 1.986921 1.966308 +v 0.244287 1.986921 1.255169 +v 0.298986 1.138937 1.309900 +v -0.275451 2.014325 1.255169 +v -0.220752 1.576768 1.993709 +v 0.244287 1.686020 1.993709 +v -0.302834 1.768051 1.884248 +v 0.353751 1.603990 1.255169 +v 0.080124 1.522050 1.993709 +v 0.052741 1.138937 1.255169 +v -0.248135 1.904890 1.993709 +v -0.330216 1.768051 1.255169 +v 0.025425 2.068951 1.364630 +v 0.216904 1.932203 1.966308 +v -0.001891 1.385302 1.774858 +v 0.298986 1.631303 1.747457 +v 0.326368 1.221150 1.255169 +v -0.275451 1.631303 1.884248 +v 0.189588 1.522050 1.938979 +v 0.271670 1.959607 1.337301 +v 0.271670 1.768051 1.911577 +v -0.220752 1.549455 1.966308 +v -0.083972 2.068951 1.255169 +v -0.330216 1.877486 1.282570 +v 0.052741 1.138937 1.282570 +v -0.248135 1.932203 1.911577 +v 0.353751 1.522050 1.364630 +v -0.029206 2.068951 1.419361 +f 173 195 197 +f 171 168 173 +f 169 174 175 +f 168 171 177 +f 175 174 178 +f 168 177 179 +f 169 170 180 +f 174 169 180 +f 176 174 180 +f 173 168 181 +f 170 169 182 +f 169 175 183 +f 182 169 183 +f 171 182 183 +f 172 178 184 +f 175 172 185 +f 179 177 186 +f 172 179 186 +f 185 172 186 +f 174 176 187 +f 181 168 187 +f 176 181 187 +f 172 175 188 +f 178 172 188 +f 175 178 188 +f 177 171 189 +f 171 183 189 +f 189 183 190 +f 183 175 190 +f 175 185 190 +f 177 189 190 +f 178 174 191 +f 184 178 191 +f 187 168 191 +f 174 187 191 +f 171 173 192 +f 182 171 192 +f 173 181 193 +f 181 176 193 +f 168 179 194 +f 179 172 194 +f 172 184 194 +f 191 168 194 +f 184 191 194 +f 180 170 195 +f 176 180 195 +f 173 193 195 +f 193 176 195 +f 186 177 196 +f 185 186 196 +f 190 185 196 +f 177 190 196 +f 170 182 197 +f 192 173 197 +f 182 192 197 +f 195 170 197 +o convex_4 +v -0.275499 1.686181 2.075925 +v 0.244316 1.768142 2.185317 +v 0.216942 1.768142 2.431647 +v -0.083977 1.959656 1.993782 +v -0.056603 1.740850 3.006053 +v 0.025420 1.522002 1.993782 +v -0.001955 1.576757 2.759723 +v -0.248124 1.768142 2.787071 +v -0.001955 1.904943 2.759723 +v 0.189516 1.932278 1.993782 +v -0.248124 1.904943 1.993782 +v 0.189516 1.576757 1.993782 +v -0.220699 1.576757 1.993782 +v 0.189516 1.713516 2.704928 +v -0.111301 1.576757 2.677680 +v -0.248124 1.713516 2.787071 +v -0.193324 1.877566 2.568188 +v 0.134868 1.877566 2.568188 +v 0.134868 1.576757 2.376852 +v 0.244316 1.686181 1.993782 +v -0.029228 1.959656 2.212764 +v 0.052795 1.740850 2.923910 +v -0.056603 1.904943 2.759723 +v -0.056603 1.522002 2.075925 +v -0.056603 1.686181 2.978606 +v -0.275499 1.822854 1.993782 +f 208 210 223 +f 200 199 207 +f 203 201 207 +f 201 203 208 +f 203 207 209 +f 208 203 210 +f 199 200 211 +f 210 212 213 +f 202 205 213 +f 205 198 213 +f 198 210 213 +f 201 208 214 +f 208 205 214 +f 200 207 215 +f 207 206 215 +f 211 200 215 +f 204 203 216 +f 203 209 216 +f 211 204 216 +f 209 211 216 +f 207 199 217 +f 209 207 217 +f 199 211 217 +f 211 209 217 +f 207 201 218 +f 206 207 218 +f 201 214 218 +f 206 202 219 +f 204 211 219 +f 215 206 219 +f 211 215 219 +f 205 202 220 +f 202 206 220 +f 214 205 220 +f 206 218 220 +f 218 214 220 +f 203 204 221 +f 210 203 221 +f 204 212 221 +f 212 210 221 +f 212 204 222 +f 213 212 222 +f 202 213 222 +f 219 202 222 +f 204 219 222 +f 198 205 223 +f 205 208 223 +f 210 198 223 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/064/064.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/064/064.urdf new file mode 100644 index 000000000..2e1e39dc6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/064/064.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/065/065.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/065/065.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/065/065.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/065/065.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/065/065.obj new file mode 100644 index 000000000..19ab103b0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/065/065.obj @@ -0,0 +1,1068 @@ +o convex_0 +v 1.270657 1.817743 0.155928 +v -1.326651 1.547936 0.122840 +v -1.258911 1.075356 -0.282333 +v -0.044481 3.470272 -0.619548 +v -0.651825 3.335201 0.965680 +v 0.764795 0.569426 1.134089 +v 1.068209 0.569426 -0.788155 +v -1.089947 0.569426 1.066527 +v 0.832278 3.200131 0.796676 +v -1.056463 0.569426 -0.855915 +v 0.866019 3.200131 -0.653229 +v -0.854273 3.200464 -0.653428 +v 0.090226 3.976535 0.156126 +v 1.135692 0.569426 0.999362 +v 0.427382 2.020516 1.134287 +v 0.157709 2.121568 -0.821837 +v -0.753049 3.638692 0.223292 +v 0.832278 3.605342 0.189412 +v -0.820531 3.233815 0.965680 +v -0.753049 0.704497 1.168167 +v 1.304656 0.873251 -0.147209 +v 0.157709 3.503622 0.864040 +v -1.258911 0.569426 0.223094 +v 0.764795 0.738181 -0.855915 +v 1.304656 1.480234 0.425581 +v 0.933501 1.716691 1.066527 +v -0.820274 1.547936 -0.855915 +v -1.258911 1.210427 0.594188 +v 1.304656 1.547936 -0.113527 +v 1.304656 0.569426 0.324337 +v -1.022979 1.784059 -0.788155 +v -0.044481 3.976535 0.088960 +v -0.685566 1.615304 1.134287 +v 0.629830 1.952814 -0.821837 +v -1.258911 1.649322 -0.214771 +v -1.123945 0.569426 -0.822035 +v -0.786532 3.571324 -0.012481 +v 0.832278 3.605342 0.021399 +v 0.090226 3.942518 0.021399 +v 1.000984 1.615638 -0.754473 +v -1.326651 1.581954 0.189610 +v 0.866019 3.132762 0.796676 +v 1.101950 0.670812 1.066527 +v 0.798536 3.099078 -0.687109 +v -0.786532 3.098744 0.999362 +v -0.820531 3.031709 -0.687109 +v 0.866019 3.267499 -0.585866 +v -0.044481 3.942518 0.223292 +v -0.786532 3.470272 0.594387 +v -1.258911 0.637128 -0.147407 +v -1.258911 0.704497 0.492945 +v -1.056463 0.940620 1.066527 +v 1.304656 0.603444 -0.079845 +v -0.651567 0.569426 1.168167 +v 1.304656 1.075356 0.527023 +v 0.191193 3.368885 0.897920 +v 0.090226 3.470272 -0.619548 +v 0.899760 2.896639 -0.687109 +v 0.866019 2.896639 0.864238 +v 0.764795 0.569426 -0.855915 +v 0.292417 2.053866 1.134287 +v -0.786532 3.335201 0.931998 +v -0.651825 3.706394 0.088960 +v 0.764537 3.672377 0.155928 +f 38 39 64 +f 7 6 8 +f 7 8 10 +f 6 7 14 +f 10 8 23 +f 15 6 26 +f 24 10 27 +f 21 7 29 +f 1 25 29 +f 25 21 29 +f 14 7 30 +f 21 25 30 +f 27 10 31 +f 4 12 32 +f 27 16 34 +f 24 27 34 +f 3 2 35 +f 2 12 35 +f 12 31 35 +f 35 31 36 +f 10 23 36 +f 31 10 36 +f 3 35 36 +f 18 1 38 +f 4 32 39 +f 32 13 39 +f 7 24 40 +f 29 7 40 +f 24 34 40 +f 12 2 41 +f 28 19 41 +f 37 12 41 +f 1 18 42 +f 18 9 42 +f 25 1 42 +f 6 14 43 +f 26 6 43 +f 25 42 43 +f 34 16 44 +f 5 19 45 +f 12 4 46 +f 16 27 46 +f 31 12 46 +f 27 31 46 +f 4 44 46 +f 44 16 46 +f 1 29 47 +f 29 11 47 +f 38 1 47 +f 39 38 47 +f 5 22 48 +f 22 13 48 +f 13 32 48 +f 32 17 48 +f 17 37 49 +f 41 19 49 +f 37 41 49 +f 2 3 50 +f 23 2 50 +f 3 36 50 +f 36 23 50 +f 2 23 51 +f 23 8 51 +f 8 28 51 +f 41 2 51 +f 28 41 51 +f 8 20 52 +f 19 28 52 +f 28 8 52 +f 20 33 52 +f 45 19 52 +f 33 45 52 +f 7 21 53 +f 30 7 53 +f 21 30 53 +f 8 6 54 +f 6 15 54 +f 20 8 54 +f 15 20 54 +f 14 30 55 +f 30 25 55 +f 43 14 55 +f 25 43 55 +f 5 15 56 +f 22 5 56 +f 9 22 56 +f 4 39 57 +f 44 4 57 +f 11 44 57 +f 47 11 57 +f 39 47 57 +f 11 29 58 +f 29 40 58 +f 40 34 58 +f 44 11 58 +f 34 44 58 +f 15 26 59 +f 42 9 59 +f 26 43 59 +f 43 42 59 +f 9 56 59 +f 56 15 59 +f 7 10 60 +f 24 7 60 +f 10 24 60 +f 15 5 61 +f 20 15 61 +f 33 20 61 +f 5 45 61 +f 45 33 61 +f 19 5 62 +f 5 48 62 +f 48 17 62 +f 49 19 62 +f 17 49 62 +f 32 12 63 +f 17 32 63 +f 12 37 63 +f 37 17 63 +f 9 18 64 +f 13 22 64 +f 22 9 64 +f 18 38 64 +f 39 13 64 +o convex_1 +v -0.854580 -1.016224 -1.530679 +v -0.888486 -1.083644 -2.238968 +v -0.888486 -1.016224 -2.238968 +v -3.046906 -1.016224 -1.834281 +v -0.922178 -1.353548 -1.733057 +v -0.854580 -0.780058 -1.935366 +v -2.709559 -1.252278 -1.834281 +v -2.709559 -0.813796 -1.834281 +v -2.743251 -1.083644 -1.631902 +v -2.608269 -0.915010 -2.070285 +v -0.854580 -1.286016 -2.137744 +v -1.225618 -0.847590 -1.598138 +v -2.675867 -1.083644 -2.070285 +v -1.090851 -0.847590 -2.171509 +v -1.057160 -1.286016 -1.598138 +v -2.675867 -0.982486 -1.631902 +v -1.326908 -1.353548 -1.901671 +v -1.900312 -1.286016 -1.665597 +v -2.675867 -1.252278 -1.901671 +v -0.854580 -1.151120 -1.530679 +v -1.900312 -0.813796 -2.036590 +v -0.854580 -0.813796 -1.699362 +v -1.731639 -0.780058 -1.834281 +v -2.439595 -0.881272 -1.665597 +v -2.574577 -1.049962 -2.104049 +v -0.854580 -0.813796 -2.104049 +v -2.237230 -1.218596 -2.036590 +v -0.854580 -1.353548 -1.935366 +v -2.304828 -0.847590 -2.070285 +v -1.967481 -1.319810 -1.834281 +v -1.158235 -1.049962 -1.530679 +f 73 84 95 +f 68 71 73 +f 68 72 74 +f 66 67 75 +f 70 65 75 +f 68 74 77 +f 67 74 78 +f 72 68 80 +f 68 73 80 +f 73 71 82 +f 69 79 82 +f 79 73 82 +f 71 68 83 +f 68 77 83 +f 75 81 83 +f 75 65 84 +f 79 69 84 +f 73 79 84 +f 65 70 86 +f 76 65 86 +f 76 86 87 +f 72 76 87 +f 70 85 87 +f 85 72 87 +f 86 70 87 +f 76 72 88 +f 72 80 88 +f 80 76 88 +f 67 66 89 +f 74 67 89 +f 66 75 89 +f 77 74 89 +f 75 67 90 +f 70 75 90 +f 67 78 90 +f 85 70 90 +f 78 85 90 +f 83 77 91 +f 75 83 91 +f 89 75 91 +f 77 89 91 +f 69 81 92 +f 81 75 92 +f 75 84 92 +f 84 69 92 +f 74 72 93 +f 78 74 93 +f 72 85 93 +f 85 78 93 +f 81 69 94 +f 82 71 94 +f 69 82 94 +f 71 83 94 +f 83 81 94 +f 65 76 95 +f 80 73 95 +f 76 80 95 +f 84 65 95 +o convex_2 +v 2.451698 -1.015976 1.066916 +v -0.550363 -1.184693 -1.058092 +v -0.550363 -0.948781 -1.058092 +v -2.810626 -1.083588 0.931720 +v -0.651436 0.063310 1.235392 +v -0.247142 -2.027859 1.167909 +v 2.552180 -0.139108 -0.585714 +v 2.012530 -1.859350 -0.686938 +v -2.439432 -0.038003 -0.248301 +v -2.136212 -1.758245 -0.653197 +v -1.022630 0.063310 -0.855644 +v 2.079913 0.029400 0.662021 +v -0.145478 -2.061976 -0.889386 +v -2.844317 -0.982482 -0.619686 +v 2.046221 -1.825649 0.965462 +v 2.957656 -1.083380 0.223384 +v -2.675861 -0.206720 0.830727 +v -2.102520 -1.791947 0.931720 +v 0.528346 -0.476541 -1.058092 +v -0.011304 -1.758245 1.302875 +v 1.641927 -1.690634 -0.923358 +v 1.304425 0.063310 -0.788162 +v -3.080746 -1.049678 0.088881 +v 2.721227 -1.083380 -0.653428 +v 2.046221 -0.240421 1.066685 +v 2.822300 -0.274123 0.257125 +v -2.035138 -1.117081 1.168140 +v 2.046221 -1.015976 1.201882 +v -2.068829 -1.049678 -0.889617 +v 1.945148 -0.341735 -0.855644 +v -2.945391 -0.307825 0.055140 +v -0.078095 -1.690842 -1.058092 +v 0.292508 -2.027859 1.167909 +v 0.056078 -0.409138 1.302875 +v -2.203594 -0.274331 -0.720679 +v 2.721227 -1.083380 0.965462 +v 1.270734 0.063310 1.066685 +v -1.562280 -1.791947 1.168140 +v -1.562280 -1.758245 -0.889617 +v 2.147886 -1.859558 0.223384 +v -2.237285 -1.791947 0.122391 +v 1.540263 -1.825649 1.167909 +v -1.157986 0.063310 1.066685 +v -2.035138 -0.341735 1.100658 +v 0.157743 -2.061976 -0.889386 +v -0.685127 -1.117081 1.302875 +v 2.079913 -0.982482 -0.889386 +v -0.449289 -0.510243 -1.058092 +v 0.663110 0.063310 -0.889386 +v 0.562037 -1.657140 1.302875 +v 2.350033 -0.004302 0.560797 +v 2.586462 -0.476749 0.830727 +v -0.078095 -2.061976 0.999203 +v 1.540263 -1.859350 -0.923358 +v 0.494655 -1.522125 -1.058092 +v -2.574788 -1.555827 0.189643 +v -0.516671 -0.341527 1.302875 +v -3.080746 -1.049678 0.223384 +v -2.709553 -0.510451 -0.484721 +v -1.225368 0.063310 -0.822134 +v 0.528346 -0.645258 1.302875 +v 2.957656 -1.083380 0.122391 +v 0.865848 0.063310 1.134168 +v -2.068829 -0.948781 -0.889617 +f 155 106 159 +f 97 98 114 +f 106 100 117 +f 109 105 118 +f 96 120 123 +f 98 97 124 +f 117 102 125 +f 102 119 125 +f 112 104 126 +f 109 118 126 +f 97 114 127 +f 115 101 128 +f 110 111 131 +f 120 96 131 +f 111 121 131 +f 96 123 131 +f 117 100 132 +f 107 117 132 +f 99 113 133 +f 113 101 133 +f 101 115 133 +f 122 99 133 +f 108 105 134 +f 105 109 134 +f 124 97 134 +f 109 124 134 +f 127 108 134 +f 97 127 134 +f 111 110 135 +f 110 128 135 +f 105 108 136 +f 128 110 137 +f 115 128 137 +f 110 131 137 +f 131 123 137 +f 100 106 138 +f 112 100 138 +f 104 112 138 +f 112 99 139 +f 100 112 139 +f 99 122 139 +f 108 127 140 +f 103 135 140 +f 135 128 140 +f 115 129 141 +f 133 115 141 +f 122 133 141 +f 119 116 142 +f 114 125 142 +f 125 119 142 +f 114 98 143 +f 106 117 144 +f 125 114 144 +f 117 125 144 +f 114 143 144 +f 143 106 144 +f 129 115 145 +f 115 137 145 +f 137 123 145 +f 117 107 146 +f 102 117 146 +f 121 102 146 +f 107 132 146 +f 132 120 146 +f 120 131 147 +f 131 121 147 +f 121 146 147 +f 146 120 147 +f 101 113 148 +f 128 101 148 +f 136 108 148 +f 113 136 148 +f 108 140 148 +f 140 128 148 +f 119 103 149 +f 116 119 149 +f 103 140 149 +f 140 127 149 +f 127 114 150 +f 114 142 150 +f 142 116 150 +f 116 149 150 +f 149 127 150 +f 118 105 151 +f 105 136 151 +f 136 113 151 +f 129 100 152 +f 100 139 152 +f 139 122 152 +f 122 141 152 +f 141 129 152 +f 99 112 153 +f 113 99 153 +f 112 126 153 +f 126 118 153 +f 151 113 153 +f 118 151 153 +f 126 104 154 +f 109 126 154 +f 104 130 154 +f 130 109 154 +f 130 104 155 +f 104 138 155 +f 138 106 155 +f 123 120 156 +f 129 145 156 +f 145 123 156 +f 119 102 157 +f 103 119 157 +f 102 121 157 +f 121 111 157 +f 135 103 157 +f 111 135 157 +f 100 129 158 +f 132 100 158 +f 120 132 158 +f 156 120 158 +f 129 156 158 +f 98 124 159 +f 124 109 159 +f 109 130 159 +f 143 98 159 +f 106 143 159 +f 130 155 159 +o convex_3 +v -0.651957 -1.150898 1.303106 +v 0.663696 -1.184769 1.404627 +v 0.596214 -1.050061 2.180551 +v 0.022612 -0.408976 1.303106 +v -0.348285 -1.117286 2.989762 +v 0.123707 -1.724629 1.303106 +v 0.427507 -1.083545 2.955736 +v 0.022612 -0.645165 2.854770 +v -0.483122 -0.544070 1.370601 +v -0.044613 -1.454570 2.955736 +v 0.562344 -1.623277 1.303106 +v -0.483122 -1.589664 1.337131 +v 0.461249 -0.679035 2.180551 +v 0.528602 -0.679035 1.303106 +v -0.415768 -1.050061 2.955736 +v 0.056353 -1.016320 3.192249 +v -0.449509 -1.454570 2.214207 +v 0.461249 -1.454570 2.281148 +v -0.314544 -0.746518 2.618627 +v 0.056353 -1.454570 2.955736 +v 0.326283 -0.746518 2.753619 +v -0.550604 -1.050061 2.180551 +v -0.044613 -1.589664 2.247677 +v 0.663696 -1.353475 1.303106 +v 0.022612 -0.679035 2.955736 +v 0.427507 -0.645165 2.180551 +v 0.427507 -0.982707 2.922266 +v -0.348285 -1.319734 2.787274 +v -0.044613 -1.724629 1.303106 +v 0.360025 -1.353475 2.753619 +v -0.483122 -0.544070 1.303106 +v 0.022612 -1.117286 3.192249 +v -0.651957 -1.050061 1.337131 +v 0.090094 -1.589664 2.214207 +v -0.516863 -1.555794 1.303106 +v -0.550604 -1.117286 2.180551 +v -0.010872 -0.408976 1.337131 +v -0.381898 -1.488440 2.247677 +v 0.629955 -1.488440 1.337131 +v 0.461249 -1.083545 2.888610 +v -0.145837 -1.016320 3.124753 +v 0.056353 -0.645165 2.854770 +f 196 167 201 +f 160 163 165 +f 165 163 170 +f 162 161 173 +f 170 163 173 +f 172 162 173 +f 167 168 178 +f 168 174 178 +f 170 177 179 +f 174 168 181 +f 179 169 182 +f 161 162 183 +f 173 161 183 +f 170 173 183 +f 167 178 184 +f 178 174 184 +f 173 163 185 +f 172 173 185 +f 180 172 185 +f 162 172 186 +f 175 166 186 +f 172 180 186 +f 184 175 186 +f 180 184 186 +f 169 164 187 +f 164 174 187 +f 174 176 187 +f 160 165 188 +f 165 182 188 +f 182 171 188 +f 166 179 189 +f 179 177 189 +f 163 160 190 +f 164 169 191 +f 166 175 191 +f 169 179 191 +f 179 166 191 +f 181 168 192 +f 190 160 192 +f 168 190 192 +f 165 170 193 +f 170 179 193 +f 182 165 193 +f 179 182 193 +f 176 160 194 +f 171 176 194 +f 160 188 194 +f 188 171 194 +f 160 176 195 +f 176 174 195 +f 174 181 195 +f 192 160 195 +f 181 192 195 +f 168 167 196 +f 163 190 196 +f 190 168 196 +f 176 171 197 +f 171 182 197 +f 182 169 197 +f 169 187 197 +f 187 176 197 +f 177 170 198 +f 183 162 198 +f 170 183 198 +f 162 186 199 +f 186 166 199 +f 166 189 199 +f 189 177 199 +f 198 162 199 +f 177 198 199 +f 174 164 200 +f 175 184 200 +f 184 174 200 +f 164 191 200 +f 191 175 200 +f 167 184 201 +f 184 180 201 +f 185 163 201 +f 180 185 201 +f 163 196 201 +o convex_4 +v -0.584250 0.164553 1.235636 +v 0.562525 0.063310 -0.889650 +v 0.562525 0.164553 -0.889650 +v -1.157759 0.063310 -0.822038 +v -1.124038 0.569330 -0.822038 +v 1.102069 0.569330 1.066712 +v -1.090317 0.569330 1.066920 +v 1.169512 0.063310 1.066712 +v 1.068348 0.569330 -0.788337 +v -1.124038 0.063310 1.066920 +v 1.236955 0.063310 -0.754427 +v 1.270921 0.569330 0.257247 +v -1.225447 0.569330 0.223338 +v 0.764854 0.569330 1.134323 +v 1.270921 0.063310 0.392054 +v -0.752857 0.569330 1.168025 +v -1.056595 0.569330 -0.855740 +v -1.191481 0.063310 0.628382 +v 0.764854 0.569330 -0.855740 +v -0.550528 0.063310 1.235636 +v 0.832297 0.063310 1.134323 +v -1.056595 0.063310 -0.855740 +v 0.663690 0.333161 -0.889650 +v 1.169512 0.265748 1.066712 +v -1.124038 0.366892 1.066920 +v 1.270921 0.569330 0.156142 +v 1.203234 0.063310 -0.788337 +v -1.157759 0.333161 -0.822038 +v 1.102069 0.569330 -0.720725 +v -0.651693 0.097091 1.235636 +f 208 226 231 +f 207 206 208 +f 205 203 209 +f 206 207 210 +f 205 209 211 +f 209 203 212 +f 210 207 213 +f 208 206 214 +f 207 208 215 +f 209 212 216 +f 202 215 217 +f 215 208 217 +f 204 203 218 +f 206 210 218 +f 205 211 219 +f 214 205 219 +f 218 210 220 +f 211 209 221 +f 215 202 221 +f 215 221 222 +f 221 209 222 +f 203 205 223 +f 218 203 223 +f 205 218 223 +f 203 204 224 +f 204 218 224 +f 218 220 224 +f 213 207 225 +f 207 215 225 +f 209 216 225 +f 216 213 225 +f 215 222 225 +f 222 209 225 +f 208 214 226 +f 219 211 226 +f 214 219 226 +f 210 213 227 +f 216 212 227 +f 213 216 227 +f 212 203 228 +f 210 212 228 +f 220 210 228 +f 203 224 228 +f 224 220 228 +f 205 214 229 +f 214 206 229 +f 218 205 229 +f 206 218 229 +f 212 210 230 +f 210 227 230 +f 227 212 230 +f 202 217 231 +f 217 208 231 +f 221 202 231 +f 211 221 231 +f 226 211 231 +o convex_5 +v -0.854223 -1.083578 -2.272624 +v 0.798612 -0.780084 -1.429491 +v 0.528587 -0.476472 -1.058323 +v -0.078445 -1.657160 -1.058323 +v 0.393655 -1.083578 -2.744765 +v -0.449427 -0.510233 -1.058323 +v -0.044793 -0.645159 -2.542469 +v 0.427468 -1.420951 -2.508694 +v -0.854223 -1.353429 -1.733285 +v 0.461121 -1.522115 -1.058323 +v -0.415613 -1.387190 -2.542469 +v 0.798612 -0.746442 -2.137702 +v 0.798612 -1.319668 -2.002779 +v -0.854223 -0.780084 -1.969005 +v -0.415613 -1.016293 -2.778539 +v -0.516893 -1.420951 -1.058323 +v 0.427468 -0.645159 -2.474920 +v -0.854223 -0.881368 -1.564588 +v -0.044793 -0.510233 -1.868207 +v -0.415613 -0.712681 -2.576068 +v 0.090139 -1.083578 -2.846087 +v 0.393655 -1.522115 -2.002779 +v -0.381800 -1.522115 -1.935581 +v 0.798612 -1.286025 -1.598188 +v -0.044793 -1.454712 -2.508694 +v -0.381800 -0.577755 -2.002779 +v 0.427468 -0.510233 -1.800658 +v -0.011141 -0.442711 -1.294744 +v 0.798612 -1.117339 -2.205075 +v -0.820409 -1.387190 -1.901806 +v 0.056325 -0.746323 -2.677391 +v -0.854223 -0.847725 -2.205075 +v -0.550545 -0.982532 -1.058323 +v -0.854223 -1.150981 -1.530814 +v 0.798612 -0.678920 -1.834258 +v -0.516893 -1.488354 -1.092273 +v -0.011141 -1.387190 -2.643617 +v -0.415613 -1.117220 -2.778539 +v -0.854223 -1.286025 -2.137702 +v 0.798612 -1.083578 -1.429491 +v -0.044793 -1.555758 -1.935581 +v 0.427468 -0.982532 -2.710990 +v 0.056325 -1.657160 -1.092273 +v 0.798612 -1.353429 -1.868032 +v 0.528587 -1.184861 -1.058323 +v 0.292375 -0.442711 -1.058323 +v -0.112259 -1.016293 -2.846087 +v -0.415613 -1.420951 -2.474920 +v 0.090139 -0.510233 -1.901806 +f 259 258 280 +f 235 234 237 +f 234 235 241 +f 243 233 244 +f 232 240 245 +f 235 237 247 +f 237 245 249 +f 245 240 249 +f 236 239 252 +f 244 233 255 +f 239 253 256 +f 245 237 257 +f 250 238 257 +f 251 245 257 +f 238 251 257 +f 257 237 259 +f 250 257 259 +f 239 236 260 +f 244 239 260 +f 243 244 260 +f 254 235 261 +f 238 248 262 +f 251 238 262 +f 232 245 263 +f 246 232 263 +f 245 251 263 +f 251 246 263 +f 247 237 264 +f 237 249 264 +f 264 249 265 +f 249 240 265 +f 247 264 265 +f 234 233 266 +f 233 243 266 +f 243 248 266 +f 258 234 266 +f 248 258 266 +f 235 247 267 +f 261 235 267 +f 240 261 267 +f 265 240 267 +f 247 265 267 +f 252 239 268 +f 239 256 268 +f 256 242 268 +f 232 246 269 +f 268 242 269 +f 252 268 269 +f 240 232 270 +f 261 240 270 +f 232 269 270 +f 269 242 270 +f 233 234 271 +f 255 233 271 +f 241 255 271 +f 235 254 272 +f 256 253 272 +f 254 256 272 +f 248 243 273 +f 236 252 273 +f 260 236 273 +f 243 260 273 +f 262 248 273 +f 252 262 273 +f 241 235 274 +f 253 241 274 +f 235 272 274 +f 272 253 274 +f 239 244 275 +f 241 253 275 +f 253 239 275 +f 255 241 275 +f 244 255 275 +f 234 241 276 +f 271 234 276 +f 241 271 276 +f 237 234 277 +f 234 258 277 +f 258 259 277 +f 259 237 277 +f 246 251 278 +f 251 262 278 +f 262 252 278 +f 269 246 278 +f 252 269 278 +f 242 256 279 +f 256 254 279 +f 254 261 279 +f 261 270 279 +f 270 242 279 +f 248 238 280 +f 238 250 280 +f 258 248 280 +f 250 259 280 +o convex_6 +v 2.518847 -0.915096 -1.631909 +v 0.798850 -1.117352 -2.171568 +v 0.798850 -0.915096 -2.171568 +v 0.798850 -0.780154 -1.463209 +v 0.798850 -1.285983 -1.598141 +v 2.620137 -1.285983 -1.901635 +v 2.451464 -0.881344 -1.969101 +v 2.687521 -1.117352 -1.598141 +v 0.832756 -0.712588 -1.935333 +v 0.798850 -1.285983 -2.104033 +v 2.620137 -1.083601 -2.036567 +v 2.721213 -0.847593 -1.766841 +v 1.035121 -1.083601 -1.463209 +v 2.991176 -1.049850 -1.834169 +v 0.798850 -1.353485 -1.867867 +v 1.743293 -1.285983 -1.631909 +v 1.068813 -0.712588 -1.733073 +v 0.798850 -0.746402 -2.070265 +v 2.586231 -1.285983 -1.766841 +v 2.046733 -1.252231 -2.036567 +v 2.417772 -1.319734 -1.867867 +v 2.080425 -0.780154 -1.800539 +v 0.832756 -0.813905 -2.137731 +v 2.991176 -1.117352 -1.834169 +v 2.552539 -1.016287 -2.036567 +v 1.878274 -0.813905 -2.002799 +v 0.798850 -1.218543 -1.530675 +v 1.642217 -0.746402 -1.733073 +v 1.035121 -0.982535 -2.171568 +f 303 305 309 +f 283 282 284 +f 284 282 285 +f 281 284 288 +f 285 282 290 +f 284 281 292 +f 281 288 292 +f 288 284 293 +f 292 288 294 +f 287 292 294 +f 285 290 295 +f 288 293 296 +f 285 295 296 +f 289 284 297 +f 283 284 298 +f 284 289 298 +f 288 296 299 +f 290 282 300 +f 291 286 300 +f 282 291 300 +f 295 290 301 +f 296 295 301 +f 286 299 301 +f 299 296 301 +f 290 300 301 +f 300 286 301 +f 283 298 303 +f 286 291 304 +f 294 288 304 +f 291 294 304 +f 299 286 304 +f 288 299 304 +f 294 291 305 +f 287 294 305 +f 303 287 305 +f 292 287 306 +f 298 289 306 +f 302 292 306 +f 289 302 306 +f 287 303 306 +f 303 298 306 +f 284 285 307 +f 293 284 307 +f 285 296 307 +f 296 293 307 +f 284 292 308 +f 297 284 308 +f 289 297 308 +f 292 302 308 +f 302 289 308 +f 282 283 309 +f 291 282 309 +f 283 303 309 +f 305 291 309 +o convex_7 +v 1.304656 0.569426 0.088709 +v 1.372350 1.547637 0.189775 +v 1.372350 1.547637 0.122461 +v 3.024789 0.974269 0.189775 +v 1.304656 0.805552 0.493473 +v 1.675962 1.007974 -0.147424 +v 2.822549 0.974269 0.392157 +v 2.755023 1.007974 -0.079921 +v 1.304656 1.412529 0.425908 +v 1.304656 1.345119 -0.113672 +v 2.755023 0.771847 0.156212 +v 1.439875 0.636932 0.459659 +v 1.304656 0.636932 -0.079921 +v 2.788702 1.176403 0.189775 +v 1.338671 1.176403 0.493473 +v 2.687498 0.906763 -0.079921 +v 1.473554 0.569426 0.223526 +v 1.304656 0.873058 -0.147424 +v 1.473554 0.636932 -0.079921 +v 2.788702 1.176403 0.122461 +v 1.372350 1.412529 -0.079921 +v 1.372350 1.446330 0.392157 +v 2.822549 1.007974 0.392157 +v 2.586294 0.805552 0.324717 +v 1.304656 0.603227 0.425908 +v 2.755023 0.771847 0.122461 +v 1.574758 1.007974 0.493473 +v 2.721345 1.041679 -0.079921 +v 3.024789 0.974269 0.122461 +f 337 329 338 +f 311 312 318 +f 310 314 318 +f 310 318 319 +f 318 312 319 +f 313 316 320 +f 316 314 321 +f 310 319 322 +f 312 311 323 +f 318 314 324 +f 315 317 325 +f 320 321 326 +f 319 315 327 +f 322 319 327 +f 315 325 327 +f 327 325 328 +f 310 322 328 +f 322 327 328 +f 312 323 329 +f 323 313 329 +f 319 312 330 +f 312 329 330 +f 311 318 331 +f 323 311 331 +f 323 331 332 +f 316 313 332 +f 313 323 332 +f 318 324 332 +f 331 318 332 +f 320 316 333 +f 316 321 333 +f 321 320 333 +f 314 310 334 +f 321 314 334 +f 310 326 334 +f 326 321 334 +f 313 320 335 +f 326 310 335 +f 320 326 335 +f 328 325 335 +f 310 328 335 +f 314 316 336 +f 324 314 336 +f 316 332 336 +f 332 324 336 +f 317 315 337 +f 315 319 337 +f 319 330 337 +f 330 329 337 +f 325 317 338 +f 329 313 338 +f 313 335 338 +f 335 325 338 +f 317 337 338 +o convex_8 +v -1.360514 0.603227 0.290986 +v -1.259181 1.547637 0.324740 +v -1.259181 1.547637 -0.181102 +v -3.047121 0.974269 0.156126 +v -1.259181 0.636932 -0.147348 +v -1.259181 1.041679 0.560863 +v -2.844455 0.940564 0.392170 +v -2.777075 0.906763 -0.046163 +v -2.709694 0.704437 0.156126 +v -2.810677 1.176403 0.156126 +v -1.259181 0.704437 0.493354 +v -1.360514 1.041679 -0.248611 +v -1.292959 1.480035 0.459600 +v -2.743472 0.738142 0.257231 +v -1.259181 0.569426 0.122451 +v -2.777075 0.974269 -0.046163 +v -2.743472 1.041679 0.392170 +v -1.394292 1.547637 0.189801 +v -1.292959 1.176403 0.560863 +v -2.777075 1.176403 0.223556 +v -1.360514 0.636932 -0.147348 +v -1.427895 0.670637 0.459600 +v -2.743472 0.738142 0.088696 +v -1.292959 1.547637 -0.181102 +v -2.979565 0.839353 0.156126 +v -2.675917 0.805552 0.358415 +v -1.292959 1.142698 -0.248611 +f 354 362 365 +f 341 340 343 +f 343 340 344 +f 343 344 349 +f 344 345 349 +f 344 340 351 +f 347 339 352 +f 339 347 353 +f 349 339 353 +f 343 349 353 +f 346 342 354 +f 342 348 354 +f 350 346 354 +f 342 345 355 +f 340 341 356 +f 345 344 357 +f 344 351 357 +f 355 345 357 +f 351 355 357 +f 348 342 358 +f 351 340 358 +f 342 355 358 +f 355 351 358 +f 340 356 358 +f 356 348 358 +f 350 343 359 +f 346 350 359 +f 343 353 359 +f 353 347 359 +f 339 349 360 +f 349 345 360 +f 352 339 360 +f 346 359 361 +f 359 347 361 +f 354 348 362 +f 356 341 362 +f 348 356 362 +f 345 342 363 +f 342 346 363 +f 352 345 363 +f 347 352 363 +f 346 361 363 +f 361 347 363 +f 345 352 364 +f 360 345 364 +f 352 360 364 +f 341 343 365 +f 343 350 365 +f 350 354 365 +f 362 341 365 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/065/065.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/065/065.urdf new file mode 100644 index 000000000..5ec1bd9a2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/065/065.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/066/066.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/066/066.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/066/066.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/066/066.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/066/066.obj new file mode 100644 index 000000000..5ed2a1412 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/066/066.obj @@ -0,0 +1,369 @@ +o convex_0 +v 1.420999 2.376823 0.127662 +v -2.600949 -2.003147 -0.051525 +v -2.600949 -2.003147 0.020025 +v 1.241130 -2.721360 -0.087404 +v -1.630913 2.053657 -1.057169 +v -1.595358 1.981776 1.025462 +v 0.810282 -2.398194 0.953705 +v 0.846256 -2.290670 -1.021083 +v 1.671978 0.796636 -0.877360 +v 1.671978 0.007136 0.989583 +v -2.349551 2.736227 -0.015646 +v -1.595358 -2.793241 -0.733638 +v -1.523410 -2.793241 0.774103 +v 0.379434 2.843156 -0.769724 +v 0.486936 2.808107 0.809982 +v -2.349551 -2.038790 -0.769724 +v -2.313578 -2.003147 0.774103 +v -2.349551 2.053657 -0.841689 +v 1.672397 -0.243555 -1.021083 +v -2.349551 2.017420 0.702138 +v -1.559384 -2.039384 0.989376 +v -1.595358 -1.751862 -1.020876 +v 0.522910 -3.008883 -0.087404 +v 0.235957 2.340585 1.061548 +v 1.672397 -1.105529 0.809982 +v -2.241630 -2.793241 0.055904 +v -1.559384 2.699989 0.774103 +v 0.522910 3.023749 0.020025 +v -1.630913 2.735632 -0.841481 +v 0.092062 2.304942 -1.021083 +v -2.600949 1.479205 -0.051525 +v 1.097653 2.592465 0.774103 +v 1.025706 2.592465 -0.733845 +v 1.672397 -1.033649 -0.841481 +v 0.594858 -2.864527 -0.733638 +v -1.559384 -3.045120 -0.015646 +v 0.594858 -2.828884 0.738017 +v -1.702861 2.951869 -0.015646 +v 1.671978 1.730491 0.055697 +v 1.277104 2.807513 -0.015646 +v -0.446289 0.617231 1.061548 +v 1.671978 0.832873 0.881739 +v 1.277104 -2.110671 -0.805603 +v 1.205156 -2.326313 0.630380 +v 1.672397 -1.392458 -0.087404 +v -1.559384 -2.146909 -0.984997 +v 0.630831 -1.895029 0.989376 +v -2.385107 1.156039 0.702138 +v -2.564976 2.124943 -0.015646 +v 0.451381 2.879394 0.702138 +v -2.313578 -2.757597 -0.051525 +v -2.277604 2.018013 0.774103 +v -1.630913 0.868516 1.025462 +v 0.486936 1.479205 1.061548 +v -0.553792 -2.721360 -0.841689 +v -1.056588 1.047921 1.061548 +v -1.523410 1.120396 -1.057169 +v -2.169683 2.591871 -0.626208 +v -1.595358 2.951869 -0.159161 +v -2.169683 -2.613242 0.486865 +v -0.230865 -3.045120 0.055904 +v -2.026206 2.591871 0.594501 +v -0.984641 2.053657 -1.057169 +v 1.672397 -0.315436 0.989583 +f 54 47 64 +f 16 2 18 +f 13 7 21 +f 17 13 21 +f 18 5 22 +f 16 18 22 +f 24 15 27 +f 6 24 27 +f 5 18 29 +f 9 19 30 +f 5 29 30 +f 29 14 30 +f 2 3 31 +f 18 2 31 +f 15 24 32 +f 9 30 33 +f 30 14 33 +f 8 19 34 +f 19 25 34 +f 4 23 35 +f 35 23 36 +f 13 26 36 +f 12 35 36 +f 7 13 37 +f 23 4 37 +f 11 27 38 +f 19 9 39 +f 14 28 40 +f 32 1 40 +f 9 33 40 +f 33 14 40 +f 39 9 40 +f 1 39 40 +f 24 10 42 +f 1 32 42 +f 32 24 42 +f 39 1 42 +f 34 4 43 +f 8 34 43 +f 4 35 43 +f 35 8 43 +f 4 25 44 +f 25 7 44 +f 37 4 44 +f 7 37 44 +f 25 4 45 +f 4 34 45 +f 34 25 45 +f 12 16 46 +f 22 8 46 +f 16 22 46 +f 21 7 47 +f 41 21 47 +f 3 17 48 +f 31 3 48 +f 31 48 49 +f 11 18 49 +f 20 11 49 +f 18 31 49 +f 48 20 49 +f 27 15 50 +f 15 32 50 +f 38 27 50 +f 28 38 50 +f 40 28 50 +f 32 40 50 +f 3 2 51 +f 2 16 51 +f 16 12 51 +f 12 36 51 +f 36 26 51 +f 6 27 52 +f 48 17 52 +f 20 48 52 +f 17 21 53 +f 6 52 53 +f 52 17 53 +f 10 24 54 +f 24 41 54 +f 41 47 54 +f 8 35 55 +f 35 12 55 +f 46 8 55 +f 12 46 55 +f 24 6 56 +f 21 41 56 +f 41 24 56 +f 53 21 56 +f 6 53 56 +f 22 5 57 +f 8 22 57 +f 18 11 58 +f 11 29 58 +f 29 18 58 +f 28 14 59 +f 14 29 59 +f 29 11 59 +f 11 38 59 +f 38 28 59 +f 17 3 60 +f 13 17 60 +f 26 13 60 +f 3 51 60 +f 51 26 60 +f 36 23 61 +f 13 36 61 +f 37 13 61 +f 23 37 61 +f 11 20 62 +f 27 11 62 +f 20 52 62 +f 52 27 62 +f 19 8 63 +f 5 30 63 +f 30 19 63 +f 8 57 63 +f 57 5 63 +f 7 25 64 +f 25 19 64 +f 19 39 64 +f 42 10 64 +f 39 42 64 +f 47 7 64 +f 10 54 64 +o convex_1 +v 1.672573 -1.033810 -0.841422 +v 2.354681 0.151214 0.989527 +v 2.175235 0.151214 0.989527 +v 1.708427 1.623241 -0.015892 +v 3.252268 0.007428 -0.841422 +v 1.672573 -1.105561 0.773980 +v 3.216413 -0.818559 -0.015892 +v 3.252268 0.796970 0.019966 +v 1.672573 0.904880 -0.841422 +v 3.216413 0.043303 0.738122 +v 1.672573 0.904880 0.845896 +v 2.570158 0.796970 -0.805564 +v 2.570158 0.796970 0.738122 +v 2.498450 0.079179 -1.056969 +v 3.467920 -0.028447 0.019966 +v 1.708427 -1.285507 -0.087407 +v 2.462596 -0.818559 0.738122 +v 2.498450 -0.746523 -0.805564 +v 1.672573 -0.243699 -1.020911 +v 1.672573 -0.315450 0.989527 +v 3.252268 0.796970 -0.123465 +v 2.426566 -0.136073 0.989527 +v 3.036966 -0.603022 -0.626075 +v 3.036966 -0.567147 0.558633 +v 1.672573 1.623241 0.056024 +v 3.072821 0.617593 -0.626075 +v 3.036966 0.617593 0.558633 +v 2.498450 -0.028447 -1.056969 +v 3.431890 -0.028447 -0.266896 +v 3.180383 -0.100198 0.738122 +v 1.708427 -0.997935 0.845896 +v 1.708427 -0.890024 -0.913338 +v 3.216413 -0.818559 -0.051550 +v 2.498450 0.796970 0.773980 +v 1.672573 -0.028163 -1.020911 +v 1.708427 -1.285507 0.019966 +v 2.534304 0.043303 0.989527 +v 1.708427 1.623241 0.056024 +v 1.708427 0.833130 0.881754 +v 1.708427 -1.105561 -0.661933 +v 3.252268 -0.028447 -0.841422 +v 1.708427 -1.105561 0.773980 +v 3.467920 0.079179 -0.015892 +v 1.672573 0.007713 0.989527 +v 2.103351 -0.890024 -0.841422 +v 2.462596 0.832845 -0.805564 +v 3.252268 -0.064323 0.630349 +v 1.672573 -1.285507 -0.087407 +v 1.780311 0.653468 -0.913338 +v 2.929228 -0.638897 0.594491 +v 2.462596 -0.746523 0.773980 +v 2.067496 0.869005 0.809838 +v 3.467920 0.079179 -0.087407 +v 3.252268 0.079179 -0.805564 +v 2.677897 0.761094 0.702264 +v 2.498450 0.581433 0.845896 +v 2.857344 -0.028447 0.881754 +v 3.467920 -0.064323 -0.087407 +v 2.893198 0.689344 -0.697790 +v 1.744281 0.653468 0.917611 +v 2.318827 0.043588 -1.056969 +f 99 113 125 +f 65 70 73 +f 73 70 75 +f 76 69 78 +f 65 73 83 +f 66 67 84 +f 75 70 84 +f 68 72 85 +f 66 84 86 +f 68 73 89 +f 73 75 89 +f 74 72 91 +f 78 69 92 +f 88 71 94 +f 84 70 95 +f 86 84 95 +f 65 83 96 +f 83 92 96 +f 71 80 97 +f 82 87 97 +f 83 73 99 +f 80 71 100 +f 66 86 101 +f 72 68 102 +f 68 89 102 +f 89 75 102 +f 98 77 102 +f 97 80 104 +f 87 82 105 +f 92 69 105 +f 82 92 105 +f 69 93 105 +f 97 87 105 +f 93 97 105 +f 71 81 106 +f 95 70 106 +f 81 95 106 +f 70 100 106 +f 100 71 106 +f 72 74 107 +f 74 79 107 +f 85 72 107 +f 84 67 108 +f 75 84 108 +f 103 75 108 +f 92 82 109 +f 65 96 109 +f 96 92 109 +f 82 97 109 +f 104 65 109 +f 97 104 109 +f 73 68 110 +f 68 76 110 +f 78 73 110 +f 76 78 110 +f 71 79 111 +f 79 74 111 +f 94 71 111 +f 74 94 111 +f 70 65 112 +f 100 70 112 +f 80 100 112 +f 65 104 112 +f 104 80 112 +f 73 78 113 +f 99 73 113 +f 81 71 114 +f 71 88 114 +f 94 81 114 +f 88 94 114 +f 81 94 115 +f 95 81 115 +f 86 95 115 +f 102 75 116 +f 98 102 116 +f 75 103 116 +f 103 98 116 +f 107 79 117 +f 85 107 117 +f 90 85 118 +f 93 69 118 +f 85 117 118 +f 117 93 118 +f 91 72 119 +f 74 91 119 +f 98 74 119 +f 77 98 119 +f 72 102 119 +f 102 77 119 +f 74 98 120 +f 66 101 120 +f 101 74 120 +f 103 66 120 +f 98 103 120 +f 94 74 121 +f 101 86 121 +f 74 101 121 +f 86 115 121 +f 115 94 121 +f 79 71 122 +f 71 97 122 +f 97 93 122 +f 93 117 122 +f 117 79 122 +f 76 68 123 +f 69 76 123 +f 68 85 123 +f 85 90 123 +f 118 69 123 +f 90 118 123 +f 67 66 124 +f 66 103 124 +f 108 67 124 +f 103 108 124 +f 78 92 125 +f 92 83 125 +f 83 99 125 +f 113 78 125 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/066/066.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/066/066.urdf new file mode 100644 index 000000000..3fceff492 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/066/066.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/067/067.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/067/067.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/067/067.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/067/067.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/067/067.obj new file mode 100644 index 000000000..7da01beb3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/067/067.obj @@ -0,0 +1,438 @@ +o convex_0 +v 3.070898 -1.592923 0.193629 +v 1.108043 -2.048484 -0.332081 +v 1.108043 -2.118646 -0.016577 +v 1.108043 -1.487741 0.228641 +v 2.475098 -1.487741 -0.226913 +v 3.070898 -2.048484 -0.332081 +v 2.930848 -2.083565 0.193629 +v 1.108043 -1.557903 -0.297003 +v 1.108043 -2.118646 0.193629 +v 3.036081 -1.733124 0.333875 +v 3.106302 -1.487741 -0.191901 +v 1.143447 -1.557903 0.263719 +v 2.825810 -1.628004 0.333875 +v 3.070898 -1.978383 -0.332081 +v 1.318510 -1.487741 -0.086732 +v 3.036081 -1.487741 -0.086732 +v 1.949518 -2.118646 0.123473 +v 1.108043 -1.803225 -0.332081 +v 2.369864 -1.838182 0.298797 +v 3.001068 -2.083565 -0.051655 +v 3.070898 -2.013465 -0.121745 +v 1.108043 -1.522822 -0.261926 +f 15 5 22 +f 2 3 4 +f 3 2 6 +f 2 4 8 +f 4 3 9 +f 5 4 11 +f 4 9 12 +f 10 1 13 +f 4 12 13 +f 6 2 14 +f 8 5 14 +f 5 11 14 +f 11 6 14 +f 4 5 15 +f 1 11 16 +f 11 4 16 +f 13 1 16 +f 4 13 16 +f 9 3 17 +f 7 9 17 +f 2 8 18 +f 14 2 18 +f 8 14 18 +f 9 7 19 +f 7 10 19 +f 12 9 19 +f 10 13 19 +f 13 12 19 +f 3 6 20 +f 17 3 20 +f 7 17 20 +f 10 7 21 +f 1 10 21 +f 11 1 21 +f 6 11 21 +f 20 6 21 +f 7 20 21 +f 8 4 22 +f 5 8 22 +f 4 15 22 +o convex_1 +v 0.967737 0.825675 3.032185 +v -1.030282 -0.926764 -1.102697 +v -1.065305 -0.225443 -1.102697 +v 1.072805 0.755845 -2.960871 +v 1.108043 -0.926764 -0.577303 +v -1.030282 1.281837 1.034500 +v -0.925215 -0.856503 2.997752 +v -1.100544 1.141313 -2.996490 +v 1.108043 -0.821480 -2.996490 +v 1.037782 -0.821480 3.068398 +v 1.072805 1.281837 0.578564 +v -0.960237 1.106506 2.997752 +v -0.925215 -0.821480 -2.960871 +v 1.037782 1.246381 -2.925844 +v 0.932714 1.211575 3.032185 +v -1.100544 1.281837 -0.437198 +v 1.002759 -0.926764 1.069526 +v -0.960237 -0.856503 2.927700 +v 1.108043 0.650777 0.438459 +v -1.100544 1.281837 -1.313448 +v -0.995260 -0.926764 0.964447 +v 1.072805 1.246381 1.349736 +v -0.679840 -0.856503 -2.785739 +v 1.037782 -0.926764 -1.033238 +v 0.582055 -0.330728 3.068398 +v -1.100544 0.580299 -1.067671 +v -0.960237 -0.821480 -2.925844 +v 0.932714 1.281837 -1.103290 +v -0.819931 1.176336 -2.996490 +v 1.108043 -0.330728 -2.996490 +v -1.100544 0.965982 -2.996490 +v 0.652101 1.211575 3.032185 +v -0.995260 -0.856503 1.700593 +v 0.091306 -0.856503 3.032185 +v 1.072805 1.281837 0.998880 +v 1.072805 0.931176 -2.925844 +v 1.037782 -0.506058 3.068398 +v 0.406726 -0.821480 -2.996490 +v 0.932714 0.229854 3.068398 +v -1.030282 -0.926764 -0.542276 +v 0.091306 1.106506 3.032185 +v -0.294159 0.475446 3.032779 +v 0.582055 -0.821480 3.068398 +v 0.862453 1.246381 -2.925844 +v 0.512010 1.211575 -2.960871 +v -1.100544 1.176336 -0.437198 +v -1.065305 0.685800 -2.996490 +v -0.960237 -0.751434 2.962726 +v -0.995260 -0.400773 -2.960871 +f 53 69 71 +f 28 33 38 +f 34 28 38 +f 24 27 39 +f 27 32 39 +f 27 31 41 +f 32 27 41 +f 30 38 42 +f 38 33 42 +f 24 39 43 +f 39 29 43 +f 29 40 43 +f 37 23 44 +f 27 24 46 +f 31 27 46 +f 24 45 46 +f 45 31 46 +f 38 30 48 +f 45 24 49 +f 35 45 49 +f 33 36 50 +f 36 42 50 +f 42 33 50 +f 31 30 51 +f 30 42 51 +f 41 31 52 +f 31 51 52 +f 24 25 53 +f 30 31 53 +f 25 48 53 +f 48 30 53 +f 28 34 54 +f 37 28 54 +f 43 40 55 +f 29 39 56 +f 39 32 56 +f 33 28 57 +f 28 37 57 +f 41 33 57 +f 37 44 57 +f 44 41 57 +f 26 36 58 +f 36 33 58 +f 33 41 58 +f 52 26 58 +f 41 52 58 +f 23 37 59 +f 32 41 59 +f 44 23 59 +f 41 44 59 +f 47 32 59 +f 31 45 60 +f 45 35 60 +f 53 31 60 +f 37 54 61 +f 59 37 61 +f 47 59 61 +f 25 24 62 +f 24 43 62 +f 48 25 62 +f 43 55 62 +f 55 48 62 +f 54 34 63 +f 61 54 63 +f 61 63 64 +f 34 29 64 +f 47 61 64 +f 63 34 64 +f 47 64 65 +f 32 47 65 +f 29 56 65 +f 56 32 65 +f 64 29 65 +f 42 36 66 +f 36 51 66 +f 51 42 66 +f 36 26 67 +f 51 36 67 +f 26 52 67 +f 52 51 67 +f 34 38 68 +f 38 48 68 +f 55 40 68 +f 48 55 68 +f 60 35 69 +f 53 60 69 +f 29 34 70 +f 40 29 70 +f 34 68 70 +f 68 40 70 +f 49 24 71 +f 35 49 71 +f 24 53 71 +f 69 35 71 +o convex_2 +v 0.652098 3.209678 0.578959 +v -1.100558 1.281837 -1.103404 +v -1.100558 1.281837 -0.472282 +v 1.072804 1.282032 0.579168 +v 0.967736 3.209874 -1.103404 +v -0.960250 3.139653 0.999916 +v -0.995273 3.280095 -0.963155 +v 0.932713 1.281837 -1.103404 +v -1.030296 1.281837 1.035083 +v 1.108043 2.929382 0.999916 +v 1.072804 1.282032 0.999916 +v 1.108043 3.174861 0.964749 +v 1.002759 3.209874 -0.892821 +v -1.100558 1.632549 -1.103404 +v -0.889988 2.824149 1.035083 +v 0.266630 1.281837 1.035083 +v -0.644828 3.280095 -0.612531 +v 0.967736 1.387265 -1.033279 +v 0.266630 3.244886 -1.068237 +v 0.582052 3.174861 0.999916 +v -1.100558 1.667561 -0.857863 +v 1.108043 2.473632 0.929791 +v -0.995273 3.280095 -0.717614 +v 1.002759 3.209874 -0.226741 +v -0.644828 3.280095 -0.998112 +v -1.030296 2.859357 -0.927988 +v 0.406722 3.244886 -0.927988 +v -1.030296 1.387070 1.035083 +v -0.995273 2.753928 0.614126 +v 0.757383 3.209678 -1.103404 +f 85 90 101 +f 74 73 79 +f 73 76 79 +f 74 79 80 +f 79 75 82 +f 73 74 85 +f 76 73 85 +f 80 79 87 +f 82 81 87 +f 79 82 87 +f 86 80 87 +f 81 86 87 +f 75 79 89 +f 79 76 89 +f 76 84 89 +f 84 75 89 +f 83 72 91 +f 81 83 91 +f 77 86 91 +f 86 81 91 +f 72 88 91 +f 88 77 91 +f 85 74 92 +f 81 82 93 +f 82 75 93 +f 83 81 93 +f 75 84 93 +f 84 83 93 +f 77 88 94 +f 88 78 94 +f 72 83 95 +f 83 84 95 +f 85 78 96 +f 78 88 96 +f 90 85 96 +f 78 85 97 +f 85 92 97 +f 77 94 97 +f 94 78 97 +f 84 76 98 +f 88 72 98 +f 76 90 98 +f 72 95 98 +f 95 84 98 +f 96 88 98 +f 90 96 98 +f 74 80 99 +f 86 77 99 +f 80 86 99 +f 92 74 100 +f 77 97 100 +f 97 92 100 +f 74 99 100 +f 99 77 100 +f 76 85 101 +f 90 76 101 +o convex_3 +v -3.063759 -1.978394 0.018315 +v -1.065500 -1.487744 0.193684 +v -1.065500 -1.803283 0.228768 +v -1.065500 -2.118626 -0.332146 +v -3.028355 -1.627976 -0.332146 +v -3.028355 -1.557893 0.228768 +v -1.345992 -2.153765 0.228768 +v -1.065500 -1.663051 -0.262032 +v -2.993538 -2.013468 -0.297062 +v -2.923513 -2.048477 0.228768 +v -1.065500 -2.153765 0.228768 +v -1.275967 -1.487744 0.123514 +v -2.678034 -1.522819 0.158544 +v -2.642826 -1.627976 -0.332146 +v -3.063759 -2.013468 0.228768 +v -1.065500 -1.627976 -0.226947 +v -3.028355 -1.803283 -0.332146 +v -1.240954 -2.118626 -0.332146 +f 118 105 119 +f 103 104 105 +f 104 103 107 +f 106 102 107 +f 104 107 108 +f 103 105 109 +f 110 108 111 +f 108 107 111 +f 105 104 112 +f 104 108 112 +f 108 105 112 +f 107 103 114 +f 106 107 114 +f 103 113 114 +f 113 106 114 +f 105 106 115 +f 109 105 115 +f 106 113 115 +f 107 102 116 +f 102 110 116 +f 110 111 116 +f 111 107 116 +f 103 109 117 +f 113 103 117 +f 109 115 117 +f 115 113 117 +f 102 106 118 +f 106 105 118 +f 110 102 118 +f 110 118 119 +f 105 108 119 +f 108 110 119 +o convex_4 +v 1.107831 -2.118480 -0.016632 +v -1.030183 -1.067031 -1.103191 +v -0.960185 -2.468963 -0.998088 +v -0.995290 -0.926953 0.999717 +v -0.995290 -2.854802 1.035035 +v 1.002728 -0.927145 1.069927 +v 1.107831 -0.927145 -0.997875 +v 0.932517 -2.889966 -1.032981 +v 1.072938 -2.854610 1.034822 +v -0.960185 -2.854802 -0.962983 +v -1.030183 -0.926953 -1.103191 +v -1.065288 -2.153644 0.228679 +v 1.107831 -1.172330 -1.033193 +v 1.107831 -1.487841 0.228466 +v 0.196372 -1.628111 1.069927 +v 0.266582 -2.889966 -0.261943 +v -1.065288 -2.118480 -0.331940 +v -1.065288 -1.487841 0.193574 +v 1.037833 -1.032252 1.069927 +v 0.967623 -2.889966 -0.857880 +v 0.582104 -2.889966 -1.032981 +v 1.107831 -2.048345 -0.331940 +v -0.749766 -0.926953 -1.103191 +v 1.002728 -2.889966 -0.016632 +v 0.477001 -0.927145 1.069927 +v -0.995290 -2.504127 1.035035 +v 0.161480 -2.889966 -0.998088 +v 1.037833 -1.593140 1.069927 +v 0.967623 -2.749503 -1.032981 +v 1.107831 -0.927145 -0.682567 +v 1.072938 -2.854610 0.859509 +v 0.967623 -0.927145 -1.033193 +f 132 142 151 +f 121 122 129 +f 126 120 132 +f 120 126 133 +f 128 120 133 +f 124 128 134 +f 121 129 136 +f 129 124 136 +f 130 121 136 +f 124 131 136 +f 136 131 137 +f 123 130 137 +f 131 123 137 +f 130 136 137 +f 128 133 138 +f 125 134 138 +f 135 127 139 +f 122 121 140 +f 121 127 140 +f 129 122 140 +f 127 135 140 +f 132 120 141 +f 123 125 142 +f 127 121 142 +f 130 123 142 +f 121 130 142 +f 128 124 143 +f 124 135 143 +f 135 139 143 +f 125 123 144 +f 134 125 144 +f 134 144 145 +f 123 131 145 +f 131 124 145 +f 124 134 145 +f 144 123 145 +f 124 129 146 +f 135 124 146 +f 129 140 146 +f 140 135 146 +f 134 128 147 +f 128 138 147 +f 138 134 147 +f 139 127 148 +f 132 141 148 +f 141 139 148 +f 127 142 148 +f 142 132 148 +f 133 126 149 +f 125 138 149 +f 138 133 149 +f 142 125 149 +f 126 142 149 +f 120 128 150 +f 141 120 150 +f 139 141 150 +f 128 143 150 +f 143 139 150 +f 126 132 151 +f 142 126 151 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/067/067.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/067/067.urdf new file mode 100644 index 000000000..40a0960ac --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/067/067.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/068/068.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/068/068.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/068/068.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/068/068.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/068/068.obj new file mode 100644 index 000000000..ba7eb4897 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/068/068.obj @@ -0,0 +1,456 @@ +o convex_0 +v 0.176457 -2.998005 -2.880739 +v 0.613264 -1.956965 -1.235170 +v 0.613264 -1.990496 -1.235170 +v -0.562293 -2.964250 -1.100636 +v -0.494977 -1.856259 -3.082145 +v -0.528578 -1.990496 -1.100636 +v 0.478747 -2.998005 -1.100636 +v 0.512347 -2.024139 -3.115877 +v -0.461492 -2.930718 -3.082145 +v 0.613264 -2.998005 -3.115877 +v 0.579663 -1.856259 -1.100636 +v -0.528578 -1.923322 -1.806049 +v -0.293489 -1.856259 -3.082145 +v 0.579663 -1.889790 -1.772515 +v -0.562293 -2.930718 -1.470308 +v -0.058401 -2.964250 -3.115877 +v 0.613264 -2.930718 -2.678939 +v 0.613264 -2.796369 -3.115877 +v -0.360690 -2.964250 -3.082145 +v -0.494977 -1.856259 -2.645404 +v -0.494977 -2.427076 -3.082145 +v 0.478747 -1.990496 -3.115877 +v 0.445261 -1.856259 -1.100636 +v 0.210173 -2.998005 -1.100636 +v -0.562293 -2.561202 -1.134369 +v -0.528578 -1.923322 -2.276128 +v 0.546063 -2.494027 -1.100636 +v 0.546063 -2.158489 -2.981343 +v 0.579663 -1.856259 -1.335774 +f 2 14 29 +f 6 4 7 +f 2 3 10 +f 7 1 10 +f 3 2 11 +f 6 7 11 +f 5 11 13 +f 9 4 15 +f 8 10 16 +f 10 3 17 +f 7 10 17 +f 10 8 18 +f 2 10 18 +f 14 2 18 +f 1 4 19 +f 4 9 19 +f 10 1 19 +f 9 16 19 +f 16 10 19 +f 11 5 20 +f 5 12 20 +f 9 15 21 +f 15 5 21 +f 5 16 21 +f 16 9 21 +f 5 13 22 +f 13 14 22 +f 14 8 22 +f 16 5 22 +f 8 16 22 +f 6 11 23 +f 12 6 23 +f 11 20 23 +f 20 12 23 +f 4 1 24 +f 7 4 24 +f 1 7 24 +f 4 6 25 +f 6 12 25 +f 15 4 25 +f 15 25 26 +f 12 5 26 +f 5 15 26 +f 25 12 26 +f 3 11 27 +f 11 7 27 +f 17 3 27 +f 7 17 27 +f 8 14 28 +f 18 8 28 +f 14 18 28 +f 11 2 29 +f 13 11 29 +f 14 13 29 +o convex_1 +v 0.546012 -1.822448 -1.100420 +v -0.259961 2.510319 1.116128 +v -0.931606 2.510319 1.116128 +v -0.965240 -1.822448 1.082278 +v -1.032506 2.510319 -0.999519 +v 0.982633 2.510319 1.082495 +v 1.016266 -1.822448 0.947961 +v 0.982633 2.442884 -0.966103 +v -1.032506 -1.822448 -1.033153 +v 1.016266 -1.755013 -1.100420 +v 1.049899 -1.184154 0.947961 +v -0.730011 -1.452619 1.116128 +v -1.032506 1.368175 -0.327937 +v -1.032506 2.006469 -1.033153 +v 1.016266 -0.848254 -1.100420 +v 0.982633 2.510319 -0.932470 +v -0.998873 -1.822448 0.746595 +v -0.998873 -1.553559 -1.067003 +v -0.965240 2.510319 0.847278 +v 1.049899 -1.822448 0.141845 +v 0.948999 -1.385609 0.981595 +v -1.032506 -1.822448 -0.126354 +v 0.310784 -1.352104 -1.100636 +v 1.016266 0.327395 -1.033153 +v -0.159062 2.510319 -0.999519 +v -0.965240 0.460991 1.116128 +v -1.032506 2.510319 -0.495887 +v 1.016266 -1.822448 -1.066786 +v -0.965240 -1.721509 1.116128 +v 0.982633 2.375874 1.082495 +v 1.049899 -1.688003 0.947961 +v -0.965240 -1.822448 -1.067003 +v 1.016266 0.729456 1.015011 +f 40 45 62 +f 32 31 34 +f 34 31 35 +f 33 30 36 +f 30 33 38 +f 31 32 41 +f 34 38 42 +f 38 34 43 +f 34 35 45 +f 38 33 46 +f 38 43 47 +f 32 34 48 +f 36 30 49 +f 39 44 49 +f 41 36 50 +f 42 38 51 +f 38 46 51 +f 46 42 51 +f 39 30 52 +f 44 39 52 +f 43 44 52 +f 47 43 52 +f 44 37 53 +f 37 45 53 +f 45 40 53 +f 40 49 53 +f 49 44 53 +f 43 34 54 +f 37 44 54 +f 44 43 54 +f 34 45 54 +f 45 37 54 +f 41 32 55 +f 42 46 55 +f 32 48 55 +f 48 42 55 +f 34 42 56 +f 48 34 56 +f 42 48 56 +f 30 39 57 +f 49 30 57 +f 39 49 57 +f 33 36 58 +f 36 41 58 +f 46 33 58 +f 41 55 58 +f 55 46 58 +f 35 31 59 +f 40 35 59 +f 31 41 59 +f 41 50 59 +f 59 50 60 +f 36 49 60 +f 49 40 60 +f 50 36 60 +f 40 59 60 +f 30 38 61 +f 38 47 61 +f 52 30 61 +f 47 52 61 +f 35 40 62 +f 45 35 62 +o convex_2 +v 1.083486 3.987813 0.477801 +v -1.099691 4.122432 -1.067049 +v -1.099691 4.592356 -1.067049 +v -1.099691 4.357497 1.048812 +v -0.931507 2.510319 1.116128 +v 0.982619 2.510319 -0.932417 +v 1.083486 4.626114 -0.966182 +v 0.982619 2.510319 1.082363 +v -1.032375 2.510319 -0.999733 +v 1.083486 4.558805 1.082363 +v -1.099691 4.592356 1.048812 +v 0.814650 2.510319 -0.966182 +v 0.210087 4.626114 -1.033284 +v -1.065926 2.880003 -1.033284 +v -0.965272 2.611387 1.116128 +v 1.083486 4.626114 -0.428508 +v 1.016170 2.812901 -0.798212 +v -0.965272 3.719197 -1.067049 +v -1.032375 2.510319 -0.496038 +v 0.277190 4.592356 1.048812 +v 0.310741 4.558805 1.082363 +v -0.327159 2.510319 1.116128 +v -0.427812 4.558805 -1.067049 +v -0.226292 4.626114 -0.999733 +v 0.881752 4.592356 -0.999733 +v 1.083486 4.055122 1.082363 +v -0.965272 2.846245 1.116128 +v -0.998823 2.678282 -1.033284 +v 1.016170 3.014415 -0.966182 +v 1.083486 4.390841 -0.932417 +v 1.083486 4.592356 0.578454 +v 1.016170 2.812901 -0.462273 +f 88 70 94 +f 65 64 66 +f 67 68 70 +f 68 67 71 +f 63 69 72 +f 65 66 73 +f 68 71 74 +f 66 64 76 +f 73 66 77 +f 72 69 78 +f 69 75 78 +f 70 68 79 +f 64 65 80 +f 71 67 81 +f 66 76 81 +f 76 71 81 +f 67 77 81 +f 77 66 81 +f 73 72 82 +f 78 73 82 +f 72 73 83 +f 67 70 84 +f 77 67 84 +f 65 75 85 +f 80 65 85 +f 74 80 85 +f 65 73 86 +f 75 65 86 +f 73 78 86 +f 78 75 86 +f 75 69 87 +f 85 75 87 +f 63 72 88 +f 84 70 88 +f 72 84 88 +f 73 77 89 +f 72 83 89 +f 83 73 89 +f 84 72 89 +f 77 84 89 +f 74 71 90 +f 76 64 90 +f 71 76 90 +f 64 80 90 +f 80 74 90 +f 68 74 91 +f 79 68 91 +f 74 85 91 +f 87 69 91 +f 85 87 91 +f 69 63 92 +f 63 79 92 +f 91 69 92 +f 79 91 92 +f 72 78 93 +f 82 72 93 +f 78 82 93 +f 79 63 94 +f 70 79 94 +f 63 88 94 +o convex_3 +v -0.730144 -2.494431 -1.100636 +v 1.049899 -1.822619 0.813704 +v 1.049899 -1.856124 0.813704 +v -0.998787 -2.326393 1.048776 +v 1.016137 -3.468132 0.981673 +v 1.016137 -1.822619 -1.066872 +v -1.066103 -3.568819 -0.932667 +v 1.049899 -3.400951 -0.999769 +v -1.066103 -1.822619 -1.033320 +v -0.998787 -3.501637 1.015225 +v -0.965233 -1.822619 1.082541 +v 0.512406 -1.923306 1.082541 +v 0.512406 -3.031369 1.082541 +v 0.478852 -2.997864 -1.100636 +v -1.066103 -3.467961 -0.092605 +v 1.016137 -1.822619 0.947909 +v -0.629481 -3.031369 -1.100636 +v 1.049899 -3.434456 -0.697381 +v 0.512406 -1.822619 -1.100636 +v -0.562165 -3.031369 1.082541 +v -0.830808 -3.568819 -0.932667 +v -1.066103 -3.568819 -0.529625 +v 1.016137 -3.468132 0.142039 +v 1.049899 -2.762644 -1.033320 +v -0.528610 -1.990658 -1.100636 +v -1.032342 -3.501637 -0.966218 +v 0.881920 -3.434456 -0.999769 +v -1.032342 -3.501637 0.746602 +v -0.998787 -1.822619 0.780153 +v 1.049899 -1.822619 0.108274 +v 1.049899 -3.367275 -0.260789 +v -0.965233 -2.360069 1.082541 +v -0.931678 -1.822619 -1.066872 +v 1.016137 -2.359898 -1.066872 +v 0.680386 -1.856295 -1.100636 +v -0.394186 -3.535143 -0.966218 +v -1.066103 -1.822619 -0.966218 +f 98 123 131 +f 97 96 99 +f 96 97 102 +f 96 100 103 +f 96 103 105 +f 99 106 107 +f 104 99 107 +f 106 105 107 +f 103 101 109 +f 99 96 110 +f 96 105 110 +f 105 106 110 +f 106 99 110 +f 95 108 111 +f 102 97 112 +f 103 100 113 +f 108 95 113 +f 104 107 114 +f 107 105 114 +f 99 104 116 +f 109 101 116 +f 101 115 116 +f 115 99 116 +f 112 99 117 +f 99 115 117 +f 96 102 118 +f 113 95 119 +f 103 95 120 +f 101 103 120 +f 95 111 120 +f 108 102 121 +f 111 108 121 +f 102 112 121 +f 104 98 122 +f 98 109 122 +f 116 104 122 +f 109 116 122 +f 105 103 123 +f 98 105 123 +f 100 96 124 +f 96 118 124 +f 118 100 124 +f 97 99 125 +f 112 97 125 +f 99 112 125 +f 98 104 126 +f 105 98 126 +f 104 114 126 +f 114 105 126 +f 95 103 127 +f 103 113 127 +f 119 95 127 +f 113 119 127 +f 102 108 128 +f 100 118 128 +f 118 102 128 +f 113 100 129 +f 108 113 129 +f 128 108 129 +f 100 128 129 +f 115 101 130 +f 112 117 130 +f 117 115 130 +f 101 120 130 +f 120 111 130 +f 111 121 130 +f 121 112 130 +f 109 98 131 +f 103 109 131 +f 123 103 131 +o convex_4 +v 0.445274 -2.024110 3.097781 +v -0.562293 -3.031592 1.082541 +v -0.562293 -2.393643 1.082541 +v 0.512502 -3.031592 1.082738 +v -0.427839 -2.997959 3.030514 +v 0.512502 -1.923210 1.082738 +v -0.528627 -1.956843 2.896178 +v 0.445274 -2.930692 2.963248 +v -0.528627 -1.923210 1.082541 +v 0.478835 -1.990477 2.761842 +v -0.293489 -1.956843 2.996979 +v 0.210137 -2.964326 3.030514 +v -0.562293 -3.031592 1.418677 +v 0.512502 -1.923210 1.553013 +v 0.512502 -2.997959 1.586548 +v 0.445274 -2.796267 3.063852 +v 0.142909 -2.259218 3.097781 +v -0.461400 -2.997959 2.828911 +v -0.125474 -2.997959 3.030514 +v -0.528627 -1.923210 1.586351 +v 0.378047 -1.990477 3.097781 +v -0.494961 -1.990477 2.963248 +v 0.512502 -3.031592 1.183342 +v -0.092018 -1.956843 2.996979 +v 0.445274 -2.427060 3.097781 +v -0.427839 -2.796267 3.030514 +f 148 153 157 +f 133 134 140 +f 135 133 140 +f 137 135 140 +f 134 133 144 +f 133 135 144 +f 138 134 144 +f 135 137 145 +f 137 140 145 +f 135 145 146 +f 145 141 146 +f 143 139 147 +f 139 146 147 +f 146 141 147 +f 136 138 149 +f 144 136 149 +f 138 144 149 +f 136 144 150 +f 147 136 150 +f 143 147 150 +f 134 138 151 +f 140 134 151 +f 138 142 151 +f 145 140 151 +f 132 141 152 +f 141 145 152 +f 148 132 152 +f 142 148 152 +f 138 136 153 +f 142 138 153 +f 148 142 153 +f 139 143 154 +f 144 135 154 +f 135 146 154 +f 146 139 154 +f 143 150 154 +f 150 144 154 +f 151 142 155 +f 145 151 155 +f 152 145 155 +f 142 152 155 +f 141 132 156 +f 136 147 156 +f 147 141 156 +f 132 148 156 +f 148 136 156 +f 136 148 157 +f 153 136 157 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/068/068.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/068/068.urdf new file mode 100644 index 000000000..57d9eb845 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/068/068.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/069/069.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/069/069.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/069/069.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/069/069.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/069/069.obj new file mode 100644 index 000000000..0261a519c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/069/069.obj @@ -0,0 +1,486 @@ +o convex_0 +v 1.314594 0.907916 0.302124 +v 2.893760 0.480196 -0.356110 +v 2.893760 0.513118 -0.356110 +v 3.222745 0.480196 0.302124 +v 3.255814 1.105380 0.170361 +v 1.314594 1.072459 -0.257336 +v 1.314594 0.447211 -0.290196 +v 3.222745 1.039537 -0.290196 +v 1.314594 0.611882 0.236211 +v 3.222745 0.480196 -0.356110 +v 2.038513 1.039537 0.269200 +v 3.222745 1.039537 0.236211 +v 1.314594 0.973695 0.302124 +v 2.992398 0.480196 0.302124 +v 1.742218 0.447211 -0.323185 +v 1.314594 1.072459 -0.125702 +v 1.314594 0.447211 -0.224411 +v 3.124106 0.644739 0.302124 +v 3.255814 0.677660 0.269200 +v 3.255814 1.006616 -0.224411 +v 3.124106 0.842074 -0.323185 +v 2.005633 1.072459 -0.257336 +v 1.347474 0.743503 -0.290196 +f 15 7 23 +f 1 6 7 +f 1 7 9 +f 2 3 10 +f 5 11 12 +f 12 11 13 +f 1 4 13 +f 6 1 13 +f 4 1 14 +f 1 9 14 +f 3 2 15 +f 2 10 15 +f 10 4 15 +f 5 6 16 +f 11 5 16 +f 13 11 16 +f 6 13 16 +f 9 7 17 +f 4 14 17 +f 14 9 17 +f 15 4 17 +f 7 15 17 +f 4 12 18 +f 12 13 18 +f 13 4 18 +f 4 10 19 +f 12 4 19 +f 5 12 19 +f 8 5 20 +f 10 8 20 +f 19 10 20 +f 5 19 20 +f 3 6 21 +f 6 8 21 +f 10 3 21 +f 8 10 21 +f 6 5 22 +f 5 8 22 +f 8 6 22 +f 6 3 23 +f 7 6 23 +f 3 15 23 +o convex_1 +v 1.314214 -4.324986 -0.948340 +v -0.857958 0.480006 0.104628 +v -0.857958 0.480006 0.268955 +v 1.281257 3.902939 -0.948340 +v 1.248300 3.704812 0.960281 +v -0.825001 3.737833 -1.047101 +v -0.759088 -4.192901 0.927292 +v -0.693387 -4.258138 -0.948340 +v 1.215344 -4.324986 0.927292 +v -0.857958 3.902939 0.960281 +v 1.314214 1.532659 -1.113079 +v -0.825001 -2.514456 0.993064 +v -0.726131 -2.382371 -1.047101 +v 1.314214 0.972909 0.301944 +v 1.182387 -3.040379 0.993270 +v 1.314214 3.737833 -1.113079 +v 1.182387 -4.192901 -1.014318 +v -0.561559 3.770854 -1.080090 +v -0.857958 0.545243 -0.224231 +v 1.182387 -0.605667 0.993270 +v -0.825001 1.368358 -0.981329 +v 0.721842 3.869918 -1.113079 +v 1.248300 -4.324986 0.598226 +v -0.726131 -3.928731 -0.619068 +v -0.068058 -4.291965 -0.290209 +v 1.215344 3.737833 0.894303 +v -0.792045 -1.197633 0.993064 +v 1.314214 0.380137 0.301944 +v 0.820500 -4.324986 -0.981329 +v 0.919158 2.124625 -1.113079 +v 1.215344 -3.929536 0.960281 +v -0.825001 -2.382371 0.729770 +v -0.528603 -4.225116 0.894303 +v 1.281257 3.803070 0.104422 +v -0.298330 -2.612714 -1.046895 +v -0.792045 -3.501065 0.960281 +v -0.627473 3.638769 -1.080090 +v -0.726131 -2.975142 -1.014112 +v -0.857958 3.869112 0.631009 +v 1.149430 3.902939 -1.113079 +v 0.952114 -4.324986 0.729976 +v 1.314214 -4.324986 -0.981329 +v -0.561559 -3.863494 -0.981123 +v -0.759088 -4.192901 0.598020 +v -0.792045 3.902939 0.960281 +v -0.857958 3.902939 0.894303 +v -0.857958 1.005930 -0.257220 +v -0.693387 -4.258138 -0.487525 +v 1.248300 2.915524 0.960281 +v -0.825001 2.881697 -1.047101 +v 0.162427 -4.291965 -0.981123 +v -0.825001 3.803070 -0.421753 +v -0.100802 -4.291965 -0.948340 +v 0.985071 -4.126858 -1.014318 +v 0.622972 3.770854 -1.113079 +f 53 60 78 +f 25 26 33 +f 26 25 35 +f 33 26 35 +f 24 34 37 +f 37 34 39 +f 25 33 42 +f 35 25 42 +f 38 28 43 +f 35 38 43 +f 39 34 45 +f 32 24 46 +f 33 35 50 +f 43 33 50 +f 35 43 50 +f 37 28 51 +f 24 37 51 +f 46 24 51 +f 24 32 52 +f 34 36 53 +f 45 34 53 +f 30 32 54 +f 32 46 54 +f 46 51 54 +f 35 42 55 +f 42 47 55 +f 32 30 56 +f 28 37 57 +f 39 27 57 +f 37 39 57 +f 27 49 57 +f 49 28 57 +f 36 34 58 +f 34 40 58 +f 38 35 59 +f 30 54 59 +f 54 38 59 +f 35 55 59 +f 29 41 60 +f 53 36 60 +f 36 31 61 +f 44 36 61 +f 42 44 61 +f 31 47 61 +f 47 42 61 +f 42 33 62 +f 33 27 63 +f 27 39 63 +f 39 45 63 +f 52 32 64 +f 48 52 64 +f 32 56 64 +f 56 48 64 +f 34 24 65 +f 40 34 65 +f 24 52 65 +f 52 40 65 +f 31 36 66 +f 31 30 67 +f 47 31 67 +f 55 47 67 +f 30 59 67 +f 59 55 67 +f 27 33 68 +f 43 28 68 +f 33 43 68 +f 49 27 68 +f 28 49 68 +f 29 62 69 +f 62 33 69 +f 33 63 69 +f 63 45 69 +f 44 42 70 +f 62 29 70 +f 42 62 70 +f 30 31 71 +f 56 30 71 +f 48 56 71 +f 28 38 72 +f 51 28 72 +f 38 54 72 +f 54 51 72 +f 36 44 73 +f 29 60 73 +f 60 36 73 +f 70 29 73 +f 44 70 73 +f 40 52 74 +f 31 66 74 +f 41 29 75 +f 45 41 75 +f 29 69 75 +f 69 45 75 +f 52 48 76 +f 71 31 76 +f 48 71 76 +f 74 52 76 +f 31 74 76 +f 36 58 77 +f 58 40 77 +f 66 36 77 +f 40 74 77 +f 74 66 77 +f 41 45 78 +f 45 53 78 +f 60 41 78 +o convex_2 +v -2.799635 0.776379 0.104628 +v -2.404901 1.138221 -0.092726 +v -2.404901 1.138221 -0.323198 +v -2.108744 0.447278 -0.290273 +v -2.108744 1.072468 0.302111 +v -2.108744 0.578919 0.335036 +v -2.832660 0.578919 -0.257284 +v -2.799635 1.039524 0.203338 +v -2.108744 1.105345 -0.290273 +v -2.700916 0.578919 0.203338 +v -2.700916 1.138221 -0.323198 +v -2.766752 1.039524 0.236262 +v -2.141627 0.447278 -0.158511 +v -2.240346 0.578919 0.335036 +v -2.733799 0.940828 -0.323198 +v -2.240346 0.447278 -0.290273 +v -2.832660 0.710559 -0.257284 +f 89 93 95 +f 82 83 84 +f 85 79 86 +f 81 80 87 +f 82 81 87 +f 83 82 87 +f 80 83 87 +f 79 85 88 +f 86 79 88 +f 80 81 89 +f 89 86 90 +f 83 80 90 +f 86 88 90 +f 80 89 90 +f 82 84 91 +f 88 91 92 +f 84 83 92 +f 83 90 92 +f 90 88 92 +f 91 84 92 +f 81 82 93 +f 89 81 93 +f 88 85 94 +f 82 91 94 +f 91 88 94 +f 93 82 94 +f 85 93 94 +f 85 86 95 +f 86 89 95 +f 93 85 95 +o convex_3 +v -1.055512 0.743503 -0.257375 +v -1.219925 1.039537 0.302124 +v -1.384545 1.039537 0.302124 +v -1.088395 0.447211 0.236240 +v -1.384545 0.513118 -0.191545 +v -0.858061 1.039537 -0.257375 +v -1.384545 1.072459 -0.191545 +v -0.858061 1.105380 0.203325 +v -0.858061 0.513118 -0.191545 +v -1.384545 0.447211 0.236240 +v -0.858061 0.480196 0.236240 +v -1.351559 0.809152 0.302124 +v -1.154109 0.447211 0.071665 +v -0.858061 1.072459 0.236240 +v -1.351559 0.578960 -0.224460 +v -1.055512 1.039537 -0.257375 +f 110 102 111 +f 100 98 102 +f 98 97 103 +f 101 102 103 +f 102 98 103 +f 96 101 104 +f 101 103 104 +f 98 100 105 +f 104 103 106 +f 97 98 107 +f 98 105 107 +f 105 99 107 +f 106 97 107 +f 99 106 107 +f 100 104 108 +f 99 105 108 +f 105 100 108 +f 106 99 108 +f 104 106 108 +f 103 97 109 +f 97 106 109 +f 106 103 109 +f 100 102 110 +f 96 104 110 +f 104 100 110 +f 101 96 111 +f 102 101 111 +f 96 110 111 +o convex_4 +v -2.075655 -1.626175 -0.323082 +v -1.878145 0.742926 0.367948 +v -2.009818 0.742926 0.367948 +v -1.647893 -2.283868 0.334991 +v -1.384545 1.071940 -0.191467 +v -1.417499 -2.251368 -0.356039 +v -2.108467 1.105110 -0.290267 +v -1.384545 1.039106 0.302034 +v -2.042701 -2.317372 0.302105 +v -2.108467 1.071940 0.302105 +v -1.976864 -2.251368 -0.356110 +v -1.549173 -2.251368 0.334991 +v -1.483336 1.105110 0.334991 +v -2.108467 -0.770471 -0.026896 +v -2.075655 -1.461668 0.334991 +v -1.384545 0.479916 0.269148 +v -1.976864 1.105110 -0.290267 +v -2.108467 -0.145612 -0.323082 +v -2.075655 -2.152530 0.269148 +v -2.108467 0.578419 0.367948 +v -1.417499 -2.020858 -0.356039 +v -2.042701 -2.251368 -0.323082 +v -1.450453 -2.251368 -0.125625 +v -1.417499 0.973437 0.334920 +v -1.878145 1.105110 0.334991 +v -2.075655 0.084563 0.367948 +v -2.009818 -2.317372 0.104648 +v -1.450382 1.105445 -0.191467 +v -1.384545 0.512751 -0.191467 +f 127 117 140 +f 114 113 124 +f 119 116 124 +f 121 118 125 +f 120 115 126 +f 116 119 127 +f 119 123 127 +f 122 112 129 +f 112 125 129 +f 125 118 129 +f 118 128 129 +f 125 112 130 +f 120 126 130 +f 130 126 131 +f 113 114 131 +f 114 121 131 +f 121 125 131 +f 125 130 131 +f 116 117 132 +f 117 122 132 +f 128 116 132 +f 122 129 132 +f 129 128 132 +f 112 122 133 +f 130 112 133 +f 120 130 133 +f 115 117 134 +f 123 115 134 +f 117 127 134 +f 127 123 134 +f 113 123 135 +f 123 119 135 +f 119 124 135 +f 124 113 135 +f 121 114 136 +f 118 121 136 +f 114 124 136 +f 123 113 137 +f 115 123 137 +f 126 115 137 +f 131 126 137 +f 113 131 137 +f 117 115 138 +f 115 120 138 +f 122 117 138 +f 133 122 138 +f 120 133 138 +f 124 116 139 +f 116 128 139 +f 128 118 139 +f 118 136 139 +f 136 124 139 +f 117 116 140 +f 116 127 140 +o convex_5 +v -1.450439 2.652033 0.335036 +v -2.075626 3.606434 -0.191493 +v -2.075626 3.606434 -0.158623 +v -2.042708 1.105992 -0.158623 +v -1.450439 1.105992 -0.191493 +v -1.878182 1.105992 0.335036 +v -1.549194 3.836684 -0.224424 +v -2.042708 3.803830 0.203312 +v -1.417521 3.869538 0.302105 +v -2.042708 1.105992 -0.290286 +v -1.450439 1.237407 0.335036 +v -1.976872 1.237407 0.302105 +v -1.812346 3.869538 -0.224424 +v -2.042708 3.409038 0.236182 +v -1.417521 2.816576 0.071649 +v -1.614966 3.770977 0.302105 +v -2.075626 3.836684 -0.191493 +v -1.943954 1.434803 -0.290286 +v -1.483358 1.105992 0.335036 +v -1.483358 3.902665 0.005971 +v -2.042708 3.013972 0.236182 +v -1.417521 2.619180 0.302105 +v -2.042708 3.409038 -0.224424 +v -1.976872 1.895576 0.302105 +v -1.713720 2.915411 -0.257355 +v -1.417521 3.803830 0.170381 +v -1.713720 3.902665 -0.158623 +v -1.549194 3.869538 0.302105 +f 167 148 168 +f 143 142 144 +f 144 145 146 +f 144 142 150 +f 145 144 150 +f 141 146 151 +f 149 141 151 +f 144 146 152 +f 148 143 154 +f 145 147 155 +f 146 141 156 +f 148 154 156 +f 142 143 157 +f 143 148 157 +f 150 142 157 +f 145 150 158 +f 146 145 159 +f 151 146 159 +f 145 151 159 +f 143 144 161 +f 144 152 161 +f 154 143 161 +f 152 154 161 +f 151 145 162 +f 149 151 162 +f 145 155 162 +f 155 149 162 +f 150 157 163 +f 157 153 163 +f 158 150 163 +f 153 158 163 +f 152 146 164 +f 154 152 164 +f 146 156 164 +f 156 154 164 +f 147 145 165 +f 153 147 165 +f 145 158 165 +f 158 153 165 +f 155 147 166 +f 149 155 166 +f 160 149 166 +f 147 160 166 +f 147 153 167 +f 157 148 167 +f 153 157 167 +f 160 147 167 +f 160 167 168 +f 141 149 168 +f 156 141 168 +f 148 156 168 +f 149 160 168 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/069/069.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/069/069.urdf new file mode 100644 index 000000000..e2e94ec8a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/069/069.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/070/070.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/070/070.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/070/070.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/070/070.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/070/070.obj new file mode 100644 index 000000000..023ebfade --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/070/070.obj @@ -0,0 +1,1197 @@ +o convex_0 +v -1.828293 1.571188 -0.570260 +v -1.694967 1.704750 0.631675 +v -1.728187 1.704750 0.631675 +v -1.761519 3.306976 -0.036001 +v -1.160663 1.571188 -0.069414 +v -2.295712 1.571188 0.063886 +v -1.327765 3.039853 -0.069414 +v -2.128721 3.106634 0.063886 +v -1.594861 2.973073 0.397900 +v -1.260991 1.571188 0.464609 +v -1.694967 3.073159 -0.403311 +v -2.162163 1.971872 -0.436607 +v -1.294322 1.637969 -0.436607 +v -2.095389 2.305776 0.464609 +v -2.162163 1.571188 0.464609 +v -1.761519 3.039853 0.431313 +v -1.327765 2.339081 0.431313 +v -1.327765 2.372556 -0.403311 +v -2.061947 2.906292 -0.269776 +v -1.194216 2.305776 0.030708 +v -1.694967 2.372556 -0.536846 +v -2.262269 2.305776 0.063886 +v -2.162163 1.571188 -0.470020 +v -1.794850 3.073159 -0.403311 +v -1.327765 3.039853 0.030708 +v -1.694967 2.372556 0.564848 +v -1.694967 3.306976 0.063886 +v -1.628193 1.571188 -0.570260 +v -2.128721 2.372556 -0.403311 +v -1.327765 1.571188 0.531435 +v -2.028615 2.839511 0.364487 +v -2.295712 1.671444 -0.069414 +v -1.794850 2.305776 -0.536846 +v -1.160663 1.604664 0.164125 +v -1.761519 1.571188 0.631675 +v -1.461313 2.906292 -0.336485 +v -2.162163 2.372556 -0.336485 +v -2.128721 2.305776 0.431313 +v -1.194216 2.305776 -0.036001 +v -1.394539 2.772730 0.331191 +v -1.361096 2.305776 -0.436607 +v -1.794850 2.305776 0.564848 +v -2.162163 2.939597 -0.002588 +v -1.260991 1.571188 -0.369898 +v -1.694967 3.039853 0.431313 +v -2.262269 2.305776 -0.002588 +v -1.694967 3.306976 -0.036001 +v -2.162163 1.738225 0.464609 +v -1.294322 2.005348 0.464609 +v -1.294322 2.071958 -0.403311 +v -1.761519 3.306976 0.063886 +v -2.128721 3.106634 0.030708 +v -1.694967 1.971872 -0.570260 +f 41 28 53 +f 1 5 6 +f 6 5 10 +f 6 10 15 +f 1 6 23 +f 4 11 24 +f 11 21 24 +f 20 7 25 +f 17 20 25 +f 3 2 26 +f 25 7 27 +f 5 1 28 +f 19 24 29 +f 15 10 30 +f 26 2 30 +f 16 8 31 +f 14 16 31 +f 6 22 32 +f 23 6 32 +f 12 23 32 +f 1 23 33 +f 23 12 33 +f 24 21 33 +f 12 29 33 +f 29 24 33 +f 10 5 34 +f 2 3 35 +f 30 2 35 +f 15 30 35 +f 11 7 36 +f 7 18 36 +f 19 29 37 +f 29 12 37 +f 12 32 37 +f 8 22 38 +f 31 8 38 +f 14 31 38 +f 18 7 39 +f 7 20 39 +f 34 5 39 +f 20 34 39 +f 9 17 40 +f 25 9 40 +f 17 25 40 +f 21 11 41 +f 13 28 41 +f 11 36 41 +f 36 18 41 +f 16 14 42 +f 3 26 42 +f 26 16 42 +f 35 3 42 +f 14 35 42 +f 22 8 43 +f 19 37 43 +f 5 28 44 +f 28 13 44 +f 17 9 45 +f 9 25 45 +f 16 26 45 +f 26 17 45 +f 27 16 45 +f 25 27 45 +f 32 22 46 +f 37 32 46 +f 22 43 46 +f 43 37 46 +f 11 4 47 +f 7 11 47 +f 4 27 47 +f 27 7 47 +f 6 15 48 +f 22 6 48 +f 35 14 48 +f 15 35 48 +f 14 38 48 +f 38 22 48 +f 20 17 49 +f 17 26 49 +f 30 10 49 +f 26 30 49 +f 10 34 49 +f 34 20 49 +f 39 5 50 +f 18 39 50 +f 13 41 50 +f 41 18 50 +f 44 13 50 +f 5 44 50 +f 4 8 51 +f 8 16 51 +f 27 4 51 +f 16 27 51 +f 8 4 52 +f 4 24 52 +f 24 19 52 +f 43 8 52 +f 19 43 52 +f 28 1 53 +f 1 33 53 +f 33 21 53 +f 21 41 53 +o convex_1 +v 1.510528 -0.165031 -1.004292 +v 2.311774 0.402131 0.998932 +v 1.977835 0.402131 0.998932 +v 1.543783 1.737954 -0.002680 +v 3.045990 0.335697 -0.670159 +v 1.510528 -0.765958 0.865201 +v 3.045990 -0.465357 -0.035818 +v 3.012734 1.070042 0.063990 +v 1.543783 -0.799450 -0.870560 +v 1.510528 1.103534 -0.803695 +v 1.510528 1.203734 0.831866 +v 3.045990 0.268988 0.731666 +v 1.510528 -1.066560 -0.002680 +v 2.278345 1.036551 -0.736829 +v 2.311774 1.103259 0.765197 +v 2.278345 0.302480 -1.004292 +v 3.279817 0.335697 0.030459 +v 2.611938 -0.365157 -0.670159 +v 2.311774 -0.465357 0.765197 +v 1.510528 -0.031339 0.998932 +v 2.912449 0.969842 -0.302889 +v 2.879020 -0.264956 0.564796 +v 2.845592 0.903133 0.564796 +v 3.012734 0.268988 -0.737025 +v 2.278345 -0.465357 -0.803695 +v 3.045990 -0.465357 0.030459 +v 1.510528 1.737954 0.063990 +v 2.278345 0.235771 0.998932 +v 1.510528 0.236046 -1.004292 +v 3.045990 0.368914 0.731666 +v 2.845592 0.802933 -0.569959 +v 1.510528 -0.765958 -0.904091 +v 1.543783 -1.066560 -0.002680 +v 2.879020 -0.298448 -0.503093 +v 3.012734 1.070042 -0.002680 +v 1.543783 -0.765958 0.865201 +v 1.510528 0.335697 0.998932 +v 1.577212 0.936625 -0.870560 +v 3.279817 0.302480 -0.035818 +v 2.278345 0.235771 -1.004292 +v 3.012734 0.335697 -0.737025 +v 1.543783 1.737954 0.063990 +v 1.543783 -0.866159 -0.703494 +v 1.677324 0.969842 0.898732 +v 1.710753 -0.732467 -0.870560 +v 2.345202 1.036551 -0.703494 +v 3.045990 -0.431866 -0.102684 +v 3.279817 0.268988 0.030459 +v 1.910978 1.170243 0.798335 +v 1.610640 1.103534 -0.803695 +v 2.645367 0.302480 0.898732 +v 1.543783 -1.066560 -0.035818 +v 1.610640 -0.599049 -0.937230 +v 1.577212 -0.465357 0.932067 +v 2.345202 1.136751 0.664996 +v 3.079418 -0.398649 0.030459 +v 2.345202 -0.465357 -0.770360 +v 2.812163 0.368914 0.831866 +v 2.778908 0.936350 0.597935 +v 3.279817 0.335697 -0.035818 +v 2.979133 0.135845 -0.703494 +v 3.146102 0.268988 -0.403089 +f 113 92 115 +f 54 59 63 +f 63 59 64 +f 59 54 66 +f 55 56 73 +f 64 59 73 +f 65 72 75 +f 75 72 79 +f 57 63 80 +f 63 64 80 +f 55 73 81 +f 54 63 82 +f 69 54 82 +f 70 61 83 +f 65 70 83 +f 61 76 83 +f 66 54 85 +f 59 66 86 +f 60 79 86 +f 57 61 88 +f 61 70 88 +f 79 72 89 +f 72 81 89 +f 59 86 89 +f 86 79 89 +f 73 56 90 +f 64 73 90 +f 67 69 91 +f 82 63 91 +f 69 82 91 +f 54 69 93 +f 69 77 93 +f 77 78 93 +f 69 67 94 +f 58 77 94 +f 77 69 94 +f 84 74 94 +f 88 58 94 +f 74 88 94 +f 61 57 95 +f 57 80 95 +f 80 64 95 +f 66 85 96 +f 85 62 96 +f 56 55 97 +f 55 68 97 +f 90 56 97 +f 64 90 97 +f 62 85 98 +f 60 96 98 +f 96 62 98 +f 67 57 99 +f 74 84 99 +f 57 88 99 +f 88 74 99 +f 94 67 99 +f 84 94 99 +f 71 87 100 +f 70 65 101 +f 92 70 101 +f 68 95 102 +f 95 64 102 +f 97 68 102 +f 64 97 102 +f 63 57 103 +f 57 67 103 +f 91 63 103 +f 67 91 103 +f 72 65 104 +f 55 81 104 +f 81 72 104 +f 60 86 105 +f 86 66 105 +f 96 60 105 +f 66 96 105 +f 85 54 106 +f 54 93 106 +f 93 78 106 +f 78 98 106 +f 98 85 106 +f 73 59 107 +f 81 73 107 +f 59 89 107 +f 89 81 107 +f 61 95 108 +f 95 68 108 +f 65 75 109 +f 79 60 109 +f 75 79 109 +f 100 92 109 +f 60 100 109 +f 101 65 109 +f 92 101 109 +f 60 98 110 +f 98 78 110 +f 71 100 110 +f 100 60 110 +f 68 55 111 +f 65 83 111 +f 83 68 111 +f 104 65 111 +f 55 104 111 +f 76 61 112 +f 68 83 112 +f 83 76 112 +f 61 108 112 +f 108 68 112 +f 58 88 113 +f 88 70 113 +f 70 92 113 +f 78 77 114 +f 87 71 114 +f 100 87 114 +f 77 100 114 +f 71 110 114 +f 110 78 114 +f 77 58 115 +f 100 77 115 +f 92 100 115 +f 58 113 115 +o convex_2 +v -1.628147 -1.000037 -0.637034 +v -1.661678 -0.933012 0.631675 +v -1.861569 -0.933012 0.631675 +v -1.628147 -2.702353 0.030479 +v -2.295823 -0.933012 -0.069369 +v -1.093889 -0.933012 0.030479 +v -2.062048 -2.501968 -0.102775 +v -1.394372 -2.268331 -0.336498 +v -1.394372 -2.268331 0.297608 +v -2.095461 -1.834309 0.397828 +v -2.062048 -1.767802 -0.436594 +v -1.194128 -0.933012 -0.503407 +v -1.728033 -2.501968 0.364421 +v -1.628147 -2.368436 -0.436594 +v -1.260837 -2.368436 -0.035962 +v -1.260837 -0.966611 0.464641 +v -2.228996 -0.966611 0.498048 +v -2.128874 -0.933012 -0.470000 +v -2.228996 -1.734549 -0.035962 +v -1.327781 -1.767802 0.397828 +v -1.227541 -1.667697 -0.403311 +v -1.160715 -1.767802 0.030479 +v -1.761564 -1.767802 0.531331 +v -2.062048 -2.501968 -0.002679 +v -1.661678 -2.702353 -0.102775 +v -1.294250 -2.468542 0.030479 +v -1.761564 -2.401862 -0.403311 +v -1.628147 -1.801229 -0.536814 +v -1.661678 -2.501968 0.364421 +v -1.093889 -0.966611 -0.102775 +v -1.694856 -0.933012 -0.637034 +v -1.995339 -2.335010 0.264201 +v -2.295823 -0.933012 0.164106 +v -2.128874 -1.801229 0.364421 +v -1.995339 -2.301584 -0.303091 +v -1.594734 -2.435116 -0.403311 +v -1.327781 -2.501968 -0.035962 +v -2.095461 -1.701123 -0.403311 +v -1.694856 -1.734549 0.531331 +v -1.728033 -1.734549 -0.536814 +v -1.728033 -2.702353 -0.002679 +v -1.160715 -1.734549 -0.069369 +v -1.561438 -1.701123 -0.536814 +v -2.228996 -1.734549 -0.002679 +v -1.394372 -0.933012 0.531331 +v -2.095461 -1.333954 -0.470000 +v -2.162170 -0.966611 0.531331 +v -1.160715 -1.701123 0.063886 +v -1.260837 -2.368436 0.030479 +f 137 163 164 +f 118 117 120 +f 120 117 121 +f 120 121 127 +f 120 127 133 +f 130 123 136 +f 117 118 138 +f 125 128 138 +f 134 122 139 +f 140 122 142 +f 128 119 144 +f 124 135 144 +f 138 128 144 +f 119 141 144 +f 141 124 144 +f 127 121 145 +f 136 127 145 +f 121 137 145 +f 127 116 146 +f 133 127 146 +f 128 125 147 +f 139 128 147 +f 118 120 148 +f 132 118 148 +f 120 134 148 +f 125 132 149 +f 147 125 149 +f 139 147 149 +f 122 126 150 +f 142 122 150 +f 126 142 150 +f 136 123 151 +f 129 136 151 +f 142 129 151 +f 140 142 151 +f 123 130 152 +f 119 140 152 +f 141 119 152 +f 130 141 152 +f 151 123 152 +f 140 151 152 +f 126 122 153 +f 120 133 153 +f 122 134 153 +f 134 120 153 +f 135 117 154 +f 117 138 154 +f 144 135 154 +f 138 144 154 +f 142 126 155 +f 129 142 155 +f 116 143 155 +f 143 129 155 +f 146 116 155 +f 126 146 155 +f 119 128 156 +f 139 122 156 +f 128 139 156 +f 122 140 156 +f 140 119 156 +f 130 136 157 +f 137 130 157 +f 136 145 157 +f 145 137 157 +f 116 127 158 +f 127 136 158 +f 136 129 158 +f 143 116 158 +f 129 143 158 +f 134 139 159 +f 132 148 159 +f 148 134 159 +f 149 132 159 +f 139 149 159 +f 121 117 160 +f 131 121 160 +f 117 135 160 +f 135 131 160 +f 146 126 161 +f 133 146 161 +f 126 153 161 +f 153 133 161 +f 118 132 162 +f 132 125 162 +f 138 118 162 +f 125 138 162 +f 121 131 163 +f 131 135 163 +f 137 121 163 +f 135 124 164 +f 130 137 164 +f 124 141 164 +f 141 130 164 +f 163 135 164 +o convex_3 +v -2.362573 0.235912 -0.837127 +v -0.893566 0.769513 0.998932 +v -0.993860 0.769513 0.998932 +v -1.694842 -0.933011 0.665013 +v -0.893566 -0.565594 -0.937403 +v -0.893566 1.370519 -0.837127 +v -2.462687 1.103596 0.664813 +v -2.362573 -0.899431 -0.035720 +v -2.195595 1.571018 -0.469915 +v -0.893566 1.403854 0.898657 +v -0.893566 -0.632263 0.831674 +v -2.429256 -0.465589 0.731597 +v -2.729779 0.602594 -0.035720 +v -2.429256 -0.465589 -0.770343 +v -1.194269 -0.933011 -0.536500 +v -1.761705 0.335671 -1.037678 +v -1.761705 0.202332 0.998932 +v -2.462687 1.103596 -0.703559 +v -1.794957 1.571018 0.631322 +v -2.662917 -0.465589 -0.003026 +v -1.160838 1.571018 -0.069411 +v -1.728274 1.103596 0.965241 +v -1.861640 -0.933011 -0.603483 +v -2.696348 1.103596 -0.003026 +v -1.794957 -0.465589 -1.004187 +v -1.761705 -0.498924 0.931949 +v -2.195595 1.571018 0.397678 +v -0.893566 0.702844 -1.004187 +v -1.794957 1.036436 -0.937403 +v -0.893566 -0.832762 -0.002827 +v -2.229027 -0.933011 0.531245 +v -2.495939 0.502590 0.731597 +v -1.260953 -0.933011 0.497754 +v -2.529371 0.269001 -0.703559 +v -1.761705 1.571018 -0.603483 +v -0.893566 0.335426 0.998932 +v -2.729779 0.302336 0.063957 +v -2.128732 -0.933011 -0.503407 +v -0.893566 0.068748 -1.004187 +v -1.260953 1.571018 0.531245 +v -2.295710 1.571018 0.097449 +v -2.729779 0.202332 -0.069212 +v -2.462687 0.402095 0.765089 +v -1.294384 1.571018 -0.436623 +v -1.694842 -0.765847 -0.803835 +v -0.893566 -0.598928 0.865165 +v -2.295710 1.103596 0.765089 +v -0.993860 1.370519 0.931949 +v -2.462687 -0.432009 0.698305 +v -2.495939 0.502590 -0.770343 +v -1.394499 -0.465589 -1.004187 +v -1.528045 -0.933011 -0.636975 +v -2.662917 -0.465589 -0.069212 +v -1.160838 1.303850 -0.870619 +v -1.060723 -0.933011 -0.003026 +v -1.694842 -0.298425 0.965241 +v -1.761705 0.469010 0.998932 +v -1.761705 -0.799427 0.765089 +v -2.696348 1.103596 -0.035720 +v -2.162344 1.537438 0.497953 +v -1.828209 1.103596 -0.904111 +v -0.926998 -0.532014 -0.970695 +v -2.495939 0.168997 0.731597 +v -2.295710 1.571018 -0.136195 +f 223 205 228 +f 166 169 170 +f 166 170 174 +f 169 166 175 +f 166 167 181 +f 174 170 185 +f 173 183 185 +f 167 166 186 +f 179 168 187 +f 178 165 189 +f 165 180 189 +f 181 176 190 +f 183 173 191 +f 188 171 191 +f 170 169 192 +f 192 180 193 +f 169 175 194 +f 179 169 194 +f 184 172 195 +f 187 168 195 +f 171 188 196 +f 175 168 197 +f 168 179 197 +f 194 175 197 +f 173 185 199 +f 175 166 200 +f 166 181 200 +f 188 177 201 +f 196 188 201 +f 172 178 202 +f 195 172 202 +f 187 195 202 +f 192 169 203 +f 180 192 203 +f 183 174 204 +f 174 185 204 +f 185 183 204 +f 191 173 205 +f 188 191 205 +f 177 198 206 +f 184 201 206 +f 201 177 206 +f 176 181 207 +f 185 170 208 +f 170 199 208 +f 199 185 208 +f 178 189 209 +f 202 178 209 +f 187 202 209 +f 168 175 210 +f 175 200 210 +f 186 183 211 +f 171 196 211 +f 207 186 211 +f 196 207 211 +f 166 174 212 +f 174 183 212 +f 186 166 212 +f 183 186 212 +f 184 195 213 +f 195 176 213 +f 201 184 213 +f 165 178 214 +f 180 165 214 +f 182 193 214 +f 193 180 214 +f 178 198 214 +f 198 177 214 +f 189 180 215 +f 180 203 215 +f 169 179 216 +f 179 187 216 +f 209 169 216 +f 187 209 216 +f 178 172 217 +f 172 184 217 +f 198 178 217 +f 184 206 217 +f 206 198 217 +f 170 192 218 +f 192 193 218 +f 199 170 218 +f 179 194 219 +f 197 179 219 +f 194 197 219 +f 181 190 220 +f 200 181 220 +f 190 210 220 +f 210 200 220 +f 181 167 221 +f 167 186 221 +f 207 181 221 +f 186 207 221 +f 190 176 222 +f 176 195 222 +f 195 168 222 +f 168 210 222 +f 210 190 222 +f 173 182 223 +f 177 188 223 +f 188 205 223 +f 214 177 223 +f 182 214 223 +f 183 191 224 +f 191 171 224 +f 211 183 224 +f 171 211 224 +f 182 173 225 +f 193 182 225 +f 173 199 225 +f 218 193 225 +f 199 218 225 +f 203 169 226 +f 169 209 226 +f 209 189 226 +f 189 215 226 +f 215 203 226 +f 196 201 227 +f 176 207 227 +f 207 196 227 +f 213 176 227 +f 201 213 227 +f 205 173 228 +f 173 223 228 +o convex_4 +v 0.909335 -3.003009 0.030642 +v -0.259212 -3.236853 -0.036067 +v -0.225812 -3.503864 -0.069421 +v 0.408333 -3.003009 -0.570155 +v 0.375048 -4.705750 0.030642 +v 0.208276 -3.003009 0.498022 +v 0.375048 -4.438571 -0.369820 +v 0.308590 -4.505241 0.364395 +v 0.742335 -4.438571 -0.036067 +v 0.742335 -3.737541 0.364395 +v -0.125497 -3.003009 -0.436528 +v -0.092097 -4.438571 -0.002712 +v 0.742335 -3.236853 -0.469987 +v -0.125497 -3.003009 0.397854 +v 0.775620 -3.003009 0.397854 +v -0.058811 -3.837879 -0.369820 +v -0.092097 -3.604202 0.364395 +v 0.341533 -3.470696 0.498022 +v 0.275076 -3.503864 -0.536696 +v 0.875935 -3.637537 -0.069421 +v 0.708820 -3.771209 -0.403174 +v 0.642134 -4.338400 0.264332 +v 0.809020 -3.003009 -0.369820 +v 0.007989 -4.271398 0.264332 +v 0.208276 -4.405237 -0.336465 +v -0.259212 -3.003009 0.063997 +v 0.742335 -4.471906 0.030642 +v 0.275076 -4.705750 -0.002712 +v -0.225812 -3.604202 0.030642 +v 0.341533 -3.771209 -0.503342 +v 0.208276 -3.036511 -0.570155 +v 0.608848 -4.271398 -0.303006 +v 0.308590 -3.837879 0.464563 +v -0.025297 -4.338400 -0.202943 +v -0.125497 -3.704206 -0.303006 +v 0.441848 -3.170017 0.498022 +v 0.842421 -3.771209 0.063997 +v 0.909335 -3.036511 -0.136130 +v -0.158897 -3.036511 -0.403174 +v 0.809020 -3.036511 0.364395 +v 0.375048 -4.471906 0.364395 +v 0.275076 -4.271398 -0.403174 +v -0.092097 -4.438571 -0.036067 +v 0.708820 -3.069845 -0.503342 +v 0.742335 -3.737541 -0.369820 +v -0.025297 -3.170017 0.431209 +v -0.025297 -4.505241 0.030642 +v 0.408333 -3.737541 0.464563 +v 0.375048 -4.672081 -0.069421 +v -0.058811 -3.737541 0.364395 +f 261 274 278 +f 229 232 234 +f 234 232 239 +f 234 239 242 +f 229 234 243 +f 232 229 251 +f 245 240 252 +f 242 239 254 +f 237 248 255 +f 238 250 255 +f 233 236 256 +f 253 235 256 +f 230 231 257 +f 240 245 257 +f 245 242 257 +f 254 230 257 +f 242 254 257 +f 247 232 258 +f 249 235 258 +f 239 232 259 +f 244 239 259 +f 232 247 259 +f 247 244 259 +f 237 235 260 +f 235 249 260 +f 249 237 260 +f 244 253 262 +f 243 234 264 +f 238 243 264 +f 234 246 264 +f 248 229 265 +f 255 248 265 +f 238 255 265 +f 229 248 266 +f 251 229 266 +f 231 230 267 +f 239 244 267 +f 230 254 267 +f 254 239 267 +f 263 231 267 +f 244 263 267 +f 229 243 268 +f 243 238 268 +f 265 229 268 +f 238 265 268 +f 236 233 269 +f 250 238 269 +f 233 255 269 +f 255 250 269 +f 261 236 269 +f 244 247 270 +f 235 253 270 +f 253 244 270 +f 247 258 270 +f 258 235 270 +f 253 256 271 +f 257 231 271 +f 240 257 271 +f 244 262 271 +f 262 253 271 +f 231 263 271 +f 263 244 271 +f 241 249 272 +f 232 251 272 +f 251 241 272 +f 258 232 272 +f 249 258 272 +f 248 237 273 +f 249 241 273 +f 237 249 273 +f 241 251 273 +f 266 248 273 +f 251 266 273 +f 234 242 274 +f 242 245 274 +f 246 234 274 +f 261 246 274 +f 236 252 275 +f 252 240 275 +f 256 236 275 +f 240 271 275 +f 271 256 275 +f 246 261 276 +f 238 264 276 +f 264 246 276 +f 269 238 276 +f 261 269 276 +f 235 237 277 +f 255 233 277 +f 237 255 277 +f 233 256 277 +f 256 235 277 +f 252 236 278 +f 245 252 278 +f 236 261 278 +f 274 245 278 +o convex_5 +v 0.508771 -1.734471 1.032320 +v 0.241814 -1.400705 -1.071065 +v 0.241814 -1.066749 -1.071065 +v -0.793302 -1.100296 0.331054 +v -0.259159 -3.002820 -0.102553 +v 1.510260 -1.066749 0.063807 +v 0.975888 -2.969273 -0.102759 +v -0.425922 -2.468529 -0.870527 +v -0.425922 -2.468529 0.831782 +v 1.042685 -2.568791 -0.737110 +v 1.243074 -1.066749 0.898490 +v 1.042685 -2.568791 0.698158 +v -0.659709 -1.066749 -0.870527 +v 1.243074 -1.066749 -0.903882 +v -0.592913 -1.066749 0.798427 +v -0.693108 -2.535434 -0.069199 +v 0.441974 -2.602149 -0.970796 +v 0.374949 -3.002820 0.531180 +v 1.276472 -2.535434 -0.069199 +v 0.341780 -3.002820 -0.603486 +v 0.441974 -2.602149 0.932051 +v 0.608737 -2.101405 -1.071065 +v 0.208416 -1.066749 0.998759 +v -0.793302 -1.100296 -0.570132 +v -0.125567 -3.002820 0.397763 +v 0.809126 -3.002820 0.397557 +v 0.708931 -2.101405 0.998759 +v 1.309871 -1.133464 0.831782 +v 0.775728 -3.002820 -0.503423 +v -0.158965 -3.002820 -0.436509 +v 1.176278 -2.568791 0.364408 +v -0.492718 -2.468529 0.731512 +v 1.510260 -1.100107 -0.102759 +v -0.726506 -2.368456 -0.002902 +v -0.826700 -1.066749 0.030453 +v 0.308610 -1.601040 1.032320 +v -0.759904 -1.133654 0.497826 +v 0.308610 -2.602149 0.932051 +v 1.076083 -1.300442 -0.970796 +v 0.241814 -2.602149 -0.970796 +v 1.276472 -2.535434 0.030453 +v 0.008026 -1.934806 -1.004151 +v 1.209676 -1.400705 -0.870527 +v 0.575339 -1.066749 0.998759 +v -0.693108 -2.535434 0.030453 +v 1.076083 -2.535434 0.698158 +v 0.374949 -1.066749 -1.071065 +v -0.659709 -1.100296 0.731512 +v 0.241814 -3.002820 -0.603486 +v -0.259159 -3.002820 0.063807 +v -0.793302 -1.567683 -0.202822 +v -0.693108 -2.468529 -0.136113 +v 0.942490 -3.002820 -0.002902 +v 0.575339 -2.268193 0.998759 +v -0.325956 -2.335098 0.865136 +v -0.626311 -2.501886 0.297494 +v 0.041425 -2.568791 0.898490 +v 1.109481 -2.568791 0.598095 +v 1.109481 -1.133464 0.931845 +v 0.942490 -2.401814 -0.837173 +v 0.275212 -1.701113 -1.071065 +v -0.459320 -2.535434 0.698158 +v 1.042685 -1.066749 -0.970796 +v 1.510260 -1.100107 0.063807 +f 319 311 342 +f 284 281 289 +f 281 280 291 +f 289 281 291 +f 281 284 292 +f 289 291 293 +f 285 288 297 +f 296 283 298 +f 280 281 300 +f 289 293 301 +f 291 286 302 +f 283 296 303 +f 296 298 304 +f 290 299 304 +f 299 296 304 +f 284 289 306 +f 288 285 307 +f 295 288 307 +f 298 295 307 +f 304 298 307 +f 283 294 308 +f 294 286 308 +f 298 283 308 +f 292 284 311 +f 282 293 313 +f 293 291 313 +f 291 302 313 +f 312 282 313 +f 301 293 314 +f 282 312 315 +f 296 299 316 +f 295 298 318 +f 300 295 318 +f 285 297 319 +f 306 309 319 +f 297 311 319 +f 291 280 320 +f 286 291 320 +f 318 286 320 +f 297 288 321 +f 292 311 321 +f 311 297 321 +f 317 292 321 +f 289 301 322 +f 314 279 322 +f 301 314 322 +f 294 283 323 +f 312 294 323 +f 299 290 324 +f 290 304 324 +f 289 305 324 +f 306 289 324 +f 281 292 325 +f 300 281 325 +f 287 293 326 +f 293 282 326 +f 310 287 326 +f 282 315 326 +f 315 310 326 +f 308 286 327 +f 298 308 327 +f 286 318 327 +f 318 298 327 +f 283 303 328 +f 323 283 328 +f 302 312 329 +f 313 302 329 +f 312 313 329 +f 286 294 330 +f 302 286 330 +f 312 302 330 +f 294 312 330 +f 307 285 331 +f 304 307 331 +f 285 319 331 +f 319 309 331 +f 305 279 332 +f 279 314 332 +f 316 299 332 +f 314 316 332 +f 299 324 332 +f 324 305 332 +f 293 287 333 +f 314 293 333 +f 310 315 334 +f 315 312 334 +f 312 323 334 +f 287 303 335 +f 303 296 335 +f 296 316 335 +f 316 314 335 +f 333 287 335 +f 314 333 335 +f 309 306 336 +f 324 304 336 +f 306 324 336 +f 304 331 336 +f 331 309 336 +f 279 305 337 +f 305 289 337 +f 322 279 337 +f 289 322 337 +f 288 295 338 +f 295 300 338 +f 300 317 338 +f 321 288 338 +f 317 321 338 +f 280 300 339 +f 300 318 339 +f 320 280 339 +f 318 320 339 +f 303 287 340 +f 287 310 340 +f 328 303 340 +f 323 328 340 +f 310 334 340 +f 334 323 340 +f 292 317 341 +f 317 300 341 +f 325 292 341 +f 300 325 341 +f 284 306 342 +f 311 284 342 +f 306 319 342 +o convex_6 +v 0.809105 3.139929 0.063833 +v -0.893533 -0.865603 -0.136123 +v -0.793295 -1.066560 -0.603385 +v 1.510302 -0.798901 0.831866 +v 1.510302 -0.198156 -1.004134 +v -0.893533 1.370408 0.932054 +v -0.058920 2.638600 -1.004134 +v 1.510302 1.136313 0.865332 +v -0.893533 0.703386 -1.004134 +v -0.626467 -1.066560 0.798401 +v -0.092098 2.638600 1.032241 +v 1.209588 -1.066560 -0.937203 +v -0.492816 3.006100 -0.069192 +v 0.909108 2.839132 -0.737038 +v 0.541803 -1.066135 0.998775 +v 1.510302 1.837749 -0.002679 +v 0.241794 -1.066135 -1.071065 +v 0.842518 2.805993 0.798401 +v -0.893533 0.335886 0.998775 +v 1.510302 0.302748 0.998775 +v -0.893533 1.403547 -0.837225 +v 0.208382 3.139504 -0.770503 +v 0.141556 3.106365 0.765145 +v 1.510302 -1.066135 -0.136123 +v 1.510302 0.936631 -0.870482 +v 1.076172 3.039663 0.097299 +v -0.893533 -0.565231 -0.937413 +v 0.241794 2.138546 1.065706 +v -0.593054 2.404930 0.764935 +v 0.241794 3.273758 0.064042 +v -0.893533 -0.598794 0.865123 +v 1.410064 0.035514 -1.037600 +v -0.726470 2.371791 0.030577 +v -0.559641 2.371791 -0.770294 +v 1.243000 -1.066135 0.898588 +v 1.510302 -0.798901 -0.903947 +v 0.208382 -1.066135 0.998775 +v -0.659644 -1.066560 -0.870482 +v 0.408387 2.738866 -0.903947 +v -0.359165 2.872695 0.564770 +v -0.793295 -1.066560 0.364395 +v 1.076172 3.039663 -0.035727 +v 1.510302 -0.031188 0.998775 +v -0.325752 2.872695 -0.570129 +v 1.510302 0.235621 -1.004134 +v 0.708867 2.739291 0.865332 +v 1.510302 1.103599 -0.803760 +v 0.241794 -0.732624 -1.071065 +v -0.893533 0.069077 -1.004134 +v 0.842518 2.872695 -0.770503 +v 0.074731 2.605886 -1.004134 +v 0.208382 1.904451 1.065706 +v -0.492816 3.006100 0.030368 +v -0.225749 2.438919 1.032241 +v 0.374975 3.273758 -0.002679 +v 0.341562 3.039663 0.798610 +v 1.276413 2.538759 -0.002679 +v 1.510302 1.203440 0.831866 +v 0.007905 2.405355 1.065706 +v 0.275207 3.139504 -0.770503 +v -0.893533 0.803227 0.998775 +v -0.893533 1.470249 0.097299 +v 0.875931 2.839132 0.731679 +v 1.309826 2.438494 0.063833 +f 368 400 406 +f 346 347 350 +f 344 348 351 +f 352 345 354 +f 350 347 358 +f 347 354 359 +f 348 344 361 +f 346 350 362 +f 351 348 363 +f 349 351 363 +f 347 346 366 +f 358 347 367 +f 345 344 369 +f 344 351 369 +f 364 355 372 +f 361 344 373 +f 347 359 374 +f 355 363 375 +f 348 371 375 +f 349 363 376 +f 363 355 376 +f 352 354 377 +f 357 352 377 +f 366 346 377 +f 354 366 377 +f 354 347 378 +f 347 366 378 +f 366 354 378 +f 352 357 379 +f 373 352 379 +f 361 373 379 +f 354 345 380 +f 359 354 380 +f 345 369 380 +f 369 359 380 +f 353 365 382 +f 371 353 382 +f 344 345 383 +f 345 352 383 +f 373 344 383 +f 352 373 383 +f 343 368 384 +f 346 362 385 +f 362 370 385 +f 357 377 385 +f 377 346 385 +f 355 364 386 +f 364 349 386 +f 349 376 386 +f 376 355 386 +f 367 347 387 +f 347 374 387 +f 350 360 388 +f 362 350 388 +f 370 362 388 +f 367 356 389 +f 358 367 389 +f 351 349 390 +f 359 351 390 +f 374 359 390 +f 351 359 391 +f 369 351 391 +f 359 369 391 +f 356 367 392 +f 384 356 392 +f 367 387 392 +f 387 381 392 +f 387 374 393 +f 381 387 393 +f 390 349 393 +f 374 390 393 +f 379 357 394 +f 361 379 394 +f 357 385 394 +f 385 370 394 +f 372 355 395 +f 365 372 395 +f 355 375 395 +f 375 371 395 +f 382 365 395 +f 371 382 395 +f 371 348 396 +f 353 371 396 +f 365 343 397 +f 364 372 397 +f 372 365 397 +f 343 384 397 +f 365 353 398 +f 343 365 398 +f 368 343 398 +f 388 360 398 +f 353 388 398 +f 356 384 399 +f 384 368 399 +f 389 356 399 +f 358 389 399 +f 350 358 400 +f 360 350 400 +f 388 353 401 +f 370 388 401 +f 361 394 401 +f 394 370 401 +f 353 396 401 +f 349 364 402 +f 392 381 402 +f 384 392 402 +f 393 349 402 +f 381 393 402 +f 364 397 402 +f 397 384 402 +f 348 361 403 +f 396 348 403 +f 361 401 403 +f 401 396 403 +f 363 348 404 +f 348 375 404 +f 375 363 404 +f 398 360 405 +f 368 398 405 +f 360 400 405 +f 400 368 405 +f 358 399 406 +f 399 368 406 +f 400 358 406 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/070/070.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/070/070.urdf new file mode 100644 index 000000000..76aaa2d18 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/070/070.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/071/071.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/071/071.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/071/071.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/071/071.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/071/071.obj new file mode 100644 index 000000000..f597f61b8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/071/071.obj @@ -0,0 +1,519 @@ +o convex_0 +v -0.007841 -1.715905 1.100987 +v -3.511762 -1.847304 -1.045413 +v -3.555780 -1.891104 -0.388214 +v 0.255148 -1.934925 -0.957800 +v 0.255148 -1.715905 -0.957800 +v -3.555780 -1.715905 0.925552 +v -2.986155 -1.891104 0.969253 +v -3.511762 -1.715905 -1.045413 +v 0.255148 -1.803526 1.100777 +v -2.153913 -1.934925 -1.045413 +v -3.555780 -1.891104 0.925552 +v 0.255148 -1.934925 -0.782365 +v -1.322418 -1.715905 -1.045413 +v 0.255148 -1.715905 1.100777 +v -1.759615 -1.934925 -0.651052 +v -3.292417 -1.891104 -1.045413 +v -3.336435 -1.715905 0.969253 +f 11 7 17 +f 1 5 6 +f 2 3 8 +f 6 5 8 +f 3 6 8 +f 4 5 9 +f 1 7 9 +f 2 8 10 +f 6 3 11 +f 3 10 11 +f 4 9 12 +f 9 7 12 +f 10 4 12 +f 5 4 13 +f 8 5 13 +f 4 10 13 +f 10 8 13 +f 5 1 14 +f 1 9 14 +f 9 5 14 +f 7 11 15 +f 11 10 15 +f 10 12 15 +f 12 7 15 +f 3 2 16 +f 10 3 16 +f 2 10 16 +f 1 6 17 +f 7 1 17 +f 6 11 17 +o convex_1 +v 0.999983 -2.022877 -3.016541 +v 2.489165 -3.687023 -1.964574 +v 2.489165 -3.774486 -1.964574 +v 0.342863 -3.774486 3.071565 +v 2.445211 -1.891254 3.028036 +v 0.299128 -1.847523 2.765044 +v 0.430552 -3.906108 -2.928272 +v 2.357741 -3.906108 3.028036 +v 2.401476 -1.803577 -3.103600 +v 0.255174 -1.716329 -0.957346 +v 2.489165 -3.774486 -3.016541 +v 0.430552 -1.760060 -2.972406 +v 2.445211 -1.716115 1.056505 +v 0.299128 -2.110339 2.983902 +v 0.255174 -1.716329 1.100035 +v 0.386598 -3.906108 -1.964574 +v 2.401476 -1.716115 -1.000876 +v 2.489165 -3.029768 -3.016541 +v 0.824824 -3.906108 -2.841213 +v 2.445211 -2.504564 3.028036 +v 2.445211 -1.891254 -3.103600 +v 0.255174 -1.935200 -0.957346 +v 0.386598 -3.686809 -2.709414 +v 2.138628 -2.110339 -3.103600 +v 2.138628 -1.760060 -3.060070 +v 1.569196 -1.891469 3.028036 +v 0.781089 -3.818217 2.984506 +v 2.445211 -3.818217 -1.570993 +v 0.693400 -3.599132 -2.972406 +v 2.138628 -3.906108 2.984506 +v 0.342863 -3.774486 1.889010 +v 2.313787 -3.906108 2.414388 +v 0.299128 -1.891469 2.939767 +v 0.737135 -3.730540 3.071565 +v 2.226098 -3.774486 -3.016541 +v 0.299128 -2.460833 2.983902 +v 0.342863 -3.599132 3.071565 +v 2.445211 -1.716115 -0.212505 +v 2.489165 -3.029768 -2.358759 +v 0.255174 -1.803792 1.100035 +v 2.050939 -3.818217 -2.928877 +v 0.386598 -3.818217 1.845480 +f 33 44 59 +f 20 19 22 +f 19 20 28 +f 20 25 28 +f 23 22 30 +f 23 30 32 +f 24 25 33 +f 27 32 34 +f 32 30 34 +f 19 28 35 +f 25 24 36 +f 24 28 36 +f 20 22 37 +f 25 20 37 +f 35 28 38 +f 32 27 39 +f 33 39 40 +f 29 24 40 +f 27 29 40 +f 24 33 40 +f 39 27 40 +f 18 29 41 +f 29 26 41 +f 26 38 41 +f 38 28 41 +f 26 29 42 +f 29 27 42 +f 34 26 42 +f 27 34 42 +f 22 23 43 +f 28 25 45 +f 29 18 46 +f 24 29 46 +f 18 41 46 +f 25 21 47 +f 33 25 47 +f 21 44 47 +f 44 33 47 +f 33 21 48 +f 21 39 48 +f 39 33 48 +f 25 36 49 +f 45 25 49 +f 36 45 49 +f 23 32 50 +f 32 31 50 +f 43 23 50 +f 31 43 50 +f 21 25 51 +f 37 22 51 +f 25 37 51 +f 28 24 52 +f 41 28 52 +f 24 46 52 +f 46 41 52 +f 21 31 53 +f 31 32 53 +f 31 21 54 +f 22 43 54 +f 43 31 54 +f 21 51 54 +f 51 22 54 +f 26 34 55 +f 34 30 55 +f 30 35 55 +f 38 26 55 +f 35 38 55 +f 22 19 56 +f 30 22 56 +f 19 35 56 +f 35 30 56 +f 39 21 57 +f 32 39 57 +f 21 53 57 +f 53 32 57 +f 36 28 58 +f 28 45 58 +f 45 36 58 +f 21 33 59 +f 44 21 59 +o convex_2 +v 1.131213 -1.277714 1.100987 +v -3.555048 -1.671912 -1.045413 +v -3.555048 -1.452913 -1.045413 +v 2.445378 -0.839523 -1.045413 +v -3.555048 0.167486 1.013374 +v 2.445378 0.255279 -1.045413 +v 2.357214 0.167486 1.013164 +v -3.599426 0.079886 -0.957590 +v -3.555048 -1.715905 0.925552 +v 2.445378 -1.715905 -0.256901 +v 2.445378 -1.715905 1.057075 +v 2.401000 -1.715905 -1.001501 +v -1.627882 0.255279 -1.045413 +v 0.298691 0.255279 1.013164 +v -0.314901 -1.715905 1.100987 +v -3.511262 -1.715905 -1.045413 +v -1.671668 0.211286 1.056865 +v -1.671668 0.255279 1.013164 +v 2.094500 -0.139112 1.057075 +v -3.555048 -1.452913 0.969253 +v -3.599426 0.079886 0.925552 +v -3.599426 -0.752309 -1.001291 +v 2.401000 -1.365120 -1.045413 +v -3.599426 0.123686 -0.563439 +v 2.401000 0.167486 0.618803 +v -0.402473 -1.014915 1.100987 +v 1.569071 0.255279 0.268353 +v -3.204762 0.079886 -1.001291 +v 1.437713 -1.715905 1.100987 +v 2.401000 -0.489511 1.057075 +v 2.445378 0.255279 -0.826066 +v -2.416618 -1.715905 1.013374 +v -1.321382 -1.715905 -1.045413 +v -2.066332 0.123686 -1.045413 +f 87 72 93 +f 61 62 63 +f 63 62 65 +f 63 65 69 +f 68 69 70 +f 69 65 70 +f 63 69 71 +f 69 68 71 +f 65 62 72 +f 65 72 73 +f 68 70 74 +f 61 63 75 +f 68 61 75 +f 71 68 75 +f 66 73 76 +f 72 64 77 +f 73 72 77 +f 64 76 77 +f 76 73 77 +f 66 76 78 +f 79 64 80 +f 68 79 80 +f 62 61 81 +f 67 62 81 +f 61 68 81 +f 80 67 81 +f 68 80 81 +f 63 71 82 +f 75 63 82 +f 64 72 83 +f 72 67 83 +f 80 64 83 +f 67 80 83 +f 74 60 85 +f 64 74 85 +f 76 64 85 +f 60 78 85 +f 78 76 85 +f 73 66 86 +f 65 73 86 +f 62 67 87 +f 67 72 87 +f 60 74 88 +f 74 70 88 +f 78 60 89 +f 66 78 89 +f 84 66 89 +f 70 84 89 +f 60 88 89 +f 88 70 89 +f 70 65 90 +f 66 84 90 +f 84 70 90 +f 65 86 90 +f 86 66 90 +f 74 64 91 +f 68 74 91 +f 64 79 91 +f 79 68 91 +f 71 75 92 +f 82 71 92 +f 75 82 92 +f 72 62 93 +f 62 87 93 +o convex_3 +v 1.788059 2.095049 -0.388163 +v 0.867814 4.285253 -0.826375 +v 0.867814 4.285253 -1.045267 +v -3.687192 2.182735 0.136877 +v 2.445378 4.153832 0.969352 +v -3.599550 4.197568 1.100987 +v 2.445378 2.095049 1.057037 +v -3.599550 4.197568 -1.089217 +v -1.584374 2.095049 -1.089217 +v 2.357135 2.664682 -1.001532 +v -3.687192 2.182735 0.969352 +v 2.313314 4.197353 -1.045267 +v -3.642771 2.226685 -0.957796 +v -1.233804 4.285253 1.057037 +v 2.357135 2.226685 -0.957582 +v 0.474023 2.095049 -1.089217 +v -1.584374 2.095049 0.925616 +v 1.349847 3.190151 -1.089217 +v 2.226272 4.197353 0.925616 +v 2.445378 2.708418 1.057037 +v -3.599550 3.890776 1.100987 +v -1.715838 4.285253 1.013087 +v 2.445378 3.759356 0.487618 +v -3.642771 2.314370 -1.001532 +v 0.035811 4.285253 -1.045267 +v -2.942231 4.241303 1.100987 +v -3.687192 2.664682 0.443668 +v 2.445378 3.671670 1.013301 +v 1.831881 2.095049 1.057037 +v 2.357135 4.197353 -0.826161 +v 2.400956 2.182735 -0.431899 +v 1.043099 4.241303 0.969352 +v 0.474023 3.759570 -1.089217 +v 0.955456 2.226685 -1.089217 +v 2.445378 2.095049 0.662775 +v -3.642771 2.971260 -1.001532 +v 0.517844 4.285253 -0.081372 +v -1.846701 2.138999 -1.089217 +v 2.226272 2.182735 -0.869896 +v -2.766947 4.241303 1.100987 +v 2.400956 4.197353 -0.125322 +v 2.357135 3.496514 -1.001532 +v 2.182450 2.226685 -1.001532 +v -3.687192 2.664682 0.969352 +v -3.642771 3.496514 -0.432113 +v -3.599550 4.065933 -1.089217 +v -3.073695 2.182735 -1.001532 +f 117 131 140 +f 94 100 102 +f 97 102 104 +f 101 96 105 +f 95 96 107 +f 94 102 109 +f 102 101 109 +f 102 100 110 +f 104 102 110 +f 105 103 111 +f 109 101 111 +f 100 98 113 +f 99 104 114 +f 107 96 115 +f 98 100 116 +f 106 97 117 +f 96 101 118 +f 115 96 118 +f 101 115 118 +f 101 99 119 +f 99 114 119 +f 115 101 119 +f 107 115 119 +f 97 104 120 +f 98 107 121 +f 113 98 121 +f 110 100 122 +f 104 110 122 +f 100 114 122 +f 114 104 122 +f 105 96 123 +f 108 103 124 +f 107 98 125 +f 98 112 125 +f 101 105 126 +f 111 101 126 +f 105 111 126 +f 109 111 127 +f 100 94 128 +f 116 100 128 +f 124 116 128 +f 117 97 129 +f 101 117 129 +f 97 120 129 +f 95 107 130 +f 112 95 130 +f 107 125 130 +f 125 112 130 +f 101 102 131 +f 109 108 132 +f 94 109 132 +f 108 124 132 +f 128 94 132 +f 124 128 132 +f 100 113 133 +f 114 100 133 +f 107 119 133 +f 119 114 133 +f 121 107 133 +f 113 121 133 +f 96 95 134 +f 95 112 134 +f 112 98 134 +f 98 116 134 +f 123 96 134 +f 123 134 135 +f 103 105 135 +f 105 123 135 +f 116 124 135 +f 124 103 135 +f 134 116 135 +f 103 108 136 +f 108 109 136 +f 111 103 136 +f 109 127 136 +f 127 111 136 +f 104 99 137 +f 120 104 137 +f 120 137 138 +f 99 101 138 +f 101 129 138 +f 129 120 138 +f 137 99 138 +f 117 101 139 +f 101 131 139 +f 131 117 139 +f 102 97 140 +f 97 106 140 +f 106 117 140 +f 131 102 140 +o convex_4 +v 0.430283 0.299220 0.969540 +v -1.584382 1.393970 -1.089217 +v -1.584382 2.095049 -1.089217 +v -1.672205 0.825074 1.013378 +v 0.342671 2.095049 0.969540 +v 0.430283 0.255279 -1.001540 +v 0.474195 2.095049 -1.089217 +v -1.628084 0.255279 -1.045173 +v -1.584382 2.095049 0.925290 +v -1.672205 0.255279 1.013378 +v 0.254638 0.255279 1.013378 +v -0.533453 1.043700 -1.089217 +v 0.386372 2.095049 0.837613 +v -1.628294 1.788361 0.969540 +v -0.445841 1.350209 1.013378 +v 0.430283 0.606088 -1.045173 +v -1.672205 0.299220 0.181067 +v 0.474195 1.963586 -0.782348 +v -1.628294 2.007347 0.881863 +v -0.358439 0.255279 -1.045173 +v -0.708048 2.095049 0.969540 +v -1.628084 0.781133 -1.045173 +v 0.386372 1.437911 -1.089217 +v 0.430283 0.255279 0.969540 +f 146 158 164 +f 142 143 147 +f 143 145 147 +f 143 142 148 +f 145 143 149 +f 148 146 150 +f 141 145 151 +f 144 150 151 +f 150 146 151 +f 142 147 152 +f 148 142 152 +f 145 141 153 +f 147 145 153 +f 151 145 155 +f 144 151 155 +f 154 144 155 +f 147 146 156 +f 144 143 157 +f 150 144 157 +f 148 150 157 +f 146 147 158 +f 153 141 158 +f 147 153 158 +f 143 144 159 +f 149 143 159 +f 144 154 159 +f 154 149 159 +f 146 148 160 +f 148 152 160 +f 156 146 160 +f 145 149 161 +f 149 154 161 +f 155 145 161 +f 154 155 161 +f 143 148 162 +f 157 143 162 +f 148 157 162 +f 152 147 163 +f 147 156 163 +f 160 152 163 +f 156 160 163 +f 141 151 164 +f 151 146 164 +f 158 141 164 +o convex_5 +v 1.131256 0.255279 -0.388352 +v 1.481551 1.043700 0.356317 +v 1.394157 1.043700 0.356317 +v 1.656759 2.095049 -0.388352 +v 1.131316 2.095049 0.137203 +v 1.700696 0.255279 -0.344543 +v 1.744393 2.095049 0.312509 +v 1.218889 0.255279 0.356317 +v 1.131316 2.095049 -0.344471 +v 1.613062 0.342981 0.268701 +v 1.175133 2.051108 0.268628 +v 1.131256 0.255279 -0.037885 +v 1.656879 0.255279 0.093467 +v 1.175073 0.474445 0.312509 +v 1.700696 1.262686 -0.344543 +f 171 170 179 +f 165 168 170 +f 167 166 171 +f 168 169 171 +f 166 167 172 +f 165 170 172 +f 168 165 173 +f 165 169 173 +f 169 168 173 +f 171 166 174 +f 166 172 174 +f 167 171 175 +f 171 169 175 +f 172 167 175 +f 169 165 176 +f 165 172 176 +f 170 171 177 +f 172 170 177 +f 171 174 177 +f 174 172 177 +f 175 169 178 +f 172 175 178 +f 169 176 178 +f 176 172 178 +f 170 168 179 +f 168 171 179 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/071/071.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/071/071.urdf new file mode 100644 index 000000000..4ee787355 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/071/071.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/072/072.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/072/072.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/072/072.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/072/072.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/072/072.obj new file mode 100644 index 000000000..6d23b25f5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/072/072.obj @@ -0,0 +1,3027 @@ +o convex_0 +v 0.967968 -4.079010 -1.996421 +v -1.092420 -4.056136 -2.568751 +v -1.092420 -4.033240 -2.568751 +v -1.092420 -4.056136 -2.019391 +v 0.967968 -4.101906 -2.522925 +v -1.069428 -4.033240 -2.019391 +v 0.944976 -4.101906 -1.996421 +v 0.967968 -4.079010 -2.522925 +f 3 6 8 +f 3 2 4 +f 2 3 5 +f 3 4 6 +f 4 1 6 +f 4 2 7 +f 1 4 7 +f 5 1 7 +f 2 5 7 +f 1 5 8 +f 5 3 8 +f 6 1 8 +o convex_1 +v -0.657373 1.987737 0.865329 +v -0.062295 2.285290 1.345894 +v -0.062295 2.239470 1.345894 +v -0.062295 2.010603 0.407365 +v -0.680225 1.987737 1.345894 +v -0.474202 2.216574 1.322927 +v -0.062295 1.987737 0.521925 +v -0.565822 2.010603 0.659268 +v -0.771915 2.010603 1.208458 +v -0.062295 2.193679 1.254301 +v -0.085217 2.285290 1.322927 +f 16 14 19 +f 10 11 12 +f 11 10 13 +f 13 10 14 +f 12 11 15 +f 13 9 15 +f 12 15 16 +f 15 9 16 +f 9 13 17 +f 13 14 17 +f 14 16 17 +f 16 9 17 +f 11 13 18 +f 15 11 18 +f 13 15 18 +f 10 12 19 +f 14 10 19 +f 12 16 19 +o convex_2 +v 0.006499 1.987710 0.384471 +v 0.716143 2.010610 1.345986 +v 0.716143 1.987710 1.345986 +v -0.062226 2.239452 1.345986 +v 0.487189 2.216583 1.323021 +v 0.578771 2.010610 0.705133 +v 0.006499 2.308152 1.323021 +v -0.062226 1.987710 0.521884 +v -0.039292 2.010610 0.384471 +v 0.647419 1.987710 1.345986 +v -0.062226 2.216583 1.323021 +v -0.062226 2.308152 1.345986 +v 0.578771 1.987710 0.705133 +f 25 22 32 +f 22 21 23 +f 24 21 25 +f 21 22 25 +f 24 25 26 +f 20 22 27 +f 25 20 28 +f 26 25 28 +f 20 27 28 +f 22 23 29 +f 27 22 29 +f 27 29 30 +f 23 27 30 +f 29 23 30 +f 23 21 31 +f 21 24 31 +f 24 26 31 +f 27 23 31 +f 26 28 31 +f 28 27 31 +f 22 20 32 +f 20 25 32 +o convex_3 +v 0.990866 -2.133097 -1.446823 +v 1.036641 0.957220 -0.394050 +v 1.036648 1.003271 -0.806077 +v 0.967968 0.064755 -0.394050 +v 1.013757 0.957220 -1.950581 +v 1.036641 -1.674738 -1.675845 +v 1.013737 -1.857713 -1.057956 +v 0.967968 -2.133097 -1.446823 +v 1.036641 0.957220 -1.950581 +v 1.013757 -1.308481 -1.950581 +v 0.990873 0.957220 -0.394050 +v 0.990866 0.613988 -1.423966 +v 0.967968 -1.995559 -1.057956 +v 1.013744 0.019011 -0.394050 +v 1.036641 -1.308481 -1.950581 +v 0.967968 -0.027040 -0.622920 +v 1.013744 -1.949508 -1.675845 +f 42 47 49 +f 35 34 38 +f 38 34 39 +f 37 35 41 +f 40 37 42 +f 37 41 42 +f 34 35 43 +f 36 34 43 +f 35 37 43 +f 43 37 44 +f 37 40 44 +f 36 43 44 +f 33 39 45 +f 36 40 45 +f 40 33 45 +f 34 36 46 +f 39 34 46 +f 36 45 46 +f 45 39 46 +f 35 38 47 +f 41 35 47 +f 42 41 47 +f 40 36 48 +f 36 44 48 +f 44 40 48 +f 39 33 49 +f 38 39 49 +f 33 40 49 +f 40 42 49 +f 47 38 49 +o convex_4 +v -0.130975 -0.942665 -0.554168 +v -0.840525 -0.485029 -0.805975 +v -0.840525 -0.485029 -0.783064 +v -0.268356 -1.789700 -0.783064 +v -0.497140 -0.485029 -0.508381 +v -0.130975 -1.675193 -0.805975 +v -0.130975 -0.461894 -0.485470 +v -0.748914 -0.461894 -0.805975 +v -0.153895 -0.507775 -0.439684 +v -0.336978 -1.698068 -0.783064 +v -0.314127 -1.743689 -0.805975 +v -0.130975 -1.789700 -0.783064 +f 53 60 61 +f 50 55 56 +f 56 55 57 +f 51 52 57 +f 52 54 57 +f 55 51 57 +f 54 56 57 +f 53 50 58 +f 54 53 58 +f 50 56 58 +f 56 54 58 +f 52 51 59 +f 53 54 59 +f 54 52 59 +f 51 55 60 +f 59 51 60 +f 53 59 60 +f 50 53 61 +f 55 50 61 +f 60 55 61 +o convex_5 +v -0.657494 1.827511 2.650656 +v -0.909243 1.781747 1.345986 +v -0.863447 1.781747 1.345986 +v -0.611698 2.331076 1.987013 +v -0.588801 2.079186 1.345986 +v -0.588801 1.781747 2.627781 +v -0.703258 1.804602 2.605036 +v -0.886345 1.873275 1.391996 +v -0.771888 2.010621 1.345986 +v -0.588801 2.331076 2.009889 +v -0.611698 1.964857 2.605036 +v -0.611698 2.125004 1.345986 +f 71 66 73 +f 64 63 66 +f 63 64 67 +f 64 66 67 +f 63 67 68 +f 67 62 68 +f 63 68 69 +f 68 65 69 +f 66 63 70 +f 69 65 70 +f 63 69 70 +f 67 66 71 +f 67 71 72 +f 62 67 72 +f 65 68 72 +f 68 62 72 +f 71 65 72 +f 70 65 73 +f 66 70 73 +f 65 71 73 +o convex_6 +v 0.830632 -2.659616 -2.889256 +v 1.013755 -1.972948 -1.950635 +v 1.013755 -1.972948 -2.339828 +v 0.761968 -3.506616 -1.950727 +v 0.716143 -3.460678 -1.950727 +v 0.739070 -3.483647 -2.843317 +v 0.922164 -2.064674 -2.889256 +v 0.716143 -3.300495 -2.866195 +v 0.967930 -2.087493 -2.889256 +v 0.990828 -2.247825 -2.019359 +v 0.967930 -2.064674 -1.996574 +v 0.945033 -1.972948 -2.683083 +f 78 84 85 +f 77 75 78 +f 77 78 79 +f 74 79 81 +f 79 78 81 +f 80 74 81 +f 78 80 81 +f 79 74 82 +f 74 80 82 +f 76 75 83 +f 75 77 83 +f 77 79 83 +f 79 82 83 +f 82 76 83 +f 78 75 84 +f 75 76 85 +f 80 78 85 +f 76 82 85 +f 82 80 85 +f 84 75 85 +o convex_7 +v 0.899289 1.483829 -0.623151 +v 1.013705 0.888805 -2.889256 +v 0.830614 1.529707 -2.843094 +v 0.739068 1.758489 -0.714499 +v 0.990772 0.980475 -0.394050 +v 1.059510 0.957579 -2.889256 +v 0.853547 1.644185 -2.843094 +v 0.762001 1.621115 -1.950378 +v 0.807743 1.781559 -0.394050 +v 1.036639 1.003458 -0.394050 +v 0.762001 1.712697 -1.950378 +v 1.013705 0.888805 -1.950623 +v 0.784903 1.689889 -0.394050 +v 1.036639 0.957492 -0.394050 +v 1.059510 0.911875 -2.797420 +f 95 99 100 +f 87 88 92 +f 91 87 92 +f 86 91 92 +f 88 87 93 +f 90 89 93 +f 86 92 94 +f 91 86 95 +f 86 94 95 +f 94 90 95 +f 92 88 96 +f 88 93 96 +f 93 89 96 +f 89 94 96 +f 94 92 96 +f 93 87 97 +f 90 93 97 +f 89 90 98 +f 90 94 98 +f 94 89 98 +f 95 90 99 +f 90 97 99 +f 99 97 100 +f 87 91 100 +f 91 95 100 +f 97 87 100 +o convex_8 +v 1.013750 2.056358 -1.973580 +v 0.990859 2.010571 -2.500020 +v 1.013750 2.010571 -2.500020 +v 0.967968 2.010571 -1.973580 +v 0.990859 2.056358 -2.385570 +f 102 104 105 +f 102 103 104 +f 103 101 104 +f 104 101 105 +f 101 103 105 +f 103 102 105 +o convex_9 +v -0.794889 1.873212 -0.394050 +v -1.023686 0.843262 -1.675845 +v -1.023713 0.911825 -1.950581 +v -0.749075 1.735583 -1.675845 +v -0.955020 1.049253 -0.394050 +v -1.023713 1.117916 -1.950581 +v -1.000833 1.072140 -0.394050 +v -0.794835 1.804347 -1.446823 +v -0.771928 1.804448 -0.439915 +v -1.000807 0.843262 -1.675845 +v -0.817742 1.850123 -0.394050 +v -0.909261 1.438042 -1.950581 +v -0.886408 1.346592 -1.950581 +v -1.023686 1.117916 -1.652989 +f 116 111 119 +f 110 106 112 +f 107 110 112 +f 106 109 113 +f 109 106 114 +f 106 110 114 +f 110 109 114 +f 107 108 115 +f 109 110 115 +f 110 107 115 +f 112 106 116 +f 106 113 116 +f 116 113 117 +f 108 111 117 +f 113 109 117 +f 111 116 117 +f 115 108 118 +f 109 115 118 +f 108 117 118 +f 117 109 118 +f 108 107 119 +f 111 108 119 +f 107 112 119 +f 112 116 119 +o convex_10 +v 0.922054 -0.897044 -0.737242 +v -0.130905 -1.789700 -0.805975 +v -0.107937 -1.789700 -0.805975 +v -0.039256 -0.507775 -0.439684 +v 0.990735 -0.461894 -0.805939 +v 0.647442 -1.606437 -0.783028 +v -0.130905 -0.485029 -0.485470 +v 0.967879 -0.507775 -0.668616 +v -0.130905 -1.675193 -0.805975 +v 0.189531 -0.485029 -0.599990 +v -0.130905 -1.789700 -0.783064 +v 0.876229 -1.194423 -0.805939 +v -0.130905 -0.461894 -0.439684 +v 0.258324 -1.652318 -0.760189 +v 1.013703 -0.461894 -0.714366 +v 1.013703 -0.805413 -0.783028 +f 124 134 135 +f 123 125 127 +f 125 120 127 +f 122 121 128 +f 124 122 128 +f 121 126 128 +f 128 126 129 +f 124 128 129 +f 121 122 130 +f 122 125 130 +f 126 121 130 +f 122 124 131 +f 125 122 131 +f 120 125 131 +f 123 127 132 +f 129 126 132 +f 124 129 132 +f 130 123 132 +f 126 130 132 +f 125 123 133 +f 130 125 133 +f 123 130 133 +f 124 132 134 +f 132 127 134 +f 127 120 135 +f 120 131 135 +f 131 124 135 +f 134 127 135 +o convex_11 +v 0.510073 2.194004 1.643721 +v 0.395652 3.727561 2.170141 +v 0.349868 3.727561 2.170141 +v 0.441405 2.239768 1.346147 +v 0.349868 2.262650 1.529257 +v 0.487189 2.994874 2.170141 +v 0.510073 2.194004 1.346147 +v 0.510073 3.200812 2.147151 +v 0.349868 2.216886 1.346147 +v 0.487189 2.239768 1.803760 +v 0.372768 3.681488 2.078425 +v 0.349868 3.292340 2.032688 +f 145 141 147 +f 137 138 141 +f 137 141 143 +f 136 142 143 +f 142 137 143 +f 140 138 144 +f 142 136 144 +f 139 142 144 +f 143 141 145 +f 136 143 145 +f 144 136 145 +f 140 144 145 +f 138 137 146 +f 137 142 146 +f 142 139 146 +f 144 138 146 +f 139 144 146 +f 138 140 147 +f 141 138 147 +f 140 145 147 +o convex_12 +v -0.085065 1.987658 -0.462615 +v 0.807716 1.804589 -0.393741 +v 0.807716 1.781640 -0.393741 +v 0.670213 1.964729 1.345815 +v 0.052258 1.941861 0.315857 +v 0.601552 1.987658 0.544596 +v 0.121010 1.964729 -0.805935 +v -0.108012 1.941861 -0.805935 +v 0.761912 1.804589 -0.805935 +v 0.784769 1.918952 1.322647 +v 0.761822 1.987658 1.345815 +v 0.006544 1.987658 0.430226 +v 0.761822 1.781640 -0.256202 +v 0.670303 1.781640 -0.737060 +v -0.108012 1.941861 -0.393741 +v 0.006544 1.987658 -0.805935 +v 0.532980 1.873235 -0.805935 +v 0.006544 1.964729 0.430226 +f 159 162 165 +f 155 154 156 +f 149 150 156 +f 150 149 157 +f 153 148 158 +f 149 156 158 +f 156 153 158 +f 157 149 158 +f 151 157 158 +f 158 148 159 +f 151 158 159 +f 150 157 160 +f 157 152 160 +f 155 156 161 +f 156 150 161 +f 150 160 161 +f 161 160 162 +f 148 155 162 +f 159 148 162 +f 160 152 162 +f 155 161 162 +f 148 153 163 +f 153 154 163 +f 155 148 163 +f 154 155 163 +f 154 153 164 +f 156 154 164 +f 153 156 164 +f 157 151 165 +f 152 157 165 +f 151 159 165 +f 162 152 165 +o convex_13 +v -0.840570 0.087559 1.712566 +v -0.588769 -0.026878 2.490542 +v -0.588803 0.247795 2.879830 +v -0.588769 0.041790 1.346098 +v -0.886318 0.110364 2.765281 +v -0.932167 0.247732 1.346098 +v -0.886318 0.247795 2.742311 +v -0.611727 -0.072678 2.169863 +v -0.749107 0.041790 1.346098 +v -0.588803 -0.049810 2.650881 +v -0.726182 -0.026910 2.582121 +v -0.886352 0.247732 1.346098 +v -0.657509 0.041790 2.811070 +f 170 176 178 +f 168 167 169 +f 166 170 171 +f 171 170 172 +f 170 168 172 +f 171 169 174 +f 166 171 174 +f 169 173 174 +f 167 168 175 +f 169 167 175 +f 173 169 175 +f 173 175 176 +f 170 166 176 +f 166 174 176 +f 174 173 176 +f 168 169 177 +f 169 171 177 +f 171 172 177 +f 172 168 177 +f 168 170 178 +f 175 168 178 +f 176 175 178 +o convex_14 +v -0.291140 2.193717 1.345986 +v -0.016475 3.796241 1.941209 +v -0.062288 3.796241 1.941209 +v -0.359788 3.292393 1.941209 +v -0.016475 2.285483 1.368942 +v -0.039382 3.727535 1.803823 +v -0.359788 3.429806 1.849560 +v -0.382695 2.216776 1.460474 +v -0.016475 2.949489 1.689335 +v -0.382695 2.216776 1.345986 +v -0.016475 2.354032 1.345986 +v -0.382695 3.429806 1.941209 +v -0.359788 2.308228 1.506328 +v -0.268233 3.567219 1.849560 +f 185 190 192 +f 180 181 182 +f 181 180 184 +f 179 183 186 +f 180 182 187 +f 183 180 187 +f 179 186 188 +f 183 179 189 +f 180 183 189 +f 184 180 189 +f 179 188 189 +f 188 184 189 +f 182 181 190 +f 186 182 190 +f 185 188 190 +f 188 186 190 +f 182 186 191 +f 186 183 191 +f 183 187 191 +f 187 182 191 +f 181 184 192 +f 184 188 192 +f 188 185 192 +f 190 181 192 +o convex_15 +v -0.817733 0.911698 2.536280 +v -0.932136 0.247795 1.346237 +v -0.955024 0.431057 1.346237 +v -0.909247 0.247795 2.559117 +v -0.977954 0.911698 1.506473 +v -0.771935 0.888693 2.490480 +v -0.840621 0.316486 2.628005 +v -0.955024 0.911698 1.346237 +v -0.909247 0.247795 1.346237 +v -0.909247 0.453868 1.346237 +v -0.771935 0.774251 2.628005 +v -0.977954 0.751441 1.620910 +v -0.886358 0.362302 2.628005 +f 199 203 205 +f 195 194 196 +f 194 195 200 +f 197 193 200 +f 195 197 200 +f 193 198 200 +f 196 194 201 +f 199 196 201 +f 194 200 201 +f 200 198 202 +f 198 201 202 +f 201 200 202 +f 198 193 203 +f 201 198 203 +f 199 201 203 +f 195 196 204 +f 196 197 204 +f 197 195 204 +f 193 197 205 +f 197 196 205 +f 196 199 205 +f 203 193 205 +o convex_16 +v -0.039431 1.117731 3.154548 +v -0.886296 0.247795 2.628045 +v -0.863474 0.247795 2.628045 +v -0.703213 1.781404 2.582218 +v -0.817661 0.270914 2.788215 +v -0.016524 0.797529 3.108722 +v -0.062338 1.735618 3.062895 +v -0.748941 0.934887 2.582218 +v -0.016524 1.712800 3.017124 +v -0.703213 1.781404 2.628045 +v -0.611586 0.247795 2.879812 +v -0.657485 1.781404 2.582218 +v -0.886296 0.270914 2.719643 +v -0.039431 0.843165 3.154548 +v -0.588765 0.247795 2.833985 +f 211 216 220 +f 210 206 212 +f 208 207 213 +f 207 209 213 +f 211 208 213 +f 211 213 214 +f 206 211 214 +f 212 206 214 +f 210 212 215 +f 207 208 216 +f 210 207 216 +f 213 209 217 +f 214 213 217 +f 212 214 217 +f 209 215 217 +f 215 212 217 +f 209 207 218 +f 207 210 218 +f 215 209 218 +f 210 215 218 +f 206 210 219 +f 211 206 219 +f 210 216 219 +f 216 211 219 +f 208 211 220 +f 216 208 220 +o convex_17 +v -0.680342 1.575500 2.582218 +v -0.977954 0.911783 1.345986 +v -0.977954 1.049210 1.345986 +v -0.817728 0.934688 2.513364 +v -0.909261 1.781554 1.437711 +v -0.932129 1.003401 1.345986 +v -0.749035 0.957592 2.559106 +v -0.726166 1.781554 2.490493 +v -0.863436 1.781554 1.414840 +v -0.680342 1.758650 2.444631 +v -0.977954 0.934688 1.483452 +v -0.909261 1.163646 1.369098 +v -0.794860 0.911783 2.582218 +f 224 231 233 +f 222 223 226 +f 222 226 227 +f 225 224 228 +f 225 228 229 +f 223 225 229 +f 226 223 229 +f 221 227 230 +f 228 221 230 +f 229 228 230 +f 223 222 231 +f 224 225 231 +f 225 223 231 +f 227 226 232 +f 226 229 232 +f 230 227 232 +f 229 230 232 +f 227 221 233 +f 222 227 233 +f 221 228 233 +f 228 224 233 +f 231 222 233 +o convex_18 +v 0.418319 -3.735523 -1.927591 +v 0.761930 -3.277877 -1.447092 +v 0.739027 -3.186259 -1.080693 +v -0.039332 -3.438116 -1.103684 +v 0.098081 -3.918612 -1.744519 +v 0.693145 -3.483962 -1.950581 +v 0.075178 -3.895689 -1.950581 +v 0.693145 -3.277877 -1.080693 +v 0.738949 -3.506811 -1.767425 +v -0.039332 -3.529512 -1.126589 +v 0.738949 -3.277877 -1.492903 +v -0.016430 -3.872914 -1.675889 +v 0.029452 -3.483740 -1.080693 +f 243 238 246 +f 237 239 240 +f 234 238 240 +f 239 234 240 +f 235 236 242 +f 238 234 242 +f 239 235 242 +f 234 239 242 +f 236 241 242 +f 241 238 242 +f 236 235 244 +f 237 236 244 +f 235 239 244 +f 239 237 244 +f 237 240 245 +f 240 238 245 +f 243 237 245 +f 238 243 245 +f 236 237 246 +f 241 236 246 +f 238 241 246 +f 237 243 246 +o convex_19 +v 0.143851 -0.072795 1.346010 +v -0.222478 -0.393317 1.597768 +v -0.222478 -0.393317 1.620704 +v 0.303978 -0.942566 1.620704 +v 0.441425 -0.370326 1.620704 +v -0.062221 -0.255878 1.346010 +v 0.418484 -0.232971 1.346010 +v 0.189537 -0.118523 1.460475 +v 0.281168 -0.942566 1.597768 +v 0.441425 -0.553494 1.597768 +f 253 251 256 +f 247 248 249 +f 249 250 251 +f 248 247 252 +f 252 247 253 +f 251 253 254 +f 247 249 254 +f 249 251 254 +f 253 247 254 +f 249 248 255 +f 250 249 255 +f 248 252 255 +f 253 250 255 +f 252 253 255 +f 251 250 256 +f 250 253 256 +o convex_20 +v -0.726187 -3.437826 -2.935043 +v -1.000784 -1.927215 -1.950827 +v -1.023740 -1.927215 -1.950827 +v -0.680376 -3.529583 -1.950827 +v -0.955007 -2.018815 -2.935043 +v -0.771964 -3.437826 -1.950827 +v -1.000784 -2.041715 -2.935043 +v -0.680376 -3.414926 -2.935043 +v -0.977895 -1.927215 -2.317054 +v -0.680376 -3.483626 -1.950827 +v -1.023740 -1.995915 -2.202590 +v -0.726187 -3.506526 -2.706019 +v -1.000784 -1.927215 -2.935043 +v -0.977895 -1.973015 -1.950827 +v -0.771964 -3.437826 -2.042360 +f 263 268 271 +f 258 259 260 +f 260 259 262 +f 261 257 263 +f 257 261 264 +f 264 261 265 +f 259 258 265 +f 258 260 266 +f 260 264 266 +f 264 265 266 +f 262 259 267 +f 260 262 268 +f 263 257 268 +f 257 264 268 +f 264 260 268 +f 261 263 269 +f 265 261 269 +f 259 265 269 +f 267 259 269 +f 263 267 269 +f 265 258 270 +f 258 266 270 +f 266 265 270 +f 262 267 271 +f 267 263 271 +f 268 262 271 +o convex_21 +v -0.634432 -3.575445 -2.706019 +v 0.029278 -3.941647 -1.950827 +v 0.029278 -3.987447 -1.950827 +v 0.029278 -3.987447 -2.889084 +v -0.657352 -3.483796 -2.935043 +v -0.680273 -3.506770 -1.950827 +v -0.062333 -3.964473 -1.950827 +v -0.016562 -3.987447 -2.889084 +v -0.016562 -3.918722 -2.889084 +v -0.634432 -3.506770 -1.950827 +v -0.542891 -3.644071 -1.950827 +v -0.680273 -3.529596 -2.935043 +f 275 279 283 +f 273 274 275 +f 274 273 277 +f 274 277 278 +f 275 274 279 +f 274 278 279 +f 273 275 280 +f 275 276 280 +f 276 273 280 +f 273 276 281 +f 277 273 281 +f 276 277 281 +f 277 272 282 +f 278 277 282 +f 272 279 282 +f 279 278 282 +f 276 275 283 +f 277 276 283 +f 272 277 283 +f 279 272 283 +o convex_22 +v -1.023733 1.987679 -2.522916 +v -0.955060 2.056351 -2.019364 +v -0.955060 2.033456 -2.019364 +v -1.000838 2.056351 -2.019364 +v -1.000838 1.987679 -2.019364 +f 286 287 288 +f 284 285 286 +f 286 285 287 +f 285 284 287 +f 287 284 288 +f 284 286 288 +o convex_23 +v -0.771915 1.758775 -2.522820 +v 0.006454 1.987654 -1.950635 +v -0.039337 1.987654 -1.950635 +v -0.085204 1.987654 -2.866224 +v -0.039337 1.941858 -2.774656 +v -0.748981 1.827444 -2.911961 +v -0.748981 1.735878 -1.950635 +v -0.726048 1.804571 -1.950635 +v -0.016480 1.941858 -1.950635 +v -0.611609 1.804571 -2.911961 +v 0.006454 1.964756 -2.866224 +f 293 298 299 +f 291 290 292 +f 291 292 294 +f 290 291 295 +f 294 289 296 +f 291 294 296 +f 295 291 296 +f 289 295 296 +f 290 295 297 +f 295 293 297 +f 289 294 298 +f 294 292 298 +f 295 289 298 +f 293 295 298 +f 292 290 299 +f 290 297 299 +f 297 293 299 +f 298 292 299 +o convex_24 +v 0.487171 1.781599 -2.866273 +v 0.830528 1.598528 -1.950724 +v 0.830528 1.506968 -1.950724 +v 0.006615 1.941852 -1.950724 +v 0.830528 1.713000 -2.751818 +v 0.006615 1.964718 -2.866273 +v 0.166800 1.941852 -1.950724 +v 0.784715 1.713000 -1.950724 +v 0.807622 1.598528 -2.728873 +v 0.075254 1.987631 -2.866273 +v 0.807622 1.506968 -2.065269 +v 0.006615 1.987631 -1.950724 +v 0.830528 1.621441 -2.843328 +v 0.830528 1.713000 -2.843328 +f 304 312 313 +f 302 301 303 +f 301 302 304 +f 303 301 306 +f 301 304 307 +f 304 306 307 +f 306 301 307 +f 300 305 309 +f 306 304 309 +f 302 303 310 +f 303 305 310 +f 305 308 310 +f 305 303 311 +f 303 306 311 +f 309 305 311 +f 306 309 311 +f 304 302 312 +f 305 300 312 +f 308 305 312 +f 302 310 312 +f 310 308 312 +f 300 309 313 +f 309 304 313 +f 312 300 313 +o convex_25 +v 0.945075 -1.972845 -2.888992 +v 1.036644 0.888697 -1.950924 +v 1.036644 0.888697 -2.888992 +v 1.036635 -1.880971 -1.950924 +v 0.990859 0.567978 -2.202662 +v 0.990859 -1.972845 -1.950924 +v 0.990859 -1.949596 -2.774539 +v 0.967976 -0.233399 -2.935043 +v 1.036644 0.316445 -2.911921 +v 1.013751 0.888697 -2.888992 +v 0.945075 -1.926628 -2.728777 +v 1.013751 0.888697 -1.950924 +v 0.990859 -1.537563 -2.911921 +v 0.945075 -1.491626 -2.911921 +f 321 326 327 +f 317 315 319 +f 319 314 320 +f 317 319 320 +f 316 315 322 +f 315 317 322 +f 317 320 322 +f 321 316 322 +f 315 316 323 +f 316 321 323 +f 321 318 323 +f 319 318 324 +f 314 319 324 +f 319 315 325 +f 318 319 325 +f 315 323 325 +f 323 318 325 +f 320 314 326 +f 322 320 326 +f 321 322 326 +f 318 321 327 +f 324 318 327 +f 314 324 327 +f 326 314 327 +o convex_26 +v 0.326876 3.544326 2.399010 +v -0.016439 3.200778 2.559307 +v 0.487169 2.193773 2.467663 +v -0.016439 3.887702 2.170222 +v 0.510104 3.178001 2.170141 +v 0.487169 2.445697 2.582218 +v 0.006548 3.727575 2.513525 +v 0.395580 3.704625 2.193133 +v 0.441400 2.971976 2.536396 +v 0.487169 3.017874 2.170141 +v -0.016439 3.384027 2.582218 +v 0.510104 2.170824 2.582218 +v 0.006548 3.933600 2.216004 +v 0.395632 2.308347 2.582218 +f 339 338 341 +f 330 329 331 +f 332 331 335 +f 334 328 335 +f 335 328 336 +f 333 332 336 +f 328 334 336 +f 332 335 336 +f 330 331 337 +f 331 332 337 +f 332 330 337 +f 331 329 338 +f 334 331 338 +f 333 336 338 +f 336 334 338 +f 330 332 339 +f 332 333 339 +f 333 338 339 +f 331 334 340 +f 335 331 340 +f 334 335 340 +f 329 330 341 +f 338 329 341 +f 330 339 341 +o convex_27 +v -0.886381 -1.468957 -1.149423 +v -0.977922 0.957485 -0.806038 +v -0.977922 0.957485 -1.446875 +v -1.023727 -2.017668 -1.927614 +v -0.886381 -2.499037 -1.950581 +v -1.023727 0.911521 -1.950581 +v -0.886381 -0.210842 -0.829005 +v -1.000818 0.842754 -0.806038 +v -0.977922 0.865201 -1.698840 +v -0.909290 -1.949613 -1.332487 +v -0.932185 -0.302056 -0.806038 +v -1.023727 0.957485 -1.378309 +v -1.023727 -1.903650 -1.813227 +v -0.909290 -2.682534 -1.881792 +v -1.000804 0.911521 -1.950581 +v -0.955054 0.865558 -0.806038 +v -1.023727 -1.994864 -1.950581 +v -0.886381 -2.658662 -1.858937 +v -0.886381 -0.736393 -0.874827 +f 352 351 360 +f 342 346 348 +f 348 346 350 +f 343 349 352 +f 343 344 353 +f 344 347 353 +f 347 345 353 +f 349 343 353 +f 349 353 354 +f 352 349 354 +f 351 352 354 +f 353 345 354 +f 354 345 355 +f 351 354 355 +f 347 344 356 +f 346 347 356 +f 344 350 356 +f 350 346 356 +f 344 343 357 +f 350 344 357 +f 348 350 357 +f 343 352 357 +f 352 348 357 +f 347 346 358 +f 345 347 358 +f 346 355 358 +f 355 345 358 +f 346 342 359 +f 342 351 359 +f 355 346 359 +f 351 355 359 +f 342 348 360 +f 351 342 360 +f 348 352 360 +o convex_28 +v 0.281110 -1.583773 2.444801 +v -0.359775 -1.812499 2.193034 +v -0.291081 -1.858366 2.193034 +v -0.062167 -1.789641 2.513539 +v -0.359775 -1.217370 2.513539 +v 0.281110 -1.766784 2.193034 +v 0.281110 -1.217370 2.513539 +v 0.006400 -1.995738 2.215968 +v -0.313979 -1.583773 2.490605 +v -0.359775 -1.217370 2.490605 +v 0.281110 -1.835356 2.215968 +v -0.359775 -1.766784 2.193034 +v 0.075093 -1.720993 2.513539 +v 0.281110 -1.217370 2.490605 +v -0.336877 -1.835356 2.238838 +f 364 369 375 +f 363 362 366 +f 361 366 367 +f 365 364 367 +f 363 366 368 +f 364 365 369 +f 365 362 369 +f 362 365 370 +f 365 367 370 +f 366 361 371 +f 368 366 371 +f 366 362 372 +f 362 370 372 +f 370 366 372 +f 361 367 373 +f 367 364 373 +f 364 368 373 +f 371 361 373 +f 368 371 373 +f 367 366 374 +f 366 370 374 +f 370 367 374 +f 362 363 375 +f 363 368 375 +f 368 364 375 +f 369 362 375 +o convex_29 +v -0.977942 1.209112 1.276941 +v -0.932190 -0.232962 -0.805935 +v -0.909292 -0.232962 -0.805935 +v -1.000831 1.026110 -0.805935 +v -0.932172 1.232203 -0.393530 +v -0.909292 0.225117 1.345815 +v -1.000840 0.911662 1.231025 +v -0.932172 1.232203 1.345815 +v -0.955062 0.407833 1.345815 +v -0.909292 0.202170 -0.805935 +v -1.000831 0.842821 -0.805935 +v -0.909292 0.453726 1.322647 +v -1.000840 1.163362 1.116655 +v -0.955062 1.232203 -0.393530 +v -0.955062 0.865768 -0.805935 +v -0.932181 0.225117 1.345815 +f 384 377 391 +f 378 377 379 +f 377 378 381 +f 381 383 384 +f 376 382 384 +f 382 377 384 +f 383 376 384 +f 378 379 385 +f 381 378 385 +f 379 377 386 +f 377 382 386 +f 380 383 387 +f 383 381 387 +f 385 380 387 +f 381 385 387 +f 382 376 388 +f 379 386 388 +f 386 382 388 +f 380 379 389 +f 376 383 389 +f 383 380 389 +f 388 376 389 +f 379 388 389 +f 379 380 390 +f 385 379 390 +f 380 385 390 +f 377 381 391 +f 381 384 391 +o convex_30 +v -0.771796 -0.461851 -0.805935 +v -0.863396 -0.026966 -0.393897 +v -0.863396 -0.026966 -0.439755 +v -0.108091 -0.278719 -0.416847 +v -0.542875 -0.416047 -0.393897 +v -0.886296 -0.095672 -0.783026 +v -0.108091 -0.461851 -0.462624 +v -0.863396 -0.438949 -0.783026 +v -0.909274 -0.049868 -0.393897 +v -0.108091 -0.370285 -0.462624 +v -0.108091 -0.324481 -0.393897 +v -0.519975 -0.461851 -0.485533 +f 396 399 403 +f 394 393 395 +f 394 395 397 +f 397 392 399 +f 397 399 400 +f 393 394 400 +f 396 393 400 +f 394 397 400 +f 399 396 400 +f 392 397 401 +f 397 395 401 +f 395 398 401 +f 398 392 401 +f 395 393 402 +f 393 396 402 +f 398 395 402 +f 396 398 402 +f 392 398 403 +f 398 396 403 +f 399 392 403 +o convex_31 +v -0.062255 -3.506517 -1.103587 +v -0.039332 -1.743913 -0.805975 +v -0.268242 -1.743913 -0.805975 +v -0.245342 -2.934223 -1.103587 +v -0.108032 -3.460623 -1.057791 +v -0.039332 -1.927316 -0.874668 +v -0.268242 -3.117281 -1.080660 +v -0.268242 -1.881595 -0.805975 +v -0.039332 -2.476664 -0.897566 +v -0.039332 -3.437676 -1.103587 +v -0.268242 -1.743913 -0.828873 +f 407 410 414 +f 407 404 410 +f 404 408 410 +f 410 408 411 +f 405 406 411 +f 406 410 411 +f 405 411 412 +f 409 405 412 +f 411 408 412 +f 409 412 413 +f 404 407 413 +f 408 404 413 +f 407 409 413 +f 412 408 413 +f 406 405 414 +f 405 409 414 +f 409 407 414 +f 410 406 414 +o convex_32 +v -0.794808 1.781669 -1.675639 +v 0.006454 1.987678 -1.446671 +v 0.006454 1.964756 -1.446671 +v -0.726023 1.987678 1.162562 +v 0.006376 1.964756 0.430088 +v -0.749004 1.758769 -1.446671 +v -0.176763 1.964756 -1.652853 +v -0.771906 1.827469 -0.393808 +v -0.726023 1.987678 0.796325 +v -0.016448 1.941811 -1.675639 +v 0.006376 1.987678 0.430088 +v -0.703043 1.964756 1.162562 +v -0.771906 1.804613 -1.629789 +v -0.725945 1.758769 -1.675639 +v -0.039350 1.987678 -1.675639 +v -0.588689 1.850346 -0.279046 +f 426 422 430 +f 417 416 419 +f 418 415 422 +f 415 420 422 +f 418 416 423 +f 415 418 423 +f 416 417 424 +f 417 419 424 +f 416 418 425 +f 419 416 425 +f 419 425 426 +f 418 422 426 +f 425 418 426 +f 421 415 427 +f 415 423 427 +f 423 421 427 +f 420 415 428 +f 419 420 428 +f 424 419 428 +f 415 424 428 +f 415 421 429 +f 423 416 429 +f 421 423 429 +f 416 424 429 +f 424 415 429 +f 420 419 430 +f 422 420 430 +f 419 426 430 +o convex_33 +v -0.062197 -0.461894 -0.485497 +v 0.967968 -0.004030 -0.508397 +v 0.967968 -0.004030 -0.531297 +v 0.967968 -0.461894 -0.668571 +v 0.372893 -0.370285 -0.393897 +v 0.967968 -0.026932 -0.393897 +v -0.107907 -0.278677 -0.439729 +v 0.761851 -0.210149 -0.645671 +v 0.945008 -0.026932 -0.622802 +v 0.166881 -0.416090 -0.577003 +v 0.761851 -0.004030 -0.393897 +v 0.945008 -0.461894 -0.714371 +v -0.107907 -0.347428 -0.393897 +v -0.016381 -0.461894 -0.439729 +f 435 443 444 +f 433 432 434 +f 434 432 436 +f 435 434 436 +f 433 434 439 +f 437 439 440 +f 431 437 440 +f 439 438 440 +f 432 433 441 +f 436 432 441 +f 435 436 441 +f 433 439 441 +f 439 437 441 +f 434 431 442 +f 439 434 442 +f 438 439 442 +f 431 440 442 +f 440 438 442 +f 437 431 443 +f 435 441 443 +f 441 437 443 +f 431 434 444 +f 434 435 444 +f 443 431 444 +o convex_34 +v -0.039353 3.223911 2.605179 +v -0.588769 1.758746 2.650959 +v -0.565800 1.758746 2.650959 +v -0.039353 1.804640 3.062929 +v -0.016439 2.216682 2.673825 +v -0.588769 1.827444 2.696738 +v -0.199690 2.239629 2.582265 +v -0.588769 1.987786 2.582265 +v -0.016439 1.758746 3.017149 +v -0.016439 3.223911 2.582265 +v -0.176721 2.994872 2.605179 +f 445 454 455 +f 446 448 450 +f 449 447 451 +f 447 446 452 +f 446 450 452 +f 451 447 452 +f 446 447 453 +f 448 446 453 +f 447 449 453 +f 453 449 454 +f 445 448 454 +f 449 451 454 +f 451 452 454 +f 448 453 454 +f 454 452 455 +f 448 445 455 +f 450 448 455 +f 452 450 455 +o convex_35 +v 0.830636 -2.911466 -1.401126 +v 0.967968 -0.851078 -0.806038 +v 0.967968 -0.851078 -0.828935 +v 0.830636 -1.171955 -0.828935 +v 0.853518 -2.750927 -0.989156 +v 0.967968 -2.109980 -1.446922 +v 0.967968 -2.132770 -1.057849 +v 0.830636 -2.750927 -1.446922 +v 0.899295 -2.659565 -1.446922 +v 0.830636 -2.750927 -0.989156 +v 0.945059 -2.109980 -1.446922 +v 0.853518 -1.331889 -0.806038 +v 0.967968 -1.011416 -0.806038 +f 467 460 468 +f 457 458 459 +f 458 457 461 +f 461 457 462 +f 456 459 463 +f 463 461 464 +f 460 456 464 +f 461 462 464 +f 462 460 464 +f 456 463 464 +f 459 456 465 +f 456 460 465 +f 459 458 466 +f 458 461 466 +f 463 459 466 +f 461 463 466 +f 457 459 467 +f 459 465 467 +f 465 460 467 +f 460 462 468 +f 462 457 468 +f 457 467 468 +o convex_36 +v 0.075149 2.010500 2.948510 +v -0.016439 1.277989 3.085833 +v 0.395632 1.277989 2.856937 +v -0.016439 2.124966 2.765364 +v 0.510104 1.781568 2.834062 +v 0.052265 1.781568 3.108744 +v 0.098033 1.277989 3.108744 +v 0.510104 1.277989 2.811186 +v 0.281107 2.102019 2.765364 +v 0.510104 1.758621 2.765364 +v -0.016439 1.781568 3.085833 +v 0.510104 1.277989 2.856937 +v 0.006497 2.193717 2.788275 +f 479 469 481 +f 471 470 472 +f 473 469 474 +f 470 471 475 +f 473 474 475 +f 474 470 475 +f 471 472 476 +f 475 471 476 +f 469 473 477 +f 476 472 478 +f 473 476 478 +f 472 477 478 +f 477 473 478 +f 472 470 479 +f 470 474 479 +f 474 469 479 +f 473 475 480 +f 476 473 480 +f 475 476 480 +f 469 477 481 +f 477 472 481 +f 472 479 481 +o convex_37 +v -0.359837 -1.743698 2.101466 +v -0.359837 -0.897055 2.605112 +v -0.382746 -0.897055 2.605112 +v -0.359837 -0.370321 1.666542 +v -0.497183 -1.285859 2.307537 +v -0.474288 -0.370321 2.147127 +v -0.405655 -0.370604 2.582144 +v -0.405642 -0.416345 1.666542 +v -0.382760 -1.491837 1.895488 +v -0.405655 -1.766569 2.261692 +v -0.359837 -0.370604 2.582144 +v -0.497183 -1.285859 2.353289 +v -0.359837 -1.423225 2.467670 +v -0.474288 -0.370321 2.009870 +f 489 486 495 +f 483 482 485 +f 484 483 488 +f 485 482 490 +f 489 485 490 +f 486 489 490 +f 490 482 491 +f 486 490 491 +f 483 485 492 +f 485 487 492 +f 487 488 492 +f 488 483 492 +f 487 486 493 +f 488 487 493 +f 484 488 493 +f 486 491 493 +f 493 491 494 +f 482 483 494 +f 483 484 494 +f 491 482 494 +f 484 493 494 +f 486 487 495 +f 487 485 495 +f 485 489 495 +o convex_38 +v -0.886345 0.293582 0.887942 +v -0.726164 -0.210069 -0.393727 +v -0.886345 -0.072669 -0.393727 +v -0.771942 0.041756 1.345815 +v -0.703255 0.087458 0.476044 +v -0.909274 0.201933 1.345815 +v -0.703255 0.064582 1.345815 +v -0.909274 -0.003994 -0.393727 +v -0.703255 -0.141344 -0.347923 +v -0.909274 0.270608 1.300011 +v -0.817679 -0.026919 -0.324935 +v -0.909274 -0.049794 -0.324935 +f 501 503 507 +f 501 499 502 +f 499 497 502 +f 500 496 502 +f 497 498 503 +f 502 497 504 +f 500 502 504 +f 497 503 504 +f 501 502 505 +f 502 496 505 +f 496 503 505 +f 503 501 505 +f 496 500 506 +f 503 496 506 +f 500 504 506 +f 504 503 506 +f 498 497 507 +f 497 499 507 +f 499 501 507 +f 503 498 507 +o convex_39 +v 0.006497 3.269697 2.582237 +v -0.016439 2.148020 2.742437 +v -0.016439 2.148020 2.765346 +v 0.510104 1.804533 2.742437 +v 0.487169 2.125217 2.582237 +v -0.016439 2.239665 2.673782 +v 0.487169 1.919124 2.765346 +v 0.212558 2.994907 2.605127 +v 0.029381 3.017711 2.650927 +v -0.016439 3.086552 2.582237 +v 0.510104 2.216861 2.582237 +v 0.212558 2.170967 2.765346 +f 514 516 519 +f 510 509 511 +f 509 510 513 +f 511 509 513 +f 512 511 513 +f 510 511 514 +f 515 508 516 +f 508 510 516 +f 514 515 516 +f 510 508 517 +f 508 512 517 +f 513 510 517 +f 512 513 517 +f 512 508 518 +f 511 512 518 +f 514 511 518 +f 515 514 518 +f 508 515 518 +f 510 514 519 +f 516 510 519 +o convex_40 +v -0.863517 1.804470 1.345815 +v -0.955045 1.232203 -0.393727 +v -0.955045 1.255159 -0.393727 +v -0.794826 1.712938 -0.393727 +v -0.909263 1.277998 1.345815 +v -0.932154 1.804470 1.208402 +v -0.977954 1.232203 1.254207 +v -0.817735 1.827426 -0.393727 +v -0.909263 1.232203 -0.393727 +v -0.977954 1.392545 1.185585 +v -0.794826 1.804470 -0.073267 +v -0.909263 1.827426 1.345815 +v -0.840626 1.827426 -0.164705 +f 525 531 532 +f 521 522 523 +f 523 522 527 +f 521 523 528 +f 523 524 528 +f 526 521 528 +f 524 526 528 +f 522 521 529 +f 525 522 529 +f 521 526 529 +f 520 524 530 +f 524 523 530 +f 523 527 530 +f 527 520 530 +f 524 520 531 +f 526 524 531 +f 520 527 531 +f 525 529 531 +f 529 526 531 +f 522 525 532 +f 527 522 532 +f 531 527 532 +o convex_41 +v -0.726144 1.987663 0.865125 +v -0.817681 1.827426 -0.393727 +v -0.817681 1.850342 -0.393727 +v -0.886381 1.827426 1.345815 +v -0.726144 1.850342 -0.187693 +v -0.794828 1.987663 1.208402 +v -0.726144 1.964763 1.231219 +v -0.840581 1.827426 1.345815 +v -0.886381 1.850342 0.956564 +f 536 538 541 +f 535 533 537 +f 534 535 537 +f 533 535 538 +f 538 536 539 +f 537 533 539 +f 533 538 539 +f 537 539 540 +f 536 534 540 +f 534 537 540 +f 539 536 540 +f 535 534 541 +f 534 536 541 +f 538 535 541 +o convex_42 +v 0.304097 -1.812996 -0.806002 +v -0.039332 -3.460681 -1.080678 +v 0.052464 -3.460681 -1.080678 +v 0.807532 -1.309173 -0.851821 +v 0.784711 -3.140107 -0.966236 +v 0.830609 -2.751203 -1.080678 +v -0.039332 -1.927471 -0.874704 +v -0.039332 -1.858697 -0.806002 +v 0.830524 -1.377725 -0.805975 +v 0.418375 -1.332024 -0.851795 +v -0.039332 -3.323355 -1.080678 +v -0.016426 -3.369057 -1.034885 +v 0.738812 -3.231731 -1.080678 +v 0.418375 -1.240400 -0.806002 +v 0.670177 -3.186030 -0.966236 +v 0.670263 -1.721150 -0.805975 +v 0.830609 -2.888528 -0.989119 +v 0.761889 -3.003003 -0.943353 +f 550 557 559 +f 544 543 547 +f 548 543 549 +f 547 545 550 +f 545 547 551 +f 548 551 552 +f 547 543 552 +f 543 548 552 +f 551 547 552 +f 543 544 553 +f 549 543 553 +f 544 547 554 +f 548 549 555 +f 550 545 555 +f 549 550 555 +f 545 551 555 +f 551 548 555 +f 553 544 556 +f 549 553 556 +f 544 554 556 +f 554 546 556 +f 549 542 557 +f 550 549 557 +f 550 546 558 +f 547 550 558 +f 546 554 558 +f 554 547 558 +f 542 549 559 +f 546 550 559 +f 556 546 559 +f 549 556 559 +f 557 542 559 +o convex_43 +v 0.784823 0.041756 1.345815 +v 1.013755 0.270666 0.086963 +v 1.013755 0.247766 0.086963 +v 0.945048 0.247766 1.345815 +v 1.013755 0.041756 -0.347923 +v 0.990830 0.270666 -0.393727 +v 0.899289 0.270666 1.277024 +v 0.967950 0.041756 -0.393727 +v 0.830627 0.041756 1.345815 +v 0.784823 0.064679 1.208402 +v 0.990830 0.087579 0.292997 +f 568 564 570 +f 562 561 563 +f 561 562 564 +f 561 564 565 +f 563 561 566 +f 560 563 566 +f 561 565 566 +f 564 560 567 +f 565 564 567 +f 563 560 568 +f 560 564 568 +f 560 566 569 +f 566 565 569 +f 567 560 569 +f 565 567 569 +f 562 563 570 +f 564 562 570 +f 563 568 570 +o convex_44 +v 0.967982 0.453928 1.345815 +v 0.990848 0.270758 -0.393727 +v 0.990848 0.957386 -0.393727 +v 1.036637 0.957386 -0.141888 +v 0.945093 0.934464 1.345815 +v 0.922182 0.270758 1.185585 +v 1.013737 0.797138 1.208402 +v 1.013737 0.270758 0.132767 +v 1.013737 0.980378 1.254207 +v 0.967982 0.270758 1.254207 +v 1.036637 0.980378 -0.393727 +v 0.922182 0.545479 1.345815 +v 1.013737 0.270758 -0.393727 +f 581 574 583 +f 573 572 576 +f 576 572 578 +f 574 577 578 +f 575 571 579 +f 573 575 579 +f 571 577 579 +f 577 574 579 +f 577 571 580 +f 576 578 580 +f 578 577 580 +f 572 573 581 +f 573 579 581 +f 579 574 581 +f 571 575 582 +f 575 573 582 +f 573 576 582 +f 580 571 582 +f 576 580 582 +f 578 572 583 +f 574 578 583 +f 572 581 583 +o convex_45 +v 0.784841 1.964785 1.299841 +v 0.990827 0.980474 -0.393727 +v 0.967928 1.049082 -0.393727 +v 0.967928 0.980474 1.345815 +v 0.967953 1.735835 1.345815 +v 0.784841 1.804539 -0.393727 +v 1.036648 1.003407 -0.393727 +v 0.784841 1.690065 -0.279131 +v 1.013725 0.980474 1.277024 +v 0.830662 1.804539 -0.210510 +v 0.784841 1.895985 1.345815 +v 1.013725 1.232357 1.231049 +v 0.945055 1.758769 1.002198 +v 0.807764 1.964785 1.299841 +v 0.807739 1.598427 -0.393727 +f 591 589 598 +f 586 585 587 +f 585 586 589 +f 585 589 590 +f 584 589 591 +f 587 585 592 +f 588 587 592 +f 585 590 592 +f 590 589 593 +f 587 588 594 +f 591 587 594 +f 584 591 594 +f 590 588 595 +f 588 592 595 +f 592 590 595 +f 588 590 596 +f 590 593 596 +f 596 593 597 +f 589 584 597 +f 593 589 597 +f 584 594 597 +f 594 588 597 +f 588 596 597 +f 586 587 598 +f 589 586 598 +f 587 591 598 +o convex_46 +v 0.441400 1.186327 2.902768 +v -0.016439 0.316663 3.040033 +v -0.016439 0.316663 3.085855 +v 0.510104 0.316663 2.742471 +v -0.016439 1.277989 3.108726 +v 0.395632 1.277989 2.856986 +v 0.029381 0.934490 3.154548 +v 0.510104 0.339532 2.788293 +v 0.464284 0.362400 2.742471 +v 0.510104 1.277989 2.811164 +v 0.029381 1.254932 3.154548 +v 0.510104 0.980227 2.856986 +f 606 608 610 +f 601 600 602 +f 600 601 603 +f 603 601 605 +f 601 602 606 +f 605 601 606 +f 602 600 607 +f 600 603 607 +f 603 604 607 +f 607 604 608 +f 604 603 608 +f 606 602 608 +f 602 607 608 +f 605 599 609 +f 603 605 609 +f 599 608 609 +f 608 603 609 +f 599 605 610 +f 605 606 610 +f 608 599 610 +o convex_47 +v -0.588718 0.041716 1.345986 +v -0.062277 -0.347374 1.575014 +v -0.428456 -0.255828 2.284515 +v -0.428456 -0.370281 1.735233 +v -0.542907 -0.049870 2.284515 +v -0.085208 -0.164282 1.345986 +v -0.497147 -0.370281 2.147080 +v -0.130968 -0.370281 1.483513 +v -0.497147 0.041716 1.414795 +v -0.588718 -0.095643 2.261548 +v -0.405577 -0.370281 2.284515 +v -0.588718 0.018809 1.345986 +v -0.565786 0.041716 1.758200 +v -0.085208 -0.255828 1.345986 +f 618 622 624 +f 613 612 615 +f 615 612 616 +f 617 614 618 +f 616 611 619 +f 620 617 621 +f 612 613 621 +f 613 615 621 +f 618 612 621 +f 617 618 621 +f 615 620 621 +f 611 616 622 +f 614 617 622 +f 618 614 622 +f 620 611 622 +f 617 620 622 +f 615 616 623 +f 619 611 623 +f 616 619 623 +f 611 620 623 +f 620 615 623 +f 616 612 624 +f 612 618 624 +f 622 616 624 +o convex_48 +v -0.451336 -0.347376 2.307599 +v -0.062277 0.064565 2.902723 +v -0.062277 0.018803 2.902723 +v -0.588718 0.064565 2.811059 +v -0.542907 -0.049861 2.284607 +v -0.062277 -0.370279 2.696584 +v -0.405577 -0.370279 2.582230 +v -0.062277 -0.210049 2.650842 +v -0.588718 0.018803 2.811059 +v -0.405577 -0.370279 2.284607 +v -0.588718 -0.072763 2.284607 +v -0.062277 0.064565 2.856861 +v -0.588718 -0.072763 2.650842 +f 635 625 637 +f 627 626 628 +f 626 627 630 +f 626 630 632 +f 627 628 633 +f 630 627 633 +f 631 630 633 +f 631 625 634 +f 630 631 634 +f 629 632 634 +f 632 630 634 +f 628 629 635 +f 633 628 635 +f 634 625 635 +f 629 634 635 +f 628 626 636 +f 629 628 636 +f 632 629 636 +f 626 632 636 +f 625 631 637 +f 631 633 637 +f 633 635 637 +o convex_49 +v 0.693223 0.248013 2.559352 +v 0.533038 1.644090 2.834044 +v 0.510131 1.644090 2.834044 +v 0.761889 1.735853 2.559352 +v 0.510131 0.087713 2.582261 +v 0.761889 0.957256 2.696698 +v 0.533038 0.270912 2.765344 +v 0.510131 1.735853 2.788226 +v 0.761889 1.735853 2.673816 +v 0.784796 0.934356 2.559352 +v 0.510131 0.889047 2.834044 +v 0.693223 0.293812 2.650934 +v 0.533038 0.110613 2.559352 +f 642 645 650 +f 640 639 645 +f 642 640 645 +f 639 643 646 +f 645 639 646 +f 641 645 646 +f 638 641 647 +f 646 643 647 +f 641 646 647 +f 639 640 648 +f 640 642 648 +f 643 639 648 +f 642 644 648 +f 644 643 648 +f 642 638 649 +f 644 642 649 +f 643 644 649 +f 638 647 649 +f 647 643 649 +f 641 638 650 +f 638 642 650 +f 645 641 650 +o convex_50 +v 0.555904 2.262471 1.781071 +v 0.533015 2.285438 2.490570 +v 0.510116 2.285438 2.490570 +v 0.533015 3.086552 2.147134 +v 0.624570 2.239504 2.101423 +v 0.510116 2.239504 1.712353 +v 0.510116 3.086552 2.192920 +v 0.555904 2.972048 2.170065 +f 654 657 658 +f 652 653 655 +f 654 651 656 +f 651 655 656 +f 655 653 656 +f 653 652 657 +f 656 653 657 +f 654 656 657 +f 651 654 658 +f 655 651 658 +f 652 655 658 +f 657 652 658 +o convex_51 +v -1.092420 0.728324 -2.935043 +v -1.000856 -1.034105 -1.950924 +v -1.023736 -1.034105 -1.950924 +v -0.977954 -1.926680 -2.935043 +v -1.000856 1.048766 -2.019615 +v -1.046627 1.025752 -2.866063 +v -1.023736 -1.926680 -1.950924 +v -1.046627 1.048766 -1.951020 +v -1.023736 -1.674988 -2.935043 +v -0.977954 -1.926680 -2.362876 +v -1.046627 -1.423295 -2.202662 +v -0.977954 -1.629252 -2.935043 +v -1.092420 1.048766 -2.820397 +v -1.069517 -0.461679 -2.935043 +v -1.046615 -0.256014 -1.973853 +v -1.000856 1.048766 -1.951020 +v -1.023736 -1.926680 -2.431567 +v -1.000856 -1.926680 -1.950924 +v -1.069517 1.048766 -2.935043 +f 671 663 677 +f 660 661 665 +f 661 660 666 +f 665 661 666 +f 659 662 667 +f 665 662 668 +f 662 659 670 +f 664 663 670 +f 668 662 670 +f 666 663 671 +f 659 669 671 +f 659 667 672 +f 669 659 672 +f 665 666 673 +f 669 665 673 +f 666 671 673 +f 671 669 673 +f 666 660 674 +f 663 666 674 +f 660 668 674 +f 670 663 674 +f 668 670 674 +f 662 665 675 +f 667 662 675 +f 665 669 675 +f 672 667 675 +f 669 672 675 +f 660 665 676 +f 668 660 676 +f 665 668 676 +f 663 664 677 +f 670 659 677 +f 664 670 677 +f 659 671 677 +o convex_52 +v -0.405610 -2.614007 -1.103620 +v -0.611662 -3.208968 -1.446985 +v -0.611662 -3.208968 -1.424029 +v -0.039332 -3.735621 -1.446985 +v -0.108017 -3.506521 -1.103620 +v -0.611662 -2.247709 -1.126542 +v -0.588693 -3.094491 -1.263875 +v -0.039332 -3.460643 -1.126542 +v -0.039332 -3.666731 -1.446985 +v -0.611662 -2.408065 -1.103620 +v -0.474294 -3.231834 -1.446985 +v -0.199614 -3.414911 -1.103620 +v -0.588693 -2.247709 -1.126542 +v -0.062246 -3.735621 -1.424029 +f 682 680 691 +f 679 680 683 +f 678 682 685 +f 682 681 685 +f 681 679 686 +f 678 685 686 +f 685 681 686 +f 682 678 687 +f 683 680 687 +f 680 684 687 +f 686 679 688 +f 680 682 689 +f 684 680 689 +f 682 687 689 +f 687 684 689 +f 679 683 690 +f 678 686 690 +f 687 678 690 +f 683 687 690 +f 688 679 690 +f 686 688 690 +f 680 679 691 +f 679 681 691 +f 681 682 691 +o convex_53 +v 0.098107 -3.895811 -2.889256 +v 0.716076 -3.483881 -1.950635 +v 0.716076 -3.529645 -1.950635 +v 0.029414 -3.964483 -1.950635 +v 0.693156 -3.438117 -2.843317 +v 0.189653 -3.895811 -2.866195 +v 0.029414 -3.918720 -1.950635 +v 0.716076 -3.506790 -2.751807 +v 0.052334 -3.987446 -2.317043 +v 0.647383 -3.506790 -1.950635 +v 0.029414 -3.941575 -2.889256 +v 0.693156 -3.552554 -1.950635 +f 700 697 703 +f 694 693 695 +f 692 696 697 +f 695 693 698 +f 693 694 699 +f 696 693 699 +f 697 696 699 +f 693 696 701 +f 698 693 701 +f 696 698 701 +f 696 692 702 +f 692 697 702 +f 695 698 702 +f 698 696 702 +f 700 695 702 +f 697 700 702 +f 694 695 703 +f 699 694 703 +f 697 699 703 +f 695 700 703 +o convex_54 +v 0.281110 -1.125703 1.620704 +v -0.359775 -1.469087 1.803810 +v -0.336877 -1.469087 1.780914 +v -0.359775 -0.370429 1.666524 +v 0.281110 -1.423274 1.803810 +v -0.359775 -1.331647 1.918258 +v 0.052196 -0.416242 1.643629 +v 0.166621 -1.377461 1.643629 +v -0.245286 -0.393335 1.620704 +v -0.336877 -0.416242 1.712315 +v 0.281110 -0.874052 1.620704 +v 0.189519 -1.469087 1.666524 +v -0.336877 -1.469087 1.918258 +v -0.313979 -1.423274 1.758106 +f 711 715 717 +f 706 705 707 +f 707 705 709 +f 709 708 710 +f 707 710 712 +f 704 711 712 +f 707 709 713 +f 710 707 713 +f 709 710 713 +f 708 704 714 +f 710 708 714 +f 712 710 714 +f 704 712 714 +f 705 706 715 +f 704 708 715 +f 711 704 715 +f 709 705 716 +f 708 709 716 +f 705 715 716 +f 715 708 716 +f 706 707 717 +f 707 712 717 +f 712 711 717 +f 715 706 717 +o convex_55 +v -0.268264 -1.858285 -0.805975 +v -0.886381 -1.538118 -1.103587 +v -0.886381 -1.538118 -1.080660 +v -0.863450 -0.301913 -0.828873 +v -0.268264 -2.888186 -1.103587 +v -0.840579 -1.881057 -1.080660 +v -0.863450 -1.194638 -1.103587 +v -0.268264 -1.789426 -0.851799 +v -0.886381 -0.485175 -0.805975 +v -0.291196 -3.071448 -1.080660 +v -0.359869 -1.720838 -0.805975 +v -0.840579 -1.881057 -1.103587 +f 727 723 729 +f 720 719 723 +f 722 719 724 +f 722 724 725 +f 721 718 725 +f 718 722 725 +f 724 721 725 +f 719 720 726 +f 718 721 726 +f 720 723 726 +f 724 719 726 +f 721 724 726 +f 722 718 727 +f 723 727 728 +f 718 726 728 +f 726 723 728 +f 727 718 728 +f 719 722 729 +f 723 719 729 +f 722 727 729 +o convex_56 +v -0.932167 1.209455 -1.950827 +v -1.092388 1.049057 -2.935043 +v -1.092388 1.094906 -2.935043 +v -0.771946 1.804533 -2.912015 +v -0.794844 1.781608 -2.042360 +v -1.046593 1.071982 -1.996594 +v -1.046593 1.049057 -2.912015 +v -0.840639 1.758684 -2.912015 +v -0.771946 1.667059 -1.950827 +v -0.794844 1.712909 -2.912015 +v -1.000829 1.049057 -2.156824 +f 736 739 740 +f 731 732 733 +f 734 732 735 +f 732 731 735 +f 733 732 737 +f 734 733 737 +f 732 734 737 +f 733 734 738 +f 734 735 738 +f 735 730 738 +f 731 733 739 +f 736 731 739 +f 738 730 739 +f 733 738 739 +f 735 731 740 +f 730 735 740 +f 731 736 740 +f 739 730 740 +o convex_57 +v -0.382695 3.498730 1.941312 +v -0.016475 3.750394 2.467752 +v -0.016475 3.796115 2.421885 +v -0.382695 3.750394 2.193065 +v -0.382695 3.155310 2.467752 +v -0.016475 3.773216 1.941312 +v -0.359788 3.315609 1.941312 +v -0.039382 3.956493 2.124419 +v -0.314011 3.544530 2.444767 +v -0.359788 3.155310 2.444767 +v -0.382695 3.612994 1.987076 +v -0.016475 3.704594 2.467752 +f 750 746 752 +f 742 743 744 +f 744 741 745 +f 743 742 746 +f 741 746 747 +f 745 741 747 +f 744 743 748 +f 743 746 748 +f 742 744 749 +f 744 745 749 +f 745 742 749 +f 747 746 750 +f 745 747 750 +f 741 744 751 +f 746 741 751 +f 744 748 751 +f 748 746 751 +f 742 745 752 +f 746 742 752 +f 745 750 752 +o convex_58 +v -0.588769 2.102456 2.101537 +v -0.382771 3.200845 2.467752 +v -0.405659 3.200845 2.467752 +v -0.405659 3.383910 1.941312 +v -0.428548 2.239712 2.421885 +v -0.565840 3.017610 2.147301 +v -0.588769 1.987679 2.467752 +v -0.565840 2.239712 1.941312 +v -0.428548 3.727391 2.170183 +v -0.382771 3.246654 1.941312 +v -0.588769 2.468586 1.941312 +v -0.382771 3.727391 2.193065 +v -0.451437 3.017610 2.467752 +v -0.520063 2.948982 1.941312 +v -0.451437 3.681582 2.170183 +v -0.428548 2.239712 2.467752 +f 759 757 768 +f 754 755 759 +f 753 757 759 +f 757 753 760 +f 754 757 762 +f 757 760 762 +f 760 756 762 +f 753 759 763 +f 759 758 763 +f 760 753 763 +f 756 760 763 +f 755 754 764 +f 761 755 764 +f 756 761 764 +f 754 762 764 +f 762 756 764 +f 759 755 765 +f 758 759 765 +f 756 763 766 +f 763 758 766 +f 755 761 767 +f 761 756 767 +f 765 755 767 +f 758 765 767 +f 756 766 767 +f 766 758 767 +f 757 754 768 +f 754 759 768 +o convex_59 +v 0.349816 2.216610 1.414796 +v 0.006505 3.956411 2.170094 +v -0.016439 3.956411 2.170094 +v -0.016439 3.704535 1.803860 +v -0.016439 2.262592 1.368976 +v 0.349816 3.704535 2.170094 +v 0.349816 2.239601 1.345986 +v 0.303998 3.567101 1.918328 +v 0.326907 2.422846 1.597833 +v -0.016439 2.354214 1.345986 +v 0.029379 3.864789 2.170094 +v 0.349816 3.750346 2.124274 +v 0.029379 3.704535 1.803860 +v 0.349816 2.239601 1.506355 +f 774 777 782 +f 771 770 772 +f 771 772 773 +f 770 771 774 +f 774 769 775 +f 769 773 775 +f 773 772 778 +f 775 773 778 +f 771 773 779 +f 774 771 779 +f 773 777 779 +f 777 774 779 +f 770 774 780 +f 774 775 780 +f 775 776 780 +f 780 776 781 +f 772 770 781 +f 776 775 781 +f 778 772 781 +f 775 778 781 +f 770 780 781 +f 773 769 782 +f 769 774 782 +f 777 773 782 +o convex_60 +v 0.922101 -2.659251 -1.904771 +v 0.830627 -2.751308 -1.080693 +v 0.807729 -2.751308 -1.080693 +v 1.013721 -1.309157 -1.675889 +v 0.739036 -3.369035 -1.950581 +v 1.013721 -2.018941 -1.447007 +v 1.036648 -1.309157 -1.950581 +v 0.784861 -3.208796 -1.126589 +v 1.036648 -1.950113 -1.950581 +v 0.784890 -3.437647 -1.813235 +v 0.739065 -3.162982 -1.080693 +v 1.013721 -1.309157 -1.950581 +v 0.761934 -3.506474 -1.950581 +v 1.036648 -2.018941 -1.813235 +v 1.036648 -1.309157 -1.675889 +f 796 789 797 +f 785 784 786 +f 788 784 790 +f 787 789 791 +f 784 785 793 +f 785 786 793 +f 790 784 793 +f 787 793 794 +f 786 789 794 +f 789 787 794 +f 793 786 794 +f 791 783 795 +f 787 791 795 +f 783 792 795 +f 792 790 795 +f 790 793 795 +f 793 787 795 +f 788 790 796 +f 783 791 796 +f 791 789 796 +f 792 783 796 +f 790 792 796 +f 786 784 797 +f 784 788 797 +f 789 786 797 +f 788 796 797 +o convex_61 +v -0.039149 1.987591 -1.950581 +v 0.807716 1.758789 -0.806038 +v 0.807716 1.713023 -0.806038 +v -0.062226 1.964722 -0.806038 +v 0.693098 1.690067 -1.950581 +v 0.624378 1.850321 -0.874827 +v 0.670106 1.758818 -1.950581 +v -0.062226 1.941825 -1.950581 +v -0.062226 1.941854 -0.806038 +v 0.006494 1.987678 -0.806038 +v 0.029571 1.987591 -1.950581 +v 0.784809 1.735920 -1.607196 +v 0.761817 1.713023 -0.874827 +f 800 806 810 +f 800 799 801 +f 802 798 804 +f 801 798 805 +f 798 802 805 +f 805 802 806 +f 800 801 806 +f 801 805 806 +f 801 799 807 +f 798 801 807 +f 799 803 807 +f 807 803 808 +f 804 798 808 +f 803 804 808 +f 798 807 808 +f 799 800 809 +f 800 802 809 +f 803 799 809 +f 802 804 809 +f 804 803 809 +f 802 800 810 +f 806 802 810 +o convex_62 +v -0.703168 -0.210042 -0.233573 +v 0.006418 0.018845 0.453068 +v -0.680247 0.064650 0.453068 +v -0.313993 -0.164327 0.430105 +v 0.006418 -0.255801 -0.370852 +v -0.542928 -0.393214 -0.347972 +v -0.680247 -0.164282 -0.347972 +v 0.006418 0.018845 0.315707 +v 0.006418 -0.301606 -0.347972 +v -0.703168 -0.004057 0.430105 +v -0.428530 -0.393214 -0.393815 +v -0.703168 -0.187095 -0.393815 +v -0.268220 -0.164327 0.430105 +v 0.006418 -0.095621 0.247067 +v -0.703168 0.041747 0.338586 +f 822 820 825 +f 812 813 814 +f 813 812 818 +f 812 815 818 +f 815 817 818 +f 815 812 819 +f 814 813 820 +f 811 816 820 +f 816 814 820 +f 815 819 821 +f 816 811 822 +f 817 815 822 +f 811 820 822 +f 821 816 822 +f 815 821 822 +f 812 814 823 +f 814 816 823 +f 816 821 823 +f 821 819 823 +f 819 812 824 +f 812 823 824 +f 823 819 824 +f 813 818 825 +f 818 817 825 +f 820 813 825 +f 817 822 825 +o convex_63 +v -0.588769 2.125100 1.597860 +v -0.382771 3.338377 1.941209 +v -0.382771 3.338377 1.918253 +v -0.382771 2.193751 1.414679 +v -0.565840 2.239600 1.941209 +v -0.588769 2.125100 1.345986 +v -0.542951 2.788804 1.941209 +v -0.382771 2.216799 1.345986 +v -0.405659 3.292528 1.872516 +v -0.382771 3.200830 1.941209 +v -0.588769 2.399825 1.941209 +v -0.382771 2.239600 1.483372 +f 835 830 837 +f 828 827 829 +f 826 829 830 +f 829 826 831 +f 830 827 832 +f 828 829 833 +f 829 831 833 +f 833 831 834 +f 827 828 834 +f 832 827 834 +f 831 832 834 +f 828 833 834 +f 829 827 835 +f 827 830 835 +f 826 830 836 +f 831 826 836 +f 830 832 836 +f 832 831 836 +f 830 829 837 +f 829 835 837 +o convex_64 +v -0.520012 -0.072718 0.453151 +v 0.006454 -0.164244 1.345986 +v 0.006454 -0.210037 1.345986 +v -0.703188 0.041704 1.345986 +v 0.006454 0.018837 0.453151 +v -0.703188 0.064600 0.453151 +v 0.006454 0.018837 1.002521 +v -0.359829 -0.141348 0.453151 +v -0.085169 -0.232933 1.345986 +v -0.611565 0.064600 1.345986 +v -0.268345 -0.141348 0.453151 +v 0.006454 -0.004059 1.162804 +v -0.703188 0.018808 0.910755 +f 845 846 850 +f 840 839 841 +f 839 840 842 +f 842 838 843 +f 839 842 844 +f 838 842 845 +f 840 841 846 +f 841 839 847 +f 843 841 847 +f 842 843 847 +f 844 842 847 +f 842 840 848 +f 845 842 848 +f 840 846 848 +f 846 845 848 +f 839 844 849 +f 847 839 849 +f 844 847 849 +f 843 838 850 +f 841 843 850 +f 838 845 850 +f 846 841 850 +o convex_65 +v -0.817580 1.712906 -1.675917 +v -0.062306 1.964785 -1.675917 +v -0.062306 1.964785 -1.950581 +v -0.863394 1.392455 -1.904817 +v -0.771848 1.781590 -1.950581 +v -0.863394 1.415369 -1.675917 +v -0.748941 1.804448 -1.675917 +v -0.886300 1.506966 -1.950581 +v -0.062306 1.941872 -1.675917 +v -0.131026 1.964785 -1.950581 +f 855 857 860 +f 852 851 856 +f 851 852 857 +f 855 851 857 +f 853 854 858 +f 851 855 858 +f 855 853 858 +f 856 851 858 +f 854 856 858 +f 853 852 859 +f 854 853 859 +f 852 856 859 +f 856 854 859 +f 852 853 860 +f 853 855 860 +f 857 852 860 +o convex_66 +v 0.578735 -0.095607 -0.233551 +v 0.006454 -0.301628 -0.393835 +v 0.006454 -0.301628 -0.348039 +v 0.006454 -0.072710 0.247049 +v 0.349975 -0.370321 -0.370937 +v 0.647439 -0.072710 -0.393835 +v 0.006454 -0.118505 -0.004762 +v 0.052373 -0.118505 0.201254 +v 0.006454 -0.255804 -0.370937 +f 867 866 869 +f 862 863 864 +f 863 862 865 +f 864 861 866 +f 861 865 866 +f 865 862 866 +f 862 864 867 +f 864 866 867 +f 864 863 868 +f 861 864 868 +f 865 861 868 +f 863 865 868 +f 866 862 869 +f 862 867 869 +o convex_67 +v 0.006454 -0.072710 0.201279 +v 0.990861 0.041756 -0.050275 +v 0.990861 0.018854 -0.050275 +v 0.876290 0.041745 0.865229 +v 0.006454 0.018854 0.315655 +v 0.738978 -0.072710 -0.393897 +v 0.853357 -0.026916 0.842181 +v 0.006454 -0.004025 0.865229 +v 0.418583 0.041756 -0.073200 +v 0.235404 0.041745 0.727681 +v 0.990861 -0.049807 -0.393897 +v 0.967928 0.041756 -0.393897 +v 0.693207 -0.026916 -0.393897 +v 0.418776 -0.026916 0.865229 +f 873 877 883 +f 872 871 873 +f 870 875 876 +f 872 873 876 +f 874 870 877 +f 873 871 878 +f 870 874 878 +f 874 877 879 +f 877 873 879 +f 873 878 879 +f 878 874 879 +f 871 872 880 +f 876 875 880 +f 872 876 880 +f 878 871 881 +f 871 880 881 +f 880 875 881 +f 875 870 882 +f 870 878 882 +f 878 881 882 +f 881 875 882 +f 870 876 883 +f 876 873 883 +f 877 870 883 +o convex_68 +v 0.739074 0.957471 2.559325 +v 0.922168 0.430941 1.345986 +v 0.945037 0.430941 1.345986 +v 0.967964 1.026164 1.345986 +v 0.807767 0.980369 2.490439 +v 0.693250 0.430941 2.444714 +v 0.739074 0.499634 2.536403 +v 0.967964 0.522590 1.368908 +v 0.922168 0.888778 1.414753 +v 0.990861 1.026164 1.414753 +v 0.761943 1.026164 2.467517 +f 888 893 894 +f 886 885 887 +f 885 886 889 +f 884 889 890 +f 888 884 890 +f 889 886 890 +f 890 886 891 +f 886 887 891 +f 888 890 891 +f 887 885 892 +f 885 889 892 +f 891 887 893 +f 888 891 893 +f 884 888 894 +f 889 884 894 +f 887 892 894 +f 892 889 894 +f 893 887 894 +o convex_69 +v 0.830457 0.018823 1.231455 +v 0.006537 -0.004057 0.865323 +v 0.006537 -0.187149 1.300154 +v 0.693178 -0.049843 0.865323 +v 0.532937 -0.232935 1.300154 +v 0.098139 -0.072723 1.345986 +v 0.761818 0.041730 1.345986 +v 0.853419 0.041730 0.865323 +v 0.006537 0.018823 1.094196 +v 0.532937 -0.232935 1.345986 +v 0.853419 -0.004057 0.865323 +f 904 899 905 +f 897 896 899 +f 896 898 899 +f 901 895 902 +f 898 896 902 +f 896 897 903 +f 897 900 903 +f 900 901 903 +f 901 902 903 +f 902 896 903 +f 897 899 904 +f 900 897 904 +f 901 900 904 +f 895 901 904 +f 899 898 905 +f 902 895 905 +f 898 902 905 +f 895 904 905 +o convex_70 +v 0.281172 -1.354666 1.712288 +v 0.532997 -0.370321 2.055675 +v 0.532997 -0.370321 1.964091 +v 0.372747 -1.675207 2.032768 +v 0.464298 -1.125689 1.781008 +v 0.418498 -0.370321 1.620704 +v 0.281172 -1.697930 2.055675 +v 0.281172 -0.874124 1.643653 +v 0.487173 -0.393313 2.009819 +v 0.441422 -0.645147 1.620704 +v 0.487173 -1.079840 2.055675 +v 0.326997 -1.606500 1.849558 +v 0.304072 -1.057117 1.620704 +f 911 915 918 +f 907 908 911 +f 906 912 913 +f 913 912 914 +f 907 911 914 +f 912 907 914 +f 911 913 914 +f 908 910 915 +f 911 908 915 +f 908 907 916 +f 909 910 916 +f 910 908 916 +f 907 912 916 +f 912 909 916 +f 906 910 917 +f 910 909 917 +f 909 912 917 +f 912 906 917 +f 910 906 918 +f 913 911 918 +f 906 913 918 +f 915 910 918 +o convex_71 +v 0.304072 -1.812593 2.147306 +v 0.326997 -0.370603 2.582115 +v 0.281172 -0.370603 2.582115 +v 0.532997 -0.370603 2.055675 +v 0.349872 -1.011487 2.559233 +v 0.464298 -1.308779 2.193122 +v 0.281172 -1.697968 2.055675 +v 0.281172 -1.629221 2.399008 +v 0.395672 -0.416340 2.536351 +v 0.395672 -1.766573 2.170188 +v 0.487173 -0.370603 2.078660 +v 0.487173 -1.080093 2.055675 +v 0.510098 -0.965750 2.170188 +v 0.281172 -0.988619 2.582115 +v 0.372747 -1.720836 2.055675 +v 0.281172 -0.416340 2.536351 +f 929 925 934 +f 921 920 922 +f 925 919 926 +f 921 925 926 +f 922 920 927 +f 920 923 927 +f 924 923 928 +f 923 926 928 +f 926 919 928 +f 921 922 929 +f 922 925 929 +f 925 922 930 +f 924 928 930 +f 923 924 931 +f 922 927 931 +f 927 923 931 +f 930 922 931 +f 924 930 931 +f 920 921 932 +f 923 920 932 +f 921 926 932 +f 926 923 932 +f 919 925 933 +f 928 919 933 +f 925 930 933 +f 930 928 933 +f 925 921 934 +f 921 929 934 +o convex_72 +v 0.807752 1.735784 2.467517 +v 0.967939 1.026234 1.345986 +v 0.945039 1.186466 1.345986 +v 0.761952 1.026234 2.467517 +v 0.899262 1.735784 1.437794 +v 0.990861 1.163615 1.414753 +v 0.807752 1.026234 2.490439 +v 0.967939 1.689944 1.368908 +v 0.761952 1.735784 2.421910 +v 0.761952 1.735784 2.559325 +f 943 938 944 +f 937 936 938 +f 937 938 939 +f 940 935 941 +f 938 936 941 +f 936 940 941 +f 936 937 942 +f 939 935 942 +f 937 939 942 +f 940 936 942 +f 935 940 942 +f 935 939 943 +f 939 938 943 +f 941 935 944 +f 938 941 944 +f 935 943 944 +o convex_73 +v 0.418620 -0.095650 2.536378 +v 0.807595 0.064565 1.529212 +v 0.807595 0.041665 1.529212 +v 0.418576 -0.187122 1.346048 +v 0.532969 -0.370279 2.101540 +v 0.555866 0.064565 2.536378 +v 0.349886 -0.370279 2.536378 +v 0.441472 -0.370279 1.552166 +v 0.784743 0.064565 1.346048 +v 0.510162 0.064565 2.513425 +v 0.807595 0.018765 1.346048 +v 0.578763 0.041665 2.513425 +v 0.349886 -0.232879 2.513425 +v 0.395724 -0.370279 2.536378 +v 0.533059 -0.232879 1.346048 +v 0.693201 0.018765 1.346048 +f 948 954 960 +f 950 945 951 +f 949 951 952 +f 951 948 952 +f 950 946 953 +f 950 953 954 +f 948 945 954 +f 945 950 954 +f 946 947 955 +f 947 949 955 +f 949 952 955 +f 948 953 955 +f 953 946 955 +f 947 946 956 +f 949 947 956 +f 946 950 956 +f 945 948 957 +f 951 945 957 +f 948 951 957 +f 950 951 958 +f 951 949 958 +f 949 956 958 +f 956 950 958 +f 952 948 959 +f 955 952 959 +f 948 955 959 +f 953 948 960 +f 954 953 960 +o convex_74 +v -0.130950 3.658700 2.467763 +v -0.588769 1.941892 2.536418 +v -0.588769 1.941892 2.582218 +v -0.245405 2.262603 2.559307 +v -0.016439 3.361060 2.582218 +v -0.405518 3.109210 2.513552 +v -0.565800 1.964962 2.467763 +v -0.016439 3.681596 2.467763 +v -0.428432 3.063419 2.467763 +v -0.428432 2.216812 2.467763 +v -0.245405 3.017628 2.582218 +v -0.062266 3.704491 2.513552 +v -0.016439 3.155001 2.582218 +f 968 965 973 +f 963 962 964 +f 964 962 967 +f 967 961 968 +f 962 963 969 +f 963 966 969 +f 966 961 969 +f 961 967 969 +f 967 962 969 +f 964 967 970 +f 968 964 970 +f 967 968 970 +f 963 965 971 +f 966 963 971 +f 966 971 972 +f 961 966 972 +f 968 961 972 +f 965 968 972 +f 971 965 972 +f 963 964 973 +f 965 963 973 +f 964 968 973 +o convex_75 +v 0.464226 0.316475 2.811181 +v -0.062226 -0.370279 2.673887 +v 0.235458 -0.370279 2.559341 +v 0.510028 0.064522 2.536432 +v -0.016424 0.316475 3.085822 +v 0.372743 -0.370279 2.559341 +v -0.062226 -0.187095 2.673887 +v 0.418424 0.316475 2.765416 +v 0.006508 0.270629 3.085822 +v 0.052249 -0.370279 2.696743 +v 0.006508 0.316475 3.017094 +v 0.510089 0.247773 2.765416 +v 0.555891 0.041666 2.605160 +f 985 979 986 +f 975 976 979 +f 976 977 979 +f 976 975 980 +f 977 976 980 +f 975 978 980 +f 978 974 981 +f 977 980 981 +f 974 978 982 +f 978 975 982 +f 979 982 983 +f 975 979 983 +f 982 975 983 +f 980 978 984 +f 978 981 984 +f 981 980 984 +f 981 974 985 +f 977 981 985 +f 974 982 985 +f 982 979 985 +f 979 977 986 +f 977 985 986 +o convex_76 +v -0.016439 0.797160 3.131655 +v -0.588769 0.064721 2.788275 +v -0.588769 0.064721 2.811186 +v -0.016439 0.064721 2.925634 +v -0.542943 0.797160 2.788275 +v -0.062266 0.293644 3.108744 +v -0.588769 0.476682 2.902723 +v -0.016439 0.087664 2.879848 +v -0.199690 0.797160 3.085833 +v -0.588769 0.797160 2.834062 +v -0.565800 0.224960 2.902723 +v -0.039353 0.797160 3.085833 +v -0.565800 0.087664 2.765364 +f 996 991 999 +f 989 988 990 +f 989 990 992 +f 990 987 992 +f 988 989 993 +f 990 988 994 +f 987 990 994 +f 987 991 995 +f 992 987 995 +f 993 995 996 +f 988 993 996 +f 995 991 996 +f 989 992 997 +f 993 989 997 +f 992 995 997 +f 995 993 997 +f 991 987 998 +f 987 994 998 +f 994 991 998 +f 994 988 999 +f 991 994 999 +f 988 996 999 +o convex_77 +v 0.624633 0.110467 2.513481 +v 0.944995 0.430905 1.437794 +v 0.876348 0.430905 1.781035 +v 0.532998 0.087594 2.490439 +v 0.830571 0.064650 1.345986 +v 0.716188 0.270650 2.513481 +v 0.693279 0.430905 2.421910 +v 0.899217 0.430905 1.414753 +v 0.944995 0.247777 1.368908 +v 0.784794 0.087594 1.345986 +v 0.739016 0.064650 1.941373 +v 0.716188 0.430905 2.559325 +f 1006 1003 1011 +f 1002 1001 1006 +f 1006 1001 1007 +f 1003 1006 1007 +f 1001 1002 1008 +f 1002 1005 1008 +f 1007 1001 1008 +f 1007 1008 1009 +f 1004 1003 1009 +f 1003 1007 1009 +f 1008 1004 1009 +f 1000 1003 1010 +f 1003 1004 1010 +f 1005 1000 1010 +f 1004 1008 1010 +f 1008 1005 1010 +f 1003 1000 1011 +f 1005 1002 1011 +f 1000 1005 1011 +f 1002 1006 1011 +o convex_78 +v 0.578860 2.216530 2.032782 +v 0.922128 1.735853 1.346053 +v 0.945032 1.735853 1.346053 +v 0.830553 1.735853 2.032782 +v 0.510147 2.124979 1.346053 +v 0.670393 2.193704 1.941092 +v 0.807649 1.964803 1.346053 +v 0.533051 2.193704 1.414753 +v 0.853457 1.781653 2.032782 +v 0.510147 2.216530 1.803760 +v 0.945032 1.781653 1.391898 +f 1017 1020 1022 +f 1013 1014 1015 +f 1014 1013 1016 +f 1013 1015 1016 +f 1014 1016 1018 +f 1012 1017 1019 +f 1018 1016 1019 +f 1017 1018 1019 +f 1015 1014 1020 +f 1012 1015 1020 +f 1017 1012 1020 +f 1015 1012 1021 +f 1016 1015 1021 +f 1012 1019 1021 +f 1019 1016 1021 +f 1018 1017 1022 +f 1014 1018 1022 +f 1020 1014 1022 +o convex_79 +v 0.738992 1.758778 2.696570 +v 0.807658 1.735853 2.032934 +v 0.647504 2.033380 2.055789 +v 0.510104 1.735853 2.788143 +v 0.533060 2.239504 2.490570 +v 0.647504 2.216530 2.055789 +v 0.578838 2.216530 2.032934 +v 0.853469 1.781653 2.032934 +v 0.670393 1.964803 2.650784 +v 0.510104 2.193704 2.604997 +v 0.784769 1.735853 2.604997 +v 0.510104 2.193704 2.376294 +v 0.555949 1.781653 2.811074 +f 1031 1032 1035 +f 1025 1024 1026 +f 1024 1025 1029 +f 1025 1026 1029 +f 1027 1028 1029 +f 1029 1028 1030 +f 1024 1029 1030 +f 1028 1027 1031 +f 1031 1027 1032 +f 1026 1024 1033 +f 1023 1026 1033 +f 1030 1028 1033 +f 1024 1030 1033 +f 1031 1023 1033 +f 1028 1031 1033 +f 1029 1026 1034 +f 1027 1029 1034 +f 1026 1032 1034 +f 1032 1027 1034 +f 1026 1023 1035 +f 1023 1031 1035 +f 1032 1026 1035 +o convex_80 +v -0.726180 -3.506288 -1.836089 +v -0.863445 -1.263156 -1.103620 +v -0.863445 -1.263156 -1.126585 +v -0.611689 -2.225101 -1.103620 +v -0.840563 -1.996151 -1.103620 +v -0.863445 -2.636855 -1.950581 +v -0.634598 -3.025760 -1.286758 +v -0.680362 -3.483438 -1.950581 +v -0.886354 -2.819882 -1.881853 +v -0.771917 -3.437737 -1.836089 +v -0.886327 -1.973078 -1.240994 +v -0.611689 -3.209008 -1.447014 +v -0.611689 -2.225101 -1.126585 +v -0.886327 -1.263156 -1.126585 +v -0.771917 -3.460587 -1.950581 +v -0.886354 -2.636855 -1.950581 +v -0.611689 -2.362204 -1.103620 +f 1047 1039 1052 +f 1038 1037 1039 +f 1039 1037 1040 +f 1036 1042 1045 +f 1042 1040 1045 +f 1045 1040 1046 +f 1044 1045 1046 +f 1042 1036 1047 +f 1036 1043 1047 +f 1047 1043 1048 +f 1038 1039 1048 +f 1041 1038 1048 +f 1043 1041 1048 +f 1039 1047 1048 +f 1037 1038 1049 +f 1040 1037 1049 +f 1038 1041 1049 +f 1046 1040 1049 +f 1044 1046 1049 +f 1041 1043 1050 +f 1043 1036 1050 +f 1045 1044 1050 +f 1036 1045 1050 +f 1049 1041 1051 +f 1044 1049 1051 +f 1041 1050 1051 +f 1050 1044 1051 +f 1039 1040 1052 +f 1040 1042 1052 +f 1042 1047 1052 +o convex_81 +v 0.075134 -3.941628 -1.767508 +v -0.680342 -3.529666 -1.950581 +v -0.680342 -3.529666 -1.836124 +v -0.565793 -3.186351 -1.469928 +v -0.062266 -3.735526 -1.447007 +v 0.075134 -3.918719 -1.950581 +v -0.039415 -3.987447 -1.836124 +v -0.016491 -3.689708 -1.469928 +v -0.634493 -3.209260 -1.447007 +v -0.634493 -3.506757 -1.950581 +v -0.016491 -3.987447 -1.950581 +v -0.405543 -3.300816 -1.447007 +f 1061 1057 1064 +f 1055 1054 1059 +f 1053 1057 1059 +f 1057 1055 1059 +f 1057 1053 1060 +f 1053 1058 1060 +f 1054 1055 1061 +f 1056 1054 1061 +f 1055 1057 1061 +f 1054 1056 1062 +f 1058 1054 1062 +f 1056 1058 1062 +f 1054 1058 1063 +f 1058 1053 1063 +f 1059 1054 1063 +f 1053 1059 1063 +f 1058 1056 1064 +f 1057 1060 1064 +f 1060 1058 1064 +f 1056 1061 1064 +o convex_82 +v 0.120826 -1.652255 2.536466 +v -0.359775 -1.331567 2.513557 +v -0.336877 -1.400461 2.513557 +v -0.039332 -0.874182 2.696666 +v 0.281110 -0.370321 2.559357 +v -0.359775 -0.370321 2.582248 +v 0.052196 -0.370321 2.696666 +v 0.281110 -1.262945 2.513557 +v -0.062167 -1.652255 2.605121 +v -0.359775 -1.079773 2.605121 +v 0.281110 -1.034253 2.582248 +v -0.359775 -0.370321 2.559357 +v -0.085065 -0.370321 2.696666 +v -0.062167 -1.766806 2.513557 +v 0.258212 -1.079773 2.513557 +f 1076 1069 1079 +f 1069 1070 1071 +f 1067 1066 1072 +f 1073 1068 1074 +f 1066 1067 1074 +f 1070 1066 1074 +f 1067 1073 1074 +f 1071 1068 1075 +f 1069 1071 1075 +f 1072 1069 1075 +f 1065 1072 1075 +f 1073 1065 1075 +f 1068 1073 1075 +f 1066 1070 1076 +f 1070 1069 1076 +f 1068 1071 1077 +f 1071 1070 1077 +f 1074 1068 1077 +f 1070 1074 1077 +f 1072 1065 1078 +f 1067 1072 1078 +f 1065 1073 1078 +f 1073 1067 1078 +f 1069 1072 1079 +f 1072 1066 1079 +f 1066 1076 1079 +o convex_83 +v -0.107963 -1.949871 2.193034 +v 0.281110 -1.469298 1.826833 +v 0.281110 -1.766764 2.170060 +v -0.359775 -1.469298 1.941209 +v 0.097991 -1.835410 1.781033 +v -0.336877 -1.560826 1.781033 +v -0.359775 -1.743882 2.193034 +v 0.189519 -1.469298 1.689384 +v 0.281110 -1.835410 2.193034 +v 0.281110 -1.675287 1.849708 +v 0.006400 -1.995738 2.170060 +v -0.359775 -1.789646 2.147234 +v 0.052196 -1.835410 1.781033 +v -0.359775 -1.469298 1.803908 +f 1091 1083 1093 +f 1082 1081 1083 +f 1082 1083 1086 +f 1083 1081 1087 +f 1081 1082 1088 +f 1086 1080 1088 +f 1082 1086 1088 +f 1087 1081 1089 +f 1084 1087 1089 +f 1081 1088 1089 +f 1088 1084 1089 +f 1088 1080 1090 +f 1084 1088 1090 +f 1080 1086 1091 +f 1086 1083 1091 +f 1087 1084 1092 +f 1085 1087 1092 +f 1090 1080 1092 +f 1084 1090 1092 +f 1080 1091 1092 +f 1091 1085 1092 +f 1083 1087 1093 +f 1087 1085 1093 +f 1085 1091 1093 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/072/072.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/072/072.urdf new file mode 100644 index 000000000..03b992529 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/072/072.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/073/073.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/073/073.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/073/073.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/073/073.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/073/073.obj new file mode 100644 index 000000000..a372031cb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/073/073.obj @@ -0,0 +1,507 @@ +o convex_0 +v 2.463166 -0.332740 0.149058 +v 0.249023 -0.965614 0.430219 +v 0.249023 -0.965614 0.465313 +v 2.428051 -3.951938 -0.940492 +v 2.357823 -3.811602 1.027635 +v 0.319468 -3.846977 -1.045979 +v 0.389696 0.018684 -0.975586 +v 0.354582 -3.811991 0.922148 +v 0.284354 0.018684 1.062935 +v 2.322709 0.018295 -0.940492 +v 2.287595 0.018295 1.062935 +v 0.249023 0.018684 0.113758 +v 0.741271 -3.003405 -1.045979 +v 0.319468 -3.319453 0.957448 +v 2.463166 0.019072 -0.131896 +v 0.284354 -0.684164 1.062935 +v 0.424811 -0.227391 -1.010679 +v 2.392937 -3.881964 0.394919 +v 2.322709 -1.000601 1.062935 +v 0.319468 -3.776615 0.922148 +v 2.076693 -3.951938 -0.905192 +v 1.900906 -0.719540 -0.975379 +v 2.392937 -3.284466 0.851754 +v 2.428051 -3.951938 -0.659125 +v 0.354582 -0.157028 -0.870099 +v 2.006248 -3.916951 -0.975379 +v 2.357823 -0.543828 -0.940492 +v 2.463382 -1.492749 -0.377964 +v 2.322709 -0.368116 1.062935 +v 0.249023 -0.086666 0.781567 +v 2.252481 -3.811602 1.027635 +v 0.776386 -3.846589 -1.045979 +v 2.287595 -3.846589 0.886848 +v 0.354582 -2.405907 -1.045979 +v 2.428051 -3.424802 -0.940492 +v 1.514433 0.018295 -0.975379 +v 2.463166 0.019072 0.078665 +v 0.284354 -1.457374 -0.448357 +v 2.463382 -1.035976 -0.061709 +v 2.428051 -3.916951 -0.553638 +v 2.357823 -2.475881 1.027635 +v 2.006248 -3.003405 -0.975379 +v 0.354582 -1.176313 -1.010679 +v 0.776386 -3.811602 0.957448 +f 33 31 44 +f 3 2 6 +f 2 3 12 +f 6 2 12 +f 10 7 15 +f 7 12 15 +f 11 9 16 +f 11 16 19 +f 3 6 20 +f 6 8 20 +f 14 16 20 +f 6 4 21 +f 8 6 21 +f 5 18 23 +f 18 8 24 +f 21 4 24 +f 8 21 24 +f 12 7 25 +f 10 15 27 +f 22 10 27 +f 24 4 28 +f 19 5 29 +f 11 19 29 +f 12 3 30 +f 9 12 30 +f 16 9 30 +f 3 20 30 +f 20 16 30 +f 16 14 31 +f 5 19 31 +f 19 16 31 +f 4 6 32 +f 6 13 32 +f 26 4 32 +f 18 5 33 +f 8 18 33 +f 5 31 33 +f 13 6 34 +f 17 13 34 +f 4 26 35 +f 27 15 35 +f 15 28 35 +f 28 4 35 +f 7 10 36 +f 17 7 36 +f 13 17 36 +f 10 22 36 +f 22 13 36 +f 9 11 37 +f 12 9 37 +f 15 12 37 +f 29 1 37 +f 11 29 37 +f 6 12 38 +f 12 25 38 +f 1 23 39 +f 28 15 39 +f 15 37 39 +f 37 1 39 +f 23 18 40 +f 18 24 40 +f 24 28 40 +f 39 23 40 +f 28 39 40 +f 23 1 41 +f 5 23 41 +f 1 29 41 +f 29 5 41 +f 13 22 42 +f 22 27 42 +f 32 13 42 +f 26 32 42 +f 35 26 42 +f 27 35 42 +f 7 17 43 +f 25 7 43 +f 34 6 43 +f 17 34 43 +f 6 38 43 +f 38 25 43 +f 20 8 44 +f 14 20 44 +f 31 14 44 +f 8 33 44 +o convex_1 +v -3.617100 0.124838 0.254339 +v -2.457528 2.092607 1.062935 +v -2.949533 2.092607 1.062935 +v -3.687469 2.233432 -1.045979 +v -2.281822 0.159677 -1.045979 +v -2.281822 0.089370 0.992541 +v -2.281677 2.197963 -1.010679 +v -3.687469 2.057348 1.062935 +v -3.757838 0.160097 -1.045979 +v -3.617100 0.124838 0.957448 +v -2.281677 2.092607 1.027635 +v -2.281677 0.757395 1.062935 +v -2.316934 0.089370 -0.061709 +v -3.757838 0.581731 -0.518751 +v -2.879164 2.233432 -1.045979 +v -3.652212 0.862961 1.027635 +v -3.722581 1.776119 -1.045979 +v -3.687469 2.233432 -0.835005 +v -2.844052 0.089370 0.992541 +v -2.527752 2.233432 -0.975586 +v -3.687469 1.670552 1.062935 +v -2.281677 2.127866 -1.045979 +v -3.055014 0.124838 -0.835005 +v -3.652212 0.124838 0.640987 +v -3.722581 1.494889 0.465313 +v -2.984645 0.897800 1.062935 +v -3.300945 0.124838 0.992541 +v -3.687469 2.092397 0.816867 +v -3.757838 0.722346 -1.045979 +v -3.757838 0.160097 -0.764612 +f 68 58 74 +f 46 47 52 +f 48 49 53 +f 51 55 56 +f 50 49 56 +f 46 52 56 +f 55 46 56 +f 49 50 57 +f 49 48 59 +f 48 53 61 +f 47 46 62 +f 59 48 62 +f 48 61 62 +f 50 56 63 +f 57 50 63 +f 45 57 63 +f 46 55 64 +f 55 51 64 +f 51 59 64 +f 62 46 64 +f 59 62 64 +f 56 52 65 +f 51 56 66 +f 56 49 66 +f 49 59 66 +f 59 51 66 +f 53 49 67 +f 45 53 67 +f 49 57 67 +f 57 45 67 +f 53 45 68 +f 54 60 68 +f 45 63 68 +f 63 54 68 +f 65 58 68 +f 60 65 68 +f 52 61 69 +f 65 52 69 +f 58 65 69 +f 56 65 70 +f 65 60 70 +f 60 54 71 +f 54 63 71 +f 63 56 71 +f 56 70 71 +f 70 60 71 +f 52 47 72 +f 61 52 72 +f 47 62 72 +f 62 61 72 +f 53 58 73 +f 61 53 73 +f 69 61 73 +f 58 69 73 +f 58 53 74 +f 53 68 74 +o convex_2 +v -0.629561 0.019072 1.062935 +v 0.213448 2.198283 -0.975379 +v 0.213448 2.198283 -1.010679 +v 2.463331 0.019072 -0.131896 +v 2.428031 2.127890 0.922148 +v -2.281674 2.092693 1.027635 +v -2.281674 0.159859 -1.045979 +v 2.428031 2.127890 -1.010679 +v -2.281674 2.198283 -1.010679 +v 2.322597 0.019072 -0.940286 +v 2.287298 0.019072 1.062935 +v -2.281674 0.089679 0.992541 +v 0.003044 2.163086 0.992335 +v 0.389482 0.019072 -0.975379 +v -2.246374 2.127890 -1.045979 +v -2.105640 0.089679 -0.483451 +v -2.281674 1.389825 1.062935 +v 2.322597 0.265236 1.062935 +v 1.619393 2.163086 0.957241 +v 1.479123 0.019072 -0.975379 +v -1.719203 2.127890 1.027635 +v -2.281674 2.198283 -0.624031 +v 2.463331 1.635775 -0.518544 +v -0.910564 1.565595 -1.045979 +v 2.463331 0.933121 0.359619 +v -1.859937 0.159859 -1.045979 +v -1.226867 2.127676 1.027635 +v 1.689992 2.163086 -1.010679 +v 2.428031 1.987103 -1.010679 +v -1.719203 0.054269 1.027635 +v 2.428031 1.881726 0.957241 +v 2.463331 0.019072 0.078458 +v -1.719203 1.495202 1.062935 +v 1.795426 2.163086 0.922148 +v -2.281674 1.073694 1.062935 +v -0.524127 2.163086 0.992541 +v 2.357432 0.019072 -0.835005 +v -2.281674 0.089679 -0.132103 +v -2.035506 0.089679 1.027635 +v 0.038344 0.159859 -1.010679 +v -0.981163 1.916709 -1.045979 +v 2.287298 0.300646 1.062935 +v 2.463331 1.319218 0.324526 +f 105 99 117 +f 76 77 83 +f 81 80 83 +f 78 75 84 +f 75 78 85 +f 80 81 86 +f 84 75 88 +f 83 77 89 +f 81 83 89 +f 81 88 90 +f 75 85 91 +f 80 86 91 +f 91 85 92 +f 84 88 94 +f 88 81 94 +f 76 83 96 +f 83 80 96 +f 93 76 96 +f 87 93 96 +f 80 95 96 +f 82 79 97 +f 81 89 98 +f 78 97 99 +f 94 81 100 +f 81 98 100 +f 93 87 101 +f 87 95 101 +f 89 77 102 +f 82 89 102 +f 84 94 103 +f 97 78 103 +f 82 97 103 +f 98 82 103 +f 100 98 103 +f 79 93 105 +f 93 101 105 +f 85 78 106 +f 92 85 106 +f 78 99 106 +f 105 92 106 +f 99 105 106 +f 80 91 107 +f 91 92 107 +f 95 80 107 +f 101 95 107 +f 77 76 108 +f 79 82 108 +f 76 93 108 +f 93 79 108 +f 102 77 108 +f 82 102 108 +f 75 91 109 +f 91 86 109 +f 95 87 110 +f 87 96 110 +f 96 95 110 +f 78 84 111 +f 103 78 111 +f 84 103 111 +f 86 81 112 +f 88 75 112 +f 81 90 112 +f 90 88 112 +f 75 104 112 +f 104 86 112 +f 104 75 113 +f 86 104 113 +f 75 109 113 +f 109 86 113 +f 94 100 114 +f 103 94 114 +f 100 103 114 +f 89 82 115 +f 82 98 115 +f 98 89 115 +f 92 105 116 +f 105 101 116 +f 107 92 116 +f 101 107 116 +f 97 79 117 +f 99 97 117 +f 79 105 117 +o convex_3 +v 4.185394 1.354608 0.219352 +v 2.463572 0.792403 -0.307859 +v 2.463572 0.862748 -0.307859 +v 2.463572 1.038425 0.359963 +v 4.361171 0.792403 0.254456 +v 4.396554 1.424953 -0.202286 +v 2.463572 1.354608 -0.202286 +v 4.361171 0.862748 -0.237456 +v 2.463572 1.319497 0.324794 +v 2.498765 0.897859 0.324794 +v 3.834028 1.424953 0.219352 +v 4.325978 1.424953 0.149014 +v 3.587865 0.792403 0.184183 +v 4.325978 0.792403 0.008533 +v 3.763642 0.827575 -0.272690 +v 2.463572 1.284324 -0.237456 +v 2.463572 0.792403 -0.167248 +v 3.974612 1.284324 -0.237456 +f 133 123 135 +f 120 119 121 +f 118 121 122 +f 120 121 124 +f 123 122 125 +f 121 118 126 +f 124 121 126 +f 122 121 127 +f 123 124 128 +f 126 118 128 +f 124 126 128 +f 118 122 129 +f 122 123 129 +f 128 118 129 +f 123 128 129 +f 119 122 130 +f 122 127 130 +f 122 119 131 +f 125 122 131 +f 125 131 132 +f 119 120 132 +f 131 119 132 +f 124 123 133 +f 120 124 133 +f 121 119 134 +f 127 121 134 +f 119 130 134 +f 130 127 134 +f 123 125 135 +f 125 132 135 +f 132 120 135 +f 120 133 135 +o convex_4 +v -2.738584 1.460098 -1.573321 +v -2.808861 0.792341 -3.014147 +v -2.773692 0.792341 -3.014147 +v -2.914244 0.862738 -1.045979 +v -2.387202 0.933004 -1.045979 +v -2.422371 1.249169 -3.014147 +v -2.949414 1.424932 -3.014147 +v -2.387202 1.354601 -1.045979 +v -2.352033 0.862738 -3.049447 +v -2.843968 1.460098 -1.045979 +v -2.984583 0.792341 -2.979043 +v -2.492648 1.354601 -3.014147 +v -2.984583 1.319500 -2.943940 +v -2.843968 0.827572 -1.538217 +v -2.879137 1.460098 -1.221891 +v -2.984583 0.792341 -2.381298 +v -2.387202 0.862738 -2.486805 +v -2.422371 1.354601 -2.240686 +v -2.738584 1.214069 -3.049447 +f 147 144 154 +f 139 140 143 +f 141 143 144 +f 138 137 144 +f 143 140 144 +f 143 136 145 +f 139 143 145 +f 137 138 146 +f 142 136 147 +f 141 144 147 +f 142 146 148 +f 140 139 149 +f 136 142 150 +f 145 136 150 +f 139 145 150 +f 142 148 150 +f 148 139 150 +f 146 138 151 +f 139 148 151 +f 148 146 151 +f 149 139 151 +f 138 149 151 +f 138 144 152 +f 144 140 152 +f 140 149 152 +f 149 138 152 +f 136 143 153 +f 143 141 153 +f 147 136 153 +f 141 147 153 +f 144 137 154 +f 137 146 154 +f 146 142 154 +f 142 147 154 +o convex_5 +v -2.984645 1.108588 1.063334 +v -2.281811 1.073619 1.941872 +v -2.316901 1.424950 2.995799 +v -2.949417 0.897855 3.030917 +v -2.949417 1.424950 3.030917 +v -2.738533 1.424950 1.063334 +v -2.281811 0.757192 1.063334 +v -2.316901 0.862755 3.101551 +v -2.316901 1.319452 1.063334 +v -2.984645 0.897855 1.063334 +v -2.914258 1.424950 1.063334 +v -2.984645 0.897855 2.925564 +v -2.422378 0.757192 1.098451 +v -2.808850 0.862755 3.066035 +v -2.316901 1.424950 2.433519 +v -2.281811 0.757192 1.379592 +v -2.914258 0.862755 1.063334 +v -2.984645 1.214020 2.012107 +v -2.949417 1.389784 1.168686 +v -2.352060 0.827589 2.749777 +v -2.316901 1.003287 3.101551 +f 168 162 175 +f 159 157 160 +f 155 160 161 +f 161 160 163 +f 156 161 163 +f 155 161 164 +f 159 160 165 +f 160 155 165 +f 158 159 166 +f 155 164 166 +f 159 158 168 +f 158 166 168 +f 166 167 168 +f 157 156 169 +f 160 157 169 +f 156 163 169 +f 163 160 169 +f 161 156 170 +f 156 162 170 +f 167 161 170 +f 168 167 170 +f 164 161 171 +f 166 164 171 +f 167 166 171 +f 161 167 171 +f 155 166 172 +f 166 159 172 +f 165 155 173 +f 159 165 173 +f 155 172 173 +f 172 159 173 +f 162 168 174 +f 170 162 174 +f 168 170 174 +f 156 157 175 +f 157 159 175 +f 162 156 175 +f 159 168 175 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/073/073.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/073/073.urdf new file mode 100644 index 000000000..e37121f3d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/073/073.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/074/074.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/074/074.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/074/074.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/074/074.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/074/074.obj new file mode 100644 index 000000000..99047d323 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/074/074.obj @@ -0,0 +1,189 @@ +o convex_0 +v -0.026350 -2.542834 -0.954502 +v 0.077036 0.611141 1.010831 +v 0.051039 0.611141 1.010831 +v -0.233122 2.965022 -0.850818 +v 1.007910 1.800871 0.002142 +v -0.983021 -1.973548 0.002142 +v 0.594166 -2.930686 0.570985 +v -0.569277 2.938253 0.570985 +v 0.749345 -2.284067 -0.773258 +v -0.621070 -2.723673 0.674466 +v 0.645959 2.964427 0.596906 +v 0.723548 2.653908 -0.799179 +v -0.776249 1.671785 -0.773258 +v -0.621070 -3.008018 -0.618137 +v 0.749345 -2.284067 0.726106 +v -0.931428 2.266650 0.002142 +v -0.724456 0.145956 0.752229 +v 0.982113 -2.335821 -0.023576 +v -0.000354 0.275042 -1.057983 +v 0.025243 -2.180561 0.984707 +v 0.826934 0.197710 0.777948 +v -0.776249 -2.284067 -0.773258 +v 0.619962 -2.982439 -0.618137 +v 0.051039 2.292230 0.933068 +v -0.776249 -3.034192 0.053984 +v -0.646866 2.964427 -0.592216 +v 0.852731 2.990601 0.183184 +v 0.025243 -3.008018 0.777745 +v 0.775141 2.292230 0.726106 +v -1.009017 0.352375 -0.049497 +v 1.033906 -0.344807 -0.075215 +v -0.698659 -2.284067 0.752027 +v -0.672663 2.110796 0.700185 +v -0.103740 2.033463 -1.006141 +v -0.802045 -0.137794 -0.825100 +v -0.052147 -1.844462 -1.032062 +v 0.025243 3.016180 0.674264 +v 0.077036 -3.034192 -0.799381 +v 0.775141 -2.982439 0.027861 +v -0.724456 2.990601 0.105624 +v 0.671755 3.016180 -0.178494 +v 0.775141 2.602154 -0.721618 +v 1.033906 -0.111620 0.079703 +v -0.026350 -0.009303 1.010831 +v 0.749345 -1.017005 -0.799179 +v 0.982113 2.266056 0.105624 +v -0.750252 2.292230 -0.747337 +v -1.009017 0.016276 0.028063 +v -0.957224 -2.387574 0.002142 +v 0.826934 -0.215127 0.777948 +v 0.154625 0.093608 1.010831 +v -0.595073 -3.008018 0.570985 +v 0.051039 -2.309647 -1.006141 +v -1.009017 -0.060462 -0.101136 +v 0.801138 -0.086041 -0.721618 +v -0.077943 0.248868 -1.057983 +v 0.128629 -2.283473 0.958989 +v -0.931428 2.240476 -0.101136 +v 0.568369 -3.008613 0.545064 +v -0.698659 -3.059771 -0.281975 +v -0.000354 2.964427 0.752229 +v 0.025243 -0.137794 -1.057983 +v 0.490780 2.990601 -0.488735 +v -0.698659 0.068029 0.777948 +f 44 33 64 +f 1 14 22 +f 9 18 23 +f 3 2 24 +f 7 15 28 +f 20 10 28 +f 24 2 29 +f 11 24 29 +f 27 11 29 +f 18 9 31 +f 10 20 32 +f 8 16 33 +f 3 24 33 +f 24 8 33 +f 4 12 34 +f 12 19 34 +f 13 34 35 +f 22 35 36 +f 11 27 37 +f 14 1 38 +f 9 23 38 +f 15 7 39 +f 18 15 39 +f 23 18 39 +f 38 23 39 +f 16 8 40 +f 4 26 40 +f 8 37 40 +f 40 37 41 +f 27 12 41 +f 37 27 41 +f 4 40 41 +f 12 27 42 +f 5 31 42 +f 31 5 43 +f 18 31 43 +f 2 3 44 +f 32 20 44 +f 3 33 44 +f 29 21 46 +f 27 29 46 +f 42 27 46 +f 5 42 46 +f 43 5 46 +f 21 43 46 +f 26 4 47 +f 4 34 47 +f 34 13 47 +f 16 30 48 +f 32 17 48 +f 6 32 48 +f 33 16 48 +f 17 33 48 +f 6 22 49 +f 32 6 49 +f 15 18 50 +f 18 43 50 +f 43 21 50 +f 29 2 51 +f 21 29 51 +f 2 44 51 +f 44 20 51 +f 50 21 51 +f 28 10 52 +f 10 32 52 +f 49 25 52 +f 32 49 52 +f 1 22 53 +f 22 36 53 +f 38 1 53 +f 9 38 53 +f 45 9 53 +f 22 6 54 +f 30 13 54 +f 35 22 54 +f 13 35 54 +f 48 30 54 +f 6 48 54 +f 31 9 55 +f 12 42 55 +f 42 31 55 +f 45 12 55 +f 9 45 55 +f 34 19 56 +f 35 34 56 +f 36 35 56 +f 28 15 57 +f 20 28 57 +f 15 50 57 +f 51 20 57 +f 50 51 57 +f 13 30 58 +f 30 16 58 +f 16 40 58 +f 40 26 58 +f 47 13 58 +f 26 47 58 +f 7 28 59 +f 38 39 59 +f 39 7 59 +f 22 14 60 +f 14 38 60 +f 49 22 60 +f 25 49 60 +f 28 52 60 +f 52 25 60 +f 59 28 60 +f 38 59 60 +f 8 24 61 +f 24 11 61 +f 37 8 61 +f 11 37 61 +f 19 12 62 +f 12 45 62 +f 53 36 62 +f 45 53 62 +f 56 19 62 +f 36 56 62 +f 12 4 63 +f 4 41 63 +f 41 12 63 +f 17 32 64 +f 33 17 64 +f 32 44 64 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/074/074.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/074/074.urdf new file mode 100644 index 000000000..5b2a0dd0e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/074/074.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/075/075.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/075/075.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/075/075.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/075/075.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/075/075.obj new file mode 100644 index 000000000..7244c4609 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/075/075.obj @@ -0,0 +1,498 @@ +o convex_0 +v 0.010340 -2.734601 0.570791 +v -0.593205 -4.616159 -0.565254 +v -0.344603 -4.616159 -0.565254 +v 0.258824 -4.687263 0.606343 +v 0.471742 -2.734601 -0.458714 +v -0.557521 -2.770153 0.393263 +v -0.451062 -4.580608 0.606343 +v 0.471742 -4.616159 -0.423162 +v 0.613884 -2.734793 0.606343 +v -0.451062 -2.734601 -0.494150 +v 0.471742 -4.545056 0.606343 +v -0.522074 -2.734601 0.499803 +v 0.471742 -3.267302 -0.494150 +v -0.557521 -4.012356 -0.565254 +v 0.436295 -2.734601 -0.494150 +v -0.557521 -4.616159 -0.139208 +v -0.451062 -4.047907 0.606343 +v 0.436295 -4.687263 0.322274 +v -0.486627 -4.225666 0.570791 +v 0.613884 -2.770153 0.535240 +v -0.344603 -4.651711 -0.316622 +v 0.471742 -4.261217 -0.458714 +v -0.522074 -2.912168 0.535240 +v 0.471742 -4.651711 -0.103657 +v -0.593205 -4.119010 -0.352174 +v 0.329718 -2.805705 0.606343 +v -0.486627 -2.805705 -0.316622 +v -0.593205 -4.509696 -0.387725 +v 0.436295 -4.687263 0.606343 +v -0.557521 -2.770153 0.322274 +f 27 25 30 +f 5 1 9 +f 7 4 9 +f 1 5 10 +f 9 4 11 +f 1 10 12 +f 3 2 14 +f 10 5 15 +f 13 3 15 +f 5 13 15 +f 14 10 15 +f 3 14 15 +f 4 7 16 +f 7 9 17 +f 16 7 19 +f 7 17 19 +f 5 9 20 +f 9 11 20 +f 13 5 20 +f 2 3 21 +f 3 8 21 +f 16 2 21 +f 4 16 21 +f 18 4 21 +f 8 3 22 +f 3 13 22 +f 20 8 22 +f 13 20 22 +f 1 12 23 +f 12 6 23 +f 6 19 23 +f 19 17 23 +f 8 20 24 +f 20 11 24 +f 21 8 24 +f 18 21 24 +f 14 2 25 +f 9 1 26 +f 17 9 26 +f 1 23 26 +f 23 17 26 +f 10 14 27 +f 14 25 27 +f 2 16 28 +f 19 6 28 +f 16 19 28 +f 6 25 28 +f 25 2 28 +f 11 4 29 +f 4 18 29 +f 24 11 29 +f 18 24 29 +f 6 12 30 +f 12 10 30 +f 25 6 30 +f 10 27 30 +o convex_1 +v -1.054743 -0.746632 0.286775 +v 1.075433 -2.379433 1.032065 +v 1.075433 -2.592534 1.032065 +v 1.004330 -0.746632 -1.097798 +v -1.054743 -2.663373 -1.097798 +v -0.983640 -2.627954 1.103384 +v 1.039777 -0.746632 1.103384 +v 0.968882 -2.592534 -1.026479 +v -1.019087 -0.746632 -0.920255 +v -1.054743 -0.746632 0.996729 +v 0.613784 -2.734601 0.606308 +v -0.451096 -2.734601 -0.494067 +v 0.507233 -2.734601 -0.565170 +v -1.054743 -0.853085 -0.955591 +v -0.522199 -2.734601 0.499653 +v -1.054743 -2.663373 -0.316525 +v 0.578336 -0.746632 -1.097798 +v 0.471786 -0.746632 1.103384 +v 1.004330 -2.592534 -0.813385 +v 0.791229 -1.491999 1.103384 +v -1.019087 -0.924119 1.032065 +v -0.522199 -2.627954 1.103384 +v -0.805986 -2.663373 -1.097798 +v -1.054743 -2.485692 -1.097798 +v -0.983640 -2.237561 1.103384 +v 1.004330 -1.775939 -1.062246 +v 0.933227 -2.627954 -0.955591 +v -0.912536 -2.698987 -0.920255 +v 1.075433 -2.592534 0.890290 +v 1.004330 -0.995153 -1.097798 +v -1.019087 -2.663373 0.357663 +v -1.019087 -1.775744 1.067832 +v -0.309098 -2.663373 -1.062246 +v -0.593094 -0.746632 -0.991143 +v 1.039777 -1.243673 1.103384 +f 37 50 65 +f 33 32 37 +f 32 34 37 +f 34 31 37 +f 31 34 39 +f 31 35 40 +f 37 31 40 +f 41 42 43 +f 35 31 44 +f 31 39 44 +f 41 36 45 +f 42 41 45 +f 40 35 46 +f 34 35 47 +f 39 34 47 +f 36 37 48 +f 37 40 48 +f 37 36 50 +f 48 40 51 +f 41 33 52 +f 36 41 52 +f 33 50 52 +f 50 36 52 +f 35 34 53 +f 35 44 54 +f 47 35 54 +f 36 48 55 +f 48 51 55 +f 49 38 56 +f 38 53 56 +f 41 43 57 +f 38 49 57 +f 43 42 58 +f 42 45 58 +f 46 35 58 +f 35 53 58 +f 32 33 59 +f 34 32 59 +f 33 41 59 +f 49 56 59 +f 41 57 59 +f 57 49 59 +f 53 34 60 +f 56 53 60 +f 34 59 60 +f 59 56 60 +f 45 36 61 +f 36 46 61 +f 58 45 61 +f 46 58 61 +f 40 46 62 +f 46 36 62 +f 51 40 62 +f 36 55 62 +f 55 51 62 +f 53 38 63 +f 57 43 63 +f 38 57 63 +f 43 58 63 +f 58 53 63 +f 44 39 64 +f 39 47 64 +f 54 44 64 +f 47 54 64 +f 33 37 65 +f 50 33 65 +o convex_2 +v 1.004281 3.123353 1.067881 +v -0.983591 2.519665 -1.026792 +v -1.054694 1.454938 -0.991115 +v 1.039833 1.454744 -0.991115 +v -1.090246 1.454938 1.067881 +v -1.054694 3.407293 0.996733 +v 1.110936 3.407099 -1.026792 +v 1.075384 1.454744 1.067881 +v -0.948039 3.336260 -1.026792 +v 0.968729 3.442908 1.067881 +v -1.054694 3.407293 0.712754 +v 0.436102 3.442908 1.067881 +v -0.983591 3.265226 -1.026792 +v -1.090246 1.490358 -0.209919 +v 0.436102 3.407099 -0.849023 +v -1.090246 2.555279 1.032204 +v 1.110936 3.407099 -0.742404 +v 1.110936 2.945867 -0.991115 +v -1.054694 1.809912 -0.991115 +v 0.968729 3.442908 0.322156 +v -0.735161 3.371679 -0.777875 +v 0.010345 3.442908 0.996733 +v 1.075384 1.632425 1.067881 +v 1.075384 3.087545 -1.026792 +v 1.075384 2.058432 -0.991115 +v 1.004281 3.442908 0.854846 +v -0.912488 2.910253 1.032204 +v 1.075384 1.454744 0.712754 +v -1.090246 1.632425 1.067881 +f 92 81 94 +f 68 67 69 +f 68 69 70 +f 66 70 73 +f 70 69 73 +f 72 67 74 +f 70 66 75 +f 70 75 77 +f 67 68 78 +f 74 67 78 +f 76 74 78 +f 68 70 79 +f 72 74 80 +f 71 76 81 +f 76 79 81 +f 79 70 81 +f 72 82 83 +f 82 73 83 +f 78 68 84 +f 76 78 84 +f 79 76 84 +f 68 79 84 +f 77 75 85 +f 72 80 85 +f 74 76 86 +f 80 74 86 +f 76 80 86 +f 76 71 87 +f 71 77 87 +f 80 76 87 +f 77 85 87 +f 85 80 87 +f 66 73 88 +f 73 82 88 +f 69 67 89 +f 67 72 89 +f 72 69 89 +f 69 72 90 +f 72 83 90 +f 75 66 91 +f 82 72 91 +f 72 85 91 +f 85 75 91 +f 66 88 91 +f 88 82 91 +f 77 71 92 +f 71 81 92 +f 73 69 93 +f 83 73 93 +f 69 90 93 +f 90 83 93 +f 70 77 94 +f 81 70 94 +f 77 92 94 +o convex_3 +v -2.368351 0.886488 1.103384 +v -1.303430 -0.710935 -0.920255 +v -1.125943 -0.710935 -0.920255 +v -2.971845 1.419241 -1.097798 +v -3.007264 -0.604176 0.676980 +v -1.125749 1.348138 1.067832 +v -1.125943 -0.639623 0.996729 +v -1.125749 1.348138 -0.991143 +v -3.113718 -0.639623 -0.955591 +v -3.007264 1.419241 1.103384 +v -2.971845 -0.568728 1.067832 +v -3.078298 1.419241 -1.097798 +v -3.042879 1.347929 1.032065 +v -2.545838 1.419241 1.103384 +v -2.297317 -0.604176 1.067617 +v -3.113718 -0.320180 -0.529619 +v -1.125749 -0.284733 -0.955591 +v -2.971845 1.241587 -1.097798 +v -1.410078 1.277035 -1.026479 +v -2.971845 -0.000737 1.103384 +v -1.125749 0.922144 1.067832 +v -3.113718 0.212364 -0.920255 +v -3.078298 -0.639623 -0.387628 +v -2.616871 -0.639623 -0.955591 +v -1.410078 -0.639623 0.996729 +v -1.267816 -0.391075 1.032281 +v -3.078298 1.419241 -0.600722 +v -1.942344 1.383585 -1.026479 +v -1.729437 1.383585 0.961178 +v -1.196782 -0.710935 -0.778049 +v -2.616871 -0.604176 1.032065 +v -2.474804 -0.675279 -0.884703 +v -2.119830 1.383585 1.103168 +v -3.113718 -0.639623 -0.671394 +v -3.007264 0.424839 1.103384 +v -2.829778 1.347929 -1.097798 +f 113 111 130 +f 97 96 103 +f 104 98 106 +f 104 95 108 +f 98 104 108 +f 101 97 111 +f 102 100 111 +f 106 98 112 +f 103 106 112 +f 98 102 113 +f 102 111 113 +f 95 104 114 +f 105 109 114 +f 114 109 115 +f 101 111 115 +f 111 100 115 +f 95 114 115 +f 106 103 116 +f 103 110 116 +f 110 107 116 +f 97 103 118 +f 111 97 118 +f 103 112 118 +f 112 111 118 +f 101 109 119 +f 109 101 120 +f 115 109 120 +f 101 115 120 +f 104 106 121 +f 107 104 121 +f 106 116 121 +f 116 107 121 +f 102 98 122 +f 98 108 122 +f 122 108 123 +f 100 102 123 +f 108 100 123 +f 102 122 123 +f 96 97 124 +f 97 101 124 +f 101 119 124 +f 124 119 125 +f 105 99 125 +f 109 105 125 +f 99 117 125 +f 119 109 125 +f 117 124 125 +f 103 96 126 +f 96 124 126 +f 124 117 126 +f 108 95 127 +f 100 108 127 +f 95 115 127 +f 115 100 127 +f 99 110 128 +f 110 103 128 +f 117 99 128 +f 103 126 128 +f 126 117 128 +f 99 105 129 +f 104 107 129 +f 110 99 129 +f 107 110 129 +f 114 104 129 +f 105 114 129 +f 111 112 130 +f 112 98 130 +f 98 113 130 +o convex_4 +v -1.125749 -0.675334 0.251008 +v 3.134603 1.454744 1.103168 +v 3.134603 1.418977 1.103168 +v 3.027843 -0.497577 -1.097798 +v -1.054437 1.454744 -0.991143 +v -1.089884 1.454744 1.067832 +v 2.921502 -0.639567 1.067832 +v 3.098738 1.312537 -1.026479 +v -0.912648 -0.746438 -0.955591 +v -1.054437 -0.746438 0.996514 +v 1.004427 -0.746438 -1.097798 +v 0.507747 -0.746438 1.103384 +v -1.125749 -0.710886 -0.920040 +v 1.039874 1.454744 -0.991143 +v 3.027843 -0.604231 -0.955591 +v -1.125749 1.347874 -0.991143 +v 3.027843 -0.497577 1.067832 +v 1.430212 -0.071819 -1.097798 +v -1.125749 0.993004 1.067832 +v 1.323870 -0.746438 1.103384 +v 0.614089 -0.746438 -1.097798 +v 2.566194 0.922117 -1.062246 +v 3.098738 1.454744 0.677196 +v -1.125749 -0.142707 1.032065 +v 1.004427 0.673255 1.103384 +v 2.495300 -0.604231 1.103384 +v -1.125749 0.779910 -0.991143 +v 3.098738 1.348089 -0.778049 +v 3.098738 0.993004 -1.026479 +v -1.125749 1.419192 1.067832 +v 1.927308 1.383641 1.103384 +v -1.125749 -0.639783 0.996514 +v 3.063291 0.212378 1.103168 +v 2.992396 -0.604231 -1.062246 +v -0.805889 -0.746438 1.032065 +v 0.969397 -0.249362 -1.097798 +v 2.992396 -0.604231 1.067832 +v 3.027843 0.815462 -1.062030 +v 2.921502 -0.639567 0.925841 +v -1.125749 -0.284698 -0.955591 +v 2.069515 1.312322 -1.026479 +f 152 135 171 +f 132 135 136 +f 132 133 138 +f 140 139 141 +f 140 141 142 +f 139 140 143 +f 140 131 143 +f 135 132 144 +f 138 135 144 +f 143 131 146 +f 145 133 147 +f 134 141 148 +f 146 131 149 +f 142 141 150 +f 141 139 151 +f 146 135 151 +f 148 141 151 +f 148 135 152 +f 144 132 153 +f 149 131 154 +f 142 150 155 +f 155 150 156 +f 133 132 156 +f 150 137 156 +f 143 146 157 +f 146 151 157 +f 132 138 158 +f 138 144 158 +f 153 132 158 +f 144 153 158 +f 138 133 159 +f 134 138 159 +f 133 145 159 +f 145 134 159 +f 136 135 160 +f 135 146 160 +f 149 142 160 +f 146 149 160 +f 155 136 160 +f 142 155 160 +f 132 136 161 +f 136 155 161 +f 155 156 161 +f 156 132 161 +f 131 140 162 +f 154 131 162 +f 147 133 163 +f 133 156 163 +f 141 134 164 +f 134 145 164 +f 145 141 164 +f 140 142 165 +f 142 149 165 +f 149 154 165 +f 162 140 165 +f 154 162 165 +f 135 148 166 +f 151 135 166 +f 148 151 166 +f 137 145 167 +f 145 147 167 +f 156 137 167 +f 147 163 167 +f 163 156 167 +f 138 134 168 +f 134 148 168 +f 152 138 168 +f 148 152 168 +f 145 137 169 +f 141 145 169 +f 137 150 169 +f 150 141 169 +f 139 143 170 +f 151 139 170 +f 143 157 170 +f 157 151 170 +f 135 138 171 +f 138 152 171 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/075/075.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/075/075.urdf new file mode 100644 index 000000000..89f89450b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/075/075.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/076/076.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/076/076.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/076/076.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/076/076.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/076/076.obj new file mode 100644 index 000000000..0080769e7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/076/076.obj @@ -0,0 +1,837 @@ +o convex_0 +v -0.892269 -1.115876 -0.143983 +v 0.918494 -0.943354 0.372890 +v 0.832174 -0.943354 0.717850 +v 0.832174 -1.460616 0.689197 +v -0.001067 -1.460616 -2.012419 +v -0.432311 -1.460616 1.666394 +v 0.803283 -0.943354 -1.034846 +v -0.805949 -0.943354 0.976098 +v -0.662201 -0.943354 -1.092528 +v -0.805949 -1.460616 -0.747568 +v 0.860888 -1.460616 -0.833902 +v 0.027470 -1.431904 1.839062 +v -0.834663 -1.460616 0.775531 +v 0.429822 -0.943354 1.148766 +v -0.461025 -1.460616 -1.782447 +v -0.029781 -0.972166 -1.379805 +v -0.863377 -0.943354 -0.776221 +v 0.372394 -1.460616 -1.839751 +v -0.518453 -0.943354 1.177418 +v 0.918494 -0.943354 -0.804873 +v -0.892269 -0.943354 0.775531 +v -0.058673 -1.403142 -1.983390 +v 0.803283 -0.943354 0.832836 +v 0.458536 -0.943354 -1.236166 +v 0.774746 -1.460616 0.861488 +v 0.889603 -1.374431 0.142917 +v -0.863377 -1.431904 -0.058403 +v -0.518453 -0.943354 -1.207514 +v -0.116101 -1.460616 1.839062 +v -0.058673 -0.943354 1.206448 +v 0.918494 -1.058402 -0.804873 +v 0.372394 -1.431904 -1.839751 +v -0.432311 -1.431904 -1.811099 +v -0.403597 -1.431904 1.695046 +v -0.805949 -0.943354 -0.948889 +v -0.690915 -1.460616 -1.149832 +v -0.116101 -1.431904 1.839062 +v -0.748343 -1.230721 1.062809 +v -0.892269 -1.058402 0.746502 +v 0.860888 -1.460616 0.574211 +v 0.918494 -1.058402 0.344238 +v 0.889603 -1.345668 -0.804873 +v -0.892269 -0.943354 -0.316275 +v -0.001067 -1.431904 -2.012419 +v 0.027470 -1.460616 1.839062 +v -0.317454 -0.943354 1.206448 +f 19 37 46 +f 2 3 4 +f 5 4 6 +f 3 2 7 +f 3 7 8 +f 8 7 9 +f 5 6 10 +f 4 5 11 +f 10 6 13 +f 3 8 14 +f 5 10 15 +f 8 9 17 +f 11 5 18 +f 14 8 19 +f 7 2 20 +f 8 17 21 +f 4 3 23 +f 3 14 23 +f 14 12 23 +f 9 7 24 +f 6 4 25 +f 4 23 25 +f 10 13 27 +f 1 17 27 +f 17 10 27 +f 16 22 28 +f 9 24 28 +f 24 16 28 +f 6 25 29 +f 12 14 30 +f 14 19 30 +f 18 7 31 +f 20 2 31 +f 7 20 31 +f 18 5 32 +f 7 18 32 +f 24 7 32 +f 5 15 33 +f 9 28 33 +f 28 22 33 +f 8 6 34 +f 19 8 34 +f 6 29 34 +f 17 9 35 +f 33 15 35 +f 9 33 35 +f 15 10 36 +f 10 17 36 +f 35 15 36 +f 17 35 36 +f 29 12 37 +f 12 30 37 +f 19 34 37 +f 34 29 37 +f 6 8 38 +f 13 6 38 +f 8 21 38 +f 38 21 39 +f 21 1 39 +f 27 13 39 +f 1 27 39 +f 13 38 39 +f 2 4 40 +f 4 11 40 +f 11 26 40 +f 40 26 41 +f 31 2 41 +f 26 31 41 +f 2 40 41 +f 11 18 42 +f 26 11 42 +f 18 31 42 +f 31 26 42 +f 17 1 43 +f 1 21 43 +f 21 17 43 +f 22 16 44 +f 16 24 44 +f 32 5 44 +f 24 32 44 +f 5 33 44 +f 33 22 44 +f 23 12 45 +f 25 23 45 +f 12 29 45 +f 29 25 45 +f 30 19 46 +f 37 30 46 +o convex_1 +v 0.027499 2.677783 -0.891210 +v -0.116070 -0.885824 1.206729 +v -0.173576 -0.885824 1.206729 +v -0.001254 -0.943354 -1.293859 +v 1.004710 -0.253401 0.114313 +v -0.805947 2.217950 0.919122 +v 0.573611 2.907903 0.631760 +v -0.920959 -0.425585 -0.805050 +v 0.832191 2.189185 -0.862572 +v -0.892206 -0.943354 0.775196 +v -0.748441 2.965433 -0.029124 +v 0.918451 -0.943354 -0.833933 +v 0.803438 -0.943354 0.832962 +v -0.777194 2.160825 -0.833689 +v 0.113561 2.304245 1.005282 +v 0.487351 3.195552 -0.460167 +v -0.949712 2.246715 0.056791 +v 0.947204 2.275480 0.028153 +v -0.030007 3.195552 0.603122 +v -0.518613 -0.943354 -1.207210 +v -0.374848 3.195552 -0.459922 +v 0.688426 2.074531 0.804079 +v 0.429845 -0.943354 1.149208 +v -0.978465 -0.310526 0.746558 +v 1.004710 -0.195466 -0.805050 +v 0.458598 -0.828294 -1.236093 +v -0.575922 -0.943354 1.148963 +v 0.027499 2.361775 -0.977370 +v -0.461107 3.195552 0.430558 +v 0.717179 3.051727 0.056791 +v -0.863453 -0.943354 -0.776412 +v -1.007219 -0.109576 -0.172560 +v 0.832191 0.091373 0.804079 +v -0.030007 2.907903 0.832962 +v 0.803438 -0.943354 -1.035136 +v 0.429845 3.195552 0.487834 +v 0.918451 -0.943354 0.401675 +v -0.001254 2.965433 -0.776167 +v 0.630920 2.965433 -0.603848 +v -0.748441 2.188780 0.947760 +v -0.949712 -0.195466 -0.718646 +v -0.834700 -0.914184 0.948005 +v -0.604872 2.907903 0.631760 +v -0.547169 2.907903 -0.603848 +v 1.004710 0.781325 0.028153 +v -0.834700 2.045766 0.919122 +v -0.920959 -0.943354 -0.029124 +v 0.803438 2.879138 -0.029613 +v -0.144823 2.275480 1.005527 +v -0.518613 -0.828294 1.177601 +v 0.717179 2.217950 0.746558 +v -0.949712 2.160420 -0.057762 +v -1.007219 0.494081 0.028153 +v 0.401092 -0.655705 1.149208 +v -0.777194 -0.483115 -0.977614 +v 0.113561 2.017001 1.033920 +v 0.860945 2.217950 -0.718891 +v -0.547169 3.195552 -0.086400 +v 0.774685 2.879138 0.142951 +v -0.116070 2.419305 -0.948731 +v -0.058760 -0.914589 -1.293859 +v 0.142314 3.195552 -0.575210 +v -0.748441 2.965433 0.056791 +v 0.113561 2.965433 -0.776167 +f 108 85 110 +f 56 50 58 +f 56 58 59 +f 50 56 66 +f 65 62 67 +f 53 61 68 +f 48 49 69 +f 56 59 69 +f 51 58 71 +f 69 49 73 +f 56 69 73 +f 47 55 74 +f 72 50 74 +f 55 72 74 +f 65 67 75 +f 66 56 77 +f 54 77 78 +f 69 59 79 +f 68 69 79 +f 61 53 80 +f 58 50 81 +f 55 71 81 +f 71 58 81 +f 50 72 81 +f 72 55 81 +f 62 65 82 +f 76 62 82 +f 53 76 82 +f 80 53 82 +f 65 80 82 +f 58 51 83 +f 59 58 83 +f 51 79 83 +f 79 59 83 +f 62 76 85 +f 80 52 86 +f 60 54 87 +f 54 78 87 +f 70 56 88 +f 56 73 88 +f 65 75 89 +f 52 80 89 +f 80 65 89 +f 60 57 90 +f 84 60 90 +f 67 84 90 +f 51 71 91 +f 71 64 91 +f 79 51 91 +f 64 79 91 +f 52 63 92 +f 63 70 92 +f 86 52 92 +f 70 88 92 +f 88 73 92 +f 56 70 93 +f 77 56 93 +f 70 78 93 +f 78 77 93 +f 85 76 94 +f 61 80 95 +f 80 86 95 +f 95 86 96 +f 73 49 96 +f 92 73 96 +f 86 92 96 +f 49 95 96 +f 53 68 97 +f 79 64 97 +f 68 79 97 +f 57 60 98 +f 63 57 98 +f 60 87 98 +f 87 78 98 +f 70 63 99 +f 78 70 99 +f 63 98 99 +f 98 78 99 +f 48 69 100 +f 69 68 100 +f 54 60 101 +f 60 66 101 +f 66 77 101 +f 77 54 101 +f 49 48 102 +f 68 61 102 +f 95 49 102 +f 61 95 102 +f 48 100 102 +f 100 68 102 +f 71 55 103 +f 64 71 103 +f 55 85 103 +f 94 64 103 +f 85 94 103 +f 75 67 104 +f 90 57 104 +f 67 90 104 +f 76 53 105 +f 64 94 105 +f 94 76 105 +f 53 97 105 +f 97 64 105 +f 66 60 106 +f 47 74 106 +f 84 47 106 +f 60 84 106 +f 50 66 107 +f 74 50 107 +f 66 106 107 +f 106 74 107 +f 67 62 108 +f 84 67 108 +f 62 85 108 +f 63 52 109 +f 57 63 109 +f 52 89 109 +f 89 75 109 +f 104 57 109 +f 75 104 109 +f 55 47 110 +f 47 84 110 +f 85 55 110 +f 84 108 110 +o convex_2 +v -0.231013 4.517553 -0.374010 +v 0.027488 3.224384 0.603139 +v -0.030019 3.224384 0.603139 +v 0.142390 3.195552 -0.575300 +v 0.401004 4.690033 0.056946 +v -0.547360 3.195552 -0.086668 +v -0.317331 4.546386 0.229398 +v 0.602336 3.195724 0.085669 +v 0.429814 3.942792 -0.402733 +v 0.401004 3.943135 0.430572 +v -0.001322 4.718865 0.373126 +v -0.432345 3.195552 0.430572 +v 0.027488 4.718865 -0.402733 +v -0.403535 4.718865 -0.029107 +v -0.403535 3.483190 -0.431571 +v 0.027488 4.948838 -0.000384 +v 0.516019 3.195724 -0.402733 +v 0.429814 3.195552 0.488133 +v -0.001322 3.885642 -0.546462 +v -0.403535 3.885642 0.373126 +v 0.544829 3.971625 -0.000269 +v -0.518550 3.971797 -0.029107 +v -0.346028 3.195552 -0.460293 +v -0.374838 3.943135 -0.431571 +v 0.401004 4.690033 -0.029107 +v -0.001322 4.000629 0.516855 +v 0.314800 4.488893 0.315681 +v 0.314800 4.517553 -0.287842 +v -0.547360 3.281878 0.085669 +v 0.429814 3.942792 0.401849 +v -0.403535 4.661372 -0.115390 +v -0.001322 3.368032 -0.575300 +v -0.030019 4.661372 -0.431571 +v -0.144921 4.891345 -0.057829 +v 0.056073 3.885642 -0.546462 +v 0.458624 3.310710 -0.460293 +v -0.432345 3.943135 -0.316565 +v 0.602336 3.281878 -0.057829 +v 0.544829 3.971625 0.056946 +v 0.027488 4.718865 0.373126 +v 0.027488 4.661372 -0.431571 +v -0.030019 4.603879 0.401849 +v 0.458624 3.339542 0.459295 +v 0.027488 4.948838 -0.057829 +v -0.461043 3.224384 0.401849 +v -0.030019 4.718865 -0.402733 +v -0.317331 4.517553 -0.316565 +v -0.518550 3.885642 0.028223 +v -0.030019 4.920006 0.056946 +v 0.602336 3.396864 0.056946 +v -0.374838 3.310538 0.459410 +v -0.030019 3.971797 0.516855 +v 0.027488 4.632540 0.401849 +v 0.544829 3.827977 -0.086552 +v -0.403535 3.195552 -0.431571 +v 0.084883 3.914303 0.516855 +v -0.547360 3.540683 -0.057829 +v -0.259823 4.546386 0.286958 +v -0.030019 3.195552 0.603139 +f 161 122 169 +f 116 114 122 +f 120 112 128 +f 122 114 128 +f 114 127 128 +f 127 118 128 +f 117 124 130 +f 114 116 133 +f 133 125 134 +f 126 115 135 +f 115 131 135 +f 131 119 135 +f 113 112 136 +f 135 119 138 +f 123 135 138 +f 115 137 140 +f 137 120 140 +f 132 124 141 +f 114 133 142 +f 134 129 142 +f 133 134 142 +f 129 134 143 +f 134 111 143 +f 141 124 144 +f 114 142 145 +f 142 129 145 +f 129 143 145 +f 127 114 146 +f 119 127 146 +f 114 145 146 +f 145 119 146 +f 134 125 147 +f 132 141 147 +f 141 134 147 +f 118 127 148 +f 131 115 149 +f 115 140 149 +f 115 126 150 +f 137 115 150 +f 138 119 151 +f 123 138 151 +f 143 123 151 +f 119 145 151 +f 145 143 151 +f 120 128 153 +f 128 118 153 +f 140 120 153 +f 135 123 154 +f 126 135 154 +f 144 126 154 +f 116 122 155 +f 122 130 155 +f 139 116 155 +f 123 143 156 +f 143 111 156 +f 141 144 156 +f 154 123 156 +f 144 154 156 +f 111 134 157 +f 134 141 157 +f 156 111 157 +f 141 156 157 +f 130 124 158 +f 124 132 158 +f 155 130 158 +f 139 155 158 +f 124 121 159 +f 144 124 159 +f 126 144 159 +f 150 126 159 +f 121 150 159 +f 118 148 160 +f 148 131 160 +f 131 149 160 +f 149 140 160 +f 153 118 160 +f 140 153 160 +f 130 122 161 +f 113 136 162 +f 152 130 162 +f 136 152 162 +f 161 113 162 +f 130 161 162 +f 120 137 163 +f 150 121 163 +f 137 150 163 +f 121 152 163 +f 152 136 163 +f 127 119 164 +f 119 131 164 +f 148 127 164 +f 131 148 164 +f 116 125 165 +f 133 116 165 +f 125 133 165 +f 112 120 166 +f 136 112 166 +f 120 163 166 +f 163 136 166 +f 125 116 167 +f 116 139 167 +f 147 125 167 +f 132 147 167 +f 158 132 167 +f 139 158 167 +f 121 124 168 +f 124 117 168 +f 117 130 168 +f 152 121 168 +f 130 152 168 +f 112 113 169 +f 128 112 169 +f 122 128 169 +f 113 161 169 +o convex_3 +v -0.432281 -2.409131 -1.380410 +v 0.573568 -1.575861 -1.236555 +v 0.573568 -1.776962 -1.236555 +v -0.001335 -2.006822 -3.075528 +v -0.547170 -1.460824 -1.236375 +v 0.401120 -2.380372 -1.955112 +v -0.029942 -1.575754 -2.788177 +v -0.461119 -2.035475 -2.816985 +v -0.058779 -2.437891 -2.816985 +v 0.056109 -2.552927 -1.236375 +v 0.372398 -1.978063 -2.817164 +v 0.401120 -1.460717 -1.811257 +v -0.604845 -1.863133 -1.236375 +v -0.461119 -1.460824 -1.840244 +v -0.432281 -2.409131 -2.127595 +v 0.458565 -2.322853 -1.236555 +v -0.576007 -2.035475 -2.098788 +v 0.544731 -1.460717 -1.236555 +v 0.516009 -1.978063 -1.983919 +v -0.489726 -2.322960 -1.236375 +v -0.029942 -2.552927 -1.696388 +v -0.374837 -1.748203 -2.673309 +v 0.286001 -2.294201 -2.615695 +v 0.228557 -1.661925 -2.644502 +v -0.029942 -1.460824 -2.098788 +v -0.346000 -2.322960 -2.644502 +v -0.547170 -1.460824 -1.437845 +v -0.058779 -1.604513 -2.845612 +v 0.372398 -2.064234 -2.788357 +v -0.087501 -2.035475 -3.075528 +v -0.001335 -2.524168 -2.127595 +v -0.144830 -2.524168 -1.236375 +v -0.001335 -2.437891 -2.788177 +v -0.403444 -2.437891 -2.041353 +v -0.604845 -1.633272 -1.265362 +v -0.461119 -1.978277 -2.788177 +v -0.461119 -2.409131 -1.696388 +v -0.432281 -1.978277 -2.845612 +v 0.343561 -2.409131 -2.012546 +v -0.576007 -1.891999 -1.955112 +v -0.001335 -2.092993 -3.046901 +v -0.604845 -1.920651 -1.667761 +v -0.058779 -2.524168 -2.127595 +v -0.202274 -1.633272 -2.730743 +v -0.029942 -1.604513 -2.845612 +v 0.487287 -2.092993 -2.012726 +v 0.401120 -1.978063 -2.702116 +v 0.343561 -2.351720 -2.299717 +v -0.576007 -2.064234 -2.012546 +v 0.286001 -1.719443 -2.644502 +v -0.058779 -1.920651 -3.046901 +f 197 214 220 +f 172 171 179 +f 179 174 182 +f 179 175 185 +f 172 179 185 +f 177 184 186 +f 179 171 187 +f 174 179 187 +f 181 174 187 +f 180 181 187 +f 171 172 188 +f 172 185 188 +f 179 182 189 +f 176 181 193 +f 181 176 194 +f 176 183 194 +f 183 181 194 +f 177 178 195 +f 184 177 195 +f 178 184 195 +f 174 181 196 +f 181 183 196 +f 183 176 197 +f 178 177 199 +f 179 190 200 +f 189 170 201 +f 179 189 201 +f 190 179 201 +f 198 192 202 +f 200 178 202 +f 184 178 203 +f 190 201 203 +f 182 174 204 +f 174 196 204 +f 177 186 205 +f 183 191 205 +f 196 183 205 +f 170 189 206 +f 201 170 206 +f 184 203 206 +f 203 201 206 +f 191 197 207 +f 199 177 207 +f 177 205 207 +f 205 191 207 +f 175 179 208 +f 179 200 208 +f 200 202 208 +f 204 196 209 +f 205 186 209 +f 196 205 209 +f 173 180 210 +f 180 198 210 +f 199 173 210 +f 178 199 210 +f 202 178 210 +f 198 202 210 +f 189 182 211 +f 182 204 211 +f 209 186 211 +f 204 209 211 +f 178 200 212 +f 200 190 212 +f 203 178 212 +f 190 203 212 +f 191 183 213 +f 183 197 213 +f 197 191 213 +f 180 173 214 +f 176 193 214 +f 193 180 214 +f 197 176 214 +f 185 175 215 +f 188 185 215 +f 198 188 215 +f 175 198 215 +f 187 171 216 +f 180 187 216 +f 171 188 216 +f 198 180 216 +f 188 198 216 +f 198 175 217 +f 192 198 217 +f 202 192 217 +f 175 208 217 +f 208 202 217 +f 186 184 218 +f 184 206 218 +f 206 189 218 +f 189 211 218 +f 211 186 218 +f 181 180 219 +f 180 193 219 +f 193 181 219 +f 173 199 220 +f 207 197 220 +f 199 207 220 +f 214 173 220 +o convex_4 +v -0.202357 -2.811370 -0.374024 +v 0.860984 -1.460869 0.574520 +v 0.860984 -1.547003 0.574520 +v -0.346105 -2.006994 2.815966 +v -0.777185 -1.460869 -0.833722 +v 0.774669 -2.294108 -0.776260 +v 0.544770 -2.696525 1.062533 +v -0.001175 -1.633441 2.815966 +v 0.573487 -1.460869 -1.236375 +v -0.489854 -2.380395 -1.207227 +v -0.748468 -2.294108 0.718592 +v -0.834784 -1.460869 0.747323 +v 0.401022 -2.064417 2.787235 +v -0.029892 -2.955080 0.776055 +v 0.084808 -2.955080 -0.776260 +v -0.001175 -2.409106 2.729772 +v 0.458455 -2.351531 -1.236375 +v 0.774669 -2.351683 0.833100 +v -0.576003 -1.460869 -1.236375 +v -0.403538 -2.409106 2.039808 +v -0.001175 -1.460869 1.924884 +v 0.860984 -1.460869 -0.804575 +v -0.748468 -2.294108 -0.258683 +v -0.403538 -1.949571 2.758503 +v 0.027375 -2.035705 3.017500 +v -0.029892 -2.581527 -1.236375 +v -0.432255 -1.460869 1.723766 +v 0.314872 -1.776998 2.643579 +v -0.001175 -3.012654 0.172700 +v -0.691035 -2.294108 -0.804991 +v -0.834784 -1.690712 -0.057565 +v 0.314872 -2.322820 2.586117 +v -0.633436 -1.748287 -1.236375 +v -0.403538 -2.035705 2.758503 +v -0.288506 -1.690864 2.614848 +v 0.803385 -1.460869 0.804369 +v 0.803385 -2.121840 -0.804575 +v -0.432255 -2.610238 0.747323 +v -0.001175 -2.926368 -0.804991 +v 0.745952 -2.437818 0.890563 +v 0.602203 -1.690712 -1.236375 +v 0.860984 -1.662001 -0.172490 +v 0.056092 -3.012654 0.086507 +v -0.805901 -1.489580 -0.689650 +v 0.401022 -2.006842 2.787235 +v -0.317389 -2.294108 2.557385 +v -0.834784 -1.547003 0.747323 +v -0.202357 -2.840082 -0.000103 +v 0.027375 -2.955080 0.747323 +v 0.027375 -2.409106 2.729772 +v 0.602203 -2.638950 1.034218 +v -0.058608 -2.006994 3.017500 +v -0.058608 -2.955080 0.718592 +v 0.803385 -2.208126 0.114822 +v -0.001175 -3.012654 -0.201637 +v 0.429738 -2.064417 2.672310 +v 0.056092 -1.633441 2.758503 +v 0.401022 -1.460717 1.436454 +v -0.432255 -2.409106 -1.236375 +v -0.662153 -2.351683 -0.689650 +v -0.001175 -2.380243 2.787235 +v 0.688519 -2.294108 -0.948647 +v 0.860984 -1.604578 -0.804575 +v -0.834784 -1.460869 -0.316562 +f 232 278 284 +f 229 237 239 +f 234 236 240 +f 222 223 242 +f 237 235 246 +f 239 237 246 +f 228 241 247 +f 243 231 251 +f 225 239 253 +f 239 246 253 +f 230 250 253 +f 250 225 253 +f 231 240 254 +f 224 244 254 +f 244 232 254 +f 244 228 255 +f 232 244 255 +f 228 247 255 +f 247 232 255 +f 240 231 258 +f 246 235 259 +f 226 238 260 +f 237 229 261 +f 229 242 261 +f 242 223 262 +f 235 227 263 +f 225 250 264 +f 250 243 264 +f 243 251 264 +f 228 245 265 +f 245 233 265 +f 248 228 265 +f 222 256 265 +f 256 248 265 +f 240 236 266 +f 254 240 266 +f 251 231 267 +f 232 251 267 +f 231 254 267 +f 254 232 267 +f 231 243 268 +f 258 231 268 +f 234 249 269 +f 263 227 269 +f 249 263 269 +f 236 234 270 +f 227 252 270 +f 269 227 270 +f 234 269 270 +f 235 226 271 +f 227 235 271 +f 252 227 271 +f 233 252 271 +f 226 260 271 +f 260 233 271 +f 244 224 272 +f 228 244 272 +f 245 228 272 +f 224 254 272 +f 234 240 273 +f 249 234 273 +f 240 258 273 +f 268 249 273 +f 258 268 273 +f 223 238 274 +f 238 226 274 +f 226 257 274 +f 262 223 274 +f 259 235 275 +f 221 259 275 +f 235 263 275 +f 263 249 275 +f 268 221 275 +f 249 268 275 +f 223 222 276 +f 238 223 276 +f 260 238 276 +f 233 260 276 +f 222 265 276 +f 265 233 276 +f 241 228 277 +f 228 248 277 +f 248 256 277 +f 277 256 278 +f 239 225 278 +f 229 239 278 +f 222 242 278 +f 242 229 278 +f 247 241 278 +f 232 247 278 +f 256 222 278 +f 241 277 278 +f 230 253 279 +f 253 246 279 +f 259 230 279 +f 246 259 279 +f 250 230 280 +f 243 250 280 +f 230 259 280 +f 259 221 280 +f 221 268 280 +f 268 243 280 +f 233 245 281 +f 252 233 281 +f 266 236 281 +f 254 266 281 +f 236 270 281 +f 270 252 281 +f 245 272 281 +f 272 254 281 +f 226 235 282 +f 235 237 282 +f 257 226 282 +f 237 261 282 +f 261 257 282 +f 261 242 283 +f 257 261 283 +f 242 262 283 +f 274 257 283 +f 262 274 283 +f 251 232 284 +f 225 264 284 +f 264 251 284 +f 278 225 284 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/076/076.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/076/076.urdf new file mode 100644 index 000000000..785d9d532 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/076/076.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/077/077.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/077/077.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/077/077.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/077/077.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/077/077.obj new file mode 100644 index 000000000..1247a8637 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/077/077.obj @@ -0,0 +1,510 @@ +o convex_0 +v -3.142473 -0.233730 0.090980 +v -4.932707 -0.155835 -0.337251 +v -4.932707 0.038796 -0.337251 +v -4.971769 0.194479 0.324596 +v -2.986421 0.311321 -0.298315 +v -2.986421 0.194479 0.285660 +v -4.971769 -0.233730 0.207788 +v -2.986421 -0.233730 -0.298315 +v -2.986421 -0.194782 0.324596 +v -4.932707 0.233373 -0.298315 +v -4.932707 -0.233730 -0.103571 +v -4.932707 0.233373 0.168852 +v -2.986421 0.233373 0.207788 +v -3.882121 -0.233730 0.285660 +v -4.504582 -0.194782 -0.337251 +v -4.543450 0.272374 -0.298315 +v -2.986421 0.038796 0.324596 +f 9 6 17 +f 3 2 7 +f 5 6 8 +f 1 7 8 +f 1 8 9 +f 8 6 9 +f 3 7 10 +f 7 4 10 +f 7 2 11 +f 8 7 11 +f 10 4 12 +f 4 6 13 +f 6 5 13 +f 12 4 13 +f 5 12 13 +f 7 1 14 +f 4 7 14 +f 9 4 14 +f 1 9 14 +f 2 3 15 +f 3 5 15 +f 5 8 15 +f 11 2 15 +f 8 11 15 +f 5 3 16 +f 3 10 16 +f 12 5 16 +f 10 12 16 +f 6 4 17 +f 4 9 17 +o convex_1 +v -2.986420 -0.389283 -0.492843 +v -0.962044 1.050828 1.025170 +v -0.962044 1.050828 -1.076758 +v -0.962044 -0.973312 0.986078 +v -2.947383 0.973039 0.986078 +v -0.962044 -0.973312 -0.998779 +v -2.791632 -0.973312 0.947191 +v -2.908346 0.973039 -0.959893 +v -2.908346 -1.051100 -1.076758 +v -1.857518 1.050828 0.908305 +v -1.740605 0.116340 1.025170 +v -2.986420 -0.194607 0.324390 +v -2.830471 -1.012206 0.674780 +v -1.117796 -1.012206 -0.921006 +v -2.947383 0.856151 -0.882120 +v -1.234709 1.050828 -1.076758 +v -2.830471 1.011934 0.986078 +v -1.584853 -1.012206 0.285504 +v -1.623890 1.050828 -1.037665 +v -2.558004 -0.700848 0.986078 +v -0.962044 0.505693 -1.076758 +v -2.908346 0.622581 -0.998779 +v -2.986420 0.311222 -0.298205 +v -2.090947 1.011934 1.025170 +v -1.546014 -1.012206 -1.037665 +v -2.908346 0.233228 0.986078 +v -0.962044 -0.000136 1.025170 +v -2.947383 -0.817530 -0.843027 +v -2.830471 -0.778636 0.947191 +v -2.947383 0.973039 -0.492843 +v -2.908346 -0.934212 -1.076758 +v -2.752595 -1.012206 0.752553 +v -2.830471 -1.051100 -0.921006 +f 49 30 50 +f 20 19 21 +f 20 21 23 +f 19 20 27 +f 23 21 31 +f 20 26 33 +f 27 20 33 +f 19 27 34 +f 31 21 35 +f 33 25 36 +f 27 33 36 +f 34 27 36 +f 25 34 36 +f 24 21 37 +f 21 28 37 +f 20 23 38 +f 26 20 38 +f 32 25 39 +f 25 33 39 +f 18 29 40 +f 29 22 40 +f 32 18 40 +f 28 19 41 +f 19 34 41 +f 34 22 41 +f 37 28 41 +f 23 31 42 +f 31 26 42 +f 38 23 42 +f 26 38 42 +f 22 29 43 +f 24 37 43 +f 41 22 43 +f 37 41 43 +f 21 19 44 +f 19 28 44 +f 28 21 44 +f 29 18 45 +f 26 30 45 +f 30 29 45 +f 18 32 45 +f 32 26 45 +f 29 30 46 +f 30 24 46 +f 43 29 46 +f 24 43 46 +f 25 32 47 +f 22 34 47 +f 34 25 47 +f 40 22 47 +f 32 40 47 +f 26 32 48 +f 33 26 48 +f 32 39 48 +f 39 33 48 +f 21 24 49 +f 24 30 49 +f 35 21 49 +f 35 49 50 +f 30 26 50 +f 26 31 50 +f 31 35 50 +o convex_2 +v 2.230546 0.700445 1.064308 +v 1.257290 -1.090029 -0.998947 +v 1.257290 0.583720 -1.076628 +v 3.164742 -0.856580 -0.998733 +v 1.257290 -1.051051 0.986200 +v 3.125682 1.050828 -1.115896 +v 3.203611 -0.934326 0.986413 +v 1.257290 0.972872 1.064095 +v 3.203611 1.050828 1.064308 +v 1.257290 1.050618 -1.076628 +v 3.086812 -1.012073 -0.959893 +v 1.685614 -1.051051 0.986200 +v 3.203611 -0.661899 1.025254 +v 1.374088 1.011850 1.064095 +v 3.203611 1.050828 0.558098 +v 2.931145 0.856357 -1.115896 +v 1.296159 -1.090029 0.207464 +v 2.463952 1.050828 1.064308 +v 3.203611 -0.934326 0.324413 +v 2.308284 -1.051051 -0.998733 +v 3.164742 -0.505987 -0.998733 +v 3.047943 -1.012073 -0.726208 +v 3.203611 0.505764 1.064308 +v 1.257290 -0.155814 1.025254 +v 2.775287 -0.973304 0.986413 +f 62 72 75 +f 53 52 55 +f 53 55 58 +f 53 58 60 +f 57 59 63 +f 55 62 63 +f 60 58 64 +f 56 59 65 +f 59 57 65 +f 52 53 66 +f 56 54 66 +f 53 60 66 +f 60 56 66 +f 55 52 67 +f 62 55 67 +f 58 51 68 +f 59 56 68 +f 51 59 68 +f 56 60 68 +f 64 58 68 +f 60 64 68 +f 61 54 69 +f 57 61 69 +f 65 57 69 +f 54 61 70 +f 52 66 70 +f 66 54 70 +f 67 52 70 +f 54 56 71 +f 56 65 71 +f 69 54 71 +f 65 69 71 +f 61 57 72 +f 62 67 72 +f 70 61 72 +f 67 70 72 +f 59 51 73 +f 51 63 73 +f 63 59 73 +f 51 58 74 +f 58 55 74 +f 63 51 74 +f 55 63 74 +f 57 63 75 +f 63 62 75 +f 72 57 75 +o convex_3 +v 1.218137 -0.155608 1.453866 +v -0.844905 1.050824 1.103541 +v -0.844905 1.050824 1.064506 +v -0.883959 -1.089823 2.543481 +v 1.218137 0.934099 3.010713 +v -0.806064 0.972868 3.088585 +v 1.062347 -1.090032 3.049748 +v -0.923013 -0.973098 1.064506 +v 1.257191 0.972868 1.064308 +v 1.179296 -1.090032 1.103541 +v -0.844905 -1.089823 2.932841 +v -0.883959 1.011846 1.765355 +v 1.179296 -1.051054 1.064308 +v -0.183118 0.972868 3.088585 +v 0.945611 1.011846 1.103541 +v 1.101187 -1.012076 3.049748 +v -0.806064 0.622485 3.088585 +v -0.923013 0.038653 1.103541 +v -0.883959 -1.012076 1.259285 +v -0.844905 -0.311520 3.010713 +v 1.218137 0.622695 2.777097 +v 0.828875 -1.090032 3.049748 +v 1.257191 0.622695 1.103541 +v -0.883959 -1.089823 2.348900 +v -0.883959 1.050824 1.064506 +v 1.101187 -0.428035 3.049748 +v 1.218137 0.972868 2.076447 +v 1.179296 -1.051054 1.297924 +v -0.767010 1.011846 2.348900 +v -0.455644 -1.089823 2.971678 +f 97 92 105 +f 85 83 88 +f 78 77 90 +f 84 78 90 +f 82 85 91 +f 89 82 91 +f 89 81 92 +f 82 89 92 +f 83 79 93 +f 79 87 93 +f 83 85 94 +f 79 86 95 +f 81 87 95 +f 87 79 95 +f 92 81 95 +f 80 91 96 +f 85 82 97 +f 86 79 97 +f 82 92 97 +f 84 80 98 +f 88 84 98 +f 85 88 98 +f 96 76 98 +f 80 96 98 +f 79 83 99 +f 83 94 99 +f 94 85 99 +f 97 79 99 +f 85 97 99 +f 77 78 100 +f 78 84 100 +f 87 81 100 +f 88 83 100 +f 84 88 100 +f 83 93 100 +f 93 87 100 +f 80 89 101 +f 91 80 101 +f 89 91 101 +f 80 84 102 +f 89 80 102 +f 84 90 102 +f 91 85 103 +f 76 96 103 +f 96 91 103 +f 98 76 103 +f 85 98 103 +f 81 89 104 +f 90 77 104 +f 77 100 104 +f 100 81 104 +f 89 102 104 +f 102 90 104 +f 95 86 105 +f 92 95 105 +f 86 97 105 +o convex_4 +v -0.844996 -1.012168 -1.700050 +v -0.377840 1.089760 -2.789672 +v -0.377840 1.089760 -2.945523 +v 1.218258 -0.934395 -2.127973 +v 1.218258 1.050873 -1.116086 +v -0.922891 1.089760 -1.116086 +v -0.883837 -0.973076 -3.062315 +v 1.140363 0.973100 -2.945523 +v 1.179204 -0.934395 -1.116086 +v 1.218258 -0.934395 -2.984390 +v -0.844996 -0.973076 -1.116086 +v -0.961945 1.089760 -2.945523 +v -0.494576 -1.012168 -3.062315 +v 0.945520 -0.973282 -1.116086 +v -0.961945 1.011781 -2.166841 +v 1.179204 1.011987 -2.517219 +v -0.767101 -0.661778 -3.062315 +v 1.179204 0.116363 -2.984390 +v -0.883837 -0.389367 -1.116086 +v 1.218258 -0.194523 -1.116086 +v 1.218258 0.973100 -1.777976 +v 0.556258 -0.973282 -3.023258 +v -0.961945 0.700484 -2.828730 +v 1.218258 -0.428253 -2.945523 +v -0.922891 0.622505 -2.984390 +v 0.945520 1.011987 -2.945523 +v -0.844996 -1.012168 -3.062315 +v -0.922891 0.661391 -1.116086 +v -0.299945 -0.934189 -3.062315 +v 0.712048 -0.895509 -3.023258 +f 134 123 135 +f 108 107 110 +f 107 108 111 +f 110 107 111 +f 110 111 114 +f 110 109 115 +f 112 106 116 +f 114 111 116 +f 111 108 117 +f 109 114 119 +f 115 109 119 +f 116 106 119 +f 114 116 119 +f 106 118 119 +f 111 117 120 +f 108 110 121 +f 118 112 122 +f 122 113 123 +f 112 116 124 +f 116 111 124 +f 109 110 125 +f 114 109 125 +f 110 114 125 +f 110 115 126 +f 121 110 126 +f 115 119 127 +f 119 118 127 +f 117 112 128 +f 120 117 128 +f 112 124 128 +f 124 120 128 +f 113 121 129 +f 115 123 129 +f 123 113 129 +f 126 115 129 +f 121 126 129 +f 117 108 130 +f 112 117 130 +f 122 112 130 +f 122 130 131 +f 108 121 131 +f 121 113 131 +f 113 122 131 +f 130 108 131 +f 106 112 132 +f 118 106 132 +f 112 118 132 +f 111 120 133 +f 124 111 133 +f 120 124 133 +f 118 122 134 +f 122 123 134 +f 127 118 134 +f 127 134 135 +f 123 115 135 +f 115 127 135 +o convex_5 +v 1.257190 1.478884 0.908518 +v -0.961945 -0.972961 -0.998733 +v -0.961945 -0.972961 0.986413 +v 1.218091 -3.075575 -1.115896 +v -0.961945 3.035974 -1.076842 +v 1.062343 2.996836 -1.038001 +v -0.961945 2.919162 1.025254 +v 1.140325 -3.114713 1.025254 +v -0.805980 -3.114713 0.986413 +v 1.179208 3.036576 1.025254 +v -0.805980 -2.997299 -1.038001 +v 1.257190 1.050774 -1.076842 +v -0.922845 -0.972961 1.064308 +v 1.257190 0.582925 1.064308 +v -0.922845 0.661201 -1.115896 +v 1.218091 1.050774 -1.115896 +v 1.257190 -1.050635 0.986413 +v -0.845080 -0.972961 -1.115896 +v -0.961945 1.050774 1.064308 +v 1.218091 2.919162 0.986413 +v 1.257190 -1.440209 -1.038001 +v 1.179208 -3.114713 0.908518 +v -0.260971 -3.035835 -1.076842 +v -0.805980 2.957698 1.025254 +v 1.179208 -1.050635 1.064308 +v -0.805980 -3.114713 0.558098 +v -0.260971 3.035974 -1.076842 +v 1.179208 3.036576 0.441362 +v 1.257190 1.361470 1.064308 +v 0.205838 -3.114713 1.025254 +v -0.961945 3.035974 -0.687367 +v 0.789947 -3.074973 -1.115896 +v -0.805980 -3.035835 -0.959893 +v 1.101443 2.802351 -1.038001 +v 0.789947 3.035974 1.025254 +v -0.922845 1.089310 -1.115896 +v -0.845080 -2.647466 0.752729 +v 0.478451 -3.074973 -1.076842 +v 0.011425 2.997438 -1.076842 +v 1.179208 -3.114713 0.713888 +v 1.218091 -3.075575 -0.959893 +f 152 157 176 +f 137 138 140 +f 140 138 142 +f 138 144 148 +f 147 136 149 +f 137 140 150 +f 147 139 151 +f 139 150 151 +f 149 143 152 +f 147 149 152 +f 146 137 153 +f 137 150 153 +f 150 139 153 +f 142 138 154 +f 138 148 154 +f 148 149 154 +f 136 147 155 +f 139 147 156 +f 147 152 156 +f 143 144 157 +f 152 143 157 +f 146 153 158 +f 142 154 159 +f 143 149 160 +f 149 148 160 +f 157 144 161 +f 140 145 163 +f 145 155 163 +f 155 147 163 +f 141 162 163 +f 162 140 163 +f 149 136 164 +f 154 149 164 +f 155 145 164 +f 136 155 164 +f 159 154 164 +f 144 143 165 +f 148 144 165 +f 143 160 165 +f 160 148 165 +f 140 142 166 +f 145 140 166 +f 142 159 166 +f 153 139 167 +f 158 153 167 +f 139 161 167 +f 137 146 168 +f 146 158 168 +f 151 141 169 +f 147 151 169 +f 141 163 169 +f 163 147 169 +f 164 145 170 +f 159 164 170 +f 145 166 170 +f 166 159 170 +f 150 140 171 +f 151 150 171 +f 140 162 171 +f 162 151 171 +f 138 137 172 +f 144 138 172 +f 161 144 172 +f 168 161 172 +f 137 168 172 +f 158 167 173 +f 167 161 173 +f 161 168 173 +f 168 158 173 +f 141 151 174 +f 162 141 174 +f 151 162 174 +f 139 157 175 +f 161 139 175 +f 157 161 175 +f 139 156 176 +f 156 152 176 +f 157 139 176 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/077/077.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/077/077.urdf new file mode 100644 index 000000000..a66ebdb97 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/077/077.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/078/078.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/078/078.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/078/078.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/078/078.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/078/078.obj new file mode 100644 index 000000000..df2b184da --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/078/078.obj @@ -0,0 +1,633 @@ +o convex_0 +v 1.157707 -1.081956 0.495722 +v -1.305792 -1.081956 -0.306816 +v -1.305792 -1.081956 -0.057632 +v 0.604235 3.291848 -0.306816 +v -0.115305 2.516072 0.938693 +v 0.797810 -1.081956 -0.860375 +v -0.890369 2.488671 -0.860581 +v -0.558235 -1.081956 0.938487 +v -0.752065 2.516500 0.717104 +v 0.853335 2.959617 -0.832780 +v 0.853335 2.461271 0.855494 +v -0.752065 -0.057434 -0.970964 +v -0.502964 3.264019 0.495516 +v 0.714776 -0.112663 0.966288 +v 1.296266 -1.026299 0.135743 +v 0.078016 2.544328 -1.026567 +v -0.170830 3.263592 -0.804978 +v -0.004763 -1.081956 -0.998765 +v -0.945895 2.627386 0.080552 +v 0.825573 3.263592 0.108148 +v -0.835099 -0.943241 0.855494 +v 0.991640 2.626958 -0.029830 +v -0.060034 0.579199 1.049487 +v 0.327371 3.263592 0.578714 +v 0.050508 -1.081956 0.994090 +v -0.669032 3.264019 -0.085227 +v -0.890369 -1.081956 -0.804978 +v 0.078016 0.053024 -1.054368 +v -0.779828 0.357854 0.883090 +v 1.185470 -1.081956 -0.196022 +v 1.296266 -1.054127 0.357332 +v 0.742539 -1.053699 0.883295 +v -1.139470 -0.998470 -0.583596 +v 0.853335 -1.081956 -0.832780 +v -0.502964 3.264019 -0.583596 +v 0.022745 3.263592 -0.860375 +v 0.825573 2.876131 -0.860375 +v -1.167233 -1.081956 0.274133 +v 0.022745 3.236191 0.661913 +v -0.032271 2.544328 -1.026567 +v 0.548709 3.263592 0.523317 +v -0.945895 2.571729 -0.196022 +v 0.161049 2.488671 0.938693 +v -0.115305 0.191739 -1.054368 +v 0.770302 0.136082 -0.888177 +v -0.115305 0.025623 1.049487 +v -0.779828 -1.053699 -0.888177 +v 0.078016 0.330026 1.049487 +v 0.880843 2.488671 0.744700 +v -0.807336 -0.167892 -0.943368 +v 0.797810 1.408920 0.910891 +v 0.991640 2.599557 -0.113029 +v 0.188812 3.291848 0.191140 +v -1.028929 0.690086 0.357126 +v -0.558235 3.235763 0.467920 +v 0.465676 -1.081956 -0.943574 +v 0.078016 0.717914 -1.054368 +v -1.305792 -1.026299 -0.306816 +v -0.807336 0.302625 0.855494 +v 0.687268 3.263592 -0.362213 +v -0.779828 -1.081956 0.883090 +v 0.687268 2.461271 0.883295 +v 0.880843 2.903532 -0.721986 +v -0.945895 2.516500 0.135743 +f 54 9 64 +f 3 2 1 +f 1 2 6 +f 3 1 8 +f 9 5 13 +f 6 2 18 +f 8 1 25 +f 18 2 27 +f 5 9 29 +f 23 5 29 +f 1 6 30 +f 10 15 30 +f 30 15 31 +f 14 1 31 +f 15 22 31 +f 1 30 31 +f 1 14 32 +f 25 1 32 +f 14 25 32 +f 27 2 33 +f 30 6 34 +f 10 30 34 +f 4 17 35 +f 17 7 35 +f 7 26 35 +f 17 4 36 +f 7 17 36 +f 10 34 37 +f 36 10 37 +f 16 36 37 +f 3 8 38 +f 13 5 39 +f 11 24 39 +f 24 13 39 +f 12 7 40 +f 36 16 40 +f 7 36 40 +f 20 4 41 +f 11 20 41 +f 24 11 41 +f 26 7 42 +f 19 26 42 +f 5 23 43 +f 39 5 43 +f 18 12 44 +f 28 18 44 +f 12 40 44 +f 34 6 45 +f 37 34 45 +f 8 25 46 +f 23 29 46 +f 12 18 47 +f 18 27 47 +f 25 14 48 +f 43 23 48 +f 23 46 48 +f 46 25 48 +f 20 11 49 +f 22 20 49 +f 11 31 49 +f 31 22 49 +f 7 12 50 +f 33 7 50 +f 27 33 50 +f 12 47 50 +f 47 27 50 +f 14 31 51 +f 31 11 51 +f 48 14 51 +f 22 15 52 +f 13 24 53 +f 26 13 53 +f 4 35 53 +f 35 26 53 +f 41 4 53 +f 24 41 53 +f 3 38 54 +f 9 13 55 +f 19 9 55 +f 13 26 55 +f 26 19 55 +f 6 18 56 +f 18 28 56 +f 45 6 56 +f 28 45 56 +f 16 37 57 +f 40 16 57 +f 28 44 57 +f 44 40 57 +f 45 28 57 +f 37 45 57 +f 2 3 58 +f 3 19 58 +f 33 2 58 +f 7 33 58 +f 42 7 58 +f 19 42 58 +f 29 9 59 +f 21 29 59 +f 38 21 59 +f 9 54 59 +f 54 38 59 +f 4 20 60 +f 20 10 60 +f 36 4 60 +f 10 36 60 +f 29 21 61 +f 38 8 61 +f 21 38 61 +f 8 46 61 +f 46 29 61 +f 11 39 62 +f 39 43 62 +f 43 48 62 +f 51 11 62 +f 48 51 62 +f 15 10 63 +f 10 20 63 +f 20 22 63 +f 52 15 63 +f 22 52 63 +f 19 3 64 +f 9 19 64 +f 3 54 64 +o convex_1 +v -1.361479 -2.050720 0.135960 +v -1.278150 -1.082053 -0.030145 +v -1.278150 -1.109755 0.025201 +v -2.994453 -1.746201 -0.030145 +v -1.278150 -1.690896 -0.362218 +v -1.278150 -1.663195 0.302065 +v -1.306039 -1.082053 -0.306941 +v -2.772691 -1.801604 -0.223820 +v -2.662146 -1.718500 0.163599 +v -1.278150 -1.995317 -0.279166 +v -2.745139 -1.995317 -0.002506 +v -2.800580 -1.552682 -0.057716 +v -1.306039 -1.248163 0.219012 +v -1.278150 -1.995317 0.246651 +v -1.278150 -1.386572 -0.389993 +v -1.278150 -2.078421 -0.085355 +v -2.662146 -1.552682 0.052908 +v -2.745139 -1.718500 -0.223820 +v -2.578986 -1.940012 -0.168407 +v -2.634426 -1.856909 0.135960 +v -1.444304 -1.801604 0.302065 +v -1.333591 -1.967616 -0.306941 +v -1.333591 -1.082053 -0.030145 +v -1.555017 -2.078421 -0.057716 +v -2.689867 -1.995317 -0.057716 +v -1.306039 -1.524981 -0.389993 +v -2.994453 -1.801604 -0.030145 +v -1.527465 -1.331170 0.219012 +v -2.717587 -1.552682 -0.113061 +v -2.523713 -1.940012 0.108253 +v -2.772691 -1.773902 0.135960 +v -2.634426 -1.635494 0.135960 +v -2.772691 -1.552682 -0.002506 +v -1.333591 -2.023019 0.219012 +v -1.361479 -2.078421 0.052908 +v -1.333591 -1.856909 0.302065 +f 70 85 100 +f 66 67 69 +f 69 67 70 +f 69 70 74 +f 70 67 77 +f 74 70 78 +f 66 69 79 +f 71 66 79 +f 74 78 80 +f 72 68 82 +f 68 76 82 +f 71 79 82 +f 79 72 82 +f 70 73 85 +f 73 84 85 +f 72 69 86 +f 69 74 86 +f 83 72 86 +f 74 83 86 +f 67 66 87 +f 66 71 87 +f 71 76 87 +f 77 67 87 +f 81 77 87 +f 74 80 88 +f 72 83 89 +f 83 74 89 +f 88 75 89 +f 74 88 89 +f 69 72 90 +f 79 69 90 +f 72 79 90 +f 68 72 91 +f 72 89 91 +f 89 75 91 +f 73 70 92 +f 70 77 92 +f 76 71 93 +f 71 82 93 +f 82 76 93 +f 84 75 94 +f 78 84 94 +f 84 73 95 +f 75 84 95 +f 68 91 95 +f 91 75 95 +f 77 81 96 +f 73 92 96 +f 92 77 96 +f 95 73 96 +f 95 96 97 +f 76 68 97 +f 87 76 97 +f 81 87 97 +f 68 95 97 +f 96 81 97 +f 75 65 98 +f 94 75 98 +f 78 94 98 +f 65 75 99 +f 80 78 99 +f 75 88 99 +f 88 80 99 +f 98 65 99 +f 78 98 99 +f 78 70 100 +f 84 78 100 +f 85 84 100 +o convex_2 +v 0.244333 -2.632062 0.689574 +v -0.004903 -1.109890 -0.999004 +v -0.004903 -1.081956 -0.999004 +v -1.277906 -1.663452 0.301913 +v 0.797918 -1.081956 0.827898 +v 0.853277 -2.327429 -0.805076 +v -0.807480 -2.355198 -0.749668 +v -0.835282 -1.082121 0.855407 +v -1.250349 -1.082121 -0.417610 +v 1.212986 -1.082121 -0.057653 +v -0.862839 -2.299825 0.855407 +v 1.212986 -1.995358 0.246505 +v -0.862839 -2.687434 -0.002441 +v 0.548683 -2.742642 -0.472823 +v 0.853277 -1.081956 -0.832780 +v 0.742560 -2.299660 0.772490 +v -0.004903 -1.331216 0.994122 +v -1.277906 -2.078334 -0.140765 +v 0.880834 -2.659666 -0.002441 +v -0.807480 -1.082121 -0.860289 +v 0.271890 -2.770576 0.578563 +v -0.060018 -2.742642 -0.666751 +v 1.212986 -1.912381 -0.334498 +v -0.060018 -2.022962 -0.943401 +v 1.212986 -1.082121 0.440238 +v -0.004903 -1.967589 0.966418 +v -0.253651 -2.742642 0.578758 +v -1.277906 -1.082121 -0.002441 +v -1.277906 -1.469565 -0.417610 +v -0.475085 -2.742642 -0.500527 +v -0.419727 -1.081956 0.966418 +v -1.277906 -2.023127 0.218801 +v 0.521126 -2.770576 0.467942 +v -0.918198 -2.659666 0.080281 +v 0.853277 -2.244287 -0.832780 +v 0.687201 -1.081956 0.883111 +v -0.835282 -2.244452 -0.777372 +v 1.212986 -2.050731 -0.223682 +v -1.277906 -1.967589 -0.334498 +v 1.212986 -1.386588 0.440238 +v -1.277906 -1.248239 0.218801 +v -0.807480 -1.358985 -0.860289 +v -0.918198 -2.659666 -0.029950 +v 0.050456 -2.687434 0.689574 +v 0.437966 -1.081956 -0.943401 +v -0.502886 -2.715204 0.495841 +v 0.105814 -2.715204 -0.694260 +v -0.613603 -2.742807 0.080281 +v 1.185429 -1.082121 -0.195978 +v 0.604042 -2.770576 0.107985 +v 0.105814 -2.022962 -0.943401 +v 0.770117 -2.244287 0.772490 +v 0.908636 -2.272056 -0.777372 +v 0.022654 -1.081956 0.994122 +v -0.807480 -2.327594 -0.777372 +v -0.724321 -2.244452 0.883111 +v 0.880834 -2.659666 -0.057653 +v 1.212986 -2.106103 -0.002441 +v 0.299691 -2.770576 -0.085162 +v 0.880834 -2.604293 0.107985 +v 0.742560 -1.386588 0.855602 +v -0.060018 -2.742642 0.661870 +v 0.022654 -2.133873 0.911010 +v -0.890640 -1.109890 -0.805076 +f 142 137 164 +f 108 104 111 +f 103 105 115 +f 103 102 120 +f 109 103 120 +f 116 101 121 +f 110 112 123 +f 112 110 125 +f 115 105 125 +f 110 115 125 +f 118 104 128 +f 118 128 129 +f 128 109 129 +f 105 103 131 +f 103 109 131 +f 108 111 131 +f 126 117 131 +f 128 108 131 +f 109 128 131 +f 111 104 132 +f 104 118 132 +f 116 121 133 +f 111 132 134 +f 132 118 134 +f 117 126 136 +f 105 131 136 +f 123 112 138 +f 118 129 139 +f 129 137 139 +f 112 125 140 +f 125 105 140 +f 104 108 141 +f 128 104 141 +f 108 128 141 +f 120 102 142 +f 102 124 142 +f 107 130 143 +f 130 113 143 +f 113 134 143 +f 134 118 143 +f 139 107 143 +f 118 139 143 +f 101 116 144 +f 121 101 144 +f 102 103 145 +f 103 115 145 +f 115 135 145 +f 127 111 146 +f 134 113 146 +f 111 134 146 +f 106 114 147 +f 114 122 147 +f 121 127 148 +f 113 130 148 +f 127 146 148 +f 146 113 148 +f 115 110 149 +f 110 123 149 +f 123 115 149 +f 119 133 150 +f 133 121 150 +f 124 102 151 +f 135 106 151 +f 102 145 151 +f 145 135 151 +f 106 147 151 +f 147 124 151 +f 116 112 152 +f 126 116 152 +f 140 105 152 +f 112 140 152 +f 115 123 153 +f 135 115 153 +f 106 135 153 +f 123 138 153 +f 131 117 154 +f 117 136 154 +f 136 131 154 +f 130 107 155 +f 122 130 155 +f 107 139 155 +f 139 137 155 +f 142 124 155 +f 137 142 155 +f 147 122 155 +f 124 147 155 +f 131 111 156 +f 126 131 156 +f 111 144 156 +f 114 106 157 +f 150 114 157 +f 119 150 157 +f 106 153 157 +f 153 138 157 +f 112 119 158 +f 138 112 158 +f 119 157 158 +f 157 138 158 +f 122 114 159 +f 130 122 159 +f 121 148 159 +f 148 130 159 +f 114 150 159 +f 150 121 159 +f 112 116 160 +f 119 112 160 +f 133 119 160 +f 116 133 160 +f 105 136 161 +f 136 126 161 +f 126 152 161 +f 152 105 161 +f 111 127 162 +f 127 121 162 +f 121 144 162 +f 144 111 162 +f 116 126 163 +f 144 116 163 +f 126 156 163 +f 156 144 163 +f 109 120 164 +f 129 109 164 +f 137 129 164 +f 120 142 164 +o convex_3 +v 1.434835 -1.137494 0.329731 +v 1.213336 -2.106101 -0.057686 +v 1.213336 -2.106101 -0.002311 +v 2.016044 -1.995325 0.052924 +v 1.268730 -1.331175 -0.168437 +v 2.016044 -1.718538 -0.223812 +v 1.213336 -1.441950 0.412794 +v 1.988229 -1.746206 0.302043 +v 1.213336 -1.912319 -0.306946 +v 1.213336 -1.995325 0.246668 +v 2.016044 -1.469619 0.080541 +v 1.213336 -1.082156 -0.002311 +v 1.960571 -1.939988 -0.196125 +v 1.213336 -1.082156 0.412794 +v 2.016044 -1.524957 0.274355 +v 1.988229 -1.552625 -0.140749 +v 2.016044 -1.939988 0.191292 +v 1.213336 -1.773875 -0.306946 +v 1.268730 -2.022994 -0.251500 +v 1.324124 -1.082156 0.135917 +v 2.016044 -1.995325 -0.057686 +v 1.517887 -1.912319 0.274355 +v 1.241072 -1.082156 -0.002311 +v 1.905176 -1.441950 0.302043 +v 1.877518 -1.967657 0.191292 +v 1.296388 -1.275838 -0.140749 +f 187 180 190 +f 167 166 168 +f 166 167 171 +f 166 171 173 +f 171 167 174 +f 168 170 175 +f 173 171 176 +f 173 170 177 +f 171 172 178 +f 176 171 178 +f 168 175 179 +f 175 170 180 +f 168 179 181 +f 179 172 181 +f 169 170 182 +f 170 173 182 +f 176 169 182 +f 173 176 182 +f 166 173 183 +f 173 177 183 +f 165 175 184 +f 178 165 184 +f 176 178 184 +f 168 166 185 +f 170 168 185 +f 177 170 185 +f 166 183 185 +f 183 177 185 +f 172 171 186 +f 171 174 186 +f 181 172 186 +f 175 180 187 +f 184 175 187 +f 176 184 187 +f 175 165 188 +f 165 178 188 +f 178 172 188 +f 172 179 188 +f 179 175 188 +f 167 168 189 +f 174 167 189 +f 168 181 189 +f 186 174 189 +f 181 186 189 +f 170 169 190 +f 169 176 190 +f 180 170 190 +f 176 187 190 +o convex_4 +v 2.154501 -1.995472 -0.002414 +v 2.071587 -1.497190 0.108256 +v 2.071587 -1.497190 0.052897 +v 3.040289 -1.746331 0.052897 +v 2.016044 -1.746331 -0.223899 +v 2.016044 -1.801690 0.274382 +v 2.707931 -1.746331 -0.168491 +v 2.818717 -1.773986 0.218974 +v 2.016044 -1.524894 0.274382 +v 2.763374 -1.580253 0.080601 +v 2.735702 -1.940015 -0.030118 +v 2.016044 -1.940015 -0.168491 +v 2.016044 -1.940015 0.191319 +v 2.016044 -1.552647 -0.113132 +v 2.735702 -1.940015 0.052897 +v 2.625016 -1.607957 0.218974 +v 2.707931 -1.607957 -0.030118 +v 2.707931 -1.801690 -0.168491 +v 2.680359 -1.773986 0.246678 +v 3.012517 -1.801690 -0.002414 +v 2.514431 -1.912409 0.163615 +v 2.126930 -1.580253 -0.140836 +v 2.514431 -1.912409 -0.140836 +v 2.016044 -1.995472 -0.057773 +v 2.984746 -1.746331 -0.030118 +v 2.984746 -1.829297 0.052897 +f 201 210 216 +f 192 193 199 +f 195 196 199 +f 193 192 200 +f 192 199 200 +f 196 195 202 +f 196 202 203 +f 199 193 204 +f 195 199 204 +f 191 201 205 +f 203 191 205 +f 198 194 206 +f 194 200 206 +f 200 199 206 +f 193 200 207 +f 204 193 207 +f 195 197 208 +f 202 195 208 +f 199 196 209 +f 196 203 209 +f 198 206 209 +f 206 199 209 +f 201 208 210 +f 205 198 211 +f 203 205 211 +f 209 203 211 +f 198 209 211 +f 197 195 212 +f 195 204 212 +f 207 197 212 +f 204 207 212 +f 208 201 213 +f 202 208 213 +f 201 191 214 +f 191 203 214 +f 203 202 214 +f 213 201 214 +f 202 213 214 +f 200 194 215 +f 197 207 215 +f 207 200 215 +f 208 197 215 +f 194 210 215 +f 210 208 215 +f 194 198 216 +f 198 205 216 +f 205 201 216 +f 210 194 216 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/078/078.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/078/078.urdf new file mode 100644 index 000000000..489421131 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/078/078.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/079/079.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/079/079.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/079/079.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/079/079.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/079/079.obj new file mode 100644 index 000000000..de84a54db --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/079/079.obj @@ -0,0 +1,705 @@ +o convex_0 +v 0.582046 4.814738 -0.107402 +v -0.556305 4.327181 0.250310 +v -0.556305 4.327181 0.315296 +v 0.516945 2.896091 0.575586 +v -0.491089 2.896091 -0.497664 +v 0.451844 2.896091 -0.530215 +v -0.458653 4.880075 -0.595316 +v -0.263465 4.912644 0.543035 +v -0.458653 2.896091 0.445384 +v 0.614597 4.847505 0.445384 +v 0.549496 4.847505 -0.432563 +v -0.556305 4.912644 0.543035 +v 0.549496 2.961428 0.510370 +v -0.100827 4.131763 -0.595316 +v -0.523640 2.896091 -0.465114 +v -0.523640 4.327181 0.543035 +v 0.321757 3.123881 -0.562765 +v -0.491089 3.123881 -0.530215 +v 0.029146 4.880075 -0.530215 +v -0.458653 3.091312 0.477934 +v 0.549496 4.522204 -0.400127 +v -0.523640 4.912644 0.055007 +v 0.582046 3.969112 0.510370 +v -0.491089 3.351474 0.477934 +v 0.321757 4.880075 0.380283 +v -0.458653 4.392123 -0.595316 +v -0.263465 4.814936 -0.595316 +v -0.523640 2.961428 -0.270040 +v 0.484395 2.896091 -0.237489 +f 21 13 29 +f 4 5 6 +f 5 4 9 +f 10 1 11 +f 2 3 12 +f 4 8 12 +f 1 10 13 +f 3 2 15 +f 5 9 15 +f 4 12 16 +f 6 5 17 +f 11 6 17 +f 5 15 18 +f 17 5 18 +f 9 4 20 +f 4 16 20 +f 11 1 21 +f 6 11 21 +f 1 13 21 +f 2 12 22 +f 12 8 22 +f 15 2 22 +f 7 15 22 +f 19 7 22 +f 8 19 22 +f 8 4 23 +f 10 8 23 +f 4 13 23 +f 13 10 23 +f 12 3 24 +f 16 12 24 +f 9 20 24 +f 20 16 24 +f 8 10 25 +f 10 11 25 +f 19 8 25 +f 11 19 25 +f 7 14 26 +f 15 7 26 +f 14 17 26 +f 17 18 26 +f 18 15 26 +f 14 7 27 +f 11 17 27 +f 17 14 27 +f 7 19 27 +f 19 11 27 +f 3 15 28 +f 15 9 28 +f 24 3 28 +f 9 24 28 +f 4 6 29 +f 13 4 29 +f 6 21 29 +o convex_1 +v 0.582072 -4.551836 0.315303 +v -0.588830 -4.097052 0.022711 +v -0.588830 -4.097052 0.087659 +v 0.516971 -3.218618 -0.497741 +v -0.556165 -5.169930 -0.465158 +v 0.451870 -3.218618 0.608111 +v -0.523729 -3.218618 -0.465158 +v -0.491178 -5.137268 0.477998 +v 0.582072 -5.104797 -0.432576 +v -0.588830 -3.218618 0.510472 +v 0.582072 -5.104797 0.412833 +v 0.549521 -4.096861 -0.497741 +v -0.523729 -3.381546 -0.497741 +v 0.582072 -5.039855 0.445416 +v 0.549521 -3.576562 -0.269989 +v 0.386883 -5.137268 0.250246 +v 0.354218 -3.316413 0.608111 +v 0.549521 -4.974722 -0.465158 +v 0.516971 -5.137268 -0.432684 +v -0.588830 -3.511620 0.510472 +v -0.588830 -3.218618 0.152716 +v -0.523729 -3.999448 -0.497741 +v -0.458628 -5.169930 0.055185 +v 0.484420 -3.218618 0.282829 +f 44 33 53 +f 32 31 34 +f 35 33 36 +f 32 34 37 +f 31 32 39 +f 35 36 39 +f 38 30 40 +f 36 33 42 +f 33 41 42 +f 30 35 43 +f 40 30 43 +f 37 40 43 +f 30 38 44 +f 41 33 44 +f 38 41 44 +f 40 37 45 +f 35 39 46 +f 43 35 46 +f 37 43 46 +f 34 41 47 +f 41 38 47 +f 38 40 48 +f 40 45 48 +f 34 47 48 +f 47 38 48 +f 32 37 49 +f 39 32 49 +f 46 39 49 +f 37 46 49 +f 34 31 50 +f 31 39 50 +f 39 36 50 +f 42 34 50 +f 36 42 50 +f 41 34 51 +f 34 42 51 +f 42 41 51 +f 37 34 52 +f 45 37 52 +f 34 48 52 +f 48 45 52 +f 35 30 53 +f 33 35 53 +f 30 44 53 +o convex_2 +v 0.874574 -0.844426 1.095987 +v -1.109231 -2.307671 0.803070 +v -1.076661 -3.185905 0.542723 +v -0.946383 -0.779239 -0.952958 +v 0.972283 -3.088482 -1.050666 +v 1.037423 -3.153431 1.095987 +v 1.004853 -0.779239 -1.018097 +v -0.978952 -3.218618 -0.920388 +v -1.076661 -0.779239 0.998278 +v -0.978952 -3.185905 0.965708 +v 1.004853 -0.779239 1.063207 +v 0.516939 -3.218618 -0.530183 +v -1.109231 -0.779239 0.412655 +v 0.647007 -3.023295 1.095987 +v 0.452010 -3.218618 0.608073 +v -0.946383 -3.218618 -0.952958 +v 0.744506 -1.755373 -1.050666 +v -1.011522 -0.779239 -0.725180 +v 0.321731 -0.779239 1.095987 +v 1.037423 -3.120956 0.347726 +v 1.037423 -1.787847 1.095987 +v -1.076661 -1.527338 0.998278 +v -1.076661 -3.185905 0.933139 +v 1.004853 -2.047401 -1.018097 +v -0.588747 -3.218618 0.510364 +v -0.458469 -3.185905 -0.985527 +v 0.386871 -0.779239 -1.018097 +v -0.751385 -0.811952 1.030848 +v 1.004853 -3.120956 -0.432474 +v -1.109231 -0.844426 0.770501 +v -0.978952 -0.779239 -0.920388 +v -1.109231 -1.722660 0.607863 +v 1.004853 -3.088482 -0.627472 +f 73 82 86 +f 60 57 62 +f 60 62 64 +f 62 57 66 +f 59 54 67 +f 63 59 67 +f 59 63 68 +f 65 59 68 +f 61 65 68 +f 61 57 69 +f 65 61 69 +f 60 58 70 +f 61 66 71 +f 66 57 71 +f 54 64 72 +f 64 62 72 +f 67 54 72 +f 54 59 74 +f 64 54 74 +f 60 64 74 +f 59 73 74 +f 73 60 74 +f 62 55 75 +f 63 67 75 +f 55 56 76 +f 56 61 76 +f 75 55 76 +f 63 75 76 +f 58 60 77 +f 60 73 77 +f 61 68 78 +f 68 63 78 +f 76 61 78 +f 63 76 78 +f 58 65 79 +f 69 57 79 +f 65 69 79 +f 57 70 79 +f 70 58 79 +f 57 60 80 +f 70 57 80 +f 60 70 80 +f 72 62 81 +f 67 72 81 +f 62 75 81 +f 75 67 81 +f 65 58 82 +f 59 65 82 +f 73 59 82 +f 55 62 83 +f 66 55 83 +f 62 66 83 +f 57 61 84 +f 71 57 84 +f 61 71 84 +f 56 55 85 +f 61 56 85 +f 55 66 85 +f 66 61 85 +f 58 77 86 +f 77 73 86 +f 82 58 86 +o convex_3 +v -1.141858 0.001352 0.510536 +v -2.995572 0.294059 -0.595316 +v -1.955200 -0.649094 -0.497677 +v -2.995572 -0.616525 0.477953 +v -3.093065 0.359093 0.510536 +v -1.109231 0.391663 -0.595316 +v -1.109231 -0.616525 0.347841 +v -3.028005 -0.584060 -0.465203 +v -1.109231 -0.681664 -0.497677 +v -1.109231 0.359093 0.510536 +v -3.028005 0.391663 -0.465203 +v -1.304604 -0.616525 0.445479 +v -1.109231 0.391663 0.087506 +v -1.109231 -0.486456 -0.530259 +v -3.060438 -0.063787 0.510536 +v -3.093065 0.098851 0.282784 +v -2.995572 -0.616525 -0.139921 +v -2.995572 0.391663 -0.595316 +v -3.028005 0.391663 -0.204977 +v -2.020066 -0.193645 0.510536 +v -1.109231 -0.584060 0.445479 +v -1.174290 -0.681664 -0.400146 +v -3.028005 -0.193645 -0.530259 +f 97 104 109 +f 92 93 95 +f 91 87 96 +f 93 92 96 +f 91 96 99 +f 96 92 99 +f 92 97 99 +f 89 88 100 +f 88 92 100 +f 95 89 100 +f 92 95 100 +f 87 91 101 +f 94 90 102 +f 91 97 102 +f 90 101 102 +f 101 91 102 +f 94 89 103 +f 90 94 103 +f 92 88 104 +f 97 92 104 +f 97 91 105 +f 91 99 105 +f 99 97 105 +f 90 98 106 +f 87 101 106 +f 101 90 106 +f 96 87 107 +f 93 96 107 +f 98 93 107 +f 87 106 107 +f 106 98 107 +f 89 95 108 +f 95 93 108 +f 98 90 108 +f 93 98 108 +f 103 89 108 +f 90 103 108 +f 88 89 109 +f 89 94 109 +f 94 102 109 +f 102 97 109 +f 104 88 109 +o convex_4 +v -0.198482 2.082962 -2.091341 +v 0.256735 1.464989 -1.115742 +v 0.289289 1.464989 -1.115742 +v 0.354330 1.562603 -3.066939 +v -0.328563 1.530042 -2.936941 +v 0.191695 2.148015 -3.099745 +v 0.256735 2.115388 -1.018142 +v -0.296009 1.920295 -1.018142 +v -0.198482 1.530042 -1.018142 +v -0.198482 2.082962 -3.066939 +v -0.296009 2.017842 -1.018142 +v 0.321776 1.530042 -1.018142 +v 0.289289 2.050402 -1.441145 +v -0.198482 1.497616 -2.546742 +v -0.328563 1.660216 -2.904543 +v 0.354330 1.660216 -2.904543 +v 0.094168 2.115388 -1.115742 +v -0.328563 1.530042 -2.514141 +v -0.165928 2.115388 -2.904543 +v -0.165928 1.497616 -1.083344 +v 0.159208 2.148015 -2.221543 +v 0.289289 2.017842 -1.018142 +f 125 122 131 +f 116 117 118 +f 111 112 118 +f 113 114 119 +f 115 113 119 +f 117 116 120 +f 112 113 121 +f 116 118 121 +f 118 112 121 +f 115 116 122 +f 112 111 123 +f 113 112 123 +f 114 113 123 +f 119 114 124 +f 120 119 124 +f 113 115 125 +f 121 113 125 +f 115 122 125 +f 110 120 126 +f 120 116 126 +f 118 117 127 +f 117 120 127 +f 114 123 127 +f 124 114 127 +f 120 124 127 +f 115 119 128 +f 120 110 128 +f 119 120 128 +f 110 126 128 +f 111 118 129 +f 123 111 129 +f 118 127 129 +f 127 123 129 +f 116 115 130 +f 126 116 130 +f 115 128 130 +f 128 126 130 +f 116 121 131 +f 122 116 131 +f 121 125 131 +o convex_5 +v 0.224209 -0.193686 1.095987 +v 0.224209 0.391484 -1.018141 +v 0.224209 0.521763 -1.018141 +v -1.109135 -0.779239 0.737976 +v 1.004891 -0.779239 -1.018141 +v -0.979022 0.521763 -0.920257 +v 0.972256 0.521763 1.030800 +v -1.044078 0.521763 1.030593 +v 1.004891 -0.779239 1.063290 +v -0.946387 -0.779239 -0.952747 +v 1.037313 0.521763 -0.985444 +v -1.076500 -0.779239 0.998103 +v -1.109135 0.391484 -0.595150 +v 1.069948 0.521763 0.575319 +v 1.069948 -0.616487 -0.432493 +v -1.109135 -0.681435 -0.497473 +v 0.614337 0.521763 1.095987 +v -1.109135 0.521763 0.672996 +v -0.946387 -0.323838 -0.985237 +v 1.069948 -0.779239 0.477848 +v 0.321901 -0.779239 1.095987 +v -0.946387 0.521763 -0.985237 +v -0.686373 0.423958 1.063083 +v 0.386958 -0.779239 -1.018141 +v 1.069948 0.391484 -0.594943 +v 0.939621 0.521763 -1.018141 +v -1.044078 -0.193686 1.030593 +v 0.842142 -0.648961 1.095987 +v 1.004891 -0.096264 1.063290 +v -0.979022 -0.779239 -0.920257 +v 0.126517 0.521763 1.095987 +f 154 132 162 +f 133 134 136 +f 134 137 138 +f 138 137 139 +f 135 136 140 +f 136 135 141 +f 134 138 142 +f 135 140 143 +f 142 138 145 +f 136 142 146 +f 135 144 147 +f 138 139 148 +f 139 137 149 +f 143 139 149 +f 135 143 149 +f 144 135 149 +f 137 144 149 +f 134 133 150 +f 140 136 151 +f 145 140 151 +f 146 145 151 +f 136 146 151 +f 143 140 152 +f 148 132 152 +f 137 134 153 +f 134 150 153 +f 150 137 153 +f 152 132 154 +f 133 136 155 +f 136 141 155 +f 150 133 155 +f 141 150 155 +f 142 145 156 +f 146 142 156 +f 145 146 156 +f 136 134 157 +f 134 142 157 +f 142 136 157 +f 139 143 158 +f 143 152 158 +f 154 139 158 +f 152 154 158 +f 152 140 159 +f 148 152 159 +f 140 145 160 +f 145 138 160 +f 138 148 160 +f 159 140 160 +f 148 159 160 +f 141 135 161 +f 144 137 161 +f 135 147 161 +f 147 144 161 +f 137 150 161 +f 150 141 161 +f 132 148 162 +f 148 139 162 +f 139 154 162 +o convex_6 +v 1.167752 -0.746609 0.185257 +v 2.338348 0.424188 -0.107360 +v 2.338348 0.424188 -0.139898 +v 2.956311 -0.681584 -0.465053 +v 2.923837 -0.551417 0.543061 +v 1.069948 0.391558 -0.595316 +v 1.069948 0.424188 0.543061 +v 3.021260 0.261391 0.543061 +v 3.021260 0.391558 -0.497702 +v 1.069948 -0.583930 -0.465165 +v 1.069948 -0.746609 0.510523 +v 2.923837 -0.616442 0.510412 +v 1.102613 -0.779239 0.445448 +v 2.988786 -0.388738 -0.497702 +v 1.102613 -0.616442 -0.465165 +v 1.102613 0.261508 -0.595316 +v 2.956311 -0.681584 -0.269938 +v 1.330314 0.424188 0.543061 +v 1.069948 -0.031220 0.543061 +v 1.069948 0.424188 -0.074823 +v 2.988786 0.391558 -0.269938 +v 2.533384 -0.681467 -0.465165 +v 2.598523 0.391558 -0.530240 +v 3.021260 0.033804 -0.497702 +v 1.069948 -0.453880 -0.497702 +v 2.956311 -0.649072 0.055106 +f 179 176 188 +f 164 165 169 +f 169 167 170 +f 165 164 171 +f 169 168 172 +f 169 172 173 +f 167 173 174 +f 170 167 174 +f 173 172 175 +f 174 173 175 +f 163 175 177 +f 175 172 177 +f 176 166 178 +f 175 166 179 +f 174 175 179 +f 166 176 179 +f 164 169 180 +f 169 170 180 +f 167 169 181 +f 169 173 181 +f 173 167 181 +f 165 168 182 +f 169 165 182 +f 168 169 182 +f 171 164 183 +f 170 171 183 +f 164 180 183 +f 180 170 183 +f 175 163 184 +f 166 175 184 +f 163 177 184 +f 168 165 185 +f 165 171 185 +f 178 168 185 +f 176 178 185 +f 171 170 186 +f 170 176 186 +f 185 171 186 +f 176 185 186 +f 172 168 187 +f 177 172 187 +f 168 178 187 +f 178 166 187 +f 166 184 187 +f 184 177 187 +f 170 174 188 +f 176 170 188 +f 174 179 188 +o convex_7 +v 0.646953 1.952728 1.063290 +v -1.109017 0.521763 0.282701 +v -1.109017 0.521763 0.672789 +v -0.979111 2.831016 -0.692620 +v 1.037311 0.521763 -0.985444 +v 1.037311 2.831016 -0.985444 +v -1.011534 2.798478 1.095987 +v 0.972251 0.521763 1.030800 +v -0.946475 0.521763 -0.985444 +v 0.939615 2.896091 0.998103 +v -1.044171 0.521763 1.030593 +v -0.946475 2.831016 -0.985444 +v 1.069734 0.619609 0.575319 +v 0.614530 0.521763 1.095987 +v -0.523694 2.896091 -0.497680 +v 0.126476 2.115185 -1.018141 +v 0.939615 0.521763 -1.018141 +v -1.044171 2.668095 1.063290 +v -0.458634 2.896091 0.445358 +v 1.037311 2.831016 -0.432493 +v -1.011534 1.335207 -0.725317 +v 0.224172 2.180493 1.095987 +v 0.451774 2.896091 -0.529963 +v -0.360938 1.139748 1.095987 +v -0.295878 1.919958 -1.018141 +v 0.972251 2.538176 0.933330 +v -0.979111 2.635557 -0.920257 +v -1.109017 0.912216 0.575525 +v -1.011534 0.521763 -0.725317 +v -0.718873 0.521763 1.063290 +v 0.224172 0.521763 -1.018141 +v 0.972251 1.562739 1.030800 +v 0.646953 2.115185 -1.018141 +v 1.069734 0.521763 0.445151 +v -1.044171 1.205056 1.063290 +f 218 212 223 +f 191 190 193 +f 191 193 196 +f 193 190 197 +f 191 196 199 +f 199 196 202 +f 200 192 203 +f 200 194 204 +f 194 193 205 +f 193 197 205 +f 195 192 206 +f 192 195 207 +f 195 198 207 +f 203 192 207 +f 198 203 207 +f 194 198 208 +f 201 194 208 +f 189 198 210 +f 198 195 210 +f 202 189 210 +f 195 202 210 +f 198 194 211 +f 194 200 211 +f 203 198 211 +f 200 203 211 +f 202 195 212 +f 197 200 213 +f 200 204 213 +f 204 205 213 +f 208 198 214 +f 201 208 214 +f 192 200 215 +f 200 197 215 +f 209 190 215 +f 190 191 216 +f 191 206 216 +f 206 192 216 +f 215 190 216 +f 192 215 216 +f 197 190 217 +f 190 209 217 +f 215 197 217 +f 209 215 217 +f 199 202 218 +f 202 212 218 +f 205 197 219 +f 197 213 219 +f 213 205 219 +f 198 189 220 +f 196 201 220 +f 189 202 220 +f 202 196 220 +f 214 198 220 +f 201 214 220 +f 204 194 221 +f 194 205 221 +f 205 204 221 +f 193 194 222 +f 196 193 222 +f 194 201 222 +f 201 196 222 +f 191 199 223 +f 206 191 223 +f 195 206 223 +f 212 195 223 +f 199 218 223 +o convex_8 +v 0.029089 2.180540 2.169205 +v -0.296047 1.497514 1.095987 +v -0.328534 2.017874 1.095987 +v -0.361088 1.660248 3.047203 +v 0.289251 1.530141 1.095987 +v 0.321805 2.050367 3.112540 +v 0.256764 2.180540 1.128556 +v -0.263493 2.147913 2.949889 +v 0.191724 1.627621 3.014831 +v -0.328534 2.180540 1.095987 +v 0.321805 2.115487 3.112540 +v -0.231007 1.497514 1.454055 +v -0.361088 1.627621 2.982064 +v -0.068372 2.147913 3.079970 +v 0.321805 2.115487 2.592018 +v -0.361088 1.757727 3.047203 +v -0.263493 2.180540 2.592018 +v -0.361088 1.660248 2.494507 +v 0.061642 1.497514 1.128556 +v 0.159170 2.147913 3.014831 +v 0.224210 2.180540 1.095987 +f 233 230 244 +f 225 226 228 +f 229 227 232 +f 228 229 232 +f 228 226 233 +f 224 230 233 +f 235 232 236 +f 232 227 236 +f 225 235 236 +f 227 229 237 +f 229 234 237 +f 229 228 238 +f 228 230 238 +f 234 229 238 +f 230 234 238 +f 231 233 239 +f 236 227 239 +f 227 237 239 +f 237 231 239 +f 224 233 240 +f 233 231 240 +f 231 237 240 +f 226 225 241 +f 233 226 241 +f 225 236 241 +f 239 233 241 +f 236 239 241 +f 225 228 242 +f 228 232 242 +f 235 225 242 +f 232 235 242 +f 230 224 243 +f 234 230 243 +f 237 234 243 +f 224 240 243 +f 240 237 243 +f 230 228 244 +f 228 233 244 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/079/079.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/079/079.urdf new file mode 100644 index 000000000..9b5314d62 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/079/079.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/080/080.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/080/080.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/080/080.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/080/080.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/080/080.obj new file mode 100644 index 000000000..64bcb611b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/080/080.obj @@ -0,0 +1,651 @@ +o convex_0 +v -1.605557 -2.620143 0.491361 +v -1.087840 -1.779039 -1.060965 +v -1.087840 -1.585428 -1.060965 +v 2.792104 -1.682337 0.750013 +v -1.314488 -0.647622 0.846931 +v 1.401766 -0.647417 -0.802107 +v 1.983904 -2.425915 -0.737290 +v -2.737622 -0.873947 -0.058250 +v -1.993258 -2.523029 -0.737495 +v -2.737622 -1.682337 0.814625 +v 1.401766 -2.458218 0.814625 +v 1.336759 -0.647417 0.879236 +v 2.792104 -0.938552 -0.025944 +v -1.314488 -0.647622 -0.899230 +v -2.769833 -1.714639 -0.769596 +v -1.993258 -1.714433 1.040971 +v 2.016115 -2.652240 0.006362 +v 2.727683 -1.714433 -0.737290 +v -2.769833 -2.458218 0.103073 +v 2.080537 -1.650034 1.008666 +v -0.085790 -2.749353 -0.608066 +v 2.048326 -1.650034 -0.963842 +v 2.759893 -2.361310 0.070768 +v 0.010843 -0.647622 1.041177 +v -1.993258 -2.425915 0.814625 +v -0.020782 -2.490520 -0.931536 +v 0.172483 -0.647622 -1.028454 +v -0.182422 -2.716845 0.555972 +v -2.058266 -2.717051 0.038462 +v -1.993258 -1.746942 -1.060760 +v -2.996480 -1.585428 0.038462 +v 0.205279 -2.458218 0.911542 +v 2.986541 -1.682337 -0.090556 +v 2.016115 -2.393612 0.782319 +v -2.058266 -0.938758 -0.834413 +v 2.145545 -0.906455 0.750013 +v 2.048326 -0.647622 0.038462 +v -2.543186 -1.067969 0.588072 +v -1.993258 -0.647622 -0.058250 +v 2.436614 -1.068174 -0.607861 +v -2.575982 -2.296499 -0.543249 +v -0.441280 -1.746736 -1.060965 +v 2.727683 -2.393612 -0.058250 +v 0.172483 -2.684542 0.652890 +v -2.575982 -1.100477 -0.607861 +v 2.630465 -1.068174 0.523461 +v -0.991208 -2.587634 -0.834413 +v 0.075850 -2.749353 -0.025738 +v 1.983904 -1.779245 -0.963842 +v -2.575982 -2.199591 0.652890 +v -1.993258 -0.906249 0.782319 +v 2.566042 -2.231894 0.555972 +v -0.861779 -2.587634 0.782319 +v -1.993258 -1.617731 1.040971 +v 2.468824 -2.264196 -0.575760 +v 0.108061 -2.749353 -0.607861 +v 2.986541 -1.682337 0.135379 +v -2.737622 -0.873947 0.006156 +v -0.182422 -0.647622 -1.028454 +v 2.048326 -0.938552 -0.737290 +v 1.627828 -0.679925 0.814625 +v -2.996480 -1.714639 0.070768 +v -2.737622 -1.617731 0.814625 +v 2.759893 -0.906455 0.038462 +f 37 61 64 +f 12 5 24 +f 20 12 24 +f 16 20 24 +f 16 10 25 +f 6 22 27 +f 19 9 29 +f 9 21 29 +f 1 25 29 +f 25 19 29 +f 28 1 29 +f 3 2 30 +f 9 15 30 +f 2 26 30 +f 8 15 31 +f 11 20 32 +f 20 16 32 +f 16 25 32 +f 18 13 33 +f 4 20 34 +f 20 11 34 +f 17 23 34 +f 8 14 35 +f 30 15 35 +f 14 30 35 +f 20 4 36 +f 6 12 37 +f 5 12 39 +f 12 6 39 +f 6 14 39 +f 14 8 39 +f 13 18 40 +f 15 9 41 +f 9 19 41 +f 19 15 41 +f 2 3 42 +f 26 2 42 +f 3 27 42 +f 27 22 42 +f 17 7 43 +f 23 17 43 +f 18 33 43 +f 33 23 43 +f 28 17 44 +f 11 32 44 +f 34 11 44 +f 17 34 44 +f 15 8 45 +f 8 35 45 +f 35 15 45 +f 36 4 46 +f 21 9 47 +f 9 30 47 +f 30 26 47 +f 17 28 48 +f 29 21 48 +f 28 29 48 +f 18 7 49 +f 22 18 49 +f 7 26 49 +f 26 42 49 +f 42 22 49 +f 10 19 50 +f 25 10 50 +f 19 25 50 +f 23 4 52 +f 4 34 52 +f 34 23 52 +f 25 1 53 +f 1 28 53 +f 32 25 53 +f 28 44 53 +f 44 32 53 +f 10 16 54 +f 24 5 54 +f 16 24 54 +f 5 51 54 +f 7 18 55 +f 43 7 55 +f 18 43 55 +f 7 17 56 +f 26 7 56 +f 21 47 56 +f 47 26 56 +f 17 48 56 +f 48 21 56 +f 13 4 57 +f 4 23 57 +f 33 13 57 +f 23 33 57 +f 8 31 58 +f 5 39 58 +f 39 8 58 +f 51 5 58 +f 38 51 58 +f 14 6 59 +f 27 3 59 +f 6 27 59 +f 3 30 59 +f 30 14 59 +f 6 13 60 +f 22 6 60 +f 18 22 60 +f 13 40 60 +f 40 18 60 +f 12 20 61 +f 20 36 61 +f 37 12 61 +f 19 10 62 +f 15 19 62 +f 31 15 62 +f 31 62 63 +f 51 38 63 +f 10 54 63 +f 54 51 63 +f 58 31 63 +f 38 58 63 +f 62 10 63 +f 4 13 64 +f 13 6 64 +f 6 37 64 +f 46 4 64 +f 36 46 64 +f 61 36 64 +o convex_1 +v 1.272277 -0.647417 0.879094 +v -0.215099 -0.615032 -1.028625 +v -1.152800 -0.647417 -0.931577 +v -0.958595 -0.227070 0.879297 +v 1.045896 -0.227070 -0.834530 +v -1.249712 -0.647417 0.847083 +v -0.991154 -0.227070 -0.898958 +v 1.013720 -0.227070 0.879094 +v 1.983981 -0.647417 -0.025735 +v -1.929239 -0.615032 -0.090568 +v 1.272277 -0.647417 -0.834530 +v 0.011283 -0.647417 1.041177 +v 1.433923 -0.227070 0.070704 +v -1.314447 -0.227070 0.006276 +v 0.172546 -0.227070 -1.028625 +v -0.053452 -0.227070 1.041177 +v 1.983981 -0.615032 0.070704 +v -1.929239 -0.647417 0.006276 +v 1.498659 -0.615032 0.782249 +v 0.172546 -0.647417 -1.028625 +v -0.182923 -0.227070 -1.028625 +v 1.821951 -0.485656 -0.025735 +v -1.929239 -0.615032 0.006276 +v -1.379182 -0.615032 -0.737483 +v 1.369188 -0.615032 -0.769697 +v 0.075635 -0.227070 1.041177 +v -1.152800 -0.615032 0.879297 +v 1.919245 -0.615032 -0.122985 +v -1.540828 -0.356405 -0.058152 +v 1.498659 -0.259373 -0.025735 +v -0.764773 -0.227070 -0.963791 +v -1.282271 -0.615032 0.814463 +v -0.991154 -0.227070 0.847083 +v 1.045896 -0.227070 0.847083 +v 1.466483 -0.647417 0.814666 +v -1.637739 -0.421092 0.006276 +v 1.692864 -0.388748 0.038288 +v -0.861684 -0.227070 0.911511 +v 0.819514 -0.227070 -0.898958 +f 75 79 103 +f 67 65 70 +f 68 69 71 +f 69 68 72 +f 65 67 73 +f 73 67 75 +f 70 65 76 +f 69 72 77 +f 68 71 78 +f 71 69 79 +f 72 68 80 +f 67 70 82 +f 74 67 82 +f 67 66 84 +f 75 67 84 +f 66 79 84 +f 79 75 84 +f 66 67 85 +f 79 66 85 +f 71 79 85 +f 74 82 87 +f 71 67 88 +f 67 74 88 +f 74 71 88 +f 75 69 89 +f 73 75 89 +f 65 72 90 +f 76 65 90 +f 72 80 90 +f 80 76 90 +f 68 70 91 +f 70 76 91 +f 76 80 91 +f 81 73 92 +f 69 86 92 +f 86 81 92 +f 89 69 92 +f 73 89 92 +f 71 74 93 +f 78 71 93 +f 74 87 93 +f 69 77 94 +f 86 69 94 +f 67 71 95 +f 85 67 95 +f 71 85 95 +f 70 68 96 +f 82 70 96 +f 87 82 96 +f 87 96 97 +f 68 78 97 +f 96 68 97 +f 77 72 98 +f 72 83 98 +f 83 81 98 +f 72 65 99 +f 65 73 99 +f 73 81 99 +f 83 72 99 +f 81 83 99 +f 78 93 100 +f 93 87 100 +f 87 97 100 +f 97 78 100 +f 81 86 101 +f 94 77 101 +f 86 94 101 +f 77 98 101 +f 98 81 101 +f 80 68 102 +f 68 91 102 +f 91 80 102 +f 69 75 103 +f 79 69 103 +o convex_2 +v 0.884238 3.103593 0.006397 +v -1.282369 -0.226615 -0.090521 +v -1.282369 -0.226615 0.006397 +v 1.401849 -0.226615 -0.025909 +v 0.011395 1.261239 1.073518 +v -0.667805 2.812970 -0.737461 +v 0.172721 -0.226615 -1.028625 +v -0.603169 3.330338 0.588313 +v 0.754967 3.038969 -0.802072 +v -0.926610 -0.226615 0.879271 +v 1.046090 -0.226615 0.846965 +v 0.754967 2.812970 0.782354 +v -0.958928 -0.226615 -0.898990 +v 1.046090 -0.226615 -0.834378 +v 0.399208 3.589209 -0.575726 +v -0.020923 2.844722 -0.963807 +v -0.958928 2.780471 0.038497 +v -0.732440 2.812970 0.782354 +v 0.431526 3.589209 0.491190 +v -0.441317 3.589209 -0.413991 +v 0.011395 2.844722 1.008700 +v 0.075768 -0.226615 1.040800 +v 0.075768 1.616860 -1.028625 +v 0.981192 2.845095 0.070802 +v -0.117876 3.589209 0.556007 +v 0.787285 3.071467 -0.769766 +v -0.765021 -0.064867 -0.963807 +v -0.991246 -0.161990 0.846965 +v 0.593115 3.589209 -0.058215 +v 0.884238 -0.096993 0.911577 +v 1.401849 -0.194489 0.038497 +v -0.570851 3.556710 0.038291 +v -0.117876 3.362090 -0.737461 +v -0.765021 2.812970 0.750048 +v -0.085559 2.812970 1.008700 +v -0.700122 2.715847 -0.737461 +v 0.011395 3.362090 0.782354 +v 0.625696 3.265714 0.652925 +v -0.765021 3.297839 -0.025909 +v -0.958928 -0.032368 -0.898990 +v 0.075768 2.812970 1.008700 +v 0.819603 -0.032368 -0.898990 +v 0.722649 3.362090 -0.543420 +v 0.981192 2.845095 -0.025909 +v -0.829656 -0.064867 0.911783 +v -0.182775 -0.226615 -1.028625 +v -0.570851 3.297466 -0.575726 +v -0.861974 2.780471 -0.284767 +v 0.463844 3.362090 -0.737461 +v 0.787285 3.330338 0.070802 +v -1.023563 -0.194489 -0.802072 +v -0.441317 3.589209 0.394066 +v -0.150457 1.067366 -1.028625 +v -1.282369 -0.161990 0.006397 +v -0.053241 -0.226615 1.040800 +v -0.020923 1.325863 1.073518 +v -0.215093 3.589209 -0.543214 +v 1.046090 -0.161990 0.846965 +v 1.401849 -0.194489 -0.025909 +v 0.496162 0.549624 -0.963807 +v -0.053241 3.297466 0.814660 +v 0.205039 2.877594 -0.931501 +v -1.282369 -0.194489 -0.090521 +v -0.667805 -0.226615 0.944089 +f 158 159 167 +f 106 105 107 +f 107 105 110 +f 106 107 113 +f 113 107 114 +f 110 105 116 +f 107 110 117 +f 122 118 123 +f 113 114 125 +f 122 123 128 +f 117 112 129 +f 106 113 131 +f 113 121 131 +f 118 122 132 +f 108 125 133 +f 125 114 133 +f 114 107 134 +f 127 115 134 +f 119 109 136 +f 111 120 137 +f 121 111 137 +f 131 121 137 +f 109 119 139 +f 122 128 140 +f 115 127 141 +f 122 140 141 +f 120 111 142 +f 111 135 142 +f 135 123 142 +f 130 116 143 +f 119 130 143 +f 139 119 143 +f 133 115 144 +f 108 133 144 +f 140 124 144 +f 115 141 144 +f 141 140 144 +f 117 110 145 +f 112 117 145 +f 129 118 146 +f 118 132 146 +f 104 127 147 +f 127 134 147 +f 146 104 147 +f 129 146 147 +f 121 113 148 +f 138 121 148 +f 110 116 149 +f 126 110 149 +f 116 130 149 +f 136 109 150 +f 142 123 150 +f 142 150 151 +f 109 139 151 +f 120 142 151 +f 150 109 151 +f 129 112 152 +f 118 129 152 +f 136 118 152 +f 119 136 152 +f 127 104 153 +f 132 122 153 +f 141 127 153 +f 122 141 153 +f 104 146 153 +f 146 132 153 +f 116 105 154 +f 143 116 154 +f 139 143 154 +f 151 139 154 +f 128 123 155 +f 111 128 155 +f 135 111 155 +f 123 135 155 +f 119 126 156 +f 130 119 156 +f 126 149 156 +f 149 130 156 +f 105 106 157 +f 106 131 157 +f 137 120 157 +f 131 137 157 +f 125 108 158 +f 113 125 158 +f 124 138 159 +f 108 144 159 +f 144 124 159 +f 138 148 159 +f 158 108 159 +f 123 118 160 +f 118 136 160 +f 136 150 160 +f 150 123 160 +f 133 114 161 +f 115 133 161 +f 114 134 161 +f 134 115 161 +f 107 117 162 +f 117 129 162 +f 134 107 162 +f 129 147 162 +f 147 134 162 +f 110 126 163 +f 126 112 163 +f 145 110 163 +f 112 145 163 +f 111 121 164 +f 128 111 164 +f 121 138 164 +f 138 124 164 +f 124 140 164 +f 140 128 164 +f 112 126 165 +f 126 119 165 +f 152 112 165 +f 119 152 165 +f 120 151 166 +f 154 105 166 +f 151 154 166 +f 105 157 166 +f 157 120 166 +f 148 113 167 +f 113 158 167 +f 159 148 167 +o convex_3 +v 0.043434 5.141257 -0.349408 +v 0.043434 3.686469 0.588408 +v 0.011308 3.686469 0.588408 +v 0.334446 3.589210 -0.575856 +v -0.473786 3.589210 -0.317042 +v 0.463834 4.947251 0.038528 +v -0.247468 4.882639 0.297342 +v 0.496181 3.589210 0.394326 +v 0.108128 5.044340 0.426692 +v -0.279704 4.850334 -0.446392 +v -0.409092 3.589210 0.426692 +v -0.344398 5.012034 0.006276 +v 0.528528 3.654163 -0.414140 +v 0.011308 5.335263 0.006276 +v 0.366793 4.753245 -0.349408 +v -0.215121 3.589210 -0.543490 +v 0.431487 4.365575 0.426692 +v -0.538480 3.718775 -0.025976 +v 0.593222 3.589210 0.038528 +v 0.172822 4.365575 -0.543490 +v -0.344398 4.365575 0.394326 +v 0.431487 5.108952 -0.025976 +v -0.409092 4.333269 -0.414140 +v 0.108128 5.076645 -0.414140 +v 0.366793 4.882639 0.329594 +v 0.431487 3.589210 0.491310 +v 0.560875 4.171569 0.038528 +v 0.431487 4.365575 -0.414140 +v -0.473786 4.300963 0.006276 +v 0.075781 4.430187 0.523676 +v 0.043434 5.141257 0.361960 +v -0.312051 4.979557 -0.252424 +v 0.108128 5.335263 -0.025976 +v 0.496181 4.753245 -0.025976 +v -0.279704 5.108952 0.038528 +v -0.409092 3.589210 -0.446392 +v -0.279704 4.139263 -0.511124 +v -0.538480 3.589210 0.038528 +v -0.021039 3.589210 0.588408 +v 0.431487 5.108952 0.038528 +v 0.043434 5.044340 0.426692 +v -0.021039 4.333269 0.523676 +v 0.011308 4.300963 -0.543490 +v 0.463834 4.365575 0.361960 +v 0.108128 5.141257 0.361960 +v -0.441439 3.654163 0.361960 +v 0.140475 4.333269 0.523676 +v 0.108128 4.979557 -0.446392 +v 0.560875 4.171569 -0.025976 +v 0.302210 4.914946 -0.349408 +v 0.463834 3.912781 0.458944 +v -0.021039 5.302958 -0.058342 +v 0.496181 3.848169 -0.446392 +v 0.528528 3.589210 -0.414140 +f 220 180 221 +f 172 171 175 +f 172 175 178 +f 171 172 183 +f 175 171 186 +f 174 179 188 +f 172 185 190 +f 177 168 191 +f 176 184 192 +f 178 175 193 +f 171 187 195 +f 182 189 195 +f 188 179 196 +f 179 190 196 +f 190 185 196 +f 170 169 197 +f 168 177 199 +f 177 190 199 +f 190 179 199 +f 191 168 200 +f 189 191 200 +f 189 173 201 +f 173 194 201 +f 195 189 201 +f 179 174 202 +f 174 198 202 +f 198 181 202 +f 199 179 202 +f 183 172 203 +f 172 190 203 +f 203 190 204 +f 190 177 204 +f 183 203 204 +f 172 178 205 +f 185 172 205 +f 196 185 205 +f 169 170 206 +f 188 178 206 +f 193 169 206 +f 178 193 206 +f 173 189 207 +f 189 200 207 +f 174 188 208 +f 197 176 208 +f 198 174 208 +f 176 198 208 +f 170 197 209 +f 206 170 209 +f 188 206 209 +f 208 188 209 +f 197 208 209 +f 171 183 210 +f 177 187 210 +f 187 171 210 +f 204 177 210 +f 183 204 210 +f 192 184 211 +f 194 173 211 +f 173 207 211 +f 207 192 211 +f 176 192 212 +f 198 176 212 +f 181 198 212 +f 200 181 212 +f 192 207 212 +f 207 200 212 +f 178 188 213 +f 188 196 213 +f 205 178 213 +f 196 205 213 +f 184 176 214 +f 169 193 214 +f 197 169 214 +f 176 197 214 +f 187 177 215 +f 177 191 215 +f 195 187 215 +f 186 180 216 +f 194 186 216 +f 201 194 216 +f 180 201 216 +f 189 182 217 +f 191 189 217 +f 182 195 217 +f 215 191 217 +f 195 215 217 +f 175 186 218 +f 193 175 218 +f 186 194 218 +f 211 184 218 +f 194 211 218 +f 184 214 218 +f 214 193 218 +f 168 199 219 +f 200 168 219 +f 181 200 219 +f 202 181 219 +f 199 202 219 +f 171 195 220 +f 201 180 220 +f 195 201 220 +f 186 171 221 +f 180 186 221 +f 171 220 221 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/080/080.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/080/080.urdf new file mode 100644 index 000000000..bffe66825 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/080/080.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/081/081.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/081/081.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/081/081.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/081/081.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/081/081.obj new file mode 100644 index 000000000..868b3fa5c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/081/081.obj @@ -0,0 +1,405 @@ +o convex_0 +v -0.229797 3.557768 -0.293734 +v -1.105836 -0.915681 0.331837 +v -0.542466 -0.916119 -1.075907 +v 1.084154 -0.916119 1.051535 +v -1.074526 3.400989 1.020090 +v 1.021533 3.369896 -0.919306 +v 1.115464 3.557768 0.988853 +v -1.043215 3.526237 -0.950543 +v 1.084154 -0.916119 -1.044462 +v -1.105836 -0.915681 1.020090 +v -0.980595 -0.915681 -1.075907 +v -1.043215 3.275741 -0.981780 +v -1.074526 2.963060 -0.762913 +v 1.084154 -0.540375 -1.044462 +v -0.480063 3.463613 1.020090 +v -1.105836 0.867568 0.738541 +v 0.270735 3.432520 -0.950543 +v -1.011905 -0.196163 -1.044462 +v -1.074526 3.495144 -0.074451 +v 1.115464 3.557768 0.863697 +v 1.115464 2.618847 0.957408 +v -0.010841 3.463613 1.020090 +v -1.074526 -0.915681 -0.199607 +v 1.052843 1.649272 -0.981988 +v 0.833888 3.557768 0.988853 +v 0.114183 0.210236 -1.044462 +v 1.084154 1.805612 1.020090 +v 0.864981 3.400989 -0.856832 +v -0.699018 3.526237 -0.950543 +v -1.043215 1.993046 -1.013225 +v -0.448752 3.557768 -0.356208 +v -1.105836 0.054333 0.206681 +v 0.927601 2.931529 -0.950543 +v 1.052843 3.557768 0.738541 +v -0.917974 -0.634092 -1.075907 +v -0.886663 3.244648 -0.981780 +v -1.105836 0.617510 1.020090 +v 0.990222 -0.884588 1.051535 +v 1.052843 3.432520 -0.387237 +v -1.074526 3.432520 0.863697 +v -1.074526 3.495144 -0.418682 +v -0.354821 -0.884588 -1.075907 +v -1.043215 3.526237 -0.512601 +v -1.011905 -0.915681 -0.888069 +v -1.074526 2.587317 -0.731468 +v 1.084154 -0.821964 1.051535 +v 1.084154 -0.352942 -1.013225 +f 24 20 47 +f 4 3 9 +f 2 3 10 +f 3 4 10 +f 8 12 13 +f 2 10 16 +f 1 7 20 +f 9 14 20 +f 7 4 21 +f 4 9 21 +f 20 7 21 +f 9 20 21 +f 7 15 22 +f 3 2 23 +f 7 1 25 +f 15 7 25 +f 7 22 27 +f 12 8 29 +f 6 17 29 +f 17 12 29 +f 1 28 29 +f 28 6 29 +f 13 12 30 +f 11 18 30 +f 18 23 30 +f 25 1 31 +f 1 29 31 +f 29 8 31 +f 2 16 32 +f 17 6 33 +f 6 24 33 +f 24 14 33 +f 1 20 34 +f 28 1 34 +f 3 11 35 +f 11 30 35 +f 35 30 36 +f 12 17 36 +f 14 26 36 +f 30 12 36 +f 17 33 36 +f 33 14 36 +f 26 35 36 +f 16 10 37 +f 5 16 37 +f 10 4 38 +f 5 37 38 +f 37 10 38 +f 24 6 39 +f 20 24 39 +f 6 28 39 +f 34 20 39 +f 28 34 39 +f 5 15 40 +f 16 5 40 +f 19 16 40 +f 15 25 40 +f 31 19 40 +f 25 31 40 +f 8 13 41 +f 19 8 41 +f 16 19 41 +f 13 32 41 +f 32 16 41 +f 9 3 42 +f 14 9 42 +f 26 14 42 +f 3 35 42 +f 35 26 42 +f 8 19 43 +f 31 8 43 +f 19 31 43 +f 11 3 44 +f 18 11 44 +f 3 23 44 +f 23 18 44 +f 23 2 45 +f 13 30 45 +f 30 23 45 +f 2 32 45 +f 32 13 45 +f 4 7 46 +f 15 5 46 +f 22 15 46 +f 7 27 46 +f 27 22 46 +f 38 4 46 +f 5 38 46 +f 20 14 47 +f 14 24 47 +o convex_1 +v -2.450861 -1.760737 0.613533 +v -3.076687 -2.104984 -0.544046 +v -3.076687 -2.104984 -0.262357 +v -1.106029 -2.104984 -0.450112 +v -1.293545 -1.010083 -0.512659 +v -2.982736 -1.072674 -0.168422 +v -1.106029 -1.010083 0.582146 +v -1.106029 -2.073581 0.550872 +v -2.982736 -1.135264 0.582146 +v -3.076687 -2.042286 0.613533 +v -2.982736 -1.072674 -0.481386 +v -1.106029 -1.010083 -0.512659 +v -1.512700 -1.010083 0.582146 +v -3.045434 -1.635557 -0.544046 +v -2.106888 -1.698147 -0.544046 +v -1.137282 -2.104984 0.144088 +v -2.388355 -2.073581 0.582146 +v -1.606651 -2.073581 0.582146 +v -3.045434 -1.666852 0.613533 +v -2.857725 -1.103969 0.582146 +v -2.544812 -2.104984 -0.544046 +v -2.388355 -1.041378 -0.481386 +v -2.982736 -1.166559 -0.512659 +v -1.106029 -1.416813 0.582146 +v -3.076687 -1.917106 0.613533 +v -1.106029 -1.197854 -0.512659 +v -1.982070 -1.510698 -0.544046 +v -3.076687 -2.073581 0.363230 +v -3.076687 -1.917106 -0.544046 +v -3.014181 -1.322927 -0.105875 +f 61 76 77 +f 50 49 51 +f 51 54 55 +f 49 50 57 +f 54 51 59 +f 52 54 59 +f 54 52 60 +f 49 61 62 +f 50 51 63 +f 51 55 63 +f 50 63 64 +f 64 63 65 +f 48 57 65 +f 63 55 65 +f 57 64 65 +f 48 54 66 +f 57 48 66 +f 54 60 66 +f 53 56 67 +f 60 53 67 +f 56 66 67 +f 66 60 67 +f 51 49 68 +f 49 62 68 +f 62 51 68 +f 52 58 69 +f 58 53 69 +f 60 52 69 +f 53 60 69 +f 58 52 70 +f 61 58 70 +f 54 48 71 +f 55 54 71 +f 48 65 71 +f 65 55 71 +f 49 57 72 +f 66 56 72 +f 57 66 72 +f 59 51 73 +f 51 62 73 +f 73 62 74 +f 52 59 74 +f 62 61 74 +f 70 52 74 +f 61 70 74 +f 59 73 74 +f 57 50 75 +f 50 64 75 +f 64 57 75 +f 61 49 76 +f 49 72 76 +f 76 72 77 +f 56 53 77 +f 53 58 77 +f 58 61 77 +f 72 56 77 +o convex_2 +v 1.115464 -2.073437 0.582008 +v -0.980594 -2.136199 -1.107193 +v -0.980594 -1.948428 -1.107193 +v -1.105836 -0.916119 1.020051 +v 1.084154 -0.916119 -1.044223 +v -1.105836 -2.574159 1.020051 +v 1.115464 -2.667958 -1.075708 +v 1.084154 -0.916119 1.051536 +v -0.980594 -0.916119 -1.075708 +v 1.084154 -2.605368 1.051536 +v -0.949284 -2.636578 -1.107193 +v -1.105836 -2.104818 -0.450023 +v -0.104555 -2.605368 1.051536 +v -1.105836 -1.010261 -0.512571 +v 0.614932 -2.667958 -1.107193 +v 1.115464 -1.010090 -0.450023 +v -0.980594 -2.636578 -0.512571 +v 1.052843 -2.667958 -0.481297 +v 0.427070 -1.229241 -1.075708 +v -0.917974 -2.605368 0.801135 +v 1.115464 -0.947499 0.488187 +v 1.084154 -2.636578 0.644555 +v -0.980594 -2.636578 -0.981887 +v 1.084154 -1.667201 -1.075708 +v 0.114183 -2.667958 -1.044223 +v -1.074526 -2.605368 0.300545 +v -0.292200 -0.916119 -1.075708 +v -1.074526 -0.916119 -0.199834 +v 1.115464 -2.355007 -1.075708 +v 1.115464 -2.667958 -0.762971 +v 0.958912 -0.916119 1.051536 +f 90 85 108 +f 82 81 85 +f 81 82 86 +f 78 85 87 +f 79 80 88 +f 83 81 89 +f 81 83 90 +f 87 85 90 +f 80 79 91 +f 86 80 91 +f 79 89 91 +f 89 81 91 +f 88 80 92 +f 78 84 93 +f 92 84 95 +f 92 80 96 +f 90 83 97 +f 85 78 98 +f 82 85 98 +f 78 93 98 +f 93 82 98 +f 87 90 99 +f 90 97 99 +f 97 95 99 +f 79 88 100 +f 89 79 100 +f 96 82 101 +f 92 96 101 +f 88 92 102 +f 92 95 102 +f 97 94 102 +f 95 97 102 +f 100 88 102 +f 94 100 102 +f 83 89 103 +f 97 83 103 +f 94 97 103 +f 89 100 103 +f 100 94 103 +f 80 86 104 +f 86 82 104 +f 96 80 104 +f 82 96 104 +f 81 86 105 +f 86 91 105 +f 91 81 105 +f 84 92 106 +f 93 84 106 +f 82 93 106 +f 101 82 106 +f 92 101 106 +f 84 78 107 +f 78 87 107 +f 95 84 107 +f 87 99 107 +f 99 95 107 +f 85 81 108 +f 81 90 108 +o convex_3 +v 1.960147 -1.229141 0.519522 +v 2.773593 -1.979784 -0.544046 +v 2.773593 -1.760764 -0.544046 +v 1.115464 -1.010120 -0.450014 +v 1.115464 -2.073587 0.582137 +v 2.992435 -0.947512 0.457017 +v 2.961198 -2.042393 0.425710 +v 1.115464 -2.073587 -0.450014 +v 2.929961 -1.010010 -0.481321 +v 1.115464 -0.947622 0.488214 +v 2.929961 -1.979784 -0.544046 +v 2.992435 -0.947512 0.237976 +v 1.397148 -1.823263 0.582137 +v 2.585804 -2.010979 -0.543936 +v 1.897673 -2.073587 -0.074657 +v 2.992435 -1.479466 0.457017 +v 1.616357 -1.010120 -0.481321 +v 2.773409 -1.041425 0.488214 +v 2.929961 -1.135228 -0.512629 +v 2.804830 -2.011089 0.457017 +v 1.115464 -1.103923 0.519522 +v 2.992435 -1.291639 0.112857 +v 1.491226 -2.010979 -0.481321 +v 1.303437 -2.073587 0.582137 +v 1.522279 -2.073587 -0.450014 +v 1.209542 -0.947622 0.394403 +v 2.929961 -2.011089 -0.262390 +v 2.804830 -1.103923 0.488325 +v 2.272884 -0.947622 0.488214 +v 1.146885 -1.760764 0.582137 +v 1.616357 -0.978816 -0.105964 +f 134 120 139 +f 113 112 116 +f 112 113 118 +f 110 111 119 +f 118 114 120 +f 111 110 122 +f 110 119 122 +f 113 116 123 +f 120 114 124 +f 120 117 125 +f 111 122 125 +f 119 111 127 +f 111 125 127 +f 125 117 127 +f 115 124 128 +f 118 113 129 +f 115 119 130 +f 117 120 130 +f 124 115 130 +f 120 124 130 +f 119 127 130 +f 127 117 130 +f 116 112 131 +f 122 116 131 +f 112 125 131 +f 125 122 131 +f 121 113 132 +f 113 123 132 +f 123 115 132 +f 115 128 132 +f 116 122 133 +f 123 116 133 +f 112 118 134 +f 118 120 134 +f 119 115 135 +f 122 119 135 +f 115 123 135 +f 133 122 135 +f 123 133 135 +f 124 114 136 +f 114 126 136 +f 126 121 136 +f 128 124 136 +f 121 132 136 +f 132 128 136 +f 114 118 137 +f 109 126 137 +f 126 114 137 +f 118 129 137 +f 137 129 138 +f 113 121 138 +f 126 109 138 +f 121 126 138 +f 129 113 138 +f 109 137 138 +f 120 125 139 +f 125 112 139 +f 112 134 139 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/081/081.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/081/081.urdf new file mode 100644 index 000000000..0cc50d8a7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/081/081.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/082/082.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/082/082.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/082/082.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/082/082.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/082/082.obj new file mode 100644 index 000000000..a7ca82ccc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/082/082.obj @@ -0,0 +1,567 @@ +o convex_0 +v -0.319668 3.093103 -2.140256 +v 0.349846 4.255755 -1.505946 +v 0.349846 4.255755 -1.611779 +v 0.349846 2.317421 -1.647034 +v -0.319668 2.317421 -1.541269 +v -0.319668 4.291110 -1.647034 +v 0.349846 4.220400 -2.034492 +v 0.208878 2.317421 -2.034492 +v -0.284409 4.220400 -2.210766 +v -0.319668 2.317421 -2.069746 +v -0.108184 2.388131 -1.541269 +v 0.244071 2.423293 -2.034492 +v 0.244071 4.255755 -1.505946 +v 0.349846 2.317421 -1.752729 +v 0.349846 3.973689 -1.505946 +v 0.032653 2.317421 -2.069746 +v -0.284409 4.149884 -1.611779 +v -0.249151 4.149884 -2.210766 +v -0.319668 4.291110 -1.787984 +f 7 9 19 +f 3 2 4 +f 2 3 6 +f 1 5 6 +f 3 4 7 +f 4 5 8 +f 5 1 10 +f 8 5 10 +f 5 4 11 +f 2 6 13 +f 7 4 14 +f 4 8 14 +f 12 7 14 +f 8 12 14 +f 4 2 15 +f 11 4 15 +f 5 11 15 +f 2 13 15 +f 13 5 15 +f 10 1 16 +f 8 10 16 +f 12 8 16 +f 6 5 17 +f 5 13 17 +f 13 6 17 +f 1 9 18 +f 9 7 18 +f 7 12 18 +f 16 1 18 +f 12 16 18 +f 1 6 19 +f 6 3 19 +f 3 7 19 +f 9 1 19 +o convex_1 +v 0.314584 -0.043956 -1.928730 +v -0.319733 -1.841255 -1.611807 +v -0.319733 -1.841255 -1.576538 +v -0.319668 -0.043956 -1.682235 +v -0.213948 -1.700256 -2.034481 +v 0.244061 -1.841255 -1.576538 +v 0.208865 -0.043956 -1.576483 +v 0.208865 -1.876595 -2.069805 +v -0.143425 -0.149975 -2.069750 +v -0.319668 -0.043956 -1.505946 +v 0.349846 -0.185136 -1.611752 +v 0.279322 -0.043956 -2.034481 +v -0.213882 -0.043956 -2.034481 +v -0.319733 -1.488935 -1.541214 +v -0.037705 -1.806095 -2.069805 +v 0.279388 -1.559256 -1.647021 +v 0.244061 -0.643116 -2.069750 +v -0.249144 -1.136256 -1.963999 +v -0.249144 -0.114815 -1.505946 +f 29 33 38 +f 20 23 26 +f 22 21 27 +f 25 22 27 +f 26 23 29 +f 20 26 30 +f 26 25 30 +f 27 20 30 +f 23 20 31 +f 20 27 31 +f 31 28 32 +f 28 24 32 +f 23 31 32 +f 21 22 33 +f 23 21 33 +f 22 25 33 +f 29 23 33 +f 21 24 34 +f 27 21 34 +f 24 28 34 +f 28 27 34 +f 25 27 35 +f 30 25 35 +f 27 30 35 +f 27 28 36 +f 31 27 36 +f 28 31 36 +f 21 23 37 +f 24 21 37 +f 23 32 37 +f 32 24 37 +f 25 26 38 +f 26 29 38 +f 33 25 38 +o convex_2 +v 1.054752 -1.136817 -0.589411 +v -1.094897 -1.524389 -0.342672 +v -1.059818 -2.475921 -0.483636 +v 1.089831 -3.850357 1.243121 +v -0.953940 -1.136817 1.101950 +v 1.054752 -3.744099 -0.871546 +v -0.989233 -3.779696 1.066761 +v 1.019459 -1.136817 1.207725 +v -0.989233 -3.814760 -0.836149 +v -1.059818 -1.136817 -0.871546 +v 0.984166 -1.136817 -0.836149 +v 1.089831 -1.136817 -0.201915 +v -0.812983 -3.779696 1.137346 +v -1.024525 -3.356792 -0.871546 +v 1.089831 -3.814760 0.220770 +v -1.094897 -1.136817 -0.131329 +v 0.314460 -1.136817 -0.871339 +v 1.089831 -2.792567 -0.659996 +v 0.314460 -3.850357 0.432320 +v 1.054752 -1.735841 1.207725 +v 1.054752 -3.779430 -0.624807 +v -0.425190 -3.814760 1.137139 +v 1.019459 -3.744099 1.243121 +v -0.989233 -3.568244 1.101950 +v -1.094897 -1.172147 -0.659789 +v 1.089831 -3.286131 1.207725 +v 1.019459 -1.453994 -0.836149 +v -0.390112 -1.277607 1.137139 +v 1.089831 -3.850357 0.820022 +v -0.742611 -3.814760 -0.836149 +v -0.989233 -3.814760 -0.413257 +v 0.561295 -3.850357 1.207518 +v 0.948874 -1.136817 1.207725 +v 1.089831 -1.136817 -0.413257 +v -1.024525 -3.427188 -0.730375 +f 47 69 73 +f 40 41 45 +f 39 43 46 +f 43 39 48 +f 48 39 49 +f 39 46 50 +f 44 47 52 +f 48 44 52 +f 50 42 53 +f 40 45 54 +f 43 48 54 +f 44 48 55 +f 49 44 55 +f 48 49 55 +f 53 44 56 +f 50 53 56 +f 46 42 58 +f 50 46 58 +f 44 53 59 +f 51 45 60 +f 42 46 61 +f 51 42 61 +f 51 43 62 +f 45 51 62 +f 54 45 62 +f 43 54 62 +f 52 40 63 +f 48 52 63 +f 40 54 63 +f 54 48 63 +f 42 50 64 +f 58 42 64 +f 50 58 64 +f 49 39 65 +f 44 49 65 +f 56 44 65 +f 43 51 66 +f 51 61 66 +f 53 42 67 +f 42 57 67 +f 59 53 67 +f 59 67 68 +f 47 44 68 +f 57 47 68 +f 44 59 68 +f 67 57 68 +f 47 57 69 +f 60 45 69 +f 60 69 70 +f 42 51 70 +f 57 42 70 +f 51 60 70 +f 69 57 70 +f 46 43 71 +f 61 46 71 +f 43 66 71 +f 66 61 71 +f 39 50 72 +f 50 56 72 +f 65 39 72 +f 56 65 72 +f 41 40 73 +f 45 41 73 +f 40 52 73 +f 52 47 73 +f 69 45 73 +o convex_3 +v 3.028489 -0.537437 0.256270 +v 1.090234 -1.066045 -0.131412 +v 1.090234 -1.066045 0.185788 +v 1.090234 -0.537437 -0.131412 +v 2.922431 -1.030742 -0.131412 +v 1.090234 -0.537437 0.467716 +v 3.028489 -1.030742 0.467716 +v 2.993010 -0.467007 0.502988 +v 3.028489 -0.572682 -0.060868 +v 1.125524 -1.030742 0.361962 +v 3.028489 -1.066045 0.432444 +v 1.759972 -0.502193 0.502988 +v 1.090234 -0.643171 0.467716 +v 3.028489 -0.643171 -0.096140 +v 2.288173 -1.066045 -0.131412 +v 2.993010 -0.467007 0.397234 +v 2.499529 -0.467007 0.467716 +f 89 77 90 +f 75 76 77 +f 75 77 78 +f 77 76 79 +f 80 74 81 +f 74 80 82 +f 80 83 84 +f 76 75 84 +f 82 80 84 +f 83 76 84 +f 77 79 85 +f 80 81 85 +f 79 76 86 +f 76 83 86 +f 83 80 86 +f 85 79 86 +f 80 85 86 +f 78 77 87 +f 77 82 87 +f 84 78 87 +f 82 84 87 +f 75 78 88 +f 84 75 88 +f 78 84 88 +f 81 74 89 +f 82 77 89 +f 74 82 89 +f 77 85 90 +f 85 81 90 +f 81 89 90 +o convex_4 +v -1.095111 -0.008691 -0.237208 +v 1.054800 -0.008691 0.679024 +v 1.054800 -0.043936 0.679024 +v 0.349597 0.167490 -2.104770 +v -0.777759 0.167490 1.278034 +v 0.279309 -0.043936 -2.034240 +v 0.984091 0.167490 1.172073 +v -0.953902 -0.043936 1.066444 +v -1.095111 0.167490 -0.871318 +v 0.984091 0.167490 -0.765688 +v -0.213765 -0.043936 -2.034240 +v 0.984091 -0.043936 1.172073 +v 0.984091 -0.043936 -0.800788 +v -1.095111 -0.043936 -0.871318 +v -0.213765 0.167490 -2.034240 +v -0.953902 0.167490 1.066444 +v 1.019445 0.167490 1.031344 +v -0.707260 0.132245 1.278034 +v 1.019445 0.097001 -0.483567 +f 100 107 109 +f 94 95 97 +f 96 93 98 +f 95 94 99 +f 94 97 100 +f 94 96 101 +f 96 98 101 +f 98 93 102 +f 93 96 103 +f 96 94 103 +f 94 100 103 +f 98 91 104 +f 91 99 104 +f 101 98 104 +f 99 101 104 +f 99 94 105 +f 94 101 105 +f 101 99 105 +f 98 95 106 +f 91 98 106 +f 95 99 106 +f 99 91 106 +f 93 92 107 +f 100 97 107 +f 102 93 107 +f 97 102 107 +f 97 95 108 +f 95 98 108 +f 102 97 108 +f 98 102 108 +f 92 93 109 +f 93 103 109 +f 103 100 109 +f 107 92 109 +o convex_5 +v -1.095111 2.176213 -0.976520 +v 1.054800 0.273575 3.110780 +v 1.019445 0.943002 3.145193 +v 0.948946 2.176213 -2.915723 +v -0.989257 0.167510 -2.915723 +v -1.095111 2.176213 3.110177 +v 1.019445 0.167510 -2.915723 +v -0.954112 0.273364 3.252055 +v 0.948946 2.211567 3.252055 +v -0.989257 2.317421 -2.845086 +v -1.095111 0.167510 -0.448250 +v 1.019445 2.281856 1.736071 +v 0.525951 0.167510 2.581303 +v 0.913802 2.282067 -2.915723 +v 1.019445 2.246712 -0.095667 +v -1.095111 2.282067 -0.271355 +v -1.095111 0.203076 -1.505394 +v -0.918758 0.167510 1.771088 +v 1.054800 0.203076 3.075160 +v 0.455451 2.317421 -2.598158 +v -1.095111 1.788572 3.110177 +v -0.143476 2.211567 3.181417 +v -1.024612 0.344074 -2.845086 +v -0.319619 2.317421 -1.541014 +v 1.019445 0.167510 1.065923 +v -0.390118 0.238220 3.215831 +v 0.490806 2.282067 -2.915723 +v 0.948946 2.282067 1.877345 +v 0.948946 1.999859 3.252055 +v -1.024612 2.211567 -2.421866 +v 0.526161 2.035424 3.252055 +v 1.019445 0.308719 -2.915723 +v -1.095111 2.211567 2.264341 +v -0.989257 0.484862 -2.915723 +v 0.349808 2.317421 -1.646668 +v -1.024612 1.330222 3.181417 +v 0.948946 2.282067 -2.774449 +v -0.954112 0.238220 2.933885 +v 0.455451 0.202865 3.145193 +v 0.948946 2.246712 2.758198 +v -0.989257 0.625861 3.215831 +f 130 120 150 +f 114 113 116 +f 111 112 118 +f 115 110 120 +f 114 116 120 +f 112 111 121 +f 118 112 121 +f 120 116 122 +f 113 114 123 +f 121 111 124 +f 110 115 125 +f 119 110 125 +f 120 110 126 +f 114 120 126 +f 120 122 127 +f 123 119 129 +f 115 120 130 +f 114 126 132 +f 119 125 133 +f 129 119 133 +f 122 116 134 +f 116 128 134 +f 128 122 134 +f 123 114 136 +f 119 123 136 +f 133 125 137 +f 118 117 138 +f 111 118 138 +f 117 135 138 +f 135 111 138 +f 110 119 139 +f 126 110 139 +f 119 132 139 +f 132 126 139 +f 117 118 140 +f 131 115 140 +f 118 131 140 +f 116 113 141 +f 124 111 141 +f 111 128 141 +f 128 116 141 +f 125 115 142 +f 115 131 142 +f 131 137 142 +f 137 125 142 +f 132 119 143 +f 114 132 143 +f 136 114 143 +f 119 136 143 +f 121 129 144 +f 129 133 144 +f 137 121 144 +f 133 137 144 +f 115 130 145 +f 130 117 145 +f 140 115 145 +f 117 140 145 +f 113 123 146 +f 121 124 146 +f 129 121 146 +f 123 129 146 +f 141 113 146 +f 124 141 146 +f 117 120 147 +f 120 127 147 +f 135 117 147 +f 135 147 148 +f 127 122 148 +f 128 111 148 +f 122 128 148 +f 111 135 148 +f 147 127 148 +f 118 121 149 +f 131 118 149 +f 121 137 149 +f 137 131 149 +f 120 117 150 +f 117 130 150 +o convex_6 +v -1.130356 -0.643236 0.397213 +v -2.997990 -0.607905 -0.201901 +v -2.997990 -0.713635 -0.166643 +v -2.962832 -0.431645 0.432471 +v -3.103851 -1.030694 0.291507 +v -1.130356 -0.960229 -0.060868 +v -1.130356 -0.537441 -0.096057 +v -1.130356 -0.995494 0.502988 +v -3.068500 -1.101290 -0.025679 +v -1.377236 -0.537441 0.397213 +v -3.103851 -0.960229 0.361955 +v -2.997990 -0.537441 -0.131385 +v -1.165900 -1.030694 0.467729 +v -2.927481 -0.431645 0.291507 +v -2.645635 -0.431645 0.432471 +v -1.130356 -0.995494 0.009648 +v -2.152261 -0.537441 -0.166643 +v -2.997990 -0.607905 0.432471 +v -2.786654 -1.101290 0.080165 +f 166 163 169 +f 153 152 156 +f 151 156 157 +f 156 151 158 +f 152 153 159 +f 155 152 159 +f 153 156 159 +f 151 157 160 +f 158 151 160 +f 152 155 161 +f 152 161 162 +f 161 154 162 +f 161 155 163 +f 158 161 163 +f 162 154 164 +f 154 158 165 +f 160 157 165 +f 158 160 165 +f 164 154 165 +f 157 164 165 +f 156 158 166 +f 159 156 166 +f 158 163 166 +f 156 152 167 +f 157 156 167 +f 152 162 167 +f 164 157 167 +f 162 164 167 +f 158 154 168 +f 154 161 168 +f 161 158 168 +f 155 159 169 +f 163 155 169 +f 159 166 169 +o convex_7 +v 1.089962 -0.643019 0.467581 +v -1.094929 -0.924905 -0.871342 +v -1.094929 -0.043956 -0.871342 +v -0.953878 -1.136427 1.101829 +v 0.984119 -1.136427 -0.836129 +v 0.984119 -0.043956 1.172256 +v 0.984119 -0.043956 -0.800712 +v -0.953878 -0.043956 1.066616 +v 1.019327 -1.136427 1.207673 +v -1.059721 -1.136427 -0.871342 +v -1.130355 -0.995377 0.502795 +v 1.089962 -1.136427 -0.377947 +v 1.089962 -0.326057 -0.272104 +v -0.002810 -0.079353 -0.871342 +v -0.848252 -0.043956 1.101829 +v -1.130355 -0.572761 0.361737 +v 1.054753 -0.043956 0.678862 +v -1.094929 -0.043956 -0.201677 +v 0.279294 -1.136427 -0.871342 +v 0.984119 -0.185114 -0.836129 +v 0.525972 -0.079353 1.172256 +v -1.130355 -0.396528 -0.236890 +v 1.019327 -0.185114 1.172256 +v -1.094929 -1.136427 -0.095833 +v 1.089962 -1.030666 0.326524 +v 1.054753 -0.114642 -0.448374 +v -1.130355 -0.960195 -0.060620 +v -0.953878 -0.537472 1.101829 +f 190 184 197 +f 172 175 176 +f 175 172 177 +f 173 174 178 +f 171 172 179 +f 174 173 179 +f 178 174 181 +f 170 181 182 +f 172 176 183 +f 179 172 183 +f 175 177 184 +f 180 177 185 +f 176 175 186 +f 170 182 186 +f 177 172 187 +f 185 177 187 +f 174 179 188 +f 179 183 188 +f 188 183 189 +f 181 174 189 +f 183 176 189 +f 174 188 189 +f 178 175 190 +f 175 184 190 +f 172 171 191 +f 180 185 191 +f 187 172 191 +f 185 187 191 +f 178 170 192 +f 175 178 192 +f 186 175 192 +f 170 186 192 +f 179 173 193 +f 173 180 193 +f 170 178 194 +f 181 170 194 +f 178 181 194 +f 182 181 195 +f 176 186 195 +f 186 182 195 +f 181 189 195 +f 189 176 195 +f 171 179 196 +f 191 171 196 +f 180 191 196 +f 179 193 196 +f 193 180 196 +f 173 178 197 +f 177 180 197 +f 180 173 197 +f 184 177 197 +f 178 190 197 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/082/082.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/082/082.urdf new file mode 100644 index 000000000..f195f421a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/082/082.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/083/083.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/083/083.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/083/083.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/083/083.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/083/083.obj new file mode 100644 index 000000000..cd8bc4c3f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/083/083.obj @@ -0,0 +1,270 @@ +o convex_0 +v -2.612843 -1.303079 1.097592 +v 0.813399 -3.145075 -1.113435 +v 0.813399 -3.108048 -1.113435 +v 3.024708 -1.044953 1.023790 +v -1.139235 -0.971537 -1.039633 +v -3.055344 -3.034420 1.060367 +v 2.987583 -3.108048 0.949988 +v 3.024708 -1.008351 -0.929039 +v -3.055344 -2.997605 -1.039633 +v -3.092468 -1.155608 -1.002624 +v 2.950459 -3.034420 -0.965831 +v -3.018219 -1.118794 1.097592 +v -0.807509 -0.971537 1.023574 +v 1.218776 -0.971537 -1.076210 +v -1.323661 -3.145075 -0.597471 +v -0.991934 -3.071234 1.060583 +v 0.997824 -0.971537 1.060583 +v 3.024708 -2.555619 -0.929039 +v 2.140304 -1.081980 1.060583 +v 2.987583 -2.923976 0.986781 +v 1.255301 -3.145075 -1.113435 +v -2.981693 -2.408149 1.097592 +v -3.018219 -3.034420 -1.039633 +v 1.034350 -2.297493 -1.113435 +v -1.618262 -1.008351 -1.039633 +v -1.102111 -3.108048 0.544619 +v 2.950459 -1.008351 0.913196 +v 2.066654 -0.971537 -0.855237 +v 1.845104 -3.145075 -0.265471 +v -3.092468 -1.855720 -0.228678 +v -3.055344 -2.444751 -1.039633 +v 3.024708 -1.745064 1.023790 +v 2.766632 -1.229450 -0.965831 +v -1.323661 -3.145075 -0.929039 +v -2.981693 -1.118794 -0.855237 +v -3.055344 -1.155608 0.544619 +v 1.808578 -3.108048 0.949988 +v -0.954810 -0.971537 0.986781 +v 2.987583 -3.108048 0.581628 +v -1.102111 -3.145075 -0.413075 +v -3.092468 -1.966376 -1.002624 +v -1.765563 -3.071234 1.060583 +v 1.255301 -2.850135 -1.113435 +v 0.666098 -0.971537 -1.076210 +v 2.987583 -3.034420 -0.892246 +v -1.765563 -1.045165 -1.039633 +v -3.055344 -2.555407 1.060367 +v -2.576317 -1.081980 0.655214 +v -3.092468 -1.155608 -0.449867 +v 3.024708 -2.003191 0.913196 +v -2.502666 -3.071447 0.544619 +v 2.950459 -2.702877 -0.965831 +v 1.845104 -0.971537 -0.228678 +v 3.024708 -1.008351 0.692006 +f 8 28 54 +f 3 2 9 +f 5 13 14 +f 13 12 17 +f 14 13 17 +f 8 4 18 +f 11 8 18 +f 12 1 19 +f 4 17 19 +f 17 12 19 +f 16 7 20 +f 2 3 21 +f 15 2 21 +f 1 12 22 +f 12 6 22 +f 19 1 22 +f 16 19 22 +f 9 2 23 +f 6 9 23 +f 21 3 24 +f 17 4 27 +f 8 14 28 +f 14 17 28 +f 15 21 29 +f 3 9 31 +f 9 10 31 +f 24 3 31 +f 18 4 32 +f 4 19 32 +f 19 16 32 +f 20 7 32 +f 16 20 32 +f 14 8 33 +f 2 15 34 +f 23 2 34 +f 10 12 35 +f 25 10 35 +f 7 16 37 +f 29 7 37 +f 13 5 38 +f 12 13 38 +f 18 7 39 +f 21 11 39 +f 7 29 39 +f 29 21 39 +f 15 29 40 +f 37 26 40 +f 29 37 40 +f 9 6 41 +f 10 9 41 +f 6 30 41 +f 30 10 41 +f 22 6 42 +f 16 22 42 +f 37 16 42 +f 26 37 42 +f 40 26 42 +f 11 21 43 +f 24 14 43 +f 21 24 43 +f 14 33 43 +f 5 14 44 +f 14 24 44 +f 25 5 44 +f 11 18 45 +f 18 39 45 +f 39 11 45 +f 10 25 46 +f 31 10 46 +f 24 31 46 +f 44 24 46 +f 25 44 46 +f 6 12 47 +f 30 6 47 +f 12 36 47 +f 5 25 48 +f 35 12 48 +f 25 35 48 +f 38 5 48 +f 12 38 48 +f 12 10 49 +f 10 30 49 +f 36 12 49 +f 30 47 49 +f 47 36 49 +f 7 18 50 +f 18 32 50 +f 32 7 50 +f 6 23 51 +f 34 15 51 +f 23 34 51 +f 15 40 51 +f 42 6 51 +f 40 42 51 +f 8 11 52 +f 33 8 52 +f 11 43 52 +f 43 33 52 +f 17 27 53 +f 28 17 53 +f 27 28 53 +f 4 8 54 +f 27 4 54 +f 28 27 54 +o convex_1 +v 0.960880 4.998663 0.949895 +v -1.102544 3.340263 0.986713 +v -1.065534 2.861091 -0.634130 +v 0.997889 -0.970527 1.060562 +v 1.108484 -0.970527 -1.076585 +v -0.954940 -0.970527 0.986713 +v 0.924087 4.998663 -1.076585 +v -0.991949 -0.970527 -1.039554 +v -0.954940 4.998663 -1.076585 +v -1.102544 4.961265 1.097592 +v 0.997889 4.998663 -1.039554 +v 1.034682 2.234662 0.618533 +v -0.807552 -0.970527 1.023531 +v 1.108484 -0.196840 -0.634130 +v 0.702898 4.998663 0.986713 +v 0.997889 4.998663 0.065624 +v -1.028742 3.597379 -1.039554 +v -0.991949 -0.601799 0.986713 +v -1.065534 4.998663 0.212896 +v -0.844345 4.961265 1.097592 +v 0.334538 -0.970527 1.060562 +v 1.034682 -0.970527 0.802623 +v 0.997889 4.003506 0.949895 +v -0.991949 3.818850 -1.076585 +v 0.997889 -0.418311 1.060562 +v -1.102544 4.482093 1.097592 +v 0.666105 -0.970527 -1.076585 +v -1.102544 4.961265 0.691956 +v -1.028742 1.019203 -1.039554 +v -0.991949 -0.970527 -0.376192 +v 1.108484 -0.270469 -1.039554 +v 1.108484 -0.970527 -0.597312 +v -1.028742 0.650475 1.023531 +v -0.991949 4.998663 -0.744797 +v -1.065534 4.998663 0.434017 +v 1.034682 -0.491940 0.802623 +v -0.991949 -0.086397 1.023531 +v -1.065534 1.903917 1.023531 +f 84 87 92 +f 59 58 60 +f 59 60 62 +f 55 61 63 +f 61 59 63 +f 61 55 65 +f 59 61 65 +f 60 58 67 +f 55 63 69 +f 65 55 70 +f 68 65 70 +f 69 63 73 +f 69 64 74 +f 67 58 75 +f 58 59 76 +f 66 68 77 +f 70 55 77 +f 68 70 77 +f 63 59 78 +f 71 63 78 +f 55 69 79 +f 74 58 79 +f 69 74 79 +f 58 76 79 +f 77 55 79 +f 64 56 80 +f 58 74 80 +f 74 64 80 +f 75 58 80 +f 67 75 80 +f 59 62 81 +f 78 59 81 +f 62 78 81 +f 57 56 82 +f 56 64 82 +f 71 57 82 +f 64 73 82 +f 73 71 82 +f 56 57 83 +f 62 56 83 +f 57 71 83 +f 78 62 83 +f 71 78 83 +f 56 62 84 +f 62 60 84 +f 60 72 84 +f 59 65 85 +f 68 59 85 +f 65 68 85 +f 59 68 86 +f 76 59 86 +f 84 72 87 +f 63 71 88 +f 73 63 88 +f 71 73 88 +f 64 69 89 +f 73 64 89 +f 69 73 89 +f 68 66 90 +f 66 77 90 +f 79 76 90 +f 77 79 90 +f 86 68 90 +f 76 86 90 +f 60 67 91 +f 72 60 91 +f 67 80 91 +f 87 72 91 +f 80 87 91 +f 80 56 92 +f 56 84 92 +f 87 80 92 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/083/083.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/083/083.urdf new file mode 100644 index 000000000..e570d11fc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/083/083.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/084/084.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/084/084.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/084/084.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/084/084.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/084/084.obj new file mode 100644 index 000000000..458cafa7f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/084/084.obj @@ -0,0 +1,651 @@ +o convex_0 +v 0.394504 -2.170246 -1.001745 +v 1.006152 -1.270632 1.120714 +v 1.006152 -1.270632 0.760843 +v -1.044727 -1.270871 1.048655 +v 1.042312 -3.609484 1.120714 +v -1.044727 -3.717505 -1.038091 +v -1.044727 -1.270871 -1.038091 +v -1.044727 -3.609484 1.012732 +v 0.934242 -3.681098 -0.893973 +v 0.934242 -1.270632 -0.858050 +v -0.325009 -1.342725 1.120503 +v 0.322594 -1.270871 -1.037668 +v -0.864746 -3.609484 1.048655 +v -0.972612 -3.717505 -0.642085 +v 1.042312 -3.501224 0.832902 +v 0.430460 -3.609484 1.120503 +v -1.044727 -3.645411 0.796766 +v 0.934242 -1.342725 -0.893973 +v 0.970197 -3.645411 -0.534102 +v 0.970197 -1.270632 -0.282213 +v -0.432875 -3.717505 -1.001745 +v 0.826376 -3.213328 -0.929897 +v 1.042312 -2.601849 1.084579 +v -1.044727 -2.745797 1.048655 +v 0.934242 -3.681098 -0.713932 +v -0.900702 -3.681338 -1.038091 +v -0.360760 -3.717505 -0.893762 +f 9 25 27 +f 6 4 7 +f 4 6 8 +f 2 3 10 +f 4 2 10 +f 7 4 10 +f 2 4 11 +f 5 2 11 +f 7 10 12 +f 5 11 16 +f 11 13 16 +f 8 6 17 +f 13 8 17 +f 6 14 17 +f 14 5 17 +f 5 16 17 +f 16 13 17 +f 12 10 18 +f 5 9 19 +f 15 5 19 +f 9 18 19 +f 10 3 20 +f 18 10 20 +f 15 19 20 +f 19 18 20 +f 14 6 21 +f 1 12 22 +f 18 9 22 +f 12 18 22 +f 9 21 22 +f 3 2 23 +f 2 5 23 +f 5 15 23 +f 20 3 23 +f 15 20 23 +f 4 8 24 +f 11 4 24 +f 8 13 24 +f 13 11 24 +f 9 5 25 +f 6 7 26 +f 12 1 26 +f 7 12 26 +f 21 6 26 +f 1 22 26 +f 22 21 26 +f 5 14 27 +f 21 9 27 +f 14 21 27 +f 25 5 27 +o convex_1 +v -0.576826 -0.407111 -4.312033 +v 0.610394 -0.838759 -3.412377 +v 0.610394 -0.910663 -3.412377 +v -0.468844 -0.694839 -1.038091 +v 0.574478 -0.227240 -1.038091 +v -0.252996 -1.234567 -1.038091 +v -0.540910 -1.090534 -4.887782 +v 0.466496 -0.227240 -4.996267 +v 0.610394 -1.270632 -4.924202 +v -0.432928 -0.119271 -1.038091 +v 0.502529 -1.198503 -1.038091 +v -0.576826 -0.227240 -4.887782 +v -0.468844 -1.198615 -1.038091 +v -0.540910 -1.126599 -4.348065 +v 0.538445 -1.234567 -1.685905 +v -0.576826 -0.191288 -4.168289 +v 0.358630 -1.270632 -4.060191 +v -0.289029 -0.119271 -1.182222 +v -0.396895 -1.126599 -4.923814 +v -0.576826 -0.946614 -4.851749 +v 0.430463 -1.270632 -2.729692 +v -0.468844 -0.119271 -1.578194 +v 0.574478 -0.874711 -4.960235 +v 0.574478 -0.227240 -1.361998 +v 0.466496 -1.234567 -1.038091 +v -0.504877 -1.162551 -2.046232 +v 0.574478 -0.407224 -1.038091 +v 0.250648 -0.227240 -4.996267 +v 0.466496 -1.270632 -4.852137 +v 0.610394 -1.270632 -4.239967 +v 0.034684 -0.155223 -1.038091 +v -0.252996 -1.234567 -1.254287 +v -0.504877 -0.191288 -4.276387 +v 0.538445 -0.982679 -1.038091 +v -0.468844 -0.119271 -1.434063 +v 0.430463 -0.479128 -4.996267 +v 0.610394 -1.090647 -4.888169 +v 0.502529 -0.371160 -4.708393 +v 0.502529 -0.982679 -4.960235 +f 63 50 66 +f 30 29 32 +f 32 31 33 +f 29 30 36 +f 31 32 37 +f 32 33 38 +f 33 31 40 +f 39 28 43 +f 34 39 46 +f 41 34 46 +f 28 39 47 +f 39 34 47 +f 34 41 47 +f 33 44 48 +f 44 36 48 +f 45 35 49 +f 37 45 49 +f 32 29 51 +f 38 33 52 +f 42 38 52 +f 33 48 52 +f 40 31 53 +f 41 40 53 +f 31 43 53 +f 43 28 53 +f 28 47 53 +f 47 41 53 +f 30 32 54 +f 32 38 54 +f 46 39 55 +f 44 41 56 +f 36 44 56 +f 46 36 56 +f 41 46 56 +f 36 30 57 +f 48 36 57 +f 42 52 57 +f 52 48 57 +f 37 32 58 +f 35 45 58 +f 45 37 58 +f 32 51 58 +f 51 35 58 +f 33 40 59 +f 40 41 59 +f 44 33 59 +f 41 44 59 +f 39 43 60 +f 43 49 60 +f 49 35 60 +f 35 55 60 +f 55 39 60 +f 38 42 61 +f 30 54 61 +f 54 38 61 +f 57 30 61 +f 42 57 61 +f 31 37 62 +f 43 31 62 +f 37 49 62 +f 49 43 62 +f 35 50 63 +f 55 35 63 +f 46 55 63 +f 29 36 64 +f 36 50 64 +f 51 29 64 +f 50 51 64 +f 50 35 65 +f 35 51 65 +f 51 50 65 +f 36 46 66 +f 50 36 66 +f 46 63 66 +o convex_2 +v -1.116693 0.276655 2.380025 +v 1.078295 2.327559 3.171970 +v 1.078295 2.147684 3.171970 +v 1.042199 2.291624 1.192882 +v -1.080597 2.291624 3.063872 +v 0.934125 0.312992 3.135937 +v -1.044501 0.348726 1.192882 +v 0.970222 0.348927 1.192882 +v -0.900546 2.291624 1.192882 +v -1.116693 0.276655 3.028033 +v -0.540874 0.888554 3.171970 +v 0.538357 0.276856 1.192882 +v -1.008620 2.291624 1.372852 +v -1.080597 0.384862 1.228914 +v 0.574238 0.276856 3.099905 +v -0.972524 2.291624 3.099905 +v -1.080597 2.291624 2.632060 +v 1.006318 0.780548 1.192882 +v 1.078295 2.327559 2.524156 +v -1.116693 1.427980 3.063872 +v 0.970222 0.348927 2.092731 +v 0.754289 2.327358 3.171970 +v -1.080597 0.312791 1.444917 +v 1.006318 1.500051 3.171970 +v -1.008620 1.967808 1.192882 +v 0.466380 0.312992 3.135937 +v 0.502476 2.327358 3.099905 +v 0.178685 0.276856 1.192882 +v 1.006318 2.327559 2.308153 +v -0.289061 0.780548 3.171970 +v 0.934125 0.312992 2.164603 +v 1.042199 2.039678 1.192882 +v 0.970222 0.708678 3.135937 +v -0.900546 0.348726 3.063872 +v -1.116693 1.427980 2.992000 +f 86 83 101 +f 73 70 74 +f 70 73 75 +f 69 68 77 +f 73 74 78 +f 76 67 81 +f 67 78 81 +f 79 80 83 +f 74 70 84 +f 68 69 85 +f 69 84 85 +f 67 76 86 +f 76 77 86 +f 82 71 86 +f 77 82 86 +f 71 83 86 +f 72 74 87 +f 84 69 87 +f 74 84 87 +f 77 68 88 +f 82 77 88 +f 67 80 89 +f 80 73 89 +f 72 69 90 +f 69 77 90 +f 75 73 91 +f 79 75 91 +f 80 79 91 +f 73 80 91 +f 76 81 92 +f 81 72 92 +f 75 79 93 +f 71 82 93 +f 83 71 93 +f 79 83 93 +f 88 68 93 +f 82 88 93 +f 78 67 94 +f 73 78 94 +f 67 89 94 +f 89 73 94 +f 70 75 95 +f 68 85 95 +f 85 70 95 +f 75 93 95 +f 93 68 95 +f 72 90 96 +f 90 77 96 +f 92 72 96 +f 74 72 97 +f 78 74 97 +f 72 81 97 +f 81 78 97 +f 84 70 98 +f 70 85 98 +f 85 84 98 +f 69 72 99 +f 87 69 99 +f 72 87 99 +f 77 76 100 +f 76 92 100 +f 96 77 100 +f 92 96 100 +f 80 67 101 +f 83 80 101 +f 67 86 101 +o convex_3 +v -0.936596 -0.083295 -1.038091 +v 1.006328 -0.191256 1.120802 +v -0.109077 -0.083295 1.156898 +v -1.044604 -1.270516 1.048610 +v 0.934257 -1.270516 -0.858040 +v -1.044604 -1.270516 -1.038091 +v 0.934257 -0.083295 -0.858040 +v 1.006328 -1.270516 1.120802 +v -1.044604 -0.083295 1.048610 +v 0.610436 -0.263191 -1.038091 +v -1.044604 -0.083295 -1.038091 +v 0.466493 -1.234490 -1.038091 +v 0.970192 -0.083295 1.084921 +v -0.253019 -0.982659 1.156898 +v 0.970192 -0.083295 -0.534249 +v -0.396962 -0.083295 1.156898 +v 1.006328 -1.270516 0.760700 +v 0.682307 -0.083295 -1.001995 +v 0.322551 -0.622983 1.156898 +v -0.325091 -1.270516 1.120802 +v 0.970192 -1.270516 -0.282435 +v -0.936596 -0.227282 1.084921 +v 0.250680 -1.018568 1.156898 +v 0.322551 -1.270516 -1.038091 +f 107 113 125 +f 106 105 107 +f 102 104 108 +f 105 106 109 +f 104 102 110 +f 107 105 110 +f 107 102 111 +f 102 107 112 +f 110 102 112 +f 107 110 112 +f 107 111 113 +f 111 106 113 +f 104 103 114 +f 108 104 114 +f 106 108 116 +f 114 103 116 +f 108 114 116 +f 104 110 117 +f 115 104 117 +f 103 109 118 +f 109 106 118 +f 116 103 118 +f 102 108 119 +f 108 106 119 +f 111 102 119 +f 106 111 119 +f 103 104 120 +f 109 103 120 +f 104 115 120 +f 105 109 121 +f 115 105 121 +f 106 116 122 +f 118 106 122 +f 116 118 122 +f 110 105 123 +f 105 115 123 +f 117 110 123 +f 115 117 123 +f 109 120 124 +f 120 115 124 +f 121 109 124 +f 115 121 124 +f 106 107 125 +f 113 106 125 +o convex_4 +v -0.145064 -0.407072 3.063879 +v -0.037092 -1.018748 1.156898 +v 0.250620 -1.018748 1.156898 +v 0.322643 -0.299079 1.156898 +v 0.286632 -0.946753 3.135874 +v -0.325058 -0.910755 3.099975 +v -0.181012 -0.407072 1.156898 +v 0.178660 -0.407072 3.027980 +v -0.252972 -0.335077 3.027980 +v -0.252972 -0.982750 1.156898 +v -0.325058 -0.694770 3.135874 +v 0.286632 -0.982750 2.848091 +v -0.217024 -0.478997 1.192994 +v 0.322643 -0.587059 1.156898 +v 0.286632 -0.335077 1.912550 +v -0.325058 -0.874758 2.452217 +v 0.106700 -0.299079 1.660666 +v -0.073104 -0.335077 2.991884 +v 0.250620 -0.694770 3.099975 +v -0.217024 -0.371074 1.732661 +v -0.252972 -0.982750 1.660666 +v -0.217024 -0.802833 3.171970 +v 0.322643 -0.335077 1.516873 +v 0.214672 -0.982750 2.848091 +v 0.286632 -0.874758 1.156898 +f 139 137 150 +f 128 127 129 +f 129 127 132 +f 126 133 134 +f 132 127 135 +f 126 134 136 +f 127 128 137 +f 132 135 138 +f 128 129 139 +f 130 137 139 +f 135 131 141 +f 131 136 141 +f 138 135 141 +f 136 138 141 +f 129 132 142 +f 134 133 143 +f 140 129 143 +f 133 140 143 +f 129 142 143 +f 142 134 143 +f 133 126 144 +f 140 133 144 +f 136 134 145 +f 132 138 145 +f 138 136 145 +f 142 132 145 +f 134 142 145 +f 135 127 146 +f 131 135 146 +f 131 130 147 +f 126 136 147 +f 136 131 147 +f 144 126 147 +f 130 144 147 +f 139 129 148 +f 130 139 148 +f 129 140 148 +f 144 130 148 +f 140 144 148 +f 130 131 149 +f 127 137 149 +f 137 130 149 +f 146 127 149 +f 131 146 149 +f 137 128 150 +f 128 139 150 +o convex_5 +v 1.042157 1.499902 -2.836980 +v -1.080499 0.420885 -3.017066 +v -1.044572 0.384634 -3.053163 +v 0.934164 0.348819 -1.038288 +v -1.044572 2.435661 -1.038288 +v -1.044572 0.276972 -1.038288 +v -1.080499 2.363595 -2.873076 +v 1.042157 2.291530 -1.146182 +v 1.078084 0.204689 -2.945071 +v 0.970303 2.399628 -2.873076 +v 0.610398 1.859792 -3.017066 +v 1.042157 2.255716 -1.038091 +v 0.610398 0.240721 -1.038288 +v -0.792660 0.240721 -1.074187 +v 0.142712 2.435661 -1.973829 +v -1.080499 2.327563 -1.865738 +v 1.006230 0.348819 -1.434162 +v -1.044572 0.348819 -2.873076 +v 1.078084 1.176481 -1.973829 +v -0.936579 2.291530 -2.909173 +v -0.505032 2.435661 -1.038288 +v 0.682252 1.463869 -3.017066 +v 1.042157 1.751694 -1.038091 +v -1.008645 2.435661 -1.577955 +v 1.006230 2.363377 -2.657091 +v 0.250705 2.399628 -2.873076 +v 0.358486 1.859792 -3.017066 +v 0.754318 0.204689 -2.585294 +v 0.970303 2.399628 -2.585294 +v 1.078084 0.240940 -2.585294 +v 0.934164 2.291530 -2.908975 +v -1.080499 0.888655 -3.017066 +v 1.078084 0.456918 -2.945071 +v 0.970091 0.384634 -1.038288 +v 1.042157 2.291530 -1.505960 +v -0.936579 0.384634 -3.053163 +v -1.080499 2.399410 -2.297511 +v 1.078084 0.708710 -2.873076 +v 1.006230 2.219464 -2.873076 +v -0.432966 0.312787 -3.017066 +v -1.080499 2.219683 -2.909173 +v 1.078084 0.204689 -2.836980 +f 180 167 192 +f 155 156 162 +f 163 156 164 +f 152 156 166 +f 156 155 166 +f 157 152 166 +f 152 153 168 +f 156 152 168 +f 164 156 168 +f 158 162 169 +f 155 162 171 +f 162 158 171 +f 165 155 171 +f 162 156 173 +f 156 163 173 +f 163 154 173 +f 169 162 173 +f 155 165 174 +f 165 160 176 +f 170 157 176 +f 160 170 176 +f 174 165 176 +f 161 153 177 +f 170 161 177 +f 163 164 178 +f 164 168 178 +f 160 165 179 +f 171 158 179 +f 165 171 179 +f 175 160 179 +f 158 175 179 +f 159 169 180 +f 173 167 180 +f 169 173 180 +f 170 160 181 +f 161 170 181 +f 172 161 181 +f 153 152 182 +f 152 157 182 +f 177 153 182 +f 169 159 183 +f 159 172 183 +f 172 181 183 +f 154 167 184 +f 173 154 184 +f 167 173 184 +f 158 169 185 +f 151 175 185 +f 175 158 185 +f 153 161 186 +f 172 159 186 +f 161 172 186 +f 166 155 187 +f 157 166 187 +f 155 174 187 +f 176 157 187 +f 174 176 187 +f 169 183 188 +f 151 185 188 +f 185 169 188 +f 175 151 189 +f 160 175 189 +f 181 160 189 +f 183 181 189 +f 151 188 189 +f 188 183 189 +f 168 153 190 +f 159 178 190 +f 178 168 190 +f 153 186 190 +f 186 159 190 +f 157 170 191 +f 170 177 191 +f 182 157 191 +f 177 182 191 +f 154 163 192 +f 167 154 192 +f 178 159 192 +f 163 178 192 +f 159 180 192 +o convex_6 +v 0.718306 0.276796 -1.038091 +v -0.469034 2.291671 1.192881 +v -0.864746 2.291671 1.192881 +v -0.145029 -0.082932 1.156849 +v -1.044727 -0.083179 -1.038091 +v 1.042312 2.255673 -1.038091 +v -1.044727 2.435661 -1.038091 +v 1.042312 2.291424 1.192881 +v 0.970197 -0.083179 1.084783 +v -1.044727 -0.083179 1.048751 +v 0.934242 -0.083179 -0.858146 +v -1.044727 1.140490 1.192881 +v 0.970197 0.348791 1.192881 +v -0.576900 2.435661 -0.425971 +v -0.972612 2.255673 1.192881 +v 1.042312 1.823703 -1.038091 +v -1.044727 0.348791 1.192881 +v 0.898286 2.327668 1.012936 +v 0.214524 2.363419 -1.038091 +v 0.970197 -0.083179 -0.570102 +v 1.006152 0.672769 1.120816 +v 0.682351 -0.083179 -1.002058 +v 0.970197 0.385035 -1.038091 +v -1.044727 2.435661 -0.642168 +v -0.540945 2.435661 -1.038091 +v 1.042312 2.291424 -0.390375 +v -1.008567 1.967693 1.192881 +v 1.042312 1.931696 1.120816 +v -0.396920 -0.082932 1.156849 +v 0.934242 2.291424 -1.038091 +v 0.898286 2.327668 0.796958 +v -1.008567 2.435661 -0.498037 +f 216 207 224 +f 193 197 198 +f 198 197 199 +f 194 195 200 +f 199 197 202 +f 197 201 202 +f 201 197 203 +f 200 195 204 +f 199 202 204 +f 196 201 205 +f 200 204 205 +f 204 195 207 +f 193 198 208 +f 198 200 208 +f 204 202 209 +f 196 205 209 +f 205 204 209 +f 195 194 210 +f 194 200 210 +f 206 195 210 +f 198 199 211 +f 201 203 212 +f 212 208 213 +f 205 201 213 +f 200 205 213 +f 201 212 213 +f 197 193 214 +f 203 197 214 +f 203 214 215 +f 193 208 215 +f 212 203 215 +f 208 212 215 +f 214 193 215 +f 199 204 216 +f 206 199 216 +f 199 206 217 +f 206 210 217 +f 211 199 217 +f 200 198 218 +f 210 200 218 +f 204 207 219 +f 216 204 219 +f 207 216 219 +f 208 200 220 +f 213 208 220 +f 200 213 220 +f 201 196 221 +f 202 201 221 +f 196 209 221 +f 209 202 221 +f 198 211 222 +f 218 198 222 +f 218 222 223 +f 217 210 223 +f 211 217 223 +f 210 218 223 +f 222 211 223 +f 195 206 224 +f 207 195 224 +f 206 216 224 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/084/084.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/084/084.urdf new file mode 100644 index 000000000..35d44cde6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/084/084.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/085/085.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/085/085.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/085/085.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/085/085.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/085/085.obj new file mode 100644 index 000000000..803c61e6d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/085/085.obj @@ -0,0 +1,420 @@ +o convex_0 +v 1.077722 1.897785 2.762442 +v -0.240877 -0.169625 0.053141 +v -0.027112 -0.169625 0.053141 +v -0.846997 -0.133928 3.902785 +v -0.953984 2.040574 0.195881 +v -1.060761 2.004661 4.045525 +v 1.077722 -0.098014 3.902785 +v 1.006537 1.719732 0.053141 +v -1.025169 -0.098014 0.053141 +v 1.042130 -0.026836 0.053141 +v 1.077722 1.969180 4.081013 +v -1.060761 -0.133928 3.902785 +v 0.756971 1.897785 0.053141 +v -0.633023 2.040574 0.053141 +v 0.364825 1.327495 4.081407 +v 1.077722 0.187131 0.338621 +v 1.006537 1.897785 0.516849 +v 1.077722 1.969180 3.083015 +v -0.953984 2.040574 1.764839 +v -1.060761 -0.133928 2.762048 +v -0.383666 -0.169625 1.479359 +v 1.077722 -0.062317 1.015651 +v -0.918391 0.008645 3.938667 +v -0.953984 1.933482 0.053141 +v 0.115467 -0.169408 0.053141 +v 0.578589 0.579151 4.010037 +v -0.953984 -0.133928 0.053141 +v -1.060761 1.862088 3.724557 +v -1.060761 1.755213 4.045525 +v 1.042130 1.683818 4.081407 +v -0.704417 2.004877 4.045525 +v -1.025169 0.115737 0.195881 +v 0.115467 1.968963 4.081407 +v 0.935143 -0.062317 0.053141 +v 0.935143 0.080039 3.938667 +v 0.970945 1.862088 0.053141 +v -0.276679 0.614849 4.009643 +v -0.419258 -0.169625 1.194273 +v 1.042130 0.828816 0.053141 +f 16 10 39 +f 3 2 8 +f 8 2 9 +f 3 8 10 +f 7 1 11 +f 8 9 13 +f 13 9 14 +f 1 7 16 +f 8 1 16 +f 1 8 17 +f 13 14 17 +f 17 14 18 +f 11 1 18 +f 14 11 18 +f 1 17 18 +f 5 6 19 +f 11 14 19 +f 14 5 19 +f 12 6 20 +f 2 3 21 +f 7 4 21 +f 4 12 21 +f 16 7 22 +f 10 16 22 +f 4 7 23 +f 12 4 23 +f 5 14 24 +f 14 9 24 +f 3 10 25 +f 21 3 25 +f 7 21 25 +f 22 7 25 +f 9 2 27 +f 20 9 27 +f 6 5 28 +f 9 20 28 +f 20 6 28 +f 5 24 28 +f 6 12 29 +f 12 23 29 +f 7 11 30 +f 15 26 30 +f 19 6 31 +f 11 19 31 +f 24 9 32 +f 9 28 32 +f 28 24 32 +f 6 29 33 +f 29 15 33 +f 30 11 33 +f 15 30 33 +f 31 6 33 +f 11 31 33 +f 10 22 34 +f 25 10 34 +f 22 25 34 +f 23 7 35 +f 26 23 35 +f 7 30 35 +f 30 26 35 +f 8 13 36 +f 17 8 36 +f 13 17 36 +f 26 15 37 +f 23 26 37 +f 15 29 37 +f 29 23 37 +f 12 20 38 +f 21 12 38 +f 2 21 38 +f 27 2 38 +f 20 27 38 +f 10 8 39 +f 8 16 39 +o convex_1 +v -0.134008 0.685992 -4.117335 +v 0.293667 0.935447 -3.012664 +v 0.293667 0.864206 -3.012664 +v -0.312264 0.721668 -2.157250 +v -0.276588 1.185013 -3.867887 +v 0.257928 1.149337 -2.157250 +v 0.222315 1.113716 -4.117335 +v 0.186701 0.650316 -2.157250 +v 0.293667 0.614639 -4.117335 +v -0.312264 1.149337 -2.157250 +v -0.348003 0.685992 -4.081836 +v -0.312264 0.650316 -2.264321 +v -0.098395 1.185013 -4.081836 +v -0.348003 1.077984 -2.371199 +v -0.062719 0.614639 -3.048355 +v -0.312264 1.185013 -2.620647 +v -0.312264 1.006743 -4.081836 +v 0.222315 0.685992 -2.157250 +v 0.293667 0.614639 -3.547250 +v 0.257928 1.149337 -2.977166 +v 0.293667 0.828529 -4.081836 +v 0.115411 0.614639 -4.117335 +v -0.348003 0.685992 -3.333301 +v -0.348003 0.864206 -4.010456 +f 53 56 63 +f 42 41 45 +f 45 43 47 +f 41 42 48 +f 40 46 48 +f 43 45 49 +f 47 43 51 +f 43 49 53 +f 51 43 53 +f 47 51 54 +f 51 50 54 +f 49 45 55 +f 52 44 55 +f 45 52 55 +f 53 49 55 +f 44 53 55 +f 46 40 56 +f 40 50 56 +f 44 52 56 +f 52 46 56 +f 53 44 56 +f 42 45 57 +f 45 47 57 +f 48 42 58 +f 47 54 58 +f 54 48 58 +f 42 57 58 +f 57 47 58 +f 45 41 59 +f 52 45 59 +f 46 52 59 +f 41 48 60 +f 48 46 60 +f 59 41 60 +f 46 59 60 +f 40 48 61 +f 50 40 61 +f 48 54 61 +f 54 50 61 +f 50 51 62 +f 53 50 62 +f 51 53 62 +f 50 53 63 +f 56 50 63 +o convex_2 +v 1.077931 -1.915927 -0.731332 +v -0.633215 2.040574 0.053141 +v -0.918229 2.040574 0.053141 +v -0.597455 1.576950 -2.121361 +v -0.918229 -4.126594 -0.053951 +v -0.953988 -4.019139 -2.121361 +v 1.077931 2.040574 -1.943091 +v 1.077931 -4.126594 -2.157058 +v 1.006625 1.683801 0.053141 +v 0.935105 -4.019139 -0.125129 +v -1.096602 0.221694 -2.085447 +v -0.918229 2.040574 -2.014269 +v -1.025295 -0.098858 0.053141 +v 1.042172 -0.669334 0.053141 +v 0.258012 1.148339 -2.157058 +v 0.970865 1.861886 0.053141 +v -1.096602 -0.490645 -2.014269 +v 1.077931 -0.241930 -0.089648 +v 0.721398 -4.054756 -0.089648 +v 0.507478 2.040574 -0.445971 +v -0.953988 1.968737 0.017228 +v -0.312229 0.720935 -2.157058 +v 1.042172 2.040574 -1.978788 +v 0.186705 -4.090373 -2.157058 +v 1.077931 -4.126594 -1.764821 +v -0.953988 -3.377430 -0.089648 +v 0.970865 -3.520502 -0.089648 +v -0.953988 1.968737 -1.871696 +v -1.025295 -2.378948 -2.121361 +v -1.096602 0.007992 -1.622248 +v -0.953988 -4.054152 -1.443762 +v 0.614332 0.542247 -2.121361 +v -0.633215 -4.126594 -0.053951 +v -0.918229 -4.126594 -0.410490 +v 1.077931 -3.698586 -2.157058 +v -0.062762 -4.054756 -2.157058 +v 1.077931 2.040574 -1.800518 +v 1.042172 0.827786 0.053141 +v 1.077931 -4.090373 -1.657729 +v 0.970865 -4.054756 -0.339096 +v 0.756945 -4.126594 -2.157058 +v -0.312229 1.148339 -2.157058 +v -0.347776 1.576950 -2.121361 +v 0.935105 -3.912288 -0.089648 +v -1.096602 -0.063242 -1.622248 +v 1.042172 2.040574 -1.586335 +v 1.042172 -1.167367 0.017444 +v -0.526149 -4.054756 -2.049966 +v -0.347776 -4.126594 -0.267701 +v -1.025295 1.113326 -0.909602 +v -1.025295 -1.987161 -2.121361 +v -1.025295 -0.027625 0.053141 +v 0.756945 1.896899 0.053141 +f 79 83 116 +f 66 65 70 +f 70 64 71 +f 65 66 72 +f 66 70 75 +f 67 74 75 +f 72 66 76 +f 72 76 77 +f 76 68 77 +f 65 72 79 +f 64 70 81 +f 70 65 83 +f 66 75 84 +f 78 71 85 +f 75 70 86 +f 85 71 87 +f 71 64 88 +f 68 71 88 +f 68 76 89 +f 75 74 91 +f 84 75 91 +f 80 74 92 +f 85 69 92 +f 74 80 93 +f 68 89 94 +f 89 80 94 +f 80 92 94 +f 92 69 94 +f 78 86 95 +f 77 68 96 +f 82 77 96 +f 68 88 96 +f 71 68 97 +f 68 94 97 +f 94 69 97 +f 70 71 98 +f 71 78 98 +f 86 70 98 +f 78 95 98 +f 95 86 98 +f 69 85 99 +f 87 69 99 +f 85 87 99 +f 79 72 100 +f 81 70 100 +f 70 83 100 +f 72 77 101 +f 77 81 101 +f 100 72 101 +f 81 100 101 +f 88 64 102 +f 64 90 102 +f 102 90 103 +f 73 82 103 +f 90 73 103 +f 88 102 103 +f 87 71 104 +f 71 97 104 +f 67 78 105 +f 78 85 105 +f 85 92 105 +f 67 75 106 +f 78 67 106 +f 75 86 106 +f 86 78 106 +f 82 73 107 +f 77 82 107 +f 90 77 107 +f 73 90 107 +f 89 76 108 +f 80 89 108 +f 93 80 108 +f 76 93 108 +f 83 79 109 +f 79 100 109 +f 100 83 109 +f 64 81 110 +f 81 77 110 +f 90 64 110 +f 77 90 110 +f 69 87 111 +f 97 69 111 +f 87 104 111 +f 104 97 111 +f 82 96 112 +f 96 88 112 +f 103 82 112 +f 88 103 112 +f 91 74 113 +f 84 91 113 +f 74 93 113 +f 93 84 113 +f 74 67 114 +f 92 74 114 +f 67 105 114 +f 105 92 114 +f 76 66 115 +f 66 84 115 +f 84 93 115 +f 93 76 115 +f 65 79 116 +f 83 65 116 +o convex_3 +v -0.597542 3.252312 -1.622196 +v 0.436065 3.965558 -0.410288 +v 0.364786 3.965558 -0.410288 +v 0.043972 2.040574 -0.445950 +v 0.436065 2.040574 -1.586656 +v 0.578854 4.036687 -1.586656 +v -0.454753 3.929798 -0.552937 +v -0.561845 2.040574 -1.265817 +v 0.507460 2.040574 -0.445950 +v -0.597542 4.001123 -1.657981 +v -0.490450 2.040574 -0.481612 +v -0.561845 2.076334 -1.550994 +v -0.597542 3.644695 -1.372682 +v 0.543157 4.036687 -1.123168 +v -0.526147 2.183223 -0.588599 +v 0.471763 2.254548 -1.586656 +v 0.471763 3.716020 -0.410288 +v -0.490450 2.611171 -0.481612 +v 0.079669 2.040574 -1.586656 +v -0.490450 3.929798 -0.695586 +v 0.578854 3.858474 -1.586656 +v -0.454753 3.929798 -1.657981 +v -0.027192 4.036883 -1.550994 +v 0.507460 2.040574 -0.624384 +v 0.150948 3.965558 -0.445950 +v 0.578854 4.036687 -1.443885 +v 0.507460 2.361437 -0.445950 +v -0.597542 3.822909 -1.657981 +f 138 121 144 +f 121 120 124 +f 120 121 125 +f 120 119 127 +f 124 120 127 +f 124 117 128 +f 117 124 129 +f 126 117 129 +f 119 118 130 +f 124 127 131 +f 129 124 131 +f 118 119 133 +f 119 120 133 +f 120 125 133 +f 130 118 133 +f 127 119 134 +f 131 127 134 +f 121 124 135 +f 124 128 135 +f 123 126 136 +f 126 129 136 +f 129 131 136 +f 134 123 136 +f 131 134 136 +f 137 132 138 +f 126 122 138 +f 132 121 138 +f 122 137 138 +f 122 126 139 +f 126 123 139 +f 125 121 140 +f 121 132 140 +f 137 125 140 +f 132 137 140 +f 119 130 141 +f 134 119 141 +f 123 134 141 +f 139 123 141 +f 130 139 141 +f 130 133 142 +f 137 122 142 +f 125 137 142 +f 122 139 142 +f 139 130 142 +f 133 125 143 +f 125 142 143 +f 142 133 143 +f 117 126 144 +f 128 117 144 +f 121 135 144 +f 135 128 144 +f 126 138 144 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/085/085.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/085/085.urdf new file mode 100644 index 000000000..d07c66629 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/085/085.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/086/086.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/086/086.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/086/086.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/086/086.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/086/086.obj new file mode 100644 index 000000000..9b42c24d9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/086/086.obj @@ -0,0 +1,3537 @@ +o convex_0 +v -0.613396 -0.595283 -1.586447 +v 0.353011 -0.595283 -1.289111 +v 0.353011 -0.620069 -1.289111 +v -0.960388 -0.595283 -1.289111 +v -0.043606 -0.917437 -1.313928 +v 0.006019 -0.620069 -1.611265 +v -0.786828 -0.843048 -1.289111 +v -0.786828 -0.620069 -1.561693 +f 7 4 8 +f 3 2 4 +f 2 1 4 +f 3 5 6 +f 1 2 6 +f 2 3 6 +f 3 4 7 +f 5 3 7 +f 5 7 8 +f 4 1 8 +f 6 5 8 +f 1 6 8 +o convex_1 +v -0.142417 -0.595283 1.461560 +v 0.823851 -0.595283 1.164288 +v 0.823851 -0.595283 1.139437 +v 0.006294 -1.066124 1.139437 +v -0.613452 -0.595283 1.139437 +v 0.055817 -0.620079 1.511153 +v -0.043230 -1.066124 1.164288 +v -0.613452 -0.620079 1.164288 +v 0.675141 -0.620079 1.238624 +f 14 15 17 +f 9 10 11 +f 11 10 12 +f 9 11 13 +f 11 12 13 +f 10 9 14 +f 13 12 15 +f 14 9 15 +f 9 13 16 +f 15 9 16 +f 13 15 16 +f 12 10 17 +f 10 14 17 +f 15 12 17 +o convex_2 +v 1.096509 1.411850 -1.190045 +v 1.418571 1.486329 -1.041300 +v 1.418571 1.486329 -1.090966 +v 1.443418 0.544647 -1.264417 +v 1.096509 0.743013 -1.908638 +v 1.715850 0.718125 -1.289208 +v 1.096509 1.486329 -1.313914 +v 1.071662 0.718125 -1.809475 +v 1.146077 1.461349 -1.066260 +v 1.715850 0.668626 -1.264417 +v 1.418571 0.544647 -1.264417 +f 26 18 28 +f 22 20 23 +f 20 19 23 +f 19 20 24 +f 20 22 24 +f 24 22 25 +f 18 24 25 +f 19 24 26 +f 24 18 26 +f 19 21 27 +f 21 22 27 +f 22 23 27 +f 23 19 27 +f 21 19 28 +f 22 21 28 +f 25 22 28 +f 18 25 28 +f 19 26 28 +o convex_3 +v -2.595692 0.396009 -0.347461 +v -1.109074 0.668553 -0.570427 +v -1.109074 0.247294 -0.322675 +v -2.001012 0.296851 -0.520855 +v -2.818970 0.668553 -0.322675 +v -2.719717 0.668553 -0.496096 +v -1.109074 0.272094 -0.520855 +v -2.050722 0.569351 -0.595240 +v -2.025950 0.247294 -0.322675 +v -1.109074 0.569351 -0.595240 +v -2.125036 0.668553 -0.595240 +f 30 38 39 +f 31 30 33 +f 33 30 34 +f 32 29 34 +f 29 33 34 +f 30 31 35 +f 35 32 36 +f 32 34 36 +f 29 32 37 +f 33 29 37 +f 31 33 37 +f 35 31 37 +f 32 35 37 +f 30 35 38 +f 35 36 38 +f 38 36 39 +f 34 30 39 +f 36 34 39 +o convex_4 +v -2.818761 0.742940 -0.446579 +v -1.109169 1.139394 -0.322704 +v -1.109169 1.114598 -0.322704 +v -1.208365 0.693348 -0.620021 +v -2.075303 1.114598 -0.471348 +v -2.843561 0.668553 -0.322675 +v -2.620540 1.040257 -0.322675 +v -2.050504 0.668553 -0.620021 +v -1.109169 0.668553 -0.570425 +v -1.109169 1.114598 -0.446608 +v -2.719737 0.742940 -0.520828 +v -2.050504 0.742940 -0.620021 +v -2.149873 1.139394 -0.322675 +v -2.620540 1.015461 -0.397040 +v -2.744536 0.668553 -0.496088 +f 50 47 54 +f 40 45 46 +f 45 47 48 +f 41 42 48 +f 42 45 48 +f 47 43 48 +f 48 43 49 +f 43 44 49 +f 44 41 49 +f 41 48 49 +f 47 50 51 +f 44 43 51 +f 43 47 51 +f 50 44 51 +f 42 41 52 +f 41 44 52 +f 45 42 52 +f 46 45 52 +f 44 46 52 +f 40 46 53 +f 46 44 53 +f 50 40 53 +f 44 50 53 +f 45 40 54 +f 47 45 54 +f 40 50 54 +o convex_5 +v -0.935592 -0.297910 1.188999 +v -0.018706 -0.050087 2.502329 +v -0.489547 0.222493 2.551959 +v -0.811614 -0.273102 1.684766 +v -0.018706 -0.273102 1.907702 +v -0.935592 0.222493 1.957065 +v -0.588729 0.098556 2.477381 +v -0.068297 -0.099601 2.502329 +v -0.960388 0.197685 2.031377 +v -0.068297 -0.297910 1.982013 +v -0.935592 -0.248345 1.213814 +v -0.960388 -0.297910 1.337889 +v -0.489547 0.222493 2.502196 +v -0.786910 -0.173973 1.882753 +f 66 58 68 +f 56 57 62 +f 57 61 62 +f 57 60 63 +f 61 57 63 +f 55 59 64 +f 59 56 64 +f 56 62 64 +f 62 58 64 +f 59 55 65 +f 60 59 65 +f 63 60 65 +f 63 65 66 +f 55 64 66 +f 64 58 66 +f 65 55 66 +f 57 56 67 +f 56 59 67 +f 60 57 67 +f 59 60 67 +f 58 62 68 +f 62 61 68 +f 61 63 68 +f 63 66 68 +o convex_6 +v -2.273776 0.346437 0.222571 +v -1.109074 1.114612 0.272124 +v -1.109074 1.064946 0.296882 +v -1.109074 0.247359 0.197794 +v -1.951631 0.643757 0.395970 +v -2.794189 0.693254 0.197794 +v -1.109074 0.618966 0.395970 +v -2.075178 1.089822 0.272124 +v -1.233115 0.272150 0.296882 +v -1.109074 1.114612 0.247348 +v -2.769281 0.693254 0.272124 +v -2.050436 0.742835 0.395989 +v -2.001116 0.321731 0.296882 +v -1.109074 0.767711 0.395989 +v -2.075508 0.296941 0.197794 +v -2.075178 1.089822 0.247348 +f 76 78 84 +f 70 71 72 +f 72 71 75 +f 71 70 76 +f 72 75 77 +f 75 73 77 +f 70 72 78 +f 72 74 78 +f 76 70 78 +f 74 69 79 +f 76 74 79 +f 76 79 80 +f 73 75 80 +f 71 76 80 +f 79 73 80 +f 77 73 81 +f 79 69 81 +f 73 79 81 +f 75 71 82 +f 71 80 82 +f 80 75 82 +f 74 72 83 +f 69 74 83 +f 72 77 83 +f 81 69 83 +f 77 81 83 +f 74 76 84 +f 78 74 84 +o convex_7 +v -0.093088 1.535891 -2.527899 +v 0.006075 1.709359 -0.199208 +v -0.043506 1.709359 -0.199208 +v -0.464756 1.560682 -0.446956 +v -0.216993 1.659794 -2.057085 +v -0.489547 1.684568 -0.199208 +v -0.489547 1.535891 -2.106681 +v 0.006075 1.684568 -2.156044 +v 0.006075 1.535891 -2.404025 +v -0.018716 1.659794 -0.199208 +v -0.464756 1.585456 -2.081766 +v -0.117830 1.684568 -2.081766 +v -0.043506 1.560682 -2.577728 +f 96 92 97 +f 86 87 90 +f 88 90 91 +f 87 86 92 +f 88 91 93 +f 91 85 93 +f 92 86 93 +f 86 90 94 +f 90 88 94 +f 93 86 94 +f 88 93 94 +f 90 89 95 +f 91 90 95 +f 90 87 96 +f 89 90 96 +f 87 92 96 +f 95 89 96 +f 95 96 97 +f 85 91 97 +f 93 85 97 +f 92 93 97 +f 91 95 97 +o convex_8 +v -0.811701 -3.519394 -0.818136 +v -1.034721 -2.924706 -0.074837 +v -1.059512 -2.924706 -0.074837 +v -0.811701 -3.915950 -0.074837 +v -0.811701 -2.924706 -0.892509 +v -0.910840 -3.395586 -0.793431 +v -0.935606 -2.924706 -0.867803 +v -1.059512 -2.999127 -0.273163 +v -0.836492 -3.915950 -0.174000 +v -0.811701 -3.792045 -0.074837 +v -0.886073 -3.469716 -0.843012 +f 106 103 108 +f 99 100 101 +f 101 98 102 +f 100 99 102 +f 100 102 104 +f 104 103 105 +f 100 104 105 +f 101 100 106 +f 98 101 106 +f 105 103 106 +f 100 105 106 +f 99 101 107 +f 101 102 107 +f 102 99 107 +f 102 98 108 +f 104 102 108 +f 103 104 108 +f 98 106 108 +o convex_9 +v -0.018861 -4.188414 -0.347439 +v -0.811701 -3.965403 -0.149209 +v -0.539039 -4.114133 -0.124467 +v -0.786786 -3.891293 -0.074837 +v -0.811701 -3.519552 -0.818270 +v -0.018861 -3.816928 -0.768640 +v -0.018861 -4.287567 -0.074837 +v -0.712509 -3.494764 -0.793382 +v -0.117976 -3.841716 -0.818270 +v -0.043620 -4.337144 -0.124467 +v -0.811701 -3.569129 -0.768640 +f 118 111 119 +f 110 111 112 +f 110 112 113 +f 112 111 115 +f 109 114 115 +f 114 112 115 +f 113 112 116 +f 112 114 116 +f 116 114 117 +f 114 109 117 +f 113 116 117 +f 109 115 118 +f 115 111 118 +f 117 109 118 +f 117 118 119 +f 111 110 119 +f 110 113 119 +f 113 117 119 +o convex_10 +v -1.059473 -1.636400 0.767752 +v -0.886044 -0.595283 1.040269 +v -0.910845 -0.595283 1.040269 +v -1.034692 -0.595283 0.594253 +v -0.886044 -3.469890 0.594253 +v -1.084293 -1.933821 0.594253 +v -1.059473 -0.595283 0.891568 +v -0.935626 -3.444847 0.619094 +v -0.886044 -1.685923 0.792550 +v -1.084293 -1.140603 0.594253 +v -0.886044 -0.645088 0.965918 +f 128 123 130 +f 122 121 123 +f 123 124 125 +f 120 122 126 +f 122 123 126 +f 125 120 126 +f 122 120 127 +f 121 122 127 +f 124 121 127 +f 120 125 127 +f 125 124 127 +f 124 123 128 +f 121 124 128 +f 123 125 129 +f 126 123 129 +f 125 126 129 +f 123 121 130 +f 121 128 130 +o convex_11 +v 0.799078 -1.957841 -1.041268 +v 0.774289 -3.122955 -0.818301 +v 0.774289 -3.122955 -0.793515 +v 1.046881 -0.768974 -0.991696 +v 0.774289 -0.620273 -1.016482 +v 0.972490 -0.595283 -0.793515 +v 0.972490 -2.007573 -0.793515 +v 0.947728 -1.883614 -0.942151 +v 0.823893 -0.595283 -1.066081 +v 1.046881 -0.595283 -1.016482 +v 1.022093 -0.595283 -0.793515 +v 0.774289 -2.874790 -0.793515 +v 0.799078 -2.998996 -0.867873 +v 0.774289 -1.957841 -1.041268 +f 131 143 144 +f 132 133 135 +f 136 133 137 +f 134 137 138 +f 135 136 139 +f 139 136 140 +f 138 131 140 +f 134 138 140 +f 131 139 140 +f 137 134 141 +f 136 137 141 +f 140 136 141 +f 134 140 141 +f 135 133 142 +f 133 136 142 +f 136 135 142 +f 133 132 143 +f 137 133 143 +f 138 137 143 +f 131 138 143 +f 132 135 144 +f 139 131 144 +f 135 139 144 +f 143 132 144 +o convex_12 +v 0.749508 -3.445226 0.668596 +v -0.018706 -4.337137 -0.099618 +v -0.018706 -4.337137 -0.049913 +v -0.018706 -3.792147 0.643706 +v 0.724618 -3.767353 -0.099618 +v 0.749508 -3.866434 -0.049913 +v 0.030999 -3.866434 0.643706 +v 0.724618 -3.395639 0.643706 +v -0.018706 -4.262757 -0.074803 +v 0.699803 -3.494812 0.668596 +v 0.154774 -4.163676 0.098677 +v 0.006109 -3.767353 0.643706 +f 148 154 156 +f 146 147 148 +f 146 149 150 +f 147 146 150 +f 149 145 150 +f 148 147 151 +f 145 149 152 +f 146 148 153 +f 149 146 153 +f 150 145 154 +f 148 151 154 +f 154 151 155 +f 147 150 155 +f 151 147 155 +f 150 154 155 +f 145 152 156 +f 152 149 156 +f 153 148 156 +f 149 153 156 +f 154 145 156 +o convex_13 +v -1.109074 0.222508 0.148190 +v -2.447006 0.346357 -0.322648 +v -2.570921 0.346357 -0.273083 +v -1.951505 0.172950 -0.149146 +v -1.109074 0.247286 -0.322648 +v -2.298276 0.371180 0.197755 +v -1.183679 0.296822 0.172947 +v -2.273781 0.371180 -0.322648 +v -1.109074 0.148150 -0.149146 +v -2.719651 0.321579 -0.099582 +v -2.000975 0.272043 0.197755 +v -1.976320 0.222508 -0.297840 +v -2.744627 0.371180 -0.099582 +v -1.158864 0.148150 -0.074774 +f 167 160 170 +f 157 161 163 +f 158 159 164 +f 161 158 164 +f 162 163 164 +f 163 161 164 +f 161 157 165 +f 162 166 167 +f 157 163 167 +f 163 162 167 +f 166 160 167 +f 159 158 168 +f 158 161 168 +f 165 160 168 +f 161 165 168 +f 166 159 168 +f 160 166 168 +f 164 159 169 +f 162 164 169 +f 159 166 169 +f 166 162 169 +f 165 157 170 +f 160 165 170 +f 157 167 170 +o convex_14 +v -2.571205 0.445562 0.197755 +v -2.868447 0.668519 -0.322648 +v -2.893187 0.668519 -0.297840 +v -2.769342 0.371243 -0.149146 +v -2.372995 0.395995 -0.322648 +v -2.744529 0.693334 0.197755 +v -2.249077 0.371243 0.197755 +v -2.992437 0.668519 -0.074774 +v -2.794082 0.693334 -0.322648 +v -2.571205 0.371243 -0.322648 +v -2.249077 0.395995 0.172947 +f 175 179 181 +f 173 172 174 +f 176 171 177 +f 171 174 177 +f 173 174 178 +f 174 171 178 +f 171 176 178 +f 178 176 179 +f 172 173 179 +f 175 172 179 +f 173 178 179 +f 174 172 180 +f 172 175 180 +f 177 174 180 +f 175 177 180 +f 176 177 181 +f 177 175 181 +f 179 176 181 +o convex_15 +v -2.521737 1.015457 0.197663 +v -2.893206 0.693334 -0.322648 +v -2.893206 0.742928 -0.322648 +v -2.348252 1.040199 -0.322648 +v -2.298685 0.866857 0.247317 +v -2.843639 1.065050 -0.124365 +v -2.794072 0.693334 0.247317 +v -2.050945 1.065050 0.247317 +v -3.017219 0.742928 -0.099594 +v -2.818856 0.693334 -0.322648 +v -2.521737 1.065050 -0.322648 +v -2.075634 1.015457 0.222490 +v -2.794072 0.742928 0.247317 +f 190 188 194 +f 183 184 185 +f 187 182 189 +f 188 186 189 +f 184 183 190 +f 187 184 190 +f 183 188 190 +f 183 185 191 +f 188 183 191 +f 186 188 191 +f 185 184 192 +f 184 187 192 +f 189 185 192 +f 187 189 192 +f 185 189 193 +f 189 186 193 +f 191 185 193 +f 186 191 193 +f 182 187 194 +f 189 182 194 +f 188 189 194 +f 187 190 194 +o convex_16 +v -1.257870 1.238501 -0.025335 +v -2.397521 1.065050 -0.322648 +v -2.670174 1.065050 -0.223507 +v -1.109074 1.089856 0.247317 +v -1.109074 1.114627 -0.322648 +v -2.075326 1.238501 -0.074822 +v -2.174411 1.089856 0.247317 +v -2.100097 1.164153 -0.322648 +v -1.109074 1.238501 -0.149137 +v -2.769092 1.114627 -0.099594 +v -1.654379 1.065050 0.247317 +v -1.109074 1.139416 0.222490 +v -2.793864 1.065050 -0.050051 +v -2.050722 1.114627 0.247317 +f 198 206 208 +f 196 197 202 +f 199 196 202 +f 202 200 203 +f 198 199 203 +f 200 195 203 +f 199 202 203 +f 202 197 204 +f 200 202 204 +f 197 196 205 +f 199 198 205 +f 196 199 205 +f 198 201 205 +f 203 195 206 +f 198 203 206 +f 201 204 207 +f 204 197 207 +f 197 205 207 +f 205 201 207 +f 195 200 208 +f 201 198 208 +f 200 204 208 +f 204 201 208 +f 206 195 208 +o convex_17 +v -0.885986 -0.297939 1.461499 +v 0.006075 -0.297939 1.957213 +v 0.006075 -0.322737 1.957213 +v -1.034663 -0.297939 0.817394 +v -1.059425 -0.595283 0.916582 +v 0.006075 -0.595283 1.486268 +v -0.811701 -0.322737 1.585344 +v -0.043555 -0.595283 1.560575 +v -1.034663 -0.595283 0.817394 +v 0.006075 -0.322737 1.833145 +v -1.084293 -0.297939 0.941350 +v -0.018793 -0.570456 1.461499 +f 218 214 220 +f 209 210 212 +f 210 211 214 +f 210 209 215 +f 211 210 215 +f 209 213 215 +f 214 211 216 +f 213 214 216 +f 211 215 216 +f 215 213 216 +f 214 213 217 +f 212 210 218 +f 210 214 218 +f 209 212 219 +f 213 209 219 +f 212 217 219 +f 217 213 219 +f 217 212 220 +f 214 217 220 +f 212 218 220 +o convex_18 +v 0.501736 -0.297939 1.833201 +v 1.022013 -0.595283 0.891626 +v 1.022013 -0.297939 0.891626 +v 0.006075 -0.595283 1.486197 +v 0.006075 -0.297939 1.882816 +v 0.774287 -0.322737 1.758930 +v 0.823728 -0.595283 1.213872 +v 0.080445 -0.595283 1.535915 +v 0.030900 -0.372304 1.882816 +v 1.071662 -0.595283 0.916484 +v 1.071662 -0.297939 0.916484 +v 0.006075 -0.520918 1.535915 +v 0.873273 -0.297939 1.535915 +f 230 231 233 +f 223 222 224 +f 221 223 225 +f 224 222 227 +f 224 227 228 +f 227 226 228 +f 221 225 229 +f 225 224 229 +f 226 221 229 +f 224 228 229 +f 228 226 229 +f 222 223 230 +f 226 227 230 +f 227 222 230 +f 223 221 231 +f 230 223 231 +f 223 224 232 +f 224 225 232 +f 225 223 232 +f 221 226 233 +f 226 230 233 +f 231 221 233 +o convex_19 +v 1.393807 0.718115 -1.487282 +v 1.418598 -0.248277 -0.942175 +v 1.418598 -0.173907 -0.967015 +v 1.071662 -0.322647 -0.942175 +v 1.096453 0.668465 -1.933419 +v 1.393807 0.569375 -1.239665 +v 1.071662 0.718115 -1.834256 +v 1.418598 -0.273102 -0.991757 +v 1.071662 -0.347472 -1.016596 +v 1.368982 0.718115 -1.388313 +v 1.071662 -0.173907 -1.041339 +v 1.418598 0.668465 -1.437797 +f 243 239 245 +f 235 236 237 +f 237 236 239 +f 234 238 240 +f 236 235 241 +f 235 237 241 +f 238 241 242 +f 240 238 242 +f 237 240 242 +f 241 237 242 +f 234 240 243 +f 243 240 244 +f 237 239 244 +f 240 237 244 +f 239 243 244 +f 238 234 245 +f 239 236 245 +f 236 241 245 +f 241 238 245 +f 234 243 245 +o convex_20 +v 1.294678 -0.347472 -0.942175 +v 1.418598 -0.174021 0.222422 +v 1.418598 -0.223581 0.222422 +v 1.071662 -0.198810 0.222422 +v 1.418598 -0.273107 -0.942175 +v 1.071662 -0.347472 -0.818146 +v 1.071662 -0.198810 -0.099735 +v 1.071662 -0.248370 0.222422 +v 1.418598 -0.347472 -0.793295 +v 1.071662 -0.322667 -0.942175 +f 251 252 255 +f 248 247 249 +f 247 248 250 +f 249 247 252 +f 247 250 252 +f 251 249 252 +f 248 249 253 +f 249 251 253 +f 253 251 254 +f 246 250 254 +f 250 248 254 +f 251 246 254 +f 248 253 254 +f 250 246 255 +f 246 251 255 +f 252 250 255 +o convex_21 +v 0.006116 -0.273107 2.081165 +v 0.650384 0.321617 2.502324 +v 0.650384 0.222466 2.502324 +v 0.650384 -0.273107 1.759037 +v 0.055696 -0.099547 2.502324 +v -0.018706 -0.273107 1.907767 +v 0.650384 -0.198759 2.031612 +v -0.018706 -0.074805 2.427959 +v 0.551225 0.048967 2.477512 +v 0.625561 0.321617 2.477512 +v 0.650384 -0.297910 1.833402 +f 262 260 266 +f 257 258 259 +f 258 257 260 +f 259 258 262 +f 256 260 263 +f 260 257 263 +f 261 256 263 +f 258 260 264 +f 262 258 264 +f 260 262 264 +f 257 259 265 +f 259 261 265 +f 263 257 265 +f 261 263 265 +f 260 256 266 +f 261 259 266 +f 256 261 266 +f 259 262 266 +o convex_22 +v 1.418598 1.535925 -1.016405 +v 1.418598 1.659780 0.222536 +v 1.418598 1.610222 0.222536 +v 1.071662 1.486348 -1.289111 +v 1.071662 1.684578 -0.223589 +v 1.071662 1.610222 0.222536 +v 1.418598 1.486348 -0.991546 +v 1.418598 1.684578 -0.223589 +v 1.096453 1.535925 -1.189824 +v 1.071662 1.486348 -1.016405 +f 273 272 276 +f 267 268 269 +f 269 268 272 +f 271 270 272 +f 268 271 272 +f 267 269 273 +f 270 267 273 +f 269 272 273 +f 268 267 274 +f 271 268 274 +f 271 274 275 +f 267 270 275 +f 270 271 275 +f 274 267 275 +f 272 270 276 +f 270 273 276 +o convex_23 +v 1.245130 -0.198829 0.668523 +v 1.071662 -0.595283 0.643764 +v 1.071662 -0.273170 0.222590 +v 1.418598 -0.198829 0.222590 +v 1.418598 -0.124442 0.767720 +v 1.220407 -0.595283 0.767720 +v 1.096453 -0.174034 0.247402 +v 1.071662 -0.372214 0.643764 +f 283 279 284 +f 278 279 280 +f 280 281 282 +f 278 280 282 +f 280 279 283 +f 277 281 283 +f 281 280 283 +f 279 278 284 +f 281 277 284 +f 282 281 284 +f 278 282 284 +f 277 283 284 +o convex_24 +v 1.170792 -0.595283 0.767761 +v 1.096453 0.519866 1.188999 +v 1.071662 0.519866 1.188999 +v 1.418598 0.197634 0.866886 +v 1.245130 -0.595283 0.866886 +v 1.418598 0.371085 1.040271 +v 1.121278 0.519866 1.040271 +v 1.071662 -0.595283 0.916448 +v 1.418598 -0.124270 0.767761 +v 1.071662 -0.149049 0.891667 +v 1.418598 0.519866 0.990709 +v 1.096453 0.420642 1.188999 +v 1.418598 -0.223385 0.817324 +f 293 290 297 +f 287 286 291 +f 285 289 292 +f 288 290 293 +f 291 288 293 +f 291 293 294 +f 287 291 294 +f 292 287 294 +f 285 292 294 +f 293 285 294 +f 286 290 295 +f 290 288 295 +f 288 291 295 +f 291 286 295 +f 286 287 296 +f 290 286 296 +f 289 290 296 +f 287 292 296 +f 292 289 296 +f 289 285 297 +f 290 289 297 +f 285 293 297 +o convex_25 +v 1.195582 0.544800 1.015602 +v 1.096453 0.990797 1.337685 +v 1.071662 0.990797 1.337685 +v 1.269853 1.511013 0.792555 +v 1.418598 0.519866 1.015602 +v 1.071662 1.511013 0.842127 +v 1.418598 1.511013 0.817367 +v 1.071662 0.519866 1.213729 +v 1.418598 0.767750 1.015602 +v 1.096453 1.511013 0.916458 +v 1.121278 0.519866 1.040361 +v 1.418598 1.287966 0.817367 +f 304 302 309 +f 301 298 303 +f 301 303 304 +f 299 300 305 +f 302 299 305 +f 300 303 305 +f 299 302 306 +f 302 304 306 +f 304 299 306 +f 300 299 307 +f 303 300 307 +f 304 303 307 +f 299 304 307 +f 298 302 308 +f 303 298 308 +f 302 305 308 +f 305 303 308 +f 298 301 309 +f 302 298 309 +f 301 304 309 +o convex_26 +v 2.285915 1.610222 0.420678 +v 1.418693 1.659787 -0.000494 +v 1.418693 1.684578 -0.000494 +v 1.071663 1.511110 0.891626 +v 3.474992 1.585465 -0.000494 +v 2.533423 1.684578 0.148222 +v 1.071663 1.585449 0.792424 +v 1.071663 1.610222 0.222623 +v 2.929861 1.684578 -0.000494 +v 1.393989 1.560692 0.817224 +v 1.369050 1.511110 0.767623 +v 3.351003 1.610222 0.073908 +v 3.202544 1.585465 -0.000494 +v 1.071663 1.635013 0.420853 +v 1.418693 1.511110 0.817224 +f 321 319 324 +f 311 312 314 +f 312 311 317 +f 313 316 317 +f 314 312 318 +f 312 315 318 +f 310 315 319 +f 316 313 319 +f 315 316 319 +f 313 317 320 +f 315 310 321 +f 314 318 321 +f 318 315 321 +f 310 319 321 +f 311 314 322 +f 317 311 322 +f 314 320 322 +f 320 317 322 +f 315 312 323 +f 316 315 323 +f 312 317 323 +f 317 316 323 +f 319 313 324 +f 313 320 324 +f 320 314 324 +f 314 321 324 +o convex_27 +v 1.468259 -0.347472 -0.793535 +v 2.880682 -0.025318 -0.768708 +v 2.880682 -0.050104 -0.768708 +v 1.493019 -0.025318 -1.066052 +v 1.468259 -0.297900 -0.966918 +v 1.418598 -0.297900 -0.768708 +v 1.418598 -0.025318 -1.016485 +v 2.831021 -0.050104 -0.818304 +v 2.706938 -0.025318 -0.768708 +f 326 331 333 +f 325 327 330 +f 327 326 330 +f 329 325 330 +f 329 330 331 +f 326 328 331 +f 328 329 331 +f 327 325 332 +f 326 327 332 +f 328 326 332 +f 325 329 332 +f 329 328 332 +f 330 326 333 +f 331 330 333 +o convex_28 +v 1.418598 0.197748 -1.165128 +v 4.466672 0.693334 -0.768708 +v 4.466672 0.668502 -0.768708 +v 2.806581 -0.025318 -0.768708 +v 1.567779 0.668502 -1.239493 +v 4.317491 0.668502 -0.843121 +v 2.905638 -0.025318 -0.818333 +v 3.599033 0.445436 -0.768708 +v 1.468424 -0.000486 -1.016495 +v 1.865247 0.668502 -1.264233 +v 1.840184 -0.025318 -1.016495 +v 3.178043 0.693334 -0.967015 +v 1.418598 0.594146 -1.239493 +v 1.443660 0.470268 -1.264233 +v 1.865247 0.693334 -1.264233 +v 3.078689 -0.000486 -0.793545 +f 337 340 349 +f 336 335 337 +f 335 336 339 +f 337 335 341 +f 337 341 342 +f 343 339 344 +f 339 340 344 +f 340 337 344 +f 342 334 344 +f 337 342 344 +f 341 335 345 +f 338 341 345 +f 341 338 346 +f 342 341 346 +f 334 342 346 +f 343 344 347 +f 344 334 347 +f 334 346 347 +f 347 346 348 +f 335 339 348 +f 339 343 348 +f 345 335 348 +f 338 345 348 +f 346 338 348 +f 343 347 348 +f 336 337 349 +f 339 336 349 +f 340 339 349 +o convex_29 +v 2.880682 1.535913 -0.768630 +v 1.418598 1.461572 -1.065977 +v 1.418598 1.461572 -1.041154 +v 1.418598 1.684546 -0.000702 +v 1.418598 1.560701 -0.917251 +v 2.880682 1.709334 -0.198864 +v 2.880682 1.659758 -0.000702 +v 2.756600 1.461572 -0.818170 +v 1.418598 1.659758 -0.000702 +v 1.493019 1.684546 -0.248404 +v 2.087813 1.511149 -0.991614 +v 2.880682 1.461572 -0.892429 +v 2.781502 1.709334 -0.000702 +v 1.914499 1.709334 -0.124501 +f 362 355 363 +f 351 352 353 +f 351 353 354 +f 350 355 356 +f 352 351 357 +f 357 356 358 +f 353 352 358 +f 356 353 358 +f 352 357 358 +f 354 353 359 +f 355 354 359 +f 351 354 360 +f 355 350 360 +f 354 355 360 +f 350 356 361 +f 357 351 361 +f 356 357 361 +f 351 360 361 +f 360 350 361 +f 353 356 362 +f 356 355 362 +f 359 353 363 +f 355 359 363 +f 353 362 363 +o convex_30 +v 4.466384 1.486360 -0.025294 +v 2.880682 1.461572 -0.892613 +v 2.880682 1.486360 -0.892613 +v 2.880682 1.659758 -0.000494 +v 3.054436 1.709334 -0.149209 +v 4.169015 1.461572 -0.000494 +v 4.441787 1.511149 -0.124409 +v 3.079191 1.486360 -0.867813 +v 4.441787 1.461572 -0.174010 +v 2.905595 1.634994 -0.000494 +v 2.905595 1.461572 -0.793411 +v 2.880682 1.709334 -0.050095 +f 368 366 375 +f 366 365 367 +f 364 367 369 +f 368 364 370 +f 368 370 371 +f 365 366 371 +f 366 368 371 +f 369 365 372 +f 364 369 372 +f 370 364 372 +f 371 370 372 +f 365 371 372 +f 367 365 373 +f 369 367 373 +f 369 373 374 +f 365 369 374 +f 373 365 374 +f 366 367 375 +f 367 364 375 +f 364 368 375 +o convex_31 +v 2.632990 1.486324 0.643737 +v 3.376290 1.560663 -0.000494 +v 3.376290 1.585453 -0.000494 +v 4.045115 1.238518 0.643737 +v 1.418598 1.461533 0.792467 +v 4.367548 1.486324 0.024321 +v 1.468247 1.560663 0.792467 +v 4.094764 1.461533 -0.000494 +v 4.045115 1.288100 0.643737 +v 1.418598 1.585453 0.594187 +v 3.326640 1.585453 0.148237 +v 3.995465 1.238518 0.618922 +v 1.542722 1.461533 0.817282 +v 1.468247 1.461533 0.767652 +v 1.418598 1.560663 0.594187 +f 389 380 390 +f 377 378 383 +f 378 381 383 +f 379 381 384 +f 376 382 384 +f 378 377 385 +f 380 382 385 +f 385 382 386 +f 381 378 386 +f 382 376 386 +f 376 384 386 +f 384 381 386 +f 378 385 386 +f 379 380 387 +f 381 379 387 +f 383 381 387 +f 380 379 388 +f 382 380 388 +f 379 384 388 +f 384 382 388 +f 377 383 389 +f 387 380 389 +f 383 387 389 +f 385 377 390 +f 380 385 390 +f 377 389 390 +o convex_32 +v -0.018662 0.073874 -2.850281 +v 0.799070 0.718045 -2.602509 +v 0.799070 0.718045 -2.652100 +v -0.043487 0.718045 -3.023758 +v 0.724679 0.668461 -2.850281 +v 0.130039 -0.000467 -2.602509 +v 0.501586 0.123458 -2.627351 +v -0.018662 0.668461 -3.073350 +v 0.749503 0.718045 -2.602509 +v -0.043487 -0.000467 -2.775986 +v 0.130039 -0.000467 -2.751283 +v 0.675111 0.718045 -2.875031 +f 395 398 402 +f 392 393 394 +f 393 392 397 +f 395 393 397 +f 392 396 397 +f 395 391 398 +f 392 394 399 +f 396 392 399 +f 394 396 399 +f 396 394 400 +f 398 391 400 +f 394 398 400 +f 391 395 401 +f 397 396 401 +f 395 397 401 +f 396 400 401 +f 400 391 401 +f 394 393 402 +f 393 395 402 +f 398 394 402 +o convex_33 +v -1.059502 -2.428818 -0.496196 +v -1.034724 -0.595283 -0.074837 +v -1.009955 -0.595283 -0.322660 +v -0.960397 -2.924478 -0.496196 +v -1.009955 -0.595283 -1.264150 +v -0.960397 -0.595283 -0.892594 +v -1.059502 -2.924478 -0.074837 +v -0.960397 -2.205839 -0.991604 +v -1.059502 -0.595283 -0.347502 +v -0.960397 -0.595283 -1.289111 +v -0.985186 -2.899627 -0.644889 +v -1.009955 -1.908533 -1.016446 +v -1.034724 -2.924478 -0.074837 +v -1.059502 -0.595283 -0.074837 +v -1.059502 -2.924478 -0.297937 +v -1.059502 -2.230462 -0.570602 +f 407 414 418 +f 405 404 406 +f 404 405 407 +f 407 405 408 +f 405 406 408 +f 408 406 410 +f 404 407 411 +f 403 409 411 +f 407 408 412 +f 410 407 412 +f 408 410 412 +f 410 406 413 +f 410 413 414 +f 407 410 414 +f 406 404 415 +f 404 409 415 +f 409 406 415 +f 409 404 416 +f 404 411 416 +f 411 409 416 +f 409 403 417 +f 406 409 417 +f 413 406 417 +f 414 413 417 +f 403 414 417 +f 403 411 418 +f 411 407 418 +f 414 403 418 +o convex_34 +v -0.836499 -0.843342 -1.289111 +v -0.935589 -2.874775 -0.595240 +v -0.960358 -2.874775 -0.595240 +v -0.811701 -2.924478 -0.942175 +v -0.960358 -2.478292 -0.966830 +v -0.960358 -0.620363 -1.214670 +v -0.811701 -0.744392 -1.239529 +v -0.935589 -2.057186 -0.719194 +v -0.960358 -0.645214 -1.289111 +v -0.935589 -2.874775 -0.917520 +v -0.811701 -2.205839 -0.991689 +f 425 426 429 +f 420 421 422 +f 423 421 424 +f 422 419 425 +f 421 420 426 +f 424 421 426 +f 425 424 426 +f 423 424 427 +f 425 419 427 +f 424 425 427 +f 422 421 428 +f 419 422 428 +f 421 423 428 +f 427 419 428 +f 423 427 428 +f 420 422 429 +f 422 425 429 +f 426 420 429 +o convex_35 +v -0.786711 -0.818522 -1.239473 +v -0.811701 -3.519156 -0.843065 +v -0.811701 -3.519156 -0.818316 +v -0.018861 -3.841607 -0.818316 +v -0.687606 -1.016882 -1.289111 +v -0.018861 -0.868035 -1.264315 +v -0.018861 -3.593427 -0.892703 +v -0.018861 -1.066396 -1.289111 +v -0.786711 -3.395067 -0.818316 +v -0.043696 -3.692454 -0.818316 +v -0.786711 -2.107100 -1.016543 +v -0.811701 -0.719189 -1.289111 +v -0.811701 -3.444886 -0.867907 +v -0.068452 -3.742274 -0.867907 +v -0.786711 -0.967063 -1.289111 +f 442 441 444 +f 432 431 433 +f 435 433 436 +f 436 434 437 +f 435 436 437 +f 432 433 438 +f 433 435 439 +f 438 433 439 +f 435 430 440 +f 432 438 440 +f 439 435 440 +f 438 439 440 +f 431 432 441 +f 430 435 441 +f 437 434 441 +f 435 437 441 +f 440 430 441 +f 432 440 441 +f 431 441 442 +f 433 431 443 +f 434 436 443 +f 436 433 443 +f 431 442 443 +f 442 434 443 +f 441 434 444 +f 434 442 444 +o convex_36 +v -0.489547 0.098641 2.527261 +v 0.650384 0.643772 2.725344 +v 0.650384 0.643772 2.700728 +v -0.489547 0.643772 2.725386 +v 0.030987 -0.025289 2.725344 +v 0.650384 0.346355 2.502397 +v -0.018667 0.618884 2.923635 +v 0.526415 0.073826 2.502397 +v -0.043438 -0.099661 2.502397 +v -0.489547 0.173013 2.502438 +v -0.439892 0.618884 2.799688 +v 0.650384 0.569327 2.725344 +v -0.018667 -0.025289 2.725344 +v 0.625501 0.321540 2.626344 +f 456 449 458 +f 446 447 448 +f 447 446 450 +f 448 447 450 +f 446 448 451 +f 450 452 453 +f 452 449 453 +f 445 448 454 +f 448 450 454 +f 450 453 454 +f 453 445 454 +f 448 445 455 +f 451 448 455 +f 450 446 456 +f 446 451 456 +f 451 449 456 +f 449 451 457 +f 445 453 457 +f 453 449 457 +f 455 445 457 +f 451 455 457 +f 449 452 458 +f 452 450 458 +f 450 456 458 +o convex_37 +v -0.910854 -3.618534 -0.025255 +v -0.861278 -3.345838 0.619034 +v -0.886066 -3.345838 0.619034 +v -1.059451 -1.884099 -0.074837 +v -1.084293 -1.933626 0.594243 +v -1.059451 -2.998752 -0.049978 +v -0.811701 -3.791978 -0.074837 +v -1.009928 -1.908763 0.371058 +v -0.935643 -3.444892 0.594243 +v -0.811701 -3.395564 0.619034 +v -1.034690 -1.884099 -0.074837 +v -0.836489 -3.915696 -0.000465 +v -1.034690 -1.884099 0.594243 +v -1.084293 -2.652462 -0.049978 +v -1.084293 -1.884099 -0.000397 +v -0.811701 -3.544145 0.569452 +f 467 470 474 +f 459 464 465 +f 464 462 465 +f 461 463 467 +f 464 459 467 +f 463 464 467 +f 460 461 468 +f 461 467 468 +f 466 468 469 +f 465 462 469 +f 468 465 469 +f 459 465 470 +f 467 459 470 +f 461 460 471 +f 463 461 471 +f 460 468 471 +f 468 466 471 +f 466 469 471 +f 469 462 471 +f 462 464 472 +f 464 463 472 +f 471 462 473 +f 463 471 473 +f 462 472 473 +f 472 463 473 +f 465 468 474 +f 468 467 474 +f 470 465 474 +o convex_38 +v -1.084293 -1.883900 -0.000435 +v -1.034731 -0.595535 0.594253 +v -1.034731 -0.595535 -0.074837 +v -1.034731 -1.883900 -0.074837 +v -1.034731 -1.883900 0.569430 +v -1.084293 -1.115800 0.594253 +v -1.059512 -0.595535 -0.074837 +v -1.084293 -1.883900 0.594253 +v -1.084293 -1.041513 0.172993 +v -1.059512 -0.595535 0.594253 +f 483 480 484 +f 477 476 478 +f 475 478 479 +f 478 476 479 +f 476 477 481 +f 477 478 481 +f 478 475 481 +f 475 479 482 +f 479 476 482 +f 476 480 482 +f 480 475 482 +f 475 480 483 +f 481 475 483 +f 481 483 484 +f 480 476 484 +f 476 481 484 +o convex_39 +v 0.080419 0.693353 2.923605 +v 0.575958 0.965916 2.576740 +v 0.575958 0.990707 2.576740 +v -0.489547 0.916301 2.651113 +v 0.650384 0.643772 2.675928 +v 0.030987 0.990707 2.849269 +v -0.489547 0.643772 2.774933 +v -0.489547 0.990707 2.700670 +v -0.068098 0.767692 2.948457 +v 0.650384 0.841996 2.675928 +v -0.068098 0.643772 2.923605 +v 0.551187 0.668562 2.774933 +f 495 489 496 +f 487 486 488 +f 486 487 489 +f 488 486 489 +f 488 489 491 +f 487 488 492 +f 490 487 492 +f 488 491 492 +f 485 490 493 +f 490 492 493 +f 492 491 493 +f 489 487 494 +f 487 490 494 +f 491 489 495 +f 485 493 495 +f 493 491 495 +f 490 485 496 +f 489 494 496 +f 494 490 496 +f 485 495 496 +o convex_40 +v -0.018861 -3.990160 0.346335 +v -0.811701 -3.940707 -0.074837 +v -0.786786 -3.965478 -0.074837 +v -0.811701 -3.519593 0.619034 +v -0.762027 -3.420328 0.594243 +v -0.043620 -3.891074 0.619034 +v -0.043620 -4.337229 -0.050046 +v -0.043620 -4.262825 -0.074837 +v -0.786786 -3.891074 -0.074837 +v -0.043620 -3.816850 0.594243 +v -0.811701 -3.866482 0.098631 +f 503 500 507 +f 498 500 501 +f 501 500 502 +f 497 502 503 +f 502 500 503 +f 499 498 504 +f 501 497 504 +f 497 503 504 +f 503 499 504 +f 498 501 505 +f 504 498 505 +f 501 504 505 +f 497 501 506 +f 502 497 506 +f 501 502 506 +f 498 499 507 +f 500 498 507 +f 499 503 507 +o convex_41 +v -0.241738 -0.719705 1.114629 +v -0.886044 -3.395410 0.619034 +v -0.836378 -3.444716 0.619034 +v -0.638221 -0.620451 1.139437 +v -0.861253 -0.595477 0.990692 +v -0.018706 -3.816440 0.619034 +v -0.043497 -3.816440 0.693457 +v -0.018706 -1.190363 1.139437 +v -0.886044 -3.246528 0.668649 +v -0.861253 -1.809582 0.792586 +v -0.886044 -0.719705 1.040257 +v -0.018706 -0.992174 1.114629 +v -0.886044 -3.197221 0.619034 +v -0.043497 -1.487805 1.089821 +v -0.687718 -3.568624 0.643842 +f 514 521 522 +f 511 508 512 +f 510 509 513 +f 508 511 515 +f 514 513 515 +f 512 513 517 +f 511 512 518 +f 509 516 518 +f 516 511 518 +f 512 508 519 +f 513 512 519 +f 508 515 519 +f 515 513 519 +f 513 509 520 +f 512 517 520 +f 517 513 520 +f 518 512 520 +f 509 518 520 +f 515 511 521 +f 514 515 521 +f 511 516 521 +f 521 516 522 +f 509 510 522 +f 510 513 522 +f 513 514 522 +f 516 509 522 +o convex_42 +v 0.551167 0.123325 -2.577665 +v 0.724727 -0.273061 -1.363454 +v 0.699839 -0.273061 -1.363454 +v -0.018706 -0.297910 -2.081965 +v 0.575982 0.346399 -2.577665 +v 0.006109 -0.050114 -2.775579 +v 0.724727 -0.297910 -1.487660 +v -0.018706 -0.248275 -2.032733 +v 0.724727 -0.050114 -2.081965 +v -0.018706 -0.000542 -2.701308 +v 0.600797 0.346399 -2.602422 +v 0.080482 -0.273061 -1.884051 +f 527 530 534 +f 525 524 527 +f 524 525 529 +f 525 526 529 +f 526 528 529 +f 528 523 531 +f 524 529 531 +f 529 528 531 +f 528 526 532 +f 526 530 532 +f 530 527 532 +f 527 524 533 +f 523 528 533 +f 531 523 533 +f 524 531 533 +f 528 532 533 +f 532 527 533 +f 526 525 534 +f 525 527 534 +f 530 526 534 +o convex_43 +v 0.749450 -3.370431 -0.818270 +v -0.018706 -3.841415 -0.843056 +v -0.018706 -3.841415 -0.818270 +v -0.018706 -1.884092 -1.140424 +v 0.154781 -1.884092 -1.041280 +v 0.724688 -2.280730 -1.041280 +v 0.749450 -2.973984 -0.818270 +v 0.774289 -1.884092 -1.016494 +v -0.018706 -3.692724 -0.818270 +v 0.006133 -2.008065 -1.140424 +v 0.724688 -3.420059 -0.843056 +v 0.006133 -3.742160 -0.867842 +v -0.018706 -1.909001 -1.090852 +v 0.749450 -1.933719 -0.991708 +v 0.774289 -1.884092 -1.041280 +f 540 544 549 +f 536 537 538 +f 537 535 541 +f 538 539 542 +f 541 535 542 +f 538 537 543 +f 541 539 543 +f 537 541 543 +f 536 538 544 +f 535 537 545 +f 537 536 545 +f 540 535 545 +f 540 545 546 +f 536 544 546 +f 544 540 546 +f 545 536 546 +f 539 538 547 +f 538 543 547 +f 543 539 547 +f 539 541 548 +f 542 539 548 +f 541 542 548 +f 535 540 549 +f 538 542 549 +f 542 535 549 +f 544 538 549 +o convex_44 +v 0.105258 -0.719390 -1.239515 +v -0.018706 -1.883900 -1.140410 +v -0.018706 -1.883900 -1.115670 +v 0.774289 -1.883900 -1.041334 +v 0.749450 -0.843244 -0.991738 +v 0.377792 -0.620256 -1.289082 +v 0.774289 -0.595535 -1.066103 +v 0.154781 -1.858927 -1.041334 +v 0.006133 -1.041513 -1.289082 +v 0.452077 -1.883900 -1.016565 +v -0.018706 -0.818524 -1.264284 +v 0.501600 -0.595535 -1.115670 +v 0.006133 -1.834207 -1.165179 +v 0.774289 -1.883900 -1.016565 +f 554 559 563 +f 552 551 553 +f 553 555 556 +f 555 553 558 +f 552 553 559 +f 557 552 559 +f 554 557 559 +f 551 552 560 +f 550 555 560 +f 552 557 560 +f 558 551 560 +f 555 558 560 +f 555 550 561 +f 554 556 561 +f 556 555 561 +f 557 554 561 +f 550 560 561 +f 560 557 561 +f 553 551 562 +f 551 558 562 +f 558 553 562 +f 556 554 563 +f 553 556 563 +f 559 553 563 +o convex_45 +v 0.699946 -3.544340 -0.545610 +v -0.018706 -4.312448 -0.149212 +v 0.006126 -4.312448 -0.149212 +v -0.018706 -3.841658 -0.818270 +v 0.699946 -3.470033 -0.818270 +v 0.675114 -3.816889 -0.099618 +v -0.018706 -3.792120 -0.793438 +v 0.699946 -3.866337 -0.149212 +v -0.018706 -4.262730 -0.099618 +v 0.650352 -3.395726 -0.793438 +v 0.006126 -3.915875 -0.743914 +f 568 566 574 +f 567 565 570 +f 568 564 571 +f 566 568 571 +f 569 566 571 +f 564 569 571 +f 565 566 572 +f 566 569 572 +f 569 570 572 +f 570 565 572 +f 564 568 573 +f 568 567 573 +f 569 564 573 +f 570 569 573 +f 567 570 573 +f 566 565 574 +f 565 567 574 +f 567 568 574 +o convex_46 +v 0.699946 -3.767038 -0.297852 +v 0.997319 -2.082383 0.619034 +v 0.997319 -2.032894 -0.099618 +v 0.774318 -3.816713 -0.099618 +v 0.922918 -1.983406 -0.793368 +v 0.749518 -3.370571 0.619034 +v 0.699946 -3.345921 -0.818270 +v 0.972519 -2.206383 -0.719082 +v 0.947718 -2.107220 0.619034 +v 0.997319 -2.305360 -0.124380 +v 0.749518 -3.395596 -0.818270 +v 0.799119 -3.395222 0.619034 +v 0.997319 -2.206383 0.544608 +v 0.699946 -3.866388 -0.099618 +v 0.972519 -1.958569 -0.793368 +v 0.947689 -1.958569 -0.099618 +f 589 579 590 +f 580 576 583 +f 581 580 583 +f 577 576 584 +f 578 582 584 +f 578 575 585 +f 575 581 585 +f 582 578 585 +f 576 580 586 +f 584 576 587 +f 578 584 587 +f 576 586 587 +f 586 578 587 +f 575 578 588 +f 580 581 588 +f 581 575 588 +f 578 586 588 +f 586 580 588 +f 581 579 589 +f 577 584 589 +f 584 582 589 +f 585 581 589 +f 582 585 589 +f 576 577 590 +f 579 581 590 +f 583 576 590 +f 581 583 590 +f 577 589 590 +o convex_47 +v 0.130199 1.635003 -0.942175 +v 1.071662 1.684568 -0.198633 +v 0.749358 1.709342 -0.099657 +v 0.823623 1.560699 0.718158 +v 1.071662 1.535891 -0.917147 +v 0.080445 1.709342 0.718158 +v 0.030900 1.709359 -0.793304 +v 1.071558 1.585473 0.718158 +v 0.774287 1.535891 -0.942175 +v 0.179744 1.659760 0.693292 +v 1.071558 1.684551 0.049052 +v 0.154815 1.684568 -0.942175 +v 0.006075 1.659794 -0.619893 +v 1.071662 1.560682 -0.917147 +v 0.229290 1.709342 0.718158 +v 1.071558 1.560699 0.718158 +f 592 598 606 +f 593 592 597 +f 596 594 598 +f 595 594 599 +f 594 596 600 +f 592 593 601 +f 598 592 601 +f 597 592 602 +f 591 597 602 +f 599 591 602 +f 597 591 603 +f 596 597 603 +f 591 599 603 +f 599 594 603 +f 594 600 603 +f 600 596 603 +f 592 595 604 +f 595 599 604 +f 602 592 604 +f 599 602 604 +f 593 597 605 +f 597 596 605 +f 596 598 605 +f 601 593 605 +f 598 601 605 +f 594 595 606 +f 595 592 606 +f 598 594 606 +o convex_48 +v 0.947757 -2.057116 -0.099533 +v 1.022100 -0.595429 0.619034 +v 1.022100 -0.595429 0.569396 +v 0.947757 -0.595283 -0.099533 +v 0.997314 -0.595283 -0.793489 +v 0.997314 -2.082149 -0.099533 +v 0.972543 -2.082149 0.619034 +v 0.947757 -1.958146 -0.793489 +v 0.972543 -0.595429 0.594146 +v 0.947757 -0.620171 -0.719102 +v 0.997314 -2.082149 0.619034 +v 0.947757 -0.868030 0.247375 +v 0.972543 -1.958146 -0.793489 +v 1.022100 -1.041372 0.594146 +v 0.997314 -0.991887 -0.793489 +f 620 612 621 +f 608 609 611 +f 610 608 611 +f 607 612 613 +f 607 610 614 +f 612 607 614 +f 608 610 615 +f 613 608 615 +f 610 611 616 +f 614 610 616 +f 611 614 616 +f 608 613 617 +f 613 612 617 +f 610 607 618 +f 607 613 618 +f 615 610 618 +f 613 615 618 +f 614 611 619 +f 612 614 619 +f 609 608 620 +f 608 617 620 +f 617 612 620 +f 611 609 621 +f 619 611 621 +f 612 619 621 +f 609 620 621 +o convex_49 +v 0.650248 -0.620511 1.139437 +v -0.018706 -3.816826 0.668596 +v 0.031075 -3.816826 0.668596 +v 0.031075 -1.190335 1.139437 +v 0.749508 -2.131634 0.965959 +v 0.749508 -3.320791 0.668596 +v 0.006109 -0.991985 1.114595 +v 0.749508 -0.719528 1.089845 +v 0.006109 -3.618160 0.668596 +v 0.031075 -3.816826 0.693392 +v 0.749508 -3.445036 0.693392 +v 0.749508 -0.769037 1.139437 +v -0.018706 -1.933598 1.015505 +v 0.675138 -3.320791 0.668596 +f 627 630 635 +f 624 623 627 +f 625 622 628 +f 626 627 629 +f 628 622 629 +f 628 629 630 +f 627 623 630 +f 623 628 630 +f 623 624 631 +f 624 627 632 +f 627 626 632 +f 631 624 632 +f 626 631 632 +f 622 625 633 +f 625 626 633 +f 629 622 633 +f 626 629 633 +f 626 625 634 +f 628 623 634 +f 625 628 634 +f 623 631 634 +f 631 626 634 +f 629 627 635 +f 630 629 635 +o convex_50 +v -0.018706 1.734140 1.932473 +v 1.071662 1.560709 0.916554 +v 1.021926 1.585468 0.990953 +v -0.018706 1.734140 0.718330 +v -0.018706 1.535910 2.477545 +v 0.823725 1.560709 0.718330 +v 0.699810 1.585468 1.858074 +v 0.030924 1.684544 0.718330 +v 0.105316 1.734140 1.808475 +v 1.071662 1.585468 0.718330 +v 0.699810 1.535910 1.907673 +v 0.997164 1.535910 0.767929 +v -0.018706 1.535910 2.328748 +v 0.080448 1.734140 0.743130 +v 0.006163 1.560709 2.477545 +f 646 642 650 +f 636 639 640 +f 637 638 642 +f 639 641 643 +f 639 636 644 +f 636 642 644 +f 642 638 644 +f 638 637 645 +f 641 639 645 +f 644 638 645 +f 637 642 646 +f 645 637 647 +f 641 645 647 +f 637 646 647 +f 646 640 647 +f 640 639 648 +f 639 643 648 +f 643 641 648 +f 647 640 648 +f 641 647 648 +f 639 644 649 +f 645 639 649 +f 644 645 649 +f 636 640 650 +f 642 636 650 +f 640 646 650 +o convex_51 +v -1.109062 1.114603 -0.446495 +v -1.009969 0.767619 0.396004 +v -1.109062 0.767619 0.396004 +v -1.109062 0.272065 -0.520819 +v -0.985181 0.346457 -0.545658 +v -1.009969 0.272065 0.296841 +v -1.009969 1.188781 0.098611 +v -1.109062 0.148150 -0.074973 +v -0.985181 0.148150 -0.074973 +v -1.109062 1.114603 0.272098 +v -1.034745 0.891534 -0.545658 +v -1.109062 0.272065 0.296841 +v -1.109062 0.767619 -0.595240 +v -1.034745 1.238518 -0.149006 +f 657 661 664 +f 653 651 654 +f 652 653 656 +f 653 654 658 +f 656 658 659 +f 654 655 659 +f 652 656 659 +f 657 652 659 +f 655 657 659 +f 658 654 659 +f 651 653 660 +f 653 652 660 +f 652 657 660 +f 657 655 661 +f 656 653 662 +f 653 658 662 +f 658 656 662 +f 654 651 663 +f 655 654 663 +f 651 661 663 +f 661 655 663 +f 651 660 664 +f 660 657 664 +f 661 651 664 +o convex_52 +v -0.018672 0.767764 -3.073350 +v 0.526379 1.288080 -2.602509 +v 0.526379 1.288080 -2.627351 +v 0.774289 0.718226 -2.676942 +v 0.699844 0.742995 -2.850281 +v -0.018672 1.263200 -2.924576 +v -0.043487 0.718226 -3.023758 +v 0.427279 1.263200 -2.602509 +v 0.749394 0.718226 -2.602509 +v -0.043487 1.263200 -2.850281 +v 0.551194 1.238431 -2.676942 +f 669 670 675 +f 669 665 670 +f 670 665 671 +f 665 669 671 +f 669 668 671 +f 668 666 673 +f 671 668 673 +f 666 672 673 +f 666 667 674 +f 667 670 674 +f 670 671 674 +f 672 666 674 +f 671 673 674 +f 673 672 674 +f 667 666 675 +f 666 668 675 +f 668 669 675 +f 670 667 675 +o convex_53 +v 0.922959 -2.602380 0.668598 +v 0.873380 -0.595283 1.139437 +v 0.922959 -0.595283 1.089872 +v 0.749508 -0.694592 1.089872 +v 0.774309 -3.345800 0.718214 +v 0.947738 -2.057019 0.619034 +v 0.749508 -3.345800 0.619034 +v 0.972538 -1.636351 0.891563 +v 0.972538 -0.595283 0.965935 +v 0.749508 -2.131221 0.965935 +v 0.799087 -2.106673 0.965935 +v 0.972538 -2.304732 0.619034 +v 0.799087 -3.320973 0.718214 +v 0.749508 -0.744246 1.139437 +f 685 686 689 +f 679 681 682 +f 678 677 683 +f 677 678 684 +f 679 677 684 +f 681 679 684 +f 678 683 684 +f 682 680 685 +f 679 682 685 +f 683 677 686 +f 685 680 686 +f 682 681 687 +f 683 676 687 +f 681 684 687 +f 684 683 687 +f 680 682 688 +f 676 683 688 +f 683 686 688 +f 686 680 688 +f 687 676 688 +f 682 687 688 +f 677 679 689 +f 679 685 689 +f 686 677 689 +o convex_54 +v 0.972538 -1.511997 0.891572 +v 0.997365 -0.595283 0.990714 +v 1.269853 -0.595283 0.842020 +v 0.997365 -0.595283 0.619070 +v 0.997365 -2.131561 0.619070 +v 1.269853 -0.595283 0.792540 +v 0.972538 -1.016797 0.619070 +v 1.046903 -0.645059 0.619070 +v 0.997365 -1.635910 0.866796 +v 0.972538 -0.595283 0.990714 +v 0.997365 -1.041459 0.965901 +f 699 690 700 +f 691 692 693 +f 692 694 695 +f 693 692 695 +f 694 690 696 +f 693 694 696 +f 694 693 697 +f 695 694 697 +f 693 695 697 +f 690 694 698 +f 694 692 698 +f 691 693 699 +f 696 690 699 +f 693 696 699 +f 692 691 700 +f 690 698 700 +f 698 692 700 +f 691 699 700 +o convex_55 +v -1.059492 -0.198844 0.123261 +v -0.985193 -0.595237 -1.313771 +v -0.960407 -0.595237 -1.313771 +v -1.034716 -0.595237 0.817282 +v -0.985173 -0.124459 -0.743708 +v -1.009959 -0.223546 0.594107 +v -1.009950 -0.322771 -1.660657 +v -1.059502 -0.595237 -0.347832 +v -1.059502 -0.297977 0.817282 +v -0.960407 -0.297977 -0.842677 +v -0.960407 -0.297977 -1.710389 +v -0.960407 -0.595237 -0.891915 +v -1.059502 -0.595237 0.817282 +f 709 708 713 +f 702 703 704 +f 705 701 706 +f 701 705 707 +f 702 704 708 +f 707 702 708 +f 701 707 708 +f 704 706 709 +f 706 701 709 +f 701 708 709 +f 705 706 710 +f 703 702 711 +f 702 707 711 +f 707 705 711 +f 710 703 711 +f 705 710 711 +f 704 703 712 +f 706 704 712 +f 703 710 712 +f 710 706 712 +f 708 704 713 +f 704 709 713 +o convex_56 +v -0.960346 -0.570456 -1.264330 +v -0.192198 -0.322737 -2.032544 +v -0.192198 -0.297939 -2.032544 +v -0.043487 -0.595283 -1.586549 +v -0.786865 -0.595283 -1.586625 +v -0.960346 -0.297939 -1.636029 +v -0.786865 -0.322737 -1.958098 +v -0.068347 -0.297939 -1.958098 +v -0.043487 -0.595283 -1.660844 +v -0.960346 -0.595283 -1.363590 +v -0.043487 -0.570456 -1.586549 +f 722 721 724 +f 716 715 720 +f 715 718 720 +f 719 716 720 +f 715 716 721 +f 716 719 721 +f 717 718 722 +f 718 715 722 +f 715 721 722 +f 717 714 723 +f 718 717 723 +f 714 719 723 +f 720 718 723 +f 719 720 723 +f 714 717 724 +f 719 714 724 +f 721 719 724 +f 717 722 724 +o convex_57 +v 1.071662 -0.421842 0.643694 +v 0.947769 -0.595283 -1.016407 +v 1.046862 -0.595283 -1.016407 +v 0.972557 -0.297939 -1.214767 +v 0.972557 -0.595283 0.594197 +v 0.972557 -0.297939 0.247160 +v 1.071662 -0.297939 -1.065904 +v 1.071662 -0.595283 0.693377 +v 1.071662 -0.297939 0.420678 +v 0.947769 -0.372304 -0.025352 +v 0.947769 -0.297939 -1.214767 +f 726 734 735 +f 727 726 728 +f 726 727 729 +f 729 725 730 +f 727 728 731 +f 728 730 731 +f 725 729 732 +f 729 727 732 +f 731 725 732 +f 727 731 732 +f 730 725 733 +f 725 731 733 +f 731 730 733 +f 726 729 734 +f 729 730 734 +f 734 730 735 +f 728 726 735 +f 730 728 735 +o convex_58 +v 3.078769 -0.198810 -0.099618 +v 1.418598 -0.322691 -0.768708 +v 1.418598 -0.322691 -0.595213 +v 1.418598 -0.223586 -0.223533 +v 1.939270 -0.198810 -0.768708 +v 2.855647 -0.273114 -0.099618 +v 1.418598 -0.248362 -0.099618 +v 2.162230 -0.223586 -0.743885 +v 1.666583 -0.322691 -0.768708 +v 1.418598 -0.223586 -0.099618 +f 739 742 745 +f 737 738 739 +f 737 739 740 +f 741 736 742 +f 739 738 742 +f 738 741 742 +f 740 736 743 +f 736 741 743 +f 743 741 744 +f 738 737 744 +f 737 740 744 +f 741 738 744 +f 740 743 744 +f 736 740 745 +f 740 739 745 +f 742 736 745 +o convex_59 +v 3.648814 -0.050114 -0.124440 +v 2.062906 -0.198786 -0.768708 +v 2.062906 -0.198786 -0.743885 +v 2.955411 0.024244 -0.768708 +v 4.417110 -0.000556 -0.124440 +v 3.228025 -0.198786 -0.099618 +v 2.979838 -0.173985 -0.124440 +v 2.236430 -0.198786 -0.768708 +v 3.128935 -0.000556 -0.768708 +v 3.549724 0.024244 -0.322757 +v 2.087794 -0.173985 -0.719063 +v 4.417110 0.024244 -0.099618 +f 749 755 757 +f 748 747 751 +f 748 751 752 +f 747 749 753 +f 751 747 753 +f 750 751 753 +f 753 749 754 +f 750 753 754 +f 752 746 755 +f 752 755 756 +f 747 748 756 +f 749 747 756 +f 748 752 756 +f 755 749 756 +f 751 750 757 +f 752 751 757 +f 746 752 757 +f 754 749 757 +f 750 754 757 +f 755 746 757 +o convex_60 +v 4.243464 0.371100 -0.496057 +v 3.054150 0.024244 -0.768708 +v 3.054150 0.024244 -0.743905 +v 4.268424 0.024244 -0.223589 +v 4.218740 0.346328 -0.694299 +v 3.673649 0.420642 -0.743905 +v 3.624203 0.049071 -0.347543 +v 4.268424 0.594209 -0.768708 +v 4.070166 0.172984 -0.620011 +v 3.227686 0.024244 -0.768708 +v 4.193899 0.049071 -0.149180 +v 4.193899 0.594209 -0.743905 +v 3.079111 0.073843 -0.743905 +f 760 764 770 +f 760 759 761 +f 760 761 764 +f 758 761 765 +f 761 762 765 +f 759 763 765 +f 762 761 766 +f 762 766 767 +f 761 759 767 +f 765 762 767 +f 759 765 767 +f 766 761 767 +f 761 758 768 +f 764 761 768 +f 764 768 769 +f 763 764 769 +f 758 765 769 +f 765 763 769 +f 768 758 769 +f 759 760 770 +f 763 759 770 +f 764 763 770 +o convex_61 +v 4.367626 0.024244 -0.198776 +v 4.887830 0.693334 -0.099618 +v 4.838290 0.693334 -0.099618 +v 4.466767 0.693334 -0.768708 +v 4.268485 0.618932 -0.743885 +v 4.268485 0.049067 -0.124440 +v 4.268485 0.470195 -0.743885 +v 4.466767 0.049067 -0.124440 +v 4.887830 0.643755 -0.124440 +v 4.516308 0.668446 -0.719063 +f 772 779 780 +f 773 772 774 +f 773 774 775 +f 773 775 776 +f 772 773 776 +f 771 776 777 +f 775 774 777 +f 776 775 777 +f 772 776 778 +f 776 771 778 +f 772 778 779 +f 779 778 780 +f 774 772 780 +f 771 777 780 +f 777 774 780 +f 778 771 780 +o convex_62 +v 2.929949 -0.074880 0.693377 +v 1.418598 -0.248348 -0.099618 +v 1.418598 -0.248348 -0.000416 +v 2.929949 -0.248348 -0.099618 +v 1.468310 -0.173992 0.693377 +v 1.418598 -0.198783 -0.025255 +v 2.880532 -0.248348 0.098631 +v 1.418598 -0.124445 0.643776 +v 2.929949 -0.124445 0.668538 +v 2.929949 -0.223557 -0.099618 +v 2.806111 -0.074880 0.643776 +f 781 790 791 +f 783 782 784 +f 782 783 786 +f 783 784 787 +f 785 783 787 +f 785 781 788 +f 783 785 788 +f 786 783 788 +f 784 781 789 +f 781 785 789 +f 787 784 789 +f 785 787 789 +f 784 782 790 +f 781 784 790 +f 782 786 790 +f 790 786 791 +f 788 781 791 +f 786 788 791 +o convex_63 +v 3.401292 -0.025318 0.668538 +v 2.930245 -0.248348 -0.099618 +v 2.930245 -0.248348 0.073869 +v 4.317850 -0.050118 -0.050017 +v 3.970813 -0.025318 -0.099618 +v 2.930245 -0.074897 0.619014 +v 3.202985 -0.099676 0.693377 +v 3.054390 -0.173990 -0.099618 +v 3.525166 -0.025318 0.222594 +v 3.103831 -0.248348 -0.025255 +v 2.930245 -0.124476 0.668538 +f 798 792 802 +f 792 795 796 +f 795 793 796 +f 793 794 797 +f 795 792 798 +f 796 793 799 +f 793 797 799 +f 799 797 800 +f 792 796 800 +f 797 792 800 +f 796 799 800 +f 794 793 801 +f 793 795 801 +f 798 794 801 +f 795 798 801 +f 792 797 802 +f 797 794 802 +f 794 798 802 +o convex_64 +v 3.921413 0.197748 0.693377 +v 4.119575 -0.025318 -0.099618 +v 3.624275 -0.025318 0.247356 +v 4.293018 0.495085 0.668538 +v 4.342558 0.024247 0.172993 +v 3.277284 -0.025318 0.693377 +v 4.169115 0.123376 0.519890 +v 4.342558 -0.025318 -0.099618 +v 4.342558 0.420713 0.693377 +v 3.525090 -0.025318 0.643776 +v 3.624275 -0.000510 0.247356 +v 4.119575 -0.000510 -0.099618 +v 3.277284 -0.000510 0.668538 +v 4.342558 0.321583 0.346403 +f 814 806 816 +f 805 804 808 +f 808 804 810 +f 806 808 811 +f 808 803 811 +f 803 809 811 +f 809 807 811 +f 807 810 811 +f 803 808 812 +f 809 803 812 +f 807 809 812 +f 810 807 812 +f 808 810 812 +f 804 805 813 +f 810 804 814 +f 804 813 814 +f 813 806 814 +f 805 808 815 +f 808 806 815 +f 813 805 815 +f 806 813 815 +f 806 811 816 +f 811 810 816 +f 810 814 816 +o convex_65 +v 4.689649 0.643740 0.569413 +v 4.342768 -0.025318 -0.099618 +v 4.342768 0.024276 -0.099618 +v 4.937455 0.693334 -0.074779 +v 4.342768 0.519861 0.668538 +v 4.466758 -0.025318 -0.025255 +v 4.863061 0.693334 -0.099618 +v 4.367624 0.346318 0.619014 +v 4.516296 0.693334 0.693377 +v 4.615430 0.594146 0.693377 +v 4.417162 0.395842 0.272195 +v 4.937455 0.668502 -0.050017 +v 4.342768 0.024276 0.148232 +f 822 824 829 +f 819 818 821 +f 818 820 822 +f 818 819 823 +f 820 818 823 +f 817 820 825 +f 820 823 825 +f 823 821 825 +f 821 824 826 +f 824 822 826 +f 817 825 826 +f 825 821 826 +f 819 821 827 +f 823 819 827 +f 821 823 827 +f 820 817 828 +f 822 820 828 +f 817 826 828 +f 826 822 828 +f 821 818 829 +f 818 822 829 +f 824 821 829 +o convex_66 +v 2.161841 -0.149223 0.693377 +v 2.806339 0.172931 0.891626 +v 2.806339 0.148145 0.891626 +v 1.418869 0.172931 0.891626 +v 1.418869 -0.149223 0.817282 +v 1.517887 0.172931 0.817282 +v 2.806339 -0.099652 0.693377 +v 1.418869 -0.124437 0.693377 +v 2.806339 -0.074866 0.767720 +v 2.806339 0.172931 0.842044 +v 2.806339 -0.074866 0.693377 +f 835 839 840 +f 832 831 833 +f 832 833 834 +f 833 831 835 +f 831 832 836 +f 830 834 837 +f 834 833 837 +f 833 835 837 +f 836 830 837 +f 834 830 838 +f 832 834 838 +f 836 832 838 +f 830 836 838 +f 835 831 839 +f 831 836 839 +f 839 836 840 +f 837 835 840 +f 836 837 840 +o convex_67 +v 1.468310 0.172931 0.842100 +v 2.806339 0.693334 0.916417 +v 2.806339 0.247303 0.916417 +v 1.418869 0.346432 1.015531 +v 1.418869 0.693334 0.965955 +v 1.939221 0.643769 0.842100 +v 2.806339 0.172931 0.866859 +v 1.443589 0.693334 1.015531 +v 1.963942 0.172931 0.817302 +v 1.418869 0.172931 0.916417 +v 2.806339 0.693334 0.891638 +v 1.641761 0.296868 0.817302 +f 846 849 852 +f 842 843 847 +f 843 842 848 +f 844 843 848 +f 845 844 848 +f 842 845 848 +f 847 841 849 +f 843 844 850 +f 845 841 850 +f 844 845 850 +f 847 843 850 +f 841 847 850 +f 845 842 851 +f 846 845 851 +f 842 847 851 +f 849 846 851 +f 847 849 851 +f 841 845 852 +f 845 846 852 +f 849 841 852 +o convex_68 +v 2.806339 0.098588 0.866816 +v 4.565606 0.693334 0.718165 +v 4.615182 0.643655 0.718165 +v 2.806339 -0.099661 0.693377 +v 2.806339 0.693334 0.891577 +v 3.649144 0.371199 0.965969 +v 3.252530 -0.074822 0.718192 +v 4.416698 0.693334 0.693377 +v 3.004823 0.668495 0.941181 +v 4.069838 0.296836 0.693377 +v 3.846743 0.693334 0.866789 +v 2.806339 0.222474 0.916392 +v 4.069838 0.296836 0.718165 +f 859 862 865 +f 856 853 857 +f 858 853 859 +f 853 856 859 +f 854 855 860 +f 856 857 860 +f 857 854 860 +f 859 856 862 +f 856 860 862 +f 860 855 862 +f 855 854 863 +f 854 857 863 +f 858 855 863 +f 857 861 863 +f 861 858 863 +f 857 853 864 +f 853 858 864 +f 861 857 864 +f 858 861 864 +f 855 858 865 +f 858 859 865 +f 862 855 865 +o convex_69 +v -0.043487 0.693334 -3.023705 +v -0.489547 -0.000469 -2.676935 +v -0.439946 -0.000469 -2.701648 +v -0.068331 0.024319 -2.751249 +v -0.464703 0.693334 -2.850320 +v -0.068331 0.668478 -3.073350 +v -0.489547 0.643689 -2.899877 +v -0.043487 0.024319 -2.825563 +v -0.464703 0.024319 -2.627290 +f 870 867 874 +f 867 868 869 +f 869 866 870 +f 870 866 871 +f 868 867 872 +f 867 870 872 +f 870 871 872 +f 871 868 872 +f 869 868 873 +f 866 869 873 +f 868 871 873 +f 871 866 873 +f 867 869 874 +f 869 870 874 +o convex_70 +v 1.543048 0.743114 -1.264330 +v 3.277357 1.461548 -0.793535 +v 3.351641 1.436582 -0.793535 +v 4.292776 0.693334 -0.793535 +v 4.391922 0.792594 -0.867876 +v 1.443902 1.411843 -1.041307 +v 1.468461 1.461548 -1.090806 +v 1.889910 0.718299 -1.264330 +v 2.979917 1.461548 -0.892671 +v 1.443902 0.792594 -1.239488 +v 3.079063 1.436582 -0.793535 +v 4.416785 0.891779 -0.793535 +v 1.468461 0.916444 -1.264330 +v 4.391922 0.693334 -0.843126 +v 1.666754 0.693334 -1.239488 +v 3.624218 1.065259 -0.793535 +v 1.418736 1.461548 -1.041307 +v 4.491069 0.817259 -0.843126 +f 888 879 892 +f 877 876 878 +f 876 877 883 +f 881 876 883 +f 879 882 883 +f 878 880 884 +f 878 876 885 +f 877 878 886 +f 882 875 887 +f 881 883 887 +f 883 882 887 +f 875 884 887 +f 882 879 888 +f 875 882 889 +f 884 875 889 +f 878 884 889 +f 888 878 889 +f 882 888 889 +f 880 878 890 +f 878 885 890 +f 885 880 890 +f 876 881 891 +f 884 880 891 +f 885 876 891 +f 880 885 891 +f 881 887 891 +f 887 884 891 +f 883 877 892 +f 879 883 892 +f 877 886 892 +f 886 878 892 +f 878 888 892 +o convex_71 +v 0.006075 1.659780 -2.205844 +v 0.947757 1.560689 -0.942175 +v 0.947757 1.535891 -0.942175 +v 0.006075 1.684563 -0.942175 +v 0.006075 1.535891 -2.503384 +v 0.947757 1.560689 -1.289382 +v 0.154849 1.684563 -1.957970 +v 0.600710 1.560689 -0.942175 +v 0.452213 1.560689 -2.057150 +v 0.006075 1.659780 -0.942175 +v 0.154849 1.684563 -0.942175 +v 0.030871 1.535891 -2.329781 +v 0.922961 1.535891 -1.338743 +f 901 898 905 +f 895 894 896 +f 896 893 897 +f 894 895 898 +f 893 896 899 +f 894 898 899 +f 895 896 900 +f 897 893 901 +f 893 899 901 +f 899 898 901 +f 896 897 902 +f 900 896 902 +f 896 894 903 +f 894 899 903 +f 899 896 903 +f 897 895 904 +f 895 900 904 +f 902 897 904 +f 900 902 904 +f 895 897 905 +f 898 895 905 +f 897 901 905 +o convex_72 +v 4.293091 1.040364 -0.768688 +v 3.128607 1.436667 -0.793489 +v 3.128607 1.436667 -0.768688 +v 4.293091 1.461548 -0.297944 +v 3.748008 1.065133 -0.768688 +v 4.243507 1.436667 -0.198742 +v 4.020550 1.337591 -0.694287 +v 4.293091 0.891694 -0.768688 +v 3.574636 1.436667 -0.446631 +v 3.302094 1.461548 -0.793489 +v 4.293091 0.891694 -0.793489 +v 3.574636 1.461548 -0.446631 +f 909 915 917 +f 908 907 910 +f 909 906 912 +f 906 909 913 +f 911 910 913 +f 909 911 913 +f 908 910 914 +f 910 911 914 +f 907 908 915 +f 912 906 915 +f 909 912 915 +f 910 907 916 +f 906 913 916 +f 913 910 916 +f 907 915 916 +f 915 906 916 +f 911 909 917 +f 908 914 917 +f 914 911 917 +f 915 908 917 +o convex_73 +v 4.293270 1.436658 -0.347468 +v 4.417173 0.693334 -0.793489 +v 4.491502 0.693334 -0.793489 +v 4.863081 0.693334 -0.000494 +v 4.962295 0.767704 -0.099696 +v 4.342844 1.436658 -0.000494 +v 4.516322 1.461548 -0.124457 +v 4.541076 0.792594 -0.793489 +v 4.293270 0.891704 -0.793489 +v 4.466748 1.461548 -0.000494 +v 4.318090 1.040293 -0.768572 +v 4.441993 0.693334 -0.719126 +v 4.962295 0.767704 -0.025333 +f 924 927 930 +f 919 920 921 +f 921 920 922 +f 920 919 925 +f 922 920 925 +f 924 922 925 +f 923 918 926 +f 925 919 926 +f 918 923 927 +f 923 921 927 +f 924 918 927 +f 918 924 928 +f 924 925 928 +f 926 918 928 +f 925 926 928 +f 919 921 929 +f 921 923 929 +f 926 919 929 +f 923 926 929 +f 921 922 930 +f 922 924 930 +f 927 921 930 +o convex_74 +v -0.093093 -0.000595 -2.800758 +v -0.018706 -0.273083 -2.007845 +v -0.018706 -0.297910 -2.007845 +v -0.489547 -0.273083 -1.958283 +v -0.464751 -0.000595 -2.577604 +v -0.439955 -0.297910 -2.057407 +v -0.489547 -0.025364 -2.676728 +v -0.018706 -0.050133 -2.775853 +v -0.043502 -0.000595 -2.726291 +f 938 931 939 +f 933 932 934 +f 934 932 935 +f 933 934 936 +f 935 931 937 +f 934 935 937 +f 936 934 937 +f 936 937 938 +f 932 933 938 +f 933 936 938 +f 937 931 938 +f 931 935 939 +f 935 932 939 +f 932 938 939 +o convex_75 +v 4.268599 0.966074 0.643815 +v 4.441940 1.461548 0.024292 +v 4.441940 1.461548 -0.000494 +v 4.937513 0.718224 0.024292 +v 4.045394 1.436658 0.098650 +v 4.070194 1.288068 0.643815 +v 4.615282 0.718224 0.618966 +v 4.838224 0.693334 0.024292 +v 4.540967 0.693334 0.594243 +v 4.268599 1.436658 -0.000494 +v 4.045394 1.213623 0.618966 +v 4.045394 1.461548 0.197794 +v 4.788798 0.718224 0.346320 +v 4.912713 0.792594 -0.000494 +f 952 943 953 +f 941 945 946 +f 945 940 946 +f 946 940 948 +f 944 947 948 +f 944 942 949 +f 947 944 949 +f 940 945 950 +f 948 940 950 +f 944 948 950 +f 941 942 951 +f 942 944 951 +f 945 941 951 +f 950 945 951 +f 944 950 951 +f 941 946 952 +f 947 943 952 +f 946 948 952 +f 948 947 952 +f 942 941 953 +f 943 947 953 +f 949 942 953 +f 947 949 953 +f 941 952 953 +o convex_76 +v 1.418598 1.263178 0.817338 +v 2.533747 1.461548 0.668666 +v 2.533747 1.461548 0.643815 +v 2.533747 0.693334 0.916380 +v 1.889611 0.693334 0.866786 +v 1.468264 0.866814 0.990680 +v 1.443485 1.436658 0.842008 +v 1.418598 0.693334 0.965901 +v 2.484081 1.263178 0.668666 +v 2.533747 0.693334 0.866786 +v 1.517822 1.461548 0.767745 +v 1.418598 0.693334 1.015531 +v 2.459193 1.461548 0.693445 +v 2.533747 0.718224 0.916380 +f 966 960 967 +f 956 955 957 +f 954 958 961 +f 958 957 961 +f 958 954 962 +f 958 962 963 +f 956 957 963 +f 957 958 963 +f 962 956 963 +f 955 956 964 +f 954 960 964 +f 962 954 964 +f 956 962 964 +f 960 954 965 +f 959 960 965 +f 954 961 965 +f 961 957 965 +f 955 964 966 +f 964 960 966 +f 957 955 967 +f 960 959 967 +f 965 957 967 +f 959 965 967 +f 955 966 967 +o convex_77 +v 1.071662 0.668487 -1.859280 +v 0.600868 -0.000406 -2.255520 +v 0.600868 0.049103 -2.354548 +v 1.071662 -0.000406 -1.363488 +v 0.799121 0.643667 -2.602509 +v 0.922903 0.643667 -2.032447 +v 0.997237 0.024349 -1.338731 +v 0.625661 0.346352 -2.428818 +v 0.600868 0.024349 -2.156362 +v 1.071662 0.618913 -1.933419 +v 0.675247 -0.000406 -2.206007 +v 0.724788 0.643667 -2.602509 +v 0.625661 0.296909 -2.602509 +f 979 972 980 +f 969 971 974 +f 971 968 974 +f 968 973 974 +f 970 969 976 +f 969 974 976 +f 974 973 976 +f 973 975 976 +f 975 970 976 +f 968 971 977 +f 972 968 977 +f 971 972 977 +f 969 970 978 +f 971 969 978 +f 972 971 978 +f 968 972 979 +f 973 968 979 +f 975 973 979 +f 975 979 980 +f 970 975 980 +f 978 970 980 +f 972 978 980 +o convex_78 +v -0.043487 -0.496120 -1.685540 +v 0.947757 -0.446611 -0.991738 +v 0.947757 -0.595283 -0.991738 +v 0.006095 -0.322737 -2.032544 +v 0.947757 -0.297939 -1.115726 +v 0.452135 -0.570456 -1.140584 +v 0.006095 -0.595283 -1.660682 +v 0.947757 -0.322737 -1.239612 +v 0.154839 -0.297939 -1.784670 +v 0.922918 -0.595283 -1.041455 +v 0.898175 -0.372304 -1.016596 +v -0.043487 -0.595283 -1.586309 +v -0.043487 -0.297939 -2.032544 +f 992 981 993 +f 982 983 985 +f 983 982 986 +f 985 983 988 +f 983 987 990 +f 987 984 990 +f 988 983 990 +f 984 988 990 +f 982 985 991 +f 981 986 991 +f 986 982 991 +f 985 989 991 +f 989 981 991 +f 986 981 992 +f 983 986 992 +f 987 983 992 +f 987 992 993 +f 984 987 993 +f 988 984 993 +f 985 988 993 +f 989 985 993 +f 981 989 993 +o convex_79 +v -0.960388 1.709301 -0.248072 +v 0.080419 1.709325 0.718158 +v 0.055560 1.734135 0.718158 +v -0.960388 1.535944 0.594136 +v -0.563871 1.535944 -0.669583 +v 0.080419 1.709325 -0.198626 +v -0.960388 1.758897 -0.025294 +v -0.960388 1.511159 -0.669583 +v -0.737270 1.535944 0.569278 +v 0.080419 1.684563 0.718158 +v -0.588729 1.585492 -0.669583 +v -0.439985 1.659777 0.718158 +v -0.762027 1.758897 -0.099327 +v 0.080419 1.684563 -0.198626 +v -0.687757 1.511159 -0.595143 +v -0.960388 1.585492 0.544555 +f 997 1005 1009 +f 996 995 999 +f 994 997 1000 +f 997 994 1001 +f 997 1002 1003 +f 995 996 1003 +f 999 995 1003 +f 999 998 1004 +f 1001 994 1004 +f 998 1001 1004 +f 996 1000 1005 +f 997 1003 1005 +f 1003 996 1005 +f 996 999 1006 +f 1000 996 1006 +f 994 1000 1006 +f 999 1004 1006 +f 1004 994 1006 +f 998 999 1007 +f 999 1003 1007 +f 1003 998 1007 +f 997 1001 1008 +f 1001 998 1008 +f 1002 997 1008 +f 1003 1002 1008 +f 998 1003 1008 +f 1000 997 1009 +f 1005 1000 1009 +o convex_80 +v -0.985120 1.486329 0.792800 +v -0.018800 1.560726 2.502397 +v -0.043585 1.659768 2.204670 +v -0.043585 1.684558 0.718274 +v -0.712583 1.610234 1.833164 +v -0.093155 1.734116 0.867138 +v -0.786843 1.486329 2.006683 +v -0.960241 1.560677 0.594253 +v -0.018800 1.535911 2.353533 +v -0.167509 1.734116 1.882474 +v -0.960241 1.486329 0.643936 +v -0.018800 1.734116 1.957000 +v -0.489615 1.486329 2.155360 +v -0.018800 1.734116 0.718274 +v -0.514305 1.585444 0.594253 +v -0.811627 1.585444 1.758826 +v -0.093155 1.560726 2.502397 +f 1016 1022 1026 +f 1017 1014 1019 +f 1015 1017 1019 +f 1016 1010 1020 +f 1010 1017 1020 +f 1012 1011 1021 +f 1011 1018 1021 +f 1019 1012 1021 +f 1015 1019 1021 +f 1018 1011 1022 +f 1016 1020 1022 +f 1020 1018 1022 +f 1017 1015 1023 +f 1018 1013 1023 +f 1015 1021 1023 +f 1021 1018 1023 +f 1013 1018 1024 +f 1020 1017 1024 +f 1018 1020 1024 +f 1023 1013 1024 +f 1017 1023 1024 +f 1010 1016 1025 +f 1016 1014 1025 +f 1014 1017 1025 +f 1017 1010 1025 +f 1011 1012 1026 +f 1014 1016 1026 +f 1012 1019 1026 +f 1019 1014 1026 +f 1022 1011 1026 +o convex_81 +v 3.822286 0.693334 0.817227 +v 2.633005 1.461548 0.668603 +v 3.103925 1.411843 0.668603 +v 4.516084 0.693484 0.643815 +v 2.533948 0.693334 0.866777 +v 3.995836 1.213623 0.718180 +v 3.054196 0.743114 0.916407 +v 2.558712 1.337623 0.643815 +v 4.020601 1.287993 0.643815 +v 3.822286 0.718299 0.866777 +v 4.540848 0.743039 0.718180 +v 2.533948 0.693334 0.916407 +v 2.533948 1.461548 0.643815 +v 2.533948 0.817259 0.817227 +f 1039 1034 1040 +f 1030 1027 1031 +f 1029 1028 1032 +f 1032 1028 1033 +f 1029 1032 1035 +f 1030 1034 1035 +f 1027 1030 1036 +f 1032 1033 1036 +f 1035 1032 1037 +f 1030 1035 1037 +f 1036 1030 1037 +f 1032 1036 1037 +f 1031 1027 1038 +f 1033 1028 1038 +f 1027 1036 1038 +f 1036 1033 1038 +f 1028 1029 1039 +f 1029 1035 1039 +f 1035 1034 1039 +f 1031 1038 1039 +f 1038 1028 1039 +f 1030 1031 1040 +f 1034 1030 1040 +f 1031 1039 1040 +o convex_82 +v 1.046813 0.668553 -1.883947 +v 1.071662 1.288080 -1.413249 +v 1.046813 1.288080 -1.413249 +v 0.427354 1.288080 -2.602509 +v 0.823803 0.718159 -2.577594 +v 0.576133 1.288080 -2.577594 +v 1.071662 1.263277 -1.537123 +v 0.922884 0.668553 -2.081982 +v 0.749508 0.668553 -2.577594 +v 1.071662 0.718159 -1.958341 +v 0.427354 1.263277 -2.577594 +v 1.046813 1.139384 -1.487527 +f 1051 1048 1052 +f 1043 1042 1044 +f 1044 1042 1046 +f 1045 1044 1046 +f 1046 1042 1047 +f 1045 1046 1047 +f 1045 1041 1049 +f 1044 1045 1049 +f 1041 1048 1049 +f 1042 1041 1050 +f 1041 1045 1050 +f 1047 1042 1050 +f 1045 1047 1050 +f 1043 1044 1051 +f 1044 1049 1051 +f 1049 1048 1051 +f 1041 1042 1052 +f 1042 1043 1052 +f 1048 1041 1052 +f 1043 1051 1052 +o convex_83 +v -0.960373 1.139107 -1.660657 +v -0.985154 -0.099559 -0.768708 +v -1.009921 -0.099559 -0.768708 +v -0.960373 -0.297910 -1.685608 +v -0.861292 1.312861 -1.536890 +v -0.960373 1.312861 -0.818340 +v -1.009921 0.693213 -1.685608 +v -0.960373 -0.297910 -0.843201 +v -0.985154 1.312861 -1.091005 +v -0.935606 1.263195 -0.818340 +v -0.861292 1.238440 -1.685608 +v -0.985154 -0.297910 -1.685608 +v -1.009921 -0.297910 -0.867883 +f 1059 1064 1065 +f 1055 1054 1058 +f 1054 1055 1060 +f 1057 1053 1061 +f 1058 1057 1061 +f 1055 1058 1061 +f 1059 1055 1061 +f 1053 1059 1061 +f 1058 1054 1062 +f 1057 1058 1062 +f 1054 1060 1062 +f 1060 1057 1062 +f 1053 1057 1063 +f 1056 1059 1063 +f 1059 1053 1063 +f 1060 1056 1063 +f 1057 1060 1063 +f 1059 1056 1064 +f 1056 1060 1064 +f 1064 1060 1065 +f 1055 1059 1065 +f 1060 1055 1065 +o convex_84 +v -0.786910 1.312861 -2.180706 +v -0.489547 1.585453 -0.669583 +v -0.588729 1.585453 -0.669583 +v -0.935592 1.312861 -0.818425 +v -0.960388 1.535850 -0.694423 +v -0.514342 1.560638 -2.106771 +v -0.489547 1.312861 -2.503229 +v -0.786910 1.486327 -2.056898 +v -0.960388 1.337677 -1.239723 +v -0.514342 1.337677 -2.652071 +v -0.489547 1.560638 -0.669583 +v -0.489547 1.585453 -1.833926 +f 1072 1071 1077 +f 1069 1066 1072 +f 1070 1071 1073 +f 1070 1073 1074 +f 1066 1069 1074 +f 1069 1070 1074 +f 1073 1066 1074 +f 1072 1066 1075 +f 1071 1072 1075 +f 1073 1071 1075 +f 1066 1073 1075 +f 1067 1068 1076 +f 1070 1069 1076 +f 1068 1070 1076 +f 1072 1067 1076 +f 1069 1072 1076 +f 1068 1067 1077 +f 1070 1068 1077 +f 1071 1070 1077 +f 1067 1072 1077 +o convex_85 +v 0.675209 -0.000500 2.279081 +v 1.022054 -0.297910 0.891626 +v 1.071662 -0.297910 0.891626 +v 1.071662 0.371180 1.139692 +v 0.997271 0.197685 1.932217 +v 0.650425 0.371180 2.477336 +v 0.650425 -0.273088 1.759033 +v 0.774260 -0.297910 1.808679 +v 0.898219 0.371180 2.229435 +v 1.046838 0.346357 1.114951 +v 0.922961 -0.273088 1.486556 +v 0.675209 0.346357 2.576629 +v 0.997271 -0.248331 0.916696 +v 1.071662 0.172928 1.313206 +v 0.997271 0.371180 1.907312 +v 0.650425 -0.124416 2.155213 +f 1089 1083 1093 +f 1079 1080 1085 +f 1082 1078 1085 +f 1084 1079 1085 +f 1081 1083 1086 +f 1080 1079 1087 +f 1081 1080 1087 +f 1083 1081 1087 +f 1084 1083 1087 +f 1080 1082 1088 +f 1085 1080 1088 +f 1082 1085 1088 +f 1078 1082 1089 +f 1082 1086 1089 +f 1086 1083 1089 +f 1079 1084 1090 +f 1087 1079 1090 +f 1084 1087 1090 +f 1080 1081 1091 +f 1082 1080 1091 +f 1082 1091 1092 +f 1086 1082 1092 +f 1081 1086 1092 +f 1091 1081 1092 +f 1083 1084 1093 +f 1085 1078 1093 +f 1084 1085 1093 +f 1078 1089 1093 +o convex_86 +v -0.960417 0.172950 1.981941 +v -1.059488 -0.297910 0.594403 +v -1.059488 -0.223392 0.594403 +v -1.084259 0.544608 1.857865 +v -1.009974 0.891583 0.866917 +v -0.960417 -0.297910 1.089952 +v -0.960388 0.891583 2.081050 +v -1.084274 -0.297910 0.941212 +v -1.059488 0.891583 1.139733 +v -1.109060 0.049064 0.941212 +v -1.059488 0.247352 1.932310 +v -1.084259 0.841982 1.758755 +v -1.009974 -0.223392 0.594403 +v -0.985188 -0.223392 1.387131 +v -1.034731 0.891583 0.866917 +v -0.985188 0.321637 2.130681 +f 1097 1104 1109 +f 1094 1099 1100 +f 1099 1098 1100 +f 1095 1099 1101 +f 1100 1098 1102 +f 1096 1095 1103 +f 1095 1101 1103 +f 1103 1101 1104 +f 1097 1103 1104 +f 1097 1100 1105 +f 1100 1102 1105 +f 1103 1097 1105 +f 1102 1103 1105 +f 1095 1096 1106 +f 1096 1098 1106 +f 1098 1099 1106 +f 1099 1095 1106 +f 1099 1094 1107 +f 1101 1099 1107 +f 1094 1104 1107 +f 1104 1101 1107 +f 1098 1096 1108 +f 1102 1098 1108 +f 1096 1103 1108 +f 1103 1102 1108 +f 1094 1100 1109 +f 1100 1097 1109 +f 1104 1094 1109 +o convex_87 +v 0.006095 1.535891 2.403147 +v 0.650384 1.040284 2.601400 +v 0.600802 1.040284 2.626194 +v 0.600802 1.511023 1.907743 +v -0.043487 0.990707 2.799654 +v 0.055676 1.486314 2.650987 +v 0.650384 1.362346 2.452733 +v 0.625525 0.990707 2.551814 +v 0.650384 1.535891 2.006916 +v 0.006095 1.015575 2.849240 +v 0.303448 1.511023 2.105997 +v -0.043487 1.511023 2.650987 +f 1114 1119 1121 +f 1112 1111 1116 +f 1115 1112 1116 +f 1111 1112 1117 +f 1114 1113 1117 +f 1113 1110 1118 +f 1116 1111 1118 +f 1115 1116 1118 +f 1111 1117 1118 +f 1117 1113 1118 +f 1112 1115 1119 +f 1117 1112 1119 +f 1114 1117 1119 +f 1110 1113 1120 +f 1114 1110 1120 +f 1113 1114 1120 +f 1110 1114 1121 +f 1118 1110 1121 +f 1115 1118 1121 +f 1119 1115 1121 +o convex_88 +v -0.886025 0.619058 -2.453679 +v -0.861224 1.312861 -1.685688 +v -0.836424 1.312861 -1.710501 +v -0.985110 0.420742 -1.685688 +v -0.613452 1.238460 -2.478492 +v -1.009950 0.817288 -2.007852 +v -0.811701 0.420742 -2.404134 +v -0.836424 1.312861 -2.082210 +v -0.861224 0.817288 -2.503384 +v -1.009950 0.420742 -1.983040 +v -0.985110 1.040143 -1.685688 +v -0.663053 1.312861 -2.478492 +v -0.836424 0.420742 -2.503384 +f 1128 1131 1134 +f 1124 1123 1125 +f 1124 1125 1126 +f 1126 1125 1128 +f 1123 1124 1129 +f 1127 1129 1130 +f 1122 1127 1130 +f 1127 1122 1131 +f 1128 1125 1131 +f 1125 1123 1132 +f 1123 1129 1132 +f 1129 1127 1132 +f 1131 1125 1132 +f 1127 1131 1132 +f 1124 1126 1133 +f 1129 1124 1133 +f 1130 1129 1133 +f 1126 1130 1133 +f 1126 1128 1134 +f 1122 1130 1134 +f 1130 1126 1134 +f 1131 1122 1134 +o convex_89 +v -0.539138 0.643752 2.774911 +v -0.960388 0.222493 1.982072 +v -0.935592 0.222493 1.982072 +v -0.935592 0.891583 2.056427 +v -0.786910 0.594108 2.675719 +v -0.489547 0.222493 2.527086 +v -0.489547 0.891583 2.675719 +v -0.811614 0.891583 2.576605 +v -0.960388 0.371231 2.205138 +v -0.613525 0.222493 2.551845 +v -0.960388 0.891583 2.130783 +f 1136 1143 1145 +f 1137 1136 1138 +f 1136 1137 1140 +f 1137 1138 1140 +f 1135 1140 1141 +f 1140 1138 1141 +f 1141 1138 1142 +f 1139 1135 1142 +f 1135 1141 1142 +f 1139 1142 1143 +f 1135 1139 1144 +f 1136 1140 1144 +f 1140 1135 1144 +f 1139 1143 1144 +f 1143 1136 1144 +f 1138 1136 1145 +f 1142 1138 1145 +f 1143 1142 1145 +o convex_90 +v -0.910862 1.312842 1.932306 +v -1.034724 0.891583 0.867056 +v -1.034724 0.916441 0.842209 +v -0.786920 1.461470 1.783605 +v -0.985120 1.486329 0.643941 +v -1.059512 0.891583 1.783605 +v -0.960358 0.941184 1.932306 +v -1.059512 1.139471 1.535769 +v -0.985120 0.965984 0.842209 +v -0.836523 1.486329 1.882739 +v -0.935570 1.486329 0.767922 +v -0.985120 1.486329 0.867056 +v -0.786920 1.436728 1.932306 +f 1155 1146 1158 +f 1146 1151 1152 +f 1151 1147 1152 +f 1148 1147 1153 +f 1150 1148 1153 +f 1147 1151 1153 +f 1151 1146 1153 +f 1147 1148 1154 +f 1148 1150 1154 +f 1152 1147 1154 +f 1153 1146 1155 +f 1149 1154 1156 +f 1154 1150 1156 +f 1155 1149 1156 +f 1150 1155 1156 +f 1150 1153 1157 +f 1155 1150 1157 +f 1153 1155 1157 +f 1146 1152 1158 +f 1154 1149 1158 +f 1152 1154 1158 +f 1149 1155 1158 +o convex_91 +v -0.068368 1.312755 2.749986 +v -1.009950 0.891583 1.932507 +v -1.009950 0.966004 1.932507 +v -0.811568 0.891583 2.576600 +v -0.811568 1.486319 2.031764 +v -0.365704 1.510979 2.081303 +v -0.043487 0.990726 2.799614 +v -0.811568 1.287969 2.452664 +v -0.043487 1.535891 2.576600 +v -0.539111 0.891583 2.700537 +v -0.762090 1.486319 1.932507 +v -0.167417 1.486256 2.650908 +v -0.068368 1.510979 2.428164 +v -0.960283 0.916495 1.932507 +v -0.167417 1.015575 2.824383 +v -0.464753 1.535891 2.031585 +v -0.960283 1.189014 1.957366 +f 1163 1169 1175 +f 1161 1160 1162 +f 1161 1162 1166 +f 1159 1165 1167 +f 1162 1160 1168 +f 1160 1165 1168 +f 1166 1162 1168 +f 1160 1161 1169 +f 1163 1166 1170 +f 1167 1163 1170 +f 1159 1167 1170 +f 1165 1164 1171 +f 1167 1165 1171 +f 1164 1165 1172 +f 1165 1160 1172 +f 1160 1169 1172 +f 1165 1159 1173 +f 1168 1165 1173 +f 1166 1168 1173 +f 1170 1166 1173 +f 1159 1170 1173 +f 1163 1167 1174 +f 1169 1163 1174 +f 1171 1164 1174 +f 1167 1171 1174 +f 1164 1172 1174 +f 1172 1169 1174 +f 1161 1166 1175 +f 1166 1163 1175 +f 1169 1161 1175 +o convex_92 +v 0.724727 -0.248314 -1.586426 +v 1.071662 -0.273083 0.371223 +v 1.071662 -0.297910 0.371223 +v 1.071662 -0.025364 -1.338661 +v 1.071662 -0.297910 -1.090425 +v 0.724727 -0.000595 -2.032544 +v 0.972499 -0.198747 0.024164 +v 0.724727 -0.297910 -1.363367 +v 1.046872 -0.000595 -1.239367 +v 0.749518 -0.074931 -2.007602 +v 0.724727 -0.000595 -1.933249 +v 0.972499 -0.273083 0.197576 +v 1.071662 -0.198747 0.197576 +f 1184 1182 1188 +f 1177 1178 1179 +f 1179 1178 1180 +f 1176 1180 1183 +f 1180 1178 1183 +f 1181 1176 1183 +f 1179 1181 1184 +f 1180 1176 1185 +f 1179 1180 1185 +f 1176 1181 1185 +f 1181 1179 1185 +f 1181 1183 1186 +f 1184 1181 1186 +f 1182 1184 1186 +f 1178 1177 1187 +f 1177 1182 1187 +f 1183 1178 1187 +f 1186 1183 1187 +f 1182 1186 1187 +f 1177 1179 1188 +f 1182 1177 1188 +f 1179 1184 1188 +o convex_93 +v -0.068273 1.288105 -2.899882 +v 0.253886 1.535867 -2.181366 +v -0.439917 1.535867 -2.082106 +v -0.068273 1.486290 -2.825437 +v -0.489547 1.288105 -2.627156 +v 0.253886 1.288105 -2.726257 +v -0.464732 1.436738 -2.230916 +v -0.489547 1.337681 -2.676707 +v -0.489547 1.535867 -2.181366 +v 0.229071 1.387234 -2.751072 +v -0.018716 1.535867 -2.651972 +v 0.253886 1.486290 -2.230916 +f 1195 1194 1200 +f 1193 1189 1194 +f 1193 1194 1195 +f 1192 1189 1196 +f 1189 1193 1196 +f 1191 1190 1197 +f 1195 1191 1197 +f 1193 1195 1197 +f 1192 1196 1197 +f 1196 1193 1197 +f 1189 1192 1198 +f 1190 1194 1198 +f 1194 1189 1198 +f 1197 1190 1199 +f 1192 1197 1199 +f 1190 1198 1199 +f 1198 1192 1199 +f 1190 1191 1200 +f 1194 1190 1200 +f 1191 1195 1200 +o convex_94 +v 0.377881 1.312893 -2.726385 +v 1.071662 1.535867 -0.892613 +v 1.071662 1.511078 -0.892613 +v 0.253886 1.535867 -2.156177 +v 0.774202 1.436738 -2.082067 +v 1.046767 1.288105 -1.388342 +v 0.253886 1.288105 -2.726385 +v 0.922852 1.511078 -0.892613 +v 1.071662 1.535867 -1.215049 +v 0.823752 1.288105 -2.057179 +v 0.303516 1.535867 -2.255360 +v 1.071662 1.337681 -1.487524 +v 0.278701 1.362445 -2.751089 +v 0.253886 1.411998 -2.379246 +v 0.600897 1.288105 -2.503316 +f 1210 1207 1215 +f 1203 1202 1208 +f 1202 1204 1208 +f 1206 1203 1208 +f 1207 1206 1208 +f 1202 1203 1209 +f 1204 1202 1209 +f 1206 1207 1210 +f 1204 1209 1211 +f 1209 1205 1211 +f 1203 1206 1212 +f 1209 1203 1212 +f 1205 1209 1212 +f 1206 1210 1212 +f 1210 1205 1212 +f 1205 1201 1213 +f 1201 1207 1213 +f 1207 1204 1213 +f 1211 1205 1213 +f 1204 1211 1213 +f 1204 1207 1214 +f 1208 1204 1214 +f 1207 1208 1214 +f 1201 1205 1215 +f 1207 1201 1215 +f 1205 1210 1215 +o convex_95 +v 0.675206 0.668633 2.725427 +v 1.046840 0.371180 1.139437 +v 1.046840 0.445528 1.139437 +v 0.997278 0.371180 1.883064 +v 1.071662 0.990707 1.362525 +v 0.650425 0.371180 2.502339 +v 0.650425 0.990707 2.551862 +v 0.947716 0.990707 1.461727 +v 0.724768 0.990707 2.551862 +v 0.799112 0.495134 2.502339 +v 0.972497 0.767602 1.883064 +v 1.071662 0.371180 1.238639 +v 0.699987 0.371180 2.551862 +v 1.022059 0.371180 1.189115 +f 1223 1218 1229 +f 1217 1219 1221 +f 1221 1216 1222 +f 1221 1222 1223 +f 1220 1218 1223 +f 1222 1220 1223 +f 1222 1216 1224 +f 1220 1222 1224 +f 1224 1216 1225 +f 1224 1225 1226 +f 1219 1220 1226 +f 1220 1224 1226 +f 1225 1219 1226 +f 1217 1218 1227 +f 1219 1217 1227 +f 1220 1219 1227 +f 1218 1220 1227 +f 1221 1219 1228 +f 1216 1221 1228 +f 1219 1225 1228 +f 1225 1216 1228 +f 1218 1217 1229 +f 1217 1221 1229 +f 1221 1223 1229 +o convex_96 +v 0.650425 1.312769 2.502320 +v 1.046840 0.990707 1.288128 +v 1.071662 0.990707 1.288128 +v 1.046840 1.535891 0.842064 +v 0.650425 1.511023 1.882651 +v 0.650425 0.990707 2.551748 +v 0.724768 1.312769 2.427918 +v 1.071662 1.535891 0.941266 +v 0.947716 0.990707 1.461904 +v 1.071662 1.015575 1.387502 +v 0.724768 0.990707 2.551748 +v 0.699987 1.535891 1.981681 +v 0.749549 1.511023 1.585562 +f 1238 1234 1242 +f 1232 1231 1233 +f 1231 1232 1235 +f 1230 1234 1235 +f 1232 1233 1237 +f 1233 1231 1238 +f 1231 1235 1238 +f 1235 1234 1238 +f 1237 1236 1239 +f 1232 1237 1239 +f 1230 1235 1240 +f 1235 1232 1240 +f 1236 1230 1240 +f 1232 1239 1240 +f 1239 1236 1240 +f 1234 1230 1241 +f 1233 1234 1241 +f 1230 1236 1241 +f 1236 1237 1241 +f 1237 1233 1241 +f 1234 1233 1242 +f 1233 1238 1242 +o convex_97 +v -0.489518 1.312861 -2.676939 +v -0.861263 0.594258 -2.528265 +v -0.861263 0.594258 -2.503440 +v -0.043487 0.693373 -3.023713 +v -0.786818 0.767687 -2.800731 +v -0.043487 1.288061 -2.850326 +v -0.786818 0.420742 -2.503440 +v -0.563883 1.312861 -2.503440 +v -0.786818 0.420742 -2.701653 +v -0.068382 1.263173 -2.924579 +v -0.093117 0.693373 -3.073308 +v -0.638248 1.312861 -2.552979 +v -0.489518 0.420742 -2.800731 +v -0.861263 0.792575 -2.503440 +f 1250 1254 1256 +f 1245 1244 1249 +f 1246 1248 1249 +f 1249 1248 1250 +f 1248 1243 1250 +f 1245 1249 1250 +f 1244 1247 1251 +f 1249 1244 1251 +f 1247 1243 1252 +f 1243 1248 1252 +f 1248 1246 1252 +f 1251 1247 1253 +f 1247 1252 1253 +f 1252 1246 1253 +f 1243 1247 1254 +f 1250 1243 1254 +f 1246 1249 1255 +f 1249 1251 1255 +f 1253 1246 1255 +f 1251 1253 1255 +f 1244 1245 1256 +f 1247 1244 1256 +f 1245 1250 1256 +f 1254 1247 1256 +o convex_98 +v -0.762139 0.420742 -2.701534 +v -0.786929 -0.297910 -2.007908 +v -0.886044 -0.173961 -2.131816 +v -1.009950 0.420742 -1.685708 +v -0.985159 -0.198723 -1.859239 +v -0.762139 -0.273078 -1.884000 +v -1.009950 0.420742 -1.983146 +v -0.985159 -0.297910 -1.685708 +v -0.960368 0.395839 -1.685708 +v -0.786929 -0.025250 -2.528003 +v -0.762139 0.420742 -2.577626 +v -0.786929 0.395839 -2.701534 +v -0.985159 -0.025250 -1.983146 +f 1263 1268 1269 +f 1260 1257 1263 +f 1263 1261 1264 +f 1259 1258 1264 +f 1261 1259 1264 +f 1258 1262 1264 +f 1260 1263 1264 +f 1260 1264 1265 +f 1264 1262 1265 +f 1258 1259 1266 +f 1259 1261 1266 +f 1262 1258 1266 +f 1257 1262 1266 +f 1257 1260 1267 +f 1262 1257 1267 +f 1260 1265 1267 +f 1265 1262 1267 +f 1263 1257 1268 +f 1257 1266 1268 +f 1268 1266 1269 +f 1261 1263 1269 +f 1266 1261 1269 +o convex_99 +v -0.737326 0.395839 -2.726307 +v -0.712540 -0.297910 -2.032658 +v -0.489573 -0.297910 -2.032658 +v -0.514359 -0.000488 -2.676731 +v -0.489573 0.420742 -2.751096 +v -0.762139 -0.025250 -2.577662 +v -0.762139 -0.273078 -1.933504 +v -0.762139 0.420742 -2.651942 +v -0.489573 -0.273078 -1.958292 +v -0.489573 -0.025250 -2.651942 +f 1275 1273 1279 +f 1273 1270 1274 +f 1270 1273 1275 +f 1271 1272 1276 +f 1275 1271 1276 +f 1275 1276 1277 +f 1274 1270 1277 +f 1270 1275 1277 +f 1274 1277 1278 +f 1272 1274 1278 +f 1276 1272 1278 +f 1277 1276 1278 +f 1272 1271 1279 +f 1273 1274 1279 +f 1274 1272 1279 +f 1271 1275 1279 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/086/086.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/086/086.urdf new file mode 100644 index 000000000..e0b616f4f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/086/086.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/087/087.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/087/087.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/087/087.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/087/087.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/087/087.obj new file mode 100644 index 000000000..a5cc34840 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/087/087.obj @@ -0,0 +1,618 @@ +o convex_0 +v -1.092530 -2.476231 -0.211028 +v -3.040556 -2.039656 -0.345465 +v -3.074313 -2.442671 0.192021 +v -1.092530 -1.938917 0.326458 +v -1.092530 -2.476231 0.326458 +v -2.939866 -1.972476 0.326458 +v -1.092530 -1.972476 -0.244637 +v -2.771856 -2.476231 -0.278246 +v -3.040556 -1.972476 -0.345465 +v -1.226977 -2.543528 -0.043047 +v -3.074313 -2.375492 0.292848 +v -2.939866 -2.375492 -0.311855 +v -1.529240 -2.543528 -0.211028 +v -3.074313 -2.442671 0.259239 +v -1.529240 -1.938917 0.124868 +v -2.838983 -2.039656 -0.345465 +v -1.999708 -1.938917 0.326458 +v -1.462114 -2.476231 0.326458 +f 11 14 18 +f 1 4 5 +f 5 4 6 +f 4 1 7 +f 2 3 9 +f 1 5 10 +f 9 3 11 +f 6 9 11 +f 3 2 12 +f 8 3 12 +f 8 12 13 +f 1 10 13 +f 12 1 13 +f 13 10 14 +f 3 8 14 +f 11 3 14 +f 8 13 14 +f 4 7 15 +f 7 9 15 +f 7 1 16 +f 2 9 16 +f 9 7 16 +f 12 2 16 +f 1 12 16 +f 6 4 17 +f 9 6 17 +f 4 15 17 +f 15 9 17 +f 5 6 18 +f 10 5 18 +f 6 11 18 +f 14 10 18 +o convex_1 +v 1.024078 1.958892 -1.050805 +v -0.924097 3.032903 1.099168 +v -0.957870 3.032903 1.099168 +v -0.353154 0.111482 1.065395 +v -1.092323 0.111022 -1.050805 +v -0.957870 4.814021 -1.017246 +v 0.923399 4.814021 1.065395 +v 1.057638 0.111022 1.031621 +v 1.091411 4.746348 -0.949912 +v -1.092323 4.746348 0.998061 +v 0.990518 0.111482 -0.983472 +v -1.058550 0.111022 0.998061 +v -1.092323 2.898939 -1.084365 +v 1.091411 3.200933 -1.050805 +v 1.057638 0.883960 1.065395 +v 0.990518 4.814021 0.561354 +v -1.092323 0.111022 0.393341 +v 0.553814 0.682324 -1.050805 +v 1.091411 2.495667 -1.050805 +v 0.755386 4.779955 -0.983472 +v -0.084462 2.764055 -1.084579 +v 0.452921 4.814021 1.065395 +v -0.252261 2.696843 1.099168 +v 1.091411 4.746348 -0.714778 +v -0.991430 4.814021 -0.882792 +v -1.024990 1.118742 1.065395 +v -1.092323 4.477501 1.031835 +v -1.024990 1.824468 -1.084365 +v -1.092323 4.746348 0.662248 +v 0.822506 0.111482 1.065395 +v -0.789858 2.059710 1.099168 +v -0.588286 4.814021 -1.017246 +v 1.024078 0.615112 -0.983472 +v 0.956959 4.578319 1.065395 +v -0.285821 0.111482 -1.050805 +v 1.057638 0.111022 0.762928 +v -1.024990 4.074229 -1.050805 +v -1.024990 0.111022 1.031835 +v -0.991430 4.814021 -0.681219 +v 1.091411 4.645991 -0.983472 +v 0.990518 3.436175 1.065395 +v 1.057638 4.780415 -0.714778 +v 0.251349 4.779955 1.065395 +v 1.091411 2.697303 -0.849232 +f 37 42 62 +f 21 20 25 +f 23 26 30 +f 23 28 31 +f 24 25 34 +f 28 23 35 +f 23 30 35 +f 19 29 36 +f 29 19 37 +f 32 27 37 +f 19 36 39 +f 37 19 39 +f 32 37 39 +f 25 24 40 +f 21 25 40 +f 20 21 41 +f 25 20 41 +f 33 26 42 +f 37 27 42 +f 40 24 43 +f 30 44 45 +f 28 35 45 +f 35 30 45 +f 44 21 45 +f 23 31 46 +f 31 39 46 +f 39 36 46 +f 31 28 47 +f 28 43 47 +f 26 33 48 +f 33 41 48 +f 48 41 49 +f 41 21 49 +f 21 44 49 +f 44 22 49 +f 22 48 49 +f 24 34 50 +f 32 39 50 +f 29 37 51 +f 34 25 52 +f 25 41 52 +f 29 23 53 +f 36 29 53 +f 23 46 53 +f 46 36 53 +f 26 23 54 +f 23 29 54 +f 37 26 54 +f 29 51 54 +f 51 37 54 +f 39 31 55 +f 43 24 55 +f 31 47 55 +f 47 43 55 +f 24 50 55 +f 50 39 55 +f 30 26 56 +f 22 44 56 +f 44 30 56 +f 48 22 56 +f 26 48 56 +f 28 40 57 +f 43 28 57 +f 40 43 57 +f 27 32 58 +f 38 27 58 +f 32 50 58 +f 50 38 58 +f 41 33 59 +f 33 42 59 +f 42 34 59 +f 34 52 59 +f 52 41 59 +f 27 38 60 +f 42 27 60 +f 34 42 60 +f 50 34 60 +f 38 50 60 +f 21 40 61 +f 40 28 61 +f 28 45 61 +f 45 21 61 +f 26 37 62 +f 42 26 62 +o convex_2 +v 1.091786 -2.577124 0.158451 +v 2.972465 -2.006046 -0.043073 +v 2.972465 -2.006046 -0.211028 +v 1.091786 -2.006046 0.259266 +v 3.006390 -2.509876 0.192073 +v 1.091786 -2.543472 -0.278272 +v 1.091786 -2.039642 -0.177458 +v 2.938915 -2.476280 -0.211028 +v 2.972465 -2.039642 0.259266 +v 2.132776 -2.241219 0.259266 +v 2.670140 -2.543472 0.124881 +v 2.535752 -2.106835 -0.244650 +v 1.091786 -2.543472 0.192073 +v 2.166326 -2.006046 -0.211028 +v 1.091786 -2.442684 -0.278272 +v 2.300714 -2.509876 -0.244650 +v 3.006390 -2.207623 0.259266 +f 71 72 79 +f 64 65 66 +f 63 66 68 +f 68 66 69 +f 65 67 70 +f 64 66 71 +f 71 66 72 +f 67 63 73 +f 63 68 73 +f 70 67 73 +f 65 70 74 +f 66 63 75 +f 63 67 75 +f 67 72 75 +f 72 66 75 +f 66 65 76 +f 69 66 76 +f 65 74 76 +f 76 74 77 +f 68 69 77 +f 74 68 77 +f 69 76 77 +f 73 68 78 +f 70 73 78 +f 68 74 78 +f 74 70 78 +f 65 64 79 +f 67 65 79 +f 64 71 79 +f 72 67 79 +o convex_3 +v -0.285977 -0.494139 -2.965755 +v 0.251509 0.043346 -1.051184 +v 0.184264 0.043346 -1.051184 +v 0.150641 0.076969 -2.965755 +v 0.217886 -0.527761 -2.394693 +v -0.185228 -0.494139 -1.051184 +v -0.319599 -0.023839 -2.461688 +v -0.185228 0.009724 -1.051184 +v 0.217886 -0.494139 -1.051184 +v 0.184264 -0.527761 -2.999252 +v -0.353222 -0.057462 -3.100346 +v -0.218791 -0.527761 -1.252770 +v 0.217886 0.076969 -2.831363 +v 0.251509 -0.258960 -1.823832 +v -0.285977 -0.527761 -2.831363 +v -0.218791 0.009724 -1.185575 +v -0.353222 -0.158211 -2.999252 +v -0.319599 -0.023839 -3.100346 +v 0.251509 -0.326086 -1.051184 +v 0.217886 -0.460517 -2.764168 +v 0.217886 -0.527761 -1.588748 +f 84 98 100 +f 81 82 85 +f 85 82 87 +f 81 85 88 +f 89 80 90 +f 88 85 91 +f 89 84 91 +f 82 81 92 +f 83 82 92 +f 89 83 92 +f 92 81 93 +f 80 89 94 +f 89 91 94 +f 82 83 95 +f 87 82 95 +f 85 87 95 +f 91 85 95 +f 86 91 95 +f 90 80 96 +f 86 90 96 +f 91 86 96 +f 80 94 96 +f 94 91 96 +f 83 89 97 +f 90 86 97 +f 89 90 97 +f 95 83 97 +f 86 95 97 +f 81 88 98 +f 93 81 98 +f 84 93 98 +f 84 89 99 +f 89 92 99 +f 93 84 99 +f 92 93 99 +f 91 84 100 +f 88 91 100 +f 98 88 100 +o convex_4 +v 0.520169 -4.257101 0.024007 +v -0.588394 -3.585383 -0.547041 +v -0.588394 -3.585383 -0.244587 +v -0.453934 -5.298245 -0.513399 +v -0.453934 -5.231112 0.527988 +v 0.486635 -3.350029 0.527988 +v 0.486635 -5.332006 0.393528 +v 0.520169 -3.350029 -0.446223 +v -0.588394 -3.350029 0.561631 +v 0.520169 -5.163785 -0.479757 +v -0.588394 -3.350029 -0.547041 +v 0.385709 -5.332006 0.494346 +v -0.185231 -3.786588 -0.547041 +v -0.487576 -5.197546 -0.379048 +v -0.050771 -3.383596 0.561631 +v -0.084413 -5.264679 -0.513399 +v -0.588394 -3.484295 0.561631 +v 0.352175 -3.350029 -0.479757 +v 0.486635 -3.887481 0.527988 +v 0.520278 -5.231112 -0.211054 +v -0.521110 -4.391173 -0.547041 +v 0.520169 -3.350029 0.091183 +v 0.251357 -4.760599 -0.513399 +v -0.487576 -4.089269 0.561631 +v 0.049721 -5.332006 0.091074 +v 0.520169 -4.290668 -0.479757 +f 123 113 126 +f 102 103 109 +f 106 108 109 +f 102 109 111 +f 109 108 111 +f 102 111 113 +f 103 102 114 +f 102 104 114 +f 104 105 114 +f 106 109 115 +f 109 103 117 +f 103 114 117 +f 114 105 117 +f 115 109 117 +f 111 108 118 +f 113 111 118 +f 107 101 119 +f 112 107 119 +f 106 115 119 +f 101 107 120 +f 107 116 120 +f 116 110 120 +f 104 102 121 +f 102 113 121 +f 116 104 121 +f 108 106 122 +f 119 101 122 +f 106 119 122 +f 101 120 122 +f 120 108 122 +f 110 116 123 +f 121 113 123 +f 116 121 123 +f 105 112 124 +f 117 105 124 +f 115 117 124 +f 112 119 124 +f 119 115 124 +f 105 104 125 +f 112 105 125 +f 107 112 125 +f 104 116 125 +f 116 107 125 +f 118 108 126 +f 113 118 126 +f 108 120 126 +f 120 110 126 +f 110 123 126 +o convex_5 +v 1.057638 0.110565 1.031802 +v -1.092336 -0.561357 -1.050983 +v -1.092336 0.110565 -1.050983 +v -1.058563 -0.124634 1.031595 +v 0.956958 -0.561357 -0.950086 +v 1.091411 -0.561357 1.031802 +v 0.990518 0.110565 -0.983649 +v -1.058563 -0.561357 0.998239 +v -1.025003 0.110565 1.031595 +v 0.217784 -0.494139 -1.050983 +v -0.084469 -0.494139 1.065572 +v -1.092336 0.110565 0.426835 +v 0.822504 0.110565 1.065365 +v 0.251344 0.043346 -1.050983 +v -1.092336 -0.561357 0.729318 +v 0.990518 -0.326093 -0.950086 +v -0.353162 0.110565 1.065572 +v 1.057638 0.110565 0.763089 +f 132 133 144 +f 128 131 132 +f 129 127 133 +f 128 132 134 +f 127 129 135 +f 128 129 136 +f 131 128 136 +f 133 131 136 +f 130 134 137 +f 134 132 137 +f 129 128 138 +f 135 129 138 +f 130 135 138 +f 132 127 139 +f 127 135 139 +f 137 132 139 +f 129 133 140 +f 136 129 140 +f 133 136 140 +f 128 134 141 +f 134 130 141 +f 138 128 141 +f 130 138 141 +f 132 131 142 +f 133 132 142 +f 131 133 142 +f 135 130 143 +f 130 137 143 +f 139 135 143 +f 137 139 143 +f 127 132 144 +f 133 127 144 +o convex_6 +v -0.286010 0.076969 2.006507 +v 0.318701 0.009724 1.636923 +v 0.318701 -0.023839 1.636923 +v 0.251469 -0.124647 3.047549 +v -0.218778 -0.460517 1.065766 +v -0.319625 -0.527761 2.980229 +v 0.217853 -0.527761 1.065766 +v -0.319625 0.043346 1.065766 +v 0.285085 -0.460517 2.913102 +v -0.218778 0.076969 2.946666 +v 0.318701 0.009724 1.065766 +v 0.217853 0.009724 3.047549 +v -0.319625 -0.527761 2.442829 +v -0.050824 0.076969 2.980229 +v -0.084440 -0.527761 2.946666 +v -0.319625 0.076969 1.401787 +v 0.318701 -0.124647 1.065766 +v -0.319625 -0.359768 2.946666 +v -0.319625 -0.091025 1.065766 +v 0.285085 0.009724 2.476392 +v 0.049899 0.043346 1.065766 +v 0.083515 -0.527761 1.065766 +v 0.150684 -0.494139 2.946666 +f 159 151 167 +f 151 149 152 +f 147 146 153 +f 146 147 155 +f 151 152 155 +f 150 148 156 +f 154 150 156 +f 151 150 157 +f 150 152 157 +f 145 154 158 +f 146 155 158 +f 154 156 158 +f 150 151 159 +f 152 150 160 +f 145 158 160 +f 147 153 161 +f 153 151 161 +f 155 147 161 +f 151 155 161 +f 154 145 162 +f 150 154 162 +f 145 160 162 +f 160 150 162 +f 152 149 163 +f 149 157 163 +f 157 152 163 +f 153 146 164 +f 148 153 164 +f 156 148 164 +f 146 158 164 +f 158 156 164 +f 155 152 165 +f 158 155 165 +f 152 160 165 +f 160 158 165 +f 149 151 166 +f 157 149 166 +f 151 157 166 +f 148 150 167 +f 153 148 167 +f 151 153 167 +f 150 159 167 +o convex_7 +v 1.091411 -2.375768 0.225488 +v -1.058563 -2.879305 -1.017387 +v -1.058563 -1.938936 -1.017387 +v -1.025003 -3.114501 1.099168 +v 0.990518 -3.181621 -0.983616 +v -1.058563 -1.938936 1.031835 +v 1.024078 -3.349697 0.964501 +v 0.956958 -1.938936 -0.949846 +v 1.057638 -1.938936 0.998271 +v -1.025003 -3.349697 -1.017387 +v -0.991443 -3.282439 1.099168 +v 0.520037 -3.349697 -0.445983 +v -1.092336 -2.476448 0.326385 +v -0.588296 -3.349697 0.561535 +v 1.091411 -2.039754 -0.177270 +v 0.352238 -3.248879 -1.017387 +v -0.621856 -3.282439 1.099168 +v 1.091411 -2.543706 -0.277960 +v 0.990518 -2.610826 -0.983616 +v 1.057638 -2.644386 0.998271 +v -0.991443 -2.812186 1.099168 +v -1.092336 -1.972635 -0.244397 +v -0.487616 -1.938936 -1.017387 +v 1.024078 -3.282439 -0.042810 +v -1.025003 -3.315999 0.292822 +v 0.990518 -3.215319 -0.916283 +v -1.092336 -2.543706 -0.177270 +v -0.991443 -2.274950 1.065398 +v -1.092336 -1.938936 0.326385 +f 189 180 196 +f 170 173 175 +f 175 173 176 +f 169 170 177 +f 174 177 179 +f 171 173 180 +f 177 174 181 +f 174 178 181 +f 175 176 182 +f 176 168 182 +f 177 170 183 +f 179 177 183 +f 178 174 184 +f 171 178 184 +f 168 174 185 +f 182 168 185 +f 182 185 186 +f 175 182 186 +f 172 183 186 +f 185 172 186 +f 174 168 187 +f 168 176 187 +f 176 184 187 +f 184 174 187 +f 173 171 188 +f 171 184 188 +f 184 176 188 +f 170 169 189 +f 170 175 190 +f 183 170 190 +f 175 186 190 +f 186 183 190 +f 174 179 191 +f 185 174 191 +f 178 171 192 +f 171 180 192 +f 177 181 192 +f 181 178 192 +f 183 172 193 +f 179 183 193 +f 172 185 193 +f 191 179 193 +f 185 191 193 +f 169 177 194 +f 189 169 194 +f 180 189 194 +f 192 180 194 +f 177 192 194 +f 176 173 195 +f 173 188 195 +f 188 176 195 +f 173 170 196 +f 180 173 196 +f 170 189 196 +o convex_8 +v 1.091411 -1.266728 0.729430 +v -1.092336 -0.863890 -1.050779 +v -1.092336 -0.561492 -1.050779 +v -1.058563 -1.736975 1.031772 +v 0.956958 -1.938663 -0.950066 +v 1.091411 -0.561492 1.031976 +v 0.956958 -0.561492 -0.950066 +v -1.058563 -0.561492 0.998133 +v -1.058563 -1.938663 -1.017140 +v 1.091411 -1.938663 0.998133 +v -1.058563 -1.938663 1.031772 +v 0.419571 -0.595197 -1.017344 +v -1.092336 -1.434712 0.998133 +v 1.091411 -1.804249 1.031976 +v -0.487616 -1.938663 -1.017140 +v -1.092336 -0.561492 0.762865 +v -1.092336 -1.535421 -1.017140 +v 0.654491 -0.561492 1.031976 +v -0.722536 -0.561492 -1.050779 +f 208 211 215 +f 197 201 203 +f 199 202 203 +f 202 197 203 +f 202 199 204 +f 205 201 206 +f 201 197 206 +f 197 202 206 +f 205 206 207 +f 203 201 208 +f 199 198 209 +f 200 204 209 +f 207 200 209 +f 206 202 210 +f 207 206 210 +f 205 198 211 +f 201 205 211 +f 208 201 211 +f 204 199 212 +f 199 209 212 +f 209 204 212 +f 198 205 213 +f 205 207 213 +f 209 198 213 +f 207 209 213 +f 204 200 214 +f 202 204 214 +f 200 207 214 +f 210 202 214 +f 207 210 214 +f 198 199 215 +f 199 203 215 +f 203 208 215 +f 211 198 215 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/087/087.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/087/087.urdf new file mode 100644 index 000000000..a7c355ad3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/087/087.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/088/088.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/088/088.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/088/088.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/088/088.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/088/088.obj new file mode 100644 index 000000000..d4ae855d5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/088/088.obj @@ -0,0 +1,378 @@ +o convex_0 +v 0.572344 2.366593 -0.115974 +v -1.064481 -1.264187 0.037285 +v -1.064481 -1.264187 0.062731 +v 0.777025 -3.489420 -0.013609 +v 0.009628 -0.447084 1.009078 +v -0.066947 -1.264187 -0.959956 +v -0.629458 2.392430 -0.090334 +v -0.808682 -3.437746 0.037285 +v 0.725701 1.138677 0.702176 +v 0.700244 1.138677 -0.653053 +v -0.731901 1.114132 0.778901 +v -0.015829 -3.463583 0.778709 +v -0.757358 1.164515 -0.678693 +v -0.015829 -3.438392 -0.755225 +v -0.808682 -1.238350 0.804541 +v -0.808682 -1.187321 -0.729779 +v 0.802481 -1.212512 0.727815 +v 0.981499 0.627746 -0.013609 +v 0.751363 -1.212512 -0.729779 +v -0.015829 2.265182 0.599811 +v -0.015829 2.162478 -0.678693 +v -0.041285 -4.205758 -0.013801 +v -0.987700 1.165161 0.114010 +v 1.032823 -1.263541 -0.013609 +v 0.035290 1.114132 0.957799 +v -0.015829 1.190352 -0.883230 +v -0.501764 2.392430 -0.499602 +v 0.009628 -1.392081 1.009078 +v 0.393326 2.392430 0.395273 +v 0.572344 -2.900977 0.574364 +v -0.476102 2.392430 0.369827 +v -0.629458 -2.849302 -0.525241 +v 0.572344 -2.900977 -0.550688 +v -0.604002 -2.875140 0.600003 +v 0.470107 2.392430 -0.448516 +v 0.956043 1.165161 0.011838 +v -0.936581 1.139323 -0.192699 +v 0.572344 1.932527 0.523278 +v 0.725701 -1.212512 0.778901 +v 0.777025 -3.489420 0.037285 +v -0.808682 -3.437746 -0.013609 +v 0.112071 -1.161484 -0.934509 +v -0.578340 1.983556 0.548725 +v -0.118066 1.114132 -0.883230 +v -0.834138 -1.135647 -0.704139 +v -0.629458 1.957718 -0.576328 +v -0.834138 1.829824 0.037285 +v 0.674582 1.113486 -0.678693 +v -0.194847 -1.213158 0.983632 +v -0.041285 -4.205758 0.037092 +v 0.777025 1.855661 -0.039248 +v 0.009628 1.778795 0.778709 +v 1.032823 -1.263541 0.037285 +v 0.777025 1.037266 0.625450 +v -1.064481 -1.161484 -0.013609 +v -0.808682 1.164515 -0.601967 +v 0.009628 -3.438392 -0.755225 +v -0.041285 -3.463583 0.778709 +v 0.802481 -1.212512 -0.627606 +v -1.013156 0.908726 0.088371 +v 0.572344 1.906044 -0.550688 +v -0.066947 -0.804930 -0.959956 +v 0.572344 2.393076 0.011838 +v 0.035290 2.393076 -0.601967 +f 63 35 64 +f 3 2 8 +f 3 8 15 +f 6 14 16 +f 11 5 25 +f 20 29 31 +f 16 14 32 +f 19 4 33 +f 15 8 34 +f 18 10 36 +f 29 20 38 +f 9 36 38 +f 17 9 39 +f 25 5 39 +f 9 25 39 +f 5 28 39 +f 28 12 39 +f 12 30 39 +f 30 17 39 +f 22 4 40 +f 4 24 40 +f 30 12 40 +f 17 30 40 +f 8 2 41 +f 22 8 41 +f 14 22 41 +f 32 14 41 +f 20 31 43 +f 21 26 44 +f 13 16 45 +f 16 32 45 +f 32 41 45 +f 27 21 46 +f 7 27 46 +f 44 13 46 +f 21 44 46 +f 23 11 47 +f 31 7 47 +f 37 23 47 +f 11 43 47 +f 43 31 47 +f 7 46 47 +f 46 37 47 +f 10 19 48 +f 19 42 48 +f 42 26 48 +f 5 11 49 +f 11 15 49 +f 28 5 49 +f 8 22 50 +f 22 40 50 +f 40 12 50 +f 35 1 51 +f 38 36 51 +f 25 9 52 +f 11 25 52 +f 9 38 52 +f 38 20 52 +f 43 11 52 +f 20 43 52 +f 24 18 53 +f 18 36 53 +f 40 24 53 +f 17 40 53 +f 9 17 54 +f 36 9 54 +f 17 53 54 +f 53 36 54 +f 2 3 55 +f 41 2 55 +f 45 41 55 +f 45 55 56 +f 13 45 56 +f 46 13 56 +f 37 46 56 +f 55 37 56 +f 14 6 57 +f 4 22 57 +f 22 14 57 +f 33 4 57 +f 19 33 57 +f 6 42 57 +f 42 19 57 +f 12 28 58 +f 34 8 58 +f 15 34 58 +f 49 15 58 +f 28 49 58 +f 8 50 58 +f 50 12 58 +f 10 18 59 +f 19 10 59 +f 4 19 59 +f 24 4 59 +f 18 24 59 +f 3 15 60 +f 15 11 60 +f 11 23 60 +f 23 37 60 +f 55 3 60 +f 37 55 60 +f 26 21 61 +f 36 10 61 +f 10 48 61 +f 48 26 61 +f 35 51 61 +f 51 36 61 +f 16 13 62 +f 6 16 62 +f 42 6 62 +f 26 42 62 +f 13 44 62 +f 44 26 62 +f 31 29 63 +f 1 35 63 +f 29 38 63 +f 51 1 63 +f 38 51 63 +f 21 27 64 +f 27 7 64 +f 7 31 64 +f 61 21 64 +f 35 61 64 +f 31 63 64 +o convex_1 +v 0.495596 3.800187 0.037290 +v -0.603982 2.393076 -0.141608 +v -0.552849 2.393076 -0.320616 +v -0.066861 5.871190 -0.013824 +v -0.092542 2.393076 0.523310 +v 0.470030 2.393416 -0.448511 +v -0.015844 5.359482 -0.422954 +v -0.450584 5.282879 0.011623 +v -0.015844 5.282879 0.395416 +v 0.393331 2.393416 0.395306 +v 0.367765 5.410892 -0.013934 +v -0.450584 2.879249 0.395306 +v -0.066861 2.393076 -0.602072 +v -0.450584 3.902324 -0.448511 +v 0.418897 3.748778 -0.422954 +v 0.572294 2.393416 0.011623 +v 0.342198 3.953393 0.344192 +v -0.425018 3.902324 0.369749 +v 0.009723 3.979268 -0.550848 +v -0.578415 3.595572 -0.013934 +v -0.015844 3.723584 0.497643 +v -0.476151 2.393076 -0.499735 +v -0.501717 2.393076 0.293078 +v -0.348320 5.001321 -0.320616 +v 0.291066 5.001661 -0.320616 +v -0.117993 5.308414 0.369749 +v 0.495596 3.876790 -0.116051 +v 0.265500 4.950253 0.267522 +v -0.348320 5.027196 0.267411 +v 0.035289 2.546963 -0.602072 +v -0.425018 5.333948 -0.064828 +v -0.066861 3.749118 0.497643 +v 0.367765 5.385357 -0.064828 +v 0.035289 2.495894 0.523310 +v -0.066861 3.902324 -0.550848 +v -0.015844 5.871190 0.011733 +v -0.552849 3.927859 -0.090384 +v -0.603982 2.623566 0.011623 +v 0.393331 2.598031 0.395306 +v -0.117993 5.308414 -0.397397 +v 0.572294 2.495553 -0.064828 +v -0.015844 5.436085 0.344192 +v -0.425018 5.359823 0.037290 +v -0.450584 2.393076 0.395306 +v -0.015844 5.845315 -0.064938 +v 0.418897 3.953393 -0.397287 +v 0.367765 5.385357 0.011623 +v 0.495596 4.055530 -0.013934 +v 0.239819 3.902324 0.395416 +v 0.393331 3.927859 -0.422954 +v -0.066861 5.845315 0.037290 +v -0.373886 3.877130 0.395306 +v -0.476151 2.521428 -0.499735 +v 0.035289 5.359482 -0.397397 +v -0.041295 5.359482 -0.422954 +v -0.476151 4.976127 -0.039381 +v -0.066861 5.282879 0.395416 +v -0.552849 4.055530 -0.013934 +v -0.066861 2.905124 0.523310 +v -0.066861 5.768713 -0.116051 +v 0.214252 5.052730 0.293078 +v -0.041295 2.700509 -0.602072 +v -0.578415 3.595572 -0.064828 +v -0.476151 3.160808 -0.474068 +f 127 78 128 +f 66 67 69 +f 69 67 77 +f 74 69 80 +f 69 77 80 +f 77 70 80 +f 77 67 86 +f 66 69 87 +f 72 82 93 +f 82 90 93 +f 70 77 94 +f 79 70 94 +f 83 79 94 +f 88 78 95 +f 85 73 96 +f 69 74 98 +f 76 82 102 +f 82 84 102 +f 66 87 102 +f 87 76 102 +f 80 65 103 +f 74 80 103 +f 65 81 103 +f 98 74 103 +f 85 98 103 +f 78 88 104 +f 88 95 104 +f 80 70 105 +f 72 93 107 +f 93 90 107 +f 68 95 107 +f 95 72 107 +f 69 76 108 +f 87 69 108 +f 76 87 108 +f 75 97 109 +f 68 100 109 +f 100 75 109 +f 70 79 110 +f 89 97 110 +f 97 91 110 +f 105 70 110 +f 91 105 110 +f 81 65 111 +f 92 81 111 +f 75 100 111 +f 100 106 111 +f 65 80 112 +f 97 75 112 +f 91 97 112 +f 80 105 112 +f 105 91 112 +f 111 65 112 +f 75 111 112 +f 81 73 113 +f 73 85 113 +f 103 81 113 +f 85 103 113 +f 83 71 114 +f 79 83 114 +f 110 79 114 +f 89 110 114 +f 100 68 115 +f 90 106 115 +f 106 100 115 +f 68 107 115 +f 107 90 115 +f 82 76 116 +f 86 67 117 +f 77 86 117 +f 97 89 118 +f 71 109 118 +f 109 97 118 +f 114 71 118 +f 89 114 118 +f 71 83 119 +f 99 78 119 +f 83 99 119 +f 78 104 119 +f 109 71 119 +f 72 95 120 +f 95 78 120 +f 78 101 120 +f 90 82 121 +f 96 73 121 +f 106 90 121 +f 73 106 121 +f 82 116 121 +f 116 96 121 +f 82 72 122 +f 84 82 122 +f 72 120 122 +f 120 101 122 +f 76 69 123 +f 85 96 123 +f 69 98 123 +f 98 85 123 +f 116 76 123 +f 96 116 123 +f 95 68 124 +f 104 95 124 +f 68 109 124 +f 119 104 124 +f 109 119 124 +f 73 81 125 +f 81 92 125 +f 106 73 125 +f 92 111 125 +f 111 106 125 +f 94 77 126 +f 83 94 126 +f 99 83 126 +f 77 117 126 +f 117 99 126 +f 67 66 127 +f 101 78 127 +f 66 102 127 +f 102 84 127 +f 84 122 127 +f 122 101 127 +f 78 99 128 +f 117 67 128 +f 99 117 128 +f 67 127 128 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/088/088.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/088/088.urdf new file mode 100644 index 000000000..a29c88965 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/088/088.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/089/089.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/089/089.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/089/089.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/089/089.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/089/089.obj new file mode 100644 index 000000000..ceaa5314c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/089/089.obj @@ -0,0 +1,582 @@ +o convex_0 +v 0.834921 -2.920813 0.327954 +v 2.386543 -3.013958 -0.354910 +v 2.386543 -2.982946 -0.354910 +v 2.914444 -3.417437 0.265857 +v 0.586525 -3.355304 -0.261664 +v 2.914444 -2.889802 0.172745 +v 0.586525 -2.858681 -0.261664 +v 2.945311 -3.417437 -0.199635 +v 0.586525 -3.293226 0.203760 +v 3.069509 -2.858790 -0.354910 +v 0.586525 -2.982946 0.327954 +v 2.448763 -3.417437 0.265857 +v 0.586525 -3.324238 -0.292746 +v 0.586525 -2.858681 -0.106523 +v 2.262345 -2.889802 0.234842 +v 2.231478 -3.417437 -0.199635 +v 0.741833 -3.324238 0.203760 +v 2.914444 -3.324238 0.265857 +v 0.959118 -2.858681 -0.292746 +v 3.007532 -2.982946 -0.354910 +v 3.069509 -2.951880 -0.261731 +v 0.586525 -2.889802 0.172678 +v 1.518130 -2.858790 -0.106523 +v 0.586525 -3.355304 -0.168553 +v 2.417653 -3.386316 -0.230716 +f 13 20 25 +f 7 5 9 +f 2 3 10 +f 4 1 11 +f 7 9 11 +f 8 4 12 +f 4 11 12 +f 3 2 13 +f 5 7 13 +f 7 11 14 +f 8 12 16 +f 5 13 16 +f 13 8 16 +f 11 9 17 +f 12 11 17 +f 1 4 18 +f 15 1 18 +f 6 15 18 +f 10 3 19 +f 3 13 19 +f 13 7 19 +f 14 10 19 +f 7 14 19 +f 2 10 20 +f 10 8 20 +f 13 2 20 +f 4 8 21 +f 10 6 21 +f 8 10 21 +f 18 4 21 +f 6 18 21 +f 11 1 22 +f 14 11 22 +f 1 15 22 +f 15 14 22 +f 6 10 23 +f 10 14 23 +f 15 6 23 +f 14 15 23 +f 9 5 24 +f 16 12 24 +f 5 16 24 +f 17 9 24 +f 12 17 24 +f 8 13 25 +f 20 8 25 +o convex_1 +v 1.735344 0.587049 0.017564 +v 1.176669 1.269906 -0.261747 +v 1.549119 1.238758 -0.168624 +v 3.038534 0.649145 -0.292750 +v 3.007528 1.083551 0.265930 +v 1.145473 1.083551 0.234812 +v 1.145473 0.680227 -0.323868 +v 3.007528 0.618131 0.265930 +v 3.100736 1.176662 -0.230687 +v 1.207675 0.587049 0.234812 +v 1.145473 1.269906 -0.292750 +v 2.666084 0.649145 -0.323868 +v 2.914511 1.207743 -0.168624 +v 2.107602 1.083551 0.265930 +v 1.145473 0.587049 0.079569 +v 3.069539 0.835367 -0.292750 +v 1.145473 1.114633 0.203810 +v 1.207675 0.959426 -0.323868 +v 2.697090 0.618131 -0.199685 +v 3.038534 0.680227 0.234812 +v 2.231624 0.618131 0.265930 +v 1.362894 0.649145 -0.261747 +v 3.038534 1.114633 0.172750 +f 45 34 48 +f 26 33 35 +f 32 31 36 +f 27 28 38 +f 36 27 38 +f 34 36 38 +f 33 30 39 +f 31 35 39 +f 31 32 40 +f 26 35 40 +f 35 31 40 +f 36 34 41 +f 37 36 41 +f 29 37 41 +f 28 27 42 +f 30 28 42 +f 27 36 42 +f 36 31 42 +f 39 30 42 +f 31 39 42 +f 32 36 43 +f 36 37 43 +f 37 32 43 +f 33 26 44 +f 29 33 44 +f 37 29 44 +f 33 29 45 +f 30 33 45 +f 29 41 45 +f 41 34 45 +f 35 33 46 +f 33 39 46 +f 39 35 46 +f 32 37 47 +f 26 40 47 +f 40 32 47 +f 44 26 47 +f 37 44 47 +f 28 30 48 +f 38 28 48 +f 34 38 48 +f 30 45 48 +o convex_2 +v -2.331239 -3.355274 0.172765 +v -1.058902 -2.734513 -0.199694 +v -1.058902 -2.734513 -0.230705 +v -2.982948 -2.796676 -0.261781 +v -1.058902 -3.417303 -0.323868 +v -1.058902 -2.858772 0.265927 +v -3.076192 -3.324193 -0.261781 +v -2.920985 -2.889787 0.234852 +v -1.058902 -3.386289 0.328014 +v -3.107274 -3.293178 0.265927 +v -2.858822 -2.765661 -0.323868 +v -1.959063 -3.386289 -0.323868 +v -1.493642 -3.386289 0.328014 +v -2.734696 -2.858772 0.203840 +v -1.152147 -2.734513 -0.261781 +v -3.014029 -3.013979 -0.323868 +v -1.058902 -3.231082 -0.323868 +v -1.089984 -3.417303 0.234852 +v -1.772975 -2.858772 0.265927 +v -3.107274 -3.231082 0.265927 +v -1.431479 -3.417303 -0.230705 +v -1.183228 -3.262163 0.328014 +v -2.455364 -2.765661 -0.323868 +v -2.952066 -2.827757 0.017579 +v -1.183228 -2.765661 -0.044444 +v -2.952066 -3.324193 -0.292792 +v -2.889904 -3.324193 0.203840 +f 55 69 75 +f 51 50 53 +f 53 50 54 +f 53 54 57 +f 59 53 60 +f 50 51 63 +f 59 50 63 +f 55 52 64 +f 52 59 64 +f 59 60 64 +f 51 53 65 +f 53 59 65 +f 63 51 65 +f 53 57 66 +f 57 61 66 +f 62 56 67 +f 52 55 68 +f 55 58 68 +f 58 61 68 +f 60 53 69 +f 55 60 69 +f 53 66 69 +f 66 49 69 +f 57 54 70 +f 61 57 70 +f 54 67 70 +f 67 56 70 +f 56 68 70 +f 68 61 70 +f 59 63 71 +f 65 59 71 +f 63 65 71 +f 50 59 72 +f 59 52 72 +f 56 62 72 +f 52 68 72 +f 68 56 72 +f 54 50 73 +f 67 54 73 +f 62 67 73 +f 50 72 73 +f 72 62 73 +f 60 55 74 +f 55 64 74 +f 64 60 74 +f 58 55 75 +f 61 58 75 +f 49 66 75 +f 66 61 75 +f 69 49 75 +o convex_3 +v -2.765778 0.680211 -0.199627 +v -2.486445 1.238864 0.296899 +v -2.486445 1.238864 0.265851 +v -1.058902 0.555940 0.358996 +v -1.058902 1.083642 -0.199627 +v -2.982948 0.555940 0.358996 +v -3.107274 1.114593 -0.168579 +v -1.058902 0.618042 -0.261723 +v -1.058902 1.176762 0.327948 +v -2.952066 1.207780 0.296899 +v -3.107274 0.711162 -0.168579 +v -1.803856 0.959371 0.358996 +v -3.014029 0.555940 0.265851 +v -2.982948 1.238864 0.172768 +v -1.524523 0.711162 -0.261723 +v -1.058902 0.555940 0.110672 +v -2.982948 0.711162 0.358996 +v -1.338435 0.618042 -0.261723 +v -3.045110 1.145678 -0.137531 +v -3.045110 0.711162 -0.199627 +v -3.107274 1.114593 -0.106483 +v -1.121065 0.773265 -0.261723 +v -1.058902 0.928420 0.358996 +f 84 87 98 +f 80 79 83 +f 78 77 84 +f 79 80 84 +f 80 78 84 +f 84 77 85 +f 81 79 87 +f 84 85 87 +f 79 81 88 +f 77 78 89 +f 78 80 89 +f 85 77 89 +f 83 79 91 +f 79 88 91 +f 81 87 92 +f 87 85 92 +f 88 81 92 +f 88 76 93 +f 90 83 93 +f 83 91 93 +f 91 88 93 +f 80 82 94 +f 89 80 94 +f 82 89 94 +f 86 82 95 +f 76 88 95 +f 88 86 95 +f 82 90 95 +f 93 76 95 +f 90 93 95 +f 82 86 96 +f 86 88 96 +f 89 82 96 +f 85 89 96 +f 92 85 96 +f 88 92 96 +f 82 80 97 +f 80 83 97 +f 90 82 97 +f 83 90 97 +f 79 84 98 +f 87 79 98 +o convex_4 +v 1.145269 1.114356 0.203558 +v -1.058702 0.339521 -0.385590 +v -1.027635 1.269323 -0.603219 +v -0.934437 3.814427 1.073023 +v 1.021004 3.907408 -1.068876 +v 1.083137 -2.206799 1.010753 +v 1.114203 -2.175197 -1.006607 +v -1.027635 -2.175197 0.917664 +v 1.083137 4.001603 1.041783 +v -0.934437 -2.082217 -1.068876 +v -0.934437 3.939008 -1.037637 +v -1.058702 1.145349 0.327887 +v -0.499942 -2.206799 -0.541159 +v 1.052071 3.938401 -0.913307 +v 1.114203 -1.523121 -1.037637 +v -0.965503 3.814427 -1.006607 +v -0.034166 -2.206799 0.979723 +v 1.145269 1.269323 -0.292710 +v -0.158430 3.908015 1.073023 +v -0.934437 1.113748 -1.068876 +v -1.058702 1.765825 -0.385590 +v -0.934437 3.317925 1.073023 +v 1.083137 0.556475 1.041783 +v -0.965503 3.473500 0.979723 +v -0.313545 -2.113210 -1.068876 +v -0.965503 -1.740682 -0.975367 +v -0.996569 -1.771676 0.948694 +v 1.114203 -2.175197 -0.044262 +v 0.617576 4.001603 0.576126 +v 0.027966 3.908015 -1.068876 +v 1.052071 3.846028 -1.068876 +v 1.052071 2.231941 -1.068876 +v 0.710559 -2.206799 1.010753 +v 1.083137 3.970002 0.358707 +v 1.145269 0.711442 0.234588 +v 0.586294 -2.206799 -0.447860 +v -0.903371 -2.113210 -1.068876 +v 0.151800 3.876414 1.073023 +v -0.934437 3.846028 0.917664 +v -1.027635 -2.175197 0.793544 +v -0.717190 -2.206799 0.669425 +v -0.841238 3.939008 -0.696308 +v -1.027635 -1.647702 0.917664 +v 0.896740 -2.143596 -1.037637 +v 0.834823 4.001603 1.010753 +v -0.965503 3.069371 1.041783 +v 0.276064 3.939008 -1.037637 +v -1.058702 0.555867 0.358707 +v 1.052071 4.001603 0.607155 +v 1.083137 -2.206799 0.141708 +v 1.145269 0.680449 -0.323740 +v 1.114203 -1.275174 -1.037637 +v -0.996569 -2.175197 0.452006 +v -0.965503 -2.113210 -0.665069 +v -0.779106 -2.175197 0.948694 +v 1.145269 0.588076 0.203558 +v -0.965503 2.045373 1.041783 +v 0.865674 -2.175197 -1.006607 +f 111 135 156 +f 111 104 115 +f 107 99 116 +f 103 108 118 +f 108 114 118 +f 114 109 118 +f 101 100 119 +f 100 110 119 +f 114 101 119 +f 117 102 120 +f 120 104 121 +f 119 110 122 +f 114 119 122 +f 108 103 123 +f 100 101 124 +f 101 114 124 +f 114 108 124 +f 104 105 126 +f 103 118 128 +f 118 109 128 +f 103 112 129 +f 123 103 129 +f 123 129 130 +f 113 123 130 +f 129 113 130 +f 115 104 131 +f 104 120 131 +f 112 107 132 +f 107 116 132 +f 129 112 132 +f 116 129 132 +f 99 107 133 +f 116 99 133 +f 121 104 133 +f 107 121 133 +f 104 111 134 +f 111 105 134 +f 108 123 135 +f 123 105 135 +f 107 117 136 +f 117 120 136 +f 120 121 136 +f 121 107 136 +f 109 114 137 +f 102 117 137 +f 122 102 137 +f 114 122 137 +f 106 100 138 +f 100 124 138 +f 115 106 139 +f 111 115 139 +f 106 138 139 +f 127 109 140 +f 109 137 140 +f 113 105 142 +f 105 123 142 +f 123 113 142 +f 117 107 143 +f 107 127 143 +f 137 117 143 +f 127 140 143 +f 140 137 143 +f 120 102 144 +f 102 122 144 +f 122 110 144 +f 141 106 144 +f 110 141 144 +f 112 103 145 +f 109 127 145 +f 103 128 145 +f 128 109 145 +f 100 106 146 +f 110 100 146 +f 106 141 146 +f 141 110 146 +f 107 112 147 +f 127 107 147 +f 112 145 147 +f 145 127 147 +f 105 104 148 +f 104 134 148 +f 134 105 148 +f 105 113 149 +f 116 133 149 +f 129 116 150 +f 113 129 150 +f 149 113 150 +f 116 149 150 +f 135 111 151 +f 111 139 151 +f 139 138 151 +f 124 108 152 +f 108 135 152 +f 138 124 152 +f 135 151 152 +f 151 138 152 +f 106 115 153 +f 125 106 153 +f 104 126 154 +f 126 105 154 +f 133 104 154 +f 105 149 154 +f 149 133 154 +f 106 125 155 +f 115 131 155 +f 131 120 155 +f 120 144 155 +f 144 106 155 +f 153 115 155 +f 125 153 155 +f 105 111 156 +f 135 105 156 +o convex_5 +v 0.493326 -2.269028 0.390086 +v -0.530987 -3.448479 -0.354892 +v -0.499812 -4.038107 -0.479072 +v -0.468745 -4.193487 0.483170 +v 0.555459 -4.193487 -0.541162 +v -0.499812 -2.206799 -0.541162 +v -0.499812 -2.206799 0.514266 +v 0.431303 -4.069222 0.514266 +v 0.586525 -2.206799 -0.447975 +v 0.586525 -2.982922 0.327996 +v 0.431303 -2.206799 0.483170 +v -0.499812 -4.162178 -0.447975 +v -0.530987 -3.417364 0.358990 +v -0.530987 -2.269028 -0.447975 +v 0.586525 -3.138302 -0.509962 +v 0.431303 -2.393294 0.514266 +v -0.189367 -2.206799 -0.541162 +v -0.158410 -4.131063 0.514266 +v 0.462369 -4.069222 0.483170 +v 0.369061 -4.193487 -0.541162 +v 0.586525 -3.292904 0.203816 +v 0.586525 -2.206799 -0.137525 +v -0.468745 -2.610709 -0.541162 +v -0.344589 -4.193487 0.483170 +v 0.493326 -2.206799 -0.479072 +v 0.555459 -4.193487 -0.479072 +v -0.530987 -2.889966 0.296899 +v -0.468745 -4.193487 0.079636 +v 0.555459 -3.820886 -0.541162 +f 173 171 185 +f 162 163 165 +f 165 163 167 +f 158 159 168 +f 160 163 169 +f 158 168 169 +f 168 160 169 +f 159 158 170 +f 162 159 170 +f 163 162 170 +f 158 169 170 +f 165 166 171 +f 163 164 172 +f 166 157 172 +f 167 163 172 +f 157 167 172 +f 161 162 173 +f 162 165 173 +f 163 160 174 +f 164 163 174 +f 172 164 175 +f 166 172 175 +f 161 160 176 +f 162 161 176 +f 168 159 176 +f 161 171 177 +f 171 166 177 +f 166 175 177 +f 157 166 178 +f 166 165 178 +f 167 157 178 +f 165 167 178 +f 159 162 179 +f 176 159 179 +f 162 176 179 +f 160 161 180 +f 174 160 180 +f 164 174 180 +f 175 164 180 +f 165 171 181 +f 173 165 181 +f 171 173 181 +f 161 177 182 +f 177 175 182 +f 180 161 182 +f 175 180 182 +f 169 163 183 +f 163 170 183 +f 170 169 183 +f 160 168 184 +f 176 160 184 +f 168 176 184 +f 171 161 185 +f 161 173 185 +o convex_6 +v -1.058650 -2.734683 -0.230720 +v -0.531039 -3.355231 0.359056 +v -0.593123 -3.355231 0.359056 +v -0.531039 -3.448479 -0.354910 +v -0.531039 -2.455135 -0.354910 +v -1.058650 -3.417364 -0.323810 +v -1.058650 -2.858754 0.265827 +v -1.027608 -3.417364 0.327957 +v -0.531039 -2.858754 0.265827 +v -0.531039 -3.448479 0.141708 +v -0.903440 -3.448479 -0.354910 +v -1.058650 -3.231161 0.327957 +v -0.562081 -2.455135 -0.323810 +v -1.058650 -3.231161 -0.323810 +v -0.655207 -2.920789 0.296927 +v -0.531039 -3.417364 0.359056 +f 193 195 201 +f 187 189 190 +f 186 191 192 +f 187 190 194 +f 189 187 195 +f 195 193 196 +f 190 189 196 +f 193 191 196 +f 189 195 196 +f 192 191 197 +f 191 193 197 +f 193 188 197 +f 190 186 198 +f 186 192 198 +f 194 190 198 +f 192 194 198 +f 186 190 199 +f 191 186 199 +f 190 196 199 +f 196 191 199 +f 188 187 200 +f 187 194 200 +f 194 192 200 +f 197 188 200 +f 192 197 200 +f 187 188 201 +f 188 193 201 +f 195 187 201 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/089/089.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/089/089.urdf new file mode 100644 index 000000000..b8479d167 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/089/089.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/090/090.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/090/090.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/090/090.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/090/090.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/090/090.obj new file mode 100644 index 000000000..c81940a85 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/090/090.obj @@ -0,0 +1,444 @@ +o convex_0 +v -1.476946 -2.228846 0.589274 +v -1.317173 -1.654010 -0.592891 +v -1.317173 -1.590140 -0.592891 +v -3.106181 -2.388638 -0.496982 +v -2.946408 -1.462283 0.429426 +v -1.029542 -2.516379 -0.528952 +v -2.946408 -2.644236 0.493246 +v -1.029542 -1.462283 0.589274 +v -1.029542 -2.580365 0.621244 +v -2.978525 -1.558204 -0.528952 +v -1.029542 -1.558204 -0.496982 +v -3.106181 -2.548314 -0.496982 +v -2.850666 -1.494334 0.461277 +v -1.285260 -2.612185 0.557186 +v -2.978525 -2.644236 0.365486 +v -2.978525 -1.526269 -0.337134 +v -1.029542 -1.749816 -0.592891 +v -3.106181 -2.516379 -0.337134 +v -1.253346 -1.462283 0.493246 +v -3.010236 -2.580250 -0.305164 +v -1.157401 -1.462283 0.589274 +v -3.010236 -1.813802 -0.528952 +v -2.978525 -2.580250 0.429426 +v -1.508860 -1.558204 -0.560922 +v -2.754721 -2.644236 0.397456 +v -1.157401 -2.548430 0.621244 +v -1.029542 -2.580365 0.237608 +v -2.786635 -1.462283 0.365486 +v -2.946408 -2.580250 0.493246 +f 7 26 29 +f 6 8 9 +f 8 6 11 +f 9 7 14 +f 4 5 16 +f 10 4 16 +f 2 3 17 +f 3 11 17 +f 11 6 17 +f 12 2 17 +f 6 12 17 +f 5 4 18 +f 4 12 18 +f 12 15 18 +f 5 8 19 +f 8 11 19 +f 12 6 20 +f 15 12 20 +f 8 5 21 +f 5 13 21 +f 3 2 22 +f 10 3 22 +f 4 10 22 +f 2 12 22 +f 12 4 22 +f 15 7 23 +f 5 18 23 +f 18 15 23 +f 3 10 24 +f 11 3 24 +f 10 16 24 +f 19 11 24 +f 14 7 25 +f 7 15 25 +f 20 6 25 +f 15 20 25 +f 9 8 26 +f 7 9 26 +f 21 1 26 +f 8 21 26 +f 6 9 27 +f 9 14 27 +f 25 6 27 +f 14 25 27 +f 16 5 28 +f 5 19 28 +f 24 16 28 +f 19 24 28 +f 13 5 29 +f 1 21 29 +f 21 13 29 +f 5 23 29 +f 23 7 29 +f 26 1 29 +o convex_1 +v 0.120642 0.167465 1.100508 +v 1.079220 2.978731 1.100508 +v 1.079220 2.978731 0.716815 +v -1.125379 2.978731 0.972538 +v -0.965472 -1.430216 -1.104106 +v -0.965472 3.010923 -1.104106 +v 0.983189 -1.429775 -1.071952 +v -1.029349 -1.430216 1.036415 +v 0.983189 -1.429775 1.100508 +v 0.983189 2.946980 -1.071952 +v 0.567777 3.074866 -0.496845 +v -1.029349 -1.430216 -0.624599 +v 1.015127 -1.430216 -0.880106 +v -0.518122 3.074866 0.525185 +v 0.248395 2.978290 -1.104106 +v -0.997411 3.010923 -1.071952 +v -1.061287 -1.397583 1.036415 +v -0.869658 -1.334082 1.068354 +v 1.015127 2.946539 -0.880106 +v 1.015127 -0.822542 1.100508 +v -0.134863 -1.430216 -1.104106 +v 1.079220 2.243613 1.100508 +v 0.471962 3.074866 0.589277 +v -1.125379 2.882597 0.844785 +v 0.887375 2.914789 1.100508 +v -1.029349 -0.567212 -0.720414 +v -0.166802 -1.430216 1.100508 +v -0.422307 3.074866 -0.432968 +v 1.015127 -1.430216 0.109769 +v 1.015127 1.732513 -0.944199 +v 0.951251 2.978731 -1.040014 +v -1.125379 2.531134 0.940600 +v -1.093225 1.444993 1.004477 +v 0.408086 3.074866 -0.592876 +v -0.614152 3.010923 -1.104106 +v -0.646090 2.978731 1.004477 +v -1.061287 -0.215308 1.036415 +v -0.390369 3.074866 0.557339 +f 65 31 67 +f 31 30 38 +f 31 32 40 +f 34 37 41 +f 37 34 42 +f 34 35 44 +f 39 36 44 +f 35 34 45 +f 33 43 45 +f 41 37 46 +f 46 37 47 +f 31 38 49 +f 42 34 50 +f 36 42 50 +f 34 44 50 +f 44 36 50 +f 32 31 51 +f 42 32 51 +f 31 49 51 +f 31 40 52 +f 40 43 52 +f 33 45 53 +f 30 31 54 +f 47 30 54 +f 34 41 55 +f 45 34 55 +f 41 53 55 +f 53 45 55 +f 38 30 56 +f 37 42 56 +f 30 47 56 +f 47 37 56 +f 43 40 57 +f 35 45 57 +f 45 43 57 +f 49 38 58 +f 42 51 58 +f 51 49 58 +f 38 56 58 +f 56 42 58 +f 36 39 59 +f 32 42 59 +f 42 36 59 +f 48 32 59 +f 39 48 59 +f 40 32 60 +f 39 44 60 +f 32 48 60 +f 48 39 60 +f 46 33 61 +f 41 46 61 +f 53 41 61 +f 33 53 61 +f 35 57 63 +f 57 40 63 +f 40 60 63 +f 63 60 64 +f 44 35 64 +f 60 44 64 +f 35 63 64 +f 54 31 65 +f 33 62 65 +f 65 62 66 +f 33 46 66 +f 46 47 66 +f 47 54 66 +f 62 33 66 +f 54 65 66 +f 43 33 67 +f 31 52 67 +f 52 43 67 +f 33 65 67 +o convex_2 +v -0.422412 3.075253 -0.433037 +v 0.535998 5.023831 0.589293 +v 0.535998 5.023831 0.525229 +v -0.486213 4.991646 0.557204 +v -0.422412 5.055823 -0.560941 +v 0.535998 3.714115 -0.528965 +v 0.471983 3.075253 0.589293 +v -0.518327 3.075253 0.525229 +v 0.568005 4.927857 -0.560941 +v 0.504097 3.075253 -0.496989 +v -0.454313 5.055823 -0.496989 +v 0.535998 4.384582 0.589293 +v -0.422412 3.171034 0.557204 +v -0.518327 3.075253 0.365461 +v 0.504097 3.107051 0.173718 +v -0.390511 4.831882 -0.560941 +v 0.216457 4.991646 0.589293 +v -0.454313 3.203025 -0.337221 +v 0.504097 4.257003 -0.560941 +v 0.344167 3.075253 -0.496989 +v -0.518327 3.746107 0.493253 +v -0.102871 5.055823 -0.241406 +v -0.486213 4.991646 0.173718 +v -0.422412 3.394587 -0.465013 +v 0.248464 3.266815 0.589293 +v -0.422412 5.055823 -0.273382 +v 0.504097 3.426579 0.589293 +v 0.568005 4.864068 -0.433037 +v -0.486213 3.618335 0.557204 +v -0.454313 4.704110 -0.496989 +v 0.535998 3.969660 0.045927 +f 95 79 98 +f 68 74 75 +f 70 69 76 +f 74 68 77 +f 69 74 79 +f 75 74 80 +f 68 75 81 +f 77 73 82 +f 74 77 82 +f 72 76 83 +f 69 71 84 +f 74 69 84 +f 68 81 85 +f 76 73 86 +f 73 77 86 +f 83 76 86 +f 83 86 87 +f 77 68 87 +f 86 77 87 +f 75 71 88 +f 81 75 88 +f 78 81 88 +f 69 70 89 +f 70 76 89 +f 76 72 89 +f 72 78 89 +f 71 78 90 +f 88 71 90 +f 78 88 90 +f 72 83 91 +f 83 87 91 +f 87 68 91 +f 80 74 92 +f 74 84 92 +f 71 69 93 +f 78 71 93 +f 69 89 93 +f 89 78 93 +f 79 74 94 +f 74 82 94 +f 82 79 94 +f 76 69 95 +f 73 76 95 +f 69 79 95 +f 71 75 96 +f 75 80 96 +f 84 71 96 +f 80 92 96 +f 92 84 96 +f 78 72 97 +f 81 78 97 +f 68 85 97 +f 85 81 97 +f 72 91 97 +f 91 68 97 +f 82 73 98 +f 79 82 98 +f 73 95 98 +o convex_3 +v -0.997516 -3.091665 0.014170 +v 1.015286 -1.430379 0.493246 +v 0.695632 -1.430216 1.100508 +v -0.965491 -1.430216 -1.104106 +v 0.983261 -3.059464 -1.071952 +v 0.951235 -3.059464 1.100508 +v -1.029542 -1.430216 1.036415 +v 0.983261 -1.430379 -1.071952 +v -1.029542 -3.091665 1.068354 +v -0.933465 -3.091665 -1.104106 +v -1.029542 -2.516273 -0.528783 +v 0.983261 -1.430379 1.100508 +v -0.102804 -3.091665 -1.104106 +v 1.015286 -2.899759 -0.816445 +v -0.198680 -1.526169 1.100508 +v 1.015286 -2.612226 0.461308 +v -1.029542 -1.430216 -0.624814 +v -0.486309 -3.059626 1.100508 +v 1.015286 -1.430379 -0.880322 +v -0.134629 -1.430216 -1.104106 +v -1.029542 -1.877617 1.068354 +v 0.120774 -3.091665 -1.040014 +v -0.646037 -3.091665 1.068354 +v 0.983261 -2.388607 1.100508 +v 0.983261 -3.059464 0.333554 +v -0.869615 -1.430216 1.068354 +v -0.965491 -3.091665 -0.848383 +v -0.965491 -1.749788 -1.104106 +f 109 115 126 +f 101 102 105 +f 107 99 108 +f 99 107 109 +f 107 105 109 +f 100 101 110 +f 101 104 110 +f 106 103 111 +f 108 102 111 +f 107 108 111 +f 104 101 113 +f 112 100 114 +f 105 102 115 +f 109 105 115 +f 104 113 116 +f 101 100 117 +f 106 101 117 +f 103 106 117 +f 100 112 117 +f 112 103 117 +f 102 101 118 +f 101 106 118 +f 111 102 118 +f 106 111 118 +f 105 107 119 +f 107 116 119 +f 116 113 119 +f 111 103 120 +f 107 111 120 +f 104 116 121 +f 116 107 121 +f 120 104 121 +f 107 120 121 +f 100 110 122 +f 110 104 122 +f 114 100 122 +f 104 114 122 +f 103 112 123 +f 114 104 123 +f 112 114 123 +f 120 103 123 +f 104 120 123 +f 101 105 124 +f 113 101 124 +f 105 119 124 +f 119 113 124 +f 108 99 125 +f 99 109 125 +f 109 108 125 +f 102 108 126 +f 108 109 126 +f 115 102 126 +o convex_4 +v 2.293125 -2.580347 -0.177367 +v 1.143343 -1.430216 0.493428 +v 1.143343 -1.430216 0.461355 +v 3.027992 -1.494325 -0.560928 +v 1.015480 -1.941578 -0.592782 +v 3.027992 -1.622078 0.525282 +v 1.015480 -2.612285 0.461355 +v 3.027992 -2.612401 0.493318 +v 1.015480 -2.612285 -0.528965 +v 2.996076 -2.452477 -0.497001 +v 1.015480 -1.590024 -0.592782 +v 1.015480 -1.430216 0.429501 +v 3.027992 -1.558086 0.525282 +v 2.325042 -2.516469 -0.528965 +v 1.015480 -1.973516 0.493428 +v 3.027992 -1.494325 -0.241294 +v 2.133543 -2.612285 0.493428 +v 2.644797 -1.494325 -0.560928 +v 2.964159 -2.612401 0.333611 +v 2.964159 -2.292785 -0.528855 +v 1.878014 -1.590024 -0.592782 +v 1.430986 -1.558086 -0.592782 +v 2.964159 -2.484531 -0.433074 +v 3.027992 -1.845647 -0.528855 +v 1.047397 -2.388716 -0.560819 +v 2.676714 -1.526147 0.493318 +v 1.015480 -1.430216 0.493428 +f 141 139 153 +f 129 128 130 +f 130 132 134 +f 133 131 135 +f 131 133 137 +f 137 133 138 +f 128 129 138 +f 129 130 138 +f 132 130 139 +f 127 135 140 +f 138 133 141 +f 132 139 141 +f 130 128 142 +f 139 130 142 +f 134 132 143 +f 133 134 143 +f 132 141 143 +f 141 133 143 +f 138 130 144 +f 134 133 145 +f 135 127 145 +f 133 135 145 +f 130 136 146 +f 140 131 146 +f 136 140 146 +f 131 137 147 +f 130 146 147 +f 146 131 147 +f 137 138 148 +f 144 130 148 +f 138 144 148 +f 130 147 148 +f 147 137 148 +f 136 134 149 +f 127 140 149 +f 140 136 149 +f 134 145 149 +f 145 127 149 +f 130 134 150 +f 136 130 150 +f 134 136 150 +f 135 131 151 +f 131 140 151 +f 140 135 151 +f 128 139 152 +f 142 128 152 +f 139 142 152 +f 128 138 153 +f 139 128 153 +f 138 141 153 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/090/090.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/090/090.urdf new file mode 100644 index 000000000..60f0f681e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/090/090.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/091/091.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/091/091.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/091/091.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/091/091.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/091/091.obj new file mode 100644 index 000000000..60522011c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/091/091.obj @@ -0,0 +1,546 @@ +o convex_0 +v 0.538921 0.424470 -0.889730 +v -1.797289 0.203644 -0.068895 +v -1.797289 0.203644 -0.005864 +v -0.376482 3.865197 -0.005864 +v 0.633771 0.203644 0.878003 +v -0.944749 1.877046 0.846589 +v -1.071030 1.939781 -0.826699 +v 0.444348 3.360452 0.088581 +v -0.313341 3.391640 -0.763259 +v -1.102740 3.391999 0.025550 +v -0.313341 3.391640 0.814971 +v -0.439623 0.203644 -1.047818 +v 1.044325 0.203644 -0.037277 +v -1.260453 0.203644 0.846385 +v -0.345050 2.003233 1.036091 +v -1.323594 0.203644 -0.889730 +v 0.444348 1.877046 0.814767 +v 0.444348 1.813953 -0.763463 +v -0.313341 1.877046 -1.047818 +v -1.102740 2.034421 0.751736 +v -0.471054 0.203644 1.004473 +v 0.665202 0.203644 -0.858316 +v -0.913039 2.981535 -0.605579 +v 0.254926 2.981535 -0.542344 +v -0.944749 3.013081 0.562438 +v 0.254926 2.981535 0.625469 +v 0.444348 3.360452 -0.005864 +v 1.044325 0.235191 0.057168 +v -1.102740 3.328906 -0.100513 +v -0.376482 3.391640 0.814971 +v -1.292162 0.519469 0.814767 +v -0.123919 0.203644 1.004473 +v -0.281910 3.865197 0.057168 +v -1.292162 0.551015 -0.889730 +v -0.250200 0.203644 -1.047818 +v -0.250200 1.877046 1.036091 +v -0.376482 1.845500 -1.047818 +v -0.439623 1.782407 1.036091 +v -1.102740 1.845141 -0.826699 +v -0.376482 3.265454 -0.794877 +v -1.134171 3.297359 0.025550 +v -1.260453 0.266737 -0.921348 +v 0.633771 0.329831 0.878003 +v -0.281910 3.265454 -0.794877 +v -0.439623 3.834009 0.057168 +v -1.134171 1.908234 0.751736 +v -1.797289 0.235191 -0.068895 +v -0.281910 3.865197 -0.005864 +v -0.281910 1.845500 -1.047818 +v 1.044325 0.235191 -0.037277 +v 0.538921 0.203644 0.909620 +v -1.797289 0.235191 -0.005864 +v -0.345050 3.391640 -0.763259 +v -0.313341 0.645655 1.036091 +v 0.160076 3.044628 -0.605579 +v 0.444348 0.456375 -0.921348 +v -0.913039 3.518185 -0.037277 +v -0.786758 3.107721 0.657087 +v -1.323594 0.203644 0.814767 +v -1.165881 1.592769 0.783354 +v -0.218769 1.466583 1.036091 +v -1.039321 1.813595 -0.858112 +v -0.376482 3.233907 0.846589 +v 0.475780 1.656220 -0.763463 +f 27 50 64 +f 3 2 5 +f 5 2 12 +f 5 12 13 +f 3 5 14 +f 12 2 16 +f 14 5 21 +f 13 12 22 +f 1 18 22 +f 8 11 26 +f 17 8 26 +f 11 17 26 +f 18 24 27 +f 5 13 28 +f 8 17 28 +f 27 8 28 +f 21 5 32 +f 11 8 33 +f 8 27 33 +f 30 11 33 +f 12 19 35 +f 22 12 35 +f 11 15 36 +f 17 11 36 +f 19 12 37 +f 14 21 38 +f 31 14 38 +f 6 31 38 +f 36 15 38 +f 23 7 39 +f 29 23 39 +f 7 23 40 +f 37 7 40 +f 19 37 40 +f 25 10 41 +f 20 25 41 +f 10 29 41 +f 12 16 42 +f 16 34 42 +f 37 12 42 +f 34 37 42 +f 5 28 43 +f 28 17 43 +f 17 36 43 +f 40 9 44 +f 19 40 44 +f 10 30 45 +f 33 4 45 +f 30 33 45 +f 20 41 46 +f 2 3 47 +f 16 2 47 +f 34 16 47 +f 29 39 47 +f 39 34 47 +f 41 29 47 +f 9 4 48 +f 27 9 48 +f 4 33 48 +f 33 27 48 +f 18 1 49 +f 35 19 49 +f 44 18 49 +f 19 44 49 +f 13 22 50 +f 28 13 50 +f 27 28 50 +f 32 5 51 +f 5 43 51 +f 43 36 51 +f 46 41 52 +f 47 3 52 +f 41 47 52 +f 4 9 53 +f 23 29 53 +f 9 40 53 +f 40 23 53 +f 21 32 54 +f 38 21 54 +f 36 38 54 +f 24 18 55 +f 9 27 55 +f 27 24 55 +f 18 44 55 +f 44 9 55 +f 1 22 56 +f 22 35 56 +f 49 1 56 +f 35 49 56 +f 29 10 57 +f 45 4 57 +f 10 45 57 +f 4 53 57 +f 53 29 57 +f 10 25 58 +f 25 20 58 +f 30 10 58 +f 20 30 58 +f 3 14 59 +f 14 31 59 +f 52 3 59 +f 31 52 59 +f 6 20 60 +f 31 6 60 +f 20 46 60 +f 52 31 60 +f 46 52 60 +f 32 51 61 +f 51 36 61 +f 54 32 61 +f 36 54 61 +f 7 37 62 +f 37 34 62 +f 39 7 62 +f 34 39 62 +f 15 11 63 +f 20 6 63 +f 11 30 63 +f 30 20 63 +f 6 38 63 +f 38 15 63 +f 22 18 64 +f 18 27 64 +f 50 22 64 +o convex_1 +v -2.365244 -2.196290 -0.037219 +v 1.107412 0.203286 0.025454 +v 1.107412 0.203286 -0.006083 +v 2.938167 -1.754118 -0.068756 +v -0.439442 0.203286 -1.047617 +v -2.333562 -1.027796 1.004516 +v 2.338683 -1.217468 0.909704 +v 2.338683 -1.217468 -0.984543 +v -3.123140 -1.248882 -0.731843 +v -1.260082 0.203286 0.846428 +v 0.286151 -1.975204 0.783153 +v -3.154823 -0.428319 0.056991 +v 1.706896 -1.943552 -0.794917 +v 2.938788 -0.649405 -0.384531 +v 0.538990 0.203286 0.909503 +v -2.933666 -1.754118 0.625466 +v -2.396927 -1.248882 -0.984543 +v 2.212574 -2.132986 -0.037420 +v 2.938788 -0.681056 0.436042 +v -2.396927 -1.975204 -0.700305 +v -1.323447 0.203286 -0.889730 +v 0.601734 0.203286 -0.889730 +v 2.402048 -1.848835 0.657004 +v -3.154823 -1.122751 0.783354 +v -2.365244 -1.943552 0.814891 +v -3.154823 -1.943552 0.025655 +v 1.517421 -1.217230 1.004315 +v -0.124480 0.203286 1.004315 +v -0.313333 -1.217230 -1.047617 +v -1.860187 0.203286 -0.005882 +v 2.402048 -0.238885 0.025454 +v 2.528157 -1.848835 -0.732044 +v -3.407662 -1.154403 -0.005882 +v -0.471125 -2.227941 -0.006083 +v 2.370365 -0.428557 -0.700305 +v -2.901984 -0.617991 -0.573955 +v 2.938788 -1.312185 0.530854 +v 2.370365 -0.491622 0.688541 +v 2.938788 -1.312185 -0.574156 +v 1.706896 -1.217230 -1.047617 +v -2.933666 -0.586339 0.593728 +v -2.365244 -1.280296 1.004516 +v -2.365244 -2.196290 0.151804 +v 0.696781 -1.912139 -0.826455 +v 1.675213 -1.943552 0.720078 +v 2.370365 -1.154403 -0.984543 +v -1.070608 -1.975204 0.814891 +v -1.228400 -2.227941 0.120267 +v -2.113026 -1.975204 -0.731843 +v -2.396927 -0.428319 -0.763380 +v 2.370365 -1.154403 0.909704 +v 1.770261 -2.164638 -0.006083 +v 2.307000 -1.911901 -0.794917 +v 1.675213 -2.164638 -0.132032 +v 2.402048 -2.101335 -0.132032 +v -2.965349 -1.785532 -0.479344 +v 0.633416 -1.312185 1.004315 +v -0.471125 0.203286 1.004315 +v 0.633416 0.203286 0.877965 +v -3.154823 -1.154403 -0.700305 +v -3.154823 -1.217230 0.783354 +v -0.249968 0.203286 -1.047617 +v 2.938167 -1.596098 0.372967 +v -2.365244 -2.006855 -0.668768 +f 113 77 128 +f 66 67 69 +f 66 69 74 +f 66 74 79 +f 73 81 84 +f 74 69 85 +f 69 81 85 +f 69 67 86 +f 70 74 88 +f 89 80 90 +f 79 74 92 +f 70 91 92 +f 81 69 93 +f 76 74 94 +f 74 85 94 +f 85 76 94 +f 67 66 95 +f 83 78 95 +f 86 67 95 +f 88 76 97 +f 73 90 97 +f 95 78 99 +f 86 95 99 +f 76 85 100 +f 78 83 101 +f 71 87 101 +f 83 95 102 +f 68 96 103 +f 101 68 103 +f 78 101 103 +f 93 69 104 +f 74 76 105 +f 88 74 105 +f 76 88 105 +f 70 88 106 +f 91 70 106 +f 90 65 107 +f 89 90 107 +f 81 93 108 +f 93 104 108 +f 87 71 109 +f 82 87 109 +f 71 91 109 +f 91 75 109 +f 96 72 110 +f 99 78 110 +f 86 99 110 +f 78 103 110 +f 103 96 110 +f 72 104 110 +f 106 89 111 +f 89 107 111 +f 111 107 112 +f 65 98 112 +f 107 65 112 +f 75 111 112 +f 84 81 113 +f 108 77 113 +f 81 108 113 +f 85 81 114 +f 100 85 114 +f 91 71 115 +f 79 92 115 +f 92 91 115 +f 71 101 115 +f 101 83 115 +f 102 79 115 +f 83 102 115 +f 82 109 116 +f 109 75 116 +f 112 98 116 +f 75 112 116 +f 72 96 117 +f 104 72 117 +f 77 108 117 +f 108 104 117 +f 98 77 118 +f 82 116 118 +f 116 98 118 +f 77 117 118 +f 118 117 119 +f 68 87 119 +f 87 82 119 +f 96 68 119 +f 117 96 119 +f 82 118 119 +f 73 84 120 +f 90 73 120 +f 84 90 120 +f 75 91 121 +f 91 106 121 +f 111 75 121 +f 106 111 121 +f 74 70 122 +f 70 92 122 +f 92 74 122 +f 66 79 123 +f 95 66 123 +f 79 102 123 +f 102 95 123 +f 81 73 124 +f 73 97 124 +f 97 76 124 +f 76 100 124 +f 114 81 124 +f 100 114 124 +f 80 89 125 +f 90 80 125 +f 88 97 125 +f 97 90 125 +f 106 88 125 +f 89 106 125 +f 69 86 126 +f 104 69 126 +f 86 110 126 +f 110 104 126 +f 87 68 127 +f 68 101 127 +f 101 87 127 +f 65 90 128 +f 90 84 128 +f 77 98 128 +f 98 65 128 +f 84 113 128 +o convex_2 +v 2.938955 -1.722637 0.025624 +v 3.191612 -0.554613 0.057223 +v 3.507349 -0.586287 0.057223 +v 2.970662 -1.059785 -0.574203 +v 4.643470 -1.185906 -0.068951 +v 2.938955 -1.028226 0.562475 +v 4.422521 -1.185906 0.372992 +v 3.759839 -1.564728 -0.416318 +v 4.296192 -0.965108 -0.353120 +v 4.359440 -1.564728 -0.005864 +v 3.065283 -1.564728 0.404591 +v 2.938955 -0.649405 -0.384719 +v 4.359440 -0.744081 0.025624 +v 2.938955 -0.712522 0.467678 +v 2.938955 -1.627846 -0.479405 +v 4.359440 -1.154347 -0.416318 +v 3.759839 -0.775640 0.404591 +v 3.665218 -0.712522 -0.384719 +v 3.507349 -1.154347 0.530876 +v 3.822753 -1.501610 0.341393 +v 3.538889 -1.690964 -0.037352 +v 3.538889 -1.154347 -0.542603 +v 4.233112 -1.470051 -0.321521 +v 2.938955 -0.554613 -0.068951 +v 2.938955 -1.438492 0.467678 +v 4.233112 -0.870431 0.309793 +v 4.359440 -0.744081 -0.037352 +v 4.422521 -1.122903 0.372992 +v 4.422521 -1.533169 0.025624 +v 4.643470 -1.122903 0.025624 +v 2.938955 -1.249024 -0.574203 +v 3.665218 -0.617846 -0.068951 +v 3.665218 -0.744081 0.404591 +v 3.696758 -1.059785 0.499277 +v 3.002203 -1.722637 -0.132149 +v 4.422521 -1.533169 -0.068951 +v 4.201571 -1.438492 0.278306 +v 2.970662 -1.564728 -0.511004 +v 3.696758 -1.659405 0.025624 +v 2.970662 -0.554613 0.120421 +v 4.643470 -1.122903 -0.068951 +v 3.665218 -1.059785 -0.511004 +v 3.696758 -1.659405 -0.132149 +v 3.065283 -1.185906 0.562475 +v 3.696758 -1.501610 0.372992 +v 4.201571 -0.807199 -0.258434 +v 4.359440 -1.249024 -0.384719 +v 3.633677 -1.280583 -0.511004 +v 3.096824 -0.680964 -0.416318 +v 3.033743 -0.712522 0.467678 +v 3.728299 -1.185906 0.499277 +v 4.643470 -1.185906 0.025624 +v 4.359440 -1.122903 -0.416318 +v 3.728299 -0.617846 0.057223 +v 2.938955 -1.564728 0.404591 +v 4.454061 -0.838758 0.025624 +v 3.444102 -1.596287 -0.447806 +f 166 176 185 +f 129 134 140 +f 140 134 142 +f 129 140 143 +f 140 142 152 +f 146 140 152 +f 134 129 153 +f 154 145 156 +f 148 138 157 +f 156 135 158 +f 140 132 159 +f 143 140 159 +f 132 150 159 +f 130 131 160 +f 152 130 160 +f 146 152 160 +f 155 146 160 +f 154 141 161 +f 145 154 161 +f 134 147 162 +f 156 145 162 +f 129 143 163 +f 149 129 163 +f 138 136 164 +f 136 151 164 +f 133 157 164 +f 157 138 164 +f 135 148 165 +f 157 135 165 +f 148 157 165 +f 143 159 166 +f 139 129 167 +f 138 148 167 +f 148 139 167 +f 149 138 167 +f 129 149 167 +f 131 130 168 +f 130 152 168 +f 152 142 168 +f 161 131 168 +f 133 144 169 +f 137 155 169 +f 158 133 169 +f 132 146 170 +f 150 132 170 +f 136 138 171 +f 138 149 171 +f 149 163 171 +f 147 134 172 +f 134 153 172 +f 153 139 172 +f 148 135 173 +f 139 148 173 +f 172 139 173 +f 137 146 174 +f 155 137 174 +f 146 155 174 +f 136 144 175 +f 144 133 175 +f 151 136 175 +f 133 164 175 +f 164 151 175 +f 144 136 176 +f 150 144 176 +f 159 150 176 +f 166 159 176 +f 132 140 177 +f 140 146 177 +f 146 132 177 +f 142 134 178 +f 145 161 178 +f 134 162 178 +f 162 145 178 +f 168 142 178 +f 161 168 178 +f 135 156 179 +f 162 147 179 +f 156 162 179 +f 147 172 179 +f 173 135 179 +f 172 173 179 +f 157 133 180 +f 135 157 180 +f 133 158 180 +f 158 135 180 +f 146 137 181 +f 144 150 181 +f 137 169 181 +f 169 144 181 +f 170 146 181 +f 150 170 181 +f 141 155 182 +f 160 131 182 +f 155 160 182 +f 131 161 182 +f 161 141 182 +f 129 139 183 +f 153 129 183 +f 139 153 183 +f 141 154 184 +f 155 141 184 +f 154 156 184 +f 156 158 184 +f 169 155 184 +f 158 169 184 +f 163 143 185 +f 143 166 185 +f 136 171 185 +f 171 163 185 +f 176 136 185 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/091/091.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/091/091.urdf new file mode 100644 index 000000000..912606bbe --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/091/091.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/092/092.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/092/092.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/092/092.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/092/092.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/092/092.obj new file mode 100644 index 000000000..154e1ba18 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/092/092.obj @@ -0,0 +1,552 @@ +o convex_0 +v -0.944472 -4.209185 0.063224 +v 1.026324 -1.606007 1.067518 +v 1.026324 -1.606007 0.695311 +v -1.093454 -1.606007 0.992991 +v -1.093454 -1.606007 -1.052111 +v 0.988975 -4.283621 -1.126638 +v 0.988975 -4.171966 1.029932 +v 0.914691 -1.606007 -0.977798 +v -1.018963 -4.209185 1.067518 +v -1.018963 -4.171966 -1.014740 +v -1.093454 -2.981770 -1.052111 +v -1.093454 -1.866534 1.067518 +v -1.056105 -3.948657 0.844151 +v 0.988975 -4.209185 0.992776 +v -0.312232 -1.606007 -1.051896 +v 0.468368 -4.283621 -0.568649 +v -1.056105 -3.911701 -1.052111 +v 0.951833 -1.606007 -0.791802 +v 1.026324 -2.089581 1.067518 +v 0.988975 -3.651173 -1.089052 +v -0.461214 -4.246140 0.472373 +v -1.093454 -2.312891 1.067518 +v -0.907330 -1.606007 1.067518 +v 0.059393 -4.246403 -1.089267 +v -1.093454 -3.018988 -0.159500 +v 0.988975 -4.283621 -0.643176 +v 0.988975 -4.209185 -1.126638 +v 0.914691 -4.283621 -1.126638 +f 5 27 28 +f 2 3 4 +f 4 3 5 +f 5 3 8 +f 1 9 10 +f 4 5 11 +f 9 2 12 +f 4 11 12 +f 10 9 13 +f 7 9 14 +f 5 8 15 +f 10 13 17 +f 8 3 18 +f 3 2 19 +f 6 3 19 +f 2 9 19 +f 9 7 19 +f 7 14 19 +f 18 3 20 +f 8 18 20 +f 9 1 21 +f 14 9 21 +f 1 16 21 +f 9 12 22 +f 12 11 22 +f 13 9 22 +f 2 4 23 +f 12 2 23 +f 4 12 23 +f 1 10 24 +f 16 1 24 +f 10 17 24 +f 11 17 25 +f 17 13 25 +f 22 11 25 +f 13 22 25 +f 16 6 26 +f 6 19 26 +f 19 14 26 +f 14 21 26 +f 21 16 26 +f 3 6 27 +f 5 15 27 +f 15 8 27 +f 20 3 27 +f 8 20 27 +f 11 5 28 +f 6 16 28 +f 17 11 28 +f 16 24 28 +f 24 17 28 +f 27 6 28 +o convex_1 +v 0.691480 3.897979 -0.531245 +v 1.063295 1.927117 0.063256 +v 1.063295 1.889768 0.063256 +v -0.981686 3.079637 1.067121 +v -1.055966 1.889768 -1.089449 +v -1.055966 3.823477 -0.940609 +v 0.877387 3.897979 0.955867 +v -1.019034 1.889768 0.955867 +v 1.063295 1.889768 -0.977551 +v 1.026155 1.889768 1.067336 +v 1.026155 3.860629 -1.014922 +v -0.944546 3.786127 1.104707 +v 0.951875 3.897979 0.918711 +v -1.055966 3.823477 -0.419991 +v 0.170898 3.897979 0.323565 +v -1.055966 1.927117 0.621031 +v -0.498452 2.336386 -1.089449 +v -0.238057 3.860629 -0.977765 +v -0.758639 3.786127 1.104707 +v -1.019034 2.113077 0.993023 +v 1.063295 2.893873 -0.940609 +v 1.026155 3.860629 -0.828925 +v -1.019034 2.522150 0.993023 +v -1.019034 2.113077 -1.089449 +v -0.572732 1.964270 -1.089449 +v 1.026155 2.038575 1.030180 +v 1.026155 3.488513 -1.014922 +v -0.535592 3.823477 1.067121 +v -1.019034 3.823477 0.063256 +v 0.728620 3.860629 -1.014707 +v 0.989015 3.897979 -0.568616 +v -0.944546 3.600167 1.104707 +v -0.423964 3.860629 -0.940609 +f 46 34 61 +f 33 31 36 +f 30 31 37 +f 31 33 37 +f 31 30 38 +f 36 31 38 +f 29 35 41 +f 35 38 41 +f 34 33 42 +f 35 29 43 +f 34 42 43 +f 33 36 44 +f 42 33 44 +f 38 35 47 +f 38 32 48 +f 36 38 48 +f 44 36 48 +f 30 37 49 +f 37 39 49 +f 30 49 50 +f 49 39 50 +f 32 40 51 +f 40 42 51 +f 42 44 51 +f 48 32 51 +f 44 48 51 +f 33 34 52 +f 45 33 52 +f 34 46 52 +f 37 33 53 +f 33 45 53 +f 38 30 54 +f 41 38 54 +f 30 50 54 +f 50 41 54 +f 39 37 55 +f 45 39 55 +f 37 53 55 +f 53 45 55 +f 35 43 56 +f 47 35 56 +f 40 47 56 +f 42 40 57 +f 43 42 57 +f 40 56 57 +f 56 43 57 +f 39 45 58 +f 45 52 58 +f 52 46 58 +f 29 41 59 +f 46 29 59 +f 41 50 59 +f 50 39 59 +f 39 58 59 +f 58 46 59 +f 32 38 60 +f 40 32 60 +f 38 47 60 +f 47 40 60 +f 43 29 61 +f 34 43 61 +f 29 46 61 +o convex_2 +v 0.208077 -1.048261 2.964111 +v -0.014970 -1.568817 1.997355 +v 0.022117 -1.568817 1.997355 +v 0.059335 -0.936708 1.104707 +v -0.200865 -0.862294 3.001067 +v -0.349607 -1.159814 1.104707 +v 0.319666 -1.494333 1.104707 +v 0.282448 -1.568817 3.075569 +v -0.238083 -1.419988 2.926761 +v -0.275236 -1.531541 1.104707 +v 0.245295 -0.936708 1.104707 +v -0.349607 -0.973916 1.104707 +v 0.059335 -0.936708 3.075569 +v 0.319666 -1.419988 1.960398 +v 0.170859 -1.568817 3.075569 +v -0.238083 -0.862294 2.591994 +v -0.275236 -1.494333 1.923246 +v 0.245295 -0.936708 1.476627 +v -0.349607 -0.973916 1.365169 +v -0.089341 -0.862294 3.038416 +v 0.319666 -1.271228 1.104707 +v 0.170859 -1.011054 3.112918 +v 0.282448 -1.419988 3.038416 +f 83 69 84 +f 67 65 68 +f 63 64 69 +f 64 68 69 +f 64 63 71 +f 67 68 71 +f 68 64 71 +f 68 65 72 +f 65 67 73 +f 69 68 75 +f 63 69 76 +f 66 70 76 +f 70 66 77 +f 72 65 77 +f 65 73 77 +f 70 67 78 +f 71 63 78 +f 67 71 78 +f 63 76 78 +f 76 70 78 +f 67 70 80 +f 73 67 80 +f 70 77 80 +f 77 73 80 +f 66 76 81 +f 77 66 81 +f 72 77 81 +f 79 72 81 +f 74 79 81 +f 68 72 82 +f 75 68 82 +f 72 79 82 +f 79 75 82 +f 76 69 83 +f 62 79 83 +f 79 74 83 +f 81 76 83 +f 74 81 83 +f 69 75 84 +f 79 62 84 +f 75 79 84 +f 62 83 84 +o convex_3 +v -2.989864 -0.229781 -0.903271 +v -2.209097 1.889768 -0.977583 +v -2.209097 1.889768 -1.052111 +v 1.100295 -0.378545 1.067304 +v -3.064476 1.815164 0.992991 +v 1.100702 1.852466 -0.977798 +v 1.026091 1.889546 1.067304 +v 0.951888 -0.378545 -0.977583 +v -3.064476 -0.229781 1.067518 +v -2.989864 1.889768 -1.014740 +v -1.093192 -0.378545 -1.089052 +v -0.610054 1.889546 -1.089267 +v 1.100295 -0.304163 -0.977583 +v 0.505444 -0.192479 -1.089267 +v -1.056090 -0.378545 0.992776 +v -1.130701 -0.155399 -1.126638 +v 1.100702 1.741004 1.067304 +v -3.064476 0.699881 1.067518 +v -1.018988 1.889546 0.955620 +v -3.026966 -0.229781 -0.494121 +v -2.841050 -0.267083 1.067518 +v -2.803948 1.852244 -1.052111 +v -2.989864 -0.192479 -0.940427 +v 1.063193 1.889546 -0.977583 +v -3.064476 1.629321 1.030147 +v -3.064476 1.815164 0.620998 +v -1.725552 1.815164 -1.089052 +v -2.989864 1.889768 -0.494121 +v -3.026966 1.777862 -0.531278 +v -3.064476 -0.155399 0.509529 +v -2.989864 1.257411 -1.014740 +v 0.505444 -0.043715 -1.089267 +v 0.580055 -0.378545 -1.051896 +v -1.018988 -0.229781 -1.126638 +f 117 95 118 +f 86 87 94 +f 92 88 95 +f 88 92 97 +f 90 97 98 +f 95 88 99 +f 90 91 101 +f 88 97 101 +f 97 90 101 +f 89 93 102 +f 101 91 102 +f 89 91 103 +f 85 95 105 +f 99 88 105 +f 95 99 105 +f 88 101 105 +f 102 93 105 +f 101 102 105 +f 93 104 105 +f 104 85 105 +f 94 87 106 +f 87 96 106 +f 95 85 107 +f 85 104 107 +f 87 86 108 +f 91 90 108 +f 86 91 108 +f 90 96 108 +f 96 87 108 +f 91 89 109 +f 89 102 109 +f 102 91 109 +f 93 89 110 +f 89 94 110 +f 96 100 111 +f 106 96 111 +f 100 106 111 +f 91 86 112 +f 86 94 112 +f 94 89 112 +f 89 103 112 +f 103 91 112 +f 110 94 113 +f 110 113 114 +f 104 93 114 +f 93 110 114 +f 113 104 114 +f 94 106 115 +f 106 100 115 +f 100 107 115 +f 107 104 115 +f 113 94 115 +f 104 113 115 +f 96 90 116 +f 90 98 116 +f 92 95 117 +f 97 92 117 +f 98 97 117 +f 98 117 118 +f 100 96 118 +f 107 100 118 +f 95 107 118 +f 96 116 118 +f 116 98 118 +o convex_4 +v 1.249510 -0.341577 -0.754711 +v 3.108913 1.740895 1.067518 +v 3.108913 1.740895 0.806903 +v 1.100702 1.852579 -0.717362 +v 1.100702 -0.229894 1.067311 +v 2.960106 -0.155366 -0.940627 +v 3.034411 -0.304206 1.030169 +v 3.034411 1.852364 -1.052260 +v 1.100702 1.740680 1.067311 +v 1.100702 -0.303991 -0.977561 +v 1.100702 1.852579 -0.977561 +v 2.997258 0.067787 -0.977769 +v 1.138052 -0.267050 1.067311 +v 3.034411 -0.266835 0.360580 +v 3.071564 1.778051 -0.791853 +v 1.584277 0.365037 -1.014911 +v 3.071564 1.778051 0.620987 +v 3.071564 0.662717 1.067518 +v 1.100702 1.777837 0.769762 +v 1.695735 -0.341577 -0.233896 +v 3.071564 0.253783 0.992820 +v 2.885604 -0.118210 -0.977769 +v 2.290768 -0.304206 1.030169 +v 2.960106 -0.304206 0.620987 +v 2.067655 -0.266835 1.067518 +v 2.811298 1.629211 -1.052260 +v 1.100702 -0.341577 -0.605729 +v 2.774146 1.852579 -0.828994 +v 1.435470 -0.303991 -0.977561 +f 124 142 147 +f 120 121 126 +f 122 123 127 +f 123 122 128 +f 128 122 129 +f 124 130 132 +f 132 130 133 +f 126 121 133 +f 130 126 133 +f 128 129 134 +f 120 126 135 +f 127 120 137 +f 122 127 137 +f 120 135 137 +f 121 120 139 +f 125 132 139 +f 132 133 139 +f 133 121 139 +f 120 136 139 +f 136 125 139 +f 130 124 140 +f 126 130 140 +f 125 131 141 +f 138 125 141 +f 124 132 142 +f 132 125 142 +f 138 119 142 +f 125 138 142 +f 120 127 143 +f 127 123 143 +f 123 131 143 +f 131 125 143 +f 136 120 143 +f 125 136 143 +f 129 126 144 +f 134 129 144 +f 126 140 144 +f 140 134 144 +f 128 119 145 +f 123 128 145 +f 131 123 145 +f 119 138 145 +f 141 131 145 +f 138 141 145 +f 126 129 146 +f 129 122 146 +f 135 126 146 +f 122 137 146 +f 137 135 146 +f 119 128 147 +f 128 134 147 +f 140 124 147 +f 134 140 147 +f 142 119 147 +o convex_5 +v 0.133699 -0.936665 -1.684788 +v -0.163639 -1.531628 -1.312846 +v -0.126538 -1.494377 -2.130616 +v -0.275294 -1.011043 -3.023045 +v 0.282513 -1.457188 -2.985812 +v -0.238076 -0.899476 -1.089642 +v 0.208077 -1.419999 -1.089642 +v 0.319731 -0.973854 -3.023045 +v -0.200858 -1.419999 -3.060278 +v 0.208077 -0.973854 -1.089642 +v -0.200858 -1.419999 -1.089642 +v 0.319731 -1.011043 -2.502365 +v 0.245295 -1.419999 -1.350078 +v 0.208077 -0.936665 -2.576830 +v -0.089319 -1.531628 -1.089642 +v 0.245295 -0.973854 -1.238573 +v -0.200858 -0.973854 -2.799841 +v 0.319731 -1.196988 -3.023045 +f 160 152 165 +f 149 150 152 +f 150 149 156 +f 152 150 156 +f 151 155 156 +f 153 154 157 +f 153 151 158 +f 154 153 158 +f 156 149 158 +f 151 156 158 +f 153 148 161 +f 149 152 162 +f 158 149 162 +f 154 158 162 +f 152 160 162 +f 160 154 162 +f 148 153 163 +f 153 157 163 +f 157 154 163 +f 159 155 163 +f 160 159 163 +f 154 160 163 +f 161 148 163 +f 155 161 163 +f 151 153 164 +f 155 151 164 +f 153 161 164 +f 161 155 164 +f 152 156 165 +f 156 155 165 +f 155 159 165 +f 159 160 165 +o convex_6 +v 1.100702 -0.750687 1.067121 +v -1.093454 -1.568766 -1.089449 +v -1.093454 -1.606006 -1.051863 +v -1.056083 -0.378767 0.992809 +v 0.951862 -0.378767 -0.977550 +v 1.026175 -1.606006 1.067121 +v -1.056083 -1.606006 1.029965 +v 0.914491 -1.606006 -0.977550 +v -1.093454 -0.378767 -1.089449 +v 1.100702 -0.378767 1.067121 +v 0.208091 -1.419926 -1.089449 +v -0.349683 -0.973887 1.104707 +v -1.093454 -1.531526 0.955652 +v 0.542713 -0.378767 -1.052078 +v 0.840178 -0.416007 1.104707 +v 0.951862 -1.606006 -0.791769 +v -0.275156 -1.531526 1.104707 +v -1.093454 -0.378767 0.435034 +v 1.100702 -0.416007 0.806812 +v 1.063331 -1.419926 0.992809 +v -0.907458 -1.606006 1.067121 +v -0.163687 -0.378767 1.067121 +v -0.460937 -0.378767 -1.089449 +v 0.319775 -1.494406 1.104707 +v -1.056083 -0.825046 1.029965 +v 0.951862 -0.825046 -0.977550 +f 184 181 191 +f 168 171 172 +f 168 167 173 +f 171 168 173 +f 167 168 174 +f 169 170 174 +f 170 169 175 +f 173 167 176 +f 167 174 176 +f 168 172 178 +f 174 168 178 +f 174 170 179 +f 173 176 179 +f 171 166 180 +f 166 175 180 +f 171 173 181 +f 180 177 182 +f 169 174 183 +f 178 169 183 +f 174 178 183 +f 175 166 184 +f 170 175 184 +f 166 181 184 +f 166 171 185 +f 181 166 185 +f 171 181 185 +f 172 171 186 +f 171 182 186 +f 182 177 186 +f 175 169 187 +f 169 177 187 +f 180 175 187 +f 177 180 187 +f 176 174 188 +f 174 179 188 +f 179 176 188 +f 171 180 189 +f 182 171 189 +f 180 182 189 +f 177 169 190 +f 178 172 190 +f 169 178 190 +f 172 186 190 +f 186 177 190 +f 179 170 191 +f 173 179 191 +f 181 173 191 +f 170 184 191 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/092/092.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/092/092.urdf new file mode 100644 index 000000000..d497da12a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/092/092.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/093/093.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/093/093.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/093/093.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/093/093.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/093/093.obj new file mode 100644 index 000000000..1926939f9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/093/093.obj @@ -0,0 +1,672 @@ +o convex_0 +v -0.212496 1.159597 -2.099069 +v 0.025239 2.083936 -2.072572 +v 0.025239 2.083936 -2.099069 +v 0.315823 1.450152 -2.257553 +v -0.027553 1.529219 -2.706448 +v -0.001157 0.921829 -2.072572 +v -0.265345 1.925348 -2.072572 +v 0.236521 1.476546 -2.627206 +v 0.262974 1.872561 -2.072572 +v -0.159647 1.555612 -2.653641 +v -0.001157 1.318071 -2.627206 +v 0.210125 1.159597 -2.072572 +v 0.236521 1.318071 -2.547964 +v -0.027553 1.714087 -2.600833 +v 0.236521 1.582006 -2.600833 +v -0.238892 1.555612 -2.495156 +v -0.159647 1.370972 -2.547964 +v -0.265345 1.450152 -2.072572 +v -0.054006 0.921829 -2.099069 +v 0.289370 1.687693 -2.363230 +v -0.212496 1.978248 -2.099069 +v 0.289370 1.423759 -2.072572 +v 0.104484 1.318071 -2.627206 +v 0.183729 1.529219 -2.680076 +v 0.025239 1.714087 -2.600833 +v 0.289370 1.502939 -2.495156 +v -0.265345 1.529219 -2.283988 +v -0.212496 1.634793 -2.521591 +f 21 14 28 +f 6 2 7 +f 3 2 9 +f 2 6 9 +f 10 5 11 +f 9 6 12 +f 4 12 13 +f 12 6 13 +f 5 10 14 +f 16 10 17 +f 10 11 17 +f 1 16 17 +f 1 6 18 +f 6 7 18 +f 6 1 19 +f 1 17 19 +f 17 11 19 +f 3 9 20 +f 9 4 20 +f 15 3 20 +f 2 3 21 +f 7 2 21 +f 3 14 21 +f 4 9 22 +f 12 4 22 +f 9 12 22 +f 11 5 23 +f 8 13 23 +f 13 6 23 +f 6 19 23 +f 19 11 23 +f 15 8 24 +f 23 5 24 +f 8 23 24 +f 14 3 25 +f 5 14 25 +f 3 15 25 +f 24 5 25 +f 15 24 25 +f 4 13 26 +f 13 8 26 +f 8 15 26 +f 20 4 26 +f 15 20 26 +f 16 1 27 +f 7 16 27 +f 1 18 27 +f 18 7 27 +f 14 10 28 +f 16 7 28 +f 10 16 28 +f 7 21 28 +o convex_1 +v 0.659136 -2.221426 -0.592934 +v 0.051573 1.845748 1.572931 +v -0.080407 1.845748 1.572931 +v -0.053928 1.792587 -0.989487 +v -0.793472 -2.749460 0.331101 +v 0.923303 -0.609848 1.070781 +v 0.711887 1.819466 -0.487338 +v -0.819950 1.898910 -0.487338 +v -0.027450 -2.882066 1.070781 +v -0.899180 -0.373308 1.097118 +v -0.846429 -0.663009 -0.461001 +v 0.764844 -2.327152 1.150042 +v -0.053928 -2.882066 -0.461001 +v -0.027450 2.559550 0.120158 +v -0.793472 1.925192 1.176378 +v 0.685615 1.818869 1.070781 +v 0.976054 -0.188137 -0.461001 +v 0.051573 -3.542705 0.278679 +v -1.057845 -0.399590 0.278679 +v 0.817595 -2.749460 0.252343 +v 1.055490 -0.399590 0.304765 +v -0.212387 1.105665 -0.989487 +v -0.185908 1.026818 1.572931 +v 0.262989 1.687458 -0.989487 +v 0.368490 1.237673 1.572931 +v -0.001178 2.453824 1.070781 +v 0.791116 -2.353434 -0.566598 +v -0.001178 2.479508 -0.461001 +v -0.608741 -2.300870 0.912261 +v -0.344574 -0.900147 1.335150 +v 0.764844 1.819466 0.357438 +v -0.608741 -2.273990 -0.249556 +v -0.318095 -0.900147 -0.724868 +v -0.318095 1.476005 1.572931 +v 0.130802 0.735922 1.572931 +v 0.949782 -0.135573 1.044445 +v -0.899180 -0.663009 1.097118 +v 0.711887 0.551349 -0.725119 +v 0.262989 1.026818 -0.989487 +v -0.793472 1.951475 -0.540261 +v -0.767200 -2.855186 0.304765 +v -0.106679 -2.882066 1.070781 +v -0.080407 2.559550 0.410111 +v -1.057845 -0.557283 0.410362 +v 0.289261 1.766902 1.572931 +v -0.819950 1.872031 1.123705 +v -0.238866 1.713740 -0.989487 +v -0.872908 -0.636130 -0.434665 +v 0.051573 -3.542705 0.330850 +v -0.450075 2.083483 -0.698782 +v -0.106679 -2.776339 1.097369 +v -0.001178 2.559550 0.357438 +v 0.764844 -2.405999 1.097369 +v -1.057845 -0.557283 0.252343 +v 0.183553 -0.953309 -0.751706 +v 1.055490 -0.479034 0.304765 +v -0.476554 2.056603 1.308563 +v 0.764844 1.819466 0.173082 +v 0.817595 -2.670613 0.463286 +v -0.080407 2.453824 1.070781 +v 0.659136 -0.241299 -0.751455 +v 0.949782 -0.452154 -0.513674 +v -0.767200 -2.775742 0.410362 +v -0.001178 -3.542705 0.278679 +f 77 70 92 +f 30 31 51 +f 50 32 52 +f 40 34 53 +f 30 51 53 +f 31 30 54 +f 41 29 55 +f 46 41 55 +f 48 46 55 +f 35 52 56 +f 52 32 56 +f 39 41 60 +f 41 39 61 +f 39 50 61 +f 43 38 62 +f 51 31 62 +f 58 51 62 +f 40 53 63 +f 53 51 63 +f 51 58 63 +f 53 34 64 +f 44 53 64 +f 59 44 64 +f 49 59 64 +f 62 38 65 +f 58 62 65 +f 35 45 66 +f 52 35 66 +f 50 52 67 +f 55 29 67 +f 52 66 67 +f 36 43 68 +f 42 56 68 +f 60 41 69 +f 68 43 71 +f 42 68 71 +f 33 65 72 +f 65 38 72 +f 30 53 73 +f 53 44 73 +f 54 30 73 +f 44 54 73 +f 43 36 74 +f 38 43 74 +f 36 47 74 +f 72 38 74 +f 47 72 74 +f 32 50 75 +f 50 39 75 +f 39 68 75 +f 39 60 76 +f 36 68 76 +f 68 39 76 +f 69 33 76 +f 60 69 76 +f 46 48 77 +f 37 70 77 +f 56 32 78 +f 68 56 78 +f 32 75 78 +f 75 68 78 +f 37 40 79 +f 40 63 79 +f 63 58 79 +f 65 57 79 +f 58 65 79 +f 70 37 79 +f 57 70 79 +f 54 44 80 +f 35 56 80 +f 56 42 80 +f 44 59 80 +f 42 71 80 +f 71 54 80 +f 40 37 81 +f 37 77 81 +f 47 36 82 +f 33 72 82 +f 72 47 82 +f 76 33 82 +f 36 76 82 +f 29 41 83 +f 41 61 83 +f 61 50 83 +f 67 29 83 +f 50 67 83 +f 34 40 84 +f 45 49 84 +f 48 55 84 +f 64 34 84 +f 49 64 84 +f 40 81 84 +f 62 31 85 +f 43 62 85 +f 45 35 86 +f 49 45 86 +f 59 49 86 +f 35 80 86 +f 80 59 86 +f 77 48 87 +f 81 77 87 +f 48 84 87 +f 84 81 87 +f 31 54 88 +f 54 71 88 +f 71 43 88 +f 85 31 88 +f 43 85 88 +f 55 67 89 +f 67 66 89 +f 66 45 90 +f 45 84 90 +f 84 55 90 +f 55 89 90 +f 89 66 90 +f 65 33 91 +f 57 65 91 +f 33 69 91 +f 70 57 91 +f 69 70 91 +f 41 46 92 +f 69 41 92 +f 70 69 92 +f 46 77 92 +o convex_2 +v -0.159668 1.819867 1.599552 +v 0.051529 0.842465 1.573102 +v 0.262919 0.842465 1.573102 +v -0.080412 1.502779 3.316262 +v 0.289359 1.714138 1.573102 +v -0.318178 1.502779 1.573102 +v 0.130784 1.608409 3.025650 +v -0.238923 1.449914 3.025650 +v -0.053972 1.740472 3.052100 +v -0.186043 1.053824 1.652453 +v -0.027532 1.291616 3.078380 +v 0.342239 1.238850 1.626003 +v -0.291738 1.740472 1.652453 +v 0.157224 1.502779 2.999200 +v 0.051529 1.846299 1.573102 +v 0.183664 1.740472 2.365587 +v -0.106788 1.291616 2.999200 +v -0.212483 1.634940 2.893569 +v 0.130784 1.502779 3.104831 +v -0.212483 1.106689 1.573102 +v 0.051529 0.842465 1.626003 +v -0.318178 1.502779 1.784534 +v -0.238923 1.529113 3.025650 +v 0.262919 0.868897 1.652453 +v 0.157224 1.555643 2.999200 +v -0.001157 1.846299 1.784534 +v -0.186043 1.318146 2.840669 +v 0.342239 1.318146 1.626003 +v -0.027532 1.529113 3.316262 +v -0.265298 1.767003 1.705183 +v -0.318178 1.634940 1.573102 +v -0.027532 1.740472 3.052100 +v 0.236479 1.767003 1.626003 +v 0.236479 0.842465 1.626003 +v -0.080412 1.714138 3.104831 +v -0.027532 0.895329 1.599552 +v -0.080412 1.740472 2.999200 +v -0.212483 1.106689 1.678903 +v 0.342239 1.212319 1.573102 +f 120 104 131 +f 95 94 97 +f 97 94 98 +f 97 98 107 +f 96 100 109 +f 103 96 109 +f 98 94 112 +f 94 95 113 +f 103 109 113 +f 98 112 114 +f 100 96 115 +f 110 105 115 +f 114 100 115 +f 104 106 116 +f 111 103 116 +f 106 111 116 +f 106 104 117 +f 97 108 117 +f 108 99 117 +f 99 111 117 +f 111 106 117 +f 107 93 118 +f 108 107 118 +f 100 102 119 +f 109 100 119 +f 97 117 120 +f 117 104 120 +f 96 103 121 +f 111 99 121 +f 103 111 121 +f 93 105 122 +f 105 110 122 +f 105 93 123 +f 93 107 123 +f 107 98 123 +f 98 114 123 +f 115 105 123 +f 114 115 123 +f 99 108 124 +f 118 101 124 +f 108 118 124 +f 121 99 124 +f 97 107 125 +f 107 108 125 +f 108 97 125 +f 113 95 126 +f 103 113 126 +f 95 116 126 +f 116 103 126 +f 115 96 127 +f 110 115 127 +f 96 121 127 +f 124 101 127 +f 121 124 127 +f 112 94 128 +f 102 112 128 +f 94 113 128 +f 113 109 128 +f 119 102 128 +f 109 119 128 +f 118 93 129 +f 101 118 129 +f 93 122 129 +f 122 110 129 +f 110 127 129 +f 127 101 129 +f 102 100 130 +f 112 102 130 +f 100 114 130 +f 114 112 130 +f 95 97 131 +f 116 95 131 +f 104 116 131 +f 97 120 131 +o convex_3 +v -0.159633 -0.952846 -1.913973 +v -0.027597 2.559330 -1.385738 +v -0.053993 2.559330 -1.385738 +v -0.080389 4.222648 -1.887619 +v 0.262984 1.371161 -2.072572 +v 0.210136 1.292068 -1.385738 +v -0.265273 1.133884 -1.385738 +v -0.265273 1.977734 -2.072505 +v 0.157287 -1.165147 -1.676446 +v 0.157287 4.197077 -1.676446 +v -0.265273 4.222648 -1.676446 +v -0.080389 -1.190718 -1.544336 +v -0.291725 -0.213660 -1.729155 +v -0.001201 -1.190718 -1.940462 +v -0.001201 4.170316 -1.517847 +v -0.318178 3.483462 -1.702800 +v 0.262984 1.898641 -2.072572 +v 0.262984 2.638422 -1.729155 +v -0.238877 1.160050 -2.072505 +v -0.238877 -1.111625 -1.729155 +v -0.265273 1.898641 -1.385738 +v -0.053993 -1.534442 -1.755509 +v -0.027597 4.540207 -1.676446 +v -0.238877 3.905684 -1.861130 +v 0.210136 1.660770 -1.385738 +v 0.104439 3.932445 -1.861130 +v 0.157287 -1.165147 -1.755509 +v -0.080389 4.143556 -1.517847 +v -0.027597 0.763993 -1.385738 +v 0.025251 -1.085459 -1.544336 +v 0.262984 1.424087 -1.887619 +v 0.025251 2.241771 -2.072505 +v -0.291725 1.660770 -1.993239 +v -0.001201 0.816325 -2.072505 +v 0.183683 3.113571 -1.517847 +v -0.238877 -0.345678 -1.544336 +v -0.238877 -1.111625 -1.781864 +v -0.318178 2.796607 -1.623535 +v 0.236531 3.325277 -1.702800 +v 0.157287 4.197077 -1.729155 +v -0.318178 3.007718 -1.808353 +v 0.183683 -0.742330 -1.702800 +v -0.212481 3.985371 -1.570691 +v -0.053993 -1.190718 -1.940462 +v -0.265273 4.249409 -1.729155 +v -0.027597 4.197077 -1.887619 +v -0.291725 -0.186899 -1.781864 +v -0.265273 1.397921 -2.072505 +v -0.318178 2.162679 -1.808353 +v 0.104439 3.932445 -1.544336 +v -0.027597 -0.979607 -1.517847 +v 0.104439 -0.926680 -1.570691 +v 0.130891 -1.006367 -1.834775 +v -0.027597 4.540207 -1.729155 +v -0.001201 -1.507682 -1.729155 +v 0.262984 1.951568 -1.729155 +v 0.183683 1.107123 -1.385738 +v -0.080389 4.011537 -1.913973 +v -0.186029 -0.847588 -1.913973 +v 0.262984 2.638422 -1.861197 +v -0.238877 0.975104 -1.385738 +v -0.291725 1.133884 -1.544336 +v -0.212481 -0.741735 -1.570691 +v -0.265273 3.113571 -1.517847 +f 152 174 195 +f 133 134 137 +f 137 134 138 +f 134 133 146 +f 136 139 148 +f 136 148 149 +f 138 134 152 +f 143 151 153 +f 146 141 154 +f 133 137 156 +f 146 133 156 +f 137 149 156 +f 134 146 159 +f 152 134 159 +f 154 142 159 +f 146 154 159 +f 137 138 160 +f 136 149 162 +f 148 139 163 +f 136 145 165 +f 150 136 165 +f 138 144 167 +f 144 151 167 +f 151 144 168 +f 153 151 168 +f 138 152 169 +f 156 149 170 +f 141 166 170 +f 166 156 170 +f 154 141 171 +f 148 157 171 +f 141 170 171 +f 155 139 172 +f 139 164 172 +f 169 147 172 +f 137 140 173 +f 158 136 173 +f 140 158 173 +f 136 162 173 +f 152 159 174 +f 159 142 174 +f 145 153 175 +f 165 145 175 +f 150 165 175 +f 168 132 175 +f 153 168 175 +f 147 142 176 +f 142 154 176 +f 135 155 176 +f 155 172 176 +f 172 147 176 +f 157 148 177 +f 171 157 177 +f 168 144 178 +f 139 136 179 +f 136 150 179 +f 164 139 179 +f 178 164 179 +f 168 178 179 +f 144 169 180 +f 172 164 180 +f 169 172 180 +f 164 178 180 +f 178 144 180 +f 141 146 181 +f 146 156 181 +f 166 141 181 +f 156 166 181 +f 143 161 182 +f 140 137 183 +f 161 140 183 +f 145 136 184 +f 136 158 184 +f 158 145 184 +f 154 171 185 +f 135 176 185 +f 176 154 185 +f 177 135 185 +f 171 177 185 +f 143 153 186 +f 153 145 186 +f 158 140 186 +f 145 158 186 +f 161 143 186 +f 140 161 186 +f 149 137 187 +f 162 149 187 +f 137 173 187 +f 173 162 187 +f 137 160 188 +f 160 182 188 +f 182 161 188 +f 183 137 188 +f 161 183 188 +f 155 135 189 +f 139 155 189 +f 163 139 189 +f 148 163 189 +f 135 177 189 +f 177 148 189 +f 132 168 190 +f 175 132 190 +f 150 175 190 +f 179 150 190 +f 168 179 190 +f 149 148 191 +f 170 149 191 +f 148 171 191 +f 171 170 191 +f 160 138 192 +f 143 182 192 +f 182 160 192 +f 144 138 193 +f 138 169 193 +f 169 144 193 +f 151 143 194 +f 138 167 194 +f 167 151 194 +f 192 138 194 +f 143 192 194 +f 142 147 195 +f 169 152 195 +f 147 169 195 +f 174 142 195 +o convex_4 +v 0.236474 1.502916 -1.332868 +v -0.265246 1.185970 -1.385714 +v -0.238869 1.027568 -1.385714 +v -0.238869 1.185970 -1.148011 +v -0.053978 2.321657 -1.385714 +v 0.236474 1.238865 -1.148011 +v -0.212441 1.766966 -1.148011 +v 0.157242 1.027568 -1.385714 +v 0.183669 1.714071 -1.148011 +v -0.265246 1.819720 -1.385714 +v -0.027551 0.869166 -1.359280 +v 0.183669 1.846167 -1.385714 +v -0.001222 1.899063 -1.148011 +v -0.265246 1.634870 -1.148011 +v -0.027551 2.321657 -1.359280 +v -0.001222 1.133217 -1.148011 +v 0.236474 1.608422 -1.148011 +v -0.238869 1.846167 -1.253680 +v 0.210096 1.291618 -1.385714 +f 203 207 214 +f 197 198 199 +f 198 197 200 +f 199 201 202 +f 198 200 203 +f 202 201 204 +f 200 197 205 +f 199 198 206 +f 198 203 206 +f 203 201 206 +f 203 200 207 +f 202 204 208 +f 197 199 209 +f 199 202 209 +f 205 197 209 +f 200 202 210 +f 207 200 210 +f 202 208 210 +f 208 204 210 +f 201 199 211 +f 199 206 211 +f 206 201 211 +f 201 196 212 +f 204 201 212 +f 196 207 212 +f 207 210 212 +f 210 204 212 +f 202 200 213 +f 200 205 213 +f 209 202 213 +f 205 209 213 +f 196 201 214 +f 201 203 214 +f 207 196 214 +o convex_5 +v 0.262989 1.608523 -1.121553 +v -0.265345 1.423632 -1.147988 +v -0.238918 1.212366 -1.147988 +v -0.238918 1.265292 -0.989518 +v 0.210135 1.027475 -0.989518 +v -0.053980 1.793326 -0.989518 +v 0.236562 1.238741 -1.147988 +v -0.053980 1.872716 -1.147988 +v 0.236562 1.714112 -0.989518 +v -0.238918 1.714112 -0.989518 +v 0.025198 0.974549 -1.015922 +v 0.262989 1.159527 -0.989518 +v -0.265345 1.634899 -1.147988 +v -0.186064 1.106689 -0.989518 +v 0.210135 1.687737 -1.147988 +v -0.001178 1.159527 -1.147988 +f 221 225 230 +f 216 217 218 +f 218 219 220 +f 217 216 221 +f 221 216 222 +f 220 219 223 +f 222 220 223 +f 216 218 224 +f 218 220 224 +f 220 222 224 +f 221 219 225 +f 221 215 226 +f 219 221 226 +f 215 223 226 +f 223 219 226 +f 222 216 227 +f 216 224 227 +f 224 222 227 +f 218 217 228 +f 219 218 228 +f 217 225 228 +f 225 219 228 +f 215 221 229 +f 221 222 229 +f 223 215 229 +f 222 223 229 +f 217 221 230 +f 225 217 230 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/093/093.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/093/093.urdf new file mode 100644 index 000000000..94dbaf311 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/093/093.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/094/094.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/094/094.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/094/094.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/094/094.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/094/094.obj new file mode 100644 index 000000000..592c26b54 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/094/094.obj @@ -0,0 +1,606 @@ +o convex_0 +v 1.022209 3.371440 1.041861 +v -0.864377 3.228844 -1.022642 +v -0.900025 1.591484 -0.986888 +v -1.078054 1.947590 1.077615 +v 0.950911 1.413431 -0.986679 +v 0.986560 1.413431 1.077615 +v 1.093507 3.335599 -1.022642 +v -0.935458 3.335599 1.113368 +v -1.113703 1.413431 1.042070 +v -1.006756 3.264493 -0.986888 +v -1.042405 1.413431 -0.915799 +v 0.132282 1.413431 -1.022642 +v -0.828728 1.413431 1.113368 +v 1.093507 2.908387 -1.022642 +v -0.401588 3.335599 1.113368 +v 1.057858 3.371440 0.401226 +v -0.971107 3.264493 1.113368 +v 0.737234 3.335599 -1.022642 +v 0.986560 1.555835 -0.986679 +v -1.042405 2.161100 -0.951344 +v 0.630503 3.371440 1.077615 +v 1.093507 3.299950 -0.346043 +v -1.006756 3.264493 -0.168112 +v 0.879829 1.413431 -1.022642 +v 0.986560 2.481366 1.077615 +v -0.971107 3.299950 -0.168112 +v -0.437237 1.520378 1.113368 +v -1.113703 1.484921 0.970772 +v 0.950911 3.371440 0.294383 +v -1.042405 1.449271 -0.951344 +v -0.259209 3.299950 -1.022642 +v -0.935458 3.335599 1.042070 +v 0.381176 3.371440 1.041861 +v -1.006756 2.196941 -0.986888 +v 1.022209 3.122089 1.041861 +f 22 16 35 +f 5 6 9 +f 5 9 11 +f 5 11 12 +f 3 2 12 +f 2 7 12 +f 4 9 13 +f 9 6 13 +f 12 7 14 +f 8 13 15 +f 4 13 17 +f 13 8 17 +f 7 2 18 +f 6 5 19 +f 14 6 19 +f 8 15 21 +f 1 16 21 +f 6 14 22 +f 14 7 22 +f 7 16 22 +f 8 10 23 +f 4 17 23 +f 17 8 23 +f 5 12 24 +f 12 14 24 +f 19 5 24 +f 14 19 24 +f 6 1 25 +f 15 6 25 +f 1 21 25 +f 21 15 25 +f 13 6 27 +f 6 15 27 +f 15 13 27 +f 9 4 28 +f 11 9 28 +f 10 20 28 +f 4 23 28 +f 23 10 28 +f 16 7 29 +f 7 18 29 +f 21 16 29 +f 12 11 30 +f 3 12 30 +f 20 10 30 +f 11 28 30 +f 28 20 30 +f 2 10 31 +f 18 2 31 +f 10 26 31 +f 26 18 31 +f 10 8 32 +f 26 10 32 +f 18 26 32 +f 29 18 32 +f 29 32 33 +f 8 21 33 +f 21 29 33 +f 32 8 33 +f 2 3 34 +f 10 2 34 +f 3 30 34 +f 30 10 34 +f 1 6 35 +f 16 1 35 +f 6 22 35 +o convex_1 +v -0.579701 -1.434711 1.113368 +v 0.595105 -1.256700 2.964277 +v 0.595105 -1.399065 2.964277 +v 0.595105 -1.399065 1.113368 +v -0.508403 -2.146432 2.786280 +v 0.488273 -2.146432 1.113368 +v -0.437220 -1.078688 2.999839 +v 0.488273 -2.146432 3.035401 +v -0.472869 -2.182186 1.113368 +v 0.595105 -1.114334 1.113368 +v -0.579701 -1.149979 1.184868 +v 0.595105 -1.114334 2.928715 +v -0.508403 -2.075249 2.999839 +v -0.259205 -1.221162 3.035401 +v -0.579701 -1.149979 1.505301 +v 0.060945 -1.114334 1.113368 +v -0.081190 -1.078688 2.394723 +v 0.523807 -1.968421 1.113368 +v 0.523807 -1.932883 3.035401 +v -0.508403 -1.932883 2.999839 +v 0.025296 -2.110787 3.035401 +v -0.544052 -1.149979 1.113368 +v -0.294854 -2.182186 1.149307 +v -0.508403 -2.146432 2.288038 +v -0.472869 -2.110787 2.999839 +f 56 48 60 +f 37 38 39 +f 36 39 41 +f 36 41 44 +f 43 40 44 +f 37 39 45 +f 39 36 45 +f 37 45 47 +f 36 40 48 +f 37 47 49 +f 47 42 49 +f 42 46 50 +f 46 36 50 +f 36 48 50 +f 45 36 51 +f 42 47 52 +f 47 45 52 +f 45 51 52 +f 51 42 52 +f 39 38 53 +f 41 39 53 +f 43 41 53 +f 43 53 54 +f 38 37 54 +f 37 49 54 +f 49 43 54 +f 53 38 54 +f 49 42 55 +f 48 49 55 +f 42 50 55 +f 50 48 55 +f 43 49 56 +f 49 48 56 +f 46 42 57 +f 36 46 57 +f 51 36 57 +f 42 51 57 +f 41 43 58 +f 44 41 58 +f 43 44 58 +f 40 36 59 +f 36 44 59 +f 44 40 59 +f 40 43 60 +f 48 40 60 +f 43 56 60 +o convex_2 +v 0.951009 1.235235 1.113368 +v -0.116776 -0.864980 -1.058179 +v -1.042385 -0.722244 -3.087451 +v -1.113682 1.270919 1.113368 +v 0.915465 1.306602 -2.980539 +v 1.022306 -0.864980 0.970682 +v -1.006841 -0.864980 1.006456 +v 0.915465 -0.615416 -3.087451 +v -0.935544 1.235235 -3.015902 +v -1.113682 1.413431 0.827995 +v 0.951009 1.413431 1.077183 +v -1.042385 1.413431 -0.916315 +v 0.488100 -0.864980 1.113368 +v 0.986553 -0.864980 -0.987041 +v 0.951009 1.413431 -0.987041 +v 1.022306 0.309686 1.113368 +v 0.951009 1.306602 -2.660214 +v -1.042385 -0.295377 1.113368 +v -0.971297 -0.864980 -0.987041 +v 0.951009 -0.651100 -2.909401 +v 1.022306 -0.651100 -0.026067 +v -1.042385 -0.401759 -3.087451 +v -0.828703 1.270919 -3.015902 +v -1.113682 0.914973 1.077183 +v -0.864456 1.413431 -1.164680 +v 0.915465 -0.330615 -3.087451 +v -0.615229 -0.722244 -3.087451 +v -0.828703 1.413431 1.113368 +v 0.986553 1.199774 1.113368 +v 1.022306 -0.651100 1.113368 +v -1.006841 -0.686784 1.113368 +v -0.971297 1.270919 -2.588665 +v 0.167786 1.306602 -2.980539 +v 0.844168 1.021578 -3.015902 +v 0.808624 -0.651100 -3.087451 +v -1.042385 1.199774 -1.307366 +v -1.113682 1.306602 0.578808 +v -1.042385 -0.722244 -2.588665 +v -1.006841 -0.295377 -3.087451 +v 1.022306 -0.864980 0.080845 +v -1.042385 -0.330615 1.041408 +v -0.116776 0.523343 -3.051676 +v -1.113682 1.413431 1.041408 +v -0.935544 1.270919 -2.944765 +v -0.971297 0.879289 -3.015902 +v -1.006841 -0.864980 -0.311440 +f 79 67 106 +f 62 66 67 +f 70 71 72 +f 61 64 73 +f 67 66 73 +f 66 62 74 +f 72 71 75 +f 61 73 76 +f 65 75 77 +f 73 64 78 +f 63 62 79 +f 62 67 79 +f 65 77 80 +f 80 77 81 +f 76 66 81 +f 77 76 81 +f 68 63 82 +f 64 70 84 +f 78 64 84 +f 72 75 85 +f 75 65 85 +f 80 68 86 +f 65 80 86 +f 68 82 86 +f 62 63 87 +f 63 68 87 +f 74 62 87 +f 64 61 88 +f 61 71 88 +f 71 70 88 +f 71 61 89 +f 75 71 89 +f 61 76 89 +f 77 75 89 +f 76 77 89 +f 73 66 90 +f 76 73 90 +f 66 76 90 +f 67 73 91 +f 78 67 91 +f 73 78 91 +f 65 83 93 +f 85 65 93 +f 83 85 93 +f 83 65 94 +f 65 86 94 +f 68 80 95 +f 80 74 95 +f 87 68 95 +f 74 87 95 +f 92 82 96 +f 72 92 96 +f 70 72 97 +f 82 63 97 +f 63 84 97 +f 84 70 97 +f 72 96 97 +f 96 82 97 +f 63 67 98 +f 84 63 98 +f 82 69 99 +f 69 83 99 +f 86 82 99 +f 66 74 100 +f 74 80 100 +f 80 81 100 +f 81 66 100 +f 67 78 101 +f 78 84 101 +f 98 67 101 +f 84 98 101 +f 83 94 102 +f 94 86 102 +f 99 83 102 +f 86 99 102 +f 70 64 103 +f 64 88 103 +f 88 70 103 +f 83 69 104 +f 72 85 104 +f 85 83 104 +f 69 92 104 +f 92 72 104 +f 69 82 105 +f 92 69 105 +f 82 92 105 +f 67 63 106 +f 63 79 106 +o convex_3 +v -1.042280 -0.259735 1.113368 +v 0.061168 1.342230 1.718634 +v 1.057907 1.306456 3.071377 +v 1.022195 -0.651232 1.113368 +v -1.042280 -0.686805 2.964430 +v -1.042280 1.306456 3.071377 +v 1.022195 -0.722579 3.071377 +v 0.986483 1.235312 1.113368 +v -1.113703 1.270884 1.113368 +v -1.006781 -0.686805 1.113368 +v 1.057907 0.025248 1.576230 +v -0.508518 1.342230 1.113368 +v -0.508518 -0.722579 3.000079 +v -1.077991 1.306456 2.893132 +v 1.022195 -0.722579 2.501569 +v 0.915273 1.270884 1.149017 +v 0.381511 -0.686805 1.113368 +v -1.113703 0.950531 1.149017 +v -1.042280 1.021676 3.071377 +v 1.057907 1.306456 2.715271 +v 1.057907 0.380970 3.071377 +v 0.701853 -0.722579 3.071377 +v -1.113703 1.235312 1.682985 +v -1.042280 -0.686805 2.359165 +v -0.650727 1.342230 1.754474 +v -0.757437 -0.722579 2.928973 +v 1.022195 0.380970 1.113368 +v -1.077991 1.306456 2.074932 +v -0.223675 1.342230 1.113368 +v 1.022195 1.306456 2.466112 +f 135 108 136 +f 109 112 113 +f 110 107 114 +f 114 107 115 +f 107 110 116 +f 114 115 118 +f 117 113 121 +f 110 117 121 +f 113 119 121 +f 116 110 123 +f 110 121 123 +f 121 116 123 +f 115 107 124 +f 113 112 125 +f 111 119 125 +f 120 111 125 +f 112 120 125 +f 108 109 126 +f 109 117 126 +f 114 122 126 +f 109 113 127 +f 117 109 127 +f 113 117 127 +f 119 113 128 +f 113 125 128 +f 125 119 128 +f 111 120 129 +f 120 115 129 +f 124 111 129 +f 115 124 129 +f 107 116 130 +f 124 107 130 +f 111 124 130 +f 109 108 131 +f 112 109 131 +f 108 118 131 +f 120 112 131 +f 119 111 132 +f 116 121 132 +f 121 119 132 +f 130 116 132 +f 111 130 132 +f 110 114 133 +f 117 110 133 +f 126 117 133 +f 114 126 133 +f 118 115 134 +f 115 120 134 +f 131 118 134 +f 120 131 134 +f 118 108 135 +f 114 118 135 +f 122 114 135 +f 122 135 136 +f 108 126 136 +f 126 122 136 +o convex_4 +v -0.294690 -2.253281 -3.087451 +v 0.559505 -1.221131 -1.093842 +v 0.025460 -1.185381 -1.093842 +v -0.544003 -2.253281 -1.093842 +v -0.615301 -1.256777 -2.944995 +v 0.452673 -2.217636 -2.944995 +v 0.452673 -1.256777 -2.980511 +v 0.488207 -2.253281 -1.093842 +v -0.579652 -1.185381 -1.093842 +v -0.437171 -2.253281 -3.087451 +v 0.488207 -1.221131 -2.481914 +v -0.615301 -1.256777 -1.449983 +v 0.488207 -2.039618 -2.588854 +v -0.615301 -1.363504 -2.944995 +v 0.345841 -1.363504 -3.016223 +v 0.488207 -1.256777 -2.838250 +v 0.203475 -2.253281 -2.873766 +v 0.559505 -1.363504 -1.236298 +v -0.615301 -1.221131 -2.339653 +v -0.544003 -2.253281 -1.378950 +v -0.437171 -2.075263 -3.087451 +v -0.579652 -1.826059 -1.093842 +v -0.223507 -1.256777 -2.980511 +v -0.508354 -1.932890 -3.051544 +v 0.452673 -2.253281 -2.161484 +v 0.452673 -1.754872 -2.980511 +f 143 152 162 +f 138 139 140 +f 138 140 144 +f 140 137 144 +f 140 139 145 +f 137 140 146 +f 139 138 147 +f 145 139 147 +f 144 142 149 +f 148 141 150 +f 147 138 152 +f 143 147 152 +f 149 142 152 +f 137 142 153 +f 144 137 153 +f 138 144 154 +f 144 149 154 +f 152 138 154 +f 149 152 154 +f 147 141 155 +f 145 147 155 +f 141 148 155 +f 148 145 155 +f 146 140 156 +f 137 146 157 +f 151 137 157 +f 140 145 158 +f 145 148 158 +f 148 150 158 +f 156 140 158 +f 150 156 158 +f 141 147 159 +f 147 143 159 +f 143 151 159 +f 157 141 159 +f 151 157 159 +f 150 141 160 +f 146 156 160 +f 156 150 160 +f 157 146 160 +f 141 157 160 +f 142 144 161 +f 153 142 161 +f 144 153 161 +f 142 137 162 +f 137 151 162 +f 151 143 162 +f 152 142 162 +o convex_5 +v -1.042349 -1.256857 0.223009 +v 1.057907 -2.395553 1.077719 +v 0.986609 -2.075145 1.077719 +v 0.986609 -0.865164 -0.986679 +v -1.078103 -2.715961 -0.951246 +v 0.950855 -2.680320 -1.022544 +v -1.006805 -2.751788 1.077719 +v 0.488151 -0.865164 1.113368 +v -0.971052 -0.865164 -0.986895 +v -1.006805 -0.865164 1.006421 +v 1.057907 -2.751788 1.077719 +v 1.057907 -0.936448 0.970772 +v -0.579645 -1.185573 -1.093842 +v 0.488151 -2.253170 -1.093842 +v -0.615189 -1.185573 1.113368 +v -0.579645 -2.288812 -1.093842 +v 1.057907 -2.715961 0.543417 +v 0.559240 -1.221215 -1.093842 +v -1.042349 -2.751788 0.792960 +v 0.915311 -2.715961 -0.880164 +v 0.488151 -2.146429 1.113368 +v -0.935507 -2.751788 0.258658 +v 1.022153 -0.865164 0.970772 +v 0.488151 -0.865164 -1.058193 +v -1.006805 -1.078831 -0.986895 +v -1.078103 -2.146429 -0.417160 +v -0.472803 -2.181886 1.113368 +v -1.042349 -1.185573 0.507768 +v -1.006805 -0.972090 1.042070 +v -0.579645 -2.715961 -0.986895 +v 0.666082 -1.221215 1.113368 +v -1.006805 -0.865164 -0.381727 +v 0.986609 -2.715961 -0.559756 +v -1.078103 -2.324269 -0.951246 +v -0.188029 -0.865164 -1.058193 +v -1.006805 -2.644678 -0.986895 +v 0.951064 -1.505981 -1.022544 +v -1.078103 -2.715961 -0.310213 +v -1.006805 -2.075145 1.077719 +v 1.057907 -2.751788 0.970772 +v 0.488151 -2.715961 -0.986895 +v 0.986609 -1.043190 -0.986679 +v 0.239131 -2.680320 -1.022544 +v 0.844222 -0.900806 1.042070 +v -0.864418 -0.865164 -1.022544 +v 1.057907 -1.292499 0.828177 +f 174 179 208 +f 170 166 171 +f 170 171 172 +f 164 173 174 +f 176 168 178 +f 175 176 178 +f 174 173 179 +f 168 176 180 +f 176 175 180 +f 173 169 181 +f 170 177 183 +f 181 167 184 +f 173 181 184 +f 166 170 185 +f 174 166 185 +f 171 166 186 +f 166 180 186 +f 180 175 186 +f 175 178 187 +f 169 173 189 +f 177 169 189 +f 173 183 189 +f 183 177 189 +f 163 188 190 +f 170 172 191 +f 177 170 191 +f 172 190 191 +f 190 181 191 +f 184 167 192 +f 164 165 193 +f 173 164 193 +f 183 173 193 +f 170 183 193 +f 172 171 194 +f 187 163 194 +f 171 187 194 +f 190 172 194 +f 163 190 194 +f 182 168 195 +f 163 187 196 +f 187 167 196 +f 188 163 196 +f 167 188 196 +f 171 186 197 +f 186 175 197 +f 167 187 198 +f 187 178 198 +f 192 167 198 +f 178 192 198 +f 180 166 199 +f 168 180 199 +f 167 181 200 +f 188 167 200 +f 181 190 200 +f 190 188 200 +f 169 177 201 +f 181 169 201 +f 177 191 201 +f 191 181 201 +f 179 173 202 +f 173 184 202 +f 184 182 202 +f 195 179 202 +f 182 195 202 +f 168 182 203 +f 182 184 203 +f 192 168 203 +f 184 192 203 +f 166 179 204 +f 195 168 204 +f 179 195 204 +f 199 166 204 +f 168 199 204 +f 178 168 205 +f 192 178 205 +f 168 192 205 +f 165 164 206 +f 164 174 206 +f 185 170 206 +f 174 185 206 +f 193 165 206 +f 170 193 206 +f 187 171 207 +f 175 187 207 +f 171 197 207 +f 197 175 207 +f 166 174 208 +f 179 166 208 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/094/094.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/094/094.urdf new file mode 100644 index 000000000..d54d8df0d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/094/094.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/095/095.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/095/095.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/095/095.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/095/095.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/095/095.obj new file mode 100644 index 000000000..f998cac74 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/095/095.obj @@ -0,0 +1,603 @@ +o convex_0 +v -1.115502 -0.787059 -1.676904 +v 1.089844 -2.351968 -0.147886 +v 1.089844 -2.422907 -0.147886 +v -1.079884 -2.102832 1.488861 +v 0.947368 -0.431301 1.488861 +v 1.054225 -2.458589 -3.135311 +v 0.947368 -0.431301 -3.099552 +v -1.044265 -2.494271 -3.135311 +v -1.008646 -0.324468 1.488861 +v -1.008646 -0.466771 -3.135311 +v 1.018606 -2.458589 1.488861 +v -1.044265 -2.422907 1.488861 +v 0.982987 -0.324468 -1.214306 +v -1.115502 -0.324468 -1.570081 +v 1.054225 -2.494271 1.167939 +v 0.947368 -0.324468 0.919439 +v 1.089844 -1.853695 -1.321129 +v 1.054225 -1.925059 1.488861 +v 0.449352 -2.494271 -3.135311 +v -1.044265 -2.494271 -1.783275 +v 0.982987 -0.573817 -3.099552 +v -1.115502 -0.324468 -0.752613 +v -1.079884 -2.280604 -1.214306 +v -1.044265 -0.431301 -2.957423 +v 0.982987 -0.324468 -0.325774 +v -0.332967 -2.458589 1.488861 +v 1.089844 -2.387438 -2.388002 +v -1.079884 -1.604771 1.488861 +v -1.079884 -1.925059 -2.601648 +v 1.054225 -2.067362 -3.135311 +v -1.044265 -0.502453 -3.135311 +v -1.115502 -1.000726 -1.143242 +v 1.018606 -0.715908 -1.285371 +v -0.403989 -0.466771 -3.135311 +v -1.044265 -2.458589 0.456841 +v 0.982987 -2.494271 1.310520 +v -0.617486 -0.324468 -1.605387 +v 0.698468 -0.395832 1.488861 +v 1.089844 -1.853695 -1.143242 +v -1.044265 -0.715908 1.310520 +v 0.982987 -0.431301 -2.601648 +f 33 17 41 +f 4 5 9 +f 6 8 10 +f 5 4 11 +f 11 4 12 +f 9 13 14 +f 6 3 15 +f 13 9 16 +f 2 3 17 +f 3 2 18 +f 5 11 18 +f 15 3 18 +f 11 15 18 +f 8 6 19 +f 6 15 19 +f 15 8 19 +f 8 15 20 +f 14 1 22 +f 9 14 22 +f 12 4 23 +f 8 20 23 +f 7 10 24 +f 14 7 24 +f 16 5 25 +f 13 16 25 +f 5 18 25 +f 11 12 26 +f 3 6 27 +f 17 3 27 +f 21 17 27 +f 4 9 28 +f 22 4 28 +f 8 23 29 +f 6 10 30 +f 7 21 30 +f 27 6 30 +f 21 27 30 +f 10 8 31 +f 1 14 31 +f 24 10 31 +f 14 24 31 +f 29 1 31 +f 8 29 31 +f 22 1 32 +f 4 22 32 +f 23 4 32 +f 1 29 32 +f 29 23 32 +f 13 25 33 +f 10 7 34 +f 7 30 34 +f 30 10 34 +f 12 23 35 +f 23 20 35 +f 26 12 35 +f 26 35 36 +f 15 11 36 +f 20 15 36 +f 11 26 36 +f 35 20 36 +f 13 7 37 +f 7 14 37 +f 14 13 37 +f 9 5 38 +f 5 16 38 +f 16 9 38 +f 2 17 39 +f 18 2 39 +f 25 18 39 +f 17 33 39 +f 33 25 39 +f 9 22 40 +f 28 9 40 +f 22 28 40 +f 7 13 41 +f 21 7 41 +f 17 21 41 +f 13 33 41 +o convex_1 +v 0.306686 2.272160 -1.250072 +v -0.119439 2.947712 0.955302 +v -0.225862 2.947712 0.955302 +v -0.119223 -0.324468 0.919683 +v -1.115457 -0.324468 -1.178617 +v 0.983003 -0.324468 -1.214236 +v 1.089858 3.587939 0.812609 +v -1.008602 3.730432 -1.178617 +v -0.972984 3.658987 0.919683 +v 0.947168 3.694709 -1.142998 +v 0.947384 -0.324468 0.919467 +v -1.008602 -0.324468 0.883848 +v 1.089642 2.485702 0.243564 +v -1.115457 0.209385 -0.893879 +v -0.617232 3.694709 0.634729 +v -0.332717 2.840942 -1.250072 +v -1.044220 -0.288746 0.812825 +v 0.662869 0.743238 0.955302 +v 0.983003 3.694709 -0.965333 +v -1.044220 3.232302 -1.178617 +v -0.795324 0.245504 -1.214236 +v 1.018405 0.209385 -0.893879 +v 0.911766 3.587939 -1.178401 +v -1.008602 3.054483 0.599109 +v 1.089858 3.054483 0.848444 +v -0.901747 3.587939 -1.214452 +v -1.008602 1.596211 0.919683 +v 1.089858 3.623264 0.457064 +v 0.200479 3.730432 -1.178617 +v 0.235665 2.805616 0.955302 +v -0.119223 1.525163 -1.249856 +v 0.342520 2.876664 -1.250072 +v 0.983003 0.316155 0.919467 +v -0.439356 3.658987 0.919683 +v -1.008602 3.730432 -0.502714 +v 0.983003 0.707515 -1.214236 +v -0.332717 2.414257 0.955302 +v 0.805127 3.694709 -0.538333 +v -0.048202 -0.324468 -1.214236 +v 0.983003 -0.324468 -0.253811 +v 0.983003 1.987174 -1.178617 +v 0.627251 3.623661 0.848444 +v 0.448943 2.627798 -1.250072 +v 1.089642 2.769894 0.812825 +v 1.089858 3.587939 0.350206 +v -1.008602 3.694709 -0.112197 +v -1.115457 -0.217301 -0.751833 +v -0.972984 3.694709 0.777206 +v -1.115457 0.422926 -1.178617 +v 0.805127 3.587939 0.848444 +f 83 75 91 +f 45 46 47 +f 44 43 50 +f 45 47 52 +f 46 45 53 +f 46 53 58 +f 43 44 59 +f 45 52 59 +f 61 49 67 +f 57 62 67 +f 62 46 67 +f 53 45 68 +f 58 53 68 +f 50 65 68 +f 65 58 68 +f 48 66 69 +f 60 51 70 +f 51 64 70 +f 67 49 70 +f 64 67 70 +f 43 59 71 +f 59 66 71 +f 42 47 72 +f 57 42 72 +f 62 57 72 +f 42 57 73 +f 57 67 73 +f 67 64 73 +f 59 52 74 +f 66 59 74 +f 50 43 75 +f 43 71 75 +f 49 61 76 +f 70 49 76 +f 56 70 76 +f 63 47 77 +f 44 50 78 +f 59 44 78 +f 45 59 78 +f 50 68 78 +f 68 45 78 +f 69 60 79 +f 70 56 79 +f 60 70 79 +f 47 46 80 +f 46 62 80 +f 72 47 80 +f 62 72 80 +f 52 47 81 +f 47 63 81 +f 63 54 81 +f 74 52 81 +f 51 60 82 +f 64 51 82 +f 63 77 82 +f 77 64 82 +f 48 69 83 +f 79 56 83 +f 69 79 83 +f 47 42 84 +f 42 73 84 +f 73 64 84 +f 77 47 84 +f 64 77 84 +f 54 66 85 +f 66 74 85 +f 81 54 85 +f 74 81 85 +f 54 63 86 +f 66 54 86 +f 60 69 86 +f 69 66 86 +f 82 60 86 +f 63 82 86 +f 61 55 87 +f 65 50 87 +f 55 65 87 +f 76 61 87 +f 55 46 88 +f 46 58 88 +f 58 65 88 +f 65 55 88 +f 50 75 89 +f 56 76 89 +f 83 56 89 +f 75 83 89 +f 87 50 89 +f 76 87 89 +f 46 55 90 +f 55 61 90 +f 61 67 90 +f 67 46 90 +f 66 48 91 +f 71 66 91 +f 75 71 91 +f 48 83 91 +o convex_2 +v -0.084037 -2.458701 1.880220 +v -0.617142 -0.324468 2.840374 +v -0.617142 -0.324468 2.591352 +v 0.947554 -0.431430 1.488999 +v 0.983024 -2.458701 2.911682 +v -1.044051 -2.422977 1.488999 +v -1.079733 -2.351947 2.911682 +v -1.008582 -0.324468 1.488999 +v 1.018494 -2.458701 1.488999 +v 0.947342 -0.431430 2.840374 +v -0.937218 -0.324468 2.840374 +v 1.089858 -1.036227 2.306955 +v -1.044051 -1.640397 2.911682 +v -1.079946 -1.178286 2.129102 +v 1.089858 -1.604464 1.560169 +v 0.769569 -0.644728 2.876028 +v -1.079946 -2.102926 1.488999 +v 0.911873 -0.395915 2.627006 +v 1.089858 -1.568950 2.378124 +v 0.022584 -0.360192 1.524514 +v -0.759445 -2.387462 2.876028 +v 1.089858 -1.036227 1.666852 +v -1.079946 -1.142771 1.595683 +v 1.018494 -2.280709 2.804720 +v -0.937218 -0.715758 2.876028 +v 1.054176 -2.209679 1.488999 +v -0.296854 -1.569367 2.911682 +v -1.079733 -1.925143 2.911682 +v 0.698418 -0.395915 1.488999 +v -0.297279 -2.458701 1.488999 +v 0.769569 -2.458701 2.911682 +v 1.018494 -2.458701 2.342609 +v 0.983024 -2.245194 2.911682 +v -1.079733 -2.387462 2.449293 +v -0.724188 -0.324468 1.488999 +v 0.911873 -0.395915 2.840374 +f 95 109 127 +f 93 94 99 +f 95 97 99 +f 96 92 100 +f 97 95 100 +f 93 99 102 +f 95 101 103 +f 98 96 104 +f 102 99 105 +f 93 102 107 +f 99 97 108 +f 98 105 108 +f 94 93 109 +f 106 103 110 +f 95 103 113 +f 106 95 113 +f 103 106 113 +f 105 99 114 +f 99 108 114 +f 108 105 114 +f 103 101 115 +f 110 103 115 +f 102 104 116 +f 107 102 116 +f 100 95 117 +f 95 106 117 +f 106 110 117 +f 104 96 118 +f 116 104 118 +f 107 116 118 +f 98 104 119 +f 104 102 119 +f 102 105 119 +f 105 98 119 +f 95 99 120 +f 109 95 120 +f 111 109 120 +f 92 97 121 +f 100 92 121 +f 97 100 121 +f 92 96 122 +f 96 98 122 +f 112 92 122 +f 98 112 122 +f 96 100 123 +f 115 96 123 +f 110 115 123 +f 100 117 123 +f 117 110 123 +f 101 107 124 +f 96 115 124 +f 115 101 124 +f 118 96 124 +f 107 118 124 +f 97 92 125 +f 108 97 125 +f 98 108 125 +f 92 112 125 +f 112 98 125 +f 99 94 126 +f 94 109 126 +f 109 111 126 +f 120 99 126 +f 111 120 126 +f 101 95 127 +f 93 107 127 +f 107 101 127 +f 109 93 127 +o convex_3 +v -0.332964 2.805702 -2.068337 +v 0.342876 2.876752 -1.250072 +v 0.093802 2.876752 -1.250072 +v 0.342876 2.307752 -1.250072 +v 0.236102 2.876752 -3.170666 +v -0.190665 2.414593 -3.206149 +v -0.261781 2.414593 -1.250072 +v -0.297307 2.983593 -3.241633 +v 0.236102 2.343344 -3.241633 +v -0.332964 2.841227 -1.250072 +v -0.261781 2.450118 -3.206149 +v 0.271693 2.450118 -3.028342 +v -0.155073 2.379001 -1.712722 +v 0.342876 2.876752 -1.534915 +v 0.129394 2.343344 -3.134987 +v -0.012774 2.948001 -3.206149 +v -0.297307 2.556760 -2.779372 +v -0.332964 2.912344 -2.032854 +v 0.342876 2.307752 -1.499236 +v -0.332964 2.734585 -1.250072 +v -0.261781 2.983593 -3.063825 +v 0.271693 2.307752 -1.250072 +f 142 146 149 +f 129 130 131 +f 131 130 134 +f 134 130 137 +f 133 134 138 +f 136 133 138 +f 135 136 138 +f 136 132 139 +f 134 133 140 +f 129 131 141 +f 139 132 141 +f 133 136 142 +f 140 133 142 +f 136 135 143 +f 132 136 143 +f 129 141 143 +f 141 132 143 +f 128 135 144 +f 138 134 144 +f 135 138 144 +f 135 128 145 +f 128 137 145 +f 137 130 145 +f 136 139 146 +f 141 131 146 +f 139 141 146 +f 142 136 146 +f 137 128 147 +f 134 137 147 +f 128 144 147 +f 144 134 147 +f 130 129 148 +f 129 143 148 +f 143 135 148 +f 135 145 148 +f 145 130 148 +f 131 134 149 +f 134 140 149 +f 140 142 149 +f 146 131 149 +o convex_4 +v 3.081808 -1.071509 2.200271 +v 1.694696 -1.604948 1.524431 +v 1.694696 -1.569378 1.524431 +v 1.089858 -1.249361 2.200271 +v 3.046126 -1.640578 2.164680 +v 3.046126 -1.107079 1.666797 +v 1.089858 -1.035938 1.666797 +v 1.089858 -1.604948 1.951264 +v 2.974957 -1.640578 1.524431 +v 1.089858 -1.604948 1.560089 +v 1.089858 -1.178220 2.200271 +v 1.196708 -1.604948 2.057906 +v 2.974957 -1.391525 1.560089 +v 3.081808 -1.427096 2.200271 +v 2.796937 -1.640578 2.164680 +v 1.089858 -1.035938 1.737980 +v 2.441288 -1.071509 1.666797 +v 2.512456 -1.640578 1.524431 +v 1.089858 -1.284932 1.595614 +f 162 152 168 +f 153 156 157 +f 151 152 158 +f 152 151 159 +f 157 156 159 +f 153 150 160 +f 156 153 160 +f 153 157 161 +f 158 152 162 +f 155 158 162 +f 150 153 163 +f 155 150 163 +f 154 158 163 +f 158 155 163 +f 158 154 164 +f 153 161 164 +f 161 157 164 +f 163 153 164 +f 154 163 164 +f 150 156 165 +f 160 150 165 +f 156 160 165 +f 150 155 166 +f 156 150 166 +f 155 162 166 +f 162 156 166 +f 151 158 167 +f 159 151 167 +f 157 159 167 +f 158 164 167 +f 164 157 167 +f 152 159 168 +f 159 156 168 +f 156 162 168 +o convex_5 +v -0.332964 2.414537 0.955302 +v 0.307306 2.947960 2.947253 +v 0.200573 2.947960 2.947253 +v 0.271707 2.307815 2.911571 +v 0.236109 2.805643 0.955302 +v -0.190633 2.876770 2.876084 +v -0.226232 2.947960 0.955302 +v 0.271707 2.307815 0.955302 +v -0.190633 2.379005 2.840402 +v 0.093841 2.307815 0.955302 +v -0.261767 2.414537 2.520239 +v -0.083963 2.947960 0.990984 +v -0.332964 2.521259 0.990984 +v 0.271707 2.876770 1.666797 +v -0.226232 2.947960 1.417803 +v 0.307306 2.663388 2.947253 +v 0.236109 2.379005 2.947253 +v -0.226232 2.805643 2.591408 +v 0.307306 2.805643 2.377901 +f 184 176 187 +f 171 170 175 +f 173 169 175 +f 169 173 176 +f 176 172 178 +f 169 176 178 +f 172 177 178 +f 177 169 178 +f 177 174 179 +f 169 177 179 +f 175 170 180 +f 173 175 180 +f 175 169 181 +f 169 179 181 +f 176 173 182 +f 180 170 182 +f 173 180 182 +f 174 171 183 +f 171 175 183 +f 175 181 183 +f 170 171 184 +f 172 176 184 +f 171 174 185 +f 177 172 185 +f 174 177 185 +f 184 171 185 +f 172 184 185 +f 179 174 186 +f 181 179 186 +f 174 183 186 +f 183 181 186 +f 182 170 187 +f 176 182 187 +f 170 184 187 +o convex_6 +v -1.578080 -1.747220 2.057892 +v -2.538084 -1.035879 1.702381 +v -2.538084 -1.035879 1.631254 +v -3.036023 -1.711639 1.915637 +v -3.000540 -1.035879 2.200209 +v -1.079946 -1.142691 1.595659 +v -1.079946 -1.676058 1.560002 +v -1.079946 -1.178272 2.129019 +v -2.964861 -1.711639 1.666786 +v -3.071507 -1.035879 1.666786 +v -1.079946 -1.747220 2.093487 +v -3.036023 -1.711639 2.093487 +v -2.040535 -1.711639 1.595659 +v -2.715892 -1.035879 2.200209 +v -2.822537 -1.035879 1.631254 +v -2.787054 -1.107111 2.200209 +v -1.542596 -1.178272 2.164614 +v -1.862728 -1.747220 1.880105 +v -1.186981 -1.711639 1.631254 +v -1.151303 -1.498223 1.560002 +v -1.079946 -1.142691 1.773508 +f 201 195 208 +f 189 190 192 +f 190 189 193 +f 194 193 195 +f 192 190 197 +f 196 191 197 +f 194 195 198 +f 197 191 199 +f 192 197 199 +f 188 198 199 +f 189 192 201 +f 190 193 202 +f 197 190 202 +f 196 197 202 +f 200 196 202 +f 192 199 203 +f 199 198 203 +f 201 192 203 +f 201 203 204 +f 198 195 204 +f 195 201 204 +f 203 198 204 +f 191 196 205 +f 198 188 205 +f 188 199 205 +f 199 191 205 +f 196 200 205 +f 205 200 206 +f 194 198 206 +f 200 194 206 +f 198 205 206 +f 193 194 207 +f 194 200 207 +f 202 193 207 +f 200 202 207 +f 193 189 208 +f 195 193 208 +f 189 201 208 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/095/095.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/095/095.urdf new file mode 100644 index 000000000..a4f41aef4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/095/095.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/096/096.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/096/096.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/096/096.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/096/096.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/096/096.obj new file mode 100644 index 000000000..815c73395 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/096/096.obj @@ -0,0 +1,519 @@ +o convex_0 +v 0.319890 1.781992 -1.536030 +v 0.384826 0.614280 -3.482284 +v 0.092845 0.646827 -3.514694 +v 0.579518 1.814657 -3.482284 +v -0.491002 1.814657 -3.449673 +v -0.588405 0.776664 -1.503419 +v 0.514582 0.711687 -1.503419 +v -0.491002 1.652273 -1.503419 +v -0.458534 0.711805 -3.514694 +v 0.579518 1.782110 -1.503419 +v 0.482115 0.744235 -3.482284 +v 0.287423 0.679375 -1.503419 +v -0.134086 1.068651 -3.547305 +v -0.491002 1.814657 -3.092753 +v 0.579518 1.425263 -1.633263 +v 0.222602 1.814657 -2.217459 +v -0.588405 0.938932 -1.503419 +v -0.588405 0.776664 -1.698285 +v 0.579518 1.684820 -3.384851 +v -0.491002 1.684703 -1.633263 +v 0.417179 1.652273 -3.514694 +v 0.482115 0.646827 -2.087415 +v -0.458534 0.938932 -3.547305 +v -0.166553 1.814657 -3.482284 +v -0.426066 0.744235 -1.860339 +v -0.523355 1.522671 -1.503419 +v 0.449647 0.614280 -3.482284 +v 0.579518 1.814657 -2.412124 +v -0.199021 0.711805 -3.547305 +v 0.514582 0.711687 -1.665874 +v 0.384826 0.614280 -3.384851 +v -0.458534 0.711805 -3.352440 +f 31 25 32 +f 6 7 8 +f 1 8 10 +f 8 7 10 +f 7 6 12 +f 4 5 14 +f 4 10 15 +f 10 7 15 +f 1 10 16 +f 4 14 16 +f 14 1 16 +f 6 8 17 +f 14 5 17 +f 5 9 18 +f 9 6 18 +f 17 5 18 +f 6 17 18 +f 11 4 19 +f 4 15 19 +f 8 1 20 +f 1 14 20 +f 4 11 21 +f 7 12 22 +f 9 5 23 +f 5 4 24 +f 4 21 24 +f 21 13 24 +f 23 5 24 +f 13 23 24 +f 12 6 25 +f 17 8 26 +f 14 17 26 +f 8 20 26 +f 20 14 26 +f 2 3 27 +f 21 11 27 +f 10 4 28 +f 16 10 28 +f 4 16 28 +f 3 9 29 +f 13 21 29 +f 9 23 29 +f 23 13 29 +f 27 3 29 +f 21 27 29 +f 15 7 30 +f 11 19 30 +f 19 15 30 +f 7 22 30 +f 27 11 30 +f 22 27 30 +f 3 2 31 +f 22 12 31 +f 12 25 31 +f 2 27 31 +f 27 22 31 +f 9 3 32 +f 6 9 32 +f 25 6 32 +f 3 31 32 +o convex_1 +v 0.287539 2.301297 -0.303073 +v -1.075032 -3.764839 -0.270796 +v -1.042478 -3.797592 -1.503210 +v 1.098613 -3.895247 -1.211245 +v 0.936270 -3.700544 0.605308 +v -0.945243 2.170888 0.572611 +v -0.945243 2.268544 -1.470722 +v 0.968824 2.105987 -1.373471 +v 0.903929 2.300691 0.605308 +v -1.075032 -3.732691 0.572821 +v 0.514563 0.678162 -1.503419 +v 1.098613 -3.895247 -1.373471 +v -0.588217 1.717187 0.637795 +v 0.936270 2.300691 0.475360 +v 0.936270 2.235790 -1.276009 +v -0.977583 1.424828 -1.470722 +v 0.579457 1.781481 -1.503419 +v -1.075032 -2.953877 0.572821 +v -0.880348 1.943431 -1.503210 +v 0.611798 1.976185 0.637795 +v -0.069274 -3.699937 0.605308 +v 0.968824 -3.732691 0.378108 +v -0.977583 1.424828 0.572611 +v 0.190091 -3.862494 -1.438235 +v 0.936270 1.424222 0.605308 +v 0.546904 2.300691 0.605308 +v 1.098613 -3.472480 -1.373471 +v -0.426087 0.743669 0.637795 +v 0.871376 -3.895247 -1.146271 +v -0.880348 2.073840 0.605308 +v -1.042478 -3.213482 -1.503210 +v -0.880348 -3.797592 -1.503210 +v 0.482222 2.235790 -1.405958 +v 0.936270 -3.732691 0.475360 +v -0.653111 -3.830346 -1.405958 +v 0.546904 0.775817 0.637795 +v 0.741587 -3.862494 -1.405958 +v -0.685665 2.203642 0.540334 +v 0.936270 2.300691 0.021169 +v 0.027961 2.301297 -0.303073 +v -0.750559 -3.764839 0.248369 +v -0.782900 2.268544 -1.470722 +v -1.010137 -0.878253 -1.503210 +v -1.075032 -3.699937 -0.270796 +v 0.968824 2.105987 -1.308496 +v -0.945243 2.268544 -1.373471 +v -0.328852 -3.732085 0.572821 +v 0.936270 2.203036 -1.373471 +v 0.709246 -3.895247 -1.341193 +v -0.328852 -3.830346 -1.470932 +v 1.098613 -3.472480 -1.340984 +v -1.042478 -3.797592 -1.049019 +f 67 73 84 +f 33 41 46 +f 44 43 49 +f 34 42 50 +f 49 43 51 +f 42 37 53 +f 39 48 55 +f 48 50 55 +f 36 46 57 +f 46 41 57 +f 52 37 57 +f 41 52 57 +f 54 36 57 +f 37 54 57 +f 41 33 58 +f 52 41 58 +f 36 44 59 +f 49 40 59 +f 44 49 59 +f 45 42 60 +f 52 45 60 +f 53 37 60 +f 42 53 60 +f 44 36 61 +f 42 45 62 +f 50 42 62 +f 45 52 62 +f 38 55 62 +f 55 50 62 +f 58 38 62 +f 52 58 62 +f 35 34 63 +f 43 35 63 +f 35 43 64 +f 36 54 66 +f 54 37 66 +f 61 36 66 +f 35 56 67 +f 37 52 68 +f 60 37 68 +f 52 60 68 +f 43 44 69 +f 44 56 69 +f 38 58 70 +f 46 40 71 +f 33 46 71 +f 47 33 71 +f 40 47 71 +f 33 39 72 +f 58 33 72 +f 70 58 72 +f 39 33 74 +f 33 47 74 +f 51 39 74 +f 49 51 74 +f 47 65 74 +f 65 49 74 +f 48 39 75 +f 51 43 75 +f 39 51 75 +f 43 63 75 +f 75 63 76 +f 34 50 76 +f 50 48 76 +f 63 34 76 +f 48 75 76 +f 40 46 77 +f 59 40 77 +f 55 38 78 +f 39 55 78 +f 38 70 78 +f 72 39 78 +f 70 72 78 +f 37 42 79 +f 66 37 79 +f 61 66 79 +f 42 73 79 +f 73 61 79 +f 47 40 80 +f 40 49 80 +f 65 47 80 +f 49 65 80 +f 56 44 81 +f 44 61 81 +f 67 56 81 +f 61 73 81 +f 73 67 81 +f 56 35 82 +f 35 64 82 +f 64 43 82 +f 43 69 82 +f 69 56 82 +f 46 36 83 +f 36 59 83 +f 77 46 83 +f 59 77 83 +f 34 35 84 +f 42 34 84 +f 35 67 84 +f 73 42 84 +o convex_2 +v -0.036810 4.214991 1.578791 +v -0.523519 2.918015 1.546291 +v -0.523519 2.918015 1.611074 +v 0.579496 1.814896 1.059550 +v 0.547041 1.814896 2.162599 +v 0.547041 4.150452 2.162599 +v -0.490954 1.814658 2.097708 +v 0.611951 4.150452 1.059550 +v -0.490954 1.814658 1.124441 +v -0.523519 4.247618 2.097708 +v -0.523519 4.182602 1.092049 +v 0.579496 1.814896 2.065208 +v -0.166518 4.085198 1.059550 +v 0.254949 3.404084 2.162599 +v -0.490954 2.334067 1.092049 +v 0.611951 2.236663 1.059550 +v 0.611951 4.150452 1.319224 +v -0.198972 1.814658 2.130100 +v 0.482132 4.182840 2.162599 +v -0.523519 3.079721 2.097708 +v -0.328791 4.247618 1.902925 +v -0.166518 4.214991 2.130100 +v -0.263882 1.814658 1.092049 +v 0.352313 1.814658 2.162599 +v -0.458499 4.214991 1.384008 +f 94 105 109 +f 87 86 91 +f 91 86 93 +f 86 87 94 +f 93 86 95 +f 86 94 95 +f 90 89 96 +f 92 88 97 +f 95 92 97 +f 89 90 98 +f 93 95 99 +f 97 88 99 +f 95 97 99 +f 88 92 100 +f 96 88 100 +f 96 100 101 +f 90 96 101 +f 100 92 101 +f 91 93 102 +f 98 90 103 +f 90 101 103 +f 101 92 103 +f 87 91 104 +f 94 87 104 +f 91 102 104 +f 102 94 104 +f 92 85 105 +f 103 92 105 +f 94 103 105 +f 94 102 106 +f 102 98 106 +f 103 94 106 +f 98 103 106 +f 99 88 107 +f 93 99 107 +f 102 93 107 +f 102 107 108 +f 96 89 108 +f 88 96 108 +f 89 98 108 +f 98 102 108 +f 107 88 108 +f 85 92 109 +f 92 95 109 +f 95 94 109 +f 105 85 109 +o convex_3 +v 0.319913 -1.753855 1.027243 +v 0.222522 -1.040180 2.162599 +v 0.157738 -1.040180 2.162599 +v 0.222522 0.614280 0.994778 +v -0.490962 -1.851361 1.254383 +v -0.523462 0.614280 2.097555 +v 0.449696 0.614280 2.097555 +v -0.523462 0.614280 1.059708 +v -0.555962 -1.851361 2.130020 +v 0.514588 -1.851361 2.162599 +v 0.547088 0.614280 0.994778 +v -0.458463 -1.851361 0.994778 +v 0.482088 -1.624250 1.027243 +v -0.555962 -0.294406 2.130020 +v -0.523462 -0.262065 1.027243 +v -0.328787 0.224498 2.130020 +v -0.263896 -1.851361 0.994778 +v 0.514588 -1.461820 2.162599 +v -0.134112 -1.851361 2.162599 +v 0.547088 0.322004 0.994778 +v 0.547088 0.614280 1.124638 +v -0.555962 -1.851361 1.967810 +v 0.514588 -1.818778 1.902880 +v 0.514588 -0.359330 0.994778 +v 0.482088 -1.753855 1.254383 +v -0.458463 -1.429479 0.994778 +v 0.482088 -0.197142 2.097555 +v -0.555962 -0.164801 2.065090 +v 0.417304 -1.851361 1.935345 +v -0.523462 -0.132219 1.027243 +f 135 124 139 +f 113 115 116 +f 115 113 117 +f 118 114 119 +f 111 112 119 +f 113 116 120 +f 113 120 121 +f 119 114 121 +f 121 114 124 +f 112 111 125 +f 116 115 125 +f 111 116 125 +f 123 112 125 +f 115 123 125 +f 121 120 126 +f 119 121 126 +f 122 110 126 +f 116 111 127 +f 111 119 127 +f 118 119 128 +f 119 112 128 +f 112 123 128 +f 123 118 128 +f 126 120 129 +f 120 116 130 +f 127 119 130 +f 119 129 130 +f 129 120 130 +f 114 118 131 +f 118 123 131 +f 124 114 131 +f 129 119 132 +f 122 129 132 +f 122 126 133 +f 129 122 133 +f 126 129 133 +f 110 122 134 +f 132 119 134 +f 122 132 134 +f 113 121 135 +f 121 124 135 +f 116 127 136 +f 130 116 136 +f 127 130 136 +f 115 117 137 +f 123 115 137 +f 117 131 137 +f 131 123 137 +f 126 110 138 +f 119 126 138 +f 110 134 138 +f 134 119 138 +f 117 113 139 +f 131 117 139 +f 124 131 139 +f 113 135 139 +o convex_4 +v -0.523519 1.165941 2.227300 +v 0.482127 0.614280 0.994760 +v 0.547018 0.614280 0.994760 +v 0.255063 1.781992 0.670479 +v 0.547018 1.781992 2.649239 +v -0.523519 1.684703 0.670479 +v -0.458521 0.646827 2.584068 +v -0.458521 0.711805 0.670479 +v 0.482127 0.711805 2.584265 +v -0.458521 1.749563 2.487000 +v 0.579518 1.814657 1.059734 +v 0.547018 0.744235 0.637795 +v -0.523519 0.614280 1.059734 +v -0.491020 1.814657 2.065062 +v 0.449628 0.614280 2.097549 +v -0.491020 1.814657 1.092221 +v 0.449628 1.749563 0.637795 +v 0.579518 1.587413 2.162523 +v -0.523519 1.425146 0.637795 +v -0.523519 0.614280 2.097549 +v -0.458521 1.490006 2.551778 +v 0.579518 1.814657 2.097352 +v 0.579518 1.198371 0.800034 +v 0.514627 0.906267 2.584265 +v -0.426129 0.744235 0.637795 +v -0.491020 1.684703 2.487000 +v 0.514627 1.036222 2.616752 +v -0.523519 0.646827 2.292274 +v -0.328739 1.749563 2.551778 +v -0.458521 1.003791 2.584068 +v 0.547018 0.614280 1.124511 +v -0.458521 1.684703 0.637795 +v 0.482127 1.781992 2.649239 +v 0.579518 1.101081 1.092024 +v 0.547018 1.619843 2.649239 +v -0.523519 1.717133 0.897495 +v 0.547018 1.101081 0.637795 +v -0.263848 0.646827 2.584068 +v -0.523519 0.646827 0.929982 +f 152 158 178 +f 142 141 147 +f 142 147 151 +f 141 142 152 +f 140 145 152 +f 152 142 154 +f 150 143 155 +f 153 150 155 +f 143 150 156 +f 152 145 158 +f 156 151 158 +f 140 152 159 +f 154 146 159 +f 152 154 159 +f 150 153 161 +f 144 157 161 +f 157 150 161 +f 142 151 162 +f 150 157 162 +f 151 147 164 +f 147 158 164 +f 158 151 164 +f 149 153 165 +f 148 163 166 +f 140 159 167 +f 159 146 167 +f 165 140 167 +f 146 165 167 +f 153 149 168 +f 149 165 168 +f 165 160 168 +f 165 146 169 +f 160 165 169 +f 168 160 169 +f 154 142 170 +f 148 154 170 +f 163 148 170 +f 157 163 170 +f 155 143 171 +f 145 155 171 +f 143 156 171 +f 158 145 171 +f 156 158 171 +f 144 161 172 +f 161 153 172 +f 153 168 172 +f 169 146 172 +f 168 169 172 +f 142 162 173 +f 162 157 173 +f 170 142 173 +f 157 170 173 +f 157 144 174 +f 163 157 174 +f 146 166 174 +f 166 163 174 +f 144 172 174 +f 172 146 174 +f 145 140 175 +f 155 145 175 +f 153 155 175 +f 140 165 175 +f 165 153 175 +f 156 150 176 +f 151 156 176 +f 162 151 176 +f 150 162 176 +f 154 148 177 +f 146 154 177 +f 166 146 177 +f 148 166 177 +f 147 141 178 +f 141 152 178 +f 158 147 178 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/096/096.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/096/096.urdf new file mode 100644 index 000000000..4390888fb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/096/096.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/097/097.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/097/097.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/097/097.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/097/097.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/097/097.obj new file mode 100644 index 000000000..2509a68b3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/097/097.obj @@ -0,0 +1,417 @@ +o convex_0 +v -2.700002 -0.208907 -0.283690 +v -2.399702 0.331850 -0.073311 +v -2.249437 0.301812 0.287202 +v -2.039142 -0.238945 -0.223508 +v -2.700002 -0.359166 0.166966 +v -2.790161 0.301812 0.106913 +v -2.039142 -0.208907 0.287202 +v -2.039142 0.301812 -0.253599 +v -2.820291 0.301812 -0.193481 +v -2.039142 0.271773 0.347320 +v -2.730055 0.301812 0.197058 +v -2.489631 -0.088686 -0.313781 +v -2.129225 0.181658 0.347320 +v -2.069119 -0.269051 0.257111 +v -2.730055 -0.299022 0.166966 +v -2.820291 0.331850 -0.073311 +v -2.669950 -0.208907 -0.313781 +v -2.639896 -0.329060 0.197058 +f 11 15 18 +f 2 3 8 +f 7 4 8 +f 8 3 10 +f 7 8 10 +f 10 3 11 +f 8 4 12 +f 9 8 12 +f 7 10 13 +f 10 11 13 +f 5 4 14 +f 4 7 14 +f 1 5 15 +f 9 1 15 +f 11 6 15 +f 3 2 16 +f 2 8 16 +f 8 9 16 +f 11 3 16 +f 6 11 16 +f 9 15 16 +f 15 6 16 +f 5 1 17 +f 4 5 17 +f 1 9 17 +f 12 4 17 +f 9 12 17 +f 7 13 18 +f 13 11 18 +f 5 14 18 +f 14 7 18 +f 15 5 18 +o convex_1 +v 1.386716 0.632156 -0.073005 +v -0.776879 -3.093788 0.767697 +v -0.716732 -3.093788 0.707779 +v -0.686659 3.066472 -1.004715 +v -0.656585 3.066472 0.978335 +v 1.266422 -3.002735 -1.004921 +v 1.266422 -2.943038 0.948068 +v 1.326569 3.065869 1.068315 +v -0.776879 -2.912888 -1.034777 +v 1.266422 2.945269 -1.004921 +v -0.746805 -3.003338 0.978335 +v -0.776879 0.722003 -0.313499 +v 1.386716 -0.869317 -0.464014 +v 1.296496 -2.041551 0.978129 +v 0.304919 -2.972585 -1.034777 +v -0.746805 -0.539475 -1.034777 +v 1.386716 -0.238577 0.256852 +v 1.296496 2.765574 -0.974859 +v -0.776879 -2.341846 0.948068 +v 1.116055 2.464677 1.068315 +v 1.266422 -3.033488 -0.974653 +v 1.296496 -2.882738 -0.974653 +v -0.536291 -3.093788 0.948068 +v -0.776879 0.270959 0.196934 +v 1.206275 2.976022 -1.004921 +v 1.296496 -2.552293 0.948068 +v -0.746805 -2.943038 -0.974859 +v 1.386716 0.541706 -0.464014 +v -0.356062 3.066472 -1.004715 +v -0.686659 2.194532 0.978335 +v -0.716732 2.495430 -0.824344 +v 1.326569 3.035719 0.527408 +v 1.326569 1.443193 1.038253 +v 0.485147 3.066472 1.038459 +v -0.686659 3.066472 -0.223520 +v 1.356642 2.134232 0.647655 +v 1.116055 -2.973188 0.737841 +v 1.296496 3.065869 0.918006 +v -0.746805 -0.839770 0.978335 +v -0.686659 -0.419478 -1.034777 +v -0.776879 0.722003 -0.373623 +v 1.176202 -3.033488 -0.974653 +v 1.296496 2.524977 1.068315 +v -0.536291 -2.943038 0.978335 +v 1.356642 -1.560959 -0.644179 +v 1.296496 2.975419 -0.704097 +f 56 50 64 +f 27 20 30 +f 28 24 33 +f 33 27 34 +f 31 19 35 +f 24 28 36 +f 20 29 37 +f 30 20 37 +f 33 24 39 +f 24 36 40 +f 25 39 40 +f 39 24 40 +f 20 21 41 +f 29 20 41 +f 25 29 41 +f 21 39 41 +f 23 30 42 +f 30 37 42 +f 32 25 44 +f 31 35 44 +f 25 40 44 +f 21 20 45 +f 20 27 45 +f 27 33 45 +f 19 31 46 +f 22 23 47 +f 23 42 48 +f 22 34 49 +f 35 26 51 +f 32 44 51 +f 44 35 51 +f 38 26 52 +f 29 38 52 +f 47 23 52 +f 23 48 52 +f 23 22 53 +f 30 23 53 +f 22 49 53 +f 49 30 53 +f 35 19 54 +f 26 35 54 +f 19 46 54 +f 50 26 54 +f 46 50 54 +f 39 25 55 +f 25 41 55 +f 41 39 55 +f 43 47 56 +f 26 50 56 +f 52 26 56 +f 47 52 56 +f 37 29 57 +f 42 37 57 +f 48 42 57 +f 29 52 57 +f 52 48 57 +f 28 33 58 +f 33 34 58 +f 34 22 58 +f 43 28 58 +f 22 47 58 +f 47 43 58 +f 27 30 59 +f 34 27 59 +f 30 49 59 +f 49 34 59 +f 39 21 60 +f 33 39 60 +f 21 45 60 +f 45 33 60 +f 26 38 61 +f 51 26 61 +f 32 51 61 +f 29 25 62 +f 25 32 62 +f 38 29 62 +f 32 61 62 +f 61 38 62 +f 40 36 63 +f 31 44 63 +f 44 40 63 +f 46 31 63 +f 36 46 63 +f 36 28 64 +f 28 43 64 +f 46 36 64 +f 50 46 64 +f 43 56 64 +o convex_2 +v 2.408174 -0.239001 -0.343832 +v 3.400069 0.361900 0.227049 +v 3.400069 0.241747 0.227049 +v 1.386716 0.241747 0.257169 +v 3.309807 -0.329116 0.227049 +v 3.249698 0.211708 -0.313770 +v 1.386716 -0.329116 0.227049 +v 1.386716 0.211708 -0.253646 +v 3.309807 -0.329116 -0.343832 +v 1.386716 -0.239001 -0.283708 +v 2.108023 0.301756 0.257169 +v 1.416869 -0.239001 0.257169 +v 2.498238 0.241747 -0.283708 +v 1.386716 -0.148819 -0.313770 +v 2.828739 -0.329116 -0.343832 +v 1.386716 0.241747 -0.133458 +v 3.400069 0.361900 0.166925 +v 1.386716 -0.329116 0.076799 +v 2.348656 0.271785 0.257169 +f 75 76 83 +f 71 68 72 +f 67 69 73 +f 65 70 73 +f 69 71 73 +f 71 72 74 +f 68 71 76 +f 71 69 76 +f 75 68 76 +f 70 72 77 +f 70 65 78 +f 72 70 78 +f 74 72 78 +f 74 78 79 +f 65 73 79 +f 73 71 79 +f 78 65 79 +f 72 68 80 +f 68 75 80 +f 77 72 80 +f 77 80 81 +f 66 67 81 +f 67 73 81 +f 73 70 81 +f 75 66 81 +f 70 77 81 +f 80 75 81 +f 71 74 82 +f 74 79 82 +f 79 71 82 +f 67 66 83 +f 69 67 83 +f 66 75 83 +f 76 69 83 +o convex_3 +v -1.377888 0.301867 0.106913 +v -0.807005 -0.329184 0.166966 +v -0.777005 -0.329184 0.166966 +v -1.017358 -0.208977 -0.313781 +v -0.777005 0.271785 -0.253599 +v -1.377888 -0.299101 0.347320 +v -0.777005 0.271785 0.197058 +v -1.377888 -0.208977 -0.313781 +v -1.377888 0.301867 -0.253599 +v -0.777005 -0.208977 -0.283690 +v -1.377888 0.271785 0.257111 +v -0.837064 -0.329184 0.287202 +v -1.377888 -0.238998 -0.283690 +v -1.137417 0.271785 0.257111 +v -0.987300 0.301867 -0.253599 +v -1.347771 0.211620 -0.283690 +f 98 88 99 +f 86 88 90 +f 89 84 91 +f 91 84 92 +f 87 88 93 +f 88 86 93 +f 84 89 94 +f 85 86 95 +f 89 85 95 +f 86 90 95 +f 86 85 96 +f 85 89 96 +f 91 87 96 +f 89 91 96 +f 93 86 96 +f 87 93 96 +f 90 84 97 +f 84 94 97 +f 94 89 97 +f 89 95 97 +f 95 90 97 +f 84 90 98 +f 90 88 98 +f 92 84 98 +f 92 98 99 +f 88 87 99 +f 87 91 99 +f 91 92 99 +o convex_4 +v -1.468115 0.271776 -1.876334 +v -2.008881 -0.359234 -3.108436 +v -2.008881 -0.208972 -3.108436 +v -1.978822 0.301867 -0.373882 +v -1.468115 -0.208972 -0.373882 +v -1.978822 -0.329142 -0.434108 +v -1.498174 -0.178880 -2.987715 +v -1.978822 0.241685 -3.108436 +v -1.407939 0.301867 -0.373882 +v -1.528233 0.211594 -3.018230 +v -1.948763 -0.359234 -3.108436 +v -1.888645 -0.329142 -0.373882 +v -1.468115 -0.208972 -1.485798 +v -1.498174 0.301867 -1.185468 +v -1.978822 0.271776 -2.176396 +v -1.648410 0.241685 -2.987715 +v -1.948763 -0.359234 -1.786128 +v -2.008881 -0.238998 -2.567200 +v -1.407939 0.241685 -0.494335 +v -1.498174 0.001279 -2.958004 +f 118 106 119 +f 101 102 107 +f 103 104 108 +f 107 109 110 +f 101 107 110 +f 109 106 110 +f 104 103 111 +f 103 105 111 +f 104 110 112 +f 110 106 112 +f 108 100 113 +f 103 108 113 +f 102 103 114 +f 107 102 114 +f 103 113 114 +f 113 107 114 +f 100 109 115 +f 109 107 115 +f 107 113 115 +f 113 100 115 +f 105 101 116 +f 101 110 116 +f 110 104 116 +f 104 111 116 +f 111 105 116 +f 102 101 117 +f 103 102 117 +f 101 105 117 +f 105 103 117 +f 100 108 118 +f 108 104 118 +f 104 112 118 +f 112 106 118 +f 109 100 119 +f 106 109 119 +f 100 118 119 +o convex_5 +v -1.377898 0.301823 2.991477 +v -1.948782 -0.329116 -0.373882 +v -1.978808 0.091488 -0.373882 +v -1.918691 -0.329116 3.111924 +v -1.377898 -0.239001 -0.313487 +v -1.888730 0.361900 2.931083 +v -1.407988 0.331862 -0.343514 +v -1.407988 -0.239001 3.081556 +v -2.038925 0.301756 -0.253434 +v -1.377898 -0.299078 0.978677 +v -2.038925 -0.239001 0.317411 +v -2.038925 0.301756 0.557964 +v -1.377898 0.331862 -0.253434 +v -1.948782 -0.268972 2.750924 +v -1.377898 -0.299078 0.167619 +v -1.918691 0.361900 2.570765 +v -2.038925 -0.239001 -0.193040 +v -1.768431 0.361900 2.931083 +v -1.918691 0.001373 3.051189 +v -1.377898 0.061382 3.051530 +v -1.468105 -0.239001 -0.373882 +v -1.978808 0.301756 -0.373882 +v -1.377898 -0.269039 2.029605 +v -1.407988 0.301823 -0.373882 +v -1.888730 -0.329116 -0.373882 +v -1.888730 -0.329116 3.111924 +f 144 129 145 +f 124 120 129 +f 121 123 130 +f 128 130 131 +f 120 124 132 +f 130 123 133 +f 131 130 133 +f 124 129 134 +f 126 128 135 +f 128 131 135 +f 122 121 136 +f 128 122 136 +f 121 130 136 +f 130 128 136 +f 125 120 137 +f 120 132 137 +f 132 126 137 +f 126 135 137 +f 135 125 137 +f 120 125 138 +f 133 123 138 +f 131 133 138 +f 135 131 138 +f 125 135 138 +f 129 120 139 +f 120 138 139 +f 138 123 139 +f 121 122 140 +f 122 128 141 +f 128 126 141 +f 140 122 141 +f 139 127 142 +f 129 139 142 +f 132 124 143 +f 126 132 143 +f 124 140 143 +f 141 126 143 +f 140 141 143 +f 123 121 144 +f 124 134 144 +f 134 129 144 +f 121 140 144 +f 140 124 144 +f 139 123 145 +f 127 139 145 +f 142 127 145 +f 129 142 145 +f 123 144 145 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/097/097.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/097/097.urdf new file mode 100644 index 000000000..f565e68fa --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/097/097.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/098/098.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/098/098.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/098/098.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/098/098.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/098/098.obj new file mode 100644 index 000000000..6fe94925a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/098/098.obj @@ -0,0 +1,342 @@ +o convex_0 +v -1.035309 -1.641115 -0.342600 +v 0.996072 -0.421630 1.060457 +v 0.996072 -0.421630 -0.970554 +v 1.033124 -4.410826 -0.712118 +v -0.998257 -4.299538 0.949787 +v -0.924355 -4.262833 -1.044540 +v -1.035309 -0.421630 1.023567 +v 0.922170 -4.225736 0.986677 +v -0.998257 -0.421630 -1.044540 +v 1.033124 -2.859038 -1.007650 +v 1.033124 -4.410826 -0.933870 +v -1.035309 -4.336634 0.912691 +v -0.998257 -2.748140 1.023567 +v 0.405264 -1.640725 -1.044334 +v -0.998257 -2.896134 -1.044540 +v 1.033124 -2.379913 0.321833 +v 1.033124 -0.939023 -1.007650 +v 0.959020 -4.262833 0.838705 +v -0.037942 -1.308812 1.060251 +v -1.035309 -4.299538 0.284736 +v 0.996072 -2.969546 0.949581 +v -0.148896 -4.336634 -1.007650 +v -0.001093 -0.421630 -1.044334 +v 1.033124 -1.012824 0.321833 +v 0.885118 -4.262833 0.986677 +v -0.628952 -4.262833 -1.044334 +v -0.961407 -4.262833 -0.933664 +v -1.035309 -0.421630 -0.047274 +v -0.185745 -3.117539 1.023567 +v 0.774367 -4.410826 -0.933664 +v -0.001093 -0.421630 1.060251 +v 0.663616 -4.373730 -0.970760 +v -0.998257 -4.299538 -0.269026 +v 0.996072 -0.606329 1.060457 +v 0.885118 -0.421630 -1.007650 +v -0.924355 -4.336634 0.912691 +v 0.959020 -4.041037 0.986677 +v 0.626767 -4.262833 0.986677 +v -1.035309 -3.486938 0.986471 +v -1.035309 -4.336634 0.801815 +f 33 30 40 +f 2 3 7 +f 7 3 9 +f 10 4 11 +f 7 1 12 +f 6 9 14 +f 1 9 15 +f 9 6 15 +f 4 10 16 +f 16 10 17 +f 3 2 17 +f 10 14 17 +f 7 13 19 +f 12 1 20 +f 1 15 20 +f 4 16 21 +f 9 3 23 +f 14 9 23 +f 2 16 24 +f 16 17 24 +f 17 2 24 +f 18 8 25 +f 4 18 25 +f 6 14 26 +f 14 10 26 +f 22 6 26 +f 15 6 27 +f 20 15 27 +f 1 7 28 +f 9 1 28 +f 7 9 28 +f 19 13 29 +f 25 19 29 +f 11 4 30 +f 4 12 30 +f 22 11 30 +f 2 7 31 +f 19 2 31 +f 7 19 31 +f 10 11 32 +f 11 22 32 +f 26 10 32 +f 22 26 32 +f 6 22 33 +f 27 6 33 +f 20 27 33 +f 22 30 33 +f 16 2 34 +f 2 19 34 +f 21 16 34 +f 25 8 34 +f 19 25 34 +f 3 17 35 +f 17 14 35 +f 23 3 35 +f 14 23 35 +f 12 4 36 +f 25 12 36 +f 4 25 36 +f 8 18 37 +f 18 4 37 +f 4 21 37 +f 34 8 37 +f 21 34 37 +f 5 12 38 +f 13 5 38 +f 12 25 38 +f 29 13 38 +f 25 29 38 +f 7 12 39 +f 12 5 39 +f 13 7 39 +f 5 13 39 +f 12 20 40 +f 30 12 40 +f 20 33 40 +o convex_1 +v 0.922226 1.794590 2.906935 +v 0.700587 -0.421630 -3.038506 +v 0.959131 -0.421630 -3.038506 +v -0.961385 1.794590 -3.113219 +v -1.072098 -0.236800 3.055146 +v 1.070057 -0.273679 3.055146 +v 1.070057 1.609761 -3.112611 +v -1.035194 1.609761 3.092198 +v -0.998289 -0.347655 -2.927955 +v -1.109215 1.794590 1.097426 +v -1.072098 -0.421630 1.097426 +v 1.070057 1.794374 2.980433 +v 0.959131 1.794590 -1.044341 +v 0.996035 -0.421630 1.059766 +v -1.072098 1.720398 -2.189331 +v 1.070057 1.018827 -3.075558 +v -1.035194 1.535786 -3.113219 +v -0.998289 -0.421630 -1.044341 +v -0.924481 1.646423 3.092198 +v 1.070057 -0.310559 2.352966 +v 0.996035 0.021788 -3.075558 +v 1.070057 1.646640 -2.927955 +v -0.592129 -0.384534 -2.965008 +v 1.070057 0.391230 3.055146 +v -1.035194 0.760022 -3.039113 +v 0.996035 -0.125946 -3.038506 +v 0.552757 -0.310775 2.685226 +v -1.109215 1.424931 1.060374 +v -1.072098 0.686480 3.055146 +v -0.555011 1.166343 -3.113219 +v 0.700587 1.757277 3.017485 +v -1.035194 1.794590 -3.113219 +v -1.035194 1.203222 3.092198 +v -0.961385 -0.273679 2.796384 +v 0.478948 0.021788 -3.075558 +v 1.070057 1.277415 -3.112611 +v -0.739746 -0.384534 -2.927955 +v 1.032939 1.794374 0.542851 +v -1.109215 1.757277 1.245030 +v 0.996035 -0.347655 -2.041120 +v -1.035194 -0.421630 1.134479 +v 0.331331 -0.273679 3.055146 +v 0.996035 -0.421630 -0.970236 +v -0.850459 1.646423 3.092198 +v -1.072098 -0.421630 1.060374 +v 1.032939 0.428109 -3.075558 +v 0.442044 1.683519 -3.112611 +f 53 62 87 +f 41 44 50 +f 42 43 51 +f 46 47 52 +f 44 41 53 +f 41 52 53 +f 51 43 54 +f 47 46 56 +f 42 51 58 +f 41 50 59 +f 50 48 59 +f 52 41 59 +f 46 54 60 +f 56 46 60 +f 43 42 61 +f 52 47 62 +f 46 52 64 +f 55 57 65 +f 57 63 65 +f 63 49 65 +f 43 61 66 +f 54 46 67 +f 51 45 68 +f 50 55 68 +f 45 48 69 +f 44 47 70 +f 57 44 70 +f 63 57 70 +f 52 59 71 +f 64 52 71 +f 50 44 72 +f 55 50 72 +f 44 57 72 +f 57 55 72 +f 48 45 73 +f 59 48 73 +f 45 51 74 +f 61 42 75 +f 42 63 75 +f 70 61 75 +f 63 70 75 +f 47 56 76 +f 70 47 76 +f 61 70 76 +f 42 58 77 +f 58 49 77 +f 63 42 77 +f 49 63 77 +f 53 52 78 +f 52 62 78 +f 62 53 78 +f 48 50 79 +f 68 45 79 +f 50 68 79 +f 45 69 79 +f 69 48 79 +f 43 66 80 +f 66 60 80 +f 51 54 81 +f 54 67 81 +f 74 51 81 +f 74 81 82 +f 67 46 82 +f 73 45 82 +f 46 73 82 +f 45 74 82 +f 81 67 82 +f 54 43 83 +f 60 54 83 +f 43 80 83 +f 80 60 83 +f 46 64 84 +f 71 59 84 +f 64 71 84 +f 73 46 84 +f 59 73 84 +f 49 58 85 +f 58 51 85 +f 65 49 85 +f 55 65 85 +f 51 68 85 +f 68 55 85 +f 56 60 86 +f 60 66 86 +f 66 61 86 +f 76 56 86 +f 61 76 86 +f 47 44 87 +f 44 53 87 +f 62 47 87 +o convex_2 +v 1.070057 3.678099 0.247666 +v -0.259564 2.791720 -1.044746 +v -0.259564 2.976430 -1.044746 +v -1.109215 2.053453 1.097600 +v 0.959131 1.794590 -1.044536 +v 1.032939 1.794590 1.023574 +v -1.072098 3.678099 1.097600 +v -1.072098 1.794590 -1.007628 +v -1.109215 3.752060 -1.007628 +v 1.070057 3.752060 -1.044746 +v 1.032939 3.715080 0.949758 +v -1.109215 1.794590 1.097600 +v -0.592129 3.678099 1.097600 +v -1.109215 3.752060 -0.416680 +v 1.070057 3.197929 -1.044746 +v 0.848205 3.715080 0.986666 +v -1.109215 2.791720 -1.007628 +v 0.442044 1.794590 1.060272 +v 1.070057 3.752060 -0.305746 +v 0.996035 1.794590 -0.564522 +v 1.032939 2.311933 1.023574 +v -1.072098 3.715080 0.691192 +v -0.037925 1.794590 -1.044536 +v -0.665937 1.794590 1.097600 +v 0.146597 3.752060 -1.044536 +v 1.032939 1.794590 0.543350 +v 0.996035 2.016473 -1.044536 +v -1.109215 1.794590 0.728100 +v 0.478948 3.715080 0.986666 +v -1.109215 3.715080 -0.231930 +f 94 101 117 +f 92 93 95 +f 90 89 96 +f 89 90 97 +f 94 91 99 +f 95 93 99 +f 91 96 99 +f 94 99 100 +f 96 91 101 +f 97 96 101 +f 92 89 102 +f 88 93 102 +f 89 97 102 +f 97 88 102 +f 94 100 103 +f 89 95 104 +f 96 89 104 +f 99 96 104 +f 99 93 105 +f 88 97 106 +f 98 88 106 +f 97 101 106 +f 103 98 106 +f 93 92 107 +f 93 88 108 +f 88 98 108 +f 98 103 108 +f 103 100 108 +f 105 93 108 +f 100 105 108 +f 101 94 109 +f 89 92 110 +f 95 89 110 +f 92 95 110 +f 100 99 111 +f 99 105 111 +f 105 100 111 +f 90 96 112 +f 97 90 112 +f 96 97 112 +f 102 93 113 +f 93 107 113 +f 113 107 114 +f 92 102 114 +f 107 92 114 +f 102 113 114 +f 95 99 115 +f 104 95 115 +f 99 104 115 +f 94 103 116 +f 106 101 116 +f 103 106 116 +f 109 94 116 +f 101 109 116 +f 91 94 117 +f 101 91 117 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/098/098.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/098/098.urdf new file mode 100644 index 000000000..6b236116a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/098/098.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/099/099.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/099/099.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/099/099.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/099/099.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/099/099.obj new file mode 100644 index 000000000..5f5d1ab43 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/099/099.obj @@ -0,0 +1,438 @@ +o convex_0 +v 0.415363 -4.039993 -1.010144 +v 0.117183 -0.331816 1.109047 +v -0.048086 -0.331816 1.109047 +v -0.710467 0.529408 -1.076383 +v -1.107896 -4.172561 1.109047 +v 1.077527 -2.549769 1.109047 +v 1.077527 0.529408 -0.977134 +v -1.041440 -4.039993 -1.109610 +v -1.074668 0.529408 1.075819 +v 1.011289 0.528945 1.042591 +v 1.011289 -4.039993 -0.612715 +v 0.945051 -4.072903 1.042591 +v -1.074668 0.529408 -1.076383 +v 1.110755 -2.417665 -0.977134 +v -0.048086 -4.205934 -0.380989 +v 1.011289 -4.039993 -0.943689 +v 1.077527 -1.424338 1.109047 +v -1.107896 -4.172561 0.545913 +v -0.809716 -4.039993 -1.109610 +v -1.107896 -2.814440 1.109047 +v 1.110755 -2.185441 0.413436 +v -1.074668 -2.516859 -1.076383 +v 1.077527 0.529408 -0.215285 +v 0.547622 -4.106277 1.075819 +v 1.110755 -0.960815 -0.977134 +v 0.978061 -4.072903 0.876887 +v -1.074668 -0.596950 1.109047 +v -1.008430 -4.073367 -1.076383 +v 1.044299 0.330558 1.009581 +v -0.544980 -4.172561 1.075819 +v -1.074668 -4.072903 -0.711963 +v -0.279811 -4.205934 -0.414000 +v 0.878813 -4.072903 -0.877668 +v 1.044299 -2.881188 1.109047 +v -0.213573 0.529408 1.075819 +v 1.077527 -2.980381 -0.977134 +v 1.077527 -1.126293 1.075602 +v -1.008430 -3.278426 -1.109610 +v 0.978061 -3.841142 1.075602 +v -1.107896 -4.039993 0.479674 +v 0.448374 0.297184 1.075819 +v -0.743478 -4.073367 -1.076383 +v -0.147552 -4.205934 -0.182057 +v 0.746337 -4.106277 0.777638 +v 1.044299 -3.576471 -0.910678 +v 0.812575 -4.039993 -0.977134 +v 0.978061 -4.072903 0.380425 +v -0.743478 -4.039993 1.109047 +f 39 34 48 +f 2 3 5 +f 2 5 6 +f 3 2 9 +f 7 4 9 +f 9 4 13 +f 2 6 17 +f 4 7 19 +f 5 3 20 +f 9 13 20 +f 18 5 20 +f 6 11 21 +f 17 6 21 +f 13 8 22 +f 7 9 23 +f 19 7 25 +f 14 19 25 +f 21 14 25 +f 7 23 25 +f 23 21 25 +f 11 6 26 +f 16 11 26 +f 3 9 27 +f 20 3 27 +f 9 20 27 +f 8 19 28 +f 10 17 29 +f 23 10 29 +f 24 5 30 +f 22 8 31 +f 8 28 31 +f 28 18 31 +f 5 18 32 +f 18 28 32 +f 15 32 33 +f 6 5 34 +f 9 2 35 +f 23 9 35 +f 10 23 35 +f 19 14 36 +f 1 19 36 +f 17 21 37 +f 21 23 37 +f 29 17 37 +f 23 29 37 +f 8 13 38 +f 13 4 38 +f 4 19 38 +f 19 8 38 +f 24 12 39 +f 26 6 39 +f 12 26 39 +f 6 34 39 +f 20 13 40 +f 18 20 40 +f 13 22 40 +f 22 31 40 +f 31 18 40 +f 2 17 41 +f 17 10 41 +f 35 2 41 +f 10 35 41 +f 19 1 42 +f 28 19 42 +f 32 28 42 +f 33 32 42 +f 30 5 43 +f 24 30 43 +f 5 32 43 +f 32 15 43 +f 12 24 44 +f 26 12 44 +f 43 15 44 +f 24 43 44 +f 11 16 45 +f 21 11 45 +f 14 21 45 +f 16 36 45 +f 36 14 45 +f 16 33 46 +f 36 16 46 +f 1 36 46 +f 42 1 46 +f 33 42 46 +f 16 26 47 +f 33 16 47 +f 15 33 47 +f 26 44 47 +f 44 15 47 +f 5 24 48 +f 34 5 48 +f 24 39 48 +o convex_1 +v -0.743574 4.006408 -0.678710 +v -1.107902 1.257923 -1.076496 +v -0.213875 1.257923 -1.076496 +v -1.074742 1.257923 1.075932 +v 1.077641 3.906595 1.009564 +v 1.044481 1.257923 -0.977049 +v 1.077641 3.973048 -0.910681 +v 1.011321 1.257923 1.009564 +v -0.975263 3.906864 0.943407 +v -1.008423 3.840412 -1.009917 +v -1.074742 1.986476 1.075932 +v -1.107902 2.152472 -1.076496 +v 0.978162 3.973048 -0.943760 +v -0.975263 4.006408 -0.976839 +v -1.008423 3.575410 0.976486 +v -1.041583 2.549840 -1.076496 +v 1.044481 1.257923 0.247703 +v 1.077641 2.615754 -0.943760 +v 0.514568 1.357466 -1.043207 +v -0.677254 1.257923 1.075932 +v -1.107902 1.920293 -0.049584 +v -0.975263 3.939956 0.711646 +v 1.077641 3.410222 0.976275 +v -0.081236 4.006408 -0.977049 +v -0.511670 3.873773 0.976275 +v 1.077641 3.973048 -0.612763 +v 1.077641 3.774229 -0.943760 +v -1.074742 2.251477 1.042643 +v -1.008423 3.675223 0.645278 +v -0.942104 3.939956 -1.009917 +v -1.107902 1.257923 -0.513317 +v -0.875998 2.052928 1.075932 +v -1.107902 2.152472 -0.811235 +v -0.776733 2.218386 -1.076496 +v -0.975263 4.006408 -0.612552 +f 58 70 83 +f 50 51 52 +f 52 51 54 +f 52 54 56 +f 51 50 60 +f 51 60 64 +f 60 58 64 +f 56 54 65 +f 55 53 66 +f 65 54 66 +f 54 51 67 +f 52 56 68 +f 56 53 68 +f 59 52 68 +f 52 59 69 +f 60 50 69 +f 57 53 70 +f 53 56 71 +f 56 65 71 +f 66 53 71 +f 65 66 71 +f 55 61 72 +f 62 49 72 +f 53 57 73 +f 59 53 73 +f 57 63 73 +f 63 59 73 +f 49 53 74 +f 53 55 74 +f 72 49 74 +f 55 72 74 +f 61 55 75 +f 55 66 75 +f 66 54 75 +f 54 67 75 +f 67 61 75 +f 59 63 76 +f 69 59 76 +f 63 57 77 +f 57 70 77 +f 70 58 77 +f 76 63 77 +f 58 62 78 +f 64 58 78 +f 61 64 78 +f 72 61 78 +f 62 72 78 +f 50 52 79 +f 69 50 79 +f 52 69 79 +f 53 59 80 +f 68 53 80 +f 59 68 80 +f 58 60 81 +f 60 69 81 +f 69 76 81 +f 76 77 81 +f 77 58 81 +f 51 64 82 +f 64 61 82 +f 67 51 82 +f 61 67 82 +f 53 49 83 +f 49 62 83 +f 62 58 83 +f 70 53 83 +o convex_2 +v -0.346274 0.926692 -2.997011 +v 0.349126 0.959816 -1.970614 +v 0.349126 0.926692 -1.970614 +v -0.313124 0.728208 -1.076496 +v -0.213810 0.562523 -3.030031 +v 0.249745 1.224744 -3.096467 +v -0.180660 1.125372 -1.076496 +v 0.282895 0.628836 -1.076496 +v 0.349126 0.695084 -3.096467 +v 0.315976 1.158496 -1.076496 +v -0.313124 1.092248 -2.963991 +v -0.346274 0.562523 -2.765078 +v 0.084199 1.224744 -2.467105 +v -0.213810 1.125372 -1.242388 +v -0.346274 0.562523 -3.030031 +v -0.313124 0.695084 -1.208972 +v 0.150431 1.224744 -3.096467 +v 0.349126 0.860639 -3.096467 +v -0.313124 1.092248 -2.599581 +v -0.114428 1.158496 -1.308429 +v 0.349126 0.695084 -2.434084 +v 0.315976 0.926692 -1.076496 +v 0.216663 0.628836 -1.076496 +v 0.315976 1.158496 -1.507341 +v -0.346274 0.661960 -2.202349 +v -0.313124 0.761267 -1.076496 +v 0.249745 1.224744 -2.400866 +v -0.015115 1.191620 -3.063051 +f 100 98 111 +f 90 87 91 +f 91 88 92 +f 85 86 92 +f 86 85 93 +f 90 91 93 +f 88 91 95 +f 96 94 97 +f 92 88 98 +f 95 84 98 +f 88 95 98 +f 89 92 100 +f 96 89 100 +f 92 98 100 +f 85 92 101 +f 92 89 101 +f 94 84 102 +f 97 94 102 +f 90 93 103 +f 93 96 103 +f 96 97 103 +f 97 90 103 +f 91 92 104 +f 92 86 104 +f 86 93 105 +f 93 91 105 +f 104 86 105 +f 91 104 105 +f 91 87 106 +f 95 91 106 +f 87 99 106 +f 99 95 106 +f 93 85 107 +f 89 93 107 +f 85 101 107 +f 101 89 107 +f 84 95 108 +f 99 87 108 +f 95 99 108 +f 87 90 109 +f 90 97 109 +f 102 84 109 +f 97 102 109 +f 84 108 109 +f 108 87 109 +f 93 89 110 +f 89 96 110 +f 96 93 110 +f 84 94 111 +f 94 96 111 +f 98 84 111 +f 96 100 111 +o convex_3 +v 0.348984 0.761241 1.075932 +v -1.107902 0.628816 -1.076496 +v -1.107902 1.257923 -1.076496 +v 1.077641 0.529408 -0.976839 +v -1.074528 0.529408 1.075932 +v 1.011321 1.257923 1.009564 +v -1.074528 1.257923 1.075932 +v 1.044481 1.257923 -0.976839 +v 1.011321 0.529408 1.042643 +v -1.074528 0.529408 -1.076496 +v 0.315824 1.158515 -1.076496 +v 0.282878 0.628816 -1.076496 +v 1.077641 0.562568 -0.248266 +v 1.077641 1.158515 -0.976839 +v 0.216345 1.158515 1.075932 +v -1.107902 1.224692 -0.546395 +v 1.044481 0.529408 0.810882 +v 1.044481 1.257923 0.280992 +v -0.213875 1.257923 -1.076496 +f 119 122 130 +f 116 112 118 +f 117 114 118 +f 114 117 119 +f 112 116 120 +f 116 115 120 +f 113 114 121 +f 115 116 121 +f 116 113 121 +f 121 114 122 +f 121 122 123 +f 115 121 123 +f 122 115 123 +f 122 119 125 +f 115 122 125 +f 124 115 125 +f 118 112 126 +f 117 118 126 +f 112 120 126 +f 120 117 126 +f 114 113 127 +f 113 116 127 +f 116 118 127 +f 118 114 127 +f 120 115 128 +f 117 120 128 +f 115 124 128 +f 128 124 129 +f 119 117 129 +f 125 119 129 +f 124 125 129 +f 117 128 129 +f 114 119 130 +f 122 114 130 +o convex_4 +v 0.316009 0.827489 2.201643 +v -0.180699 0.595760 1.076133 +v -0.213816 0.794420 1.076133 +v -0.180699 0.761289 2.996192 +v -0.081346 1.224747 1.076133 +v -0.180699 1.191616 2.996192 +v 0.316009 0.661960 1.076133 +v 0.216656 1.092286 3.128817 +v 0.282836 0.695090 2.830812 +v 0.216656 1.158486 1.076133 +v -0.213816 1.224747 1.076133 +v -0.180699 0.695090 2.896923 +v -0.048229 0.595760 1.506765 +v -0.213816 1.158486 2.300911 +v 0.349126 0.761289 1.076133 +v 0.282836 0.728159 2.996192 +v 0.216656 1.125355 2.632074 +v 0.249774 1.059156 2.963236 +v -0.180699 1.158486 3.095661 +v 0.316009 0.695090 2.565761 +v -0.180699 0.595760 1.506765 +f 132 143 151 +f 132 133 135 +f 132 135 137 +f 137 135 140 +f 135 133 141 +f 136 135 141 +f 139 142 143 +f 132 137 143 +f 141 133 144 +f 136 141 144 +f 133 142 144 +f 142 134 144 +f 137 140 145 +f 138 134 146 +f 134 142 146 +f 142 139 146 +f 135 136 147 +f 136 138 147 +f 140 135 147 +f 131 145 148 +f 145 140 148 +f 138 146 148 +f 147 138 148 +f 140 147 148 +f 134 138 149 +f 138 136 149 +f 144 134 149 +f 136 144 149 +f 139 143 150 +f 143 137 150 +f 137 145 150 +f 145 131 150 +f 146 139 150 +f 131 148 150 +f 148 146 150 +f 133 132 151 +f 142 133 151 +f 143 142 151 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/099/099.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/099/099.urdf new file mode 100644 index 000000000..aac18c895 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/099/099.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/100/100.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/100/100.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/100/100.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/100/100.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/100/100.obj new file mode 100644 index 000000000..cbcae26d2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/100/100.obj @@ -0,0 +1,489 @@ +o convex_0 +v 1.061312 0.915569 0.630355 +v -1.110721 -0.783930 0.189610 +v -1.110721 -0.783930 0.315689 +v -1.079230 3.528224 0.819367 +v 0.966838 3.622258 -1.100733 +v -1.016248 -0.783930 -1.069054 +v 1.061312 -0.783930 -1.069054 +v -0.890283 3.527793 -1.006121 +v 0.935347 -0.783930 0.976700 +v 0.966838 3.622258 1.008167 +v -1.016248 -0.783930 1.071313 +v -1.079230 3.528224 1.008167 +v 1.092803 -0.783930 0.441556 +v -0.953265 3.527793 -0.785642 +v 1.092803 -0.060133 -0.061910 +v 0.966838 0.790048 1.008167 +v -0.953265 3.559713 0.819155 +v 0.998330 2.929518 -1.100733 +v 0.777891 3.622258 -1.100733 +v -1.016248 -0.437560 -1.069054 +v -1.047739 -0.783930 1.039634 +v 1.061312 0.317725 -1.069054 +v -1.079230 -0.626489 -0.345109 +v 0.998330 2.961006 0.913767 +v -0.670060 3.559713 -0.911721 +v 0.998330 3.086959 -0.943187 +v 0.714908 3.622258 1.008167 +v -0.984756 -0.532024 1.071313 +v 0.809382 2.520172 -1.100733 +v 0.620435 3.622258 -0.880254 +v -0.953265 2.741020 -1.006121 +v 0.966838 -0.595001 0.976700 +v -1.079230 2.362731 1.008167 +v 1.092803 -0.060133 0.378622 +v 1.092803 -0.783930 -0.093377 +v -1.110721 -0.437560 0.378410 +v -0.921774 3.559713 1.008167 +v -1.047739 -0.752441 -0.785642 +f 31 20 38 +f 3 2 6 +f 3 6 7 +f 3 7 9 +f 3 9 11 +f 9 7 13 +f 11 9 16 +f 4 12 17 +f 14 4 17 +f 10 5 19 +f 5 18 19 +f 19 6 20 +f 8 19 20 +f 3 11 21 +f 7 18 22 +f 2 4 23 +f 16 1 24 +f 10 16 24 +f 8 14 25 +f 14 17 25 +f 19 8 25 +f 5 10 26 +f 18 5 26 +f 15 22 26 +f 22 18 26 +f 10 24 26 +f 10 19 27 +f 12 11 28 +f 16 10 28 +f 11 16 28 +f 10 27 28 +f 7 6 29 +f 18 7 29 +f 6 19 29 +f 19 18 29 +f 25 17 30 +f 19 25 30 +f 17 27 30 +f 27 19 30 +f 14 8 31 +f 8 20 31 +f 13 1 32 +f 9 13 32 +f 1 16 32 +f 16 9 32 +f 11 12 33 +f 21 11 33 +f 1 13 34 +f 13 15 34 +f 24 1 34 +f 15 26 34 +f 26 24 34 +f 13 7 35 +f 15 13 35 +f 7 22 35 +f 22 15 35 +f 2 3 36 +f 4 2 36 +f 12 4 36 +f 3 21 36 +f 33 12 36 +f 21 33 36 +f 17 12 37 +f 27 17 37 +f 12 28 37 +f 28 27 37 +f 6 2 38 +f 4 14 38 +f 20 6 38 +f 2 23 38 +f 23 4 38 +f 14 31 38 +o convex_1 +v 1.155761 -1.634187 -0.187804 +v 2.981188 -1.067671 -0.187804 +v 3.107264 -1.099193 0.284306 +v 3.075745 -1.697163 -0.345239 +v 1.187471 -1.760207 0.315819 +v 1.155761 -1.130715 -0.250700 +v 1.155761 -1.162169 0.284306 +v 2.918341 -1.602800 0.189897 +v 2.949860 -1.067671 -0.313726 +v 1.155761 -1.760207 0.158384 +v 1.565317 -1.099193 -0.219317 +v 1.155761 -1.288054 0.315819 +v 3.075745 -1.225078 0.284306 +v 3.075745 -1.697163 -0.250700 +v 1.785568 -1.665709 -0.250700 +v 2.729418 -1.099193 0.284306 +v 1.974491 -1.445394 0.315819 +v 2.572014 -1.099193 -0.313726 +v 2.918341 -1.571211 0.221345 +v 2.446129 -1.728685 -0.187804 +v 3.075745 -1.602800 -0.345239 +f 56 47 59 +f 44 39 45 +f 40 41 47 +f 45 39 48 +f 44 45 49 +f 40 47 49 +f 47 44 49 +f 48 43 50 +f 45 48 50 +f 51 46 52 +f 42 41 52 +f 46 43 52 +f 41 51 52 +f 44 42 53 +f 39 44 53 +f 48 39 53 +f 41 40 54 +f 40 49 54 +f 49 45 54 +f 50 41 54 +f 45 50 54 +f 41 50 55 +f 50 43 55 +f 51 41 55 +f 43 51 55 +f 44 47 56 +f 43 46 57 +f 51 43 57 +f 46 51 57 +f 43 48 58 +f 42 52 58 +f 52 43 58 +f 53 42 58 +f 48 53 58 +f 41 42 59 +f 42 44 59 +f 47 41 59 +f 44 56 59 +o convex_2 +v -2.243713 -1.476845 0.315819 +v -3.093699 -1.728664 -0.345239 +v -3.093699 -1.728664 -0.219317 +v -2.999170 -1.067736 -0.156356 +v -1.110916 -1.634199 -0.282278 +v -1.110916 -1.067736 0.252858 +v -1.142555 -1.728664 0.315819 +v -1.110916 -1.067736 -0.250700 +v -2.999170 -1.665709 0.315819 +v -2.999170 -1.162200 0.221345 +v -2.999170 -1.099245 -0.250700 +v -1.299780 -1.130690 -0.282278 +v -1.110916 -1.728664 0.095423 +v -1.520283 -1.067736 0.252858 +v -1.834928 -1.728664 0.315819 +v -2.967725 -1.539799 0.315819 +v -1.614618 -1.193645 0.284306 +v -2.936280 -1.697154 0.252858 +v -2.999170 -1.665709 -0.345239 +v -2.652887 -1.728664 -0.313726 +v -2.810306 -1.067736 -0.250700 +f 71 78 80 +f 61 62 63 +f 62 61 66 +f 63 65 67 +f 65 64 67 +f 66 60 68 +f 63 62 69 +f 62 68 69 +f 61 63 70 +f 67 64 71 +f 64 65 72 +f 65 66 72 +f 66 61 72 +f 65 63 73 +f 63 69 73 +f 62 66 74 +f 66 68 74 +f 68 60 75 +f 69 68 75 +f 66 65 76 +f 60 66 76 +f 65 73 76 +f 73 69 76 +f 75 60 76 +f 69 75 76 +f 68 62 77 +f 62 74 77 +f 74 68 77 +f 64 61 78 +f 61 70 78 +f 71 64 78 +f 61 64 79 +f 72 61 79 +f 64 72 79 +f 63 67 80 +f 70 63 80 +f 67 71 80 +f 78 70 80 +o convex_3 +v 0.022511 -1.885944 1.071510 +v 0.620601 -0.878899 3.054411 +v 0.431737 -0.878899 3.054411 +v 0.620601 -2.012039 3.022661 +v -0.543966 -1.823125 3.085964 +v -0.543966 -0.847319 1.071510 +v 0.526110 -0.910366 1.071313 +v -0.575580 -0.878899 2.991503 +v -0.481089 -1.885944 1.071510 +v 0.589104 -1.854592 1.071313 +v 0.463116 -2.012039 2.771027 +v -0.543966 -1.193679 1.071510 +v 0.620601 -1.193679 2.267364 +v -0.071746 -0.847319 1.764096 +v -0.449592 -1.854478 3.085964 +v -0.543966 -0.878899 3.022661 +v 0.589104 -1.476765 1.071313 +v -0.292107 -1.917525 1.260433 +v -0.575580 -0.910366 2.393181 +v 0.620601 -1.948992 2.235811 +v -0.543966 -1.823125 2.802382 +v 0.589104 -0.878899 2.361825 +v -0.229230 -1.571164 3.085964 +v 0.557607 -0.910366 1.480908 +v 0.589104 -2.012039 2.802382 +v -0.481089 -1.885944 1.449356 +v -0.543966 -0.847319 1.701187 +f 96 94 107 +f 81 89 90 +f 86 87 92 +f 87 90 92 +f 90 89 92 +f 82 84 93 +f 83 82 94 +f 87 86 94 +f 91 84 95 +f 88 85 96 +f 83 94 96 +f 90 87 97 +f 89 81 98 +f 85 88 99 +f 88 86 99 +f 86 92 99 +f 93 84 100 +f 90 97 100 +f 97 93 100 +f 89 85 101 +f 92 89 101 +f 85 99 101 +f 99 92 101 +f 94 82 102 +f 87 94 102 +f 82 83 103 +f 84 82 103 +f 95 84 103 +f 85 95 103 +f 83 96 103 +f 96 85 103 +f 82 93 104 +f 97 87 104 +f 93 97 104 +f 102 82 104 +f 87 102 104 +f 81 90 105 +f 84 91 105 +f 98 81 105 +f 91 98 105 +f 90 100 105 +f 100 84 105 +f 85 89 106 +f 95 85 106 +f 91 95 106 +f 89 98 106 +f 98 91 106 +f 86 88 107 +f 94 86 107 +f 88 96 107 +o convex_4 +v 0.463160 -0.815840 -1.919462 +v 0.494627 -2.011922 -1.258328 +v 0.557560 -2.011922 -1.258328 +v -0.197752 -1.885944 -3.052426 +v -0.512532 -0.941934 -1.100924 +v 0.557560 -0.815840 -2.989197 +v -0.575580 -0.910440 -2.989197 +v -0.543999 -1.980427 -1.100924 +v 0.589141 -1.854450 -3.052426 +v 0.526093 -0.847451 -1.100924 +v -0.449485 -1.885944 -2.989197 +v 0.557560 -2.011922 -1.100924 +v 0.589141 -0.847451 -2.957678 +v -0.575580 -0.910440 -2.454139 +v -0.575580 -1.130783 -2.989197 +v 0.305713 -0.815840 -2.989197 +v 0.463160 -1.571235 -3.052426 +v 0.305713 -0.847451 -1.100924 +v -0.512532 -1.948933 -1.856424 +v 0.589141 -1.885944 -2.391101 +v -0.386552 -1.885944 -3.052426 +v -0.543999 -1.665601 -1.100924 +v 0.589141 -1.067794 -3.020716 +f 116 124 130 +f 110 109 111 +f 110 111 116 +f 113 108 117 +f 112 115 117 +f 109 110 119 +f 115 109 119 +f 117 115 119 +f 117 119 120 +f 113 117 120 +f 115 121 122 +f 121 114 122 +f 108 113 123 +f 121 108 123 +f 114 121 123 +f 116 111 124 +f 117 108 125 +f 112 117 125 +f 108 121 125 +f 121 112 125 +f 109 115 126 +f 115 122 126 +f 122 118 126 +f 110 116 127 +f 119 110 127 +f 120 119 127 +f 116 120 127 +f 111 109 128 +f 122 114 128 +f 118 122 128 +f 124 111 128 +f 114 124 128 +f 109 126 128 +f 126 118 128 +f 115 112 129 +f 112 121 129 +f 121 115 129 +f 113 120 130 +f 120 116 130 +f 123 113 130 +f 114 123 130 +f 124 114 130 +o convex_5 +v 0.557630 -1.162117 1.071313 +v -1.047714 -2.421135 -1.100733 +v -1.047714 -2.358091 -1.100733 +v 1.124249 -2.484179 -1.037587 +v 1.061242 -0.784530 -1.069054 +v -1.110721 -0.784530 0.315689 +v -1.016211 -2.452488 1.071313 +v 0.935228 -2.515702 0.945234 +v -1.016211 -0.784530 -1.069054 +v 0.966731 -0.784530 0.945234 +v -1.016211 -0.784530 1.071313 +v 1.155752 -1.288036 0.315689 +v -1.047714 -2.452488 -0.439297 +v 0.557630 -1.917460 -1.100733 +v 1.155752 -1.760019 0.315689 +v -1.110721 -1.634270 -0.250497 +v 0.589134 -1.854416 1.071313 +v -0.292075 -0.910279 -1.100733 +v 1.155752 -1.130934 -0.250710 +v 1.092745 -0.784361 0.441556 +v 0.526127 -2.515702 0.567635 +v -1.110721 -1.728497 0.284223 +v -0.890197 -2.452488 -0.974441 +v 0.526127 -0.910279 1.071313 +v -1.110721 -1.067720 -0.250497 +v -1.047714 -1.099242 1.008167 +v 0.872221 -2.515702 0.976700 +v 1.092745 -1.004846 -1.069054 +v 0.998235 -2.515702 0.473022 +v -0.480874 -2.484179 1.039634 +v 0.494623 -0.847405 -1.100733 +v 0.935228 -0.784530 0.976700 +v -0.544103 -2.452488 1.071313 +v 0.966731 -2.421135 0.913767 +v 0.683422 -2.452657 -1.069054 +v 0.935228 -2.137945 0.976700 +v -1.047714 -1.760019 -1.069054 +v 0.966731 -2.484179 -1.037375 +v -0.512378 -0.941801 -1.100733 +f 139 148 169 +f 137 131 141 +f 132 133 144 +f 142 140 145 +f 133 132 146 +f 131 137 147 +f 144 133 148 +f 145 134 149 +f 142 145 149 +f 135 139 150 +f 139 136 150 +f 136 141 150 +f 140 142 150 +f 149 135 150 +f 142 149 150 +f 132 143 152 +f 143 137 152 +f 146 132 152 +f 136 146 152 +f 143 132 153 +f 151 143 153 +f 141 131 154 +f 136 139 155 +f 133 146 155 +f 146 136 155 +f 137 141 156 +f 141 136 156 +f 136 152 156 +f 152 137 156 +f 151 138 157 +f 134 144 158 +f 149 134 158 +f 135 149 158 +f 134 145 159 +f 138 151 159 +f 137 143 160 +f 143 151 160 +f 151 157 160 +f 139 135 161 +f 148 139 161 +f 144 148 161 +f 158 144 161 +f 135 158 161 +f 131 147 162 +f 150 141 162 +f 140 150 162 +f 154 131 162 +f 141 154 162 +f 147 137 163 +f 157 147 163 +f 137 160 163 +f 160 157 163 +f 145 140 164 +f 159 145 164 +f 138 159 164 +f 134 132 165 +f 132 144 165 +f 144 134 165 +f 157 138 166 +f 147 157 166 +f 140 162 166 +f 162 147 166 +f 138 164 166 +f 164 140 166 +f 139 133 167 +f 133 155 167 +f 155 139 167 +f 132 134 168 +f 153 132 168 +f 151 153 168 +f 134 159 168 +f 159 151 168 +f 133 139 169 +f 148 133 169 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/100/100.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/100/100.urdf new file mode 100644 index 000000000..0b82f4e01 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/100/100.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/101/101.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/101/101.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/101/101.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/101/101.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/101/101.obj new file mode 100644 index 000000000..b684892a9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/101/101.obj @@ -0,0 +1,720 @@ +o convex_0 +v 0.005354 0.450411 -1.383936 +v 0.037034 0.482058 1.325756 +v 0.005354 0.482058 1.325756 +v 0.005354 4.042329 -0.060259 +v -1.034495 0.450411 0.096778 +v 1.013923 0.450411 -0.029223 +v -0.782253 3.538089 -0.028958 +v 0.761680 3.475147 -0.029223 +v 0.005354 3.538089 0.758352 +v 0.856321 0.639237 0.979318 +v -0.845213 0.607942 1.010620 +v 0.005354 3.569384 -0.784966 +v -0.876894 0.513353 -0.942799 +v 0.793161 0.797119 -0.942799 +v -0.782253 2.120310 0.789919 +v -1.034495 2.057368 0.065212 +v -0.782253 2.057368 -0.753664 +v 0.982242 2.151957 -0.029223 +v 0.761680 1.994426 0.789919 +v 0.730200 2.120310 -0.753664 +v 0.824641 0.450411 -0.942799 +v 0.887802 0.450411 0.947487 +v -0.593171 3.128438 0.600784 +v 0.572599 3.128438 0.569483 +v -0.593171 3.097143 -0.596096 +v -0.876894 0.450411 0.947752 +v -0.089087 0.482058 -1.384202 +v 0.572599 3.223027 -0.533228 +v -0.120567 3.475147 0.758352 +v 0.730200 3.538089 0.033910 +v -0.908374 0.450411 -0.848364 +v -0.782253 3.538089 0.033645 +v -0.025926 4.042329 0.033645 +v 0.982242 1.962779 0.128345 +v -1.034495 2.057368 0.002344 +v -0.025926 3.569384 -0.784966 +v 0.730200 3.538089 -0.060259 +v 0.005354 3.285969 0.821485 +v 0.950762 1.553479 -0.312527 +v -0.782253 1.994777 0.821750 +v 0.919282 0.576295 0.821485 +v 0.730200 1.994426 -0.785231 +v 0.793161 1.931484 0.758617 +v -1.034495 0.450411 -0.028958 +v 0.005354 0.450411 1.325756 +v 0.761680 3.443500 0.033910 +v 0.005354 0.482058 -1.383936 +v 0.068515 4.010682 0.033645 +v -0.057406 3.443500 0.789919 +v -0.813733 2.026073 0.758617 +v -0.908374 0.639237 0.821750 +v -0.057406 4.010682 -0.091826 +v 0.856321 0.545000 -0.848099 +v 0.572599 3.097143 -0.596096 +v 1.013923 0.828415 0.033910 +v 0.162955 3.411853 0.726785 +v -0.593171 3.222675 -0.532963 +v -0.246488 3.916093 0.033645 +v -0.719292 3.601031 -0.028958 +v -0.057406 3.601031 0.663917 +v 0.761680 2.089015 -0.690796 +v -0.624651 3.223027 0.506349 +v -0.719292 3.601031 0.033645 +v 0.194435 3.443500 -0.722098 +f 28 54 64 +f 5 1 6 +f 2 10 19 +f 6 1 21 +f 5 6 22 +f 10 2 22 +f 17 7 25 +f 5 22 26 +f 13 17 27 +f 23 15 29 +f 1 5 31 +f 27 1 31 +f 13 27 31 +f 7 16 32 +f 5 16 35 +f 16 7 35 +f 7 17 35 +f 17 13 35 +f 13 31 35 +f 4 12 36 +f 17 25 36 +f 12 27 36 +f 27 17 36 +f 12 4 37 +f 8 28 37 +f 30 8 37 +f 3 2 38 +f 2 19 38 +f 18 6 39 +f 11 3 40 +f 29 15 40 +f 22 6 41 +f 10 22 41 +f 19 10 43 +f 10 41 43 +f 41 34 43 +f 31 5 44 +f 5 35 44 +f 35 31 44 +f 2 3 45 +f 3 11 45 +f 22 2 45 +f 11 26 45 +f 26 22 45 +f 18 8 46 +f 24 19 46 +f 8 30 46 +f 30 24 46 +f 34 18 46 +f 19 43 46 +f 43 34 46 +f 21 1 47 +f 14 21 47 +f 1 27 47 +f 27 12 47 +f 12 42 47 +f 42 14 47 +f 9 30 48 +f 4 33 48 +f 33 9 48 +f 37 4 48 +f 30 37 48 +f 9 29 49 +f 3 38 49 +f 38 9 49 +f 40 3 49 +f 29 40 49 +f 15 32 50 +f 32 16 50 +f 11 40 50 +f 40 15 50 +f 16 5 51 +f 26 11 51 +f 5 26 51 +f 11 50 51 +f 50 16 51 +f 33 4 52 +f 4 36 52 +f 6 21 53 +f 21 14 53 +f 39 6 53 +f 8 20 54 +f 28 8 54 +f 6 18 55 +f 18 34 55 +f 41 6 55 +f 34 41 55 +f 19 24 56 +f 30 9 56 +f 24 30 56 +f 38 19 56 +f 9 38 56 +f 25 7 57 +f 7 36 57 +f 36 25 57 +f 33 52 58 +f 58 52 59 +f 7 32 59 +f 36 7 59 +f 52 36 59 +f 29 9 60 +f 9 33 60 +f 33 58 60 +f 8 18 61 +f 20 8 61 +f 18 39 61 +f 14 42 61 +f 42 20 61 +f 53 14 61 +f 39 53 61 +f 15 23 62 +f 23 29 62 +f 32 15 62 +f 29 32 62 +f 32 29 63 +f 58 59 63 +f 59 32 63 +f 29 60 63 +f 60 58 63 +f 12 37 64 +f 37 28 64 +f 42 12 64 +f 20 42 64 +f 54 20 64 +o convex_1 +v 0.604244 -2.386270 0.033938 +v -0.593296 -2.512549 0.002621 +v -0.593296 -2.512549 0.033938 +v 0.068422 -4.024960 -0.060567 +v -0.025824 -2.512549 0.601194 +v -0.025824 -2.260164 -0.533318 +v -0.403982 -3.772575 -0.060567 +v -0.498698 -2.260164 0.475039 +v 0.036890 -3.741135 0.380422 +v 0.099955 -3.741135 -0.407162 +v 0.383632 -2.260164 0.506577 +v 0.446581 -3.741135 0.002621 +v 0.509646 -2.260164 -0.407162 +v -0.435515 -2.260164 -0.407162 +v -0.372567 -3.174002 -0.375734 +v 0.383632 -3.079854 0.411961 +v -0.403982 -3.111122 0.380422 +v 0.446581 -3.111122 -0.375734 +v 0.068422 -2.701363 -0.533318 +v -0.025824 -3.772575 -0.407162 +v -0.088890 -3.741135 0.348883 +v -0.057357 -3.016801 0.538116 +v -0.530113 -3.111122 0.033938 +v -0.593296 -2.260164 -0.028917 +v -0.151955 -2.260164 0.601194 +v 0.541179 -3.142562 0.033938 +v 0.572594 -2.260164 0.159983 +v -0.403982 -3.772575 0.002621 +v 0.352100 -3.583761 -0.312545 +v 0.320567 -3.583761 0.286027 +v -0.025824 -4.024960 0.002621 +v -0.498698 -3.016801 -0.155073 +v -0.025824 -3.016801 -0.501779 +v -0.309501 -3.583761 -0.312545 +v 0.541179 -3.016801 -0.092106 +v -0.309501 -3.615201 0.254377 +v 0.036890 -3.804188 0.348883 +v 0.415048 -3.772575 -0.060567 +v 0.320567 -3.016801 -0.438701 +v 0.131488 -2.260164 -0.533318 +v 0.383632 -2.921962 0.443611 +v 0.383632 -3.804188 0.033938 +v -0.088890 -3.993347 -0.060567 +v -0.435515 -3.016801 0.380422 +v 0.541179 -3.016801 0.096794 +v 0.415048 -2.480936 0.475039 +v -0.403982 -2.669923 -0.407162 +v 0.509646 -2.386270 -0.407162 +v 0.068422 -3.111122 -0.501779 +v 0.068422 -2.291777 0.601194 +v 0.068422 -4.024960 0.002621 +v 0.131488 -2.985015 0.506577 +v -0.403982 -3.048069 -0.375734 +v -0.498698 -2.291777 0.475039 +v 0.478113 -2.953748 -0.375734 +f 103 112 119 +f 70 72 75 +f 70 75 77 +f 72 70 78 +f 74 68 84 +f 81 85 86 +f 85 73 86 +f 67 66 87 +f 66 67 88 +f 67 72 88 +f 78 66 88 +f 72 78 88 +f 75 72 89 +f 86 69 89 +f 65 77 91 +f 77 75 91 +f 87 71 92 +f 74 82 93 +f 80 73 94 +f 76 80 94 +f 85 92 95 +f 66 78 96 +f 87 66 96 +f 71 87 96 +f 70 83 97 +f 84 79 97 +f 84 71 98 +f 79 84 98 +f 65 90 99 +f 90 76 99 +f 85 81 100 +f 92 85 100 +f 73 85 101 +f 94 73 101 +f 85 95 101 +f 68 74 102 +f 82 76 102 +f 74 93 102 +f 93 82 102 +f 82 74 103 +f 103 83 104 +f 70 77 104 +f 83 70 104 +f 76 94 106 +f 94 101 106 +f 68 102 106 +f 102 76 106 +f 84 68 107 +f 71 84 107 +f 92 71 107 +f 68 95 107 +f 95 92 107 +f 87 92 108 +f 100 81 108 +f 92 100 108 +f 80 76 109 +f 90 65 109 +f 76 90 109 +f 65 91 109 +f 91 75 110 +f 75 105 110 +f 105 80 110 +f 80 109 110 +f 109 91 110 +f 78 70 111 +f 70 97 111 +f 97 79 111 +f 77 65 112 +f 65 99 112 +f 103 104 112 +f 104 77 112 +f 74 84 113 +f 97 83 113 +f 84 97 113 +f 103 74 113 +f 83 103 113 +f 89 69 114 +f 75 89 114 +f 105 75 114 +f 95 68 115 +f 101 95 115 +f 68 106 115 +f 106 101 115 +f 73 80 116 +f 69 86 116 +f 86 73 116 +f 80 105 116 +f 114 69 116 +f 105 114 116 +f 96 78 117 +f 71 96 117 +f 98 71 117 +f 79 98 117 +f 78 111 117 +f 111 79 117 +f 72 67 118 +f 81 86 118 +f 67 87 118 +f 89 72 118 +f 86 89 118 +f 108 81 118 +f 87 108 118 +f 76 82 119 +f 99 76 119 +f 82 103 119 +f 112 99 119 +o convex_2 +v 0.415156 -2.039564 0.632616 +v -0.026034 -2.071091 -0.690889 +v -0.026034 -2.039564 -0.690889 +v -0.656284 -2.039564 0.412103 +v -0.088957 -2.260164 0.632616 +v 0.541148 -2.260164 -0.375728 +v -0.435617 -2.260164 -0.407230 +v 0.635678 -2.039564 -0.470234 +v 0.604072 -2.260164 0.096942 +v -0.530147 -2.039564 -0.501736 +v -0.593216 -2.260164 0.159946 +v 0.761815 -2.039564 0.065440 +v -0.088957 -2.039564 0.758765 +v -0.530147 -2.228637 0.506608 +v 0.446618 -2.260164 0.443605 +v -0.719353 -2.071091 -0.060567 +v 0.163027 -2.260164 -0.533238 +v 0.541148 -2.071091 -0.564739 +v 0.509686 -2.071091 0.601114 +v -0.561609 -2.071091 0.601114 +v 0.761815 -2.071091 0.065440 +v 0.005573 -2.071091 0.758765 +v 0.383549 -2.260164 0.506608 +v -0.624678 -2.228637 -0.029066 +v -0.719353 -2.071091 0.159946 +v -0.057496 -2.260164 -0.533238 +v -0.498686 -2.071091 -0.533238 +f 126 135 146 +f 120 122 123 +f 125 124 126 +f 122 120 127 +f 124 125 128 +f 123 122 129 +f 126 124 130 +f 127 120 131 +f 120 123 132 +f 130 124 133 +f 124 128 134 +f 123 129 135 +f 125 126 136 +f 121 122 137 +f 122 127 137 +f 127 125 137 +f 136 121 137 +f 125 136 137 +f 131 120 138 +f 132 123 139 +f 124 132 139 +f 133 124 139 +f 123 133 139 +f 125 127 140 +f 128 125 140 +f 127 131 140 +f 134 128 140 +f 131 138 140 +f 138 134 140 +f 120 132 141 +f 132 124 141 +f 138 120 141 +f 138 141 142 +f 124 134 142 +f 134 138 142 +f 141 124 142 +f 126 130 143 +f 135 126 143 +f 135 143 144 +f 133 123 144 +f 130 133 144 +f 123 135 144 +f 143 130 144 +f 126 121 145 +f 121 136 145 +f 136 126 145 +f 122 121 146 +f 121 126 146 +f 129 122 146 +f 135 129 146 +o convex_3 +v 0.068394 -0.842338 2.933111 +v -0.025870 -2.039354 -0.721872 +v 0.131305 -2.039354 -0.721872 +v -0.057427 0.103193 -1.950946 +v -1.034477 -0.967976 2.018779 +v 0.887861 0.103193 1.168333 +v -1.034477 0.103193 -0.029090 +v -0.782223 -0.999438 -2.738678 +v 1.013886 -1.094033 -2.014246 +v 0.793190 -1.755779 2.018779 +v -0.813780 -1.755569 1.956065 +v -0.750666 -1.755569 -2.045895 +v 0.005483 -0.212054 2.712147 +v 0.793190 -1.755779 -2.045309 +v 0.635608 -0.464168 -2.581014 +v 1.045443 -0.967976 2.050429 +v 1.013886 0.103193 -0.029090 +v 0.099951 -1.755569 -2.770328 +v -1.002919 -1.030899 -2.014246 +v -0.845337 0.103193 1.231047 +v -0.025870 -2.007683 1.987129 +v 0.887861 -1.913297 0.127987 +v -0.782223 -2.007683 -0.029090 +v -0.750666 -0.967976 2.743211 +v 0.036837 -1.755569 2.712147 +v 0.793190 -0.936724 2.712147 +v -0.719313 -0.212054 -2.171323 +v -0.025870 -0.212054 -2.770328 +v 0.824747 -0.967976 -2.738678 +v 0.824747 0.103193 -1.257577 +v 0.068394 -2.007683 -2.076959 +v -0.971362 -1.724317 -0.029090 +v 0.068394 -1.030899 -3.022941 +v 0.761633 -2.039354 0.127987 +v 0.982329 -1.787241 0.127987 +v -0.876895 0.103193 -1.225927 +v 0.068394 0.103193 1.892765 +v 0.793190 -0.274978 2.113143 +v -0.719313 -0.274978 2.144793 +v -0.624641 -2.039354 0.600392 +v 1.013886 -0.873590 -2.014246 +v -0.561731 -1.566589 2.554484 +v -1.034477 -0.999438 -0.248882 +v -0.561731 -1.566589 -2.581014 +v 0.162862 -0.243516 2.712147 +v 1.045443 -1.030899 0.191287 +v 0.036837 -1.030899 2.964761 +v 0.761836 -0.211844 -2.045309 +v 0.604051 -1.566589 2.522834 +v -1.002919 -0.810667 -1.919296 +v 0.635608 -1.503665 -2.612664 +v 0.068394 -0.212054 -2.770328 +v -0.719313 -0.936724 -2.801392 +v -0.025870 -1.755569 -2.770328 +v -0.561731 -2.039354 -0.500909 +v 1.045443 -1.094033 1.987129 +v 0.635608 -2.039354 -0.532559 +v -0.498616 -0.401034 2.586134 +v -0.561731 -0.369573 -2.581014 +v 0.793190 -1.030899 2.712147 +v -0.057427 -1.755569 2.712147 +v 0.604051 -0.401034 2.554484 +v -0.057427 -2.007683 -2.014246 +v -0.876895 -1.818702 1.073383 +f 169 186 210 +f 152 150 153 +f 150 152 163 +f 152 162 163 +f 154 158 165 +f 153 151 166 +f 152 153 166 +f 151 157 170 +f 147 159 170 +f 167 156 171 +f 173 150 174 +f 155 160 175 +f 150 163 176 +f 149 148 177 +f 164 160 177 +f 165 158 178 +f 158 169 178 +f 175 164 179 +f 148 149 180 +f 156 167 180 +f 160 168 180 +f 168 156 180 +f 160 155 181 +f 168 160 181 +f 156 168 181 +f 153 150 182 +f 150 173 182 +f 152 166 183 +f 166 159 183 +f 162 152 184 +f 172 162 184 +f 166 151 185 +f 159 166 185 +f 151 170 185 +f 167 157 186 +f 148 180 186 +f 180 167 186 +f 155 175 187 +f 176 163 187 +f 170 157 188 +f 151 153 189 +f 153 165 189 +f 178 151 189 +f 165 178 189 +f 158 154 190 +f 159 147 191 +f 147 172 191 +f 152 183 191 +f 183 159 191 +f 184 152 191 +f 163 162 192 +f 181 155 192 +f 155 187 192 +f 187 163 192 +f 147 170 193 +f 172 147 193 +f 175 161 194 +f 187 175 194 +f 176 187 194 +f 171 156 195 +f 165 153 196 +f 154 165 196 +f 173 154 196 +f 153 182 196 +f 182 173 196 +f 160 164 197 +f 175 160 197 +f 164 175 197 +f 174 150 198 +f 161 175 198 +f 150 176 198 +f 179 174 198 +f 175 179 198 +f 194 161 198 +f 176 194 198 +f 154 173 199 +f 174 179 199 +f 164 177 200 +f 179 164 200 +f 190 154 200 +f 158 190 200 +f 154 199 200 +f 199 179 200 +f 169 158 201 +f 177 148 201 +f 186 169 201 +f 148 186 201 +f 156 181 202 +f 192 162 202 +f 181 192 202 +f 149 177 203 +f 177 160 203 +f 180 149 203 +f 160 180 203 +f 170 159 204 +f 159 185 204 +f 185 170 204 +f 173 174 205 +f 199 173 205 +f 174 199 205 +f 162 172 206 +f 193 171 206 +f 172 193 206 +f 195 156 206 +f 171 195 206 +f 202 162 206 +f 156 202 206 +f 157 167 207 +f 167 171 207 +f 188 157 207 +f 170 188 207 +f 193 170 207 +f 171 193 207 +f 172 184 208 +f 191 172 208 +f 184 191 208 +f 158 200 209 +f 200 177 209 +f 201 158 209 +f 177 201 209 +f 157 151 210 +f 151 178 210 +f 178 169 210 +f 186 157 210 +o convex_4 +v -1.034495 0.103403 -0.029430 +v 1.013929 0.166484 0.096482 +v 1.013929 0.103403 0.096482 +v 0.005357 0.134926 -1.919943 +v -0.845212 0.450059 1.010170 +v 0.824646 0.450059 -0.942750 +v -0.876693 0.450059 -0.942750 +v 0.068317 0.103403 1.830249 +v 0.856127 0.450059 1.010537 +v 0.793166 0.103403 -1.257713 +v -0.845212 0.103403 -1.258080 +v -0.845212 0.103403 1.168385 +v 0.005357 0.450059 -1.447132 +v 0.887807 0.103403 1.105246 +v -0.026123 0.450059 1.357437 +v -1.034495 0.450059 0.096482 +v 1.013929 0.450059 -0.029062 +v -0.026123 0.134926 1.830249 +v 0.005357 0.103403 -1.919943 +v 0.131479 0.134926 1.798679 +v -0.876693 0.134926 -1.194941 +v 0.919288 0.450059 0.821485 +v 0.824646 0.134926 -1.194941 +v -0.876693 0.134926 1.105246 +v 0.068317 0.355489 1.514918 +v -0.026123 0.134926 -1.919943 +v -1.034495 0.450059 -0.029430 +v 0.698725 0.134926 -1.352422 +v -0.057403 0.450059 -1.447132 +v -0.813732 0.134926 -1.289650 +v 1.013929 0.103403 -0.029062 +v -1.034495 0.103403 0.096482 +v -0.782252 0.134926 1.231158 +v -0.908173 0.450059 0.821485 +v -0.813732 0.450059 1.042106 +f 243 228 245 +f 215 216 217 +f 211 213 218 +f 216 215 219 +f 213 211 220 +f 220 211 221 +f 211 218 222 +f 216 214 223 +f 217 216 223 +f 213 212 224 +f 218 213 224 +f 219 215 225 +f 215 217 226 +f 212 213 227 +f 216 219 227 +f 222 218 228 +f 220 221 229 +f 218 224 230 +f 224 219 230 +f 228 218 230 +f 221 211 231 +f 224 212 232 +f 219 224 232 +f 212 227 232 +f 227 219 232 +f 216 227 233 +f 222 215 234 +f 219 225 235 +f 225 228 235 +f 230 219 235 +f 228 230 235 +f 223 214 236 +f 214 229 236 +f 229 221 236 +f 211 226 237 +f 226 217 237 +f 217 231 237 +f 231 211 237 +f 214 216 238 +f 229 214 238 +f 220 229 238 +f 233 220 238 +f 216 233 238 +f 217 223 239 +f 236 217 239 +f 223 236 239 +f 231 217 240 +f 221 231 240 +f 217 236 240 +f 236 221 240 +f 213 220 241 +f 227 213 241 +f 220 233 241 +f 233 227 241 +f 211 222 242 +f 226 211 242 +f 222 234 242 +f 234 226 242 +f 215 222 243 +f 222 228 243 +f 215 226 244 +f 234 215 244 +f 226 234 244 +f 225 215 245 +f 228 225 245 +f 215 243 245 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/101/101.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/101/101.urdf new file mode 100644 index 000000000..6579fe6c8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/101/101.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/102/102.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/102/102.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/102/102.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/102/102.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/102/102.obj new file mode 100644 index 000000000..2cc368227 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/102/102.obj @@ -0,0 +1,387 @@ +o convex_0 +v -1.010468 -2.731733 -0.313624 +v 1.047295 -1.161041 1.856520 +v 1.047295 -0.075900 1.818920 +v 1.047295 -3.929347 -0.276024 +v -1.047855 -4.041819 1.856307 +v -1.122841 -0.075900 -0.313624 +v -1.010468 -0.075900 1.743934 +v 0.972309 -0.075900 -0.163863 +v 1.047295 -4.041819 1.856520 +v -0.935694 -4.079440 -0.313624 +v 0.523455 -0.075900 -0.313624 +v -1.047855 -1.161041 1.781533 +v -0.112546 -4.041819 -0.313624 +v 1.009696 -0.936880 -0.201250 +v -1.010468 -0.787179 1.781533 +v -1.047855 -4.041819 1.594386 +v -0.973081 -4.079440 0.846009 +v -1.047855 -3.517863 1.856307 +v 1.047295 -4.041819 1.444626 +v -1.047855 -0.075900 1.631773 +v 1.047295 -0.075900 1.556999 +v 1.047295 -3.966968 -0.051490 +v 1.047295 -3.218460 -0.238425 +v -1.085242 -2.395492 0.958170 +v -0.636387 -4.079440 -0.313624 +v 0.111775 -4.004197 -0.313624 +v -0.973081 -4.079440 0.135445 +v -1.122841 -0.225601 -0.275812 +v 1.009696 -0.075900 0.322592 +v -1.122841 -0.075900 -0.201250 +v 0.897536 -0.075900 1.818708 +v 1.047295 -3.592714 -0.276024 +f 14 23 32 +f 3 2 4 +f 3 6 7 +f 6 3 8 +f 4 2 9 +f 2 5 9 +f 1 6 10 +f 10 6 11 +f 6 8 11 +f 10 11 13 +f 11 8 14 +f 7 12 15 +f 9 5 17 +f 5 16 17 +f 5 2 18 +f 2 15 18 +f 15 12 18 +f 4 9 19 +f 7 6 20 +f 12 7 20 +f 3 4 21 +f 8 3 21 +f 13 4 22 +f 4 19 22 +f 19 13 22 +f 21 4 23 +f 14 21 23 +f 16 5 24 +f 5 18 24 +f 18 12 24 +f 10 13 25 +f 17 10 25 +f 9 17 25 +f 19 9 25 +f 13 19 25 +f 11 4 26 +f 4 13 26 +f 13 11 26 +f 1 10 27 +f 16 1 27 +f 10 17 27 +f 17 16 27 +f 6 1 28 +f 1 16 28 +f 16 24 28 +f 14 8 29 +f 8 21 29 +f 21 14 29 +f 20 6 30 +f 12 20 30 +f 24 12 30 +f 6 28 30 +f 28 24 30 +f 2 3 31 +f 3 7 31 +f 15 2 31 +f 7 15 31 +f 4 11 32 +f 11 14 32 +f 23 4 32 +o convex_1 +v 3.067781 1.794724 -1.922205 +v -1.160008 0.747464 -2.296470 +v -1.160008 0.859625 -2.296470 +v -3.105903 0.186234 -0.201708 +v 3.030313 -0.038300 -2.184320 +v 2.992846 2.056645 -0.164109 +v -3.030968 2.056432 -2.034571 +v 2.992846 -0.038300 -0.126726 +v -3.067831 1.944272 -0.238876 +v -2.956033 0.036474 -2.146721 +v 3.067781 2.019258 -2.296470 +v -1.085073 -0.075899 -0.089342 +v -0.785937 2.019045 -0.089342 +v -2.993500 2.056432 -2.221704 +v 3.030313 2.094244 -0.725507 +v -0.000932 0.335782 -2.296470 +v -3.105903 0.074073 -0.575758 +v 0.972016 2.019045 -0.089342 +v -1.421677 -0.075899 -0.613141 +v 0.972016 -0.075899 -0.089342 +v 2.393970 2.094244 -0.201708 +v -2.993500 0.148635 -2.184320 +v -1.720813 2.056645 -2.259087 +v -2.918565 0.036474 -0.238876 +v -3.030968 2.056432 -1.810055 +v 2.169769 -0.038300 -2.184104 +v 3.067781 1.682350 -2.296470 +v -1.047605 1.907097 -0.089342 +v 0.298809 2.056645 -2.259087 +v -3.067831 1.981871 -0.500775 +v -0.636067 1.570402 -2.296470 +v -2.432092 1.607789 -2.258871 +v -2.245358 0.148635 -2.221704 +v -3.030968 0.074073 -1.922421 +v 3.030313 2.056645 -1.810055 +v 2.992846 0.635303 -0.126726 +v -3.105903 0.934611 -0.276475 +v -0.898340 0.335782 -2.296470 +v 1.346087 2.019045 -2.296470 +v 3.030313 0.447943 -2.221704 +v -3.030968 1.682350 -2.109554 +v -2.394624 0.036474 -2.184320 +v 3.067781 1.383042 -2.221704 +v 1.084419 0.186234 -2.259087 +v -3.105903 0.074073 -0.201708 +v -2.993500 1.308481 -2.221704 +v -3.105903 0.522929 -0.613141 +v -2.319689 1.907097 -2.258871 +v -1.421677 -0.075899 -0.276259 +v 2.992846 2.094244 -0.201708 +v 3.030313 -0.038300 -1.959588 +v 0.523010 -0.075899 -0.313858 +v -3.067831 1.981871 -0.800057 +f 39 79 85 +f 34 35 43 +f 40 33 47 +f 33 43 47 +f 34 43 48 +f 45 44 50 +f 40 50 52 +f 50 44 52 +f 44 51 52 +f 46 39 53 +f 47 46 53 +f 45 50 53 +f 46 47 55 +f 53 39 57 +f 45 53 57 +f 37 51 58 +f 51 42 58 +f 43 33 59 +f 48 43 59 +f 41 36 60 +f 36 44 60 +f 45 41 60 +f 44 45 60 +f 43 55 61 +f 55 47 61 +f 41 45 62 +f 57 39 62 +f 45 57 62 +f 43 35 63 +f 35 34 64 +f 42 49 66 +f 54 42 66 +f 47 43 67 +f 43 61 67 +f 61 47 67 +f 40 47 68 +f 47 38 68 +f 38 50 68 +f 50 40 68 +f 36 41 69 +f 49 36 69 +f 41 62 69 +f 34 48 70 +f 65 54 70 +f 55 43 71 +f 43 63 71 +f 63 55 71 +f 59 37 72 +f 39 46 73 +f 66 49 73 +f 54 66 73 +f 42 54 74 +f 58 42 74 +f 54 65 74 +f 65 70 74 +f 33 40 75 +f 59 33 75 +f 37 59 75 +f 37 58 76 +f 48 59 76 +f 70 48 76 +f 72 37 76 +f 59 72 76 +f 58 74 76 +f 74 70 76 +f 44 36 77 +f 36 49 77 +f 49 42 77 +f 56 44 77 +f 42 56 77 +f 64 34 78 +f 46 64 78 +f 34 70 78 +f 70 54 78 +f 73 46 78 +f 54 73 78 +f 49 69 79 +f 39 73 79 +f 73 49 79 +f 46 55 80 +f 63 35 80 +f 55 63 80 +f 35 64 80 +f 64 46 80 +f 42 51 81 +f 51 44 81 +f 44 56 81 +f 56 42 81 +f 38 47 82 +f 50 38 82 +f 47 53 82 +f 53 50 82 +f 52 37 83 +f 40 52 83 +f 75 40 83 +f 37 75 83 +f 51 37 84 +f 37 52 84 +f 52 51 84 +f 62 39 85 +f 69 62 85 +f 79 69 85 +o convex_2 +v 0.860035 2.056828 1.781672 +v -1.085425 -0.075899 -0.089126 +v 0.972350 -0.075899 -0.089126 +v 1.047295 -0.075899 1.819001 +v 0.972350 2.019250 -0.089126 +v -1.010479 1.944513 1.706825 +v -1.010479 -0.075899 1.743963 +v -1.010479 1.981673 -0.089126 +v -0.673744 1.644938 1.856520 +v 1.009718 2.056828 1.819001 +v -1.085425 0.859570 0.621827 +v -0.449325 0.485466 1.856520 +v -0.823427 2.019250 -0.089126 +v 0.598247 1.570409 1.856520 +v 1.009718 1.981882 0.621827 +v -1.047847 -0.075899 1.631978 +v -1.047847 1.906936 -0.089126 +v 1.009718 -0.075899 0.322628 +v -1.047847 1.682515 1.444765 +v 1.047295 1.121359 1.781672 +v 1.009718 2.056828 1.108238 +v 0.598247 0.560203 1.856520 +v -1.085425 -0.075899 0.696674 +v -1.085425 0.934516 -0.089126 +v -1.010479 1.981673 0.771712 +v 1.047295 0.036415 1.556940 +f 100 105 111 +f 87 88 89 +f 88 87 90 +f 87 89 92 +f 90 87 93 +f 91 92 94 +f 86 91 95 +f 91 94 95 +f 92 89 97 +f 94 92 97 +f 90 93 98 +f 89 95 99 +f 95 94 99 +f 94 97 99 +f 87 92 101 +f 92 91 101 +f 93 87 102 +f 89 88 103 +f 88 90 103 +f 90 100 103 +f 101 91 104 +f 96 101 104 +f 91 102 104 +f 102 96 104 +f 95 89 105 +f 86 95 106 +f 98 86 106 +f 90 98 106 +f 100 90 106 +f 95 105 106 +f 105 100 106 +f 97 89 107 +f 89 99 107 +f 99 97 107 +f 96 87 108 +f 87 101 108 +f 101 96 108 +f 87 96 109 +f 102 87 109 +f 96 102 109 +f 91 86 110 +f 86 98 110 +f 98 93 110 +f 93 102 110 +f 102 91 110 +f 89 103 111 +f 103 100 111 +f 105 89 111 +o convex_3 +v -0.599013 1.458025 1.931550 +v 0.598307 0.522966 3.128417 +v 0.598307 0.485502 3.128417 +v -0.524005 1.270925 3.764460 +v 0.560686 1.532843 3.727135 +v 0.598307 1.570307 1.856520 +v -0.449231 0.485502 1.856520 +v -0.486618 0.485502 3.689620 +v 0.598307 0.560320 1.856520 +v 0.560686 0.447928 3.801975 +v -0.524005 1.532843 3.764460 +v -0.599013 1.570307 1.856520 +v -0.262062 1.570307 3.427776 +v 0.261473 0.447928 3.801975 +v 0.560686 0.447928 3.352936 +v -0.037623 1.158753 3.801975 +v -0.112397 0.485502 1.856520 +v 0.598307 1.570307 2.305749 +v -0.486618 0.485502 2.978737 +v 0.560686 0.859592 3.801975 +v 0.074421 0.447928 3.689620 +v 0.598307 0.522966 2.193585 +f 126 128 133 +f 113 114 117 +f 115 112 119 +f 117 114 120 +f 118 117 120 +f 114 113 121 +f 112 115 122 +f 118 112 123 +f 117 118 123 +f 112 122 123 +f 123 122 124 +f 122 116 124 +f 117 123 124 +f 115 119 125 +f 114 121 126 +f 121 125 126 +f 122 115 127 +f 116 122 127 +f 115 125 127 +f 125 121 127 +f 118 120 128 +f 126 118 128 +f 116 113 129 +f 113 117 129 +f 124 116 129 +f 117 124 129 +f 112 118 130 +f 119 112 130 +f 113 116 131 +f 121 113 131 +f 116 127 131 +f 127 121 131 +f 125 119 132 +f 118 126 132 +f 126 125 132 +f 130 118 132 +f 119 130 132 +f 120 114 133 +f 114 126 133 +f 128 120 133 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/102/102.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/102/102.urdf new file mode 100644 index 000000000..7ce98d65e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/102/102.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/103/103.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/103/103.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/103/103.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/103/103.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/103/103.obj new file mode 100644 index 000000000..40f574ce1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/103/103.obj @@ -0,0 +1,384 @@ +o convex_0 +v -0.052858 0.307655 -2.216843 +v 0.123811 -0.310903 -1.392130 +v 0.271106 -0.310903 -1.392130 +v 0.123811 -0.193095 -3.100879 +v 0.359591 0.219365 -1.126823 +v -0.200213 -0.222547 -1.126823 +v -0.259143 -0.193095 -3.041943 +v -0.200213 0.366625 -3.071314 +v -0.200213 0.189847 -1.126823 +v 0.241671 0.219365 -2.865136 +v 0.271106 -0.193095 -3.041943 +v 0.271106 -0.310903 -1.126823 +v -0.229647 0.130877 -1.333388 +v -0.229647 -0.222547 -2.983007 +v 0.359591 0.101491 -1.421501 +v 0.182802 0.248817 -2.983007 +v -0.229647 -0.193095 -1.303630 +v -0.200213 0.219365 -1.274259 +v -0.141283 0.366625 -2.983007 +v 0.241671 -0.134125 -3.100879 +v 0.241671 -0.222547 -2.865136 +v -0.229647 0.189847 -3.041943 +v 0.359591 0.219365 -1.333388 +v -0.229647 -0.222547 -1.598309 +v 0.359591 0.072039 -1.126823 +v 0.271106 -0.134125 -3.041943 +f 23 15 26 +f 4 7 8 +f 6 5 9 +f 2 3 12 +f 5 6 12 +f 6 2 12 +f 3 2 14 +f 7 4 14 +f 6 9 17 +f 13 7 17 +f 9 13 17 +f 5 1 18 +f 9 5 18 +f 8 13 18 +f 13 9 18 +f 1 5 19 +f 16 8 19 +f 18 1 19 +f 8 18 19 +f 4 8 20 +f 11 4 20 +f 8 16 20 +f 11 3 21 +f 4 11 21 +f 3 14 21 +f 14 4 21 +f 8 7 22 +f 7 13 22 +f 13 8 22 +f 5 15 23 +f 10 16 23 +f 19 5 23 +f 16 19 23 +f 2 6 24 +f 14 2 24 +f 7 14 24 +f 6 17 24 +f 17 7 24 +f 3 11 25 +f 12 3 25 +f 5 12 25 +f 15 5 25 +f 11 15 25 +f 15 11 26 +f 16 10 26 +f 11 20 26 +f 20 16 26 +f 10 23 26 +o convex_1 +v -0.318038 0.130943 3.027525 +v 0.271201 -0.075255 2.997961 +v 0.271201 -0.134177 2.997961 +v -0.200178 0.189864 1.112405 +v -0.259047 -0.252019 1.790069 +v 0.212271 -0.252019 1.112405 +v 0.212271 0.248838 2.261168 +v -0.347533 -0.252019 3.086461 +v 0.182776 0.219351 1.112405 +v 0.212271 0.248838 3.086461 +v 0.271201 -0.281506 2.939025 +v -0.288543 0.248838 3.056896 +v -0.200178 -0.222533 1.112405 +v -0.229613 0.219351 1.318970 +v 0.271201 -0.281506 2.290926 +v 0.005986 -0.281506 3.027525 +v -0.082258 -0.252019 1.112405 +v -0.259047 0.248838 2.349861 +v 0.241706 -0.222533 1.436648 +v 0.212271 -0.281506 1.878569 +v -0.052823 -0.281506 2.909653 +v -0.170743 0.219351 1.112405 +f 40 44 48 +f 32 30 35 +f 33 28 35 +f 29 28 36 +f 28 33 36 +f 28 29 37 +f 27 34 38 +f 36 33 38 +f 34 36 38 +f 30 32 39 +f 34 27 40 +f 31 34 40 +f 27 38 40 +f 30 39 40 +f 39 31 40 +f 28 37 41 +f 41 37 42 +f 29 36 42 +f 36 34 42 +f 37 29 42 +f 31 39 43 +f 39 32 43 +f 38 33 44 +f 40 38 44 +f 35 28 45 +f 32 35 45 +f 41 32 45 +f 28 41 45 +f 32 41 46 +f 41 42 46 +f 31 43 46 +f 43 32 46 +f 34 31 47 +f 42 34 47 +f 46 42 47 +f 31 46 47 +f 35 30 48 +f 33 35 48 +f 30 40 48 +f 44 33 48 +o convex_2 +v -0.435979 -3.080468 -0.183889 +v -0.612734 3.047872 0.994551 +v -0.995659 3.047872 0.994551 +v -0.200216 2.988801 -1.008900 +v -1.084081 -1.636236 -0.949926 +v -0.200305 -2.932790 0.994551 +v -0.936740 -2.932790 0.994551 +v -1.113585 2.959265 -0.949926 +v -0.200305 -2.962326 -0.979413 +v -0.200216 3.018337 0.964859 +v -1.054577 -2.962326 -0.949926 +v -0.347556 -0.693507 -1.097359 +v -0.966244 -2.844183 0.846913 +v -1.113585 2.988198 -0.714238 +v -0.200305 -3.110004 0.287077 +v -0.200216 -0.133536 -1.097359 +v -0.995659 -2.756179 -0.979413 +v -0.553815 2.988198 -1.008900 +v -0.347556 3.047872 0.198822 +v -0.200216 2.694047 0.994551 +v -1.054577 -2.903254 -0.625779 +v -0.347556 -3.110004 0.287077 +v -1.113585 1.515034 -0.890953 +v -0.995659 2.664512 0.994551 +v -0.877822 -2.962326 0.935578 +v -0.936740 2.958663 -0.979413 +v -1.113585 2.782052 -0.714238 +v -0.966244 -1.548232 0.994551 +v -0.200305 -3.080468 -0.272349 +v -0.995659 3.047872 0.581943 +v -0.583319 -2.962326 -0.979413 +v -0.877822 2.988198 -0.979413 +v -0.848318 -2.254676 -1.008900 +v -1.054577 -2.962326 -0.714238 +v -0.200305 -2.962326 0.935578 +v -0.524401 -1.135336 -1.067873 +v -0.347556 -0.575968 -1.097359 +v -0.200216 -0.428290 -1.097359 +f 83 63 86 +f 50 51 54 +f 54 51 55 +f 52 58 64 +f 53 56 65 +f 59 53 65 +f 52 64 66 +f 51 50 67 +f 50 58 67 +f 58 52 67 +f 52 66 67 +f 50 54 68 +f 58 50 68 +f 64 58 68 +f 59 49 70 +f 56 53 71 +f 62 56 71 +f 53 69 71 +f 69 61 71 +f 55 51 72 +f 51 62 72 +f 54 55 73 +f 70 63 73 +f 62 71 75 +f 71 61 75 +f 72 62 75 +f 72 75 76 +f 61 55 76 +f 55 72 76 +f 75 61 76 +f 49 59 77 +f 70 49 77 +f 63 70 77 +f 62 51 78 +f 51 67 78 +f 60 57 79 +f 59 65 79 +f 77 59 79 +f 57 77 79 +f 56 62 80 +f 67 66 80 +f 74 56 80 +f 66 74 80 +f 62 78 80 +f 78 67 80 +f 65 56 81 +f 60 79 81 +f 79 65 81 +f 53 59 82 +f 55 61 82 +f 69 53 82 +f 61 69 82 +f 59 70 82 +f 73 55 82 +f 70 73 82 +f 54 73 83 +f 73 63 83 +f 81 56 84 +f 60 81 84 +f 64 60 85 +f 66 64 85 +f 56 74 85 +f 74 66 85 +f 84 56 85 +f 60 84 85 +f 57 60 86 +f 60 64 86 +f 68 54 86 +f 64 68 86 +f 77 57 86 +f 63 77 86 +f 54 83 86 +o convex_3 +v -0.200216 -3.080009 -0.272208 +v -0.052886 0.219351 1.112405 +v -0.111793 0.219351 1.112405 +v 0.978294 3.018409 -1.126604 +v 1.066716 -2.932438 0.964891 +v 1.066716 -2.962432 -1.008899 +v -0.200216 2.987814 -1.008680 +v 1.037200 2.959020 0.935520 +v -0.200216 3.018409 0.964891 +v -0.200216 -2.962432 -0.979309 +v -0.200216 -2.932438 0.994262 +v -0.200216 -0.222763 -1.126823 +v 1.066716 -0.634883 -1.038271 +v 0.271287 -0.457918 1.112405 +v -0.141185 -3.110003 0.287161 +v 1.066716 -0.045797 0.964891 +v 1.037200 2.988414 -0.124694 +v 0.271287 -0.310346 -1.126823 +v 0.447884 -3.079410 -0.331169 +v 1.007685 3.018409 -1.126604 +v 0.212380 3.017809 -1.067861 +v 1.066716 1.132374 0.905929 +v -0.200216 -0.222763 1.112405 +v 1.066716 -2.962432 0.935520 +v 0.830964 2.104786 0.994481 +v 0.978294 -2.667289 0.994481 +v 0.536306 2.988414 0.964891 +v 0.978294 3.018409 -0.301579 +v -0.200216 0.189357 -1.126823 +v 1.037200 1.721460 -1.097232 +v 0.182865 0.218751 1.112405 +v 1.066716 -1.724872 -1.038271 +v -0.170700 2.987814 -1.038271 +v 0.772058 -2.962432 -1.008899 +v -0.200216 -2.962432 0.935520 +v 0.271287 -0.017003 1.112405 +v -0.200216 3.018409 0.022162 +v 0.506915 3.017809 0.464046 +v 0.035536 -2.933038 0.994262 +v 0.978294 -1.931232 0.994481 +v 0.948778 -2.991827 -0.802424 +v -0.200216 -3.110003 0.198828 +v 0.948778 2.635083 0.964891 +v 1.037200 1.396923 -1.097232 +v -0.200216 0.189357 1.112405 +v 0.065051 3.017809 -1.038271 +f 123 90 132 +f 89 88 95 +f 93 87 95 +f 87 93 96 +f 95 87 97 +f 96 93 98 +f 91 92 99 +f 88 89 100 +f 91 99 102 +f 87 96 105 +f 90 95 106 +f 102 99 108 +f 94 102 108 +f 103 94 108 +f 99 103 108 +f 95 97 109 +f 100 89 109 +f 97 100 109 +f 92 91 110 +f 101 105 110 +f 91 102 112 +f 94 103 114 +f 106 95 114 +f 103 106 114 +f 98 93 115 +f 104 98 115 +f 90 106 115 +f 106 104 115 +f 107 90 115 +f 103 99 116 +f 106 103 116 +f 95 88 117 +f 88 100 117 +f 113 95 117 +f 99 92 118 +f 92 104 118 +f 116 99 118 +f 115 93 119 +f 107 115 119 +f 96 98 120 +f 104 92 120 +f 98 104 120 +f 92 105 120 +f 105 96 120 +f 97 87 121 +f 101 110 121 +f 100 112 122 +f 117 100 122 +f 111 117 122 +f 93 95 123 +f 95 90 123 +f 95 113 124 +f 113 94 124 +f 94 114 124 +f 114 95 124 +f 100 97 125 +f 110 91 125 +f 91 112 125 +f 112 100 125 +f 97 121 125 +f 121 110 125 +f 102 111 126 +f 112 102 126 +f 111 122 126 +f 122 112 126 +f 105 92 127 +f 92 110 127 +f 110 105 127 +f 87 105 128 +f 105 101 128 +f 121 87 128 +f 101 121 128 +f 102 94 129 +f 111 102 129 +f 94 113 129 +f 117 111 129 +f 113 117 129 +f 104 106 130 +f 106 116 130 +f 118 104 130 +f 116 118 130 +f 89 95 131 +f 109 89 131 +f 95 109 131 +f 90 107 132 +f 119 93 132 +f 107 119 132 +f 93 123 132 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/103/103.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/103/103.urdf new file mode 100644 index 000000000..633bde15b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/103/103.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/104/104.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/104/104.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/104/104.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/104/104.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/104/104.obj new file mode 100644 index 000000000..b4b31e972 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/104/104.obj @@ -0,0 +1,189 @@ +o convex_0 +v 0.250114 -4.164227 -0.843272 +v 0.012716 2.478842 1.084500 +v -0.016756 2.478842 1.084500 +v 0.042391 5.178916 -0.457965 +v -1.025291 -4.253078 0.016814 +v 0.695032 -4.282695 0.728261 +v 0.991780 2.509446 0.046088 +v -0.847242 2.597310 -0.754625 +v -0.758218 3.220252 0.787634 +v -0.787893 -4.282695 0.787634 +v 0.784056 -1.345686 -0.754418 +v 0.695032 3.280473 0.787634 +v -0.016756 3.250856 -0.962224 +v -0.787893 -3.421831 -0.784105 +v 0.932430 -4.253078 0.016814 +v -1.054966 2.657531 0.046088 +v -0.016756 5.266779 0.431808 +v 0.695032 3.162005 -0.695251 +v 0.457837 5.266779 -0.042559 +v -0.016756 -3.866084 1.025127 +v -0.016756 -3.035824 -1.021598 +v -0.372649 5.237163 -0.012872 +v -0.609844 -4.549247 -0.546818 +v 0.784056 0.225984 0.787841 +v 0.576333 -4.549247 -0.546818 +v 0.042391 -4.548260 0.817527 +v 1.021454 -2.443486 0.046088 +v 0.754382 -3.689370 -0.724732 +v -0.787893 3.249869 -0.724732 +v -0.075902 3.250856 1.025127 +v -0.787893 2.568680 0.817321 +v -0.995616 3.250856 -0.012872 +v 0.724707 -3.451448 0.787634 +v -0.105577 -4.252091 -0.902851 +v -0.817568 -3.659753 0.787841 +v 0.932430 3.249869 0.046088 +v -0.224276 2.539063 -0.962018 +v -0.669194 -4.549247 0.639202 +v -0.342975 -3.540298 0.965754 +v 0.754382 2.627914 0.817321 +v 0.072065 -1.789940 -1.021598 +v -1.025291 -3.689370 -0.072246 +v -0.787893 -4.252091 -0.695045 +v 0.695032 -4.519630 0.342748 +v 0.012716 5.504702 -0.042559 +v 0.843406 -2.354635 -0.635878 +v -1.025291 -3.541286 0.135148 +v 0.339138 5.119682 0.313062 +v -0.016756 2.509446 -0.991911 +v -1.054966 2.539063 -0.042559 +v 0.991780 -3.629149 0.046088 +v -0.016756 -2.620200 1.054814 +v 0.368813 5.059461 -0.339219 +v 1.021454 -0.100789 0.046088 +v -0.669194 -4.578864 0.046088 +v -0.075902 -4.252091 0.995441 +v -1.054966 2.598297 0.075775 +v -0.728543 -2.175947 -0.813792 +v -0.787893 -3.689370 0.817321 +v 0.635683 2.509446 -0.754418 +v 0.665357 -2.205564 -0.813792 +v 0.042391 3.250856 1.025127 +v 0.695032 2.063218 0.847008 +v 0.695032 -4.253078 -0.665359 +f 28 15 64 +f 7 11 18 +f 13 4 18 +f 9 17 22 +f 1 21 28 +f 4 13 29 +f 22 4 29 +f 3 2 30 +f 17 9 30 +f 3 30 31 +f 30 9 31 +f 9 22 32 +f 29 8 32 +f 22 29 32 +f 20 6 33 +f 27 24 33 +f 21 1 34 +f 14 21 34 +f 1 25 34 +f 25 23 34 +f 7 18 36 +f 19 12 36 +f 18 19 36 +f 29 13 37 +f 8 29 37 +f 10 5 38 +f 7 36 40 +f 36 12 40 +f 8 14 42 +f 23 5 43 +f 14 34 43 +f 34 23 43 +f 5 42 43 +f 42 14 43 +f 15 6 44 +f 25 15 44 +f 26 25 44 +f 6 26 44 +f 17 19 45 +f 19 4 45 +f 4 22 45 +f 22 17 45 +f 11 7 46 +f 28 11 46 +f 5 10 47 +f 10 35 47 +f 17 12 48 +f 12 19 48 +f 19 17 48 +f 37 13 49 +f 21 37 49 +f 41 21 49 +f 32 8 50 +f 16 32 50 +f 42 5 50 +f 8 42 50 +f 6 15 51 +f 15 28 51 +f 33 6 51 +f 27 33 51 +f 46 27 51 +f 28 46 51 +f 2 3 52 +f 20 33 52 +f 3 39 52 +f 39 20 52 +f 18 4 53 +f 4 19 53 +f 19 18 53 +f 24 27 54 +f 7 40 54 +f 40 24 54 +f 46 7 54 +f 27 46 54 +f 5 23 55 +f 23 25 55 +f 25 26 55 +f 38 5 55 +f 26 38 55 +f 6 20 56 +f 26 6 56 +f 10 38 56 +f 38 26 56 +f 20 39 56 +f 39 10 56 +f 31 9 57 +f 32 16 57 +f 9 32 57 +f 35 31 57 +f 5 47 57 +f 47 35 57 +f 50 5 57 +f 16 50 57 +f 14 8 58 +f 21 14 58 +f 8 37 58 +f 37 21 58 +f 3 31 59 +f 35 10 59 +f 31 35 59 +f 39 3 59 +f 10 39 59 +f 18 11 60 +f 13 18 60 +f 49 13 60 +f 49 60 61 +f 28 21 61 +f 11 28 61 +f 21 41 61 +f 41 49 61 +f 60 11 61 +f 12 17 62 +f 30 2 62 +f 17 30 62 +f 2 40 62 +f 40 12 62 +f 33 24 63 +f 40 2 63 +f 24 40 63 +f 2 52 63 +f 52 33 63 +f 25 1 64 +f 15 25 64 +f 1 28 64 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/104/104.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/104/104.urdf new file mode 100644 index 000000000..05a758bd6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/104/104.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/105/105.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/105/105.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/105/105.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/105/105.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/105/105.obj new file mode 100644 index 000000000..2af514745 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/105/105.obj @@ -0,0 +1,516 @@ +o convex_0 +v 1.032253 -1.046981 -0.402918 +v -1.081038 -3.714206 0.739833 +v -1.081038 -3.714206 1.017246 +v -1.081038 -1.047242 0.947944 +v -1.011654 -1.047242 -1.061386 +v 0.962868 -3.714206 -1.026632 +v 1.066946 -3.402442 1.052000 +v -1.046346 -3.610023 -1.026425 +v 1.066946 -1.046981 0.982491 +v 0.962868 -1.047242 -0.991878 +v 1.032253 -3.644751 1.052000 +v -1.081038 -1.047242 -0.437672 +v -0.665361 -1.047242 0.982491 +v -1.081038 -3.644751 -0.680124 +v 0.962868 -2.259570 -1.026632 +v 0.720442 -3.125145 1.052000 +v 0.859001 -3.714206 -0.437466 +v 0.547191 -3.714206 -1.026632 +v 1.032253 -1.428200 -0.472220 +v 1.066946 -1.116175 0.393532 +v -1.046346 -2.224842 -1.026425 +v -0.976961 -1.497393 -1.061386 +v -0.734535 -3.714206 0.982491 +v -0.838402 -1.047242 -1.061386 +v -1.081038 -1.636042 0.982491 +v 1.032253 -3.644751 0.358778 +v 0.131302 -1.947806 1.017039 +v -1.081038 -3.540830 -0.783973 +v 0.373729 -3.610023 1.052000 +v -0.769228 -3.644751 -1.026425 +v 1.066946 -3.402442 0.982491 +f 26 19 31 +f 2 3 4 +f 3 2 6 +f 1 4 9 +f 2 4 12 +f 4 1 12 +f 1 5 12 +f 9 4 13 +f 2 12 14 +f 7 9 16 +f 11 7 16 +f 3 6 17 +f 6 11 17 +f 6 2 18 +f 10 1 19 +f 6 15 19 +f 15 10 19 +f 1 9 20 +f 9 7 20 +f 19 1 20 +f 5 8 21 +f 12 5 21 +f 8 5 22 +f 6 18 22 +f 11 3 23 +f 3 17 23 +f 17 11 23 +f 5 1 24 +f 1 10 24 +f 15 6 24 +f 10 15 24 +f 22 5 24 +f 6 22 24 +f 4 3 25 +f 13 4 25 +f 11 6 26 +f 7 11 26 +f 6 19 26 +f 9 13 27 +f 16 9 27 +f 13 16 27 +f 8 14 28 +f 14 12 28 +f 21 8 28 +f 12 21 28 +f 3 11 29 +f 11 16 29 +f 16 13 29 +f 25 3 29 +f 13 25 29 +f 2 14 30 +f 14 8 30 +f 18 2 30 +f 8 22 30 +f 22 18 30 +f 20 7 31 +f 19 20 31 +f 7 26 31 +o convex_1 +v -1.046294 0.373722 -1.893143 +v 0.928285 2.417816 -2.550895 +v 0.928285 2.417816 -2.932055 +v 0.997508 0.408737 -3.001252 +v 0.962897 0.373722 -1.096225 +v -1.080906 2.278956 -1.096032 +v -1.011683 2.313571 -2.966847 +v 1.066945 2.278956 -1.096225 +v -1.115732 0.408537 -2.932055 +v -0.977071 0.373722 -1.096032 +v 0.685575 0.373722 -3.070642 +v -0.422856 2.382801 -2.966847 +v 1.066945 1.655283 -1.685167 +v 0.962897 0.651043 -3.070642 +v 0.962897 2.417616 -2.828068 +v 1.066945 2.313571 -1.304007 +v -1.046294 2.313571 -1.615971 +v -1.046294 1.343947 -2.966847 +v 0.997508 0.685859 -1.096225 +v -1.115732 0.858934 -2.447101 +v -0.249583 0.373722 -3.001445 +v -1.080906 2.071065 -1.096032 +v 0.304632 2.417816 -2.897264 +v -1.011683 2.348186 -2.758871 +v 0.962897 2.036449 -2.966847 +v 1.066945 1.724713 -1.096225 +v 0.962897 0.373722 -3.070642 +v -1.115732 0.616428 -2.932055 +v -0.041485 2.382801 -2.966654 +v 1.066945 2.244340 -1.511983 +v -1.080906 2.244340 -1.269409 +f 59 51 62 +f 32 36 41 +f 39 37 41 +f 36 32 42 +f 42 38 45 +f 38 43 45 +f 34 33 46 +f 33 37 47 +f 37 39 47 +f 39 44 47 +f 46 33 47 +f 37 33 48 +f 38 42 49 +f 36 35 50 +f 41 36 50 +f 40 32 51 +f 32 40 52 +f 42 32 52 +f 40 49 52 +f 49 42 52 +f 32 41 53 +f 41 37 53 +f 51 32 53 +f 37 51 53 +f 33 34 54 +f 34 43 54 +f 48 33 54 +f 48 54 55 +f 38 37 55 +f 43 38 55 +f 37 48 55 +f 54 43 55 +f 35 45 56 +f 34 46 56 +f 39 41 57 +f 35 44 57 +f 44 39 57 +f 50 35 57 +f 41 50 57 +f 35 36 58 +f 36 42 58 +f 45 35 58 +f 42 45 58 +f 38 49 59 +f 49 40 59 +f 40 51 59 +f 43 34 60 +f 45 43 60 +f 34 56 60 +f 56 45 60 +f 44 35 61 +f 47 44 61 +f 46 47 61 +f 35 56 61 +f 56 46 61 +f 37 38 62 +f 51 37 62 +f 38 59 62 +o convex_2 +v -1.081005 0.269982 0.671386 +v 1.101581 0.651061 1.224848 +v 1.101581 0.616473 1.224848 +v -1.115732 1.724718 3.061448 +v -1.081005 2.278942 -1.096032 +v 1.032127 2.348525 3.026450 +v 1.066854 2.278942 -1.096032 +v 0.962890 0.270185 -0.991851 +v 0.962890 0.408741 3.026450 +v -1.115732 0.304773 3.026450 +v -0.977041 0.269982 -1.061033 +v -1.115732 2.278942 3.061448 +v 1.101581 0.270185 0.913932 +v 0.962890 0.373950 -1.096032 +v -0.942314 2.313530 0.636794 +v 1.066854 1.932450 2.575948 +v -1.115732 0.304773 2.022078 +v 1.032127 2.348525 2.160037 +v 0.373835 2.348525 3.026450 +v -0.977041 0.373950 -1.096032 +v 1.066854 1.724718 -1.096032 +v 0.997617 0.581885 3.026450 +v 0.685726 0.373950 3.026450 +v -0.422713 2.209765 3.061448 +v -0.769114 0.304773 3.026450 +v 1.101581 0.270185 0.705977 +v -1.115732 1.378226 2.022078 +v 0.997617 0.270185 -0.749304 +v -1.081005 2.140386 -1.096032 +v -0.942314 2.313530 1.190257 +v -1.081005 0.269982 0.948524 +v 1.066854 2.278942 -0.333393 +v 1.032127 1.620750 3.026450 +v 0.997617 0.408741 2.922676 +f 65 84 96 +f 72 66 74 +f 64 65 75 +f 67 69 76 +f 70 73 76 +f 67 74 77 +f 65 64 78 +f 63 72 79 +f 72 74 79 +f 69 67 80 +f 68 69 80 +f 67 77 80 +f 80 77 81 +f 74 68 81 +f 68 80 81 +f 67 76 82 +f 76 73 82 +f 76 69 83 +f 71 66 85 +f 75 71 85 +f 66 71 86 +f 68 74 86 +f 74 66 86 +f 71 84 86 +f 66 72 87 +f 85 66 87 +f 75 85 87 +f 69 64 88 +f 64 75 88 +f 75 73 88 +f 83 69 88 +f 74 67 89 +f 67 79 89 +f 79 74 89 +f 73 70 90 +f 70 76 90 +f 76 83 90 +f 88 73 90 +f 83 88 90 +f 73 63 91 +f 63 79 91 +f 79 67 91 +f 67 82 91 +f 82 73 91 +f 77 74 92 +f 81 77 92 +f 74 81 92 +f 72 63 93 +f 63 73 93 +f 73 75 93 +f 87 72 93 +f 75 87 93 +f 64 69 94 +f 69 68 94 +f 78 64 94 +f 68 78 94 +f 65 78 95 +f 78 68 95 +f 84 65 95 +f 68 86 95 +f 86 84 95 +f 75 65 96 +f 71 75 96 +f 84 71 96 +o convex_3 +v 1.101591 0.027198 0.948063 +v -0.977037 -0.353837 -1.061189 +v -1.011649 -0.353837 -0.922532 +v -0.977037 0.269785 -1.061189 +v -1.081086 0.269785 0.947866 +v 0.962930 0.269785 -0.991959 +v 1.066766 -0.353837 0.948063 +v -1.081086 -0.353837 0.947866 +v 0.962930 -0.353837 -0.991959 +v 1.101591 0.269785 0.913251 +v 1.101591 -0.353837 0.220358 +v -1.046260 -0.180595 -0.576184 +v -0.491831 0.269785 -1.061189 +v 0.997542 0.269785 -0.784072 +v -1.081086 0.269785 0.705363 +v 1.101591 0.269785 0.670748 +v -0.630492 -0.319164 -1.061189 +v -1.081086 -0.353837 0.566706 +f 111 108 114 +f 98 99 100 +f 100 101 102 +f 99 98 103 +f 97 101 103 +f 99 103 104 +f 103 101 104 +f 103 98 105 +f 101 97 106 +f 102 101 106 +f 97 103 107 +f 103 105 107 +f 106 97 107 +f 100 99 108 +f 98 100 109 +f 100 102 109 +f 102 105 109 +f 105 102 110 +f 102 106 110 +f 107 105 110 +f 101 100 111 +f 104 101 111 +f 100 108 111 +f 106 107 112 +f 110 106 112 +f 107 110 112 +f 105 98 113 +f 98 109 113 +f 109 105 113 +f 99 104 114 +f 108 99 114 +f 104 111 114 +o convex_4 +v -1.115732 -0.457784 0.185841 +v -2.951756 -0.492433 -0.333827 +v -2.951756 -0.631029 -0.299097 +v -3.055550 -0.353837 0.324441 +v -3.090342 -0.942813 0.324441 +v -1.115732 -0.908164 -0.229765 +v -1.115732 -0.942813 0.324441 +v -1.115732 -0.423135 -0.264431 +v -2.951756 -0.873458 -0.195163 +v -2.951756 -0.353837 -0.333827 +v -1.358499 -0.423135 0.220443 +v -3.090342 -0.942813 0.220443 +v -2.605194 -0.353837 0.220443 +v -1.358499 -0.457784 -0.299097 +v -1.115732 -0.838866 0.324441 +v -3.090342 -0.457784 0.255109 +v -2.709182 -0.873458 -0.229765 +v -1.115732 -0.942813 0.151175 +f 126 120 132 +f 117 116 120 +f 118 119 121 +f 120 115 121 +f 115 120 122 +f 115 122 125 +f 116 117 126 +f 121 119 126 +f 117 123 126 +f 124 116 126 +f 124 118 127 +f 122 124 127 +f 118 125 127 +f 125 122 127 +f 120 116 128 +f 122 120 128 +f 116 124 128 +f 124 122 128 +f 121 115 129 +f 118 121 129 +f 115 125 129 +f 125 118 129 +f 119 118 130 +f 118 124 130 +f 126 119 130 +f 124 126 130 +f 117 120 131 +f 123 117 131 +f 120 126 131 +f 126 123 131 +f 120 121 132 +f 121 126 132 +o convex_5 +v 1.101530 -0.388496 0.428266 +v -1.011553 -1.046750 -1.061386 +v -1.046279 -1.046750 -0.749450 +v -1.046279 -0.353837 -0.610789 +v -1.080788 -1.046750 0.947893 +v 0.962843 -1.046750 -0.991956 +v 1.066804 -1.046750 0.982708 +v -1.080788 -0.353837 0.947893 +v 0.962843 -0.353837 -0.991956 +v 1.066804 -0.353837 0.947893 +v -0.977044 -0.353837 -1.061386 +v 1.101530 -0.873454 -0.333668 +v -1.115732 -0.423155 -0.264237 +v -0.457238 -0.804204 0.982708 +v -1.115732 -0.942773 0.324420 +v 1.101530 -0.388496 -0.195007 +v -0.665160 -0.423155 -1.061386 +v 1.101530 -0.977432 0.254990 +v -1.115732 -0.908113 -0.229822 +v -0.630434 -1.046750 0.982708 +f 146 140 152 +f 135 134 137 +f 137 134 138 +f 137 138 139 +f 136 140 141 +f 141 140 142 +f 139 133 142 +f 136 141 143 +f 138 141 144 +f 140 136 145 +f 143 134 145 +f 136 143 145 +f 142 140 146 +f 139 142 146 +f 135 137 147 +f 137 140 147 +f 140 145 147 +f 141 142 148 +f 142 133 148 +f 133 144 148 +f 144 141 148 +f 138 134 149 +f 141 138 149 +f 134 143 149 +f 143 141 149 +f 139 138 150 +f 133 139 150 +f 138 144 150 +f 144 133 150 +f 134 135 151 +f 145 134 151 +f 135 147 151 +f 147 145 151 +f 137 139 152 +f 140 137 152 +f 139 146 152 +o convex_6 +v 2.279293 -0.353837 0.185858 +v 1.101788 -0.873505 -0.333827 +v 1.101788 -0.908042 -0.299168 +v 3.041416 -0.873505 -0.229849 +v 1.101788 -0.942773 0.359086 +v 1.101788 -0.388567 -0.195190 +v 2.937571 -1.012105 0.220449 +v 3.041416 -0.457900 -0.299168 +v 3.110843 -0.353837 0.324427 +v 1.101788 -0.457900 0.289700 +v 2.452565 -1.012105 0.047221 +v 1.101788 -0.977374 0.255041 +v 2.244678 -0.596435 -0.333827 +v 3.041416 -0.353837 0.151131 +v 3.110843 -0.457900 0.324427 +v 1.379102 -0.388567 -0.229849 +v 2.937571 -0.908042 -0.229849 +v 2.244678 -0.388567 0.324427 +v 1.205830 -0.734905 -0.333827 +v 2.972186 -1.012105 0.081880 +v 1.101788 -0.388567 -0.021962 +v 3.041416 -0.596435 -0.299168 +v 1.448333 -0.873505 -0.333827 +v 3.006801 -0.423169 -0.229849 +v 1.240445 -0.804109 0.359086 +v 1.967953 -1.012105 0.255041 +v 2.002568 -0.353837 0.012630 +f 176 168 179 +f 154 155 157 +f 154 157 158 +f 158 157 162 +f 157 155 164 +f 155 163 164 +f 153 161 166 +f 161 160 166 +f 157 159 167 +f 160 161 167 +f 160 165 168 +f 163 155 169 +f 161 153 170 +f 153 162 170 +f 154 158 171 +f 165 154 171 +f 158 168 171 +f 168 165 171 +f 159 163 172 +f 156 167 172 +f 167 159 172 +f 169 156 172 +f 163 169 172 +f 162 153 173 +f 158 162 173 +f 165 160 174 +f 167 156 174 +f 160 167 174 +f 156 169 174 +f 174 169 175 +f 155 154 175 +f 154 165 175 +f 169 155 175 +f 165 174 175 +f 166 160 176 +f 160 168 176 +f 162 157 177 +f 157 167 177 +f 167 161 177 +f 161 170 177 +f 170 162 177 +f 159 157 178 +f 163 159 178 +f 164 163 178 +f 157 164 178 +f 153 166 179 +f 168 158 179 +f 173 153 179 +f 158 173 179 +f 166 176 179 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/105/105.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/105/105.urdf new file mode 100644 index 000000000..e25ca19fa --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/105/105.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/106/106.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/106/106.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/106/106.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/106/106.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/106/106.obj new file mode 100644 index 000000000..ea3465872 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/106/106.obj @@ -0,0 +1,453 @@ +o convex_0 +v -0.091325 -3.719372 0.406900 +v 0.946410 0.737467 1.048113 +v 0.274900 0.737467 1.048113 +v 0.946410 0.737467 -1.058201 +v -0.946047 0.737467 -0.966452 +v 0.976978 -3.688834 -1.058201 +v -1.007183 -3.657859 1.048113 +v -0.946047 -3.688834 -0.935938 +v 0.976978 -3.597219 0.986878 +v -0.946047 0.737467 1.017393 +v 1.007546 0.737031 -1.058201 +v -0.610193 0.371008 -1.027481 +v -1.007183 -2.436766 0.620500 +v 0.976978 -3.352477 1.017393 +v 0.579988 -3.658296 -1.058201 +v -0.976615 0.187779 1.017393 +v -0.091325 -3.627757 1.048113 +v -0.976615 -0.636318 1.048113 +v 0.061120 -1.002777 -1.058201 +v -0.579625 -3.719372 -0.508531 +v 0.915842 -3.627321 0.956364 +v -0.976615 -3.688834 -0.264210 +v -0.976615 -0.026425 -0.172667 +v -0.610193 0.737467 -1.027481 +v 0.976978 -2.711610 1.017393 +v 0.976978 -3.688834 -0.600280 +v 0.366406 -3.719372 -0.600280 +v -0.793404 -3.688834 0.834307 +v -1.007183 -2.345151 1.048113 +v 0.946410 0.187342 1.048113 +v -0.946047 -0.819547 -0.966452 +v -1.007183 -3.657859 0.589986 +v 0.976978 0.737031 0.071036 +v 0.732828 -3.627321 1.017393 +v 1.007546 0.675954 -0.996966 +v 0.000182 -3.719372 0.376385 +v -0.396414 -3.719372 0.437414 +v 0.793767 0.737467 -1.058201 +v -0.426982 -3.658296 1.048113 +v -0.976615 -3.688834 0.132065 +f 37 28 40 +f 3 2 4 +f 3 4 5 +f 2 3 7 +f 3 5 10 +f 4 2 11 +f 6 4 11 +f 4 6 15 +f 6 8 15 +f 8 12 15 +f 10 5 16 +f 2 7 17 +f 7 3 18 +f 3 10 18 +f 10 16 18 +f 4 15 19 +f 15 12 19 +f 8 20 22 +f 16 5 23 +f 5 22 23 +f 22 13 23 +f 5 4 24 +f 12 5 24 +f 19 12 24 +f 2 14 25 +f 9 21 26 +f 8 6 27 +f 1 20 27 +f 20 8 27 +f 6 26 27 +f 13 7 29 +f 7 18 29 +f 18 16 29 +f 16 23 29 +f 23 13 29 +f 14 2 30 +f 2 17 30 +f 17 14 30 +f 5 12 31 +f 12 8 31 +f 22 5 31 +f 8 22 31 +f 7 13 32 +f 13 22 32 +f 22 7 32 +f 11 2 33 +f 2 25 33 +f 9 14 34 +f 14 17 34 +f 1 21 34 +f 21 9 34 +f 6 11 35 +f 14 9 35 +f 25 14 35 +f 26 6 35 +f 9 26 35 +f 11 33 35 +f 33 25 35 +f 21 1 36 +f 26 21 36 +f 1 27 36 +f 27 26 36 +f 20 1 37 +f 1 28 37 +f 4 19 38 +f 24 4 38 +f 19 24 38 +f 17 7 39 +f 28 1 39 +f 7 28 39 +f 34 17 39 +f 1 34 39 +f 7 22 40 +f 22 20 40 +f 28 7 40 +f 20 37 40 +o convex_1 +v 0.335974 3.912008 0.010219 +v -0.335605 3.454418 0.223814 +v -0.274534 2.508181 -0.081306 +v -0.182961 4.339292 -0.233919 +v 0.335974 2.508181 -0.264464 +v 0.213833 2.508181 0.284902 +v 0.213833 4.431149 0.254358 +v -0.335605 4.339292 0.284902 +v 0.305406 4.308799 -0.172885 +v -0.305036 2.569356 0.254358 +v -0.243966 2.508181 -0.203375 +v 0.335974 4.431149 0.223814 +v -0.335605 4.339292 0.193323 +v 0.335974 2.538862 -0.111850 +v -0.213464 4.125650 -0.233919 +v 0.244335 2.722011 0.284902 +v -0.030318 2.508181 0.284902 +v 0.122260 4.339292 -0.203375 +v 0.244335 3.240776 0.284902 +v 0.244335 2.508181 -0.264464 +v -0.152393 4.369786 -0.172885 +v 0.335974 2.660836 -0.264464 +v -0.305036 4.369786 0.284902 +v -0.305036 2.508181 0.101744 +v -0.243966 3.088309 -0.203375 +v -0.335605 3.820339 0.284902 +f 50 57 66 +f 43 45 46 +f 45 43 51 +f 45 41 52 +f 41 49 52 +f 43 42 53 +f 42 48 53 +f 46 45 54 +f 45 52 54 +f 53 44 55 +f 48 46 56 +f 46 54 56 +f 54 52 56 +f 43 46 57 +f 46 48 57 +f 52 49 58 +f 52 47 59 +f 48 56 59 +f 56 52 59 +f 45 51 60 +f 55 44 60 +f 51 55 60 +f 47 52 61 +f 44 53 61 +f 58 44 61 +f 52 58 61 +f 41 45 62 +f 49 41 62 +f 44 58 62 +f 58 49 62 +f 60 44 62 +f 45 60 62 +f 53 48 63 +f 59 47 63 +f 48 59 63 +f 47 61 63 +f 61 53 63 +f 42 43 64 +f 50 42 64 +f 43 57 64 +f 57 50 64 +f 51 43 65 +f 43 53 65 +f 55 51 65 +f 53 55 65 +f 48 42 66 +f 42 50 66 +f 57 48 66 +o convex_2 +v -0.549157 0.981743 3.001683 +v 0.580184 1.042802 2.940621 +v 0.549640 1.256558 2.940621 +v -0.518613 0.859626 1.048113 +v -0.579815 1.866940 1.048113 +v 0.427463 1.805780 1.048313 +v -0.518613 1.836360 3.093375 +v 0.427463 0.859728 1.048313 +v 0.458007 1.866940 3.032314 +v -0.457525 0.829046 3.093375 +v 0.580184 0.920786 2.909990 +v -0.579815 1.805882 3.093375 +v -0.579815 1.561546 1.048113 +v 0.458007 0.859728 1.170437 +v -0.518613 0.829046 2.055529 +v -0.274486 0.829046 3.062744 +v 0.213767 1.561546 3.062744 +v -0.335461 1.866940 1.078744 +v 0.580184 0.981845 2.757437 +v -0.579815 1.866940 1.536806 +v -0.518613 0.829046 3.093375 +v 0.458007 1.866940 2.848929 +v 0.458007 0.859728 1.384052 +v 0.458007 1.836360 2.360636 +v 0.274856 1.866940 3.032114 +v -0.579815 1.683764 3.093375 +f 87 78 92 +f 70 71 72 +f 70 72 74 +f 68 69 75 +f 76 73 78 +f 70 67 79 +f 71 70 79 +f 78 71 79 +f 74 72 80 +f 67 70 81 +f 70 74 81 +f 74 80 81 +f 81 80 82 +f 77 68 82 +f 76 81 82 +f 68 75 83 +f 75 73 83 +f 73 76 83 +f 82 68 83 +f 76 82 83 +f 72 71 84 +f 71 75 84 +f 72 68 85 +f 68 77 85 +f 80 72 85 +f 77 80 85 +f 75 71 86 +f 71 78 86 +f 78 73 86 +f 76 78 87 +f 67 81 87 +f 81 76 87 +f 75 69 88 +f 72 84 88 +f 84 75 88 +f 80 77 89 +f 82 80 89 +f 77 82 89 +f 69 68 90 +f 68 72 90 +f 88 69 90 +f 72 88 90 +f 73 75 91 +f 75 86 91 +f 86 73 91 +f 79 67 92 +f 78 79 92 +f 67 87 92 +o convex_3 +v 0.397025 1.958519 -1.974253 +v 0.335926 0.767994 -2.920207 +v 0.000093 0.829058 -2.950515 +v -0.549158 0.859590 -1.088727 +v -0.579707 1.866922 -3.011884 +v 0.427467 0.829058 -1.088915 +v -0.488166 1.866922 -1.088727 +v 0.458017 1.927987 -2.950703 +v 0.458017 1.927987 -1.088915 +v -0.488166 0.920655 -2.920207 +v 0.519009 0.767994 -2.920207 +v 0.488567 1.805858 -1.211089 +v 0.152734 1.958519 -2.981199 +v 0.458017 0.798526 -1.333263 +v -0.518608 1.836273 -1.088727 +v 0.519009 1.226094 -2.157043 +v 0.427467 1.958519 -2.981199 +v -0.579707 1.714261 -3.011884 +v -0.518608 1.897338 -3.011884 +v -0.579707 1.866922 -2.614866 +v 0.274718 0.767994 -2.462384 +v -0.366074 0.890239 -2.950515 +v 0.519009 0.767994 -2.431699 +v 0.519009 1.134381 -2.859025 +v -0.549158 1.226094 -1.088727 +v -0.549158 0.890239 -1.485745 +v -0.366074 1.653080 -3.011884 +v 0.458017 1.012252 -1.088915 +v 0.427467 1.073433 -2.950703 +v -0.488166 1.073433 -2.981199 +v -0.030349 0.829058 -1.088727 +v 0.335926 1.927987 -1.088727 +v -0.457616 0.890239 -2.584369 +v 0.458017 1.958519 -2.828529 +f 104 116 126 +f 94 95 103 +f 99 93 105 +f 96 99 107 +f 100 103 109 +f 105 93 109 +f 99 105 111 +f 105 109 111 +f 110 97 111 +f 107 99 112 +f 110 96 112 +f 97 110 112 +f 111 97 112 +f 99 111 112 +f 96 94 113 +f 94 103 113 +f 95 94 114 +f 103 108 115 +f 108 104 115 +f 113 103 115 +f 106 113 115 +f 103 100 116 +f 108 103 116 +f 104 108 116 +f 96 107 117 +f 112 96 117 +f 107 112 117 +f 102 96 118 +f 96 110 118 +f 110 102 118 +f 111 109 119 +f 110 111 119 +f 104 101 120 +f 98 106 120 +f 115 104 120 +f 106 115 120 +f 103 95 121 +f 109 103 121 +f 95 119 121 +f 119 109 121 +f 102 110 122 +f 95 114 122 +f 114 102 122 +f 119 95 122 +f 110 119 122 +f 99 96 123 +f 106 98 123 +f 96 113 123 +f 113 106 123 +f 93 99 124 +f 101 93 124 +f 98 120 124 +f 120 101 124 +f 99 123 124 +f 123 98 124 +f 94 96 125 +f 96 102 125 +f 114 94 125 +f 102 114 125 +f 93 101 126 +f 101 104 126 +f 100 109 126 +f 109 93 126 +f 116 100 126 +o convex_4 +v -0.946077 2.446641 -0.477962 +v 1.007552 2.385810 -0.722269 +v 1.007552 2.294302 -0.722269 +v 0.946358 0.737641 1.048113 +v -0.823879 0.737467 -0.997113 +v -0.946077 2.324631 1.017575 +v -0.946077 0.737467 1.017575 +v 0.946358 2.416312 1.048113 +v 1.007552 0.737641 -1.058189 +v -0.915480 2.477144 -0.997113 +v 0.824352 2.416312 -1.058189 +v -0.946077 0.737467 -0.966574 +v -0.274469 2.507993 0.254328 +v -0.640870 1.958430 -1.088727 +v 0.335945 2.507993 -0.264195 +v -0.549270 0.859650 -1.088727 +v -0.579676 1.866749 1.048113 +v 1.007552 2.385810 -1.058189 +v 0.427354 2.172120 -1.088727 +v -0.518673 0.859650 1.048113 +v 0.427354 0.829148 -1.088727 +v 0.213747 2.507993 0.284866 +v -0.946077 2.385810 -0.966574 +v 0.976955 2.324631 0.345734 +v 0.244344 2.385810 1.048113 +v 0.976955 0.737641 0.071099 +v -0.701873 2.477144 -0.997113 +v 0.946358 2.416312 0.406810 +v -0.243872 2.507993 -0.203118 +v -0.640870 2.019434 -1.088727 +f 145 140 156 +f 131 130 133 +f 132 127 133 +f 128 129 135 +f 133 127 138 +f 131 133 138 +f 127 132 139 +f 136 127 139 +f 138 136 140 +f 135 131 142 +f 131 138 142 +f 138 140 142 +f 132 133 143 +f 130 134 143 +f 134 128 144 +f 128 135 144 +f 142 140 145 +f 144 135 145 +f 137 144 145 +f 133 130 146 +f 130 143 146 +f 143 133 146 +f 135 142 147 +f 145 135 147 +f 142 145 147 +f 139 134 148 +f 134 141 148 +f 141 139 148 +f 127 136 149 +f 138 127 149 +f 136 138 149 +f 129 128 150 +f 128 134 150 +f 134 130 150 +f 139 132 151 +f 134 139 151 +f 132 143 151 +f 143 134 151 +f 130 131 152 +f 135 129 152 +f 131 135 152 +f 129 150 152 +f 150 130 152 +f 137 136 153 +f 141 137 153 +f 136 141 153 +f 141 134 154 +f 137 141 154 +f 134 144 154 +f 144 137 154 +f 136 139 155 +f 141 136 155 +f 139 141 155 +f 136 137 156 +f 140 136 156 +f 137 145 156 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/106/106.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/106/106.urdf new file mode 100644 index 000000000..0e1f9519e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/106/106.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/107/107.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/107/107.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/107/107.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/107/107.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/107/107.obj new file mode 100644 index 000000000..745277b7c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/107/107.obj @@ -0,0 +1,1083 @@ +o convex_0 +v 0.302359 -1.707544 -1.114260 +v -0.446464 -1.957225 -1.363683 +v -0.339447 -2.883952 -1.399428 +v -0.054241 -1.707544 -1.684729 +v 0.123949 -3.204775 -1.363683 +v -0.232504 -1.707544 -1.042968 +v -0.125414 -3.240517 -1.149873 +v -0.196734 -3.169204 -1.542079 +v 0.231039 -1.850170 -1.542079 +v -0.410694 -1.707544 -1.577692 +v 0.266589 -1.743286 -1.042968 +v -0.375144 -1.743286 -1.114260 +v -0.018617 -3.133462 -1.542079 +v -0.303751 -3.204775 -1.292523 +v -0.054241 -3.454456 -1.363683 +v 0.017079 -3.133462 -1.149873 +v -0.018617 -1.778857 -1.007222 +v 0.302359 -1.707544 -1.363683 +v -0.161184 -1.778857 -1.684729 +v -0.446464 -1.707544 -1.256844 +v -0.303751 -2.313790 -1.114260 +v -0.089864 -3.062149 -1.114260 +v -0.375144 -2.099851 -1.577692 +v 0.123949 -3.169204 -1.292523 +v -0.303751 -3.204775 -1.399428 +v 0.302359 -1.885912 -1.221298 +v -0.089864 -3.026578 -1.577692 +f 8 19 27 +f 1 4 6 +f 6 4 10 +f 1 6 11 +f 4 9 13 +f 9 5 13 +f 13 5 15 +f 8 13 15 +f 7 14 15 +f 7 15 16 +f 11 6 17 +f 4 1 18 +f 9 4 18 +f 5 9 18 +f 10 4 19 +f 10 2 20 +f 6 10 20 +f 12 6 20 +f 2 14 20 +f 14 12 20 +f 6 12 21 +f 14 7 21 +f 12 14 21 +f 16 11 22 +f 7 16 22 +f 17 6 22 +f 11 17 22 +f 6 21 22 +f 21 7 22 +f 3 2 23 +f 2 10 23 +f 10 19 23 +f 19 8 23 +f 1 11 24 +f 15 5 24 +f 11 16 24 +f 16 15 24 +f 2 3 25 +f 14 2 25 +f 8 15 25 +f 15 14 25 +f 3 23 25 +f 23 8 25 +f 18 1 26 +f 5 18 26 +f 1 24 26 +f 24 5 26 +f 13 8 27 +f 4 13 27 +f 19 4 27 +o convex_1 +v 0.944208 2.108305 0.312301 +v -1.623187 0.860022 0.561601 +v -1.623187 0.860022 0.597120 +v -0.089937 4.604139 0.526083 +v 0.623032 0.860022 1.667147 +v 0.016870 0.860022 -0.614981 +v -0.125624 4.104606 1.381657 +v -0.054503 4.140156 -0.222489 +v -1.230639 0.860022 1.452918 +v -0.838593 4.140156 0.632862 +v 0.730091 4.069056 0.632862 +v 0.872836 0.860022 -0.365011 +v -0.981338 1.002955 -0.400753 +v 0.694405 2.571922 1.417176 +v -0.125624 2.714855 1.631405 +v 0.730091 2.607472 -0.222489 +v -0.624728 3.748006 -0.008707 +v 0.944208 0.860022 0.882609 +v -0.838593 2.820772 1.345915 +v 0.016870 2.572289 -0.472237 +v 0.944208 2.749672 0.632862 +v -0.374924 0.860022 1.631405 +v 0.551660 3.712456 -0.008484 +v 0.516225 3.676539 1.203171 +v -0.802907 2.536372 -0.222489 +v -0.838593 4.140156 0.526083 +v -0.695849 3.640989 1.203394 +v -0.909966 0.860022 -0.436495 +v 0.837149 1.002955 -0.400976 +v -0.054503 4.104606 1.381657 +v -0.018816 4.604139 0.632862 +v 0.730091 4.069056 0.561601 +v -0.089937 2.500455 -0.472237 +v 0.230987 1.858722 1.667147 +v 0.016870 4.104606 -0.222489 +v -0.125624 0.895939 -0.614981 +v 0.658718 1.109972 1.631181 +v -0.232682 2.464905 1.631405 +v 0.944208 0.860022 0.454822 +v -1.623187 0.895939 0.597120 +v -0.054503 2.714855 1.631405 +v -1.623187 0.895939 0.561601 +v -0.161310 4.567856 0.632862 +v 0.944208 2.607472 0.490564 +v -0.767221 2.607472 1.417399 +v -0.018816 4.532306 0.419303 +v 0.944208 2.571556 0.704123 +v -0.838593 4.104606 0.668604 +v -1.230639 0.895939 1.452918 +v -0.802907 2.643022 -0.186971 +v 0.837149 1.288089 -0.365011 +v 0.195301 0.860022 1.667147 +v 0.623032 1.038505 1.667147 +v 0.658718 4.140156 0.561601 +v -0.161310 4.068689 1.381657 +v -0.054503 3.962039 1.417399 +v -0.802907 1.181072 -0.436495 +v 0.908522 0.895939 0.989389 +v 0.587346 1.395472 -0.436495 +v -0.874279 2.678572 1.345915 +v 0.195301 3.926122 1.310397 +v -0.446297 3.890572 1.274655 +v 0.765777 2.536372 -0.151229 +v -0.054503 2.821139 -0.436495 +f 60 84 91 +f 30 29 32 +f 32 29 33 +f 30 32 36 +f 32 33 39 +f 32 39 45 +f 38 41 48 +f 45 28 48 +f 36 32 49 +f 41 38 51 +f 44 35 52 +f 31 35 53 +f 35 44 53 +f 33 29 55 +f 29 40 55 +f 39 33 56 +f 34 57 58 +f 57 38 58 +f 38 48 59 +f 43 50 59 +f 47 35 62 +f 43 47 62 +f 50 43 62 +f 59 50 62 +f 47 33 63 +f 33 55 63 +f 60 47 63 +f 61 42 65 +f 49 61 65 +f 39 28 66 +f 28 45 66 +f 45 39 66 +f 29 30 67 +f 30 36 67 +f 37 53 67 +f 42 61 68 +f 40 29 69 +f 52 40 69 +f 29 67 69 +f 67 53 69 +f 37 34 70 +f 31 53 70 +f 53 37 70 +f 34 58 70 +f 58 31 70 +f 48 28 71 +f 59 48 71 +f 65 42 72 +f 35 31 73 +f 31 58 73 +f 62 35 73 +f 48 41 74 +f 45 48 74 +f 34 37 75 +f 46 54 75 +f 37 67 75 +f 36 49 76 +f 49 65 76 +f 67 36 76 +f 72 46 76 +f 65 72 76 +f 44 52 77 +f 53 44 77 +f 52 69 77 +f 69 53 77 +f 28 39 78 +f 39 56 78 +f 71 28 78 +f 49 32 79 +f 32 61 79 +f 61 49 79 +f 61 32 80 +f 32 64 80 +f 64 41 80 +f 41 68 80 +f 68 61 80 +f 58 38 81 +f 38 59 81 +f 59 62 81 +f 73 58 81 +f 62 73 81 +f 42 34 82 +f 72 42 82 +f 46 72 82 +f 34 42 83 +f 57 34 83 +f 42 68 83 +f 68 41 83 +f 40 52 84 +f 55 40 84 +f 63 55 84 +f 60 63 84 +f 32 45 85 +f 64 32 85 +f 41 64 85 +f 74 41 85 +f 45 74 85 +f 33 47 86 +f 47 43 86 +f 56 33 86 +f 43 78 86 +f 78 56 86 +f 46 75 87 +f 75 67 87 +f 67 76 87 +f 76 46 87 +f 51 38 88 +f 41 51 88 +f 38 57 88 +f 57 83 88 +f 83 41 88 +f 54 46 89 +f 34 75 89 +f 75 54 89 +f 82 34 89 +f 46 82 89 +f 43 59 90 +f 59 71 90 +f 78 43 90 +f 71 78 90 +f 35 47 91 +f 52 35 91 +f 47 60 91 +f 84 52 91 +o convex_2 +v -0.089663 -1.207864 -2.290701 +v 0.338070 0.824116 -1.328240 +v 0.338070 0.824116 -1.399608 +v -1.337921 -0.423913 -0.650916 +v 0.979670 -1.350581 -0.650748 +v 1.051041 0.467572 -0.650748 +v 0.836927 0.467572 -2.041081 +v -0.696073 0.324855 -2.041248 +v -0.482206 -1.707125 -1.292724 +v -0.945377 0.574362 -0.650916 +v 0.694432 -1.207864 -2.076765 +v -0.838568 -1.207864 -1.969881 +v -1.052435 -1.350581 -0.650916 +v 1.193784 -0.459096 -0.686432 +v -0.375149 0.824116 -1.684577 +v -0.054225 -0.281196 -2.362236 +v 0.266699 -1.707125 -1.506492 +v -0.054225 0.788437 -0.650916 +v -0.838568 -0.423913 -2.076765 +v 0.017146 -1.707125 -0.971736 +v -0.054225 0.360534 -2.255017 +v -0.161035 -1.707125 -1.720261 +v 0.908546 0.681647 -0.650748 +v 0.765803 -0.530455 -2.147965 +v 0.944232 -1.172185 -1.435124 +v -0.945377 0.289176 -1.435292 +v -1.052435 -1.243543 -1.292724 +v 0.765803 -1.421691 -1.470976 +v 0.017146 0.824116 -1.755777 +v 0.730118 -1.457370 -0.650916 +v 0.979670 0.610289 -1.078620 +v -0.482206 0.824116 -1.435292 +v -0.446273 -1.707125 -1.577525 +v 0.373508 -1.707125 -1.149988 +v 0.480565 -1.457370 -1.898513 +v 0.195327 -0.459096 -2.326385 +v -0.731759 -1.243543 -2.041248 +v -1.016749 0.503251 -0.686432 +v -0.802882 -0.494775 -2.112449 +v -1.337921 -0.494775 -0.686432 +v 0.302384 0.824116 -1.613209 +v -0.375149 0.824116 -1.114304 +v -0.161035 -1.457370 -0.650916 +v 0.979670 -0.423665 -1.470808 +v 0.088270 0.360534 -2.255017 +v 1.193784 -0.352306 -0.650748 +v -0.375149 -1.707125 -1.078788 +v -0.731759 0.324855 -2.005397 +v -0.089663 -0.530455 -2.362236 +v 1.015356 -1.279222 -0.757800 +v -1.230863 -0.459096 -1.007420 +v 0.480565 -1.029716 -2.183649 +v -0.446273 0.824116 -1.613209 +v 0.801489 0.003990 -2.112449 +v -1.088120 -1.314901 -0.722116 +v 0.908546 0.610289 -1.363756 +v -1.052435 -1.136505 -1.399608 +v 0.195327 0.824116 -1.078620 +v -0.802882 -1.172185 -2.041248 +v 0.052584 -0.352554 -2.362236 +v 0.730118 0.467572 -2.076765 +v -0.945377 -1.386260 -0.650916 +v 0.979670 0.396213 -1.328240 +v -0.945377 0.574362 -0.757800 +f 144 139 155 +f 96 95 104 +f 93 94 106 +f 100 108 111 +f 99 106 112 +f 107 99 112 +f 108 100 113 +f 94 93 114 +f 95 96 114 +f 96 97 114 +f 101 95 114 +f 109 101 114 +f 102 115 116 +f 102 116 119 +f 106 94 120 +f 112 106 120 +f 114 97 122 +f 93 106 123 +f 100 104 124 +f 113 100 124 +f 118 103 124 +f 111 108 125 +f 119 96 125 +f 108 119 125 +f 96 121 125 +f 121 111 125 +f 92 102 126 +f 113 92 126 +f 108 113 126 +f 119 108 126 +f 102 119 126 +f 92 113 128 +f 124 103 128 +f 113 124 128 +f 95 101 129 +f 117 95 129 +f 99 107 130 +f 110 99 130 +f 104 95 131 +f 94 114 132 +f 120 94 132 +f 98 120 132 +f 101 109 133 +f 93 123 133 +f 123 101 133 +f 121 96 134 +f 111 121 134 +f 98 105 135 +f 105 116 135 +f 116 115 135 +f 107 112 136 +f 112 120 136 +f 97 96 137 +f 96 105 137 +f 105 98 137 +f 122 97 137 +f 104 100 138 +f 100 111 138 +f 99 110 139 +f 110 117 139 +f 130 107 140 +f 105 96 141 +f 116 105 141 +f 96 119 141 +f 119 116 141 +f 95 117 142 +f 117 110 142 +f 131 95 142 +f 102 92 143 +f 115 102 143 +f 92 127 143 +f 127 115 143 +f 106 99 144 +f 123 106 144 +f 99 139 144 +f 115 127 145 +f 98 135 145 +f 135 115 145 +f 124 104 146 +f 118 124 146 +f 104 131 146 +f 131 118 146 +f 122 98 147 +f 114 122 147 +f 132 114 147 +f 98 132 147 +f 110 103 148 +f 103 118 148 +f 118 131 148 +f 142 110 148 +f 131 142 148 +f 114 93 149 +f 109 114 149 +f 93 133 149 +f 133 109 149 +f 103 110 150 +f 128 103 150 +f 92 128 150 +f 110 130 150 +f 140 92 150 +f 130 140 150 +f 127 92 151 +f 107 136 151 +f 92 140 151 +f 140 107 151 +f 145 127 151 +f 145 151 152 +f 120 98 152 +f 136 120 152 +f 98 145 152 +f 151 136 152 +f 96 104 153 +f 134 96 153 +f 111 134 153 +f 104 138 153 +f 138 111 153 +f 98 122 154 +f 137 98 154 +f 122 137 154 +f 101 123 155 +f 129 101 155 +f 117 129 155 +f 139 117 155 +f 123 144 155 +o convex_3 +v 0.231029 0.824364 -1.185566 +v -0.446464 0.824364 -1.470706 +v -0.446464 0.824364 -1.292572 +v -0.089882 2.571618 -1.363770 +v 0.195357 0.824364 -1.648980 +v -0.125484 0.860109 -1.007292 +v 0.124012 2.286338 -1.292572 +v -0.303775 0.860109 -1.684649 +v -0.018677 2.321742 -1.541974 +v -0.089882 2.321742 -1.149967 +v -0.268173 2.214847 -1.399369 +v -0.339447 0.895684 -1.078630 +v 0.159684 0.931429 -1.078630 +v 0.266701 0.860109 -1.577643 +v 0.017065 0.824364 -1.720248 +v -0.232501 2.250422 -1.256904 +v -0.232501 2.143527 -1.506375 +v 0.266701 1.002749 -1.292572 +v -0.410792 0.860109 -1.613312 +v 0.088410 2.143527 -1.506375 +v -0.018677 2.286338 -1.149967 +v -0.054279 0.824364 -1.007292 +v -0.125484 2.286338 -1.541974 +v -0.161156 0.860109 -1.720248 +v 0.124012 2.286338 -1.363770 +v -0.018677 2.571618 -1.328241 +f 180 164 181 +f 158 157 156 +f 156 157 160 +f 157 158 166 +f 161 165 167 +f 156 162 168 +f 156 160 169 +f 160 157 170 +f 157 163 170 +f 164 160 170 +f 165 159 171 +f 166 158 171 +f 159 166 171 +f 167 165 171 +f 158 167 171 +f 166 159 172 +f 162 156 173 +f 156 169 173 +f 163 157 174 +f 157 166 174 +f 172 163 174 +f 166 172 174 +f 160 164 175 +f 169 160 175 +f 165 161 176 +f 168 162 176 +f 168 176 177 +f 158 156 177 +f 167 158 177 +f 161 167 177 +f 156 168 177 +f 176 161 177 +f 159 164 178 +f 163 172 178 +f 172 159 178 +f 170 163 179 +f 164 170 179 +f 178 164 179 +f 163 178 179 +f 162 173 180 +f 173 169 180 +f 175 164 180 +f 169 175 180 +f 164 159 181 +f 159 165 181 +f 176 162 181 +f 165 176 181 +f 162 180 181 +o convex_4 +v -1.052443 -1.279208 1.881097 +v 0.623051 0.788705 1.917052 +v 0.623051 0.788705 1.881097 +v 1.015426 -1.243805 1.917052 +v -0.054179 -0.459211 3.699490 +v -1.088114 0.360566 1.988249 +v -0.624652 -1.207961 3.271591 +v -0.624652 0.324942 3.235992 +v 0.694392 -0.281314 3.414165 +v 0.409283 -1.421921 2.808093 +v 1.300790 -0.387745 1.881097 +v -0.838420 -0.494615 3.414165 +v 0.088248 0.360785 3.414165 +v 0.872744 0.396409 2.594499 +v -1.302137 -0.459211 1.881097 +v 0.123919 -1.172338 3.449763 +v -0.410629 -1.457765 1.881097 +v 0.765733 -1.136495 2.843692 +v -0.446300 0.610149 2.344951 +v 0.730062 -1.457765 1.881097 +v -0.482225 -1.457765 2.451926 +v -0.945432 -1.243585 2.523123 +v 1.051097 0.432032 1.881097 +v -0.981102 0.432032 1.881097 +v 0.694392 -0.494615 3.414165 +v -0.909761 0.324942 2.665875 +v 0.480624 0.610369 2.665697 +v -1.088114 -0.423588 2.701474 +v 0.587380 0.182229 3.235814 +v -0.125520 -1.457765 2.701474 +v 1.300790 -0.459211 1.916874 +v 0.337942 0.788705 1.917052 +v -0.803005 -0.387965 3.449941 +v -0.089849 0.610149 2.558900 +v 0.551710 -0.994001 3.271591 +v -0.125520 -1.207961 3.414165 +v -1.302137 -0.566081 1.916874 +v -0.125520 -0.245471 3.628114 +v 0.801403 -1.172338 2.737073 +v -0.838420 -1.386298 1.988249 +v -0.446300 0.610149 1.881097 +v 1.300790 -0.387745 1.916874 +v -0.803005 -0.530458 3.449941 +v 0.480624 -1.457765 2.558722 +v -0.018508 -0.423588 3.699490 +v -0.945432 -1.101091 2.665875 +v -0.909761 0.360566 2.594499 +v 0.730062 -0.352341 3.378566 +v 0.872744 0.324942 2.665697 +v -0.624652 -1.243585 3.200215 +v 0.159589 -1.243805 3.342789 +v 0.979756 0.431812 2.202199 +v 0.159589 0.324942 3.414165 +v 0.088248 -1.136495 3.485540 +v -0.054179 0.253695 3.449763 +v 0.587380 -0.423588 3.485540 +v -1.052443 -1.279208 1.988249 +v 0.979756 -1.243805 2.059625 +v -1.052443 -0.209848 2.665875 +v -0.838420 -0.423588 3.414165 +v -0.660323 0.324942 3.200215 +v 0.480624 -1.421921 2.737073 +v 0.730062 0.467655 2.665697 +v -1.123784 0.289319 1.881097 +f 187 205 245 +f 182 184 192 +f 184 182 196 +f 182 192 198 +f 192 185 201 +f 198 192 201 +f 198 201 202 +f 184 183 204 +f 192 184 204 +f 184 196 205 +f 202 201 211 +f 185 192 212 +f 183 184 213 +f 208 183 213 +f 189 194 215 +f 200 189 215 +f 194 208 215 +f 213 200 215 +f 208 213 215 +f 206 197 216 +f 199 206 216 +f 186 188 217 +f 196 182 218 +f 209 196 218 +f 214 186 219 +f 189 214 219 +f 206 199 220 +f 212 206 220 +f 182 198 221 +f 198 202 221 +f 202 203 221 +f 184 205 222 +f 205 200 222 +f 213 184 222 +f 200 213 222 +f 192 204 223 +f 212 192 223 +f 188 186 224 +f 193 188 224 +f 186 214 224 +f 214 193 224 +f 191 211 225 +f 211 201 225 +f 219 186 226 +f 188 193 227 +f 203 188 227 +f 193 209 227 +f 218 203 227 +f 209 218 227 +f 205 187 228 +f 200 205 228 +f 187 207 228 +f 190 206 229 +f 206 212 229 +f 212 223 229 +f 229 223 230 +f 210 190 230 +f 195 210 230 +f 190 229 230 +f 188 203 231 +f 203 202 231 +f 202 211 231 +f 217 188 231 +f 211 217 231 +f 211 191 232 +f 216 197 232 +f 199 216 232 +f 197 217 232 +f 217 211 232 +f 183 195 233 +f 204 183 233 +f 223 204 233 +f 230 223 233 +f 195 230 233 +f 208 194 234 +f 190 210 234 +f 226 190 234 +f 194 226 234 +f 197 206 235 +f 186 217 235 +f 217 197 235 +f 226 186 235 +f 194 189 236 +f 189 219 236 +f 226 194 236 +f 219 226 236 +f 206 190 237 +f 190 226 237 +f 235 206 237 +f 226 235 237 +f 218 182 238 +f 203 218 238 +f 182 221 238 +f 221 203 238 +f 201 185 239 +f 185 212 239 +f 212 220 239 +f 187 196 240 +f 207 187 240 +f 196 209 240 +f 209 193 241 +f 193 214 241 +f 207 240 241 +f 240 209 241 +f 189 200 242 +f 214 189 242 +f 200 228 242 +f 228 207 242 +f 207 241 242 +f 241 214 242 +f 220 199 243 +f 225 201 243 +f 191 225 243 +f 232 191 243 +f 199 232 243 +f 201 239 243 +f 239 220 243 +f 195 183 244 +f 183 208 244 +f 210 195 244 +f 208 234 244 +f 234 210 244 +f 196 187 245 +f 205 196 245 +o convex_5 +v 1.158157 -0.744233 1.880849 +v -1.373471 -0.494667 -0.650392 +v -1.373471 -0.423427 -0.650392 +v -2.870849 -0.245555 1.417267 +v 0.872804 0.860022 -0.400638 +v 0.694199 -1.457765 -0.650392 +v 0.623172 0.788328 1.880849 +v -2.122367 -1.421918 0.704179 +v -1.658824 0.860022 0.561957 +v -0.411078 -1.457765 1.880849 +v -2.835128 -0.423427 -0.151131 +v -0.980954 0.574609 -0.650392 +v 1.158157 -1.421918 0.632820 +v -1.052396 -1.350451 -0.650392 +v 1.158157 -0.174315 -0.650392 +v -1.052396 0.396056 1.880849 +v 1.158157 0.503370 1.559984 +v -2.870849 0.289197 0.597636 +v -1.266307 0.860022 1.452946 +v -2.835128 -1.172352 0.668499 +v -2.621217 -0.958406 1.452946 +v 0.729920 -1.457765 1.880849 +v -0.945648 0.860022 -0.436317 +v -1.373471 -0.601754 1.880849 +v -3.085176 -0.494894 0.704179 +v 1.050994 0.503370 -0.650392 +v 1.158157 -1.314831 -0.329527 +v 0.943831 0.860022 0.918254 +v -2.585495 -1.029646 0.027017 +v -2.158089 0.431903 1.417267 +v -2.621217 0.110870 0.027017 +v -0.018977 0.860022 -0.650392 +v -0.945648 -1.350678 1.880849 +v 1.158157 0.574609 0.312203 +v 1.158157 -1.243592 1.702453 +v -0.125725 -1.457765 -0.650392 +v -2.050925 -1.243592 1.452946 +v -2.086647 0.146717 1.667021 +v 1.050994 0.467523 1.880849 +v 1.015273 -1.315058 -0.650392 +v 0.658478 0.860022 1.631094 +v -2.835128 -0.494894 -0.151131 +v -2.122367 -1.207972 -0.080020 +v -2.692659 0.182337 1.203439 +v -2.835128 -0.387808 1.452946 +v 0.266376 0.788328 1.880849 +v -3.085176 -0.352188 0.632820 +v -2.870849 0.289197 0.668499 +v -2.264837 -0.423427 -0.365206 +v 1.158157 0.467523 -0.258169 +v 0.872804 0.717316 -0.650392 +v -2.122367 -1.421918 0.632820 +v -2.692659 -0.994026 1.310477 +v -0.945648 -1.386071 -0.650392 +v 1.158157 -0.031609 1.880849 +v -1.694130 0.681469 1.417267 +v -2.799822 -1.172352 0.561957 +v -3.085176 -0.494894 0.597636 +v -2.692659 0.146717 0.134055 +v 1.158157 -0.637374 -0.650392 +v -1.052396 -1.279212 1.880849 +v 1.015273 -1.243592 1.880849 +v 1.158157 -1.421918 0.882574 +v -1.658824 0.860022 0.632820 +f 293 301 309 +f 247 248 251 +f 246 252 255 +f 251 248 257 +f 247 251 259 +f 251 257 260 +f 246 258 260 +f 255 252 261 +f 246 260 262 +f 250 254 264 +f 246 255 267 +f 255 251 267 +f 251 258 267 +f 254 250 268 +f 263 254 268 +f 255 261 269 +f 260 257 271 +f 258 251 272 +f 260 258 272 +f 250 264 273 +f 257 256 276 +f 268 257 276 +f 268 250 277 +f 257 268 277 +f 271 257 277 +f 255 269 278 +f 262 260 279 +f 273 262 279 +f 250 273 279 +f 258 246 280 +f 251 255 281 +f 259 251 281 +f 253 255 282 +f 265 253 282 +f 255 278 282 +f 278 266 282 +f 261 264 283 +f 269 261 283 +f 275 249 283 +f 252 246 284 +f 251 260 285 +f 272 251 285 +f 262 273 286 +f 273 264 286 +f 252 284 286 +f 284 262 286 +f 259 274 287 +f 274 259 288 +f 249 275 289 +f 266 269 290 +f 249 270 290 +f 283 249 290 +f 269 283 290 +f 261 252 291 +f 264 261 291 +f 252 286 291 +f 286 264 291 +f 263 256 292 +f 270 249 292 +f 254 263 293 +f 249 289 293 +f 289 275 293 +f 292 249 293 +f 263 292 293 +f 248 247 294 +f 256 257 294 +f 257 248 294 +f 247 259 294 +f 287 256 294 +f 259 287 294 +f 271 250 295 +f 260 271 295 +f 279 260 295 +f 250 279 295 +f 250 271 296 +f 277 250 296 +f 271 277 296 +f 255 253 297 +f 253 265 297 +f 281 255 297 +f 270 265 298 +f 265 282 298 +f 282 266 298 +f 266 290 298 +f 290 270 298 +f 259 281 299 +f 288 259 299 +f 281 297 299 +f 297 288 299 +f 246 262 300 +f 284 246 300 +f 262 284 300 +f 283 264 301 +f 275 283 301 +f 293 275 301 +f 287 274 302 +f 274 288 302 +f 297 265 302 +f 288 297 302 +f 265 270 303 +f 256 287 303 +f 292 256 303 +f 270 292 303 +f 302 265 303 +f 287 302 303 +f 256 263 304 +f 263 268 304 +f 276 256 304 +f 268 276 304 +f 260 272 305 +f 285 260 305 +f 272 285 305 +f 269 266 306 +f 266 278 306 +f 278 269 306 +f 246 267 307 +f 280 246 307 +f 267 280 307 +f 267 258 308 +f 258 280 308 +f 280 267 308 +f 264 254 309 +f 254 293 309 +f 301 264 309 +o convex_6 +v 1.800048 0.574756 0.846895 +v 1.621687 -1.422107 0.490599 +v 1.835825 -1.422107 0.490599 +v 1.193934 -0.316952 -0.650392 +v 2.726932 -0.423675 -0.044341 +v 1.158158 -0.673283 1.880849 +v 2.726932 -0.459250 1.381588 +v 1.158158 0.503412 1.524305 +v 1.158158 -1.314992 -0.329527 +v 1.158158 0.432067 -0.329527 +v 2.691330 0.325148 0.561957 +v 2.691330 -1.207878 0.668499 +v 1.158158 -1.243648 1.702453 +v 2.014186 0.325148 1.417267 +v 2.940896 -0.530594 0.597636 +v 2.014186 -1.172499 -0.115452 +v 1.978409 0.325148 -0.115452 +v 1.193934 -0.174458 1.880849 +v 1.978409 -1.172499 1.417267 +v 2.655727 -0.494824 -0.151131 +v 2.014186 0.574756 0.597636 +v 1.158158 0.574756 0.347882 +v 1.158158 -1.422107 0.846895 +v 1.942807 -1.422107 0.739610 +v 2.548746 0.146689 1.203192 +v 1.193934 -0.494824 -0.650392 +v 2.512969 0.075540 0.027017 +v 2.512969 -1.029810 0.098375 +v 2.014186 -0.423675 1.666774 +v 2.548746 -0.922891 1.239119 +v 2.726932 -0.352722 1.381588 +v 2.940896 -0.352722 0.633068 +v 2.691330 0.325148 0.668499 +v 2.655727 -0.423675 -0.151131 +v 1.514705 -0.388296 1.845170 +v 2.691330 -0.459250 1.417267 +v 2.691330 -1.172499 0.561957 +v 1.193934 -1.243648 1.702453 +v 1.265314 0.467446 1.559984 +v 1.158158 0.574756 0.882574 +v 1.193934 0.467446 -0.258169 +v 1.479277 -1.279418 -0.258169 +v 1.158158 -0.316952 -0.650392 +v 1.372296 -0.494824 1.880849 +v 1.193934 -1.279418 1.631094 +v 1.158158 -1.350762 -0.222490 +v 1.978409 0.432067 1.167760 +v 2.726932 0.289378 0.668499 +v 1.907030 -1.279418 0.062696 +v 1.907030 0.360527 -0.115452 +v 2.406162 -1.029810 1.274798 +v 2.905293 -0.459250 0.846895 +v 2.691330 -0.494824 -0.115452 +v 2.406162 -0.388296 1.524305 +v 2.548746 0.182459 0.169734 +v 2.227975 0.503412 0.668499 +v 2.940896 -0.388296 0.561957 +v 1.871427 0.574756 0.490599 +v 2.441764 -1.279418 0.597636 +f 358 325 368 +f 315 317 318 +f 318 317 319 +f 315 318 322 +f 313 319 326 +f 317 315 327 +f 319 317 331 +f 310 330 331 +f 311 312 332 +f 322 318 332 +f 321 328 333 +f 332 312 333 +f 313 329 335 +f 325 329 337 +f 321 316 339 +f 334 323 340 +f 323 334 342 +f 313 326 343 +f 329 313 343 +f 336 314 343 +f 326 336 343 +f 323 327 344 +f 339 316 345 +f 316 340 345 +f 324 321 346 +f 325 337 346 +f 315 322 347 +f 328 345 347 +f 317 327 348 +f 327 323 348 +f 317 310 349 +f 310 331 349 +f 331 317 349 +f 319 331 350 +f 329 325 351 +f 318 335 351 +f 335 329 351 +f 318 319 352 +f 319 313 352 +f 313 335 352 +f 335 318 352 +f 327 315 353 +f 344 327 353 +f 338 344 353 +f 345 338 353 +f 315 347 353 +f 347 345 353 +f 322 332 354 +f 332 333 354 +f 333 328 354 +f 347 322 354 +f 328 347 354 +f 312 311 355 +f 311 332 355 +f 332 318 355 +f 351 312 355 +f 318 351 355 +f 310 317 356 +f 323 342 356 +f 317 348 356 +f 348 323 356 +f 334 340 357 +f 340 341 357 +f 320 342 357 +f 342 334 357 +f 312 351 358 +f 351 325 358 +f 326 319 359 +f 320 326 359 +f 330 320 359 +f 319 350 359 +f 328 321 360 +f 321 339 360 +f 345 328 360 +f 339 345 360 +f 316 321 361 +f 321 324 361 +f 340 316 361 +f 324 341 361 +f 341 340 361 +f 314 324 362 +f 337 329 362 +f 329 343 362 +f 343 314 362 +f 324 346 362 +f 346 337 362 +f 340 323 363 +f 323 344 363 +f 344 338 363 +f 338 345 363 +f 345 340 363 +f 320 314 364 +f 326 320 364 +f 314 336 364 +f 336 326 364 +f 330 310 365 +f 320 330 365 +f 342 320 365 +f 310 356 365 +f 356 342 365 +f 314 320 366 +f 324 314 366 +f 341 324 366 +f 320 357 366 +f 357 341 366 +f 331 330 367 +f 350 331 367 +f 330 359 367 +f 359 350 367 +f 333 312 368 +f 321 333 368 +f 346 321 368 +f 325 346 368 +f 312 358 368 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/107/107.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/107/107.urdf new file mode 100644 index 000000000..a03e6ae05 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/107/107.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/108/108.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/108/108.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/108/108.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/108/108.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/108/108.obj new file mode 100644 index 000000000..bef40efe3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/108/108.obj @@ -0,0 +1,843 @@ +o convex_0 +v 0.406372 3.062919 0.764324 +v 0.541511 1.611386 -0.314367 +v 0.608889 1.611386 -0.314367 +v 0.541511 2.421204 -3.016358 +v 1.047850 2.826468 0.089265 +v 0.170023 2.016366 1.912626 +v 0.912711 2.421204 2.284084 +v 0.136287 2.387526 -1.969256 +v 0.980281 2.016366 -1.834127 +v 0.203856 2.860145 1.980483 +v 0.608889 2.792648 -2.610971 +v 0.170023 1.982688 -2.070456 +v 0.878974 1.611386 0.157121 +v 0.608889 2.860145 2.655542 +v 0.507774 2.016366 2.621613 +v 0.102550 2.893964 -0.044694 +v 0.946544 2.792648 -1.901399 +v 0.068717 1.982688 0.156536 +v 0.878974 3.062919 -0.111966 +v 0.608889 1.982688 -2.711587 +v 0.203856 2.826326 -2.003184 +v 0.305066 1.611386 0.089265 +v 1.047850 2.050185 0.021993 +v 0.946544 2.860287 1.844769 +v 0.305066 3.062919 -0.348295 +v 0.878974 2.016366 1.979898 +v 0.541511 2.421204 2.959728 +v 0.980281 2.421346 -2.172242 +v 0.170023 2.455023 2.182884 +v 0.068717 2.725152 0.055336 +v 0.575152 2.995138 1.811425 +v 0.170023 2.455023 -2.306785 +v 0.608889 2.927642 -1.766270 +v 0.237593 2.995138 1.270910 +v 0.946544 2.421346 2.115612 +v 0.878974 1.611386 -0.078038 +v 0.946544 2.421346 -2.340714 +v 0.068717 1.982688 -0.314367 +v 0.946544 2.016366 -2.104385 +v 1.047850 2.353849 -0.685825 +v 0.811405 3.028958 1.068510 +v 0.372636 1.611386 -0.247095 +v 0.541511 1.611386 0.326179 +v 0.878974 2.961461 -1.259683 +v 1.047850 2.455165 0.494651 +v 0.608889 2.421204 2.925799 +v 0.237593 3.062919 -0.011936 +v 0.541511 2.893964 2.588270 +v 0.541511 1.982688 -2.711587 +v 0.743932 3.062919 -0.516768 +v 0.170023 2.826326 -1.800199 +v 0.068717 2.455023 -0.618553 +v 0.608889 2.320314 -2.982430 +v 0.507774 2.792648 -2.610971 +v 0.980281 2.961461 -0.078623 +v 0.068717 2.387526 0.460722 +v 0.473942 2.590016 2.790670 +v 0.575152 2.016366 2.588270 +v 0.507774 2.353707 -2.982430 +v 0.912711 2.860145 2.013826 +v 0.372636 2.016366 2.385284 +v 0.845142 1.611386 0.258322 +v 0.642721 2.455023 -2.913988 +v 0.912711 2.792648 -2.069871 +f 37 63 64 +f 2 3 13 +f 3 2 20 +f 2 13 22 +f 6 18 22 +f 1 19 25 +f 13 23 26 +f 17 5 28 +f 10 16 30 +f 29 10 30 +f 12 8 32 +f 21 25 33 +f 16 10 34 +f 31 1 34 +f 7 26 35 +f 26 23 35 +f 13 3 36 +f 3 20 36 +f 9 23 36 +f 23 13 36 +f 17 28 37 +f 8 12 38 +f 12 22 38 +f 22 18 38 +f 18 30 38 +f 28 9 39 +f 36 20 39 +f 9 36 39 +f 37 28 39 +f 5 23 40 +f 23 9 40 +f 28 5 40 +f 9 28 40 +f 19 1 41 +f 24 19 41 +f 1 31 41 +f 2 22 42 +f 22 12 42 +f 22 13 43 +f 15 22 43 +f 11 33 44 +f 23 5 45 +f 5 24 45 +f 35 23 45 +f 24 35 45 +f 7 14 46 +f 26 7 46 +f 14 27 46 +f 1 25 47 +f 25 21 47 +f 16 34 47 +f 34 1 47 +f 34 10 48 +f 31 34 48 +f 41 31 48 +f 20 2 49 +f 2 42 49 +f 42 12 49 +f 25 19 50 +f 33 25 50 +f 19 44 50 +f 44 33 50 +f 30 16 51 +f 32 8 51 +f 21 32 51 +f 16 47 51 +f 47 21 51 +f 8 38 52 +f 38 30 52 +f 30 51 52 +f 51 8 52 +f 39 20 53 +f 37 39 53 +f 20 49 53 +f 11 4 54 +f 4 32 54 +f 32 21 54 +f 33 11 54 +f 21 33 54 +f 5 17 55 +f 19 24 55 +f 24 5 55 +f 17 44 55 +f 44 19 55 +f 18 6 56 +f 6 29 56 +f 30 18 56 +f 29 30 56 +f 27 14 57 +f 10 29 57 +f 29 27 57 +f 48 10 57 +f 14 48 57 +f 27 15 58 +f 26 46 58 +f 46 27 58 +f 32 4 59 +f 12 32 59 +f 49 12 59 +f 4 53 59 +f 53 49 59 +f 14 7 60 +f 7 35 60 +f 35 24 60 +f 24 41 60 +f 48 14 60 +f 41 48 60 +f 6 22 61 +f 22 15 61 +f 15 27 61 +f 29 6 61 +f 27 29 61 +f 13 26 62 +f 43 13 62 +f 15 43 62 +f 26 58 62 +f 58 15 62 +f 4 11 63 +f 53 4 63 +f 37 53 63 +f 17 37 64 +f 44 17 64 +f 11 44 64 +f 63 11 64 +o convex_1 +v 0.271296 3.164288 -0.078814 +v 0.845271 3.096709 0.089823 +v 0.845271 3.062919 0.089823 +v 0.473952 3.062919 0.562541 +v 0.608849 3.468078 0.089823 +v 0.676438 3.062919 -0.484118 +v 0.406362 3.434288 -0.045005 +v 0.338886 3.062919 -0.348880 +v 0.743971 3.366709 -0.180243 +v 0.305063 3.096709 0.427406 +v 0.743971 3.096709 0.427406 +v 0.777682 3.400498 0.056014 +v 0.845271 3.096709 -0.348880 +v 0.541428 3.434288 0.224856 +v 0.541428 3.400498 -0.213847 +f 73 70 79 +f 67 68 70 +f 70 68 72 +f 65 71 72 +f 71 65 74 +f 65 72 74 +f 72 68 74 +f 67 66 75 +f 68 67 75 +f 73 69 76 +f 75 66 76 +f 73 76 77 +f 66 67 77 +f 67 70 77 +f 70 73 77 +f 76 66 77 +f 69 71 78 +f 74 68 78 +f 71 74 78 +f 68 75 78 +f 76 69 78 +f 75 76 78 +f 71 69 79 +f 70 72 79 +f 72 71 79 +f 69 73 79 +o convex_2 +v 1.655500 -2.102909 0.022330 +v -0.674073 -1.191386 0.022330 +v -0.674073 -1.191386 0.055875 +v 0.440291 -4.566882 -0.044952 +v 0.642464 -1.090294 -0.956803 +v 0.608688 -1.090294 1.001463 +v 0.474067 -4.060744 0.731185 +v 0.474067 -4.094441 -0.753999 +v 1.554173 -1.089954 -0.787927 +v 1.520396 -1.089954 0.798850 +v 1.317741 -3.993351 0.022330 +v -0.268762 -4.094441 -0.011407 +v -0.370090 -1.089954 -0.787736 +v -0.370090 -1.089954 0.866324 +v 1.317741 -2.609727 0.731185 +v -0.234986 -2.542333 -0.753999 +v 0.574912 -2.710818 0.967534 +v -0.234986 -2.542333 0.764922 +v 0.541377 -2.710818 -0.956803 +v 1.317741 -2.576030 -0.720262 +v 1.790604 -1.089954 0.089612 +v 1.115327 -3.655699 -0.551387 +v -0.066348 -3.723093 -0.585123 +v 1.115327 -3.655699 0.562310 +v -0.066348 -3.622002 0.562310 +v 1.216413 -4.128139 0.022330 +v -0.268762 -4.027048 -0.112617 +v 0.541377 -4.060744 0.731185 +v 1.790604 -1.259120 -0.045144 +v 0.440291 -2.576030 0.967534 +v 0.541377 -4.566882 0.022330 +v 1.283965 -4.027048 -0.078880 +v -0.133900 -1.360552 -0.855401 +v 0.642464 -2.576030 -0.956803 +v -0.640056 -1.089954 -0.112617 +v 0.541377 -4.060744 -0.753999 +v 1.351517 -1.191386 -0.855401 +v 1.317741 -1.191386 0.866132 +v -0.302538 -3.959313 -0.011407 +v 0.440291 -2.508295 -0.956803 +v 0.541377 -4.566882 -0.044952 +v 0.001204 -1.596772 0.933797 +v 1.283965 -2.541992 0.764922 +v -0.674073 -1.158029 0.089803 +v 0.710016 -2.339469 0.967534 +v -0.370090 -1.326514 -0.787736 +v -0.403866 -1.123991 0.832395 +v 1.790604 -1.259120 0.056067 +v 1.250189 -3.959653 0.191014 +v 1.587948 -2.440561 -0.045144 +v -0.606521 -1.697863 -0.011407 +v 1.554173 -2.541652 0.123349 +v 0.440291 -4.533185 0.056067 +v -0.133900 -3.790487 0.393434 +v 0.541377 -1.090294 -0.956803 +v -0.201210 -4.128479 -0.078689 +v 1.385293 -2.238038 -0.720262 +v 1.689276 -1.123991 -0.416440 +v 0.507843 -1.090294 1.001463 +v 1.351517 -2.440561 0.731185 +v -0.268762 -2.339469 0.764922 +v 1.250189 -4.094441 -0.044952 +v 0.541377 -4.128139 -0.686334 +f 115 141 142 +f 89 88 92 +f 89 92 93 +f 85 89 93 +f 88 89 100 +f 95 87 102 +f 86 97 104 +f 102 87 106 +f 95 102 106 +f 96 86 107 +f 86 96 109 +f 97 86 109 +f 107 86 110 +f 105 107 110 +f 101 99 111 +f 98 84 113 +f 93 92 114 +f 87 98 115 +f 99 101 115 +f 101 111 115 +f 98 113 115 +f 113 99 115 +f 84 88 116 +f 88 99 116 +f 113 84 116 +f 99 113 116 +f 89 85 117 +f 106 91 118 +f 87 95 119 +f 84 98 119 +f 98 87 119 +f 83 87 120 +f 110 83 120 +f 105 110 120 +f 93 97 121 +f 97 109 121 +f 103 94 122 +f 96 107 122 +f 107 103 122 +f 89 117 122 +f 81 82 123 +f 114 81 123 +f 93 114 123 +f 82 118 123 +f 85 96 124 +f 117 85 124 +f 96 122 124 +f 122 117 124 +f 92 112 125 +f 114 92 125 +f 119 95 125 +f 112 119 125 +f 97 93 126 +f 93 123 126 +f 100 89 127 +f 80 108 127 +f 108 100 127 +f 90 94 128 +f 94 103 128 +f 105 90 128 +f 103 107 128 +f 107 105 128 +f 80 90 129 +f 108 80 129 +f 90 111 129 +f 82 81 130 +f 95 106 130 +f 81 114 130 +f 118 82 130 +f 106 118 130 +f 114 125 130 +f 125 95 130 +f 90 80 131 +f 80 127 131 +f 86 91 132 +f 91 83 132 +f 83 110 132 +f 110 86 132 +f 91 86 133 +f 86 104 133 +f 104 97 133 +f 97 118 133 +f 118 91 133 +f 88 84 134 +f 92 88 134 +f 112 92 134 +f 84 119 134 +f 119 112 134 +f 87 83 135 +f 83 91 135 +f 106 87 135 +f 91 106 135 +f 99 88 136 +f 111 99 136 +f 129 111 136 +f 129 136 137 +f 88 100 137 +f 100 108 137 +f 108 129 137 +f 136 88 137 +f 85 93 138 +f 96 85 138 +f 109 96 138 +f 93 121 138 +f 121 109 138 +f 94 90 139 +f 89 122 139 +f 122 94 139 +f 127 89 139 +f 90 131 139 +f 131 127 139 +f 118 97 140 +f 123 118 140 +f 97 126 140 +f 126 123 140 +f 90 105 141 +f 111 90 141 +f 115 111 141 +f 105 120 141 +f 141 120 142 +f 87 115 142 +f 120 87 142 +o convex_3 +v 0.608707 -1.089954 1.001463 +v 0.574723 -1.089954 -0.956803 +v 0.574723 -0.853611 -0.956803 +v -1.011404 -0.887388 0.089803 +v 2.060402 -0.853611 0.022330 +v 0.507657 -0.853611 1.001463 +v 1.554249 -1.089954 -0.787927 +v -0.403599 -1.089954 0.832587 +v -0.403599 -1.089954 -0.753999 +v 1.520265 -1.089954 0.798850 +v -0.403599 -0.853611 -0.787927 +v -0.403599 -0.853611 0.866324 +v 1.520265 -0.853611 -0.821664 +v 1.486581 -0.853611 0.832587 +v 1.824317 -1.089954 0.022330 +v -0.707652 -1.089954 -0.011215 +v -1.011404 -0.853611 -0.011215 +v 2.060402 -0.887388 -0.045144 +v -0.268866 -1.089954 0.900061 +v -0.302549 -1.089954 -0.821664 +v -0.977721 -0.921141 -0.011215 +f 159 151 163 +f 147 145 148 +f 143 144 149 +f 144 143 150 +f 144 150 151 +f 143 149 152 +f 148 145 153 +f 146 150 154 +f 148 153 154 +f 144 145 155 +f 145 147 155 +f 149 144 155 +f 147 148 156 +f 148 143 156 +f 152 147 156 +f 143 152 156 +f 152 149 157 +f 150 146 158 +f 151 150 158 +f 153 151 159 +f 146 154 159 +f 154 153 159 +f 147 152 160 +f 155 147 160 +f 149 155 160 +f 157 149 160 +f 152 157 160 +f 143 148 161 +f 150 143 161 +f 148 154 161 +f 154 150 161 +f 145 144 162 +f 144 151 162 +f 153 145 162 +f 151 153 162 +f 158 146 163 +f 151 158 163 +f 146 159 163 +o convex_4 +v -2.159796 -0.583506 -0.045084 +v -1.450627 1.475847 -0.011546 +v -1.450627 1.340788 0.393451 +v -4.252889 1.171863 0.055921 +v -3.476362 0.462902 -1.024329 +v -3.510188 -0.313185 0.731175 +v -1.450627 0.328246 -0.956472 +v -1.450627 0.362112 0.967699 +v -3.543720 1.138199 0.765104 +v -4.185237 -0.347051 -0.078818 +v -2.801313 1.239594 -0.787805 +v -1.450627 -0.380715 -0.720143 +v -4.219063 0.362112 0.765104 +v -1.450627 -0.346850 0.731175 +v -3.442536 -0.347051 -0.787805 +v -4.219063 0.462902 -0.754071 +v -3.510188 1.442183 0.022188 +v -1.450627 1.205729 -0.754071 +v -3.543720 1.205729 -0.754071 +v -3.510188 0.328447 0.967699 +v -4.455256 0.328447 -0.011546 +v -3.476362 -0.583506 -0.011546 +v -1.450627 1.171863 0.731175 +v -1.450627 -0.583103 0.123388 +v -1.619462 0.462902 -0.990401 +v -3.510188 0.631827 0.933771 +v -4.016401 -0.110596 -0.619138 +v -4.050227 0.969476 0.596241 +v -4.050227 -0.110596 0.562508 +v -4.050227 1.003140 -0.551476 +v -1.450627 0.496768 0.967699 +v -3.476362 -0.347051 0.697442 +v -1.788298 -0.313185 0.764909 +v -2.159796 1.239393 -0.787805 +v -3.510188 1.205729 0.663708 +v -3.476362 -0.583506 -0.078818 +v -4.455256 0.496768 0.022188 +v -4.219063 0.462902 0.765104 +v -2.598945 1.442183 -0.146284 +v -4.185237 0.328447 -0.754071 +v -1.450627 -0.583103 -0.078818 +v -4.185237 -0.347051 -0.011546 +v -2.024786 0.362112 -0.990401 +v -1.687114 1.239393 0.663513 +v -3.510188 1.408318 -0.146479 +v -1.585931 1.441982 -0.180018 +v -3.442536 1.070871 0.798837 +v -3.476362 0.193388 -0.956667 +v -2.362458 0.564297 -0.990401 +v -4.252889 1.171863 0.022188 +v -1.450627 -0.110596 0.832376 +v -3.510188 0.496768 0.967699 +v -1.518279 -0.211790 -0.787805 +v -1.450627 1.104333 0.764909 +v -2.497468 1.273258 -0.720143 +v -3.476362 1.239594 -0.720338 +v -3.307526 -0.583506 0.022188 +v -1.484453 1.036804 -0.821538 +v -1.450627 1.239393 -0.720143 +v -4.286715 0.362112 0.596241 +f 184 205 223 +f 165 166 170 +f 170 166 171 +f 170 171 175 +f 175 171 177 +f 166 165 180 +f 165 170 181 +f 174 168 182 +f 168 179 182 +f 176 169 183 +f 171 166 186 +f 175 177 187 +f 178 173 190 +f 172 167 191 +f 169 176 192 +f 182 179 193 +f 183 171 194 +f 171 186 194 +f 187 177 195 +f 183 169 196 +f 169 195 196 +f 195 177 196 +f 168 174 197 +f 167 172 198 +f 180 167 198 +f 173 178 199 +f 178 175 199 +f 185 173 199 +f 164 185 199 +f 179 184 200 +f 176 183 201 +f 189 172 201 +f 191 167 201 +f 172 191 201 +f 167 200 201 +f 180 165 202 +f 179 168 203 +f 173 184 203 +f 184 179 203 +f 190 173 203 +f 178 190 203 +f 187 164 204 +f 175 187 204 +f 164 199 204 +f 199 175 204 +f 184 173 205 +f 173 185 205 +f 169 192 205 +f 192 176 205 +f 195 169 205 +f 185 195 205 +f 168 188 206 +f 188 170 206 +f 166 180 207 +f 186 166 207 +f 172 186 207 +f 198 172 207 +f 180 198 207 +f 180 202 208 +f 202 165 209 +f 186 172 210 +f 172 189 210 +f 189 194 210 +f 203 168 211 +f 178 203 211 +f 168 206 211 +f 206 178 211 +f 188 168 212 +f 168 197 212 +f 167 180 213 +f 193 179 213 +f 182 193 213 +f 200 167 213 +f 179 200 213 +f 180 208 213 +f 208 182 213 +f 177 171 214 +f 171 183 214 +f 196 177 214 +f 183 196 214 +f 183 194 215 +f 194 189 215 +f 201 183 215 +f 189 201 215 +f 170 175 216 +f 175 178 216 +f 206 170 216 +f 178 206 216 +f 194 186 217 +f 186 210 217 +f 210 194 217 +f 197 174 218 +f 209 197 218 +f 202 209 218 +f 174 182 219 +f 182 208 219 +f 208 202 219 +f 218 174 219 +f 202 218 219 +f 185 164 220 +f 164 187 220 +f 195 185 220 +f 187 195 220 +f 181 170 221 +f 170 188 221 +f 197 181 221 +f 188 212 221 +f 212 197 221 +f 165 181 222 +f 181 197 222 +f 209 165 222 +f 197 209 222 +f 200 184 223 +f 176 201 223 +f 201 200 223 +f 205 176 223 +o convex_5 +v -1.450554 -0.616935 0.055789 +v 0.912888 1.611102 0.123408 +v 0.912888 1.611102 -0.044945 +v 3.275841 -0.346965 -0.011433 +v -1.450554 0.530498 -0.956710 +v -1.450554 0.530498 0.967554 +v 2.600852 0.395392 -1.024329 +v 0.845389 -0.853611 -0.922801 +v 0.609143 -0.853611 1.001463 +v 2.634601 1.172009 0.765094 +v -1.450554 1.239561 -0.720341 +v 2.600852 1.138232 -0.787762 +v -1.450554 1.239561 0.697475 +v 3.343340 0.362098 0.730987 +v 3.309591 1.172009 -0.078656 +v -0.403831 -0.853611 -0.787762 +v 2.600852 0.530498 0.967554 +v 1.554128 -0.853370 0.798804 +v 3.275841 0.395392 -0.821671 +v -0.403831 -0.853611 0.866225 +v 0.575393 1.239561 0.899935 +v 1.554128 -0.853370 -0.821671 +v -1.450554 1.475996 -0.011433 +v -1.450554 -0.380741 -0.720341 +v 0.777890 1.172009 -0.855381 +v 0.642892 1.611102 -0.315223 +v 3.546326 0.395633 -0.112564 +v -1.450554 -0.313189 0.764895 +v 0.575393 1.611102 0.359777 +v 2.600852 1.408443 -0.044945 +v 2.094120 -0.853370 0.022079 +v -1.078820 -0.853611 0.055789 +v 3.073344 -0.144307 -0.619012 +v 3.039595 -0.178083 0.562435 +v -1.450554 0.294545 -0.956710 +v 0.676642 1.475996 0.663566 +v 2.600852 0.328322 0.967554 +v 3.174593 1.003126 0.494816 +v 0.609143 -0.009201 1.001463 +v 2.567102 0.496721 -1.024329 +v 0.372896 -0.853611 -0.922801 +v 3.140843 0.902038 -0.652722 +v -1.348816 0.260769 0.967554 +v 3.275841 -0.346965 -0.078656 +v 0.676642 0.699380 0.967356 +v -0.471330 1.340649 0.764895 +v 1.216144 1.307114 -0.720341 +v 2.533352 -0.346965 0.730987 +v -1.213818 1.239561 -0.754052 +v 2.499603 1.172009 -0.787762 +v 2.600852 1.374426 0.157317 +v 2.499603 -0.313189 -0.787762 +v 3.343340 1.138232 -0.011433 +v 0.845389 1.611102 0.292356 +v 1.621627 1.307114 0.798804 +v 3.343340 0.429169 0.730987 +v 0.406646 1.172009 -0.855381 +v 3.275841 0.462945 -0.821671 +v 0.372896 1.611102 -0.247604 +v 3.546326 0.362098 -0.011433 +v 1.486629 -0.853370 0.832514 +v -0.302582 -0.853611 0.899935 +v -1.078820 -0.853611 -0.011433 +v 2.432104 0.362098 -1.024329 +f 264 258 287 +f 228 224 229 +f 228 229 234 +f 234 229 236 +f 231 232 239 +f 239 232 243 +f 240 233 244 +f 231 230 245 +f 234 236 246 +f 224 228 247 +f 225 226 249 +f 229 224 251 +f 246 236 252 +f 225 249 252 +f 226 225 253 +f 249 226 253 +f 232 231 254 +f 227 241 254 +f 241 232 254 +f 231 245 254 +f 239 243 255 +f 251 224 255 +f 243 251 255 +f 227 237 257 +f 241 227 257 +f 247 228 258 +f 239 247 258 +f 240 232 260 +f 237 240 260 +f 229 232 262 +f 232 240 262 +f 231 239 264 +f 239 258 264 +f 235 238 265 +f 232 229 266 +f 229 251 266 +f 242 250 267 +f 227 254 267 +f 254 245 267 +f 256 242 267 +f 245 256 267 +f 244 229 268 +f 240 244 268 +f 229 262 268 +f 262 240 268 +f 236 229 269 +f 229 244 269 +f 252 236 269 +f 244 259 269 +f 259 252 269 +f 257 237 271 +f 241 257 271 +f 237 260 271 +f 228 234 272 +f 234 249 272 +f 249 270 272 +f 238 235 273 +f 253 238 273 +f 249 253 273 +f 235 263 273 +f 263 248 273 +f 248 270 273 +f 270 249 273 +f 238 253 274 +f 230 242 275 +f 245 230 275 +f 242 256 275 +f 256 245 275 +f 250 238 276 +f 233 261 276 +f 274 233 276 +f 238 274 276 +f 225 252 277 +f 253 225 277 +f 252 259 277 +f 233 274 277 +f 274 253 277 +f 244 233 278 +f 259 244 278 +f 233 277 278 +f 277 259 278 +f 233 240 279 +f 240 237 279 +f 261 233 279 +f 276 261 279 +f 263 228 280 +f 248 263 280 +f 270 248 280 +f 228 272 280 +f 272 270 280 +f 242 230 281 +f 238 250 281 +f 250 242 281 +f 230 263 281 +f 263 235 281 +f 235 265 281 +f 265 238 281 +f 234 246 282 +f 249 234 282 +f 246 252 282 +f 252 249 282 +f 237 227 283 +f 227 267 283 +f 267 250 283 +f 250 276 283 +f 279 237 283 +f 276 279 283 +f 232 241 284 +f 260 232 284 +f 241 271 284 +f 271 260 284 +f 243 232 285 +f 251 243 285 +f 232 266 285 +f 266 251 285 +f 224 247 286 +f 247 239 286 +f 239 255 286 +f 255 224 286 +f 230 231 287 +f 258 228 287 +f 263 230 287 +f 228 263 287 +f 231 264 287 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/108/108.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/108/108.urdf new file mode 100644 index 000000000..937dccbc9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/108/108.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/109/109.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/109/109.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/109/109.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/109/109.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/109/109.obj new file mode 100644 index 000000000..23c93dd82 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/109/109.obj @@ -0,0 +1,3237 @@ +o convex_0 +v -0.262891 2.525159 1.789688 +v -0.288885 1.901250 1.399561 +v -0.132887 1.901250 1.399561 +v -0.262891 1.979246 2.933639 +v -0.132887 2.525159 2.933639 +v -0.314896 2.473060 1.399561 +v -0.262891 2.291109 2.933639 +v -0.236862 2.499079 1.451668 +v -0.314896 1.979246 2.491555 +v -0.236862 1.979246 2.933639 +v -0.132887 2.421083 2.933639 +v -0.132887 2.525159 2.699383 +f 3 8 12 +f 2 3 4 +f 3 2 6 +f 5 1 7 +f 4 5 7 +f 1 6 7 +f 6 1 8 +f 3 6 8 +f 2 4 9 +f 6 2 9 +f 4 7 9 +f 7 6 9 +f 4 3 10 +f 5 4 10 +f 5 10 11 +f 3 5 11 +f 10 3 11 +f 1 5 12 +f 5 3 12 +f 8 1 12 +o convex_1 +v 0.283099 2.473047 2.309513 +v 0.127167 1.797122 1.399561 +v 0.309087 1.797122 1.399561 +v 0.179144 1.849207 2.595505 +v 0.335106 2.473047 1.399561 +v 0.023182 1.901222 1.399561 +v 0.205102 2.473047 2.517422 +v 0.231091 1.875249 2.491433 +v 0.335106 1.901222 1.425784 +v 0.283099 2.499089 1.685670 +v 0.179144 2.291096 2.595505 +v 0.231091 2.447074 2.595505 +v 0.335106 2.499089 1.711776 +f 22 19 25 +f 14 15 16 +f 15 14 17 +f 17 14 18 +f 14 16 18 +f 16 15 20 +f 15 17 21 +f 13 20 21 +f 20 15 21 +f 17 18 22 +f 18 19 22 +f 18 16 23 +f 19 18 23 +f 13 19 24 +f 20 13 24 +f 16 20 24 +f 23 16 24 +f 19 23 24 +f 19 13 25 +f 13 21 25 +f 21 17 25 +f 17 22 25 +o convex_2 +v -0.522741 1.146942 1.321557 +v -0.860924 -0.360692 1.269554 +v -0.392809 -0.360692 1.217552 +v -0.860924 1.146942 1.217552 +v 0.153128 1.146942 1.217552 +v 0.153128 -0.360692 1.243553 +v -0.860924 -0.360692 1.321557 +v -0.808911 1.146942 1.321557 +v 0.153128 1.146942 1.243553 +v -0.626866 -0.152717 1.321557 +v 0.153128 -0.360692 1.217552 +f 30 31 36 +f 28 27 29 +f 29 26 30 +f 28 29 30 +f 27 28 31 +f 29 27 32 +f 27 31 32 +f 29 32 33 +f 26 29 33 +f 32 26 33 +f 30 26 34 +f 31 30 34 +f 26 31 34 +f 31 26 35 +f 26 32 35 +f 32 31 35 +f 28 30 36 +f 31 28 36 +o convex_3 +v 1.011242 0.600952 -0.576453 +v 1.037221 1.146942 0.307419 +v 1.011242 1.146942 0.307419 +v 1.323187 -0.360692 0.307419 +v 1.063240 -0.360692 -0.472458 +v 1.219151 -0.334714 0.307419 +v 0.985223 1.146942 -0.498413 +v 0.907207 0.912841 -0.550411 +v 1.089218 -0.100760 -0.576453 +v 1.323187 -0.334714 0.229380 +v 1.063240 1.146942 0.255422 +v 1.011242 1.068859 0.307419 +v 1.089218 -0.360692 -0.576453 +v 0.907207 1.146942 -0.576453 +f 49 44 50 +f 38 39 40 +f 40 39 42 +f 41 40 42 +f 39 38 43 +f 37 43 45 +f 45 43 46 +f 38 40 47 +f 43 38 47 +f 40 46 47 +f 46 43 47 +f 42 39 48 +f 41 42 48 +f 44 41 48 +f 39 44 48 +f 40 41 49 +f 41 44 49 +f 37 45 49 +f 46 40 49 +f 45 46 49 +f 39 43 50 +f 43 37 50 +f 44 39 50 +f 37 49 50 +o convex_4 +v 0.491206 0.782949 1.295556 +v 0.153128 -0.360692 1.217559 +v 0.829141 -0.360692 1.191571 +v 0.153128 1.146942 1.217559 +v 0.881164 1.146942 1.191571 +v 0.855153 -0.360692 1.243558 +v 0.803130 1.146942 1.269547 +v 0.283185 1.146942 1.295556 +v 0.387160 -0.360692 1.269547 +v 0.517146 0.211276 1.295556 +v 0.153128 -0.360692 1.243558 +v 0.153128 1.146942 1.269547 +f 61 58 62 +f 53 52 54 +f 53 54 55 +f 53 55 56 +f 52 53 56 +f 55 54 57 +f 56 55 57 +f 51 57 58 +f 57 54 58 +f 52 56 59 +f 58 59 60 +f 57 51 60 +f 56 57 60 +f 51 58 60 +f 59 56 60 +f 54 52 61 +f 52 59 61 +f 59 58 61 +f 58 54 62 +f 54 61 62 +o convex_5 +v -0.184839 1.485147 -2.032552 +v 0.595150 1.641086 -1.200571 +v -0.548908 1.641086 -1.200571 +v -0.080803 1.355128 -1.200571 +v -0.184839 1.641086 -2.708647 +v 0.595150 1.459143 -1.226699 +v -0.548908 1.407164 -1.304642 +v -0.496834 1.615054 -2.292509 +v 0.543076 1.641086 -1.824852 +v 0.335004 1.381160 -1.252680 +v -0.184839 1.615054 -2.708647 +v -0.158746 1.355128 -1.330771 +v -0.522815 1.381160 -1.200571 +v -0.548908 1.641086 -1.668671 +v 0.543076 1.615054 -1.824852 +f 73 71 77 +f 64 65 66 +f 65 64 67 +f 64 66 68 +f 67 64 71 +f 64 68 71 +f 68 66 72 +f 68 72 73 +f 70 67 73 +f 69 70 73 +f 67 71 73 +f 72 63 73 +f 63 72 74 +f 72 66 74 +f 66 65 75 +f 65 69 75 +f 73 63 75 +f 69 73 75 +f 74 66 75 +f 63 74 75 +f 65 67 76 +f 69 65 76 +f 67 70 76 +f 70 69 76 +f 71 68 77 +f 68 73 77 +o convex_6 +v -2.836976 -1.375100 0.255503 +v -2.603048 -1.999070 -0.420445 +v -2.551050 -1.999070 -0.420445 +v -2.888973 -1.999070 0.255503 +v -2.733062 -1.739001 -0.420445 +v -2.551050 -1.375100 -0.238504 +v -2.966990 -1.765020 0.229448 +v -2.759000 -1.401119 0.229448 +v -2.577069 -1.375100 -0.342502 +v -2.733062 -1.999070 0.021453 +v -2.551050 -1.712982 -0.498535 +v -2.707043 -1.816997 -0.472480 +f 88 80 89 +f 79 80 81 +f 81 78 84 +f 78 82 84 +f 78 81 85 +f 83 78 85 +f 82 78 86 +f 78 83 86 +f 81 80 87 +f 80 83 87 +f 85 81 87 +f 83 85 87 +f 83 80 88 +f 86 83 88 +f 86 88 89 +f 80 79 89 +f 79 81 89 +f 81 84 89 +f 84 82 89 +f 82 86 89 +o convex_7 +v -0.002880 2.161110 5.247077 +v -0.028943 1.927154 3.272219 +v -0.002880 1.927154 3.272219 +v -0.158822 2.525068 2.933640 +v -0.262894 2.031168 4.181288 +v -0.262894 1.979190 2.933640 +v -0.002880 2.473091 3.194085 +v -0.132887 2.343148 4.805225 +v -0.262894 2.265182 4.311285 +v -0.080940 2.031168 4.987311 +v -0.210871 2.187216 4.987311 +v -0.002880 2.369078 4.857315 +v -0.262894 2.291171 2.933640 +v -0.028943 1.953202 4.311285 +v -0.158822 2.421055 4.233377 +v -0.002880 2.473091 3.844067 +v -0.132887 2.421055 2.933640 +v -0.002880 2.005179 4.883133 +f 99 103 107 +f 92 91 95 +f 90 92 96 +f 95 94 98 +f 94 99 100 +f 90 97 100 +f 98 94 100 +f 97 98 100 +f 99 90 100 +f 90 96 101 +f 97 90 101 +f 93 95 102 +f 95 98 102 +f 98 93 102 +f 91 92 103 +f 95 91 103 +f 94 95 103 +f 99 94 103 +f 93 98 104 +f 98 97 104 +f 97 101 104 +f 104 101 105 +f 96 93 105 +f 101 96 105 +f 93 104 105 +f 92 95 106 +f 95 93 106 +f 96 92 106 +f 93 96 106 +f 92 90 107 +f 90 99 107 +f 103 92 107 +o convex_8 +v -2.057051 -1.375100 -0.472511 +v -2.551010 -1.999070 -0.446502 +v -2.551010 -1.999070 -0.394560 +v -2.551010 -1.375100 -0.290550 +v -2.551010 -1.739001 -0.524503 +v -2.109087 -1.999070 -0.524503 +v -2.057051 -1.375100 -0.550538 +v -2.239029 -1.999070 -0.550538 +v -2.498915 -1.401119 -0.290550 +f 113 108 116 +f 109 110 111 +f 109 111 112 +f 110 109 113 +f 108 113 114 +f 111 108 114 +f 112 111 114 +f 112 114 115 +f 109 112 115 +f 113 109 115 +f 114 113 115 +f 111 110 116 +f 108 111 116 +f 110 113 116 +o convex_9 +v -0.002835 2.265147 5.195382 +v 0.179086 1.875185 2.596138 +v 0.205074 1.875185 2.596138 +v 0.205074 2.447075 2.596138 +v 0.231086 2.161189 5.039417 +v -0.002835 1.927223 3.219999 +v -0.002835 2.473065 3.246211 +v -0.002835 2.031123 5.013204 +v 0.075154 2.369106 4.883451 +v 0.231086 2.447075 2.674252 +v 0.179086 1.979202 4.311230 +v 0.101143 1.875185 3.194048 +v 0.179086 2.317068 4.857501 +v 0.231086 2.083102 2.596138 +v -0.002835 2.447075 4.181478 +v 0.049166 2.447075 4.155527 +v 0.179086 2.343058 2.596138 +f 123 120 133 +f 119 118 120 +f 122 117 123 +f 121 117 124 +f 117 122 124 +f 120 123 126 +f 119 121 127 +f 121 124 127 +f 127 124 128 +f 118 119 128 +f 122 118 128 +f 124 122 128 +f 119 127 128 +f 117 121 129 +f 125 117 129 +f 121 126 129 +f 119 120 130 +f 121 119 130 +f 120 126 130 +f 126 121 130 +f 123 117 131 +f 117 125 131 +f 126 123 132 +f 125 129 132 +f 129 126 132 +f 123 131 132 +f 131 125 132 +f 120 118 133 +f 118 122 133 +f 122 123 133 +o convex_10 +v 2.233325 -1.999070 -0.576503 +v 2.597165 -1.375100 -0.264523 +v 2.597165 -1.375100 -0.290560 +v 1.843214 -1.375100 -0.576503 +v 2.701120 -1.999070 -0.264523 +v 2.753097 -1.790978 -0.446484 +v 1.973345 -1.375100 -0.602507 +v 2.077299 -1.999070 -0.576503 +v 2.415151 -1.401119 -0.290560 +v 2.337185 -1.790978 -0.602507 +v 2.805074 -1.790978 -0.264523 +v 2.701120 -1.999070 -0.394576 +f 144 138 145 +f 135 136 137 +f 137 136 140 +f 136 139 140 +f 137 140 141 +f 134 138 141 +f 141 138 142 +f 135 137 142 +f 138 135 142 +f 137 141 142 +f 139 134 143 +f 140 139 143 +f 141 140 143 +f 134 141 143 +f 136 135 144 +f 135 138 144 +f 139 136 144 +f 139 144 145 +f 138 134 145 +f 134 139 145 +o convex_11 +v -1.276746 -0.360987 0.307506 +v -0.367031 -0.464972 -0.758548 +v -0.367031 -0.360987 -0.758548 +v -1.016866 -0.516980 -0.628422 +v -1.016866 -0.360987 -0.602439 +v -1.562827 -0.516980 0.307506 +v -0.211023 -0.516980 -0.680493 +v -0.211023 -0.360987 -0.680493 +v -1.380752 -0.360987 0.281314 +v -1.432754 -0.490976 0.307506 +v -0.860990 -0.516980 -0.706477 +f 152 149 156 +f 146 148 150 +f 150 149 151 +f 147 148 152 +f 151 149 152 +f 148 146 153 +f 146 152 153 +f 152 148 153 +f 146 150 154 +f 151 146 154 +f 150 151 154 +f 146 151 155 +f 152 146 155 +f 151 152 155 +f 148 147 156 +f 149 150 156 +f 150 148 156 +f 147 152 156 +o convex_12 +v -0.860990 -0.516980 1.321557 +v -1.562827 -0.516980 0.307506 +v -1.562827 -0.516980 0.359519 +v -0.211023 -0.360987 1.217532 +v -1.120871 -0.360987 1.191426 +v -1.380752 -0.360987 0.307506 +v -0.211023 -0.516980 1.217532 +v -1.224876 -0.516980 1.165519 +v -1.302814 -0.387006 0.307506 +v -0.679047 -0.360987 1.321557 +f 163 160 166 +f 159 158 157 +f 158 159 162 +f 161 160 162 +f 159 161 162 +f 157 158 163 +f 159 157 164 +f 157 161 164 +f 161 159 164 +f 158 162 165 +f 162 160 165 +f 163 158 165 +f 160 163 165 +f 161 157 166 +f 160 161 166 +f 157 163 166 +o convex_13 +v 0.517075 0.782872 -0.732570 +v -0.314805 -0.360692 -0.758620 +v -0.314805 -0.360692 -0.706581 +v -0.314805 1.146942 -0.862482 +v 0.621151 1.068727 -0.914521 +v 0.621151 -0.360692 -0.758589 +v -0.184801 0.964833 -0.966528 +v 0.179193 0.886766 -0.680593 +v 0.231139 -0.360692 -0.654543 +v 0.621151 0.496871 -0.706612 +v 0.387162 1.146942 -0.784547 +v -0.262766 -0.282624 -0.680593 +v -0.210820 1.146942 -0.966528 +v -0.314805 -0.100663 -0.810536 +v -0.314805 1.120673 -0.836494 +v 0.621151 -0.360692 -0.706612 +v 0.621151 1.146942 -0.888502 +f 179 177 183 +f 168 169 170 +f 169 168 172 +f 171 172 173 +f 169 172 175 +f 174 175 176 +f 172 171 176 +f 167 174 176 +f 174 167 177 +f 169 175 178 +f 175 174 178 +f 171 173 179 +f 170 177 179 +f 168 170 180 +f 172 168 180 +f 173 172 180 +f 170 179 180 +f 179 173 180 +f 170 169 181 +f 177 170 181 +f 174 177 181 +f 169 178 181 +f 178 174 181 +f 175 172 182 +f 176 175 182 +f 172 176 182 +f 167 176 183 +f 176 171 183 +f 177 167 183 +f 171 179 183 +o convex_14 +v -0.964955 -0.360692 -0.602540 +v -0.938979 1.146942 0.099426 +v -0.912932 1.146942 -0.004604 +v -0.912932 1.120816 -0.524414 +v -1.172940 -0.204821 0.073384 +v -0.808921 0.990924 -0.576430 +v -0.964955 0.652909 0.099426 +v -1.016871 -0.308735 -0.602540 +v -1.120881 -0.334714 0.073384 +v -0.964955 1.146942 -0.056620 +v -0.990930 -0.308735 -0.368437 +v -0.808921 1.146942 -0.602540 +v -1.172940 -0.360692 0.099426 +v -0.938979 -0.230800 -0.576430 +f 190 194 197 +f 186 185 190 +f 189 186 190 +f 188 187 191 +f 185 186 193 +f 187 188 193 +f 188 185 193 +f 192 184 194 +f 190 192 194 +f 189 184 195 +f 186 189 195 +f 184 191 195 +f 191 187 195 +f 193 186 195 +f 187 193 195 +f 185 188 196 +f 190 185 196 +f 191 184 196 +f 188 191 196 +f 184 192 196 +f 192 190 196 +f 184 189 197 +f 189 190 197 +f 194 184 197 +o convex_15 +v -1.302839 -0.360692 0.229534 +v -0.938966 1.146942 1.087545 +v -0.938928 1.146942 0.229534 +v -1.095004 -0.360692 1.087545 +v -1.146877 -0.360692 0.099556 +v -1.328871 -0.334571 0.359513 +v -0.965036 0.704805 0.099556 +v -0.991030 1.146942 0.203616 +v -0.990992 1.042753 1.087545 +v -1.146877 -0.334571 1.087545 +v -0.938966 0.964833 1.087545 +v -0.965036 1.146942 0.099556 +v -0.990992 1.146942 0.671596 +v -1.198865 -0.334571 0.099556 +f 209 202 211 +f 201 198 202 +f 198 201 203 +f 201 202 204 +f 199 200 205 +f 198 203 205 +f 201 199 206 +f 203 201 207 +f 201 206 207 +f 206 203 207 +f 200 199 208 +f 199 201 208 +f 204 200 208 +f 201 204 208 +f 200 204 209 +f 204 202 209 +f 205 200 209 +f 198 205 209 +f 199 205 210 +f 205 203 210 +f 206 199 210 +f 203 206 210 +f 202 198 211 +f 198 209 211 +o convex_16 +v -2.577011 -1.453096 0.931451 +v -2.914957 -1.999070 0.255582 +v -2.862998 -1.999070 0.255582 +v -2.784963 -1.375100 0.255582 +v -2.759079 -1.765020 0.957406 +v -2.577011 -1.999070 0.931451 +v -2.967031 -1.739001 0.307651 +v -2.836999 -1.375100 0.333606 +v -2.577011 -1.375100 0.775402 +v -2.707043 -1.921013 0.983441 +v -2.577011 -1.765020 1.061544 +v -2.629085 -1.427138 0.905416 +f 222 212 223 +f 214 213 215 +f 213 214 217 +f 214 215 217 +f 215 213 218 +f 213 216 218 +f 218 216 219 +f 215 218 219 +f 215 219 220 +f 217 215 220 +f 212 217 220 +f 216 213 221 +f 213 217 221 +f 221 217 222 +f 217 212 222 +f 216 221 222 +f 216 222 223 +f 219 216 223 +f 220 219 223 +f 212 220 223 +o convex_17 +v -0.860952 1.146942 1.243538 +v -1.146910 -0.360692 1.087566 +v -1.146910 -0.360692 1.113585 +v -0.860952 -0.360692 1.269537 +v -0.912965 1.146942 1.087566 +v -1.016906 0.289211 1.243538 +v -0.990956 0.990924 1.113585 +v -0.912965 -0.360692 1.295536 +v -0.886958 0.964945 1.295536 +v -1.094898 -0.360692 1.087566 +v -1.120904 -0.230800 1.191561 +f 231 229 234 +f 226 225 227 +f 224 227 228 +f 225 226 230 +f 224 228 230 +f 228 225 230 +f 226 227 231 +f 229 231 232 +f 227 224 232 +f 224 230 232 +f 230 229 232 +f 231 227 232 +f 227 225 233 +f 228 227 233 +f 225 228 233 +f 230 226 234 +f 229 230 234 +f 226 231 234 +o convex_18 +v 0.023042 -2.857083 0.177469 +v -1.874846 -2.545134 -0.472534 +v -1.874846 -2.519130 -0.472534 +v -1.952979 -2.805075 0.255503 +v 0.022836 -2.727063 -0.420440 +v 0.153128 -2.779071 0.151457 +v -0.626973 -2.545134 -0.446451 +v -1.926797 -2.831079 0.229420 +v -1.900821 -2.753100 0.203480 +v 0.100970 -2.675088 -0.472534 +v -1.172672 -2.519130 -0.446451 +v -0.237129 -2.805075 0.255503 +v -1.874846 -2.597142 -0.394428 +v 0.153128 -2.857083 0.255503 +v -1.016611 -2.857083 0.229420 +f 248 238 249 +f 237 236 238 +f 237 238 243 +f 236 237 244 +f 239 236 244 +f 241 240 244 +f 237 241 244 +f 240 241 245 +f 241 237 245 +f 237 243 245 +f 245 243 246 +f 243 238 246 +f 240 245 246 +f 238 236 247 +f 236 239 247 +f 242 238 247 +f 239 242 247 +f 235 239 248 +f 239 244 248 +f 244 240 248 +f 240 246 248 +f 246 238 248 +f 239 235 249 +f 238 242 249 +f 242 239 249 +f 235 248 249 +o convex_19 +v 0.933137 1.146942 -0.602586 +v 0.621151 -0.360692 -0.758548 +v 0.751214 -0.126739 -0.810500 +v 0.621151 1.146942 -0.940558 +v 1.089175 -0.360692 -0.602586 +v 0.621151 0.470913 -0.706597 +v 1.011110 -0.360692 -0.576539 +v 0.881139 1.146942 -0.576539 +v 0.621151 -0.152717 -0.706597 +v 0.829187 -0.360692 -0.784524 +v 0.647219 1.146942 -0.940558 +v 0.751214 1.146942 -0.680550 +v 0.959113 0.678887 -0.654609 +f 260 250 262 +f 252 251 253 +f 253 251 255 +f 251 254 256 +f 250 253 257 +f 254 250 257 +f 256 254 257 +f 255 251 258 +f 251 256 258 +f 257 255 258 +f 256 257 258 +f 251 252 259 +f 254 251 259 +f 254 259 260 +f 252 253 260 +f 253 250 260 +f 259 252 260 +f 253 255 261 +f 255 257 261 +f 257 253 261 +f 250 254 262 +f 254 260 262 +o convex_20 +v 1.193140 -0.334714 0.437578 +v 1.011219 1.146942 1.009473 +v 0.985231 1.146942 1.009473 +v 1.037208 1.146942 0.307506 +v 1.297186 -0.334714 0.359590 +v 1.115204 -0.334714 1.009473 +v 1.011219 1.068859 0.307506 +v 1.167151 -0.282757 1.009473 +v 1.219159 -0.360692 0.307506 +v 1.063227 1.094837 0.359590 +v 0.985231 0.964945 0.983431 +v 1.037208 1.016902 1.009473 +f 267 272 274 +f 265 264 266 +f 264 265 268 +f 263 268 269 +f 265 266 269 +f 264 268 270 +f 268 267 270 +f 266 267 271 +f 267 268 271 +f 268 263 271 +f 263 269 271 +f 269 266 271 +f 266 264 272 +f 267 266 272 +f 268 265 273 +f 269 268 273 +f 265 269 273 +f 264 270 274 +f 270 267 274 +f 272 264 274 +o convex_21 +v 1.063153 0.704866 1.061559 +v 0.881220 -0.360692 1.191533 +v 0.907199 -0.360692 1.165534 +v 1.141145 -0.360692 1.139535 +v 0.907199 1.146942 1.217531 +v 0.959212 1.068859 1.009562 +v 1.115138 -0.360692 1.009562 +v 0.881220 1.146942 1.139535 +v 0.933205 -0.360692 1.217531 +v 1.167179 -0.308735 1.009562 +v 1.011196 1.146942 1.009562 +f 284 280 285 +f 276 277 278 +f 278 275 279 +f 277 276 280 +f 278 277 281 +f 277 280 281 +f 276 279 282 +f 280 276 282 +f 276 278 283 +f 278 279 283 +f 279 276 283 +f 275 278 284 +f 281 280 284 +f 278 281 284 +f 279 275 285 +f 282 279 285 +f 280 282 285 +f 275 284 285 +o convex_22 +v -0.314922 2.655125 -2.344787 +v -0.340928 2.395185 -3.930709 +v -0.314922 2.395185 -3.930709 +v -0.522871 2.395185 -1.200838 +v -0.574884 2.551209 -1.278865 +v -0.314922 2.681129 -1.200838 +v -0.444903 2.603117 -2.708467 +v -0.522871 2.395185 -2.812413 +v -0.444903 2.733137 -1.200838 +v -0.366934 2.473197 -3.748201 +v -0.574884 2.447193 -1.200838 +f 294 290 296 +f 287 288 289 +f 288 286 291 +f 289 288 291 +f 287 289 293 +f 290 292 293 +f 291 286 294 +f 289 291 294 +f 292 290 294 +f 286 292 294 +f 286 288 295 +f 288 287 295 +f 292 286 295 +f 287 293 295 +f 293 292 295 +f 293 289 296 +f 290 293 296 +f 289 294 296 +o convex_23 +v -1.900720 -1.375039 -0.602566 +v 0.152901 -0.517046 -0.654528 +v 0.152901 -0.803016 -0.654528 +v -1.770698 -1.036998 -0.472585 +v -0.860545 -0.517046 -0.706515 +v -0.757025 -1.375039 -0.732522 +v -0.470932 -1.375039 -0.654502 +v -1.016616 -0.517046 -0.576585 +v -2.056791 -1.375039 -0.472585 +v 0.126852 -0.517046 -0.706515 +v 0.127078 -1.036914 -0.654528 +v -1.666725 -1.348919 -0.680483 +v -1.900720 -1.036998 -0.498591 +v 0.074752 -1.036914 -0.706515 +v -0.315313 -0.517046 -0.732522 +v -0.886594 -0.984927 -0.732522 +f 311 302 312 +f 299 298 300 +f 297 302 303 +f 300 298 304 +f 298 301 304 +f 297 303 305 +f 298 299 306 +f 301 298 306 +f 299 300 307 +f 300 305 307 +f 305 303 307 +f 302 297 308 +f 300 304 309 +f 304 301 309 +f 305 300 309 +f 297 305 309 +f 308 297 309 +f 301 308 309 +f 303 302 310 +f 306 299 310 +f 299 307 310 +f 307 303 310 +f 301 306 311 +f 310 302 311 +f 306 310 311 +f 308 301 312 +f 302 308 312 +f 301 311 312 +o convex_24 +v -2.238808 -0.855043 0.333507 +v -1.407165 -0.802969 -0.576539 +v -1.407165 -0.777008 -0.576539 +v -1.510893 -0.543057 0.307406 +v -1.667230 -1.036970 -0.498416 +v -2.681016 -1.010959 0.255383 +v -1.017069 -0.517046 -0.576539 +v -2.082803 -0.881003 0.333507 +v -1.614952 -0.517046 0.281395 +v -1.952936 -1.010959 -0.472404 +v -0.990931 -0.595080 -0.550439 +v -2.524680 -1.036970 0.333507 +v -1.952936 -0.829031 0.333507 +v -2.681016 -1.036970 0.333507 +f 317 324 326 +f 314 315 319 +f 313 316 321 +f 316 319 321 +f 319 318 321 +f 315 314 322 +f 314 317 322 +f 319 315 322 +f 318 319 322 +f 316 317 323 +f 317 314 323 +f 314 319 323 +f 319 316 323 +f 320 313 324 +f 317 320 324 +f 316 313 325 +f 317 316 325 +f 313 320 325 +f 320 317 325 +f 313 321 326 +f 321 318 326 +f 322 317 326 +f 318 322 326 +f 324 313 326 +o convex_25 +v -1.198941 -0.543057 1.087474 +v -2.629014 -1.036970 0.333507 +v -2.629014 -1.010959 0.333507 +v -1.511104 -0.517046 0.333507 +v -1.797091 -1.036970 1.061437 +v -1.303089 -0.543057 1.139548 +v -1.978930 -0.855043 0.333507 +v -1.978930 -1.010959 1.061437 +v -1.563178 -0.517046 0.463613 +v -2.238739 -1.036970 0.515608 +v -1.511104 -0.543057 0.333507 +v -1.459171 -0.802969 1.113353 +v -2.629014 -1.010959 0.359623 +v -1.355163 -0.517046 0.957368 +f 339 332 340 +f 328 329 330 +f 328 330 333 +f 328 331 334 +f 330 329 335 +f 331 328 336 +f 328 333 336 +f 333 331 336 +f 330 327 337 +f 333 330 337 +f 331 333 337 +f 327 332 338 +f 334 331 338 +f 332 334 338 +f 337 327 338 +f 331 337 338 +f 329 328 339 +f 328 334 339 +f 334 332 339 +f 335 329 339 +f 335 339 340 +f 327 330 340 +f 332 327 340 +f 330 335 340 +o convex_26 +v -1.614585 -1.036970 1.191563 +v 0.152932 -0.517046 1.243538 +v 0.152932 -0.802969 1.243538 +v -0.964530 -0.932975 1.321557 +v -1.250656 -0.517046 1.139566 +v -0.860858 -0.517046 1.321557 +v 0.127063 -1.036970 1.217539 +v -1.718649 -1.036970 1.087545 +v 0.152932 -0.517046 1.217562 +v -1.562652 -0.803020 1.087545 +v -1.822713 -0.958936 1.113613 +v -0.938661 -1.010959 1.321557 +f 341 347 352 +f 342 345 346 +f 343 342 346 +f 341 344 346 +f 347 341 348 +f 342 343 349 +f 345 342 349 +f 343 347 349 +f 347 348 350 +f 345 349 350 +f 349 347 350 +f 346 345 351 +f 341 346 351 +f 348 341 351 +f 345 350 351 +f 350 348 351 +f 344 341 352 +f 343 346 352 +f 346 344 352 +f 347 343 352 +o convex_27 +v 0.803494 -1.036970 -0.758523 +v 1.089010 -0.360987 -0.576554 +v 1.660845 -0.802997 -0.498586 +v 0.127305 -1.036970 -0.654472 +v -0.210891 -0.360987 -0.680504 +v 0.829030 -0.360987 -0.758548 +v 1.843213 -1.036970 -0.524592 +v -0.210891 -0.517014 -0.706536 +v 1.504817 -1.036970 -0.654472 +v 1.530956 -0.829001 -0.498586 +v 0.543112 -0.360987 -0.758548 +v 1.738859 -1.036970 -0.498586 +v 0.283333 -1.036970 -0.706485 +f 356 360 365 +f 354 355 358 +f 357 354 358 +f 356 353 359 +f 358 355 359 +f 356 357 360 +f 353 358 361 +f 359 353 361 +f 358 359 361 +f 355 354 362 +f 357 356 362 +f 354 357 362 +f 358 353 363 +f 357 358 363 +f 353 360 363 +f 360 357 363 +f 359 355 364 +f 356 359 364 +f 355 362 364 +f 362 356 364 +f 353 356 365 +f 360 353 365 +o convex_28 +v 2.181027 -1.010949 0.177357 +v 1.063174 -0.465013 -0.576453 +v 1.063174 -0.360987 -0.576453 +v 1.297206 -0.360987 0.281459 +v 2.519248 -1.010949 0.281459 +v 1.791211 -1.037021 -0.498484 +v 1.921339 -1.010949 -0.498484 +v 1.895257 -0.829036 0.307419 +v 1.271408 -0.387060 0.255411 +v 1.115339 -0.360987 -0.550406 +v 1.349229 -0.360987 0.203404 +v 1.453418 -0.802964 -0.524445 +v 2.519248 -1.037021 0.307419 +f 369 373 378 +f 367 368 372 +f 371 367 372 +f 371 366 373 +f 368 367 374 +f 369 368 374 +f 373 369 374 +f 368 369 375 +f 372 368 375 +f 370 372 375 +f 369 370 376 +f 375 369 376 +f 370 375 376 +f 367 371 377 +f 371 373 377 +f 373 374 377 +f 374 367 377 +f 370 369 378 +f 366 371 378 +f 372 370 378 +f 371 372 378 +f 373 366 378 +o convex_29 +v 1.219263 -0.360987 0.385754 +v 1.947218 -0.776936 0.333629 +v 1.947218 -0.802982 0.333629 +v 1.557097 -0.776936 1.087484 +v 1.167220 -0.360987 1.113547 +v 1.167301 -0.569048 1.035441 +v 1.869113 -0.802982 0.281504 +v 1.401211 -0.387033 0.281504 +v 1.479317 -0.802982 1.087484 +v 1.375230 -0.464996 0.281504 +v 1.115258 -0.517000 1.113547 +f 384 387 389 +f 381 380 382 +f 382 380 383 +f 380 381 385 +f 379 383 386 +f 383 380 386 +f 380 385 386 +f 381 382 387 +f 385 381 387 +f 385 387 388 +f 384 379 388 +f 379 386 388 +f 386 385 388 +f 387 384 388 +f 383 379 389 +f 382 383 389 +f 379 384 389 +f 387 382 389 +o convex_30 +v 0.491313 -0.802930 1.269554 +v 1.141027 -0.360987 1.139573 +v 1.895043 -1.010900 1.087601 +v -0.210759 -0.517014 1.217521 +v 0.647145 -0.360987 1.269534 +v 0.127497 -1.036970 1.217501 +v 1.011167 -1.036970 1.269534 +v 1.504843 -0.829001 1.061584 +v -0.210759 -0.360987 1.217521 +v 1.114849 -0.517080 1.087581 +v 1.530815 -1.010900 1.191525 +v 1.764770 -1.036970 1.061584 +v -0.210759 -0.517014 1.243517 +v 0.854922 -0.360987 1.243517 +v 0.491519 -1.036970 1.269534 +v 1.141027 -0.360987 1.113597 +f 399 398 405 +f 394 390 396 +f 395 393 397 +f 394 391 398 +f 397 393 399 +f 393 398 399 +f 400 396 401 +f 396 395 401 +f 397 392 401 +f 395 397 401 +f 392 400 401 +f 390 394 402 +f 393 395 402 +f 398 393 402 +f 394 398 402 +f 392 391 403 +f 391 394 403 +f 394 396 403 +f 400 392 403 +f 396 400 403 +f 396 390 404 +f 395 396 404 +f 390 402 404 +f 402 395 404 +f 391 392 405 +f 392 397 405 +f 398 391 405 +f 397 399 405 +o convex_31 +v -0.028798 3.123154 -0.108202 +v 0.829098 2.603255 0.437344 +v 0.829098 2.577162 0.437344 +v -0.028798 3.071136 1.009541 +v 0.101125 3.149191 0.333308 +v 0.751077 2.577162 -0.446390 +v 0.751077 2.707291 -0.446390 +v 0.777028 2.655273 1.009541 +v -0.028798 3.045211 -0.446390 +v 0.751077 2.577162 1.009541 +v 0.075174 3.123154 -0.420167 +v 0.751077 2.733216 0.307371 +v 0.075174 3.097117 0.983318 +v -0.028798 3.045211 1.009541 +f 414 415 419 +f 406 409 410 +f 407 408 411 +f 407 411 412 +f 408 407 413 +f 409 406 414 +f 412 411 414 +f 411 408 415 +f 408 413 415 +f 413 409 415 +f 414 411 415 +f 406 410 416 +f 410 412 416 +f 414 406 416 +f 412 414 416 +f 412 410 417 +f 407 412 417 +f 413 407 417 +f 410 413 417 +f 410 409 418 +f 409 413 418 +f 413 410 418 +f 409 414 419 +f 415 409 419 +o convex_32 +v 0.647298 -2.545004 1.165549 +v 2.051038 -1.999091 1.269519 +v 2.051038 -2.051129 1.269519 +v 2.051038 -2.518985 1.035543 +v 0.153313 -1.999091 1.217547 +v 0.153313 -2.545004 1.035543 +v 1.999020 -2.623061 1.087566 +v 0.179322 -2.233141 1.243507 +v 0.985600 -1.999091 1.191535 +v 0.959591 -2.493027 1.217521 +v 1.686727 -2.103106 1.295530 +v 0.153313 -2.623061 1.061605 +v 2.051038 -1.999091 1.217547 +v 1.478841 -1.999091 1.295530 +v 2.025029 -2.623061 1.035543 +v 0.777528 -2.493027 1.035543 +f 425 428 435 +f 421 422 423 +f 424 421 428 +f 425 424 428 +f 420 426 429 +f 427 420 429 +f 427 429 430 +f 422 421 430 +f 426 422 430 +f 429 426 430 +f 424 425 431 +f 426 420 431 +f 420 427 431 +f 427 424 431 +f 421 423 432 +f 428 421 432 +f 423 428 432 +f 421 424 433 +f 424 427 433 +f 427 430 433 +f 430 421 433 +f 423 422 434 +f 425 423 434 +f 422 426 434 +f 431 425 434 +f 426 431 434 +f 423 425 435 +f 428 423 435 +o convex_33 +v -0.731083 -2.571099 0.931537 +v -1.952979 -2.805068 0.255635 +v -1.952979 -2.779087 0.255635 +v 0.153128 -2.857114 0.255635 +v -0.107043 -2.701144 0.931537 +v -1.952979 -2.623145 0.905467 +v 0.153128 -2.753106 0.385589 +v -1.796918 -2.831105 0.281573 +v -1.952979 -2.571099 0.879463 +v 0.153128 -2.649126 0.931537 +v -0.757059 -2.857114 0.281573 +v -1.640857 -2.701144 0.463600 +v -1.146697 -2.571099 0.879463 +v 0.074994 -2.805068 0.255635 +v 0.049018 -2.727069 0.853460 +f 443 446 450 +f 437 438 439 +f 438 437 441 +f 440 436 441 +f 441 437 443 +f 440 441 443 +f 441 436 444 +f 438 441 444 +f 436 440 445 +f 442 436 445 +f 439 442 445 +f 437 439 446 +f 443 437 446 +f 442 438 447 +f 438 444 447 +f 447 444 448 +f 436 442 448 +f 444 436 448 +f 442 447 448 +f 439 438 449 +f 438 442 449 +f 442 439 449 +f 440 443 450 +f 445 440 450 +f 439 445 450 +f 446 439 450 +o convex_34 +v 2.571250 -2.415132 0.931537 +v 2.051325 -2.831112 0.229583 +v 2.051325 -2.779089 0.073514 +v 2.571250 -2.675094 0.281606 +v 2.519181 -2.493116 0.021491 +v 2.051325 -2.597060 0.931537 +v 2.545190 -2.311086 0.905526 +v 2.051325 -2.701106 0.021491 +v 2.077283 -2.649083 0.931537 +v 2.545190 -2.701106 0.359552 +v 2.571250 -2.545139 0.021491 +v 2.077283 -2.831112 0.385563 +f 460 459 462 +f 452 453 454 +f 453 452 456 +f 456 451 457 +f 457 455 458 +f 453 456 458 +f 456 457 458 +f 456 452 459 +f 451 456 459 +f 452 454 460 +f 454 451 460 +f 451 459 460 +f 454 453 461 +f 451 454 461 +f 457 451 461 +f 455 457 461 +f 458 455 461 +f 453 458 461 +f 459 452 462 +f 452 460 462 +o convex_35 +v -0.314939 1.146942 -0.862516 +v -0.990930 -0.360692 -0.628561 +v -0.834902 -0.360692 -0.706558 +v -0.392954 -0.360692 -0.680583 +v -0.782959 1.146942 -0.602551 +v -0.600925 1.146942 -0.940513 +v -0.314939 -0.282624 -0.784555 +v -0.470968 0.834819 -0.680583 +v -0.366949 1.120673 -0.966559 +v -0.860907 1.016780 -0.628561 +v -0.912850 -0.360692 -0.602551 +v -0.314939 1.068727 -0.810566 +v -0.470968 1.120673 -0.966559 +v -0.314939 -0.100663 -0.732605 +f 474 470 476 +f 464 465 466 +f 465 464 468 +f 467 463 468 +f 466 465 469 +f 467 466 470 +f 468 463 471 +f 463 469 471 +f 464 467 472 +f 468 464 472 +f 467 468 472 +f 464 466 473 +f 466 467 473 +f 467 464 473 +f 463 467 474 +f 469 463 474 +f 467 470 474 +f 465 468 475 +f 469 465 475 +f 468 471 475 +f 471 469 475 +f 466 469 476 +f 470 466 476 +f 469 474 476 +o convex_36 +v 1.739218 -1.972990 1.321557 +v 2.545129 -1.375100 0.957579 +v 2.519118 -1.401119 0.983601 +v 1.713207 -1.375100 1.243533 +v 2.623253 -1.842894 1.165549 +v 2.467095 -1.999070 1.087566 +v 2.493195 -1.401119 0.905536 +v 1.713207 -1.999070 1.269514 +v 2.077279 -1.894994 1.321557 +v 1.739218 -1.375100 1.191530 +v 1.739218 -1.401119 1.269514 +v 2.545129 -1.999070 1.139528 +f 481 485 488 +f 478 479 481 +f 478 481 483 +f 477 480 484 +f 483 482 484 +f 480 478 486 +f 478 483 486 +f 484 480 486 +f 483 484 486 +f 479 478 487 +f 478 480 487 +f 480 477 487 +f 481 479 487 +f 477 485 487 +f 485 481 487 +f 483 481 488 +f 482 483 488 +f 477 484 488 +f 484 482 488 +f 485 477 488 +o convex_37 +v -0.470904 1.745249 -2.058548 +v -0.496913 1.641262 -2.266625 +v -0.470904 1.641262 -2.266625 +v -0.548900 2.395079 -2.266625 +v -0.574899 1.745249 -1.200571 +v -0.522902 2.395079 -1.200571 +v -0.522902 1.641262 -1.200571 +v -0.548900 1.927246 -2.266625 +v -0.522902 2.395079 -2.266625 +v -0.548900 2.395079 -1.200571 +v -0.548900 1.641262 -1.694779 +f 493 496 499 +f 491 490 492 +f 494 493 495 +f 491 489 495 +f 490 491 495 +f 489 494 495 +f 492 490 496 +f 493 492 496 +f 489 491 497 +f 491 492 497 +f 494 489 497 +f 492 494 497 +f 492 493 498 +f 494 492 498 +f 493 494 498 +f 495 493 499 +f 490 495 499 +f 496 490 499 +o convex_38 +v -0.938925 1.641025 0.489507 +v -0.834951 1.147089 -0.628542 +v -0.834951 1.251166 -0.628542 +v -0.860926 1.745041 0.541441 +v -0.938925 1.147089 0.801531 +v -0.990930 1.147089 0.203381 +v -0.860926 1.771060 -0.498497 +v -0.808921 1.147089 -0.550431 +v -0.808921 1.771060 -0.550431 +v -0.912896 1.147089 -0.498497 +v -0.912896 1.771060 0.801531 +v -0.886956 1.537010 0.801531 +v -0.964901 1.329162 0.801531 +v -0.912896 1.719022 -0.030392 +f 510 506 513 +f 501 504 505 +f 501 502 507 +f 504 501 507 +f 502 506 508 +f 507 502 508 +f 503 507 508 +f 502 501 509 +f 501 505 509 +f 506 502 509 +f 505 506 509 +f 508 506 510 +f 503 508 510 +f 507 503 511 +f 504 507 511 +f 503 510 511 +f 510 504 511 +f 505 504 512 +f 500 505 512 +f 504 510 512 +f 510 500 512 +f 505 500 513 +f 506 505 513 +f 500 510 513 +o convex_39 +v -0.522813 1.771060 -1.200571 +v -0.132953 1.225147 -0.940441 +v -0.132953 1.147089 -0.940441 +v -0.808855 1.719022 -0.524536 +v -0.808855 1.147089 -0.680575 +v -0.548816 1.381140 -1.200571 +v -0.132953 1.381140 -1.200571 +v -0.574820 1.771060 -0.888494 +v -0.782851 1.225147 -0.576549 +v -0.444999 1.147089 -0.992453 +v -0.574820 1.771060 -1.200571 +v -0.132953 1.355181 -0.992453 +v -0.782851 1.771060 -0.524536 +v -0.808855 1.771060 -0.602622 +f 517 526 527 +f 519 514 520 +f 515 516 520 +f 517 518 522 +f 518 516 522 +f 516 518 523 +f 518 519 523 +f 519 520 523 +f 520 516 523 +f 519 518 524 +f 514 519 524 +f 521 514 524 +f 520 514 525 +f 515 520 525 +f 514 521 525 +f 525 521 526 +f 516 515 526 +f 522 516 526 +f 517 522 526 +f 521 524 526 +f 515 525 526 +f 526 524 527 +f 518 517 527 +f 524 518 527 +o convex_40 +v -0.964929 1.329162 0.879609 +v -0.730917 1.771060 1.321506 +v -0.730917 1.771060 1.243479 +v -0.730917 1.147089 1.295497 +v -0.964929 1.147089 1.113486 +v -0.886887 1.771060 0.801582 +v -0.886887 1.771060 1.139495 +v -0.938908 1.147089 0.801582 +v -0.808959 1.381140 1.321506 +v -0.860888 1.745041 0.827591 +f 535 533 537 +f 530 529 531 +f 529 530 533 +f 533 528 534 +f 528 532 534 +f 529 533 534 +f 532 528 535 +f 531 532 535 +f 528 533 535 +f 531 529 536 +f 532 531 536 +f 534 532 536 +f 529 534 536 +f 530 531 537 +f 533 530 537 +f 531 535 537 +o convex_41 +v -0.158924 1.329223 1.191551 +v 0.751071 1.771060 1.269534 +v 0.751071 1.147089 1.269534 +v -0.730917 1.147089 1.321557 +v -0.730917 1.771060 1.295546 +v 0.360990 1.771060 1.321557 +v -0.314870 1.771060 1.217562 +v 0.620948 1.147089 1.217562 +v 0.751071 1.771060 1.243574 +v -0.314870 1.147089 1.217562 +v 0.360990 1.433178 1.321557 +v -0.730917 1.771060 1.321557 +v -0.184891 1.562968 1.191551 +f 538 547 550 +f 539 542 543 +f 540 539 543 +f 542 539 544 +f 540 541 545 +f 539 540 546 +f 544 539 546 +f 540 545 546 +f 541 542 547 +f 538 545 547 +f 545 541 547 +f 541 540 548 +f 540 543 548 +f 543 541 548 +f 542 541 549 +f 543 542 549 +f 541 543 549 +f 542 544 550 +f 545 538 550 +f 544 546 550 +f 546 545 550 +f 547 542 550 +o convex_42 +v 1.037172 1.329162 0.255238 +v 0.803161 1.147089 -0.706546 +v 0.803161 1.251166 -0.706546 +v 0.907201 1.615006 0.749528 +v 0.907201 1.771060 -0.498454 +v 0.985152 1.147089 0.749528 +v 0.985152 1.147089 -0.498454 +v 0.803161 1.771060 -0.654523 +v 0.933132 1.771060 0.749528 +v 1.037172 1.147089 0.723445 +v 0.959130 1.771060 0.073229 +v 0.985152 1.355181 -0.446431 +v 0.881203 1.251166 -0.680463 +f 555 562 563 +f 554 552 556 +f 556 552 557 +f 553 552 558 +f 552 554 558 +f 554 556 559 +f 558 554 559 +f 555 558 559 +f 557 551 560 +f 556 557 560 +f 551 559 560 +f 559 556 560 +f 559 551 561 +f 555 559 561 +f 551 557 562 +f 561 551 562 +f 555 561 562 +f 552 553 563 +f 557 552 563 +f 553 558 563 +f 558 555 563 +f 562 557 563 +o convex_43 +v -0.080851 1.979050 -4.554605 +v 0.335073 1.823236 -3.332814 +v 0.309054 1.823236 -3.332814 +v 0.335073 2.187142 -4.060790 +v -0.314833 1.771162 -3.384745 +v -0.314833 2.187142 -4.294681 +v 0.257016 1.745201 -3.826764 +v -0.184801 1.745201 -4.138754 +v -0.106807 1.667116 -3.332814 +v -0.028813 2.135017 -4.710668 +v 0.335073 2.083096 -4.216717 +v -0.314833 1.771162 -3.956928 +v -0.054832 1.745201 -4.216717 +v -0.314833 2.109108 -4.398678 +v 0.335073 1.745201 -3.332814 +v -0.028813 2.187142 -4.658602 +v -0.262794 1.693178 -3.332814 +f 575 571 580 +f 566 565 567 +f 566 567 568 +f 568 567 569 +f 565 566 572 +f 567 565 574 +f 568 569 575 +f 571 564 576 +f 570 572 576 +f 572 571 576 +f 564 573 576 +f 574 570 576 +f 573 574 576 +f 564 571 577 +f 573 564 577 +f 575 569 577 +f 571 575 577 +f 565 572 578 +f 572 570 578 +f 574 565 578 +f 570 574 578 +f 569 567 579 +f 567 574 579 +f 574 573 579 +f 573 577 579 +f 577 569 579 +f 566 568 580 +f 572 566 580 +f 571 572 580 +f 568 575 580 +o convex_44 +v 0.881130 1.771120 0.775639 +v 0.699208 2.343048 1.269554 +v 0.725178 2.525032 1.165468 +v 1.011113 1.225168 1.035474 +v 0.751181 1.147089 1.243495 +v 0.673172 2.628937 1.009567 +v 0.985110 1.147089 0.749630 +v 0.777151 2.628937 1.009567 +v 0.881130 1.147089 1.243495 +v 0.933136 1.771120 0.749630 +v 0.673172 2.031183 1.269554 +f 585 589 591 +f 583 582 584 +f 582 583 586 +f 581 585 586 +f 585 581 587 +f 583 584 588 +f 586 583 588 +f 584 582 589 +f 587 584 589 +f 585 587 589 +f 581 586 590 +f 587 581 590 +f 584 587 590 +f 588 584 590 +f 586 588 590 +f 582 586 591 +f 586 585 591 +f 589 582 591 +o convex_45 +v -0.886925 1.979203 0.983581 +v -0.288999 2.239145 1.399561 +v -0.288999 2.239145 1.321504 +v -0.028882 1.771121 1.243528 +v -0.756908 1.771121 1.321504 +v -0.834851 2.239145 0.983581 +v -0.730871 2.239145 1.321504 +v -0.860888 1.771121 0.983581 +v -0.132945 1.875162 1.399561 +v -0.028882 1.901184 1.243528 +v -0.886925 1.797189 1.139614 +v -0.860888 2.187056 1.113595 +f 602 598 603 +f 593 594 597 +f 596 593 598 +f 593 597 598 +f 595 596 599 +f 597 595 599 +f 592 597 599 +f 596 595 600 +f 593 596 600 +f 594 593 601 +f 597 594 601 +f 595 597 601 +f 593 600 601 +f 600 595 601 +f 596 598 602 +f 592 599 602 +f 599 596 602 +f 597 592 603 +f 598 597 603 +f 592 602 603 +o convex_46 +v 0.803008 1.823144 1.243507 +v 0.829024 1.901128 1.009541 +v 0.829024 2.031134 1.009541 +v -0.028698 1.771121 1.243507 +v 0.309242 2.031134 1.399485 +v 0.309242 1.771121 1.399485 +v 0.906983 1.771121 1.009541 +v -0.028698 1.927114 1.269504 +v 0.751066 2.031134 1.269504 +v -0.002773 1.849130 1.399485 +f 608 611 613 +f 606 605 607 +f 605 606 610 +f 607 605 610 +f 604 609 610 +f 609 607 610 +f 606 607 611 +f 608 606 611 +f 606 608 612 +f 609 604 612 +f 608 609 612 +f 604 610 612 +f 610 606 612 +f 607 609 613 +f 609 608 613 +f 611 607 613 +o convex_47 +v -2.004753 -1.765020 -0.706518 +v -0.549089 -1.375100 -0.654513 +v -0.601122 -1.531153 -0.628572 +v -2.004753 -1.375100 -0.550538 +v -2.056786 -1.999070 -0.550538 +v -0.549089 -1.999070 -0.654513 +v -0.913140 -1.375100 -0.732547 +v -1.459127 -1.972990 -0.706518 +v -2.394821 -1.739001 -0.576567 +v -1.692915 -1.375100 -0.680542 +v -0.549089 -1.999070 -0.628572 +v -1.978736 -1.999070 -0.654513 +v -1.121092 -1.765020 -0.732547 +v -0.757221 -1.479115 -0.732547 +v -1.874851 -1.375100 -0.550538 +f 618 624 628 +f 617 615 620 +f 618 617 622 +f 620 614 623 +f 617 620 623 +f 614 622 623 +f 622 617 623 +f 615 616 624 +f 618 619 624 +f 619 615 624 +f 619 618 625 +f 614 621 625 +f 621 619 625 +f 622 614 625 +f 618 622 625 +f 614 620 626 +f 621 614 626 +f 619 621 626 +f 615 619 627 +f 620 615 627 +f 626 620 627 +f 619 626 627 +f 616 615 628 +f 615 617 628 +f 617 618 628 +f 624 616 628 +o convex_48 +v -2.394821 -1.816944 1.113547 +v -0.470904 -1.037021 1.243551 +v -0.470904 -1.089098 1.243551 +v -2.030602 -1.842935 1.269544 +v -0.601224 -1.999070 1.139558 +v -1.796704 -1.037021 1.113547 +v -1.069209 -1.037021 1.295556 +v -0.756968 -1.375095 1.295556 +v -0.470904 -1.037021 1.191563 +v -0.549247 -1.999070 1.191563 +v -2.160734 -1.999070 1.113547 +v -1.614783 -1.999070 1.243551 +v -1.588795 -1.063107 1.217539 +v -1.277119 -1.635100 1.295556 +v -2.394821 -1.790953 1.139558 +v -1.666761 -1.037021 1.113547 +v -0.627025 -1.063107 1.295556 +f 636 638 645 +f 630 634 635 +f 630 631 637 +f 634 630 637 +f 637 631 638 +f 633 637 638 +f 629 634 639 +f 633 638 639 +f 639 638 640 +f 632 639 640 +f 632 635 641 +f 635 634 641 +f 635 632 642 +f 636 635 642 +f 638 636 642 +f 640 638 642 +f 632 640 642 +f 634 629 643 +f 629 639 643 +f 639 632 643 +f 632 641 643 +f 641 634 643 +f 637 633 644 +f 634 637 644 +f 639 634 644 +f 633 639 644 +f 631 630 645 +f 630 635 645 +f 635 636 645 +f 638 631 645 +o convex_49 +v 2.675268 -1.765020 1.113432 +v 2.909260 -1.999070 0.333507 +v 2.753323 -1.401119 0.385581 +v 2.545249 -1.999070 1.087474 +v 2.987271 -1.842955 0.437576 +v 2.571253 -1.375100 0.957447 +v 2.779197 -1.894994 1.061516 +v 2.831205 -1.375100 0.385581 +v 2.545249 -1.375100 0.853457 +v 2.727319 -1.999070 1.061516 +v 2.753323 -1.842955 1.113432 +v 2.987271 -1.946971 0.333507 +v 2.545249 -1.765020 1.139548 +f 649 656 658 +f 648 647 649 +f 648 649 654 +f 653 648 654 +f 651 653 654 +f 649 647 655 +f 655 652 656 +f 651 646 656 +f 652 650 656 +f 650 653 656 +f 653 651 656 +f 649 655 656 +f 647 648 657 +f 650 652 657 +f 648 653 657 +f 653 650 657 +f 655 647 657 +f 652 655 657 +f 646 651 658 +f 654 649 658 +f 651 654 658 +f 656 646 658 +o convex_50 +v -2.732871 -1.037021 0.281504 +v -2.213074 -1.375039 -0.472534 +v -2.524856 -1.375039 -0.342481 +v -2.784899 -1.375039 0.281504 +v -1.849167 -1.037021 -0.446479 +v -2.420896 -1.167053 -0.316500 +v -2.317130 -1.063061 0.073362 +v -2.109114 -1.375039 -0.446479 +v -2.031072 -1.037021 -0.446479 +v -2.576884 -1.348999 -0.316500 +v -2.836927 -1.323026 0.255450 +f 668 662 669 +f 661 660 662 +f 659 662 665 +f 663 659 665 +f 663 665 666 +f 662 660 666 +f 660 663 666 +f 665 662 666 +f 659 663 667 +f 663 660 667 +f 664 659 667 +f 664 667 668 +f 660 661 668 +f 661 662 668 +f 659 664 668 +f 667 660 668 +f 659 668 669 +f 662 659 669 +o convex_51 +v -2.005130 -1.089034 1.087484 +v -2.836811 -1.375039 0.281504 +v -2.836811 -1.375039 0.307567 +v -2.732917 -1.037021 0.333548 +v -2.602837 -1.348999 0.879474 +v -1.979156 -1.348999 1.087484 +v -2.316916 -1.063061 0.515577 +v -1.744969 -1.037021 1.087484 +v -2.031103 -1.037021 1.061503 +v -2.083157 -1.375039 1.113547 +v -2.550890 -1.218967 0.853411 +v -2.784864 -1.375039 0.281504 +v -2.654890 -1.037021 0.281504 +f 676 681 682 +f 671 672 673 +f 673 672 674 +f 675 676 677 +f 674 670 678 +f 677 673 678 +f 670 677 678 +f 672 671 679 +f 670 674 679 +f 674 672 679 +f 677 670 679 +f 675 677 679 +f 673 674 680 +f 674 678 680 +f 678 673 680 +f 676 675 681 +f 679 671 681 +f 675 679 681 +f 671 673 682 +f 673 677 682 +f 677 676 682 +f 681 671 682 +o convex_52 +v 2.051038 -2.727108 0.099449 +v 0.959461 -2.597157 -0.680544 +v 0.543367 -2.649143 -0.602327 +v 0.101125 -2.571122 -0.498500 +v 0.153232 -2.857114 0.307401 +v 2.024889 -2.857114 0.255388 +v 1.999122 -2.571122 -0.472493 +v 0.153232 -2.805072 0.333507 +v 0.101125 -2.753058 -0.290548 +v 1.947015 -2.623164 -0.472493 +v 2.051038 -2.805072 0.333507 +v 1.921057 -2.571122 -0.420480 +v 0.257255 -2.701101 -0.498500 +v 0.153232 -2.857114 0.203475 +v 2.051038 -2.857114 0.333507 +v 1.037526 -2.571122 -0.680544 +f 689 692 698 +f 684 685 686 +f 690 686 691 +f 687 690 691 +f 685 684 692 +f 689 688 692 +f 683 690 693 +f 683 689 694 +f 689 686 694 +f 690 683 694 +f 686 690 694 +f 686 685 695 +f 691 686 695 +f 688 691 695 +f 685 692 695 +f 692 688 695 +f 688 687 696 +f 691 688 696 +f 687 691 696 +f 687 688 697 +f 689 683 697 +f 688 689 697 +f 690 687 697 +f 683 693 697 +f 693 690 697 +f 684 686 698 +f 686 689 698 +f 692 684 698 +o convex_53 +v 0.880648 -1.946805 -0.732516 +v 1.530925 -1.037021 -0.628557 +v 1.894903 -1.375189 -0.602586 +v -0.548908 -1.999070 -0.628557 +v -0.444320 -1.037021 -0.706515 +v 0.803247 -1.037021 -0.758518 +v 2.102969 -1.999070 -0.628572 +v 1.998936 -1.790953 -0.732516 +v -0.470675 -1.037021 -0.654589 +v -0.158575 -1.999070 -0.706515 +v 2.285236 -1.842935 -0.602586 +v 0.802970 -1.635100 -0.758518 +v 1.894903 -1.999070 -0.706515 +v -0.548908 -1.868926 -0.680560 +v 1.530925 -1.037021 -0.654589 +v -0.548908 -1.764962 -0.628557 +v 2.025014 -1.999070 -0.602586 +v 2.285236 -1.790953 -0.628572 +f 706 713 716 +f 703 700 704 +f 701 700 707 +f 700 703 707 +f 705 702 708 +f 703 704 710 +f 706 699 710 +f 704 706 710 +f 708 703 710 +f 699 708 710 +f 699 706 711 +f 708 699 711 +f 705 708 711 +f 707 703 712 +f 708 702 712 +f 703 708 712 +f 700 701 713 +f 704 700 713 +f 706 704 713 +f 702 701 714 +f 701 707 714 +f 712 702 714 +f 707 712 714 +f 701 702 715 +f 702 705 715 +f 709 701 715 +f 705 709 715 +f 701 709 716 +f 709 705 716 +f 711 706 716 +f 705 711 716 +f 713 701 716 +o convex_54 +v 2.545033 -1.245007 -0.238486 +v 1.479195 -1.063061 -0.628542 +v 1.479195 -1.037021 -0.628542 +v 2.493117 -1.037021 0.333507 +v 2.779045 -1.375039 0.333507 +v 1.765383 -1.375039 -0.628542 +v 1.999394 -1.037021 -0.472407 +v 2.571121 -1.375039 -0.290469 +v 2.727129 -1.089034 0.307422 +v 1.583417 -1.193093 -0.602456 +v 1.947349 -1.348999 -0.602456 +v 2.233147 -1.063061 0.099493 +v 2.805132 -1.348999 0.255439 +f 717 725 729 +f 718 719 722 +f 719 720 723 +f 723 717 724 +f 721 722 724 +f 720 721 725 +f 723 720 725 +f 717 723 725 +f 718 722 726 +f 722 721 726 +f 722 719 727 +f 719 723 727 +f 723 724 727 +f 724 722 727 +f 719 718 728 +f 720 719 728 +f 721 720 728 +f 718 726 728 +f 726 721 728 +f 724 717 729 +f 721 724 729 +f 725 721 729 +o convex_55 +v 2.675118 -1.296934 0.671728 +v 1.895409 -0.829090 0.307506 +v 1.817273 -1.244976 1.113404 +v 1.609334 -0.803111 1.061524 +v 2.779088 -1.375039 0.333568 +v 2.701206 -1.063068 0.359549 +v 2.571021 -1.348948 0.931456 +v 1.973418 -1.375039 1.113404 +v 1.609207 -1.063068 1.139548 +v 1.973418 -0.803111 0.359549 +v 2.077515 -1.323025 1.139548 +v 2.571021 -1.244976 0.827451 +v 1.531325 -0.803111 1.035461 +v 1.973418 -1.063068 1.087423 +v 2.545061 -1.010998 0.307506 +v 2.831136 -1.375039 0.359549 +f 736 737 745 +f 732 731 737 +f 731 734 737 +f 731 732 738 +f 732 737 738 +f 733 735 739 +f 737 736 740 +f 738 737 740 +f 735 733 741 +f 730 735 741 +f 736 730 741 +f 731 738 742 +f 738 733 742 +f 739 731 742 +f 733 739 742 +f 733 738 743 +f 740 736 743 +f 738 740 743 +f 741 733 743 +f 736 741 743 +f 734 731 744 +f 735 734 744 +f 731 739 744 +f 739 735 744 +f 734 735 745 +f 735 730 745 +f 730 736 745 +f 737 734 745 +o convex_56 +v 1.193017 -1.375039 1.269554 +v 1.660919 -1.037021 1.165559 +v 1.738862 -1.089034 1.165559 +v -0.470904 -1.375039 1.191571 +v -0.470904 -1.037021 1.243543 +v 2.025223 -1.375039 1.139548 +v 1.010988 -1.037021 1.269554 +v -0.470904 -1.063061 1.191571 +v 1.505033 -1.037021 1.139548 +v 1.765006 -1.348999 1.243543 +v -0.366817 -1.375039 1.243543 +v 0.465388 -1.375039 1.269554 +f 750 756 757 +f 747 748 751 +f 746 749 751 +f 747 750 752 +f 749 750 753 +f 750 747 754 +f 747 751 754 +f 751 749 754 +f 749 753 754 +f 753 750 754 +f 748 747 755 +f 746 751 755 +f 751 748 755 +f 752 746 755 +f 747 752 755 +f 749 746 756 +f 750 749 756 +f 746 752 757 +f 752 750 757 +f 756 746 757 +o convex_57 +v -0.029357 -2.701075 0.957559 +v 0.152939 -1.999215 1.243553 +v 0.152939 -2.207059 1.243553 +v -1.770970 -1.999215 1.217531 +v -0.964759 -2.545106 1.139497 +v -1.770970 -2.571009 0.931537 +v -0.601107 -1.999215 1.139558 +v 0.152939 -2.623022 0.931537 +v -1.744416 -2.571009 1.035563 +v 0.152939 -2.623022 1.061554 +v -1.614474 -2.129143 1.217531 +v -1.770970 -2.025187 1.165519 +v 0.152939 -1.999215 1.217531 +v -0.679072 -2.571009 0.931537 +f 764 765 771 +f 760 759 761 +f 761 759 764 +f 759 760 765 +f 758 763 765 +f 758 762 766 +f 763 758 766 +f 761 763 766 +f 762 758 767 +f 760 762 767 +f 758 765 767 +f 765 760 767 +f 760 761 768 +f 762 760 768 +f 766 762 768 +f 761 766 768 +f 763 761 769 +f 761 764 769 +f 764 763 769 +f 764 759 770 +f 765 764 770 +f 759 765 770 +f 763 764 771 +f 765 763 771 +o convex_58 +v -0.392801 -1.999070 1.217572 +v 1.713207 -1.375100 1.243561 +v 1.713207 -1.401119 1.269534 +v -0.548908 -1.375100 1.217572 +v 1.687078 -1.894994 1.321542 +v 0.985150 -1.999070 1.191568 +v -0.548908 -1.505134 1.165580 +v 1.713207 -1.375100 1.217572 +v -0.366894 -1.375100 1.243561 +v 1.713207 -1.999070 1.269534 +v -0.548908 -1.999070 1.165580 +v 1.140814 -1.453096 1.295538 +v -0.132622 -1.999070 1.243561 +v 0.829042 -1.375100 1.191568 +v 1.557100 -1.687085 1.321542 +f 784 776 786 +f 773 774 779 +f 775 773 779 +f 774 773 780 +f 773 775 780 +f 775 772 780 +f 774 776 781 +f 772 777 781 +f 777 779 781 +f 779 774 781 +f 772 775 782 +f 777 772 782 +f 775 778 782 +f 778 777 782 +f 774 780 783 +f 780 772 784 +f 772 781 784 +f 781 776 784 +f 778 775 785 +f 777 778 785 +f 779 777 785 +f 775 779 785 +f 776 774 786 +f 774 783 786 +f 783 780 786 +f 780 784 786 +o convex_59 +v 1.999221 -2.596956 -0.472498 +v 2.701127 -1.999134 -0.342466 +v 2.831182 -1.999282 0.021425 +v 1.999221 -1.999134 -0.602530 +v 1.999303 -2.726911 0.021425 +v 2.675149 -2.492977 -0.004581 +v 2.701127 -2.051234 -0.368539 +v 2.051341 -2.025184 -0.654543 +v 2.103379 -2.596956 -0.446492 +v 2.597051 -2.388999 -0.264513 +v 2.779144 -1.999282 0.021425 +v 2.077319 -2.752961 0.021425 +f 795 792 798 +f 790 787 791 +f 788 789 793 +f 789 792 793 +f 790 788 794 +f 787 790 794 +f 788 793 794 +f 794 793 795 +f 787 794 795 +f 792 795 796 +f 793 792 796 +f 795 793 796 +f 789 788 797 +f 788 790 797 +f 790 791 797 +f 791 789 797 +f 791 787 798 +f 789 791 798 +f 792 789 798 +f 787 795 798 +o convex_60 +v 2.753318 -1.999136 0.931537 +v 2.571250 -2.675105 0.307618 +v 2.623324 -2.675105 0.307618 +v 2.779202 -1.999136 0.021491 +v 2.961270 -2.025140 0.385563 +v 2.779202 -2.623031 0.359552 +v 2.571250 -2.259175 0.931537 +v 2.571250 -2.493011 0.021491 +v 2.701282 -2.467008 0.021491 +v 2.597325 -2.467008 0.827491 +v 2.701282 -1.999136 0.879514 +v 2.831238 -2.051144 0.021491 +f 804 807 810 +f 802 799 803 +f 803 799 804 +f 801 800 806 +f 800 805 806 +f 805 802 806 +f 804 801 807 +f 801 806 807 +f 806 802 807 +f 800 801 808 +f 804 799 808 +f 801 804 808 +f 805 800 808 +f 799 805 808 +f 799 802 809 +f 802 805 809 +f 805 799 809 +f 802 803 810 +f 803 804 810 +f 807 802 810 +o convex_61 +v -1.979145 -2.701025 0.671392 +v -2.576902 -1.999241 0.931537 +v -2.524876 -2.025195 0.931537 +v -2.862866 -1.999241 0.255702 +v -2.706877 -2.545064 0.307638 +v -1.953223 -2.779045 0.255702 +v -2.265109 -2.493077 0.905404 +v -2.654851 -2.051228 0.931537 +v -1.953223 -2.571097 0.931537 +v -2.421097 -2.103215 0.905404 +v -2.680864 -2.571097 0.255702 +v -2.550889 -2.389103 0.775397 +v -2.888879 -2.025195 0.333639 +v -2.031172 -2.805078 0.281637 +v -1.953223 -2.753012 0.281637 +v -2.031172 -2.623084 0.879402 +f 821 824 826 +f 812 813 814 +f 813 812 818 +f 811 816 819 +f 818 817 819 +f 813 818 819 +f 814 813 820 +f 813 819 820 +f 814 816 821 +f 815 817 822 +f 818 815 822 +f 817 818 822 +f 812 814 823 +f 815 818 823 +f 818 812 823 +f 821 815 823 +f 814 821 823 +f 816 811 824 +f 821 816 824 +f 816 814 825 +f 819 816 825 +f 814 820 825 +f 820 819 825 +f 817 815 826 +f 811 819 826 +f 819 817 826 +f 815 821 826 +f 824 811 826 +o convex_62 +v 2.051224 -2.259140 1.191510 +v 2.753122 -1.999070 0.957574 +v 2.753122 -1.999070 0.931603 +v 2.103308 -2.623041 0.957574 +v 2.077335 -1.999070 1.191510 +v 2.675133 -2.025151 1.087593 +v 2.051224 -2.571003 0.931603 +v 2.467141 -2.466987 0.957574 +v 2.077335 -2.597022 1.061590 +v 2.051224 -1.999070 1.269554 +f 831 833 836 +f 828 829 831 +f 831 829 833 +f 829 828 834 +f 828 832 834 +f 833 829 834 +f 830 833 834 +f 832 827 835 +f 833 830 835 +f 827 833 835 +f 830 834 835 +f 834 832 835 +f 828 831 836 +f 832 828 836 +f 827 832 836 +f 833 827 836 +o convex_63 +v -2.005038 -1.375100 1.113547 +v -2.576955 -1.999070 0.931568 +v -2.524942 -1.999070 0.931568 +v -2.524942 -1.375100 0.853533 +v -2.524942 -1.765020 1.087535 +v -2.109064 -1.999070 1.087535 +v -2.576955 -1.375100 0.905556 +v -2.239068 -1.999070 1.113547 +v -2.109064 -1.375100 1.113547 +f 841 844 845 +f 839 838 840 +f 838 839 842 +f 839 840 842 +f 840 837 842 +f 840 838 843 +f 837 840 843 +f 838 841 843 +f 841 838 844 +f 838 842 844 +f 842 837 844 +f 837 843 845 +f 843 841 845 +f 844 837 845 +o convex_64 +v -2.135116 -2.519018 0.931538 +v -1.771138 -1.999129 1.217496 +v -1.771138 -1.999129 1.191518 +v -2.629014 -1.999129 0.957572 +v -1.771138 -2.570995 0.931538 +v -2.005111 -2.493029 1.035563 +v -2.498925 -1.999129 0.931538 +v -2.031062 -2.051165 1.191518 +v -1.771138 -2.545006 1.035563 +f 847 853 854 +f 847 848 849 +f 848 847 850 +f 849 846 851 +f 849 848 852 +f 846 849 852 +f 850 846 852 +f 848 850 852 +f 847 849 853 +f 849 851 853 +f 853 851 854 +f 846 850 854 +f 850 847 854 +f 851 846 854 +o convex_65 +v -0.392915 2.369025 -3.982475 +v -0.340941 1.641135 -2.682857 +v -0.314896 1.641135 -2.682857 +v -0.522886 2.395153 -2.266625 +v -0.470889 1.797164 -3.644377 +v -0.496842 1.641135 -2.266625 +v -0.314896 2.395153 -3.982475 +v -0.314896 1.771110 -3.930317 +v -0.548908 2.317064 -2.994980 +v -0.444890 2.161035 -4.242646 +v -0.314896 1.667189 -2.475050 +v -0.548908 1.953193 -2.370941 +v -0.314896 2.187089 -4.372732 +v -0.314896 2.395153 -3.878572 +v -0.548908 2.395153 -2.682651 +v -0.470889 2.213069 -4.112561 +v -0.496888 2.395153 -2.396710 +f 865 868 871 +f 856 857 860 +f 857 856 862 +f 856 860 862 +f 860 859 862 +f 861 857 862 +f 862 859 864 +f 860 857 865 +f 858 860 865 +f 857 861 865 +f 859 860 866 +f 860 858 866 +f 863 859 866 +f 855 861 867 +f 861 862 867 +f 864 855 867 +f 862 864 867 +f 861 858 868 +f 865 861 868 +f 858 861 869 +f 861 855 869 +f 866 858 869 +f 863 866 869 +f 859 863 870 +f 855 864 870 +f 864 859 870 +f 869 855 870 +f 863 869 870 +f 858 865 871 +f 868 858 871 +o convex_66 +v 2.051038 -2.571137 1.035474 +v 0.153128 -2.831077 0.333507 +v 0.153128 -2.831077 0.359618 +v 2.025029 -2.857081 0.333507 +v 0.153128 -2.649149 1.035474 +v 0.647298 -2.545134 0.905470 +v 2.051038 -2.779069 0.359618 +v 1.999020 -2.649149 1.009432 +v 0.153128 -2.753065 0.385591 +v 1.270955 -2.519130 1.009432 +v 0.153128 -2.597141 1.035474 +v 1.764940 -2.857081 0.359618 +f 879 876 883 +f 873 874 876 +f 875 873 878 +f 872 875 878 +f 875 872 879 +f 872 876 879 +f 873 876 880 +f 878 873 880 +f 877 878 880 +f 872 878 881 +f 878 877 881 +f 876 872 882 +f 880 876 882 +f 877 880 882 +f 872 881 882 +f 881 877 882 +f 874 873 883 +f 873 875 883 +f 876 874 883 +f 875 879 883 +o convex_67 +v -0.262794 1.693127 -3.332679 +v 0.335073 1.667136 -1.538649 +v 0.257079 1.667136 -1.460584 +v 0.335073 1.797122 -3.020602 +v 0.257079 1.719118 -3.332679 +v -0.314833 1.745110 -3.124322 +v -0.314833 1.641114 -2.760569 +v 0.309054 1.745110 -1.824704 +v 0.335073 1.641114 -1.642736 +v -0.132826 1.641114 -3.020602 +v -0.314833 1.667136 -2.500535 +v 0.335073 1.797122 -3.332679 +v 0.231060 1.641114 -1.460584 +f 894 890 896 +f 889 884 890 +f 886 885 891 +f 885 887 891 +f 887 889 891 +f 887 885 892 +f 892 890 893 +f 884 888 893 +f 890 884 893 +f 888 892 893 +f 889 890 894 +f 886 891 894 +f 891 889 894 +f 888 884 895 +f 884 889 895 +f 889 887 895 +f 887 892 895 +f 892 888 895 +f 885 886 896 +f 892 885 896 +f 890 892 896 +f 886 894 896 +o convex_68 +v 0.361156 2.187089 -4.190509 +v 0.465126 1.641114 -1.902716 +v 0.335137 1.745168 -3.046481 +v 0.335137 1.667195 -1.538588 +v 0.491129 2.187089 -2.786690 +v 0.335137 2.187089 -3.852596 +v 0.491129 1.771195 -2.397133 +v 0.361156 1.771195 -3.358179 +v 0.491129 1.667195 -1.721045 +v 0.491129 2.135089 -3.150555 +v 0.361156 2.083089 -4.190509 +v 0.465126 2.187089 -2.786690 +f 901 902 908 +f 899 898 900 +f 899 900 902 +f 901 897 902 +f 898 899 904 +f 903 898 904 +f 900 898 905 +f 901 900 905 +f 898 903 905 +f 903 901 905 +f 897 901 906 +f 901 903 906 +f 902 897 907 +f 899 902 907 +f 904 899 907 +f 903 904 907 +f 897 906 907 +f 906 903 907 +f 900 901 908 +f 902 900 908 +o convex_69 +v 0.621139 2.109062 -1.486781 +v 0.491157 1.641114 -1.928862 +v 0.491157 1.667195 -2.032832 +v 0.543163 2.187089 -1.434880 +v 0.491157 2.187089 -2.916658 +v 0.595130 1.641114 -1.538850 +v 0.569133 1.641114 -1.200907 +v 0.517166 2.135089 -2.916658 +v 0.621139 2.161062 -1.200907 +v 0.543163 2.187089 -2.708383 +v 0.491157 1.667195 -1.772824 +v 0.621139 1.719195 -1.226773 +v 0.491157 2.187089 -2.552344 +f 913 919 921 +f 911 910 913 +f 910 911 914 +f 910 914 915 +f 911 913 916 +f 914 911 916 +f 912 915 917 +f 913 912 918 +f 916 913 918 +f 914 916 918 +f 912 917 918 +f 917 909 918 +f 913 910 919 +f 910 915 919 +f 915 912 919 +f 915 914 920 +f 909 917 920 +f 917 915 920 +f 918 909 920 +f 914 918 920 +f 912 913 921 +f 919 912 921 +o convex_70 +v -0.080859 2.213202 -4.632745 +v 0.283134 2.499127 -3.332806 +v 0.231093 2.525106 -3.332806 +v -0.314896 2.473108 -3.384850 +v -0.080859 2.525106 -4.242610 +v 0.283134 2.187183 -4.138524 +v -0.314896 2.187183 -4.242610 +v -0.106850 2.603123 -3.332806 +v -0.314896 2.473108 -3.904901 +v 0.283134 2.421111 -3.878816 +v 0.257084 2.213202 -4.268569 +v 0.257084 2.447130 -3.358891 +v -0.028877 2.525106 -4.242610 +v -0.314896 2.213202 -4.346570 +v -0.028877 2.187183 -4.632745 +v -0.002885 2.603123 -3.488809 +f 934 926 937 +f 923 924 929 +f 925 923 929 +f 929 926 930 +f 928 925 930 +f 925 929 930 +f 923 927 931 +f 931 927 932 +f 923 925 933 +f 927 923 933 +f 925 928 933 +f 928 927 933 +f 924 923 934 +f 922 926 934 +f 923 931 934 +f 931 932 934 +f 926 922 935 +f 930 926 935 +f 928 930 935 +f 927 928 936 +f 932 927 936 +f 922 934 936 +f 934 932 936 +f 935 922 936 +f 928 935 936 +f 929 924 937 +f 926 929 937 +f 924 934 937 +o convex_71 +v 0.543137 2.395107 -1.461042 +v 0.283134 2.187175 -4.190430 +v 0.283134 2.213179 -4.190430 +v 0.283134 2.525126 -2.942216 +v 0.543137 2.187175 -1.279005 +v 0.543137 2.213179 -2.579020 +v 0.413151 2.525126 -2.760472 +v 0.465133 2.525126 -1.200571 +v 0.335147 2.265187 -4.086241 +v 0.595150 2.187175 -1.200571 +v 0.309156 2.473119 -3.566177 +v 0.517146 2.499123 -1.357147 +v 0.361169 2.187175 -4.086241 +v 0.283134 2.499123 -2.942216 +f 942 945 951 +f 940 939 941 +f 944 941 945 +f 944 943 946 +f 942 939 947 +f 943 938 947 +f 945 942 947 +f 940 941 948 +f 941 944 948 +f 946 940 948 +f 944 946 948 +f 938 943 949 +f 943 944 949 +f 944 945 949 +f 947 938 949 +f 945 947 949 +f 939 940 950 +f 940 946 950 +f 946 943 950 +f 947 939 950 +f 943 947 950 +f 941 939 951 +f 939 942 951 +f 945 941 951 +o convex_72 +v -0.002880 2.655145 -2.916526 +v 0.491145 2.603161 -1.200571 +v 0.491145 2.525169 -1.200571 +v -0.002880 2.733137 -1.200571 +v 0.205107 2.473185 -3.332679 +v 0.387127 2.551204 -2.838262 +v 0.075169 2.759171 -1.226867 +v -0.002880 2.551204 -3.280295 +v 0.049153 2.603189 -3.306383 +v 0.283109 2.473185 -3.332679 +v 0.465080 2.525169 -1.200571 +v 0.361158 2.577182 -2.734328 +v -0.002880 2.707102 -1.330593 +v 0.023136 2.681096 -2.682570 +f 963 960 965 +f 954 953 955 +f 953 954 957 +f 955 953 958 +f 955 952 959 +f 956 959 960 +f 959 952 960 +f 954 956 961 +f 957 954 961 +f 956 960 961 +f 960 957 961 +f 954 955 962 +f 956 954 962 +f 959 956 962 +f 953 957 963 +f 958 953 963 +f 957 960 963 +f 955 959 964 +f 962 955 964 +f 959 962 964 +f 952 955 965 +f 955 958 965 +f 960 952 965 +f 958 963 965 +o convex_73 +v -0.028788 1.147133 -0.862615 +v 0.205179 1.589069 -1.174508 +v 0.205179 1.589069 -1.200571 +v 0.569149 1.147133 -0.914577 +v -0.132818 1.355143 -1.200571 +v 0.127190 1.511065 -0.940558 +v 0.569149 1.511065 -1.200571 +v 0.569149 1.433061 -0.940558 +v 0.387061 1.173134 -0.784550 +v 0.335045 1.355143 -1.200571 +v -0.132818 1.147133 -0.966620 +v -0.132818 1.355143 -0.966620 +f 970 976 977 +f 967 968 970 +f 968 967 972 +f 970 968 972 +f 967 971 973 +f 972 967 973 +f 969 972 973 +f 966 969 974 +f 971 966 974 +f 969 973 974 +f 973 971 974 +f 972 969 975 +f 970 972 975 +f 969 966 976 +f 975 969 976 +f 970 975 976 +f 967 970 977 +f 971 967 977 +f 966 971 977 +f 976 966 977 +o convex_74 +v 0.647196 1.147229 -0.940435 +v 0.803117 2.577022 -0.368529 +v 0.803117 2.577022 -0.446634 +v 0.465187 2.577022 -1.200571 +v 0.647196 2.083160 -1.174508 +v 0.907166 1.771136 -0.472697 +v 0.569149 1.147229 -0.888555 +v 0.595237 2.577022 -0.680544 +v 0.595193 1.459113 -1.200571 +v 0.803161 1.147229 -0.680626 +v 0.855120 1.849247 -0.368529 +v 0.777073 2.395043 -0.368529 +v 0.465187 2.524948 -1.096321 +v 0.517189 2.524948 -1.200571 +v 0.803161 1.147229 -0.706688 +f 987 978 992 +f 979 980 981 +f 982 980 983 +f 980 979 983 +f 979 981 985 +f 978 984 986 +f 984 981 986 +f 984 978 987 +f 983 979 988 +f 987 983 988 +f 984 987 988 +f 985 984 989 +f 979 985 989 +f 988 979 989 +f 984 988 989 +f 981 984 990 +f 985 981 990 +f 984 985 990 +f 981 980 991 +f 980 982 991 +f 986 981 991 +f 982 986 991 +f 982 983 992 +f 986 982 992 +f 978 986 992 +f 983 987 992 +o convex_75 +v -0.548964 2.629144 -1.200571 +v -0.730861 2.681167 -0.524536 +v -0.652873 2.681167 -0.680575 +v -0.548964 1.771121 -0.940441 +v -0.834884 1.771121 -0.550609 +v -0.574960 1.771121 -1.200571 +v -0.444903 2.681167 -1.174498 +v -0.756858 2.681167 -0.602622 +v -0.574960 2.577121 -1.200571 +v -0.782854 1.771121 -0.524536 +f 994 997 1002 +f 995 994 996 +f 996 997 998 +f 994 995 999 +f 995 996 999 +f 998 993 999 +f 996 998 999 +f 997 994 1000 +f 994 999 1000 +f 999 993 1000 +f 993 998 1001 +f 998 997 1001 +f 1000 993 1001 +f 997 1000 1001 +f 996 994 1002 +f 997 996 1002 +o convex_76 +v -0.886892 2.031236 0.853487 +v -0.834900 1.771121 -0.524536 +v -0.808891 1.771121 -0.524536 +v -0.730940 2.681167 -0.524536 +v -0.652939 2.655156 0.333426 +v -0.860883 1.771121 0.983540 +v -0.782933 2.681167 0.983540 +v -0.782933 2.551021 -0.524536 +v -0.886892 1.797132 -0.212322 +v -0.756949 2.577121 0.983540 +v -0.808891 2.629144 0.983540 +v -0.912926 1.849245 0.619511 +v -0.652939 2.681167 0.177687 +v -0.912926 1.771121 0.853487 +v -0.730940 2.498998 -0.524536 +f 1006 1015 1017 +f 1005 1004 1006 +f 1005 1007 1008 +f 1004 1005 1008 +f 1006 1004 1010 +f 1010 1004 1011 +f 1008 1007 1012 +f 1009 1008 1012 +f 1007 1009 1012 +f 1008 1009 1013 +f 1009 1006 1013 +f 1006 1010 1013 +f 1013 1010 1014 +f 1010 1011 1014 +f 1003 1013 1014 +f 1007 1005 1015 +f 1006 1009 1015 +f 1009 1007 1015 +f 1004 1008 1016 +f 1011 1004 1016 +f 1013 1003 1016 +f 1008 1013 1016 +f 1003 1014 1016 +f 1014 1011 1016 +f 1005 1006 1017 +f 1015 1005 1017 +o convex_77 +v -0.028882 3.071187 -0.472605 +v -0.496875 2.681167 -1.200571 +v -0.548898 2.681167 -1.096464 +v -0.028882 2.733241 -1.148482 +v -0.704896 2.681167 -0.472605 +v -0.548898 2.889119 -0.784641 +v -0.106916 2.785200 -1.174491 +v -0.028882 2.889119 -0.680605 +v -0.730907 2.785200 -0.498614 +f 1018 1023 1026 +f 1020 1019 1022 +f 1019 1021 1022 +f 1019 1020 1023 +f 1021 1019 1024 +f 1018 1021 1024 +f 1019 1023 1024 +f 1023 1018 1024 +f 1021 1018 1025 +f 1018 1022 1025 +f 1022 1021 1025 +f 1022 1018 1026 +f 1020 1022 1026 +f 1023 1020 1026 +o convex_78 +v -0.782920 2.707211 0.801531 +v -0.028882 3.071143 0.983540 +v -0.080917 3.071143 0.983540 +v -0.028882 3.071143 -0.472534 +v -0.600832 2.681253 0.281443 +v -0.678775 2.811217 -0.472534 +v -0.080917 3.123189 0.385489 +v -0.626813 2.863219 0.983540 +v -0.704903 2.681253 -0.472534 +v -0.756865 2.681253 0.983540 +v -0.054936 3.019141 0.983540 +v -0.054936 3.019141 -0.472534 +v -0.782920 2.759214 0.983540 +v -0.756865 2.707211 -0.472534 +v -0.054936 3.123189 0.047554 +f 1032 1033 1041 +f 1029 1028 1033 +f 1033 1032 1034 +f 1028 1029 1034 +f 1029 1033 1034 +f 1032 1030 1035 +f 1028 1034 1036 +f 1035 1031 1036 +f 1030 1028 1037 +f 1028 1036 1037 +f 1036 1031 1037 +f 1031 1035 1038 +f 1035 1030 1038 +f 1030 1037 1038 +f 1037 1031 1038 +f 1034 1032 1039 +f 1036 1034 1039 +f 1027 1036 1039 +f 1032 1035 1040 +f 1036 1027 1040 +f 1035 1036 1040 +f 1027 1039 1040 +f 1039 1032 1040 +f 1028 1030 1041 +f 1030 1032 1041 +f 1033 1028 1041 +o convex_79 +v -0.158988 2.889158 1.295523 +v -0.834923 2.239226 0.983573 +v -0.834923 2.239226 1.139609 +v -0.028882 2.395193 1.191567 +v -0.080956 3.071187 0.983614 +v -0.782849 2.785071 1.139609 +v -0.340931 2.239145 1.399561 +v -0.678859 2.629348 1.321502 +v -0.782849 2.759090 0.983573 +v -0.028882 2.889158 1.295523 +v -0.548753 2.837114 1.295523 +v -0.730933 2.239226 1.321543 +v -0.028882 3.019062 0.983614 +v -0.262978 2.499199 1.399561 +v -0.288936 2.239145 1.399561 +f 1051 1055 1056 +f 1043 1044 1047 +f 1044 1043 1048 +f 1043 1047 1050 +f 1047 1046 1050 +f 1046 1042 1051 +f 1042 1046 1052 +f 1046 1047 1052 +f 1047 1049 1052 +f 1047 1044 1053 +f 1044 1048 1053 +f 1048 1049 1053 +f 1049 1047 1053 +f 1045 1043 1054 +f 1043 1050 1054 +f 1050 1046 1054 +f 1046 1051 1054 +f 1051 1045 1054 +f 1049 1048 1055 +f 1051 1042 1055 +f 1042 1052 1055 +f 1052 1049 1055 +f 1043 1045 1056 +f 1048 1043 1056 +f 1045 1051 1056 +f 1055 1048 1056 +o convex_80 +v 2.701315 -1.999070 -0.212482 +v 2.831205 -1.375100 0.333507 +v 2.831205 -1.375100 0.307457 +v 2.545249 -1.375100 -0.264523 +v 2.831205 -1.790978 -0.212482 +v 2.883256 -1.999070 0.307457 +v 2.987271 -1.868975 0.281466 +v 2.597257 -1.401119 -0.056477 +v 2.753323 -1.999070 -0.264523 +v 2.597257 -1.375100 -0.264523 +v 2.779197 -1.427138 0.333507 +f 1064 1062 1067 +f 1058 1059 1060 +f 1059 1058 1063 +f 1061 1059 1063 +f 1058 1062 1063 +f 1058 1060 1064 +f 1060 1057 1064 +f 1057 1062 1064 +f 1057 1060 1065 +f 1062 1057 1065 +f 1063 1062 1065 +f 1061 1063 1065 +f 1060 1059 1066 +f 1059 1061 1066 +f 1065 1060 1066 +f 1061 1065 1066 +f 1062 1058 1067 +f 1058 1064 1067 +o convex_81 +v 0.101125 -2.545009 -0.576526 +v 1.999221 -1.999126 -0.628519 +v 1.999221 -2.051139 -0.602510 +v 1.089005 -2.571043 -0.680511 +v 1.999221 -2.571043 -0.446533 +v 0.101125 -1.999126 -0.680511 +v 1.843152 -2.025161 -0.706495 +v 0.101125 -2.259135 -0.706495 +v 0.101125 -2.519031 -0.524559 +v 1.973210 -2.519031 -0.446533 +v 1.999221 -2.571043 -0.498576 +v 0.101125 -2.571043 -0.524559 +v 0.101125 -1.999126 -0.706495 +v 0.517309 -2.389027 -0.706495 +f 1068 1075 1081 +f 1069 1070 1072 +f 1070 1069 1073 +f 1068 1073 1075 +f 1073 1068 1076 +f 1073 1076 1077 +f 1072 1070 1077 +f 1070 1073 1077 +f 1072 1071 1078 +f 1069 1072 1078 +f 1071 1074 1078 +f 1074 1069 1078 +f 1068 1071 1079 +f 1071 1072 1079 +f 1076 1068 1079 +f 1077 1076 1079 +f 1072 1077 1079 +f 1073 1069 1080 +f 1069 1074 1080 +f 1075 1073 1080 +f 1074 1075 1080 +f 1071 1068 1081 +f 1074 1071 1081 +f 1075 1074 1081 +o convex_82 +v 0.855153 2.499051 0.229588 +v 0.881131 1.771121 -0.368529 +v 0.855153 1.875190 -0.368529 +v 0.855153 1.823274 1.009541 +v 0.751158 2.447135 0.983507 +v 0.933149 1.797158 0.801266 +v 0.777177 2.577162 -0.368529 +v 0.933149 1.797158 -0.238491 +v 0.777177 2.577162 1.009541 +v 0.959128 1.823274 0.307557 +v 0.777177 2.395140 -0.368529 +v 0.803176 2.577162 -0.368529 +v 0.907130 1.901148 1.009541 +v 0.829175 2.577162 0.489258 +f 1090 1094 1095 +f 1084 1083 1085 +f 1084 1085 1086 +f 1085 1083 1087 +f 1083 1084 1088 +f 1087 1083 1089 +f 1086 1085 1090 +f 1088 1086 1090 +f 1087 1089 1091 +f 1089 1082 1091 +f 1084 1086 1092 +f 1088 1084 1092 +f 1086 1088 1092 +f 1083 1088 1093 +f 1089 1083 1093 +f 1082 1089 1093 +f 1088 1090 1093 +f 1085 1087 1094 +f 1090 1085 1094 +f 1087 1091 1094 +f 1094 1091 1095 +f 1091 1082 1095 +f 1082 1093 1095 +f 1093 1090 1095 +o convex_83 +v 0.205135 3.045119 -0.472659 +v -0.028882 2.733215 -1.200497 +v -0.028882 2.733215 -1.148466 +v 0.777159 2.577263 -0.446606 +v 0.491068 2.603221 -1.200497 +v -0.028882 3.045119 -0.446606 +v 0.777159 2.681248 -0.472659 +v 0.023192 2.785233 -1.200497 +v -0.028882 2.889116 -0.680634 +v 0.386999 2.577263 -1.148466 +v 0.075187 3.097188 -0.524615 +v 0.725085 2.577263 -0.446606 +f 1105 1099 1107 +f 1097 1098 1101 +f 1099 1096 1101 +f 1096 1099 1102 +f 1100 1096 1102 +f 1099 1100 1102 +f 1100 1097 1103 +f 1097 1101 1103 +f 1101 1098 1104 +f 1098 1097 1105 +f 1100 1099 1105 +f 1097 1100 1105 +f 1096 1100 1106 +f 1101 1096 1106 +f 1100 1103 1106 +f 1103 1101 1106 +f 1099 1101 1107 +f 1104 1098 1107 +f 1101 1104 1107 +f 1098 1105 1107 +o convex_84 +v 0.569113 2.629009 1.295500 +v -0.028813 2.395285 1.191591 +v 0.621133 2.655095 1.009541 +v -0.002768 3.097084 1.035614 +v 0.673085 2.031134 1.243507 +v 0.309217 2.473228 1.399485 +v -0.028813 2.889028 1.295500 +v 0.257265 2.057324 1.399485 +v 0.673085 2.707057 1.035614 +v -0.028813 3.019037 1.009541 +v 0.673085 2.135267 1.295500 +v 0.413120 2.031134 1.269504 +v 0.101204 2.889028 1.295500 +v 0.647109 2.629009 1.243507 +v 0.101204 3.070999 1.035614 +f 1121 1116 1122 +f 1113 1114 1115 +f 1114 1109 1115 +f 1112 1110 1116 +f 1110 1109 1117 +f 1109 1114 1117 +f 1114 1111 1117 +f 1108 1113 1118 +f 1115 1112 1118 +f 1113 1115 1118 +f 1112 1116 1118 +f 1109 1110 1119 +f 1110 1112 1119 +f 1115 1109 1119 +f 1112 1115 1119 +f 1113 1108 1120 +f 1114 1113 1120 +f 1111 1114 1120 +f 1108 1118 1121 +f 1118 1116 1121 +f 1120 1108 1121 +f 1120 1121 1122 +f 1116 1110 1122 +f 1110 1117 1122 +f 1117 1111 1122 +f 1111 1120 1122 +o convex_85 +v -0.314896 2.525169 -3.332679 +v -0.002880 2.759171 -1.200571 +v -0.184879 2.759171 -1.200571 +v -0.028902 2.629164 -3.280295 +v -0.236892 2.499158 -3.280295 +v -0.314896 2.681137 -1.226867 +v -0.314896 2.629164 -2.734328 +v -0.002880 2.707148 -1.304713 +v -0.002880 2.577192 -3.124602 +v -0.002880 2.681137 -2.786504 +v -0.314896 2.707148 -1.720658 +f 1132 1129 1133 +f 1123 1126 1127 +f 1124 1125 1128 +f 1123 1127 1128 +f 1126 1123 1129 +f 1123 1128 1129 +f 1124 1128 1130 +f 1128 1127 1130 +f 1127 1126 1131 +f 1124 1130 1131 +f 1130 1127 1131 +f 1125 1124 1132 +f 1126 1129 1132 +f 1124 1131 1132 +f 1131 1126 1132 +f 1128 1125 1133 +f 1129 1128 1133 +f 1125 1132 1133 +o convex_86 +v -2.213064 -2.467041 -0.368557 +v -1.875123 -1.999129 -0.628509 +v -1.875123 -1.999129 -0.654543 +v -2.628940 -1.999129 -0.368557 +v -1.875123 -2.545006 -0.368557 +v -1.953058 -2.545006 -0.498561 +v -2.628940 -2.051165 -0.394563 +v -2.213064 -2.051165 -0.446576 +v -1.953058 -2.025176 -0.654543 +f 1139 1140 1142 +f 1135 1136 1137 +f 1137 1134 1138 +f 1136 1135 1138 +f 1138 1134 1139 +f 1136 1138 1139 +f 1134 1137 1140 +f 1139 1134 1140 +f 1135 1137 1141 +f 1137 1138 1141 +f 1138 1135 1141 +f 1137 1136 1142 +f 1136 1139 1142 +f 1140 1137 1142 +o convex_87 +v -2.057219 -2.804875 0.229420 +v -2.602857 -1.999071 -0.290464 +v -1.874976 -2.570904 -0.290464 +v -2.524838 -2.363122 -0.290464 +v -2.836815 -1.999071 0.255503 +v -2.732889 -2.518919 0.229420 +v -1.953193 -2.778922 0.255503 +v -1.979100 -2.596936 -0.368529 +v -2.654870 -2.025181 -0.368529 +v -2.888927 -2.025260 0.203460 +v -2.680777 -2.570982 0.255503 +v -1.874976 -2.674952 -0.004592 +v -1.874976 -2.596936 -0.368529 +f 1154 1149 1155 +f 1145 1144 1147 +f 1147 1144 1151 +f 1146 1148 1151 +f 1150 1146 1151 +f 1148 1147 1152 +f 1147 1151 1152 +f 1151 1148 1152 +f 1147 1148 1153 +f 1148 1146 1153 +f 1143 1149 1153 +f 1149 1147 1153 +f 1146 1150 1153 +f 1150 1143 1153 +f 1145 1147 1154 +f 1147 1149 1154 +f 1144 1145 1155 +f 1149 1143 1155 +f 1143 1150 1155 +f 1151 1144 1155 +f 1150 1151 1155 +f 1145 1154 1155 +o convex_88 +v -1.536856 -2.467002 -0.576565 +v 0.101125 -1.999070 -0.680504 +v 0.101125 -2.622980 -0.472580 +v -1.874975 -2.025181 -0.602515 +v -0.054975 -2.285189 -0.706546 +v -1.770909 -2.025181 -0.680504 +v -1.874975 -2.544991 -0.472580 +v -0.990605 -2.519018 -0.628511 +v 0.101125 -2.701037 -0.498576 +v -0.444933 -1.999070 -0.628511 +v -1.848669 -2.441029 -0.472580 +v 0.101125 -1.999070 -0.706546 +v -1.744602 -2.544991 -0.524572 +f 1163 1164 1168 +f 1159 1161 1162 +f 1161 1160 1163 +f 1156 1161 1163 +f 1157 1158 1164 +f 1158 1162 1164 +f 1163 1160 1164 +f 1158 1157 1165 +f 1161 1159 1165 +f 1162 1158 1166 +f 1159 1162 1166 +f 1158 1165 1166 +f 1165 1159 1166 +f 1160 1161 1167 +f 1157 1164 1167 +f 1164 1160 1167 +f 1165 1157 1167 +f 1161 1165 1167 +f 1161 1156 1168 +f 1162 1161 1168 +f 1156 1163 1168 +f 1164 1162 1168 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/109/109.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/109/109.urdf new file mode 100644 index 000000000..980d5d826 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/109/109.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/110/110.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/110/110.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/110/110.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/110/110.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/110/110.obj new file mode 100644 index 000000000..915a03b84 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/110/110.obj @@ -0,0 +1,2250 @@ +o convex_0 +v 0.525533 0.429087 0.483201 +v 0.719100 0.567433 0.510860 +v 0.719100 0.567433 0.469360 +v 2.794308 0.429087 0.497026 +v 2.794308 0.442940 0.469360 +v 0.262321 0.512086 0.510860 +v 0.262321 0.512086 0.469360 +v 0.525533 0.429087 0.497026 +v 1.936020 0.470607 0.510860 +v 2.545224 0.429087 0.469360 +v 0.456136 0.567433 0.510860 +v 2.794308 0.442940 0.497026 +f 9 4 12 +f 3 2 5 +f 3 5 7 +f 1 6 7 +f 1 4 8 +f 6 1 8 +f 6 8 9 +f 2 6 9 +f 8 4 9 +f 4 1 10 +f 5 4 10 +f 1 7 10 +f 7 5 10 +f 2 3 11 +f 6 2 11 +f 3 7 11 +f 7 6 11 +f 4 5 12 +f 5 2 12 +f 2 9 12 +o convex_1 +v -3.072131 0.332174 0.386360 +v -2.961466 -0.414864 0.552376 +v -2.975325 -0.414864 0.552376 +v -2.961466 -0.539433 0.386360 +v -2.961466 0.415251 0.524685 +v -3.085990 0.346004 0.538514 +v -2.989160 -0.539433 0.524685 +v -3.058296 0.415251 0.386360 +v -2.989160 -0.497848 0.386360 +v -2.975325 -0.262635 0.386360 +v -3.085990 0.415251 0.538514 +v -2.961466 0.415251 0.538514 +v -2.989160 -0.539433 0.552376 +f 23 18 25 +f 14 16 17 +f 16 13 20 +f 13 16 21 +f 18 13 21 +f 19 18 21 +f 16 19 21 +f 17 16 22 +f 16 20 22 +f 20 17 22 +f 15 14 23 +f 13 18 23 +f 20 13 23 +f 17 20 23 +f 14 17 24 +f 23 14 24 +f 17 23 24 +f 14 15 25 +f 16 14 25 +f 18 19 25 +f 19 16 25 +f 15 23 25 +o convex_2 +v 0.248425 0.512097 -0.360762 +v -0.484823 0.512097 -0.512996 +v -0.484823 0.525939 -0.512996 +v -0.484823 0.470595 -0.111752 +v 0.262321 0.484431 -0.388452 +v 0.262321 0.484431 -0.111752 +v -0.484823 0.498267 -0.125617 +v 0.082410 0.525939 -0.499092 +v 0.262321 0.470595 -0.250161 +v 0.262321 0.498267 -0.485306 +v -0.443282 0.525939 -0.402277 +v -0.457105 0.498267 -0.429967 +v 0.262321 0.470595 -0.111752 +v -0.484823 0.470595 -0.153306 +v 0.054765 0.498267 -0.499092 +f 30 39 40 +f 28 27 29 +f 28 29 32 +f 31 26 32 +f 29 31 32 +f 27 28 33 +f 30 31 34 +f 26 31 35 +f 31 30 35 +f 33 26 35 +f 32 26 36 +f 28 32 36 +f 33 28 36 +f 26 33 36 +f 31 29 38 +f 29 34 38 +f 34 31 38 +f 29 27 39 +f 34 29 39 +f 30 34 39 +f 27 37 39 +f 39 37 40 +f 27 33 40 +f 35 30 40 +f 33 35 40 +f 37 27 40 +o convex_3 +v -2.933799 -0.331893 -0.471416 +v -2.975298 -0.539433 -0.457594 +v -2.989138 -0.525558 -0.471416 +v -2.989138 -0.331893 0.386344 +v -2.933799 -0.539433 0.386344 +v -2.989138 -0.331893 -0.485324 +v -2.989138 -0.497909 0.386344 +v -2.933799 -0.539433 -0.457594 +v -2.975298 -0.331893 0.386344 +v -2.975298 -0.539433 0.386344 +f 45 47 50 +f 43 44 46 +f 44 41 46 +f 44 43 47 +f 45 44 47 +f 42 43 48 +f 41 45 48 +f 45 42 48 +f 46 41 48 +f 43 46 48 +f 41 44 49 +f 45 41 49 +f 44 45 49 +f 43 42 50 +f 42 45 50 +f 47 43 50 +o convex_4 +v -3.002947 0.442944 -0.471480 +v -2.836961 0.525928 -0.250112 +v -2.947606 0.539775 -0.250112 +v -2.836961 0.525928 -0.596012 +v -2.836961 0.415251 -0.568316 +v -3.016787 0.415251 -0.250112 +v -2.989107 0.525928 -0.596012 +v -3.030627 0.539775 -0.250112 +v -2.989107 0.415251 -0.582164 +v -2.836961 0.512081 -0.250112 +f 56 55 60 +f 53 52 54 +f 54 52 55 +f 52 53 56 +f 53 54 57 +f 51 56 58 +f 56 53 58 +f 53 57 58 +f 57 51 58 +f 54 55 59 +f 55 56 59 +f 56 51 59 +f 57 54 59 +f 51 57 59 +f 55 52 60 +f 52 56 60 +o convex_5 +v -0.332582 0.415251 0.372466 +v -0.097453 0.470584 0.538540 +v -0.166653 0.470584 0.538540 +v -0.484823 0.484424 -0.111752 +v -0.097453 0.470584 -0.111752 +v -0.484823 0.429098 0.538540 +v -0.111293 0.429098 0.247958 +v -0.484823 0.456751 -0.014870 +v -0.318742 0.415251 0.538540 +v -0.097453 0.484424 -0.042560 +v -0.484823 0.484424 -0.001057 +v -0.484823 0.415251 0.400155 +v -0.097453 0.456751 -0.056373 +v -0.097453 0.456751 0.538540 +v -0.484823 0.470584 -0.111752 +f 73 68 75 +f 62 63 66 +f 66 64 68 +f 62 66 69 +f 61 67 69 +f 65 64 70 +f 62 65 70 +f 63 62 71 +f 66 63 71 +f 64 66 71 +f 62 70 71 +f 70 64 71 +f 68 61 72 +f 66 68 72 +f 69 66 72 +f 61 69 72 +f 65 62 73 +f 67 61 73 +f 61 68 73 +f 62 69 74 +f 69 67 74 +f 73 62 74 +f 67 73 74 +f 64 65 75 +f 68 64 75 +f 65 73 75 +o convex_6 +v 0.262311 0.470598 -0.250025 +v 0.552877 0.567447 0.469316 +v 0.552877 0.553601 0.469316 +v -0.097380 0.456777 0.524617 +v -0.097380 0.484432 -0.111687 +v 0.552877 0.525921 -0.332976 +v 0.483625 0.484456 -0.346845 +v 0.040997 0.442931 0.095820 +v -0.083504 0.484432 0.524617 +v 0.469813 0.567447 0.441493 +v -0.097380 0.442931 0.068170 +v 0.262311 0.484456 -0.360713 +v 0.552877 0.539755 0.344673 +v 0.206998 0.498266 0.524617 +v 0.511313 0.567447 0.330891 +v 0.552877 0.498278 -0.360713 +v -0.083504 0.442931 0.386279 +v 0.262311 0.498278 -0.360713 +v -0.083504 0.456777 -0.070168 +v 0.193123 0.525921 0.524617 +v 0.525125 0.525921 -0.319195 +f 81 93 96 +f 77 78 81 +f 76 82 83 +f 80 79 84 +f 79 80 86 +f 76 83 86 +f 82 76 87 +f 81 78 88 +f 83 82 88 +f 78 77 89 +f 84 79 89 +f 88 78 89 +f 77 81 90 +f 80 85 90 +f 85 77 90 +f 82 87 91 +f 81 88 91 +f 88 82 91 +f 79 86 92 +f 86 83 92 +f 83 88 92 +f 88 89 92 +f 89 79 92 +f 87 80 93 +f 81 91 93 +f 91 87 93 +f 76 86 94 +f 86 80 94 +f 80 87 94 +f 87 76 94 +f 80 84 95 +f 85 80 95 +f 77 85 95 +f 89 77 95 +f 84 89 95 +f 90 81 96 +f 80 90 96 +f 93 80 96 +o convex_7 +v 3.029474 0.359907 -0.042518 +v 3.071028 0.387587 0.510868 +v 3.071028 0.359907 0.510868 +v 2.752800 0.429080 0.496946 +v 2.752800 0.359907 0.496946 +v 2.752800 0.429080 -0.042518 +v 3.001813 0.429080 -0.028651 +v 3.015675 0.429080 0.496946 +v 3.043304 0.415240 -0.042518 +v 2.752800 0.415240 -0.042518 +v 3.071028 0.415240 0.358600 +f 99 105 107 +f 99 98 100 +f 97 99 101 +f 99 100 101 +f 101 100 102 +f 102 100 103 +f 100 98 104 +f 103 100 104 +f 99 97 105 +f 97 102 105 +f 102 103 105 +f 97 101 106 +f 102 97 106 +f 101 102 106 +f 98 99 107 +f 104 98 107 +f 103 104 107 +f 105 103 107 +o convex_8 +v 2.627844 0.442932 -0.416145 +v 0.262552 0.498257 -0.485324 +v 0.262552 0.512094 -0.485324 +v 0.262552 0.484420 -0.360812 +v 0.539283 0.429087 -0.485324 +v 0.871359 0.512094 -0.360812 +v 2.586393 0.442932 -0.457645 +v 1.576501 0.456769 -0.360812 +v 2.627844 0.429087 -0.416145 +v 0.719216 0.512094 -0.471466 +v 0.649743 0.429087 -0.457633 +v 0.262552 0.512094 -0.374658 +v 1.908809 0.429087 -0.471479 +v 1.604289 0.484420 -0.360812 +f 115 116 121 +f 110 109 111 +f 109 110 112 +f 111 109 112 +f 113 111 115 +f 114 108 116 +f 110 113 117 +f 114 110 117 +f 113 114 117 +f 111 112 118 +f 115 111 118 +f 112 116 118 +f 116 115 118 +f 110 111 119 +f 113 110 119 +f 111 113 119 +f 112 110 120 +f 110 114 120 +f 114 116 120 +f 116 112 120 +f 108 114 121 +f 114 113 121 +f 113 115 121 +f 116 108 121 +o convex_9 +v 2.102687 0.484420 0.344834 +v 1.604413 0.484420 -0.014900 +v 1.604413 0.484420 0.137355 +v 2.531311 0.429087 0.317104 +v 2.766587 0.442932 -0.014900 +v 1.618273 0.512094 0.068196 +v 1.632133 0.484420 0.469360 +v 2.794308 0.442932 0.469360 +v 1.604413 0.512094 0.469360 +v 2.517567 0.429087 -0.014900 +v 2.794308 0.429087 0.469360 +v 1.839689 0.498257 -0.014900 +v 2.545054 0.429087 0.469360 +v 2.766587 0.429087 -0.014900 +v 1.646110 0.512094 0.469360 +f 130 129 136 +f 122 126 127 +f 124 125 128 +f 126 122 129 +f 123 124 130 +f 127 123 130 +f 124 128 130 +f 128 129 130 +f 124 123 131 +f 125 124 131 +f 123 126 131 +f 129 128 132 +f 126 129 132 +f 125 131 132 +f 126 123 133 +f 123 127 133 +f 127 126 133 +f 128 125 134 +f 125 132 134 +f 132 128 134 +f 131 126 135 +f 126 132 135 +f 132 131 135 +f 122 127 136 +f 129 122 136 +f 127 130 136 +o convex_10 +v -2.933799 -0.193522 -0.513010 +v -2.975298 0.415251 -0.457652 +v -2.933799 0.373710 -0.554485 +v -2.989138 0.346065 -0.582152 +v -2.989138 -0.331893 -0.457652 +v -2.933799 -0.276530 -0.471510 +v -2.989138 -0.304175 -0.499176 +v -2.989138 0.415251 -0.457652 +v -2.933799 0.415251 -0.582152 +f 140 144 145 +f 138 141 142 +f 137 139 142 +f 139 138 142 +f 140 137 143 +f 141 140 143 +f 142 141 143 +f 137 142 143 +f 140 141 144 +f 141 138 144 +f 139 137 145 +f 138 139 145 +f 137 140 145 +f 144 138 145 +o convex_11 +v -1.259931 -0.539438 0.469352 +v -2.961466 -0.539438 0.386352 +v -2.961466 -0.539438 0.469352 +v -0.457259 -0.580934 0.427852 +v -2.200410 -0.511768 0.386352 +v -0.429598 -0.553264 0.386352 +v -2.822911 -0.511768 0.469352 +v -0.415643 -0.580934 0.469352 +v -0.443553 -0.553264 0.455516 +v -0.886132 -0.567096 0.386352 +v -2.822911 -0.511768 0.386352 +v -0.664842 -0.580934 0.469352 +v -0.761781 -0.539438 0.400188 +f 146 154 158 +f 147 150 151 +f 148 146 152 +f 147 148 152 +f 146 150 152 +f 146 148 153 +f 149 151 153 +f 153 151 154 +f 146 153 154 +f 149 147 155 +f 147 151 155 +f 151 149 155 +f 150 147 156 +f 147 152 156 +f 152 150 156 +f 148 147 157 +f 147 149 157 +f 153 148 157 +f 149 153 157 +f 150 146 158 +f 151 150 158 +f 154 151 158 +o convex_12 +v -2.961466 -0.539437 0.469360 +v -0.415643 -0.497941 0.483205 +v -0.415643 -0.497941 0.469360 +v -0.415643 -0.580941 0.483205 +v -2.961466 -0.497941 0.552368 +v -2.892188 -0.539437 0.552368 +v -2.836617 -0.511770 0.469360 +v -0.720165 -0.580941 0.469360 +v -0.720165 -0.497941 0.497043 +v -2.504683 -0.553258 0.538530 +v -2.878233 -0.497941 0.524693 +f 165 163 169 +f 161 160 162 +f 160 161 163 +f 163 159 164 +f 161 159 165 +f 159 163 165 +f 159 161 166 +f 161 162 166 +f 162 160 167 +f 160 163 167 +f 163 164 167 +f 164 162 167 +f 162 164 168 +f 164 159 168 +f 159 166 168 +f 166 162 168 +f 163 161 169 +f 161 165 169 +o convex_13 +v -0.913793 0.041679 0.510870 +v -0.415643 0.415251 0.538540 +v -0.415643 0.221553 0.538540 +v -2.961466 0.415251 0.538540 +v -2.961466 0.041679 0.538540 +v -2.961466 0.415251 0.524705 +v -0.415643 0.235376 0.510870 +v -2.961466 0.041679 0.524705 +v -0.872426 0.041679 0.538540 +v -0.415643 0.415251 0.524705 +v -0.415643 0.041679 0.510870 +v -0.415643 0.041679 0.524705 +f 180 172 181 +f 172 171 173 +f 172 173 174 +f 173 171 175 +f 174 173 175 +f 171 172 176 +f 170 175 176 +f 170 174 177 +f 175 170 177 +f 174 175 177 +f 174 170 178 +f 172 174 178 +f 175 171 179 +f 171 176 179 +f 176 175 179 +f 170 176 180 +f 176 172 180 +f 178 170 180 +f 178 180 181 +f 172 178 181 +o convex_14 +v -2.836942 0.415259 -0.568331 +v -0.484823 0.498259 -0.499160 +v -0.484823 0.484428 -0.499160 +v -0.484823 0.498259 -0.526851 +v -0.484823 0.415259 -0.526851 +v -2.408007 0.498259 -0.582168 +v -0.983059 0.415259 -0.499160 +v -2.836942 0.498259 -0.568331 +v -2.684524 0.415259 -0.582168 +v -2.753365 0.429106 -0.554493 +v -0.706312 0.498259 -0.499160 +v -0.554125 0.415259 -0.499160 +f 188 186 193 +f 183 184 185 +f 185 184 186 +f 183 185 187 +f 185 186 187 +f 184 183 188 +f 182 186 188 +f 183 187 189 +f 186 182 190 +f 187 186 190 +f 189 187 190 +f 182 189 190 +f 182 188 191 +f 189 182 191 +f 189 191 192 +f 188 183 192 +f 183 189 192 +f 191 188 192 +f 186 184 193 +f 184 188 193 +o convex_15 +v -3.085712 0.415251 0.538540 +v -3.044245 0.553611 0.524705 +v -2.753722 0.539769 0.538540 +v -0.484823 0.415251 0.510870 +v -3.085712 0.415251 0.510870 +v -0.484823 0.429092 0.538540 +v -3.099791 0.553611 0.510870 +v -0.706491 0.442933 0.510870 +v -0.484823 0.415251 0.538540 +f 197 199 202 +f 196 195 194 +f 197 194 198 +f 196 194 199 +f 194 195 200 +f 198 194 200 +f 197 198 200 +f 195 196 201 +f 196 199 201 +f 199 197 201 +f 197 200 201 +f 200 195 201 +f 194 197 202 +f 199 194 202 +o convex_16 +v -2.075890 0.470597 -0.153127 +v -1.577867 0.470597 0.510793 +v -1.591746 0.484428 0.510793 +v -2.089720 0.484428 0.510868 +v -1.799294 0.498263 -0.250112 +v -1.577867 0.456759 0.012834 +v -2.089720 0.498263 0.510868 +v -1.619406 0.456759 0.496938 +v -2.089720 0.498263 -0.250112 +v -1.882273 0.498263 0.510868 +v -1.882273 0.470597 -0.194767 +v -1.577867 0.470597 0.012834 +v -1.730044 0.456759 0.012834 +v -1.909932 0.470597 0.497013 +f 203 210 216 +f 204 206 210 +f 208 204 210 +f 203 206 211 +f 206 209 211 +f 209 207 211 +f 204 205 212 +f 206 204 212 +f 205 207 212 +f 209 206 212 +f 207 209 212 +f 207 208 213 +f 203 211 213 +f 211 207 213 +f 205 204 214 +f 207 205 214 +f 208 207 214 +f 204 208 214 +f 210 203 215 +f 208 210 215 +f 213 208 215 +f 203 213 215 +f 206 203 216 +f 210 206 216 +o convex_17 +v 2.946500 -0.539411 -0.416106 +v 2.988012 -0.456427 -0.042572 +v 2.974152 -0.456427 -0.042572 +v 2.752823 -0.456427 -0.554444 +v 2.932663 -0.553250 -0.042572 +v 2.960291 -0.456427 -0.554444 +v 2.752823 -0.525592 -0.568340 +v 2.988012 -0.553250 -0.125637 +v 2.960291 -0.525592 -0.568340 +v 2.752823 -0.525592 -0.499119 +f 223 221 226 +f 219 218 220 +f 218 219 221 +f 219 220 221 +f 220 218 222 +f 220 222 223 +f 221 223 224 +f 218 221 224 +f 222 218 224 +f 223 217 224 +f 224 217 225 +f 223 222 225 +f 217 223 225 +f 222 224 225 +f 221 220 226 +f 220 223 226 +o convex_18 +v 0.719083 -0.428745 0.441688 +v 2.614115 0.429087 0.497032 +v 2.614115 0.124613 0.497032 +v 0.539244 0.429087 0.497032 +v 1.286336 -0.428745 0.497032 +v 2.420625 0.193804 0.469360 +v 0.539244 0.429087 0.483196 +v 1.618281 -0.428745 0.483196 +v 0.580845 -0.373325 0.469360 +v 2.752787 0.429003 0.483196 +v 0.580845 -0.359554 0.441688 +v 2.711185 0.166178 0.483196 +v 0.539244 0.207659 0.497032 +v 0.553111 0.207659 0.469360 +v 1.618281 -0.428745 0.497032 +v 0.580845 -0.428745 0.455524 +v 2.752787 0.193804 0.497026 +f 241 238 243 +f 229 228 230 +f 229 230 231 +f 230 228 233 +f 231 227 234 +f 233 228 236 +f 232 227 237 +f 227 232 238 +f 234 227 238 +f 232 236 238 +f 231 230 239 +f 230 233 239 +f 235 231 239 +f 233 237 239 +f 236 232 240 +f 233 236 240 +f 232 237 240 +f 237 233 240 +f 229 231 241 +f 231 234 241 +f 234 238 241 +f 227 231 242 +f 231 235 242 +f 237 227 242 +f 235 239 242 +f 239 237 242 +f 228 229 243 +f 236 228 243 +f 238 236 243 +f 229 241 243 +o convex_19 +v 1.978047 -0.401055 0.497037 +v 2.752800 0.221547 0.510877 +v 2.752800 0.221547 0.497037 +v 2.752800 -0.428745 0.552370 +v 1.576741 -0.414868 0.510877 +v 2.752800 -0.304174 0.524706 +v 2.683614 -0.304174 0.552370 +v 2.752800 0.027720 0.497037 +v 1.576741 -0.428745 0.497037 +v 2.531311 -0.428745 0.524706 +v 2.489752 -0.428745 0.552370 +f 248 252 254 +f 246 245 247 +f 245 246 248 +f 246 247 249 +f 247 245 250 +f 245 248 250 +f 244 246 251 +f 246 249 251 +f 246 244 252 +f 248 246 252 +f 249 247 253 +f 244 251 253 +f 251 249 253 +f 252 244 253 +f 247 252 253 +f 247 250 254 +f 250 248 254 +f 252 247 254 +o convex_20 +v -2.933794 -0.276438 -0.471488 +v -1.743898 0.235383 -0.499155 +v -1.743898 0.013911 -0.471493 +v -1.743898 -0.304221 -0.499155 +v -2.933794 -0.179620 -0.512996 +v -2.311358 -0.304221 -0.457652 +v -1.743898 0.110782 -0.512985 +v -2.933794 -0.055177 -0.512996 +v -2.933794 -0.290277 -0.499160 +v -2.892213 -0.041339 -0.499160 +v -1.743898 -0.304221 -0.485329 +v -1.771619 0.235383 -0.512985 +v -2.283638 -0.221136 -0.457652 +v -2.933794 -0.304221 -0.471488 +v -1.743898 -0.082802 -0.471493 +f 267 260 269 +f 256 257 258 +f 256 258 261 +f 258 259 261 +f 261 259 262 +f 259 255 262 +f 255 259 263 +f 259 258 263 +f 262 255 264 +f 258 257 265 +f 260 258 265 +f 256 261 266 +f 261 262 266 +f 264 256 266 +f 262 264 266 +f 257 256 267 +f 255 260 267 +f 264 255 267 +f 256 264 267 +f 260 255 268 +f 258 260 268 +f 255 263 268 +f 263 258 268 +f 265 257 269 +f 260 265 269 +f 257 267 269 +o convex_21 +v -1.716046 0.138577 -0.485324 +v -0.484868 0.415251 -0.513001 +v -0.484868 0.304513 -0.513001 +v -1.743775 0.415251 -0.540668 +v -0.498794 0.097023 -0.540657 +v -1.743775 0.110885 -0.512996 +v -1.231955 0.097023 -0.485324 +v -1.038343 0.415251 -0.499160 +v -0.484868 0.415251 -0.526827 +v -1.038343 0.290713 -0.485324 +v -0.581858 0.097023 -0.513001 +v -1.743775 0.346067 -0.512996 +v -1.743775 0.332143 -0.540668 +v -0.567932 0.401389 -0.499165 +v -0.498794 0.193930 -0.540657 +v -1.743775 0.097023 -0.485324 +v -1.411641 0.415251 -0.540668 +v -0.609464 0.097023 -0.540657 +f 285 275 287 +f 271 273 277 +f 271 272 278 +f 273 271 278 +f 272 274 278 +f 270 276 279 +f 277 270 279 +f 274 272 280 +f 276 274 280 +f 273 275 281 +f 277 273 281 +f 270 277 281 +f 275 273 282 +f 272 271 283 +f 271 277 283 +f 279 276 283 +f 277 279 283 +f 280 272 283 +f 276 280 283 +f 278 274 284 +f 274 276 285 +f 276 270 285 +f 270 281 285 +f 281 275 285 +f 273 278 286 +f 282 273 286 +f 274 282 286 +f 284 274 286 +f 278 284 286 +f 282 274 287 +f 275 282 287 +f 274 285 287 +o convex_22 +v 2.517401 0.456767 -0.277735 +v 1.604526 0.456767 -0.416144 +v 1.604526 0.456767 -0.346940 +v 1.604526 0.498267 -0.153309 +v 2.517401 0.429093 -0.014900 +v 2.655840 0.429093 -0.416144 +v 2.766522 0.442933 -0.014900 +v 1.604526 0.484420 -0.014900 +v 1.908932 0.470587 -0.416144 +v 1.825891 0.498267 -0.014900 +v 2.240752 0.429093 -0.416144 +v 2.725002 0.442933 -0.374590 +v 1.618404 0.484420 -0.374590 +v 2.766522 0.429093 -0.014900 +v 1.618404 0.470587 -0.111755 +f 292 295 302 +f 289 290 291 +f 291 290 295 +f 292 294 295 +f 293 289 296 +f 288 291 297 +f 294 288 297 +f 291 295 297 +f 295 294 297 +f 290 289 298 +f 292 290 298 +f 289 293 298 +f 293 292 298 +f 288 294 299 +f 293 296 299 +f 299 296 300 +f 289 291 300 +f 291 288 300 +f 296 289 300 +f 288 299 300 +f 292 293 301 +f 294 292 301 +f 293 299 301 +f 299 294 301 +f 290 292 302 +f 295 290 302 +o convex_23 +v -3.002981 0.415251 -0.097905 +v -3.016821 -0.151970 0.372497 +v -3.002981 -0.151970 0.372497 +v -3.072154 0.415251 0.386344 +v -3.016821 0.401314 -0.277784 +v -3.044474 0.373664 0.386344 +v -3.002981 0.000218 0.386344 +v -3.072154 0.359839 0.344803 +v -3.002981 0.415251 -0.277784 +f 305 307 311 +f 305 304 307 +f 303 306 308 +f 308 306 309 +f 305 303 309 +f 304 305 309 +f 306 304 309 +f 303 308 309 +f 304 306 310 +f 306 307 310 +f 307 304 310 +f 303 305 311 +f 306 303 311 +f 307 306 311 +o convex_24 +v -2.975305 -0.055152 0.164935 +v -2.989137 -0.331893 -0.457652 +v -3.002971 0.359888 -0.374624 +v -3.002971 -0.276530 0.386344 +v -2.975305 0.415251 -0.457652 +v -2.975305 -0.331893 -0.457652 +v -2.975305 -0.331893 0.386344 +v -3.002971 0.401355 -0.222364 +v -2.989137 -0.110514 0.372464 +v -2.989137 0.401355 -0.222364 +v -3.002971 -0.124337 0.386344 +v -3.002971 0.415251 -0.416097 +f 319 321 323 +f 314 313 315 +f 313 316 317 +f 316 312 317 +f 317 312 318 +f 315 313 318 +f 313 317 318 +f 314 315 319 +f 318 312 320 +f 312 316 321 +f 319 320 321 +f 320 312 321 +f 315 318 322 +f 319 315 322 +f 320 319 322 +f 318 320 322 +f 313 314 323 +f 316 313 323 +f 314 319 323 +f 321 316 323 +o convex_25 +v -2.670665 -0.318057 -0.457652 +v -0.498897 -0.304221 -0.540668 +v -0.498897 -0.414909 -0.540668 +v -2.933794 -0.304221 -0.485324 +v -2.435422 -0.414909 -0.457652 +v -0.526783 -0.414909 -0.568340 +v -2.933794 -0.401073 -0.485324 +v -2.324593 -0.304221 -0.457652 +v -0.734140 -0.304221 -0.554493 +v -2.933794 -0.414909 -0.457652 +v -0.706493 -0.318057 -0.526821 +f 331 328 334 +f 326 328 329 +f 325 326 329 +f 327 329 330 +f 325 327 331 +f 327 324 331 +f 324 328 331 +f 327 325 332 +f 325 329 332 +f 329 327 332 +f 324 327 333 +f 328 324 333 +f 329 328 333 +f 327 330 333 +f 330 329 333 +f 326 325 334 +f 328 326 334 +f 325 331 334 +o convex_26 +v -1.854665 -0.470260 0.040433 +v -2.933794 -0.539433 -0.443816 +v -2.933794 -0.539433 0.095788 +v -1.743898 -0.497933 0.012756 +v -1.743898 -0.470260 -0.443816 +v -2.781446 -0.511753 0.081949 +v -1.771619 -0.497933 -0.443816 +v -2.684540 -0.539433 -0.443816 +v -2.933794 -0.525586 -0.443816 +v -1.743898 -0.497933 0.095788 +v -2.753842 -0.539433 0.095788 +v -2.712378 -0.511753 -0.402300 +v -1.743898 -0.484100 0.095788 +v -2.933794 -0.525586 0.095788 +v -2.172871 -0.484100 0.095788 +v -1.785596 -0.470260 -0.443816 +f 346 349 350 +f 339 338 341 +f 336 339 341 +f 337 336 342 +f 336 341 342 +f 341 338 342 +f 336 337 343 +f 339 336 343 +f 338 339 344 +f 342 338 344 +f 342 344 345 +f 337 342 345 +f 344 337 345 +f 343 340 346 +f 339 335 347 +f 344 339 347 +f 337 344 347 +f 343 337 348 +f 340 343 348 +f 337 347 348 +f 348 347 349 +f 346 340 349 +f 347 335 349 +f 340 348 349 +f 335 339 350 +f 339 343 350 +f 343 346 350 +f 349 335 350 +o convex_27 +v -2.131523 -0.484100 0.192687 +v -2.933794 -0.539433 0.095788 +v -2.933794 -0.539433 0.386344 +v -1.743898 -0.539433 0.386344 +v -1.743898 -0.511764 0.109667 +v -2.823028 -0.511764 0.386344 +v -2.781446 -0.511764 0.095788 +v -1.743898 -0.484100 0.095788 +v -1.799340 -0.511764 0.344819 +v -1.743898 -0.539433 0.317146 +v -2.103802 -0.511764 0.386344 +v -2.172871 -0.484100 0.095788 +v -2.767703 -0.539433 0.095788 +v -2.933794 -0.525593 0.095788 +v -2.504821 -0.497934 0.330969 +f 362 356 365 +f 353 352 354 +f 353 354 356 +f 354 355 358 +f 352 357 358 +f 358 351 359 +f 354 358 359 +f 354 352 360 +f 355 354 360 +f 356 354 361 +f 359 351 361 +f 354 359 361 +f 357 356 362 +f 351 358 362 +f 358 357 362 +f 358 355 363 +f 352 358 363 +f 360 352 363 +f 355 360 363 +f 352 353 364 +f 353 356 364 +f 357 352 364 +f 356 357 364 +f 361 351 365 +f 356 361 365 +f 351 362 365 +o convex_28 +v -0.429479 -0.539422 0.344767 +v -1.743898 -0.484104 -0.084034 +v -1.743898 -0.470253 -0.084034 +v -1.743898 -0.539422 0.386344 +v -0.457270 -0.511777 -0.056362 +v -0.484933 -0.567105 0.330954 +v -0.955324 -0.470253 -0.070175 +v -1.702340 -0.511777 0.330954 +v -0.457270 -0.484104 -0.084034 +v -1.716107 -0.539422 0.303282 +v -1.743898 -0.470253 0.026654 +v -0.664803 -0.539422 0.386344 +v -0.429479 -0.567105 0.386344 +v -1.079998 -0.497926 -0.084034 +v -1.494678 -0.553264 0.386344 +v -0.457270 -0.484104 -0.042503 +v -1.743898 -0.525581 0.386344 +f 377 373 382 +f 368 367 369 +f 367 368 374 +f 366 370 374 +f 368 372 374 +f 369 367 375 +f 368 369 376 +f 372 368 376 +f 373 372 376 +f 372 373 377 +f 370 366 378 +f 371 370 378 +f 377 369 378 +f 366 377 378 +f 370 371 379 +f 367 374 379 +f 374 370 379 +f 375 367 379 +f 371 375 379 +f 369 375 380 +f 375 371 380 +f 371 378 380 +f 378 369 380 +f 366 374 381 +f 374 372 381 +f 377 366 381 +f 372 377 381 +f 376 369 382 +f 373 376 382 +f 369 377 382 +o convex_29 +v -0.734114 -0.484086 0.469366 +v -0.415734 0.041679 0.524693 +v -0.415734 0.014001 0.524693 +v -2.310989 -0.483981 0.524700 +v -0.955274 0.041679 0.510860 +v -0.678824 -0.497925 0.497047 +v -1.328759 -0.138224 0.538540 +v -2.310989 -0.483981 0.510860 +v -1.342674 0.041679 0.538540 +v -0.415734 -0.373377 0.469366 +v -1.730074 -0.497925 0.524700 +v -0.415734 0.027840 0.497047 +v -0.415734 -0.497925 0.483206 +v -1.342674 0.041679 0.524693 +v -0.899798 0.027840 0.538540 +v -2.310989 -0.497925 0.510860 +v -0.415734 -0.497925 0.469366 +f 398 383 399 +f 387 383 390 +f 384 387 391 +f 386 389 391 +f 390 386 391 +f 384 385 392 +f 383 387 392 +f 389 386 393 +f 387 384 394 +f 384 392 394 +f 392 387 394 +f 385 388 395 +f 392 385 395 +f 388 393 395 +f 387 390 396 +f 391 387 396 +f 390 391 396 +f 385 384 397 +f 388 385 397 +f 384 391 397 +f 391 389 397 +f 393 388 397 +f 389 393 397 +f 390 383 398 +f 386 390 398 +f 393 386 398 +f 395 393 398 +f 395 398 399 +f 383 392 399 +f 392 395 399 +o convex_30 +v -0.484823 0.484431 -0.250112 +v -2.836942 0.512097 -0.360800 +v -2.836942 0.525931 -0.360800 +v -2.836942 0.512097 -0.250112 +v -0.484823 0.512097 -0.360800 +v -2.408007 0.484431 -0.333128 +v -0.484823 0.512097 -0.263948 +v -2.656665 0.525931 -0.250112 +v -2.379918 0.484431 -0.250112 +v -0.484823 0.498272 -0.360800 +v -2.698338 0.498272 -0.360800 +v -0.581753 0.484431 -0.291620 +f 405 409 411 +f 402 401 403 +f 401 402 404 +f 400 404 406 +f 406 404 407 +f 402 403 407 +f 403 400 407 +f 404 402 407 +f 400 406 407 +f 400 403 408 +f 405 400 408 +f 404 400 409 +f 401 404 409 +f 409 405 410 +f 403 401 410 +f 408 403 410 +f 405 408 410 +f 401 409 410 +f 400 405 411 +f 409 400 411 +o convex_31 +v -3.099826 0.484431 0.510868 +v -3.016829 0.415251 -0.250112 +v -3.002994 0.415251 -0.250112 +v -3.030663 0.539769 -0.250112 +v -2.989149 0.539769 0.510868 +v -3.072146 0.415251 0.510868 +v -3.099826 0.553611 0.510868 +v -2.989149 0.539769 -0.250112 +v -3.085980 0.415251 0.427812 +v -3.002994 0.415251 -0.111637 +v -2.989149 0.525914 0.510868 +f 421 414 422 +f 414 413 415 +f 413 414 417 +f 416 412 417 +f 415 412 418 +f 412 416 418 +f 418 416 419 +f 414 415 419 +f 415 418 419 +f 415 413 420 +f 412 415 420 +f 413 417 420 +f 417 412 420 +f 417 414 421 +f 417 421 422 +f 416 417 422 +f 419 416 422 +f 414 419 422 +o convex_32 +v -2.089798 0.498277 0.510868 +v -2.989114 0.525937 -0.250112 +v -2.989114 0.539772 -0.250112 +v -2.989114 0.525937 0.510868 +v -2.380474 0.484431 -0.250112 +v -2.089798 0.498277 -0.250112 +v -2.753897 0.539772 0.510868 +v -2.186807 0.484431 0.510868 +v -2.961384 0.512101 -0.194767 +v -2.172987 0.512101 0.510868 +v -2.089798 0.484431 -0.250112 +v -2.989114 0.539772 0.510868 +v -2.781539 0.512101 0.510868 +v -2.933743 0.539772 -0.208547 +v -2.089798 0.484431 0.510868 +f 430 433 437 +f 425 424 426 +f 424 425 427 +f 427 425 428 +f 426 423 429 +f 423 426 430 +f 426 424 431 +f 424 427 431 +f 427 430 431 +f 423 428 432 +f 429 423 432 +f 428 423 433 +f 427 428 433 +f 430 427 433 +f 425 426 434 +f 429 425 434 +f 426 429 434 +f 430 426 435 +f 426 431 435 +f 431 430 435 +f 428 425 436 +f 425 429 436 +f 432 428 436 +f 429 432 436 +f 423 430 437 +f 433 423 437 +o convex_33 +v 0.483697 -0.608613 -0.513007 +v 2.752800 -0.511770 -0.499167 +v 2.752800 -0.525611 -0.499167 +v 2.752800 -0.511770 -0.568340 +v 0.483697 -0.511770 -0.540660 +v 0.691372 -0.608613 -0.568340 +v 0.483697 -0.525611 -0.568340 +v 0.483697 -0.580933 -0.499167 +v 2.655737 -0.539441 -0.568340 +v 0.871284 -0.594763 -0.499167 +v 2.379207 -0.511770 -0.499167 +v 0.483697 -0.608613 -0.568340 +v 2.641744 -0.539441 -0.540660 +f 440 447 450 +f 439 440 441 +f 439 441 442 +f 438 442 444 +f 442 441 444 +f 441 443 444 +f 440 439 445 +f 442 438 445 +f 441 440 446 +f 443 441 446 +f 438 443 447 +f 445 438 447 +f 440 445 447 +f 439 442 448 +f 445 439 448 +f 442 445 448 +f 443 438 449 +f 438 444 449 +f 444 443 449 +f 446 440 450 +f 443 446 450 +f 447 443 450 +o convex_34 +v 0.663608 -0.401069 -0.526832 +v 2.586660 -0.331893 -0.526832 +v 2.586660 -0.387266 -0.526832 +v 2.752800 -0.484084 -0.568337 +v 0.497690 -0.359588 -0.554500 +v 0.483697 -0.511761 -0.540670 +v 2.752800 -0.497905 -0.540670 +v 1.839029 -0.511761 -0.568337 +v 2.586660 -0.373427 -0.554500 +v 0.497690 -0.331893 -0.526832 +v 0.483697 -0.511761 -0.554500 +v 2.586660 -0.331893 -0.540670 +v 1.286634 -0.428711 -0.526832 +v 2.752800 -0.511761 -0.554500 +v 0.497690 -0.331893 -0.540670 +f 460 462 465 +f 453 452 451 +f 452 453 457 +f 454 452 457 +f 455 454 458 +f 454 455 459 +f 451 452 460 +f 456 451 460 +f 456 460 461 +f 458 456 461 +f 455 458 461 +f 452 454 462 +f 454 459 462 +f 459 455 462 +f 460 452 462 +f 453 451 463 +f 451 456 463 +f 457 453 463 +f 456 457 463 +f 454 457 464 +f 457 456 464 +f 456 458 464 +f 458 454 464 +f 461 460 465 +f 455 461 465 +f 462 455 465 +o convex_35 +v 2.061000 -0.511761 -0.333124 +v 0.483697 -0.594761 -0.499160 +v 0.483697 -0.594761 -0.485305 +v 0.525229 -0.511761 -0.097947 +v 0.802060 -0.525607 -0.042572 +v 1.922508 -0.525607 -0.499160 +v 1.991677 -0.553265 -0.485305 +v 0.608294 -0.567094 -0.471450 +v 0.525229 -0.580932 -0.333124 +v 2.047105 -0.525607 -0.319269 +v 2.061000 -0.511761 -0.429975 +v 0.815801 -0.594761 -0.485305 +v 0.525229 -0.539444 -0.084092 +v 0.802060 -0.511761 -0.042572 +v 0.483697 -0.580932 -0.499160 +v 2.061000 -0.539444 -0.499160 +f 472 477 481 +f 469 471 473 +f 469 466 476 +f 471 469 476 +f 468 467 477 +f 474 468 477 +f 470 474 477 +f 472 475 477 +f 475 470 477 +f 469 468 478 +f 468 474 478 +f 474 470 478 +f 466 469 479 +f 475 466 479 +f 470 475 479 +f 469 478 479 +f 478 470 479 +f 467 468 480 +f 468 469 480 +f 471 467 480 +f 469 473 480 +f 473 471 480 +f 467 471 481 +f 475 472 481 +f 466 475 481 +f 476 466 481 +f 471 476 481 +f 477 467 481 +o convex_36 +v 0.857407 -0.456424 0.192640 +v 2.033142 -0.511757 -0.346934 +v 2.033142 -0.497917 -0.346934 +v 0.539041 -0.525597 -0.042552 +v 1.548963 -0.484104 0.192640 +v 2.005432 -0.470257 -0.139418 +v 2.060851 -0.497917 -0.042658 +v 0.539041 -0.497910 -0.014929 +v 0.552896 -0.497910 0.178749 +v 1.424268 -0.456424 0.192640 +v 0.677591 -0.525597 -0.014929 +v 1.535108 -0.456424 0.026584 +v 2.060851 -0.511757 -0.236231 +v 0.552896 -0.470264 0.192640 +v 2.060851 -0.484097 -0.042658 +f 488 494 496 +f 484 483 485 +f 484 485 489 +f 489 485 490 +f 482 486 491 +f 485 483 492 +f 488 486 492 +f 490 485 492 +f 486 490 492 +f 487 484 493 +f 489 482 493 +f 484 489 493 +f 482 491 493 +f 491 487 493 +f 483 484 494 +f 492 483 494 +f 488 492 494 +f 486 482 495 +f 482 489 495 +f 489 490 495 +f 490 486 495 +f 484 487 496 +f 486 488 496 +f 491 486 496 +f 487 491 496 +f 494 484 496 +o convex_37 +v 2.725010 -0.497934 -0.374600 +v 2.061000 -0.539433 -0.499133 +v 2.061000 -0.539433 -0.416120 +v 2.061000 -0.484100 -0.263987 +v 2.932583 -0.539433 -0.222467 +v 2.835665 -0.497934 -0.499133 +v 2.932583 -0.525593 -0.499133 +v 2.061000 -0.511764 -0.250147 +v 2.324028 -0.484100 -0.222467 +v 2.185646 -0.511764 -0.471453 +v 2.932583 -0.525593 -0.222467 +v 2.932583 -0.539433 -0.388440 +v 2.752653 -0.539433 -0.222467 +v 2.061000 -0.497934 -0.222467 +f 504 509 510 +f 498 499 500 +f 499 498 501 +f 498 502 503 +f 500 499 504 +f 502 500 505 +f 497 502 505 +f 498 500 506 +f 502 498 506 +f 500 502 506 +f 502 497 507 +f 501 503 507 +f 503 502 507 +f 505 501 507 +f 497 505 507 +f 501 498 508 +f 503 501 508 +f 498 503 508 +f 499 501 509 +f 504 499 509 +f 501 505 509 +f 509 505 510 +f 500 504 510 +f 505 500 510 +o convex_38 +v 2.752744 -0.539421 0.234038 +v 2.061014 -0.497937 -0.222440 +v 1.549259 -0.484093 -0.042410 +v 2.711034 -0.580929 0.441540 +v 1.590833 -0.484093 0.455475 +v 2.766557 -0.511781 -0.222440 +v 2.918634 -0.553265 -0.180900 +v 1.577021 -0.456441 0.040537 +v 1.562937 -0.511781 0.455475 +v 2.738660 -0.553241 0.455475 +v 2.310053 -0.484105 -0.208571 +v 2.932583 -0.525589 -0.153229 +v 2.752744 -0.580929 0.455475 +v 2.061014 -0.484105 -0.222440 +v 2.932583 -0.553265 -0.042543 +v 1.549259 -0.456441 0.026735 +v 2.932583 -0.539421 -0.222440 +f 522 525 527 +f 513 512 517 +f 514 513 517 +f 513 514 519 +f 511 515 520 +f 515 519 520 +f 515 511 521 +f 518 515 521 +f 511 520 522 +f 521 511 522 +f 516 521 522 +f 514 517 523 +f 519 514 523 +f 520 519 523 +f 512 513 524 +f 516 512 524 +f 521 516 524 +f 522 520 525 +f 523 517 525 +f 520 523 525 +f 515 518 526 +f 513 519 526 +f 519 515 526 +f 518 521 526 +f 524 513 526 +f 521 524 526 +f 512 516 527 +f 517 512 527 +f 516 522 527 +f 525 517 527 +o convex_39 +v 0.497533 -0.331893 -0.540660 +v 2.586768 -0.124353 -0.499160 +v 2.586768 -0.152063 -0.499160 +v 2.586768 -0.262700 -0.540660 +v 0.511439 -0.124353 -0.526827 +v 1.134365 -0.304183 -0.513001 +v 2.586768 -0.331893 -0.526827 +v 1.134365 -0.124353 -0.499160 +v 2.586768 -0.138208 -0.526827 +v 0.511439 -0.193547 -0.540660 +v 0.511439 -0.207381 -0.513001 +v 2.586768 -0.331893 -0.540660 +v 0.497533 -0.331893 -0.526827 +v 2.586768 -0.276514 -0.513001 +v 1.521495 -0.193547 -0.499160 +f 533 541 542 +f 529 530 531 +f 531 530 534 +f 530 529 535 +f 529 532 535 +f 529 531 536 +f 532 529 536 +f 532 536 537 +f 531 528 537 +f 528 532 537 +f 536 531 537 +f 535 532 538 +f 528 531 539 +f 534 528 539 +f 531 534 539 +f 532 528 540 +f 528 534 540 +f 534 533 540 +f 538 532 540 +f 533 538 540 +f 533 534 541 +f 534 530 541 +f 530 535 542 +f 538 533 542 +f 535 538 542 +f 541 530 542 +o convex_40 +v 0.511369 -0.124299 -0.526832 +v 1.881132 0.429087 -0.457652 +v 1.881132 0.263006 -0.457652 +v 0.746680 0.429087 -0.457652 +v 0.857296 0.429087 -0.485335 +v 1.881132 -0.055072 -0.512991 +v 1.037366 -0.124299 -0.499149 +v 1.881132 -0.124299 -0.499149 +v 1.881132 0.429087 -0.471500 +v 0.511369 -0.027446 -0.526832 +v 0.511369 -0.041259 -0.499149 +v 0.539123 0.429087 -0.485335 +v 1.798003 -0.068939 -0.485335 +v 0.552934 0.276819 -0.471500 +v 1.147982 -0.110432 -0.526832 +v 1.881132 -0.124299 -0.512991 +f 543 557 558 +f 545 544 546 +f 546 544 547 +f 544 545 548 +f 549 543 550 +f 548 545 550 +f 547 544 551 +f 544 548 551 +f 548 547 551 +f 543 549 553 +f 552 543 553 +f 552 553 554 +f 546 547 554 +f 547 552 554 +f 549 550 555 +f 550 545 555 +f 545 546 556 +f 553 549 556 +f 554 553 556 +f 546 554 556 +f 555 545 556 +f 549 555 556 +f 547 548 557 +f 543 552 557 +f 552 547 557 +f 550 543 558 +f 548 550 558 +f 557 548 558 +o convex_41 +v 1.881133 -0.055072 -0.512980 +v 2.586699 0.429087 -0.429988 +v 2.586699 0.429087 -0.457660 +v 2.586699 -0.124299 -0.499152 +v 1.895084 0.415165 -0.443824 +v 1.881133 -0.068939 -0.485316 +v 1.881133 0.429087 -0.471488 +v 2.586699 -0.027446 -0.512980 +v 1.881133 -0.124299 -0.512980 +v 2.462175 -0.055072 -0.485316 +v 2.572817 0.345992 -0.471488 +v 2.572817 0.415165 -0.429988 +v 2.586699 -0.124299 -0.512980 +f 567 566 571 +f 561 560 562 +f 559 564 565 +f 560 561 565 +f 563 560 565 +f 564 563 565 +f 561 562 566 +f 559 565 566 +f 562 564 567 +f 564 559 567 +f 559 566 567 +f 564 562 568 +f 565 561 569 +f 561 566 569 +f 566 565 569 +f 562 560 570 +f 560 563 570 +f 563 564 570 +f 568 562 570 +f 564 568 570 +f 566 562 571 +f 562 567 571 +o convex_42 +v 2.586768 0.415134 -0.429980 +v 2.586768 -0.456330 -0.554504 +v 2.946504 -0.456330 -0.554504 +v 2.586768 0.429000 -0.457674 +v 2.946504 0.401268 -0.429980 +v 2.586768 -0.387088 -0.526810 +v 2.946504 0.429000 -0.457674 +v 2.711352 -0.359443 -0.554504 +v 2.946504 -0.373309 -0.526810 +v 2.946504 -0.359443 -0.554504 +v 2.586768 0.332113 -0.471496 +v 2.586768 -0.373309 -0.554504 +v 2.946504 -0.456330 -0.540657 +f 580 577 584 +f 573 572 575 +f 572 573 577 +f 576 572 577 +f 575 572 578 +f 572 576 578 +f 576 574 578 +f 574 573 579 +f 574 576 580 +f 576 577 580 +f 578 574 581 +f 574 579 581 +f 581 579 582 +f 573 575 582 +f 575 578 582 +f 578 581 582 +f 579 573 583 +f 582 579 583 +f 573 582 583 +f 573 574 584 +f 577 573 584 +f 574 580 584 +o convex_43 +v 3.043311 0.415243 -0.042613 +v 2.946461 0.387587 -0.457611 +v 2.586813 0.415251 -0.429942 +v 2.974171 0.429087 -0.443756 +v 2.752893 0.429083 -0.042572 +v 3.043311 0.387587 -0.042613 +v 2.586813 0.429083 -0.429942 +v 3.015646 0.387587 -0.457611 +v 2.752893 0.415251 -0.042572 +v 2.987981 0.429087 -0.042613 +f 591 589 594 +f 587 586 590 +f 585 589 590 +f 586 587 591 +f 588 586 591 +f 587 589 591 +f 586 588 592 +f 588 585 592 +f 590 586 592 +f 585 590 592 +f 589 587 593 +f 587 590 593 +f 590 589 593 +f 585 588 594 +f 589 585 594 +f 588 591 594 +o convex_44 +v 3.043351 0.332088 0.469370 +v 3.015689 -0.470134 0.580048 +v 2.988012 -0.470134 0.580048 +v 3.015689 -0.525510 0.469370 +v 2.988012 0.359820 0.483216 +v 3.071028 0.359820 0.510885 +v 2.988012 0.345954 0.510885 +v 3.001859 -0.525510 0.469370 +v 3.029520 -0.470134 0.566202 +v 3.071028 0.304444 0.469370 +f 603 598 604 +f 596 597 598 +f 597 596 600 +f 595 599 600 +f 599 597 601 +f 597 600 601 +f 600 599 601 +f 598 597 602 +f 595 598 602 +f 599 595 602 +f 597 599 602 +f 596 598 603 +f 600 596 603 +f 600 603 604 +f 598 595 604 +f 595 600 604 +o convex_45 +v 1.300327 -0.497934 0.469360 +v 2.752800 -0.428752 0.552365 +v 2.752800 -0.442606 0.566212 +v 2.752800 -0.580941 0.455524 +v 2.600287 -0.580941 0.566212 +v 0.650141 -0.428752 0.455524 +v 0.650141 -0.456431 0.469360 +v 2.724809 -0.553247 0.455524 +v 2.503346 -0.428752 0.524693 +v 0.996124 -0.428752 0.455524 +v 2.752800 -0.580941 0.566212 +v 0.650141 -0.428752 0.469360 +v 2.545128 -0.553247 0.566212 +v 0.650141 -0.456431 0.455524 +f 611 610 618 +f 606 607 608 +f 605 608 609 +f 606 608 612 +f 608 610 612 +f 610 606 613 +f 606 612 613 +f 612 610 614 +f 610 613 614 +f 613 612 614 +f 608 607 615 +f 609 608 615 +f 607 609 615 +f 607 606 616 +f 606 610 616 +f 610 611 616 +f 616 611 617 +f 609 607 617 +f 611 609 617 +f 607 616 617 +f 608 605 618 +f 605 609 618 +f 610 608 618 +f 609 611 618 +o convex_46 +v 2.988012 0.345954 0.510879 +v 2.752800 -0.525510 0.552365 +v 2.960337 -0.525510 0.552365 +v 2.752800 0.207643 0.483196 +v 2.752800 -0.442489 0.566206 +v 2.988012 -0.484000 0.580048 +v 2.988012 0.318309 0.483196 +v 2.752800 0.359820 0.497047 +v 2.780475 -0.456268 0.538523 +f 622 625 627 +f 622 620 623 +f 623 620 624 +f 620 621 624 +f 619 623 624 +f 624 621 625 +f 619 624 625 +f 619 625 626 +f 623 619 626 +f 622 623 626 +f 625 622 626 +f 621 620 627 +f 620 622 627 +f 625 621 627 +o convex_47 +v 2.960313 -0.567091 -0.001007 +v 3.015684 -0.525608 0.580048 +v 2.891125 -0.525608 0.580048 +v 3.015684 -0.594777 0.580048 +v 2.752826 -0.580930 0.566152 +v 2.752826 -0.525608 -0.042572 +v 2.987947 -0.511761 -0.042572 +v 2.752826 -0.525608 0.566152 +v 2.752826 -0.553269 -0.028616 +v 2.822014 -0.594777 0.552317 +v 3.015684 -0.511761 0.469310 +v 3.015684 -0.594761 0.441640 +v 2.987947 -0.553269 -0.042572 +f 634 639 640 +f 629 630 631 +f 631 630 632 +f 632 630 635 +f 633 632 635 +f 634 633 635 +f 632 633 636 +f 631 632 637 +f 636 628 637 +f 632 636 637 +f 630 629 638 +f 629 631 638 +f 635 630 638 +f 634 635 638 +f 637 628 639 +f 631 637 639 +f 638 631 639 +f 634 638 639 +f 633 634 640 +f 628 636 640 +f 636 633 640 +f 639 628 640 +o convex_48 +v 2.974187 -0.511761 -0.042549 +v 3.071017 0.359848 0.469360 +v 3.071017 0.359848 0.413899 +v 3.001848 0.387579 -0.319235 +v 2.988023 -0.276362 -0.429980 +v 3.001859 -0.511761 0.469360 +v 3.043345 0.332118 0.469360 +v 3.015684 -0.511761 0.344706 +v 3.029498 0.387579 -0.346877 +v 2.960340 -0.290359 -0.360698 +v 2.988023 -0.497852 0.372436 +v 2.974187 -0.456389 -0.429980 +v 3.001848 0.387579 -0.429980 +v 3.029509 -0.387107 0.455362 +v 2.960340 -0.456389 -0.429980 +v 3.015684 0.207640 -0.429980 +v 2.960340 -0.442479 -0.194757 +v 3.071017 0.318297 0.441629 +v 2.974187 0.000060 -0.429980 +f 653 655 659 +f 642 644 647 +f 646 642 647 +f 646 641 648 +f 642 643 649 +f 644 642 649 +f 641 646 651 +f 647 644 651 +f 646 647 651 +f 648 641 652 +f 645 648 652 +f 644 649 653 +f 645 652 653 +f 642 646 654 +f 648 645 654 +f 646 648 654 +f 652 641 655 +f 653 652 655 +f 653 649 656 +f 645 653 656 +f 644 650 657 +f 641 651 657 +f 651 644 657 +f 655 641 657 +f 650 655 657 +f 643 642 658 +f 649 643 658 +f 642 654 658 +f 654 645 658 +f 645 656 658 +f 656 649 658 +f 650 644 659 +f 644 653 659 +f 655 650 659 +o convex_49 +v -0.484823 0.470600 0.012772 +v -1.799242 0.484425 -0.250112 +v -1.799242 0.470600 -0.180917 +v -1.799242 0.484425 0.012772 +v -0.484823 0.498259 -0.250112 +v -0.484823 0.456759 -0.014916 +v -1.729893 0.456759 0.012772 +v -0.484823 0.484425 -0.250112 +v -1.799242 0.498259 -0.167073 +v -0.484823 0.498259 -0.139411 +v -0.484823 0.484425 -0.001072 +v -1.799242 0.498259 -0.250112 +v -1.743789 0.456759 -0.042579 +v -0.484823 0.470600 -0.153229 +f 665 672 673 +f 661 662 663 +f 664 660 665 +f 660 663 666 +f 665 660 666 +f 662 661 667 +f 661 664 667 +f 664 665 667 +f 661 663 668 +f 664 668 669 +f 660 664 669 +f 668 663 669 +f 669 663 670 +f 663 660 670 +f 660 669 670 +f 664 661 671 +f 661 668 671 +f 668 664 671 +f 663 662 672 +f 666 663 672 +f 665 666 672 +f 662 667 673 +f 667 665 673 +f 672 662 673 +o convex_50 +v 1.189295 0.539766 0.469360 +v 0.552877 0.498282 -0.360800 +v 0.552877 0.498282 -0.319276 +v 1.604413 0.470601 -0.139365 +v 1.604413 0.484442 -0.360800 +v 0.580565 0.567447 0.330973 +v 1.396699 0.498282 0.469360 +v 0.552877 0.553597 0.469360 +v 0.552877 0.525925 -0.333009 +v 1.604413 0.512104 0.068013 +v 1.604413 0.512123 0.469360 +v 1.230776 0.470601 -0.346904 +v 0.566773 0.539766 0.358601 +v 0.719109 0.567447 0.469360 +v 1.604413 0.498282 0.469360 +v 1.272257 0.498282 -0.360800 +v 1.604413 0.470601 -0.360800 +f 677 685 690 +f 675 676 681 +f 680 674 681 +f 675 681 682 +f 681 679 682 +f 677 678 683 +f 674 680 684 +f 677 683 684 +f 683 674 684 +f 676 675 685 +f 680 676 685 +f 677 680 685 +f 676 680 686 +f 681 676 686 +f 680 681 686 +f 679 681 687 +f 681 674 687 +f 674 683 687 +f 683 679 687 +f 680 677 688 +f 677 684 688 +f 684 680 688 +f 678 675 689 +f 675 682 689 +f 682 679 689 +f 683 678 689 +f 679 683 689 +f 678 677 690 +f 675 678 690 +f 685 675 690 +o convex_51 +v 2.946511 -0.456417 -0.554504 +v 3.015677 0.387579 -0.429980 +v 3.015677 0.387579 -0.457674 +v 2.946511 0.387579 -0.457674 +v 2.974181 -0.456417 -0.429980 +v 2.974181 -0.359510 -0.554504 +v 2.946511 -0.456417 -0.457674 +v 2.946511 0.387579 -0.443827 +v 3.015677 0.221522 -0.443827 +f 695 696 699 +f 692 693 694 +f 694 693 696 +f 691 694 696 +f 695 691 696 +f 694 691 697 +f 691 695 697 +f 697 695 698 +f 692 694 698 +f 695 692 698 +f 694 697 698 +f 693 692 699 +f 692 695 699 +f 696 693 699 +o convex_52 +v -2.933695 -0.539433 -0.443816 +v -1.923784 -0.414909 -0.485332 +v -1.923784 -0.414909 -0.499167 +v -0.498897 -0.456425 -0.443840 +v -0.498897 -0.428756 -0.568328 +v -2.933695 -0.414909 -0.457663 +v -2.919632 -0.539433 -0.471498 +v -0.498897 -0.428756 -0.443840 +v -2.933695 -0.414909 -0.471498 +v -0.872400 -0.456425 -0.554481 +v -0.540371 -0.414921 -0.568328 +v -2.684376 -0.539433 -0.471498 +v -2.905808 -0.484058 -0.443816 +f 707 705 712 +f 701 702 705 +f 703 704 707 +f 701 705 707 +f 705 702 708 +f 700 705 708 +f 706 700 708 +f 704 703 709 +f 704 709 710 +f 702 701 710 +f 707 704 710 +f 701 707 710 +f 708 702 710 +f 706 708 710 +f 709 706 710 +f 703 700 711 +f 700 706 711 +f 706 709 711 +f 709 703 711 +f 700 703 712 +f 705 700 712 +f 703 707 712 +o convex_53 +v 0.719013 -0.428752 0.413966 +v 0.566809 -0.484078 0.192640 +v 0.566809 -0.484078 0.261860 +v 1.549068 -0.497925 0.455524 +v 1.549068 -0.470245 0.192640 +v 0.580654 -0.456425 0.441654 +v 1.120051 -0.442592 0.206510 +v 1.549068 -0.497925 0.261860 +v 1.369077 -0.470245 0.455524 +v 0.566809 -0.456425 0.247991 +v 1.327541 -0.497925 0.455524 +v 0.580654 -0.428752 0.455524 +v 1.549068 -0.470245 0.289497 +v 1.549068 -0.484078 0.192640 +v 0.788240 -0.456425 0.192640 +f 722 719 727 +f 717 716 720 +f 714 715 722 +f 713 719 722 +f 715 714 723 +f 718 715 723 +f 714 720 723 +f 720 716 723 +f 716 721 723 +f 723 721 724 +f 715 718 724 +f 721 713 724 +f 722 715 724 +f 713 722 724 +f 718 723 724 +f 716 717 725 +f 719 713 725 +f 717 719 725 +f 721 716 725 +f 713 721 725 +f 714 717 726 +f 720 714 726 +f 717 720 726 +f 717 714 727 +f 719 717 727 +f 714 722 727 +o convex_54 +v -2.933794 0.359838 -0.582176 +v -1.743898 0.415251 -0.526843 +v -1.743898 0.345996 -0.513003 +v -1.757759 0.207677 -0.526843 +v -2.933794 -0.069009 -0.513003 +v -2.933794 0.387520 -0.554496 +v -2.878353 -0.069009 -0.526843 +v -1.854665 0.415251 -0.554496 +v -2.933794 0.055516 -0.513003 +v -1.757759 0.207677 -0.513003 +v -2.933794 0.415251 -0.582176 +v -2.823028 0.415251 -0.554496 +v -2.739865 0.401409 -0.582176 +f 738 735 740 +f 729 730 731 +f 728 732 733 +f 732 728 734 +f 729 731 735 +f 732 730 736 +f 733 732 736 +f 731 730 737 +f 730 732 737 +f 734 731 737 +f 732 734 737 +f 728 733 738 +f 729 735 738 +f 730 729 739 +f 736 730 739 +f 733 736 739 +f 729 738 739 +f 738 733 739 +f 734 728 740 +f 731 734 740 +f 735 731 740 +f 728 738 740 +o convex_55 +v -0.498767 -0.442592 -0.333058 +v -1.743828 -0.484085 -0.443816 +v -1.743828 -0.484085 -0.084151 +v -0.457206 -0.497925 -0.084151 +v -1.522422 -0.456425 -0.097987 +v -0.872185 -0.428752 -0.443816 +v -0.498767 -0.456432 -0.443816 +v -1.743828 -0.470245 -0.443816 +v -0.471186 -0.470238 -0.139495 +v -0.471186 -0.497925 -0.153331 +v -0.969034 -0.497925 -0.084151 +v -1.467008 -0.484085 -0.443816 +v -0.526474 -0.428752 -0.429910 +v -0.858331 -0.470238 -0.084151 +v -1.743828 -0.470245 -0.084151 +f 754 745 755 +f 742 746 747 +f 742 743 748 +f 746 742 748 +f 745 746 748 +f 744 747 749 +f 747 741 749 +f 747 744 750 +f 743 742 751 +f 744 743 751 +f 742 750 751 +f 750 744 751 +f 742 747 752 +f 750 742 752 +f 747 750 752 +f 746 745 753 +f 741 747 753 +f 747 746 753 +f 743 744 754 +f 749 741 754 +f 744 749 754 +f 741 753 754 +f 753 745 754 +f 748 743 755 +f 745 748 755 +f 743 754 755 +o convex_56 +v -1.743898 -0.069036 -0.471496 +v -0.498745 0.097023 -0.526822 +v -0.498745 -0.124298 -0.526822 +v -1.688442 -0.290278 -0.512993 +v -1.743898 0.097023 -0.499155 +v -0.609537 -0.179677 -0.554497 +v -0.692539 -0.304221 -0.526822 +v -1.245642 0.097023 -0.485334 +v -1.743898 -0.304221 -0.485334 +v -0.623309 0.097023 -0.540652 +v -0.498745 -0.304221 -0.554497 +v -0.720206 -0.304221 -0.554497 +v -0.595642 0.083158 -0.513001 +v -1.660774 0.041644 -0.471496 +v -1.660774 -0.304221 -0.485334 +v -0.498745 -0.110512 -0.554497 +f 757 766 771 +f 757 760 763 +f 756 760 764 +f 760 759 764 +f 760 757 765 +f 761 760 765 +f 757 758 766 +f 758 762 766 +f 762 764 766 +f 766 764 767 +f 759 760 767 +f 760 761 767 +f 764 759 767 +f 761 766 767 +f 758 757 768 +f 762 758 768 +f 763 756 768 +f 757 763 768 +f 760 756 769 +f 756 763 769 +f 763 760 769 +f 756 764 770 +f 764 762 770 +f 768 756 770 +f 762 768 770 +f 765 757 771 +f 761 765 771 +f 766 761 771 +o convex_57 +v -2.836803 -0.497925 0.524704 +v -1.342654 0.041679 0.538538 +v -1.578106 0.000163 0.552373 +v -2.961183 0.041679 0.524704 +v -2.961183 -0.497925 0.552373 +v -1.398111 -0.165902 0.524704 +v -2.961183 0.041679 0.538538 +v -2.255622 -0.497925 0.538538 +v -1.342654 0.041679 0.524704 +v -1.342654 -0.138224 0.538538 +v -2.255622 -0.497925 0.524704 +v -2.933613 -0.401054 0.552373 +v -2.961183 -0.428732 0.524704 +v -2.781347 -0.497925 0.552373 +f 779 781 785 +f 772 775 777 +f 774 773 778 +f 773 775 778 +f 775 776 778 +f 776 772 779 +f 775 773 780 +f 777 775 780 +f 777 780 781 +f 773 774 781 +f 779 777 781 +f 780 773 781 +f 772 777 782 +f 779 772 782 +f 777 779 782 +f 776 774 783 +f 774 778 783 +f 778 776 783 +f 775 772 784 +f 772 776 784 +f 776 775 784 +f 774 776 785 +f 776 779 785 +f 781 774 785 +o convex_58 +v -0.484872 0.429087 0.510819 +v -1.577866 0.456753 0.012772 +v -1.411820 0.442928 0.095845 +v -1.577866 0.470584 0.510819 +v -0.484872 0.470595 0.012772 +v -0.761544 0.415251 0.386258 +v -0.484872 0.456759 0.012772 +v -1.577866 0.470584 0.012772 +v -1.577866 0.456753 0.510819 +v -1.300980 0.470584 0.510819 +v -0.484872 0.470595 0.137332 +v -0.484872 0.415251 0.510819 +v -0.484872 0.415251 0.386258 +v -0.733941 0.415251 0.510819 +v -0.484872 0.442923 0.413949 +f 796 795 800 +f 788 787 792 +f 790 786 792 +f 787 790 792 +f 787 789 793 +f 789 790 793 +f 790 787 793 +f 787 788 794 +f 789 787 794 +f 786 789 794 +f 789 786 795 +f 786 790 796 +f 790 789 796 +f 789 795 796 +f 792 786 797 +f 786 794 797 +f 791 788 798 +f 788 792 798 +f 792 797 798 +f 797 791 798 +f 788 791 799 +f 794 788 799 +f 791 797 799 +f 797 794 799 +f 795 786 800 +f 786 796 800 +o convex_59 +v -0.484823 0.525939 -0.512973 +v -2.836942 0.498269 -0.596012 +v -2.836942 0.525939 -0.596012 +v -2.836942 0.525939 -0.360846 +v -0.484823 0.498269 -0.360846 +v -2.712383 0.498269 -0.360846 +v -0.581753 0.498269 -0.526809 +v -0.484823 0.525939 -0.402331 +v -0.484823 0.512104 -0.360846 +v -0.540310 0.525939 -0.526809 +f 807 802 810 +f 803 802 804 +f 801 803 804 +f 802 805 806 +f 804 802 806 +f 805 804 806 +f 801 805 807 +f 805 802 807 +f 801 804 808 +f 805 801 808 +f 805 808 809 +f 804 805 809 +f 808 804 809 +f 803 801 810 +f 802 803 810 +f 801 807 810 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/110/110.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/110/110.urdf new file mode 100644 index 000000000..bbb4d390e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/110/110.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/111/111.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/111/111.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/111/111.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/111/111.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/111/111.obj new file mode 100644 index 000000000..378323de6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/111/111.obj @@ -0,0 +1,465 @@ +o convex_0 +v -0.608484 0.220342 -0.608288 +v -3.090949 0.187835 -1.424892 +v -3.090949 0.220450 -1.424892 +v -3.058144 -0.792138 -0.248909 +v -0.608484 -0.726690 -1.359393 +v -3.058144 0.318513 -0.281601 +v -0.608484 -0.792138 -0.314408 +v -3.058144 -0.792138 -1.359509 +v -0.608484 0.253066 -1.359393 +v -0.608484 0.187727 -0.346984 +v -2.143744 0.285789 -0.281601 +v -2.111182 0.253174 -1.424892 +v -3.025582 -0.759414 -1.392085 +v -2.470333 0.318513 -0.542905 +v -3.025582 0.155112 -0.248909 +v -3.058144 0.253174 -1.424892 +v -0.608484 -0.792138 -0.608288 +v -1.359833 -0.726690 -0.281601 +v -0.837388 0.253066 -1.392200 +v -3.025582 -0.204197 -1.424892 +v -0.608484 -0.400105 -0.314408 +v -3.090949 -0.008181 -0.869477 +v -2.633627 -0.792138 -1.359509 +v -1.327271 0.285789 -1.000129 +v -2.502894 -0.792138 -0.248909 +v -3.058144 0.285789 -1.032821 +f 24 12 26 +f 5 1 7 +f 7 4 8 +f 1 5 9 +f 7 1 10 +f 10 1 11 +f 2 3 12 +f 8 2 13 +f 6 11 14 +f 6 4 15 +f 11 6 15 +f 12 3 16 +f 5 7 17 +f 7 8 17 +f 9 5 19 +f 5 12 19 +f 2 12 20 +f 12 5 20 +f 5 13 20 +f 13 2 20 +f 7 10 21 +f 10 11 21 +f 11 15 21 +f 18 7 21 +f 15 18 21 +f 3 2 22 +f 6 3 22 +f 4 6 22 +f 2 8 22 +f 8 4 22 +f 13 5 23 +f 8 13 23 +f 5 17 23 +f 17 8 23 +f 1 9 24 +f 11 1 24 +f 14 11 24 +f 9 19 24 +f 19 12 24 +f 4 7 25 +f 15 4 25 +f 7 18 25 +f 18 15 25 +f 3 6 26 +f 6 14 26 +f 16 3 26 +f 12 16 26 +f 14 24 26 +o convex_1 +v 0.599986 1.397342 2.233722 +v -1.098477 -1.314400 0.208597 +v -1.098477 -1.314400 0.306730 +v -1.065699 4.793783 0.110675 +v 1.090159 -1.248876 0.143175 +v -0.967793 -1.347463 2.168301 +v 1.090159 4.695196 2.102879 +v -0.967793 4.695196 2.233722 +v 0.992038 4.793783 0.110675 +v 0.926696 -1.314400 2.102879 +v -1.098477 -1.281939 0.077964 +v -0.412493 -0.856933 2.233722 +v 0.534645 -0.596038 0.077964 +v 0.534645 -0.889395 2.233722 +v 1.024817 4.793181 0.535285 +v -1.065699 4.793783 0.371941 +v 1.024817 4.368176 2.135590 +v 1.057380 -1.281338 0.633206 +v -1.000357 -1.347463 1.841613 +v -0.379715 0.253373 0.077964 +v 1.057380 1.233832 0.110675 +v 1.090159 4.368176 2.102879 +v 0.698107 0.841889 2.233722 +v 0.959260 -1.314400 1.808902 +v -0.869673 4.727657 1.874113 +v 1.090159 4.695196 1.939535 +v -0.641083 -0.269018 2.233722 +v -0.151125 -1.347463 2.070379 +v 0.763234 -1.281338 0.143175 +v -1.098477 0.808826 0.143386 +v -0.837109 4.695196 2.233722 +v 0.534645 4.793783 0.665917 +v 0.959260 -0.497451 2.102879 +v 0.796012 -1.183352 0.110675 +v -0.967793 0.612854 2.201012 +v -1.098477 -0.367004 0.077964 +v 0.469517 0.188450 0.077964 +v 1.024817 3.453842 2.135590 +v 1.090159 -0.921856 0.143175 +v 1.090159 -1.248876 0.241308 +v 1.057380 4.728258 1.678269 +v -0.902451 -1.347463 1.514714 +v 1.024817 3.584289 0.143175 +v -0.608305 -1.347463 2.168301 +v 0.665329 -0.073046 2.233722 +v 0.861354 4.695196 2.135379 +v 0.175371 -0.954919 0.077964 +v -0.379715 4.727657 1.874113 +f 72 67 74 +f 28 29 37 +f 27 34 38 +f 38 32 40 +f 27 38 40 +f 35 30 42 +f 29 28 45 +f 34 29 45 +f 30 35 46 +f 39 37 46 +f 39 35 47 +f 31 33 48 +f 33 43 48 +f 27 40 49 +f 43 27 49 +f 42 34 51 +f 33 31 52 +f 41 33 52 +f 32 38 53 +f 38 34 53 +f 32 45 54 +f 50 36 54 +f 50 54 55 +f 28 37 55 +f 37 31 55 +f 31 44 55 +f 44 50 55 +f 29 34 56 +f 37 29 56 +f 34 42 56 +f 42 30 56 +f 34 27 57 +f 27 43 57 +f 51 34 57 +f 41 35 58 +f 35 42 58 +f 42 51 58 +f 36 50 59 +f 50 44 59 +f 31 37 60 +f 47 31 60 +f 39 47 60 +f 34 45 61 +f 45 32 61 +f 32 53 61 +f 53 34 61 +f 30 46 62 +f 46 37 62 +f 37 56 62 +f 56 30 62 +f 35 39 63 +f 46 35 63 +f 39 46 63 +f 48 43 64 +f 43 49 64 +f 59 48 64 +f 31 47 65 +f 52 31 65 +f 44 31 66 +f 31 48 66 +f 48 59 66 +f 59 44 66 +f 33 41 67 +f 41 58 67 +f 45 28 68 +f 54 45 68 +f 55 54 68 +f 28 55 68 +f 35 41 69 +f 47 35 69 +f 41 52 69 +f 65 47 69 +f 52 65 69 +f 40 32 70 +f 36 40 70 +f 32 54 70 +f 54 36 70 +f 40 36 71 +f 49 40 71 +f 36 59 71 +f 64 49 71 +f 59 64 71 +f 43 33 72 +f 57 43 72 +f 33 67 72 +f 37 39 73 +f 60 37 73 +f 39 60 73 +f 51 57 74 +f 58 51 74 +f 67 58 74 +f 57 72 74 +o convex_2 +v 0.469391 -0.073587 4.193400 +v -0.412444 -0.857358 2.233917 +v -0.053057 -0.857358 2.233917 +v 0.600057 0.220383 2.233917 +v -0.445056 0.155032 4.226361 +v 0.567445 -0.759331 4.062729 +v -0.510281 0.155032 2.233917 +v -0.510281 -0.857358 4.128065 +v 0.436778 -0.824682 2.233917 +v 0.469499 0.285847 4.226361 +v 0.306112 0.285735 3.899488 +v -0.445056 -0.857358 2.266683 +v -0.412444 0.187708 4.226361 +v -0.314390 -0.857358 4.095494 +v 0.469391 -0.792007 2.299253 +v -0.510281 0.155032 2.789367 +v -0.510281 -0.106263 2.233917 +v 0.567445 0.253059 2.821938 +v 0.338724 0.220383 2.233917 +v -0.347111 -0.008235 4.226361 +v 0.306112 -0.792007 4.095494 +v -0.347111 0.187708 2.593361 +v 0.600057 0.155032 2.233917 +v -0.510281 -0.693979 4.128065 +v -0.510281 -0.857358 3.866722 +v 0.338724 0.089680 4.226361 +v 0.273391 0.285735 4.226361 +f 85 96 101 +f 77 76 78 +f 78 76 81 +f 76 77 82 +f 77 78 83 +f 75 80 84 +f 76 82 86 +f 79 84 87 +f 82 77 88 +f 77 83 88 +f 80 83 89 +f 81 82 90 +f 79 87 90 +f 87 81 90 +f 81 76 91 +f 82 81 91 +f 76 86 91 +f 80 78 92 +f 84 80 92 +f 85 84 92 +f 85 92 93 +f 78 81 93 +f 92 78 93 +f 79 82 94 +f 84 79 94 +f 80 75 95 +f 83 80 95 +f 82 88 95 +f 88 83 95 +f 81 87 96 +f 85 93 96 +f 93 81 96 +f 78 80 97 +f 83 78 97 +f 80 89 97 +f 89 83 97 +f 82 79 98 +f 79 90 98 +f 90 82 98 +f 86 82 99 +f 82 91 99 +f 91 86 99 +f 75 84 100 +f 94 82 100 +f 84 94 100 +f 95 75 100 +f 82 95 100 +f 84 85 101 +f 87 84 101 +f 96 87 101 +o convex_3 +v -0.314407 -0.595936 -1.882117 +v 0.600166 -0.694126 -0.248957 +v 0.600166 -0.759280 -0.248957 +v -0.510430 -0.628628 0.077753 +v 0.600166 0.318513 -0.543093 +v -0.608382 0.253129 -1.359381 +v 0.567397 -0.857470 -1.914885 +v 0.436676 0.253129 -1.816775 +v -0.379709 0.253129 0.077753 +v -0.608382 -0.792087 -0.608435 +v 0.469445 0.187746 0.077753 +v -0.608382 0.155054 -1.816775 +v -0.477779 -0.759395 -1.849543 +v 0.534746 -0.759280 0.077753 +v -0.608382 0.187746 -0.347067 +v 0.600166 0.187746 -1.457491 +v -0.608382 -0.792087 -0.314299 +v -0.608382 -0.726703 -1.359381 +v 0.175352 0.318398 -0.216383 +v 0.600166 0.318513 -0.347067 +v 0.567397 -0.661435 -1.914885 +v -0.510430 -0.726703 0.077753 +v 0.600166 -0.759280 -1.424723 +v 0.306073 -0.792087 -0.248957 +v 0.371375 0.318398 -0.738924 +v -0.477779 0.056979 0.077753 +v -0.151036 0.285821 0.044985 +v -0.477779 -0.792087 -0.183615 +v 0.469445 0.057094 -1.849543 +v -0.216337 -0.792087 -1.882117 +v 0.338724 -0.661319 -1.914885 +f 108 131 132 +f 103 104 106 +f 110 105 112 +f 107 109 113 +f 111 107 113 +f 113 102 114 +f 104 103 115 +f 108 104 115 +f 112 105 115 +f 110 107 116 +f 107 111 116 +f 106 104 117 +f 109 106 117 +f 111 108 118 +f 105 116 118 +f 116 111 118 +f 111 113 119 +f 114 111 119 +f 113 114 119 +f 103 106 121 +f 115 103 121 +f 112 115 121 +f 106 120 121 +f 117 108 122 +f 115 105 123 +f 105 118 123 +f 104 108 124 +f 117 104 124 +f 108 117 124 +f 108 115 125 +f 109 107 126 +f 106 109 126 +f 120 106 126 +f 107 120 126 +f 105 110 127 +f 116 105 127 +f 110 116 127 +f 107 110 128 +f 110 112 128 +f 120 107 128 +f 112 121 128 +f 121 120 128 +f 118 108 129 +f 115 123 129 +f 123 118 129 +f 108 125 129 +f 125 115 129 +f 113 109 130 +f 109 117 130 +f 117 122 130 +f 108 111 131 +f 111 114 131 +f 114 102 131 +f 102 113 132 +f 122 108 132 +f 113 130 132 +f 130 122 132 +f 131 102 132 +o convex_4 +v 3.049893 0.253145 -0.379628 +v 0.600412 0.155088 -1.457440 +v 0.600412 -0.759417 -1.424671 +v 0.600412 -0.661360 -0.248909 +v 3.049893 -0.726731 -1.326721 +v 3.017394 -0.857243 -0.248909 +v 0.600412 0.318286 -0.347096 +v 3.115137 0.220460 -1.294189 +v 0.731146 -0.792102 -0.248909 +v 0.600412 0.220460 -1.424671 +v 2.363969 -0.857243 -0.542997 +v 3.017394 -0.628674 -0.248909 +v 0.796390 -0.792102 -1.294070 +v 1.351826 0.318286 -0.412397 +v 3.049893 0.220460 -0.346978 +v 0.763645 0.187774 -1.457440 +v 2.755926 0.285716 -0.379628 +v 0.698401 0.318286 -0.542997 +v 0.927124 -0.759417 -1.424671 +v 3.082638 0.253145 -0.967450 +v 2.919405 -0.857243 -0.477697 +v 3.115137 -0.008224 -1.261420 +v 1.612802 -0.563303 -0.248909 +v 2.233235 0.220460 -1.359371 +v 0.600412 -0.759417 -0.248909 +v 3.115137 0.187774 -1.065401 +v 2.331470 -0.857243 -0.248909 +v 3.049893 -0.759417 -1.130819 +f 154 138 160 +f 134 135 136 +f 134 136 139 +f 138 136 141 +f 134 139 142 +f 136 138 144 +f 141 135 145 +f 144 138 147 +f 134 142 148 +f 146 139 149 +f 147 133 149 +f 139 147 149 +f 142 139 150 +f 139 146 150 +f 135 134 151 +f 145 135 151 +f 137 145 151 +f 134 148 151 +f 148 137 151 +f 133 140 152 +f 149 133 152 +f 146 149 152 +f 140 150 152 +f 150 146 152 +f 138 143 153 +f 143 145 153 +f 137 140 154 +f 139 136 155 +f 136 144 155 +f 147 139 155 +f 144 147 155 +f 140 137 156 +f 137 148 156 +f 148 142 156 +f 142 150 156 +f 150 140 156 +f 136 135 157 +f 135 141 157 +f 141 136 157 +f 140 133 158 +f 133 147 158 +f 147 138 158 +f 138 154 158 +f 154 140 158 +f 138 141 159 +f 143 138 159 +f 141 145 159 +f 145 143 159 +f 145 137 160 +f 138 153 160 +f 153 145 160 +f 137 154 160 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/111/111.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/111/111.urdf new file mode 100644 index 000000000..d4fff1974 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/111/111.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/112/112.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/112/112.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/112/112.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/112/112.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/112/112.obj new file mode 100644 index 000000000..c9aad9d90 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/112/112.obj @@ -0,0 +1,396 @@ +o convex_0 +v -1.018000 0.775415 -0.393313 +v -0.496885 0.898114 1.691196 +v -0.588708 0.898114 1.691196 +v 0.514454 -3.485529 1.537875 +v 0.974425 0.898114 -0.362648 +v -1.110037 -3.546878 -0.362429 +v 1.035783 -3.515986 -0.362648 +v 1.066462 0.898114 1.629868 +v -0.925963 -3.454637 1.598984 +v 1.005104 -3.485529 1.506992 +v -0.925963 0.898114 1.629649 +v 0.575812 0.898114 -0.546415 +v -1.110037 0.898114 -0.331984 +v -1.110037 -3.546878 -0.147999 +v -0.251666 0.407320 -0.515970 +v 1.066249 0.223272 1.629868 +v -0.864605 -2.994735 1.629649 +v 1.035783 -3.515986 0.863263 +v 1.005104 -3.270589 -0.393313 +v 1.035783 -2.197630 -0.362648 +v -0.956642 0.438212 1.414999 +v -0.956642 -3.454637 1.476328 +v 0.637170 0.683174 -0.546415 +v 1.066462 0.898114 1.415218 +v 1.035783 -3.178348 1.506992 +v 0.116054 -3.546878 -0.362429 +v -0.220987 0.898114 -0.515970 +v 1.005104 -0.267087 -0.362648 +v 1.066249 -0.358893 1.568320 +v -0.558242 0.499561 1.691196 +v -0.496885 -3.454637 1.598984 +v -0.956642 -2.841145 -0.393313 +v -1.079358 -3.546878 -0.025342 +v -0.987321 0.898114 1.077912 +v -0.925963 -2.504376 1.629649 +v 0.116054 -3.485529 1.537875 +v 1.005104 -2.044475 -0.393313 +v -0.833927 0.775415 1.660313 +v -1.110037 0.898114 -0.362429 +v -1.110037 -3.209240 -0.147999 +v 0.943746 0.621825 -0.393094 +v -1.110037 0.560475 -0.301320 +v -0.619387 -1.217782 -0.454641 +v -0.619387 -2.933386 -0.393313 +v 1.035783 -3.485529 1.231014 +v -0.987321 -3.485529 1.108576 +f 33 36 46 +f 3 2 5 +f 5 2 8 +f 3 5 11 +f 11 5 12 +f 11 12 13 +f 13 6 14 +f 8 2 16 +f 4 10 16 +f 10 4 18 +f 7 19 20 +f 11 21 22 +f 12 5 23 +f 15 12 23 +f 5 8 24 +f 7 20 24 +f 16 10 25 +f 14 6 26 +f 7 18 26 +f 19 7 26 +f 6 19 26 +f 13 12 27 +f 15 1 27 +f 12 15 27 +f 5 24 28 +f 24 20 28 +f 8 16 29 +f 18 7 29 +f 24 8 29 +f 7 24 29 +f 16 25 29 +f 2 3 30 +f 16 2 30 +f 17 16 30 +f 9 4 31 +f 4 16 31 +f 17 9 31 +f 16 17 31 +f 6 1 32 +f 14 26 33 +f 26 18 33 +f 11 13 34 +f 21 11 34 +f 9 17 35 +f 22 9 35 +f 11 22 35 +f 30 3 35 +f 17 30 35 +f 4 9 36 +f 18 4 36 +f 33 18 36 +f 20 19 37 +f 19 23 37 +f 28 20 37 +f 3 11 38 +f 35 3 38 +f 11 35 38 +f 1 6 39 +f 6 13 39 +f 13 27 39 +f 27 1 39 +f 13 14 40 +f 14 22 40 +f 22 21 40 +f 21 34 40 +f 23 5 41 +f 5 28 41 +f 37 23 41 +f 28 37 41 +f 34 13 42 +f 13 40 42 +f 40 34 42 +f 1 15 43 +f 15 23 43 +f 32 1 43 +f 23 32 43 +f 19 6 44 +f 23 19 44 +f 6 32 44 +f 32 23 44 +f 10 18 45 +f 25 10 45 +f 18 29 45 +f 29 25 45 +f 22 14 46 +f 9 22 46 +f 14 33 46 +f 36 9 46 +o convex_1 +v 0.208022 2.032242 -3.612115 +v 0.606515 1.112817 -0.515973 +v 0.606515 0.898114 -0.515973 +v -0.588843 2.032242 -0.515973 +v -0.466174 1.020896 -4.347646 +v -0.435567 0.990256 -0.515973 +v 0.453239 1.020896 -4.378373 +v 0.514574 2.032242 -0.515973 +v -0.619450 1.909570 -4.377989 +v 0.483966 2.032242 -4.439827 +v -0.067682 0.898114 -1.129363 +v -0.466174 0.990256 -4.132940 +v -0.558115 1.940210 -4.347646 +v -0.190350 0.898114 -0.515973 +v -0.619450 1.878930 -3.887507 +v 0.545301 1.909570 -0.546700 +v 0.483966 1.756370 -4.439827 +v -0.588843 1.909570 -0.792133 +v 0.606515 0.959616 -0.792133 +v 0.483966 1.020896 -3.949346 +v 0.514574 2.032242 -2.692222 +v -0.374353 1.909570 -4.409101 +v 0.361298 0.990256 -3.642458 +v -0.466174 0.990256 -3.519934 +v 0.024140 1.020896 -4.378373 +v -0.558115 1.511138 -4.377989 +v 0.483966 1.603058 -4.409101 +v 0.177415 1.940210 -4.439827 +v -0.619450 1.940210 -4.102213 +f 55 61 75 +f 49 48 50 +f 49 50 52 +f 50 48 54 +f 47 50 54 +f 47 54 56 +f 50 47 59 +f 47 56 59 +f 56 55 59 +f 49 52 60 +f 57 49 60 +f 58 57 60 +f 54 48 62 +f 52 50 64 +f 50 61 64 +f 61 52 64 +f 48 49 65 +f 56 48 65 +f 63 56 65 +f 49 53 66 +f 65 49 66 +f 48 56 67 +f 56 54 67 +f 62 48 67 +f 54 62 67 +f 55 56 68 +f 53 49 69 +f 49 57 69 +f 58 53 69 +f 57 58 69 +f 60 52 70 +f 58 60 70 +f 52 61 70 +f 53 58 71 +f 58 51 71 +f 63 53 71 +f 51 58 72 +f 61 55 72 +f 55 68 72 +f 58 70 72 +f 70 61 72 +f 71 51 72 +f 53 63 73 +f 63 65 73 +f 65 66 73 +f 66 53 73 +f 56 63 74 +f 68 56 74 +f 63 71 74 +f 72 68 74 +f 71 72 74 +f 50 59 75 +f 59 55 75 +f 61 50 75 +o convex_2 +v -0.435537 0.990232 -0.515973 +v 1.066462 2.430614 1.691196 +v 0.913066 2.461525 1.691196 +v -0.833939 0.898267 1.660517 +v -1.079159 2.400011 -0.393256 +v 0.974424 0.898267 -0.362577 +v 0.943745 2.430614 -0.362577 +v -0.925977 2.461525 1.629838 +v 1.066462 0.898267 1.629838 +v -1.110052 0.898267 -0.362577 +v 0.514450 2.032149 -0.515973 +v -0.925977 0.898267 1.629838 +v 0.667846 0.898267 -0.515973 +v -0.588933 0.898267 1.691196 +v 1.066462 2.430614 1.200546 +v -0.987335 2.461525 0.986008 +v -0.588933 2.032149 -0.515973 +v -0.588933 2.154718 1.691196 +v -0.404858 2.430614 -0.362577 +v 1.066462 1.143559 1.660517 +v -1.079159 2.400011 -0.055786 +v -0.987335 0.929024 1.078046 +v 0.974424 1.633989 -0.362577 +v 1.066462 0.929024 1.384621 +v -0.864619 2.430614 1.660517 +v 0.208085 1.143559 1.691196 +v 0.974424 2.430614 -0.147823 +v -1.018014 0.898267 -0.393256 +v -1.048693 2.430614 -0.025323 +v 0.667846 1.296885 -0.515973 +v -1.110052 1.174163 -0.331898 +v -0.956656 1.940184 1.384621 +v -0.220996 0.898267 -0.515973 +v 1.066462 2.062753 1.691196 +v -0.895298 2.277441 1.660517 +f 93 100 110 +f 79 81 84 +f 81 79 85 +f 80 82 86 +f 85 79 87 +f 81 85 88 +f 76 86 88 +f 77 78 89 +f 79 84 89 +f 78 77 90 +f 77 84 90 +f 78 82 91 +f 83 78 91 +f 86 76 92 +f 80 86 92 +f 89 78 93 +f 82 80 94 +f 91 82 94 +f 84 77 95 +f 89 84 95 +f 85 87 97 +f 81 88 98 +f 90 81 98 +f 84 81 99 +f 81 90 99 +f 90 84 99 +f 78 83 100 +f 93 78 100 +f 77 89 101 +f 89 95 101 +f 82 78 102 +f 78 90 102 +f 98 82 102 +f 90 98 102 +f 85 80 103 +f 88 85 103 +f 92 76 103 +f 80 92 103 +f 94 80 104 +f 91 94 104 +f 80 96 104 +f 96 91 104 +f 86 82 105 +f 88 86 105 +f 98 88 105 +f 82 98 105 +f 80 85 106 +f 96 80 106 +f 85 97 106 +f 106 97 107 +f 87 83 107 +f 83 91 107 +f 91 96 107 +f 97 87 107 +f 96 106 107 +f 76 88 108 +f 103 76 108 +f 88 103 108 +f 95 77 109 +f 77 101 109 +f 101 95 109 +f 87 79 110 +f 83 87 110 +f 79 89 110 +f 89 93 110 +f 100 83 110 +o convex_3 +v -0.312959 1.603127 3.591531 +v 0.054795 1.143355 1.691391 +v 0.208040 1.143355 1.691391 +v 0.177379 1.787049 1.691391 +v 0.177379 1.143355 3.683778 +v 0.300024 1.787049 3.530293 +v -0.282297 1.204725 1.936734 +v -0.159653 1.725742 1.691391 +v -0.312959 1.296717 3.683778 +v -0.251636 1.695057 3.315569 +v -0.251636 1.388647 1.691391 +v 0.085456 1.143355 3.683778 +v 0.177379 1.787049 3.499479 +v 0.238702 1.296717 2.028591 +v -0.220975 1.695057 1.997972 +v -0.190314 1.174103 1.691391 +v 0.208040 1.725742 1.814062 +v 0.085456 1.787049 1.967353 +v 0.300024 1.725742 3.346383 +v -0.312959 1.266032 3.284950 +v -0.190314 1.358024 3.683778 +v 0.208040 1.143355 2.427225 +v -0.220975 1.695057 3.560912 +v -0.282297 1.358024 2.090024 +v 0.238702 1.419332 3.622150 +v -0.282297 1.664435 3.009183 +f 125 134 136 +f 113 112 114 +f 112 113 115 +f 114 112 118 +f 118 112 121 +f 112 115 122 +f 115 119 122 +f 116 114 123 +f 120 118 125 +f 118 121 125 +f 121 112 126 +f 117 121 126 +f 112 122 126 +f 122 117 126 +f 113 114 127 +f 114 116 127 +f 124 113 127 +f 114 118 128 +f 118 120 128 +f 123 114 128 +f 120 123 128 +f 127 116 129 +f 124 127 129 +f 111 117 130 +f 119 111 130 +f 117 122 130 +f 122 119 130 +f 119 115 131 +f 111 119 131 +f 115 113 132 +f 113 124 132 +f 124 129 132 +f 120 111 133 +f 116 123 133 +f 123 120 133 +f 131 116 133 +f 111 131 133 +f 117 111 134 +f 121 117 134 +f 125 121 134 +f 129 116 135 +f 131 115 135 +f 116 131 135 +f 115 132 135 +f 132 129 135 +f 111 120 136 +f 120 125 136 +f 134 111 136 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/112/112.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/112/112.urdf new file mode 100644 index 000000000..ed610cf32 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/112/112.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/113/113.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/113/113.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/113/113.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/113/113.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/113/113.obj new file mode 100644 index 000000000..49b6e48a5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/113/113.obj @@ -0,0 +1,1161 @@ +o convex_0 +v -2.240654 -1.801514 0.210329 +v -2.953384 -1.658918 -0.003404 +v -2.953384 -1.658918 0.067761 +v -2.561379 -4.117714 -0.003404 +v -2.276258 -1.658918 -0.217255 +v -2.561379 -3.511439 0.281672 +v -2.525775 -3.760982 -0.252897 +v -2.311934 -3.760982 0.032120 +v -2.775073 -1.623514 0.281672 +v -2.775073 -1.623514 -0.217255 +v -2.739470 -3.760982 -0.003404 +v -2.347538 -1.623514 0.281672 +v -2.739470 -2.905653 -0.217255 +v -2.739470 -3.012599 0.245971 +v -2.204978 -1.623514 -0.145971 +v -2.454568 -3.760982 0.245971 +v -2.596982 -2.549896 -0.288539 +v -2.383288 -3.511439 -0.181613 +v -2.454568 -2.621194 0.317314 +v -2.311934 -2.905653 0.245971 +v -2.204978 -2.051056 0.067761 +v -2.596982 -3.725332 0.245971 +v -2.418892 -1.623514 -0.252897 +v -2.846427 -1.872812 0.245971 +v -2.596982 -2.763789 0.317314 +v -2.703793 -3.476035 -0.181613 +v -2.490172 -4.117714 -0.039046 +v -2.525775 -2.835087 -0.288539 +v -2.561379 -2.015407 0.317314 +v -2.311934 -3.760982 -0.003404 +v -2.204978 -1.623514 0.139045 +v -2.739470 -3.760982 0.032120 +v -2.561379 -3.760982 -0.252897 +f 17 28 33 +f 2 3 9 +f 2 9 10 +f 3 2 11 +f 10 9 12 +f 2 10 13 +f 10 12 15 +f 13 10 17 +f 7 5 18 +f 5 15 18 +f 6 16 19 +f 19 16 20 +f 1 12 20 +f 16 8 20 +f 12 19 20 +f 20 8 21 +f 6 14 22 +f 4 16 22 +f 16 6 22 +f 15 5 23 +f 10 15 23 +f 17 10 23 +f 9 3 24 +f 3 14 24 +f 24 14 25 +f 14 6 25 +f 6 19 25 +f 9 24 25 +f 11 2 26 +f 2 13 26 +f 16 4 27 +f 8 16 27 +f 5 7 28 +f 23 5 28 +f 17 23 28 +f 12 9 29 +f 19 12 29 +f 25 19 29 +f 9 25 29 +f 7 18 30 +f 18 15 30 +f 21 8 30 +f 15 21 30 +f 27 7 30 +f 8 27 30 +f 12 1 31 +f 15 12 31 +f 1 20 31 +f 21 15 31 +f 20 21 31 +f 3 11 32 +f 11 4 32 +f 14 3 32 +f 4 22 32 +f 22 14 32 +f 4 11 33 +f 13 17 33 +f 11 26 33 +f 26 13 33 +f 27 4 33 +f 7 27 33 +f 28 7 33 +o convex_1 +v -2.953227 -1.623026 0.103442 +v -1.706389 -0.482597 -0.003432 +v -1.706389 -0.482597 -0.074639 +v -2.953227 -0.482597 0.067838 +v -3.273962 -1.017312 -0.288511 +v -1.706389 -1.230975 -0.217178 +v -1.706389 -1.230975 0.317314 +v -3.345120 -1.052811 0.281648 +v -2.490350 -0.482597 0.317314 +v -2.561508 -0.482597 -0.324177 +v -2.419017 -1.623026 -0.252845 +v -2.347685 -1.623026 0.281648 +v -3.452032 -1.088310 -0.181512 +v -1.706389 -0.589540 -0.252845 +v -1.706389 -1.373529 -0.003432 +v -1.706389 -0.696483 0.245981 +v -3.131297 -1.195253 0.317314 +v -2.774983 -1.623026 -0.217178 +v -2.881894 -0.482597 -0.252845 +v -3.487786 -1.017312 0.032172 +v -2.881894 -0.482597 0.281648 +v -3.416453 -1.266586 -0.003432 +v -1.706389 -1.123921 -0.252845 +v -2.846315 -1.623026 0.245981 +v -2.205194 -1.623026 -0.145971 +v -3.416453 -1.159643 0.245981 +v -3.416453 -0.910481 0.103442 +v -2.240773 -1.623026 0.245981 +v -3.416453 -0.910481 -0.038972 +v -1.706389 -0.981702 0.317314 +v -2.632492 -0.625150 -0.324177 +v -3.345120 -1.195253 -0.217178 +v -2.988806 -1.623026 -0.003432 +v -3.238209 -1.052811 0.317314 +f 59 50 67 +f 35 36 37 +f 36 35 39 +f 39 35 40 +f 35 37 42 +f 37 36 43 +f 34 44 45 +f 36 39 47 +f 43 36 47 +f 39 40 48 +f 40 35 49 +f 35 42 49 +f 40 42 50 +f 45 40 50 +f 44 34 51 +f 38 44 51 +f 37 43 52 +f 43 38 52 +f 38 46 52 +f 42 37 54 +f 53 46 55 +f 39 44 56 +f 47 39 56 +f 43 47 56 +f 34 45 57 +f 45 50 57 +f 44 39 58 +f 45 44 58 +f 39 48 58 +f 55 34 59 +f 53 55 59 +f 34 57 59 +f 57 50 59 +f 54 37 60 +f 41 54 60 +f 59 41 60 +f 53 59 60 +f 40 45 61 +f 48 40 61 +f 45 58 61 +f 58 48 61 +f 37 52 62 +f 52 46 62 +f 46 53 62 +f 60 37 62 +f 53 60 62 +f 42 40 63 +f 40 49 63 +f 49 42 63 +f 38 43 64 +f 44 38 64 +f 56 44 64 +f 43 56 64 +f 46 38 65 +f 38 51 65 +f 55 46 65 +f 55 65 66 +f 51 34 66 +f 34 55 66 +f 65 51 66 +f 50 42 67 +f 42 54 67 +f 54 41 67 +f 41 59 67 +o convex_2 +v -2.383253 1.405995 0.174711 +v -2.917746 -0.482359 -0.145971 +v -2.917746 -0.482359 0.139108 +v -2.169339 -0.482359 -0.038972 +v -2.561344 1.619686 -0.288511 +v -2.775185 1.655498 -0.003432 +v -2.703831 -0.482359 0.317314 +v -2.525741 -0.446547 -0.324177 +v -2.311900 -0.482359 0.281648 +v -2.347650 1.085340 -0.252845 +v -2.596948 1.405995 0.245981 +v -2.311900 1.619686 0.032172 +v -2.882069 -0.375395 -0.252845 +v -2.810789 0.444267 0.245981 +v -2.311900 -0.482359 -0.288511 +v -2.490137 1.940578 -0.003432 +v -2.525741 0.657958 0.317314 +v -2.739435 1.370419 -0.217178 +v -2.311900 0.479843 0.245981 +v -2.561344 1.049764 -0.324177 +v -2.311900 1.584110 -0.074639 +v -2.311900 0.479843 -0.288511 +v -2.810789 1.370419 -0.074639 +v -2.169339 -0.446547 0.032172 +v -2.668155 -0.482359 -0.324177 +v -2.846465 -0.232856 0.281648 +v -2.525741 1.619686 0.210378 +v -2.917746 -0.054740 0.032172 +v -2.739435 1.299031 0.174711 +v -2.632551 1.869189 -0.074639 +v -2.596948 0.657958 0.317314 +v -2.739435 0.479843 -0.288511 +v -2.418930 0.337303 -0.324177 +f 87 89 100 +f 70 69 71 +f 70 71 74 +f 74 71 76 +f 71 69 82 +f 74 76 84 +f 79 68 86 +f 68 84 86 +f 84 76 86 +f 77 72 88 +f 72 83 88 +f 83 79 88 +f 72 77 89 +f 71 82 89 +f 87 72 89 +f 88 71 89 +f 77 88 89 +f 80 69 90 +f 73 85 90 +f 85 80 90 +f 76 71 91 +f 86 76 91 +f 79 86 91 +f 71 88 91 +f 88 79 91 +f 69 80 92 +f 82 69 92 +f 75 82 92 +f 87 75 92 +f 70 74 93 +f 81 70 93 +f 73 78 94 +f 68 79 94 +f 83 73 94 +f 79 83 94 +f 84 68 94 +f 78 84 94 +f 69 70 95 +f 70 81 95 +f 81 73 95 +f 90 69 95 +f 73 90 95 +f 78 73 96 +f 73 81 96 +f 81 78 96 +f 83 72 97 +f 73 83 97 +f 72 85 97 +f 85 73 97 +f 78 81 98 +f 74 84 98 +f 84 78 98 +f 93 74 98 +f 81 93 98 +f 85 72 99 +f 80 85 99 +f 72 87 99 +f 92 80 99 +f 87 92 99 +f 82 75 100 +f 75 87 100 +f 89 82 100 +o convex_3 +v 2.249827 -0.161914 0.779978 +v 0.254101 -2.121964 -0.074004 +v 0.361042 -2.121964 -0.074004 +v 1.359017 -0.268962 -2.889773 +v 0.254101 0.265810 1.029649 +v 2.249827 -1.694006 1.955983 +v 2.285326 -1.694006 -2.069594 +v 0.646146 -1.052654 2.811744 +v 0.681868 -1.052654 -2.783025 +v 2.142885 -0.161914 2.347984 +v 0.254101 0.265810 -1.035920 +v 2.178384 -0.161914 -2.355441 +v 2.534931 -1.302043 -1.392932 +v 0.646146 -1.836581 2.134489 +v 1.359017 -0.340249 2.918492 +v 0.681868 -1.801054 -2.105770 +v 2.214105 -1.943395 -0.003432 +v 2.214105 -1.017127 2.704996 +v 0.931250 0.265576 0.387977 +v 1.536956 -1.052654 -3.032696 +v 2.463487 -0.447063 0.637648 +v 0.254101 -1.694240 -1.178843 +v 0.254101 -1.765527 0.958484 +v 1.501234 -1.801054 2.277412 +v 2.499209 -1.587192 0.602065 +v 2.249827 -0.981601 -2.711267 +v 1.465736 -1.088415 3.025833 +v 1.536956 -1.801054 -2.212517 +v 1.038192 -0.019573 2.419743 +v 2.499209 -0.589637 -1.286184 +v 2.463487 -0.981601 1.635740 +v 2.214105 -0.090860 -0.394840 +v 1.109412 0.016188 -2.391024 +v 0.824308 0.265576 -0.715677 +v 0.396764 -1.123941 2.027741 +v 1.501234 -2.050676 0.032151 +v 0.860030 -0.411536 -2.640102 +v 2.534931 -1.551665 -1.143261 +v 0.717589 -0.447063 2.526490 +v 0.432486 -0.981367 -2.034012 +v 0.503706 0.265810 1.136397 +v 2.463487 -0.375776 -0.110180 +v 2.499209 -1.017127 -1.784933 +v 2.214105 -0.090860 0.387977 +v 0.396764 -1.872341 1.457234 +v 0.396764 -1.836814 -1.499680 +v 1.465736 -1.836581 2.098906 +v 1.536956 -1.765293 -2.319858 +v 1.287574 -1.088415 3.025833 +v 2.463487 -1.515905 1.278728 +v 2.427989 -1.765293 -0.003432 +v 2.427989 -0.482823 1.386068 +v 0.610648 0.265576 -1.143261 +v 0.467984 -2.121964 0.032151 +v 2.071442 -0.126387 -2.354848 +v 1.287574 -0.233435 2.847327 +v 1.465736 -0.233435 -2.854190 +v 2.285326 -1.765293 -1.606427 +v 1.430014 -1.052654 -3.032696 +v 0.646146 -1.123708 2.811744 +v 0.646146 -1.872341 2.027741 +v 2.071442 -1.729767 2.063324 +v 0.681868 -0.981367 -2.783025 +v 2.285326 -1.088181 -2.640102 +f 126 143 164 +f 102 105 111 +f 110 115 118 +f 101 110 121 +f 102 111 122 +f 105 102 123 +f 118 115 127 +f 103 102 128 +f 102 116 128 +f 121 113 130 +f 110 118 131 +f 113 121 131 +f 125 113 131 +f 119 132 134 +f 108 105 135 +f 105 123 135 +f 103 128 136 +f 133 104 137 +f 111 133 137 +f 107 113 138 +f 113 125 138 +f 105 108 139 +f 129 105 139 +f 122 111 140 +f 109 122 140 +f 111 105 141 +f 110 119 141 +f 105 129 141 +f 129 110 141 +f 134 111 141 +f 119 134 141 +f 101 121 142 +f 130 112 142 +f 121 130 142 +f 112 132 142 +f 126 112 143 +f 112 130 143 +f 130 113 143 +f 110 101 144 +f 119 110 144 +f 132 119 144 +f 101 142 144 +f 142 132 144 +f 123 102 145 +f 135 123 145 +f 116 102 146 +f 109 116 146 +f 102 122 146 +f 122 109 146 +f 136 117 147 +f 120 107 148 +f 128 116 148 +f 107 128 148 +f 115 108 149 +f 114 124 149 +f 127 115 149 +f 124 127 149 +f 118 106 150 +f 106 125 150 +f 131 118 150 +f 125 131 150 +f 106 117 151 +f 125 106 151 +f 138 125 151 +f 121 110 152 +f 110 131 152 +f 131 121 152 +f 133 111 153 +f 111 134 153 +f 102 103 154 +f 103 136 154 +f 136 147 154 +f 132 112 155 +f 134 132 155 +f 133 153 155 +f 153 134 155 +f 108 115 156 +f 115 110 156 +f 110 129 156 +f 139 108 156 +f 129 139 156 +f 120 104 157 +f 112 126 157 +f 126 120 157 +f 104 133 157 +f 155 112 157 +f 133 155 157 +f 128 107 158 +f 117 136 158 +f 136 128 158 +f 107 138 158 +f 151 117 158 +f 138 151 158 +f 116 109 159 +f 104 120 159 +f 120 148 159 +f 148 116 159 +f 108 135 160 +f 145 114 160 +f 135 145 160 +f 149 108 160 +f 114 149 160 +f 124 114 161 +f 145 102 161 +f 114 145 161 +f 147 124 161 +f 102 154 161 +f 154 147 161 +f 117 106 162 +f 106 118 162 +f 118 127 162 +f 127 124 162 +f 147 117 162 +f 124 147 162 +f 137 104 163 +f 111 137 163 +f 109 140 163 +f 140 111 163 +f 104 159 163 +f 159 109 163 +f 113 107 164 +f 107 120 164 +f 120 126 164 +f 143 113 164 +o convex_4 +v -0.280551 3.829316 0.210074 +v -0.601202 1.691346 -1.286160 +v -1.527757 1.691569 -0.466490 +v 0.432168 1.691569 0.994349 +v -1.028875 1.762790 1.208243 +v 0.503378 2.012176 -0.858373 +v -1.420736 3.080937 -0.751427 +v 0.253937 3.259325 -0.751427 +v 0.396563 3.259101 0.851754 +v -1.242505 3.045438 0.744807 +v -0.565391 3.651375 -0.751427 +v -1.456547 1.691569 0.709159 +v -0.565391 3.651375 0.744553 +v 0.574794 1.691569 -0.359544 +v -0.529786 3.972204 -0.074353 +v -0.494181 1.691346 1.314935 +v -1.028875 1.727292 -1.250511 +v -1.313921 3.294823 0.103128 +v 0.396563 1.691569 -1.036872 +v 0.289542 3.473211 -0.145650 +v -1.456547 1.691569 -0.858628 +v 0.075706 2.582390 -1.000969 +v -1.527757 1.798513 0.210329 +v 0.538983 1.834011 0.317021 +v -0.529786 3.473211 -0.822724 +v -1.385131 2.974217 -0.822979 +v 0.432168 3.081160 0.637861 +v -0.280551 3.580154 0.780202 +v -1.349526 2.404226 0.780456 +v -0.494181 1.727068 -1.286160 +v -0.529786 3.972204 0.067479 +v 0.182521 3.295047 -0.787076 +v -0.565391 1.727068 1.314935 +v 0.432168 2.511169 0.923052 +v -0.565391 3.580154 0.780202 +v -0.458782 3.972204 -0.038704 +v -1.456547 2.831775 -0.573437 +v -0.458782 3.651375 -0.751427 +v -0.886249 1.834011 -1.250511 +v -1.135690 3.472987 0.067479 +v -1.456547 2.047898 -0.858628 +v -1.420736 1.691569 0.816105 +v 0.253937 3.508486 -0.003055 +v -1.527757 2.012399 -0.430841 +v 0.253937 3.116659 -0.822724 +v -1.278316 3.116659 0.566563 +v -1.242505 2.974217 0.780456 +v 0.538983 2.119342 -0.216948 +v 0.503378 1.691569 -0.929926 +v 0.182521 2.226062 -1.036618 +v -1.135690 3.259101 -0.787330 +v 0.325147 3.295047 0.851499 +v -0.458782 3.722373 0.637861 +v -1.028875 1.691569 1.208243 +v -0.601202 3.936259 -0.038704 +v 0.325147 3.330545 -0.110002 +v -1.456547 2.760777 -0.751427 +f 205 208 221 +f 167 166 180 +f 176 167 180 +f 166 178 180 +f 178 168 180 +f 166 167 185 +f 181 166 185 +f 167 176 187 +f 168 178 188 +f 184 173 191 +f 187 176 193 +f 183 166 194 +f 189 186 194 +f 184 172 196 +f 186 189 196 +f 180 173 197 +f 180 168 198 +f 173 180 198 +f 168 188 198 +f 191 173 198 +f 188 191 198 +f 177 174 199 +f 192 177 199 +f 169 197 199 +f 197 192 199 +f 195 165 200 +f 179 195 200 +f 184 196 200 +f 182 171 201 +f 187 182 201 +f 175 179 202 +f 189 175 202 +f 196 189 202 +f 179 200 202 +f 200 196 202 +f 166 181 203 +f 181 190 203 +f 194 166 203 +f 189 194 203 +f 171 182 204 +f 177 195 204 +f 185 167 205 +f 181 185 205 +f 190 181 205 +f 176 180 206 +f 169 193 206 +f 193 176 206 +f 165 173 207 +f 173 184 207 +f 200 165 207 +f 184 200 207 +f 167 187 208 +f 187 201 208 +f 205 167 208 +f 172 170 209 +f 170 183 209 +f 196 172 209 +f 186 196 209 +f 174 177 210 +f 182 187 210 +f 193 174 210 +f 187 193 210 +f 177 204 210 +f 204 182 210 +f 193 169 211 +f 174 193 211 +f 169 199 211 +f 199 174 211 +f 178 170 212 +f 188 178 212 +f 191 188 212 +f 178 166 213 +f 170 178 213 +f 166 183 213 +f 183 170 213 +f 183 194 214 +f 194 186 214 +f 209 183 214 +f 186 209 214 +f 171 179 215 +f 179 175 215 +f 175 189 215 +f 190 171 215 +f 203 190 215 +f 189 203 215 +f 173 165 216 +f 197 173 216 +f 192 197 216 +f 177 192 217 +f 165 195 217 +f 195 177 217 +f 216 165 217 +f 192 216 217 +f 197 169 218 +f 180 197 218 +f 206 180 218 +f 169 206 218 +f 179 171 219 +f 195 179 219 +f 171 204 219 +f 204 195 219 +f 170 172 220 +f 172 184 220 +f 184 191 220 +f 212 170 220 +f 191 212 220 +f 171 190 221 +f 201 171 221 +f 190 205 221 +f 208 201 221 +o convex_5 +v -1.670352 -0.375681 -0.110260 +v 0.253881 -0.375681 0.994329 +v -0.031233 -0.375681 1.065536 +v 0.253881 -2.121964 -0.074436 +v 0.253881 -0.375681 -1.036830 +v -1.313864 -1.979403 -0.110260 +v -1.456421 -1.515824 0.816091 +v -1.313864 -1.515824 -0.858593 +v 0.253881 -1.801117 0.923122 +v 0.253881 -1.765562 -1.036830 +v -0.993254 -0.375681 -1.108037 +v -1.242681 -0.375681 0.994329 +v -1.705848 -1.373264 -0.039053 +v -1.420734 -0.375681 -0.894197 +v -1.492108 -0.375681 0.816091 +v -0.815010 -0.411407 1.101359 +v -0.565775 -2.121964 -0.003449 +v -1.705848 -1.088655 0.352806 +v -0.565775 -1.836842 -0.787386 +v -1.705848 -0.945924 -0.288497 +v -0.351843 -0.375681 -1.143861 +v -1.313864 -1.979403 0.031935 +v -1.598978 -1.587276 0.495440 +v 0.218194 -1.729836 0.958725 +v -0.565775 -1.801117 0.709281 +v -1.563291 -1.729836 -0.039053 +v -0.815010 -0.411407 -1.143861 +v -1.705848 -0.553968 0.174569 +v -0.565775 -2.121964 -0.074436 +v -1.527795 -1.337880 -0.573545 +v -1.705848 -0.553968 -0.252674 +v 0.253881 -2.121964 0.031935 +v -0.351843 -0.411407 1.101359 +v -1.313864 -1.337880 -0.894197 +v -0.636957 -1.801117 -0.822989 +v -1.349551 -1.551721 -0.787386 +v -1.705848 -1.231216 -0.252674 +v 0.218194 -1.765562 -1.036830 +v -1.492108 -1.480441 0.780488 +v -1.598978 -0.375681 0.495440 +f 249 239 261 +f 224 223 222 +f 222 223 226 +f 223 225 226 +f 225 223 230 +f 226 225 231 +f 222 226 232 +f 224 222 233 +f 222 232 235 +f 233 222 236 +f 228 233 236 +f 224 233 237 +f 233 228 237 +f 234 239 241 +f 226 231 242 +f 232 226 242 +f 227 238 243 +f 239 234 244 +f 243 228 244 +f 223 224 245 +f 230 223 245 +f 228 230 245 +f 237 228 245 +f 230 228 246 +f 238 230 246 +f 228 243 246 +f 243 238 246 +f 227 243 247 +f 244 234 247 +f 243 244 247 +f 242 231 248 +f 232 242 248 +f 241 239 249 +f 231 225 250 +f 238 227 250 +f 225 238 250 +f 227 240 250 +f 241 235 251 +f 222 235 252 +f 235 241 252 +f 249 222 252 +f 241 249 252 +f 225 230 253 +f 238 225 253 +f 230 238 253 +f 224 237 254 +f 245 224 254 +f 237 245 254 +f 235 232 255 +f 232 248 255 +f 229 251 255 +f 251 235 255 +f 240 227 256 +f 227 247 257 +f 251 229 257 +f 256 227 257 +f 229 256 257 +f 234 241 258 +f 247 234 258 +f 241 251 258 +f 257 247 258 +f 251 257 258 +f 248 231 259 +f 231 250 259 +f 250 240 259 +f 229 255 259 +f 255 248 259 +f 256 229 259 +f 240 256 259 +f 228 236 260 +f 236 239 260 +f 239 244 260 +f 244 228 260 +f 236 222 261 +f 239 236 261 +f 222 249 261 +o convex_6 +v -1.634763 0.087604 0.032123 +v 0.254073 -0.126206 1.029831 +v 0.254073 -0.197475 1.029831 +v -0.494547 0.230144 -1.642798 +v -1.064378 -0.375681 -1.107720 +v 0.254073 -0.375681 -1.036499 +v -1.385162 -0.375681 0.922999 +v -0.601413 0.265810 1.493381 +v 0.254073 0.265810 -1.000889 +v -1.456529 0.265810 -0.929668 +v 0.254073 -0.375681 0.994220 +v -1.492028 0.265810 0.816168 +v 0.254073 0.265810 0.994220 +v -1.634763 -0.375681 -0.359286 +v -0.743778 -0.340015 1.136969 +v -1.598894 -0.375681 0.495366 +v -1.420660 -0.375681 -0.894057 +v -0.494547 -0.375681 -1.178941 +v -1.598894 0.265810 -0.430507 +v -1.064378 0.265810 1.243801 +v -0.530230 0.265810 -1.642798 +v -0.494547 0.230144 1.493381 +v -1.598894 0.265810 0.424145 +v -0.280814 -0.375681 1.101359 +v 0.182705 0.265810 -1.108027 +v -1.171244 -0.375681 1.029831 +v 0.111338 0.265810 1.136662 +v -1.634763 -0.375681 0.317314 +v -1.492028 -0.375681 0.816168 +v -1.385162 0.123145 0.958610 +f 290 268 291 +f 263 264 267 +f 266 267 268 +f 263 267 270 +f 269 270 271 +f 267 264 272 +f 268 267 272 +f 269 271 273 +f 263 270 274 +f 270 269 274 +f 266 268 275 +f 275 268 277 +f 266 275 278 +f 275 271 278 +f 266 265 279 +f 267 266 279 +f 265 267 279 +f 273 271 280 +f 275 262 280 +f 271 275 280 +f 268 269 281 +f 269 273 281 +f 265 266 282 +f 271 270 282 +f 266 278 282 +f 278 271 282 +f 272 264 283 +f 269 276 283 +f 277 273 284 +f 280 262 284 +f 273 280 284 +f 268 272 285 +f 272 283 285 +f 283 276 285 +f 267 265 286 +f 270 267 286 +f 265 282 286 +f 282 270 286 +f 269 268 287 +f 276 269 287 +f 268 285 287 +f 285 276 287 +f 264 263 288 +f 263 274 288 +f 274 269 288 +f 283 264 288 +f 269 283 288 +f 262 275 289 +f 275 277 289 +f 284 262 289 +f 277 284 289 +f 273 277 290 +f 277 268 290 +f 268 281 291 +f 281 273 291 +f 273 290 291 +o convex_7 +v 0.467894 1.691346 0.780306 +v 0.075881 0.265810 -1.143812 +v 0.075881 0.372837 -1.179499 +v 0.824222 0.265950 -0.644651 +v 0.075881 0.265810 1.136949 +v 0.075881 1.691346 -1.107894 +v 0.788612 0.265950 0.637788 +v 0.075881 1.691346 1.101031 +v 0.539114 1.691346 -0.822857 +v 0.610410 0.372837 -1.143812 +v 0.503427 0.444002 1.136949 +v 0.859908 0.301532 0.352750 +v 0.574723 1.691346 -0.288239 +v 0.432285 1.691346 0.994200 +v 0.396675 1.691346 -1.036750 +v 0.503427 0.265810 1.136949 +v 0.539114 1.691346 0.317063 +v 0.539114 1.584319 -0.929688 +v 0.075881 0.693499 1.172636 +v 0.610410 0.265810 -1.143812 +v 0.824222 0.301532 -0.644651 +v 0.467894 1.405988 1.029887 +v 0.859908 0.301532 0.067713 +v 0.574723 1.691346 -0.395070 +f 304 314 315 +f 294 293 296 +f 294 296 297 +f 292 297 299 +f 297 296 299 +f 297 292 300 +f 294 297 301 +f 298 295 303 +f 300 292 304 +f 292 299 305 +f 303 292 305 +f 298 303 305 +f 297 300 306 +f 301 297 306 +f 296 293 307 +f 298 302 307 +f 292 303 308 +f 304 292 308 +f 303 304 308 +f 306 300 309 +f 301 306 309 +f 299 296 310 +f 302 299 310 +f 296 307 310 +f 307 302 310 +f 293 294 311 +f 295 298 311 +f 294 301 311 +f 301 295 311 +f 307 293 311 +f 298 307 311 +f 295 301 312 +f 309 300 312 +f 301 309 312 +f 302 298 313 +f 299 302 313 +f 305 299 313 +f 298 305 313 +f 303 295 314 +f 304 303 314 +f 295 312 314 +f 314 312 315 +f 300 304 315 +f 312 300 315 +o convex_8 +v -1.563479 1.263518 0.495339 +v -1.207116 0.265810 -1.072347 +v -1.135825 0.265810 -1.072347 +v -1.171471 1.691346 -1.072347 +v -1.135825 0.907413 1.457743 +v -1.599125 0.265810 -0.431009 +v -1.420852 0.265810 0.922985 +v -1.135825 1.691346 1.065623 +v -1.492188 1.691346 -0.716018 +v -1.135825 0.265810 1.136942 +v -1.456498 1.691346 0.744821 +v -1.492188 0.444002 -0.894183 +v -1.135825 0.942995 -1.250776 +v -1.599125 0.265810 0.388493 +v -1.563479 1.584319 -0.288371 +v -1.527834 1.120908 0.780613 +v -1.456498 1.584319 -0.894183 +v -1.135825 1.691346 -1.072347 +v -1.171471 0.942995 1.457743 +v -1.599125 1.014021 0.281648 +v -1.492188 0.515307 0.851667 +v -1.456498 0.265810 -0.929974 +v -1.171471 0.942995 -1.250776 +v -1.527834 1.691346 0.317174 +v -1.527834 1.548597 -0.609173 +v -1.599125 0.978578 -0.145734 +v -1.420852 1.691346 0.816140 +f 331 334 342 +f 317 318 321 +f 321 318 322 +f 320 318 323 +f 323 319 324 +f 318 320 325 +f 322 318 325 +f 323 324 326 +f 318 317 328 +f 323 318 328 +f 321 322 329 +f 326 316 331 +f 324 319 332 +f 319 323 333 +f 323 328 333 +f 328 319 333 +f 320 323 334 +f 325 320 334 +f 322 325 334 +f 321 329 335 +f 331 316 335 +f 329 331 335 +f 329 322 336 +f 331 329 336 +f 322 334 336 +f 334 331 336 +f 317 321 337 +f 321 327 337 +f 328 317 338 +f 319 328 338 +f 332 319 338 +f 327 332 338 +f 317 337 338 +f 337 327 338 +f 316 326 339 +f 326 324 339 +f 324 330 339 +f 330 335 339 +f 335 316 339 +f 327 321 340 +f 321 330 340 +f 330 324 340 +f 324 332 340 +f 332 327 340 +f 330 321 341 +f 321 335 341 +f 335 330 341 +f 323 326 342 +f 326 331 342 +f 334 323 342 +o convex_9 +v -1.064423 1.691346 -1.214834 +v -0.565555 0.265810 -1.713597 +v -0.494390 0.265810 -1.713597 +v -0.601138 0.871691 3.025833 +v 0.075762 1.691346 -1.108125 +v 0.075762 0.265810 1.136900 +v -1.135825 0.265810 1.172273 +v 0.075762 1.691346 1.100347 +v -1.135825 1.691346 1.100937 +v -0.957556 0.907413 -2.747087 +v -0.137971 0.942995 -2.675750 +v 0.075762 0.265810 -1.178871 +v -1.135825 0.265810 -1.143498 +v -0.565555 1.334962 -2.747087 +v -0.137971 0.942995 2.811825 +v -0.565555 1.299240 2.811825 +v -1.028840 0.942995 2.669152 +v -0.565555 0.551029 2.775862 +v -0.529972 0.551029 -2.747087 +v -1.135825 1.691346 -1.107535 +v -0.565555 0.978578 -2.997058 +v -0.529972 0.265810 1.600290 +v -0.494390 1.691346 1.421065 +v -1.135825 0.942995 2.027717 +v 0.004597 0.942995 2.099053 +v -0.993258 0.978578 -2.675750 +v -0.921974 0.693499 2.633190 +v -0.244956 0.622194 2.597816 +v -0.494390 1.691346 -1.357506 +v -0.886273 1.263518 -2.533078 +v 0.004597 0.907413 -1.891643 +v -0.850690 1.227796 2.633190 +v -0.814989 0.622194 -2.604414 +v -0.244956 1.227796 -2.533668 +v -0.244956 0.657916 -2.569041 +v -1.064423 0.978578 -2.176987 +v -0.280538 1.227796 2.633779 +v -0.993258 0.978578 2.775862 +v -0.601138 0.551029 -2.747087 +v -0.173672 0.978578 -2.747087 +v -0.993258 0.871691 2.775862 +v 0.075762 0.764803 1.350319 +v -0.957556 1.049604 -2.711713 +v -0.102388 0.907413 2.704526 +v -0.601138 0.978578 3.025833 +v -1.135825 1.014021 -1.286170 +v -0.529972 0.551029 2.775862 +v -0.601138 1.299240 2.811825 +v -0.173672 0.907413 -2.747087 +v -0.957556 1.691346 1.243609 +v -0.601138 1.334962 -2.747087 +v -0.137971 0.836108 2.740489 +v -0.886273 0.622194 2.561854 +v -1.064423 0.265810 1.278983 +v -0.494390 0.907413 3.025833 +f 389 394 397 +f 344 345 348 +f 344 348 349 +f 347 343 350 +f 348 347 350 +f 350 343 351 +f 348 345 354 +f 347 348 354 +f 344 349 355 +f 349 351 355 +f 345 344 361 +f 354 345 361 +f 351 343 362 +f 355 351 362 +f 349 348 364 +f 350 351 365 +f 358 350 365 +f 351 349 366 +f 359 351 366 +f 349 359 366 +f 352 355 368 +f 343 347 371 +f 347 356 371 +f 362 343 372 +f 353 347 373 +f 347 354 373 +f 354 353 373 +f 355 352 375 +f 356 347 376 +f 354 361 377 +f 368 355 378 +f 362 368 378 +f 357 350 379 +f 350 358 379 +f 358 357 379 +f 351 359 380 +f 374 351 380 +f 344 355 381 +f 361 344 381 +f 352 363 381 +f 363 361 381 +f 375 352 381 +f 355 375 381 +f 347 353 382 +f 363 356 382 +f 376 347 382 +f 356 376 382 +f 359 349 383 +f 360 346 383 +f 349 369 383 +f 369 360 383 +f 346 380 383 +f 380 359 383 +f 348 350 384 +f 367 348 384 +f 350 367 384 +f 363 352 385 +f 352 368 385 +f 368 362 385 +f 362 372 385 +f 350 357 386 +f 348 367 386 +f 367 350 386 +f 380 346 387 +f 355 362 388 +f 378 355 388 +f 362 378 388 +f 346 360 389 +f 364 348 389 +f 360 364 389 +f 348 370 389 +f 358 365 390 +f 351 374 390 +f 374 380 390 +f 387 358 390 +f 380 387 390 +f 353 354 391 +f 361 363 391 +f 354 377 391 +f 377 361 391 +f 382 353 391 +f 363 382 391 +f 365 351 392 +f 351 390 392 +f 390 365 392 +f 356 363 393 +f 343 371 393 +f 371 356 393 +f 372 343 393 +f 363 385 393 +f 385 372 393 +f 370 348 394 +f 386 357 394 +f 348 386 394 +f 389 370 394 +f 369 349 395 +f 360 369 395 +f 349 364 396 +f 364 360 396 +f 395 349 396 +f 360 395 396 +f 357 358 397 +f 387 346 397 +f 358 387 397 +f 346 389 397 +f 394 357 397 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/113/113.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/113/113.urdf new file mode 100644 index 000000000..1f5a37f69 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/113/113.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/114/114.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/114/114.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/114/114.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/114/114.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/114/114.obj new file mode 100644 index 000000000..7c14ad4e2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/114/114.obj @@ -0,0 +1,456 @@ +o convex_0 +v 1.045467 -3.498802 0.785462 +v -1.091269 -2.888751 0.887109 +v -1.091269 -2.888751 0.955089 +v 1.079349 1.824882 -0.977921 +v -1.023288 -4.550222 -1.079783 +v -0.955524 1.824882 1.022638 +v -1.023288 1.824882 -1.113666 +v 1.113447 -4.652954 -1.079783 +v 0.943820 1.757662 1.090834 +v -0.955524 -4.618076 0.988756 +v 0.943820 -4.585100 0.955089 +v 1.079349 -2.719433 1.022853 +v -1.091269 1.825516 -0.706648 +v 1.045467 -2.345919 -1.113881 +v -1.023288 -3.838072 -1.113881 +v 0.977702 1.824882 0.955089 +v 0.367176 1.350538 1.090834 +v 0.977702 0.129166 1.090834 +v -0.548506 -4.652954 0.547856 +v -1.091269 -1.870941 0.955089 +v 1.079349 1.655564 -0.537021 +v 0.265313 -4.618710 0.988756 +v -0.752015 1.824882 -1.113666 +v 1.113447 -4.210952 -0.571119 +v -1.091269 1.825516 -0.435375 +v 1.079349 -2.141722 1.022853 +v -1.023288 -4.585100 -0.740530 +v -1.091269 -2.583090 0.412111 +v -0.989406 1.010634 1.022638 +v 1.045467 -1.870941 1.056736 +v -0.989406 -4.482368 0.988756 +v -0.480526 1.384148 1.056736 +v 1.079349 -4.652954 -0.571119 +v 0.706213 -4.652954 -1.079783 +v -1.057170 1.587076 -1.045901 +v 0.706213 1.824882 -1.012019 +v 1.045467 -2.990849 -1.113881 +v 0.977702 -4.143098 0.988971 +v -1.023288 -4.585100 -0.231650 +v -1.057170 -3.431582 0.988971 +v -0.141489 1.824882 1.056736 +v -0.785897 -4.584466 -1.079783 +v 0.027922 -3.600266 -1.113881 +v -0.989406 -4.618076 0.140838 +v 0.977702 -4.618710 0.480091 +v 1.045467 -3.193776 1.022853 +v -0.989406 0.434192 1.022638 +v 0.977702 -4.550856 0.683600 +v -0.243135 1.824882 -1.079783 +v -1.091269 1.722784 -0.706648 +v 0.943820 1.824882 1.056736 +v 1.079349 -0.345811 -1.045685 +v -0.480526 -4.652954 0.581954 +f 33 45 53 +f 2 3 13 +f 7 14 15 +f 9 17 18 +f 17 10 18 +f 13 3 20 +f 4 16 21 +f 7 13 23 +f 14 7 23 +f 8 4 24 +f 12 1 24 +f 4 21 24 +f 4 13 25 +f 16 4 25 +f 13 20 25 +f 16 9 26 +f 9 18 26 +f 21 16 26 +f 12 24 26 +f 24 21 26 +f 3 2 27 +f 2 5 27 +f 5 2 28 +f 2 13 28 +f 6 25 29 +f 25 20 29 +f 18 10 30 +f 10 22 30 +f 12 26 30 +f 26 18 30 +f 10 17 31 +f 6 29 32 +f 31 17 32 +f 19 8 33 +f 8 24 33 +f 15 8 34 +f 8 19 34 +f 13 7 35 +f 15 5 35 +f 7 15 35 +f 13 4 36 +f 4 14 36 +f 14 8 37 +f 15 14 37 +f 22 11 38 +f 3 27 39 +f 10 31 39 +f 39 31 40 +f 20 3 40 +f 29 20 40 +f 3 39 40 +f 17 9 41 +f 25 6 41 +f 6 32 41 +f 32 17 41 +f 5 15 42 +f 27 5 42 +f 15 34 42 +f 34 19 42 +f 8 15 43 +f 37 8 43 +f 15 37 43 +f 19 10 44 +f 39 27 44 +f 10 39 44 +f 27 42 44 +f 42 19 44 +f 11 22 45 +f 33 11 45 +f 1 12 46 +f 12 30 46 +f 30 22 46 +f 22 38 46 +f 32 29 47 +f 31 32 47 +f 40 31 47 +f 29 40 47 +f 24 1 48 +f 11 33 48 +f 33 24 48 +f 38 11 48 +f 1 46 48 +f 46 38 48 +f 23 13 49 +f 14 23 49 +f 13 36 49 +f 36 14 49 +f 5 28 50 +f 28 13 50 +f 35 5 50 +f 13 35 50 +f 9 16 51 +f 16 25 51 +f 41 9 51 +f 25 41 51 +f 4 8 52 +f 14 4 52 +f 8 14 52 +f 10 19 53 +f 22 10 53 +f 19 33 53 +f 45 22 53 +o convex_1 +v 2.911091 1.893523 0.480231 +v 2.436060 2.876883 -0.571182 +v 2.436060 2.978583 -0.571182 +v 1.079528 2.300547 0.514209 +v 1.079528 1.893523 -0.469360 +v 1.079528 3.012558 0.446365 +v 2.944980 2.944720 0.582053 +v 2.944980 1.859548 -0.571182 +v 1.079528 2.876883 -0.503338 +v 3.046646 3.012558 -0.571182 +v 1.079528 1.995223 0.514209 +v 3.080535 1.893523 0.514209 +v 2.978869 2.063060 0.548075 +v 1.113613 2.910745 -0.503338 +v 2.232531 1.859548 -0.537204 +v 3.046646 3.012558 -0.435381 +v 1.079528 1.893523 -0.333559 +v 1.452893 1.893523 -0.503338 +v 1.758088 2.368385 0.548075 +v 3.046646 2.842908 -0.571182 +v 3.080535 2.029198 0.514209 +v 1.283253 2.944720 0.480231 +v 2.978869 1.859548 -0.367537 +v 1.079528 3.012558 0.378521 +v 2.911091 3.012558 -0.571182 +v 3.080535 1.893523 0.412387 +v 2.809229 2.910745 0.582053 +v 2.978869 2.809046 0.548075 +v 2.843118 1.859548 -0.197871 +v 1.079528 2.639396 -0.503338 +v 2.843118 1.859548 -0.571182 +v 2.164754 2.978583 0.514209 +f 60 69 85 +f 58 57 59 +f 55 56 61 +f 56 55 62 +f 58 59 62 +f 61 56 63 +f 57 58 64 +f 64 54 65 +f 65 60 66 +f 64 65 66 +f 56 62 67 +f 63 59 69 +f 54 64 70 +f 64 58 70 +f 58 68 70 +f 68 58 71 +f 57 64 72 +f 64 66 72 +f 61 63 73 +f 60 65 74 +f 63 69 74 +f 59 57 75 +f 60 59 75 +f 68 61 76 +f 61 73 76 +f 62 59 77 +f 59 63 77 +f 67 62 77 +f 67 77 78 +f 63 56 78 +f 56 67 78 +f 77 63 78 +f 73 63 79 +f 74 65 79 +f 63 74 79 +f 65 76 79 +f 76 73 79 +f 66 60 80 +f 57 72 80 +f 72 66 80 +f 75 57 80 +f 60 75 80 +f 69 60 81 +f 60 74 81 +f 74 69 81 +f 65 54 82 +f 54 70 82 +f 70 68 82 +f 76 65 82 +f 68 76 82 +f 58 62 83 +f 62 55 83 +f 71 58 83 +f 71 83 84 +f 55 61 84 +f 61 68 84 +f 68 71 84 +f 83 55 84 +f 59 60 85 +f 69 59 85 +o convex_2 +v -2.244467 1.927438 0.582007 +v -1.091464 3.080508 -0.401559 +v -1.091464 3.046566 0.005585 +v -3.058387 2.978562 0.548042 +v -3.024498 1.995322 -0.435305 +v -1.091464 1.859554 -0.401559 +v -1.091464 2.978682 0.615972 +v -2.922832 2.978562 -0.469270 +v -1.091464 1.893496 0.514186 +v -3.092471 1.961380 0.615972 +v -1.091464 2.707266 -0.503345 +v -1.193131 3.080508 -0.503345 +v -2.753191 3.012504 0.412400 +v -1.769828 1.893496 -0.435305 +v -2.990609 2.978562 -0.333629 +v -2.787080 2.978562 0.582007 +v -1.091464 2.707266 0.615972 +v -1.735743 2.673324 -0.503345 +v -3.092471 1.961380 0.344579 +v -3.058387 2.978562 0.310614 +v -3.092471 2.232677 0.615972 +v -2.888943 1.961380 -0.435305 +v -1.125353 1.961380 0.548042 +v -1.227019 1.859554 -0.299663 +v -2.549467 2.232677 -0.469270 +v -1.091464 1.893496 -0.435305 +v -2.753191 1.961380 0.615972 +v -2.515578 3.012504 -0.469270 +v -1.634077 2.978562 0.615972 +v -1.091464 3.012624 0.412400 +v -3.024498 2.164912 -0.435305 +v -1.905383 3.012504 -0.503345 +v -3.092471 2.537676 0.548042 +v -2.549467 1.927438 0.344579 +f 99 109 119 +f 87 88 91 +f 91 88 92 +f 91 92 94 +f 87 91 96 +f 87 96 97 +f 88 87 98 +f 87 97 98 +f 98 89 101 +f 94 92 102 +f 92 95 102 +f 97 96 103 +f 89 98 105 +f 98 100 105 +f 95 92 106 +f 101 89 106 +f 104 95 106 +f 104 90 107 +f 86 94 108 +f 94 102 108 +f 94 86 109 +f 91 94 109 +f 99 91 109 +f 90 93 110 +f 93 103 110 +f 107 90 110 +f 99 107 110 +f 96 91 111 +f 91 99 111 +f 103 96 111 +f 99 110 111 +f 110 103 111 +f 95 86 112 +f 102 95 112 +f 86 108 112 +f 108 102 112 +f 97 93 113 +f 98 97 113 +f 93 100 113 +f 100 98 113 +f 92 98 114 +f 98 101 114 +f 106 92 114 +f 101 106 114 +f 92 88 115 +f 88 98 115 +f 98 92 115 +f 93 90 116 +f 100 93 116 +f 90 104 116 +f 105 100 116 +f 93 97 117 +f 103 93 117 +f 97 103 117 +f 89 105 118 +f 104 106 118 +f 106 89 118 +f 116 104 118 +f 105 116 118 +f 86 95 119 +f 95 104 119 +f 107 99 119 +f 104 107 119 +f 109 86 119 +o convex_3 +v 0.977733 2.368481 1.056706 +v -1.057270 2.266645 -1.113672 +v -1.057270 3.453614 -1.113672 +v 1.079515 1.825516 -0.978130 +v -0.955488 1.825835 1.022714 +v 1.011518 3.385564 0.988722 +v 1.079515 3.419668 -0.978130 +v -0.955488 3.453614 0.954943 +v 0.943734 1.825835 1.056706 +v -1.023272 1.825835 -1.113672 +v -1.091268 1.995402 0.547891 +v 1.079515 1.995242 0.513899 +v -1.091268 2.978699 0.615874 +v 1.045516 3.419668 0.717425 +v 0.197687 3.453614 -1.045689 +v -1.091268 1.825835 -0.706833 +v -0.751924 1.825835 -1.113672 +v 0.841953 3.419509 -1.011909 +v 0.095905 2.063133 1.056706 +v -0.311010 3.453614 0.954943 +v -0.751924 3.453614 -1.113672 +v -1.091268 3.080216 -0.503307 +v 1.079515 3.012485 0.446128 +v 1.045516 3.385564 0.954943 +v 0.502821 3.419509 0.988935 +v 0.977733 1.893566 1.056706 +v 0.740170 1.961297 -1.011909 +v -0.616356 3.080216 0.988722 +v -0.989486 3.453614 0.649654 +v -1.091268 1.893566 0.513899 +v 1.079515 3.419668 -0.028483 +v -1.091268 2.707137 -0.774604 +v 0.977733 1.825835 0.988935 +v -1.057270 3.453614 -0.842375 +v -0.107446 1.825835 1.056706 +v -0.955488 1.927352 1.022714 +v 0.875738 3.419509 0.988935 +f 139 144 156 +f 121 122 129 +f 123 126 131 +f 130 124 132 +f 122 127 134 +f 123 124 135 +f 121 129 135 +f 129 123 135 +f 130 132 135 +f 129 122 136 +f 123 129 136 +f 126 123 137 +f 134 126 137 +f 128 120 138 +f 134 127 139 +f 133 134 139 +f 122 134 140 +f 136 122 140 +f 134 137 140 +f 137 136 140 +f 135 132 141 +f 131 126 142 +f 125 120 143 +f 131 142 143 +f 139 127 144 +f 120 128 145 +f 143 120 145 +f 131 143 145 +f 123 136 146 +f 137 123 146 +f 136 137 146 +f 138 120 147 +f 120 144 147 +f 144 127 147 +f 127 122 148 +f 132 127 148 +f 124 130 149 +f 135 124 149 +f 130 135 149 +f 126 134 150 +f 134 133 150 +f 142 126 150 +f 133 143 150 +f 143 142 150 +f 122 121 151 +f 121 135 151 +f 141 122 151 +f 135 141 151 +f 128 123 152 +f 123 131 152 +f 145 128 152 +f 131 145 152 +f 122 141 153 +f 141 132 153 +f 148 122 153 +f 132 148 153 +f 124 123 154 +f 123 128 154 +f 128 138 154 +f 154 138 155 +f 132 124 155 +f 127 132 155 +f 147 127 155 +f 138 147 155 +f 124 154 155 +f 120 125 156 +f 133 139 156 +f 125 143 156 +f 143 133 156 +f 144 120 156 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/114/114.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/114/114.urdf new file mode 100644 index 000000000..e6f7fce8c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/114/114.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/115/115.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/115/115.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/115/115.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/115/115.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/115/115.obj new file mode 100644 index 000000000..a31ef56fd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/115/115.obj @@ -0,0 +1,387 @@ +o convex_0 +v 0.486676 0.882478 0.815304 +v -1.678519 -3.602670 -1.040389 +v -0.286577 -3.571498 -1.071479 +v 0.424764 -3.571498 1.031901 +v -1.554694 0.882039 0.969928 +v 0.486676 0.882478 -1.009506 +v -1.678519 0.882039 -1.009300 +v -1.523738 -3.478863 0.969928 +v 0.486676 -3.540766 -1.071273 +v 0.455720 0.882478 0.969722 +v -1.647563 0.727500 0.660474 +v 0.548589 0.758232 0.505850 +v -0.193926 -1.808347 1.031901 +v -1.678519 -3.602670 -0.823792 +v -1.338218 -3.478863 1.000605 +v 0.486676 -2.612214 -1.071273 +v 0.424764 0.015830 1.000811 +v 0.517632 -0.942577 -0.607401 +v 0.455720 -3.571498 0.134629 +v -0.410402 -3.540766 1.031901 +v -0.997917 -3.602670 -1.040183 +v -1.554694 -2.612653 0.908161 +v -0.812398 0.046562 1.000605 +v 0.455720 -2.674118 0.938838 +v 0.269982 -3.571498 -1.071479 +v 0.424764 -1.839079 1.031901 +v 0.548589 0.882478 0.443877 +v -1.647563 0.882039 0.660474 +v -1.678519 -3.138613 -1.040389 +v -1.554694 -3.602670 -0.669168 +v -1.554694 -1.283265 0.969928 +v -1.678519 0.882039 -0.885765 +v -1.647563 0.479886 0.629590 +v 0.084462 -3.571498 1.000811 +v 0.486676 -0.788037 -1.040389 +v -1.585650 0.882039 0.908161 +v -1.338218 -3.261981 1.000605 +v 0.486676 -3.509595 -0.978416 +v 0.455720 -3.571498 -0.514544 +v 0.455720 -0.788037 0.969722 +f 24 12 40 +f 1 6 10 +f 6 7 10 +f 7 2 14 +f 3 7 16 +f 12 9 18 +f 9 16 18 +f 4 13 20 +f 15 8 20 +f 14 2 21 +f 19 4 21 +f 14 8 22 +f 10 5 23 +f 17 10 23 +f 13 17 23 +f 4 19 24 +f 2 3 25 +f 3 16 25 +f 16 9 25 +f 21 2 25 +f 4 10 26 +f 13 4 26 +f 10 17 26 +f 17 13 26 +f 6 1 27 +f 1 12 27 +f 18 6 27 +f 12 18 27 +f 14 11 28 +f 3 2 29 +f 7 3 29 +f 2 7 29 +f 8 14 30 +f 20 8 30 +f 14 21 30 +f 21 4 30 +f 8 15 31 +f 15 5 31 +f 22 8 31 +f 11 22 31 +f 10 7 32 +f 7 14 32 +f 28 10 32 +f 14 28 32 +f 11 14 33 +f 22 11 33 +f 14 22 33 +f 4 20 34 +f 30 4 34 +f 20 30 34 +f 7 6 35 +f 16 7 35 +f 6 18 35 +f 18 16 35 +f 5 10 36 +f 10 28 36 +f 28 11 36 +f 31 5 36 +f 11 31 36 +f 5 15 37 +f 20 13 37 +f 15 20 37 +f 23 5 37 +f 13 23 37 +f 9 12 38 +f 19 9 38 +f 12 24 38 +f 24 19 38 +f 9 19 39 +f 19 21 39 +f 25 9 39 +f 21 25 39 +f 1 10 40 +f 10 4 40 +f 12 1 40 +f 4 24 40 +o convex_1 +v 0.827392 0.882478 -0.298175 +v 3.920059 2.026964 0.444168 +v 3.920059 2.026964 0.382279 +v 0.517657 2.026964 0.475006 +v 0.517657 1.933980 -0.545622 +v 4.507502 1.006270 -0.514572 +v 4.445789 1.006270 0.505950 +v 0.517657 0.882478 0.506056 +v 4.507502 1.965012 -0.421845 +v 0.517657 0.913510 -0.576566 +v 4.384076 2.026852 0.444062 +v 2.002668 1.965012 -0.514678 +v 4.445789 1.284774 0.505950 +v 1.260162 0.882478 -0.081565 +v 1.755036 1.006270 -0.576566 +v 0.517657 2.026964 0.258397 +v 4.445789 1.995932 -0.205342 +v 3.270123 2.026964 0.475006 +v 1.105490 0.882478 0.475006 +v 1.074634 1.933980 -0.545622 +v 4.476645 1.006270 0.413223 +v 0.889105 1.965012 -0.514678 +v 0.517657 1.470181 -0.576566 +v 4.507502 1.748461 -0.452683 +v 4.476645 1.068222 -0.514572 +v 0.579760 0.882478 -0.390901 +v 3.734140 0.975350 0.382279 +v 4.384076 1.841220 0.475006 +v 0.517657 0.975462 0.506056 +v 4.507502 1.006270 -0.174292 +v 3.579858 0.975350 -0.514572 +v 0.517657 1.965012 -0.483734 +f 56 62 72 +f 42 43 44 +f 44 45 48 +f 48 45 50 +f 43 42 51 +f 48 47 53 +f 49 51 53 +f 48 41 54 +f 46 50 55 +f 44 43 56 +f 45 44 56 +f 43 51 57 +f 51 49 57 +f 49 52 57 +f 56 43 57 +f 42 44 58 +f 51 42 58 +f 44 53 58 +f 47 48 59 +f 48 54 59 +f 45 52 60 +f 53 47 61 +f 49 53 61 +f 52 45 62 +f 57 52 62 +f 56 57 62 +f 50 45 63 +f 55 50 63 +f 45 60 63 +f 60 55 63 +f 49 46 64 +f 52 49 64 +f 52 64 65 +f 46 55 65 +f 60 52 65 +f 55 60 65 +f 64 46 65 +f 41 48 66 +f 48 50 66 +f 54 46 67 +f 47 59 67 +f 59 54 67 +f 61 47 67 +f 53 51 68 +f 51 58 68 +f 58 53 68 +f 44 48 69 +f 53 44 69 +f 48 53 69 +f 46 49 70 +f 49 61 70 +f 67 46 70 +f 61 67 70 +f 50 46 71 +f 54 41 71 +f 46 54 71 +f 41 66 71 +f 66 50 71 +f 45 56 72 +f 62 45 72 +o convex_2 +v -2.668248 1.346489 0.320406 +v -2.452011 1.748503 -0.360042 +v -2.452011 1.779441 -0.360042 +v -3.657977 1.377427 -0.298132 +v -1.678713 1.222798 -0.329052 +v -1.678713 1.748503 0.289486 +v -3.534164 1.717565 0.351396 +v -1.678713 1.191859 0.289486 +v -3.626975 1.253736 0.196726 +v -1.678713 1.810379 -0.360042 +v -3.595974 1.748503 -0.329052 +v -3.657977 1.222798 -0.298132 +v -3.595974 1.284674 0.289486 +v -1.926145 1.810379 -0.205372 +v -3.008298 1.222798 -0.329052 +v -3.286732 1.779441 -0.298132 +v -2.049958 1.315612 0.320406 +v -1.678713 1.501119 -0.360042 +v -1.988149 1.191859 0.289486 +v -1.709715 1.191859 0.072977 +v -3.626975 1.439304 -0.329052 +v -3.626975 1.222798 -0.050703 +v -3.595974 1.748503 -0.143463 +v -2.235581 1.717565 0.320406 +v -1.740716 1.779441 0.103827 +v -3.379543 1.624811 0.351396 +v -3.441353 1.253736 0.289486 +f 98 85 99 +f 77 78 80 +f 74 75 82 +f 78 77 82 +f 81 76 84 +f 79 81 85 +f 82 75 88 +f 75 83 88 +f 79 86 88 +f 86 82 88 +f 80 78 89 +f 74 82 90 +f 82 77 90 +f 87 74 90 +f 77 87 90 +f 80 89 91 +f 77 80 92 +f 87 77 92 +f 84 87 92 +f 91 84 92 +f 80 91 92 +f 75 74 93 +f 83 75 93 +f 76 83 93 +f 84 76 93 +f 74 87 93 +f 87 84 93 +f 81 84 94 +f 84 91 94 +f 76 81 95 +f 81 79 95 +f 83 76 95 +f 79 88 95 +f 88 83 95 +f 78 79 96 +f 89 78 96 +f 79 78 97 +f 78 82 97 +f 86 79 97 +f 82 86 97 +f 79 85 98 +f 73 89 98 +f 96 79 98 +f 89 96 98 +f 85 81 99 +f 89 73 99 +f 91 89 99 +f 81 94 99 +f 94 91 99 +f 73 98 99 +o convex_3 +v -0.997869 2.583741 -0.359872 +v -1.678459 0.882478 -1.009615 +v -1.678459 0.882478 -0.885790 +v 0.517657 0.882478 -0.421882 +v -1.554637 0.882478 0.970037 +v 0.455746 2.429036 0.939032 +v 0.486701 2.552767 -0.978610 +v -1.585593 2.429036 0.939032 +v 0.455746 0.882478 0.970037 +v -1.678459 2.490818 -1.009615 +v 0.486701 0.882478 -1.009615 +v -1.678459 1.191890 0.289483 +v 0.517657 2.026701 0.475124 +v -1.400075 1.933944 0.970037 +v 0.517657 0.882478 0.660571 +v -1.647503 0.882478 0.660571 +v -1.678459 1.748264 0.289483 +v -1.183602 2.583741 -0.483697 +v 0.455746 2.459844 0.722580 +v 0.455746 1.871995 0.970037 +v 0.517657 1.934111 -0.545513 +v -1.523682 2.459844 0.753391 +v -1.678459 2.459844 -0.576518 +v 0.486701 2.552767 -0.854785 +v -1.307209 2.490818 -1.009615 +v 0.486701 1.068325 -1.009615 +v -1.152647 2.583741 -0.329061 +v -1.678459 2.490818 -0.762159 +v -0.750441 2.583741 -0.483697 +v 0.517657 1.501301 0.660571 +v 0.084496 2.552767 -0.947605 +v -1.585593 1.439352 0.939032 +v 0.486701 2.521626 -0.390877 +v -1.647503 1.315621 0.660571 +f 107 116 133 +f 102 101 103 +f 102 103 104 +f 104 103 108 +f 101 102 109 +f 103 101 110 +f 101 109 110 +f 109 102 111 +f 107 104 113 +f 105 107 113 +f 104 108 113 +f 108 103 114 +f 103 112 114 +f 102 104 115 +f 111 102 115 +f 111 115 116 +f 109 111 116 +f 105 113 119 +f 113 108 119 +f 108 114 119 +f 103 110 120 +f 112 103 120 +f 106 112 120 +f 107 105 121 +f 105 118 121 +f 116 107 122 +f 109 116 122 +f 112 106 123 +f 109 106 124 +f 110 109 124 +f 110 124 125 +f 120 110 125 +f 106 120 125 +f 124 106 125 +f 100 117 126 +f 118 100 126 +f 117 121 126 +f 121 118 126 +f 117 109 127 +f 107 121 127 +f 121 117 127 +f 122 107 127 +f 109 122 127 +f 117 100 128 +f 106 117 128 +f 100 118 128 +f 123 106 128 +f 118 123 128 +f 112 105 129 +f 114 112 129 +f 105 119 129 +f 119 114 129 +f 106 109 130 +f 117 106 130 +f 109 117 130 +f 104 107 131 +f 115 104 131 +f 107 115 131 +f 105 112 132 +f 118 105 132 +f 112 123 132 +f 123 118 132 +f 115 107 133 +f 116 115 133 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/115/115.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/115/115.urdf new file mode 100644 index 000000000..c6ae34dbe --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/115/115.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/116/116.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/116/116.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/116/116.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/116/116.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/116/116.obj new file mode 100644 index 000000000..2133d60a5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/116/116.obj @@ -0,0 +1,720 @@ +o convex_0 +v 2.030988 -4.335922 -0.251670 +v 2.466876 -2.446580 0.329580 +v 2.466876 -2.446580 0.111434 +v 1.849246 -2.446580 0.220507 +v 2.212539 -4.335922 0.256865 +v 1.922033 -2.446580 -0.288095 +v 2.430514 -4.445081 -0.324453 +v 2.394217 -2.446580 -0.288095 +v 2.503173 -4.299732 0.184217 +v 1.958330 -4.263346 -0.360811 +v 2.030988 -4.335922 0.256865 +v 1.922033 -4.081415 -0.324453 +v 2.321558 -2.628511 -0.324453 +v 1.922033 -3.391447 0.256865 +v 2.503173 -4.226764 0.038854 +v 2.430514 -2.446580 -0.215448 +v 2.103647 -4.009034 0.293223 +v 1.849246 -2.773664 0.075211 +v 2.103647 -3.681754 -0.360811 +v 2.140008 -2.446580 0.293223 +v 2.503173 -3.572986 0.256865 +v 1.994691 -4.335922 0.111434 +v 1.958330 -2.810246 -0.324453 +v 2.394217 -2.846437 0.329580 +v 2.321558 -4.445081 -0.179090 +v 2.503173 -3.209907 0.220507 +f 21 15 26 +f 2 3 4 +f 4 3 6 +f 6 3 8 +f 7 1 10 +f 6 10 12 +f 6 8 13 +f 8 7 13 +f 9 7 15 +f 7 8 16 +f 8 3 16 +f 15 7 16 +f 11 5 17 +f 14 11 17 +f 4 6 18 +f 6 12 18 +f 14 4 18 +f 12 14 18 +f 7 10 19 +f 13 7 19 +f 2 4 20 +f 4 14 20 +f 14 17 20 +f 5 9 21 +f 9 15 21 +f 10 1 22 +f 12 10 22 +f 11 14 22 +f 14 12 22 +f 10 6 23 +f 6 13 23 +f 19 10 23 +f 13 19 23 +f 17 5 24 +f 2 20 24 +f 20 17 24 +f 21 2 24 +f 5 21 24 +f 1 7 25 +f 9 5 25 +f 7 9 25 +f 5 11 25 +f 22 1 25 +f 11 22 25 +f 3 2 26 +f 16 3 26 +f 15 16 26 +f 2 21 26 +o convex_1 +v -1.857080 0.787735 -0.578829 +v -1.312020 0.060897 0.620271 +v -1.384721 0.060897 0.620271 +v -1.312020 3.766942 0.438575 +v -2.329438 3.729830 0.438575 +v -1.348470 3.729830 -0.542326 +v -2.292988 -0.266397 0.583885 +v -2.292988 3.293964 -0.542326 +v -1.348470 -0.266397 -0.578829 +v -2.292988 -0.266397 -0.542326 +v -1.312020 -0.266397 0.620271 +v -2.256737 3.693902 -0.469671 +v -1.312020 3.620863 -0.287975 +v -2.292988 0.351475 0.583885 +v -2.147586 -0.266397 -0.578829 +v -1.348470 3.293964 0.474844 +v -1.893430 3.766942 0.365803 +v -1.348470 1.296245 -0.578829 +v -2.292988 3.039709 0.474844 +v -2.292988 3.657580 -0.505939 +v -2.329438 3.330681 0.402189 +v -1.857080 -0.229680 0.620271 +v -1.312020 3.766942 -0.033623 +v -1.711777 3.729830 -0.469671 +v -1.312020 -0.157036 0.511230 +v -2.256737 3.439647 -0.542326 +v -2.292988 3.729830 0.038797 +f 50 38 53 +f 35 33 36 +f 28 29 37 +f 30 28 37 +f 33 35 37 +f 30 37 39 +f 31 33 40 +f 27 35 41 +f 35 36 41 +f 36 34 41 +f 29 28 42 +f 28 30 42 +f 30 31 42 +f 31 30 43 +f 35 27 44 +f 32 39 44 +f 39 35 44 +f 31 40 45 +f 29 42 45 +f 42 31 45 +f 34 31 46 +f 38 32 46 +f 33 31 47 +f 31 34 47 +f 36 33 47 +f 34 36 47 +f 37 29 48 +f 33 37 48 +f 40 33 48 +f 29 45 48 +f 45 40 48 +f 30 39 49 +f 39 32 49 +f 43 30 49 +f 43 49 50 +f 32 38 50 +f 49 32 50 +f 37 35 51 +f 35 39 51 +f 39 37 51 +f 27 41 52 +f 41 34 52 +f 44 27 52 +f 32 44 52 +f 34 46 52 +f 46 32 52 +f 31 43 53 +f 46 31 53 +f 38 46 53 +f 43 50 53 +o convex_2 +v 1.049598 -2.192176 1.128981 +v -1.275683 -2.337393 -1.051202 +v -1.275683 -2.373907 -0.723833 +v -0.766838 -0.230061 1.019716 +v 1.267783 -0.230061 -0.978430 +v 1.304147 -2.337393 -1.014709 +v -1.275683 -0.302879 -0.978216 +v -1.275683 -2.337393 1.092488 +v 1.304147 -0.266575 1.019929 +v 1.304147 -2.373907 1.019929 +v -1.275683 -0.339184 1.019716 +v -0.803202 -0.230061 -1.014496 +v 1.304147 -0.702437 -1.014709 +v 1.195055 -2.337393 -1.051202 +v 1.304147 -2.373907 -0.760113 +v 1.158690 -0.230061 1.019929 +v -0.766838 -1.392640 -1.051202 +v -0.912042 -2.373907 0.692773 +v -1.275683 -0.266575 -0.033456 +v 1.304147 -0.630038 1.056208 +v -1.239066 -1.901321 1.092488 +v 1.195055 -2.337393 1.128981 +v 0.468278 -0.230061 -1.014709 +v -1.275683 -0.375488 -1.014496 +v -0.621635 -0.884169 1.055995 +v 1.304147 -0.302879 -0.978430 +v 1.267783 -2.192176 1.128981 +v 0.541006 -2.300879 1.128981 +v -1.275683 -0.266575 -0.760326 +v -1.275683 -0.302879 0.765332 +f 72 64 83 +f 55 56 60 +f 60 56 61 +f 59 62 63 +f 60 61 64 +f 57 58 65 +f 62 59 66 +f 66 59 67 +f 67 59 68 +f 56 55 68 +f 59 63 68 +f 63 56 68 +f 55 67 68 +f 58 57 69 +f 62 58 69 +f 67 55 70 +f 61 56 71 +f 56 63 71 +f 63 61 71 +f 60 64 72 +f 57 65 72 +f 63 62 73 +f 69 57 73 +f 62 69 73 +f 64 61 74 +f 61 63 75 +f 65 58 76 +f 58 66 76 +f 66 67 76 +f 70 65 76 +f 67 70 76 +f 55 60 77 +f 60 65 77 +f 70 55 77 +f 65 70 77 +f 57 64 78 +f 54 73 78 +f 73 57 78 +f 64 74 78 +f 58 62 79 +f 66 58 79 +f 62 66 79 +f 73 54 80 +f 63 73 80 +f 54 75 80 +f 75 63 80 +f 74 61 81 +f 75 54 81 +f 61 75 81 +f 54 78 81 +f 78 74 81 +f 65 60 82 +f 60 72 82 +f 72 65 82 +f 64 57 83 +f 57 72 83 +o convex_3 +v 0.359439 -0.229673 -1.014866 +v 1.304186 3.730605 1.128981 +v 1.304186 3.730605 0.983344 +v -0.839646 3.657338 0.874430 +v -0.766828 -0.229673 1.019858 +v -0.766828 3.730605 -0.978351 +v 1.158759 -0.229673 1.019648 +v 1.195064 3.584847 -0.941837 +v -0.803132 -0.229673 -1.014656 +v 1.267672 -0.229673 -0.978351 +v -0.839646 3.620899 0.947249 +v 1.231368 2.712624 -0.978351 +v 1.304186 0.860411 -0.324243 +v -0.803132 -0.193234 1.019858 +v 1.267672 2.022212 1.092466 +v 1.231368 3.620899 -0.796620 +v -0.803132 1.042221 -1.014656 +v -0.839646 3.657338 0.365750 +v -0.839646 2.167582 0.947249 +v -0.258151 0.606110 1.056162 +v 0.068796 3.693778 -0.978351 +v 1.304186 3.620899 0.438358 +v 1.195064 0.424688 1.055952 +v 1.267672 -0.193234 -0.469671 +v -0.621612 3.185175 0.983344 +v 1.158759 3.511968 1.128981 +v -0.766828 3.730605 -0.578584 +v 1.267672 0.969342 -0.978351 +v 1.304186 2.821555 1.092466 +v -0.803132 3.693778 -0.505975 +v -0.803132 0.242878 1.019858 +v 1.195064 -0.229673 0.656394 +v -0.476185 3.730605 -0.978351 +v -0.803132 1.804350 -0.978351 +v 1.122455 3.730605 1.092466 +v -0.512490 3.657338 0.983344 +v 1.158759 3.620899 -0.941837 +v 0.432047 -0.193234 -1.014866 +v 0.831603 3.148736 -0.978351 +v 1.304186 3.439476 1.128981 +v 1.304186 1.114712 -0.324243 +f 111 99 124 +f 85 86 89 +f 88 84 90 +f 84 88 92 +f 90 84 93 +f 86 85 96 +f 92 88 97 +f 95 91 99 +f 84 92 100 +f 87 89 101 +f 94 87 101 +f 100 92 101 +f 92 97 102 +f 97 94 102 +f 94 101 102 +f 101 92 102 +f 97 88 103 +f 86 96 105 +f 99 86 105 +f 88 90 106 +f 103 88 106 +f 93 96 107 +f 85 89 110 +f 89 87 110 +f 96 93 111 +f 95 99 111 +f 96 85 112 +f 107 96 112 +f 101 89 113 +f 94 97 114 +f 97 103 114 +f 108 94 114 +f 103 109 114 +f 109 108 114 +f 90 93 115 +f 106 90 115 +f 98 106 115 +f 93 107 115 +f 112 98 115 +f 107 112 115 +f 89 86 116 +f 100 89 116 +f 86 104 116 +f 104 100 116 +f 89 100 117 +f 100 101 117 +f 113 89 117 +f 101 113 117 +f 85 110 118 +f 110 87 118 +f 87 94 119 +f 94 108 119 +f 108 109 119 +f 109 85 119 +f 85 118 119 +f 118 87 119 +f 86 99 120 +f 99 91 120 +f 104 86 120 +f 93 84 121 +f 84 100 121 +f 111 93 121 +f 95 111 121 +f 91 95 122 +f 100 104 122 +f 120 91 122 +f 104 120 122 +f 121 100 122 +f 95 121 122 +f 106 98 123 +f 103 106 123 +f 109 103 123 +f 85 109 123 +f 112 85 123 +f 98 112 123 +f 105 96 124 +f 99 105 124 +f 96 111 124 +o convex_4 +v 2.285359 -1.610527 -1.014866 +v 2.103707 -1.356595 1.092644 +v 2.067457 -1.356595 1.092644 +v 2.212858 -0.266824 -0.978352 +v 3.339020 -2.301049 0.947000 +v 1.304200 -2.373601 -0.978352 +v 1.304200 -0.266824 1.019616 +v 1.304200 -2.337325 1.092644 +v 3.120918 -0.375651 1.019616 +v 3.302570 -2.337539 -0.942044 +v 3.157169 -0.266824 -0.978352 +v 1.304200 -0.303100 -0.978352 +v 2.503262 -2.446367 0.365867 +v 1.776654 -2.446367 -0.397012 +v 3.193619 -0.375438 -0.978352 +v 3.157169 -0.303100 0.111505 +v 1.304200 -0.702775 -1.014866 +v 1.413351 -2.409877 0.729153 +v 3.339020 -2.337539 0.947000 +v 1.304200 -2.337325 -1.014866 +v 2.939266 -0.557458 1.056130 +v 3.302570 -1.974139 -0.942044 +v 1.304200 -1.392658 1.092644 +v 3.157169 -0.484693 1.019616 +v 1.667703 -2.300836 1.092644 +v 1.558752 -0.266824 1.019616 +v 2.394310 -2.446367 -0.288088 +v 2.503262 -0.957133 -1.014866 +v 1.958306 -2.337325 -1.014866 +v 1.304200 -2.373601 1.019616 +v 3.157169 -0.266824 -0.469628 +v 1.667703 -2.446367 0.438276 +v 1.304200 -0.630010 1.056130 +v 3.193619 -0.375438 -0.723990 +v 3.229869 -0.993409 -0.978352 +v 3.193419 -0.993409 1.019616 +v 2.757415 -0.339376 1.019616 +v 3.120918 -2.373601 0.765460 +v 3.302570 -1.792333 0.511099 +v 1.849355 -2.446367 -0.433320 +v 1.304200 -0.266824 0.729153 +v 2.466812 -0.266824 0.256737 +v 1.522302 -2.373601 1.019616 +f 162 143 167 +f 131 130 132 +f 126 127 132 +f 128 131 135 +f 130 131 136 +f 128 135 141 +f 136 128 141 +f 130 136 141 +f 134 129 143 +f 141 125 144 +f 130 141 144 +f 127 126 145 +f 129 134 146 +f 131 132 147 +f 132 127 147 +f 140 133 148 +f 133 145 148 +f 126 132 149 +f 132 143 149 +f 145 126 149 +f 135 131 150 +f 131 145 150 +f 134 137 151 +f 137 138 151 +f 135 139 152 +f 125 141 152 +f 141 135 152 +f 125 134 153 +f 134 130 153 +f 144 125 153 +f 130 144 153 +f 132 130 154 +f 130 142 154 +f 139 135 155 +f 135 150 155 +f 138 137 156 +f 130 138 156 +f 142 130 156 +f 154 142 156 +f 127 145 157 +f 145 131 157 +f 131 147 157 +f 147 127 157 +f 140 148 158 +f 139 155 158 +f 155 140 158 +f 134 125 159 +f 146 134 159 +f 139 146 159 +f 125 152 159 +f 152 139 159 +f 143 129 160 +f 129 148 160 +f 148 145 160 +f 149 143 160 +f 145 149 160 +f 133 140 161 +f 145 133 161 +f 150 145 161 +f 137 134 162 +f 134 143 162 +f 129 146 163 +f 146 139 163 +f 148 129 163 +f 139 158 163 +f 158 148 163 +f 130 134 164 +f 138 130 164 +f 134 151 164 +f 151 138 164 +f 131 128 165 +f 128 136 165 +f 136 131 165 +f 140 155 166 +f 155 150 166 +f 161 140 166 +f 150 161 166 +f 143 132 167 +f 132 154 167 +f 156 137 167 +f 154 156 167 +f 137 162 167 +o convex_5 +v 1.994652 0.968727 -0.324475 +v 2.503240 1.659090 0.365917 +v 2.466904 1.659090 0.365917 +v 2.466904 -0.266397 0.256844 +v 2.539637 1.731791 -0.251759 +v 1.921979 1.768440 0.184196 +v 1.958315 -0.266397 -0.251759 +v 2.539637 -0.266397 -0.251759 +v 1.994652 -0.266397 0.220553 +v 1.994652 1.659090 -0.288117 +v 2.176334 1.659090 -0.324475 +v 2.503240 0.751022 0.329559 +v 2.539637 1.695739 0.111548 +v 1.958315 -0.084544 -0.288117 +v 1.958315 -0.120995 0.184196 +v 1.958315 1.731791 0.220553 +v 2.503240 -0.266397 0.184196 +v 1.921979 1.768440 0.111548 +v 2.430568 -0.012042 0.293201 +v 1.921979 1.150380 0.184196 +v 2.321558 1.114129 0.329559 +f 176 186 188 +f 170 169 173 +f 171 174 175 +f 174 171 176 +f 175 168 178 +f 172 175 178 +f 168 177 178 +f 177 172 178 +f 169 170 179 +f 173 169 180 +f 172 173 180 +f 175 172 180 +f 169 179 180 +f 175 174 181 +f 168 175 181 +f 177 168 181 +f 174 176 182 +f 170 173 183 +f 171 175 184 +f 179 171 184 +f 175 180 184 +f 180 179 184 +f 173 172 185 +f 172 177 185 +f 177 181 185 +f 176 171 186 +f 179 170 186 +f 171 179 186 +f 181 174 187 +f 174 182 187 +f 182 176 187 +f 183 173 187 +f 176 183 187 +f 173 185 187 +f 185 181 187 +f 170 183 188 +f 183 176 188 +f 186 170 188 +o convex_6 +v -1.711805 -4.299586 -0.288117 +v -1.856994 -2.410244 0.365917 +v -1.966014 -2.410244 0.365917 +v -1.966014 -4.335777 0.365917 +v -2.147628 -2.410244 -0.288117 +v -1.530127 -2.410244 0.184196 +v -1.530127 -4.408745 0.293201 +v -1.566488 -2.737328 -0.215401 +v -2.002311 -4.263396 -0.324475 +v -1.493701 -4.335777 -0.251759 +v -1.602785 -2.410244 -0.215401 +v -1.530127 -2.737328 0.293201 +v -2.038672 -3.717994 0.184196 +v -1.566488 -4.372359 0.329559 +v -2.002311 -2.410244 0.329559 +v -1.748102 -2.483016 -0.251759 +v -2.002311 -4.299586 -0.142753 +v -2.147628 -2.446825 -0.215401 +v -1.493701 -4.372359 -0.033748 +v -1.493701 -4.081465 -0.251759 +v -1.966014 -4.118047 -0.324475 +v -2.038672 -3.972697 -0.251759 +v -1.820697 -4.335777 0.365917 +v -1.566488 -2.410244 0.293201 +v -2.002311 -4.154237 0.293201 +f 201 210 213 +f 190 191 192 +f 191 190 193 +f 193 190 194 +f 197 189 198 +f 193 194 199 +f 194 196 199 +f 192 195 202 +f 200 190 202 +f 195 200 202 +f 192 191 203 +f 191 193 203 +f 193 199 204 +f 195 192 205 +f 197 198 205 +f 203 193 206 +f 201 203 206 +f 194 200 207 +f 200 195 207 +f 195 205 207 +f 205 198 207 +f 196 194 208 +f 198 189 208 +f 199 196 208 +f 204 199 208 +f 194 207 208 +f 207 198 208 +f 189 197 209 +f 197 193 209 +f 193 204 209 +f 208 189 209 +f 204 208 209 +f 193 197 210 +f 197 205 210 +f 201 206 210 +f 206 193 210 +f 190 192 211 +f 202 190 211 +f 192 202 211 +f 194 190 212 +f 190 200 212 +f 200 194 212 +f 192 203 213 +f 203 201 213 +f 205 192 213 +f 210 205 213 +o convex_7 +v -1.421175 -2.337215 -1.051202 +v -2.583665 -0.339216 1.092644 +v -1.530173 -0.339216 1.056130 +v -1.275683 -2.337215 1.092644 +v -2.910820 -2.337215 1.056130 +v -2.801662 -0.375520 -0.941869 +v -1.275683 -0.302911 -0.978384 +v -2.837995 -2.337215 -0.978174 +v -2.837995 -0.339216 1.092644 +v -1.275683 -0.339216 1.019826 +v -1.275683 -2.373729 -0.724043 +v -2.474666 -2.410244 0.656362 +v -2.293002 -0.266817 -0.542311 +v -1.312176 -0.266817 0.620268 +v -2.837995 -0.339216 -0.069935 +v -1.602839 -2.410244 -0.215362 +v -1.275683 -0.411824 -1.014688 +v -2.547332 -2.264816 -1.014688 +v -2.765329 -2.373729 -0.832956 +v -1.275683 -2.337215 -1.051202 +v -2.910820 -2.083085 0.765275 +v -2.293002 -0.266817 0.583754 +v -2.293002 -2.337215 1.092644 +v -1.275683 -0.266607 -0.760347 +v -2.874327 -0.884201 1.092644 +v -2.256669 -0.339216 -0.978174 +v -1.530173 -2.410244 0.256804 +v -2.837995 -1.937657 -0.978174 +v -2.184004 -2.410244 -0.433188 +v -1.275683 -1.937657 1.092644 +v -2.728996 -0.339216 -0.941869 +v -2.801662 -1.138751 -0.978174 +v -2.910820 -2.264816 0.620058 +v -2.910820 -1.828744 1.019616 +v -2.510999 -2.410244 0.002674 +f 232 242 248 +f 217 215 222 +f 217 220 223 +f 220 217 224 +f 215 216 227 +f 222 215 227 +f 216 223 227 +f 222 226 228 +f 220 224 230 +f 214 221 231 +f 230 214 231 +f 221 214 232 +f 218 221 232 +f 214 230 233 +f 230 224 233 +f 232 214 233 +f 224 232 233 +f 226 222 235 +f 222 227 235 +f 217 222 236 +f 225 217 236 +f 218 225 236 +f 223 220 237 +f 227 223 237 +f 226 235 237 +f 235 227 237 +f 222 228 238 +f 236 222 238 +f 218 236 238 +f 220 230 239 +f 230 231 239 +f 224 217 240 +f 217 225 240 +f 229 224 240 +f 225 229 240 +f 228 219 241 +f 231 221 241 +f 224 229 242 +f 229 225 242 +f 232 224 242 +f 216 215 243 +f 215 217 243 +f 223 216 243 +f 217 223 243 +f 219 228 244 +f 228 226 244 +f 237 220 244 +f 226 237 244 +f 239 219 244 +f 220 239 244 +f 219 239 245 +f 239 231 245 +f 241 219 245 +f 231 241 245 +f 221 218 246 +f 218 234 246 +f 234 228 246 +f 228 241 246 +f 241 221 246 +f 234 218 247 +f 228 234 247 +f 238 228 247 +f 218 238 247 +f 225 218 248 +f 218 232 248 +f 242 225 248 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/116/116.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/116/116.urdf new file mode 100644 index 000000000..8cd236df7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/116/116.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/117/117.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/117/117.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/117/117.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/117/117.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/117/117.obj new file mode 100644 index 000000000..7fb655dad --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/117/117.obj @@ -0,0 +1,249 @@ +o convex_0 +v -0.905477 -0.215710 0.973366 +v -1.111738 -4.953572 -1.086791 +v -1.111738 -4.953572 -0.880713 +v 1.085904 -5.057066 1.007815 +v 1.085904 1.089399 -1.018303 +v 0.982992 -4.987870 -0.915162 +v 1.085904 1.089399 0.938917 +v -0.940000 1.089399 -0.915162 +v -1.042912 -4.953572 0.973161 +v -1.008608 1.089399 0.904674 +v -1.111738 -0.696476 0.973161 +v -1.077216 -1.005153 -1.018098 +v 1.120426 -1.691704 0.973366 +v 1.085904 -5.057066 0.561212 +v 0.467776 -4.987870 -0.983649 +v -0.562219 -4.987870 1.007610 +v -1.111738 -0.970855 -0.228238 +v -1.042912 -4.987870 -1.052342 +v 1.085904 -3.683363 1.007815 +v 1.017296 -0.490691 -1.018303 +v -0.974304 0.848715 -0.949611 +v -0.836869 -4.953572 -1.086996 +v -1.111738 -4.163527 -1.086791 +v -1.111738 -1.863793 0.973161 +v 0.227429 0.196462 0.973161 +v -0.871173 1.020804 0.939122 +v 0.982992 -4.678591 -0.949406 +v 0.879861 1.090001 -1.018303 +v 0.639515 -5.057066 0.664148 +v 1.085904 0.815019 -1.018303 +v 1.120426 -0.833064 0.835981 +v -1.077216 -0.627881 -0.949406 +v -0.836869 1.089399 -0.949611 +v 1.120426 -1.794596 0.904469 +v -0.630827 -4.919275 1.007815 +v -1.111738 -3.545571 -1.052342 +v 0.982992 -2.756128 -0.983649 +v -1.077216 -0.284304 0.973161 +v -1.042912 -4.987870 -0.880713 +v 0.708341 -5.057066 0.973161 +v -0.699653 1.089399 0.939122 +v 1.017296 -5.022167 -0.262482 +v -0.974304 1.055101 -0.468764 +v -1.077216 -4.850680 0.149057 +v -1.077216 -0.455792 -0.537251 +v -1.008608 0.952209 0.939122 +f 38 26 46 +f 2 3 11 +f 2 11 17 +f 11 10 17 +f 3 2 18 +f 4 13 19 +f 13 7 19 +f 18 2 22 +f 15 18 22 +f 2 17 23 +f 22 2 23 +f 5 22 23 +f 11 3 24 +f 1 19 25 +f 19 7 25 +f 6 15 27 +f 15 22 27 +f 7 5 28 +f 8 10 28 +f 5 23 28 +f 23 12 28 +f 14 4 29 +f 18 14 29 +f 14 6 30 +f 22 5 30 +f 20 22 30 +f 6 27 30 +f 27 20 30 +f 5 7 31 +f 7 13 31 +f 30 5 31 +f 21 12 32 +f 21 8 33 +f 12 21 33 +f 8 28 33 +f 28 12 33 +f 13 4 34 +f 4 14 34 +f 14 30 34 +f 31 13 34 +f 30 31 34 +f 16 4 35 +f 9 16 35 +f 4 19 35 +f 24 9 35 +f 11 24 35 +f 12 23 36 +f 23 17 36 +f 17 32 36 +f 32 12 36 +f 22 20 37 +f 20 27 37 +f 27 22 37 +f 19 1 38 +f 1 26 38 +f 11 35 38 +f 35 19 38 +f 9 3 39 +f 16 9 39 +f 3 18 39 +f 18 29 39 +f 39 29 40 +f 4 16 40 +f 29 4 40 +f 16 39 40 +f 1 25 41 +f 25 7 41 +f 10 26 41 +f 26 1 41 +f 7 28 41 +f 28 10 41 +f 6 14 42 +f 15 6 42 +f 14 18 42 +f 18 15 42 +f 10 8 43 +f 8 21 43 +f 21 32 43 +f 3 9 44 +f 24 3 44 +f 9 24 44 +f 17 10 45 +f 32 17 45 +f 10 43 45 +f 43 32 45 +f 10 11 46 +f 26 10 46 +f 11 38 46 +o convex_1 +v 1.086082 1.502431 -1.018115 +v -1.043066 3.424673 0.904684 +v -1.043066 3.424673 0.938796 +v 1.017306 5.039233 -0.605988 +v -1.008678 4.935642 -0.983804 +v 0.948529 5.004445 1.007815 +v -0.974290 1.090384 0.904684 +v 1.085874 1.090770 0.938995 +v -0.939902 1.090384 -0.915182 +v -1.043066 5.004831 0.973306 +v 1.017306 5.039233 -1.018313 +v 1.085874 1.090770 -1.018313 +v -1.008678 1.399612 0.938796 +v -0.974290 1.982895 -0.949295 +v 0.982918 4.729618 1.007815 +v 1.086082 1.845674 0.561178 +v 0.502109 1.983281 -1.018313 +v 1.017306 1.914864 0.973306 +v -1.043066 4.970043 -0.090927 +v 0.673841 5.039233 -1.018313 +v -0.871334 1.124785 -0.949295 +v -1.008678 4.077146 -0.983804 +v -1.008678 1.159187 0.870373 +v -1.043066 4.214366 0.973306 +v -1.043066 5.004831 0.389624 +v 1.051694 3.699500 -0.502856 +v 0.639453 4.901240 1.007815 +v -0.733781 1.090384 0.938796 +v 0.364973 5.004445 -1.018313 +v 0.948529 5.039233 -0.296793 +v -0.974290 1.090384 -0.365613 +v -0.974290 3.562280 -0.983804 +v 0.845573 1.090770 -1.018313 +v 1.086082 1.502431 0.938995 +v -0.562257 4.970043 -0.983804 +v 1.051694 3.562280 -1.018313 +v 0.982918 5.004445 0.664309 +v 1.051694 3.665098 -0.262482 +v -1.043066 4.867225 -0.056418 +f 69 48 85 +f 48 49 56 +f 47 54 58 +f 57 58 63 +f 54 61 64 +f 48 56 65 +f 50 57 66 +f 57 63 66 +f 55 60 67 +f 65 51 68 +f 49 48 69 +f 59 49 69 +f 53 59 69 +f 68 60 69 +f 56 49 70 +f 49 59 70 +f 65 56 71 +f 51 65 71 +f 56 66 71 +f 57 50 72 +f 62 47 72 +f 52 56 73 +f 61 52 73 +f 64 61 73 +f 56 70 73 +f 70 59 73 +f 53 55 74 +f 58 54 74 +f 55 58 74 +f 59 53 74 +f 54 64 74 +f 73 59 74 +f 64 73 74 +f 51 66 75 +f 66 63 75 +f 63 68 75 +f 68 51 75 +f 52 50 76 +f 56 52 76 +f 50 66 76 +f 66 56 76 +f 55 53 77 +f 60 55 77 +f 53 69 77 +f 69 60 77 +f 67 60 78 +f 68 63 78 +f 60 68 78 +f 58 55 79 +f 63 58 79 +f 55 67 79 +f 67 78 79 +f 78 63 79 +f 54 47 80 +f 61 54 80 +f 47 62 80 +f 62 61 80 +f 66 51 81 +f 51 71 81 +f 71 66 81 +f 47 58 82 +f 58 57 82 +f 72 47 82 +f 57 72 82 +f 50 52 83 +f 61 50 83 +f 52 61 83 +f 50 61 84 +f 61 62 84 +f 72 50 84 +f 62 72 84 +f 48 65 85 +f 65 68 85 +f 68 69 85 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/117/117.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/117/117.urdf new file mode 100644 index 000000000..4ab71947b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/117/117.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/118/118.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/118/118.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/118/118.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/118/118.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/118/118.obj new file mode 100644 index 000000000..a2ef65ecd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/118/118.obj @@ -0,0 +1,633 @@ +o convex_0 +v 1.412072 -1.189757 -0.116214 +v -0.714384 -2.500679 0.592251 +v -0.714384 -2.500679 0.663077 +v 1.376478 -3.776612 1.017813 +v -0.608020 -3.776345 -0.966734 +v 1.341093 -3.776612 -1.002147 +v -0.714384 -1.118975 -1.002147 +v -0.430676 -1.118975 0.982198 +v -0.678791 -3.847394 0.946584 +v 1.376478 -1.118975 1.017813 +v 1.341093 -1.118975 -1.037762 +v -0.643405 -1.118975 0.946584 +v -0.040812 -1.473416 -1.037762 +v 0.596750 -3.812136 1.017813 +v -0.714384 -1.118975 0.521626 +v -0.714384 -1.544464 -1.002147 +v 1.270114 -2.571461 -1.037762 +v -0.395291 -3.847394 0.982198 +v -0.643405 -3.847394 0.486011 +v 1.412072 -1.367110 -0.257867 +v -0.324520 -2.961426 -1.002147 +v -0.678791 -3.847394 0.769518 +v 0.773885 -3.776612 -1.002147 +v -0.678791 -2.359384 -1.002147 +v -0.253541 -1.118975 -1.037762 +v 1.092979 -1.189757 1.017813 +v 1.376478 -3.776612 0.734105 +v -0.608020 -3.811869 -0.399519 +v -0.218156 -3.847394 0.911372 +v 1.376478 -2.677766 -0.647814 +v -0.643405 -3.811869 -0.222453 +v 0.667729 -3.812136 0.946785 +v 1.412072 -1.118975 -0.222453 +v 0.348844 -1.934162 -1.037762 +v -0.678791 -3.174037 0.946584 +f 12 15 35 +f 2 3 7 +f 3 2 9 +f 4 1 10 +f 7 8 10 +f 7 10 11 +f 8 7 12 +f 4 10 14 +f 7 3 15 +f 12 7 15 +f 2 7 16 +f 11 6 17 +f 13 11 17 +f 8 9 18 +f 14 8 18 +f 18 9 19 +f 1 4 20 +f 9 2 22 +f 2 16 22 +f 19 9 22 +f 17 6 23 +f 5 21 23 +f 21 5 24 +f 22 16 24 +f 7 11 25 +f 11 13 25 +f 16 7 25 +f 13 21 25 +f 24 16 25 +f 21 24 25 +f 10 8 26 +f 8 14 26 +f 14 10 26 +f 20 4 27 +f 6 19 28 +f 23 6 28 +f 5 23 28 +f 14 18 29 +f 19 6 29 +f 18 19 29 +f 6 11 30 +f 11 20 30 +f 27 6 30 +f 20 27 30 +f 19 22 31 +f 24 5 31 +f 22 24 31 +f 28 19 31 +f 5 28 31 +f 4 14 32 +f 27 4 32 +f 6 27 32 +f 29 6 32 +f 14 29 32 +f 10 1 33 +f 11 10 33 +f 1 20 33 +f 20 11 33 +f 13 17 34 +f 21 13 34 +f 17 23 34 +f 23 21 34 +f 3 9 35 +f 9 8 35 +f 8 12 35 +f 15 3 35 +o convex_1 +v 1.979196 -0.764396 0.273553 +v 2.191967 -0.551771 -0.364384 +v 1.412072 -0.622646 -0.328915 +v 3.254831 -1.047708 -0.293446 +v 3.361216 -0.480771 0.202616 +v 1.412072 -1.118708 -0.187165 +v 3.290424 -1.083240 0.238084 +v 1.412072 -0.516240 0.167210 +v 3.396612 -0.551771 -0.364384 +v 1.412072 -0.976833 0.273553 +v 1.412072 -0.480771 -0.328915 +v 3.432205 -1.012365 -0.328915 +v 2.687904 -1.118708 0.131741 +v 3.290424 -0.480771 0.238084 +v 3.396612 -0.480771 -0.010009 +v 1.624842 -1.118708 -0.222571 +v 2.014592 -0.480771 0.202616 +v 1.447665 -1.118708 -0.045415 +v 2.120977 -0.480771 -0.328915 +v 3.396612 -0.622646 0.131741 +v 1.412072 -0.835084 0.273553 +v 2.687904 -1.118708 0.025460 +v 1.872811 -1.012365 0.273553 +v 3.325820 -1.083240 0.025460 +v 1.412072 -0.480771 0.025460 +v 3.361216 -0.728865 -0.364384 +f 44 47 61 +f 38 41 43 +f 43 41 45 +f 37 38 46 +f 38 43 46 +f 44 37 46 +f 38 37 47 +f 36 42 49 +f 42 40 49 +f 40 46 49 +f 46 40 50 +f 47 44 50 +f 41 38 51 +f 38 47 51 +f 47 39 51 +f 48 41 51 +f 36 49 52 +f 49 46 52 +f 45 41 53 +f 41 48 53 +f 44 46 54 +f 46 50 54 +f 50 44 54 +f 40 42 55 +f 42 47 55 +f 50 40 55 +f 47 50 55 +f 45 36 56 +f 43 45 56 +f 36 52 56 +f 52 43 56 +f 51 39 57 +f 48 51 57 +f 42 36 58 +f 36 45 58 +f 48 42 58 +f 45 53 58 +f 53 48 58 +f 39 47 59 +f 47 42 59 +f 42 48 59 +f 57 39 59 +f 48 57 59 +f 46 43 60 +f 43 52 60 +f 52 46 60 +f 37 44 61 +f 47 37 61 +o convex_2 +v -4.789690 1.149734 -0.257867 +v -2.734518 1.822890 0.521556 +v -2.982788 1.645671 0.557081 +v -2.734719 0.759693 -0.577029 +v -4.789690 0.653339 0.557081 +v -4.789690 1.680932 -0.506092 +v -4.754281 1.787286 0.521556 +v -2.734719 0.759693 0.486143 +v -2.734518 1.716421 -0.435155 +v -4.718871 0.688828 -0.541505 +v -4.293753 0.653339 0.557081 +v -4.754281 0.653339 -0.293502 +v -2.734719 0.972515 -0.577029 +v -2.805740 1.751911 -0.293502 +v -3.160038 0.724318 -0.577029 +v -2.876559 0.724318 0.486143 +v -4.754281 1.432848 0.557081 +v -4.754281 1.184994 -0.541505 +v -3.124629 1.716536 -0.470679 +v -4.612641 1.787286 0.379793 +v -4.789690 1.716536 -0.257867 +v -3.018399 1.822890 0.415317 +v -4.010073 1.680932 -0.506092 +v -3.762205 0.759693 -0.577029 +v -4.789690 1.114130 0.557081 +v -4.399982 1.716536 -0.364217 +v -4.754281 0.795297 -0.541505 +v -2.734518 1.255859 0.521556 +v -3.974663 0.688828 -0.541505 +v -4.789690 0.653339 0.202616 +v -3.018399 0.724318 -0.293502 +f 90 76 92 +f 62 66 67 +f 64 63 68 +f 64 66 72 +f 72 66 73 +f 70 65 74 +f 63 70 75 +f 74 65 76 +f 65 69 77 +f 69 72 77 +f 66 64 78 +f 64 68 78 +f 67 74 79 +f 70 74 80 +f 75 70 80 +f 67 66 82 +f 68 81 82 +f 68 63 83 +f 63 75 83 +f 81 68 83 +f 74 67 84 +f 67 80 84 +f 80 74 84 +f 76 71 85 +f 74 76 85 +f 79 74 85 +f 66 78 86 +f 78 68 86 +f 82 66 86 +f 68 82 86 +f 80 67 87 +f 75 80 87 +f 82 81 87 +f 67 82 87 +f 83 75 87 +f 81 83 87 +f 62 67 88 +f 71 73 88 +f 67 79 88 +f 85 71 88 +f 79 85 88 +f 63 64 89 +f 69 65 89 +f 70 63 89 +f 65 70 89 +f 64 72 89 +f 72 69 89 +f 73 71 90 +f 72 73 90 +f 71 76 90 +f 66 62 91 +f 73 66 91 +f 62 88 91 +f 88 73 91 +f 76 65 92 +f 65 77 92 +f 77 72 92 +f 72 90 92 +o convex_3 +v -2.379858 -0.622549 0.308994 +v -2.698855 -0.906049 -0.364384 +v -2.698855 -0.835174 -0.364384 +v -0.785266 -1.083267 -0.364384 +v -0.785266 -0.516330 -0.187141 +v -0.785266 -0.941393 0.202609 +v -2.628139 -0.976924 0.308994 +v -2.769959 -0.445331 -0.328922 +v -0.962637 -0.516330 0.238071 +v -2.663497 -1.083267 -0.364384 +v -2.734407 -0.551674 0.273532 +v -0.785266 -1.083267 -0.257933 +v -0.785266 -0.516330 0.202609 +v -2.628139 -0.445331 -0.187141 +v -0.785266 -1.012267 -0.364384 +v -2.592587 -0.445331 -0.328922 +v -0.891728 -0.976924 0.167213 +v -2.663497 -1.083267 -0.293460 +v -2.698855 -0.551674 0.308994 +v -2.309143 -0.445331 -0.257933 +v -2.663497 -0.976924 0.273532 +v -2.769959 -0.516330 -0.222603 +f 113 103 114 +f 94 95 96 +f 96 97 98 +f 95 94 100 +f 93 99 101 +f 99 98 101 +f 94 96 102 +f 96 98 104 +f 102 96 104 +f 98 97 105 +f 101 98 105 +f 101 105 106 +f 100 103 106 +f 96 95 107 +f 97 96 107 +f 95 100 108 +f 100 106 108 +f 107 95 108 +f 97 107 108 +f 98 99 109 +f 104 98 109 +f 99 104 109 +f 94 102 110 +f 104 99 110 +f 102 104 110 +f 99 93 111 +f 93 101 111 +f 103 99 111 +f 101 106 111 +f 106 103 111 +f 105 97 112 +f 106 105 112 +f 97 108 112 +f 108 106 112 +f 99 103 113 +f 110 99 113 +f 110 113 114 +f 100 94 114 +f 103 100 114 +f 94 110 114 +o convex_4 +v -0.501565 -0.657886 0.982198 +v 0.207149 0.086155 -1.073202 +v 0.207149 0.121482 -1.073202 +v 1.376367 -0.020188 1.017813 +v 1.341093 -1.118587 -1.037588 +v -0.714287 -1.118587 -1.001974 +v 1.376367 -1.118587 1.017813 +v -0.714287 0.121482 0.556873 +v 1.376367 0.121482 -1.073202 +v -0.643308 -1.118587 0.946584 +v -0.785266 0.121482 -1.037588 +v -0.572544 0.121482 0.982198 +v 1.376367 0.121482 0.982198 +v -0.785266 -0.941347 0.202366 +v 1.412072 -1.118587 -0.222551 +v 1.270114 -1.047691 -1.073202 +v -0.785266 -1.083139 -0.364189 +v -0.289058 -1.118587 -1.037588 +v 1.412072 -0.516094 0.167161 +v -0.785266 -0.516094 0.202366 +v 1.376367 -0.693334 -1.073202 +v -0.430801 -1.118587 0.982198 +v -0.749777 -0.551542 -1.037588 +v 1.128371 -1.118587 1.017813 +v -0.643308 0.121482 0.875765 +v 1.412072 -0.480889 -0.328780 +v -0.749777 -0.020188 0.344210 +v 1.412072 -0.976795 0.273390 +v -0.714287 -1.118587 0.521463 +f 128 131 143 +f 120 119 121 +f 116 117 123 +f 117 122 123 +f 120 121 124 +f 117 116 125 +f 122 117 125 +f 123 122 126 +f 124 115 126 +f 126 118 127 +f 123 126 127 +f 121 119 129 +f 116 123 130 +f 128 125 131 +f 119 120 132 +f 116 130 132 +f 130 119 132 +f 127 118 133 +f 124 122 134 +f 128 124 134 +f 125 128 134 +f 129 119 135 +f 119 130 135 +f 130 123 135 +f 124 121 136 +f 115 124 136 +f 125 116 137 +f 120 131 137 +f 131 125 137 +f 132 120 137 +f 116 132 137 +f 121 118 138 +f 126 115 138 +f 118 126 138 +f 115 136 138 +f 136 121 138 +f 122 124 139 +f 126 122 139 +f 124 126 139 +f 123 127 140 +f 127 133 140 +f 133 129 140 +f 129 135 140 +f 135 123 140 +f 122 125 141 +f 134 122 141 +f 125 134 141 +f 118 121 142 +f 121 129 142 +f 133 118 142 +f 129 133 142 +f 120 124 143 +f 124 128 143 +f 131 120 143 +o convex_5 +v -0.608062 2.283622 -0.931328 +v -2.734518 0.405294 0.769362 +v -2.698924 0.263721 0.237807 +v -0.608062 0.121725 0.946615 +v -2.628153 2.212518 1.053254 +v -2.628153 0.157277 -1.002147 +v -2.698924 2.283622 -0.931123 +v -0.608062 0.121725 -1.037762 +v -0.608062 2.247858 0.946615 +v -2.698924 0.299273 0.982025 +v -0.785405 0.121725 0.982025 +v -0.643655 0.795519 -1.037762 +v -2.734518 0.759967 -0.576821 +v -2.734518 1.822716 0.521289 +v -1.529540 2.247858 1.017639 +v -0.608062 2.283622 0.238012 +v -2.698924 1.822716 -0.966533 +v -2.663539 1.787376 1.053254 +v -0.608062 2.070945 -0.966738 +v -1.635904 0.263509 -1.037762 +v -2.628153 0.263721 0.804976 +v -2.663539 2.247858 0.450470 +v -0.643655 0.192829 0.982230 +v -0.785405 2.247858 0.982025 +v -1.210863 0.121725 0.415060 +v -2.273674 2.177177 1.053254 +v -2.698924 0.866199 1.017639 +v -2.734518 1.716272 -0.434978 +v -2.663539 0.759967 -1.002147 +v -2.628153 0.157277 -0.895713 +v -2.663539 2.177177 0.982025 +v -2.698924 2.247858 -0.009856 +v -2.663539 0.228169 -0.789484 +v -2.557174 2.283622 -0.718460 +v -0.785405 0.121725 -1.037762 +v -1.635904 2.247858 1.017639 +v -2.734518 0.547078 0.840386 +f 170 174 180 +f 144 147 151 +f 147 144 152 +f 145 146 153 +f 151 147 154 +f 156 145 157 +f 144 150 159 +f 152 144 159 +f 156 150 160 +f 150 144 162 +f 144 151 162 +f 151 155 162 +f 160 150 162 +f 155 160 162 +f 155 151 163 +f 160 155 163 +f 154 153 164 +f 147 152 166 +f 154 147 166 +f 161 154 166 +f 152 159 167 +f 159 158 167 +f 166 152 167 +f 158 166 167 +f 151 154 168 +f 158 148 169 +f 148 161 169 +f 166 158 169 +f 161 166 169 +f 153 154 170 +f 154 161 170 +f 150 156 171 +f 157 150 171 +f 156 157 171 +f 149 156 172 +f 156 160 172 +f 163 149 172 +f 160 163 172 +f 146 149 173 +f 153 146 173 +f 164 153 173 +f 154 164 173 +f 149 168 173 +f 168 154 173 +f 161 148 174 +f 148 165 174 +f 170 161 174 +f 150 157 175 +f 165 150 175 +f 157 174 175 +f 174 165 175 +f 146 145 176 +f 149 146 176 +f 145 156 176 +f 156 149 176 +f 159 150 177 +f 150 165 177 +f 149 163 178 +f 163 151 178 +f 168 149 178 +f 151 168 178 +f 148 158 179 +f 158 159 179 +f 165 148 179 +f 159 177 179 +f 177 165 179 +f 145 153 180 +f 157 145 180 +f 153 170 180 +f 174 157 180 +o convex_6 +v -0.536799 0.936908 -1.037449 +v 2.687918 2.319063 -0.257971 +v 2.687918 2.319063 -0.435203 +v 3.432205 0.157214 -1.108643 +v -0.572392 0.121725 0.982226 +v 3.290229 0.298957 1.088695 +v -0.607985 2.247869 0.946737 +v 3.361020 2.283358 1.017501 +v -0.466009 2.283573 -0.966685 +v 3.432205 2.283573 -1.072939 +v -0.607985 0.121725 -1.037449 +v 1.376913 0.121725 0.982226 +v 1.057763 2.283358 -1.073154 +v 0.668218 2.319063 0.946737 +v -0.607985 2.283573 -0.931196 +v 3.254636 0.937123 1.088695 +v 1.766457 0.298957 -1.108643 +v 3.432205 2.035362 -1.108643 +v 3.432205 0.157214 -0.824942 +v 1.234936 2.319063 -0.789453 +v -0.607985 0.121725 0.946737 +v 1.376913 0.121725 -1.073154 +v 2.723115 0.334662 1.088695 +v 0.065512 0.334447 -1.073154 +v 2.333175 2.319063 0.982226 +v 3.396613 2.283573 0.379765 +v 3.361020 1.787150 1.017501 +v -0.607985 2.283573 0.238022 +v 3.290229 0.263683 0.804994 +v 3.042265 2.283358 1.017501 +v 0.526242 1.609918 -1.073154 +v 0.171895 0.121725 -1.073154 +v 3.396613 0.157214 -0.718689 +v 3.290229 1.716171 1.052990 +v 3.432205 2.283573 -0.895706 +v -0.182452 2.283573 0.946737 +v 3.325427 0.263683 0.663251 +v -0.607985 0.830654 -1.037449 +f 211 204 218 +f 183 182 190 +f 186 185 192 +f 185 191 192 +f 181 189 193 +f 182 183 194 +f 191 187 195 +f 186 188 196 +f 197 193 198 +f 190 184 198 +f 193 190 198 +f 184 197 198 +f 184 190 199 +f 192 184 199 +f 183 190 200 +f 193 189 200 +f 190 193 200 +f 194 183 200 +f 189 195 200 +f 195 194 200 +f 185 187 201 +f 191 185 201 +f 187 191 201 +f 184 192 202 +f 192 191 202 +f 185 186 203 +f 187 185 203 +f 186 196 203 +f 196 187 203 +f 188 182 205 +f 182 194 205 +f 182 188 206 +f 199 206 207 +f 188 186 207 +f 206 188 207 +f 195 187 208 +f 194 195 208 +f 186 192 209 +f 188 205 210 +f 205 194 210 +f 181 193 211 +f 193 197 211 +f 197 204 211 +f 197 184 212 +f 184 202 212 +f 202 191 212 +f 191 204 212 +f 204 197 212 +f 192 199 213 +f 209 192 213 +f 199 209 213 +f 187 196 214 +f 196 188 214 +f 210 187 214 +f 188 210 214 +f 190 182 215 +f 199 190 215 +f 182 206 215 +f 206 199 215 +f 208 187 216 +f 194 208 216 +f 187 210 216 +f 210 194 216 +f 199 207 217 +f 207 186 217 +f 186 209 217 +f 209 199 217 +f 189 181 218 +f 195 189 218 +f 191 195 218 +f 204 191 218 +f 181 211 218 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/118/118.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/118/118.urdf new file mode 100644 index 000000000..b107824ed --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/118/118.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/119/119.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/119/119.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/119/119.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/119/119.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/119/119.obj new file mode 100644 index 000000000..0939a635f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/119/119.obj @@ -0,0 +1,189 @@ +o convex_0 +v -0.064312 -3.846384 -0.881500 +v 0.020865 -1.258620 1.051926 +v -0.007394 -1.258620 1.051926 +v 0.020865 3.774325 -0.767863 +v 1.044588 -3.192550 -0.000064 +v -0.945941 -3.760519 0.084913 +v -0.007394 3.717607 0.767534 +v -0.974400 3.006267 -0.056983 +v 0.902293 3.006267 0.426223 +v 0.760199 2.863684 -0.739404 +v 0.760199 -3.732160 0.767334 +v -0.746928 -3.078326 0.824252 +v -0.718469 3.033839 -0.767863 +v -0.718469 3.005479 0.738874 +v 0.760199 -3.789666 -0.710945 +v -0.718469 -3.163403 -0.739404 +v 0.049123 -0.974241 -0.995538 +v 0.788658 2.750248 0.767334 +v -0.064312 -3.988179 0.795993 +v 1.016129 3.034626 -0.000064 +v -0.007394 2.977908 0.995008 +v -0.690010 3.773537 -0.000064 +v 0.731739 3.773537 0.028194 +v 0.020865 3.119703 -0.967078 +v 0.106042 -2.993249 1.051926 +v -0.576174 -4.016538 -0.568849 +v 0.816916 -4.016538 -0.028524 +v -1.002859 -3.078326 -0.000064 +v 0.788457 -3.078326 -0.767863 +v 0.816916 -2.679724 0.795793 +v -0.007394 -3.135044 -0.995538 +v -1.002859 1.868754 0.056453 +v -0.007394 4.001986 0.056453 +v 1.044588 1.812036 -0.056983 +v -0.633092 -3.959820 0.625238 +v 1.016129 1.754530 0.170290 +v -0.035853 -3.732160 0.995008 +v -0.803646 -1.428774 0.739075 +v 0.589444 -4.045685 -0.568849 +v -0.775387 1.100696 -0.682486 +v 0.731739 3.176421 0.710616 +v 0.617903 -4.016538 0.625238 +v -0.690010 -3.732160 -0.710945 +v -0.092771 3.034626 -0.967078 +v 0.106042 3.034626 -0.967078 +v 0.589444 3.518306 -0.568849 +v -0.149689 -4.045685 0.426223 +v 0.987670 -3.788878 0.056453 +v -1.002859 -3.049179 0.084913 +v 1.044588 -3.021608 0.084913 +v 0.816916 -0.234543 0.795793 +v 0.162960 2.977908 0.966549 +v -0.718469 -3.732160 0.767334 +v 0.106042 -3.049967 -0.995538 +v -0.547715 3.603383 -0.540390 +v -0.064312 -3.078326 1.051926 +v -0.746928 2.636024 0.738874 +v -1.002859 2.067267 -0.028524 +v -0.547715 3.517518 0.568319 +v -0.803646 -3.988179 -0.000064 +v 0.788457 -2.082608 -0.767863 +v 0.532727 3.575024 0.596779 +v 0.077583 -3.789666 -0.938419 +v -0.746928 -2.537928 0.824252 +f 57 38 64 +f 3 2 21 +f 7 14 21 +f 13 8 22 +f 8 14 22 +f 9 20 23 +f 2 3 25 +f 5 15 29 +f 25 11 30 +f 16 13 31 +f 4 22 33 +f 22 7 33 +f 23 4 33 +f 7 23 33 +f 10 20 34 +f 5 29 34 +f 9 18 36 +f 20 9 36 +f 34 20 36 +f 11 25 37 +f 26 1 39 +f 15 27 39 +f 13 16 40 +f 16 28 40 +f 18 9 41 +f 9 23 41 +f 11 37 42 +f 37 19 42 +f 39 27 42 +f 1 26 43 +f 6 28 43 +f 28 16 43 +f 16 31 43 +f 13 4 44 +f 4 24 44 +f 24 17 44 +f 31 13 44 +f 17 31 44 +f 4 10 45 +f 24 4 45 +f 17 24 45 +f 10 4 46 +f 20 10 46 +f 4 23 46 +f 23 20 46 +f 19 35 47 +f 26 39 47 +f 42 19 47 +f 39 42 47 +f 15 5 48 +f 27 15 48 +f 11 42 48 +f 42 27 48 +f 28 6 49 +f 32 28 49 +f 12 38 49 +f 38 32 49 +f 30 11 50 +f 5 34 50 +f 34 36 50 +f 48 5 50 +f 11 48 50 +f 25 30 51 +f 36 18 51 +f 30 50 51 +f 50 36 51 +f 21 2 52 +f 7 21 52 +f 2 25 52 +f 18 41 52 +f 41 7 52 +f 51 18 52 +f 25 51 52 +f 6 35 53 +f 35 19 53 +f 19 37 53 +f 49 6 53 +f 12 49 53 +f 31 17 54 +f 17 45 54 +f 4 13 55 +f 22 4 55 +f 13 22 55 +f 25 3 56 +f 37 25 56 +f 53 37 56 +f 12 53 56 +f 14 8 57 +f 21 14 57 +f 8 32 57 +f 32 38 57 +f 8 13 58 +f 32 8 58 +f 28 32 58 +f 13 40 58 +f 40 28 58 +f 14 7 59 +f 7 22 59 +f 22 14 59 +f 35 6 60 +f 43 26 60 +f 6 43 60 +f 47 35 60 +f 26 47 60 +f 10 34 61 +f 34 29 61 +f 45 10 61 +f 29 54 61 +f 54 45 61 +f 23 7 62 +f 7 41 62 +f 41 23 62 +f 29 15 63 +f 39 1 63 +f 15 39 63 +f 1 43 63 +f 43 31 63 +f 54 29 63 +f 31 54 63 +f 3 21 64 +f 38 12 64 +f 56 3 64 +f 12 56 64 +f 21 57 64 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/119/119.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/119/119.urdf new file mode 100644 index 000000000..c21e36e48 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/119/119.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/120/120.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/120/120.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/120/120.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/120/120.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/120/120.obj new file mode 100644 index 000000000..82788df02 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/120/120.obj @@ -0,0 +1,633 @@ +o convex_0 +v 1.161014 2.733177 1.815877 +v -0.036272 0.563120 -1.063535 +v 0.038506 0.563120 -1.063535 +v 1.797046 2.658407 -2.972197 +v 1.871823 0.638106 2.975880 +v -0.148438 2.620806 3.088717 +v -0.186039 2.620806 -3.010406 +v 1.871823 0.675491 -2.972794 +v -0.186039 0.713092 3.088717 +v 1.909212 2.583637 3.051105 +v -0.111049 0.600721 -2.935182 +v 1.984201 0.563120 -0.951892 +v 1.871823 2.770778 0.243932 +v -0.148438 2.733177 0.506619 +v -0.111049 0.563120 1.030203 +v 1.984201 1.012388 -0.989505 +v 1.347957 2.733177 -1.438461 +v 1.946600 0.563120 0.618858 +v -0.186039 2.695576 -1.138759 +v 1.909212 1.236698 3.013493 +v 1.834434 2.433881 -2.972794 +v 1.871823 2.770778 1.217069 +v 1.984201 0.638106 -0.016964 +v 1.834434 0.600721 2.564536 +v -0.186039 0.675707 2.863641 +v 1.909212 2.546036 0.768113 +v 0.001117 2.658191 2.901253 +v 1.048636 2.770778 0.992591 +v 0.038506 2.658191 -2.748316 +v -0.186039 1.424055 3.088717 +v 1.273180 2.621022 -3.010406 +v -0.148438 2.022214 -3.010406 +v 1.235791 0.638106 -2.972197 +v 1.984201 0.750477 -1.400849 +v 0.973859 0.638106 3.012896 +v -0.186039 1.424055 0.021245 +v 1.984201 1.236698 -0.278458 +v 1.909212 2.621022 2.863641 +v -0.111049 2.733177 1.180054 +v 1.797046 2.770778 -0.203234 +v -0.186039 2.695576 -0.240846 +v -0.148438 0.563120 0.021245 +v -0.111049 0.937618 -2.972794 +v 1.834434 0.563120 1.104830 +v -0.148438 1.461440 -2.972794 +v 1.909212 0.750261 -2.598464 +v -0.073660 0.713092 3.088717 +v 0.263050 0.600721 -2.935182 +v 1.273180 2.621022 3.051105 +v 1.909212 2.246524 3.051105 +v 0.150884 2.620806 3.088717 +v 1.797046 2.733177 -1.513088 +v 1.198403 2.658407 -2.972197 +v 1.422947 0.638106 3.012896 +v 1.909212 2.658407 2.227818 +v 0.524983 0.638106 -2.972197 +v 0.973859 2.733177 -1.064132 +v -0.186039 2.471266 -2.935182 +v 0.001117 0.675707 3.051105 +f 54 47 59 +f 3 2 11 +f 2 3 12 +f 2 12 15 +f 15 12 18 +f 7 9 19 +f 4 13 21 +f 12 16 23 +f 5 18 23 +f 18 12 23 +f 20 5 23 +f 18 5 24 +f 9 7 25 +f 21 13 26 +f 1 22 28 +f 22 13 28 +f 27 1 28 +f 7 19 29 +f 9 6 30 +f 19 9 30 +f 4 21 31 +f 21 8 31 +f 7 31 32 +f 31 8 32 +f 8 12 33 +f 32 8 33 +f 16 12 34 +f 21 16 34 +f 15 24 35 +f 25 7 36 +f 16 21 37 +f 23 16 37 +f 10 23 37 +f 21 26 37 +f 10 37 38 +f 14 6 39 +f 6 27 39 +f 28 14 39 +f 27 28 39 +f 14 28 40 +f 28 13 40 +f 6 14 41 +f 14 19 41 +f 30 6 41 +f 19 30 41 +f 11 2 42 +f 2 15 42 +f 15 25 42 +f 25 36 42 +f 15 18 44 +f 24 15 44 +f 18 24 44 +f 7 32 45 +f 11 42 45 +f 42 36 45 +f 43 11 45 +f 32 43 45 +f 12 8 46 +f 8 21 46 +f 34 12 46 +f 21 34 46 +f 6 9 47 +f 3 11 48 +f 12 3 48 +f 33 12 48 +f 11 33 48 +f 22 1 49 +f 1 27 49 +f 38 22 49 +f 10 38 49 +f 23 10 50 +f 20 23 50 +f 47 20 50 +f 47 50 51 +f 27 6 51 +f 6 47 51 +f 10 49 51 +f 49 27 51 +f 50 10 51 +f 13 4 52 +f 40 13 52 +f 17 40 52 +f 7 29 53 +f 29 17 53 +f 4 31 53 +f 31 7 53 +f 52 4 53 +f 17 52 53 +f 5 20 54 +f 24 5 54 +f 35 24 54 +f 20 47 54 +f 13 22 55 +f 26 13 55 +f 37 26 55 +f 38 37 55 +f 22 38 55 +f 33 11 56 +f 32 33 56 +f 11 43 56 +f 43 32 56 +f 19 14 57 +f 17 29 57 +f 29 19 57 +f 40 17 57 +f 14 40 57 +f 36 7 58 +f 7 45 58 +f 45 36 58 +f 9 25 59 +f 25 15 59 +f 15 35 59 +f 47 9 59 +f 35 54 59 +o convex_1 +v -0.672589 -0.971015 -0.465833 +v -1.720174 -1.495540 0.244947 +v -1.682668 -3.141966 0.394596 +v -1.607774 -5.348913 -0.465946 +v -0.522917 -5.311202 0.581602 +v -0.560306 -5.273491 -0.540771 +v -0.597695 -0.971015 0.469308 +v -1.607774 -0.971015 -0.578241 +v -1.532996 -5.348913 0.581715 +v -1.645279 -0.971015 0.544246 +v -1.720174 -0.971015 -0.278828 +v -0.560306 -1.270560 0.431838 +v -0.522917 -4.151162 0.581602 +v -1.645279 -4.749824 0.544246 +v -1.009321 -5.273491 -0.540771 +v -0.597695 -3.926610 -0.540771 +v -1.607774 -4.787106 -0.503302 +v -1.383325 -0.971015 0.544246 +v -1.720174 -0.971015 0.357127 +v -0.522917 -5.311202 0.170008 +v -0.635200 -1.869221 -0.465833 +v -1.607774 -5.348913 0.544246 +v -0.560306 -1.719663 0.506663 +v -1.121487 -5.348913 -0.016884 +v -1.532996 -0.971015 -0.578241 +v -1.607774 -1.270560 -0.578241 +v -0.560306 -5.086651 -0.540771 +v -1.720174 -1.233277 -0.166533 +v -0.522917 -3.814335 0.506663 +v -1.009321 -5.348913 0.581715 +f 83 79 89 +f 66 60 67 +f 66 67 69 +f 69 67 70 +f 60 66 71 +f 69 68 72 +f 68 69 73 +f 65 63 74 +f 63 70 76 +f 74 63 76 +f 66 69 77 +f 69 72 77 +f 61 62 78 +f 70 61 78 +f 69 70 78 +f 62 73 78 +f 73 69 78 +f 72 64 79 +f 60 71 80 +f 75 60 80 +f 63 68 81 +f 73 63 81 +f 68 73 81 +f 71 66 82 +f 72 71 82 +f 66 77 82 +f 77 72 82 +f 63 65 83 +f 68 63 83 +f 65 79 83 +f 67 60 84 +f 60 75 84 +f 70 67 85 +f 65 74 85 +f 76 70 85 +f 74 76 85 +f 67 84 85 +f 84 65 85 +f 79 65 86 +f 80 71 86 +f 75 80 86 +f 65 84 86 +f 84 75 86 +f 62 61 87 +f 61 70 87 +f 70 63 87 +f 73 62 87 +f 63 73 87 +f 71 72 88 +f 72 79 88 +f 79 86 88 +f 86 71 88 +f 64 72 89 +f 72 68 89 +f 79 64 89 +f 68 83 89 +o convex_2 +v -1.570287 0.563120 -0.428335 +v -0.560479 0.563120 0.581627 +v -0.522959 0.188897 0.619133 +v -2.131757 -0.896080 0.581627 +v -0.260889 -0.933473 -0.503229 +v -2.094237 -0.896080 -0.465958 +v -0.260889 0.226139 -0.578123 +v -0.260889 -0.933473 0.469344 +v -2.094237 0.188897 0.469344 +v -2.206607 0.113962 -0.465958 +v -1.607807 -0.971015 -0.578241 +v -1.645137 0.563120 0.544239 +v -0.260889 0.188747 0.544239 +v -0.672659 0.525578 -0.540618 +v -1.383257 -0.971015 0.544239 +v -0.672659 -0.971015 -0.465958 +v -1.719987 0.226289 0.581627 +v -0.635329 0.563120 -0.390946 +v -0.260889 -0.260111 -0.578123 +v -2.169087 -0.596792 -0.465958 +v -0.522959 0.039177 0.619133 +v -1.645137 -0.821146 -0.578241 +v -1.682657 0.563120 0.431956 +v -1.719987 -0.971015 0.357178 +v -0.597809 -0.971015 0.469344 +v -2.206607 0.113962 -0.278663 +v -2.131757 -0.708819 0.581627 +v -2.131757 -0.896080 -0.428335 +v -2.206607 -0.185326 -0.465958 +f 115 99 118 +f 94 96 97 +f 91 90 101 +f 91 92 102 +f 96 91 102 +f 97 96 102 +f 99 90 103 +f 104 100 105 +f 100 94 105 +f 92 91 106 +f 91 101 106 +f 101 98 106 +f 90 91 107 +f 91 96 107 +f 103 90 107 +f 96 103 107 +f 96 94 108 +f 94 100 108 +f 100 96 108 +f 100 95 109 +f 92 93 110 +f 102 92 110 +f 97 102 110 +f 93 104 110 +f 104 97 110 +f 96 100 111 +f 103 96 111 +f 99 103 111 +f 100 109 111 +f 90 99 112 +f 101 90 112 +f 98 101 112 +f 104 93 113 +f 100 104 113 +f 94 97 114 +f 97 104 114 +f 104 105 114 +f 105 94 114 +f 112 99 115 +f 98 112 115 +f 93 92 116 +f 92 106 116 +f 106 98 116 +f 115 93 116 +f 98 115 116 +f 95 100 117 +f 93 109 117 +f 109 95 117 +f 113 93 117 +f 100 113 117 +f 109 93 118 +f 99 111 118 +f 111 109 118 +f 93 115 118 +o convex_3 +v 1.983981 0.450251 0.506759 +v -0.260622 -0.934355 -0.503068 +v -0.260622 -0.934355 0.469157 +v 1.983981 -3.402975 -1.027106 +v 1.834327 -3.402975 1.105566 +v -0.223263 -3.402975 -1.102092 +v 0.038468 0.563120 -1.064491 +v -0.073608 0.563120 1.067965 +v -0.073608 -3.440598 0.918209 +v 1.983981 0.563120 -0.952120 +v 1.834327 0.563120 1.105566 +v -0.260622 0.226080 -0.615439 +v 1.909264 -3.402975 1.105566 +v 1.834327 -3.328121 -1.064491 +v -0.260622 0.188457 0.506542 +v 1.983981 0.150834 -0.989504 +v -0.073608 0.563120 -0.989504 +v 0.076047 -3.440598 0.955594 +v 1.983981 -0.933963 0.581528 +v -0.185904 -2.130455 -1.102092 +v -0.148546 -3.440598 0.095092 +v -0.110967 -0.597316 1.030364 +v -0.148546 0.563120 0.506542 +v 0.599729 -3.402975 -1.102092 +v 1.348003 0.450251 1.105566 +v -0.223263 -3.402975 -0.802364 +v 0.525011 -3.440598 0.319618 +v 1.983981 0.338166 0.581528 +v -0.073608 0.300934 -1.064491 +v 1.946623 -3.402975 0.207247 +v -0.110967 0.563120 1.030364 +v 1.871905 0.563120 0.993195 +v 1.759609 0.563120 -0.989504 +v -0.110967 -1.793807 -1.102092 +v -0.185904 0.488266 -0.054232 +v -0.073608 -3.440598 -0.054232 +v 1.909264 -2.953850 1.105566 +v 1.983981 -1.719344 -1.027106 +v 1.983981 -3.402975 -0.877566 +f 148 145 157 +f 121 120 124 +f 119 122 128 +f 125 126 128 +f 128 126 129 +f 120 121 130 +f 124 120 130 +f 129 123 131 +f 130 121 133 +f 128 122 134 +f 126 125 135 +f 131 123 136 +f 122 119 137 +f 124 130 138 +f 127 121 139 +f 136 127 139 +f 123 126 140 +f 121 127 140 +f 133 121 140 +f 136 123 140 +f 127 136 140 +f 126 135 141 +f 132 122 142 +f 124 138 142 +f 126 123 143 +f 129 126 143 +f 123 129 143 +f 121 124 144 +f 139 121 144 +f 124 139 144 +f 131 136 145 +f 136 139 145 +f 137 119 146 +f 131 137 146 +f 135 125 147 +f 130 135 147 +f 138 130 147 +f 137 131 148 +f 131 145 148 +f 140 126 149 +f 133 140 149 +f 126 141 149 +f 141 133 149 +f 119 128 150 +f 128 129 150 +f 146 119 150 +f 125 128 151 +f 128 134 151 +f 134 125 151 +f 125 132 152 +f 132 142 152 +f 142 138 152 +f 147 125 152 +f 138 147 152 +f 130 133 153 +f 135 130 153 +f 133 141 153 +f 141 135 153 +f 139 124 154 +f 142 122 154 +f 124 142 154 +f 122 145 154 +f 145 139 154 +f 129 131 155 +f 131 146 155 +f 150 129 155 +f 146 150 155 +f 122 132 156 +f 132 125 156 +f 134 122 156 +f 125 134 156 +f 122 137 157 +f 145 122 157 +f 137 148 157 +o convex_4 +v 3.068955 -0.858585 0.581554 +v 3.592890 0.263777 -0.241450 +v 3.592890 0.263777 -0.278809 +v 1.984201 0.263777 0.057864 +v 1.984201 -0.858585 -0.503405 +v 3.854761 -0.746420 -0.465935 +v 3.967352 0.076599 0.506726 +v 1.984201 -0.933597 0.581554 +v 1.984201 0.263777 0.506726 +v 1.984201 0.188765 -0.465935 +v 3.892421 -0.746420 0.619133 +v 3.929886 0.226271 -0.465935 +v 3.817295 -0.783808 -0.428466 +v 2.208800 -0.933597 0.394428 +v 3.967352 0.113988 0.469256 +v 2.583262 -0.409570 -0.503405 +v 2.321197 0.263777 0.506726 +v 2.208800 0.226271 -0.465935 +v 3.967352 -0.073073 0.319599 +v 3.480882 -0.821314 0.619133 +v 2.246266 -0.858585 -0.503405 +v 3.892421 -0.559359 -0.428466 +v 1.984201 -0.297639 -0.503405 +v 3.892421 -0.671525 0.619133 +v 1.984201 -0.783808 0.581554 +v 3.854761 -0.783808 0.619133 +f 177 170 183 +f 159 160 161 +f 161 162 165 +f 159 161 166 +f 161 165 166 +f 162 161 167 +f 160 159 169 +f 165 162 171 +f 158 165 171 +f 170 158 171 +f 169 159 172 +f 169 163 173 +f 159 166 174 +f 172 159 174 +f 164 172 174 +f 161 160 175 +f 167 161 175 +f 160 169 175 +f 164 168 176 +f 172 164 176 +f 169 172 176 +f 165 158 177 +f 158 170 177 +f 163 170 178 +f 171 162 178 +f 170 171 178 +f 162 173 178 +f 173 163 178 +f 168 163 179 +f 163 169 179 +f 176 168 179 +f 169 176 179 +f 162 167 180 +f 173 162 180 +f 169 173 180 +f 167 175 180 +f 175 169 180 +f 168 164 181 +f 174 166 181 +f 164 174 181 +f 177 168 181 +f 177 181 182 +f 166 165 182 +f 165 177 182 +f 181 166 182 +f 163 168 183 +f 170 163 183 +f 168 177 183 +o convex_5 +v -0.672626 0.675407 0.581715 +v -1.084128 0.563120 -0.503405 +v -1.458160 0.563120 -0.465910 +v -1.009299 0.825020 -0.316249 +v -1.682756 0.563120 0.506832 +v -1.420801 0.825020 0.282181 +v -0.560218 0.563120 0.394560 +v -1.607817 0.712759 -0.428521 +v -0.672626 0.712759 -0.503405 +v -0.560218 0.787591 0.544220 +v -0.672626 0.563120 -0.503405 +v -1.645177 0.637978 0.506832 +v -0.560218 0.563120 0.581715 +v -0.822173 0.825020 -0.316249 +v -1.607817 0.563120 -0.391133 +v -1.345973 0.825020 -0.241472 +f 191 189 199 +f 186 185 188 +f 188 185 190 +f 185 186 191 +f 185 191 192 +f 191 187 192 +f 190 192 193 +f 190 185 194 +f 185 192 194 +f 192 190 194 +f 188 184 195 +f 191 188 195 +f 189 191 195 +f 184 193 195 +f 193 189 195 +f 184 188 196 +f 188 190 196 +f 193 184 196 +f 190 193 196 +f 187 189 197 +f 192 187 197 +f 189 193 197 +f 193 192 197 +f 186 188 198 +f 191 186 198 +f 188 191 198 +f 189 187 199 +f 187 191 199 +o convex_6 +v -0.784788 2.695942 -0.054353 +v -1.420768 0.825046 0.244899 +v -1.420768 0.825046 0.282313 +v -1.420768 2.695942 0.132656 +v -1.345940 0.825046 -0.241424 +v -0.897031 0.900131 0.319728 +v -0.822202 0.825046 -0.316253 +v -1.158868 2.620857 -0.278838 +v -0.784788 2.658216 0.319728 +v -0.784788 2.695942 -0.316253 +v -1.383354 2.620857 -0.166596 +v -1.383354 2.658216 0.244899 +v -1.271111 0.825046 0.319728 +v -1.046688 1.311633 -0.316253 +v -1.345940 2.583681 -0.241424 +v -0.784788 1.685958 -0.316253 +v -0.822202 0.825046 -0.204010 +v -1.121454 2.695942 0.282313 +v -0.897031 0.825046 0.282313 +f 212 216 218 +f 201 202 203 +f 202 201 204 +f 202 204 206 +f 203 200 209 +f 200 208 209 +f 209 207 210 +f 201 203 210 +f 204 201 210 +f 203 209 210 +f 203 202 211 +f 202 206 212 +f 205 208 212 +f 211 202 212 +f 206 204 213 +f 209 206 213 +f 207 209 213 +f 210 207 214 +f 204 210 214 +f 213 204 214 +f 207 213 214 +f 206 209 215 +f 209 208 215 +f 208 205 216 +f 212 206 216 +f 206 215 216 +f 215 208 216 +f 200 203 217 +f 208 200 217 +f 203 211 217 +f 212 208 217 +f 211 212 217 +f 205 212 218 +f 216 205 218 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/120/120.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/120/120.urdf new file mode 100644 index 000000000..f57b80018 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/120/120.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/121/121.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/121/121.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/121/121.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/121/121.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/121/121.obj new file mode 100644 index 000000000..a41006c06 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/121/121.obj @@ -0,0 +1,666 @@ +o convex_0 +v -1.007749 -0.488458 -1.461275 +v -0.237675 -0.341697 0.739545 +v -0.420844 -0.341697 0.739545 +v 0.972728 -4.339461 0.629461 +v 0.936134 -0.342088 -1.387813 +v -0.971155 -4.302673 -1.314352 +v -1.007749 -4.229097 0.592623 +v 0.936134 -4.265885 -1.351190 +v 1.009522 -0.342088 0.629461 +v -1.044544 -0.341697 0.592623 +v -1.044544 -0.341697 -1.461275 +v 0.972728 -4.302673 -0.690686 +v 1.009522 -3.862000 0.629461 +v -0.934361 -3.715630 0.629246 +v 0.752563 -3.238951 -1.387598 +v -1.007749 -4.265885 -0.030828 +v -1.044544 -2.102435 0.592623 +v 1.009522 -0.342088 0.336047 +v -0.420844 -0.855164 0.739545 +v 0.239248 -4.265885 -1.351190 +v 0.422618 -0.415273 -1.424436 +v 0.642581 -4.339461 0.629461 +v 0.972728 -1.919278 -0.800986 +v -1.007749 -4.229097 -0.397488 +v -1.007749 -0.341697 0.629246 +v -1.007749 -3.018614 -1.350975 +v 0.972728 -4.339461 0.152502 +v -0.274269 -4.302673 -1.314352 +v 0.936134 -2.285593 -1.387598 +v -0.971155 -4.302673 -0.874016 +v 0.972728 -0.524855 -0.764147 +v 0.972728 -3.568478 -0.800986 +f 29 5 32 +f 3 2 10 +f 2 5 11 +f 1 6 11 +f 10 2 11 +f 2 4 13 +f 9 2 13 +f 10 11 17 +f 16 7 17 +f 5 2 18 +f 2 9 18 +f 9 13 18 +f 2 3 19 +f 4 2 19 +f 6 1 20 +f 8 6 20 +f 1 15 20 +f 15 8 20 +f 1 11 21 +f 11 5 21 +f 15 1 21 +f 14 7 22 +f 7 16 22 +f 4 19 22 +f 19 14 22 +f 6 16 24 +f 17 11 24 +f 16 17 24 +f 3 10 25 +f 7 14 25 +f 10 17 25 +f 17 7 25 +f 19 3 25 +f 14 19 25 +f 11 6 26 +f 6 24 26 +f 24 11 26 +f 12 13 27 +f 13 4 27 +f 4 22 27 +f 22 6 27 +f 6 8 28 +f 8 12 28 +f 27 6 28 +f 12 27 28 +f 8 15 29 +f 21 5 29 +f 15 21 29 +f 16 6 30 +f 6 22 30 +f 22 16 30 +f 5 18 31 +f 23 5 31 +f 18 23 31 +f 12 8 32 +f 13 12 32 +f 18 13 32 +f 5 23 32 +f 23 18 32 +f 8 29 32 +o convex_1 +v 0.019110 -1.038397 1.069779 +v 0.495998 -0.341306 2.206758 +v 0.495998 -0.341306 1.766479 +v 0.495998 -2.358724 2.206758 +v -0.530976 -0.341306 2.096577 +v -0.567732 -2.321993 1.143233 +v 0.422590 -2.248532 1.069779 +v -0.530976 -2.358724 2.096577 +v -0.530976 -0.341306 1.143233 +v 0.422590 -0.341306 1.069779 +v 0.202473 -0.341306 2.206758 +v 0.495998 -2.358724 1.876549 +v -0.567732 -2.358724 2.023234 +v -0.567732 -1.185320 1.143233 +v -0.457569 -0.341306 1.106506 +v -0.347510 -2.358724 2.133193 +v 0.459242 -1.258386 1.253192 +v -0.420917 -0.341306 2.133193 +v 0.312532 -2.358724 2.206758 +v 0.349183 -2.285065 1.143233 +v 0.239228 -2.248532 1.069779 +v -0.567732 -2.358724 1.656410 +f 45 38 54 +f 35 34 36 +f 34 35 37 +f 37 35 41 +f 39 33 42 +f 41 35 42 +f 36 34 43 +f 34 37 43 +f 35 36 44 +f 36 40 44 +f 44 40 45 +f 40 37 45 +f 38 45 46 +f 37 41 46 +f 45 37 46 +f 33 38 47 +f 42 33 47 +f 41 42 47 +f 38 46 47 +f 46 41 47 +f 40 36 48 +f 39 42 49 +f 42 35 49 +f 35 44 49 +f 44 39 49 +f 37 40 50 +f 43 37 50 +f 40 48 50 +f 48 43 50 +f 36 43 51 +f 48 36 51 +f 43 48 51 +f 38 39 52 +f 39 44 52 +f 44 38 52 +f 38 33 53 +f 33 39 53 +f 39 38 53 +f 38 44 54 +f 44 45 54 +o convex_2 +v -0.090801 3.803521 -0.324066 +v -0.567732 1.822833 -0.837709 +v 0.532621 1.822833 -0.837709 +v 0.606039 1.822833 0.226020 +v 0.532621 3.693526 -0.837709 +v -0.457662 1.822833 0.152613 +v 0.495969 3.693526 0.152613 +v -0.457662 3.840251 -0.837709 +v -0.421010 3.766593 0.115962 +v -0.457662 2.886441 0.152613 +v -0.567732 2.299936 -0.764302 +v 0.459203 3.399879 0.189265 +v -0.567732 1.822833 -0.544184 +v -0.054150 3.766593 0.152613 +v -0.200871 1.896294 0.189265 +v 0.569272 1.822833 -0.507428 +v 0.532621 3.693526 -0.544184 +v 0.422551 3.730059 0.115962 +v -0.274289 3.840251 -0.690790 +v -0.421010 3.803521 0.079206 +f 55 73 74 +f 56 57 58 +f 57 56 59 +f 56 58 60 +f 59 56 62 +f 64 63 65 +f 62 56 65 +f 58 61 66 +f 56 60 67 +f 60 64 67 +f 64 65 67 +f 65 56 67 +f 63 64 68 +f 66 61 68 +f 64 66 68 +f 60 58 69 +f 64 60 69 +f 58 66 69 +f 66 64 69 +f 58 57 70 +f 59 58 70 +f 57 59 70 +f 58 59 71 +f 61 58 71 +f 61 71 72 +f 68 61 72 +f 71 59 72 +f 59 62 73 +f 55 72 73 +f 72 59 73 +f 65 63 74 +f 62 65 74 +f 63 68 74 +f 72 55 74 +f 68 72 74 +f 73 62 74 +o convex_3 +v 0.495948 3.730059 1.583307 +v -0.567732 1.822833 2.023213 +v -0.494270 1.822833 1.143079 +v -0.567732 3.840251 2.023213 +v 0.495948 1.822833 2.206758 +v 0.422594 1.822833 1.106348 +v -0.457648 3.693526 1.143079 +v 0.532678 3.656796 2.206758 +v 0.459217 3.766593 1.106348 +v -0.384294 2.409733 2.170027 +v -0.567732 3.840251 2.096674 +v 0.495948 1.822833 1.656553 +v -0.420917 2.079947 1.106348 +v -0.567732 1.822833 2.096674 +v 0.385863 3.693526 2.206758 +v 0.275887 3.803521 1.253163 +v 0.532678 1.933025 2.170027 +v -0.347564 1.822833 2.170027 +v 0.459217 1.822833 1.179809 +v -0.494270 2.593188 1.143079 +v 0.055827 3.730059 1.106348 +v -0.384294 3.840251 2.096674 +v 0.312510 1.822833 2.206758 +f 84 92 97 +f 77 76 78 +f 76 77 79 +f 79 77 80 +f 78 76 85 +f 79 80 86 +f 80 77 87 +f 83 80 87 +f 76 79 88 +f 84 85 88 +f 85 76 88 +f 82 75 89 +f 79 82 89 +f 85 84 89 +f 81 78 90 +f 75 83 90 +f 89 75 90 +f 75 82 91 +f 82 79 91 +f 79 86 91 +f 86 75 91 +f 88 79 92 +f 84 88 92 +f 83 75 93 +f 80 83 93 +f 86 80 93 +f 75 86 93 +f 77 78 94 +f 78 81 94 +f 87 77 94 +f 81 87 94 +f 87 81 95 +f 83 87 95 +f 81 90 95 +f 90 83 95 +f 78 85 96 +f 85 89 96 +f 89 90 96 +f 90 78 96 +f 79 89 97 +f 89 84 97 +f 92 79 97 +o convex_4 +v 0.202541 0.979110 -1.571595 +v 0.019182 0.429110 -3.405174 +v 0.275909 0.429110 -3.405174 +v 0.349277 1.015751 -3.405174 +v -0.200921 1.015751 -3.184919 +v -0.200921 0.502456 -1.461274 +v 0.312593 0.465751 -1.461274 +v -0.200921 1.089162 -1.461274 +v -0.274289 0.502456 -3.442012 +v -0.200921 0.979110 -3.405174 +v -0.237605 0.979110 -1.755011 +v 0.312593 0.429110 -2.121650 +v 0.165857 1.015751 -1.461274 +v -0.127553 0.465751 -1.571595 +v -0.237605 0.502456 -1.681723 +v 0.202541 1.052457 -2.818281 +v 0.312593 0.575803 -1.461274 +v -0.274289 0.649149 -3.295047 +v 0.349277 0.869059 -3.368529 +v 0.349277 1.015751 -3.221564 +v -0.200921 0.465751 -3.442012 +f 111 112 118 +f 103 104 105 +f 102 101 107 +f 101 106 107 +f 105 102 108 +f 99 100 109 +f 105 104 110 +f 104 103 111 +f 99 109 111 +f 109 104 111 +f 103 105 112 +f 105 108 112 +f 111 103 112 +f 101 102 113 +f 102 105 113 +f 105 110 113 +f 98 110 114 +f 110 104 114 +f 102 107 115 +f 107 106 115 +f 108 102 115 +f 112 108 115 +f 106 112 115 +f 100 101 116 +f 109 100 116 +f 104 109 116 +f 110 98 117 +f 101 113 117 +f 113 110 117 +f 98 114 117 +f 114 104 117 +f 116 101 117 +f 104 116 117 +f 100 99 118 +f 101 100 118 +f 106 101 118 +f 99 111 118 +f 112 106 118 +o convex_5 +v 0.312503 0.502417 2.463477 +v -0.200907 1.052482 2.646868 +v -0.200907 1.052482 2.500118 +v -0.310969 0.429071 2.206758 +v 0.202440 0.942430 2.206758 +v -0.200907 0.429071 2.646868 +v 0.239149 0.905725 2.683602 +v 0.275858 0.465776 2.206758 +v -0.237551 0.979071 2.206758 +v -0.310969 1.052482 2.646868 +v 0.349277 0.539122 2.610227 +v -0.274260 0.392430 2.536852 +f 124 128 130 +f 121 120 123 +f 123 120 125 +f 122 123 126 +f 123 122 127 +f 121 123 127 +f 120 121 128 +f 125 120 128 +f 124 125 128 +f 121 127 128 +f 127 122 128 +f 124 119 129 +f 123 125 129 +f 125 124 129 +f 119 126 129 +f 126 123 129 +f 119 124 130 +f 126 119 130 +f 122 126 130 +f 128 122 130 +o convex_6 +v 0.092276 1.015730 0.739545 +v -1.154311 -0.304234 -1.461275 +v -1.154311 -0.267798 -1.461275 +v -3.098584 1.822833 0.739545 +v 1.009522 1.676029 -1.424436 +v 1.009522 -0.341306 0.629461 +v -2.988402 -0.231150 0.592623 +v -3.098584 1.676029 -1.314352 +v 1.009522 1.712677 0.592623 +v 1.009522 -0.341306 -1.387813 +v -2.951809 -0.194290 -1.350975 +v 0.532602 1.822833 -0.837608 +v -0.421238 -0.341306 0.739545 +v -1.484456 1.785973 -1.314352 +v -1.044531 -0.341306 -1.461275 +v 0.605789 1.822833 0.225963 +v -0.201275 1.089026 -1.461275 +v -0.824569 1.785973 0.702707 +v 0.312640 0.466009 -1.461275 +v -2.988402 -0.231150 -0.470733 +v -3.098584 1.822833 0.335832 +v -3.098584 1.602522 0.739545 +v -1.044531 -0.341306 0.592623 +v -3.098584 1.382422 -1.314352 +v 0.275645 0.575954 0.739545 +v -0.384644 1.785973 -1.351190 +v -3.024996 0.209262 0.629246 +v -2.988402 -0.084346 -1.350975 +v -0.568013 1.822833 -0.837608 +v -2.805033 1.712466 -1.314352 +v -2.328114 1.822833 0.739545 +v -2.731444 -0.231150 -1.350975 +v 1.009522 0.722757 0.629461 +v 0.422420 -0.341306 -1.424436 +v -2.988402 0.355854 -1.350975 +v 1.009522 0.905786 -1.424436 +v -0.201275 -0.304234 0.739545 +v 0.935933 1.712677 -1.241106 +v 0.825751 1.676029 -1.424436 +v 0.825751 1.712677 -1.387813 +f 142 168 170 +f 136 135 139 +f 135 136 140 +f 131 134 143 +f 140 136 143 +f 132 133 145 +f 141 132 145 +f 140 143 145 +f 142 134 146 +f 133 138 147 +f 145 133 147 +f 131 139 148 +f 139 146 148 +f 147 135 149 +f 145 147 149 +f 145 137 150 +f 138 134 151 +f 134 142 151 +f 134 138 152 +f 143 134 152 +f 143 137 153 +f 137 145 153 +f 145 143 153 +f 152 138 154 +f 139 131 155 +f 131 143 155 +f 137 143 157 +f 150 137 157 +f 143 152 157 +f 154 150 157 +f 152 154 157 +f 133 132 158 +f 132 141 158 +f 141 150 158 +f 154 138 158 +f 150 154 158 +f 151 142 159 +f 144 151 159 +f 142 156 159 +f 156 144 159 +f 138 151 160 +f 151 144 160 +f 144 156 160 +f 134 131 161 +f 146 134 161 +f 131 148 161 +f 148 146 161 +f 141 145 162 +f 150 141 162 +f 145 150 162 +f 136 139 163 +f 139 155 163 +f 155 136 163 +f 140 145 164 +f 149 140 164 +f 145 149 164 +f 138 133 165 +f 133 158 165 +f 158 138 165 +f 135 140 166 +f 149 135 166 +f 140 149 166 +f 143 136 167 +f 136 155 167 +f 155 143 167 +f 139 135 168 +f 146 139 168 +f 142 146 168 +f 147 138 169 +f 135 147 169 +f 156 135 169 +f 138 160 169 +f 160 156 169 +f 135 156 170 +f 156 142 170 +f 168 135 170 +o convex_7 +v 3.026832 1.676029 -1.387756 +v 2.953363 -0.194502 0.665980 +v 2.769998 -0.194502 0.665980 +v 1.339710 -0.341094 -1.387756 +v 1.009817 1.712466 0.592508 +v 3.100301 1.822621 0.592712 +v 1.009817 1.675818 -1.424389 +v 1.009817 -0.304446 0.629346 +v 2.953363 -0.267798 -1.350918 +v 1.009817 -0.341094 -1.387756 +v 2.953363 -0.341306 0.665980 +v 3.100301 1.822621 0.152495 +v 3.063464 0.905786 0.629346 +v 2.586633 1.822833 0.555874 +v 3.026832 1.199182 -1.387756 +v 3.026832 1.712677 -1.314284 +v 2.953363 -0.304234 -0.984172 +v 1.009817 0.722334 0.629346 +v 2.990200 -0.194502 0.592712 +v 1.046244 0.942222 -1.424389 +v 3.100301 1.455930 0.555874 +v 2.293167 -0.341306 0.629346 +v 1.853173 0.979082 0.629346 +v 1.706440 1.675818 -1.424389 +v 1.009817 -0.341094 -0.727327 +v 2.953363 -0.341306 0.262600 +v 1.596544 -0.304446 -1.387756 +v 3.100301 1.749326 -0.030878 +v 1.449811 1.749114 0.556079 +f 184 177 199 +f 175 177 178 +f 178 177 180 +f 172 173 181 +f 173 178 181 +f 172 181 183 +f 175 176 184 +f 176 182 184 +f 182 177 184 +f 177 182 186 +f 174 179 187 +f 175 178 188 +f 178 173 188 +f 183 181 189 +f 187 179 189 +f 174 180 190 +f 180 177 190 +f 182 176 191 +f 176 183 191 +f 183 189 191 +f 189 179 191 +f 181 178 192 +f 173 172 193 +f 176 175 193 +f 172 183 193 +f 183 176 193 +f 175 188 193 +f 188 173 193 +f 171 185 194 +f 186 171 194 +f 177 186 194 +f 190 177 194 +f 185 190 194 +f 178 180 195 +f 180 192 195 +f 192 178 195 +f 180 174 196 +f 174 187 196 +f 189 181 196 +f 187 189 196 +f 192 180 196 +f 181 192 196 +f 179 174 197 +f 185 179 197 +f 174 190 197 +f 190 185 197 +f 185 171 198 +f 179 185 198 +f 171 186 198 +f 186 182 198 +f 182 191 198 +f 191 179 198 +f 177 175 199 +f 175 184 199 +o convex_8 +v -0.274232 0.539072 0.739545 +v 0.202469 1.052547 1.032927 +v 0.312596 1.015816 1.069668 +v -0.347650 0.539072 1.069668 +v -0.347650 1.052547 0.739545 +v 0.275823 0.575749 0.739545 +v 0.239178 0.502342 1.069668 +v -0.347650 1.015816 1.069668 +v 0.202469 0.979139 0.739545 +f 202 205 208 +f 200 203 204 +f 200 204 205 +f 200 205 206 +f 202 203 206 +f 203 200 206 +f 205 202 206 +f 202 201 207 +f 203 202 207 +f 204 203 207 +f 201 204 207 +f 201 202 208 +f 204 201 208 +f 205 204 208 +o convex_9 +v -0.347510 0.502658 1.069779 +v 0.459242 1.822833 2.206758 +v 0.312532 1.822833 2.206758 +v 0.495998 -0.341306 2.206758 +v -0.530976 -0.341306 2.096577 +v 0.422590 -0.341306 1.069779 +v -0.494324 1.822833 1.143233 +v 0.422590 1.822833 1.106506 +v -0.567732 1.822833 2.096577 +v -0.530976 -0.341306 1.143233 +v -0.347510 0.502658 2.206758 +v 0.495998 1.822833 1.656521 +v 0.459242 -0.047486 1.216576 +v -0.274206 1.676029 2.206758 +v -0.567732 0.649461 2.096577 +v 0.495998 -0.341306 1.766479 +v -0.237555 1.015730 1.069779 +v 0.495998 1.822833 2.206647 +v -0.530976 0.686109 1.143233 +v 0.459242 1.822833 1.179849 +v -0.420917 1.822833 1.106506 +v 0.165821 -0.341306 2.206758 +v 0.312532 1.015730 1.069779 +v -0.457569 -0.341306 1.106506 +f 227 229 232 +f 210 211 212 +f 212 213 214 +f 211 210 215 +f 215 210 216 +f 211 215 217 +f 214 213 218 +f 212 211 219 +f 216 210 220 +f 211 217 222 +f 219 211 222 +f 217 219 222 +f 217 218 223 +f 218 213 223 +f 213 219 223 +f 219 217 223 +f 212 214 224 +f 220 212 224 +f 221 220 224 +f 214 221 224 +f 214 209 225 +f 210 212 226 +f 220 210 226 +f 212 220 226 +f 217 215 227 +f 218 217 227 +f 214 216 228 +f 216 220 228 +f 220 221 228 +f 221 214 228 +f 215 216 229 +f 225 209 229 +f 216 225 229 +f 227 215 229 +f 213 212 230 +f 212 219 230 +f 219 213 230 +f 216 214 231 +f 214 225 231 +f 225 216 231 +f 209 214 232 +f 214 218 232 +f 218 227 232 +f 229 209 232 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/121/121.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/121/121.urdf new file mode 100644 index 000000000..c88293937 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/121/121.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/122/122.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/122/122.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/122/122.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/122/122.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/122/122.obj new file mode 100644 index 000000000..42c9dcfb5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/122/122.obj @@ -0,0 +1,486 @@ +o convex_0 +v 1.262746 0.252033 0.021302 +v -1.289501 0.252033 -0.010502 +v -1.289501 0.252033 0.021302 +v -0.077084 3.793401 0.627467 +v -0.013378 3.314678 -0.999364 +v -0.109062 0.252033 1.042178 +v 0.018350 0.252033 -1.063391 +v 0.847781 3.569812 -0.807911 +v 0.752096 3.282786 0.723089 +v -0.747124 3.282440 -0.712079 +v -0.651190 3.314332 0.754893 +v -1.034177 0.252033 -0.903742 +v 0.943715 0.252033 -0.871729 +v 0.911737 0.252033 0.882529 +v -0.906514 0.252033 0.914333 +v 0.082306 3.282786 0.978360 +v -0.938492 3.282440 0.053107 +v -0.523777 3.761162 -0.520835 +v 0.847781 3.793401 0.084911 +v 1.007421 3.314678 0.021302 +v -0.013378 1.815421 1.074192 +v 0.018350 2.006771 -1.063391 +v -0.109062 3.761162 -0.808120 +v -0.619462 3.761162 0.148729 +v 0.592706 3.793401 0.499831 +v 0.816052 3.601704 -0.839715 +v 0.975443 0.348055 0.818920 +v -0.938492 0.411838 0.882529 +v -0.172768 1.624417 -1.063391 +v -0.172768 3.282440 -0.967351 +v 0.688390 3.793401 -0.329382 +v 0.720368 0.475621 -0.935546 +v -0.810830 3.282440 -0.520835 +v 0.082306 1.751637 1.074192 +v 0.146013 0.252033 1.042178 +v 1.262746 0.284271 -0.010293 +v -0.810830 0.444076 -0.967560 +v -0.459821 3.761162 0.531636 +v 0.018350 3.282786 0.978360 +v 0.752096 3.410353 -0.871729 +v -0.715146 3.282440 -0.744302 +v -1.034177 0.316163 -0.903742 +v -0.810830 0.284271 0.946556 +v -0.938492 3.282440 -0.010502 +v -0.172768 0.252379 -1.063391 +v 1.007421 3.314678 -0.042306 +v -1.257523 0.284271 -0.138138 +v 0.943715 3.314678 0.212547 +v 0.816052 0.348055 0.914333 +v -0.651190 3.761162 -0.042097 +v 0.082306 3.793401 0.659271 +v -0.779102 3.282440 0.467818 +v 0.688390 3.282786 0.754893 +v -0.587484 3.282440 0.786907 +v 0.082306 3.761162 -0.808120 +v -1.129861 0.284271 0.435804 +v -0.077084 2.740281 -1.031168 +v 0.784074 3.282786 0.659271 +v 0.401337 1.017781 -0.999364 +v -0.013378 1.337045 1.074192 +v 0.050328 3.282786 -0.999364 +v 0.847781 3.793401 -0.042306 +v 1.262746 0.284271 0.021302 +v 0.114035 3.154873 0.978360 +f 49 53 64 +f 3 2 1 +f 3 1 6 +f 1 2 7 +f 7 2 12 +f 1 7 13 +f 6 1 14 +f 3 6 15 +f 2 3 17 +f 17 11 24 +f 19 4 25 +f 9 19 25 +f 8 13 26 +f 14 1 27 +f 9 14 27 +f 15 11 28 +f 22 7 29 +f 23 5 30 +f 18 4 31 +f 4 19 31 +f 23 18 31 +f 13 7 32 +f 18 10 33 +f 16 21 34 +f 6 14 35 +f 1 13 36 +f 13 8 36 +f 4 24 38 +f 24 11 38 +f 21 16 39 +f 4 38 39 +f 38 11 39 +f 26 13 40 +f 13 32 40 +f 10 18 41 +f 18 23 41 +f 23 30 41 +f 41 30 42 +f 33 10 42 +f 37 12 42 +f 30 37 42 +f 10 41 42 +f 15 6 43 +f 21 39 43 +f 2 17 44 +f 7 12 45 +f 29 7 45 +f 12 37 45 +f 37 29 45 +f 19 20 46 +f 36 8 46 +f 20 36 46 +f 12 2 47 +f 42 12 47 +f 33 42 47 +f 2 44 47 +f 44 33 47 +f 20 19 48 +f 35 14 49 +f 34 35 49 +f 4 18 50 +f 24 4 50 +f 17 24 50 +f 18 33 50 +f 44 17 50 +f 33 44 50 +f 25 4 51 +f 16 25 51 +f 4 39 51 +f 39 16 51 +f 11 17 52 +f 28 11 52 +f 14 9 53 +f 25 16 53 +f 9 25 53 +f 49 14 53 +f 11 15 54 +f 39 11 54 +f 15 43 54 +f 43 39 54 +f 5 23 55 +f 26 5 55 +f 23 31 55 +f 31 26 55 +f 3 15 56 +f 17 3 56 +f 15 28 56 +f 52 17 56 +f 28 52 56 +f 22 29 57 +f 30 5 57 +f 29 37 57 +f 37 30 57 +f 19 9 58 +f 9 27 58 +f 48 19 58 +f 27 48 58 +f 7 22 59 +f 32 7 59 +f 22 40 59 +f 40 32 59 +f 34 21 60 +f 6 35 60 +f 35 34 60 +f 43 6 60 +f 21 43 60 +f 5 26 61 +f 40 22 61 +f 26 40 61 +f 57 5 61 +f 22 57 61 +f 8 26 62 +f 31 19 62 +f 26 31 62 +f 46 8 62 +f 19 46 62 +f 27 1 63 +f 1 36 63 +f 36 20 63 +f 20 48 63 +f 48 27 63 +f 16 34 64 +f 34 49 64 +f 53 16 64 +o convex_1 +v -2.629385 -2.140662 -0.074242 +v 1.868523 -0.131246 0.053138 +v 1.868523 -0.131246 -0.010552 +v 2.698120 -2.108773 -0.042294 +v -1.097595 -1.279237 1.042287 +v -1.257291 -0.131246 -0.903652 +v 1.996515 -1.374903 -1.031443 +v -1.225587 -0.163134 0.882548 +v 2.762116 -1.215675 0.786910 +v -1.895488 -2.108558 -0.775860 +v -0.108889 -2.204224 0.691272 +v -2.725085 -0.513909 -0.010552 +v -2.692794 -1.311126 0.754962 +v -2.086888 -1.279237 -1.031443 +v 1.007221 -2.204439 -0.871704 +v 2.506720 -0.673568 -0.584584 +v 0.114216 -0.131246 1.042287 +v 0.018515 -0.131246 -1.063391 +v 2.059924 -1.981003 0.754756 +v -2.756790 -1.279237 -0.807808 +v -1.991188 -2.076669 0.754756 +v -2.022892 -2.332209 0.053138 +v 2.123919 -2.300105 -0.010552 +v 2.028219 -1.279237 1.010339 +v 2.729825 -0.513909 0.148776 +v 1.262618 -0.131246 0.850806 +v 2.762116 -1.311126 -0.744118 +v 2.092215 -2.076884 -0.775860 +v 0.177624 -2.012892 0.882754 +v 1.102922 -0.131246 -0.871704 +v -2.980481 -1.374903 -0.010552 +v -0.044893 -2.332209 -0.680222 +v 3.017512 -1.311126 0.021190 +v -1.991188 -1.311126 1.010339 +v -1.831492 -0.131246 0.021190 +v -0.076598 -2.108558 -0.935393 +v -1.959484 -0.482021 0.786910 +v -2.756790 -2.108773 -0.010552 +v -2.469689 -0.673353 -0.648480 +v 0.847526 -1.342799 -1.063391 +v 2.028219 -0.450132 0.786910 +v 2.729825 -0.482021 -0.042294 +v -2.533685 -1.917226 -0.616532 +v 2.602420 -1.853448 0.563480 +v 1.996515 -1.215675 -1.031443 +v -0.395990 -2.268001 0.563480 +v -2.533685 -0.705457 0.563480 +v 2.793820 -2.044780 -0.042294 +v 1.964223 -0.482021 -0.775860 +v -2.565389 -1.853448 0.563480 +v 2.059924 -2.076884 0.627376 +v -1.065891 -2.108558 0.818652 +v 2.570716 -1.885337 -0.584584 +v -2.022892 -1.374903 -1.031443 +v -2.756790 -1.279237 0.691066 +v 1.996515 -1.151898 1.010339 +v -2.055184 -0.513909 -0.808014 +v 2.602420 -0.737130 0.627376 +v -1.991188 -2.332209 -0.074242 +v 2.762116 -1.374903 0.754962 +v -1.959484 -1.183787 1.010339 +v -2.055184 -2.076669 -0.776066 +v 2.059924 -2.300105 -0.137931 +v -1.065891 -0.131246 0.914496 +f 72 125 128 +f 66 67 70 +f 66 70 81 +f 70 67 82 +f 78 70 82 +f 81 69 88 +f 66 81 90 +f 89 66 90 +f 79 71 92 +f 71 91 92 +f 75 83 93 +f 88 69 93 +f 83 88 93 +f 82 67 94 +f 76 84 95 +f 87 86 96 +f 89 73 97 +f 77 85 98 +f 93 69 98 +f 76 72 99 +f 70 76 99 +f 81 70 99 +f 71 79 100 +f 96 74 100 +f 79 96 100 +f 72 76 101 +f 86 85 102 +f 95 84 102 +f 84 76 103 +f 71 100 104 +f 89 90 105 +f 67 66 106 +f 66 89 106 +f 91 80 106 +f 94 67 106 +f 89 97 106 +f 97 91 106 +f 65 102 107 +f 102 84 107 +f 91 71 109 +f 82 94 109 +f 104 82 109 +f 71 104 109 +f 85 86 110 +f 87 75 110 +f 86 87 110 +f 101 76 111 +f 77 101 111 +f 91 97 112 +f 108 68 112 +f 80 91 113 +f 106 80 113 +f 94 106 113 +f 91 109 113 +f 109 94 113 +f 85 77 114 +f 102 85 114 +f 83 75 115 +f 87 68 115 +f 75 87 115 +f 68 108 115 +f 108 83 115 +f 75 93 116 +f 98 85 116 +f 93 98 116 +f 110 75 116 +f 85 110 116 +f 68 92 117 +f 92 91 117 +f 112 68 117 +f 91 112 117 +f 78 82 118 +f 84 78 118 +f 82 104 118 +f 104 100 118 +f 76 95 119 +f 95 102 119 +f 111 76 119 +f 77 111 119 +f 114 77 119 +f 102 114 119 +f 81 88 120 +f 88 73 120 +f 90 81 120 +f 73 105 120 +f 105 90 120 +f 76 70 121 +f 70 78 121 +f 78 84 121 +f 103 76 121 +f 84 103 121 +f 73 89 122 +f 105 73 122 +f 89 105 122 +f 74 96 123 +f 96 86 123 +f 102 65 123 +f 86 102 123 +f 73 88 124 +f 88 83 124 +f 97 73 124 +f 83 108 124 +f 112 97 124 +f 108 112 124 +f 69 81 125 +f 77 98 125 +f 98 69 125 +f 72 101 125 +f 101 77 125 +f 100 74 126 +f 65 107 126 +f 107 84 126 +f 84 118 126 +f 118 100 126 +f 123 65 126 +f 74 123 126 +f 68 87 127 +f 79 92 127 +f 92 68 127 +f 96 79 127 +f 87 96 127 +f 99 72 128 +f 81 99 128 +f 125 81 128 +o convex_2 +v 0.145839 0.092499 1.042287 +v -0.141065 -0.130818 -1.063391 +v -0.810507 -0.130818 -0.967547 +v -0.141065 0.252033 -1.063391 +v 1.805152 -0.130818 0.053138 +v -1.800025 -0.130818 0.021190 +v -0.970369 0.252033 0.850806 +v 1.294512 0.252033 0.053138 +v -1.033890 -0.130818 0.914496 +v -1.033890 0.252033 -0.903858 +v 0.943735 0.252033 -0.871704 +v 1.198525 -0.130818 0.850806 +v 0.975495 0.252033 0.850806 +v 1.039369 -0.130818 -0.871704 +v -1.321146 0.252033 0.021190 +v -1.193398 -0.130818 -0.903858 +v -0.141065 0.252033 1.042287 +v -0.108952 -0.130818 1.042287 +v 1.805152 -0.098889 -0.042294 +v -1.800025 -0.098889 -0.042088 +v 0.209713 0.252033 -1.031237 +v 1.773038 -0.098889 0.116828 +v -0.810507 0.252033 0.946444 +v 0.815987 0.252033 0.914496 +v 0.018091 -0.130818 -1.063391 +v -1.800025 -0.098889 0.021190 +v 1.358386 0.220103 -0.010552 +v -0.810507 0.252033 -0.967547 +v 0.114078 -0.130818 1.042287 +v 1.262399 -0.098889 0.786704 +v -1.416781 0.188174 -0.042088 +v -1.129877 -0.098889 0.818858 +v 1.773038 -0.066960 0.053138 +v 0.145839 0.252033 1.042287 +v 0.911621 0.060607 -0.903652 +v 1.071130 -0.098889 0.882548 +v -1.767911 -0.098889 -0.105984 +f 148 138 165 +f 130 131 132 +f 131 130 133 +f 131 133 134 +f 132 135 136 +f 134 133 137 +f 135 132 138 +f 132 136 139 +f 137 133 140 +f 136 135 141 +f 133 130 142 +f 135 138 143 +f 131 134 144 +f 141 135 145 +f 137 140 146 +f 129 145 146 +f 145 137 146 +f 133 142 147 +f 142 139 147 +f 132 139 149 +f 140 133 150 +f 135 137 151 +f 137 145 151 +f 145 135 151 +f 140 141 152 +f 141 145 152 +f 130 132 153 +f 142 130 153 +f 132 149 153 +f 135 143 154 +f 148 134 154 +f 139 136 155 +f 147 139 155 +f 132 131 156 +f 138 132 156 +f 131 144 156 +f 144 138 156 +f 129 146 157 +f 146 140 157 +f 141 140 158 +f 140 150 158 +f 150 141 158 +f 143 138 159 +f 138 148 159 +f 154 143 159 +f 148 154 159 +f 134 137 160 +f 137 135 160 +f 154 134 160 +f 135 154 160 +f 136 141 161 +f 133 147 161 +f 150 133 161 +f 141 150 161 +f 155 136 161 +f 147 155 161 +f 145 129 162 +f 152 145 162 +f 139 142 163 +f 149 139 163 +f 142 153 163 +f 153 149 163 +f 140 152 164 +f 129 157 164 +f 157 140 164 +f 162 129 164 +f 152 162 164 +f 144 134 165 +f 138 144 165 +f 134 148 165 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/122/122.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/122/122.urdf new file mode 100644 index 000000000..6226cf26c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/122/122.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/123/123.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/123/123.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/123/123.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/123/123.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/123/123.obj new file mode 100644 index 000000000..3be17d548 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/123/123.obj @@ -0,0 +1,4197 @@ +o convex_0 +v 1.328513 -0.990690 -0.879642 +v 1.606977 -1.013877 0.884284 +v 1.560566 -1.013877 0.884284 +v 1.606977 -1.338790 -0.020837 +v 1.073150 -1.199542 0.930599 +v 1.606977 -0.944273 -0.902979 +v 1.142818 -1.037065 0.837789 +v 1.282050 -1.037065 -0.902979 +v 1.444487 -0.944273 -0.183478 +v 1.212382 -1.199542 0.048636 +v 1.606977 -1.060293 0.884284 +v 1.583667 -1.013836 -0.902979 +v 1.096355 -1.060293 0.930599 +v 1.606977 -0.921045 -0.601033 +v 1.282050 -0.990690 -0.693843 +f 14 1 15 +f 2 4 6 +f 1 6 8 +f 3 2 9 +f 7 3 9 +f 4 5 10 +f 8 4 10 +f 5 8 10 +f 4 2 11 +f 5 4 11 +f 6 4 12 +f 4 8 12 +f 8 6 12 +f 2 3 13 +f 3 7 13 +f 8 5 13 +f 11 2 13 +f 5 11 13 +f 6 1 14 +f 2 6 14 +f 9 2 14 +f 9 14 15 +f 1 8 15 +f 7 9 15 +f 13 7 15 +f 8 13 15 +o convex_1 +v -1.039339 -0.874649 -0.717528 +v -0.760880 -1.199509 -0.833508 +v -0.737625 -1.199509 -0.833508 +v -1.062626 -0.781686 -2.203046 +v -0.737625 -0.781686 -1.135310 +v -1.062626 -1.199509 -0.021225 +v -0.830550 -0.804957 -1.715420 +v -1.062626 -0.920987 -1.715420 +v -0.969700 -1.129817 -0.183554 +v -1.062626 -0.851418 -0.787159 +v -1.039339 -0.828188 -2.156484 +v -0.737625 -1.176278 -0.740810 +f 24 21 27 +f 17 18 21 +f 19 20 22 +f 20 18 22 +f 17 21 23 +f 21 19 23 +f 20 16 24 +f 16 21 24 +f 16 20 25 +f 20 19 25 +f 19 21 25 +f 21 16 25 +f 18 17 26 +f 22 18 26 +f 19 22 26 +f 17 23 26 +f 23 19 26 +f 18 20 27 +f 21 18 27 +f 20 24 27 +o convex_2 +v -0.737625 0.007526 -1.994065 +v -1.062626 -0.781609 -2.226274 +v -1.062626 -0.688760 -2.342301 +v -1.062626 0.007526 -2.713742 +v -0.760880 -0.735184 -1.158517 +v -0.900125 -0.758358 -2.110091 +v -1.016179 -0.038898 -2.760310 +v -0.760880 0.007526 -1.854990 +v -0.737625 -0.781609 -1.297905 +v -1.062626 -0.340694 -2.365663 +v -1.062626 -0.781609 -2.156502 +f 32 37 38 +f 30 29 31 +f 29 30 33 +f 28 33 34 +f 30 31 34 +f 31 28 34 +f 33 30 34 +f 28 31 35 +f 32 28 35 +f 28 32 36 +f 29 33 36 +f 33 28 36 +f 31 29 37 +f 35 31 37 +f 32 35 37 +f 36 32 38 +f 29 36 38 +f 37 29 38 +o convex_3 +v -0.737625 0.054285 -1.994217 +v -1.062626 0.007778 -2.760310 +v -1.062626 0.054188 -2.760310 +v -1.062626 0.936062 -0.996189 +v -1.039339 0.796736 -2.063814 +v -0.737625 0.773580 -1.019331 +v -0.760880 0.007778 -1.878163 +v -1.016179 0.819990 -0.996189 +v -0.737625 0.541436 -1.112242 +v -1.062626 1.005822 -1.089101 +v -1.062626 0.007778 -2.690539 +v -0.992956 0.030934 -2.690539 +v -1.062626 0.796736 -2.063814 +f 48 43 51 +f 41 40 42 +f 39 43 44 +f 44 42 46 +f 39 44 47 +f 45 39 47 +f 44 46 47 +f 46 45 47 +f 41 42 48 +f 42 44 48 +f 44 43 48 +f 42 40 49 +f 40 45 49 +f 45 46 49 +f 46 42 49 +f 40 41 50 +f 43 39 50 +f 41 43 50 +f 45 40 50 +f 39 45 50 +f 43 41 51 +f 41 48 51 +o convex_4 +v 1.049911 2.537770 0.025562 +v 0.980279 1.864650 0.768205 +v 0.980279 1.934178 0.721744 +v 1.281996 1.122174 0.768205 +v 1.258774 1.284575 0.025562 +v 0.957058 1.748942 0.744938 +v 0.957058 2.607297 0.025562 +v 1.235553 1.934178 0.071950 +v 1.258774 0.982778 0.768205 +v 0.980279 2.352023 0.420005 +v 1.281996 1.516673 0.025562 +v 1.212332 2.073573 0.048756 +f 62 52 63 +f 54 53 55 +f 53 54 57 +f 56 57 58 +f 52 56 58 +f 55 53 60 +f 56 55 60 +f 53 57 60 +f 57 56 60 +f 54 55 61 +f 57 54 61 +f 58 57 61 +f 52 58 61 +f 56 52 62 +f 55 56 62 +f 59 55 62 +f 59 62 63 +f 55 59 63 +f 61 55 63 +f 52 61 63 +o convex_5 +v -2.896554 -0.619185 -1.599190 +v -2.826927 -0.990615 -0.322922 +v -2.803706 -0.990615 -0.322922 +v -2.826927 -0.619185 0.373633 +v -2.803706 -0.619185 -1.808520 +v -2.873333 -0.967346 -0.137088 +v -2.826927 -0.781704 -1.645969 +v -2.803706 -0.967346 0.373633 +v -2.850130 -0.619185 0.373633 +v -2.896554 -0.804900 -1.181386 +f 72 64 73 +f 64 67 68 +f 66 65 70 +f 64 68 70 +f 68 66 70 +f 65 66 71 +f 68 67 71 +f 66 68 71 +f 69 65 71 +f 69 71 72 +f 67 64 72 +f 71 67 72 +f 65 69 73 +f 70 65 73 +f 64 70 73 +f 69 72 73 +o convex_6 +v -2.571562 -0.619185 -2.412094 +v -2.803705 -0.990615 -0.299621 +v -2.803705 -0.967346 -0.601481 +v -2.803705 -0.619185 -1.762018 +v -2.571562 -0.944114 0.373633 +v -2.571562 -0.851329 -2.225852 +v -2.803705 -0.944114 0.373633 +v -2.803705 -0.781704 -1.762018 +v -2.571562 -0.990615 -0.160553 +v -2.803705 -0.990615 0.303826 +v -2.618031 -0.851329 -2.202946 +v -2.618031 -0.642454 -2.388371 +f 79 84 85 +f 76 75 77 +f 74 77 78 +f 74 78 79 +f 77 75 80 +f 78 77 80 +f 76 77 81 +f 75 79 82 +f 79 78 82 +f 80 75 83 +f 78 80 83 +f 75 82 83 +f 82 78 83 +f 75 76 84 +f 79 75 84 +f 76 81 84 +f 84 81 85 +f 77 74 85 +f 74 79 85 +f 81 77 85 +o convex_7 +v -2.849976 -0.897755 0.745474 +v -1.503700 -0.990569 2.161088 +v -1.573550 -0.967360 2.161088 +v -1.503700 -0.990569 0.374162 +v -2.455384 -0.804921 2.114248 +v -2.826780 -0.804921 0.374162 +v -2.826780 -0.967381 0.443615 +v -2.571363 -0.851379 2.161088 +v -1.619942 -1.013798 2.161088 +v -1.666333 -1.013798 0.374162 +v -2.826780 -0.804921 1.232720 +v -2.594691 -0.804921 2.207211 +v -1.944814 -0.920964 0.420644 +v -2.826780 -0.967381 0.374162 +v -2.780388 -0.967381 0.606210 +v -1.503700 -1.013798 0.374162 +f 94 95 101 +f 88 87 89 +f 88 89 90 +f 86 92 93 +f 91 89 95 +f 94 92 95 +f 91 86 96 +f 90 91 96 +f 86 93 96 +f 96 93 97 +f 87 88 97 +f 88 90 97 +f 93 94 97 +f 94 87 97 +f 90 96 97 +f 90 89 98 +f 89 91 98 +f 91 90 98 +f 86 91 99 +f 92 86 99 +f 91 95 99 +f 95 92 99 +f 93 92 100 +f 92 94 100 +f 94 93 100 +f 89 87 101 +f 87 94 101 +f 95 89 101 +o convex_8 +v -2.803674 -0.154804 1.882736 +v -2.571562 0.054128 2.741501 +v -2.571562 0.750319 2.068361 +v -2.826920 0.030934 2.045158 +v -2.571562 -0.154804 2.532505 +v -2.571562 0.750319 1.882736 +v -2.618029 0.750319 2.021955 +v -2.803674 0.170191 1.882736 +v -2.594808 -0.154804 2.648520 +v -2.594808 0.054128 2.741501 +f 105 110 111 +f 104 103 106 +f 106 102 107 +f 104 106 107 +f 104 107 108 +f 108 107 109 +f 102 105 109 +f 107 102 109 +f 105 108 109 +f 105 102 110 +f 102 106 110 +f 106 103 110 +f 103 104 111 +f 104 108 111 +f 108 105 111 +f 110 103 111 +o convex_9 +v -0.482348 -2.360080 -0.554793 +v -1.016158 -1.199647 0.071846 +v -0.760927 -1.199647 -0.670760 +v -0.482348 -2.684906 0.025303 +v -0.946514 -1.640696 -0.021066 +v -0.482348 -1.756919 -0.740531 +v -0.760927 -1.246287 -0.810301 +v -0.621581 -2.684906 0.002075 +v -1.062569 -1.223042 -0.067609 +v -0.505525 -2.568832 -0.392283 +v -0.505525 -1.988766 -0.763672 +v -0.760927 -2.220762 0.071846 +f 116 119 123 +f 114 113 117 +f 113 115 117 +f 115 112 117 +f 114 117 118 +f 113 114 120 +f 116 113 120 +f 114 118 120 +f 119 116 120 +f 112 115 121 +f 115 119 121 +f 120 118 121 +f 119 120 121 +f 117 112 122 +f 118 117 122 +f 112 121 122 +f 121 118 122 +f 115 113 123 +f 113 116 123 +f 119 115 123 +o convex_10 +v 1.003500 1.679165 -0.787087 +v 0.980279 2.700473 0.025417 +v 0.957058 2.700473 0.025417 +v 1.258774 1.284429 0.025417 +v 1.281996 0.959507 -0.787087 +v 1.212332 2.096647 0.002194 +v 0.957058 1.586255 -0.763784 +v 0.980279 2.282466 -0.415511 +v 1.212332 0.936236 -0.740640 +v 1.281996 1.539887 0.025417 +v 0.957058 2.607563 0.025417 +f 130 127 134 +f 125 126 127 +f 124 128 130 +f 126 125 131 +f 128 124 131 +f 125 129 131 +f 129 128 131 +f 124 130 131 +f 130 126 131 +f 128 127 132 +f 127 130 132 +f 130 128 132 +f 125 127 133 +f 127 128 133 +f 129 125 133 +f 128 129 133 +f 127 126 134 +f 126 130 134 +o convex_11 +v -0.737625 -2.058368 0.071846 +v -0.969732 -1.037044 1.093279 +v -1.062626 -1.037044 1.093279 +v -1.039371 -1.176440 0.071846 +v -0.737625 -1.153264 1.069983 +v -0.760880 -2.197650 0.095142 +v -0.737625 -1.594285 0.930706 +v -1.062626 -1.222905 0.071846 +v -0.992956 -1.222905 0.095142 +v -1.062626 -1.060447 1.093279 +v -0.760880 -1.686875 0.837821 +v -0.830519 -1.060447 1.023591 +v -1.062626 -1.037044 0.814625 +f 146 138 147 +f 135 139 141 +f 140 135 141 +f 138 135 142 +f 135 140 142 +f 135 138 143 +f 139 135 143 +f 138 139 143 +f 136 137 144 +f 139 136 144 +f 141 139 144 +f 137 142 144 +f 142 140 144 +f 140 141 145 +f 141 144 145 +f 144 140 145 +f 139 138 146 +f 136 139 146 +f 137 136 147 +f 142 137 147 +f 138 142 147 +f 136 146 147 +o convex_12 +v -1.062626 0.077240 2.602060 +v -0.760880 -0.410256 1.627403 +v -0.760880 -0.386934 1.604112 +v -0.737625 0.355819 1.534469 +v -0.853710 0.355819 1.650579 +v -1.062626 -0.410256 2.369955 +v -0.923317 -0.363763 2.300312 +v -1.062626 0.355819 2.393131 +v -1.039371 0.332573 2.532417 +v -0.737625 -0.410256 1.720222 +v -1.039371 -0.108355 2.648527 +v -0.760880 0.053994 1.464710 +f 151 157 159 +f 150 149 153 +f 151 152 155 +f 152 153 155 +f 153 148 155 +f 155 148 156 +f 151 155 156 +f 149 150 157 +f 153 149 157 +f 154 153 157 +f 148 153 158 +f 153 154 158 +f 156 148 158 +f 151 156 158 +f 157 151 158 +f 154 157 158 +f 152 151 159 +f 150 153 159 +f 153 152 159 +f 157 150 159 +o convex_13 +v -0.853710 0.820073 0.884350 +v -0.760880 0.355819 1.464937 +v -0.737625 0.355819 1.464937 +v -1.039371 0.611241 2.439687 +v -0.737625 0.959382 0.907573 +v -1.062626 0.982578 0.884350 +v -1.062626 0.355819 2.393080 +v -1.062626 0.889728 1.928770 +v -0.737625 0.402278 1.534607 +v -0.760880 0.564783 1.047073 +v -0.853710 0.355819 1.627342 +v -1.039371 0.355819 2.509357 +v -1.039371 1.029037 0.907573 +v -1.016179 0.889728 0.907573 +f 170 166 173 +f 164 160 165 +f 161 162 166 +f 165 166 167 +f 163 164 167 +f 166 163 167 +f 164 163 168 +f 162 164 168 +f 162 161 169 +f 160 164 169 +f 164 162 169 +f 161 166 170 +f 169 161 170 +f 166 162 171 +f 163 166 171 +f 168 163 171 +f 162 168 171 +f 164 165 172 +f 165 167 172 +f 167 164 172 +f 165 160 173 +f 166 165 173 +f 160 169 173 +f 169 170 173 +o convex_14 +v -0.505525 0.936312 -0.903122 +v -1.062569 0.936464 -0.996016 +v -1.062569 0.936464 -0.949524 +v -0.482348 2.259247 -0.810319 +v -1.062569 1.006036 -0.763872 +v -0.482348 1.864498 -0.949569 +v -0.737636 0.727443 -0.996016 +v -0.667992 2.096659 -0.810319 +v -0.528759 1.005884 -0.856743 +v -0.482348 2.189675 -0.787096 +v -0.482348 0.936312 -0.949569 +v -1.062569 1.006036 -0.996016 +v -0.528759 2.143091 -0.879944 +v -1.039335 1.168625 -0.763872 +v -0.853692 0.704151 -0.972793 +f 182 178 188 +f 175 176 178 +f 178 182 183 +f 179 177 183 +f 177 181 183 +f 182 174 183 +f 174 180 184 +f 180 179 184 +f 183 174 184 +f 179 183 184 +f 175 178 185 +f 180 175 185 +f 179 180 185 +f 185 181 186 +f 177 179 186 +f 181 177 186 +f 179 185 186 +f 178 183 187 +f 183 181 187 +f 185 178 187 +f 181 185 187 +f 176 175 188 +f 178 176 188 +f 175 180 188 +f 180 174 188 +f 174 182 188 +o convex_15 +v -0.505510 2.328915 -0.763759 +v -0.482291 2.816545 0.002126 +v -0.482291 2.816545 -0.044299 +v -0.737600 2.375323 -0.021125 +v -0.714381 2.096971 -0.137147 +v -0.714381 2.004154 -0.787009 +v -0.598361 2.746785 -0.113974 +v -0.482291 2.213041 -0.763759 +v -0.737600 1.818521 -0.763759 +v -0.505510 2.653871 -0.415615 +v -0.482291 2.769941 0.002126 +v -0.737600 2.236294 0.002126 +f 193 199 200 +f 190 191 195 +f 192 190 195 +f 194 192 195 +f 191 190 196 +f 194 189 196 +f 194 196 197 +f 192 194 197 +f 196 193 197 +f 189 194 198 +f 195 191 198 +f 194 195 198 +f 196 189 198 +f 191 196 198 +f 196 190 199 +f 193 196 199 +f 190 192 200 +f 192 197 200 +f 197 193 200 +f 199 190 200 +o convex_16 +v -0.737600 2.328952 0.025533 +v -0.482291 2.328952 0.791338 +v -0.482291 2.421828 0.721733 +v -0.737600 1.934555 0.791338 +v -0.714381 2.120206 0.095138 +v -0.598361 2.769937 0.048709 +v -0.482291 2.769937 0.002280 +v -0.714381 1.771997 0.768162 +v -0.482291 2.259470 0.768162 +v -0.644749 2.213082 0.744986 +v -0.505510 2.700355 0.373710 +f 210 203 211 +f 201 204 206 +f 203 202 207 +f 205 201 207 +f 201 206 207 +f 202 204 208 +f 204 201 208 +f 201 205 208 +f 208 205 209 +f 207 202 209 +f 205 207 209 +f 202 208 209 +f 202 203 210 +f 204 202 210 +f 206 204 210 +f 206 210 211 +f 203 207 211 +f 207 206 211 +o convex_17 +v -0.482348 2.305828 0.791508 +v -1.062569 0.982850 0.837912 +v -1.062569 0.982850 0.884316 +v -0.482348 0.936184 0.953972 +v -0.505525 1.957405 0.953972 +v -0.992925 1.006040 0.745063 +v -0.482348 0.982707 0.884336 +v -0.760927 1.887835 0.768296 +v -0.900103 0.843424 0.861103 +v -0.575170 2.189449 0.837953 +v -0.737636 1.794788 0.745063 +f 217 219 222 +f 215 212 216 +f 214 215 216 +f 212 215 218 +f 213 214 219 +f 217 213 219 +f 214 213 220 +f 215 214 220 +f 213 217 220 +f 218 215 220 +f 217 218 220 +f 216 212 221 +f 214 216 221 +f 219 214 221 +f 212 219 221 +f 218 217 222 +f 212 218 222 +f 219 212 222 +o convex_18 +v 1.746370 1.655953 -0.206763 +v 2.024854 2.955831 0.002203 +v 2.001610 2.955831 0.002203 +v 2.024854 2.050743 -0.438862 +v 1.723160 1.307628 0.002203 +v 2.024854 1.284395 -0.438862 +v 1.815999 2.816436 -0.021021 +v 1.792789 1.423790 -0.392415 +v 1.908771 2.607506 -0.299566 +v 1.676740 1.284395 -0.044244 +v 1.815999 1.981045 -0.369191 +v 1.723160 2.143018 0.002203 +v 2.024854 2.677204 -0.322790 +v 1.815999 1.284395 -0.415638 +v 2.024854 2.886134 0.002203 +f 227 228 237 +f 224 225 227 +f 226 224 228 +f 228 227 232 +f 223 230 232 +f 230 223 233 +f 229 231 233 +f 231 226 233 +f 227 225 234 +f 225 229 234 +f 232 227 234 +f 223 232 234 +f 233 223 234 +f 229 233 234 +f 225 224 235 +f 224 226 235 +f 229 225 235 +f 231 229 235 +f 226 231 235 +f 226 228 236 +f 228 232 236 +f 232 230 236 +f 230 233 236 +f 233 226 236 +f 224 227 237 +f 228 224 237 +o convex_19 +v 1.723160 2.120113 0.002203 +v 2.024854 1.400558 0.466491 +v 2.024854 1.957649 0.443267 +v 2.024854 2.886134 0.002203 +v 1.723160 1.284395 0.002203 +v 1.862351 2.143018 0.373597 +v 1.815999 1.284395 0.373597 +v 1.815999 2.816436 0.025426 +v 2.024854 2.700437 0.327150 +v 2.024854 1.284395 0.419998 +v 1.676740 1.377325 0.025426 +v 1.839209 1.981045 0.373597 +f 238 248 249 +f 240 239 241 +f 238 241 242 +f 241 238 245 +f 245 243 246 +f 240 241 246 +f 243 240 246 +f 241 245 246 +f 241 239 247 +f 242 241 247 +f 244 242 247 +f 239 244 247 +f 238 242 248 +f 242 244 248 +f 248 244 249 +f 239 240 249 +f 240 243 249 +f 244 239 249 +f 245 238 249 +f 243 245 249 +o convex_20 +v -1.689353 -0.897708 -2.551276 +v -1.062687 -0.897708 -1.669234 +v -1.062687 -0.920924 -1.669234 +v -1.689353 -0.967396 -1.669234 +v -1.689353 -0.619185 -2.783374 +v -1.062687 -0.619185 -2.342353 +v -1.433988 -1.013830 -2.342353 +v -1.666105 -0.758524 -2.806550 +v -1.062687 -0.804957 -2.226474 +v -1.271617 -0.642402 -2.620917 +v -1.642918 -0.944141 -1.669234 +v -1.689353 -0.990613 -1.669234 +v -1.642918 -0.990613 -2.319064 +f 261 250 262 +f 252 251 253 +f 250 253 254 +f 251 252 255 +f 256 250 257 +f 250 254 257 +f 255 252 258 +f 252 256 258 +f 258 256 259 +f 254 255 259 +f 256 257 259 +f 257 254 259 +f 255 258 259 +f 253 251 260 +f 254 253 260 +f 251 255 260 +f 255 254 260 +f 252 253 261 +f 253 250 261 +f 256 252 261 +f 256 261 262 +f 250 256 262 +o convex_21 +v -2.432134 -0.874579 -2.249434 +v -1.689501 -0.967376 -1.669179 +v -1.805532 -0.967376 0.373633 +v -2.571389 -0.990584 -0.160513 +v -2.548252 -0.804937 -2.203066 +v -2.571389 -0.944167 0.373633 +v -1.712811 -0.990584 -1.970963 +v -1.828842 -0.944167 0.373633 +v -1.782481 -0.920959 -2.272748 +v -1.805532 -0.990584 0.373633 +v -1.805705 -0.967376 -2.272748 +v -2.571475 -0.851371 -2.272748 +v -2.571389 -0.990584 0.210954 +f 274 266 275 +f 265 264 270 +f 268 265 270 +f 267 268 270 +f 264 269 271 +f 270 264 271 +f 267 270 271 +f 264 265 272 +f 265 268 272 +f 269 264 272 +f 266 269 272 +f 266 263 273 +f 269 266 273 +f 271 269 273 +f 271 273 274 +f 263 266 274 +f 268 267 274 +f 267 271 274 +f 273 263 274 +f 268 274 275 +f 272 268 275 +f 266 272 275 +o convex_22 +v -2.896563 0.053901 -2.040775 +v -2.618022 -0.619119 -2.411956 +v -2.618022 -0.595859 -2.435138 +v -2.850100 0.053901 -1.460304 +v -2.896563 -0.619119 -1.460304 +v -2.594805 0.053901 -2.783265 +v -2.594805 -0.595859 -2.295913 +v -2.896563 -0.619119 -1.622971 +v -2.641239 0.007513 -2.783265 +v -2.850100 -0.363722 -1.460304 +v -2.896563 0.053901 -1.715831 +f 280 279 286 +f 276 279 281 +f 281 279 282 +f 277 278 282 +f 280 277 282 +f 278 281 282 +f 278 277 283 +f 280 276 283 +f 277 280 283 +f 276 281 284 +f 281 278 284 +f 283 276 284 +f 278 283 284 +f 279 280 285 +f 282 279 285 +f 280 282 285 +f 279 276 286 +f 276 280 286 +o convex_23 +v -2.826884 0.332741 -1.553293 +v -2.618022 0.054119 -2.783265 +v -2.594805 0.054119 -2.783265 +v -2.618022 0.843190 -2.063958 +v -2.594805 0.866416 -1.460304 +v -2.896563 0.077344 -2.040775 +v -2.850100 0.054119 -1.460304 +v -2.641239 0.889641 -1.460304 +v -2.594805 0.054119 -2.690535 +v -2.641239 0.077344 -2.760083 +v -2.594805 0.843190 -2.063958 +v -2.873317 0.147022 -1.460304 +f 293 294 298 +f 289 288 290 +f 288 289 293 +f 292 288 293 +f 292 287 294 +f 290 292 294 +f 293 291 294 +f 289 291 295 +f 293 289 295 +f 291 293 295 +f 290 288 296 +f 288 292 296 +f 292 290 296 +f 289 290 297 +f 291 289 297 +f 290 294 297 +f 294 291 297 +f 287 292 298 +f 292 293 298 +f 294 287 298 +o convex_24 +v -2.803724 0.170027 0.373274 +v -2.896552 -0.619108 -1.460124 +v -2.896552 -0.340562 -1.460124 +v -2.826934 0.123603 -1.460124 +v -2.826934 -0.619108 -0.485363 +v -2.850121 -0.619108 0.373274 +v -2.873331 0.053928 -0.369418 +v -2.780503 0.123603 0.373274 +v -2.873331 0.146776 -1.460124 +v -2.850121 0.053928 0.373274 +v -2.850121 -0.619108 -1.204723 +v -2.826934 -0.619108 0.373274 +v -2.803724 0.170027 -0.786891 +v -2.896552 -0.619108 -1.158237 +v -2.850121 0.170027 0.071567 +f 311 307 313 +f 300 301 302 +f 300 303 304 +f 299 304 306 +f 302 301 307 +f 301 305 307 +f 304 299 308 +f 305 304 308 +f 300 302 309 +f 302 303 309 +f 303 300 309 +f 304 303 310 +f 303 306 310 +f 306 304 310 +f 303 302 311 +f 299 306 311 +f 306 303 311 +f 302 307 311 +f 301 300 312 +f 300 304 312 +f 305 301 312 +f 304 305 312 +f 307 305 313 +f 305 308 313 +f 308 299 313 +f 299 311 313 +o convex_25 +v -2.803683 -0.154897 1.580781 +v -2.850134 -0.804900 0.373633 +v -2.826916 -0.804900 0.373633 +v -2.850134 -0.154897 0.373633 +v -2.710848 -0.804900 1.487906 +v -2.826916 -0.735230 1.557503 +v -2.803683 -0.154897 0.675420 +v -2.803683 -0.619176 0.373633 +v -2.826916 -0.154897 1.580781 +v -2.850134 -0.804900 0.675420 +v -2.710848 -0.781677 1.580781 +f 322 319 324 +f 316 315 317 +f 315 316 318 +f 317 314 320 +f 320 318 321 +f 316 317 321 +f 318 316 321 +f 317 320 321 +f 314 317 322 +f 319 322 323 +f 317 315 323 +f 315 318 323 +f 318 319 323 +f 322 317 323 +f 319 318 324 +f 320 314 324 +f 318 320 324 +f 314 322 324 +o convex_26 +v -2.594808 -0.154897 2.625429 +v -2.757256 -0.804900 1.580986 +v -2.803674 -0.758453 1.580986 +v -2.803674 -0.154897 1.580986 +v -2.571562 -0.781677 2.091602 +v -2.826920 -0.154897 1.952343 +v -2.594808 -0.804900 2.230657 +v -2.571562 -0.154897 2.532385 +v -2.687643 -0.781677 1.604195 +v -2.826920 -0.665559 1.604195 +f 331 330 334 +f 326 327 328 +f 325 328 330 +f 327 326 331 +f 325 330 331 +f 328 325 332 +f 325 331 332 +f 331 329 332 +f 326 328 333 +f 331 326 333 +f 329 331 333 +f 328 332 333 +f 332 329 333 +f 328 327 334 +f 330 328 334 +f 327 331 334 +o convex_27 +v -1.201967 -1.129858 0.373983 +v -1.062669 -0.874571 2.161141 +v -1.062669 -0.921004 2.161141 +v -1.503656 -0.990640 2.161141 +v -1.503656 -0.990640 0.373983 +v -1.062669 -1.153116 0.373983 +v -1.109116 -1.060222 1.696638 +v -1.062669 -1.037019 0.768505 +v -1.503656 -1.013843 2.161141 +v -1.480433 -1.037019 0.373983 +v -1.341178 -1.037019 2.114429 +v -1.433986 -0.990640 0.397077 +v -1.109116 -0.874571 2.137697 +f 346 339 347 +f 337 336 338 +f 336 337 340 +f 335 339 340 +f 340 337 341 +f 336 340 342 +f 337 338 343 +f 338 339 343 +f 335 340 343 +f 339 335 344 +f 335 343 344 +f 343 339 344 +f 341 337 345 +f 340 341 345 +f 337 343 345 +f 343 340 345 +f 340 339 346 +f 336 342 346 +f 342 340 346 +f 338 336 347 +f 339 338 347 +f 336 346 347 +o convex_28 +v -2.618054 0.982475 0.930917 +v -2.850134 -0.154784 0.373633 +v -2.850134 0.054149 0.373633 +v -2.826902 -0.154784 1.882568 +v -2.757258 1.005652 0.420160 +v -2.571589 0.750365 1.882568 +v -2.571589 0.959298 0.791633 +v -2.826902 0.077326 1.882568 +v -2.803696 -0.154784 0.675834 +v -2.618054 0.796833 1.835894 +v -2.710821 0.448725 0.373633 +v -2.803696 -0.154784 1.882568 +v -2.710821 1.005652 0.396970 +f 354 358 360 +f 350 349 351 +f 348 353 354 +f 350 351 355 +f 352 350 355 +f 351 353 355 +f 351 349 356 +f 354 353 356 +f 348 352 357 +f 353 348 357 +f 352 355 357 +f 355 353 357 +f 349 350 358 +f 356 349 358 +f 354 356 358 +f 353 351 359 +f 351 356 359 +f 356 353 359 +f 352 348 360 +f 350 352 360 +f 348 354 360 +f 358 350 360 +o convex_29 +v 1.746411 -1.222716 0.512753 +v 2.233756 -0.781729 0.907564 +v 2.233756 -0.851399 0.907564 +v 1.607090 -0.967430 0.907564 +v 1.607090 -1.199493 0.002203 +v 2.233756 -1.222716 0.652156 +v 1.607090 -1.060238 0.884345 +v 1.607090 -0.990654 0.582499 +v 2.233756 -1.176269 0.605718 +v 1.607090 -1.222716 0.164735 +v 2.233756 -0.781729 0.884345 +f 369 365 371 +f 363 362 364 +f 362 363 366 +f 361 366 367 +f 363 364 367 +f 364 365 367 +f 366 363 367 +f 365 364 368 +f 362 366 369 +f 366 365 369 +f 365 366 370 +f 366 361 370 +f 361 367 370 +f 367 365 370 +f 364 362 371 +f 368 364 371 +f 365 368 371 +f 362 369 371 +o convex_30 +v -1.062626 -0.804851 2.253787 +v -0.760880 -1.199545 1.093411 +v -0.737625 -1.199545 1.093411 +v -0.737625 -0.410312 1.627479 +v -1.062626 -1.037001 1.093411 +v -1.062626 -0.410312 2.369878 +v -0.737625 -0.619286 1.720114 +v -0.992956 -0.897634 2.137829 +v -1.062626 -1.060255 1.580700 +v -0.737625 -0.990571 1.093411 +v -0.992956 -0.433566 2.369878 +v -0.760880 -0.410312 1.627479 +v -0.876934 -0.456820 2.137829 +f 382 379 384 +f 374 373 376 +f 376 372 377 +f 374 375 378 +f 374 378 379 +f 373 374 380 +f 372 376 380 +f 376 373 380 +f 374 379 380 +f 379 372 380 +f 375 374 381 +f 374 376 381 +f 377 372 382 +f 375 377 382 +f 372 379 382 +f 377 375 383 +f 376 377 383 +f 375 381 383 +f 381 376 383 +f 378 375 384 +f 379 378 384 +f 375 382 384 +o convex_31 +v 1.026721 1.725421 0.791499 +v 0.957058 -0.154897 1.000390 +v 0.957058 -0.154897 1.023636 +v 1.281996 -0.154897 1.000390 +v 1.258774 0.982372 0.768278 +v 1.281996 -0.015443 1.023636 +v 0.957058 0.564781 0.861162 +v 0.957058 1.052099 0.907555 +v 1.281996 0.982372 0.861162 +v 0.957058 1.609144 0.768278 +v 0.957058 -0.131526 0.977169 +f 391 389 395 +f 387 386 388 +f 387 388 390 +f 386 387 391 +f 390 385 392 +f 387 390 392 +f 391 387 392 +f 389 385 393 +f 388 389 393 +f 385 390 393 +f 390 388 393 +f 385 389 394 +f 389 391 394 +f 392 385 394 +f 391 392 394 +f 388 386 395 +f 389 388 395 +f 386 391 395 +o convex_32 +v 2.187389 0.332714 -0.996016 +v 2.605248 1.284395 -0.392442 +v 2.605248 1.284395 -0.415661 +v 2.605248 0.077247 -0.810206 +v 2.581974 0.796738 -0.810206 +v 2.187389 1.214561 -0.508537 +v 2.187389 0.796738 -0.949578 +v 2.187389 0.077247 -0.972797 +v 2.605248 0.123685 -0.856643 +v 2.257086 1.284395 -0.531815 +v 2.535550 1.237957 -0.392442 +f 401 399 406 +f 398 397 399 +f 396 401 402 +f 400 396 402 +f 398 400 402 +f 399 401 403 +f 401 396 403 +f 398 399 404 +f 396 400 404 +f 400 398 404 +f 403 396 404 +f 399 403 404 +f 397 398 405 +f 401 397 405 +f 402 401 405 +f 398 402 405 +f 399 397 406 +f 397 401 406 +o convex_33 +v -0.923317 1.307775 -0.763731 +v -0.737625 2.259399 -0.044297 +v -0.760880 2.259399 -0.044297 +v -0.784103 1.005945 -0.044297 +v -0.737625 1.794998 -0.763731 +v -1.062626 1.122015 -0.717319 +v -0.853710 1.980636 -0.044297 +v -0.760880 1.911068 -0.740560 +v -0.830519 1.005945 -0.044297 +v -1.016179 1.029257 -0.740560 +f 415 412 416 +f 408 409 410 +f 408 410 411 +f 410 409 413 +f 409 412 413 +f 409 408 414 +f 411 407 414 +f 408 411 414 +f 412 409 414 +f 407 412 414 +f 410 413 415 +f 413 412 415 +f 407 411 416 +f 411 410 416 +f 412 407 416 +f 410 415 416 +o convex_34 +v -0.900089 1.702140 0.187972 +v -0.737625 1.887842 0.744986 +v -0.737625 1.911086 0.721735 +v -0.760884 1.006072 -0.020898 +v -1.016197 1.006072 0.744986 +v -0.737625 2.282614 -0.044149 +v -0.830500 1.307743 -0.044149 +v -1.016197 1.191649 0.698562 +v -0.807295 2.143150 0.002275 +v -0.737625 1.794991 0.744986 +v -0.923322 1.006072 0.559289 +v -0.784063 1.841354 0.744986 +v -0.807295 1.006072 -0.044149 +v -1.016197 1.075679 0.652138 +v -0.830500 2.050299 -0.044149 +f 424 425 431 +f 419 418 422 +f 418 421 426 +f 422 418 426 +f 420 422 426 +f 421 420 427 +f 420 426 427 +f 426 421 427 +f 418 419 428 +f 421 418 428 +f 419 422 428 +f 424 421 428 +f 422 425 428 +f 425 424 428 +f 420 421 429 +f 422 420 429 +f 423 422 429 +f 423 429 430 +f 417 423 430 +f 421 424 430 +f 424 417 430 +f 429 421 430 +f 422 423 431 +f 423 417 431 +f 417 424 431 +f 425 422 431 +o convex_35 +v -0.041236 -2.197566 0.977180 +v -0.737600 -1.803136 0.768312 +v -0.737600 -1.803136 0.791553 +v -0.041236 -1.246085 1.046803 +v -0.691112 -1.246085 1.116459 +v -0.064480 -2.569065 0.837969 +v -0.505501 -2.360187 0.814761 +v -0.714356 -1.663972 0.768312 +v -0.041236 -1.896044 1.046803 +v -0.737600 -1.222759 1.046769 +v -0.041236 -2.476157 0.837969 +v -0.273335 -2.476157 0.861176 +v -0.482257 -2.383381 0.768312 +v -0.041236 -1.292605 1.023595 +v -0.041236 -1.246085 1.070010 +v -0.737600 -1.524676 0.977180 +f 436 441 447 +f 434 433 438 +f 432 435 440 +f 436 432 440 +f 433 434 441 +f 435 439 441 +f 439 433 441 +f 435 432 442 +f 432 437 442 +f 432 436 443 +f 437 432 443 +f 436 438 443 +f 443 438 444 +f 438 433 444 +f 433 439 444 +f 442 437 444 +f 439 442 444 +f 437 443 444 +f 439 435 445 +f 435 442 445 +f 442 439 445 +f 440 435 446 +f 436 440 446 +f 435 441 446 +f 441 436 446 +f 434 438 447 +f 438 436 447 +f 441 434 447 +o convex_36 +v -0.737600 -1.060431 -1.019187 +v -0.714381 -1.222827 -0.763872 +v -0.737600 -1.222827 -0.763872 +v -0.482291 -1.849548 -0.787139 +v -0.482291 -0.851329 -1.088805 +v -0.737600 -0.874584 -1.135266 +v -0.482291 -1.617386 -0.763872 +v -0.482291 -0.897840 -1.112036 +f 453 452 455 +f 450 448 451 +f 450 449 452 +f 448 450 453 +f 451 448 453 +f 450 452 453 +f 449 450 454 +f 450 451 454 +f 451 452 454 +f 452 449 454 +f 452 451 455 +f 451 453 455 +o convex_37 +v 2.558819 -2.708480 0.002312 +v 2.674868 -1.222759 0.350419 +v 2.698078 -1.222759 0.327186 +v 2.674868 -1.222759 -0.206727 +v 2.744498 -1.849566 0.002312 +v 2.558819 -2.174459 0.350419 +v 2.558819 -2.104797 -0.206727 +v 2.628489 -1.362227 0.350419 +v 2.767728 -1.222759 -0.044153 +v 2.651699 -1.988743 -0.206727 +v 2.628489 -1.988743 0.350419 +v 2.628489 -2.592136 0.025490 +f 460 466 467 +f 457 458 459 +f 456 461 462 +f 457 459 463 +f 461 457 463 +f 462 461 463 +f 459 462 463 +f 459 458 464 +f 458 460 464 +f 464 460 465 +f 456 462 465 +f 462 459 465 +f 459 464 465 +f 458 457 466 +f 460 458 466 +f 457 461 466 +f 466 461 467 +f 461 456 467 +f 465 460 467 +f 456 465 467 +o convex_38 +v -0.667943 0.262853 -1.599558 +v -0.482291 -0.271117 -1.088874 +v -0.482291 -0.015802 -1.158658 +v -0.737600 -0.711947 -1.112247 +v -0.714381 0.030659 -1.947806 +v -0.482291 -0.851329 -1.112247 +v -0.737600 0.262853 -1.553064 +v -0.482291 0.262853 -1.297889 +v -0.737600 -0.851329 -1.135452 +v -0.551948 0.262853 -1.274684 +v -0.737600 0.077119 -1.947806 +f 476 474 478 +f 469 470 471 +f 470 469 473 +f 469 471 473 +f 470 473 475 +f 473 472 475 +f 468 474 475 +f 473 471 476 +f 472 473 476 +f 471 474 476 +f 471 470 477 +f 474 471 477 +f 470 475 477 +f 475 474 477 +f 474 468 478 +f 468 475 478 +f 475 472 478 +f 472 476 478 +o convex_39 +v -0.737600 0.773674 -0.949676 +v -0.737600 0.262962 -1.599590 +v -0.714381 0.262962 -1.599590 +v -0.482291 0.262962 -1.251283 +v -0.482291 0.936179 -0.972920 +v -0.737600 0.936179 -0.926502 +v -0.737600 0.541580 -1.088928 +v -0.482291 0.355878 -1.297701 +v -0.505510 0.889721 -0.926502 +f 483 484 487 +f 480 481 482 +f 481 480 483 +f 480 479 484 +f 483 480 484 +f 479 480 485 +f 480 482 485 +f 482 479 485 +f 482 481 486 +f 483 482 486 +f 481 483 486 +f 479 482 487 +f 482 483 487 +f 484 479 487 +o convex_40 +v -0.505510 -2.685071 0.257647 +v -0.714381 -1.687149 0.768205 +v -0.714381 -1.687149 0.744938 +v -0.737600 -2.313713 0.048756 +v -0.482291 -2.685071 0.048756 +v -0.505510 -2.406553 0.768205 +v -0.714381 -2.035399 0.187993 +v -0.714381 -1.919350 0.744938 +v -0.621530 -2.685071 0.071950 +v -0.482291 -2.313713 0.721744 +f 489 493 497 +f 489 490 491 +f 488 492 493 +f 491 490 494 +f 492 491 494 +f 490 492 494 +f 489 491 495 +f 493 489 495 +f 493 495 496 +f 492 488 496 +f 491 492 496 +f 488 493 496 +f 495 491 496 +f 490 489 497 +f 492 490 497 +f 493 492 497 +o convex_41 +v 1.607142 -0.944207 -0.763781 +v 2.187389 -1.129865 -0.578003 +v 1.630318 -1.199493 -0.044226 +v 2.187389 -0.781729 -0.856712 +v 1.607142 -1.013791 -0.879944 +v 2.187389 -1.222716 -0.601235 +v 1.699959 -1.222716 -0.462085 +v 1.607142 -0.921027 -0.601235 +v 2.187389 -0.851399 -0.879944 +v 1.607142 -1.222716 -0.044226 +f 505 502 507 +f 500 499 501 +f 498 501 502 +f 499 500 503 +f 501 499 503 +f 502 503 504 +f 500 501 505 +f 501 498 505 +f 498 502 505 +f 502 501 506 +f 501 503 506 +f 503 502 506 +f 503 500 507 +f 502 504 507 +f 504 503 507 +f 500 505 507 +o convex_42 +v -0.621530 0.239604 1.209417 +v -0.714381 -0.364036 1.650424 +v -0.737600 -0.364036 1.650424 +v -0.482291 -1.222759 1.070065 +v -0.737600 -1.222759 1.070065 +v -0.482291 0.239604 1.162947 +v -0.737600 0.239604 1.441481 +v -0.482291 -0.711877 1.255887 +v -0.714381 -0.642309 1.650424 +v -0.714381 0.239604 1.487837 +v -0.482291 0.146703 1.209417 +v -0.482291 -0.827967 1.070065 +v -0.737600 -0.967246 1.093300 +f 512 514 520 +f 512 510 514 +f 513 508 514 +f 511 513 515 +f 509 510 516 +f 512 511 516 +f 510 512 516 +f 515 509 516 +f 511 515 516 +f 510 509 517 +f 514 510 517 +f 513 514 517 +f 509 515 518 +f 515 513 518 +f 517 509 518 +f 513 517 518 +f 511 512 519 +f 513 511 519 +f 512 513 519 +f 508 513 520 +f 513 512 520 +f 514 508 520 +o convex_43 +v -0.621530 0.239816 1.209337 +v -0.714381 0.379143 1.511077 +v -0.737600 0.379143 1.511077 +v -0.737600 0.936179 0.884472 +v -0.482291 0.936179 0.954095 +v -0.482291 0.239816 1.162963 +v -0.737600 0.541578 1.046905 +v -0.482291 0.471982 1.186150 +v -0.737600 0.239816 1.487828 +f 523 527 529 +f 523 522 525 +f 524 523 525 +f 524 525 526 +f 523 524 527 +f 526 521 527 +f 524 526 527 +f 525 522 528 +f 522 526 528 +f 526 525 528 +f 522 523 529 +f 526 522 529 +f 521 526 529 +f 527 521 529 +o convex_44 +v 2.187389 0.030818 -0.972791 +v 0.957178 -1.199545 -0.972810 +v 1.026788 -1.199545 -0.972810 +v 1.421322 -0.155013 -1.065659 +v 0.957178 -0.178257 -1.019198 +v 1.607028 -0.920859 -0.879960 +v 2.187389 -0.711904 -0.972791 +v 2.187389 -0.804759 -0.879960 +v 2.094415 0.030818 -1.042429 +v 0.957178 -0.433579 -1.065659 +v 1.142763 -1.199545 -0.903172 +v 1.607028 0.030818 -1.042429 +v 1.026788 -1.013714 -0.926385 +f 540 535 542 +f 530 534 535 +f 536 530 537 +f 530 535 537 +f 532 536 537 +f 536 533 538 +f 530 536 538 +f 532 531 539 +f 534 533 539 +f 531 534 539 +f 536 532 539 +f 533 536 539 +f 531 532 540 +f 537 535 540 +f 532 537 540 +f 534 530 541 +f 533 534 541 +f 530 538 541 +f 538 533 541 +f 534 531 542 +f 535 534 542 +f 531 540 542 +o convex_45 +v 1.049911 1.539735 -0.787087 +v 0.957058 -0.178112 -1.042399 +v 1.119543 -0.178112 -1.065659 +v 1.281996 0.912647 -0.787087 +v 1.281996 0.819948 -0.949551 +v 0.957058 1.028741 -0.949551 +v 1.281996 -0.154893 -1.019221 +v 0.957058 -0.154893 -0.995989 +v 0.957058 1.493297 -0.787087 +v 1.281996 -0.131674 -1.065659 +v 0.980279 1.632611 -0.810346 +f 548 551 553 +f 543 546 547 +f 545 544 548 +f 544 545 549 +f 547 546 549 +f 548 544 550 +f 544 549 550 +f 549 546 550 +f 546 543 551 +f 550 546 551 +f 548 550 551 +f 545 548 552 +f 548 547 552 +f 549 545 552 +f 547 549 552 +f 543 547 553 +f 547 548 553 +f 551 543 553 +o convex_46 +v 2.164081 0.843156 -0.926382 +v 1.282027 -0.154897 -1.065659 +v 1.282027 -0.154897 -1.019212 +v 1.282027 0.936179 -0.903159 +v 2.187300 0.054112 -0.972813 +v 2.164081 0.773628 -0.972813 +v 2.187300 0.030829 -1.019212 +v 1.328554 0.820087 -0.949621 +v 1.282027 0.773628 -0.903159 +v 2.187300 0.773628 -0.903159 +v 2.164081 0.263228 -1.019212 +f 559 560 564 +f 555 556 557 +f 557 554 559 +f 556 555 560 +f 558 556 560 +f 555 557 561 +f 559 555 561 +f 557 559 561 +f 557 556 562 +f 556 558 562 +f 562 558 563 +f 554 557 563 +f 559 554 563 +f 558 560 563 +f 560 559 563 +f 557 562 563 +f 555 559 564 +f 560 555 564 +o convex_47 +v 1.723276 1.237913 -0.021184 +v 1.282027 0.889811 -0.903159 +v 1.282027 0.889811 -0.879846 +v 2.187300 0.796893 -0.879846 +v 2.187300 1.284267 -0.531547 +v 1.467779 1.005880 -0.044324 +v 1.282027 1.330778 -0.067550 +v 1.282027 0.936270 -0.903159 +v 2.164081 0.866607 -0.903159 +v 1.282027 1.261064 -0.021184 +v 2.187300 1.237913 -0.485181 +v 1.537436 1.029135 -0.021184 +v 1.282027 0.936270 -0.577998 +v 1.723276 1.284267 -0.021184 +v 1.815974 1.284267 -0.415763 +f 572 571 579 +f 567 566 568 +f 566 567 571 +f 566 571 572 +f 568 566 573 +f 569 568 573 +f 566 572 573 +f 572 569 573 +f 571 567 574 +f 568 569 575 +f 570 568 576 +f 565 574 576 +f 574 570 576 +f 575 565 576 +f 568 575 576 +f 567 568 577 +f 568 570 577 +f 570 574 577 +f 574 567 577 +f 569 571 578 +f 574 565 578 +f 571 574 578 +f 565 575 578 +f 575 569 578 +f 571 569 579 +f 569 572 579 +o convex_48 +v 2.999840 -0.758542 0.443206 +v 2.744589 -1.222712 -0.020964 +v 2.744589 -1.153048 -0.020964 +v 2.605248 -1.199474 0.466491 +v 3.046271 -0.735257 -0.020964 +v 2.767828 -1.222712 0.118316 +v 2.930170 -0.735257 0.443206 +v 3.092750 -0.781731 0.048700 +v 2.674966 -1.222712 0.466491 +f 587 580 588 +f 582 581 583 +f 581 582 584 +f 582 583 586 +f 580 584 586 +f 584 582 586 +f 584 580 587 +f 581 584 587 +f 585 581 587 +f 585 587 588 +f 583 581 588 +f 581 585 588 +f 586 583 588 +f 580 586 588 +o convex_49 +v 1.351714 -1.083248 0.884350 +v 2.233631 0.054032 1.023622 +v 2.233631 -0.108664 1.023622 +v 0.957183 -0.155044 1.023636 +v 1.073155 -1.199443 0.977198 +v 2.233631 -0.804603 0.930801 +v 1.607154 0.054032 0.977184 +v 2.233631 -0.734911 0.907569 +v 0.957183 -0.294428 0.977198 +v 2.210387 -0.734911 0.977184 +v 0.957183 -1.199443 0.953993 +v 2.233631 0.007407 0.977184 +v 1.282231 -1.036746 0.884350 +v 0.957183 -0.317618 1.023636 +v 1.282231 -0.015905 0.977198 +f 601 597 603 +f 591 590 592 +f 590 591 594 +f 593 589 594 +f 592 590 595 +f 590 594 596 +f 594 589 596 +f 591 593 598 +f 594 591 598 +f 593 594 598 +f 589 593 599 +f 592 597 599 +f 595 590 600 +f 590 596 600 +f 596 595 600 +f 596 589 601 +f 595 596 601 +f 589 599 601 +f 599 597 601 +f 591 592 602 +f 593 591 602 +f 599 593 602 +f 592 599 602 +f 592 595 603 +f 597 592 603 +f 595 601 603 +o convex_50 +v 2.233756 0.936218 0.861049 +v 1.282120 1.261107 -0.021012 +v 1.282120 1.330790 -0.021012 +v 1.282120 1.005900 0.814684 +v 2.233756 1.284360 0.582426 +v 1.537380 1.029115 -0.021012 +v 1.700039 1.284360 -0.020839 +v 1.305317 0.982608 0.582512 +v 2.233756 1.261107 0.512749 +v 1.444592 1.005900 0.048838 +v 1.607158 0.936218 0.837737 +v 1.328514 1.029115 0.814684 +v 1.282120 1.330790 0.025526 +v 2.233756 0.982686 0.861049 +f 608 615 617 +f 606 605 607 +f 605 606 609 +f 606 608 610 +f 609 606 610 +f 607 605 611 +f 608 604 612 +f 604 609 612 +f 610 608 612 +f 609 610 612 +f 605 609 613 +f 609 604 613 +f 611 605 613 +f 611 613 614 +f 607 611 614 +f 613 604 614 +f 607 614 615 +f 615 608 616 +f 606 607 616 +f 608 606 616 +f 607 615 616 +f 604 608 617 +f 614 604 617 +f 615 614 617 +o convex_51 +v 2.140875 0.936086 0.907596 +v 1.282120 -0.015611 0.977150 +v 1.490987 -0.015611 0.977150 +v 1.607065 0.959298 0.814706 +v 1.282120 1.005722 0.861192 +v 2.233756 0.216715 1.023615 +v 2.233756 0.100654 0.977191 +v 1.328514 0.007703 1.023636 +v 2.210466 0.773499 0.977191 +v 2.233756 0.959298 0.861151 +v 1.282120 0.959298 0.814706 +v 2.233756 0.054128 1.023615 +f 623 625 629 +f 620 619 621 +f 620 621 624 +f 619 620 625 +f 622 619 625 +f 618 622 626 +f 622 625 626 +f 625 623 626 +f 622 618 627 +f 621 622 627 +f 623 624 627 +f 624 621 627 +f 618 626 627 +f 626 623 627 +f 621 619 628 +f 622 621 628 +f 619 622 628 +f 624 623 629 +f 620 624 629 +f 625 620 629 +o convex_52 +v 2.187336 -2.360173 -0.415636 +v 1.653510 -1.408579 -0.229978 +v 1.653510 -1.408579 -0.206765 +v 2.187336 -1.222759 -0.554909 +v 1.723164 -1.385333 -0.462060 +v 2.187336 -2.754909 -0.206765 +v 1.862421 -2.476104 -0.229978 +v 1.676763 -1.222759 -0.206765 +v 2.117682 -1.222759 -0.601333 +v 1.769566 -1.919245 -0.392462 +v 2.164083 -2.661774 -0.346038 +v 1.699964 -1.222759 -0.438848 +v 2.140883 -1.919245 -0.508484 +v 2.187336 -2.685170 -0.206765 +v 1.723164 -1.965888 -0.206765 +f 639 636 644 +f 630 633 635 +f 631 632 637 +f 632 635 637 +f 637 633 638 +f 631 634 639 +f 630 635 640 +f 635 636 640 +f 636 639 640 +f 634 631 641 +f 631 637 641 +f 638 634 641 +f 637 638 641 +f 633 630 642 +f 638 633 642 +f 634 638 642 +f 639 634 642 +f 630 640 642 +f 640 639 642 +f 635 633 643 +f 633 637 643 +f 637 635 643 +f 632 631 644 +f 635 632 644 +f 636 635 644 +f 631 639 644 +o convex_53 +v 2.581986 -1.222759 -0.462060 +v 2.187389 -2.754909 -0.229978 +v 2.187389 -2.754909 -0.206765 +v 2.187389 -1.222759 -0.554909 +v 2.674812 -1.222759 -0.206765 +v 2.512354 -2.429762 -0.276402 +v 2.210683 -1.895999 -0.508484 +v 2.651618 -1.942642 -0.206765 +v 2.605180 -1.803164 -0.392462 +v 2.187389 -2.661774 -0.346038 +v 2.210683 -1.246006 -0.601333 +v 2.512354 -2.522747 -0.206765 +v 2.187389 -2.685170 -0.206765 +v 2.698006 -1.292498 -0.253190 +v 2.581986 -2.011930 -0.369250 +f 650 654 659 +f 646 647 648 +f 645 648 649 +f 649 647 652 +f 646 648 654 +f 648 651 654 +f 648 645 655 +f 651 648 655 +f 645 653 655 +f 653 651 655 +f 647 646 656 +f 652 647 656 +f 650 652 656 +f 646 654 656 +f 654 650 656 +f 648 647 657 +f 649 648 657 +f 647 649 657 +f 645 649 658 +f 649 652 658 +f 652 653 658 +f 653 645 658 +f 652 650 659 +f 653 652 659 +f 651 653 659 +f 654 651 659 +o convex_54 +v 2.628478 1.818428 -0.345911 +v 2.651731 1.307687 0.489705 +v 2.582033 1.307687 0.489705 +v 2.605266 2.839455 0.025503 +v 2.790963 1.284547 -0.021023 +v 2.582033 1.284547 -0.415656 +v 2.744518 2.096558 0.025503 +v 2.582033 2.305726 0.373522 +v 2.721265 1.284395 0.443178 +v 2.651731 2.096558 0.396741 +v 2.582033 2.746593 -0.067461 +v 2.605266 2.027444 -0.369130 +v 2.628478 1.284547 -0.415656 +v 2.628478 2.793024 0.002196 +f 671 670 673 +f 662 661 667 +f 665 662 667 +f 661 662 668 +f 662 665 668 +f 664 666 668 +f 667 661 669 +f 663 667 669 +f 668 666 669 +f 661 668 669 +f 665 667 670 +f 667 663 670 +f 664 660 671 +f 666 664 671 +f 665 670 671 +f 660 664 672 +f 668 665 672 +f 664 668 672 +f 671 660 672 +f 665 671 672 +f 663 669 673 +f 669 666 673 +f 670 663 673 +f 666 671 673 +o convex_55 +v -0.041279 -1.176585 -0.926353 +v -0.482266 -2.081579 -0.763932 +v -0.458954 -2.174261 -0.763932 +v -0.482266 -0.897866 -1.112074 +v -0.041279 -2.406415 -0.856775 +v -0.041279 -0.317707 -1.088846 +v -0.482266 -1.617497 -0.763932 +v -0.482266 -0.317707 -1.088846 +v -0.041279 -2.522491 -0.740703 +v -0.064462 -0.921036 -1.088846 +v -0.342869 -2.476151 -0.763932 +v -0.041279 -0.317707 -1.065617 +v -0.250182 -0.340877 -1.112074 +f 679 683 686 +f 676 675 677 +f 674 678 679 +f 677 675 680 +f 677 680 681 +f 675 676 682 +f 678 674 682 +f 680 675 682 +f 674 680 682 +f 678 677 683 +f 679 678 683 +f 676 677 684 +f 677 678 684 +f 682 676 684 +f 678 682 684 +f 674 679 685 +f 680 674 685 +f 679 681 685 +f 681 680 685 +f 681 679 686 +f 677 681 686 +f 683 677 686 +o convex_56 +v -2.548252 -0.781722 -2.272808 +v -1.782395 -0.642463 -2.853168 +v -1.782395 -0.619219 -2.853168 +v -1.689501 -0.944123 -2.272808 +v -2.548252 -0.619219 -2.365747 +v -1.782395 -0.781722 -2.806698 +v -2.571475 -0.851284 -2.296042 +v -1.689501 -0.619219 -2.783463 +v -1.689501 -0.967401 -2.365747 +v -2.571475 -0.665673 -2.412160 +f 692 693 696 +f 687 690 691 +f 690 687 693 +f 687 691 693 +f 688 689 694 +f 691 690 694 +f 689 691 694 +f 692 688 694 +f 692 694 695 +f 690 693 695 +f 693 692 695 +f 694 690 695 +f 689 688 696 +f 691 689 696 +f 688 692 696 +f 693 691 696 +o convex_57 +v 2.187389 -2.894186 -0.044153 +v 2.558819 -2.104906 0.350419 +v 2.558819 -2.104906 0.327186 +v 2.558819 -2.708399 0.048722 +v 2.558819 -2.197800 -0.206727 +v 2.187389 -2.638728 0.350419 +v 2.187389 -2.708399 -0.206727 +v 2.257050 -2.708399 0.350419 +v 2.512354 -2.545914 -0.206727 +v 2.489158 -2.151433 0.327186 +v 2.535550 -2.476402 0.280775 +v 2.233854 -2.917410 0.048722 +f 704 702 708 +f 699 698 700 +f 699 700 701 +f 697 702 703 +f 698 702 704 +f 700 697 705 +f 701 700 705 +f 697 703 705 +f 703 701 705 +f 698 699 706 +f 699 701 706 +f 702 698 706 +f 703 702 706 +f 701 703 706 +f 700 698 707 +f 698 704 707 +f 704 700 707 +f 697 700 708 +f 702 697 708 +f 700 704 708 +o convex_58 +v -1.550128 -1.083507 -0.021025 +v -1.062626 -1.129890 0.373633 +v -1.085913 -1.106699 0.373633 +v -1.062626 -1.013830 -0.485299 +v -1.062626 -1.222759 -0.044231 +v -1.503681 -1.013830 0.373633 +v -1.712629 -1.013830 0.002180 +v -1.109137 -1.176315 0.303933 +v -1.387628 -1.013830 0.373633 +v -1.085913 -1.037062 -0.485299 +f 715 712 718 +f 711 710 712 +f 712 710 713 +f 710 711 714 +f 709 714 715 +f 714 712 715 +f 709 713 716 +f 713 710 716 +f 710 714 716 +f 714 709 716 +f 711 712 717 +f 714 711 717 +f 712 714 717 +f 713 709 718 +f 712 713 718 +f 709 715 718 +o convex_59 +v -1.178825 -0.874543 -1.413875 +v -1.062626 -0.990597 -0.439034 +v -1.062626 -1.013830 -0.439034 +v -1.805487 -0.990597 0.373633 +v -1.758949 -0.990597 -1.669233 +v -1.248487 -0.874543 -0.601408 +v -1.805487 -0.944187 -1.669233 +v -1.062626 -0.920995 -1.669233 +v -1.457253 -1.013830 0.373633 +v -1.062626 -0.874543 -0.694193 +v -1.782145 -0.944187 -0.021102 +v -1.782145 -1.013830 0.002094 +v -1.642895 -0.967378 0.373633 +v -1.619699 -0.990597 -1.669233 +v -1.062626 -0.874543 -1.553052 +f 728 726 733 +f 724 719 725 +f 720 721 726 +f 723 725 726 +f 721 720 727 +f 719 724 728 +f 720 726 728 +f 727 720 728 +f 725 722 729 +f 724 725 729 +f 723 721 730 +f 725 723 730 +f 722 725 730 +f 721 727 730 +f 727 722 730 +f 722 727 731 +f 728 724 731 +f 727 728 731 +f 729 722 731 +f 724 729 731 +f 721 723 732 +f 726 721 732 +f 723 726 732 +f 725 719 733 +f 726 725 733 +f 719 728 733 +o convex_60 +v -2.687651 0.564876 -0.392524 +v -2.850134 0.170104 -1.460304 +v -2.850134 0.239843 -1.460304 +v -2.594826 0.866427 -1.460304 +v -2.757258 1.052160 -0.299584 +v -2.803671 0.170104 -0.299584 +v -2.594826 1.075377 -0.694406 +v -2.618020 0.959294 -1.460304 +v -2.803671 0.193410 -1.460304 +v -2.850134 0.193410 -0.764054 +v -2.780452 0.193410 -0.299584 +v -2.780452 0.495226 -1.460304 +v -2.826890 0.216626 -0.299584 +v -2.757258 1.052160 -0.369232 +f 741 745 747 +f 735 736 737 +f 734 737 740 +f 738 734 740 +f 737 736 741 +f 740 737 741 +f 735 737 742 +f 739 735 742 +f 736 735 743 +f 738 736 743 +f 735 739 743 +f 737 734 744 +f 734 738 744 +f 738 739 744 +f 742 737 744 +f 739 742 744 +f 741 736 745 +f 739 738 746 +f 738 743 746 +f 743 739 746 +f 736 738 747 +f 738 740 747 +f 740 741 747 +f 745 736 747 +o convex_61 +v -2.803699 0.170104 -0.299584 +v -2.734063 1.005713 0.373633 +v -2.734063 1.052165 -0.276322 +v -2.873322 1.028939 0.071753 +v -2.780510 0.170104 0.373633 +v -2.734063 0.355910 -0.299584 +v -2.873322 0.379136 0.025426 +v -2.734063 0.355910 0.373633 +v -2.780510 1.052165 -0.299584 +v -2.826902 0.170104 -0.299584 +v -2.803699 0.170104 0.373633 +v -2.873322 1.028939 -0.020966 +v -2.780510 1.005713 0.350371 +f 751 758 760 +f 749 750 751 +f 750 749 753 +f 752 748 753 +f 749 752 755 +f 753 749 755 +f 752 753 755 +f 751 750 756 +f 753 748 756 +f 750 753 756 +f 748 752 757 +f 756 748 757 +f 752 749 758 +f 751 754 758 +f 757 752 758 +f 754 757 758 +f 754 751 759 +f 751 756 759 +f 757 754 759 +f 756 757 759 +f 749 751 760 +f 758 749 760 +o convex_62 +v -2.594694 -0.456630 -2.528229 +v -1.759140 0.053901 -2.945998 +v -1.898440 -0.595859 -2.713763 +v -2.501773 0.007513 -2.829880 +v -1.782370 -0.572665 -2.876327 +v -2.571464 -0.595859 -2.365665 +v -2.571464 0.030707 -2.737050 +v -1.875209 -0.015681 -3.015668 +v -2.339324 -0.572665 -2.458559 +v -2.571464 -0.619119 -2.435336 +v -1.759140 -0.619119 -2.806720 +v -2.594694 -0.015681 -2.783433 +f 766 767 772 +f 762 764 767 +f 766 762 767 +f 764 762 768 +f 765 764 768 +f 762 765 768 +f 763 762 769 +f 762 766 769 +f 761 765 770 +f 766 761 770 +f 766 770 771 +f 762 763 771 +f 765 762 771 +f 763 769 771 +f 769 766 771 +f 770 765 771 +f 765 761 772 +f 764 765 772 +f 761 766 772 +f 767 764 772 +o convex_63 +v -1.178778 -0.595898 -2.597909 +v -1.062694 0.030818 -2.736995 +v -1.062694 -0.363790 -2.388962 +v -1.759058 0.030818 -2.945943 +v -1.759058 -0.619185 -2.853113 +v -1.062694 -0.038853 -2.783506 +v -1.085938 -0.619185 -2.342451 +v -1.712502 -0.015629 -2.992454 +v -1.759058 -0.503068 -2.829890 +v -1.712502 -0.619185 -2.853113 +v -1.062694 -0.619185 -2.412121 +f 779 782 783 +f 775 774 776 +f 774 775 778 +f 775 776 779 +f 776 774 780 +f 777 776 780 +f 774 778 780 +f 776 777 781 +f 779 776 781 +f 777 779 781 +f 778 773 782 +f 779 777 782 +f 777 780 782 +f 780 778 782 +f 773 778 783 +f 778 775 783 +f 775 779 783 +f 782 773 783 +o convex_64 +v -1.852065 0.889798 -2.597518 +v -1.805641 1.075406 -1.019530 +v -2.408925 1.075406 -0.810585 +v -2.571371 0.773737 -2.063858 +v -1.875316 1.075406 -2.040464 +v -1.805641 0.773737 -2.713688 +v -2.594699 0.843374 -2.087052 +v -2.594699 1.075406 -0.903361 +v -1.805641 1.052194 -1.019530 +v -2.594699 1.028982 -0.810585 +v -1.805641 1.075436 -2.063858 +v -1.898490 0.796950 -2.806464 +v -2.153862 0.773737 -2.342385 +v -2.594699 0.773737 -2.156633 +f 790 795 797 +f 788 784 790 +f 788 790 791 +f 785 786 792 +f 789 785 792 +f 786 791 793 +f 791 790 793 +f 792 786 793 +f 787 792 793 +f 786 785 794 +f 784 788 794 +f 785 789 794 +f 789 784 794 +f 791 786 794 +f 788 791 794 +f 784 789 795 +f 790 784 795 +f 787 789 796 +f 792 787 796 +f 789 792 796 +f 789 787 797 +f 787 793 797 +f 793 790 797 +f 795 789 797 +o convex_65 +v 0.957026 2.677072 0.025562 +v 0.678458 2.653896 0.768205 +v 0.655239 2.653896 0.768205 +v 0.933807 1.795112 0.744938 +v 0.655239 2.839730 0.025562 +v 0.933807 2.770096 0.141605 +v 0.957026 1.980838 0.744938 +v 0.771363 2.584369 0.768205 +v 0.678458 2.886188 0.048756 +v 0.655239 2.607545 0.721744 +v 0.957026 2.421818 0.420005 +f 805 804 808 +f 798 801 802 +f 801 798 804 +f 799 800 805 +f 800 801 805 +f 803 799 805 +f 801 804 805 +f 800 799 806 +f 798 802 806 +f 802 800 806 +f 799 803 806 +f 803 798 806 +f 801 800 807 +f 802 801 807 +f 800 802 807 +f 798 803 808 +f 804 798 808 +f 803 805 808 +o convex_66 +v -1.805487 0.773678 -2.806739 +v -1.062626 1.052234 -0.764009 +v -1.086040 1.052234 -0.764009 +v -1.782072 1.075452 -2.017120 +v -1.805487 1.052234 -1.019550 +v -1.062626 0.773678 -2.086904 +v -1.086040 0.773678 -1.947736 +v -1.086040 0.820144 -2.063709 +v -1.596503 0.773678 -2.388635 +v -1.086040 1.005798 -0.833793 +v -1.062626 1.052234 -0.903377 +v -1.782072 0.796926 -2.806739 +v -1.503645 1.075452 -0.903377 +f 819 812 821 +f 812 809 813 +f 809 814 815 +f 813 809 817 +f 809 815 817 +f 815 813 817 +f 810 811 818 +f 811 813 818 +f 814 810 818 +f 815 814 818 +f 813 815 818 +f 810 814 819 +f 816 812 819 +f 814 816 819 +f 809 812 820 +f 814 809 820 +f 812 816 820 +f 816 814 820 +f 811 810 821 +f 812 813 821 +f 813 811 821 +f 810 819 821 +o convex_67 +v 2.605248 1.284300 -0.322896 +v 3.092750 0.820178 -0.021157 +v 3.092750 0.796893 -0.021157 +v 2.837451 0.820178 -0.694145 +v 2.605248 0.796893 -0.717339 +v 2.744589 1.284300 -0.021157 +v 2.628487 1.284300 -0.415600 +v 2.791020 1.284300 -0.067545 +v 3.023032 0.796893 -0.044351 +v 2.721397 1.261110 -0.044351 +f 826 830 831 +f 823 824 825 +f 825 824 826 +f 824 823 827 +f 822 827 828 +f 826 822 828 +f 825 826 828 +f 823 825 829 +f 827 823 829 +f 828 827 829 +f 825 828 829 +f 826 824 830 +f 824 827 830 +f 830 827 831 +f 822 826 831 +f 827 822 831 +o convex_68 +v 0.817685 -1.779893 1.000394 +v 0.307023 -2.197668 1.023606 +v 0.655184 -2.290621 0.884350 +v 0.307023 0.332605 0.954023 +v 0.957026 -0.108537 1.023624 +v 0.957026 0.332605 0.907580 +v 0.307023 -2.174045 1.070049 +v 0.957026 -1.803003 0.884350 +v 0.307023 0.192919 1.000394 +v 0.515971 -2.197668 1.070049 +v 0.631961 0.332605 0.907580 +v 0.933802 -1.477924 1.000394 +v 0.957026 0.309238 0.954005 +v 0.817685 -2.150935 0.907580 +v 0.307023 -0.317809 1.023606 +v 0.307023 -1.779637 1.000394 +f 833 835 847 +f 835 833 838 +f 837 836 839 +f 835 838 840 +f 833 834 841 +f 838 833 841 +f 836 838 841 +f 834 835 842 +f 835 837 842 +f 839 834 842 +f 837 839 842 +f 839 836 843 +f 841 832 843 +f 836 841 843 +f 837 835 844 +f 836 837 844 +f 835 840 844 +f 840 836 844 +f 834 839 845 +f 841 834 845 +f 832 841 845 +f 843 832 845 +f 839 843 845 +f 838 836 846 +f 836 840 846 +f 840 838 846 +f 834 833 847 +f 835 834 847 +o convex_69 +v 1.862369 -2.638674 0.141441 +v 1.723137 -1.222759 0.327152 +v 1.676699 -1.222759 0.327152 +v 1.676699 -1.222759 -0.206675 +v 1.653467 -1.965620 0.025438 +v 1.885602 -2.360174 -0.206675 +v 1.885602 -2.151335 0.327152 +v 1.607029 -1.269443 -0.137020 +v 1.862369 -2.522474 -0.206675 +v 1.769493 -1.965620 0.327152 +v 1.792699 -2.638674 0.048638 +v 1.699932 -1.942496 -0.183422 +v 1.607029 -1.222759 0.095040 +v 1.885602 -2.708480 0.002237 +f 858 856 861 +f 850 849 851 +f 851 849 853 +f 849 850 854 +f 853 849 854 +f 851 853 856 +f 850 852 857 +f 848 854 857 +f 854 850 857 +f 848 857 858 +f 857 852 858 +f 855 851 859 +f 852 855 859 +f 851 856 859 +f 856 858 859 +f 858 852 859 +f 850 851 860 +f 852 850 860 +f 851 855 860 +f 855 852 860 +f 854 848 861 +f 853 854 861 +f 856 853 861 +f 848 858 861 +o convex_70 +v -1.526880 -0.804927 2.671733 +v -2.571482 -0.828142 2.161211 +v -2.571482 -0.804927 2.161211 +v -1.062694 -0.851357 2.161211 +v -1.550067 -1.013803 2.393440 +v -1.782381 -0.712068 2.880787 +v -1.062694 -0.735283 2.230873 +v -2.571482 -0.712068 2.230873 +v -2.478586 -0.828142 2.393440 +v -1.596589 -1.013803 2.161211 +v -1.759194 -0.758527 2.880787 +v -1.086029 -0.920913 2.184455 +v -1.202112 -0.758527 2.463101 +v -2.548147 -0.712068 2.393440 +f 870 872 875 +f 863 864 865 +f 865 864 868 +f 864 863 869 +f 867 868 869 +f 868 864 869 +f 863 866 870 +f 863 865 871 +f 866 863 871 +f 866 862 872 +f 870 866 872 +f 862 866 873 +f 865 868 873 +f 871 865 873 +f 866 871 873 +f 868 867 874 +f 872 862 874 +f 867 872 874 +f 862 873 874 +f 873 868 874 +f 869 863 875 +f 867 869 875 +f 863 870 875 +f 872 867 875 +o convex_71 +v -1.828801 -0.154897 2.973645 +v -2.571482 -0.712043 2.253999 +v -2.571482 -0.688810 2.253999 +v -2.571482 -0.178130 2.671726 +v -1.782359 -0.712043 2.880730 +v -1.759217 -0.154897 2.903977 +v -2.548261 -0.688810 2.416511 +v -2.548261 -0.201362 2.555918 +v -1.782359 -0.665523 2.811133 +v -2.548261 -0.688810 2.253999 +f 884 877 885 +f 878 877 879 +f 876 879 880 +f 879 876 881 +f 876 880 881 +f 879 877 882 +f 880 879 882 +f 877 880 882 +f 878 879 883 +f 879 881 883 +f 880 877 884 +f 881 880 884 +f 881 884 885 +f 877 878 885 +f 878 883 885 +f 883 881 885 +o convex_72 +v 2.140926 -2.894196 0.002237 +v 1.908848 -2.244193 0.327152 +v 1.885631 -2.244193 0.327152 +v 1.908848 -2.453140 -0.206675 +v 1.885631 -2.731631 0.048638 +v 2.187330 -2.638737 0.327152 +v 2.187330 -2.708408 -0.206675 +v 2.001714 -2.569194 0.327152 +v 1.885631 -2.522811 -0.206675 +v 2.187330 -2.824525 0.164642 +f 891 893 895 +f 888 887 889 +f 887 888 891 +f 889 887 892 +f 887 891 892 +f 888 890 893 +f 891 888 893 +f 888 889 894 +f 886 890 894 +f 890 888 894 +f 892 886 894 +f 889 892 894 +f 890 886 895 +f 886 892 895 +f 892 891 895 +f 893 890 895 +o convex_73 +v -1.341281 -0.735257 2.602174 +v -1.085938 -0.735257 2.230853 +v -1.085938 -0.712022 2.230853 +v -1.085938 -0.178132 2.741419 +v -1.759058 -0.154897 2.903906 +v -1.759058 -0.735257 2.880665 +v -1.085938 -0.178132 2.579000 +v -1.225197 -0.619140 2.625415 +v -1.759058 -0.642375 2.834249 +v -1.085938 -0.526257 2.300509 +v -1.062694 -0.735257 2.300509 +v -1.712502 -0.247780 2.927148 +f 901 899 907 +f 897 896 901 +f 900 899 902 +f 901 896 903 +f 899 901 903 +f 898 897 904 +f 900 898 904 +f 901 900 904 +f 897 901 904 +f 898 900 905 +f 900 902 905 +f 905 902 906 +f 896 897 906 +f 897 898 906 +f 902 899 906 +f 903 896 906 +f 899 903 906 +f 898 905 906 +f 899 900 907 +f 900 901 907 +o convex_74 +v -2.269840 0.727191 2.277256 +v -2.060945 0.727191 2.578948 +v -2.153770 0.727191 2.578948 +v -2.548267 0.123734 2.578948 +v -2.571561 0.727191 2.137986 +v -2.409004 0.611119 2.555693 +v -2.548267 0.355878 2.254053 +v -2.060945 0.703976 2.532490 +v -2.571561 0.216592 2.578948 +v -2.571561 0.680762 2.045122 +f 916 912 917 +f 910 909 908 +f 909 910 911 +f 910 908 912 +f 910 912 913 +f 908 909 915 +f 909 911 915 +f 914 908 915 +f 911 914 915 +f 911 910 916 +f 910 913 916 +f 913 912 916 +f 914 911 916 +f 914 916 917 +f 912 908 917 +f 908 914 917 +o convex_75 +v -2.292943 0.634338 2.602274 +v -2.571489 -0.154897 2.602274 +v -2.548222 -0.154897 2.602274 +v -1.852040 -0.038757 2.996859 +v -2.571489 0.054069 2.764738 +v -1.828774 0.727250 2.718355 +v -1.944889 -0.154897 2.834313 +v -2.037737 0.704022 2.579000 +v -1.852040 0.680707 2.787930 +v -2.571489 0.216665 2.579000 +v -1.828774 -0.154897 2.950394 +v -1.852040 0.077297 2.996859 +v -2.571489 -0.131669 2.695081 +f 919 928 930 +f 919 920 924 +f 923 924 925 +f 918 923 925 +f 924 920 925 +f 918 922 926 +f 923 918 926 +f 920 919 927 +f 922 918 927 +f 919 922 927 +f 918 925 927 +f 925 920 927 +f 919 924 928 +f 924 923 928 +f 922 921 929 +f 926 922 929 +f 923 926 929 +f 921 928 929 +f 928 923 929 +f 921 922 930 +f 922 919 930 +f 928 921 930 +o convex_76 +v -1.828701 -0.038759 2.996859 +v -1.062626 0.564608 2.532635 +v -1.062626 0.564608 2.439768 +v -1.062626 -0.154756 2.718314 +v -1.689299 -0.154756 2.857477 +v -1.828701 0.564608 2.787895 +v -1.085947 -0.131585 2.602271 +v -1.735791 0.077308 2.973574 +v -1.085947 -0.061931 2.764665 +v -1.085947 0.471782 2.439768 +v -1.248371 0.564608 2.625502 +v -1.805380 0.541437 2.834301 +v -1.828701 -0.154756 2.973574 +v -1.805380 0.541437 2.764665 +f 943 936 944 +f 933 932 934 +f 932 933 936 +f 933 934 937 +f 934 935 937 +f 934 932 939 +f 938 931 939 +f 933 937 940 +f 937 935 940 +f 932 936 941 +f 939 932 941 +f 938 939 941 +f 936 931 942 +f 931 938 942 +f 941 936 942 +f 938 941 942 +f 935 934 943 +f 931 936 943 +f 934 939 943 +f 939 931 943 +f 936 933 944 +f 933 940 944 +f 940 935 944 +f 935 943 944 +o convex_77 +v -1.666128 1.029037 1.905953 +v -1.062626 0.611241 2.532453 +v -1.062626 0.564749 2.532453 +v -1.828701 0.611241 2.811144 +v -1.805380 0.820116 2.718188 +v -1.062626 0.889696 1.952387 +v -1.828701 1.005768 1.905953 +v -1.085947 0.564749 2.416546 +v -1.828701 0.564749 2.764622 +v -1.085947 0.843340 1.905953 +v -1.828701 1.029037 2.068471 +f 945 951 955 +f 947 946 948 +f 948 946 949 +f 949 946 950 +f 946 947 950 +f 951 952 953 +f 947 948 953 +f 948 951 953 +f 952 947 953 +f 945 950 954 +f 950 947 954 +f 951 945 954 +f 947 952 954 +f 952 951 954 +f 948 949 955 +f 949 950 955 +f 950 945 955 +f 951 948 955 +o convex_78 +v -2.524960 1.005788 0.954219 +v -1.828774 0.796936 2.741501 +v -1.828774 0.727250 2.741501 +v -1.828774 0.982599 1.047194 +v -2.571416 0.727250 2.021647 +v -1.852111 1.029037 2.068040 +v -2.571416 0.796936 1.998262 +v -2.571416 0.959380 0.814850 +v -1.944950 0.959380 1.000801 +v -1.828774 1.029037 1.557523 +v -2.177012 0.727250 2.300385 +v -2.037790 0.750528 2.671722 +v -1.898494 0.820155 2.671722 +v -1.875303 1.005788 1.023998 +f 956 965 969 +f 957 958 959 +f 961 956 962 +f 962 956 963 +f 960 962 963 +f 959 958 964 +f 960 963 964 +f 957 959 965 +f 961 957 965 +f 956 961 965 +f 958 960 966 +f 964 958 966 +f 960 964 966 +f 958 957 967 +f 960 958 967 +f 962 960 967 +f 962 967 968 +f 957 961 968 +f 961 962 968 +f 967 957 968 +f 963 956 969 +f 959 964 969 +f 964 963 969 +f 965 959 969 +o convex_79 +v 0.724896 -2.290723 -0.879944 +v 0.957026 -2.569078 0.025417 +v 0.933807 -2.569078 0.025417 +v 0.933807 -1.826520 -0.856725 +v 0.655239 -2.731544 0.025417 +v 0.817712 -2.569078 -0.531660 +v 0.957026 -2.128257 -0.833506 +v 0.655239 -2.267527 -0.879944 +v 0.655239 -2.615470 -0.624536 +v 0.933807 -2.708348 0.002198 +v 0.678458 -2.778123 -0.021021 +v 0.957026 -1.826520 -0.879944 +f 977 973 981 +f 972 971 973 +f 971 972 974 +f 972 973 974 +f 975 970 976 +f 974 973 977 +f 970 975 978 +f 977 970 978 +f 974 977 978 +f 971 974 979 +f 976 971 979 +f 975 976 979 +f 978 975 979 +f 978 979 980 +f 974 978 980 +f 979 974 980 +f 973 971 981 +f 971 976 981 +f 976 970 981 +f 970 977 981 +o convex_80 +v -1.318034 1.029021 0.954011 +v -1.062626 0.889773 1.905783 +v -1.109194 0.912978 1.905783 +v -1.828701 0.982594 1.046941 +v -1.828701 1.029021 1.905783 +v -1.062626 1.029021 0.791492 +v -1.109194 0.866536 1.789511 +v -1.178707 0.982594 0.837957 +v -1.619710 1.029021 1.859318 +v -1.828701 0.982594 1.580636 +v -1.155536 0.866536 1.905783 +v -1.062626 1.029021 0.954011 +v -1.828701 1.005800 1.046941 +f 982 987 994 +f 983 984 986 +f 982 986 987 +f 987 983 988 +f 987 988 989 +f 985 987 989 +f 988 985 989 +f 986 984 990 +f 987 986 990 +f 986 985 991 +f 983 986 992 +f 985 988 992 +f 988 983 992 +f 991 985 992 +f 986 991 992 +f 984 983 993 +f 983 987 993 +f 990 984 993 +f 987 990 993 +f 986 982 994 +f 985 986 994 +f 987 985 994 +o convex_81 +v 2.883757 -0.712038 0.745109 +v 2.233881 -0.735257 0.907530 +v 2.233881 -0.735257 0.953941 +v 2.233881 0.170104 0.977162 +v 2.628387 0.030791 0.907530 +v 2.860536 0.170104 0.768330 +v 2.837315 -0.688819 0.698635 +v 2.257102 0.123666 1.023604 +v 2.883757 0.170104 0.814741 +v 2.280323 -0.712038 0.953941 +f 999 1002 1004 +f 997 996 995 +f 996 997 998 +f 995 996 1001 +f 996 998 1001 +f 1000 995 1001 +f 998 1000 1001 +f 998 997 1002 +f 999 995 1003 +f 995 1000 1003 +f 1000 998 1003 +f 998 1002 1003 +f 1002 999 1003 +f 997 995 1004 +f 995 999 1004 +f 1002 997 1004 +o convex_82 +v -0.482266 -2.406780 -0.578084 +v -0.412546 -2.708360 0.025417 +v -0.482266 -2.708360 0.025417 +v -0.458997 -1.965620 -0.717412 +v -0.041236 -2.638703 -0.740658 +v -0.041236 -2.824455 0.025417 +v -0.366138 -2.499478 -0.740658 +v -0.482266 -2.731579 -0.044247 +v -0.041236 -2.569046 -0.717412 +v -0.064462 -2.870981 -0.021075 +v -0.482266 -1.965620 -0.740658 +v -0.087688 -2.638703 -0.740658 +f 1014 1012 1016 +f 1007 1006 1008 +f 1006 1007 1010 +f 1008 1006 1010 +f 1007 1005 1012 +f 1005 1011 1012 +f 1008 1010 1013 +f 1010 1009 1013 +f 1010 1007 1014 +f 1009 1010 1014 +f 1007 1012 1014 +f 1005 1007 1015 +f 1007 1008 1015 +f 1011 1005 1015 +f 1009 1011 1015 +f 1008 1013 1015 +f 1013 1009 1015 +f 1011 1009 1016 +f 1012 1011 1016 +f 1009 1014 1016 +o convex_83 +v -0.018004 -2.430023 0.930751 +v 0.121269 -2.940540 0.025417 +v -0.041195 -2.894045 0.025417 +v -0.458952 -2.081692 0.814602 +v -0.458952 -2.545882 0.744931 +v 0.144461 -2.174681 0.977134 +v 0.144461 -2.754814 0.791410 +v -0.482205 -2.708319 0.025513 +v 0.144461 -2.894045 0.025417 +v -0.482205 -2.754730 0.048800 +v -0.482205 -2.290792 0.837794 +v 0.028441 -2.197886 1.000422 +v -0.412507 -2.522593 0.814602 +v 0.074825 -2.731524 0.814602 +v 0.144461 -2.383613 0.977134 +f 1017 1030 1031 +f 1018 1019 1025 +f 1020 1022 1025 +f 1023 1018 1025 +f 1022 1023 1025 +f 1019 1024 1025 +f 1024 1020 1025 +f 1024 1019 1026 +f 1024 1026 1027 +f 1020 1024 1027 +f 1026 1021 1027 +f 1020 1027 1028 +f 1022 1020 1028 +f 1027 1021 1029 +f 1028 1027 1029 +f 1017 1028 1029 +f 1019 1018 1030 +f 1018 1023 1030 +f 1021 1026 1030 +f 1026 1019 1030 +f 1017 1029 1030 +f 1029 1021 1030 +f 1023 1022 1031 +f 1022 1028 1031 +f 1028 1017 1031 +f 1030 1023 1031 +o convex_84 +v 0.028441 2.398483 -0.972770 +v -0.482205 1.052251 -0.903181 +v -0.435760 1.052251 -0.926371 +v 0.144461 1.098712 -0.995959 +v 0.144461 2.560934 -0.810321 +v -0.412507 2.003889 -0.972770 +v -0.482205 2.189571 -0.856741 +v -0.203721 2.305561 -1.019230 +v -0.412507 1.052251 -0.879971 +v 0.144461 1.910968 -1.019230 +v 0.028441 1.098712 -1.019230 +v 0.005188 2.700316 -0.810321 +f 1038 1040 1043 +f 1034 1033 1037 +f 1037 1033 1038 +f 1037 1038 1039 +f 1033 1034 1040 +f 1034 1035 1040 +f 1035 1036 1040 +f 1038 1033 1040 +f 1032 1036 1041 +f 1036 1035 1041 +f 1039 1032 1041 +f 1039 1041 1042 +f 1035 1034 1042 +f 1034 1037 1042 +f 1037 1039 1042 +f 1041 1035 1042 +f 1036 1032 1043 +f 1032 1039 1043 +f 1039 1038 1043 +f 1040 1036 1043 +o convex_85 +v -0.064462 2.955831 -0.044226 +v -0.482266 2.143327 -0.856730 +v -0.458997 2.143327 -0.856730 +v -0.064462 2.746820 -0.740658 +v -0.482266 2.816490 -0.044226 +v -0.064462 2.886161 0.071846 +v -0.041236 2.538047 -0.833461 +v -0.458997 2.607479 -0.554870 +v -0.482266 2.746820 0.071846 +v -0.482266 2.236221 -0.856730 +v -0.458997 2.143327 -0.833461 +v -0.041236 2.955831 0.048577 +f 1052 1049 1055 +f 1044 1047 1048 +f 1048 1047 1051 +f 1048 1045 1052 +f 1046 1045 1053 +f 1045 1048 1053 +f 1050 1046 1053 +f 1047 1050 1053 +f 1051 1047 1053 +f 1048 1051 1053 +f 1045 1046 1054 +f 1050 1049 1054 +f 1046 1050 1054 +f 1052 1045 1054 +f 1049 1052 1054 +f 1047 1044 1055 +f 1044 1048 1055 +f 1049 1050 1055 +f 1050 1047 1055 +f 1048 1052 1055 +o convex_86 +v -0.482266 2.677192 0.466491 +v -0.482266 2.189902 0.837807 +v -0.458997 2.189902 0.837807 +v -0.041236 2.746847 0.861058 +v -0.041236 2.886083 0.071923 +v -0.482266 2.793235 0.071923 +v -0.064462 2.862890 0.744959 +v -0.041236 2.653999 0.837807 +v -0.482266 2.282750 0.861058 +v -0.435772 2.746847 0.071923 +v -0.087688 2.932544 0.095174 +f 1061 1062 1066 +f 1057 1056 1061 +f 1059 1060 1062 +f 1061 1056 1062 +f 1059 1058 1063 +f 1060 1059 1063 +f 1058 1060 1063 +f 1056 1057 1064 +f 1057 1058 1064 +f 1058 1059 1064 +f 1062 1056 1064 +f 1059 1062 1064 +f 1058 1057 1065 +f 1060 1058 1065 +f 1061 1060 1065 +f 1057 1061 1065 +f 1060 1061 1066 +f 1062 1060 1066 +o convex_87 +v 0.028441 2.259213 1.046798 +v -0.482205 1.052251 0.884386 +v -0.412507 1.052251 0.884386 +v 0.005188 2.793330 0.837921 +v 0.144461 1.098778 1.000401 +v -0.458952 1.980736 0.977180 +v 0.144461 2.676929 0.837921 +v -0.482205 2.259213 0.861188 +v -0.203721 2.398452 1.046821 +v 0.144461 1.261535 1.046798 +v -0.458952 1.052251 0.930828 +v 0.144461 2.491164 0.977157 +v 0.098078 1.772134 1.070042 +v -0.041257 1.052251 0.953982 +f 1071 1077 1080 +f 1069 1068 1073 +f 1068 1070 1073 +f 1070 1068 1074 +f 1068 1072 1074 +f 1074 1072 1075 +f 1070 1074 1075 +f 1071 1073 1076 +f 1068 1069 1077 +f 1072 1068 1077 +f 1075 1072 1077 +f 1071 1076 1077 +f 1073 1070 1078 +f 1075 1067 1078 +f 1070 1075 1078 +f 1076 1073 1078 +f 1076 1078 1079 +f 1067 1075 1079 +f 1075 1077 1079 +f 1077 1076 1079 +f 1078 1067 1079 +f 1069 1073 1080 +f 1073 1071 1080 +f 1077 1069 1080 +o convex_88 +v 1.212334 -1.315728 -0.810301 +v 0.957051 -2.104906 -0.833524 +v 0.980270 -2.104906 -0.833524 +v 0.957051 -1.199545 -0.972802 +v 1.212334 -1.222764 -0.926355 +v 0.980270 -1.571136 -0.972802 +v 0.957051 -1.965593 -0.810301 +v 1.189140 -1.199545 -0.810301 +f 1087 1081 1088 +f 1081 1083 1085 +f 1085 1083 1086 +f 1083 1082 1086 +f 1082 1084 1086 +f 1084 1085 1086 +f 1083 1081 1087 +f 1082 1083 1087 +f 1084 1082 1087 +f 1084 1087 1088 +f 1081 1085 1088 +f 1085 1084 1088 +o convex_89 +v 0.957085 -2.174431 -0.763727 +v 1.281996 -1.130029 0.025417 +v 1.281996 -1.013984 -0.554670 +v 1.189119 -2.011876 -0.021121 +v 0.957085 -2.476209 0.002057 +v 1.212338 -1.199563 0.002057 +v 1.281996 -1.037162 -0.903159 +v 1.212370 -1.013984 -0.903159 +v 1.049930 -2.081564 -0.786996 +v 0.957085 -2.058077 -0.810174 +v 0.980273 -2.592254 0.002057 +v 0.957085 -2.220633 -0.276534 +f 1094 1098 1100 +f 1093 1090 1094 +f 1091 1090 1095 +f 1090 1092 1095 +f 1090 1091 1096 +f 1094 1090 1096 +f 1091 1095 1096 +f 1095 1092 1097 +f 1089 1093 1098 +f 1096 1095 1098 +f 1094 1096 1098 +f 1097 1089 1098 +f 1095 1097 1098 +f 1092 1090 1099 +f 1093 1089 1099 +f 1090 1093 1099 +f 1089 1097 1099 +f 1097 1092 1099 +f 1093 1094 1100 +f 1098 1093 1100 +o convex_90 +v 0.701700 -2.568949 0.651983 +v 0.957000 -1.733578 0.884263 +v 0.933795 -1.733578 0.884263 +v 1.189095 -1.942446 0.002289 +v 0.655239 -2.731504 0.025517 +v 0.957000 -2.685089 0.048831 +v 1.003460 -2.058587 0.814666 +v 0.655239 -2.244349 0.884263 +v 1.142686 -1.942446 0.025517 +v 1.189095 -1.965756 0.095201 +v 0.655239 -2.778021 0.072060 +v 0.933795 -1.733578 0.860949 +v 0.864130 -2.128209 0.884263 +v 0.980256 -2.615568 0.002289 +f 1110 1106 1114 +f 1101 1106 1107 +f 1102 1103 1108 +f 1104 1105 1109 +f 1104 1102 1110 +f 1102 1107 1110 +f 1107 1106 1110 +f 1106 1101 1111 +f 1105 1106 1111 +f 1101 1108 1111 +f 1108 1105 1111 +f 1103 1102 1112 +f 1102 1104 1112 +f 1108 1103 1112 +f 1105 1108 1112 +f 1104 1109 1112 +f 1109 1105 1112 +f 1101 1107 1113 +f 1107 1102 1113 +f 1102 1108 1113 +f 1108 1101 1113 +f 1105 1104 1114 +f 1106 1105 1114 +f 1104 1110 1114 +o convex_91 +v 1.026706 -1.733421 0.884345 +v 1.165917 -1.942405 0.002203 +v 1.189134 -1.942405 0.002203 +v 1.258783 -1.199545 0.002203 +v 0.957085 -1.199545 0.953920 +v 1.119483 -1.246083 0.907537 +v 0.957085 -1.942405 0.814675 +v 1.212350 -1.199545 0.002203 +v 1.189134 -1.872671 0.164735 +v 1.026706 -1.942405 0.791388 +v 1.165917 -1.779814 0.002203 +v 1.142700 -1.199545 0.814675 +f 1120 1123 1126 +f 1117 1116 1118 +f 1119 1115 1120 +f 1116 1117 1121 +f 1115 1119 1121 +f 1118 1116 1122 +f 1119 1118 1122 +f 1117 1118 1123 +f 1120 1115 1124 +f 1115 1121 1124 +f 1121 1117 1124 +f 1117 1123 1124 +f 1123 1120 1124 +f 1116 1121 1125 +f 1121 1119 1125 +f 1122 1116 1125 +f 1119 1122 1125 +f 1118 1119 1126 +f 1119 1120 1126 +f 1123 1118 1126 +o convex_92 +v 2.094488 -2.035040 0.489662 +v 1.699887 -1.362052 0.327263 +v 1.746361 -1.733692 0.327263 +v 2.187341 -2.615548 0.327263 +v 2.187341 -1.222759 0.582528 +v 1.746361 -1.246094 0.489662 +v 1.862451 -2.267243 0.350450 +v 1.746361 -1.246094 0.327263 +v 2.187341 -1.246094 0.628962 +v 2.187341 -2.661788 0.373667 +v 1.816024 -1.942417 0.420100 +f 1136 1127 1137 +f 1129 1128 1130 +f 1128 1129 1132 +f 1129 1130 1133 +f 1130 1128 1134 +f 1131 1130 1134 +f 1128 1132 1134 +f 1132 1131 1134 +f 1130 1131 1135 +f 1131 1132 1135 +f 1133 1130 1136 +f 1135 1127 1136 +f 1130 1135 1136 +f 1132 1129 1137 +f 1129 1133 1137 +f 1127 1135 1137 +f 1135 1132 1137 +f 1133 1136 1137 +o convex_93 +v 2.628417 -1.222759 0.489691 +v 2.187389 -2.685266 0.350419 +v 2.257100 -2.685266 0.350419 +v 2.187389 -1.269286 0.628964 +v 2.651606 -1.222759 0.350419 +v 2.605180 -2.011849 0.396879 +v 2.187389 -1.222759 0.582531 +v 2.233863 -1.965608 0.536097 +v 2.187389 -2.545973 0.350419 +v 2.628417 -1.942417 0.350419 +v 2.326716 -1.246094 0.605734 +v 2.257100 -2.615548 0.396879 +f 1143 1145 1149 +f 1140 1139 1142 +f 1139 1141 1144 +f 1138 1142 1144 +f 1141 1139 1145 +f 1142 1139 1146 +f 1139 1144 1146 +f 1144 1142 1146 +f 1142 1138 1147 +f 1140 1142 1147 +f 1143 1140 1147 +f 1138 1143 1147 +f 1143 1138 1148 +f 1144 1141 1148 +f 1138 1144 1148 +f 1141 1145 1148 +f 1145 1143 1148 +f 1139 1140 1149 +f 1140 1143 1149 +f 1145 1139 1149 +o convex_94 +v 2.442652 2.630598 -0.322828 +v 2.024942 1.284704 -0.485263 +v 2.094579 1.284704 -0.508484 +v 2.582033 1.284704 -0.392469 +v 2.024942 2.560916 -0.299584 +v 2.210676 2.166310 -0.485263 +v 2.164270 2.793137 -0.392469 +v 2.582033 2.050586 -0.299584 +v 2.024942 1.284704 -0.438843 +v 2.558748 2.050586 -0.392469 +v 2.257082 1.307880 -0.531706 +v 2.024942 2.096783 -0.438843 +v 2.233851 2.862974 -0.299584 +v 2.257082 2.769962 -0.392469 +f 1156 1162 1163 +f 1151 1152 1153 +f 1157 1154 1158 +f 1151 1153 1158 +f 1154 1151 1158 +f 1153 1157 1158 +f 1150 1157 1159 +f 1157 1153 1159 +f 1153 1152 1160 +f 1152 1155 1160 +f 1159 1153 1160 +f 1155 1159 1160 +f 1152 1151 1161 +f 1151 1154 1161 +f 1155 1152 1161 +f 1156 1155 1161 +f 1154 1156 1161 +f 1156 1154 1162 +f 1157 1150 1162 +f 1154 1157 1162 +f 1155 1156 1163 +f 1159 1155 1163 +f 1150 1159 1163 +f 1162 1150 1163 +o convex_95 +v 2.187445 3.071808 0.025417 +v 2.024942 2.653922 -0.299584 +v 2.558748 2.096899 -0.299584 +v 2.489112 2.630732 -0.299584 +v 2.582033 2.839628 0.025417 +v 2.024942 2.909291 0.025417 +v 2.210676 2.886102 -0.299584 +v 2.558748 2.352364 -0.137084 +v 2.582033 2.839628 -0.021030 +v 2.024942 2.955670 -0.021030 +v 2.257082 3.071808 -0.021030 +f 1172 1170 1174 +f 1166 1165 1167 +f 1165 1166 1169 +f 1168 1164 1169 +f 1167 1165 1170 +f 1166 1168 1171 +f 1169 1166 1171 +f 1168 1169 1171 +f 1166 1167 1172 +f 1168 1166 1172 +f 1167 1170 1172 +f 1165 1169 1173 +f 1169 1164 1173 +f 1164 1170 1173 +f 1170 1165 1173 +f 1164 1168 1174 +f 1170 1164 1174 +f 1168 1172 1174 +o convex_96 +v 2.233851 2.932526 0.280748 +v 2.024942 2.375480 0.327195 +v 2.558748 2.421991 0.187918 +v 2.024942 2.932526 0.025417 +v 2.582033 2.839659 0.025417 +v 2.582033 2.421991 0.350419 +v 2.048173 2.723537 0.350419 +v 2.233851 3.071903 0.025417 +v 2.442652 2.700437 0.350419 +v 2.582033 2.282614 0.350419 +v 2.024942 2.886170 0.025417 +f 1179 1177 1185 +f 1178 1176 1181 +f 1175 1178 1181 +f 1178 1175 1182 +f 1175 1179 1182 +f 1179 1178 1182 +f 1179 1175 1183 +f 1180 1179 1183 +f 1175 1181 1183 +f 1181 1180 1183 +f 1176 1177 1184 +f 1177 1179 1184 +f 1179 1180 1184 +f 1180 1181 1184 +f 1181 1176 1184 +f 1177 1176 1185 +f 1176 1178 1185 +f 1178 1179 1185 +o convex_97 +v 2.257082 2.862974 0.373669 +v 2.024942 1.284704 0.443299 +v 2.582033 1.284704 0.443299 +v 2.257082 1.354231 0.559328 +v 2.582033 2.328849 0.350439 +v 2.024942 2.444883 0.350439 +v 2.280312 2.119958 0.512888 +v 2.558748 1.284704 0.512888 +v 2.024942 2.096783 0.443299 +v 2.582033 2.119958 0.420089 +v 2.257082 2.816313 0.420089 +v 2.024942 1.377407 0.420089 +v 2.582033 2.189640 0.350439 +v 2.141039 1.284704 0.536097 +f 1192 1194 1199 +f 1186 1190 1191 +f 1187 1188 1193 +f 1192 1189 1193 +f 1191 1187 1194 +f 1188 1190 1195 +f 1193 1188 1195 +f 1192 1193 1195 +f 1190 1186 1196 +f 1186 1191 1196 +f 1191 1194 1196 +f 1194 1192 1196 +f 1195 1190 1196 +f 1192 1195 1196 +f 1188 1187 1197 +f 1187 1191 1197 +f 1197 1191 1198 +f 1190 1188 1198 +f 1191 1190 1198 +f 1188 1197 1198 +f 1189 1192 1199 +f 1187 1193 1199 +f 1193 1189 1199 +f 1194 1187 1199 +o convex_98 +v -2.571464 0.263037 -2.713913 +v -1.759140 0.773678 -2.713913 +v -1.759140 0.750362 -2.713913 +v -1.759140 0.077278 -2.992424 +v -1.852061 0.773678 -2.829996 +v -2.571464 0.123700 -2.690667 +v -2.548234 0.077278 -2.806780 +v -1.759140 0.054032 -2.945991 +v -2.130579 0.727186 -2.690667 +v -1.875209 0.123700 -2.992424 +f 1206 1204 1209 +f 1201 1202 1203 +f 1201 1203 1204 +f 1200 1204 1206 +f 1205 1200 1206 +f 1203 1202 1207 +f 1202 1205 1207 +f 1206 1203 1207 +f 1205 1206 1207 +f 1202 1201 1208 +f 1204 1200 1208 +f 1201 1204 1208 +f 1200 1205 1208 +f 1205 1202 1208 +f 1204 1203 1209 +f 1203 1206 1209 +o convex_99 +v -2.223428 0.773678 -2.342501 +v -2.594712 0.123675 -2.690667 +v -2.594712 0.123675 -2.667448 +v -2.594712 0.773678 -2.156808 +v -2.200206 0.704008 -2.690667 +v -1.944837 0.750455 -2.667448 +v -2.571491 0.402357 -2.319341 +v -2.432228 0.611178 -2.620951 +v -2.594712 0.727231 -2.087092 +v -2.594712 0.216569 -2.690667 +v -2.037722 0.773678 -2.690667 +f 1210 1215 1220 +f 1211 1212 1213 +f 1212 1211 1215 +f 1215 1210 1216 +f 1212 1215 1216 +f 1213 1214 1217 +f 1213 1212 1218 +f 1210 1213 1218 +f 1212 1216 1218 +f 1216 1210 1218 +f 1211 1213 1219 +f 1214 1211 1219 +f 1213 1217 1219 +f 1217 1214 1219 +f 1213 1210 1220 +f 1214 1213 1220 +f 1211 1214 1220 +f 1215 1211 1220 +o convex_100 +v -1.062694 0.146944 -2.690574 +v -1.759058 0.030818 -2.992424 +v -1.759058 0.054087 -2.992424 +v -1.086006 0.750337 -2.040664 +v -1.712502 0.773678 -2.783551 +v -1.549999 0.750337 -2.388817 +v -1.225197 0.611087 -2.574399 +v -1.086006 0.309536 -2.365712 +v -1.759058 0.054087 -2.922738 +v -1.062694 0.030818 -2.760260 +v -1.062762 0.773678 -2.133641 +v -1.759058 0.773678 -2.690574 +v -1.062694 0.077283 -2.760260 +v -1.085938 0.030818 -2.713865 +f 1230 1228 1234 +f 1228 1224 1229 +f 1223 1222 1229 +f 1224 1226 1229 +f 1222 1223 1230 +f 1226 1224 1231 +f 1227 1225 1231 +f 1224 1228 1231 +f 1230 1221 1231 +f 1228 1230 1231 +f 1225 1223 1232 +f 1223 1229 1232 +f 1229 1226 1232 +f 1231 1225 1232 +f 1226 1231 1232 +f 1223 1225 1233 +f 1225 1227 1233 +f 1230 1223 1233 +f 1221 1230 1233 +f 1231 1221 1233 +f 1227 1231 1233 +f 1228 1229 1234 +f 1229 1222 1234 +f 1222 1230 1234 +o convex_101 +v 3.162393 -0.108523 0.002347 +v 2.907068 0.123666 0.814556 +v 2.953503 0.170104 0.791409 +v 2.907068 -0.735257 0.721721 +v 3.069495 -0.549417 -0.020882 +v 3.115931 0.170104 -0.020882 +v 2.883836 0.170104 0.768180 +v 3.115931 -0.735257 0.048724 +v 2.883836 -0.735257 0.652115 +v 2.976680 0.030791 0.768180 +v 3.162393 0.077140 0.095183 +v 3.069495 -0.735257 -0.020882 +f 1242 1243 1246 +f 1237 1240 1241 +f 1236 1237 1241 +f 1238 1236 1241 +f 1240 1239 1241 +f 1238 1241 1243 +f 1241 1239 1243 +f 1242 1238 1243 +f 1237 1236 1244 +f 1236 1238 1244 +f 1238 1242 1244 +f 1244 1242 1245 +f 1235 1240 1245 +f 1240 1237 1245 +f 1242 1235 1245 +f 1237 1244 1245 +f 1239 1240 1246 +f 1240 1235 1246 +f 1235 1242 1246 +f 1243 1239 1246 +o convex_102 +v -0.458997 0.796850 -1.065705 +v -0.482266 -0.317398 -1.112043 +v -0.482266 -0.317398 -1.088894 +v -0.041236 -0.317398 -1.088894 +v -0.435772 0.356031 -1.297762 +v -0.064462 1.052251 -0.949635 +v -0.482266 1.005729 -0.879985 +v -0.064462 0.750462 -1.158462 +v -0.041236 -0.317398 -1.065705 +v -0.482266 0.286315 -1.297762 +v -0.041236 1.052251 -0.996055 +v -0.319729 -0.317398 -1.065705 +f 1255 1253 1258 +f 1249 1248 1250 +f 1248 1249 1253 +f 1251 1247 1254 +f 1250 1251 1254 +f 1249 1250 1255 +f 1252 1253 1255 +f 1250 1248 1256 +f 1247 1251 1256 +f 1251 1250 1256 +f 1248 1253 1256 +f 1253 1247 1256 +f 1247 1253 1257 +f 1253 1252 1257 +f 1254 1247 1257 +f 1250 1254 1257 +f 1255 1250 1257 +f 1252 1255 1257 +f 1253 1249 1258 +f 1249 1255 1258 +o convex_103 +v -0.389363 0.936086 1.000467 +v -0.482266 -0.503113 1.186078 +v -0.435772 -0.479819 1.162868 +v -0.041236 0.866509 1.093238 +v -0.041236 -0.363806 1.046887 +v -0.482266 1.005816 0.884384 +v -0.482266 0.471882 1.186078 +v -0.041236 1.052251 0.954047 +v -0.458997 -0.503113 1.232532 +v -0.087688 -0.503113 1.116448 +v -0.110913 -0.503113 1.070028 +v -0.064462 0.587895 1.116448 +f 1267 1268 1270 +f 1261 1260 1264 +f 1262 1259 1265 +f 1264 1260 1265 +f 1259 1264 1265 +f 1259 1262 1266 +f 1262 1263 1266 +f 1264 1259 1266 +f 1263 1264 1266 +f 1265 1260 1267 +f 1263 1262 1268 +f 1267 1260 1268 +f 1260 1261 1269 +f 1261 1264 1269 +f 1264 1263 1269 +f 1268 1260 1269 +f 1263 1268 1269 +f 1262 1265 1270 +f 1265 1267 1270 +f 1268 1262 1270 +o convex_104 +v 0.144504 0.935957 -1.088819 +v -0.041193 -2.406566 -0.856787 +v -0.041193 -2.406566 -0.833574 +v 0.307023 -2.476305 -0.879999 +v -0.041193 -0.757846 -1.088819 +v -0.041193 1.098680 -0.972847 +v 0.307023 -1.825763 -1.042424 +v 0.307023 0.053657 -1.019212 +v -0.041193 0.796479 -1.135273 +v 0.051690 1.098680 -0.972847 +v 0.144504 -2.406566 -0.833574 +v 0.307023 0.053657 -1.065637 +v 0.144504 1.098680 -0.995971 +v 0.283777 -2.313229 -0.972818 +v 0.005265 0.749987 -1.135273 +f 1282 1277 1285 +f 1273 1272 1274 +f 1272 1273 1275 +f 1275 1273 1276 +f 1274 1277 1278 +f 1276 1271 1279 +f 1275 1276 1279 +f 1276 1273 1280 +f 1273 1274 1281 +f 1280 1273 1281 +f 1278 1277 1282 +f 1271 1276 1283 +f 1274 1278 1283 +f 1276 1280 1283 +f 1281 1274 1283 +f 1280 1281 1283 +f 1282 1271 1283 +f 1278 1282 1283 +f 1274 1272 1284 +f 1272 1275 1284 +f 1277 1274 1284 +f 1275 1277 1284 +f 1277 1275 1285 +f 1279 1271 1285 +f 1275 1279 1285 +f 1271 1282 1285 +o convex_105 +v 0.655205 -2.221180 -0.926234 +v 0.167808 -2.940570 -0.044292 +v 0.190985 -2.940570 -0.044292 +v 0.260584 -2.801129 -0.740583 +v -0.041193 -2.383509 -0.810056 +v 0.655205 -2.754789 0.025376 +v -0.041193 -2.824369 0.002023 +v 0.655205 -2.615489 -0.624404 +v -0.041193 -2.661969 -0.740583 +v 0.469517 -2.453230 -0.949587 +v 0.631960 -2.801199 0.002121 +v -0.017880 -2.894019 0.025278 +v 0.307006 -2.383580 -0.949587 +v 0.631960 -2.731619 0.002121 +f 1292 1291 1299 +f 1288 1287 1289 +f 1286 1290 1292 +f 1286 1291 1293 +f 1292 1290 1294 +f 1286 1293 1295 +f 1293 1289 1295 +f 1288 1289 1296 +f 1289 1293 1296 +f 1293 1291 1296 +f 1287 1288 1297 +f 1289 1287 1297 +f 1291 1292 1297 +f 1294 1289 1297 +f 1292 1294 1297 +f 1288 1296 1297 +f 1296 1291 1297 +f 1290 1286 1298 +f 1289 1294 1298 +f 1294 1290 1298 +f 1286 1295 1298 +f 1295 1289 1298 +f 1291 1286 1299 +f 1286 1292 1299 +o convex_106 +v 0.910588 2.143475 -0.670994 +v 0.678458 2.885965 0.025417 +v 0.655239 2.885965 0.025417 +v 0.678458 2.561091 -0.740658 +v 0.957026 2.769955 0.002171 +v 0.933807 1.748683 -0.717412 +v 0.933807 2.653944 0.025417 +v 0.655239 2.491396 -0.717412 +v 0.771363 2.491396 -0.740658 +v 0.655239 2.816381 0.002171 +v 0.957026 1.888074 -0.740658 +v 0.957026 2.328959 -0.438832 +f 1304 1310 1311 +f 1302 1301 1303 +f 1303 1301 1304 +f 1305 1304 1306 +f 1301 1302 1306 +f 1304 1301 1306 +f 1302 1303 1307 +f 1303 1305 1307 +f 1303 1304 1308 +f 1305 1306 1309 +f 1306 1302 1309 +f 1302 1307 1309 +f 1307 1305 1309 +f 1305 1303 1310 +f 1304 1305 1310 +f 1308 1300 1310 +f 1303 1308 1310 +f 1300 1308 1311 +f 1308 1304 1311 +f 1310 1300 1311 +o convex_107 +v 0.005265 0.796686 1.093266 +v -0.041193 -2.174499 0.953993 +v -0.041193 -2.174499 0.977237 +v 0.307023 -2.359690 1.000440 +v 0.098114 1.098342 0.977237 +v 0.307023 -2.150800 1.070035 +v 0.307023 0.053552 0.977237 +v -0.041193 -1.315238 1.070049 +v -0.041193 1.098342 0.977237 +v 0.260565 -2.359690 0.954006 +v 0.144504 1.051959 1.046819 +v -0.041193 -0.572781 1.093266 +v -0.041193 -1.918887 1.046819 +v 0.307023 -0.317847 1.023629 +v -0.041193 0.865752 1.093266 +f 1320 1323 1326 +f 1314 1315 1317 +f 1317 1315 1318 +f 1313 1314 1319 +f 1316 1313 1320 +f 1313 1319 1320 +f 1314 1313 1321 +f 1315 1314 1321 +f 1313 1316 1321 +f 1318 1315 1321 +f 1316 1318 1321 +f 1312 1317 1322 +f 1318 1316 1322 +f 1316 1320 1322 +f 1317 1312 1323 +f 1319 1317 1323 +f 1320 1319 1323 +f 1314 1317 1324 +f 1319 1314 1324 +f 1317 1319 1324 +f 1317 1318 1325 +f 1322 1317 1325 +f 1318 1322 1325 +f 1312 1322 1326 +f 1322 1320 1326 +f 1323 1312 1326 +o convex_108 +v 3.139154 0.541607 0.048659 +v 2.674891 1.261162 0.420053 +v 2.674891 1.261162 0.443276 +v 3.023052 0.170104 0.373606 +v 2.744609 1.261162 -0.021012 +v 3.023052 0.819962 0.443276 +v 3.115914 0.170104 -0.021012 +v 3.092675 0.866536 0.025435 +v 3.046244 0.170104 0.443276 +v 2.744609 1.284395 0.420053 +v 2.837471 1.237930 -0.021012 +v 3.162393 0.170104 0.048659 +v 3.092675 0.843194 -0.021012 +f 1338 1333 1339 +f 1329 1328 1330 +f 1330 1328 1331 +f 1330 1331 1333 +f 1332 1327 1334 +f 1329 1330 1335 +f 1332 1329 1335 +f 1330 1333 1335 +f 1328 1329 1336 +f 1331 1328 1336 +f 1329 1332 1336 +f 1332 1334 1336 +f 1336 1334 1337 +f 1333 1331 1337 +f 1331 1336 1337 +f 1327 1332 1338 +f 1332 1335 1338 +f 1335 1333 1338 +f 1334 1327 1339 +f 1337 1334 1339 +f 1333 1337 1339 +f 1327 1338 1339 +o convex_109 +v -0.041193 2.677377 -0.810278 +v 0.655205 2.886129 0.025331 +v 0.655205 2.839700 0.025331 +v -0.041193 2.932498 0.025331 +v 0.283829 2.422019 -0.833331 +v 0.121386 2.816486 -0.763740 +v 0.655205 2.561305 -0.740601 +v 0.167808 3.025415 -0.044347 +v -0.041193 2.607674 -0.787053 +v 0.655205 2.538031 -0.647698 +v -0.041193 2.770116 -0.740515 +v 0.237407 2.561364 -0.856643 +f 1345 1346 1351 +f 1342 1341 1343 +f 1342 1343 1344 +f 1341 1342 1346 +f 1345 1341 1346 +f 1343 1341 1347 +f 1341 1345 1347 +f 1343 1340 1348 +f 1340 1344 1348 +f 1344 1343 1348 +f 1342 1344 1349 +f 1344 1346 1349 +f 1346 1342 1349 +f 1340 1343 1350 +f 1345 1340 1350 +f 1343 1347 1350 +f 1347 1345 1350 +f 1344 1340 1351 +f 1340 1345 1351 +f 1346 1344 1351 +o convex_110 +v -0.041193 2.723751 0.814572 +v 0.655205 2.654080 0.814572 +v 0.631960 2.677304 0.791369 +v 0.631960 2.839686 0.025494 +v 0.098141 2.932489 0.721675 +v -0.041193 2.955713 0.025662 +v 0.260584 2.561187 0.860978 +v 0.608715 2.909357 0.048782 +v 0.214230 3.025474 0.025662 +v -0.041193 2.909312 0.025662 +v 0.005297 2.839777 0.837775 +v 0.655205 2.584410 0.791369 +f 1358 1355 1363 +f 1353 1354 1356 +f 1354 1353 1359 +f 1353 1355 1359 +f 1356 1354 1359 +f 1355 1357 1360 +f 1357 1356 1360 +f 1359 1355 1360 +f 1356 1359 1360 +f 1352 1357 1361 +f 1357 1355 1361 +f 1358 1352 1361 +f 1355 1358 1361 +f 1353 1356 1362 +f 1357 1352 1362 +f 1356 1357 1362 +f 1358 1353 1362 +f 1352 1358 1362 +f 1355 1353 1363 +f 1353 1358 1363 +o convex_111 +v 2.303576 -0.712136 -0.926293 +v 2.930176 -0.688881 -0.438921 +v 2.930176 -0.688881 -0.508602 +v 2.605170 -1.222759 -0.438921 +v 2.187534 -1.176249 -0.554990 +v 2.837328 -0.758542 -0.694254 +v 2.187534 -0.688881 -0.903100 +v 2.210728 -1.222759 -0.601428 +v 2.860522 -0.688881 -0.694254 +f 1370 1366 1372 +f 1366 1365 1367 +f 1367 1365 1368 +f 1366 1367 1369 +f 1365 1366 1370 +f 1368 1365 1370 +f 1368 1370 1371 +f 1367 1368 1371 +f 1364 1369 1371 +f 1369 1367 1371 +f 1370 1364 1371 +f 1369 1364 1372 +f 1366 1369 1372 +f 1364 1370 1372 +o convex_112 +v 2.303576 -0.688828 -0.926300 +v 2.976678 0.077172 -0.438871 +v 2.976678 0.077172 -0.508569 +v 2.187466 0.077172 -0.972709 +v 2.883743 -0.108555 -0.740610 +v 2.906919 -0.688828 -0.438871 +v 2.860490 -0.688828 -0.694315 +v 2.210719 -0.642265 -0.903068 +v 2.210719 0.077172 -1.019174 +v 2.883743 0.077172 -0.740610 +v 2.930172 -0.131799 -0.438871 +v 2.953348 -0.642265 -0.462160 +f 1379 1377 1384 +f 1374 1375 1376 +f 1378 1373 1379 +f 1373 1377 1379 +f 1373 1378 1380 +f 1376 1375 1381 +f 1377 1373 1381 +f 1380 1376 1381 +f 1373 1380 1381 +f 1375 1377 1382 +f 1381 1375 1382 +f 1377 1381 1382 +f 1374 1376 1383 +f 1378 1374 1383 +f 1376 1380 1383 +f 1380 1378 1383 +f 1375 1374 1384 +f 1377 1375 1384 +f 1374 1378 1384 +f 1378 1379 1384 +o convex_113 +v 2.558901 0.820107 0.884261 +v 2.628401 1.261128 0.443276 +v 2.628401 1.284304 0.443276 +v 2.999817 0.820107 0.513008 +v 2.233892 1.168244 0.605834 +v 2.930167 0.843374 0.768241 +v 2.233892 0.866595 0.953943 +v 2.953334 0.820107 0.443276 +v 2.721292 1.284304 0.489764 +v 2.257134 0.820107 0.907505 +v 2.233892 1.284304 0.536202 +v 2.349951 1.261128 0.605834 +f 1395 1391 1396 +f 1385 1388 1390 +f 1385 1390 1391 +f 1386 1387 1392 +f 1388 1385 1392 +f 1390 1388 1393 +f 1391 1390 1393 +f 1392 1387 1393 +f 1388 1392 1393 +f 1385 1391 1394 +f 1391 1389 1394 +f 1392 1385 1394 +f 1389 1392 1394 +f 1387 1386 1395 +f 1389 1391 1395 +f 1386 1392 1395 +f 1392 1389 1395 +f 1393 1387 1395 +f 1393 1395 1396 +f 1391 1393 1396 +o convex_114 +v 0.608715 -2.221088 1.023445 +v 0.144522 -2.940438 0.048829 +v 0.191012 -2.940438 0.048829 +v 0.237401 -2.778046 0.814577 +v 0.144522 -2.360364 0.930615 +v 0.655205 -2.754785 0.025519 +v 0.655205 -2.592321 0.652124 +v 0.307035 -2.197973 1.023445 +v 0.655205 -2.197973 0.930615 +v 0.144522 -2.894061 0.048829 +v 0.144522 -2.754785 0.814577 +v 0.631960 -2.801162 0.048829 +v 0.492692 -2.290799 1.069963 +v 0.585521 -2.754785 0.025519 +v 0.144522 -2.383625 0.977030 +f 1407 1409 1411 +f 1398 1399 1400 +f 1399 1398 1402 +f 1397 1403 1405 +f 1403 1402 1405 +f 1404 1397 1405 +f 1398 1401 1406 +f 1401 1404 1406 +f 1398 1400 1407 +f 1401 1398 1407 +f 1400 1399 1408 +f 1399 1402 1408 +f 1402 1403 1408 +f 1403 1400 1408 +f 1403 1397 1409 +f 1400 1403 1409 +f 1397 1404 1409 +f 1407 1400 1409 +f 1402 1398 1410 +f 1405 1402 1410 +f 1404 1405 1410 +f 1398 1406 1410 +f 1406 1404 1410 +f 1404 1401 1411 +f 1401 1407 1411 +f 1409 1404 1411 +o convex_115 +v 2.303488 0.170104 1.000422 +v 2.999795 0.820107 0.536152 +v 3.023098 0.564713 0.513028 +v 2.953427 0.170104 0.791438 +v 2.999795 0.193328 0.443276 +v 2.233817 0.820107 0.930778 +v 2.930124 0.820107 0.768259 +v 2.976651 0.820107 0.443276 +v 2.233817 0.170104 0.977189 +v 2.257041 0.773660 0.977189 +v 3.046321 0.170104 0.443276 +f 1420 1416 1422 +f 1414 1413 1418 +f 1415 1414 1418 +f 1412 1415 1418 +f 1413 1417 1418 +f 1413 1414 1419 +f 1417 1413 1419 +f 1416 1417 1419 +f 1415 1412 1420 +f 1417 1416 1420 +f 1417 1420 1421 +f 1412 1418 1421 +f 1418 1417 1421 +f 1420 1412 1421 +f 1414 1415 1422 +f 1419 1414 1422 +f 1416 1419 1422 +f 1415 1420 1422 +o convex_116 +v 0.423204 2.514630 -0.833584 +v 0.144522 0.054294 -1.065659 +v 0.307087 0.054294 -1.065659 +v 0.933802 1.701661 -0.740690 +v 0.933802 0.913517 -0.972734 +v 0.167825 1.864464 -1.019212 +v 0.307087 2.630657 -0.740658 +v 0.933802 0.356381 -0.926318 +v 0.724791 2.490850 -0.763913 +v 0.283784 0.054294 -1.019212 +v 0.144522 2.537888 -0.856743 +v 0.190969 1.006286 -1.065659 +v 0.167825 2.351828 -0.949574 +v 0.957026 0.333123 -0.972734 +v 0.957026 1.840945 -0.763913 +v 0.144522 0.054294 -1.042404 +v 0.330310 2.723426 -0.763881 +v 0.724791 2.490850 -0.740690 +v 0.957026 1.029543 -0.949510 +f 1437 1436 1441 +f 1424 1425 1432 +f 1426 1429 1432 +f 1430 1426 1432 +f 1428 1424 1433 +f 1425 1424 1434 +f 1427 1425 1434 +f 1428 1427 1434 +f 1424 1428 1434 +f 1427 1428 1435 +f 1423 1431 1435 +f 1428 1433 1435 +f 1425 1427 1436 +f 1432 1425 1436 +f 1430 1432 1436 +f 1426 1430 1437 +f 1430 1436 1437 +f 1424 1432 1438 +f 1432 1429 1438 +f 1433 1424 1438 +f 1429 1433 1438 +f 1431 1423 1439 +f 1433 1429 1439 +f 1423 1435 1439 +f 1435 1433 1439 +f 1429 1426 1440 +f 1426 1437 1440 +f 1437 1431 1440 +f 1431 1439 1440 +f 1439 1429 1440 +f 1427 1435 1441 +f 1435 1431 1441 +f 1436 1427 1441 +f 1431 1437 1441 +o convex_117 +v -0.296504 -0.503113 1.186121 +v -0.482266 -1.245974 1.070081 +v -0.342912 -1.245974 1.046869 +v -0.110913 -0.596043 1.023636 +v -0.041236 -1.245974 1.070081 +v -0.482266 -0.503113 1.232566 +v -0.482266 -0.804955 1.070081 +v -0.458997 -0.735366 1.232566 +v -0.064462 -0.503113 1.116505 +f 1449 1446 1450 +f 1443 1444 1446 +f 1444 1445 1446 +f 1444 1443 1448 +f 1445 1444 1448 +f 1443 1447 1448 +f 1447 1445 1448 +f 1443 1446 1449 +f 1447 1443 1449 +f 1442 1447 1449 +f 1446 1445 1450 +f 1445 1447 1450 +f 1447 1442 1450 +f 1442 1449 1450 +o convex_118 +v 3.092668 0.750400 -0.067534 +v 2.605300 0.077247 -0.833436 +v 2.651758 0.077247 -0.833436 +v 3.115871 0.077247 -0.021171 +v 2.883789 0.170231 -0.740551 +v 2.605300 0.796893 -0.740551 +v 2.860638 0.796893 -0.670887 +v 3.046262 0.796893 -0.021171 +v 3.115871 0.077247 -0.137197 +v 2.605300 0.170231 -0.786993 +v 2.651758 0.750400 -0.786993 +v 3.092668 0.100493 -0.021171 +v 2.883789 0.077247 -0.740551 +f 1455 1459 1463 +f 1452 1453 1454 +f 1451 1455 1457 +f 1454 1451 1458 +f 1451 1457 1458 +f 1457 1456 1458 +f 1454 1453 1459 +f 1451 1454 1459 +f 1455 1451 1459 +f 1456 1452 1460 +f 1458 1456 1460 +f 1453 1452 1461 +f 1455 1453 1461 +f 1452 1456 1461 +f 1456 1457 1461 +f 1457 1455 1461 +f 1452 1454 1462 +f 1454 1458 1462 +f 1460 1452 1462 +f 1458 1460 1462 +f 1453 1455 1463 +f 1459 1453 1463 +o convex_119 +v 0.446348 2.375031 0.930777 +v 0.144522 0.054032 0.977184 +v 0.864052 1.725331 0.768296 +v 0.957026 0.332626 0.930722 +v 0.307087 2.746665 0.814731 +v 0.144522 2.026855 1.046823 +v 0.771318 2.514460 0.814731 +v 0.167825 0.054032 1.023592 +v 0.957026 1.075894 0.907546 +v 0.144522 2.630695 0.884369 +v 0.957026 0.565095 0.861138 +v 0.957026 1.910621 0.768296 +v 0.191049 0.936993 1.046823 +v 0.167825 2.491002 0.977184 +v 0.678424 2.653889 0.768296 +v 0.191049 2.003661 1.046823 +v 0.701647 2.584043 0.837934 +v 0.794541 0.379278 0.884342 +v 0.307087 2.653362 0.814731 +f 1468 1478 1482 +f 1465 1467 1471 +f 1469 1465 1471 +f 1465 1469 1473 +f 1472 1467 1474 +f 1472 1474 1475 +f 1470 1472 1475 +f 1474 1466 1475 +f 1471 1467 1476 +f 1469 1471 1476 +f 1468 1473 1477 +f 1473 1469 1477 +f 1475 1466 1478 +f 1470 1475 1478 +f 1467 1472 1479 +f 1476 1467 1479 +f 1469 1476 1479 +f 1464 1477 1479 +f 1477 1469 1479 +f 1472 1470 1480 +f 1477 1464 1480 +f 1468 1477 1480 +f 1478 1468 1480 +f 1470 1478 1480 +f 1479 1472 1480 +f 1464 1479 1480 +f 1465 1466 1481 +f 1467 1465 1481 +f 1466 1474 1481 +f 1474 1467 1481 +f 1466 1465 1482 +f 1473 1468 1482 +f 1465 1473 1482 +f 1478 1466 1482 +o convex_120 +v 0.957026 -1.895622 -0.903209 +v 0.307023 -2.336977 -0.972820 +v 0.353534 -2.290590 -0.996030 +v 0.307023 0.332605 -1.019203 +v 0.957026 -0.456794 -1.065641 +v 0.957026 0.332605 -0.949628 +v 0.655184 -2.243934 -0.879981 +v 0.307023 -0.898149 -1.065641 +v 0.585577 -2.290590 -1.019203 +v 0.330310 0.169845 -1.065641 +v 0.748142 0.332605 -0.949628 +v 0.957026 -1.733131 -0.879981 +v 0.307023 -2.128098 -0.949592 +v 0.887356 -1.709803 -0.995993 +v 0.957026 0.239561 -0.995993 +v 0.469587 0.332605 -1.042413 +f 1497 1487 1498 +f 1483 1487 1488 +f 1485 1484 1490 +f 1484 1486 1490 +f 1490 1487 1491 +f 1484 1485 1491 +f 1483 1489 1491 +f 1489 1484 1491 +f 1485 1490 1491 +f 1490 1486 1492 +f 1487 1490 1492 +f 1488 1486 1493 +f 1486 1489 1493 +f 1493 1489 1494 +f 1483 1488 1494 +f 1489 1483 1494 +f 1488 1493 1494 +f 1486 1484 1495 +f 1484 1489 1495 +f 1489 1486 1495 +f 1487 1483 1496 +f 1491 1487 1496 +f 1483 1491 1496 +f 1488 1487 1497 +f 1486 1488 1498 +f 1492 1486 1498 +f 1487 1492 1498 +f 1488 1497 1498 +o convex_121 +v 3.115890 -0.572756 -0.021012 +v 2.558876 -1.222759 -0.438871 +v 2.558876 -1.222759 -0.415638 +v 2.953375 0.077247 -0.438871 +v 2.953375 -0.735257 -0.438871 +v 2.721390 -1.222759 -0.021012 +v 3.092657 0.077247 -0.044244 +v 3.092657 0.053960 -0.206790 +v 2.953375 -0.967365 -0.044244 +v 2.651750 -1.222759 -0.392406 +v 3.139065 0.077247 -0.021012 +v 3.092657 -0.735257 -0.067477 +v 2.999840 -0.062094 -0.438871 +f 1510 1503 1511 +f 1500 1501 1502 +f 1500 1502 1503 +f 1501 1500 1504 +f 1502 1501 1505 +f 1501 1504 1505 +f 1499 1504 1507 +f 1507 1504 1508 +f 1500 1503 1508 +f 1504 1500 1508 +f 1503 1507 1508 +f 1504 1499 1509 +f 1505 1504 1509 +f 1502 1505 1509 +f 1506 1502 1509 +f 1499 1506 1509 +f 1506 1499 1510 +f 1499 1507 1510 +f 1507 1503 1510 +f 1503 1502 1511 +f 1502 1506 1511 +f 1506 1510 1511 +o convex_122 +v 2.860490 -0.735257 0.744981 +v 2.558896 -1.222712 0.466491 +v 2.419660 -1.222712 0.512922 +v 2.930145 -0.735257 0.466491 +v 2.233963 -0.735257 0.907562 +v 2.257157 -1.060195 0.768269 +v 2.674793 -1.199474 0.512922 +v 2.233963 -1.199474 0.582592 +v 2.257157 -0.758542 0.953993 +v 2.883757 -0.781731 0.721838 +v 2.953339 -0.804968 0.466491 +f 1515 1521 1522 +f 1513 1514 1515 +f 1512 1515 1516 +f 1514 1513 1518 +f 1515 1514 1519 +f 1516 1515 1519 +f 1517 1516 1519 +f 1518 1517 1519 +f 1514 1518 1519 +f 1512 1516 1520 +f 1516 1517 1520 +f 1520 1517 1521 +f 1515 1512 1521 +f 1517 1518 1521 +f 1512 1520 1521 +f 1521 1518 1522 +f 1513 1515 1522 +f 1518 1513 1522 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/123/123.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/123/123.urdf new file mode 100644 index 000000000..a821db85d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/123/123.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/124/124.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/124/124.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/124/124.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/124/124.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/124/124.obj new file mode 100644 index 000000000..4d5e82e68 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/124/124.obj @@ -0,0 +1,819 @@ +o convex_0 +v -0.080902 -4.196853 0.054358 +v 0.099021 -1.555948 1.195047 +v 0.789384 -1.555690 0.894656 +v -0.350984 -1.555948 -1.146033 +v 0.789384 -3.175910 -0.725767 +v -1.011426 -3.176169 0.054358 +v 0.009059 -3.926429 0.804632 +v -0.861227 -1.555948 0.864570 +v 0.879543 -1.555690 -0.785704 +v -0.050784 -3.956418 -0.755853 +v 0.759266 -3.926429 0.084210 +v -0.771265 -1.735887 -0.935900 +v -0.771265 -3.206158 0.804632 +v -0.771265 -3.956418 -0.065281 +v 0.999623 -3.146179 0.114296 +v 0.729344 -3.145920 0.804632 +v -0.741147 -3.176169 -0.785939 +v 0.128943 -1.585938 -1.206205 +v -0.981307 -1.555948 -0.095367 +v 0.999623 -1.555690 0.174233 +v -0.020862 -3.206158 1.044852 +v 0.038981 -3.206158 -0.996072 +v -0.621067 -3.806470 0.504476 +v -0.050784 -1.585938 1.195047 +v 0.579342 -3.746232 -0.545720 +v 0.999623 -3.146179 -0.035430 +v -1.011426 -3.206158 -0.035430 +v 0.549224 -3.716242 0.624585 +v -0.591145 -3.746490 -0.575571 +v 0.789384 -2.066032 0.894656 +v -0.831305 -2.066032 0.894656 +v -0.771265 -3.956418 0.054358 +v 0.999623 -1.555690 -0.125453 +v 0.849424 -2.245970 -0.785704 +v -0.771265 -1.555948 -0.905814 +v 0.038981 -4.196853 0.054358 +v 0.009059 -3.956418 -0.755853 +v 0.399222 -1.585680 1.104789 +v -0.110824 -3.926429 0.774781 +v -0.050784 -3.175910 -0.996072 +v -0.981307 -1.555948 0.114296 +v 0.759266 -3.926429 0.024037 +v -0.080902 -3.175910 1.044852 +v -0.771265 -3.176169 -0.755618 +v -0.771265 -1.946073 -0.935900 +v -0.050784 -1.555948 -1.206205 +v 0.038981 -3.145920 1.044852 +v -0.741147 -1.555948 0.954593 +v 0.009059 -3.956418 0.774781 +v 0.819503 -1.735887 -0.845876 +v 0.819503 -1.675649 0.834718 +v 0.009059 -4.196853 -0.035430 +v 0.549224 -3.206158 -0.815790 +v -0.921267 -2.696333 -0.395759 +v -0.621067 -3.686252 0.624350 +v -0.050784 -4.196853 -0.035430 +v -1.011426 -2.486147 0.024272 +v 0.759266 -3.296128 -0.695680 +v -0.891346 -3.206158 0.444538 +v 0.819503 -3.146179 0.594499 +v -0.801187 -3.926429 0.024272 +v -0.350984 -1.585938 -1.146033 +v 0.729344 -3.926429 -0.035195 +v 0.369300 -3.806470 0.684523 +f 49 11 64 +f 3 9 19 +f 9 3 20 +f 21 2 24 +f 15 11 26 +f 20 15 26 +f 11 16 28 +f 10 14 29 +f 17 10 29 +f 8 6 31 +f 14 1 32 +f 23 13 32 +f 9 20 33 +f 26 9 33 +f 20 26 33 +f 5 18 34 +f 26 5 34 +f 9 26 34 +f 9 4 35 +f 4 12 35 +f 19 9 35 +f 12 19 35 +f 10 22 37 +f 3 2 38 +f 30 3 38 +f 16 30 38 +f 32 1 39 +f 23 32 39 +f 10 17 40 +f 22 10 40 +f 8 3 41 +f 3 19 41 +f 26 11 42 +f 11 36 42 +f 7 21 43 +f 21 24 43 +f 31 13 43 +f 24 31 43 +f 39 7 43 +f 13 39 43 +f 14 27 44 +f 29 14 44 +f 17 29 44 +f 12 4 45 +f 17 44 45 +f 4 9 46 +f 9 18 46 +f 18 22 46 +f 22 40 46 +f 7 16 47 +f 2 21 47 +f 21 7 47 +f 38 2 47 +f 16 38 47 +f 2 3 48 +f 3 8 48 +f 24 2 48 +f 8 31 48 +f 31 24 48 +f 1 36 49 +f 36 11 49 +f 39 1 49 +f 7 39 49 +f 18 9 50 +f 9 34 50 +f 34 18 50 +f 20 3 51 +f 15 20 51 +f 3 30 51 +f 30 15 51 +f 36 1 52 +f 10 37 52 +f 42 36 52 +f 18 5 53 +f 22 18 53 +f 37 22 53 +f 19 12 54 +f 27 19 54 +f 44 27 54 +f 12 45 54 +f 45 44 54 +f 13 23 55 +f 39 13 55 +f 23 39 55 +f 1 14 56 +f 14 10 56 +f 52 1 56 +f 10 52 56 +f 6 8 57 +f 27 6 57 +f 19 27 57 +f 8 41 57 +f 41 19 57 +f 5 26 58 +f 25 37 58 +f 42 25 58 +f 26 42 58 +f 53 5 58 +f 37 53 58 +f 31 6 59 +f 13 31 59 +f 11 15 60 +f 16 11 60 +f 15 30 60 +f 30 16 60 +f 6 27 61 +f 27 14 61 +f 32 13 61 +f 14 32 61 +f 59 6 61 +f 13 59 61 +f 40 17 62 +f 45 4 62 +f 17 45 62 +f 4 46 62 +f 46 40 62 +f 37 25 63 +f 25 42 63 +f 52 37 63 +f 42 52 63 +f 16 7 64 +f 11 28 64 +f 28 16 64 +f 7 49 64 +o convex_1 +v -0.080891 4.117484 -0.365643 +v -0.080891 -0.624173 1.285094 +v -0.140898 -0.624173 1.285094 +v 0.219145 -0.654539 -1.296252 +v 1.029442 2.706666 0.054306 +v -0.981199 -0.655006 -0.065463 +v -0.711167 3.636778 0.744619 +v -0.741171 3.366293 -0.725708 +v 1.029442 -0.654539 0.114443 +v 0.729407 3.246701 0.774687 +v 0.669400 3.576514 -0.695639 +v 0.939432 -0.174300 -0.755776 +v -0.891188 -0.655006 0.834572 +v -0.771174 -0.655006 -0.845729 +v -1.011203 3.036479 -0.005579 +v 0.849421 -0.654539 0.804503 +v 0.039123 3.606880 0.954593 +v -0.050887 3.516251 -0.935682 +v -0.831181 1.656494 0.954846 +v 0.309155 4.117484 0.264280 +v 0.819418 1.686859 -0.875798 +v -0.260912 -0.534012 -1.206047 +v 0.879425 3.606880 0.084121 +v -0.921192 3.636778 -0.065463 +v -0.020884 2.886055 1.074615 +v 0.789414 2.826258 0.804756 +v -0.290915 4.117484 0.324164 +v 0.039123 2.886055 -1.025888 +v 0.939432 -0.654539 -0.725708 +v -0.741171 2.976683 -0.785845 +v 0.369162 4.117484 -0.215301 +v -0.711167 3.636778 -0.695639 +v 0.639397 3.636778 0.714550 +v -0.320919 -0.654539 1.254773 +v 1.059446 1.596230 0.054306 +v -0.921192 -0.144402 0.834572 +v 0.339159 -0.594275 -1.265931 +v 0.849421 1.056195 0.804503 +v -0.380926 4.117484 -0.005579 +v -1.011203 2.796360 0.114443 +v 0.999439 2.886521 -0.065463 +v 0.009323 3.636311 -0.905614 +v -0.801178 0.006023 -0.785845 +v 0.009323 -0.624173 -1.296252 +v -0.020884 2.886055 -1.025888 +v 0.759411 2.916420 -0.755776 +v -0.951195 -0.264461 0.624345 +v -0.921192 3.636778 0.114443 +v -0.771174 3.066378 0.804503 +v 0.789414 -0.564844 0.864640 +v 0.969435 -0.294360 -0.665571 +v 0.849421 1.266416 -0.875798 +v -0.771174 2.976683 -0.755776 +v 0.279152 2.915952 0.984662 +v -0.711167 -0.354156 1.014730 +v -1.011203 2.976683 -0.035395 +v 0.069127 4.117484 0.384302 +v 0.849421 3.606880 -0.155416 +v 0.879425 -0.084605 0.744619 +v 0.639397 -0.654539 -1.025888 +v 0.789414 1.716290 0.834572 +v -0.080891 3.606880 0.954593 +v 0.129134 4.117484 -0.365643 +v -0.320919 -0.654539 -1.175978 +f 86 108 128 +f 73 77 78 +f 77 70 78 +f 77 73 80 +f 67 66 89 +f 69 87 90 +f 87 74 90 +f 84 65 91 +f 73 78 93 +f 65 84 95 +f 84 87 95 +f 72 88 96 +f 94 72 96 +f 82 94 96 +f 81 74 97 +f 74 87 97 +f 87 84 97 +f 66 67 98 +f 80 66 98 +f 77 80 98 +f 67 89 98 +f 89 83 98 +f 92 85 101 +f 68 92 101 +f 69 90 102 +f 99 69 102 +f 91 65 103 +f 65 96 103 +f 96 88 103 +f 100 83 104 +f 87 69 105 +f 92 82 106 +f 75 92 106 +f 96 65 106 +f 82 96 106 +f 78 70 107 +f 92 68 108 +f 82 92 109 +f 94 82 109 +f 86 94 109 +f 108 86 109 +f 92 108 109 +f 92 75 110 +f 85 92 110 +f 105 85 110 +f 70 77 111 +f 77 100 111 +f 104 70 111 +f 100 104 111 +f 88 79 112 +f 71 91 112 +f 103 88 112 +f 91 103 112 +f 79 104 112 +f 112 104 113 +f 83 89 113 +f 104 83 113 +f 71 112 113 +f 66 80 114 +f 80 102 114 +f 93 76 115 +f 73 93 115 +f 69 99 115 +f 99 73 115 +f 105 69 115 +f 105 115 116 +f 101 85 116 +f 85 105 116 +f 115 76 116 +f 72 94 117 +f 94 78 117 +f 78 107 117 +f 74 81 118 +f 89 66 118 +f 81 89 118 +f 66 90 118 +f 90 74 118 +f 77 98 119 +f 98 83 119 +f 100 77 119 +f 83 100 119 +f 88 72 120 +f 79 88 120 +f 104 79 120 +f 70 104 120 +f 107 70 120 +f 72 117 120 +f 117 107 120 +f 84 91 121 +f 81 97 121 +f 97 84 121 +f 75 95 122 +f 95 87 122 +f 87 105 122 +f 110 75 122 +f 105 110 122 +f 80 73 123 +f 73 99 123 +f 102 80 123 +f 99 102 123 +f 78 68 124 +f 76 93 124 +f 93 78 124 +f 68 101 124 +f 116 76 124 +f 101 116 124 +f 90 66 125 +f 102 90 125 +f 66 114 125 +f 114 102 125 +f 89 81 126 +f 91 71 126 +f 71 113 126 +f 113 89 126 +f 81 121 126 +f 121 91 126 +f 65 95 127 +f 95 75 127 +f 75 106 127 +f 106 65 127 +f 68 78 128 +f 78 94 128 +f 94 86 128 +f 108 68 128 +o convex_2 +v 0.399310 4.117484 -0.005532 +v -0.351081 4.117484 -0.005532 +v -0.351081 4.117484 0.054335 +v -0.020839 5.858051 0.024437 +v 0.068994 4.147814 0.384625 +v 0.039025 4.207793 -0.335751 +v 0.249100 5.617967 -0.005532 +v -0.020839 5.648127 0.234429 +v -0.230913 5.587978 0.024437 +v -0.261029 4.117484 0.324546 +v 0.279142 4.267771 0.294437 +v -0.230913 4.117484 -0.275673 +v 0.009130 5.587978 -0.155657 +v 0.309257 4.117484 -0.245634 +v 0.249100 5.528000 0.084374 +v 0.219131 5.407872 -0.125618 +v -0.170976 5.468021 0.204531 +v 0.039025 5.648127 0.234429 +v -0.140934 5.438032 -0.125618 +v 0.369268 4.117484 0.144382 +v 0.129078 4.147814 -0.335751 +v 0.339152 4.237782 -0.215665 +v -0.230913 5.557989 0.084374 +v -0.050881 4.117484 0.384625 +v -0.261029 4.147814 -0.245634 +v -0.170976 4.147814 -0.305712 +v 0.279142 5.468021 -0.005532 +v 0.068994 5.587978 -0.155657 +v 0.189089 5.438032 0.174492 +v 0.039025 5.858051 0.054335 +v 0.399310 4.207793 0.054335 +v 0.279142 4.117484 0.294437 +f 152 148 160 +f 131 130 129 +f 130 131 137 +f 131 129 138 +f 129 130 140 +f 137 132 141 +f 129 140 142 +f 138 136 145 +f 136 133 146 +f 133 139 146 +f 137 141 147 +f 138 129 148 +f 143 139 148 +f 142 140 149 +f 149 144 150 +f 129 142 150 +f 142 149 150 +f 136 132 151 +f 132 137 151 +f 137 131 151 +f 131 138 151 +f 145 136 151 +f 138 145 151 +f 133 136 152 +f 136 138 152 +f 138 148 152 +f 130 137 153 +f 140 130 153 +f 137 147 153 +f 147 140 153 +f 141 134 154 +f 140 147 154 +f 147 141 154 +f 134 149 154 +f 149 140 154 +f 135 143 155 +f 144 135 155 +f 150 144 155 +f 129 150 155 +f 141 132 156 +f 134 141 156 +f 135 144 156 +f 149 134 156 +f 144 149 156 +f 139 143 157 +f 146 139 157 +f 143 146 157 +f 132 136 158 +f 143 135 158 +f 136 146 158 +f 146 143 158 +f 156 132 158 +f 135 156 158 +f 148 129 159 +f 143 148 159 +f 155 143 159 +f 129 155 159 +f 139 133 160 +f 148 139 160 +f 133 152 160 +o convex_3 +v -0.050907 -0.655006 1.405436 +v -0.050907 -1.495362 1.255255 +v 0.069041 -1.495362 1.255255 +v 0.069041 -1.105126 3.055842 +v 0.339279 -1.165175 1.255255 +v -0.351081 -0.925226 1.255255 +v -0.170855 -1.135150 2.665583 +v 0.249199 -1.075184 2.845729 +v -0.020903 -0.865177 2.785622 +v 0.129049 -1.315215 2.725690 +v -0.261002 -1.405288 1.315363 +v -0.321010 -0.685112 1.255255 +v 0.219195 -0.835235 1.255255 +v 0.279203 -1.405288 1.375470 +v -0.020903 -1.315215 2.695548 +v 0.189192 -0.925226 2.635617 +v -0.351081 -1.075184 1.315363 +v -0.140851 -1.045324 2.755656 +v 0.069041 -0.865177 2.785622 +v 0.129049 -0.745161 1.255255 +v 0.249199 -1.135150 2.815588 +v -0.291006 -0.655006 1.315363 +v 0.279203 -1.015299 1.975666 +v -0.140851 -1.345239 2.185426 +v 0.069041 -1.495362 1.375470 +v 0.309207 -1.345239 1.255255 +v -0.140851 -0.925226 2.575509 +v -0.230998 -1.435313 1.255255 +v 0.219195 -1.255248 2.635617 +v 0.039104 -1.345239 2.635617 +v 0.009101 -1.105126 3.025700 +v -0.020903 -0.655006 1.255255 +v 0.219195 -0.865177 1.825661 +v -0.170855 -1.075184 2.665583 +f 187 172 194 +f 163 162 165 +f 165 162 166 +f 165 166 172 +f 165 172 173 +f 170 164 175 +f 171 167 177 +f 164 168 179 +f 161 169 179 +f 169 164 179 +f 168 176 179 +f 179 176 180 +f 173 172 180 +f 168 164 181 +f 165 168 181 +f 164 170 181 +f 169 161 182 +f 168 165 183 +f 165 173 183 +f 167 171 184 +f 175 167 184 +f 162 163 185 +f 163 174 185 +f 174 170 185 +f 163 165 186 +f 174 163 186 +f 165 181 186 +f 181 174 186 +f 178 169 187 +f 169 182 187 +f 182 172 187 +f 166 162 188 +f 177 166 188 +f 171 177 188 +f 162 184 188 +f 184 171 188 +f 170 174 189 +f 181 170 189 +f 174 181 189 +f 170 175 190 +f 184 162 190 +f 175 184 190 +f 162 185 190 +f 185 170 190 +f 164 169 191 +f 175 164 191 +f 167 175 191 +f 178 167 191 +f 169 178 191 +f 161 179 192 +f 179 180 192 +f 180 172 192 +f 182 161 192 +f 172 182 192 +f 176 168 193 +f 180 176 193 +f 173 180 193 +f 168 183 193 +f 183 173 193 +f 172 166 194 +f 166 177 194 +f 177 167 194 +f 167 178 194 +f 178 187 194 +o convex_4 +v 0.129060 -0.655006 -1.296252 +v 0.039049 -1.495362 -1.536512 +v 0.069053 -1.495362 -1.536512 +v -0.020892 -1.105126 -3.067176 +v -0.321066 -1.135150 -1.296252 +v 0.369294 -1.195199 -1.296252 +v 0.219140 -1.165175 -2.796926 +v -0.230986 -0.805210 -1.416382 +v -0.080899 -1.345239 -2.766763 +v 0.309151 -0.715137 -1.326415 +v 0.069053 -0.925226 -2.826915 +v -0.200983 -1.105126 -2.796926 +v -0.260990 -1.375264 -1.296252 +v 0.309151 -1.435313 -1.296252 +v 0.099056 -1.345239 -2.706785 +v -0.020892 -0.925226 -2.766763 +v 0.369294 -1.015299 -1.416382 +v 0.039049 -0.655006 -1.296252 +v 0.219140 -1.105126 -2.796926 +v -0.321066 -1.285190 -1.326415 +v -0.200983 -1.435313 -1.296252 +v 0.309151 -1.435313 -1.446371 +v -0.170979 -1.285190 -2.616817 +v 0.009112 -1.345239 -2.856905 +v -0.230986 -0.805210 -1.296252 +v -0.140907 -0.955250 -2.556839 +v 0.159064 -1.495362 -1.296252 +v 0.069053 -1.165175 -3.037013 +v 0.159064 -0.955250 -2.676969 +v 0.219140 -1.405288 -2.016686 +v -0.020892 -1.375264 -2.736774 +v -0.260990 -1.045324 -1.956881 +v 0.369294 -1.165175 -1.416382 +v -0.200983 -1.165175 -2.766763 +v -0.020892 -1.165175 -3.067176 +f 228 206 229 +f 195 199 200 +f 195 200 204 +f 195 204 205 +f 200 199 207 +f 200 207 208 +f 205 198 210 +f 198 206 210 +f 204 200 211 +f 199 195 212 +f 195 205 212 +f 210 202 212 +f 205 210 212 +f 211 201 213 +f 204 211 213 +f 199 206 214 +f 207 199 214 +f 208 207 215 +f 200 208 216 +f 207 214 217 +f 203 215 217 +f 215 207 217 +f 201 209 218 +f 202 199 219 +f 199 212 219 +f 212 202 219 +f 206 202 220 +f 202 210 220 +f 210 206 220 +f 196 197 221 +f 215 196 221 +f 208 215 221 +f 216 208 221 +f 198 205 222 +f 213 201 222 +f 205 213 222 +f 201 218 222 +f 205 204 223 +f 204 213 223 +f 213 205 223 +f 209 201 224 +f 201 216 224 +f 221 197 224 +f 216 221 224 +f 197 196 225 +f 196 215 225 +f 215 203 225 +f 203 218 225 +f 218 209 225 +f 209 224 225 +f 224 197 225 +f 199 202 226 +f 202 206 226 +f 206 199 226 +f 211 200 227 +f 201 211 227 +f 200 216 227 +f 216 201 227 +f 214 206 228 +f 203 217 228 +f 217 214 228 +f 206 198 229 +f 218 203 229 +f 198 222 229 +f 222 218 229 +f 203 228 229 +o convex_5 +v -0.831128 -0.895260 -0.695880 +v 1.029627 -0.655094 0.084304 +v 1.029627 -1.195182 0.084304 +v -0.351028 -1.105285 1.254829 +v 0.129071 -1.555387 -1.236065 +v -0.861245 -1.555387 0.864487 +v 0.789282 -1.555387 0.894456 +v -0.891165 -0.655094 0.834519 +v 0.279262 -0.655094 -1.296002 +v 0.789282 -0.655094 0.864487 +v 0.879436 -1.555387 -0.785786 +v -0.771091 -1.555387 -0.905910 +v -0.981319 -0.655094 -0.065540 +v 0.939473 -0.655094 -0.725599 +v -0.020726 -0.655094 1.254829 +v 0.309182 -1.435260 1.254829 +v -0.230954 -0.805187 -1.296002 +v -0.981319 -1.555387 -0.095508 +v -0.771091 -0.655094 -0.845973 +v 0.369219 -1.225236 -1.296002 +v -0.351028 -1.285255 -1.296002 +v -0.050843 -1.555387 1.224860 +v 0.999510 -1.555387 -0.125727 +v -0.530943 -0.655094 1.134705 +v 0.339299 -1.165216 1.254829 +v 0.849319 -0.655094 0.804550 +v -0.981319 -1.555387 0.114023 +v -0.260874 -1.435260 1.254829 +v -0.200837 -1.465314 -1.296002 +v 0.309182 -1.435260 -1.296002 +v 0.999510 -1.555387 0.174459 +v 0.189108 -0.775221 1.254829 +v -0.260874 -0.655094 -1.206096 +v -0.921282 -0.685148 0.714394 +v -0.771091 -1.495280 0.954643 +v -0.351028 -0.685148 1.254829 +v 0.639288 -0.655094 -1.026035 +v -0.981319 -0.655094 0.114023 +v 0.819399 -1.345275 0.864487 +v 1.029627 -0.775221 -0.035571 +v -0.771091 -0.805187 -0.875942 +v -0.561060 -1.555387 -1.056003 +v 0.309182 -1.555387 1.164923 +v 0.819399 -0.865206 0.864487 +v 1.029627 -1.405294 0.024117 +v -0.351028 -1.195182 -1.296002 +v 0.369219 -0.955280 -1.296002 +v -0.771091 -0.655094 0.954643 +v -0.891165 -1.105285 0.834519 +v 0.909356 -1.255201 -0.755817 +f 240 266 279 +f 235 234 236 +f 237 231 238 +f 231 237 239 +f 236 234 240 +f 234 235 241 +f 237 238 242 +f 238 231 243 +f 239 237 244 +f 244 233 245 +f 241 235 247 +f 230 241 247 +f 242 230 247 +f 230 242 248 +f 242 238 248 +f 246 238 249 +f 246 249 250 +f 235 236 251 +f 236 240 252 +f 244 237 253 +f 244 245 254 +f 245 236 254 +f 232 231 255 +f 231 239 255 +f 247 235 256 +f 242 247 256 +f 245 233 257 +f 235 251 257 +f 251 245 257 +f 250 249 258 +f 240 234 259 +f 249 240 259 +f 234 258 259 +f 258 249 259 +f 236 252 260 +f 232 255 260 +f 239 244 261 +f 254 239 261 +f 244 254 261 +f 238 246 262 +f 248 238 262 +f 246 248 262 +f 233 253 264 +f 257 233 264 +f 235 257 264 +f 233 244 265 +f 253 233 265 +f 244 253 265 +f 238 243 266 +f 240 249 266 +f 237 242 267 +f 242 256 267 +f 263 237 267 +f 256 263 267 +f 236 260 268 +f 260 255 268 +f 231 232 269 +f 243 231 269 +f 241 230 270 +f 230 248 270 +f 234 241 271 +f 241 250 271 +f 258 234 271 +f 250 258 271 +f 236 245 272 +f 251 236 272 +f 245 251 272 +f 254 236 273 +f 239 254 273 +f 255 239 273 +f 236 268 273 +f 268 255 273 +f 252 243 274 +f 232 260 274 +f 260 252 274 +f 269 232 274 +f 243 269 274 +f 248 246 275 +f 246 250 275 +f 250 241 275 +f 241 270 275 +f 270 248 275 +f 249 238 276 +f 238 266 276 +f 266 249 276 +f 237 235 277 +f 253 237 277 +f 235 264 277 +f 264 253 277 +f 235 237 278 +f 256 235 278 +f 237 263 278 +f 263 256 278 +f 252 240 279 +f 243 252 279 +f 266 243 279 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/124/124.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/124/124.urdf new file mode 100644 index 000000000..1989d7a51 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/124/124.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/125/125.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/125/125.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/125/125.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/125/125.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/125/125.obj new file mode 100644 index 000000000..538305961 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/125/125.obj @@ -0,0 +1,576 @@ +o convex_0 +v 1.809373 -2.031462 -0.056435 +v 3.095094 -1.368931 0.294310 +v 3.095094 -1.563921 0.333289 +v 1.146472 -1.524923 0.216352 +v 3.134203 -1.407929 -0.212351 +v 3.056180 -2.109458 0.372268 +v 1.146472 -1.524923 -0.212351 +v 3.017071 -1.914468 -0.173372 +v 1.146472 -1.953466 -0.290309 +v 1.224495 -1.953466 0.255331 +v 2.588433 -2.031462 0.372268 +v 1.653328 -1.758548 -0.290309 +v 1.458563 -1.485925 -0.212351 +v 3.056180 -2.031462 0.060437 +v 1.341432 -1.992464 0.255331 +v 2.004138 -1.953466 -0.251330 +v 2.666456 -1.407929 -0.212351 +v 2.939243 -1.368931 0.294310 +v 2.783392 -2.109458 0.255331 +v 1.146472 -1.953466 0.216352 +v 3.134203 -1.524923 -0.212351 +v 3.095094 -2.070460 0.372268 +f 14 21 22 +f 2 3 5 +f 4 7 9 +f 3 4 11 +f 4 10 11 +f 9 7 12 +f 7 4 13 +f 12 7 13 +f 9 1 15 +f 6 11 15 +f 11 10 15 +f 1 9 16 +f 9 12 16 +f 14 1 16 +f 8 14 16 +f 2 5 17 +f 5 12 17 +f 12 13 17 +f 17 13 18 +f 3 2 18 +f 4 3 18 +f 13 4 18 +f 2 17 18 +f 1 14 19 +f 14 6 19 +f 15 1 19 +f 6 15 19 +f 4 9 20 +f 10 4 20 +f 9 15 20 +f 15 10 20 +f 12 5 21 +f 14 8 21 +f 8 16 21 +f 16 12 21 +f 5 3 22 +f 3 11 22 +f 11 6 22 +f 6 14 22 +f 21 5 22 +o convex_1 +v 3.056047 3.268840 0.995710 +v 0.600342 1.359522 -1.030836 +v 0.600342 1.671223 -1.030836 +v -3.062721 1.359522 1.073766 +v -2.945783 3.230121 -0.952779 +v 3.056047 1.359327 1.034738 +v 3.095227 3.307754 -0.913750 +v -2.945783 3.230121 0.995710 +v -3.023540 1.359522 -0.952779 +v 2.939109 1.359327 -0.952779 +v -1.464765 3.269035 1.073557 +v 0.795038 3.346863 0.995710 +v 1.028915 3.268840 -1.030836 +v -0.880073 2.723265 1.112585 +v -0.957831 1.359327 1.112585 +v 1.847483 3.307754 -0.991807 +v 2.626871 1.398436 -0.991807 +v 3.056047 2.528306 1.034738 +v -3.023540 2.060948 1.073766 +v 2.977686 1.476264 -0.952779 +v -3.023540 1.944206 -0.913750 +v -2.984360 2.918225 0.761958 +v -2.010276 1.398436 1.112795 +v 0.990337 3.346863 0.644872 +v 1.263394 3.346863 0.995710 +v -0.217021 3.268840 1.073766 +v 3.056047 1.359327 0.683901 +v 3.016867 2.606328 -0.952779 +v 3.056047 3.307754 -0.173048 +v 1.185034 1.359522 -1.030836 +v -3.062721 1.398436 0.060494 +v -1.776399 3.229926 1.073557 +v -2.984360 2.801093 -0.640761 +v -3.062721 1.593201 1.073766 +v 0.756461 3.151903 -1.030836 +v -2.984360 2.840202 1.034738 +v 3.095227 3.307754 -0.601942 +v -1.308646 1.359327 -0.991807 +v 3.095227 3.229926 -0.913750 +f 29 59 61 +f 30 33 34 +f 27 30 34 +f 24 25 35 +f 32 28 37 +f 28 36 37 +f 35 27 38 +f 36 28 40 +f 32 39 42 +f 27 31 43 +f 30 27 44 +f 26 37 45 +f 37 36 45 +f 36 41 45 +f 27 34 46 +f 29 38 46 +f 38 27 46 +f 29 46 47 +f 46 34 47 +f 34 33 48 +f 33 36 48 +f 40 23 48 +f 36 40 48 +f 23 47 48 +f 47 34 48 +f 28 32 49 +f 32 42 49 +f 38 29 50 +f 35 38 50 +f 39 35 50 +f 42 39 50 +f 47 23 51 +f 24 35 52 +f 35 39 52 +f 39 32 52 +f 31 26 53 +f 43 31 53 +f 33 30 54 +f 36 33 54 +f 41 36 54 +f 27 43 55 +f 44 27 55 +f 43 53 55 +f 55 53 56 +f 26 45 56 +f 45 41 56 +f 53 26 56 +f 44 55 56 +f 35 25 57 +f 27 35 57 +f 30 44 58 +f 54 30 58 +f 41 54 58 +f 56 41 58 +f 44 56 58 +f 23 40 59 +f 40 28 59 +f 29 47 59 +f 51 23 59 +f 47 51 59 +f 25 24 60 +f 26 31 60 +f 31 27 60 +f 37 26 60 +f 32 37 60 +f 24 52 60 +f 52 32 60 +f 57 25 60 +f 27 57 60 +f 28 49 61 +f 49 42 61 +f 50 29 61 +f 42 50 61 +f 59 28 61 +o convex_2 +v -2.516952 -1.602903 0.333262 +v -1.465039 -2.070482 -0.329284 +v -1.465039 -2.031477 -0.329284 +v -1.114084 -1.524953 0.372268 +v -3.062649 -1.446881 -0.212267 +v -3.062649 -2.070482 -0.056382 +v -1.114084 -1.524953 -0.212267 +v -1.114084 -1.992471 0.216314 +v -3.023548 -1.446881 0.333262 +v -2.867716 -1.953466 0.216314 +v -3.062649 -2.070482 -0.212267 +v -1.114084 -2.070482 -0.329284 +v -2.283108 -1.446881 -0.212267 +v -1.504140 -1.602903 0.372268 +v -1.114084 -2.031477 0.138371 +v -1.621062 -1.485947 0.372268 +v -1.114084 -1.953466 -0.329284 +v -3.023548 -1.914521 0.216314 +v -1.465039 -1.485947 -0.212267 +v -1.114084 -2.070482 -0.134325 +v -1.893815 -1.992471 0.216314 +f 67 76 82 +f 64 63 66 +f 68 65 69 +f 66 67 70 +f 66 63 72 +f 63 67 72 +f 67 66 72 +f 63 64 73 +f 67 63 73 +f 68 69 73 +f 66 70 74 +f 69 65 75 +f 70 62 75 +f 62 71 75 +f 73 69 76 +f 74 70 77 +f 75 65 77 +f 70 75 77 +f 64 66 78 +f 73 64 78 +f 68 73 78 +f 66 74 78 +f 62 70 79 +f 70 67 79 +f 71 62 79 +f 67 71 79 +f 65 68 80 +f 77 65 80 +f 74 77 80 +f 68 78 80 +f 78 74 80 +f 67 73 81 +f 76 67 81 +f 73 76 81 +f 71 67 82 +f 69 75 82 +f 75 71 82 +f 76 69 82 +o convex_3 +v 0.327965 -1.213053 1.073789 +v 0.016188 -2.693886 -1.030836 +v -0.061700 -2.694077 -1.030622 +v 0.327965 -0.862445 -0.991739 +v -1.074919 -0.862254 0.995595 +v 0.990462 -2.811010 1.151770 +v -1.035974 -2.732800 0.995595 +v -1.074919 -0.862254 -0.913758 +v 1.107295 -0.862254 -0.991739 +v 1.068351 -0.862254 1.034692 +v 1.068351 -2.693886 -1.030836 +v -1.074919 -2.654972 -0.991525 +v 1.146461 -1.953374 0.216215 +v -1.114084 -1.992479 0.216001 +v -0.997030 -0.862254 1.034478 +v -1.074919 -2.694077 -0.757797 +v 0.678685 -2.811010 0.800964 +v 1.029406 -1.174330 -1.030836 +v 1.068351 -2.732991 -0.680030 +v -1.114084 -1.525129 -0.212145 +v 1.146461 -1.524938 -0.212145 +v -1.074919 -2.343087 -0.991525 +v 0.873629 -2.693886 1.151770 +v 1.029406 -1.135225 1.073789 +v 1.146461 -1.953374 -0.290126 +v -1.074919 -1.914460 0.995595 +v -0.373477 -2.771905 0.956711 +v -0.919141 -2.694077 -0.913758 +v -0.646309 -2.732800 1.034478 +v 1.146461 -1.524938 0.216215 +v -1.114084 -2.070307 -0.329009 +v 1.068351 -2.732991 -0.329009 +v -1.074919 -1.447110 -0.952642 +v -1.114084 -1.525129 0.371963 +v -0.412421 -1.369091 1.073789 +v 1.029406 -1.992479 1.112673 +f 92 106 118 +f 86 90 91 +f 90 87 91 +f 91 87 92 +f 85 84 93 +f 92 87 97 +f 89 96 98 +f 84 85 100 +f 86 91 100 +f 91 93 100 +f 93 84 100 +f 85 93 101 +f 88 99 101 +f 87 90 102 +f 85 94 104 +f 100 85 104 +f 86 100 104 +f 97 83 106 +f 92 97 106 +f 105 88 106 +f 83 105 106 +f 93 91 107 +f 101 93 107 +f 95 101 107 +f 91 103 107 +f 103 95 107 +f 96 89 108 +f 97 87 108 +f 89 97 108 +f 88 89 109 +f 89 98 109 +f 99 88 109 +f 98 99 109 +f 94 85 110 +f 98 94 110 +f 99 98 110 +f 85 101 110 +f 101 99 110 +f 89 88 111 +f 97 89 111 +f 88 105 111 +f 91 92 112 +f 92 95 112 +f 103 91 112 +f 95 103 112 +f 94 98 113 +f 98 96 113 +f 102 90 113 +f 96 102 113 +f 104 94 113 +f 95 88 114 +f 88 101 114 +f 101 95 114 +f 90 86 115 +f 86 104 115 +f 113 90 115 +f 104 113 115 +f 87 102 116 +f 102 96 116 +f 108 87 116 +f 96 108 116 +f 83 97 117 +f 105 83 117 +f 97 111 117 +f 111 105 117 +f 88 95 118 +f 95 92 118 +f 106 88 118 +o convex_4 +v 0.678710 -0.745207 -2.472236 +v 1.107497 1.164451 3.100525 +v 0.444768 1.164451 3.100525 +v 0.990419 1.164451 -3.056939 +v -0.958031 1.164451 -2.511417 +v -1.036012 -0.784289 2.983585 +v 0.951536 -0.862254 3.100525 +v -1.036012 -0.706323 -3.018361 +v -1.075109 1.164451 3.061344 +v 1.107497 -0.667241 -2.939999 +v -1.075109 -0.862254 -0.913430 +v 1.107497 -0.862254 -1.108130 +v -0.919148 1.164451 -2.939999 +v 1.107497 0.930555 -1.381193 +v -1.036012 1.125370 -1.068949 +v -1.075109 -0.862254 0.995595 +v 1.107497 0.112215 2.008879 +v -0.724089 -0.433345 -3.057542 +v -0.802070 -0.745207 -2.939999 +v -1.075109 -0.706323 -2.043655 +v 0.990419 -0.823172 2.944404 +v 0.366787 -0.628358 3.100525 +v -1.075109 -0.199647 2.983585 +v 1.068400 -0.862254 1.034173 +v 0.561845 1.164451 -3.056939 +v 1.068400 1.164451 -1.770593 +v 1.107497 -0.277612 -2.939999 +v -1.036012 -0.472427 -3.018361 +v 1.107497 0.696460 3.100525 +v 0.990419 0.891473 -3.056939 +v 0.678710 -0.862254 3.100525 +v -1.075109 1.164451 2.476039 +v -0.958031 0.657577 -2.978577 +v -0.295515 -0.706323 -3.017758 +v -0.022690 0.267749 3.100525 +v -1.075109 -0.745207 2.359701 +v 1.068400 -0.706323 -2.745298 +v -1.075109 0.073332 3.022163 +v -0.958031 -0.745207 -2.939999 +v 0.912438 -0.862254 -1.146709 +f 129 157 158 +f 121 120 122 +f 121 122 123 +f 120 121 125 +f 121 123 127 +f 128 120 130 +f 125 129 130 +f 123 122 131 +f 120 128 132 +f 129 125 134 +f 127 129 134 +f 130 120 135 +f 119 130 137 +f 126 129 138 +f 129 127 138 +f 125 121 140 +f 127 134 141 +f 125 130 142 +f 130 135 142 +f 139 125 142 +f 135 139 142 +f 131 122 143 +f 122 136 143 +f 122 120 144 +f 120 132 144 +f 144 132 145 +f 128 122 145 +f 132 128 145 +f 122 144 145 +f 133 123 146 +f 136 126 146 +f 126 138 146 +f 138 133 146 +f 120 125 147 +f 135 120 147 +f 125 139 147 +f 139 135 147 +f 122 128 148 +f 136 122 148 +f 124 134 149 +f 134 125 149 +f 140 124 149 +f 125 140 149 +f 127 123 150 +f 123 133 150 +f 138 127 150 +f 133 138 150 +f 123 131 151 +f 131 143 151 +f 143 136 151 +f 146 123 151 +f 136 146 151 +f 126 136 152 +f 128 137 152 +f 137 126 152 +f 148 128 152 +f 136 148 152 +f 121 127 153 +f 140 121 153 +f 127 140 153 +f 134 124 154 +f 124 141 154 +f 141 134 154 +f 130 119 155 +f 128 130 155 +f 119 137 155 +f 137 128 155 +f 124 140 156 +f 140 127 156 +f 141 124 156 +f 127 141 156 +f 129 126 157 +f 126 137 157 +f 157 137 158 +f 130 129 158 +f 137 130 158 +o convex_5 +v -2.010482 1.359308 1.112387 +v 0.600349 1.164451 -3.057542 +v 0.600349 1.203457 -3.057542 +v 3.056051 1.203457 1.034826 +v 2.938656 1.359308 -0.953187 +v -0.997055 1.164451 1.112387 +v -3.023309 1.359308 -0.952779 +v 3.056051 1.359308 1.034826 +v -3.062840 1.242424 0.371883 +v -0.919192 1.164451 -2.939975 +v 0.912402 1.281354 -2.745665 +v 2.315147 1.164451 0.995229 +v 2.978187 1.242424 -0.718871 +v -3.062840 1.359308 1.073198 +v -0.919192 1.242424 -2.939975 +v 0.990266 1.164451 -3.057542 +v 0.600349 1.359308 -1.459375 +v -3.062840 1.242424 1.073198 +v -1.347442 1.164451 -0.991151 +v -3.023309 1.320321 -0.952779 +v 0.990266 1.242424 -3.057542 +v 3.017118 1.203457 0.449852 +v 0.990266 1.164451 1.112795 +v 2.938656 1.281354 -0.953187 +v -0.723933 1.359308 -1.342217 +v -0.840729 1.359308 1.112387 +v 0.990266 1.359308 -1.459375 +f 169 175 185 +f 159 163 165 +f 163 159 166 +f 161 160 168 +f 160 164 168 +f 164 160 170 +f 163 166 171 +f 166 162 171 +f 159 165 172 +f 165 167 172 +f 168 165 173 +f 161 168 173 +f 165 169 173 +f 160 161 174 +f 170 160 174 +f 165 163 175 +f 164 159 176 +f 159 172 176 +f 172 167 176 +f 167 168 177 +f 168 164 177 +f 164 176 177 +f 176 167 177 +f 167 165 178 +f 165 168 178 +f 168 167 178 +f 169 163 179 +f 161 173 179 +f 173 169 179 +f 174 161 179 +f 163 174 179 +f 162 170 180 +f 171 162 180 +f 170 174 180 +f 174 171 180 +f 159 164 181 +f 162 166 181 +f 170 162 181 +f 164 170 181 +f 163 171 182 +f 174 163 182 +f 171 174 182 +f 169 165 183 +f 165 175 183 +f 175 169 183 +f 166 159 184 +f 159 181 184 +f 181 166 184 +f 163 169 185 +f 175 163 185 +o convex_6 +v 0.093961 1.281354 2.749555 +v -0.997041 1.164451 1.112989 +v -1.035966 1.164451 1.463765 +v 1.146472 1.164451 3.100525 +v 0.990553 1.203457 1.112989 +v -0.919190 1.359308 1.112989 +v -1.075109 1.164451 3.061226 +v -1.075109 1.281354 3.061226 +v 0.990553 1.242424 2.944301 +v 0.990553 1.164451 1.112989 +v -1.075109 1.320321 2.788465 +v 0.873559 1.242424 3.100525 +v -0.295511 1.320321 1.229915 +v -0.997041 1.320321 1.112989 +f 188 196 199 +f 188 187 189 +f 190 187 191 +f 188 189 192 +f 189 190 194 +f 191 186 194 +f 189 187 195 +f 190 189 195 +f 187 190 195 +f 186 191 196 +f 188 192 196 +f 192 193 196 +f 192 189 197 +f 193 192 197 +f 189 194 197 +f 194 186 197 +f 186 196 197 +f 196 193 197 +f 190 191 198 +f 194 190 198 +f 191 194 198 +f 187 188 199 +f 191 187 199 +f 196 191 199 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/125/125.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/125/125.urdf new file mode 100644 index 000000000..a1a0d4112 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/125/125.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/126/126.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/126/126.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/126/126.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/126/126.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/126/126.obj new file mode 100644 index 000000000..0e52b31b7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/126/126.obj @@ -0,0 +1,891 @@ +o convex_0 +v 0.936597 -0.810507 0.728036 +v -1.059591 -0.605049 0.258127 +v -1.059591 -0.605049 0.316816 +v -0.032130 -4.126927 0.052715 +v 0.701656 -0.458140 -0.856966 +v -0.736548 -3.070184 -0.768933 +v -0.765916 -3.070184 0.816070 +v 0.789759 -3.099278 -0.798079 +v 0.731024 -3.158186 0.698493 +v -0.765916 -0.458140 -0.856768 +v -0.178766 -0.458140 0.992335 +v -0.002762 -3.158186 -1.003689 +v -1.030224 -3.041089 0.023568 +v -0.002762 -3.158186 0.992335 +v 0.995332 -3.158186 -0.064465 +v 0.995332 -0.458140 -0.357911 +v -0.824651 -0.458140 0.904103 +v -0.765916 -3.862921 0.023568 +v 0.055772 -3.862561 -0.739588 +v 0.760391 -3.892015 -0.005776 +v 0.055772 -3.862561 0.757182 +v 0.819127 -0.458140 0.845414 +v 0.026605 -0.517047 -1.033232 +v -1.030224 -0.458140 -0.357911 +v -0.942121 -1.837796 0.845414 +v 0.995332 -0.458140 0.639804 +v -0.002762 -2.776365 -1.033232 +v -1.030224 -0.458140 0.639804 +v -0.472442 -3.715652 0.639804 +v -0.530976 -3.686557 -0.563323 +v 0.114507 -0.458140 0.992335 +v -0.765916 -3.128732 -0.739390 +v -0.178766 -2.923634 0.992335 +v 0.819127 -2.160710 0.757182 +v 0.613554 -3.716011 -0.504634 +v 0.789759 -0.458140 -0.827622 +v 0.584186 -3.657104 0.551770 +v 0.085139 -1.984346 -1.033232 +v -0.061296 -3.862561 0.757182 +v 0.055772 -3.099278 0.992335 +v 0.995332 -3.099638 0.023568 +v -0.032130 -3.862561 -0.739588 +v -0.765916 -3.862921 0.082059 +v 0.965964 -3.099638 -0.240334 +v -0.942121 -3.070184 0.346358 +v -0.032130 -4.126927 -0.035121 +v 0.760391 -3.862561 -0.122956 +v -0.854019 -0.839601 0.904103 +v -0.090664 -3.040730 -1.003689 +v 0.819127 -0.751599 0.845414 +v -1.059591 -0.458140 -0.034922 +v 0.114507 -3.099278 -1.003689 +v 0.731024 -2.923634 -0.827622 +v -0.971489 -1.485788 0.816070 +v -0.032130 -0.927963 -1.033232 +v 0.731024 -0.516688 0.874759 +v -0.795283 -3.070184 0.786725 +v -0.795283 -0.517047 -0.827622 +v -0.707181 -0.458140 0.933448 +v 0.055772 -4.126927 -0.035121 +v 0.055772 -4.097473 0.140748 +v -0.619078 -3.569102 0.639804 +v -1.000856 -3.099638 -0.064465 +v -1.030224 -0.575595 -0.357911 +f 63 13 64 +f 5 10 11 +f 3 2 13 +f 5 11 16 +f 11 10 17 +f 16 11 22 +f 10 5 23 +f 17 10 24 +f 15 16 26 +f 22 1 26 +f 16 22 26 +f 3 13 28 +f 17 24 28 +f 11 14 31 +f 22 11 31 +f 6 12 32 +f 30 18 32 +f 7 14 33 +f 14 11 33 +f 25 7 33 +f 26 1 34 +f 19 8 35 +f 5 16 36 +f 16 8 36 +f 20 9 37 +f 9 21 37 +f 21 20 37 +f 23 5 38 +f 27 23 38 +f 14 7 39 +f 21 14 39 +f 7 29 39 +f 14 21 40 +f 21 9 40 +f 31 14 40 +f 9 34 40 +f 9 20 41 +f 20 15 41 +f 15 26 41 +f 34 9 41 +f 26 34 41 +f 12 19 42 +f 18 30 42 +f 32 12 42 +f 30 32 42 +f 18 4 43 +f 13 18 43 +f 4 39 43 +f 39 29 43 +f 8 16 44 +f 16 15 44 +f 25 13 45 +f 13 43 45 +f 4 18 46 +f 18 42 46 +f 42 19 46 +f 15 20 47 +f 35 8 47 +f 19 35 47 +f 8 44 47 +f 44 15 47 +f 17 28 48 +f 25 33 48 +f 6 10 49 +f 12 6 49 +f 10 27 49 +f 27 12 49 +f 1 22 50 +f 34 1 50 +f 40 34 50 +f 2 3 51 +f 13 2 51 +f 3 28 51 +f 28 24 51 +f 19 12 52 +f 8 19 52 +f 12 27 52 +f 27 38 52 +f 52 38 53 +f 5 36 53 +f 36 8 53 +f 38 5 53 +f 8 52 53 +f 13 25 54 +f 28 13 54 +f 48 28 54 +f 25 48 54 +f 10 23 55 +f 27 10 55 +f 23 27 55 +f 22 31 56 +f 31 40 56 +f 50 22 56 +f 40 50 56 +f 7 25 57 +f 25 45 57 +f 45 43 57 +f 10 6 58 +f 24 10 58 +f 6 32 58 +f 11 17 59 +f 33 11 59 +f 17 48 59 +f 48 33 59 +f 4 46 60 +f 46 19 60 +f 47 20 60 +f 19 47 60 +f 20 21 61 +f 39 4 61 +f 21 39 61 +f 4 60 61 +f 60 20 61 +f 29 7 62 +f 43 29 62 +f 7 57 62 +f 57 43 62 +f 18 13 63 +f 32 18 63 +f 32 63 64 +f 13 51 64 +f 51 24 64 +f 24 58 64 +f 58 32 64 +o convex_1 +v -0.296334 -0.046701 0.992335 +v -0.120083 -0.193533 -1.003876 +v -0.120083 0.393545 -1.003876 +v 1.318248 0.364128 0.258216 +v -1.265084 0.393545 0.287526 +v 0.995079 -0.457781 0.639833 +v -1.030166 -0.457781 -0.357882 +v 0.789748 -0.457781 -0.827625 +v -0.824582 -0.457781 0.904209 +v 0.730829 0.393545 0.904209 +v -0.824582 0.393545 -0.856935 +v 0.819081 0.393545 -0.798315 +v -0.795249 0.393545 0.904209 +v -0.765916 -0.457781 -0.856935 +v 0.114582 -0.457781 0.992335 +v -1.000580 -0.457781 0.727763 +v 0.995079 -0.457781 -0.357882 +v 0.114582 -0.457781 -1.003876 +v 0.789748 -0.399031 0.874899 +v 1.288662 0.393461 0.052850 +v -1.176831 0.276046 -0.211136 +v 0.143915 0.393545 0.992335 +v 1.053998 0.393545 0.639833 +v -1.088832 -0.369698 0.199400 +v 0.085248 0.393545 -1.003876 +v -1.265084 0.364128 0.052654 +v -1.030166 0.393545 0.669143 +v 0.789748 0.041131 0.904209 +v -0.765916 0.305462 0.933324 +v 0.789748 0.364128 -0.827625 +v 1.024665 -0.428364 0.023344 +v 0.965746 -0.457781 0.698648 +v -0.795249 -0.252199 0.933324 +v -0.179002 -0.457781 0.992335 +v -0.795249 -0.457781 -0.827625 +v 0.848414 0.217380 -0.769005 +v -1.030166 -0.457781 0.639833 +v -1.059499 0.393545 -0.446008 +v -1.265084 0.305462 0.140780 +v -0.120083 0.393545 0.992335 +v -0.090750 -0.457781 -1.003876 +v 1.024665 -0.428364 0.551707 +v -1.059499 -0.457781 -0.093701 +v 1.288662 0.334712 0.052850 +v 0.701495 0.011882 -0.856935 +v -1.000580 0.011882 0.727763 +v 0.202581 -0.076117 0.992335 +v 1.229996 0.393461 0.405157 +v 0.760414 -0.457781 0.874899 +v 0.819081 0.393545 0.874899 +v -0.707250 0.305462 -0.886440 +v -0.619251 0.070548 0.962830 +v -1.206165 0.393545 0.404961 +f 110 91 117 +f 70 71 72 +f 71 70 73 +f 67 69 74 +f 69 67 75 +f 67 74 76 +f 74 69 77 +f 72 71 78 +f 73 70 79 +f 71 73 80 +f 70 72 81 +f 66 67 82 +f 72 78 82 +f 74 77 86 +f 65 79 86 +f 76 74 87 +f 84 76 87 +f 67 76 89 +f 82 67 89 +f 85 71 90 +f 77 69 91 +f 79 83 92 +f 74 86 92 +f 76 72 94 +f 89 76 94 +f 81 68 95 +f 70 81 95 +f 70 68 96 +f 79 70 96 +f 92 83 96 +f 87 92 96 +f 93 77 97 +f 79 65 98 +f 73 79 98 +f 97 73 98 +f 78 71 99 +f 75 78 99 +f 71 85 99 +f 72 76 100 +f 76 84 100 +f 80 69 101 +f 71 80 101 +f 69 75 102 +f 90 69 102 +f 85 90 102 +f 75 99 102 +f 99 85 102 +f 69 90 103 +f 90 71 103 +f 101 69 103 +f 88 101 103 +f 65 86 104 +f 86 77 104 +f 77 93 104 +f 78 66 105 +f 66 82 105 +f 82 78 105 +f 68 70 106 +f 95 68 106 +f 70 95 106 +f 71 101 107 +f 101 88 107 +f 103 71 107 +f 88 103 107 +f 68 81 108 +f 81 72 108 +f 84 68 108 +f 72 100 108 +f 100 84 108 +f 72 82 109 +f 82 89 109 +f 94 72 109 +f 89 94 109 +f 80 73 110 +f 77 91 110 +f 73 97 110 +f 97 77 110 +f 86 79 111 +f 79 92 111 +f 92 86 111 +f 68 84 112 +f 84 87 112 +f 96 68 112 +f 87 96 112 +f 83 79 113 +f 79 96 113 +f 96 83 113 +f 87 74 114 +f 74 92 114 +f 92 87 114 +f 67 66 115 +f 75 67 115 +f 66 78 115 +f 78 75 115 +f 93 97 116 +f 98 65 116 +f 97 98 116 +f 65 104 116 +f 104 93 116 +f 69 80 117 +f 91 69 117 +f 80 110 117 +o convex_2 +v 1.053910 2.947297 0.023540 +v -1.235659 1.332938 -0.093709 +v -1.235659 1.332938 0.052804 +v -0.707150 3.739772 0.023540 +v 0.173380 1.332938 0.992142 +v 0.819229 1.332938 -0.798358 +v -0.002869 2.917889 -0.974520 +v -0.002869 3.475614 0.845437 +v 0.965905 1.332938 0.757260 +v -0.883399 1.332938 -0.857078 +v -0.795155 1.861511 0.816173 +v 0.554736 3.505021 -0.533826 +v -0.766059 3.005857 -0.739637 +v 0.613407 3.534429 0.551833 +v -0.002869 3.710364 -0.680916 +v 0.819229 2.917889 0.786716 +v 1.200824 1.332938 0.228966 +v -0.707150 3.005857 0.727996 +v 0.085136 3.945371 0.052804 +v 0.819229 2.859329 -0.710180 +v 0.789656 3.681212 0.023540 +v 0.026466 3.035264 0.992335 +v -1.000739 2.976449 -0.005724 +v -0.795155 1.332938 0.845437 +v 0.114471 1.332938 -0.974520 +v -0.031966 3.710364 0.757452 +v 1.112581 1.362602 -0.299136 +v -0.912734 1.978886 -0.827622 +v 0.936570 1.802951 0.815980 +v 0.936570 1.802951 -0.739637 +v -0.531139 3.534173 -0.563475 +v -1.176750 1.362602 -0.387313 +v -0.560474 3.475614 0.581290 +v -0.736485 3.710364 -0.093709 +v 0.026466 3.651804 -0.739637 +v 0.173380 2.859073 0.992142 +v -0.061301 1.332938 0.992335 +v -0.178880 1.332938 -0.974520 +v 0.055801 3.710364 0.757452 +v -0.795155 2.888481 -0.768901 +v 0.877900 1.332938 0.845437 +v 1.053910 2.917889 0.111524 +v -0.149544 3.915963 -0.005724 +v -0.061301 2.859073 0.992335 +v 0.789656 3.681212 0.082068 +v 1.200824 1.332938 -0.005532 +v -0.971404 1.362602 0.610554 +v 0.173380 2.712546 -0.945063 +v -0.766059 3.681212 0.023540 +v -0.883399 1.802951 -0.857078 +v -1.000739 2.947297 -0.064445 +v 0.730986 2.976704 0.815980 +v 0.085136 3.680956 -0.710180 +v 0.907235 1.773543 -0.768901 +v 0.907235 1.332938 -0.768901 +v 1.053910 2.859329 -0.034796 +v -0.677815 2.976449 0.757452 +v 0.055801 3.945371 -0.034989 +v -0.824729 2.976449 0.463849 +v 0.672315 3.329086 0.669275 +v 0.701651 3.240607 -0.592739 +v -0.942069 1.538537 -0.827622 +v -0.002869 3.945371 0.082260 +v -0.736485 2.829921 0.727996 +f 135 176 181 +f 120 119 122 +f 122 119 123 +f 122 123 126 +f 123 119 127 +f 126 123 134 +f 118 137 138 +f 119 120 140 +f 120 122 141 +f 123 127 142 +f 126 134 146 +f 134 133 146 +f 127 119 149 +f 143 121 150 +f 135 143 150 +f 148 130 151 +f 132 148 151 +f 124 130 152 +f 137 124 152 +f 130 148 152 +f 148 132 152 +f 139 122 153 +f 122 139 154 +f 141 122 154 +f 124 142 155 +f 142 127 155 +f 125 139 156 +f 143 125 156 +f 130 124 157 +f 145 149 157 +f 122 126 158 +f 126 146 158 +f 153 122 158 +f 146 153 158 +f 134 118 159 +f 133 134 159 +f 151 121 160 +f 132 151 160 +f 128 141 161 +f 154 139 161 +f 141 154 161 +f 118 138 162 +f 138 136 162 +f 156 131 162 +f 136 156 162 +f 159 118 162 +f 133 159 162 +f 118 134 163 +f 134 123 163 +f 120 141 164 +f 141 128 164 +f 124 137 165 +f 123 142 165 +f 142 124 165 +f 150 121 166 +f 135 150 166 +f 121 151 166 +f 151 140 166 +f 124 155 167 +f 155 127 167 +f 157 124 167 +f 145 157 167 +f 119 140 168 +f 149 119 168 +f 151 130 168 +f 140 151 168 +f 130 157 168 +f 157 149 168 +f 146 133 169 +f 139 153 169 +f 153 146 169 +f 156 139 169 +f 138 129 170 +f 152 132 170 +f 137 152 170 +f 137 147 171 +f 165 137 171 +f 123 165 171 +f 147 144 172 +f 163 123 172 +f 144 163 172 +f 123 171 172 +f 171 147 172 +f 137 118 173 +f 147 137 173 +f 144 147 173 +f 118 163 173 +f 163 144 173 +f 139 125 174 +f 125 143 174 +f 143 135 174 +f 128 161 174 +f 161 139 174 +f 136 138 175 +f 132 160 175 +f 170 132 175 +f 138 170 175 +f 140 120 176 +f 135 166 176 +f 166 140 176 +f 131 156 177 +f 162 131 177 +f 133 162 177 +f 169 133 177 +f 156 169 177 +f 129 138 178 +f 138 137 178 +f 170 129 178 +f 137 170 178 +f 127 149 179 +f 149 145 179 +f 167 127 179 +f 145 167 179 +f 121 143 180 +f 156 136 180 +f 143 156 180 +f 160 121 180 +f 136 175 180 +f 175 160 180 +f 120 164 181 +f 164 128 181 +f 128 174 181 +f 174 135 181 +f 176 120 181 +o convex_3 +v -1.324106 0.481647 -0.035035 +v -1.294440 1.274226 0.052896 +v -1.294440 1.274226 -0.064414 +v -2.997090 0.892592 0.023586 +v -1.294440 0.716473 0.375858 +v -1.294440 0.980522 -0.328687 +v -2.791592 0.863109 -0.211171 +v -2.762092 0.628456 0.023586 +v -2.644760 0.951298 0.199722 +v -1.353272 0.422941 0.287790 +v -1.353272 1.127331 0.317100 +v -2.674093 1.097935 0.023586 +v -1.382605 1.215434 -0.299239 +v -2.732593 0.804662 0.199722 +v -1.969766 0.657766 -0.181861 +v -1.294440 0.393545 0.082275 +v -2.674093 1.068711 -0.093724 +v -1.294440 0.628456 -0.181861 +v -2.703426 0.628456 -0.035035 +v -2.057932 1.097935 0.229032 +v -2.585927 0.892592 0.229032 +v -2.057932 0.863109 -0.269929 +v -2.615260 1.009918 -0.181861 +v -2.497761 0.687249 -0.152551 +v -1.294440 1.097935 -0.328687 +v -1.294440 1.156727 0.287790 +v -2.997090 0.833885 -0.035035 +v -2.585927 1.039315 0.170343 +v -1.324106 0.775179 0.375858 +v -2.791592 0.892592 -0.211171 +v -2.615260 0.833885 0.229032 +v -2.615260 0.716473 0.170343 +v -2.644760 1.097935 -0.035035 +v -1.382605 1.274226 -0.035035 +f 194 214 215 +f 184 183 186 +f 184 186 187 +f 185 189 195 +f 190 185 195 +f 187 186 197 +f 191 189 197 +f 186 191 197 +f 185 193 198 +f 182 196 199 +f 197 182 199 +f 187 197 199 +f 197 189 200 +f 190 192 201 +f 183 193 201 +f 192 190 202 +f 190 195 202 +f 196 188 203 +f 199 196 203 +f 187 199 203 +f 198 194 204 +f 196 182 205 +f 188 196 205 +f 182 197 205 +f 200 188 205 +f 197 200 205 +f 184 187 206 +f 194 184 206 +f 187 203 206 +f 186 183 207 +f 192 186 207 +f 183 201 207 +f 201 192 207 +f 189 185 208 +f 188 200 208 +f 200 189 208 +f 185 190 209 +f 193 185 209 +f 190 201 209 +f 201 193 209 +f 186 192 210 +f 192 202 210 +f 185 198 211 +f 203 188 211 +f 204 194 211 +f 198 204 211 +f 194 206 211 +f 206 203 211 +f 208 185 211 +f 188 208 211 +f 191 186 212 +f 195 191 212 +f 202 195 212 +f 186 210 212 +f 210 202 212 +f 189 191 213 +f 195 189 213 +f 191 195 213 +f 198 193 214 +f 194 198 214 +f 183 184 215 +f 193 183 215 +f 184 194 215 +f 214 193 215 +o convex_4 +v -0.090773 1.274180 0.992335 +v -0.090773 0.393545 -1.003876 +v -0.296357 0.393545 -0.974370 +v -0.384356 1.332938 -0.945060 +v 1.288892 1.215330 -0.152321 +v 0.819058 0.393545 0.874899 +v -1.294440 0.393545 0.287526 +v -1.294440 1.244755 -0.328377 +v 0.848391 0.422970 -0.798315 +v 0.877724 1.332938 0.845394 +v -0.795272 1.332938 0.845199 +v -0.795272 0.393545 0.904014 +v 0.907057 1.332938 -0.769005 +v 1.288892 0.393545 0.317031 +v -0.824605 0.393545 -0.856935 +v -0.883271 1.332938 -0.856935 +v -1.294440 1.097998 0.346341 +v 1.259306 1.274180 0.287526 +v 0.143892 0.393545 0.992335 +v 0.026559 1.215330 -1.003876 +v 1.288892 0.628485 -0.181631 +v -1.294440 0.569819 -0.152321 +v -1.264854 1.332938 0.052654 +v 1.288892 0.804667 0.404961 +v 0.173225 1.332938 0.992335 +v -1.294440 1.009907 -0.357882 +v 0.554807 0.393545 -0.886440 +v 1.229973 1.332938 -0.005770 +v 1.288892 0.393545 0.023540 +v 1.288892 0.834000 -0.240446 +v -1.088855 0.452303 0.610523 +v -0.120106 0.393545 0.992335 +v 1.288892 1.186089 0.346341 +v -1.176854 0.393545 -0.211136 +v 0.085226 0.393545 -1.003876 +v 0.731058 0.452303 0.904209 +v 0.114559 1.332938 -0.974370 +v 1.083308 0.393545 0.610523 +v -1.294440 0.863241 0.375651 +v -1.206187 1.332938 -0.387192 +v -0.883271 1.068573 -0.856935 +v 0.848391 1.127423 -0.798315 +v -1.294440 1.186089 0.287526 +v 0.965723 1.332938 0.757268 +v -0.795272 0.980482 0.874704 +v 0.995309 0.863241 0.727958 +v 1.288892 1.068573 -0.240446 +v -0.648607 0.422970 0.933520 +v -0.883271 1.332938 0.757268 +v 0.848391 0.393545 -0.769005 +v 1.288892 0.540394 -0.152321 +v -1.294440 0.393545 0.082160 +v -0.912604 1.068573 0.757268 +v 0.907057 1.127423 -0.769005 +v -0.765939 0.687151 0.904014 +f 227 263 270 +f 217 218 219 +f 218 217 221 +f 218 221 222 +f 225 219 226 +f 222 221 227 +f 219 225 228 +f 221 217 229 +f 218 222 230 +f 219 218 231 +f 226 219 231 +f 223 222 232 +f 227 221 234 +f 217 219 235 +f 220 229 236 +f 222 223 237 +f 226 231 238 +f 229 220 239 +f 226 216 240 +f 225 226 240 +f 216 234 240 +f 223 231 241 +f 237 223 241 +f 230 237 241 +f 229 217 242 +f 220 228 243 +f 228 225 243 +f 233 220 243 +f 236 229 244 +f 229 242 244 +f 236 224 245 +f 220 236 245 +f 222 227 246 +f 234 216 247 +f 227 234 247 +f 220 233 248 +f 239 220 248 +f 230 222 249 +f 237 230 249 +f 217 235 250 +f 242 217 250 +f 235 242 250 +f 221 225 251 +f 234 221 251 +f 225 240 251 +f 240 234 251 +f 219 228 252 +f 235 219 252 +f 221 229 253 +f 229 239 253 +f 232 222 254 +f 222 246 254 +f 231 223 255 +f 223 238 255 +f 238 231 255 +f 218 230 256 +f 231 218 256 +f 241 231 256 +f 230 241 256 +f 228 224 257 +f 224 242 257 +f 242 235 257 +f 252 228 257 +f 235 252 257 +f 223 232 258 +f 238 223 258 +f 243 225 259 +f 233 243 259 +f 248 233 259 +f 239 248 259 +f 216 226 260 +f 225 221 261 +f 221 253 261 +f 253 239 261 +f 259 225 261 +f 239 259 261 +f 228 220 262 +f 245 228 262 +f 220 245 262 +f 247 216 263 +f 227 247 263 +f 226 238 264 +f 232 254 264 +f 258 232 264 +f 238 258 264 +f 242 224 265 +f 244 242 265 +f 244 265 266 +f 224 236 266 +f 236 244 266 +f 265 224 266 +f 222 237 267 +f 249 222 267 +f 237 249 267 +f 246 227 268 +f 254 246 268 +f 260 226 268 +f 227 260 268 +f 226 264 268 +f 264 254 268 +f 224 228 269 +f 245 224 269 +f 228 245 269 +f 216 260 270 +f 260 227 270 +f 263 216 270 +o convex_5 +v 1.288892 0.569750 -0.152516 +v 1.406383 1.274226 0.082223 +v 1.406383 1.274226 0.052956 +v 3.020899 0.863109 -0.093801 +v 1.318392 0.393545 0.287755 +v 2.756418 0.951298 0.170265 +v 1.288892 1.186123 0.317143 +v 1.288892 1.068711 -0.240619 +v 2.756418 1.127331 -0.064474 +v 2.756418 0.804662 -0.240619 +v 2.815248 0.657766 -0.064474 +v 1.288892 0.716473 0.375858 +v 1.288892 0.393545 0.023629 +v 1.406383 1.156727 -0.211231 +v 2.022995 1.156727 0.229041 +v 2.785749 0.892592 0.170265 +v 2.756418 0.921816 -0.240619 +v 1.288892 0.833885 -0.240619 +v 2.609768 0.687249 -0.181904 +v 2.785749 0.657766 -0.005759 +v 1.288892 1.244744 -0.064474 +v 1.700023 0.599060 -0.181904 +v 2.756418 1.127331 -0.005759 +v 1.318392 1.068711 0.346470 +v 2.492277 1.068711 -0.181904 +v 3.020899 0.921816 -0.035086 +v 1.406383 0.393545 0.052956 +v 1.318392 0.833885 0.375858 +v 2.580268 1.097935 0.140938 +v 2.609768 0.716473 0.111550 +v 1.435882 1.186123 -0.181904 +v 1.406383 1.186123 0.317143 +v 1.846674 0.775179 -0.240619 +f 280 292 303 +f 271 277 278 +f 273 272 279 +f 280 274 281 +f 277 271 282 +f 282 271 283 +f 275 282 283 +f 282 275 286 +f 279 274 287 +f 280 278 287 +f 274 280 287 +f 278 284 287 +f 271 278 288 +f 278 280 288 +f 280 281 289 +f 281 274 290 +f 275 281 290 +f 272 273 291 +f 277 272 291 +f 278 277 291 +f 273 279 291 +f 284 278 291 +f 283 271 292 +f 271 288 292 +f 280 289 292 +f 289 283 292 +f 279 272 293 +f 272 285 293 +f 279 287 295 +f 287 284 295 +f 274 279 296 +f 276 286 296 +f 290 274 296 +f 286 290 296 +f 293 276 296 +f 279 293 296 +f 281 275 297 +f 275 283 297 +f 289 281 297 +f 283 289 297 +f 277 282 298 +f 286 276 298 +f 282 286 298 +f 276 294 298 +f 294 277 298 +f 285 276 299 +f 276 293 299 +f 293 285 299 +f 286 275 300 +f 275 290 300 +f 290 286 300 +f 291 279 301 +f 284 291 301 +f 279 295 301 +f 295 284 301 +f 272 277 302 +f 285 272 302 +f 276 285 302 +f 294 276 302 +f 277 294 302 +f 288 280 303 +f 292 288 303 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/126/126.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/126/126.urdf new file mode 100644 index 000000000..029cf3532 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/126/126.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/127/127.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/127/127.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/127/127.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/127/127.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/127/127.obj new file mode 100644 index 000000000..042004cf5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/127/127.obj @@ -0,0 +1,1863 @@ +o convex_0 +v -0.878736 -4.009687 0.398641 +v -0.098249 -3.915094 -0.003261 +v -0.169358 -3.867811 1.108366 +v -0.973491 -3.891439 -0.878510 +v -0.807713 -3.867811 1.108366 +v -0.240296 -3.986032 1.108366 +v -0.263857 -3.962390 -0.878510 +v -0.098249 -3.891439 -0.854892 +v -0.973491 -3.986046 -0.902325 +v -0.807713 -4.009687 1.108366 +v -0.902468 -3.867811 -0.003261 +v -0.098249 -3.938749 -0.854892 +f 8 2 12 +f 3 5 6 +f 2 3 6 +f 6 1 7 +f 7 4 8 +f 3 2 8 +f 1 4 9 +f 7 1 9 +f 4 7 9 +f 5 1 10 +f 6 5 10 +f 1 6 10 +f 4 1 11 +f 1 5 11 +f 5 3 11 +f 8 4 11 +f 3 8 11 +f 2 6 12 +f 6 7 12 +f 7 8 12 +o convex_1 +v -0.169215 -3.938744 -0.003316 +v 1.202786 -3.867793 1.013746 +v 1.202786 -3.891438 1.013746 +v 1.060697 -3.915071 -0.831234 +v -0.098036 -3.820487 -0.855014 +v -0.169215 -3.962404 1.013746 +v 1.060697 -3.820487 -0.831234 +v -0.098036 -3.938730 -0.855014 +v 0.043784 -3.915084 1.013746 +v 0.091057 -3.962404 0.989782 +v 1.084200 -3.820487 -0.003316 +v 0.776923 -3.867793 1.013746 +v 0.398736 -3.938730 -0.855014 +v -0.169215 -3.962404 0.327777 +f 20 25 26 +f 14 15 16 +f 15 14 18 +f 17 13 18 +f 14 16 19 +f 13 17 20 +f 18 14 21 +f 17 18 21 +f 16 15 22 +f 15 18 22 +f 14 19 23 +f 19 17 23 +f 21 14 24 +f 17 21 24 +f 14 23 24 +f 23 17 24 +f 19 16 25 +f 17 19 25 +f 20 17 25 +f 16 22 25 +f 25 22 26 +f 18 13 26 +f 13 20 26 +f 22 18 26 +o convex_2 +v -0.926181 0.745043 1.061088 +v 1.131705 1.407324 1.155663 +v 1.131705 1.123313 1.155663 +v -0.216114 1.359935 1.202950 +v -0.926181 1.407324 1.013764 +v 0.303797 0.745043 1.013764 +v 0.280027 0.745043 1.202950 +v -0.074705 1.407324 1.013764 +v 1.107935 0.745043 1.108376 +v 1.131705 1.407324 1.108376 +v -0.926181 1.407324 1.084760 +v -0.926181 0.745043 1.013764 +v -0.145611 0.792432 1.202950 +v 0.587824 1.407324 1.202968 +v -0.926181 0.816030 1.084760 +f 27 39 41 +f 27 32 33 +f 31 28 34 +f 32 31 34 +f 29 33 35 +f 33 32 35 +f 28 29 36 +f 34 28 36 +f 32 34 36 +f 29 35 36 +f 35 32 36 +f 31 27 37 +f 28 31 37 +f 27 31 38 +f 31 32 38 +f 32 27 38 +f 27 33 39 +f 29 28 40 +f 33 29 40 +f 28 37 40 +f 37 30 40 +f 30 39 40 +f 39 33 40 +f 30 37 41 +f 37 27 41 +f 39 30 41 +o convex_3 +v -2.156172 -0.863748 -2.888696 +v -1.564871 -1.099953 -0.239980 +v -1.564871 -1.218229 -0.239980 +v -2.132540 -0.769081 -0.239980 +v -1.706913 -0.698081 -2.817865 +v -2.085151 -1.171011 -2.912662 +v -1.635955 -0.627080 -0.239980 +v -2.061582 -1.147286 -0.311077 +v -2.203561 -0.674356 -2.486609 +v -1.706913 -1.123677 -2.841564 +v -2.061582 -0.650747 -0.239980 +v -1.825074 -0.721748 -2.960326 +v -2.203561 -0.745414 -2.864997 +v -1.635955 -0.627080 -0.642067 +v -2.085151 -1.171011 -1.872294 +v -1.919664 -1.171011 -2.888696 +v -2.085214 -1.052677 -0.239980 +v -2.132540 -0.674472 -0.239980 +v -1.564871 -1.170895 -0.405874 +f 51 46 60 +f 44 43 45 +f 45 43 48 +f 45 48 52 +f 47 42 53 +f 50 46 53 +f 46 51 53 +f 42 47 54 +f 45 50 54 +f 53 42 54 +f 50 53 54 +f 43 46 55 +f 48 43 55 +f 46 50 55 +f 52 48 55 +f 50 52 55 +f 47 44 56 +f 44 49 56 +f 54 47 56 +f 44 47 57 +f 51 44 57 +f 47 53 57 +f 53 51 57 +f 44 45 58 +f 49 44 58 +f 45 54 58 +f 56 49 58 +f 54 56 58 +f 50 45 59 +f 45 52 59 +f 52 50 59 +f 43 44 60 +f 46 43 60 +f 44 51 60 +o convex_4 +v -0.973491 0.981410 -0.405459 +v -0.926167 1.407324 0.327745 +v -0.784268 1.407324 -0.760195 +v -0.807940 -0.603367 -0.240132 +v -0.973491 -0.603367 -0.169162 +v -0.831593 -0.603367 -0.831281 +v -0.973491 1.407324 -0.452696 +v -0.949820 0.745032 0.327745 +v -0.784268 -0.603367 -0.831281 +v -0.807940 1.407324 -0.855014 +v -0.973491 1.407324 0.043748 +f 68 62 71 +f 63 62 64 +f 64 65 66 +f 65 61 66 +f 62 63 67 +f 61 65 67 +f 66 61 67 +f 64 62 68 +f 65 64 68 +f 63 64 69 +f 64 66 69 +f 69 66 70 +f 67 63 70 +f 66 67 70 +f 63 69 70 +f 62 67 71 +f 67 65 71 +f 65 68 71 +o convex_5 +v -0.027284 1.336340 -2.747430 +v 0.351199 1.336340 -0.949635 +v 0.256541 1.336340 -0.949635 +v -0.027284 1.241749 -0.949635 +v 0.351199 1.265411 -2.747430 +v 0.351199 1.360013 -1.493760 +v -0.027284 1.360013 -2.345143 +v 0.303852 1.289062 -0.949635 +v 0.327525 1.312689 -2.723673 +v -0.027284 1.289062 -0.949635 +v 0.020027 1.360013 -2.747430 +v -0.003610 1.312689 -2.747430 +f 76 75 83 +f 73 74 75 +f 73 76 77 +f 74 73 77 +f 74 77 78 +f 72 75 78 +f 73 75 79 +f 75 76 79 +f 76 73 79 +f 77 76 80 +f 75 74 81 +f 74 78 81 +f 78 75 81 +f 76 72 82 +f 78 77 82 +f 72 78 82 +f 80 76 82 +f 77 80 82 +f 75 72 83 +f 72 76 83 +o convex_6 +v -0.027284 1.218027 -0.949635 +v -0.121905 1.005186 -2.747430 +v -0.121905 1.360013 -2.747430 +v -0.027284 1.360013 -2.747430 +v -0.098231 1.005186 -0.949635 +v -0.074594 1.005186 -2.368900 +v -0.074594 1.289020 -1.091650 +v -0.121905 1.336326 -2.203305 +f 90 86 91 +f 85 86 87 +f 88 85 89 +f 85 87 89 +f 87 84 89 +f 84 88 89 +f 87 86 90 +f 84 87 90 +f 88 84 90 +f 88 90 91 +f 86 85 91 +f 85 88 91 +o convex_7 +v -0.878667 4.033046 -0.665551 +v -0.027284 4.080332 0.966435 +v -0.027284 4.056716 0.966435 +v -0.027284 4.056698 -0.878670 +v -0.902512 4.151326 0.942595 +v -0.926181 3.962107 0.162001 +v -0.027284 3.962107 -0.878670 +v -0.878667 3.962107 -0.854829 +v -0.027284 3.985759 0.114682 +v -0.902512 4.103984 0.966435 +v -0.334894 4.056698 -0.878670 +v -0.145629 4.103984 0.942595 +f 96 93 103 +f 93 94 95 +f 96 92 97 +f 95 94 98 +f 98 97 99 +f 97 92 99 +f 94 97 100 +f 98 94 100 +f 97 98 100 +f 94 93 101 +f 93 96 101 +f 97 94 101 +f 96 97 101 +f 92 96 102 +f 96 95 102 +f 95 98 102 +f 98 99 102 +f 99 92 102 +f 93 95 103 +f 95 96 103 +o convex_8 +v 1.108158 0.745043 0.398813 +v 1.131788 2.235847 1.179216 +v 1.131788 2.542568 1.155550 +v 1.037200 3.819664 1.060885 +v 1.037200 1.407408 1.155550 +v 1.037200 4.033050 0.588060 +v 1.037200 0.745043 0.327898 +v 1.084517 4.033050 0.588060 +v 1.155476 0.745043 0.989969 +v 1.155476 0.768860 0.635392 +v 1.084517 0.745043 1.108217 +v 1.155476 1.998966 1.155550 +v 1.084517 3.890471 1.037302 +v 1.084517 1.407408 0.327898 +v 1.037200 2.188213 1.179216 +f 108 105 118 +f 105 106 107 +f 108 107 109 +f 108 109 110 +f 110 104 112 +f 112 104 113 +f 105 108 114 +f 108 110 114 +f 110 112 114 +f 114 112 115 +f 106 105 115 +f 113 111 115 +f 112 113 115 +f 105 114 115 +f 107 106 116 +f 109 107 116 +f 111 109 116 +f 106 115 116 +f 115 111 116 +f 110 109 117 +f 104 110 117 +f 109 111 117 +f 113 104 117 +f 111 113 117 +f 105 107 118 +f 107 108 118 +o convex_9 +v -0.665923 -3.465152 -0.878660 +v -0.973491 -3.891438 -0.878660 +v -0.973491 -3.891438 -0.784058 +v -0.831530 -1.313275 -0.831355 +v -0.098249 -3.323309 -0.807720 +v -0.121981 -1.313275 -0.784058 +v -0.216565 -3.891438 -0.878660 +v -0.098249 -1.313275 -0.831355 +v -0.831530 -1.313275 -0.784058 +v -0.689483 -1.313275 -0.854998 +v -0.098249 -3.891438 -0.831355 +v -0.121981 -2.613841 -0.784058 +f 123 124 130 +f 120 121 122 +f 120 119 125 +f 121 120 125 +f 124 123 126 +f 122 124 126 +f 122 121 127 +f 121 124 127 +f 124 122 127 +f 119 120 128 +f 120 122 128 +f 125 119 128 +f 122 126 128 +f 126 125 128 +f 123 121 129 +f 121 125 129 +f 126 123 129 +f 125 126 129 +f 121 123 130 +f 124 121 130 +o convex_10 +v -0.926167 -3.891438 -0.713062 +v -0.831583 -1.313275 -0.003428 +v -0.855229 -1.313275 -0.003428 +v -0.807921 -1.313275 -0.784049 +v -0.807921 -3.110544 -0.003428 +v -0.973475 -3.867461 -0.665687 +v -0.902505 -3.891438 -0.003428 +v -0.807921 -2.188563 -0.784049 +v -0.973475 -3.749343 -0.784049 +v -0.831583 -1.313275 -0.784049 +v -0.807921 -1.384449 -0.003428 +v -0.855229 -3.749343 -0.027115 +v -0.855229 -1.313275 -0.287297 +v -0.926167 -3.843737 -0.145400 +f 136 137 144 +f 133 132 134 +f 132 133 135 +f 135 133 137 +f 136 131 137 +f 134 135 138 +f 136 133 139 +f 131 136 139 +f 138 131 139 +f 134 138 139 +f 133 134 140 +f 134 139 140 +f 134 132 141 +f 135 134 141 +f 132 135 141 +f 137 131 142 +f 135 137 142 +f 131 138 142 +f 138 135 142 +f 139 133 143 +f 133 140 143 +f 140 139 143 +f 133 136 144 +f 137 133 144 +o convex_11 +v 1.013436 -1.313023 -0.807704 +v -0.098141 -3.820473 -0.855014 +v 0.493119 -3.820473 -0.855014 +v 0.445896 -3.820473 -0.807704 +v -0.098141 -1.313023 -0.831359 +v -0.098141 -1.313023 -0.807704 +v 1.013436 -3.820473 -0.807704 +v 1.013436 -1.313023 -0.831359 +v -0.098141 -3.347258 -0.807704 +v 1.013436 -3.820473 -0.831359 +v -0.098141 -3.299887 -0.855014 +f 152 147 155 +f 146 147 148 +f 149 146 150 +f 148 145 150 +f 145 149 150 +f 148 147 151 +f 145 148 151 +f 149 145 152 +f 145 151 152 +f 146 148 153 +f 150 146 153 +f 148 150 153 +f 151 147 154 +f 147 152 154 +f 152 151 154 +f 147 146 155 +f 146 149 155 +f 149 152 155 +o convex_12 +v -0.665948 -1.620614 1.155677 +v -0.760595 -3.867783 1.084711 +v -0.547626 -3.701984 1.061056 +v -0.169215 -3.867783 1.108366 +v -0.169215 -1.313023 1.084711 +v -0.760595 -1.313023 1.108366 +v -0.760595 -3.441657 1.132021 +v -0.192891 -1.951713 1.132021 +v -0.169215 -3.630963 1.061056 +v -0.760595 -2.543139 1.155677 +v -0.500274 -1.313023 1.084711 +v -0.192891 -2.732195 1.061056 +v -0.169215 -1.313023 1.108366 +f 163 159 168 +f 158 157 161 +f 157 159 162 +f 161 157 162 +f 157 158 164 +f 159 157 164 +f 160 159 164 +f 156 161 165 +f 161 162 165 +f 162 159 165 +f 163 156 165 +f 159 163 165 +f 158 161 166 +f 161 160 166 +f 164 158 167 +f 160 164 167 +f 158 166 167 +f 166 160 167 +f 159 160 168 +f 160 161 168 +f 161 156 168 +f 156 163 168 +o convex_13 +v -2.983998 -1.289303 -0.050679 +v -2.037975 -0.627023 0.303979 +v -2.037975 -0.650752 0.303979 +v -2.037975 -1.029188 -0.239980 +v -2.983998 -0.698016 -0.168898 +v -2.321921 -1.218310 0.398692 +v -2.983998 -0.745345 0.374936 +v -2.037975 -0.650752 -0.239917 +v -2.913058 -1.194645 0.304042 +v -2.156517 -1.218310 0.398692 +v -2.037975 -1.123717 -0.239980 +v -2.983998 -1.289303 -0.121635 +v -2.913058 -0.745345 -0.192592 +v -2.037975 -1.147316 -0.168960 +v -2.203656 -0.627023 0.256716 +f 176 173 183 +f 170 171 172 +f 173 169 175 +f 170 172 176 +f 169 174 177 +f 175 169 177 +f 174 175 177 +f 171 170 178 +f 174 169 178 +f 175 174 178 +f 170 175 178 +f 172 171 179 +f 169 173 180 +f 178 169 180 +f 180 173 181 +f 176 172 181 +f 173 176 181 +f 172 179 181 +f 179 180 181 +f 171 178 182 +f 179 171 182 +f 178 180 182 +f 180 179 182 +f 173 175 183 +f 175 170 183 +f 170 176 183 +o convex_14 +v 0.091057 -3.962339 1.013746 +v 1.155378 -3.300124 1.108345 +v 1.155378 -3.300124 1.013746 +v -0.169215 -3.300124 1.084704 +v 1.202786 -3.891353 1.132021 +v -0.169215 -3.962339 1.108345 +v 1.202786 -3.891353 1.013746 +v -0.169215 -3.938677 1.013746 +v -0.145444 -3.584004 1.108345 +v -0.169215 -3.300124 1.061063 +f 191 187 193 +f 185 186 187 +f 186 185 188 +f 184 188 189 +f 184 186 190 +f 188 184 190 +f 186 188 190 +f 186 184 191 +f 184 189 191 +f 189 187 191 +f 185 187 192 +f 188 185 192 +f 187 189 192 +f 189 188 192 +f 187 186 193 +f 186 191 193 +o convex_15 +v -0.027099 -1.502450 1.108366 +v -0.169215 -3.299670 1.061056 +v -0.169215 -3.299670 1.084711 +v 1.155476 -3.299670 1.084711 +v 1.084417 -1.313217 1.013746 +v 1.155476 -3.299670 1.013746 +v 0.540330 -1.313217 1.013746 +v 1.084417 -1.313217 1.061056 +v -0.145356 -1.313217 1.061056 +v 0.020230 -3.063178 1.037401 +v -0.169215 -2.755700 1.108366 +v -0.169215 -1.313217 1.108366 +v 0.611388 -2.424690 1.013746 +v 1.131617 -2.802960 1.084711 +f 197 201 207 +f 196 195 197 +f 197 195 199 +f 198 197 199 +f 198 199 200 +f 197 198 201 +f 198 200 201 +f 201 200 202 +f 195 202 203 +f 199 195 203 +f 202 200 203 +f 195 196 204 +f 196 197 204 +f 197 194 204 +f 194 201 205 +f 201 202 205 +f 202 195 205 +f 195 204 205 +f 204 194 205 +f 200 199 206 +f 199 203 206 +f 203 200 206 +f 194 197 207 +f 201 194 207 +o convex_16 +v 3.095001 -0.958195 0.162064 +v 1.203349 -1.171025 -0.216324 +v 1.203349 -1.194687 -0.192621 +v 1.202786 -0.627055 0.398632 +v 1.463296 -1.289335 0.445972 +v 3.071181 -1.242011 0.469676 +v 3.095188 -0.769028 -0.121643 +v 3.071369 -1.194687 -0.192621 +v 1.202974 -0.745430 -0.074303 +v 3.047362 -0.745366 0.280381 +v 1.202974 -1.289335 0.304085 +v 3.118820 -1.218284 -0.074236 +v 1.392401 -1.076506 -0.216324 +v 1.202974 -1.289335 0.422269 +v 1.605273 -1.289335 0.280449 +v 1.297687 -0.627055 0.351291 +v 2.929579 -1.218349 -0.145213 +v 3.071181 -1.147362 0.445972 +v 2.692701 -1.265608 0.422269 +v 2.834678 -0.816287 -0.145280 +v 1.202786 -0.863611 0.422336 +f 218 221 228 +f 210 209 215 +f 208 214 217 +f 209 210 218 +f 216 209 218 +f 208 213 219 +f 214 208 219 +f 215 214 219 +f 215 209 220 +f 209 216 220 +f 218 212 221 +f 218 210 222 +f 212 218 222 +f 216 211 223 +f 214 216 223 +f 211 217 223 +f 217 214 223 +f 210 215 224 +f 215 219 224 +f 222 210 224 +f 219 222 224 +f 213 208 225 +f 211 213 225 +f 208 217 225 +f 217 211 225 +f 213 212 226 +f 219 213 226 +f 212 222 226 +f 222 219 226 +f 214 215 227 +f 216 214 227 +f 215 220 227 +f 220 216 227 +f 212 213 228 +f 213 211 228 +f 211 216 228 +f 216 218 228 +f 221 212 228 +o convex_17 +v -0.027358 3.465325 1.061056 +v -0.784250 1.407324 1.037401 +v -0.571244 1.596686 1.013746 +v -0.027358 1.833388 1.108366 +v -0.784250 3.465325 1.084711 +v -0.074701 1.407324 1.013746 +v -0.311192 3.465325 1.037401 +v -0.784250 1.975208 1.084711 +v -0.784250 2.660940 1.037401 +v -0.027358 1.407324 1.061056 +v -0.287558 3.465325 1.084711 +v -0.784250 1.407324 1.061056 +v -0.027358 3.465325 1.037401 +v -0.358535 1.998778 1.108366 +v -0.027358 2.282619 1.108366 +f 242 232 243 +f 230 231 234 +f 233 229 235 +f 233 230 236 +f 231 230 237 +f 230 233 237 +f 233 235 237 +f 235 231 237 +f 229 232 238 +f 230 234 238 +f 229 233 239 +f 236 230 240 +f 230 238 240 +f 238 232 240 +f 234 231 241 +f 235 229 241 +f 231 235 241 +f 229 238 241 +f 238 234 241 +f 233 236 242 +f 236 240 242 +f 240 232 242 +f 232 229 243 +f 229 239 243 +f 239 233 243 +f 233 242 243 +o convex_18 +v -0.855253 -1.218272 1.155677 +v -0.831560 -1.313023 -0.783929 +v -0.997147 -1.218272 -0.027148 +v -0.807905 -0.603367 -0.783929 +v -0.997147 -0.603367 0.445792 +v -0.831560 -0.603367 1.131944 +v -0.831560 -1.313023 1.155677 +v -0.997147 -1.289335 0.493257 +v -0.997147 -0.768972 -0.145241 +v -0.807905 -1.313023 -0.263334 +v -0.878889 -0.603367 1.131944 +v -0.831560 -0.603367 -0.783929 +f 252 248 255 +f 247 248 249 +f 249 244 250 +f 246 245 251 +f 248 246 251 +f 250 244 251 +f 245 250 251 +f 245 246 252 +f 246 248 252 +f 245 247 253 +f 247 249 253 +f 250 245 253 +f 249 250 253 +f 244 249 254 +f 249 248 254 +f 251 244 254 +f 248 251 254 +f 247 245 255 +f 248 247 255 +f 245 252 255 +o convex_19 +v 1.037200 3.772581 1.013746 +v -0.027284 2.235420 1.084711 +v -0.027284 2.235420 1.108343 +v -0.027284 3.914774 1.061079 +v 1.037200 2.495641 1.155677 +v 0.114738 3.039754 1.013746 +v 0.847768 2.282763 1.108343 +v 1.037200 3.796252 1.061079 +v -0.027284 3.914774 1.037419 +v 0.729608 2.235420 1.155677 +v -0.003527 2.259091 1.061079 +v 1.037200 2.235420 1.132003 +v 0.587691 3.914774 1.013746 +f 261 264 268 +f 257 258 259 +f 260 256 263 +f 259 260 263 +f 257 259 264 +f 258 257 265 +f 259 258 265 +f 260 259 265 +f 261 256 266 +f 256 262 266 +f 257 264 266 +f 264 261 266 +f 256 260 267 +f 262 256 267 +f 265 257 267 +f 260 265 267 +f 257 266 267 +f 266 262 267 +f 256 261 268 +f 263 256 268 +f 259 263 268 +f 264 259 268 +o convex_20 +v 0.280234 0.744979 -0.855051 +v -0.784250 -0.603367 -0.831378 +v -0.476658 -0.532360 -0.902288 +v 0.280234 -0.603367 -0.807723 +v -0.784250 0.650346 -0.807723 +v -0.145727 0.744979 -0.973290 +v 0.114559 0.177185 -0.784049 +v -0.784250 0.744979 -0.855051 +v -0.263678 -0.603367 -0.784049 +v 0.280234 0.744979 -0.807723 +v 0.280234 -0.603367 -0.831378 +v -0.784250 -0.603367 -0.807723 +f 277 273 280 +f 271 270 276 +f 270 273 276 +f 274 271 276 +f 269 274 276 +f 270 272 277 +f 272 275 277 +f 275 273 277 +f 272 269 278 +f 275 272 278 +f 273 275 278 +f 269 276 278 +f 276 273 278 +f 270 271 279 +f 272 270 279 +f 269 272 279 +f 271 274 279 +f 274 269 279 +f 273 270 280 +f 270 277 280 +o convex_21 +v -0.949806 -0.603367 0.587859 +v -0.855227 -0.248308 1.132021 +v -0.855227 0.673784 1.108264 +v -0.926167 -0.603367 -0.145359 +v -0.949829 1.407324 0.989854 +v -0.973491 0.744835 -0.145359 +v -0.926179 1.407324 0.327907 +v -0.878901 -0.603367 1.132021 +v -0.973491 -0.603367 -0.097970 +v -0.926167 0.744835 -0.003316 +v -0.855227 -0.603367 0.966347 +v -0.902528 1.407324 1.013611 +v -0.855227 0.744835 1.061000 +f 292 283 293 +f 286 285 287 +f 282 283 288 +f 281 284 288 +f 285 281 288 +f 283 285 288 +f 284 281 289 +f 281 285 289 +f 285 286 289 +f 286 284 289 +f 284 286 290 +f 286 287 290 +f 283 282 291 +f 282 288 291 +f 288 284 291 +f 285 283 292 +f 287 285 292 +f 287 292 293 +f 284 290 293 +f 290 287 293 +f 283 291 293 +f 291 284 293 +o convex_22 +v 0.280118 0.744979 1.013746 +v -0.855215 -0.603319 1.108343 +v -0.831486 -1.313023 1.108343 +v 0.563881 -1.265481 1.061079 +v 0.516704 -1.289252 1.013746 +v -0.594900 0.697437 1.037433 +v -0.831486 0.602957 1.108343 +v -0.807757 -1.313023 1.155677 +v 0.280118 0.744979 1.037433 +v -0.855215 0.744979 1.061065 +v -0.263820 0.697437 1.013746 +v 0.587751 -0.603319 1.013746 +f 302 297 305 +f 295 296 301 +f 298 297 301 +f 296 298 301 +f 300 295 301 +f 301 297 302 +f 300 301 302 +f 296 295 303 +f 299 296 303 +f 295 300 303 +f 302 294 303 +f 300 302 303 +f 294 298 304 +f 298 296 304 +f 296 299 304 +f 299 303 304 +f 303 294 304 +f 298 294 305 +f 297 298 305 +f 294 302 305 +o convex_23 +v 1.155476 0.531825 -0.784049 +v 0.280405 -0.603367 -0.831350 +v 0.989799 -0.295845 -0.855008 +v 0.280405 0.744979 -0.831350 +v 1.155476 0.744979 -0.855008 +v 1.108017 -0.603367 -0.784049 +v 0.280405 0.744979 -0.807713 +v 1.108017 -0.603367 -0.855008 +v 0.280405 -0.603367 -0.807713 +v 1.131661 0.744979 -0.784049 +v 0.824208 0.744979 -0.855008 +f 310 308 316 +f 309 307 312 +f 310 309 312 +f 307 308 313 +f 310 306 313 +f 308 310 313 +f 311 307 313 +f 306 311 313 +f 307 311 314 +f 311 312 314 +f 312 307 314 +f 306 310 315 +f 311 306 315 +f 312 311 315 +f 310 312 315 +f 308 307 316 +f 307 309 316 +f 309 310 316 +o convex_24 +v 0.682382 0.295345 1.155641 +v 0.280310 -0.603319 1.013756 +v 1.060793 -1.313023 0.990120 +v 0.304052 0.744979 1.013756 +v 1.060712 0.744979 1.108352 +v 0.918828 -1.147231 1.084698 +v 0.493257 0.744979 1.179332 +v 1.108114 -0.603319 0.990120 +v 0.587820 -1.313023 1.037428 +v 1.060712 0.366255 1.132006 +v 1.084373 -1.313023 1.061045 +v 0.280310 -0.603319 1.037428 +v 0.280310 0.744979 1.061063 +f 328 323 329 +f 319 318 320 +f 322 317 323 +f 321 320 323 +f 319 320 324 +f 320 321 324 +f 318 319 325 +f 322 323 325 +f 317 322 326 +f 323 317 326 +f 321 323 326 +f 324 321 326 +f 324 326 327 +f 319 324 327 +f 325 319 327 +f 322 325 327 +f 326 322 327 +f 318 325 328 +f 325 323 328 +f 320 318 329 +f 323 320 329 +f 318 328 329 +o convex_25 +v 1.155452 -1.313023 0.446094 +v 1.108175 0.744979 1.131947 +v 1.131820 0.744979 1.108313 +v 1.084529 -1.313023 0.989990 +v 1.202786 -1.313023 0.493438 +v 1.131820 0.744979 0.730008 +v 1.060855 0.744979 1.108313 +v 1.155452 -0.603319 0.375116 +v 1.060855 -1.313023 0.919012 +v 1.179126 0.579186 0.730008 +v 1.202786 -0.626888 0.375116 +v 1.179126 0.673867 0.871817 +v 1.108175 -0.366616 1.084604 +v 1.060855 -0.603319 1.084604 +f 333 342 343 +f 333 330 334 +f 331 332 335 +f 331 335 336 +f 336 335 337 +f 330 333 338 +f 336 337 338 +f 337 330 338 +f 334 330 340 +f 330 337 340 +f 337 335 340 +f 335 339 340 +f 340 339 341 +f 335 332 341 +f 339 335 341 +f 334 340 341 +f 332 331 342 +f 333 334 342 +f 341 332 342 +f 334 341 342 +f 331 336 343 +f 338 333 343 +f 336 338 343 +f 342 331 343 +o convex_26 +v -0.121861 0.863281 -2.818219 +v 0.398510 1.005162 -0.949635 +v 0.374810 1.005162 -0.949635 +v 0.043714 0.745029 -0.949635 +v 0.374810 0.792340 -2.912942 +v -0.121861 1.005137 -2.936671 +v -0.098215 1.005137 -0.949635 +v 0.398510 1.005162 -2.889018 +v 0.374810 0.768634 -0.949635 +v -0.145560 0.745029 -1.115351 +v 0.398510 0.839626 -2.747031 +v 0.138298 0.815996 -2.912942 +f 348 353 355 +f 345 346 347 +f 347 346 350 +f 346 349 350 +f 346 345 351 +f 348 349 351 +f 349 346 351 +f 345 347 352 +f 347 348 352 +f 348 347 353 +f 349 344 353 +f 350 349 353 +f 347 350 353 +f 351 345 354 +f 348 351 354 +f 345 352 354 +f 352 348 354 +f 349 348 355 +f 344 349 355 +f 353 344 355 +o convex_27 +v -0.571308 -0.839965 -0.878660 +v 1.013503 -0.603367 -0.807709 +v 1.013503 -1.313023 -0.807709 +v -0.831560 -1.313023 -0.784058 +v -0.831560 -0.603367 -0.784058 +v -0.689424 -1.313023 -0.854991 +v -0.405512 -0.603367 -0.878660 +v 1.013503 -1.313023 -0.831359 +v -0.003666 -0.674361 -0.784058 +v 1.013503 -0.603367 -0.831359 +v -0.831560 -0.603367 -0.831359 +f 360 362 366 +f 358 359 361 +f 360 357 362 +f 357 358 363 +f 361 356 363 +f 358 361 363 +f 356 362 363 +f 358 357 364 +f 359 358 364 +f 360 359 364 +f 357 360 364 +f 362 357 365 +f 357 363 365 +f 363 362 365 +f 359 360 366 +f 356 361 366 +f 361 359 366 +f 362 356 366 +o convex_28 +v 0.445820 1.360013 -1.115566 +v 0.351199 1.005186 -2.889171 +v 0.398510 1.005186 -2.889171 +v 0.374864 1.005186 -0.949635 +v 0.351199 1.360013 -1.399396 +v 0.422156 1.289020 -2.865439 +v 0.422156 1.005186 -0.997288 +v 0.351199 1.289020 -2.889171 +v 0.351199 1.336326 -0.949635 +v 0.445820 1.194409 -1.659495 +f 367 373 376 +f 368 369 370 +f 371 367 372 +f 370 369 373 +f 369 368 374 +f 368 371 374 +f 371 372 374 +f 372 369 374 +f 368 370 375 +f 367 371 375 +f 371 368 375 +f 370 373 375 +f 373 367 375 +f 372 367 376 +f 369 372 376 +f 373 369 376 +o convex_29 +v -0.311192 3.890916 -0.831359 +v -0.784250 0.745043 -0.855014 +v -0.453073 0.910682 -0.878670 +v -0.784250 3.962084 -0.855014 +v -0.027358 3.962084 -0.878670 +v -0.027358 2.022602 -0.831359 +v -0.784250 0.745043 -0.831359 +v -0.192872 0.745043 -0.878670 +v -0.784250 3.962084 -0.831359 +v -0.618587 1.928131 -0.878670 +v -0.382170 0.745043 -0.831359 +v -0.027358 3.535707 -0.831359 +v -0.027358 1.407598 -0.878670 +v -0.429290 3.962084 -0.878670 +f 381 386 390 +f 382 377 383 +f 380 378 383 +f 378 379 384 +f 379 381 384 +f 383 378 384 +f 377 381 385 +f 381 380 385 +f 383 377 385 +f 380 383 385 +f 379 378 386 +f 378 380 386 +f 381 379 386 +f 382 383 387 +f 384 382 387 +f 383 384 387 +f 381 377 388 +f 382 381 388 +f 377 382 388 +f 381 382 389 +f 384 381 389 +f 382 384 389 +f 380 381 390 +f 386 380 390 +o convex_30 +v -0.949822 1.407324 -0.476531 +v -0.902530 4.151326 0.966435 +v -0.949831 4.151326 0.966435 +v -0.949831 1.407324 0.966435 +v -0.878880 3.961964 -0.476531 +v -0.973482 2.282955 -0.476531 +v -0.926181 1.407324 0.966435 +v -0.926181 1.407324 -0.476531 +v -0.973482 1.407324 0.043959 +v -0.878880 3.370241 -0.452802 +v -0.902549 3.961964 -0.476531 +v -0.878880 3.938327 0.138594 +v -0.973482 2.661679 0.043959 +f 396 399 403 +f 392 393 394 +f 393 392 395 +f 395 391 396 +f 392 394 397 +f 394 391 397 +f 391 395 398 +f 397 391 398 +f 394 393 399 +f 391 394 399 +f 396 391 399 +f 398 395 400 +f 397 398 400 +f 393 395 401 +f 396 393 401 +f 395 396 401 +f 395 392 402 +f 392 397 402 +f 400 395 402 +f 397 400 402 +f 393 396 403 +f 399 393 403 +o convex_31 +v -0.997350 -1.076490 -0.121694 +v -2.037873 -1.147467 -0.239980 +v -2.037873 -1.100142 -0.239980 +v -1.588457 -1.265694 0.185814 +v -1.564825 -1.218370 -0.239980 +v -0.997350 -1.171082 0.185814 +v -0.997350 -1.218370 -0.050715 +v -2.037873 -1.100142 -0.145326 +f 407 409 411 +f 406 404 408 +f 405 406 408 +f 407 405 408 +f 408 404 410 +f 407 408 410 +f 404 409 410 +f 409 407 410 +f 404 406 411 +f 406 405 411 +f 405 407 411 +f 409 404 411 +o convex_32 +v -0.027284 3.465325 1.037394 +v -0.736898 4.151326 1.108352 +v -0.736898 4.151326 1.084695 +v -0.949836 3.465325 0.966435 +v -0.027284 4.080281 0.966435 +v -0.949836 3.489029 1.108352 +v -0.949836 4.151326 0.966435 +v -0.027284 4.080281 1.084695 +v -0.949836 4.151326 1.108352 +v -0.263882 3.465325 1.084695 +f 419 417 421 +f 412 415 416 +f 414 413 416 +f 415 417 418 +f 413 414 418 +f 416 415 418 +f 414 416 418 +f 412 416 419 +f 416 413 419 +f 413 417 419 +f 417 413 420 +f 418 417 420 +f 413 418 420 +f 415 412 421 +f 417 415 421 +f 412 419 421 +o convex_33 +v 1.060707 1.951361 -0.902306 +v -0.192870 0.745043 -0.878677 +v -0.169099 0.745043 -0.925964 +v -0.027156 2.519009 -0.855047 +v 1.155244 0.745043 -0.807718 +v 1.179015 2.519009 -0.831375 +v 0.256729 0.768833 -0.807718 +v 0.658650 1.525755 -0.949635 +v 1.155244 0.745043 -0.855033 +v -0.027156 2.519009 -0.831375 +v 1.179015 2.519009 -0.878677 +v -0.145328 0.745043 -0.949635 +v 0.375174 0.768833 -0.949635 +v 1.179015 1.407328 -0.807718 +v -0.027156 1.289076 -0.949635 +v -0.192870 1.407328 -0.855033 +v 0.634879 2.519009 -0.878677 +f 429 436 438 +f 423 424 426 +f 423 426 428 +f 426 424 430 +f 429 422 430 +f 427 425 431 +f 425 427 432 +f 422 429 432 +f 430 422 432 +f 430 424 433 +f 430 433 434 +f 429 430 434 +f 433 429 434 +f 428 426 435 +f 426 430 435 +f 427 431 435 +f 431 428 435 +f 432 427 435 +f 430 432 435 +f 433 425 436 +f 429 433 436 +f 424 423 437 +f 423 428 437 +f 431 425 437 +f 428 431 437 +f 433 424 437 +f 425 433 437 +f 425 432 438 +f 432 429 438 +f 436 425 438 +o convex_34 +v 1.084422 4.127671 -0.831371 +v -0.027284 2.519118 -0.855033 +v 1.155395 2.590130 -0.902311 +v 0.918859 4.127671 -0.949635 +v -0.027284 4.056501 -0.831371 +v 1.179131 2.519118 -0.831371 +v -0.003548 4.056501 -0.902311 +v -0.027284 2.519118 -0.831371 +v 1.108158 4.127671 -0.949635 +f 444 441 447 +f 441 440 442 +f 439 442 443 +f 440 441 444 +f 439 443 444 +f 442 440 445 +f 443 442 445 +f 440 443 445 +f 443 440 446 +f 440 444 446 +f 444 443 446 +f 441 442 447 +f 442 439 447 +f 439 444 447 +o convex_35 +v -0.027284 3.985754 -0.192419 +v 1.037200 4.033069 0.587952 +v 0.162148 4.056712 0.587952 +v 1.037200 4.127657 -0.831359 +v 0.091085 4.080342 -0.831359 +v 0.871525 4.080342 -0.831359 +v 0.729608 3.985754 0.587952 +v -0.027284 4.056712 0.587952 +v -0.027284 4.033069 -0.831359 +v 1.037200 4.056712 0.540577 +v -0.027284 4.009411 0.469583 +v 1.013443 4.127657 -0.618240 +v 1.037200 4.009411 0.493202 +v 0.824220 4.127657 -0.807602 +f 455 459 461 +f 452 451 453 +f 449 450 454 +f 454 450 455 +f 453 448 456 +f 452 453 456 +f 448 455 456 +f 455 452 456 +f 450 449 457 +f 449 451 457 +f 448 454 458 +f 455 448 458 +f 454 455 458 +f 455 450 459 +f 450 457 459 +f 457 451 459 +f 451 449 460 +f 448 453 460 +f 453 451 460 +f 454 448 460 +f 449 454 460 +f 451 452 461 +f 452 455 461 +f 459 451 461 +o convex_36 +v 0.989790 4.033048 1.037354 +v -0.027284 4.033048 0.587952 +v -0.027284 3.914774 1.037354 +v -0.027284 4.080360 1.084614 +v 1.037200 4.033048 0.587952 +v 1.037200 3.914774 1.037354 +v 0.493288 3.985767 0.587952 +v -0.027284 4.080360 0.753603 +v 0.303961 4.080360 1.060984 +f 469 465 470 +f 463 464 465 +f 465 464 467 +f 462 465 467 +f 466 462 467 +f 466 467 468 +f 464 463 468 +f 463 466 468 +f 467 464 468 +f 463 465 469 +f 466 463 469 +f 466 469 470 +f 465 462 470 +f 462 466 470 +o convex_37 +v 1.179112 -3.512729 0.658668 +v 1.084529 -2.117401 1.013746 +v 1.084510 -2.070406 -0.003266 +v 1.013545 -3.819991 -0.831359 +v 1.060855 -1.833636 -0.831359 +v 1.155439 -3.867783 1.013746 +v 1.060855 -2.425062 1.013746 +v 1.013545 -1.833636 -0.807519 +v 1.060855 -3.819991 -0.831359 +v 1.202786 -3.725602 1.013746 +v 1.084510 -2.070406 -0.594761 +v 1.037200 -1.833636 -0.003266 +v 1.202786 -3.867783 0.989905 +f 471 480 483 +f 472 473 475 +f 474 476 477 +f 476 472 477 +f 475 474 478 +f 474 477 478 +f 474 475 479 +f 473 472 480 +f 472 476 480 +f 475 473 481 +f 471 479 481 +f 479 475 481 +f 473 480 481 +f 480 471 481 +f 472 475 482 +f 477 472 482 +f 478 477 482 +f 475 478 482 +f 476 474 483 +f 479 471 483 +f 474 479 483 +f 480 476 483 +o convex_38 +v 1.013545 -1.833386 -0.831299 +v 1.179131 -0.603367 0.374935 +v 1.155476 -0.603367 0.374935 +v 1.108165 -0.603367 -0.854894 +v 1.013545 -0.603367 -0.003548 +v 1.202786 -1.313012 0.374935 +v 1.037218 -1.833386 -0.003428 +v 1.202786 -1.171059 -0.216385 +v 1.013545 -0.603367 -0.831179 +v 1.084510 -1.785948 -0.712963 +v 1.202786 -0.745441 -0.074453 +v 1.084510 -1.833386 -0.003428 +v 1.131820 -0.674404 0.351220 +f 488 490 496 +f 486 485 487 +f 486 487 488 +f 485 486 489 +f 488 484 490 +f 487 484 492 +f 484 488 492 +f 488 487 492 +f 484 487 493 +f 487 491 493 +f 491 489 493 +f 487 485 494 +f 485 489 494 +f 491 487 494 +f 489 491 494 +f 490 484 495 +f 489 490 495 +f 484 493 495 +f 493 489 495 +f 486 488 496 +f 489 486 496 +f 490 489 496 +o convex_39 +v -0.855206 -3.772855 -0.003201 +v -0.760595 -1.999024 1.155563 +v -0.831560 -1.999024 1.155563 +v -0.760595 -3.867600 1.108260 +v -0.807914 -1.999024 -0.003201 +v -0.902526 -3.867600 0.115001 +v -0.784254 -2.827226 0.020394 +v -0.831560 -3.418015 1.131855 +v -0.831560 -1.999024 -0.003201 +v -0.902526 -3.725665 -0.003201 +v -0.807914 -3.867600 1.108260 +f 504 502 507 +f 499 498 501 +f 497 500 502 +f 498 500 503 +f 500 497 503 +f 497 501 503 +f 501 498 503 +f 498 499 504 +f 500 498 504 +f 499 502 504 +f 501 497 505 +f 499 501 505 +f 502 499 506 +f 497 502 506 +f 505 497 506 +f 499 505 506 +f 502 500 507 +f 500 504 507 +o convex_40 +v -0.878859 -1.313023 1.060956 +v -0.831595 -1.999023 -0.003201 +v -0.807921 -1.999023 -0.003201 +v -0.831595 -1.999023 1.155563 +v -0.760595 -1.313023 1.131855 +v -0.973491 -1.313023 0.446125 +v -0.831595 -1.313023 -0.003201 +v -0.760595 -1.999023 1.155563 +v -0.973491 -1.407771 0.611517 +v -0.855227 -1.975320 1.131855 +v -0.807921 -1.407771 -0.003201 +f 514 512 518 +f 509 510 511 +f 508 511 512 +f 508 512 513 +f 510 509 514 +f 513 512 514 +f 509 513 514 +f 511 510 515 +f 512 511 515 +f 510 512 515 +f 513 509 516 +f 508 513 516 +f 509 511 517 +f 511 508 517 +f 516 509 517 +f 508 516 517 +f 512 510 518 +f 510 514 518 +o convex_41 +v 0.445751 1.194427 3.048096 +v 0.091027 0.815983 3.024437 +v 0.091027 0.815983 3.166368 +v 0.091027 1.194427 3.095402 +v 0.422100 0.792368 3.024437 +v 0.445751 1.194427 3.119034 +f 521 523 524 +f 520 521 522 +f 519 520 522 +f 520 519 523 +f 521 520 523 +f 522 521 524 +f 519 522 524 +f 523 519 524 +o convex_42 +v 1.108177 -1.313023 0.942755 +v 1.060880 -2.117299 -0.003428 +v 1.037200 -2.093524 -0.003428 +v 1.060880 -2.117299 1.013746 +v 1.202786 -1.336798 0.304134 +v 1.131809 -1.313023 -0.003428 +v 1.037200 -1.549598 1.013746 +v 1.084512 -2.117299 1.013746 +v 1.037200 -1.809712 -0.003428 +v 1.084512 -2.117299 -0.003428 +v 1.060880 -1.313023 0.918958 +v 1.202786 -1.313023 0.469713 +v 1.037200 -2.093524 1.013746 +f 528 531 537 +f 527 526 528 +f 526 527 530 +f 525 531 532 +f 528 526 532 +f 531 528 532 +f 530 527 533 +f 527 531 533 +f 526 530 534 +f 530 529 534 +f 532 526 534 +f 529 532 534 +f 525 530 535 +f 531 525 535 +f 530 533 535 +f 533 531 535 +f 529 530 536 +f 530 525 536 +f 525 532 536 +f 532 529 536 +f 527 528 537 +f 531 527 537 +o convex_43 +v 0.398468 1.194427 3.024437 +v 0.209282 0.744979 1.203165 +v 0.280210 0.744979 1.203165 +v 0.374803 1.194427 1.203165 +v 0.091025 0.839611 3.024437 +v 0.422165 0.768648 2.953126 +v 0.091025 0.792317 1.203165 +v 0.398468 1.147089 1.203165 +v 0.091025 0.792317 2.787686 +v 0.422165 1.194427 2.740264 +v 0.303875 0.744979 1.226876 +v 0.374803 1.194427 2.763975 +f 541 542 549 +f 540 539 541 +f 538 542 543 +f 541 539 544 +f 542 541 544 +f 540 541 545 +f 539 543 546 +f 543 542 546 +f 544 539 546 +f 542 544 546 +f 541 538 547 +f 538 543 547 +f 545 541 547 +f 543 545 547 +f 539 540 548 +f 543 539 548 +f 540 545 548 +f 545 543 548 +f 538 541 549 +f 542 538 549 +o convex_44 +v -1.020901 -0.721678 0.114844 +v -1.635837 -0.934498 -0.239980 +v -1.635837 -0.721678 -0.239980 +v -0.997209 -1.005450 -0.168968 +v -1.612082 -1.076436 -0.145310 +v -0.997209 -0.745363 -0.145310 +v -1.233756 -0.745363 0.162159 +v -0.997209 -1.076436 -0.121653 +v -1.588452 -1.076436 -0.239980 +f 553 557 558 +f 552 551 554 +f 552 550 555 +f 553 552 555 +f 550 552 556 +f 552 554 556 +f 556 554 557 +f 555 550 557 +f 553 555 557 +f 550 556 557 +f 551 552 558 +f 552 553 558 +f 554 551 558 +f 557 554 558 +o convex_45 +v 0.493288 1.407324 1.202971 +v 1.037200 2.235255 1.155663 +v 1.037200 2.164181 1.179309 +v -0.027284 2.235255 1.108387 +v 0.043779 1.407324 1.037401 +v 1.037200 1.407324 1.132001 +v 0.753157 2.235255 1.108387 +v -0.003527 1.407324 1.084725 +v 0.162148 1.549392 1.037401 +v -0.027284 2.235255 1.084725 +v 1.037200 1.573056 1.179309 +f 564 561 569 +f 561 560 562 +f 559 561 562 +f 560 561 564 +f 559 563 564 +f 562 560 565 +f 560 564 565 +f 559 562 566 +f 563 559 566 +f 564 563 567 +f 565 564 567 +f 565 567 568 +f 562 565 568 +f 566 562 568 +f 563 566 568 +f 567 563 568 +f 561 559 569 +f 559 564 569 +o convex_46 +v 1.037200 4.127504 -0.831359 +v 1.084533 4.032819 0.587952 +v 1.179131 2.755897 -0.807602 +v 1.060873 2.424497 0.587952 +v 1.131797 2.495678 -0.689373 +v 1.108165 4.009147 -0.831359 +v 1.037200 4.032819 0.587952 +v 1.179131 2.424497 -0.594622 +v 1.084533 2.424497 0.587952 +v 1.060873 2.424497 0.280360 +v 1.155457 2.424497 -0.831359 +f 579 574 580 +f 570 571 575 +f 571 572 575 +f 571 570 576 +f 573 571 576 +f 572 571 577 +f 571 573 578 +f 577 571 578 +f 573 577 578 +f 570 574 579 +f 576 570 579 +f 573 576 579 +f 577 573 579 +f 577 579 580 +f 574 570 580 +f 570 575 580 +f 575 572 580 +f 572 577 580 +o convex_47 +v 1.179112 1.407305 -0.831359 +v 1.084529 2.424497 0.587952 +v 1.060855 2.424497 0.587952 +v 1.060892 -0.603367 0.020144 +v 1.060892 -0.579360 -0.760227 +v 1.155439 2.424497 -0.831359 +v 1.108184 1.407305 0.587952 +v 1.202786 2.093139 -0.665754 +v 1.013545 -0.579360 0.020144 +v 1.060855 2.424497 0.280360 +v 1.108147 -0.603367 -0.712991 +v 1.060855 1.501852 0.587952 +v 1.202786 2.329654 -0.831359 +v 1.131820 2.424497 -0.618101 +v 1.202786 1.809499 -0.783984 +v 1.108184 2.163975 0.516959 +f 588 593 596 +f 583 582 586 +f 581 585 586 +f 582 583 587 +f 585 584 589 +f 584 587 589 +f 583 586 590 +f 585 589 590 +f 589 583 590 +f 585 581 591 +f 584 585 591 +f 587 584 591 +f 587 583 592 +f 583 589 592 +f 589 587 592 +f 586 582 593 +f 581 586 593 +f 586 585 594 +f 590 586 594 +f 585 590 594 +f 588 587 595 +f 591 581 595 +f 587 591 595 +f 581 593 595 +f 593 588 595 +f 582 587 596 +f 587 588 596 +f 593 582 596 +o convex_48 +v 1.060873 -0.603367 0.020228 +v 1.155457 0.744979 0.729883 +v 1.131797 0.744979 0.729883 +v 1.084533 0.744979 0.020228 +v 1.179131 -0.603367 0.327819 +v 1.131797 -0.603367 0.729883 +v 1.037200 0.744979 0.351507 +v 1.037200 -0.603367 0.067603 +v 1.179131 0.555714 0.706196 +v 1.179131 -0.603367 0.706196 +v 1.037200 0.295442 0.020228 +f 604 603 607 +f 599 598 600 +f 597 600 601 +f 598 599 602 +f 597 601 602 +f 602 599 603 +f 599 600 603 +f 597 602 604 +f 602 603 604 +f 600 598 605 +f 601 600 605 +f 598 602 606 +f 602 601 606 +f 605 598 606 +f 601 605 606 +f 600 597 607 +f 603 600 607 +f 597 604 607 +o convex_49 +v -0.098247 1.289020 -3.007637 +v 0.020108 1.360013 -2.747430 +v 0.303887 1.312638 -2.747430 +v -0.121879 1.005186 -2.747430 +v 0.351199 1.005186 -2.889352 +v -0.121879 1.005186 -2.936625 +v 0.351199 1.289020 -2.889352 +v -0.145560 1.360013 -2.771092 +v -0.145560 1.360013 -3.007637 +f 615 609 616 +f 610 609 611 +f 610 611 612 +f 608 612 613 +f 612 611 613 +f 612 608 614 +f 610 612 614 +f 611 609 615 +f 613 611 615 +f 613 615 616 +f 609 610 616 +f 608 613 616 +f 614 608 616 +f 610 614 616 +o convex_50 +v -0.145523 1.241680 3.071388 +v -0.003668 0.768726 1.202987 +v -0.145493 0.792400 1.202987 +v 0.090962 1.336317 1.203182 +v 0.090992 0.816016 3.166101 +v -0.216495 1.359990 1.203182 +v 0.090962 1.289027 3.094921 +v -0.074550 0.816016 3.118648 +v 0.090992 0.768726 1.202987 +v -0.169180 1.194448 2.787442 +v -0.216495 1.194448 1.226909 +v -0.145493 0.792400 1.487322 +v -0.098178 0.910653 3.166101 +f 626 628 629 +f 620 619 622 +f 620 622 623 +f 621 620 623 +f 622 617 623 +f 618 621 624 +f 618 619 625 +f 619 620 625 +f 620 621 625 +f 621 618 625 +f 617 622 626 +f 622 619 627 +f 626 622 627 +f 626 627 628 +f 619 618 628 +f 618 624 628 +f 627 619 628 +f 628 624 629 +f 623 617 629 +f 621 623 629 +f 624 621 629 +f 617 626 629 +o convex_51 +v -0.997350 -0.674319 0.138409 +v -2.037873 -0.674319 -0.239980 +v -2.037873 -0.674319 0.091202 +v -1.257506 -0.603379 0.422317 +v -1.564825 -0.721643 0.446021 +v -1.233773 -0.721643 -0.168935 +v -1.635721 -0.627041 -0.239980 +v -2.037873 -0.627041 0.304000 +v -0.997350 -0.721643 0.446021 +v -0.997350 -0.603379 0.446021 +v -1.659455 -0.721643 -0.239980 +f 636 635 640 +f 630 635 636 +f 631 632 637 +f 634 633 637 +f 632 634 637 +f 636 631 637 +f 633 636 637 +f 635 630 638 +f 634 635 638 +f 633 634 639 +f 636 633 639 +f 630 636 639 +f 638 630 639 +f 634 638 639 +f 632 631 640 +f 634 632 640 +f 635 634 640 +f 631 636 640 +o convex_52 +v 0.091027 1.241751 2.007402 +v 0.445751 1.383650 3.166176 +v 0.398449 1.383650 3.166176 +v 0.445751 1.194446 3.142347 +v 0.422100 1.289039 1.203371 +v 0.091027 1.312673 3.095073 +v 0.091027 1.312673 1.203371 +v 0.374799 1.194446 1.203371 +v 0.091027 1.194446 3.095073 +v 0.374799 1.312673 1.203371 +f 645 647 650 +f 642 643 644 +f 642 644 645 +f 643 642 647 +f 646 643 647 +f 641 646 647 +f 645 644 648 +f 641 647 648 +f 647 645 648 +f 644 643 649 +f 643 646 649 +f 646 641 649 +f 641 648 649 +f 648 644 649 +f 642 645 650 +f 647 642 650 +o convex_53 +v -0.831593 2.069771 -0.855014 +v -0.878880 3.962084 -0.476531 +v -0.855245 3.962084 -0.523879 +v -0.878880 3.962084 -0.855014 +v -0.973491 1.620387 -0.476531 +v -0.784268 1.502102 -0.736720 +v -0.784268 3.962084 -0.855014 +v -0.902514 1.407324 -0.476531 +v -0.784268 1.407324 -0.855014 +v -0.973491 2.259077 -0.547553 +v -0.902514 3.962084 -0.476531 +v -0.902514 3.749021 -0.807667 +f 660 661 662 +f 652 653 654 +f 654 653 657 +f 651 654 657 +f 653 656 657 +f 653 652 658 +f 652 655 658 +f 656 653 658 +f 656 658 659 +f 655 651 659 +f 651 657 659 +f 657 656 659 +f 658 655 659 +f 651 655 660 +f 660 655 661 +f 652 654 661 +f 655 652 661 +f 661 654 662 +f 654 651 662 +f 651 660 662 +o convex_54 +v -1.588526 -1.265641 0.185814 +v -0.997262 -0.721643 0.445996 +v -0.997262 -0.958246 0.445996 +v -0.997262 -1.171011 0.185814 +v -1.588526 -1.289312 0.422336 +v -1.564795 -0.721643 0.422336 +v -1.020878 -1.218354 0.422336 +f 665 667 669 +f 664 665 666 +f 665 664 667 +f 664 666 668 +f 666 663 668 +f 663 667 668 +f 667 664 668 +f 666 665 669 +f 663 666 669 +f 667 663 669 +o convex_55 +v -0.784266 1.975208 1.084700 +v -0.949820 1.407324 0.966447 +v -0.902512 1.407324 0.966447 +v -0.949820 3.465325 0.966447 +v -0.949820 3.465325 1.084700 +v -0.784266 3.465325 1.061037 +v -0.926158 1.407324 1.084700 +v -0.784266 1.407324 1.037387 +f 676 672 677 +f 672 671 673 +f 673 671 674 +f 672 673 675 +f 674 670 675 +f 673 674 675 +f 671 672 676 +f 670 674 676 +f 674 671 676 +f 675 670 677 +f 672 675 677 +f 670 676 677 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/127/127.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/127/127.urdf new file mode 100644 index 000000000..0663c92ee --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/127/127.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/128/128.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/128/128.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/128/128.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/128/128.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/128/128.obj new file mode 100644 index 000000000..c8dcff528 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/128/128.obj @@ -0,0 +1,489 @@ +o convex_0 +v 3.039957 0.296061 -0.779909 +v -1.904951 -0.206199 -1.089217 +v -1.904951 0.720977 -1.089217 +v -3.025987 1.609384 0.958208 +v 2.769198 -0.244775 0.997105 +v 2.962173 1.686729 -1.050528 +v 2.962173 1.570808 0.958416 +v -3.025987 -0.244968 0.919726 +v -2.986798 1.648153 -1.050320 +v 3.039957 -0.244775 -0.973149 +v -2.948204 -0.244968 -1.089009 +v -0.978078 1.725498 1.035795 +v -1.596192 -0.244968 1.035795 +v -0.939483 1.725498 -1.050320 +v 0.953452 1.725498 0.958208 +v 2.962173 -0.244775 0.765176 +v 1.880326 0.566480 1.035795 +v -0.978078 -0.244968 -1.089217 +v 3.000768 1.068354 -1.050528 +v 1.764541 1.725498 -0.973149 +v 2.884983 1.493463 0.997105 +v 2.962173 1.609384 0.881037 +v 1.841731 -0.244968 1.035795 +v -1.634787 1.609577 1.035795 +v 3.039957 -0.244775 -0.354948 +v -3.025987 -0.244968 0.494557 +v -2.986798 1.648153 -0.007574 +v -2.832418 -0.244968 0.958208 +v 2.923578 -0.244775 0.958416 +v -0.204991 1.725498 1.035795 +v -0.978078 0.643825 -1.089217 +v -3.025987 1.609384 0.533247 +v -2.986798 1.184468 -1.050320 +v 3.039957 0.373406 -1.011838 +v 2.962173 1.686729 -0.934459 +v -3.025987 0.836705 0.958208 +v -2.948204 0.218716 -1.089009 +f 11 9 37 +f 3 2 11 +f 8 11 13 +f 6 3 14 +f 3 9 14 +f 9 12 14 +f 14 12 15 +f 12 13 17 +f 2 3 18 +f 11 2 18 +f 13 11 18 +f 6 14 20 +f 14 15 20 +f 7 1 22 +f 15 7 22 +f 17 13 23 +f 18 10 23 +f 13 18 23 +f 5 21 23 +f 21 17 23 +f 12 4 24 +f 13 12 24 +f 1 7 25 +f 10 1 25 +f 7 16 25 +f 16 23 25 +f 23 10 25 +f 8 4 26 +f 11 8 26 +f 9 4 27 +f 4 12 27 +f 12 9 27 +f 8 13 28 +f 16 7 29 +f 21 5 29 +f 7 21 29 +f 5 23 29 +f 23 16 29 +f 15 12 30 +f 7 15 30 +f 12 17 30 +f 21 7 30 +f 17 21 30 +f 3 6 31 +f 18 3 31 +f 6 19 31 +f 19 18 31 +f 4 9 32 +f 26 4 32 +f 9 26 32 +f 9 11 33 +f 26 9 33 +f 11 26 33 +f 1 10 34 +f 10 18 34 +f 18 19 34 +f 22 1 34 +f 19 22 34 +f 19 6 35 +f 6 20 35 +f 20 15 35 +f 15 22 35 +f 22 19 35 +f 4 8 36 +f 24 4 36 +f 13 24 36 +f 8 28 36 +f 28 13 36 +f 9 3 37 +f 3 11 37 +o convex_1 +v 1.069298 2.034817 0.031244 +v -1.016756 3.077616 -1.050581 +v -1.132795 3.618384 0.997007 +v 1.108124 3.657320 -0.934520 +v -0.939325 1.725694 -1.050581 +v -0.977931 1.725694 1.035553 +v 1.069298 3.580039 1.113068 +v 1.107904 1.725694 -0.934520 +v 0.953479 1.725694 0.958461 +v -1.016756 3.734404 -1.011823 +v -0.707468 3.657123 1.074311 +v -0.707468 1.764433 1.074311 +v -0.977931 1.764433 -1.050581 +v 0.953479 3.618581 1.113068 +v -0.437224 2.112098 -1.050581 +v -1.016756 3.734404 -0.354850 +v 1.108124 3.618581 0.301700 +v 1.030692 2.537044 1.035553 +v -1.093969 3.695665 0.842400 +v -1.016756 1.996275 1.035553 +v -0.553043 3.734404 -1.011823 +v 1.069298 3.116354 1.035553 +v -1.132795 3.657123 1.035553 +v 0.721622 3.193439 1.113068 +v 0.992086 1.725694 0.803854 +v 0.142090 1.725694 -1.011823 +v -1.055363 3.734404 -0.586760 +v 1.108124 3.657320 -0.664064 +v -0.398617 3.695665 -1.011823 +v 1.107904 1.802975 -0.741155 +v -0.784899 1.764433 1.074311 +v 0.644410 3.193439 -0.973065 +f 66 41 69 +f 43 42 45 +f 43 45 46 +f 43 46 49 +f 40 39 50 +f 39 42 50 +f 42 43 50 +f 42 39 52 +f 45 41 54 +f 51 44 54 +f 49 46 55 +f 48 51 56 +f 51 53 56 +f 40 50 57 +f 50 43 57 +f 39 47 58 +f 47 53 58 +f 53 51 58 +f 54 44 59 +f 55 38 59 +f 44 55 59 +f 48 56 60 +f 40 57 60 +f 44 51 61 +f 51 48 61 +f 55 44 61 +f 49 55 61 +f 46 45 62 +f 38 55 62 +f 55 46 62 +f 45 42 63 +f 42 52 63 +f 39 40 64 +f 47 39 64 +f 53 47 64 +f 56 53 64 +f 40 60 64 +f 60 56 64 +f 54 41 65 +f 51 54 65 +f 41 58 65 +f 58 51 65 +f 52 39 66 +f 39 58 66 +f 58 41 66 +f 45 54 67 +f 59 38 67 +f 54 59 67 +f 38 62 67 +f 62 45 67 +f 43 49 68 +f 57 43 68 +f 48 60 68 +f 60 57 68 +f 61 48 68 +f 49 61 68 +f 41 45 69 +f 45 63 69 +f 63 52 69 +f 52 66 69 +o convex_2 +v 0.335396 -3.837853 0.147131 +v -0.321426 -4.301583 0.185775 +v -0.282786 -4.340325 0.224419 +v -0.244081 -2.447254 0.263063 +v -0.282786 -2.447254 -0.239212 +v 0.296755 -4.456356 -0.200568 +v 0.258115 -2.447254 -0.200568 +v -0.205441 -4.379068 -0.200568 +v 0.258115 -2.447254 0.185775 +v 0.180834 -4.379068 0.224419 +v -0.321426 -4.031172 0.263063 +v 0.335396 -4.379068 0.185775 +v 0.180834 -2.563284 -0.239212 +v -0.282786 -2.988272 -0.239212 +v -0.089520 -2.447254 0.263063 +v 0.335396 -4.379068 -0.084587 +v -0.128160 -4.340325 0.263063 +v 0.296755 -2.833695 0.185775 +v -0.166865 -3.336167 -0.239212 +v -0.282786 -2.447254 -0.007298 +f 74 80 89 +f 74 73 76 +f 72 71 77 +f 75 72 77 +f 76 73 78 +f 72 75 79 +f 71 72 80 +f 74 71 80 +f 79 75 81 +f 74 76 82 +f 76 75 82 +f 71 74 83 +f 77 71 83 +f 74 82 83 +f 78 73 84 +f 73 80 84 +f 76 70 85 +f 75 76 85 +f 70 81 85 +f 81 75 85 +f 72 79 86 +f 80 72 86 +f 79 84 86 +f 84 80 86 +f 70 76 87 +f 76 78 87 +f 81 70 87 +f 79 81 87 +f 78 84 87 +f 84 79 87 +f 75 77 88 +f 82 75 88 +f 77 83 88 +f 83 82 88 +f 73 74 89 +f 80 73 89 +o convex_3 +v -1.093951 -2.331140 -2.982111 +v 1.108112 -0.476788 -2.826967 +v 1.108112 -0.554133 -2.826967 +v -1.055345 -0.747399 3.082933 +v 1.030681 -2.369716 3.082933 +v -1.132776 -0.476788 -3.059683 +v 1.030681 -0.476788 3.044448 +v 1.069287 -2.253795 -2.943626 +v -0.978133 -2.331140 3.005361 +v -1.055345 -0.476788 3.043846 +v 0.219303 -2.447254 -0.238830 +v -1.132776 -2.176642 -2.943025 +v -0.243966 -2.447254 0.262080 +v 1.108112 -0.476788 -2.943626 +v 1.030681 -2.408485 0.610252 +v 0.953470 -2.292564 -2.943025 +v -1.016739 -2.369909 1.614478 +v -0.939528 -2.331333 3.082933 +v -0.784885 -0.708630 -3.059683 +v -0.398609 -2.331333 -2.982111 +v -1.132776 -0.476788 -2.247884 +v 0.644405 -2.447254 0.494195 +v 1.030681 -1.249659 3.082933 +v 1.108112 -0.863320 -2.866054 +v -1.132776 -2.060721 -3.019995 +v -1.055345 -1.481116 1.962048 +v -0.282791 -2.447254 -0.238830 +v 1.069287 -2.292564 -2.672425 +v 0.798828 -2.369909 3.082933 +v 1.030681 -2.408485 1.962048 +v -1.055345 -0.863320 3.082933 +v -1.016739 -2.369909 0.571165 +v -0.746280 -0.476788 -3.059683 +v -0.089543 -2.292564 -2.982111 +f 109 114 123 +f 92 91 94 +f 91 95 96 +f 93 96 99 +f 96 95 99 +f 91 92 103 +f 95 91 103 +f 101 90 106 +f 106 102 107 +f 94 93 107 +f 98 106 107 +f 105 100 109 +f 93 99 110 +f 99 95 110 +f 95 101 110 +f 102 100 111 +f 100 105 111 +f 93 94 112 +f 94 91 112 +f 96 93 112 +f 91 96 112 +f 92 94 113 +f 103 92 113 +f 97 103 113 +f 90 101 114 +f 101 95 114 +f 95 108 114 +f 109 90 114 +f 106 98 115 +f 101 106 115 +f 100 102 116 +f 102 106 116 +f 90 109 116 +f 109 100 116 +f 105 97 117 +f 104 111 117 +f 111 105 117 +f 113 94 117 +f 97 113 117 +f 107 102 118 +f 94 107 118 +f 102 111 119 +f 111 104 119 +f 117 94 119 +f 104 117 119 +f 118 102 119 +f 94 118 119 +f 107 93 120 +f 98 107 120 +f 93 110 120 +f 110 101 120 +f 115 98 120 +f 101 115 120 +f 106 90 121 +f 90 116 121 +f 116 106 121 +f 95 103 122 +f 103 97 122 +f 108 95 122 +f 97 108 122 +f 97 105 123 +f 108 97 123 +f 105 109 123 +f 114 108 123 +o convex_4 +v 1.069082 -0.283624 -2.441116 +v -1.132795 -0.476769 -3.059683 +v -1.132795 -0.360901 -3.059683 +v -1.093750 -0.476769 -1.089217 +v 1.108127 -0.476769 -2.943569 +v 0.953483 -0.476769 -1.089217 +v -1.093750 -0.399492 -1.089217 +v 0.953483 -0.360901 -1.244100 +v 0.373949 -0.283624 -2.982145 +v -0.630254 -0.360901 -1.398597 +v 1.108127 -0.283624 -2.943569 +v -1.132795 -0.360901 -2.402540 +v 0.953483 -0.399492 -1.089217 +v 0.567200 -0.283624 -2.480078 +v -0.746073 -0.476769 -3.059683 +f 132 134 138 +f 127 125 128 +f 128 124 129 +f 127 128 129 +f 127 129 130 +f 130 131 133 +f 124 128 134 +f 132 124 134 +f 126 125 135 +f 125 127 135 +f 127 130 135 +f 132 126 135 +f 130 133 135 +f 129 124 136 +f 130 129 136 +f 131 130 136 +f 124 131 136 +f 131 124 137 +f 124 132 137 +f 133 131 137 +f 132 135 137 +f 135 133 137 +f 125 126 138 +f 128 125 138 +f 126 132 138 +f 134 128 138 +o convex_5 +v 2.769062 -0.244968 0.997128 +v -2.948306 -0.438144 -1.089217 +v -2.986549 -0.438144 -0.316395 +v -2.948306 -0.244968 -1.089217 +v 3.078593 -0.322257 -0.973156 +v 1.030189 -0.476788 1.074432 +v -3.025987 -0.244968 0.919825 +v 0.953702 -0.476788 -1.089217 +v -3.025987 -0.438144 0.919825 +v 3.078593 -0.244968 -0.973156 +v -0.939339 -0.476788 1.074432 +v 2.923828 -0.322257 0.958371 +v -1.094105 -0.476788 -1.089217 +v 0.953702 -0.244968 1.074432 +v 2.730221 -0.360878 -0.895853 +v -1.596048 -0.244968 1.035674 +v -0.978180 -0.244968 -1.089217 +v 2.962071 -0.244968 0.765218 +v -2.832381 -0.438144 0.958371 +v 0.953702 -0.399499 -1.089217 +f 155 148 158 +f 140 141 142 +f 142 141 145 +f 139 142 145 +f 140 142 146 +f 145 141 147 +f 142 139 148 +f 143 146 148 +f 146 144 149 +f 139 144 150 +f 141 140 151 +f 140 146 151 +f 147 141 151 +f 146 149 151 +f 149 147 151 +f 144 139 152 +f 139 145 152 +f 149 144 152 +f 146 143 153 +f 144 146 153 +f 143 150 153 +f 150 144 153 +f 152 145 154 +f 149 152 154 +f 146 142 155 +f 142 148 155 +f 148 139 156 +f 143 148 156 +f 150 143 156 +f 139 150 156 +f 145 147 157 +f 147 149 157 +f 154 145 157 +f 149 154 157 +f 148 146 158 +f 146 155 158 +o convex_6 +v 0.992051 -0.283612 2.465292 +v -0.939521 -0.476788 1.074431 +v -0.978120 -0.476788 1.151969 +v 1.030854 -0.476788 3.044898 +v -1.055521 -0.360878 3.044898 +v 1.030854 -0.244968 1.074431 +v 1.030854 -0.476788 1.074431 +v -1.055521 -0.476788 3.044898 +v -0.939521 -0.399499 1.074431 +v 1.030854 -0.322257 3.044898 +v -0.514526 -0.322257 3.044898 +v -1.016718 -0.360878 2.040376 +f 163 169 170 +f 161 160 162 +f 162 160 165 +f 160 164 165 +f 164 162 165 +f 161 162 166 +f 162 163 166 +f 160 161 167 +f 164 160 167 +f 163 162 168 +f 162 164 168 +f 164 159 168 +f 159 164 169 +f 168 159 169 +f 163 168 169 +f 161 166 170 +f 166 163 170 +f 167 161 170 +f 164 167 170 +f 169 164 170 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/128/128.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/128/128.urdf new file mode 100644 index 000000000..a94ad195f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/128/128.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/129/129.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/129/129.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/129/129.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/129/129.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/129/129.obj new file mode 100644 index 000000000..f6b0ba11d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/129/129.obj @@ -0,0 +1,621 @@ +o convex_0 +v -0.777032 -0.106356 1.085489 +v -1.089529 -2.838803 -0.593002 +v -1.050441 -2.838803 -1.061433 +v 0.979216 -2.838803 1.007312 +v 1.057393 -0.145407 -1.061433 +v -1.011352 -0.106356 -0.983256 +v 1.057393 -2.838803 -1.061433 +v 0.979216 -0.106356 1.046190 +v -0.972264 -2.838803 1.085489 +v -1.089529 -0.106356 0.577970 +v 0.940127 -2.838803 1.085489 +v 1.018304 -0.106356 0.773202 +v -1.050441 -2.838803 0.851168 +v -0.972264 -0.379708 1.046190 +v -1.050441 -0.340658 -0.983256 +v 1.057393 -0.106356 -0.983256 +v 1.018304 -1.706613 0.773202 +v -1.089529 -0.106356 -0.046395 +v -0.308811 -0.106356 -1.022135 +v -1.089529 -1.199495 0.655936 +v 0.940127 -2.058065 1.085489 +v -1.050441 -1.082345 -1.022135 +v -0.972264 -0.106356 1.007312 +v -1.089529 -2.799752 -0.280715 +v -1.011352 -2.487350 1.007312 +f 14 20 25 +f 2 3 4 +f 4 3 7 +f 3 5 7 +f 6 1 8 +f 2 4 9 +f 1 6 10 +f 4 8 11 +f 9 4 11 +f 1 9 11 +f 6 8 12 +f 2 9 13 +f 9 1 14 +f 7 5 16 +f 6 12 16 +f 16 12 17 +f 4 7 17 +f 8 4 17 +f 12 8 17 +f 7 16 17 +f 2 10 18 +f 10 6 18 +f 15 2 18 +f 6 15 18 +f 5 3 19 +f 16 5 19 +f 6 16 19 +f 10 2 20 +f 14 10 20 +f 8 1 21 +f 1 11 21 +f 11 8 21 +f 3 2 22 +f 2 15 22 +f 15 6 22 +f 19 3 22 +f 6 19 22 +f 1 10 23 +f 10 14 23 +f 14 1 23 +f 2 13 24 +f 20 2 24 +f 13 20 24 +f 13 9 25 +f 9 14 25 +f 20 13 25 +o convex_1 +v -0.660007 1.455256 1.046335 +v 2.189423 3.484614 -1.100468 +v 2.189423 3.562699 -1.100468 +v -3.001732 1.767596 -1.100251 +v -3.079609 3.601635 1.124524 +v 3.086511 1.611426 1.007350 +v 3.047875 1.572276 -0.983077 +v 3.008635 3.601849 0.968147 +v -3.040972 3.484614 -0.983077 +v -3.040972 1.455256 0.928944 +v -2.963096 1.455256 -1.100251 +v 2.930758 3.562699 -1.100468 +v -0.542891 3.640784 -0.592789 +v 1.056895 1.455256 -1.022062 +v 0.979019 1.455256 1.007132 +v -2.884616 3.640784 1.007350 +v 3.047875 2.938232 1.007350 +v 1.408245 3.640784 0.031411 +v 2.969998 1.845681 -1.022062 +v -3.079609 2.275043 1.007350 +v -3.040972 3.133338 -1.022062 +v -1.752692 2.235893 1.085321 +v 3.008635 3.601849 0.382715 +v 2.930758 3.250572 -1.100468 +v 2.345176 3.601849 -0.944092 +v 2.540773 3.601849 1.007350 +v -3.040972 1.455256 0.031411 +v -3.001732 2.001852 -1.100251 +v 3.047875 1.923553 -0.905106 +v 0.861902 3.640784 0.656047 +v -2.533870 1.455256 -1.100251 +v -2.728863 1.494405 0.968147 +v 3.047875 1.572276 -0.319674 +v 3.086511 2.040787 0.851191 +v 2.969998 3.289294 -1.061048 +v -3.079609 3.601635 0.617062 +v 1.056895 3.640784 -0.631774 +v -1.245590 1.455256 1.046118 +v -3.040972 2.743126 -1.022062 +v 3.047875 3.133338 0.929162 +v -3.001732 3.562699 1.124524 +v 1.993827 1.533341 -1.022062 +v -0.113062 1.455256 1.046335 +v -2.572507 3.640784 1.046118 +v -3.040972 3.601635 0.538873 +v 3.086511 1.611426 0.265541 +v -1.791932 3.484614 -1.022280 +f 46 34 72 +f 28 27 29 +f 29 27 36 +f 26 35 36 +f 27 28 37 +f 28 34 38 +f 26 36 39 +f 26 39 40 +f 38 41 43 +f 43 33 48 +f 36 27 49 +f 37 32 49 +f 27 37 49 +f 32 44 49 +f 37 28 50 +f 28 38 50 +f 48 37 50 +f 43 48 50 +f 42 33 51 +f 29 36 52 +f 36 35 52 +f 35 45 52 +f 28 29 53 +f 46 28 53 +f 29 46 53 +f 33 43 55 +f 43 41 55 +f 39 36 56 +f 36 49 56 +f 49 44 56 +f 30 45 57 +f 45 35 57 +f 47 30 57 +f 32 31 58 +f 39 32 58 +f 31 40 58 +f 40 39 58 +f 42 31 59 +f 32 37 60 +f 37 48 60 +f 54 32 60 +f 48 54 60 +f 30 41 61 +f 45 30 61 +f 34 46 61 +f 38 43 62 +f 50 38 62 +f 43 50 62 +f 35 26 63 +f 26 47 63 +f 57 35 63 +f 47 57 63 +f 46 29 64 +f 29 52 64 +f 52 45 64 +f 45 61 64 +f 61 46 64 +f 33 42 65 +f 48 33 65 +f 54 48 65 +f 42 59 65 +f 59 54 65 +f 31 42 66 +f 30 47 66 +f 47 31 66 +f 51 30 66 +f 42 51 66 +f 32 39 67 +f 44 32 67 +f 39 56 67 +f 56 44 67 +f 26 40 68 +f 40 31 68 +f 31 47 68 +f 47 26 68 +f 41 30 69 +f 30 51 69 +f 51 33 69 +f 33 55 69 +f 55 41 69 +f 38 34 70 +f 41 38 70 +f 61 41 70 +f 34 61 70 +f 31 32 71 +f 32 54 71 +f 59 31 71 +f 54 59 71 +f 34 28 72 +f 28 46 72 +o convex_2 +v 0.120371 -4.009744 1.398093 +v 0.588973 -2.917086 2.958841 +v 0.237636 -2.917086 2.958841 +v 0.471823 -2.917086 1.124719 +v -0.582075 -2.995064 1.124719 +v -0.542987 -3.970701 3.036976 +v 0.432734 -3.931659 3.115306 +v -0.582075 -2.995064 3.036976 +v 0.471823 -4.009744 1.124719 +v -0.425836 -3.970701 1.124719 +v 0.510797 -3.892616 1.163883 +v 0.471823 -3.853574 3.115306 +v 0.588973 -3.151235 2.568557 +v -0.464924 -3.970701 1.241823 +v -0.425836 -3.151235 3.075946 +v 0.042423 -3.970701 3.075946 +v -0.582075 -3.151235 1.124719 +v -0.582075 -3.502297 3.036976 +v -0.035525 -4.009744 2.022587 +v 0.510797 -2.917086 1.437063 +v -0.425836 -3.970701 3.075946 +v 0.471823 -3.970701 2.412482 +v -0.191534 -2.956022 1.124719 +v 0.237636 -3.658468 3.115306 +v -0.542987 -3.970701 2.841737 +f 86 91 97 +f 75 74 76 +f 74 75 80 +f 77 76 81 +f 81 73 82 +f 77 81 82 +f 81 76 83 +f 74 84 85 +f 82 73 86 +f 74 80 87 +f 80 77 89 +f 77 82 89 +f 82 86 89 +f 87 80 90 +f 80 89 90 +f 73 81 91 +f 86 73 91 +f 76 74 92 +f 83 76 92 +f 74 85 92 +f 85 83 92 +f 88 79 93 +f 90 78 93 +f 87 90 93 +f 78 91 93 +f 91 88 93 +f 81 83 94 +f 84 79 94 +f 83 85 94 +f 85 84 94 +f 79 88 94 +f 91 81 94 +f 88 91 94 +f 75 76 95 +f 76 77 95 +f 80 75 95 +f 77 80 95 +f 84 74 96 +f 79 84 96 +f 74 87 96 +f 93 79 96 +f 87 93 96 +f 89 86 97 +f 78 90 97 +f 90 89 97 +f 91 78 97 +o convex_3 +v -3.041261 0.127884 0.187624 +v -1.089529 1.142762 -0.358651 +v -1.089529 1.142762 -0.514822 +v -1.089529 0.088914 0.460815 +v -2.924034 0.986527 0.460815 +v -2.963176 0.010855 -0.475779 +v -3.119346 1.064585 -0.592907 +v -1.089529 0.088914 -0.475779 +v -1.089529 0.986527 0.499858 +v -3.002119 -0.067321 0.460815 +v -2.689779 -0.067321 0.265602 +v -2.611892 0.986527 0.499858 +v -1.089529 0.479206 0.499858 +v -3.119346 0.908468 -0.592907 +v -2.884892 -0.028233 -0.397694 +v -1.284842 1.025615 0.460815 +v -2.963176 0.908468 0.460815 +v -1.323983 0.049825 -0.319609 +v -3.119346 0.986527 -0.397694 +v -2.845949 1.025615 -0.592907 +v -2.689779 -0.067321 0.460815 +v -2.884892 0.245031 -0.514822 +f 111 105 119 +f 100 99 101 +f 99 100 104 +f 102 99 104 +f 100 101 105 +f 101 99 106 +f 98 103 107 +f 109 107 110 +f 101 106 110 +f 106 109 110 +f 103 98 111 +f 103 105 112 +f 107 103 112 +f 108 107 112 +f 99 102 113 +f 106 99 113 +f 102 109 113 +f 109 106 113 +f 109 102 114 +f 107 109 114 +f 105 101 115 +f 112 105 115 +f 108 112 115 +f 102 104 116 +f 98 107 116 +f 111 98 116 +f 104 111 116 +f 114 102 116 +f 107 114 116 +f 104 100 117 +f 100 105 117 +f 111 104 117 +f 105 111 117 +f 107 108 118 +f 110 107 118 +f 101 110 118 +f 115 101 118 +f 108 115 118 +f 105 103 119 +f 103 111 119 +o convex_4 +v -0.621110 -3.034073 -1.178798 +v 0.549885 -4.087921 -1.178798 +v 0.588973 -4.087921 -1.178798 +v 0.198444 -3.034073 -3.091250 +v -0.542815 -3.892716 -3.091250 +v 0.549885 -2.917045 -1.100663 +v 0.471827 -3.931686 -3.012921 +v -0.621110 -2.877838 -3.051891 +v -0.425905 -3.970656 -1.100663 +v 0.549885 -2.956133 -3.091250 +v -0.621110 -2.877838 -1.100663 +v 0.276621 -3.970656 -3.051891 +v -0.582021 -3.775569 -2.778711 +v 0.588973 -3.580245 -1.100663 +v 0.120504 -2.877838 -1.178798 +v -0.503845 -3.931686 -1.608247 +v -0.425905 -3.931686 -2.856846 +v 0.510678 -4.087921 -1.100663 +v 0.588973 -4.048833 -1.413008 +v 0.549885 -2.917045 -1.842262 +v -0.621110 -3.112131 -3.051891 +v -0.503845 -3.775569 -1.100663 +v 0.510678 -4.009626 -2.466367 +v 0.549885 -3.034073 -3.091250 +f 142 126 143 +f 123 124 127 +f 124 123 129 +f 123 127 129 +f 127 120 130 +f 128 125 130 +f 125 128 133 +f 127 130 134 +f 130 125 134 +f 124 128 135 +f 120 132 135 +f 132 124 135 +f 128 124 136 +f 131 121 136 +f 124 131 136 +f 121 122 137 +f 122 133 137 +f 133 128 137 +f 136 121 137 +f 128 136 137 +f 133 122 138 +f 129 133 138 +f 129 127 139 +f 125 133 139 +f 133 129 139 +f 134 125 139 +f 127 134 139 +f 120 127 140 +f 127 124 140 +f 132 120 140 +f 124 132 140 +f 130 120 141 +f 128 130 141 +f 120 135 141 +f 135 128 141 +f 122 121 142 +f 121 131 142 +f 131 126 142 +f 138 122 142 +f 138 142 143 +f 124 129 143 +f 131 124 143 +f 126 131 143 +f 129 138 143 +o convex_5 +v -1.089529 -3.346482 -0.593006 +v 1.057393 -4.439002 -0.944309 +v 1.057393 -4.478003 -0.944309 +v 0.940127 -4.556340 1.124524 +v 0.979216 -2.838971 1.007350 +v -1.011352 -4.517004 1.085321 +v 1.057393 -2.838971 -1.061265 +v -1.050231 -4.556340 -1.100468 +v -0.972264 -2.838971 1.085321 +v -1.050231 -2.838971 -1.061265 +v 1.057393 -4.478003 -1.100468 +v 0.471907 -2.917140 1.124524 +v -0.620888 -2.878139 -1.100468 +v -1.050231 -2.838971 0.850973 +v -1.011352 -4.556340 0.968365 +v -0.582010 -3.151311 1.124524 +v 0.979216 -4.556340 0.812206 +v 1.057393 -2.878139 -1.100468 +v 0.588752 -4.517004 -1.100468 +v 0.940127 -2.838971 1.085321 +v -1.050231 -4.556340 -0.085544 +v -1.089529 -2.838971 -0.631774 +v -0.503833 -4.556340 -1.100468 +v -0.425866 -3.970659 1.124524 +v 0.979216 -4.556340 0.538873 +v 0.979216 -3.853490 1.007350 +f 160 146 169 +f 146 145 148 +f 145 146 150 +f 148 145 150 +f 148 150 152 +f 152 150 153 +f 150 146 154 +f 153 150 156 +f 151 153 156 +f 154 151 156 +f 149 152 157 +f 152 153 157 +f 147 149 158 +f 151 147 158 +f 152 149 159 +f 147 155 159 +f 155 152 159 +f 147 151 160 +f 154 146 160 +f 150 154 161 +f 156 150 161 +f 154 156 161 +f 151 154 162 +f 147 148 163 +f 148 152 163 +f 155 147 163 +f 152 155 163 +f 144 151 164 +f 157 144 164 +f 149 157 164 +f 158 149 164 +f 151 158 164 +f 151 144 165 +f 153 151 165 +f 144 157 165 +f 157 153 165 +f 160 151 166 +f 151 162 166 +f 149 147 167 +f 147 159 167 +f 159 149 167 +f 154 160 168 +f 162 154 168 +f 160 166 168 +f 166 162 168 +f 148 147 169 +f 146 148 169 +f 147 160 169 +o convex_6 +v -0.972276 0.401274 1.007369 +v -0.269827 -0.106204 -1.022398 +v -1.011218 -0.106204 -0.983314 +v -0.503905 1.454889 -0.983314 +v 0.979091 -0.106204 1.046454 +v 1.018246 1.454889 0.695097 +v 1.057188 -0.106204 -1.022398 +v -0.933120 1.454889 1.046454 +v 1.057188 1.454889 -1.022398 +v -0.933120 -0.106204 1.046454 +v -1.011218 1.454889 -0.944229 +v 0.979091 1.454889 1.007369 +v -1.089529 -0.106204 0.577843 +v 1.096344 0.049967 0.538961 +v -1.089529 1.142548 -0.514906 +v -1.089529 0.986530 0.499877 +v 1.096344 1.064616 0.538961 +v 1.096344 -0.067085 -0.475821 +v -1.089529 0.088933 -0.475821 +v -0.113632 1.454889 1.046454 +v 1.096344 1.025497 -0.475821 +v -1.050374 -0.106204 -0.866060 +v -1.011218 1.454889 -0.163549 +v 0.510934 1.415770 -1.022398 +v -1.011218 0.635376 -0.983314 +v 0.979091 0.245103 1.046454 +f 181 189 195 +f 172 171 174 +f 174 171 176 +f 175 173 177 +f 173 175 178 +f 176 171 178 +f 172 174 179 +f 177 170 179 +f 174 177 179 +f 177 173 180 +f 175 177 181 +f 179 170 182 +f 172 179 182 +f 184 182 185 +f 170 177 185 +f 182 170 185 +f 178 175 186 +f 175 181 186 +f 174 183 186 +f 186 183 187 +f 174 176 187 +f 176 178 187 +f 183 174 187 +f 182 184 188 +f 177 174 189 +f 181 177 189 +f 178 186 190 +f 186 187 190 +f 187 178 190 +f 172 182 191 +f 184 180 191 +f 182 188 191 +f 188 184 191 +f 177 180 192 +f 180 184 192 +f 184 185 192 +f 185 177 192 +f 178 171 193 +f 173 178 193 +f 171 172 194 +f 180 173 194 +f 172 191 194 +f 191 180 194 +f 193 171 194 +f 173 193 194 +f 174 186 195 +f 186 181 195 +f 189 174 195 +o convex_7 +v 2.891798 0.713186 -0.514837 +v 2.969738 1.103727 0.499842 +v 2.969738 1.064524 0.538885 +v 1.096428 1.064524 0.538885 +v 2.969738 0.049829 0.577927 +v 1.096428 -0.067321 -0.475794 +v 1.096428 1.025550 -0.475794 +v 1.096428 0.049829 0.538885 +v 2.969738 0.088918 -0.475794 +v 2.930860 0.986576 -0.514837 +v 1.408921 0.869426 0.577927 +v 2.735552 0.010855 0.460800 +v 1.096428 0.010855 0.460800 +v 1.643108 1.064524 -0.124518 +v 2.969738 0.791249 -0.514837 +v 2.384363 0.986576 -0.514837 +v 2.150177 0.049829 0.577927 +v 1.213796 -0.067321 -0.280582 +v 2.735552 1.025550 -0.319624 +v 1.096428 1.064524 0.109523 +f 209 202 215 +f 198 197 199 +f 197 198 200 +f 201 199 202 +f 199 201 203 +f 197 200 204 +f 201 196 204 +f 198 199 206 +f 200 198 206 +f 199 203 206 +f 204 200 207 +f 201 204 207 +f 203 201 208 +f 207 200 208 +f 197 204 210 +f 204 196 210 +f 205 197 210 +f 196 205 210 +f 196 201 211 +f 201 202 211 +f 202 205 211 +f 205 196 211 +f 200 206 212 +f 206 203 212 +f 208 200 212 +f 203 208 212 +f 201 207 213 +f 208 201 213 +f 207 208 213 +f 197 205 214 +f 205 202 214 +f 209 197 214 +f 202 209 214 +f 199 197 215 +f 202 199 215 +f 197 209 215 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/129/129.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/129/129.urdf new file mode 100644 index 000000000..f34f6cb87 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/129/129.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/130/130.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/130/130.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/130/130.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/130/130.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/130/130.obj new file mode 100644 index 000000000..ceb0447bc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/130/130.obj @@ -0,0 +1,267 @@ +o convex_0 +v 0.538488 -3.640928 0.479024 +v -0.560964 -5.930908 -0.528807 +v -0.377686 -5.930908 -0.528807 +v -0.102823 -1.961427 -0.498225 +v -0.469271 -1.961427 0.448441 +v -0.438707 -5.838812 0.417859 +v 0.477359 -5.869511 -0.406577 +v 0.507924 -1.961039 -0.467643 +v 0.538488 -5.777802 0.479024 +v 0.507924 -1.961039 0.479024 +v -0.499836 -1.961427 -0.498127 +v 0.355102 -5.869511 -0.467643 +v 0.324646 -2.510898 -0.498225 +v 0.294081 -5.777802 0.479024 +v -0.560964 -5.655396 -0.406577 +v 0.538488 -5.777802 0.234563 +v 0.049783 -1.961427 0.479024 +v -0.560964 -5.075226 -0.528807 +v -0.469271 -5.838812 0.295629 +v -0.255537 -5.625085 0.448441 +v 0.477359 -4.708782 -0.467643 +v -0.469271 -4.434047 -0.528807 +v -0.530292 -3.213086 -0.467643 +v -0.286101 -5.930908 -0.467643 +v -0.255537 -4.953207 -0.528807 +v -0.560964 -5.930908 -0.406577 +v -0.469271 -2.266473 0.448441 +v 0.507924 -2.327482 -0.467643 +v -0.499836 -1.961427 -0.284347 +v 0.477359 -5.869511 -0.314929 +v -0.347122 -5.838812 0.417859 +v -0.560964 -5.136235 -0.467643 +v 0.049783 -2.358181 0.479024 +v 0.049783 -1.961427 -0.498225 +v 0.507924 -5.838812 -0.101150 +v 0.324646 -2.785634 -0.498225 +f 28 21 36 +f 1 8 10 +f 9 1 10 +f 8 4 11 +f 10 8 11 +f 7 3 12 +f 6 9 14 +f 9 10 14 +f 8 1 16 +f 1 9 16 +f 10 5 17 +f 14 10 17 +f 3 2 18 +f 2 15 18 +f 6 14 20 +f 7 12 21 +f 11 4 22 +f 3 18 22 +f 18 11 22 +f 11 18 23 +f 2 3 24 +f 3 7 24 +f 12 3 25 +f 21 12 25 +f 3 22 25 +f 22 13 25 +f 15 2 26 +f 5 15 26 +f 6 19 26 +f 2 24 26 +f 17 5 27 +f 19 6 27 +f 6 20 27 +f 5 26 27 +f 26 19 27 +f 13 8 28 +f 8 16 28 +f 7 21 28 +f 5 10 29 +f 10 11 29 +f 23 5 29 +f 11 23 29 +f 24 7 30 +f 24 30 31 +f 9 6 31 +f 6 26 31 +f 26 24 31 +f 30 9 31 +f 15 5 32 +f 18 15 32 +f 5 23 32 +f 23 18 32 +f 14 17 33 +f 20 14 33 +f 17 27 33 +f 27 20 33 +f 4 8 34 +f 8 13 34 +f 22 4 34 +f 13 22 34 +f 16 9 35 +f 28 16 35 +f 7 28 35 +f 30 7 35 +f 9 30 35 +f 21 25 36 +f 25 13 36 +f 13 28 36 +o convex_1 +v 1.057641 -1.806983 1.028750 +v -1.110690 3.199886 -0.956312 +v -1.110690 3.199886 -0.864631 +v 1.088205 4.268953 0.784200 +v 0.935384 -1.868577 -0.986805 +v -0.988434 -1.928953 1.028750 +v -0.957869 4.146374 0.967561 +v 1.057641 4.116491 -0.956312 +v -1.018998 -1.868577 -1.047993 +v -1.110690 4.085389 -0.956312 +v 1.088205 4.268953 0.997851 +v 0.507917 -1.960665 -0.467619 +v 1.088205 2.711396 1.028750 +v -1.018998 -1.532550 0.906576 +v -0.652443 -0.891598 -1.047993 +v -0.988434 2.436964 0.998054 +v 0.507917 -1.960665 0.478868 +v 1.057641 3.322466 -0.956312 +v -1.080126 4.116491 -0.314953 +v -0.499838 -1.960665 -0.498112 +v 0.629958 2.833366 -0.986805 +v -0.041592 4.207969 0.998054 +v -0.988434 -0.279918 1.028750 +v 0.965948 -0.799510 -0.986805 +v 1.088205 4.146983 0.143044 +v 1.057641 -1.806983 0.906373 +v -0.988434 4.146374 0.937069 +v -1.110690 3.413944 -0.650777 +v 0.385660 -1.868577 -1.017094 +v -1.080126 2.650411 -0.986601 +v 0.813128 4.269563 0.936866 +v 0.996512 -1.837475 0.998054 +v -0.499838 -1.960665 0.478868 +v -0.713572 4.177476 0.937069 +v 0.965948 0.483614 -0.986805 +v -1.018998 -0.922090 -1.047993 +v -0.530402 -1.868577 -1.047993 +v -1.080126 4.116491 -0.436923 +v -0.744136 -1.929563 1.028750 +v -1.018998 -1.868577 -0.742255 +v -0.988434 -1.928953 0.662230 +v 1.088205 2.467456 0.967358 +v -1.018998 -1.318493 0.906576 +v 0.965948 -1.838085 -0.589589 +v 0.904820 4.116491 -0.956312 +v 1.027077 -1.837475 0.814692 +v 0.813128 -1.899070 -0.834139 +v -1.110690 4.085389 -0.711966 +v 1.027077 2.711396 1.028750 +v 0.416225 2.833976 -0.986805 +v -0.560966 -1.440463 -1.047993 +v 0.935384 -1.838085 1.028750 +v -1.080126 1.642939 -0.131592 +v -0.988434 3.749971 0.967561 +v -0.957869 2.680904 -0.986805 +f 86 72 91 +f 39 38 45 +f 38 39 46 +f 45 38 46 +f 42 37 49 +f 40 47 49 +f 48 53 56 +f 43 52 58 +f 42 49 59 +f 50 42 59 +f 58 52 59 +f 44 54 60 +f 44 40 61 +f 40 49 61 +f 54 44 61 +f 54 61 62 +f 60 54 62 +f 46 39 64 +f 60 41 65 +f 40 46 67 +f 47 40 67 +f 58 47 67 +f 42 56 69 +f 56 53 69 +f 43 58 70 +f 63 43 70 +f 58 67 70 +f 57 44 71 +f 44 60 71 +f 60 65 71 +f 45 46 72 +f 51 45 72 +f 46 66 72 +f 45 51 73 +f 56 45 73 +f 46 55 74 +f 55 63 74 +f 67 46 74 +f 63 70 74 +f 70 67 74 +f 37 42 75 +f 42 69 75 +f 69 53 75 +f 39 45 76 +f 45 42 76 +f 42 50 76 +f 42 45 77 +f 56 42 77 +f 45 56 77 +f 49 37 78 +f 61 49 78 +f 62 61 78 +f 37 62 78 +f 50 59 79 +f 59 52 79 +f 41 60 80 +f 62 41 80 +f 60 62 80 +f 40 44 81 +f 46 40 81 +f 62 37 82 +f 41 62 82 +f 37 68 82 +f 68 53 82 +f 53 48 83 +f 48 56 83 +f 65 41 83 +f 56 73 83 +f 73 65 83 +f 41 82 83 +f 82 53 83 +f 55 46 84 +f 63 55 84 +f 46 64 84 +f 64 63 84 +f 49 47 85 +f 47 58 85 +f 59 49 85 +f 58 59 85 +f 44 57 86 +f 57 51 86 +f 51 72 86 +f 81 44 86 +f 46 81 86 +f 51 57 87 +f 57 71 87 +f 71 65 87 +f 73 51 87 +f 65 73 87 +f 68 37 88 +f 53 68 88 +f 37 75 88 +f 75 53 88 +f 64 39 89 +f 39 76 89 +f 76 50 89 +f 50 79 89 +f 79 64 89 +f 52 43 90 +f 43 63 90 +f 63 64 90 +f 79 52 90 +f 64 79 90 +f 66 46 91 +f 72 66 91 +f 46 86 91 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/130/130.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/130/130.urdf new file mode 100644 index 000000000..f2405172c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/130/130.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/131/131.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/131/131.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/131/131.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/131/131.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/131/131.obj new file mode 100644 index 000000000..d288fcc9d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/131/131.obj @@ -0,0 +1,498 @@ +o convex_0 +v -1.407679 0.021014 0.507274 +v -2.979640 -0.607853 -0.624764 +v -2.979640 -0.576352 -0.624764 +v -1.124582 -0.324659 -0.498883 +v -3.105483 0.398397 -0.498773 +v -3.011052 -0.670750 0.475804 +v -1.124582 -0.670750 0.444223 +v -1.124582 0.398397 -0.436054 +v -2.979640 0.335500 0.475804 +v -1.124582 0.366896 0.507163 +v -1.124582 -0.670750 -0.498883 +v -3.105483 -0.544956 0.255624 +v -2.979640 -0.670750 -0.593294 +v -1.187600 0.398397 0.224154 +v -2.319405 -0.450558 0.507274 +v -2.853992 0.335500 0.507274 +v -3.105483 0.366896 -0.530353 +v -1.124582 -0.324659 0.507163 +v -1.250425 0.241102 -0.467413 +v -3.042464 0.366896 0.098384 +v -3.073877 -0.544956 -0.153044 +v -1.596539 -0.670750 0.475804 +v -2.130932 0.366896 0.475804 +v -1.313249 -0.670750 -0.530353 +v -3.011052 0.241102 0.475804 +v -2.853992 -0.607853 -0.624764 +v -3.105483 -0.387660 0.255624 +v -3.011052 0.366896 -0.530353 +v -3.105483 0.272603 -0.530353 +f 13 21 29 +f 7 4 8 +f 7 8 10 +f 4 7 11 +f 7 6 11 +f 11 6 13 +f 6 12 13 +f 8 5 14 +f 10 8 14 +f 1 10 16 +f 15 1 16 +f 6 15 16 +f 3 2 17 +f 12 5 17 +f 10 1 18 +f 7 10 18 +f 1 15 18 +f 8 4 19 +f 13 12 21 +f 6 7 22 +f 15 6 22 +f 7 18 22 +f 18 15 22 +f 14 5 23 +f 10 14 23 +f 9 16 23 +f 16 10 23 +f 5 20 23 +f 20 9 23 +f 4 11 24 +f 11 13 24 +f 12 6 25 +f 6 16 25 +f 16 9 25 +f 9 20 25 +f 2 3 26 +f 13 2 26 +f 19 4 26 +f 4 24 26 +f 24 13 26 +f 5 12 27 +f 20 5 27 +f 12 25 27 +f 25 20 27 +f 5 8 28 +f 3 17 28 +f 17 5 28 +f 8 19 28 +f 26 3 28 +f 19 26 28 +f 2 13 29 +f 17 2 29 +f 12 17 29 +f 21 12 29 +o convex_1 +v -1.124583 1.970623 0.255655 +v -3.011042 1.970623 -0.341690 +v -2.665082 1.499002 -0.278808 +v -3.042527 1.530521 0.255655 +v -1.124583 1.561979 -0.341690 +v -1.124583 1.467544 0.318536 +v -3.074013 2.096454 0.224182 +v -1.124583 2.033538 -0.310217 +v -3.074013 1.499002 -0.247335 +v -3.011042 2.033538 -0.310217 +v -3.074013 1.939226 0.255655 +v -1.753720 2.033538 0.255655 +v -1.502218 1.530521 -0.341690 +v -1.124583 2.002019 -0.341690 +v -1.627969 1.561979 0.318536 +v -2.696568 2.096454 0.129891 +v -3.074013 1.499002 -0.058689 +v -2.728054 1.530521 0.287063 +v -1.124583 1.467544 0.224182 +v -1.124583 1.624771 0.318536 +v -1.407761 1.467544 0.318536 +v -1.219230 2.002019 0.255655 +v -1.124583 2.033538 -0.215926 +v -3.074013 2.096454 0.129891 +f 45 39 53 +f 34 30 35 +f 30 34 37 +f 31 32 38 +f 31 38 39 +f 36 38 40 +f 36 40 41 +f 32 31 42 +f 31 34 42 +f 34 31 43 +f 37 34 43 +f 31 39 43 +f 39 37 43 +f 37 39 45 +f 36 41 45 +f 33 40 46 +f 40 38 46 +f 40 33 47 +f 44 40 47 +f 34 35 48 +f 38 32 48 +f 32 42 48 +f 42 34 48 +f 35 30 49 +f 41 40 49 +f 44 35 49 +f 40 44 49 +f 35 44 50 +f 33 46 50 +f 46 38 50 +f 47 33 50 +f 44 47 50 +f 48 35 50 +f 38 48 50 +f 49 30 51 +f 41 49 51 +f 30 37 52 +f 37 45 52 +f 45 41 52 +f 51 30 52 +f 41 51 52 +f 38 36 53 +f 39 38 53 +f 36 45 53 +o convex_2 +v 1.107829 2.158920 -0.121368 +v -1.124364 -0.670178 -0.498779 +v -1.124364 -0.670178 0.444217 +v 1.107829 -3.312172 0.978793 +v -0.935762 2.914037 1.104738 +v 1.045108 -3.154323 -0.970489 +v -1.030172 2.725105 -1.065001 +v -1.093112 -3.248789 -1.033355 +v -0.967232 -3.248179 1.010226 +v 1.013638 2.882345 0.978793 +v 1.076578 2.818962 -0.907622 +v -1.124364 1.969989 0.255405 +v 0.887757 -3.060467 -1.001922 +v -0.621279 2.001680 1.104738 +v 1.107829 -0.764643 -0.467346 +v 1.076578 2.504482 -0.939056 +v -0.778630 2.725105 -1.065001 +v 1.107829 0.586522 0.632816 +v -0.998702 -3.186014 0.978793 +v -1.061642 -0.136903 -1.065001 +v -1.124364 2.001071 -0.341613 +v 0.730625 2.850653 -0.624511 +v 1.107829 -3.280480 0.412784 +v -1.124364 0.366508 0.507083 +v 0.762095 -2.305350 1.010226 +v -0.967232 -0.199068 1.073093 +v -0.621279 2.914037 0.727328 +v -1.093112 -3.248789 -0.655945 +v 1.045108 2.661722 0.915927 +v -0.967232 2.850653 1.041660 +v -1.030172 2.756187 -0.907410 +v 0.636215 -3.312172 0.538516 +v 0.762095 -3.186014 -1.001922 +v -0.181134 -3.248789 1.010226 +v -1.093112 -1.456377 -1.033355 +v 0.196070 2.914037 1.041660 +v -0.464147 -3.217097 -1.033355 +v 1.045108 2.882345 0.287051 +v 1.107829 0.963776 -0.593078 +v 1.107829 -1.896404 0.978793 +v 1.045108 -0.419081 -0.970489 +v -1.061642 1.309947 -1.065001 +v 1.107829 2.001071 0.255618 +v 0.730625 -0.042437 1.010226 +v 0.133130 2.787879 -1.001922 +v 1.076578 -3.217097 -0.404267 +v -0.904292 -2.085336 1.041660 +v -0.967232 2.127228 1.073093 +v -0.652749 2.914037 1.104738 +v 1.045108 2.882345 0.632816 +v 0.636215 -3.312172 0.947360 +v 1.107829 -3.312172 0.727328 +v 1.076578 1.026550 -0.939056 +v -0.684219 -3.248789 -0.907410 +v 1.045108 2.316160 0.978793 +v -0.935762 1.718892 1.104738 +v -0.904292 2.914037 0.853061 +v 0.667685 2.221085 1.010226 +v -1.030172 2.756187 -0.655945 +v -0.998702 0.052029 -1.065001 +v 0.447612 2.914037 0.978793 +v -0.055254 2.787879 -1.001922 +v 1.013638 2.818962 -0.939056 +v -0.998702 -3.248179 0.947360 +f 81 104 117 +f 56 55 61 +f 55 56 65 +f 54 57 68 +f 57 54 71 +f 60 70 73 +f 55 65 74 +f 68 57 76 +f 65 56 77 +f 56 72 77 +f 72 62 79 +f 56 61 81 +f 65 77 83 +f 60 74 84 +f 81 61 85 +f 66 59 86 +f 62 57 87 +f 57 78 87 +f 61 55 88 +f 73 61 88 +f 55 74 88 +f 80 58 89 +f 61 73 90 +f 66 86 90 +f 86 61 90 +f 64 75 91 +f 64 54 92 +f 54 68 92 +f 69 64 92 +f 57 71 93 +f 78 57 93 +f 59 66 94 +f 69 59 94 +f 66 70 94 +f 60 73 95 +f 74 60 95 +f 73 88 95 +f 88 74 95 +f 71 54 96 +f 82 71 96 +f 67 78 97 +f 78 93 97 +f 70 60 98 +f 69 94 98 +f 94 70 98 +f 59 68 99 +f 68 76 99 +f 86 59 99 +f 78 67 100 +f 79 62 100 +f 62 87 100 +f 87 78 100 +f 77 72 101 +f 79 58 101 +f 72 79 101 +f 58 83 101 +f 83 77 101 +f 58 67 102 +f 89 58 102 +f 54 64 103 +f 63 82 103 +f 64 91 103 +f 96 54 103 +f 82 96 103 +f 57 62 104 +f 85 57 104 +f 81 85 104 +f 76 57 105 +f 57 85 105 +f 99 76 105 +f 86 99 105 +f 68 59 106 +f 59 69 106 +f 92 68 106 +f 69 92 106 +f 85 61 107 +f 61 86 107 +f 105 85 107 +f 86 105 107 +f 82 63 108 +f 71 82 108 +f 93 71 108 +f 97 93 108 +f 67 58 109 +f 58 79 109 +f 100 67 109 +f 79 100 109 +f 58 80 110 +f 80 75 110 +f 84 58 110 +f 63 89 111 +f 67 97 111 +f 102 67 111 +f 89 102 111 +f 108 63 111 +f 97 108 111 +f 74 65 112 +f 83 58 112 +f 65 83 112 +f 84 74 112 +f 58 84 112 +f 70 66 113 +f 73 70 113 +f 90 73 113 +f 66 90 113 +f 75 80 114 +f 89 63 114 +f 80 89 114 +f 91 75 114 +f 63 103 114 +f 103 91 114 +f 60 84 115 +f 98 60 115 +f 110 75 115 +f 84 110 115 +f 64 69 116 +f 75 64 116 +f 69 98 116 +f 115 75 116 +f 98 115 116 +f 72 56 117 +f 62 72 117 +f 56 81 117 +f 104 62 117 +o convex_3 +v 3.057506 0.209696 0.507185 +v 2.585897 -0.764969 -0.593318 +v 1.611459 -0.764969 -0.530338 +v 1.265316 0.272498 -0.467472 +v 1.108048 -0.702060 0.538618 +v 2.963261 -0.796532 0.475752 +v 3.089114 0.272606 -0.530338 +v 1.139657 0.303953 0.570165 +v 1.108048 -0.764969 -0.467472 +v 3.026091 -0.764969 -0.593318 +v 3.026091 -0.104851 0.570165 +v 1.108048 0.272498 -0.436038 +v 3.089114 -0.230670 0.350019 +v 1.108048 -0.764969 0.412885 +v 2.931847 0.241043 0.570165 +v 1.548436 -0.513439 0.570165 +v 2.994676 -0.733622 0.507185 +v 3.057506 -0.419075 -0.593318 +v 1.108048 0.303953 0.444318 +v 1.611459 0.303953 0.570165 +v 2.931847 -0.796532 0.004140 +v 3.057506 0.272606 -0.090160 +v 2.491459 -0.796424 0.475752 +v 1.139657 -0.702060 -0.498905 +v 2.805994 0.272606 -0.530338 +v 3.057506 -0.576241 0.067006 +v 3.089114 0.115224 0.412885 +v 3.057506 -0.576241 -0.593318 +v 1.894385 -0.733515 0.538618 +v 2.963261 -0.419075 -0.593318 +v 2.994676 -0.796532 0.444318 +f 143 130 148 +f 126 122 129 +f 122 126 131 +f 128 118 132 +f 125 128 132 +f 125 122 133 +f 128 125 133 +f 130 128 134 +f 127 119 135 +f 122 125 136 +f 121 129 136 +f 129 122 136 +f 125 132 137 +f 124 136 137 +f 136 125 137 +f 120 119 138 +f 126 120 138 +f 119 127 138 +f 118 124 139 +f 132 118 139 +f 124 137 139 +f 137 132 139 +f 122 131 140 +f 131 126 140 +f 126 138 140 +f 138 123 140 +f 119 120 141 +f 121 119 141 +f 120 126 141 +f 129 121 141 +f 126 129 141 +f 124 135 142 +f 121 136 142 +f 136 124 142 +f 124 118 144 +f 118 128 144 +f 130 124 144 +f 128 130 144 +f 124 130 145 +f 135 124 145 +f 127 135 145 +f 143 127 145 +f 130 143 145 +f 133 122 146 +f 128 133 146 +f 134 128 146 +f 123 134 146 +f 122 140 146 +f 140 123 146 +f 119 121 147 +f 135 119 147 +f 121 142 147 +f 142 135 147 +f 134 123 148 +f 130 134 148 +f 138 127 148 +f 123 138 148 +f 127 143 148 +o convex_4 +v 1.485689 1.499100 -0.215923 +v 2.239987 2.159345 -0.247381 +v 2.962963 2.127789 -0.215923 +v 1.108048 2.002037 0.255698 +v 3.088843 1.467544 0.287156 +v 3.057324 1.593431 -0.341754 +v 1.108048 1.530453 0.255698 +v 1.108048 1.687693 -0.341754 +v 2.994679 2.002037 0.192782 +v 1.108048 2.159345 -0.215923 +v 3.120560 2.127789 -0.341754 +v 1.108048 1.530453 -0.341754 +v 1.233928 2.159345 -0.121611 +v 1.328290 1.561942 0.287156 +v 3.088843 1.561942 0.287156 +v 2.711596 2.127789 -0.341754 +v 1.579854 2.002037 0.255698 +v 2.868799 1.467544 0.161324 +v 3.088843 2.033458 0.067012 +v 1.642892 1.530453 -0.341754 +v 2.837279 1.467544 0.287156 +v 3.088843 1.530453 -0.058696 +v 1.894259 2.159345 -0.278777 +f 159 164 171 +f 155 152 156 +f 156 152 158 +f 150 151 159 +f 154 156 159 +f 149 155 160 +f 156 154 160 +f 155 156 160 +f 151 150 161 +f 157 151 161 +f 150 158 161 +f 158 152 161 +f 152 155 162 +f 153 159 163 +f 152 162 163 +f 162 153 163 +f 159 156 164 +f 157 161 165 +f 161 152 165 +f 152 163 165 +f 163 157 165 +f 151 157 167 +f 159 151 167 +f 157 163 167 +f 163 159 167 +f 149 160 168 +f 160 154 168 +f 154 166 168 +f 166 149 168 +f 155 149 169 +f 153 162 169 +f 162 155 169 +f 166 153 169 +f 149 166 169 +f 159 153 170 +f 154 159 170 +f 153 166 170 +f 166 154 170 +f 158 150 171 +f 156 158 171 +f 150 159 171 +f 164 156 171 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/131/131.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/131/131.urdf new file mode 100644 index 000000000..536819fea --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/131/131.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/132/132.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/132/132.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/132/132.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/132/132.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/132/132.obj new file mode 100644 index 000000000..32b506f68 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/132/132.obj @@ -0,0 +1,315 @@ +o convex_0 +v 0.409658 -2.730553 -0.057807 +v -0.391897 -2.834116 0.019702 +v -0.391897 -2.834116 0.071302 +v -0.003987 -4.772826 -0.031970 +v 0.021748 -2.730553 0.407468 +v -0.055693 -2.730553 -0.342227 +v -0.003987 -4.565899 0.200557 +v -0.029879 -4.488327 -0.212972 +v -0.314300 -2.730553 0.329959 +v -0.210888 -4.540109 0.019702 +v 0.332060 -2.756543 -0.290554 +v -0.314300 -2.730553 -0.238808 +v 0.332060 -2.756543 0.252303 +v 0.176943 -4.488327 -0.031970 +v -0.210888 -3.841957 0.252303 +v -0.210888 -3.971311 -0.187135 +v 0.151051 -4.333182 0.122974 +v 0.409658 -2.756543 0.045465 +v 0.125159 -4.333182 -0.161299 +v 0.099346 -2.756543 -0.342227 +v -0.391897 -2.782334 0.122974 +v 0.021748 -4.540109 0.200557 +v -0.029879 -2.756543 0.407468 +v 0.099346 -2.756543 0.381558 +v -0.159183 -4.384964 0.174720 +v 0.021748 -4.436545 -0.212972 +v -0.391897 -2.756543 -0.031970 +v -0.210888 -4.488327 -0.031970 +v 0.176943 -4.462536 0.019702 +v 0.306168 -2.730553 0.278139 +v -0.236702 -3.790175 0.226467 +v -0.210888 -3.738994 -0.212972 +v -0.003987 -4.772826 0.019702 +v -0.262594 -2.756543 0.355795 +v -0.055693 -4.462536 -0.212972 +v -0.029879 -4.565899 0.200557 +v -0.236702 -3.790175 -0.187135 +v -0.081585 -4.721044 -0.031970 +v -0.133291 -2.756543 -0.316391 +v -0.159183 -4.358973 -0.161299 +v -0.288408 -3.867748 0.045465 +v 0.332060 -2.730553 -0.290554 +v 0.409658 -2.756543 -0.057807 +f 1 18 43 +f 5 1 6 +f 5 6 9 +f 9 6 12 +f 11 14 19 +f 8 6 20 +f 2 3 21 +f 5 7 22 +f 17 13 22 +f 7 5 23 +f 5 22 24 +f 4 8 26 +f 14 4 26 +f 11 19 26 +f 19 14 26 +f 8 20 26 +f 20 11 26 +f 9 12 27 +f 2 21 27 +f 21 9 27 +f 13 17 29 +f 14 18 29 +f 18 13 29 +f 17 22 29 +f 1 5 30 +f 18 1 30 +f 13 18 30 +f 22 13 30 +f 5 24 30 +f 24 22 30 +f 15 9 31 +f 9 21 31 +f 10 25 31 +f 25 15 31 +f 4 14 33 +f 22 7 33 +f 14 29 33 +f 29 22 33 +f 5 9 34 +f 9 15 34 +f 23 5 34 +f 15 23 34 +f 6 8 35 +f 16 32 35 +f 7 23 36 +f 23 15 36 +f 25 10 36 +f 15 25 36 +f 33 7 36 +f 10 33 36 +f 27 12 37 +f 16 28 37 +f 28 27 37 +f 12 32 37 +f 32 16 37 +f 8 4 38 +f 10 28 38 +f 33 10 38 +f 4 33 38 +f 35 8 38 +f 28 35 38 +f 12 6 39 +f 32 12 39 +f 6 35 39 +f 35 32 39 +f 28 16 40 +f 35 28 40 +f 16 35 40 +f 3 2 41 +f 21 3 41 +f 2 27 41 +f 28 10 41 +f 27 28 41 +f 10 31 41 +f 31 21 41 +f 6 1 42 +f 1 11 42 +f 20 6 42 +f 11 20 42 +f 11 1 43 +f 14 11 43 +f 18 14 43 +o convex_1 +v 1.030206 -0.170373 -0.031887 +v -1.064149 -0.117888 0.045483 +v -1.064149 -0.117888 0.071208 +v 0.176761 3.294239 -0.368066 +v 0.021775 2.596009 0.976260 +v 0.021775 -2.678457 0.795211 +v -0.004261 -2.058070 -0.884905 +v -0.779599 2.543524 -0.678325 +v 0.771487 2.906203 -0.755890 +v 0.745656 2.492218 0.769291 +v -0.753768 2.570061 0.743566 +v -0.753768 -1.980227 0.769291 +v 0.642332 -2.625972 -0.574841 +v -0.598577 -2.651920 -0.523196 +v 0.745656 -1.902384 0.717646 +v -0.779599 3.293649 0.097128 +v 0.823354 3.216396 0.252257 +v -0.159041 3.138553 -0.833455 +v -0.004261 -0.196321 1.028100 +v -0.753768 -1.902384 -0.652405 +v -0.779599 -2.704405 0.097128 +v -0.004261 3.268291 0.795211 +v -0.081549 0.319685 -0.962859 +v 0.745656 -1.721339 -0.704050 +v 0.823354 -2.652509 0.019758 +v -1.012282 2.414965 0.045483 +v 0.978340 2.518166 0.123048 +v -0.805430 0.656416 0.795211 +v -0.986451 -2.005585 0.019758 +v 0.797318 0.062567 0.769291 +v 0.978340 -2.032123 0.019758 +v -0.805430 -0.195731 -0.704050 +v 0.021775 -2.032123 0.950341 +v -0.107380 2.518166 -0.936940 +v -0.624408 3.293649 -0.548921 +v 0.616297 -2.677867 0.588436 +v 0.047606 0.243611 -0.962859 +v 0.047606 -2.678457 -0.729775 +v -0.598577 -2.704405 0.614161 +v -0.572746 3.293649 0.614161 +v 0.564635 3.241754 0.666001 +v 0.487142 3.268291 -0.497276 +v 0.357782 -2.730353 -0.238661 +v 0.771487 0.914714 -0.755890 +v 1.030206 0.217664 0.097128 +v 0.021775 0.966610 1.028100 +v -1.064149 0.449424 -0.005967 +v -0.081549 2.544114 0.976260 +v 0.745656 2.906203 -0.781615 +v -0.081549 0.217664 1.028100 +v -0.805430 1.173602 -0.704050 +v 1.030206 0.475372 -0.057807 +v 0.771487 0.166358 0.795211 +v -0.184872 3.268291 -0.807535 +v 0.797318 2.880255 -0.729970 +v -0.029887 -1.721929 -0.910825 +v -0.805430 -0.169783 0.795211 +v -0.960620 -1.980227 0.200613 +v 0.797318 -1.953690 -0.574841 +v 0.719825 2.466271 0.795211 +v 0.797318 0.294327 -0.704050 +v -0.986451 2.543524 -0.057612 +v 1.004171 -1.644086 0.019758 +v 0.021775 -1.670034 0.976260 +f 96 62 107 +f 50 57 63 +f 56 50 67 +f 54 59 69 +f 60 53 70 +f 69 46 71 +f 54 69 71 +f 46 45 72 +f 63 57 72 +f 57 64 72 +f 70 53 73 +f 68 56 74 +f 72 45 75 +f 63 72 75 +f 55 49 76 +f 59 47 78 +f 74 58 79 +f 68 74 79 +f 76 49 79 +f 58 76 79 +f 66 77 80 +f 50 56 81 +f 57 50 81 +f 64 57 81 +f 49 55 82 +f 79 49 82 +f 47 59 83 +f 59 54 83 +f 65 47 83 +f 53 60 84 +f 65 48 84 +f 47 65 84 +f 60 52 85 +f 47 84 85 +f 84 60 85 +f 56 68 86 +f 68 79 86 +f 81 56 86 +f 64 81 86 +f 82 64 86 +f 79 82 86 +f 67 80 87 +f 70 73 88 +f 45 46 90 +f 46 69 90 +f 75 45 90 +f 48 65 91 +f 54 71 91 +f 83 54 91 +f 65 83 91 +f 89 48 91 +f 77 61 92 +f 80 77 92 +f 85 52 92 +f 52 87 92 +f 87 80 92 +f 62 89 93 +f 91 71 93 +f 89 91 93 +f 66 75 94 +f 51 77 94 +f 77 66 94 +f 90 51 94 +f 75 90 94 +f 88 44 95 +f 70 88 95 +f 58 73 96 +f 73 53 96 +f 89 62 96 +f 77 51 97 +f 61 77 97 +f 78 47 97 +f 51 78 97 +f 47 85 97 +f 92 61 97 +f 85 92 97 +f 52 60 98 +f 60 70 98 +f 87 52 98 +f 70 95 98 +f 50 63 99 +f 67 50 99 +f 75 66 99 +f 63 75 99 +f 66 80 99 +f 80 67 99 +f 71 46 100 +f 55 93 100 +f 93 71 100 +f 46 72 101 +f 72 64 101 +f 82 55 101 +f 64 82 101 +f 100 46 101 +f 55 100 101 +f 56 67 102 +f 74 56 102 +f 84 48 103 +f 53 84 103 +f 48 89 103 +f 96 53 103 +f 89 96 103 +f 67 87 104 +f 95 44 104 +f 87 98 104 +f 98 95 104 +f 102 67 104 +f 44 102 104 +f 69 59 105 +f 59 78 105 +f 78 51 105 +f 90 69 105 +f 51 90 105 +f 73 58 106 +f 58 74 106 +f 44 88 106 +f 88 73 106 +f 102 44 106 +f 74 102 106 +f 55 76 107 +f 76 58 107 +f 93 55 107 +f 62 93 107 +f 58 96 107 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/132/132.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/132/132.urdf new file mode 100644 index 000000000..712a43b3d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/132/132.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/133/133.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/133/133.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/133/133.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/133/133.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/133/133.obj new file mode 100644 index 000000000..4f8c0398e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/133/133.obj @@ -0,0 +1,243 @@ +o convex_0 +v -0.274097 -4.401875 -0.464729 +v 0.443324 -4.431680 0.611588 +v 0.413520 -4.431680 0.611588 +v -0.333818 -2.578113 0.581684 +v 0.592903 -2.578113 -0.524537 +v -0.513201 -2.578113 -0.554441 +v -0.543228 -4.491486 0.521762 +v 0.562876 -4.581291 -0.494519 +v 0.592903 -2.578113 0.432050 +v -0.483285 -4.401875 -0.434825 +v -0.453481 -2.578113 0.581684 +v 0.473240 -4.581291 0.491858 +v -0.543228 -4.013044 0.551666 +v 0.592903 -2.847530 0.461954 +v -0.543228 -4.461485 0.162914 +v 0.353688 -4.581291 0.611588 +v 0.443324 -4.581291 -0.494519 +v 0.592903 -3.206361 -0.524537 +v -0.513201 -2.578113 -0.195592 +v 0.592903 -2.667918 0.461954 +v -0.513201 -3.594408 -0.494633 +v -0.393649 -2.787529 -0.554441 +v -0.513201 -4.491486 0.551666 +v -0.453481 -3.026749 0.581684 +v 0.562876 -4.581291 -0.434711 +v 0.114362 -3.803824 -0.524537 +v 0.592903 -3.385384 -0.464615 +v -0.214266 -2.638114 -0.554441 +v 0.293746 -4.551291 0.611588 +v 0.473240 -4.431680 0.581570 +v -0.483285 -4.192460 -0.464729 +v -0.543228 -4.491486 0.432050 +v 0.024838 -4.551291 0.551666 +f 7 32 33 +f 3 2 4 +f 4 5 6 +f 5 4 9 +f 3 4 11 +f 4 6 11 +f 5 9 14 +f 7 13 15 +f 13 6 15 +f 2 3 16 +f 12 2 16 +f 8 12 16 +f 10 1 17 +f 15 10 17 +f 8 16 17 +f 5 14 18 +f 11 6 19 +f 6 13 19 +f 13 11 19 +f 4 2 20 +f 9 4 20 +f 2 14 20 +f 14 9 20 +f 15 6 21 +f 10 15 21 +f 13 7 23 +f 7 16 23 +f 11 13 24 +f 13 23 24 +f 12 8 25 +f 14 12 25 +f 17 1 26 +f 8 17 26 +f 18 8 26 +f 8 18 27 +f 18 14 27 +f 25 8 27 +f 14 25 27 +f 6 5 28 +f 5 18 28 +f 22 6 28 +f 18 26 28 +f 26 22 28 +f 3 11 29 +f 16 3 29 +f 23 16 29 +f 24 23 29 +f 11 24 29 +f 2 12 30 +f 14 2 30 +f 12 14 30 +f 1 10 31 +f 21 6 31 +f 10 21 31 +f 6 22 31 +f 26 1 31 +f 22 26 31 +f 7 15 32 +f 15 17 32 +f 32 17 33 +f 16 7 33 +f 17 16 33 +o convex_1 +v 0.353575 3.011889 -1.062502 +v -0.423671 -0.155961 1.059853 +v -0.453557 -0.155961 1.059853 +v 0.054712 -2.578112 -1.002867 +v 1.011276 -2.517848 1.000218 +v 0.951503 3.550618 1.059646 +v -1.051485 3.550009 -1.032789 +v -0.961625 -2.517848 1.059853 +v -0.961625 3.640710 0.970296 +v 1.011478 3.640101 -1.062502 +v -0.961625 -2.517848 -1.002867 +v 0.981389 -2.577504 -0.972945 +v -0.393583 -2.578112 0.581316 +v -1.051485 3.580446 -0.673729 +v -1.051485 2.653953 -1.032789 +v 1.011478 3.640101 -0.644015 +v 1.011276 2.563860 -1.062502 +v -0.991511 -0.126133 -1.032789 +v -0.005061 3.610274 1.030140 +v 0.951503 2.294191 1.059646 +v -0.124606 3.610274 -1.062502 +v 1.011276 -2.457583 0.342151 +v 0.981389 1.606931 1.000218 +v -0.961625 2.443940 1.000218 +v -0.961625 -2.547676 -0.793416 +v -0.991511 3.610274 0.581316 +v 0.592867 -2.577504 0.431915 +v -0.692648 -2.488020 1.059853 +v 0.981389 -1.561527 -1.002867 +v 0.622754 3.579837 1.059646 +v 1.011276 1.308043 -1.032581 +v 1.011276 -1.561527 1.000218 +v -0.961625 3.640710 0.701002 +v -0.333810 3.550618 -1.062502 +v 0.951503 3.579837 0.940167 +v 0.622754 3.640101 -1.062502 +v -0.513330 -2.577504 -0.554251 +v 0.981389 3.520181 0.401994 +v -0.961625 -1.949899 1.059853 +v -0.692648 3.640101 0.970296 +v -0.961625 -2.547676 -0.195399 +v -1.051485 3.580446 -0.823337 +v 0.981389 -2.577504 -0.464694 +v -0.662761 3.520790 1.000218 +v -0.931738 -2.547676 -1.002867 +v 1.011478 3.550618 -0.584380 +v 0.772185 -0.753738 1.030140 +v -0.453557 -2.577504 0.521680 +v 0.592867 3.550618 1.059646 +v -1.051485 2.862749 -0.913102 +f 47 48 83 +f 35 36 41 +f 38 41 46 +f 47 40 48 +f 43 42 49 +f 34 43 50 +f 44 48 51 +f 34 50 51 +f 50 37 51 +f 39 35 53 +f 38 39 53 +f 43 34 54 +f 38 45 55 +f 48 44 58 +f 47 41 59 +f 42 47 59 +f 57 42 59 +f 38 46 60 +f 35 41 61 +f 41 38 61 +f 53 35 61 +f 45 37 62 +f 37 50 62 +f 36 35 63 +f 35 39 63 +f 50 43 64 +f 43 55 64 +f 55 45 64 +f 45 62 64 +f 62 50 64 +f 39 38 65 +f 56 39 65 +f 42 43 66 +f 47 42 66 +f 48 40 67 +f 34 51 67 +f 51 48 67 +f 54 34 67 +f 40 54 67 +f 39 49 68 +f 63 39 68 +f 52 63 68 +f 43 54 69 +f 66 43 69 +f 54 66 69 +f 37 46 70 +f 49 39 71 +f 39 56 71 +f 41 36 72 +f 59 41 72 +f 57 59 72 +f 49 42 73 +f 42 52 73 +f 68 49 73 +f 52 68 73 +f 41 48 74 +f 48 58 74 +f 58 70 74 +f 40 47 75 +f 54 40 75 +f 47 66 75 +f 66 54 75 +f 37 45 76 +f 45 38 76 +f 46 37 76 +f 38 60 76 +f 60 46 76 +f 52 42 77 +f 42 57 77 +f 72 36 77 +f 57 72 77 +f 51 37 78 +f 44 51 78 +f 58 44 78 +f 37 70 78 +f 70 58 78 +f 43 49 79 +f 38 55 79 +f 55 43 79 +f 65 38 79 +f 56 65 79 +f 49 71 79 +f 71 56 79 +f 38 53 80 +f 61 38 80 +f 53 61 80 +f 46 41 81 +f 70 46 81 +f 41 74 81 +f 74 70 81 +f 36 63 82 +f 63 52 82 +f 77 36 82 +f 52 77 82 +f 41 47 83 +f 48 41 83 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/133/133.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/133/133.urdf new file mode 100644 index 000000000..413749b25 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/133/133.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/134/134.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/134/134.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/134/134.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/134/134.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/134/134.obj new file mode 100644 index 000000000..781fbffa5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/134/134.obj @@ -0,0 +1,2883 @@ +o convex_0 +v -1.479478 1.520377 1.532338 +v 0.226636 1.777242 1.422276 +v 0.226636 1.777242 1.403922 +v 1.657644 1.410350 1.513984 +v 0.025291 1.263512 1.403922 +v 1.107768 1.722128 1.532338 +v 0.062171 1.263512 1.532338 +v -0.598678 1.556986 1.403922 +v -0.947210 1.685368 1.532338 +v 1.914807 1.520377 1.513984 +v 0.648595 1.520377 1.403922 +v -0.414943 1.703773 1.403922 +v -0.029863 1.777242 1.513984 +v 1.914807 1.502123 1.532338 +v 0.446919 1.758887 1.403922 +v -1.479478 1.538581 1.513984 +v -0.066410 1.777242 1.403922 +v -0.231540 1.318576 1.403922 +f 16 8 18 +f 3 2 6 +f 1 5 7 +f 5 4 7 +f 6 1 7 +f 3 5 8 +f 1 6 9 +f 4 5 11 +f 5 3 11 +f 10 4 11 +f 3 8 12 +f 2 3 13 +f 6 2 13 +f 9 6 13 +f 7 4 14 +f 6 7 14 +f 4 10 14 +f 10 6 14 +f 3 6 15 +f 6 10 15 +f 11 3 15 +f 10 11 15 +f 1 9 16 +f 12 8 16 +f 9 12 16 +f 3 12 17 +f 12 9 17 +f 13 3 17 +f 9 13 17 +f 5 1 18 +f 8 5 18 +f 1 16 18 +o convex_1 +v 0.061711 1.226778 -2.192059 +v 0.043333 0.823212 -1.531794 +v 0.061711 0.823212 -1.531794 +v -0.231818 1.226778 -1.513332 +v -0.195123 1.208407 -2.027047 +v -0.213470 1.024975 -1.550041 +v 0.061711 0.878285 -1.513332 +v 0.006638 1.208407 -2.247231 +f 20 23 26 +f 22 19 23 +f 23 20 24 +f 22 23 24 +f 22 24 25 +f 21 19 25 +f 20 21 25 +f 19 22 25 +f 24 20 25 +f 19 21 26 +f 21 20 26 +f 23 19 26 +o convex_2 +v 0.061711 1.226817 -2.173771 +v 0.281867 0.713088 -1.531749 +v 0.318576 0.713088 -1.531749 +v 0.318576 1.226817 -1.513402 +v 0.061711 0.859875 -1.513402 +v 0.245183 1.208463 -2.173771 +v 0.061711 1.153349 -2.155423 +v 0.080066 0.768202 -1.531749 +v 0.281867 1.226817 -1.971949 +f 29 32 35 +f 30 27 31 +f 28 29 31 +f 29 30 31 +f 29 28 33 +f 31 27 33 +f 27 32 33 +f 32 29 33 +f 28 31 34 +f 33 28 34 +f 31 33 34 +f 30 29 35 +f 27 30 35 +f 32 27 35 +o convex_3 +v -0.048362 0.823320 0.853523 +v -0.305102 1.575273 0.908560 +v -0.305102 1.575273 0.835166 +v 0.336859 1.116842 0.908594 +v -0.250102 1.355150 1.147030 +v 0.098305 1.336892 1.147030 +v -0.268509 0.970118 0.798486 +v 0.281859 0.823320 0.908560 +v -0.415323 1.575273 0.798486 +v -0.268436 1.575199 1.147030 +v -0.066695 0.841725 0.798486 +v -0.085029 1.281824 1.147030 +v -0.158362 0.823320 0.816843 +v -0.360176 1.575273 0.798486 +v 0.245045 1.098437 1.036922 +f 47 43 50 +f 39 38 41 +f 37 38 44 +f 42 40 44 +f 38 37 45 +f 40 41 45 +f 41 38 45 +f 37 44 45 +f 44 40 45 +f 39 43 46 +f 42 44 46 +f 40 36 47 +f 41 40 47 +f 36 43 47 +f 36 40 48 +f 40 42 48 +f 43 36 48 +f 42 46 48 +f 46 43 48 +f 38 39 49 +f 44 38 49 +f 39 46 49 +f 46 44 49 +f 39 41 50 +f 43 39 50 +f 41 47 50 +o convex_4 +v -0.103317 1.281896 1.275486 +v 0.061535 1.795550 1.220472 +v 0.061535 1.795550 1.147054 +v 0.575441 1.538749 1.403919 +v -0.580451 1.538749 1.403919 +v 0.024989 1.281896 1.147054 +v 0.245170 1.777114 1.403919 +v 0.079978 1.263513 1.403919 +v -0.323385 1.502138 1.147054 +v 0.245170 1.740451 1.147054 +v -0.396703 1.703787 1.385564 +v 0.190068 1.336892 1.147054 +v -0.231737 1.336892 1.147054 +v -0.195191 1.703787 1.147054 +v 0.428465 1.758782 1.385564 +v -0.231737 1.318612 1.403919 +v -0.066545 1.777166 1.403919 +v 0.263499 1.465422 1.147054 +f 62 60 68 +f 55 54 57 +f 54 55 58 +f 51 56 58 +f 53 56 59 +f 56 53 60 +f 54 58 62 +f 58 56 62 +f 56 60 62 +f 56 51 63 +f 55 59 63 +f 59 56 63 +f 59 55 64 +f 53 59 64 +f 61 53 64 +f 55 61 64 +f 53 52 65 +f 52 57 65 +f 57 54 65 +f 60 53 65 +f 54 60 65 +f 51 58 66 +f 58 55 66 +f 63 51 66 +f 55 63 66 +f 52 53 67 +f 57 52 67 +f 55 57 67 +f 53 61 67 +f 61 55 67 +f 60 54 68 +f 54 62 68 +o convex_5 +v -0.672109 1.960701 0.504820 +v 0.024970 2.474332 0.284765 +v 0.024970 2.474332 0.174637 +v 0.006591 2.235838 0.670012 +v -0.727168 1.777344 0.174637 +v -0.690488 1.777344 0.688367 +v -0.085148 2.382619 0.578188 +v -0.305230 2.272551 0.174637 +v -0.727168 1.905769 0.688367 +v 0.024970 2.437688 0.174637 +v 0.024970 2.309195 0.688367 +v -0.763926 1.795701 0.174637 +v -0.763926 1.777344 0.670012 +f 80 73 81 +f 73 72 74 +f 70 71 76 +f 71 73 76 +f 75 70 76 +f 75 76 77 +f 76 69 77 +f 71 70 78 +f 72 73 78 +f 73 71 78 +f 74 72 79 +f 70 75 79 +f 75 77 79 +f 77 74 79 +f 78 70 79 +f 72 78 79 +f 69 76 80 +f 76 73 80 +f 77 69 80 +f 77 80 81 +f 73 74 81 +f 74 77 81 +o convex_6 +v 0.318556 -1.672358 0.669992 +v -0.121690 -2.295763 0.541596 +v -0.029960 -2.791282 0.468197 +v 0.501943 -1.103313 0.669992 +v 0.630336 -2.442651 0.468197 +v 0.630336 -2.387630 0.578274 +v -0.121690 -1.305387 0.669992 +v 0.630410 -1.433769 0.688352 +v -0.121690 -1.452109 0.688352 +v -0.029960 -2.754436 0.504918 +v -0.121690 -2.185556 0.541596 +v 0.630410 -1.250366 0.688352 +v 0.630336 -2.497672 0.486579 +f 87 91 94 +f 85 86 88 +f 82 87 89 +f 87 82 90 +f 88 83 90 +f 85 88 90 +f 82 89 90 +f 83 84 91 +f 90 83 91 +f 87 90 91 +f 84 83 92 +f 86 84 92 +f 83 88 92 +f 88 86 92 +f 86 85 93 +f 89 86 93 +f 85 90 93 +f 90 89 93 +f 84 86 94 +f 86 89 94 +f 89 87 94 +f 91 84 94 +o convex_7 +v -0.268508 1.557072 -2.045466 +v -0.030028 1.226817 -2.247288 +v -0.011679 1.226817 -2.247288 +v -0.030028 1.502019 -3.127910 +v -0.213460 1.226817 -2.008958 +v -0.305206 1.557072 -1.513332 +v -0.011679 1.557072 -2.962754 +v -0.158473 1.465295 -2.944263 +v -0.268508 1.226817 -1.513332 +v -0.011679 1.318594 -2.926088 +v -0.011679 1.245212 -2.174114 +v -0.323555 1.520316 -1.660155 +v -0.140124 1.557072 -2.889106 +v -0.231809 1.263574 -1.513332 +v -0.250158 1.410242 -2.155623 +v -0.103425 1.336924 -2.815931 +f 102 104 110 +f 96 97 99 +f 95 100 101 +f 99 97 103 +f 97 96 104 +f 96 99 104 +f 101 97 104 +f 98 101 104 +f 102 98 104 +f 97 101 105 +f 101 100 105 +f 103 97 105 +f 100 95 106 +f 95 102 106 +f 103 100 106 +f 101 98 107 +f 95 101 107 +f 98 102 107 +f 102 95 107 +f 100 103 108 +f 105 100 108 +f 103 105 108 +f 102 99 109 +f 99 103 109 +f 106 102 109 +f 103 106 109 +f 99 102 110 +f 104 99 110 +o convex_8 +v -0.140124 1.557072 -2.852475 +v -0.011679 1.850603 -1.513626 +v -0.085076 1.850603 -1.513626 +v -0.305206 1.557072 -1.513626 +v -0.286857 1.758861 -1.531884 +v -0.011679 1.557072 -2.944206 +v -0.030028 1.667175 -2.870880 +v -0.011679 1.813912 -1.513626 +v -0.323555 1.575461 -1.623614 +v -0.121774 1.630484 -2.779150 +v -0.268508 1.777192 -1.550289 +f 120 115 121 +f 112 113 114 +f 114 113 115 +f 114 111 116 +f 113 112 117 +f 116 111 117 +f 112 116 117 +f 112 114 118 +f 116 112 118 +f 114 116 118 +f 111 114 119 +f 115 111 119 +f 114 115 119 +f 111 115 120 +f 117 111 120 +f 117 120 121 +f 115 113 121 +f 113 117 121 +o convex_9 +v 0.263490 1.667157 1.147030 +v 0.098406 1.116733 1.018655 +v 0.300214 1.116733 0.908536 +v 0.098406 1.850632 0.908536 +v 0.318547 1.777213 0.908536 +v 0.098406 1.777213 1.147030 +v 0.190158 1.281960 1.147030 +v 0.391966 1.245251 0.926909 +v 0.281881 1.116733 1.018655 +v 0.281881 1.483682 1.147030 +v 0.098406 1.281960 1.147030 +v 0.208491 1.777213 1.147030 +f 125 127 133 +f 124 123 125 +f 124 125 126 +f 125 123 127 +f 122 127 128 +f 126 122 129 +f 124 126 129 +f 123 124 130 +f 128 123 130 +f 124 129 130 +f 130 129 131 +f 122 128 131 +f 129 122 131 +f 128 130 131 +f 127 123 132 +f 123 128 132 +f 128 127 132 +f 122 126 133 +f 126 125 133 +f 127 122 133 +o convex_10 +v 0.703911 -0.277676 -1.146378 +v 0.648874 -1.947297 -1.164729 +v 0.703911 -1.947297 -1.164729 +v 0.722249 -1.947297 -1.054644 +v 0.869001 -0.277676 -1.072996 +v 0.813942 -0.277676 -1.054644 +v 0.740588 -0.277676 -1.164729 +v 0.758926 -1.800372 -1.054644 +v 0.685551 -0.424602 -1.146378 +f 134 140 142 +f 135 136 137 +f 138 134 139 +f 136 135 140 +f 134 138 140 +f 138 136 140 +f 137 136 141 +f 136 138 141 +f 139 137 141 +f 138 139 141 +f 135 137 142 +f 139 134 142 +f 137 139 142 +f 140 135 142 +o convex_11 +v 0.869001 -1.506906 0.174637 +v 0.924043 0.015883 0.486514 +v 0.905660 0.015883 0.486514 +v 0.758916 -2.130772 0.486514 +v 0.924043 0.015883 0.174637 +v 0.960702 -0.222821 0.486514 +v 0.758916 -2.112281 0.229710 +v 0.979086 -0.332927 0.174637 +v 0.795639 -2.020666 0.449819 +v 0.795639 -2.130772 0.174637 +v 0.758916 -1.928841 0.486514 +v 0.905660 0.015883 0.303100 +f 153 145 154 +f 144 145 146 +f 145 144 147 +f 144 146 148 +f 143 147 150 +f 147 144 150 +f 144 148 150 +f 150 148 151 +f 148 146 151 +f 143 150 151 +f 143 151 152 +f 147 143 152 +f 146 149 152 +f 149 147 152 +f 151 146 152 +f 146 145 153 +f 149 146 153 +f 149 153 154 +f 145 147 154 +f 147 149 154 +o convex_12 +v 0.061726 1.502030 -3.219545 +v 0.006683 1.226817 -2.339152 +v 0.043364 1.226817 -2.339152 +v 0.025023 1.300227 -2.999370 +v 0.208491 1.263563 -2.192368 +v -0.011679 1.502030 -3.091084 +v 0.208491 1.502030 -3.054337 +v -0.011679 1.263563 -2.229013 +v 0.190129 1.410274 -2.559224 +v 0.190129 1.336946 -2.834264 +v 0.208491 1.226817 -2.229013 +v -0.011679 1.318573 -2.962623 +f 162 160 166 +f 157 156 158 +f 158 155 161 +f 155 160 161 +f 159 161 163 +f 161 160 163 +f 162 159 163 +f 160 162 163 +f 158 161 164 +f 164 161 165 +f 156 157 165 +f 157 158 165 +f 161 159 165 +f 162 156 165 +f 159 162 165 +f 158 164 165 +f 158 156 166 +f 155 158 166 +f 160 155 166 +f 156 162 166 +o convex_13 +v 0.263528 1.538710 -1.513479 +v 0.208517 1.226817 -2.210726 +v 0.190163 1.502003 -2.999272 +v 0.190163 1.722200 -1.513479 +v 0.318576 1.226817 -1.513626 +v 0.245212 1.502003 -2.944199 +v 0.208504 1.722200 -1.788697 +v 0.281856 1.465295 -2.155654 +v 0.226858 1.428636 -2.962605 +v 0.281856 1.226817 -1.605218 +v 0.281856 1.226817 -1.990582 +v 0.190163 1.667114 -1.513479 +v 0.190163 1.575418 -2.889126 +v 0.318576 1.318611 -1.678698 +f 177 172 180 +f 170 167 173 +f 173 167 174 +f 172 173 174 +f 168 169 175 +f 169 172 175 +f 168 171 176 +f 171 168 177 +f 168 175 177 +f 175 172 177 +f 169 168 178 +f 170 169 178 +f 167 170 178 +f 171 167 178 +f 168 176 178 +f 176 171 178 +f 169 170 179 +f 172 169 179 +f 173 172 179 +f 170 173 179 +f 167 171 180 +f 174 167 180 +f 172 174 180 +f 171 177 180 +o convex_14 +v 0.135085 1.777231 -1.513332 +v 0.043380 1.502030 -3.201300 +v 0.061733 1.502030 -3.201300 +v 0.025027 1.685454 -2.926031 +v -0.011679 1.795529 -1.550343 +v 0.190144 1.612136 -2.834329 +v 0.190144 1.703849 -1.513332 +v -0.011679 1.502030 -3.054413 +v 0.190144 1.502030 -2.944371 +v -0.011679 1.832285 -1.642044 +v 0.190144 1.703849 -2.228934 +v -0.011679 1.667157 -2.926031 +f 188 190 192 +f 183 182 184 +f 183 184 186 +f 181 185 187 +f 182 183 188 +f 187 185 188 +f 187 188 189 +f 183 186 189 +f 186 187 189 +f 188 183 189 +f 185 181 190 +f 188 185 190 +f 186 184 191 +f 181 187 191 +f 187 186 191 +f 190 181 191 +f 184 190 191 +f 184 182 192 +f 182 188 192 +f 190 184 192 +o convex_15 +v -0.415211 1.575477 0.816796 +v 0.043280 2.290972 0.706737 +v 0.061554 2.162524 0.816796 +v 0.410313 1.905770 0.688375 +v 0.281791 1.758973 0.908515 +v -0.433658 2.034147 0.688375 +v -0.433485 2.034007 0.816796 +v -0.250055 1.758973 0.908515 +v -0.323410 1.575477 0.908515 +v -0.360130 1.575477 0.798456 +v 0.410313 1.905770 0.780116 +v 0.024919 1.887350 0.908515 +v 0.024919 2.290972 0.688375 +v -0.433658 1.979098 0.688375 +v -0.470292 1.722274 0.816796 +v 0.281791 1.832372 0.908515 +f 204 197 208 +f 195 194 199 +f 200 199 201 +f 197 200 201 +f 197 201 202 +f 196 197 202 +f 201 193 202 +f 194 195 203 +f 196 194 203 +f 197 196 203 +f 195 199 204 +f 200 197 204 +f 199 200 204 +f 194 196 205 +f 196 198 205 +f 199 194 205 +f 198 199 205 +f 198 196 206 +f 196 202 206 +f 202 193 206 +f 199 198 207 +f 201 199 207 +f 193 201 207 +f 198 206 207 +f 206 193 207 +f 203 195 208 +f 197 203 208 +f 195 204 208 +o convex_16 +v 0.355127 1.648318 -1.348204 +v -0.433579 1.666723 -1.366564 +v -0.396951 1.611946 -1.421626 +v 0.465196 -0.222634 -1.348204 +v 0.336813 1.263347 -1.513294 +v -0.268384 0.236395 -1.348204 +v -0.213350 1.006773 -1.513294 +v -0.011617 1.850334 -1.513294 +v 0.318407 0.603179 -1.513294 +v -0.066743 2.015759 -1.348204 +v 0.501916 0.804976 -1.366564 +v -0.286698 1.758747 -1.513294 +v -0.268384 0.236395 -1.366564 +v -0.378453 1.923954 -1.348204 +v 0.208429 1.740342 -1.513294 +v 0.483510 -0.222634 -1.366564 +v 0.098452 0.676361 -1.513294 +v -0.323510 1.464925 -1.513294 +v 0.336813 1.739904 -1.366564 +v 0.061640 1.978730 -1.366564 +f 218 227 228 +f 212 209 214 +f 213 215 216 +f 215 213 217 +f 214 209 218 +f 209 212 219 +f 211 210 220 +f 216 215 220 +f 210 211 221 +f 214 210 221 +f 212 214 221 +f 210 214 222 +f 214 218 222 +f 218 216 222 +f 220 210 222 +f 216 220 222 +f 213 216 223 +f 217 213 224 +f 219 212 224 +f 213 219 224 +f 212 221 224 +f 224 221 225 +f 215 217 225 +f 221 215 225 +f 217 224 225 +f 211 220 226 +f 220 215 226 +f 221 211 226 +f 215 221 226 +f 218 209 227 +f 209 219 227 +f 219 213 227 +f 213 223 227 +f 227 223 228 +f 216 218 228 +f 223 216 228 +o convex_17 +v 0.575456 1.831990 0.706737 +v 0.281928 0.823283 0.890154 +v 0.300276 0.823283 0.871814 +v 0.703802 0.438023 0.780116 +v 0.355322 1.758679 0.908515 +v 0.410320 1.905301 0.688375 +v 0.722151 0.438023 0.688375 +v 0.281928 1.979064 0.798456 +v 0.520364 1.795485 0.816796 +v 0.483714 1.025115 0.890154 +v 0.630408 1.630309 0.688375 +v 0.281928 1.813737 0.908515 +v 0.336973 0.823283 0.908515 +v 0.758847 0.493233 0.706737 +f 239 237 242 +f 230 231 235 +f 232 230 235 +f 231 234 235 +f 231 230 236 +f 234 231 236 +f 229 234 236 +f 229 236 237 +f 232 237 238 +f 237 233 238 +f 234 229 239 +f 235 234 239 +f 229 237 239 +f 236 230 240 +f 233 237 240 +f 237 236 240 +f 230 232 241 +f 232 238 241 +f 238 233 241 +f 240 230 241 +f 233 240 241 +f 232 235 242 +f 237 232 242 +f 235 239 242 +o convex_18 +v 0.722149 -2.644678 0.009549 +v -0.029961 -3.048082 0.174736 +v -0.011483 -3.305011 -0.100575 +v 0.630344 -2.516130 0.468197 +v -0.029961 -2.754637 0.449768 +v 0.685412 -2.644678 -0.100575 +v 0.171980 -3.231567 -0.082147 +v -0.011556 -2.809575 0.468197 +v 0.612012 -2.461109 0.449768 +v -0.011483 -3.249825 -0.100575 +v 0.703744 -2.516130 0.137935 +v 0.722149 -2.681358 -0.100575 +f 248 253 254 +f 243 246 249 +f 244 245 250 +f 247 244 250 +f 245 249 250 +f 249 246 250 +f 250 246 251 +f 247 250 251 +f 245 244 252 +f 244 247 252 +f 248 245 252 +f 247 248 252 +f 246 243 253 +f 248 247 253 +f 251 246 253 +f 247 251 253 +f 245 248 254 +f 249 245 254 +f 243 249 254 +f 253 243 254 +o convex_19 +v -0.800664 -1.194745 0.211419 +v -0.763926 1.373597 0.651625 +v -0.782316 1.373597 0.651625 +v -0.800664 1.373597 0.174723 +v -0.910705 -0.516147 0.248114 +v -0.763926 -0.754758 0.541538 +v -0.763926 -1.305135 0.174676 +v -0.892315 0.676120 0.174723 +v -0.837315 -0.589566 0.541538 +v -0.782316 1.373597 0.174723 +v -0.910705 -0.607920 0.174676 +v -0.837315 1.208143 0.431452 +v -0.782316 -0.993106 0.468101 +v -0.782316 -0.571211 0.578281 +v -0.763926 1.373597 0.541538 +f 261 264 269 +f 257 256 258 +f 256 260 261 +f 257 259 263 +f 258 256 264 +f 264 261 265 +f 261 255 265 +f 259 262 265 +f 262 258 265 +f 263 259 265 +f 258 264 265 +f 257 258 266 +f 259 257 266 +f 262 259 266 +f 258 262 266 +f 255 261 267 +f 261 260 267 +f 260 263 267 +f 265 255 267 +f 263 265 267 +f 256 257 268 +f 260 256 268 +f 257 263 268 +f 263 260 268 +f 256 261 269 +f 264 256 269 +o convex_20 +v -0.268524 1.575481 1.128681 +v 0.061684 1.887327 0.926909 +v 0.061684 1.887327 0.908536 +v -0.231843 1.777211 0.945258 +v -0.286864 1.575481 0.908536 +v 0.098406 1.758864 1.147030 +v -0.030058 1.795559 1.147030 +v 0.098406 1.832254 0.908536 +f 271 275 277 +f 271 272 273 +f 270 273 274 +f 273 272 274 +f 270 274 275 +f 270 275 276 +f 271 273 276 +f 273 270 276 +f 275 271 276 +f 272 271 277 +f 274 272 277 +f 275 274 277 +o convex_21 +v -0.287171 1.391973 1.936003 +v -2.891975 1.520354 1.844258 +v -2.891975 1.538707 1.844258 +v -1.644389 1.538707 2.046080 +v -0.250454 1.538707 1.972689 +v -1.864689 1.391973 1.972689 +v -0.287171 1.355268 1.844258 +v -2.488352 1.391973 1.844258 +v -2.561527 1.520354 2.009375 +v -0.342246 1.520354 2.009375 +v -1.736181 1.355268 1.880964 +v -1.094417 1.373621 1.954336 +v -0.287171 1.373621 1.844258 +v -2.525069 1.410308 1.899317 +f 285 288 291 +f 280 281 282 +f 279 280 284 +f 282 278 284 +f 279 284 285 +f 280 279 286 +f 281 280 286 +f 283 281 286 +f 278 282 287 +f 282 281 287 +f 285 284 288 +f 281 283 289 +f 284 278 289 +f 278 287 289 +f 287 281 289 +f 283 288 289 +f 288 284 289 +f 280 282 290 +f 284 280 290 +f 282 284 290 +f 279 285 291 +f 286 279 291 +f 283 286 291 +f 288 283 291 +o convex_22 +v -2.635312 1.538725 2.009394 +v -0.103416 1.832285 2.046079 +v -0.103416 1.813923 2.064421 +v -0.250254 1.538725 1.972698 +v -2.048224 1.758837 1.954343 +v -0.103416 1.795532 1.954343 +v -1.241143 1.740504 2.082775 +v -1.369626 1.575477 2.064421 +v -2.727085 1.538725 1.954343 +v -2.011515 1.758837 2.027724 +v -0.250254 1.557087 2.027724 +v -2.672021 1.593782 2.027724 +v -1.149632 1.795532 2.082775 +v -0.158480 1.722171 2.064421 +v -1.809614 1.538725 2.046079 +f 299 303 306 +f 296 293 297 +f 293 294 297 +f 294 295 297 +f 295 292 300 +f 296 297 300 +f 297 295 300 +f 299 298 303 +f 300 292 303 +f 296 300 303 +f 301 296 303 +f 301 303 304 +f 294 293 304 +f 293 296 304 +f 296 301 304 +f 303 298 304 +f 304 298 305 +f 295 294 305 +f 298 299 305 +f 302 295 305 +f 299 302 305 +f 294 304 305 +f 292 295 306 +f 295 302 306 +f 302 299 306 +f 303 292 306 +o convex_23 +v 0.410594 1.557133 2.027719 +v 0.043823 1.868979 2.064428 +v 1.327519 1.758864 2.009371 +v -0.103150 1.795559 1.917648 +v 2.612012 1.557133 1.917648 +v 1.639274 1.557133 2.027719 +v 1.840997 1.740517 1.917648 +v 0.227208 1.557133 2.064428 +v -0.103150 1.758864 1.917648 +v -0.103150 1.795559 2.064428 +v 2.556465 1.593798 1.936010 +v 0.007146 1.868979 2.027719 +v 2.373080 1.557133 1.917648 +f 315 311 319 +f 309 308 312 +f 307 311 312 +f 308 309 313 +f 311 310 313 +f 312 308 314 +f 307 312 314 +f 310 311 315 +f 307 314 315 +f 315 314 316 +f 314 308 316 +f 310 315 316 +f 309 312 317 +f 312 311 317 +f 313 309 317 +f 311 313 317 +f 308 313 318 +f 313 310 318 +f 316 308 318 +f 310 316 318 +f 311 307 319 +f 307 315 319 +o convex_24 +v -0.231938 -1.616599 -1.146358 +v -0.690536 -1.268870 -0.981278 +v -0.690536 -1.268870 -0.962946 +v -0.488645 -0.277676 -1.146358 +v -0.231938 -2.626143 -0.962946 +v -0.525369 -0.846560 -1.164729 +v -0.250255 -2.607792 -1.017980 +v -0.653767 -0.277676 -1.054662 +v -0.690536 -0.681400 -1.091325 +v -0.250255 -1.800345 -1.164729 +v -0.672129 -1.085124 -0.962946 +v -0.543686 -0.277676 -1.164729 +v -0.305296 -2.607792 -0.962946 +v -0.690536 -0.277676 -1.072974 +f 331 328 333 +f 320 323 324 +f 324 323 327 +f 321 322 328 +f 326 321 328 +f 323 320 329 +f 320 324 329 +f 324 326 329 +f 328 325 329 +f 326 328 329 +f 322 324 330 +f 324 327 330 +f 327 323 331 +f 325 328 331 +f 323 329 331 +f 329 325 331 +f 322 321 332 +f 324 322 332 +f 321 326 332 +f 326 324 332 +f 328 322 333 +f 322 330 333 +f 330 327 333 +f 327 331 333 +o convex_25 +v -0.543686 -1.598851 -0.962907 +v -0.690536 -2.038931 -0.706093 +v -0.672129 -2.222283 -0.706093 +v -0.231938 -2.809437 -0.687722 +v -0.250255 -2.699295 -0.962907 +v -0.672129 -1.800670 -0.687722 +v -0.690536 -1.562246 -0.926165 +v -0.672129 -1.195214 -0.944509 +v -0.598726 -2.240749 -0.852790 +v -0.653767 -2.332426 -0.687722 +v -0.231938 -2.644223 -0.926165 +v -0.250255 -2.864672 -0.706093 +v -0.378698 -2.442405 -0.962907 +v -0.690536 -1.195214 -0.962907 +f 346 340 347 +f 336 335 340 +f 337 334 341 +f 339 337 341 +f 336 340 342 +f 335 336 343 +f 339 335 343 +f 337 339 343 +f 336 342 343 +f 342 338 343 +f 334 337 344 +f 338 334 344 +f 337 338 344 +f 338 337 345 +f 337 343 345 +f 343 338 345 +f 334 338 346 +f 338 342 346 +f 342 340 346 +f 335 339 347 +f 340 335 347 +f 341 334 347 +f 339 341 347 +f 334 346 347 +o convex_26 +v 0.355169 0.511061 0.890175 +v -0.140034 0.786316 0.798451 +v -0.140034 0.786316 0.816813 +v 0.520262 -0.314371 0.816813 +v 0.630376 0.823173 0.798451 +v 0.226909 0.823173 0.908536 +v 0.538640 -0.314371 0.798451 +v 0.611997 0.694565 0.835164 +v 0.226909 0.052636 0.816813 +v 0.025137 0.823173 0.871823 +f 356 353 357 +f 351 348 353 +f 349 352 354 +f 354 352 355 +f 348 351 355 +f 352 353 355 +f 353 348 355 +f 351 354 355 +f 350 349 356 +f 351 353 356 +f 349 354 356 +f 354 351 356 +f 349 350 357 +f 352 349 357 +f 353 352 357 +f 350 356 357 +o convex_27 +v -2.506937 1.391945 1.807533 +v -0.984124 1.373597 1.532412 +v -0.984124 1.391945 1.532412 +v -0.287078 1.373597 1.844258 +v -1.186334 1.318555 1.752490 +v -0.231848 1.318555 1.532412 +v -1.681170 1.373597 1.587424 +v -0.507327 1.391945 1.532412 +v -1.901419 1.336902 1.789185 +v -0.287078 1.336902 1.807533 +v -1.772922 1.391945 1.844258 +v -1.864674 1.355250 1.844258 +f 361 368 369 +f 359 360 363 +f 358 360 364 +f 360 359 364 +f 359 363 364 +f 360 358 365 +f 363 360 365 +f 361 363 365 +f 363 362 366 +f 364 363 366 +f 358 364 366 +f 363 361 367 +f 362 363 367 +f 365 358 368 +f 361 365 368 +f 358 366 369 +f 366 362 369 +f 367 361 369 +f 362 367 369 +f 368 358 369 +o convex_28 +v -2.635254 1.391945 1.844258 +v -1.663150 1.520350 1.532412 +v -1.663150 1.538696 1.532412 +v -0.617146 1.391945 1.550729 +v -2.836883 1.538696 1.844258 +v -2.433398 1.428651 1.642466 +v -2.653273 1.538696 1.605771 +v -2.029457 1.410305 1.844258 +v -1.700100 1.391945 1.569076 +v -1.406097 1.538696 1.550729 +v -2.671976 1.391945 1.789185 +v -2.947276 1.520350 1.807533 +v -0.617146 1.410305 1.550729 +f 379 377 382 +f 371 372 373 +f 372 371 376 +f 374 372 376 +f 370 373 377 +f 374 370 377 +f 371 373 378 +f 373 370 378 +f 375 376 378 +f 376 371 378 +f 372 374 379 +f 374 377 379 +f 376 375 380 +f 378 370 380 +f 375 378 380 +f 370 374 381 +f 374 376 381 +f 380 370 381 +f 376 380 381 +f 373 372 382 +f 377 373 382 +f 372 379 382 +o convex_29 +v -2.451639 1.685505 1.917583 +v -1.626399 1.538753 1.532392 +v -2.158151 1.538753 1.569111 +v -2.653384 1.538753 1.954302 +v -0.727676 1.685505 1.550772 +v -2.084668 1.685505 1.624126 +v -3.002096 1.575445 1.807511 +v -2.653384 1.538753 1.605788 +v -1.387912 1.538753 1.550772 +v -2.304895 1.667145 1.954302 +v -1.094424 1.685505 1.532392 +v -0.727676 1.667145 1.550772 +v -2.800128 1.593776 1.954302 +v -3.002096 1.538753 1.825850 +v -2.469899 1.685505 1.807511 +f 388 389 397 +f 385 384 386 +f 383 387 388 +f 385 386 390 +f 389 388 390 +f 386 384 391 +f 387 383 392 +f 384 385 393 +f 388 387 393 +f 385 390 393 +f 390 388 393 +f 391 384 394 +f 386 391 394 +f 392 386 394 +f 387 392 394 +f 384 393 394 +f 393 387 394 +f 383 389 395 +f 392 383 395 +f 386 392 395 +f 390 386 396 +f 389 390 396 +f 395 389 396 +f 386 395 396 +f 383 388 397 +f 389 383 397 +o convex_30 +v -2.359797 1.703865 1.917583 +v -0.855692 1.685515 1.532392 +v -1.754280 1.685515 1.605788 +v -0.140161 1.795579 1.917583 +v -0.176907 1.740542 1.880906 +v -2.213262 1.685515 1.954302 +v -2.011274 1.758880 1.935922 +v -0.231913 1.740542 1.532392 +v -0.415640 1.685515 1.550772 +v -2.066281 1.703865 1.660844 +v -0.121900 1.758880 1.954302 +v -0.103416 1.722214 1.770834 +v -0.103416 1.722214 1.532392 +v -0.103416 1.795579 1.954302 +f 410 401 411 +f 400 399 403 +f 398 403 404 +f 399 400 405 +f 404 401 405 +f 403 399 406 +f 403 398 407 +f 400 403 407 +f 398 404 407 +f 405 400 407 +f 404 405 407 +f 403 402 408 +f 402 403 409 +f 403 406 409 +f 408 402 409 +f 399 405 410 +f 405 401 410 +f 406 399 410 +f 409 406 410 +f 409 410 411 +f 401 404 411 +f 404 403 411 +f 403 408 411 +f 408 409 411 +o convex_31 +v 2.997084 1.538707 1.734154 +v 1.621248 1.538707 1.532351 +v 1.621248 1.557072 1.532351 +v 2.648493 1.428665 1.807563 +v 2.593460 1.428665 1.587415 +v 1.639777 1.428665 1.550750 +v 2.758560 1.557072 1.807563 +v 2.556817 1.557072 1.587415 +v 2.685274 1.483698 1.569096 +v 2.942051 1.447005 1.752499 +v 1.621248 1.557072 1.550750 +v 1.914944 1.428665 1.532351 +f 420 416 423 +f 416 415 417 +f 418 412 419 +f 414 418 419 +f 419 412 420 +f 414 419 420 +f 415 416 421 +f 412 418 421 +f 418 415 421 +f 420 412 421 +f 416 420 421 +f 414 413 422 +f 413 417 422 +f 417 415 422 +f 418 414 422 +f 415 418 422 +f 413 414 423 +f 417 413 423 +f 416 417 423 +f 414 420 423 +o convex_32 +v 1.749660 1.391934 1.972653 +v 0.226839 1.281871 1.807585 +v 0.226839 1.281871 1.844283 +v 0.245373 1.391934 2.027690 +v 2.355036 1.391934 1.807585 +v 1.657915 1.300220 1.844283 +v 0.814143 1.355236 2.009351 +v 0.300281 1.318569 1.807585 +v 2.538525 1.355236 1.807585 +v 1.675986 1.355236 1.972653 +v 0.245373 1.391934 1.991013 +f 428 431 434 +f 425 426 427 +f 427 424 428 +f 426 425 429 +f 427 426 430 +f 424 427 430 +f 426 429 430 +f 428 425 431 +f 428 424 432 +f 425 428 432 +f 429 425 432 +f 429 432 433 +f 424 430 433 +f 430 429 433 +f 432 424 433 +f 425 427 434 +f 427 428 434 +f 431 425 434 +o convex_33 +v 1.841001 1.557056 2.009344 +v 2.520123 1.391961 1.807563 +v 2.520123 1.410321 1.807563 +v 0.245193 1.465353 2.009344 +v 2.740117 1.557056 1.807563 +v 1.621007 1.391961 1.991017 +v 0.226839 1.557056 2.064403 +v 2.685316 1.520352 1.935983 +v 0.245193 1.391961 2.027697 +v 2.428088 1.391961 1.899328 +v 0.281903 1.557056 2.027697 +v 2.905571 1.502008 1.825941 +v 1.602652 1.538696 2.027697 +v 2.685316 1.557056 1.935983 +f 442 446 448 +f 437 436 438 +f 436 437 439 +f 437 438 439 +f 435 439 441 +f 438 436 443 +f 436 440 443 +f 441 438 443 +f 440 436 444 +f 442 440 444 +f 439 438 445 +f 438 441 445 +f 441 439 445 +f 436 439 446 +f 444 436 446 +f 442 444 446 +f 435 441 447 +f 442 435 447 +f 440 442 447 +f 443 440 447 +f 441 443 447 +f 439 435 448 +f 435 442 448 +f 446 439 448 +o convex_34 +v 1.125632 1.758880 1.917648 +v -0.103416 1.722210 1.532426 +v 0.208493 1.703866 1.624140 +v 1.162560 1.722210 1.532426 +v -0.103416 1.777233 1.844224 +v 1.162560 1.703866 1.844224 +v 0.227081 1.758880 1.532426 +v -0.103416 1.740536 1.862552 +v 1.162560 1.685514 1.532426 +v 0.575423 1.777233 1.917648 +v -0.103416 1.758880 1.917648 +f 458 453 459 +f 452 449 454 +f 452 450 455 +f 449 452 455 +f 450 453 455 +f 450 451 456 +f 453 450 456 +f 451 454 456 +f 451 450 457 +f 450 452 457 +f 454 451 457 +f 452 454 457 +f 449 455 458 +f 455 453 458 +f 454 449 459 +f 453 456 459 +f 456 454 459 +f 449 458 459 +o convex_35 +v 2.832018 1.557072 1.770838 +v 1.162560 1.667128 1.532426 +v 1.162560 1.667128 1.550754 +v 2.098117 1.722192 1.880917 +v 1.162560 1.722192 1.917648 +v 2.538360 1.557072 1.917648 +v 1.548059 1.557072 1.550754 +v 1.217795 1.722192 1.532426 +v 2.391612 1.593782 1.587447 +v 2.153188 1.685483 1.660833 +v 1.676504 1.740547 1.917648 +v 1.823251 1.557072 1.532426 +v 2.758481 1.593782 1.752472 +v 2.648502 1.575427 1.917648 +f 472 463 473 +f 461 462 464 +f 465 464 466 +f 462 461 466 +f 464 462 466 +f 460 465 466 +f 461 464 467 +f 467 463 469 +f 468 467 469 +f 464 465 470 +f 463 467 470 +f 467 464 470 +f 466 461 471 +f 460 466 471 +f 461 467 471 +f 467 468 471 +f 468 460 471 +f 460 468 472 +f 469 463 472 +f 468 469 472 +f 465 460 473 +f 463 470 473 +f 470 465 473 +f 460 472 473 +o convex_36 +v -0.984088 -0.791151 -0.247377 +v -0.910705 0.291096 -0.100608 +v -0.910705 0.291096 -0.118966 +v -0.910705 -1.286788 -0.247377 +v -0.910705 0.199351 -0.430765 +v -0.984088 -0.204387 -0.100608 +v -0.965734 -0.589436 -0.430765 +v -0.929060 -0.864670 -0.100608 +v -1.002443 -0.387876 -0.265703 +v -0.910705 -0.809531 -0.430765 +v -0.929060 0.199351 -0.430765 +f 480 482 484 +f 476 475 477 +f 476 477 478 +f 477 474 480 +f 477 475 481 +f 474 477 481 +f 475 479 481 +f 479 474 481 +f 474 479 482 +f 480 474 482 +f 478 477 483 +f 477 480 483 +f 480 478 483 +f 475 476 484 +f 476 478 484 +f 479 475 484 +f 478 480 484 +f 482 479 484 +o convex_37 +v -0.690550 1.777202 0.688367 +v -0.800621 1.373637 0.174637 +v -0.782244 1.373637 0.174637 +v -0.745564 1.777202 0.174637 +v -0.653841 1.373637 0.670012 +v -0.800621 1.557108 0.559934 +v -0.782244 1.373637 0.651657 +v -0.763897 1.777202 0.670012 +v -0.763897 1.777202 0.174637 +f 490 492 493 +f 487 486 488 +f 488 485 489 +f 486 487 489 +f 487 488 489 +f 489 485 491 +f 486 489 491 +f 490 486 491 +f 490 491 492 +f 485 488 492 +f 491 485 492 +f 492 488 493 +f 488 486 493 +f 486 490 493 +o convex_38 +v 2.795206 1.428608 1.697495 +v 0.080059 1.263529 1.532392 +v 0.080059 1.263529 1.550737 +v 0.887932 1.410249 1.550737 +v 0.208874 1.300245 1.807563 +v 1.841162 1.281903 1.770820 +v 1.657567 1.318587 1.532392 +v 2.611611 1.428608 1.807563 +v 2.703273 1.336929 1.734157 +v 1.859603 1.428608 1.532392 +v 2.501780 1.391907 1.587399 +v 0.208874 1.263529 1.770820 +v 2.391405 1.336929 1.807563 +v 0.153551 1.318587 1.532392 +v 1.071256 1.263529 1.660832 +v 1.511125 1.281903 1.807563 +f 499 506 509 +f 497 498 501 +f 499 500 502 +f 494 501 502 +f 500 495 503 +f 501 494 503 +f 497 501 503 +f 494 502 504 +f 502 500 504 +f 500 503 504 +f 503 494 504 +f 496 495 505 +f 498 496 505 +f 501 498 506 +f 499 502 506 +f 502 501 506 +f 495 496 507 +f 498 497 507 +f 496 498 507 +f 503 495 507 +f 497 503 507 +f 495 500 508 +f 500 499 508 +f 505 495 508 +f 499 505 508 +f 498 505 509 +f 505 499 509 +f 506 498 509 +o convex_39 +v 0.428699 -2.497630 -1.127984 +v 0.703841 -2.534356 -0.687695 +v 0.685481 -2.534356 -0.687695 +v 0.703841 -1.947480 -1.127984 +v 0.373619 -1.965797 -1.146334 +v 0.373619 -2.883019 -0.687695 +v 0.685481 -2.369412 -1.146334 +v 0.373619 -2.534356 -1.109635 +v 0.392011 -2.864519 -0.761139 +v 0.703841 -2.589307 -0.706091 +v 0.373619 -2.149242 -1.164683 +v 0.685481 -1.947480 -1.164683 +v 0.373619 -2.846202 -0.687695 +f 514 515 522 +f 512 511 513 +f 512 513 514 +f 511 512 515 +f 515 514 517 +f 515 517 518 +f 510 516 518 +f 517 510 518 +f 518 516 519 +f 513 511 519 +f 511 515 519 +f 516 513 519 +f 515 518 519 +f 516 510 520 +f 510 517 520 +f 517 514 520 +f 514 513 521 +f 513 516 521 +f 520 514 521 +f 516 520 521 +f 512 514 522 +f 515 512 522 +o convex_40 +v 0.135101 -1.873766 -1.183089 +v -0.507061 -0.809908 -1.183089 +v -0.507061 -0.809908 -1.164758 +v 0.135101 -0.424598 -1.293149 +v -0.305222 -0.443041 -1.311509 +v -0.451997 -0.424598 -1.164758 +v -0.250095 -1.690190 -1.183089 +v 0.135101 -1.690190 -1.164758 +v 0.135101 -0.864952 -1.293149 +v -0.341932 -0.864952 -1.274804 +v -0.250095 -1.690190 -1.164758 +v -0.507061 -0.424598 -1.183089 +f 528 526 534 +f 525 524 529 +f 523 526 530 +f 528 525 530 +f 526 528 530 +f 526 523 531 +f 527 526 531 +f 524 527 532 +f 523 529 532 +f 529 524 532 +f 531 523 532 +f 527 531 532 +f 529 523 533 +f 525 529 533 +f 523 530 533 +f 530 525 533 +f 524 525 534 +f 526 527 534 +f 527 524 534 +f 525 528 534 +o convex_41 +v 0.685443 -1.745346 -1.183089 +v 0.135159 -1.873847 -1.183089 +v 0.153547 -1.892111 -1.183089 +v 0.135159 -0.424456 -1.311509 +v 0.667112 -0.424456 -1.164758 +v 0.538678 -0.534692 -1.311509 +v 0.135159 -1.690228 -1.164758 +v 0.667112 -2.057303 -1.164758 +v 0.153547 -0.883179 -1.293149 +v 0.667112 -2.057303 -1.183089 +v 0.722221 -0.424456 -1.183089 +v 0.153547 -0.516265 -1.274804 +v 0.575340 -0.424456 -1.293149 +f 545 535 547 +f 536 537 541 +f 538 536 541 +f 539 541 542 +f 541 537 542 +f 537 536 543 +f 536 538 543 +f 538 540 543 +f 543 540 544 +f 540 535 544 +f 535 542 544 +f 542 537 544 +f 537 543 544 +f 538 539 545 +f 539 542 545 +f 542 535 545 +f 539 538 546 +f 538 541 546 +f 541 539 546 +f 535 540 547 +f 540 538 547 +f 538 545 547 +o convex_42 +v -0.727258 -1.250064 -0.962875 +v -0.873987 -0.626279 -0.687695 +v -0.690555 -0.626279 -1.054589 +v -0.690555 -1.690228 -0.687695 +v -0.837285 -0.699679 -0.999568 +v -0.708906 -1.855560 -0.706098 +v -0.690555 -1.598657 -0.907816 +v -0.892338 -0.699679 -0.706098 +v -0.855636 -0.662979 -0.687695 +f 549 551 556 +f 550 548 552 +f 549 550 552 +f 551 549 553 +f 551 553 554 +f 548 550 554 +f 550 551 554 +f 552 548 554 +f 553 552 554 +f 549 552 555 +f 553 549 555 +f 552 553 555 +f 550 549 556 +f 551 550 556 +o convex_43 +v 0.538604 1.795250 0.798451 +v -0.543756 1.116625 0.780104 +v -0.543756 1.116625 0.798451 +v 0.575304 -0.515930 0.780104 +v 0.061740 2.180623 0.780104 +v 0.556894 -0.515930 0.798451 +v -0.488645 2.015388 0.798451 +v -0.286853 0.144483 0.780104 +v 0.685526 0.621447 0.780104 +v -0.286853 0.144483 0.798451 +v 0.538604 1.795250 0.780104 +v -0.488645 2.015388 0.780104 +v 0.685526 0.401310 0.798451 +v 0.061740 2.180623 0.798451 +f 561 563 570 +f 560 558 561 +f 557 559 562 +f 559 557 563 +f 558 559 563 +f 559 558 564 +f 558 560 564 +f 560 562 564 +f 560 561 565 +f 562 559 566 +f 559 564 566 +f 564 562 566 +f 561 557 567 +f 557 565 567 +f 565 561 567 +f 561 558 568 +f 558 563 568 +f 563 561 568 +f 557 562 569 +f 562 560 569 +f 565 557 569 +f 560 565 569 +f 557 561 570 +f 563 557 570 +o convex_44 +v 0.887291 0.401299 0.523266 +v 0.593821 1.611906 0.669996 +v 0.593821 1.611906 0.688347 +v 0.740604 0.015883 0.669996 +v 0.703916 1.722146 0.486564 +v 0.630541 1.740547 0.688347 +v 0.777227 0.437933 0.688347 +v 0.887291 0.034285 0.486564 +v 0.740604 1.740547 0.523266 +v 0.887291 0.015883 0.578300 +v 0.924011 0.144355 0.486564 +f 571 580 581 +f 573 572 574 +f 574 572 575 +f 575 572 576 +f 572 573 576 +f 573 574 577 +f 576 573 577 +f 574 575 578 +f 575 576 579 +f 577 571 579 +f 576 577 579 +f 571 577 580 +f 577 574 580 +f 574 578 580 +f 580 578 581 +f 578 575 581 +f 579 571 581 +f 575 579 581 +o convex_45 +v 0.758909 0.290981 0.725072 +v 0.410313 -1.213312 0.688375 +v 0.410313 -1.213312 0.706728 +v 0.667135 -1.250036 0.688375 +v 0.593788 -0.681249 0.780095 +v 0.410313 -0.296081 0.780095 +v 0.722163 0.437876 0.688375 +v 0.703809 0.437876 0.780095 +v 0.410313 -0.717800 0.706728 +v 0.667135 -1.250036 0.706728 +f 589 586 591 +f 584 583 585 +f 584 586 587 +f 583 584 587 +f 585 583 588 +f 582 585 588 +f 587 586 589 +f 582 588 589 +f 588 587 589 +f 583 587 590 +f 587 588 590 +f 588 583 590 +f 584 585 591 +f 585 582 591 +f 586 584 591 +f 582 589 591 +o convex_46 +v -0.378513 1.942442 -1.348204 +v 0.006669 2.455974 -0.687695 +v 0.006669 2.419268 -0.687695 +v -0.690536 1.832395 -0.687695 +v -0.011689 1.979147 -1.329842 +v -0.030048 2.419268 -0.999588 +v -0.672109 1.905805 -1.091268 +v -0.378513 1.759052 -1.348204 +v -0.360223 2.199106 -0.687695 +v -0.470305 2.034068 -1.238098 +v -0.580386 1.759052 -1.183077 +v -0.011689 2.034068 -1.348204 +v -0.672109 1.832395 -0.687695 +v -0.690536 1.869100 -0.687695 +v -0.690536 1.813974 -1.072906 +f 605 598 606 +f 594 593 595 +f 595 593 600 +f 593 597 600 +f 597 598 600 +f 597 592 601 +f 592 598 601 +f 598 597 601 +f 598 592 602 +f 592 599 602 +f 593 594 603 +f 594 596 603 +f 597 593 603 +f 592 597 603 +f 599 592 603 +f 596 599 603 +f 594 595 604 +f 596 594 604 +f 599 596 604 +f 595 602 604 +f 602 599 604 +f 595 600 605 +f 600 598 605 +f 602 595 606 +f 598 602 606 +f 595 605 606 +o convex_47 +v 0.630408 1.006768 -1.164729 +v -0.011614 1.978865 -1.348204 +v -0.011614 1.978865 -1.329850 +v 0.501965 1.777115 -1.183084 +v -0.011614 2.199234 -1.164729 +v 0.483671 0.713379 -1.348204 +v 0.355228 1.740314 -1.348204 +v 0.612050 0.731707 -1.164729 +v 0.520323 0.750034 -1.348204 +v -0.011614 2.143960 -1.164729 +v 0.061819 1.997193 -1.348204 +v 0.501965 0.713379 -1.293140 +v 0.501965 1.777115 -1.164729 +f 610 611 619 +f 608 609 611 +f 609 608 612 +f 612 608 613 +f 607 611 614 +f 614 612 615 +f 610 607 615 +f 613 610 615 +f 612 613 615 +f 607 614 615 +f 611 609 616 +f 614 611 616 +f 611 610 617 +f 608 611 617 +f 610 613 617 +f 613 608 617 +f 609 612 618 +f 612 614 618 +f 616 609 618 +f 614 616 618 +f 607 610 619 +f 611 607 619 +o convex_48 +v -0.745564 1.611590 -0.981264 +v -0.837315 -0.626034 -0.999617 +v -0.818924 -0.626034 -1.017971 +v -0.488767 -0.277558 -1.146358 +v -0.598808 1.813790 -1.164711 +v -0.690526 1.868735 -0.981264 +v -0.800601 -0.626034 -0.981264 +v -0.543805 -0.277558 -1.164711 +v -0.727240 1.740285 -1.054643 +v -0.488767 0.566649 -1.146358 +v -0.562128 1.813790 -1.146358 +v -0.727240 -0.626034 -1.072996 +v -0.818924 0.016218 -1.017971 +v -0.488767 0.566649 -1.164711 +f 630 629 633 +f 620 621 626 +f 621 622 626 +f 625 620 626 +f 623 625 626 +f 620 625 628 +f 625 624 628 +f 625 623 629 +f 624 625 630 +f 625 629 630 +f 622 624 631 +f 626 622 631 +f 623 626 631 +f 627 623 631 +f 624 627 631 +f 621 620 632 +f 622 621 632 +f 624 622 632 +f 620 628 632 +f 628 624 632 +f 623 627 633 +f 627 624 633 +f 629 623 633 +f 624 630 633 +o convex_49 +v -0.818955 0.694611 -0.871132 +v -0.727254 1.777159 -0.430909 +v -0.690536 1.850176 -0.687737 +v -0.818955 -0.626034 -0.926139 +v -0.965721 -0.534458 -0.430909 +v -0.727281 1.831861 -0.981201 +v -0.929003 0.199858 -0.467599 +v -0.855620 -0.570845 -0.981201 +v -0.929003 -0.534458 -0.430909 +v -0.690536 1.795230 -0.981201 +v -0.727254 1.611835 -0.430909 +v -0.745600 1.777159 -0.430909 +v -0.855620 -0.626034 -0.742745 +v -0.745600 1.666780 -0.981201 +v -0.818955 -0.626034 -0.981201 +v -0.965721 -0.424079 -0.449227 +f 640 647 649 +f 635 638 642 +f 636 637 643 +f 639 636 643 +f 641 639 643 +f 636 635 644 +f 637 636 644 +f 635 642 644 +f 635 636 645 +f 638 635 645 +f 636 639 645 +f 639 640 645 +f 640 638 645 +f 642 638 646 +f 637 644 646 +f 644 642 646 +f 640 639 647 +f 639 641 647 +f 641 634 647 +f 638 641 648 +f 643 637 648 +f 641 643 648 +f 637 646 648 +f 646 638 648 +f 638 640 649 +f 641 638 649 +f 634 641 649 +f 647 634 649 +o convex_50 +v -0.690592 -1.708863 -0.687670 +v -0.965696 -0.553206 -0.449231 +v -0.965696 -0.553206 -0.430855 +v -0.727279 -2.570855 -0.430855 +v -0.635513 -2.589235 -0.430855 +v -0.910649 -0.608139 -0.687670 +v -0.653873 -2.369090 -0.687670 +v -0.910649 -0.626519 -0.430855 +v -0.873962 -0.571380 -0.669294 +v -0.727279 -2.534096 -0.467582 +v -0.818980 -1.176674 -0.449231 +v -0.635513 -2.203878 -0.687670 +f 654 656 661 +f 652 651 653 +f 652 653 654 +f 654 653 656 +f 655 650 656 +f 652 654 657 +f 651 652 658 +f 650 655 658 +f 655 651 658 +f 652 657 658 +f 653 651 659 +f 651 655 659 +f 656 653 659 +f 655 656 659 +f 654 650 660 +f 657 654 660 +f 650 658 660 +f 658 657 660 +f 650 654 661 +f 656 650 661 +o convex_51 +v -0.378539 -2.626226 -0.614283 +v -0.635493 -2.681240 -0.449208 +v -0.635493 -2.681240 -0.430855 +v -0.030085 -3.341706 -0.449208 +v -0.103510 -3.103045 -0.687670 +v -0.635493 -2.387666 -0.687670 +v -0.140192 -3.103045 -0.430855 +v -0.030085 -3.103045 -0.687670 +v -0.617063 -2.607821 -0.430855 +v -0.617063 -2.314247 -0.669317 +f 664 670 671 +f 664 663 665 +f 665 663 666 +f 666 663 667 +f 663 664 667 +f 664 665 668 +f 665 666 669 +f 666 667 669 +f 662 668 669 +f 668 665 669 +f 668 662 670 +f 664 668 670 +f 667 664 671 +f 669 667 671 +f 662 669 671 +f 670 662 671 +o convex_52 +v 0.722147 -2.516069 -0.687670 +v -0.030026 -3.341706 -0.467561 +v -0.011546 -3.341706 -0.467561 +v 0.703740 -2.644651 -0.430855 +v -0.030026 -3.084705 -0.669317 +v 0.318671 -2.974631 -0.687670 +v 0.722147 -2.699607 -0.449208 +v -0.030026 -3.304853 -0.430855 +v 0.135193 -3.286588 -0.430855 +v -0.011546 -3.139823 -0.687670 +v 0.722147 -2.589533 -0.669317 +f 678 680 682 +f 675 672 676 +f 672 675 678 +f 673 674 679 +f 675 676 679 +f 676 673 679 +f 674 677 680 +f 678 675 680 +f 679 674 680 +f 675 679 680 +f 674 673 681 +f 676 672 681 +f 673 676 681 +f 677 674 681 +f 672 677 681 +f 677 672 682 +f 672 678 682 +f 680 677 682 +o convex_53 +v 0.703882 -2.148913 -1.127918 +v 0.979085 -0.351312 -0.430855 +v 0.979085 -0.351312 -0.485973 +v 0.832298 -0.351312 -1.036171 +v 0.722254 -2.625780 -0.430855 +v 0.758971 -2.662480 -0.449274 +v 0.722254 -2.148913 -1.127918 +v 0.942368 -0.351312 -0.449274 +v 0.868934 -0.406362 -1.054521 +v 0.960687 -0.791714 -0.449274 +v 0.703882 -1.947063 -1.072870 +v 0.722254 -2.460865 -0.907866 +v 0.868934 -0.277676 -1.054521 +v 0.703882 -2.570965 -0.706164 +v 0.703882 -1.947063 -1.146337 +f 695 691 697 +f 684 687 688 +f 686 687 690 +f 687 684 690 +f 689 691 692 +f 685 684 692 +f 684 688 692 +f 691 685 692 +f 687 686 693 +f 683 689 694 +f 689 692 694 +f 692 688 694 +f 684 685 695 +f 690 684 695 +f 686 690 695 +f 685 691 695 +f 688 687 696 +f 693 683 696 +f 687 693 696 +f 683 694 696 +f 694 688 696 +f 689 683 697 +f 691 689 697 +f 683 693 697 +f 693 686 697 +f 686 695 697 +o convex_54 +v -0.048472 2.455989 0.174637 +v -0.745504 1.703931 -0.100616 +v -0.745504 1.740752 -0.430733 +v -0.011736 2.419248 -0.687670 +v -0.342142 2.217445 -0.687670 +v -0.598707 1.979059 0.174637 +v 0.006595 2.437579 0.174637 +v -0.708842 1.722421 -0.687670 +v -0.727100 1.832487 -0.687670 +v -0.030141 2.511062 -0.284033 +v -0.745504 1.759083 0.174637 +v -0.268522 2.309260 0.101118 +v -0.727100 1.703931 -0.045582 +v -0.745504 1.814077 0.174637 +v -0.030067 2.455910 -0.687670 +f 702 707 712 +f 698 703 704 +f 699 700 705 +f 702 701 705 +f 702 705 706 +f 705 700 706 +f 698 704 707 +f 704 701 707 +f 700 699 708 +f 704 703 708 +f 703 698 709 +f 702 706 709 +f 706 703 709 +f 707 702 709 +f 698 707 709 +f 701 704 710 +f 705 701 710 +f 699 705 710 +f 708 699 710 +f 704 708 710 +f 706 700 711 +f 703 706 711 +f 700 708 711 +f 708 703 711 +f 701 702 712 +f 707 701 712 +o convex_55 +v 0.483605 1.740689 -1.164683 +v 0.006814 2.492794 -0.430855 +v 0.006814 2.492794 -0.467561 +v 0.685526 1.850813 -0.449244 +v 0.025102 2.400895 -0.981154 +v 0.006678 2.144041 -1.146294 +v 0.667101 1.795674 -0.430855 +v 0.630388 1.795751 -1.036177 +v -0.011611 2.456034 -0.430855 +v 0.667101 1.703852 -0.669335 +v 0.061815 2.180801 -1.164683 +v 0.520318 1.777371 -1.164683 +v 0.648676 1.740689 -1.036177 +f 724 720 725 +f 715 714 716 +f 715 716 717 +f 716 714 719 +f 717 716 720 +f 714 715 721 +f 715 717 721 +f 717 718 721 +f 718 719 721 +f 719 714 721 +f 718 713 722 +f 719 718 722 +f 716 719 722 +f 718 717 723 +f 713 718 723 +f 717 720 724 +f 723 717 724 +f 713 723 724 +f 720 716 725 +f 722 713 725 +f 716 722 725 +f 713 724 725 +o convex_56 +v -0.011679 -3.213084 -0.063857 +v -0.745578 -2.351030 -0.100575 +v -0.727187 -2.497828 -0.100575 +v -0.635450 -2.314382 0.174637 +v -0.708869 -2.259205 -0.100575 +v -0.011679 -3.066286 0.174637 +v -0.415338 -2.461180 0.156264 +v -0.708869 -2.571125 -0.082203 +v -0.030069 -3.305011 -0.100575 +v -0.085097 -3.029637 0.174637 +v -0.617059 -2.259205 0.174637 +v -0.011679 -3.029637 0.156264 +f 732 731 737 +f 727 728 729 +f 728 727 730 +f 729 728 733 +f 730 726 734 +f 728 730 734 +f 726 731 734 +f 733 728 734 +f 731 729 735 +f 729 733 735 +f 734 731 735 +f 733 734 735 +f 727 729 736 +f 730 727 736 +f 729 731 736 +f 732 730 736 +f 731 732 736 +f 726 730 737 +f 731 726 737 +f 730 732 737 +o convex_57 +v -0.617182 -2.259022 0.174637 +v -0.984059 -0.534846 -0.100575 +v -0.984059 -0.534846 -0.082203 +v -0.763969 -2.185570 -0.100575 +v -0.910648 -0.626614 0.174637 +v -0.947354 -0.387944 -0.100575 +v -0.892295 -0.387944 0.174637 +v -0.635534 -1.965401 0.156264 +v -0.727263 -2.112120 -0.100575 +v -0.672240 -2.259022 0.119573 +f 742 741 747 +f 740 739 741 +f 740 741 742 +f 739 740 743 +f 741 739 743 +f 742 738 744 +f 740 742 744 +f 743 740 744 +f 744 738 745 +f 743 744 745 +f 738 741 746 +f 741 743 746 +f 745 738 746 +f 743 745 746 +f 741 738 747 +f 738 742 747 +o convex_58 +v -0.965719 -0.038579 -0.100627 +v -0.745609 1.795589 0.174637 +v -0.727231 1.740455 -0.100627 +v -0.892307 -0.387547 0.174637 +v -0.892332 0.181102 -0.430765 +v -0.727231 1.740455 -0.430765 +v -0.892307 0.676881 0.174637 +v -0.763962 1.648779 -0.430765 +v -0.984072 -0.387547 -0.082256 +v -0.910660 0.364669 -0.430765 +v -0.727231 1.611809 -0.430765 +v -0.763962 1.795589 0.156207 +v -0.929013 -0.350791 0.156207 +v -0.745609 1.611809 0.174637 +v -0.947366 -0.387547 -0.100627 +v -0.892307 -0.387547 0.137836 +v -0.727231 1.685321 -0.118997 +f 761 751 764 +f 749 750 753 +f 751 749 754 +f 753 752 755 +f 754 748 756 +f 748 754 757 +f 755 752 757 +f 754 755 757 +f 756 748 757 +f 752 756 757 +f 753 750 758 +f 752 753 758 +f 749 753 759 +f 754 749 759 +f 753 755 759 +f 755 754 759 +f 751 754 760 +f 756 751 760 +f 754 756 760 +f 750 749 761 +f 749 751 761 +f 756 752 762 +f 751 756 762 +f 758 751 763 +f 752 758 763 +f 751 762 763 +f 762 752 763 +f 758 750 764 +f 751 758 764 +f 750 761 764 +o convex_59 +v -0.085088 -2.607924 0.523200 +v -0.452018 -2.479478 0.174637 +v -0.452018 -2.479478 0.193004 +v -0.048408 -3.066494 0.174637 +v -0.030026 -2.296050 0.541567 +v -0.452018 -2.314378 0.376413 +v -0.066748 -2.791201 0.486541 +v -0.415255 -2.442748 0.174637 +v -0.030026 -2.993032 0.174637 +v -0.140151 -2.296050 0.559934 +v -0.030026 -2.791201 0.486541 +v -0.415255 -2.296050 0.339829 +v -0.103429 -2.754470 0.486541 +f 774 770 777 +f 767 766 768 +f 766 767 770 +f 768 766 772 +f 768 772 773 +f 772 769 773 +f 765 769 774 +f 769 765 775 +f 765 771 775 +f 771 768 775 +f 768 773 775 +f 773 769 775 +f 766 770 776 +f 772 766 776 +f 769 772 776 +f 774 769 776 +f 770 774 776 +f 767 768 777 +f 770 767 777 +f 771 765 777 +f 768 771 777 +f 765 774 777 +o convex_60 +v 0.795684 -2.350547 -0.430765 +v 0.979007 -0.296024 0.174637 +v 0.979007 -0.296024 -0.100627 +v 0.722221 -2.497663 0.174637 +v 0.942342 -0.535116 -0.430765 +v 0.997433 -0.608326 -0.247355 +v 0.758939 -2.534268 0.174637 +v 0.740593 -2.478897 -0.430765 +v 0.942315 -0.314558 0.156207 +v 0.777312 -2.625781 -0.210673 +v 0.997433 -0.461674 -0.394024 +v 0.905678 -1.140028 0.174637 +v 0.722221 -2.662849 -0.100627 +v 0.777312 -2.625781 -0.339031 +f 790 785 791 +f 779 781 784 +f 782 778 785 +f 779 780 786 +f 781 779 786 +f 780 782 786 +f 782 785 786 +f 785 781 786 +f 783 784 787 +f 780 779 788 +f 778 782 788 +f 782 780 788 +f 779 783 788 +f 783 779 789 +f 779 784 789 +f 784 783 789 +f 784 781 790 +f 781 785 790 +f 787 784 790 +f 787 790 791 +f 785 778 791 +f 783 787 791 +f 778 788 791 +f 788 783 791 +o convex_61 +v 0.960738 -0.406109 -0.430765 +v 0.740626 1.740260 0.486514 +v 0.758930 1.777070 -0.155564 +v 0.703873 1.722074 -0.430765 +v 0.905624 0.016110 0.486514 +v 0.997433 -0.295898 -0.302368 +v 0.722264 1.575053 0.486514 +v 0.923986 0.144506 0.486514 +v 0.740654 1.795475 -0.412359 +v 0.924043 -0.185906 -0.430765 +v 0.979071 -0.295898 0.174589 +v 0.868929 0.273122 0.486514 +v 0.703873 1.832066 0.174589 +v 0.979042 -0.295898 -0.430765 +v 0.942347 -0.277274 0.174589 +v 0.758930 1.795475 -0.283961 +f 800 804 807 +f 796 793 798 +f 794 793 799 +f 793 796 799 +f 797 794 799 +f 795 792 801 +f 792 797 802 +f 799 796 802 +f 797 799 802 +f 798 795 803 +f 796 798 803 +f 795 801 803 +f 798 793 804 +f 795 798 804 +f 800 795 804 +f 792 795 805 +f 797 792 805 +f 795 800 805 +f 800 797 805 +f 801 792 806 +f 792 802 806 +f 802 796 806 +f 796 803 806 +f 803 801 806 +f 793 794 807 +f 794 797 807 +f 797 800 807 +f 804 793 807 +o convex_62 +v -0.250228 0.493162 -1.348204 +v -0.580418 1.244951 -1.183084 +v -0.580418 1.244951 -1.164729 +v -0.507018 -0.424456 -1.183084 +v -0.433649 1.648413 -1.348204 +v -0.543702 1.758681 -1.164729 +v -0.378639 -0.295810 -1.201439 +v -0.305271 -0.424456 -1.311495 +v -0.286945 1.281494 -1.329850 +v -0.250228 -0.203920 -1.293140 +v -0.452008 -0.424456 -1.164729 +v -0.396997 1.758681 -1.348204 +v -0.580418 1.758681 -1.183084 +v -0.452008 0.273054 -1.164729 +v -0.286945 0.016189 -1.348204 +v -0.378639 -0.405864 -1.274786 +f 822 815 823 +f 810 809 811 +f 811 809 812 +f 808 816 817 +f 810 811 818 +f 813 810 818 +f 811 815 818 +f 817 814 818 +f 815 817 818 +f 808 812 819 +f 816 808 819 +f 813 816 819 +f 809 810 820 +f 812 809 820 +f 810 813 820 +f 819 812 820 +f 813 819 820 +f 816 813 821 +f 814 817 821 +f 817 816 821 +f 813 818 821 +f 818 814 821 +f 812 808 822 +f 817 815 822 +f 808 817 822 +f 811 812 823 +f 815 811 823 +f 812 822 823 +o convex_63 +v 0.080136 0.327717 -1.348190 +v -0.250173 -0.424456 -1.311509 +v -0.011686 -0.424456 -1.311509 +v 0.281781 -0.259237 -1.274814 +v 0.465356 -0.295903 -1.348190 +v -0.250173 0.254385 -1.348204 +v -0.250173 -0.204164 -1.293176 +v 0.446935 -0.424309 -1.274814 +v 0.080136 0.327717 -1.329842 +v -0.231822 -0.020907 -1.348204 +v 0.465356 -0.167498 -1.329842 +f 832 831 834 +f 826 825 828 +f 824 828 829 +f 829 825 830 +f 825 826 831 +f 826 828 831 +f 830 825 831 +f 827 830 831 +f 824 829 832 +f 830 827 832 +f 829 830 832 +f 827 831 832 +f 828 825 833 +f 825 829 833 +f 829 828 833 +f 828 824 834 +f 831 828 834 +f 824 832 834 +o convex_64 +v 0.373619 -1.965760 -1.164713 +v -0.231849 -2.552592 -1.036322 +v -0.231849 -2.552592 -0.999618 +v -0.231849 -1.672085 -1.146353 +v 0.208443 -2.552592 -1.109665 +v 0.373619 -2.534318 -1.054666 +v -0.231849 -1.855686 -1.164713 +v -0.158417 -2.534318 -1.091321 +v 0.373619 -2.149016 -1.164713 +v 0.355246 -1.947400 -1.146353 +v -0.213476 -2.479238 -0.999618 +f 844 838 845 +f 836 837 838 +f 837 836 839 +f 837 839 840 +f 836 838 841 +f 838 835 841 +f 841 839 842 +f 839 836 842 +f 836 841 842 +f 835 840 843 +f 840 839 843 +f 841 835 843 +f 839 841 843 +f 835 838 844 +f 840 835 844 +f 840 844 845 +f 838 837 845 +f 837 840 845 +o convex_65 +v 0.667132 0.602964 -1.201439 +v 0.465356 -0.424456 -1.311495 +v 0.465356 -0.424456 -1.293140 +v 0.722221 -0.424456 -1.183084 +v 0.538749 0.676343 -1.348204 +v 0.630473 0.713088 -1.164729 +v 0.483711 0.713088 -1.329850 +v 0.502090 -0.332704 -1.348204 +v 0.667132 -0.424456 -1.164729 +v 0.722221 0.290963 -1.183084 +f 854 849 855 +f 848 847 849 +f 846 850 851 +f 851 850 852 +f 847 848 852 +f 848 851 852 +f 847 852 853 +f 849 847 853 +f 850 849 853 +f 852 850 853 +f 848 849 854 +f 851 848 854 +f 851 854 855 +f 850 846 855 +f 849 850 855 +f 846 851 855 +o convex_66 +v 0.758873 0.822903 -1.036322 +v 0.483703 1.703802 -1.164729 +v 0.483703 1.703802 -1.146364 +v 0.703846 -0.277676 -1.146364 +v 0.758873 0.107754 -1.164729 +v 0.850633 -0.277676 -1.036322 +v 0.593831 1.685429 -1.036322 +v 0.648858 1.703802 -1.054662 +v 0.869001 -0.149068 -1.073003 +v 0.538805 1.703802 -1.164729 +v 0.740505 -0.277676 -1.164729 +f 864 861 866 +f 858 857 859 +f 858 859 862 +f 861 856 862 +f 859 861 862 +f 857 858 863 +f 862 856 863 +f 858 862 863 +f 856 861 864 +f 863 856 864 +f 860 863 864 +f 860 857 865 +f 857 863 865 +f 863 860 865 +f 859 857 866 +f 857 860 866 +f 861 859 866 +f 860 864 866 +o convex_67 +v -0.103299 -2.882938 -0.999532 +v 0.373619 -2.552820 -1.036250 +v 0.373619 -2.846252 -0.706116 +v -0.231849 -2.828049 -0.687695 +v -0.231849 -2.552820 -1.036250 +v -0.011614 -3.121425 -0.706116 +v 0.336873 -2.571191 -1.109646 +v 0.373619 -2.882938 -0.761132 +v -0.121672 -2.828049 -1.054589 +v -0.085045 -3.121425 -0.687695 +v -0.231849 -2.717935 -0.981194 +v -0.085045 -2.552820 -1.091266 +v -0.195103 -2.552820 -0.999532 +v 0.373619 -2.901309 -0.687695 +f 876 872 880 +f 872 867 873 +f 872 873 874 +f 868 869 874 +f 873 868 874 +f 873 867 875 +f 867 872 876 +f 875 867 876 +f 875 876 877 +f 870 871 877 +f 871 875 877 +f 876 870 877 +f 871 868 878 +f 868 873 878 +f 875 871 878 +f 873 875 878 +f 869 868 879 +f 870 869 879 +f 871 870 879 +f 868 871 879 +f 869 870 880 +f 872 874 880 +f 874 869 880 +f 870 876 880 +o convex_68 +v -0.286927 -0.626105 0.780095 +v -0.708842 1.593732 0.688375 +v -0.708842 1.593732 0.706736 +v -0.433678 2.034033 0.761735 +v -0.286927 -1.195050 0.688375 +v -0.433678 2.015384 0.688375 +v -0.598727 1.281760 0.780095 +v -0.488694 -0.736101 0.706736 +v -0.286927 0.290846 0.780095 +v -0.525413 2.015384 0.780095 +v -0.708842 1.905388 0.706736 +v -0.360364 -0.791099 0.761735 +v -0.488694 -0.736101 0.688375 +f 885 888 893 +f 885 882 886 +f 883 882 888 +f 887 883 888 +f 881 885 889 +f 885 886 889 +f 886 884 889 +f 887 881 889 +f 887 889 890 +f 884 886 890 +f 889 884 890 +f 882 883 891 +f 886 882 891 +f 883 887 891 +f 887 890 891 +f 890 886 891 +f 885 881 892 +f 881 887 892 +f 888 885 892 +f 887 888 892 +f 882 885 893 +f 888 882 893 +o convex_69 +v 0.391955 -0.241068 0.780095 +v -0.286891 -1.250079 0.688375 +v -0.268464 -1.286662 0.688375 +v -0.286891 -0.607601 0.780095 +v -0.103308 0.419528 0.761742 +v 0.410313 -1.231613 0.688375 +v 0.355239 -1.305128 0.706728 +v 0.410313 -0.956364 0.688375 +v -0.286891 0.217621 0.780095 +v -0.213458 -0.919781 0.761742 +v 0.410313 -0.461266 0.780095 +v -0.286891 -1.084930 0.688375 +v 0.098360 0.272671 0.761742 +v -0.011585 -1.360178 0.706728 +v -0.029944 0.382770 0.780095 +f 906 898 908 +f 896 895 899 +f 899 895 901 +f 895 897 902 +f 897 894 902 +f 895 896 903 +f 897 895 903 +f 903 900 904 +f 894 897 904 +f 900 899 904 +f 901 894 904 +f 899 901 904 +f 897 903 904 +f 898 901 905 +f 901 895 905 +f 895 902 905 +f 902 898 905 +f 894 901 906 +f 901 898 906 +f 896 899 907 +f 899 900 907 +f 903 896 907 +f 900 903 907 +f 902 894 908 +f 898 902 908 +f 894 906 908 +o convex_70 +v -0.452079 -0.717470 0.688352 +v -0.763926 -0.717470 0.541587 +v -0.635463 -1.029492 0.541587 +v -0.672158 1.355034 0.651646 +v -0.452079 -1.268354 0.541587 +v -0.745548 1.300164 0.670007 +v -0.525439 -0.717470 0.688352 +v -0.745548 1.281601 0.614969 +v -0.617115 1.171588 0.688352 +v -0.763926 -0.625747 0.578292 +v -0.470396 -1.415220 0.559947 +v -0.745548 -0.552587 0.541587 +f 910 916 920 +f 911 910 913 +f 912 913 916 +f 914 912 916 +f 909 913 917 +f 913 912 917 +f 912 914 917 +f 915 909 917 +f 914 915 917 +f 915 914 918 +f 916 910 918 +f 914 916 918 +f 910 911 919 +f 913 909 919 +f 911 913 919 +f 909 915 919 +f 918 910 919 +f 915 918 919 +f 913 910 920 +f 916 913 920 +o convex_71 +v 0.648860 -2.626154 0.174637 +v 0.777234 -2.130821 0.486514 +v 0.740547 -2.130821 0.486514 +v 0.795595 -2.130821 0.174637 +v 0.758891 -2.515994 0.211362 +v 0.630500 -2.442635 0.486514 +v 0.740547 -2.405931 0.486514 +v 0.758891 -2.149197 0.174637 +f 921 926 928 +f 923 922 924 +f 921 924 925 +f 924 922 925 +f 922 923 926 +f 926 921 927 +f 921 925 927 +f 925 922 927 +f 922 926 927 +f 923 924 928 +f 924 921 928 +f 926 923 928 +o convex_72 +v 0.979057 -0.351066 -0.467599 +v 0.703925 1.832285 -0.430855 +v 0.685537 1.832285 -0.430855 +v 0.612166 1.740386 -1.036297 +v 0.850595 -0.277547 -0.981182 +v 0.703925 1.300125 -1.036297 +v 0.942317 -0.351066 -0.430855 +v 0.887298 -0.204028 -1.017866 +v 0.740628 1.740386 -0.449227 +v 0.685537 1.777145 -0.430855 +v 0.648870 1.740386 -1.036297 +v 0.612166 1.685246 -1.017866 +v 0.850595 -0.277547 -1.036297 +v 0.979057 -0.314307 -0.430855 +f 929 937 942 +f 931 930 932 +f 930 931 935 +f 936 934 937 +f 929 936 937 +f 935 931 938 +f 933 935 938 +f 932 930 939 +f 934 932 939 +f 937 934 939 +f 930 937 939 +f 931 932 940 +f 938 931 940 +f 933 938 940 +f 932 934 941 +f 929 935 941 +f 935 933 941 +f 936 929 941 +f 934 936 941 +f 940 932 941 +f 933 940 941 +f 930 935 942 +f 935 929 942 +f 937 930 942 +o convex_73 +v -0.690536 -2.791282 -0.284029 +v -0.892324 -0.809804 -0.100608 +v -0.910662 -0.809804 -0.100608 +v -0.892324 -0.773058 -0.430765 +v -0.910662 -1.470428 -0.247377 +v -0.690536 -2.479342 -0.100608 +v -0.782293 -2.644498 -0.265703 +v -0.690536 -2.552635 -0.430765 +v -0.910662 -0.919842 -0.430765 +v -0.727256 -2.571008 -0.100608 +v -0.837287 -1.121743 -0.430765 +v -0.727256 -2.607753 -0.430765 +v -0.910662 -1.030275 -0.100608 +f 949 952 955 +f 945 944 946 +f 944 945 948 +f 948 943 950 +f 945 946 951 +f 947 945 951 +f 949 947 951 +f 946 950 951 +f 948 945 952 +f 943 948 952 +f 949 943 952 +f 946 944 953 +f 944 948 953 +f 950 946 953 +f 948 950 953 +f 943 949 954 +f 950 943 954 +f 949 951 954 +f 951 950 954 +f 945 947 955 +f 947 949 955 +f 952 945 955 +o convex_74 +v -0.617103 -2.626309 -0.430765 +v -0.690536 -2.809766 -0.284029 +v -0.378582 -3.121454 -0.302387 +v -0.140129 -3.066318 -0.100608 +v 0.006669 -3.359957 -0.430765 +v -0.672109 -2.552764 -0.100608 +v -0.030048 -3.323319 -0.100608 +v -0.011689 -3.470139 -0.265703 +v -0.690536 -2.644538 -0.430765 +v -0.121771 -3.139772 -0.430765 +v -0.690536 -2.644538 -0.118966 +v 0.006669 -3.268183 -0.100608 +v -0.030048 -3.359957 -0.430765 +f 964 960 968 +f 959 956 961 +f 959 961 962 +f 957 958 963 +f 962 957 963 +f 956 960 964 +f 961 956 964 +f 956 959 965 +f 960 956 965 +f 962 961 966 +f 957 962 966 +f 964 957 966 +f 961 964 966 +f 959 962 967 +f 963 960 967 +f 962 963 967 +f 965 959 967 +f 960 965 967 +f 958 957 968 +f 960 963 968 +f 963 958 968 +f 957 964 968 +o convex_75 +v 0.722199 -2.626154 -0.100608 +v 0.006669 -3.470139 -0.302387 +v 0.025074 -3.470139 -0.302387 +v 0.740529 -2.626154 -0.430765 +v 0.006669 -3.268313 -0.100608 +v 0.006669 -3.304911 -0.430765 +v 0.758858 -2.736279 -0.265703 +v 0.153456 -3.268313 -0.118966 +v 0.098467 -3.323251 -0.430765 +v 0.758858 -2.681340 -0.412439 +v 0.758858 -2.644577 -0.100608 +f 975 978 979 +f 969 972 973 +f 970 971 973 +f 970 973 974 +f 973 972 974 +f 973 971 976 +f 971 975 976 +f 971 970 977 +f 970 974 977 +f 974 972 977 +f 975 971 978 +f 971 977 978 +f 977 972 978 +f 972 969 979 +f 969 973 979 +f 973 976 979 +f 976 975 979 +f 978 972 979 +o convex_76 +v 0.924013 -0.590009 0.504915 +v 0.630514 -2.461027 0.486564 +v 0.630514 -2.461027 0.504915 +v 0.722251 -0.020970 0.669996 +v 0.740599 -2.277489 0.596611 +v 0.905665 0.015883 0.486564 +v 0.630514 -1.470117 0.688347 +v 0.777294 -0.057580 0.688347 +v 0.758946 -2.314100 0.486564 +v 0.942391 -0.222691 0.523266 +v 0.722251 -1.011879 0.688347 +v 0.630514 -2.387321 0.578300 +v 0.630514 -1.231543 0.669996 +f 986 983 992 +f 981 983 985 +f 981 982 986 +f 985 983 987 +f 983 986 987 +f 982 981 988 +f 980 984 988 +f 984 982 988 +f 981 985 988 +f 985 980 988 +f 984 980 989 +f 980 985 989 +f 985 987 989 +f 989 987 990 +f 986 984 990 +f 987 986 990 +f 984 989 990 +f 982 984 991 +f 986 982 991 +f 984 986 991 +f 983 981 992 +f 981 986 992 +o convex_77 +v -0.562134 -2.369282 0.193026 +v -0.745548 -0.644626 0.541551 +v -0.763926 -0.644626 0.541551 +v -0.745548 -1.268525 0.174673 +v -0.452079 -1.360269 0.523198 +v -0.598829 -2.167302 0.321460 +v -0.452079 -2.387596 0.174673 +v -0.470396 -2.259047 0.376411 +v -0.635463 -2.295851 0.174673 +v -0.763926 -1.030273 0.486492 +v -0.470396 -1.507310 0.541551 +v -0.763926 -1.415387 0.193026 +v -0.452079 -2.332478 0.358130 +f 1003 1000 1005 +f 995 994 996 +f 996 994 997 +f 996 997 999 +f 999 993 1001 +f 996 999 1001 +f 998 1000 1002 +f 1001 998 1002 +f 994 995 1003 +f 997 994 1003 +f 995 1002 1003 +f 1002 1000 1003 +f 995 996 1004 +f 996 1001 1004 +f 1002 995 1004 +f 1001 1002 1004 +f 999 997 1005 +f 993 999 1005 +f 1000 998 1005 +f 998 1001 1005 +f 1001 993 1005 +f 997 1003 1005 +o convex_78 +v -0.140154 -2.204026 0.578228 +v -0.433628 -0.754711 0.688298 +v -0.433628 -0.754711 0.669976 +v -0.451986 -2.295900 0.376511 +v -0.121796 -1.305200 0.669976 +v -0.433628 -2.240836 0.339798 +v -0.451986 -0.901498 0.688298 +v -0.140154 -2.277495 0.504938 +v -0.231881 -1.433582 0.688298 +v -0.121796 -1.451987 0.688298 +f 1007 1014 1015 +f 1008 1007 1010 +f 1008 1010 1011 +f 1009 1008 1011 +f 1007 1008 1012 +f 1008 1009 1012 +f 1009 1006 1012 +f 1006 1009 1013 +f 1011 1010 1013 +f 1009 1011 1013 +f 1007 1012 1014 +f 1012 1006 1014 +f 1010 1007 1015 +f 1006 1013 1015 +f 1013 1010 1015 +f 1014 1006 1015 +o convex_79 +v 0.410278 2.144262 -0.045515 +v 0.006669 2.437612 -0.430765 +v 0.245190 2.199095 -0.430765 +v 0.006669 2.437612 0.174637 +v 0.685447 1.813937 0.174637 +v 0.703873 1.832425 -0.430765 +v 0.025027 2.511002 -0.283978 +v 0.630440 1.832425 -0.430765 +v 0.080102 2.437612 0.174637 +v 0.703873 1.850772 0.174637 +v 0.703873 1.850772 -0.339031 +v 0.025027 2.474307 -0.430765 +f 1017 1022 1027 +f 1017 1018 1019 +f 1018 1017 1021 +f 1017 1019 1022 +f 1019 1018 1023 +f 1020 1019 1023 +f 1018 1021 1023 +f 1021 1020 1023 +f 1019 1020 1024 +f 1016 1022 1024 +f 1022 1019 1024 +f 1020 1021 1025 +f 1016 1024 1025 +f 1024 1020 1025 +f 1022 1016 1026 +f 1021 1022 1026 +f 1025 1021 1026 +f 1016 1025 1026 +f 1021 1017 1027 +f 1022 1021 1027 +o convex_80 +v 0.740568 1.740638 0.174637 +v 0.043490 2.456034 0.339779 +v 0.043490 2.456034 0.174637 +v 0.025070 2.254197 0.670012 +v 0.722149 1.832313 0.523225 +v 0.593771 1.740638 0.688367 +v 0.043490 2.437615 0.559934 +v 0.025070 2.419267 0.174637 +v 0.501952 2.052569 0.174637 +v 0.593771 1.832313 0.688367 +v 0.263546 2.015872 0.670012 +v 0.722149 1.740638 0.174637 +v 0.043490 2.309173 0.688367 +v 0.740568 1.814034 0.174637 +v 0.740568 1.740638 0.504820 +f 1041 1032 1042 +f 1032 1029 1034 +f 1031 1034 1035 +f 1030 1028 1035 +f 1029 1030 1035 +f 1034 1029 1035 +f 1028 1030 1036 +f 1030 1029 1036 +f 1029 1032 1036 +f 1032 1034 1037 +f 1033 1031 1038 +f 1031 1035 1038 +f 1038 1035 1039 +f 1028 1033 1039 +f 1035 1028 1039 +f 1033 1038 1039 +f 1031 1033 1040 +f 1034 1031 1040 +f 1033 1037 1040 +f 1037 1034 1040 +f 1028 1036 1041 +f 1036 1032 1041 +f 1033 1028 1042 +f 1037 1033 1042 +f 1032 1037 1042 +f 1028 1041 1042 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/134/134.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/134/134.urdf new file mode 100644 index 000000000..616504894 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/134/134.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/135/135.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/135/135.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/135/135.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/135/135.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/135/135.obj new file mode 100644 index 000000000..56d6e11a3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/135/135.obj @@ -0,0 +1,912 @@ +o convex_0 +v -0.124201 2.443603 1.412745 +v 0.072822 3.660618 1.116715 +v 0.072822 3.660618 1.083814 +v 0.796366 2.937029 1.478549 +v -0.716235 3.364511 1.511450 +v -0.518891 2.410631 1.083814 +v 0.434674 2.509290 1.083814 +v 0.467511 3.561830 1.511450 +v 0.533347 3.496143 1.083814 +v -0.518891 3.463171 1.083814 +v -0.453216 2.509290 1.511450 +v -0.847745 3.035560 1.478549 +v 0.434674 2.575106 1.511450 +v -0.025690 3.627646 1.511450 +v -0.058527 2.344815 1.116715 +v 0.730691 3.298695 1.511450 +v -0.453216 3.528986 1.511450 +v -0.584726 3.101376 1.083814 +v 0.533347 2.969873 1.083814 +v -0.453216 3.528986 1.083814 +v 0.500510 3.561830 1.182518 +v -0.847745 3.167192 1.511450 +v 0.763529 2.871213 1.511450 +v -0.025690 3.660618 1.116715 +f 20 17 24 +f 6 3 7 +f 7 3 9 +f 3 6 10 +f 8 5 11 +f 6 11 12 +f 11 1 13 +f 8 11 13 +f 8 2 14 +f 5 8 14 +f 6 7 15 +f 1 11 15 +f 11 6 15 +f 7 13 15 +f 13 1 15 +f 4 9 16 +f 8 13 16 +f 5 14 17 +f 10 6 18 +f 6 12 18 +f 4 7 19 +f 7 9 19 +f 9 4 19 +f 3 10 20 +f 10 5 20 +f 5 17 20 +f 3 2 21 +f 2 8 21 +f 9 3 21 +f 16 9 21 +f 8 16 21 +f 5 10 22 +f 11 5 22 +f 12 11 22 +f 10 18 22 +f 18 12 22 +f 7 4 23 +f 13 7 23 +f 4 16 23 +f 16 13 23 +f 2 3 24 +f 14 2 24 +f 17 14 24 +f 3 20 24 +o convex_1 +v -0.255897 3.561907 -1.482003 +v 0.335992 2.311920 -1.547877 +v 0.467598 2.311920 -1.547877 +v -0.058488 3.134297 -3.225443 +v -0.486095 2.575183 -1.482003 +v 0.434697 3.496091 -1.482003 +v 0.434697 3.134297 -2.896415 +v -0.453194 3.035509 -2.929181 +v -0.058488 3.463248 -2.961947 +v -0.025587 2.739659 -2.995055 +v -0.551898 3.199984 -1.482003 +v 0.599204 2.739659 -1.482003 +v -0.387391 3.430275 -2.304573 +v 0.368894 3.496091 -2.205933 +v -0.025587 3.627723 -1.679625 +v 0.533401 3.167140 -2.205933 +v 0.303203 2.805346 -2.797774 +v 0.566303 2.377736 -1.482003 +v -0.453194 2.542211 -1.547877 +v -0.321588 2.805346 -2.797774 +v -0.518997 3.101325 -2.468746 +v -0.387391 3.232956 -2.896415 +v 0.303203 3.397432 -2.764667 +v 0.335992 3.134297 -3.027821 +v -0.420292 3.496091 -1.482003 +v 0.599204 3.002665 -1.482003 +v 0.566303 2.936978 -2.008653 +v -0.091390 2.739659 -2.961947 +v 0.072893 3.627723 -1.482003 +v 0.039991 2.377736 -1.514940 +v -0.025587 3.594751 -2.074185 +v 0.533401 2.311920 -1.514940 +v 0.401795 3.035509 -2.929181 +v -0.518997 2.739659 -1.712391 +v 0.007315 3.463248 -2.961947 +v 0.007315 3.002665 -3.192506 +v -0.420292 3.035509 -2.995055 +v 0.401795 3.463248 -2.238699 +v -0.453194 3.331616 -2.238699 +v 0.007315 2.739659 -2.995055 +f 60 57 64 +f 25 29 30 +f 27 26 34 +f 29 25 35 +f 30 29 36 +f 36 29 42 +f 29 32 43 +f 43 32 44 +f 33 28 46 +f 37 33 46 +f 32 45 46 +f 47 31 48 +f 35 25 49 +f 25 37 49 +f 30 36 50 +f 40 30 50 +f 40 50 51 +f 31 40 51 +f 36 42 51 +f 42 31 51 +f 50 36 51 +f 34 26 52 +f 43 44 52 +f 25 30 53 +f 30 38 53 +f 39 25 53 +f 42 29 54 +f 29 43 54 +f 52 26 54 +f 43 52 54 +f 37 25 55 +f 33 37 55 +f 25 39 55 +f 53 38 55 +f 39 53 55 +f 26 27 56 +f 54 26 56 +f 42 54 56 +f 31 42 57 +f 48 31 57 +f 56 41 57 +f 42 56 57 +f 32 29 58 +f 29 35 58 +f 45 32 58 +f 35 45 58 +f 28 33 59 +f 38 47 59 +f 48 28 59 +f 47 48 59 +f 33 55 59 +f 55 38 59 +f 28 48 60 +f 34 52 60 +f 48 57 60 +f 44 32 61 +f 46 28 61 +f 32 46 61 +f 52 44 61 +f 28 60 61 +f 60 52 61 +f 38 30 62 +f 30 40 62 +f 40 31 62 +f 31 47 62 +f 47 38 62 +f 45 35 63 +f 37 46 63 +f 46 45 63 +f 35 49 63 +f 49 37 63 +f 27 34 64 +f 56 27 64 +f 41 56 64 +f 57 41 64 +f 34 60 64 +o convex_2 +v 0.467711 3.528800 -1.284632 +v -0.617801 3.298618 -1.317534 +v -0.617801 3.298618 -1.284632 +v 0.138760 2.114710 -1.317534 +v 0.434739 3.495963 -1.482003 +v -0.486169 2.542398 -1.482003 +v 0.566370 2.345053 -1.482003 +v -0.420353 3.528800 -1.482003 +v 0.698002 2.673907 -1.284632 +v -0.486169 2.509400 -1.284632 +v -0.025587 3.759143 -1.284632 +v 0.566370 2.213382 -1.284632 +v -0.453326 3.693307 -1.284632 +v 0.599214 3.002601 -1.482003 +v -0.058559 3.627472 -1.482003 +v 0.401895 2.279218 -1.482003 +v -0.551985 3.199945 -1.482003 +v 0.040101 2.114710 -1.284632 +f 76 74 82 +f 70 69 71 +f 69 70 72 +f 65 67 73 +f 67 66 74 +f 66 70 74 +f 73 67 74 +f 67 65 75 +f 65 69 75 +f 71 73 76 +f 73 74 76 +f 66 67 77 +f 72 66 77 +f 67 75 77 +f 69 65 78 +f 71 69 78 +f 65 73 78 +f 73 71 78 +f 69 72 79 +f 75 69 79 +f 72 77 79 +f 77 75 79 +f 68 70 80 +f 70 71 80 +f 76 68 80 +f 71 76 80 +f 70 66 81 +f 66 72 81 +f 72 70 81 +f 70 68 82 +f 74 70 82 +f 68 76 82 +o convex_3 +v 0.862265 -1.997723 0.688893 +v -1.012542 -3.937764 -0.198850 +v -0.913751 -3.905162 -0.527865 +v 0.763677 -5.450934 -0.100512 +v 0.961057 -1.503911 -1.086979 +v -0.782096 -1.503911 0.754580 +v -0.025641 -5.450500 0.590362 +v -0.782096 -1.503911 -0.988448 +v -0.058504 -5.417898 -0.922761 +v -0.782096 -5.450934 -0.166199 +v 1.026783 -1.503911 -0.034825 +v -0.749233 -3.937764 0.590169 +v -0.091367 -3.905162 -1.153052 +v 0.796539 -3.937764 -0.922568 +v 1.026783 -4.036439 -0.133549 +v 0.007424 -4.069042 0.820653 +v 0.763677 -4.003403 0.590362 +v -0.782096 -3.937764 -0.922761 +v 0.007424 -5.944747 -0.199043 +v -0.979476 -1.503911 -0.067669 +v 0.862265 -1.503911 0.721736 +v 0.040084 -1.503911 -1.153052 +v -0.025641 -1.503911 0.820653 +v 0.599159 -5.121871 -0.659433 +v -0.617782 -5.056232 -0.725313 +v 0.105810 -3.905162 -1.153052 +v -0.584716 -5.056232 0.392914 +v -0.848025 -1.603021 0.688893 +v -0.716371 -1.570419 -1.054135 +v 0.533433 -5.089269 0.425758 +v 0.763677 -5.450934 -0.198850 +v 1.059848 -2.491101 -0.166199 +v 0.007424 -5.417898 -0.922761 +v 0.105810 -3.970366 0.820653 +v 1.026783 -3.970801 -0.231887 +v -0.979476 -1.503911 -0.231887 +v -1.012542 -3.905162 -0.133549 +v 0.895331 -1.570419 0.688893 +v -0.058504 -5.911711 -0.067669 +v -0.815162 -5.352259 -0.198850 +v -0.124230 -3.708245 0.820653 +v 0.796539 -3.970801 0.557325 +v 0.105810 -5.417898 0.557325 +v 1.059848 -1.668660 -0.166199 +v 1.026783 -3.905162 -0.067669 +v -0.124230 -5.911711 -0.199043 +v -0.255884 -1.503911 0.820653 +v 0.961057 -1.603021 -1.086979 +v 0.237465 -1.503911 -1.153052 +v 0.138673 -2.129001 0.820653 +v -0.716371 -3.937764 -0.955411 +v 0.007424 -5.911711 -0.067669 +v -0.716371 -5.483537 -0.231887 +v -0.815162 -5.286620 -0.133549 +v -0.091367 -2.458065 -1.153052 +v 0.632225 -4.792808 0.458794 +v 0.500571 -5.089269 -0.758156 +v 0.730814 -3.839088 0.623012 +v 0.040084 -5.253149 0.623205 +v 0.829402 -3.905162 -0.856687 +v -0.815162 -1.503911 -0.889724 +v 0.007424 -5.582647 -0.725313 +v -0.420402 -5.187510 0.458794 +v 1.026783 -3.642172 -0.330417 +f 142 130 146 +f 88 87 90 +f 87 88 93 +f 94 89 98 +f 88 90 102 +f 93 88 103 +f 90 87 104 +f 103 88 105 +f 100 91 107 +f 91 95 108 +f 95 104 108 +f 94 88 110 +f 88 102 110 +f 100 90 111 +f 90 104 111 +f 97 86 113 +f 86 101 113 +f 106 96 113 +f 91 108 115 +f 108 96 115 +f 106 113 115 +f 105 98 116 +f 97 113 117 +f 114 97 117 +f 102 90 118 +f 102 118 119 +f 94 110 119 +f 110 102 119 +f 118 84 119 +f 93 103 120 +f 103 83 120 +f 89 92 121 +f 84 85 122 +f 85 100 122 +f 107 92 122 +f 100 107 122 +f 119 84 122 +f 88 94 123 +f 94 98 123 +f 98 105 123 +f 86 97 124 +f 83 99 124 +f 120 83 124 +f 86 112 125 +f 87 93 126 +f 114 87 126 +f 93 120 126 +f 120 114 126 +f 97 114 127 +f 114 120 127 +f 124 97 127 +f 120 124 127 +f 121 92 128 +f 101 121 128 +f 105 88 129 +f 88 123 129 +f 123 105 129 +f 96 108 130 +f 87 114 130 +f 104 87 131 +f 108 104 131 +f 130 108 131 +f 87 130 131 +f 103 105 132 +f 116 103 132 +f 105 116 132 +f 95 91 133 +f 91 100 133 +f 100 111 133 +f 111 95 133 +f 101 86 134 +f 89 121 134 +f 121 101 134 +f 86 125 134 +f 125 89 134 +f 107 91 135 +f 92 107 135 +f 91 128 135 +f 128 92 135 +f 92 109 136 +f 109 94 136 +f 94 119 136 +f 122 92 136 +f 119 122 136 +f 104 95 137 +f 95 111 137 +f 111 104 137 +f 112 86 138 +f 86 124 138 +f 124 99 138 +f 125 112 138 +f 99 125 138 +f 96 106 139 +f 115 96 139 +f 106 115 139 +f 99 83 140 +f 83 103 140 +f 116 99 140 +f 103 116 140 +f 98 89 141 +f 116 98 141 +f 99 116 141 +f 125 99 141 +f 89 125 141 +f 113 96 142 +f 117 113 142 +f 96 130 142 +f 85 84 143 +f 100 85 143 +f 90 100 143 +f 84 118 143 +f 118 90 143 +f 113 101 144 +f 91 115 144 +f 115 113 144 +f 128 91 144 +f 101 128 144 +f 92 89 145 +f 89 94 145 +f 109 92 145 +f 94 109 145 +f 114 117 146 +f 130 114 146 +f 117 142 146 +o convex_4 +v -0.979476 -1.470175 -0.034799 +v 0.138673 3.659785 1.083814 +v 0.533433 3.726167 0.886289 +v -0.518990 3.692976 -1.284632 +v 0.961057 -1.503911 -1.087107 +v 0.895331 -1.470175 0.721916 +v 0.961057 2.245618 -0.988345 +v -0.815162 2.508972 0.853368 +v -0.716371 -1.503911 -1.054186 +v -0.782096 -1.503911 0.754837 +v -0.946614 2.212426 -0.988345 +v 0.533433 3.496005 -1.284632 +v 0.928194 1.949617 0.557312 +v 1.026783 -0.713849 -1.218791 +v -0.683508 3.561299 0.623154 +v 0.040084 4.054815 -0.429154 +v -0.518990 2.409942 1.083814 +v -0.979476 1.324423 0.623154 +v 0.763677 3.561299 0.688996 +v 0.533433 2.969297 1.083814 +v 1.059848 -0.911364 -0.396233 +v -0.058504 -1.503366 0.820447 +v -0.749233 3.692976 -1.087107 +v -0.551853 2.278809 -1.284632 +v -0.979476 2.147132 0.327098 +v -0.025641 3.988977 0.656075 +v 0.730814 3.528652 -0.823972 +v -0.518990 3.495461 1.083814 +v 0.961057 -0.615363 0.721916 +v 0.040084 -1.503366 -1.152949 +v 0.993920 2.113941 -0.133330 +v -0.880888 -0.747040 -0.922735 +v -0.815162 1.982808 -1.218791 +v -1.012542 0.305831 -0.330392 +v 0.072947 3.988977 -0.988577 +v -0.946614 -0.779687 0.656075 +v 0.434642 2.475780 1.083814 +v 0.730814 2.706487 -1.284632 +v 1.026783 -1.503911 -0.034799 +v 1.059848 -0.187685 -1.021266 +v -0.815162 -0.121303 0.853368 +v 0.993920 -0.681202 0.557312 +v 0.730814 3.001944 0.853368 +v -0.979476 -1.503911 -0.231861 +v -0.979476 2.245618 -0.363312 +v -1.012542 0.339023 0.195415 +v -0.946614 2.278809 0.623154 +v 0.533433 3.429622 1.083814 +v -0.946614 0.535994 -0.889814 +v -0.683508 -0.648010 0.853368 +v 0.928194 -0.319362 0.787758 +v -1.012542 1.620424 -0.198940 +v 1.059848 -0.977203 -0.988345 +v 0.040084 3.791461 -1.284632 +v 1.026783 0.963128 -1.054186 +v -0.584919 3.100974 1.083814 +v -0.815162 -1.372234 -0.988577 +v -0.749233 3.265298 -1.218791 +v -0.025641 4.054815 0.031042 +v 0.665088 3.660329 0.458781 +v -0.716371 3.495461 0.590233 +v 0.697951 3.528652 -0.988577 +v -0.058504 2.278265 1.083814 +v 0.171536 2.048102 -1.284632 +f 170 184 210 +f 155 151 156 +f 148 163 166 +f 150 158 170 +f 148 149 172 +f 165 153 173 +f 163 148 174 +f 148 172 174 +f 172 161 174 +f 151 155 176 +f 160 151 176 +f 155 170 176 +f 170 160 176 +f 153 165 177 +f 165 159 177 +f 150 170 179 +f 170 155 179 +f 150 169 181 +f 169 162 181 +f 162 173 181 +f 147 156 182 +f 166 163 183 +f 168 152 183 +f 170 158 184 +f 156 151 185 +f 152 168 185 +f 168 156 185 +f 177 167 186 +f 154 164 187 +f 182 156 187 +f 164 182 187 +f 159 175 188 +f 175 152 188 +f 177 159 188 +f 167 177 188 +f 185 167 188 +f 152 185 188 +f 159 165 189 +f 156 147 190 +f 155 156 190 +f 169 157 191 +f 171 169 191 +f 147 182 192 +f 182 164 192 +f 190 147 192 +f 180 190 192 +f 164 154 193 +f 171 164 193 +f 169 171 193 +f 149 148 194 +f 165 149 194 +f 148 166 194 +f 189 165 194 +f 157 179 195 +f 179 178 195 +f 180 157 195 +f 178 190 195 +f 190 180 195 +f 156 168 196 +f 168 163 196 +f 187 156 196 +f 163 187 196 +f 175 159 197 +f 152 175 197 +f 183 152 197 +f 166 183 197 +f 159 189 197 +f 194 166 197 +f 189 194 197 +f 164 171 198 +f 157 180 198 +f 191 157 198 +f 171 191 198 +f 180 192 198 +f 192 164 198 +f 151 160 199 +f 185 151 199 +f 167 185 199 +f 160 186 199 +f 186 167 199 +f 158 150 200 +f 150 181 200 +f 181 158 200 +f 153 177 201 +f 184 153 201 +f 160 184 201 +f 186 160 201 +f 177 186 201 +f 174 154 202 +f 163 174 202 +f 187 163 202 +f 154 187 202 +f 178 179 203 +f 179 155 203 +f 155 190 203 +f 190 178 203 +f 169 150 204 +f 157 169 204 +f 179 157 204 +f 150 179 204 +f 149 162 205 +f 169 161 205 +f 162 169 205 +f 172 149 205 +f 161 172 205 +f 162 149 206 +f 149 165 206 +f 173 162 206 +f 165 173 206 +f 161 169 207 +f 154 174 207 +f 174 161 207 +f 193 154 207 +f 169 193 207 +f 173 153 208 +f 158 181 208 +f 181 173 208 +f 153 184 208 +f 184 158 208 +f 163 168 209 +f 183 163 209 +f 168 183 209 +f 160 170 210 +f 184 160 210 +o convex_5 +v 0.829583 3.199991 2.169352 +v -0.848067 2.969867 1.511450 +v -0.848067 3.265787 1.511450 +v -0.387436 3.134194 2.728465 +v 0.401795 2.575087 1.511450 +v 0.467482 3.561927 1.511450 +v -0.190046 2.739633 2.563990 +v -0.025335 3.496021 2.596962 +v -0.848067 3.430333 1.840401 +v -0.848067 2.805430 1.939060 +v 0.335944 2.838273 2.563990 +v -0.485966 2.542243 1.511450 +v 0.829583 2.805430 1.577266 +v 0.368952 3.463068 2.563990 +v 0.006851 3.627723 1.511450 +v 0.302936 3.134194 2.761438 +v 0.829583 3.397380 1.807557 +v 0.829583 2.871226 2.136508 +v -0.848067 3.364537 2.103665 +v 0.434803 3.594770 1.873245 +v -0.453123 2.739633 2.465459 +v -0.025335 2.509290 1.610238 +v 0.302936 2.772586 2.531146 +v 0.829583 3.134194 1.511450 +v -0.848067 3.068507 2.169352 +v 0.007180 3.101460 2.827254 +v -0.387436 3.463068 2.432487 +v 0.829583 2.772477 1.906217 +v -0.354592 3.561927 1.873245 +v 0.401795 3.528864 2.432487 +v -0.453287 3.528974 1.511450 +v 0.829583 3.364537 2.070692 +v -0.025335 3.594770 1.939060 +v 0.368952 3.199881 2.728465 +v -0.420115 2.969976 2.662778 +v -0.387436 3.430224 2.531146 +v -0.058179 3.167037 2.827254 +v -0.848067 2.838273 2.070692 +v -0.321256 2.509290 1.544422 +v 0.039695 2.739633 2.563990 +v 0.336108 2.673836 2.103665 +v -0.848067 2.871226 1.577266 +v 0.796575 3.298740 1.544422 +f 227 234 253 +f 212 213 215 +f 215 213 216 +f 213 212 219 +f 219 212 220 +f 212 215 222 +f 216 213 225 +f 211 223 227 +f 223 211 228 +f 226 221 228 +f 219 220 229 +f 216 225 230 +f 227 216 230 +f 220 222 231 +f 228 221 233 +f 215 216 234 +f 223 215 234 +f 227 223 234 +f 214 229 235 +f 229 220 235 +f 221 226 236 +f 233 221 236 +f 219 229 237 +f 215 223 238 +f 223 228 238 +f 228 233 238 +f 237 218 239 +f 219 237 239 +f 218 224 240 +f 213 219 241 +f 225 213 241 +f 239 225 241 +f 219 239 241 +f 211 227 242 +f 227 230 242 +f 240 224 242 +f 230 240 242 +f 230 225 243 +f 239 218 243 +f 225 239 243 +f 218 240 243 +f 240 230 243 +f 228 211 244 +f 226 228 244 +f 211 242 244 +f 242 224 244 +f 231 217 245 +f 214 235 245 +f 236 214 245 +f 217 236 245 +f 229 214 246 +f 218 237 246 +f 237 229 246 +f 224 218 247 +f 214 236 247 +f 236 226 247 +f 244 224 247 +f 226 244 247 +f 246 214 247 +f 218 246 247 +f 220 231 248 +f 235 220 248 +f 231 245 248 +f 245 235 248 +f 222 215 249 +f 217 231 249 +f 231 222 249 +f 215 232 249 +f 232 217 249 +f 217 232 250 +f 236 217 250 +f 233 236 250 +f 232 215 251 +f 215 238 251 +f 238 233 251 +f 250 232 251 +f 233 250 251 +f 220 212 252 +f 212 222 252 +f 222 220 252 +f 216 227 253 +f 234 216 253 +o convex_6 +v 2.507155 3.298714 2.037720 +v 0.829583 3.002729 1.511450 +v 0.829583 3.068558 1.511450 +v 0.829583 3.068558 2.169352 +v 2.704339 2.904109 1.840401 +v 0.829583 3.397458 1.807557 +v 2.737131 3.167179 1.610174 +v 0.829583 2.772451 1.906152 +v 1.651973 2.838280 1.610174 +v 2.638755 3.068558 2.070628 +v 0.829583 3.364543 2.070628 +v 2.704339 3.364543 1.840401 +v 1.421997 3.298714 1.610174 +v 1.783572 2.904109 2.070628 +v 3.033554 3.167179 1.873245 +v 0.829583 2.805365 1.577266 +v 2.638755 3.035644 1.610174 +v 1.126006 3.167179 2.169352 +v 0.829583 2.871194 2.103536 +v 2.737131 3.199971 2.070628 +v 1.651973 2.805365 1.873245 +v 0.829583 3.265800 1.577266 +v 1.421997 3.364543 2.070628 +v 1.783572 3.397458 1.807557 +v 2.473931 3.298714 1.675925 +v 2.473931 3.134265 1.577266 +v 2.507155 2.937023 1.643082 +v 3.000546 3.134265 1.774649 +f 258 270 281 +f 256 255 257 +f 256 257 259 +f 257 255 261 +f 259 257 264 +f 263 257 267 +f 258 263 267 +f 263 258 268 +f 261 255 269 +f 255 262 269 +f 262 255 270 +f 257 263 271 +f 264 257 271 +f 257 261 272 +f 267 257 272 +f 261 267 272 +f 265 254 273 +f 263 268 273 +f 268 265 273 +f 271 263 273 +f 262 258 274 +f 267 261 274 +f 258 267 274 +f 261 269 274 +f 269 262 274 +f 256 259 275 +f 259 266 275 +f 259 264 276 +f 254 265 276 +f 264 271 276 +f 273 254 276 +f 271 273 276 +f 266 259 277 +f 259 276 277 +f 276 265 277 +f 265 260 278 +f 260 266 278 +f 266 277 278 +f 277 265 278 +f 255 256 279 +f 266 260 279 +f 270 255 279 +f 260 270 279 +f 256 275 279 +f 275 266 279 +f 258 262 280 +f 270 258 280 +f 262 270 280 +f 260 265 281 +f 268 258 281 +f 265 268 281 +f 270 260 281 +o convex_7 +v -0.848279 3.265832 2.136444 +v -1.144470 3.068539 1.511450 +v -1.144470 3.134265 1.511450 +v -3.018930 3.035618 1.807557 +v -0.848279 2.838267 2.037720 +v -1.703494 3.397458 1.774649 +v -2.558283 3.134265 2.037720 +v -2.722739 2.838267 1.774649 +v -0.848279 2.871188 1.610174 +v -2.722739 3.068539 1.577266 +v -0.848279 3.331616 1.577266 +v -2.722739 3.298753 1.774649 +v -0.980014 3.364537 2.103536 +v -2.492628 2.904051 1.971968 +v -0.914147 3.101402 2.169352 +v -2.097848 3.331616 2.004876 +v -0.848279 2.805346 1.774649 +v -2.229583 2.871188 1.643082 +v -2.097848 3.265832 1.610174 +v -0.848279 3.397458 1.741741 +v -1.637626 2.805346 1.906152 +v -2.722739 3.002755 1.577266 +v -1.670560 2.871188 2.037720 +v -0.848279 3.035618 1.511450 +v -2.690018 3.167186 2.004876 +v -0.848279 3.397458 2.004876 +v -2.722739 2.838267 1.840401 +v -2.722739 3.068539 2.004876 +v -1.867950 2.805346 1.774649 +v -3.018930 3.101402 1.774649 +v -1.835016 3.364537 2.004876 +f 307 287 312 +f 282 286 290 +f 284 283 291 +f 282 290 292 +f 288 282 294 +f 286 282 296 +f 282 288 296 +f 288 294 297 +f 290 286 298 +f 284 291 300 +f 292 284 300 +f 287 292 300 +f 291 293 300 +f 293 287 300 +f 282 292 301 +f 292 287 301 +f 298 286 302 +f 289 285 303 +f 291 283 303 +f 299 289 303 +f 286 296 304 +f 302 286 304 +f 283 284 305 +f 284 292 305 +f 292 290 305 +f 290 299 305 +f 303 283 305 +f 299 303 305 +f 297 293 306 +f 288 297 306 +f 294 282 307 +f 282 301 307 +f 301 287 307 +f 285 289 308 +f 304 295 308 +f 302 304 308 +f 296 288 309 +f 295 304 309 +f 304 296 309 +f 306 285 309 +f 288 306 309 +f 285 308 309 +f 308 295 309 +f 290 298 310 +f 299 290 310 +f 289 299 310 +f 298 302 310 +f 308 289 310 +f 302 308 310 +f 293 291 311 +f 303 285 311 +f 291 303 311 +f 285 306 311 +f 306 293 311 +f 287 293 312 +f 293 297 312 +f 297 294 312 +f 294 307 312 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/135/135.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/135/135.urdf new file mode 100644 index 000000000..2e70ba316 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/135/135.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/136/136.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/136/136.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/136/136.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/136/136.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/136/136.obj new file mode 100644 index 000000000..dda2a0698 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/136/136.obj @@ -0,0 +1,684 @@ +o convex_0 +v -2.283163 -1.039970 -0.539511 +v -0.000200 -1.074510 1.362439 +v -0.000200 -1.143792 1.362439 +v -0.415223 -0.971298 -2.787914 +v -0.934170 -0.002565 2.365854 +v -1.521952 -1.939624 2.331091 +v -0.795829 -2.043446 -2.372525 +v -1.902557 -0.071847 -2.303588 +v -0.000200 0.032178 -1.127537 +v -1.971616 -0.210209 2.157865 +v -0.000200 -2.043446 -0.089359 +v -1.902557 -1.835802 -2.303588 +v -1.037870 -1.766520 2.850179 +v -2.248521 -1.628159 1.292913 +v -0.000200 0.032178 1.189213 +v -0.415223 -1.040174 2.711127 +v -1.936975 -1.005634 2.711127 +v -1.072511 -0.244748 -2.857440 +v -2.283163 -0.452392 1.189213 +v -1.936975 -1.040174 -2.718977 +v -1.971616 -1.973960 0.116862 +v -0.795829 -2.043446 2.296328 +v -0.000200 -1.835802 -1.058011 +v -1.107152 -1.766520 -2.891614 +v -1.141570 -0.244748 2.815416 +v -0.000200 -1.904678 1.016576 +v -1.971616 -0.037308 0.289499 +v -2.213880 -0.348570 -1.403874 +v -2.213880 -1.593416 -1.473400 +v -0.934170 0.032178 -2.096188 +v -1.902557 -1.870342 2.296328 +v -0.484282 -0.313827 2.400028 +v -1.210629 -0.971298 -3.030666 +v -1.141570 -0.936555 2.988642 +v -0.311524 -1.801059 -2.096188 +v -2.248521 -0.210209 -0.262585 +v -0.345941 -1.801059 2.088928 +v -0.173182 -1.074510 -2.096188 +v -2.213880 -1.074510 1.915702 +v -1.175987 0.032178 0.428551 +v -0.345941 -0.244748 -2.130362 +v -2.213880 -1.801059 -0.297349 +v -2.213880 -0.936758 -1.854025 +v -1.383611 -2.043446 0.013162 +v -0.830247 -0.002565 -2.372525 +v -0.588206 -1.628159 -2.649451 +v -0.173182 -1.040174 2.053576 +v -2.283163 -1.455258 -0.124123 +v -1.279911 0.032178 -1.196474 +v -1.141570 -2.043446 -1.714973 +v -0.415223 -0.902219 2.711127 +v -1.175987 -2.043446 1.708302 +v -1.175987 -1.801059 2.815416 +v -1.936975 -0.763857 -2.649451 +v -1.936975 -0.210209 2.261564 +v -0.000200 -1.143792 -1.300763 +v -0.588206 -0.452189 -2.649451 +v -0.553564 -1.593619 2.572664 +v -0.000200 -1.904678 -0.989074 +v -0.415223 -1.109050 -2.787914 +v -1.971616 -1.109253 2.676953 +v -1.936975 -1.973960 -0.366285 +v -2.248521 -0.210209 0.220562 +v -2.283163 -0.521471 -0.332112 +f 28 43 64 +f 2 3 9 +f 9 3 11 +f 2 9 15 +f 7 11 22 +f 9 11 23 +f 7 12 24 +f 12 20 24 +f 11 3 26 +f 22 11 26 +f 20 12 29 +f 15 9 30 +f 15 5 32 +f 5 25 32 +f 18 4 33 +f 24 20 33 +f 13 16 34 +f 25 17 34 +f 27 8 36 +f 8 28 36 +f 22 26 37 +f 4 9 38 +f 23 35 38 +f 10 19 39 +f 19 14 39 +f 14 31 39 +f 5 15 40 +f 27 5 40 +f 15 30 40 +f 9 4 41 +f 29 12 42 +f 31 14 42 +f 21 31 42 +f 28 8 43 +f 29 1 43 +f 20 29 43 +f 7 22 44 +f 18 8 45 +f 30 9 45 +f 8 30 45 +f 9 41 45 +f 7 24 46 +f 35 7 46 +f 3 2 47 +f 2 15 47 +f 26 3 47 +f 16 37 47 +f 37 26 47 +f 19 1 48 +f 14 19 48 +f 1 29 48 +f 42 14 48 +f 29 42 48 +f 8 27 49 +f 30 8 49 +f 27 40 49 +f 40 30 49 +f 12 7 50 +f 7 44 50 +f 15 32 51 +f 32 25 51 +f 34 16 51 +f 25 34 51 +f 47 15 51 +f 16 47 51 +f 22 6 52 +f 6 31 52 +f 31 21 52 +f 21 44 52 +f 44 22 52 +f 6 22 53 +f 22 13 53 +f 31 6 53 +f 13 34 53 +f 34 17 53 +f 8 18 54 +f 18 33 54 +f 33 20 54 +f 43 8 54 +f 20 43 54 +f 25 5 55 +f 17 25 55 +f 5 27 55 +f 27 10 55 +f 9 23 56 +f 38 9 56 +f 23 38 56 +f 4 18 57 +f 41 4 57 +f 18 45 57 +f 45 41 57 +f 16 13 58 +f 13 22 58 +f 37 16 58 +f 22 37 58 +f 11 7 59 +f 23 11 59 +f 35 23 59 +f 7 35 59 +f 33 4 60 +f 24 33 60 +f 4 38 60 +f 38 35 60 +f 46 24 60 +f 35 46 60 +f 10 39 61 +f 39 31 61 +f 31 53 61 +f 53 17 61 +f 55 10 61 +f 17 55 61 +f 42 12 62 +f 21 42 62 +f 44 21 62 +f 12 50 62 +f 50 44 62 +f 19 10 63 +f 10 27 63 +f 36 19 63 +f 27 36 63 +f 1 19 64 +f 19 36 64 +f 36 28 64 +f 43 1 64 +o convex_1 +v -1.072379 0.032272 -0.781749 +v -0.415102 0.101433 0.947613 +v -0.449733 0.101433 0.947613 +v -0.415102 0.516490 -0.781749 +v -0.415102 0.032272 -1.093417 +v -1.141570 0.032272 0.393801 +v -0.449733 0.412631 0.739834 +v -0.415102 0.032272 0.947613 +v -1.141570 0.066829 0.393801 +v -0.449733 0.516490 -0.781749 +v -0.449733 0.481839 0.220785 +v -1.072379 0.066829 -0.781749 +v -0.657376 0.101433 -1.024091 +v -0.415102 0.412631 0.739834 +v -1.106868 0.066829 0.462928 +f 71 73 79 +f 68 66 69 +f 65 69 70 +f 67 66 71 +f 66 67 72 +f 69 66 72 +f 70 69 72 +f 65 70 73 +f 68 69 74 +f 68 74 75 +f 73 71 75 +f 74 73 75 +f 65 73 76 +f 73 74 76 +f 76 74 77 +f 69 65 77 +f 74 69 77 +f 65 76 77 +f 66 68 78 +f 71 66 78 +f 68 75 78 +f 75 71 78 +f 67 71 79 +f 72 67 79 +f 70 72 79 +f 73 70 79 +o convex_2 +v 1.798629 1.623625 -0.366814 +v -0.415102 0.032564 -1.093295 +v -0.415102 0.032564 0.982071 +v 0.103955 3.560149 -0.055267 +v 1.798629 0.032564 0.809143 +v 1.556533 2.937543 0.774373 +v 0.830244 3.387224 -0.781979 +v 1.556533 0.032564 -0.885828 +v 0.000095 3.007021 0.705294 +v 0.034715 0.274581 1.189769 +v 1.556533 3.352871 -0.124576 +v 2.075589 0.067303 0.428517 +v 0.830244 3.975477 0.048122 +v 0.000095 2.937929 -0.781979 +v 1.556533 1.347254 -0.885828 +v -0.242002 1.969474 -0.090037 +v 0.484287 1.035758 -1.093295 +v 0.761248 3.352485 0.774373 +v 1.591153 0.862833 0.982071 +v 1.971729 0.032564 -0.435893 +v 0.830244 1.520179 1.051380 +v 1.660393 2.833711 0.739834 +v -0.415102 0.551337 0.739834 +v -0.172762 0.170749 -1.162605 +v 0.000095 1.589271 1.016610 +v -0.415102 0.586077 -0.747439 +v 0.000095 3.456703 0.013582 +v 2.075589 0.171135 0.082661 +v 1.556533 0.032564 0.947301 +v 1.349056 2.833711 -0.643590 +v -0.207382 0.032564 1.189769 +v 0.933860 1.520179 -1.024216 +v 0.034715 1.796935 -0.989446 +v 1.141580 0.032564 -0.989446 +v 0.761248 3.975477 -0.055497 +v 0.034715 3.076114 -0.747209 +v -0.207382 1.969474 -0.678130 +v 1.591153 3.249039 0.151740 +v 0.657387 3.871644 0.117201 +v 2.040969 0.032564 0.532366 +v -0.242002 1.796549 0.566905 +v 0.795868 1.727842 -1.023986 +v -0.034525 0.032564 -1.162605 +v 0.726628 3.387224 -0.781979 +v 1.625773 2.245844 0.843682 +v -0.415102 0.689909 0.151740 +v 1.349056 1.070497 1.016610 +v 0.968480 3.871644 -0.055497 +v 0.034715 0.032564 1.189769 +v 0.830244 3.179560 0.809143 +v 1.591153 3.214299 -0.124576 +v 1.625773 2.937543 0.739834 +v -0.207382 0.136396 1.189769 +v 1.798629 1.589271 -0.401353 +v 0.276811 3.145207 0.739834 +v 0.000095 3.456703 -0.090037 +v 0.830244 3.214299 -0.816518 +v 1.487293 0.620816 -0.920367 +v 0.000095 3.076114 0.636215 +v 0.864864 3.387224 0.705294 +v 1.452917 2.833711 -0.505202 +v 2.075589 0.067303 -0.020727 +v 1.660393 2.729879 0.774373 +v 0.830244 3.491056 -0.678130 +f 114 127 143 +f 82 81 84 +f 84 81 87 +f 84 87 99 +f 87 94 99 +f 81 82 102 +f 82 88 102 +f 89 100 104 +f 81 102 105 +f 101 91 107 +f 82 84 108 +f 84 98 108 +f 86 90 109 +f 94 86 109 +f 82 108 110 +f 81 93 112 +f 103 81 112 +f 96 103 112 +f 87 81 113 +f 96 111 113 +f 83 114 115 +f 93 81 116 +f 81 105 116 +f 105 95 116 +f 90 92 117 +f 101 107 117 +f 97 92 118 +f 83 106 118 +f 114 83 118 +f 92 114 118 +f 84 99 119 +f 102 88 120 +f 95 102 120 +f 106 95 120 +f 111 96 121 +f 96 112 121 +f 81 103 122 +f 103 96 122 +f 113 81 122 +f 96 113 122 +f 112 93 123 +f 93 115 123 +f 115 114 123 +f 85 100 124 +f 102 95 125 +f 95 105 125 +f 105 102 125 +f 100 89 126 +f 98 124 126 +f 124 100 126 +f 92 90 127 +f 114 92 127 +f 108 98 128 +f 89 110 128 +f 110 108 128 +f 126 89 128 +f 98 126 128 +f 85 97 129 +f 100 85 129 +f 97 104 129 +f 104 100 129 +f 107 80 130 +f 90 117 130 +f 117 107 130 +f 117 92 131 +f 101 117 131 +f 88 82 132 +f 104 88 132 +f 89 104 132 +f 82 110 132 +f 110 89 132 +f 99 94 133 +f 80 107 133 +f 130 80 133 +f 88 104 134 +f 104 97 134 +f 97 118 134 +f 106 83 135 +f 95 106 135 +f 115 93 135 +f 83 115 135 +f 93 116 135 +f 116 95 135 +f 86 94 136 +f 94 111 136 +f 111 121 136 +f 121 112 136 +f 112 123 136 +f 123 86 136 +f 94 87 137 +f 111 94 137 +f 87 113 137 +f 113 111 137 +f 118 106 138 +f 120 88 138 +f 106 120 138 +f 88 134 138 +f 134 118 138 +f 97 85 139 +f 92 97 139 +f 85 131 139 +f 131 92 139 +f 109 90 140 +f 94 109 140 +f 90 130 140 +f 133 94 140 +f 130 133 140 +f 107 91 141 +f 119 99 141 +f 91 119 141 +f 99 133 141 +f 133 107 141 +f 98 84 142 +f 91 101 142 +f 84 119 142 +f 119 91 142 +f 124 98 142 +f 85 124 142 +f 131 85 142 +f 101 131 142 +f 90 86 143 +f 86 123 143 +f 123 114 143 +f 127 90 143 +o convex_3 +v 0.000023 -1.870342 -1.024067 +v 2.110240 -0.590753 0.566784 +v 2.040836 0.031975 0.532163 +v 0.000023 -1.213075 1.258956 +v 0.000023 0.032178 -1.127930 +v 2.110240 -1.455258 -0.401380 +v 0.000023 0.032178 1.189715 +v 0.726701 -1.870342 0.774509 +v 1.556660 0.032178 -0.885828 +v 1.556660 -1.455055 -0.920205 +v 1.521958 -1.939421 0.013582 +v 1.556660 -1.420515 0.843506 +v 0.000023 -1.904678 1.016611 +v 1.556660 0.032178 0.947369 +v 2.110240 -0.314030 -0.436001 +v 0.034725 -1.178535 -1.231792 +v 2.110240 -1.420515 0.463165 +v 0.000023 -2.043446 -0.055416 +v 2.110240 -1.074713 -0.574484 +v 1.729550 -1.628159 -0.608861 +v 2.110240 -0.002565 0.013582 +v 1.141474 0.032178 -0.989447 +v 0.968790 -2.008703 -0.020795 +v 2.110240 -1.593619 -0.020795 +v 0.034725 -1.904678 -0.989447 +v 0.069221 -1.178535 1.258956 +v 1.971845 0.031975 -0.436001 +v 1.521958 -1.939421 -0.055416 +v 2.110240 -0.936555 0.566784 +v 0.761197 -1.835802 -0.781722 +v 0.207616 0.032178 -1.127930 +v 1.521958 -0.314030 -0.920205 +v 1.798748 0.031975 0.809129 +v 1.556660 -0.556010 0.912992 +v 0.726701 -2.008703 0.151821 +v 0.000023 -1.005634 -1.231792 +v 0.034725 -1.835802 1.051231 +v 0.034725 -1.801059 -1.058688 +v 0.830394 -1.835802 0.774509 +v 0.034725 -0.971298 1.258956 +v 0.691999 -2.008703 -0.193655 +v 2.110240 -0.106387 0.463165 +v 0.069221 -1.939624 0.843750 +v 2.110240 -0.936555 -0.574484 +v 0.034725 -1.005634 -1.231792 +v 0.103923 -2.043446 0.047959 +v 0.103923 -1.939624 -0.816586 +v 0.034725 0.032178 1.189715 +f 183 157 191 +f 144 147 148 +f 148 147 150 +f 148 150 152 +f 147 144 156 +f 146 152 157 +f 152 150 157 +f 145 149 158 +f 149 145 160 +f 156 144 161 +f 149 153 162 +f 158 149 162 +f 153 149 163 +f 145 158 164 +f 148 152 165 +f 149 160 167 +f 160 154 167 +f 163 149 167 +f 144 153 168 +f 161 144 168 +f 152 146 170 +f 158 152 170 +f 146 164 170 +f 164 158 170 +f 154 166 171 +f 167 154 171 +f 163 167 171 +f 160 145 172 +f 155 160 172 +f 153 163 173 +f 168 153 173 +f 163 171 173 +f 171 168 173 +f 148 165 174 +f 165 152 175 +f 145 146 176 +f 146 157 176 +f 172 145 176 +f 172 176 177 +f 169 155 177 +f 157 169 177 +f 155 172 177 +f 176 157 177 +f 166 154 178 +f 144 148 179 +f 159 144 179 +f 148 174 179 +f 147 156 180 +f 156 155 180 +f 169 147 180 +f 155 169 180 +f 153 144 181 +f 144 159 181 +f 159 153 181 +f 151 154 182 +f 156 151 182 +f 155 156 182 +f 154 160 182 +f 160 155 182 +f 150 147 183 +f 147 169 183 +f 169 157 183 +f 166 161 184 +f 171 166 184 +f 146 145 185 +f 164 146 185 +f 145 164 185 +f 154 151 186 +f 151 156 186 +f 156 161 186 +f 178 154 186 +f 152 158 187 +f 162 153 187 +f 158 162 187 +f 153 175 187 +f 175 152 187 +f 153 159 188 +f 174 165 188 +f 175 153 188 +f 165 175 188 +f 159 179 188 +f 179 174 188 +f 161 166 189 +f 166 178 189 +f 186 161 189 +f 178 186 189 +f 161 168 190 +f 168 171 190 +f 184 161 190 +f 171 184 190 +f 157 150 191 +f 150 183 191 +o convex_4 +v 2.110406 -1.455312 -0.401529 +v 2.179590 -0.071604 0.151947 +v 2.179590 -0.071604 0.013494 +v 3.805333 -1.005350 0.082664 +v 2.110406 -1.420745 0.463270 +v 2.836922 -0.555983 -0.436059 +v 3.597615 -0.936365 0.463270 +v 3.562940 -1.386030 0.048135 +v 2.110406 -0.140886 0.463270 +v 3.562940 -0.555983 0.048135 +v 3.528430 -1.005350 -0.401529 +v 2.110406 -0.936365 -0.574511 +v 2.110406 -0.313868 -0.436059 +v 2.145082 -1.593727 0.048135 +v 2.179590 -0.625266 0.567082 +v 2.871431 -1.420745 0.428629 +v 2.836922 -1.005350 0.567082 +v 2.629370 -1.386030 -0.401529 +v 2.802247 -1.005350 -0.539870 +v 3.424572 -0.625266 -0.228547 +v 2.836922 -1.524445 0.013494 +v 3.320879 -0.625266 0.359458 +v 3.562940 -1.040065 0.463270 +v 3.286203 -1.282330 -0.297718 +v 2.110406 -0.936365 0.567082 +v 3.528430 -0.936365 -0.401529 +v 3.355387 -1.316896 0.359458 +v 2.214265 -1.074781 -0.574511 +v 3.562940 -0.555983 -0.020924 +v 2.179590 -0.313868 -0.436059 +v 2.767738 -0.901799 -0.539870 +v 3.805333 -0.936365 0.013494 +v 2.145082 -0.140886 0.463270 +v 2.836922 -0.936365 0.567082 +v 2.110406 -0.071604 -0.020924 +v 2.110406 -1.593727 -0.020924 +v 3.770492 -1.005350 -0.055565 +v 3.562940 -1.386030 0.082664 +v 3.493756 -1.386030 -0.020924 +v 2.767738 -1.386030 0.463270 +v 2.767738 -1.524445 0.117306 +v 3.390062 -0.694399 -0.332247 +f 220 217 233 +f 192 196 200 +f 194 193 201 +f 192 200 203 +f 203 200 204 +f 196 205 207 +f 202 209 210 +f 192 209 212 +f 198 201 213 +f 195 198 214 +f 198 208 214 +f 209 202 215 +f 200 196 216 +f 206 200 216 +f 196 208 216 +f 208 206 216 +f 202 210 217 +f 214 207 218 +f 192 203 219 +f 209 192 219 +f 210 209 219 +f 194 201 220 +f 203 204 221 +f 211 197 221 +f 194 220 221 +f 220 211 221 +f 197 217 222 +f 217 210 222 +f 219 203 222 +f 210 219 222 +f 203 221 222 +f 221 197 222 +f 198 195 223 +f 201 198 223 +f 220 201 223 +f 217 220 223 +f 193 200 224 +f 201 193 224 +f 200 206 224 +f 198 213 224 +f 213 201 224 +f 206 208 225 +f 208 198 225 +f 198 224 225 +f 224 206 225 +f 193 194 226 +f 200 193 226 +f 204 200 226 +f 194 221 226 +f 221 204 226 +f 196 192 227 +f 205 196 227 +f 192 212 227 +f 212 205 227 +f 195 199 228 +f 199 202 228 +f 202 217 228 +f 223 195 228 +f 217 223 228 +f 199 195 229 +f 212 199 229 +f 195 214 229 +f 218 207 229 +f 214 218 229 +f 202 199 230 +f 199 212 230 +f 212 209 230 +f 215 202 230 +f 209 215 230 +f 196 207 231 +f 208 196 231 +f 207 214 231 +f 214 208 231 +f 207 205 232 +f 205 212 232 +f 212 229 232 +f 229 207 232 +f 197 211 233 +f 217 197 233 +f 211 220 233 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/136/136.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/136/136.urdf new file mode 100644 index 000000000..9120e9940 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/136/136.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/137/137.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/137/137.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/137/137.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/137/137.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/137/137.obj new file mode 100644 index 000000000..c0ae512e3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/137/137.obj @@ -0,0 +1,336 @@ +o convex_0 +v -0.377673 -2.906622 1.053277 +v -1.036327 -3.526524 -1.039111 +v -1.036327 -3.526524 -0.535062 +v -1.036327 -1.550767 -0.418932 +v 1.133557 -3.371790 -1.039111 +v 1.017162 -1.550767 0.936737 +v 1.017162 -1.550767 -1.000196 +v 1.094688 -3.410474 0.975652 +v -0.958801 -1.550767 1.014362 +v -0.958801 -3.487841 1.053277 +v -1.036327 -1.550767 -0.961486 +v 1.133557 -3.449157 -1.039111 +v 0.978293 -3.449157 0.975652 +v 1.055819 -1.783448 0.820607 +v -0.106437 -2.480910 -1.039111 +v -0.997458 -3.526524 0.472013 +v 0.823453 -1.667204 0.975652 +v -0.532513 -3.526524 -0.922776 +v 1.094688 -2.829255 0.975652 +v -0.183963 -3.487841 1.053277 +v -0.958801 -2.248423 1.053277 +v -0.997458 -3.410474 0.626853 +v 1.055819 -2.325983 -1.039111 +v 0.087272 -1.550767 -1.000196 +v -1.036327 -3.139109 -1.039111 +v -0.377673 -1.550767 1.014362 +v 0.629743 -3.332913 1.014362 +v 0.397165 -3.488034 -1.039111 +v 1.094688 -3.449157 0.433098 +v 1.055819 -1.822325 0.316968 +v 1.055819 -2.248423 0.975652 +v -0.919931 -3.526524 0.433303 +f 20 16 32 +f 2 3 4 +f 4 6 7 +f 6 4 9 +f 2 4 11 +f 4 7 11 +f 2 5 12 +f 5 8 12 +f 7 6 14 +f 5 2 15 +f 3 2 16 +f 16 2 18 +f 8 5 19 +f 5 14 19 +f 14 6 19 +f 1 10 20 +f 13 8 20 +f 10 16 20 +f 10 1 21 +f 4 3 22 +f 9 4 22 +f 3 16 22 +f 16 10 22 +f 10 21 22 +f 21 9 22 +f 7 5 23 +f 5 15 23 +f 23 15 24 +f 11 7 24 +f 15 11 24 +f 7 23 24 +f 2 11 25 +f 15 2 25 +f 11 15 25 +f 6 9 26 +f 1 17 26 +f 17 6 26 +f 21 1 26 +f 9 21 26 +f 8 19 27 +f 1 20 27 +f 20 8 27 +f 2 12 28 +f 18 2 28 +f 18 28 29 +f 12 8 29 +f 8 13 29 +f 13 18 29 +f 28 12 29 +f 5 7 30 +f 14 5 30 +f 7 14 30 +f 17 1 31 +f 6 17 31 +f 19 6 31 +f 1 27 31 +f 27 19 31 +f 18 13 32 +f 16 18 32 +f 13 20 32 +o convex_1 +v 1.946944 -1.550766 0.975614 +v -2.004584 0.076487 -1.077859 +v -2.004584 0.192891 -1.077859 +v -3.089846 -0.969434 1.014529 +v 3.032206 0.192720 1.014529 +v 2.954302 -1.511852 -1.038944 +v -3.050894 -1.395619 -0.961524 +v 2.993254 0.192720 -1.000234 +v -3.011942 0.192891 0.975410 +v -3.089846 -1.550766 1.014529 +v 2.954302 -1.511852 1.014529 +v -3.011942 0.192891 -1.000234 +v -1.268691 -1.550766 -0.961524 +v -2.973589 -1.318131 -1.000234 +v 2.954302 -0.349698 -1.038944 +v 3.032206 -0.582163 0.936904 +v 1.016891 -1.550766 -1.000234 +v -3.089846 -1.472937 -0.264130 +v -1.888327 -0.310954 -1.077859 +v -0.260734 0.192891 1.014529 +v -0.648456 0.192891 -1.077859 +v -3.050894 -0.194722 -1.000234 +v -3.050894 0.115232 0.975410 +v 1.676078 -1.472937 -1.038944 +v 2.993254 -1.395619 1.014529 +v 3.032206 0.153976 0.123175 +v -3.089846 -1.550766 0.665525 +v -3.089846 -1.395619 -0.574014 +v -2.779428 -1.434363 -0.961524 +v -2.663172 0.037573 -1.038944 +v 0.164742 -1.550766 -1.000234 +v -0.997226 -0.233466 -1.077859 +v -3.050894 -1.085666 -1.000234 +f 54 62 65 +f 37 36 42 +f 33 38 43 +f 42 33 43 +f 37 42 43 +f 41 35 44 +f 33 42 45 +f 40 38 47 +f 38 33 49 +f 33 45 49 +f 42 36 50 +f 34 35 51 +f 36 37 52 +f 37 40 52 +f 41 36 52 +f 35 41 52 +f 47 38 53 +f 40 47 53 +f 51 35 53 +f 35 52 53 +f 52 40 53 +f 36 41 55 +f 41 44 55 +f 54 36 55 +f 44 54 55 +f 46 51 56 +f 51 38 56 +f 37 43 57 +f 43 38 57 +f 48 37 57 +f 38 48 57 +f 40 37 58 +f 38 40 58 +f 37 48 58 +f 48 38 58 +f 45 42 59 +f 42 50 59 +f 50 45 59 +f 50 36 60 +f 39 50 60 +f 36 54 60 +f 39 46 61 +f 46 45 61 +f 50 39 61 +f 45 50 61 +f 35 34 62 +f 44 35 62 +f 54 44 62 +f 45 46 63 +f 38 49 63 +f 49 45 63 +f 46 56 63 +f 56 38 63 +f 38 51 64 +f 53 38 64 +f 51 53 64 +f 46 39 65 +f 34 51 65 +f 51 46 65 +f 39 60 65 +f 60 54 65 +f 62 34 65 +o convex_2 +v -2.779354 0.503049 -1.038952 +v 1.404171 2.634010 1.091835 +v 1.404171 2.634010 0.859530 +v 3.031796 0.192891 1.014400 +v 2.915537 2.556351 -1.000234 +v -2.934566 2.634010 1.091835 +v -3.012471 0.192891 0.975463 +v 2.992844 0.192891 -1.000234 +v -2.934566 2.594822 -0.922579 +v 3.109702 2.517642 1.053118 +v -3.012471 0.192891 -1.000234 +v 0.242181 2.634010 -1.038952 +v -1.423798 0.503049 -1.116607 +v 0.978088 2.556351 1.130773 +v -2.973518 2.169013 1.091835 +v 2.140677 2.595061 -1.038952 +v -0.222256 0.192891 1.014400 +v -1.036069 0.192891 -1.116607 +v -1.307539 2.634010 -1.000014 +v -2.973518 2.130064 -0.961297 +v 3.109702 1.587646 1.053118 +v -0.532080 0.968046 -1.116387 +v -3.012471 1.277965 0.936965 +v 3.109702 2.246193 0.704440 +v 2.954490 2.556351 -0.845144 +v 1.017040 0.774258 1.053118 +v 3.070749 0.231840 0.936745 +v -3.012471 1.045466 -1.000234 +v 2.992844 0.929336 -1.000234 +v 1.172252 2.634010 -1.038952 +v -2.973518 2.440221 1.014400 +v 2.295889 2.517642 -1.038952 +v -2.004494 2.634010 -0.961517 +v 0.474698 2.052404 -1.077670 +v -1.075022 0.812968 -1.116607 +v -2.547435 2.556351 -0.961297 +v 2.489454 2.556351 1.091835 +v 1.133299 2.634010 1.130773 +v -2.702048 0.192891 -1.038952 +v 3.070749 0.503287 0.627004 +v -3.012471 0.812968 1.014400 +v 3.031796 1.006995 -0.535183 +v 2.954490 2.556351 -0.574121 +v -2.779354 0.619179 -1.038952 +v 2.954490 2.168773 -1.000234 +v 3.109702 2.478693 0.781875 +v -1.075022 2.130064 -1.038952 +v 1.094347 2.556351 1.130773 +v -0.764598 0.464339 -1.116387 +v -1.345893 0.192891 -1.116607 +f 83 104 115 +f 67 68 71 +f 69 72 73 +f 73 72 76 +f 71 68 77 +f 79 71 80 +f 72 69 82 +f 73 76 83 +f 71 77 84 +f 76 72 88 +f 75 86 89 +f 68 67 90 +f 81 68 90 +f 70 81 90 +f 79 80 91 +f 82 69 91 +f 80 82 91 +f 69 73 92 +f 86 69 92 +f 66 76 93 +f 76 88 93 +f 77 68 95 +f 68 81 95 +f 71 74 96 +f 80 71 96 +f 74 85 96 +f 88 80 96 +f 85 93 96 +f 93 88 96 +f 81 70 97 +f 73 87 97 +f 94 73 97 +f 74 71 98 +f 71 84 98 +f 77 95 99 +f 95 81 99 +f 81 97 99 +f 97 87 99 +f 83 78 100 +f 87 83 100 +f 77 99 100 +f 99 87 100 +f 78 85 101 +f 85 74 101 +f 74 98 101 +f 98 84 101 +f 100 78 101 +f 75 67 102 +f 86 75 102 +f 67 71 103 +f 71 79 103 +f 102 67 103 +f 76 66 104 +f 66 78 104 +f 83 76 104 +f 89 86 105 +f 92 73 105 +f 86 92 105 +f 72 82 106 +f 82 80 106 +f 88 72 106 +f 80 88 106 +f 73 94 107 +f 94 89 107 +f 105 73 107 +f 89 105 107 +f 67 75 108 +f 90 67 108 +f 75 90 108 +f 78 66 109 +f 85 78 109 +f 66 93 109 +f 93 85 109 +f 70 90 110 +f 97 70 110 +f 94 97 110 +f 75 89 111 +f 90 75 111 +f 89 94 111 +f 110 90 111 +f 94 110 111 +f 84 77 112 +f 77 100 112 +f 101 84 112 +f 100 101 112 +f 69 86 113 +f 91 69 113 +f 79 91 113 +f 86 102 113 +f 102 103 113 +f 103 79 113 +f 73 83 114 +f 87 73 114 +f 83 87 114 +f 78 83 115 +f 104 78 115 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/137/137.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/137/137.urdf new file mode 100644 index 000000000..a3a3fbb2b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/137/137.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/138/138.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/138/138.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/138/138.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/138/138.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/138/138.obj new file mode 100644 index 000000000..a685e9635 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/138/138.obj @@ -0,0 +1,378 @@ +o convex_0 +v -0.501085 -5.621277 -0.124299 +v 0.577998 -1.665454 0.630898 +v 0.470067 -1.665454 0.630898 +v -0.501085 -1.665454 -0.484121 +v 0.613938 -3.607877 -0.520138 +v 0.506007 -5.549511 0.594764 +v -0.465032 -1.665454 0.594764 +v 0.254206 -5.657160 -0.484121 +v 0.577998 -1.665454 -0.484121 +v -0.393154 -5.693832 0.486946 +v -0.537024 -5.585394 -0.556038 +v 0.470067 -5.693832 -0.448104 +v -0.537024 -3.643760 0.091223 +v -0.501085 -4.074752 0.450929 +v 0.541946 -5.297540 0.450929 +v -0.537024 -1.989191 -0.412203 +v 0.613938 -3.104330 -0.520138 +v -0.501085 -2.349206 0.558864 +v -0.465032 -2.025469 0.594764 +v -0.429093 -5.693832 0.450929 +v -0.537024 -5.153613 -0.556038 +v 0.506007 -5.585394 -0.124415 +v 0.613938 -3.679643 -0.412203 +v -0.393154 -5.585394 -0.556038 +v 0.506007 -5.621277 0.235175 +v -0.501085 -1.701732 0.379011 +v 0.541946 -2.960403 -0.520138 +v 0.470067 -5.549511 0.594764 +v 0.290258 -5.693832 -0.448104 +v -0.537024 -5.585394 -0.448104 +v -0.537024 -2.780592 -0.016480 +v -0.285223 -5.693832 0.486946 +v -0.429093 -5.693832 0.307093 +v 0.541946 -4.793993 -0.484121 +v 0.470067 -5.693832 -0.268251 +f 25 32 35 +f 3 2 4 +f 2 3 6 +f 3 4 7 +f 4 2 9 +f 2 6 15 +f 11 13 16 +f 9 2 17 +f 13 14 18 +f 3 7 19 +f 7 18 19 +f 18 10 19 +f 12 10 20 +f 14 1 20 +f 10 18 20 +f 18 14 20 +f 16 4 21 +f 11 16 21 +f 15 22 23 +f 2 15 23 +f 17 2 23 +f 5 17 23 +f 5 8 24 +f 8 12 24 +f 12 11 24 +f 17 5 24 +f 11 21 24 +f 21 17 24 +f 15 6 25 +f 12 22 25 +f 22 15 25 +f 7 4 26 +f 4 16 26 +f 18 7 26 +f 4 9 27 +f 9 17 27 +f 21 4 27 +f 17 21 27 +f 6 3 28 +f 10 6 28 +f 3 19 28 +f 19 10 28 +f 11 12 29 +f 12 20 29 +f 13 11 30 +f 14 13 30 +f 1 14 30 +f 20 1 30 +f 11 20 30 +f 16 13 31 +f 13 18 31 +f 26 16 31 +f 18 26 31 +f 6 10 32 +f 10 12 32 +f 25 6 32 +f 20 11 33 +f 11 29 33 +f 29 20 33 +f 8 5 34 +f 12 8 34 +f 22 12 34 +f 23 22 34 +f 5 23 34 +f 12 25 35 +f 32 12 35 +o convex_1 +v -1.040589 0.025511 -2.462088 +v 1.117583 -1.593107 1.349702 +v 1.117583 -1.628976 1.349702 +v -1.112629 0.493098 3.076332 +v 0.973501 0.493098 -2.858166 +v -1.076609 -1.628976 -3.073767 +v -1.040589 -1.556808 2.968531 +v 1.009522 0.385276 3.004263 +v 1.009522 -1.593107 -3.110105 +v -0.968548 0.385061 -3.073767 +v 1.045542 -1.521154 3.076332 +v 1.045542 0.528967 0.954230 +v -1.040589 0.529181 -0.951665 +v -0.464916 -1.665060 0.593884 +v -1.112629 -1.592892 1.098368 +v 1.117583 -1.665060 0.882161 +v 0.973501 0.385276 -3.001698 +v -1.040589 -1.520939 3.040600 +v 0.541911 -1.628976 -3.110105 +v 1.045542 0.528967 -0.088047 +v -1.076609 -0.981400 -3.073767 +v -0.572977 0.492883 3.076332 +v 1.081563 -1.557023 2.824393 +v 1.117583 -1.269212 0.918498 +v -1.040589 0.529181 1.025693 +v -0.464916 0.421145 -3.073767 +v 0.577931 -1.665060 -0.484124 +v -1.076609 -0.010573 -1.490669 +v -1.112629 -0.046657 3.076332 +v 1.081563 -0.010573 0.954230 +v 1.009522 -1.305295 -3.110105 +v 0.865658 0.421145 3.004869 +v 1.009522 0.528967 -1.059466 +v 1.045542 -0.981185 3.076332 +v -1.112629 0.493098 2.608791 +v 1.009522 0.349192 -1.851015 +v 0.074299 -1.521154 3.076938 +v -1.040589 0.457014 -1.742608 +v 0.038279 -1.593107 -3.110105 +v 1.045542 0.421145 1.925649 +v -1.076609 -1.556808 2.428921 +v -0.500936 -1.665060 -0.447787 +v 1.117583 -1.593107 0.594490 +v -1.112629 -1.556808 0.774360 +v -1.004568 0.241155 -3.073767 +v 1.009522 -1.665060 0.954230 +v 1.009522 -1.089222 -3.073767 +v -1.076609 -1.592892 1.925649 +v 1.045542 -0.442075 3.004263 +v 0.434068 0.421145 3.040600 +v -1.076609 -0.585766 3.076332 +v -1.004568 -1.557023 3.004263 +v 0.937699 -1.557023 2.896462 +v 0.865658 0.457228 -3.001698 +v 1.081563 -1.413118 2.752324 +v -1.076609 -1.053353 3.040600 +v -0.393093 0.457228 3.076938 +v -1.004568 0.421145 -2.606226 +v 0.901679 0.493098 -2.858166 +v -1.076609 -1.628976 -2.714027 +f 83 50 95 +f 37 38 51 +f 44 51 54 +f 48 47 55 +f 38 37 58 +f 51 38 58 +f 37 51 59 +f 48 39 60 +f 47 48 60 +f 39 57 60 +f 57 47 60 +f 51 49 62 +f 41 54 62 +f 54 51 62 +f 36 56 63 +f 39 50 64 +f 55 47 65 +f 37 59 65 +f 59 55 65 +f 44 54 66 +f 45 61 66 +f 61 52 66 +f 43 47 67 +f 47 57 67 +f 55 40 68 +f 48 55 68 +f 46 58 69 +f 39 48 70 +f 50 39 70 +f 63 56 70 +f 52 40 71 +f 40 55 71 +f 55 59 71 +f 46 69 72 +f 36 63 73 +f 70 48 73 +f 63 70 73 +f 54 41 74 +f 41 56 74 +f 45 66 74 +f 66 54 74 +f 47 43 75 +f 65 47 75 +f 42 53 76 +f 64 50 76 +f 41 62 77 +f 62 49 77 +f 51 44 78 +f 59 51 78 +f 44 66 78 +f 71 59 78 +f 41 50 79 +f 56 41 79 +f 50 70 79 +f 70 56 79 +f 56 36 80 +f 36 73 80 +f 45 74 80 +f 74 56 80 +f 49 51 81 +f 51 58 81 +f 66 52 82 +f 52 71 82 +f 78 66 82 +f 71 78 82 +f 42 76 83 +f 76 50 83 +f 43 69 84 +f 69 58 84 +f 75 43 84 +f 43 67 85 +f 67 57 85 +f 69 43 85 +f 53 72 86 +f 53 42 87 +f 46 72 87 +f 72 53 87 +f 49 81 87 +f 42 83 87 +f 83 49 87 +f 58 46 88 +f 81 58 88 +f 46 87 88 +f 87 81 88 +f 40 52 89 +f 52 61 89 +f 58 37 90 +f 37 65 90 +f 65 75 90 +f 84 58 90 +f 75 84 90 +f 76 53 91 +f 64 76 91 +f 53 86 91 +f 86 64 91 +f 57 39 92 +f 39 64 92 +f 72 69 92 +f 85 57 92 +f 69 85 92 +f 64 86 92 +f 86 72 92 +f 61 45 93 +f 48 61 93 +f 73 48 93 +f 80 73 93 +f 45 80 93 +f 61 48 94 +f 68 40 94 +f 48 68 94 +f 40 89 94 +f 89 61 94 +f 50 41 95 +f 41 77 95 +f 77 49 95 +f 49 83 95 +o convex_2 +v 1.009480 4.449991 -0.448047 +v -1.076630 1.788349 -0.951658 +v -1.040484 0.529181 -0.951658 +v -1.004545 2.830619 1.062376 +v 1.045627 0.529181 0.954547 +v 1.009480 0.529181 -0.987805 +v -1.076630 4.449991 -0.987805 +v 0.937603 4.341542 1.098523 +v -1.040484 0.529181 1.026228 +v -1.004545 4.486011 1.062376 +v 1.045627 4.449991 -0.915715 +v 1.045627 3.946091 -0.951658 +v 1.045627 1.069101 0.990490 +v -1.076630 4.449991 -0.340014 +v -0.465048 0.529181 -0.987805 +v 0.937603 3.730356 1.098523 +v 1.045627 4.449991 -0.520138 +v 0.290289 4.413583 1.098523 +v -1.040484 4.486011 0.702537 +v 1.045627 0.529181 -0.016527 +v 1.009480 2.076513 -0.987805 +v -1.004545 4.486011 -0.340014 +v -0.536925 4.449991 -0.987805 +v 0.973542 4.377563 0.702537 +v -0.716827 0.529181 1.026228 +v 1.045627 2.363902 -0.951658 +v -1.076630 2.184574 -0.987805 +v -0.177330 4.377950 1.098523 +v -0.716827 4.486011 1.062171 +v 1.045627 1.212796 0.990490 +v 0.721763 4.449991 -0.951658 +v 0.937603 4.377563 0.918604 +v 0.973542 3.586274 1.062171 +v -1.040484 0.925019 1.026228 +f 114 109 129 +f 100 98 101 +f 97 98 104 +f 98 100 104 +f 104 99 105 +f 106 100 107 +f 100 106 108 +f 102 97 109 +f 97 104 109 +f 101 98 110 +f 102 101 110 +f 108 103 111 +f 108 106 112 +f 111 103 113 +f 102 109 114 +f 100 101 115 +f 107 100 115 +f 101 102 116 +f 107 101 116 +f 114 105 117 +f 102 114 117 +f 116 102 118 +f 102 117 118 +f 104 100 120 +f 100 108 120 +f 111 104 120 +f 108 111 120 +f 101 107 121 +f 115 101 121 +f 107 115 121 +f 98 97 122 +f 97 102 122 +f 110 98 122 +f 102 110 122 +f 99 104 123 +f 105 99 123 +f 104 111 123 +f 113 105 123 +f 111 113 123 +f 96 112 124 +f 112 106 124 +f 113 96 124 +f 105 113 124 +f 106 117 124 +f 117 105 124 +f 103 108 125 +f 108 112 125 +f 112 119 125 +f 106 107 126 +f 107 116 126 +f 117 106 126 +f 116 118 126 +f 118 117 126 +f 112 96 127 +f 96 113 127 +f 113 103 127 +f 103 119 127 +f 119 112 127 +f 119 103 128 +f 103 125 128 +f 125 119 128 +f 104 105 129 +f 109 104 129 +f 105 114 129 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/138/138.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/138/138.urdf new file mode 100644 index 000000000..d2b98ec82 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/138/138.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/139/139.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/139/139.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/139/139.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/139/139.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/139/139.obj new file mode 100644 index 000000000..097993f9e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/139/139.obj @@ -0,0 +1,705 @@ +o convex_0 +v -2.135741 0.016994 -2.991732 +v -0.974209 0.713903 -2.925385 +v -1.007523 0.713903 -2.294845 +v -1.007523 -0.348023 -0.602509 +v -2.102428 0.614207 -0.669096 +v -1.040609 -0.381255 -2.958559 +v -2.135741 -0.381255 -0.602509 +v -1.107008 0.713903 -0.602509 +v -2.135741 0.647332 -2.958559 +v -2.102428 -0.348023 -2.991732 +v -1.173407 0.713903 -3.058320 +v -2.069229 0.680671 -2.925385 +v -0.974209 0.580975 -3.058320 +v -1.836945 0.647332 -0.602509 +v -1.604775 -0.381255 -2.991732 +v -1.040609 -0.381255 -1.730893 +v -2.135741 0.647332 -1.929935 +v -1.273006 0.713903 -0.602509 +v -1.007523 -0.082488 -2.991732 +v -1.040609 0.116583 -0.602509 +v -1.870144 -0.115720 -3.024665 +v -2.135741 -0.348023 -2.128977 +v -1.073808 -0.314791 -2.991732 +v -2.069229 0.614207 -0.602509 +v -1.936544 0.680671 -2.991732 +v -1.007523 -0.348023 -1.266462 +v -2.102428 0.647332 -1.565025 +f 18 12 27 +f 3 2 8 +f 7 4 8 +f 1 7 9 +f 8 2 11 +f 2 4 13 +f 11 2 13 +f 7 8 14 +f 6 7 15 +f 7 10 15 +f 6 4 16 +f 4 7 16 +f 7 6 16 +f 7 5 17 +f 9 7 17 +f 12 9 17 +f 8 11 18 +f 11 12 18 +f 14 8 18 +f 2 3 20 +f 4 2 20 +f 3 8 20 +f 8 4 20 +f 10 1 21 +f 11 13 21 +f 15 10 21 +f 7 1 22 +f 1 10 22 +f 10 7 22 +f 6 15 23 +f 19 6 23 +f 13 19 23 +f 21 13 23 +f 15 21 23 +f 5 7 24 +f 14 5 24 +f 7 14 24 +f 1 9 25 +f 9 12 25 +f 12 11 25 +f 21 1 25 +f 11 21 25 +f 4 6 26 +f 13 4 26 +f 6 19 26 +f 19 13 26 +f 5 14 27 +f 17 5 27 +f 12 17 27 +f 14 18 27 +o convex_1 +v -1.073948 -0.381203 0.625397 +v -2.699755 0.614240 -0.602509 +v -2.699755 0.747090 -0.602509 +v -0.708716 0.713877 -0.502868 +v -1.007489 -0.347991 -0.602509 +v -2.201996 0.614240 0.625397 +v -2.567032 -0.447629 0.592103 +v -0.708716 0.680665 0.525756 +v -2.533705 -0.314778 -0.469694 +v -0.708716 -0.381203 0.525756 +v -2.567032 0.680665 0.426235 +v -0.708716 -0.281566 -0.436400 +v -2.135537 -0.381203 -0.602509 +v -1.073948 -0.447629 0.393061 +v -1.040621 0.713877 -0.602509 +v -1.140212 0.680665 0.625397 +v -2.666623 0.747090 -0.237358 +v -2.334718 -0.414416 0.625397 +v -2.567032 -0.447629 0.393061 +v -0.708716 0.713877 0.061084 +v -1.638167 0.747090 -0.602509 +v -1.107080 -0.447629 0.625397 +v -2.567032 -0.281566 -0.403347 +v -2.567032 -0.248470 0.592103 +v -2.633491 0.017114 0.127552 +v -0.708716 -0.381203 0.293420 +f 37 41 53 +f 29 30 32 +f 31 35 37 +f 35 28 37 +f 32 31 39 +f 31 37 39 +f 29 32 40 +f 36 29 40 +f 40 32 41 +f 31 32 42 +f 32 30 42 +f 33 28 43 +f 28 35 43 +f 38 33 43 +f 38 43 44 +f 30 29 44 +f 28 33 45 +f 36 40 46 +f 41 34 46 +f 40 41 46 +f 35 31 47 +f 43 35 47 +f 44 43 47 +f 44 47 48 +f 42 30 48 +f 31 42 48 +f 30 44 48 +f 47 31 48 +f 37 28 49 +f 34 41 49 +f 41 37 49 +f 28 45 49 +f 45 34 49 +f 29 36 50 +f 36 46 50 +f 33 38 51 +f 45 33 51 +f 34 45 51 +f 38 44 52 +f 44 29 52 +f 46 34 52 +f 29 50 52 +f 50 46 52 +f 51 38 52 +f 34 51 52 +f 32 39 53 +f 39 37 53 +f 41 32 53 +o convex_2 +v -1.637942 0.747090 2.848511 +v -1.173394 -0.447629 0.625397 +v -2.168870 -0.381203 0.625397 +v -2.202004 -0.414416 3.081208 +v -2.202004 0.614240 0.625397 +v -1.173394 -0.381203 2.948273 +v -1.140149 0.680665 0.625397 +v -1.140149 0.747090 2.981446 +v -2.135625 0.713877 2.981206 +v -1.073769 -0.381203 1.023721 +v -2.202004 -0.414416 1.621087 +v -1.571673 -0.414416 3.014620 +v -2.202004 -0.049311 3.047794 +v -2.135625 0.713877 2.483842 +v -1.073769 -0.314778 0.625397 +v -1.140149 0.282464 2.981446 +v -1.372533 0.680665 0.691984 +v -1.140149 -0.447629 1.023721 +v -2.135625 -0.215140 3.081208 +v -1.140149 -0.381203 2.616536 +v -1.140149 0.747090 2.483602 +v -2.168870 -0.414416 1.057135 +v -2.036110 -0.414416 3.081208 +v -2.168870 0.680665 2.052344 +v -1.073769 -0.314778 1.189829 +v -1.140149 -0.414416 2.284559 +f 63 73 79 +f 55 56 58 +f 55 58 60 +f 61 54 62 +f 55 57 64 +f 57 58 64 +f 58 56 64 +f 58 57 66 +f 62 54 67 +f 55 60 68 +f 63 55 68 +f 65 59 69 +f 60 58 70 +f 67 54 70 +f 58 67 70 +f 57 55 71 +f 55 63 71 +f 61 62 72 +f 66 57 72 +f 62 66 72 +f 69 59 73 +f 54 61 74 +f 68 60 74 +f 61 68 74 +f 70 54 74 +f 60 70 74 +f 56 55 75 +f 64 56 75 +f 55 64 75 +f 69 61 76 +f 65 69 76 +f 57 71 76 +f 71 65 76 +f 61 72 76 +f 72 57 76 +f 58 66 77 +f 66 62 77 +f 67 58 77 +f 62 67 77 +f 68 61 78 +f 63 68 78 +f 61 69 78 +f 69 73 78 +f 73 63 78 +f 59 65 79 +f 71 63 79 +f 65 71 79 +f 73 59 79 +o convex_3 +v -0.575759 -2.206520 -1.067076 +v 1.514714 -2.206520 -0.369845 +v 1.514714 -2.272913 -0.369845 +v -0.609020 -2.206520 1.090010 +v -0.575759 -2.936626 1.090010 +v 1.514714 -2.936626 -0.934148 +v 1.348823 -2.837001 1.056777 +v -0.542705 -2.837001 -1.100308 +v 1.348823 -2.206520 1.056777 +v 1.415138 -2.206520 -0.967380 +v -0.575759 -2.870234 -0.635273 +v 0.784628 -2.206520 -1.033844 +v 1.149671 -2.936626 -0.934148 +v 1.514714 -2.936626 -0.734969 +v 0.187380 -2.903323 1.090010 +v 1.514714 -2.206520 -0.934148 +v -0.310292 -2.206520 -1.100308 +v 1.415138 -2.239824 0.724671 +v -0.575759 -2.936626 0.857599 +v 1.481452 -2.936626 -0.602255 +v -0.409868 -2.803769 -1.100308 +v 0.121065 -2.206520 1.090010 +v -0.575759 -2.704287 -1.067076 +v -0.177455 -2.870234 -1.067076 +f 87 100 103 +f 81 80 83 +f 81 82 85 +f 81 83 88 +f 80 81 89 +f 80 89 91 +f 89 85 91 +f 85 84 92 +f 85 82 93 +f 84 85 93 +f 83 84 94 +f 86 88 94 +f 81 85 95 +f 89 81 95 +f 85 89 95 +f 87 80 96 +f 80 91 96 +f 82 81 97 +f 81 88 97 +f 88 86 97 +f 93 82 97 +f 86 93 97 +f 84 83 98 +f 83 90 98 +f 92 84 98 +f 84 93 99 +f 93 86 99 +f 86 94 99 +f 94 84 99 +f 91 85 100 +f 87 96 100 +f 96 91 100 +f 88 83 101 +f 83 94 101 +f 94 88 101 +f 83 80 102 +f 80 87 102 +f 90 83 102 +f 87 90 102 +f 90 87 103 +f 85 92 103 +f 98 90 103 +f 92 98 103 +f 100 85 103 +o convex_4 +v -0.044879 -1.442978 -1.100308 +v -0.542636 3.136486 1.123196 +v 0.685107 3.136486 1.056596 +v 1.282329 -1.476414 1.056813 +v 1.382011 3.136486 -1.067008 +v -0.708700 3.202901 -0.967325 +v -0.609018 -1.476414 1.089896 +v 1.481475 -1.476414 -0.967542 +v 1.415093 3.169464 0.990213 +v -0.575936 -1.476414 -1.067008 +v 1.514775 -0.248415 0.558832 +v -0.708700 -0.381246 0.525531 +v -0.642318 3.136486 1.123196 +v 1.514775 0.747818 -0.535944 +v -0.708700 -0.580034 -0.502644 +v 1.448393 -1.476414 0.757981 +v 0.685107 1.111500 -1.100308 +v 1.448393 2.804408 0.957130 +v -0.675400 3.169464 0.625215 +v 1.514775 -1.476414 -0.834776 +v 1.415093 1.941465 -1.067008 +v -0.609018 -0.978527 -1.067008 +v -0.642318 -1.476414 -0.735093 +v 0.817654 3.103049 -1.067008 +v -0.642318 1.676261 1.123196 +v 1.382011 -1.442978 1.023513 +v 0.950418 -1.476414 -1.033708 +v 1.415093 2.240105 1.023513 +v 1.514775 -1.476414 0.061068 +v 1.415093 3.136486 -0.204246 +v -0.708700 0.680944 0.525531 +v 0.519043 -0.281394 1.089896 +v 1.514775 0.647965 0.558832 +v 0.751490 3.169464 -1.033708 +v -0.011579 -1.476414 1.089896 +v -0.509554 2.538746 -1.000625 +v 1.415093 2.671577 -1.000407 +v 1.415093 3.169464 0.293517 +v 0.552343 3.169464 1.056596 +v -0.708700 3.202901 -0.768176 +v 1.050100 0.349325 -1.067008 +v -0.409872 3.202901 -0.967542 +v -0.210725 -1.476414 -1.100308 +v -0.675400 -1.111358 -0.635410 +v 1.448393 0.681402 -1.033708 +v 1.282329 3.169464 1.023513 +v -0.609018 -1.144337 -1.067008 +f 126 147 150 +f 107 110 111 +f 111 110 113 +f 115 109 118 +f 107 111 119 +f 117 114 123 +f 119 111 123 +f 120 108 124 +f 113 110 126 +f 108 120 127 +f 115 110 128 +f 105 116 128 +f 116 115 128 +f 107 119 129 +f 119 114 129 +f 114 121 129 +f 111 113 130 +f 106 105 131 +f 121 112 131 +f 107 129 131 +f 129 121 131 +f 114 119 132 +f 123 114 132 +f 119 123 132 +f 121 117 133 +f 109 115 134 +f 115 116 134 +f 116 122 134 +f 105 128 135 +f 131 105 135 +f 107 131 135 +f 114 117 136 +f 117 121 136 +f 121 114 136 +f 108 127 137 +f 127 109 137 +f 110 107 138 +f 128 110 138 +f 107 135 138 +f 135 128 138 +f 125 109 139 +f 120 125 139 +f 109 127 139 +f 127 120 139 +f 124 108 140 +f 108 133 140 +f 133 117 140 +f 112 121 141 +f 133 108 141 +f 121 133 141 +f 108 137 141 +f 116 105 142 +f 122 116 142 +f 122 142 143 +f 109 134 143 +f 134 122 143 +f 104 120 144 +f 120 124 144 +f 130 104 144 +f 137 109 145 +f 112 141 145 +f 141 137 145 +f 109 143 145 +f 143 112 145 +f 120 104 146 +f 125 120 146 +f 104 130 146 +f 130 113 146 +f 110 115 147 +f 115 118 147 +f 126 110 147 +f 123 111 148 +f 117 123 148 +f 111 130 148 +f 140 117 148 +f 124 140 148 +f 144 124 148 +f 130 144 148 +f 105 106 149 +f 106 131 149 +f 131 112 149 +f 142 105 149 +f 143 142 149 +f 112 143 149 +f 118 109 150 +f 109 125 150 +f 113 126 150 +f 146 113 150 +f 125 146 150 +f 147 118 150 +o convex_5 +v 3.339899 0.680577 0.625397 +v 1.514788 -0.314843 -0.569322 +v 1.514788 -0.347929 -0.370046 +v 3.373229 -0.381242 -0.569322 +v 1.514788 0.747090 -0.536110 +v 1.514788 -0.414442 0.492546 +v 3.505960 -0.347929 0.558971 +v 3.472631 0.614292 -0.436472 +v 1.514788 0.647491 0.558971 +v 3.140704 0.747090 0.492546 +v 3.406363 -0.182045 -0.569322 +v 3.472631 -0.381242 0.127558 +v 3.439497 0.614292 -0.469684 +v 2.112374 -0.381242 0.525759 +v 1.514788 0.747090 -0.270525 +v 1.714178 0.747090 -0.536110 +v 2.676240 -0.381242 -0.569322 +v 3.373229 0.713890 0.492546 +v 1.548118 0.481379 0.558971 +v 3.505960 -0.215244 0.558971 +v 2.642911 0.713890 0.592184 +v 3.472631 0.348695 -0.469684 +v 3.373229 0.050239 0.592184 +v 1.846910 -0.414442 0.492546 +v 3.472631 0.614292 -0.237430 +v 1.514788 -0.414442 0.359696 +v 3.339899 0.713890 0.293504 +f 160 168 177 +f 152 153 155 +f 155 153 156 +f 155 156 159 +f 154 152 161 +f 152 155 161 +f 154 161 162 +f 155 159 165 +f 160 155 165 +f 155 160 166 +f 161 155 166 +f 163 161 166 +f 153 152 167 +f 152 154 167 +f 160 151 168 +f 151 159 169 +f 159 156 169 +f 156 164 169 +f 151 157 170 +f 168 151 170 +f 159 151 171 +f 151 160 171 +f 165 159 171 +f 160 165 171 +f 162 161 172 +f 157 162 172 +f 163 158 172 +f 161 163 172 +f 170 157 172 +f 158 170 172 +f 157 151 173 +f 164 157 173 +f 151 169 173 +f 169 164 173 +f 154 162 174 +f 162 157 174 +f 157 164 174 +f 164 156 174 +f 158 168 175 +f 170 158 175 +f 168 170 175 +f 156 153 176 +f 153 167 176 +f 167 154 176 +f 154 174 176 +f 174 156 176 +f 158 163 177 +f 166 160 177 +f 163 166 177 +f 168 158 177 +o convex_6 +v 0.718309 -1.741985 1.023464 +v 1.514788 -1.476414 0.028021 +v 1.514788 -1.542879 0.028021 +v 0.718309 -1.576039 -1.033935 +v 1.514788 -2.206520 -0.934268 +v 0.718309 -2.206520 0.990310 +v 1.348803 -2.206520 1.056823 +v 0.718309 -2.206520 -1.033935 +v 1.282378 -1.476414 1.056823 +v 1.481498 -1.476414 -0.967422 +v 0.718309 -1.476414 1.023464 +v 0.718309 -1.476414 -1.000576 +v 1.448363 -1.476414 0.758026 +v 1.514788 -2.206520 -0.336879 +v 1.415228 -2.140128 0.791180 +v 1.514788 -1.476414 -0.834805 +v 0.784734 -1.542879 1.056823 +v 1.381938 -1.476414 0.990310 +v 1.050279 -2.206520 1.056823 +v 0.950641 -1.476414 -1.033935 +v 1.448363 -2.140128 -0.967422 +f 197 187 198 +f 179 180 182 +f 178 181 183 +f 183 182 184 +f 183 181 185 +f 182 183 185 +f 186 179 187 +f 186 187 188 +f 181 178 188 +f 181 188 189 +f 188 187 189 +f 180 179 190 +f 179 186 190 +f 182 180 191 +f 184 182 191 +f 180 190 192 +f 190 184 192 +f 191 180 192 +f 184 191 192 +f 179 182 193 +f 187 179 193 +f 182 187 193 +f 178 183 194 +f 184 186 194 +f 186 188 194 +f 188 178 194 +f 186 184 195 +f 184 190 195 +f 190 186 195 +f 183 184 196 +f 194 183 196 +f 184 194 196 +f 185 181 197 +f 181 189 197 +f 189 187 197 +f 182 185 198 +f 187 182 198 +f 185 197 198 +o convex_7 +v 0.054508 -1.509647 1.023545 +v -0.443184 -2.206520 -1.100308 +v -0.310457 -2.206520 -1.100308 +v -0.210946 -1.476414 -1.100308 +v -0.609059 -1.476414 1.090010 +v 0.054508 -2.206520 1.090010 +v -0.609059 -2.206520 1.090010 +v 0.054508 -2.206520 -1.067076 +v -0.642275 -1.476414 -0.768416 +v 0.054508 -1.476414 -1.033844 +v -0.609059 -2.173217 -0.934362 +v -0.575911 -1.476414 -1.067076 +v 0.021292 -1.476414 1.090010 +v -0.575911 -2.206520 -1.067076 +v -0.642275 -1.642361 -0.734969 +f 207 209 213 +f 201 200 202 +f 200 201 204 +f 200 204 205 +f 204 203 205 +f 201 202 206 +f 204 201 206 +f 199 204 206 +f 203 202 207 +f 202 203 208 +f 206 202 208 +f 199 206 208 +f 209 207 210 +f 202 200 210 +f 207 202 210 +f 203 204 211 +f 204 199 211 +f 199 208 211 +f 208 203 211 +f 200 205 212 +f 205 209 212 +f 209 210 212 +f 210 200 212 +f 205 203 213 +f 203 207 213 +f 209 205 213 +o convex_8 +v 0.718309 -1.576039 3.080376 +v 0.054641 -2.206520 -1.066205 +v 0.054641 -2.106895 -1.066205 +v 0.651910 -2.140128 -2.925060 +v 0.154175 -1.576039 -2.825435 +v 0.154175 -2.173217 2.981359 +v 0.087776 -1.542879 3.080983 +v 0.651910 -2.206520 3.047573 +v 0.718309 -1.476414 -1.000599 +v 0.054641 -1.476414 -1.033402 +v 0.718309 -2.206520 -1.033402 +v 0.087776 -2.007342 -3.024077 +v 0.585511 -1.609271 -2.958470 +v 0.054641 -2.206520 1.089094 +v 0.718309 -1.476414 1.022879 +v 0.054641 -1.476414 0.923255 +v 0.585511 -2.140128 -3.091506 +v 0.718309 -2.206520 0.989469 +v 0.154175 -1.609271 -2.991274 +v 0.054641 -1.907717 1.952307 +v 0.685044 -2.073663 3.080376 +v 0.718309 -2.140128 -1.597741 +v 0.120976 -2.040503 -3.024077 +v 0.120976 -2.140128 2.815520 +v 0.718309 -1.708753 3.114394 +v 0.485977 -2.206520 3.047573 +v 0.087776 -1.907717 -3.024077 +v 0.618710 -1.907717 -3.058095 +v 0.286844 -1.542879 3.080983 +v 0.087776 -1.642361 3.080983 +v 0.054641 -1.542879 1.985110 +f 233 243 244 +f 216 215 223 +f 222 218 223 +f 221 215 224 +f 222 214 224 +f 215 216 225 +f 218 222 226 +f 215 221 227 +f 223 215 227 +f 214 222 228 +f 222 223 228 +f 228 223 229 +f 223 227 229 +f 220 228 229 +f 224 215 230 +f 217 224 230 +f 221 224 231 +f 224 214 231 +f 223 218 232 +f 218 226 232 +f 229 227 233 +f 221 231 234 +f 217 222 235 +f 224 217 235 +f 222 224 235 +f 215 225 236 +f 230 215 236 +f 225 230 236 +f 227 219 237 +f 233 227 237 +f 231 214 238 +f 234 231 238 +f 219 227 239 +f 227 221 239 +f 221 234 239 +f 216 223 240 +f 225 216 240 +f 230 225 240 +f 223 232 240 +f 232 230 240 +f 222 217 241 +f 226 222 241 +f 217 230 241 +f 232 226 241 +f 230 232 241 +f 214 228 242 +f 228 220 242 +f 238 214 242 +f 220 238 242 +f 237 219 243 +f 233 237 243 +f 238 220 243 +f 234 238 243 +f 219 239 243 +f 239 234 243 +f 220 229 244 +f 229 233 244 +f 243 220 244 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/139/139.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/139/139.urdf new file mode 100644 index 000000000..264be969b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/139/139.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/140/140.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/140/140.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/140/140.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/140/140.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/140/140.obj new file mode 100644 index 000000000..d6a2b272f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/140/140.obj @@ -0,0 +1,402 @@ +o convex_0 +v -1.074814 0.924125 -0.611256 +v -1.074814 -3.472410 -0.828083 +v -1.074814 -3.472410 -0.735128 +v 1.092726 -0.840512 0.038401 +v -0.919929 -3.503399 1.029376 +v 1.030772 -3.441421 -0.983078 +v 1.092726 0.924561 1.029582 +v 1.061749 0.924561 -0.983078 +v 1.061536 -3.534389 0.936421 +v -1.043837 0.924125 0.998254 +v -1.043837 0.924125 -1.075827 +v -1.074814 -3.441421 -0.982872 +v 1.092726 -0.314569 1.029582 +v 1.092726 0.862146 -0.890122 +v -0.950693 -3.038562 1.029376 +v -1.074814 0.862146 0.626844 +v 0.751979 -0.407537 -1.013788 +v 1.061536 -3.503399 0.069524 +v -0.021809 -3.534389 0.998460 +v -1.012860 0.397309 -1.075827 +v 0.473398 0.924125 1.029376 +v 1.092726 -1.459423 0.998254 +v -1.074814 -0.964906 -1.044911 +v 0.751979 0.924125 -1.013788 +v 1.061536 -3.534389 0.595722 +v -0.455274 -3.534389 0.967337 +v 1.061749 -1.614369 -0.983078 +v 1.061536 -2.914605 0.967543 +v 1.030772 -3.472410 -0.580340 +v -0.981883 -3.503399 0.471850 +v -1.043837 -2.326684 -1.013994 +v -0.765044 -3.503399 1.029376 +v -0.919929 0.924125 -1.076033 +v 0.721002 -3.534389 0.967543 +v -1.074814 -0.283580 -1.044911 +v -1.043837 0.738190 0.998254 +v -0.950693 -2.883616 1.029376 +v -1.074814 -3.007573 -0.580340 +f 36 16 38 +f 1 2 3 +f 1 7 8 +f 7 1 10 +f 1 8 11 +f 2 1 12 +f 6 2 12 +f 4 7 13 +f 7 4 14 +f 8 7 14 +f 13 7 15 +f 5 13 15 +f 1 3 16 +f 10 1 16 +f 17 6 20 +f 7 10 21 +f 4 13 22 +f 18 4 22 +f 12 1 23 +f 11 20 23 +f 8 17 24 +f 9 19 25 +f 22 9 25 +f 18 22 25 +f 19 5 26 +f 2 25 26 +f 25 19 26 +f 14 4 27 +f 8 14 27 +f 6 17 27 +f 17 8 27 +f 18 6 27 +f 4 18 27 +f 22 13 28 +f 9 22 28 +f 2 6 29 +f 6 18 29 +f 25 2 29 +f 18 25 29 +f 3 2 30 +f 5 15 30 +f 2 26 30 +f 26 5 30 +f 6 12 31 +f 20 6 31 +f 12 23 31 +f 23 20 31 +f 13 5 32 +f 5 19 32 +f 19 13 32 +f 11 8 33 +f 20 11 33 +f 17 20 33 +f 8 24 33 +f 24 17 33 +f 19 9 34 +f 13 19 34 +f 9 28 34 +f 28 13 34 +f 1 11 35 +f 23 1 35 +f 11 23 35 +f 15 10 36 +f 10 16 36 +f 10 15 37 +f 15 7 37 +f 7 21 37 +f 21 10 37 +f 16 3 38 +f 3 30 38 +f 30 15 38 +f 15 36 38 +o convex_1 +v -0.238627 2.101228 2.887141 +v 0.504349 0.955632 2.577659 +v 0.535339 0.955632 2.577659 +v 0.473360 2.039217 1.091512 +v -0.517311 0.955744 1.091512 +v -0.548410 1.079544 3.104035 +v -0.548410 2.039104 1.122835 +v 0.473360 1.946367 3.011053 +v 0.504349 1.079544 1.091512 +v 0.566328 0.955632 2.980124 +v -0.455442 2.101228 3.041981 +v 0.411491 2.008266 3.011053 +v 0.287534 0.955744 2.980124 +v -0.548410 1.296306 1.091512 +v 0.411491 1.946367 3.041981 +v -0.548410 2.039104 1.680140 +v 0.256545 2.070054 1.432317 +v 0.535339 1.110494 1.370460 +v -0.486322 2.101228 2.856213 +v -0.548410 1.017644 2.360765 +v -0.362475 0.955744 1.091512 +v -0.486322 2.039104 1.091512 +v -0.393464 1.110494 3.104035 +v -0.486322 1.884355 3.072910 +v -0.455442 2.101228 2.515605 +v 0.566328 1.017532 2.918267 +v -0.517311 0.955744 1.432317 +v 0.504349 1.667593 1.091512 +v 0.473360 2.008266 2.701570 +v -0.548410 1.172394 3.104035 +v 0.535339 1.048482 1.463246 +v 0.473360 2.039217 1.587157 +v -0.486322 1.358206 3.104035 +v -0.548410 1.048594 2.856213 +f 58 65 72 +f 41 40 43 +f 43 42 47 +f 40 41 48 +f 39 49 50 +f 48 44 51 +f 42 43 52 +f 44 45 52 +f 48 46 53 +f 46 50 53 +f 50 49 53 +f 45 44 54 +f 49 39 57 +f 45 54 57 +f 52 43 58 +f 44 52 58 +f 41 43 59 +f 43 47 59 +f 42 52 60 +f 52 45 60 +f 55 42 60 +f 45 55 60 +f 44 48 61 +f 48 53 61 +f 53 49 62 +f 49 57 62 +f 55 45 63 +f 39 55 63 +f 57 39 63 +f 45 57 63 +f 46 48 64 +f 48 56 64 +f 43 40 65 +f 40 48 65 +f 48 51 65 +f 58 43 65 +f 47 42 66 +f 56 47 66 +f 42 64 66 +f 64 56 66 +f 50 46 67 +f 46 64 67 +f 54 44 68 +f 57 54 68 +f 44 61 68 +f 62 57 68 +f 48 41 69 +f 47 56 69 +f 56 48 69 +f 41 59 69 +f 59 47 69 +f 39 50 70 +f 42 55 70 +f 55 39 70 +f 64 42 70 +f 50 67 70 +f 67 64 70 +f 61 53 71 +f 53 62 71 +f 68 61 71 +f 62 68 71 +f 51 44 72 +f 44 58 72 +f 65 51 72 +o convex_2 +v -0.052986 1.265351 -3.088753 +v 0.628258 2.008273 -2.902915 +v 0.628258 1.977357 -2.902915 +v -0.579375 1.296268 -1.106998 +v -0.579375 2.101228 -3.088753 +v 0.473403 2.101228 -1.106998 +v 0.566197 1.110357 -1.106998 +v -0.548285 1.079440 -3.026484 +v 0.535345 1.141479 -3.088753 +v -0.486343 2.008273 -1.106998 +v -0.579375 1.048421 -1.106998 +v -0.579375 1.048421 -2.314363 +v 0.597168 1.141479 -1.106998 +v 0.349519 2.039293 -2.995834 +v -0.579375 2.101228 -2.748115 +v 0.349519 1.110357 -3.088753 +v 0.163693 2.101228 -1.138036 +v 0.597168 1.296268 -1.106998 +v 0.597168 1.141479 -1.726394 +v -0.424520 2.101228 -3.088753 +v -0.362578 1.048421 -1.323874 +v -0.579375 1.420139 -3.057716 +v 0.566197 1.451056 -3.057716 +v 0.442432 2.101228 -1.385949 +v -0.145781 1.079440 -3.057716 +v 0.566197 1.327184 -3.057716 +v 0.628258 2.008273 -2.964797 +v -0.517314 2.039293 -1.571593 +v 0.535345 2.070106 -1.788275 +v 0.504374 2.039190 -2.748115 +v -0.362578 2.101228 -3.057716 +f 102 86 103 +f 78 76 79 +f 73 77 81 +f 76 78 82 +f 76 77 83 +f 79 76 83 +f 83 77 84 +f 75 74 85 +f 78 79 85 +f 77 76 87 +f 78 77 87 +f 81 79 88 +f 73 81 88 +f 82 78 89 +f 78 87 89 +f 85 74 90 +f 78 85 90 +f 79 81 91 +f 75 85 91 +f 85 79 91 +f 77 78 92 +f 81 77 92 +f 79 83 93 +f 83 84 93 +f 88 79 93 +f 77 73 94 +f 73 80 94 +f 84 77 94 +f 80 84 94 +f 81 92 95 +f 92 78 96 +f 80 73 97 +f 84 80 97 +f 73 88 97 +f 93 84 97 +f 88 93 97 +f 91 81 98 +f 75 91 98 +f 81 95 98 +f 98 95 99 +f 74 75 99 +f 92 86 99 +f 95 92 99 +f 75 98 99 +f 76 82 100 +f 87 76 100 +f 82 89 100 +f 89 87 100 +f 90 74 101 +f 78 90 101 +f 96 78 101 +f 74 99 101 +f 101 99 102 +f 99 86 102 +f 96 101 102 +f 96 102 103 +f 86 92 103 +f 92 96 103 +o convex_3 +v -0.579348 1.048424 -1.106998 +v 1.092731 2.379740 1.091512 +v 1.092731 2.286885 1.091512 +v -1.074756 2.596625 0.967555 +v 0.875898 2.565618 -1.014031 +v 1.092731 0.924561 1.029534 +v -1.043780 0.924561 0.998544 +v -1.043780 2.627632 -1.106998 +v 1.061543 0.924561 -0.983042 +v -1.043780 0.924561 -1.076009 +v 0.937850 2.565618 0.905577 +v 1.092731 2.534610 -0.982826 +v -0.517396 0.955569 1.091512 +v 0.597324 1.141446 -1.106998 +v -0.579348 2.008319 1.091512 +v -1.074756 0.924561 -0.611171 +v -0.455443 2.627632 -0.487430 +v 1.092731 2.534610 1.091297 +v 0.473419 2.101174 -1.106998 +v 1.092731 1.048591 -0.983042 +v 0.504395 1.110439 1.091512 +v -1.074756 0.955569 0.657879 +v -1.074756 2.596625 -0.053796 +v -0.826946 2.596625 0.998544 +v -0.672277 2.627632 -1.106998 +v 1.092731 0.986576 1.060523 +v -0.981827 2.627632 -0.053796 +v -1.043780 1.760760 -1.106998 +v 0.937850 2.565618 -0.983042 +v 0.349514 2.565451 1.060523 +v -0.455443 2.627632 -1.076009 +v 0.751993 0.924561 -1.014031 +v 1.092731 0.924561 -0.921063 +v -1.074756 1.946304 0.967555 +v 0.566136 1.110439 -1.106998 +f 135 113 138 +f 105 106 109 +f 109 110 112 +f 112 110 113 +f 105 109 115 +f 106 105 116 +f 110 109 116 +f 104 111 117 +f 107 110 118 +f 116 105 118 +f 110 116 118 +f 113 110 119 +f 105 115 121 +f 115 114 121 +f 118 105 121 +f 108 115 122 +f 117 111 122 +f 115 117 122 +f 115 109 123 +f 112 117 123 +f 117 115 123 +f 106 116 124 +f 107 119 125 +f 119 110 125 +f 107 111 126 +f 119 107 126 +f 111 119 126 +f 107 118 127 +f 111 120 128 +f 108 122 128 +f 122 111 128 +f 109 106 129 +f 116 109 129 +f 106 124 129 +f 124 116 129 +f 111 107 130 +f 120 111 130 +f 114 120 130 +f 107 127 130 +f 127 114 130 +f 111 104 131 +f 104 113 131 +f 119 111 131 +f 113 119 131 +f 115 108 132 +f 114 115 132 +f 120 114 132 +f 121 114 133 +f 118 121 133 +f 127 118 133 +f 114 127 133 +f 128 120 134 +f 108 128 134 +f 132 108 134 +f 120 132 134 +f 112 113 135 +f 109 112 136 +f 123 109 136 +f 112 123 136 +f 110 107 137 +f 107 125 137 +f 125 110 137 +f 113 104 138 +f 104 117 138 +f 117 112 138 +f 112 135 138 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/140/140.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/140/140.urdf new file mode 100644 index 000000000..5b3cfbdbc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/140/140.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/141/141.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/141/141.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/141/141.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/141/141.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/141/141.obj new file mode 100644 index 000000000..8e2319974 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/141/141.obj @@ -0,0 +1,918 @@ +o convex_0 +v -0.705285 0.030740 -1.060560 +v 0.021523 0.030740 1.315261 +v -0.062211 0.030740 1.315261 +v 0.049303 -4.050292 -0.025956 +v 0.888019 0.030740 -0.808867 +v -0.928904 -1.031567 0.756215 +v 0.720355 -2.820190 0.728140 +v -0.677309 -2.931654 -0.892847 +v -0.677309 -2.875722 0.728140 +v 0.915996 0.030740 0.756215 +v 0.636424 -2.792224 -0.585248 +v 0.440783 -1.451056 -1.032485 +v -0.956881 0.030740 -0.193916 +v 1.027904 -1.115065 -0.054032 +v 0.077280 -3.435041 0.728386 +v 0.133234 -3.378710 -0.808867 +v 0.748135 -3.295212 -0.081861 +v -0.733065 0.030740 1.063813 +v -0.733065 -3.267246 -0.082107 +v -0.956881 -0.835805 -0.697057 +v -0.006454 0.030740 -1.200199 +v 0.888019 -1.115065 -0.808867 +v 0.943973 -0.891737 0.756215 +v -0.984857 -1.255294 -0.054032 +v 0.552493 0.002774 1.119472 +v -0.453690 -0.025192 -1.200199 +v 0.440783 0.030740 -1.116465 +v 0.999927 0.030740 0.001873 +v -0.900927 -0.053157 0.784044 +v -0.481667 -0.109089 1.203452 +v -0.006454 -4.050292 -0.081861 +v -0.900927 -0.081123 -0.836942 +v -0.034234 -3.435041 0.728386 +v -0.984857 -0.165021 0.001873 +v 0.971950 -0.807839 0.728386 +v 0.776111 -3.211314 -0.025956 +v -0.705285 -3.350744 -0.025956 +v -0.928904 -0.947669 -0.808867 +v 0.748135 0.030740 1.007909 +v -0.034234 -3.993961 0.029948 +v 0.161211 -3.239280 -0.836942 +v 0.440783 -0.081123 1.175376 +v -0.956881 -0.835805 0.644406 +v -0.733065 -3.267246 0.001626 +v 0.748135 -3.295212 0.001873 +v 0.971950 0.030740 -0.389459 +v 0.049303 -3.546905 0.672481 +v 0.245141 -3.854131 -0.081861 +v 0.608447 -0.081123 -1.032485 +v -0.453690 -2.680360 -0.920676 +v -0.006454 -3.546905 0.672481 +v 0.049303 -3.378710 -0.808620 +v -0.789019 -0.165021 1.007909 +v -0.062211 0.002774 1.315261 +v -0.705285 -3.350744 -0.082107 +v -0.984857 -1.115465 0.169094 +v -0.034234 -0.025192 -1.200199 +v 0.776111 -3.183348 -0.081861 +v 0.021523 0.002774 1.315261 +v 1.027904 -1.003201 0.085114 +v -0.761042 -0.388749 -1.004656 +v 0.636424 -2.651994 -0.641153 +v -0.705285 -2.735892 0.728140 +v 1.027904 -0.863771 -0.109936 +f 28 60 64 +f 3 2 1 +f 1 2 5 +f 5 2 10 +f 3 1 13 +f 16 11 17 +f 3 13 18 +f 1 5 21 +f 8 19 24 +f 20 8 24 +f 1 21 26 +f 21 5 27 +f 12 21 27 +f 5 10 28 +f 18 13 29 +f 3 18 30 +f 16 4 31 +f 13 1 32 +f 20 13 32 +f 13 20 34 +f 20 24 34 +f 29 13 34 +f 23 7 35 +f 28 10 35 +f 35 7 36 +f 8 20 38 +f 20 32 38 +f 10 2 39 +f 7 23 39 +f 2 25 39 +f 25 7 39 +f 23 35 39 +f 35 10 39 +f 31 4 40 +f 9 37 40 +f 37 31 40 +f 12 22 41 +f 25 2 42 +f 7 25 42 +f 6 29 43 +f 29 34 43 +f 24 19 44 +f 19 37 44 +f 37 9 44 +f 7 4 45 +f 36 7 45 +f 17 36 45 +f 5 28 46 +f 4 7 47 +f 7 15 47 +f 15 33 47 +f 4 16 48 +f 16 17 48 +f 45 4 48 +f 17 45 48 +f 5 22 49 +f 22 12 49 +f 27 5 49 +f 12 27 49 +f 8 26 50 +f 41 8 50 +f 12 41 50 +f 33 9 51 +f 40 4 51 +f 9 40 51 +f 4 47 51 +f 47 33 51 +f 16 31 52 +f 31 8 52 +f 8 41 52 +f 41 16 52 +f 29 6 53 +f 18 29 53 +f 9 30 53 +f 30 18 53 +f 2 3 54 +f 3 30 54 +f 30 9 54 +f 9 33 54 +f 33 15 54 +f 19 8 55 +f 8 31 55 +f 37 19 55 +f 31 37 55 +f 34 24 56 +f 6 43 56 +f 43 34 56 +f 44 6 56 +f 24 44 56 +f 21 12 57 +f 26 21 57 +f 12 50 57 +f 50 26 57 +f 17 11 58 +f 22 14 58 +f 11 22 58 +f 36 17 58 +f 14 36 58 +f 15 7 59 +f 42 2 59 +f 7 42 59 +f 2 54 59 +f 54 15 59 +f 28 35 60 +f 36 14 60 +f 35 36 60 +f 1 26 61 +f 26 8 61 +f 32 1 61 +f 8 38 61 +f 38 32 61 +f 11 16 62 +f 22 11 62 +f 16 41 62 +f 41 22 62 +f 6 44 63 +f 44 9 63 +f 53 6 63 +f 9 53 63 +f 22 5 64 +f 14 22 64 +f 5 46 64 +f 46 28 64 +f 60 14 64 +o convex_1 +v -0.174009 3.246035 0.281171 +v 0.105366 3.944773 0.057498 +v 0.105366 3.944773 0.001621 +v 0.636533 3.246035 -0.054256 +v -0.509469 3.246035 -0.277929 +v -0.705307 3.274009 0.001621 +v -0.062101 3.721117 -0.249963 +v 0.077389 3.888825 0.225239 +v 0.384873 3.274009 -0.249963 +v 0.356896 3.246035 0.225239 +v -0.146032 3.860919 0.001621 +v 0.189166 3.749091 -0.194031 +v -0.481492 3.246035 0.225239 +v -0.146032 3.749091 0.225239 +v 0.245119 3.860919 0.085464 +v 0.189166 3.665237 0.253205 +v -0.006541 3.888825 -0.166065 +v 0.636533 3.274009 0.001621 +v 0.245119 3.860919 -0.026290 +v 0.021435 3.553545 -0.277929 +v -0.705307 3.274009 -0.054256 +v 0.021435 3.581451 0.281171 +v 0.021435 3.246035 -0.277929 +v -0.174009 3.832945 0.085464 +f 75 85 88 +f 68 65 69 +f 65 68 74 +f 66 67 75 +f 68 73 76 +f 69 65 77 +f 70 69 77 +f 70 77 78 +f 67 66 79 +f 66 72 79 +f 79 72 80 +f 71 69 81 +f 75 67 81 +f 76 71 81 +f 74 68 82 +f 80 74 82 +f 79 80 82 +f 68 76 83 +f 67 79 83 +f 81 67 83 +f 76 81 83 +f 82 68 83 +f 79 82 83 +f 69 71 84 +f 71 76 84 +f 76 73 84 +f 69 70 85 +f 81 69 85 +f 75 81 85 +f 65 74 86 +f 77 65 86 +f 72 78 86 +f 78 77 86 +f 80 72 86 +f 74 80 86 +f 68 69 87 +f 73 68 87 +f 69 84 87 +f 84 73 87 +f 72 66 88 +f 66 75 88 +f 78 72 88 +f 70 78 88 +f 85 70 88 +o convex_2 +v 0.077329 1.540710 -1.284600 +v -0.062350 0.115005 -1.284600 +v -0.006478 0.115005 -1.284600 +v -0.062350 0.925686 -3.045298 +v -0.565420 0.758079 -1.228577 +v 0.580511 1.009420 -1.228577 +v 0.356912 0.925547 -2.793642 +v -0.174094 1.289091 -2.709698 +v 0.440832 0.338853 -1.228577 +v -0.034302 0.562422 -2.765720 +v -0.425629 1.344774 -1.228577 +v -0.397693 0.897636 -2.681776 +v -0.453564 0.198878 -1.228577 +v 0.356912 1.372824 -1.983365 +v -0.006478 1.344774 -2.765720 +v -0.397693 1.317002 -2.011287 +v 0.384848 1.456697 -1.228577 +v 0.273105 0.646155 -2.598009 +v 0.496704 0.953458 -2.067132 +v -0.034302 1.484748 -1.955443 +v -0.509436 0.925686 -1.927521 +v -0.425629 0.170967 -1.284600 +v 0.245056 1.260900 -2.625931 +v -0.062350 1.540710 -1.228577 +v -0.313885 0.702117 -2.598009 +v -0.369757 1.009560 -2.737798 +v 0.412784 0.562422 -1.983365 +v 0.580511 1.093293 -1.284600 +v 0.077329 0.562422 -2.709698 +v 0.356912 0.981509 -2.793642 +v 0.021457 0.925686 -3.045298 +v -0.369757 1.344774 -2.039210 +v 0.468768 0.394675 -1.256500 +v -0.565420 0.702117 -1.284600 +v -0.006478 1.289091 -2.849487 +v -0.369757 0.897636 -2.765720 +v 0.496704 1.009420 -2.039210 +v 0.412784 1.428786 -1.424210 +v -0.453564 1.260900 -1.424388 +v -0.090286 1.317002 -2.793642 +v 0.021457 0.115005 -1.256677 +v -0.285837 1.232989 -2.625931 +v 0.021457 1.484748 -1.927521 +v 0.440832 0.338853 -1.256500 +v -0.369757 0.143055 -1.256677 +f 129 101 133 +f 94 93 97 +f 91 90 98 +f 93 94 99 +f 97 93 101 +f 99 94 105 +f 101 100 110 +f 103 102 111 +f 105 89 112 +f 99 105 112 +f 89 108 112 +f 98 110 113 +f 110 100 113 +f 100 109 114 +f 109 104 114 +f 106 95 115 +f 95 107 115 +f 105 94 116 +f 94 107 116 +f 91 98 117 +f 95 106 117 +f 107 95 118 +f 111 102 118 +f 98 92 119 +f 95 117 119 +f 117 98 119 +f 118 95 119 +f 104 99 120 +f 99 112 120 +f 112 108 120 +f 94 97 121 +f 107 94 121 +f 115 107 121 +f 100 101 122 +f 101 93 122 +f 93 109 122 +f 109 100 122 +f 103 111 123 +f 111 118 123 +f 119 92 123 +f 118 119 123 +f 92 98 124 +f 98 113 124 +f 113 100 124 +f 114 92 124 +f 100 114 124 +f 102 116 125 +f 116 107 125 +f 107 118 125 +f 118 102 125 +f 89 105 126 +f 105 116 126 +f 116 102 126 +f 93 99 127 +f 99 104 127 +f 109 93 127 +f 104 109 127 +f 108 103 128 +f 92 114 128 +f 96 120 128 +f 120 108 128 +f 103 123 128 +f 123 92 128 +f 90 91 129 +f 97 101 129 +f 91 117 129 +f 114 104 130 +f 120 96 130 +f 104 120 130 +f 128 114 130 +f 96 128 130 +f 102 103 131 +f 108 89 131 +f 103 108 131 +f 89 126 131 +f 126 102 131 +f 106 115 132 +f 117 106 132 +f 121 97 132 +f 115 121 132 +f 97 129 132 +f 129 117 132 +f 98 90 133 +f 110 98 133 +f 101 110 133 +f 90 129 133 +o convex_3 +v 0.412833 2.547091 0.197243 +v -0.006580 2.127766 -0.305832 +v -0.230006 2.127766 -0.277866 +v 0.161085 2.127766 0.225209 +v -0.705307 2.547091 0.057465 +v 0.412833 2.547091 -0.277866 +v -0.146174 2.127766 0.225209 +v 0.300931 2.127766 -0.082208 +v -0.062342 2.547091 -0.277866 +v -0.369727 2.547091 0.225209 +v 0.580623 2.519057 0.001586 +v -0.313839 2.127766 0.001586 +v 0.244917 2.127766 -0.249900 +v 0.272987 2.127766 0.197243 +v -0.397797 2.547091 -0.166054 +v -0.705307 2.519057 0.029551 +v 0.580623 2.519057 -0.082208 +v 0.189029 2.547091 0.225209 +f 143 137 151 +f 136 135 137 +f 138 134 139 +f 136 137 140 +f 137 135 141 +f 135 136 142 +f 138 139 142 +f 139 135 142 +f 134 138 143 +f 140 137 143 +f 138 140 143 +f 139 134 144 +f 136 140 145 +f 135 139 146 +f 141 135 146 +f 134 137 147 +f 137 141 147 +f 144 134 147 +f 141 144 147 +f 142 136 148 +f 138 142 148 +f 140 138 149 +f 136 145 149 +f 145 140 149 +f 148 136 149 +f 138 148 149 +f 139 144 150 +f 144 141 150 +f 146 139 150 +f 141 146 150 +f 137 134 151 +f 134 143 151 +o convex_4 +v -2.996940 2.910449 0.001607 +v 0.804176 3.245898 0.001550 +v 0.804176 3.245898 -0.026320 +v 2.732771 2.714884 0.029535 +v 0.496961 2.714884 -0.305884 +v -0.341766 2.575136 0.253186 +v 0.021523 3.245898 0.281171 +v -0.761130 3.245898 -0.277899 +v -0.034551 2.547091 -0.277899 +v 2.676697 2.938357 -0.166073 +v 2.704734 2.910449 0.197273 +v -2.689725 3.022219 -0.221986 +v -2.689725 3.162035 0.001607 +v -2.466024 2.910449 0.197216 +v -2.717762 2.742861 -0.026263 +v 2.704734 3.078173 0.001550 +v 0.412850 3.245898 -0.249914 +v 0.608513 2.547091 0.169288 +v -0.928756 2.547091 0.057463 +v 0.440887 2.547091 -0.277899 +v 1.642307 2.938357 -0.277899 +v -1.152456 2.882609 0.281171 +v -1.794924 2.686975 0.197216 +v -1.710812 2.938357 -0.277899 +v -0.005917 2.854700 0.281171 +v 3.068620 2.910449 0.001550 +v 2.648660 2.854700 -0.166073 +v -2.409950 2.798746 -0.166016 +v 2.704734 2.854700 0.197273 +v -0.202177 3.245898 0.281171 +v 2.341444 3.050196 0.169288 +v -1.096382 3.245898 0.001607 +v -2.382510 3.078173 0.141361 +v -2.689725 2.882609 0.169288 +v -2.409950 3.134058 -0.194001 +v -2.717762 2.966334 -0.221986 +v 0.692028 2.938357 -0.305884 +v 2.201856 2.882609 0.225201 +v -1.822961 2.854700 0.253186 +v 2.676697 2.714884 -0.026320 +v 0.244627 2.547091 0.225201 +v 2.481034 2.742861 0.141303 +v 2.201856 3.050196 -0.166073 +v 2.648660 3.078173 0.057463 +v 0.021523 3.245898 -0.277899 +v -3.025574 2.966334 -0.054248 +v -2.409950 2.742861 0.141361 +v -2.689725 2.742861 -0.054248 +v 1.642307 2.882609 -0.277899 +v 0.356775 3.245898 0.225201 +v -0.425878 2.547091 0.225201 +v -0.900719 2.547091 0.001607 +v -0.090029 2.575136 0.253186 +v 3.068620 2.910449 0.057463 +v -2.661688 3.162035 -0.054248 +v 0.608513 2.547091 -0.082176 +v 2.481034 2.770838 -0.138088 +f 178 191 208 +f 153 154 158 +f 158 154 159 +f 154 153 167 +f 159 154 168 +f 154 167 168 +f 160 169 170 +f 160 156 171 +f 169 160 171 +f 156 160 175 +f 163 159 175 +f 173 157 176 +f 158 173 176 +f 161 167 177 +f 161 177 178 +f 158 159 181 +f 173 158 181 +f 158 162 182 +f 181 159 183 +f 164 181 183 +f 181 164 184 +f 165 181 184 +f 164 152 185 +f 152 166 185 +f 184 164 185 +f 165 184 185 +f 159 163 186 +f 175 160 187 +f 163 175 187 +f 160 179 187 +f 156 175 188 +f 175 159 188 +f 162 158 189 +f 158 176 189 +f 180 162 189 +f 157 173 190 +f 174 157 190 +f 181 165 190 +f 173 181 190 +f 165 185 190 +f 185 174 190 +f 155 171 191 +f 177 155 191 +f 178 177 191 +f 170 169 192 +f 169 155 193 +f 155 180 193 +f 192 169 193 +f 180 192 193 +f 167 161 194 +f 168 167 194 +f 172 168 194 +f 161 172 194 +f 167 153 195 +f 182 162 195 +f 159 168 196 +f 168 172 196 +f 188 159 196 +f 172 188 196 +f 152 164 197 +f 166 152 197 +f 163 187 197 +f 166 170 198 +f 170 174 198 +f 185 166 198 +f 174 185 198 +f 179 160 199 +f 187 179 199 +f 166 197 199 +f 197 187 199 +f 171 156 200 +f 172 161 200 +f 178 171 200 +f 161 178 200 +f 156 188 200 +f 188 172 200 +f 153 158 201 +f 158 182 201 +f 195 153 201 +f 182 195 201 +f 157 174 202 +f 174 170 202 +f 192 157 202 +f 170 192 202 +f 170 166 203 +f 160 170 203 +f 166 199 203 +f 199 160 203 +f 176 157 204 +f 189 176 204 +f 180 189 204 +f 157 192 204 +f 192 180 204 +f 155 177 205 +f 177 167 205 +f 162 180 205 +f 180 155 205 +f 167 195 205 +f 195 162 205 +f 183 159 206 +f 164 183 206 +f 159 186 206 +f 186 163 206 +f 197 164 206 +f 163 197 206 +f 155 169 207 +f 171 155 207 +f 169 171 207 +f 171 178 208 +f 191 171 208 +o convex_5 +v -0.453685 0.059256 1.231642 +v -0.453685 0.031140 -1.200226 +v -0.006438 0.031140 -1.200226 +v -0.062176 2.127766 -0.305884 +v 0.916021 0.031140 0.756297 +v 0.860091 1.596426 -0.892720 +v 0.412844 1.316903 1.231642 +v -0.789072 1.484781 0.840096 +v -0.817037 1.456460 -0.864787 +v -0.956861 0.031140 0.141287 +v 0.888056 0.031140 -0.808921 +v 0.804161 1.512692 0.756297 +v -0.062176 1.568310 -1.228400 +v 0.245055 2.127766 0.225086 +v 0.580442 1.009675 -1.228400 +v -0.313860 1.400637 1.231642 +v -0.900932 0.031140 -0.808921 +v -0.649247 1.931771 0.057487 +v -0.034403 1.848038 0.952070 +v 0.412844 0.142990 1.231642 +v 0.971951 1.065497 0.001621 +v -0.761107 0.031140 1.035869 +v -0.928896 1.260876 -0.165978 +v -0.034403 1.931977 -0.948828 +v -0.565544 0.786179 -1.228400 +v 0.664337 1.931977 -0.082178 +v 0.999916 0.031140 -0.082178 +v -0.537388 1.959683 -0.501416 +v -0.621474 0.702241 1.231642 +v 0.552477 0.813885 1.231642 +v 0.440809 0.338779 -1.228400 +v -0.313860 2.127766 0.029554 +v 0.245055 2.127766 -0.249777 +v -0.872967 0.366690 0.812163 +v 0.440809 1.456665 -1.228400 +v 0.524512 1.904065 0.504658 +v -0.453685 1.345020 -1.228400 +v -0.956861 0.953852 0.001621 +v 0.748232 0.031140 1.007936 +v -0.509423 1.904065 0.448792 +v 0.888056 1.540398 -0.808921 +v -0.733142 0.059461 -1.060560 +v -0.789072 1.568515 -0.808921 +v 0.524512 1.931977 -0.529349 +v 0.804161 1.456665 0.812163 +v 0.049301 1.848038 0.952070 +v -0.509423 1.260876 1.231642 +v 0.468583 0.031140 -1.116426 +v -0.006438 1.512692 1.231642 +v 0.049301 1.931977 -0.948828 +v 0.943986 1.261081 0.113113 +v -0.146071 2.127766 0.225086 +v 0.217090 0.031140 1.231642 +v -0.872967 1.344815 0.448792 +v -0.677212 1.903860 -0.110111 +v 0.971951 0.115284 -0.389443 +v -0.872967 0.031140 0.840096 +v -0.257930 2.127766 -0.277710 +v -0.453685 0.171106 -1.228400 +v 0.664337 1.931977 0.057487 +v -0.956861 0.031140 -0.193911 +v 0.888056 0.171106 -0.836854 +v 0.860091 1.624337 -0.753055 +v -0.677212 0.450629 1.175535 +f 242 265 272 +f 210 211 213 +f 210 213 218 +f 213 211 219 +f 209 215 224 +f 210 218 225 +f 216 224 227 +f 215 209 228 +f 218 213 230 +f 217 225 231 +f 221 223 233 +f 213 219 235 +f 229 213 235 +f 209 224 237 +f 215 228 238 +f 233 223 239 +f 222 212 240 +f 212 222 241 +f 222 234 241 +f 214 223 243 +f 223 221 243 +f 232 221 245 +f 233 217 245 +f 221 233 245 +f 231 225 246 +f 218 242 246 +f 230 213 247 +f 238 228 247 +f 226 216 248 +f 216 227 248 +f 240 226 248 +f 210 225 250 +f 225 217 250 +f 217 233 250 +f 217 231 251 +f 236 232 251 +f 232 245 251 +f 245 217 251 +f 234 214 252 +f 241 234 252 +f 220 215 253 +f 215 238 253 +f 247 213 253 +f 238 247 253 +f 215 220 254 +f 222 227 254 +f 244 222 254 +f 220 244 254 +f 224 216 255 +f 237 224 255 +f 216 237 255 +f 219 211 256 +f 211 239 256 +f 239 219 256 +f 224 215 257 +f 227 224 257 +f 215 254 257 +f 254 227 257 +f 232 212 258 +f 221 232 258 +f 212 241 258 +f 214 243 258 +f 243 221 258 +f 252 214 258 +f 241 252 258 +f 213 229 259 +f 229 249 259 +f 220 253 259 +f 253 213 259 +f 227 222 260 +f 222 240 260 +f 248 227 260 +f 240 248 260 +f 228 209 261 +f 209 230 261 +f 247 228 261 +f 230 247 261 +f 242 216 262 +f 231 246 262 +f 246 242 262 +f 216 226 263 +f 226 240 263 +f 240 236 263 +f 251 231 263 +f 236 251 263 +f 262 216 263 +f 231 262 263 +f 235 219 264 +f 229 235 264 +f 249 229 264 +f 218 230 265 +f 242 218 265 +f 212 232 266 +f 232 236 266 +f 240 212 266 +f 236 240 266 +f 211 210 267 +f 239 211 267 +f 233 239 267 +f 210 250 267 +f 250 233 267 +f 234 222 268 +f 222 244 268 +f 244 220 268 +f 225 218 269 +f 218 246 269 +f 246 225 269 +f 223 214 270 +f 219 239 270 +f 239 223 270 +f 214 249 270 +f 264 219 270 +f 249 264 270 +f 214 234 271 +f 249 214 271 +f 220 259 271 +f 259 249 271 +f 234 268 271 +f 268 220 271 +f 230 209 272 +f 209 237 272 +f 237 216 272 +f 216 242 272 +f 265 230 272 +o convex_6 +v 0.217101 1.288863 2.545461 +v -0.229984 0.031140 1.231812 +v 0.273085 0.115092 1.231642 +v -0.062369 1.484800 1.231812 +v -0.397712 0.953480 2.713252 +v -0.593375 0.841780 1.231812 +v 0.440813 1.288863 1.231642 +v 0.328957 0.869670 2.629272 +v 0.021438 0.618239 2.685258 +v -0.453584 1.316895 1.986443 +v 0.552556 0.646270 1.259805 +v -0.453584 0.115092 1.259635 +v -0.062369 1.344927 2.741076 +v -0.006498 1.009401 2.964852 +v 0.384941 1.316895 1.986443 +v 0.412877 0.171155 1.287798 +v -0.481519 1.288863 1.231812 +v 0.356893 1.037290 2.685089 +v -0.565439 0.869527 1.790830 +v 0.021438 0.031140 1.343615 +v 0.496684 0.981512 1.930626 +v -0.034433 1.456769 1.930626 +v -0.034433 0.618239 2.685258 +v -0.397712 1.037433 2.713252 +v 0.356893 0.953480 2.685089 +v 0.356893 1.344784 2.014437 +v -0.593375 0.590349 1.231812 +v -0.341840 1.261117 2.517468 +v -0.313792 0.757970 2.573455 +v 0.552556 0.813749 1.231642 +v -0.537391 1.009401 2.014437 +v 0.161118 0.031140 1.259635 +v 0.049374 1.344927 2.685258 +v 0.273085 0.702191 2.489475 +v 0.077310 1.456769 1.231812 +v -0.397712 1.344927 2.014437 +v -0.481519 0.199045 1.287628 +v -0.229984 0.031140 1.259635 +v -0.062369 1.372958 2.657265 +v 0.440813 0.227076 1.259805 +v -0.090305 0.981512 2.936859 +f 296 277 313 +f 275 278 279 +f 276 279 289 +f 279 278 289 +f 279 287 293 +f 287 290 293 +f 281 286 295 +f 292 281 295 +f 281 280 297 +f 286 281 297 +f 280 288 297 +f 290 286 297 +f 283 293 297 +f 293 290 297 +f 287 279 298 +f 273 290 298 +f 290 287 298 +f 275 274 299 +f 278 275 299 +f 274 284 299 +f 291 278 299 +f 282 296 300 +f 296 285 300 +f 277 284 301 +f 284 295 301 +f 295 277 301 +f 275 279 302 +f 279 293 302 +f 293 283 302 +f 289 278 303 +f 282 289 303 +f 291 277 303 +f 278 291 303 +f 296 282 303 +f 277 296 303 +f 274 275 304 +f 288 281 304 +f 275 288 304 +f 292 274 304 +f 281 292 304 +f 285 286 305 +f 290 273 305 +f 286 290 305 +f 273 298 305 +f 298 294 305 +f 280 281 306 +f 288 280 306 +f 281 288 306 +f 279 276 307 +f 276 294 307 +f 298 279 307 +f 294 298 307 +f 276 289 308 +f 289 282 308 +f 294 276 308 +f 282 300 308 +f 284 277 309 +f 277 291 309 +f 299 284 309 +f 291 299 309 +f 284 274 310 +f 274 292 310 +f 295 284 310 +f 292 295 310 +f 300 285 311 +f 285 305 311 +f 305 294 311 +f 294 308 311 +f 308 300 311 +f 288 275 312 +f 297 288 312 +f 283 297 312 +f 275 302 312 +f 302 283 312 +f 286 285 313 +f 277 295 313 +f 295 286 313 +f 285 296 313 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/141/141.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/141/141.urdf new file mode 100644 index 000000000..c010e185b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/141/141.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/142/142.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/142/142.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/142/142.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/142/142.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/142/142.obj new file mode 100644 index 000000000..98bc4c166 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/142/142.obj @@ -0,0 +1,591 @@ +o convex_0 +v -3.733592 0.937697 0.620766 +v -4.415833 0.542576 -0.492599 +v -4.415833 0.793981 -0.492599 +v -3.661766 0.578603 -0.492599 +v -3.661766 1.548195 -0.492599 +v -4.308057 1.548195 0.512982 +v -4.415833 0.542576 0.620766 +v -4.344007 1.512168 -0.492599 +v -3.661766 1.512168 0.548838 +v -3.661766 0.578603 0.584802 +v -3.661766 0.542576 -0.420561 +v -4.415833 0.614434 0.620766 +v -3.805419 1.548195 0.512982 +v -4.344007 1.512168 -0.169248 +v -3.661766 0.542576 0.046320 +v -4.344007 1.296692 0.548838 +v -3.913195 1.548195 -0.492599 +f 8 6 17 +f 2 3 4 +f 4 3 5 +f 3 2 7 +f 5 3 8 +f 4 5 9 +f 1 7 10 +f 9 1 10 +f 4 9 10 +f 2 4 11 +f 7 2 11 +f 4 10 11 +f 7 1 12 +f 3 7 12 +f 5 6 13 +f 9 5 13 +f 6 9 13 +f 8 3 14 +f 6 8 14 +f 3 12 14 +f 10 7 15 +f 7 11 15 +f 11 10 15 +f 1 9 16 +f 9 6 16 +f 12 1 16 +f 6 14 16 +f 14 12 16 +f 6 5 17 +f 5 8 17 +o convex_1 +v 0.181291 -4.017866 -0.061257 +v 1.761339 -0.067979 1.123576 +v 1.797366 -0.067979 -0.707821 +v -0.321373 -0.067979 -0.097284 +v 1.725526 -4.017866 -0.995184 +v -0.213721 -3.946461 0.943653 +v -0.321373 -1.073887 -1.067239 +v 1.725526 -4.054153 0.979680 +v -0.321373 -0.067979 1.015708 +v -0.357401 -3.874276 -0.959370 +v 1.797366 -0.067979 -1.031211 +v -0.285561 -0.067979 -1.067239 +v -0.393428 -3.946461 0.907840 +v 1.761339 -3.802481 0.835999 +v -0.393428 -2.976450 0.943653 +v 0.324971 -4.054153 0.476797 +v 0.791823 -0.104657 -1.067239 +v 1.007128 -4.054153 -0.492300 +v -0.321373 -3.407610 -0.995184 +v 1.653686 -0.140555 1.123576 +v -0.285561 -3.910564 -0.923343 +v 1.761339 -2.617476 -0.959370 +v -0.321373 -0.679016 -1.067239 +v -0.393428 -3.874276 0.225462 +v -0.393428 -3.766584 0.943653 +v 0.971315 -3.981968 -0.995184 +v 1.761339 -1.253765 -1.031211 +v 1.761339 -3.084533 1.015708 +v 1.581846 -4.054153 0.979680 +v -0.321373 -0.283754 1.015708 +v -0.213721 -3.982358 0.800186 +v 1.797366 -0.355939 -0.887316 +v -0.357401 -1.325559 0.979680 +v 1.725526 -4.054153 0.440984 +v 0.791823 -4.054153 -0.384646 +v -0.393428 -3.946461 0.512824 +f 48 30 53 +f 19 20 21 +f 19 21 26 +f 21 20 28 +f 21 28 29 +f 22 24 34 +f 24 29 34 +f 29 28 34 +f 25 33 35 +f 27 24 36 +f 19 26 37 +f 22 28 39 +f 31 22 39 +f 24 27 40 +f 21 29 40 +f 29 24 40 +f 32 21 40 +f 32 40 41 +f 30 32 41 +f 40 27 41 +f 30 23 42 +f 32 30 42 +f 23 37 42 +f 24 22 43 +f 22 35 43 +f 36 24 43 +f 27 36 43 +f 38 27 43 +f 35 38 43 +f 28 22 44 +f 22 34 44 +f 34 28 44 +f 20 19 45 +f 31 20 45 +f 25 31 45 +f 19 37 45 +f 45 37 46 +f 23 30 46 +f 33 25 46 +f 37 23 46 +f 25 45 46 +f 37 26 47 +f 42 37 47 +f 18 33 48 +f 46 30 48 +f 33 46 48 +f 28 20 49 +f 20 31 49 +f 39 28 49 +f 31 39 49 +f 26 21 50 +f 21 32 50 +f 32 42 50 +f 47 26 50 +f 42 47 50 +f 31 25 51 +f 22 31 51 +f 35 22 51 +f 25 35 51 +f 33 18 52 +f 35 33 52 +f 18 38 52 +f 38 35 52 +f 27 38 53 +f 38 18 53 +f 41 27 53 +f 30 41 53 +f 18 48 53 +o convex_2 +v -3.374270 4.098160 -0.025647 +v -3.661692 1.655941 0.225638 +v -3.661692 1.655941 0.297510 +v -3.087182 1.655941 0.297510 +v -3.302665 1.692038 -0.241130 +v -2.979307 4.098160 -0.277000 +v -3.625756 4.098160 -0.348939 +v -3.518014 4.062062 0.333446 +v -3.051246 4.025964 0.225638 +v -3.087182 1.655941 -0.205194 +v -3.553817 1.979386 -0.277000 +v -3.589753 3.200018 0.333446 +v -2.979307 3.595181 -0.205194 +v -3.194857 4.025964 0.297510 +v -3.518014 1.655941 -0.241130 +v -3.625756 4.098160 -0.169258 +v -3.553817 3.846671 -0.348939 +v -3.051246 2.015245 -0.205194 +v -3.374270 4.025964 0.333446 +v -2.979307 3.882529 -0.277000 +v -2.979307 3.918149 -0.133389 +v -3.625756 3.810812 -0.348939 +v -3.553817 4.062062 0.297510 +v -3.087182 2.590180 0.297510 +v -3.553817 2.877050 0.333446 +f 72 65 78 +f 56 55 57 +f 55 56 60 +f 54 59 60 +f 59 54 61 +f 59 61 62 +f 57 55 63 +f 62 61 67 +f 63 55 68 +f 58 63 68 +f 55 64 68 +f 64 58 68 +f 54 60 69 +f 60 56 69 +f 61 54 69 +f 56 65 69 +f 60 59 70 +f 58 64 70 +f 57 63 71 +f 66 57 71 +f 61 65 72 +f 67 61 72 +f 63 58 73 +f 59 66 73 +f 58 70 73 +f 70 59 73 +f 71 63 73 +f 66 71 73 +f 62 57 74 +f 59 62 74 +f 57 66 74 +f 66 59 74 +f 55 60 75 +f 64 55 75 +f 60 70 75 +f 70 64 75 +f 65 61 76 +f 61 69 76 +f 69 65 76 +f 57 62 77 +f 62 67 77 +f 72 57 77 +f 67 72 77 +f 56 57 78 +f 65 56 78 +f 57 72 78 +o convex_3 +v -1.470708 1.009694 1.087661 +v -1.470708 0.075980 -1.067239 +v -1.470708 0.111835 -1.067239 +v -0.321598 1.547945 -1.030958 +v -2.296795 2.158750 -0.995099 +v -0.321598 2.050763 1.051591 +v -0.321598 0.004058 1.015522 +v -2.296795 0.075980 1.015522 +v -2.404470 2.158750 0.907945 +v -2.368724 0.004269 -1.031169 +v -0.321598 0.111835 -1.067239 +v -0.321598 2.122684 -0.995099 +v -2.548327 0.614653 -0.456374 +v -2.548327 1.512089 0.584584 +v -2.548327 1.655722 -0.528303 +v -2.009518 0.040124 1.087661 +v -2.548327 0.542942 0.440938 +v -2.404470 2.122473 0.943804 +v -2.296795 0.327389 1.087661 +v -0.321598 0.004058 0.584795 +v -0.393526 0.830206 -1.067239 +v -1.291323 2.158750 -0.995310 +v -0.321598 1.081193 1.051591 +v -2.368724 0.004269 -0.671949 +v -0.752732 2.050763 1.051591 +v -2.224867 2.158750 0.872087 +v -1.004046 0.004269 1.015733 +v -2.368724 0.435165 -1.031169 +v -2.189121 0.004269 -1.031169 +v -0.321598 2.122684 -0.851664 +v -1.147902 1.152904 1.087661 +v -1.793950 0.075980 1.087661 +v -2.548327 1.152904 0.584584 +v -2.296795 0.147901 1.087661 +v -0.752732 2.086618 0.800158 +v -2.332760 0.040124 0.333151 +v -0.896371 0.075980 -1.067239 +f 98 107 115 +f 82 84 85 +f 81 80 88 +f 80 81 89 +f 82 85 89 +f 84 82 90 +f 91 92 93 +f 87 83 93 +f 88 91 93 +f 92 87 93 +f 91 88 95 +f 92 91 95 +f 87 92 96 +f 94 79 97 +f 79 96 97 +f 85 88 98 +f 89 85 98 +f 83 82 99 +f 81 83 99 +f 89 81 99 +f 82 89 99 +f 82 83 100 +f 83 87 100 +f 90 82 100 +f 85 84 101 +f 88 85 102 +f 95 88 102 +f 84 87 103 +f 96 79 103 +f 87 96 103 +f 87 84 104 +f 100 87 104 +f 85 94 105 +f 102 85 105 +f 94 102 105 +f 83 81 106 +f 81 88 106 +f 93 83 106 +f 88 93 106 +f 88 80 107 +f 98 88 107 +f 84 90 108 +f 90 100 108 +f 100 104 108 +f 79 94 109 +f 101 84 109 +f 103 79 109 +f 84 103 109 +f 94 85 110 +f 85 101 110 +f 109 94 110 +f 101 109 110 +f 92 95 111 +f 96 92 111 +f 86 94 112 +f 95 86 112 +f 94 97 112 +f 97 96 112 +f 111 95 112 +f 96 111 112 +f 104 84 113 +f 84 108 113 +f 108 104 113 +f 94 86 114 +f 86 95 114 +f 102 94 114 +f 95 102 114 +f 80 89 115 +f 89 98 115 +f 107 80 115 +o convex_4 +v 3.700681 2.086808 0.656477 +v -0.321598 0.111729 -1.103153 +v -0.321598 0.183570 -1.103153 +v -0.321598 1.153095 1.051648 +v 3.664699 -0.031952 1.051648 +v 3.808626 2.086808 -1.031225 +v -0.321598 2.122835 -0.995261 +v 3.664699 0.111729 -1.067189 +v -0.321598 -0.067979 1.015465 +v -0.321598 2.050995 1.051648 +v 1.797285 -0.067979 -1.031007 +v 3.628717 1.978940 0.979719 +v 2.228258 2.122835 -1.103153 +v 1.868844 -0.067979 1.123576 +v -0.285616 -0.067979 -1.066971 +v 0.684275 2.122835 0.440910 +v 1.366716 2.122835 -1.103153 +v 0.360843 2.050995 1.051648 +v 3.664699 -0.031952 0.620731 +v 3.808626 1.835473 -0.959297 +v 3.664699 2.050780 0.943755 +v 2.694808 -0.067979 1.051648 +v 3.808626 2.086808 -0.743729 +v 3.557158 2.086808 0.800116 +v 2.587267 2.122835 -1.031007 +v 1.833267 0.039889 1.123576 +v 3.700681 2.014967 0.800334 +v 1.653762 -0.067979 1.123576 +v 3.664699 0.075916 -0.779694 +v 3.198149 2.086808 -1.067189 +v 1.115248 2.122835 0.440910 +v 0.109375 2.086808 -1.031225 +v 3.700681 0.470932 -1.031007 +v 0.827798 -0.067979 -1.066971 +v -0.249634 0.075702 -1.103153 +v 3.664699 0.506960 -1.067189 +v -0.321598 2.122835 -0.815440 +v 1.725726 1.583924 -1.103153 +v 3.664699 0.040103 1.051648 +v 3.413231 2.050780 0.979719 +v 0.971725 2.086808 0.800116 +f 139 131 156 +f 118 117 119 +f 118 119 122 +f 119 117 124 +f 122 119 125 +f 117 118 128 +f 124 126 129 +f 124 117 130 +f 126 124 130 +f 128 122 131 +f 128 118 132 +f 122 128 132 +f 120 134 135 +f 120 129 137 +f 129 126 137 +f 134 120 137 +f 126 134 137 +f 120 135 138 +f 135 121 138 +f 125 133 139 +f 136 116 139 +f 121 128 140 +f 128 131 140 +f 116 138 140 +f 138 121 140 +f 139 116 140 +f 127 133 141 +f 133 125 141 +f 116 136 142 +f 138 116 142 +f 120 138 142 +f 119 124 143 +f 125 119 143 +f 124 129 143 +f 141 125 143 +f 129 141 143 +f 126 123 144 +f 134 126 144 +f 128 121 145 +f 131 139 146 +f 140 131 146 +f 139 140 146 +f 118 122 147 +f 132 118 147 +f 122 132 147 +f 123 121 148 +f 121 135 148 +f 135 134 148 +f 144 123 148 +f 134 144 148 +f 123 126 149 +f 126 130 149 +f 149 130 150 +f 117 128 150 +f 130 117 150 +f 123 149 150 +f 121 123 151 +f 123 128 151 +f 145 121 151 +f 128 145 151 +f 122 125 152 +f 125 131 152 +f 131 122 152 +f 128 123 153 +f 150 128 153 +f 123 150 153 +f 129 120 154 +f 136 127 154 +f 127 141 154 +f 141 129 154 +f 142 136 154 +f 120 142 154 +f 133 127 155 +f 127 136 155 +f 139 133 155 +f 136 139 155 +f 131 125 156 +f 125 139 156 +o convex_5 +v -2.943392 0.183313 0.261532 +v -3.661692 -2.043304 -0.277109 +v -3.517905 -2.043304 -0.277109 +v -3.266753 0.470746 -0.241166 +v -3.553905 0.470746 0.333355 +v -2.943392 -2.043304 0.225589 +v -3.087179 -1.935517 -0.277109 +v -3.553905 -1.971446 0.189709 +v -3.661692 0.470746 -0.205222 +v -3.015321 0.470746 -0.241166 +v -2.943392 0.470746 0.369361 +v -3.553905 0.003422 0.333355 +v -3.015321 -1.863658 0.261532 +v -3.661692 -1.648084 -0.133399 +v -2.979321 -0.427481 -0.097520 +v -3.661692 0.470746 -0.097520 +v -3.122967 -1.145323 -0.277109 +v -3.589763 -1.971446 0.153766 +v -3.230754 0.434571 0.369361 +v -2.943392 -2.043304 0.189709 +v -3.625763 -2.043304 -0.061577 +f 174 170 177 +f 158 159 162 +f 159 158 163 +f 160 158 165 +f 161 160 165 +f 160 161 166 +f 162 157 167 +f 157 166 167 +f 166 161 167 +f 164 162 169 +f 162 167 169 +f 168 164 169 +f 165 158 170 +f 166 157 171 +f 163 166 171 +f 161 165 172 +f 168 161 172 +f 165 170 172 +f 170 168 172 +f 158 160 173 +f 163 158 173 +f 160 166 173 +f 166 163 173 +f 164 168 174 +f 168 170 174 +f 167 161 175 +f 161 168 175 +f 169 167 175 +f 168 169 175 +f 162 159 176 +f 157 162 176 +f 159 163 176 +f 171 157 176 +f 163 171 176 +f 158 162 177 +f 162 164 177 +f 170 158 177 +f 164 174 177 +o convex_6 +v -3.266412 0.470746 -0.241081 +v -3.158738 1.117057 0.620766 +v -2.548327 1.512200 0.584654 +v -3.661692 1.548164 -0.492514 +v -2.548327 1.655940 -0.528514 +v -2.548327 0.542674 0.405107 +v -3.661692 0.578522 0.584654 +v -3.661692 1.655940 0.297334 +v -2.548327 0.578522 -0.456627 +v -3.661692 0.578522 -0.492514 +v -3.661692 1.512200 0.548767 +v -2.548327 0.614487 0.512993 +v -3.553908 0.470746 0.333334 +v -3.087245 1.655940 0.297334 +v -2.907642 0.470746 0.369221 +v -3.517944 1.655940 -0.241081 +v -3.661692 0.470746 -0.205194 +v -2.835714 1.296646 -0.528514 +v -2.548327 1.655940 -0.205194 +v -3.661692 0.973665 0.620766 +v -2.548327 1.117057 0.584654 +v -2.584400 0.542674 -0.348854 +v -3.051281 1.619976 -0.528514 +v -2.548327 0.830040 -0.492514 +v -3.015317 0.470746 -0.241081 +v -2.979353 1.512200 0.584654 +v -2.548327 1.548164 0.512993 +f 185 203 204 +f 182 180 183 +f 181 184 185 +f 182 183 186 +f 184 181 187 +f 185 184 188 +f 183 180 189 +f 182 185 191 +f 183 189 192 +f 189 184 192 +f 190 178 192 +f 184 190 192 +f 181 185 193 +f 185 182 193 +f 187 178 194 +f 184 187 194 +f 178 190 194 +f 190 184 194 +f 180 182 196 +f 182 191 196 +f 184 179 197 +f 188 184 197 +f 180 179 198 +f 179 184 198 +f 189 180 198 +f 184 189 198 +f 186 183 199 +f 183 192 199 +f 187 181 200 +f 181 193 200 +f 193 182 200 +f 182 195 200 +f 195 187 200 +f 182 186 201 +f 186 187 201 +f 195 182 201 +f 187 195 201 +f 178 187 202 +f 187 186 202 +f 192 178 202 +f 186 199 202 +f 199 192 202 +f 179 180 203 +f 185 188 203 +f 197 179 203 +f 188 197 203 +f 191 185 204 +f 180 196 204 +f 196 191 204 +f 203 180 204 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/142/142.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/142/142.urdf new file mode 100644 index 000000000..b8a23af3a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/142/142.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/143/143.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/143/143.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/143/143.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/143/143.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/143/143.obj new file mode 100644 index 000000000..799567275 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/143/143.obj @@ -0,0 +1,582 @@ +o convex_0 +v 2.478563 0.992031 -1.029474 +v 3.410646 0.454416 1.085032 +v 3.338933 0.454416 1.085032 +v 3.338933 2.174699 0.977381 +v 1.403444 2.031093 0.977381 +v 1.403444 0.024452 0.475507 +v 1.403444 2.103003 -0.957778 +v 3.410646 -0.011717 -1.029688 +v 3.410646 2.031307 -1.101384 +v 1.403444 0.024452 -0.922037 +v 1.403444 0.060193 0.977381 +v 3.410646 0.059979 1.085032 +v 3.374691 2.031307 1.013336 +v 3.410646 0.024452 0.833988 +v 2.299573 -0.011717 -0.993733 +v 1.439399 2.066834 0.977381 +v 3.410646 2.067048 -0.886295 +v 1.762014 2.103003 -0.993733 +v 3.087836 0.059979 1.085032 +v 1.546872 0.275282 -0.957778 +v 3.338933 0.418461 -1.065215 +v 3.267022 -0.011717 -0.420162 +v 1.403444 2.103003 -0.420162 +v 3.410646 2.067048 -0.419948 +v 3.338933 1.923655 -1.101384 +v 3.338933 2.174699 0.869943 +v 3.231264 2.174699 0.977381 +v 3.302977 2.103003 1.013336 +v 3.410646 0.848638 1.048863 +v 2.478563 -0.011717 -0.527814 +v 1.905245 2.103003 -0.993733 +v 1.403444 1.134996 -0.957778 +v 2.156145 -0.011717 -0.922037 +v 2.908846 -0.011717 -1.029474 +v 2.729660 0.024452 0.762292 +f 30 22 35 +f 6 5 7 +f 2 8 9 +f 6 7 10 +f 5 6 11 +f 2 3 12 +f 8 2 12 +f 8 12 14 +f 5 3 16 +f 2 9 17 +f 3 5 19 +f 5 11 19 +f 12 3 19 +f 11 14 19 +f 14 12 19 +f 15 10 20 +f 9 8 21 +f 20 1 21 +f 8 14 22 +f 15 8 22 +f 7 5 23 +f 5 16 23 +f 4 13 24 +f 17 4 24 +f 2 17 24 +f 18 9 25 +f 1 20 25 +f 21 1 25 +f 9 21 25 +f 4 17 26 +f 18 7 26 +f 7 23 27 +f 23 16 27 +f 4 26 27 +f 26 7 27 +f 3 2 28 +f 2 13 28 +f 13 4 28 +f 16 3 28 +f 4 27 28 +f 27 16 28 +f 13 2 29 +f 2 24 29 +f 24 13 29 +f 15 22 30 +f 17 9 31 +f 9 18 31 +f 26 17 31 +f 18 26 31 +f 10 7 32 +f 7 18 32 +f 20 10 32 +f 18 25 32 +f 25 20 32 +f 6 10 33 +f 10 15 33 +f 30 6 33 +f 15 30 33 +f 8 15 34 +f 15 20 34 +f 21 8 34 +f 20 21 34 +f 11 6 35 +f 14 11 35 +f 22 14 35 +f 6 30 35 +o convex_1 +v -1.500023 -0.621225 0.547340 +v -2.288374 -0.226855 -0.384439 +v -2.288374 -0.226855 -0.312764 +v -2.180814 -2.018919 0.403989 +v -1.141450 -2.018919 -0.420331 +v -1.141450 0.024126 -0.456114 +v -1.213119 -1.911328 0.547340 +v -2.180814 0.024126 0.439772 +v -2.180814 -1.839533 -0.456114 +v -1.105558 0.024126 0.296422 +v -2.288374 0.024126 -0.527898 +v -2.180814 -2.018919 0.583232 +v -1.213119 0.024126 0.511448 +v -1.141450 -1.588552 -0.456114 +v -1.213119 -2.018919 0.511448 +v -2.216590 -1.839533 0.475664 +v -2.216590 0.024126 0.368097 +v -1.858249 -1.947125 -0.420331 +v -2.216590 -1.624549 -0.456114 +v -1.105558 -0.585228 0.081396 +v -2.001585 -1.552955 0.583232 +v -1.464131 0.024126 -0.492006 +v -1.105558 0.024126 -0.169413 +v -1.464131 0.024126 0.511448 +v -2.180814 -0.298650 0.475664 +v -1.392463 -2.018919 -0.420331 +v -2.216590 -0.083466 -0.527898 +v -2.180814 -1.911328 -0.312764 +v -1.822357 -2.018919 0.583232 +v -1.141450 -2.018919 -0.312764 +v -2.180814 -1.732141 0.583232 +v -1.213119 -1.552955 0.547340 +f 64 42 67 +f 41 43 45 +f 37 38 46 +f 43 41 46 +f 39 40 47 +f 45 43 48 +f 40 44 49 +f 45 42 50 +f 47 40 50 +f 38 37 51 +f 39 47 51 +f 46 38 52 +f 43 46 52 +f 38 51 52 +f 37 46 54 +f 46 44 54 +f 51 37 54 +f 45 50 55 +f 46 41 57 +f 41 49 57 +f 41 45 58 +f 40 49 58 +f 49 41 58 +f 45 55 58 +f 55 40 58 +f 36 48 59 +f 48 43 59 +f 56 36 59 +f 43 52 60 +f 59 43 60 +f 40 39 61 +f 44 40 61 +f 39 53 61 +f 53 44 61 +f 44 46 62 +f 49 44 62 +f 46 57 62 +f 57 49 62 +f 39 51 63 +f 53 39 63 +f 44 53 63 +f 54 44 63 +f 51 54 63 +f 50 42 64 +f 47 50 64 +f 36 56 64 +f 56 47 64 +f 50 40 65 +f 40 55 65 +f 55 50 65 +f 51 47 66 +f 52 51 66 +f 47 56 66 +f 56 59 66 +f 59 60 66 +f 60 52 66 +f 42 45 67 +f 48 36 67 +f 45 48 67 +f 36 64 67 +o convex_2 +v 1.403444 -2.484460 0.977405 +v -0.782972 -3.990233 -0.993603 +v -0.531928 -3.990233 -1.029390 +v -0.747017 -0.083403 -1.065177 +v -0.747017 -0.083403 1.012982 +v 1.331748 -0.083403 -0.922030 +v 1.403444 -3.953959 -1.101384 +v -0.567883 -3.882182 0.941408 +v 1.367489 -0.083403 0.977405 +v 1.403444 -3.990233 1.049189 +v -0.639580 -3.882182 0.905621 +v -0.030268 -4.025736 0.332191 +v 1.367489 -0.585842 -0.957816 +v -0.747017 -0.836676 1.012982 +v -0.782972 -0.083403 -0.205031 +v -0.316839 -0.083789 -1.065177 +v -0.747017 -1.696842 -1.065177 +v 1.403444 -3.990233 -0.742885 +v 1.403444 -3.524069 -1.101384 +v 0.220776 -0.083789 1.012982 +v 1.116659 -3.989847 1.049189 +v 0.973266 -3.953959 -1.101384 +v 1.403444 -3.272849 1.049189 +v -0.782972 -0.226957 -0.706888 +v 0.865615 -4.025736 0.583119 +v -0.711276 -1.302454 1.012982 +v 1.403444 -2.914736 -1.065387 +v 1.331748 -0.406400 -0.957816 +v 0.184821 -4.025736 0.117050 +v 1.367489 -0.083403 0.475549 +v -0.747017 -3.953959 -0.455960 +v 0.328000 -3.989847 -1.065177 +v -0.782972 -3.918070 -0.922030 +v -0.747017 -3.452291 -1.029390 +v 0.937311 -3.989847 1.013192 +f 92 88 102 +f 71 72 73 +f 73 72 76 +f 74 68 77 +f 78 69 79 +f 75 78 79 +f 72 71 82 +f 81 72 82 +f 71 73 83 +f 69 71 84 +f 74 77 85 +f 68 74 86 +f 71 83 86 +f 76 72 87 +f 72 81 88 +f 70 84 89 +f 84 71 89 +f 86 74 89 +f 71 86 89 +f 68 76 90 +f 77 68 90 +f 87 72 90 +f 76 87 90 +f 88 77 90 +f 72 88 90 +f 71 69 91 +f 69 82 91 +f 82 71 91 +f 85 77 92 +f 77 88 92 +f 78 75 93 +f 81 78 93 +f 75 88 93 +f 88 81 93 +f 68 86 94 +f 86 80 94 +f 73 80 95 +f 83 73 95 +f 80 86 95 +f 86 83 95 +f 69 70 96 +f 79 69 96 +f 85 92 96 +f 92 79 96 +f 76 68 97 +f 73 76 97 +f 80 73 97 +f 68 94 97 +f 94 80 97 +f 69 78 98 +f 78 81 98 +f 74 85 99 +f 70 89 99 +f 89 74 99 +f 96 70 99 +f 85 96 99 +f 82 69 100 +f 81 82 100 +f 69 98 100 +f 98 81 100 +f 70 69 101 +f 84 70 101 +f 69 84 101 +f 75 79 102 +f 88 75 102 +f 79 92 102 +o convex_3 +v -0.711063 0.095857 -1.101384 +v -0.460237 2.102863 1.120875 +v -0.782972 2.102863 1.120875 +v -0.747018 -0.083403 1.049091 +v 1.403413 2.102863 -0.957816 +v 1.367458 -0.083403 0.977307 +v -0.782972 2.138670 -1.029600 +v 1.331717 -0.083403 -0.921924 +v 1.403413 2.031026 0.977307 +v -0.782972 -0.083403 -0.671115 +v 0.686460 2.174699 -0.205172 +v 1.403413 0.024462 -0.921924 +v -0.603627 2.138670 -1.065492 +v -0.747018 -0.083403 -1.065492 +v -0.066020 2.174699 0.296229 +v 1.403413 0.060270 0.977307 +v -0.782972 0.095857 1.049091 +v 1.116632 2.067055 1.012982 +v -0.531932 2.174699 -0.886250 +v 1.403413 1.350014 -0.957816 +v 1.403413 2.067055 0.762172 +v 0.829636 2.174699 -0.491873 +v -0.782972 0.131665 -1.101384 +v 0.614765 -0.083403 -0.993491 +v -0.603627 1.815958 1.120875 +v 1.224067 1.959410 1.012982 +v -0.675322 0.239309 -1.101384 +v 0.543069 2.138670 -0.993491 +v -0.782972 2.067055 -1.065492 +v 1.403413 2.102863 -0.384414 +v -0.281105 -0.083403 -1.065492 +f 103 129 133 +f 108 106 110 +f 105 109 112 +f 110 106 112 +f 108 110 114 +f 107 111 114 +f 110 112 116 +f 105 104 117 +f 104 108 118 +f 108 114 118 +f 114 111 118 +f 106 105 119 +f 105 112 119 +f 112 106 119 +f 117 104 120 +f 113 117 120 +f 109 105 121 +f 115 109 121 +f 105 117 121 +f 117 113 121 +f 107 114 122 +f 111 107 123 +f 120 111 123 +f 113 120 123 +f 121 113 124 +f 113 123 124 +f 112 109 125 +f 103 116 125 +f 116 112 125 +f 114 110 126 +f 110 116 126 +f 122 114 126 +f 104 105 127 +f 105 106 127 +f 108 104 127 +f 106 108 127 +f 104 118 128 +f 118 111 128 +f 111 120 128 +f 120 104 128 +f 115 107 129 +f 107 122 129 +f 103 125 129 +f 107 115 130 +f 115 121 130 +f 124 107 130 +f 121 124 130 +f 109 115 131 +f 125 109 131 +f 115 129 131 +f 129 125 131 +f 123 107 132 +f 107 124 132 +f 124 123 132 +f 116 103 133 +f 126 116 133 +f 122 126 133 +f 129 122 133 +o convex_4 +v -1.607387 2.174699 0.798282 +v -2.790174 0.024126 -1.101384 +v -2.790174 0.095910 -1.101384 +v -0.782972 0.131907 -1.101384 +v -0.782972 0.095910 1.049091 +v -0.782972 2.138702 -1.029600 +v -2.682505 2.138492 1.084983 +v -2.682505 0.060123 0.977307 +v -2.610792 2.031131 -0.957816 +v -0.782972 2.102705 1.120875 +v -2.790174 1.314133 -0.205172 +v -1.105783 0.024126 -0.169280 +v -2.180705 2.174699 -0.491655 +v -0.818928 2.066918 -1.065492 +v -2.252419 0.024126 0.833956 +v -1.069828 2.174699 0.439797 +v -2.646747 1.887774 1.084983 +v -2.539078 2.174699 0.941633 +v -1.249014 0.024126 0.654714 +v -2.646747 1.959558 -0.886250 +v -2.790174 0.024126 -0.742899 +v -1.249014 0.024126 -0.527765 +v -2.718461 1.959558 0.798064 +v -1.069828 2.174699 -0.563657 +v -2.682505 2.138492 0.654714 +v -2.288374 0.024126 -1.101384 +v -2.718461 0.024126 0.475471 +v -1.105783 2.031131 1.120875 +v -2.073232 2.067129 -0.993708 +v -0.890641 0.095910 1.049091 +v -1.105783 2.138492 -1.029600 +v -0.782972 0.095910 -0.241064 +v -2.790174 0.239267 -1.065275 +v -0.782972 0.275264 -1.101384 +v -1.786573 0.060123 1.013199 +v -2.718461 0.167694 -1.101384 +v -2.646747 1.637056 -0.993708 +f 147 169 170 +f 135 136 137 +f 138 137 139 +f 138 139 143 +f 136 135 144 +f 135 145 148 +f 134 143 149 +f 143 139 149 +f 146 134 149 +f 140 141 150 +f 143 134 151 +f 140 143 151 +f 134 146 151 +f 145 138 152 +f 148 145 152 +f 144 135 154 +f 135 148 154 +f 145 135 155 +f 137 145 155 +f 141 140 156 +f 144 141 156 +f 149 139 157 +f 146 149 157 +f 146 142 158 +f 140 151 158 +f 151 146 158 +f 142 153 158 +f 153 144 158 +f 156 140 158 +f 144 156 158 +f 135 137 159 +f 155 135 159 +f 137 155 159 +f 141 144 160 +f 148 141 160 +f 144 154 160 +f 154 148 160 +f 138 143 161 +f 143 140 161 +f 140 150 161 +f 142 146 162 +f 138 161 163 +f 161 150 163 +f 139 147 164 +f 157 139 164 +f 146 157 164 +f 162 146 164 +f 147 162 164 +f 137 138 165 +f 145 137 165 +f 138 145 165 +f 136 144 166 +f 144 153 166 +f 137 136 167 +f 139 137 167 +f 147 139 167 +f 141 148 168 +f 150 141 168 +f 152 138 168 +f 148 152 168 +f 138 163 168 +f 163 150 168 +f 167 136 169 +f 147 167 169 +f 153 142 170 +f 142 162 170 +f 162 147 170 +f 136 166 170 +f 166 153 170 +f 169 136 170 +o convex_5 +v -1.069715 2.712455 -0.527849 +v -2.288255 4.002519 0.403954 +v -2.288255 4.002519 0.475507 +v -2.180666 2.174699 0.439846 +v -1.105737 4.074233 0.511514 +v -2.216569 4.002519 -0.456181 +v -1.069835 2.174699 0.475507 +v -2.180666 2.174699 -0.491957 +v -1.105737 4.038277 -0.563741 +v -2.144883 2.174699 0.619075 +v -1.069835 2.174699 -0.563741 +v -2.288255 4.181901 0.511514 +v -1.571635 3.285773 -0.563741 +v -1.249109 3.787377 0.547291 +v -1.177423 4.074233 -0.491957 +v -2.037295 2.318324 -0.527849 +v -2.073197 4.181901 0.332170 +v -2.037295 2.389841 0.619075 +v -1.069715 2.999114 0.045497 +v -2.216569 2.604982 -0.240944 +v -2.216569 4.038277 -0.420173 +v -1.392480 4.038277 -0.563741 +v -2.216569 3.285773 -0.456181 +v -2.180666 2.246413 0.619075 +v -2.180666 3.715860 0.547291 +v -2.037295 2.174699 0.619075 +v -2.288255 4.181901 0.368062 +v -1.356578 4.110188 0.511514 +v -1.069715 2.855883 0.475622 +v -1.105737 3.142542 0.511514 +f 199 175 200 +f 177 174 178 +f 174 177 180 +f 171 177 181 +f 177 178 181 +f 179 171 181 +f 172 173 182 +f 179 181 183 +f 175 179 185 +f 178 176 186 +f 181 178 186 +f 176 183 186 +f 183 181 186 +f 171 179 189 +f 179 175 189 +f 173 172 190 +f 174 173 190 +f 178 174 190 +f 183 176 192 +f 179 183 192 +f 185 179 192 +f 176 191 192 +f 191 185 192 +f 176 178 193 +f 190 172 193 +f 178 190 193 +f 173 174 194 +f 174 180 194 +f 182 173 194 +f 180 188 194 +f 194 188 195 +f 184 182 195 +f 188 184 195 +f 182 194 195 +f 180 177 196 +f 188 180 196 +f 184 188 196 +f 172 182 197 +f 182 187 197 +f 187 185 197 +f 191 176 197 +f 185 191 197 +f 193 172 197 +f 176 193 197 +f 184 175 198 +f 182 184 198 +f 175 185 198 +f 187 182 198 +f 185 187 198 +f 177 171 199 +f 171 189 199 +f 189 175 199 +f 175 184 200 +f 196 177 200 +f 184 196 200 +f 177 199 200 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/143/143.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/143/143.urdf new file mode 100644 index 000000000..882814687 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/143/143.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/144/144.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/144/144.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/144/144.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/144/144.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/144/144.obj new file mode 100644 index 000000000..4694b7c6d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/144/144.obj @@ -0,0 +1,567 @@ +o convex_0 +v -0.118999 -1.540277 -3.014099 +v 0.363455 -0.929157 -2.370971 +v 0.331256 -0.929157 -1.792450 +v -0.215463 -0.929157 -2.981893 +v -0.279795 -1.540277 -1.116727 +v -0.311993 -0.961340 -1.116727 +v 0.234726 -1.411604 -1.116727 +v 0.234726 -1.475911 -3.110714 +v 0.363455 -0.929157 -3.046304 +v 0.331256 -0.961340 -1.116727 +v -0.215463 -1.540277 -2.596017 +v -0.151131 -1.540277 -1.116727 +v -0.247662 -0.993523 -2.853268 +v -0.311993 -1.347238 -1.149128 +v 0.363455 -0.993523 -2.628222 +v -0.183330 -1.540277 -3.014099 +v 0.138195 -1.379361 -3.110714 +v 0.331256 -1.057829 -1.181333 +v 0.234726 -1.475911 -2.724643 +f 18 7 19 +f 3 2 4 +f 3 4 6 +f 6 5 7 +f 4 2 9 +f 2 3 10 +f 3 6 10 +f 6 7 10 +f 1 5 11 +f 5 1 12 +f 7 5 12 +f 6 4 13 +f 13 11 14 +f 5 6 14 +f 11 5 14 +f 6 13 14 +f 9 2 15 +f 8 9 15 +f 8 1 16 +f 1 11 16 +f 13 4 16 +f 11 13 16 +f 4 9 17 +f 9 8 17 +f 16 4 17 +f 8 16 17 +f 2 10 18 +f 10 7 18 +f 15 2 18 +f 15 18 19 +f 1 8 19 +f 12 1 19 +f 7 12 19 +f 8 15 19 +o convex_1 +v 0.266874 3.831149 -0.055276 +v 0.009649 3.380850 -0.312621 +v -0.279817 3.380850 -0.280375 +v 0.234698 3.380850 0.266335 +v -0.311993 3.798959 0.169766 +v -0.279817 3.895477 -0.216110 +v -0.279817 3.380850 0.201899 +v 0.331291 3.766820 -0.216110 +v 0.331291 3.734631 0.234088 +v 0.234698 3.380850 -0.312621 +v -0.022465 3.509506 0.266335 +f 23 28 30 +f 22 21 23 +f 22 24 25 +f 21 22 25 +f 24 20 25 +f 22 23 26 +f 24 22 26 +f 25 20 27 +f 20 24 28 +f 27 20 28 +f 27 28 29 +f 23 21 29 +f 21 25 29 +f 25 27 29 +f 28 23 29 +f 26 23 30 +f 24 26 30 +f 28 24 30 +o convex_2 +v -0.311949 -1.090041 2.839174 +v 0.363455 -0.993573 1.167128 +v 0.363455 -1.025687 1.167128 +v -0.344158 -1.443671 1.102797 +v 0.299108 -1.475911 3.032168 +v 0.202621 -1.572441 1.102797 +v -0.279810 -0.929157 1.102797 +v 0.138205 -0.993573 2.935767 +v -0.247533 -1.443671 3.064430 +v -0.311949 -0.929157 3.000099 +v 0.234761 -1.025687 2.935767 +v 0.234761 -0.961396 1.102797 +v 0.138205 -1.572441 1.135058 +v 0.073927 -1.475911 3.064430 +v 0.266830 -1.186571 3.000099 +v -0.215463 -0.929157 2.967837 +v 0.299108 -0.993573 2.131718 +v -0.344158 -1.315027 1.295791 +v 0.234761 -1.540201 1.456716 +f 35 36 49 +f 33 32 35 +f 36 34 37 +f 31 34 39 +f 31 39 40 +f 38 40 41 +f 32 33 42 +f 33 36 42 +f 36 37 42 +f 36 35 43 +f 34 36 43 +f 39 34 43 +f 39 43 44 +f 40 39 44 +f 43 35 44 +f 40 44 45 +f 35 32 45 +f 41 40 45 +f 44 35 45 +f 37 40 46 +f 40 38 46 +f 42 37 46 +f 42 46 47 +f 38 41 47 +f 32 42 47 +f 45 32 47 +f 41 45 47 +f 46 38 47 +f 34 31 48 +f 37 34 48 +f 31 40 48 +f 40 37 48 +f 33 35 49 +f 36 33 49 +o convex_3 +v -1.180624 2.544605 0.587977 +v -3.045842 2.222937 -0.602100 +v -3.045842 2.222937 -0.441225 +v -2.981402 3.380850 -0.473377 +v -0.344268 3.380850 -0.505528 +v -2.981402 3.220016 0.555592 +v -0.344268 2.287316 -0.505528 +v -0.344268 3.220016 0.523557 +v -2.949183 2.319619 0.587977 +v -0.344268 2.287316 0.491405 +v -0.344268 2.222937 0.201924 +v -3.110281 2.544605 0.169656 +v -2.981402 3.251979 0.491405 +v -0.376487 2.287316 -0.537680 +v -0.344268 2.319619 0.555709 +v -3.045842 2.383771 -0.602100 +v -2.531140 2.287316 0.523557 +v -1.984490 3.380850 -0.505528 +v -3.077791 2.930424 -0.280350 +v -2.595309 2.222937 -0.602100 +v -0.344268 2.994690 0.555709 +v -2.981402 3.380850 -0.376922 +v -2.949183 2.769817 0.587977 +v -0.826750 3.380850 -0.441225 +v -0.987577 2.319619 0.587977 +v -3.013622 3.187713 0.491405 +v -3.110281 2.416074 -0.312618 +v -1.116185 2.255127 -0.537680 +v -2.981402 3.220016 -0.505528 +v -2.273925 3.220016 0.555592 +v -3.077791 2.448150 0.266111 +f 61 76 80 +f 56 54 57 +f 56 57 59 +f 52 51 60 +f 56 59 60 +f 54 56 63 +f 56 60 63 +f 59 57 64 +f 58 52 66 +f 60 59 66 +f 52 60 66 +f 53 54 67 +f 54 65 67 +f 53 65 68 +f 60 51 69 +f 54 63 69 +f 65 54 69 +f 51 65 69 +f 64 57 70 +f 54 53 71 +f 53 68 71 +f 58 50 72 +f 55 58 72 +f 50 70 72 +f 57 54 73 +f 62 57 73 +f 54 71 73 +f 71 62 73 +f 50 58 74 +f 59 64 74 +f 58 66 74 +f 66 59 74 +f 70 50 74 +f 64 70 74 +f 58 55 75 +f 55 62 75 +f 68 61 75 +f 62 71 75 +f 71 68 75 +f 51 52 76 +f 65 51 76 +f 61 68 76 +f 68 65 76 +f 63 60 77 +f 60 69 77 +f 69 63 77 +f 65 53 78 +f 53 67 78 +f 67 65 78 +f 57 62 79 +f 62 55 79 +f 70 57 79 +f 55 72 79 +f 72 70 79 +f 52 58 80 +f 58 75 80 +f 75 61 80 +f 76 52 80 +o convex_4 +v -1.116099 1.386013 0.073318 +v 0.491948 -0.286832 1.102604 +v 0.588504 -0.125807 1.102387 +v 0.974512 -4.241990 -1.051989 +v -0.955102 -4.209785 1.102604 +v -1.019543 -4.177580 -1.116727 +v 1.006626 1.804680 -0.955752 +v 1.038740 -4.144767 0.941629 +v -1.083771 1.900688 -1.116727 +v -1.051657 1.868482 0.941629 +v 1.071068 1.708064 1.038084 +v 0.331165 -0.961925 -1.116727 +v 0.266937 1.901295 0.330531 +v -1.116099 1.322210 0.941629 +v -0.922988 -4.306400 -1.116727 +v 1.071068 1.708064 0.298379 +v 1.006626 -4.209785 -0.730473 +v -0.279640 -0.929720 1.102604 +v 1.071068 -2.247701 0.973781 +v -0.440638 -4.209177 1.070235 +v -1.116099 1.868482 -0.601867 +v 1.006626 -1.506982 -1.020055 +v -0.987430 -4.274195 0.009014 +v 0.974512 -4.241990 -0.730690 +v 0.942185 1.739662 1.038084 +v -0.890874 1.869090 -1.116727 +v 0.202496 -1.572000 1.102604 +v 0.299051 1.901295 -0.216047 +v -1.116099 1.771867 0.941629 +v -1.083771 0.035219 -1.116727 +v 0.234823 -4.274195 -1.084358 +v 1.038740 -4.176972 0.523441 +v 0.749287 1.771867 -0.987903 +v -0.955102 -3.855528 1.102604 +v 1.071068 1.740269 0.909477 +v -0.858760 -4.306400 -0.762842 +v 1.038740 1.772475 -0.473260 +v -1.019543 -4.209785 -1.020055 +v -1.116099 1.064569 0.587744 +v -0.311968 1.901295 0.234076 +v 0.845843 1.836277 -0.601867 +v 0.588504 1.836277 -0.987903 +v -0.987430 -3.180435 1.070235 +v 1.071068 -2.215496 0.909477 +v -0.794318 -4.209177 1.102604 +v 0.749287 -4.080964 0.973781 +v -0.858760 -4.241990 0.716568 +v 0.877957 0.871338 1.070235 +v -0.858760 1.869090 0.941629 +v -1.116099 1.868482 0.909477 +v 0.974512 -3.469674 -1.051989 +v 1.038740 -4.176972 0.298162 +v 1.006626 0.453279 -0.987903 +v 0.427721 -4.274195 -1.020055 +v -1.083771 1.900688 -0.666170 +f 130 120 135 +f 86 89 92 +f 86 92 95 +f 82 83 98 +f 85 82 98 +f 83 88 99 +f 96 91 99 +f 81 94 101 +f 97 84 102 +f 96 97 102 +f 84 97 104 +f 98 83 105 +f 90 98 105 +f 92 89 106 +f 83 82 107 +f 82 85 107 +f 88 83 107 +f 94 85 109 +f 98 90 109 +f 101 94 109 +f 86 81 110 +f 89 86 110 +f 81 101 110 +f 101 89 110 +f 92 84 111 +f 95 92 111 +f 99 88 112 +f 88 100 112 +f 100 104 112 +f 104 97 112 +f 87 92 113 +f 92 106 113 +f 85 98 114 +f 109 85 114 +f 98 109 114 +f 91 96 115 +f 105 91 115 +f 93 105 115 +f 103 95 116 +f 96 102 117 +f 87 115 117 +f 115 96 117 +f 86 95 118 +f 95 103 118 +f 81 86 119 +f 94 81 119 +f 86 118 119 +f 118 94 119 +f 90 93 120 +f 108 89 120 +f 93 108 120 +f 87 108 121 +f 108 93 121 +f 115 87 121 +f 93 115 121 +f 106 89 122 +f 108 87 122 +f 89 108 122 +f 87 113 122 +f 113 106 122 +f 85 94 123 +f 103 85 123 +f 94 118 123 +f 118 103 123 +f 97 96 124 +f 96 99 124 +f 100 88 125 +f 107 85 125 +f 107 125 126 +f 88 107 126 +f 125 88 126 +f 85 103 127 +f 104 100 127 +f 103 116 127 +f 100 125 127 +f 125 85 127 +f 83 99 128 +f 99 91 128 +f 91 105 128 +f 105 83 128 +f 93 90 129 +f 105 93 129 +f 90 105 129 +f 89 101 130 +f 109 90 130 +f 101 109 130 +f 90 120 130 +f 84 92 131 +f 102 84 131 +f 92 102 131 +f 99 112 132 +f 112 97 132 +f 97 124 132 +f 124 99 132 +f 92 87 133 +f 102 92 133 +f 87 117 133 +f 117 102 133 +f 84 104 134 +f 111 84 134 +f 95 111 134 +f 116 95 134 +f 104 127 134 +f 127 116 134 +f 120 89 135 +f 89 130 135 +o convex_5 +v -0.311993 2.029952 0.041160 +v 0.363455 2.158609 0.362827 +v 0.299124 2.158609 0.362827 +v -0.183330 2.158609 -0.344786 +v 0.299124 1.901295 -0.216091 +v 0.106063 1.901295 0.330619 +v -0.247662 1.901295 -0.344786 +v -0.279795 2.158609 0.234133 +v 0.299124 2.158609 -0.216091 +v -0.311993 1.901295 0.234133 +v 0.266859 1.901295 0.330619 +v -0.279795 2.158609 -0.312577 +f 136 143 147 +f 138 137 139 +f 137 138 141 +f 139 140 142 +f 140 141 142 +f 138 139 143 +f 141 138 143 +f 139 137 144 +f 140 139 144 +f 137 140 144 +f 136 142 145 +f 142 141 145 +f 143 136 145 +f 141 143 145 +f 140 137 146 +f 137 141 146 +f 141 140 146 +f 142 136 147 +f 139 142 147 +f 143 139 147 +o convex_6 +v 0.620618 2.898269 0.555812 +v -0.344158 2.223088 0.137583 +v -0.344158 2.223088 0.201918 +v -0.344158 3.380849 -0.505443 +v 0.813754 2.319628 -0.473436 +v 0.813754 3.380849 -0.537771 +v -0.344158 3.219830 0.523592 +v 0.813754 2.319628 0.555812 +v -0.344158 2.287448 -0.505443 +v 0.813754 3.219830 0.523592 +v -0.344158 2.319628 0.555812 +v 0.202722 3.380849 0.298474 +v 0.363329 2.158848 0.362808 +v -0.183324 2.158848 -0.344660 +v 0.813754 2.223088 0.234139 +v 0.298950 2.158848 -0.248104 +v -0.279666 3.380849 0.201918 +v -0.311968 2.158848 0.201918 +v 0.749262 2.319628 -0.505443 +v -0.118945 3.348550 -0.537771 +v 0.813754 3.316370 0.201918 +v -0.344158 2.994690 0.555812 +f 154 158 169 +f 149 150 151 +f 151 150 154 +f 152 153 155 +f 149 151 156 +f 148 155 157 +f 155 153 157 +f 154 150 158 +f 155 148 158 +f 153 151 159 +f 154 157 159 +f 155 158 160 +f 152 155 162 +f 155 160 162 +f 160 161 163 +f 162 160 163 +f 152 162 163 +f 151 154 164 +f 159 151 164 +f 154 159 164 +f 150 149 165 +f 149 156 165 +f 158 150 165 +f 160 158 165 +f 156 161 165 +f 161 160 165 +f 153 152 166 +f 161 156 166 +f 152 163 166 +f 163 161 166 +f 151 153 167 +f 156 151 167 +f 153 166 167 +f 166 156 167 +f 157 153 168 +f 153 159 168 +f 159 157 168 +f 148 157 169 +f 157 154 169 +f 158 148 169 +o convex_7 +v 2.550641 2.287316 0.459282 +v 2.486039 3.380850 -0.473405 +v 2.486039 3.380850 -0.569935 +v 0.813754 2.222937 0.266221 +v 0.813754 3.220016 0.523526 +v 0.813754 2.319619 -0.473405 +v 3.065225 2.351695 -0.408941 +v 3.033035 3.252092 0.491349 +v 0.813754 3.380850 -0.537759 +v 3.065225 3.380736 -0.569935 +v 0.813754 2.319619 0.555813 +v 2.936467 2.319506 0.523636 +v 0.813754 3.316471 0.169691 +v 1.843145 2.319619 -0.473405 +v 3.097414 2.544718 -0.119570 +v 2.582831 3.155524 0.523636 +v 3.065225 3.219903 -0.569935 +v 1.264183 2.222937 0.394818 +v 1.875111 3.316471 -0.569935 +v 2.807710 3.380736 -0.408941 +v 3.065225 2.383884 -0.441228 +v 0.846167 2.705552 0.555813 +v 3.000846 2.737628 0.523636 +v 1.296372 3.284168 0.394818 +v 3.065225 3.284281 0.234044 +v 3.033035 2.512529 0.362752 +v 3.097414 2.383884 -0.344698 +v 1.231993 2.319619 0.555813 +f 181 192 197 +f 173 174 175 +f 171 172 178 +f 175 174 178 +f 172 171 179 +f 174 173 180 +f 170 176 181 +f 178 174 182 +f 173 175 183 +f 177 174 185 +f 172 179 186 +f 183 175 186 +f 176 170 187 +f 180 173 187 +f 170 181 187 +f 173 183 187 +f 183 176 187 +f 178 172 188 +f 175 178 188 +f 172 186 188 +f 186 175 188 +f 171 178 189 +f 179 171 189 +f 178 182 189 +f 176 183 190 +f 183 186 190 +f 174 180 191 +f 185 174 191 +f 185 191 192 +f 177 185 192 +f 174 177 193 +f 182 174 193 +f 177 189 193 +f 189 182 193 +f 184 179 194 +f 177 184 194 +f 179 189 194 +f 189 177 194 +f 184 177 195 +f 192 181 195 +f 177 192 195 +f 181 176 196 +f 179 184 196 +f 186 179 196 +f 176 190 196 +f 190 186 196 +f 195 181 196 +f 184 195 196 +f 180 187 197 +f 187 181 197 +f 191 180 197 +f 192 191 197 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/144/144.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/144/144.urdf new file mode 100644 index 000000000..052c49952 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/144/144.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/145/145.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/145/145.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/145/145.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/145/145.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/145/145.obj new file mode 100644 index 000000000..1b60a0046 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/145/145.obj @@ -0,0 +1,804 @@ +o convex_0 +v 1.490153 -1.359950 -0.091978 +v -1.060343 0.330705 -0.378663 +v -1.060343 0.330705 -0.292658 +v -0.315117 -3.307835 -0.034641 +v 0.028910 0.359766 0.968141 +v 1.260718 0.359374 -0.922954 +v 0.400899 -2.820864 -0.837154 +v 1.203547 -2.476842 0.738793 +v 1.461442 0.359374 0.738793 +v -0.400999 -2.591516 0.738793 +v -0.372538 -0.385614 -1.009165 +v 1.232008 -3.021543 -0.120647 +v -1.031632 0.359374 0.423440 +v -0.372538 -2.476842 -0.779817 +v 0.458320 -3.652250 0.022286 +v 1.232008 -2.333500 -0.779817 +v 0.659045 -0.643630 1.025478 +v 1.490153 0.359374 -0.722480 +v 0.544452 -0.643630 -1.066502 +v 0.458320 -2.906869 0.796130 +v -0.343827 -0.557625 0.968141 +v -0.372538 0.359374 -0.951623 +v -0.601723 -2.218826 -0.177984 +v 1.203547 -0.414675 0.968141 +v 1.461442 -1.159270 0.595451 +v 1.232008 -0.500288 -0.980291 +v 1.490153 -0.987259 -0.579138 +v -0.372538 0.359374 0.939268 +v 1.232008 -3.078880 0.022286 +v 0.458320 -2.906869 -0.808485 +v 1.146126 0.359374 0.910599 +v 0.171964 -0.615355 1.025478 +v 1.490153 0.359374 0.681456 +v -0.343827 -3.279560 -0.091978 +v 0.200674 0.187756 -1.009165 +v 0.487031 -3.652250 -0.034641 +v -0.716316 0.359374 -0.751148 +v 0.257846 -0.586686 -1.066502 +v -0.400999 -2.734859 0.595451 +v 1.232008 -2.419505 -0.751148 +v 0.773637 0.359374 -0.980496 +v 0.515742 -0.356946 1.025478 +v -0.400999 -2.390837 0.767257 +v 0.400899 -2.906869 -0.808485 +v 0.286307 -3.594913 -0.063105 +v 0.429610 -0.872978 1.025478 +v 1.432732 -0.127598 0.767257 +v 1.203547 -2.304831 0.767257 +v 1.490153 -1.417287 0.022286 +v -1.031632 0.330705 0.423440 +v -0.372538 -2.276556 -0.808281 +v 1.117415 -0.442951 -1.009165 +v 1.461442 -0.041985 -0.751148 +v 1.232008 -2.390837 0.738793 +v 0.000200 -2.763527 0.767462 +v 0.343728 -3.566244 0.079623 +v 0.487031 -2.792195 -0.837154 +v 0.515742 -0.442951 -1.066502 +v -0.372538 -2.562848 -0.722480 +v -0.974211 0.330705 0.480777 +v 1.260718 -2.304831 -0.751148 +v -0.315117 -3.279560 -0.120647 +v -0.372538 -3.193161 -0.006382 +v -0.343827 -0.500288 -1.009165 +f 51 11 64 +f 2 3 13 +f 6 5 18 +f 15 8 20 +f 3 2 23 +f 6 18 26 +f 1 12 27 +f 18 1 27 +f 5 13 28 +f 8 15 29 +f 9 5 31 +f 24 9 31 +f 5 28 32 +f 28 21 32 +f 5 9 33 +f 18 5 33 +f 1 18 33 +f 11 22 35 +f 12 29 36 +f 29 15 36 +f 2 13 37 +f 13 5 37 +f 5 22 37 +f 22 11 37 +f 19 7 38 +f 11 35 38 +f 30 16 40 +f 12 36 40 +f 36 30 40 +f 5 6 41 +f 22 5 41 +f 35 22 41 +f 17 24 42 +f 31 5 42 +f 24 31 42 +f 5 32 42 +f 32 17 42 +f 32 21 43 +f 14 7 44 +f 7 30 44 +f 30 36 44 +f 44 36 45 +f 15 4 45 +f 4 34 45 +f 36 15 45 +f 20 17 46 +f 17 32 46 +f 32 43 46 +f 9 24 47 +f 33 9 47 +f 25 33 47 +f 20 8 48 +f 17 20 48 +f 24 17 48 +f 12 1 49 +f 29 12 49 +f 25 29 49 +f 1 33 49 +f 33 25 49 +f 13 3 50 +f 3 23 50 +f 39 10 50 +f 23 39 50 +f 10 43 50 +f 14 2 51 +f 7 14 51 +f 2 37 51 +f 37 11 51 +f 6 26 52 +f 26 16 52 +f 41 6 52 +f 26 18 53 +f 18 27 53 +f 8 29 54 +f 29 25 54 +f 47 24 54 +f 25 47 54 +f 48 8 54 +f 24 48 54 +f 10 39 55 +f 43 10 55 +f 20 46 55 +f 46 43 55 +f 4 15 56 +f 15 20 56 +f 39 4 56 +f 20 55 56 +f 55 39 56 +f 7 19 57 +f 30 7 57 +f 16 30 57 +f 52 16 57 +f 19 52 57 +f 19 38 58 +f 38 35 58 +f 35 41 58 +f 52 19 58 +f 41 52 58 +f 2 14 59 +f 23 2 59 +f 34 23 59 +f 14 44 59 +f 28 13 60 +f 21 28 60 +f 43 21 60 +f 13 50 60 +f 50 43 60 +f 16 26 61 +f 27 12 61 +f 12 40 61 +f 40 16 61 +f 26 53 61 +f 53 27 61 +f 44 45 62 +f 45 34 62 +f 34 59 62 +f 59 44 62 +f 34 4 63 +f 23 34 63 +f 4 39 63 +f 39 23 63 +f 38 7 64 +f 11 38 64 +f 7 51 64 +o convex_1 +v -2.980570 0.875611 -0.206761 +v -2.493411 1.935809 0.022474 +v -2.493411 1.935809 -0.063464 +v -4.585186 1.391481 0.050952 +v -2.493411 0.933060 0.509524 +v -2.493411 1.505953 -0.493356 +v -3.610867 1.735217 0.423485 +v -3.639535 1.763888 -0.435997 +v -3.925810 0.961731 -0.350059 +v -3.897347 1.018967 0.395007 +v -2.493411 0.875718 -0.464677 +v -2.493411 1.706545 0.452165 +v -4.241164 1.763888 0.022474 +v -4.269832 1.362916 -0.407317 +v -3.696667 1.391481 0.538305 +v -4.298501 1.391481 0.423485 +v -3.754004 1.305574 -0.493356 +v -2.493411 1.763781 -0.435997 +v -3.439061 1.907244 -0.006105 +v -4.126490 0.990403 0.050952 +v -2.521874 0.847046 0.136991 +v -2.493411 1.477282 0.538305 +v -3.295718 1.018967 0.538305 +v -4.327169 1.735217 -0.063464 +v -2.521874 1.821124 0.395007 +v -4.384301 1.334245 -0.378537 +v -4.527644 1.276902 0.022474 +v -3.439061 1.104981 -0.493356 +v -4.155158 1.677874 0.280389 +v -3.582198 1.792453 0.366227 +v -4.155158 1.649203 -0.321379 +v -3.439061 0.961731 0.395007 +v -4.298501 1.334245 0.423485 +v -3.954479 0.961731 0.022474 +v -4.327169 1.735217 0.050952 +v -3.639535 1.878573 -0.092144 +v -2.579211 0.847046 -0.378537 +v -3.267050 0.933060 -0.464677 +v -2.493411 0.961731 -0.493356 +v -3.639535 1.477282 -0.493356 +v -2.493411 1.821124 -0.378537 +v -3.582198 1.534518 0.509524 +v -2.493411 1.047639 0.538305 +v -3.610867 1.878573 0.079632 +v -3.725336 0.933060 -0.350059 +v -4.298501 1.248338 -0.378537 +v -2.493411 0.875718 0.337648 +v -4.585186 1.362916 -0.034784 +v -4.470307 1.334245 0.222929 +v -4.298501 1.448610 0.395007 +v -4.384301 1.362916 -0.378537 +v -2.665216 1.935809 0.022474 +v -3.467729 1.763888 0.423485 +v -4.556312 1.305574 -0.034784 +v -3.897347 0.990403 0.308867 +v -3.181249 0.990403 0.538305 +f 96 111 120 +f 67 66 69 +f 67 69 70 +f 70 69 75 +f 69 66 76 +f 67 70 82 +f 70 72 82 +f 69 76 86 +f 86 79 87 +f 76 66 89 +f 81 70 92 +f 93 71 94 +f 88 72 95 +f 79 80 97 +f 87 79 97 +f 74 87 97 +f 84 73 98 +f 65 85 98 +f 88 68 99 +f 77 88 99 +f 94 77 99 +f 93 94 99 +f 67 72 100 +f 83 67 100 +f 88 77 100 +f 72 88 100 +f 85 65 101 +f 75 85 101 +f 73 92 102 +f 75 101 102 +f 70 75 103 +f 92 70 103 +f 75 102 103 +f 102 92 103 +f 72 70 104 +f 78 72 104 +f 70 81 104 +f 81 78 104 +f 72 67 105 +f 67 82 105 +f 82 72 105 +f 71 80 106 +f 80 79 106 +f 86 76 106 +f 79 86 106 +f 69 86 107 +f 86 87 107 +f 77 94 108 +f 83 100 108 +f 100 77 108 +f 65 98 109 +f 98 73 109 +f 101 65 109 +f 73 102 109 +f 102 101 109 +f 78 81 110 +f 90 78 110 +f 92 73 110 +f 81 92 110 +f 75 69 111 +f 85 75 111 +f 96 85 111 +f 68 88 112 +f 80 68 113 +f 84 74 113 +f 68 91 113 +f 91 84 113 +f 97 80 113 +f 74 97 113 +f 68 80 114 +f 80 71 114 +f 71 93 114 +f 99 68 114 +f 93 99 114 +f 72 78 115 +f 78 90 115 +f 95 72 115 +f 88 95 115 +f 112 88 115 +f 90 112 115 +f 66 67 116 +f 67 83 116 +f 89 66 116 +f 94 89 116 +f 83 108 116 +f 108 94 116 +f 76 89 117 +f 89 94 117 +f 94 71 117 +f 71 106 117 +f 106 76 117 +f 73 84 118 +f 91 68 118 +f 84 91 118 +f 90 110 118 +f 110 73 118 +f 68 112 118 +f 112 90 118 +f 74 84 119 +f 96 74 119 +f 85 96 119 +f 84 98 119 +f 98 85 119 +f 87 74 120 +f 74 96 120 +f 69 107 120 +f 107 87 120 +f 111 69 120 +o convex_2 +v -1.060368 1.935828 -0.264037 +v -2.493206 0.818498 -0.149385 +v -2.493206 0.818498 0.022373 +v -1.060368 0.359766 -0.407351 +v -1.060368 0.675075 0.509642 +v -2.493206 1.821185 0.394881 +v -2.493206 1.763784 -0.435905 +v -1.060368 1.878587 0.452316 +v -2.493206 0.933142 0.509533 +v -1.060368 1.247970 -0.579328 +v -2.493206 0.933142 -0.493230 +v -1.089120 0.445789 0.394990 +v -2.493206 1.935669 -0.063397 +v -2.493206 1.477256 0.538305 +v -1.146344 0.703696 -0.579328 +v -1.060368 1.591899 0.538305 +v -1.060368 1.878587 -0.407351 +v -1.089120 1.993230 0.079699 +v -2.493206 1.506037 -0.493230 +v -1.146344 0.359766 -0.378688 +v -1.117732 1.506037 -0.550665 +v -2.493206 1.076405 0.538305 +v -2.435702 0.818498 -0.378579 +v -1.060368 1.047785 0.538305 +v -2.493206 1.821185 -0.378579 +v -2.493206 0.875740 0.366218 +v -2.493206 1.935669 0.022373 +v -1.232320 0.388547 -0.264037 +v -1.260932 0.818339 -0.579328 +v -1.060368 1.993230 -0.034734 +v -1.203708 0.474409 0.394990 +v -2.378478 0.875740 -0.493230 +v -1.060368 0.474409 0.423653 +v -1.060368 0.703696 -0.579328 +v -2.493206 0.875740 -0.464567 +v -1.089120 1.935828 0.280339 +v -2.091798 0.675075 -0.092060 +v -2.493206 1.706542 0.452207 +f 126 134 158 +f 124 121 125 +f 122 123 126 +f 122 126 127 +f 125 121 128 +f 126 123 129 +f 121 124 130 +f 122 127 131 +f 127 126 133 +f 126 129 134 +f 125 128 136 +f 128 134 136 +f 121 130 137 +f 131 127 139 +f 124 132 140 +f 137 130 141 +f 127 137 141 +f 139 127 141 +f 130 139 141 +f 129 125 142 +f 134 129 142 +f 136 134 142 +f 140 122 143 +f 125 136 144 +f 142 125 144 +f 136 142 144 +f 133 121 145 +f 127 133 145 +f 121 137 145 +f 137 127 145 +f 129 123 146 +f 133 126 147 +f 138 133 147 +f 140 132 148 +f 130 135 149 +f 135 131 149 +f 139 130 149 +f 131 139 149 +f 128 121 150 +f 121 133 150 +f 138 128 150 +f 133 138 150 +f 132 129 151 +f 146 123 151 +f 129 146 151 +f 148 132 151 +f 135 124 152 +f 131 135 152 +f 124 125 153 +f 125 129 153 +f 132 124 153 +f 129 132 153 +f 130 124 154 +f 124 135 154 +f 135 130 154 +f 122 131 155 +f 124 140 155 +f 143 122 155 +f 140 143 155 +f 152 124 155 +f 131 152 155 +f 126 128 156 +f 128 138 156 +f 147 126 156 +f 138 147 156 +f 123 122 157 +f 122 140 157 +f 140 148 157 +f 151 123 157 +f 148 151 157 +f 128 126 158 +f 134 128 158 +o convex_3 +v -1.060018 0.359766 0.079654 +v 0.515714 2.451746 -0.006183 +v 0.515714 2.451746 -0.034605 +v 1.489999 0.359971 0.681277 +v 1.260864 0.359971 -0.922924 +v -0.429567 1.907250 -0.837086 +v -0.458571 1.935714 0.824720 +v 1.633176 1.964382 -0.493166 +v 1.432781 2.050387 0.566827 +v -0.343608 0.359971 0.939360 +v -0.372349 0.359971 -0.951727 +v -1.060018 1.907045 -0.349722 +v -1.060018 1.878377 0.452187 +v 1.232123 0.990473 0.853333 +v 1.289341 1.849913 -0.808474 +v -1.060018 0.675120 -0.579194 +v -0.343608 2.422873 -0.034796 +v 1.518740 0.417308 -0.636418 +v 1.633176 1.448554 0.566827 +v -1.060018 0.675120 0.509412 +v 1.289341 1.849913 0.767495 +v 0.802330 0.388435 0.939360 +v 0.143403 0.474440 -0.980530 +v 1.146165 2.365741 -0.034605 +v 1.633176 0.904467 -0.006183 +v 1.461258 2.079056 -0.579194 +v -0.573007 2.107724 0.624243 +v -0.544530 2.107724 -0.607806 +v 1.633176 2.050387 0.022429 +v -1.060018 1.276953 -0.579194 +v -1.060018 1.591897 0.538024 +v -1.060018 0.359766 -0.407138 +v 1.633176 1.534560 -0.579194 +v -0.343608 1.792576 0.853523 +v 1.260864 0.359971 0.881945 +v -1.031541 0.359766 0.423384 +v -1.060018 1.993051 0.079654 +v 0.086185 0.417103 0.968164 +v 1.031465 1.162279 -0.894311 +v 1.633176 1.878581 0.480799 +v -0.372349 1.935509 -0.837086 +v -0.343608 2.422873 0.051042 +v 1.461258 0.359971 -0.751249 +v 0.486973 2.451746 0.022238 +v 1.633176 0.990473 0.452187 +v -1.060018 1.534560 -0.550581 +v 1.232123 1.677697 0.796108 +v 1.060206 0.417103 -0.951727 +v -0.343608 1.706571 -0.865890 +v 1.633176 1.105147 -0.435941 +v -0.716447 0.359766 -0.751059 +v -0.372349 0.503109 -0.951727 +v 1.604698 1.591897 0.595440 +v 1.604698 1.677697 -0.607806 +v -0.601748 2.136393 0.566827 +v -1.060018 1.878377 -0.407138 +v 1.232123 1.677697 -0.837086 +v -0.429567 1.763703 0.853523 +v -1.060018 1.019141 0.538024 +v 1.461258 0.359971 0.738692 +v -0.057255 0.359971 -0.980530 +v 1.260864 2.308199 -0.006183 +v -0.573007 2.136393 -0.550581 +v 0.401015 2.422873 -0.092020 +f 184 186 222 +f 170 159 171 +f 159 170 174 +f 171 159 178 +f 167 165 179 +f 161 160 182 +f 162 176 183 +f 166 177 183 +f 166 173 184 +f 161 182 184 +f 165 167 185 +f 171 165 185 +f 177 166 187 +f 166 184 187 +f 169 174 188 +f 174 170 188 +f 165 171 189 +f 171 178 189 +f 159 174 190 +f 166 183 191 +f 179 165 192 +f 179 172 193 +f 180 168 193 +f 172 180 193 +f 178 159 194 +f 168 178 194 +f 159 190 194 +f 193 168 194 +f 170 171 195 +f 175 170 195 +f 168 180 196 +f 167 179 198 +f 177 187 198 +f 187 167 198 +f 184 173 199 +f 164 186 199 +f 186 184 199 +f 175 195 200 +f 176 162 201 +f 191 176 201 +f 160 161 202 +f 161 175 202 +f 182 160 202 +f 167 182 202 +f 185 167 202 +f 175 200 202 +f 200 185 202 +f 177 162 203 +f 162 183 203 +f 183 177 203 +f 164 188 204 +f 188 170 204 +f 172 179 205 +f 180 172 205 +f 179 192 205 +f 196 180 205 +f 192 196 205 +f 181 197 206 +f 197 181 207 +f 164 199 207 +f 183 176 208 +f 176 191 208 +f 191 183 208 +f 174 169 209 +f 190 174 209 +f 194 190 209 +f 162 194 209 +f 201 162 209 +f 163 201 209 +f 188 164 210 +f 169 188 210 +f 164 207 210 +f 179 193 211 +f 198 179 211 +f 177 198 211 +f 163 173 212 +f 173 166 212 +f 166 191 212 +f 201 163 212 +f 191 201 212 +f 171 185 213 +f 195 171 213 +f 185 200 213 +f 200 195 213 +f 186 164 214 +f 164 204 214 +f 204 170 214 +f 173 163 215 +f 199 173 215 +f 163 206 215 +f 206 197 215 +f 197 207 215 +f 207 199 215 +f 165 189 216 +f 189 168 216 +f 192 165 216 +f 168 196 216 +f 196 192 216 +f 178 168 217 +f 168 189 217 +f 189 178 217 +f 162 177 218 +f 194 162 218 +f 193 194 218 +f 177 211 218 +f 211 193 218 +f 206 163 219 +f 181 206 219 +f 207 181 219 +f 163 209 219 +f 209 169 219 +f 169 210 219 +f 210 207 219 +f 182 167 220 +f 184 182 220 +f 167 187 220 +f 187 184 220 +f 170 175 221 +f 175 186 221 +f 186 214 221 +f 214 170 221 +f 175 161 222 +f 161 184 222 +f 186 175 222 +o convex_4 +v 1.891540 1.104894 0.480900 +v 1.633577 1.563281 -0.579328 +v 1.633577 1.620607 -0.579328 +v 3.467504 1.362860 -0.034796 +v 1.633577 1.907236 0.423676 +v 1.633577 0.932917 -0.092132 +v 3.209540 1.792584 -0.006183 +v 3.209540 1.334197 0.423676 +v 3.180818 0.990352 -0.006183 +v 3.152275 1.391523 -0.407317 +v 1.662299 1.935899 -0.493267 +v 2.206769 1.047569 -0.378705 +v 1.633577 0.990243 0.452288 +v 1.662299 1.534509 0.566962 +v 1.633577 2.021887 0.051042 +v 2.464552 0.961580 0.366339 +v 2.435830 1.792584 0.394951 +v 2.464552 1.821247 -0.435930 +v 1.633577 1.104894 -0.435930 +v 2.636348 0.904254 0.022429 +v 2.435830 1.935899 -0.006183 +v 2.407287 1.420186 -0.521991 +v 3.180818 0.990352 0.108266 +v 3.037565 1.706486 -0.321368 +v 2.607626 1.362860 0.509625 +v 3.008842 1.104894 -0.264031 +v 2.464552 0.990243 0.423676 +v 3.094830 1.591944 0.337614 +v 1.633577 0.904254 0.079766 +v 3.238083 1.420076 -0.378593 +v 3.037565 1.076341 0.337614 +v 3.467504 1.391523 0.051042 +v 2.493095 1.047569 -0.349980 +v 3.209540 1.792584 -0.063408 +v 3.209540 1.391523 0.423676 +v 2.435830 1.935899 -0.063408 +v 1.633577 2.021887 -0.120745 +v 2.464552 0.904254 -0.034796 +v 2.435830 1.477183 0.509625 +v 1.662299 1.821247 0.480900 +v 2.493095 0.904254 0.137103 +v 2.464552 1.276871 0.509625 +v 1.633577 1.477183 0.566962 +v 1.633577 1.018906 -0.321368 +v 3.410059 1.248209 0.051042 +v 3.037565 1.706486 0.251665 +v 3.209540 1.362860 -0.378593 +v 3.209540 1.763812 0.051042 +v 2.464552 1.563281 -0.493267 +v 3.324071 1.649270 -0.034796 +v 3.266806 1.047678 0.022429 +f 231 269 273 +f 225 224 227 +f 227 224 228 +f 227 228 235 +f 225 227 237 +f 225 233 240 +f 228 224 241 +f 237 227 243 +f 239 229 243 +f 227 239 243 +f 224 225 244 +f 241 224 244 +f 234 241 244 +f 242 231 245 +f 223 235 249 +f 235 238 249 +f 238 245 249 +f 235 228 251 +f 232 240 252 +f 240 246 252 +f 245 230 253 +f 230 249 253 +f 249 245 253 +f 244 232 255 +f 234 244 255 +f 248 231 255 +f 243 229 256 +f 246 240 256 +f 252 246 256 +f 247 230 257 +f 250 239 257 +f 230 254 257 +f 240 233 258 +f 237 243 258 +f 243 256 258 +f 256 240 258 +f 233 225 259 +f 225 237 259 +f 258 233 259 +f 237 258 259 +f 231 242 260 +f 251 228 260 +f 242 251 260 +f 234 255 260 +f 255 231 260 +f 236 247 261 +f 247 257 261 +f 257 239 261 +f 239 227 262 +f 236 261 262 +f 261 239 262 +f 238 235 263 +f 245 238 263 +f 242 245 263 +f 235 251 263 +f 251 242 263 +f 230 247 264 +f 223 249 264 +f 249 230 264 +f 235 223 265 +f 227 235 265 +f 247 236 265 +f 262 227 265 +f 236 262 265 +f 223 264 265 +f 264 247 265 +f 228 241 266 +f 241 234 266 +f 260 228 266 +f 234 260 266 +f 230 245 267 +f 226 254 267 +f 254 230 267 +f 239 250 268 +f 231 248 269 +f 252 226 269 +f 232 252 269 +f 255 232 269 +f 248 255 269 +f 229 239 270 +f 250 257 270 +f 257 254 270 +f 239 268 270 +f 268 250 270 +f 225 240 271 +f 240 232 271 +f 244 225 271 +f 232 244 271 +f 226 252 272 +f 254 226 272 +f 256 229 272 +f 252 256 272 +f 229 270 272 +f 270 254 272 +f 245 231 273 +f 226 267 273 +f 267 245 273 +f 269 226 273 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/145/145.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/145/145.urdf new file mode 100644 index 000000000..a9d66696f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/145/145.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/146/146.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/146/146.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/146/146.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/146/146.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/146/146.obj new file mode 100644 index 000000000..f5f9025bb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/146/146.obj @@ -0,0 +1,801 @@ +o convex_0 +v 0.007626 -4.092464 0.094946 +v 0.045253 2.633358 0.433265 +v -0.029597 2.633358 0.433265 +v 0.120306 1.130234 -1.783713 +v -1.006696 -1.499050 -1.783713 +v 0.984725 -3.265441 -1.407851 +v 1.022352 0.791845 0.433265 +v -0.969068 -2.476318 0.433265 +v -0.894016 1.656091 0.357963 +v 0.871843 -3.791298 0.395506 +v -0.818761 -3.829198 -1.144834 +v 0.984725 -0.223323 -1.783713 +v -0.781133 1.467946 -1.332765 +v 0.684110 1.467946 -1.295223 +v 0.871843 -3.942219 -1.370308 +v -1.044323 -3.565931 -0.168070 +v 0.345868 -2.701685 -1.783713 +v 0.834417 1.956580 0.395506 +v -1.006696 0.603700 0.433265 +v 1.022352 -3.641053 -0.055225 +v 1.022352 -1.800216 -1.783713 +v -0.104852 -4.280609 -0.581692 +v -1.006696 0.829068 -0.543932 +v -0.142277 -4.017342 -1.332765 +v -0.931441 -0.260546 -1.783713 +v -0.518146 -3.302664 0.433265 +v 0.045253 1.693314 -1.257463 +v -0.931441 -2.137928 -1.783713 +v 0.759163 -4.166910 -0.431304 +v 0.947097 0.829068 -1.144834 +v -0.781133 -4.091787 -0.468847 +v 0.984725 -3.152419 0.433265 +v -1.044323 -2.889153 -0.919361 +v -0.781133 -3.377786 0.320420 +v -0.217532 1.092334 -1.783713 +v -0.029597 -4.017342 0.245334 +v 0.909470 -2.363296 -1.783713 +v 0.345868 1.017212 -1.783713 +v 1.022352 0.378333 -0.581258 +v -0.142277 -3.265441 -1.595782 +v 0.834417 -3.942219 0.282877 +v -0.856186 1.730536 0.433265 +v -0.217532 1.656091 -1.295223 +v -0.555774 -3.867097 0.094946 +v -1.006696 -0.936647 -1.783713 +v 0.984725 0.979312 -0.431304 +v -0.781133 1.505846 -1.295223 +v -1.044323 -2.250951 -0.656778 +v 1.022352 -3.678953 -0.356218 +v 0.421123 -3.678953 0.433265 +v 0.082881 -4.280609 -0.619235 +v 0.045253 2.633358 0.395506 +v 1.022352 -0.823625 -1.783713 +v 0.571430 1.505169 -1.332765 +v -1.006696 -1.199237 0.433265 +v -0.818761 1.430723 -1.219920 +v 0.007626 -4.280609 -0.468847 +v -0.029597 2.633358 0.395506 +v 0.834417 -4.092464 -0.356218 +v 1.022352 -1.011093 0.433265 +v 0.871843 0.979312 -1.295223 +v -0.104852 -4.053888 -1.295223 +v 0.834417 1.956580 0.433265 +v -0.781133 -4.091787 -0.543932 +f 62 22 64 +f 2 3 7 +f 7 3 8 +f 5 4 12 +f 5 12 17 +f 8 3 19 +f 17 12 21 +f 7 20 21 +f 19 9 23 +f 4 5 25 +f 7 8 26 +f 5 17 28 +f 24 11 28 +f 10 20 32 +f 7 26 32 +f 11 16 33 +f 5 28 33 +f 28 11 33 +f 8 16 34 +f 26 8 34 +f 4 25 35 +f 25 13 35 +f 31 1 36 +f 26 34 36 +f 6 15 37 +f 15 17 37 +f 21 6 37 +f 17 21 37 +f 12 4 38 +f 14 12 38 +f 7 21 39 +f 12 30 39 +f 17 15 40 +f 15 24 40 +f 28 17 40 +f 24 28 40 +f 20 10 41 +f 36 1 41 +f 10 36 41 +f 19 3 42 +f 9 19 42 +f 27 4 43 +f 4 35 43 +f 35 13 43 +f 16 31 44 +f 34 16 44 +f 31 36 44 +f 36 34 44 +f 25 5 45 +f 23 25 45 +f 5 33 45 +f 18 7 46 +f 30 18 46 +f 7 39 46 +f 39 30 46 +f 9 42 47 +f 43 13 47 +f 16 19 48 +f 19 23 48 +f 33 16 48 +f 23 45 48 +f 45 33 48 +f 15 6 49 +f 6 21 49 +f 21 20 49 +f 10 32 50 +f 32 26 50 +f 36 10 50 +f 26 36 50 +f 15 29 51 +f 3 2 52 +f 2 18 52 +f 18 14 52 +f 21 12 53 +f 39 21 53 +f 12 39 53 +f 4 27 54 +f 38 4 54 +f 14 38 54 +f 52 14 54 +f 27 52 54 +f 16 8 55 +f 8 19 55 +f 19 16 55 +f 23 9 56 +f 13 25 56 +f 25 23 56 +f 47 13 56 +f 9 47 56 +f 1 31 57 +f 31 22 57 +f 41 1 57 +f 29 41 57 +f 22 51 57 +f 51 29 57 +f 42 3 58 +f 27 43 58 +f 47 42 58 +f 43 47 58 +f 3 52 58 +f 52 27 58 +f 29 15 59 +f 20 41 59 +f 41 29 59 +f 15 49 59 +f 49 20 59 +f 20 7 60 +f 7 32 60 +f 32 20 60 +f 12 14 61 +f 14 18 61 +f 30 12 61 +f 18 30 61 +f 11 24 62 +f 24 15 62 +f 51 22 62 +f 15 51 62 +f 2 7 63 +f 18 2 63 +f 7 18 63 +f 16 11 64 +f 31 16 64 +f 22 31 64 +f 11 62 64 +o convex_1 +v 1.022352 -1.462033 0.771393 +v -1.006747 -1.198678 0.433306 +v -0.969009 -1.912973 0.433306 +v -0.969009 -2.063042 0.846560 +v 0.007803 3.947780 0.846560 +v 0.834259 2.068984 0.433306 +v 0.871997 -3.453380 0.433306 +v -0.893931 1.693078 0.433306 +v 0.909536 2.783280 0.846560 +v -0.931470 2.482408 0.846560 +v 0.871997 -2.400695 0.846560 +v -0.067276 3.571874 0.546056 +v -0.104815 -3.453380 0.470889 +v 1.022352 0.942001 0.433306 +v -0.706037 3.571874 0.733810 +v 0.684103 3.610126 0.771393 +v -0.856392 -2.776601 0.433306 +v -0.255170 -2.513246 0.846560 +v -0.029737 2.745763 0.433306 +v 1.022352 1.129587 0.846560 +v 0.721642 -3.565931 0.470889 +v 0.947075 -3.190024 0.433306 +v -1.006747 0.566095 0.470889 +v -1.006747 0.265223 0.846560 +v -0.743576 3.571874 0.846560 +v 0.984614 -2.250627 0.846560 +v 0.082881 3.571874 0.546056 +v 1.022352 -1.011093 0.433306 +v -0.931470 -2.175592 0.846560 +v 0.345853 -2.551499 0.846560 +v -0.367787 -3.302576 0.433306 +v 0.759181 3.497575 0.846560 +v -0.630958 3.571874 0.696267 +v 0.007803 3.947780 0.808977 +v 0.684103 3.534357 0.733810 +v 0.909536 2.594959 0.733810 +v -1.006747 -0.860289 0.846560 +v -0.367787 -3.302576 0.470889 +v -0.931470 -2.551499 0.433306 +v 0.157959 -3.528414 0.470889 +v -0.931470 2.482408 0.808977 +v -0.743576 -2.927405 0.470889 +v -1.006747 0.566095 0.433306 +v 0.871997 -3.453380 0.470889 +v 0.157959 -3.528414 0.433306 +v -0.518142 3.760194 0.808977 +v 0.045342 3.383553 0.508472 +v 0.796720 2.144018 0.433306 +v 1.022352 -1.498814 0.846560 +v 0.759181 3.497575 0.808977 +f 73 100 114 +f 66 67 68 +f 67 66 70 +f 67 70 71 +f 70 66 72 +f 69 68 73 +f 68 69 74 +f 73 68 75 +f 71 70 78 +f 67 71 81 +f 75 68 82 +f 70 72 83 +f 72 76 83 +f 73 75 84 +f 65 78 84 +f 78 73 84 +f 71 78 86 +f 74 87 88 +f 68 74 88 +f 87 66 88 +f 74 69 89 +f 84 75 90 +f 78 65 92 +f 65 86 92 +f 86 78 92 +f 68 81 93 +f 82 68 93 +f 77 82 93 +f 75 82 94 +f 85 75 94 +f 82 85 94 +f 81 71 95 +f 69 73 96 +f 80 69 96 +f 76 72 97 +f 72 79 97 +f 69 80 98 +f 91 76 98 +f 80 91 98 +f 76 97 98 +f 91 80 99 +f 78 70 100 +f 73 78 100 +f 66 68 101 +f 88 66 101 +f 68 88 101 +f 77 93 102 +f 95 77 102 +f 68 67 103 +f 67 81 103 +f 81 68 103 +f 82 77 104 +f 85 82 104 +f 79 72 105 +f 87 74 105 +f 74 89 105 +f 89 79 105 +f 93 81 106 +f 81 95 106 +f 102 93 106 +f 95 102 106 +f 72 66 107 +f 66 87 107 +f 105 72 107 +f 87 105 107 +f 85 71 108 +f 75 85 108 +f 71 86 108 +f 90 75 108 +f 86 90 108 +f 71 85 109 +f 95 71 109 +f 77 95 109 +f 104 77 109 +f 85 104 109 +f 89 69 110 +f 79 89 110 +f 97 79 110 +f 98 97 110 +f 69 98 110 +f 83 76 111 +f 76 91 111 +f 111 91 112 +f 70 83 112 +f 91 99 112 +f 99 70 112 +f 83 111 112 +f 65 84 113 +f 86 65 113 +f 84 90 113 +f 90 86 113 +f 96 73 114 +f 80 96 114 +f 99 80 114 +f 70 99 114 +f 100 70 114 +o convex_2 +v 1.059902 -0.296437 1.410349 +v -1.044297 0.792702 1.447922 +v -1.044297 0.792702 1.598211 +v 0.120469 5.750721 1.523066 +v 0.721698 -0.635370 2.537516 +v -0.931425 -2.175608 0.846601 +v -0.818759 -0.710147 2.499779 +v 0.947030 -2.325974 0.846601 +v -0.743580 3.609019 0.846601 +v -0.893938 3.421264 2.274180 +v 0.947030 2.745836 0.846601 +v 0.909543 3.309099 2.274345 +v 0.871851 -1.950465 2.274345 +v -0.743580 -2.025241 2.274180 +v -0.029684 3.458653 2.424634 +v -0.104864 5.449988 1.109937 +v -1.006605 3.121345 1.109772 +v -0.367889 5.563779 1.560804 +v 0.007802 5.525578 1.936030 +v -1.006605 -1.273411 2.199201 +v 0.383494 5.525578 1.448087 +v 0.195648 -2.512916 0.959483 +v 0.984723 3.422077 1.260061 +v 0.984723 -1.198634 2.274345 +v 0.684005 1.356778 2.537516 +v -0.743580 0.154661 2.537516 +v -0.180043 -1.611531 2.499613 +v 0.759185 3.534242 0.846601 +v -1.006605 1.543720 2.311917 +v -1.006605 -0.860513 0.846601 +v 0.984723 1.843639 2.274345 +v 0.120469 -2.137406 2.236773 +v 1.022210 1.168211 0.846601 +v -0.969118 3.571630 1.335205 +v 0.045289 5.449988 1.072365 +v -0.330402 -2.476340 0.846601 +v -0.706093 1.506331 2.499613 +v -1.044297 2.068782 1.898623 +v 1.022210 -1.800099 1.447922 +v 1.022210 2.970979 1.222488 +v -1.006605 -1.800099 1.485659 +v 1.022210 -1.536755 0.846601 +v 0.045289 4.661582 0.921911 +v -0.931425 2.632858 0.846601 +v -0.969118 -1.198634 2.387062 +v 0.308314 5.376024 1.785906 +v 0.947030 3.534242 1.785741 +v 1.059902 0.867478 1.485659 +v 0.796671 -2.400751 0.959483 +v -0.367889 5.525578 1.448087 +v -0.255016 5.375212 1.861051 +v 0.308314 5.263046 1.147344 +v -0.743580 -0.634558 2.537516 +v -0.893938 -2.100831 1.598211 +v 0.533852 2.181760 2.499613 +v -0.931425 3.458653 2.048746 +v -0.969118 2.106170 2.349490 +v -1.006605 -1.649732 1.936195 +v -1.044297 0.830090 2.048746 +v -0.630913 -1.273411 2.499613 +v -0.029684 5.788922 1.485494 +v 0.082776 3.985341 0.846601 +v 0.984723 0.266826 2.311917 +v -0.330402 -2.476340 0.921911 +f 168 120 178 +f 122 120 123 +f 122 123 125 +f 124 129 133 +f 129 126 133 +f 119 127 138 +f 119 139 140 +f 127 119 141 +f 125 123 142 +f 137 125 142 +f 135 137 142 +f 123 120 144 +f 116 131 144 +f 126 139 145 +f 127 141 146 +f 141 128 146 +f 122 125 147 +f 123 131 148 +f 123 130 149 +f 118 135 149 +f 120 122 150 +f 122 136 150 +f 129 124 151 +f 140 139 151 +f 116 117 152 +f 131 116 152 +f 148 131 152 +f 127 122 153 +f 115 138 153 +f 138 127 153 +f 125 137 154 +f 147 125 154 +f 117 116 155 +f 144 120 155 +f 116 144 155 +f 147 115 156 +f 122 147 156 +f 115 153 156 +f 153 122 156 +f 123 149 157 +f 149 142 157 +f 131 123 158 +f 123 144 158 +f 144 131 158 +f 143 134 159 +f 118 133 160 +f 133 126 160 +f 126 135 160 +f 135 118 160 +f 135 126 161 +f 137 135 161 +f 126 145 161 +f 154 137 161 +f 145 154 161 +f 138 115 162 +f 115 147 162 +f 154 145 162 +f 147 154 162 +f 122 127 163 +f 136 122 163 +f 127 146 163 +f 146 136 163 +f 130 123 164 +f 123 148 164 +f 148 132 164 +f 132 124 165 +f 124 133 165 +f 133 132 165 +f 135 142 166 +f 149 135 166 +f 142 149 166 +f 119 140 167 +f 140 121 167 +f 141 119 167 +f 121 159 167 +f 155 120 168 +f 126 129 169 +f 139 126 169 +f 129 151 169 +f 151 139 169 +f 124 132 170 +f 132 148 170 +f 148 152 170 +f 170 152 171 +f 121 140 171 +f 151 124 171 +f 140 151 171 +f 152 143 171 +f 159 121 171 +f 143 159 171 +f 124 170 171 +f 128 159 172 +f 159 134 172 +f 168 128 172 +f 155 168 172 +f 134 143 173 +f 152 117 173 +f 143 152 173 +f 117 155 173 +f 172 134 173 +f 155 172 173 +f 128 141 174 +f 159 128 174 +f 141 167 174 +f 167 159 174 +f 133 118 175 +f 132 133 175 +f 118 149 175 +f 149 130 175 +f 130 164 175 +f 164 132 175 +f 142 123 176 +f 123 157 176 +f 157 142 176 +f 119 138 177 +f 139 119 177 +f 145 139 177 +f 138 162 177 +f 162 145 177 +f 136 146 178 +f 146 128 178 +f 120 150 178 +f 150 136 178 +f 128 168 178 +o convex_3 +v 1.022268 -1.162036 -2.610482 +v -1.044323 -1.274919 -2.497780 +v -1.044323 -1.274919 -2.347569 +v 0.308388 -2.589693 -1.783886 +v 0.796715 -0.147310 -1.783886 +v -0.104890 -1.199421 -3.549608 +v -0.931445 -0.260192 -1.783886 +v -0.104890 -0.448087 -3.286521 +v 0.082835 -2.025767 -3.286521 +v -0.931445 -2.138649 -1.783886 +v 0.984642 -2.176277 -1.783886 +v 0.759089 -1.124409 -3.324204 +v -0.668469 -1.988140 -3.098627 +v -0.743518 -0.523099 -3.061117 +v 0.759089 -1.988383 -3.098800 +v 0.721665 -0.448087 -3.136310 +v 0.984642 -0.222808 -1.783886 +v -0.593217 -0.109683 -1.896761 +v -0.818770 -1.274919 -3.249012 +v 0.608990 -0.222808 -2.535290 +v -0.367867 -2.476568 -1.859078 +v -0.931445 -1.988140 -2.460271 +v 0.984642 -0.410702 -2.497780 +v 0.796715 -2.439183 -1.821568 +v 0.984642 -1.950755 -2.535290 +v -0.968869 -0.560969 -2.422761 +v 0.045209 -1.162036 -3.549608 +v -1.006495 -0.936515 -1.783886 +v 1.022268 -1.800488 -1.783886 +v -0.743518 -0.448087 -2.985925 +v 0.759089 -1.312303 -3.324204 +v 0.045209 -1.913128 -3.361714 +v -0.255191 -2.251289 -2.610482 +v -0.818770 -1.124409 -3.249012 +v 0.834341 -0.185180 -2.197184 +v 0.308388 -2.589693 -1.821568 +v 1.022268 -0.823875 -1.783886 +v 0.120258 -0.448087 -3.286521 +v 0.909390 -2.213662 -2.272377 +v 0.721665 -2.251289 -2.497780 +v -0.067466 -1.312303 -3.549608 +v 0.120258 -0.222565 -2.535463 +v -0.630843 -0.109683 -1.783886 +v -1.006495 -1.537339 -1.783886 +v -1.044323 -1.162036 -2.535463 +v 0.721665 -1.988383 -3.136310 +v -0.668469 -2.025767 -3.023435 +v -0.781144 -1.274919 -3.286521 +v 0.195712 -2.589693 -1.821568 +v -0.931445 -2.138649 -1.859078 +v -0.931445 -0.410459 -2.385078 +v -0.367867 -2.476568 -1.783886 +v 0.045209 -1.274919 -3.549608 +v -0.405492 -0.260192 -2.535463 +v -0.593217 -1.162036 -3.361714 +v -0.593217 -1.988140 -3.136310 +v -0.968869 -1.950755 -1.859078 +v 1.022268 -0.899130 -2.460271 +v 1.022268 -1.387072 -2.572973 +v -0.593217 -2.063395 -2.985925 +v 0.759089 -0.974142 -3.286521 +v 0.120258 -1.988140 -3.324031 +v -0.029638 -1.988140 -3.324031 +v 0.721665 -0.410702 -3.061117 +f 194 216 242 +f 182 183 185 +f 182 185 188 +f 183 182 189 +f 183 189 195 +f 180 197 200 +f 197 191 200 +f 189 182 202 +f 184 186 205 +f 188 185 206 +f 195 189 207 +f 189 203 207 +f 186 192 208 +f 185 196 208 +f 190 179 209 +f 203 193 209 +f 205 190 209 +f 204 192 212 +f 183 195 213 +f 196 183 213 +f 198 196 213 +f 195 201 213 +f 202 182 214 +f 207 179 215 +f 195 207 215 +f 205 186 216 +f 194 205 216 +f 189 202 217 +f 193 203 217 +f 203 189 217 +f 214 187 218 +f 202 214 218 +f 217 202 218 +f 193 217 218 +f 184 205 219 +f 196 198 220 +f 216 186 220 +f 198 216 220 +f 185 183 221 +f 183 196 221 +f 196 185 221 +f 206 181 222 +f 188 206 222 +f 180 181 223 +f 197 180 223 +f 185 204 223 +f 181 206 223 +f 206 185 223 +f 212 197 223 +f 204 212 223 +f 209 193 224 +f 218 187 224 +f 193 218 224 +f 200 191 225 +f 191 197 226 +f 197 212 226 +f 184 219 226 +f 211 187 227 +f 199 211 227 +f 187 214 227 +f 214 182 227 +f 199 188 228 +f 200 225 228 +f 225 199 228 +f 204 185 229 +f 192 204 229 +f 208 192 229 +f 185 208 229 +f 182 188 230 +f 188 199 230 +f 227 182 230 +f 199 227 230 +f 205 209 231 +f 219 205 231 +f 210 219 231 +f 186 208 232 +f 208 196 232 +f 220 186 232 +f 196 220 232 +f 186 184 233 +f 192 186 233 +f 212 192 233 +f 184 226 233 +f 226 212 233 +f 225 191 234 +f 191 226 234 +f 226 219 234 +f 181 180 235 +f 180 200 235 +f 222 181 235 +f 188 222 235 +f 228 188 235 +f 200 228 235 +f 179 201 236 +f 201 195 236 +f 215 179 236 +f 195 215 236 +f 179 207 237 +f 207 203 237 +f 209 179 237 +f 203 209 237 +f 187 211 238 +f 211 199 238 +f 199 225 238 +f 234 187 238 +f 225 234 238 +f 179 190 239 +f 201 179 239 +f 194 201 239 +f 190 205 239 +f 205 194 239 +f 209 224 240 +f 224 187 240 +f 231 209 240 +f 210 231 240 +f 219 210 241 +f 187 234 241 +f 234 219 241 +f 240 187 241 +f 210 240 241 +f 201 194 242 +f 198 213 242 +f 213 201 242 +f 216 198 242 +o convex_4 +v -0.104910 1.092724 -2.084482 +v 0.007839 0.416380 -1.821569 +v 0.045378 0.416380 -1.821569 +v 0.007839 0.754692 -3.549435 +v 0.383562 0.867206 -1.783713 +v -0.292805 0.641968 -1.783713 +v 0.233140 0.792010 -3.324031 +v 0.120457 1.130322 -1.783713 +v -0.029766 0.980000 -3.286522 +v 0.308285 0.491576 -1.783713 +v 0.045378 0.566702 -3.324031 +v -0.180055 0.792010 -3.098627 +v -0.255199 1.055126 -1.783713 +v 0.308285 1.055126 -1.859079 +v -0.180055 0.566702 -2.497781 +v 0.082851 0.980000 -3.249012 +v 0.233140 0.679496 -3.249012 +v 0.383562 0.717024 -1.896761 +v -0.292805 0.904734 -2.009463 +v 0.157996 0.566702 -3.173820 +v -0.142450 0.679496 -3.173820 +v -0.142450 0.904734 -3.136310 +v -0.255199 0.566702 -1.934271 +v 0.195601 0.942402 -3.061118 +v -0.029766 0.566702 -3.211329 +v -0.217594 1.092724 -1.859079 +v 0.345890 1.017528 -1.821569 +v 0.007839 1.130322 -1.934271 +v 0.082851 0.529174 -3.098627 +v 0.233140 0.453978 -1.859079 +f 271 262 272 +f 248 247 250 +f 244 245 252 +f 247 248 252 +f 248 244 252 +f 248 250 255 +f 249 246 258 +f 246 251 258 +f 250 256 258 +f 246 249 259 +f 253 246 259 +f 249 247 260 +f 247 252 260 +f 259 249 260 +f 252 259 260 +f 254 248 261 +f 248 255 261 +f 259 252 262 +f 253 259 262 +f 254 246 263 +f 248 254 263 +f 251 246 264 +f 246 254 264 +f 254 261 264 +f 261 255 264 +f 244 248 265 +f 257 244 265 +f 248 263 265 +f 263 257 265 +f 249 258 266 +f 258 256 266 +f 246 253 267 +f 244 257 267 +f 263 246 267 +f 257 263 267 +f 243 251 268 +f 255 250 268 +f 251 264 268 +f 264 255 268 +f 247 249 269 +f 250 247 269 +f 256 250 269 +f 249 266 269 +f 266 256 269 +f 251 243 270 +f 250 258 270 +f 258 251 270 +f 243 268 270 +f 268 250 270 +f 245 244 271 +f 253 262 271 +f 244 267 271 +f 267 253 271 +f 252 245 272 +f 262 252 272 +f 245 271 272 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/146/146.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/146/146.urdf new file mode 100644 index 000000000..8b84f07a2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/146/146.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/147/147.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/147/147.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/147/147.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/147/147.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/147/147.obj new file mode 100644 index 000000000..c1bcc0b85 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/147/147.obj @@ -0,0 +1,780 @@ +o convex_0 +v -2.660698 -2.430764 -0.044309 +v -1.206265 -1.552688 -0.044309 +v -1.206265 -1.552688 -0.263909 +v -1.206265 -2.650418 -0.044309 +v -1.261277 -2.211218 0.257612 +v -2.743304 -2.211218 0.202712 +v -2.660698 -2.211218 -0.209009 +v -1.206265 -2.485678 -0.263909 +v -1.206265 -2.595504 0.202712 +v -2.798143 -2.074203 -0.016888 +v -1.206265 -1.744831 0.175234 +v -1.371128 -1.991887 -0.318809 +v -2.743304 -2.430764 0.038012 +v -2.990425 -2.266132 -0.016888 +v -2.551196 -2.074203 0.147812 +v -2.660698 -2.266132 -0.209009 +v -1.233858 -1.580198 -0.291274 +v -1.206265 -2.430764 0.257612 +v -2.551196 -2.403361 0.147812 +v -1.206265 -2.156305 -0.318809 +v -2.413926 -2.403361 -0.154053 +v -2.743304 -2.046800 -0.044309 +v -1.233858 -2.650418 0.065434 +v -2.770724 -2.211218 -0.181531 +v -1.288697 -2.650418 -0.044309 +v -1.288697 -2.595504 0.202712 +v -2.743304 -2.046800 0.010534 +v -1.233858 -1.552688 -0.044309 +v -1.261277 -1.744831 0.175234 +v -2.743304 -2.238621 0.202712 +v -1.261277 -1.552688 -0.209009 +v -2.990425 -2.211218 0.010534 +v -1.563236 -2.266132 0.257612 +v -1.233858 -1.799744 -0.318809 +f 20 12 34 +f 3 2 4 +f 3 4 8 +f 4 2 9 +f 9 2 11 +f 1 13 14 +f 7 12 16 +f 1 14 16 +f 11 5 18 +f 9 11 18 +f 3 8 20 +f 8 16 20 +f 16 12 20 +f 1 16 21 +f 16 8 21 +f 3 17 22 +f 4 9 23 +f 7 16 24 +f 16 14 24 +f 17 7 24 +f 22 17 24 +f 8 4 25 +f 13 1 25 +f 1 21 25 +f 21 8 25 +f 4 23 25 +f 23 13 25 +f 9 18 26 +f 19 13 26 +f 23 9 26 +f 13 23 26 +f 6 15 27 +f 22 10 27 +f 2 3 28 +f 11 2 28 +f 27 15 28 +f 28 15 29 +f 5 11 29 +f 15 6 29 +f 11 28 29 +f 14 13 30 +f 13 19 30 +f 26 18 30 +f 19 26 30 +f 3 22 31 +f 22 27 31 +f 27 28 31 +f 28 3 31 +f 10 22 32 +f 24 14 32 +f 22 24 32 +f 6 27 32 +f 27 10 32 +f 30 6 32 +f 14 30 32 +f 18 5 33 +f 5 29 33 +f 29 6 33 +f 6 30 33 +f 30 18 33 +f 12 7 34 +f 17 3 34 +f 7 17 34 +f 3 20 34 +o convex_1 +v 0.797340 2.426847 0.586845 +v -1.206232 -1.552580 -0.318726 +v -1.151142 -1.552580 -0.456023 +v 1.209214 -1.552580 0.339711 +v 0.001491 2.015634 -1.005014 +v -0.684651 1.905495 0.723946 +v -0.465000 -1.552580 0.833783 +v 0.769913 -1.552129 -0.785339 +v -0.931728 2.015634 -0.867717 +v 0.577690 2.783443 -0.593123 +v -0.437574 3.058789 0.422285 +v 0.769913 -0.508973 0.888898 +v -0.821785 -0.646195 -0.949899 +v 0.989564 2.097786 -0.153970 +v 0.056345 2.015634 0.916358 +v -0.959155 2.097786 0.037854 +v -1.014009 -1.552580 0.449548 +v -0.437574 3.058789 -0.483286 +v 0.962137 2.015634 0.724142 +v 0.715060 1.877961 -0.785339 +v 0.440556 3.058789 0.422089 +v 1.126698 -1.332755 -0.236348 +v 0.028918 -0.261613 -1.032473 +v -0.821785 -1.552129 -0.840258 +v 0.797340 -1.552129 0.778865 +v 0.001491 -0.289599 0.971276 +v -0.766931 -0.234530 0.806520 +v 0.028918 3.058789 -0.620387 +v 0.028918 2.729277 0.751601 +v 0.742487 2.838512 -0.071591 +v -0.766931 2.756360 -0.017065 +v 0.742487 0.259287 -0.840258 +v -1.014009 0.204669 0.284988 +v 0.001491 2.729277 -0.840062 +v -0.025936 -1.525046 -0.894980 +v -1.206232 -1.524594 -0.044328 +v 1.044417 -1.304769 0.614304 +v -0.574708 2.701742 0.559386 +v 0.440556 3.058789 -0.428367 +v -0.821785 -1.552129 0.751405 +v 1.209214 -1.552580 0.038050 +v -0.849212 -0.015156 -0.949899 +v 1.016991 0.094982 -0.373448 +v -0.629797 2.701742 -0.675501 +v -0.190496 -0.316683 -1.032473 +v 0.852194 -0.152378 0.861243 +v 1.016991 -1.552580 -0.455826 +v -1.206232 -1.387372 -0.318726 +v 0.166052 -1.552580 0.833979 +v 0.605116 2.811429 0.531926 +v -0.108216 1.960565 -1.005014 +v 0.028918 3.058789 0.559386 +v -0.574708 3.058789 -0.044328 +v 0.440556 -1.552580 -0.867521 +v 0.687633 -0.234530 -0.867717 +v 0.715060 2.070251 -0.757880 +v 1.209214 -1.414907 0.312251 +v 0.111198 -0.289599 0.971276 +v -0.657224 2.152404 0.696683 +v 0.797340 2.729277 0.037854 +v -0.986582 -1.085846 -0.730420 +v 0.550263 3.058789 0.065313 +v 0.083771 2.015634 0.916358 +v -0.190496 2.783443 -0.785143 +f 43 78 98 +f 36 37 38 +f 36 38 41 +f 36 41 51 +f 52 45 55 +f 60 49 61 +f 49 40 61 +f 41 60 61 +f 52 55 62 +f 48 44 64 +f 43 50 65 +f 39 54 66 +f 40 50 67 +f 61 40 67 +f 51 61 67 +f 62 44 68 +f 36 51 70 +f 67 50 70 +f 51 67 70 +f 38 53 71 +f 59 38 71 +f 63 45 72 +f 45 65 72 +f 65 50 72 +f 44 62 73 +f 62 55 73 +f 64 44 73 +f 51 41 74 +f 41 61 74 +f 61 51 74 +f 38 37 75 +f 56 48 75 +f 54 48 77 +f 48 56 77 +f 66 54 77 +f 43 65 78 +f 39 57 79 +f 58 47 79 +f 57 69 79 +f 69 58 79 +f 47 76 79 +f 46 59 80 +f 71 53 80 +f 59 71 80 +f 42 66 81 +f 75 37 81 +f 56 75 81 +f 77 56 81 +f 66 77 81 +f 37 36 82 +f 43 37 82 +f 50 43 82 +f 36 70 82 +f 70 50 82 +f 41 38 83 +f 38 59 83 +f 60 41 83 +f 53 35 84 +f 63 53 84 +f 68 39 85 +f 43 68 85 +f 76 43 85 +f 39 79 85 +f 79 76 85 +f 55 45 86 +f 45 63 86 +f 63 84 86 +f 84 55 86 +f 45 52 87 +f 65 45 87 +f 52 78 87 +f 78 65 87 +f 57 42 88 +f 37 58 88 +f 69 57 88 +f 58 69 88 +f 81 37 88 +f 42 81 88 +f 42 57 89 +f 57 39 89 +f 39 66 89 +f 66 42 89 +f 44 48 90 +f 54 39 90 +f 48 54 90 +f 39 68 90 +f 68 44 90 +f 53 38 91 +f 48 53 91 +f 38 75 91 +f 75 48 91 +f 59 46 92 +f 49 60 92 +f 83 59 92 +f 60 83 92 +f 40 49 93 +f 50 40 93 +f 49 63 93 +f 72 50 93 +f 63 72 93 +f 35 53 94 +f 53 48 94 +f 48 64 94 +f 84 35 94 +f 37 43 95 +f 58 37 95 +f 47 58 95 +f 43 76 95 +f 76 47 95 +f 73 55 96 +f 64 73 96 +f 55 84 96 +f 94 64 96 +f 84 94 96 +f 63 49 97 +f 53 63 97 +f 46 80 97 +f 80 53 97 +f 92 46 97 +f 49 92 97 +f 52 62 98 +f 68 43 98 +f 62 68 98 +f 78 52 98 +o convex_2 +v -0.026019 3.141385 -0.620744 +v 0.028840 3.168804 0.559547 +v -0.026019 3.168804 0.559547 +v -0.382717 4.787883 -0.263861 +v 0.522907 4.540773 -0.016966 +v -0.574946 3.058958 -0.016966 +v -0.410147 4.568192 0.367299 +v 0.550447 3.058958 -0.099110 +v 0.413188 4.540773 0.394796 +v 0.385758 4.623199 -0.400999 +v 0.440618 3.058958 0.422293 +v -0.437577 3.058958 -0.455993 +v -0.437577 3.058958 0.422293 +v 0.413188 3.058958 -0.483490 +v 0.083700 4.787883 0.367299 +v -0.135739 4.732876 -0.428496 +v -0.519866 4.540773 -0.071613 +v -0.026019 4.376089 0.504553 +v 0.413188 4.760295 0.120288 +v -0.355287 4.787883 0.285039 +v -0.410147 4.540773 -0.346236 +v -0.519866 4.540773 0.092907 +v 0.550447 3.141385 0.065410 +v 0.220959 4.760295 -0.291358 +v -0.026019 4.485935 -0.483490 +v 0.522907 4.513523 0.092791 +v 0.413188 4.623199 -0.373618 +v -0.026019 4.595611 0.477172 +v 0.028840 3.058958 -0.620744 +v -0.355287 3.113966 -0.510872 +v -0.026019 3.058958 0.559547 +v -0.437577 4.787883 0.065410 +v 0.111130 4.540773 0.477172 +v -0.382717 4.348670 0.394796 +v 0.330789 4.760295 0.312421 +v 0.303359 4.595780 -0.428496 +v -0.574946 3.113966 -0.044231 +v -0.080879 4.430927 -0.483490 +v -0.437577 3.196223 0.422293 +v 0.440618 4.733045 -0.016966 +v -0.437577 3.168804 -0.455993 +v 0.550447 3.196223 -0.099110 +v -0.080879 4.787883 -0.181485 +v 0.001410 4.760295 -0.401115 +v 0.028840 3.113966 -0.620744 +v -0.547406 3.113966 0.092907 +v -0.465007 4.540773 0.257542 +v 0.440618 4.733045 0.147785 +f 103 138 146 +f 104 106 109 +f 107 100 109 +f 106 104 110 +f 104 109 111 +f 106 110 112 +f 101 100 116 +f 113 102 118 +f 102 114 119 +f 115 102 119 +f 109 106 121 +f 107 109 124 +f 109 121 124 +f 112 108 125 +f 108 122 125 +f 105 116 126 +f 113 118 126 +f 118 105 126 +f 112 110 127 +f 99 127 128 +f 127 110 128 +f 100 101 129 +f 109 100 129 +f 101 111 129 +f 111 109 129 +f 102 115 130 +f 118 102 130 +f 115 120 130 +f 100 107 131 +f 107 113 131 +f 116 100 131 +f 113 126 131 +f 126 116 131 +f 101 116 132 +f 116 105 132 +f 113 107 133 +f 117 113 133 +f 123 114 134 +f 110 104 135 +f 104 120 135 +f 120 115 135 +f 119 114 136 +f 123 99 136 +f 114 123 136 +f 99 128 136 +f 128 119 136 +f 111 101 137 +f 132 105 137 +f 101 132 137 +f 122 117 138 +f 103 125 138 +f 125 122 138 +f 115 119 139 +f 128 110 139 +f 119 128 139 +f 110 135 139 +f 135 115 139 +f 106 112 140 +f 121 106 140 +f 103 124 140 +f 124 121 140 +f 125 103 140 +f 112 125 140 +f 102 113 141 +f 113 117 141 +f 117 122 141 +f 141 122 142 +f 114 102 142 +f 122 108 142 +f 108 134 142 +f 134 114 142 +f 102 141 142 +f 108 112 143 +f 99 123 143 +f 127 99 143 +f 112 127 143 +f 134 108 143 +f 123 134 143 +f 104 111 144 +f 120 104 144 +f 111 137 144 +f 137 120 144 +f 105 118 145 +f 118 130 145 +f 130 120 145 +f 120 137 145 +f 137 105 145 +f 107 124 146 +f 124 103 146 +f 133 107 146 +f 117 133 146 +f 138 117 146 +o convex_3 +v -1.206265 -1.607593 -0.346209 +v 1.209161 -1.552580 0.339781 +v 1.236660 -1.635015 0.312461 +v -0.904247 -2.705309 0.696602 +v 0.852144 -2.650466 -0.675545 +v -0.821748 -1.552580 0.751575 +v 0.824883 -2.540610 0.669116 +v -0.821748 -3.199409 -0.071680 +v -0.382710 -1.552580 -0.867782 +v 0.769884 -3.171987 0.037932 +v -0.821748 -2.540440 -0.702864 +v 0.769884 -1.552580 -0.785323 +v 0.769884 -1.552580 0.778894 +v 1.236421 -2.540610 -0.236431 +v -1.206265 -2.623044 0.230002 +v 1.236421 -2.430753 0.284808 +v -1.206265 -2.485766 -0.291237 +v -0.849247 -1.552580 -0.812643 +v -0.190452 -3.281843 -0.044194 +v 0.028828 -1.635015 0.834033 +v 1.236421 -1.772293 -0.208778 +v -1.206265 -1.744871 0.175030 +v 0.330607 -2.540440 -0.757837 +v 0.440605 -1.580171 -0.867782 +v 0.166087 -2.567862 0.723922 +v 1.236421 -2.293814 -0.318556 +v 1.126662 -1.635184 0.504532 +v 0.083588 -3.281843 0.010279 +v -1.206265 -1.552580 -0.044194 +v -1.206265 -2.321236 0.284808 +v -0.409971 -1.552580 0.834033 +v -0.108192 -2.430923 -0.785323 +v -0.821748 -3.199409 0.010446 +v 0.824883 -2.540610 -0.730350 +v 0.769884 -3.144396 -0.071680 +v 1.126662 -1.552580 -0.236431 +v -1.206265 -2.705309 -0.044194 +v -1.041506 -2.870009 0.367267 +v 0.989403 -2.787575 -0.428501 +v 0.413106 -2.595623 -0.730517 +v -0.821748 -2.458175 -0.730350 +v -1.123766 -1.552580 -0.510794 +v 1.209161 -2.622875 0.037932 +v -0.711988 -2.787575 0.614310 +v 0.056089 -3.281843 -0.044194 +v -0.355210 -2.623044 0.723922 +v -0.904247 -2.513188 -0.648058 +v 0.824883 -1.799884 0.751575 +v -0.108192 -1.744871 -0.867782 +v 1.236421 -2.019427 0.367267 +v -0.794487 -1.580171 -0.840295 +v 0.687624 -2.622875 0.614310 +v -0.162952 -3.281843 0.010279 +v -0.849247 -1.552580 0.724088 +v -1.178765 -1.799715 -0.428501 +v 1.236660 -1.580171 0.065418 +v -0.739488 -2.293814 0.751575 +v -0.876747 -2.760153 0.641796 +v 0.824883 -3.116974 -0.016874 +v 0.824883 -1.552580 -0.730350 +v -0.849247 -1.662606 -0.812643 +v -0.629729 -2.732731 -0.538280 +v -1.014006 -1.552580 0.449559 +v 0.852144 -1.552580 0.751575 +f 194 173 210 +f 152 148 155 +f 155 148 158 +f 148 152 159 +f 153 156 162 +f 160 149 162 +f 161 147 163 +f 152 155 164 +f 147 161 168 +f 155 158 170 +f 160 151 172 +f 149 148 173 +f 152 164 175 +f 147 168 175 +f 161 150 176 +f 168 161 176 +f 159 152 177 +f 166 159 177 +f 169 157 178 +f 154 165 179 +f 170 158 180 +f 169 170 180 +f 172 151 180 +f 158 148 182 +f 163 154 183 +f 161 163 183 +f 154 179 183 +f 183 179 184 +f 150 161 184 +f 161 183 184 +f 151 160 185 +f 181 151 185 +f 157 169 186 +f 180 151 186 +f 169 180 186 +f 178 157 187 +f 147 175 188 +f 175 164 188 +f 162 156 189 +f 160 162 189 +f 156 174 191 +f 174 165 191 +f 151 181 191 +f 181 156 191 +f 186 151 191 +f 165 186 191 +f 171 166 192 +f 150 190 192 +f 190 171 192 +f 157 154 193 +f 154 163 193 +f 187 157 193 +f 159 166 194 +f 171 153 194 +f 166 171 194 +f 155 170 195 +f 170 169 195 +f 169 178 195 +f 153 162 196 +f 162 149 196 +f 149 173 196 +f 194 153 196 +f 173 194 196 +f 164 155 197 +f 178 187 197 +f 155 195 197 +f 195 178 197 +f 156 153 198 +f 153 171 198 +f 174 156 198 +f 171 190 198 +f 190 174 198 +f 165 174 199 +f 179 165 199 +f 174 190 199 +f 150 152 200 +f 152 175 200 +f 176 150 200 +f 168 176 200 +f 163 147 201 +f 147 188 201 +f 193 163 201 +f 148 149 202 +f 149 160 202 +f 160 172 202 +f 172 167 202 +f 182 148 202 +f 167 182 202 +f 152 150 203 +f 177 152 203 +f 166 177 203 +f 192 166 203 +f 150 192 203 +f 184 179 204 +f 150 184 204 +f 190 150 204 +f 179 199 204 +f 199 190 204 +f 156 181 205 +f 185 160 205 +f 181 185 205 +f 189 156 205 +f 160 189 205 +f 167 172 206 +f 180 158 206 +f 172 180 206 +f 158 182 206 +f 182 167 206 +f 188 164 207 +f 187 193 207 +f 164 197 207 +f 197 187 207 +f 201 188 207 +f 193 201 207 +f 154 157 208 +f 165 154 208 +f 186 165 208 +f 157 186 208 +f 175 168 209 +f 200 175 209 +f 168 200 209 +f 148 159 210 +f 173 148 210 +f 159 194 210 +o convex_4 +v 1.648352 -1.799768 0.065407 +v 1.236663 -2.568179 -0.016810 +v 1.236663 -2.568179 0.037934 +v 1.977776 -2.458213 -0.099161 +v 1.236663 -1.882074 -0.236458 +v 1.236663 -1.937009 0.367407 +v 1.977776 -2.375907 0.230110 +v 1.977776 -2.211199 -0.291336 +v 1.236663 -2.348440 -0.318809 +v 1.264230 -1.580125 0.285055 +v 1.977776 -2.074152 0.202704 +v 1.236663 -2.430842 0.285055 +v 1.950209 -2.046782 -0.236458 +v 1.236663 -1.607593 0.037934 +v 1.566087 -2.485680 -0.236458 +v 1.977776 -2.156361 0.257515 +v 1.977776 -1.991847 0.010596 +v 1.977776 -2.430842 0.175231 +v 1.291579 -1.799768 -0.208985 +v 1.977776 -2.403375 -0.236458 +v 1.236663 -2.513148 -0.236458 +v 1.840522 -2.211199 0.285055 +v 1.922860 -2.485680 -0.016810 +v 1.840522 -1.937009 0.202704 +v 1.483822 -1.717366 0.010596 +v 1.264230 -2.019314 0.367407 +v 1.977776 -2.293602 -0.291336 +v 1.428833 -2.403375 0.285055 +v 1.291579 -2.293602 -0.318809 +f 237 219 239 +f 212 213 215 +f 215 213 216 +f 217 214 218 +f 212 215 219 +f 217 218 221 +f 216 213 222 +f 215 216 224 +f 216 220 224 +f 220 216 226 +f 217 221 226 +f 211 220 227 +f 221 218 227 +f 218 223 227 +f 214 217 228 +f 222 213 228 +f 218 215 229 +f 223 218 229 +f 215 224 229 +f 224 223 229 +f 218 214 230 +f 214 225 230 +f 212 219 231 +f 225 212 231 +f 219 225 231 +f 226 216 232 +f 217 226 232 +f 213 212 233 +f 212 225 233 +f 225 214 233 +f 228 213 233 +f 214 228 233 +f 220 226 234 +f 226 221 234 +f 227 220 234 +f 221 227 234 +f 220 211 235 +f 224 220 235 +f 223 224 235 +f 211 227 235 +f 227 223 235 +f 216 222 236 +f 232 216 236 +f 225 219 237 +f 218 230 237 +f 230 225 237 +f 228 217 238 +f 222 228 238 +f 217 232 238 +f 236 222 238 +f 232 236 238 +f 215 218 239 +f 219 215 239 +f 218 237 239 +o convex_5 +v 2.279845 -2.238774 0.230104 +v 1.977881 -2.293623 -0.291307 +v 1.977881 -2.211393 -0.291307 +v 3.048272 -2.266199 -0.099182 +v 1.977881 -2.019207 0.065434 +v 1.977881 -2.458342 0.065434 +v 2.828557 -2.101609 -0.071728 +v 2.718752 -2.430874 -0.016874 +v 2.801106 -2.211393 0.147742 +v 2.801106 -2.266199 -0.263853 +v 2.087686 -2.074142 -0.236399 +v 2.032783 -2.430874 -0.208945 +v 1.977881 -2.403407 0.202650 +v 2.005332 -2.046717 0.175196 +v 2.746203 -2.321091 0.147742 +v 2.663849 -2.403407 -0.154090 +v 1.977881 -2.183925 0.257558 +v 1.977881 -2.019207 -0.099182 +v 2.746203 -2.211393 -0.263853 +v 2.526593 -2.101609 0.120288 +v 3.048272 -2.293623 -0.044274 +v 2.663849 -2.074142 -0.099182 +v 2.115137 -2.403407 0.202650 +v 1.977881 -2.458342 -0.099182 +v 2.773654 -2.293623 -0.263853 +v 2.856009 -2.403407 -0.044274 +v 3.020716 -2.211393 -0.044274 +f 248 260 266 +f 242 241 244 +f 244 241 245 +f 241 242 249 +f 244 245 252 +f 248 240 254 +f 247 251 255 +f 240 248 256 +f 244 252 256 +f 253 244 256 +f 248 253 256 +f 242 244 257 +f 250 242 257 +f 246 243 258 +f 249 242 258 +f 243 249 258 +f 242 250 258 +f 248 246 259 +f 244 253 259 +f 253 248 259 +f 248 254 260 +f 257 244 261 +f 250 257 261 +f 246 258 261 +f 258 250 261 +f 244 259 261 +f 259 246 261 +f 245 247 262 +f 252 245 262 +f 247 254 262 +f 254 240 262 +f 240 256 262 +f 256 252 262 +f 245 241 263 +f 247 245 263 +f 241 251 263 +f 251 247 263 +f 241 249 264 +f 249 243 264 +f 251 241 264 +f 255 251 264 +f 255 264 265 +f 254 247 265 +f 247 255 265 +f 243 260 265 +f 260 254 265 +f 264 243 265 +f 243 246 266 +f 246 248 266 +f 260 243 266 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/147/147.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/147/147.urdf new file mode 100644 index 000000000..8bbeccb79 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/147/147.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/148/148.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/148/148.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/148/148.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/148/148.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/148/148.obj new file mode 100644 index 000000000..af73089e5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/148/148.obj @@ -0,0 +1,324 @@ +o convex_0 +v 0.080674 -2.997528 -0.350203 +v 0.055298 -2.997528 0.362860 +v 0.004411 -2.997528 0.362860 +v 0.055298 -4.729379 0.031741 +v -0.326691 -3.023126 -0.095501 +v 0.360956 -3.048724 0.108159 +v -0.173828 -4.423728 0.006292 +v -0.250226 -3.175866 0.286442 +v 0.055298 -4.525443 0.184576 +v 0.233604 -4.372532 0.006292 +v 0.004411 -4.423728 -0.171919 +v -0.250226 -2.997528 -0.299306 +v 0.284491 -2.997528 -0.248337 +v 0.310002 -2.997528 0.260922 +v -0.326691 -2.997528 0.108159 +v -0.046409 -4.423728 0.184576 +v 0.157206 -4.321845 -0.121022 +v 0.208093 -4.296416 0.133607 +v -0.021033 -3.023126 -0.375724 +v 0.360956 -3.150607 -0.044605 +v -0.122941 -4.245390 -0.146471 +v 0.258980 -3.074152 -0.273785 +v 0.131628 -4.372532 0.184576 +v -0.148317 -4.423728 0.082638 +v -0.224782 -2.997528 0.311891 +v -0.021033 -4.703781 0.006292 +v 0.055298 -4.372532 -0.171919 +v 0.208093 -4.499845 0.057189 +v 0.004411 -4.372532 0.210025 +v -0.326691 -3.175866 0.031741 +v -0.148317 -4.398130 -0.070053 +v 0.055298 -4.703781 -0.019156 +v 0.310002 -3.201464 0.235473 +v -0.173828 -4.423728 0.031741 +v 0.360956 -2.997528 -0.070053 +v -0.122941 -4.321845 0.159055 +v -0.275737 -3.023126 -0.248337 +v 0.233604 -4.347273 0.057189 +v 0.131628 -3.023126 0.337339 +v 0.055298 -4.398130 0.210025 +v 0.004411 -4.678353 0.082638 +v 0.360956 -3.201464 0.031741 +v 0.208093 -4.448987 -0.019156 +v -0.250226 -3.023126 -0.299306 +v 0.055298 -3.099581 -0.350203 +v -0.173828 -4.398130 -0.019156 +f 37 44 46 +f 3 2 1 +f 3 1 12 +f 1 2 13 +f 13 2 14 +f 3 12 15 +f 12 5 15 +f 12 1 19 +f 10 13 20 +f 1 13 22 +f 13 10 22 +f 8 3 25 +f 15 8 25 +f 3 15 25 +f 11 19 27 +f 22 17 27 +f 9 4 28 +f 23 9 28 +f 18 23 28 +f 3 8 29 +f 8 16 29 +f 16 9 29 +f 15 5 30 +f 21 11 31 +f 11 26 31 +f 26 7 31 +f 4 26 32 +f 26 11 32 +f 11 27 32 +f 27 17 32 +f 28 4 32 +f 6 14 33 +f 14 23 33 +f 23 18 33 +f 8 15 34 +f 24 8 34 +f 7 26 34 +f 26 24 34 +f 30 7 34 +f 15 30 34 +f 14 6 35 +f 13 14 35 +f 6 20 35 +f 20 13 35 +f 16 8 36 +f 8 24 36 +f 24 16 36 +f 5 12 37 +f 28 10 38 +f 18 28 38 +f 6 33 38 +f 33 18 38 +f 14 2 39 +f 23 14 39 +f 23 39 40 +f 2 3 40 +f 9 23 40 +f 3 29 40 +f 29 9 40 +f 39 2 40 +f 4 9 41 +f 9 16 41 +f 16 24 41 +f 26 4 41 +f 24 26 41 +f 20 6 42 +f 10 20 42 +f 6 38 42 +f 38 10 42 +f 22 10 43 +f 17 22 43 +f 10 28 43 +f 32 17 43 +f 28 32 43 +f 19 11 44 +f 12 19 44 +f 11 21 44 +f 21 31 44 +f 37 12 44 +f 19 1 45 +f 1 22 45 +f 27 19 45 +f 22 27 45 +f 30 5 46 +f 7 30 46 +f 31 7 46 +f 5 37 46 +f 44 31 46 +o convex_1 +v 0.029677 -2.767534 -0.630278 +v 0.080624 0.363344 1.050507 +v 0.055345 0.363344 1.050507 +v -0.148247 3.266702 -0.808333 +v 0.997472 0.644035 -0.044600 +v -0.988675 -0.118900 0.057000 +v -0.020880 3.292669 0.668231 +v 0.080624 -2.691488 0.642883 +v 0.717459 2.935932 -0.782984 +v -0.734135 -1.978014 -0.681180 +v 0.742932 2.605162 0.744687 +v 0.742932 -1.901967 0.642883 +v 0.615565 -1.952665 -0.757635 +v -0.657715 -1.953283 0.744687 +v -0.657715 2.553846 0.693785 +v -0.708662 2.528498 -0.706733 +v -0.071827 0.008462 -1.037902 +v -0.632242 -2.742185 0.082553 +v 0.717459 -2.512810 -0.069948 +v 0.742932 3.292669 0.158804 +v -0.632242 3.267321 -0.019046 +v -0.886976 2.554465 0.006302 +v 0.055151 -1.825303 0.948499 +v 0.029677 2.605162 0.948499 +v -0.097301 -2.003362 -0.935894 +v 0.335358 -2.997528 0.235463 +v -0.708662 0.745430 0.795588 +v -0.912449 -2.003362 0.082553 +v 0.793879 0.110475 0.770240 +v -0.785082 0.542022 -0.757431 +v -0.097301 2.553846 -0.986796 +v 0.921246 -1.697941 -0.069948 +v 0.946719 2.553846 0.057000 +v 0.691985 -0.042854 -0.808537 +v -0.301088 -2.971560 -0.324662 +v -0.250141 -2.997528 0.311714 +v 0.411778 -2.793501 -0.477368 +v 0.513672 3.318636 0.566428 +v -0.530348 -2.691488 -0.502921 +v -0.530348 3.267321 -0.553823 +v -0.453928 -2.716837 0.541079 +v -0.988675 0.567371 0.031651 +v 0.004398 0.235982 -1.037902 +v 0.437252 3.292669 -0.477368 +v 0.539145 -2.640790 0.464624 +v -0.708662 -0.271611 0.795588 +v -0.453928 3.241354 0.489973 +v 0.819352 0.237219 0.744687 +v 0.641039 2.783221 -0.834090 +v 0.284411 -2.997528 -0.299109 +v -0.785082 -0.093551 -0.757431 +v 0.997472 0.287916 0.031651 +v 0.997472 0.236601 -0.069948 +v -0.912449 -1.978632 -0.019046 +v 0.029677 2.375787 0.973847 +v -0.657715 2.553846 -0.757431 +v -0.632242 -1.927316 0.770035 +v 0.029677 2.553846 -0.986796 +v 0.488198 -1.927316 0.770240 +v 0.641039 -2.716837 -0.069948 +v 0.895773 -1.978632 -0.019046 +v -0.504875 0.261949 -0.884992 +v 0.641039 -1.978632 -0.732082 +v -0.886976 2.503149 -0.069948 +f 76 88 110 +f 61 67 68 +f 48 49 69 +f 53 61 70 +f 59 47 71 +f 57 48 75 +f 48 69 75 +f 51 55 79 +f 55 66 79 +f 66 57 79 +f 72 54 82 +f 64 81 82 +f 47 59 83 +f 57 66 84 +f 67 53 84 +f 70 57 84 +f 53 70 84 +f 71 47 85 +f 56 71 85 +f 47 81 85 +f 81 64 85 +f 68 67 86 +f 67 84 86 +f 54 69 87 +f 60 74 87 +f 74 64 87 +f 82 54 87 +f 64 82 87 +f 61 68 88 +f 52 73 88 +f 73 61 88 +f 59 71 89 +f 71 63 89 +f 63 77 89 +f 80 59 89 +f 55 50 90 +f 66 55 90 +f 84 66 90 +f 50 86 90 +f 86 84 90 +f 54 72 91 +f 49 73 92 +f 73 52 92 +f 52 74 92 +f 74 60 92 +f 61 53 93 +f 53 67 93 +f 67 61 93 +f 57 75 94 +f 75 58 94 +f 79 57 94 +f 55 80 95 +f 80 89 95 +f 81 47 96 +f 72 82 96 +f 82 81 96 +f 47 83 96 +f 71 56 97 +f 52 88 97 +f 88 76 97 +f 51 79 98 +f 94 58 98 +f 79 94 98 +f 55 51 99 +f 80 55 99 +f 78 80 99 +f 51 98 99 +f 98 78 99 +f 74 52 100 +f 64 74 100 +f 56 85 100 +f 85 64 100 +f 52 97 100 +f 97 56 100 +f 49 48 101 +f 48 57 101 +f 57 70 101 +f 70 61 101 +f 73 49 101 +f 61 73 101 +f 76 62 102 +f 50 77 102 +f 86 50 102 +f 62 86 102 +f 69 49 103 +f 87 69 103 +f 60 87 103 +f 49 92 103 +f 92 60 103 +f 50 55 104 +f 77 50 104 +f 89 77 104 +f 55 95 104 +f 95 89 104 +f 69 54 105 +f 58 75 105 +f 75 69 105 +f 54 91 105 +f 91 58 105 +f 65 91 106 +f 91 72 106 +f 72 96 106 +f 96 83 106 +f 58 91 107 +f 91 65 107 +f 78 98 107 +f 98 58 107 +f 63 71 108 +f 77 63 108 +f 71 97 108 +f 97 76 108 +f 76 102 108 +f 102 77 108 +f 59 80 109 +f 80 78 109 +f 83 59 109 +f 65 106 109 +f 106 83 109 +f 107 65 109 +f 78 107 109 +f 62 76 110 +f 86 62 110 +f 68 86 110 +f 88 68 110 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/148/148.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/148/148.urdf new file mode 100644 index 000000000..96316cba3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/148/148.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/149/149.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/149/149.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/149/149.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/149/149.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/149/149.obj new file mode 100644 index 000000000..b207fcd93 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/149/149.obj @@ -0,0 +1,516 @@ +o convex_0 +v -0.848915 1.650870 -1.002274 +v 1.055933 1.474506 1.114119 +v 1.020607 1.474506 1.114119 +v 0.949953 3.273579 1.078792 +v -1.095987 2.144729 1.007925 +v 0.949953 3.132252 -1.037815 +v -1.025334 3.167485 -0.861181 +v 0.949953 1.262711 -1.073141 +v -1.060660 1.262711 1.007925 +v -1.131313 3.273579 0.972812 +v -1.060660 1.262711 -0.966947 +v 1.055933 1.262711 1.114119 +v -0.848915 3.132252 -0.966947 +v 0.879515 2.991318 -1.073141 +v 1.055933 1.615636 0.584860 +v -0.990007 3.273579 1.007925 +v 0.985280 1.262711 -1.002488 +v 0.808861 3.273579 0.867046 +v 0.985280 3.026551 0.902373 +v -0.990007 3.167485 -0.931834 +v 0.632443 1.262711 -1.073141 +v -1.095987 3.273579 0.761066 +v -1.060660 1.650870 -0.966947 +v -0.566732 1.298141 1.043251 +v -0.954681 1.262711 -1.002274 +v 0.949953 3.167485 -0.649435 +v 0.985280 2.673822 -0.543669 +v -0.637385 3.167485 -0.931834 +v 0.773535 3.202718 1.078792 +v -1.025334 2.709056 -0.966947 +v 1.055933 1.756767 1.078792 +v 1.055933 1.262711 0.479094 +v 0.315147 3.132252 -1.037601 +v 0.949953 1.298141 1.114119 +v 0.949953 3.026551 -1.073141 +v -1.131313 3.273579 0.937485 +v -1.095987 2.744289 1.007925 +v -0.884242 3.202718 -0.402576 +f 18 28 38 +f 3 2 4 +f 9 5 11 +f 8 9 11 +f 2 3 12 +f 9 8 12 +f 2 12 15 +f 4 10 16 +f 12 8 17 +f 10 4 18 +f 8 11 21 +f 14 8 21 +f 10 18 22 +f 20 7 22 +f 5 9 24 +f 9 12 24 +f 1 14 25 +f 21 11 25 +f 14 21 25 +f 11 23 25 +f 18 4 26 +f 4 19 26 +f 19 6 26 +f 15 17 27 +f 6 19 27 +f 6 20 28 +f 18 26 28 +f 26 6 28 +f 3 4 29 +f 4 16 29 +f 7 20 30 +f 20 13 30 +f 23 7 30 +f 1 25 30 +f 25 23 30 +f 4 2 31 +f 2 15 31 +f 19 4 31 +f 15 27 31 +f 27 19 31 +f 15 12 32 +f 12 17 32 +f 17 15 32 +f 14 1 33 +f 20 6 33 +f 13 20 33 +f 1 30 33 +f 30 13 33 +f 12 3 34 +f 24 12 34 +f 3 29 34 +f 29 16 34 +f 8 14 35 +f 17 8 35 +f 6 27 35 +f 27 17 35 +f 14 33 35 +f 33 6 35 +f 5 10 36 +f 11 5 36 +f 22 7 36 +f 10 22 36 +f 7 23 36 +f 23 11 36 +f 10 5 37 +f 16 10 37 +f 5 24 37 +f 24 34 37 +f 34 16 37 +f 22 18 38 +f 20 22 38 +f 28 20 38 +o convex_1 +v 1.620365 -0.395273 -1.073141 +v 1.055752 1.262711 1.114119 +v 1.055752 1.262711 0.479094 +v -2.965214 -0.924366 -1.037815 +v 3.066235 -0.783391 1.043465 +v -2.965214 -0.853878 1.008139 +v -3.106823 1.262711 -0.967161 +v 3.102093 1.227250 -1.037815 +v -2.929964 1.262711 1.078792 +v 3.030984 -0.959827 -0.931834 +v 2.995734 1.156762 1.114119 +v 0.491139 -0.959827 1.078792 +v 0.596890 1.262711 -1.073141 +v 0.596890 -0.959827 -1.073141 +v -1.095733 -0.959827 0.972812 +v -2.965214 0.627669 1.078792 +v 1.055752 -0.959827 1.078792 +v 2.713732 0.839132 -1.073141 +v 1.020501 0.592208 1.114119 +v 3.102093 0.415988 -0.120604 +v 3.030984 -0.853661 -0.966947 +v -3.106823 0.945081 -0.896508 +v -0.954731 -0.959827 -0.967161 +v -2.965214 -0.889122 0.725953 +v 3.102093 1.227250 -0.684975 +v -3.106823 1.262711 -0.720088 +v -2.965214 -0.395273 1.043251 +v -3.000465 -0.712685 -1.002274 +v 2.008118 -0.818417 1.078792 +v 3.102093 0.698157 -1.037815 +v 3.066235 -0.818417 0.725953 +v -2.929964 -0.712685 -1.037815 +v -2.965214 -0.924366 -0.402790 +v 2.537480 0.627451 1.114119 +v 3.066235 -0.395056 1.043465 +v -2.965214 1.262711 0.972812 +v 2.678482 1.192006 -1.073141 +v 3.066235 -0.783391 0.196694 +v 0.914751 -0.959827 -1.073141 +v 0.985251 1.262711 -1.037815 +v 3.030984 -0.007156 1.078792 +v 3.066235 1.227250 -0.543883 +v 3.030984 0.980325 0.725953 +v 3.030984 -0.959827 -0.896722 +v 3.066235 -0.254080 -0.966947 +v 1.232003 -0.818417 -1.073141 +v 3.066235 0.521720 -1.037815 +v 3.102093 0.310039 -0.155931 +f 69 76 86 +f 40 41 45 +f 41 40 46 +f 40 45 47 +f 45 41 51 +f 48 50 52 +f 51 39 52 +f 42 51 52 +f 50 44 53 +f 52 50 53 +f 40 47 54 +f 50 48 55 +f 39 51 56 +f 49 40 57 +f 40 54 57 +f 54 50 57 +f 50 55 57 +f 42 52 61 +f 53 42 61 +f 52 53 61 +f 53 44 62 +f 46 40 63 +f 58 46 63 +f 47 45 64 +f 60 44 64 +f 45 60 64 +f 44 50 65 +f 50 54 65 +f 64 44 65 +f 54 64 65 +f 45 42 66 +f 44 60 66 +f 60 45 66 +f 62 44 66 +f 55 43 67 +f 56 46 68 +f 46 58 68 +f 43 55 69 +f 42 45 70 +f 51 42 70 +f 45 51 70 +f 42 53 71 +f 53 62 71 +f 66 42 71 +f 62 66 71 +f 49 57 72 +f 57 55 72 +f 55 67 72 +f 49 43 73 +f 43 58 73 +f 54 47 74 +f 47 64 74 +f 64 54 74 +f 51 46 75 +f 46 56 75 +f 56 51 75 +f 69 48 76 +f 52 39 77 +f 48 52 77 +f 59 48 77 +f 41 46 78 +f 51 41 78 +f 46 51 78 +f 43 49 79 +f 67 43 79 +f 49 72 79 +f 72 67 79 +f 40 49 80 +f 63 40 80 +f 49 63 80 +f 63 49 81 +f 58 63 81 +f 49 73 81 +f 73 58 81 +f 55 48 82 +f 69 55 82 +f 48 69 82 +f 48 59 83 +f 59 68 83 +f 76 48 83 +f 68 76 83 +f 39 59 84 +f 77 39 84 +f 59 77 84 +f 39 56 85 +f 59 39 85 +f 56 68 85 +f 68 59 85 +f 58 43 86 +f 68 58 86 +f 43 69 86 +f 76 68 86 +o convex_2 +v 2.608037 -1.524344 0.373273 +v 2.361009 -1.771275 -0.332295 +v 1.585281 -1.982842 -0.297003 +v 3.031233 -2.159293 0.196812 +v 1.091225 -2.159293 0.302688 +v 1.091225 -1.524344 -0.226418 +v 3.066466 -1.524344 -0.332295 +v 3.031233 -2.123928 -0.261711 +v 1.091225 -1.630189 0.337980 +v 1.091225 -2.159293 -0.261711 +v 3.102093 -1.594949 0.373273 +v 1.126655 -2.088625 0.337980 +v 1.091225 -1.524344 -0.014734 +v 1.514618 -1.594949 0.373273 +v 3.031233 -2.123928 0.232104 +v 3.102093 -1.524344 0.373273 +v 3.031233 -2.159293 -0.120611 +v 2.537570 -1.524344 -0.332295 +v 3.066466 -1.736035 -0.332295 +v 1.091225 -1.876997 -0.261711 +v 3.102093 -1.594949 -0.050027 +v 2.255308 -2.159293 -0.261711 +v 1.338253 -1.665492 0.373273 +f 97 100 109 +f 92 87 93 +f 92 91 95 +f 90 91 96 +f 91 92 96 +f 95 91 98 +f 87 92 99 +f 92 95 99 +f 99 95 100 +f 97 87 100 +f 87 99 100 +f 91 90 101 +f 90 97 101 +f 98 91 101 +f 97 98 101 +f 93 87 102 +f 87 97 102 +f 90 96 103 +f 97 90 103 +f 88 89 104 +f 92 93 104 +f 93 88 104 +f 88 93 105 +f 94 88 105 +f 89 96 106 +f 96 92 106 +f 104 89 106 +f 92 104 106 +f 93 102 107 +f 102 97 107 +f 103 94 107 +f 97 103 107 +f 105 93 107 +f 94 105 107 +f 89 88 108 +f 88 94 108 +f 96 89 108 +f 103 96 108 +f 94 103 108 +f 95 98 109 +f 98 97 109 +f 100 95 109 +o convex_3 +v -1.096228 -1.489003 -0.085329 +v -3.000861 -1.771289 -0.261738 +v -3.036049 -2.018120 -0.226457 +v -2.930290 -1.630176 0.337994 +v -1.096228 -2.088677 0.267431 +v -1.096228 -2.018120 -0.261738 +v -3.071431 -2.088677 0.196867 +v -1.096228 -1.594897 0.337994 +v -2.965479 -1.524341 -0.261738 +v -1.096228 -1.489003 -0.191116 +v -2.471678 -1.489003 -0.261738 +v -1.660600 -2.088677 0.055740 +v -2.930290 -1.736011 0.337994 +v -1.131610 -1.559619 0.302712 +v -2.965479 -1.524341 -0.085329 +v -1.166799 -2.018120 0.302712 +v -3.071431 -2.088677 0.055740 +v -3.071431 -1.947564 0.126303 +v -1.695982 -2.088677 0.267431 +v -1.096228 -1.912285 -0.261738 +v -1.096228 -1.736011 0.337994 +v -2.436490 -1.489003 -0.191116 +v -3.071431 -1.982842 -0.191116 +v -1.096228 -2.088677 0.091021 +f 114 121 133 +f 112 111 115 +f 110 114 115 +f 114 110 117 +f 115 111 118 +f 110 115 119 +f 115 118 120 +f 110 119 120 +f 114 116 121 +f 113 116 122 +f 117 113 122 +f 117 110 123 +f 113 117 123 +f 120 118 124 +f 113 123 124 +f 112 115 126 +f 115 121 126 +f 121 116 126 +f 116 113 127 +f 113 124 127 +f 124 118 127 +f 126 116 127 +f 116 114 128 +f 122 116 128 +f 114 125 128 +f 125 122 128 +f 119 115 129 +f 115 120 129 +f 120 119 129 +f 114 117 130 +f 117 122 130 +f 125 114 130 +f 122 125 130 +f 110 120 131 +f 123 110 131 +f 120 124 131 +f 124 123 131 +f 111 112 132 +f 118 111 132 +f 112 126 132 +f 127 118 132 +f 126 127 132 +f 115 114 133 +f 121 115 133 +o convex_4 +v 0.703059 -1.454010 1.078840 +v 0.597293 -1.101156 -1.073141 +v 0.597293 -0.960207 -1.073141 +v -1.096035 -2.229709 1.043241 +v 0.949918 -2.899842 -0.932007 +v -0.990055 -0.960014 -0.966975 +v -1.025382 -2.864846 -0.966975 +v 1.020572 -2.935224 0.937496 +v -1.096035 -0.960014 0.972884 +v 1.055898 -0.960207 1.078840 +v -1.096035 -2.794082 1.043241 +v 0.949918 -0.960207 -1.037753 +v 1.091225 -2.159138 -0.261514 +v -1.096035 -1.665529 -0.226125 +v 0.738386 -2.935224 0.972884 +v 1.091225 -1.524387 -0.226125 +v 1.091225 -2.476610 0.549271 +v 0.385547 -1.030585 1.078840 +v -0.425683 -2.194327 1.078840 +v -1.060494 -2.829271 -0.720095 +v -0.743196 -2.829271 1.043241 +v 0.949918 -2.935224 0.302602 +v 1.020572 -2.829271 0.972884 +v -0.566776 -2.370851 -1.002574 +v 0.949918 -1.524387 -1.037753 +v 1.091225 -1.383439 0.725794 +v -1.096035 -2.794082 0.267213 +v -1.025382 -2.864846 -0.720095 +v -1.025382 -2.017996 -0.966975 +v -1.096035 -1.489198 -0.190947 +v 0.985245 -0.995396 -0.790873 +v 1.055898 -2.758700 0.831750 +v -0.531450 -2.864846 -0.966975 +v -0.672542 -0.960014 1.008063 +v 1.020572 -2.935224 0.514093 +v 1.055898 -1.171726 1.078840 +v -0.566776 -2.829271 1.043241 +v 1.020572 -2.617752 -0.508394 +v 1.055898 -0.960207 0.902107 +v 0.844152 -1.065967 -1.073141 +v 0.879479 -2.511799 -0.967185 +v -1.096035 -2.017996 -0.261514 +v -0.531450 -1.277486 -1.002574 +v -1.025382 -1.065773 -0.684917 +f 163 142 177 +f 137 142 144 +f 136 139 145 +f 144 142 147 +f 146 145 149 +f 146 149 150 +f 134 143 151 +f 137 144 152 +f 151 137 152 +f 134 151 152 +f 152 144 154 +f 140 138 155 +f 148 140 155 +f 141 148 155 +f 148 141 156 +f 136 135 157 +f 145 146 158 +f 146 138 158 +f 150 149 159 +f 140 144 160 +f 144 147 160 +f 153 140 160 +f 144 140 161 +f 140 148 161 +f 154 144 161 +f 148 154 161 +f 140 153 162 +f 153 147 162 +f 157 140 162 +f 147 142 163 +f 139 162 163 +f 162 147 163 +f 149 145 164 +f 156 141 165 +f 150 159 165 +f 138 140 166 +f 140 157 166 +f 142 137 167 +f 139 142 167 +f 145 139 167 +f 137 151 167 +f 151 143 167 +f 155 138 168 +f 141 155 168 +f 165 141 168 +f 150 165 168 +f 143 134 169 +f 134 156 169 +f 159 143 169 +f 156 165 169 +f 165 159 169 +f 134 152 170 +f 154 148 170 +f 152 154 170 +f 156 134 170 +f 148 156 170 +f 138 146 171 +f 146 150 171 +f 168 138 171 +f 150 168 171 +f 143 159 172 +f 159 149 172 +f 164 145 172 +f 149 164 172 +f 145 167 172 +f 167 143 172 +f 135 136 173 +f 136 145 173 +f 157 135 173 +f 145 158 173 +f 166 157 173 +f 166 173 174 +f 158 138 174 +f 138 166 174 +f 173 158 174 +f 147 153 175 +f 160 147 175 +f 153 160 175 +f 139 136 176 +f 136 157 176 +f 162 139 176 +f 157 162 176 +f 142 139 177 +f 139 163 177 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/149/149.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/149/149.urdf new file mode 100644 index 000000000..9f0eb55d4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/149/149.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/150/150.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/150/150.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/150/150.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/150/150.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/150/150.obj new file mode 100644 index 000000000..5ae57edca --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/150/150.obj @@ -0,0 +1,456 @@ +o convex_0 +v -0.394035 1.127284 0.184714 +v -1.765359 -1.096786 -3.076500 +v -2.061893 -0.651798 -3.076500 +v -2.173045 -1.022331 2.927792 +v -0.319805 -1.022331 2.927792 +v -2.284389 1.015820 3.113712 +v -0.319805 1.090057 -2.964339 +v -2.247274 1.090057 -3.076500 +v -0.319805 -1.059558 -3.113684 +v -0.319805 1.053047 3.002160 +v -2.210160 -1.096786 -3.038707 +v -2.210160 -0.874292 2.964976 +v -2.284389 1.052829 2.037816 +v -2.210160 -1.096786 -1.481858 +v -0.319805 -0.911301 2.964976 +v -2.284389 0.608277 2.779666 +v -1.839589 0.719306 -3.113075 +v -0.319805 -1.059558 -0.703433 +v -0.468264 1.052829 3.039344 +v -0.801720 1.127284 -0.481549 +v -2.284389 1.015820 0.888771 +v -2.173045 0.793325 3.113712 +v -0.431149 1.052829 -3.002132 +v -2.247274 1.090057 -1.370915 +v -1.468825 -1.096786 -2.223098 +v -0.319805 -0.651798 -3.113684 +v -0.319805 1.127067 0.480967 +v -2.247274 0.682296 -3.076500 +v -0.987102 1.052829 3.039344 +v -2.210160 -1.022331 2.037816 +v -1.876511 0.978810 3.113712 +v -0.801720 -1.022331 -3.113684 +v -1.320558 -1.096786 -3.075891 +v -1.654207 1.090057 -3.075891 +v -2.284389 0.608277 3.075918 +v -2.210160 -0.392294 -3.076500 +f 28 17 36 +f 7 5 9 +f 5 7 10 +f 3 2 11 +f 5 4 14 +f 11 2 14 +f 4 5 15 +f 5 10 15 +f 12 4 15 +f 6 13 16 +f 11 14 16 +f 9 5 18 +f 15 10 19 +f 1 7 20 +f 13 8 21 +f 11 16 21 +f 16 13 21 +f 6 12 22 +f 12 15 22 +f 8 13 24 +f 20 8 24 +f 13 20 24 +f 5 14 25 +f 14 2 25 +f 18 5 25 +f 7 9 26 +f 23 7 26 +f 7 1 27 +f 10 7 27 +f 19 10 27 +f 1 20 27 +f 20 13 27 +f 8 17 28 +f 21 8 28 +f 11 21 28 +f 13 6 29 +f 6 19 29 +f 19 27 29 +f 27 13 29 +f 4 12 30 +f 14 4 30 +f 19 6 31 +f 15 19 31 +f 6 22 31 +f 22 15 31 +f 2 3 32 +f 9 2 32 +f 3 17 32 +f 26 9 32 +f 17 26 32 +f 2 9 33 +f 9 18 33 +f 25 2 33 +f 18 25 33 +f 17 8 34 +f 20 7 34 +f 8 20 34 +f 7 23 34 +f 26 17 34 +f 23 26 34 +f 12 6 35 +f 6 16 35 +f 16 14 35 +f 30 12 35 +f 14 30 35 +f 3 11 36 +f 17 3 36 +f 11 28 36 +o convex_1 +v 0.977399 -3.024262 -0.889549 +v 0.384520 0.385264 1.074981 +v 0.347405 0.385264 1.074981 +v 0.532788 3.017094 -1.037704 +v 1.830082 3.054811 0.963654 +v 1.830082 -3.061381 0.963654 +v 1.718929 2.943455 -1.037704 +v -0.097206 -2.950025 0.926615 +v -0.097206 2.979975 0.963654 +v -0.097206 -2.950025 -1.000665 +v 1.792967 -3.061381 -1.000665 +v -0.097206 2.609987 -1.074953 +v 1.867005 0.533738 -0.555779 +v -0.097206 -1.392838 1.074981 +v -0.097206 3.054811 -0.963626 +v 0.125100 0.126032 -1.074953 +v 1.755852 2.906337 1.000693 +v 1.867005 -0.355313 0.592845 +v -0.060283 -2.987144 0.926615 +v 1.867005 -0.540307 -0.593028 +v 1.830082 -3.061381 -0.073853 +v 0.273367 -1.318601 1.074981 +v 1.830082 3.017693 0.667133 +v 1.422394 -3.061381 0.852538 +v 0.421635 3.017094 0.963654 +v -0.097206 -0.132601 1.074981 +v 0.421635 1.571862 -1.074953 +v -0.097206 -2.727313 0.963654 +v -0.097206 0.348145 -1.074953 +v 1.867005 0.496619 0.481729 +v 1.718737 2.350156 -1.037704 +v -0.097206 3.054811 -0.740973 +v 1.755852 2.980574 -0.481701 +v 0.310482 -2.987144 -0.963626 +v 1.422394 -1.541313 1.000693 +v -0.097206 3.017094 -1.037704 +v 1.014514 -1.466477 -1.037704 +v 1.755852 2.572868 1.000693 +v 1.792967 -2.616556 -1.000665 +v 1.681814 -3.061381 -0.963626 +v -0.060283 -2.987144 0.703962 +v -0.097206 3.017094 0.444690 +v 1.830082 3.054811 0.889366 +v 0.125100 -1.467076 1.074981 +f 50 64 80 +f 44 45 46 +f 40 43 48 +f 46 45 48 +f 38 39 50 +f 45 44 50 +f 48 45 51 +f 47 46 52 +f 39 38 53 +f 42 41 53 +f 45 39 53 +f 41 42 54 +f 44 46 55 +f 54 42 56 +f 49 54 56 +f 42 47 57 +f 56 42 57 +f 47 56 57 +f 38 50 58 +f 47 42 60 +f 42 55 60 +f 53 41 61 +f 45 53 61 +f 39 45 62 +f 50 39 62 +f 45 50 62 +f 48 43 63 +f 52 48 63 +f 50 44 64 +f 44 55 64 +f 55 42 64 +f 46 48 65 +f 52 46 65 +f 48 52 65 +f 49 41 66 +f 41 54 66 +f 54 49 66 +f 43 47 67 +f 63 43 67 +f 41 51 68 +f 51 45 68 +f 61 41 68 +f 43 40 69 +f 49 43 69 +f 59 49 69 +f 46 47 70 +f 58 42 71 +f 40 48 72 +f 51 40 72 +f 48 51 72 +f 47 52 73 +f 52 63 73 +f 67 47 73 +f 63 67 73 +f 53 38 74 +f 42 53 74 +f 38 58 74 +f 71 42 74 +f 58 71 74 +f 47 43 75 +f 43 49 75 +f 56 47 75 +f 49 56 75 +f 47 60 76 +f 37 70 76 +f 70 47 76 +f 55 46 77 +f 60 55 77 +f 70 37 77 +f 46 70 77 +f 37 76 77 +f 76 60 77 +f 45 61 78 +f 68 45 78 +f 61 68 78 +f 41 49 79 +f 40 51 79 +f 51 41 79 +f 49 59 79 +f 69 40 79 +f 59 69 79 +f 58 50 80 +f 42 58 80 +f 64 42 80 +o convex_2 +v 1.867197 -0.540681 -0.444800 +v 3.794485 0.608334 -0.296529 +v 3.831792 0.534141 0.296557 +v 1.867197 0.497102 0.481867 +v 3.831792 -0.577836 0.593099 +v 3.720447 -0.540681 -0.555916 +v 1.867197 0.497102 -0.555916 +v 1.867197 -0.503642 0.593099 +v 3.831792 0.460063 0.555944 +v 3.794485 0.608334 -0.444800 +v 1.867197 -0.540681 -0.593071 +v 2.312192 0.571180 -0.444800 +v 1.978542 -0.281293 0.593099 +v 3.794485 0.311792 -0.481839 +v 2.052772 0.534141 0.296557 +v 2.719881 -0.466604 -0.593071 +v 3.831792 -0.577836 0.444828 +v 3.831792 0.497102 -0.222335 +v 1.867197 0.534141 -0.518878 +v 3.720447 -0.429565 -0.555916 +v 2.757188 0.497102 0.518906 +v 2.571613 0.571180 -0.518878 +v 1.867197 -0.095867 -0.593071 +v 3.831792 -0.392410 0.593099 +f 89 93 104 +f 81 84 87 +f 84 81 88 +f 81 85 88 +f 85 83 89 +f 82 83 90 +f 85 81 91 +f 81 87 91 +f 82 90 92 +f 84 88 93 +f 88 85 93 +f 83 82 95 +f 82 92 95 +f 86 91 96 +f 83 85 97 +f 85 91 97 +f 91 86 97 +f 86 94 97 +f 97 94 98 +f 90 83 98 +f 94 90 98 +f 83 97 98 +f 87 84 99 +f 84 95 99 +f 95 92 99 +f 94 86 100 +f 86 96 100 +f 96 87 100 +f 89 83 101 +f 84 93 101 +f 93 89 101 +f 83 95 101 +f 95 84 101 +f 92 90 102 +f 90 94 102 +f 87 99 102 +f 99 92 102 +f 94 100 102 +f 100 87 102 +f 91 87 103 +f 87 96 103 +f 96 91 103 +f 85 89 104 +f 93 85 104 +o convex_3 +v -0.319805 -0.948485 1.297653 +v -0.134466 1.053149 3.002508 +v -0.134466 1.053149 2.965128 +v -0.134466 -1.022650 2.854099 +v -0.319805 -0.911301 2.965128 +v -0.319805 0.941597 1.112049 +v -0.319805 1.053149 3.002508 +v -0.245658 0.756287 1.334663 +v -0.282723 -0.911301 1.112049 +v -0.134466 -0.985263 2.594661 +v -0.134466 -0.948485 2.965128 +v -0.319805 -1.022650 2.928119 +v -0.282723 0.941597 1.112049 +v -0.208612 0.978781 1.853725 +v -0.319805 -0.911301 1.112049 +v -0.245658 -0.948485 1.445877 +f 112 114 120 +f 107 106 108 +f 105 109 110 +f 106 107 111 +f 110 109 111 +f 107 110 111 +f 107 108 114 +f 108 106 115 +f 106 111 115 +f 111 109 115 +f 105 108 116 +f 109 105 116 +f 108 115 116 +f 115 109 116 +f 110 107 117 +f 113 110 117 +f 112 113 117 +f 107 114 118 +f 114 112 118 +f 117 107 118 +f 112 117 118 +f 105 110 119 +f 110 113 119 +f 113 105 119 +f 108 105 120 +f 113 112 120 +f 105 113 120 +f 114 108 120 +o convex_4 +v -0.319805 -0.651870 -3.113684 +v -0.282737 1.015718 -1.074953 +v -0.245669 1.015718 -1.519978 +v -0.245669 -1.022469 -1.334784 +v -0.171534 1.090216 -2.965409 +v -0.319805 1.090216 -2.965409 +v -0.208601 -1.059718 -3.113684 +v -0.319805 -1.022469 -1.074953 +v -0.319805 1.015718 -1.074953 +v -0.319805 -1.059718 -3.113684 +v -0.208601 -1.059718 -2.594622 +v -0.171534 0.941640 -2.816935 +v -0.282737 -1.022469 -1.074953 +v -0.171534 0.608081 -2.928290 +f 125 132 134 +f 123 122 124 +f 122 123 125 +f 125 121 126 +f 122 125 126 +f 121 125 127 +f 126 121 128 +f 122 126 129 +f 128 122 129 +f 126 128 129 +f 121 127 130 +f 128 121 130 +f 128 130 131 +f 130 127 131 +f 123 124 132 +f 125 123 132 +f 124 122 133 +f 122 128 133 +f 128 131 133 +f 131 124 133 +f 127 125 134 +f 124 131 134 +f 131 127 134 +f 132 124 134 +o convex_5 +v -0.208601 0.533139 -1.074953 +v -0.282730 0.941074 1.112049 +v -0.097398 2.980160 0.963694 +v -0.097398 -2.950177 0.926445 +v -0.282730 -2.950177 -1.000455 +v -0.097398 -2.950177 -1.000455 +v -0.282730 3.054811 -1.037490 +v -0.097398 3.017192 -1.037704 +v -0.319805 -1.319026 1.074800 +v -0.319805 1.905070 -1.074953 +v -0.319805 1.274946 0.926659 +v -0.319805 -2.171339 -0.889563 +v -0.171526 2.979573 0.963480 +v -0.171526 -2.950177 0.926445 +v -0.097398 -1.393089 1.074800 +v -0.319805 -1.022185 -1.074953 +v -0.282730 -2.950177 -0.740995 +v -0.097398 0.385013 -1.074739 +v -0.319805 0.941074 1.112049 +v -0.097398 -0.169872 1.074800 +v -0.097398 2.683908 -1.074739 +v -0.319805 -0.911091 1.112049 +v -0.097398 3.054811 -0.778244 +v -0.208601 3.016604 0.333454 +f 157 141 158 +f 137 138 140 +f 138 139 140 +f 137 140 142 +f 144 143 145 +f 141 144 145 +f 143 144 146 +f 139 138 148 +f 143 148 149 +f 138 137 149 +f 148 138 149 +f 140 139 150 +f 144 135 150 +f 139 146 150 +f 146 144 150 +f 146 139 151 +f 143 146 151 +f 139 148 151 +f 148 143 151 +f 142 140 152 +f 150 135 152 +f 140 150 152 +f 136 137 153 +f 145 143 153 +f 137 147 153 +f 147 145 153 +f 137 136 154 +f 149 137 154 +f 136 149 154 +f 141 142 155 +f 135 144 155 +f 144 141 155 +f 142 152 155 +f 152 135 155 +f 143 149 156 +f 149 136 156 +f 136 153 156 +f 153 143 156 +f 137 142 157 +f 142 141 157 +f 141 145 158 +f 147 137 158 +f 145 147 158 +f 137 157 158 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/150/150.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/150/150.urdf new file mode 100644 index 000000000..7bc27170a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/150/150.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/151/151.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/151/151.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/151/151.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/151/151.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/151/151.obj new file mode 100644 index 000000000..cfce9b48e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/151/151.obj @@ -0,0 +1,402 @@ +o convex_0 +v -0.400253 -1.111316 -1.063919 +v -0.746398 -3.430667 1.117702 +v -0.781136 -3.430667 1.117702 +v 0.603857 0.032081 1.048279 +v 1.088749 -3.846274 -0.925289 +v 0.984740 -3.881131 1.082774 +v -0.954416 -3.811800 -1.029207 +v -1.023686 0.032081 0.944361 +v 0.984740 0.032081 -0.994496 +v -0.954416 0.032081 -1.098630 +v 1.019272 0.032081 1.013568 +v -0.954416 -3.811800 0.944361 +v 1.088749 -3.118867 -0.960001 +v 0.396046 -3.881131 1.117485 +v -0.988947 -2.876781 -0.579042 +v 0.984740 -1.214738 1.082774 +v 1.054011 -3.881131 0.113237 +v -0.919677 -3.811800 1.117702 +v 0.049901 -3.846274 -0.994496 +v 1.088749 -2.772592 -0.371206 +v -0.988947 0.032081 -0.475124 +v -0.677334 -3.846274 1.013568 +v 1.019272 -0.764658 -0.959784 +v -0.781136 -0.037634 -1.098630 +v 0.811668 -3.846274 1.117485 +v -0.988947 -0.557046 0.979073 +v 0.326776 -1.110933 1.082991 +v 0.984740 -3.673136 -0.959784 +v -1.023686 -0.176297 0.736526 +v 1.019272 -3.811800 0.702031 +v -0.781136 -3.811800 -1.029207 +v 1.019272 -3.881131 -0.267289 +v 1.019272 -0.002777 0.702031 +v 0.984740 0.032081 1.048279 +v -0.954416 -3.707611 1.082991 +v 1.088749 -3.846274 -0.475124 +v -0.019369 -3.846274 -0.994712 +v 1.088749 -2.945729 -0.856083 +v 0.984740 -0.141440 -0.994496 +v -0.954416 -0.314577 -1.098630 +v -0.642596 -0.072108 0.979073 +v -1.023686 -0.141440 0.874938 +f 12 35 42 +f 8 4 9 +f 8 9 10 +f 9 4 11 +f 7 12 15 +f 6 11 16 +f 6 14 17 +f 2 3 18 +f 5 13 20 +f 8 10 21 +f 10 15 21 +f 12 7 22 +f 18 12 22 +f 14 18 22 +f 13 9 23 +f 10 9 24 +f 14 6 25 +f 16 2 25 +f 6 16 25 +f 2 18 25 +f 18 14 25 +f 18 3 26 +f 8 18 26 +f 3 2 27 +f 2 16 27 +f 13 5 28 +f 5 19 28 +f 1 24 28 +f 24 13 28 +f 8 21 29 +f 21 15 29 +f 11 6 30 +f 6 17 30 +f 20 11 30 +f 17 20 30 +f 24 1 31 +f 1 28 31 +f 28 19 31 +f 5 17 32 +f 17 14 32 +f 19 5 32 +f 9 11 33 +f 11 20 33 +f 23 9 33 +f 11 4 34 +f 16 11 34 +f 27 16 34 +f 4 27 34 +f 18 8 35 +f 12 18 35 +f 17 5 36 +f 5 20 36 +f 20 17 36 +f 22 7 37 +f 14 22 37 +f 7 31 37 +f 31 19 37 +f 32 14 37 +f 19 32 37 +f 20 13 38 +f 13 23 38 +f 33 20 38 +f 23 33 38 +f 9 13 39 +f 24 9 39 +f 13 24 39 +f 7 15 40 +f 15 10 40 +f 10 24 40 +f 31 7 40 +f 24 31 40 +f 4 8 41 +f 26 3 41 +f 8 26 41 +f 3 27 41 +f 27 4 41 +f 15 12 42 +f 8 29 42 +f 29 15 42 +f 35 8 42 +o convex_1 +v 0.326865 4.222334 -0.094341 +v -0.261822 3.356274 -0.094341 +v -0.227103 2.733419 -0.232848 +v 0.222954 2.213783 0.355838 +v -0.192446 4.048925 0.321120 +v 0.292207 2.213783 -0.198191 +v -0.227103 2.213783 0.355838 +v -0.261822 4.083725 -0.267506 +v 0.292207 4.083725 0.286462 +v -0.192446 2.213783 -0.232848 +v 0.361522 4.222334 -0.163595 +v -0.192446 4.187534 0.286462 +v -0.053939 3.841307 -0.267506 +v 0.326865 4.048925 0.217209 +v 0.326865 4.222334 -0.198191 +v -0.157850 2.871831 -0.267506 +v 0.119104 2.837228 0.355838 +v -0.227103 4.048925 0.182612 +v 0.257611 2.525800 0.321120 +v 0.292207 2.213783 -0.128937 +v -0.227103 2.213783 0.113359 +f 45 52 63 +f 48 46 49 +f 45 44 50 +f 48 49 52 +f 45 50 52 +f 43 51 53 +f 51 43 54 +f 47 51 54 +f 53 51 56 +f 53 48 57 +f 43 53 57 +f 50 54 57 +f 54 43 57 +f 48 55 57 +f 55 50 57 +f 48 52 58 +f 52 50 58 +f 55 48 58 +f 50 55 58 +f 49 46 59 +f 47 49 59 +f 51 47 59 +f 46 51 59 +f 44 49 60 +f 49 47 60 +f 50 44 60 +f 47 54 60 +f 54 50 60 +f 51 46 61 +f 56 51 61 +f 56 61 62 +f 46 48 62 +f 48 53 62 +f 53 56 62 +f 61 46 62 +f 44 45 63 +f 49 44 63 +f 52 49 63 +o convex_2 +v 1.053977 1.209324 -2.725951 +v -0.988852 0.170778 -3.003000 +v -0.573331 0.205452 -3.037582 +v 0.984825 0.136313 -1.098630 +v -0.954276 2.074920 -1.098630 +v -0.988852 2.144478 -3.072165 +v 1.019401 2.074920 -1.098630 +v -0.954276 0.136313 -1.098630 +v 1.088552 0.032501 -3.072165 +v 0.984825 2.179153 -2.933834 +v -0.988852 1.901759 -1.098630 +v 0.707607 0.032501 -2.691369 +v 1.053977 1.555647 -1.514396 +v 0.984825 0.101639 -1.168182 +v -0.435027 2.109594 -1.445231 +v 1.088552 0.309475 -3.072165 +v -0.573331 0.101639 -1.410648 +v -0.988852 0.170778 -1.826027 +v 1.088552 0.032501 -2.725951 +v -0.988852 2.144478 -2.622203 +v 0.776962 0.032501 -3.072165 +v 0.776962 2.179153 -2.795310 +v 1.019401 1.001909 -1.098630 +v 1.019401 2.109594 -1.964551 +v -0.885124 2.144478 -3.072165 +v -0.885124 0.136313 -2.137272 +v 1.019401 1.728598 -2.968417 +v 0.430592 0.170988 -3.072165 +v 1.019401 0.136313 -1.445231 +v 1.088552 0.586448 -2.587427 +v -0.988852 0.759399 -3.037582 +v 1.019401 2.109594 -1.618338 +v -0.642686 0.136313 -3.003000 +f 84 89 96 +f 68 67 70 +f 67 68 71 +f 69 65 74 +f 71 68 74 +f 67 71 77 +f 68 70 78 +f 72 69 79 +f 77 71 80 +f 75 77 80 +f 65 71 81 +f 74 65 81 +f 71 74 81 +f 75 72 82 +f 77 75 82 +f 72 79 82 +f 69 74 83 +f 74 68 83 +f 68 78 83 +f 65 66 84 +f 69 72 84 +f 72 75 84 +f 75 80 84 +f 73 69 85 +f 69 83 85 +f 83 78 85 +f 70 67 86 +f 76 70 86 +f 82 76 86 +f 69 73 88 +f 79 69 88 +f 71 65 89 +f 80 71 89 +f 84 80 89 +f 64 79 90 +f 87 64 90 +f 73 87 90 +f 88 73 90 +f 79 88 90 +f 84 66 91 +f 69 84 91 +f 67 77 92 +f 77 82 92 +f 86 67 92 +f 82 86 92 +f 79 64 93 +f 76 82 93 +f 82 79 93 +f 64 87 93 +f 87 76 93 +f 66 65 94 +f 65 69 94 +f 91 66 94 +f 69 91 94 +f 70 76 95 +f 78 70 95 +f 73 85 95 +f 85 78 95 +f 87 73 95 +f 76 87 95 +f 65 84 96 +f 89 65 96 +o convex_3 +v 0.846308 0.932776 3.056993 +v -0.954307 0.032291 -1.098224 +v -0.954307 2.074984 -1.098224 +v 1.019380 2.074984 -1.098630 +v -0.919775 2.213783 2.918283 +v -1.058316 0.032291 2.987434 +v 0.984849 0.032504 -0.994496 +v 1.054119 2.109790 3.022010 +v 1.054119 0.170876 3.056993 +v 0.430686 2.213783 -0.370908 +v -1.058316 2.074984 0.529694 +v 1.054119 2.213569 1.221213 +v 1.019380 0.032504 1.013757 +v 1.019380 1.105740 -1.098630 +v -0.192540 2.213783 -0.232197 +v -1.058316 2.109790 1.186637 +v 0.984849 0.136283 -1.098630 +v -1.023578 0.032291 0.737150 +v 1.054119 2.040391 -0.301349 +v 0.777038 2.144170 3.022010 +v -0.088531 0.067097 3.022010 +v -1.058316 0.309462 2.987434 +v 1.054119 0.136283 2.329678 +v -0.988839 0.447833 -0.752057 +v -0.988839 2.074984 -0.855785 +v 0.915578 0.136283 3.056993 +v -0.677226 2.109577 2.952858 +v -1.058316 1.382484 0.841284 +v -0.954307 2.178976 2.675437 +v 0.430686 0.136283 3.056993 +v -1.058316 0.066884 2.260119 +v -0.607956 0.032504 2.987434 +v 1.054119 2.213569 0.910436 +v -1.023578 0.482640 2.987434 +v -0.746496 2.213783 2.918283 +v -0.919775 2.213783 2.779572 +v 1.054119 2.144383 2.779572 +v 1.054119 1.209306 3.056993 +v 1.054119 1.486263 0.321831 +v -0.469622 0.101690 3.022010 +v 0.257407 1.382484 3.022010 +v -0.988839 0.032291 -0.440467 +f 124 120 138 +f 100 99 106 +f 104 105 108 +f 102 98 109 +f 98 103 109 +f 106 99 111 +f 101 106 111 +f 107 102 112 +f 98 99 113 +f 99 100 113 +f 103 98 113 +f 100 110 113 +f 110 103 113 +f 98 102 114 +f 108 105 115 +f 110 100 115 +f 112 102 118 +f 109 103 119 +f 105 109 119 +f 103 110 119 +f 115 105 119 +f 99 98 121 +f 107 112 121 +f 98 120 121 +f 120 107 121 +f 105 97 122 +f 109 105 122 +f 117 109 122 +f 116 101 123 +f 102 107 124 +f 107 120 124 +f 101 112 125 +f 118 101 125 +f 112 118 125 +f 102 117 126 +f 122 97 126 +f 117 122 126 +f 114 102 127 +f 102 124 127 +f 124 114 127 +f 102 109 128 +f 117 102 128 +f 109 117 128 +f 100 106 129 +f 106 108 129 +f 115 100 129 +f 108 115 129 +f 101 118 130 +f 123 101 130 +f 106 101 131 +f 108 106 131 +f 101 116 131 +f 111 99 132 +f 101 111 132 +f 112 101 132 +f 99 121 132 +f 121 112 132 +f 104 108 133 +f 116 104 133 +f 108 131 133 +f 131 116 133 +f 97 105 134 +f 105 104 134 +f 116 97 134 +f 104 116 134 +f 110 115 135 +f 119 110 135 +f 115 119 135 +f 118 102 136 +f 102 126 136 +f 126 97 136 +f 130 118 136 +f 130 136 137 +f 97 116 137 +f 116 123 137 +f 123 130 137 +f 136 97 137 +f 98 114 138 +f 120 98 138 +f 114 124 138 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/151/151.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/151/151.urdf new file mode 100644 index 000000000..801349734 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/151/151.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/152/152.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/152/152.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/152/152.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/152/152.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/152/152.obj new file mode 100644 index 000000000..34542cf92 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/152/152.obj @@ -0,0 +1,474 @@ +o convex_0 +v -0.757087 -3.002161 -0.838739 +v 0.286711 0.324299 1.346676 +v 1.102239 3.064162 1.281319 +v -0.985358 2.933203 1.183394 +v 0.971524 3.030969 -0.838739 +v 1.102239 -3.099927 1.281319 +v -1.083341 -2.936983 1.346676 +v -0.952626 2.998984 -0.675458 +v 0.971524 -3.099927 -0.708244 +v -1.083341 -2.382372 -0.838739 +v -0.333064 0.226533 -0.871526 +v 1.102239 -3.099927 0.889834 +v 0.221461 -0.196517 -0.871526 +v -0.985358 2.705686 -0.708244 +v -1.018091 2.085898 1.215963 +v -1.083341 -2.969572 -0.838739 +v -0.267813 0.193340 1.346676 +v 1.102239 3.064162 0.889834 +v 1.004256 -3.066735 -0.643105 +v 0.971524 -3.066735 1.313889 +v 0.971524 -2.675670 -0.740814 +v 0.775985 3.064162 1.281319 +v -0.496084 -3.002161 1.346676 +v -1.083341 -2.252017 1.346676 +v 0.612751 2.998984 -0.838739 +v 1.004256 3.030969 -0.577749 +v -0.985358 2.998984 -0.055768 +v 0.971524 1.726819 -0.838739 +v 0.710735 -3.099927 -0.740814 +v -0.561335 2.966396 1.216180 +v -1.083341 -2.969572 0.791908 +v 1.004256 3.064162 0.465778 +v 1.102239 2.542743 0.857264 +v 0.971524 -3.099927 1.281319 +v -0.985358 2.998984 -0.382115 +v -0.887589 2.998984 -0.708244 +v 0.319230 -3.067338 -0.773383 +v -0.267813 -3.002161 1.346676 +v -1.018091 -1.827761 -0.838739 +v -1.083341 -2.121059 1.281319 +v -0.691837 2.966396 1.183394 +v 0.645484 2.998984 1.281319 +v -0.985358 2.248238 1.215963 +v 0.319230 -0.196517 1.346676 +v -0.691837 -3.002161 -0.838739 +v 0.710735 -3.099927 -0.544962 +v -1.018091 -2.969572 1.313889 +v -0.365583 -0.196517 -0.871526 +f 16 10 48 +f 3 6 12 +f 6 9 12 +f 11 5 13 +f 7 10 16 +f 7 2 17 +f 3 12 18 +f 12 9 19 +f 6 3 20 +f 19 9 21 +f 2 3 22 +f 17 2 22 +f 3 18 22 +f 2 7 23 +f 10 7 24 +f 7 17 24 +f 5 11 25 +f 5 18 26 +f 19 5 26 +f 15 4 27 +f 13 5 28 +f 5 19 28 +f 21 13 28 +f 19 21 28 +f 9 6 29 +f 21 9 29 +f 16 1 31 +f 7 16 31 +f 5 8 32 +f 18 5 32 +f 8 22 32 +f 22 18 32 +f 18 12 33 +f 12 19 33 +f 26 18 33 +f 19 26 33 +f 6 20 34 +f 20 23 34 +f 29 6 34 +f 8 14 35 +f 14 10 35 +f 10 15 35 +f 22 8 35 +f 15 27 35 +f 27 22 35 +f 8 5 36 +f 14 8 36 +f 11 14 36 +f 5 25 36 +f 25 11 36 +f 13 21 37 +f 21 29 37 +f 2 23 38 +f 23 20 38 +f 11 10 39 +f 10 14 39 +f 14 11 39 +f 15 10 40 +f 10 24 40 +f 24 15 40 +f 27 4 41 +f 22 27 41 +f 4 30 41 +f 30 22 41 +f 17 22 42 +f 30 17 42 +f 22 30 42 +f 4 15 43 +f 15 24 43 +f 24 17 43 +f 30 4 43 +f 17 30 43 +f 3 2 44 +f 20 3 44 +f 2 38 44 +f 38 20 44 +f 1 13 45 +f 29 1 45 +f 13 37 45 +f 37 29 45 +f 1 29 46 +f 31 1 46 +f 29 34 46 +f 46 34 47 +f 23 7 47 +f 7 31 47 +f 34 23 47 +f 31 46 47 +f 10 11 48 +f 13 1 48 +f 11 13 48 +f 1 16 48 +o convex_1 +v -0.072064 0.128872 3.336401 +v 0.319345 -0.164656 2.716840 +v 0.319345 -0.197245 2.716840 +v -0.267826 0.226753 2.618953 +v -0.235180 -0.262537 2.814727 +v -0.169945 -0.262537 3.336401 +v 0.221464 0.226753 3.369153 +v 0.254053 0.194107 2.618953 +v -0.235180 0.324634 3.238588 +v 0.286699 -0.197245 3.271192 +v 0.254053 -0.262537 2.618953 +v -0.235180 -0.262537 2.618953 +v 0.188818 0.259342 3.369153 +v -0.267826 0.226753 2.977751 +v 0.286699 -0.034186 3.303797 +f 55 58 63 +f 50 51 56 +f 54 49 57 +f 56 52 57 +f 55 54 58 +f 54 53 59 +f 56 51 59 +f 52 56 59 +f 51 58 59 +f 58 54 59 +f 53 52 60 +f 52 59 60 +f 59 53 60 +f 49 54 61 +f 54 55 61 +f 55 56 61 +f 56 57 61 +f 57 49 61 +f 52 53 62 +f 53 54 62 +f 57 52 62 +f 54 57 62 +f 51 50 63 +f 50 56 63 +f 56 55 63 +f 58 51 63 +o convex_2 +v 0.188846 0.292001 -2.339453 +v -0.300447 -0.197245 -2.730901 +v -0.300447 -0.197245 -2.633013 +v 0.286705 -0.262512 -2.469936 +v 0.188846 0.226734 -2.763496 +v -0.235167 0.324634 -2.339453 +v -0.267807 -0.295145 -2.339453 +v 0.188846 -0.327778 -2.861383 +v -0.235167 0.324634 -2.730901 +v 0.319345 -0.197245 -2.339453 +v -0.202527 0.259367 -2.763496 +v -0.006810 -0.295145 -2.828686 +f 65 74 75 +f 65 66 69 +f 64 69 70 +f 66 65 70 +f 69 66 70 +f 67 70 71 +f 64 68 72 +f 65 69 72 +f 69 64 72 +f 68 64 73 +f 64 70 73 +f 70 67 73 +f 67 71 73 +f 71 68 73 +f 68 71 74 +f 65 72 74 +f 72 68 74 +f 70 65 75 +f 71 70 75 +f 74 71 75 +o convex_3 +v -0.333067 -0.099421 1.672859 +v 0.286711 0.324634 1.542473 +v 0.286711 0.324634 1.346676 +v 0.286711 -0.262537 1.901226 +v 0.319345 -0.197245 1.346676 +v -0.300434 0.194107 1.901226 +v -0.267801 0.194107 1.346676 +v -0.202534 -0.229891 1.346676 +v -0.333067 -0.262537 1.901226 +v 0.286711 0.259342 1.901226 +v 0.286711 -0.262537 1.672859 +v 0.319345 -0.164656 1.901226 +v 0.188811 0.324634 1.346676 +f 82 81 88 +f 78 80 82 +f 76 81 82 +f 76 82 83 +f 82 80 83 +f 81 76 84 +f 79 81 84 +f 76 83 84 +f 77 81 85 +f 81 79 85 +f 80 79 86 +f 83 80 86 +f 79 84 86 +f 84 83 86 +f 78 77 87 +f 79 80 87 +f 80 78 87 +f 85 79 87 +f 77 85 87 +f 77 78 88 +f 81 77 88 +f 78 82 88 +o convex_4 +v 0.678089 0.161454 2.618809 +v -0.560885 0.259354 1.901226 +v -2.877095 0.324621 1.933958 +v -2.974861 -0.295158 2.129650 +v 2.993695 -0.262460 2.064396 +v -3.007450 -0.295158 2.455709 +v 3.059476 0.226721 2.553555 +v 0.253832 -0.295158 2.618809 +v -2.942272 0.194151 2.488301 +v -0.332764 -0.262524 1.901226 +v 2.928518 0.194088 2.064396 +v 2.993695 -0.197258 2.455709 +v -3.105819 0.357255 2.031804 +v -2.942272 -0.262524 1.966550 +v -0.267587 0.226721 2.618809 +v 1.003975 0.259354 1.933958 +v 0.938798 -0.295158 2.031804 +v -2.289895 0.357255 2.064396 +v -0.234998 -0.262524 2.618809 +v 0.286421 -0.262524 1.901226 +v -0.039466 0.291988 1.901226 +v 1.786707 -0.295158 2.292609 +v -2.974861 -0.099421 2.488301 +v 1.982843 0.259354 2.455709 +v 3.026284 0.128885 2.553555 +v -2.942272 0.226721 2.455709 +v -2.518016 0.194151 2.520893 +v -3.105819 0.357255 1.966550 +v 3.026284 0.226721 2.390455 +v 2.928518 -0.262460 2.227496 +v 2.243552 0.194088 2.586147 +v 0.482556 0.226721 1.901226 +v 0.253832 -0.295158 1.999212 +v 2.993695 -0.131991 2.488301 +v -2.420250 0.357255 1.933958 +f 116 106 123 +f 94 92 96 +f 91 90 98 +f 93 95 100 +f 91 98 102 +f 96 89 103 +f 99 93 104 +f 96 92 105 +f 101 103 106 +f 94 96 107 +f 96 103 107 +f 98 90 108 +f 93 105 108 +f 108 90 109 +f 96 105 110 +f 105 93 110 +f 101 94 111 +f 97 101 111 +f 94 107 111 +f 103 95 112 +f 106 103 112 +f 101 97 114 +f 103 101 114 +f 103 114 115 +f 107 103 115 +f 97 111 115 +f 111 107 115 +f 114 97 115 +f 92 94 116 +f 94 101 116 +f 91 102 116 +f 102 92 116 +f 101 106 116 +f 95 93 117 +f 93 99 117 +f 99 104 117 +f 104 109 117 +f 112 95 117 +f 109 112 117 +f 93 100 118 +f 100 96 118 +f 110 93 118 +f 96 110 118 +f 89 96 119 +f 103 89 119 +f 95 103 119 +f 113 95 119 +f 96 113 119 +f 104 93 120 +f 93 108 120 +f 109 104 120 +f 108 109 120 +f 102 98 121 +f 92 102 121 +f 105 92 121 +f 98 108 121 +f 108 105 121 +f 100 95 122 +f 96 100 122 +f 95 113 122 +f 113 96 122 +f 90 91 123 +f 109 90 123 +f 106 112 123 +f 112 109 123 +f 91 116 123 +o convex_5 +v -0.594032 -2.937428 -2.306811 +v 0.482422 3.032010 -1.165112 +v 0.482422 3.032010 -1.850039 +v 0.547689 -2.936834 -1.165112 +v -0.594032 2.998751 -1.197869 +v -0.561399 -2.937428 -1.197869 +v 0.482311 -2.936834 -2.274053 +v -0.398232 3.097341 -2.306695 +v 0.449789 3.031416 -2.339339 +v -0.398232 1.107132 -1.165226 +v -0.463499 3.097341 -2.208882 +v 0.515056 -2.871503 -2.208882 +v -0.267810 -0.294507 -2.339339 +v -0.594032 -1.795329 -2.306811 +v 0.319255 -0.197105 -2.339339 +v -0.594032 -2.937428 -1.458783 +v -0.594032 3.031416 -1.328326 +v 0.515056 1.791916 -1.230512 +v -0.006967 -2.936834 -1.165226 +v 0.188834 -2.936834 -2.306695 +v -0.430865 3.130006 -2.274053 +v 0.482311 -2.088723 -2.306695 +v 0.482311 1.009136 -2.306695 +v 0.547689 -2.186719 -1.230512 +v 0.090933 3.064082 -2.339339 +v -0.594032 -0.555235 -1.197869 +v 0.090933 3.031416 -1.165226 +v -0.496132 1.563853 -2.306811 +v 0.515056 1.857247 -1.165112 +v -0.300332 -0.653231 -1.165226 +f 129 142 153 +f 124 127 129 +f 127 124 130 +f 127 125 133 +f 127 130 135 +f 124 128 137 +f 136 124 137 +f 136 132 138 +f 128 124 139 +f 124 129 139 +f 137 128 140 +f 129 127 142 +f 130 124 143 +f 124 136 143 +f 136 138 143 +f 125 126 144 +f 126 132 144 +f 134 140 144 +f 135 130 145 +f 138 132 145 +f 130 143 145 +f 143 138 145 +f 132 126 146 +f 135 145 146 +f 145 132 146 +f 127 135 147 +f 126 141 147 +f 146 126 147 +f 135 146 147 +f 136 131 148 +f 132 136 148 +f 144 132 148 +f 131 144 148 +f 133 128 149 +f 129 133 149 +f 128 139 149 +f 139 129 149 +f 133 125 150 +f 128 133 150 +f 140 128 150 +f 125 144 150 +f 144 140 150 +f 131 136 151 +f 136 137 151 +f 140 134 151 +f 137 140 151 +f 144 131 151 +f 134 144 151 +f 126 125 152 +f 125 127 152 +f 141 126 152 +f 127 147 152 +f 147 141 152 +f 127 133 153 +f 133 129 153 +f 142 127 153 +o convex_6 +v 0.156226 -0.229878 -1.165083 +v -0.202569 0.324634 -1.099826 +v -0.202569 0.324634 -1.165083 +v -0.333067 -0.262518 -1.132440 +v 0.221445 0.259354 -0.871555 +v -0.333067 -0.229878 -0.871555 +v -0.300428 0.291994 -0.871555 +v 0.221445 -0.197238 -0.871555 +v 0.221445 0.259354 -1.165083 +v 0.286724 -0.197238 -1.165083 +v -0.235148 -0.295158 -1.165083 +v -0.300428 0.226715 -1.165083 +f 164 157 165 +f 156 155 158 +f 155 156 160 +f 158 155 160 +f 159 158 160 +f 157 159 160 +f 158 159 161 +f 154 156 162 +f 156 158 162 +f 161 154 163 +f 158 161 163 +f 154 162 163 +f 162 158 163 +f 156 154 164 +f 159 157 164 +f 154 161 164 +f 161 159 164 +f 160 156 165 +f 157 160 165 +f 156 164 165 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/152/152.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/152/152.urdf new file mode 100644 index 000000000..80316cf4a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/152/152.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/153/153.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/153/153.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/153/153.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/153/153.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/153/153.obj new file mode 100644 index 000000000..5879ff46a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/153/153.obj @@ -0,0 +1,333 @@ +o convex_0 +v -0.860179 -2.211837 -1.099900 +v 1.044119 -3.631667 1.046908 +v 1.009446 -3.562293 1.046697 +v 1.009446 0.141814 -0.926534 +v -1.102682 0.141425 0.942677 +v -0.998662 -3.770025 0.942677 +v 0.974773 -3.839789 -1.030554 +v 0.974773 0.141425 0.942887 +v -0.963989 0.141425 -1.065017 +v -0.929526 -3.805102 -1.099690 +v 1.044119 -3.735728 1.046908 +v -0.444730 0.141425 -1.065017 +v 0.420631 -2.558317 -1.065227 +v 1.009446 -0.238963 -0.961207 +v -0.548540 -3.805102 0.492764 +v -0.617886 -3.770025 0.977561 +v -0.998662 -3.735338 0.423417 +v -0.963989 -3.112141 -0.788050 +v 0.974773 -0.689505 0.977351 +v 0.593787 -3.839789 -1.065227 +v -0.894852 -0.620131 -1.099690 +v 1.009446 -3.804712 -0.303253 +v 1.009446 0.141814 -0.407063 +v 0.559324 -3.839789 -0.511083 +v -1.102682 0.107127 0.873541 +v 1.009446 -1.347389 -0.961207 +v -0.444730 -3.631667 -1.099900 +v 0.974773 -2.904408 -1.030554 +v 0.005392 -3.839789 -1.030344 +v -1.033335 -3.008080 0.942677 +v -0.963989 -3.805102 -0.026496 +v -0.963989 -0.516070 -1.065017 +v 0.870963 -3.770025 0.665921 +v 0.940100 -3.631277 1.046697 +v 0.974773 -3.839789 -0.684240 +v -0.029281 -3.770025 0.977561 +v 1.009446 -1.589419 0.977351 +v 0.870963 0.141425 -0.961207 +v -1.068009 0.072440 0.354280 +v 1.044119 -3.735728 0.977351 +v -0.963989 -3.805102 -0.407063 +f 29 31 41 +f 5 4 9 +f 9 4 12 +f 13 12 14 +f 6 15 16 +f 3 2 19 +f 5 3 19 +f 2 8 19 +f 8 5 19 +f 1 10 21 +f 10 9 21 +f 9 12 21 +f 12 13 21 +f 2 4 23 +f 4 5 23 +f 5 8 23 +f 20 7 24 +f 5 9 25 +f 7 14 26 +f 22 7 26 +f 10 1 27 +f 20 10 27 +f 13 20 27 +f 1 21 27 +f 21 13 27 +f 13 14 28 +f 14 7 28 +f 7 20 28 +f 20 13 28 +f 10 20 29 +f 24 15 29 +f 20 24 29 +f 16 5 30 +f 6 16 30 +f 17 6 30 +f 5 25 30 +f 25 17 30 +f 15 6 31 +f 29 15 31 +f 9 10 32 +f 10 18 32 +f 2 3 34 +f 3 5 34 +f 11 2 34 +f 16 11 34 +f 5 16 34 +f 22 11 35 +f 7 22 35 +f 24 7 35 +f 11 33 35 +f 33 24 35 +f 11 16 36 +f 16 15 36 +f 15 24 36 +f 33 11 36 +f 24 33 36 +f 8 2 37 +f 2 23 37 +f 23 8 37 +f 12 4 38 +f 14 12 38 +f 4 14 38 +f 25 9 39 +f 18 25 39 +f 9 32 39 +f 32 18 39 +f 4 2 40 +f 2 11 40 +f 14 4 40 +f 11 22 40 +f 26 14 40 +f 22 26 40 +f 6 17 41 +f 18 10 41 +f 17 25 41 +f 25 18 41 +f 10 29 41 +f 31 6 41 +o convex_1 +v 1.078671 2.358037 -0.753885 +v -0.964051 0.142411 -1.065275 +v -0.964051 0.315513 -3.073579 +v -1.033248 2.288622 0.943030 +v 0.974767 0.142411 0.943030 +v 1.113378 2.358037 -2.934791 +v 0.974767 0.177118 -3.073579 +v -1.102662 2.288622 -3.073579 +v -1.102662 0.142411 0.943030 +v 0.940060 2.219425 0.943030 +v 1.009474 0.142411 -0.407504 +v -1.033248 2.323547 -0.961478 +v 1.009474 0.281023 -3.073579 +v -0.998758 0.454126 -3.073579 +v 1.113378 2.323330 -1.618856 +v 0.974767 2.254132 0.769642 +v 1.113378 2.046539 -2.934791 +v -0.271647 2.323547 -3.038587 +v -0.894854 0.280806 -3.073579 +v -1.102662 2.011832 -3.073579 +v -1.102662 2.288622 -2.380816 +v 0.351343 2.357820 -0.996077 +v -0.721536 2.323547 -3.038587 +v -1.102662 0.454126 0.943030 +v 0.663055 0.177118 -3.073579 +v -0.375551 2.288622 0.943030 +v 1.009474 0.142411 -0.926879 +v 1.078671 2.081029 -2.969389 +v 0.801666 0.661936 -3.073579 +v 1.078671 2.254132 -0.650089 +v 0.974767 1.146753 0.943030 +v 0.766959 2.357820 -2.934791 +v -0.790950 2.288622 -3.073579 +v 1.078671 1.665627 -0.961871 +v -1.102662 0.142411 0.873439 +v 0.974767 2.219425 0.838840 +v 1.009474 0.211609 -2.380816 +v 1.043964 0.800114 -0.926879 +f 56 75 79 +f 48 44 49 +f 46 45 50 +f 43 46 50 +f 45 46 51 +f 46 43 52 +f 48 49 54 +f 49 44 55 +f 47 42 56 +f 54 47 58 +f 47 56 58 +f 43 44 60 +f 44 48 60 +f 50 49 61 +f 49 55 61 +f 49 50 62 +f 45 53 62 +f 53 49 62 +f 45 42 63 +f 42 47 63 +f 53 45 63 +f 49 53 64 +f 47 59 64 +f 59 49 64 +f 53 63 64 +f 50 45 65 +f 45 62 65 +f 62 50 65 +f 48 43 66 +f 43 60 66 +f 60 48 66 +f 42 45 67 +f 45 51 67 +f 57 42 67 +f 51 57 67 +f 43 48 68 +f 52 43 68 +f 58 52 68 +f 47 54 69 +f 59 47 69 +f 54 49 70 +f 69 54 70 +f 56 42 71 +f 51 46 72 +f 46 71 72 +f 63 47 73 +f 47 64 73 +f 64 63 73 +f 49 59 74 +f 59 69 74 +f 69 70 74 +f 70 49 74 +f 46 52 75 +f 56 71 75 +f 71 46 75 +f 44 43 76 +f 43 50 76 +f 55 44 76 +f 50 61 76 +f 61 55 76 +f 42 57 77 +f 57 51 77 +f 71 42 77 +f 72 71 77 +f 51 72 77 +f 48 54 78 +f 54 58 78 +f 68 48 78 +f 58 68 78 +f 52 58 79 +f 58 56 79 +f 75 52 79 +o convex_2 +v 0.974762 2.219407 1.012376 +v -1.102682 0.281030 0.943030 +v -0.652558 0.246150 2.293401 +v -1.033284 2.323628 2.951144 +v 1.043947 0.177230 3.020491 +v 1.078752 2.219407 3.020491 +v 0.974762 0.280820 0.943240 +v -1.033284 2.288748 0.943030 +v -1.067876 0.281030 3.089838 +v 0.628415 2.254077 0.943030 +v -0.513977 0.765572 3.089838 +v -0.721742 2.323628 2.812451 +v -1.067876 1.561725 2.224054 +v 1.078752 2.046477 2.847124 +v -0.964100 2.115607 2.985818 +v -0.825519 0.246150 3.089838 +v -0.998692 2.323628 1.877950 +v 0.732405 0.246360 1.428037 +v 0.940170 2.219407 0.943240 +v -1.067876 0.592431 3.089838 +v 0.420649 0.211480 3.055164 +v -1.102682 0.488631 1.116186 +v 0.940170 0.177230 2.951144 +v 1.043947 0.246360 2.812661 +v 0.801589 2.219407 3.020491 +v -0.375395 2.288748 0.943030 +v 1.009354 0.800242 1.531847 +v -0.098232 2.288958 2.985818 +v 0.974762 1.596395 0.943240 +v -0.444793 0.246150 1.566310 +v 0.351465 1.561725 3.055164 +v -1.067876 0.765572 3.055164 +v -1.067876 1.457714 1.012376 +v -0.479385 0.246150 3.089838 +v 0.974762 0.246360 1.428037 +f 102 97 114 +f 85 80 89 +f 86 81 89 +f 81 87 89 +f 83 87 92 +f 80 85 93 +f 85 84 93 +f 81 82 95 +f 88 81 95 +f 90 88 95 +f 87 83 96 +f 83 91 96 +f 91 89 96 +f 81 86 97 +f 89 80 98 +f 88 90 99 +f 94 83 99 +f 84 85 100 +f 95 84 100 +f 81 88 101 +f 88 99 101 +f 95 82 102 +f 84 95 102 +f 84 86 103 +f 93 84 103 +f 94 99 104 +f 89 87 105 +f 87 96 105 +f 96 89 105 +f 103 86 106 +f 93 103 106 +f 85 89 107 +f 91 83 107 +f 89 91 107 +f 83 94 107 +f 104 85 107 +f 94 104 107 +f 86 89 108 +f 80 93 108 +f 98 80 108 +f 89 98 108 +f 106 86 108 +f 93 106 108 +f 82 81 109 +f 81 97 109 +f 102 82 109 +f 97 102 109 +f 99 90 110 +f 100 85 110 +f 85 104 110 +f 104 99 110 +f 83 92 111 +f 99 83 111 +f 92 101 111 +f 101 99 111 +f 87 81 112 +f 92 87 112 +f 81 101 112 +f 101 92 112 +f 90 95 113 +f 95 100 113 +f 110 90 113 +f 100 110 113 +f 86 84 114 +f 97 86 114 +f 84 102 114 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/153/153.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/153/153.urdf new file mode 100644 index 000000000..762e3a7b5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/153/153.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/154/154.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/154/154.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/154/154.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/154/154.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/154/154.obj new file mode 100644 index 000000000..7018f9434 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/154/154.obj @@ -0,0 +1,492 @@ +o convex_0 +v -0.581321 3.717288 -1.037834 +v -0.192608 2.706377 1.100761 +v 0.429453 3.173467 1.061615 +v 1.323653 -1.842115 -0.998897 +v -0.659302 -1.802531 1.061825 +v 1.323653 4.223353 -0.959960 +v 1.323653 -1.764165 1.022888 +v -0.659302 -1.881090 -0.998897 +v -0.659302 4.340278 0.945223 +v 1.323653 4.145403 0.983951 +v -0.659302 4.223353 -1.037834 +v 1.284860 -1.802531 1.061825 +v 1.362643 1.929315 0.711812 +v 1.362643 -1.258100 -0.532074 +v -0.659302 0.180317 1.100761 +v 0.779176 4.222744 -0.998897 +v -0.659302 2.668011 1.100761 +v -0.114825 4.300694 0.983951 +v 1.362643 -1.024860 0.711812 +v 1.323653 0.607823 -0.998897 +v 0.274086 0.530482 1.100761 +v 1.323653 2.200922 1.022888 +v 1.323653 4.223353 -0.182270 +v -0.386965 4.223353 -1.037834 +v 0.973731 3.834213 1.022888 +v 1.362643 -0.208214 -0.454409 +v -0.620312 4.340278 0.789685 +v -0.659302 4.300694 0.983951 +v 1.168088 4.184378 0.983951 +v 1.284860 -0.986494 1.061825 +v -0.542529 4.340278 0.945223 +v 1.362643 -1.258100 0.517337 +v -0.620312 -1.881090 -0.959960 +v 1.323653 -1.842115 -0.882086 +f 33 4 34 +f 1 4 8 +f 8 5 9 +f 1 8 11 +f 8 9 11 +f 9 5 15 +f 5 12 15 +f 9 15 17 +f 15 2 17 +f 13 7 19 +f 14 13 19 +f 14 4 20 +f 6 14 20 +f 16 6 20 +f 3 2 21 +f 2 15 21 +f 15 12 21 +f 12 7 22 +f 7 13 22 +f 13 10 22 +f 13 6 23 +f 10 13 23 +f 4 1 24 +f 1 11 24 +f 20 4 24 +f 16 20 24 +f 2 3 25 +f 3 22 25 +f 22 10 25 +f 6 13 26 +f 14 6 26 +f 13 14 26 +f 11 9 27 +f 6 16 27 +f 24 11 27 +f 16 24 27 +f 9 17 28 +f 17 2 28 +f 18 9 28 +f 2 25 28 +f 25 18 28 +f 10 23 29 +f 23 18 29 +f 25 10 29 +f 18 25 29 +f 3 21 30 +f 21 12 30 +f 22 3 30 +f 12 22 30 +f 9 18 31 +f 23 6 31 +f 18 23 31 +f 27 9 31 +f 6 27 31 +f 4 14 32 +f 19 7 32 +f 14 19 32 +f 8 4 33 +f 5 8 33 +f 12 5 33 +f 12 33 34 +f 7 12 34 +f 4 32 34 +f 32 7 34 +o convex_1 +v 1.790522 -3.475030 -0.571231 +v 2.801250 -1.336967 0.595275 +v 2.840214 -1.336967 0.595161 +v 2.801250 -3.785980 0.595275 +v 1.712705 -3.513868 0.478579 +v 2.801250 -3.747142 -0.454535 +v 1.790522 -1.336967 -0.454535 +v 2.801250 -1.336967 -0.415598 +v 1.790522 -1.336967 0.556338 +v 1.712705 -3.863904 -0.571231 +v 1.712705 -3.785980 0.439642 +v 1.751668 -1.570490 -0.493357 +v 2.723545 -1.570490 -0.454535 +v 2.218235 -3.824818 -0.532294 +v 2.840104 -1.764679 0.361883 +v 2.451353 -1.336967 0.595275 +v 2.723545 -3.747142 0.595275 +v 1.712705 -3.280593 -0.532294 +v 1.790522 -3.863904 -0.337838 +v 2.529059 -1.336967 -0.454535 +v 2.801250 -3.785980 0.167541 +v 1.868338 -3.863904 -0.571231 +v 2.801250 -2.581264 -0.454535 +v 1.790522 -3.785980 0.478579 +v 1.790522 -1.453729 0.556338 +v 1.751668 -2.309151 0.517402 +f 43 46 60 +f 37 36 38 +f 36 37 41 +f 41 37 42 +f 36 41 43 +f 39 44 45 +f 43 41 46 +f 35 44 46 +f 37 38 49 +f 42 37 49 +f 38 36 50 +f 36 43 50 +f 38 50 51 +f 44 39 52 +f 39 46 52 +f 46 44 52 +f 45 44 53 +f 41 42 54 +f 35 46 54 +f 46 41 54 +f 47 35 54 +f 42 47 54 +f 48 40 55 +f 49 38 55 +f 40 49 55 +f 44 35 56 +f 35 47 56 +f 47 48 56 +f 38 53 56 +f 53 44 56 +f 48 55 56 +f 55 38 56 +f 47 42 57 +f 40 48 57 +f 48 47 57 +f 49 40 57 +f 42 49 57 +f 39 45 58 +f 51 39 58 +f 38 51 58 +f 53 38 58 +f 45 53 58 +f 43 39 59 +f 50 43 59 +f 51 50 59 +f 39 51 59 +f 39 43 60 +f 46 39 60 +o convex_2 +v -2.797886 -3.825267 -1.037499 +v -0.815030 2.279244 1.100761 +v -0.815030 2.318334 -0.259949 +v -0.815030 -3.825267 -1.076550 +v -2.797886 2.162579 -1.115601 +v -2.681224 -3.786178 0.984042 +v -2.720047 2.162579 1.100761 +v -0.815030 -3.825267 1.061710 +v -0.815030 2.201066 -0.998881 +v -2.797886 -0.248316 0.439498 +v -2.797886 -3.825267 -1.115601 +v -1.242659 -3.786178 -1.115601 +v -2.681224 -3.358604 1.022876 +v -1.087175 2.162579 -1.037716 +v -1.164820 2.318334 -0.843328 +v -2.720047 -3.630423 0.789655 +v -2.720047 1.461982 1.100761 +v -0.815030 0.256836 1.100761 +v -2.486724 2.162579 -1.115601 +v -2.486724 2.201066 0.906157 +v -1.125998 2.279244 1.100761 +v -2.564563 2.201066 -1.076550 +v -1.164820 2.318334 -0.259949 +v -2.758869 -3.825267 -0.454337 +v -2.797886 2.084400 -0.843111 +v -0.815030 -3.008606 -1.076550 +v -2.720047 -2.502853 0.906157 +v -0.892675 -3.825267 1.061710 +v -0.815030 2.318334 -0.804494 +v -2.408885 -3.786178 1.022876 +v -2.758869 1.073497 0.789655 +v -2.720047 -3.785577 0.750604 +v -1.125998 -3.825267 1.022876 +v -2.720047 0.295925 1.061710 +f 91 70 94 +f 63 62 64 +f 64 62 68 +f 61 64 68 +f 63 64 69 +f 65 61 70 +f 64 61 71 +f 61 65 71 +f 71 65 72 +f 64 71 72 +f 62 67 77 +f 68 62 78 +f 62 77 78 +f 72 65 79 +f 69 74 79 +f 74 72 79 +f 62 63 81 +f 67 62 81 +f 80 67 81 +f 65 67 82 +f 75 69 82 +f 79 65 82 +f 69 79 82 +f 67 80 82 +f 82 80 83 +f 63 75 83 +f 80 81 83 +f 81 63 83 +f 75 82 83 +f 61 68 84 +f 67 65 85 +f 65 70 85 +f 69 64 86 +f 64 72 86 +f 74 69 86 +f 72 74 86 +f 66 73 87 +f 76 66 87 +f 70 76 87 +f 77 73 88 +f 68 78 88 +f 78 77 88 +f 84 68 88 +f 63 69 89 +f 75 63 89 +f 69 75 89 +f 73 66 90 +f 66 88 90 +f 88 73 90 +f 77 67 91 +f 67 85 91 +f 85 70 91 +f 70 61 92 +f 66 76 92 +f 76 70 92 +f 61 84 92 +f 84 66 92 +f 66 84 93 +f 88 66 93 +f 84 88 93 +f 73 77 94 +f 87 73 94 +f 70 87 94 +f 77 91 94 +o convex_3 +v -0.814821 -3.007593 -1.076717 +v -0.659317 2.667364 1.100761 +v -0.659317 3.756796 1.022751 +v -0.659302 -3.825267 -1.076717 +v -0.814821 -3.825267 1.061756 +v -0.737069 4.183617 -1.037499 +v -0.814836 2.278909 1.100761 +v -0.659302 -1.803064 1.061756 +v -0.659317 4.184416 -1.037712 +v -0.814836 2.201378 -0.998707 +v -0.775952 4.340278 0.945166 +v -0.737069 -3.825267 1.061756 +v -0.814821 -3.825267 -1.076717 +v -0.659317 4.340278 0.945166 +v -0.775952 4.301113 0.089606 +v -0.659302 -3.825267 -0.804106 +v -0.659302 0.179974 1.100761 +v -0.698185 -3.825267 0.245202 +v -0.775952 4.301113 0.983959 +v -0.814821 0.219140 1.100761 +v -0.814836 2.317275 -0.804106 +v -0.659317 4.222782 -0.998707 +f 108 111 116 +f 98 95 103 +f 95 100 103 +f 100 95 104 +f 99 101 104 +f 99 98 106 +f 95 98 107 +f 98 99 107 +f 104 95 107 +f 99 104 107 +f 105 108 109 +f 100 104 109 +f 98 102 110 +f 106 98 110 +f 97 96 111 +f 96 101 111 +f 102 98 111 +f 98 103 111 +f 99 106 111 +f 106 102 111 +f 108 97 111 +f 102 106 112 +f 110 102 112 +f 106 110 112 +f 96 97 113 +f 101 96 113 +f 105 101 113 +f 97 108 113 +f 108 105 113 +f 101 99 114 +f 111 101 114 +f 99 111 114 +f 104 101 115 +f 101 105 115 +f 105 109 115 +f 109 104 115 +f 103 100 116 +f 109 108 116 +f 100 109 116 +f 111 103 116 +o convex_4 +v 1.868319 -0.520188 0.595275 +v 2.878865 -0.170214 0.439642 +v 2.878865 -0.170214 -0.493357 +v 3.384340 -1.297783 -0.337838 +v 1.362844 -1.258847 -0.532294 +v 2.878865 -1.336720 0.595275 +v 1.401774 -0.170214 -0.454535 +v 1.362844 -1.258847 0.517402 +v 3.345411 -0.248087 0.595275 +v 1.401774 -0.286910 0.478579 +v 3.345411 -0.986745 -0.571231 +v 3.423269 -1.258847 0.517402 +v 3.345411 -0.286910 -0.454535 +v 1.829592 -0.170214 0.595275 +v 1.790663 -1.336720 -0.454535 +v 3.150966 -1.336720 -0.532294 +v 1.362844 -0.481480 -0.493357 +v 1.790663 -1.336720 0.556338 +v 1.712804 -0.170214 -0.493357 +v 1.362844 -0.286910 0.361883 +v 3.423269 -1.025568 0.556338 +v 3.306482 -0.209151 0.595275 +v 3.345411 -1.297783 -0.571231 +v 1.440703 -0.908872 -0.532294 +v 3.423269 -1.064505 0.245301 +v 2.412320 -1.336720 0.595275 +v 1.557289 -1.258847 0.556338 +v 3.345411 -0.248087 -0.182319 +v 1.362844 -0.869935 0.517402 +v 3.267552 -1.297783 0.478579 +v 1.362844 -0.209151 -0.182319 +f 133 136 147 +f 118 119 123 +f 117 122 125 +f 120 127 129 +f 127 119 129 +f 118 123 130 +f 117 125 130 +f 124 121 131 +f 122 131 132 +f 131 121 132 +f 121 124 133 +f 131 122 134 +f 124 131 134 +f 123 119 135 +f 119 127 135 +f 133 123 135 +f 133 124 136 +f 125 122 137 +f 122 128 137 +f 119 118 138 +f 118 130 138 +f 130 125 138 +f 127 120 139 +f 121 127 139 +f 120 132 139 +f 132 121 139 +f 127 121 140 +f 121 133 140 +f 135 127 140 +f 133 135 140 +f 128 120 141 +f 120 129 141 +f 137 128 141 +f 122 117 142 +f 134 122 142 +f 134 142 143 +f 117 130 143 +f 124 134 143 +f 142 117 143 +f 129 119 144 +f 125 137 144 +f 119 138 144 +f 138 125 144 +f 141 129 144 +f 137 141 144 +f 130 126 145 +f 126 136 145 +f 136 124 145 +f 143 130 145 +f 124 143 145 +f 120 128 146 +f 128 122 146 +f 132 120 146 +f 122 132 146 +f 130 123 147 +f 126 130 147 +f 123 133 147 +f 136 126 147 +o convex_5 +v 1.907153 2.045802 -0.532348 +v 1.868258 0.452121 0.595275 +v 1.829363 0.452121 0.595275 +v 1.868258 -0.169966 -0.493274 +v 2.879101 -0.169966 0.439642 +v 2.879101 2.162552 -0.454421 +v 2.879101 2.240220 0.556312 +v 1.829363 2.356969 0.556312 +v 2.879101 -0.169966 -0.493274 +v 1.829363 -0.169966 0.595275 +v 1.790575 2.201386 -0.532348 +v 1.790575 0.685373 0.167450 +v 2.879101 1.696048 0.556312 +v 2.840099 2.201386 -0.337751 +v 1.790575 2.279054 -0.104412 +v 2.879101 0.996540 -0.493274 +v 1.790575 1.346047 -0.493274 +v 1.829363 -0.169966 -0.026705 +v 2.179311 -0.169966 0.556312 +v 1.946048 2.356969 0.517459 +v 2.451256 2.201386 -0.493274 +v 2.879101 0.257703 0.478606 +v 1.829363 0.335619 -0.493274 +f 151 165 170 +f 152 153 154 +f 149 154 155 +f 150 149 155 +f 151 148 156 +f 152 151 156 +f 153 152 156 +f 149 150 157 +f 151 152 157 +f 148 151 158 +f 150 155 159 +f 157 150 159 +f 152 154 160 +f 154 149 160 +f 149 157 160 +f 154 153 161 +f 159 155 162 +f 158 159 162 +f 156 148 163 +f 153 156 163 +f 159 158 164 +f 159 164 165 +f 151 157 165 +f 157 159 165 +f 157 152 166 +f 160 157 166 +f 155 154 167 +f 154 161 167 +f 162 155 167 +f 162 167 168 +f 148 158 168 +f 161 153 168 +f 158 162 168 +f 163 148 168 +f 153 163 168 +f 167 161 168 +f 152 160 169 +f 166 152 169 +f 160 166 169 +f 158 151 170 +f 164 158 170 +f 165 164 170 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/154/154.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/154/154.urdf new file mode 100644 index 000000000..b6ad0b81c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/154/154.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/155/155.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/155/155.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/155/155.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/155/155.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/155/155.obj new file mode 100644 index 000000000..88cc8302d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/155/155.obj @@ -0,0 +1,459 @@ +o convex_0 +v -1.081955 -2.738488 0.444427 +v 0.948050 -3.060906 1.089193 +v 0.948050 -2.416528 1.056804 +v 0.948050 -3.834251 -1.102067 +v 1.044856 0.515414 -1.037505 +v -0.985150 0.514956 -1.005116 +v -1.017418 0.514956 1.024631 +v -1.017418 -4.124198 -1.102067 +v -0.985150 -4.156668 0.960068 +v 0.915781 0.514956 1.056804 +v 0.948050 -4.156668 1.089193 +v 0.335780 0.514956 -1.102067 +v 0.915781 -4.027701 -1.102067 +v -1.081955 -2.448541 1.024631 +v 1.012587 -2.932396 -0.199695 +v 0.303720 -3.576317 1.089193 +v 1.012587 0.321963 -0.103173 +v -1.049687 -3.866264 -0.844032 +v 1.044856 -1.096217 -1.069679 +v 0.980319 -3.898734 0.831372 +v -0.211745 -4.156668 -0.264043 +v -1.081955 -1.579614 0.992457 +v 0.948050 0.514956 0.895720 +v 0.690318 -4.059714 -1.102067 +v -1.017418 -3.608787 -1.102067 +v 1.044856 0.515414 -0.779684 +v 1.012587 -2.641992 -1.069679 +v 0.948050 -4.156668 0.766810 +v 0.690318 -0.677302 -1.102067 +v -1.081955 -2.674462 0.380079 +v -0.534014 -2.641992 1.056804 +v -0.534014 -4.124198 -1.101853 +v 0.625781 -4.156668 1.089193 +v -0.985150 -4.156668 0.057911 +v 0.948050 -4.092185 -0.328391 +v 0.786915 0.514956 1.056804 +v -1.017418 -4.124198 -0.070570 +v 0.980319 -2.802972 -1.102067 +v 1.044856 -1.096217 -1.005331 +v -0.856283 -3.705284 0.992457 +v 0.464646 0.418003 -1.102067 +v -1.049687 -0.484309 0.992457 +v 0.303720 -3.511833 1.089193 +v 0.980319 -3.834251 0.541163 +f 20 35 44 +f 5 6 7 +f 2 3 10 +f 6 5 12 +f 4 8 12 +f 8 4 13 +f 11 2 16 +f 3 2 20 +f 2 11 20 +f 11 9 21 +f 14 7 22 +f 1 14 22 +f 10 3 23 +f 3 20 23 +f 20 17 23 +f 8 13 24 +f 6 12 25 +f 12 8 25 +f 18 6 25 +f 8 18 25 +f 5 7 26 +f 19 5 26 +f 17 20 26 +f 10 23 26 +f 23 17 26 +f 19 15 27 +f 20 11 28 +f 11 21 28 +f 4 12 29 +f 5 19 29 +f 18 1 30 +f 6 18 30 +f 1 22 30 +f 22 6 30 +f 7 14 31 +f 14 16 31 +f 21 8 32 +f 8 24 32 +f 9 11 33 +f 11 16 33 +f 9 8 34 +f 8 21 34 +f 21 9 34 +f 13 4 35 +f 24 13 35 +f 20 28 35 +f 28 21 35 +f 21 32 35 +f 32 24 35 +f 2 10 36 +f 26 7 36 +f 10 26 36 +f 8 9 37 +f 14 1 37 +f 9 14 37 +f 1 18 37 +f 18 8 37 +f 27 4 38 +f 19 27 38 +f 4 29 38 +f 29 19 38 +f 15 19 39 +f 20 15 39 +f 19 26 39 +f 26 20 39 +f 14 9 40 +f 16 14 40 +f 9 33 40 +f 33 16 40 +f 12 5 41 +f 29 12 41 +f 5 29 41 +f 7 6 42 +f 6 22 42 +f 22 7 42 +f 16 2 43 +f 7 31 43 +f 31 16 43 +f 2 36 43 +f 36 7 43 +f 15 20 44 +f 4 27 44 +f 27 15 44 +f 35 4 44 +o convex_1 +v 0.819159 2.384480 -1.037505 +v 0.013675 2.545980 1.089193 +v 0.432567 3.222264 1.056804 +v -0.920808 3.834452 -1.101853 +v -0.985206 1.288800 -1.005116 +v 0.915857 1.288800 1.056804 +v -0.985206 1.288800 1.024631 +v 0.948157 3.834452 -0.940768 +v -0.920808 3.834452 1.024631 +v 1.044856 1.288800 -1.005331 +v 0.980256 3.866752 0.992242 +v 0.303568 1.288800 -1.102067 +v -1.017506 1.997888 -0.811858 +v 1.044856 2.352684 -0.972942 +v -0.243919 3.866752 -0.296217 +v -0.952906 3.544256 0.766596 +v 1.044856 1.288800 -0.650774 +v 0.851257 1.933288 1.089193 +v -0.630713 3.834452 -1.101853 +v -0.952906 3.479908 -1.101853 +v 0.980256 3.576303 -0.972942 +v -0.759711 3.608603 1.056804 +v 0.980256 3.834452 1.024631 +v -0.469616 3.866752 1.024631 +v 0.948157 1.288800 0.863546 +v 0.625762 2.352684 -1.069679 +v 0.980256 3.866752 0.025737 +v 0.335868 1.675644 1.089193 +v -1.017506 1.514648 -1.005116 +v 0.980256 3.222264 1.024631 +v -0.985206 1.707944 1.024631 +v 0.174570 1.288800 -1.102067 +v 0.400267 1.643344 -1.102067 +v 0.883557 3.834452 -0.973157 +v 1.044856 2.030188 -0.682948 +v 0.593664 2.352684 1.089193 +v 1.044856 2.159136 -1.005331 +v -0.952906 3.383008 -1.101853 +v 0.883557 1.288800 -1.037505 +v -0.952906 3.254312 1.024631 +v -0.018424 2.481128 1.089193 +v 0.980256 3.834452 -0.360565 +v -1.017506 1.997888 -1.005116 +v 0.690362 2.030188 -1.069679 +f 81 83 88 +f 49 50 51 +f 50 49 54 +f 54 49 56 +f 53 48 60 +f 50 54 61 +f 54 58 61 +f 48 59 63 +f 60 48 64 +f 46 47 66 +f 58 55 67 +f 66 47 67 +f 66 67 68 +f 48 53 68 +f 59 48 68 +f 55 59 68 +f 53 66 68 +f 67 55 68 +f 50 61 69 +f 65 45 70 +f 55 58 71 +f 59 55 71 +f 51 50 72 +f 62 46 72 +f 50 62 72 +f 49 51 73 +f 51 57 73 +f 62 50 74 +f 61 67 74 +f 67 62 74 +f 50 69 74 +f 69 61 74 +f 57 51 75 +f 60 57 75 +f 51 66 75 +f 56 49 76 +f 64 48 76 +f 48 63 77 +f 63 70 77 +f 76 48 77 +f 56 76 77 +f 63 59 78 +f 52 65 78 +f 70 63 78 +f 65 70 78 +f 71 52 78 +f 59 71 78 +f 61 58 79 +f 58 67 79 +f 67 61 79 +f 47 46 80 +f 46 62 80 +f 67 47 80 +f 62 67 80 +f 58 54 81 +f 45 65 81 +f 65 58 81 +f 49 73 82 +f 73 64 82 +f 76 49 82 +f 64 76 82 +f 54 56 83 +f 56 77 83 +f 81 54 83 +f 53 60 84 +f 66 53 84 +f 60 75 84 +f 75 66 84 +f 46 66 85 +f 66 51 85 +f 72 46 85 +f 51 72 85 +f 65 52 86 +f 58 65 86 +f 71 58 86 +f 52 71 86 +f 57 60 87 +f 60 64 87 +f 73 57 87 +f 64 73 87 +f 70 45 88 +f 77 70 88 +f 45 81 88 +f 83 77 88 +o convex_2 +v 0.239208 1.224240 -2.101121 +v -0.179596 0.547638 -3.067519 +v -0.211839 0.644435 -3.035254 +v -0.276266 0.612169 -1.102458 +v 0.303694 0.676630 -1.102458 +v -0.308569 1.224240 -1.102458 +v 0.239208 1.256506 -3.099980 +v 0.303694 0.579973 -3.035254 +v -0.308569 1.063122 -2.938653 +v 0.206964 1.192044 -1.102458 +v 0.303694 0.579973 -2.519789 +v 0.303694 0.837749 -1.102458 +v 0.142538 1.256506 -3.067519 +v 0.271451 1.127583 -3.099980 +v 0.239208 1.256506 -2.422993 +v -0.211839 1.127583 -2.970723 +v -0.211839 0.579973 -1.617922 +v -0.115109 0.612169 -1.102458 +v 0.142538 0.547638 -3.002988 +v -0.308569 0.998730 -2.938653 +v -0.276266 0.612169 -1.456791 +v -0.308569 1.224240 -1.263394 +v -0.082926 1.224240 -1.102458 +v 0.110294 1.159779 -3.099980 +v -0.308569 1.095387 -1.102458 +f 94 108 113 +f 92 93 94 +f 94 93 98 +f 96 93 99 +f 93 96 100 +f 89 98 100 +f 98 93 100 +f 96 90 102 +f 100 96 102 +f 100 102 103 +f 98 89 103 +f 89 100 103 +f 95 101 103 +f 101 94 103 +f 102 95 103 +f 90 97 104 +f 92 90 105 +f 105 99 106 +f 93 92 106 +f 99 93 106 +f 92 105 106 +f 90 96 107 +f 96 99 107 +f 105 90 107 +f 99 105 107 +f 90 91 108 +f 97 90 108 +f 94 97 108 +f 91 90 109 +f 90 92 109 +f 108 91 109 +f 92 108 109 +f 97 94 110 +f 94 101 110 +f 104 97 110 +f 101 104 110 +f 94 98 111 +f 98 103 111 +f 103 94 111 +f 101 95 112 +f 102 90 112 +f 95 102 112 +f 90 104 112 +f 104 101 112 +f 92 94 113 +f 108 92 113 +o convex_3 +v -0.276247 0.612229 -1.102067 +v 1.044777 1.288724 -0.682982 +v 1.044777 1.095321 -0.682982 +v -1.017506 0.515489 1.024634 +v -0.985006 1.288724 -1.005274 +v 0.915783 1.288724 1.056968 +v 0.915783 0.515489 1.056968 +v -0.985006 1.288724 1.024634 +v 1.044777 0.515489 -1.037609 +v -0.985006 0.515489 -1.005274 +v 0.915783 1.288724 -1.037609 +v 0.303720 1.288724 -1.102067 +v 0.948082 0.515489 0.895506 +v -0.211851 0.805481 1.056968 +v 0.432511 0.515489 -1.102067 +v -0.308546 1.224231 -1.102067 +v 1.044777 1.288724 -1.005274 +v 0.948082 1.288724 0.863382 +v 1.012478 0.515489 -0.135193 +v -0.179552 1.095321 1.056968 +v -1.017506 0.612229 0.959964 +f 123 117 134 +f 115 118 119 +f 119 118 121 +f 115 116 122 +f 120 117 122 +f 122 117 123 +f 118 115 124 +f 124 122 125 +f 118 124 125 +f 119 120 126 +f 120 122 126 +f 117 120 127 +f 120 119 127 +f 121 117 127 +f 123 114 128 +f 122 123 128 +f 125 122 128 +f 114 125 128 +f 114 123 129 +f 123 118 129 +f 125 114 129 +f 118 125 129 +f 115 122 130 +f 124 115 130 +f 122 124 130 +f 115 119 131 +f 126 115 131 +f 119 126 131 +f 116 115 132 +f 122 116 132 +f 115 126 132 +f 126 122 132 +f 119 121 133 +f 127 119 133 +f 121 127 133 +f 117 121 134 +f 121 118 134 +f 118 123 134 +o convex_4 +v 0.110272 1.192054 1.862714 +v 0.142553 0.579863 2.764657 +v 0.174727 0.579863 2.764657 +v -0.211896 0.644394 1.057161 +v -0.179669 1.224288 3.022465 +v 0.271464 0.708861 1.057161 +v -0.179669 1.095352 1.057161 +v -0.179669 0.612160 2.990143 +v 0.174727 1.095352 2.990143 +v 0.335919 1.127586 1.057161 +v 0.174727 0.579863 2.990143 +v 0.207009 0.612160 2.796787 +v 0.271464 1.127586 2.023940 +v -0.211896 0.869968 1.701681 +v 0.207009 1.159820 1.057161 +v 0.335919 1.063118 1.153935 +v 0.207009 1.095352 2.861239 +v -0.115213 1.224288 2.958013 +v -0.179669 1.127586 1.347291 +v 0.303691 1.159820 1.282839 +v 0.239182 0.644394 1.830585 +v 0.142553 1.127586 2.990143 +v -0.147441 0.644394 1.057161 +v -0.179669 1.224288 2.893561 +f 149 153 158 +f 137 136 138 +f 140 138 141 +f 138 136 142 +f 140 141 144 +f 136 137 145 +f 142 136 145 +f 139 142 145 +f 143 139 145 +f 145 137 146 +f 141 138 148 +f 138 142 148 +f 142 139 148 +f 144 141 149 +f 140 144 150 +f 144 147 150 +f 147 146 150 +f 143 145 151 +f 145 146 151 +f 146 147 151 +f 141 148 153 +f 149 141 153 +f 147 144 154 +f 149 135 154 +f 144 149 154 +f 135 152 154 +f 146 137 155 +f 140 150 155 +f 150 146 155 +f 139 143 156 +f 143 151 156 +f 151 147 156 +f 152 139 156 +f 147 154 156 +f 154 152 156 +f 137 138 157 +f 138 140 157 +f 155 137 157 +f 140 155 157 +f 148 139 158 +f 135 149 158 +f 152 135 158 +f 139 152 158 +f 153 148 158 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/155/155.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/155/155.urdf new file mode 100644 index 000000000..76fe2fe2f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/155/155.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/156/156.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/156/156.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/156/156.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/156/156.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/156/156.obj new file mode 100644 index 000000000..f6dd8db04 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/156/156.obj @@ -0,0 +1,924 @@ +o convex_0 +v -1.027993 -2.165298 -0.119264 +v 1.090578 -1.940639 0.137026 +v 1.090578 -2.133327 0.137026 +v -0.064724 -1.459177 1.324820 +v -0.032788 -1.426861 -1.275245 +v 0.095372 -3.192337 0.008754 +v 0.095372 -2.999648 -0.761645 +v 0.865780 -1.427033 -0.889663 +v -0.867483 -1.427033 -0.954054 +v -0.097075 -2.903218 0.810966 +v -0.899419 -1.427033 0.907425 +v 0.930067 -1.427033 1.003630 +v 0.801493 -2.999475 0.137026 +v -0.771052 -2.935361 -0.023315 +v 0.833637 -2.742846 -0.568982 +v 0.769557 -2.293527 0.875357 +v -0.835132 -2.197442 0.778898 +v -0.738909 -2.261556 -0.793459 +v 1.058434 -2.550157 0.361503 +v -1.027993 -1.427033 -0.215723 +v 1.058434 -1.427033 -0.055128 +v 0.063436 -1.587406 -1.242922 +v -0.642686 -2.774816 0.554167 +v -0.482175 -2.806960 -0.600796 +v -1.027993 -2.197442 0.104704 +v 0.544760 -2.806960 0.618303 +v -0.771052 -2.935361 0.104704 +v -0.064724 -3.192337 0.072635 +v 0.705270 -3.063763 0.104704 +v 0.031292 -2.999648 -0.761645 +v -0.000644 -2.903218 0.810966 +v 0.031292 -1.426861 1.324820 +v -0.835132 -1.459004 -1.018191 +v -1.027993 -1.427033 0.169094 +v 0.833637 -2.678558 -0.601050 +v 0.897924 -1.491148 1.035698 +v 1.090578 -2.101011 0.072890 +v 0.801493 -2.967505 -0.119264 +v -0.899419 -1.555435 0.907425 +v -0.000644 -1.491320 -1.275245 +v 0.865780 -1.491148 -0.889663 +v 0.031292 -1.459177 1.324820 +v 1.058434 -1.427033 0.233231 +v 0.031292 -3.192337 0.104704 +v -0.963706 -1.523291 0.682439 +v 0.255882 -2.389785 -0.921986 +v 0.865780 -2.710702 -0.504591 +v -1.027993 -2.261556 -0.055383 +v -0.032788 -3.160020 -0.151587 +v 0.031292 -2.935534 -0.793714 +v -0.899419 -1.491148 -0.857595 +v -0.578606 -2.806960 -0.504591 +v -0.064724 -2.935534 0.778644 +v 0.127515 -1.491320 -1.242922 +v 0.737413 -2.967505 0.265044 +v -0.738909 -2.967505 0.008754 +v 0.833637 -2.806960 -0.472523 +v 1.090578 -1.683836 0.040822 +v 0.769557 -3.031792 0.009008 +v -0.771052 -2.261556 -0.729323 +v 0.673126 -2.518013 0.778644 +v -0.642686 -2.710702 0.618557 +v -0.931563 -2.550157 0.040567 +v 0.095372 -2.935534 -0.793714 +f 50 40 64 +f 10 4 17 +f 3 2 19 +f 2 12 19 +f 5 9 20 +f 8 5 21 +f 20 1 25 +f 23 17 27 +f 24 18 30 +f 4 10 31 +f 11 4 32 +f 21 5 32 +f 9 5 33 +f 5 20 34 +f 20 25 34 +f 11 32 34 +f 32 5 34 +f 19 12 36 +f 16 19 36 +f 12 32 36 +f 2 3 37 +f 3 19 37 +f 19 13 38 +f 4 11 39 +f 17 4 39 +f 25 17 39 +f 33 5 40 +f 18 33 40 +f 4 31 42 +f 31 16 42 +f 32 4 42 +f 16 36 42 +f 36 32 42 +f 12 2 43 +f 32 12 43 +f 21 32 43 +f 28 6 44 +f 6 29 44 +f 11 34 45 +f 34 25 45 +f 39 11 45 +f 25 39 45 +f 22 35 46 +f 15 35 47 +f 37 19 47 +f 35 41 47 +f 41 37 47 +f 25 1 48 +f 7 6 49 +f 6 28 49 +f 30 7 49 +f 7 30 50 +f 30 18 50 +f 18 40 50 +f 1 20 51 +f 20 9 51 +f 9 33 51 +f 14 18 52 +f 18 24 52 +f 24 30 52 +f 10 23 53 +f 23 27 53 +f 27 28 53 +f 31 10 53 +f 29 31 53 +f 28 44 53 +f 44 29 53 +f 5 8 54 +f 35 22 54 +f 40 5 54 +f 22 40 54 +f 41 35 54 +f 8 41 54 +f 13 19 55 +f 19 26 55 +f 29 13 55 +f 26 31 55 +f 31 29 55 +f 27 14 56 +f 28 27 56 +f 49 28 56 +f 30 49 56 +f 14 52 56 +f 52 30 56 +f 7 15 57 +f 38 7 57 +f 19 38 57 +f 15 47 57 +f 47 19 57 +f 8 21 58 +f 2 37 58 +f 41 8 58 +f 37 41 58 +f 43 2 58 +f 21 43 58 +f 6 7 59 +f 29 6 59 +f 13 29 59 +f 7 38 59 +f 38 13 59 +f 18 14 60 +f 33 18 60 +f 48 1 60 +f 14 48 60 +f 1 51 60 +f 51 33 60 +f 19 16 61 +f 26 19 61 +f 16 31 61 +f 31 26 61 +f 10 17 62 +f 23 10 62 +f 17 23 62 +f 17 25 63 +f 14 27 63 +f 27 17 63 +f 48 14 63 +f 25 48 63 +f 15 7 64 +f 35 15 64 +f 40 22 64 +f 22 46 64 +f 46 35 64 +f 7 50 64 +o convex_1 +v -1.284960 1.494269 -0.055383 +v -1.284960 2.200391 0.072890 +v -1.284960 2.103969 0.265497 +v -3.017997 1.847330 0.040822 +v -1.317194 1.879332 -0.312258 +v -1.381324 1.590621 0.265497 +v -2.697008 1.847330 -0.215855 +v -2.729073 1.590621 0.040822 +v -2.761137 1.879332 0.233428 +v -2.600643 2.071898 -0.023249 +v -1.541819 2.136110 -0.215855 +v -1.349259 1.558481 -0.215855 +v -1.284960 1.783187 0.361833 +v -2.600643 1.686904 0.201294 +v -2.761137 1.751047 -0.183853 +v -2.729073 2.039827 0.072890 +v -1.509754 2.071898 0.297631 +v -1.284960 2.168181 -0.183853 +v -1.284960 1.494269 0.072890 +v -2.600643 2.007686 -0.151653 +v -2.632708 1.622693 -0.087451 +v -1.284960 1.718976 -0.280058 +v -2.729073 1.783187 0.233428 +v -1.477689 1.558481 0.233428 +v -3.017997 1.847330 -0.023249 +v -2.504448 2.007686 0.201294 +v -2.697008 1.783187 -0.215855 +v -2.793203 2.039827 -0.023249 +v -2.825268 1.622693 0.040822 +f 89 79 93 +f 65 66 67 +f 69 71 75 +f 65 67 77 +f 70 77 78 +f 68 73 80 +f 66 74 80 +f 67 66 81 +f 77 67 81 +f 73 77 81 +f 66 65 82 +f 74 66 82 +f 69 75 82 +f 75 74 82 +f 72 65 83 +f 65 77 83 +f 77 70 83 +f 75 71 84 +f 74 75 84 +f 65 72 85 +f 76 65 85 +f 79 76 85 +f 65 76 86 +f 82 65 86 +f 69 82 86 +f 73 68 87 +f 77 73 87 +f 78 77 87 +f 70 78 88 +f 78 72 88 +f 72 83 88 +f 83 70 88 +f 71 79 89 +f 66 80 90 +f 80 73 90 +f 81 66 90 +f 73 81 90 +f 71 69 91 +f 79 71 91 +f 76 79 91 +f 69 86 91 +f 86 76 91 +f 68 80 92 +f 80 74 92 +f 84 71 92 +f 74 84 92 +f 89 68 92 +f 71 89 92 +f 72 78 93 +f 85 72 93 +f 79 85 93 +f 87 68 93 +f 78 87 93 +f 68 89 93 +o convex_2 +v 0.994204 0.338339 -1.243189 +v -1.027792 -0.206995 -1.981627 +v -0.995819 -0.206995 -2.109683 +v 0.159665 -1.426861 -1.211046 +v 0.737407 -0.175059 -2.751690 +v -0.770996 0.819801 -1.211046 +v -0.000807 0.659153 -2.687403 +v -0.064755 -0.945157 -2.751690 +v -0.835145 -1.201856 -1.211046 +v 0.865705 -1.009271 -1.211046 +v 0.865705 0.787623 -1.211046 +v -0.803171 -0.143123 -2.719546 +v 0.769582 -0.912978 -2.045568 +v 0.063341 1.044806 -1.307476 +v -0.064755 -0.079009 -2.976522 +v -0.803171 -0.977335 -2.013598 +v 1.026178 -0.175059 -1.853226 +v 0.737407 0.595280 -2.045568 +v -0.739022 0.595280 -2.013598 +v -0.995819 -0.046830 -1.211046 +v -0.032781 -1.426861 -1.371591 +v 0.512585 -0.752572 -2.591145 +v -0.610523 -0.752330 -2.559001 +v -0.578549 0.434874 -2.526858 +v -0.899495 0.627217 -1.275506 +v 0.737407 -0.078767 -2.751690 +v 1.026178 -0.238931 -1.211046 +v 0.994204 -0.110945 -2.045568 +v 0.480611 0.466810 -2.559001 +v -0.000807 -0.945157 -2.751690 +v -0.064755 0.562860 -2.751690 +v -0.064755 -0.206995 -2.976522 +v -0.161079 1.012628 -1.211046 +v -0.899495 -1.009271 -1.339620 +v -0.995819 -0.367402 -1.211046 +v 0.962029 0.530924 -1.307476 +v 0.930055 -0.463694 -2.013425 +v -0.064755 0.659153 -2.655259 +v 0.031166 -1.298390 -1.756795 +v -0.995819 -0.078767 -2.013598 +v 0.930055 -0.816928 -1.275333 +v 0.031166 0.627217 -2.719719 +v -0.835145 0.787623 -1.275506 +v -0.803171 -0.175059 -2.719546 +v 0.769582 0.627458 -1.917340 +v 0.255989 -0.175301 -2.912062 +v -0.032781 1.044806 -1.275506 +v 0.801556 -0.945157 -1.853226 +v -0.674672 -1.265970 -1.243362 +v -0.000807 -0.079009 -2.976522 +v -0.770996 0.563102 -1.981627 +v 0.127490 1.044806 -1.243362 +v 0.737407 -0.945157 -2.013598 +v -0.161079 -1.426861 -1.211046 +v -0.257604 0.563102 -2.655432 +v 0.641083 -0.495873 -2.655259 +v 0.159665 -1.426861 -1.243362 +v 0.769582 0.595280 -1.981454 +v 0.576733 0.338581 -2.591145 +v 1.026178 0.049462 -1.211046 +v 0.994204 -0.271110 -1.981454 +v -0.578549 0.883916 -1.243362 +v 0.994204 0.081640 -1.821082 +f 151 129 156 +f 97 99 102 +f 99 97 103 +f 99 103 104 +f 95 96 109 +f 102 99 113 +f 109 101 114 +f 101 109 116 +f 105 112 117 +f 95 113 118 +f 113 99 118 +f 104 103 120 +f 98 119 121 +f 115 106 123 +f 108 105 124 +f 105 108 125 +f 123 101 125 +f 99 104 126 +f 95 109 127 +f 109 102 127 +f 113 95 128 +f 102 113 128 +f 95 127 128 +f 127 102 128 +f 104 94 129 +f 106 98 130 +f 114 101 132 +f 101 123 132 +f 96 95 133 +f 105 96 133 +f 95 118 133 +f 120 103 134 +f 110 120 134 +f 100 111 135 +f 111 122 135 +f 124 100 135 +f 118 99 136 +f 131 112 136 +f 96 105 137 +f 109 96 137 +f 101 116 137 +f 116 109 137 +f 125 101 137 +f 105 125 137 +f 111 100 138 +f 119 98 139 +f 98 123 139 +f 123 125 139 +f 107 100 140 +f 100 131 140 +f 106 130 141 +f 134 103 141 +f 130 134 141 +f 102 109 142 +f 109 114 142 +f 108 124 143 +f 125 108 143 +f 135 119 143 +f 124 135 143 +f 119 139 143 +f 139 125 143 +f 112 105 144 +f 105 133 144 +f 133 118 144 +f 136 112 144 +f 118 136 144 +f 100 107 145 +f 126 104 145 +f 138 100 145 +f 104 138 145 +f 107 140 145 +f 140 126 145 +f 123 106 146 +f 132 123 146 +f 106 141 146 +f 97 102 147 +f 114 97 147 +f 102 142 147 +f 142 114 147 +f 105 117 148 +f 117 112 148 +f 124 105 148 +f 100 124 148 +f 131 100 148 +f 112 131 148 +f 98 106 149 +f 106 115 149 +f 123 98 149 +f 115 123 149 +f 103 97 150 +f 97 114 150 +f 114 132 150 +f 141 103 150 +f 132 146 150 +f 146 141 150 +f 119 111 151 +f 121 119 151 +f 104 129 151 +f 138 104 151 +f 111 138 151 +f 111 119 152 +f 122 111 152 +f 119 135 152 +f 135 122 152 +f 94 104 153 +f 110 94 153 +f 104 120 153 +f 120 110 153 +f 98 121 154 +f 121 110 154 +f 130 98 154 +f 110 134 154 +f 134 130 154 +f 99 126 155 +f 136 99 155 +f 131 136 155 +f 126 140 155 +f 140 131 155 +f 94 110 156 +f 110 121 156 +f 129 94 156 +f 121 151 156 +o convex_3 +v 0.608880 0.402557 2.576087 +v 0.191641 -1.426861 -1.211046 +v 0.223784 -1.426861 -1.211046 +v -0.032738 1.109005 -1.210631 +v -1.060074 -0.206835 1.998333 +v 1.058469 -1.426861 0.233962 +v 0.962040 1.109005 -0.857259 +v -1.027931 -1.426861 -0.215632 +v -0.963645 1.109005 0.843238 +v -0.097025 -0.945304 2.705076 +v -0.995788 -0.046730 -1.211046 +v 0.962040 1.109005 0.843238 +v -0.032738 0.627449 2.768948 +v 0.769596 -0.206835 2.768534 +v 1.026326 -0.239104 -1.210631 +v -0.899566 -1.426861 0.907525 +v -0.803137 -0.111020 2.768948 +v -0.899566 1.109005 -0.921547 +v 0.897961 -1.426861 1.035685 +v 1.026326 -0.143041 2.062620 +v -0.867423 -1.169948 -1.210631 +v 0.865818 -1.426861 -0.889610 +v -0.032738 -0.174814 3.026097 +v 1.026326 1.109005 -0.087058 +v -0.835280 -0.977325 1.966396 +v -0.064882 1.109005 1.324769 +v -0.064882 -1.426861 1.420993 +v -0.995788 1.109005 -0.183696 +v 0.576944 -0.752682 2.544151 +v -0.642628 0.531138 2.383641 +v 0.897961 0.755781 -1.210631 +v -1.060074 -0.174814 0.650792 +v -0.835280 -1.426861 -1.018184 +v -0.835280 0.787802 -1.210631 +v 0.865818 -1.009346 -1.210631 +v 1.058469 -0.335416 1.388642 +v 0.063276 0.627449 2.768948 +v -0.642628 -0.688143 2.576087 +v 1.058469 -0.399458 -0.055122 +v 0.031133 -0.913035 2.737012 +v 0.769596 0.595180 2.062620 +v 1.058469 -1.426861 -0.055122 +v 0.801531 -0.881014 2.030684 +v -0.963645 -1.426861 0.683143 +v -0.899566 1.109005 0.971398 +v -1.060074 -0.111020 1.998333 +v -0.770994 0.627449 2.062620 +v 1.026326 -0.335416 1.934460 +v 1.026326 0.081602 -1.210631 +v -0.995788 -0.367188 -1.211046 +v 0.769596 -0.143041 2.768534 +v 0.929896 -1.426861 1.003334 +v -0.129168 -0.913035 2.737012 +v -1.027931 -1.426861 0.169675 +v -0.514263 0.466847 2.608438 +v -0.000803 -0.111020 3.026097 +v -1.027931 -0.206835 -0.472366 +v 0.031133 0.884113 2.030684 +v 0.031133 -1.234238 1.934460 +v -0.289676 -1.426861 -1.210631 +v 0.929896 -0.816724 -1.210631 +v 0.865818 1.109005 0.939047 +v -0.803137 -0.143041 2.768948 +v 1.026326 1.109005 0.073452 +f 192 180 220 +f 158 159 162 +f 158 162 164 +f 163 160 165 +f 159 158 167 +f 163 165 168 +f 164 162 172 +f 165 160 174 +f 172 162 175 +f 162 159 178 +f 163 168 180 +f 172 166 181 +f 168 165 182 +f 166 172 183 +f 172 175 183 +f 165 174 184 +f 174 167 184 +f 160 163 187 +f 159 167 187 +f 167 160 187 +f 164 161 188 +f 158 164 189 +f 164 177 189 +f 160 167 190 +f 174 160 190 +f 167 174 190 +f 178 159 191 +f 192 162 195 +f 180 192 195 +f 170 179 196 +f 185 170 196 +f 175 185 196 +f 176 168 197 +f 193 157 197 +f 168 193 197 +f 162 178 198 +f 195 162 198 +f 171 195 198 +f 170 185 199 +f 164 172 200 +f 181 161 200 +f 172 181 200 +f 182 165 201 +f 169 182 201 +f 186 169 201 +f 161 173 202 +f 165 184 202 +f 188 161 202 +f 184 188 202 +f 173 186 203 +f 201 165 203 +f 186 201 203 +f 202 173 203 +f 165 202 203 +f 176 170 204 +f 162 192 204 +f 192 176 204 +f 170 199 204 +f 171 159 205 +f 163 180 205 +f 187 163 205 +f 159 187 205 +f 195 171 205 +f 180 195 205 +f 167 158 206 +f 158 177 206 +f 177 164 206 +f 170 176 207 +f 157 193 207 +f 197 157 207 +f 176 197 207 +f 175 162 208 +f 185 175 208 +f 199 185 208 +f 162 204 208 +f 204 199 208 +f 181 166 209 +f 194 181 209 +f 166 196 209 +f 196 179 209 +f 161 164 210 +f 200 161 210 +f 164 200 210 +f 173 169 211 +f 169 186 211 +f 186 173 211 +f 169 173 212 +f 179 170 212 +f 173 179 212 +f 193 169 212 +f 170 207 212 +f 207 193 212 +f 184 167 213 +f 164 188 213 +f 188 184 213 +f 167 206 213 +f 206 164 213 +f 182 169 214 +f 169 193 214 +f 166 183 215 +f 183 175 215 +f 196 166 215 +f 175 196 215 +f 177 158 216 +f 158 189 216 +f 189 177 216 +f 159 171 217 +f 191 159 217 +f 178 191 217 +f 198 178 217 +f 171 198 217 +f 168 182 218 +f 193 168 218 +f 182 214 218 +f 214 193 218 +f 173 161 219 +f 179 173 219 +f 161 181 219 +f 181 194 219 +f 209 179 219 +f 194 209 219 +f 168 176 220 +f 180 168 220 +f 176 192 220 +o convex_4 +v -0.289430 2.103966 0.939566 +v -0.000751 1.109005 -1.211046 +v -0.000751 1.173311 -1.211046 +v 1.251019 2.168103 0.425925 +v -0.771224 2.521191 -0.697164 +v -0.867285 1.109005 0.971502 +v 0.962092 1.109005 0.843031 +v 0.801494 2.521191 -0.665227 +v 0.962092 1.109005 -0.857812 +v -0.803244 2.585328 0.650688 +v -1.284790 1.590706 -0.279816 +v 0.737453 2.617566 0.778917 +v -0.899305 1.109005 -0.889748 +v -0.064792 2.842382 -0.055295 +v 0.031269 1.141243 1.260621 +v -1.284790 2.168103 0.168984 +v 1.251019 1.590706 -0.344172 +v 0.769474 2.746008 -0.023117 +v -0.803244 2.745838 -0.055295 +v 0.063289 2.585328 -0.761520 +v -0.803244 1.879659 0.939324 +v 1.251019 2.103966 -0.279816 +v -1.284790 2.136034 -0.247880 +v 0.801494 1.879489 -0.889748 +v -1.284790 1.494502 0.104870 +v 1.251019 1.430196 0.072692 +v 0.769474 2.071898 0.907146 +v -0.738956 1.847421 -0.921927 +v -0.193369 2.617566 0.778675 +v -1.284790 1.847421 0.361569 +v -0.963594 1.109005 0.875209 +v -0.835265 2.553260 0.714803 +v -0.097060 2.842382 0.072692 +v 0.865783 1.237617 0.939566 +v 0.833762 2.585497 0.778917 +v 1.251019 1.558638 0.361569 +v -0.995863 1.109005 -0.183765 +v -1.284790 1.879659 -0.344172 +v -0.803244 1.141243 -0.986041 +v 1.186730 1.879489 -0.472401 +v -0.032771 1.173311 1.260621 +v -0.803244 2.745838 0.137048 +v 0.897803 1.205379 -0.921927 +v -0.097060 2.585328 0.811095 +v 1.026132 1.109005 0.072692 +v 0.801494 2.553429 0.811095 +v -0.064792 1.109005 1.260621 +v -0.064792 2.392749 -0.825634 +v 0.769474 2.521191 -0.697164 +v 0.063289 1.173311 -1.211046 +v 1.251019 2.168103 -0.119651 +v 0.769474 2.746008 0.104870 +v -1.188233 2.328613 0.072692 +v -0.963594 1.109005 -0.697164 +v 1.251019 2.200171 0.393747 +v 0.031269 2.842382 -0.055295 +v 0.127578 2.842382 0.040514 +v -0.899305 1.269685 -0.889748 +v -1.284790 2.007762 0.329391 +v -1.252522 2.200171 -0.247880 +v -0.899305 1.333822 0.939324 +v -0.706935 2.553260 0.746739 +v -1.284790 1.590706 0.265277 +v -0.064792 2.681702 0.618268 +f 253 262 284 +f 226 222 227 +f 227 222 229 +f 222 226 233 +f 234 225 239 +f 225 234 240 +f 224 237 242 +f 231 236 243 +f 236 231 245 +f 237 224 246 +f 229 237 246 +f 236 245 250 +f 233 226 251 +f 249 230 252 +f 234 239 253 +f 227 224 254 +f 235 227 254 +f 247 235 254 +f 247 254 255 +f 254 224 255 +f 224 227 256 +f 246 224 256 +f 227 246 256 +f 251 245 257 +f 233 251 257 +f 233 231 258 +f 243 225 258 +f 231 243 258 +f 225 248 258 +f 223 222 259 +f 222 233 259 +f 248 223 259 +f 237 229 260 +f 228 242 260 +f 242 237 260 +f 244 228 260 +f 230 249 262 +f 252 230 262 +f 253 239 262 +f 229 222 263 +f 260 229 263 +f 244 260 263 +f 232 249 264 +f 221 261 264 +f 227 229 265 +f 246 227 265 +f 229 246 265 +f 235 247 266 +f 247 255 266 +f 255 232 266 +f 261 235 266 +f 232 264 266 +f 264 261 266 +f 226 227 267 +f 227 235 267 +f 241 226 267 +f 235 261 267 +f 261 241 267 +f 225 240 268 +f 223 248 268 +f 248 225 268 +f 238 228 269 +f 228 244 269 +f 269 244 270 +f 222 223 270 +f 263 222 270 +f 244 263 270 +f 223 268 270 +f 268 240 270 +f 240 269 270 +f 228 238 271 +f 242 228 271 +f 224 242 271 +f 232 255 272 +f 236 252 273 +f 262 239 273 +f 252 262 273 +f 231 233 274 +f 245 231 274 +f 233 257 274 +f 257 245 274 +f 255 224 275 +f 224 271 275 +f 271 238 275 +f 238 272 275 +f 272 255 275 +f 240 234 276 +f 234 253 276 +f 238 269 276 +f 269 240 276 +f 253 232 277 +f 272 238 277 +f 232 272 277 +f 276 253 277 +f 238 276 277 +f 233 258 278 +f 258 248 278 +f 248 259 278 +f 259 233 278 +f 236 250 279 +f 252 236 279 +f 241 252 279 +f 239 225 280 +f 225 243 280 +f 243 236 280 +f 236 273 280 +f 273 239 280 +f 226 241 281 +f 250 251 281 +f 251 226 281 +f 279 250 281 +f 241 279 281 +f 252 241 282 +f 249 252 282 +f 261 221 282 +f 241 261 282 +f 221 264 282 +f 264 249 282 +f 250 245 283 +f 245 251 283 +f 251 250 283 +f 249 232 284 +f 232 253 284 +f 262 249 284 +o convex_5 +v 1.540028 1.558462 0.297634 +v 1.251076 1.847270 -0.376457 +v 1.251076 1.879275 -0.376457 +v 2.984452 1.847270 -0.055361 +v 1.251076 2.168291 0.361808 +v 1.251076 1.462101 -0.055361 +v 2.502921 2.071860 -0.183784 +v 2.695500 1.911419 0.233385 +v 2.759636 1.622680 -0.055361 +v 1.251076 2.136078 -0.248034 +v 2.599126 1.718972 -0.215909 +v 2.631194 2.104004 0.072836 +v 1.251076 1.751116 0.393933 +v 1.379688 1.590536 -0.312208 +v 2.663262 1.879275 -0.248034 +v 2.599126 1.686829 0.169211 +v 1.251076 1.494313 0.233385 +v 1.283314 2.168291 -0.119535 +v 1.283314 2.136078 0.393933 +v 2.727398 1.847270 0.233385 +v 2.759636 1.622680 0.008738 +v 2.470683 2.071860 0.201335 +v 1.700539 2.168291 0.233385 +v 2.888078 1.975637 0.040787 +v 1.347450 1.462101 0.040787 +v 1.411586 1.815196 0.393933 +v 2.663262 1.815196 -0.248034 +v 1.251076 1.558462 -0.280083 +v 2.984452 1.815196 0.008738 +v 1.411586 1.943563 -0.344332 +f 291 299 314 +f 287 286 289 +f 289 286 290 +f 287 289 294 +f 289 290 297 +f 295 293 298 +f 286 287 299 +f 291 288 299 +f 285 297 301 +f 297 290 301 +f 294 289 302 +f 291 294 302 +f 296 291 302 +f 289 297 303 +f 285 300 304 +f 292 303 304 +f 304 300 305 +f 300 285 305 +f 285 301 305 +f 292 296 306 +f 289 303 306 +f 303 292 306 +f 302 289 307 +f 296 302 307 +f 289 306 307 +f 306 296 307 +f 288 291 308 +f 291 296 308 +f 296 292 308 +f 292 304 308 +f 290 293 309 +f 301 290 309 +f 293 305 309 +f 305 301 309 +f 297 285 310 +f 303 297 310 +f 304 303 310 +f 285 304 310 +f 288 293 311 +f 293 295 311 +f 298 286 311 +f 295 298 311 +f 286 299 311 +f 299 288 311 +f 290 286 312 +f 293 290 312 +f 286 298 312 +f 298 293 312 +f 293 288 313 +f 304 305 313 +f 305 293 313 +f 288 308 313 +f 308 304 313 +f 287 294 314 +f 294 291 314 +f 299 287 314 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/156/156.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/156/156.urdf new file mode 100644 index 000000000..7132ce8a6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/156/156.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/157/157.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/157/157.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/157/157.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/157/157.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/157/157.obj new file mode 100644 index 000000000..7479c1475 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/157/157.obj @@ -0,0 +1,378 @@ +o convex_0 +v 1.022073 0.163449 0.992082 +v -1.104316 -3.390543 -0.951827 +v -1.104316 -3.390543 -0.738912 +v -1.104316 0.953462 0.323704 +v 1.052474 0.953462 -0.951631 +v 1.082876 -3.420944 0.961666 +v -0.982710 -3.420944 0.961666 +v 0.961270 -3.390543 -0.951631 +v -1.013111 0.953462 -0.982048 +v -1.073914 0.953462 0.961862 +v 0.991672 0.953462 1.022303 +v -0.830703 -2.995322 0.992279 +v 1.052474 0.953462 0.749143 +v 0.991672 -3.420944 -0.647859 +v 0.049869 0.953462 1.022303 +v -0.253717 0.315457 -0.982048 +v 1.082876 -1.204196 0.779363 +v 0.991672 0.254654 1.022303 +v -1.104316 0.923061 0.627673 +v -1.104316 -2.752537 -0.951827 +v -0.800301 0.953462 0.992279 +v 1.082876 -3.420944 0.840196 +v -0.982710 -3.420944 0.141597 +v 1.052474 -1.932122 0.992082 +v -1.043513 0.102646 -0.951827 +v 0.900467 -3.420944 -0.921215 +v 0.049869 -0.261746 1.022303 +v -1.013111 0.102646 -0.982048 +v 1.052474 0.740651 -0.951631 +v 0.991672 -2.478922 -0.951631 +v -0.253717 0.953462 -0.982048 +v -1.073914 0.649446 0.961862 +v -1.104316 -3.056125 -0.617638 +v 1.052474 -3.420944 0.323900 +v 1.082876 -2.964920 0.961666 +v -0.830703 -0.049363 0.992279 +v -0.770114 -2.995322 0.992279 +f 18 27 37 +f 2 3 4 +f 3 2 7 +f 4 5 9 +f 5 4 10 +f 5 10 11 +f 7 6 12 +f 11 1 13 +f 5 11 13 +f 6 7 14 +f 11 10 15 +f 5 13 17 +f 11 15 18 +f 4 3 19 +f 10 4 19 +f 2 4 20 +f 9 2 20 +f 15 10 21 +f 6 14 22 +f 17 6 22 +f 7 2 23 +f 14 7 23 +f 1 11 24 +f 11 18 24 +f 4 9 25 +f 20 4 25 +f 9 20 25 +f 2 8 26 +f 8 14 26 +f 23 2 26 +f 14 23 26 +f 15 12 27 +f 18 15 27 +f 8 2 28 +f 2 9 28 +f 16 8 28 +f 9 16 28 +f 16 5 29 +f 5 17 29 +f 17 22 29 +f 14 8 30 +f 8 16 30 +f 16 29 30 +f 9 5 31 +f 5 16 31 +f 16 9 31 +f 7 12 32 +f 12 10 32 +f 19 7 32 +f 10 19 32 +f 3 7 33 +f 19 3 33 +f 7 19 33 +f 22 14 34 +f 29 22 34 +f 30 29 34 +f 14 30 34 +f 13 1 35 +f 6 17 35 +f 17 13 35 +f 1 24 35 +f 24 6 35 +f 10 12 36 +f 12 15 36 +f 21 10 36 +f 15 21 36 +f 12 6 37 +f 6 24 37 +f 24 18 37 +f 27 12 37 +o convex_1 +v -1.924594 1.014242 -0.192391 +v -2.623008 2.168575 -0.435336 +v -2.623008 2.168575 -0.465767 +v -1.104316 2.138126 0.415023 +v -2.957203 1.226911 0.536647 +v -3.018037 2.138126 0.475785 +v -3.109092 1.105471 -0.465767 +v -1.104316 0.953463 -0.465767 +v -1.104316 1.135801 0.506216 +v -1.104316 2.107796 -0.496199 +v -3.078675 2.168575 -0.465767 +v -2.805314 1.105471 0.475785 +v -1.195567 0.953463 -0.313813 +v -1.955011 1.773569 -0.496199 +v -2.501536 2.138126 0.475785 +v -3.048257 2.168575 0.080885 +v -1.104316 1.105471 0.475785 +v -3.109092 1.105471 -0.344143 +v -2.471119 2.138126 -0.496199 +v -1.286621 2.107796 0.445353 +v -2.319230 1.135801 0.536647 +v -1.104316 1.652010 -0.496199 +v -2.926785 1.135801 0.536647 +v -1.134732 1.227029 0.506216 +v -3.109092 1.652010 -0.435336 +v -2.896369 1.834348 0.506216 +v -1.104316 2.138126 0.141646 +v -3.078675 1.105471 -0.161959 +v -2.015845 1.014242 -0.465767 +v -1.772705 2.138126 -0.496199 +f 64 47 67 +f 40 39 41 +f 45 41 46 +f 41 45 47 +f 39 40 48 +f 49 38 50 +f 41 39 53 +f 39 48 53 +f 52 41 53 +f 43 52 53 +f 45 46 54 +f 49 50 54 +f 50 45 54 +f 48 40 56 +f 44 48 56 +f 51 44 56 +f 47 51 56 +f 41 52 57 +f 54 46 58 +f 49 54 58 +f 47 45 59 +f 44 51 59 +f 51 47 59 +f 58 42 60 +f 49 58 60 +f 46 41 61 +f 41 57 61 +f 57 52 61 +f 58 46 61 +f 48 44 62 +f 43 53 62 +f 53 48 62 +f 55 43 62 +f 44 55 62 +f 43 42 63 +f 52 43 63 +f 42 58 63 +f 61 52 63 +f 58 61 63 +f 40 41 64 +f 41 47 64 +f 42 43 65 +f 38 49 65 +f 50 38 65 +f 43 55 65 +f 60 42 65 +f 49 60 65 +f 45 50 66 +f 55 44 66 +f 44 59 66 +f 59 45 66 +f 50 65 66 +f 65 55 66 +f 56 40 67 +f 47 56 67 +f 40 64 67 +o convex_2 +v 0.505685 2.563246 1.022588 +v -1.013111 0.953463 -0.982244 +v -1.104316 0.953463 -0.465646 +v 1.052486 0.953463 0.749247 +v 1.082888 2.502577 -0.921280 +v -1.104316 2.623916 0.961625 +v -0.982709 2.532830 -0.951563 +v -1.073914 0.953463 0.961625 +v 1.052486 0.953463 -0.951762 +v 0.961281 2.532993 1.053070 +v 0.991683 0.953463 1.022588 +v -0.283900 2.502577 -0.982244 +v 1.082888 2.077237 0.536472 +v -1.104316 2.107653 -0.496127 +v -0.800514 0.953463 0.992306 +v -1.043512 2.623916 0.506189 +v 1.082888 1.044712 -0.465646 +v -0.618318 2.623916 0.992306 +v 1.022084 2.502577 -0.951762 +v -1.104316 0.953463 0.627519 +v 0.049875 0.953463 1.022588 +v -0.982709 2.502577 -0.982244 +v -0.253713 0.953463 -0.982244 +v -0.800514 2.623916 0.992306 +v 1.082888 1.135961 0.597236 +v -1.104316 2.623916 0.749048 +v 0.991683 1.561301 1.022588 +v -1.013111 1.530885 -0.982244 +v -1.104316 2.016567 0.961625 +v 0.961281 2.532993 0.627519 +v -0.618318 2.623916 0.931342 +f 97 72 98 +f 70 69 71 +f 70 71 75 +f 71 69 76 +f 75 71 78 +f 72 77 80 +f 69 70 81 +f 70 73 81 +f 75 78 82 +f 71 76 84 +f 76 72 84 +f 72 80 84 +f 77 68 85 +f 83 73 85 +f 72 76 86 +f 79 74 86 +f 76 79 86 +f 83 72 86 +f 74 83 86 +f 73 70 87 +f 70 75 87 +f 78 77 88 +f 82 78 88 +f 79 69 89 +f 74 79 89 +f 81 74 89 +f 76 69 90 +f 69 79 90 +f 79 76 90 +f 73 82 91 +f 77 85 91 +f 85 73 91 +f 88 77 91 +f 82 88 91 +f 71 84 92 +f 84 80 92 +f 81 73 93 +f 74 81 93 +f 73 83 93 +f 83 74 93 +f 77 78 94 +f 78 71 94 +f 80 77 94 +f 71 92 94 +f 92 80 94 +f 69 81 95 +f 89 69 95 +f 81 89 95 +f 82 73 96 +f 75 82 96 +f 73 87 96 +f 87 75 96 +f 68 77 97 +f 77 72 97 +f 72 83 98 +f 85 68 98 +f 83 85 98 +f 68 97 98 +o convex_3 +v 2.206623 1.075090 0.536498 +v 2.601690 1.591299 -0.556955 +v 2.601690 1.986157 -0.556955 +v 1.083081 1.743247 -0.556841 +v 1.083081 2.077326 0.536498 +v 2.996562 2.107820 0.415029 +v 1.083081 1.044596 -0.465655 +v 2.996562 1.075090 -0.526559 +v 1.083081 1.135765 0.597403 +v 3.057253 1.044596 0.475820 +v 1.083081 2.077326 -0.556841 +v 2.966218 1.986157 -0.556955 +v 2.358542 2.107820 0.475707 +v 1.720908 2.107820 -0.222602 +v 1.083081 1.044596 -0.101133 +v 3.057253 1.044596 0.202372 +v 2.996562 2.107820 0.202372 +v 1.113426 1.925482 0.566894 +v 1.386919 1.044596 -0.496050 +v 1.143771 1.105479 0.597403 +v 2.449771 1.044596 0.506216 +v 2.966218 1.955871 0.445424 +v 2.905334 1.378883 -0.556955 +v 2.358542 1.075090 -0.526446 +v 1.265345 1.166259 0.597403 +v 2.540999 2.016651 -0.556841 +v 3.057253 1.196545 0.475820 +v 2.996562 1.044596 -0.070737 +v 1.994207 2.107820 0.475707 +v 1.933517 1.044596 -0.496050 +v 2.996562 1.409168 -0.526559 +v 3.057253 1.287818 0.415029 +f 104 125 130 +f 101 100 102 +f 103 102 105 +f 103 105 107 +f 101 102 109 +f 102 103 109 +f 100 101 110 +f 101 109 110 +f 109 103 112 +f 111 104 112 +f 107 105 113 +f 105 108 113 +f 108 105 114 +f 112 104 115 +f 103 107 116 +f 111 103 116 +f 105 102 117 +f 114 105 117 +f 107 113 118 +f 108 99 119 +f 113 108 119 +f 99 118 119 +f 118 113 119 +f 104 111 120 +f 111 116 120 +f 102 100 121 +f 100 110 121 +f 110 106 121 +f 117 102 122 +f 106 117 122 +f 102 121 122 +f 121 106 122 +f 116 107 123 +f 118 99 123 +f 107 118 123 +f 120 116 123 +f 110 109 124 +f 109 112 124 +f 115 110 124 +f 112 115 124 +f 99 108 125 +f 108 114 125 +f 104 120 125 +f 123 99 125 +f 120 123 125 +f 106 114 126 +f 114 117 126 +f 103 111 127 +f 112 103 127 +f 111 112 127 +f 117 106 128 +f 106 126 128 +f 126 117 128 +f 106 110 129 +f 114 106 129 +f 110 114 129 +f 114 110 130 +f 110 115 130 +f 115 104 130 +f 125 114 130 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/157/157.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/157/157.urdf new file mode 100644 index 000000000..dd18a2d97 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/157/157.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/158/158.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/158/158.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/158/158.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/158/158.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/158/158.obj new file mode 100644 index 000000000..66ac57129 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/158/158.obj @@ -0,0 +1,915 @@ +o convex_0 +v -0.611511 0.256896 1.752706 +v 1.415307 0.291870 -0.098823 +v 1.415307 0.256896 -0.098823 +v -0.331893 0.256896 -0.902667 +v -0.681207 0.571421 -0.343327 +v 1.240441 0.571421 1.543036 +v 1.345194 0.571421 -0.413327 +v 0.960822 0.256896 2.102044 +v -0.471702 0.571421 1.717539 +v 0.366737 0.291870 -1.112005 +v 0.052479 0.291870 2.276548 +v -0.681207 0.256896 -0.448162 +v 1.170537 0.256896 -0.797832 +v -0.716473 0.571421 1.263366 +v -0.226931 0.571421 -0.622997 +v 1.275289 0.256896 1.612705 +v 0.891126 0.571421 1.787872 +v 1.380251 0.571421 0.739192 +v -0.716473 0.256896 1.368201 +v 0.925974 0.571421 -0.588163 +v -0.192083 0.256896 2.241714 +v 0.925974 0.291870 -0.972336 +v 0.541394 0.291870 2.276548 +v -0.716473 0.256896 -0.063989 +v 1.415307 0.361758 -0.378493 +v -0.681207 0.536446 1.543036 +v -0.261988 0.571421 1.787540 +v 0.017422 0.256896 -1.077170 +v 1.380251 0.256896 0.774026 +v 0.297041 0.571421 -0.657831 +v -0.506550 0.291870 1.962375 +v 1.415307 0.536446 -0.238824 +v -0.716473 0.571421 0.006012 +v 0.332098 0.326814 2.241714 +v 0.960822 0.291870 2.102044 +v -0.331893 0.291870 -0.902667 +v -0.192083 0.291870 2.241714 +v 0.017422 0.291870 -1.077170 +v 1.275289 0.571421 1.507870 +f 35 16 39 +f 3 1 4 +f 5 6 7 +f 1 3 8 +f 6 5 9 +f 4 1 12 +f 3 4 13 +f 9 5 14 +f 5 7 15 +f 8 3 16 +f 6 9 17 +f 7 6 18 +f 12 1 19 +f 15 7 20 +f 1 8 21 +f 7 13 22 +f 13 10 22 +f 20 7 22 +f 10 20 22 +f 21 8 23 +f 11 21 23 +f 12 19 24 +f 19 14 24 +f 2 3 25 +f 3 13 25 +f 13 7 25 +f 9 14 26 +f 19 1 26 +f 14 19 26 +f 17 9 27 +f 13 4 28 +f 10 13 28 +f 3 2 29 +f 16 3 29 +f 2 18 29 +f 18 16 29 +f 10 15 30 +f 20 10 30 +f 15 20 30 +f 1 21 31 +f 9 26 31 +f 26 1 31 +f 18 2 32 +f 7 18 32 +f 2 25 32 +f 25 7 32 +f 5 12 33 +f 14 5 33 +f 12 24 33 +f 24 14 33 +f 23 17 34 +f 11 23 34 +f 27 11 34 +f 17 27 34 +f 8 16 35 +f 6 17 35 +f 23 8 35 +f 17 23 35 +f 4 12 36 +f 12 5 36 +f 5 15 36 +f 28 4 36 +f 21 11 37 +f 27 9 37 +f 11 27 37 +f 31 21 37 +f 9 31 37 +f 15 10 38 +f 10 28 38 +f 36 15 38 +f 28 36 38 +f 18 6 39 +f 16 18 39 +f 6 35 39 +o convex_1 +v 0.262159 2.702653 -0.343748 +v 0.506611 0.746232 1.787950 +v 0.611494 1.620289 1.648148 +v 1.380360 0.571421 -0.378640 +v -0.681375 0.571770 -0.308855 +v -0.401825 3.296872 1.368543 +v 1.100604 3.646495 0.599745 +v -0.681375 0.571770 1.508345 +v 1.275477 0.571421 1.508345 +v -0.436922 3.611253 0.460175 +v 1.065712 3.261980 -0.238838 +v 0.471514 3.646146 1.298525 +v 0.297051 4.136036 0.530193 +v 0.891044 0.641554 -0.588460 +v 0.227266 3.611253 -0.203945 +v -0.716473 2.179266 0.564853 +v 1.380360 2.178917 0.599745 +v 1.170595 2.179266 1.333418 +v -0.227157 0.571770 -0.588460 +v -0.541600 2.144374 -0.203945 +v -0.262049 0.571770 1.787950 +v 1.345262 2.004106 -0.133927 +v -0.646483 2.074589 1.298525 +v 0.891044 0.606662 1.752825 +v 1.380360 0.571421 0.739315 +v -0.401825 3.227087 1.403435 +v -0.297147 3.227087 -0.029250 +v 0.960829 3.261980 1.123830 +v 0.017501 2.004804 -0.448658 +v -0.716473 0.571770 1.263400 +v -0.471815 0.606662 1.717933 +v 0.646386 2.074589 1.578130 +v -0.436922 3.646495 0.564853 +v -0.646483 0.676447 -0.413533 +v 1.135497 3.576710 0.599745 +v 1.170595 0.571770 -0.518443 +v -0.716473 0.571770 0.005642 +v 0.366631 4.136036 0.530193 +v 1.100604 3.227087 -0.238838 +v -0.716473 2.109481 0.460175 +v 0.157276 0.851258 -0.588460 +v 0.366631 3.786065 1.123830 +v -0.681375 1.340451 1.403435 +v -0.506707 2.109481 -0.238838 +v -0.227157 0.676447 1.787950 +v 1.065712 3.681387 0.530193 +v -0.471815 3.506925 0.599745 +v 0.960829 3.087168 -0.273730 +v 0.297051 4.100446 0.634638 +v 1.205487 2.144722 1.263400 +v 1.380360 1.165988 -0.273730 +v 0.366631 3.541818 1.333418 +v 1.240380 0.676447 1.543238 +v 0.401729 4.100446 0.599745 +v -0.681375 0.746581 1.508345 +v 1.380360 2.144025 0.634405 +v 0.436621 4.065903 0.460175 +v 0.646386 0.571770 1.787950 +v -0.506707 3.331765 0.495068 +v -0.087382 3.017384 1.438328 +v -0.681375 0.676447 -0.308855 +v 1.310370 0.851258 1.298525 +v 0.331944 3.646146 -0.133927 +v 1.135497 3.541469 0.495068 +f 78 85 103 +f 49 52 54 +f 43 44 58 +f 47 48 60 +f 42 41 63 +f 48 43 64 +f 43 56 64 +f 51 45 65 +f 45 62 65 +f 49 54 66 +f 59 49 66 +f 46 51 67 +f 51 57 67 +f 54 40 68 +f 48 47 69 +f 47 60 70 +f 41 42 71 +f 57 51 71 +f 42 63 71 +f 63 57 71 +f 52 49 72 +f 58 44 73 +f 46 67 74 +f 67 57 74 +f 43 58 75 +f 58 53 75 +f 44 43 76 +f 43 48 76 +f 48 69 76 +f 69 55 76 +f 54 52 77 +f 53 50 78 +f 43 75 78 +f 75 53 78 +f 76 55 79 +f 53 58 80 +f 68 53 80 +f 58 68 80 +f 45 51 81 +f 62 55 82 +f 65 62 82 +f 55 69 82 +f 66 54 83 +f 59 66 83 +f 54 68 83 +f 68 58 83 +f 58 73 83 +f 73 59 83 +f 60 41 84 +f 41 65 84 +f 70 60 84 +f 65 70 84 +f 77 46 85 +f 78 50 85 +f 62 45 86 +f 55 62 86 +f 45 72 86 +f 50 53 87 +f 40 54 87 +f 54 50 87 +f 68 40 87 +f 53 68 87 +f 52 72 88 +f 72 45 88 +f 77 52 88 +f 45 81 88 +f 57 48 89 +f 74 57 89 +f 56 43 90 +f 61 56 90 +f 43 78 90 +f 78 61 90 +f 51 65 91 +f 71 51 91 +f 48 57 92 +f 63 48 92 +f 57 63 92 +f 51 46 93 +f 46 77 93 +f 81 51 93 +f 77 88 93 +f 88 81 93 +f 69 47 94 +f 47 70 94 +f 70 65 94 +f 65 82 94 +f 82 69 94 +f 64 56 95 +f 56 74 95 +f 74 89 95 +f 77 85 96 +f 85 50 96 +f 41 60 97 +f 60 48 97 +f 63 41 97 +f 48 63 97 +f 49 59 98 +f 72 49 98 +f 79 55 98 +f 59 79 98 +f 55 86 98 +f 86 72 98 +f 65 41 99 +f 41 71 99 +f 91 65 99 +f 71 91 99 +f 73 44 100 +f 59 73 100 +f 44 76 100 +f 79 59 100 +f 76 79 100 +f 48 64 101 +f 89 48 101 +f 64 95 101 +f 95 89 101 +f 50 54 102 +f 54 77 102 +f 96 50 102 +f 77 96 102 +f 56 61 103 +f 46 74 103 +f 74 56 103 +f 61 78 103 +f 85 46 103 +o convex_2 +v -0.856289 -0.302273 -0.833337 +v -1.100892 -1.490465 -1.951258 +v -1.100892 -1.315660 -2.300716 +v -0.821314 -1.420423 -1.951258 +v -1.100892 -1.385582 -0.728547 +v -1.100892 -0.372195 -1.986188 +v -0.821314 -0.337234 -2.021118 +v -0.821314 -1.420423 -0.833337 +v -1.100892 -0.337234 -0.763477 +v -0.821314 -0.267312 -1.252656 +v -1.100892 -0.547000 -2.195769 +v -1.065945 -0.477078 -0.693459 +v -0.856289 -0.267312 -1.881240 +v -0.821314 -0.302273 -0.833337 +v -1.065945 -1.175936 -2.300716 +v -0.821314 -1.455504 -1.147865 +v -1.100892 -1.455504 -1.147865 +f 105 119 120 +f 105 106 107 +f 106 105 108 +f 106 108 109 +f 107 110 111 +f 109 108 112 +f 111 110 113 +f 112 104 113 +f 106 109 114 +f 109 110 114 +f 108 111 115 +f 112 108 115 +f 110 109 116 +f 109 112 116 +f 112 113 116 +f 113 110 116 +f 104 112 117 +f 113 104 117 +f 111 113 117 +f 115 111 117 +f 112 115 117 +f 107 106 118 +f 110 107 118 +f 106 114 118 +f 114 110 118 +f 105 107 119 +f 107 111 119 +f 119 111 120 +f 108 105 120 +f 111 108 120 +o convex_3 +v -0.681454 -1.001050 2.626047 +v 1.450254 -1.035963 -0.657523 +v 1.450254 -1.105789 -0.657523 +v -0.821314 -0.302574 -2.020639 +v 1.275484 0.256896 1.681983 +v 0.331814 -1.944779 2.591326 +v -0.541593 -1.734869 -2.160124 +v 1.240352 -0.092881 -2.370248 +v -0.681454 0.256680 1.647861 +v 1.170533 -1.839609 -2.195444 +v 1.240352 -0.896311 3.395307 +v -0.401732 -0.092665 3.324667 +v -0.366823 -1.629915 3.324667 +v -0.017505 0.256896 -1.112494 +v 1.065804 -1.630131 2.905615 +v -0.821314 -1.455350 -0.867648 +v 0.855902 -0.372185 3.640153 +v 1.415123 0.256680 -0.413276 +v -0.576503 -0.023055 -2.230764 +v -0.471774 -1.874737 -1.426783 +v 1.450254 -1.630131 -1.217257 +v 0.646445 -1.455134 -2.475610 +v 1.100714 -1.944779 -1.322020 +v 0.401855 -1.525176 3.570112 +v 0.366723 0.011858 3.394708 +v 1.450254 -0.302574 -2.055959 +v 1.345303 -0.896311 2.661367 +v 1.100714 -0.092881 3.359987 +v -0.681454 0.256680 -0.447997 +v -0.262094 -0.826485 3.570112 +v -0.436642 -1.699956 2.731409 +v -0.122233 0.256896 2.311759 +v -0.821314 -0.267661 -0.867648 +v 0.122356 -1.944779 -1.391463 +v -0.366823 -0.791787 -2.370248 +v -0.821314 -1.385524 -1.985319 +v 1.310394 -1.140917 -2.370248 +v -0.576503 -0.896095 3.290544 +v 0.611535 -0.372185 -2.475610 +v -0.681454 -1.769783 -1.077174 +v 0.995763 -1.560089 3.395307 +v 0.331814 -1.839609 3.289945 +v 1.100714 -1.664828 2.626646 +v 1.450254 -1.350611 -2.055959 +v -0.716363 -0.861182 2.346480 +v 0.925944 0.256896 -1.042452 +v 0.995763 0.256896 2.136355 +v 0.925944 -1.001050 3.640153 +v 0.262217 -1.874521 -2.125402 +v 1.240352 -1.035747 -2.475610 +v -0.576503 -1.106004 -2.300207 +v 1.310394 -1.839609 -1.147215 +v 0.017627 -0.372185 3.604833 +v 0.227085 -1.560089 -2.440290 +v -0.646544 -0.127794 2.521285 +v 1.275484 -0.127794 2.520686 +v -0.716363 0.256680 1.368293 +v 1.380213 0.256680 0.774437 +v 1.450254 -0.197620 -0.727565 +v -0.087324 -1.385309 3.569513 +v 0.681354 -0.023055 -2.230764 +v 1.135623 -1.769998 -2.300805 +v -0.471774 -1.874737 -1.147215 +v 1.450254 -1.630131 -1.077174 +f 163 172 184 +f 122 123 141 +f 128 138 146 +f 122 141 146 +f 123 122 147 +f 137 131 148 +f 145 137 148 +f 139 124 149 +f 134 139 149 +f 133 121 151 +f 121 136 151 +f 129 132 152 +f 125 134 152 +f 132 145 152 +f 134 149 152 +f 124 136 153 +f 143 126 154 +f 136 124 156 +f 121 133 158 +f 150 132 158 +f 133 150 158 +f 139 128 159 +f 155 139 159 +f 127 140 160 +f 151 136 160 +f 136 156 160 +f 156 127 160 +f 135 131 161 +f 161 144 162 +f 144 133 162 +f 133 151 162 +f 151 126 162 +f 135 161 162 +f 131 135 163 +f 126 143 163 +f 147 131 163 +f 162 126 163 +f 135 162 163 +f 141 130 164 +f 146 141 164 +f 157 146 164 +f 136 121 165 +f 153 136 165 +f 121 158 165 +f 134 125 166 +f 138 128 166 +f 125 138 166 +f 148 125 167 +f 145 148 167 +f 125 152 167 +f 152 145 167 +f 131 137 168 +f 161 131 168 +f 144 161 168 +f 140 127 169 +f 130 143 169 +f 154 140 169 +f 143 154 169 +f 128 146 170 +f 146 157 170 +f 159 128 170 +f 142 159 170 +f 124 139 171 +f 139 155 171 +f 156 124 171 +f 127 156 171 +f 130 141 172 +f 143 130 172 +f 163 143 172 +f 145 132 173 +f 137 145 173 +f 132 150 173 +f 168 137 173 +f 155 159 174 +f 159 142 174 +f 169 127 174 +f 127 171 174 +f 171 155 174 +f 132 129 175 +f 158 132 175 +f 165 158 175 +f 131 147 176 +f 148 131 176 +f 125 148 176 +f 149 124 177 +f 129 152 177 +f 152 149 177 +f 124 153 177 +f 153 165 177 +f 175 129 177 +f 165 175 177 +f 138 125 178 +f 125 176 178 +f 176 147 178 +f 122 146 179 +f 146 138 179 +f 147 122 179 +f 138 178 179 +f 178 147 179 +f 133 144 180 +f 150 133 180 +f 144 168 180 +f 173 150 180 +f 168 173 180 +f 128 139 181 +f 139 134 181 +f 166 128 181 +f 134 166 181 +f 164 130 182 +f 157 164 182 +f 130 169 182 +f 142 170 182 +f 170 157 182 +f 174 142 182 +f 169 174 182 +f 126 151 183 +f 154 126 183 +f 140 154 183 +f 160 140 183 +f 151 160 183 +f 141 123 184 +f 123 147 184 +f 147 163 184 +f 172 141 184 +o convex_4 +v 3.162422 -1.315612 -1.426954 +v 1.485431 -0.162744 -0.833152 +v 1.485431 -0.162744 -1.566955 +v 1.450443 -1.560222 -1.007991 +v 1.450443 -1.315612 -2.021276 +v 2.882892 -0.512148 -1.811599 +v 2.952868 -0.442240 -0.972893 +v 2.847903 -1.350498 -0.972893 +v 1.450443 -0.302424 -2.021276 +v 2.917880 -1.385520 -1.811599 +v 1.450443 -1.210682 -0.728249 +v 3.372163 -0.931186 -1.426954 +v 1.450443 -1.525200 -1.671598 +v 1.450443 -0.197630 -0.763347 +v 1.485431 -0.861415 -2.056243 +v 3.127433 -0.966209 -1.007991 +v 3.057645 -0.477126 -1.322441 +v 2.882892 -1.420406 -1.671598 +v 2.987669 -0.721735 -1.811599 +v 2.114467 -1.385520 -1.951340 +v 2.324020 -1.455292 -0.972893 +v 1.485431 -0.197630 -1.846437 +v 3.127433 -1.350498 -1.287603 +v 2.882892 -0.407217 -1.077796 +v 2.359009 -0.442240 -1.916372 +v 1.485431 -0.826529 -0.728249 +v 3.092633 -1.036117 -1.776501 +v 2.393997 -1.315612 -1.916372 +v 3.372163 -0.931186 -1.357538 +v 2.324020 -1.245704 -0.868120 +v 3.162422 -0.581919 -1.426954 +v 2.149267 -1.420406 -0.903088 +v 2.673338 -1.420406 -1.846437 +v 3.057645 -1.385520 -1.322441 +v 3.057645 -1.315612 -1.706696 +v 1.485431 -1.560222 -1.182700 +v 2.533574 -1.455292 -1.287603 +f 188 220 221 +f 189 188 193 +f 193 188 195 +f 188 189 197 +f 186 187 198 +f 191 186 198 +f 187 193 198 +f 193 195 198 +f 189 193 199 +f 190 196 203 +f 197 189 204 +f 189 199 204 +f 193 187 206 +f 201 190 206 +f 200 192 207 +f 187 186 208 +f 186 191 208 +f 191 201 208 +f 206 187 208 +f 201 206 208 +f 199 193 209 +f 190 203 209 +f 193 206 209 +f 206 190 209 +f 191 198 210 +f 198 195 210 +f 203 196 211 +f 194 203 211 +f 203 194 212 +f 204 199 212 +f 194 204 212 +f 199 209 212 +f 209 203 212 +f 185 196 213 +f 191 200 213 +f 207 185 213 +f 200 207 213 +f 195 192 214 +f 192 200 214 +f 200 191 214 +f 191 210 214 +f 210 195 214 +f 196 190 215 +f 190 201 215 +f 201 191 215 +f 213 196 215 +f 191 213 215 +f 195 188 216 +f 192 195 216 +f 188 205 216 +f 205 192 216 +f 194 202 217 +f 202 197 217 +f 197 204 217 +f 204 194 217 +f 194 185 218 +f 202 194 218 +f 192 205 218 +f 185 207 218 +f 207 192 218 +f 185 194 219 +f 196 185 219 +f 194 211 219 +f 211 196 219 +f 188 197 220 +f 197 202 220 +f 220 202 221 +f 205 188 221 +f 202 218 221 +f 218 205 221 +o convex_5 +v -2.568644 -0.651892 -1.077837 +v -2.289162 -1.455518 -1.986068 +v -2.254232 -1.455518 -1.986068 +v -2.289162 -0.477201 -2.160941 +v -2.254232 -0.372342 -0.693302 +v -2.289162 -1.420382 -0.868175 +v -2.603574 -1.350549 -1.636630 +v -2.533673 -0.512117 -1.846447 +v -2.568644 -1.315524 -1.008104 +v -2.254232 -1.210774 -2.265926 +v -2.638505 -0.896417 -1.776405 +v -2.393994 -0.337316 -0.903272 +v -2.673517 -0.861500 -1.322598 +v -2.254232 -1.140832 -0.728399 +v -2.533673 -1.455518 -1.392331 +v -2.254232 -0.442175 -2.056110 +v -2.603574 -0.826584 -1.008104 +v -2.289162 -1.210774 -2.265926 +v -2.568644 -1.385466 -1.741616 +v -2.638505 -1.315524 -1.392331 +v -2.254232 -1.455518 -1.077837 +v -2.289162 -0.581950 -0.693302 +v -2.289162 -0.686809 -2.230675 +v -2.393994 -0.442175 -1.951124 +v -2.638505 -1.036083 -1.776405 +v -2.498743 -0.477201 -1.008104 +v -2.254232 -0.337316 -0.938216 +f 237 233 248 +f 224 223 231 +f 226 224 231 +f 229 232 234 +f 224 226 235 +f 230 227 235 +f 223 224 236 +f 227 230 236 +f 226 231 237 +f 226 233 238 +f 222 234 238 +f 234 230 238 +f 231 223 239 +f 223 236 240 +f 236 228 240 +f 239 223 240 +f 230 234 241 +f 228 236 241 +f 236 230 241 +f 224 235 242 +f 235 227 242 +f 236 224 242 +f 227 236 242 +f 235 226 243 +f 230 235 243 +f 226 238 243 +f 238 230 243 +f 229 225 244 +f 232 229 244 +f 225 237 244 +f 237 231 244 +f 231 239 244 +f 239 232 244 +f 225 229 245 +f 229 233 245 +f 237 225 245 +f 233 237 245 +f 234 232 246 +f 232 239 246 +f 239 240 246 +f 240 228 246 +f 228 241 246 +f 241 234 246 +f 233 229 247 +f 234 222 247 +f 229 234 247 +f 222 238 247 +f 238 233 247 +f 233 226 248 +f 226 237 248 +o convex_6 +v -1.869739 -0.931217 -4.257671 +v -1.100892 -1.280648 -0.483783 +v -1.100892 -1.315636 -0.483783 +v -2.079363 -0.896455 1.333144 +v -1.100892 -0.337320 -0.763853 +v -2.254106 -0.337320 -0.938603 +v -2.254106 -1.455364 -2.020639 +v -1.275748 -1.280648 -3.838154 +v -1.590240 -0.547023 -4.082334 +v -1.240754 -0.582012 1.123679 +v -1.625121 -1.315636 1.298429 +v -1.100892 -1.490352 -2.020639 +v -1.100892 -0.372308 -1.985925 +v -2.149237 -0.721739 -3.453352 +v -2.254106 -1.455364 -1.078050 +v -2.114244 -0.407296 0.284645 +v -1.660115 -1.350512 -3.978189 +v -1.240754 -0.861466 -4.082334 +v -1.135886 -1.105933 0.808895 +v -2.184231 -1.140921 0.774180 +v -2.044369 -1.210784 -3.838154 +v -2.254106 -0.442172 -2.125371 +v -1.694883 -0.547023 1.263715 +v -1.625121 -1.001081 1.613214 +v -1.625121 -1.420375 0.529413 +v -1.660115 -0.442172 -3.418637 +v -2.149237 -0.582012 0.913627 +v -1.275748 -0.372308 0.110484 +v -1.275748 -1.350512 0.494698 +v -1.625121 -1.455364 -3.313317 +v -1.275748 -1.036069 1.403161 +v -1.590240 -0.966205 -4.397707 +v -2.044369 -1.350512 0.564127 +v -1.974494 -0.582012 -3.732834 +v -2.254106 -0.407296 -0.239604 +v -1.275748 -0.512035 -3.418637 +v -2.044369 -1.036069 1.402573 +v -1.834745 -1.490352 -1.881193 +v -1.100892 -1.280648 -2.440156 +v -2.044369 -0.826591 -4.082922 +v -2.254106 -1.210784 -2.440156 +v -1.240754 -1.420375 -3.139155 +v -1.100892 -1.455364 -1.148067 +v -1.729877 -0.547023 -4.082334 +v -1.660115 -1.315636 -4.117636 +v -1.205760 -0.616887 1.088965 +v -1.170880 -0.756614 -3.383923 +v -1.660115 -0.861466 1.577911 +v -2.044369 -0.582012 1.123091 +v -2.009488 -0.477160 -3.173870 +v -2.079363 -1.385500 -2.999120 +v -1.974494 -1.245660 1.123091 +v -1.729877 -0.407296 0.494698 +v -1.764758 -1.490352 -2.405442 +v -1.345623 -1.245660 1.088965 +v -2.254106 -0.686751 -2.474871 +v -1.100892 -1.490352 -1.741157 +v -2.079363 -0.896455 -3.942887 +v -1.694883 -0.896455 -4.397707 +v -1.275748 -0.407296 0.389966 +v -2.254106 -1.036069 -0.519086 +v -1.240754 -0.791603 1.298429 +v -1.380504 -0.337320 -0.483783 +v -1.345623 -0.616887 -3.907583 +f 284 266 312 +f 250 251 253 +f 253 251 260 +f 254 253 261 +f 253 260 261 +f 254 255 263 +f 251 250 267 +f 250 253 267 +f 255 254 270 +f 254 261 274 +f 268 252 275 +f 259 273 277 +f 272 259 279 +f 257 266 280 +f 266 256 280 +f 268 263 281 +f 273 259 281 +f 263 273 281 +f 262 270 282 +f 254 263 283 +f 264 254 283 +f 275 264 283 +f 268 275 283 +f 261 266 284 +f 274 261 284 +f 257 274 284 +f 252 268 285 +f 259 272 285 +f 263 255 286 +f 273 263 286 +f 260 256 287 +f 261 260 287 +f 256 266 287 +f 249 269 288 +f 262 282 288 +f 269 255 289 +f 255 270 289 +f 256 260 290 +f 265 256 290 +f 260 278 290 +f 278 265 290 +f 260 251 291 +f 251 267 291 +f 267 277 291 +f 277 273 291 +f 274 257 292 +f 288 282 292 +f 256 265 293 +f 269 249 293 +f 265 269 293 +f 280 256 293 +f 253 258 294 +f 267 253 294 +f 266 261 295 +f 261 287 295 +f 287 266 295 +f 258 271 296 +f 252 285 296 +f 285 272 296 +f 271 264 297 +f 264 275 297 +f 275 252 297 +f 296 271 297 +f 252 296 297 +f 270 254 298 +f 254 274 298 +f 282 270 298 +f 274 292 298 +f 292 282 298 +f 255 269 299 +f 269 265 299 +f 278 255 299 +f 265 278 299 +f 281 259 300 +f 268 281 300 +f 285 268 300 +f 259 285 300 +f 254 264 301 +f 264 271 301 +f 278 260 302 +f 255 278 302 +f 286 255 302 +f 260 286 302 +f 277 267 303 +f 259 277 303 +f 267 279 303 +f 279 259 303 +f 270 262 304 +f 262 289 304 +f 289 270 304 +f 286 260 305 +f 273 286 305 +f 260 291 305 +f 291 273 305 +f 288 269 306 +f 262 288 306 +f 289 262 306 +f 269 289 306 +f 257 280 307 +f 249 288 307 +f 292 257 307 +f 288 292 307 +f 293 249 307 +f 280 293 307 +f 258 253 308 +f 271 258 308 +f 253 276 308 +f 301 271 308 +f 276 301 308 +f 263 268 309 +f 283 263 309 +f 268 283 309 +f 279 267 310 +f 272 279 310 +f 294 258 310 +f 267 294 310 +f 258 296 310 +f 296 272 310 +f 253 254 311 +f 276 253 311 +f 254 301 311 +f 301 276 311 +f 266 257 312 +f 257 284 312 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/158/158.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/158/158.urdf new file mode 100644 index 000000000..126725638 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/158/158.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/159/159.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/159/159.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/159/159.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/159/159.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/159/159.obj new file mode 100644 index 000000000..46101bce9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/159/159.obj @@ -0,0 +1,507 @@ +o convex_0 +v 1.056389 2.574610 0.979747 +v -1.093894 -0.759247 -0.515921 +v -1.093894 -0.759247 0.325316 +v 1.025213 -3.252464 -0.952276 +v 0.557788 2.792841 -1.014613 +v 0.526612 -3.252464 1.042084 +v -1.093894 2.855620 1.010813 +v -1.062718 -3.252464 -0.983342 +v -1.031542 2.761750 -0.952072 +v -1.000366 -3.220776 1.073354 +v 1.025213 2.792841 -1.014613 +v 0.962861 -3.189685 0.979747 +v 1.025213 2.855022 1.073354 +v 1.087565 -0.696468 0.574458 +v 1.087565 2.138147 -0.266574 +v -1.093894 1.826644 1.042084 +v 1.087565 -0.759247 -0.484650 +v -1.031542 -2.753820 1.073354 +v 1.025213 1.390780 -1.014613 +v -1.093894 2.107654 -0.204238 +v 0.962861 2.823931 -0.765267 +v 0.931685 -3.252464 1.011018 +v 1.056389 2.574610 -0.889940 +v -1.093894 0.548945 -0.609323 +v 1.087565 1.484051 0.761672 +v -1.062718 -2.191800 -0.983342 +v -1.093894 2.855620 0.792533 +v -1.062718 -3.252464 -0.609323 +v 1.025213 2.263107 1.073354 +v 1.025213 -3.252464 -0.609323 +v -0.657431 -3.252464 -0.983342 +v 0.806982 2.855620 1.073354 +v 1.025213 2.855022 0.356586 +v 0.962861 -1.943076 1.042084 +v 1.025213 -1.320071 -0.983342 +v -0.750959 2.855620 1.042084 +v -0.345886 2.761750 -0.983342 +v -0.813311 -3.220776 1.073354 +v -1.093894 -0.696468 0.481055 +v -1.031542 -3.252464 -0.048294 +v -1.031542 -3.220776 0.761672 +v 0.027798 2.792841 -0.983342 +v 0.994037 -0.821428 1.042084 +v -1.093894 2.823931 0.512121 +v 1.087565 2.138147 0.231913 +v -1.093894 1.546232 1.042084 +v 0.277205 -3.252464 1.042084 +v -1.062718 1.733373 -0.796333 +v 0.962861 -3.034233 1.011018 +f 43 34 49 +f 2 3 7 +f 3 2 8 +f 4 6 8 +f 7 3 16 +f 15 14 17 +f 10 13 18 +f 8 5 19 +f 5 11 19 +f 2 7 20 +f 11 5 21 +f 6 4 22 +f 13 1 23 +f 1 15 23 +f 17 4 23 +f 15 17 23 +f 19 11 23 +f 8 2 24 +f 2 20 24 +f 14 15 25 +f 5 8 26 +f 8 24 26 +f 20 7 27 +f 3 8 28 +f 8 6 28 +f 13 10 29 +f 1 13 29 +f 14 12 30 +f 4 17 30 +f 17 14 30 +f 22 4 30 +f 12 22 30 +f 4 8 31 +f 8 19 31 +f 18 13 32 +f 16 18 32 +f 27 7 32 +f 27 32 33 +f 11 21 33 +f 13 23 33 +f 23 11 33 +f 21 27 33 +f 32 13 33 +f 6 22 34 +f 29 6 34 +f 23 4 35 +f 19 23 35 +f 4 31 35 +f 31 19 35 +f 7 16 36 +f 32 7 36 +f 16 32 36 +f 9 5 37 +f 5 26 37 +f 26 9 37 +f 10 6 38 +f 6 29 38 +f 29 10 38 +f 16 3 39 +f 3 28 39 +f 28 6 40 +f 28 40 41 +f 10 18 41 +f 18 39 41 +f 39 28 41 +f 40 10 41 +f 5 9 42 +f 21 5 42 +f 9 27 42 +f 27 21 42 +f 25 1 43 +f 14 25 43 +f 1 29 43 +f 29 34 43 +f 9 20 44 +f 20 27 44 +f 27 9 44 +f 15 1 45 +f 1 25 45 +f 25 15 45 +f 18 16 46 +f 16 39 46 +f 39 18 46 +f 6 10 47 +f 40 6 47 +f 10 40 47 +f 20 9 48 +f 24 20 48 +f 9 26 48 +f 26 24 48 +f 12 14 49 +f 22 12 49 +f 34 22 49 +f 14 43 49 +o convex_1 +v 1.742173 1.484524 0.325383 +v 2.271638 2.107584 -0.329012 +v 2.271638 2.138855 -0.329012 +v 2.988330 1.702612 0.356589 +v 1.087564 2.138855 0.231898 +v 1.087564 1.484524 -0.204320 +v 2.925856 1.609136 -0.266666 +v 3.082041 2.138855 -0.235460 +v 1.118997 2.138855 -0.297805 +v 2.957093 2.045244 0.231898 +v 1.087564 1.453321 0.294244 +v 2.988330 1.609136 0.356589 +v 3.082041 2.045244 -0.329012 +v 1.118997 1.515660 -0.235460 +v 1.399543 1.453321 0.169552 +v 1.087564 2.014108 0.263037 +v 2.988330 1.609136 -0.110835 +v 2.770257 1.982972 -0.329012 +v 2.458474 1.609136 0.356589 +v 1.306028 2.138855 0.231898 +v 1.087564 2.138855 -0.266666 +v 1.274791 1.484524 -0.204320 +v 2.770257 1.578000 0.356589 +v 3.082041 2.138855 -0.329012 +v 2.988330 2.138855 -0.173181 +v 3.019567 1.702612 -0.266666 +v 1.087564 1.578000 0.294244 +v 3.019567 1.702612 0.263037 +f 75 62 77 +f 52 54 57 +f 52 51 58 +f 54 52 58 +f 54 55 60 +f 51 52 62 +f 58 51 63 +f 55 58 63 +f 50 60 64 +f 60 55 64 +f 53 54 65 +f 54 60 65 +f 64 56 66 +f 51 62 67 +f 62 56 67 +f 56 63 67 +f 63 51 67 +f 61 53 68 +f 53 65 68 +f 54 53 69 +f 57 54 69 +f 53 59 69 +f 55 54 70 +f 54 58 70 +f 58 55 70 +f 63 56 71 +f 55 63 71 +f 56 64 71 +f 64 55 71 +f 50 64 72 +f 66 61 72 +f 64 66 72 +f 68 50 72 +f 61 68 72 +f 52 57 73 +f 57 62 73 +f 62 52 73 +f 59 57 74 +f 57 69 74 +f 69 59 74 +f 56 62 75 +f 61 66 75 +f 66 56 75 +f 60 50 76 +f 65 60 76 +f 50 68 76 +f 68 65 76 +f 59 53 77 +f 57 59 77 +f 53 61 77 +f 62 57 77 +f 61 75 77 +o convex_2 +v -1.093894 -0.728074 0.418880 +v -1.312161 0.144211 -0.578321 +v -1.312161 0.237845 -0.578321 +v -3.088370 0.144317 0.512408 +v -3.025896 -0.634546 -0.484794 +v -1.093894 0.268914 0.481232 +v -2.963617 0.300197 -0.453511 +v -1.093894 -0.759356 -0.515969 +v -2.994659 -0.790532 0.450056 +v -1.093894 0.300197 -0.578321 +v -1.093894 -0.697005 0.481232 +v -3.088370 0.237845 0.481125 +v -1.842017 -0.728074 -0.515863 +v -1.093894 -0.759356 0.263001 +v -3.025896 -0.572194 0.481125 +v -1.125131 0.300197 0.013594 +v -2.994659 -0.104983 -0.484794 +v -2.994659 -0.790532 0.325353 +v -1.997811 -0.759356 0.481125 +v -2.620792 -0.447704 -0.515863 +v -1.530429 0.269021 0.481125 +v -2.714113 0.237845 0.512408 +v -2.807823 0.300197 -0.484794 +v -2.558319 -0.790532 0.450056 +v -3.088370 0.237845 0.356422 +v -1.436914 -0.759356 -0.515863 +v -1.093894 -0.447598 -0.547039 +v -3.088370 0.019614 0.450056 +v -3.025896 0.269021 -0.141859 +f 102 84 106 +f 83 78 85 +f 79 80 87 +f 83 85 87 +f 78 83 88 +f 85 78 91 +f 82 86 92 +f 83 87 93 +f 87 84 93 +f 86 82 95 +f 82 90 95 +f 78 88 96 +f 88 81 96 +f 91 78 96 +f 81 92 96 +f 92 86 96 +f 80 79 97 +f 79 90 97 +f 90 82 97 +f 94 80 97 +f 82 94 97 +f 84 89 98 +f 83 93 98 +f 93 84 98 +f 88 83 99 +f 81 88 99 +f 89 81 99 +f 83 98 99 +f 98 89 99 +f 87 80 100 +f 84 87 100 +f 80 94 100 +f 94 84 100 +f 85 91 101 +f 86 95 101 +f 95 85 101 +f 91 96 101 +f 96 86 101 +f 81 89 102 +f 89 84 102 +f 85 95 103 +f 95 90 103 +f 79 87 104 +f 87 85 104 +f 90 79 104 +f 85 103 104 +f 103 90 104 +f 92 81 105 +f 82 92 105 +f 81 102 105 +f 102 82 105 +f 94 82 106 +f 84 94 106 +f 82 102 106 +o convex_3 +v -2.776587 1.453321 0.231831 +v -2.714113 2.138855 0.294262 +v -2.714113 2.138855 0.263074 +v -1.093894 1.453321 0.138377 +v -3.088370 2.076448 -0.266684 +v -1.093894 2.107584 -0.204308 +v -3.056938 1.578000 -0.266684 +v -1.093894 2.014108 0.231831 +v -1.093894 1.609136 -0.204308 +v -3.025896 1.453321 0.294262 +v -1.093894 1.453321 0.231831 +v -2.963422 2.138855 0.263074 +v -2.402524 1.453321 0.294262 +v -3.056938 1.546863 -0.235496 +v -2.527277 2.076448 -0.266684 +v -1.093894 2.107584 -0.048532 +v -1.810976 1.578000 -0.235496 +v -2.246926 2.107584 -0.235496 +v -2.340441 2.107584 0.294262 +v -2.963422 2.138855 0.169510 +v -2.651834 1.578000 -0.266684 +v -1.250078 1.578000 -0.204308 +v -2.651834 1.546863 -0.235496 +f 128 110 129 +f 109 108 112 +f 110 112 114 +f 112 110 115 +f 107 110 116 +f 110 114 117 +f 116 110 117 +f 108 109 118 +f 116 108 118 +f 111 116 118 +f 108 116 119 +f 116 117 119 +f 110 107 120 +f 111 113 120 +f 107 116 120 +f 116 111 120 +f 113 111 121 +f 112 115 121 +f 112 108 122 +f 114 112 122 +f 121 115 123 +f 121 111 124 +f 112 121 124 +f 117 114 125 +f 108 119 125 +f 119 117 125 +f 122 108 125 +f 114 122 125 +f 109 112 126 +f 118 109 126 +f 111 118 126 +f 112 124 126 +f 124 111 126 +f 120 113 127 +f 113 121 127 +f 121 123 127 +f 115 110 128 +f 123 115 128 +f 123 128 129 +f 110 120 129 +f 120 127 129 +f 127 123 129 +o convex_4 +v 1.087565 0.362524 -0.453611 +v 1.181056 -0.416300 0.574735 +v 1.181056 0.175249 0.512402 +v 1.181056 -0.759369 -0.484830 +v 1.087565 -0.696992 0.574735 +v 1.087565 0.642924 0.543517 +v 1.181056 0.331336 -0.453611 +v 1.087565 -0.759369 -0.484830 +v 1.118734 0.736489 0.387631 +v 1.181056 -0.696992 0.574735 +v 1.181056 0.424754 0.481080 +f 136 138 140 +f 132 131 133 +f 134 131 135 +f 131 132 135 +f 130 134 135 +f 132 133 136 +f 133 130 136 +f 130 133 137 +f 134 130 137 +f 133 134 137 +f 130 135 138 +f 136 130 138 +f 133 131 139 +f 134 133 139 +f 131 134 139 +f 135 132 140 +f 132 136 140 +f 138 135 140 +o convex_5 +v 2.334061 -0.104992 -0.547158 +v 3.082041 0.393688 0.574735 +v 3.082041 0.237778 0.574735 +v 1.181391 -0.696986 0.574735 +v 1.181391 0.393688 0.356419 +v 2.988450 -0.790532 -0.484781 +v 1.181391 -0.759350 -0.484781 +v 2.957191 -0.790532 0.481171 +v 1.274795 0.331324 -0.484781 +v 3.050782 0.237778 -0.547158 +v 1.337127 0.393688 0.512359 +v 3.019523 -0.665804 -0.515969 +v 1.181391 0.331324 -0.453593 +v 2.458724 -0.790532 0.512359 +v 1.181391 -0.416348 0.574735 +v 1.648785 0.331324 -0.484781 +v 1.430532 -0.541076 -0.515969 +v 1.305868 -0.728168 0.543437 +v 2.147066 -0.790532 -0.484781 +v 3.082041 0.331324 0.075945 +v 3.050782 -0.167356 -0.547158 +v 2.739124 0.393688 0.574735 +v 1.461790 0.393688 0.262964 +v 2.645719 0.268960 -0.547158 +v 2.988450 -0.790532 0.107134 +v 3.019523 0.393688 0.481171 +v 1.181391 0.393688 0.481171 +v 2.988450 -0.572258 0.512359 +v 1.181391 -0.759350 -0.297763 +v 1.337127 -0.696986 0.574735 +v 2.801455 -0.696986 -0.515969 +v 3.019523 -0.696986 -0.328951 +v 2.115993 -0.790532 0.107134 +v 3.082041 0.175530 0.231776 +v 1.181391 0.175530 -0.484781 +f 157 147 175 +f 143 142 144 +f 144 145 147 +f 142 145 151 +f 147 145 153 +f 145 149 153 +f 146 148 154 +f 144 142 155 +f 145 144 155 +f 154 144 158 +f 146 154 159 +f 142 143 160 +f 141 150 161 +f 150 160 161 +f 142 151 162 +f 155 142 162 +f 151 155 162 +f 145 142 163 +f 149 145 163 +f 156 149 163 +f 141 149 164 +f 150 141 164 +f 149 156 164 +f 160 150 164 +f 148 146 165 +f 142 160 166 +f 163 142 166 +f 156 163 166 +f 164 156 166 +f 160 164 166 +f 151 145 167 +f 145 155 167 +f 155 151 167 +f 154 148 168 +f 165 143 168 +f 148 165 168 +f 144 147 169 +f 158 144 169 +f 154 158 169 +f 143 144 170 +f 144 154 170 +f 168 143 170 +f 154 168 170 +f 152 146 171 +f 157 141 171 +f 147 157 171 +f 146 159 171 +f 159 147 171 +f 141 161 171 +f 161 152 171 +f 146 152 172 +f 143 165 172 +f 165 146 172 +f 147 159 173 +f 159 154 173 +f 169 147 173 +f 154 169 173 +f 160 143 174 +f 152 161 174 +f 161 160 174 +f 172 152 174 +f 143 172 174 +f 149 141 175 +f 147 153 175 +f 153 149 175 +f 141 157 175 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/159/159.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/159/159.urdf new file mode 100644 index 000000000..ebdf18b2f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/159/159.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/160/160.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/160/160.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/160/160.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/160/160.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/160/160.obj new file mode 100644 index 000000000..1202ec8b4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/160/160.obj @@ -0,0 +1,420 @@ +o convex_0 +v -1.018229 1.700090 -2.675010 +v 1.113596 0.670141 0.734724 +v 1.113596 0.278951 0.734724 +v -1.053810 2.304059 2.973390 +v 1.042435 2.339487 -3.102292 +v -1.089391 0.421298 -3.030470 +v -1.053810 0.350231 2.973390 +v 0.935908 2.410554 3.008692 +v 1.078015 0.456938 -2.924562 +v 1.078015 0.350231 3.115817 +v -0.947068 2.304059 -3.030470 +v -1.018229 2.410766 -0.898929 +v -0.947068 0.278951 -0.970143 +v 1.006854 2.446194 1.018970 +v 1.042435 0.278951 -0.970143 +v -1.053810 0.278951 1.090184 +v -0.698434 2.339699 3.008692 +v -1.089391 1.025267 -2.426675 +v 1.042435 2.161924 0.912454 +v 0.154210 0.421298 -2.995167 +v -0.307477 2.304059 -3.102292 +v 0.971273 2.161924 3.044603 +v 1.078015 0.883344 -2.995167 +v -1.089391 0.385658 -2.710921 +v -1.053810 2.339699 0.592297 +v 1.078015 0.563433 3.115817 +v -1.053810 1.131974 -3.066381 +v 1.042435 2.090856 -3.102292 +v 0.793801 0.350231 3.115817 +v -0.876122 2.339699 -2.710921 +v -0.840541 2.410766 -1.076659 +v 1.078015 1.274109 -2.995167 +v -1.018229 2.410766 -0.720591 +v 1.042435 0.314803 2.191865 +v -0.591908 0.421298 -3.030470 +v 1.006854 2.410554 1.623374 +v 0.935908 2.446194 0.841241 +v 1.006854 0.741208 3.115817 +v 0.864747 2.410554 3.008692 +v -0.911703 2.304059 -3.066381 +v -0.662853 0.350231 3.008692 +v 0.154210 2.375126 -2.142429 +v -1.053810 2.339699 2.084741 +v 1.006854 0.278951 0.983668 +v 1.113596 0.278951 0.450478 +v 0.829166 0.421298 -2.746832 +v 0.651478 2.339699 -3.102292 +v 1.078015 0.492366 -2.959865 +v -1.018229 1.060694 -3.066381 +f 28 35 49 +f 3 2 10 +f 11 1 12 +f 3 13 15 +f 13 3 16 +f 4 7 17 +f 7 4 18 +f 12 1 18 +f 2 5 19 +f 5 14 19 +f 15 13 24 +f 16 7 24 +f 13 16 24 +f 7 18 24 +f 18 6 24 +f 20 15 24 +f 12 18 25 +f 10 2 26 +f 2 19 26 +f 1 11 27 +f 6 18 27 +f 18 1 27 +f 21 5 28 +f 5 23 28 +f 10 26 29 +f 11 12 30 +f 30 12 31 +f 5 2 32 +f 23 5 32 +f 12 25 33 +f 3 10 34 +f 29 16 34 +f 10 29 34 +f 24 6 35 +f 20 24 35 +f 28 23 35 +f 14 8 36 +f 19 14 36 +f 8 22 36 +f 26 19 36 +f 22 26 36 +f 14 5 37 +f 31 12 37 +f 33 14 37 +f 12 33 37 +f 22 17 38 +f 26 22 38 +f 17 29 38 +f 29 26 38 +f 8 14 39 +f 22 8 39 +f 17 22 39 +f 14 33 39 +f 33 17 39 +f 27 11 40 +f 21 27 40 +f 11 30 40 +f 7 16 41 +f 17 7 41 +f 16 29 41 +f 29 17 41 +f 37 5 42 +f 31 37 42 +f 4 17 43 +f 18 4 43 +f 25 18 43 +f 17 33 43 +f 33 25 43 +f 16 3 44 +f 3 34 44 +f 34 16 44 +f 2 3 45 +f 3 15 45 +f 15 9 45 +f 32 2 45 +f 23 32 45 +f 9 15 46 +f 20 9 46 +f 15 20 46 +f 5 21 47 +f 30 31 47 +f 21 40 47 +f 40 30 47 +f 42 5 47 +f 31 42 47 +f 9 20 48 +f 20 35 48 +f 35 23 48 +f 45 9 48 +f 23 45 48 +f 6 27 49 +f 27 21 49 +f 21 28 49 +f 35 6 49 +o convex_1 +v 1.077852 -1.213395 0.557200 +v -1.089179 -3.664850 -0.650226 +v -1.089179 -3.664850 -0.437127 +v 1.042421 -3.665093 0.415266 +v -1.018104 -1.213395 1.054760 +v 1.042421 -1.213395 -0.970171 +v -0.982673 -1.213395 -0.969972 +v 1.006778 -3.593758 -0.970171 +v -0.982673 -3.664850 0.948112 +v 1.042421 -3.593758 0.948310 +v 1.042421 -1.213395 0.948310 +v -1.089179 -3.629547 -0.934489 +v -1.053748 -1.213395 -0.721391 +v -1.018104 -3.700639 0.841463 +v 1.042421 -3.593758 -0.863522 +v -0.734018 -3.629547 -0.969972 +v 0.047589 -3.700639 0.912628 +v -1.089179 -2.350623 -0.792357 +v 1.077852 -2.279531 0.734815 +v 0.260601 -3.629547 -0.970369 +v 1.042421 -3.665093 0.912628 +v -1.053748 -2.173136 -0.969972 +v -0.947242 -3.700639 0.379585 +v -1.018104 -2.847536 0.983595 +v 1.042421 -3.274087 -0.970171 +v -0.982673 -1.248941 1.054760 +v 1.042421 -3.629303 -0.543776 +f 69 57 76 +f 54 50 55 +f 54 55 56 +f 50 54 60 +f 51 52 61 +f 54 56 62 +f 52 51 63 +f 51 61 65 +f 59 58 66 +f 58 63 66 +f 52 54 67 +f 61 52 67 +f 54 62 67 +f 50 60 68 +f 60 59 68 +f 56 55 69 +f 51 65 69 +f 66 53 70 +f 59 66 70 +f 53 68 70 +f 68 59 70 +f 62 56 71 +f 65 61 71 +f 61 67 71 +f 67 62 71 +f 56 69 71 +f 69 65 71 +f 63 51 72 +f 53 66 72 +f 66 63 72 +f 69 53 72 +f 51 69 72 +f 54 52 73 +f 52 63 73 +f 63 58 73 +f 55 50 74 +f 64 57 74 +f 50 68 74 +f 68 64 74 +f 69 55 74 +f 57 69 74 +f 58 59 75 +f 60 54 75 +f 59 60 75 +f 54 73 75 +f 73 58 75 +f 57 64 76 +f 68 53 76 +f 64 68 76 +f 53 69 76 +o convex_2 +v -1.125222 -1.213277 -0.579516 +v -2.474978 -0.005424 0.593041 +v -2.474978 -0.005424 0.521880 +v -2.972340 -1.177689 0.593041 +v -3.043306 -0.147538 -0.472889 +v -1.053859 -0.076481 0.486299 +v -1.054057 -1.035575 0.593041 +v -1.053859 -0.111950 -0.472774 +v -3.078988 -1.071163 -0.508355 +v -2.936856 -0.005424 0.593041 +v -1.054057 -1.213277 -0.401842 +v -1.053859 -0.183126 -0.508355 +v -2.581428 -1.177689 0.593041 +v -3.078988 -0.857991 -0.330681 +v -1.338321 -0.041011 0.521880 +v -2.972340 -1.177689 0.379786 +v -1.977814 -0.112069 -0.472889 +v -1.160706 -1.071163 0.593041 +v -1.053859 -0.076481 -0.153007 +v -2.936856 -0.005424 0.486414 +v -1.338321 -1.213277 -0.543936 +v -1.054057 -0.857991 0.593041 +v -1.054057 -1.142220 -0.579516 +v -3.043306 -0.183126 -0.295215 +f 90 86 100 +f 78 80 83 +f 78 79 86 +f 80 78 86 +f 82 83 87 +f 84 82 88 +f 82 87 88 +f 83 80 89 +f 80 87 89 +f 85 80 90 +f 81 85 90 +f 80 86 90 +f 79 78 91 +f 80 85 92 +f 88 81 93 +f 84 88 93 +f 87 83 94 +f 83 89 94 +f 89 87 94 +f 82 84 95 +f 79 91 95 +f 91 82 95 +f 81 86 96 +f 86 79 96 +f 84 93 96 +f 93 81 96 +f 95 84 96 +f 79 95 96 +f 85 77 97 +f 77 87 97 +f 87 80 97 +f 80 92 97 +f 92 85 97 +f 78 83 98 +f 83 82 98 +f 91 78 98 +f 82 91 98 +f 77 85 99 +f 85 81 99 +f 87 77 99 +f 81 88 99 +f 88 87 99 +f 86 81 100 +f 81 90 100 +o convex_3 +v 0.651418 0.278951 1.019078 +v -0.982576 -1.213395 -0.970369 +v -1.018217 -1.213395 -0.934663 +v 1.042414 -1.213395 0.948271 +v 1.042414 0.278951 -0.970167 +v -1.053859 0.278951 1.090490 +v -0.947147 0.278951 -0.970369 +v -1.018217 -1.213395 1.054582 +v 1.042414 -1.213395 -0.970167 +v 1.113485 0.278951 0.699338 +v 1.113485 -1.142255 -0.508410 +v -1.053859 -0.183244 -0.508410 +v 1.006773 0.278951 0.983776 +v -1.053859 -1.213395 -0.366192 +v 1.006773 -0.928979 0.983776 +v -0.556151 0.172313 1.090490 +v 1.113485 -0.076606 -0.579419 +v 1.113485 -1.142255 0.450809 +v -1.018217 0.278951 -0.614721 +v -1.053859 -1.035617 0.593027 +v -0.982576 -0.431725 1.090490 +v -1.053859 -1.213395 -0.685730 +f 114 112 122 +f 103 102 104 +f 101 105 106 +f 102 103 107 +f 106 105 107 +f 103 104 108 +f 104 102 109 +f 102 107 109 +f 107 105 109 +f 105 101 110 +f 104 109 111 +f 110 101 113 +f 104 110 113 +f 103 108 114 +f 106 112 114 +f 108 104 115 +f 113 101 115 +f 104 113 115 +f 101 106 116 +f 115 101 116 +f 109 105 117 +f 105 110 117 +f 111 109 117 +f 110 111 117 +f 110 104 118 +f 104 111 118 +f 111 110 118 +f 107 103 119 +f 106 107 119 +f 103 112 119 +f 112 106 119 +f 108 106 120 +f 114 108 120 +f 106 114 120 +f 106 108 121 +f 108 115 121 +f 116 106 121 +f 115 116 121 +f 112 103 122 +f 103 114 122 +o convex_4 +v 2.854302 -1.177752 -0.579516 +v 2.676687 -0.041060 0.486445 +v 2.961027 -0.076557 0.486445 +v 1.113596 -1.142143 0.450864 +v 1.113596 -0.076557 -0.579516 +v 3.103002 -0.076557 -0.472878 +v 3.032112 -1.106646 0.450864 +v 1.113596 -1.142143 -0.508355 +v 1.113596 -0.041060 0.450864 +v 2.961027 -1.177752 -0.579516 +v 1.469216 -1.177752 0.237589 +v 3.032112 -1.142143 0.344227 +v 2.818857 -0.076557 -0.508355 +v 1.895531 -0.041060 0.095474 +v 3.067557 -0.964546 0.308646 +v 1.717916 -0.076557 0.486445 +v 2.996472 -0.538356 0.486445 +v 1.113596 -0.289652 -0.579516 +v 2.996472 -0.112055 0.450864 +v 1.398131 -0.076557 -0.579516 +v 2.037701 -1.177752 -0.543936 +v 2.925387 -1.177752 -0.153069 +v 2.712327 -1.142143 0.450864 +f 133 144 145 +f 124 125 128 +f 126 127 130 +f 127 126 131 +f 123 127 132 +f 126 130 133 +f 123 132 133 +f 128 132 135 +f 124 128 136 +f 131 124 136 +f 127 131 136 +f 128 135 136 +f 132 128 137 +f 129 134 137 +f 134 132 137 +f 125 124 138 +f 124 131 138 +f 131 126 138 +f 125 138 139 +f 138 126 139 +f 127 123 140 +f 123 130 140 +f 130 127 140 +f 128 125 141 +f 137 128 141 +f 129 137 141 +f 139 129 141 +f 125 139 141 +f 132 127 142 +f 135 132 142 +f 127 136 142 +f 136 135 142 +f 130 123 143 +f 123 133 143 +f 133 130 143 +f 133 132 144 +f 132 134 144 +f 144 134 145 +f 126 133 145 +f 134 129 145 +f 139 126 145 +f 129 139 145 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/160/160.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/160/160.urdf new file mode 100644 index 000000000..b2f36cd6b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/160/160.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/161/161.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/161/161.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/161/161.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/161/161.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/161/161.obj new file mode 100644 index 000000000..500bfc369 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/161/161.obj @@ -0,0 +1,609 @@ +o convex_0 +v -0.391588 0.264028 -1.025977 +v 0.963215 2.452881 1.128060 +v 0.928422 2.452881 1.128060 +v 0.441958 4.571976 -1.095631 +v -1.086597 4.711055 1.058406 +v -0.947427 0.229368 1.058406 +v 0.998008 0.229368 -1.060804 +v -1.051805 4.537315 -1.060804 +v 0.998008 4.537315 0.919534 +v 1.032800 0.228929 1.023579 +v -1.086597 0.229368 -0.504881 +v 0.963215 4.571537 -1.095631 +v -1.017012 0.229368 -0.991368 +v 1.067593 3.112301 0.502484 +v -0.183044 0.229368 1.128060 +v 1.067593 0.681266 1.058406 +v -1.086597 4.606636 -0.504881 +v 0.928422 1.653943 -1.095631 +v -1.051805 0.229368 0.363394 +v 1.067593 2.973222 1.093015 +v 0.998008 4.397798 -0.887105 +v 1.067593 0.368447 0.259131 +v -1.051805 3.703279 -1.060804 +v -0.808467 4.711055 0.780445 +v -0.044084 3.529100 -1.095631 +v 0.859048 4.571537 0.919317 +v -0.878052 4.711055 1.058406 +v -1.086597 0.229368 -0.122657 +v 0.650714 4.606636 -0.748016 +v -1.086597 4.224497 1.023579 +v 0.998008 4.363576 0.954144 +v 0.511544 0.229368 1.093233 +v -0.113669 4.571976 -1.095631 +v -1.086597 0.715487 -0.608926 +v 1.067593 2.625743 1.127842 +v 0.581129 0.229368 -1.060804 +v 1.067593 0.819906 0.224522 +v 0.998008 1.480204 -1.060804 +v -0.634715 0.229368 1.093233 +v 1.067593 0.228929 0.676182 +v 1.067593 2.383561 1.127842 +v -1.086597 4.571976 -0.643753 +v 1.032800 0.298688 1.058406 +v -1.086597 4.711055 0.780445 +v -1.017012 3.494440 -1.060804 +v 0.025080 0.264028 1.128060 +v -1.017012 4.571976 -0.956324 +v 0.963215 4.571537 0.154869 +v 0.998008 4.537315 0.293958 +v -0.947427 1.479765 -1.025977 +v 1.067593 3.146961 1.058406 +f 14 49 51 +f 2 3 15 +f 3 5 15 +f 11 5 17 +f 4 12 18 +f 12 7 18 +f 10 6 19 +f 16 14 20 +f 14 16 22 +f 4 18 25 +f 26 24 27 +f 24 5 27 +f 9 26 27 +f 11 10 28 +f 5 11 28 +f 10 19 28 +f 12 4 29 +f 6 5 30 +f 19 6 30 +f 5 28 30 +f 28 19 30 +f 20 9 31 +f 27 20 31 +f 9 27 31 +f 15 10 32 +f 23 8 33 +f 4 25 33 +f 25 23 33 +f 29 4 33 +f 13 11 34 +f 11 17 34 +f 23 13 34 +f 3 2 35 +f 5 3 35 +f 16 20 35 +f 27 5 35 +f 20 27 35 +f 13 1 36 +f 18 7 36 +f 25 18 36 +f 21 14 37 +f 14 22 37 +f 22 7 37 +f 7 12 38 +f 12 21 38 +f 37 7 38 +f 21 37 38 +f 5 6 39 +f 6 10 39 +f 15 5 39 +f 10 15 39 +f 10 11 40 +f 11 13 40 +f 16 10 40 +f 7 22 40 +f 22 16 40 +f 36 7 40 +f 13 36 40 +f 35 2 41 +f 16 35 41 +f 17 8 42 +f 8 23 42 +f 34 17 42 +f 23 34 42 +f 10 16 43 +f 32 10 43 +f 41 32 43 +f 16 41 43 +f 17 5 44 +f 5 24 44 +f 24 29 44 +f 29 33 44 +f 13 23 45 +f 23 25 45 +f 36 1 45 +f 25 36 45 +f 2 15 46 +f 15 32 46 +f 41 2 46 +f 32 41 46 +f 8 17 47 +f 33 8 47 +f 17 44 47 +f 44 33 47 +f 9 12 48 +f 26 9 48 +f 24 26 48 +f 12 29 48 +f 29 24 48 +f 12 9 49 +f 21 12 49 +f 14 21 49 +f 1 13 50 +f 45 1 50 +f 13 45 50 +f 9 20 51 +f 20 14 51 +f 49 9 51 +o convex_1 +v -2.997465 -2.203273 0.606882 +v -2.997465 -2.064279 -0.609198 +v -2.997465 -1.994782 -0.609198 +v -1.086794 -2.238080 -0.504922 +v -3.032183 -2.967626 -0.539681 +v -1.086794 -2.898013 0.537246 +v -1.086794 -1.925400 0.606882 +v -2.997465 -2.898129 0.537365 +v -1.086794 -2.967510 -0.435405 +v -3.101817 -1.786291 0.606882 +v -1.086794 -1.890594 -0.504922 +v -2.962748 -1.855788 -0.609198 +v -3.032183 -2.932820 0.259414 +v -1.260384 -1.890594 0.606882 +v -3.066901 -2.793710 -0.365887 +v -1.156428 -2.863207 -0.470163 +v -3.032183 -2.724213 0.572124 +v -2.754045 -1.960091 -0.609198 +v -3.101817 -2.099201 0.328812 +v -3.032183 -2.967626 -0.331128 +v -1.086794 -2.967510 -0.365768 +v -1.434368 -1.890594 -0.539681 +v -3.101817 -1.821097 0.433089 +v -3.066901 -1.786291 0.572124 +v -3.032183 -2.898129 0.502606 +f 70 66 76 +f 54 53 56 +f 57 55 58 +f 55 57 60 +f 52 58 61 +f 58 55 62 +f 53 54 63 +f 57 59 64 +f 61 58 65 +f 58 62 65 +f 54 56 66 +f 55 60 67 +f 60 56 67 +f 58 52 68 +f 57 58 68 +f 59 57 68 +f 52 61 68 +f 56 53 69 +f 53 63 69 +f 55 67 69 +f 67 56 69 +f 56 60 71 +f 66 56 71 +f 64 66 71 +f 60 57 72 +f 57 64 72 +f 71 60 72 +f 64 71 72 +f 62 55 73 +f 63 62 73 +f 55 69 73 +f 69 63 73 +f 61 63 74 +f 63 54 74 +f 54 66 74 +f 70 61 74 +f 66 70 74 +f 63 61 75 +f 62 63 75 +f 61 65 75 +f 65 62 75 +f 64 59 76 +f 66 64 76 +f 59 68 76 +f 68 61 76 +f 61 70 76 +o convex_2 +v -1.538522 0.194184 -0.192212 +v -2.962748 -0.952407 -0.609198 +v -2.962748 -0.952407 -0.435405 +v -1.086992 -0.882821 -0.470163 +v -1.086992 -0.813348 0.537365 +v -2.962748 0.089918 0.606882 +v -3.101817 0.124598 -0.470163 +v -3.066704 -0.848141 0.467847 +v -1.086794 0.055125 0.433089 +v -1.086794 0.194071 -0.470163 +v -2.684807 -0.778667 -0.609198 +v -1.955532 0.089918 0.537365 +v -1.225666 -0.882821 -0.504922 +v -3.066704 0.124598 -0.053177 +v -1.608155 -0.813348 0.537365 +v -1.086992 -0.604928 0.537365 +v -2.754045 0.124598 0.467847 +v -2.615371 0.159391 -0.470163 +v -3.101817 -0.257561 -0.157453 +v -1.086794 0.194071 -0.261611 +v -1.121512 0.055125 0.467847 +v -2.233079 -0.848141 0.467847 +v -2.997268 -0.222769 0.572124 +v -2.615371 -0.952407 -0.539681 +v -1.434368 -0.014349 -0.504922 +v -1.086992 -0.848141 0.155137 +v -1.086794 0.089918 0.363571 +v -2.962748 -0.778667 -0.609198 +v -2.823678 0.089918 0.606882 +v -2.649891 -0.952407 -0.609198 +v -2.997268 -0.083822 0.572124 +v -3.101817 -0.014349 -0.192212 +v -3.101817 -0.049141 -0.470163 +f 95 83 109 +f 78 79 84 +f 85 80 86 +f 86 80 89 +f 81 82 91 +f 84 81 91 +f 81 85 92 +f 90 82 93 +f 90 93 94 +f 77 86 94 +f 83 90 94 +f 93 77 94 +f 78 84 95 +f 86 77 96 +f 85 86 96 +f 93 88 96 +f 77 93 96 +f 92 85 97 +f 88 92 97 +f 79 81 98 +f 84 79 98 +f 81 84 98 +f 91 82 99 +f 84 91 99 +f 79 78 100 +f 86 89 101 +f 89 87 101 +f 94 86 101 +f 81 79 102 +f 80 85 102 +f 85 81 102 +f 79 100 102 +f 100 80 102 +f 85 96 103 +f 96 88 103 +f 97 85 103 +f 88 97 103 +f 78 83 104 +f 87 78 104 +f 83 94 104 +f 101 87 104 +f 94 101 104 +f 82 81 105 +f 81 92 105 +f 92 88 105 +f 93 82 105 +f 88 93 105 +f 78 87 106 +f 89 80 106 +f 87 89 106 +f 100 78 106 +f 80 100 106 +f 82 90 107 +f 99 82 107 +f 84 99 107 +f 90 83 108 +f 83 95 108 +f 95 84 108 +f 107 90 108 +f 84 107 108 +f 83 78 109 +f 78 95 109 +o convex_3 +v 0.963289 0.228929 1.058423 +v -1.086597 -3.384361 0.780520 +v -1.051672 -3.488804 -1.025960 +v -1.086597 0.228929 -0.504864 +v 1.067423 -3.418932 -0.956323 +v 0.998000 0.228929 -1.060885 +v 1.067423 -3.314853 1.023712 +v -0.947538 0.228929 1.058423 +v -1.016961 0.228929 -0.991249 +v -0.912827 -1.474183 1.127846 +v 1.102348 0.228929 0.571824 +v -1.086597 -3.384361 0.954290 +v -1.086597 0.054978 0.432980 +v 1.102348 -1.716549 -0.713131 +v -0.009266 0.228929 1.128060 +v 0.858941 -3.453868 -0.886901 +v 1.067423 -1.994578 -1.025960 +v 1.102348 -2.967317 0.502402 +v -1.086597 -2.967317 -0.852190 +v 1.102348 0.089550 -0.435442 +v 1.032712 0.228929 1.023712 +v 0.615749 0.228929 -1.060885 +v 1.032712 -0.674667 -1.060885 +v -0.773768 -3.349789 0.988787 +v -1.016961 -3.488804 -0.678634 +v -0.739057 -3.384361 0.954290 +v -0.808479 -3.488804 -1.025960 +v 0.372557 -3.314853 1.023498 +v 1.032712 0.159057 -1.060885 +v -0.356806 0.228929 -1.025960 +v 1.102348 -2.828302 -0.539361 +v 1.067423 -3.349425 0.641461 +v -0.217961 0.193993 1.127846 +v -0.773768 -1.404675 1.127846 +v 1.067423 -1.196153 -1.025960 +v 1.067423 -2.341751 1.023712 +v -1.051672 -3.210774 -1.025960 +v -0.912827 -1.196153 1.127846 +v -1.016961 -2.827938 1.023498 +v -1.051672 0.228929 0.398054 +v 0.233712 -3.453868 -0.991249 +v 1.067423 -3.418932 -0.435228 +v -1.086597 -0.049101 0.467691 +v -1.086597 -3.280282 0.954290 +v -0.912827 -0.292558 1.093134 +f 147 142 154 +f 113 110 115 +f 110 113 117 +f 113 115 118 +f 115 110 120 +f 111 112 121 +f 113 111 121 +f 113 121 122 +f 116 110 124 +f 110 117 124 +f 123 114 126 +f 120 116 127 +f 123 120 127 +f 112 111 128 +f 111 113 128 +f 113 118 128 +f 120 123 129 +f 120 110 130 +f 118 115 131 +f 112 131 132 +f 131 115 132 +f 121 116 133 +f 121 112 134 +f 134 125 135 +f 116 121 135 +f 121 134 135 +f 112 132 136 +f 132 126 136 +f 134 112 136 +f 125 134 136 +f 116 119 137 +f 133 116 137 +f 115 120 138 +f 120 129 138 +f 126 132 138 +f 132 115 138 +f 118 131 139 +f 114 123 140 +f 127 114 140 +f 123 127 140 +f 127 116 141 +f 116 135 141 +f 124 117 142 +f 119 116 143 +f 116 124 143 +f 124 119 143 +f 123 126 144 +f 129 123 144 +f 126 138 144 +f 138 129 144 +f 110 116 145 +f 116 120 145 +f 130 110 145 +f 120 130 145 +f 112 128 146 +f 128 118 146 +f 131 112 146 +f 118 139 146 +f 139 131 146 +f 121 119 147 +f 119 124 147 +f 124 142 147 +f 119 121 148 +f 121 133 148 +f 137 119 148 +f 133 137 148 +f 117 113 149 +f 113 122 149 +f 122 117 149 +f 114 125 150 +f 126 114 150 +f 125 136 150 +f 136 126 150 +f 125 114 151 +f 114 127 151 +f 135 125 151 +f 127 141 151 +f 141 135 151 +f 117 122 152 +f 122 121 152 +f 147 117 153 +f 121 147 153 +f 117 152 153 +f 152 121 153 +f 142 117 154 +f 117 147 154 +o convex_4 +v 1.623653 -2.967613 0.294159 +v 2.978512 -1.786291 -0.226995 +v 3.047941 -1.855808 0.467806 +v 1.102538 -1.855927 0.467806 +v 1.102538 -2.828578 -0.539708 +v 3.082656 -2.863217 -0.539708 +v 3.117370 -3.002252 0.502599 +v 1.137253 -1.960084 -0.470122 +v 1.102538 -2.967613 0.502599 +v 2.978512 -1.786291 -0.470122 +v 3.047941 -1.890686 0.537392 +v 1.102538 -2.550507 -0.539708 +v 1.102538 -1.890567 0.502599 +v 3.082656 -2.654784 -0.539708 +v 2.700400 -1.786291 -0.470122 +v 1.102538 -1.925326 -0.296475 +v 2.908885 -2.898095 -0.365955 +v 3.013029 -2.064480 -0.504915 +v 3.082656 -2.133878 0.467806 +v 3.117370 -3.002252 0.398326 +v 1.206880 -2.863336 -0.400642 +v 2.978512 -2.133759 0.537392 +v 3.047941 -1.855808 0.189886 +v 1.102538 -1.855927 0.328846 +v 1.102538 -2.967613 0.363639 +v 3.117370 -2.898095 0.085613 +v 2.769829 -1.890567 0.537392 +v 2.492112 -1.786291 -0.226995 +v 1.276309 -1.925326 -0.470122 +v 2.283429 -2.863336 -0.539708 +f 155 175 184 +f 158 159 163 +f 156 157 164 +f 159 158 166 +f 160 159 166 +f 158 163 167 +f 160 166 168 +f 156 164 169 +f 166 158 170 +f 162 166 170 +f 168 166 172 +f 169 164 172 +f 166 169 172 +f 157 165 173 +f 165 161 173 +f 161 163 174 +f 155 171 174 +f 171 160 174 +f 163 161 176 +f 161 165 176 +f 164 157 177 +f 172 164 177 +f 168 172 177 +f 157 173 177 +f 173 168 177 +f 170 158 178 +f 163 159 179 +f 155 174 179 +f 174 163 179 +f 159 175 179 +f 175 155 179 +f 160 168 180 +f 173 161 180 +f 168 173 180 +f 161 174 180 +f 174 160 180 +f 157 158 181 +f 165 157 181 +f 158 167 181 +f 167 163 181 +f 163 176 181 +f 176 165 181 +f 157 156 182 +f 158 157 182 +f 156 169 182 +f 178 158 182 +f 169 178 182 +f 166 162 183 +f 169 166 183 +f 162 170 183 +f 178 169 183 +f 170 178 183 +f 159 160 184 +f 171 155 184 +f 160 171 184 +f 175 159 184 +o convex_5 +v 2.526827 -0.952393 -0.574453 +v 1.276312 0.228929 0.572137 +v 1.276312 0.228929 0.502552 +v 3.082656 0.055135 -0.539660 +v 3.047744 -0.952393 0.502552 +v 1.102542 -0.917634 -0.470187 +v 1.102542 -0.917634 0.537344 +v 1.102542 0.089894 -0.435394 +v 2.978512 0.089894 0.537344 +v 3.117568 -0.987033 -0.574453 +v 1.102542 0.228929 0.572137 +v 2.769830 0.055135 -0.574453 +v 3.117568 0.020376 -0.470075 +v 1.380456 -0.709082 -0.504868 +v 1.867052 -0.917634 0.537344 +v 1.623656 -0.952393 -0.504868 +v 3.117568 -0.987033 -0.400602 +v 3.013227 0.055135 0.502552 +v 1.137257 -0.188176 0.572137 +v 1.102542 -0.361970 -0.470187 +v 3.117568 0.020376 -0.574453 +v 3.047744 -0.570166 0.502552 +v 2.596059 -0.952393 0.502552 +v 3.082656 -0.917634 0.189866 +v 1.206686 0.228929 0.467871 +f 196 192 209 +f 190 191 192 +f 187 186 193 +f 188 187 193 +f 186 187 195 +f 192 191 195 +f 194 185 196 +f 188 193 197 +f 185 190 198 +f 196 185 198 +f 191 189 199 +f 189 193 199 +f 190 185 200 +f 191 190 200 +f 185 194 200 +f 200 194 201 +f 194 197 201 +f 191 200 201 +f 197 193 202 +f 193 186 203 +f 186 195 203 +f 195 191 203 +f 191 199 203 +f 199 193 203 +f 190 192 204 +f 192 196 204 +f 198 190 204 +f 196 198 204 +f 196 188 205 +f 194 196 205 +f 188 197 205 +f 197 194 205 +f 193 189 206 +f 202 193 206 +f 197 202 206 +f 189 191 207 +f 201 189 207 +f 191 201 207 +f 189 201 208 +f 201 197 208 +f 206 189 208 +f 197 206 208 +f 187 188 209 +f 195 187 209 +f 192 195 209 +f 188 196 209 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/161/161.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/161/161.urdf new file mode 100644 index 000000000..c64ff7f6c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/161/161.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/162/162.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/162/162.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/162/162.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/162/162.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/162/162.obj new file mode 100644 index 000000000..a42b0c3b4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/162/162.obj @@ -0,0 +1,687 @@ +o convex_0 +v -0.611405 0.497328 -1.664365 +v -0.511381 2.665766 0.538556 +v -0.578064 2.665766 0.538556 +v -0.544722 3.934520 -1.597518 +v 1.057154 -0.437819 -1.296924 +v 1.090708 4.034777 0.505132 +v -1.078822 -0.437819 0.538340 +v 0.990471 -0.437819 0.505132 +v 1.023812 3.967793 -1.463825 +v -0.978586 3.834263 0.471709 +v -1.045269 -0.437819 -1.563879 +v -1.045269 3.901247 -1.597303 +v 1.023812 -0.437819 -1.564095 +v 0.756868 -0.437819 0.538340 +v 1.057154 -0.437819 -0.229534 +v 1.023812 0.597147 -1.564095 +v 1.057154 4.001066 -1.130239 +v -0.878349 3.867536 0.505132 +v -0.344461 -0.437819 -1.664365 +v -1.078822 1.264797 -0.629320 +v 0.790210 4.034777 0.271385 +v -1.011927 3.734006 -1.630942 +v 0.823551 1.965282 0.538340 +v 1.090708 3.066794 0.505132 +v 1.090708 4.001066 -0.162472 +v 0.856893 3.934520 -1.497248 +v 1.057154 3.200324 -1.363771 +v -0.811666 3.934520 -1.297140 +v -1.011927 -0.437819 -1.597303 +v 1.023812 -0.270579 0.471709 +v -1.011927 2.365434 0.538340 +v -1.078822 -0.437819 -0.195895 +v -0.544722 0.563874 -1.664365 +v -0.945244 3.700733 -1.630942 +v 0.323005 3.967793 -1.530672 +v -1.011927 3.901247 -0.829644 +v -1.045269 0.130011 -1.597303 +f 29 11 37 +f 3 2 6 +f 2 3 7 +f 7 5 8 +f 5 7 11 +f 5 11 13 +f 2 7 14 +f 7 8 14 +f 8 5 15 +f 3 6 18 +f 13 11 19 +f 16 13 19 +f 10 12 20 +f 6 17 21 +f 18 6 21 +f 12 4 22 +f 6 2 23 +f 2 14 23 +f 23 14 24 +f 14 8 24 +f 15 5 24 +f 6 23 24 +f 17 6 25 +f 24 5 25 +f 6 24 25 +f 16 4 26 +f 9 16 26 +f 5 13 27 +f 16 9 27 +f 13 16 27 +f 9 17 27 +f 25 5 27 +f 17 25 27 +f 4 12 28 +f 1 19 29 +f 19 11 29 +f 8 15 30 +f 24 8 30 +f 15 24 30 +f 7 3 31 +f 3 18 31 +f 18 10 31 +f 20 7 31 +f 10 20 31 +f 11 7 32 +f 7 20 32 +f 20 11 32 +f 19 1 33 +f 16 19 33 +f 1 22 33 +f 33 22 34 +f 4 16 34 +f 22 4 34 +f 16 33 34 +f 17 9 35 +f 21 17 35 +f 26 4 35 +f 9 26 35 +f 4 28 35 +f 28 21 35 +f 12 10 36 +f 10 18 36 +f 18 21 36 +f 28 12 36 +f 21 28 36 +f 11 20 37 +f 20 12 37 +f 22 1 37 +f 12 22 37 +f 1 29 37 +o convex_1 +v -0.478039 -1.071827 -3.032588 +v 0.523237 -1.639413 -2.332087 +v 0.556660 -1.639413 -2.332087 +v -0.411091 -0.471311 -1.664365 +v 0.556660 -0.471311 -3.599886 +v 0.456390 -0.571474 -1.664365 +v -0.478039 -1.572523 -1.664365 +v -0.478039 -1.539136 -3.599886 +v -0.411091 -0.504699 -3.499841 +v 0.523237 -1.605911 -3.499841 +v 0.556660 -1.639413 -1.664365 +v -0.478039 -0.504699 -1.664365 +v 0.556660 -1.338926 -1.664365 +v -0.444514 -0.571474 -3.499841 +v 0.489813 -0.538086 -2.098460 +v 0.322900 -1.605911 -3.533190 +v 0.356324 -0.471311 -3.599886 +v 0.556660 -0.705023 -3.599886 +v 0.556660 -0.471311 -3.466493 +v -0.478039 -1.405586 -3.599886 +f 46 54 57 +f 43 41 44 +f 44 38 45 +f 39 40 48 +f 40 42 48 +f 43 44 48 +f 44 39 48 +f 44 41 49 +f 38 44 49 +f 41 46 49 +f 48 42 50 +f 43 48 50 +f 38 49 51 +f 49 46 51 +f 41 43 52 +f 43 50 52 +f 40 39 53 +f 39 44 53 +f 44 45 53 +f 47 40 53 +f 41 42 54 +f 42 45 54 +f 46 41 54 +f 42 40 55 +f 45 42 55 +f 40 47 55 +f 53 45 55 +f 47 53 55 +f 42 41 56 +f 50 42 56 +f 41 52 56 +f 52 50 56 +f 45 38 57 +f 38 51 57 +f 51 46 57 +f 54 45 57 +o convex_2 +v 0.589903 -1.606286 1.973792 +v -0.611432 -4.142402 0.872331 +v -0.611432 -4.142402 0.939178 +v 0.523215 -4.175858 1.439773 +v -0.477937 -4.175858 1.973792 +v -0.444534 -1.606286 0.905755 +v 0.456526 -1.606286 0.972601 +v -0.444534 -1.606286 1.906945 +v 0.489812 -4.142402 0.939286 +v 0.523215 -4.175858 1.873522 +v 0.489812 -2.974209 0.939286 +v -0.477937 -2.374013 1.940368 +v -0.177544 -4.175858 1.973792 +v 0.556618 -3.141237 1.940260 +v -0.511340 -4.175858 1.940368 +v 0.222822 -1.606286 1.973792 +v -0.244350 -1.606286 0.905755 +v 0.156016 -3.975373 0.905755 +v 0.589903 -1.606286 1.906837 +v 0.322914 -1.673198 0.939178 +v -0.477937 -3.274558 1.973792 +v -0.544625 -3.007665 0.939178 +v 0.456526 -4.175858 1.906837 +v -0.511340 -3.708480 0.872331 +v 0.556618 -2.307353 1.973792 +f 71 58 82 +f 63 58 64 +f 58 63 65 +f 61 59 66 +f 62 61 67 +f 65 60 69 +f 58 62 70 +f 62 67 70 +f 67 61 71 +f 60 59 72 +f 59 61 72 +f 61 62 72 +f 69 60 72 +f 62 58 73 +f 58 65 73 +f 65 69 73 +f 63 64 74 +f 66 59 75 +f 68 66 75 +f 64 58 76 +f 61 66 76 +f 68 64 76 +f 66 68 76 +f 58 71 76 +f 71 61 76 +f 64 68 77 +f 74 64 77 +f 68 75 77 +f 75 74 77 +f 72 62 78 +f 69 72 78 +f 62 73 78 +f 73 69 78 +f 59 60 79 +f 63 59 79 +f 60 65 79 +f 65 63 79 +f 70 67 80 +f 67 71 80 +f 71 70 80 +f 59 63 81 +f 63 74 81 +f 74 75 81 +f 75 59 81 +f 58 70 82 +f 70 71 82 +o convex_3 +v 0.523276 -1.606035 2.174096 +v -0.277757 -0.504575 2.074000 +v -0.277757 -0.504575 2.040547 +v -0.611549 -1.505873 2.474387 +v 0.523276 -0.571421 2.541135 +v -0.477987 -1.539188 2.040547 +v 0.489885 -0.604737 2.040547 +v -0.411205 -0.537998 2.507735 +v 0.322932 -1.405711 2.574536 +v -0.511377 -0.504575 2.040547 +v 0.556666 -1.572612 2.040547 +v 0.489885 -1.606035 2.474387 +v -0.377815 -1.238810 2.574536 +v -0.611549 -1.505873 2.541135 +v -0.210976 -0.838484 2.574536 +v 0.156093 -1.606035 2.507735 +v -0.511377 -0.905223 2.541135 +v 0.556666 -0.971962 2.307541 +f 94 93 100 +f 85 84 87 +f 85 87 89 +f 88 85 89 +f 87 84 90 +f 84 85 92 +f 85 88 92 +f 88 86 92 +f 90 84 92 +f 83 88 93 +f 88 89 93 +f 87 91 94 +f 83 93 94 +f 91 95 96 +f 86 88 96 +f 92 86 96 +f 87 90 97 +f 91 87 97 +f 95 91 97 +f 88 83 98 +f 83 94 98 +f 94 91 98 +f 91 96 98 +f 96 88 98 +f 90 92 99 +f 96 95 99 +f 92 96 99 +f 97 90 99 +f 95 97 99 +f 89 87 100 +f 93 89 100 +f 87 94 100 +o convex_4 +v -0.344528 -0.938565 3.642397 +v 0.323023 -1.105286 3.409175 +v 0.323023 -1.138680 3.409175 +v 0.289632 -0.771657 4.543673 +v -0.177575 -1.372313 4.543673 +v -0.344528 -1.305526 2.574588 +v 0.289632 -0.771657 2.574588 +v 0.323023 -1.405707 2.574588 +v -0.344528 -0.871839 4.410100 +v -0.210901 -0.838445 2.574588 +v 0.189461 -1.272194 4.410100 +v -0.244291 -1.372313 4.042921 +v -0.077403 -1.372313 4.543673 +v -0.344528 -0.971959 4.410100 +v -0.344528 -1.138680 2.574588 +v 0.189461 -0.771657 3.208913 +v 0.055963 -1.405707 3.342485 +v -0.210901 -0.838445 4.443446 +v 0.289632 -0.938565 4.476790 +v -0.244291 -1.338920 2.574588 +f 117 112 120 +f 103 102 104 +f 104 102 107 +f 102 103 108 +f 106 107 108 +f 107 102 108 +f 101 106 109 +f 107 106 110 +f 101 109 110 +f 104 105 113 +f 111 104 113 +f 108 111 113 +f 105 109 114 +f 109 106 114 +f 112 105 114 +f 106 112 114 +f 106 101 115 +f 101 110 115 +f 110 106 115 +f 104 107 116 +f 107 110 116 +f 105 112 117 +f 113 105 117 +f 108 113 117 +f 105 104 118 +f 109 105 118 +f 110 109 118 +f 104 116 118 +f 116 110 118 +f 103 104 119 +f 108 103 119 +f 104 111 119 +f 111 108 119 +f 106 108 120 +f 112 106 120 +f 108 117 120 +o convex_5 +v 1.090708 -1.172048 -0.229165 +v 2.992995 -1.439147 -0.896681 +v 2.525852 -1.439147 -0.863267 +v 1.090708 -0.771661 -0.796440 +v 2.959473 -0.771661 -0.195751 +v 2.959473 -0.771661 -0.863267 +v 2.959473 -1.272210 -0.262510 +v 1.090708 -1.405694 -0.729750 +v 1.090708 -0.871823 -0.195751 +v 1.090708 -1.305532 -0.295923 +v 3.093363 -1.439147 -0.829854 +v 2.959473 -1.238823 -0.229165 +v 2.291987 -1.439147 -0.763164 +v 1.925408 -0.805048 -0.195751 +v 1.090708 -0.971920 -0.796440 +v 1.291247 -1.038694 -0.195751 +v 1.658218 -0.771661 -0.829854 +v 1.191076 -1.405694 -0.763164 +f 128 135 138 +f 124 125 126 +f 121 124 128 +f 124 121 129 +f 121 128 130 +f 123 122 131 +f 122 126 131 +f 126 125 131 +f 127 131 132 +f 121 130 132 +f 130 127 132 +f 131 125 132 +f 128 123 133 +f 127 130 133 +f 130 128 133 +f 123 131 133 +f 131 127 133 +f 125 124 134 +f 124 129 134 +f 129 125 134 +f 122 123 135 +f 128 124 135 +f 129 121 136 +f 125 129 136 +f 121 132 136 +f 132 125 136 +f 126 122 137 +f 124 126 137 +f 122 135 137 +f 135 124 137 +f 123 128 138 +f 135 123 138 +o convex_6 +v -0.478032 -0.471308 1.239616 +v 0.590044 -1.438980 2.040260 +v 0.556608 -1.138638 2.040260 +v 0.489846 -0.504741 0.571933 +v -0.478032 -1.572491 0.571933 +v -0.478032 -1.572491 2.040260 +v 0.523171 -1.572491 0.571933 +v 0.456409 -0.471308 2.006912 +v -0.511358 -0.504741 2.040260 +v -0.478032 -0.538063 0.571933 +v 0.590044 -1.606035 1.973563 +v 0.556608 -0.471308 1.006035 +v -0.544794 -0.471308 1.739982 +v -0.444596 -1.606035 0.905846 +v 0.489846 -1.606035 0.772454 +v -0.444596 -1.606035 1.906867 +v 0.556608 -1.038671 0.805802 +v 0.489846 -0.604818 2.040260 +v -0.411271 -0.471308 0.939195 +v -0.544794 -0.671574 1.873519 +v 0.556608 -0.471308 1.172919 +f 146 156 159 +f 140 141 144 +f 143 142 145 +f 144 141 147 +f 142 143 148 +f 140 144 149 +f 139 146 150 +f 140 149 150 +f 146 139 151 +f 147 146 151 +f 139 148 151 +f 148 143 151 +f 144 143 152 +f 149 152 153 +f 143 145 153 +f 145 149 153 +f 152 143 153 +f 149 144 154 +f 144 152 154 +f 152 149 154 +f 145 142 155 +f 149 145 155 +f 150 149 155 +f 142 150 155 +f 147 141 156 +f 146 147 156 +f 148 139 157 +f 142 148 157 +f 139 150 157 +f 150 142 157 +f 143 144 158 +f 144 147 158 +f 151 143 158 +f 147 151 158 +f 141 140 159 +f 140 150 159 +f 150 146 159 +f 156 141 159 +o convex_7 +v 0.623304 1.831680 0.939132 +v -0.578054 1.498035 1.840268 +v -0.578054 1.498035 1.873584 +v 0.556614 -0.471197 1.005871 +v 0.489924 1.931773 2.007169 +v -0.544650 1.998744 0.939132 +v -0.544650 -0.471197 1.873584 +v 0.456520 -0.471197 2.007169 +v -0.444557 -0.471197 0.972556 +v -0.477960 1.865044 1.907007 +v 0.623304 1.998744 0.905709 +v 0.489924 -0.471197 1.907007 +v 0.289502 -0.471197 2.007169 +v -0.544650 1.498035 0.939132 +v 0.422999 1.464670 0.905709 +v -0.344463 1.931773 0.905709 +v 0.289502 1.931773 2.007169 +v -0.578054 1.898409 1.706683 +v 0.590018 1.998744 1.239619 +v -0.544650 -0.471197 1.740106 +v -0.444557 -0.471197 1.907007 +v 0.556614 -0.471197 1.172772 +v -0.010779 -0.437591 0.972556 +v 0.523210 1.965138 1.773422 +v -0.110755 0.330035 0.939132 +v 0.556614 0.029512 0.972556 +f 182 174 185 +f 162 161 166 +f 166 163 167 +f 163 166 168 +f 160 163 170 +f 167 163 171 +f 164 167 171 +f 167 164 172 +f 166 167 172 +f 165 170 175 +f 173 165 175 +f 168 173 175 +f 170 174 175 +f 172 164 176 +f 169 172 176 +f 161 162 177 +f 162 169 177 +f 173 161 177 +f 165 173 177 +f 176 165 177 +f 169 176 177 +f 160 170 178 +f 170 165 178 +f 171 160 178 +f 166 161 179 +f 168 166 179 +f 161 173 179 +f 173 168 179 +f 162 166 180 +f 169 162 180 +f 166 172 180 +f 172 169 180 +f 163 160 181 +f 160 171 181 +f 171 163 181 +f 163 168 182 +f 164 171 183 +f 176 164 183 +f 165 176 183 +f 178 165 183 +f 171 178 183 +f 168 175 184 +f 175 174 184 +f 182 168 184 +f 174 182 184 +f 170 163 185 +f 174 170 185 +f 163 182 185 +o convex_8 +v -1.612877 -1.372392 -0.796486 +v -1.112213 -0.738218 -0.295884 +v -1.112213 -0.738218 -0.396027 +v -3.081151 -0.771615 -0.696343 +v -3.114868 -1.272138 -0.329265 +v -1.112213 -1.305535 -0.329265 +v -1.112213 -0.838471 -0.863303 +v -2.947653 -1.305535 -0.863303 +v -3.081151 -0.871806 -0.295884 +v -1.112213 -1.372392 -0.829867 +v -3.081151 -0.771615 -0.763160 +v -1.112213 -1.205406 -0.295884 +v -1.312753 -1.372392 -0.629637 +v -2.980978 -1.205406 -0.863303 +v -2.980978 -1.205406 -0.295884 +v -2.146670 -0.805074 -0.829867 +v -1.112213 -1.105276 -0.863303 +v -1.513097 -0.805074 -0.829867 +v -2.847481 -0.838471 -0.295884 +f 189 194 204 +f 187 188 189 +f 188 187 191 +f 188 191 192 +f 186 190 193 +f 189 190 194 +f 192 191 195 +f 186 193 195 +f 189 188 196 +f 190 189 196 +f 191 187 197 +f 187 194 197 +f 190 186 198 +f 191 190 198 +f 186 195 198 +f 195 191 198 +f 192 193 199 +f 193 190 199 +f 190 196 199 +f 190 191 200 +f 194 190 200 +f 191 197 200 +f 197 194 200 +f 192 199 201 +f 199 196 201 +f 193 192 202 +f 192 195 202 +f 195 193 202 +f 188 192 203 +f 196 188 203 +f 192 201 203 +f 201 196 203 +f 187 189 204 +f 194 187 204 +o convex_9 +v -1.112213 -0.838429 -0.862966 +v 1.090708 -0.871728 -0.195973 +v 1.090708 -1.038734 -0.195973 +v -1.112213 -2.106516 0.571933 +v 1.023861 -2.006448 -1.597381 +v -1.078790 -2.039917 -1.564108 +v 1.023861 -0.437819 -1.563889 +v -1.078790 -0.437819 0.538441 +v 0.957014 -2.173454 0.471457 +v 0.990438 -0.437819 0.504949 +v -0.978520 -0.437819 -1.597600 +v 0.556581 -1.639308 -1.664365 +v 0.556581 -1.572540 0.571933 +v -0.544663 -0.437819 -1.664365 +v 0.489735 -0.471289 0.571933 +v 0.990438 -2.173454 0.204616 +v -1.045366 -0.437819 -1.564108 +v 1.090708 -1.439003 -0.796201 +v -0.478032 -1.572540 -1.664365 +v 0.456311 -0.571356 -1.664365 +v 0.389680 -2.173454 0.505168 +v 1.057284 -0.437819 -1.297048 +v 0.957014 -2.139815 0.504949 +v -0.478032 -0.538057 0.571933 +v 0.923807 -1.906381 -1.630873 +v 0.990438 -2.106686 0.438184 +v -1.112213 -0.738361 -0.296011 +v 1.057284 -0.437819 -0.229246 +v -1.112213 -2.106516 0.371638 +v 1.023861 -2.039917 -1.297048 +v 1.023861 -0.805130 -1.597381 +v -1.112213 -1.372235 -0.829912 +v -1.112213 -1.739375 0.571933 +v 1.090708 -0.771661 -0.796201 +v -0.778411 -2.039917 -1.564108 +f 234 220 239 +f 207 206 214 +f 211 212 214 +f 212 211 215 +f 215 211 218 +f 214 212 219 +f 208 217 219 +f 217 214 219 +f 210 205 221 +f 215 210 221 +f 212 215 221 +f 206 207 222 +f 210 215 223 +f 215 218 223 +f 218 216 223 +f 218 211 224 +f 216 218 224 +f 210 220 225 +f 220 213 225 +f 211 214 226 +f 222 209 226 +f 217 208 227 +f 214 217 227 +f 208 225 227 +f 225 213 227 +f 208 219 228 +f 219 212 228 +f 209 210 229 +f 210 223 229 +f 223 216 229 +f 216 224 229 +f 207 214 230 +f 213 220 230 +f 222 207 230 +f 220 222 230 +f 214 227 230 +f 227 213 230 +f 205 208 231 +f 221 205 231 +f 212 221 231 +f 214 206 232 +f 226 214 232 +f 208 205 233 +f 225 208 233 +f 210 225 233 +f 209 222 234 +f 222 220 234 +f 224 211 235 +f 226 209 235 +f 211 226 235 +f 209 229 235 +f 229 224 235 +f 205 210 236 +f 233 205 236 +f 210 233 236 +f 208 228 237 +f 228 212 237 +f 231 208 237 +f 212 231 237 +f 206 222 238 +f 222 226 238 +f 232 206 238 +f 226 232 238 +f 210 209 239 +f 220 210 239 +f 209 234 239 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/162/162.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/162/162.urdf new file mode 100644 index 000000000..d294c56e4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/162/162.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/163/163.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/163/163.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/163/163.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/163/163.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/163/163.obj new file mode 100644 index 000000000..8f5498341 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/163/163.obj @@ -0,0 +1,513 @@ +o convex_0 +v -2.875961 -0.606283 -0.169571 +v -2.750574 0.585068 -0.357790 +v -2.750574 0.585068 -0.451782 +v -1.308719 -0.606283 -0.357790 +v -1.308719 0.490959 0.457241 +v -3.189523 -0.480804 0.582720 +v -1.308719 -0.574797 0.582720 +v -3.252121 0.490959 0.519980 +v -1.308719 0.490959 -0.577261 +v -3.220727 -0.512174 -0.451782 +v -3.220727 0.585068 -0.608631 +v -1.308719 -0.606283 -0.545775 +v -3.220727 -0.606283 -0.420412 +v -1.371317 0.522328 0.394501 +v -1.308719 -0.386695 0.582720 +v -3.252121 0.553698 0.018181 +v -3.220727 0.459589 -0.608631 +v -3.220727 -0.512174 0.425871 +v -2.249216 0.553698 -0.608631 +v -3.252121 -0.198709 -0.106948 +v -3.220727 -0.292585 0.582720 +v -1.496704 0.522328 -0.577261 +v -1.496704 -0.606283 -0.545775 +v -2.938749 0.490959 0.519980 +v -3.252121 0.522328 0.394501 +v -1.308719 0.334110 0.488494 +v -1.308719 0.114638 -0.577261 +v -1.465310 -0.574797 0.582720 +v -3.252121 0.146008 0.519980 +v -3.032742 -0.606283 -0.451782 +v -2.844566 -0.512174 0.582720 +v -3.158129 0.146008 0.551350 +f 15 24 32 +f 1 4 7 +f 4 5 7 +f 5 4 9 +f 2 3 11 +f 4 1 12 +f 9 4 12 +f 12 1 13 +f 3 2 14 +f 5 9 14 +f 7 5 15 +f 6 7 15 +f 2 11 16 +f 13 1 18 +f 11 3 19 +f 17 11 19 +f 12 17 19 +f 10 13 20 +f 16 11 20 +f 8 16 20 +f 11 17 20 +f 17 10 20 +f 13 18 20 +f 6 15 21 +f 18 6 21 +f 3 14 22 +f 14 9 22 +f 19 3 22 +f 9 19 22 +f 12 13 23 +f 17 12 23 +f 14 8 24 +f 5 14 24 +f 14 2 25 +f 8 14 25 +f 2 16 25 +f 16 8 25 +f 15 5 26 +f 5 24 26 +f 24 15 26 +f 9 12 27 +f 19 9 27 +f 12 19 27 +f 7 6 28 +f 1 7 28 +f 8 20 29 +f 20 18 29 +f 21 8 29 +f 18 21 29 +f 13 10 30 +f 10 17 30 +f 23 13 30 +f 17 23 30 +f 6 18 31 +f 18 1 31 +f 28 6 31 +f 1 28 31 +f 21 15 32 +f 8 21 32 +f 24 8 32 +o convex_1 +v -1.308529 -0.605479 -0.545701 +v 0.823362 -2.643476 1.115692 +v 0.791851 -2.643476 1.115692 +v 0.164972 2.998384 1.021464 +v 0.760549 3.061578 -1.015999 +v 0.791851 -3.113783 -1.015999 +v -1.214413 -2.957014 0.958574 +v -1.214413 3.092567 -1.015999 +v -1.214413 2.935799 0.990125 +v -1.277018 -2.957621 -1.047550 +v 0.823362 2.998384 1.021464 +v 0.729247 -3.082793 1.115692 +v -1.308529 -1.326738 0.707861 +v 0.823362 0.584264 -0.608591 +v -1.308529 0.490689 0.457149 +v -0.994880 -2.988611 0.990125 +v 0.823362 -3.114390 -0.389006 +v -0.712743 -3.020207 -1.047550 +v -1.214413 -0.668673 -1.047550 +v -1.245716 2.747433 -0.796414 +v 0.823362 3.029982 0.801878 +v -1.245716 2.716444 0.927446 +v 0.791851 2.308722 1.052803 +v -1.308529 0.490689 -0.577040 +v -0.900765 3.092567 -0.608379 +v -1.245716 -2.800245 0.927446 +v -0.336490 -2.957014 -1.047550 +v 0.541016 -3.113783 -0.859092 +v -1.245716 2.371309 -1.015999 +v 0.823362 -3.082186 1.115692 +v -1.120298 -2.988611 0.833429 +v 0.791851 3.029982 -0.483023 +v 0.791851 0.678447 -1.015999 +v -1.214413 1.901002 0.990125 +v -0.430605 3.093175 -0.984660 +v -1.151600 -2.988611 -1.047550 +v 0.666433 3.029982 0.927446 +v 0.603829 -3.082793 1.021464 +v -1.277018 -2.957621 -0.796414 +v -0.085864 2.967395 1.021464 +v 0.760549 3.061578 -0.639930 +v -1.277018 -2.204766 -1.047550 +v -1.214413 3.061578 -0.420345 +v -1.245716 -2.957621 0.676522 +v -0.148677 -3.019600 1.052803 +v 0.760549 -3.113783 -0.138082 +v -1.277018 -2.079594 0.833429 +v -1.182902 2.967395 0.676522 +f 57 75 80 +f 34 35 44 +f 35 41 44 +f 33 42 45 +f 43 34 46 +f 33 45 47 +f 46 34 49 +f 38 46 49 +f 40 37 51 +f 50 42 51 +f 43 46 53 +f 47 45 54 +f 40 52 54 +f 52 47 54 +f 35 34 55 +f 34 43 55 +f 43 36 55 +f 42 33 56 +f 33 47 56 +f 47 52 56 +f 41 54 58 +f 38 50 59 +f 51 37 59 +f 50 51 59 +f 38 49 60 +f 50 38 60 +f 40 51 61 +f 52 40 61 +f 56 52 61 +f 34 44 62 +f 49 34 62 +f 48 39 63 +f 46 37 64 +f 37 53 64 +f 53 46 64 +f 46 38 65 +f 37 46 65 +f 59 37 65 +f 38 59 65 +f 44 41 66 +f 39 48 66 +f 58 39 66 +f 41 58 66 +f 37 40 67 +f 40 57 67 +f 42 50 68 +f 50 60 68 +f 60 63 68 +f 36 43 69 +f 43 53 69 +f 53 67 69 +f 67 57 69 +f 44 48 70 +f 48 63 70 +f 45 42 71 +f 42 68 71 +f 68 63 71 +f 41 35 72 +f 36 41 72 +f 35 55 72 +f 55 36 72 +f 53 37 73 +f 37 67 73 +f 67 53 73 +f 51 42 74 +f 42 56 74 +f 61 51 74 +f 56 61 74 +f 54 41 75 +f 40 54 75 +f 57 40 75 +f 39 58 76 +f 63 39 76 +f 71 63 76 +f 48 44 77 +f 44 66 77 +f 66 48 77 +f 60 49 78 +f 62 44 78 +f 49 62 78 +f 63 60 78 +f 44 70 78 +f 70 63 78 +f 54 45 79 +f 58 54 79 +f 45 71 79 +f 76 58 79 +f 71 76 79 +f 41 36 80 +f 36 69 80 +f 69 57 80 +f 75 41 80 +o convex_2 +v 1.607161 1.180860 -0.326469 +v 2.014618 0.804570 0.363260 +v 1.983248 0.804570 0.363260 +v 1.513110 2.999114 0.269145 +v 2.014618 3.030472 -0.201027 +v 2.077415 0.585068 -0.295075 +v 1.513110 0.585068 0.300539 +v 1.575908 2.936399 -0.295075 +v 2.014618 2.936399 0.206492 +v 1.544479 0.585068 -0.263748 +v 1.481740 2.999114 0.143770 +v 2.046046 0.585068 0.206492 +v 1.481740 1.180860 0.300539 +v 2.077415 1.086787 -0.295075 +v 2.046046 2.497395 0.112444 +v 1.857885 0.585068 0.363260 +v 1.575908 0.585068 -0.326469 +v 1.638589 2.967517 -0.295075 +v 2.077415 1.086787 -0.106979 +v 1.544479 2.497395 -0.232354 +v 1.826574 0.616425 -0.326469 +v 2.014618 2.654182 0.237818 +v 1.481740 2.497395 0.112444 +v 1.481740 1.776652 0.300539 +v 1.513110 0.585068 0.018396 +v 1.669900 3.030472 0.143770 +v 1.575908 0.585068 0.331866 +v 1.481740 2.999114 0.269145 +v 2.014618 0.585068 0.363260 +f 96 92 109 +f 83 82 84 +f 86 87 90 +f 87 86 92 +f 85 89 95 +f 82 92 95 +f 94 85 95 +f 82 83 96 +f 87 92 96 +f 88 81 97 +f 86 90 97 +f 90 88 97 +f 81 88 98 +f 88 91 98 +f 85 94 98 +f 92 86 99 +f 86 94 99 +f 95 92 99 +f 94 95 99 +f 88 90 100 +f 91 88 100 +f 94 86 101 +f 97 81 101 +f 86 97 101 +f 81 98 101 +f 98 94 101 +f 84 82 102 +f 89 84 102 +f 82 95 102 +f 95 89 102 +f 93 91 103 +f 100 90 103 +f 91 100 103 +f 91 93 104 +f 90 87 105 +f 87 93 105 +f 103 90 105 +f 93 103 105 +f 84 89 106 +f 89 85 106 +f 98 91 106 +f 85 98 106 +f 93 87 107 +f 87 96 107 +f 104 93 107 +f 96 104 107 +f 83 84 108 +f 96 83 108 +f 91 104 108 +f 104 96 108 +f 84 106 108 +f 106 91 108 +f 92 82 109 +f 82 96 109 +o convex_3 +v 2.014710 -2.643899 0.269170 +v 1.419037 -1.076577 0.269170 +v 1.419037 -1.076577 0.300539 +v 2.077415 -0.637634 -0.169599 +v 1.450422 -2.988616 -0.263766 +v 1.544513 -0.637634 -0.232396 +v 1.951940 -0.669121 0.331909 +v 1.575834 -3.020336 0.300539 +v 1.983325 -2.988616 -0.200968 +v 1.419037 -0.637634 0.175119 +v 2.045966 -2.894857 0.206488 +v 2.014710 -0.700374 -0.200968 +v 1.638540 -0.637634 0.331909 +v 1.575834 -2.392941 -0.263766 +v 2.014710 -3.020336 0.237800 +v 1.450422 -2.988616 -0.138287 +v 1.763822 -1.828985 0.331909 +v 1.450422 -2.487167 -0.263766 +v 1.544513 -2.926110 0.300539 +v 2.077415 -0.857106 -0.075548 +v 1.419037 -0.637634 0.300539 +v 1.732630 -3.020336 -0.106917 +v 2.077415 -0.888592 -0.169599 +v 1.669925 -0.637634 -0.232396 +v 1.951940 -1.233310 0.331909 +v 2.045966 -2.643899 0.206488 +v 1.575834 -2.988616 -0.263766 +v 1.450422 -0.637634 0.049698 +f 115 127 137 +f 112 111 114 +f 111 112 119 +f 114 111 119 +f 113 115 119 +f 116 113 122 +f 113 119 122 +f 110 117 124 +f 120 110 124 +f 118 120 124 +f 112 114 125 +f 114 117 125 +f 117 110 126 +f 116 122 126 +f 114 119 127 +f 123 114 127 +f 115 123 127 +f 122 112 128 +f 112 125 128 +f 125 117 128 +f 117 126 128 +f 126 122 128 +f 113 116 129 +f 119 112 130 +f 112 122 130 +f 122 119 130 +f 117 114 131 +f 124 117 131 +f 118 124 131 +f 120 118 132 +f 121 113 132 +f 118 121 132 +f 113 129 132 +f 129 120 132 +f 115 113 133 +f 113 121 133 +f 123 115 133 +f 121 123 133 +f 110 116 134 +f 126 110 134 +f 116 126 134 +f 116 110 135 +f 110 120 135 +f 129 116 135 +f 120 129 135 +f 121 118 136 +f 114 123 136 +f 123 121 136 +f 131 114 136 +f 118 131 136 +f 119 115 137 +f 127 119 137 +o convex_4 +v 1.638502 -0.637634 0.331854 +v 2.077229 0.585068 -0.106911 +v 2.077229 0.585068 -0.295056 +v 0.823497 0.585068 -0.608631 +v 0.823497 0.553710 0.614071 +v 0.823497 -0.606277 -0.577273 +v 2.829783 -0.480727 -0.483201 +v 2.767136 0.522233 0.582714 +v 2.767136 -0.512085 0.488522 +v 0.823497 -0.512204 0.551356 +v 2.798361 0.459518 -0.451844 +v 2.077229 -0.637634 -0.169626 +v 2.735714 -0.480727 -0.514558 +v 0.886341 -0.386775 0.582714 +v 2.014582 0.585068 0.363211 +v 2.798361 0.522233 0.551356 +v 2.735714 0.459518 -0.483201 +v 2.390859 -0.512085 0.519879 +v 2.704292 0.553710 0.551356 +v 1.262421 -0.574919 -0.577273 +v 2.672870 -0.543442 0.488522 +v 0.823497 -0.543562 0.519999 +v 0.980214 0.553710 -0.608631 +v 2.735714 0.396923 0.582714 +v 1.419138 -0.637634 0.300496 +v 1.450560 0.490995 0.614071 +v 2.829783 0.051991 -0.483201 +v 2.829783 -0.480727 -0.294936 +v 1.920513 -0.637634 0.331854 +v 1.513207 0.585068 0.300496 +v 0.823497 -0.606277 -0.232341 +v 2.798361 0.522233 0.175067 +v 0.854919 0.114706 -0.608631 +v 1.544432 -0.637634 -0.232341 +v 2.798361 -0.512085 0.143709 +v 1.544432 -0.512204 0.551356 +v 2.767136 -0.355297 0.519879 +v 0.823497 0.271493 0.614071 +v 2.610223 0.490876 -0.451844 +f 169 148 176 +f 139 140 141 +f 142 141 143 +f 142 143 147 +f 144 149 150 +f 139 141 152 +f 140 139 156 +f 142 145 156 +f 139 152 156 +f 152 142 156 +f 145 153 156 +f 149 143 157 +f 150 149 157 +f 146 155 158 +f 147 143 159 +f 141 154 160 +f 154 150 160 +f 149 138 162 +f 138 159 162 +f 145 142 163 +f 161 145 163 +f 151 161 163 +f 144 150 164 +f 154 148 164 +f 150 154 164 +f 144 164 165 +f 164 153 165 +f 138 149 166 +f 149 158 166 +f 159 138 166 +f 158 159 166 +f 141 142 167 +f 152 141 167 +f 142 152 167 +f 159 143 168 +f 143 162 168 +f 162 159 168 +f 140 156 169 +f 156 153 169 +f 153 164 169 +f 164 148 169 +f 143 141 170 +f 157 143 170 +f 150 157 170 +f 141 160 170 +f 160 150 170 +f 143 149 171 +f 149 162 171 +f 162 143 171 +f 149 144 172 +f 153 146 172 +f 146 158 172 +f 158 149 172 +f 144 165 172 +f 165 153 172 +f 151 147 173 +f 158 155 173 +f 147 159 173 +f 159 158 173 +f 161 151 173 +f 161 173 174 +f 153 145 174 +f 146 153 174 +f 155 146 174 +f 145 161 174 +f 173 155 174 +f 142 147 175 +f 147 151 175 +f 163 142 175 +f 151 163 175 +f 141 140 176 +f 154 141 176 +f 148 154 176 +f 140 169 176 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/163/163.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/163/163.urdf new file mode 100644 index 000000000..859d15be9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/163/163.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/164/164.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/164/164.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/164/164.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/164/164.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/164/164.obj new file mode 100644 index 000000000..728660c5a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/164/164.obj @@ -0,0 +1,606 @@ +o convex_0 +v 0.301081 3.326871 -1.662163 +v -0.355072 2.968947 -1.513173 +v -0.355072 2.968947 -1.483331 +v 0.301081 -1.266249 -1.930688 +v 0.181817 -1.266249 -1.393860 +v -0.265557 -1.086590 -1.870948 +v -0.235674 3.326871 -1.900790 +v -0.325189 -1.266249 -1.393860 +v 0.241449 3.326871 -1.364017 +v -0.355072 3.476354 -1.364017 +v 0.301081 3.326871 -1.841106 +v 0.241449 1.119444 -1.364017 +v -0.295306 0.792624 -1.900790 +v 0.330965 1.090197 -1.781476 +v 0.002787 3.356582 -1.900790 +v 0.301081 -1.266249 -1.811319 +v -0.086594 -1.266249 -1.900790 +v 0.062419 -0.281147 -1.930688 +v 0.181817 0.315393 -1.364017 +v -0.295306 1.686272 -1.900790 +v -0.325189 -1.266249 -1.453544 +v 0.330965 2.551138 -1.841106 +v 0.271265 3.326871 -1.453544 +v 0.211633 -1.086590 -1.423702 +v -0.265557 3.476354 -1.483331 +v 0.301081 -0.907861 -1.930688 +v -0.355072 3.416468 -1.483331 +v 0.181817 3.356582 -1.870948 +v -0.235674 -1.266249 -1.870948 +v -0.235674 3.416468 -1.811319 +v -0.325189 2.014485 -1.751634 +v 0.330965 0.374814 -1.870948 +v 0.271265 3.356582 -1.841106 +f 28 30 33 +f 3 2 8 +f 4 5 8 +f 2 3 10 +f 3 8 10 +f 9 10 12 +f 5 4 16 +f 14 12 16 +f 4 8 17 +f 6 13 17 +f 17 13 18 +f 7 15 18 +f 4 17 18 +f 8 5 19 +f 10 8 19 +f 5 12 19 +f 12 10 19 +f 18 13 20 +f 7 18 20 +f 8 2 21 +f 13 6 21 +f 17 8 21 +f 11 1 22 +f 1 14 22 +f 9 12 23 +f 14 1 23 +f 12 14 23 +f 12 5 24 +f 5 16 24 +f 16 12 24 +f 10 9 25 +f 9 23 25 +f 4 18 26 +f 18 15 26 +f 11 22 26 +f 2 10 27 +f 7 20 27 +f 11 26 28 +f 26 15 28 +f 6 17 29 +f 21 6 29 +f 17 21 29 +f 15 7 30 +f 10 25 30 +f 27 10 30 +f 7 27 30 +f 28 15 30 +f 20 13 31 +f 21 2 31 +f 13 21 31 +f 2 27 31 +f 27 20 31 +f 16 4 32 +f 14 16 32 +f 22 14 32 +f 4 26 32 +f 26 22 32 +f 1 11 33 +f 23 1 33 +f 25 23 33 +f 11 28 33 +f 30 25 33 +o convex_1 +v -0.444471 -0.132551 -0.707744 +v 0.957276 -0.878267 1.439841 +v 0.927426 -0.878267 1.439841 +v 0.808022 3.416150 1.350119 +v -1.070925 2.670434 1.320282 +v 0.987127 3.445931 -0.558562 +v -0.921671 -2.637727 1.380168 +v 0.927426 -2.548384 -0.558348 +v -0.951522 3.297026 -0.588185 +v -0.981373 -2.637727 -0.677907 +v 0.927426 -2.607946 1.439841 +v 1.046829 3.416150 1.350119 +v -1.070925 3.297026 1.320282 +v 0.330822 -1.474482 -0.737367 +v -0.235722 -1.355358 1.439628 +v 0.957276 -1.832450 -0.558348 +v 1.046829 2.640653 1.379955 +v 1.016978 3.416150 -0.498676 +v -0.891820 2.968840 -0.618021 +v -1.070925 3.266649 1.051754 +v -0.354919 -2.637727 -0.647858 +v 0.927426 2.939059 -0.588398 +v -0.444471 -2.190417 1.439841 +v -0.951522 -2.041512 1.350119 +v 1.046829 2.282686 1.350119 +v 0.211626 -1.951573 -0.737367 +v 1.046829 3.386369 0.485075 +v 0.002670 3.356588 1.350119 +v -0.235722 -1.086734 -0.737367 +v -0.981373 -1.742511 -0.677907 +v 0.808022 -2.578165 -0.588185 +v 0.867724 3.446527 -0.409166 +v 0.897575 -2.488227 -0.588398 +v 0.122074 -2.637727 1.409791 +v -0.981373 -2.637727 -0.439216 +v 0.957276 -1.593606 1.439841 +v -0.981373 3.266649 -0.260197 +v 0.062372 3.386369 -0.588185 +v -0.742773 3.326807 1.320282 +v 0.927426 -2.607946 0.872949 +v -1.070925 2.372029 0.992294 +v 0.330822 -1.295796 -0.737367 +v -0.354919 -1.653168 -0.737367 +v -1.011224 1.298127 1.350332 +v -0.712922 3.326807 -0.588185 +v 0.927426 -0.400580 -0.588398 +v 0.241477 -2.607946 1.439628 +v 0.450226 3.237464 -0.588185 +v -0.742773 -2.638323 -0.677694 +v -0.951522 -2.637727 0.753603 +v -0.742773 -2.280355 -0.707744 +v -0.712922 -2.429260 1.409791 +v -0.951522 2.640653 -0.618021 +v -1.011224 -1.146296 -0.170688 +v 1.016978 3.445931 0.097840 +v 0.987127 0.881193 -0.558562 +f 49 79 89 +f 35 36 44 +f 36 35 50 +f 45 37 50 +f 48 36 50 +f 38 46 53 +f 46 42 53 +f 44 36 56 +f 36 48 56 +f 48 46 56 +f 40 38 57 +f 45 50 58 +f 49 51 60 +f 58 49 60 +f 45 58 60 +f 46 48 61 +f 50 37 61 +f 48 50 61 +f 34 52 62 +f 47 59 62 +f 49 41 66 +f 59 47 66 +f 41 64 66 +f 64 59 66 +f 35 44 69 +f 44 49 69 +f 50 35 69 +f 49 58 69 +f 58 50 69 +f 53 42 70 +f 42 63 70 +f 63 53 70 +f 65 39 71 +f 65 71 72 +f 61 37 72 +f 46 61 72 +f 37 65 72 +f 41 49 73 +f 49 44 73 +f 64 41 73 +f 54 64 73 +f 44 67 73 +f 67 54 73 +f 38 53 74 +f 53 63 74 +f 68 38 74 +f 55 47 75 +f 62 52 75 +f 47 62 75 +f 34 62 76 +f 62 59 76 +f 63 34 76 +f 38 40 77 +f 46 38 77 +f 56 46 77 +f 42 46 78 +f 52 42 78 +f 71 52 78 +f 72 71 78 +f 46 72 78 +f 55 39 79 +f 47 55 79 +f 49 66 79 +f 66 47 79 +f 44 56 80 +f 40 67 80 +f 67 44 80 +f 39 55 81 +f 52 71 81 +f 71 39 81 +f 55 75 81 +f 75 52 81 +f 43 59 82 +f 64 54 82 +f 59 64 82 +f 67 40 82 +f 54 67 82 +f 68 43 82 +f 68 82 83 +f 57 38 83 +f 40 57 83 +f 38 68 83 +f 82 40 83 +f 59 43 84 +f 43 63 84 +f 76 59 84 +f 63 76 84 +f 77 40 85 +f 56 77 85 +f 80 56 85 +f 40 80 85 +f 42 52 86 +f 52 34 86 +f 63 42 86 +f 34 63 86 +f 63 43 87 +f 43 68 87 +f 74 63 87 +f 68 74 87 +f 37 45 88 +f 51 39 88 +f 60 51 88 +f 45 60 88 +f 39 65 88 +f 65 37 88 +f 51 49 89 +f 39 51 89 +f 79 39 89 +o convex_2 +v -0.295361 -1.743480 2.215659 +v 0.360792 -1.683822 3.468124 +v 0.301093 -1.385592 3.468124 +v 0.211645 -1.385592 1.440040 +v -0.325245 -1.355732 3.408171 +v 0.151946 -1.862797 1.440040 +v -0.205913 -1.892595 3.378393 +v -0.235729 -1.355732 1.440040 +v -0.265545 -1.982113 1.440040 +v 0.360792 -1.832937 3.288860 +v 0.271277 -1.803138 1.470016 +v 0.211645 -1.355732 3.468124 +v -0.146214 -1.982113 1.678661 +v 0.330909 -1.832937 3.437949 +v 0.032682 -1.355732 1.470016 +v -0.176097 -1.922455 2.990682 +v -0.265545 -1.654023 3.408171 +v 0.241461 -1.385592 1.887505 +v -0.265545 -1.982113 1.738416 +v 0.360792 -1.773278 3.080017 +v 0.032682 -1.415390 3.468124 +v 0.241461 -1.534707 1.440040 +v -0.325245 -1.415390 3.378393 +v -0.235729 -1.832937 3.288860 +v 0.122130 -1.832937 3.437949 +v -0.265545 -1.773278 1.470016 +v -0.325245 -1.355732 3.288860 +f 97 115 116 +f 93 95 97 +f 97 95 98 +f 99 95 100 +f 91 92 101 +f 97 94 101 +f 98 95 102 +f 95 99 102 +f 102 99 103 +f 99 91 103 +f 93 97 104 +f 101 93 104 +f 97 101 104 +f 102 103 105 +f 103 96 105 +f 92 91 107 +f 101 92 107 +f 93 101 107 +f 90 98 108 +f 98 102 108 +f 105 96 108 +f 102 105 108 +f 91 99 109 +f 99 100 109 +f 107 91 109 +f 91 101 110 +f 101 94 110 +f 94 106 110 +f 95 93 111 +f 100 95 111 +f 93 107 111 +f 109 100 111 +f 107 109 111 +f 106 94 112 +f 90 108 112 +f 112 108 113 +f 96 106 113 +f 108 96 113 +f 106 112 113 +f 103 91 114 +f 96 103 114 +f 106 96 114 +f 91 110 114 +f 110 106 114 +f 97 98 115 +f 98 90 115 +f 94 97 116 +f 90 112 116 +f 112 94 116 +f 115 90 116 +o convex_3 +v 0.360792 -3.622811 -1.423702 +v -0.325245 -4.636509 -1.393845 +v -0.325245 -4.636509 -1.304397 +v -0.235729 -2.728190 -1.423702 +v 0.271277 -4.696433 -1.900860 +v -0.205913 -2.728190 -1.811289 +v 0.241461 -2.728190 -1.841146 +v 0.360792 -4.666375 -1.364049 +v -0.146214 -2.728190 -1.274540 +v -0.235729 -4.606643 -1.811289 +v 0.330909 -2.728190 -1.423702 +v 0.002866 -3.533407 -1.870942 +v -0.265545 -3.682543 -1.274540 +v 0.330909 -2.728190 -1.543007 +v 0.151946 -4.696433 -1.900860 +v 0.271277 -4.218968 -1.900860 +v -0.235729 -2.728190 -1.274540 +v -0.146214 -2.817595 -1.841146 +v 0.330909 -4.696433 -1.602536 +v -0.235729 -3.801427 -1.811289 +v -0.295361 -3.801427 -1.334192 +v 0.360792 -3.652677 -1.393845 +v -0.205913 -4.636509 -1.304397 +v 0.360792 -3.622811 -1.453497 +f 135 121 140 +f 122 120 123 +f 123 120 125 +f 123 125 127 +f 124 125 129 +f 127 117 130 +f 123 127 130 +f 119 118 131 +f 118 126 131 +f 131 128 132 +f 123 130 132 +f 121 131 132 +f 125 120 133 +f 119 129 133 +f 129 125 133 +f 122 123 134 +f 131 126 134 +f 128 131 134 +f 132 128 134 +f 123 132 134 +f 124 119 135 +f 119 131 135 +f 131 121 135 +f 118 122 136 +f 126 118 136 +f 122 134 136 +f 134 126 136 +f 118 119 137 +f 122 118 137 +f 120 122 137 +f 119 133 137 +f 133 120 137 +f 124 117 138 +f 125 124 138 +f 117 127 138 +f 127 125 138 +f 119 124 139 +f 129 119 139 +f 124 129 139 +f 117 124 140 +f 130 117 140 +f 121 132 140 +f 132 130 140 +f 124 135 140 +o convex_4 +v 0.330965 -2.399616 -1.632370 +v -0.355072 -2.041859 -1.960381 +v -0.355072 -2.041859 -1.930568 +v -0.235674 -2.727805 -1.393865 +v 0.151934 -2.012081 -1.304426 +v 0.241449 -2.727805 -1.841129 +v 0.271265 -2.012081 -1.900755 +v -0.295373 -2.012081 -1.364052 +v 0.330965 -2.727805 -1.423678 +v -0.205858 -2.727805 -1.811316 +v -0.235674 -2.727805 -1.274546 +v 0.301081 -2.012081 -1.334239 +v -0.056711 -2.012081 -1.960381 +v -0.116343 -2.727805 -1.274546 +v -0.235674 -2.429464 -1.274546 +v -0.295373 -2.161181 -1.960381 +v -0.295373 -2.220807 -1.334239 +v 0.301081 -2.012081 -1.841129 +v 0.241449 -2.041859 -1.304426 +v 0.330965 -2.220807 -1.393865 +v 0.271265 -2.220807 -1.900755 +f 147 158 161 +f 143 142 144 +f 142 143 148 +f 145 147 148 +f 146 141 149 +f 144 146 149 +f 144 142 150 +f 146 144 150 +f 143 144 151 +f 144 149 151 +f 147 145 152 +f 142 148 153 +f 148 147 153 +f 151 149 154 +f 145 148 155 +f 151 154 155 +f 150 142 156 +f 146 150 156 +f 142 153 156 +f 153 146 156 +f 148 143 157 +f 143 151 157 +f 155 148 157 +f 151 155 157 +f 147 152 158 +f 149 152 159 +f 152 145 159 +f 154 149 159 +f 145 155 159 +f 155 154 159 +f 149 141 160 +f 152 149 160 +f 141 158 160 +f 158 152 160 +f 141 146 161 +f 146 153 161 +f 153 147 161 +f 158 141 161 +o convex_5 +v 0.271265 -1.266249 -1.692207 +v -0.355072 -2.011868 -1.990507 +v -0.265490 -2.011868 -1.990507 +v 0.211633 -1.445282 -2.676158 +v 0.301081 -2.011868 -1.334356 +v -0.325189 -1.266249 -1.394043 +v -0.235674 -1.326024 -2.556921 +v 0.301081 -1.803057 -2.706070 +v -0.325189 -2.011868 -1.364131 +v -0.295373 -1.862686 -2.706070 +v 0.211633 -1.385653 -1.304444 +v 0.330965 -1.445282 -2.676158 +v 0.271265 -2.011868 -1.901044 +v -0.325189 -1.832908 -1.304444 +v 0.301081 -1.266249 -1.930819 +v -0.325189 -1.832908 -2.556921 +v 0.301081 -1.803057 -1.304444 +v -0.325189 -1.445282 -1.304444 +v 0.181817 -1.266249 -1.394043 +v -0.235674 -1.266249 -1.871132 +v -0.355072 -1.683725 -1.662431 +v 0.330965 -1.385653 -2.258620 +v 0.330965 -1.624242 -2.676158 +v -0.295373 -1.773206 -2.706070 +v -0.116343 -1.326024 -2.556921 +v -0.355072 -1.832908 -1.453594 +v 0.181817 -2.011868 -1.304444 +v 0.151934 -1.832908 -2.706070 +v -0.325189 -1.266249 -1.483506 +v 0.301081 -2.011868 -1.841357 +f 169 184 191 +f 163 164 166 +f 163 166 170 +f 164 163 171 +f 165 168 173 +f 166 164 174 +f 164 171 174 +f 167 162 176 +f 171 163 177 +f 162 172 178 +f 172 175 178 +f 176 162 178 +f 172 167 179 +f 175 172 179 +f 162 167 180 +f 172 162 180 +f 167 172 180 +f 167 176 181 +f 176 168 181 +f 177 163 182 +f 173 176 183 +f 178 166 183 +f 176 178 183 +f 169 173 184 +f 183 166 184 +f 173 183 184 +f 168 165 185 +f 169 171 185 +f 165 173 185 +f 173 169 185 +f 177 168 185 +f 171 177 185 +f 173 168 186 +f 168 176 186 +f 176 173 186 +f 163 170 187 +f 170 175 187 +f 179 167 187 +f 175 179 187 +f 182 163 187 +f 167 182 187 +f 170 166 188 +f 175 170 188 +f 166 178 188 +f 178 175 188 +f 171 169 189 +f 169 174 189 +f 174 171 189 +f 168 177 190 +f 167 181 190 +f 181 168 190 +f 177 182 190 +f 182 167 190 +f 166 174 191 +f 174 169 191 +f 184 166 191 +o convex_6 +v 0.330836 -1.594377 -1.065624 +v -0.325116 -1.862744 -1.065624 +v -0.325116 -1.862744 -0.737636 +v -0.265519 -1.415422 -1.304251 +v 0.271239 -1.296076 -0.737636 +v 0.271239 -1.952286 -1.214724 +v 0.211578 -1.952286 -0.737636 +v 0.211578 -1.385618 -1.304251 +v -0.235656 -1.415422 -0.737636 +v -0.325116 -1.832940 -1.304251 +v 0.301038 -1.922353 -1.304251 +v -0.325116 -1.445226 -1.244566 +v 0.330836 -1.504964 -0.737636 +v 0.330836 -1.296076 -0.797320 +v 0.032658 -1.952286 -0.767478 +v -0.325116 -1.683790 -0.737636 +v 0.241376 -1.952286 -0.797320 +v 0.181779 -1.355814 -1.244566 +f 205 199 209 +f 196 194 198 +f 196 195 200 +f 194 196 200 +f 193 194 201 +f 197 193 201 +f 195 199 201 +f 201 199 202 +f 199 192 202 +f 197 201 202 +f 200 195 203 +f 201 194 203 +f 195 201 203 +f 196 198 204 +f 202 192 204 +f 192 199 205 +f 204 192 205 +f 196 204 205 +f 194 193 206 +f 193 197 206 +f 197 198 206 +f 198 194 206 +f 194 200 207 +f 203 194 207 +f 200 203 207 +f 198 197 208 +f 197 202 208 +f 204 198 208 +f 202 204 208 +f 195 196 209 +f 199 195 209 +f 196 205 209 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/164/164.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/164/164.urdf new file mode 100644 index 000000000..959e0d0c7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/164/164.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/165/165.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/165/165.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/165/165.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/165/165.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/165/165.obj new file mode 100644 index 000000000..7e301a199 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/165/165.obj @@ -0,0 +1,993 @@ +o convex_0 +v 1.042100 -0.198753 -1.994920 +v -1.030033 -0.232077 -1.393295 +v -1.030033 -0.232077 -0.591284 +v 0.006240 1.271945 -2.162242 +v 0.975310 1.004364 -0.591284 +v 0.774734 -1.134788 -0.591284 +v -0.395118 -1.268578 -2.162242 +v -0.862852 1.071259 -0.591284 +v -0.963243 0.837002 -2.162242 +v -0.896453 -1.000749 -0.591284 +v 0.874919 -1.000997 -2.162242 +v 0.908520 0.803679 -2.162242 +v 1.042100 -0.833884 -0.591284 +v -0.862852 -0.800312 -2.162242 +v -0.996638 0.903897 -0.591284 +v 1.075495 0.235443 -1.660581 +v 0.908520 1.071259 -0.591284 +v 0.406978 1.205049 -2.162242 +v -0.595693 1.138154 -0.591284 +v 0.340188 -1.168111 -0.591284 +v -0.060756 -1.268578 -2.162242 +v 1.075495 0.335662 -0.591284 +v -0.896453 0.970792 -2.061664 +v -1.030033 0.135225 -1.827750 +v -0.929848 -0.833884 -1.727480 +v 0.975310 -0.733417 -2.162242 +v 1.008705 0.770356 -1.760852 +v 1.075495 -0.332295 -1.560311 +v -0.963243 -0.900779 -0.591284 +v 0.240004 1.271945 -2.128562 +v -0.796062 -1.034321 -0.591284 +v -1.030033 0.436129 -1.593837 +v 0.674344 1.037936 -2.162242 +v -0.996638 0.202120 -2.128562 +v 1.042100 -0.766989 -1.393295 +v -0.963243 -0.633199 -1.827750 +v -0.695878 -1.034321 -2.095344 +v 1.075495 -0.499657 -0.591284 +v 1.008705 -0.064963 -2.162242 +v 0.674344 -1.168111 -0.624810 +v -0.395118 -1.268578 -2.061664 +v 0.841524 -1.034569 -2.061664 +v 0.874919 -1.067892 -0.758453 +v -1.030033 0.268766 -0.591284 +v 0.975310 -0.867207 -2.028292 +v -0.996638 0.803927 -1.760852 +v -0.862852 1.071259 -0.725080 +v 0.874919 1.071259 -0.858723 +v 0.139819 1.271945 -2.061664 +v -0.862852 0.970792 -2.162242 +v -0.896453 -1.000749 -0.691708 +v -1.030033 -0.131610 -1.727480 +v 1.008705 0.837002 -0.892249 +v 0.975310 0.837002 -1.660581 +v -0.528697 1.138154 -0.591284 +v 0.941915 0.670137 -2.162242 +v 1.075495 -0.131858 -1.794378 +f 28 45 57 +f 5 3 6 +f 3 5 8 +f 4 7 9 +f 6 3 10 +f 7 4 11 +f 11 4 12 +f 5 6 13 +f 9 7 14 +f 3 8 15 +f 8 5 17 +f 12 4 18 +f 8 17 19 +f 6 10 20 +f 7 11 21 +f 5 13 22 +f 9 15 23 +f 2 3 24 +f 11 12 26 +f 22 16 27 +f 16 22 28 +f 3 2 29 +f 10 3 29 +f 17 18 30 +f 18 4 30 +f 20 10 31 +f 24 3 32 +f 12 18 33 +f 9 14 34 +f 24 9 34 +f 14 25 36 +f 29 2 36 +f 25 29 36 +f 34 14 36 +f 14 7 37 +f 25 14 37 +f 22 13 38 +f 28 22 38 +f 13 35 38 +f 35 28 38 +f 1 26 39 +f 26 12 39 +f 27 16 39 +f 6 20 40 +f 21 40 41 +f 10 7 41 +f 7 21 41 +f 31 10 41 +f 20 31 41 +f 40 20 41 +f 21 11 42 +f 6 40 42 +f 40 21 42 +f 13 6 43 +f 6 42 43 +f 42 11 43 +f 3 15 44 +f 32 3 44 +f 15 32 44 +f 11 26 45 +f 35 13 45 +f 28 35 45 +f 13 43 45 +f 43 11 45 +f 15 9 46 +f 9 24 46 +f 32 15 46 +f 24 32 46 +f 15 8 47 +f 19 4 47 +f 8 19 47 +f 4 23 47 +f 23 15 47 +f 17 5 48 +f 18 17 48 +f 33 18 48 +f 4 19 49 +f 17 30 49 +f 30 4 49 +f 4 9 50 +f 23 4 50 +f 9 23 50 +f 7 10 51 +f 10 29 51 +f 29 25 51 +f 37 7 51 +f 25 37 51 +f 2 24 52 +f 24 34 52 +f 36 2 52 +f 34 36 52 +f 5 22 53 +f 27 5 53 +f 22 27 53 +f 27 12 54 +f 5 27 54 +f 12 33 54 +f 48 5 54 +f 33 48 54 +f 19 17 55 +f 49 19 55 +f 17 49 55 +f 12 27 56 +f 39 12 56 +f 27 39 56 +f 26 1 57 +f 16 28 57 +f 1 39 57 +f 39 16 57 +f 45 26 57 +o convex_1 +v 0.106212 1.238517 -2.964513 +v 0.139660 1.372231 -2.162321 +v 0.039396 1.372231 -2.162321 +v 0.039396 3.077052 -2.696985 +v -0.395030 1.238517 -2.797258 +v 0.407083 1.238517 -2.429770 +v -0.194502 2.642254 -2.530044 +v 0.239924 2.842916 -2.696985 +v -0.060790 2.675727 -2.864160 +v -0.261318 1.238517 -2.362947 +v 0.340188 1.338938 -2.864160 +v 0.006027 2.776149 -2.463221 +v 0.306741 1.338938 -2.162321 +v 0.139660 2.742495 -2.864160 +v -0.294766 1.305464 -2.930983 +v -0.227871 2.709201 -2.696985 +v -0.261318 2.040806 -2.463221 +v -0.027342 1.238517 -2.162321 +v 0.239924 2.809443 -2.630161 +v 0.039396 2.675727 -2.897532 +v -0.395030 1.271990 -2.696985 +v 0.407083 1.238517 -2.563417 +v -0.127606 1.238517 -2.964513 +v 0.239924 2.675727 -2.797258 +v 0.340188 1.238517 -2.195772 +v -0.060790 2.742495 -2.463221 +v 0.273372 2.642254 -2.696985 +v -0.194502 2.842916 -2.696985 +v 0.273372 2.040806 -2.864160 +v 0.072843 1.539420 -2.964513 +v -0.161054 2.675727 -2.797258 +v 0.139660 2.675727 -2.496593 +v 0.039396 2.842916 -2.864160 +v 0.006027 3.043579 -2.630161 +v 0.340188 1.238517 -2.864160 +f 68 79 92 +f 62 58 63 +f 62 63 67 +f 60 59 69 +f 59 60 70 +f 69 59 70 +f 61 65 71 +f 72 62 73 +f 64 73 74 +f 74 67 75 +f 67 63 75 +f 70 60 75 +f 64 74 75 +f 65 61 76 +f 72 66 77 +f 62 67 78 +f 73 62 78 +f 74 73 78 +f 67 74 78 +f 63 58 79 +f 58 62 80 +f 62 72 80 +f 72 77 80 +f 71 65 81 +f 75 63 82 +f 70 75 82 +f 63 76 82 +f 76 70 82 +f 60 69 83 +f 75 60 83 +f 64 75 83 +f 65 76 84 +f 76 63 84 +f 63 79 84 +f 79 68 84 +f 81 65 84 +f 68 81 84 +f 73 64 85 +f 68 58 86 +f 71 81 86 +f 81 68 86 +f 77 71 87 +f 58 80 87 +f 80 77 87 +f 86 58 87 +f 71 86 87 +f 66 72 88 +f 72 73 88 +f 73 85 88 +f 69 70 89 +f 76 69 89 +f 70 76 89 +f 61 71 90 +f 77 66 90 +f 71 77 90 +f 85 61 90 +f 66 88 90 +f 88 85 90 +f 76 61 91 +f 69 76 91 +f 64 83 91 +f 83 69 91 +f 61 85 91 +f 85 64 91 +f 58 68 92 +f 79 58 92 +o convex_2 +v 1.075720 0.436014 0.043938 +v -1.030239 -0.232116 -0.591130 +v -1.030239 -0.232116 -0.557623 +v 0.407198 -1.435717 0.010494 +v 1.042119 -0.833632 -0.591130 +v -0.595483 1.438636 0.043938 +v 0.908332 1.071122 -0.591130 +v -0.963242 -1.101225 0.043938 +v -0.996638 0.903733 -0.591130 +v -0.896452 -1.000736 -0.591130 +v 0.975329 1.104429 0.043938 +v 1.042119 -0.867223 0.043938 +v -0.996638 0.837120 0.043938 +v 0.540779 -1.201431 -0.591130 +v -0.628878 1.138020 -0.591130 +v 1.075720 0.335809 -0.591130 +v -0.394906 -1.368819 0.043938 +v -0.328321 1.472512 0.010494 +v 0.808146 -1.201431 -0.123221 +v -1.030239 0.302217 0.043938 +v 0.373596 1.338715 0.043938 +v 0.808146 -1.134532 -0.591130 +v 1.075720 -0.499425 -0.357082 +v -0.929847 1.071122 0.043938 +v 1.008724 0.837120 -0.591130 +v 0.808146 -1.201431 0.043938 +v -0.963242 -0.900530 -0.591130 +v -0.863057 1.071122 -0.591130 +v -0.394906 -1.368819 0.010494 +v -1.030239 -0.198524 0.043938 +v 0.440593 -1.201431 -0.591130 +v -1.030239 0.302217 -0.591130 +v 1.075720 -0.365913 0.043938 +v -0.929847 -1.134532 0.010494 +v -0.495091 1.472512 0.010494 +v 0.975329 1.104429 -0.089776 +v 0.407198 -1.435717 0.043938 +v -0.829455 1.204918 0.010494 +v 1.075720 -0.499425 -0.591130 +f 108 115 131 +f 97 94 99 +f 95 94 100 +f 93 98 100 +f 99 94 101 +f 94 97 102 +f 98 93 103 +f 93 100 104 +f 100 98 105 +f 102 97 106 +f 99 101 107 +f 97 99 108 +f 104 100 109 +f 99 107 110 +f 97 104 111 +f 94 95 112 +f 100 105 112 +f 105 101 112 +f 98 103 113 +f 110 98 113 +f 99 110 113 +f 96 106 114 +f 106 97 114 +f 97 111 114 +f 111 96 114 +f 108 93 115 +f 105 98 116 +f 101 105 116 +f 108 99 117 +f 93 108 117 +f 104 109 118 +f 111 104 118 +f 96 111 118 +f 100 94 119 +f 94 102 119 +f 102 100 119 +f 107 101 120 +f 96 109 121 +f 95 100 122 +f 112 95 122 +f 100 112 122 +f 106 96 123 +f 102 106 123 +f 121 102 123 +f 96 121 123 +f 101 94 124 +f 94 112 124 +f 112 101 124 +f 93 104 125 +f 115 93 125 +f 104 115 125 +f 100 102 126 +f 109 100 126 +f 102 121 126 +f 121 109 126 +f 98 110 127 +f 110 107 127 +f 120 98 127 +f 107 120 127 +f 103 93 128 +f 113 103 128 +f 99 113 128 +f 93 117 128 +f 117 99 128 +f 109 96 129 +f 96 118 129 +f 118 109 129 +f 116 98 130 +f 101 116 130 +f 98 120 130 +f 120 101 130 +f 104 97 131 +f 97 108 131 +f 115 104 131 +o convex_3 +v 0.273201 -2.705334 0.545616 +v 0.006040 0.536372 2.484239 +v -0.027355 0.536372 2.484239 +v -0.094145 2.742263 0.545616 +v -0.996638 -1.969841 0.946908 +v 0.975322 -1.903299 2.149590 +v 1.042112 2.241138 0.779464 +v -0.695876 2.541460 2.149590 +v -0.729271 -2.404423 2.249913 +v -0.996638 0.836693 0.044001 +v 1.042112 -0.866895 0.044001 +v 0.808141 2.541460 2.116388 +v -0.963243 -1.167806 0.044001 +v 0.975322 1.171169 0.044001 +v -0.929848 1.940228 2.116149 +v 0.741350 -2.772465 1.380925 +v -0.829662 -1.736061 2.450798 +v 0.808141 -1.802603 2.417118 +v -0.729271 2.541460 0.579057 +v -0.729271 -2.738899 1.214197 +v 0.072830 3.009608 1.380925 +v 0.039435 -2.771876 2.183270 +v 0.808141 1.739425 2.383677 +v -0.796061 1.672294 2.383677 +v -0.695876 -2.504531 0.512175 +v 0.774746 2.575025 0.545616 +v -0.461904 1.538621 0.044001 +v -1.030239 -1.067698 1.414366 +v 0.941927 1.705859 2.183031 +v -0.027355 -3.005656 1.280363 +v 0.406987 -1.502281 0.044001 +v -0.963243 -1.936275 2.149590 +v 0.941927 -2.003406 0.579057 +v 1.042112 -0.599550 1.681655 +v -0.963243 2.107466 1.314043 +v -0.729271 2.775828 1.314043 +v 0.774746 2.842370 1.247638 +v 0.139620 2.741674 2.149590 +v 0.707955 -2.538096 2.183031 +v 0.674560 -2.571661 0.545616 +v 1.075714 0.436265 0.044240 +v 1.008717 -2.003406 1.247399 +v -1.030239 0.302003 0.044001 +v 0.039435 -2.036971 2.450798 +v 1.042112 2.374811 1.046753 +v -0.562089 2.006770 2.383677 +v -0.695876 -2.605227 2.116388 +v 0.440382 -0.365770 2.484239 +v -0.996638 1.705859 1.380925 +v -0.963243 1.940228 0.579057 +v -0.060750 -2.772465 0.545616 +v -0.461904 0.269027 2.484239 +v 0.908532 -1.067109 2.350475 +v -0.963243 -1.969841 0.545616 +v 1.075714 -0.265663 0.311529 +v 0.540774 1.939639 2.383677 +v -1.030239 -0.131402 1.380925 +v 0.139620 2.741674 0.545616 +v -0.729271 -2.772465 1.380925 +v 1.042112 1.906662 1.314043 +v -0.027355 -2.972679 1.547891 +v 1.075714 0.569937 0.645939 +v 1.008717 2.073311 0.478734 +v -0.428303 -1.368020 0.044001 +f 162 182 195 +f 141 142 144 +f 142 141 145 +f 139 146 155 +f 146 148 155 +f 145 141 158 +f 150 135 158 +f 141 150 158 +f 143 154 160 +f 144 142 162 +f 140 148 163 +f 148 146 163 +f 159 136 163 +f 160 137 165 +f 146 139 167 +f 135 150 167 +f 152 135 167 +f 139 152 167 +f 166 146 167 +f 152 139 169 +f 143 168 169 +f 168 152 169 +f 147 137 170 +f 137 149 170 +f 153 147 170 +f 161 132 171 +f 147 161 171 +f 132 162 171 +f 162 142 171 +f 142 164 171 +f 164 147 171 +f 142 145 172 +f 137 147 173 +f 164 142 173 +f 147 164 173 +f 165 137 173 +f 144 136 174 +f 141 144 174 +f 136 159 174 +f 148 140 175 +f 140 153 175 +f 170 149 175 +f 153 170 175 +f 138 157 176 +f 143 160 176 +f 168 143 176 +f 157 168 176 +f 172 138 176 +f 134 133 177 +f 139 155 177 +f 169 139 177 +f 153 140 178 +f 140 163 178 +f 133 134 179 +f 154 133 179 +f 149 154 179 +f 148 175 179 +f 175 149 179 +f 146 166 180 +f 174 180 181 +f 150 141 181 +f 167 150 181 +f 166 167 181 +f 141 174 181 +f 180 166 181 +f 151 156 182 +f 132 161 182 +f 161 151 182 +f 162 132 182 +f 155 148 183 +f 134 177 183 +f 177 155 183 +f 179 134 183 +f 148 179 183 +f 149 137 184 +f 154 149 184 +f 137 160 184 +f 160 154 184 +f 136 144 185 +f 151 136 185 +f 144 156 185 +f 156 151 185 +f 142 172 186 +f 165 173 186 +f 173 142 186 +f 133 154 187 +f 154 143 187 +f 143 169 187 +f 177 133 187 +f 169 177 187 +f 163 146 188 +f 159 163 188 +f 174 159 188 +f 146 180 188 +f 180 174 188 +f 135 152 189 +f 157 145 189 +f 145 158 189 +f 158 135 189 +f 152 168 189 +f 168 157 189 +f 136 151 190 +f 151 161 190 +f 163 136 190 +f 178 163 190 +f 160 165 191 +f 176 160 191 +f 147 153 192 +f 161 147 192 +f 153 178 192 +f 190 161 192 +f 178 190 192 +f 172 176 193 +f 186 172 193 +f 165 186 193 +f 191 165 193 +f 176 191 193 +f 157 138 194 +f 145 157 194 +f 138 172 194 +f 172 145 194 +f 156 144 195 +f 144 162 195 +f 182 156 195 +o convex_4 +v 0.273414 0.235643 2.584522 +v -0.428536 -0.299122 2.484259 +v -0.294789 -0.365913 2.484259 +v 0.039376 0.469674 2.484259 +v 0.407162 -0.332517 2.484259 +v -0.395079 -0.131969 2.584522 +v 0.239957 -0.332517 2.584522 +v -0.328164 0.235643 2.584522 +v -0.395079 0.235643 2.484259 +v 0.340247 0.235643 2.484259 +v -0.060751 0.402707 2.584522 +v -0.094208 -0.432880 2.517680 +v 0.340247 -0.098574 2.584522 +f 200 205 208 +f 198 197 199 +f 198 199 200 +f 196 201 202 +f 201 196 203 +f 201 203 204 +f 199 197 204 +f 197 201 204 +f 199 196 205 +f 200 199 205 +f 196 199 206 +f 203 196 206 +f 204 203 206 +f 199 204 206 +f 197 198 207 +f 198 200 207 +f 201 197 207 +f 202 201 207 +f 200 202 207 +f 196 202 208 +f 202 200 208 +f 205 196 208 +o convex_5 +v -0.194541 0.302531 2.618164 +v -0.094152 -0.332596 2.584696 +v 0.239996 -0.332596 2.584696 +v 0.106297 -0.031627 4.356030 +v 0.273437 0.202208 2.584696 +v -0.361680 -0.098486 2.718565 +v 0.039350 0.202208 4.088466 +v -0.161100 -0.031627 4.088466 +v 0.273437 0.001768 4.155400 +v 0.039350 -0.198809 4.121933 +v -0.328239 0.202208 2.584696 +v 0.005974 0.369391 2.584696 +v 0.239996 0.202208 3.520391 +v -0.261357 -0.265737 2.618164 +v 0.306878 -0.198809 2.584696 +v -0.127659 0.168813 3.888009 +v 0.239996 -0.131950 3.988238 +v 0.306878 0.068490 3.219879 +v -0.328239 0.202208 2.751859 +v 0.106297 0.202208 4.088466 +v -0.060777 0.369391 2.685098 +v -0.161100 0.068490 4.055172 +v -0.161100 -0.131950 3.787781 +v 0.039350 0.035095 4.356030 +v -0.294798 0.035095 3.253346 +v 0.239996 -0.332596 2.685098 +v 0.273437 -0.065091 4.121933 +v -0.060777 -0.332596 2.751859 +v -0.361680 -0.131950 2.584696 +v 0.106297 -0.198809 4.088466 +v 0.306878 -0.031627 3.654086 +v 0.273437 0.068490 4.055172 +v 0.005974 -0.198809 4.088466 +v 0.206555 0.269067 2.618164 +f 220 221 242 +f 211 210 213 +f 213 210 219 +f 219 209 220 +f 213 219 220 +f 211 213 223 +f 213 221 226 +f 223 213 226 +f 209 219 227 +f 219 214 227 +f 224 209 227 +f 221 220 228 +f 220 209 229 +f 209 224 229 +f 224 215 229 +f 215 228 229 +f 228 220 229 +f 215 224 230 +f 224 227 230 +f 216 214 231 +f 212 217 232 +f 218 212 232 +f 216 218 232 +f 228 215 232 +f 217 228 232 +f 215 230 232 +f 230 216 232 +f 214 216 233 +f 227 214 233 +f 216 230 233 +f 230 227 233 +f 210 211 234 +f 211 223 234 +f 225 234 235 +f 217 212 235 +f 234 223 235 +f 222 210 236 +f 210 234 236 +f 234 218 236 +f 219 210 237 +f 214 219 237 +f 210 222 237 +f 231 214 237 +f 222 231 237 +f 212 218 238 +f 218 234 238 +f 234 225 238 +f 225 235 238 +f 235 212 238 +f 223 226 239 +f 217 235 239 +f 235 223 239 +f 226 221 240 +f 228 217 240 +f 221 228 240 +f 217 239 240 +f 239 226 240 +f 218 216 241 +f 216 231 241 +f 231 222 241 +f 222 236 241 +f 236 218 241 +f 213 220 242 +f 221 213 242 +o convex_6 +v 0.173107 -1.302006 -3.031339 +v -0.027303 -1.302006 -2.229098 +v -0.261259 -1.302006 -2.229098 +v 0.006027 -3.006663 -2.630260 +v -0.261259 -1.402456 -2.964506 +v 0.373734 -1.369084 -2.730386 +v -0.194456 -2.772556 -2.730386 +v 0.039428 -2.739184 -2.864216 +v 0.173107 -2.605528 -2.529969 +v -0.361681 -1.302006 -2.697011 +v -0.060705 -2.739184 -2.463218 +v 0.239983 -1.302006 -2.396385 +v -0.328135 -1.369084 -2.262556 +v 0.273385 -1.669935 -2.931049 +v 0.173107 -2.705812 -2.697011 +v 0.006027 -1.302006 -3.064796 +v -0.127580 -2.605528 -2.864216 +v 0.106304 -2.605528 -2.463218 +v -0.194456 -2.739184 -2.630260 +v -0.361681 -1.435996 -2.563509 +v 0.239983 -1.469368 -2.396385 +v 0.340260 -1.302006 -2.897510 +v -0.027303 -1.369084 -2.229098 +v 0.173107 -2.772556 -2.596884 +v -0.027303 -2.772556 -2.864216 +v 0.006027 -2.772556 -2.463218 +v -0.227858 -2.571989 -2.730386 +v -0.060705 -3.006663 -2.630260 +v 0.273385 -1.369084 -2.997800 +v 0.373734 -1.369084 -2.797219 +v 0.273385 -2.004159 -2.596884 +v -0.194456 -2.204393 -2.897510 +v -0.261259 -1.302006 -2.964506 +f 252 258 275 +f 245 244 243 +f 245 243 252 +f 243 244 254 +f 245 252 255 +f 253 245 255 +f 246 250 257 +f 250 256 257 +f 243 250 258 +f 252 243 258 +f 253 255 261 +f 261 255 262 +f 255 252 262 +f 254 244 263 +f 248 254 263 +f 260 251 263 +f 243 254 264 +f 254 248 264 +f 244 245 265 +f 263 244 265 +f 260 263 265 +f 246 257 266 +f 251 260 266 +f 250 246 267 +f 258 250 267 +f 249 259 267 +f 259 258 267 +f 245 253 268 +f 265 245 268 +f 260 265 268 +f 246 266 268 +f 266 260 268 +f 252 247 269 +f 249 261 269 +f 261 262 269 +f 262 252 269 +f 261 249 270 +f 253 261 270 +f 267 246 270 +f 249 267 270 +f 268 253 270 +f 246 268 270 +f 250 243 271 +f 256 250 271 +f 243 264 271 +f 264 256 271 +f 257 256 272 +f 264 248 272 +f 256 264 272 +f 248 266 272 +f 266 257 272 +f 248 263 273 +f 263 251 273 +f 266 248 273 +f 251 266 273 +f 247 258 274 +f 259 249 274 +f 258 259 274 +f 269 247 274 +f 249 269 274 +f 247 252 275 +f 258 247 275 +o convex_7 +v 0.875077 0.034653 -2.864330 +v -0.963383 0.001330 -2.195785 +v -0.896393 -0.031744 -2.563456 +v -0.060852 -1.302006 -2.162242 +v 0.473910 1.171373 -2.162386 +v -0.027261 0.068225 -3.632927 +v -0.862995 0.937364 -3.164917 +v -0.261436 -1.302006 -2.964238 +v 0.941874 -0.900635 -2.162386 +v 0.841679 -0.967530 -3.131518 +v 0.674494 0.770251 -3.131518 +v -0.862995 0.970687 -2.162242 +v -0.662411 -0.833988 -3.164917 +v -0.862995 -0.800417 -2.162242 +v 0.106333 1.238517 -2.964382 +v 0.039343 -0.833988 -3.565986 +v 0.908476 0.770251 -2.162386 +v 0.006138 0.770251 -3.532588 +v 0.306724 -1.302006 -2.997780 +v -0.428428 1.238517 -2.764135 +v 1.008864 -0.299076 -2.195785 +v -0.094251 1.238517 -2.162242 +v 0.072742 0.001330 -3.632927 +v 0.340316 1.238517 -2.864330 +v -0.361631 -1.302006 -2.162242 +v 0.774689 0.569565 -3.098119 +v 0.875077 -1.001102 -2.162386 +v -0.963383 0.836897 -2.162242 +v -0.862995 0.636461 -3.164917 +v 0.373714 -1.302006 -2.730736 +v -0.294834 1.238517 -2.964238 +v -0.361631 -1.302006 -2.697194 +v 0.908476 0.770251 -2.296124 +v 0.808087 0.068225 -3.131518 +v -0.762606 -0.232181 -3.164917 +v -0.094251 -0.065068 -3.599529 +v -0.963383 0.502670 -2.463261 +v 0.774689 0.770251 -2.964382 +v 0.407113 1.238517 -2.563600 +v 0.239927 -1.302006 -2.363065 +v -0.862995 -0.800417 -2.229327 +v 0.006138 -1.302006 -3.064577 +v 0.841679 -1.001102 -3.098119 +v -0.060852 0.770251 -3.532588 +v -0.662411 0.703356 -3.298654 +v 0.106333 -0.767093 -3.565986 +v 0.875077 -0.934207 -2.997780 +v -0.762606 0.001330 -3.198459 +v -0.662411 -1.034425 -2.329523 +v 0.507308 -1.034425 -3.231713 +v 0.039343 0.603137 -3.565986 +v -0.562022 1.004508 -3.198459 +v 0.674494 1.037583 -2.195929 +v -0.896393 0.903792 -3.064577 +v 0.340316 1.238517 -2.162386 +v 0.841679 -0.165286 -3.098119 +v 0.975273 0.202015 -2.229183 +v -0.227844 1.238517 -2.296124 +v 1.008864 -0.399295 -2.162386 +v -0.094251 -0.833988 -3.499189 +v -0.896393 0.937364 -2.830932 +v 0.072742 -0.165286 -3.632927 +v 0.707892 0.703356 -3.131518 +v -0.695809 -0.833988 -3.031322 +f 324 316 339 +f 279 287 289 +f 279 283 294 +f 287 279 297 +f 292 280 297 +f 290 295 297 +f 286 293 299 +f 293 290 299 +f 290 297 299 +f 283 279 300 +f 279 289 300 +f 284 279 302 +f 277 289 303 +f 289 287 303 +f 278 277 304 +f 279 294 305 +f 282 295 306 +f 295 290 306 +f 288 283 307 +f 283 300 307 +f 276 301 308 +f 285 298 309 +f 278 304 310 +f 281 291 311 +f 277 303 312 +f 304 277 312 +f 286 299 313 +f 308 301 313 +f 299 297 314 +f 313 299 314 +f 302 279 315 +f 279 305 315 +f 305 302 315 +f 277 278 316 +f 289 277 316 +f 278 310 316 +f 283 291 317 +f 294 283 317 +f 291 294 317 +f 284 302 318 +f 305 294 318 +f 302 305 318 +f 290 293 319 +f 306 290 319 +f 304 282 320 +f 281 311 320 +f 319 281 320 +f 282 319 320 +f 285 291 321 +f 318 285 322 +f 284 318 322 +f 288 310 323 +f 310 304 323 +f 311 288 323 +f 304 320 323 +f 320 311 323 +f 300 289 324 +f 307 300 324 +f 289 316 324 +f 291 285 325 +f 294 291 325 +f 285 318 325 +f 318 294 325 +f 293 286 326 +f 298 281 326 +f 281 319 326 +f 319 293 326 +f 282 306 327 +f 319 282 327 +f 306 319 327 +f 280 292 328 +f 292 308 328 +f 308 313 328 +f 313 314 328 +f 314 280 328 +f 282 304 329 +f 312 303 329 +f 304 312 329 +f 297 280 330 +f 280 314 330 +f 314 297 330 +f 276 296 331 +f 301 276 331 +f 285 309 331 +f 309 301 331 +f 296 322 331 +f 322 285 331 +f 296 276 332 +f 308 292 332 +f 276 308 332 +f 295 287 333 +f 287 297 333 +f 297 295 333 +f 279 284 334 +f 297 279 334 +f 292 297 334 +f 322 296 334 +f 284 322 334 +f 296 332 334 +f 332 292 334 +f 283 288 335 +f 291 283 335 +f 311 291 335 +f 288 311 335 +f 287 295 336 +f 295 282 336 +f 303 287 336 +f 282 329 336 +f 329 303 336 +f 291 281 337 +f 298 285 337 +f 281 298 337 +f 285 321 337 +f 321 291 337 +f 309 298 338 +f 301 309 338 +f 286 313 338 +f 313 301 338 +f 326 286 338 +f 298 326 338 +f 288 307 339 +f 310 288 339 +f 316 310 339 +f 307 324 339 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/165/165.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/165/165.urdf new file mode 100644 index 000000000..49df28bf0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/165/165.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/166/166.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/166/166.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/166/166.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/166/166.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/166/166.obj new file mode 100644 index 000000000..b0fa15d22 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/166/166.obj @@ -0,0 +1,270 @@ +o convex_0 +v 0.241399 -3.175404 -0.329006 +v -0.192073 -2.828624 0.364792 +v 0.096846 -2.828624 0.277932 +v 0.212513 -4.736011 0.220206 +v -0.278854 -4.649176 -0.213351 +v -0.278854 -2.828624 -0.329006 +v -0.278854 -4.649176 0.306931 +v 0.328180 -4.678121 -0.184420 +v 0.357128 -2.828624 0.191343 +v 0.241399 -2.828624 -0.300076 +v 0.328180 -4.620231 0.191343 +v -0.249906 -2.828624 0.220206 +v -0.221021 -4.504637 0.335862 +v 0.328180 -4.533582 -0.213351 +v -0.278854 -4.389043 -0.242282 +v 0.357128 -2.828624 0.104550 +v -0.278854 -2.828624 -0.039901 +v -0.249906 -4.678121 -0.184420 +v -0.249906 -3.204349 0.335862 +v 0.328180 -4.736011 0.075619 +v 0.357128 -3.435536 0.191343 +v -0.278854 -3.030866 -0.329006 +v 0.067960 -4.678121 -0.213351 +v -0.249906 -4.678121 0.306931 +v -0.192073 -3.059811 0.364792 +v 0.212513 -2.828624 -0.329006 +v 0.270347 -3.464482 -0.300076 +v -0.221021 -2.828624 0.364792 +f 13 25 28 +f 2 3 6 +f 6 5 7 +f 6 3 9 +f 6 9 10 +f 2 6 12 +f 5 6 15 +f 10 9 16 +f 6 7 17 +f 12 6 17 +f 7 5 18 +f 17 7 19 +f 12 17 19 +f 11 4 20 +f 4 18 20 +f 9 3 21 +f 3 11 21 +f 8 14 21 +f 16 9 21 +f 14 16 21 +f 11 20 21 +f 20 8 21 +f 6 1 22 +f 15 6 22 +f 1 15 22 +f 1 14 23 +f 14 8 23 +f 5 15 23 +f 15 1 23 +f 18 5 23 +f 8 20 23 +f 20 18 23 +f 4 13 24 +f 13 7 24 +f 18 4 24 +f 7 18 24 +f 3 2 25 +f 11 3 25 +f 4 11 25 +f 13 4 25 +f 1 6 26 +f 10 1 26 +f 6 10 26 +f 1 10 27 +f 14 1 27 +f 10 16 27 +f 16 14 27 +f 2 12 28 +f 7 13 28 +f 12 19 28 +f 19 7 28 +f 25 2 28 +o convex_1 +v 0.385893 3.357227 0.653739 +v -1.059367 -2.798448 -0.936035 +v 1.021832 -1.613541 -0.964763 +v 0.964039 -2.769859 0.942641 +v -0.972467 -2.712073 1.087500 +v -0.972467 3.213068 -0.936035 +v 1.050729 3.328639 -0.993693 +v -0.914673 3.212459 1.087500 +v 1.021832 3.270853 0.913914 +v 1.079835 -2.653680 -0.935832 +v -0.539015 3.386424 -0.589068 +v -0.625705 3.212459 1.087500 +v -0.943570 2.779372 0.942845 +v 0.328099 -2.827644 -0.010857 +v -1.059367 -2.162807 -0.675657 +v -0.625705 3.386424 0.653536 +v 0.472583 3.299442 -0.993897 +v -1.001364 -2.740662 0.856052 +v 0.761761 -2.769859 0.971776 +v -1.001364 2.605408 -0.936035 +v 0.935142 3.242265 0.942641 +v -0.220940 -2.827036 0.364634 +v -0.654602 3.212459 -0.964966 +v 1.079835 -2.653680 -0.820312 +v 1.050729 1.652251 -0.993693 +v 0.992935 -0.341652 0.942845 +v 0.212512 -2.827036 -0.357621 +v 0.761761 3.357836 -0.039788 +v 1.079835 -1.381791 -0.906901 +v -0.481012 -2.740662 1.058569 +v -0.972467 3.213068 -0.213170 +v -0.972467 -0.688365 1.087500 +v 1.050729 3.299442 -0.646726 +v -0.741292 -2.827036 -0.617999 +v 0.068028 3.386424 -0.039788 +v 1.021832 2.635213 0.913914 +v 0.992935 1.594466 0.942845 +v 0.646174 3.357227 0.566947 +v -1.059367 -1.700523 -0.936035 +v -0.885777 3.241656 1.058569 +v 0.992935 -2.740662 0.566947 +v -1.059367 -2.740662 -0.531002 +v -0.625705 2.779372 1.087500 +v -0.856880 -2.740662 1.058569 +v 0.010234 3.386424 0.566947 +v -0.943570 -2.798448 -0.936035 +v 0.964039 -2.769859 0.798190 +v -0.885777 -2.307575 1.087500 +v -0.509909 3.386424 -0.617795 +v -0.943570 2.200909 1.087500 +v -0.943570 3.213068 0.740328 +v -1.001364 2.519642 -0.849243 +v 0.356996 -2.827644 0.191252 +v 1.079835 -1.613541 -0.964763 +v 0.790658 3.270853 0.942641 +v 0.472583 3.183871 -0.993897 +v 0.010234 3.241656 1.029638 +v 0.761761 -2.422538 0.971776 +v -1.059367 -2.798448 -0.733519 +v -0.972467 -2.740662 0.971776 +v -0.856880 3.270245 -0.733519 +v -0.365424 3.386424 0.653536 +v 1.050729 3.328639 -0.762450 +v 1.021832 1.652251 -0.993693 +f 84 53 92 +f 36 33 40 +f 32 47 50 +f 34 45 51 +f 48 34 51 +f 32 38 52 +f 45 35 53 +f 47 32 54 +f 37 52 57 +f 52 38 57 +f 44 34 59 +f 34 48 59 +f 33 36 60 +f 46 33 60 +f 37 57 61 +f 55 42 62 +f 39 44 63 +f 56 35 63 +f 52 37 64 +f 37 54 64 +f 54 52 64 +f 37 49 65 +f 47 54 65 +f 54 37 65 +f 29 37 66 +f 37 56 66 +f 30 43 67 +f 51 30 67 +f 48 51 67 +f 36 40 68 +f 44 59 68 +f 32 52 69 +f 54 32 69 +f 52 54 69 +f 43 30 70 +f 41 43 70 +f 46 60 70 +f 40 33 71 +f 47 40 71 +f 58 47 71 +f 50 47 72 +f 58 33 72 +f 47 58 72 +f 63 44 73 +f 56 63 73 +f 29 66 73 +f 66 56 73 +f 30 31 74 +f 38 55 74 +f 62 30 74 +f 55 62 74 +f 38 32 75 +f 55 38 75 +f 42 55 75 +f 33 58 76 +f 71 33 76 +f 58 71 76 +f 34 39 77 +f 45 34 77 +f 35 45 77 +f 63 35 77 +f 39 63 77 +f 36 41 78 +f 60 36 78 +f 41 70 78 +f 70 60 78 +f 41 36 79 +f 59 41 79 +f 36 68 79 +f 68 59 79 +f 43 41 80 +f 41 59 80 +f 59 48 80 +f 67 43 80 +f 48 67 80 +f 32 50 81 +f 62 42 81 +f 50 62 81 +f 75 32 81 +f 42 75 81 +f 31 53 82 +f 53 35 82 +f 35 57 82 +f 57 38 82 +f 74 31 82 +f 38 74 82 +f 49 37 83 +f 30 51 84 +f 51 45 84 +f 45 53 84 +f 65 49 85 +f 68 40 85 +f 49 83 85 +f 83 68 85 +f 40 47 86 +f 47 65 86 +f 85 40 86 +f 65 85 86 +f 30 62 87 +f 70 30 87 +f 46 70 87 +f 33 46 88 +f 62 50 88 +f 72 33 88 +f 50 72 88 +f 87 62 88 +f 46 87 88 +f 39 34 89 +f 34 44 89 +f 44 39 89 +f 37 29 90 +f 44 68 90 +f 29 73 90 +f 73 44 90 +f 83 37 90 +f 68 83 90 +f 35 56 91 +f 56 37 91 +f 57 35 91 +f 37 61 91 +f 61 57 91 +f 31 30 92 +f 53 31 92 +f 30 84 92 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/166/166.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/166/166.urdf new file mode 100644 index 000000000..51babccec --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/166/166.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/167/167.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/167/167.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/167/167.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/167/167.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/167/167.obj new file mode 100644 index 000000000..e76a7785e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/167/167.obj @@ -0,0 +1,1716 @@ +o convex_0 +v -0.259001 0.214074 -2.119193 +v -0.214160 0.214074 -0.008195 +v -0.218238 0.214074 -0.008195 +v -0.222320 0.226303 -1.984716 +v -0.254919 0.226303 -1.674916 +v -0.214160 0.218150 -2.143701 +v -0.238612 0.209997 -0.146862 +v -0.250845 0.209997 -2.148099 +v -0.214160 0.209997 -0.130524 +v -0.242694 0.222226 -0.615647 +v -0.259001 0.226303 -2.143701 +v -0.214160 0.218150 -0.118374 +v -0.238612 0.218150 -0.155031 +f 3 12 13 +f 5 1 7 +f 7 1 8 +f 7 8 9 +f 2 3 9 +f 6 2 9 +f 3 7 9 +f 8 6 9 +f 4 5 10 +f 1 5 11 +f 5 4 11 +f 4 6 11 +f 6 8 11 +f 8 1 11 +f 3 2 12 +f 2 6 12 +f 6 4 12 +f 4 10 12 +f 12 10 13 +f 7 3 13 +f 5 7 13 +f 10 5 13 +o convex_1 +v 0.311669 0.112163 1.826397 +v 0.169036 -0.299554 1.761175 +v 0.169036 -0.299554 1.826397 +v 0.181269 -0.299554 1.761175 +v 0.299450 0.103982 1.761175 +v 0.307605 0.095841 1.761175 +v 0.181269 -0.291373 1.826397 +v 0.303527 0.108053 1.826397 +v 0.311669 0.103982 1.826397 +f 20 17 22 +f 16 15 17 +f 15 16 18 +f 17 15 18 +f 18 14 19 +f 17 18 19 +f 14 16 20 +f 16 17 20 +f 16 14 21 +f 14 18 21 +f 18 16 21 +f 19 14 22 +f 17 19 22 +f 14 20 22 +o convex_2 +v -0.275303 -0.014239 -0.199743 +v -0.283452 -0.287325 -0.749846 +v -0.242696 -0.283243 -1.548672 +v -0.222319 0.046916 -0.864106 +v -0.303829 -0.270997 -0.203882 +v -0.218239 -0.075395 -1.511910 +v -0.222319 -0.279123 -1.801368 +v -0.311988 -0.279161 -0.256873 +v -0.254925 0.091781 -0.199577 +v -0.226398 0.050998 -0.998734 +v -0.226398 -0.270959 -1.882840 +v -0.254925 0.059125 -0.199577 +v -0.214170 -0.116103 -1.487402 +v -0.259004 0.091781 -0.211997 +v -0.214170 -0.075395 -1.511910 +v -0.307909 -0.287325 -0.199743 +v -0.307909 -0.234296 -0.208022 +v -0.222319 -0.279123 -1.891120 +v -0.222319 0.050998 -0.998734 +f 37 32 41 +f 24 25 29 +f 25 24 30 +f 28 30 32 +f 25 30 33 +f 30 28 33 +f 26 31 34 +f 27 29 35 +f 34 27 35 +f 26 34 35 +f 23 31 36 +f 28 32 37 +f 33 28 37 +f 26 35 37 +f 24 29 38 +f 29 27 38 +f 30 24 38 +f 31 23 38 +f 27 34 38 +f 34 31 38 +f 32 30 39 +f 23 36 39 +f 36 32 39 +f 30 38 39 +f 38 23 39 +f 29 25 40 +f 25 33 40 +f 35 29 40 +f 33 37 40 +f 37 35 40 +f 31 26 41 +f 36 31 41 +f 32 36 41 +f 26 37 41 +o convex_3 +v 0.164892 -0.279174 1.859008 +v -0.197854 -0.283251 1.712258 +v -0.197854 -0.279174 1.712258 +v 0.169022 -0.299552 1.712258 +v 0.160834 -0.299552 1.859008 +v 0.099676 -0.291399 1.712258 +v 0.095582 -0.299552 1.712258 +v -0.161152 -0.287327 1.732641 +f 43 48 49 +f 43 44 45 +f 45 42 46 +f 44 42 47 +f 45 44 47 +f 42 45 47 +f 43 45 48 +f 45 46 48 +f 48 46 49 +f 42 44 49 +f 44 43 49 +f 46 42 49 +o convex_4 +v -0.205989 0.148851 1.769230 +v 0.169022 0.157004 1.871238 +v 0.169022 0.144775 1.871238 +v -0.214139 0.157004 1.402451 +v -0.218232 0.140698 1.646985 +v -0.218232 0.140698 1.850726 +v -0.042914 0.157004 1.863024 +v 0.169022 0.140698 1.863024 +v -0.214139 0.152927 1.402451 +v -0.218232 0.157004 1.524833 +f 58 54 59 +f 52 51 56 +f 51 53 56 +f 55 52 56 +f 50 55 56 +f 51 52 57 +f 53 51 57 +f 52 55 57 +f 55 54 57 +f 53 57 58 +f 57 54 58 +f 54 55 59 +f 55 50 59 +f 56 53 59 +f 50 56 59 +f 53 58 59 +o convex_5 +v -0.254924 0.205889 -1.809566 +v -0.222317 -0.107932 -2.205034 +v -0.226395 -0.099746 -2.205034 +v -0.234543 0.156993 -0.415797 +v -0.246768 0.181457 -2.147763 +v -0.230469 0.193657 -0.436288 +v -0.214161 -0.067159 -1.524437 +v -0.218243 -0.107932 -1.512177 +v -0.218243 -0.095700 -2.205034 +v -0.242694 0.205889 -0.619836 +v -0.254924 0.209966 -2.147763 +v -0.214161 -0.107932 -1.512177 +v -0.234543 0.209966 -0.664672 +v -0.254924 0.173302 -2.143734 +v -0.222317 -0.075314 -1.520409 +v -0.230469 0.156993 -0.415797 +v -0.250846 0.209966 -2.147763 +v -0.238617 0.209966 -0.415797 +v -0.214161 -0.103854 -1.903266 +f 71 61 78 +f 62 61 67 +f 61 62 68 +f 68 62 70 +f 67 61 71 +f 63 67 71 +f 65 64 72 +f 60 70 73 +f 70 62 73 +f 62 67 74 +f 67 63 74 +f 69 60 74 +f 63 69 74 +f 60 73 74 +f 73 62 74 +f 66 65 75 +f 63 71 75 +f 71 66 75 +f 64 68 76 +f 68 70 76 +f 72 64 76 +f 70 72 76 +f 60 69 77 +f 69 63 77 +f 70 60 77 +f 65 72 77 +f 72 70 77 +f 63 75 77 +f 75 65 77 +f 64 65 78 +f 65 66 78 +f 61 68 78 +f 68 64 78 +f 66 71 78 +o convex_6 +v -0.218236 0.197760 0.432521 +v -0.234542 0.157004 -0.415627 +v -0.230466 0.157004 -0.415627 +v -0.214160 0.157004 1.414680 +v -0.242695 0.197760 -0.211742 +v -0.214160 0.209997 -0.019860 +v -0.246771 0.157004 -0.175014 +v -0.226389 0.169241 1.182129 +v -0.238618 0.209997 -0.415627 +v -0.234542 0.209997 0.069541 +v -0.222313 0.157004 1.406439 +v -0.230466 0.193683 -0.415627 +v -0.214160 0.157004 1.292134 +f 84 82 91 +f 80 81 82 +f 79 82 84 +f 80 82 85 +f 83 85 86 +f 82 79 86 +f 81 80 87 +f 80 85 87 +f 85 83 87 +f 79 84 88 +f 83 86 88 +f 86 79 88 +f 84 87 88 +f 87 83 88 +f 85 82 89 +f 86 85 89 +f 82 86 89 +f 84 81 90 +f 81 87 90 +f 87 84 90 +f 82 81 91 +f 81 84 91 +o convex_7 +v 0.307597 0.087701 1.846785 +v 0.169022 -0.299554 1.826397 +v 0.169022 -0.299554 1.859001 +v 0.169022 0.112123 1.859001 +v 0.311675 0.112163 1.883461 +v 0.307597 0.112163 1.826403 +v 0.169022 0.050946 1.830480 +v 0.201644 -0.234306 1.867151 +v 0.181256 -0.291332 1.826397 +v 0.299442 0.063197 1.883461 +f 95 99 101 +f 93 94 95 +f 96 92 97 +f 95 96 97 +f 93 95 98 +f 97 93 98 +f 95 97 98 +f 95 94 99 +f 94 93 100 +f 93 97 100 +f 97 92 100 +f 92 99 100 +f 99 94 100 +f 92 96 101 +f 96 95 101 +f 99 92 101 +o convex_8 +v 0.266862 0.103994 0.721894 +v 0.230176 -0.124268 1.728414 +v 0.230176 -0.107929 1.557184 +v 0.307620 0.103994 1.675407 +v 0.234247 -0.030492 0.750382 +v 0.299462 0.103994 1.761174 +v 0.230176 -0.103879 1.736553 +v 0.279084 0.108067 0.730034 +v 0.230176 -0.010126 0.758521 +v 0.234247 -0.124268 1.728414 +v 0.307620 0.112163 1.761174 +v 0.275005 0.112163 0.905231 +v 0.230176 -0.026442 0.721894 +v 0.234247 -0.124268 1.761174 +v 0.299462 0.071385 1.761174 +f 115 111 116 +f 104 103 108 +f 105 106 109 +f 104 108 110 +f 103 104 111 +f 106 105 111 +f 104 106 111 +f 105 109 112 +f 108 107 113 +f 109 102 113 +f 102 110 113 +f 110 108 113 +f 107 112 113 +f 112 109 113 +f 106 104 114 +f 102 109 114 +f 109 106 114 +f 110 102 114 +f 104 110 114 +f 108 103 115 +f 107 108 115 +f 103 111 115 +f 112 107 115 +f 112 115 116 +f 111 105 116 +f 105 112 116 +o convex_9 +v 0.270930 0.165156 -0.126396 +v 0.250550 0.112167 -2.156252 +v 0.250550 0.132542 -2.156252 +v 0.254628 0.112167 0.040931 +v 0.258704 0.185531 -0.126396 +v 0.262778 0.152932 -2.021616 +v 0.262776 0.112167 -0.325983 +v 0.270930 0.181452 -0.411797 +v 0.250550 0.116246 -1.096374 +v 0.258704 0.124398 -2.062480 +v 0.254628 0.148853 -2.156252 +v 0.266854 0.128477 -0.187476 +v 0.266854 0.148853 0.040931 +v 0.254628 0.128477 0.040931 +v 0.258704 0.157004 -1.935803 +v 0.254628 0.112167 -2.156252 +v 0.270930 0.169228 -0.522129 +f 128 122 133 +f 120 118 123 +f 121 117 124 +f 119 118 125 +f 118 120 125 +f 121 119 125 +f 118 119 127 +f 119 121 127 +f 120 123 128 +f 126 122 128 +f 123 126 128 +f 117 121 129 +f 128 117 129 +f 120 128 129 +f 125 120 130 +f 121 125 130 +f 129 121 130 +f 120 129 130 +f 121 124 131 +f 124 122 131 +f 127 121 131 +f 122 127 131 +f 123 118 132 +f 122 126 132 +f 126 123 132 +f 118 127 132 +f 127 122 132 +f 124 117 133 +f 122 124 133 +f 117 128 133 +o convex_10 +v 0.254627 0.112167 0.212145 +v 0.303544 0.148847 1.157866 +v 0.303544 0.144768 1.157866 +v 0.270936 0.148847 0.085866 +v 0.258711 0.112167 0.040931 +v 0.262786 0.148847 0.130693 +v 0.283160 0.112167 1.121131 +v 0.291310 0.112167 1.072259 +v 0.295384 0.148847 1.157866 +f 139 140 142 +f 135 136 137 +f 135 137 139 +f 138 134 139 +f 137 138 139 +f 134 138 140 +f 139 134 140 +f 137 136 141 +f 138 137 141 +f 136 140 141 +f 140 138 141 +f 136 135 142 +f 135 139 142 +f 140 136 142 +o convex_11 +v 0.014134 0.156999 1.863081 +v 0.283150 0.169233 1.883461 +v 0.283150 0.169233 1.875301 +v 0.283150 0.112163 1.871224 +v 0.173105 0.169233 1.826403 +v 0.168997 0.112163 1.854932 +v 0.132342 0.169227 1.875312 +f 144 147 149 +f 145 144 146 +f 144 145 147 +f 145 146 147 +f 146 143 148 +f 143 147 148 +f 147 146 148 +f 146 144 149 +f 143 146 149 +f 147 143 149 +o convex_12 +v 0.173111 0.193691 1.157938 +v 0.283150 0.177387 1.883325 +v 0.250541 0.177387 1.883325 +v 0.283150 0.181462 1.157938 +v 0.169022 0.169233 1.716217 +v 0.283150 0.169233 1.879277 +v 0.283150 0.185537 1.724384 +v 0.169022 0.173313 1.838512 +v 0.169022 0.185537 1.157938 +v 0.169022 0.193691 1.292447 +v 0.283150 0.185537 1.157938 +v 0.226086 0.181462 1.157938 +f 154 158 161 +f 151 152 155 +f 153 151 155 +f 154 153 155 +f 152 151 156 +f 151 153 156 +f 155 152 157 +f 154 155 157 +f 150 153 158 +f 154 157 158 +f 158 157 159 +f 156 150 159 +f 152 156 159 +f 157 152 159 +f 150 158 159 +f 153 150 160 +f 150 156 160 +f 156 153 160 +f 153 154 161 +f 158 153 161 +o convex_13 +v 0.299474 0.185517 1.748908 +v 0.307633 0.112170 1.797834 +v 0.287249 0.112184 1.157866 +v 0.315766 0.181446 1.186436 +v 0.336150 0.173296 1.858973 +v 0.283162 0.177375 1.883401 +v 0.283162 0.185517 1.157866 +v 0.283162 0.112170 1.875258 +v 0.315760 0.112170 1.883401 +v 0.295392 0.116256 1.162009 +v 0.336150 0.181453 1.887472 +f 167 170 172 +f 167 162 168 +f 167 168 169 +f 164 163 169 +f 168 164 169 +f 163 164 170 +f 167 169 170 +f 169 163 170 +f 165 166 171 +f 164 168 171 +f 168 165 171 +f 170 164 171 +f 166 170 171 +f 166 165 172 +f 162 167 172 +f 165 168 172 +f 168 162 172 +f 170 166 172 +o convex_14 +v -0.222313 -0.148750 -1.512251 +v -0.206010 -0.279172 -2.237638 +v -0.210086 -0.258761 -2.233590 +v -0.214158 -0.107996 -1.944188 +v -0.222313 -0.112068 -2.209160 +v -0.222313 -0.279172 -1.968690 +v -0.210086 -0.116140 -1.577518 +v -0.201935 -0.266922 -2.156180 +v -0.218233 -0.279172 -1.878993 +v -0.201935 -0.250617 -2.217327 +v -0.222313 -0.116140 -1.512251 +v -0.214158 -0.136517 -2.213208 +v -0.218233 -0.152822 -1.516370 +f 179 183 185 +f 174 175 177 +f 175 174 178 +f 173 177 178 +f 177 175 178 +f 178 174 181 +f 173 178 181 +f 174 180 181 +f 176 179 182 +f 180 174 182 +f 179 180 182 +f 177 173 183 +f 176 177 183 +f 179 176 183 +f 177 176 184 +f 174 177 184 +f 176 182 184 +f 182 174 184 +f 180 179 185 +f 181 180 185 +f 173 181 185 +f 183 173 185 +o convex_15 +v -0.316070 -0.287319 -0.187202 +v -0.197854 -0.271022 1.715965 +v -0.197854 -0.283243 1.715965 +v -0.197854 -0.287319 -0.170701 +v -0.307912 -0.266943 -0.199577 +v -0.222328 -0.266943 1.691401 +v -0.201939 -0.291399 0.664817 +v -0.197854 -0.266943 1.707714 +v -0.222328 -0.283243 1.703589 +v -0.287523 -0.291399 -0.130200 +v -0.311974 -0.266943 -0.073012 +v -0.197854 -0.291399 -0.170701 +v -0.267145 -0.287319 0.835633 +v -0.316070 -0.287319 -0.101512 +v -0.197854 -0.287319 1.385770 +f 198 192 200 +f 187 188 189 +f 187 189 193 +f 189 190 193 +f 191 187 193 +f 190 191 193 +f 188 187 194 +f 187 191 194 +f 190 186 196 +f 191 190 196 +f 189 188 197 +f 186 190 197 +f 190 189 197 +f 192 195 197 +f 195 186 197 +f 195 192 198 +f 194 191 199 +f 186 195 199 +f 196 186 199 +f 191 196 199 +f 198 194 199 +f 195 198 199 +f 188 194 200 +f 197 188 200 +f 192 197 200 +f 194 198 200 +o convex_16 +v -0.254924 0.116229 -0.199655 +v -0.226389 0.051028 -0.998553 +v -0.230466 0.055104 -0.998553 +v -0.234542 0.156993 -0.998553 +v -0.230466 0.156993 -0.403524 +v -0.254924 0.051028 -0.301629 +v -0.222313 0.051028 -0.851692 +v -0.238618 0.156993 -0.998553 +v -0.246771 0.156993 -0.199655 +v -0.250848 0.083639 -0.207866 +v -0.254924 0.051028 -0.395313 +v -0.226389 0.144764 -0.538029 +v -0.222313 0.059180 -0.998553 +v -0.242695 0.136611 -0.199655 +v -0.238618 0.132535 -0.998553 +f 211 208 215 +f 202 203 204 +f 206 202 207 +f 204 203 208 +f 205 204 208 +f 208 201 209 +f 205 208 209 +f 201 206 210 +f 206 207 210 +f 203 202 211 +f 202 206 211 +f 206 201 211 +f 201 208 211 +f 204 205 212 +f 205 207 212 +f 212 207 213 +f 202 204 213 +f 207 202 213 +f 204 212 213 +f 207 205 214 +f 205 209 214 +f 209 201 214 +f 201 210 214 +f 210 207 214 +f 208 203 215 +f 203 211 215 +o convex_17 +v -0.197854 -0.287326 1.422664 +v 0.169022 -0.295476 1.712258 +v 0.099676 -0.291401 1.712258 +v 0.169022 -0.299553 -0.244417 +v 0.164928 -0.303628 1.198573 +v -0.165210 -0.295476 -0.179106 +v -0.193760 -0.279174 1.381868 +v -0.197854 -0.287326 -0.170870 +v 0.079314 -0.303630 -0.227946 +v 0.091524 -0.299551 1.704022 +v -0.157058 -0.279174 1.712258 +v 0.083408 -0.295476 -0.227946 +v -0.197854 -0.291401 0.701551 +v -0.197854 -0.283251 1.712258 +v 0.169022 -0.295476 1.129239 +v 0.169022 -0.303628 -0.244417 +v -0.161152 -0.287326 -0.179106 +v -0.112240 -0.295476 0.701551 +v 0.169022 -0.299553 1.712258 +v -0.161152 -0.287326 1.712258 +v -0.197854 -0.291401 -0.170870 +f 221 228 236 +f 220 221 224 +f 217 218 226 +f 219 224 227 +f 222 226 227 +f 216 223 228 +f 225 216 228 +f 223 216 229 +f 222 223 229 +f 217 226 229 +f 226 222 229 +f 218 217 230 +f 217 219 230 +f 226 218 230 +f 219 227 230 +f 227 226 230 +f 219 217 231 +f 224 219 231 +f 220 224 231 +f 221 223 232 +f 223 222 232 +f 224 221 232 +f 222 227 232 +f 227 224 232 +f 221 220 233 +f 220 225 233 +f 228 221 233 +f 225 228 233 +f 225 220 234 +f 217 229 234 +f 231 217 234 +f 220 231 234 +f 216 225 235 +f 229 216 235 +f 225 234 235 +f 234 229 235 +f 223 221 236 +f 228 223 236 +o convex_18 +v 0.230168 -0.091691 1.479922 +v 0.181252 -0.291379 1.410638 +v 0.197566 -0.189467 1.235318 +v 0.177180 -0.266925 1.752990 +v 0.230168 -0.136506 1.761175 +v 0.230168 -0.087618 1.235318 +v 0.201643 -0.144651 1.235318 +v 0.226081 -0.116145 1.732607 +v 0.185329 -0.291379 1.410638 +v 0.181252 -0.291379 1.761175 +v 0.226081 -0.071308 1.263886 +v 0.181252 -0.270997 1.410638 +v 0.185329 -0.291379 1.577773 +f 246 245 249 +f 237 241 242 +f 242 239 243 +f 241 237 244 +f 240 241 244 +f 238 239 245 +f 242 241 245 +f 239 242 245 +f 240 238 246 +f 241 240 246 +f 238 245 246 +f 237 242 247 +f 242 243 247 +f 243 240 247 +f 244 237 247 +f 240 244 247 +f 239 238 248 +f 238 240 248 +f 243 239 248 +f 240 243 248 +f 245 241 249 +f 241 246 249 +o convex_19 +v -0.197854 0.055072 1.814175 +v 0.169022 0.140698 1.867153 +v 0.169022 0.132512 1.867153 +v 0.067068 -0.042723 1.793798 +v 0.156776 -0.046817 1.838615 +v -0.197854 0.132512 1.850848 +v -0.197854 -0.046817 1.789717 +v 0.169022 0.042866 1.826391 +v -0.116298 0.140698 1.846768 +v -0.181514 -0.042723 1.781565 +v 0.156776 0.140698 1.859000 +v 0.169022 -0.046817 1.834543 +v 0.120038 0.136587 1.867153 +f 255 254 262 +f 254 255 256 +f 255 250 256 +f 251 252 257 +f 255 251 258 +f 250 255 258 +f 256 250 259 +f 253 256 259 +f 257 253 259 +f 250 258 259 +f 251 257 260 +f 258 251 260 +f 257 259 260 +f 259 258 260 +f 252 254 261 +f 254 256 261 +f 256 253 261 +f 257 252 261 +f 253 257 261 +f 252 251 262 +f 254 252 262 +f 251 255 262 +o convex_20 +v 0.095628 0.177384 -2.152176 +v 0.258703 0.181459 -0.472696 +v 0.258703 0.177384 -0.472696 +v -0.075562 0.193688 -2.143791 +v 0.254613 0.148856 -1.862508 +v 0.169018 0.185534 -0.472696 +v 0.091570 0.197768 -1.002712 +v 0.258703 0.152931 -2.152176 +v -0.038818 0.197768 -2.139846 +v 0.054892 0.197768 -1.006822 +v 0.230139 0.148856 -2.152176 +v 0.246466 0.157010 -2.078690 +v 0.254613 0.173309 -0.476806 +v 0.205697 0.189613 -0.493410 +v 0.054892 0.193688 -1.006822 +v -0.075562 0.197768 -2.147901 +f 273 266 278 +f 265 264 268 +f 266 267 268 +f 264 265 270 +f 265 267 270 +f 269 271 272 +f 267 266 273 +f 263 270 273 +f 270 267 273 +f 270 263 274 +f 264 270 274 +f 263 271 274 +f 267 265 275 +f 265 268 275 +f 268 267 275 +f 268 264 276 +f 271 269 276 +f 272 268 276 +f 269 272 276 +f 264 274 276 +f 274 271 276 +f 266 268 277 +f 272 266 277 +f 268 272 277 +f 271 263 278 +f 266 272 278 +f 272 271 278 +f 263 273 278 +o convex_21 +v -0.214160 0.214073 -0.982163 +v 0.079327 0.197770 -0.126369 +v 0.034482 0.201845 -0.126369 +v -0.201893 0.209996 -0.126369 +v 0.058930 0.193695 -0.982163 +v -0.161157 0.218150 -0.982163 +v -0.197842 0.218150 -0.126369 +v 0.071168 0.201845 -0.941363 +v 0.030403 0.193695 -0.126369 +v 0.079327 0.193695 -0.982163 +v -0.201893 0.209996 -0.297528 +v -0.214160 0.218150 -0.982163 +v 0.079327 0.193695 -0.126369 +v -0.214160 0.218150 -0.126369 +f 285 290 292 +f 280 281 282 +f 283 279 284 +f 282 281 285 +f 281 280 286 +f 284 285 286 +f 285 281 286 +f 280 282 287 +f 287 283 288 +f 283 284 288 +f 286 280 288 +f 284 286 288 +f 282 279 289 +f 279 283 289 +f 287 282 289 +f 283 287 289 +f 284 279 290 +f 285 284 290 +f 280 287 291 +f 287 288 291 +f 288 280 291 +f 279 282 292 +f 282 285 292 +f 290 279 292 +o convex_22 +v 0.079362 0.193690 -0.982163 +v 0.169022 0.189616 0.762455 +v 0.164933 0.193690 0.762455 +v 0.018195 0.197766 0.762455 +v 0.144544 0.181464 -0.982163 +v 0.120095 0.197766 -0.757938 +v 0.050838 0.201844 0.762455 +v 0.160858 0.185540 0.762455 +v 0.169007 0.185540 -0.982163 +v 0.018195 0.201844 -0.126078 +v 0.030449 0.193690 0.036840 +v 0.169007 0.193690 -0.570429 +v 0.042688 0.193690 0.737864 +v 0.091586 0.197766 -0.982163 +v 0.169007 0.181464 -0.774162 +v 0.087511 0.189616 -0.982163 +v 0.018195 0.197766 -0.126078 +v 0.018195 0.201844 0.762455 +f 299 302 310 +f 294 295 296 +f 296 295 299 +f 295 298 299 +f 294 296 300 +f 297 293 301 +f 299 298 302 +f 295 294 304 +f 298 295 304 +f 294 301 304 +f 301 298 304 +f 300 296 305 +f 297 300 305 +f 303 297 305 +f 296 303 305 +f 301 293 306 +f 298 301 306 +f 293 302 306 +f 302 298 306 +f 294 300 307 +f 300 297 307 +f 297 301 307 +f 301 294 307 +f 293 297 308 +f 297 303 308 +f 308 303 309 +f 302 293 309 +f 296 302 309 +f 303 296 309 +f 293 308 309 +f 296 299 310 +f 302 296 310 +o convex_23 +v -0.210034 0.181462 0.754403 +v 0.169022 0.169233 1.862976 +v 0.169022 0.165158 1.862976 +v -0.214160 0.161083 1.422694 +v -0.210034 0.157004 1.300604 +v 0.164934 0.181462 1.614347 +v 0.169022 0.177383 1.492041 +v 0.010026 0.161083 1.858961 +v -0.214160 0.181462 0.876709 +v -0.210034 0.177383 0.754403 +v 0.075215 0.157004 1.854837 +v -0.214160 0.157004 1.422694 +v 0.169022 0.181462 1.492041 +v 0.014114 0.157004 1.862976 +v 0.164934 0.173308 1.830419 +f 316 318 325 +f 312 313 317 +f 318 316 319 +f 316 311 319 +f 314 318 319 +f 311 317 320 +f 319 311 320 +f 320 317 321 +f 317 313 321 +f 315 320 321 +f 315 321 322 +f 318 314 322 +f 314 319 322 +f 319 320 322 +f 320 315 322 +f 311 316 323 +f 316 312 323 +f 312 317 323 +f 317 311 323 +f 313 312 324 +f 312 318 324 +f 321 313 324 +f 322 321 324 +f 318 322 324 +f 312 316 325 +f 318 312 325 +o convex_24 +v -0.226389 0.014259 0.762576 +v -0.226389 -0.266901 1.483859 +v -0.222313 -0.266901 1.483859 +v -0.222313 0.148822 1.651047 +v -0.218237 0.156996 1.198701 +v -0.218236 -0.266901 1.691691 +v -0.222313 -0.042795 0.770779 +v -0.226389 0.156955 1.202756 +v -0.222313 0.156955 0.750226 +v -0.218237 0.148822 1.651047 +v -0.218237 -0.160927 1.231235 +v -0.226389 -0.262793 1.581646 +v -0.226389 0.156955 0.750226 +v -0.222313 -0.266901 1.691691 +v -0.226389 -0.046861 0.778889 +f 332 328 340 +f 327 328 331 +f 326 327 333 +f 332 326 334 +f 329 331 335 +f 331 330 335 +f 333 329 335 +f 330 333 335 +f 331 328 336 +f 330 331 336 +f 328 332 336 +f 334 330 336 +f 332 334 336 +f 333 327 337 +f 329 333 337 +f 326 333 338 +f 333 330 338 +f 330 334 338 +f 334 326 338 +f 327 331 339 +f 331 329 339 +f 337 327 339 +f 329 337 339 +f 327 326 340 +f 328 327 340 +f 326 332 340 +o convex_25 +v 0.254627 0.112143 -1.128998 +v 0.213863 -0.099789 -2.176532 +v 0.213863 -0.079413 -2.176532 +v 0.254627 0.112143 -2.156126 +v 0.226093 -0.083480 -1.128998 +v 0.213863 -0.095722 -1.235125 +v 0.246471 0.108076 -2.009394 +v 0.222019 -0.087568 -2.119418 +v 0.254627 0.087700 -1.296238 +v 0.246471 0.091767 -1.128998 +v 0.246471 0.055103 -2.160228 +v 0.222019 -0.099789 -1.128998 +v 0.246471 0.108076 -2.156126 +v 0.217941 -0.075326 -1.133202 +v 0.254627 0.087700 -1.128998 +f 349 341 355 +f 343 342 346 +f 343 346 347 +f 341 344 347 +f 344 341 349 +f 345 341 350 +f 347 346 350 +f 341 347 350 +f 342 343 351 +f 343 344 351 +f 348 342 351 +f 345 348 351 +f 349 345 351 +f 344 349 351 +f 346 342 352 +f 342 348 352 +f 348 345 352 +f 345 350 352 +f 344 343 353 +f 343 347 353 +f 347 344 353 +f 350 346 354 +f 346 352 354 +f 352 350 354 +f 341 345 355 +f 345 349 355 +o convex_26 +v 0.238315 -0.054985 -0.256647 +v 0.189407 -0.324012 -1.128998 +v 0.193484 -0.324012 -1.128998 +v 0.230167 -0.034616 -1.128998 +v 0.209787 -0.303614 -0.293365 +v 0.205710 -0.266926 -0.260746 +v 0.222013 -0.050906 -1.067773 +v 0.230167 -0.054985 -1.128998 +v 0.234244 -0.042746 -0.281154 +v 0.242392 -0.050906 -0.285253 +v 0.189407 -0.299535 -1.112688 +v 0.201638 -0.307665 -0.256647 +v 0.197561 -0.307665 -1.116701 +v 0.242392 -0.034616 -0.256732 +v 0.226090 -0.034616 -1.128998 +f 369 359 370 +f 358 357 359 +f 358 359 363 +f 361 356 364 +f 362 361 364 +f 363 359 365 +f 360 363 365 +f 361 362 366 +f 357 358 367 +f 358 360 367 +f 356 361 367 +f 366 357 367 +f 361 366 367 +f 360 358 368 +f 358 363 368 +f 363 360 368 +f 364 356 369 +f 360 365 369 +f 365 359 369 +f 356 367 369 +f 367 360 369 +f 359 357 370 +f 362 364 370 +f 357 366 370 +f 366 362 370 +f 364 369 370 +o convex_27 +v 0.250548 0.010258 -0.256647 +v 0.226092 -0.034587 -1.128998 +v 0.226092 -0.026428 -1.128998 +v 0.258700 0.108080 -1.100392 +v 0.254628 0.112160 -0.256647 +v 0.238323 -0.014190 -0.256647 +v 0.250548 0.112160 -1.128998 +v 0.234247 -0.030508 -1.128998 +v 0.262780 0.112160 -0.256647 +v 0.242396 -0.034587 -0.431954 +v 0.246472 0.083618 -0.570628 +v 0.226092 -0.030508 -0.965901 +v 0.238323 -0.034587 -0.256647 +f 376 382 383 +f 371 375 376 +f 372 373 377 +f 372 377 378 +f 377 374 378 +f 371 374 379 +f 375 371 379 +f 374 377 379 +f 377 375 379 +f 374 371 380 +f 378 374 380 +f 372 378 380 +f 377 373 381 +f 375 377 381 +f 373 372 382 +f 376 375 382 +f 381 373 382 +f 375 381 382 +f 371 376 383 +f 380 371 383 +f 372 380 383 +f 382 372 383 +o convex_28 +v 0.169022 -0.299554 1.761175 +v 0.209786 -0.291401 -0.130237 +v 0.201630 -0.291401 0.428338 +v 0.169022 -0.299554 -0.244401 +v 0.209786 -0.307707 -0.240253 +v 0.181256 -0.291401 1.761175 +v 0.169022 -0.303629 -0.244401 +v 0.185334 -0.303629 1.410387 +v 0.169022 -0.303629 1.263830 +v 0.177178 -0.291401 1.500256 +v 0.205708 -0.291401 -0.256647 +f 387 393 394 +f 385 386 388 +f 386 385 389 +f 384 387 390 +f 388 386 391 +f 386 389 391 +f 389 384 391 +f 391 384 392 +f 384 390 392 +f 390 388 392 +f 388 391 392 +f 387 384 393 +f 389 385 393 +f 384 389 393 +f 385 388 394 +f 390 387 394 +f 388 390 394 +f 393 385 394 +o convex_29 +v -0.226390 0.075434 0.310284 +v -0.234542 -0.266901 1.324720 +v -0.234542 -0.250595 1.271744 +v -0.230466 0.156962 0.754332 +v -0.234542 0.152855 -0.020074 +v -0.226390 -0.262752 1.500167 +v -0.226390 0.156962 0.754332 +v -0.234542 0.156962 0.306117 +v -0.234542 -0.262752 1.422786 +v -0.230466 -0.266901 1.324720 +v -0.230466 0.152855 -0.020074 +v -0.226390 0.156962 0.301950 +v -0.226390 -0.258727 1.377697 +v -0.230466 -0.262752 1.500167 +f 403 396 408 +f 397 396 399 +f 398 400 401 +f 400 395 401 +f 399 396 402 +f 398 401 402 +f 398 402 403 +f 402 396 403 +f 396 397 404 +f 400 396 404 +f 397 399 405 +f 404 397 405 +f 401 395 406 +f 399 402 406 +f 402 401 406 +f 405 399 406 +f 395 405 406 +f 395 400 407 +f 400 404 407 +f 405 395 407 +f 404 405 407 +f 396 400 408 +f 400 398 408 +f 398 403 408 +o convex_30 +v 0.169022 0.189615 -0.472696 +v 0.258702 0.185539 1.157866 +v 0.230155 0.189615 1.157866 +v 0.169022 0.185539 1.157866 +v 0.258702 0.177386 -0.472696 +v 0.258702 0.185539 -0.277016 +v 0.173104 0.193691 1.092586 +v 0.226082 0.181462 1.157866 +v 0.230155 0.177386 -0.472696 +v 0.217926 0.189615 -0.386986 +v 0.169022 0.185539 -0.472696 +v 0.258702 0.181462 1.157866 +f 416 413 420 +f 410 411 412 +f 410 413 414 +f 411 410 414 +f 412 411 415 +f 409 412 415 +f 410 412 416 +f 413 416 417 +f 409 413 417 +f 416 412 417 +f 413 409 418 +f 414 413 418 +f 411 414 418 +f 415 411 418 +f 409 415 418 +f 412 409 419 +f 409 417 419 +f 417 412 419 +f 413 410 420 +f 410 416 420 +o convex_31 +v 0.205710 -0.132400 1.235318 +v 0.205710 -0.189491 0.721691 +v 0.205710 -0.165002 0.721691 +v 0.230168 -0.087595 1.214906 +v 0.226092 -0.022374 0.721691 +v 0.201633 -0.189491 1.235318 +v 0.213863 -0.169092 0.721691 +v 0.230168 -0.046846 0.721691 +v 0.197557 -0.169092 1.218978 +v 0.226092 -0.067213 1.223051 +v 0.209786 -0.189491 0.831797 +v 0.222015 -0.038684 0.733958 +v 0.230168 -0.071302 1.235318 +f 425 430 433 +f 422 423 425 +f 422 425 427 +f 424 427 428 +f 427 425 428 +f 423 422 429 +f 426 421 429 +f 422 426 429 +f 425 421 430 +f 426 422 431 +f 424 426 431 +f 427 424 431 +f 422 427 431 +f 421 425 432 +f 425 423 432 +f 423 429 432 +f 429 421 432 +f 421 426 433 +f 426 424 433 +f 424 428 433 +f 428 425 433 +f 430 421 433 +o convex_32 +v 0.299461 0.173305 0.692978 +v 0.311696 0.181456 1.157866 +v 0.287230 0.185539 1.157866 +v 0.299461 0.148855 1.157866 +v 0.258708 0.185539 -0.125950 +v 0.258708 0.181456 1.157866 +v 0.262785 0.148855 -0.125950 +v 0.275016 0.181456 -0.117907 +v 0.303538 0.148855 1.080196 +v 0.262785 0.148855 0.089967 +v 0.266862 0.148855 -0.125950 +v 0.258708 0.185539 1.157866 +f 438 439 445 +f 435 436 437 +f 436 435 438 +f 437 436 439 +f 439 438 440 +f 435 434 441 +f 438 435 441 +f 434 435 442 +f 435 437 442 +f 437 440 442 +f 437 439 443 +f 440 437 443 +f 439 440 443 +f 440 438 444 +f 438 441 444 +f 441 434 444 +f 434 442 444 +f 442 440 444 +f 436 438 445 +f 439 436 445 +o convex_33 +v 0.226093 -0.022394 0.721691 +v 0.217943 -0.189491 -0.256647 +v 0.217943 -0.173162 -0.256647 +v 0.262777 0.112163 -0.256647 +v 0.213871 -0.173162 0.705315 +v 0.254621 0.112163 -0.256647 +v 0.226093 -0.181312 -0.207711 +v 0.258699 0.099909 0.204080 +v 0.205710 -0.164983 0.701197 +v 0.234243 -0.026439 0.721691 +v 0.250543 0.108059 0.171424 +v 0.205710 -0.189491 0.721691 +v 0.262777 0.099909 -0.154657 +v 0.226093 -0.018290 0.640099 +v 0.258699 0.112163 0.204080 +v 0.213871 -0.189491 0.554485 +v 0.226093 -0.181312 -0.252529 +f 458 452 462 +f 447 448 449 +f 449 448 451 +f 448 447 454 +f 451 448 454 +f 452 453 455 +f 454 447 457 +f 446 454 457 +f 455 446 457 +f 450 455 457 +f 453 452 458 +f 454 446 459 +f 451 454 459 +f 446 456 459 +f 456 451 459 +f 449 451 460 +f 446 455 460 +f 455 453 460 +f 456 446 460 +f 451 456 460 +f 458 449 460 +f 453 458 460 +f 447 452 461 +f 455 450 461 +f 452 455 461 +f 457 447 461 +f 450 457 461 +f 447 449 462 +f 452 447 462 +f 449 458 462 +o convex_34 +v -0.218232 -0.266942 1.687831 +v -0.197854 0.140698 1.850835 +v -0.218232 0.140698 1.850835 +v -0.218232 0.140698 1.647055 +v -0.197854 -0.266942 1.712289 +v -0.214157 0.140698 1.647055 +v -0.218232 -0.262833 1.716358 +f 467 464 469 +f 465 464 466 +f 463 465 466 +f 464 467 468 +f 466 464 468 +f 463 466 468 +f 467 463 468 +f 465 463 469 +f 464 465 469 +f 463 467 469 +o convex_35 +v -0.242700 0.156962 -0.081164 +v -0.311986 -0.266901 -0.199426 +v -0.311986 -0.262752 -0.199426 +v -0.238628 -0.266859 1.345230 +v -0.234557 0.152855 -0.101580 +v -0.234542 -0.266859 1.247385 +v -0.303821 -0.266901 -0.199426 +v -0.311994 -0.258727 -0.097497 +v -0.250857 0.140657 -0.199426 +v -0.234557 0.148789 0.024847 +v -0.238628 -0.262752 1.345230 +v -0.242707 0.136549 -0.199426 +v -0.234542 -0.262752 1.345230 +v -0.238628 0.148789 0.024847 +v -0.307907 -0.217984 -0.150579 +f 478 472 484 +f 475 473 476 +f 471 472 476 +f 473 471 476 +f 474 475 476 +f 472 471 477 +f 471 473 477 +f 470 474 478 +f 476 472 478 +f 474 470 479 +f 477 473 480 +f 474 476 481 +f 478 474 481 +f 476 478 481 +f 475 474 482 +f 473 475 482 +f 474 479 482 +f 479 480 482 +f 480 473 482 +f 470 477 483 +f 479 470 483 +f 480 479 483 +f 477 480 483 +f 477 470 484 +f 472 477 484 +f 470 478 484 +o convex_36 +v 0.205705 -0.189509 1.076044 +v 0.205705 -0.291391 -0.256647 +v 0.209782 -0.291391 -0.256647 +v 0.185332 -0.291391 1.410604 +v 0.193483 -0.189509 1.312684 +v 0.217938 -0.189499 -0.256647 +v 0.181258 -0.287311 1.259644 +v 0.222015 -0.213957 -0.224007 +v 0.189406 -0.279162 1.410604 +v 0.213860 -0.205798 -0.256647 +v 0.209782 -0.291391 -0.093447 +v 0.201635 -0.287311 -0.134247 +v 0.201635 -0.193579 1.353484 +v 0.222015 -0.189499 -0.040407 +v 0.189406 -0.209887 1.410604 +f 493 497 499 +f 486 487 488 +f 487 486 490 +f 486 488 491 +f 487 490 492 +f 490 486 494 +f 489 490 494 +f 491 489 494 +f 488 487 495 +f 487 492 495 +f 493 488 495 +f 492 493 495 +f 486 491 496 +f 494 486 496 +f 491 494 496 +f 485 489 497 +f 493 492 497 +f 489 485 498 +f 490 489 498 +f 492 490 498 +f 485 497 498 +f 497 492 498 +f 491 488 499 +f 489 491 499 +f 488 493 499 +f 497 489 499 +o convex_37 +v -0.006301 -0.067218 1.781545 +v -0.197854 -0.279172 1.712270 +v -0.197854 -0.279172 1.716342 +v -0.197854 -0.046817 1.785625 +v -0.006301 -0.279172 1.789697 +v -0.193748 -0.258747 1.708190 +v -0.006301 -0.116141 1.769320 +v -0.006301 -0.046817 1.793777 +v -0.006301 -0.279172 1.781545 +v -0.181521 -0.054982 1.777473 +v -0.185590 -0.050910 1.789697 +v -0.197854 -0.059053 1.785625 +v -0.014439 -0.279172 1.789697 +f 511 502 512 +f 501 502 503 +f 502 501 504 +f 501 503 505 +f 500 504 506 +f 505 500 506 +f 504 500 507 +f 504 501 508 +f 501 505 508 +f 506 504 508 +f 505 506 508 +f 505 503 509 +f 500 505 509 +f 507 500 509 +f 503 507 509 +f 507 503 510 +f 503 502 511 +f 510 503 511 +f 510 511 512 +f 502 504 512 +f 504 507 512 +f 507 510 512 +o convex_38 +v 0.079372 -0.046817 1.797869 +v -0.006263 -0.279172 1.785645 +v 0.001904 -0.279172 1.785645 +v 0.164939 -0.279172 1.859000 +v -0.002180 -0.046817 1.797869 +v 0.169022 -0.046817 1.834543 +v 0.160855 -0.279172 1.846767 +v 0.005970 -0.107976 1.773412 +v 0.164939 -0.050910 1.842695 +v -0.002180 -0.279172 1.793797 +f 517 514 522 +f 514 515 516 +f 513 517 518 +f 516 515 519 +f 513 518 519 +f 518 516 519 +f 515 514 520 +f 517 513 520 +f 514 517 520 +f 513 519 520 +f 519 515 520 +f 517 516 521 +f 516 518 521 +f 518 517 521 +f 514 516 522 +f 516 517 522 +o convex_39 +v -0.124445 0.209999 -2.148099 +v 0.063036 0.201848 -0.982430 +v 0.063036 0.197774 -0.982430 +v -0.214142 0.214068 -0.982430 +v -0.100026 0.197774 -2.148099 +v -0.214115 0.222226 -2.143877 +v -0.210046 0.222226 -1.100652 +v -0.214115 0.214068 -2.143877 +v 0.009993 0.197774 -0.982430 +v -0.173363 0.222226 -1.858708 +v -0.067441 0.201848 -2.148099 +v -0.099999 0.214068 -0.982430 +v -0.067441 0.197774 -2.148099 +v 0.022229 0.205922 -1.125072 +v -0.165224 0.209999 -0.982430 +f 527 531 537 +f 525 524 526 +f 528 526 529 +f 523 527 530 +f 527 526 530 +f 528 523 530 +f 526 528 530 +f 525 526 531 +f 527 525 531 +f 523 528 532 +f 528 529 532 +f 524 525 533 +f 527 523 533 +f 523 532 533 +f 526 524 534 +f 529 526 534 +f 532 529 534 +f 525 527 535 +f 533 525 535 +f 527 533 535 +f 524 533 536 +f 533 532 536 +f 534 524 536 +f 532 534 536 +f 526 527 537 +f 531 526 537 +o convex_40 +v 0.266850 0.103987 0.721691 +v 0.234250 -0.014205 0.203987 +v 0.234250 -0.006041 0.203987 +v 0.230173 -0.014205 0.721691 +v 0.250554 0.103987 0.203987 +v 0.275004 0.099917 0.684951 +v 0.242404 -0.010123 0.203987 +v 0.262773 0.112163 0.208092 +v 0.238327 -0.014205 0.721691 +v 0.230173 0.002110 0.627890 +f 542 540 547 +f 539 540 542 +f 539 542 544 +f 542 538 545 +f 538 543 545 +f 544 542 545 +f 543 544 545 +f 541 539 546 +f 538 541 546 +f 543 538 546 +f 544 543 546 +f 539 544 546 +f 540 539 547 +f 539 541 547 +f 541 538 547 +f 538 542 547 +o convex_41 +v -0.214160 0.201847 0.330316 +v 0.018195 0.201847 0.191725 +v 0.018195 0.197771 0.191725 +v -0.214160 0.218145 -0.126202 +v -0.026656 0.197771 -0.126202 +v -0.075602 0.209994 0.371113 +v -0.214160 0.193691 0.318125 +v 0.018172 0.197768 0.420037 +v 0.018195 0.201847 -0.126202 +v -0.214160 0.209994 -0.122085 +v -0.161143 0.193691 0.420037 +v -0.014420 0.205920 0.420037 +v -0.214160 0.197771 0.420037 +v -0.022585 0.205920 -0.126202 +v 0.018195 0.197771 -0.126202 +v -0.197852 0.218145 -0.089469 +f 559 561 563 +f 548 551 554 +f 550 549 555 +f 549 550 556 +f 552 551 556 +f 551 552 557 +f 554 551 557 +f 552 554 557 +f 558 555 559 +f 555 549 559 +f 549 556 559 +f 553 548 560 +f 548 554 560 +f 554 558 560 +f 558 559 560 +f 559 553 560 +f 556 551 561 +f 559 556 561 +f 554 552 562 +f 550 555 562 +f 556 550 562 +f 552 556 562 +f 558 554 562 +f 555 558 562 +f 551 548 563 +f 548 553 563 +f 553 559 563 +f 561 551 563 +o convex_42 +v -0.214160 0.197766 0.420037 +v 0.018195 0.185542 1.210860 +v 0.014101 0.185542 1.210860 +v -0.210066 0.181462 0.644372 +v 0.018195 0.197764 0.420037 +v -0.010349 0.205921 0.599474 +v 0.018195 0.181465 1.088552 +v -0.214160 0.185542 0.766602 +v -0.108149 0.205921 0.424140 +v -0.214160 0.189617 0.428242 +v -0.214160 0.181462 0.766602 +v 0.018195 0.201843 0.770705 +v -0.014443 0.205921 0.420037 +v 0.014101 0.181465 1.210860 +f 574 567 577 +f 567 568 570 +f 568 565 570 +f 571 566 572 +f 564 571 572 +f 564 568 573 +f 568 567 573 +f 571 564 573 +f 571 573 574 +f 566 571 574 +f 573 567 574 +f 566 565 575 +f 565 568 575 +f 569 572 575 +f 572 566 575 +f 568 564 576 +f 564 572 576 +f 572 569 576 +f 575 568 576 +f 569 575 576 +f 565 566 577 +f 570 565 577 +f 567 570 577 +f 566 574 577 +o convex_43 +v -0.218240 0.014313 -1.051595 +v -0.218240 -0.075351 -1.512180 +v -0.222314 -0.071267 -1.512180 +v -0.238618 -0.075351 -0.998553 +v -0.230464 0.018406 -1.512180 +v -0.230464 0.006172 -0.998553 +v -0.214160 -0.075351 -1.373567 +v -0.222314 0.010247 -1.512180 +v -0.230464 -0.054968 -0.998553 +v -0.214160 -0.067193 -1.512180 +v -0.238618 -0.075351 -1.076079 +v -0.238618 -0.046809 -0.998553 +f 588 581 589 +f 579 580 582 +f 578 582 583 +f 581 579 584 +f 582 578 585 +f 579 582 585 +f 578 583 586 +f 583 581 586 +f 581 584 586 +f 584 578 586 +f 584 579 587 +f 578 584 587 +f 585 578 587 +f 579 585 587 +f 580 579 588 +f 579 581 588 +f 582 580 588 +f 582 588 589 +f 581 583 589 +f 583 582 589 +o convex_44 +v 0.018195 0.197765 0.762528 +v 0.169007 0.185542 1.504288 +v 0.169007 0.181466 1.504288 +v 0.169007 0.185542 0.762528 +v 0.018195 0.181466 1.096774 +v 0.169007 0.193689 1.284120 +v 0.018195 0.185542 1.218912 +v 0.050820 0.201844 0.831875 +v 0.164918 0.193689 0.762528 +v 0.018195 0.193689 0.766667 +v 0.018195 0.201844 0.778866 +f 597 598 600 +f 591 592 593 +f 593 592 594 +f 591 593 595 +f 592 591 596 +f 590 594 596 +f 594 592 596 +f 593 590 598 +f 595 593 598 +f 597 595 598 +f 590 593 599 +f 594 590 599 +f 593 594 599 +f 591 595 600 +f 596 591 600 +f 590 596 600 +f 595 597 600 +f 598 590 600 +o convex_45 +v 0.209778 -0.209907 -1.128998 +v 0.173103 -0.344370 -2.201036 +v 0.173103 -0.323975 -2.201036 +v 0.217936 -0.108000 -2.176481 +v 0.213857 -0.099861 -1.198361 +v 0.193490 -0.323975 -1.128998 +v 0.209783 -0.103931 -2.176481 +v 0.185331 -0.319905 -1.222812 +v 0.177182 -0.344370 -2.201036 +v 0.222015 -0.112070 -1.128998 +v 0.173103 -0.315812 -2.127580 +v 0.193490 -0.323975 -1.255447 +v 0.197559 -0.234301 -1.128998 +v 0.209778 -0.116140 -1.349156 +v 0.222015 -0.099861 -1.128998 +v 0.173103 -0.340277 -1.952335 +v 0.197559 -0.303579 -1.153553 +v 0.217936 -0.099837 -2.176481 +f 605 615 618 +f 602 603 609 +f 601 604 610 +f 606 601 610 +f 603 602 611 +f 607 603 611 +f 609 604 612 +f 606 609 612 +f 608 606 613 +f 606 610 613 +f 605 611 613 +f 611 608 613 +f 605 607 614 +f 607 611 614 +f 611 605 614 +f 610 604 615 +f 605 613 615 +f 613 610 615 +f 606 608 616 +f 602 609 616 +f 609 606 616 +f 611 602 616 +f 608 611 616 +f 604 601 617 +f 601 606 617 +f 612 604 617 +f 606 612 617 +f 603 607 618 +f 607 605 618 +f 609 603 618 +f 604 609 618 +f 615 604 618 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/167/167.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/167/167.urdf new file mode 100644 index 000000000..2919b24a3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/167/167.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/168/168.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/168/168.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/168/168.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/168/168.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/168/168.obj new file mode 100644 index 000000000..38dbd4e89 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/168/168.obj @@ -0,0 +1,73 @@ +# Blender v2.69 (sub 0) OBJ File: '' +# www.blender.org +mtllib 168.mtl +o 168_Cube.721 +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +v nan nan nan +usemtl None +s off +f 1 2 3 4 +f 4 13 14 9 +f 1 4 9 6 +f 9 7 5 6 +f 3 7 10 11 +f 2 5 7 3 +f 1 6 5 2 +f 11 10 14 13 +f 14 10 18 20 +f 22 17 19 21 +f 11 13 19 +f 11 19 17 +f 20 16 9 14 +f 13 8 19 +f 13 4 8 +f 9 16 15 7 +f 8 3 12 +f 8 4 3 +f 7 15 18 10 +f 3 17 12 +f 3 11 17 +f 24 22 21 23 +f 18 15 16 20 +f 26 27 23 25 +f 35 33 19 +f 19 13 35 +f 28 29 30 +f 19 13 33 +f 32 31 19 +f 19 13 32 +f 28 31 32 +f 34 33 35 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/168/168.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/168/168.urdf new file mode 100644 index 000000000..7b6d11a34 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/168/168.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/169/169.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/169/169.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/169/169.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/169/169.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/169/169.obj new file mode 100644 index 000000000..31ccbe53d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/169/169.obj @@ -0,0 +1,654 @@ +o convex_0 +v 1.492054 -2.596297 0.171719 +v 2.027707 -2.964468 0.339273 +v 1.994205 -2.964468 0.339273 +v 1.893762 -3.600375 -0.263481 +v 2.094710 -0.955525 -0.363986 +v 1.458552 -0.955525 0.104739 +v 2.094710 -0.955525 0.272224 +v 1.559057 -3.600375 -0.196363 +v 1.525555 -3.634202 0.272155 +v 1.592559 -0.955525 -0.196501 +v 1.458552 -0.955525 0.205175 +v 2.027707 -3.399507 0.339273 +v 1.994205 -3.567071 -0.263481 +v 1.793257 -2.395429 -0.297006 +v 1.860261 -3.567071 0.339273 +v 2.094710 -1.424392 -0.330462 +v 1.592559 -3.634202 -0.229888 +v 2.094710 -1.591432 0.272224 +v 2.027644 -0.989090 -0.363986 +v 2.027707 -3.165335 -0.263481 +v 1.960703 -3.567071 0.339273 +v 1.559119 -0.955525 -0.162976 +v 1.592559 -2.663165 -0.229888 +v 1.525555 -2.964468 0.272155 +f 15 11 24 +f 3 2 7 +f 5 6 7 +f 1 6 8 +f 1 8 9 +f 6 5 10 +f 6 1 11 +f 3 7 11 +f 7 6 11 +f 1 9 11 +f 2 3 12 +f 7 2 12 +f 3 11 15 +f 12 3 15 +f 5 7 16 +f 4 9 17 +f 9 8 17 +f 14 4 17 +f 7 12 18 +f 16 7 18 +f 12 16 18 +f 10 5 19 +f 13 4 19 +f 5 13 19 +f 4 14 19 +f 12 13 20 +f 13 5 20 +f 5 16 20 +f 16 12 20 +f 9 4 21 +f 13 12 21 +f 4 13 21 +f 15 9 21 +f 12 15 21 +f 8 6 22 +f 6 10 22 +f 22 10 23 +f 17 8 23 +f 14 17 23 +f 10 19 23 +f 19 14 23 +f 8 22 23 +f 11 9 24 +f 9 15 24 +o convex_1 +v -1.321060 -0.185026 0.372762 +v -3.296498 -0.453040 -0.330498 +v -3.296498 -0.386036 -0.330498 +v -1.321060 -0.285597 -0.296973 +v -1.790214 -0.821296 0.272257 +v -3.296498 -0.352469 0.339237 +v -1.354903 -0.754227 -0.196537 +v -3.296498 -0.854797 0.305781 +v -3.162674 -0.787728 -0.163012 +v -1.321060 -0.787728 0.272257 +v -3.229586 -0.285597 0.205277 +v -1.388358 -0.252095 -0.229993 +v -2.727363 -0.720791 0.339237 +v -3.296498 -0.854797 0.205277 +v -1.321060 -0.687355 -0.229993 +v -2.392418 -0.319099 -0.330498 +v -1.455270 -0.319099 0.372762 +v -3.263042 -0.285597 0.339237 +v -3.162674 -0.486541 -0.330498 +v -3.196130 -0.754227 -0.196537 +f 43 31 44 +f 27 26 30 +f 30 26 32 +f 28 25 34 +f 29 31 34 +f 32 29 34 +f 25 28 36 +f 35 25 36 +f 30 32 37 +f 32 34 37 +f 31 29 38 +f 29 32 38 +f 32 26 38 +f 33 31 38 +f 28 34 39 +f 34 31 39 +f 26 27 40 +f 27 35 40 +f 36 28 40 +f 35 36 40 +f 28 39 40 +f 34 25 41 +f 30 37 41 +f 37 34 41 +f 27 30 42 +f 35 27 42 +f 25 35 42 +f 41 25 42 +f 30 41 42 +f 39 31 43 +f 26 40 43 +f 40 39 43 +f 31 33 44 +f 38 26 44 +f 33 38 44 +f 26 43 44 +o convex_2 +v 0.855617 -2.964694 1.042533 +v 0.118817 -2.964694 -1.033757 +v 0.118817 -2.931087 -1.033757 +v -1.254083 -3.533770 1.042533 +v 0.889184 -3.634229 -0.966688 +v -1.186948 -2.931087 -0.966688 +v 0.889184 -3.667835 1.042533 +v -1.153381 -3.567232 -1.000223 +v -1.220306 -2.931087 1.008795 +v 0.889184 -2.931087 -0.966688 +v -0.885682 -3.634229 1.008795 +v 0.822050 -2.931087 1.042533 +v -1.186948 -3.600767 -0.129547 +v 0.721558 -3.667835 0.372454 +v -0.517282 -3.600767 -1.000223 +v 0.587709 -3.165612 -1.033757 +v -1.254083 -3.600767 1.042533 +v -1.052889 -2.931087 1.042533 +v -1.220306 -2.931087 -0.263481 +v -1.153381 -2.931087 -1.000223 +v 0.822050 -3.533770 -1.000223 +v 0.252666 -3.667835 1.042533 +v 0.621066 -3.634229 -0.966688 +f 58 59 67 +f 45 48 51 +f 47 46 52 +f 47 50 53 +f 45 51 54 +f 51 49 54 +f 47 53 54 +f 48 45 56 +f 45 54 56 +f 54 53 56 +f 55 57 58 +f 49 51 58 +f 57 52 59 +f 58 57 59 +f 46 47 60 +f 52 46 60 +f 47 54 60 +f 59 52 60 +f 51 48 61 +f 50 52 61 +f 52 57 61 +f 57 55 61 +f 53 48 62 +f 48 56 62 +f 56 53 62 +f 48 53 63 +f 53 50 63 +f 61 48 63 +f 50 61 63 +f 50 47 64 +f 47 52 64 +f 52 50 64 +f 54 49 65 +f 49 59 65 +f 60 54 65 +f 59 60 65 +f 55 58 66 +f 58 51 66 +f 51 61 66 +f 61 55 66 +f 49 58 67 +f 59 49 67 +o convex_3 +v 0.755047 4.034006 0.405936 +v -1.321050 -0.820785 -0.296878 +v -1.287516 -1.155801 -0.631711 +v 0.788582 -2.160195 1.042454 +v 0.855650 -2.160195 -0.966544 +v -1.186913 4.369023 1.076021 +v -1.321050 4.536859 -1.000111 +v -1.220447 -2.160851 0.975320 +v 0.721729 4.468676 -0.933187 +v 0.721729 4.435895 1.008887 +v -1.220447 -2.126759 -1.000111 +v 0.855650 2.661159 -1.000111 +v -1.321050 2.627068 1.008887 +v 0.252898 -2.160851 -1.067246 +v 0.889185 -0.552640 0.272086 +v 0.721729 3.129920 1.076021 +v -1.120061 4.502768 0.841470 +v 0.118761 -2.160851 1.042454 +v 0.889185 -2.160851 -0.933187 +v 0.386603 4.469331 1.042454 +v 0.755047 0.920515 1.076021 +v -1.321050 -0.452332 0.472860 +v -0.952606 -2.160851 1.008887 +v -1.220447 3.665554 1.076021 +v -1.321050 4.536859 -0.631711 +v 0.453671 4.502768 -0.899619 +v -1.220447 -2.160851 -0.966544 +v 0.889185 0.016429 -0.966754 +v 0.085443 -2.160851 -1.067246 +v -0.349854 4.469331 1.075812 +v -0.885537 4.536859 -0.598144 +v 0.855650 2.627723 -0.832695 +v -1.321050 1.790509 1.008887 +v 0.889185 -0.318587 0.238729 +v 0.889185 -0.921093 0.272086 +v 0.721729 4.468676 0.707411 +v -1.321050 3.999915 -1.000111 +v -1.186913 4.536859 -1.000111 +v 0.788582 3.665554 -0.966544 +v 0.889185 -2.160851 -0.665278 +v -1.253982 -1.457382 -0.933187 +v -1.153595 4.469331 1.076021 +v -1.321050 -0.787348 0.272086 +v 0.755047 4.168406 -0.665278 +v 0.855650 1.991126 -1.000111 +v -0.082012 4.502768 -0.966544 +f 76 106 113 +f 74 69 80 +f 75 81 85 +f 81 72 86 +f 85 81 86 +f 83 77 87 +f 71 82 88 +f 82 77 88 +f 83 73 88 +f 77 83 88 +f 85 71 88 +f 80 69 89 +f 75 85 90 +f 90 85 91 +f 73 80 91 +f 88 73 91 +f 85 88 91 +f 75 90 91 +f 74 80 92 +f 80 73 92 +f 69 70 94 +f 75 69 94 +f 70 78 94 +f 81 75 94 +f 86 72 95 +f 82 86 95 +f 74 81 96 +f 94 78 96 +f 81 94 96 +f 83 87 97 +f 87 84 97 +f 84 87 98 +f 74 92 98 +f 92 84 98 +f 68 77 99 +f 79 68 99 +f 95 79 99 +f 89 75 100 +f 80 89 100 +f 91 80 100 +f 75 91 100 +f 77 82 101 +f 82 95 101 +f 99 77 101 +f 95 99 101 +f 82 71 102 +f 86 82 102 +f 87 77 103 +f 76 93 103 +f 98 87 103 +f 93 98 103 +f 70 69 104 +f 69 74 104 +f 74 96 104 +f 96 78 104 +f 81 74 105 +f 79 81 105 +f 74 98 105 +f 98 93 105 +f 71 85 107 +f 85 86 107 +f 102 71 107 +f 86 102 107 +f 78 70 108 +f 70 104 108 +f 104 78 108 +f 73 83 109 +f 92 73 109 +f 84 92 109 +f 83 97 109 +f 97 84 109 +f 69 75 110 +f 89 69 110 +f 75 89 110 +f 77 68 111 +f 68 79 111 +f 76 103 111 +f 103 77 111 +f 79 106 111 +f 106 76 111 +f 72 81 112 +f 81 79 112 +f 95 72 112 +f 79 95 112 +f 93 76 113 +f 79 105 113 +f 105 93 113 +f 106 79 113 +o convex_4 +v -0.550787 -2.194411 -1.938014 +v 0.051967 -2.931015 -1.268308 +v 0.085423 -2.931015 -1.268308 +v 0.085423 -2.830494 -3.110047 +v 0.118948 -2.261402 -2.741660 +v -0.483807 -2.696586 -2.975910 +v 0.018443 -2.261402 -1.100734 +v -0.450351 -2.763576 -1.100734 +v -0.584312 -2.194411 -3.076415 +v -0.550787 -2.227942 -1.100734 +v 0.118948 -2.261402 -3.110047 +v -0.349777 -2.797035 -2.975910 +v 0.085423 -2.763576 -1.100734 +v -0.450351 -2.797035 -1.402249 +v -0.584312 -2.261402 -3.076415 +v 0.018443 -2.931015 -1.100734 +v 0.051967 -2.864025 -2.975910 +v 0.118948 -2.596136 -3.110047 +v -0.182498 -2.227942 -1.100734 +v -0.450351 -2.194411 -3.076415 +v -0.550787 -2.294933 -1.167803 +v -0.115518 -2.730045 -3.110047 +f 128 122 135 +f 121 120 123 +f 114 122 123 +f 116 118 126 +f 118 120 126 +f 120 121 126 +f 119 125 127 +f 123 122 128 +f 119 127 128 +f 115 116 129 +f 125 115 129 +f 116 126 129 +f 126 121 129 +f 121 127 129 +f 127 125 129 +f 116 115 130 +f 117 116 130 +f 115 125 130 +f 125 117 130 +f 116 117 131 +f 118 116 131 +f 117 124 131 +f 124 118 131 +f 120 118 132 +f 114 123 132 +f 123 120 132 +f 122 114 133 +f 118 124 133 +f 124 122 133 +f 132 118 133 +f 114 132 133 +f 121 123 134 +f 127 121 134 +f 123 128 134 +f 128 127 134 +f 124 117 135 +f 122 124 135 +f 117 125 135 +f 125 119 135 +f 119 128 135 +o convex_5 +v 1.960726 0.451597 -0.297009 +v 2.094713 2.494058 0.305785 +v 2.094713 2.494058 -0.297009 +v 1.525549 2.460074 0.272270 +v 1.994238 -0.218249 0.305785 +v 1.491978 -0.218249 -0.297009 +v 1.559060 2.460074 -0.263494 +v 1.559060 -0.218249 0.205240 +v 1.994238 -0.218249 -0.263494 +v 2.094713 1.823946 0.238696 +v 1.893762 -0.218249 0.305785 +v 2.027690 0.250617 -0.263494 +v 1.491978 0.384692 -0.297009 +v 1.826798 2.494058 0.305785 +v 1.525549 1.823946 0.272270 +v 1.491978 -0.218249 -0.162950 +v 1.860310 2.494058 -0.297009 +v 2.027690 0.217164 0.305785 +v 1.726441 2.393169 0.305785 +f 139 150 154 +f 138 136 141 +f 141 140 143 +f 141 136 144 +f 140 141 144 +f 138 137 145 +f 140 137 146 +f 143 140 146 +f 136 138 147 +f 144 136 147 +f 138 145 147 +f 138 141 148 +f 139 142 148 +f 137 138 149 +f 146 137 149 +f 143 146 150 +f 143 150 151 +f 141 143 151 +f 148 141 151 +f 139 148 151 +f 150 139 151 +f 142 139 152 +f 138 148 152 +f 148 142 152 +f 149 138 152 +f 139 149 152 +f 137 140 153 +f 140 144 153 +f 145 137 153 +f 144 147 153 +f 147 145 153 +f 149 139 154 +f 146 149 154 +f 150 146 154 +o convex_6 +v -1.220594 -2.797061 -0.430858 +v 0.889109 -2.160926 -0.665200 +v 0.855448 -2.897468 0.740847 +v -1.220594 -2.160926 0.975189 +v 0.889109 -2.931012 -0.966465 +v -1.186933 -2.160926 -1.000242 +v -1.220594 -2.931012 1.008966 +v 0.788539 -2.160926 1.042323 +v -1.186933 -2.931012 -1.000242 +v 0.051712 -2.227939 -1.100734 +v 0.821993 -2.931012 1.042323 +v 0.855448 -2.160926 -0.966465 +v 0.018258 -2.931012 -1.100734 +v -0.450313 -2.194470 1.042533 +v -0.550677 -2.227939 -1.100734 +v -1.220594 -2.160926 -0.966675 +v -1.019454 -2.931012 1.042533 +v 0.821993 -2.328346 1.042323 +v -0.450313 -2.763592 -1.100734 +v -1.220594 -2.328346 1.008966 +v 0.554150 -2.797061 -1.033390 +v 0.252853 -2.160926 -1.067167 +f 175 164 176 +f 156 157 159 +f 158 156 160 +f 158 155 161 +f 156 158 162 +f 161 155 163 +f 159 161 163 +f 159 157 165 +f 161 159 165 +f 156 159 166 +f 160 156 166 +f 159 163 167 +f 162 158 168 +f 163 160 169 +f 164 167 169 +f 155 158 170 +f 158 160 170 +f 160 163 170 +f 163 155 170 +f 161 165 171 +f 165 168 171 +f 157 156 172 +f 156 162 172 +f 165 157 172 +f 162 168 172 +f 168 165 172 +f 167 163 173 +f 163 169 173 +f 169 167 173 +f 158 161 174 +f 168 158 174 +f 161 171 174 +f 171 168 174 +f 166 159 175 +f 159 167 175 +f 167 164 175 +f 160 166 176 +f 169 160 176 +f 164 169 176 +f 166 175 176 +o convex_7 +v -0.349813 -2.261402 2.281491 +v -0.550823 -2.931015 1.042533 +v 0.118948 -2.931015 1.042533 +v 0.085446 -2.797035 3.085334 +v 0.085446 -2.361851 1.042533 +v -0.550823 -2.763576 3.085334 +v -0.015124 -2.194411 2.984554 +v -0.383380 -2.227942 1.042533 +v -0.550823 -2.395382 3.018147 +v 0.085446 -2.596136 3.051741 +v -0.517256 -2.931015 1.277287 +v -0.517256 -2.663126 1.042533 +v 0.118948 -2.864025 2.214504 +v 0.018377 -2.261402 3.018147 +v -0.048495 -2.830494 2.783793 +v -0.416751 -2.261402 1.042533 +v -0.048495 -2.194411 2.582633 +v -0.082062 -2.194411 2.984554 +v -0.316377 -2.227942 1.042533 +v -0.483754 -2.797035 2.917767 +v -0.517256 -2.361851 3.018147 +v 0.118948 -2.696586 1.109520 +f 186 189 198 +f 179 178 181 +f 181 178 184 +f 178 182 185 +f 178 179 187 +f 182 178 187 +f 184 178 188 +f 178 185 188 +f 186 180 189 +f 187 179 189 +f 182 180 190 +f 181 183 190 +f 180 186 190 +f 186 181 190 +f 189 180 191 +f 187 189 191 +f 185 184 192 +f 184 188 192 +f 188 185 192 +f 183 181 193 +f 193 184 194 +f 184 177 194 +f 190 183 194 +f 183 193 194 +f 181 184 195 +f 193 181 195 +f 184 193 195 +f 180 182 196 +f 182 187 196 +f 191 180 196 +f 187 191 196 +f 177 184 197 +f 184 185 197 +f 185 182 197 +f 182 190 197 +f 194 177 197 +f 190 194 197 +f 179 181 198 +f 181 186 198 +f 189 179 198 +o convex_8 +v 2.831520 -0.519912 0.104775 +v 2.094772 -0.787820 -0.363986 +v 2.094772 -0.687276 -0.363986 +v 2.094772 -0.452987 0.305785 +v 2.797914 -0.252003 -0.330485 +v 2.831520 -0.754253 0.305785 +v 2.764452 -0.787820 -0.229914 +v 2.128379 -0.787820 0.272283 +v 2.128379 -0.318980 -0.296917 +v 2.663992 -0.318980 0.305785 +v 2.094772 -0.318980 0.305785 +v 2.764452 -0.318980 0.272283 +v 2.663992 -0.419472 -0.363986 +f 207 203 211 +f 201 200 202 +f 203 199 205 +f 199 204 205 +f 205 204 206 +f 202 200 206 +f 204 202 206 +f 200 205 206 +f 202 204 208 +f 201 202 209 +f 207 201 209 +f 203 207 209 +f 208 203 209 +f 202 208 209 +f 199 203 210 +f 204 199 210 +f 203 208 210 +f 208 204 210 +f 200 201 211 +f 203 205 211 +f 205 200 211 +f 201 207 211 +o convex_9 +v 0.922699 -0.854732 -0.196543 +v 1.994228 -0.218515 0.305785 +v 1.994228 -0.218515 -0.263416 +v 2.094772 -0.955263 -0.363986 +v 2.094772 -0.955263 0.272283 +v 0.889184 -0.319046 0.238716 +v 0.889184 -0.252049 -0.229914 +v 0.889184 -0.921728 0.272283 +v 0.889184 -0.620351 -0.296917 +v 2.094772 -0.352508 -0.296917 +v 1.491978 -0.218515 -0.296917 +v 2.094772 -0.319046 0.305785 +v 1.391552 -0.218515 0.205214 +v 1.592405 -0.955263 -0.196543 +v 0.889184 -0.787807 -0.296917 +v 2.061257 -0.687348 -0.363986 +v 0.889184 -0.553427 0.272283 +f 219 213 228 +f 217 218 219 +f 219 218 220 +f 216 215 221 +f 213 214 222 +f 220 218 222 +f 214 221 222 +f 214 213 223 +f 219 216 223 +f 213 219 223 +f 221 214 223 +f 216 221 223 +f 217 213 224 +f 218 217 224 +f 213 222 224 +f 222 218 224 +f 212 215 225 +f 215 216 225 +f 219 212 225 +f 216 219 225 +f 215 212 226 +f 212 219 226 +f 219 220 226 +f 226 220 227 +f 221 215 227 +f 220 222 227 +f 222 221 227 +f 215 226 227 +f 213 217 228 +f 217 219 228 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/169/169.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/169/169.urdf new file mode 100644 index 000000000..58b7b8d98 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/169/169.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/170/170.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/170/170.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/170/170.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/170/170.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/170/170.obj new file mode 100644 index 000000000..8f8d4d6f6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/170/170.obj @@ -0,0 +1,363 @@ +o convex_0 +v 0.979030 4.266160 0.721132 +v -1.076978 2.026834 -0.783830 +v -1.076978 2.026834 -0.747144 +v 1.089012 0.410805 0.978144 +v 1.089012 4.302594 -1.077527 +v -1.003657 4.413071 0.978356 +v 1.052351 0.410805 -0.930573 +v -1.040318 0.410805 0.978356 +v -1.076978 4.376245 -1.114425 +v -0.966997 0.410805 -0.967470 +v 1.125672 2.466393 1.051939 +v 1.089012 4.413071 -0.857201 +v 0.942154 4.266160 0.941458 +v -0.966997 1.990400 1.051939 +v -1.040318 4.413071 0.647972 +v 0.648439 1.549273 1.051939 +v 0.134329 0.594543 -0.967258 +v -1.003657 3.971944 1.015041 +v -1.040318 0.668195 1.015041 +v -1.076978 4.376245 -0.490132 +v -0.269369 4.376245 0.978144 +v 1.089012 2.833477 1.051939 +v 0.244526 4.413071 -1.077527 +v -1.040318 0.410805 0.170634 +v 1.125672 1.953182 1.051939 +v -1.003657 0.778280 -0.967470 +v 0.978815 0.741454 1.015041 +v -1.003657 4.302594 -1.114425 +v -0.966997 2.503611 1.051939 +v -1.040318 4.413071 -0.086165 +v 0.979030 4.302594 0.647760 +v 1.089012 4.376245 -0.673561 +v -1.076978 2.394309 -1.004156 +v -0.746602 0.558109 1.015041 +v 1.089012 3.862250 -1.040630 +v 1.015691 1.145755 -0.967258 +v 1.089012 4.413071 -1.077527 +v -0.269369 0.410805 -0.967258 +v 1.089012 0.410805 0.647760 +v -0.746602 4.413071 0.978144 +v 1.125672 2.026834 0.978144 +v -1.040318 0.998452 1.015041 +v 0.244526 1.512447 1.051939 +v 1.052351 3.274604 1.015041 +f 11 32 44 +f 3 2 8 +f 7 4 8 +f 2 3 9 +f 7 8 10 +f 6 12 15 +f 11 14 16 +f 3 8 19 +f 9 3 20 +f 15 9 20 +f 3 19 20 +f 21 18 22 +f 14 11 22 +f 13 21 22 +f 15 12 23 +f 8 2 24 +f 10 8 24 +f 11 16 25 +f 9 10 26 +f 24 2 26 +f 10 24 26 +f 4 25 27 +f 25 16 27 +f 10 9 28 +f 5 17 28 +f 19 14 29 +f 22 18 29 +f 14 22 29 +f 9 15 30 +f 23 9 30 +f 15 23 30 +f 13 1 31 +f 12 21 31 +f 21 13 31 +f 11 12 32 +f 31 1 32 +f 12 31 32 +f 2 9 33 +f 26 2 33 +f 9 26 33 +f 8 4 34 +f 19 8 34 +f 4 27 34 +f 27 16 34 +f 7 5 35 +f 5 7 36 +f 17 5 36 +f 7 17 36 +f 12 11 37 +f 9 23 37 +f 23 12 37 +f 5 28 37 +f 28 9 37 +f 7 10 38 +f 17 7 38 +f 10 28 38 +f 28 17 38 +f 4 7 39 +f 25 4 39 +f 12 6 40 +f 6 18 40 +f 21 12 40 +f 18 21 40 +f 11 25 41 +f 35 5 41 +f 7 35 41 +f 5 37 41 +f 37 11 41 +f 39 7 41 +f 25 39 41 +f 6 15 42 +f 18 6 42 +f 15 20 42 +f 20 19 42 +f 19 29 42 +f 29 18 42 +f 16 14 43 +f 14 19 43 +f 34 16 43 +f 19 34 43 +f 1 13 44 +f 22 11 44 +f 13 22 44 +f 32 1 44 +o convex_1 +v 0.978801 -3.664810 0.831624 +v -1.040318 -2.343091 -1.040989 +v -1.040318 -1.792471 -1.040989 +v -1.040318 -2.416649 0.978381 +v 0.942141 -1.792277 0.941692 +v 1.052337 -1.792277 -1.040989 +v -0.930122 -3.664616 -1.004091 +v 1.125874 -3.775051 -0.967402 +v -0.930122 -3.701493 1.014862 +v -1.077194 -1.792471 0.941692 +v 0.942141 -3.664810 1.088657 +v -0.966782 -3.407648 -1.040989 +v 0.758624 -3.775051 -1.003883 +v 0.978801 -1.865835 0.721139 +v 0.721748 -3.481012 1.088657 +v -0.966782 -3.554570 1.014862 +v 1.088998 -3.775051 -0.636990 +v -0.930122 -3.701493 -0.049336 +v -0.526427 -3.701493 1.051759 +v -0.709944 -2.049634 0.978381 +v 1.125874 -3.701493 -0.857126 +v 1.052337 -2.269727 -1.040989 +v -0.966782 -3.554570 -1.004091 +v 0.942141 -2.086316 0.978381 +v -0.012105 -3.701493 1.051551 +v 1.052337 -1.792277 -0.857126 +v 1.125874 -3.628129 -1.004091 +v -1.077194 -1.829153 0.354038 +v -0.966782 -3.150679 1.014862 +v 0.978801 -2.012758 0.757828 +v -0.452891 -3.701493 -1.004091 +f 57 62 75 +f 47 49 50 +f 46 47 50 +f 49 47 54 +f 46 50 56 +f 52 45 61 +f 45 55 61 +f 57 52 61 +f 53 57 61 +f 57 53 62 +f 53 60 62 +f 55 59 63 +f 60 53 63 +f 53 61 63 +f 54 48 64 +f 49 54 64 +f 45 52 65 +f 56 50 66 +f 46 56 67 +f 56 51 67 +f 60 48 67 +f 51 62 67 +f 62 60 67 +f 59 55 68 +f 49 64 68 +f 64 59 68 +f 61 55 69 +f 55 63 69 +f 63 61 69 +f 50 49 70 +f 49 58 70 +f 58 65 70 +f 70 65 71 +f 52 57 71 +f 57 56 71 +f 65 52 71 +f 66 50 71 +f 56 66 71 +f 50 70 71 +f 47 46 72 +f 54 47 72 +f 48 54 72 +f 46 67 72 +f 67 48 72 +f 48 60 73 +f 63 59 73 +f 60 63 73 +f 64 48 73 +f 59 64 73 +f 55 45 74 +f 58 49 74 +f 45 65 74 +f 65 58 74 +f 49 68 74 +f 68 55 74 +f 51 56 75 +f 56 57 75 +f 62 51 75 +o convex_2 +v -0.636543 0.263531 2.923380 +v 0.868838 -1.792061 -1.040702 +v 1.052265 -1.792061 -1.040702 +v 1.089163 0.300619 -2.986815 +v -1.003611 -1.645002 -2.986211 +v 1.015580 -1.792061 3.071316 +v -1.040296 -1.718532 3.108149 +v -0.966925 0.300403 -2.949378 +v 1.052265 0.300619 2.997650 +v 0.978894 -1.755189 -3.060481 +v -1.040296 0.410374 0.978474 +v -1.077194 -1.792061 -0.342685 +v 1.089163 0.410805 0.610748 +v -1.003611 0.226874 2.923380 +v -0.966925 0.410374 -1.223659 +v -0.819971 -1.681875 -3.059877 +v 1.052265 0.410805 -0.930202 +v -1.077194 -1.792061 0.941641 +v -1.077194 -1.351316 -0.782870 +v 1.089163 -0.176784 0.573914 +v 0.281232 -1.792061 3.108149 +v -1.040296 0.226874 2.446966 +v -1.040296 -1.792061 -1.040098 +v 0.538243 -0.140343 -3.023044 +v -1.077194 -0.910785 0.941641 +v -1.040296 0.410374 0.207395 +v -0.966925 -1.351316 -3.059877 +v -1.040296 -0.763942 3.034483 +v 1.015580 -1.241129 -3.060481 +v 1.089163 0.410805 0.977870 +v 1.052265 -0.360284 3.034483 +v -0.122309 0.300403 -2.986211 +v -1.040296 -1.571688 3.108149 +v -1.077194 -1.645002 -1.113764 +v 0.391501 0.300403 2.960817 +v -0.379320 0.263531 2.960817 +v 0.721883 -1.755189 3.108149 +v 1.089163 0.263746 1.528555 +v 1.089163 0.190217 -2.986815 +v -0.563172 -1.755189 3.108149 +v -0.966925 0.006716 -2.986211 +v -1.077194 -1.645002 1.345597 +v 0.831940 0.300403 2.997046 +v 1.052265 -0.140127 -3.023648 +v 0.905523 -1.755189 -3.060481 +v -0.342634 -1.204472 -3.059877 +v 1.052265 -0.470471 3.034483 +v 1.052265 -1.792061 -0.893369 +v 1.015580 -1.057629 3.071316 +f 108 112 124 +f 77 78 81 +f 78 77 85 +f 77 81 87 +f 76 86 89 +f 88 79 92 +f 79 90 92 +f 87 81 93 +f 87 93 94 +f 79 88 95 +f 93 81 96 +f 89 86 97 +f 77 87 98 +f 87 80 98 +f 80 91 98 +f 94 93 100 +f 97 86 100 +f 90 83 101 +f 86 92 101 +f 92 90 101 +f 83 94 101 +f 94 100 101 +f 100 86 101 +f 91 80 102 +f 89 97 103 +f 97 100 103 +f 78 85 104 +f 86 84 105 +f 88 92 105 +f 92 86 105 +f 95 88 105 +f 90 79 107 +f 83 90 107 +f 82 96 108 +f 106 84 108 +f 83 80 109 +f 80 87 109 +f 87 94 109 +f 94 83 109 +f 86 76 110 +f 76 89 111 +f 89 103 111 +f 110 76 111 +f 96 81 112 +f 108 96 112 +f 105 84 113 +f 95 105 113 +f 84 106 113 +f 95 78 114 +f 79 95 114 +f 78 104 114 +f 104 79 114 +f 82 93 115 +f 96 82 115 +f 93 96 115 +f 80 83 116 +f 102 80 116 +f 99 102 116 +f 83 107 116 +f 107 99 116 +f 93 82 117 +f 100 93 117 +f 103 100 117 +f 82 108 117 +f 108 103 117 +f 84 86 118 +f 108 84 118 +f 103 108 118 +f 86 110 118 +f 111 103 118 +f 110 111 118 +f 79 104 119 +f 107 79 119 +f 99 107 119 +f 85 77 120 +f 77 98 120 +f 98 91 120 +f 91 102 120 +f 104 85 120 +f 102 104 120 +f 102 99 121 +f 104 102 121 +f 119 104 121 +f 99 119 121 +f 81 95 122 +f 106 81 122 +f 95 113 122 +f 113 106 122 +f 81 78 123 +f 78 95 123 +f 95 81 123 +f 81 106 124 +f 106 108 124 +f 112 81 124 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/170/170.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/170/170.urdf new file mode 100644 index 000000000..1a1b2c803 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/170/170.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/171/171.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/171/171.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/171/171.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/171/171.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/171/171.obj new file mode 100644 index 000000000..a92f3c3d7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/171/171.obj @@ -0,0 +1,411 @@ +o convex_0 +v -0.748406 -0.967986 3.030155 +v -1.035478 -3.100355 -3.039182 +v -1.076551 -3.018156 -1.685659 +v 1.056174 -3.059129 2.210039 +v 1.056174 -0.516524 -2.998571 +v -1.035478 -0.516524 -2.874917 +v 1.138321 -3.059382 -2.956747 +v -1.076551 -3.059129 3.153202 +v 1.056174 -0.926760 3.071373 +v -1.076551 -0.516524 1.143223 +v 1.056174 -0.516524 1.184441 +v 1.015101 -3.018156 3.030155 +v -1.035478 -0.967986 2.988937 +v -1.117625 -0.558003 1.143223 +v 1.056174 -3.100355 1.512366 +v 1.097248 -0.803841 1.102005 +v 1.097248 -0.557750 -2.998571 +v -1.035478 -3.100355 2.168822 +v -1.117625 -1.583341 0.487373 +v -0.461333 -0.516524 -2.956747 +v 1.097248 -2.280135 -2.998571 +v 0.440957 -1.542115 3.112591 +v 0.646103 -3.059129 3.030155 +v -1.035478 -2.690119 -3.039182 +v 0.399883 -0.927013 3.071373 +v -1.076551 -0.967986 2.661012 +v 1.097248 -1.255051 1.184441 +v -0.420260 -3.059129 -3.039182 +v 1.056174 -3.100355 0.815298 +v -1.035478 -0.558003 -2.916135 +v -1.076551 -2.320855 3.111984 +v -1.117625 -1.008960 1.512366 +v 1.138321 -2.854264 -2.751869 +v 0.563956 -0.516524 -2.998571 +v -0.789258 -3.100355 -3.039182 +v -0.912478 -3.059129 3.153202 +v 1.097248 -0.639949 -0.250306 +v 1.056174 -1.173105 3.071373 +v 0.686955 -3.059129 -2.998571 +v 1.015101 -3.059129 2.865889 +v 1.015101 -1.747233 3.071373 +v -1.117625 -0.886040 0.733469 +v -0.953331 -2.854264 3.153202 +v -0.994404 -1.091158 3.030155 +v 1.138321 -2.977436 -2.793087 +f 33 27 45 +f 3 2 8 +f 5 6 10 +f 5 10 11 +f 13 10 14 +f 10 6 14 +f 7 4 15 +f 11 9 16 +f 5 11 17 +f 8 2 18 +f 2 15 18 +f 3 8 19 +f 6 5 20 +f 17 7 21 +f 18 15 23 +f 2 3 24 +f 9 11 25 +f 11 10 25 +f 13 1 25 +f 10 13 25 +f 22 9 25 +f 13 14 26 +f 16 9 27 +f 5 17 28 +f 17 21 28 +f 2 24 28 +f 24 5 28 +f 15 2 29 +f 7 15 29 +f 3 19 30 +f 6 20 30 +f 24 3 30 +f 20 24 30 +f 13 26 31 +f 31 26 32 +f 19 8 32 +f 14 19 32 +f 26 14 32 +f 8 31 32 +f 7 17 33 +f 16 27 33 +f 20 5 34 +f 5 24 34 +f 24 20 34 +f 2 28 35 +f 29 2 35 +f 7 29 35 +f 8 18 36 +f 23 12 36 +f 18 23 36 +f 11 16 37 +f 17 11 37 +f 16 33 37 +f 33 17 37 +f 12 4 38 +f 9 22 38 +f 4 27 38 +f 27 9 38 +f 21 7 39 +f 28 21 39 +f 35 28 39 +f 7 35 39 +f 4 12 40 +f 15 4 40 +f 12 23 40 +f 23 15 40 +f 22 36 41 +f 36 12 41 +f 12 38 41 +f 38 22 41 +f 14 6 42 +f 19 14 42 +f 6 30 42 +f 30 19 42 +f 22 25 43 +f 31 8 43 +f 25 31 43 +f 8 36 43 +f 36 22 43 +f 1 13 44 +f 25 1 44 +f 13 31 44 +f 31 25 44 +f 4 7 45 +f 27 4 45 +f 7 33 45 +o convex_1 +v -0.994385 0.878061 -2.875094 +v 1.138321 3.051579 3.030528 +v 1.138321 3.010602 3.030528 +v -0.994385 2.846693 3.194219 +v -1.076531 3.010818 -2.957546 +v 1.015102 0.878061 -2.916320 +v -0.871387 0.878061 3.152993 +v 0.933177 3.051795 -2.916320 +v 1.015102 0.960232 3.029922 +v -0.994385 3.092989 3.194219 +v -1.117604 0.878061 -0.577958 +v 0.892104 3.092989 -1.357614 +v 0.605034 0.878061 -2.998166 +v 1.015102 0.878061 1.143227 +v -0.953533 0.919254 2.907456 +v 1.015102 1.739663 -2.916320 +v 1.097248 3.092772 2.620087 +v -1.076531 2.928864 -0.783482 +v 0.933177 1.042186 3.071754 +v -1.117604 0.878061 -1.357008 +v -1.117604 1.739446 -0.947173 +v 0.153893 3.051795 -2.956939 +v -0.666243 2.723545 3.194219 +v -0.953533 3.092989 2.456395 +v -1.076531 2.641591 -2.957546 +v 0.974029 2.518443 -2.916320 +v 0.358817 0.878061 -2.998166 +v 0.276891 3.092989 3.111767 +v 1.056175 1.534561 3.030528 +v -1.035459 0.878061 -2.588331 +v -1.035459 1.042186 1.389370 +v 0.810178 2.559420 -2.957546 +v 0.317744 1.411413 -2.998166 +v -1.035459 2.272581 -2.957546 +v 1.138321 3.051579 2.948076 +v -0.707316 0.878061 -2.915713 +v -0.912460 0.878061 3.152993 +v 0.235818 0.919254 3.071147 +v -1.117604 0.960232 -0.496112 +v 0.810178 2.764739 3.071754 +v -0.748389 0.919254 3.152993 +v -0.666243 2.969841 3.194219 +v -0.953533 2.272581 3.194219 +v -0.953533 1.370436 3.152993 +f 82 88 89 +f 46 51 52 +f 46 52 56 +f 51 46 58 +f 52 51 59 +f 53 57 62 +f 55 50 63 +f 48 47 64 +f 52 54 64 +f 46 56 65 +f 65 56 66 +f 63 50 66 +f 55 63 66 +f 50 65 66 +f 57 53 67 +f 55 49 68 +f 50 55 69 +f 55 57 69 +f 67 50 69 +f 57 67 69 +f 65 50 70 +f 58 46 72 +f 57 55 73 +f 47 62 73 +f 62 57 73 +f 51 48 74 +f 59 51 74 +f 54 59 74 +f 48 64 74 +f 64 54 74 +f 46 65 75 +f 70 46 75 +f 65 70 75 +f 60 49 76 +f 56 60 76 +f 51 58 77 +f 61 51 77 +f 67 53 77 +f 53 71 77 +f 71 61 77 +f 50 67 78 +f 70 50 78 +f 58 72 78 +f 72 70 78 +f 77 58 78 +f 67 77 78 +f 46 70 79 +f 70 72 79 +f 47 48 80 +f 48 51 80 +f 51 61 80 +f 62 47 80 +f 53 62 80 +f 71 53 80 +f 61 71 80 +f 72 46 81 +f 46 79 81 +f 79 72 81 +f 56 52 82 +f 60 56 82 +f 54 52 83 +f 52 59 83 +f 59 54 83 +f 49 55 84 +f 66 56 84 +f 55 66 84 +f 76 49 84 +f 56 76 84 +f 64 47 85 +f 47 73 85 +f 52 64 86 +f 64 68 86 +f 55 68 87 +f 68 64 87 +f 73 55 87 +f 64 85 87 +f 85 73 87 +f 68 49 88 +f 82 52 88 +f 52 86 88 +f 86 68 88 +f 49 60 89 +f 60 82 89 +f 88 49 89 +o convex_2 +v -0.871423 0.385669 -2.916139 +v 1.056058 0.057773 1.184569 +v 0.235953 0.344580 1.184983 +v -1.076555 -0.516524 1.143628 +v 1.056058 -0.516524 -2.998434 +v 1.056058 0.878060 -2.916139 +v -1.035486 0.878060 1.143628 +v -1.035486 -0.516524 -2.875198 +v 1.015202 0.878060 1.143215 +v 1.056058 -0.516524 1.184569 +v -1.035486 0.878060 -2.588198 +v -1.117412 0.878060 -1.357489 +v 0.317878 0.878060 -2.998021 +v 0.194884 0.139815 -3.039789 +v -0.994417 0.878060 -2.875198 +v -1.076555 -0.270397 -2.014198 +v -1.076555 0.426759 1.143628 +v -0.994417 -0.516524 -2.916139 +v 0.686862 -0.393392 -3.039789 +v 1.056058 0.508665 1.061333 +v -0.256025 -0.270397 1.184983 +v -1.117412 0.467712 -0.947667 +v -1.117412 0.878060 -0.620139 +v 0.604936 0.878060 -2.998021 +v -1.076555 -0.475435 -0.988608 +v 0.317878 0.467712 -3.039789 +v -0.748216 0.878060 -2.916139 +v -0.297094 0.221585 1.184983 +v -1.117412 0.549754 -1.398430 +v -0.461370 -0.516524 -2.957493 +v 1.056058 -0.352439 -2.998434 +f 108 113 120 +f 91 94 95 +f 94 93 97 +f 92 91 98 +f 96 92 98 +f 95 96 98 +f 91 92 99 +f 93 94 99 +f 94 91 99 +f 96 95 100 +f 100 97 101 +f 96 100 101 +f 100 95 102 +f 97 100 104 +f 100 102 104 +f 94 97 107 +f 90 103 107 +f 104 90 107 +f 97 104 107 +f 91 95 109 +f 98 91 109 +f 95 98 109 +f 99 92 110 +f 93 99 110 +f 96 101 112 +f 93 106 112 +f 106 96 112 +f 111 93 112 +f 101 111 112 +f 102 95 113 +f 97 93 114 +f 105 97 114 +f 93 111 114 +f 108 103 115 +f 102 113 115 +f 113 108 115 +f 103 90 116 +f 104 102 116 +f 90 104 116 +f 115 103 116 +f 102 115 116 +f 92 96 117 +f 106 93 117 +f 96 106 117 +f 110 92 117 +f 93 110 117 +f 101 97 118 +f 97 105 118 +f 111 101 118 +f 105 114 118 +f 114 111 118 +f 94 107 119 +f 107 103 119 +f 108 94 119 +f 103 108 119 +f 95 94 120 +f 94 108 120 +f 113 95 120 +o convex_3 +v -0.256207 0.344837 2.907424 +v 0.235891 -0.352455 2.087514 +v 0.317977 -0.352455 2.087514 +v 0.153864 0.344837 1.185179 +v -0.256207 -0.270413 1.185179 +v -0.256207 -0.352455 3.112598 +v 0.317977 0.180684 3.030568 +v -0.297281 0.221773 1.185179 +v 0.276904 -0.311434 1.185179 +v 0.317977 -0.352455 3.153515 +v -0.174181 0.344837 3.194629 +v 0.276904 0.262726 1.554415 +v -0.297281 0.262726 2.292295 +v -0.297281 -0.106328 1.185179 +v -0.256207 0.180684 3.194629 +v 0.194878 0.344837 1.390354 +v -0.256207 -0.352455 2.620416 +v 0.235891 0.303747 1.185179 +v 0.276904 0.221773 2.948538 +v 0.071778 -0.311434 1.226293 +v 0.317977 -0.188371 3.153515 +f 131 130 141 +f 122 123 126 +f 121 124 128 +f 124 125 128 +f 123 122 129 +f 125 124 129 +f 126 123 130 +f 123 127 130 +f 124 121 131 +f 127 123 132 +f 123 129 132 +f 121 128 133 +f 133 128 134 +f 128 125 134 +f 126 133 134 +f 126 130 135 +f 130 131 135 +f 131 121 135 +f 121 133 135 +f 133 126 135 +f 124 131 136 +f 127 132 136 +f 122 126 137 +f 134 125 137 +f 126 134 137 +f 129 124 138 +f 132 129 138 +f 124 136 138 +f 136 132 138 +f 131 127 139 +f 127 136 139 +f 136 131 139 +f 129 122 140 +f 125 129 140 +f 122 137 140 +f 137 125 140 +f 130 127 141 +f 127 131 141 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/171/171.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/171/171.urdf new file mode 100644 index 000000000..12a43fe76 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/171/171.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/172/172.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/172/172.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/172/172.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/172/172.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/172/172.obj new file mode 100644 index 000000000..2209013ab --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/172/172.obj @@ -0,0 +1,714 @@ +o convex_0 +v 0.489975 0.083982 -1.353119 +v 0.046634 -0.996615 -1.353119 +v 0.074303 -0.996615 -1.353119 +v 0.018966 -0.248386 -3.043391 +v -0.452043 0.333440 -1.270142 +v -0.368930 -0.858043 -1.270142 +v 0.406862 -0.137645 -2.766164 +v 0.462307 -0.830212 -1.269968 +v -0.341262 -0.276071 -2.765990 +v 0.074303 0.139498 -2.821540 +v 0.351526 0.416495 -1.269968 +v 0.046634 -0.580899 -2.793765 +v -0.535264 -0.248386 -1.325518 +v -0.119483 0.499843 -1.297743 +v 0.573197 -0.248386 -1.269968 +v 0.406862 -0.276071 -2.766164 +v -0.258040 0.056443 -2.572087 +v -0.258040 -0.525383 -2.544312 +v 0.517752 -0.248386 -2.128905 +v -0.452043 -0.248386 -2.156680 +v 0.323750 -0.497551 -2.599862 +v 0.406862 0.167183 -1.990551 +v -0.341262 -0.193016 -2.765990 +v -0.036478 -0.580899 -2.765990 +v 0.295973 0.084128 -2.627463 +v -0.008702 0.139498 -2.765990 +v -0.424266 0.361272 -1.297743 +v 0.517752 -0.137645 -1.990551 +v 0.129747 -0.996615 -1.297743 +v 0.129747 -0.220847 -3.015443 +v 0.406862 0.361125 -1.325518 +v -0.368930 -0.858043 -1.297743 +v 0.489975 -0.719325 -1.380894 +v -0.535264 -0.193016 -1.270142 +v 0.018966 -0.137645 -3.015443 +v 0.101971 -0.580899 -2.738389 +v 0.462307 -0.830212 -1.297743 +v -0.064147 0.499843 -1.297743 +v -0.452043 -0.386811 -1.879626 +v -0.479711 -0.165331 -1.879626 +v 0.351526 0.416495 -1.297743 +v 0.434639 -0.248386 -2.710788 +v -0.008702 -0.996615 -1.270142 +v -0.452043 0.333440 -1.297743 +v 0.573197 -0.193016 -1.269968 +v -0.341262 -0.608438 -2.045928 +v 0.545420 -0.248386 -1.824250 +v -0.313485 -0.248386 -2.821540 +v 0.462307 -0.747010 -1.519421 +v -0.008702 -0.996615 -1.297743 +f 43 32 50 +f 3 2 12 +f 5 11 14 +f 11 8 15 +f 9 20 23 +f 12 2 24 +f 4 12 24 +f 18 9 24 +f 7 10 25 +f 22 7 25 +f 14 10 26 +f 23 17 26 +f 5 14 27 +f 14 26 27 +f 26 17 27 +f 7 22 28 +f 2 3 29 +f 3 12 29 +f 10 7 30 +f 12 4 30 +f 7 16 30 +f 16 12 30 +f 22 25 31 +f 1 28 31 +f 28 22 31 +f 6 13 32 +f 18 24 32 +f 15 8 33 +f 6 8 34 +f 11 5 34 +f 8 11 34 +f 13 6 34 +f 26 10 35 +f 23 26 35 +f 10 30 35 +f 30 4 35 +f 12 16 36 +f 16 21 36 +f 29 12 36 +f 29 36 37 +f 8 29 37 +f 33 8 37 +f 36 21 37 +f 10 14 38 +f 14 11 38 +f 20 9 39 +f 13 20 39 +f 32 13 39 +f 20 13 40 +f 23 20 40 +f 13 34 40 +f 25 10 41 +f 11 31 41 +f 31 25 41 +f 10 38 41 +f 38 11 41 +f 16 7 42 +f 7 28 42 +f 28 19 42 +f 8 6 43 +f 2 29 43 +f 29 8 43 +f 6 32 43 +f 17 23 44 +f 5 27 44 +f 27 17 44 +f 34 5 44 +f 23 40 44 +f 40 34 44 +f 11 15 45 +f 28 1 45 +f 1 31 45 +f 31 11 45 +f 9 18 46 +f 18 32 46 +f 39 9 46 +f 32 39 46 +f 19 28 47 +f 15 33 47 +f 33 19 47 +f 45 15 47 +f 28 45 47 +f 9 23 48 +f 4 24 48 +f 24 9 48 +f 35 4 48 +f 23 35 48 +f 21 16 49 +f 19 33 49 +f 37 21 49 +f 33 37 49 +f 16 42 49 +f 42 19 49 +f 24 2 50 +f 32 24 50 +f 2 43 50 +o convex_1 +v -0.119532 2.107151 -1.269811 +v 0.018912 1.469770 -1.353230 +v 0.046613 1.469770 -1.353230 +v -0.008727 1.830013 -2.987967 +v 0.268349 2.023984 -1.269811 +v -0.313566 1.885353 -1.269811 +v 0.212884 1.719270 -2.738384 +v -0.230400 1.802311 -2.683051 +v 0.268349 1.525298 -1.269811 +v 0.046613 1.968582 -2.738384 +v -0.036428 1.608339 -2.738384 +v -0.230400 1.608339 -1.269811 +v -0.174997 1.968582 -2.488968 +v 0.323814 1.719270 -1.380812 +v -0.258101 2.051686 -1.325311 +v 0.074315 2.107151 -1.353230 +v 0.240585 1.497534 -1.436144 +v 0.212884 1.774610 -2.766134 +v -0.230400 1.857651 -2.710802 +v -0.230400 1.663804 -1.935142 +v 0.157419 1.636103 -2.627551 +v 0.185183 1.913117 -2.488968 +v -0.036428 1.968582 -2.766134 +v -0.064130 1.608339 -2.710802 +v -0.036428 1.774610 -2.987967 +v -0.008727 1.469770 -1.269811 +v 0.268349 2.023984 -1.325311 +v -0.313566 1.940818 -1.325311 +v -0.230400 2.079387 -1.380812 +v -0.008727 2.107151 -1.463894 +v -0.285803 1.830013 -1.852060 +v 0.323814 1.774610 -1.325311 +v 0.074315 1.746908 -2.932467 +v 0.185183 1.469770 -1.297561 +v -0.258101 1.663804 -1.436144 +v 0.046613 1.608339 -2.683051 +v -0.202699 1.719270 -2.572219 +f 74 70 87 +f 55 51 56 +f 55 56 59 +f 53 52 61 +f 59 56 62 +f 59 57 64 +f 56 51 65 +f 51 55 66 +f 57 59 67 +f 54 60 68 +f 64 57 68 +f 65 63 69 +f 57 67 71 +f 68 60 72 +f 60 54 73 +f 54 69 73 +f 69 63 73 +f 61 52 74 +f 62 70 74 +f 69 54 75 +f 58 69 75 +f 74 58 75 +f 61 74 75 +f 52 53 76 +f 59 62 76 +f 74 52 76 +f 62 74 76 +f 66 55 77 +f 60 66 77 +f 72 60 77 +f 68 72 77 +f 56 65 78 +f 65 69 78 +f 65 51 79 +f 63 65 79 +f 73 63 79 +f 73 79 80 +f 51 66 80 +f 66 60 80 +f 60 73 80 +f 79 51 80 +f 69 58 81 +f 58 70 81 +f 56 78 81 +f 78 69 81 +f 55 59 82 +f 59 64 82 +f 64 68 82 +f 77 55 82 +f 68 77 82 +f 54 68 83 +f 68 57 83 +f 61 75 83 +f 75 54 83 +f 53 61 84 +f 67 59 84 +f 76 53 84 +f 59 76 84 +f 62 56 85 +f 70 62 85 +f 56 81 85 +f 81 70 85 +f 57 71 86 +f 71 67 86 +f 83 57 86 +f 61 83 86 +f 84 61 86 +f 67 84 86 +f 70 58 87 +f 58 74 87 +o convex_2 +v 0.046532 -3.157174 -0.133307 +v 0.046532 2.133887 1.279711 +v -0.147220 2.133887 1.279711 +v -0.147220 2.106939 -1.269811 +v 0.988907 -0.192961 -0.244112 +v -0.978659 -0.303680 0.032651 +v 0.046532 -2.741833 0.836240 +v -0.341165 -0.967992 -1.269811 +v 0.767035 2.106354 0.891393 +v -0.812256 2.300843 -0.854041 +v 0.767035 -2.187654 0.780588 +v 0.711760 -2.242720 -0.798389 +v 0.739302 2.134473 -0.853792 +v -0.673779 -2.159535 0.808539 +v -0.673779 -2.132001 -0.798389 +v -0.784522 2.106354 0.835990 +v -0.008551 2.798784 0.088054 +v 0.462348 -0.829740 1.279711 +v 0.573091 -0.275561 -1.269811 +v -0.618311 -0.220495 1.279711 +v 0.961173 -0.248028 0.808289 +v 0.046532 -2.880085 -0.798389 +v -0.923191 -0.192961 -0.770688 +v -0.923191 -0.331213 0.780588 +v 0.018991 2.716185 -0.742986 +v -0.535109 -0.330627 -1.269811 +v 0.933439 -0.248028 -0.742986 +v -0.729247 -2.354025 -0.022502 +v 0.794769 -2.409677 -0.022502 +v 0.600825 -0.192961 1.279711 +v -0.036284 2.688066 0.780837 +v 0.268403 2.051287 -1.269811 +v -0.424366 -0.802207 1.279711 +v 0.462348 -0.829740 -1.269811 +v 0.018991 -3.157174 0.115755 +v -0.368899 2.078820 1.251760 +v 0.295944 1.884916 1.279711 +v -0.978659 0.028476 -0.022502 +v 0.988907 0.028476 0.143457 +v -0.313431 1.940568 -1.269811 +v 0.018991 -2.880085 0.780837 +v 0.628559 -2.382143 0.780837 +v -0.673779 -2.464743 -0.050203 +v 0.767035 -2.492862 0.060353 +v -0.923191 0.139194 0.780588 +v 0.988907 -0.469465 0.032651 +v -0.036284 -0.996111 1.279711 +v -0.230229 2.688651 -0.161008 +v 0.711760 2.190125 0.836240 +v -0.618311 -2.243306 -0.798389 +v 0.074266 -3.184707 0.032651 +v -0.701513 -2.298373 0.448172 +v 0.074266 -1.383919 -1.186208 +v -0.756788 1.386390 0.974747 +v -0.812256 2.189539 -0.881742 +v 0.295944 2.550400 -0.354918 +v -0.812256 1.884916 0.780588 +v 0.379146 2.189539 1.113253 +v 0.739302 -2.298373 -0.632181 +v -0.839990 2.023754 -0.770688 +v -0.008551 -3.157174 -0.077904 +v -0.064018 2.716185 -0.742986 +v 0.794769 1.912450 0.808289 +v -0.396633 1.829264 1.279711 +f 103 141 151 +f 89 90 105 +f 95 91 106 +f 105 90 107 +f 101 107 111 +f 91 95 113 +f 95 102 113 +f 102 110 113 +f 100 92 114 +f 99 106 114 +f 106 100 114 +f 93 110 115 +f 110 102 115 +f 111 93 115 +f 114 92 116 +f 89 105 117 +f 105 98 117 +f 108 96 117 +f 98 108 117 +f 90 89 118 +f 106 91 119 +f 100 106 119 +f 91 112 119 +f 112 100 119 +f 101 94 120 +f 107 101 120 +f 105 107 120 +f 95 106 121 +f 106 99 121 +f 99 109 121 +f 90 118 123 +f 118 103 123 +f 89 117 124 +f 117 96 124 +f 110 93 125 +f 92 100 126 +f 97 91 127 +f 91 113 127 +f 94 101 128 +f 105 94 129 +f 98 105 129 +f 94 128 129 +f 115 102 130 +f 116 98 131 +f 98 129 131 +f 93 111 132 +f 111 107 132 +f 125 93 132 +f 108 98 133 +f 98 116 133 +f 116 92 133 +f 92 126 133 +f 126 108 133 +f 94 105 134 +f 120 94 134 +f 105 120 134 +f 97 103 135 +f 103 118 135 +f 118 104 135 +f 96 100 136 +f 104 118 136 +f 102 95 137 +f 95 109 137 +f 130 102 137 +f 128 122 138 +f 129 128 138 +f 131 129 138 +f 101 111 139 +f 111 115 139 +f 128 101 139 +f 122 128 139 +f 115 130 139 +f 130 122 139 +f 109 95 140 +f 95 121 140 +f 121 109 140 +f 103 132 141 +f 132 107 141 +f 113 110 142 +f 97 127 142 +f 127 113 142 +f 100 112 143 +f 112 104 143 +f 136 100 143 +f 104 136 143 +f 103 97 144 +f 132 103 144 +f 125 132 144 +f 118 89 145 +f 89 124 145 +f 124 96 145 +f 96 136 145 +f 136 118 145 +f 88 109 146 +f 109 99 146 +f 99 114 146 +f 114 116 146 +f 116 131 146 +f 138 88 146 +f 131 138 146 +f 110 125 147 +f 97 142 147 +f 142 110 147 +f 144 97 147 +f 125 144 147 +f 109 88 148 +f 122 130 148 +f 137 109 148 +f 130 137 148 +f 88 138 148 +f 138 122 148 +f 91 97 149 +f 112 91 149 +f 104 112 149 +f 97 135 149 +f 135 104 149 +f 100 96 150 +f 96 108 150 +f 126 100 150 +f 108 126 150 +f 107 90 151 +f 90 123 151 +f 123 103 151 +f 141 107 151 +o convex_3 +v -0.341149 0.139314 2.498879 +v -0.008843 -0.996615 1.279711 +v -0.119650 -0.941180 1.279711 +v 0.406861 0.388843 1.279882 +v 0.406861 -0.303745 2.803757 +v -0.535120 0.361196 1.279711 +v -0.341149 -0.497698 2.554420 +v 0.462264 -0.774733 1.279882 +v 0.018918 0.194749 2.748387 +v -0.618401 -0.193157 1.362937 +v -0.008843 -0.636215 2.775901 +v -0.451956 -0.165510 2.748387 +v -0.451956 -0.774874 1.279711 +v 0.573189 -0.220804 1.529389 +v -0.036486 -0.193157 3.025579 +v -0.451956 0.444419 1.335252 +v 0.323813 0.056372 2.582105 +v 0.323813 -0.553133 2.554250 +v 0.545428 -0.248310 2.028062 +v -0.562880 -0.193157 2.083432 +v 0.434621 -0.774733 1.529389 +v 0.573189 -0.303745 1.279882 +v 0.018918 0.444419 1.307567 +v 0.434621 0.361196 1.363108 +v 0.434621 -0.248310 2.776072 +v -0.451956 -0.719439 1.529389 +v -0.036486 -0.636215 2.775901 +v -0.119650 0.167243 2.720702 +v -0.479716 0.333549 1.667815 +v -0.036486 -0.359180 2.970038 +v 0.240649 -0.913392 1.307567 +v -0.562880 -0.082286 2.000377 +v -0.618401 -0.137721 1.279711 +v -0.451956 -0.193157 2.748387 +v 0.434621 -0.303745 2.748387 +v 0.074321 -0.193157 2.997723 +v -0.064130 -0.968827 1.335252 +v 0.517785 -0.442263 1.834096 +v 0.212889 -0.580921 2.665161 +v 0.074321 0.167243 2.748387 +v -0.451956 -0.774874 1.335252 +v 0.406861 0.388843 1.335252 +v -0.451956 -0.553133 1.972692 +v 0.573189 -0.165368 1.279882 +v 0.018918 -0.996615 1.307567 +v -0.479716 -0.719439 1.307567 +v 0.434621 0.139455 1.917322 +v 0.406861 -0.220804 2.803757 +v 0.018918 -0.359180 2.970038 +v -0.341149 0.111808 2.581934 +v -0.479716 0.444419 1.279711 +v 0.462264 0.278113 1.390793 +v -0.590640 -0.137721 1.834267 +v -0.562880 -0.248592 1.972692 +v -0.285745 -0.525486 2.609791 +v 0.018918 0.111808 2.831271 +v 0.018918 -0.608568 2.803757 +f 200 181 208 +f 153 154 157 +f 157 154 164 +f 159 153 173 +f 165 170 173 +f 167 160 174 +f 163 166 179 +f 160 167 179 +f 179 167 180 +f 152 179 180 +f 153 159 182 +f 159 172 182 +f 171 163 183 +f 163 180 183 +f 180 157 183 +f 157 164 184 +f 166 163 185 +f 163 171 185 +f 181 166 185 +f 178 181 185 +f 156 169 186 +f 169 172 186 +f 176 156 186 +f 170 176 186 +f 153 178 188 +f 172 159 189 +f 159 173 189 +f 173 170 189 +f 186 172 189 +f 170 186 189 +f 169 156 190 +f 172 169 190 +f 162 182 190 +f 182 172 190 +f 154 153 192 +f 164 154 192 +f 153 188 192 +f 188 178 192 +f 155 174 193 +f 174 160 193 +f 175 155 193 +f 168 175 193 +f 160 191 193 +f 191 168 193 +f 177 158 194 +f 158 185 194 +f 153 155 195 +f 173 153 195 +f 165 173 195 +f 155 175 195 +f 178 153 196 +f 162 178 196 +f 153 182 196 +f 182 162 196 +f 184 164 197 +f 161 184 197 +f 164 192 197 +f 192 177 197 +f 175 168 198 +f 168 176 198 +f 176 170 198 +f 156 176 199 +f 176 168 199 +f 187 156 199 +f 168 191 199 +f 166 181 200 +f 187 166 200 +f 156 187 200 +f 179 152 201 +f 163 179 201 +f 152 180 201 +f 180 163 201 +f 155 153 202 +f 153 157 202 +f 174 155 202 +f 167 174 202 +f 180 167 202 +f 157 180 202 +f 170 165 203 +f 165 195 203 +f 195 175 203 +f 175 198 203 +f 198 170 203 +f 183 157 204 +f 171 183 204 +f 157 184 204 +f 184 161 204 +f 185 171 205 +f 177 194 205 +f 194 185 205 +f 161 197 205 +f 197 177 205 +f 204 161 205 +f 171 204 205 +f 158 177 206 +f 185 158 206 +f 178 185 206 +f 177 192 206 +f 192 178 206 +f 160 179 207 +f 179 166 207 +f 166 187 207 +f 191 160 207 +f 187 199 207 +f 199 191 207 +f 178 162 208 +f 181 178 208 +f 190 156 208 +f 162 190 208 +f 156 200 208 +o convex_4 +v 0.212900 1.996188 1.750959 +v -0.091847 1.331288 1.279711 +v 0.046692 1.331288 1.279711 +v 0.018958 1.691544 2.997867 +v -0.313523 2.051642 1.279711 +v 0.296102 1.663856 1.279711 +v -0.202718 1.663856 2.692951 +v -0.008776 1.940812 2.803784 +v -0.368991 1.691544 1.279711 +v 0.185231 1.719231 2.720702 +v -0.008776 2.134863 1.279711 +v -0.008776 1.525260 2.748284 +v 0.212900 1.414430 1.307461 +v -0.285789 1.442196 1.307461 +v -0.202718 1.774528 2.720702 +v 0.240634 2.023876 1.279711 +v -0.368991 1.802216 1.446044 +v -0.064048 1.525260 2.720702 +v 0.157497 1.885358 2.609701 +v 0.296102 1.802216 1.307461 +v -0.174984 1.885358 2.582119 +v -0.313523 2.023876 1.473794 +v 0.129829 1.608402 2.637451 +v 0.157497 1.359054 1.307461 +v -0.064048 2.134863 1.307461 +v 0.018958 1.774528 2.997867 +v -0.091847 1.719231 2.942367 +v 0.018958 1.940812 2.803784 +v -0.174984 1.580714 2.582119 +v 0.185231 1.774528 2.692951 +v 0.240634 2.023876 1.418462 +v 0.157497 1.719231 2.831534 +v -0.368991 1.746841 1.473794 +v -0.313523 2.051642 1.335211 +v -0.258055 1.774528 2.360286 +f 225 241 243 +f 211 210 213 +f 211 213 214 +f 213 210 217 +f 214 213 219 +f 210 211 220 +f 211 214 221 +f 214 218 221 +f 217 210 222 +f 214 219 224 +f 213 217 225 +f 210 220 226 +f 220 212 226 +f 222 210 226 +f 218 214 228 +f 214 224 228 +f 223 216 229 +f 223 229 230 +f 221 218 231 +f 221 231 232 +f 220 211 232 +f 211 221 232 +f 231 220 232 +f 219 213 233 +f 223 215 235 +f 216 223 235 +f 226 212 235 +f 215 226 235 +f 212 234 235 +f 234 216 235 +f 209 219 236 +f 227 209 236 +f 233 216 236 +f 219 233 236 +f 216 234 236 +f 215 222 237 +f 226 215 237 +f 222 226 237 +f 218 228 238 +f 219 209 239 +f 224 219 239 +f 209 227 239 +f 228 224 239 +f 227 238 239 +f 238 228 239 +f 212 220 240 +f 231 218 240 +f 220 231 240 +f 234 212 240 +f 227 236 240 +f 236 234 240 +f 238 227 240 +f 218 238 240 +f 217 222 241 +f 222 215 241 +f 225 217 241 +f 213 225 242 +f 229 216 242 +f 230 229 242 +f 225 230 242 +f 233 213 242 +f 216 233 242 +f 215 223 243 +f 223 230 243 +f 230 225 243 +f 241 215 243 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/172/172.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/172/172.urdf new file mode 100644 index 000000000..9116e5d32 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/172/172.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/173/173.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/173/173.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/173/173.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/173/173.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/173/173.obj new file mode 100644 index 000000000..af77f208e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/173/173.obj @@ -0,0 +1,543 @@ +o convex_0 +v 2.959592 -1.935557 -1.045686 +v 1.166103 -2.405187 1.046990 +v 2.874122 -1.892921 1.004178 +v 1.123270 -0.441186 -1.002874 +v 3.002228 -0.483823 0.961366 +v 1.166103 -2.576361 -0.960062 +v 1.123270 -0.526668 0.918758 +v 3.130531 -0.483823 -0.960062 +v 3.045061 -2.405396 1.004178 +v 3.045061 -2.490879 -1.045686 +v 1.123270 -2.576361 1.046990 +v 2.660743 -2.533515 -1.045686 +v 2.020211 -0.441186 0.107170 +v 1.123270 -2.576361 -0.917455 +v 3.087698 -2.106313 -1.045686 +v 2.105484 -0.441186 -1.002874 +v 2.361697 -1.081780 1.004178 +v 3.045061 -2.490879 -0.490357 +v 1.123270 -0.782906 0.961366 +v 3.130531 -0.740269 -0.703803 +v 1.123270 -0.441186 -0.233894 +v 3.045061 -0.483823 0.576875 +v 2.318864 -0.484032 0.961366 +v 1.123270 -1.124626 -1.002874 +v 1.208936 -2.576361 1.046990 +v 1.550422 -2.576361 -0.960062 +v 2.532440 -2.533515 -1.045686 +v 2.233590 -0.441186 -0.661196 +v 3.087698 -1.892921 -1.045686 +v 1.123270 -0.484032 0.491660 +f 23 21 30 +f 3 2 9 +f 5 3 9 +f 7 4 11 +f 1 10 12 +f 11 4 14 +f 6 11 14 +f 10 1 15 +f 4 13 16 +f 2 3 17 +f 3 5 17 +f 12 10 18 +f 15 9 18 +f 10 15 18 +f 7 11 19 +f 11 2 19 +f 2 17 19 +f 15 8 20 +f 9 15 20 +f 4 7 21 +f 13 4 21 +f 5 9 22 +f 20 8 22 +f 9 20 22 +f 5 13 23 +f 17 5 23 +f 7 19 23 +f 19 17 23 +f 13 21 23 +f 14 4 24 +f 6 14 24 +f 9 2 25 +f 11 6 25 +f 2 11 25 +f 18 9 25 +f 12 18 25 +f 6 12 26 +f 25 6 26 +f 12 25 26 +f 4 1 27 +f 1 12 27 +f 12 6 27 +f 24 4 27 +f 6 24 27 +f 13 5 28 +f 8 16 28 +f 16 13 28 +f 5 22 28 +f 22 8 28 +f 1 4 29 +f 15 1 29 +f 8 15 29 +f 4 16 29 +f 16 8 29 +f 21 7 30 +f 7 23 30 +o convex_1 +v -0.883840 -0.142023 -3.010185 +v 1.123270 -0.142023 3.096958 +v 1.123270 -0.398269 3.096958 +v -1.097529 1.566217 3.011489 +v 1.037838 1.566217 -2.967147 +v -1.012097 -0.398269 2.968451 +v 1.037838 -0.398269 -3.095655 +v 1.037838 1.566217 2.968451 +v -0.969272 1.566217 -2.967147 +v -1.097529 -0.398269 -2.967147 +v 1.080446 1.651699 -1.002556 +v -0.969272 1.651699 0.918390 +v -0.926665 1.651699 -1.643276 +v -1.054704 0.028941 3.011489 +v 1.037838 1.651699 1.003860 +v 1.080446 1.523275 -2.240958 +v -1.012097 1.309971 -2.967147 +v 1.080446 -0.398269 -1.258965 +v 0.653285 -0.056541 -3.095655 +v 1.037838 1.523275 -3.010185 +v -1.097529 0.968243 3.011489 +v 0.824149 1.566217 3.011489 +v -1.054704 -0.227305 2.968451 +v 0.610678 -0.398269 3.096958 +v 1.080446 1.651699 0.063693 +v -1.097529 1.566217 2.626572 +v -0.627544 1.181748 -3.009579 +v 0.525246 1.608958 -2.454935 +v 1.080446 0.071682 3.096958 +v -0.969272 1.608958 -2.497367 +v -1.097529 -0.312787 -2.967147 +v 1.123270 -0.398269 2.669610 +v 1.080446 0.797479 3.053920 +v -0.926665 -0.398269 -3.010185 +v -0.841015 -0.398269 3.010882 +v -0.286033 1.651699 -1.643276 +f 58 60 66 +f 33 36 37 +f 37 36 40 +f 42 41 43 +f 41 42 45 +f 42 34 45 +f 41 32 46 +f 35 41 46 +f 39 31 47 +f 33 37 48 +f 37 46 48 +f 39 35 50 +f 46 37 50 +f 35 46 50 +f 37 49 50 +f 34 40 51 +f 45 34 52 +f 38 45 52 +f 40 36 53 +f 36 44 53 +f 51 40 53 +f 44 51 53 +f 33 32 54 +f 36 33 54 +f 34 51 54 +f 51 44 54 +f 32 41 55 +f 45 38 55 +f 41 45 55 +f 40 34 56 +f 34 42 56 +f 39 47 56 +f 31 39 57 +f 49 31 57 +f 39 50 57 +f 50 49 57 +f 41 35 58 +f 52 34 59 +f 54 32 59 +f 34 54 59 +f 35 39 60 +f 42 43 60 +f 56 42 60 +f 39 56 60 +f 58 35 60 +f 40 56 61 +f 56 47 61 +f 32 33 62 +f 46 32 62 +f 33 48 62 +f 48 46 62 +f 38 52 63 +f 32 55 63 +f 55 38 63 +f 59 32 63 +f 52 59 63 +f 37 40 64 +f 47 31 64 +f 31 49 64 +f 49 37 64 +f 40 61 64 +f 61 47 64 +f 44 36 65 +f 36 54 65 +f 54 44 65 +f 43 41 66 +f 41 58 66 +f 60 43 66 +o convex_2 +v -1.866368 -0.441182 -0.917404 +v -1.866368 -2.533653 -0.960258 +v -1.695604 -2.533653 -0.960258 +v -3.019216 -1.039060 1.089698 +v -1.140237 -2.490845 1.004203 +v -1.140237 -0.483785 0.961349 +v -2.933834 -2.490640 -1.002899 +v -3.104598 -0.441182 -1.045540 +v -1.140237 -0.483785 -1.088394 +v -2.933834 -2.405229 0.961562 +v -3.019216 -0.483990 1.089698 +v -1.140237 -2.533653 -0.960045 +v -2.976525 -2.191804 1.004203 +v -3.061907 -0.441182 0.534301 +v -1.866368 -2.490640 1.004203 +v -3.061907 -1.295294 -1.045540 +v -2.506732 -0.483990 1.089698 +v -1.183120 -0.825430 -1.088394 +v -3.104598 -0.526593 -0.362221 +v -1.183120 -2.533653 0.363525 +v -2.933834 -2.490640 -0.532998 +v -2.976525 -2.319818 -1.002899 +v -3.061907 -0.526593 1.004203 +v -1.396575 -0.483785 1.004203 +v -1.951942 -0.441182 -1.088394 +v -2.933834 -2.448037 0.662437 +v -2.165204 -2.405229 -1.002899 +v -3.104598 -0.740223 -0.917404 +v -1.140237 -1.807351 1.004203 +v -2.250586 -1.764748 -1.045540 +v -2.976525 -2.234407 0.961562 +f 85 94 97 +f 69 68 73 +f 67 72 75 +f 72 71 75 +f 68 69 78 +f 69 73 78 +f 75 71 78 +f 72 67 80 +f 67 74 80 +f 71 70 81 +f 70 79 81 +f 79 76 81 +f 70 71 83 +f 77 70 83 +f 80 77 83 +f 75 78 84 +f 80 74 85 +f 68 78 86 +f 78 71 86 +f 71 81 86 +f 86 81 87 +f 73 68 87 +f 68 86 87 +f 82 73 88 +f 73 87 88 +f 70 77 89 +f 79 70 89 +f 77 80 89 +f 80 85 89 +f 72 80 90 +f 80 83 90 +f 74 67 91 +f 67 75 91 +f 82 74 91 +f 75 84 91 +f 81 76 92 +f 87 81 92 +f 88 87 92 +f 78 73 93 +f 84 78 93 +f 74 82 94 +f 85 74 94 +f 71 72 95 +f 83 71 95 +f 72 90 95 +f 90 83 95 +f 73 82 96 +f 82 91 96 +f 91 84 96 +f 93 73 96 +f 84 93 96 +f 76 79 97 +f 82 88 97 +f 79 89 97 +f 89 85 97 +f 92 76 97 +f 88 92 97 +f 94 82 97 +o convex_3 +v 0.226376 -2.576361 -1.130458 +v 1.123270 -0.398482 3.096959 +v 1.080508 -0.398269 3.096959 +v 1.037746 -0.398269 -3.095049 +v -1.140237 -0.483764 0.960822 +v 0.909682 -2.490866 3.053314 +v -1.097475 -2.448012 -3.095655 +v -1.011950 -2.405371 2.926019 +v 1.037746 -2.448012 -3.052011 +v -1.097475 -0.398269 -2.967147 +v -1.011950 -0.398269 2.968451 +v 1.123270 -2.576361 1.046898 +v -1.140237 -2.533507 0.534080 +v 1.123270 -0.441123 -1.002557 +v 1.123270 -2.576361 -0.916481 +v 0.397202 -2.490866 3.053314 +v -1.140237 -2.533507 -0.959519 +v -0.883886 -0.441123 3.011489 +v 0.994984 -1.978324 3.096959 +v -1.140237 -0.483764 -1.087420 +v -0.883886 -2.490866 -2.838640 +v -1.140237 -2.490653 1.003860 +v -1.097475 -0.569259 -3.009579 +v 0.482505 -2.576361 1.003860 +v 0.994984 -2.576361 -1.258359 +v 1.037746 -1.380926 -3.095049 +v -0.969410 -2.533507 1.003860 +v 0.567807 -0.398269 -3.095049 +v 0.909682 -2.533507 2.626572 +v -1.011950 -1.935470 2.968451 +v 0.525267 -0.611899 3.096959 +v 1.123270 -0.697394 3.096959 +v -0.072515 -2.576361 -0.959519 +v -1.097475 -2.106246 -3.095655 +v -0.200580 -2.448012 -3.095049 +v 0.952444 -2.448012 3.053314 +v -1.054713 -2.533507 -1.557806 +v 0.909682 -2.106246 3.096959 +v -0.841124 -2.405371 2.968451 +v -1.054713 -2.490653 1.643973 +f 124 113 137 +f 100 99 101 +f 100 101 107 +f 100 107 108 +f 107 102 108 +f 101 99 111 +f 99 109 111 +f 111 109 112 +f 109 98 112 +f 110 102 114 +f 100 108 115 +f 99 100 116 +f 102 107 117 +f 104 114 117 +f 114 102 117 +f 108 102 119 +f 102 110 119 +f 110 105 119 +f 117 107 120 +f 98 109 121 +f 112 98 122 +f 106 112 122 +f 118 106 122 +f 98 118 122 +f 104 101 123 +f 101 111 123 +f 111 112 123 +f 112 106 123 +f 110 121 124 +f 107 101 125 +f 120 107 125 +f 109 103 126 +f 103 113 126 +f 121 109 126 +f 113 124 126 +f 124 121 126 +f 115 108 127 +f 113 115 127 +f 108 119 127 +f 119 105 127 +f 100 115 128 +f 116 100 128 +f 109 99 129 +f 99 116 129 +f 110 114 130 +f 118 98 130 +f 98 121 130 +f 121 110 130 +f 101 104 131 +f 104 117 131 +f 117 120 131 +f 125 101 131 +f 120 125 131 +f 118 104 132 +f 106 118 132 +f 104 123 132 +f 123 106 132 +f 103 109 133 +f 109 129 133 +f 129 116 133 +f 114 104 134 +f 104 118 134 +f 130 114 134 +f 118 130 134 +f 113 103 135 +f 115 113 135 +f 128 115 135 +f 116 128 135 +f 103 133 135 +f 133 116 135 +f 105 113 136 +f 127 105 136 +f 113 127 136 +f 105 110 137 +f 113 105 137 +f 110 124 137 +o convex_4 +v -0.413997 3.658960 0.705295 +v 0.055265 3.530657 -1.045686 +v 0.055265 3.573490 -1.045686 +v 1.080563 3.658960 1.004282 +v -0.969180 1.651699 0.918800 +v 1.080563 1.651699 -1.002945 +v -0.926539 1.651699 -1.002945 +v 1.037709 1.651699 1.004282 +v -1.012034 3.573490 -1.002945 +v 1.080563 3.616127 -1.045686 +v -1.097529 3.487824 1.004282 +v -0.584987 3.658960 -0.618275 +v -1.012034 1.737169 0.961541 +v 1.080563 2.335064 -1.045686 +v -0.969180 1.865472 -0.746499 +v 1.080563 2.121488 1.004282 +v -1.097529 3.274248 0.790577 +v -0.670268 3.658960 0.406308 +v -1.054675 2.591473 1.004282 +v 0.568020 3.658960 -0.575534 +v -1.012034 3.274248 -1.002945 +v 0.311536 1.651699 1.004282 +v -0.926539 3.616127 -0.447511 +v -0.969180 3.530657 1.004282 +v 1.080563 1.651699 0.150062 +v -1.054675 3.530657 0.876059 +v -0.969180 1.651699 -0.362029 +f 154 152 164 +f 143 142 144 +f 142 143 145 +f 140 139 146 +f 139 140 147 +f 141 143 147 +f 140 146 147 +f 145 141 148 +f 138 141 149 +f 147 146 149 +f 144 139 151 +f 143 144 151 +f 139 147 151 +f 147 143 151 +f 143 141 153 +f 141 145 153 +f 148 146 154 +f 138 149 155 +f 145 148 156 +f 148 154 156 +f 154 150 156 +f 141 147 157 +f 149 141 157 +f 147 149 157 +f 139 144 158 +f 146 139 158 +f 144 152 158 +f 154 146 158 +f 152 154 158 +f 142 145 159 +f 150 142 159 +f 145 156 159 +f 156 150 159 +f 149 146 160 +f 155 149 160 +f 141 138 161 +f 148 141 161 +f 138 155 161 +f 145 143 162 +f 143 153 162 +f 153 145 162 +f 146 148 163 +f 160 146 163 +f 155 160 163 +f 161 155 163 +f 148 161 163 +f 144 142 164 +f 142 150 164 +f 152 144 164 +f 150 154 164 +o convex_5 +v -0.328674 4.342417 0.577206 +v -0.627745 4.598621 -0.533123 +v -0.627745 4.598621 -0.490457 +v 0.568071 5.495060 -0.533123 +v 0.568071 3.659144 -0.575902 +v 0.439780 5.538098 0.491648 +v -0.627745 5.538098 -0.362347 +v 0.525346 3.659144 0.491648 +v -0.585020 3.659144 0.577206 +v -0.499571 5.452390 0.534314 +v -0.585020 3.659144 -0.575902 +v -0.328674 5.538098 -0.490457 +v 0.568071 4.513281 0.021872 +v -0.585020 4.171736 -0.575902 +v 0.568071 4.683777 -0.575902 +v -0.157893 3.659144 0.577206 +v -0.542296 5.495060 0.320759 +v 0.183551 5.495060 -0.533123 +v 0.568071 5.495060 -0.319568 +v -0.627745 5.538098 -0.447678 +v 0.482505 5.538098 -0.020681 +v 0.525346 4.000872 0.491648 +v 0.140826 5.538098 0.491648 +f 181 174 187 +f 166 167 171 +f 167 166 173 +f 171 167 173 +f 169 172 173 +f 165 170 174 +f 173 165 174 +f 173 166 175 +f 169 173 175 +f 171 170 176 +f 169 168 177 +f 172 169 177 +f 175 166 178 +f 169 175 178 +f 166 176 178 +f 168 169 179 +f 169 178 179 +f 170 165 180 +f 165 173 180 +f 173 172 180 +f 171 173 181 +f 173 174 181 +f 176 168 182 +f 178 176 182 +f 168 179 182 +f 179 178 182 +f 177 168 183 +f 166 171 184 +f 176 166 184 +f 171 176 184 +f 168 176 185 +f 176 170 185 +f 183 168 185 +f 170 183 185 +f 172 177 186 +f 170 180 186 +f 180 172 186 +f 183 170 186 +f 177 183 186 +f 170 171 187 +f 174 170 187 +f 171 181 187 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/173/173.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/173/173.urdf new file mode 100644 index 000000000..88f380340 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/173/173.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/174/174.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/174/174.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/174/174.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/174/174.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/174/174.obj new file mode 100644 index 000000000..5d766f6d5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/174/174.obj @@ -0,0 +1,858 @@ +o convex_0 +v 1.265521 -0.746355 0.265638 +v 1.293724 0.322012 0.096913 +v 1.293724 0.322012 0.040672 +v 2.980550 -0.212408 0.040672 +v 1.265521 -0.352640 -0.352875 +v 1.265521 -0.099867 0.378121 +v 2.783463 -0.240455 -0.212271 +v 1.293724 -0.886942 0.012623 +v 2.727392 -0.156079 0.237517 +v 1.265521 0.181307 -0.268441 +v 2.755595 0.040720 -0.043476 +v 1.321760 0.237637 0.321879 +v 1.265521 -0.746355 -0.240321 +v 2.727392 -0.408970 0.068793 +v 1.293724 -0.493227 0.350000 +v 2.643118 -0.408970 -0.071596 +v 2.699356 -0.128032 -0.212271 +v 2.755595 0.040720 0.012623 +v 1.321760 -0.718190 0.293759 +v 1.349963 -0.240455 -0.352875 +v 2.699356 -0.212408 0.237517 +v 1.406202 -0.240455 0.378121 +v 1.293724 -0.886942 0.068793 +v 2.586711 -0.015491 0.181276 +v 1.265521 0.265683 0.293759 +v 1.321760 0.181307 -0.268441 +v 1.293724 -0.746355 -0.240321 +v 2.614914 -0.043656 -0.184079 +v 2.980550 -0.156079 -0.015355 +v 2.586711 -0.324594 0.209396 +v 1.321760 0.096931 -0.296634 +v 2.586711 -0.240455 -0.240321 +v 2.727392 -0.408970 0.012623 +v 2.502437 -0.156079 0.265638 +v 2.952347 -0.128032 0.040672 +f 29 11 35 +f 5 1 6 +f 5 6 10 +f 3 2 11 +f 1 5 13 +f 8 1 13 +f 6 1 15 +f 11 2 18 +f 15 1 19 +f 4 9 21 +f 14 4 21 +f 15 19 21 +f 6 15 22 +f 15 21 22 +f 1 8 23 +f 8 14 23 +f 19 1 23 +f 14 19 23 +f 12 9 24 +f 9 18 24 +f 18 12 24 +f 2 3 25 +f 3 10 25 +f 10 6 25 +f 6 12 25 +f 18 2 25 +f 12 18 25 +f 10 3 26 +f 3 11 26 +f 13 5 27 +f 8 13 27 +f 7 16 27 +f 16 8 27 +f 11 17 28 +f 26 11 28 +f 17 26 28 +f 4 7 29 +f 7 17 29 +f 17 11 29 +f 19 14 30 +f 14 21 30 +f 21 19 30 +f 5 10 31 +f 20 5 31 +f 17 20 31 +f 10 26 31 +f 26 17 31 +f 17 7 32 +f 5 20 32 +f 20 17 32 +f 27 5 32 +f 7 27 32 +f 7 4 33 +f 4 14 33 +f 14 8 33 +f 16 7 33 +f 8 16 33 +f 9 12 34 +f 12 6 34 +f 21 9 34 +f 6 22 34 +f 22 21 34 +f 9 4 35 +f 18 9 35 +f 11 18 35 +f 4 29 35 +o convex_1 +v 1.265521 1.502929 -0.268491 +v 1.434273 2.065156 0.068809 +v 1.434273 2.065156 0.040716 +v 3.008665 1.699703 0.068809 +v 1.265521 1.587209 0.209396 +v 2.727298 1.783982 -0.184090 +v 1.265521 1.952602 -0.240337 +v 1.265521 2.037003 0.293737 +v 2.614854 1.868322 0.237490 +v 2.699315 1.559176 0.068809 +v 2.839913 1.924569 0.068809 +v 2.755452 1.699703 0.265643 +v 1.265521 1.446621 -0.015410 +v 1.293675 1.812075 0.321890 +v 2.727298 1.559176 -0.015410 +v 1.490751 1.755889 -0.296645 +v 2.361982 1.924569 -0.127843 +v 2.137093 1.587209 0.209396 +v 2.530563 1.615362 -0.155997 +v 1.293675 1.446621 -0.184090 +v 1.265521 2.037003 -0.099750 +v 2.755452 1.755889 0.265643 +v 2.699315 1.727796 -0.184090 +v 2.643008 1.952602 0.096963 +v 2.249537 1.727796 0.293737 +v 2.952358 1.727796 -0.043503 +v 1.462427 1.980695 -0.212183 +v 1.378307 1.474775 -0.240337 +v 2.727298 1.924569 -0.015410 +v 1.799760 1.559176 -0.240337 +v 2.502409 1.587209 0.181303 +v 1.631179 1.980695 0.293737 +v 1.265521 1.783982 -0.296645 +v 3.008665 1.755889 0.096963 +v 2.783435 1.924569 0.125056 +v 1.856238 1.783982 -0.268491 +v 1.321829 2.065156 -0.015410 +v 1.406119 1.615362 0.237490 +v 1.406119 1.446621 -0.043503 +f 48 55 74 +f 36 40 42 +f 42 40 43 +f 45 39 47 +f 40 36 48 +f 43 40 49 +f 39 45 50 +f 40 48 53 +f 48 36 55 +f 42 43 56 +f 50 54 58 +f 38 37 59 +f 37 43 59 +f 53 47 60 +f 47 57 60 +f 41 46 61 +f 39 50 61 +f 58 41 61 +f 50 58 61 +f 52 41 62 +f 42 56 62 +f 54 50 63 +f 50 55 63 +f 55 36 63 +f 46 41 64 +f 41 52 64 +f 38 59 64 +f 59 46 64 +f 36 51 65 +f 58 54 65 +f 63 36 65 +f 54 63 65 +f 45 47 66 +f 48 45 66 +f 47 53 66 +f 53 48 66 +f 43 49 67 +f 57 44 67 +f 49 60 67 +f 60 57 67 +f 36 42 68 +f 51 36 68 +f 42 51 68 +f 47 39 69 +f 57 47 69 +f 39 61 69 +f 61 46 69 +f 44 57 70 +f 59 43 70 +f 46 59 70 +f 43 67 70 +f 67 44 70 +f 69 46 70 +f 57 69 70 +f 51 42 71 +f 41 58 71 +f 62 41 71 +f 42 62 71 +f 65 51 71 +f 58 65 71 +f 37 38 72 +f 43 37 72 +f 56 43 72 +f 52 62 72 +f 62 56 72 +f 38 64 72 +f 64 52 72 +f 49 40 73 +f 40 53 73 +f 60 49 73 +f 53 60 73 +f 45 48 74 +f 50 45 74 +f 55 50 74 +o convex_2 +v -2.614177 1.671637 -0.184129 +v -1.236910 2.205733 0.068787 +v -1.236910 2.205733 0.012645 +v -1.236910 1.362276 -0.099778 +v -2.726704 1.811993 0.265630 +v -1.236910 1.896372 0.378121 +v -1.236910 1.811993 -0.324760 +v -2.614177 1.980668 -0.156057 +v -2.136421 1.615412 0.237490 +v -2.810879 1.615412 0.040716 +v -2.810879 2.008821 0.040716 +v -1.265086 2.121271 0.321841 +v -1.265086 1.390512 -0.268480 +v -1.265086 2.093200 -0.268480 +v -2.670352 1.840147 -0.240409 +v -1.236910 1.587341 0.265630 +v -3.035933 1.840147 -0.015426 +v -1.265086 1.362276 -0.015426 +v -2.529825 1.980668 0.209418 +v -1.236910 1.615412 -0.324760 +v -2.698528 2.036893 -0.015426 +v -2.810879 1.615412 -0.015426 +v -2.754703 1.756016 -0.212269 +v -2.810879 1.784004 0.237490 +v -2.052246 1.727862 0.293770 +v -2.698528 2.036893 0.040716 +v -2.782879 1.868218 0.237490 +v -1.265086 1.980668 0.378121 +v -2.670352 1.643566 0.153138 +v -3.035933 1.784004 0.040716 +v -1.265086 2.149343 -0.156057 +v -2.810879 1.840147 -0.212269 +v -2.642352 1.784004 -0.240409 +v -2.810879 2.008821 -0.015426 +v -1.265086 2.149343 0.265630 +v -1.827369 1.811993 -0.296620 +f 107 89 110 +f 77 76 78 +f 78 76 80 +f 77 78 81 +f 80 76 86 +f 77 81 88 +f 82 88 89 +f 78 80 90 +f 78 90 92 +f 90 83 92 +f 81 78 94 +f 78 87 94 +f 76 77 95 +f 75 87 96 +f 87 78 96 +f 78 92 96 +f 92 84 96 +f 87 75 97 +f 75 96 97 +f 83 79 98 +f 80 79 99 +f 79 83 99 +f 90 80 99 +f 83 90 99 +f 85 93 100 +f 76 95 100 +f 95 85 100 +f 85 91 101 +f 93 85 101 +f 86 93 101 +f 98 79 101 +f 79 80 102 +f 80 86 102 +f 101 79 102 +f 86 101 102 +f 84 92 103 +f 92 83 103 +f 83 98 103 +f 98 84 103 +f 96 84 104 +f 91 97 104 +f 97 96 104 +f 84 98 104 +f 101 91 104 +f 98 101 104 +f 77 88 105 +f 88 82 105 +f 95 77 105 +f 82 95 105 +f 82 89 106 +f 97 91 106 +f 97 106 107 +f 94 87 107 +f 87 97 107 +f 106 89 107 +f 91 85 108 +f 85 95 108 +f 95 82 108 +f 82 106 108 +f 106 91 108 +f 86 76 109 +f 93 86 109 +f 76 100 109 +f 100 93 109 +f 88 81 110 +f 89 88 110 +f 81 94 110 +f 94 107 110 +o convex_3 +v 1.237332 0.462204 0.124814 +v -1.236734 -0.831295 -0.043423 +v -1.236734 -0.831295 0.068735 +v 0.674966 -3.248341 0.125009 +v 0.028344 0.293099 -1.027641 +v -0.758625 1.053009 0.855992 +v 0.084678 -2.489279 0.912266 +v -0.786793 -2.657536 -0.802543 +v 0.843725 -2.629987 -0.718326 +v -0.814960 1.053009 -0.886759 +v 0.871892 1.052585 0.827854 +v 0.787390 1.053009 -0.886954 +v -0.758625 -2.545223 0.715305 +v 0.899814 -2.601592 0.771580 +v -0.449275 -3.276737 -0.521561 +v 1.265499 -0.577851 -0.296463 +v 0.000421 -3.248341 0.659226 +v -1.236734 0.293523 0.293637 +v -0.871049 -2.910556 -0.015677 +v 0.084678 -2.545647 -0.915092 +v -1.236734 -0.184546 -0.436954 +v 0.225025 -0.184546 0.968541 +v 1.265499 -0.296858 0.406186 +v 0.984316 -2.826640 0.040598 +v -1.067975 1.053009 -0.436954 +v -0.730458 -0.268886 -0.971366 +v 0.759223 -0.437566 -0.914896 +v 0.112601 -3.248341 -0.633915 +v -0.730458 -0.212518 0.884129 +v 0.815558 -0.353226 0.912071 +v 1.012239 1.052585 -0.549503 +v -1.236734 -0.268886 0.377854 +v -0.449275 -3.220369 0.462266 +v -0.983719 1.053009 0.687168 +v 1.265499 -0.830871 0.293637 +v 0.506207 -3.276737 0.546677 +v 1.265499 -0.212518 -0.352738 +v -0.112003 1.053009 -0.999503 +v 0.534375 -3.248341 -0.436954 +v 0.197102 1.053009 0.912266 +v 1.012239 1.052585 0.659031 +v 0.028344 -0.550303 -1.027641 +v -0.112003 -0.184546 0.968541 +v 0.871892 -2.657959 0.799717 +v -1.236734 -0.718559 -0.324600 +v -1.236734 -0.662615 0.321775 +v -0.083836 -2.545647 -0.915092 +v 0.927982 -2.995320 0.040598 +v -1.236734 0.462204 0.068735 +v -0.589867 -3.248341 0.012460 +v 0.871892 0.968245 0.855992 +v 1.265499 0.209183 -0.240189 +v 1.265499 -0.746531 -0.240189 +v -0.786793 -0.128178 0.855992 +v -0.871049 -2.882584 -0.155972 +v 0.028344 -2.489279 0.912266 +v 1.265499 0.293523 0.321775 +v -0.955551 1.053009 -0.746268 +v -1.067975 1.053009 0.293637 +v 0.871892 -2.236259 0.827854 +v -0.786793 -0.718559 -0.915092 +v 0.956149 -2.882584 0.237363 +v 0.927982 1.052585 -0.746268 +v 0.534375 1.053009 -0.943033 +f 148 122 174 +f 120 116 122 +f 112 113 128 +f 113 112 129 +f 112 128 131 +f 116 120 135 +f 119 130 137 +f 125 118 138 +f 130 119 138 +f 132 117 140 +f 128 113 142 +f 127 123 143 +f 123 129 143 +f 116 135 144 +f 128 142 144 +f 133 124 145 +f 126 133 145 +f 126 119 147 +f 133 126 147 +f 119 137 147 +f 120 122 148 +f 115 136 148 +f 136 120 148 +f 138 119 149 +f 125 138 149 +f 114 146 149 +f 146 125 149 +f 122 116 150 +f 111 141 151 +f 141 122 151 +f 122 150 151 +f 150 121 151 +f 136 115 152 +f 115 137 152 +f 137 130 152 +f 117 132 153 +f 116 139 153 +f 150 116 153 +f 132 150 153 +f 117 127 154 +f 127 146 154 +f 112 131 155 +f 131 118 155 +f 113 129 156 +f 129 123 156 +f 142 113 156 +f 123 142 156 +f 118 136 157 +f 138 118 157 +f 130 138 157 +f 136 152 157 +f 152 130 157 +f 119 134 158 +f 146 114 158 +f 114 149 158 +f 149 119 158 +f 131 128 159 +f 135 131 159 +f 127 143 160 +f 143 129 160 +f 146 127 160 +f 125 146 160 +f 132 140 161 +f 140 133 161 +f 121 150 161 +f 150 132 161 +f 133 151 161 +f 151 121 161 +f 141 111 162 +f 133 147 162 +f 119 126 163 +f 134 119 163 +f 126 145 163 +f 145 134 163 +f 123 139 164 +f 139 116 164 +f 142 123 164 +f 116 144 164 +f 144 142 164 +f 118 125 165 +f 129 112 165 +f 112 155 165 +f 155 118 165 +f 125 160 165 +f 160 129 165 +f 127 117 166 +f 123 127 166 +f 139 123 166 +f 117 153 166 +f 153 139 166 +f 111 151 167 +f 151 133 167 +f 162 111 167 +f 133 162 167 +f 135 120 168 +f 131 135 168 +f 120 136 168 +f 144 135 169 +f 128 144 169 +f 159 128 169 +f 135 159 169 +f 124 133 170 +f 140 117 170 +f 133 140 170 +f 117 154 170 +f 154 124 170 +f 118 131 171 +f 136 118 171 +f 131 168 171 +f 168 136 171 +f 145 124 172 +f 134 145 172 +f 124 154 172 +f 154 146 172 +f 158 134 172 +f 146 158 172 +f 137 122 173 +f 122 141 173 +f 147 137 173 +f 141 162 173 +f 162 147 173 +f 137 115 174 +f 122 137 174 +f 115 148 174 +o convex_4 +v 0.168947 1.053008 0.912310 +v -0.084070 1.053008 -0.999525 +v -0.758621 1.053008 -0.915125 +v -0.646196 2.824268 -0.015536 +v 0.843743 2.486695 -0.858795 +v 1.265521 1.896506 0.321692 +v -0.955549 2.458434 0.799651 +v 0.928001 2.402432 0.771580 +v 0.984336 1.053008 -0.633851 +v -0.983471 1.053008 0.687366 +v -0.871046 2.346256 -0.830724 +v -1.236734 2.092947 -0.296435 +v 0.984336 1.053008 0.715438 +v 0.506223 2.796007 0.462422 +v -0.055903 2.767919 -0.774581 +v -1.236734 1.334232 -0.015536 +v 0.928001 2.683482 -0.015724 +v 1.265521 1.502932 -0.268364 +v -1.236734 2.177383 0.321692 +v -0.927381 2.739831 -0.043608 +v 0.787408 1.053008 -0.886866 +v -0.111993 2.065033 -0.971267 +v -0.111993 2.824268 0.574894 +v -1.011639 1.053008 -0.633851 +v 1.265521 2.008684 -0.183964 +v -0.758621 1.053008 0.855981 +v -0.027735 1.924767 0.884052 +v 0.787408 1.109357 0.855981 +v -0.533771 2.796007 -0.521566 +v 0.562558 2.767919 -0.268364 +v -0.505603 2.824268 0.434351 +v -1.236734 1.896680 0.378022 +v -1.236734 1.643717 -0.352578 +v 1.265521 1.446756 -0.015536 +v 1.265521 2.036945 0.293621 +v 0.337708 1.081269 -0.971267 +v -0.224418 1.081269 0.912310 +v 0.759241 2.430346 -0.886866 +v 1.040426 1.053182 -0.408907 +v -0.955549 1.053008 -0.746323 +v -0.843124 2.317995 -0.858795 +v 0.225037 2.149296 0.855981 +v 0.928001 1.053008 -0.746323 +v 1.265521 1.783982 -0.296435 +v -1.067974 1.053008 -0.437166 +v 0.084445 2.796007 0.602966 +v 0.112612 2.008857 -0.971267 +v -1.236734 2.233559 -0.015536 +v -1.236734 1.362320 -0.268364 +v -0.871046 1.109357 0.827722 +v 1.265521 1.587368 0.209220 +v -1.236734 1.587368 0.265363 +v 0.871666 2.430346 0.771580 +v 0.450133 2.739831 -0.521379 +v 0.759241 2.767919 0.012348 +v 1.012258 1.053182 0.631037 +v 0.871666 1.053008 0.827722 +v -0.927381 2.739831 0.012535 +v 0.534390 2.796007 0.293621 +v -1.039806 1.053008 0.378022 +v 0.815576 1.193620 -0.886866 +v 0.759241 2.346083 0.799651 +v -0.055903 1.418669 -0.999525 +v -0.196251 2.739831 -0.774581 +f 189 215 238 +f 177 176 175 +f 175 176 183 +f 177 175 184 +f 180 182 187 +f 175 183 187 +f 188 182 191 +f 186 190 193 +f 185 186 194 +f 183 176 195 +f 177 184 198 +f 179 191 199 +f 180 192 199 +f 184 175 200 +f 178 189 203 +f 194 178 203 +f 185 194 203 +f 181 197 205 +f 197 178 205 +f 184 181 206 +f 181 193 206 +f 193 190 206 +f 186 185 207 +f 190 186 207 +f 192 180 208 +f 182 180 209 +f 191 182 209 +f 199 191 209 +f 180 199 209 +f 195 176 210 +f 200 175 211 +f 181 200 211 +f 175 201 211 +f 201 181 211 +f 189 179 212 +f 196 189 212 +f 187 183 213 +f 183 192 213 +f 192 208 213 +f 177 198 214 +f 207 185 214 +f 198 207 214 +f 196 177 215 +f 189 196 215 +f 177 214 215 +f 214 185 215 +f 201 175 216 +f 181 201 216 +f 175 202 216 +f 192 183 217 +f 183 195 217 +f 179 199 218 +f 199 192 218 +f 217 179 218 +f 192 217 218 +f 198 184 219 +f 197 181 220 +f 188 197 220 +f 196 212 221 +f 212 210 221 +f 186 193 222 +f 194 186 222 +f 190 207 223 +f 207 198 223 +f 219 190 223 +f 198 219 223 +f 181 184 224 +f 200 181 224 +f 184 200 224 +f 180 187 225 +f 208 180 225 +f 190 184 226 +f 184 206 226 +f 206 190 226 +f 182 188 227 +f 220 181 227 +f 188 220 227 +f 179 189 228 +f 189 204 228 +f 204 179 228 +f 191 179 229 +f 188 191 229 +f 179 204 229 +f 187 213 230 +f 213 208 230 +f 225 187 230 +f 208 225 230 +f 175 187 231 +f 187 182 231 +f 202 175 231 +f 182 202 231 +f 193 181 232 +f 178 194 232 +f 205 178 232 +f 181 205 232 +f 222 193 232 +f 194 222 232 +f 189 178 233 +f 178 197 233 +f 197 188 233 +f 204 189 233 +f 188 229 233 +f 229 204 233 +f 184 190 234 +f 219 184 234 +f 190 219 234 +f 195 210 235 +f 212 179 235 +f 210 212 235 +f 179 217 235 +f 217 195 235 +f 202 182 236 +f 181 216 236 +f 216 202 236 +f 182 227 236 +f 227 181 236 +f 176 177 237 +f 177 196 237 +f 210 176 237 +f 196 221 237 +f 221 210 237 +f 203 189 238 +f 185 203 238 +f 215 185 238 +o convex_5 +v -1.967829 -0.408884 0.265660 +v -1.995964 -0.240292 -0.324760 +v -1.995964 -0.212221 -0.324760 +v -2.979779 -0.296490 0.012524 +v -1.967829 0.040860 -0.015564 +v -1.967829 -0.493318 -0.127915 +v -2.754802 -0.043519 -0.015564 +v -2.754802 -0.268363 -0.240381 +v -2.670498 -0.212221 0.209427 +v -2.754802 -0.465137 0.040727 +v -1.967829 0.012734 -0.268527 +v -1.967829 -0.043519 0.181281 +v -2.277110 -0.437011 -0.212293 +v -1.967829 -0.521444 0.068757 +v -2.726767 -0.184095 -0.240381 +v -2.726767 -0.296490 0.209427 +v -2.108402 -0.212221 0.265660 +v -2.361415 -0.437011 0.209427 +v -2.754802 -0.465137 -0.015564 +v -2.979779 -0.212221 0.012524 +v -2.642363 -0.015447 -0.071624 +v -1.967829 -0.437011 -0.240381 +v -2.586193 -0.071645 0.096960 +v -2.558059 -0.071645 -0.212293 +v -2.024098 -0.465137 0.237514 +v -2.979779 -0.212221 -0.043536 +v -2.754802 -0.043519 -0.071624 +f 253 264 265 +f 243 239 244 +f 241 240 246 +f 240 241 249 +f 243 244 249 +f 239 243 250 +f 246 240 251 +f 244 239 252 +f 241 246 253 +f 249 241 253 +f 242 248 254 +f 239 250 255 +f 250 247 255 +f 254 239 255 +f 247 254 255 +f 239 254 256 +f 254 248 256 +f 242 246 257 +f 248 242 257 +f 251 244 257 +f 246 251 257 +f 244 252 257 +f 252 248 257 +f 247 245 258 +f 254 247 258 +f 242 254 258 +f 245 243 259 +f 243 249 259 +f 240 249 260 +f 249 244 260 +f 251 240 260 +f 244 251 260 +f 243 245 261 +f 245 247 261 +f 250 243 261 +f 247 250 261 +f 249 253 262 +f 259 249 262 +f 252 239 263 +f 248 252 263 +f 239 256 263 +f 256 248 263 +f 246 242 264 +f 253 246 264 +f 242 258 264 +f 258 245 264 +f 245 259 265 +f 262 253 265 +f 259 262 265 +f 264 245 265 +o convex_6 +v -1.321096 -0.240292 -0.409106 +v -1.236734 -0.127941 0.350006 +v -1.236734 0.125195 0.293756 +v -1.967730 -0.240292 0.293756 +v -1.236734 -0.830712 0.040669 +v -1.967730 -0.071650 -0.296532 +v -1.236734 0.293837 -0.268518 +v -1.967730 -0.464994 -0.240282 +v -1.939609 0.068904 -0.015506 +v -1.236734 -0.661839 -0.324694 +v -1.883368 -0.493313 0.265594 +v -1.236734 -0.633867 0.321844 +v -1.264855 0.350128 0.068831 +v -1.967730 -0.043563 0.181256 +v -1.967730 -0.521285 0.068831 +v -1.967730 -0.240292 -0.324694 +v -1.855247 0.068904 -0.268518 +v -1.349217 -0.802509 -0.015506 +v -1.236734 -0.156029 -0.409106 +v -1.264855 0.209458 0.265594 +v -1.321096 0.265749 -0.296532 +v -1.461700 -0.296352 0.350006 +v -1.264855 -0.718130 -0.268518 +v -1.264855 -0.690042 0.293756 +v -1.349217 -0.802509 0.040669 +v -1.967730 0.040816 -0.184107 +v -1.967730 -0.521285 -0.043520 +v -1.264855 0.350128 0.012582 +f 282 291 293 +f 267 268 269 +f 268 267 270 +f 268 270 272 +f 269 271 273 +f 272 270 275 +f 270 267 277 +f 268 272 278 +f 278 274 279 +f 271 269 279 +f 269 273 280 +f 276 269 280 +f 273 271 281 +f 266 275 281 +f 275 273 281 +f 275 266 284 +f 272 275 284 +f 266 281 284 +f 281 271 284 +f 269 268 285 +f 268 278 285 +f 278 279 285 +f 279 269 285 +f 271 282 286 +f 272 284 286 +f 284 271 286 +f 267 269 287 +f 269 276 287 +f 277 267 287 +f 276 277 287 +f 275 270 288 +f 273 275 288 +f 270 283 288 +f 283 273 288 +f 270 277 289 +f 277 276 289 +f 276 280 290 +f 283 270 290 +f 280 283 290 +f 270 289 290 +f 289 276 290 +f 279 274 291 +f 271 279 291 +f 282 271 291 +f 280 273 292 +f 273 283 292 +f 283 280 292 +f 278 272 293 +f 274 278 293 +f 272 286 293 +f 286 282 293 +f 291 274 293 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/174/174.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/174/174.urdf new file mode 100644 index 000000000..db06b5b1d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/174/174.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/175/175.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/175/175.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/175/175.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/175/175.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/175/175.obj new file mode 100644 index 000000000..ac952d866 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/175/175.obj @@ -0,0 +1,816 @@ +o convex_0 +v 0.326049 -0.318505 -1.521346 +v -0.338292 -2.809783 -2.052767 +v 0.060274 -2.809783 -2.052767 +v -0.304997 -0.318505 -2.086010 +v -0.238602 -2.743209 -1.521346 +v 0.292819 -0.318505 -2.086010 +v 0.292819 -2.776374 -1.621017 +v -0.205307 -0.318505 -1.488103 +v 0.226359 -2.776374 -2.019465 +v -0.338292 -2.444236 -2.086010 +v -0.271832 -2.776374 -1.554648 +v -0.304997 -0.318505 -1.919912 +v 0.326049 -2.178184 -1.654201 +v 0.259589 -1.016190 -2.086010 +v -0.006121 -0.351914 -1.488103 +v 0.326049 -2.078933 -1.587832 +v 0.292819 -2.776374 -1.753872 +v 0.326049 -0.318505 -1.720629 +v -0.338292 -2.277923 -2.019465 +f 11 12 19 +f 4 1 6 +f 1 4 8 +f 3 2 10 +f 4 6 10 +f 2 3 11 +f 3 7 11 +f 7 5 11 +f 5 8 11 +f 8 4 12 +f 11 8 12 +f 9 3 14 +f 6 9 14 +f 3 10 14 +f 10 6 14 +f 5 1 15 +f 1 8 15 +f 8 5 15 +f 1 5 16 +f 5 7 16 +f 13 1 16 +f 7 13 16 +f 7 3 17 +f 3 9 17 +f 9 6 17 +f 6 13 17 +f 13 7 17 +f 6 1 18 +f 1 13 18 +f 13 6 18 +f 10 2 19 +f 4 10 19 +f 2 11 19 +f 12 4 19 +o convex_1 +v -0.471017 0.910405 3.228377 +v -0.138851 -0.318385 2.464411 +v -0.072439 -0.318385 2.464411 +v -0.504276 0.810692 1.268910 +v 0.558526 0.744297 1.268910 +v 0.525266 0.777494 3.261932 +v 0.591785 -0.285067 1.268910 +v -0.471017 -0.251869 1.268910 +v 0.492007 -0.185474 3.261932 +v -0.437757 -0.318385 3.195212 +v -0.504276 0.345806 3.195212 +v 0.525266 0.810692 1.999906 +v 0.492007 0.843890 3.261932 +v 0.060277 0.810692 1.268910 +v -0.504276 0.910405 3.128882 +v -0.504276 0.312609 1.268910 +v -0.471017 -0.218672 3.195212 +v 0.591785 -0.085882 1.468486 +v 0.392335 -0.218672 3.162047 +v -0.504276 0.843890 1.501651 +v 0.159841 -0.285067 1.268910 +v -0.504276 0.611507 3.228377 +v 0.558526 -0.251990 2.066431 +v 0.359183 0.810692 1.567981 +v -0.304934 -0.318385 3.162047 +f 42 38 44 +f 22 21 26 +f 23 24 26 +f 23 26 27 +f 21 22 29 +f 27 21 29 +f 25 24 31 +f 25 31 32 +f 28 25 32 +f 24 23 33 +f 23 30 34 +f 32 31 34 +f 20 32 34 +f 23 27 35 +f 30 23 35 +f 27 30 35 +f 27 29 36 +f 30 27 36 +f 24 25 37 +f 26 24 37 +f 33 23 39 +f 23 34 39 +f 26 21 40 +f 27 26 40 +f 21 27 40 +f 29 28 41 +f 32 20 41 +f 28 32 41 +f 20 34 41 +f 34 30 41 +f 36 29 41 +f 30 36 41 +f 25 28 42 +f 37 25 42 +f 26 37 42 +f 28 38 42 +f 31 24 43 +f 24 33 43 +f 34 31 43 +f 33 39 43 +f 39 34 43 +f 22 26 44 +f 29 22 44 +f 28 29 44 +f 38 28 44 +f 26 42 44 +o convex_2 +v 0.458751 0.877308 -2.318259 +v -0.570811 -0.318505 -2.883219 +v -0.570811 0.345653 -2.883219 +v -0.570811 -0.152407 -0.923606 +v 0.458751 -0.218776 -2.816651 +v 0.525325 -0.152407 -0.923414 +v -0.404547 0.844065 -0.923606 +v 0.591785 0.744336 -0.923414 +v -0.537467 0.810822 -2.883219 +v 0.591785 0.843948 -2.750084 +v 0.325945 -0.318505 -1.521369 +v -0.205394 -0.318505 -1.488181 +v -0.471121 0.810822 -1.089544 +v -0.371431 0.877308 -1.952810 +v 0.292715 0.877308 -1.488181 +v -0.072474 0.844065 -2.849839 +v 0.292715 -0.318505 -2.085753 +v -0.537467 0.810822 -2.384635 +v -0.570811 -0.019435 -0.923606 +v 0.558555 0.113420 -0.956793 +v 0.525325 -0.152407 -1.255867 +v 0.591785 0.777579 -2.750084 +v -0.371431 0.810822 -2.883219 +v 0.525325 0.877191 -2.617141 +v -0.504237 0.844065 -2.716896 +v 0.558555 0.644724 -2.783272 +v -0.338201 0.877308 -1.355238 +v 0.591785 0.544995 -0.923414 +f 64 66 72 +f 47 46 48 +f 46 47 53 +f 49 50 55 +f 55 50 56 +f 48 46 56 +f 50 48 56 +f 46 55 56 +f 51 52 59 +f 45 58 59 +f 46 49 61 +f 55 46 61 +f 49 55 61 +f 53 47 62 +f 47 48 63 +f 48 50 63 +f 52 51 63 +f 50 52 63 +f 51 57 63 +f 62 47 63 +f 57 62 63 +f 50 49 65 +f 64 50 65 +f 54 52 66 +f 64 65 66 +f 65 49 66 +f 49 46 67 +f 46 53 67 +f 60 49 67 +f 53 60 67 +f 52 54 68 +f 58 45 68 +f 59 52 68 +f 45 59 68 +f 54 60 68 +f 68 60 69 +f 57 51 69 +f 51 58 69 +f 60 53 69 +f 53 62 69 +f 62 57 69 +f 58 68 69 +f 49 60 70 +f 60 54 70 +f 66 49 70 +f 54 66 70 +f 58 51 71 +f 51 59 71 +f 59 58 71 +f 52 50 72 +f 50 64 72 +f 66 52 72 +o convex_3 +v -0.271838 0.877555 -1.986294 +v 0.259576 3.401556 -1.488103 +v 0.259576 3.401556 -1.654253 +v 0.326049 0.877555 -2.119149 +v -0.238602 3.301732 -2.152444 +v -0.305075 0.877555 -1.554628 +v 0.292812 0.877555 -1.488103 +v -0.238602 3.169046 -1.621023 +v 0.226339 3.335089 -2.052689 +v -0.238602 0.877555 -2.152444 +v -0.305075 1.442398 -1.554628 +v 0.193164 3.401556 -1.488103 +v 0.292812 2.471518 -1.488103 +v -0.271838 2.770494 -2.019459 +v -0.138954 3.301732 -2.152444 +v -0.172190 0.877555 -1.521398 +v -0.172190 3.268622 -1.587793 +v -0.305075 0.877555 -1.753943 +v 0.259576 3.368199 -1.820274 +v 0.292812 1.475507 -2.119149 +f 87 81 92 +f 73 76 78 +f 78 76 79 +f 77 75 81 +f 76 73 82 +f 74 75 84 +f 75 77 84 +f 79 74 84 +f 75 74 85 +f 74 79 85 +f 79 76 85 +f 80 77 86 +f 82 73 86 +f 77 82 86 +f 83 80 86 +f 77 81 87 +f 76 82 87 +f 82 77 87 +f 78 79 88 +f 83 78 88 +f 84 83 88 +f 79 84 88 +f 77 80 89 +f 80 83 89 +f 83 84 89 +f 84 77 89 +f 73 78 90 +f 78 83 90 +f 86 73 90 +f 83 86 90 +f 81 75 91 +f 76 81 91 +f 75 85 91 +f 85 76 91 +f 81 76 92 +f 76 87 92 +o convex_4 +v 1.056769 0.877396 1.235437 +v -1.102283 0.611572 0.571109 +v -1.002496 0.611572 -0.657554 +v -1.102283 3.368586 1.036310 +v 1.090031 3.368586 -0.823636 +v 1.090031 0.611572 -0.790162 +v 1.090031 3.368586 1.268911 +v -1.002496 3.235269 -0.823636 +v -0.935971 0.611572 1.235651 +v -0.471156 0.611572 -0.923199 +v -1.102283 3.368586 1.202392 +v 1.056769 0.611572 1.202177 +v 0.624786 0.976979 -0.923199 +v -0.703564 0.611572 1.268696 +v -1.102283 0.943784 1.202392 +v -0.969234 0.611572 -0.823636 +v 0.558476 0.611572 1.268696 +v -1.002496 2.703891 1.235651 +v 1.090031 1.641674 1.235437 +v -0.836399 3.268733 -0.823636 +v 0.458904 3.335121 1.268696 +v 0.990244 2.903326 -0.856680 +v 0.624786 0.611572 -0.923199 +v 0.824146 3.368586 -0.823421 +v -1.102283 3.335121 0.870014 +v 1.090031 0.611572 0.405027 +v -0.437679 0.811007 -0.923199 +v 1.090031 1.043637 -0.823636 +v -0.736826 1.275997 1.268696 +v -1.069021 0.611572 1.202392 +v 1.090031 2.504725 1.268911 +v -1.002496 2.637772 -0.823636 +v -0.603777 3.368586 1.235437 +f 110 113 125 +f 94 95 98 +f 97 96 99 +f 98 97 99 +f 94 98 101 +f 98 95 102 +f 96 94 103 +f 99 96 103 +f 101 98 104 +f 101 104 106 +f 103 94 107 +f 102 95 108 +f 104 93 109 +f 106 104 109 +f 107 101 110 +f 103 107 110 +f 98 99 111 +f 93 104 111 +f 100 96 112 +f 100 112 114 +f 98 102 115 +f 102 105 115 +f 105 114 115 +f 96 97 116 +f 112 96 116 +f 97 114 116 +f 114 112 116 +f 94 96 117 +f 100 94 117 +f 96 100 117 +f 104 98 118 +f 98 111 118 +f 111 104 118 +f 102 100 119 +f 105 102 119 +f 114 105 119 +f 100 114 119 +f 97 98 120 +f 114 97 120 +f 98 115 120 +f 115 114 120 +f 101 106 121 +f 110 101 121 +f 99 113 121 +f 113 110 121 +f 94 101 122 +f 107 94 122 +f 101 107 122 +f 109 93 123 +f 106 109 123 +f 93 111 123 +f 111 99 123 +f 99 121 123 +f 121 106 123 +f 95 94 124 +f 94 100 124 +f 100 102 124 +f 108 95 124 +f 102 108 124 +f 99 103 125 +f 103 110 125 +f 113 99 125 +o convex_5 +v -1.899623 -1.148957 0.371859 +v -2.231464 -2.211798 -0.425158 +v -3.028586 -2.245041 -0.391834 +v -1.102306 -2.311527 0.803872 +v -1.102306 -1.149074 -0.425158 +v -3.095110 -1.215443 0.704140 +v -3.095110 -1.115714 -0.225814 +v -3.061751 -2.211798 0.737344 +v -1.102306 -1.182200 0.737344 +v -1.102306 -2.178555 -0.425158 +v -2.796239 -2.245041 0.770548 +v -3.095110 -1.414784 -0.292101 +v -2.397678 -1.215443 0.737344 +v -2.198300 -1.746629 -0.425158 +v -1.135666 -2.211798 -0.325305 +v -3.095110 -1.547639 0.737344 +v -1.168831 -1.447910 0.770548 +v -1.102306 -1.149074 0.073263 +v -1.102306 -2.311527 0.670936 +v -3.061751 -2.112069 -0.325426 +v -2.962257 -1.115714 -0.259018 +v -3.028586 -2.045700 -0.391834 +v -1.168831 -2.211798 0.803872 +f 129 142 148 +f 131 126 132 +f 129 130 134 +f 126 131 134 +f 130 129 135 +f 127 130 135 +f 128 129 136 +f 133 128 136 +f 131 132 137 +f 134 131 138 +f 130 127 139 +f 128 127 140 +f 127 135 140 +f 133 136 141 +f 131 137 141 +f 138 131 141 +f 129 134 142 +f 134 138 142 +f 126 134 143 +f 134 130 143 +f 129 128 144 +f 135 129 144 +f 128 140 144 +f 140 135 144 +f 128 133 145 +f 137 128 145 +f 133 141 145 +f 141 137 145 +f 132 126 146 +f 137 132 146 +f 130 139 146 +f 139 137 146 +f 126 143 146 +f 143 130 146 +f 127 128 147 +f 128 137 147 +f 139 127 147 +f 137 139 147 +f 136 129 148 +f 141 136 148 +f 138 141 148 +f 142 138 148 +o convex_6 +v -0.138993 -0.882931 1.268696 +v -0.570532 -0.119382 -0.923199 +v -0.570532 -0.019565 -0.923199 +v 1.089745 -1.082399 -0.790175 +v 1.056698 0.611504 1.202184 +v -1.068808 0.611504 1.202184 +v 1.056698 0.611504 -0.823431 +v -0.969238 -1.082399 -0.823431 +v 1.023222 -1.082399 1.168928 +v -1.069022 -1.082399 1.202184 +v -0.969238 0.611504 -0.823431 +v -1.102069 0.578176 -0.126127 +v 0.624945 0.611504 -0.923199 +v -0.703362 0.611504 1.268696 +v 0.857130 -0.982582 -0.856687 +v 0.591469 -0.285356 1.268696 +v 1.089745 0.312384 0.471624 +v -0.670316 -1.082399 1.268696 +v 1.089745 0.611504 -0.790175 +v -1.035761 -0.882931 -0.225466 +v 0.558422 0.611504 1.268696 +v -0.470962 0.611504 -0.923199 +v 1.056484 -0.285356 1.202184 +v -1.102069 -0.119382 0.371856 +v 0.525161 -0.152709 -0.923199 +v -0.371393 -1.082399 -0.856687 +v 1.089745 -1.082399 -0.358490 +v -1.102069 0.611504 0.670516 +v -1.102069 0.080086 0.006897 +v 0.226023 -1.082399 1.235440 +v -0.935977 -1.082399 1.235440 +v 1.089745 0.611504 0.438368 +v 0.525161 -1.082399 -0.856687 +f 152 174 181 +f 154 153 155 +f 151 150 156 +f 156 152 157 +f 156 157 158 +f 154 155 159 +f 151 156 159 +f 159 156 160 +f 150 151 161 +f 159 155 161 +f 153 154 162 +f 155 152 163 +f 161 155 163 +f 162 149 164 +f 158 157 166 +f 149 162 166 +f 152 155 167 +f 155 153 167 +f 165 152 167 +f 156 158 168 +f 153 162 169 +f 164 153 169 +f 162 164 169 +f 151 159 170 +f 161 151 170 +f 159 161 170 +f 164 157 171 +f 153 164 171 +f 165 153 171 +f 168 158 172 +f 150 161 173 +f 161 163 173 +f 156 150 174 +f 152 156 174 +f 150 173 174 +f 157 152 175 +f 152 165 175 +f 171 157 175 +f 165 171 175 +f 158 154 176 +f 154 159 176 +f 159 160 176 +f 172 158 176 +f 160 172 176 +f 160 156 177 +f 156 168 177 +f 172 160 177 +f 168 172 177 +f 164 149 178 +f 157 164 178 +f 149 166 178 +f 166 157 178 +f 154 158 179 +f 162 154 179 +f 158 166 179 +f 166 162 179 +f 153 165 180 +f 167 153 180 +f 165 167 180 +f 163 152 181 +f 173 163 181 +f 174 173 181 +o convex_7 +v -0.570676 -1.115805 1.268911 +v -0.371351 -1.680521 -0.856980 +v -0.371351 -1.082666 -0.856980 +v 1.123258 -1.149113 0.704143 +v -1.068879 -2.643411 1.169025 +v 1.123258 -2.610272 -0.757094 +v 0.990157 -2.643580 1.135730 +v -0.935996 -2.809783 -0.823476 +v -1.102209 -1.148944 -0.424768 +v 1.089928 -1.082497 -0.790390 +v -1.068879 -1.082497 1.202112 +v 1.023486 -1.082497 1.169234 +v -0.969325 -1.082497 -0.823476 +v -1.102209 -2.278037 -0.491358 +v 1.123258 -2.278206 0.604466 +v 0.691278 -2.676719 -0.790390 +v 0.890603 -2.577133 1.169234 +v 0.491954 -1.115974 -0.856980 +v -1.068879 -2.610272 1.202112 +v -1.102209 -2.311345 0.803612 +v 1.023486 -2.244898 1.169234 +v -0.902884 -2.809783 -0.690504 +v 1.123258 -1.149113 -0.358594 +v -0.570676 -2.643411 1.202112 +v 0.957045 -1.713660 -0.823685 +v -1.102209 -1.182252 0.737230 +v 0.259517 -1.414901 1.235615 +v -0.471123 -2.776474 -0.823476 +v 1.023486 -2.643580 1.036053 +v -0.969325 -2.776474 -0.790181 +v -0.803113 -2.809783 -0.790181 +v 1.056598 -2.643580 -0.757094 +v 1.089928 -2.444239 -0.790390 +v -0.670447 -1.082497 1.268911 +v 0.990157 -1.082497 -0.823685 +v -1.102209 -2.411100 0.272348 +v -0.902884 -2.045726 1.235407 +f 182 215 218 +f 191 192 193 +f 185 191 193 +f 184 183 194 +f 183 189 194 +f 190 192 194 +f 192 191 194 +f 190 194 195 +f 187 185 196 +f 183 184 199 +f 190 195 201 +f 186 200 201 +f 200 192 201 +f 185 193 202 +f 196 185 202 +f 198 188 202 +f 186 189 203 +f 185 187 204 +f 191 185 204 +f 187 191 204 +f 188 198 205 +f 200 186 205 +f 186 203 205 +f 203 188 205 +f 192 190 207 +f 190 201 207 +f 201 192 207 +f 193 182 208 +f 202 193 208 +f 198 202 208 +f 182 205 208 +f 205 198 208 +f 189 183 209 +f 183 199 209 +f 199 206 209 +f 187 196 210 +f 196 202 210 +f 202 188 210 +f 189 186 211 +f 194 189 211 +f 195 194 211 +f 188 203 212 +f 203 189 212 +f 189 209 212 +f 209 197 212 +f 197 210 212 +f 210 188 212 +f 197 187 213 +f 187 210 213 +f 210 197 213 +f 191 187 214 +f 187 197 214 +f 197 209 214 +f 209 206 214 +f 193 192 215 +f 182 193 215 +f 184 194 216 +f 194 191 216 +f 199 184 216 +f 206 199 216 +f 191 214 216 +f 214 206 216 +f 186 201 217 +f 201 195 217 +f 211 186 217 +f 195 211 217 +f 192 200 218 +f 205 182 218 +f 200 205 218 +f 215 192 218 +o convex_8 +v 1.322768 -2.278310 0.305539 +v 2.916740 -1.115714 0.637670 +v 2.916740 -1.115714 0.504753 +v 1.123258 -1.149058 -0.358617 +v 3.049683 -2.211736 -0.358617 +v 1.123258 -1.149058 0.704075 +v 2.983307 -2.145276 0.737331 +v 1.123258 -2.178506 -0.258956 +v 2.983307 -1.281864 -0.258956 +v 1.156637 -2.278310 0.637670 +v 3.016495 -1.315094 0.670819 +v 3.083063 -2.078930 -0.358617 +v 2.850365 -1.248634 -0.292105 +v 1.455711 -1.115714 0.637670 +v 3.049683 -2.145276 0.604414 +v 3.016495 -1.115828 0.504753 +v 1.455711 -1.149058 -0.358617 +v 1.289580 -2.178506 -0.292105 +v 3.016495 -1.879663 0.737331 +v 2.617858 -2.145276 0.737331 +v 1.123258 -2.278310 0.604414 +v 1.621842 -2.278310 0.338795 +v 1.123258 -1.315208 -0.358617 +v 2.651046 -2.178506 -0.358617 +v 1.123258 -2.211736 -0.126039 +v 3.016495 -1.182288 0.139580 +f 235 234 244 +f 224 222 226 +f 220 224 229 +f 223 222 230 +f 227 230 231 +f 220 221 232 +f 221 222 232 +f 224 220 232 +f 222 224 232 +f 225 223 233 +f 223 230 233 +f 233 230 234 +f 221 220 234 +f 220 229 234 +f 229 233 234 +f 222 221 235 +f 230 222 235 +f 231 230 235 +f 221 234 235 +f 229 224 237 +f 225 233 237 +f 233 229 237 +f 228 225 238 +f 224 228 238 +f 237 224 238 +f 225 237 238 +f 224 226 239 +f 219 228 239 +f 228 224 239 +f 219 223 240 +f 223 225 240 +f 228 219 240 +f 225 228 240 +f 222 223 241 +f 226 222 241 +f 236 226 241 +f 236 241 242 +f 223 236 242 +f 241 223 242 +f 223 219 243 +f 236 223 243 +f 226 236 243 +f 219 239 243 +f 239 226 243 +f 230 227 244 +f 227 231 244 +f 234 230 244 +f 231 235 244 +o convex_9 +v -1.368384 0.445396 0.504919 +v -1.168809 0.511817 -0.126205 +v -1.168809 0.578355 -0.126205 +v -3.061945 0.146589 0.006680 +v -1.102283 0.013747 0.305561 +v -3.061945 0.578355 0.438446 +v -2.929090 -0.019493 0.405147 +v -2.929090 0.578355 -0.026495 +v -1.102283 0.080168 0.006680 +v -1.102283 0.511817 0.504919 +v -1.102283 0.013747 0.471682 +v -3.028780 0.113407 -0.026495 +v -3.095305 -0.019493 0.338798 +v -1.102283 0.578355 0.039916 +v -1.634094 0.013747 0.471682 +v -2.729905 0.578355 -0.059732 +v -2.364505 0.578355 0.438446 +v -1.102283 0.378975 -0.092968 +f 258 253 262 +f 250 247 252 +f 248 250 252 +f 250 245 254 +f 249 253 254 +f 251 249 255 +f 254 245 255 +f 249 254 255 +f 248 252 256 +f 256 253 257 +f 250 248 257 +f 249 251 257 +f 251 250 257 +f 253 249 257 +f 248 256 257 +f 247 250 258 +f 254 253 258 +f 245 250 259 +f 250 251 259 +f 255 245 259 +f 251 255 259 +f 247 246 260 +f 252 247 260 +f 246 256 260 +f 256 252 260 +f 250 254 261 +f 258 250 261 +f 254 258 261 +f 246 247 262 +f 256 246 262 +f 253 256 262 +f 247 258 262 +o convex_10 +v 1.090041 -0.019539 0.405216 +v 1.687986 0.611572 0.272296 +v 2.285542 0.578342 0.172866 +v 2.950012 0.478652 0.538136 +v 3.083063 -0.052769 -0.126205 +v 1.090041 0.213071 -0.026515 +v 2.916847 -0.019539 0.538136 +v 1.090041 0.578342 0.471676 +v 2.883682 0.545112 0.006715 +v 1.090041 0.511817 0.006715 +v 1.090041 -0.052769 -0.026515 +v 3.016538 0.345732 -0.059745 +v 1.356141 0.511817 0.504906 +v 1.123401 -0.019539 0.438381 +v 1.090041 0.611572 0.239065 +v 2.916847 0.013691 -0.126205 +v 3.016538 -0.019539 0.405216 +v 2.584807 0.013691 0.538136 +v 3.083063 0.080151 0.039880 +v 1.156566 -0.052769 0.073110 +v 1.223091 0.611572 0.405216 +f 277 270 283 +f 265 264 266 +f 268 263 270 +f 264 265 271 +f 265 266 271 +f 268 270 272 +f 263 268 273 +f 271 266 274 +f 272 271 274 +f 266 270 275 +f 275 270 276 +f 270 263 276 +f 264 271 277 +f 272 270 277 +f 271 272 277 +f 268 272 278 +f 267 273 278 +f 273 268 278 +f 274 267 278 +f 272 274 278 +f 266 269 279 +f 269 267 279 +f 269 266 280 +f 266 275 280 +f 275 276 280 +f 276 269 280 +f 274 266 281 +f 267 274 281 +f 266 279 281 +f 279 267 281 +f 267 269 282 +f 273 267 282 +f 263 273 282 +f 276 263 282 +f 269 276 282 +f 266 264 283 +f 270 266 283 +f 264 277 283 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/175/175.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/175/175.urdf new file mode 100644 index 000000000..61a9612e7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/175/175.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/176/176.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/176/176.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/176/176.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/176/176.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/176/176.obj new file mode 100644 index 000000000..a63267290 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/176/176.obj @@ -0,0 +1,333 @@ +o convex_0 +v 0.108015 0.917497 0.905928 +v -2.071512 -5.103759 0.240830 +v -2.034410 -5.104349 0.240830 +v -1.738888 0.917497 -1.088946 +v -0.002860 -5.030077 -0.940867 +v -2.071295 0.917497 1.053797 +v 0.145118 -5.030077 1.016672 +v 0.034243 0.917497 -0.940867 +v -2.071512 -5.067213 -1.051821 +v -2.034410 -5.104349 0.942842 +v -2.071295 0.917497 -1.088946 +v 0.108015 0.917497 1.016672 +v -2.034410 -4.660491 -1.088946 +v -0.002860 0.695274 -0.977782 +v -0.593903 -5.067213 1.016672 +v 0.034243 -1.890654 -0.940867 +v 0.071129 0.917497 -0.386933 +v -1.332491 0.879772 1.053797 +v -2.071512 0.251416 1.053797 +v 0.145118 -5.030077 0.942842 +v -2.071512 -2.923964 0.979757 +v -0.409257 -4.808444 -0.977992 +v -0.335268 -5.067213 0.942842 +v 0.034243 -5.030077 -0.571508 +v -1.443366 -5.104349 0.905928 +v -1.517355 -5.030077 -1.051821 +v -2.071512 -5.103759 0.573274 +v -1.369377 -5.067213 0.979757 +v -1.369377 -3.293551 -1.051821 +v 0.145118 -4.586809 0.979757 +v -0.002860 0.917497 -0.977782 +f 8 14 31 +f 1 4 6 +f 4 1 8 +f 3 2 9 +f 5 3 9 +f 2 3 10 +f 6 4 11 +f 1 6 12 +f 11 4 13 +f 9 11 13 +f 14 8 16 +f 5 14 16 +f 8 1 17 +f 16 8 17 +f 12 6 18 +f 7 12 18 +f 9 2 19 +f 6 11 19 +f 11 9 19 +f 15 7 19 +f 18 6 19 +f 7 18 19 +f 16 17 20 +f 19 2 21 +f 10 19 21 +f 14 5 22 +f 7 15 23 +f 20 7 23 +f 20 23 24 +f 5 16 24 +f 16 20 24 +f 23 5 24 +f 3 5 25 +f 10 3 25 +f 15 10 25 +f 5 23 25 +f 23 15 25 +f 5 9 26 +f 9 13 26 +f 22 5 26 +f 2 10 27 +f 21 2 27 +f 10 21 27 +f 10 15 28 +f 19 10 28 +f 15 19 28 +f 13 4 29 +f 4 14 29 +f 14 22 29 +f 26 13 29 +f 22 26 29 +f 1 12 30 +f 12 7 30 +f 17 1 30 +f 7 20 30 +f 20 17 30 +f 4 8 31 +f 14 4 31 +o convex_1 +v -3.549042 1.841154 -0.239187 +v -2.219519 2.358307 0.277926 +v -2.071708 2.321301 0.277926 +v -3.918473 1.767267 0.240975 +v -4.066480 2.321301 -0.165285 +v -2.071708 1.804211 -0.202236 +v -2.071708 2.284358 -0.239187 +v -2.071708 1.730384 0.204023 +v -4.066480 2.358307 0.204023 +v -4.029185 1.730384 -0.202236 +v -4.066480 2.284358 -0.202236 +v -2.773666 1.730384 0.240975 +v -2.995286 1.730384 -0.202236 +v -3.881569 2.358307 0.019369 +v -3.992281 2.025874 0.240975 +v -3.179611 2.284358 -0.239187 +v -2.071708 2.321301 -0.091433 +v -2.071708 1.730384 -0.017531 +v -2.071708 2.025874 -0.239187 +v -2.071708 2.210470 0.277926 +f 43 39 51 +f 34 37 38 +f 37 34 39 +f 40 36 42 +f 41 40 42 +f 32 41 42 +f 35 41 43 +f 41 39 43 +f 32 37 44 +f 41 32 44 +f 39 41 44 +f 40 33 45 +f 36 40 45 +f 35 33 46 +f 33 40 46 +f 40 41 46 +f 41 35 46 +f 38 32 47 +f 36 38 47 +f 32 42 47 +f 42 36 47 +f 33 34 48 +f 34 38 48 +f 38 36 48 +f 45 33 48 +f 36 45 48 +f 37 39 49 +f 44 37 49 +f 39 44 49 +f 37 32 50 +f 32 38 50 +f 38 37 50 +f 34 33 51 +f 33 35 51 +f 39 34 51 +f 35 43 51 +o convex_2 +v 0.034243 0.917497 -0.941077 +v -1.332491 3.097184 -0.977992 +v -1.332491 3.097184 -1.014697 +v -2.071512 0.917497 -1.088946 +v -2.071512 0.917497 1.053797 +v 0.145118 3.023148 0.979757 +v -1.886649 2.986023 0.942842 +v 0.108015 0.917497 1.016672 +v 0.145118 3.023148 -1.014906 +v -1.997524 3.097184 -1.014697 +v 0.145118 1.139392 -0.977992 +v -2.071512 2.320980 0.277745 +v -2.071512 1.545630 -1.088946 +v 0.145118 1.656577 1.016672 +v -1.923535 3.023148 0.758058 +v -2.034410 1.250126 1.053797 +v -1.738888 0.917497 -1.088946 +v -1.997524 3.097184 -0.682253 +v -0.076849 3.060059 -1.014697 +v -2.034410 2.542661 -1.051821 +v -1.221616 1.065569 1.053797 +v 0.145118 0.991533 -0.423848 +v -1.997524 1.915169 1.016672 +v -1.628230 3.023148 0.942842 +v 0.145118 1.065356 1.016672 +v 0.145118 2.764555 -1.014906 +v -2.071512 2.284069 -0.239064 +v -1.923535 3.097184 -0.608423 +v -1.923535 2.875503 0.942842 +v -2.071512 1.102267 1.053797 +v -1.923535 2.542661 0.979757 +v -1.960638 2.616910 -1.051821 +v -0.002860 0.917497 -0.977992 +v 0.145118 0.991533 -0.940867 +v -0.039746 3.022935 0.979757 +f 82 74 86 +f 55 52 56 +f 56 52 59 +f 53 54 61 +f 60 57 62 +f 55 56 63 +f 55 63 64 +f 62 57 65 +f 52 55 68 +f 64 60 68 +f 55 64 68 +f 53 61 69 +f 61 63 69 +f 63 66 69 +f 54 53 70 +f 53 57 70 +f 57 60 70 +f 56 59 72 +f 65 57 72 +f 67 56 72 +f 57 67 72 +f 62 65 73 +f 66 58 75 +f 72 59 76 +f 65 72 76 +f 59 73 76 +f 73 65 76 +f 60 62 77 +f 62 68 77 +f 68 60 77 +f 63 61 78 +f 64 63 78 +f 61 71 78 +f 71 64 78 +f 57 53 79 +f 53 69 79 +f 69 66 79 +f 75 57 79 +f 66 75 79 +f 58 66 80 +f 66 63 80 +f 74 80 81 +f 63 56 81 +f 56 67 81 +f 67 74 81 +f 80 63 81 +f 58 80 82 +f 80 74 82 +f 61 54 83 +f 60 64 83 +f 54 70 83 +f 70 60 83 +f 71 61 83 +f 64 71 83 +f 52 68 84 +f 68 62 84 +f 59 52 85 +f 73 59 85 +f 62 73 85 +f 52 84 85 +f 84 62 85 +f 67 57 86 +f 74 67 86 +f 57 75 86 +f 75 58 86 +f 58 82 86 +o convex_3 +v 2.768134 0.954647 0.425737 +v 2.435387 3.060240 0.979660 +v 4.097951 3.060034 1.016654 +v 3.691390 2.949343 -0.977865 +v 0.145212 3.023137 -1.015058 +v 4.097951 0.991750 -0.940870 +v 0.145212 1.065544 1.016853 +v 0.145212 0.991750 -0.941069 +v 4.134662 0.954647 1.016654 +v 0.145212 3.023137 0.979660 +v 4.097951 2.912446 -0.977865 +v 0.219026 1.139338 -0.978064 +v 4.097951 3.060034 0.573317 +v 4.134662 0.954647 -0.164981 +v 4.060849 2.099686 -0.977865 +v 0.921231 3.023137 -1.015058 +v 0.182314 0.991750 -0.386948 +v 2.804846 3.060034 1.016654 +v 1.438317 3.060240 0.942665 +v 4.134662 1.767614 0.942665 +v 0.145212 1.693614 1.016853 +v 1.142672 1.028647 1.016654 +v 0.219026 2.764447 -1.015058 +v 1.179774 3.023137 -0.977865 +v 3.728492 0.954647 1.016654 +v 4.134662 1.028647 -0.312959 +v 4.097951 2.949343 -0.830285 +v 2.620116 0.954647 0.277759 +v 0.182314 1.028441 0.425538 +f 111 108 115 +f 93 91 94 +f 91 93 96 +f 92 94 98 +f 94 91 98 +f 88 89 99 +f 94 92 100 +f 95 87 100 +f 97 92 101 +f 92 98 101 +f 90 97 102 +f 91 99 102 +f 97 101 102 +f 93 94 103 +f 89 88 104 +f 96 104 105 +f 91 96 105 +f 88 99 105 +f 99 91 105 +f 104 88 105 +f 89 95 106 +f 99 89 106 +f 95 100 106 +f 95 89 107 +f 93 95 107 +f 96 93 107 +f 89 104 107 +f 104 96 107 +f 98 91 109 +f 101 98 109 +f 102 101 109 +f 91 102 109 +f 90 102 110 +f 102 99 110 +f 87 95 111 +f 95 93 111 +f 93 108 111 +f 92 97 112 +f 100 92 112 +f 97 106 112 +f 106 100 112 +f 97 90 113 +f 99 106 113 +f 106 97 113 +f 90 110 113 +f 110 99 113 +f 100 87 114 +f 94 100 114 +f 87 103 114 +f 103 94 114 +f 103 87 115 +f 93 103 115 +f 108 93 115 +f 87 111 115 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/176/176.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/176/176.urdf new file mode 100644 index 000000000..a726550ac --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/176/176.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/177/177.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/177/177.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/177/177.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/177/177.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/177/177.obj new file mode 100644 index 000000000..ba316c763 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/177/177.obj @@ -0,0 +1,867 @@ +o convex_0 +v -0.128531 -0.777601 -1.259843 +v -0.036613 -1.573692 -1.321221 +v 0.024606 -1.573692 -1.321221 +v -0.005973 -1.144902 -3.066860 +v 0.330880 -0.930699 -1.259843 +v -0.281668 -1.359297 -1.259843 +v 0.177683 -1.359297 -2.484921 +v 0.269601 -0.624503 -1.290621 +v -0.189750 -1.206199 -2.791102 +v -0.036613 -0.961396 -2.852303 +v 0.208323 -1.144902 -2.760502 +v 0.238962 -1.451194 -1.259843 +v -0.036613 -1.389897 -2.760502 +v 0.055186 -0.593807 -1.259843 +v -0.220389 -0.900099 -1.382422 +v -0.220389 -1.512395 -1.382422 +v 0.055186 -1.389897 -2.791102 +v 0.024606 -0.961396 -2.852303 +v -0.159110 -1.022596 -2.576722 +v 0.330880 -1.053197 -1.290621 +v -0.281668 -1.236799 -1.443623 +v 0.208323 -1.206199 -2.729901 +v 0.177683 -1.144902 -2.883080 +v -0.189750 -1.542995 -1.259843 +v -0.189750 -0.838898 -1.413022 +v 0.208323 -1.420498 -1.903160 +v 0.177683 -0.593807 -1.290621 +v 0.269601 -1.359297 -1.290621 +v -0.005973 -1.236799 -3.036082 +v -0.128531 -1.359297 -2.576722 +v -0.189750 -1.144902 -2.729901 +v 0.147104 -0.991996 -2.637923 +v -0.220389 -0.900099 -1.259843 +f 25 15 33 +f 5 1 6 +f 4 9 10 +f 8 5 11 +f 5 6 12 +f 1 5 14 +f 5 8 14 +f 6 9 16 +f 3 2 17 +f 2 13 17 +f 4 10 18 +f 11 5 20 +f 5 12 20 +f 9 6 21 +f 7 17 22 +f 11 20 22 +f 8 11 23 +f 4 18 23 +f 11 22 23 +f 22 17 23 +f 2 3 24 +f 3 12 24 +f 12 6 24 +f 13 2 24 +f 6 16 24 +f 16 13 24 +f 1 14 25 +f 14 10 25 +f 10 19 25 +f 19 15 25 +f 12 3 26 +f 3 17 26 +f 17 7 26 +f 7 22 26 +f 14 8 27 +f 10 14 27 +f 18 10 27 +f 8 18 27 +f 20 12 28 +f 22 20 28 +f 12 26 28 +f 26 22 28 +f 9 4 29 +f 13 9 29 +f 17 13 29 +f 4 23 29 +f 23 17 29 +f 9 13 30 +f 16 9 30 +f 13 16 30 +f 10 9 31 +f 19 10 31 +f 15 19 31 +f 9 21 31 +f 21 15 31 +f 18 8 32 +f 8 23 32 +f 23 18 32 +f 6 1 33 +f 21 6 33 +f 15 21 33 +f 1 25 33 +o convex_1 +v 0.055189 3.234714 -1.260017 +v -0.097784 2.469028 -1.290792 +v -0.036550 2.469028 -1.290792 +v -0.067129 2.806077 -3.036232 +v -0.404177 2.867161 -1.260017 +v 0.361507 2.775347 -1.260017 +v 0.208310 2.775347 -2.821682 +v -0.281560 2.836581 -2.699106 +v -0.067129 2.591646 -2.760307 +v -0.342869 2.560917 -1.474394 +v 0.269544 3.112096 -1.627570 +v -0.006045 2.989553 -2.760307 +v -0.281560 3.142825 -1.290792 +v 0.269544 2.560917 -1.260017 +v 0.361507 2.959049 -1.260017 +v -0.281560 2.744693 -2.668506 +v -0.312214 2.530412 -1.260017 +v 0.055189 2.622300 -2.729707 +v -0.097784 2.989553 -2.668506 +v 0.177731 2.928395 -2.668506 +v 0.300199 3.142825 -1.260017 +v -0.006045 3.234714 -1.321392 +v -0.250980 2.622300 -2.362154 +v 0.208310 2.836581 -2.790908 +v 0.208310 2.530412 -1.290792 +v -0.404177 2.806077 -1.321392 +v -0.067129 2.714189 -2.974684 +v 0.147077 2.652805 -2.576531 +v -0.220326 2.989553 -2.331553 +f 46 52 62 +f 34 38 39 +f 36 35 42 +f 34 44 45 +f 38 34 46 +f 41 38 46 +f 39 38 47 +f 40 39 47 +f 34 39 48 +f 39 40 48 +f 41 37 49 +f 35 36 50 +f 42 35 50 +f 43 42 50 +f 36 47 50 +f 47 38 50 +f 37 41 52 +f 45 37 52 +f 45 44 53 +f 44 34 54 +f 34 48 54 +f 48 44 54 +f 34 45 55 +f 46 34 55 +f 45 52 55 +f 52 46 55 +f 42 43 56 +f 49 42 56 +f 43 49 56 +f 40 37 57 +f 37 45 57 +f 48 40 57 +f 44 48 57 +f 53 44 57 +f 45 53 57 +f 36 42 58 +f 47 36 58 +f 42 51 58 +f 38 41 59 +f 41 49 59 +f 49 43 59 +f 43 50 59 +f 50 38 59 +f 37 40 60 +f 49 37 60 +f 42 49 60 +f 40 51 60 +f 51 42 60 +f 40 47 61 +f 51 40 61 +f 47 58 61 +f 58 51 61 +f 41 46 62 +f 52 41 62 +o convex_2 +v 0.177656 -4.176370 -0.003985 +v -0.067183 -0.655736 1.282230 +v -0.097762 -0.655736 1.282230 +v -0.159125 0.723267 -1.045350 +v 1.004521 0.722785 0.087585 +v -1.047353 0.722785 0.087585 +v -0.985990 -3.288247 0.026372 +v 0.759479 -3.196539 -0.830856 +v 0.790262 -3.165648 0.761424 +v -0.802310 -2.369716 -0.861462 +v -0.771527 -3.226948 0.822637 +v -0.894048 0.722785 0.914456 +v 0.820841 0.722785 0.822637 +v 0.759479 0.723267 -0.953282 +v 0.238814 -1.482076 -1.259843 +v 0.024555 -3.931653 -0.769643 +v 1.035304 -3.227430 -0.065198 +v -0.894048 0.722785 -0.830856 +v -0.006024 -3.962545 0.791781 +v 0.300177 -1.543859 1.282230 +v -0.740948 -3.962062 0.026621 +v -0.281442 -1.390368 -1.259843 +v 0.882000 -2.032809 0.914456 +v 0.790262 -3.931653 -0.003985 +v -0.312225 -1.451668 1.282230 +v 0.912783 -0.287938 -0.800250 +v -0.740948 -3.226948 -0.739037 +v -0.924832 -0.900453 0.853243 +v 0.024555 -3.257839 -1.014743 +v 0.024555 -3.257839 1.037130 +v 0.361335 0.723267 1.006275 +v 0.361335 -0.869561 -1.259843 +v 0.820841 -2.032809 -0.922924 +v -1.047353 -1.268251 -0.003736 +v -0.771527 0.723267 1.006275 +v -0.832890 -2.002400 0.945062 +v -0.832890 -1.879801 -0.892069 +v 1.035304 -0.104038 -0.003985 +v 0.330756 -1.237843 1.282230 +v -0.189704 -0.808744 -1.259843 +v -0.036604 -4.207744 -0.003985 +v 0.545219 -3.778645 -0.616362 +v 0.300177 -0.532654 -1.259843 +v 0.606378 -3.748237 0.546930 +v -0.985990 -3.043531 0.210011 +v -0.955411 -0.379646 0.822637 +v -0.587847 -3.809537 0.546930 +v -0.526689 -3.778645 -0.555149 +v -0.526689 0.692376 -1.014743 +v -0.373384 -1.023052 1.282230 +v 0.851420 0.722785 -0.861462 +v 1.035304 -3.196539 0.026372 +v 0.790262 -3.257839 -0.800250 +v 0.882000 0.722785 0.700211 +v -1.047353 0.722785 -0.095805 +v 1.004521 0.722785 -0.126411 +v -1.016570 -2.920931 0.026372 +v 0.759479 -3.931653 -0.126411 +v 0.024555 -3.992953 -0.677824 +v 0.943362 -1.787610 0.608143 +v -0.067183 -3.226948 1.037130 +v 1.035304 -1.543376 -0.126411 +v -0.710368 -3.962062 0.148798 +v -0.863469 -2.093626 0.883849 +f 90 107 126 +f 64 65 82 +f 82 71 85 +f 81 63 86 +f 82 65 87 +f 69 72 89 +f 83 69 89 +f 72 84 89 +f 77 70 91 +f 84 77 91 +f 78 89 91 +f 89 84 91 +f 81 71 92 +f 71 82 92 +f 82 87 92 +f 65 64 93 +f 76 66 93 +f 77 84 94 +f 70 77 95 +f 88 79 95 +f 94 76 95 +f 77 94 95 +f 68 74 97 +f 66 80 97 +f 65 93 97 +f 93 66 97 +f 73 87 98 +f 74 90 98 +f 97 74 98 +f 84 72 99 +f 80 84 99 +f 96 80 99 +f 64 82 101 +f 85 75 101 +f 82 85 101 +f 93 64 101 +f 75 93 101 +f 94 84 102 +f 63 81 103 +f 66 76 105 +f 76 94 105 +f 102 66 105 +f 94 102 105 +f 71 81 106 +f 86 71 106 +f 81 86 106 +f 69 73 107 +f 74 68 108 +f 90 74 108 +f 68 96 108 +f 107 90 108 +f 81 73 109 +f 83 89 110 +f 89 78 110 +f 80 66 111 +f 84 80 111 +f 66 102 111 +f 102 84 111 +f 87 65 112 +f 65 97 112 +f 98 87 112 +f 97 98 112 +f 95 76 113 +f 88 95 113 +f 85 71 114 +f 86 79 114 +f 71 86 114 +f 79 100 114 +f 91 70 115 +f 78 91 115 +f 70 95 115 +f 95 79 115 +f 104 78 115 +f 67 76 116 +f 75 85 116 +f 93 75 116 +f 76 93 116 +f 96 68 117 +f 80 96 117 +f 68 97 117 +f 97 80 117 +f 76 67 118 +f 67 100 118 +f 100 88 118 +f 113 76 118 +f 88 113 118 +f 72 69 119 +f 99 72 119 +f 96 99 119 +f 69 107 119 +f 108 96 119 +f 107 108 119 +f 86 63 120 +f 79 86 120 +f 115 79 120 +f 104 115 120 +f 63 103 121 +f 103 83 121 +f 78 104 121 +f 110 78 121 +f 83 110 121 +f 120 63 121 +f 104 120 121 +f 100 67 122 +f 85 114 122 +f 114 100 122 +f 67 116 122 +f 116 85 122 +f 73 81 123 +f 87 73 123 +f 81 92 123 +f 92 87 123 +f 79 88 124 +f 100 79 124 +f 88 100 124 +f 73 69 125 +f 69 83 125 +f 103 81 125 +f 83 103 125 +f 109 73 125 +f 81 109 125 +f 73 98 126 +f 98 90 126 +f 107 73 126 +o convex_3 +v -0.128501 -0.716308 1.343743 +v -0.036625 -1.604328 1.282231 +v -0.220377 -1.512440 1.282231 +v 0.024516 -1.236775 3.027821 +v 0.330880 -1.236775 1.282231 +v 0.238938 -1.175575 2.752040 +v -0.342923 -1.083860 1.282231 +v 0.300211 -1.543040 1.313158 +v -0.006021 -1.451152 2.752040 +v -0.159104 -1.206175 2.782796 +v 0.208269 -0.869483 1.282231 +v 0.055120 -0.961372 2.813382 +v -0.250980 -0.746995 1.343743 +v 0.055120 -1.481753 2.690869 +v -0.250980 -1.481753 1.466256 +v 0.238938 -0.961372 2.017477 +v -0.006021 -0.716308 1.282231 +v 0.177665 -1.389951 2.629698 +v -0.006021 -0.961372 2.782796 +v -0.159104 -1.267376 2.752040 +v 0.055120 -1.604328 1.435670 +v 0.330880 -1.267376 1.558183 +v 0.238938 -1.236775 2.752040 +v -0.159104 -1.451152 2.200819 +v -0.128501 -1.022573 2.568357 +v 0.147062 -0.991972 2.690869 +v -0.281650 -0.808196 1.313158 +v -0.281650 -1.420552 1.343743 +v 0.055120 -1.175575 3.027821 +v -0.006021 -1.481753 2.629698 +v 0.330880 -1.420552 1.282231 +f 148 149 157 +f 128 129 131 +f 131 129 133 +f 131 133 137 +f 130 135 140 +f 129 128 141 +f 131 137 142 +f 137 133 143 +f 127 138 143 +f 139 127 143 +f 142 137 143 +f 140 134 144 +f 138 127 145 +f 127 139 145 +f 135 130 146 +f 130 136 146 +f 136 133 146 +f 128 134 147 +f 134 140 147 +f 131 142 148 +f 142 132 148 +f 130 140 149 +f 144 134 149 +f 140 144 149 +f 148 132 149 +f 135 146 150 +f 146 141 150 +f 136 145 151 +f 145 139 151 +f 138 132 152 +f 132 142 152 +f 143 138 152 +f 142 143 152 +f 133 136 153 +f 143 133 153 +f 139 143 153 +f 136 151 153 +f 151 139 153 +f 133 129 154 +f 129 141 154 +f 146 133 154 +f 141 146 154 +f 136 130 155 +f 132 138 155 +f 145 136 155 +f 138 145 155 +f 130 149 155 +f 149 132 155 +f 140 135 156 +f 141 128 156 +f 128 147 156 +f 147 140 156 +f 135 150 156 +f 150 141 156 +f 128 131 157 +f 134 128 157 +f 131 148 157 +f 149 134 157 +o convex_4 +v 0.055144 3.234714 1.343677 +v -0.005997 2.438401 1.282230 +v 0.055144 2.438401 1.282230 +v -0.036601 2.775368 2.997365 +v -0.312295 2.928302 1.282230 +v 0.361507 2.928302 1.282230 +v 0.177689 2.775368 2.690971 +v 0.024606 2.989646 2.782973 +v -0.220353 2.530301 1.466067 +v -0.189750 2.836557 2.721694 +v -0.220353 3.173369 1.282230 +v -0.036601 2.591646 2.752249 +v 0.300235 2.560935 1.343677 +v 0.300235 3.142813 1.312954 +v -0.097874 2.989646 2.660247 +v -0.312295 2.775368 1.282230 +v 0.085747 2.622280 2.660247 +v -0.159146 2.683468 2.629524 +v -0.251022 3.142813 1.404788 +v 0.361507 2.744813 1.282230 +v 0.147020 2.958935 2.568581 +v -0.036601 3.234714 1.343677 +v 0.024606 2.775368 2.997365 +v -0.220353 2.530301 1.282230 +v 0.177689 2.836557 2.660247 +v -0.036601 3.020280 2.660247 +v -0.312295 2.775368 1.374400 +v 0.055144 3.234714 1.282230 +v 0.361507 2.867113 1.404788 +v 0.269565 2.530301 1.343677 +v 0.024606 2.591646 2.690971 +v 0.147020 2.683468 2.660247 +f 174 187 189 +f 160 159 162 +f 160 162 163 +f 163 162 168 +f 159 160 169 +f 166 159 169 +f 158 165 171 +f 161 165 172 +f 167 161 172 +f 162 159 173 +f 161 167 175 +f 169 161 175 +f 166 169 175 +f 162 167 176 +f 168 162 176 +f 167 172 176 +f 160 163 177 +f 170 160 177 +f 164 170 177 +f 171 165 178 +f 168 176 179 +f 165 161 180 +f 161 169 180 +f 159 166 181 +f 173 159 181 +f 166 173 181 +f 178 165 182 +f 171 178 182 +f 180 164 182 +f 165 180 182 +f 165 158 183 +f 172 165 183 +f 176 172 183 +f 158 179 183 +f 179 176 183 +f 167 162 184 +f 162 173 184 +f 173 166 184 +f 175 167 184 +f 166 175 184 +f 163 168 185 +f 171 163 185 +f 158 171 185 +f 179 158 185 +f 168 179 185 +f 163 171 186 +f 177 163 186 +f 164 177 186 +f 182 164 186 +f 171 182 186 +f 160 170 187 +f 187 174 188 +f 169 160 188 +f 180 169 188 +f 174 180 188 +f 160 187 188 +f 170 164 189 +f 164 180 189 +f 180 174 189 +f 187 170 189 +o convex_5 +v 0.606368 2.193382 0.975851 +v -0.342920 0.723267 -1.045452 +v -0.495979 0.723267 -1.014518 +v -0.710302 2.193382 -0.984188 +v -0.894093 0.723267 0.914588 +v 1.004683 0.723267 -0.126495 +v 0.851423 2.193382 -0.861459 +v -0.863361 2.193382 0.914588 +v 0.820891 0.723267 0.822592 +v -1.047353 0.723267 -0.095763 +v 0.759628 0.723267 -0.953255 +v 1.004683 2.193382 0.026363 +v -1.047353 2.193382 0.057096 +v -0.894093 0.968334 -0.861459 +v 0.575635 2.193382 -1.014518 +v 0.361313 0.723267 1.006584 +v -0.740833 2.193382 1.006584 +v -0.924624 2.193382 -0.861459 +v 0.851423 2.193382 0.822592 +v -0.771565 0.723267 1.006584 +v 1.004683 0.723267 0.087627 +v -0.097664 2.193382 -1.045452 +v 0.851423 0.723267 -0.861459 +v -0.894093 0.723267 -0.830727 +v 0.300049 2.193382 1.006584 +v -1.047353 0.723267 0.087627 +v -0.128396 0.723267 -1.045452 +v 0.882155 0.723267 0.700265 +v 0.667632 0.723267 -0.984188 +v -1.047353 2.101428 -0.095763 +v 0.728895 2.193382 -0.984188 +v -0.863361 1.519483 -0.922723 +v -0.894093 2.193382 0.853324 +v 1.004683 2.193382 -0.065231 +v 0.759628 2.039981 0.914588 +v 0.575635 0.723267 0.945320 +v 0.882155 2.193382 0.700265 +v -0.832829 1.886868 0.975851 +v -1.047353 2.070633 0.087627 +v -0.526711 2.193382 -1.014518 +v -0.618506 0.753918 -0.984188 +v 0.851423 1.060288 0.822592 +v -0.955357 0.937683 -0.585672 +f 203 213 232 +f 191 192 193 +f 192 191 194 +f 194 191 195 +f 193 190 196 +f 190 193 197 +f 194 195 198 +f 192 194 199 +f 195 191 200 +f 196 190 201 +f 197 193 202 +f 193 196 204 +f 194 198 205 +f 190 197 206 +f 202 193 207 +f 201 190 208 +f 194 205 209 +f 205 206 209 +f 198 195 210 +f 195 201 210 +f 193 204 211 +f 196 195 212 +f 195 200 212 +f 192 199 213 +f 205 190 214 +f 190 206 214 +f 206 205 214 +f 199 194 215 +f 202 199 215 +f 200 191 216 +f 191 211 216 +f 211 204 216 +f 198 210 217 +f 200 216 218 +f 216 204 218 +f 199 202 219 +f 202 207 219 +f 207 199 219 +f 204 196 220 +f 196 212 220 +f 212 200 220 +f 200 218 220 +f 218 204 220 +f 207 193 221 +f 203 207 221 +f 194 197 222 +f 197 202 222 +f 195 196 223 +f 196 201 223 +f 201 195 223 +f 208 190 224 +f 190 205 225 +f 205 198 225 +f 224 190 225 +f 198 224 225 +f 201 208 226 +f 210 201 226 +f 208 217 226 +f 217 210 226 +f 197 194 227 +f 206 197 227 +f 194 209 227 +f 209 206 227 +f 215 194 228 +f 202 215 228 +f 194 222 228 +f 222 202 228 +f 191 193 229 +f 211 191 229 +f 193 211 229 +f 193 192 230 +f 192 213 230 +f 213 203 230 +f 221 193 230 +f 203 221 230 +f 198 217 231 +f 217 208 231 +f 224 198 231 +f 208 224 231 +f 199 207 232 +f 207 203 232 +f 213 199 232 +o convex_6 +v -0.771565 3.448889 -0.769643 +v 1.004683 2.836716 0.026372 +v 0.973950 2.959052 -0.003985 +v -0.281455 3.112054 1.282230 +v -0.924624 2.193547 -0.861463 +v -0.894093 2.193547 0.883849 +v 0.728895 2.193382 -0.983888 +v 0.759628 2.193382 0.914456 +v 0.667632 3.571555 -0.800001 +v 0.055195 3.785725 0.792030 +v -0.710302 3.571390 0.792030 +v -0.281455 3.142720 -1.259595 +v 0.667632 3.510222 0.791781 +v -1.047353 2.928715 0.056979 +v -0.067132 3.785725 -0.769394 +v 0.300049 2.530547 1.282230 +v 0.300049 2.561049 -1.259595 +v -0.771565 3.663389 -0.034592 +v 0.300049 3.173222 1.282230 +v 1.004683 2.193382 -0.064949 +v 0.912687 2.898049 -0.800001 +v 0.330781 3.142720 -1.259595 +v 0.912687 2.836716 0.761424 +v 0.055195 3.877724 0.026372 +v 0.759628 3.602057 0.056730 +v -0.985888 2.897884 -0.769643 +v -1.047353 2.193547 -0.065198 +v -0.189660 2.469214 -1.259595 +v -0.924624 2.928715 0.792030 +v -0.006069 2.438548 1.282230 +v -0.741034 2.193547 1.006524 +v -0.403983 2.867383 -1.259843 +v -0.741034 3.571390 -0.738788 +v -0.097865 3.785725 0.792030 +v -0.741034 2.193547 -0.983888 +v -0.036601 3.265221 1.282230 +v 0.851423 2.193382 -0.861463 +v 0.392045 2.898049 1.282230 +v 0.728895 3.540889 -0.769643 +v 0.881954 2.193382 0.730817 +v 0.055195 3.357055 -1.167776 +v -0.189660 3.847058 -0.003737 +v -0.679770 3.602057 0.822636 +v 0.453309 2.898049 -1.228740 +v -0.250924 2.561049 1.282230 +v -0.802097 3.632723 -0.003985 +v 0.085726 2.193547 1.037130 +v 0.055195 3.785725 -0.769394 +v -0.158927 2.193547 -1.045350 +v -1.047353 2.193547 0.056979 +v 0.698364 3.540889 -0.830856 +v -0.006069 2.438548 -1.259595 +v 0.759628 3.602057 -0.157017 +v 0.698364 3.540889 0.638749 +v -0.771565 3.663389 0.118191 +v -0.802097 2.867383 0.914456 +v -0.281455 3.724557 -0.769394 +v 1.004683 2.193382 0.026372 +v 0.422576 3.295722 1.128949 +v -0.342920 2.561049 -1.259595 +v 0.024462 3.877724 -0.126162 +v -0.312187 2.959217 1.282230 +v 0.912687 2.653048 -0.800001 +v 0.055195 3.479556 1.098343 +f 251 291 296 +f 236 248 251 +f 240 239 252 +f 235 234 253 +f 234 252 253 +f 234 235 255 +f 255 235 257 +f 256 242 257 +f 237 239 259 +f 258 237 259 +f 246 258 259 +f 243 246 261 +f 248 236 262 +f 240 248 262 +f 238 240 263 +f 233 244 264 +f 244 254 264 +f 254 249 264 +f 258 233 264 +f 237 258 264 +f 244 233 265 +f 233 258 265 +f 242 256 266 +f 239 237 267 +f 237 264 267 +f 236 251 268 +f 252 239 269 +f 239 253 269 +f 248 240 270 +f 251 248 270 +f 240 255 270 +f 235 253 271 +f 240 252 272 +f 255 240 272 +f 254 244 273 +f 266 256 274 +f 243 261 275 +f 236 268 275 +f 268 266 275 +f 239 249 276 +f 253 239 276 +f 249 254 276 +f 262 236 277 +f 263 262 277 +f 246 243 278 +f 258 246 278 +f 250 265 278 +f 265 258 278 +f 240 262 279 +f 263 240 279 +f 262 263 279 +f 273 247 280 +f 239 267 281 +f 240 238 282 +f 239 240 282 +f 259 239 282 +f 246 259 282 +f 238 261 282 +f 261 246 282 +f 271 253 283 +f 241 271 283 +f 254 273 283 +f 253 276 283 +f 276 254 283 +f 280 241 283 +f 273 280 283 +f 249 239 284 +f 264 249 284 +f 260 264 284 +f 267 260 284 +f 239 281 284 +f 281 267 284 +f 257 235 285 +f 256 257 285 +f 235 271 285 +f 271 241 285 +f 242 245 286 +f 245 255 286 +f 257 242 286 +f 255 257 286 +f 274 250 287 +f 266 274 287 +f 275 266 287 +f 243 275 287 +f 278 243 287 +f 250 278 287 +f 261 238 288 +f 238 263 288 +f 236 275 288 +f 275 261 288 +f 244 265 289 +f 265 250 289 +f 247 273 289 +f 273 244 289 +f 274 247 289 +f 250 274 289 +f 252 234 290 +f 234 255 290 +f 272 252 290 +f 255 272 290 +f 245 242 291 +f 255 245 291 +f 251 270 291 +f 270 255 291 +f 264 260 292 +f 260 267 292 +f 267 264 292 +f 247 274 293 +f 274 256 293 +f 241 280 293 +f 280 247 293 +f 285 241 293 +f 256 285 293 +f 277 236 294 +f 263 277 294 +f 288 263 294 +f 236 288 294 +f 253 252 295 +f 252 269 295 +f 269 253 295 +f 242 266 296 +f 268 251 296 +f 266 268 296 +f 291 242 296 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/177/177.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/177/177.urdf new file mode 100644 index 000000000..00849f406 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/177/177.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/178/178.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/178/178.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/178/178.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/178/178.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/178/178.obj new file mode 100644 index 000000000..2d0a605e0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/178/178.obj @@ -0,0 +1,3192 @@ +o convex_0 +v 0.221391 0.251582 -0.206285 +v 0.188137 0.223072 -0.728909 +v 0.188137 0.227827 -0.728909 +v 0.188137 0.261085 -0.206285 +v 0.207137 0.223072 -0.277650 +v 0.211890 0.223072 -0.453426 +v 0.221391 0.256326 -0.225367 +v 0.188137 0.246830 -0.234882 +f 2 5 8 +f 3 2 4 +f 5 2 6 +f 2 3 6 +f 1 5 6 +f 6 3 7 +f 3 4 7 +f 4 1 7 +f 1 6 7 +f 4 2 8 +f 1 4 8 +f 5 1 8 +o convex_1 +v -0.149229 0.194567 1.969903 +v -0.196735 0.180308 1.537546 +v -0.196735 0.189814 1.537546 +v -0.149229 0.227822 1.537546 +v -0.177733 0.227822 1.642126 +v -0.149229 0.180308 1.960418 +v -0.158740 0.185061 1.984179 +v -0.182486 0.227822 1.537546 +v -0.149229 0.232575 1.604089 +v -0.191987 0.185061 1.670679 +v -0.187234 0.180308 1.566099 +f 12 14 19 +f 10 11 12 +f 12 9 14 +f 9 13 15 +f 10 14 15 +f 14 9 15 +f 12 11 16 +f 11 13 16 +f 16 13 17 +f 9 12 17 +f 13 9 17 +f 12 16 17 +f 11 10 18 +f 13 11 18 +f 10 15 18 +f 15 13 18 +f 10 12 19 +f 14 10 19 +o convex_2 +v 0.235612 0.270584 -0.101768 +v 0.031352 0.275337 -0.206285 +v 0.031352 0.280086 -0.206285 +v 0.031352 0.280086 -0.054264 +v 0.207105 0.251588 -0.206285 +v 0.240401 0.284843 -0.059012 +v 0.221389 0.261088 -0.206285 +v 0.126391 0.256338 -0.177756 +v 0.235612 0.275337 -0.059012 +v 0.031352 0.284843 -0.054264 +v 0.031352 0.275337 -0.068507 +f 28 23 30 +f 22 21 23 +f 21 22 24 +f 20 24 26 +f 24 22 26 +f 22 25 26 +f 25 20 26 +f 21 24 27 +f 27 24 28 +f 24 20 28 +f 25 23 28 +f 20 25 28 +f 22 23 29 +f 25 22 29 +f 23 25 29 +f 23 21 30 +f 21 27 30 +f 27 28 30 +o convex_3 +v 0.031348 0.189826 2.501909 +v 0.202372 0.132800 2.145512 +v 0.202372 0.128053 2.145512 +v 0.031348 0.246814 1.599317 +v 0.093117 0.128053 2.616108 +v 0.197600 0.156560 1.689716 +v 0.045597 0.251561 1.656517 +v 0.083640 0.161307 2.620908 +v 0.202372 0.170813 1.666016 +v 0.031348 0.180319 2.478209 +v 0.050353 0.180319 2.611208 +v 0.150097 0.132800 2.506809 +v 0.159607 0.180319 1.609017 +v 0.197600 0.128053 2.050913 +v 0.036103 0.256333 1.599317 +v 0.178629 0.185079 1.599317 +v 0.040842 0.170813 2.620908 +v 0.031348 0.251561 1.704116 +f 37 45 48 +f 38 32 39 +f 32 33 39 +f 33 36 39 +f 31 34 40 +f 34 35 40 +f 38 39 41 +f 39 37 41 +f 33 32 42 +f 35 33 42 +f 38 35 42 +f 32 38 42 +f 35 34 43 +f 36 35 43 +f 33 35 44 +f 36 33 44 +f 35 36 44 +f 39 36 46 +f 37 39 46 +f 43 34 46 +f 36 43 46 +f 34 45 46 +f 45 37 46 +f 35 38 47 +f 31 40 47 +f 40 35 47 +f 41 31 47 +f 38 41 47 +f 34 31 48 +f 31 41 48 +f 41 37 48 +f 45 34 48 +o convex_4 +v -0.054197 -0.028755 -2.924111 +v 0.107357 0.037760 -2.501301 +v 0.102597 0.037760 -2.501301 +v 0.107357 -0.047763 -2.681848 +v -0.054197 -0.062023 -2.943163 +v -0.049421 0.037760 -2.814807 +v 0.107357 -0.043006 -2.705641 +v 0.040828 0.033004 -2.591597 +v -0.044677 -0.052519 -2.962125 +v -0.054197 0.028257 -2.800677 +v 0.107357 0.037760 -2.525095 +v 0.102597 -0.038249 -2.658191 +v 0.012331 -0.062023 -2.881401 +f 57 55 61 +f 51 50 54 +f 50 52 55 +f 51 54 56 +f 53 49 57 +f 49 54 57 +f 54 55 57 +f 49 53 58 +f 54 49 58 +f 53 56 58 +f 56 54 58 +f 54 50 59 +f 55 54 59 +f 50 55 59 +f 50 51 60 +f 52 50 60 +f 53 52 60 +f 51 56 60 +f 56 53 60 +f 52 53 61 +f 55 52 61 +f 53 57 61 +o convex_5 +v 0.107337 -0.185572 -2.387226 +v 0.121611 -0.223577 -1.627173 +v 0.116843 -0.223577 -1.627173 +v 0.021835 -0.223569 -2.529730 +v 0.017077 -0.185572 -2.572519 +v 0.017087 -0.261590 -1.627173 +v 0.121611 -0.233080 -1.641404 +v 0.021845 -0.252079 -1.631917 +v 0.121611 -0.185564 -2.206582 +v 0.121611 -0.195067 -2.235044 +v 0.031351 -0.261590 -1.636660 +v 0.017077 -0.223569 -2.529730 +v 0.021835 -0.190327 -2.596238 +f 73 66 74 +f 63 64 67 +f 63 67 68 +f 64 66 69 +f 67 64 69 +f 66 67 69 +f 64 63 70 +f 62 66 70 +f 66 64 70 +f 63 68 70 +f 70 68 71 +f 65 62 71 +f 68 65 71 +f 62 70 71 +f 65 68 72 +f 68 67 72 +f 67 66 73 +f 65 72 73 +f 72 67 73 +f 62 65 74 +f 66 62 74 +f 65 73 74 +o convex_6 +v 0.207136 -0.024036 -0.572226 +v 0.159624 -0.218811 -1.626980 +v 0.169135 -0.185561 -1.665022 +v 0.197636 -0.009774 -0.448720 +v 0.169130 -0.195055 -0.344236 +v 0.211889 -0.033530 -1.665022 +v 0.207136 -0.009774 -1.665022 +v 0.159624 -0.185561 -0.320459 +v 0.173882 -0.199802 -1.626980 +v 0.169135 -0.166531 -1.665022 +v 0.207136 -0.009774 -0.334857 +v 0.173887 -0.185561 -0.429831 +v 0.211889 -0.033530 -1.503342 +v 0.169130 -0.214064 -1.398857 +v 0.197636 -0.009774 -0.334857 +v 0.159624 -0.204549 -1.403480 +v 0.211889 -0.009774 -0.976163 +v 0.159624 -0.195055 -0.315572 +v 0.183378 -0.104819 -1.665022 +f 84 78 93 +f 80 77 81 +f 76 77 83 +f 77 80 83 +f 77 76 84 +f 81 77 84 +f 81 78 85 +f 75 85 86 +f 85 79 86 +f 83 80 87 +f 75 86 87 +f 86 83 87 +f 79 76 88 +f 76 83 88 +f 86 79 88 +f 83 86 88 +f 78 82 89 +f 85 78 89 +f 76 82 90 +f 82 78 90 +f 84 76 90 +f 78 84 90 +f 80 81 91 +f 85 75 91 +f 81 85 91 +f 87 80 91 +f 75 87 91 +f 76 79 92 +f 82 76 92 +f 79 85 92 +f 89 82 92 +f 85 89 92 +f 78 81 93 +f 81 84 93 +o convex_7 +v 0.211889 0.037760 -1.446364 +v 0.202386 -0.009756 -1.665022 +v 0.197640 -0.000249 -1.665022 +v 0.202386 -0.009756 -0.334578 +v 0.188134 0.037760 -1.665022 +v 0.207136 0.037760 -0.339397 +v 0.211889 -0.009756 -0.843002 +v 0.211889 -0.009756 -1.665022 +v 0.211889 0.037760 -0.339397 +v 0.202386 0.014002 -0.339397 +v 0.211889 0.009254 -0.339397 +v 0.188134 0.028249 -1.655385 +f 103 98 105 +f 96 95 97 +f 95 96 98 +f 94 98 99 +f 97 95 100 +f 98 94 101 +f 95 98 101 +f 100 95 101 +f 94 100 101 +f 94 99 102 +f 99 97 102 +f 100 94 102 +f 97 99 103 +f 99 98 103 +f 97 100 104 +f 102 97 104 +f 100 102 104 +f 96 97 105 +f 98 96 105 +f 97 103 105 +o convex_8 +v -0.182500 0.166022 -1.669758 +v -0.230000 0.037774 -1.674622 +v -0.196753 0.037787 -2.477321 +v -0.206258 0.151781 -1.655513 +v -0.225247 0.047281 -1.308653 +v -0.182495 0.037787 -2.467941 +v -0.182500 0.166022 -1.323014 +v -0.201505 0.170782 -1.308653 +v -0.234752 0.047281 -1.636520 +v -0.187253 0.099538 -2.268279 +v -0.234752 0.037774 -1.308653 +v -0.201505 0.042534 -2.415593 +v -0.230000 0.071043 -1.308653 +v -0.182495 0.075790 -2.415593 +v -0.201505 0.161288 -1.655513 +f 106 115 120 +f 107 108 111 +f 110 111 112 +f 112 106 113 +f 110 112 113 +f 107 111 116 +f 111 110 116 +f 110 113 116 +f 114 107 116 +f 108 107 117 +f 107 114 117 +f 114 109 117 +f 115 108 117 +f 109 115 117 +f 113 109 118 +f 109 114 118 +f 116 113 118 +f 114 116 118 +f 111 108 119 +f 106 112 119 +f 112 111 119 +f 108 115 119 +f 115 106 119 +f 109 113 120 +f 113 106 120 +f 115 109 120 +o convex_9 +v -0.201511 0.166034 1.651534 +v -0.248999 0.033009 1.309466 +v -0.244247 0.066272 0.810685 +v -0.244247 0.161275 0.839163 +v -0.253757 0.037767 1.646733 +v -0.187261 0.170792 1.637295 +v -0.225258 0.180308 0.834445 +v -0.239501 0.066272 0.810685 +v -0.239495 0.037767 1.656336 +v -0.201511 0.180308 1.551778 +v -0.244247 0.033009 1.309466 +v -0.249012 0.128012 1.014916 +v -0.253757 0.033009 1.466261 +v -0.239501 0.175550 0.810685 +v -0.187261 0.175535 1.603933 +f 127 130 135 +f 122 123 128 +f 121 125 129 +f 126 121 129 +f 125 121 130 +f 121 126 130 +f 128 126 131 +f 122 128 131 +f 126 129 131 +f 124 123 132 +f 125 130 132 +f 130 124 132 +f 123 122 133 +f 129 125 133 +f 122 131 133 +f 131 129 133 +f 132 123 133 +f 125 132 133 +f 123 124 134 +f 127 128 134 +f 128 123 134 +f 124 130 134 +f 130 127 134 +f 126 128 135 +f 128 127 135 +f 130 126 135 +o convex_10 +v -0.182490 0.204062 -0.429715 +v -0.206248 0.151798 -1.308545 +v -0.206248 0.156554 -1.308545 +v -0.182490 0.170814 -1.308545 +v -0.187243 0.151798 -0.230236 +v -0.196741 0.208817 -0.206393 +v -0.206248 0.151798 -0.439209 +v -0.196741 0.175558 -1.256221 +v -0.182490 0.199307 -0.211248 +v -0.196741 0.151798 -1.308545 +v -0.206248 0.170814 -0.429715 +v -0.196741 0.151798 -0.230236 +v -0.187243 0.180308 -1.237233 +f 143 141 148 +f 137 138 139 +f 138 137 142 +f 137 140 142 +f 139 138 143 +f 138 141 143 +f 139 136 144 +f 140 139 144 +f 141 140 144 +f 136 141 144 +f 137 139 145 +f 139 140 145 +f 140 137 145 +f 141 138 146 +f 138 142 146 +f 146 142 147 +f 140 141 147 +f 142 140 147 +f 141 146 147 +f 136 139 148 +f 141 136 148 +f 139 143 148 +o convex_11 +v -0.016185 0.275333 -0.481918 +v -0.016185 0.218327 -1.655519 +v 0.002822 0.218327 -1.655519 +v -0.035191 0.261077 -0.206285 +v -0.035191 0.237335 -1.565155 +v 0.002822 0.280091 -0.486741 +v -0.001930 0.270581 -0.206285 +v 0.002822 0.237335 -1.450958 +v -0.035191 0.223079 -1.650696 +v -0.035191 0.265829 -0.581787 +v 0.002822 0.218327 -1.584164 +v 0.002822 0.280091 -0.206285 +v -0.006681 0.275333 -0.657965 +v -0.020929 0.275333 -0.206285 +v -0.025680 0.261077 -0.206285 +v -0.020929 0.232583 -1.646014 +f 161 156 164 +f 154 151 156 +f 150 152 157 +f 152 153 157 +f 153 152 158 +f 150 151 159 +f 152 150 159 +f 151 154 159 +f 155 159 160 +f 152 155 160 +f 159 154 160 +f 149 154 161 +f 154 156 161 +f 158 149 161 +f 153 158 161 +f 154 149 162 +f 149 158 162 +f 158 152 162 +f 152 160 162 +f 160 154 162 +f 155 152 163 +f 152 159 163 +f 159 155 163 +f 151 150 164 +f 156 151 164 +f 150 157 164 +f 157 153 164 +f 153 161 164 +o convex_12 +v 0.002822 0.232572 -1.512753 +v 0.188134 0.242076 -0.424984 +v 0.188134 0.237324 -0.424984 +v 0.183381 0.213572 -0.919140 +v 0.002822 0.237324 -1.203999 +v 0.002822 0.213572 -1.636355 +v 0.183381 0.213572 -0.752878 +v 0.188134 0.242076 -0.529570 +v 0.026584 0.218324 -1.650617 +v 0.007574 0.242076 -1.332230 +v 0.183381 0.218324 -0.919140 +v 0.002822 0.242076 -1.203999 +v 0.183381 0.237324 -0.424984 +f 166 176 177 +f 169 165 170 +f 168 167 171 +f 169 170 171 +f 170 168 171 +f 166 167 172 +f 167 168 172 +f 168 170 173 +f 170 165 173 +f 172 173 174 +f 166 172 174 +f 173 165 174 +f 172 168 175 +f 168 173 175 +f 173 172 175 +f 165 169 176 +f 174 165 176 +f 166 174 176 +f 167 166 177 +f 171 167 177 +f 169 171 177 +f 176 169 177 +o convex_13 +v 0.002822 0.275333 -0.629240 +v 0.188134 0.261089 -0.206285 +v 0.188134 0.251588 -0.206285 +v 0.007574 0.246837 -1.232628 +v 0.002822 0.275333 -0.206285 +v 0.002822 0.242078 -1.104335 +v 0.183381 0.242078 -0.334578 +v 0.012327 0.284834 -0.230196 +v 0.188134 0.242078 -0.453427 +v 0.183381 0.246837 -0.477237 +v 0.150095 0.251588 -0.206285 +v 0.012327 0.275333 -0.610353 +v 0.002822 0.242078 -1.232628 +f 186 183 190 +f 180 179 182 +f 182 178 183 +f 178 182 185 +f 182 179 185 +f 179 180 186 +f 180 184 186 +f 184 183 186 +f 181 179 187 +f 179 186 187 +f 186 181 187 +f 180 182 188 +f 182 183 188 +f 184 180 188 +f 183 184 188 +f 179 181 189 +f 181 178 189 +f 185 179 189 +f 178 185 189 +f 178 181 190 +f 183 178 190 +f 181 186 190 +o convex_14 +v 0.178623 0.180299 -1.194774 +v 0.188134 0.037760 -1.688692 +v 0.145369 0.037778 -2.078410 +v 0.197633 0.218320 -0.515253 +v 0.145369 0.180299 -1.612646 +v 0.197633 0.042513 -1.631466 +v 0.197633 0.037760 -1.465297 +v 0.202388 0.223072 -0.615169 +v 0.145369 0.037778 -2.006954 +v 0.145369 0.175529 -1.513036 +v 0.150130 0.170776 -1.664822 +v 0.150130 0.042549 -2.078410 +v 0.202388 0.037760 -1.465297 +v 0.188134 0.218320 -0.657859 +v 0.202388 0.042513 -1.565059 +v 0.192883 0.223072 -0.757775 +v 0.202388 0.218320 -0.515253 +f 203 198 207 +f 193 192 199 +f 195 193 199 +f 192 197 199 +f 197 194 199 +f 195 199 200 +f 193 195 201 +f 192 193 202 +f 196 192 202 +f 193 201 202 +f 201 196 202 +f 197 192 203 +f 194 197 203 +f 199 194 204 +f 195 200 204 +f 200 199 204 +f 192 196 205 +f 196 201 205 +f 201 191 205 +f 203 192 205 +f 198 203 205 +f 194 198 206 +f 201 195 206 +f 191 201 206 +f 195 204 206 +f 204 194 206 +f 205 191 206 +f 198 205 206 +f 198 194 207 +f 194 203 207 +o convex_15 +v 0.211891 0.223072 -0.277559 +v 0.202389 0.037760 -1.493965 +v 0.202389 0.042513 -1.493965 +v 0.211891 0.037760 -1.422643 +v 0.207139 0.037760 -0.334593 +v 0.202389 0.223072 -0.548441 +v 0.211891 0.037760 -0.334593 +v 0.211891 0.223072 -0.477237 +v 0.202389 0.218320 -0.448661 +v 0.207139 0.223072 -0.277559 +v 0.207139 0.047265 -1.470151 +f 213 215 218 +f 209 211 212 +f 210 209 213 +f 211 208 214 +f 208 212 214 +f 212 211 214 +f 208 211 215 +f 213 208 215 +f 209 212 216 +f 213 209 216 +f 213 216 217 +f 212 208 217 +f 208 213 217 +f 216 212 217 +f 209 210 218 +f 211 209 218 +f 210 213 218 +f 215 211 218 +o convex_16 +v 0.021829 -0.261586 1.223699 +v 0.126363 -0.218825 1.660879 +v 0.126363 -0.223584 1.660879 +v 0.126363 -0.242583 0.287879 +v -0.016178 -0.252084 0.292785 +v -0.020922 -0.256831 1.680094 +v 0.116847 -0.252076 0.487663 +v -0.020922 -0.261586 0.292785 +v 0.002840 -0.261586 1.637166 +v 0.112089 -0.218825 1.656109 +v 0.126363 -0.228331 1.599009 +v 0.021829 -0.242583 1.680094 +v 0.121605 -0.218825 1.527872 +v 0.112089 -0.252076 0.287879 +v 0.107345 -0.242583 0.287879 +v -0.020922 -0.261586 1.680094 +f 230 224 234 +f 220 221 222 +f 224 223 226 +f 219 225 227 +f 226 219 227 +f 222 221 229 +f 225 222 229 +f 221 227 229 +f 227 225 229 +f 221 220 230 +f 223 224 230 +f 220 228 230 +f 228 223 230 +f 220 222 231 +f 228 220 231 +f 223 228 231 +f 225 219 232 +f 222 225 232 +f 219 226 232 +f 232 226 233 +f 226 223 233 +f 231 222 233 +f 223 231 233 +f 222 232 233 +f 224 226 234 +f 227 221 234 +f 226 227 234 +f 221 230 234 +o convex_17 +v 0.040869 -0.195067 2.530628 +v 0.216626 -0.057298 2.582938 +v 0.216626 -0.062046 2.582938 +v 0.040869 -0.057298 2.910717 +v 0.045618 -0.190293 2.620962 +v 0.207110 -0.057298 2.530628 +v 0.211859 -0.062046 2.630450 +v 0.188113 -0.104799 2.530628 +v 0.055117 -0.057298 2.848919 +v 0.045618 -0.076301 2.882181 +v 0.045618 -0.185546 2.530628 +v 0.088379 -0.180798 2.540190 +f 235 242 246 +f 238 235 239 +f 236 237 240 +f 238 236 240 +f 237 236 241 +f 236 238 241 +f 235 240 242 +f 240 237 242 +f 237 241 242 +f 238 240 243 +f 238 239 244 +f 241 238 244 +f 239 241 244 +f 235 238 245 +f 240 235 245 +f 238 243 245 +f 243 240 245 +f 239 235 246 +f 241 239 246 +f 242 241 246 +o convex_18 +v 0.169127 0.175552 1.661088 +v 0.254656 0.151803 0.454325 +v 0.254656 0.147050 0.454325 +v 0.230896 0.147050 1.661088 +v 0.249901 0.180305 0.164430 +v 0.245145 0.147050 0.173896 +v 0.226141 0.180305 0.150083 +v 0.188148 0.180305 1.603996 +v 0.230896 0.156553 1.661088 +v 0.221394 0.147050 1.656059 +v 0.169127 0.175552 1.603996 +v 0.169127 0.180305 1.661088 +v 0.226141 0.175552 0.150083 +v 0.254656 0.170802 0.221374 +f 255 248 260 +f 249 248 250 +f 249 250 252 +f 251 253 254 +f 251 254 255 +f 250 248 255 +f 247 250 255 +f 250 247 256 +f 252 250 256 +f 252 256 257 +f 256 247 257 +f 254 253 258 +f 255 254 258 +f 247 255 258 +f 253 257 258 +f 257 247 258 +f 251 252 259 +f 253 251 259 +f 252 257 259 +f 257 253 259 +f 248 249 260 +f 249 252 260 +f 252 251 260 +f 251 255 260 +o convex_19 +v 0.021826 0.284843 -0.163497 +v -0.196741 0.204066 -0.206285 +v -0.196741 0.213578 -0.206285 +v -0.215751 0.280091 -0.049498 +v 0.031331 0.280091 -0.049498 +v 0.002816 0.284843 -0.206285 +v 0.031331 0.275331 -0.206285 +v -0.215751 0.284843 -0.059014 +v -0.172966 0.204066 -0.201512 +v 0.031331 0.284843 -0.049498 +v 0.031331 0.275331 -0.068514 +v -0.215751 0.265835 -0.073256 +f 269 265 272 +f 262 263 266 +f 262 266 267 +f 266 261 267 +f 261 266 268 +f 266 263 268 +f 262 267 269 +f 264 265 270 +f 267 261 270 +f 265 267 270 +f 268 264 270 +f 261 268 270 +f 267 265 271 +f 265 269 271 +f 269 267 271 +f 263 262 272 +f 265 264 272 +f 268 263 272 +f 264 268 272 +f 262 269 272 +o convex_20 +v 0.026565 0.280087 0.140580 +v -0.215744 0.280087 -0.049483 +v -0.234757 0.251582 0.131073 +v 0.031331 0.270588 -0.035214 +v -0.220484 0.289594 -0.035214 +v 0.031331 0.284835 -0.049483 +v 0.031331 0.270588 0.140580 +v -0.234757 0.261088 0.135818 +v 0.007525 0.284835 0.131073 +v -0.201444 0.251582 0.140580 +v -0.092232 0.289594 -0.049483 +f 281 278 283 +f 275 274 276 +f 274 275 277 +f 276 274 278 +f 278 273 279 +f 276 278 279 +f 277 275 280 +f 273 278 281 +f 280 273 281 +f 277 280 281 +f 275 276 282 +f 279 273 282 +f 276 279 282 +f 273 280 282 +f 280 275 282 +f 274 277 283 +f 278 274 283 +f 277 281 283 +o convex_21 +v -0.139704 0.156560 2.183787 +v 0.040817 0.180314 2.592346 +v 0.026549 0.180314 2.592346 +v 0.031329 0.256333 1.537650 +v -0.149229 0.232559 1.632743 +v 0.021805 0.246820 1.542399 +v -0.120692 0.227803 1.537650 +v -0.016219 0.156560 2.577994 +v -0.134942 0.161307 2.293025 +v 0.026549 0.251567 1.689736 +v -0.092174 0.156560 2.283526 +v 0.040817 0.175557 2.554247 +v -0.025707 0.166063 2.582744 +v -0.149229 0.227803 1.537650 +v -0.149229 0.185071 2.060197 +v 0.026549 0.189837 2.483005 +v -0.006695 0.251567 1.637389 +v -0.130198 0.237306 1.537650 +v -0.044719 0.156560 2.563746 +f 296 292 302 +f 289 284 290 +f 287 289 290 +f 285 286 291 +f 285 287 293 +f 284 289 294 +f 291 284 294 +f 289 291 294 +f 287 285 295 +f 289 287 295 +f 285 291 295 +f 291 289 295 +f 286 288 296 +f 291 286 296 +f 290 284 297 +f 287 290 297 +f 284 292 298 +f 296 288 298 +f 292 296 298 +f 297 284 298 +f 288 297 298 +f 286 285 299 +f 288 286 299 +f 285 293 299 +f 299 293 300 +f 293 287 300 +f 288 299 300 +f 288 300 301 +f 297 288 301 +f 287 297 301 +f 300 287 301 +f 284 291 302 +f 292 284 302 +f 291 296 302 +o convex_22 +v -0.115960 -0.133297 2.511692 +v 0.007573 -0.014530 3.019987 +v 0.002811 -0.014530 3.019987 +v 0.007573 -0.133297 2.834677 +v -0.144477 -0.019274 2.772907 +v -0.134967 -0.014530 2.753917 +v -0.144477 -0.133297 2.492702 +v 0.007573 -0.033528 2.958217 +v 0.002811 -0.128530 2.796643 +v -0.134967 -0.128530 2.473713 +v 0.002811 -0.133297 2.834677 +v 0.007573 -0.014530 2.996196 +v -0.006685 -0.024029 3.000944 +f 307 313 315 +f 304 305 306 +f 307 305 308 +f 305 304 308 +f 303 306 309 +f 304 306 310 +f 306 303 311 +f 310 306 311 +f 310 311 312 +f 307 308 312 +f 303 309 312 +f 309 307 312 +f 311 303 312 +f 306 305 313 +f 309 306 313 +f 307 309 313 +f 308 304 314 +f 304 310 314 +f 310 312 314 +f 312 308 314 +f 305 307 315 +f 313 305 315 +o convex_23 +v 0.050394 0.275332 -0.049457 +v 0.249904 0.185075 0.154820 +v 0.249904 0.180317 0.154820 +v 0.031331 0.265818 0.173841 +v 0.240341 0.284837 -0.049457 +v 0.216635 0.180317 0.140554 +v 0.036102 0.275312 0.173841 +v 0.036124 0.265828 -0.025703 +v 0.031374 0.284837 -0.054235 +v 0.240341 0.275332 -0.054235 +v 0.183323 0.194579 0.173841 +v 0.249904 0.185075 0.126288 +f 316 325 327 +f 317 320 322 +f 316 321 323 +f 319 322 324 +f 322 320 324 +f 323 319 324 +f 316 323 324 +f 316 324 325 +f 324 320 325 +f 318 317 326 +f 321 318 326 +f 317 322 326 +f 322 319 326 +f 319 323 326 +f 323 321 326 +f 317 318 327 +f 320 317 327 +f 318 321 327 +f 321 316 327 +f 325 320 327 +o convex_24 +v 0.183407 -0.109549 2.530525 +v 0.169127 -0.209307 1.661181 +v 0.169127 -0.204537 1.661181 +v 0.268911 -0.024028 1.661088 +v 0.169147 -0.104797 2.521036 +v 0.240380 -0.028781 2.568388 +v 0.183397 -0.204537 1.694535 +v 0.259397 -0.024028 1.670859 +v 0.268911 -0.043019 1.703930 +v 0.226149 -0.024028 2.620908 +v 0.169147 -0.128521 2.250171 +v 0.173894 -0.128521 2.487683 +v 0.221402 -0.052523 2.620908 +v 0.192911 -0.190299 1.665879 +v 0.169127 -0.195033 1.898694 +f 334 339 342 +f 329 330 331 +f 331 330 335 +f 331 333 336 +f 333 331 337 +f 331 335 337 +f 335 332 337 +f 330 332 338 +f 335 330 338 +f 332 335 338 +f 328 332 339 +f 339 334 340 +f 332 328 340 +f 334 333 340 +f 337 332 340 +f 333 337 340 +f 328 339 340 +f 329 331 341 +f 334 329 341 +f 333 334 341 +f 331 336 341 +f 336 333 341 +f 330 329 342 +f 332 330 342 +f 329 334 342 +f 339 332 342 +o convex_25 +v 0.012325 0.246831 1.537356 +v 0.230898 0.185084 0.278502 +v 0.230898 0.180318 0.278502 +v 0.012325 0.280078 0.140580 +v 0.050387 0.251558 1.584757 +v 0.178608 0.180318 1.599177 +v 0.211856 0.180318 0.240666 +v 0.026596 0.280078 0.169421 +v 0.017096 0.270585 0.164567 +v 0.164338 0.180318 1.489811 +v 0.178608 0.185084 1.599177 +v 0.031345 0.256305 1.599177 +v 0.230898 0.185084 0.173847 +v 0.192836 0.189840 0.178844 +v 0.012325 0.256334 1.537356 +v 0.017096 0.280078 0.364167 +v 0.164338 0.180318 1.599177 +v 0.012325 0.246831 1.518366 +f 351 356 360 +f 345 344 348 +f 345 348 349 +f 347 344 350 +f 349 348 352 +f 344 347 353 +f 348 344 353 +f 348 353 354 +f 353 347 354 +f 344 345 355 +f 345 349 355 +f 350 344 355 +f 346 350 355 +f 351 346 356 +f 355 349 356 +f 346 355 356 +f 346 343 357 +f 343 354 357 +f 357 354 358 +f 350 346 358 +f 347 350 358 +f 354 347 358 +f 346 357 358 +f 343 352 359 +f 352 348 359 +f 348 354 359 +f 354 343 359 +f 343 346 360 +f 346 351 360 +f 352 343 360 +f 349 352 360 +f 356 349 360 +o convex_26 +v -0.192002 -0.019244 -2.629540 +v -0.182493 -0.152303 -2.420544 +v -0.206243 -0.104787 -2.539387 +v -0.201506 0.037760 -2.411051 +v -0.234748 -0.057271 -2.411051 +v -0.229999 -0.052527 -2.634286 +v -0.177738 -0.066778 -2.719874 +v -0.187242 0.037760 -2.496578 +v -0.177738 -0.138015 -2.411021 +v -0.230005 -0.066778 -2.620077 +v -0.192002 0.037760 -2.411051 +v -0.234748 -0.043020 -2.468069 +v -0.201506 0.037760 -2.472846 +f 366 372 373 +f 362 363 367 +f 366 361 367 +f 367 361 368 +f 367 368 369 +f 364 365 369 +f 365 362 369 +f 362 367 369 +f 363 362 370 +f 362 365 370 +f 367 363 370 +f 366 367 370 +f 368 364 371 +f 369 368 371 +f 364 369 371 +f 365 364 372 +f 370 365 372 +f 366 370 372 +f 361 366 373 +f 364 368 373 +f 368 361 373 +f 372 364 373 +o convex_27 +v -0.035195 -0.071554 -2.962139 +v -0.082733 -0.218810 -2.458597 +v -0.092235 -0.214052 -2.472929 +v -0.172967 -0.142780 -2.415879 +v -0.177738 -0.066811 -2.729292 +v -0.039953 -0.209310 -2.662891 +v -0.077975 -0.209295 -2.411120 +v -0.035195 -0.062038 -2.938345 +v -0.054213 -0.071554 -2.976359 +v -0.177738 -0.157038 -2.415879 +v -0.172967 -0.062038 -2.700795 +v -0.035195 -0.204537 -2.629690 +v -0.087477 -0.214052 -2.506129 +v -0.058957 -0.062038 -2.966842 +v -0.039953 -0.171280 -2.762548 +v -0.144461 -0.161795 -2.411120 +v -0.125471 -0.199795 -2.411120 +f 380 389 390 +f 377 378 383 +f 378 377 384 +f 377 381 384 +f 375 379 385 +f 380 375 385 +f 381 380 385 +f 374 381 385 +f 375 376 386 +f 378 379 386 +f 379 375 386 +f 383 378 386 +f 381 374 387 +f 382 378 387 +f 374 382 387 +f 378 384 387 +f 384 381 387 +f 379 378 388 +f 378 382 388 +f 382 374 388 +f 385 379 388 +f 374 385 388 +f 381 377 389 +f 380 381 389 +f 377 383 389 +f 389 383 390 +f 376 375 390 +f 375 380 390 +f 386 376 390 +f 383 386 390 +o convex_28 +v -0.025704 -0.209325 -2.667607 +v 0.017077 -0.223581 -2.411021 +v 0.017077 -0.228324 -2.411021 +v -0.077955 -0.218828 -2.411021 +v -0.030439 -0.237827 -2.615290 +v -0.030439 -0.242580 -2.411021 +v 0.017077 -0.209325 -2.567821 +v -0.077955 -0.209325 -2.534592 +v -0.073202 -0.209325 -2.453794 +v -0.006691 -0.233077 -2.591580 +f 391 397 400 +f 393 392 394 +f 393 394 396 +f 394 395 396 +f 392 393 397 +f 391 395 398 +f 395 394 398 +f 397 391 398 +f 397 398 399 +f 394 392 399 +f 392 397 399 +f 398 394 399 +f 395 391 400 +f 393 396 400 +f 396 395 400 +f 397 393 400 +o convex_29 +v 0.040834 0.151780 2.744512 +v -0.011433 -0.014507 2.962974 +v -0.006680 -0.014507 2.962974 +v 0.002826 0.161295 2.592484 +v 0.040834 -0.009740 2.972446 +v 0.040834 0.175540 2.592484 +v -0.011433 0.166044 2.620987 +v 0.017070 -0.009740 3.034296 +v 0.036082 0.175540 2.696979 +v -0.011433 -0.009740 2.986719 +v 0.040834 -0.009740 3.010464 +v -0.011433 0.014021 2.891696 +f 407 404 412 +f 401 405 406 +f 405 404 406 +f 406 404 407 +f 402 403 408 +f 401 406 409 +f 406 407 409 +f 408 401 409 +f 407 402 410 +f 402 408 410 +f 409 407 410 +f 408 409 410 +f 405 401 411 +f 403 405 411 +f 408 403 411 +f 401 408 411 +f 403 402 412 +f 404 405 412 +f 405 403 412 +f 402 407 412 +o convex_30 +v -0.187242 -0.062023 -2.719843 +v -0.054197 0.037760 -2.786348 +v -0.058964 0.037760 -2.772070 +v -0.054197 -0.062023 -2.928890 +v -0.182488 0.033004 -2.477543 +v -0.063717 0.037760 -2.800579 +v -0.187242 0.037760 -2.501355 +v -0.063717 -0.057266 -2.947865 +v -0.182488 -0.062023 -2.696171 +v -0.134954 0.033004 -2.563116 +v -0.187242 -0.052519 -2.715099 +f 418 420 423 +f 414 415 416 +f 415 414 418 +f 413 417 419 +f 415 418 419 +f 414 416 420 +f 416 413 420 +f 418 414 420 +f 413 416 421 +f 417 413 421 +f 417 421 422 +f 416 415 422 +f 419 417 422 +f 415 419 422 +f 421 416 422 +f 413 419 423 +f 419 418 423 +f 420 413 423 +o convex_31 +v -0.201496 -0.152310 -1.470109 +v -0.144484 -0.218825 -1.541481 +v -0.139732 -0.218825 -1.541481 +v -0.144484 -0.157068 -0.234795 +v -0.182482 -0.199814 -1.441586 +v -0.139732 -0.147552 -0.334689 +v -0.191986 -0.147552 -1.512958 +v -0.139732 -0.204558 -1.479702 +v -0.187234 -0.195063 -1.541481 +v -0.149236 -0.147552 -0.287109 +v -0.201496 -0.147552 -1.541481 +f 424 433 434 +f 425 426 427 +f 427 424 428 +f 425 427 428 +f 427 426 429 +f 430 429 431 +f 429 426 431 +f 426 430 431 +f 426 425 432 +f 428 424 432 +f 425 428 432 +f 424 427 433 +f 427 429 433 +f 429 430 433 +f 433 430 434 +f 430 426 434 +f 426 432 434 +f 432 424 434 +o convex_32 +v -0.215739 -0.066792 -2.411021 +v -0.172993 -0.209300 -1.612958 +v -0.168235 -0.209300 -1.612958 +v -0.229993 -0.047768 -1.527226 +v -0.168235 -0.152309 -2.230300 +v -0.234751 -0.057272 -2.411021 +v -0.187247 -0.204556 -1.593926 +v -0.172993 -0.166557 -2.391816 +v -0.239509 -0.062032 -1.584410 +v -0.168235 -0.199797 -1.541587 +v -0.168235 -0.152309 -2.411021 +v -0.239509 -0.047768 -1.527226 +v -0.229993 -0.047768 -2.411021 +v -0.182496 -0.152309 -2.411021 +v -0.187247 -0.199797 -1.541587 +v -0.168235 -0.190293 -2.087730 +v -0.210988 -0.076280 -1.874135 +f 438 439 451 +f 440 441 443 +f 436 437 444 +f 439 438 444 +f 437 439 444 +f 435 439 445 +f 439 437 445 +f 440 435 445 +f 440 443 446 +f 444 438 446 +f 438 435 447 +f 435 440 447 +f 446 438 447 +f 440 446 447 +f 441 440 448 +f 442 441 448 +f 440 445 448 +f 445 442 448 +f 441 436 449 +f 443 441 449 +f 436 444 449 +f 446 443 449 +f 444 446 449 +f 437 436 450 +f 436 441 450 +f 441 442 450 +f 445 437 450 +f 442 445 450 +f 435 438 451 +f 439 435 451 +o convex_33 +v -0.249012 -0.024008 -1.527226 +v -0.234753 -0.047768 -2.411021 +v -0.234753 -0.038258 -2.411021 +v -0.196745 0.037760 -2.268451 +v -0.234753 -0.047768 -1.527226 +v -0.239506 0.033005 -1.527226 +v -0.206251 0.033005 -2.391902 +v -0.225252 -0.047768 -2.411021 +v -0.230005 0.037760 -1.527226 +v -0.196745 0.023503 -2.411021 +v -0.249012 -0.033511 -1.821882 +v -0.234753 0.037760 -1.684070 +v -0.230005 -0.047768 -1.712619 +v -0.244259 -0.047768 -1.574807 +v -0.249012 -0.005004 -1.627060 +v -0.206251 0.033005 -2.011773 +f 460 456 467 +f 452 456 457 +f 453 454 459 +f 456 453 459 +f 457 456 460 +f 454 458 461 +f 458 455 461 +f 459 454 461 +f 454 453 462 +f 458 454 463 +f 455 458 463 +f 460 455 463 +f 457 460 463 +f 455 456 464 +f 456 459 464 +f 461 455 464 +f 459 461 464 +f 456 452 465 +f 453 456 465 +f 462 453 465 +f 452 462 465 +f 452 457 466 +f 454 462 466 +f 462 452 466 +f 457 463 466 +f 463 454 466 +f 456 455 467 +f 455 460 467 +o convex_34 +v -0.249012 -0.005001 -1.503454 +v -0.177738 0.004500 -0.249050 +v -0.177738 -0.014507 -0.249050 +v -0.230001 0.037760 -1.527226 +v -0.196750 0.037760 -0.310857 +v -0.239496 -0.014507 -1.512838 +v -0.234745 0.037760 -1.156510 +v -0.187255 -0.014507 -0.301348 +v -0.187255 0.037760 -0.320365 +v -0.177738 -0.014507 -0.329874 +v -0.234745 -0.014507 -1.194545 +v -0.192006 0.013995 -0.249050 +v -0.239496 0.033007 -1.527226 +v -0.230001 0.028254 -1.527226 +f 480 471 481 +f 468 472 474 +f 472 471 474 +f 473 470 475 +f 469 471 476 +f 471 472 476 +f 469 470 477 +f 471 469 477 +f 470 473 477 +f 472 468 478 +f 468 473 478 +f 473 475 478 +f 478 475 479 +f 470 469 479 +f 475 470 479 +f 469 476 479 +f 476 472 479 +f 472 478 479 +f 473 468 480 +f 468 474 480 +f 474 471 480 +f 471 477 481 +f 477 473 481 +f 473 480 481 +o convex_35 +v -0.172987 -0.152313 0.487513 +v -0.092218 -0.199806 1.024375 +v -0.092218 -0.204571 1.024375 +v -0.092218 -0.204571 0.287942 +v -0.168227 -0.176053 1.024375 +v -0.168227 -0.133311 0.321167 +v -0.168227 -0.161815 0.972091 +v -0.101721 -0.185554 0.891328 +v -0.092218 -0.195055 0.287942 +v -0.106473 -0.199806 0.287942 +v -0.172987 -0.142812 0.278376 +v -0.101721 -0.204571 1.024375 +v -0.172987 -0.171302 0.924480 +f 488 492 494 +f 483 484 485 +f 484 483 486 +f 486 483 488 +f 487 488 489 +f 488 483 489 +f 483 485 490 +f 487 489 490 +f 489 483 490 +f 488 487 492 +f 490 485 492 +f 487 490 492 +f 485 491 492 +f 491 482 492 +f 485 484 493 +f 484 486 493 +f 491 485 493 +f 486 491 493 +f 486 488 494 +f 482 491 494 +f 491 486 494 +f 492 482 494 +o convex_36 +v 0.121611 -0.195074 -2.211353 +v 0.173879 -0.185568 -1.627010 +v 0.169126 -0.185568 -1.627010 +v 0.121611 -0.228328 -1.627010 +v 0.164373 -0.218819 -1.655606 +v 0.121611 -0.185568 -2.154336 +v 0.121611 -0.218819 -1.665099 +v 0.131117 -0.190323 -2.173381 +v 0.126364 -0.228328 -1.693636 +f 499 498 503 +f 496 497 498 +f 496 498 499 +f 497 496 500 +f 495 498 500 +f 500 498 501 +f 498 497 501 +f 497 500 501 +f 499 495 502 +f 496 499 502 +f 500 496 502 +f 495 500 502 +f 498 495 503 +f 495 499 503 +o convex_37 +v 0.017091 -0.261590 -1.627010 +v 0.159624 -0.190322 -0.315756 +v 0.145351 -0.190322 -0.315756 +v 0.026606 -0.237822 -0.272808 +v 0.159624 -0.218833 -1.489150 +v 0.154853 -0.209332 -1.579422 +v 0.021848 -0.228314 -0.310984 +v 0.036107 -0.261590 -1.607789 +v 0.154853 -0.199830 -0.358572 +v 0.026606 -0.252074 -1.627010 +v 0.159624 -0.218833 -1.627010 +v 0.021848 -0.242573 -0.391844 +v 0.154853 -0.190322 -0.529571 +v 0.021848 -0.261590 -1.356063 +v 0.017091 -0.233071 -0.272808 +f 504 515 518 +f 505 507 512 +f 508 505 512 +f 511 508 512 +f 510 509 513 +f 504 510 513 +f 505 508 514 +f 509 505 514 +f 511 504 514 +f 508 511 514 +f 504 513 514 +f 513 509 514 +f 512 507 515 +f 506 505 516 +f 505 509 516 +f 510 506 516 +f 509 510 516 +f 504 511 517 +f 511 512 517 +f 515 504 517 +f 512 515 517 +f 505 506 518 +f 507 505 518 +f 506 510 518 +f 510 504 518 +f 515 507 518 +o convex_38 +v 0.221405 0.018766 2.620908 +v 0.259393 -0.024000 1.661275 +v 0.202388 0.156532 1.661088 +v 0.230897 0.151788 1.703930 +v 0.202401 0.018766 2.611231 +v 0.240389 -0.019219 2.563785 +v 0.202388 0.128015 2.150393 +v 0.268898 -0.019219 1.661275 +v 0.230897 -0.024000 2.497266 +v 0.207154 0.066275 2.530525 +v 0.254641 -0.024000 1.727700 +v 0.240396 0.118528 1.665973 +v 0.211900 0.166037 1.661088 +v 0.207154 0.061513 2.183746 +v 0.235643 -0.024000 2.620908 +v 0.226151 0.014041 2.606533 +v 0.207147 0.132777 2.117228 +f 522 531 535 +f 521 523 525 +f 520 521 526 +f 523 519 528 +f 525 523 528 +f 521 520 529 +f 520 527 529 +f 527 523 529 +f 522 524 530 +f 524 526 530 +f 530 526 531 +f 521 525 531 +f 526 521 531 +f 522 530 531 +f 523 521 532 +f 521 529 532 +f 529 523 532 +f 519 523 533 +f 520 526 533 +f 526 524 533 +f 527 520 533 +f 523 527 533 +f 524 522 534 +f 528 519 534 +f 522 528 534 +f 519 533 534 +f 533 524 534 +f 528 522 535 +f 525 528 535 +f 531 525 535 +o convex_39 +v 0.188125 -0.133268 -1.665022 +v 0.107366 -0.185564 -2.349117 +v 0.116869 -0.185564 -2.349117 +v 0.169119 -0.038265 -2.349117 +v 0.192871 -0.038265 -1.736412 +v 0.164363 -0.180806 -1.669844 +v 0.173866 -0.185564 -1.688864 +v 0.159617 -0.038265 -2.330164 +v 0.207140 -0.052525 -1.674599 +v 0.169119 -0.052525 -2.334919 +v 0.112123 -0.166546 -2.320655 +v 0.207140 -0.038265 -1.665022 +f 544 539 547 +f 538 537 539 +f 537 538 542 +f 541 537 542 +f 536 541 542 +f 539 537 543 +f 540 539 543 +f 538 539 545 +f 542 538 545 +f 536 542 545 +f 544 536 545 +f 539 544 545 +f 537 541 546 +f 541 540 546 +f 543 537 546 +f 540 543 546 +f 539 540 547 +f 540 541 547 +f 541 536 547 +f 536 544 547 +o convex_40 +v 0.107363 -0.033511 -2.677007 +v 0.211881 -0.005004 -1.665022 +v 0.211881 -0.033502 -1.665022 +v 0.150122 -0.043013 -2.615241 +v 0.107363 0.037760 -2.467990 +v 0.197628 -0.038258 -1.698429 +v 0.192881 0.037760 -1.703173 +v 0.145384 0.033005 -2.021392 +v 0.107363 -0.047768 -2.672264 +v 0.116868 0.037760 -2.501295 +v 0.169122 -0.047768 -2.368275 +v 0.183365 0.037760 -1.684198 +v 0.145364 -0.047768 -2.648546 +f 558 556 560 +f 549 551 554 +f 555 552 556 +f 552 548 556 +f 553 555 556 +f 548 552 557 +f 554 551 557 +f 552 554 557 +f 549 550 558 +f 551 549 558 +f 550 553 558 +f 553 556 558 +f 550 549 559 +f 553 550 559 +f 549 554 559 +f 554 552 559 +f 555 553 559 +f 552 555 559 +f 556 548 560 +f 548 557 560 +f 557 551 560 +f 551 558 560 +o convex_41 +v -0.139729 0.075788 2.577980 +v -0.249002 0.033009 1.656431 +v -0.249002 0.042525 1.656431 +v -0.182507 0.175535 1.666059 +v -0.177747 0.037767 2.620687 +v -0.192006 0.180308 1.685125 +v -0.144489 0.175521 2.150523 +v -0.139729 0.056785 2.587513 +v -0.234742 0.033009 1.713629 +v -0.139729 0.175521 2.055575 +v -0.168248 0.033009 2.587418 +v -0.139729 0.118510 2.283412 +v -0.144489 0.109037 2.492470 +v -0.244252 0.056770 1.666059 +v -0.196745 0.175535 1.661293 +f 574 565 575 +f 563 562 565 +f 566 565 567 +f 561 565 568 +f 562 564 569 +f 564 566 570 +f 567 561 570 +f 566 567 570 +f 561 568 570 +f 569 564 570 +f 565 562 571 +f 568 565 571 +f 562 569 571 +f 569 568 571 +f 568 569 572 +f 570 568 572 +f 569 570 572 +f 565 561 573 +f 561 567 573 +f 567 565 573 +f 563 565 574 +f 562 563 575 +f 564 562 575 +f 565 566 575 +f 566 564 575 +f 563 574 575 +o convex_42 +v -0.092210 -0.209324 1.024359 +v -0.020943 -0.252085 1.024359 +v -0.020943 -0.261590 1.024359 +v -0.049454 -0.242567 0.287951 +v -0.082702 -0.237827 1.679958 +v -0.020950 -0.252079 1.679958 +v -0.087438 -0.199819 0.287951 +v -0.077944 -0.204572 1.105167 +v -0.092210 -0.209324 0.287951 +v -0.030451 -0.261590 0.292721 +v -0.030451 -0.261590 1.670419 +v -0.020943 -0.256837 0.292721 +v -0.077944 -0.228334 1.679958 +v -0.092210 -0.199819 1.024359 +v -0.020943 -0.252085 0.606416 +v -0.082688 -0.218841 0.287951 +f 579 585 591 +f 578 577 581 +f 580 576 584 +f 582 579 584 +f 578 581 586 +f 581 580 586 +f 585 578 586 +f 580 585 586 +f 577 578 587 +f 579 582 587 +f 578 585 587 +f 585 579 587 +f 580 581 588 +f 581 583 588 +f 588 583 589 +f 576 580 589 +f 583 582 589 +f 584 576 589 +f 582 584 589 +f 580 588 589 +f 581 577 590 +f 583 581 590 +f 582 583 590 +f 577 587 590 +f 587 582 590 +f 580 584 591 +f 584 579 591 +f 585 580 591 +o convex_43 +v -0.196748 0.151798 -0.230043 +v -0.234754 0.037760 -1.308653 +v -0.230001 0.037760 -1.308653 +v -0.206254 0.151798 -1.308653 +v -0.187242 0.037760 -0.315669 +v -0.210998 0.151798 -0.548368 +v -0.196748 0.037760 -0.306167 +v -0.201501 0.132777 -1.308653 +v -0.187242 0.151798 -0.230043 +v -0.234754 0.052015 -1.147010 +v -0.225248 0.047271 -1.308653 +v -0.230001 0.071025 -1.308653 +v -0.187242 0.037760 -0.249153 +v -0.201501 0.151798 -1.308653 +v -0.234754 0.037760 -1.151761 +f 597 601 606 +f 594 593 595 +f 593 594 596 +f 592 595 597 +f 593 596 598 +f 594 595 599 +f 595 592 600 +f 596 594 602 +f 594 599 602 +f 599 596 602 +f 595 593 603 +f 597 595 603 +f 593 601 603 +f 601 597 603 +f 592 598 604 +f 598 596 604 +f 596 600 604 +f 600 592 604 +f 599 595 605 +f 596 599 605 +f 600 596 605 +f 595 600 605 +f 592 597 606 +f 598 592 606 +f 593 598 606 +f 601 593 606 +o convex_44 +v -0.025697 -0.209314 2.511678 +v -0.006691 -0.133297 2.791934 +v -0.006691 -0.138057 2.791934 +v -0.106465 -0.133297 2.563915 +v -0.011447 -0.204570 2.687402 +v -0.006691 -0.209314 2.483142 +v -0.106465 -0.171321 2.487918 +v -0.101699 -0.133297 2.540185 +v -0.006691 -0.133297 2.768174 +v -0.106465 -0.166561 2.521170 +v -0.011447 -0.138057 2.791934 +f 616 611 617 +f 609 611 612 +f 608 609 612 +f 611 607 612 +f 612 607 613 +f 607 611 613 +f 613 610 614 +f 610 608 614 +f 612 613 614 +f 612 614 615 +f 608 612 615 +f 614 608 615 +f 613 611 616 +f 610 613 616 +f 609 608 617 +f 608 610 617 +f 611 609 617 +f 610 616 617 +o convex_45 +v -0.058965 0.047271 -2.800597 +v -0.049472 0.151798 -2.406309 +v -0.058965 0.151798 -2.406309 +v -0.177724 0.037760 -2.477603 +v -0.063718 0.128033 -2.662813 +v -0.172971 0.090046 -2.420568 +v -0.049472 0.037760 -2.786338 +v -0.182477 0.042516 -2.501355 +v -0.139713 0.037760 -2.544093 +v -0.049472 0.128033 -2.662813 +v -0.054212 0.142288 -2.406309 +v -0.172971 0.071025 -2.406309 +f 621 628 629 +f 620 619 622 +f 620 622 623 +f 622 618 625 +f 623 622 625 +f 624 621 625 +f 618 624 625 +f 621 624 626 +f 618 622 627 +f 622 619 627 +f 619 624 627 +f 624 618 627 +f 619 620 628 +f 624 619 628 +f 621 626 628 +f 626 624 628 +f 620 623 629 +f 623 625 629 +f 625 621 629 +f 628 620 629 +o convex_46 +v -0.006684 0.137544 -2.425340 +v -0.049446 0.037760 -2.800651 +v -0.044693 0.037760 -2.800651 +v -0.049446 0.123289 -2.662795 +v -0.049446 0.147043 -2.406270 +v 0.002822 0.037760 -2.672292 +v 0.002822 0.113778 -2.577364 +v 0.002822 0.123289 -2.411095 +v -0.049446 0.037760 -2.776832 +v 0.002822 0.047271 -2.691362 +f 632 636 639 +f 632 631 633 +f 630 633 634 +f 633 631 634 +f 631 632 635 +f 632 633 636 +f 633 630 636 +f 630 634 637 +f 634 635 637 +f 636 630 637 +f 635 636 637 +f 634 631 638 +f 631 635 638 +f 635 634 638 +f 635 632 639 +f 636 635 639 +o convex_47 +v -0.044688 0.142326 -2.406188 +v 0.107357 0.189803 -1.679363 +v 0.097825 0.194555 -1.679363 +v -0.049446 0.218294 -1.655519 +v 0.102583 0.109034 -2.163823 +v -0.044688 0.156571 -2.396632 +v -0.025671 0.232575 -1.669807 +v 0.021849 0.113799 -2.529692 +v 0.107357 0.123304 -2.192400 +v 0.002832 0.109034 -2.515493 +v 0.102583 0.180298 -1.684096 +v -0.049446 0.208813 -1.731693 +v 0.107357 0.189803 -1.698384 +v -0.049446 0.227799 -1.669807 +v 0.102583 0.109034 -2.268395 +v 0.002832 0.109034 -2.567823 +v -0.049446 0.156571 -2.396632 +f 645 655 656 +f 641 642 643 +f 643 642 646 +f 641 644 648 +f 641 643 650 +f 643 644 650 +f 644 641 650 +f 644 643 651 +f 640 649 651 +f 649 644 651 +f 642 641 652 +f 646 642 652 +f 645 646 652 +f 647 645 652 +f 641 648 652 +f 648 647 652 +f 643 646 653 +f 651 643 653 +f 648 644 654 +f 647 648 654 +f 644 649 654 +f 654 649 655 +f 645 647 655 +f 649 640 655 +f 647 654 655 +f 646 645 656 +f 640 651 656 +f 653 646 656 +f 651 653 656 +f 655 640 656 +o convex_48 +v -0.182490 0.166068 -1.655519 +v -0.035191 0.265836 -0.206285 +v -0.044707 0.265836 -0.206285 +v -0.039963 0.232573 -1.655519 +v -0.182490 0.208836 -0.334668 +v -0.172974 0.161310 -1.626722 +v -0.049451 0.251563 -0.206285 +v -0.035205 0.223068 -1.579199 +v -0.177732 0.199331 -0.258631 +v -0.039949 0.265836 -0.481918 +v -0.182490 0.170815 -1.631545 +v -0.177732 0.213573 -0.206285 +v -0.035205 0.223068 -1.655519 +v -0.168201 0.204078 -0.206285 +v -0.182490 0.161310 -1.555508 +v -0.049465 0.261079 -0.534406 +v -0.035191 0.256321 -0.291968 +v -0.035205 0.261079 -0.676832 +f 669 660 674 +f 658 659 663 +f 663 662 664 +f 659 658 666 +f 660 657 667 +f 657 661 667 +f 661 660 667 +f 663 659 668 +f 661 665 668 +f 659 666 668 +f 657 660 669 +f 662 657 669 +f 664 662 669 +f 662 663 670 +f 665 662 670 +f 663 668 670 +f 668 665 670 +f 661 657 671 +f 657 662 671 +f 665 661 671 +f 662 665 671 +f 660 661 672 +f 666 660 672 +f 661 668 672 +f 668 666 672 +f 658 663 673 +f 663 664 673 +f 669 658 673 +f 664 669 673 +f 666 658 674 +f 660 666 674 +f 658 669 674 +o convex_49 +v 0.183376 0.118534 2.445031 +v 0.197630 0.023506 2.611352 +v 0.197630 0.080521 2.269304 +v 0.097854 0.118534 2.616080 +v 0.202388 0.128040 2.112488 +v 0.135867 0.061529 2.616080 +v 0.107359 0.128040 2.620908 +v 0.202388 0.033011 2.620908 +v 0.202388 0.080521 2.502114 +v 0.197630 0.123282 2.112488 +v 0.202388 0.128040 2.207543 +f 683 679 685 +f 677 676 680 +f 678 680 681 +f 679 678 681 +f 676 677 682 +f 677 679 682 +f 680 676 682 +f 681 680 682 +f 681 682 683 +f 675 681 683 +f 682 679 683 +f 678 679 684 +f 679 677 684 +f 677 680 684 +f 680 678 684 +f 681 675 685 +f 679 681 685 +f 675 683 685 +o convex_50 +v 0.007580 0.066274 -2.648507 +v 0.107357 0.109034 -2.182945 +v 0.107357 0.104269 -2.182945 +v 0.107357 0.042525 -2.510771 +v 0.031340 0.109034 -2.525017 +v 0.002822 0.037760 -2.662803 +v 0.002822 0.104269 -2.548779 +v 0.102599 0.071032 -2.282772 +v 0.093093 0.099525 -2.396796 +v 0.097840 0.037760 -2.496475 +v 0.102599 0.104269 -2.182945 +f 691 693 696 +f 687 688 689 +f 689 686 690 +f 686 689 691 +f 690 686 692 +f 687 690 692 +f 686 691 692 +f 689 688 693 +f 687 689 694 +f 689 690 694 +f 690 687 694 +f 691 689 695 +f 689 693 695 +f 693 691 695 +f 688 687 696 +f 687 692 696 +f 692 691 696 +f 693 688 696 +o convex_51 +v 0.121610 0.180311 -1.702793 +v 0.188134 0.213563 -0.776661 +v 0.183367 0.213563 -0.776661 +v 0.012344 0.213563 -1.679196 +v 0.183367 0.180311 -0.928703 +v 0.178618 0.213563 -1.019021 +v 0.150105 0.185064 -1.588785 +v 0.012344 0.208814 -1.664945 +v 0.036107 0.213563 -1.674384 +v 0.107362 0.180311 -1.669571 +v 0.188134 0.180311 -1.028460 +v 0.183367 0.208810 -0.776661 +f 704 701 708 +f 699 698 700 +f 700 698 702 +f 699 700 704 +f 700 697 704 +f 697 700 705 +f 700 702 705 +f 702 703 705 +f 703 697 705 +f 697 701 706 +f 704 697 706 +f 701 704 706 +f 701 697 707 +f 698 701 707 +f 702 698 707 +f 703 702 707 +f 697 703 707 +f 698 699 708 +f 701 698 708 +f 699 704 708 +o convex_52 +v -0.210996 -0.133303 1.432982 +v -0.177742 -0.199806 1.618213 +v -0.172987 -0.199806 1.618213 +v -0.177742 -0.138056 0.278376 +v -0.201489 -0.185554 1.513523 +v -0.206241 -0.133303 1.680094 +v -0.172987 -0.133303 0.444947 +v -0.172987 -0.190307 1.680094 +v -0.206241 -0.180807 1.670489 +v -0.215751 -0.142809 1.646752 +v -0.172987 -0.142809 0.316520 +v -0.182497 -0.147562 0.482953 +f 712 719 720 +f 709 714 715 +f 712 709 715 +f 710 711 716 +f 715 714 716 +f 711 715 716 +f 713 710 717 +f 710 716 717 +f 716 714 717 +f 714 709 718 +f 713 717 718 +f 717 714 718 +f 711 710 719 +f 715 711 719 +f 712 715 719 +f 709 712 720 +f 710 713 720 +f 718 709 720 +f 713 718 720 +f 719 710 720 +o convex_53 +v -0.182473 -0.166563 2.017583 +v -0.016212 -0.204587 2.483081 +v -0.020956 -0.199821 2.483081 +v -0.016212 -0.252086 1.689720 +v -0.196723 -0.161806 1.694575 +v -0.201467 -0.190337 1.689801 +v -0.020956 -0.214071 2.473452 +v -0.020956 -0.261590 1.727750 +v -0.115965 -0.166563 2.492386 +v -0.101714 -0.161806 2.449664 +v -0.172966 -0.161806 2.136122 +v -0.016212 -0.204587 2.430730 +v -0.016212 -0.261590 1.680253 +v -0.206248 -0.161806 1.680253 +f 733 726 734 +f 727 726 728 +f 722 723 729 +f 727 722 729 +f 726 727 729 +f 729 723 730 +f 729 730 731 +f 721 726 731 +f 726 729 731 +f 730 725 731 +f 723 722 732 +f 722 724 732 +f 724 725 732 +f 725 730 732 +f 730 723 732 +f 724 722 733 +f 722 727 733 +f 728 726 733 +f 727 728 733 +f 725 724 734 +f 726 721 734 +f 721 731 734 +f 731 725 734 +f 724 733 734 +o convex_54 +v -0.201494 -0.161804 1.789455 +v -0.106465 -0.133300 2.554386 +v -0.106465 -0.138052 2.554386 +v -0.158732 -0.133300 2.430734 +v -0.206241 -0.133300 1.680265 +v -0.106465 -0.161804 2.487725 +v -0.163480 -0.161804 2.254968 +v -0.196725 -0.161804 1.708760 +v -0.211000 -0.133300 1.741962 +v -0.139730 -0.157051 2.454523 +f 738 741 744 +f 737 736 738 +f 738 736 739 +f 739 736 740 +f 736 737 740 +f 735 740 741 +f 738 735 741 +f 739 740 742 +f 740 735 742 +f 735 738 743 +f 738 739 743 +f 742 735 743 +f 739 742 743 +f 737 738 744 +f 740 737 744 +f 741 740 744 +o convex_55 +v -0.177747 0.028239 2.649188 +v -0.215745 -0.133297 1.651690 +v -0.220484 -0.123774 1.651690 +v -0.239493 0.033009 1.689780 +v -0.196756 -0.014526 2.687169 +v -0.144477 -0.128527 2.459396 +v -0.144477 -0.014542 2.739514 +v -0.253764 0.023486 1.694568 +v -0.158737 -0.133297 2.468864 +v -0.206234 -0.128511 1.675632 +v -0.168237 0.033009 2.615888 +v -0.253764 0.033009 1.670844 +v -0.149238 -0.019279 2.763347 +v -0.196756 -0.000265 2.677701 +v -0.215745 -0.133297 1.694568 +v -0.182507 0.033009 2.601740 +v -0.144477 -0.133297 2.483120 +v -0.244243 0.033009 1.651799 +v -0.253764 0.013979 1.656479 +f 762 747 763 +f 751 750 754 +f 748 751 754 +f 745 751 755 +f 751 748 755 +f 755 748 756 +f 751 745 757 +f 749 753 757 +f 752 749 758 +f 756 752 758 +f 757 745 758 +f 749 757 758 +f 747 746 759 +f 749 747 759 +f 746 753 759 +f 753 749 759 +f 745 755 760 +f 755 756 760 +f 758 745 760 +f 756 758 760 +f 750 751 761 +f 753 746 761 +f 746 754 761 +f 754 750 761 +f 751 757 761 +f 757 753 761 +f 746 747 762 +f 754 746 762 +f 748 754 762 +f 756 748 762 +f 756 762 763 +f 747 749 763 +f 749 752 763 +f 752 756 763 +o convex_56 +v 0.031323 -0.019277 3.038969 +v -0.006681 -0.214074 2.483112 +v -0.006681 -0.209308 2.483112 +v 0.040834 -0.199815 2.483112 +v -0.001928 -0.204561 2.696882 +v 0.007574 -0.014550 3.005710 +v 0.040834 -0.190303 2.635248 +v 0.040834 -0.014550 2.996270 +v -0.006681 -0.142800 2.796660 +v 0.036081 -0.190303 2.487942 +v 0.017077 -0.028789 3.034249 +v 0.040834 -0.024043 3.019979 +f 774 768 775 +f 765 766 767 +f 765 767 768 +f 768 767 770 +f 769 764 771 +f 770 767 771 +f 766 765 772 +f 765 768 772 +f 769 766 772 +f 767 766 773 +f 766 769 773 +f 771 767 773 +f 769 771 773 +f 764 769 774 +f 772 768 774 +f 769 772 774 +f 768 770 775 +f 771 764 775 +f 770 771 775 +f 764 774 775 +o convex_57 +v 0.150126 -0.228324 0.397238 +v 0.183376 -0.204575 1.656232 +v 0.178622 -0.204575 1.661088 +v 0.145377 -0.204575 0.283128 +v 0.126363 -0.223582 1.661088 +v 0.126363 -0.247335 0.530367 +v 0.178622 -0.214080 1.594456 +v 0.131123 -0.214080 1.661088 +v 0.135873 -0.247335 0.283128 +v 0.159619 -0.209330 0.425699 +v 0.126363 -0.242576 0.287984 +v 0.126363 -0.218831 1.456606 +v 0.164368 -0.204575 1.661088 +v 0.131123 -0.228324 1.532544 +v 0.145377 -0.242576 0.572990 +v 0.154870 -0.204575 0.283128 +f 785 776 791 +f 778 777 779 +f 777 778 780 +f 777 780 782 +f 780 778 783 +f 777 782 785 +f 782 776 785 +f 781 780 786 +f 779 784 786 +f 784 781 786 +f 783 779 787 +f 780 783 787 +f 779 786 787 +f 786 780 787 +f 778 779 788 +f 783 778 788 +f 779 783 788 +f 780 781 789 +f 782 780 789 +f 782 789 790 +f 776 782 790 +f 784 776 790 +f 781 784 790 +f 789 781 790 +f 779 777 791 +f 776 784 791 +f 784 779 791 +f 777 785 791 +o convex_58 +v 0.226138 -0.128556 1.637084 +v 0.150121 -0.204571 0.278479 +v 0.150121 -0.195054 0.278479 +v 0.221388 -0.062030 0.264122 +v 0.178641 -0.190282 1.661013 +v 0.211878 -0.057271 0.302271 +v 0.249887 -0.057271 1.661013 +v 0.164392 -0.204571 0.511340 +v 0.259407 -0.062030 1.537404 +v 0.188162 -0.199813 1.661013 +v 0.173902 -0.204571 1.661013 +v 0.154892 -0.180809 0.292699 +v 0.211878 -0.085791 0.268907 +v 0.259407 -0.057271 1.661013 +v 0.159642 -0.199813 0.278479 +v 0.183390 -0.204571 1.499391 +v 0.173902 -0.199813 1.661013 +f 797 803 808 +f 793 794 795 +f 795 794 797 +f 797 796 798 +f 798 796 801 +f 794 793 802 +f 793 799 802 +f 801 796 802 +f 797 794 803 +f 795 800 804 +f 800 799 804 +f 795 797 805 +f 797 798 805 +f 800 795 805 +f 792 800 805 +f 801 792 805 +f 798 801 805 +f 793 795 806 +f 799 793 806 +f 795 804 806 +f 804 799 806 +f 800 792 807 +f 799 800 807 +f 792 801 807 +f 802 799 807 +f 801 802 807 +f 796 797 808 +f 794 802 808 +f 802 796 808 +f 803 794 808 +o convex_59 +v -0.073215 -0.233070 -1.541423 +v -0.016185 -0.214050 -0.263317 +v -0.016185 -0.223560 -0.263317 +v -0.139726 -0.152303 -0.234795 +v -0.139726 -0.218821 -1.498577 +v -0.016185 -0.252069 -1.484380 +v -0.030442 -0.261590 -1.517634 +v -0.130221 -0.152303 -0.301431 +v -0.134973 -0.209321 -1.541423 +v -0.134973 -0.161824 -0.234795 +v -0.025690 -0.223560 -0.310896 +v -0.016185 -0.214050 -0.315756 +v -0.016185 -0.261590 -1.417744 +v -0.020937 -0.228309 -0.377404 +v -0.082696 -0.242580 -1.536563 +f 815 822 823 +f 810 811 814 +f 809 814 815 +f 812 810 816 +f 816 814 817 +f 813 812 817 +f 814 809 817 +f 812 816 817 +f 811 810 818 +f 810 812 818 +f 812 813 818 +f 818 813 819 +f 811 818 819 +f 810 814 820 +f 816 810 820 +f 814 816 820 +f 814 811 821 +f 815 814 821 +f 819 813 822 +f 811 819 822 +f 821 811 822 +f 815 821 822 +f 809 815 823 +f 813 817 823 +f 817 809 823 +f 822 813 823 +o convex_60 +v 0.059864 -0.057271 2.853692 +v 0.235649 -0.019268 2.696997 +v 0.216620 -0.014510 2.720700 +v 0.045620 -0.024016 3.015289 +v 0.221368 -0.005004 2.625733 +v 0.216620 -0.057271 2.635230 +v 0.040854 -0.005004 2.963019 +v 0.045620 -0.057271 2.924955 +v 0.197609 -0.057271 2.630482 +v 0.045620 -0.005004 2.991470 +v 0.226116 -0.028769 2.706494 +v 0.230863 -0.005004 2.668430 +f 828 833 835 +f 828 825 829 +f 828 824 830 +f 824 829 831 +f 827 830 831 +f 830 824 831 +f 824 828 832 +f 829 824 832 +f 828 829 832 +f 825 826 833 +f 827 825 833 +f 830 827 833 +f 828 830 833 +f 825 827 834 +f 829 825 834 +f 827 831 834 +f 831 829 834 +f 826 825 835 +f 825 828 835 +f 833 826 835 +o convex_61 +v -0.244248 0.185065 0.577806 +v -0.177745 0.227824 1.537412 +v -0.182498 0.227824 1.537412 +v -0.229995 0.227824 0.164338 +v -0.229995 0.180317 0.188130 +v -0.192004 0.180317 1.537412 +v -0.239501 0.227824 0.397284 +v -0.177745 0.223066 1.413748 +v -0.201503 0.185065 1.513620 +v -0.244248 0.180317 0.649047 +v -0.239501 0.223066 0.188130 +v -0.187251 0.185065 1.527868 +v -0.239501 0.180317 0.254667 +f 846 840 848 +f 838 837 839 +f 837 838 841 +f 838 839 842 +f 839 837 843 +f 840 839 843 +f 841 838 844 +f 838 842 844 +f 844 842 845 +f 840 841 845 +f 842 836 845 +f 841 844 845 +f 839 840 846 +f 836 842 846 +f 842 839 846 +f 837 841 847 +f 841 840 847 +f 843 837 847 +f 840 843 847 +f 845 836 848 +f 840 845 848 +f 836 846 848 +o convex_62 +v -0.239509 0.246827 0.155085 +v -0.177744 0.232579 1.451761 +v -0.182497 0.232579 1.451761 +v -0.229999 0.227827 0.164583 +v -0.177744 0.261082 0.140709 +v -0.234751 0.256329 0.235822 +v -0.177744 0.227827 1.233295 +v -0.239509 0.227827 0.359303 +v -0.177744 0.251580 0.254819 +v -0.182497 0.256329 0.511408 +v -0.187249 0.227827 1.418516 +f 856 855 859 +f 852 849 853 +f 853 849 854 +f 853 850 855 +f 849 852 856 +f 854 849 856 +f 852 855 856 +f 852 853 857 +f 855 852 857 +f 853 855 857 +f 851 850 858 +f 850 853 858 +f 854 851 858 +f 853 854 858 +f 850 851 859 +f 851 854 859 +f 855 850 859 +f 854 856 859 +o convex_63 +v -0.016185 -0.228320 2.288134 +v 0.169127 -0.176069 2.074664 +v 0.164357 -0.176069 2.131266 +v 0.169127 -0.214064 1.675387 +v -0.016185 -0.252076 1.685005 +v -0.016185 -0.204580 2.468664 +v 0.164357 -0.176069 1.965376 +v 0.088353 -0.180832 2.530628 +v -0.011414 -0.261577 1.727733 +v -0.001927 -0.218827 2.473515 +v 0.107326 -0.176069 2.235958 +v 0.164357 -0.204589 1.661088 +v 0.069379 -0.176069 2.530628 +v 0.050351 -0.247330 1.661088 +v 0.164357 -0.180832 2.131266 +f 867 863 874 +f 864 860 865 +f 862 861 866 +f 860 864 868 +f 865 860 869 +f 863 867 869 +f 860 868 869 +f 868 863 869 +f 864 865 870 +f 862 866 870 +f 866 864 870 +f 861 863 871 +f 866 861 871 +f 864 866 871 +f 867 862 872 +f 865 869 872 +f 869 867 872 +f 870 865 872 +f 862 870 872 +f 863 868 873 +f 868 864 873 +f 871 863 873 +f 864 871 873 +f 861 862 874 +f 863 861 874 +f 862 867 874 +o convex_64 +v -0.125460 0.147034 2.426073 +v -0.020936 0.156550 2.592398 +v -0.020936 0.151796 2.592398 +v -0.134959 0.156550 2.202768 +v -0.134959 0.061518 2.582825 +v -0.077965 0.094792 2.582825 +v -0.139714 0.080532 2.573328 +v -0.035202 0.156550 2.592398 +v -0.134959 0.142280 2.236102 +v -0.139714 0.156550 2.269359 +f 878 883 884 +f 876 877 878 +f 877 879 880 +f 881 879 882 +f 877 876 882 +f 876 878 882 +f 879 877 882 +f 875 881 882 +f 878 877 883 +f 877 880 883 +f 880 879 883 +f 879 881 883 +f 883 881 884 +f 881 875 884 +f 882 878 884 +f 875 882 884 +o convex_65 +v 0.040834 0.066284 2.867928 +v 0.230898 -0.000233 2.630465 +v 0.230898 -0.005004 2.630465 +v 0.040834 0.170785 2.620908 +v 0.045597 0.175537 2.701725 +v 0.040853 -0.005004 2.953453 +v 0.131141 0.061513 2.625722 +v 0.121634 -0.000233 2.848918 +v 0.226117 -0.000233 2.668484 +v 0.088369 0.156527 2.620908 +v 0.221372 -0.005004 2.620943 +v 0.045616 -0.000233 2.977242 +v 0.045597 0.156527 2.735000 +f 885 896 897 +f 888 885 889 +f 885 888 890 +f 890 888 891 +f 890 887 892 +f 887 886 893 +f 892 887 893 +f 888 889 894 +f 893 886 894 +f 889 893 894 +f 886 887 895 +f 887 890 895 +f 891 888 895 +f 890 891 895 +f 894 886 895 +f 888 894 895 +f 885 890 896 +f 890 892 896 +f 896 892 897 +f 889 885 897 +f 893 889 897 +f 892 893 897 +o convex_66 +v -0.249004 0.066270 1.090795 +v -0.192011 -0.133297 0.701682 +v -0.182499 -0.133277 0.354554 +v -0.244252 0.033002 1.651551 +v -0.172987 -0.119036 0.307081 +v -0.215747 -0.133297 1.651551 +v -0.234748 0.061503 0.249867 +v -0.225236 0.066270 0.297477 +v -0.253764 0.013975 1.627677 +v -0.206251 -0.128530 1.613408 +v -0.239500 0.066270 1.105064 +v -0.215747 -0.133297 1.565935 +v -0.172987 -0.133277 0.278543 +v -0.239500 0.061503 0.440033 +v -0.187259 -0.109523 0.273740 +v -0.249004 0.066270 1.309362 +v -0.220484 0.052009 0.249867 +v -0.172987 -0.128511 0.402027 +v -0.253764 0.033002 1.651551 +f 901 913 916 +f 904 898 905 +f 901 903 907 +f 901 902 908 +f 905 898 908 +f 902 905 908 +f 900 899 909 +f 899 903 909 +f 903 906 909 +f 899 900 910 +f 903 899 910 +f 907 903 910 +f 898 904 911 +f 906 898 911 +f 904 909 911 +f 909 906 911 +f 900 909 912 +f 909 904 912 +f 910 900 912 +f 908 898 913 +f 901 908 913 +f 905 902 914 +f 904 905 914 +f 902 910 914 +f 912 904 914 +f 910 912 914 +f 902 901 915 +f 901 907 915 +f 910 902 915 +f 907 910 915 +f 903 901 916 +f 898 906 916 +f 906 903 916 +f 913 898 916 +o convex_67 +v 0.026591 -0.047768 -2.838587 +v -0.035191 -0.209322 -2.677129 +v -0.035191 -0.204546 -2.691386 +v 0.097854 -0.185538 -2.420601 +v 0.097854 -0.062048 -2.738839 +v 0.093100 -0.171290 -2.411133 +v -0.035191 -0.062032 -2.933656 +v -0.030437 -0.071552 -2.952647 +v -0.035191 -0.204546 -2.643879 +v 0.017084 -0.047768 -2.819595 +v 0.097854 -0.047768 -2.705535 +v -0.016177 -0.209322 -2.658137 +v 0.012331 -0.209322 -2.548865 +v 0.017084 -0.209322 -2.577380 +v -0.030437 -0.166530 -2.772088 +f 921 928 931 +f 919 918 923 +f 917 921 924 +f 919 923 924 +f 923 917 924 +f 923 918 925 +f 923 925 926 +f 917 923 926 +f 925 922 926 +f 926 922 927 +f 921 917 927 +f 920 921 927 +f 922 920 927 +f 917 926 927 +f 918 919 928 +f 920 922 929 +f 925 918 929 +f 922 925 929 +f 918 928 929 +f 929 928 930 +f 921 920 930 +f 928 921 930 +f 920 929 930 +f 924 921 931 +f 919 924 931 +f 928 919 931 +o convex_68 +v -0.158725 0.256335 0.140717 +v 0.012325 0.251586 1.537328 +v 0.012325 0.246836 1.537328 +v -0.177738 0.223072 1.537328 +v -0.177738 0.256335 0.539846 +v 0.012325 0.275333 0.140717 +v -0.030465 0.280088 0.159723 +v 0.007562 0.256335 1.522970 +v -0.177738 0.232582 1.480309 +v -0.158706 0.223072 1.523107 +v -0.177738 0.261084 0.140717 +v 0.012325 0.280088 0.345136 +v 0.012325 0.270583 0.321344 +v -0.163469 0.265828 0.159723 +v -0.016196 0.242081 1.527893 +v -0.177738 0.251586 0.283332 +v -0.172976 0.223072 1.447082 +v -0.020958 0.270583 0.155074 +f 944 948 949 +f 934 933 935 +f 933 934 937 +f 935 933 939 +f 936 935 940 +f 935 939 940 +f 939 936 940 +f 934 935 941 +f 935 936 942 +f 937 932 942 +f 938 937 942 +f 933 937 943 +f 937 938 943 +f 939 933 943 +f 938 939 943 +f 937 934 944 +f 936 939 945 +f 939 938 945 +f 942 936 945 +f 938 942 945 +f 934 941 946 +f 944 934 946 +f 941 944 946 +f 942 932 947 +f 935 942 947 +f 941 935 948 +f 944 941 948 +f 935 947 948 +f 947 932 948 +f 932 937 949 +f 937 944 949 +f 948 932 949 +o convex_69 +v -0.168235 -0.152317 -2.401404 +v -0.130226 -0.223577 -1.679354 +v -0.125471 -0.223577 -1.679354 +v -0.125471 -0.195059 -2.411021 +v -0.168235 -0.185572 -2.249317 +v -0.168235 -0.199810 -1.541566 +v -0.125471 -0.214062 -1.541566 +v -0.144480 -0.166569 -2.396638 +v -0.168235 -0.209311 -1.660376 +v -0.134982 -0.195059 -2.411021 +v -0.125471 -0.185572 -2.411021 +v -0.130226 -0.223577 -1.541566 +v -0.163480 -0.152317 -2.401404 +f 957 960 962 +f 952 951 953 +f 950 954 955 +f 952 953 956 +f 955 954 958 +f 953 951 959 +f 954 950 959 +f 951 958 959 +f 958 954 959 +f 956 953 960 +f 957 956 960 +f 953 959 960 +f 959 950 960 +f 951 952 961 +f 952 956 961 +f 956 955 961 +f 958 951 961 +f 955 958 961 +f 950 955 962 +f 955 956 962 +f 956 957 962 +f 960 950 962 +o convex_70 +v -0.101711 -0.237820 -1.598588 +v -0.020936 -0.256824 -1.541566 +v -0.025694 -0.252077 -1.541566 +v -0.020936 -0.237820 -2.411021 +v -0.120713 -0.190316 -2.334850 +v -0.025694 -0.247322 -2.372893 +v -0.125471 -0.199826 -2.411021 +v -0.125471 -0.218830 -1.541566 +v -0.025694 -0.266334 -1.631865 +v -0.111207 -0.218830 -1.541566 +v -0.125471 -0.228325 -1.603354 +v -0.025694 -0.233072 -2.382425 +v -0.125471 -0.190316 -2.411021 +v -0.020936 -0.266334 -1.579609 +f 971 968 976 +f 966 968 969 +f 964 965 970 +f 963 968 971 +f 965 967 972 +f 970 965 972 +f 967 970 972 +f 968 963 973 +f 969 968 973 +f 963 970 973 +f 970 969 973 +f 965 964 974 +f 964 966 974 +f 967 965 974 +f 967 974 975 +f 966 969 975 +f 970 967 975 +f 969 970 975 +f 974 966 975 +f 966 964 976 +f 968 966 976 +f 964 970 976 +f 970 963 976 +f 963 971 976 +o convex_71 +v 0.017077 -0.223577 -2.411021 +v -0.011429 -0.271093 -1.674674 +v -0.020936 -0.266339 -1.688886 +v 0.017077 -0.256837 -1.541566 +v -0.020936 -0.256837 -1.541566 +v -0.020936 -0.242591 -2.411021 +v 0.017077 -0.266339 -1.631865 +v 0.012321 -0.223577 -2.306339 +v -0.016177 -0.247335 -2.377659 +v -0.016177 -0.233084 -2.382425 +v 0.012321 -0.233084 -2.411021 +v -0.006678 -0.271093 -1.541566 +f 983 980 988 +f 979 981 982 +f 977 980 983 +f 980 977 984 +f 981 980 984 +f 978 979 985 +f 979 982 985 +f 983 978 985 +f 977 982 986 +f 982 981 986 +f 984 977 986 +f 981 984 986 +f 982 977 987 +f 977 983 987 +f 985 982 987 +f 983 985 987 +f 979 978 988 +f 980 981 988 +f 981 979 988 +f 978 983 988 +o convex_72 +v 0.017077 -0.233084 -0.396539 +v -0.006678 -0.271093 -1.541481 +v -0.016185 -0.266335 -1.541481 +v 0.017077 -0.256829 -1.541481 +v -0.016185 -0.218825 -0.382277 +v 0.012323 -0.242585 -0.329984 +v -0.016185 -0.228331 -0.301461 +v -0.016185 -0.256829 -1.541481 +v 0.017077 -0.266335 -1.527094 +v -0.006678 -0.218825 -0.306215 +f 993 995 998 +f 990 991 992 +f 991 990 995 +f 993 991 995 +f 990 994 995 +f 992 991 996 +f 993 992 996 +f 991 993 996 +f 990 992 997 +f 992 989 997 +f 994 990 997 +f 989 994 997 +f 989 992 998 +f 992 993 998 +f 994 989 998 +f 995 994 998 +o convex_73 +v -0.149247 -0.123758 -0.234913 +v -0.201494 -0.147552 -1.527226 +v -0.206254 -0.142798 -1.527226 +v -0.239491 -0.014507 -1.517612 +v -0.249002 -0.024014 -1.512805 +v -0.173006 -0.014507 -0.268182 +v -0.192005 -0.142798 -1.474729 +v -0.149247 -0.147552 -0.263502 +v -0.182484 -0.019274 -0.249207 +v -0.139726 -0.142798 -0.291964 +v -0.244252 -0.038274 -1.493830 +v -0.239491 -0.014507 -1.308510 +v -0.196744 -0.147552 -1.322804 +v -0.187244 -0.019274 -0.325233 +v -0.139726 -0.133291 -0.244401 +f 1006 1008 1013 +f 1000 1001 1002 +f 1002 1001 1003 +f 1000 1002 1005 +f 1002 1004 1005 +f 1006 999 1007 +f 1000 1005 1008 +f 1006 1000 1008 +f 1003 1001 1009 +f 1002 1003 1010 +f 1004 1002 1010 +f 1007 1004 1010 +f 1001 1000 1011 +f 1000 1006 1011 +f 1009 1001 1011 +f 1006 1009 1011 +f 1006 1007 1012 +f 1003 1009 1012 +f 1009 1006 1012 +f 1010 1003 1012 +f 1007 1010 1012 +f 1005 1004 1013 +f 999 1006 1013 +f 1007 999 1013 +f 1004 1007 1013 +f 1008 1005 1013 +o convex_74 +v 0.249900 -0.057271 1.219190 +v 0.216652 -0.057271 0.264214 +v 0.221401 -0.057271 0.264214 +v 0.235655 0.037760 0.226109 +v 0.259401 0.037760 1.219190 +v 0.264159 -0.000258 1.204901 +v 0.240403 -0.052518 1.204901 +v 0.226154 0.033007 0.245162 +v 0.226154 -0.057271 0.316415 +v 0.264159 0.033007 1.057630 +v 0.216652 -0.052518 0.387669 +v 0.254648 -0.047765 1.138313 +v 0.235655 0.023500 0.240398 +f 1017 1023 1026 +f 1014 1015 1016 +f 1016 1015 1017 +f 1018 1014 1019 +f 1015 1014 1020 +f 1014 1018 1020 +f 1020 1018 1021 +f 1017 1015 1021 +f 1018 1017 1021 +f 1014 1016 1022 +f 1017 1018 1023 +f 1018 1019 1023 +f 1015 1020 1024 +f 1020 1021 1024 +f 1021 1015 1024 +f 1019 1014 1025 +f 1014 1022 1025 +f 1022 1019 1025 +f 1016 1017 1026 +f 1022 1016 1026 +f 1019 1022 1026 +f 1023 1019 1026 +o convex_75 +v 0.169127 -0.176054 2.107782 +v 0.169127 -0.104787 2.530524 +v 0.169127 -0.114303 2.530524 +v 0.083615 -0.171296 2.530524 +v 0.164364 -0.171296 1.998502 +v 0.154863 -0.161795 2.416504 +v 0.121621 -0.128555 2.525784 +v 0.102618 -0.176054 2.516304 +v 0.112119 -0.171296 2.288265 +v 0.112119 -0.176054 2.288265 +f 1030 1035 1036 +f 1027 1028 1029 +f 1029 1028 1030 +f 1028 1027 1031 +f 1027 1029 1032 +f 1030 1028 1033 +f 1028 1031 1033 +f 1029 1030 1034 +f 1027 1032 1034 +f 1032 1029 1034 +f 1030 1033 1035 +f 1033 1031 1035 +f 1031 1027 1036 +f 1034 1030 1036 +f 1027 1034 1036 +f 1035 1031 1036 +o convex_76 +v 0.164363 -0.047768 -2.425314 +v 0.097854 -0.185551 -2.411036 +v 0.102613 -0.185551 -2.411036 +v 0.097854 -0.062037 -2.734129 +v 0.150110 -0.057290 -2.653280 +v 0.154863 -0.052543 -2.349250 +v 0.097854 -0.047768 -2.700825 +v 0.116865 -0.185551 -2.349250 +v 0.102613 -0.180790 -2.349250 +v 0.164363 -0.062037 -2.354035 +v 0.150110 -0.047768 -2.648533 +f 1043 1037 1047 +f 1039 1038 1040 +f 1039 1040 1041 +f 1040 1038 1043 +f 1042 1037 1043 +f 1038 1039 1044 +f 1039 1041 1044 +f 1044 1042 1045 +f 1043 1038 1045 +f 1042 1043 1045 +f 1038 1044 1045 +f 1041 1037 1046 +f 1037 1042 1046 +f 1044 1041 1046 +f 1042 1044 1046 +f 1037 1041 1047 +f 1041 1040 1047 +f 1040 1043 1047 +o convex_77 +v 0.259405 0.118527 0.587147 +v 0.230898 0.037760 0.221383 +v 0.235653 0.037760 0.221383 +v 0.254653 0.037760 0.938847 +v 0.240405 0.147047 0.938847 +v 0.245151 0.147047 0.178593 +v 0.259405 0.037760 0.938847 +v 0.254653 0.142276 0.278387 +v 0.230898 0.071030 0.211858 +v 0.230898 0.037760 0.344917 +v 0.259405 0.090029 0.938847 +v 0.249901 0.147047 0.796187 +v 0.249901 0.037760 0.919796 +v 0.240405 0.137537 0.183356 +v 0.259405 0.037760 0.891294 +v 0.240405 0.128037 0.938847 +v 0.240405 0.061520 0.211858 +f 1055 1062 1064 +f 1049 1050 1051 +f 1051 1050 1054 +f 1052 1051 1054 +f 1049 1051 1057 +f 1056 1049 1057 +f 1052 1056 1057 +f 1054 1048 1058 +f 1052 1054 1058 +f 1053 1052 1059 +f 1048 1055 1059 +f 1055 1053 1059 +f 1058 1048 1059 +f 1052 1058 1059 +f 1057 1051 1060 +f 1053 1049 1061 +f 1052 1053 1061 +f 1049 1056 1061 +f 1056 1052 1061 +f 1048 1054 1062 +f 1054 1050 1062 +f 1055 1048 1062 +f 1051 1052 1063 +f 1052 1057 1063 +f 1060 1051 1063 +f 1057 1060 1063 +f 1050 1049 1064 +f 1049 1053 1064 +f 1053 1055 1064 +f 1062 1050 1064 +o convex_78 +v -0.172987 -0.176074 1.034003 +v -0.082707 -0.228315 1.680094 +v -0.101715 -0.218820 1.680094 +v -0.087470 -0.199830 1.086186 +v -0.087470 -0.237832 1.642032 +v -0.172987 -0.190320 1.623033 +v -0.163478 -0.166558 1.038688 +v -0.092215 -0.209311 1.024375 +v -0.168224 -0.204560 1.637218 +v -0.158724 -0.195079 1.680094 +v -0.082707 -0.209311 1.024375 +f 1069 1072 1075 +f 1067 1066 1068 +f 1065 1070 1071 +f 1069 1066 1073 +f 1070 1065 1073 +f 1065 1072 1073 +f 1072 1069 1073 +f 1066 1067 1074 +f 1067 1068 1074 +f 1068 1071 1074 +f 1071 1070 1074 +f 1073 1066 1074 +f 1070 1073 1074 +f 1068 1066 1075 +f 1066 1069 1075 +f 1071 1068 1075 +f 1065 1071 1075 +f 1072 1065 1075 +o convex_79 +v -0.054224 0.223072 -1.693586 +v -0.182477 0.071031 -2.406270 +v -0.182477 0.080541 -2.406270 +v -0.182477 0.161294 -1.655519 +v -0.054224 0.156532 -2.401419 +v -0.049472 0.204037 -1.755389 +v -0.182477 0.166027 -1.688882 +v -0.049472 0.147037 -2.372906 +v -0.177712 0.071031 -2.372906 +v -0.177712 0.090051 -2.406270 +v -0.158704 0.166027 -1.655519 +v -0.063728 0.208800 -1.655519 +v -0.049472 0.223072 -1.655519 +f 1079 1087 1088 +f 1078 1077 1079 +f 1078 1079 1082 +f 1076 1080 1082 +f 1077 1080 1083 +f 1083 1081 1084 +f 1079 1077 1084 +f 1077 1083 1084 +f 1077 1078 1085 +f 1080 1077 1085 +f 1078 1082 1085 +f 1082 1080 1085 +f 1079 1084 1086 +f 1086 1084 1087 +f 1084 1081 1087 +f 1079 1086 1087 +f 1087 1081 1088 +f 1080 1076 1088 +f 1082 1079 1088 +f 1076 1082 1088 +f 1083 1080 1088 +f 1081 1083 1088 +o convex_80 +v 0.268911 -0.043011 1.661088 +v 0.245153 -0.057271 1.219190 +v 0.245153 -0.047765 1.219190 +v 0.264157 0.037760 1.219190 +v 0.249906 0.037760 1.661088 +v 0.254657 -0.057271 1.661088 +v 0.259406 -0.038258 1.233464 +v 0.254657 0.037760 1.247782 +v 0.259406 0.033007 1.651528 +v 0.268911 0.009249 1.333298 +v 0.245153 -0.057271 1.371276 +v 0.259406 -0.057271 1.451991 +f 1095 1089 1100 +f 1090 1091 1092 +f 1089 1093 1094 +f 1090 1092 1095 +f 1092 1091 1096 +f 1093 1092 1096 +f 1091 1093 1096 +f 1093 1089 1097 +f 1092 1093 1097 +f 1089 1095 1098 +f 1095 1092 1098 +f 1097 1089 1098 +f 1092 1097 1098 +f 1091 1090 1099 +f 1093 1091 1099 +f 1090 1094 1099 +f 1094 1093 1099 +f 1094 1090 1100 +f 1089 1094 1100 +f 1090 1095 1100 +o convex_81 +v -0.239507 0.180308 0.782014 +v -0.234759 0.066270 0.249926 +v -0.230006 0.066270 0.249926 +v -0.234759 0.180308 0.192848 +v -0.230006 0.180308 0.810554 +v -0.244258 0.066270 0.810554 +v -0.244258 0.180308 0.591974 +v -0.234759 0.066270 0.767745 +v -0.230006 0.180308 0.192848 +v -0.239507 0.175553 0.259419 +v -0.244258 0.161287 0.810554 +v -0.239507 0.066270 0.425697 +f 1107 1110 1112 +f 1103 1102 1104 +f 1104 1101 1105 +f 1102 1103 1106 +f 1101 1104 1107 +f 1103 1105 1108 +f 1106 1103 1108 +f 1105 1106 1108 +f 1103 1104 1109 +f 1104 1105 1109 +f 1105 1103 1109 +f 1104 1102 1110 +f 1107 1104 1110 +f 1105 1101 1111 +f 1106 1105 1111 +f 1101 1107 1111 +f 1107 1106 1111 +f 1102 1106 1112 +f 1106 1107 1112 +f 1110 1102 1112 +o convex_82 +v -0.011433 0.166053 2.592398 +v -0.168235 -0.014507 2.715995 +v -0.163477 -0.014507 2.715995 +v -0.011433 -0.009753 2.981990 +v -0.168235 -0.000244 2.734987 +v -0.077985 0.090001 2.597203 +v -0.011433 0.018756 2.872694 +v -0.168235 0.052019 2.592398 +v -0.016206 0.166053 2.611466 +v -0.020949 -0.009753 2.977223 +v -0.011433 -0.014507 2.958232 +v -0.163477 0.042528 2.592398 +v -0.011433 0.156527 2.597203 +f 1119 1118 1125 +f 1113 1116 1119 +f 1115 1118 1119 +f 1114 1117 1120 +f 1116 1113 1121 +f 1113 1120 1121 +f 1120 1117 1121 +f 1117 1114 1122 +f 1116 1121 1122 +f 1121 1117 1122 +f 1114 1115 1123 +f 1115 1119 1123 +f 1119 1116 1123 +f 1122 1114 1123 +f 1116 1122 1123 +f 1115 1114 1124 +f 1118 1115 1124 +f 1113 1118 1124 +f 1114 1120 1124 +f 1120 1113 1124 +f 1118 1113 1125 +f 1113 1119 1125 +o convex_83 +v 0.121614 0.180308 -1.736451 +v 0.107360 0.037774 -2.506052 +v 0.107360 0.042532 -2.506052 +v 0.145366 0.037774 -2.135327 +v 0.107360 0.175536 -1.707941 +v 0.145366 0.180308 -1.679430 +v 0.140611 0.037774 -2.049795 +v 0.145366 0.175536 -1.584335 +v 0.112112 0.128030 -2.140108 +v 0.116863 0.042532 -2.472670 +v 0.107360 0.066292 -2.258842 +v 0.107360 0.132773 -2.111598 +f 1134 1128 1137 +f 1128 1127 1130 +f 1127 1129 1132 +f 1132 1129 1133 +f 1126 1130 1133 +f 1131 1126 1133 +f 1129 1131 1133 +f 1130 1132 1133 +f 1126 1131 1134 +f 1134 1131 1135 +f 1127 1128 1135 +f 1129 1127 1135 +f 1131 1129 1135 +f 1128 1134 1135 +f 1130 1127 1136 +f 1132 1130 1136 +f 1127 1132 1136 +f 1130 1126 1137 +f 1128 1130 1137 +f 1126 1134 1137 +o convex_84 +v 0.245153 0.099528 1.656280 +v 0.254652 0.037760 0.938847 +v 0.235649 0.142276 1.010180 +v 0.264159 0.066280 0.948391 +v 0.245153 0.047270 1.661088 +v 0.226146 0.132787 1.656280 +v 0.245153 0.147047 1.076706 +v 0.259400 0.037760 1.532772 +v 0.235649 0.147047 1.632526 +v 0.245153 0.147047 0.938847 +v 0.264159 0.037760 1.038671 +v 0.226146 0.147047 1.661088 +f 1147 1140 1149 +f 1139 1142 1143 +f 1140 1139 1143 +f 1138 1141 1144 +f 1141 1138 1145 +f 1138 1142 1145 +f 1142 1139 1145 +f 1138 1144 1146 +f 1146 1144 1147 +f 1139 1140 1147 +f 1141 1139 1147 +f 1144 1141 1147 +f 1139 1141 1148 +f 1145 1139 1148 +f 1141 1145 1148 +f 1142 1138 1149 +f 1143 1142 1149 +f 1140 1143 1149 +f 1138 1146 1149 +f 1146 1147 1149 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/178/178.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/178/178.urdf new file mode 100644 index 000000000..d9e3c35c9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/178/178.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/179/179.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/179/179.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/179/179.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/179/179.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/179/179.obj new file mode 100644 index 000000000..c3e14bd9d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/179/179.obj @@ -0,0 +1,360 @@ +o convex_0 +v -0.361457 -0.002688 -3.493538 +v 0.340955 -0.224503 -3.234838 +v 0.340955 -0.261443 -3.234838 +v -0.324397 -0.446317 -1.719372 +v 0.229983 0.145188 -1.719372 +v -0.287475 0.108190 -1.719372 +v -0.250485 -0.372379 -3.678380 +v 0.193061 -0.409319 -1.719372 +v 0.156070 0.034252 -3.567592 +v 0.340955 -0.372379 -3.715309 +v -0.324397 0.108190 -3.567592 +v -0.065600 0.145188 -2.680704 +v 0.340955 -0.261443 -3.715309 +v -0.361457 0.108190 -3.160980 +v 0.193061 0.034252 -3.530663 +v -0.324397 -0.446317 -1.941534 +v 0.229983 -0.409319 -2.052321 +v -0.102590 0.145188 -1.719372 +v -0.287475 -0.261443 -3.678380 +v 0.229983 0.145188 -1.867480 +v 0.229983 -0.039686 -1.719372 +v -0.176572 -0.446317 -1.793621 +v -0.324397 -0.298441 -1.719372 +f 6 14 23 +f 3 2 5 +f 4 5 6 +f 5 4 8 +f 2 3 10 +f 2 10 13 +f 11 9 13 +f 1 4 14 +f 11 1 14 +f 12 11 14 +f 9 11 15 +f 11 12 15 +f 13 9 15 +f 4 1 16 +f 7 10 16 +f 10 3 17 +f 6 5 18 +f 5 12 18 +f 14 6 18 +f 12 14 18 +f 10 7 19 +f 1 11 19 +f 13 10 19 +f 11 13 19 +f 16 1 19 +f 7 16 19 +f 5 2 20 +f 12 5 20 +f 2 13 20 +f 15 12 20 +f 13 15 20 +f 3 5 21 +f 5 8 21 +f 17 3 21 +f 8 17 21 +f 8 4 22 +f 4 16 22 +f 16 10 22 +f 10 17 22 +f 17 8 22 +f 4 6 23 +f 14 4 23 +o convex_1 +v -0.583271 1.956508 -2.459118 +v 0.562769 1.513212 -3.345969 +v 0.562769 1.476196 -3.345969 +v 0.525749 1.956508 -1.719372 +v 0.414802 2.437156 -3.641714 +v -0.509120 1.402276 -3.604698 +v -0.287338 1.328356 -1.719372 +v -0.583271 2.326220 -1.719372 +v -0.509120 2.437156 -3.530666 +v 0.451822 1.291228 -1.719372 +v 0.525749 2.326220 -1.867436 +v 0.562769 1.365372 -3.678730 +v -0.546251 1.476196 -1.719372 +v -0.324358 1.661052 -3.678730 +v 0.451822 2.437156 -3.382602 +v 0.451822 1.328356 -3.382602 +v 0.525749 2.289204 -1.719372 +v -0.546251 1.513212 -3.345969 +v -0.509120 1.365372 -1.719372 +v -0.324358 2.437156 -3.198097 +v 0.488730 2.067444 -3.678730 +v 0.488730 1.291228 -2.052133 +v 0.156001 2.437156 -3.641714 +v 0.193021 1.291228 -1.793404 +v -0.583271 2.363124 -2.163181 +v -0.583271 1.845908 -1.719372 +v -0.509120 2.289204 -3.567682 +v -0.509120 1.365372 -2.532958 +v 0.008147 1.365372 -3.641714 +v -0.102464 2.326220 -1.719372 +v 0.525749 2.326220 -1.978292 +v -0.435305 2.437156 -3.567682 +v 0.562769 1.439292 -3.678730 +f 44 54 56 +f 26 25 27 +f 30 27 31 +f 27 30 33 +f 25 26 35 +f 30 31 36 +f 28 32 38 +f 27 25 40 +f 31 27 40 +f 25 34 40 +f 24 32 41 +f 30 36 42 +f 38 32 43 +f 34 38 43 +f 35 37 44 +f 28 38 44 +f 26 27 45 +f 27 33 45 +f 35 26 45 +f 39 35 45 +f 32 28 46 +f 28 44 46 +f 44 37 46 +f 33 30 47 +f 45 33 47 +f 39 45 47 +f 24 31 48 +f 32 24 48 +f 43 32 48 +f 31 24 49 +f 36 31 49 +f 24 41 49 +f 41 36 49 +f 37 29 50 +f 41 32 50 +f 29 41 50 +f 41 29 51 +f 36 41 51 +f 30 42 51 +f 42 36 51 +f 47 30 51 +f 47 51 52 +f 29 37 52 +f 37 35 52 +f 35 39 52 +f 39 47 52 +f 51 29 52 +f 31 40 53 +f 40 34 53 +f 34 43 53 +f 48 31 53 +f 43 48 53 +f 34 25 54 +f 38 34 54 +f 44 38 54 +f 32 46 55 +f 46 37 55 +f 37 50 55 +f 50 32 55 +f 25 35 56 +f 35 44 56 +f 54 25 56 +o convex_2 +v -0.620066 -2.405759 -1.607915 +v 1.080336 -3.145017 0.461606 +v 1.080336 -3.181971 0.461606 +v -1.026809 -2.405759 2.310203 +v -1.026809 -3.181971 -1.571293 +v 0.932448 -2.405676 -1.682352 +v -1.026809 -3.181971 2.310203 +v 0.932448 -2.405676 2.347222 +v 0.932448 -3.181971 -1.719372 +v 0.932448 -3.107979 2.310203 +v 0.932448 -3.255964 0.683326 +v -0.989889 -2.405759 -1.571293 +v 0.932448 -3.218843 -1.460234 +v -1.026809 -2.479668 -1.571293 +v -0.361417 -3.181971 2.310203 +v 0.895321 -3.255964 -0.203156 +v 0.710513 -2.405676 -1.719372 +v 0.932448 -3.071024 2.347222 +v 1.080336 -3.181971 0.129623 +v 0.229929 -2.405676 2.347222 +v 0.710513 -3.181971 -1.719372 +v 0.969368 -3.181971 -1.423612 +v 0.969368 -3.255964 0.240682 +f 69 75 79 +f 60 61 63 +f 59 58 64 +f 58 62 64 +f 59 66 67 +f 57 61 70 +f 61 60 70 +f 68 57 70 +f 60 68 70 +f 63 67 71 +f 67 66 71 +f 63 61 72 +f 67 63 72 +f 61 69 72 +f 64 62 73 +f 62 65 73 +f 57 68 73 +f 59 64 74 +f 66 59 74 +f 63 71 74 +f 71 66 74 +f 58 59 75 +f 62 58 75 +f 60 63 76 +f 68 60 76 +f 64 73 76 +f 73 68 76 +f 74 64 76 +f 63 74 76 +f 61 57 77 +f 65 69 77 +f 69 61 77 +f 57 73 77 +f 73 65 77 +f 65 62 78 +f 69 65 78 +f 62 75 78 +f 75 69 78 +f 59 67 79 +f 67 72 79 +f 72 69 79 +f 75 59 79 +o convex_3 +v -0.546296 1.475939 -1.719372 +v 0.821463 2.621639 2.495099 +v 0.784541 2.621639 2.495099 +v 0.932435 -2.405676 2.346998 +v -1.026899 -2.405676 2.309870 +v 0.932435 -2.405676 -1.682244 +v -1.026899 2.880897 2.420842 +v 1.043200 2.843638 -1.571271 +v -0.989771 -2.405676 -1.571271 +v -0.989771 2.806897 -1.608400 +v 1.043200 2.880379 2.457970 +v 1.080328 2.880379 0.055359 +v -1.026899 2.880897 0.387863 +v 0.525675 2.288900 -1.719372 +v 0.969356 -2.183160 -1.682244 +v 0.969356 -1.961161 1.939825 +v 0.229888 1.956160 2.495099 +v -0.324353 -0.445463 -1.719372 +v -1.026899 -2.072419 2.346586 +v 0.636647 -1.887679 2.384126 +v 1.080328 2.658898 0.424992 +v 1.043200 1.660162 -1.607987 +v -1.026899 -2.331159 1.533477 +v 0.267016 -2.405676 -1.682244 +v -0.693984 2.769638 2.457970 +v -0.583218 2.326158 -1.719372 +v -1.026899 2.695639 0.166331 +v 0.008357 2.843638 -1.570859 +v 0.969356 -1.406940 2.383714 +v 0.969356 -2.183160 0.535551 +v 0.192966 -0.408722 -1.719372 +v 0.303938 -0.704203 2.420842 +v -1.026899 1.734679 2.420842 +v -0.361275 1.438681 2.457970 +v 0.969356 -1.074201 -1.682244 +v 0.636647 2.141418 2.495099 +v 1.080328 2.806379 -0.092329 +v 0.192966 -2.405676 2.346998 +v 1.043200 2.806379 2.457970 +v 0.156044 2.474158 2.495099 +v -0.250509 2.880897 2.457970 +v 1.006278 1.882678 2.457970 +v -0.620140 -2.405676 -1.607987 +v -0.583218 1.845420 -1.719372 +v 0.969356 -1.739679 2.162182 +f 118 108 124 +f 83 84 85 +f 85 84 88 +f 84 86 92 +f 89 87 93 +f 83 85 94 +f 81 82 96 +f 88 80 97 +f 80 93 97 +f 86 84 98 +f 91 90 100 +f 93 87 101 +f 88 84 102 +f 84 92 102 +f 85 88 103 +f 97 85 103 +f 93 80 105 +f 89 93 105 +f 89 88 106 +f 92 89 106 +f 88 102 106 +f 102 92 106 +f 87 89 107 +f 91 87 107 +f 89 92 107 +f 92 91 107 +f 99 83 108 +f 83 94 109 +f 95 83 109 +f 94 100 109 +f 100 95 109 +f 94 85 110 +f 93 94 110 +f 85 97 110 +f 97 93 110 +f 96 98 111 +f 99 96 111 +f 98 99 111 +f 86 98 112 +f 104 86 112 +f 104 112 113 +f 98 96 113 +f 96 104 113 +f 112 98 113 +f 94 93 114 +f 93 101 114 +f 101 94 114 +f 81 96 115 +f 96 99 115 +f 108 81 115 +f 99 108 115 +f 87 91 116 +f 91 100 116 +f 100 94 116 +f 101 87 116 +f 94 101 116 +f 84 83 117 +f 98 84 117 +f 99 98 117 +f 83 99 117 +f 90 81 118 +f 100 90 118 +f 96 82 119 +f 104 96 119 +f 104 119 120 +f 82 81 120 +f 81 90 120 +f 90 91 120 +f 92 86 120 +f 91 92 120 +f 86 104 120 +f 119 82 120 +f 81 108 121 +f 118 81 121 +f 108 118 121 +f 88 97 122 +f 103 88 122 +f 97 103 122 +f 80 88 123 +f 88 89 123 +f 105 80 123 +f 89 105 123 +f 83 95 124 +f 95 100 124 +f 108 83 124 +f 100 118 124 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/179/179.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/179/179.urdf new file mode 100644 index 000000000..65e1cffd1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/179/179.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/180/180.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/180/180.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/180/180.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/180/180.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/180/180.obj new file mode 100644 index 000000000..bd1548c4e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/180/180.obj @@ -0,0 +1,597 @@ +o convex_0 +v -2.542614 -0.249432 -0.508495 +v -1.304878 0.564941 0.566673 +v -1.304878 0.141272 0.566673 +v -3.292221 -0.477695 0.566673 +v -3.161872 0.564941 -0.345621 +v -1.304878 -0.444947 -0.541135 +v -1.304878 0.532193 -0.475964 +v -3.292221 0.532193 0.436221 +v -1.304878 -0.542867 0.533924 +v -3.259342 -0.444947 -0.475964 +v -2.933663 0.564941 -0.443324 +v -1.695732 -0.542867 0.273238 +v -1.337368 0.401958 -0.508495 +v -3.031522 -0.477695 -0.345621 +v -1.989115 0.564941 0.533924 +v -1.337368 0.564941 -0.084934 +v -3.292221 0.304255 0.142895 +v -3.161872 0.499769 0.468753 +v -3.161872 0.434489 -0.443324 +v -2.738139 -0.510119 0.533924 +v -1.728611 -0.379884 -0.541135 +v -1.304878 -0.542867 0.273238 +v -3.292221 -0.477695 0.273238 +v -3.161872 0.564941 -0.019763 +v -3.161872 -0.347352 0.566673 +v -2.021800 0.564941 -0.443324 +v -3.226852 -0.119198 -0.475964 +f 17 19 27 +f 3 2 4 +f 2 3 6 +f 2 6 7 +f 3 4 9 +f 6 3 9 +f 5 2 11 +f 7 6 13 +f 1 11 13 +f 11 7 13 +f 10 6 14 +f 2 5 15 +f 2 7 16 +f 11 2 16 +f 4 8 17 +f 8 5 17 +f 8 4 18 +f 15 8 18 +f 5 11 19 +f 17 5 19 +f 9 4 20 +f 12 9 20 +f 14 12 20 +f 6 10 21 +f 10 1 21 +f 1 13 21 +f 13 6 21 +f 6 9 22 +f 9 12 22 +f 14 6 22 +f 12 14 22 +f 10 14 23 +f 4 17 23 +f 17 10 23 +f 20 4 23 +f 14 20 23 +f 5 8 24 +f 15 5 24 +f 8 15 24 +f 4 2 25 +f 2 15 25 +f 18 4 25 +f 15 18 25 +f 7 11 26 +f 16 7 26 +f 11 16 26 +f 1 10 27 +f 11 1 27 +f 10 17 27 +f 19 11 27 +o convex_1 +v 2.018690 0.565190 -0.247854 +v 1.692928 3.008377 0.338595 +v 1.530079 3.008377 0.338595 +v 1.953563 2.975791 -0.345595 +v 1.595270 0.565190 -0.378222 +v 2.149072 0.565190 0.273410 +v 1.595270 0.565190 0.305967 +v 2.083817 3.106383 0.305967 +v 1.562611 3.040963 -0.313038 +v 2.083817 2.910620 -0.345595 +v 1.497420 2.845448 0.273410 +v 2.083817 1.965632 -0.313038 +v 1.595270 1.412420 0.338595 +v 2.083817 0.565190 -0.117555 +v 1.725523 0.891048 -0.378222 +v 1.562611 1.086562 0.305967 +v 2.116413 2.258904 0.240783 +v 1.920968 0.728119 0.305967 +v 1.595270 2.421833 -0.345595 +v 2.149072 0.695533 0.208226 +v 2.083817 2.389247 0.305967 +f 40 45 48 +f 32 28 33 +f 32 33 34 +f 30 29 35 +f 30 35 36 +f 35 31 36 +f 31 35 37 +f 36 32 38 +f 30 36 38 +f 29 30 40 +f 33 28 41 +f 28 39 41 +f 28 32 42 +f 31 37 42 +f 39 28 42 +f 37 39 42 +f 32 34 43 +f 30 38 43 +f 38 32 43 +f 40 30 43 +f 34 40 43 +f 35 33 44 +f 37 35 44 +f 34 33 45 +f 40 34 45 +f 36 31 46 +f 32 36 46 +f 42 32 46 +f 31 42 46 +f 39 37 47 +f 33 41 47 +f 41 39 47 +f 44 33 47 +f 37 44 47 +f 35 29 48 +f 33 35 48 +f 29 40 48 +f 45 33 48 +o convex_2 +v 0.031162 0.108746 3.010170 +v -0.652969 -0.575450 1.088380 +v -0.489987 -0.575450 1.088380 +v -0.718139 0.597524 1.088380 +v 0.259206 0.564916 1.088186 +v -0.750779 0.564916 2.912320 +v 0.357016 -0.445017 3.042851 +v -0.750779 -0.477625 3.075338 +v 0.291846 -0.445017 1.088186 +v 0.259206 0.467091 2.945001 +v -0.750779 -0.510233 2.586477 +v 0.259206 -0.477625 2.879833 +v 0.259206 0.564916 1.479197 +v 0.324377 -0.445017 1.348860 +v -0.685500 -0.575450 1.316373 +v -0.750779 -0.249598 3.075338 +v -0.034009 0.597524 1.120867 +v 0.291846 0.369267 2.945001 +v -0.587798 0.564916 2.912320 +v -0.718139 0.239064 1.088380 +v -0.718139 0.597524 1.967863 +v -0.099288 -0.477625 3.075338 +v -0.750779 0.499699 2.945001 +v 0.161395 -0.477625 1.088380 +v 0.291846 0.108746 1.088186 +v -0.685500 -0.510233 2.749496 +v -0.750779 0.564916 2.553990 +v -0.522627 -0.575450 1.348860 +v 0.357016 -0.412409 2.977683 +v 0.291846 -0.249483 3.042851 +f 64 70 78 +f 51 50 57 +f 56 54 59 +f 55 60 62 +f 50 51 63 +f 54 56 64 +f 53 52 65 +f 61 53 65 +f 53 61 66 +f 61 58 66 +f 58 61 67 +f 61 65 67 +f 52 53 68 +f 57 50 68 +f 53 57 68 +f 50 63 68 +f 63 59 68 +f 52 54 69 +f 65 52 69 +f 54 67 69 +f 67 65 69 +f 60 55 70 +f 64 56 70 +f 49 58 71 +f 64 49 71 +f 54 64 71 +f 67 54 71 +f 58 67 71 +f 51 57 72 +f 60 51 72 +f 57 62 72 +f 62 60 72 +f 57 53 73 +f 62 57 73 +f 56 59 74 +f 59 63 74 +f 70 56 74 +f 60 70 74 +f 54 52 75 +f 59 54 75 +f 52 68 75 +f 68 59 75 +f 51 60 76 +f 63 51 76 +f 74 63 76 +f 60 74 76 +f 55 62 77 +f 53 66 77 +f 66 55 77 +f 73 53 77 +f 62 73 77 +f 58 49 78 +f 49 64 78 +f 55 66 78 +f 66 58 78 +f 70 55 78 +o convex_3 +v 2.018658 -1.194793 0.273429 +v 1.432318 -3.084309 -0.215290 +v 1.562687 -3.084309 -0.215290 +v 1.953474 -0.640854 -0.313057 +v 1.497503 -0.640854 0.273429 +v 2.051250 -3.018774 0.273429 +v 2.051250 -2.986246 -0.215290 +v 1.464911 -0.640854 -0.215290 +v 1.432318 -3.051302 0.175663 +v 2.083906 -0.640854 -0.117523 +v 2.018658 -0.640854 0.240821 +v 2.083906 -0.934088 -0.313057 +v 1.855761 -3.018774 0.273429 +v 1.530095 -2.660484 -0.247841 +v 1.432318 -2.041488 0.045345 +v 2.051250 -2.660484 -0.247841 +v 1.464911 -1.813789 0.240821 +v 2.083906 -1.585851 -0.215290 +v 2.051250 -0.901559 0.175663 +v 1.464911 -0.673622 0.045345 +f 93 95 98 +f 79 83 84 +f 84 81 85 +f 83 82 86 +f 80 81 87 +f 81 84 87 +f 82 83 88 +f 83 79 89 +f 88 83 89 +f 82 88 90 +f 84 83 91 +f 87 84 91 +f 81 80 92 +f 80 86 92 +f 86 82 92 +f 82 90 92 +f 86 80 93 +f 80 87 93 +f 85 81 94 +f 90 85 94 +f 81 92 94 +f 92 90 94 +f 91 83 95 +f 87 91 95 +f 93 87 95 +f 84 85 96 +f 88 84 96 +f 85 90 96 +f 90 88 96 +f 79 84 97 +f 84 88 97 +f 89 79 97 +f 88 89 97 +f 83 86 98 +f 86 93 98 +f 95 83 98 +o convex_4 +v 1.595325 -0.640615 -0.247790 +v 2.735448 0.564941 -0.117491 +v 2.800701 0.499683 0.599255 +v 0.845768 0.467114 0.436224 +v 2.735448 -0.444960 0.566628 +v 0.845768 0.564941 -0.443238 +v 0.845768 -0.607927 0.436224 +v 2.735448 -0.477648 -0.475970 +v 0.845768 -0.510218 -0.443238 +v 2.702916 0.564941 -0.475970 +v 2.018613 -0.640615 0.240777 +v 1.595325 0.564941 0.305926 +v 1.106592 -0.510218 -0.475970 +v 0.976275 -0.542787 0.468852 +v 2.083867 -0.640615 -0.312939 +v 2.605132 0.271577 0.599255 +v 1.334693 0.564941 -0.475970 +v 2.409562 -0.477648 0.566628 +v 2.735448 0.564941 -0.410716 +v 2.767979 -0.347250 0.566628 +v 2.735448 -0.477648 0.110373 +v 2.800701 0.434426 0.403597 +v 2.279245 0.564941 0.305926 +v 1.106592 0.434426 0.468852 +v 1.465009 -0.640615 -0.215268 +v 2.637663 -0.510218 -0.475970 +f 119 113 124 +f 102 104 105 +f 105 104 107 +f 104 100 108 +f 102 101 110 +f 100 104 110 +f 104 102 110 +f 107 104 111 +f 108 106 111 +f 102 105 112 +f 99 107 113 +f 109 99 113 +f 107 111 113 +f 103 101 114 +f 104 108 115 +f 111 104 115 +f 108 111 115 +f 105 109 116 +f 109 103 116 +f 112 105 116 +f 103 114 116 +f 114 112 116 +f 100 101 117 +f 108 100 117 +f 106 108 117 +f 101 103 118 +f 106 118 119 +f 103 109 119 +f 109 113 119 +f 118 103 119 +f 117 101 120 +f 106 117 120 +f 101 118 120 +f 118 106 120 +f 101 100 121 +f 110 101 121 +f 100 110 121 +f 101 102 122 +f 102 112 122 +f 114 101 122 +f 112 114 122 +f 105 107 123 +f 107 99 123 +f 99 109 123 +f 109 105 123 +f 111 106 124 +f 113 111 124 +f 106 119 124 +o convex_5 +v -0.261862 -0.510259 -2.854283 +v 0.389612 0.564941 -1.095227 +v 0.357004 0.564941 -1.095227 +v -0.522497 0.532346 -2.984485 +v -0.750753 -0.347282 -1.095227 +v 0.357004 -0.575450 -3.017224 +v 0.324395 -0.510259 -1.095227 +v -0.783362 0.467155 -1.095227 +v 0.291787 0.499639 -2.919384 +v -0.652929 -0.314687 -2.951935 +v -0.750753 0.532346 -2.821732 +v -0.718145 -0.477552 -1.095227 +v 0.389612 -0.444957 -2.886833 +v -0.620321 -0.445068 -2.919384 +v 0.357004 -0.542743 -1.584052 +v -0.555105 -0.510259 -1.323459 +v 0.357004 0.532234 -2.170153 +v -0.718145 0.271583 -2.984485 +v 0.389612 0.108606 -1.095227 +v 0.128862 -0.575450 -2.626240 +v 0.291787 -0.542743 -1.193068 +v -0.718145 -0.477552 -1.584052 +v 0.324395 0.304178 -2.951935 +v -0.131888 -0.086519 -3.017224 +v 0.324395 0.532346 -2.463298 +v 0.389612 0.532234 -1.616603 +v -0.783362 0.434448 -1.486212 +v -0.750753 0.499639 -1.746994 +v 0.357004 -0.347282 -3.017224 +v 0.226571 -0.575450 -3.017224 +v -0.718145 0.532346 -2.984485 +v -0.750753 0.467155 -2.821732 +f 151 135 156 +f 127 126 128 +f 126 127 129 +f 126 129 131 +f 129 127 132 +f 131 129 136 +f 130 137 139 +f 126 131 143 +f 137 126 143 +f 131 139 143 +f 139 137 143 +f 140 125 144 +f 140 144 145 +f 131 136 145 +f 139 131 145 +f 130 139 145 +f 136 140 145 +f 144 130 145 +f 136 129 146 +f 138 125 146 +f 134 138 146 +f 125 140 146 +f 140 136 146 +f 128 133 147 +f 133 141 147 +f 141 137 147 +f 134 142 148 +f 128 126 149 +f 133 128 149 +f 126 141 149 +f 141 133 149 +f 126 137 150 +f 141 126 150 +f 137 141 150 +f 129 132 151 +f 132 135 151 +f 132 127 152 +f 127 135 152 +f 135 132 152 +f 137 130 153 +f 128 147 153 +f 147 137 153 +f 130 148 153 +f 148 128 153 +f 125 138 154 +f 138 134 154 +f 144 125 154 +f 130 144 154 +f 148 130 154 +f 134 148 154 +f 127 128 155 +f 135 127 155 +f 142 135 155 +f 128 148 155 +f 148 142 155 +f 142 134 156 +f 135 142 156 +f 146 129 156 +f 134 146 156 +f 129 151 156 +o convex_6 +v 0.031135 1.053495 -1.095039 +v 0.845762 -2.530143 1.087994 +v 0.813134 -2.530143 1.087994 +v 0.584955 2.976053 0.989912 +v -1.239429 -2.921192 0.990125 +v 0.813134 -2.953876 -1.062131 +v -1.239429 2.942784 -0.964476 +v -1.174175 -2.921192 -0.964476 +v -1.206802 2.942784 0.957431 +v 0.780507 2.975469 -0.996957 +v 0.845762 2.975469 0.990125 +v 0.845762 -2.986561 1.087994 +v -0.718026 0.597077 1.087781 +v -1.304683 -0.672955 -0.573428 +v -0.783280 -0.770425 -1.095039 +v -1.304683 0.564392 0.566383 +v 0.845762 0.563809 -0.443292 +v -1.239429 2.976053 0.924951 +v 0.259104 0.564392 1.087781 +v -1.206802 2.877415 -0.996957 +v 0.650209 -1.324313 -1.095039 +v 0.813134 2.975469 -0.866821 +v -0.652982 -0.574901 1.087781 +v 0.747880 2.649790 -1.029651 +v -0.164417 -2.953876 -1.029651 +v -0.750653 -2.953876 0.859562 +v -0.783280 0.466339 -1.095039 +v -1.304683 0.531708 -0.475772 +v -1.304683 -0.542216 0.533902 +v 0.845762 -2.953876 0.403553 +v 0.519911 1.053495 -1.095039 +v -1.239429 2.976053 -0.019763 +v 0.845762 2.975469 0.338378 +v -0.001492 -1.682677 -1.095039 +v -1.109131 -2.529560 -0.996957 +v -1.239429 1.509329 -0.964690 +v 0.813134 -1.356998 -1.062131 +v -1.239429 2.714576 0.957431 +v -1.272056 1.900378 -0.768952 +v 0.682836 -2.953876 1.087781 +v -1.206802 -2.887923 -0.247768 +v 0.845762 -0.510115 -0.443292 +v -1.272056 -1.942987 0.338378 +v 0.780507 -2.986561 0.827082 +v 0.454657 -2.953876 -1.062131 +v 0.845762 1.411275 1.022606 +v 0.813134 2.681891 -0.931782 +v -1.043876 2.942784 -0.996957 +v -1.206802 -2.464190 -0.866821 +v 0.454657 2.976053 0.989912 +f 174 165 206 +f 158 159 168 +f 167 158 168 +f 159 158 169 +f 167 168 173 +f 169 158 175 +f 167 169 175 +f 171 157 177 +f 166 160 178 +f 168 159 179 +f 159 169 179 +f 169 161 179 +f 161 164 182 +f 168 161 182 +f 164 181 182 +f 157 171 183 +f 176 157 183 +f 171 176 183 +f 170 172 184 +f 161 172 185 +f 172 170 185 +f 168 162 186 +f 173 168 186 +f 177 157 187 +f 157 180 187 +f 160 166 188 +f 166 163 188 +f 174 160 188 +f 160 167 189 +f 167 173 189 +f 178 160 189 +f 173 178 189 +f 177 162 190 +f 171 177 190 +f 164 176 191 +f 176 171 191 +f 181 164 191 +f 171 181 191 +f 163 176 192 +f 176 164 192 +f 173 162 193 +f 162 177 193 +f 180 166 193 +f 177 187 193 +f 187 180 193 +f 169 165 194 +f 161 169 194 +f 172 161 194 +f 165 174 194 +f 174 172 194 +f 172 174 195 +f 170 184 195 +f 184 172 195 +f 188 163 195 +f 174 188 195 +f 192 170 195 +f 163 192 195 +f 161 168 196 +f 168 179 196 +f 179 161 196 +f 164 161 197 +f 162 173 198 +f 186 162 198 +f 173 186 198 +f 161 185 199 +f 185 170 199 +f 197 161 199 +f 170 197 199 +f 162 168 200 +f 168 182 200 +f 182 181 200 +f 181 171 201 +f 190 162 201 +f 171 190 201 +f 162 200 201 +f 200 181 201 +f 158 167 202 +f 175 158 202 +f 167 175 202 +f 166 178 203 +f 178 173 203 +f 173 193 203 +f 193 166 203 +f 163 166 204 +f 176 163 204 +f 157 176 204 +f 166 180 204 +f 180 157 204 +f 192 164 205 +f 170 192 205 +f 164 197 205 +f 197 170 205 +f 167 160 206 +f 165 169 206 +f 169 167 206 +f 160 174 206 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/180/180.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/180/180.urdf new file mode 100644 index 000000000..a990da95e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/180/180.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/181/181.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/181/181.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/181/181.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/181/181.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/181/181.obj new file mode 100644 index 000000000..61611ea8d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/181/181.obj @@ -0,0 +1,903 @@ +o convex_0 +v -0.812532 -2.233878 -1.489784 +v 1.252255 -0.729037 0.083768 +v 1.252255 -0.764152 0.083768 +v -0.742440 -1.429126 2.813758 +v -1.022583 -0.729208 -1.384920 +v 0.762061 -2.198762 1.974257 +v 0.762061 -1.569076 -2.749915 +v 0.062493 -0.729208 2.779194 +v 0.762061 -2.198762 -2.084407 +v -0.112512 -2.443717 2.009407 +v -0.042646 -0.729208 -2.715351 +v -0.742440 -1.604020 -2.749329 +v 0.797107 -1.429126 2.708894 +v 0.027447 -2.478832 -2.084992 +v -0.812532 -2.163818 2.043971 +v -0.812532 -0.729208 1.974257 +v -1.022583 -1.569076 2.043971 +v 0.027447 -2.233878 2.744044 +v -1.057630 -1.569076 -1.699513 +v 0.797107 -0.729208 -2.015278 +v -0.042646 -2.233878 -2.785065 +v 0.832153 -0.729208 2.009407 +v -0.742440 -2.303938 -2.049842 +v 1.042204 -1.464071 1.973671 +v 1.007158 -1.534131 -2.049842 +v -0.007600 -1.429126 -2.995380 +v 0.097313 -1.464071 2.989508 +v -1.057630 -0.904102 0.049204 +v -0.637527 -0.904273 -2.469886 +v -0.742440 -2.268823 2.009407 +v 0.097313 -2.443717 2.009407 +v 0.727240 -1.254232 -2.714765 +v -1.022583 -1.534131 -2.119557 +v 0.832153 -2.093929 0.189218 +v -0.497568 -0.834213 2.638593 +v -0.532615 -2.058813 2.603443 +v 1.007158 -0.729037 -1.384920 +v -0.812532 -2.268994 -0.019925 +v 0.587282 -0.834213 2.568879 +v -1.022583 -0.729208 0.258933 +v 0.587282 -1.988924 2.568879 +v -1.022583 -1.394182 2.043971 +v -0.847578 -0.729208 -1.944978 +v 1.252255 -0.834213 -0.054489 +v 0.167179 -2.443717 -2.049842 +v -0.742440 -1.394182 -2.714765 +v 1.042204 -0.729037 1.343899 +v 0.587282 -2.023868 -2.609900 +v -1.057630 -1.569076 0.118918 +v 1.007158 -1.428955 -2.119557 +v -0.077466 -2.478832 -2.049842 +v 0.587282 -0.904273 -2.574750 +v -0.532615 -2.093929 -2.609900 +v 0.062493 -2.233878 -2.785065 +v -0.147558 -1.464071 2.989508 +v -0.777486 -1.534131 2.779194 +v 0.797107 -2.163818 2.009407 +v 1.042204 -1.359066 2.008821 +v -1.057630 -0.729208 -1.069741 +v 0.062493 -1.569076 -2.995380 +v -0.042646 -0.764152 2.814344 +v 0.062493 -0.764152 -2.749915 +v 0.762061 -1.359237 2.744044 +v -0.742440 -2.303938 -0.929726 +f 23 51 64 +f 1 19 23 +f 9 7 25 +f 18 13 27 +f 10 18 30 +f 6 18 31 +f 18 10 31 +f 23 19 33 +f 12 23 33 +f 9 25 34 +f 16 4 35 +f 15 30 36 +f 30 18 36 +f 20 11 37 +f 19 1 38 +f 1 23 38 +f 30 15 38 +f 22 8 39 +f 13 18 41 +f 4 16 42 +f 16 40 42 +f 40 28 42 +f 11 29 43 +f 33 5 43 +f 5 37 43 +f 37 11 43 +f 2 3 44 +f 3 24 44 +f 24 34 44 +f 34 25 44 +f 37 2 44 +f 9 6 45 +f 6 31 45 +f 31 14 45 +f 11 26 46 +f 26 12 46 +f 29 11 46 +f 12 33 46 +f 43 29 46 +f 33 43 46 +f 16 8 47 +f 8 22 47 +f 2 37 47 +f 40 16 47 +f 7 9 48 +f 15 17 49 +f 28 19 49 +f 38 15 49 +f 19 38 49 +f 17 42 49 +f 42 28 49 +f 25 7 50 +f 32 20 50 +f 7 32 50 +f 20 37 50 +f 44 25 50 +f 37 44 50 +f 21 14 51 +f 23 21 51 +f 14 31 51 +f 31 10 51 +f 20 32 52 +f 12 21 53 +f 23 12 53 +f 21 23 53 +f 14 21 54 +f 9 45 54 +f 45 14 54 +f 7 48 54 +f 48 9 54 +f 18 27 55 +f 17 15 56 +f 15 36 56 +f 36 18 56 +f 4 42 56 +f 42 17 56 +f 55 4 56 +f 18 55 56 +f 6 9 57 +f 18 6 57 +f 24 13 57 +f 9 34 57 +f 34 24 57 +f 13 41 57 +f 41 18 57 +f 3 2 58 +f 24 3 58 +f 13 24 58 +f 47 22 58 +f 2 47 58 +f 19 28 59 +f 5 33 59 +f 33 19 59 +f 37 5 59 +f 28 40 59 +f 47 37 59 +f 40 47 59 +f 21 12 60 +f 12 26 60 +f 32 7 60 +f 26 32 60 +f 54 21 60 +f 7 54 60 +f 8 16 61 +f 27 8 61 +f 35 4 61 +f 16 35 61 +f 4 55 61 +f 55 27 61 +f 11 20 62 +f 26 11 62 +f 32 26 62 +f 20 52 62 +f 52 32 62 +f 8 27 63 +f 27 13 63 +f 39 8 63 +f 22 39 63 +f 13 58 63 +f 58 22 63 +f 10 30 64 +f 38 23 64 +f 30 38 64 +f 51 10 64 +o convex_1 +v -0.077542 2.910745 0.994436 +v -0.322729 2.805750 -1.105415 +v -0.322729 2.875804 -1.105415 +v 1.322295 1.826029 -0.020590 +v -1.197658 1.791088 -0.020590 +v 0.762114 3.295611 -0.020590 +v -0.742557 3.295782 -0.020590 +v 0.901974 1.791088 0.889318 +v 0.901974 1.791088 -0.860279 +v -0.952470 1.791088 0.819518 +v -0.917444 1.791088 -0.930288 +v 0.552200 3.085622 -0.825379 +v -0.112568 3.400777 0.784409 +v -0.077542 3.365836 -0.825170 +v 0.552200 3.050680 0.819309 +v -0.812363 2.665814 0.749509 +v -0.777583 2.665814 -0.825170 +v 0.027539 3.540712 -0.090181 +v -0.147595 1.791088 1.029545 +v 0.062319 1.791088 -1.070306 +v -0.357509 2.875804 1.029545 +v -0.567669 3.155846 -0.615143 +v -0.567669 3.155846 0.609491 +v 1.322295 1.826029 0.049419 +v 0.027539 2.526050 -1.070306 +v 0.027539 2.421055 1.029545 +v -1.197658 1.826029 -0.090181 +v 0.972028 1.826200 -0.790061 +v -0.042515 3.400777 0.784409 +v -0.182622 1.791088 -1.070306 +v 0.692060 3.225729 0.294346 +v -0.007488 3.365836 -0.825170 +v -0.952470 1.860970 -0.895388 +v 0.027539 3.540712 0.049419 +v 1.322295 1.791088 -0.020590 +v 0.586980 3.015739 -0.825379 +v 0.097345 1.791088 1.029545 +v 0.586980 2.980627 0.819309 +v -0.742557 3.295782 -0.055072 +v 0.482393 3.015739 0.854209 +v -1.197658 1.826029 -0.020590 +v -0.042515 3.540712 -0.055281 +v -0.847390 1.966136 -0.965397 +v -0.812363 2.526050 -0.860070 +v -0.777583 1.931023 0.889527 +v -0.252675 2.875804 -1.105415 +v 0.901974 1.826200 0.889318 +v 0.762114 3.295611 0.014310 +v 0.272233 3.225729 0.819309 +v 0.412340 2.980627 -0.895179 +v -0.672503 3.330723 0.014519 +v 0.901974 1.861141 -0.860279 +v 0.622007 3.120734 0.609282 +v -0.182622 3.225729 0.889527 +v -0.672503 3.260670 0.224546 +v -0.847390 1.826029 -0.965397 +v -0.952470 1.826029 0.819518 +f 109 85 121 +f 72 69 73 +f 69 72 74 +f 73 69 75 +f 74 72 83 +f 73 75 84 +f 78 67 86 +f 67 81 86 +f 80 85 87 +f 68 70 88 +f 65 85 90 +f 85 83 90 +f 75 69 91 +f 66 84 94 +f 84 75 94 +f 70 76 96 +f 67 78 96 +f 82 70 96 +f 78 82 96 +f 75 91 97 +f 70 82 98 +f 77 93 98 +f 72 73 99 +f 68 88 99 +f 88 72 99 +f 92 68 99 +f 73 92 99 +f 70 68 100 +f 76 70 100 +f 68 92 100 +f 83 72 101 +f 90 83 101 +f 78 86 103 +f 86 81 103 +f 91 71 103 +f 81 91 103 +f 65 90 104 +f 102 79 104 +f 69 74 105 +f 80 71 105 +f 91 69 105 +f 71 91 105 +f 82 78 106 +f 77 98 106 +f 98 82 106 +f 78 103 106 +f 67 66 107 +f 75 97 107 +f 107 97 108 +f 81 67 108 +f 91 81 108 +f 97 91 108 +f 67 107 108 +f 74 83 109 +f 83 85 109 +f 66 67 110 +f 84 66 110 +f 89 84 110 +f 96 76 110 +f 67 96 110 +f 72 88 111 +f 101 72 111 +f 90 101 111 +f 88 102 111 +f 104 90 111 +f 102 104 111 +f 88 70 112 +f 95 88 112 +f 93 95 112 +f 70 98 112 +f 98 93 112 +f 95 93 113 +f 65 104 113 +f 104 79 113 +f 76 100 114 +f 89 110 114 +f 110 76 114 +f 103 71 115 +f 77 106 115 +f 106 103 115 +f 73 84 116 +f 84 89 116 +f 92 73 116 +f 100 92 116 +f 89 114 116 +f 114 100 116 +f 88 95 117 +f 79 102 117 +f 102 88 117 +f 113 79 117 +f 95 113 117 +f 85 65 118 +f 77 87 118 +f 87 85 118 +f 93 77 118 +f 65 113 118 +f 113 93 118 +f 71 80 119 +f 87 77 119 +f 80 87 119 +f 115 71 119 +f 77 115 119 +f 66 94 120 +f 94 75 120 +f 107 66 120 +f 75 107 120 +f 85 80 121 +f 105 74 121 +f 80 105 121 +f 74 109 121 +o convex_2 +v -0.882592 -0.729036 -1.805313 +v 1.952283 -0.519040 0.015023 +v 1.952283 -0.554067 0.015023 +v -0.112647 -0.694010 2.744465 +v -1.022661 -0.519040 0.364434 +v 1.392006 -0.729036 -0.020024 +v 0.027422 -0.519040 -2.085160 +v 0.027422 -0.729036 -2.645386 +v 0.027422 -0.519040 2.359476 +v -0.777467 -0.729036 2.079097 +v 0.762131 -0.729036 2.114145 +v -0.987425 -0.519040 -1.280134 +v 0.832020 -0.729036 -1.874876 +v -1.022661 -0.729036 0.258761 +v 0.866965 -0.554067 1.659060 +v -0.322606 -0.519040 2.009003 +v 0.937145 -0.554067 -1.349698 +v -0.007522 -0.694010 -2.645386 +v 0.167491 -0.729036 2.708887 +v -1.022661 -0.729036 -1.350229 +v 0.762131 -0.659024 2.078566 +v -0.777467 -0.694010 2.079097 +v 0.832020 -0.694010 -1.874876 +v -0.042467 -0.659024 2.779512 +v -0.847356 -0.519040 0.959176 +v 1.952283 -0.519040 -0.055071 +v 1.041978 -0.729036 1.309118 +v -0.882592 -0.694010 -1.805313 +v 0.937145 -0.519040 1.449308 +v -1.022661 -0.519040 -1.174992 +v -0.182536 -0.519040 -1.980018 +v 0.027422 -0.659024 2.779512 +v 1.952283 -0.554067 -0.055071 +v 0.027422 -0.694010 -2.645386 +v -0.042467 -0.729036 2.779512 +f 153 145 156 +f 126 123 128 +f 127 122 129 +f 123 126 130 +f 122 127 131 +f 124 123 132 +f 131 127 132 +f 126 128 133 +f 127 129 134 +f 131 126 135 +f 122 131 135 +f 130 126 137 +f 129 122 139 +f 131 132 140 +f 135 126 141 +f 122 135 141 +f 132 123 142 +f 123 136 142 +f 136 130 142 +f 140 132 142 +f 126 131 143 +f 131 125 143 +f 134 129 144 +f 130 137 145 +f 143 125 145 +f 137 143 145 +f 137 126 146 +f 126 143 146 +f 143 137 146 +f 123 124 147 +f 128 123 147 +f 138 128 147 +f 134 144 147 +f 144 138 147 +f 127 124 148 +f 124 132 148 +f 132 127 148 +f 139 122 149 +f 133 139 149 +f 122 141 149 +f 123 130 150 +f 136 123 150 +f 130 136 150 +f 126 133 151 +f 141 126 151 +f 133 149 151 +f 149 141 151 +f 133 128 152 +f 139 133 152 +f 128 139 152 +f 142 130 153 +f 140 142 153 +f 130 145 153 +f 124 127 154 +f 127 134 154 +f 147 124 154 +f 134 147 154 +f 128 138 155 +f 129 139 155 +f 139 128 155 +f 144 129 155 +f 138 144 155 +f 125 131 156 +f 131 140 156 +f 145 125 156 +f 140 153 156 +o convex_3 +v 0.062374 -0.344061 1.553932 +v -0.042460 -0.519040 -1.980399 +v -0.042460 -0.484014 -1.980399 +v 2.477274 -0.379070 -0.055161 +v 0.027429 -0.519040 2.219523 +v -2.282637 -0.344061 -0.020216 +v 2.057008 -0.519040 -0.055161 +v 0.097318 -0.344061 -1.350164 +v -1.862371 -0.484014 0.014728 +v 2.477274 -0.344061 0.014728 +v -1.022771 -0.519040 -1.140085 +v -1.547404 -0.344061 -0.930418 +v 1.672152 -0.344061 -0.895063 +v -0.007515 -0.414063 2.009445 +v 1.566852 -0.344061 0.889164 +v 1.147052 -0.519040 -1.035252 +v -1.197027 -0.519040 0.189040 +v -2.107449 -0.449021 0.014728 +v -2.037094 -0.344061 0.293874 +v 0.972329 -0.519040 1.309321 +v -0.217649 -0.519040 2.044389 +v -0.042460 -0.484014 2.219523 +v -1.652238 -0.379070 -0.825174 +v -2.282637 -0.379070 0.049673 +v 2.477274 -0.379070 0.014728 +v 1.672152 -0.379070 -0.895063 +v 1.811930 -0.379070 0.679086 +v 2.057008 -0.519040 0.014728 +v -2.037094 -0.379070 -0.370072 +v 0.097318 -0.519040 -1.910099 +v -0.007515 -0.379070 -1.525298 +v 0.027429 -0.484014 2.219523 +f 161 183 188 +f 161 158 163 +f 162 157 164 +f 164 157 166 +f 158 161 167 +f 159 158 168 +f 162 164 168 +f 159 164 169 +f 166 160 169 +f 164 166 169 +f 166 157 171 +f 157 170 171 +f 163 158 172 +f 160 163 172 +f 167 161 173 +f 165 167 173 +f 167 165 174 +f 157 162 175 +f 170 157 175 +f 161 163 176 +f 173 161 177 +f 165 173 177 +f 174 165 177 +f 175 177 178 +f 170 175 178 +f 177 161 178 +f 158 167 179 +f 168 158 179 +f 175 162 180 +f 174 177 180 +f 177 175 180 +f 163 160 181 +f 160 166 181 +f 169 160 182 +f 160 172 182 +f 166 171 183 +f 161 176 183 +f 181 166 183 +f 176 181 183 +f 176 163 184 +f 163 181 184 +f 181 176 184 +f 162 168 185 +f 167 174 185 +f 179 167 185 +f 168 179 185 +f 174 180 185 +f 180 162 185 +f 158 159 186 +f 159 169 186 +f 172 158 186 +f 169 182 186 +f 182 172 186 +f 164 159 187 +f 159 168 187 +f 168 164 187 +f 171 170 188 +f 178 161 188 +f 170 178 188 +f 183 171 188 +o convex_4 +v 1.111996 0.145947 1.064380 +v 0.027257 -0.344044 -1.315411 +v 0.027257 -0.309031 -1.315411 +v -2.877626 0.110934 0.084343 +v -0.007224 -0.344044 1.344539 +v 2.651771 0.145947 -0.685313 +v 2.721863 -0.309031 0.014564 +v -2.386978 -0.344044 -0.020586 +v -1.722230 0.145947 -1.035252 +v -2.002035 0.145947 0.889150 +v 2.582243 0.145947 0.679291 +v -2.072127 -0.238956 -0.790243 +v 1.812356 -0.344044 -0.860283 +v 1.777310 0.145947 -1.035252 +v -2.002035 -0.203991 0.784481 +v 1.707217 -0.344044 0.854261 +v -2.632302 0.145947 -0.615273 +v -2.737441 -0.203991 -0.020586 +v 1.707217 0.110934 1.029490 +v 2.897094 0.145947 0.014564 +v -2.632302 0.145947 0.609251 +v -1.267759 -0.344044 -1.035252 +v -0.042270 0.145947 1.064380 +v 2.582243 -0.099048 -0.615273 +v 2.582243 -0.099048 0.539212 +v 0.342108 0.110934 -1.105292 +v -2.002035 -0.344044 0.399392 +v -2.737441 -0.168978 0.154123 +v 2.582243 -0.344044 -0.055215 +v 1.951976 -0.273970 0.819371 +v 1.322273 -0.344044 -1.035252 +v 2.756909 -0.273970 -0.090105 +v -0.007224 -0.309031 1.344539 +v -2.632302 -0.029070 -0.510344 +v -1.687749 -0.344044 -0.895172 +v -2.597256 0.075873 0.644402 +v 1.217135 -0.344044 1.029490 +v -1.162620 0.145947 -1.070142 +v -2.037081 0.110934 -0.930322 +v -2.877626 0.145947 -0.020586 +v 2.022068 -0.064083 -0.895172 +v 2.616724 0.075873 0.644402 +v 2.791956 -0.238956 0.014564 +v -2.632302 0.075873 -0.615273 +v 2.897094 0.110934 -0.055215 +v 2.022068 0.145947 0.924300 +v -2.772487 -0.168978 -0.055476 +v -2.527164 -0.029070 0.609251 +v -2.002035 -0.238956 0.714181 +v -2.386978 -0.344044 0.049454 +v -2.002035 0.110934 0.889150 +v 2.651771 0.110934 -0.685313 +v 1.951976 -0.309031 -0.825393 +v 1.777310 0.110934 -1.035252 +v 2.022068 -0.273970 0.784221 +f 230 218 243 +f 190 193 196 +f 191 190 197 +f 189 194 197 +f 189 197 198 +f 194 189 199 +f 193 190 201 +f 190 191 202 +f 197 194 202 +f 193 201 204 +f 198 197 205 +f 200 196 206 +f 194 199 208 +f 198 205 209 +f 190 196 210 +f 197 190 210 +f 189 198 211 +f 202 191 214 +f 196 193 215 +f 195 204 217 +f 204 201 217 +f 201 190 219 +f 195 217 220 +f 198 193 221 +f 207 189 221 +f 193 207 221 +f 189 211 221 +f 211 198 221 +f 196 200 223 +f 210 196 223 +f 198 209 224 +f 209 192 224 +f 192 216 224 +f 193 204 225 +f 207 193 225 +f 204 218 225 +f 218 207 225 +f 191 197 226 +f 197 202 226 +f 214 191 226 +f 202 214 226 +f 205 197 227 +f 197 210 227 +f 223 200 227 +f 210 223 227 +f 192 209 228 +f 209 205 228 +f 208 199 230 +f 213 195 231 +f 195 220 231 +f 208 230 231 +f 230 213 231 +f 200 222 232 +f 205 227 232 +f 227 200 232 +f 228 205 232 +f 194 208 233 +f 208 231 233 +f 231 220 233 +f 199 189 234 +f 189 207 234 +f 207 218 234 +f 230 199 234 +f 218 230 234 +f 200 206 235 +f 206 216 235 +f 216 192 235 +f 222 200 235 +f 192 228 235 +f 232 222 235 +f 228 232 235 +f 216 203 236 +f 203 224 236 +f 224 216 236 +f 193 203 237 +f 215 193 237 +f 203 216 237 +f 237 216 238 +f 206 196 238 +f 196 215 238 +f 216 206 238 +f 215 237 238 +f 193 198 239 +f 203 193 239 +f 198 224 239 +f 224 203 239 +f 202 194 240 +f 220 212 240 +f 194 233 240 +f 233 220 240 +f 217 201 241 +f 201 219 241 +f 212 220 241 +f 220 217 241 +f 219 229 241 +f 240 212 241 +f 229 240 241 +f 190 202 242 +f 219 190 242 +f 229 219 242 +f 202 240 242 +f 240 229 242 +f 204 195 243 +f 195 213 243 +f 218 204 243 +f 213 230 243 +o convex_5 +v 2.197259 1.265767 0.714500 +v -1.792568 0.531169 -1.070416 +v -1.757213 0.146242 -1.035098 +v -2.737140 0.601039 0.819409 +v 2.652162 0.146081 0.644491 +v 0.061809 1.790756 -1.070416 +v 2.757049 0.461138 -0.825071 +v -0.147376 1.790756 1.029435 +v -2.772495 1.300863 -0.020281 +v -0.042489 0.146242 1.064544 +v 2.721694 1.300863 -0.090081 +v 1.811888 0.146242 -1.035307 +v -2.877382 0.146242 -0.055181 +v -0.952294 1.790756 -0.930189 +v 2.091784 0.566104 1.029435 +v 1.427107 1.790756 0.049519 +v -2.737140 0.601039 -0.790171 +v -0.952294 1.790756 0.819409 +v 0.936849 1.790756 -0.860389 +v -1.932221 0.181016 0.924317 +v -2.002342 0.565943 1.029435 +v 0.902083 1.790756 0.889418 +v 2.757049 0.531169 0.784300 +v 2.896702 0.146081 -0.090081 +v 2.021662 0.531008 -1.070416 +v 2.057017 1.300702 -0.790171 +v -3.017623 0.636135 0.014410 +v -2.562131 1.125866 0.609382 +v 3.002178 0.566104 -0.055181 +v 1.741767 0.146242 1.029435 +v -2.527366 1.125866 -0.615253 +v -1.266955 1.790756 -0.090290 +v -2.597487 0.146242 0.679391 +v -2.632253 0.146242 -0.650153 +v -0.007723 1.195736 1.064544 +v 2.616807 0.146081 -0.720162 +v 2.721694 1.300863 0.014410 +v -1.967576 1.300863 0.784509 +v -2.037697 0.636135 -1.035098 +v 1.707002 0.531008 1.064544 +v 2.582041 1.055836 -0.650153 +v -1.232189 0.146242 -1.070416 +v -1.932221 1.335798 -0.825280 +v 2.021662 1.335798 0.784509 +v 2.582041 1.125705 0.539373 +v -2.772495 1.300863 0.049310 +v 0.097164 1.790756 1.029435 +v -2.772495 0.496073 0.784509 +v -0.182141 1.790756 -1.070416 +v 2.757049 0.531169 -0.825071 +v -2.807261 0.601039 -0.685262 +v 1.741767 0.181177 -1.070416 +v 1.986896 1.195736 -0.860389 +v -2.912148 0.181016 0.049310 +v 3.002178 0.426043 0.014410 +v -2.387124 1.440763 0.014410 +v 2.791815 1.195736 0.014410 +v -3.017623 0.496073 0.014410 +v -2.807261 0.601039 0.714291 +v -2.632253 1.195736 -0.405226 +v 1.531994 1.755660 -0.020072 +v -2.037697 0.426043 -1.035098 +v -2.737140 0.391108 -0.720162 +v 2.757049 1.265767 -0.090081 +f 280 300 307 +f 251 249 257 +f 249 251 259 +f 251 257 261 +f 249 259 262 +f 263 253 264 +f 259 251 265 +f 245 249 268 +f 262 254 269 +f 253 248 273 +f 248 266 273 +f 266 258 273 +f 261 257 275 +f 248 253 276 +f 256 248 276 +f 253 263 276 +f 251 264 278 +f 264 253 278 +f 255 250 279 +f 248 256 279 +f 250 267 279 +f 267 248 279 +f 277 246 279 +f 256 277 279 +f 259 265 280 +f 251 261 281 +f 264 251 281 +f 247 264 281 +f 271 247 281 +f 261 271 281 +f 253 273 283 +f 273 258 283 +f 278 253 283 +f 269 254 284 +f 246 245 285 +f 245 268 285 +f 279 246 285 +f 255 279 285 +f 260 274 286 +f 257 282 286 +f 282 260 286 +f 265 258 287 +f 266 244 287 +f 258 266 287 +f 280 265 287 +f 280 287 288 +f 244 266 288 +f 287 244 288 +f 252 270 289 +f 271 261 289 +f 258 265 290 +f 265 251 290 +f 251 278 290 +f 283 258 290 +f 278 283 290 +f 264 247 291 +f 263 264 291 +f 276 263 291 +f 249 245 292 +f 257 249 292 +f 245 282 292 +f 282 257 292 +f 250 268 293 +f 272 250 293 +f 269 284 293 +f 270 252 294 +f 250 255 295 +f 268 250 295 +f 285 268 295 +f 255 285 295 +f 249 262 296 +f 268 249 296 +f 262 269 296 +f 293 268 296 +f 269 293 296 +f 256 276 297 +f 276 291 297 +f 266 248 298 +f 267 250 298 +f 248 267 298 +f 250 272 298 +f 272 266 298 +f 257 252 299 +f 275 257 299 +f 261 275 299 +f 252 289 299 +f 289 261 299 +f 266 272 300 +f 280 288 300 +f 288 266 300 +f 270 294 301 +f 256 297 301 +f 297 291 301 +f 247 271 302 +f 289 270 302 +f 271 289 302 +f 291 247 302 +f 270 301 302 +f 301 291 302 +f 252 257 303 +f 274 260 303 +f 257 286 303 +f 286 274 303 +f 294 252 303 +f 260 294 303 +f 254 262 304 +f 262 259 304 +f 280 254 304 +f 259 280 304 +f 245 246 305 +f 282 245 305 +f 260 282 305 +f 246 277 306 +f 277 256 306 +f 294 260 306 +f 301 294 306 +f 256 301 306 +f 305 246 306 +f 260 305 306 +f 254 280 307 +f 284 254 307 +f 272 293 307 +f 293 284 307 +f 300 272 307 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/181/181.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/181/181.urdf new file mode 100644 index 000000000..a018016c4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/181/181.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/182/182.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/182/182.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/182/182.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/182/182.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/182/182.obj new file mode 100644 index 000000000..1bdf362bc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/182/182.obj @@ -0,0 +1,342 @@ +o convex_0 +v 1.041668 1.405790 -0.640561 +v -1.097998 -3.319658 -0.997274 +v -0.711571 -3.319658 -0.997274 +v 0.774290 -3.319658 1.082887 +v -1.038365 1.435580 0.993657 +v -1.008657 1.435580 -1.056970 +v 1.011959 -3.229822 -0.997483 +v 1.071376 1.435580 0.993447 +v -1.097998 -3.200498 0.993657 +v 1.071376 -3.319658 1.082887 +v 0.893125 1.435580 -0.967740 +v 1.101300 0.989661 -0.284058 +v -1.068074 0.692225 0.934170 +v 1.071376 1.316420 1.023191 +v -1.038365 1.316420 -1.056970 +v 0.447280 -1.655138 -1.027226 +v 1.101300 -0.734439 0.369462 +v -0.503395 1.375535 -1.056970 +v 0.982250 0.959871 -0.967740 +v 1.071376 -3.319658 0.696431 +v -1.097998 -2.665673 -0.997274 +v -1.068074 -1.952108 -1.027226 +v 1.041668 -2.427352 1.082887 +v 1.101300 1.435580 -0.135550 +v -1.097998 -3.319658 -0.729791 +v 1.011959 -3.260078 -0.759535 +v -1.097998 -3.229822 0.725965 +v -1.097998 -2.754578 0.993657 +v 0.982250 -1.803623 -0.997483 +v 1.071376 -3.229822 0.518179 +v -0.533104 -3.200498 1.023400 +v 0.982250 1.435580 -0.937996 +v 0.744581 -3.229822 1.082887 +v -0.919531 1.108355 -1.056970 +v -1.068074 0.692225 0.993657 +v 1.101300 1.435580 -0.284058 +v 1.011959 -2.843948 -0.997483 +v 1.101300 -0.615279 0.399205 +v 0.744581 -3.260078 -0.997483 +v 1.011959 1.286630 -0.819022 +v 1.041668 -2.041478 -0.700048 +f 12 30 41 +f 2 3 4 +f 6 5 8 +f 4 3 10 +f 6 8 11 +f 8 5 14 +f 5 6 15 +f 13 5 15 +f 6 11 18 +f 15 6 18 +f 18 11 19 +f 10 3 20 +f 17 10 20 +f 2 9 21 +f 15 2 21 +f 13 15 21 +f 3 2 22 +f 2 15 22 +f 16 7 22 +f 4 10 23 +f 14 5 23 +f 10 14 23 +f 11 8 24 +f 17 12 24 +f 2 4 25 +f 9 2 25 +f 20 3 26 +f 7 20 26 +f 4 9 27 +f 25 4 27 +f 9 25 27 +f 21 9 28 +f 16 18 29 +f 18 19 29 +f 12 17 30 +f 20 7 30 +f 17 20 30 +f 9 4 31 +f 28 9 31 +f 19 11 32 +f 11 24 32 +f 4 23 33 +f 23 5 33 +f 31 4 33 +f 15 18 34 +f 18 16 34 +f 22 15 34 +f 16 22 34 +f 5 13 35 +f 13 21 35 +f 21 28 35 +f 28 31 35 +f 33 5 35 +f 31 33 35 +f 12 7 36 +f 24 12 36 +f 1 32 36 +f 32 24 36 +f 7 16 37 +f 16 29 37 +f 29 19 37 +f 1 36 37 +f 36 7 37 +f 8 14 38 +f 14 10 38 +f 10 17 38 +f 24 8 38 +f 17 24 38 +f 3 22 39 +f 22 7 39 +f 26 3 39 +f 7 26 39 +f 32 1 40 +f 19 32 40 +f 1 37 40 +f 37 19 40 +f 7 12 41 +f 30 7 41 +o convex_1 +v -1.603568 1.465301 0.102079 +v -2.910619 2.119082 -0.284212 +v -2.910619 2.119082 -0.313964 +v -1.038758 2.029872 -0.165264 +v -2.999736 2.000178 0.250718 +v -3.029441 1.524817 -0.254460 +v -1.038758 1.524817 -0.313964 +v -1.038758 2.000178 0.220965 +v -3.029441 1.524817 0.250718 +v -1.038758 1.465301 0.310161 +v -3.089254 1.940726 -0.313964 +v -1.038758 2.029872 0.191274 +v -3.089254 2.119082 -0.254460 +v -2.791796 1.495123 -0.195016 +v -1.038758 1.495123 -0.284212 +v -1.514250 2.059630 -0.224707 +v -1.038758 1.613963 -0.313964 +v -1.781802 1.524817 -0.313964 +v -2.672973 1.554575 0.280409 +v -1.960036 2.000178 0.250718 +v -1.038758 1.524817 0.310161 +v -3.059147 1.643721 -0.284212 +v -2.999736 2.029872 0.161522 +v -1.336016 1.465301 0.310161 +f 62 46 65 +f 48 45 49 +f 48 49 51 +f 44 48 52 +f 49 45 53 +f 43 44 54 +f 50 46 54 +f 44 52 54 +f 52 50 54 +f 53 43 54 +f 42 50 55 +f 50 47 55 +f 51 42 56 +f 48 51 56 +f 42 55 56 +f 55 47 56 +f 44 43 57 +f 43 53 57 +f 53 45 57 +f 48 44 58 +f 45 48 58 +f 44 57 58 +f 57 45 58 +f 52 48 59 +f 56 47 59 +f 48 56 59 +f 46 50 60 +f 53 46 61 +f 49 53 61 +f 51 49 62 +f 61 46 62 +f 49 61 62 +f 47 50 63 +f 50 52 63 +f 52 59 63 +f 59 47 63 +f 46 53 64 +f 54 46 64 +f 53 54 64 +f 50 42 65 +f 42 51 65 +f 46 60 65 +f 60 50 65 +f 51 62 65 +o convex_2 +v 1.101300 2.475688 0.696440 +v -1.008814 1.435581 -1.056970 +v -1.008814 2.683709 -1.056970 +v -1.038557 1.435581 0.993727 +v 0.982326 1.435581 -0.937935 +v -1.038557 2.743144 0.993727 +v 0.952582 2.772992 -0.937935 +v 1.071556 1.435581 0.993526 +v 1.071556 2.743144 0.993526 +v 1.101300 1.911189 -0.343562 +v -0.533337 1.554581 -1.056970 +v -1.038557 1.614147 -0.313854 +v 1.101300 1.435581 -0.283944 +v -1.038557 2.743144 0.488279 +v 0.982326 2.772992 -0.878518 +v 0.893095 1.435581 -0.967644 +v -0.265645 2.713426 -1.027061 +v 0.952582 2.772992 -0.432487 +v 0.774331 2.772992 -0.937935 +v 1.101300 1.435581 0.280319 +v 0.685100 2.683709 -0.967644 +v 0.982326 2.505274 -0.937935 +v -0.711588 2.594557 -1.056970 +v -1.038557 2.713426 0.220701 +v 1.071556 2.743144 0.666731 +v -0.533337 1.435581 -1.056970 +v -0.444106 2.713426 -1.027061 +v 1.101300 1.940906 -0.343562 +f 80 90 93 +f 69 67 70 +f 69 70 73 +f 71 69 73 +f 71 73 74 +f 73 66 74 +f 67 68 76 +f 68 67 77 +f 67 69 77 +f 69 71 77 +f 73 70 78 +f 75 66 78 +f 70 75 78 +f 77 71 79 +f 70 67 81 +f 71 74 83 +f 80 72 83 +f 74 80 83 +f 79 71 84 +f 72 82 84 +f 71 83 84 +f 83 72 84 +f 66 73 85 +f 78 66 85 +f 73 78 85 +f 72 81 86 +f 81 76 86 +f 82 72 86 +f 75 70 87 +f 72 80 87 +f 70 81 87 +f 81 72 87 +f 76 68 88 +f 68 82 88 +f 86 76 88 +f 82 86 88 +f 68 77 89 +f 79 68 89 +f 77 79 89 +f 74 66 90 +f 80 74 90 +f 67 76 91 +f 81 67 91 +f 76 81 91 +f 68 79 92 +f 82 68 92 +f 79 84 92 +f 84 82 92 +f 66 75 93 +f 75 87 93 +f 87 80 93 +f 90 66 93 +o convex_3 +v 2.200818 1.495024 0.220997 +v 1.101300 1.911067 -0.343684 +v 1.101300 1.792119 -0.313932 +v 3.092556 1.495024 -0.254428 +v 3.092556 2.000201 0.280441 +v 1.101300 2.000201 0.280441 +v 3.033107 2.059706 -0.343684 +v 1.101300 1.435581 0.280441 +v 1.101300 1.524776 -0.224736 +v 2.943836 1.584220 0.280441 +v 1.131122 1.970510 -0.313932 +v 1.547266 2.029953 0.161554 +v 2.765488 1.465333 -0.165293 +v 1.101300 1.435581 0.131802 +v 2.646590 2.059706 -0.194984 +v 3.062734 1.495024 -0.105850 +v 3.092556 1.643724 -0.284180 +v 2.468242 1.495024 -0.254428 +v 1.160749 1.495024 -0.165293 +v 1.666165 1.435581 0.131802 +v 3.033107 2.000201 -0.343684 +v 2.795310 1.554529 0.280441 +v 1.101300 2.000201 0.042667 +v 2.824937 2.059706 -0.343684 +v 2.943836 2.059706 -0.194984 +f 108 105 118 +f 95 96 99 +f 98 99 101 +f 99 96 101 +f 101 96 102 +f 98 101 103 +f 99 98 105 +f 101 102 107 +f 97 98 109 +f 98 103 109 +f 106 97 109 +f 97 95 110 +f 98 97 110 +f 100 98 110 +f 96 95 111 +f 95 97 111 +f 102 96 111 +f 97 106 111 +f 107 102 112 +f 106 107 112 +f 102 111 112 +f 111 106 112 +f 94 101 113 +f 101 107 113 +f 107 106 113 +f 109 94 113 +f 106 109 113 +f 95 100 114 +f 110 95 114 +f 100 110 114 +f 101 94 115 +f 103 101 115 +f 94 109 115 +f 109 103 115 +f 95 99 116 +f 104 95 116 +f 99 105 116 +f 100 95 117 +f 95 104 117 +f 108 100 117 +f 105 108 117 +f 104 116 117 +f 116 105 117 +f 98 100 118 +f 105 98 118 +f 100 108 118 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/182/182.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/182/182.urdf new file mode 100644 index 000000000..d243c4be3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/182/182.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/183/183.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/183/183.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/183/183.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/183/183.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/183/183.obj new file mode 100644 index 000000000..4868fd830 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/183/183.obj @@ -0,0 +1,483 @@ +o convex_0 +v 1.289937 -0.219287 0.144093 +v -1.295720 -0.379190 0.048434 +v -1.295720 -0.379190 0.080320 +v 0.779006 -3.730558 0.112207 +v 0.172501 -1.496428 -1.036712 +v -0.785046 -3.283801 0.750540 +v -0.688958 -3.347277 -0.749533 +v 0.172501 -0.219287 1.037921 +v -0.976452 -0.219287 -0.813305 +v 1.034472 -0.219287 -0.877281 +v 0.683431 -3.283454 0.750540 +v 0.779006 -3.251543 -0.749533 +v -1.008225 -0.219287 0.910174 +v -0.114481 -3.315712 0.973946 +v -0.785046 -3.762816 -0.078907 +v 1.002699 -0.219287 0.846401 +v 0.076925 -3.698300 -0.813102 +v -0.114481 -3.762816 0.782426 +v 0.013123 -3.251890 -1.004622 +v 0.970669 -3.283454 -0.047224 +v -0.976452 -3.283801 -0.047224 +v 1.321966 -0.251545 -0.110997 +v -0.082452 -0.219287 -1.004622 +v -0.018650 -2.358030 1.037921 +v -0.561353 -3.762816 -0.621785 +v 0.651402 -3.698647 -0.589696 +v -0.625156 -3.762816 0.591109 +v 0.555827 -3.730558 0.622995 +v -1.263691 -0.219287 -0.110997 +v -0.050679 -1.687895 -1.036712 +v -0.242342 -0.219287 1.038125 +v -0.720987 -3.251890 -0.749533 +v 0.108698 -3.219632 -1.004622 +v 0.970669 -3.251543 0.048231 +v 0.843065 -0.283456 0.910174 +v 1.034472 -0.251545 0.814515 +v 0.044896 -3.251890 0.973946 +v -0.976452 -3.251890 0.080320 +v 0.811036 -0.347279 -0.940850 +v 1.034472 -0.379190 -0.877281 +v -0.753016 -0.443012 0.973946 +v -1.008225 -0.283456 -0.781419 +v -1.295720 -0.251545 0.144093 +v 0.747233 -3.219979 -0.781419 +v -0.178284 -3.187721 0.973946 +v 0.811036 -3.219979 -0.685557 +v 1.321966 -0.283456 0.048231 +v -0.593383 -3.124245 -0.813305 +v 0.204530 -0.219287 -1.004622 +v -0.753016 -0.474923 -0.877078 +v 0.300361 -3.730558 -0.717444 +v 0.108698 -3.762816 0.750540 +v -0.242342 -1.432953 1.038125 +v 0.140728 -1.496428 1.037921 +v -0.753016 -3.156157 0.782629 +v 0.874838 -3.251543 0.303727 +v -0.976452 -3.219632 -0.078907 +v -0.816819 -3.219632 0.686767 +v 0.906867 -3.251543 -0.334403 +v -0.785046 -3.762816 0.048434 +v -0.369947 -3.762816 -0.653671 +v -0.082452 -3.124245 1.005832 +v 0.811036 -3.698647 -0.015338 +v -1.008225 -0.251545 0.910174 +f 43 58 64 +f 8 1 9 +f 9 1 10 +f 8 9 13 +f 1 8 16 +f 14 6 18 +f 3 2 21 +f 7 15 21 +f 10 1 22 +f 9 10 23 +f 15 7 25 +f 18 15 25 +f 7 19 25 +f 19 17 25 +f 18 6 27 +f 15 18 27 +f 4 11 28 +f 13 9 29 +f 23 5 30 +f 8 13 31 +f 7 21 32 +f 17 19 33 +f 30 5 33 +f 19 30 33 +f 16 8 35 +f 11 16 35 +f 1 16 36 +f 16 11 36 +f 28 11 37 +f 11 35 37 +f 35 24 37 +f 3 21 38 +f 33 5 39 +f 33 39 40 +f 10 22 40 +f 39 10 40 +f 31 13 41 +f 29 9 42 +f 9 32 42 +f 2 3 43 +f 29 2 43 +f 13 29 43 +f 3 38 43 +f 12 26 44 +f 17 33 44 +f 33 40 44 +f 40 12 44 +f 6 14 45 +f 40 22 46 +f 12 40 46 +f 22 1 47 +f 20 22 47 +f 34 20 47 +f 1 36 47 +f 19 7 48 +f 32 9 48 +f 7 32 48 +f 5 23 49 +f 23 10 49 +f 39 5 49 +f 10 39 49 +f 9 23 50 +f 30 19 50 +f 23 30 50 +f 48 9 50 +f 19 48 50 +f 26 4 51 +f 44 26 51 +f 17 44 51 +f 14 18 52 +f 18 25 52 +f 4 28 52 +f 37 14 52 +f 28 37 52 +f 8 31 53 +f 31 41 53 +f 35 8 54 +f 24 35 54 +f 8 53 54 +f 53 24 54 +f 6 45 55 +f 11 4 56 +f 4 34 56 +f 36 11 56 +f 34 47 56 +f 47 36 56 +f 21 2 57 +f 2 29 57 +f 32 21 57 +f 29 42 57 +f 42 32 57 +f 38 6 58 +f 43 38 58 +f 22 20 59 +f 26 12 59 +f 46 22 59 +f 12 46 59 +f 21 15 60 +f 27 6 60 +f 15 27 60 +f 6 38 60 +f 38 21 60 +f 25 17 61 +f 51 4 61 +f 17 51 61 +f 4 52 61 +f 52 25 61 +f 14 37 62 +f 37 24 62 +f 45 14 62 +f 41 45 62 +f 24 53 62 +f 53 41 62 +f 4 26 63 +f 34 4 63 +f 20 34 63 +f 59 20 63 +f 26 59 63 +f 41 13 64 +f 13 43 64 +f 45 41 64 +f 6 55 64 +f 55 45 64 +f 58 6 64 +o convex_1 +v 0.364206 0.068026 1.006079 +v -0.082570 -0.219287 -1.004788 +v -0.880331 -0.219287 -0.845170 +v -1.104084 0.163797 -0.813083 +v 1.864669 0.163797 -0.047078 +v -0.753098 -0.219287 0.973993 +v 1.034369 -0.219287 0.814577 +v -1.870402 0.163797 0.080252 +v 1.034369 -0.219287 -0.877053 +v 1.194140 0.163797 -0.877053 +v -0.976120 0.163797 0.942110 +v 1.130158 0.163797 0.846461 +v -1.327472 -0.219287 0.112135 +v 1.353546 -0.219287 -0.078961 +v -0.050762 0.163797 -1.004788 +v -1.008294 -0.219287 0.910227 +v 0.172626 -0.219287 1.037759 +v -0.018954 0.163797 1.069845 +v -1.870402 0.131849 -0.015195 +v 1.864669 0.131849 0.048165 +v -1.008294 -0.219287 -0.781200 +v 0.204434 -0.219287 -1.004788 +v -1.199874 0.131849 -0.781200 +v -1.072276 0.131849 0.910227 +v 0.842789 -0.219287 0.910227 +v 1.864669 0.131849 -0.047078 +v -1.870402 0.131849 0.080252 +v -1.391088 -0.187338 0.016689 +v 1.417528 -0.187338 -0.015195 +v -0.242341 -0.219287 1.037759 +v 0.140452 0.163797 -1.004788 +v 0.779173 -0.219287 -0.941022 +v 1.034369 -0.187338 0.846461 +v 1.066542 -0.219287 -0.845170 +v 1.609107 -0.059656 -0.047078 +v 1.800687 0.131849 -0.142727 +f 90 98 100 +f 66 67 68 +f 67 66 70 +f 70 66 71 +f 69 68 72 +f 71 66 73 +f 68 69 74 +f 69 72 75 +f 69 75 76 +f 67 70 77 +f 71 73 78 +f 66 68 79 +f 68 74 79 +f 70 75 80 +f 77 70 80 +f 70 71 81 +f 75 70 82 +f 65 76 82 +f 76 75 82 +f 81 65 82 +f 72 68 83 +f 69 76 84 +f 67 77 85 +f 73 66 86 +f 66 79 86 +f 68 67 87 +f 83 68 87 +f 67 85 87 +f 85 83 87 +f 75 72 88 +f 80 75 88 +f 76 65 89 +f 81 71 89 +f 65 81 89 +f 69 84 90 +f 77 80 91 +f 72 83 91 +f 88 72 91 +f 80 88 91 +f 85 77 92 +f 83 85 92 +f 77 91 92 +f 91 83 92 +f 71 78 93 +f 84 71 93 +f 70 81 94 +f 82 70 94 +f 81 82 94 +f 79 74 95 +f 86 79 95 +f 86 95 96 +f 74 73 96 +f 73 86 96 +f 95 74 96 +f 71 84 97 +f 84 76 97 +f 76 89 97 +f 89 71 97 +f 73 74 98 +f 78 73 98 +f 98 90 99 +f 90 84 99 +f 93 78 99 +f 84 93 99 +f 78 98 99 +f 74 69 100 +f 69 90 100 +f 98 74 100 +o convex_2 +v -2.636018 0.674839 0.527014 +v 0.619327 2.334395 -0.494087 +v 0.619327 2.334395 -0.557816 +v 2.789953 0.483172 0.048328 +v -0.050384 0.164010 -1.004741 +v 1.098456 2.078981 0.910211 +v -2.604551 1.887526 -0.430152 +v 0.044610 0.164010 1.069842 +v -2.029833 2.015021 0.814515 +v 2.822014 1.280864 -0.781382 +v -2.061894 1.280864 -0.972980 +v 2.789953 1.217329 0.814515 +v 2.789953 1.983360 0.048328 +v -2.795727 0.483172 -0.046956 +v 0.108732 2.110855 -0.940806 +v -2.061894 1.312950 1.037875 +v 1.257572 0.164010 -0.877078 +v -2.029833 2.270648 0.080089 +v 2.088181 1.312950 -1.036915 +v -1.263346 0.164010 -0.781382 +v 2.024060 1.280864 1.070048 +v 1.226105 0.164010 0.846276 +v 2.119648 2.015021 -0.749414 +v -1.135697 0.164010 0.910211 +v -2.795727 1.280864 0.750580 +v -2.763667 1.217541 -0.749414 +v -1.933651 2.047107 -0.749414 +v -0.018324 2.270648 0.718819 +v 2.088181 2.238562 0.048328 +v -0.050384 1.983147 1.037875 +v -2.732200 2.015234 0.112056 +v 2.056120 1.983147 0.814515 +v -3.019558 1.312737 -0.046956 +v 3.045845 1.249203 0.080089 +v -0.274215 2.334395 -0.813143 +v -1.933651 0.164010 0.048328 +v 1.928471 0.164010 0.016567 +v 2.630837 0.706712 -0.589783 +v 2.056120 0.483172 0.782548 +v -2.221604 0.546919 -0.685686 +v -1.614826 1.312950 1.069842 +v 1.066396 2.238774 -0.813143 +v -2.029833 0.483172 0.782548 +v 0.172259 2.334395 -0.110891 +v 2.598777 1.791693 0.622917 +v -0.242154 2.238562 0.814515 +v 2.598777 0.674839 0.622917 +v 2.088181 0.515045 -0.781382 +v 2.630837 1.823566 -0.557816 +v 2.024060 1.185668 1.070048 +v -1.997773 1.153582 1.037875 +v 0.651388 2.238562 0.718819 +v -2.732200 2.015234 -0.046956 +v -2.604551 1.759819 0.622917 +v -2.795727 0.483172 0.016567 +v -2.604551 0.674839 -0.557816 +v -2.732200 1.344824 -0.749414 +v -2.029833 0.994001 -0.909045 +v -0.082445 2.110855 -0.940806 +v -1.965712 2.270648 -0.046956 +v 2.088181 1.249203 -1.036915 +v -1.359528 2.078981 0.878450 +v 2.822014 1.217329 -0.781382 +v -3.019558 1.185668 -0.046956 +f 114 155 164 +f 108 105 117 +f 105 111 119 +f 105 108 120 +f 108 117 122 +f 110 119 123 +f 120 108 124 +f 116 109 125 +f 103 102 129 +f 113 123 129 +f 121 106 130 +f 109 118 131 +f 121 112 132 +f 106 121 132 +f 113 129 132 +f 125 131 133 +f 112 104 134 +f 110 113 134 +f 113 112 134 +f 102 103 135 +f 114 120 136 +f 120 124 136 +f 117 104 137 +f 104 122 137 +f 122 117 137 +f 122 104 139 +f 120 114 140 +f 130 116 141 +f 121 130 141 +f 119 115 142 +f 123 119 142 +f 103 129 142 +f 129 123 142 +f 135 103 142 +f 115 135 142 +f 125 101 143 +f 118 128 144 +f 129 102 144 +f 128 129 144 +f 102 135 144 +f 135 118 144 +f 112 113 145 +f 132 112 145 +f 113 132 145 +f 128 118 146 +f 130 106 146 +f 104 112 147 +f 139 104 147 +f 112 139 147 +f 104 117 148 +f 138 104 148 +f 113 110 149 +f 110 123 149 +f 123 113 149 +f 112 121 150 +f 108 122 150 +f 139 112 150 +f 122 139 150 +f 141 108 150 +f 121 141 150 +f 124 108 151 +f 116 125 151 +f 108 141 151 +f 141 116 151 +f 143 124 151 +f 125 143 151 +f 129 128 152 +f 106 132 152 +f 132 129 152 +f 146 106 152 +f 128 146 152 +f 127 107 153 +f 131 118 153 +f 133 131 153 +f 125 109 154 +f 109 131 154 +f 131 125 154 +f 101 125 155 +f 114 136 155 +f 136 124 155 +f 143 101 155 +f 124 143 155 +f 114 126 156 +f 140 114 156 +f 126 140 156 +f 111 126 157 +f 127 111 157 +f 107 127 157 +f 126 133 157 +f 153 107 157 +f 133 153 157 +f 111 105 158 +f 105 120 158 +f 126 111 158 +f 120 140 158 +f 140 126 158 +f 119 111 159 +f 115 119 159 +f 111 127 159 +f 135 115 159 +f 127 135 159 +f 118 135 160 +f 135 127 160 +f 153 118 160 +f 127 153 160 +f 117 105 161 +f 119 110 161 +f 105 119 161 +f 148 117 161 +f 109 116 162 +f 118 109 162 +f 116 130 162 +f 146 118 162 +f 130 146 162 +f 134 104 163 +f 110 134 163 +f 104 138 163 +f 138 148 163 +f 161 110 163 +f 148 161 163 +f 126 114 164 +f 125 133 164 +f 133 126 164 +f 155 125 164 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/183/183.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/183/183.urdf new file mode 100644 index 000000000..2e4f4cc7f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/183/183.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/184/184.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/184/184.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/184/184.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/184/184.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/184/184.obj new file mode 100644 index 000000000..a375cfd52 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/184/184.obj @@ -0,0 +1,219 @@ +o convex_0 +v 0.074470 -2.841206 0.330243 +v -0.373895 -4.754230 -0.177919 +v 0.134238 -4.754230 -0.207830 +v -0.284207 -4.724268 0.360154 +v -0.343974 -2.841206 -0.177919 +v 0.343533 -2.841206 -0.177919 +v 0.373453 -4.664533 0.240564 +v -0.224367 -2.841206 0.360154 +v -0.343974 -4.335709 0.360154 +v 0.253846 -2.871355 0.270420 +v 0.283766 -4.754230 -0.177919 +v 0.283766 -4.694307 0.270420 +v -0.343974 -4.754230 0.270420 +v -0.343974 -2.841206 -0.088240 +v 0.343533 -2.901316 -0.058329 +v 0.283766 -4.425405 -0.207830 +v -0.104832 -3.110482 0.360154 +v -0.373895 -4.724268 0.031350 +v 0.223925 -2.841206 0.300331 +v 0.373453 -4.455179 0.150829 +v 0.373453 -4.514915 0.240564 +v 0.343533 -3.110482 -0.177919 +v 0.313613 -4.455179 0.270420 +v 0.134238 -4.335709 -0.207830 +v -0.254287 -3.140444 0.360154 +v -0.343974 -4.724268 0.360154 +f 9 18 26 +f 5 1 6 +f 1 5 8 +f 4 8 9 +f 2 3 11 +f 11 7 12 +f 12 4 13 +f 2 11 13 +f 11 12 13 +f 8 5 14 +f 6 10 15 +f 11 3 16 +f 1 8 17 +f 8 4 17 +f 5 2 18 +f 2 13 18 +f 14 5 18 +f 9 14 18 +f 6 1 19 +f 10 6 19 +f 7 11 20 +f 6 15 20 +f 20 15 21 +f 15 10 21 +f 10 19 21 +f 7 20 21 +f 16 6 22 +f 11 16 22 +f 6 20 22 +f 20 11 22 +f 12 7 23 +f 4 12 23 +f 1 17 23 +f 17 4 23 +f 19 1 23 +f 21 19 23 +f 7 21 23 +f 3 2 24 +f 2 5 24 +f 5 6 24 +f 16 3 24 +f 6 16 24 +f 9 8 25 +f 8 14 25 +f 14 9 25 +f 4 9 26 +f 13 4 26 +f 18 13 26 +o convex_1 +v 1.061011 0.029173 0.001427 +v 0.672239 -1.644606 1.107502 +v 0.582523 -1.644606 1.107502 +v -0.911933 3.376730 1.047521 +v -1.031555 -2.780950 -1.044667 +v 1.031105 3.376730 -1.044667 +v -1.001650 3.376730 -1.104648 +v 1.060806 -2.691478 -1.014785 +v -1.001650 -2.691478 1.077403 +v 1.061011 3.286650 0.927992 +v 1.001200 -2.690870 1.107502 +v -1.001650 2.957981 1.077403 +v 0.223862 -2.841206 0.300249 +v 1.060806 -0.807717 -1.044667 +v -1.031555 -1.465664 -1.074549 +v -0.553272 -2.841206 0.599072 +v -0.343933 3.316474 -1.104648 +v 1.061011 2.957981 0.957875 +v -0.642784 -2.691478 1.107502 +v 1.060806 -2.691478 -0.357159 +v 0.343484 -2.841206 -0.177650 +v -1.031555 -2.751126 -0.237631 +v 0.164051 -2.751126 -1.044667 +v 0.881578 3.376121 -1.074549 +v -1.031555 -0.001260 -1.044667 +v -0.044878 3.345689 1.017639 +v -1.001650 3.376730 1.047521 +v -1.001650 -2.810773 -0.955020 +v -0.971744 1.732166 -1.104648 +v 1.031105 -2.690870 0.569189 +v 1.061011 0.148467 -1.044667 +v -0.792311 2.928157 1.077187 +v 1.031105 3.376730 -0.715746 +v 1.031105 -0.269673 1.047521 +v 1.061011 3.167356 0.599072 +v 0.732050 3.315865 0.957875 +v -0.642784 3.376730 1.047305 +v -0.672689 -2.841206 0.120739 +v 0.253767 -2.691478 -1.044667 +v -0.941839 -2.720694 1.017639 +v 0.941389 -2.242297 1.107502 +v 1.031105 -0.628166 1.047521 +v 0.761956 -2.720694 -1.014785 +v -0.343933 -2.841206 -0.177866 +v -0.463351 -2.780950 -1.044667 +v 1.031105 3.316474 0.599072 +v 1.001200 3.107099 0.957875 +v -1.031555 -2.780950 -0.476688 +v 1.061011 0.058996 0.300249 +f 44 68 75 +f 30 32 33 +f 28 29 37 +f 29 28 38 +f 39 37 42 +f 27 36 44 +f 37 29 45 +f 29 38 45 +f 38 35 45 +f 34 27 46 +f 37 39 47 +f 39 42 47 +f 34 46 47 +f 35 38 48 +f 41 31 48 +f 33 32 50 +f 43 33 50 +f 40 43 50 +f 33 41 51 +f 41 48 51 +f 30 33 53 +f 38 30 53 +f 48 38 53 +f 33 51 53 +f 51 48 53 +f 41 33 55 +f 33 43 55 +f 43 40 55 +f 37 47 56 +f 47 46 56 +f 27 34 57 +f 36 27 57 +f 34 40 57 +f 50 32 57 +f 40 50 57 +f 38 28 58 +f 32 30 59 +f 36 32 59 +f 32 36 61 +f 36 57 61 +f 57 32 61 +f 62 59 63 +f 30 38 63 +f 38 58 63 +f 58 52 63 +f 59 30 63 +f 52 62 63 +f 47 42 64 +f 40 34 65 +f 34 49 65 +f 49 41 65 +f 41 55 65 +f 55 40 65 +f 42 37 66 +f 37 45 66 +f 45 35 66 +f 64 42 66 +f 28 37 67 +f 58 28 67 +f 37 60 67 +f 60 44 67 +f 37 56 68 +f 60 37 68 +f 44 60 68 +f 34 47 69 +f 49 34 69 +f 47 49 69 +f 54 47 70 +f 47 64 70 +f 64 54 70 +f 31 41 71 +f 41 49 71 +f 49 47 71 +f 47 54 71 +f 54 31 71 +f 36 59 72 +f 62 36 72 +f 59 62 72 +f 44 36 73 +f 52 58 73 +f 36 62 73 +f 62 52 73 +f 58 67 73 +f 67 44 73 +f 35 48 74 +f 48 31 74 +f 31 54 74 +f 54 64 74 +f 66 35 74 +f 64 66 74 +f 27 44 75 +f 46 27 75 +f 56 46 75 +f 68 56 75 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/184/184.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/184/184.urdf new file mode 100644 index 000000000..60246198d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/184/184.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/185/185.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/185/185.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/185/185.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/185/185.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/185/185.obj new file mode 100644 index 000000000..493086bee --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/185/185.obj @@ -0,0 +1,189 @@ +o convex_0 +v 0.058832 3.197163 -1.015524 +v 0.002657 -2.426059 1.104123 +v -0.025627 -2.426059 1.104123 +v 0.002657 -3.697680 -0.761150 +v -0.986697 3.112128 0.030398 +v 0.991618 3.112128 -0.026245 +v 0.002657 3.733896 0.934194 +v 0.963334 -2.933927 -0.139323 +v -0.930129 -2.990877 -0.167541 +v -0.760424 -3.019742 0.849748 +v 0.737257 -2.962792 0.821323 +v 0.793629 -2.425278 -0.789367 +v -0.647484 3.790066 -0.704299 +v 0.737257 3.790066 -0.732725 +v -0.732140 3.733896 0.764888 +v -0.732140 -2.990877 -0.732725 +v 0.680689 3.310283 0.708245 +v 0.030744 -3.726546 0.821323 +v -0.025627 -2.962792 -1.015524 +v -0.732140 -3.725765 0.002180 +v 0.567553 4.017086 0.171279 +v 0.737257 -3.697680 0.001973 +v -0.732140 3.055958 -0.732725 +v 0.002657 3.027093 1.019055 +v -0.986697 -3.019742 0.114844 +v -0.760424 3.112128 0.821323 +v 0.793629 3.253333 -0.789367 +v 1.019902 -1.888545 -0.026245 +v 0.030744 -3.952785 0.001973 +v -0.534348 3.988221 0.566949 +v 0.002657 4.017086 -0.647864 +v 0.765541 -2.962792 -0.789367 +v 0.737257 -1.578050 0.821323 +v -0.930129 3.733896 0.030398 +v 0.906765 3.790066 -0.026245 +v -0.053911 -2.991657 1.104123 +v 0.058832 3.761981 -0.958674 +v 0.595837 3.818151 0.623592 +v -0.788708 2.999008 0.793106 +v 0.765541 -1.804290 -0.817585 +v -0.110480 2.998228 1.019262 +v -0.647484 3.988221 0.002180 +v 0.058832 -2.962792 -1.015524 +v 0.313192 3.055958 -0.958881 +v 0.991618 -2.934707 0.058408 +v 1.019902 -1.493016 0.030191 +v -0.562632 -3.556476 0.623384 +v -0.958413 -1.691170 0.256140 +v -0.082195 3.083263 -0.987099 +v 0.878481 3.055178 -0.534993 +v -0.986697 3.027093 0.114844 +v 0.708973 3.084043 0.708245 +v 0.539465 4.017086 -0.506568 +v -0.025627 3.988221 0.679820 +v 0.567553 -3.527611 0.595167 +v 0.567553 -3.527611 -0.534993 +v -0.562632 -3.527611 -0.534993 +v -0.816992 -2.029749 0.736670 +v 0.850197 -1.832375 -0.647864 +v -0.704053 2.999008 0.849541 +v 0.624121 3.027093 0.764888 +v -0.704053 -1.238691 0.877759 +v 0.991618 3.055958 -0.111105 +v -0.534348 3.055178 -0.817585 +f 13 49 64 +f 4 16 19 +f 9 16 20 +f 9 5 23 +f 16 9 23 +f 3 2 24 +f 17 7 24 +f 5 9 25 +f 9 20 25 +f 20 10 25 +f 20 4 29 +f 18 20 29 +f 4 22 29 +f 22 18 29 +f 15 7 30 +f 30 21 31 +f 12 8 32 +f 8 22 32 +f 2 11 33 +f 24 2 33 +f 23 5 34 +f 13 23 34 +f 15 30 34 +f 17 6 35 +f 2 3 36 +f 11 2 36 +f 10 18 36 +f 18 11 36 +f 14 27 37 +f 13 31 37 +f 7 17 38 +f 17 35 38 +f 35 21 38 +f 10 26 39 +f 26 15 39 +f 27 12 40 +f 12 32 40 +f 7 15 41 +f 3 24 41 +f 24 7 41 +f 36 3 41 +f 30 31 42 +f 31 13 42 +f 13 34 42 +f 34 30 42 +f 19 1 43 +f 4 19 43 +f 32 4 43 +f 40 32 43 +f 40 43 44 +f 1 37 44 +f 37 27 44 +f 27 40 44 +f 43 1 44 +f 22 8 45 +f 11 22 45 +f 8 28 45 +f 45 28 46 +f 33 11 46 +f 6 33 46 +f 11 45 46 +f 18 10 47 +f 10 20 47 +f 20 18 47 +f 1 19 49 +f 37 1 49 +f 13 37 49 +f 5 25 51 +f 34 5 51 +f 15 34 51 +f 39 15 51 +f 25 48 51 +f 48 39 51 +f 6 17 52 +f 33 6 52 +f 31 21 53 +f 35 14 53 +f 21 35 53 +f 14 37 53 +f 37 31 53 +f 30 7 54 +f 21 30 54 +f 7 38 54 +f 38 21 54 +f 11 18 55 +f 22 11 55 +f 18 22 55 +f 22 4 56 +f 4 32 56 +f 32 22 56 +f 16 4 57 +f 4 20 57 +f 20 16 57 +f 25 10 58 +f 10 39 58 +f 48 25 58 +f 39 48 58 +f 8 12 59 +f 12 27 59 +f 28 8 59 +f 27 50 59 +f 50 28 59 +f 15 26 60 +f 41 15 60 +f 36 41 60 +f 17 24 61 +f 24 33 61 +f 52 17 61 +f 33 52 61 +f 26 10 62 +f 10 36 62 +f 60 26 62 +f 36 60 62 +f 27 14 63 +f 35 6 63 +f 14 35 63 +f 46 28 63 +f 6 46 63 +f 50 27 63 +f 28 50 63 +f 19 16 64 +f 23 13 64 +f 16 23 64 +f 49 19 64 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/185/185.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/185/185.urdf new file mode 100644 index 000000000..104e48fdf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/185/185.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/186/186.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/186/186.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/186/186.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/186/186.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/186/186.obj new file mode 100644 index 000000000..f1f1b09b3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/186/186.obj @@ -0,0 +1,594 @@ +o convex_0 +v 1.062008 -3.531168 1.047471 +v -1.098418 -4.925017 -0.729580 +v 0.225520 -4.994605 -1.043128 +v -0.959147 -2.659926 -0.973428 +v -0.993964 -4.994605 0.942816 +v -1.063600 -2.659926 0.942816 +v 0.992373 -2.660158 -1.078083 +v 1.062008 -4.889991 0.803415 +v 1.096826 -5.029399 -1.043128 +v 1.096826 -2.694952 1.047471 +v -1.028782 -4.820171 -1.008382 +v 1.062008 -4.715557 1.012517 +v 0.539096 -2.659926 1.047471 +v -1.098418 -2.799334 0.942816 +v -1.098418 -4.436973 -0.973428 +v 1.096826 -4.506561 -1.078083 +v 0.469460 -2.659926 -1.078083 +v 1.096826 -4.959579 0.001963 +v -1.028782 -4.994605 0.664014 +v -0.959147 -2.729514 0.977771 +v -0.993964 -2.659926 -0.834027 +v -0.645571 -4.994605 0.942816 +v -0.540903 -4.576381 0.977771 +v 0.330189 -3.600756 -1.078083 +v 1.062008 -2.660158 0.246019 +v 0.853101 -4.889991 0.977771 +v 1.062008 -4.959579 -1.078083 +v -1.098418 -4.925017 -0.450778 +v -1.063600 -2.659926 0.315512 +v -1.098418 -4.889991 -0.973428 +v 1.096826 -5.029399 -0.834027 +v 0.783251 -5.029399 -1.043128 +v -1.098418 -3.043356 0.908070 +v 1.096826 -3.182764 1.047471 +v -1.028782 -4.994605 0.524821 +v 1.062008 -2.660158 1.047471 +v -0.540903 -2.659926 -1.008382 +f 4 17 37 +f 4 6 13 +f 1 10 13 +f 4 11 15 +f 2 14 15 +f 10 9 16 +f 4 13 17 +f 7 16 17 +f 9 10 18 +f 12 8 18 +f 13 6 20 +f 14 5 20 +f 6 14 20 +f 6 4 21 +f 4 15 21 +f 12 1 23 +f 5 12 23 +f 1 13 23 +f 20 5 23 +f 13 20 23 +f 11 17 24 +f 17 16 24 +f 10 16 25 +f 16 7 25 +f 17 13 25 +f 7 17 25 +f 12 5 26 +f 8 12 26 +f 18 8 26 +f 5 22 26 +f 22 18 26 +f 3 11 27 +f 16 9 27 +f 11 24 27 +f 24 16 27 +f 14 2 28 +f 2 19 28 +f 14 6 29 +f 15 14 29 +f 6 21 29 +f 21 15 29 +f 3 2 30 +f 11 3 30 +f 2 15 30 +f 15 11 30 +f 9 18 31 +f 22 5 31 +f 18 22 31 +f 5 19 32 +f 3 27 32 +f 27 9 32 +f 9 31 32 +f 31 5 32 +f 5 14 33 +f 19 5 33 +f 14 28 33 +f 28 19 33 +f 10 1 34 +f 1 12 34 +f 18 10 34 +f 12 18 34 +f 2 3 35 +f 19 2 35 +f 3 32 35 +f 32 19 35 +f 13 10 36 +f 10 25 36 +f 25 13 36 +f 11 4 37 +f 17 11 37 +o convex_1 +v -0.959106 -2.659697 -0.973592 +v 0.957514 1.452835 1.082531 +v 1.061981 1.452835 0.698846 +v 1.061981 -2.659697 1.047631 +v -1.063573 1.452835 0.942932 +v 1.027228 1.452835 -0.938692 +v -1.063573 -2.659697 0.942932 +v 0.992475 -2.659697 -1.078291 +v -0.994067 1.452835 -0.973592 +v -0.645288 0.162637 1.047631 +v -0.506068 1.452835 -1.043391 +v -1.063573 -2.659697 0.315583 +v 0.504476 -0.011671 -1.078079 +v 1.061981 -2.659697 0.280683 +v 0.469515 -2.659697 -1.078079 +v -1.028820 -2.555032 0.977832 +v -0.575782 1.452835 1.047631 +v -1.063573 1.208080 0.280683 +v 0.504476 -2.624675 1.047420 +v 0.957514 -0.917024 1.082531 +v -0.994067 -2.659697 -0.834204 +v 0.260580 1.312745 -1.043180 +v 1.027228 -0.011671 -0.973592 +v 1.061981 1.452835 0.280683 +v 0.643904 1.382387 1.082531 +v 0.992475 -2.101752 -1.078291 +v 1.061981 -1.753539 1.047631 +v -0.994067 -1.474567 -0.938692 +v -0.540821 -2.659697 -1.008280 +v -0.645288 1.173460 1.047631 +v -0.819677 1.347767 -1.008280 +v 1.027228 -2.659697 -0.485630 +v 0.434761 1.104220 -1.043180 +f 50 59 70 +f 39 40 42 +f 42 40 43 +f 38 41 44 +f 41 38 45 +f 42 43 46 +f 46 43 48 +f 38 44 49 +f 44 42 49 +f 40 41 51 +f 41 45 51 +f 45 38 52 +f 48 50 52 +f 42 44 53 +f 39 42 54 +f 42 46 55 +f 49 42 55 +f 46 49 55 +f 44 41 56 +f 53 44 56 +f 47 53 56 +f 41 39 57 +f 56 41 57 +f 47 56 57 +f 38 49 58 +f 48 43 59 +f 50 48 59 +f 51 60 61 +f 43 40 61 +f 40 51 61 +f 60 43 61 +f 39 54 62 +f 57 39 62 +f 47 57 62 +f 50 43 63 +f 45 52 63 +f 52 50 63 +f 43 60 63 +f 60 45 63 +f 40 39 64 +f 41 40 64 +f 39 41 64 +f 46 38 65 +f 49 46 65 +f 38 58 65 +f 58 49 65 +f 38 48 66 +f 52 38 66 +f 48 52 66 +f 42 53 67 +f 53 47 67 +f 54 42 67 +f 62 54 67 +f 47 62 67 +f 38 46 68 +f 48 38 68 +f 46 48 68 +f 51 45 69 +f 45 60 69 +f 60 51 69 +f 43 50 70 +f 59 43 70 +o convex_2 +v -0.471260 2.358986 -1.113293 +v 0.399964 1.522539 -2.995043 +v 0.016490 2.045455 -3.029851 +v 0.469658 2.533109 -1.287720 +v -0.505948 1.662165 -1.078291 +v -0.505948 2.568043 -2.925234 +v -0.575853 1.592406 -2.960236 +v 0.469658 1.592406 -1.113293 +v 0.504558 2.533109 -3.029851 +v -0.436255 2.637802 -1.078291 +v 0.364959 2.568043 -1.078291 +v 0.504558 1.522539 -2.995043 +v 0.504558 2.010521 -1.705995 +v -0.540954 1.627231 -1.636185 +v -0.540954 2.324052 -2.855424 +v 0.330270 2.498175 -3.064853 +v 0.469658 1.627231 -1.078291 +v -0.436255 2.568043 -2.960236 +v -0.471260 1.627231 -1.357141 +v 0.469658 2.324052 -1.078291 +v 0.364959 1.522539 -2.890426 +v -0.366667 2.637802 -1.113293 +v 0.504558 2.533109 -2.193496 +v -0.505948 1.940762 -1.078291 +v -0.505948 2.568043 -2.367534 +v -0.540954 1.592406 -2.507153 +v 0.504558 2.289227 -3.064853 +f 86 79 97 +f 73 72 77 +f 80 75 81 +f 82 79 83 +f 78 82 83 +f 76 77 85 +f 77 84 85 +f 73 77 86 +f 75 78 87 +f 81 75 87 +f 78 83 87 +f 77 76 88 +f 86 77 88 +f 79 86 88 +f 78 75 89 +f 75 84 89 +f 74 81 90 +f 81 87 90 +f 87 83 90 +f 77 72 91 +f 72 82 91 +f 82 78 91 +f 78 89 91 +f 76 80 92 +f 81 79 92 +f 80 81 92 +f 88 76 92 +f 79 88 92 +f 79 81 93 +f 81 74 93 +f 83 79 93 +f 74 90 93 +f 90 83 93 +f 80 71 94 +f 75 80 94 +f 84 75 94 +f 85 84 94 +f 85 94 95 +f 71 80 95 +f 80 76 95 +f 76 85 95 +f 94 71 95 +f 84 77 96 +f 89 84 96 +f 77 91 96 +f 91 89 96 +f 72 73 97 +f 82 72 97 +f 79 82 97 +f 73 86 97 +o convex_3 +v -0.610589 1.522714 2.859627 +v 0.609113 2.637684 2.964319 +v 0.121041 2.637684 2.964319 +v 0.574251 2.672596 1.082531 +v 0.539269 1.487803 1.082722 +v -0.540984 2.567976 1.082722 +v 0.539269 1.522714 3.034050 +v -0.540984 1.487803 1.082722 +v -0.436278 2.602888 2.929358 +v -0.610589 1.557510 2.964319 +v -0.575727 1.487803 2.685394 +v 0.155904 2.672479 1.431187 +v 0.574132 1.662129 3.034050 +v 0.295353 1.801544 3.034050 +v 0.609113 2.498269 2.720546 +v -0.436278 2.602888 1.082722 +v 0.574251 2.672596 2.302159 +v 0.539269 1.487803 1.744882 +v -0.227224 2.637684 2.511162 +v -0.296948 2.428562 2.964319 +v -0.471260 2.602888 2.406660 +v -0.575727 1.487803 1.744882 +v 0.539389 2.428562 2.999280 +f 117 111 120 +f 101 102 105 +f 103 101 105 +f 103 98 107 +f 98 104 107 +f 104 98 108 +f 105 102 108 +f 107 104 111 +f 104 110 111 +f 101 99 112 +f 102 101 112 +f 99 110 112 +f 110 102 112 +f 101 103 113 +f 109 101 113 +f 100 99 114 +f 99 101 114 +f 101 109 114 +f 104 108 115 +f 108 102 115 +f 102 110 115 +f 110 104 115 +f 106 100 116 +f 109 113 116 +f 100 114 116 +f 114 109 116 +f 100 106 117 +f 106 107 117 +f 107 111 117 +f 103 107 118 +f 107 106 118 +f 113 103 118 +f 106 116 118 +f 116 113 118 +f 98 103 119 +f 103 105 119 +f 108 98 119 +f 105 108 119 +f 99 100 120 +f 110 99 120 +f 111 110 120 +f 100 117 120 +o convex_4 +v -2.318343 2.602950 0.280892 +v -1.935298 1.592379 -0.590363 +v -1.935298 1.627313 -0.590363 +v -1.133485 2.393783 0.559752 +v -3.085195 1.487687 0.455165 +v -2.980312 2.533191 -0.555464 +v -1.133485 2.533191 -0.485777 +v -1.133485 1.627313 0.455165 +v -2.980312 2.602950 0.524852 +v -3.050043 1.487687 -0.520451 +v -1.133485 1.627313 -0.590363 +v -1.203216 2.533191 0.559752 +v -2.736539 1.487687 -0.555464 +v -3.085195 1.662028 0.489840 +v -2.736539 2.602950 0.559752 +v -2.178880 2.533191 -0.555464 +v -2.283381 1.522620 0.455165 +v -2.980312 2.602950 0.106618 +v -1.133485 1.871195 -0.590363 +v -3.015464 2.498257 0.524852 +v -3.085195 1.522620 -0.067543 +v -1.412410 1.592379 0.455165 +v -2.632038 1.627313 0.489840 +v -3.015464 1.696962 -0.555464 +v -2.876001 2.568016 -0.346290 +v -1.377831 2.533191 -0.520451 +v -2.736539 1.487687 0.455165 +v -1.133485 2.533191 0.385366 +f 132 124 148 +f 127 124 128 +f 122 123 131 +f 127 128 131 +f 125 130 133 +f 122 131 133 +f 121 129 135 +f 132 121 135 +f 124 132 135 +f 134 124 135 +f 121 127 138 +f 129 121 138 +f 123 126 139 +f 131 123 139 +f 127 131 139 +f 126 136 139 +f 135 129 140 +f 134 135 140 +f 129 138 140 +f 138 126 140 +f 126 130 141 +f 130 125 141 +f 125 134 141 +f 140 126 141 +f 134 140 141 +f 131 128 142 +f 133 131 142 +f 137 133 142 +f 137 142 143 +f 128 124 143 +f 124 134 143 +f 134 125 143 +f 142 128 143 +f 123 122 144 +f 126 123 144 +f 130 126 144 +f 122 133 144 +f 133 130 144 +f 136 126 145 +f 138 127 145 +f 126 138 145 +f 127 139 146 +f 139 136 146 +f 136 145 146 +f 145 127 146 +f 125 133 147 +f 133 137 147 +f 137 143 147 +f 143 125 147 +f 127 121 148 +f 124 127 148 +f 121 132 148 +o convex_5 +v 1.062107 1.975837 0.768645 +v -0.749868 2.184939 -1.078291 +v -1.098551 2.637743 -1.043391 +v -1.063617 1.452999 0.942932 +v -0.924318 3.090714 0.977832 +v 1.062107 3.160414 -1.008491 +v 1.027173 1.453166 -0.938692 +v 1.027173 3.160414 1.012520 +v -1.028902 1.452999 -0.973592 +v 0.957524 1.453166 1.082320 +v -1.133485 3.125647 -1.043391 +v -0.540920 2.567875 1.082531 +v 0.469542 1.627334 -1.078291 +v -1.133485 2.498341 0.559670 +v -1.133485 1.662268 -0.590329 +v 1.097041 1.487932 0.559670 +v -0.540920 1.487765 1.082531 +v -1.028902 3.055947 0.977832 +v 1.097041 2.742210 0.663946 +v 1.097041 1.557633 -0.590118 +v 0.469542 2.567875 -1.078291 +v -0.261885 1.453166 -1.078291 +v 0.574125 2.672509 1.082531 +v 0.608841 3.160414 0.977832 +v -1.133485 1.627334 0.455182 +v 1.097041 2.533108 -0.590118 +v 1.062107 2.776977 -1.008491 +v -1.098551 3.125647 -0.659917 +v 0.748358 3.160414 -1.008491 +v 0.051427 3.125480 -1.043391 +v -1.063617 3.090714 0.524770 +v -0.436336 2.637743 -1.078291 +v 1.097041 2.846678 0.071708 +v -0.540920 1.627334 -1.078291 +v 0.852941 2.916378 -1.043391 +f 169 178 183 +f 151 150 157 +f 155 152 157 +f 152 155 158 +f 149 156 158 +f 150 151 159 +f 156 153 160 +f 162 159 163 +f 151 157 163 +f 157 152 163 +f 159 151 163 +f 149 158 164 +f 158 155 164 +f 152 158 165 +f 165 160 166 +f 160 153 166 +f 162 152 166 +f 152 165 166 +f 156 149 167 +f 149 164 167 +f 167 164 168 +f 164 155 168 +f 161 150 169 +f 155 157 170 +f 150 161 170 +f 161 155 170 +f 158 156 171 +f 156 160 171 +f 165 158 171 +f 160 165 171 +f 153 156 172 +f 156 154 172 +f 152 162 173 +f 162 163 173 +f 163 152 173 +f 167 168 174 +f 168 154 174 +f 155 161 175 +f 154 168 175 +f 168 155 175 +f 153 172 176 +f 172 159 176 +f 154 159 177 +f 172 154 177 +f 159 172 177 +f 159 154 178 +f 159 162 179 +f 166 153 179 +f 162 166 179 +f 153 176 179 +f 176 159 179 +f 150 159 180 +f 169 150 180 +f 159 178 180 +f 178 169 180 +f 154 156 181 +f 156 167 181 +f 174 154 181 +f 167 174 181 +f 157 150 182 +f 150 170 182 +f 170 157 182 +f 161 169 183 +f 154 175 183 +f 175 161 183 +f 178 154 183 +o convex_6 +v 2.769772 1.975720 0.594488 +v 1.097041 1.557486 -0.590247 +v 1.689682 1.522586 -0.137158 +v 2.943861 1.522586 -0.590247 +v 2.944045 2.637802 -0.590247 +v 1.097041 2.637802 0.594488 +v 1.097041 1.557486 0.524790 +v 1.097041 2.533215 -0.590247 +v 2.979047 1.487687 0.594488 +v 2.944045 2.602902 0.489884 +v 1.863955 2.602902 -0.590247 +v 2.177316 1.592273 0.594488 +v 2.979047 1.487687 0.071701 +v 2.944045 2.637802 0.036911 +v 1.968408 1.522586 -0.590247 +v 2.909227 2.533215 0.524790 +v 1.097041 2.254355 0.594488 +v 2.979047 1.836234 0.594488 +v 1.620046 2.602902 0.594488 +v 2.491045 2.637802 -0.590247 +v 2.734954 1.487687 0.594488 +v 1.271499 2.568002 -0.590247 +f 194 191 205 +f 187 185 188 +f 185 186 190 +f 189 185 190 +f 188 185 191 +f 185 189 191 +f 184 189 192 +f 188 191 194 +f 192 189 195 +f 187 188 196 +f 188 189 197 +f 189 193 197 +f 186 185 198 +f 185 187 198 +f 196 186 198 +f 187 196 198 +f 189 190 200 +f 195 189 200 +f 190 195 200 +f 184 192 201 +f 196 188 201 +f 192 196 201 +f 188 197 201 +f 197 193 201 +f 199 184 201 +f 193 199 201 +f 189 184 202 +f 193 189 202 +f 184 199 202 +f 199 193 202 +f 189 188 203 +f 188 194 203 +f 194 189 203 +f 190 186 204 +f 195 190 204 +f 192 195 204 +f 186 196 204 +f 196 192 204 +f 191 189 205 +f 189 194 205 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/186/186.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/186/186.urdf new file mode 100644 index 000000000..b437237e2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/186/186.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/187/187.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/187/187.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/187/187.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/187/187.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/187/187.obj new file mode 100644 index 000000000..fe9dfc81e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/187/187.obj @@ -0,0 +1,423 @@ +o convex_0 +v -3.157228 -2.128280 0.274671 +v -3.887480 -1.705551 -0.378642 +v -3.887480 -1.628680 -0.378642 +v -1.927555 -1.859294 -0.224861 +v -1.927555 -1.551809 0.236209 +v -3.810405 -1.628680 0.197815 +v -3.849138 -2.166716 -0.263323 +v -1.927555 -2.128280 0.313133 +v -1.927555 -2.128280 -0.224861 +v -3.926017 -2.205152 0.236209 +v -1.927555 -1.667116 -0.186467 +v -3.272644 -1.590244 0.236209 +v -3.310790 -2.205152 0.044102 +v -2.465708 -2.128280 -0.263323 +v -1.966093 -1.628680 0.274671 +v -3.003274 -1.628680 -0.301718 +v -3.887480 -1.936102 0.236209 +v -3.272644 -2.205152 0.236209 +v -3.772259 -1.628680 -0.378642 +v -3.926017 -2.205152 0.082497 +f 13 10 20 +f 4 5 8 +f 4 8 9 +f 8 1 10 +f 5 4 11 +f 5 3 12 +f 3 6 12 +f 1 8 12 +f 7 9 13 +f 7 2 14 +f 9 7 14 +f 8 5 15 +f 5 12 15 +f 12 8 15 +f 11 4 16 +f 5 11 16 +f 6 3 17 +f 3 10 17 +f 10 1 17 +f 12 6 17 +f 1 12 17 +f 9 8 18 +f 8 10 18 +f 13 9 18 +f 10 13 18 +f 2 3 19 +f 3 5 19 +f 4 9 19 +f 14 2 19 +f 9 14 19 +f 16 4 19 +f 5 16 19 +f 3 2 20 +f 2 7 20 +f 10 3 20 +f 7 13 20 +o convex_1 +v 4.183126 -1.821013 -0.224733 +v -0.966331 -0.937048 -1.108849 +v -0.966331 -0.898495 -1.108849 +v -1.888675 -1.206071 1.120205 +v -1.850394 -2.858345 -1.031609 +v 4.144246 -2.935239 0.927977 +v 4.144246 -0.975600 0.927977 +v 4.144246 -2.896687 -1.031827 +v -1.812112 -2.935239 1.004781 +v 4.183126 -1.013942 -0.955023 +v -1.888675 -0.821601 -1.070229 +v -1.773233 -0.821601 1.120205 +v 0.148019 -0.821601 -1.108849 +v 0.109737 -2.973791 0.389696 +v -0.389716 -2.896897 -1.070229 +v 0.186300 -0.821601 0.927759 +v -1.927555 -2.358639 0.505120 +v 3.913959 -0.975600 -0.993207 +v 1.608098 -2.973791 0.966379 +v 0.186300 -1.705567 -1.108849 +v 4.144246 -2.935239 -0.224733 +v 0.109737 -2.935239 -0.685992 +v 3.452787 -0.937258 0.927977 +v 0.686352 -0.898495 -1.108631 +v -1.850394 -2.896687 -0.570786 +v -1.888675 -1.897696 -1.070229 +v -1.888675 -0.821601 1.081584 +v 4.183126 -0.975600 -0.724394 +v -1.927555 -2.166509 -0.378341 +v -1.850394 -2.512427 1.043183 +v 4.144246 -2.435533 -1.031827 +v -0.697164 -2.973791 0.927759 +v 1.261771 -2.896687 -1.070229 +v -1.927555 -1.551989 0.236089 +v 4.183126 -2.128168 -0.993207 +v 2.184713 -2.973791 0.889575 +v -1.696670 -0.975389 1.120205 +v 4.183126 -0.975600 -0.147711 +v -1.850394 -2.858345 0.927759 +v -1.120055 -2.896687 -1.031609 +v -1.927555 -2.397191 -0.224515 +v -1.812112 -2.935239 0.543522 +v -1.812112 -1.206071 1.120205 +v 0.224582 -0.821601 0.197687 +v 4.183126 -1.282965 -0.993207 +v -1.158935 -2.935239 1.004781 +f 39 50 66 +f 23 22 31 +f 31 32 33 +f 22 23 33 +f 23 31 33 +f 33 32 36 +f 22 33 40 +f 28 41 42 +f 41 34 42 +f 32 27 43 +f 36 32 43 +f 33 38 44 +f 40 33 44 +f 28 40 44 +f 31 22 46 +f 35 25 46 +f 22 40 46 +f 40 35 46 +f 24 32 47 +f 32 31 47 +f 37 24 47 +f 21 30 48 +f 30 38 48 +f 38 33 48 +f 33 43 48 +f 31 46 49 +f 46 25 49 +f 24 37 50 +f 28 44 51 +f 44 38 51 +f 39 29 52 +f 34 39 52 +f 45 34 52 +f 40 28 53 +f 35 40 53 +f 42 35 53 +f 28 42 53 +f 47 31 54 +f 37 47 54 +f 49 37 54 +f 31 49 54 +f 21 26 55 +f 30 21 55 +f 26 41 55 +f 41 28 55 +f 28 51 55 +f 26 39 56 +f 39 34 56 +f 41 26 56 +f 34 41 56 +f 26 27 57 +f 32 24 57 +f 27 32 57 +f 26 21 58 +f 27 26 58 +f 43 27 58 +f 21 48 58 +f 48 43 58 +f 45 29 59 +f 50 37 59 +f 29 50 59 +f 25 35 60 +f 42 34 60 +f 35 42 60 +f 34 45 60 +f 45 25 60 +f 25 45 61 +f 49 25 61 +f 37 49 61 +f 45 59 61 +f 59 37 61 +f 29 45 62 +f 52 29 62 +f 45 52 62 +f 39 26 63 +f 24 50 63 +f 50 39 63 +f 57 24 63 +f 26 57 63 +f 33 36 64 +f 36 43 64 +f 43 33 64 +f 38 30 65 +f 51 38 65 +f 30 55 65 +f 55 51 65 +f 29 39 66 +f 50 29 66 +o convex_2 +v -0.428686 0.561851 1.043175 +v -0.813160 -0.821425 -1.108849 +v -1.888958 -0.821425 -1.070251 +v -1.773594 0.984524 -1.070251 +v -1.888958 -0.821425 1.081773 +v 0.224469 0.984524 -1.070251 +v 0.186086 -0.821425 0.927811 +v -1.735211 0.984524 0.966409 +v 0.147703 0.984524 0.966409 +v 0.147703 -0.821425 -1.108849 +v -1.927555 0.984524 -0.993485 +v 0.263066 -0.129698 0.505169 +v 0.263066 0.984524 0.697299 +v -1.812192 0.484953 1.004792 +v -1.235803 -0.782887 1.081773 +v 0.186086 -0.514010 -1.108849 +v 0.224469 -0.821425 0.197676 +v -1.927555 0.369695 -1.070251 +v 0.109105 0.984524 1.004578 +v -1.850575 -0.398752 1.081773 +v 0.147703 -0.014440 -1.108849 +v -0.006044 -0.744527 0.966409 +v -1.812192 0.984524 0.543552 +v 0.224469 0.446416 -1.070251 +v -1.888958 -0.667629 1.081773 +v -1.158822 -0.129698 1.081773 +v -0.582433 0.984524 1.004578 +v 0.263066 0.600212 0.735682 +v 0.224469 -0.782887 0.697299 +v -1.927555 0.869089 -1.070251 +f 70 87 96 +f 69 68 71 +f 71 68 73 +f 72 70 74 +f 72 74 75 +f 73 68 76 +f 74 70 77 +f 72 75 79 +f 78 72 79 +f 71 73 81 +f 76 68 82 +f 82 78 83 +f 73 76 83 +f 76 82 83 +f 68 69 84 +f 69 71 84 +f 71 77 84 +f 75 74 85 +f 73 75 85 +f 67 81 85 +f 74 80 86 +f 71 81 86 +f 70 72 87 +f 82 68 87 +f 72 82 87 +f 81 73 88 +f 73 85 88 +f 85 81 88 +f 74 77 89 +f 80 74 89 +f 72 78 90 +f 82 72 90 +f 78 82 90 +f 77 71 91 +f 71 86 91 +f 86 80 91 +f 89 77 91 +f 80 89 91 +f 81 67 92 +f 74 86 92 +f 86 81 92 +f 67 85 93 +f 85 74 93 +f 92 67 93 +f 74 92 93 +f 75 73 94 +f 79 75 94 +f 78 79 94 +f 83 78 95 +f 73 83 95 +f 94 73 95 +f 78 94 95 +f 77 70 96 +f 68 84 96 +f 84 77 96 +f 87 68 96 +o convex_3 +v 2.107272 3.059970 1.043224 +v 0.032550 1.599627 -1.070417 +v 0.032550 1.945684 -1.070417 +v -3.772009 2.636940 1.004841 +v 2.184314 1.061674 1.120205 +v -3.849051 1.100267 -0.762709 +v -3.733488 3.021376 -0.993437 +v 2.145793 3.021376 -0.916456 +v -3.772009 1.023509 0.966244 +v 2.299877 1.061674 -0.993222 +v -3.772009 3.175108 1.004841 +v -1.735207 0.984700 -1.070203 +v 0.570040 3.098349 -1.031820 +v -3.849051 1.138646 -1.031820 +v 0.108990 0.984700 1.004841 +v -3.810530 2.982782 -1.031820 +v 2.222835 2.675534 0.697348 +v 0.224554 0.984700 -1.070417 +v -3.810530 3.136514 0.312874 +v -2.964872 0.984700 0.927861 +v 2.068751 1.100267 -1.031820 +v 1.031089 3.098349 1.004841 +v 2.184314 2.368070 1.081607 +v 1.838226 3.059970 -0.955054 +v -0.659626 3.098349 -0.993222 +v 2.222835 1.061674 1.004627 +v -3.425921 3.175108 0.658965 +v -3.772009 1.023509 0.505218 +v 1.953789 1.061674 1.120205 +v 2.145793 1.407730 1.120205 +v -3.849051 1.100267 -0.340067 +v -3.849051 2.214339 -1.031820 +v 2.184314 3.021376 1.043224 +v -3.810530 3.136514 0.581984 +v -1.927210 0.984700 -1.031605 +v 2.222835 1.868711 -0.993222 +v 0.263075 0.984700 0.697133 +v 0.224554 1.984063 -1.070417 +v 2.299877 1.138646 -0.878073 +v 2.184314 3.021376 0.274491 +v 1.300135 3.059970 1.043010 +v 0.647082 1.100267 -1.070417 +v 0.647082 3.098349 -0.993437 +v -3.580006 3.175108 0.658965 +v 2.299877 1.138646 -0.993222 +v -3.810530 1.061888 0.389640 +v -2.426781 3.059970 -0.954839 +v -0.313538 3.098349 -1.031605 +v 2.145793 2.752507 -0.955054 +f 132 109 145 +f 99 98 108 +f 99 108 112 +f 98 99 114 +f 108 98 114 +f 111 108 114 +f 103 112 115 +f 111 105 116 +f 108 111 116 +f 106 114 117 +f 107 97 118 +f 97 104 120 +f 118 97 120 +f 119 101 122 +f 107 118 123 +f 105 102 124 +f 116 105 124 +f 100 105 125 +f 107 100 125 +f 111 101 125 +f 105 111 125 +f 119 107 126 +f 101 119 126 +f 107 125 126 +f 125 101 126 +f 102 105 127 +f 110 102 127 +f 108 110 128 +f 112 108 128 +f 115 112 128 +f 110 127 128 +f 97 119 129 +f 122 113 129 +f 119 122 129 +f 105 100 130 +f 100 107 130 +f 107 115 130 +f 115 128 130 +f 128 127 130 +f 102 110 131 +f 110 108 131 +f 108 116 131 +f 124 102 131 +f 116 124 131 +f 117 109 132 +f 101 111 133 +f 114 106 133 +f 111 114 133 +f 122 101 133 +f 106 122 133 +f 99 112 134 +f 114 99 134 +f 109 117 134 +f 122 106 135 +f 113 122 135 +f 104 97 136 +f 97 129 136 +f 129 113 136 +f 97 107 137 +f 119 97 137 +f 107 119 137 +f 117 114 138 +f 114 134 138 +f 134 117 138 +f 120 109 139 +f 118 120 139 +f 123 118 139 +f 109 123 139 +f 115 107 140 +f 103 115 140 +f 107 123 140 +f 123 109 140 +f 106 117 141 +f 132 104 141 +f 117 132 141 +f 135 106 141 +f 113 135 141 +f 104 136 141 +f 136 113 141 +f 127 105 142 +f 105 130 142 +f 130 127 142 +f 121 103 143 +f 103 140 143 +f 140 121 143 +f 112 103 144 +f 103 121 144 +f 134 112 144 +f 109 134 144 +f 121 140 144 +f 140 109 144 +f 120 104 145 +f 109 120 145 +f 104 132 145 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/187/187.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/187/187.urdf new file mode 100644 index 000000000..038c4aa6b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/187/187.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/188/188.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/188/188.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/188/188.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/188/188.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/188/188.obj new file mode 100644 index 000000000..ce7fee8bf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/188/188.obj @@ -0,0 +1,384 @@ +o convex_0 +v 1.097880 -0.732690 0.691282 +v -1.097255 -2.031426 -0.977852 +v -0.911605 -2.030776 -1.008782 +v -1.004430 3.965144 -1.070853 +v -0.942547 3.996377 1.031506 +v 1.005056 4.058841 -0.915993 +v -0.973488 -1.938380 1.031506 +v 1.097880 -2.031426 -1.070853 +v 1.005056 4.058841 1.031294 +v 1.097880 -2.093240 1.093365 +v -0.447911 -2.588399 0.505705 +v 0.541361 -2.588399 -0.545051 +v -0.602404 -2.588399 -0.483192 +v 0.510420 -2.588399 0.536846 +v 1.035997 3.254613 -0.947134 +v -0.973488 3.501868 0.876647 +v -1.097255 -1.443872 -0.730628 +v 1.035997 -0.763922 -1.070853 +v 0.417595 -2.031426 -1.070853 +v -0.664287 3.842168 -1.070853 +v -0.416969 -1.968962 1.062436 +v -1.004430 -1.939031 0.814788 +v 0.881289 4.058841 -0.946923 +v -1.004430 2.667058 -1.070853 +v -0.386028 -2.587749 0.567564 +v 1.035997 2.821267 1.031506 +v 1.035997 1.646809 1.062436 +v 0.664913 4.058841 -0.946923 +v -0.973488 3.996377 0.196621 +v -0.386028 4.026958 1.031294 +v 1.035997 3.409472 -0.668769 +v -0.973488 1.801668 1.031506 +v -1.097255 -2.031426 -0.699699 +v -1.097255 -1.475104 -1.008782 +v -0.571677 -2.588399 -0.514121 +v 1.097880 -0.856317 1.062436 +v 0.633971 4.058841 1.031294 +v 1.097880 -2.093240 0.505916 +v 1.035997 -2.093240 1.093365 +v -1.066313 0.565396 -0.977852 +v -0.571677 3.996377 -1.039711 +v 1.097880 -1.907799 -1.070853 +v -0.262261 -2.000194 1.062436 +v 1.005056 3.749122 -0.946923 +v 0.448536 -2.587749 0.567564 +v -1.004430 -1.567499 0.814788 +v -0.973488 3.996377 0.443846 +v 0.541361 -2.588399 0.103833 +v 1.097880 -2.062008 -0.545051 +v 1.097880 -0.732690 0.598493 +v -0.602404 -2.588399 -0.452262 +v 1.066939 0.256328 -1.039923 +v -1.097255 -1.351477 -0.761557 +f 47 40 53 +f 8 1 10 +f 12 11 13 +f 11 12 14 +f 8 4 18 +f 4 8 19 +f 8 12 19 +f 18 4 20 +f 9 6 23 +f 20 4 23 +f 4 19 24 +f 7 11 25 +f 11 14 25 +f 26 9 27 +f 9 23 28 +f 28 29 30 +f 6 9 31 +f 15 6 31 +f 9 26 31 +f 5 16 32 +f 16 17 32 +f 21 5 32 +f 7 21 32 +f 22 7 32 +f 2 13 33 +f 17 2 33 +f 3 2 34 +f 2 17 34 +f 19 3 34 +f 4 24 34 +f 24 19 34 +f 2 3 35 +f 13 2 35 +f 12 13 35 +f 3 19 35 +f 19 12 35 +f 10 1 36 +f 27 10 36 +f 26 27 36 +f 1 31 36 +f 31 26 36 +f 5 27 37 +f 27 9 37 +f 9 28 37 +f 28 30 37 +f 30 5 37 +f 8 10 38 +f 10 12 38 +f 5 21 39 +f 25 10 39 +f 27 5 39 +f 10 27 39 +f 4 34 40 +f 23 4 41 +f 28 23 41 +f 4 29 41 +f 29 28 41 +f 1 8 42 +f 8 18 42 +f 21 7 43 +f 7 25 43 +f 39 21 43 +f 25 39 43 +f 6 15 44 +f 18 20 44 +f 23 6 44 +f 20 23 44 +f 14 10 45 +f 10 25 45 +f 25 14 45 +f 32 17 46 +f 22 32 46 +f 17 33 46 +f 33 22 46 +f 16 5 47 +f 29 4 47 +f 30 29 47 +f 5 30 47 +f 4 40 47 +f 12 10 48 +f 10 14 48 +f 14 12 48 +f 12 8 49 +f 8 38 49 +f 38 12 49 +f 15 31 50 +f 31 1 50 +f 1 42 50 +f 42 15 50 +f 11 7 51 +f 13 11 51 +f 7 22 51 +f 33 13 51 +f 22 33 51 +f 15 42 52 +f 42 18 52 +f 44 15 52 +f 18 44 52 +f 17 16 53 +f 34 17 53 +f 40 34 53 +f 16 47 53 +o convex_1 +v 0.293980 -2.681230 0.598687 +v -0.602576 -4.010521 -0.576174 +v -0.324271 -4.010521 -0.576174 +v 0.541234 -2.588399 -0.545124 +v 0.572285 -4.010521 0.413073 +v -0.447899 -2.588399 0.505765 +v -0.478834 -4.103352 0.444009 +v -0.602576 -2.588399 -0.483368 +v 0.572285 -4.041366 -0.483253 +v 0.510414 -2.588399 0.536816 +v -0.231350 -3.330305 0.598687 +v -0.324271 -2.743217 -0.576174 +v 0.572285 -3.948534 0.474830 +v 0.572285 -2.743217 -0.545124 +v 0.293980 -3.268615 -0.576174 +v 0.541234 -2.712223 0.536816 +v 0.232109 -3.299460 0.598687 +v -0.355207 -2.588399 0.567636 +v -0.200644 -4.103352 0.196640 +v -0.602576 -4.010521 -0.390561 +v -0.540705 -2.743217 -0.019564 +v 0.417607 -4.041366 -0.514188 +v 0.572285 -3.485122 0.474830 +v -0.602576 -2.619541 -0.514303 +v 0.263044 -2.712223 -0.576174 +v -0.200644 -2.681230 0.598687 +v 0.572285 -3.794014 -0.514188 +v -0.602576 -3.577804 -0.576174 +v -0.416963 -2.928581 0.536816 +v 0.355851 -3.979528 0.474830 +v -0.602576 -2.804906 -0.421496 +v 0.263044 -4.072210 -0.205063 +v -0.293336 -4.103352 0.444009 +f 72 85 86 +f 59 57 61 +f 57 59 63 +f 56 55 65 +f 58 62 66 +f 66 62 67 +f 56 65 68 +f 63 54 69 +f 57 63 69 +f 67 57 69 +f 54 64 70 +f 69 54 70 +f 66 69 70 +f 54 63 71 +f 63 59 71 +f 60 55 72 +f 55 60 73 +f 61 55 73 +f 60 59 74 +f 59 61 74 +f 55 56 75 +f 56 68 75 +f 66 67 76 +f 69 66 76 +f 67 69 76 +f 55 61 77 +f 61 57 77 +f 57 65 77 +f 65 57 78 +f 57 67 78 +f 68 65 78 +f 67 68 78 +f 64 54 79 +f 54 71 79 +f 71 64 79 +f 67 62 80 +f 68 67 80 +f 75 68 80 +f 62 75 80 +f 65 55 81 +f 55 77 81 +f 77 65 81 +f 59 60 82 +f 60 64 82 +f 71 59 82 +f 64 71 82 +f 64 60 83 +f 58 66 83 +f 70 64 83 +f 66 70 83 +f 73 60 84 +f 61 73 84 +f 74 61 84 +f 60 74 84 +f 62 58 85 +f 72 55 85 +f 55 75 85 +f 75 62 85 +f 60 72 86 +f 58 83 86 +f 83 60 86 +f 85 58 86 +o convex_2 +v -0.293330 -2.773952 -2.987568 +v 0.294028 -3.083041 -0.576174 +v 0.294028 -3.268582 -0.576174 +v -0.324320 -2.743065 -0.576174 +v 0.232169 -2.712069 -2.925527 +v -0.293330 -3.237586 -3.018588 +v 0.263038 -3.206699 -3.111401 +v -0.293330 -3.206699 -0.607195 +v 0.263038 -2.712069 -0.576174 +v -0.324320 -3.144816 -2.616565 +v 0.263038 -2.897609 -3.018588 +v -0.324320 -2.743065 -1.997896 +v 0.294028 -3.268582 -1.349200 +v -0.076884 -2.712069 -0.576174 +v 0.139441 -3.268582 -0.576174 +v 0.108512 -3.237586 -3.080380 +v -0.324320 -2.773952 -2.956796 +v -0.293330 -3.237586 -1.813263 +v -0.324320 -2.928497 -0.576174 +v 0.139441 -2.712069 -2.925527 +v 0.263038 -2.712069 -1.565597 +v 0.294028 -3.206699 -1.905332 +v 0.170310 -3.144816 -3.111401 +f 97 93 109 +f 89 88 90 +f 90 88 95 +f 87 91 97 +f 96 90 98 +f 88 89 99 +f 90 95 100 +f 95 91 100 +f 98 90 100 +f 89 90 101 +f 99 89 101 +f 92 99 101 +f 92 93 102 +f 99 92 102 +f 93 99 102 +f 87 92 103 +f 92 96 103 +f 96 98 103 +f 96 92 104 +f 94 96 104 +f 101 94 104 +f 92 101 104 +f 90 96 105 +f 96 94 105 +f 101 90 105 +f 94 101 105 +f 91 87 106 +f 100 91 106 +f 98 100 106 +f 87 103 106 +f 103 98 106 +f 95 88 107 +f 91 95 107 +f 97 91 107 +f 97 107 108 +f 93 97 108 +f 88 99 108 +f 99 93 108 +f 107 88 108 +f 92 87 109 +f 93 92 109 +f 87 97 109 +o convex_3 +v 0.232157 -2.743113 2.824304 +v -0.107789 -3.330417 0.599177 +v 0.201221 -3.330417 0.599177 +v -0.200596 -2.650234 0.630061 +v -0.293402 -3.237538 3.009853 +v 0.294028 -2.681260 0.599177 +v -0.169718 -2.650234 3.102996 +v 0.232157 -3.175751 3.071621 +v -0.231531 -3.299391 0.599177 +v 0.232157 -3.299391 1.433783 +v -0.293402 -3.083072 2.917201 +v -0.231531 -2.835793 0.599177 +v 0.232157 -2.773940 3.040738 +v -0.293402 -3.268564 2.113479 +v -0.200596 -2.650234 2.731651 +v -0.107789 -2.650234 3.102996 +v 0.170343 -3.330417 1.000915 +v 0.232157 -3.268564 0.599177 +v -0.262467 -3.299391 1.031800 +v 0.294028 -2.743113 0.660945 +v 0.077594 -3.206711 3.009853 +v 0.263093 -2.681260 1.155581 +v -0.200596 -2.681260 3.102996 +f 117 125 132 +f 112 111 115 +f 115 111 118 +f 113 115 121 +f 115 118 121 +f 120 113 121 +f 115 110 122 +f 111 114 123 +f 114 120 123 +f 120 121 123 +f 116 113 124 +f 113 120 124 +f 115 113 125 +f 113 116 125 +f 122 110 125 +f 117 122 125 +f 111 112 126 +f 114 111 126 +f 112 119 126 +f 119 114 126 +f 112 115 127 +f 119 112 127 +f 118 111 128 +f 121 118 128 +f 111 123 128 +f 123 121 128 +f 117 119 129 +f 115 122 129 +f 122 117 129 +f 127 115 129 +f 119 127 129 +f 117 114 130 +f 114 119 130 +f 119 117 130 +f 110 115 131 +f 125 110 131 +f 115 125 131 +f 114 117 132 +f 120 114 132 +f 116 124 132 +f 124 120 132 +f 125 116 132 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/188/188.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/188/188.urdf new file mode 100644 index 000000000..cbdbeee80 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/188/188.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/189/189.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/189/189.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/189/189.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/189/189.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/189/189.obj new file mode 100644 index 000000000..52e802afe --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/189/189.obj @@ -0,0 +1,900 @@ +o convex_0 +v 1.823972 -0.732469 -0.994756 +v 2.411390 -0.072111 0.987515 +v 2.448016 0.038044 0.950751 +v 3.365768 -0.989685 -0.003917 +v 1.750545 -1.724141 -0.003917 +v 1.750545 1.176210 -0.076851 +v 3.182112 0.331599 -0.517619 +v 1.750545 -1.283240 0.803895 +v 3.292341 -0.219172 0.803895 +v 1.750545 0.478377 -0.921228 +v 3.328967 -0.365382 -0.774372 +v 1.750545 0.662062 0.803895 +v 3.328967 0.515000 0.032847 +v 1.750545 -1.393394 -0.811333 +v 2.631672 -1.062932 0.767131 +v 2.558244 0.551624 0.767131 +v 3.549425 -0.145642 0.032847 +v 2.595046 -0.255796 -1.031717 +v 2.595046 0.478377 -0.811333 +v 2.521619 -1.099555 -0.774372 +v 3.292341 -1.099555 0.069610 +v 1.787346 -0.292135 0.987515 +v 2.558244 -0.402290 0.987515 +v 3.145487 -0.916154 -0.517619 +v 3.145487 -0.842623 0.620274 +v 3.328967 -0.219172 -0.774372 +v 1.787346 1.176210 -0.003917 +v 3.145487 0.331599 0.546945 +v 1.750545 -0.402290 -1.031717 +v 3.549425 -0.402290 0.069610 +v 3.328967 0.515000 -0.040087 +v 3.292341 -0.328759 0.803895 +v 1.787346 -1.724141 -0.040087 +v 2.558244 -0.365382 -1.031717 +v 3.292341 -1.099555 -0.003917 +v 1.897399 0.551624 -0.884860 +v 1.750545 0.478377 0.877224 +v 1.787346 -1.246617 -0.884860 +v 3.549425 -0.328759 -0.113615 +v 2.631672 0.515000 -0.737805 +v 2.668297 -0.219172 0.987515 +v 1.787346 -1.724141 -0.003917 +v 1.787346 1.176210 -0.076851 +v 2.558244 -1.099555 0.767131 +v 3.365768 -0.989685 0.069610 +v 1.750545 -0.989685 0.877224 +v 1.823972 -1.283240 0.803895 +v 3.365768 -0.255796 -0.737805 +v 1.970826 -1.319864 -0.811333 +v 3.512623 -0.255796 0.253231 +v 3.035258 0.368223 0.620274 +v 3.182112 0.221445 -0.627712 +v 2.484817 0.515284 -0.811333 +v 3.182112 -0.806000 -0.590949 +v 2.558244 0.588531 0.693801 +v 1.823972 0.662062 0.803895 +f 37 16 56 +f 6 5 8 +f 5 6 10 +f 6 8 12 +f 5 10 14 +f 2 22 23 +f 15 21 25 +f 11 18 26 +f 18 19 26 +f 6 12 27 +f 9 13 28 +f 14 10 29 +f 10 18 29 +f 13 17 31 +f 27 13 31 +f 23 15 32 +f 15 25 32 +f 5 14 33 +f 18 11 34 +f 11 20 34 +f 1 29 34 +f 29 18 34 +f 4 21 35 +f 20 24 35 +f 21 33 35 +f 10 6 36 +f 18 10 36 +f 19 18 36 +f 2 3 37 +f 12 8 37 +f 3 16 37 +f 22 2 37 +f 29 1 38 +f 14 29 38 +f 1 34 38 +f 34 20 38 +f 4 11 39 +f 30 4 39 +f 17 30 39 +f 7 19 40 +f 31 7 40 +f 3 2 41 +f 16 3 41 +f 9 16 41 +f 2 23 41 +f 32 9 41 +f 23 32 41 +f 8 5 42 +f 5 33 42 +f 33 21 42 +f 6 27 43 +f 27 31 43 +f 36 6 43 +f 31 40 43 +f 21 15 44 +f 15 23 44 +f 42 21 44 +f 21 4 45 +f 25 21 45 +f 4 30 45 +f 32 25 45 +f 30 32 45 +f 23 22 46 +f 37 8 46 +f 22 37 46 +f 8 42 47 +f 44 23 47 +f 42 44 47 +f 46 8 47 +f 23 46 47 +f 11 26 48 +f 31 17 48 +f 7 31 48 +f 39 11 48 +f 17 39 48 +f 33 14 49 +f 20 35 49 +f 35 33 49 +f 14 38 49 +f 38 20 49 +f 13 9 50 +f 17 13 50 +f 30 17 50 +f 9 32 50 +f 32 30 50 +f 16 9 51 +f 13 16 51 +f 9 28 51 +f 28 13 51 +f 19 7 52 +f 26 19 52 +f 7 48 52 +f 48 26 52 +f 19 36 53 +f 40 19 53 +f 36 43 53 +f 43 40 53 +f 11 4 54 +f 20 11 54 +f 24 20 54 +f 4 35 54 +f 35 24 54 +f 16 13 55 +f 13 27 55 +f 27 16 55 +f 27 12 56 +f 16 27 56 +f 12 37 56 +o convex_1 +v -0.966382 -2.348192 -1.031634 +v -1.406904 0.257332 1.134368 +v -1.517114 0.257332 1.134368 +v -0.893014 2.497332 -0.811344 +v -2.361316 -0.219489 -0.774666 +v -0.856172 -3.008945 0.803819 +v -2.251265 -2.971456 -0.003989 +v -2.251265 1.762771 0.693561 +v -0.856172 2.497332 0.767142 +v -2.251265 -2.164259 0.767142 +v -2.251265 2.461014 -0.040213 +v -1.957478 -0.292125 -1.178570 +v -0.856172 -3.008945 -0.811344 +v -2.177739 -2.274384 -0.848021 +v -2.214581 1.725868 -0.737762 +v -2.471367 -2.274384 0.032689 +v -2.471367 1.689549 0.032689 +v -0.856172 -0.255807 -1.141666 +v -0.856172 -2.311288 1.024110 +v -1.957478 -0.365346 1.134368 +v -2.361316 -0.072459 0.767142 +v -1.480430 -3.045263 0.767142 +v -1.443588 -3.266100 -0.076891 +v -1.480430 1.726453 -0.994957 +v -0.856172 2.718169 -0.077117 +v -1.443588 -3.008945 -0.811344 +v -0.929698 -0.219489 1.134368 +v -1.553797 1.763357 0.950755 +v -1.553797 2.461014 0.693787 +v -1.443588 -2.311288 1.024110 +v -1.517114 2.461014 -0.737762 +v -1.443588 -2.274384 -1.068311 +v -0.856172 1.873483 0.950755 +v -0.856172 1.800261 -0.994957 +v -0.856172 -3.266100 0.142947 +v -1.370220 2.718169 -0.003762 +v -2.471367 -2.200577 -0.150245 +v -0.893014 -0.438568 -1.178570 +v -1.333536 0.147792 -1.178570 +v -2.067529 -2.788694 0.583528 +v -2.030845 -2.825012 -0.627730 +v -2.287948 -1.099321 -0.884698 +v -2.471367 1.689549 -0.076891 +v -1.884110 0.110888 1.134368 +v -2.177739 -3.045263 -0.076891 +v -2.398000 -0.328443 0.656883 +v -2.104371 2.277081 0.473496 +v -2.030845 2.240763 -0.590827 +v -1.333536 -0.732627 1.134368 +v -0.856172 -2.091037 -1.068311 +v -2.251265 1.689549 0.730464 +v -1.333536 -0.805263 -1.178570 +v -2.214581 -2.310703 0.767142 +v -1.847426 0.037666 -1.178570 +v -2.214581 1.616328 -0.774666 +v -2.251265 -2.274384 -0.737762 +v -1.517114 2.681265 -0.150245 +v -0.856172 2.571140 -0.701085 +v -2.361316 -0.585012 0.767142 +v -0.856172 -3.266100 -0.113568 +v -1.847426 -0.658819 -1.178570 +v -0.929698 2.607458 0.546851 +v -1.443588 -3.266100 0.069592 +v -2.287948 0.845449 0.803819 +f 100 107 120 +f 65 62 69 +f 64 67 73 +f 65 69 74 +f 62 65 75 +f 58 59 76 +f 65 74 81 +f 58 76 83 +f 84 65 85 +f 62 75 86 +f 78 62 86 +f 60 80 87 +f 57 69 88 +f 69 82 88 +f 82 70 88 +f 59 58 89 +f 75 65 89 +f 58 83 89 +f 83 75 89 +f 84 59 89 +f 65 84 89 +f 80 60 90 +f 81 74 90 +f 69 62 91 +f 62 78 91 +f 67 85 92 +f 63 72 93 +f 72 73 93 +f 90 74 94 +f 90 94 95 +f 80 90 95 +f 94 68 95 +f 63 78 96 +f 70 82 97 +f 61 68 98 +f 68 70 98 +f 93 61 98 +f 67 71 99 +f 73 67 99 +f 61 93 99 +f 93 73 99 +f 76 59 100 +f 59 84 100 +f 78 63 101 +f 82 79 101 +f 63 97 101 +f 97 82 101 +f 73 72 102 +f 77 73 102 +f 67 64 103 +f 64 85 103 +f 85 67 103 +f 71 67 104 +f 67 87 104 +f 87 71 104 +f 75 83 105 +f 83 76 105 +f 86 75 105 +f 76 86 105 +f 69 57 106 +f 74 69 106 +f 57 88 106 +f 94 74 106 +f 64 73 107 +f 85 64 107 +f 84 85 107 +f 100 84 107 +f 68 94 108 +f 106 88 108 +f 94 106 108 +f 72 63 109 +f 66 72 109 +f 76 66 109 +f 86 76 109 +f 78 86 109 +f 63 96 109 +f 96 78 109 +f 95 68 110 +f 80 95 110 +f 68 61 111 +f 71 87 111 +f 87 80 111 +f 99 71 111 +f 61 99 111 +f 110 68 111 +f 80 110 111 +f 63 93 112 +f 97 63 112 +f 70 97 112 +f 98 70 112 +f 93 98 112 +f 87 67 113 +f 92 81 113 +f 67 92 113 +f 60 87 114 +f 90 60 114 +f 81 90 114 +f 113 81 114 +f 87 113 114 +f 72 66 115 +f 66 76 115 +f 76 77 115 +f 102 72 115 +f 77 102 115 +f 82 69 116 +f 79 82 116 +f 69 91 116 +f 91 79 116 +f 70 68 117 +f 88 70 117 +f 68 108 117 +f 108 88 117 +f 65 81 118 +f 85 65 118 +f 81 92 118 +f 92 85 118 +f 91 78 119 +f 79 91 119 +f 78 101 119 +f 101 79 119 +f 77 76 120 +f 73 77 120 +f 76 100 120 +f 107 73 120 +o convex_2 +v -1.590313 -0.696169 1.134368 +v -1.407008 0.221664 1.171096 +v -1.407008 0.221664 1.134368 +v -0.966312 -0.292146 1.171096 +v -1.847331 -0.328982 1.317935 +v -1.113273 -0.328982 1.317935 +v -1.920765 -0.108777 1.134368 +v -1.737180 0.038026 1.317935 +v -1.149990 0.001370 1.317935 +v -1.407008 -0.586021 1.317935 +v -1.149990 -0.622677 1.134368 +v -1.076556 0.111517 1.134368 +v -1.847331 -0.549276 1.171096 +v -1.810614 0.111517 1.134368 +v -1.773897 -0.512530 1.317935 +f 125 133 135 +f 123 121 127 +f 127 125 128 +f 125 126 128 +f 128 126 129 +f 126 124 129 +f 122 128 129 +f 126 125 130 +f 126 130 131 +f 121 123 131 +f 124 126 131 +f 130 121 131 +f 124 131 132 +f 123 122 132 +f 122 129 132 +f 129 124 132 +f 131 123 132 +f 127 121 133 +f 125 127 133 +f 122 123 134 +f 123 127 134 +f 127 128 134 +f 128 122 134 +f 121 130 135 +f 130 125 135 +f 133 121 135 +o convex_3 +v -1.847360 -0.182189 1.318100 +v -1.113165 -0.255609 1.428351 +v -1.113165 -0.292222 1.428351 +v -1.480263 -0.255609 3.006747 +v -1.553639 -0.586029 1.318100 +v -1.406958 0.074811 1.318100 +v -1.480263 -0.512545 2.676158 +v -1.223410 -0.292222 2.786244 +v -1.223410 -0.512545 1.318100 +v -1.516915 -0.108770 2.786244 +v -1.663739 -0.329028 2.749549 +v -1.773911 -0.512545 1.354961 +v -1.773911 0.001327 1.501742 +v -1.186685 0.001327 1.391656 +v -1.370234 -0.108770 2.749549 +v -1.296786 -0.475867 2.565907 +v -1.663739 -0.218996 2.712854 +v -1.443682 -0.586029 1.465047 +v -1.847360 -0.292222 1.465047 +v -1.553639 0.074811 1.391656 +v -1.406958 -0.402448 2.933026 +v -1.149961 -0.072093 1.318100 +v -1.223410 -0.365706 2.676158 +v -1.773911 0.001327 1.318100 +f 148 155 159 +f 140 136 141 +f 138 137 143 +f 140 141 144 +f 136 140 147 +f 140 142 147 +f 142 146 147 +f 139 143 150 +f 145 139 150 +f 143 149 150 +f 149 141 150 +f 139 145 152 +f 146 139 152 +f 148 136 152 +f 145 148 152 +f 142 140 153 +f 140 144 153 +f 151 142 153 +f 144 151 153 +f 136 147 154 +f 147 146 154 +f 152 136 154 +f 146 152 154 +f 148 145 155 +f 145 150 155 +f 150 141 155 +f 143 139 156 +f 139 146 156 +f 146 142 156 +f 142 151 156 +f 137 138 157 +f 143 137 157 +f 138 144 157 +f 144 141 157 +f 149 143 157 +f 141 149 157 +f 138 143 158 +f 144 138 158 +f 151 144 158 +f 143 156 158 +f 156 151 158 +f 141 136 159 +f 136 148 159 +f 155 141 159 +o convex_4 +v -0.856172 2.681125 -0.297249 +v -0.856172 -3.265543 -0.113618 +v -0.782688 -3.302224 -0.003981 +v 1.750473 -0.548665 -1.031566 +v 1.750473 -0.071812 0.950651 +v -0.856172 0.294376 1.024228 +v 1.016142 3.011876 0.473335 +v 0.942658 -2.972095 0.656966 +v -0.856172 -2.053828 -1.068042 +v 0.502008 2.571082 -0.957988 +v 0.685718 -3.155500 -0.774566 +v -0.856172 -2.311216 1.024228 +v -0.856172 2.313694 0.840597 +v 1.530020 2.533780 -0.040457 +v 1.309823 -3.082138 0.032703 +v -0.856172 1.800160 -0.994881 +v 1.273081 2.497099 0.840389 +v 1.750473 -1.209544 0.840389 +v 1.236339 2.460418 -0.847935 +v 0.942658 -2.678648 -0.994881 +v 0.428779 2.497720 0.950651 +v 0.942658 3.011876 -0.517565 +v 0.648976 -2.347897 0.987335 +v 1.750473 -1.393570 -0.811250 +v -0.856172 -2.972095 -0.848143 +v -0.856172 -3.008776 0.803913 +v 0.061869 3.011876 0.436650 +v -0.819430 -0.218536 -1.105143 +v 1.750473 0.588445 -0.884619 +v 0.612234 -3.339527 0.069596 +v -0.782688 2.534401 -0.811250 +v 1.750473 0.661807 0.803704 +v 0.061869 3.011876 -0.480881 +v 0.318808 1.836220 -1.031358 +v 1.750473 -1.833742 -0.003981 +v 0.575492 -3.045457 0.803704 +v 1.383052 -2.457940 -0.774566 +v -0.856172 2.534401 0.767020 +v 0.135098 -2.311216 1.024020 +v 0.208582 2.130289 0.987335 +v 1.750473 1.286005 -0.076934 +v 1.309823 -2.311216 0.767020 +v -0.856172 1.873522 0.950651 +v 0.502008 2.937892 0.656966 +v 0.575492 0.771228 -1.068250 +v -0.856172 2.717185 0.032703 +v 1.162855 3.011876 -0.113618 +v 0.502008 3.011876 -0.627619 +v 0.685718 -3.192181 -0.737881 +v 0.538750 1.726177 0.987335 +v 1.126113 -2.972095 -0.590934 +v 0.575492 -3.155500 0.620073 +v 1.493278 2.533780 0.179650 +v 1.750473 -0.548665 0.950651 +v 1.750473 -0.401941 -1.031566 +v 1.236339 -3.155500 0.032703 +v 0.135098 -1.172863 -1.068042 +v -0.856172 -3.082138 0.693651 +v -0.856172 -2.641345 -0.958197 +v 1.750473 -1.282906 -0.884619 +v -0.085099 3.011876 -0.113827 +v 0.318808 2.607763 0.913966 +v 0.685718 -2.715328 -0.994881 +v 0.575492 -3.339527 -0.076934 +f 208 215 223 +f 160 161 165 +f 161 160 168 +f 165 161 171 +f 160 165 172 +f 168 160 175 +f 163 164 177 +f 164 176 180 +f 178 169 181 +f 163 177 183 +f 161 168 184 +f 171 161 185 +f 166 181 186 +f 168 175 187 +f 164 163 188 +f 178 173 188 +f 175 160 190 +f 169 175 190 +f 176 164 191 +f 164 188 191 +f 186 181 192 +f 190 160 192 +f 175 169 193 +f 187 175 193 +f 177 174 194 +f 183 177 194 +f 171 185 195 +f 194 174 196 +f 183 194 196 +f 160 172 197 +f 165 171 198 +f 171 195 198 +f 195 182 198 +f 188 173 200 +f 173 191 200 +f 191 188 200 +f 167 174 201 +f 174 177 201 +f 177 182 201 +f 195 167 201 +f 182 195 201 +f 172 165 202 +f 165 199 202 +f 199 180 202 +f 176 166 203 +f 166 186 203 +f 186 197 203 +f 163 187 204 +f 187 193 204 +f 160 197 205 +f 197 186 205 +f 173 178 206 +f 181 166 206 +f 178 181 206 +f 181 169 207 +f 169 190 207 +f 192 181 207 +f 190 192 207 +f 162 161 208 +f 161 184 208 +f 184 170 208 +f 164 180 209 +f 198 164 209 +f 165 198 209 +f 199 165 209 +f 180 199 209 +f 170 179 210 +f 196 174 210 +f 179 196 210 +f 208 170 210 +f 167 195 211 +f 166 176 212 +f 176 191 212 +f 191 173 212 +f 206 166 212 +f 173 206 212 +f 177 164 213 +f 182 177 213 +f 164 198 213 +f 198 182 213 +f 169 178 214 +f 188 163 214 +f 178 188 214 +f 193 169 214 +f 163 204 214 +f 204 193 214 +f 174 167 215 +f 210 174 215 +f 208 210 215 +f 167 211 215 +f 211 189 215 +f 163 179 216 +f 179 168 216 +f 187 163 216 +f 168 187 216 +f 161 162 217 +f 185 161 217 +f 162 189 217 +f 195 185 217 +f 189 211 217 +f 211 195 217 +f 184 168 218 +f 179 163 219 +f 163 183 219 +f 196 179 219 +f 183 196 219 +f 192 160 220 +f 186 192 220 +f 160 205 220 +f 205 186 220 +f 180 176 221 +f 197 172 221 +f 172 202 221 +f 202 180 221 +f 176 203 221 +f 203 197 221 +f 168 179 222 +f 179 170 222 +f 170 184 222 +f 218 168 222 +f 184 218 222 +f 189 162 223 +f 162 208 223 +f 215 189 223 +o convex_5 +v 1.126178 3.415854 -0.003744 +v -0.048479 3.012213 -0.150367 +v -0.048479 3.012213 0.106309 +v 0.502382 4.737401 0.032940 +v 0.539027 3.012213 0.583669 +v 0.648962 3.012213 -0.591157 +v 0.612198 4.516833 -0.407504 +v 0.465737 4.480185 0.400016 +v 0.135220 4.480185 -0.040314 +v 0.098575 3.269091 -0.480989 +v 1.016005 3.012213 0.400016 +v 0.942597 4.480185 0.032940 +v 1.016005 3.012213 -0.444304 +v 0.098575 3.599436 0.400016 +v 0.979360 3.819665 -0.407504 +v 0.905952 3.819665 0.400016 +v 0.171984 3.856483 -0.444304 +v 0.612198 3.819665 -0.554358 +v 0.098575 3.012213 0.436815 +v 1.163060 3.012213 -0.040314 +v -0.011716 3.672902 -0.076998 +v 0.171984 3.012213 -0.517558 +v 0.465737 3.856483 0.510185 +v 0.942597 4.480185 -0.076998 +v 0.208629 4.296604 0.289962 +v 0.832424 4.333422 0.289962 +v 0.539027 4.516833 -0.407504 +v 1.089414 3.746368 0.032940 +v 0.612198 4.737401 -0.003744 +v 0.539027 4.480185 0.400016 +v 0.428855 3.085510 -0.591157 +v 0.245274 4.296604 -0.334135 +v 0.098575 3.783016 0.363331 +v 0.979360 3.269091 0.436815 +v 1.016005 3.305740 -0.444304 +v 0.575553 3.783016 0.510185 +v 0.869307 4.296604 -0.334135 +v 0.171984 4.516833 0.032940 +v 0.025166 3.819665 0.069625 +v 1.126178 3.048862 0.143109 +v 0.539027 4.737401 -0.076998 +v 1.089414 3.746368 -0.040314 +f 247 251 265 +f 226 225 228 +f 228 225 229 +f 228 229 234 +f 234 229 236 +f 230 238 241 +f 226 228 242 +f 237 226 242 +f 234 236 243 +f 225 226 244 +f 233 225 244 +f 232 240 244 +f 240 233 244 +f 229 225 245 +f 225 233 245 +f 231 237 246 +f 242 228 246 +f 237 242 246 +f 239 235 249 +f 241 240 250 +f 230 241 250 +f 235 239 251 +f 247 235 251 +f 247 230 252 +f 235 247 252 +f 227 231 253 +f 231 246 253 +f 249 235 253 +f 239 249 253 +f 252 227 253 +f 235 252 253 +f 233 240 254 +f 240 241 254 +f 241 229 254 +f 229 245 254 +f 245 233 254 +f 240 232 255 +f 232 250 255 +f 250 240 255 +f 226 237 256 +f 237 231 256 +f 231 248 256 +f 228 234 257 +f 251 239 257 +f 236 229 258 +f 229 241 258 +f 241 238 258 +f 243 236 258 +f 238 243 258 +f 246 228 259 +f 253 246 259 +f 239 253 259 +f 228 257 259 +f 257 239 259 +f 238 230 260 +f 230 247 260 +f 247 238 260 +f 231 227 261 +f 227 232 261 +f 248 231 261 +f 232 256 261 +f 256 248 261 +f 244 226 262 +f 232 244 262 +f 226 256 262 +f 256 232 262 +f 243 224 263 +f 234 243 263 +f 224 251 263 +f 257 234 263 +f 251 257 263 +f 232 227 264 +f 230 250 264 +f 250 232 264 +f 227 252 264 +f 252 230 264 +f 224 243 265 +f 243 238 265 +f 238 247 265 +f 251 224 265 +o convex_6 +v -1.627026 -0.439068 -2.463500 +v -1.076452 -0.255616 -1.325423 +v -1.149972 -0.108777 -1.325423 +v -1.737198 -0.549229 -1.325423 +v -1.700474 -0.035358 -1.325423 +v -1.406969 -0.108777 -2.830529 +v -1.113248 -0.585971 -1.435718 +v -1.223420 -0.329036 -2.830529 +v -1.663750 -0.255616 -2.793876 +v -1.443549 -0.475874 -2.757055 +v -1.443549 -0.659455 -1.325423 +v -1.810646 -0.255616 -1.472370 +v -1.370245 0.001384 -1.398897 +v -1.186696 -0.255616 -2.646930 +v -1.480201 -0.292423 -3.050949 +v -1.516925 -0.108777 -2.757055 +v -1.663750 -0.329036 -2.793876 +v -1.186696 -0.072100 -1.545843 +v -1.737198 -0.072100 -1.545843 +v -1.076452 -0.475874 -1.325423 +v -1.370245 -0.475874 -2.720403 +v -1.516925 0.001384 -1.509022 +v -1.810646 -0.365648 -1.325423 +v -1.223420 -0.218939 -2.793876 +v -1.076452 -0.365648 -1.619148 +v -1.370245 -0.659455 -1.362244 +v -1.700474 -0.549229 -1.545843 +f 269 282 292 +f 267 268 269 +f 269 268 270 +f 267 269 276 +f 270 268 278 +f 271 280 281 +f 280 274 281 +f 275 266 282 +f 277 274 282 +f 274 280 282 +f 280 275 282 +f 268 267 283 +f 278 268 283 +f 271 278 283 +f 267 279 283 +f 277 270 284 +f 274 277 284 +f 270 281 284 +f 281 274 284 +f 267 276 285 +f 273 272 286 +f 280 273 286 +f 275 280 286 +f 270 278 287 +f 278 271 287 +f 281 270 287 +f 271 281 287 +f 269 270 288 +f 270 277 288 +f 282 269 288 +f 277 282 288 +f 279 273 289 +f 280 271 289 +f 273 280 289 +f 271 283 289 +f 283 279 289 +f 272 273 290 +f 279 267 290 +f 273 279 290 +f 285 272 290 +f 267 285 290 +f 276 275 291 +f 272 285 291 +f 285 276 291 +f 286 272 291 +f 275 286 291 +f 266 275 292 +f 275 276 292 +f 276 269 292 +f 282 266 292 +o convex_7 +v -1.443470 -0.659380 -1.325409 +v -1.333632 0.111438 -1.178584 +v -1.186631 0.074699 -1.178584 +v -1.480147 -0.769595 -1.178584 +v -1.920858 -0.292426 -1.215305 +v -1.590277 0.001223 -1.325409 +v -1.039825 -0.439122 -1.325409 +v -1.003051 -0.659380 -1.178584 +v -1.810632 0.001223 -1.178584 +v -1.737277 -0.549251 -1.325409 +v -1.039825 0.001223 -1.215305 +v -1.186631 -0.035430 -1.325409 +v -1.810632 -0.622641 -1.178584 +v -1.773955 -0.108907 -1.325409 +v -0.929599 -0.255688 -1.178584 +v -1.149954 -0.622641 -1.325409 +f 300 296 308 +f 295 294 296 +f 293 298 299 +f 295 296 300 +f 296 294 301 +f 294 298 301 +f 293 296 302 +f 298 293 302 +f 294 295 304 +f 298 294 304 +f 299 298 304 +f 295 303 304 +f 303 299 304 +f 296 301 305 +f 301 297 305 +f 302 296 305 +f 297 302 305 +f 297 301 306 +f 301 298 306 +f 302 297 306 +f 298 302 306 +f 300 299 307 +f 295 300 307 +f 303 295 307 +f 299 303 307 +f 296 293 308 +f 293 299 308 +f 299 300 308 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/189/189.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/189/189.urdf new file mode 100644 index 000000000..9ad12730a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/189/189.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/190/190.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/190/190.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/190/190.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/190/190.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/190/190.obj new file mode 100644 index 000000000..99ceaf8cb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/190/190.obj @@ -0,0 +1,864 @@ +o convex_0 +v -0.972505 1.776891 -0.235347 +v -0.663983 2.270291 0.320018 +v -0.663983 2.393784 0.289147 +v -0.663983 1.992890 -0.297148 +v -0.972505 2.640771 -0.019314 +v -0.972505 1.530019 0.227407 +v -0.972505 2.424658 0.289147 +v -0.663983 1.776891 0.042245 +v -0.941638 2.486290 -0.266217 +v -0.663983 2.362911 -0.204476 +v -0.941638 1.468387 -0.019314 +v -0.663983 1.931143 0.258277 +v -0.972505 2.054522 0.320018 +v -0.663983 1.807764 -0.204476 +v -0.972505 2.023763 -0.297148 +v -0.663983 2.455416 0.011435 +v -0.941638 2.548036 0.258277 +v -0.663983 2.085166 0.320018 +v -0.941638 1.499145 0.196536 +v -0.941638 2.640771 -0.019314 +v -0.972505 1.684271 -0.204476 +f 14 11 21 +f 3 2 4 +f 5 1 6 +f 5 6 7 +f 4 2 8 +f 3 4 10 +f 4 9 10 +f 8 2 12 +f 7 6 13 +f 2 7 13 +f 4 8 14 +f 8 11 14 +f 4 1 15 +f 1 5 15 +f 9 4 15 +f 5 9 15 +f 3 10 16 +f 2 3 17 +f 5 7 17 +f 7 2 17 +f 12 2 18 +f 6 12 18 +f 2 13 18 +f 13 6 18 +f 6 11 19 +f 11 8 19 +f 12 6 19 +f 8 12 19 +f 9 5 20 +f 10 9 20 +f 3 16 20 +f 16 10 20 +f 17 3 20 +f 5 17 20 +f 1 4 21 +f 6 1 21 +f 11 6 21 +f 4 14 21 +o convex_1 +v -2.176008 2.177771 -0.266289 +v -2.176008 2.146904 0.320018 +v -2.176008 2.393737 0.289141 +v -2.577165 2.208638 -0.019336 +v -2.206872 1.529874 -0.019336 +v -2.206872 2.609702 -0.019336 +v -2.515397 2.023751 -0.235413 +v -2.546301 2.085169 0.165693 +v -2.176008 1.591714 0.227389 +v -2.176008 1.746051 -0.235413 +v -2.176008 2.486339 -0.204479 +v -2.515397 2.270373 0.134817 +v -2.515397 1.931149 0.011541 +v -2.546301 2.301240 -0.050212 +v -2.330329 2.054619 0.289141 +v -2.206872 2.486339 0.258265 +v -2.515397 2.116036 -0.235413 +v -2.206872 1.591714 0.227389 +v -2.206872 2.609702 0.073121 +v -2.515397 2.177771 0.196570 +v -2.422844 2.085169 -0.266289 +f 38 32 42 +f 24 23 22 +f 22 23 30 +f 26 28 31 +f 22 30 31 +f 30 26 31 +f 24 22 32 +f 25 29 33 +f 25 28 34 +f 28 26 34 +f 29 25 34 +f 27 32 35 +f 25 33 35 +f 23 24 36 +f 28 25 38 +f 25 35 38 +f 35 32 38 +f 30 23 39 +f 26 30 39 +f 34 26 39 +f 29 34 39 +f 23 36 39 +f 36 29 39 +f 24 32 40 +f 32 27 40 +f 27 35 40 +f 35 33 40 +f 37 24 40 +f 33 37 40 +f 33 29 41 +f 36 24 41 +f 29 36 41 +f 24 37 41 +f 37 33 41 +f 22 31 42 +f 31 28 42 +f 32 22 42 +f 28 38 42 +o convex_2 +v -0.972568 2.702222 -0.019336 +v -2.176008 1.376066 0.165569 +v -2.176008 1.376066 0.258180 +v -1.188612 -0.629154 0.042194 +v -1.929100 2.146894 -0.482180 +v -1.466384 4.368207 0.443403 +v -1.959964 4.121328 -0.389568 +v -1.096022 3.843664 -0.420439 +v -1.157749 1.808251 0.535908 +v -1.558856 -0.166775 -0.358804 +v -1.990709 0.049317 0.412426 +v -1.898237 4.059757 0.443403 +v -1.096022 4.800391 0.011535 +v -1.096022 1.931986 -0.482180 +v -1.959964 -0.568175 0.011535 +v -1.929100 4.738228 0.042194 +v -2.176008 2.393180 -0.266193 +v -1.188612 0.017939 0.412532 +v -1.836510 2.054537 0.566778 +v -1.096022 4.059757 0.412532 +v -0.972568 1.314494 0.289051 +v -1.096022 0.296195 -0.327933 +v -1.466384 5.109433 -0.019336 +v -1.929100 0.080103 -0.327933 +v -2.176008 2.454752 0.289051 +v -1.589602 -0.938788 0.073064 +v -1.466384 4.368207 -0.420545 +v -1.558856 -0.228939 0.443403 +v -0.972568 2.146894 -0.327933 +v -2.021573 2.115516 0.505143 +v -1.342930 2.023751 -0.513156 +v -2.083300 3.812878 0.073064 +v -2.176008 1.746679 -0.235322 +v -1.312066 2.116108 0.566884 +v -0.972568 2.177680 0.350791 +v -1.003432 0.697002 0.011535 +v -2.145026 3.195387 -0.266193 +v -1.003432 3.349908 -0.327933 +v -1.126886 0.172460 -0.358698 +v -2.083300 2.024343 -0.389568 +v -1.528111 5.109433 0.042194 +v -1.126886 4.182899 -0.389674 +v -2.083300 0.295603 0.011535 +v -1.651329 2.177680 -0.513156 +v -2.114163 0.759166 0.350791 +v -1.558856 2.486130 0.566884 +v -1.528111 -0.907410 0.011535 +v -1.558856 0.080103 0.474273 +v -1.034295 3.997593 0.042194 +v -1.126886 -0.321296 0.072958 +v -2.052436 3.319122 0.381662 +v -0.972568 1.437637 -0.235322 +v -1.589602 4.368207 -0.420545 +v -1.651329 5.016484 -0.019336 +v -1.034295 2.024343 0.443297 +v -1.528111 1.653730 0.566884 +v -1.126886 0.049317 -0.327933 +v -1.250340 2.146894 -0.513050 +v -1.990709 0.326981 0.443403 +v -2.145026 2.085323 0.381662 +v -1.959964 4.645870 0.042194 +v -1.959964 -0.536797 0.103829 +v -1.157749 2.362395 0.535908 +v -1.497247 4.059757 0.474273 +f 76 105 106 +f 44 45 59 +f 55 48 62 +f 47 52 66 +f 52 57 66 +f 59 45 67 +f 46 60 68 +f 53 68 70 +f 68 60 70 +f 43 63 71 +f 64 56 71 +f 61 54 72 +f 44 59 75 +f 63 43 77 +f 59 67 79 +f 67 74 79 +f 56 50 80 +f 43 71 80 +f 71 56 80 +f 56 64 81 +f 52 73 81 +f 49 47 82 +f 47 66 82 +f 75 59 82 +f 66 75 82 +f 79 49 82 +f 59 79 82 +f 54 48 83 +f 48 55 83 +f 58 54 83 +f 55 65 83 +f 65 55 84 +f 50 69 84 +f 69 65 84 +f 80 50 84 +f 55 80 84 +f 45 44 85 +f 66 57 85 +f 44 75 85 +f 75 66 85 +f 47 49 86 +f 52 47 86 +f 73 52 86 +f 45 85 87 +f 54 61 88 +f 57 52 89 +f 46 68 89 +f 68 57 89 +f 60 51 90 +f 70 60 90 +f 55 62 91 +f 77 43 91 +f 62 77 91 +f 80 55 91 +f 43 80 91 +f 60 46 92 +f 63 60 92 +f 78 63 92 +f 72 54 93 +f 74 67 93 +f 71 63 94 +f 64 71 94 +f 63 78 94 +f 78 64 94 +f 65 69 95 +f 86 49 95 +f 69 86 95 +f 49 58 96 +f 58 83 96 +f 83 65 96 +f 95 49 96 +f 65 95 96 +f 51 60 97 +f 60 63 97 +f 77 62 97 +f 63 77 97 +f 51 76 98 +f 88 61 98 +f 76 88 98 +f 90 51 98 +f 61 90 98 +f 64 78 99 +f 52 81 99 +f 81 64 99 +f 89 52 99 +f 46 89 99 +f 92 46 99 +f 78 92 99 +f 50 56 100 +f 69 50 100 +f 56 81 100 +f 81 73 100 +f 86 69 100 +f 73 86 100 +f 53 70 101 +f 61 72 101 +f 87 53 101 +f 72 87 101 +f 90 61 101 +f 70 90 101 +f 67 45 102 +f 45 87 102 +f 87 72 102 +f 72 93 102 +f 93 67 102 +f 58 49 103 +f 54 58 103 +f 49 79 103 +f 79 74 103 +f 93 54 103 +f 74 93 103 +f 57 68 104 +f 68 53 104 +f 85 57 104 +f 53 87 104 +f 87 85 104 +f 76 51 105 +f 51 97 105 +f 97 62 105 +f 48 54 106 +f 62 48 106 +f 54 88 106 +f 88 76 106 +f 105 62 106 +o convex_3 +v 1.465268 -0.877071 0.042145 +v -0.571347 -3.993443 -0.019308 +v -0.571347 -3.993443 0.011320 +v 1.249167 -4.703158 -0.050134 +v 0.354460 -0.877071 -1.006888 +v -0.170045 -0.877071 0.813557 +v 0.539461 -3.993044 0.998900 +v 0.508561 -3.932040 -1.006888 +v -0.355246 -0.969972 -0.759895 +v 1.249167 -0.877071 0.721082 +v 1.218267 -0.877071 -0.759895 +v -0.355246 -3.931642 -0.790720 +v 0.231058 -4.888562 -0.080959 +v -0.293645 -3.993443 0.782732 +v 1.249167 -3.993443 0.721082 +v 1.218267 -3.962741 -0.759895 +v -0.571347 -0.877470 0.072970 +v 0.508561 -4.734259 0.751907 +v 0.477661 -4.672458 -0.790524 +v 1.465268 -3.962343 -0.111784 +v 0.446961 -1.124675 0.998900 +v -0.324346 -4.702760 -0.050134 +v -0.324346 -1.957594 0.782732 +v 1.465268 -3.962343 0.103795 +v 0.539461 -4.950363 -0.049937 +v 0.385360 -3.900940 0.998900 +v 0.323759 -3.900940 -1.006888 +v -0.571347 -1.648987 -0.080959 +v 1.002365 -0.877071 -0.852370 +v -0.139145 -4.548855 0.504914 +v -0.108444 -4.487054 -0.636398 +v 0.570162 -0.877071 0.967878 +v -0.324346 -0.877470 0.751907 +v -0.571347 -3.252627 0.103992 +v 1.063966 -4.548855 0.505110 +v 1.465268 -0.877071 -0.080959 +v 1.033066 -4.487453 -0.605573 +v 1.156666 -3.221925 0.782732 +v 0.477661 -0.877071 -1.006888 +v -0.170045 -2.543708 0.844382 +v 0.385360 -4.672458 -0.790524 +v -0.355246 -0.877470 -0.729070 +v 1.280067 -3.931642 -0.636398 +v 0.539461 -2.142998 0.998900 +v -0.571347 -3.962343 -0.080959 +v -0.324346 -3.839139 0.751907 +v 0.416260 -4.734259 0.721082 +v 1.218267 -3.993443 0.751907 +v 0.416260 -4.950363 0.011320 +v 1.156666 -3.931642 -0.790720 +v -0.571347 -0.877470 -0.050134 +v -0.293645 -4.702760 0.042145 +v 1.218267 -1.803291 0.751907 +v -0.417046 -3.438030 -0.605573 +v 1.218267 -4.703158 0.042145 +v -0.571347 -3.962343 0.072970 +v 1.280067 -3.962741 0.659235 +v 0.446961 -4.024543 0.998900 +v 1.372568 -1.371082 -0.358580 +v -0.386146 -2.389405 0.628410 +v 1.187367 -1.278579 -0.790720 +v 0.385360 -2.142998 0.998900 +v 1.465268 -3.314428 0.103795 +v -0.262745 -3.190825 0.813557 +f 132 146 170 +f 107 111 112 +f 107 112 116 +f 111 107 117 +f 115 111 118 +f 108 109 123 +f 109 108 128 +f 121 110 130 +f 126 107 130 +f 110 126 130 +f 125 110 131 +f 113 127 132 +f 111 114 133 +f 118 111 133 +f 108 123 134 +f 111 117 135 +f 128 118 137 +f 116 112 138 +f 112 127 138 +f 112 123 139 +f 129 112 139 +f 123 109 140 +f 117 107 142 +f 107 126 142 +f 122 110 143 +f 110 125 143 +f 125 122 143 +f 114 111 145 +f 111 135 145 +f 135 114 145 +f 127 112 146 +f 112 129 146 +f 114 125 147 +f 119 128 147 +f 131 119 147 +f 125 131 147 +f 133 114 147 +f 118 133 147 +f 137 118 147 +f 128 137 147 +f 111 115 148 +f 110 122 149 +f 122 117 149 +f 126 110 149 +f 127 113 150 +f 138 127 150 +f 113 144 150 +f 128 108 151 +f 118 128 151 +f 108 134 151 +f 120 129 152 +f 124 120 153 +f 120 136 153 +f 121 116 154 +f 113 124 154 +f 141 121 154 +f 124 141 154 +f 144 113 154 +f 128 119 155 +f 131 124 155 +f 119 131 155 +f 124 153 155 +f 125 114 156 +f 122 125 156 +f 112 111 157 +f 123 112 157 +f 115 134 157 +f 134 123 157 +f 111 148 157 +f 148 115 157 +f 136 120 158 +f 153 136 158 +f 128 155 158 +f 155 153 158 +f 116 138 159 +f 138 150 159 +f 150 144 159 +f 154 116 159 +f 144 154 159 +f 115 118 160 +f 134 115 160 +f 118 151 160 +f 151 134 160 +f 110 121 161 +f 131 110 161 +f 124 131 161 +f 121 141 161 +f 141 124 161 +f 109 128 162 +f 140 109 162 +f 120 152 162 +f 152 140 162 +f 158 120 162 +f 128 158 162 +f 116 121 163 +f 121 130 163 +f 124 113 164 +f 120 124 164 +f 113 132 164 +f 132 120 164 +f 117 142 165 +f 142 126 165 +f 149 117 165 +f 126 149 165 +f 139 123 166 +f 129 139 166 +f 123 140 166 +f 152 129 166 +f 140 152 166 +f 117 122 167 +f 114 135 167 +f 135 117 167 +f 122 156 167 +f 156 114 167 +f 132 127 168 +f 127 146 168 +f 146 132 168 +f 107 116 169 +f 130 107 169 +f 116 163 169 +f 163 130 169 +f 129 120 170 +f 120 132 170 +f 146 129 170 +o convex_4 +v 1.496127 1.344353 -0.019423 +v -0.663952 1.776091 -0.142627 +v -0.663952 1.776091 0.072880 +v -0.571341 -0.877071 -0.050124 +v 0.570227 -0.877071 0.967800 +v 0.909801 -0.877071 -0.883243 +v 0.323687 2.115870 -1.037746 +v 0.755450 2.856215 0.751895 +v -0.293508 2.763477 0.720994 +v 1.249164 2.733084 -0.728940 +v 1.249164 -0.877071 0.720994 +v -0.355249 -0.877071 -0.759840 +v -0.324379 2.763477 -0.698039 +v 1.249164 2.146653 0.905999 +v -0.324379 -0.877071 0.751895 +v 1.465256 -0.877071 -0.111726 +v 1.496127 2.578780 0.505089 +v -0.262638 2.177435 0.905999 +v 1.496127 2.054304 -0.667338 +v 0.508487 3.103646 -0.019423 +v 1.187423 2.115870 -0.975746 +v 0.354558 -0.877071 -1.006646 +v -0.324379 2.146653 -0.914144 +v -0.663952 2.331739 0.319885 +v 1.218293 -0.877071 -0.759840 +v -0.602212 2.085087 -0.574836 +v 0.477828 2.115870 0.998900 +v 1.218293 3.010518 0.011278 +v -0.293508 3.010908 0.072880 +v 1.496127 1.900001 0.659392 +v 0.570227 2.825821 -0.790741 +v 0.354558 -0.877071 0.967800 +v 1.496127 2.578780 -0.513035 +v -0.602212 2.517215 -0.451234 +v 1.249164 2.794649 0.690093 +v -0.447860 2.146653 0.720994 +v 0.076725 2.856604 0.751895 +v -0.571341 -0.877071 0.072880 +v 1.465256 -0.877071 0.042179 +v -0.540471 2.763866 0.072880 +v 0.539357 -0.722768 -1.006646 +v 0.385428 0.203053 -1.037746 +v 1.249164 0.326963 -0.852542 +v -0.663952 2.054304 0.319885 +v 1.496127 2.733084 0.072880 +v 0.601098 2.115870 -1.037746 +v -0.509601 2.640346 0.535790 +v -0.416990 1.406308 -0.821642 +v -0.663952 1.961566 -0.296930 +v -0.324379 1.900001 -0.914144 +v -0.293508 2.948953 -0.235328 +v 0.385428 2.825821 -0.790741 +v 1.218293 2.794649 -0.667338 +v -0.170027 -0.877071 0.813496 +v 1.218293 -0.753161 0.751895 +v 0.539357 2.856215 0.782795 +v 1.310905 0.079922 0.751895 +v -0.663952 2.455259 -0.019423 +v -0.231767 2.054304 -0.944845 +v 0.477828 3.010908 0.350785 +v 1.280034 -0.877071 0.659193 +v -0.509601 1.992349 0.628492 +v 1.249164 1.313570 -0.914144 +v -0.262638 2.825432 0.720994 +f 199 217 234 +f 173 172 174 +f 175 174 176 +f 175 176 181 +f 176 174 182 +f 174 175 185 +f 181 176 186 +f 171 186 189 +f 187 171 189 +f 180 189 191 +f 176 182 192 +f 183 177 193 +f 172 173 194 +f 186 176 195 +f 189 186 195 +f 182 174 196 +f 175 184 197 +f 171 187 200 +f 187 184 200 +f 180 191 201 +f 185 175 202 +f 175 197 202 +f 197 188 202 +f 189 180 203 +f 187 189 203 +f 183 193 204 +f 193 196 204 +f 178 184 205 +f 184 187 205 +f 198 178 205 +f 185 188 206 +f 188 197 207 +f 173 174 208 +f 174 185 208 +f 186 171 209 +f 181 186 209 +f 171 200 209 +f 183 204 210 +f 176 192 211 +f 211 192 212 +f 191 211 212 +f 195 176 213 +f 189 195 213 +f 194 173 214 +f 173 208 214 +f 208 185 214 +f 187 203 215 +f 203 198 215 +f 205 187 215 +f 198 205 215 +f 177 201 216 +f 201 191 216 +f 212 177 216 +f 191 212 216 +f 188 179 217 +f 206 188 217 +f 194 206 217 +f 210 194 217 +f 199 210 217 +f 182 196 218 +f 196 193 218 +f 174 172 219 +f 172 194 219 +f 196 174 219 +f 204 196 219 +f 192 182 220 +f 182 218 220 +f 218 193 220 +f 199 190 221 +f 210 199 221 +f 183 210 221 +f 177 183 222 +f 201 177 222 +f 190 201 222 +f 221 190 222 +f 183 221 222 +f 190 198 223 +f 201 190 223 +f 180 201 223 +f 203 180 223 +f 198 203 223 +f 188 185 224 +f 185 202 224 +f 202 188 224 +f 175 181 225 +f 184 175 225 +f 184 178 226 +f 197 184 226 +f 207 197 226 +f 200 184 227 +f 225 181 227 +f 184 225 227 +f 194 210 228 +f 210 204 228 +f 219 194 228 +f 204 219 228 +f 193 177 229 +f 212 192 229 +f 177 212 229 +f 192 220 229 +f 220 193 229 +f 178 198 230 +f 198 190 230 +f 190 199 230 +f 199 207 230 +f 226 178 230 +f 207 226 230 +f 181 209 231 +f 209 200 231 +f 227 181 231 +f 200 227 231 +f 185 206 232 +f 206 194 232 +f 194 214 232 +f 214 185 232 +f 191 189 233 +f 176 211 233 +f 211 191 233 +f 189 213 233 +f 213 176 233 +f 179 188 234 +f 188 207 234 +f 207 199 234 +f 217 179 234 +o convex_5 +v 1.496154 2.702370 -0.080995 +v 1.496154 1.499016 -0.111805 +v 1.496154 1.591717 -0.389578 +v 1.773851 1.776885 -0.266096 +v 1.527033 2.054637 0.628600 +v 1.773851 2.393757 0.319897 +v 1.527033 2.517203 -0.512938 +v 1.773851 1.807746 0.289087 +v 1.773851 2.393757 -0.266096 +v 1.496154 2.578925 0.474188 +v 1.496154 1.591717 0.474188 +v 1.496154 1.962053 -0.605730 +v 1.773851 2.177728 -0.358647 +v 1.619590 1.560856 -0.019254 +v 1.527033 2.702370 0.073055 +v 1.773851 2.054637 0.381638 +v 1.773851 2.455480 -0.080995 +v 1.527033 1.962053 -0.605730 +v 1.527033 1.591717 0.474188 +v 1.527033 1.622579 -0.451318 +v 1.773851 1.715162 0.011435 +v 1.527033 2.177728 0.628600 +v 1.496154 2.517203 -0.512938 +v 1.527033 2.208590 -0.605730 +v 1.527033 2.578925 0.474188 +v 1.527033 2.702370 -0.080995 +v 1.773851 1.962053 -0.358647 +v 1.496154 2.054637 0.628600 +f 256 244 262 +f 237 236 235 +f 238 240 242 +f 240 238 243 +f 235 236 244 +f 244 236 245 +f 237 235 246 +f 243 238 247 +f 241 243 247 +f 235 244 249 +f 242 240 250 +f 240 243 251 +f 249 240 251 +f 245 236 253 +f 239 245 253 +f 236 248 253 +f 250 239 253 +f 242 250 253 +f 236 237 254 +f 237 246 254 +f 248 236 254 +f 238 248 254 +f 246 252 254 +f 238 242 255 +f 248 238 255 +f 253 248 255 +f 242 253 255 +f 239 250 256 +f 250 240 256 +f 235 241 257 +f 246 235 257 +f 246 257 258 +f 241 247 258 +f 252 246 258 +f 247 252 258 +f 257 241 258 +f 240 249 259 +f 249 244 259 +f 244 256 259 +f 256 240 259 +f 241 235 260 +f 243 241 260 +f 235 249 260 +f 251 243 260 +f 249 251 260 +f 247 238 261 +f 252 247 261 +f 238 254 261 +f 254 252 261 +f 245 239 262 +f 244 245 262 +f 239 256 262 +o convex_6 +v 1.774023 1.745975 -0.142802 +v 1.990079 2.455622 0.042239 +v 1.990079 2.455622 0.011435 +v 3.532773 2.085359 0.011435 +v 1.774023 2.085359 0.381662 +v 1.774023 2.270418 -0.327915 +v 3.285728 2.146973 -0.204482 +v 3.254740 2.054552 0.227352 +v 3.193108 2.301225 0.103919 +v 1.774023 2.362984 0.319909 +v 1.805011 1.838541 0.289033 +v 3.285728 1.900300 -0.050245 +v 1.805011 1.807734 -0.297039 +v 2.853616 2.301225 -0.173606 +v 1.774023 1.715096 0.011435 +v 1.774023 2.362984 -0.297039 +v 1.959263 2.054552 -0.358792 +v 3.162292 1.900300 0.073115 +v 3.285728 2.301225 0.011435 +v 3.223924 2.054552 -0.204482 +v 2.113515 2.362984 0.289033 +v 1.774023 2.455622 -0.081049 +v 1.835827 2.177852 0.381662 +v 3.223924 2.116093 0.227352 +v 3.038856 1.931107 -0.173606 +v 1.805011 2.455622 0.134796 +v 1.835827 1.776855 -0.266163 +v 2.853616 1.900300 0.165672 +v 3.254740 2.177852 -0.204482 +v 1.774023 1.992866 -0.358792 +v 3.100488 2.239538 0.196476 +v 3.501612 2.146973 0.042239 +v 3.100488 1.869420 -0.050245 +f 289 274 295 +f 263 267 268 +f 268 267 272 +f 270 267 273 +f 267 263 277 +f 273 267 277 +f 268 272 278 +f 266 270 280 +f 274 266 280 +f 265 264 281 +f 264 271 281 +f 276 265 281 +f 269 266 282 +f 266 274 282 +f 279 269 282 +f 275 279 282 +f 264 265 284 +f 265 276 284 +f 278 272 284 +f 276 278 284 +f 267 270 285 +f 272 267 285 +f 283 272 285 +f 283 285 286 +f 285 270 286 +f 282 274 287 +f 275 282 287 +f 271 264 288 +f 283 271 288 +f 272 283 288 +f 264 284 288 +f 284 272 288 +f 263 275 289 +f 277 263 289 +f 287 274 289 +f 275 287 289 +f 270 273 290 +f 273 277 290 +f 280 270 290 +f 277 280 290 +f 268 278 291 +f 278 276 291 +f 279 268 291 +f 269 279 291 +f 276 281 291 +f 263 268 292 +f 275 263 292 +f 268 279 292 +f 279 275 292 +f 271 283 293 +f 283 286 293 +f 286 271 293 +f 266 269 294 +f 270 266 294 +f 281 271 294 +f 286 270 294 +f 271 286 294 +f 269 291 294 +f 291 281 294 +f 274 280 295 +f 280 277 295 +f 277 289 295 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/190/190.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/190/190.urdf new file mode 100644 index 000000000..10757ff16 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/190/190.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/191/191.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/191/191.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/191/191.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/191/191.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/191/191.obj new file mode 100644 index 000000000..e5d58315d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/191/191.obj @@ -0,0 +1,510 @@ +o convex_0 +v -0.164458 2.618421 -1.071304 +v 0.976757 -0.670657 1.110474 +v 0.909689 -0.670657 1.110474 +v -0.298806 -1.744808 -1.071304 +v -0.835773 2.618421 1.009627 +v 1.111105 2.618421 -0.937058 +v -0.802239 -1.744808 1.043242 +v 1.178172 -1.744808 -0.970673 +v 1.211706 2.618421 0.942395 +v -0.802239 2.618421 -1.105137 +v 1.278774 -1.744808 1.110474 +v -0.835773 -1.744808 -0.702180 +v -0.902840 -1.610272 0.640286 +v -0.768706 -1.610272 -1.105137 +v 1.278774 0.201903 0.976011 +v -0.667891 2.248981 1.043025 +v -0.902840 -1.711067 0.203930 +v 1.245240 2.114872 0.976011 +v -0.835773 2.618421 -0.131361 +v 1.144639 2.550939 -0.601333 +v 1.010290 2.618421 -0.970673 +v -0.567290 1.712120 -1.104920 +v -0.197992 -1.341628 1.076641 +v 1.278774 -1.207519 0.673685 +v -0.835773 1.342680 1.043242 +v -0.634357 -1.442423 -1.104920 +v -0.130924 2.618421 1.009410 +v 1.278774 -0.938875 1.110474 +v 1.211706 2.618421 0.472423 +v 1.178172 -1.543218 -0.970673 +v -0.802239 -1.744808 -0.937058 +v 0.741807 2.618421 0.976011 +v 0.808874 -1.308314 1.110474 +v -0.902840 -1.744808 0.640286 +v -0.567290 2.618421 -1.104920 +v -0.835773 0.738764 1.043242 +v -0.768706 -1.744808 -1.071304 +f 31 14 37 +f 1 5 6 +f 7 4 8 +f 6 5 9 +f 5 1 10 +f 2 3 11 +f 7 8 11 +f 4 7 12 +f 3 2 16 +f 10 12 17 +f 5 10 19 +f 13 5 19 +f 10 17 19 +f 17 13 19 +f 1 6 21 +f 11 8 24 +f 15 11 24 +f 5 13 25 +f 3 16 25 +f 16 5 25 +f 8 4 26 +f 4 14 26 +f 22 8 26 +f 14 22 26 +f 9 5 27 +f 16 2 27 +f 5 16 27 +f 2 11 28 +f 11 15 28 +f 15 18 28 +f 6 9 29 +f 9 18 29 +f 18 15 29 +f 20 6 29 +f 15 20 29 +f 6 20 30 +f 20 15 30 +f 1 21 30 +f 21 6 30 +f 8 22 30 +f 24 8 30 +f 15 24 30 +f 4 12 31 +f 12 10 31 +f 10 14 31 +f 18 9 32 +f 9 27 32 +f 27 2 32 +f 28 18 32 +f 2 28 32 +f 11 3 33 +f 7 11 33 +f 23 7 33 +f 3 25 33 +f 25 23 33 +f 12 7 34 +f 17 12 34 +f 13 17 34 +f 25 13 34 +f 10 1 35 +f 14 10 35 +f 22 14 35 +f 1 30 35 +f 30 22 35 +f 7 23 36 +f 23 25 36 +f 34 7 36 +f 25 34 36 +f 14 4 37 +f 4 31 37 +o convex_1 +v 1.111095 4.632935 -0.769353 +v -0.835914 2.619058 -0.131529 +v -0.835914 2.619058 1.009765 +v 1.211706 2.618848 0.942484 +v -0.768633 4.599286 1.009765 +v -0.802170 4.666583 -1.004319 +v 1.010277 2.618848 -0.970575 +v 1.278987 4.666373 0.976021 +v -0.802170 2.619058 -1.105137 +v 1.278987 4.565637 -1.004319 +v 0.439527 4.767319 0.237585 +v 1.111095 2.618848 -0.937038 +v 1.043814 4.599286 1.009558 +v 1.245243 2.786881 0.908947 +v -0.835914 3.827258 -0.131529 +v -0.466593 2.954704 -1.105137 +v -0.130809 2.619058 1.009765 +v 0.540345 4.767319 0.002412 +v 1.278987 3.726522 0.976021 +v -0.768633 4.632724 0.841666 +v -0.802170 4.297078 -1.037856 +v -0.835914 3.290350 1.009765 +v -0.802170 4.666583 -0.400032 +v 1.144632 2.618848 -0.601254 +v -0.466593 4.632724 1.009765 +v -0.399519 4.666583 -1.004319 +v 1.245243 3.323999 0.976021 +v -0.802170 4.129255 1.009765 +v 1.211706 2.618848 0.472345 +v -0.533667 2.652707 -1.105137 +v 0.540345 4.733460 -0.332751 +v 1.245243 4.599286 -0.970575 +v 0.607419 4.767319 0.304452 +v 1.278987 4.532199 -1.004319 +v 1.144632 2.954704 -0.970575 +v 0.708237 4.095606 -1.037856 +v 0.741774 2.619058 0.976021 +v -0.802170 2.988353 -1.105137 +v 0.607419 4.767319 0.136767 +v 1.245243 4.330727 -1.004319 +v -0.802170 4.632724 -0.097992 +f 52 65 78 +f 40 39 44 +f 41 40 44 +f 44 39 46 +f 41 44 49 +f 39 40 52 +f 46 39 52 +f 40 41 54 +f 42 40 54 +f 43 48 55 +f 47 45 56 +f 45 50 56 +f 41 51 56 +f 52 43 58 +f 40 42 59 +f 52 40 59 +f 48 43 60 +f 43 52 60 +f 57 48 60 +f 41 49 61 +f 50 45 62 +f 42 54 62 +f 54 50 62 +f 57 42 62 +f 48 57 62 +f 43 55 63 +f 58 43 63 +f 47 58 63 +f 50 54 64 +f 56 50 64 +f 41 56 64 +f 59 42 65 +f 52 59 65 +f 51 41 66 +f 41 61 66 +f 44 46 67 +f 46 53 67 +f 55 38 68 +f 63 55 68 +f 63 68 69 +f 45 47 69 +f 47 63 69 +f 68 38 69 +f 55 48 70 +f 62 45 70 +f 48 62 70 +f 47 56 71 +f 56 51 71 +f 51 66 71 +f 66 61 71 +f 49 44 72 +f 61 49 72 +f 44 67 72 +f 71 61 72 +f 58 47 73 +f 53 58 73 +f 47 71 73 +f 71 53 73 +f 54 41 74 +f 41 64 74 +f 64 54 74 +f 46 52 75 +f 53 46 75 +f 52 58 75 +f 58 53 75 +f 38 55 76 +f 69 38 76 +f 45 69 76 +f 70 45 76 +f 55 70 76 +f 67 53 77 +f 53 71 77 +f 72 67 77 +f 71 72 77 +f 42 57 78 +f 60 52 78 +f 57 60 78 +f 65 42 78 +o convex_2 +v -3.051808 -2.181722 0.271175 +v -4.763398 -2.383003 -0.265890 +v -4.796922 -2.550820 -0.232294 +v -4.863970 -2.080934 0.338367 +v -4.897868 -2.584432 0.304771 +v -2.984573 -2.584432 -0.232294 +v -3.454656 -2.114595 -0.232294 +v -2.984573 -2.550820 0.338367 +v -4.763398 -2.080934 -0.265890 +v -2.984573 -2.148159 -0.198639 +v -3.018284 -2.148159 0.204042 +v -4.595404 -2.080934 0.338367 +v -4.259791 -2.080934 -0.265890 +v -4.159032 -2.584432 -0.232294 +v -2.984573 -2.416566 0.338367 +v -2.984573 -2.584432 0.036238 +v -4.897868 -2.584432 0.170505 +v -4.796922 -2.315975 0.338367 +f 83 86 96 +f 80 81 87 +f 84 85 88 +f 86 84 88 +f 88 85 89 +f 89 85 90 +f 82 86 90 +f 87 82 90 +f 79 89 90 +f 87 90 91 +f 84 80 91 +f 85 84 91 +f 80 87 91 +f 90 85 91 +f 81 80 92 +f 84 83 92 +f 80 84 92 +f 86 88 93 +f 88 89 93 +f 89 79 93 +f 79 90 93 +f 90 86 93 +f 83 84 94 +f 86 83 94 +f 84 86 94 +f 83 82 95 +f 87 81 95 +f 82 87 95 +f 81 92 95 +f 92 83 95 +f 82 83 96 +f 86 82 96 +o convex_3 +v -2.749078 -2.953750 0.338275 +v -0.903084 -1.745346 0.506190 +v -0.903084 -1.980379 0.539773 +v -0.903084 -2.819378 -0.534423 +v -2.950567 -1.778821 -0.568006 +v -0.903084 -1.812414 -0.601589 +v -2.849924 -1.913193 0.439024 +v -0.903084 -2.886564 0.573356 +v -2.883539 -2.886564 -0.500840 +v -2.816513 -2.953750 0.573356 +v -2.984386 -2.550752 0.338275 +v -2.749078 -2.752192 -0.534308 +v -2.346304 -1.846007 0.472492 +v -1.138188 -1.778939 -0.568006 +v -2.581409 -2.685005 0.573356 +v -2.984386 -2.584345 -0.232176 +v -2.984386 -2.181701 0.237526 +v -1.306061 -2.920157 0.539658 +v -2.916951 -1.778821 -0.366508 +v -1.138188 -1.745346 0.506190 +v -0.903084 -1.745346 0.170475 +v -0.903084 -2.483684 0.573356 +v -1.037545 -1.879600 -0.601589 +v -2.581409 -2.886564 -0.467142 +v -2.849924 -2.013973 0.472492 +v -1.373292 -2.013973 0.539658 +v -0.903084 -2.886564 0.271224 +v -2.883539 -1.846007 0.136777 +v -2.916951 -1.946786 -0.568006 +f 119 108 125 +f 98 99 100 +f 98 100 102 +f 100 99 104 +f 105 97 106 +f 105 106 107 +f 100 105 108 +f 102 101 110 +f 106 104 111 +f 101 105 112 +f 105 107 112 +f 112 107 113 +f 101 112 113 +f 104 106 114 +f 106 97 114 +f 99 98 116 +f 101 115 116 +f 98 102 117 +f 110 101 117 +f 102 110 117 +f 116 98 117 +f 101 116 117 +f 104 99 118 +f 111 104 118 +f 101 102 119 +f 102 100 119 +f 100 108 119 +f 97 105 120 +f 105 100 120 +f 107 106 121 +f 109 103 121 +f 106 111 121 +f 113 107 121 +f 103 113 121 +f 116 109 122 +f 99 116 122 +f 118 99 122 +f 111 118 122 +f 109 121 122 +f 121 111 122 +f 100 104 123 +f 114 97 123 +f 104 114 123 +f 97 120 123 +f 120 100 123 +f 103 109 124 +f 101 113 124 +f 113 103 124 +f 115 101 124 +f 109 116 124 +f 116 115 124 +f 105 101 125 +f 108 105 125 +f 101 119 125 +o convex_4 +v 1.278774 -1.913307 1.076727 +v -0.869307 -3.020610 -1.071354 +v -0.902840 -3.457130 -1.037820 +v 1.278774 -3.423616 -1.004286 +v -0.902840 -3.322739 1.076727 +v -0.768706 -1.745402 -1.071354 +v -0.802239 -1.745402 1.043193 +v 1.178172 -1.745402 -0.970539 +v 1.178172 -3.356421 1.042979 +v 1.278774 -1.745402 1.110261 +v -0.902840 -1.779084 -0.433572 +v 1.278774 -1.778916 -0.534173 +v -0.902840 -1.745402 0.640148 +v -0.902840 -3.457130 -0.769336 +v -0.332340 -1.745402 -1.071354 +v 1.278774 -2.785677 0.573080 +v -0.835773 -2.081213 1.076727 +v 0.607458 -3.322739 1.076727 +v 1.245240 -2.517565 -1.004286 +v 0.640992 -3.423449 -1.037820 +v 1.211706 -3.356421 1.009446 +v -0.130924 -3.457130 -0.970752 +v -0.902840 -1.812598 -0.601454 +v 1.245240 -3.389935 0.170248 +v 0.842408 -3.356421 1.042979 +v 1.211706 -2.987096 1.076727 +v 1.278774 -3.389935 -0.433572 +v -0.802239 -1.946821 -1.071354 +v -0.869307 -2.450369 1.076727 +f 142 138 154 +f 131 132 133 +f 126 129 135 +f 133 132 135 +f 128 130 136 +f 135 129 137 +f 133 135 137 +f 132 131 138 +f 136 130 138 +f 131 136 138 +f 130 128 139 +f 127 131 140 +f 131 133 140 +f 129 126 141 +f 135 132 142 +f 132 138 142 +f 130 134 143 +f 135 130 143 +f 137 129 144 +f 133 137 144 +f 140 133 144 +f 140 144 145 +f 128 127 145 +f 129 128 145 +f 127 140 145 +f 144 129 145 +f 126 135 146 +f 141 126 146 +f 128 129 147 +f 139 128 147 +f 134 139 147 +f 127 128 148 +f 128 136 148 +f 136 131 148 +f 146 134 149 +f 147 129 149 +f 134 147 149 +f 134 130 150 +f 130 139 150 +f 139 134 150 +f 143 134 151 +f 135 143 151 +f 134 146 151 +f 146 135 151 +f 129 141 152 +f 141 146 152 +f 149 129 152 +f 146 149 152 +f 131 127 153 +f 127 148 153 +f 148 131 153 +f 130 135 154 +f 138 130 154 +f 135 142 154 +o convex_5 +v 3.125048 -2.416527 0.472634 +v 1.278987 -2.785756 -0.534449 +v 1.278987 -2.785756 0.573297 +v 1.278987 -1.778906 -0.534449 +v 3.125048 -2.785756 -0.467303 +v 3.125048 -1.846132 0.439005 +v 1.278987 -1.812519 0.606926 +v 3.259596 -1.778906 -0.534449 +v 3.225862 -2.819369 0.472634 +v 1.447075 -1.778906 0.573297 +v 1.984104 -2.819369 -0.165089 +v 3.259596 -1.778906 -0.299381 +v 3.259596 -1.946766 -0.534449 +v 1.715590 -2.785756 0.573297 +v 1.849944 -2.785756 -0.534449 +v 3.225862 -2.819369 0.271083 +v 3.225862 -2.617897 0.472634 +v 2.789454 -2.819369 0.506151 +v 3.192322 -2.450037 -0.500820 +v 3.192322 -1.812519 0.136790 +v 1.346261 -1.879642 0.606926 +v 2.420125 -1.812519 0.506151 +f 161 175 176 +f 156 157 158 +f 158 157 161 +f 156 158 162 +f 158 161 164 +f 162 158 164 +f 157 156 165 +f 162 164 166 +f 156 162 167 +f 162 166 167 +f 166 163 167 +f 165 156 169 +f 159 165 169 +f 156 167 169 +f 165 159 170 +f 163 165 170 +f 167 163 170 +f 160 155 171 +f 163 166 171 +f 157 165 172 +f 165 163 172 +f 168 157 172 +f 163 171 172 +f 159 169 173 +f 169 167 173 +f 170 159 173 +f 167 170 173 +f 166 164 174 +f 160 171 174 +f 171 166 174 +f 161 157 175 +f 157 168 175 +f 171 155 175 +f 168 172 175 +f 172 171 175 +f 155 160 176 +f 164 161 176 +f 160 174 176 +f 174 164 176 +f 175 155 176 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/191/191.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/191/191.urdf new file mode 100644 index 000000000..ef16b30c0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/191/191.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/192/192.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/192/192.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/192/192.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/192/192.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/192/192.obj new file mode 100644 index 000000000..fa4a9f97b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/192/192.obj @@ -0,0 +1,528 @@ +o convex_0 +v 0.521849 0.517330 -1.310106 +v 0.027036 -0.829702 -1.365326 +v 0.109327 -0.829702 -1.365326 +v -0.055374 0.049989 -3.014408 +v -0.467659 0.627312 -1.310273 +v -0.412719 -0.609738 -1.310273 +v 0.384381 -0.032251 -2.767004 +v -0.412719 -0.032415 -2.767004 +v -0.027904 0.407348 -2.767004 +v 0.521849 -0.609574 -1.310106 +v 0.027036 -0.389774 -2.767004 +v 0.027036 0.847275 -1.337800 +v -0.577775 -0.032415 -1.392852 +v 0.631847 -0.032251 -1.447738 +v 0.466791 0.599734 -1.502624 +v 0.384381 0.049825 -2.794530 +v -0.302840 0.324779 -2.602012 +v -0.275251 -0.307206 -2.602012 +v 0.411851 -0.362197 -2.244670 +v 0.549319 0.049825 -2.080012 +v -0.522717 -0.032415 -2.107538 +v 0.274383 0.324779 -2.574486 +v -0.412719 0.077402 -2.739478 +v 0.494261 -0.664565 -1.337800 +v -0.082962 0.819698 -1.337800 +v 0.631847 0.077402 -1.310106 +v -0.412719 -0.609738 -1.365326 +v -0.000434 -0.032415 -3.014408 +v -0.577775 0.049989 -1.310273 +v 0.549319 -0.059665 -2.024959 +v 0.274383 -0.307206 -2.629539 +v -0.082962 0.407348 -2.739478 +v -0.522717 0.077402 -2.025126 +v 0.109327 -0.829702 -1.310273 +v 0.466791 0.654725 -1.310106 +v -0.110432 -0.362197 -2.711951 +v -0.467659 0.627312 -1.337800 +v -0.385249 -0.637151 -1.365326 +v -0.027904 -0.307206 -2.849416 +v 0.466791 -0.334783 -2.080012 +v 0.054387 -0.362197 -2.794363 +v -0.412719 -0.059829 -2.739478 +v -0.000434 0.847275 -1.310273 +v -0.000434 0.049989 -3.014408 +v -0.055374 -0.032415 -3.014408 +v -0.357779 0.324779 -2.464547 +v -0.330310 -0.307206 -2.464547 +v -0.000434 -0.829702 -1.337800 +v 0.411851 0.682138 -1.337800 +v 0.494261 0.599734 -1.392686 +v 0.301853 0.269788 -2.629539 +v -0.440189 0.022411 -2.684425 +v -0.000434 0.407348 -2.739478 +v 0.631847 0.077402 -1.365326 +v 0.054387 -0.389774 -2.739478 +f 11 41 55 +f 3 2 11 +f 7 16 20 +f 4 8 23 +f 1 10 26 +f 10 14 26 +f 6 13 27 +f 13 21 27 +f 16 7 28 +f 6 10 29 +f 13 6 29 +f 14 10 30 +f 20 14 30 +f 7 20 30 +f 7 19 31 +f 19 24 31 +f 9 4 32 +f 12 9 32 +f 4 23 32 +f 23 17 32 +f 25 12 32 +f 21 13 33 +f 13 29 33 +f 2 3 34 +f 10 6 34 +f 3 24 34 +f 24 10 34 +f 10 1 35 +f 5 29 35 +f 29 10 35 +f 5 25 37 +f 29 5 37 +f 32 17 37 +f 25 32 37 +f 33 29 37 +f 6 27 38 +f 18 36 38 +f 11 36 39 +f 19 7 40 +f 10 24 40 +f 24 19 40 +f 30 10 40 +f 7 30 40 +f 28 7 41 +f 7 31 41 +f 39 28 41 +f 11 39 41 +f 27 21 42 +f 36 18 42 +f 8 39 42 +f 39 36 42 +f 25 5 43 +f 12 25 43 +f 5 35 43 +f 35 12 43 +f 4 9 44 +f 9 16 44 +f 28 4 44 +f 16 28 44 +f 8 4 45 +f 4 28 45 +f 39 8 45 +f 28 39 45 +f 17 23 46 +f 37 17 46 +f 23 37 46 +f 38 27 47 +f 18 38 47 +f 42 18 47 +f 27 42 47 +f 11 2 48 +f 2 34 48 +f 34 6 48 +f 36 11 48 +f 6 38 48 +f 38 36 48 +f 12 35 49 +f 35 15 49 +f 16 15 50 +f 20 16 50 +f 35 1 50 +f 15 35 50 +f 16 9 51 +f 15 16 51 +f 22 15 51 +f 23 8 52 +f 21 33 52 +f 37 23 52 +f 33 37 52 +f 8 42 52 +f 42 21 52 +f 9 12 53 +f 15 22 53 +f 12 49 53 +f 49 15 53 +f 51 9 53 +f 22 51 53 +f 14 20 54 +f 1 26 54 +f 26 14 54 +f 20 50 54 +f 50 1 54 +f 3 11 55 +f 24 3 55 +f 31 24 55 +f 41 31 55 +o convex_1 +v 0.026976 -1.021464 -1.282287 +v -0.000472 0.957079 1.273835 +v -0.027920 0.957079 1.273835 +v -0.000472 2.743807 -0.760036 +v -1.045105 -0.004959 -0.210218 +v 0.714182 -2.121444 0.641569 +v 0.796727 2.276108 -0.100457 +v -0.715126 -2.066386 0.778897 +v -0.742573 2.001409 0.751584 +v 0.741630 -2.038560 -0.842483 +v -0.027920 -2.726492 -0.787602 +v -0.770021 2.028642 -0.787602 +v 0.604188 0.269740 -1.309853 +v -0.742573 -1.984094 -0.787602 +v 0.961616 0.104565 0.751584 +v 0.054424 2.688749 0.724017 +v -0.577684 0.049507 -1.309853 +v 0.989064 -0.059425 -0.787602 +v 0.466747 -0.663881 1.273835 +v -0.000472 -2.726492 0.778897 +v -0.577684 -0.059425 1.273835 +v 0.769279 2.028642 0.724017 +v -0.962560 -0.169542 0.778897 +v -0.027920 -3.029016 -0.045323 +v 0.741630 2.056467 -0.787602 +v -0.027920 3.019098 0.009304 +v -0.990008 -0.114483 -0.787602 +v -0.797671 -2.203735 0.036618 +v 0.769279 -2.286618 0.009304 +v 0.494195 0.736847 1.273835 +v -0.027920 0.846963 -1.309853 +v -0.797671 2.248875 0.064185 +v -0.412795 -0.636648 1.273835 +v 1.016714 -0.032192 0.256647 +v 0.521845 -0.718940 -1.309853 +v -0.412795 -0.636648 -1.309853 +v 0.466747 0.709613 -1.309853 +v 0.659286 -0.032192 1.218701 +v 0.686734 -2.066386 0.778897 +v -0.467691 0.626730 -1.309853 +v -1.045105 0.022274 0.146632 +v -0.467691 0.653963 1.273835 +v 0.686734 -0.004959 -1.282287 +v 0.026976 -3.029016 -0.018009 +v 0.054424 -2.698075 -0.814916 +v 1.016714 0.214682 0.009304 +v 0.026976 3.019098 0.009304 +v 0.026976 -0.856289 1.273835 +v -0.962560 0.131798 0.778897 +v 0.961616 -0.114483 0.751584 +v -0.027920 2.688749 0.724017 +v -0.742573 -1.956269 0.806464 +v 1.016714 -0.224600 -0.072637 +v 0.741630 -2.094211 -0.814916 +v -0.825119 2.138759 0.009052 +v -0.962560 0.407089 -0.787602 +v -0.137913 2.633690 -0.787602 +v -0.632580 -2.423376 -0.018009 +v -0.055368 -2.726492 0.778897 +v 0.796727 2.276108 0.064438 +v 0.989064 0.050099 -0.787602 +v -0.797671 2.193817 -0.292665 +v -0.055368 -3.000599 0.091752 +v 0.769279 -1.983502 -0.787602 +f 84 109 119 +f 58 57 71 +f 57 58 74 +f 74 58 76 +f 59 62 80 +f 72 69 82 +f 60 82 83 +f 82 69 83 +f 71 57 85 +f 57 74 85 +f 77 71 85 +f 68 72 86 +f 64 81 87 +f 74 76 88 +f 72 68 90 +f 66 69 91 +f 69 72 91 +f 90 56 91 +f 72 90 91 +f 59 80 92 +f 80 68 92 +f 86 59 92 +f 68 86 92 +f 70 77 93 +f 85 74 93 +f 77 85 93 +f 75 61 94 +f 74 75 94 +f 93 74 94 +f 72 67 95 +f 86 72 95 +f 60 83 96 +f 83 78 96 +f 76 58 97 +f 64 76 97 +f 73 65 98 +f 68 80 98 +f 65 90 98 +f 90 68 98 +f 61 75 99 +f 79 66 99 +f 84 61 99 +f 56 90 100 +f 90 65 100 +f 91 56 100 +f 66 91 100 +f 99 66 100 +f 77 70 101 +f 70 89 101 +f 62 59 102 +f 71 77 102 +f 59 81 102 +f 81 71 102 +f 75 74 103 +f 74 88 103 +f 76 64 104 +f 78 76 104 +f 96 78 104 +f 61 84 105 +f 89 70 105 +f 84 89 105 +f 70 93 105 +f 94 61 105 +f 93 94 105 +f 58 71 106 +f 81 64 106 +f 71 81 106 +f 97 58 106 +f 64 97 106 +f 76 78 107 +f 78 83 107 +f 83 63 107 +f 88 76 107 +f 89 84 108 +f 101 89 108 +f 84 99 109 +f 100 65 109 +f 99 100 109 +f 64 87 110 +f 60 96 110 +f 104 64 110 +f 96 104 110 +f 67 72 111 +f 82 60 111 +f 72 82 111 +f 60 110 111 +f 81 59 112 +f 59 86 112 +f 95 67 112 +f 86 95 112 +f 69 66 113 +f 66 79 113 +f 63 83 113 +f 83 69 113 +f 75 103 114 +f 103 88 114 +f 107 63 114 +f 88 107 114 +f 101 62 115 +f 77 101 115 +f 62 102 115 +f 102 77 115 +f 80 62 116 +f 73 98 116 +f 98 80 116 +f 62 101 116 +f 108 73 116 +f 101 108 116 +f 87 81 117 +f 110 87 117 +f 67 111 117 +f 111 110 117 +f 81 112 117 +f 112 67 117 +f 99 75 118 +f 79 99 118 +f 113 79 118 +f 63 113 118 +f 75 114 118 +f 114 63 118 +f 65 73 119 +f 73 108 119 +f 108 84 119 +f 109 65 119 +o convex_2 +v 0.521736 0.049825 2.318651 +v -0.000480 -0.829702 1.274419 +v -0.330264 -0.664729 1.274419 +v 0.356844 0.737129 1.274249 +v -0.385228 0.022411 2.730919 +v -0.467732 0.627312 1.274419 +v 0.054484 0.434761 2.785843 +v 0.054484 -0.417188 2.758381 +v 0.494312 -0.609574 1.274249 +v -0.577660 -0.032415 1.384266 +v 0.439348 0.049825 2.785843 +v 0.604240 0.104980 1.274249 +v -0.027904 0.847275 1.356804 +v -0.000480 -0.004838 3.006047 +v 0.466772 0.682138 1.301711 +v -0.302840 0.352357 2.511054 +v -0.275184 -0.334783 2.511054 +v 0.356844 -0.334619 2.511054 +v -0.412768 -0.609738 1.329342 +v 0.356844 0.352193 2.538516 +v -0.522696 -0.004838 1.989107 +v 0.576816 -0.004674 2.016569 +v 0.219376 -0.774711 1.301881 +v -0.467732 0.599734 1.439190 +v -0.055444 0.434761 2.730919 +v -0.577660 0.077402 1.274419 +v -0.385228 -0.032415 2.730919 +v -0.055444 -0.417188 2.675995 +v 0.466772 -0.582160 1.549208 +v 0.439348 -0.059829 2.731089 +v 0.604240 -0.114656 1.329173 +v 0.081908 -0.004838 3.006047 +v 0.109333 -0.417188 2.730919 +v 0.439348 0.434761 2.098955 +v -0.440192 0.407348 1.961476 +v 0.054484 0.847275 1.301881 +v 0.054484 -0.829702 1.329342 +v 0.109333 0.434761 2.730919 +v 0.549276 0.159807 1.934014 +v -0.000480 0.352357 2.840937 +v -0.522696 0.049989 1.961476 +v -0.220336 0.764707 1.329342 +v -0.055444 0.847275 1.274419 +v -0.000480 -0.829702 1.301881 +v 0.384384 -0.032251 2.813305 +v -0.000480 -0.362197 2.785843 +v -0.495272 -0.197388 1.769073 +v -0.467732 -0.444765 1.274419 +v 0.026944 -0.444765 2.703457 +v 0.356844 0.737129 1.301711 +v 0.549276 -0.114656 2.016569 +v -0.385228 -0.637151 1.301881 +v 0.494312 0.599734 1.274249 +v 0.054484 0.104980 2.978246 +v -0.000480 0.462339 2.730919 +v 0.604240 0.022247 1.604131 +v 0.439348 -0.417188 2.044031 +v -0.357688 0.077402 2.730919 +v -0.495272 0.544743 1.301881 +v -0.412768 0.434761 2.044031 +f 143 154 179 +f 121 122 128 +f 128 123 131 +f 120 130 141 +f 121 128 142 +f 143 135 144 +f 125 123 145 +f 123 128 145 +f 133 124 146 +f 138 136 146 +f 124 140 146 +f 146 136 147 +f 142 128 148 +f 141 130 149 +f 128 131 150 +f 141 128 150 +f 133 127 151 +f 148 137 152 +f 142 148 152 +f 137 149 152 +f 151 127 152 +f 130 120 153 +f 139 130 153 +f 134 139 153 +f 121 142 156 +f 142 152 156 +f 126 130 157 +f 130 139 157 +f 139 134 157 +f 155 126 157 +f 120 141 158 +f 153 120 158 +f 134 153 158 +f 140 124 160 +f 129 140 160 +f 145 129 160 +f 124 154 160 +f 154 143 160 +f 125 143 161 +f 143 144 161 +f 123 125 162 +f 155 123 162 +f 132 155 162 +f 125 161 162 +f 161 132 162 +f 122 121 163 +f 121 156 163 +f 149 130 164 +f 130 151 164 +f 152 149 164 +f 151 152 164 +f 127 133 165 +f 133 146 165 +f 146 147 165 +f 140 129 166 +f 138 146 166 +f 146 140 166 +f 128 122 167 +f 145 128 167 +f 129 145 167 +f 166 129 167 +f 138 166 167 +f 152 127 168 +f 156 152 168 +f 147 163 168 +f 163 156 168 +f 127 165 168 +f 165 147 168 +f 134 123 169 +f 123 155 169 +f 157 134 169 +f 155 157 169 +f 128 141 170 +f 148 128 170 +f 141 149 170 +f 136 138 171 +f 147 136 171 +f 122 163 171 +f 163 147 171 +f 167 122 171 +f 138 167 171 +f 131 123 172 +f 123 134 172 +f 134 158 172 +f 130 126 173 +f 151 130 173 +f 133 151 173 +f 159 133 173 +f 126 159 173 +f 126 155 174 +f 155 132 174 +f 159 126 174 +f 144 159 174 +f 132 161 174 +f 161 144 174 +f 150 131 175 +f 141 150 175 +f 158 141 175 +f 131 172 175 +f 172 158 175 +f 137 148 176 +f 149 137 176 +f 148 170 176 +f 170 149 176 +f 124 133 177 +f 135 124 177 +f 144 135 177 +f 133 159 177 +f 159 144 177 +f 143 125 178 +f 125 145 178 +f 145 160 178 +f 160 143 178 +f 124 135 179 +f 135 143 179 +f 154 124 179 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/192/192.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/192/192.urdf new file mode 100644 index 000000000..03b7ea449 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/192/192.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/193/193.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/193/193.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/193/193.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/193/193.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/193/193.obj new file mode 100644 index 000000000..d5fdb60cb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/193/193.obj @@ -0,0 +1,519 @@ +o convex_0 +v 0.248687 2.308976 0.976410 +v -1.702304 -1.508878 -0.508127 +v -1.702304 -1.508878 0.043047 +v 0.418311 -1.508878 0.976410 +v 0.333603 2.308976 -1.059509 +v -1.532679 2.308976 1.060902 +v 0.375957 -1.508878 -1.017159 +v -1.659949 2.308976 -0.974601 +v -1.659949 -1.508878 1.060902 +v -1.575033 -1.508878 -0.974601 +v 0.418311 2.308976 0.933852 +v 0.206333 -1.254006 1.018552 +v -1.702304 1.629939 -0.804993 +v 0.418311 -1.466275 -0.295961 +v -1.575033 2.308976 0.848944 +v -1.320701 2.266373 -1.016951 +v -0.599642 -1.508878 -1.016951 +v 0.418311 2.308976 0.382470 +v -1.066161 1.629939 1.060902 +v -0.769059 -1.508878 1.060902 +v -1.659949 -0.914674 1.060902 +v 0.248687 1.205401 -1.059509 +v -1.617595 -1.169173 -0.974601 +v -1.659949 2.308976 -0.380662 +v 0.375957 -0.617572 -0.974809 +v 0.418311 1.587709 0.976410 +v -1.702304 1.332837 -0.847551 +v -1.575033 1.884064 1.060902 +v -1.193431 2.308976 1.060902 +v 0.036501 2.096707 -1.059509 +f 22 17 30 +f 3 2 4 +f 1 5 6 +f 4 2 7 +f 6 5 8 +f 3 4 9 +f 7 2 10 +f 5 1 11 +f 2 3 13 +f 4 7 14 +f 11 4 14 +f 6 8 15 +f 8 5 16 +f 10 16 17 +f 7 10 17 +f 5 11 18 +f 11 14 18 +f 6 9 19 +f 12 19 20 +f 9 4 20 +f 4 12 20 +f 19 9 20 +f 9 6 21 +f 3 9 21 +f 13 3 21 +f 5 7 22 +f 7 17 22 +f 10 2 23 +f 8 16 23 +f 16 10 23 +f 8 13 24 +f 15 8 24 +f 13 21 24 +f 7 5 25 +f 14 7 25 +f 5 18 25 +f 18 14 25 +f 11 1 26 +f 4 11 26 +f 12 4 26 +f 19 12 26 +f 2 13 27 +f 13 8 27 +f 23 2 27 +f 8 23 27 +f 6 15 28 +f 21 6 28 +f 15 24 28 +f 24 21 28 +f 1 6 29 +f 6 19 29 +f 26 1 29 +f 19 26 29 +f 16 5 30 +f 17 16 30 +f 5 22 30 +o convex_1 +v 0.884580 4.472215 0.255102 +v -3.696151 3.623861 -1.102137 +v -3.696151 2.903205 -1.059360 +v -3.568792 4.472215 1.061313 +v 2.326783 2.394108 0.976393 +v 2.369834 4.472426 -1.059571 +v -3.526339 2.394108 1.018747 +v 2.369834 2.394108 -0.974651 +v 2.412287 4.387506 0.933827 +v -3.653697 4.345152 -1.102137 +v -3.696151 2.351754 -1.017217 +v 0.333289 2.308976 -1.059571 +v -1.235675 2.308976 1.061313 +v 2.412287 4.302586 0.976393 +v -0.090642 4.429861 -1.101925 +v -3.653697 2.351754 0.043119 +v 0.418195 2.308976 0.933827 +v -3.483886 4.472215 0.721845 +v -1.659606 2.308976 -0.974863 +v 2.369834 3.793489 -1.059571 +v -1.490392 3.284816 -1.102137 +v -3.653697 4.387506 -0.677749 +v 2.369834 2.394108 0.212748 +v -3.611245 2.394108 0.721845 +v 1.563826 4.429861 0.806553 +v -3.611245 4.217878 0.594571 +v 2.157569 2.478816 -1.017217 +v -1.532845 2.308976 1.061313 +v -3.271621 4.472215 1.061313 +v 0.375742 4.345152 -1.101925 +v -3.696151 2.775931 -0.635183 +v -3.696151 4.175312 -1.059360 +v 2.412287 4.344940 0.424942 +v 0.460648 4.472215 0.552005 +v -3.611245 2.351754 0.467296 +v -2.210896 2.606091 1.061313 +v -1.235675 2.478816 1.061313 +v -3.568792 2.436462 1.018747 +v 0.672315 2.436250 -1.059571 +v 2.326783 4.387506 0.976393 +v 2.369834 4.429861 0.212748 +v -0.005736 2.308976 -1.059571 +v 2.369834 3.072622 0.976393 +f 53 44 73 +f 32 33 41 +f 42 38 47 +f 43 42 47 +f 35 43 47 +f 34 36 48 +f 36 45 48 +f 42 43 49 +f 46 41 49 +f 32 40 51 +f 45 40 52 +f 34 48 52 +f 48 45 52 +f 38 44 53 +f 35 47 53 +f 47 38 53 +f 54 34 56 +f 38 42 57 +f 50 38 57 +f 43 34 58 +f 49 43 58 +f 46 49 58 +f 36 34 59 +f 34 43 59 +f 45 36 60 +f 40 45 60 +f 36 50 60 +f 51 40 60 +f 32 41 61 +f 41 46 61 +f 46 54 61 +f 54 56 61 +f 61 56 62 +f 40 32 62 +f 34 52 62 +f 52 40 62 +f 56 34 62 +f 32 61 62 +f 36 39 63 +f 44 38 63 +f 39 44 63 +f 50 36 63 +f 38 50 63 +f 31 36 64 +f 55 31 64 +f 36 59 64 +f 59 55 64 +f 37 54 65 +f 54 46 65 +f 58 37 65 +f 46 58 65 +f 58 34 66 +f 37 58 66 +f 43 44 67 +f 59 43 67 +f 34 54 68 +f 54 37 68 +f 66 34 68 +f 37 66 68 +f 42 51 69 +f 57 42 69 +f 50 57 69 +f 60 50 69 +f 51 60 69 +f 44 39 70 +f 39 55 70 +f 55 59 70 +f 67 44 70 +f 59 67 70 +f 36 31 71 +f 39 36 71 +f 31 55 71 +f 55 39 71 +f 33 32 72 +f 41 33 72 +f 49 41 72 +f 42 49 72 +f 32 51 72 +f 51 42 72 +f 43 35 73 +f 44 43 73 +f 35 53 73 +o convex_2 +v -3.568868 -2.951037 0.212852 +v -3.399319 -2.230028 0.212852 +v -3.399319 -2.230028 0.170414 +v -1.744932 -2.908687 0.340163 +v -1.744932 -2.484622 -0.253725 +v -3.611438 -2.866267 -0.211230 +v -1.744932 -2.908687 -0.211230 +v -1.744932 -2.314940 0.212852 +v -3.568868 -2.272519 -0.211230 +v -1.744932 -2.272519 -0.253725 +v -3.611438 -2.781425 0.340163 +v -3.611438 -2.230028 0.255289 +v -2.169171 -2.951037 -0.041597 +v -3.611438 -2.951037 0.340163 +v -1.744932 -2.823846 0.340163 +v -2.381473 -2.527043 -0.253725 +f 83 78 89 +f 78 77 80 +f 77 78 81 +f 76 75 83 +f 75 81 83 +f 81 78 83 +f 82 76 83 +f 75 76 85 +f 81 75 85 +f 76 82 85 +f 82 79 85 +f 79 84 85 +f 74 79 86 +f 79 80 86 +f 80 77 86 +f 79 74 87 +f 77 84 87 +f 84 79 87 +f 74 86 87 +f 86 77 87 +f 77 81 88 +f 84 77 88 +f 81 85 88 +f 85 84 88 +f 78 80 89 +f 80 79 89 +f 79 82 89 +f 82 83 89 +o convex_3 +v -0.090659 -3.671996 -1.101930 +v -1.659936 -2.866171 1.103734 +v -1.702338 -2.866171 1.103734 +v 0.206349 -1.508878 -1.017080 +v 0.206349 -3.671996 1.018668 +v -1.532728 -3.629675 -0.974763 +v -1.659936 -1.508878 1.060985 +v 0.206349 -1.508878 1.018668 +v -1.617533 -1.508878 -0.932230 +v -1.702338 -3.587354 1.103734 +v 0.206349 -3.714749 -1.101930 +v -1.744932 -2.908492 -0.211114 +v -1.575130 -1.508878 -0.974763 +v -1.320524 -3.672212 -0.932230 +v -1.702338 -1.508878 -0.507981 +v -0.387477 -3.671996 1.018668 +v -1.744932 -2.314919 0.212703 +v -0.599681 -1.508878 -1.017080 +v -1.617533 -3.629675 -0.295964 +v -0.769291 -1.508878 1.060985 +v 0.163947 -3.205386 -1.101930 +v -1.575130 -2.993350 -0.974763 +v 0.163947 -3.714749 -0.507981 +v -1.702338 -3.587354 0.636952 +v -1.617533 -3.629675 0.085536 +v -1.702338 -1.508878 0.043003 +f 104 106 115 +f 92 91 96 +f 94 93 97 +f 91 94 97 +f 93 96 97 +f 96 93 98 +f 91 92 99 +f 94 91 99 +f 93 94 100 +f 95 90 100 +f 98 93 102 +f 95 100 103 +f 96 98 104 +f 98 101 104 +f 94 99 105 +f 92 96 106 +f 99 92 106 +f 101 99 106 +f 104 101 106 +f 102 93 107 +f 101 95 108 +f 95 103 108 +f 96 91 109 +f 91 97 109 +f 97 96 109 +f 100 90 110 +f 93 100 110 +f 90 102 110 +f 107 93 110 +f 102 107 110 +f 90 95 111 +f 95 101 111 +f 101 98 111 +f 102 90 111 +f 98 102 111 +f 100 94 112 +f 103 100 112 +f 94 105 112 +f 105 103 112 +f 99 101 113 +f 101 108 113 +f 108 99 113 +f 105 99 114 +f 103 105 114 +f 99 108 114 +f 108 103 114 +f 96 104 115 +f 106 96 115 +o convex_4 +v 0.418540 -3.205386 3.054484 +v 0.291336 -3.714749 -3.053485 +v 0.291336 -3.120744 -3.053485 +v 0.927495 -3.714749 -3.053485 +v 0.927566 -1.593952 -2.968577 +v 0.206486 -1.508878 0.975443 +v 0.927566 -1.678810 3.012030 +v 0.927495 -3.587354 3.012030 +v 0.206486 -3.671996 1.018494 +v 0.376115 -1.593736 -2.883072 +v 0.248911 -1.678594 2.969576 +v 0.206486 -1.508878 -1.016299 +v 0.418540 -3.587354 3.054484 +v 0.206486 -3.714749 -1.101207 +v 0.460964 -3.714749 1.017896 +v 0.418540 -1.508878 0.975443 +v 0.927495 -3.671996 1.781467 +v 0.927566 -1.593952 -0.423142 +v 0.927566 -2.484635 3.055082 +v 0.291336 -2.230061 3.012628 +v 0.418540 -3.629891 2.714854 +v 0.927495 -3.714749 -1.101805 +v 0.376115 -1.933167 -2.967979 +v 0.376115 -1.508878 -1.016299 +v 0.927495 -3.417423 3.054484 +v 0.376115 -3.247707 3.012628 +v 0.333690 -3.714749 0.975443 +f 130 136 142 +f 117 118 119 +f 119 118 120 +f 122 121 126 +f 121 124 126 +f 124 121 127 +f 125 118 127 +f 120 125 127 +f 118 117 129 +f 117 119 129 +f 127 118 129 +f 124 127 129 +f 129 119 130 +f 121 122 131 +f 127 121 131 +f 122 120 133 +f 131 122 133 +f 120 131 133 +f 119 120 134 +f 120 122 134 +f 116 128 134 +f 123 132 134 +f 122 126 135 +f 126 124 135 +f 128 116 135 +f 134 122 135 +f 116 134 135 +f 123 128 136 +f 128 124 136 +f 132 123 136 +f 130 132 136 +f 130 119 137 +f 132 130 137 +f 119 134 137 +f 134 132 137 +f 120 118 138 +f 118 125 138 +f 125 120 138 +f 120 127 139 +f 131 120 139 +f 127 131 139 +f 128 123 140 +f 134 128 140 +f 123 134 140 +f 124 128 141 +f 135 124 141 +f 128 135 141 +f 124 129 142 +f 129 130 142 +f 136 124 142 +o convex_5 +v 1.945569 -2.060554 3.097503 +v 1.139740 -3.714749 -3.053468 +v 0.927566 -3.714537 -3.053468 +v 2.454571 -1.551718 -3.095905 +v 2.454571 -3.587275 2.927147 +v 0.927566 -1.678768 3.012022 +v 0.927566 -1.594068 -2.967988 +v 0.927566 -3.587275 3.012022 +v 2.497128 -3.672187 -3.010425 +v 2.497128 -1.636418 3.096896 +v 1.139740 -3.672187 1.739512 +v 0.927566 -1.594068 -0.465405 +v 2.497128 -1.890942 -2.458741 +v 2.497128 -3.672187 -1.822183 +v 2.497128 -1.594068 1.484889 +v 1.224701 -1.636418 3.012022 +v 1.691145 -1.551718 -3.053468 +v 1.648741 -3.714749 -2.204118 +v 1.012528 -3.375101 3.055065 +v 0.927566 -3.714537 -1.143794 +v 2.454571 -3.672187 -1.101963 +v 2.327359 -3.544925 2.969584 +v 1.860761 -1.551718 -2.204118 +v 2.497128 -1.806030 3.096896 +v 2.497128 -2.993315 -3.052862 +v 0.927566 -2.399990 3.055065 +v 0.927566 -3.629625 2.587650 +v 1.903165 -3.629625 2.417901 +v 1.521529 -3.714749 -3.053468 +v 2.454571 -2.060554 -3.095905 +v 1.479125 -1.551718 -2.967988 +v 0.927566 -3.417451 -3.053468 +v 2.200147 -1.551718 -3.095905 +v 2.454571 -1.551718 -1.950101 +v 1.436721 -1.636418 3.054459 +v 1.818357 -3.714749 -3.010425 +v 2.497128 -2.145466 -3.052862 +f 155 167 179 +f 145 148 149 +f 148 145 150 +f 149 148 154 +f 152 151 155 +f 151 152 156 +f 155 146 157 +f 152 155 157 +f 154 148 158 +f 145 144 162 +f 150 145 162 +f 144 160 162 +f 160 153 162 +f 156 147 163 +f 153 160 163 +f 150 147 164 +f 161 150 164 +f 154 158 165 +f 158 157 165 +f 146 159 165 +f 152 143 166 +f 147 156 166 +f 156 152 166 +f 143 161 166 +f 164 147 166 +f 161 164 166 +f 155 151 167 +f 148 150 168 +f 161 143 168 +f 150 161 168 +f 147 150 169 +f 150 162 169 +f 162 153 169 +f 163 147 170 +f 153 163 170 +f 147 169 170 +f 169 153 170 +f 160 144 171 +f 167 151 171 +f 167 171 172 +f 144 145 172 +f 146 167 172 +f 171 144 172 +f 149 154 173 +f 159 149 173 +f 154 165 173 +f 165 159 173 +f 145 149 174 +f 149 159 174 +f 174 159 175 +f 159 146 175 +f 172 145 175 +f 146 172 175 +f 145 174 175 +f 157 146 176 +f 146 165 176 +f 165 157 176 +f 143 152 177 +f 152 157 177 +f 158 148 177 +f 157 158 177 +f 168 143 177 +f 148 168 177 +f 151 156 178 +f 156 163 178 +f 163 160 178 +f 160 171 178 +f 171 151 178 +f 146 155 179 +f 167 146 179 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/193/193.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/193/193.urdf new file mode 100644 index 000000000..c3eb50651 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/193/193.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/194/194.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/194/194.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/194/194.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/194/194.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/194/194.obj new file mode 100644 index 000000000..126b26294 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/194/194.obj @@ -0,0 +1,417 @@ +o convex_0 +v -0.944086 1.955358 -3.524092 +v 1.008961 1.955358 -1.610128 +v 1.008961 -0.192994 -1.610128 +v 1.126231 -0.075942 -3.563289 +v -1.061356 -0.115177 -1.610128 +v -0.944086 -0.271465 -3.563481 +v -0.944086 1.916122 -1.610128 +v 0.969943 1.798852 -3.407075 +v -1.100592 1.955358 -3.563481 +v 1.047978 -0.154195 -1.688331 +v -0.983322 1.916122 -1.688331 +v 0.891691 1.798852 -3.446272 +v -0.983322 -0.115177 -3.563481 +v 1.047978 -0.114959 -3.524092 +v -0.436425 1.955358 -1.610128 +v 1.047978 1.525513 -1.961754 +v 0.305777 -0.192994 -1.610128 +v 1.008961 1.916122 -2.235560 +v 1.126231 0.041328 -3.563289 +v 0.305777 -0.232011 -2.235560 +v -1.100592 1.759835 -3.563481 +v -1.100592 1.955358 -3.407075 +v -0.866052 1.916122 -3.563481 +v 1.008961 1.525513 -3.446272 +v -1.022339 -0.193212 -2.469978 +v 1.086995 0.197615 -3.563481 +v 1.126231 0.041328 -3.368069 +v -1.061356 0.041328 -1.610128 +v 0.813656 1.955358 -2.039957 +v -0.827034 -0.271465 -3.524092 +v -0.944086 -0.271465 -3.446272 +v -1.061356 -0.115177 -1.727337 +v 1.008961 -0.192994 -1.805539 +v 0.813656 1.837870 -3.211663 +f 29 18 34 +f 3 2 5 +f 5 2 7 +f 2 1 9 +f 2 3 10 +f 1 8 12 +f 9 1 12 +f 9 6 13 +f 6 4 14 +f 7 2 15 +f 2 9 15 +f 11 7 15 +f 2 10 16 +f 3 5 17 +f 2 16 18 +f 3 17 20 +f 9 13 21 +f 15 9 22 +f 11 15 22 +f 21 5 22 +f 9 21 22 +f 6 9 23 +f 9 12 23 +f 12 8 24 +f 8 18 24 +f 18 16 24 +f 16 19 24 +f 13 6 25 +f 17 5 25 +f 4 6 26 +f 19 4 26 +f 6 23 26 +f 23 12 26 +f 12 24 26 +f 24 19 26 +f 10 4 27 +f 16 10 27 +f 19 16 27 +f 4 19 27 +f 5 7 28 +f 7 11 28 +f 22 5 28 +f 11 22 28 +f 1 2 29 +f 2 18 29 +f 6 14 30 +f 30 20 31 +f 20 17 31 +f 25 6 31 +f 17 25 31 +f 6 30 31 +f 5 21 32 +f 21 13 32 +f 13 25 32 +f 25 5 32 +f 10 3 33 +f 4 10 33 +f 14 4 33 +f 3 20 33 +f 30 14 33 +f 20 30 33 +f 8 1 34 +f 18 8 34 +f 1 29 34 +o convex_1 +v 1.086942 1.096119 0.929399 +v -1.100358 -2.107395 0.577628 +v -1.100358 -2.107395 2.609115 +v -0.983220 3.830163 1.593371 +v 1.008992 -2.263885 2.569941 +v 0.969803 3.908710 2.609115 +v 1.047967 3.869437 0.577628 +v 1.047967 -2.068121 0.577628 +v -1.022409 3.634400 0.577628 +v -0.944245 3.790890 2.569941 +v 1.047967 2.540782 2.609115 +v -0.358124 3.869437 0.577628 +v 1.047967 -0.076045 2.609115 +v 1.086942 -1.326153 0.577628 +v -1.061383 2.462839 0.616802 +v -1.100358 -1.520708 2.609115 +v -0.748943 -2.146064 0.733926 +v 0.618174 3.908710 2.609115 +v 1.086942 0.861687 1.554595 +v 1.047967 -2.146064 2.061870 +v -0.983220 3.830163 0.577628 +v 1.008992 3.908710 2.374666 +v 1.008992 -2.107395 0.694951 +v -0.787917 -2.146064 2.609115 +v -1.100358 -1.052446 0.577628 +v 0.852665 -2.263885 2.374666 +v -0.983220 3.361298 2.101044 +v 0.266544 3.868833 2.609115 +v 0.969803 3.908710 1.554595 +v 1.047967 3.869437 1.085499 +v 1.047967 -1.208332 2.569941 +v 1.086942 1.173458 0.577628 +v -0.436502 -2.146064 2.609115 +v -0.670779 3.830163 2.569941 +v -1.061383 2.228406 0.851449 +v 0.501035 -2.106790 0.577628 +v 1.047967 -2.185338 1.554595 +v 0.813476 -2.263885 2.569941 +v 1.008992 3.712947 2.609115 +v 1.086942 -0.153384 1.202823 +v -0.944245 3.830163 1.944944 +f 68 52 75 +f 36 41 42 +f 41 36 43 +f 40 37 45 +f 41 43 46 +f 45 37 47 +f 42 41 48 +f 36 37 50 +f 37 40 50 +f 50 40 52 +f 45 47 53 +f 48 35 53 +f 43 38 55 +f 38 46 55 +f 46 43 55 +f 52 40 56 +f 37 36 58 +f 47 37 58 +f 36 51 58 +f 43 36 59 +f 49 43 59 +f 36 50 59 +f 50 49 59 +f 38 43 61 +f 44 38 61 +f 43 49 61 +f 50 44 61 +f 44 50 62 +f 50 52 62 +f 41 46 63 +f 46 52 63 +f 56 41 63 +f 52 56 63 +f 53 35 64 +f 45 53 64 +f 41 56 64 +f 47 39 65 +f 53 47 65 +f 54 48 65 +f 39 54 65 +f 35 48 66 +f 48 41 66 +f 64 35 66 +f 41 64 66 +f 39 47 67 +f 47 58 67 +f 58 39 67 +f 44 62 68 +f 62 52 68 +f 49 50 69 +f 61 49 69 +f 50 61 69 +f 36 42 70 +f 51 36 70 +f 42 57 70 +f 57 51 70 +f 42 48 71 +f 48 54 71 +f 54 39 71 +f 57 42 71 +f 51 57 71 +f 39 60 71 +f 60 51 71 +f 39 58 72 +f 58 51 72 +f 60 39 72 +f 51 60 72 +f 40 45 73 +f 56 40 73 +f 45 64 73 +f 64 56 73 +f 48 53 74 +f 53 65 74 +f 65 48 74 +f 38 44 75 +f 46 38 75 +f 52 46 75 +f 44 68 75 +o convex_2 +v 1.047967 -2.810035 0.382292 +v -1.100358 -2.419112 0.343091 +v -1.100358 -2.419112 0.382292 +v 1.047967 1.955358 0.382292 +v 1.047967 -4.060747 -1.610128 +v -0.944245 1.915480 -1.610128 +v -0.944245 -4.138086 -1.492915 +v 1.008992 1.955358 -1.610128 +v -1.061383 1.876207 0.382292 +v -0.983220 -4.217237 0.382292 +v 0.969803 -4.100021 0.382292 +v -1.061383 -0.115869 -1.610128 +v 1.086942 1.095569 0.343091 +v 1.008992 -4.100021 -1.531921 +v -0.397313 1.955358 -0.867846 +v -1.100358 -1.403438 -0.320984 +v 1.086942 -1.052393 0.382292 +v -0.670779 -4.217237 0.225879 +v -1.061383 1.876207 0.030654 +v 1.047967 1.955358 -0.711432 +v -0.983220 -3.787041 -1.141082 +v 1.047967 -2.536933 -1.531921 +v 0.344707 1.955358 0.382292 +v -1.022409 -3.904257 0.343091 +v 1.086942 -0.115869 0.030459 +v 0.930829 -4.060747 -1.610128 +v -1.061383 0.079290 -1.610128 +v 1.047967 -4.021474 -1.219289 +v -1.100358 -1.014327 0.382292 +v -0.436502 1.955358 -1.610128 +v -0.983220 1.916084 -1.180283 +v -0.983220 1.916084 -0.477202 +v -0.983220 -3.162289 -1.492915 +v -0.866081 -4.177964 -0.750633 +v 1.008992 -4.100021 -0.359989 +v -0.983220 -4.177360 -0.477202 +v -1.100358 -2.341170 0.186873 +v -1.061383 -0.506792 -1.492915 +v -0.358124 -4.100021 -1.531921 +v -0.983220 1.485888 -1.610128 +v -1.100358 -1.247552 -0.320984 +v -0.670779 -4.138690 -1.492915 +f 89 109 117 +f 78 76 79 +f 80 81 83 +f 78 79 84 +f 76 78 85 +f 76 85 86 +f 81 80 87 +f 79 83 90 +f 77 78 91 +f 79 76 92 +f 88 79 92 +f 86 85 93 +f 83 79 95 +f 79 88 95 +f 80 83 97 +f 83 95 97 +f 84 79 98 +f 79 90 98 +f 78 77 99 +f 85 78 99 +f 92 80 100 +f 88 92 100 +f 95 88 100 +f 80 97 100 +f 97 95 100 +f 87 80 101 +f 81 87 102 +f 87 91 102 +f 92 76 103 +f 80 92 103 +f 78 84 104 +f 91 78 104 +f 84 94 104 +f 83 81 105 +f 90 83 105 +f 94 84 106 +f 105 81 106 +f 84 98 107 +f 98 90 107 +f 90 105 107 +f 105 106 107 +f 106 84 107 +f 87 82 108 +f 82 96 108 +f 85 82 109 +f 93 85 109 +f 89 93 109 +f 76 86 110 +f 89 80 110 +f 86 93 110 +f 93 89 110 +f 103 76 110 +f 80 103 110 +f 82 85 111 +f 96 82 111 +f 85 99 111 +f 111 99 112 +f 77 91 112 +f 99 77 112 +f 91 108 112 +f 108 96 112 +f 96 111 112 +f 91 87 113 +f 87 108 113 +f 108 91 113 +f 82 87 114 +f 101 82 114 +f 87 101 114 +f 81 102 115 +f 102 94 115 +f 94 106 115 +f 106 81 115 +f 102 91 116 +f 94 102 116 +f 91 104 116 +f 104 94 116 +f 80 89 117 +f 101 80 117 +f 82 101 117 +f 109 82 117 +o convex_3 +v 1.087164 -1.403928 0.577608 +v -1.100515 -2.458325 0.382292 +v -1.022353 -3.943348 0.382292 +v 1.047976 2.149519 0.382292 +v -0.983165 3.829273 0.577608 +v -0.475433 -4.177658 0.577608 +v 0.969814 -4.099291 0.382292 +v 1.047976 3.869644 0.577608 +v -1.061327 1.876421 0.382292 +v -1.100515 -2.106859 0.577608 +v 0.969814 -4.099291 0.577608 +v -0.983165 3.829273 0.499471 +v -0.983165 -4.217237 0.538530 +v 1.047976 3.869644 0.538530 +v 1.087164 -1.130829 0.382292 +v -0.983165 -4.217237 0.382292 +v -1.061327 2.500985 0.577608 +v -0.358298 3.868852 0.499471 +v 1.087164 1.251065 0.382292 +v 1.047976 -2.771003 0.382292 +v -1.100515 -0.974094 0.382292 +v 1.087164 1.212277 0.577608 +v -0.670731 -4.217237 0.538530 +v -1.022353 -3.981344 0.538530 +v -1.022353 3.712118 0.499471 +v 1.047976 3.478599 0.499471 +f 131 136 143 +f 120 119 121 +f 118 122 123 +f 120 121 124 +f 122 118 125 +f 121 119 126 +f 123 122 127 +f 118 123 128 +f 121 126 129 +f 123 127 130 +f 124 121 132 +f 120 124 133 +f 127 122 134 +f 122 125 135 +f 121 129 135 +f 129 122 135 +f 125 131 135 +f 131 125 136 +f 132 121 136 +f 118 132 136 +f 118 128 137 +f 128 124 137 +f 124 132 137 +f 132 118 137 +f 126 119 138 +f 119 127 138 +f 134 126 138 +f 127 134 138 +f 125 118 139 +f 118 136 139 +f 136 125 139 +f 128 123 140 +f 124 128 140 +f 123 130 140 +f 133 124 140 +f 130 133 140 +f 119 120 141 +f 127 119 141 +f 130 127 141 +f 120 133 141 +f 133 130 141 +f 122 129 142 +f 129 126 142 +f 126 134 142 +f 134 122 142 +f 121 135 143 +f 135 131 143 +f 136 121 143 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/194/194.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/194/194.urdf new file mode 100644 index 000000000..f471c900c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/194/194.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/195/195.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/195/195.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/195/195.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/195/195.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/195/195.obj new file mode 100644 index 000000000..7548c4fba --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/195/195.obj @@ -0,0 +1,1026 @@ +o convex_0 +v -0.881324 -1.219771 1.207511 +v -0.082873 -3.614960 -0.145951 +v -0.256319 -3.510618 -0.666876 +v 0.958602 -1.393285 -1.326556 +v 0.819645 -2.538708 2.804386 +v -0.777056 -2.538473 -2.819363 +v -0.811745 -3.094185 2.179394 +v 0.750267 -3.094185 -2.089716 +v 0.889224 -1.219537 1.276302 +v -0.811745 -1.219537 -1.187212 +v 0.785156 -3.198528 2.075327 +v -0.013294 -1.809951 2.769696 +v 0.055883 -1.879591 -2.715296 +v -1.020281 -2.608113 -1.673447 +v 1.028181 -2.330492 -2.124993 +v -1.020281 -2.261086 2.387529 +v -0.811745 -3.198293 -2.090304 +v 1.028181 -2.261086 2.388117 +v 0.750267 -2.538708 -2.819363 +v -0.047984 -2.642816 3.013108 +v -0.047984 -3.406510 2.248772 +v -0.013294 -3.337104 -2.297851 +v -0.811745 -3.371807 0.304419 +v 1.028181 -1.219537 -0.215329 +v 0.750267 -3.372041 -0.041884 +v -0.985391 -1.219771 -0.110674 +v 0.160151 -1.219771 -1.569380 +v 1.028181 -2.608113 0.547243 +v -0.742367 -2.538473 2.873764 +v -0.985391 -2.330492 -2.367817 +v -0.082873 -2.642816 -2.993397 +v -0.047984 -1.219771 1.589091 +v -1.020281 -2.608113 1.727848 +v 0.819645 -1.740546 -2.055615 +v 0.576621 -1.983699 2.630940 +v -0.568922 -2.052870 -2.575952 +v -0.603611 -1.948762 2.561562 +v -0.013294 -3.614960 0.200352 +v 1.028181 -2.504005 -1.604069 +v 0.923913 -1.219537 -1.117834 +v 0.750267 -2.573411 2.873764 +v -0.742367 -3.198293 2.144705 +v -0.013294 -3.371807 -2.194372 +v 0.125261 -3.371807 2.283461 +v 0.993291 -2.087573 -2.229061 +v -0.811745 -3.371807 -0.284708 +v 0.611510 -2.018167 -2.576540 +v -1.020281 -2.712221 0.269730 +v -0.777056 -2.642816 -2.784674 +v -1.020281 -1.879357 -0.007195 +v 1.028181 -2.573411 1.623781 +v 1.028181 -1.219537 0.200352 +v -0.013294 -1.879591 -2.715296 +v 0.646199 -3.163591 -2.089716 +v -0.186940 -3.337104 -2.263750 +v 0.021194 -3.614960 -0.076573 +v 0.055883 -1.809951 2.769696 +v 0.785156 -1.740546 2.144117 +v -0.985391 -2.191916 -2.229061 +v -0.985391 -1.219771 0.269730 +v 0.055883 -2.538708 3.013108 +v -0.742367 -2.469302 2.873764 +v -0.117362 -3.614960 0.061595 +v 0.680889 -3.267933 1.797226 +f 44 38 64 +f 1 9 10 +f 5 11 18 +f 15 8 19 +f 10 9 24 +f 18 15 24 +f 15 18 28 +f 16 7 29 +f 21 20 29 +f 17 14 30 +f 13 19 31 +f 19 22 31 +f 9 1 32 +f 1 12 32 +f 7 16 33 +f 16 14 33 +f 23 7 33 +f 13 27 34 +f 5 18 35 +f 12 1 37 +f 1 16 37 +f 8 15 39 +f 25 8 39 +f 15 28 39 +f 28 25 39 +f 24 4 40 +f 10 24 40 +f 27 10 40 +f 4 34 40 +f 34 27 40 +f 11 5 41 +f 5 35 41 +f 7 23 42 +f 23 21 42 +f 29 7 42 +f 21 29 42 +f 20 21 44 +f 21 38 44 +f 11 41 44 +f 41 20 44 +f 15 19 45 +f 4 24 45 +f 24 15 45 +f 34 4 45 +f 3 2 46 +f 17 3 46 +f 14 17 46 +f 19 13 47 +f 13 34 47 +f 45 19 47 +f 34 45 47 +f 33 14 48 +f 23 33 48 +f 14 46 48 +f 46 23 48 +f 30 6 49 +f 17 30 49 +f 6 31 49 +f 14 16 50 +f 26 14 50 +f 18 11 51 +f 11 25 51 +f 28 18 51 +f 25 28 51 +f 9 18 52 +f 24 9 52 +f 18 24 52 +f 27 13 53 +f 10 27 53 +f 31 6 53 +f 13 31 53 +f 6 36 53 +f 36 10 53 +f 19 8 54 +f 22 19 54 +f 8 25 54 +f 43 22 54 +f 2 3 55 +f 3 17 55 +f 31 22 55 +f 43 2 55 +f 22 43 55 +f 17 49 55 +f 49 31 55 +f 38 2 56 +f 25 38 56 +f 2 43 56 +f 54 25 56 +f 43 54 56 +f 9 32 57 +f 32 12 57 +f 41 35 57 +f 18 9 58 +f 35 18 58 +f 9 57 58 +f 57 35 58 +f 26 10 59 +f 14 26 59 +f 6 30 59 +f 30 14 59 +f 36 6 59 +f 10 36 59 +f 1 10 60 +f 16 1 60 +f 10 26 60 +f 50 16 60 +f 26 50 60 +f 20 41 61 +f 57 12 61 +f 41 57 61 +f 16 29 62 +f 29 20 62 +f 12 37 62 +f 37 16 62 +f 61 12 62 +f 20 61 62 +f 21 23 63 +f 38 21 63 +f 2 38 63 +f 46 2 63 +f 23 46 63 +f 25 11 64 +f 38 25 64 +f 11 44 64 +o convex_1 +v -0.950671 -1.219537 -0.319438 +v 1.028180 -0.941861 0.235343 +v 1.028180 -1.184756 0.235343 +v -0.082768 -1.219537 1.520162 +v -0.881286 -0.733461 1.103254 +v 0.298850 -0.733461 -1.222340 +v 0.889213 -0.733461 1.103254 +v 0.923906 -1.219537 -1.083271 +v -0.811902 -0.733461 -1.048877 +v 0.090695 -1.219537 -1.535170 +v 0.923906 -0.733461 -1.014185 +v -0.881286 -1.219537 1.138245 +v 0.889213 -1.219537 1.242323 +v -0.811902 -1.219537 -1.117963 +v -0.985561 -0.733461 -0.076590 +v 0.055805 -0.733461 1.277015 +v 1.028180 -0.733461 -0.215659 +v -0.985561 -1.219537 0.235343 +v 0.090695 -1.184756 1.520162 +v 0.160080 -1.184756 -1.535170 +v 1.028180 -1.219537 -0.215659 +v -0.777012 -0.733461 -1.083570 +v -0.915979 -0.733461 0.964484 +v 0.854521 -0.733461 1.137946 +v 0.958598 -1.184756 -0.979193 +v 0.055805 -0.733461 -1.222340 +v 1.028180 -0.733461 0.200651 +v -0.082768 -0.733461 1.277015 +v 0.819631 -0.733461 -1.083271 +v -0.881286 -0.837661 1.138245 +v -0.915979 -1.219537 1.033869 +v -0.777012 -1.184756 -1.153254 +v -0.985561 -0.768242 0.200651 +v -0.082768 -1.184756 1.520162 +v 0.923906 -0.802975 -1.048877 +v 0.958598 -0.733461 -0.909808 +v 0.090695 -1.184756 -1.535170 +v -0.638242 -1.184756 1.277015 +f 98 94 102 +f 70 69 71 +f 68 65 72 +f 69 70 73 +f 72 65 74 +f 70 71 75 +f 65 68 76 +f 67 66 77 +f 68 72 77 +f 74 65 78 +f 69 73 79 +f 78 65 79 +f 73 78 79 +f 71 69 80 +f 66 67 81 +f 75 71 81 +f 65 76 82 +f 79 65 82 +f 68 77 83 +f 72 74 84 +f 67 77 85 +f 77 72 85 +f 81 67 85 +f 73 70 86 +f 69 79 87 +f 77 71 88 +f 71 80 88 +f 83 77 88 +f 80 83 88 +f 85 72 89 +f 81 85 89 +f 70 84 90 +f 86 70 90 +f 77 66 91 +f 71 77 91 +f 66 81 91 +f 81 71 91 +f 80 69 92 +f 83 80 92 +f 70 75 93 +f 84 70 93 +f 69 87 94 +f 94 87 95 +f 82 76 95 +f 76 94 95 +f 78 73 96 +f 74 78 96 +f 73 86 96 +f 79 82 97 +f 87 79 97 +f 95 87 97 +f 82 95 97 +f 68 83 98 +f 92 69 98 +f 83 92 98 +f 69 94 98 +f 72 84 99 +f 89 72 99 +f 93 75 99 +f 84 93 99 +f 75 81 100 +f 81 89 100 +f 89 99 100 +f 99 75 100 +f 84 74 101 +f 90 84 101 +f 86 90 101 +f 74 96 101 +f 96 86 101 +f 76 68 102 +f 94 76 102 +f 68 98 102 +o convex_2 +v -0.846518 -0.733285 -0.875224 +v 1.028180 -0.351280 0.200705 +v 1.028180 -0.733285 0.200705 +v -0.881209 -0.733285 1.103145 +v -0.742445 1.071786 -1.048714 +v 0.784949 1.071786 1.068643 +v 0.889219 1.002346 -0.840478 +v -0.915900 1.071786 0.860162 +v 0.819640 -0.733285 -1.083706 +v 0.854331 -0.733285 1.138137 +v 0.229497 -0.524966 -1.222693 +v -0.985480 0.516271 -0.042034 +v 1.028180 1.071786 0.096465 +v -0.048032 -0.698477 1.277124 +v -0.811827 1.036978 1.068398 +v 0.507223 1.071786 -1.013967 +v -0.777136 -0.733285 -1.083461 +v 0.958601 -0.733285 -0.909971 +v -0.985480 -0.733285 0.165958 +v -0.881209 1.071786 -0.840478 +v 0.923910 1.002346 0.894909 +v 1.028180 1.002346 -0.146274 +v -0.985480 -0.733285 -0.076780 +v 0.090733 -0.733285 -1.222693 +v 0.923910 1.071786 -0.771229 +v 0.229497 1.071786 -1.048714 +v -0.950788 1.071786 -0.215523 +v 1.028180 -0.733285 -0.215768 +v 0.889219 -0.733285 1.103390 +v -0.915900 -0.038891 0.999149 +v -0.846518 -0.212578 -0.979465 +v 0.819640 0.481639 1.103390 +v -0.950788 1.071786 0.478191 +v -0.777136 -0.073699 -1.083461 +v 0.923910 -0.524966 -1.014212 +v -0.846518 0.099988 1.103145 +v 0.021350 -0.733285 1.277124 +v -0.881209 0.967538 -0.875224 +v 0.472532 0.898099 -1.048714 +v -0.291066 1.071786 1.068398 +v -0.915900 -0.629037 0.999149 +v 0.923910 0.655149 0.929900 +v 0.299076 -0.663845 -1.222693 +v 0.854331 -0.490158 1.138137 +v 0.958601 1.071786 0.651925 +v -0.777136 0.967538 -1.048714 +f 133 140 148 +f 103 105 106 +f 108 107 110 +f 105 103 111 +f 106 105 112 +f 104 105 115 +f 107 108 115 +f 107 115 118 +f 111 103 119 +f 105 111 120 +f 103 106 121 +f 110 107 122 +f 115 105 124 +f 103 121 125 +f 121 114 125 +f 107 113 126 +f 111 119 126 +f 109 118 127 +f 118 115 127 +f 115 124 127 +f 124 120 127 +f 113 107 128 +f 107 118 128 +f 110 122 129 +f 105 120 130 +f 124 105 130 +f 120 124 130 +f 112 105 131 +f 117 110 132 +f 119 103 133 +f 103 125 133 +f 123 108 134 +f 114 121 135 +f 110 129 135 +f 129 114 135 +f 132 110 135 +f 121 132 135 +f 126 119 136 +f 119 133 136 +f 118 109 137 +f 111 118 137 +f 120 111 137 +f 109 127 137 +f 127 120 137 +f 106 116 138 +f 116 117 138 +f 132 106 138 +f 117 132 138 +f 106 112 139 +f 116 106 139 +f 108 116 139 +f 134 108 139 +f 125 114 140 +f 114 129 140 +f 129 122 140 +f 133 125 140 +f 118 111 141 +f 113 128 141 +f 128 118 141 +f 108 110 142 +f 116 108 142 +f 110 117 142 +f 117 116 142 +f 121 106 143 +f 106 132 143 +f 132 121 143 +f 105 104 144 +f 131 105 144 +f 123 134 144 +f 126 113 145 +f 111 126 145 +f 141 111 145 +f 113 141 145 +f 112 131 146 +f 139 112 146 +f 134 139 146 +f 131 144 146 +f 144 134 146 +f 104 115 147 +f 115 108 147 +f 108 123 147 +f 144 104 147 +f 123 144 147 +f 122 107 148 +f 107 126 148 +f 126 136 148 +f 136 133 148 +f 140 122 148 +o convex_3 +v -0.950743 1.488772 -0.319845 +v 1.028180 1.454049 0.096376 +v 1.028180 1.072095 0.096376 +v -0.048063 2.391174 1.311844 +v 0.021285 2.426030 -1.257413 +v -0.811854 1.072095 1.033944 +v -0.742313 1.072095 -1.048925 +v -0.811854 2.426030 0.825456 +v 0.854424 2.426030 -0.840437 +v 0.854424 1.072095 -0.840437 +v 0.785077 1.072095 1.068650 +v 0.750209 2.426030 1.033944 +v -0.742313 2.426030 -1.014219 +v 0.437951 1.106818 -1.048925 +v -0.950743 1.072095 0.478143 +v 0.889098 2.217559 0.756043 +v -0.534077 2.426030 1.172516 +v -0.464729 2.252282 -1.257413 +v 0.507299 2.426030 -1.118337 +v -0.881202 1.072095 -0.840688 +v 0.923965 2.426030 -0.041945 +v -0.846528 2.426030 -0.389257 +v -0.915875 1.731833 0.790750 +v 0.923965 1.072095 0.860162 +v 0.437951 2.426030 1.242180 +v 0.923965 1.072095 -0.771024 +v -0.082930 1.141541 1.103104 +v -0.881202 1.870328 -0.805982 +v -0.742313 2.426030 1.033944 +v 0.958639 2.217559 -0.319845 +v -0.881202 2.252282 -0.007490 +v 0.923965 1.731833 0.825456 +v 1.028180 1.280433 -0.111357 +v -0.915875 1.072095 0.860162 +v -0.950743 1.523495 0.478143 +v -0.464729 2.426030 -1.257413 +v -0.950743 1.072095 -0.250433 +v 0.333736 1.072095 -1.048925 +v 0.854424 2.426030 0.790750 +v 0.958639 1.662387 0.686631 +v 0.472625 2.078666 -1.118337 +v -0.846528 2.356451 0.721337 +v -0.464729 2.287005 1.207474 +v -0.048063 2.287005 -1.257413 +v 0.055959 2.391174 1.311844 +v 0.785077 1.419326 1.068650 +v -0.777180 1.627664 -1.014219 +v -0.811854 1.488772 1.033944 +v -0.811854 2.426030 -0.805982 +v -0.915875 1.558218 -0.701864 +v 0.923965 2.391174 -0.493376 +f 178 181 199 +f 151 154 155 +f 153 156 157 +f 151 155 158 +f 154 151 159 +f 157 156 160 +f 156 153 161 +f 155 154 163 +f 160 156 165 +f 153 157 167 +f 157 158 167 +f 155 163 168 +f 157 160 169 +f 164 150 169 +f 156 161 170 +f 159 151 172 +f 165 152 173 +f 160 165 173 +f 151 158 174 +f 158 157 174 +f 152 154 175 +f 154 159 175 +f 149 170 176 +f 165 156 177 +f 156 171 177 +f 169 150 178 +f 170 149 179 +f 150 151 181 +f 151 174 181 +f 178 150 181 +f 163 154 182 +f 149 163 183 +f 179 149 183 +f 163 182 183 +f 182 171 183 +f 161 153 184 +f 166 155 184 +f 153 166 184 +f 163 149 185 +f 168 163 185 +f 158 155 186 +f 162 158 186 +f 155 166 186 +f 169 160 187 +f 164 169 187 +f 160 180 187 +f 180 164 187 +f 151 150 188 +f 150 164 188 +f 172 151 188 +f 164 180 188 +f 180 172 188 +f 162 153 189 +f 158 162 189 +f 153 167 189 +f 167 158 189 +f 156 170 190 +f 171 156 190 +f 170 179 190 +f 179 183 190 +f 183 171 190 +f 154 152 191 +f 152 165 191 +f 153 162 192 +f 166 153 192 +f 162 186 192 +f 186 166 192 +f 173 152 193 +f 159 173 193 +f 152 175 193 +f 175 159 193 +f 159 172 194 +f 173 159 194 +f 160 173 194 +f 180 160 194 +f 172 180 194 +f 155 168 195 +f 168 176 195 +f 176 161 195 +f 184 155 195 +f 161 184 195 +f 165 177 196 +f 177 171 196 +f 182 154 196 +f 171 182 196 +f 154 191 196 +f 191 165 196 +f 170 161 197 +f 161 176 197 +f 176 170 197 +f 149 176 198 +f 176 168 198 +f 185 149 198 +f 168 185 198 +f 157 169 199 +f 174 157 199 +f 169 178 199 +f 181 174 199 +o convex_4 +v -0.742340 2.703753 0.964416 +v 0.924021 2.460756 -0.111272 +v 0.924021 2.426030 -0.111272 +v -0.395167 2.842659 -1.847504 +v 0.403175 2.877386 1.762829 +v -0.811844 2.426030 0.825394 +v 0.854517 2.877386 -0.771048 +v -0.742340 2.426030 -1.014144 +v -0.811844 2.877386 -0.041762 +v 0.611514 2.426030 -1.048707 +v 0.437840 2.426030 1.242075 +v -0.256332 2.877386 1.832340 +v 0.021337 2.877386 -1.986526 +v 0.819852 2.807889 0.755884 +v 0.819852 2.426030 0.860342 +v -0.429832 2.426030 -1.291803 +v -0.048167 2.460756 1.415660 +v 0.854517 2.426030 -0.840559 +v -0.777178 2.877386 -0.771048 +v -0.846682 2.426030 -0.319805 +v -0.777178 2.877386 0.756268 +v 0.090494 2.842659 1.936798 +v -0.707675 2.426030 1.068490 +v 0.854517 2.877386 0.200182 +v 0.368337 2.877386 -1.604409 +v 0.021337 2.842659 -1.986526 +v -0.395167 2.877386 1.728266 +v 0.056002 2.426030 -1.257239 +v -0.048167 2.807889 1.901851 +v 0.889183 2.877386 -0.562516 +v 0.750348 2.426030 1.033543 +v -0.395167 2.877386 -1.847504 +v -0.811844 2.495527 -0.805996 +v -0.846682 2.460756 0.200566 +v 0.785014 2.877386 0.825394 +v 0.924021 2.426030 -0.458442 +v -0.464671 2.426030 1.207511 +v 0.403175 2.842659 1.762829 +v 0.854517 2.495527 0.755884 +v 0.819852 2.877386 -0.875122 +v 0.437840 2.426030 -1.153165 +v -0.256332 2.842659 1.832340 +f 236 228 241 +f 202 205 207 +f 204 206 208 +f 202 207 209 +f 205 202 210 +f 204 208 211 +f 208 206 212 +f 210 202 214 +f 207 203 215 +f 209 207 215 +f 202 209 217 +f 208 212 218 +f 207 205 219 +f 208 218 219 +f 205 200 220 +f 211 208 220 +f 204 211 221 +f 216 210 221 +f 200 205 222 +f 205 210 222 +f 206 204 223 +f 212 206 224 +f 224 217 225 +f 203 212 225 +f 215 203 225 +f 217 209 225 +f 212 224 225 +f 220 200 226 +f 211 220 226 +f 200 222 226 +f 209 215 227 +f 215 225 227 +f 221 211 228 +f 216 221 228 +f 223 201 229 +f 206 223 229 +f 210 214 230 +f 203 207 231 +f 212 203 231 +f 218 212 231 +f 218 231 232 +f 207 219 232 +f 219 218 232 +f 231 207 232 +f 219 205 233 +f 208 219 233 +f 205 220 233 +f 220 208 233 +f 223 204 234 +f 213 223 234 +f 204 230 234 +f 201 202 235 +f 202 217 235 +f 217 206 235 +f 229 201 235 +f 206 229 235 +f 210 216 236 +f 222 210 236 +f 216 228 236 +f 204 221 237 +f 221 210 237 +f 230 204 237 +f 210 230 237 +f 202 201 238 +f 214 202 238 +f 201 223 238 +f 223 213 238 +f 230 214 238 +f 213 234 238 +f 234 230 238 +f 206 217 239 +f 224 206 239 +f 217 224 239 +f 225 209 240 +f 209 227 240 +f 227 225 240 +f 211 226 241 +f 226 222 241 +f 228 211 241 +f 222 236 241 +o convex_5 +v -0.360471 3.085857 -2.541708 +v 0.611544 3.571654 -1.222693 +v 0.611544 3.502238 -1.222693 +v -0.568925 3.259452 -1.222693 +v -0.082686 3.814664 -2.646050 +v 0.437871 2.877386 -1.570213 +v -0.047905 4.023023 -1.222693 +v 0.333760 3.363631 -2.750046 +v -0.534144 2.877386 -1.222693 +v -0.464582 3.779901 -1.986543 +v -0.013240 2.981678 -2.750046 +v 0.403206 3.849428 -1.847882 +v -0.464582 3.433047 -2.715381 +v 0.472652 2.877386 -1.222693 +v -0.117352 3.433047 -2.993397 +v -0.464582 3.779901 -1.222693 +v 0.472652 3.918844 -1.222693 +v -0.395136 2.877386 -1.882547 +v 0.507317 3.398283 -2.056220 +v 0.229533 3.710485 -2.576720 +v -0.568925 3.328868 -1.813043 +v -0.047905 3.953496 -1.952051 +v 0.264313 3.085857 -2.541708 +v 0.021310 2.877386 -2.159869 +v -0.464582 3.328868 -2.680716 +v -0.117352 3.779901 -2.750046 +v 0.333760 3.433047 -2.750046 +v -0.117352 3.328868 -2.993397 +v -0.360471 3.710485 -2.541708 +v -0.117352 2.981678 -2.715381 +v -0.429917 3.814664 -1.986543 +v -0.568925 2.947026 -1.257532 +v -0.047905 3.779901 -2.750046 +v 0.507317 3.502238 -1.986543 +v -0.464582 2.877386 -1.674382 +v -0.499363 3.710485 -1.327036 +v 0.403206 2.981678 -1.952051 +v -0.534144 3.502238 -2.021555 +v 0.507317 3.016442 -1.327036 +v 0.194867 3.988259 -1.292370 +v -0.047905 3.328868 -2.993397 +v 0.403206 3.814664 -1.952051 +v -0.047905 3.433047 -2.993397 +v -0.429917 3.328868 -2.750046 +f 269 271 285 +f 244 243 245 +f 245 243 248 +f 244 245 250 +f 244 250 255 +f 250 247 255 +f 245 248 257 +f 248 243 258 +f 247 250 259 +f 243 244 260 +f 253 246 263 +f 252 249 264 +f 247 252 264 +f 252 247 265 +f 247 259 265 +f 262 254 266 +f 256 254 267 +f 260 249 268 +f 254 251 270 +f 267 254 270 +f 259 242 271 +f 252 265 271 +f 265 259 271 +f 269 252 271 +f 257 248 272 +f 251 257 272 +f 263 246 272 +f 248 263 272 +f 246 267 272 +f 270 251 272 +f 267 270 272 +f 250 245 273 +f 245 262 273 +f 262 266 273 +f 246 253 274 +f 253 261 274 +f 267 246 274 +f 256 267 274 +f 261 268 274 +f 243 260 275 +f 260 268 275 +f 242 259 276 +f 259 250 276 +f 266 242 276 +f 250 273 276 +f 273 266 276 +f 245 257 277 +f 257 251 277 +f 262 245 277 +f 260 247 278 +f 249 260 278 +f 247 264 278 +f 264 249 278 +f 251 254 279 +f 254 262 279 +f 277 251 279 +f 262 277 279 +f 244 255 280 +f 255 247 280 +f 260 244 280 +f 247 260 280 +f 248 258 281 +f 258 253 281 +f 263 248 281 +f 253 263 281 +f 249 252 282 +f 268 249 282 +f 252 269 282 +f 269 256 282 +f 258 243 283 +f 253 258 283 +f 261 253 283 +f 268 261 283 +f 243 275 283 +f 275 268 283 +f 256 274 284 +f 274 268 284 +f 268 282 284 +f 282 256 284 +f 254 256 285 +f 242 266 285 +f 266 254 285 +f 256 269 285 +f 271 242 285 +o convex_6 +v -0.777243 3.190012 -0.076475 +v 0.889302 2.912194 -0.493243 +v 0.889302 2.877505 -0.493243 +v 0.056029 3.432990 3.047828 +v 0.056029 4.370063 -0.805924 +v -0.603509 2.877654 -1.222693 +v -0.395354 2.877654 1.797522 +v 0.785061 3.814578 -0.910012 +v -0.395354 3.745348 2.040393 +v 0.368425 3.779888 2.214291 +v 0.785061 2.877505 0.791341 +v -0.673002 3.710508 -0.805506 +v -0.013301 4.335373 0.722367 +v 0.507249 2.981724 -1.222693 +v -0.048048 4.023015 -1.222693 +v 0.056029 2.981724 2.804539 +v -0.360607 3.328921 2.769843 +v -0.777243 2.877654 0.722367 +v 0.403172 3.432990 2.769843 +v -0.013301 3.779888 2.804539 +v -0.673002 3.641129 0.756645 +v 0.715567 3.675818 0.721531 +v 0.576743 4.092545 -1.014100 +v -0.464684 3.780037 -1.222693 +v -0.013301 4.404902 0.132119 +v -0.777243 2.877654 -0.701419 +v 0.611490 3.641278 -1.222275 +v 0.819808 2.877505 -0.875316 +v 0.056029 4.335373 0.722367 +v 0.403172 2.877654 1.797522 +v -0.707749 3.675818 0.062309 +v -0.013301 4.370063 -0.805924 +v 0.333678 3.190012 2.665755 +v 0.646237 3.780037 0.652139 +v 0.229437 3.745198 2.665755 +v -0.360607 3.398450 2.769843 +v 0.785061 3.085793 0.756227 +v 0.472502 2.877654 -1.222693 +v 0.056029 4.404902 0.132119 +v 0.785061 3.606439 -0.041779 +v -0.429937 3.918946 0.722367 +v -0.221782 3.710508 2.630641 +v -0.291113 3.155322 2.665755 +v 0.403172 3.953486 -1.222693 +v -0.325860 4.092545 -0.388738 +v -0.638255 2.912194 -1.187579 +v 0.368425 3.814578 2.110203 +v 0.021446 3.328921 3.047828 +v 0.646237 4.023015 -0.944708 +v -0.707749 3.467680 0.722367 +v 0.056029 2.877654 2.006115 +v 0.056029 3.779888 2.804539 +v 0.368425 3.467829 2.839235 +v -0.707749 3.537209 -0.770811 +v 0.819808 3.606439 -0.840620 +v -0.013301 2.981724 2.769843 +v -0.464684 3.398450 2.214291 +v 0.854555 2.912194 0.131283 +v 0.056029 4.404902 -0.354460 +v 0.333678 3.398300 2.873930 +v -0.742496 3.502519 -0.007083 +v -0.429937 3.849417 -1.187579 +v -0.638255 2.877654 1.172578 +v -0.013301 3.432990 3.047828 +f 333 289 349 +f 299 291 300 +f 295 304 307 +f 300 291 309 +f 303 286 311 +f 296 303 311 +f 308 293 312 +f 287 288 313 +f 288 296 313 +f 311 291 313 +f 296 311 313 +f 312 293 313 +f 299 312 313 +f 298 305 314 +f 310 298 314 +f 290 300 317 +f 296 304 318 +f 315 296 318 +f 301 315 318 +f 303 302 321 +f 294 306 321 +f 304 296 322 +f 307 304 322 +f 291 299 323 +f 313 291 323 +f 299 313 323 +f 314 308 324 +f 310 314 324 +f 293 307 325 +f 307 322 325 +f 294 298 326 +f 306 294 326 +f 298 310 326 +f 316 306 326 +f 310 316 326 +f 298 294 327 +f 305 298 327 +f 294 321 327 +f 321 305 327 +f 299 300 329 +f 300 290 329 +f 290 308 329 +f 312 299 329 +f 308 312 329 +f 297 316 330 +f 316 310 330 +f 317 297 330 +f 310 317 330 +f 297 309 331 +f 309 291 331 +f 291 311 331 +f 295 307 332 +f 307 319 332 +f 319 314 332 +f 320 295 332 +f 314 320 332 +f 307 293 334 +f 293 308 334 +f 308 314 334 +f 319 307 334 +f 314 319 334 +f 306 316 335 +f 292 296 336 +f 301 292 336 +f 296 315 336 +f 315 301 336 +f 305 289 337 +f 314 305 337 +f 320 314 337 +f 320 337 338 +f 304 295 338 +f 295 320 338 +f 337 289 338 +f 311 286 339 +f 297 331 339 +f 331 311 339 +f 287 313 340 +f 313 293 340 +f 325 287 340 +f 293 325 340 +f 292 301 341 +f 328 292 341 +f 302 328 341 +f 301 333 341 +f 333 302 341 +f 303 321 342 +f 321 306 342 +f 335 303 342 +f 306 335 342 +f 288 287 343 +f 296 288 343 +f 322 296 343 +f 287 325 343 +f 325 322 343 +f 308 290 344 +f 290 317 344 +f 317 310 344 +f 324 308 344 +f 310 324 344 +f 318 304 345 +f 301 318 345 +f 333 301 345 +f 289 333 345 +f 304 338 345 +f 338 289 345 +f 286 303 346 +f 316 297 346 +f 303 335 346 +f 335 316 346 +f 339 286 346 +f 297 339 346 +f 309 297 347 +f 300 309 347 +f 317 300 347 +f 297 317 347 +f 296 292 348 +f 303 296 348 +f 302 303 348 +f 292 328 348 +f 328 302 348 +f 289 305 349 +f 321 302 349 +f 305 321 349 +f 302 333 349 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/195/195.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/195/195.urdf new file mode 100644 index 000000000..44406422a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/195/195.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/196/196.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/196/196.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/196/196.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/196/196.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/196/196.obj new file mode 100644 index 000000000..fc8a87e79 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/196/196.obj @@ -0,0 +1,636 @@ +o convex_0 +v 2.446160 -1.260083 0.331950 +v 2.688627 -1.779512 -0.326238 +v 2.688627 -1.744847 -0.326238 +v 1.095790 -1.606308 -0.256915 +v 2.931093 -1.225418 -0.256915 +v 2.931093 -1.779512 0.193302 +v 1.095790 -1.190753 0.297288 +v 1.095790 -1.744847 0.193302 +v 1.095790 -1.260083 -0.187655 +v 3.035333 -1.225418 0.331950 +v 3.000397 -1.814239 -0.326238 +v 1.268954 -1.710243 -0.256915 +v 2.446160 -1.814239 -0.187655 +v 2.480907 -1.225418 -0.256915 +v 2.861790 -1.744847 0.227900 +v 1.615280 -1.190753 0.054720 +v 1.511420 -1.779512 0.089381 +v 2.965840 -1.363957 -0.291576 +v 1.961607 -1.190753 0.297288 +v 1.268954 -1.640974 0.227900 +v 3.000397 -1.467892 0.297288 +v 2.965840 -1.814239 -0.049073 +v 1.095790 -1.744847 0.020058 +v 2.861790 -1.329353 -0.291576 +v 1.961607 -1.779512 0.193302 +f 17 22 25 +f 3 2 4 +f 7 4 8 +f 4 7 9 +f 7 1 10 +f 2 3 11 +f 4 2 12 +f 2 11 12 +f 12 11 13 +f 4 9 14 +f 9 7 16 +f 5 14 16 +f 14 9 16 +f 5 10 18 +f 10 11 18 +f 10 5 19 +f 7 10 19 +f 16 7 19 +f 5 16 19 +f 1 7 20 +f 7 8 20 +f 8 15 20 +f 20 15 21 +f 10 1 21 +f 11 10 21 +f 15 6 21 +f 1 20 21 +f 11 21 22 +f 13 11 22 +f 17 13 22 +f 21 6 22 +f 8 4 23 +f 4 12 23 +f 12 13 23 +f 17 8 23 +f 13 17 23 +f 3 4 24 +f 11 3 24 +f 4 14 24 +f 14 5 24 +f 5 18 24 +f 18 11 24 +f 6 15 25 +f 15 8 25 +f 8 17 25 +f 22 6 25 +o convex_1 +v 1.095607 0.125765 -0.464736 +v 1.268679 1.130287 0.574379 +v 1.268679 1.130287 0.539792 +v 3.069805 -0.082165 0.504974 +v 3.104616 1.060977 -0.464736 +v 1.095607 0.021800 0.609082 +v 1.095607 1.095632 -0.568729 +v 3.069805 0.021800 -0.568613 +v 2.965962 0.991667 0.574379 +v 1.407333 -0.047510 -0.222165 +v 1.095607 0.922357 0.609082 +v 3.069805 -0.082165 0.574379 +v 1.095607 -0.012855 -0.360744 +v 2.030982 1.095632 -0.534026 +v 3.104616 1.060977 -0.256752 +v 1.199647 -0.012855 0.609082 +v 3.104616 0.541270 -0.534026 +v 2.757883 0.021800 -0.568729 +v 1.095607 1.130287 0.574379 +v 1.095607 0.956893 -0.568729 +v 1.199647 0.021800 -0.464736 +v 3.069805 0.160539 0.574379 +v 3.069805 -0.012736 -0.326042 +v 3.069805 0.229730 -0.568613 +v 3.069805 1.060977 -0.118288 +v 2.342314 1.095632 -0.499324 +v 1.130222 1.130287 0.262633 +v 1.372719 0.056574 0.609082 +v 3.104616 0.368232 -0.499324 +v 2.896537 -0.082046 0.539792 +f 41 35 55 +f 26 31 32 +f 32 31 36 +f 34 27 36 +f 31 26 38 +f 36 31 41 +f 31 38 41 +f 38 35 41 +f 39 30 42 +f 30 40 42 +f 33 35 43 +f 35 38 43 +f 27 28 44 +f 36 27 44 +f 32 36 44 +f 26 32 45 +f 32 43 45 +f 45 43 46 +f 38 26 46 +f 43 38 46 +f 26 45 46 +f 40 34 47 +f 37 40 47 +f 29 35 48 +f 35 33 48 +f 32 39 49 +f 42 33 49 +f 39 42 49 +f 43 32 49 +f 33 43 49 +f 27 34 50 +f 40 27 50 +f 34 40 50 +f 28 27 51 +f 30 39 51 +f 27 40 51 +f 40 30 51 +f 39 32 52 +f 44 28 52 +f 32 44 52 +f 28 51 52 +f 51 39 52 +f 34 36 53 +f 36 41 53 +f 41 37 53 +f 47 34 53 +f 37 47 53 +f 37 29 54 +f 40 37 54 +f 33 42 54 +f 42 40 54 +f 29 48 54 +f 48 33 54 +f 35 29 55 +f 29 37 55 +f 37 41 55 +o convex_2 +v -2.749607 -1.814134 -0.256915 +v -1.121834 -1.121409 0.262562 +v -1.121834 -1.121409 0.123979 +v -3.061377 -1.294715 -0.083734 +v -1.225884 -1.710250 0.331950 +v -1.121834 -1.640970 -0.326238 +v -2.992073 -1.433274 0.262562 +v -1.572210 -1.190760 -0.222253 +v -2.957327 -1.744854 0.158641 +v -3.061377 -1.502411 -0.222253 +v -1.121834 -1.744854 -0.326238 +v -3.061377 -1.848738 -0.152994 +v -2.992073 -1.294715 0.262562 +v -1.121834 -1.744854 0.297288 +v -1.121834 -1.190760 -0.222253 +v -3.061377 -1.294715 -0.187655 +v -2.749607 -1.848738 -0.222253 +v -1.121834 -1.606295 0.331950 +v -2.957327 -1.710250 0.193302 +v -1.468350 -1.779529 -0.291576 +v -1.225884 -1.121409 0.262562 +v -2.057143 -1.225435 -0.222253 +v -1.433604 -1.710250 -0.326238 +v -3.061377 -1.848738 -0.222253 +f 72 67 79 +f 58 57 61 +f 61 57 66 +f 62 59 67 +f 59 65 67 +f 59 62 68 +f 62 60 68 +f 60 64 69 +f 66 57 69 +f 64 67 69 +f 58 61 70 +f 63 58 70 +f 61 63 70 +f 65 59 71 +f 69 67 72 +f 68 60 73 +f 69 57 73 +f 60 69 73 +f 60 62 74 +f 64 60 74 +f 62 67 74 +f 67 64 74 +f 56 66 75 +f 66 69 75 +f 72 56 75 +f 69 72 75 +f 57 58 76 +f 59 68 76 +f 58 71 76 +f 71 59 76 +f 73 57 76 +f 68 73 76 +f 58 63 77 +f 63 61 77 +f 71 58 77 +f 65 71 77 +f 56 65 78 +f 66 56 78 +f 61 66 78 +f 77 61 78 +f 65 77 78 +f 65 56 79 +f 67 65 79 +f 56 72 79 +o convex_3 +v -1.641378 0.610448 -0.603370 +v -1.156628 1.095645 0.435844 +v -1.121837 1.095533 0.435732 +v -1.745363 0.021855 0.539799 +v -3.096208 0.957001 0.505110 +v -2.957431 -0.047523 -0.568681 +v -3.096208 0.957001 -0.603370 +v -1.122030 -0.047523 -0.499415 +v -1.121837 0.991578 -0.603258 +v -2.992029 0.091232 0.539799 +v -1.122030 0.021855 0.539799 +v -2.784251 0.991690 -0.603370 +v -2.576474 -0.047523 -0.222127 +v -1.849155 1.060956 0.470421 +v -1.156434 1.095533 0.193245 +v -2.957431 0.056432 0.539799 +v -1.122030 0.195075 0.539799 +v -1.260420 -0.012834 0.331889 +v -3.026626 0.575983 0.539799 +v -3.096208 0.783669 0.401043 +v -2.437891 0.991690 0.505110 +v -3.026626 0.437674 -0.603370 +v -1.572183 -0.047523 -0.533992 +v -1.121837 1.026267 -0.430037 +v -1.537392 1.060956 0.470421 +v -1.433600 1.095645 0.401043 +v -2.992029 0.125698 -0.568681 +v -1.156628 0.818358 -0.603370 +v -2.576474 -0.047523 -0.568681 +v -2.957431 -0.047523 -0.326194 +f 92 95 109 +f 88 82 90 +f 87 88 90 +f 89 83 90 +f 86 84 91 +f 80 86 91 +f 85 87 92 +f 91 84 93 +f 81 82 94 +f 83 89 95 +f 92 83 95 +f 90 82 96 +f 89 90 96 +f 90 83 97 +f 87 90 97 +f 92 87 97 +f 83 92 97 +f 84 89 98 +f 89 96 98 +f 84 86 99 +f 89 84 99 +f 93 84 100 +f 84 98 100 +f 98 96 100 +f 86 80 101 +f 87 85 102 +f 82 88 103 +f 88 91 103 +f 91 94 103 +f 94 82 103 +f 82 81 104 +f 81 93 104 +f 96 82 104 +f 93 100 104 +f 100 96 104 +f 93 81 105 +f 91 93 105 +f 94 91 105 +f 81 94 105 +f 85 89 106 +f 99 86 106 +f 89 99 106 +f 101 85 106 +f 86 101 106 +f 88 87 107 +f 80 91 107 +f 91 88 107 +f 102 80 107 +f 87 102 107 +f 101 80 108 +f 85 101 108 +f 80 102 108 +f 102 85 108 +f 89 85 109 +f 85 92 109 +f 95 89 109 +o convex_4 +v 0.506465 5.010081 0.609082 +v -0.602022 5.044692 -0.429976 +v -0.602022 5.044692 -0.395321 +v -0.567248 3.589831 0.366496 +v 0.575656 3.590031 -0.464631 +v 0.437155 5.633678 -0.603370 +v -0.463401 5.494834 0.470461 +v 0.575656 3.590031 0.574308 +v -0.498056 3.589831 -0.429976 +v 0.471691 5.598867 0.609082 +v -0.602022 5.564056 -0.464631 +v -0.498056 3.589831 0.470461 +v 0.610430 3.624642 -0.430095 +v -0.602022 5.564056 -0.256820 +v 0.333190 5.598867 0.609082 +v 0.333190 5.494834 -0.603370 +v -0.532593 4.352273 0.470461 +v 0.367845 3.589831 0.574426 +v 0.090723 5.633678 -0.568596 +v -0.359436 5.529446 0.505116 +v 0.402500 5.633678 0.193340 +v -0.532593 3.832708 -0.429976 +v -0.463401 5.598867 -0.429976 +v 0.333190 5.321780 0.609082 +v -0.567248 3.694064 0.435806 +v -0.394091 5.321780 0.505116 +v 0.194570 5.598867 0.574426 +v -0.498056 5.529446 0.331841 +v 0.575656 3.728475 0.574308 +v 0.471691 5.598867 0.470461 +v 0.402500 5.425813 -0.603370 +f 118 125 140 +f 112 111 113 +f 111 112 120 +f 113 118 121 +f 114 115 122 +f 117 114 122 +f 119 110 122 +f 120 112 123 +f 110 119 124 +f 118 120 125 +f 117 110 127 +f 114 117 127 +f 118 114 127 +f 121 118 127 +f 115 125 128 +f 125 120 128 +f 119 115 130 +f 124 119 130 +f 115 128 130 +f 113 111 131 +f 118 113 131 +f 111 120 131 +f 120 118 131 +f 120 123 132 +f 128 120 132 +f 130 128 132 +f 110 124 133 +f 127 110 133 +f 121 127 133 +f 112 113 134 +f 113 121 134 +f 123 112 134 +f 121 126 134 +f 126 123 134 +f 126 121 135 +f 116 126 135 +f 129 116 135 +f 124 129 135 +f 133 124 135 +f 121 133 135 +f 129 124 136 +f 124 130 136 +f 130 132 136 +f 136 132 137 +f 123 126 137 +f 126 116 137 +f 116 129 137 +f 132 123 137 +f 129 136 137 +f 110 117 138 +f 122 110 138 +f 117 122 138 +f 115 119 139 +f 122 115 139 +f 119 122 139 +f 115 114 140 +f 114 118 140 +f 125 115 140 +o convex_5 +v 1.095411 -0.532504 1.024427 +v -1.121623 -1.745722 -0.325993 +v -1.121623 -1.745722 0.297097 +v 0.991460 -4.550644 0.920614 +v 1.025965 -4.134865 -1.088140 +v -1.086901 -4.585557 0.955432 +v 1.025965 -0.532504 -0.949724 +v -1.017673 -4.446699 -1.018932 +v -0.982950 -0.532504 1.059245 +v -1.052178 -0.532504 -0.949724 +v 1.095411 -2.576090 1.059245 +v 1.025965 -4.446302 -1.088140 +v -0.844494 -2.749464 1.093849 +v 0.922015 -4.481215 1.024640 +v 1.095411 -1.641381 -0.256784 +v -0.982950 -0.636449 1.094062 +v -1.086901 -3.303703 -0.949724 +v -1.121623 -1.121657 0.262493 +v -1.086901 -4.550644 0.193071 +v 1.060688 -0.532504 1.059245 +v 0.540935 -4.377270 -1.088140 +v -0.255513 -4.585557 0.989822 +v 1.060688 -3.788514 -0.395201 +v -1.086901 -0.844338 -0.949724 +v -1.086901 -4.238810 0.989822 +v -0.428692 -2.542367 1.093849 +v -1.052178 -4.481612 -0.707067 +v -0.844494 -4.585557 0.678171 +v 0.991460 -4.550644 0.712775 +v -0.359464 -4.377667 -1.053323 +v -0.982950 -2.679638 1.094062 +v 1.095411 -1.260514 -0.187362 +v -0.740543 -4.481612 -0.776275 +v 1.025965 -4.481215 -0.430019 +v -1.052178 -0.532504 -0.464623 +v 1.060688 -2.922440 1.059245 +v -1.086901 -3.996404 0.989822 +v -1.017673 -4.134865 -1.018932 +v 0.991460 -4.411786 1.024640 +v 1.060688 -0.532504 -0.187362 +v -1.121623 -1.191085 -0.222180 +f 158 164 181 +f 143 142 146 +f 141 147 149 +f 149 147 150 +f 147 145 150 +f 145 147 155 +f 141 151 155 +f 152 145 155 +f 142 143 158 +f 156 149 158 +f 146 142 159 +f 142 157 159 +f 141 149 160 +f 151 141 160 +f 149 156 160 +f 150 145 161 +f 145 152 161 +f 152 148 161 +f 154 153 162 +f 144 154 162 +f 155 151 163 +f 152 155 163 +f 157 142 164 +f 148 157 164 +f 158 150 164 +f 143 146 165 +f 146 162 165 +f 162 153 165 +f 153 154 166 +f 151 160 166 +f 160 156 166 +f 157 148 167 +f 159 157 167 +f 146 159 168 +f 162 146 168 +f 162 168 169 +f 144 162 169 +f 168 152 169 +f 150 161 170 +f 161 148 170 +f 165 153 171 +f 156 165 171 +f 153 166 171 +f 166 156 171 +f 141 155 172 +f 155 147 172 +f 148 152 173 +f 167 148 173 +f 159 167 173 +f 152 168 173 +f 168 159 173 +f 151 144 174 +f 163 151 174 +f 152 163 174 +f 144 169 174 +f 169 152 174 +f 149 150 175 +f 158 149 175 +f 150 158 175 +f 151 166 176 +f 166 154 176 +f 158 143 177 +f 156 158 177 +f 143 165 177 +f 165 156 177 +f 148 164 178 +f 164 150 178 +f 170 148 178 +f 150 170 178 +f 144 151 179 +f 154 144 179 +f 151 176 179 +f 176 154 179 +f 147 141 180 +f 141 172 180 +f 172 147 180 +f 142 158 181 +f 164 142 181 +o convex_6 +v 0.991454 3.589831 1.093852 +v -1.121623 -0.047072 -0.499317 +v -1.052179 -0.532504 -0.949432 +v -1.121623 3.555129 -0.949432 +v 1.095404 3.451021 -1.053709 +v 1.095404 -0.532504 1.024474 +v -0.948228 3.520426 1.094062 +v 1.025959 -0.532504 -0.949642 +v -0.982951 -0.532504 1.059163 +v -1.121623 0.888281 0.470292 +v -1.052179 -0.254884 -0.984331 +v 1.095404 1.649315 1.024474 +v 0.610375 3.589831 -0.430149 +v 1.095404 0.680470 -0.949642 +v 1.060682 -0.532504 1.059163 +v -1.052179 3.555129 -0.984331 +v -0.982951 2.203748 1.093852 +v -0.567367 3.589831 0.435603 +v -1.121623 0.022333 0.539460 +v -0.636594 1.857530 -1.019020 +v 1.025959 3.104803 1.093852 +v 0.783553 3.139102 -1.053499 +v -1.017673 1.926532 1.059163 +v 1.095404 -0.254884 -0.256915 +v -1.121623 3.555129 -0.810887 +v 1.095404 3.451021 -0.776408 +v -0.636594 3.589831 -0.568484 +v -1.017673 -0.254884 1.059163 +v 1.025959 3.485724 -0.984121 +v -1.121623 1.096093 0.435603 +v -0.463416 3.555129 1.094062 +v -1.052179 -0.532504 -0.464628 +v 1.060682 3.243210 -1.053709 +v 1.060682 -0.150777 -0.949642 +v 0.818276 3.381616 -1.053499 +v -1.086901 3.451021 -0.984331 +v 1.025959 3.555129 0.643316 +v -1.121623 3.312211 -0.949432 +f 217 192 219 +f 187 184 189 +f 184 187 190 +f 185 183 191 +f 189 184 192 +f 187 186 193 +f 186 187 195 +f 190 187 196 +f 187 193 196 +f 190 196 198 +f 182 194 199 +f 191 183 200 +f 196 193 202 +f 198 196 202 +f 192 201 203 +f 198 188 204 +f 191 200 204 +f 187 189 205 +f 195 187 205 +f 185 191 206 +f 188 199 206 +f 193 186 207 +f 202 193 207 +f 197 185 208 +f 194 197 208 +f 199 194 208 +f 185 206 208 +f 206 199 208 +f 190 198 209 +f 200 190 209 +f 198 204 209 +f 204 200 209 +f 194 182 210 +f 186 197 210 +f 197 194 210 +f 204 188 211 +f 191 204 211 +f 188 206 211 +f 206 191 211 +f 188 198 212 +f 182 199 212 +f 199 188 212 +f 202 182 212 +f 198 202 212 +f 183 184 213 +f 184 190 213 +f 200 183 213 +f 190 200 213 +f 186 189 214 +f 189 192 214 +f 192 203 214 +f 189 186 215 +f 186 195 215 +f 205 189 215 +f 195 205 215 +f 197 186 216 +f 203 201 216 +f 186 214 216 +f 214 203 216 +f 185 197 217 +f 201 192 217 +f 197 216 217 +f 216 201 217 +f 182 202 218 +f 207 186 218 +f 202 207 218 +f 210 182 218 +f 186 210 218 +f 184 183 219 +f 183 185 219 +f 192 184 219 +f 185 217 219 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/196/196.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/196/196.urdf new file mode 100644 index 000000000..671c3902f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/196/196.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/197/197.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/197/197.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/197/197.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/197/197.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/197/197.obj new file mode 100644 index 000000000..6f25fd8aa --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/197/197.obj @@ -0,0 +1,522 @@ +o convex_0 +v -3.025405 -1.375382 -1.705263 +v -1.109687 -0.137961 -1.665405 +v -1.588712 -0.218025 -0.827210 +v -1.109687 -1.255589 -0.827210 +v -2.945568 -0.178054 -0.707401 +v -3.065420 -0.218025 -1.905023 +v -1.109687 -1.215617 -1.864930 +v -2.945568 -1.295439 -0.747377 +v -3.065420 -1.375382 -1.864930 +v -1.109687 -0.257875 -0.867303 +v -1.469052 -0.137961 -1.864930 +v -2.985582 -1.335411 -0.947019 +v -2.706055 -0.178054 -0.707401 +v -1.469052 -1.295439 -1.106687 +v -1.109687 -0.497341 -1.864930 +v -1.788402 -1.295439 -0.787352 +v -3.065420 -0.218025 -1.705263 +v -1.229539 -0.257875 -0.827210 +v -2.985582 -0.178054 -1.266354 +v -2.985582 -0.497341 -1.905023 +v -1.109687 -0.137961 -1.825072 +v -3.065420 -1.335411 -1.665405 +v -2.945568 -1.375382 -1.864930 +v -2.865730 -0.537313 -0.707401 +f 16 13 24 +f 2 4 7 +f 2 3 10 +f 4 2 10 +f 5 2 11 +f 8 5 12 +f 9 1 12 +f 3 2 13 +f 2 5 13 +f 7 4 14 +f 2 7 15 +f 6 11 15 +f 12 1 16 +f 8 12 16 +f 4 13 16 +f 14 4 16 +f 1 14 16 +f 6 9 17 +f 12 5 17 +f 10 3 18 +f 4 10 18 +f 3 13 18 +f 13 4 18 +f 5 11 19 +f 11 6 19 +f 17 5 19 +f 6 17 19 +f 9 6 20 +f 15 7 20 +f 6 15 20 +f 11 2 21 +f 2 15 21 +f 15 11 21 +f 9 12 22 +f 17 9 22 +f 12 17 22 +f 1 9 23 +f 7 14 23 +f 14 1 23 +f 9 20 23 +f 20 7 23 +f 5 8 24 +f 13 5 24 +f 8 16 24 +o convex_1 +v 1.085847 0.341088 3.683664 +v -1.029326 -1.694564 3.364267 +v -1.029326 -1.694564 3.723612 +v 1.006119 -1.814631 3.683664 +v -0.350913 0.341088 1.807792 +v 0.966152 -1.774539 1.807792 +v -0.949598 0.261113 3.683664 +v -0.949598 -1.734657 1.807792 +v 1.085847 0.300995 1.807792 +v -0.989566 0.181139 1.807792 +v 0.607065 0.021613 3.723612 +v 1.046087 -1.654683 3.643716 +v 0.367467 -1.814631 2.965161 +v -0.989566 -0.138336 3.723612 +v -0.191250 -1.774539 3.723612 +v 1.085847 -0.497271 3.683664 +v -0.989566 -0.856206 1.807792 +v 1.085847 0.101376 1.807792 +v 0.926391 -1.814631 2.446586 +v -0.989566 0.221021 1.847740 +v 0.766521 0.341088 3.683664 +v -0.909838 0.221021 3.723612 +v 0.367467 -1.774539 3.723612 +v 1.085847 0.341088 3.044870 +v -0.989566 0.221021 3.124766 +v -0.829903 -1.734657 3.723612 +v -1.029326 -1.335419 3.723612 +v -0.989566 -1.694564 2.167137 +v 0.167836 -1.774539 1.807792 +v 1.006119 -1.814631 2.765796 +v 0.367467 -1.814631 3.484111 +v -0.670240 0.300995 2.885265 +f 31 45 56 +f 27 26 32 +f 29 30 32 +f 30 29 33 +f 29 32 34 +f 27 35 38 +f 35 27 39 +f 33 25 40 +f 35 28 40 +f 25 35 40 +f 28 36 40 +f 26 34 41 +f 34 32 41 +f 30 33 42 +f 33 40 42 +f 40 36 42 +f 28 37 43 +f 29 34 44 +f 25 29 45 +f 35 25 46 +f 31 38 46 +f 38 35 46 +f 25 45 46 +f 45 31 46 +f 28 35 47 +f 35 39 47 +f 39 28 47 +f 29 25 48 +f 25 33 48 +f 33 29 48 +f 38 31 49 +f 31 44 49 +f 27 32 50 +f 39 27 50 +f 26 27 51 +f 34 26 51 +f 27 38 51 +f 44 34 51 +f 38 49 51 +f 49 44 51 +f 32 26 52 +f 26 41 52 +f 41 32 52 +f 32 30 53 +f 37 32 53 +f 30 43 53 +f 43 37 53 +f 36 28 54 +f 30 42 54 +f 42 36 54 +f 28 43 54 +f 43 30 54 +f 37 28 55 +f 32 37 55 +f 28 39 55 +f 50 32 55 +f 39 50 55 +f 29 44 56 +f 44 31 56 +f 45 29 56 +o convex_2 +v 1.086140 2.297204 -0.667481 +v -1.109476 -3.850588 -2.423992 +v -0.909816 -3.850588 -2.423992 +v 0.447400 -3.770551 -0.667481 +v -1.029526 2.297204 -0.667481 +v 0.966215 2.296602 -2.304152 +v 1.085925 -3.690515 -2.344042 +v -0.989551 2.176847 -2.383759 +v -0.949791 -3.730232 -0.667481 +v 1.085925 -3.730232 -0.667481 +v 0.966215 -1.494617 -2.423992 +v -1.109476 0.858948 -0.667481 +v -1.109476 -0.776692 -2.344042 +v 1.086140 0.380532 -1.984692 +v -1.109476 -1.255710 -0.827210 +v -0.510496 2.256884 -2.383931 +v -1.109476 -3.850588 -2.104361 +v -1.069501 0.819230 -2.383759 +v 0.128030 -0.895845 -2.423992 +v 0.686820 2.256282 -2.344042 +v -0.989551 -3.730232 -0.747431 +v 1.006190 -3.730232 -2.304152 +v 0.966215 -2.213143 -2.423992 +v -0.989551 2.256884 -2.264263 +v 0.726795 -3.770551 -0.667481 +v 1.006190 1.897019 -2.224373 +v -1.029526 2.256884 -1.306228 +v -0.710156 -3.850588 -2.144422 +v -1.069501 1.816983 -0.707542 +v -1.029526 2.297204 -0.947051 +v 1.046165 -3.052025 -2.383759 +v -1.109476 0.180741 -0.667481 +v 1.006190 2.296602 -1.984692 +f 70 82 89 +f 60 57 61 +f 60 61 65 +f 57 60 66 +f 59 58 67 +f 65 61 68 +f 58 68 69 +f 57 66 70 +f 66 63 70 +f 68 58 71 +f 58 59 73 +f 60 65 73 +f 71 58 73 +f 64 58 74 +f 58 69 74 +f 69 68 74 +f 58 64 75 +f 67 58 75 +f 64 72 75 +f 72 67 75 +f 62 67 76 +f 72 62 76 +f 67 72 76 +f 73 65 77 +f 71 73 77 +f 59 63 78 +f 63 66 78 +f 59 67 79 +f 62 72 80 +f 72 64 80 +f 66 60 81 +f 60 73 81 +f 78 66 81 +f 63 62 82 +f 70 63 82 +f 64 74 83 +f 80 64 83 +f 73 59 84 +f 59 78 84 +f 81 73 84 +f 78 81 84 +f 68 61 85 +f 74 68 85 +f 83 74 85 +f 83 85 86 +f 61 57 86 +f 57 62 86 +f 62 80 86 +f 80 83 86 +f 85 61 86 +f 62 63 87 +f 63 59 87 +f 67 62 87 +f 59 79 87 +f 79 67 87 +f 65 68 88 +f 68 71 88 +f 77 65 88 +f 71 77 88 +f 62 57 89 +f 57 70 89 +f 82 62 89 +o convex_3 +v 2.084064 -1.295662 -0.747494 +v 2.802419 -0.417414 -1.944944 +v 2.802419 -0.337635 -1.944944 +v 1.086339 -0.696980 -1.864879 +v 1.086339 -0.177964 -0.787465 +v 3.081985 -0.137961 -0.747494 +v 3.081985 -1.215770 -1.785058 +v 1.086339 -1.295662 -1.146724 +v 3.041935 -1.255659 -0.707643 +v 1.086339 -0.217853 -1.785058 +v 1.086339 -1.175880 -1.864879 +v 1.086339 -1.295662 -0.827316 +v 3.002081 -0.297745 -1.944944 +v 2.163773 -0.137961 -0.747494 +v 3.081985 -1.175880 -1.825029 +v 3.081985 -0.177964 -1.146724 +v 2.802419 -1.295662 -0.787465 +v 1.485664 -0.936317 -1.904851 +v 1.086339 -1.016096 -0.787465 +v 1.086339 -0.257743 -1.825029 +v 1.086339 -1.215770 -1.745207 +v 3.081985 -0.736643 -0.747494 +v 2.882323 -1.215770 -0.707643 +v 1.964697 -1.175880 -1.864879 +v 1.765035 -1.295662 -1.146724 +v 1.086339 -0.177964 -1.226546 +v 3.081985 -0.137961 -0.867287 +v 3.041935 -0.417414 -1.904851 +f 105 104 117 +f 94 93 97 +f 93 94 99 +f 97 93 100 +f 97 90 101 +f 94 97 101 +f 91 92 102 +f 95 96 104 +f 91 102 104 +f 102 99 105 +f 95 104 105 +f 90 97 106 +f 98 90 106 +f 96 98 106 +f 92 91 107 +f 93 92 107 +f 100 93 107 +f 101 90 108 +f 94 101 108 +f 92 93 109 +f 93 99 109 +f 102 92 109 +f 99 102 109 +f 96 97 110 +f 100 96 110 +f 97 100 110 +f 96 95 111 +f 95 98 111 +f 98 96 111 +f 90 98 112 +f 98 95 112 +f 103 94 112 +f 95 103 112 +f 108 90 112 +f 94 108 112 +f 96 100 113 +f 104 96 113 +f 91 104 113 +f 107 91 113 +f 100 107 113 +f 97 96 114 +f 96 106 114 +f 106 97 114 +f 99 94 115 +f 94 103 115 +f 115 103 116 +f 103 95 116 +f 95 105 116 +f 105 99 116 +f 99 115 116 +f 104 102 117 +f 102 105 117 +o convex_4 +v 1.126065 -1.613883 -0.268336 +v -1.109496 0.301038 -0.667480 +v -1.109496 0.301038 -0.627528 +v 1.046192 4.252248 -0.388051 +v -1.109496 4.332367 -0.188432 +v -0.949750 -3.689835 -0.308194 +v 1.086019 -3.730291 -0.667480 +v 1.086019 2.296078 -0.667480 +v 1.086019 -3.609716 -0.228384 +v 1.046192 4.252248 -0.188432 +v -0.949750 -3.730291 -0.667480 +v -1.029404 2.296078 -0.667480 +v -0.909705 -1.694002 -0.188432 +v -1.109496 4.332367 -0.308194 +v 1.126065 -1.854240 -0.188432 +v -0.750178 -3.689835 -0.268336 +v 1.086019 -3.730291 -0.268336 +v -0.750178 4.292705 -0.348146 +v 1.086019 3.214669 -0.188432 +v 1.126065 -2.093010 -0.547718 +v 0.567175 -3.769954 -0.627528 +v -1.109496 3.933359 -0.188432 +v -0.989577 -0.456522 -0.188432 +v 0.127984 -3.729498 -0.268336 +v 0.726701 4.252248 -0.388051 +v 0.726701 4.292705 -0.228384 +v -1.109496 0.899153 -0.667480 +f 131 129 144 +f 119 120 122 +f 124 119 125 +f 120 119 128 +f 123 120 128 +f 119 124 128 +f 121 125 129 +f 125 119 129 +f 127 122 130 +f 119 122 131 +f 130 126 132 +f 127 130 132 +f 130 123 133 +f 126 130 133 +f 132 126 134 +f 131 121 135 +f 129 131 135 +f 125 121 136 +f 121 127 136 +f 132 118 136 +f 127 132 136 +f 124 125 137 +f 118 132 137 +f 134 124 137 +f 132 134 137 +f 136 118 137 +f 125 136 137 +f 128 124 138 +f 124 134 138 +f 122 120 139 +f 120 123 139 +f 130 122 139 +f 130 139 140 +f 123 130 140 +f 139 123 140 +f 123 128 141 +f 126 133 141 +f 133 123 141 +f 134 126 141 +f 128 138 141 +f 138 134 141 +f 121 129 142 +f 135 121 142 +f 129 135 142 +f 127 121 143 +f 122 127 143 +f 121 131 143 +f 131 122 143 +f 129 119 144 +f 119 131 144 +o convex_5 +v 1.126065 3.533652 1.727513 +v -1.109476 3.973382 -0.188041 +v -1.109476 3.973382 -0.148191 +v -0.949732 -1.734626 1.807409 +v 1.126065 -1.854552 -0.188041 +v 1.045974 4.253210 -0.188041 +v -1.029604 4.212628 1.807409 +v -0.909687 -1.694045 -0.188041 +v 0.966321 -1.774601 1.807409 +v 1.126065 4.333160 1.727513 +v -1.109476 4.333160 -0.188041 +v 1.086019 0.101822 1.807409 +v -1.029604 0.980675 1.807409 +v -0.989559 -0.456623 -0.188041 +v 1.086019 3.295011 -0.188041 +v -1.069431 4.212628 1.767364 +v -0.989559 -0.975698 1.687663 +v 1.045974 4.292580 0.011406 +v 1.126065 3.773504 1.088930 +v 1.086019 0.780798 1.807409 +v -0.949732 -1.694045 0.131153 +v 0.207865 4.292580 1.767364 +v -0.630244 -1.734626 -0.188041 +v 0.207865 -1.773995 1.807409 +v -1.029604 0.741428 -0.068490 +v 1.086019 4.333160 1.088930 +v 1.126065 -1.534749 0.091302 +v 0.726705 4.333160 1.727513 +v -0.710116 4.212628 1.807409 +v -0.630244 4.333160 -0.188041 +v 1.045974 -1.854552 -0.148191 +v -1.109476 4.252604 0.171003 +v -1.069431 4.252604 1.248527 +v -0.949732 -1.734626 1.368273 +v 1.086019 4.292580 0.530243 +v -1.029604 0.620896 1.328423 +f 169 161 180 +f 149 146 150 +f 146 149 152 +f 151 148 153 +f 145 149 154 +f 146 147 155 +f 150 146 155 +f 151 153 156 +f 145 154 156 +f 148 151 157 +f 146 152 158 +f 149 150 159 +f 157 151 160 +f 148 157 161 +f 154 149 163 +f 149 159 163 +f 151 156 164 +f 156 154 164 +f 158 152 165 +f 161 158 165 +f 164 154 166 +f 152 149 167 +f 153 148 168 +f 146 158 169 +f 158 161 169 +f 155 154 170 +f 149 145 171 +f 153 149 171 +f 145 156 171 +f 156 153 171 +f 154 155 172 +f 166 154 172 +f 151 166 172 +f 151 164 173 +f 166 151 173 +f 164 166 173 +f 150 155 174 +f 162 150 174 +f 155 170 174 +f 170 162 174 +f 149 153 175 +f 167 149 175 +f 168 148 175 +f 153 168 175 +f 155 147 176 +f 147 157 176 +f 160 155 176 +f 157 160 176 +f 155 160 177 +f 160 151 177 +f 172 155 177 +f 151 172 177 +f 148 161 178 +f 165 152 178 +f 161 165 178 +f 152 167 178 +f 175 148 178 +f 167 175 178 +f 159 150 179 +f 150 162 179 +f 154 163 179 +f 163 159 179 +f 170 154 179 +f 162 170 179 +f 147 146 180 +f 157 147 180 +f 161 157 180 +f 146 169 180 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/197/197.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/197/197.urdf new file mode 100644 index 000000000..102a29385 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/197/197.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/198/198.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/198/198.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/198/198.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/198/198.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/198/198.obj new file mode 100644 index 000000000..f5c0926ad --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/198/198.obj @@ -0,0 +1,594 @@ +o convex_0 +v -1.091278 0.004348 0.956599 +v 0.894465 0.941128 1.406498 +v 0.969433 0.941128 1.406289 +v -1.053691 0.941128 -0.729269 +v 0.932052 -1.269578 -0.691638 +v -1.053691 -1.269578 1.368867 +v 1.007020 -1.269578 1.368867 +v -1.016104 -1.269578 -0.729269 +v 0.932052 0.941128 -0.616795 +v -1.091278 0.941128 1.406498 +v 0.969433 -0.257492 1.406289 +v -0.566703 0.941128 -0.729269 +v 0.969433 0.941128 0.320008 +v -1.091278 0.903476 0.020214 +v 0.932052 -0.519764 -0.691638 +v -1.091278 0.154094 1.406498 +v 1.007020 -1.231925 1.069074 +v 1.007020 -0.444891 1.368867 +v -1.053691 0.116658 -0.729269 +v 0.932052 0.416367 -0.654216 +v -1.053691 -0.969436 0.394434 +v -0.828785 -1.269578 -0.729269 +f 12 5 22 +f 2 3 4 +f 6 5 7 +f 5 6 8 +f 4 3 9 +f 2 4 10 +f 3 2 11 +f 7 3 11 +f 6 7 11 +f 8 4 12 +f 4 9 12 +f 9 3 13 +f 10 4 14 +f 1 10 14 +f 5 12 15 +f 1 6 16 +f 2 10 16 +f 10 1 16 +f 6 11 16 +f 11 2 16 +f 7 5 17 +f 9 13 17 +f 5 15 17 +f 3 7 18 +f 13 3 18 +f 7 17 18 +f 17 13 18 +f 4 8 19 +f 14 4 19 +f 12 9 20 +f 15 12 20 +f 9 17 20 +f 17 15 20 +f 6 1 21 +f 8 6 21 +f 1 14 21 +f 19 8 21 +f 14 19 21 +f 5 8 22 +f 8 12 22 +o convex_1 +v 0.145179 2.851759 3.392108 +v -0.941348 0.941129 -2.677461 +v 0.332578 1.053791 -2.752349 +v -0.978785 3.151458 -2.790098 +v -1.016221 1.016383 3.354360 +v 1.081959 3.076643 -2.264665 +v 1.044307 1.016383 3.429857 +v -1.128747 3.189085 1.443197 +v 1.081959 3.039236 3.316612 +v 1.044307 1.091198 -2.752349 +v -1.016221 3.001609 3.317220 +v -1.091094 0.941129 -0.016811 +v 0.931997 0.941129 -0.615914 +v 1.081959 3.151678 -0.166587 +v 1.044307 3.039236 -2.639713 +v -1.091094 0.941129 1.555834 +v -1.053658 1.016383 -2.002862 +v 1.081959 2.140141 3.429857 +v 0.857123 0.978976 3.279472 +v -1.016221 2.552061 -2.752349 +v 1.081959 1.990512 -1.853086 +v -0.978785 1.016383 3.392108 +v -0.266840 3.189085 0.619431 +v 0.819470 1.390896 -2.790098 +v 0.969433 0.941129 1.406058 +v 1.081959 3.151678 -0.990962 +v -1.128747 1.840663 1.368310 +v -1.053658 3.039016 3.054200 +v 1.044307 2.926794 3.429857 +v -1.128747 3.076643 1.105898 +v -0.791385 3.151458 -2.790098 +v -1.016221 0.978976 -2.676852 +v -1.053658 0.978976 2.755257 +v 0.744597 1.053791 -2.752349 +v 0.332578 1.016383 3.429857 +v -0.978785 2.926794 -2.790098 +v -0.566549 3.151458 -2.752349 +v 0.782034 3.039236 3.354360 +v -1.091094 0.978976 2.080657 +v -1.016221 2.252363 3.354360 +v -0.941348 3.189085 1.443197 +v 0.969433 2.739538 -2.677461 +v -0.866258 0.941129 -2.677461 +v -1.091094 3.189085 0.881234 +v 1.044307 1.615780 -2.752349 +v -0.529113 3.001609 3.354360 +v -1.053658 1.128825 2.867285 +f 61 55 69 +f 34 24 35 +f 31 28 36 +f 34 35 38 +f 28 31 40 +f 32 28 43 +f 29 32 43 +f 40 29 43 +f 28 40 43 +f 31 36 45 +f 32 29 47 +f 35 32 47 +f 38 35 47 +f 29 41 47 +f 41 38 47 +f 36 28 48 +f 45 36 48 +f 34 38 49 +f 39 34 49 +f 30 49 50 +f 29 40 51 +f 40 31 51 +f 23 44 51 +f 30 26 52 +f 26 42 52 +f 42 39 52 +f 49 30 52 +f 39 49 52 +f 26 45 53 +f 46 26 53 +f 25 24 54 +f 24 34 54 +f 34 39 54 +f 39 42 54 +f 38 41 55 +f 44 27 55 +f 41 44 55 +f 24 25 56 +f 32 35 56 +f 25 46 56 +f 46 32 56 +f 41 29 57 +f 44 41 57 +f 29 51 57 +f 51 44 57 +f 42 26 58 +f 46 25 58 +f 26 46 58 +f 25 54 58 +f 54 42 58 +f 28 37 59 +f 48 28 59 +f 45 48 59 +f 37 53 59 +f 53 45 59 +f 30 50 60 +f 50 33 60 +f 51 31 60 +f 49 38 61 +f 50 49 61 +f 38 55 61 +f 44 23 62 +f 27 44 62 +f 50 27 62 +f 33 50 62 +f 45 30 63 +f 31 45 63 +f 30 60 63 +f 60 31 63 +f 53 37 64 +f 46 53 64 +f 35 24 65 +f 24 56 65 +f 56 35 65 +f 26 30 66 +f 45 26 66 +f 30 45 66 +f 28 32 67 +f 37 28 67 +f 32 46 67 +f 64 37 67 +f 46 64 67 +f 23 51 68 +f 60 33 68 +f 51 60 68 +f 62 23 68 +f 33 62 68 +f 27 50 69 +f 55 27 69 +f 50 61 69 +o convex_2 +v -0.604052 -2.355940 -2.752474 +v 0.632324 -1.981457 -1.179029 +v 0.519882 -1.494411 -1.066496 +v 0.557161 -1.419732 -2.790098 +v -0.604173 -1.457011 -1.066496 +v 0.482361 -2.543545 -1.179029 +v 0.482240 -2.505903 -2.790098 +v -0.491731 -2.431103 -1.066496 +v -0.491610 -1.457132 -2.790098 +v 0.632324 -1.307048 -2.265391 +v -0.604173 -2.468503 -2.302846 +v 0.632324 -2.431103 -2.115571 +v 0.482361 -2.506024 -1.066496 +v -0.604173 -1.494411 -2.265391 +v -0.604173 -2.393461 -1.216484 +v 0.632324 -2.506024 -1.179029 +v 0.632324 -1.457011 -1.216484 +v -0.454210 -2.506024 -2.003038 +v 0.519882 -1.307048 -2.190481 +v 0.257478 -2.505903 -2.790098 +v 0.519640 -2.393461 -2.790098 +f 73 81 90 +f 72 74 77 +f 73 76 78 +f 73 78 79 +f 79 71 81 +f 73 79 81 +f 72 77 82 +f 77 75 82 +f 78 70 83 +f 74 78 83 +f 70 80 83 +f 80 74 83 +f 77 74 84 +f 74 80 84 +f 80 77 84 +f 71 72 85 +f 75 76 85 +f 81 71 85 +f 76 81 85 +f 72 82 85 +f 82 75 85 +f 72 71 86 +f 74 72 86 +f 71 79 86 +f 75 77 87 +f 77 80 87 +f 78 74 88 +f 79 78 88 +f 74 86 88 +f 86 79 88 +f 76 75 89 +f 70 78 89 +f 78 76 89 +f 80 70 89 +f 75 87 89 +f 87 80 89 +f 76 73 90 +f 81 76 90 +o convex_3 +v -1.016221 -1.981626 -0.129741 +v 1.044490 -2.768135 1.368772 +v 0.856966 -2.805539 1.406124 +v -1.053808 -1.269751 1.369018 +v 0.931934 -1.269578 -0.691745 +v -0.903871 -2.955498 -0.616795 +v 1.006903 -1.269578 1.368772 +v 0.931934 -2.880518 -0.766695 +v -0.978840 -2.880518 1.369018 +v -0.491647 -1.457114 -1.066496 +v -1.016221 -1.269751 -0.729097 +v 1.044490 -3.030478 1.368772 +v 0.482328 -2.505793 -1.066496 +v -0.978840 -2.918094 -0.691745 +v 0.519710 -1.494689 -1.066496 +v -0.491647 -1.344730 1.443968 +v -0.491647 -2.430986 -1.066496 +v -0.603997 -2.543369 1.443968 +v 0.482328 -1.419710 1.443968 +v 0.632266 -3.030478 0.919071 +v -1.016221 -2.768135 1.369018 +v -0.791315 -2.918094 1.369018 +v 0.594679 -2.618349 1.443968 +v -0.866284 -2.918094 -0.729097 +v 0.969521 -2.917922 -0.242043 +v 1.006903 -1.269578 1.068971 +v 0.707234 -3.030478 1.331174 +v -1.053808 -1.307327 0.994021 +v -0.978840 -2.618349 -0.729097 +v 0.931934 -1.494689 -0.729097 +v 1.044490 -2.917922 1.256469 +v -0.866284 -2.768135 1.406124 +v -0.978840 -2.918094 0.806522 +v 1.006903 -3.030478 1.068971 +v -0.678965 -2.955498 -0.579197 +f 124 110 125 +f 93 92 97 +f 95 94 97 +f 94 95 101 +f 95 100 101 +f 92 93 102 +f 91 101 104 +f 100 95 105 +f 98 103 105 +f 103 100 105 +f 97 94 106 +f 101 100 107 +f 100 103 107 +f 106 94 108 +f 106 108 109 +f 97 106 109 +f 91 104 111 +f 93 97 113 +f 102 93 113 +f 109 108 113 +f 97 109 113 +f 98 96 114 +f 103 98 114 +f 96 104 114 +f 107 103 114 +f 104 107 114 +f 97 92 116 +f 95 97 116 +f 96 110 117 +f 110 102 117 +f 102 112 117 +f 101 91 118 +f 94 101 118 +f 91 111 118 +f 111 94 118 +f 104 101 119 +f 101 107 119 +f 107 104 119 +f 105 95 120 +f 98 105 120 +f 95 115 120 +f 115 98 120 +f 92 102 121 +f 115 95 121 +f 102 115 121 +f 116 92 121 +f 95 116 121 +f 108 94 122 +f 94 111 122 +f 111 99 122 +f 99 112 122 +f 112 102 122 +f 102 113 122 +f 113 108 122 +f 104 96 123 +f 111 104 123 +f 99 111 123 +f 112 99 123 +f 96 117 123 +f 117 112 123 +f 102 110 124 +f 98 115 124 +f 115 102 124 +f 96 98 125 +f 110 96 125 +f 98 124 125 +o convex_4 +v -0.566703 -1.344635 3.354918 +v 0.444884 -2.543427 1.444342 +v -0.566703 -2.505877 1.444342 +v -0.229469 -1.344635 1.444342 +v 0.594855 -2.543427 3.279729 +v 0.594855 -1.382185 3.317136 +v -0.454254 -2.393578 3.354918 +v 0.482405 -1.419618 1.444342 +v -0.491661 -1.344635 1.444342 +v 0.557334 -2.543427 1.856383 +v 0.182579 -1.344635 3.354918 +v 0.519813 -1.382185 1.781381 +v -0.529182 -2.431011 2.717685 +v -0.529182 -1.457051 1.481749 +v 0.444884 -2.543427 3.279729 +v 0.519813 -1.756749 1.444342 +v 0.407477 -1.419618 3.354918 +v -0.566703 -2.093763 1.444342 +v -0.566703 -2.505877 1.668972 +v 0.519813 -2.543427 1.444342 +v -0.491661 -2.356028 3.354918 +v 0.594855 -1.457051 3.129913 +v 0.594855 -2.056330 3.317136 +f 142 132 148 +f 127 128 129 +f 127 129 133 +f 129 128 134 +f 126 129 134 +f 130 127 135 +f 129 126 136 +f 126 132 136 +f 133 129 137 +f 129 136 137 +f 136 131 137 +f 126 134 139 +f 128 127 140 +f 127 130 140 +f 130 132 140 +f 132 138 140 +f 127 133 141 +f 133 137 141 +f 131 136 142 +f 136 132 142 +f 128 126 143 +f 134 128 143 +f 126 139 143 +f 139 134 143 +f 126 128 144 +f 138 126 144 +f 128 140 144 +f 140 138 144 +f 135 127 145 +f 127 141 145 +f 141 135 145 +f 132 126 146 +f 126 138 146 +f 138 132 146 +f 131 130 147 +f 130 135 147 +f 137 131 147 +f 135 141 147 +f 141 137 147 +f 130 131 148 +f 132 130 148 +f 131 142 148 +o convex_5 +v -2.289953 -1.344605 -1.104017 +v -3.001883 -2.506075 -2.302993 +v -3.039404 -2.506075 -1.928267 +v -0.604173 -2.430960 -1.366300 +v -0.604173 -1.494484 -2.265472 +v -2.964604 -1.419486 -2.152909 +v -3.077167 -2.431077 -1.178938 +v -0.604173 -1.457044 -1.066496 +v -0.604173 -2.468518 -2.190430 +v -3.039404 -1.307048 -1.141538 +v -0.604173 -2.356080 -1.178938 +v -2.252674 -2.468518 -1.216459 +v -1.278824 -2.506075 -2.227951 +v -0.941619 -1.681803 -1.066496 +v -0.641694 -1.906562 -2.265472 +v -2.739720 -1.457044 -2.190551 +v -3.039404 -1.307048 -1.253859 +v -2.140353 -2.131203 -2.302993 +v -3.039404 -2.468518 -1.178938 +v -0.604173 -2.468518 -1.778305 +v -1.016661 -1.494484 -2.265472 +v -3.001883 -2.393637 -2.302993 +v -2.927083 -2.506075 -1.740905 +v -3.077167 -2.206084 -1.366300 +v -3.001883 -1.494484 -1.890746 +v -2.739720 -2.506075 -2.302993 +v -3.039404 -1.644362 -1.141538 +v -0.979140 -2.431077 -1.216459 +v -1.616028 -1.457044 -2.227951 +v -1.091461 -1.419486 -1.141538 +v -2.852283 -1.307048 -1.178938 +f 178 153 179 +f 152 153 156 +f 153 152 157 +f 152 156 159 +f 151 150 161 +f 156 149 162 +f 159 156 162 +f 153 157 163 +f 157 161 163 +f 153 163 166 +f 155 151 167 +f 159 162 167 +f 157 152 168 +f 161 157 168 +f 160 161 168 +f 153 166 169 +f 169 166 170 +f 150 151 170 +f 154 164 170 +f 166 150 170 +f 164 169 170 +f 151 161 171 +f 161 160 171 +f 167 151 171 +f 160 167 171 +f 151 155 172 +f 155 158 172 +f 158 165 172 +f 170 151 172 +f 170 172 173 +f 165 154 173 +f 154 170 173 +f 172 165 173 +f 161 150 174 +f 163 161 174 +f 150 166 174 +f 166 163 174 +f 149 158 175 +f 158 155 175 +f 162 149 175 +f 155 167 175 +f 167 162 175 +f 152 159 176 +f 167 160 176 +f 159 167 176 +f 168 152 176 +f 160 168 176 +f 164 154 177 +f 165 153 177 +f 154 165 177 +f 153 169 177 +f 169 164 177 +f 149 156 178 +f 156 153 178 +f 158 149 179 +f 153 165 179 +f 165 158 179 +f 149 178 179 +o convex_6 +v 1.157285 -2.506075 -1.179114 +v 0.669992 -1.307048 -2.190375 +v 0.669992 -1.307048 -2.265410 +v 3.067838 -1.457044 -1.890692 +v 2.767928 -2.393637 -2.227892 +v 2.955074 -1.457044 -1.179114 +v 0.632324 -1.457044 -1.216517 +v 0.632324 -2.431077 -2.115454 +v 3.030170 -2.393637 -1.103966 +v 3.067838 -1.569364 -2.152972 +v 0.632324 -2.506075 -1.179114 +v 2.992741 -2.356080 -2.227892 +v 2.805357 -1.419486 -2.152972 +v 0.632324 -1.494484 -2.265410 +v 0.669992 -2.506075 -1.516315 +v 1.269572 -2.431077 -1.141597 +v 2.580544 -1.419486 -1.366359 +v 1.044760 -1.344605 -2.265410 +v 1.157285 -2.431077 -2.152972 +v 3.030170 -2.393637 -1.516315 +v 2.992741 -2.168643 -2.227892 +v 2.955074 -2.318639 -1.104193 +v 0.632324 -1.981442 -1.179114 +v 2.468019 -1.457044 -1.179114 +v 2.543115 -2.393637 -2.227892 +v 3.067838 -1.756801 -2.152972 +f 199 191 205 +f 181 182 186 +f 183 185 188 +f 186 187 190 +f 180 188 190 +f 182 181 192 +f 185 183 192 +f 183 189 192 +f 186 182 193 +f 187 186 193 +f 191 184 193 +f 184 180 194 +f 180 190 194 +f 190 187 194 +f 190 188 195 +f 181 186 196 +f 192 181 196 +f 185 192 196 +f 182 192 197 +f 192 189 197 +f 193 182 197 +f 191 193 197 +f 187 193 198 +f 184 194 198 +f 194 187 198 +f 180 184 199 +f 188 180 199 +f 184 191 199 +f 189 191 200 +f 197 189 200 +f 191 197 200 +f 188 185 201 +f 195 188 201 +f 195 201 202 +f 186 190 202 +f 190 195 202 +f 201 186 202 +f 196 186 203 +f 185 196 203 +f 201 185 203 +f 186 201 203 +f 193 184 204 +f 184 198 204 +f 198 193 204 +f 183 188 205 +f 189 183 205 +f 191 189 205 +f 188 199 205 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/198/198.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/198/198.urdf new file mode 100644 index 000000000..c6b4c0dd9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/198/198.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/199/199.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/199/199.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/199/199.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/199/199.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/199/199.obj new file mode 100644 index 000000000..b25e7ea8e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/199/199.obj @@ -0,0 +1,387 @@ +o convex_0 +v -0.220458 0.882648 -1.071668 +v -0.081120 3.877727 1.053523 +v 0.058008 3.913181 1.053312 +v 0.963816 -0.023737 1.018636 +v -1.021815 -0.023352 1.053523 +v 0.998704 3.878113 -1.001893 +v -0.952040 3.877727 -1.071668 +v 1.033591 -0.023737 -1.106556 +v -1.056703 -0.023352 -1.001893 +v 1.103366 3.913181 1.018636 +v -1.021815 3.877727 1.053523 +v -1.056703 1.126586 -1.001893 +v -1.056703 -0.023352 0.565518 +v 1.033591 3.913181 -0.444535 +v -0.986928 3.459988 -1.071668 +v 1.033591 0.534275 -1.106556 +v 1.103366 3.425305 1.018636 +v -0.150683 -0.023352 1.053523 +v 1.103366 3.913181 0.704857 +v 0.650251 -0.023737 -1.106556 +v -0.534024 3.773678 -1.071668 +v -1.021815 3.877727 0.565518 +v -1.056703 1.300772 0.460855 +v 0.929140 3.913181 -0.897441 +v 1.033591 -0.023737 -0.897441 +v 0.197558 1.544710 -1.106556 +v 0.998704 0.673779 1.018636 +v 0.963816 3.076547 -1.036780 +v 1.033591 1.161269 -1.071457 +v -0.011344 3.913181 0.983536 +v -0.952040 3.215665 -1.071668 +v -0.986928 3.877727 -0.618551 +v 0.336686 3.878113 -1.036569 +f 28 21 33 +f 2 3 11 +f 5 2 11 +f 5 11 13 +f 12 9 13 +f 3 10 14 +f 9 12 15 +f 10 3 17 +f 3 2 18 +f 4 3 18 +f 5 4 18 +f 2 5 18 +f 14 10 19 +f 8 16 19 +f 17 8 19 +f 10 17 19 +f 4 5 20 +f 8 4 20 +f 9 1 20 +f 5 13 20 +f 13 9 20 +f 16 8 20 +f 15 12 22 +f 13 11 23 +f 12 13 23 +f 11 22 23 +f 22 12 23 +f 3 14 24 +f 14 6 24 +f 4 8 25 +f 8 17 25 +f 15 7 26 +f 16 20 26 +f 7 21 26 +f 21 16 26 +f 3 4 27 +f 17 3 27 +f 4 25 27 +f 25 17 27 +f 6 16 28 +f 16 21 28 +f 6 14 29 +f 16 6 29 +f 14 19 29 +f 19 16 29 +f 11 3 30 +f 22 11 30 +f 3 24 30 +f 24 7 30 +f 1 9 31 +f 9 15 31 +f 20 1 31 +f 15 26 31 +f 26 20 31 +f 7 15 32 +f 15 22 32 +f 30 7 32 +f 22 30 32 +f 21 7 33 +f 7 24 33 +f 24 6 33 +f 6 28 33 +o convex_1 +v 0.336811 -4.064944 0.077966 +v -0.290223 -2.288636 0.112803 +v -0.290223 -2.288636 0.182476 +v 0.336811 -2.184018 -0.200624 +v -0.220502 -4.204167 -0.200624 +v -0.220502 -4.239376 0.217363 +v 0.267091 -2.184018 0.182476 +v -0.220502 -2.184018 -0.235512 +v 0.197434 -4.099750 -0.270297 +v 0.371737 -4.064944 0.217363 +v 0.336811 -2.219025 -0.305236 +v 0.232295 -2.915746 0.217363 +v 0.023391 -4.099750 -0.270297 +v -0.290223 -2.184018 0.182476 +v -0.255363 -2.184018 -0.200624 +v 0.232295 -2.184018 -0.305236 +v -0.115986 -4.239376 0.147639 +v -0.220502 -3.333417 -0.235512 +v -0.220502 -3.507446 0.217363 +v -0.046330 -3.298409 -0.270297 +f 51 41 53 +f 35 38 39 +f 36 35 39 +f 40 37 41 +f 37 40 43 +f 42 34 43 +f 34 42 44 +f 43 34 44 +f 37 43 44 +f 39 43 45 +f 43 40 45 +f 42 38 46 +f 44 42 46 +f 35 36 47 +f 36 39 47 +f 40 41 47 +f 45 40 47 +f 38 35 48 +f 35 47 48 +f 47 41 48 +f 41 37 49 +f 37 44 49 +f 44 46 49 +f 39 38 50 +f 38 42 50 +f 43 39 50 +f 42 43 50 +f 46 38 51 +f 38 48 51 +f 48 41 51 +f 39 45 52 +f 47 39 52 +f 45 47 52 +f 41 49 53 +f 49 46 53 +f 46 51 53 +o convex_2 +v -2.763654 -1.486696 1.088363 +v 0.685089 -0.128401 -1.106556 +v 0.685089 -0.023737 -1.106556 +v 1.033696 -0.058837 1.018537 +v 1.033696 -2.079154 -1.001709 +v -2.937755 -0.023737 -0.932097 +v -3.042459 -2.044266 -1.036729 +v 1.033696 -2.079154 0.948925 +v -2.937755 -0.093513 0.983516 +v -3.077361 -2.183817 1.088363 +v 1.033696 -0.023737 -1.106556 +v 0.545889 -2.183817 -0.513997 +v -1.544541 -0.023737 1.053342 +v -0.987337 -2.183817 1.088363 +v -3.112262 -0.825098 -0.409579 +v -0.220724 -2.079154 -1.071535 +v -0.987337 -0.685970 1.088363 +v -3.077361 -2.148717 0.251948 +v 0.963894 -0.023737 1.018537 +v -2.937755 -0.337516 -0.967118 +v -1.857842 -2.044266 -1.071535 +v -3.077361 -1.730699 1.088363 +v 0.371788 -2.183817 0.321559 +v -0.708531 -2.148717 1.088363 +v -3.042459 -2.079154 -0.827679 +v 1.033696 -0.441967 -1.106556 +v -2.937755 -0.023737 -0.270140 +v -3.077361 -0.650871 0.112509 +v -0.290527 -2.183817 -0.304946 +v 1.033696 -1.382245 0.983731 +v -3.112262 -1.173130 -0.479191 +v -0.150921 -0.023737 1.053342 +v -1.126130 -2.079154 -1.071535 +v 1.033696 -1.765587 -1.036729 +v -2.972657 -0.197965 0.879098 +v -2.972657 -0.128401 -0.862485 +v -3.077361 -2.183817 0.809486 +v -1.718642 -0.685970 1.088363 +v -3.112262 -0.860197 -0.096111 +v -3.007558 -1.173130 -1.001923 +v -2.310748 -0.058837 1.018537 +v 1.033696 -0.302628 1.018537 +v 0.894091 -2.114041 -0.897291 +v -3.077361 -2.114041 -0.096111 +v -3.077361 -0.860197 0.356580 +v -3.042459 -2.009589 -1.036729 +f 68 93 99 +f 58 57 61 +f 55 56 64 +f 57 58 64 +f 56 59 64 +f 64 59 66 +f 54 63 67 +f 63 65 67 +f 54 67 70 +f 57 64 72 +f 64 66 72 +f 59 56 73 +f 56 55 74 +f 63 54 75 +f 65 61 76 +f 61 67 76 +f 67 65 76 +f 67 61 77 +f 57 70 77 +f 70 67 77 +f 55 64 79 +f 64 58 79 +f 74 55 79 +f 66 59 80 +f 65 63 82 +f 78 65 82 +f 71 78 82 +f 61 57 83 +f 77 61 83 +f 66 70 85 +f 70 57 85 +f 57 72 85 +f 72 66 85 +f 60 74 86 +f 78 60 86 +f 65 78 86 +f 79 69 86 +f 74 79 86 +f 58 69 87 +f 79 58 87 +f 69 79 87 +f 75 62 88 +f 62 80 88 +f 81 88 89 +f 80 59 89 +f 68 81 89 +f 88 80 89 +f 82 63 90 +f 71 82 90 +f 63 84 90 +f 84 71 90 +f 54 70 91 +f 70 66 91 +f 63 75 92 +f 81 68 92 +f 68 84 92 +f 84 63 92 +f 73 56 93 +f 59 73 93 +f 89 59 93 +f 68 89 93 +f 75 54 94 +f 62 75 94 +f 80 62 94 +f 66 80 94 +f 54 91 94 +f 91 66 94 +f 57 77 95 +f 83 57 95 +f 77 83 95 +f 58 61 96 +f 61 65 96 +f 69 58 96 +f 65 86 96 +f 86 69 96 +f 60 78 97 +f 78 71 97 +f 84 60 97 +f 71 84 97 +f 75 88 98 +f 88 81 98 +f 92 75 98 +f 81 92 98 +f 56 74 99 +f 74 60 99 +f 60 84 99 +f 84 68 99 +f 93 56 99 +o convex_3 +v 1.626053 -0.058578 -0.235335 +v 3.054229 -2.114137 -0.897291 +v 1.033697 -2.079126 -1.001709 +v 1.033697 -2.079126 0.948710 +v 3.019420 -0.093588 1.088363 +v 3.019420 -0.128599 -1.071535 +v 1.033697 -0.058578 1.018537 +v 2.984611 -2.114137 0.948710 +v 1.033697 -0.093588 -1.106556 +v 3.089037 -2.079126 -1.036729 +v 3.089037 -1.521574 0.461213 +v 2.566500 -0.511501 1.088363 +v 2.009355 -2.114137 0.948925 +v 3.054229 -0.616331 -1.071535 +v 1.033697 -0.442083 -1.106556 +v 1.695671 -2.079126 -1.036729 +v 1.033697 -0.058578 -0.792873 +v 2.148591 -0.058578 0.600436 +v 3.054229 -1.312517 -1.071535 +v 3.089037 -1.242898 0.251948 +v 1.800300 -0.093588 -1.106556 +v 1.242752 -1.730631 0.983731 +v 3.089037 -2.114137 -0.549017 +v 1.591244 -0.058578 1.053342 +v 2.984611 -0.964625 1.053342 +v 3.089037 -1.382337 -1.036729 +v 3.019420 -0.093588 0.356365 +v 1.033697 -0.372465 1.018537 +v 1.033697 -1.765440 -1.036729 +v 2.496882 -1.800249 0.983731 +v 3.019420 -0.372465 1.088363 +v 2.288028 -0.128397 1.088363 +v 3.089037 -1.591192 0.461213 +v 2.148591 -0.058578 1.053342 +f 117 123 133 +f 102 103 106 +f 102 106 108 +f 102 101 112 +f 103 102 112 +f 101 107 112 +f 102 108 114 +f 101 102 115 +f 109 101 115 +f 100 105 116 +f 106 100 116 +f 108 106 116 +f 100 106 117 +f 113 109 118 +f 109 115 118 +f 115 114 118 +f 104 110 119 +f 110 109 119 +f 113 104 119 +f 105 113 120 +f 114 108 120 +f 116 105 120 +f 108 116 120 +f 113 118 120 +f 118 114 120 +f 107 101 122 +f 101 109 122 +f 109 110 122 +f 117 106 123 +f 109 113 125 +f 119 109 125 +f 113 119 125 +f 105 100 126 +f 104 113 126 +f 113 105 126 +f 117 104 126 +f 100 117 126 +f 106 103 127 +f 103 121 127 +f 123 106 127 +f 102 114 128 +f 115 102 128 +f 114 115 128 +f 112 107 129 +f 103 112 129 +f 121 103 129 +f 111 121 129 +f 107 124 129 +f 124 111 129 +f 110 104 130 +f 104 111 130 +f 124 107 130 +f 111 124 130 +f 111 104 131 +f 121 111 131 +f 104 123 131 +f 127 121 131 +f 123 127 131 +f 107 122 132 +f 122 110 132 +f 110 130 132 +f 130 107 132 +f 104 117 133 +f 123 104 133 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/199/199.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/199/199.urdf new file mode 100644 index 000000000..ef0b8bce0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/199/199.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/200/200.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/200/200.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/200/200.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/200/200.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/200/200.obj new file mode 100644 index 000000000..b1f94e760 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/200/200.obj @@ -0,0 +1,609 @@ +o convex_0 +v -1.107507 0.291558 -0.415406 +v 1.093225 0.469175 1.004074 +v 1.093225 0.469175 -0.912193 +v 1.093225 -1.660566 -0.379757 +v -0.930001 -1.660566 1.004282 +v -0.965330 -1.660566 -1.054370 +v -0.965330 0.469175 1.075371 +v 1.022137 -1.660566 1.004074 +v -1.000874 0.469175 -1.054370 +v 1.093225 -1.660566 -0.947841 +v -1.107507 -1.660566 0.507287 +v -1.107507 0.469175 0.294438 +v -0.042470 0.433527 1.075371 +v -0.965330 -0.276318 1.075371 +v 0.951048 0.469175 -0.947841 +v -0.574988 -1.518389 -1.054370 +v 1.093225 -0.418286 1.004074 +v -1.107507 -1.589477 0.187909 +v -1.107507 -0.311758 0.578376 +v -1.000874 -1.057042 -1.054370 +v 0.880175 0.469175 1.039722 +v -0.787824 0.326998 -1.054370 +v 1.057681 -1.376211 1.004074 +v 1.093225 -0.489375 -0.947841 +v -1.000874 0.469175 1.004282 +v -1.107507 -1.589477 0.542936 +v -0.965330 -1.660566 0.968842 +v 0.631580 -1.660566 -0.983073 +v -1.107507 0.469175 -0.415406 +v -1.071747 0.469175 0.684905 +v -0.894457 -1.057042 1.039722 +f 14 5 31 +f 3 2 4 +f 4 5 6 +f 2 3 7 +f 5 4 8 +f 7 3 9 +f 3 4 10 +f 4 6 10 +f 6 5 11 +f 7 9 12 +f 1 11 12 +f 8 13 14 +f 13 7 14 +f 9 3 15 +f 6 9 16 +f 4 2 17 +f 11 1 18 +f 6 11 18 +f 12 11 19 +f 1 9 20 +f 9 6 20 +f 18 1 20 +f 6 18 20 +f 2 7 21 +f 7 13 21 +f 13 8 21 +f 17 2 21 +f 9 15 22 +f 16 9 22 +f 8 4 23 +f 4 17 23 +f 21 8 23 +f 17 21 23 +f 3 10 24 +f 15 3 24 +f 22 15 24 +f 16 22 24 +f 7 12 25 +f 14 7 25 +f 25 19 26 +f 19 11 26 +f 14 25 26 +f 14 26 27 +f 11 5 27 +f 5 14 27 +f 26 11 27 +f 10 6 28 +f 6 16 28 +f 24 10 28 +f 16 24 28 +f 9 1 29 +f 1 12 29 +f 12 9 29 +f 12 19 30 +f 25 12 30 +f 19 25 30 +f 5 8 31 +f 8 14 31 +o convex_1 +v 0.915372 0.469175 1.039653 +v -2.385342 2.776395 1.004258 +v -2.385342 2.776395 0.897861 +v -3.024149 0.611231 1.075048 +v -1.000638 0.469175 -1.054370 +v 1.128308 2.669797 -1.018763 +v -3.024149 2.669571 -0.947549 +v 1.128308 2.669797 0.968651 +v 1.093163 0.469175 -0.912155 +v -3.024149 0.717829 -0.947549 +v -3.024149 2.776395 0.968651 +v -0.575180 2.669571 1.075260 +v 1.128308 0.540316 1.004046 +v -0.965493 0.504859 1.110867 +v -3.094852 1.605395 -0.521751 +v -1.000638 0.469175 1.004258 +v -3.024149 2.740712 -0.273138 +v 1.128308 0.895343 -0.947761 +v -2.811213 1.392199 1.075048 +v -0.433360 1.321284 -1.054370 +v -2.385342 0.682372 1.110867 +v -1.284690 2.705029 1.075048 +v 1.093163 0.646689 1.039653 +v -2.881917 2.776395 0.365242 +v -3.094852 1.214911 -0.308745 +v -3.024149 2.705254 -0.876760 +v -0.894790 1.072856 1.110867 +v 1.128308 2.243855 -1.018763 +v -1.142871 0.824428 -1.054370 +v 0.489500 2.634339 -1.018763 +v -2.598278 0.717829 -0.983368 +v 0.347681 0.469175 -0.983156 +v -3.024149 0.682372 -0.450749 +v -3.059708 0.859885 -0.805758 +v -1.107313 0.469175 -0.415354 +v -3.059708 2.314770 -0.805758 +v -0.823674 0.469175 -1.054370 +v 1.093163 0.469175 1.004046 +v -3.024149 1.179228 1.075048 +v -3.024149 0.611231 0.968651 +v -2.917475 2.421369 1.004258 +v 1.128308 0.682372 -0.912155 +v -3.094852 1.108313 -0.557357 +v 0.915372 0.469175 -0.947549 +v -2.527161 2.776395 0.507246 +v 1.128308 1.711316 1.004258 +v -1.107313 0.469175 0.294452 +v -0.965493 0.469175 1.075260 +v -0.788116 0.575999 1.110867 +f 54 58 80 +f 34 33 37 +f 37 33 39 +f 32 36 40 +f 33 34 42 +f 37 39 44 +f 36 32 47 +f 37 44 49 +f 35 45 52 +f 50 52 53 +f 39 33 53 +f 33 42 53 +f 43 39 53 +f 42 34 55 +f 37 48 55 +f 48 42 55 +f 42 46 56 +f 37 38 57 +f 48 37 57 +f 52 45 58 +f 53 52 58 +f 43 53 58 +f 54 43 58 +f 37 49 59 +f 51 37 59 +f 51 36 60 +f 38 51 60 +f 38 37 61 +f 37 51 61 +f 51 38 61 +f 36 41 62 +f 41 38 62 +f 60 36 62 +f 38 60 62 +f 40 36 63 +f 41 36 64 +f 38 41 65 +f 41 64 65 +f 36 47 66 +f 46 42 67 +f 42 48 67 +f 57 38 67 +f 48 57 67 +f 38 65 67 +f 36 51 68 +f 51 59 68 +f 63 36 68 +f 59 63 68 +f 32 40 69 +f 40 44 69 +f 54 32 69 +f 44 54 69 +f 35 52 70 +f 52 50 70 +f 56 35 70 +f 42 56 70 +f 64 36 71 +f 35 65 71 +f 65 64 71 +f 66 35 71 +f 36 66 71 +f 50 53 72 +f 53 42 72 +f 42 70 72 +f 70 50 72 +f 44 40 73 +f 40 49 73 +f 49 44 73 +f 35 56 74 +f 56 46 74 +f 65 35 74 +f 46 67 74 +f 67 65 74 +f 49 40 75 +f 59 49 75 +f 40 63 75 +f 63 59 75 +f 34 37 76 +f 55 34 76 +f 37 55 76 +f 39 43 77 +f 44 39 77 +f 43 54 77 +f 54 44 77 +f 47 35 78 +f 35 66 78 +f 66 47 78 +f 32 45 79 +f 45 35 79 +f 47 32 79 +f 35 47 79 +f 45 32 80 +f 32 54 80 +f 58 45 80 +o convex_2 +v 3.009840 2.598569 -1.018652 +v 2.406629 0.575662 0.613753 +v 1.128721 0.611332 -0.344241 +v 1.128721 2.669908 0.968550 +v 1.128721 2.669908 -1.018652 +v 2.938918 2.598569 1.004369 +v 3.045488 0.682466 -0.947650 +v 1.128721 0.611332 1.039764 +v 3.045488 0.575662 1.075371 +v 1.128721 0.682466 -0.912255 +v 2.974379 2.634239 -1.089866 +v 3.045488 1.924335 0.436355 +v 2.974379 2.243720 1.039764 +v 1.164370 0.824323 -0.947650 +v 2.761425 2.385783 -1.089866 +v 2.938918 2.634239 0.897761 +v 3.045488 0.647001 -0.805647 +v 3.045488 1.427833 -1.018652 +v 2.264597 0.575662 1.075371 +v 3.009840 2.421247 0.649360 +v 1.554815 2.598569 -1.054259 +v 1.377323 2.669908 0.968550 +v 2.796886 1.143913 1.075371 +v 1.838691 0.682466 -0.947650 +v 2.158027 2.634239 1.004369 +v 3.009840 0.930922 -0.983045 +v 1.128721 2.243720 -1.018652 +v 3.045488 0.575662 0.755757 +v 1.164370 0.717930 1.039764 +v 2.974379 2.634239 0.400748 +v 2.158027 0.575662 0.862366 +v 3.009840 2.350113 -1.089866 +v 1.235292 2.669908 -1.018652 +f 102 91 113 +f 83 84 85 +f 84 83 88 +f 83 85 90 +f 89 87 92 +f 82 83 97 +f 87 89 97 +f 83 90 97 +f 81 92 98 +f 92 87 98 +f 82 89 99 +f 92 81 100 +f 89 92 100 +f 93 89 100 +f 86 93 100 +f 96 86 100 +f 85 91 101 +f 91 95 101 +f 95 94 101 +f 85 84 102 +f 89 93 103 +f 99 89 103 +f 90 94 104 +f 94 95 104 +f 87 97 104 +f 97 90 104 +f 93 86 105 +f 86 96 105 +f 102 84 105 +f 96 102 105 +f 103 93 105 +f 98 87 106 +f 104 95 106 +f 87 104 106 +f 90 85 107 +f 94 90 107 +f 85 101 107 +f 101 94 107 +f 89 82 108 +f 82 97 108 +f 97 89 108 +f 84 88 109 +f 88 99 109 +f 99 103 109 +f 105 84 109 +f 103 105 109 +f 81 91 110 +f 100 81 110 +f 96 100 110 +f 91 102 110 +f 102 96 110 +f 83 82 111 +f 88 83 111 +f 82 99 111 +f 99 88 111 +f 91 81 112 +f 95 91 112 +f 81 98 112 +f 98 106 112 +f 106 95 112 +f 91 85 113 +f 85 102 113 +o convex_3 +v -2.562719 -2.618748 0.578431 +v -1.178526 -2.831764 -0.628422 +v -1.569035 -2.831764 -0.592864 +v -3.024247 -1.696062 -0.557424 +v -1.107507 -1.838111 0.471875 +v -1.107507 -1.802570 -0.450867 +v -2.953228 -2.760797 -0.486425 +v -3.095266 -1.838225 0.507433 +v -1.107507 -2.796223 0.436435 +v -3.059659 -2.867190 0.578431 +v -1.107507 -2.760797 -0.628422 +v -2.278837 -2.867190 0.542873 +v -3.024247 -2.867190 0.258880 +v -2.917621 -1.696062 -0.450749 +v -2.562719 -1.731717 -0.557424 +v -1.214133 -2.760797 0.471875 +v -2.988640 -2.015700 -0.557424 +v -3.059659 -1.802685 0.365437 +v -1.107507 -2.831764 -0.131315 +v -1.533622 -1.767258 -0.486425 +v -2.917621 -2.086667 0.542873 +v -3.059659 -2.831764 0.436435 +v -1.462603 -2.051126 0.507433 +v -2.988640 -2.796223 -0.273312 +v -1.320565 -1.802685 -0.486425 +v -3.059659 -2.476814 0.578431 +v -2.278837 -1.838225 0.507433 +v -3.095266 -1.909192 0.400877 +v -2.598326 -2.831764 0.578431 +v -1.498015 -2.831764 0.471875 +v -2.136799 -2.796223 -0.557424 +f 120 130 144 +f 119 118 122 +f 115 117 124 +f 119 122 124 +f 125 123 126 +f 116 115 126 +f 115 125 126 +f 124 117 128 +f 122 118 129 +f 117 115 130 +f 120 117 130 +f 117 121 131 +f 118 127 131 +f 127 117 131 +f 115 124 132 +f 124 122 132 +f 125 115 132 +f 118 119 133 +f 127 118 133 +f 117 127 133 +f 128 117 133 +f 126 123 135 +f 129 118 136 +f 120 116 137 +f 117 120 137 +f 116 126 137 +f 135 117 137 +f 126 135 137 +f 119 124 138 +f 124 128 138 +f 133 119 138 +f 128 133 138 +f 121 123 139 +f 123 114 139 +f 134 121 139 +f 114 136 139 +f 136 134 139 +f 131 121 140 +f 118 131 140 +f 121 134 140 +f 136 118 140 +f 134 136 140 +f 121 117 141 +f 123 121 141 +f 117 135 141 +f 135 123 141 +f 114 123 142 +f 123 125 142 +f 125 129 142 +f 136 114 142 +f 129 136 142 +f 122 129 143 +f 129 125 143 +f 132 122 143 +f 125 132 143 +f 115 116 144 +f 116 120 144 +f 130 115 144 +o convex_4 +v 1.093225 -2.335102 0.471757 +v -0.965330 -3.257695 -1.054370 +v -1.000874 -3.151288 -0.947765 +v 1.093225 -1.660566 -0.947765 +v -0.929786 -1.660566 1.004380 +v 0.951048 -3.399855 0.968710 +v 1.093225 -3.364272 -0.947765 +v -0.965330 -1.660566 -1.054370 +v -0.929786 -3.293107 0.933242 +v 1.022137 -1.660566 1.004380 +v -1.107507 -1.660566 0.507426 +v -1.107507 -2.831726 -0.628352 +v -0.823368 -3.293107 -1.054370 +v -1.107507 -2.796314 0.436289 +v -0.362153 -3.151288 -1.054370 +v 1.093225 -3.399855 -0.557215 +v 0.028403 -3.364272 0.968710 +v 0.986592 -2.902891 1.004380 +v -1.107507 -1.802726 -0.450811 +v 1.093225 -2.760901 0.471757 +v 0.880175 -3.364272 -0.983031 +v -0.574988 -1.660566 -1.054370 +v 1.093225 -1.802556 0.436289 +v 0.986592 -3.399855 0.933242 +v 0.667124 -3.399855 0.649096 +v -0.929786 -1.838138 1.004380 +v 1.022137 -3.399855 -0.699087 +v -0.574988 -3.328860 0.755903 +v 0.667124 -1.802556 -0.983031 +v 1.022137 -2.335102 1.004380 +v -1.071747 -2.299690 0.613830 +v -0.965330 -3.257695 -0.095931 +v -0.929786 -3.293107 -0.628352 +v -0.965330 -2.051123 0.933242 +v 0.454289 -3.364272 -0.983031 +f 171 157 179 +f 148 145 151 +f 149 148 152 +f 148 149 154 +f 149 152 155 +f 146 147 156 +f 152 146 156 +f 146 152 157 +f 155 156 158 +f 157 152 159 +f 151 145 160 +f 154 149 162 +f 161 150 162 +f 155 152 163 +f 156 155 163 +f 152 156 163 +f 145 154 164 +f 160 145 164 +f 148 151 165 +f 157 159 165 +f 152 148 166 +f 159 152 166 +f 145 148 167 +f 154 145 167 +f 148 154 167 +f 150 160 168 +f 162 150 168 +f 160 164 168 +f 160 150 169 +f 150 161 169 +f 153 161 170 +f 162 149 170 +f 161 162 170 +f 151 160 171 +f 165 151 171 +f 160 169 171 +f 169 157 171 +f 161 153 172 +f 169 161 172 +f 148 165 173 +f 165 159 173 +f 166 148 173 +f 159 166 173 +f 154 162 174 +f 164 154 174 +f 162 168 174 +f 168 164 174 +f 158 153 175 +f 155 158 175 +f 147 146 176 +f 146 153 176 +f 156 147 176 +f 153 158 176 +f 158 156 176 +f 153 146 177 +f 146 157 177 +f 157 169 177 +f 172 153 177 +f 169 172 177 +f 149 155 178 +f 170 149 178 +f 153 170 178 +f 155 175 178 +f 175 153 178 +f 157 165 179 +f 165 171 179 +o convex_5 +v 1.093225 -2.902808 -0.344429 +v 3.009732 -1.802657 0.258887 +v 3.009732 -1.802657 0.045934 +v 1.093225 -1.802657 0.436400 +v 3.116480 -2.725319 0.471944 +v 3.080831 -1.838197 -0.592926 +v 1.093225 -1.873738 -0.521838 +v 1.093225 -2.760752 0.471944 +v 2.938633 -2.725319 -0.450853 +v 1.199775 -2.902808 -0.557382 +v 2.974480 -1.802657 0.471944 +v 1.199775 -1.802657 0.010494 +v 3.080831 -2.015686 -0.592926 +v 2.299930 -1.873738 -0.592926 +v 2.725930 -2.760752 0.471944 +v 1.661226 -1.802657 0.471944 +v 1.093225 -2.583371 -0.557382 +v 2.406281 -2.796293 -0.486397 +v 2.051974 -2.441315 -0.592926 +v 2.974480 -2.618804 -0.486397 +v 1.341775 -2.902808 -0.486397 +v 1.093225 -2.796293 0.365416 +v 3.116480 -2.547830 0.436400 +v 3.116480 -2.725319 0.329871 +v 1.128874 -1.838197 -0.379869 +v 3.116480 -2.264149 -0.060491 +v 1.093225 -2.299582 0.471944 +v 1.093225 -2.902808 -0.557382 +v 3.080831 -1.838197 -0.379869 +v 1.554676 -1.873738 -0.557382 +f 193 196 209 +f 181 182 183 +f 182 181 185 +f 180 183 186 +f 183 180 187 +f 181 183 190 +f 187 184 190 +f 183 182 191 +f 182 185 191 +f 185 192 193 +f 184 187 194 +f 190 183 195 +f 187 190 195 +f 180 186 196 +f 193 192 198 +f 196 193 198 +f 188 197 199 +f 197 189 199 +f 198 192 199 +f 189 198 199 +f 180 189 200 +f 194 180 200 +f 184 194 200 +f 189 197 200 +f 187 180 201 +f 180 194 201 +f 194 187 201 +f 181 190 202 +f 190 184 202 +f 197 188 203 +f 188 199 203 +f 199 192 203 +f 184 200 203 +f 200 197 203 +f 202 184 203 +f 185 186 204 +f 186 183 204 +f 183 191 204 +f 191 185 204 +f 192 185 205 +f 203 192 205 +f 202 203 205 +f 183 187 206 +f 195 183 206 +f 187 195 206 +f 189 180 207 +f 180 196 207 +f 198 189 207 +f 196 198 207 +f 185 181 208 +f 181 202 208 +f 205 185 208 +f 202 205 208 +f 186 185 209 +f 185 193 209 +f 196 186 209 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/200/200.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/200/200.urdf new file mode 100644 index 000000000..9aad7c8b7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/200/200.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/201/201.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/201/201.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/201/201.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/201/201.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/201/201.obj new file mode 100644 index 000000000..0080a7d2c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/201/201.obj @@ -0,0 +1,1095 @@ +o convex_0 +v -1.183215 -1.641311 -0.088500 +v 1.290082 -1.675683 0.082836 +v 1.290082 -1.710055 0.082836 +v -0.118216 -0.061484 1.251015 +v 0.053433 -0.061484 -1.256678 +v 1.083813 -0.061484 0.151567 +v 0.843407 -1.710055 -0.947389 +v -1.045702 -0.061484 -0.913024 +v -0.942568 -1.710055 0.838630 +v -0.839433 -1.710055 -0.947144 +v 0.774651 -1.710055 0.941726 +v -1.011324 -0.061484 0.872995 +v 0.980920 -0.061484 -0.947144 +v 0.843407 -0.061484 1.079188 +v 1.083813 -1.675683 -0.809928 +v -0.873811 -0.164600 -1.118971 +v -0.221350 -1.710055 0.976092 +v -0.908189 -0.198972 1.078942 +v -1.045702 -1.710055 -0.775562 +v 1.083813 -0.061484 -0.741197 +v -0.118216 -1.710055 -1.016120 +v 0.946542 -1.710055 0.838630 +v 1.015298 -0.061484 0.735534 +v -0.770918 -1.641311 0.941481 +v 0.877785 -0.198972 -1.050486 +v -1.045702 -0.061484 0.769899 +v -1.011324 -1.710055 0.769899 +v 0.809029 -0.164600 1.113553 +v -0.049459 -0.130228 -1.256678 +v -0.015081 -0.130228 1.251015 +v -1.183215 -1.710055 0.014106 +v 0.740272 -1.606938 0.976092 +v -0.770918 -1.641311 -0.981509 +v 1.290082 -1.710055 -0.019769 +v 0.190704 -1.710055 -1.016120 +v 0.053433 -1.572566 1.010457 +v -0.942568 -0.061484 1.044577 +v -1.011324 -1.710055 -0.844293 +v 1.049677 -0.748442 0.666803 +v -0.873811 -0.061484 -1.118971 +v -1.079839 -1.641311 -0.672466 +v 1.083813 -0.267555 -0.775562 +v 1.118191 -1.710055 0.494976 +v 0.774651 -0.095856 -1.084851 +v -1.045702 -0.336299 -0.913024 +v 0.603001 -1.675683 0.976092 +f 30 36 46 +f 5 4 6 +f 4 5 8 +f 7 3 9 +f 7 9 10 +f 9 3 11 +f 4 8 12 +f 5 6 13 +f 6 4 14 +f 9 11 17 +f 10 9 19 +f 6 2 20 +f 13 6 20 +f 7 10 21 +f 11 3 22 +f 2 6 23 +f 6 14 23 +f 9 17 24 +f 4 18 24 +f 18 9 24 +f 15 7 25 +f 13 15 25 +f 8 1 26 +f 12 8 26 +f 12 26 27 +f 9 18 27 +f 19 9 27 +f 14 4 28 +f 22 14 28 +f 4 24 30 +f 24 17 30 +f 28 4 30 +f 1 19 31 +f 26 1 31 +f 27 26 31 +f 19 27 31 +f 11 22 32 +f 22 28 32 +f 28 30 32 +f 10 16 33 +f 21 10 33 +f 16 29 33 +f 29 21 33 +f 2 3 34 +f 3 7 34 +f 7 15 34 +f 20 2 34 +f 5 7 35 +f 7 21 35 +f 29 5 35 +f 21 29 35 +f 30 17 36 +f 4 12 37 +f 18 4 37 +f 12 27 37 +f 27 18 37 +f 16 10 38 +f 10 19 38 +f 3 2 39 +f 14 22 39 +f 23 14 39 +f 2 23 39 +f 8 5 40 +f 16 8 40 +f 5 29 40 +f 29 16 40 +f 19 1 41 +f 15 13 42 +f 13 20 42 +f 34 15 42 +f 20 34 42 +f 22 3 43 +f 3 39 43 +f 39 22 43 +f 7 5 44 +f 5 13 44 +f 25 7 44 +f 13 25 44 +f 1 8 45 +f 8 16 45 +f 16 38 45 +f 38 19 45 +f 41 1 45 +f 19 41 45 +f 17 11 46 +f 11 32 46 +f 32 30 46 +f 36 17 46 +o convex_1 +v -1.217776 0.831829 0.082904 +v -1.149052 2.137203 0.082904 +v -1.149052 2.137203 -0.157341 +v -3.072385 1.484516 0.082904 +v -1.149052 1.347283 0.666907 +v -1.149052 1.553133 -0.603866 +v -2.797488 1.450399 -0.363497 +v -2.797488 1.896598 0.082904 +v -2.797488 1.038062 0.082904 +v -1.149052 0.969317 -0.466512 +v -2.831756 1.518633 0.426413 +v -1.183508 1.965215 0.495090 +v -1.183508 2.033959 -0.535189 +v -1.149052 0.900573 0.529429 +v -2.144892 1.038062 -0.329158 +v -2.522780 1.827982 -0.294820 +v -2.076545 1.896598 0.426413 +v -2.179160 1.072434 0.426413 +v -2.076545 1.450399 -0.500851 +v -2.007820 0.900573 0.014351 +v -1.183508 1.518633 0.666907 +v -2.831756 1.896598 0.014351 +v -2.831756 1.415900 0.426413 +v -2.797488 1.038062 -0.019987 +v -1.149052 0.831829 -0.123003 +v -2.076545 2.033959 0.048565 +v -1.183508 2.068459 -0.500851 +v -1.183508 1.827982 -0.603866 +v -2.110624 1.896598 -0.397835 +v -1.183508 0.866201 0.460752 +v -2.660040 1.793482 0.323273 +v -2.625772 1.141050 -0.260357 +v -1.149052 2.033959 0.392075 +v -3.072385 1.450399 0.014351 +v -2.797488 1.484516 -0.363497 +v -2.625772 1.175550 0.357736 +v -2.213616 1.518633 0.529429 +v -2.042277 1.038062 -0.363497 +v -1.492672 0.934945 0.495090 +v -2.042277 2.033959 -0.054326 +v -1.939096 0.900573 0.151581 +v -1.973552 1.003817 -0.329158 +v -1.217776 0.969317 -0.466512 +f 71 88 89 +f 49 48 51 +f 49 51 52 +f 52 51 56 +f 54 50 57 +f 49 52 59 +f 56 51 60 +f 51 58 67 +f 58 63 67 +f 50 54 68 +f 50 55 69 +f 57 50 69 +f 66 55 70 +f 56 60 71 +f 47 66 71 +f 48 49 72 +f 54 63 72 +f 68 54 72 +f 49 59 73 +f 59 52 74 +f 52 65 74 +f 62 68 75 +f 68 73 75 +f 73 59 75 +f 59 74 75 +f 47 71 76 +f 71 60 76 +f 54 57 77 +f 63 54 77 +f 57 63 77 +f 70 53 78 +f 61 70 78 +f 51 48 79 +f 58 51 79 +f 63 58 79 +f 48 72 79 +f 72 63 79 +f 55 50 80 +f 50 68 80 +f 53 70 80 +f 70 55 80 +f 65 53 81 +f 68 62 81 +f 74 65 81 +f 62 75 81 +f 75 74 81 +f 80 68 81 +f 53 80 81 +f 55 64 82 +f 69 55 82 +f 64 69 82 +f 63 57 83 +f 51 67 83 +f 67 63 83 +f 57 69 83 +f 69 51 83 +f 53 65 84 +f 78 53 84 +f 61 78 84 +f 60 51 85 +f 64 55 85 +f 51 69 85 +f 69 64 85 +f 76 60 85 +f 72 49 86 +f 68 72 86 +f 73 68 86 +f 49 73 86 +f 66 47 87 +f 55 66 87 +f 47 76 87 +f 85 55 87 +f 76 85 87 +f 70 61 88 +f 66 70 88 +f 71 66 88 +f 61 84 88 +f 88 84 89 +f 52 56 89 +f 65 52 89 +f 56 71 89 +f 84 65 89 +o convex_2 +v -1.286621 -3.084167 -0.054306 +v -1.286621 -1.779048 0.392135 +v -1.286621 -1.779048 0.082995 +v -3.072573 -2.465784 0.014344 +v -1.355156 -2.191345 -0.535287 +v -2.007820 -2.740607 0.460893 +v -2.660134 -2.843713 -0.294796 +v -2.591423 -2.191345 -0.294796 +v -2.831823 -2.568891 0.392135 +v -1.286621 -2.431671 0.563976 +v -2.831823 -2.946692 -0.019981 +v -1.286621 -2.946692 -0.432204 +v -2.763113 -2.088239 0.048669 +v -2.728845 -2.534522 -0.432204 +v -1.286621 -1.882154 -0.432204 +v -1.286621 -2.946692 0.392135 +v -2.213602 -2.912323 0.357703 +v -1.939109 -2.912323 -0.432204 +v -2.625866 -2.225586 0.323485 +v -2.007820 -2.534522 -0.535287 +v -1.355156 -1.882154 0.460893 +v -2.076531 -3.049798 0.014344 +v -1.355156 -1.950892 -0.500854 +v -1.286621 -2.671869 -0.535287 +v -1.904841 -2.465784 0.529543 +v -2.831823 -2.500153 -0.397879 +v -2.763113 -2.088239 -0.019981 +v -2.797555 -2.465784 0.392135 +v -1.389599 -2.877954 0.460893 +v -3.072573 -2.568891 -0.054306 +v -2.625866 -2.843713 0.289160 +v -2.076531 -3.049798 -0.054306 +v -1.320889 -1.813417 -0.157281 +v -1.355156 -3.084167 0.048669 +v -1.389599 -2.981060 -0.397879 +v -2.831823 -2.946692 -0.054306 +v -1.973552 -2.946692 0.357703 +v -1.389599 -1.779048 0.254727 +v -2.694402 -2.465784 -0.432204 +v -1.904841 -2.534522 0.529543 +v -2.831823 -2.122608 -0.019981 +v -2.763113 -2.122608 0.117320 +f 102 130 131 +f 92 91 90 +f 90 91 99 +f 92 90 101 +f 92 101 104 +f 90 99 105 +f 95 98 106 +f 96 103 107 +f 107 103 109 +f 99 91 110 +f 91 108 110 +f 106 100 111 +f 104 94 112 +f 97 104 112 +f 94 109 112 +f 104 101 113 +f 94 104 113 +f 101 107 113 +f 109 94 113 +f 107 109 113 +f 99 110 114 +f 103 96 115 +f 104 97 116 +f 93 98 117 +f 110 108 117 +f 98 114 117 +f 114 110 117 +f 105 99 118 +f 95 106 118 +f 98 93 119 +f 100 98 119 +f 93 115 119 +f 98 100 120 +f 106 98 120 +f 100 106 120 +f 111 100 121 +f 92 104 122 +f 104 116 122 +f 90 105 123 +f 121 90 123 +f 111 121 123 +f 101 90 124 +f 107 101 124 +f 90 121 124 +f 121 107 124 +f 96 107 125 +f 115 96 125 +f 100 119 125 +f 119 115 125 +f 121 100 125 +f 107 121 125 +f 106 111 126 +f 105 118 126 +f 118 106 126 +f 123 105 126 +f 111 123 126 +f 91 92 127 +f 102 91 127 +f 116 102 127 +f 92 122 127 +f 122 116 127 +f 109 103 128 +f 97 112 128 +f 112 109 128 +f 115 97 128 +f 103 115 128 +f 98 95 129 +f 114 98 129 +f 99 114 129 +f 118 99 129 +f 95 118 129 +f 115 93 130 +f 97 115 130 +f 102 116 130 +f 116 97 130 +f 91 102 131 +f 108 91 131 +f 93 117 131 +f 117 108 131 +f 130 93 131 +o convex_3 +v 1.221738 0.797611 0.048629 +v 1.152947 2.171555 0.048629 +v 1.152947 2.171555 -0.054144 +v 3.007539 1.450288 0.048629 +v 1.118551 1.415994 -0.638343 +v 1.118551 1.484583 0.598328 +v 2.698348 1.381564 -0.397691 +v 2.663952 1.415994 0.426554 +v 2.629556 0.969489 -0.054144 +v 1.118551 0.900765 0.529570 +v 1.118551 0.832041 -0.432070 +v 2.801350 1.827800 0.014250 +v 1.118551 2.033973 -0.466449 +v 1.118551 1.999543 0.495191 +v 2.560950 1.072508 0.289160 +v 2.595346 1.759211 -0.260296 +v 2.011729 1.003784 -0.397691 +v 2.560950 1.724781 0.323418 +v 2.011729 0.866335 0.048629 +v 1.152947 1.759211 0.598328 +v 1.152947 2.068267 0.426554 +v 2.732744 1.518744 -0.363312 +v 1.152947 1.553038 -0.638343 +v 2.766954 1.003784 0.014250 +v 2.766954 1.347270 0.392176 +v 2.217363 1.381564 0.495191 +v 2.046124 1.896524 -0.329054 +v 2.595346 1.106802 -0.294675 +v 3.007539 1.347270 -0.020008 +v 1.255949 0.832041 -0.432070 +v 1.152947 0.866335 0.495191 +v 2.766954 1.827800 0.083008 +v 1.152947 0.969489 0.563828 +v 2.079965 1.003784 0.392176 +v 2.732744 1.484583 0.392176 +v 2.079965 1.862230 -0.363312 +v 1.118551 0.797611 0.186023 +v 2.629556 0.969489 0.048629 +v 2.835746 1.381564 -0.294675 +v 2.973143 1.450288 -0.088523 +v 1.152947 1.965248 -0.500827 +f 144 167 172 +f 137 136 141 +f 141 136 142 +f 134 133 143 +f 133 134 144 +f 136 137 144 +f 133 144 145 +f 144 137 145 +f 136 138 148 +f 145 137 151 +f 149 145 151 +f 133 145 152 +f 145 149 152 +f 147 143 153 +f 138 136 154 +f 136 144 154 +f 153 138 154 +f 146 155 156 +f 151 137 157 +f 139 151 157 +f 156 139 157 +f 134 143 158 +f 144 134 158 +f 143 147 158 +f 148 138 159 +f 140 148 159 +f 155 140 159 +f 135 156 160 +f 156 155 160 +f 142 136 161 +f 132 142 161 +f 136 148 161 +f 148 140 161 +f 150 132 161 +f 140 150 161 +f 143 133 163 +f 135 143 163 +f 133 152 163 +f 152 149 163 +f 137 141 164 +f 157 137 164 +f 156 157 164 +f 146 156 165 +f 141 162 165 +f 164 141 165 +f 156 164 165 +f 151 139 166 +f 149 151 166 +f 139 156 166 +f 156 135 166 +f 135 163 166 +f 163 149 166 +f 147 153 167 +f 144 158 167 +f 158 147 167 +f 142 132 168 +f 141 142 168 +f 132 150 168 +f 162 141 168 +f 150 162 168 +f 150 140 169 +f 140 155 169 +f 155 146 169 +f 162 150 169 +f 146 165 169 +f 165 162 169 +f 138 153 170 +f 159 138 170 +f 155 159 170 +f 160 155 170 +f 160 170 171 +f 143 135 171 +f 153 143 171 +f 135 160 171 +f 170 153 171 +f 154 144 172 +f 153 154 172 +f 167 153 172 +o convex_4 +v -0.083677 -1.779216 0.976199 +v 0.053428 -1.744716 -1.016214 +v 0.053428 -1.710216 -1.016214 +v 1.255525 -2.156899 0.563713 +v -0.736606 -3.496404 -0.054138 +v 0.980817 -3.118357 -0.878719 +v -1.286022 -1.916489 -0.500753 +v 0.774537 -3.049721 0.735534 +v -1.286022 -2.877948 0.460738 +v -0.873960 -3.118357 -0.809874 +v 1.083833 -1.710398 -0.775549 +v -0.976976 -1.710216 0.804379 +v 0.809124 -3.496222 0.048643 +v 0.946478 -1.710216 0.838704 +v -0.736606 -3.049721 0.701014 +v 1.255525 -3.049721 0.082968 +v -1.011314 -1.710216 -0.844394 +v -1.286022 -2.946766 -0.466428 +v 1.255525 -1.813534 -0.500753 +v -1.286022 -1.779035 0.426413 +v -0.118015 -3.565222 0.014318 +v 1.255525 -2.671856 -0.569404 +v 1.255525 -1.710398 0.357763 +v 0.843463 -1.710216 -0.947369 +v 1.255525 -2.877948 0.460738 +v -0.083677 -3.049721 0.769859 +v -0.805283 -1.813534 0.907354 +v 0.740199 -1.847853 0.941679 +v -0.805283 -1.985308 -0.947369 +v 0.259459 -3.565222 -0.054333 +v -1.286022 -3.084221 0.082968 +v -0.839373 -3.049721 -0.844394 +v -1.286022 -2.603582 -0.569404 +v -1.286022 -2.431809 0.563909 +v -1.045653 -3.187176 -0.535078 +v -0.186941 -3.496222 -0.191438 +v 1.255525 -2.500264 0.563713 +v -0.736606 -3.496404 0.014122 +v 1.152509 -3.084039 -0.466428 +v 0.809124 -3.496222 -0.088658 +v 0.843463 -2.877948 -0.913044 +v -1.183007 -1.710216 -0.157113 +v -0.152354 -1.710216 0.976199 +v 0.053428 -3.118357 0.701014 +v 1.049494 -2.053944 -0.844394 +v -0.633591 -1.710216 -0.981694 +v -0.770945 -2.877948 0.735534 +v 0.122105 -3.530722 0.082968 +v 0.156444 -3.049721 0.769859 +v 1.255525 -1.744716 0.495063 +v 1.255525 -2.946584 -0.397583 +v -1.286022 -2.946766 0.392088 +v 0.774537 -3.221494 -0.706704 +v 0.774537 -1.710216 0.941679 +v -1.286022 -3.084221 -0.088463 +v 0.190782 -1.779216 -1.016214 +v -0.873960 -2.946766 -0.844394 +v -0.599003 -1.744716 0.941679 +v 1.049494 -3.187176 -0.569404 +v -0.770945 -3.187176 -0.706899 +v 1.255525 -1.710398 -0.157308 +f 196 186 233 +f 175 184 186 +f 184 175 189 +f 181 179 190 +f 176 188 191 +f 179 181 192 +f 183 191 194 +f 191 188 194 +f 176 191 195 +f 175 186 196 +f 180 185 197 +f 188 176 197 +f 185 188 197 +f 181 190 203 +f 178 182 204 +f 201 174 204 +f 179 189 205 +f 190 179 205 +f 182 190 205 +f 192 181 206 +f 184 192 206 +f 199 184 206 +f 182 177 207 +f 190 182 207 +f 193 177 208 +f 202 193 208 +f 176 186 209 +f 180 197 209 +f 197 176 209 +f 200 180 209 +f 177 193 210 +f 193 187 210 +f 203 177 210 +f 188 185 212 +f 185 202 212 +f 196 178 213 +f 204 174 213 +f 178 204 213 +f 189 179 214 +f 184 189 214 +f 179 192 214 +f 192 184 214 +f 186 184 215 +f 187 193 216 +f 198 187 216 +f 194 178 217 +f 183 194 217 +f 178 196 217 +f 196 183 217 +f 175 174 218 +f 189 175 218 +f 174 201 218 +f 201 189 218 +f 181 187 219 +f 187 198 219 +f 206 181 219 +f 199 206 219 +f 185 180 220 +f 202 185 220 +f 193 202 220 +f 180 216 220 +f 216 193 220 +f 173 198 221 +f 200 173 221 +f 180 200 221 +f 216 180 221 +f 198 216 221 +f 186 176 222 +f 176 195 222 +f 195 186 222 +f 178 194 223 +f 194 188 223 +f 211 178 223 +f 188 211 223 +f 187 181 224 +f 181 203 224 +f 210 187 224 +f 203 210 224 +f 202 208 225 +f 178 212 225 +f 212 202 225 +f 173 200 226 +f 209 186 226 +f 200 209 226 +f 186 215 226 +f 215 173 226 +f 177 203 227 +f 203 190 227 +f 207 177 227 +f 190 207 227 +f 174 175 228 +f 175 196 228 +f 213 174 228 +f 196 213 228 +f 189 201 229 +f 204 182 229 +f 201 204 229 +f 205 189 229 +f 182 205 229 +f 198 173 230 +f 184 199 230 +f 215 184 230 +f 173 215 230 +f 219 198 230 +f 199 219 230 +f 178 211 231 +f 211 188 231 +f 188 212 231 +f 212 178 231 +f 182 178 232 +f 177 182 232 +f 208 177 232 +f 178 225 232 +f 225 208 232 +f 191 183 233 +f 186 195 233 +f 195 191 233 +f 183 196 233 +o convex_5 +v 1.255774 -3.049943 -0.054319 +v 1.358840 -1.710216 0.117343 +v 1.358840 -1.710216 -0.019920 +v 3.007724 -2.534431 0.048656 +v 1.255774 -2.500204 0.563976 +v 1.255774 -2.534431 -0.569639 +v 2.698354 -2.568790 -0.397866 +v 2.698354 -2.500204 0.426491 +v 1.255774 -1.847651 -0.500841 +v 2.767122 -2.122520 -0.019920 +v 1.255774 -1.778934 0.495178 +v 2.698354 -2.878018 0.082944 +v 1.324542 -2.878018 0.460890 +v 1.393310 -2.946867 -0.397866 +v 2.560990 -2.191369 0.323404 +v 2.698354 -2.878018 -0.054319 +v 1.977236 -2.878018 0.392203 +v 2.595289 -2.225728 -0.294780 +v 2.011705 -2.500204 0.529577 +v 2.114771 -2.534431 -0.500841 +v 1.462077 -3.049943 0.048656 +v 2.011705 -2.878018 -0.363467 +v 1.324542 -1.847651 -0.500841 +v 2.767122 -2.122520 0.048656 +v 2.767122 -2.431355 0.392203 +v 2.698354 -2.500204 -0.397866 +v 1.255774 -2.912508 -0.432154 +v 1.358840 -1.950858 0.529577 +v 1.255774 -2.912508 0.426491 +v 2.526521 -2.775073 0.323404 +v 1.805745 -3.015453 -0.019920 +v 1.290244 -1.744706 0.426491 +v 1.290244 -1.710216 -0.123006 +v 3.007724 -2.534431 -0.019920 +v 2.492223 -2.809432 -0.294780 +v 1.771275 -2.568790 -0.535240 +v 2.114771 -2.981225 0.048656 +v 2.767122 -2.500204 -0.363467 +v 1.324542 -2.191369 0.563976 +f 252 261 272 +f 234 238 239 +f 239 238 242 +f 236 235 243 +f 242 238 244 +f 237 241 245 +f 237 245 249 +f 238 246 252 +f 250 241 252 +f 246 250 252 +f 253 240 255 +f 239 242 256 +f 243 251 256 +f 243 235 257 +f 237 243 257 +f 257 248 258 +f 241 237 258 +f 248 244 258 +f 237 257 258 +f 240 253 259 +f 256 251 259 +f 253 256 259 +f 234 239 260 +f 247 234 260 +f 255 247 260 +f 252 241 261 +f 241 258 261 +f 258 244 261 +f 238 234 262 +f 246 238 262 +f 250 246 262 +f 234 254 262 +f 254 250 262 +f 245 241 263 +f 250 245 263 +f 241 250 263 +f 234 247 264 +f 254 234 264 +f 255 249 264 +f 247 255 264 +f 244 248 265 +f 257 235 265 +f 248 257 265 +f 235 236 266 +f 236 243 266 +f 242 244 266 +f 256 242 266 +f 243 256 266 +f 265 235 266 +f 244 265 266 +f 243 237 267 +f 237 249 267 +f 249 240 267 +f 240 249 268 +f 255 240 268 +f 249 255 268 +f 253 255 269 +f 239 256 269 +f 256 253 269 +f 260 239 269 +f 255 260 269 +f 249 245 270 +f 245 250 270 +f 250 254 270 +f 264 249 270 +f 254 264 270 +f 251 243 271 +f 240 259 271 +f 259 251 271 +f 243 267 271 +f 267 240 271 +f 244 238 272 +f 238 252 272 +f 261 244 272 +o convex_6 +v -1.080159 0.385253 0.632478 +v 1.118366 0.385253 -0.294268 +v 1.118366 0.350895 -0.294268 +v -0.049547 0.350895 -1.943717 +v -0.083979 -0.061322 1.319463 +v -0.873779 -0.061322 -1.119183 +v 1.083933 -0.061322 -0.741113 +v 0.740468 0.385253 1.559604 +v -0.942644 -0.061322 1.044745 +v 1.015068 -0.061322 0.769647 +v -0.152629 0.385253 1.903477 +v -0.873779 0.385253 -1.393901 +v -1.045727 -0.061322 -0.912859 +v 0.911985 0.385253 -1.050408 +v 0.809118 -0.061322 -1.084606 +v -0.873779 0.385253 1.559984 +v 0.809118 -0.061322 1.113140 +v -1.045727 0.385253 -0.947437 +v -0.049547 0.350895 1.938054 +v 0.053321 -0.061322 -1.256352 +v -1.045727 -0.061322 0.770027 +v 1.015068 0.385253 0.769647 +v -0.015114 0.385253 -1.943717 +v 1.083933 -0.061322 0.185633 +v -1.080159 0.144830 -0.534789 +v 1.118366 0.385253 -0.603564 +v 0.877768 0.076113 -1.084606 +v 0.774685 0.350895 1.525407 +v 1.083933 0.385253 0.323183 +v -0.873779 0.350895 1.559984 +v -0.908211 -0.061322 1.078942 +v -0.839561 0.350895 -1.428098 +v -0.942644 0.350895 1.354041 +v -1.080159 0.385253 -0.569367 +v -0.049547 -0.026964 -1.325127 +v -0.015114 0.350895 1.938054 +v -1.080159 0.144830 0.598281 +f 297 293 309 +f 277 278 279 +f 274 273 280 +f 278 277 281 +f 277 279 282 +f 280 273 283 +f 273 274 284 +f 278 281 285 +f 284 274 286 +f 279 278 287 +f 283 273 288 +f 277 282 289 +f 273 284 290 +f 284 285 290 +f 276 287 292 +f 287 278 292 +f 285 281 293 +f 274 280 294 +f 276 284 295 +f 284 286 295 +f 287 276 295 +f 279 275 296 +f 282 279 296 +f 285 293 297 +f 274 275 298 +f 275 279 298 +f 286 274 298 +f 279 286 298 +f 286 279 299 +f 279 287 299 +f 295 286 299 +f 287 295 299 +f 289 282 300 +f 294 280 300 +f 282 294 300 +f 275 274 301 +f 274 294 301 +f 294 282 301 +f 296 275 301 +f 282 296 301 +f 283 288 302 +f 291 283 302 +f 293 281 302 +f 281 277 303 +f 277 291 303 +f 302 281 303 +f 291 302 303 +f 276 278 304 +f 284 276 304 +f 278 285 304 +f 285 284 304 +f 288 273 305 +f 273 293 305 +f 302 288 305 +f 293 302 305 +f 273 290 306 +f 290 285 306 +f 297 273 306 +f 285 297 306 +f 278 276 307 +f 276 292 307 +f 292 278 307 +f 280 283 308 +f 277 289 308 +f 291 277 308 +f 283 291 308 +f 289 300 308 +f 300 280 308 +f 293 273 309 +f 273 297 309 +o convex_7 +v -0.530352 2.033948 -2.595571 +v 1.118346 1.724801 0.632169 +v 1.118346 1.690405 0.632169 +v -0.839497 1.484237 2.727181 +v 0.018918 0.385650 -1.977128 +v 0.774803 0.385650 1.594454 +v -1.114465 0.385442 0.563518 +v -0.015259 2.515075 2.006355 +v 0.843378 2.171323 -1.977720 +v -1.148863 2.171323 -0.088066 +v 1.118346 0.385650 -0.603534 +v 0.774803 1.518633 2.727773 +v -0.805098 1.381675 -2.767788 +v 0.774803 1.415862 -2.802113 +v -0.049435 0.694589 2.796423 +v -0.015259 2.480470 -1.977128 +v 0.877777 2.343095 0.872444 +v -1.045667 0.385442 -0.946784 +v -0.015259 0.660401 -2.835846 +v -0.083834 2.274303 2.727773 +v -0.805098 2.240115 2.006355 +v -0.873895 0.385650 1.593862 +v -0.977092 2.308907 -0.912459 +v 1.049549 1.484446 -2.012045 +v 0.053317 2.171323 -2.767788 +v 1.118346 2.205719 -0.054333 +v -1.045667 1.484237 2.075005 +v -1.045667 1.450258 -2.046370 +v 0.808979 2.446283 -0.053741 +v 0.706005 2.274303 2.006355 +v 0.980751 1.450258 2.040680 +v -0.049435 1.587425 3.002965 +v -0.049435 1.484237 -3.042980 +v -0.805098 2.411678 0.082968 +v -0.770921 2.240115 -2.012045 +v 0.568632 0.832173 -2.561837 +v -0.805098 0.660401 -2.080695 +v -1.148863 0.728985 -0.500558 +v 1.083947 0.385650 0.323243 +v 0.603031 0.969340 2.624797 +v -0.633548 0.900756 2.589880 +v -0.118233 0.385650 1.972029 +v -1.148863 1.415654 0.700819 +v -0.805098 0.385650 -1.530902 +v 0.877777 0.385650 -1.119001 +v 1.118346 2.068344 0.494868 +v 0.808979 2.240115 -1.909070 +v -0.599149 0.831964 -2.630488 +v 0.499835 2.102531 2.556147 +v 0.671606 2.068344 -2.424537 +v -0.633548 2.068344 2.555556 +v -1.148863 2.068344 -0.534883 +v 1.118346 0.728985 0.494868 +v 0.053317 0.694589 2.796423 +v -1.148863 1.999760 0.494868 +v -0.770921 1.484237 2.796423 +v 0.087716 2.480679 -1.943395 +v -0.083834 2.515075 2.006355 +v 0.603031 1.518633 2.830748 +v 1.118346 2.033948 -0.500558 +v -0.049435 2.205719 -2.733463 +v -0.770921 1.518633 -2.767788 +v 0.774803 0.625797 1.937704 +v 1.015150 0.385650 0.770061 +f 372 315 373 +f 311 312 320 +f 323 318 333 +f 320 323 333 +f 311 320 335 +f 313 330 336 +f 331 313 336 +f 316 331 336 +f 317 326 338 +f 326 335 338 +f 326 317 339 +f 317 329 339 +f 312 311 340 +f 339 321 340 +f 328 322 342 +f 323 328 342 +f 334 323 342 +f 319 330 343 +f 332 319 343 +f 325 332 343 +f 332 325 344 +f 323 320 345 +f 328 323 345 +f 337 322 346 +f 327 337 346 +f 327 316 347 +f 337 327 347 +f 316 327 348 +f 327 320 348 +f 313 331 350 +f 331 324 350 +f 316 315 351 +f 331 316 351 +f 324 331 351 +f 316 336 352 +f 347 316 352 +f 319 347 352 +f 314 327 353 +f 328 314 353 +f 327 346 353 +f 320 327 354 +f 327 314 354 +f 314 328 354 +f 345 320 354 +f 328 345 354 +f 311 335 355 +f 335 326 355 +f 326 339 355 +f 339 340 355 +f 340 311 355 +f 335 318 356 +f 338 335 356 +f 322 328 357 +f 346 322 357 +f 328 353 357 +f 353 346 357 +f 339 329 358 +f 321 339 358 +f 318 323 359 +f 323 334 359 +f 356 318 359 +f 334 356 359 +f 330 313 360 +f 329 330 360 +f 319 332 361 +f 332 344 361 +f 344 337 361 +f 347 319 361 +f 337 347 361 +f 320 312 362 +f 312 340 362 +f 348 320 362 +f 341 324 363 +f 315 349 363 +f 351 315 363 +f 324 351 363 +f 330 319 364 +f 336 330 364 +f 352 336 364 +f 319 352 364 +f 324 341 365 +f 341 329 365 +f 313 350 365 +f 350 324 365 +f 360 313 365 +f 329 360 365 +f 325 317 366 +f 317 338 366 +f 356 334 366 +f 338 356 366 +f 317 325 367 +f 329 317 367 +f 330 329 367 +f 325 343 367 +f 343 330 367 +f 329 341 368 +f 349 321 368 +f 321 358 368 +f 358 329 368 +f 341 363 368 +f 363 349 368 +f 333 318 369 +f 320 333 369 +f 335 320 369 +f 318 335 369 +f 334 342 370 +f 310 344 370 +f 344 325 370 +f 325 366 370 +f 366 334 370 +f 322 337 371 +f 342 322 371 +f 344 310 371 +f 337 344 371 +f 310 370 371 +f 370 342 371 +f 340 321 372 +f 349 315 372 +f 321 349 372 +f 315 316 373 +f 316 348 373 +f 362 340 373 +f 348 362 373 +f 340 372 373 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/201/201.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/201/201.urdf new file mode 100644 index 000000000..4494bd732 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/201/201.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/202/202.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/202/202.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/202/202.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/202/202.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/202/202.obj new file mode 100644 index 000000000..d363964b5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/202/202.obj @@ -0,0 +1,561 @@ +o convex_0 +v -0.243817 -2.153163 1.167245 +v 0.346605 -1.531721 3.000185 +v 0.253344 -1.624934 3.031137 +v -0.337009 -1.469557 2.720455 +v 0.315472 -1.469557 1.104759 +v 0.191216 -2.153163 3.000185 +v -0.337009 -2.059816 3.093428 +v -0.274881 -1.531721 1.104759 +v 0.253344 -1.966603 1.104759 +v -0.368143 -2.153163 1.104759 +v -0.212754 -1.469557 3.000185 +v 0.346605 -1.656050 2.347677 +v 0.004763 -2.153163 3.000185 +v 0.346605 -1.469557 1.509072 +v 0.222280 -2.028767 1.353537 +v -0.337009 -1.500673 3.000185 +v -0.368143 -1.966603 1.415829 +v 0.315472 -1.780311 3.000185 +v 0.191216 -2.153163 2.689310 +v -0.274881 -2.090932 3.093428 +v 0.191216 -1.469557 1.104759 +v 0.315472 -1.656050 1.167245 +v -0.119492 -1.469557 3.000185 +v -0.305945 -1.656050 1.104759 +v 0.160083 -2.153163 3.031137 +v -0.181620 -1.966603 3.093428 +v -0.305945 -1.469557 2.409774 +v -0.368143 -2.153163 1.291440 +f 13 20 28 +f 8 5 9 +f 9 1 10 +f 1 6 10 +f 8 9 10 +f 5 4 11 +f 10 6 13 +f 5 11 14 +f 2 12 14 +f 1 9 15 +f 11 4 16 +f 7 16 17 +f 16 4 17 +f 2 3 18 +f 12 2 18 +f 9 12 18 +f 6 1 19 +f 1 15 19 +f 15 9 19 +f 18 6 19 +f 9 18 19 +f 4 5 21 +f 5 8 21 +f 9 5 22 +f 12 9 22 +f 5 14 22 +f 14 12 22 +f 3 2 23 +f 11 3 23 +f 2 14 23 +f 14 11 23 +f 4 8 24 +f 8 10 24 +f 17 4 24 +f 10 17 24 +f 13 6 25 +f 18 3 25 +f 6 18 25 +f 20 13 25 +f 20 25 26 +f 3 11 26 +f 16 7 26 +f 11 16 26 +f 7 20 26 +f 25 3 26 +f 8 4 27 +f 4 21 27 +f 21 8 27 +f 10 13 28 +f 7 17 28 +f 17 10 28 +f 20 7 28 +o convex_1 +v -0.554468 -0.102131 1.167178 +v 0.595214 0.053301 3.000167 +v 0.564013 0.394891 3.031282 +v 0.564013 0.799058 1.104947 +v -0.616751 0.674690 2.937936 +v 0.470885 -0.257450 1.104947 +v -0.461222 -0.319578 2.937936 +v -0.430140 0.705642 1.104947 +v 0.533049 0.705754 3.031282 +v 0.595214 -0.257450 2.969051 +v -0.523386 -0.350754 1.104947 +v -0.461222 -0.288401 3.000167 +v 0.315356 0.799058 1.415725 +v -0.243766 -0.350754 1.136062 +v -0.554468 -0.319578 1.167178 +v 0.595214 -0.257450 2.627157 +v 0.284274 0.705642 3.031282 +v -0.461222 0.705642 1.229409 +v -0.585550 0.425955 2.969051 +v 0.377639 -0.288401 1.104947 +v -0.461222 -0.350754 1.913008 +v -0.492304 -0.226274 2.875893 +v 0.533049 0.799058 1.539999 +v 0.595214 -0.102018 3.000167 +v 0.501967 -0.257450 1.415725 +v -0.616751 0.674690 2.875893 +v 0.564013 0.736818 1.104947 +v 0.315356 0.799058 1.104947 +v 0.564013 0.799058 1.353683 +v -0.399058 0.705642 2.596231 +v -0.523386 0.674690 2.969051 +v -0.616751 0.612450 2.937936 +f 33 54 60 +f 32 34 36 +f 29 36 39 +f 36 34 39 +f 35 38 40 +f 39 35 43 +f 29 39 43 +f 32 30 44 +f 30 38 44 +f 31 37 45 +f 40 31 45 +f 36 29 46 +f 39 34 48 +f 38 42 48 +f 42 39 48 +f 44 38 48 +f 38 35 49 +f 35 39 49 +f 42 38 49 +f 39 42 49 +f 35 40 50 +f 43 35 50 +f 40 47 50 +f 32 41 51 +f 45 37 51 +f 41 45 51 +f 30 31 52 +f 38 30 52 +f 31 40 52 +f 40 38 52 +f 48 34 53 +f 44 48 53 +f 29 43 54 +f 46 29 54 +f 33 46 54 +f 34 32 55 +f 32 44 55 +f 53 34 55 +f 44 53 55 +f 32 36 56 +f 41 32 56 +f 36 46 56 +f 46 41 56 +f 31 30 57 +f 30 32 57 +f 37 31 57 +f 32 51 57 +f 51 37 57 +f 33 45 58 +f 45 41 58 +f 46 33 58 +f 41 46 58 +f 40 45 59 +f 45 33 59 +f 47 40 59 +f 33 47 59 +f 47 33 60 +f 43 50 60 +f 50 47 60 +f 54 43 60 +o convex_2 +v -0.274881 -1.780302 -2.748482 +v 0.346606 -1.873427 -2.624092 +v 0.346606 -1.904503 -2.624092 +v -0.305991 -1.718150 -1.101639 +v 0.004785 -2.091011 -1.101639 +v 0.315432 -1.562770 -1.195076 +v -0.274881 -1.593846 -3.090308 +v -0.243836 -2.028807 -3.090308 +v 0.346606 -1.593846 -3.059162 +v 0.253277 -2.091011 -1.101639 +v 0.346606 -1.997731 -3.028017 +v -0.305991 -1.593846 -1.101639 +v -0.181681 -2.059883 -1.101639 +v 0.253277 -2.091011 -1.599001 +v 0.160076 -1.562770 -1.101639 +v 0.315432 -1.655998 -1.164125 +v -0.305991 -1.655998 -1.940828 +v 0.284450 -1.562770 -1.568049 +v -0.026261 -1.997731 -3.090308 +v -0.212726 -2.028807 -1.443660 +v 0.284450 -2.059883 -1.536903 +v -0.305991 -1.749226 -1.319466 +f 68 80 82 +f 61 67 68 +f 62 63 69 +f 66 62 69 +f 64 65 70 +f 69 63 71 +f 64 70 72 +f 65 64 73 +f 68 65 73 +f 65 68 74 +f 70 65 74 +f 68 71 74 +f 67 72 75 +f 72 70 75 +f 63 62 76 +f 62 66 76 +f 66 75 76 +f 75 70 76 +f 67 61 77 +f 61 68 77 +f 64 72 77 +f 72 67 77 +f 69 67 78 +f 66 69 78 +f 75 66 78 +f 67 75 78 +f 68 67 79 +f 67 69 79 +f 71 68 79 +f 69 71 79 +f 73 64 80 +f 68 73 80 +f 71 63 81 +f 70 74 81 +f 74 71 81 +f 63 76 81 +f 76 70 81 +f 77 68 82 +f 64 77 82 +f 80 64 82 +o convex_3 +v 0.470861 0.736876 -1.101639 +v -0.430164 -0.381715 -3.028017 +v -0.461252 0.425964 -3.059162 +v 0.564125 -0.039827 -3.090308 +v -0.492447 -0.288441 -1.101639 +v 0.595214 -0.257465 -1.101639 +v -0.492447 0.705669 -1.101639 +v 0.501949 0.799058 -3.028017 +v -0.461252 0.767851 -3.059162 +v 0.564125 -0.257465 -3.090308 +v 0.564125 0.736876 -1.101639 +v -0.492447 0.705669 -2.841530 +v 0.470861 0.799058 -2.375509 +v -0.461252 -0.381715 -2.686190 +v -0.492447 -0.319532 -1.288320 +v -0.305918 -0.381715 -2.779433 +v 0.564125 0.736876 -1.661293 +v 0.439773 -0.288441 -3.090308 +v 0.595214 0.208672 -1.132979 +v 0.035839 0.798943 -2.965919 +v -0.492447 -0.319532 -1.785487 +v -0.461252 -0.195167 -3.028017 +v 0.501949 0.643602 -3.059162 +v 0.097909 -0.288441 -1.101639 +v 0.595214 -0.257465 -1.536903 +v 0.160086 -0.319532 -1.847584 +v -0.088300 -0.350623 -3.059162 +v 0.501949 0.767851 -1.630147 +f 93 95 110 +f 83 87 88 +f 87 83 89 +f 83 88 93 +f 87 89 94 +f 89 91 94 +f 91 85 94 +f 93 90 95 +f 87 94 97 +f 96 84 98 +f 97 96 98 +f 86 90 99 +f 90 93 99 +f 85 91 100 +f 91 86 100 +f 86 92 100 +f 93 88 101 +f 86 99 101 +f 99 93 101 +f 91 89 102 +f 90 91 102 +f 89 95 102 +f 95 90 102 +f 97 94 103 +f 96 97 103 +f 85 84 104 +f 94 85 104 +f 84 96 104 +f 103 94 104 +f 96 103 104 +f 90 86 105 +f 91 90 105 +f 86 91 105 +f 88 87 106 +f 87 97 106 +f 97 98 106 +f 92 86 107 +f 100 92 107 +f 88 100 107 +f 86 101 107 +f 101 88 107 +f 100 88 108 +f 98 100 108 +f 88 106 108 +f 106 98 108 +f 84 85 109 +f 98 84 109 +f 85 100 109 +f 100 98 109 +f 89 83 110 +f 83 93 110 +f 95 89 110 +o convex_4 +v 0.035661 -2.712263 -1.039438 +v 0.595028 0.954064 1.104758 +v 0.968081 0.954438 1.073442 +v -0.647845 0.954438 -1.070322 +v -1.113949 -2.867911 1.104758 +v 1.061345 -2.774373 -1.070538 +v 0.905906 -2.742944 1.011241 +v -1.051773 0.923010 1.073442 +v 1.030257 0.954438 -0.977237 +v -0.927422 -2.774373 -0.946137 +v -0.958510 0.954438 -1.008121 +v 0.563940 0.736307 -1.101638 +v -0.305879 -1.717764 -1.101638 +v 0.253275 -1.966202 1.104758 +v -1.113949 -2.867911 0.918156 +v 0.936994 -2.463451 1.011241 +v -0.523494 -0.475575 -1.101638 +v -0.958510 -0.972076 -0.977021 +v -0.430230 0.705627 1.104758 +v -1.020685 0.954438 1.073442 +v -0.740895 -2.867911 0.731554 +v -0.927422 -2.712263 -0.977237 +v 0.968081 -0.475575 1.042342 +v 0.439802 -2.277123 -1.101638 +v 0.750467 -2.774373 1.011241 +v -1.113949 -2.121849 1.042342 +v 1.030257 0.954438 -0.666449 +v 1.061345 -2.121849 -1.070538 +v -0.958510 -2.805427 -0.604033 +v -0.492406 0.705252 -1.101638 +v 1.030257 0.798791 -1.008121 +v 1.030257 -2.774373 -0.511164 +v -0.834159 -2.867911 1.104758 +v -1.082861 -1.189460 1.104758 +v -0.181528 -2.059366 -1.101638 +v -0.989598 -2.805427 -0.417647 +v 0.563940 -2.805053 -0.604249 +v -0.958510 -0.040435 -1.008337 +v 1.061345 -2.246068 -1.008121 +v 0.688291 -2.774373 -1.070322 +v 0.999169 -2.774373 -0.075975 +v 0.968081 0.954438 -1.008121 +v 0.968081 0.798791 1.073442 +v -1.051773 0.860900 1.011457 +v 1.061345 -2.774373 -1.008121 +v 0.936994 -2.742944 0.917940 +v -0.896334 -2.774373 -0.977237 +v 0.595028 -0.257818 -1.101638 +v -0.181528 0.954064 -1.070322 +v -0.834159 0.954438 -1.039438 +f 127 148 160 +f 114 113 119 +f 113 114 121 +f 112 115 124 +f 122 123 127 +f 115 112 129 +f 118 129 130 +f 112 113 130 +f 113 121 130 +f 121 118 130 +f 129 112 130 +f 115 125 131 +f 127 123 132 +f 123 122 134 +f 115 118 136 +f 125 115 136 +f 121 125 136 +f 119 113 137 +f 119 137 138 +f 131 125 139 +f 114 122 140 +f 122 127 140 +f 119 138 141 +f 138 122 141 +f 133 126 142 +f 124 115 143 +f 117 124 143 +f 115 131 143 +f 135 117 143 +f 131 135 143 +f 118 115 144 +f 115 129 144 +f 129 118 144 +f 132 123 145 +f 123 134 145 +f 125 128 146 +f 132 120 146 +f 128 132 146 +f 120 139 146 +f 139 125 146 +f 139 116 147 +f 131 139 147 +f 125 121 148 +f 128 125 148 +f 127 132 148 +f 132 128 148 +f 137 113 149 +f 138 137 149 +f 116 138 149 +f 134 116 150 +f 116 139 150 +f 111 145 150 +f 145 134 150 +f 135 131 151 +f 131 147 151 +f 147 142 151 +f 114 119 152 +f 119 141 152 +f 141 122 152 +f 113 112 153 +f 112 124 153 +f 124 117 153 +f 117 126 153 +f 126 133 153 +f 149 113 153 +f 118 121 154 +f 136 118 154 +f 121 136 154 +f 133 142 155 +f 147 116 155 +f 142 147 155 +f 116 149 155 +f 153 133 155 +f 149 153 155 +f 126 117 156 +f 117 135 156 +f 142 126 156 +f 135 151 156 +f 151 142 156 +f 120 132 157 +f 139 120 157 +f 145 111 157 +f 132 145 157 +f 111 150 157 +f 150 139 157 +f 116 134 158 +f 134 122 158 +f 138 116 158 +f 122 138 158 +f 122 114 159 +f 114 152 159 +f 152 122 159 +f 121 114 160 +f 114 140 160 +f 140 127 160 +f 148 121 160 +o convex_5 +v -0.212659 0.954664 -1.070353 +v 0.999159 3.191717 1.104554 +v 0.253317 3.222552 0.203382 +v -1.020739 0.954664 1.073472 +v 0.968041 0.954439 1.073472 +v 1.030278 3.191717 -0.946023 +v -0.989620 3.253613 -1.039270 +v -0.989620 3.191492 1.042390 +v 1.030278 0.954439 -0.977106 +v -0.958502 0.954664 -1.008188 +v -1.020739 2.135199 1.073472 +v 0.470745 0.954439 1.104342 +v 1.030278 3.160656 0.358793 +v 0.999159 1.514208 1.073472 +v -0.989620 3.222552 0.918061 +v -0.989620 1.700573 -1.008188 +v 0.688375 3.222777 -0.946023 +v 0.968041 0.985724 -1.008188 +v -0.647717 0.954664 -1.070353 +v 0.657256 3.191717 1.104342 +v -1.020739 0.954664 0.731567 +v -0.834228 3.253613 -1.039270 +v 0.905803 2.508154 -0.977106 +v 1.030278 0.954439 -0.666496 +v -0.647717 3.253613 -0.728448 +v -0.585480 3.191492 1.073472 +v -1.020739 2.414746 1.011308 +v -0.647717 1.762695 -1.070353 +v 0.439827 1.047846 -1.039270 +v 0.999159 2.663233 1.104554 +v -0.989620 2.632172 -1.039270 +v 0.595220 0.954439 1.104342 +v -0.989620 3.253613 -0.542167 +f 187 175 193 +f 169 165 172 +f 170 169 172 +f 171 164 172 +f 166 162 173 +f 169 166 173 +f 162 163 175 +f 163 162 177 +f 162 166 177 +f 169 161 178 +f 166 169 178 +f 161 169 179 +f 169 170 179 +f 172 162 180 +f 171 172 180 +f 162 175 180 +f 164 171 181 +f 172 164 181 +f 170 172 181 +f 176 170 181 +f 177 166 182 +f 166 178 183 +f 182 166 183 +f 165 169 184 +f 169 173 184 +f 173 174 184 +f 174 165 184 +f 175 163 185 +f 163 177 185 +f 182 167 185 +f 177 182 185 +f 168 171 186 +f 175 168 186 +f 171 180 186 +f 180 175 186 +f 171 168 187 +f 168 175 187 +f 181 171 187 +f 167 181 187 +f 161 179 188 +f 179 167 188 +f 167 182 188 +f 178 161 189 +f 183 178 189 +f 182 183 189 +f 161 188 189 +f 188 182 189 +f 162 172 190 +f 173 162 190 +f 174 173 190 +f 165 174 190 +f 170 176 191 +f 167 179 191 +f 179 170 191 +f 181 167 191 +f 176 181 191 +f 172 165 192 +f 190 172 192 +f 165 190 192 +f 175 185 193 +f 185 167 193 +f 167 187 193 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/202/202.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/202/202.urdf new file mode 100644 index 000000000..e8b2c0254 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/202/202.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/203/203.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/203/203.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/203/203.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/203/203.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/203/203.obj new file mode 100644 index 000000000..566e6441f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/203/203.obj @@ -0,0 +1,702 @@ +o convex_0 +v 1.028821 1.070645 0.027282 +v -0.980200 0.689155 -0.023258 +v -0.980200 0.689155 0.002110 +v 0.672680 -2.565066 -0.074192 +v 0.011724 -0.479719 0.993445 +v 0.011724 3.256824 -0.760909 +v 0.011724 3.256824 0.764736 +v -0.471455 -2.565066 -0.455701 +v 0.723613 -1.293435 -0.684607 +v -0.674993 -1.522714 0.688434 +v 0.723613 -1.293435 0.764736 +v -0.700361 -1.242698 -0.709975 +v -0.725730 3.282513 0.027282 +v 0.799915 3.181039 0.002110 +v -0.725730 1.121381 0.739367 +v 0.774350 1.120739 0.790104 +v -0.089946 -2.565066 0.586567 +v 0.774350 1.019266 -0.760712 +v 0.011724 -0.987729 -0.938881 +v -0.725730 1.095692 -0.735344 +v 0.062264 3.995398 -0.023258 +v -0.700361 -2.565066 0.103584 +v -0.013644 1.044955 -0.989814 +v 0.952322 -1.344813 0.027282 +v 0.469339 -2.565066 -0.480873 +v 0.062264 1.044955 1.019206 +v -0.929267 -1.344171 0.027282 +v -0.013644 -1.293435 0.968273 +v 0.443774 -2.565066 0.510265 +v 0.571009 2.698076 -0.582740 +v 0.596378 2.672387 0.586763 +v -0.547757 2.672387 -0.557371 +v -0.547757 2.698076 0.561395 +v -0.039209 -1.979987 -0.760909 +v -0.471455 -2.565066 0.510462 +v -0.725730 0.003245 0.739367 +v -0.980200 1.070645 -0.023258 +v -0.725730 3.257466 -0.048627 +v 0.011724 -2.005034 0.815669 +v -0.013644 1.019908 1.019206 +v 0.774350 0.156097 0.790104 +v 0.036896 -1.369218 -0.913512 +v 0.977887 -1.014061 0.027282 +v 0.087830 0.994218 -0.989814 +v -0.700361 -2.565066 -0.023258 +v 0.672680 -2.565066 0.052650 +v 0.748981 3.283155 -0.023258 +v 0.062264 3.231776 0.764736 +v 0.062264 3.231776 -0.760909 +v 0.011724 3.995398 0.027085 +v 0.774350 0.764939 -0.760712 +v -0.700361 -1.319124 0.713802 +v 0.952322 -1.242698 0.128952 +v -0.089946 -2.565066 -0.557371 +v 1.003256 0.994218 0.154517 +v -0.929267 -1.293435 -0.048823 +v 1.028821 0.994218 -0.023258 +v -0.598691 -2.005677 -0.582740 +v 0.774350 3.181039 0.078215 +v 0.062264 -1.267745 0.968273 +v -0.725730 0.283260 -0.735344 +v -0.598691 -2.056414 0.612132 +v -0.980200 1.044955 0.027282 +v 0.087830 -1.242055 -0.913512 +f 44 51 64 +f 8 4 17 +f 8 17 22 +f 19 12 23 +f 20 6 23 +f 4 9 24 +f 4 8 25 +f 9 4 25 +f 3 2 27 +f 17 4 29 +f 14 18 30 +f 6 20 32 +f 7 13 33 +f 15 7 33 +f 13 15 33 +f 22 17 35 +f 2 3 37 +f 20 2 37 +f 20 37 38 +f 21 6 38 +f 6 32 38 +f 32 20 38 +f 37 13 38 +f 17 29 39 +f 29 11 39 +f 35 17 39 +f 7 15 40 +f 5 26 40 +f 26 7 40 +f 28 5 40 +f 15 36 40 +f 36 28 40 +f 16 26 41 +f 12 19 42 +f 9 25 42 +f 25 34 42 +f 24 9 43 +f 19 23 44 +f 8 22 45 +f 22 27 45 +f 4 24 46 +f 29 4 46 +f 11 29 46 +f 14 30 47 +f 7 26 48 +f 26 16 48 +f 16 31 48 +f 6 21 49 +f 23 6 49 +f 30 18 49 +f 18 44 49 +f 44 23 49 +f 21 47 49 +f 47 30 49 +f 13 7 50 +f 21 38 50 +f 38 13 50 +f 7 48 50 +f 48 21 50 +f 43 9 51 +f 44 18 51 +f 22 10 52 +f 27 22 52 +f 10 28 52 +f 36 27 52 +f 28 36 52 +f 41 11 53 +f 24 43 53 +f 46 24 53 +f 11 46 53 +f 25 8 54 +f 8 34 54 +f 34 25 54 +f 1 14 55 +f 16 41 55 +f 43 1 55 +f 41 53 55 +f 53 43 55 +f 27 2 56 +f 12 45 56 +f 45 27 56 +f 14 1 57 +f 18 14 57 +f 1 43 57 +f 51 18 57 +f 43 51 57 +f 34 8 58 +f 12 42 58 +f 42 34 58 +f 8 45 58 +f 45 12 58 +f 31 16 59 +f 14 47 59 +f 47 21 59 +f 21 48 59 +f 48 31 59 +f 55 14 59 +f 16 55 59 +f 26 5 60 +f 5 28 60 +f 39 11 60 +f 28 39 60 +f 11 41 60 +f 41 26 60 +f 2 20 61 +f 23 12 61 +f 20 23 61 +f 56 2 61 +f 12 56 61 +f 10 22 62 +f 28 10 62 +f 22 35 62 +f 39 28 62 +f 35 39 62 +f 15 13 63 +f 3 27 63 +f 36 15 63 +f 27 36 63 +f 37 3 63 +f 13 37 63 +f 9 42 64 +f 42 19 64 +f 19 44 64 +f 51 9 64 +o convex_1 +v 0.443664 -3.328627 0.485083 +v -0.039431 -3.633899 -0.557493 +v -0.039431 -3.328627 -0.557493 +v -1.056310 -3.354100 0.027361 +v -0.039431 -3.989782 0.357950 +v 0.367357 -4.015254 -0.328424 +v -0.267988 -4.015254 -0.379444 +v 0.698021 -3.328627 -0.277612 +v 0.494536 -3.786267 0.434272 +v -0.395166 -3.328627 0.434272 +v 0.799763 -3.354100 0.129089 +v 0.469100 -3.811807 -0.481067 +v -0.395166 -3.837145 -0.481067 +v -0.318859 -3.913430 0.307138 +v 0.443664 -4.015254 0.027361 +v -0.395166 -3.328627 -0.506577 +v 0.036876 -3.760928 0.485083 +v -0.420602 -3.964309 -0.048751 +v 0.443664 -3.328627 -0.506577 +v 0.062312 -3.811807 -0.557493 +v 0.545407 -3.913430 -0.048751 +v -0.369730 -3.811807 0.357950 +v -0.801954 -3.328627 -0.226696 +v 0.799763 -3.354100 -0.074157 +v 0.087747 -4.015254 -0.455766 +v -0.013995 -3.328627 0.510593 +v 0.341922 -3.989782 0.307138 +v 0.748892 -3.328627 0.256222 +v -0.267988 -3.989782 0.256222 +v -1.056310 -3.328627 0.001956 +v -0.318859 -4.015254 -0.124968 +v -0.395166 -3.404979 0.434272 +v 0.164054 -4.015254 0.179900 +v 0.545407 -3.888091 0.078173 +v 0.138619 -3.964309 0.383356 +v 0.494536 -3.837145 -0.404745 +v -1.056310 -3.354100 0.001956 +v -0.751083 -3.354100 0.230817 +f 86 96 102 +f 67 65 72 +f 65 67 74 +f 71 70 79 +f 67 66 80 +f 74 67 80 +f 66 77 80 +f 73 65 81 +f 67 72 83 +f 72 76 83 +f 83 76 84 +f 66 67 84 +f 77 66 84 +f 67 83 84 +f 79 70 85 +f 78 69 86 +f 68 78 86 +f 69 81 86 +f 74 80 87 +f 80 77 87 +f 76 72 88 +f 75 85 88 +f 70 71 89 +f 76 70 89 +f 71 77 89 +f 84 76 89 +f 77 84 89 +f 65 74 90 +f 81 65 90 +f 79 73 91 +f 72 65 92 +f 65 73 92 +f 73 75 92 +f 88 72 92 +f 75 88 92 +f 69 78 93 +f 78 68 93 +f 68 82 93 +f 74 87 94 +f 71 79 95 +f 82 71 95 +f 93 82 95 +f 86 81 96 +f 90 74 96 +f 81 90 96 +f 91 69 97 +f 79 91 97 +f 69 93 97 +f 95 79 97 +f 93 95 97 +f 75 73 98 +f 73 79 98 +f 85 75 98 +f 79 85 98 +f 73 81 99 +f 81 69 99 +f 69 91 99 +f 91 73 99 +f 70 76 100 +f 85 70 100 +f 76 88 100 +f 88 85 100 +f 77 71 101 +f 71 82 101 +f 82 68 101 +f 87 77 101 +f 68 94 101 +f 94 87 101 +f 68 86 102 +f 94 68 102 +f 74 94 102 +f 96 74 102 +o convex_2 +v -1.260072 -3.328627 0.001993 +v -0.878478 -2.667495 0.027347 +v -0.878478 -2.667495 0.001993 +v -3.090943 -2.947260 0.001993 +v -0.878478 -3.048798 0.281718 +v -0.878478 -3.099664 -0.252326 +v -2.785582 -2.972693 0.230854 +v -2.633117 -2.972693 -0.201462 +v -2.734688 -3.175964 0.078210 +v -0.878478 -3.303129 -0.201462 +v -2.633117 -2.769228 -0.023413 +v -0.954926 -2.769228 -0.201462 +v -0.878478 -3.226830 0.230854 +v -1.260072 -2.769228 0.205344 +v -2.556885 -3.150531 -0.125140 +v -1.921256 -3.175964 0.230854 +v -2.658239 -2.794661 0.078210 +v -2.480220 -2.820094 -0.150598 +v -0.904033 -3.328627 0.103616 +v -0.878478 -2.794661 0.230854 +v -1.260072 -3.277696 -0.201462 +v -1.412536 -2.998061 -0.252326 +v -2.760243 -3.175964 0.001993 +v -2.810920 -2.998061 -0.176004 +v -1.311182 -2.972693 0.281718 +v -1.132946 -2.743795 -0.176004 +v -2.251307 -2.820094 0.179938 +v -3.090943 -2.998061 0.052752 +v -2.810920 -2.794661 -0.023413 +v -2.582007 -3.099664 0.205344 +v -0.878478 -2.972693 -0.252326 +v -2.734688 -2.947260 0.230854 +v -2.124397 -3.023365 -0.226868 +v -1.972366 -2.794661 -0.176004 +v -0.929371 -3.328627 -0.150598 +v -2.709133 -3.048798 -0.176004 +v -2.810920 -2.794661 0.027347 +v -2.149952 -3.023365 0.256260 +v -2.785582 -2.947260 -0.176004 +v -1.158501 -2.794661 0.230854 +v -3.065388 -2.998061 -0.023413 +v -0.878478 -2.743795 -0.176004 +v -1.743236 -2.921827 -0.226868 +v -2.785582 -2.998061 0.230854 +f 140 109 146 +f 105 104 107 +f 105 107 108 +f 108 107 112 +f 104 105 113 +f 112 107 115 +f 115 107 118 +f 104 113 119 +f 116 104 119 +f 111 103 121 +f 112 115 121 +f 118 111 121 +f 115 118 121 +f 107 104 122 +f 104 116 122 +f 108 112 123 +f 103 111 125 +f 117 123 125 +f 107 122 127 +f 113 105 128 +f 116 119 129 +f 109 106 130 +f 125 111 130 +f 113 120 131 +f 111 118 132 +f 105 108 133 +f 124 114 133 +f 108 124 133 +f 109 127 134 +f 129 119 134 +f 108 123 135 +f 110 124 135 +f 124 108 135 +f 110 120 136 +f 120 113 136 +f 113 128 136 +f 128 114 136 +f 121 103 137 +f 112 121 137 +f 123 112 137 +f 103 125 137 +f 125 123 137 +f 123 117 138 +f 117 125 138 +f 126 110 138 +f 125 126 138 +f 135 123 138 +f 110 135 138 +f 106 109 139 +f 119 113 139 +f 131 106 139 +f 113 131 139 +f 109 134 139 +f 134 119 139 +f 118 107 140 +f 107 127 140 +f 127 109 140 +f 120 110 141 +f 126 106 141 +f 110 126 141 +f 106 131 141 +f 131 120 141 +f 122 116 142 +f 127 122 142 +f 116 129 142 +f 134 127 142 +f 129 134 142 +f 106 126 143 +f 126 125 143 +f 130 106 143 +f 125 130 143 +f 128 105 144 +f 114 128 144 +f 105 133 144 +f 133 114 144 +f 124 110 145 +f 114 124 145 +f 110 136 145 +f 136 114 145 +f 109 130 146 +f 130 111 146 +f 111 132 146 +f 132 118 146 +f 118 140 146 +o convex_3 +v 0.062167 -2.642097 0.586885 +v -0.090177 -3.048833 -0.557493 +v -0.293473 -3.048833 -0.531953 +v 0.443876 -3.328552 0.484949 +v -0.878308 -3.328552 0.128955 +v 0.850637 -2.743799 -0.226815 +v -0.522329 -2.565857 -0.404813 +v 0.494658 -3.328552 -0.481097 +v -0.878308 -2.743799 0.230667 +v 0.469267 -2.565857 -0.481097 +v 0.494658 -2.565857 0.459633 +v 0.850637 -3.277627 0.230779 +v -0.878308 -3.303089 -0.201387 +v -0.445987 -2.565857 0.510377 +v -0.395206 -3.277627 0.459521 +v -0.395206 -3.328552 -0.506525 +v 0.850637 -2.820114 0.281636 +v 0.850637 -3.048833 -0.328528 +v -0.878308 -2.769263 -0.201387 +v 0.087727 -2.565857 -0.557493 +v -0.751185 -2.565857 0.052670 +v -0.878308 -3.074221 0.281524 +v 0.698123 -2.565857 0.052670 +v 0.825246 -3.328552 -0.074247 +v -0.013836 -3.328552 0.510377 +v 0.418316 -3.150536 -0.531953 +v 0.850637 -3.048833 0.332380 +v -0.445987 -2.667560 -0.481097 +v -0.878308 -3.099684 -0.252244 +v 0.443876 -2.565857 0.510377 +v 0.087727 -3.328552 -0.557493 +v 0.443876 -3.175924 0.510377 +v -0.013836 -2.718411 0.586885 +v -0.090177 -2.565857 -0.557493 +v -0.801967 -3.328552 0.230667 +v 0.850637 -3.252238 -0.201387 +v -0.395206 -3.125072 0.484949 +v 0.850637 -2.769263 0.256207 +v -0.878308 -2.667560 0.002038 +v 0.418316 -2.896353 -0.531953 +v -0.064617 -2.565857 0.586885 +v -0.420597 -2.921817 -0.506525 +v 0.672732 -2.565857 -0.150531 +v 0.850637 -2.692948 -0.023278 +v 0.748904 -3.328552 0.281636 +v 0.850637 -2.947205 -0.328528 +v 0.011386 -3.201387 0.535805 +v -0.496769 -2.565857 0.484949 +v -0.445987 -2.667560 0.510377 +v -0.878308 -3.328552 -0.175959 +v -0.878308 -2.972518 -0.252244 +v -0.471378 -2.565857 -0.455669 +f 174 197 198 +f 150 151 154 +f 156 153 157 +f 151 155 159 +f 157 153 160 +f 149 148 162 +f 154 151 162 +f 158 152 163 +f 152 158 164 +f 159 155 165 +f 153 156 166 +f 160 153 167 +f 155 151 168 +f 156 157 169 +f 150 154 170 +f 151 150 171 +f 164 154 172 +f 158 163 173 +f 162 159 175 +f 159 165 175 +f 157 160 176 +f 173 163 176 +f 162 148 177 +f 154 162 177 +f 148 166 177 +f 172 154 177 +f 166 172 177 +f 150 173 178 +f 176 147 178 +f 173 176 178 +f 178 147 179 +f 148 149 180 +f 166 148 180 +f 153 166 180 +f 168 151 181 +f 161 168 181 +f 151 171 181 +f 171 161 181 +f 154 164 182 +f 164 158 182 +f 170 154 182 +f 158 170 182 +f 168 161 183 +f 163 152 184 +f 169 157 184 +f 157 176 184 +f 176 163 184 +f 153 165 185 +f 165 155 185 +f 155 167 185 +f 167 153 185 +f 166 156 186 +f 164 172 186 +f 172 166 186 +f 147 176 187 +f 176 160 187 +f 179 147 187 +f 149 162 188 +f 162 175 188 +f 180 149 188 +f 174 180 188 +f 152 156 189 +f 156 169 189 +f 189 169 190 +f 184 152 190 +f 169 184 190 +f 152 189 190 +f 150 170 191 +f 170 158 191 +f 173 150 191 +f 158 173 191 +f 156 152 192 +f 152 164 192 +f 186 156 192 +f 164 186 192 +f 171 150 193 +f 161 171 193 +f 150 178 193 +f 178 179 193 +f 183 161 193 +f 179 183 193 +f 167 155 194 +f 160 167 194 +f 155 168 194 +f 194 168 195 +f 168 183 195 +f 183 179 195 +f 187 160 195 +f 179 187 195 +f 160 194 195 +f 151 159 196 +f 162 151 196 +f 159 162 196 +f 175 165 197 +f 188 175 197 +f 174 188 197 +f 165 153 198 +f 153 180 198 +f 180 174 198 +f 197 165 198 +o convex_4 +v 1.918923 -2.972670 0.307143 +v 0.850806 -3.048818 -0.328618 +v 0.850806 -3.201457 -0.252311 +v 2.757693 -3.048818 -0.252311 +v 0.850806 -2.718292 0.078223 +v 0.850806 -3.252298 0.230837 +v 2.732571 -2.820032 -0.048826 +v 2.707233 -3.176036 0.027352 +v 1.105274 -2.794611 -0.277746 +v 0.850806 -2.769190 0.256272 +v 2.681678 -2.947250 0.256272 +v 0.952593 -3.303196 -0.048826 +v 3.063272 -2.998091 0.027352 +v 2.300084 -2.820032 0.205401 +v 0.850806 -3.023397 0.332579 +v 1.791797 -3.176036 0.230837 +v 2.478103 -3.150501 -0.176004 +v 0.850806 -2.743770 -0.176004 +v 2.757693 -2.998091 -0.252311 +v 0.876361 -3.303196 0.103658 +v 2.020494 -3.048818 -0.303182 +v 2.757693 -2.820032 0.027352 +v 1.512207 -3.201457 -0.226875 +v 2.427426 -2.870988 -0.201440 +v 1.105274 -2.718292 -0.023390 +v 2.630568 -3.023397 0.230837 +v 0.850806 -2.947250 -0.328618 +v 1.054597 -3.226877 0.256272 +v 1.766458 -2.820032 0.256272 +v 1.791797 -3.023397 0.307143 +v 3.037717 -2.947250 -0.023390 +v 1.741120 -2.947250 -0.303182 +v 1.613778 -2.921829 0.307143 +v 1.028826 -3.252298 0.230837 +v 0.850806 -3.252298 -0.201440 +v 2.452548 -3.125080 0.179965 +v 2.681678 -3.176036 -0.023390 +v 2.579890 -2.820032 0.129094 +v 3.037717 -3.023397 -0.023390 +v 0.850806 -2.794611 -0.277746 +v 2.910591 -2.947250 0.129094 +f 220 236 239 +f 200 201 203 +f 203 201 204 +f 203 204 208 +f 203 208 212 +f 208 204 213 +f 200 203 216 +f 205 207 216 +f 210 206 218 +f 201 200 219 +f 217 202 219 +f 202 215 221 +f 215 210 221 +f 201 219 221 +f 219 202 221 +f 207 205 222 +f 217 207 222 +f 205 217 222 +f 216 203 223 +f 205 216 223 +f 220 205 223 +f 206 211 224 +f 211 209 224 +f 200 216 225 +f 219 200 225 +f 213 204 226 +f 212 208 227 +f 209 212 227 +f 209 199 228 +f 199 213 228 +f 224 209 228 +f 214 224 228 +f 213 226 228 +f 226 214 228 +f 202 217 229 +f 217 205 229 +f 205 220 229 +f 207 217 230 +f 217 219 230 +f 225 207 230 +f 219 225 230 +f 199 209 231 +f 213 199 231 +f 208 213 231 +f 227 208 231 +f 209 227 231 +f 206 214 232 +f 204 218 232 +f 218 206 232 +f 226 204 232 +f 214 226 232 +f 204 201 233 +f 218 204 233 +f 210 218 233 +f 201 221 233 +f 221 210 233 +f 214 206 234 +f 206 224 234 +f 224 214 234 +f 206 210 235 +f 215 202 235 +f 210 215 235 +f 203 212 236 +f 212 209 236 +f 223 203 236 +f 220 223 236 +f 211 206 237 +f 202 229 237 +f 229 211 237 +f 206 235 237 +f 235 202 237 +f 216 207 238 +f 225 216 238 +f 207 225 238 +f 209 211 239 +f 211 229 239 +f 229 220 239 +f 236 209 239 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/203/203.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/203/203.urdf new file mode 100644 index 000000000..f60bc9818 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/203/203.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/204/204.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/204/204.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/204/204.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/204/204.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/204/204.obj new file mode 100644 index 000000000..87009d1eb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/204/204.obj @@ -0,0 +1,576 @@ +o convex_0 +v -0.263119 -1.422676 -3.387263 +v 0.356333 -1.944144 -3.061186 +v 0.323612 -1.911582 -2.083539 +v -0.361001 -1.944144 -3.354558 +v -0.361001 -1.520481 -1.594131 +v 0.356333 -1.455237 -3.582910 +v 0.225800 -1.455237 -1.627031 +v -0.263119 -2.009388 -1.594131 +v 0.356333 -2.042071 -3.452479 +v 0.291102 -1.911582 -1.594131 +v -0.361001 -1.878960 -3.452479 +v 0.030176 -1.422676 -3.550205 +v 0.193220 -2.042071 -3.452479 +v -0.002334 -1.455237 -1.594131 +v 0.356333 -2.042071 -3.093697 +v 0.323612 -1.716093 -2.181265 +v -0.361001 -1.618287 -1.594131 +v 0.258381 -1.553043 -3.582910 +v -0.165307 -2.009388 -1.594131 +v -0.034915 -1.422676 -2.637383 +v 0.356333 -1.455237 -3.354558 +v -0.263119 -1.455237 -3.484989 +v -0.263119 -1.878960 -3.484989 +v -0.328351 -1.487859 -1.855187 +v 0.291102 -1.944144 -1.789972 +v -0.361001 -1.520481 -1.855187 +v -0.263119 -2.009388 -1.887892 +v 0.291102 -1.781155 -1.594131 +f 16 7 28 +f 6 2 9 +f 5 8 10 +f 4 5 11 +f 4 11 13 +f 5 10 14 +f 2 3 15 +f 9 2 15 +f 3 10 15 +f 8 13 15 +f 13 9 15 +f 3 2 16 +f 5 4 17 +f 4 8 17 +f 8 5 17 +f 6 9 18 +f 12 6 18 +f 9 13 18 +f 10 8 19 +f 8 15 19 +f 12 1 20 +f 1 14 20 +f 14 7 20 +f 2 6 21 +f 6 12 21 +f 16 2 21 +f 7 16 21 +f 12 20 21 +f 20 7 21 +f 11 1 22 +f 1 12 22 +f 22 12 23 +f 13 11 23 +f 12 18 23 +f 18 13 23 +f 11 22 23 +f 1 5 24 +f 14 1 24 +f 5 14 24 +f 15 10 25 +f 10 19 25 +f 19 15 25 +f 5 1 26 +f 1 11 26 +f 11 5 26 +f 8 4 27 +f 4 13 27 +f 13 8 27 +f 10 3 28 +f 7 14 28 +f 14 10 28 +f 3 16 28 +o convex_1 +v -0.491349 -3.900447 1.438337 +v -0.393505 -2.042339 2.057755 +v 0.454100 -2.042339 1.992453 +v -0.524032 -2.042339 1.014509 +v 0.519364 -4.682879 0.981858 +v 0.356256 -4.780717 1.959802 +v 0.486681 -2.107743 1.014509 +v -0.458769 -4.715313 2.024998 +v -0.458769 -4.617476 1.014509 +v -0.524032 -2.042339 1.699017 +v 0.454100 -4.715313 1.764213 +v -0.458769 -3.639637 2.057755 +v 0.486681 -2.042339 1.764213 +v 0.454100 -2.857473 1.992453 +v 0.519364 -3.411528 1.275294 +v 0.486681 -2.042339 1.047054 +v -0.230500 -4.748015 2.024998 +v -0.458769 -4.650177 1.079705 +v -0.524032 -2.759635 1.731562 +v -0.458769 -2.042339 2.057755 +v 0.291095 -4.780717 1.796864 +v -0.491349 -4.128556 1.927151 +v 0.421520 -4.780717 1.927151 +v -0.524032 -2.368553 1.014509 +v -0.360925 -4.748015 1.959907 +v 0.519364 -4.682879 1.112356 +v 0.519364 -3.150985 1.242748 +v 0.519364 -3.574501 1.014509 +v -0.426188 -3.639637 2.057755 +f 45 42 57 +f 30 31 32 +f 33 32 35 +f 30 32 38 +f 32 31 41 +f 31 30 42 +f 41 31 42 +f 42 39 43 +f 41 42 43 +f 35 32 44 +f 32 41 44 +f 40 36 45 +f 34 42 45 +f 29 37 46 +f 37 33 46 +f 38 32 47 +f 30 38 48 +f 40 30 48 +f 38 47 48 +f 46 33 49 +f 36 40 50 +f 29 46 50 +f 46 36 50 +f 47 29 50 +f 40 48 50 +f 48 47 50 +f 39 42 51 +f 42 34 51 +f 49 33 51 +f 34 49 51 +f 32 33 52 +f 37 29 52 +f 33 37 52 +f 29 47 52 +f 47 32 52 +f 34 45 53 +f 45 36 53 +f 36 46 53 +f 49 34 53 +f 46 49 53 +f 33 43 54 +f 43 39 54 +f 51 33 54 +f 39 51 54 +f 43 33 55 +f 41 43 55 +f 44 41 55 +f 44 55 56 +f 33 35 56 +f 35 44 56 +f 55 33 56 +f 30 40 57 +f 42 30 57 +f 40 45 57 +o convex_2 +v -0.491254 -1.584673 -1.594131 +v 0.225800 -1.454826 0.590479 +v 0.128058 -1.454826 0.590479 +v 0.421494 3.403151 -1.072356 +v -1.078336 3.337313 0.492539 +v 1.073457 3.403151 0.557761 +v 0.943064 -2.596014 -1.430969 +v -1.045685 -2.758780 0.557761 +v -0.947733 3.272085 -1.561413 +v 1.073457 3.337923 -1.561413 +v 1.008366 -2.758780 0.525043 +v -1.045685 -2.824008 -1.430969 +v 0.291102 -1.911423 -1.594131 +v -0.915082 3.174548 -1.594131 +v 1.073668 2.097978 -1.528695 +v 0.975715 -2.726471 -0.713529 +v -0.589206 3.403151 -0.974417 +v -0.621646 -2.269873 0.590479 +v -1.078336 3.337313 0.198934 +v 0.975715 -2.791699 0.492325 +v 1.073668 2.163206 0.557761 +v 0.551887 1.511533 -1.594131 +v -1.078336 1.054936 0.492539 +v 0.780232 3.403151 0.557761 +v 0.910414 -2.693552 -1.398252 +v 0.747581 -2.596014 0.557761 +v 1.041017 -1.030538 0.525043 +v -0.589206 3.403151 0.068704 +v 1.008366 -2.758780 0.101209 +v 1.073668 2.587494 -1.561413 +v -0.980384 -2.791699 0.068704 +v -0.263119 -2.008961 -1.594131 +v -0.980384 1.511533 -1.528695 +v -0.817340 -2.824618 -1.268022 +v -0.230468 3.370232 0.525257 +v 0.356193 -1.552363 0.590479 +v 0.682279 -2.693552 -1.430969 +v 0.421494 3.337313 -1.561413 +v -0.882642 3.305004 -1.495977 +v 1.073457 3.370232 -1.007135 +v -0.915082 2.880716 -1.594131 +v 0.193149 -2.236955 0.590479 +v 1.041017 0.859861 0.557761 +v -1.045685 -2.660633 -1.430969 +v 0.616978 0.630648 -1.594131 +v 0.975715 -1.617592 -1.430969 +v 0.975715 -2.791699 0.427318 +v 0.714930 3.370232 0.557761 +v -0.980384 3.272085 -1.170082 +v -0.230468 -1.487135 0.590479 +v -1.013034 -1.878504 -1.463687 +v -1.045685 -2.432639 0.557761 +v -0.458813 -2.758780 0.557761 +v 1.073457 3.403151 0.231652 +f 87 97 111 +f 60 59 63 +f 70 58 71 +f 63 61 74 +f 59 60 75 +f 62 74 76 +f 71 67 79 +f 70 71 79 +f 65 62 80 +f 69 65 80 +f 62 76 80 +f 76 69 80 +f 60 63 81 +f 63 74 81 +f 64 73 82 +f 78 68 84 +f 72 78 84 +f 74 62 85 +f 81 74 85 +f 73 72 86 +f 68 77 86 +f 84 68 86 +f 72 84 86 +f 64 70 87 +f 72 64 87 +f 63 78 87 +f 78 72 87 +f 65 69 88 +f 77 65 88 +f 69 58 89 +f 58 70 89 +f 66 71 90 +f 69 82 91 +f 88 69 91 +f 77 88 91 +f 62 75 92 +f 85 62 92 +f 81 85 92 +f 63 59 93 +f 59 75 93 +f 78 63 93 +f 70 64 94 +f 64 82 94 +f 82 69 94 +f 69 89 94 +f 89 70 94 +f 61 67 95 +f 71 66 95 +f 67 71 95 +f 74 61 95 +f 74 95 96 +f 66 76 96 +f 76 74 96 +f 95 66 96 +f 67 61 97 +f 87 67 97 +f 71 58 98 +f 90 71 98 +f 69 90 98 +f 93 75 99 +f 83 93 99 +f 68 78 100 +f 83 68 100 +f 78 93 100 +f 93 83 100 +f 69 76 101 +f 90 69 101 +f 76 90 101 +f 79 67 102 +f 70 79 102 +f 67 87 102 +f 87 70 102 +f 64 72 103 +f 73 64 103 +f 72 73 103 +f 82 73 104 +f 73 86 104 +f 86 77 104 +f 77 91 104 +f 91 82 104 +f 92 75 105 +f 81 92 105 +f 76 66 106 +f 66 90 106 +f 90 76 106 +f 75 60 107 +f 60 81 107 +f 105 75 107 +f 81 105 107 +f 58 69 108 +f 98 58 108 +f 69 98 108 +f 62 65 109 +f 75 62 109 +f 65 75 109 +f 75 65 110 +f 65 77 110 +f 77 68 110 +f 68 83 110 +f 99 75 110 +f 83 99 110 +f 61 63 111 +f 63 87 111 +f 97 61 111 +o convex_3 +v 0.519255 5.131067 -1.007084 +v -0.360925 3.598992 0.068781 +v -0.523917 3.598992 0.068781 +v 0.421373 3.403540 -1.072433 +v -0.589136 5.261498 -1.007195 +v 0.486700 5.392124 -0.029076 +v -0.589136 3.403540 -0.974576 +v -0.589136 5.359224 -0.029076 +v 0.421373 3.403540 -0.061694 +v -0.589136 3.403540 0.068781 +v 0.356263 5.294009 -1.007195 +v 0.486700 4.544323 -0.029076 +v 0.454145 3.598992 -1.072433 +v -0.589136 5.294009 -0.941957 +v 0.193271 3.501266 -1.072433 +v 0.519255 5.359224 -0.453009 +v 0.323708 5.000637 0.003543 +v 0.388818 3.468561 -0.029076 +v 0.454145 3.631697 -0.159551 +v 0.030170 5.392124 -0.094313 +v -0.426035 3.403540 -1.007195 +v 0.519255 5.294203 -0.974465 +v 0.519255 5.326714 -0.192170 +v 0.388818 5.392124 -0.192170 +v -0.589136 5.359224 -0.224677 +v 0.193271 3.664207 -1.072433 +f 124 126 137 +f 116 118 119 +f 118 115 120 +f 118 120 121 +f 113 114 121 +f 119 118 121 +f 114 119 121 +f 120 115 124 +f 122 112 124 +f 116 119 125 +f 122 116 125 +f 124 115 126 +f 114 113 128 +f 119 114 128 +f 117 119 128 +f 123 117 128 +f 123 128 129 +f 121 120 129 +f 113 121 129 +f 120 123 129 +f 128 113 129 +f 123 120 130 +f 120 124 130 +f 124 112 130 +f 119 117 131 +f 115 118 132 +f 118 116 132 +f 126 115 132 +f 116 126 132 +f 112 122 133 +f 127 112 133 +f 122 127 133 +f 117 123 134 +f 112 127 134 +f 127 117 134 +f 130 112 134 +f 123 130 134 +f 122 125 135 +f 127 122 135 +f 117 127 135 +f 131 117 135 +f 125 131 135 +f 125 119 136 +f 119 131 136 +f 131 125 136 +f 116 122 137 +f 122 124 137 +f 126 116 137 +o convex_4 +v -0.491381 -2.042007 1.894532 +v 0.486758 -1.390076 1.829231 +v 0.454107 -1.390076 1.992287 +v -0.524032 -1.390076 1.014544 +v 0.258499 -1.976776 0.590479 +v 0.160645 -2.042007 2.579408 +v -0.295773 -1.455244 2.546757 +v 0.356253 -1.487859 0.590479 +v 0.486758 -2.042007 1.046997 +v -0.524032 -2.042007 1.014544 +v -0.263122 -1.683490 0.590479 +v 0.454107 -2.042007 1.992287 +v 0.258499 -1.422628 2.514106 +v -0.524032 -1.390076 1.698825 +v 0.486758 -1.390076 1.046997 +v -0.197821 -1.878992 2.612058 +v -0.230571 -1.455244 0.590479 +v -0.263122 -1.944160 0.590479 +v -0.458731 -1.390076 2.057390 +v -0.458731 -2.042007 2.057390 +v 0.258499 -1.553091 2.546757 +v 0.486758 -2.042007 1.764127 +v -0.524032 -2.042007 1.698825 +v -0.328226 -1.390076 2.220447 +v 0.323701 -1.390076 0.949242 +v 0.193296 -2.009391 2.579408 +v -0.230571 -1.716042 2.612058 +v 0.062792 -2.042007 2.579408 +f 153 157 165 +f 140 139 141 +f 142 145 146 +f 143 138 146 +f 142 146 147 +f 146 138 147 +f 145 142 148 +f 147 141 148 +f 139 140 149 +f 143 146 149 +f 140 141 151 +f 141 147 151 +f 141 139 152 +f 146 145 152 +f 139 146 152 +f 148 141 154 +f 145 148 154 +f 142 147 155 +f 148 142 155 +f 147 148 155 +f 140 151 156 +f 151 138 156 +f 138 143 157 +f 156 138 157 +f 144 156 157 +f 149 140 158 +f 140 150 158 +f 146 139 159 +f 139 149 159 +f 149 146 159 +f 147 138 160 +f 138 151 160 +f 151 147 160 +f 150 140 161 +f 144 150 161 +f 156 144 161 +f 140 156 161 +f 141 152 162 +f 152 145 162 +f 154 141 162 +f 145 154 162 +f 143 149 163 +f 153 143 163 +f 149 158 163 +f 163 158 164 +f 150 144 164 +f 157 153 164 +f 144 157 164 +f 158 150 164 +f 153 163 164 +f 143 153 165 +f 157 143 165 +o convex_5 +v 0.095475 -1.389674 0.949258 +v 0.160566 1.315922 2.090249 +v -0.035023 1.315922 2.090249 +v 0.323714 -1.389949 2.090249 +v -0.458746 -1.389674 2.057630 +v -0.589244 1.348583 1.014384 +v 0.454107 1.381517 1.079734 +v -0.523943 -1.389674 1.014384 +v 0.486758 -1.389949 1.047115 +v 0.486758 1.381517 2.057630 +v -0.426096 1.250876 2.090249 +v 0.486758 -1.324353 1.861917 +v -0.589244 1.413903 1.177590 +v -0.556593 -1.357014 1.503667 +v 0.356260 -0.835271 0.949258 +v 0.486758 1.185555 1.079734 +v -0.491397 1.152895 1.829298 +v 0.062824 1.413903 1.047115 +v 0.454107 -1.259307 2.025123 +v -0.426096 -0.607198 2.090249 +v -0.589244 0.142344 1.047115 +v -0.002372 -0.541877 0.949258 +v 0.454107 1.152895 1.047115 +v -0.589244 0.859500 1.275335 +v 0.421456 0.011977 2.090249 +v -0.556593 -1.096005 1.014384 +v 0.323714 -1.389949 0.949258 +v 0.486758 0.305097 2.057630 +v -0.458746 -0.607198 2.057630 +v 0.454107 -1.389949 1.992392 +v 0.486758 0.435739 1.047115 +v 0.356260 1.381517 2.057630 +v 0.486758 1.381517 1.177590 +f 183 175 198 +f 167 168 169 +f 169 170 173 +f 168 167 175 +f 169 168 176 +f 174 175 177 +f 176 168 178 +f 173 170 179 +f 175 174 181 +f 176 178 182 +f 171 178 183 +f 178 175 183 +f 170 169 185 +f 169 176 185 +f 176 170 185 +f 178 171 186 +f 166 173 187 +f 180 166 187 +f 171 180 187 +f 180 171 188 +f 172 181 188 +f 183 172 188 +f 171 183 188 +f 182 178 189 +f 178 186 189 +f 186 179 189 +f 167 169 190 +f 175 167 190 +f 169 184 190 +f 173 179 191 +f 186 171 191 +f 179 186 191 +f 187 173 191 +f 171 187 191 +f 173 166 192 +f 169 173 192 +f 174 169 192 +f 166 180 192 +f 180 174 192 +f 177 175 193 +f 184 177 193 +f 175 190 193 +f 190 184 193 +f 170 176 194 +f 179 170 194 +f 176 182 194 +f 182 189 194 +f 189 179 194 +f 169 174 195 +f 174 177 195 +f 184 169 195 +f 177 184 195 +f 174 180 196 +f 181 174 196 +f 180 188 196 +f 188 181 196 +f 168 175 197 +f 178 168 197 +f 175 178 197 +f 181 172 198 +f 175 181 198 +f 172 183 198 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/204/204.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/204/204.urdf new file mode 100644 index 000000000..cb0f02f73 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/204/204.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/205/205.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/205/205.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/205/205.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/205/205.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/205/205.obj new file mode 100644 index 000000000..0dfe19d43 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/205/205.obj @@ -0,0 +1,858 @@ +o convex_0 +v -2.576159 -1.954032 0.596547 +v 1.047251 -0.142256 0.920181 +v 1.047251 -0.142256 -0.082632 +v 2.762332 -2.115897 0.046451 +v -2.026461 -1.403914 -0.988685 +v -2.770585 -0.595256 0.046451 +v 0.076295 -0.142256 -1.021007 +v 2.729927 -1.339168 -0.762017 +v -2.058865 -2.180421 -0.729695 +v 2.115421 -2.115897 0.790892 +v -0.925887 -0.142256 0.984826 +v 2.729927 -0.595256 0.111095 +v -1.994056 -1.371541 1.049676 +v 2.018207 -2.051151 -0.794546 +v -2.026461 -2.407031 0.078979 +v 2.147825 -1.307017 1.049676 +v -2.770585 -1.339390 -0.729695 +v -0.958291 -0.142256 -0.859190 +v 2.018207 -1.403914 -1.021213 +v 2.050612 -2.342507 -0.050310 +v 1.014847 -0.142256 -0.923835 +v -2.026461 -2.148270 0.758364 +v -2.802990 -1.339390 0.790686 +v 2.762332 -1.307017 0.823214 +v -2.802990 -2.148048 -0.017988 +v 0.076295 -0.142256 1.081998 +v 2.989163 -1.307017 -0.017782 +v -3.029821 -1.307017 -0.017988 +v 1.305898 -1.371319 1.081998 +v -2.091270 -0.627629 0.823214 +v 2.147825 -0.595256 0.790892 +v 2.567905 -0.789271 -0.503439 +v -2.511939 -0.789493 -0.568084 +v -0.861667 -2.212794 -0.697373 +v 1.176869 -2.115897 0.823008 +v 0.594178 -1.436287 -1.021007 +v -2.026461 -2.374658 -0.179805 +v -1.055505 -0.142256 0.952503 +v 2.050612 -2.342507 0.078979 +v 2.050612 -0.368645 0.014334 +v 2.567905 -1.921659 -0.568084 +v -2.608563 -1.954032 -0.568084 +v 2.018207 -2.115897 -0.729695 +v 2.600309 -1.889286 0.628869 +v -2.123674 -0.401018 0.014540 +v -1.799629 -2.148270 -0.762017 +v -2.608563 -0.789493 0.596547 +v 2.729927 -0.595256 0.014334 +v -1.994056 -0.660001 -0.762017 +v 2.600309 -0.821866 0.661397 +v 2.762332 -2.115897 -0.050310 +v -2.770585 -0.595256 -0.017988 +v -2.770585 -1.436287 -0.729695 +v -2.770585 -2.148048 0.111095 +v -2.997417 -1.565557 0.046451 +v 2.083016 -1.533184 1.017354 +v -1.994056 -1.468660 -0.988685 +v 2.989163 -1.436287 0.014334 +v -2.802990 -1.403914 0.790686 +v -1.767225 -1.403914 1.049676 +v 2.050612 -2.180643 0.628869 +v 2.762332 -1.436287 0.790686 +v -1.476174 -2.407031 -0.050310 +v 2.729927 -1.403914 -0.762017 +f 58 51 64 +f 2 3 7 +f 2 7 11 +f 7 5 18 +f 11 7 18 +f 7 3 21 +f 19 7 21 +f 8 19 21 +f 2 11 26 +f 11 13 26 +f 16 2 26 +f 12 24 27 +f 23 6 28 +f 26 13 29 +f 16 26 29 +f 23 13 30 +f 12 2 31 +f 2 16 31 +f 16 24 31 +f 8 21 32 +f 22 15 35 +f 5 7 36 +f 7 19 36 +f 19 14 36 +f 25 9 37 +f 15 25 37 +f 9 34 37 +f 13 11 38 +f 11 18 38 +f 6 30 38 +f 30 13 38 +f 4 10 39 +f 20 4 39 +f 3 2 40 +f 2 12 40 +f 21 3 40 +f 9 25 42 +f 34 14 43 +f 20 34 43 +f 14 41 43 +f 10 4 44 +f 6 38 45 +f 38 18 45 +f 34 9 46 +f 14 34 46 +f 36 14 46 +f 6 23 47 +f 30 6 47 +f 23 30 47 +f 27 8 48 +f 12 27 48 +f 8 32 48 +f 32 21 48 +f 40 12 48 +f 21 40 48 +f 5 17 49 +f 18 5 49 +f 17 33 49 +f 33 18 49 +f 24 12 50 +f 12 31 50 +f 31 24 50 +f 4 20 51 +f 20 43 51 +f 43 41 51 +f 28 6 52 +f 17 28 52 +f 33 17 52 +f 18 33 52 +f 6 45 52 +f 45 18 52 +f 17 5 53 +f 28 17 53 +f 9 42 53 +f 42 25 53 +f 22 1 54 +f 15 22 54 +f 25 15 54 +f 28 53 55 +f 53 25 55 +f 25 54 55 +f 24 16 56 +f 16 29 56 +f 35 10 56 +f 29 35 56 +f 5 36 57 +f 46 9 57 +f 36 46 57 +f 53 5 57 +f 9 53 57 +f 27 24 58 +f 4 51 58 +f 1 22 59 +f 22 13 59 +f 13 23 59 +f 23 28 59 +f 54 1 59 +f 28 55 59 +f 55 54 59 +f 13 22 60 +f 29 13 60 +f 22 35 60 +f 35 29 60 +f 10 35 61 +f 35 15 61 +f 39 10 61 +f 15 39 61 +f 44 4 62 +f 10 44 62 +f 56 10 62 +f 24 56 62 +f 4 58 62 +f 58 24 62 +f 34 20 63 +f 15 37 63 +f 37 34 63 +f 39 15 63 +f 20 39 63 +f 19 8 64 +f 14 19 64 +f 8 27 64 +f 41 14 64 +f 51 41 64 +f 27 58 64 +o convex_1 +v -0.602728 1.411480 -0.956163 +v 0.044357 3.676477 0.046552 +v 0.044357 3.644104 0.111190 +v 1.306454 1.411480 0.014439 +v -0.796956 1.411480 1.017154 +v 0.756355 2.899748 -0.762043 +v 0.821012 2.867375 0.758396 +v -0.796956 2.931899 -0.697405 +v -0.732299 2.867153 0.790715 +v -1.314727 1.411480 -0.050199 +v 0.853341 1.411480 0.985041 +v 0.756355 1.411480 -0.988688 +v -0.764371 3.352747 0.078871 +v 0.788684 3.352747 -0.017880 +v -0.052373 3.158510 -0.794362 +v 0.076685 3.126137 0.823034 +v -1.249813 1.476226 -0.503284 +v 0.076685 1.638091 1.081998 +v 1.241541 1.508599 0.531956 +v -1.217485 1.443853 0.467318 +v 1.209212 1.508599 -0.438440 +v -0.020301 1.734988 -1.021007 +v -0.764371 1.605718 -0.923844 +v -0.020301 3.644104 -0.082724 +v -0.764371 3.352747 -0.050199 +v 0.756355 1.573123 -0.988688 +v -0.246601 3.093986 0.790715 +v -0.796956 2.770257 0.758396 +v 0.821012 1.832328 0.952516 +v 0.012028 3.255629 -0.697405 +v -0.635057 1.670464 1.017154 +v -1.314727 1.443853 0.014439 +v -1.023257 1.411480 -0.729724 +v 0.044357 1.411480 1.081998 +v 0.335571 3.546985 -0.050199 +v -0.958599 1.573123 0.823034 +v -0.052373 3.676477 0.046552 +v -0.764371 3.061391 0.531956 +v 0.788684 3.288002 0.143715 +v 0.756355 2.964272 -0.697405 +v -0.020301 3.126137 0.823034 +v -0.796956 3.287780 -0.017880 +v -0.084958 1.411480 -1.021007 +v 0.950327 1.411480 -0.794568 +v 0.432556 3.029240 0.790715 +v -0.796956 2.802629 -0.729724 +v 1.273869 1.443853 0.434793 +v -0.149615 3.190883 -0.729724 +v -0.796956 3.287780 0.078871 +v 1.306454 1.443853 0.014439 +v 0.012028 3.158510 -0.794362 +v 0.691442 1.573123 1.017360 +v -1.249813 1.540972 -0.406327 +v -0.020301 1.638091 1.081998 +v 1.176883 1.411480 0.628913 +v 0.788684 2.964272 0.661233 +v 0.044357 3.223256 0.726077 +v 0.303242 1.605496 -1.021007 +v -0.732299 3.385120 0.078871 +v -0.699714 2.964494 0.726077 +v 0.788684 3.320374 -0.082518 +v -0.376172 1.605718 -0.988688 +v -0.214272 3.611731 -0.017880 +v 1.209212 1.411480 -0.438440 +f 108 85 128 +f 65 68 69 +f 65 69 74 +f 69 68 75 +f 68 65 76 +f 74 69 84 +f 69 73 92 +f 73 69 95 +f 74 84 96 +f 84 92 96 +f 65 74 97 +f 74 81 97 +f 87 65 97 +f 69 75 98 +f 66 78 99 +f 88 66 99 +f 94 88 99 +f 84 69 100 +f 69 92 100 +f 92 84 100 +f 67 66 101 +f 66 88 101 +f 92 73 102 +f 66 67 103 +f 78 66 103 +f 71 83 103 +f 85 70 104 +f 70 94 104 +f 94 99 104 +f 82 80 105 +f 91 73 105 +f 73 95 105 +f 77 89 106 +f 89 72 106 +f 76 65 107 +f 68 76 108 +f 70 85 108 +f 90 70 108 +f 76 90 108 +f 93 71 109 +f 80 93 109 +f 72 79 110 +f 81 72 110 +f 97 81 110 +f 87 97 110 +f 78 103 111 +f 103 83 111 +f 79 72 112 +f 94 79 112 +f 88 94 112 +f 96 92 113 +f 92 102 113 +f 102 77 113 +f 77 106 113 +f 106 96 113 +f 68 85 114 +f 111 68 114 +f 78 111 114 +f 86 79 115 +f 70 90 115 +f 94 70 115 +f 79 94 115 +f 80 82 116 +f 93 80 116 +f 75 93 116 +f 98 75 116 +f 82 98 116 +f 72 81 117 +f 81 74 117 +f 74 96 117 +f 106 72 117 +f 96 106 117 +f 95 69 118 +f 69 98 118 +f 98 82 118 +f 82 105 118 +f 105 95 118 +f 75 68 119 +f 83 71 119 +f 71 93 119 +f 93 75 119 +f 68 111 119 +f 111 83 119 +f 103 67 120 +f 71 103 120 +f 67 109 120 +f 109 71 120 +f 67 101 121 +f 101 91 121 +f 105 80 121 +f 91 105 121 +f 109 67 121 +f 80 109 121 +f 90 76 122 +f 76 107 122 +f 107 86 122 +f 86 115 122 +f 115 90 122 +f 89 77 123 +f 77 102 123 +f 123 102 124 +f 73 91 124 +f 91 101 124 +f 102 73 124 +f 101 123 124 +f 99 78 125 +f 85 104 125 +f 104 99 125 +f 114 85 125 +f 78 114 125 +f 79 86 126 +f 65 87 126 +f 107 65 126 +f 86 107 126 +f 110 79 126 +f 87 110 126 +f 72 89 127 +f 101 88 127 +f 112 72 127 +f 88 112 127 +f 89 123 127 +f 123 101 127 +f 85 68 128 +f 68 108 128 +o convex_2 +v 1.274094 0.149300 -0.341610 +v 1.403713 1.411258 0.078833 +v 1.403713 1.411258 0.014404 +v 3.053909 0.602325 0.014404 +v 1.274094 0.505209 0.564275 +v 1.274094 1.249444 -0.406267 +v 2.827251 0.667159 -0.373995 +v 2.827251 0.246416 0.046676 +v 2.762616 0.667159 0.402461 +v 1.274094 1.281725 0.499504 +v 2.762616 1.055077 -0.050367 +v 1.403713 0.213998 0.467232 +v 1.274094 0.699440 -0.535809 +v 1.274094 0.019767 0.046676 +v 2.115743 0.213998 -0.341610 +v 2.083338 0.246416 0.402461 +v 1.306499 0.731585 0.629161 +v 2.600767 0.925816 0.305418 +v 2.568362 0.958097 -0.309224 +v 2.180030 0.634742 -0.471038 +v 2.083338 0.602325 0.531890 +v 1.306499 0.181581 -0.406267 +v 2.795020 0.569907 -0.373995 +v 2.147973 0.116883 0.046676 +v 1.338903 1.281725 -0.373995 +v 1.306499 1.314143 0.467232 +v 2.536132 0.343395 0.337804 +v 1.274094 1.411258 -0.082753 +v 3.053909 0.699440 0.014404 +v 2.633172 0.311114 -0.244453 +v 2.730037 1.055077 0.014404 +v 2.050934 0.537626 -0.471038 +v 2.083338 0.667159 0.531890 +v 1.274094 0.213998 0.467232 +v 2.827251 0.602325 0.337804 +v 2.697632 0.667159 -0.406267 +v 1.306499 0.763866 -0.535809 +v 1.371482 1.249444 0.499504 +v 2.050934 0.149300 -0.179796 +v 1.338903 1.249444 -0.406267 +v 2.859655 0.958097 0.014404 +v 2.827251 0.246416 0.014404 +v 2.050934 0.278697 0.434847 +v 2.050934 0.181581 0.273033 +v 2.050934 0.246416 -0.373995 +v 2.730037 0.602325 0.402461 +v 1.306499 0.019767 0.014404 +v 3.021504 0.602325 -0.082753 +v 2.795020 0.699440 0.370076 +v 2.956521 0.828701 -0.050367 +v 1.306499 1.411258 0.175990 +v 1.662601 0.181581 -0.373995 +v 1.306499 1.411258 -0.082753 +f 153 156 181 +f 129 133 134 +f 134 133 138 +f 131 130 139 +f 129 134 141 +f 133 129 142 +f 138 133 145 +f 139 135 147 +f 133 140 149 +f 145 133 149 +f 129 141 150 +f 139 147 153 +f 144 136 155 +f 130 131 156 +f 134 138 156 +f 153 134 156 +f 143 151 158 +f 139 130 159 +f 154 146 159 +f 141 148 160 +f 150 141 160 +f 149 137 161 +f 145 149 161 +f 140 133 162 +f 133 142 162 +f 142 140 162 +f 136 132 163 +f 155 136 163 +f 132 157 163 +f 147 135 164 +f 135 151 164 +f 160 148 164 +f 151 160 164 +f 141 134 165 +f 148 141 165 +f 164 148 165 +f 138 145 166 +f 137 146 166 +f 154 138 166 +f 146 154 166 +f 161 137 166 +f 145 161 166 +f 134 153 168 +f 153 147 168 +f 147 164 168 +f 165 134 168 +f 164 165 168 +f 139 159 169 +f 159 146 169 +f 132 136 170 +f 136 152 170 +f 143 158 170 +f 158 151 170 +f 167 143 170 +f 152 167 170 +f 140 144 171 +f 149 140 171 +f 144 155 171 +f 140 142 172 +f 136 144 172 +f 144 140 172 +f 152 136 172 +f 142 152 172 +f 151 143 173 +f 150 160 173 +f 160 151 173 +f 137 149 174 +f 155 163 174 +f 163 137 174 +f 149 171 174 +f 171 155 174 +f 142 129 175 +f 152 142 175 +f 167 152 175 +f 151 135 176 +f 157 132 176 +f 135 157 176 +f 132 170 176 +f 170 151 176 +f 146 137 177 +f 137 163 177 +f 163 157 177 +f 169 146 177 +f 157 169 177 +f 135 139 178 +f 157 135 178 +f 169 157 178 +f 139 169 178 +f 138 154 179 +f 130 156 179 +f 156 138 179 +f 159 130 179 +f 154 159 179 +f 129 150 180 +f 143 167 180 +f 173 143 180 +f 150 173 180 +f 175 129 180 +f 167 175 180 +f 131 139 181 +f 139 153 181 +f 156 131 181 +o convex_3 +v -1.282367 0.084487 0.014315 +v -1.282367 1.411258 0.078973 +v -1.282367 1.411258 -0.147271 +v -2.997293 0.699561 -0.050228 +v -1.347331 0.731899 0.596800 +v -1.606182 0.667093 -0.568169 +v -2.673646 0.634625 0.434986 +v -2.738275 0.278906 -0.017842 +v -2.770673 0.731899 -0.406241 +v -1.282367 0.278906 -0.438513 +v -2.706044 1.055280 0.014315 +v -1.282367 1.281646 0.434986 +v -1.347331 1.281646 -0.470899 +v -1.800404 0.278906 0.434986 +v -2.059254 0.278906 -0.373856 +v -1.282367 0.278906 0.467258 +v -1.282367 0.925797 -0.568169 +v -2.511823 0.925797 0.337829 +v -2.770673 0.634625 -0.406241 +v -2.608850 0.925797 -0.341470 +v -2.059254 0.278906 0.402601 +v -2.091485 0.634625 -0.535670 +v -2.803071 0.667093 0.337829 +v -2.576619 0.375920 0.305444 +v -2.059254 0.634625 0.532029 +v -2.706044 1.022812 -0.114999 +v -1.929829 0.149293 0.046587 +v -2.576619 0.375920 -0.309085 +v -1.994457 0.763847 -0.535670 +v -2.964895 0.634625 0.111358 +v -1.314933 1.216840 0.467258 +v -1.282367 0.796185 0.596800 +v -2.706044 0.731899 0.402601 +v -1.962059 0.731899 0.532029 +v -1.379730 1.411258 -0.082613 +v -1.314933 0.116955 0.143744 +v -2.770673 1.022812 0.014315 +v -1.282367 0.667093 -0.568169 +v -2.059254 0.311114 -0.406241 +v -1.929829 0.149293 -0.017842 +v -1.314933 1.313984 -0.438513 +v -1.314933 1.281646 0.434986 +v -1.509155 0.246438 -0.406241 +v -2.803071 0.343452 0.046587 +v -2.997293 0.634625 -0.050228 +v -2.706044 0.569948 0.402601 +v -1.541553 1.216840 -0.470899 +v -2.576619 0.958135 0.273172 +v -1.929829 0.569948 0.532029 +v -2.706044 0.278906 0.046587 +v -2.803071 0.343452 -0.050228 +v -1.314933 1.411258 0.078973 +v -2.997293 0.699561 0.046587 +v -1.282367 1.216840 -0.503284 +f 210 228 235 +f 184 183 182 +f 184 182 191 +f 182 183 193 +f 182 193 197 +f 184 191 198 +f 185 190 200 +f 187 191 203 +f 200 190 203 +f 190 185 207 +f 201 190 207 +f 196 189 209 +f 198 187 210 +f 187 203 210 +f 203 190 210 +f 197 193 213 +f 186 197 213 +f 193 212 213 +f 204 188 214 +f 212 214 215 +f 206 186 215 +f 188 206 215 +f 213 212 215 +f 186 213 215 +f 214 188 215 +f 183 184 216 +f 207 192 216 +f 182 197 217 +f 197 195 217 +f 195 202 217 +f 208 182 217 +f 202 208 217 +f 207 185 218 +f 192 207 218 +f 191 187 219 +f 187 198 219 +f 198 191 219 +f 203 191 220 +f 200 203 220 +f 196 209 220 +f 209 200 220 +f 196 182 221 +f 189 196 221 +f 182 208 221 +f 208 189 221 +f 201 207 222 +f 216 184 222 +f 207 216 222 +f 193 183 223 +f 212 193 223 +f 199 214 223 +f 214 212 223 +f 191 182 224 +f 182 196 224 +f 220 191 224 +f 196 220 224 +f 225 211 226 +f 185 200 226 +f 202 188 227 +f 188 204 227 +f 205 202 227 +f 204 211 227 +f 225 205 227 +f 211 225 227 +f 190 201 228 +f 210 190 228 +f 222 194 228 +f 201 222 228 +f 214 199 229 +f 192 218 229 +f 218 214 229 +f 223 192 229 +f 199 223 229 +f 197 186 230 +f 195 197 230 +f 188 202 230 +f 202 195 230 +f 186 206 230 +f 206 188 230 +f 202 205 231 +f 189 208 231 +f 208 202 231 +f 225 189 231 +f 205 225 231 +f 209 189 232 +f 200 209 232 +f 189 225 232 +f 225 226 232 +f 226 200 232 +f 183 216 233 +f 216 192 233 +f 223 183 233 +f 192 223 233 +f 211 204 234 +f 204 214 234 +f 218 185 234 +f 214 218 234 +f 226 211 234 +f 185 226 234 +f 184 198 235 +f 198 210 235 +f 222 184 235 +f 194 222 235 +f 228 194 235 +o convex_4 +v 0.044410 1.411258 1.081998 +v -0.084714 0.893393 -1.021007 +v -0.084714 1.411258 -1.021007 +v 1.274094 0.763850 -0.535603 +v -1.055649 -0.142034 0.952516 +v 1.047376 -0.142034 0.920197 +v 0.982814 -0.142034 -0.924050 +v -1.282367 0.860855 -0.600241 +v -0.958555 -0.142034 -0.859206 +v 1.274094 1.411258 0.499431 +v -1.217554 1.411258 0.467318 +v 0.788627 1.411258 -0.988688 +v -0.796899 1.411258 -0.924050 +v -0.796899 1.411258 1.017360 +v -1.282367 0.084513 0.111190 +v 1.274094 0.019894 0.046552 +v 0.853189 1.411258 0.985041 +v 0.076691 -0.142034 1.081998 +v -0.020152 -0.142034 -1.021007 +v -1.282367 1.411258 -0.438440 +v -1.282367 0.828774 0.596594 +v 1.241563 1.411258 -0.406121 +v 1.274094 0.699231 0.628913 +v -1.282367 0.278674 -0.438440 +v 1.274094 0.181670 -0.406121 +v 1.015095 0.246289 0.952516 +v -1.282367 0.246289 0.467318 +v 1.274094 0.214055 0.467112 +v -0.052433 -0.142034 1.081998 +v -0.991086 0.214055 0.984835 +v 0.691283 1.378873 1.017154 +v -1.282367 1.281564 0.434793 +v 1.015095 -0.142034 -0.891525 +v -1.055649 -0.142034 0.014645 +v 0.076691 -0.142034 -1.021007 +v 1.209282 0.925626 0.693552 +v 1.274094 1.281564 -0.406121 +v 0.982814 0.149436 -0.924050 +v -0.958555 1.411258 0.855559 +v -1.282367 1.378873 -0.503284 +v 0.206066 1.411258 -1.021007 +v -0.796899 1.055169 -0.924050 +v -1.282367 0.084513 -0.050199 +v 1.112188 -0.109649 -0.017880 +v -0.829181 1.217097 1.017360 +v 1.015095 0.052431 0.952516 +v 0.788627 1.217097 -0.988688 +v -0.020152 1.411258 1.081998 +v -1.282367 0.731465 -0.600241 +v 1.274094 1.378873 0.531956 +v 0.982814 1.411258 -0.762043 +v -0.991086 -0.142034 -0.762249 +v -0.602713 1.313949 -0.956369 +v 0.885720 0.828774 0.985041 +v -0.926274 -0.142034 0.984835 +v -1.282367 1.411258 0.111190 +f 255 267 291 +f 241 240 242 +f 242 240 244 +f 238 236 245 +f 236 238 246 +f 238 245 247 +f 244 243 248 +f 246 238 248 +f 236 246 249 +f 239 245 251 +f 245 236 252 +f 240 241 253 +f 237 238 254 +f 242 244 254 +f 246 248 255 +f 243 250 255 +f 255 250 256 +f 247 245 257 +f 251 245 258 +f 250 243 259 +f 239 251 260 +f 241 258 261 +f 250 240 262 +f 256 250 262 +f 240 256 262 +f 241 251 263 +f 258 241 263 +f 251 258 263 +f 240 253 264 +f 253 236 264 +f 256 240 265 +f 252 236 266 +f 236 253 266 +f 255 256 267 +f 241 242 268 +f 239 260 268 +f 260 251 268 +f 244 240 269 +f 240 250 269 +f 254 238 270 +f 242 254 270 +f 252 261 271 +f 261 258 271 +f 245 239 272 +f 257 245 272 +f 242 247 273 +f 247 239 273 +f 268 242 273 +f 239 268 273 +f 249 246 274 +f 246 267 274 +f 267 256 274 +f 248 243 275 +f 243 255 275 +f 255 248 275 +f 238 247 276 +f 270 238 276 +f 244 248 277 +f 254 244 277 +f 250 259 278 +f 269 250 278 +f 251 241 279 +f 241 268 279 +f 268 251 279 +f 256 265 280 +f 265 264 280 +f 249 274 280 +f 274 256 280 +f 253 241 281 +f 241 261 281 +f 247 242 282 +f 242 270 282 +f 276 247 282 +f 270 276 282 +f 236 249 283 +f 264 236 283 +f 249 280 283 +f 280 264 283 +f 243 244 284 +f 259 243 284 +f 244 259 284 +f 245 252 285 +f 258 245 285 +f 252 271 285 +f 271 258 285 +f 239 247 286 +f 247 257 286 +f 272 239 286 +f 257 272 286 +f 259 244 287 +f 244 269 287 +f 278 259 287 +f 269 278 287 +f 238 237 288 +f 248 238 288 +f 237 254 288 +f 277 248 288 +f 254 277 288 +f 261 252 289 +f 252 266 289 +f 266 253 289 +f 253 281 289 +f 281 261 289 +f 240 264 290 +f 265 240 290 +f 264 265 290 +f 246 255 291 +f 267 246 291 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/205/205.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/205/205.urdf new file mode 100644 index 000000000..cd9bde26a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/205/205.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/206/206.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/206/206.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/206/206.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/206/206.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/206/206.obj new file mode 100644 index 000000000..c084eb189 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/206/206.obj @@ -0,0 +1,576 @@ +o convex_0 +v -0.013157 1.603251 -1.616396 +v 0.466210 0.484751 -2.670876 +v 0.498160 0.484751 -2.670876 +v -0.428624 1.571416 -3.278424 +v -0.588490 0.548884 -1.328723 +v -0.492524 0.516818 -3.150590 +v 0.594126 1.571416 -3.150590 +v 0.562060 0.484751 -1.328723 +v -0.588490 1.667383 -1.328723 +v 0.434260 1.475565 -1.328723 +v 0.466210 0.516818 -3.310431 +v -0.460458 1.315580 -3.278424 +v 0.466210 1.507515 -1.488563 +v 0.210494 0.484751 -1.328723 +v -0.588490 0.676570 -1.776237 +v 0.498160 0.612669 -3.278424 +v -0.460458 1.539466 -3.278424 +v 0.338294 1.603251 -2.735084 +v -0.076941 1.187778 -3.310431 +v -0.332658 0.516818 -3.214410 +v -0.588490 1.667383 -1.424743 +v 0.594126 1.571416 -3.022757 +v 0.594126 1.475449 -3.150590 +v 0.306460 0.516818 -3.310431 +v -0.460458 1.667383 -1.360730 +v -0.524474 0.516818 -2.639063 +v 0.466210 0.676570 -3.310431 +v -0.204858 1.539466 -3.278424 +v 0.466210 1.475449 -1.392737 +v -0.492524 1.603251 -2.735084 +f 21 18 30 +f 2 3 8 +f 5 8 9 +f 9 8 10 +f 3 2 11 +f 6 2 14 +f 2 8 14 +f 8 5 14 +f 5 9 15 +f 8 3 16 +f 3 11 16 +f 12 6 17 +f 6 15 17 +f 7 4 18 +f 1 13 18 +f 17 4 19 +f 12 17 19 +f 2 6 20 +f 6 12 20 +f 15 9 21 +f 17 15 21 +f 7 18 22 +f 18 13 22 +f 8 16 23 +f 16 7 23 +f 7 22 23 +f 22 8 23 +f 11 2 24 +f 19 11 24 +f 12 19 24 +f 2 20 24 +f 20 12 24 +f 9 10 25 +f 13 1 25 +f 10 13 25 +f 1 18 25 +f 21 9 25 +f 18 21 25 +f 6 14 26 +f 14 5 26 +f 5 15 26 +f 15 6 26 +f 7 16 27 +f 16 11 27 +f 11 19 27 +f 27 19 28 +f 4 7 28 +f 19 4 28 +f 7 27 28 +f 10 8 29 +f 13 10 29 +f 8 22 29 +f 22 13 29 +f 4 17 30 +f 18 4 30 +f 17 21 30 +o convex_1 +v 1.041615 1.890196 -1.168780 +v -1.035973 -3.958028 0.588711 +v -1.035973 -3.958028 0.748865 +v 1.073478 -4.021432 0.428978 +v 0.913744 2.146225 0.780727 +v -1.035973 2.018814 -1.296650 +v 0.658002 -3.893417 -1.328723 +v -0.971828 2.018211 0.716582 +v -0.939965 -3.925421 -1.264578 +v 1.105550 -3.893417 -1.328723 +v 1.073478 -4.021432 0.716582 +v 1.073478 2.082822 -0.945110 +v 0.434333 1.474751 -1.328723 +v -0.556352 0.611859 0.812800 +v -0.588425 2.146225 -0.817239 +v 0.561994 0.451841 0.812800 +v -0.620287 0.547852 -1.328723 +v -0.620287 1.666774 0.812800 +v 0.945607 2.146225 0.684719 +v -0.588425 2.146225 0.397115 +v -1.035973 -2.583077 0.748865 +v 1.073478 2.082822 -1.136917 +v -0.684223 -3.894021 -1.296650 +v -0.236675 -3.990032 0.748865 +v -1.003900 -0.442452 -1.296650 +v 1.105550 -2.487066 -1.296650 +v -1.035973 1.986207 -0.945110 +v -1.035973 -3.925421 0.397115 +v 0.466196 2.146225 -0.753304 +v 0.977679 0.355829 0.780727 +v 1.105550 -3.926025 -1.104844 +v -1.003900 0.004996 0.748865 +v 0.498059 1.986207 0.812800 +v 0.945607 2.082218 -1.168780 +v 0.721938 -4.021432 0.428978 +v -0.588425 1.666774 -1.328723 +v -1.035973 1.379344 -1.296650 +v 1.105550 -2.199636 -1.232715 +v -0.939965 1.986811 0.748655 +v 1.009542 -2.519069 0.748655 +v 1.073478 -3.894021 0.716582 +v -0.971828 -3.925421 -0.785167 +v -0.971828 -1.943606 -1.296441 +v 1.041615 2.114825 -0.529425 +v 0.242527 2.114222 0.780727 +v -0.780231 2.018211 -1.296441 +v -1.003900 2.018211 -0.018570 +v -0.140876 -3.990032 0.748865 +v 1.073478 1.762785 -1.168780 +v 1.105550 -3.862017 -0.913038 +v -0.396618 -3.958028 -0.721231 +v 0.466196 1.314733 -1.328723 +v 1.105550 -3.541980 -1.328723 +f 82 56 83 +f 32 33 36 +f 39 37 40 +f 40 37 43 +f 44 33 46 +f 43 37 47 +f 33 44 48 +f 44 46 48 +f 45 35 49 +f 35 45 50 +f 45 36 50 +f 36 33 51 +f 33 48 51 +f 37 39 53 +f 47 37 53 +f 33 32 54 +f 46 33 54 +f 36 51 57 +f 32 36 58 +f 45 49 59 +f 35 46 60 +f 49 35 60 +f 39 40 61 +f 41 34 61 +f 40 56 61 +f 51 48 62 +f 57 51 62 +f 46 35 63 +f 48 46 63 +f 31 43 64 +f 36 45 64 +f 52 31 64 +f 45 59 64 +f 59 52 64 +f 34 41 65 +f 54 32 65 +f 41 54 65 +f 47 36 66 +f 43 47 66 +f 36 47 67 +f 47 55 67 +f 58 36 67 +f 52 42 68 +f 56 52 68 +f 61 56 68 +f 38 62 69 +f 62 48 69 +f 48 63 69 +f 41 60 70 +f 60 46 70 +f 60 41 71 +f 68 42 71 +f 39 32 72 +f 55 39 72 +f 32 58 72 +f 67 55 72 +f 58 67 72 +f 53 39 73 +f 47 53 73 +f 39 55 73 +f 55 47 73 +f 42 52 74 +f 59 49 74 +f 52 59 74 +f 49 60 74 +f 60 71 74 +f 71 42 74 +f 35 50 75 +f 50 38 75 +f 63 35 75 +f 38 69 75 +f 69 63 75 +f 64 43 76 +f 36 64 76 +f 66 36 76 +f 43 66 76 +f 38 50 77 +f 50 36 77 +f 36 57 77 +f 62 38 77 +f 57 62 77 +f 54 41 78 +f 46 54 78 +f 41 70 78 +f 70 46 78 +f 43 31 79 +f 31 52 79 +f 52 56 79 +f 41 61 80 +f 61 68 80 +f 71 41 80 +f 68 71 80 +f 32 39 81 +f 61 34 81 +f 39 61 81 +f 65 32 81 +f 34 65 81 +f 40 43 82 +f 43 79 82 +f 79 56 82 +f 56 40 83 +f 40 82 83 +o convex_2 +v 0.498154 2.466672 -0.721250 +v -0.460459 4.096339 0.397281 +v 0.434255 4.032331 0.269353 +v -0.556424 2.146829 0.397281 +v -0.524475 4.128343 -0.753232 +v -0.588490 2.146829 -0.817315 +v 0.594120 2.146829 0.269353 +v 0.562054 3.968518 -0.689387 +v 0.306339 2.146829 -0.785214 +v -0.588490 3.457041 0.397281 +v 0.562054 4.032331 0.237372 +v -0.556424 4.128343 -0.465515 +v 0.594120 3.233403 -0.369807 +v 0.466205 2.146829 -0.753351 +v -0.556424 4.096339 0.397281 +v -0.588490 2.146829 0.397281 +v -0.588490 2.530679 -0.817315 +v 0.082574 4.064335 -0.721250 +v 0.594120 2.146829 0.077581 +v -0.588490 2.914142 -0.785214 +v 0.370355 2.306848 0.301216 +v -0.396559 4.128343 -0.593442 +v 0.530104 3.489045 -0.721250 +v 0.562054 3.073967 0.269353 +v -0.268759 2.179027 -0.817315 +v 0.530104 4.000522 -0.689387 +v 0.562054 3.457235 -0.689387 +v -0.588490 3.521048 0.013618 +v -0.492525 4.128343 -0.210017 +v -0.556424 3.904511 -0.753232 +v 0.562054 4.032331 0.045600 +v -0.428625 4.064335 -0.753232 +f 106 108 115 +f 87 89 90 +f 90 89 92 +f 87 85 93 +f 85 86 94 +f 94 90 96 +f 90 92 97 +f 93 85 98 +f 89 87 99 +f 87 93 99 +f 93 89 99 +f 89 93 100 +f 96 90 102 +f 97 84 102 +f 90 97 102 +f 100 93 103 +f 85 87 104 +f 87 90 104 +f 88 95 105 +f 101 88 105 +f 97 92 106 +f 101 91 106 +f 86 85 107 +f 94 86 107 +f 90 94 107 +f 85 104 107 +f 104 90 107 +f 92 89 108 +f 89 100 108 +f 106 92 108 +f 91 101 109 +f 91 96 110 +f 84 97 110 +f 102 84 110 +f 96 102 110 +f 106 91 110 +f 97 106 110 +f 93 98 111 +f 98 95 111 +f 95 103 111 +f 103 93 111 +f 85 94 112 +f 98 85 112 +f 95 98 112 +f 94 105 112 +f 105 95 112 +f 95 88 113 +f 88 100 113 +f 103 95 113 +f 100 103 113 +f 96 91 114 +f 94 96 114 +f 105 94 114 +f 101 105 114 +f 91 109 114 +f 109 101 114 +f 100 88 115 +f 88 101 115 +f 101 106 115 +f 108 100 115 +o convex_3 +v 0.338438 -0.953372 1.835617 +v -0.364749 -1.880481 1.995332 +v -0.332742 -1.912451 1.963400 +v -0.236859 0.452788 1.547950 +v -0.300804 0.452788 1.995332 +v 0.242417 -2.040328 1.579938 +v 0.338438 -2.008358 2.123284 +v 0.338438 0.452788 1.995332 +v 0.306431 0.452788 1.547950 +v -0.236859 -1.880481 1.579938 +v -0.204921 -1.912451 2.091240 +v -0.077032 -1.081249 1.547950 +v 0.306431 -1.656452 2.123284 +v 0.274424 -2.008358 1.579938 +v -0.364749 -1.624727 2.059308 +v -0.268797 0.260973 1.643914 +v 0.274424 -0.857464 1.547950 +v -0.268797 -1.880481 1.643914 +v 0.338438 -1.944420 1.931412 +v 0.146534 -2.040328 1.611982 +v 0.338438 0.452788 1.739822 +v -0.236859 -0.825251 1.547950 +v 0.146534 -1.880481 2.123284 +v -0.300804 0.356881 1.899480 +v -0.332742 -1.912451 2.059308 +v 0.338438 0.005218 2.027320 +f 128 122 141 +f 119 120 123 +f 122 116 123 +f 119 123 124 +f 119 124 127 +f 121 125 127 +f 122 121 129 +f 124 116 129 +f 126 120 130 +f 121 127 132 +f 127 124 132 +f 129 121 132 +f 124 129 132 +f 118 117 133 +f 131 119 133 +f 117 131 133 +f 116 122 134 +f 129 116 134 +f 122 129 134 +f 121 122 135 +f 125 121 135 +f 118 133 135 +f 133 125 135 +f 123 116 136 +f 116 124 136 +f 124 123 136 +f 119 127 137 +f 127 125 137 +f 125 133 137 +f 133 119 137 +f 120 126 138 +f 126 122 138 +f 128 120 138 +f 122 128 138 +f 120 119 139 +f 117 130 139 +f 130 120 139 +f 119 131 139 +f 131 117 139 +f 117 118 140 +f 122 126 140 +f 130 117 140 +f 126 130 140 +f 118 135 140 +f 135 122 140 +f 123 120 141 +f 122 123 141 +f 120 128 141 +o convex_4 +v -0.045137 0.836504 2.858064 +v 0.466252 0.452904 0.813003 +v 0.242423 0.484967 0.813207 +v 0.274399 1.603242 1.164590 +v -0.556527 1.603242 0.813207 +v 0.466252 1.475568 2.794213 +v -0.524442 0.484967 2.889990 +v 0.562179 0.516799 2.826342 +v -0.460491 1.475452 2.762288 +v -0.556527 0.612757 0.813207 +v 0.466252 1.475568 0.813003 +v -0.332698 1.635305 2.122965 +v 0.562179 0.644588 0.813003 +v -0.236772 0.452904 1.548103 +v 0.434277 0.452904 2.251074 +v 0.210448 1.635305 1.963337 +v 0.562179 0.740546 2.794213 +v 0.562179 0.452904 0.813003 +v -0.204906 1.635305 1.068814 +v -0.236772 0.452904 2.570532 +v 0.402301 1.539463 0.877058 +v -0.524442 0.580809 2.889990 +v -0.556527 0.580809 1.516177 +v 0.498228 1.315715 2.602457 +v -0.492467 1.507399 2.314721 +v -0.556527 0.580809 1.004963 +v 0.242423 1.635305 1.356347 +v 0.082655 0.484967 2.858064 +v 0.498228 1.251705 0.813003 +v -0.556527 1.539347 1.004963 +v -0.524442 0.484967 2.538606 +v -0.300723 1.603242 0.813207 +v 0.562179 0.740546 2.123168 +f 170 165 174 +f 147 142 149 +f 143 144 151 +f 146 143 151 +f 143 146 152 +f 150 147 153 +f 143 152 154 +f 144 143 155 +f 155 143 156 +f 153 147 157 +f 147 149 158 +f 149 154 158 +f 143 154 159 +f 154 149 159 +f 156 143 159 +f 149 156 159 +f 146 153 160 +f 153 157 160 +f 148 155 161 +f 155 156 161 +f 147 152 162 +f 142 147 163 +f 147 150 163 +f 146 151 164 +f 148 163 164 +f 152 147 165 +f 147 158 165 +f 153 146 166 +f 150 153 166 +f 163 150 166 +f 151 144 167 +f 144 155 167 +f 164 151 167 +f 148 164 167 +f 157 147 168 +f 145 160 168 +f 160 157 168 +f 147 162 168 +f 162 145 168 +f 149 142 169 +f 156 149 169 +f 148 161 169 +f 161 156 169 +f 142 163 169 +f 163 148 169 +f 154 152 170 +f 152 165 170 +f 146 164 171 +f 164 163 171 +f 166 146 171 +f 163 166 171 +f 155 148 172 +f 167 155 172 +f 148 167 172 +f 152 146 173 +f 160 145 173 +f 146 160 173 +f 162 152 173 +f 145 162 173 +f 158 154 174 +f 165 158 174 +f 154 170 174 +o convex_5 +v -0.332786 2.274978 1.899433 +v 0.178619 4.032256 2.123284 +v 0.210586 4.064294 1.611982 +v 0.210586 1.635902 1.963363 +v -0.268854 1.635902 1.452060 +v -0.268854 4.064294 1.516055 +v -0.332786 1.635902 2.123284 +v 0.178619 1.635902 1.484058 +v -0.236834 3.968421 2.059355 +v -0.204921 3.904345 1.484058 +v 0.210586 3.744636 2.123284 +v 0.114634 4.096573 1.548053 +v 0.210586 1.635902 1.579985 +v -0.268854 3.361142 2.091287 +v -0.268854 4.064294 1.675911 +v -0.268854 1.635902 2.123284 +v 0.178619 2.019396 1.484058 +v -0.077057 1.731776 1.452060 +v 0.050702 4.000218 2.123284 +v 0.210586 1.891484 1.995360 +v -0.332786 1.987358 2.123284 +v -0.268854 3.936383 1.484058 +v -0.332786 1.635902 1.899433 +v 0.210586 4.064294 1.579985 +f 187 191 198 +f 179 178 181 +f 178 179 182 +f 177 176 185 +f 178 177 185 +f 176 181 185 +f 176 177 186 +f 177 178 187 +f 178 182 187 +f 188 183 189 +f 180 175 189 +f 183 176 189 +f 176 186 189 +f 186 180 189 +f 181 178 190 +f 185 181 190 +f 184 186 191 +f 187 182 191 +f 182 179 192 +f 191 182 192 +f 184 191 192 +f 181 176 193 +f 176 183 193 +f 183 188 193 +f 178 185 194 +f 190 178 194 +f 185 190 194 +f 175 181 195 +f 188 189 195 +f 189 175 195 +f 181 193 195 +f 193 188 195 +f 179 175 196 +f 175 180 196 +f 180 186 196 +f 186 184 196 +f 192 179 196 +f 184 192 196 +f 175 179 197 +f 181 175 197 +f 179 181 197 +f 186 177 198 +f 177 187 198 +f 191 186 198 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/206/206.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/206/206.urdf new file mode 100644 index 000000000..0aaba5a54 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/206/206.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/207/207.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/207/207.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/207/207.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/207/207.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/207/207.obj new file mode 100644 index 000000000..9a9daddb3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/207/207.obj @@ -0,0 +1,1062 @@ +o convex_0 +v -1.758578 0.220321 -1.070244 +v -1.525854 0.320270 0.989903 +v -1.559126 0.320270 0.989903 +v -1.525854 -1.274547 -0.007300 +v -3.353121 -0.044839 0.025974 +v -1.525854 1.350337 -0.073242 +v -3.054212 -0.011694 -0.837530 +v -3.120755 0.021451 0.723915 +v -3.120755 0.752184 -0.007300 +v -1.525854 0.984713 -0.904077 +v -1.559126 1.084405 0.823535 +v -2.323483 -0.776086 0.757189 +v -3.087304 -0.776086 -0.040170 +v -1.525854 -0.809231 -0.904077 +v -1.525854 -0.809231 0.823535 +v -2.290212 -0.742684 -0.837530 +v -2.356755 -0.011694 0.989903 +v -2.389848 0.718782 -0.804256 +v -2.356755 -0.011694 -1.070244 +v -2.356755 0.785329 0.723915 +v -3.087304 0.718782 -0.206136 +v -2.954396 -0.476753 0.590820 +v -2.854938 -0.576445 -0.638089 +v -1.525854 0.021451 -1.070244 +v -2.921303 0.585945 0.524676 +v -2.921303 0.552800 -0.638089 +v -1.559126 1.051260 -0.837530 +v -3.120755 -0.011694 -0.770982 +v -1.559126 -1.274547 -0.073242 +v -3.353121 0.021451 -0.106516 +v -1.559126 1.350337 -0.007300 +v -3.120755 -0.044839 0.723915 +v -1.592398 -0.642992 -0.970423 +v -1.525854 -0.576702 0.890082 +v -3.087304 -0.776086 -0.007300 +v -2.323483 -0.776086 -0.770982 +v -3.120755 0.752184 -0.106516 +v -1.525854 0.984713 0.856809 +v -2.323305 0.054339 0.989903 +v -2.323305 -0.077984 -1.070244 +v -2.389848 -0.776086 0.723915 +v -1.858215 -0.809231 -0.870803 +v -1.559126 1.117550 0.757189 +v -2.323305 0.719039 -0.837530 +v -1.559126 0.087741 0.989903 +v -3.087304 -0.077984 -0.804256 +v -3.353121 -0.077984 -0.073242 +v -1.559126 1.350337 -0.073242 +v -1.559126 -1.274547 -0.007300 +v -3.353121 0.054339 -0.007300 +v -2.921303 -0.609590 0.491201 +v -1.924758 -0.809231 0.790463 +v -2.256940 0.087741 -1.070244 +v -3.054212 0.021451 -0.837530 +v -2.356755 -0.144532 0.956428 +v -3.120755 0.021451 -0.770982 +v -1.559126 0.885021 -0.937149 +v -2.954396 -0.642992 -0.438850 +v -1.525854 0.253980 -1.070244 +v -2.356755 0.519654 0.823535 +v -2.057488 0.851619 -0.837530 +v -3.054212 0.021451 0.757189 +v -1.891486 -0.410463 0.923154 +v -3.153848 0.685637 -0.007300 +f 30 50 64 +f 2 4 6 +f 6 4 10 +f 10 4 14 +f 4 2 15 +f 2 3 17 +f 10 14 24 +f 19 1 24 +f 9 8 25 +f 8 20 25 +f 20 9 25 +f 21 18 26 +f 6 10 27 +f 14 4 29 +f 8 5 32 +f 24 14 33 +f 15 2 34 +f 13 29 35 +f 32 5 35 +f 22 32 35 +f 23 16 36 +f 29 13 36 +f 9 31 37 +f 3 2 38 +f 2 6 38 +f 17 3 39 +f 3 38 39 +f 38 11 39 +f 7 19 40 +f 19 24 40 +f 33 16 40 +f 24 33 40 +f 12 32 41 +f 32 22 41 +f 14 29 42 +f 33 14 42 +f 16 33 42 +f 36 16 42 +f 29 36 42 +f 9 20 43 +f 20 11 43 +f 6 31 43 +f 31 9 43 +f 38 6 43 +f 11 38 43 +f 26 18 44 +f 2 17 45 +f 34 2 45 +f 16 23 46 +f 28 7 46 +f 7 40 46 +f 40 16 46 +f 5 30 47 +f 30 28 47 +f 35 5 47 +f 13 35 47 +f 46 13 47 +f 28 46 47 +f 6 27 48 +f 31 6 48 +f 27 37 48 +f 37 31 48 +f 4 15 49 +f 29 4 49 +f 35 29 49 +f 12 41 49 +f 41 35 49 +f 5 8 50 +f 30 5 50 +f 22 35 51 +f 41 22 51 +f 35 41 51 +f 49 15 52 +f 12 49 52 +f 1 19 53 +f 44 53 54 +f 19 7 54 +f 7 28 54 +f 26 44 54 +f 53 19 54 +f 17 32 55 +f 32 12 55 +f 21 26 56 +f 28 30 56 +f 37 21 56 +f 30 37 56 +f 54 28 56 +f 26 54 56 +f 44 10 57 +f 1 53 57 +f 53 44 57 +f 36 13 58 +f 23 36 58 +f 13 46 58 +f 46 23 58 +f 24 1 59 +f 10 24 59 +f 1 57 59 +f 57 10 59 +f 11 20 60 +f 39 11 60 +f 18 21 61 +f 27 10 61 +f 37 27 61 +f 21 37 61 +f 10 44 61 +f 44 18 61 +f 20 8 62 +f 8 32 62 +f 32 17 62 +f 17 39 62 +f 60 20 62 +f 39 60 62 +f 15 34 63 +f 45 17 63 +f 34 45 63 +f 12 52 63 +f 52 15 63 +f 17 55 63 +f 55 12 63 +f 8 9 64 +f 9 37 64 +f 37 30 64 +f 50 8 64 +o convex_1 +v -0.030702 -2.503733 0.956675 +v -0.329641 -1.407701 -1.037016 +v -0.329641 -1.208091 -1.037016 +v -1.525854 -1.208091 0.092534 +v 0.667127 -1.208273 0.856756 +v 0.235224 -3.068687 -0.538593 +v -1.226687 -2.802783 -0.040170 +v 0.766849 -1.208273 -0.903921 +v -1.226687 -1.208091 0.790404 +v -0.994002 -2.736308 -0.804197 +v 0.633886 -2.802966 0.025987 +v -0.960989 -2.736308 0.757033 +v -1.193446 -1.208091 -0.870745 +v 0.035779 -2.503733 -1.003645 +v 0.201756 -3.002211 0.524605 +v -0.960989 -3.035358 0.025987 +v 0.500923 -2.703161 -0.737845 +v 0.401200 -2.769637 0.690681 +v -0.395895 -1.208091 0.956675 +v -1.525854 -1.241602 -0.172875 +v -0.263388 -2.935735 -0.870745 +v 0.800090 -1.241602 0.025987 +v -0.296401 -2.835930 0.890128 +v -0.828025 -3.035358 -0.505027 +v -0.695062 -3.002211 0.524605 +v -0.362882 -1.972472 0.956675 +v 0.567404 -1.540652 -0.970468 +v -0.994002 -2.703161 0.757033 +v 0.201756 -2.038948 0.956675 +v 0.301478 -3.068687 -0.173070 +v -0.196906 -1.972472 -1.037016 +v 0.700367 -1.241602 0.790404 +v 0.633886 -2.802966 -0.106328 +v 0.733608 -2.038948 -0.007189 +v 0.434441 -2.835930 -0.737845 +v -0.395895 -3.068687 -0.638122 +v 0.766849 -1.307896 -0.903921 +v -1.226687 -2.802783 0.025987 +v -0.196906 -2.835930 -0.937292 +v -1.027242 -2.703161 -0.771021 +v -0.927748 -2.703161 0.790404 +v 0.401200 -3.035358 0.059358 +v -0.030702 -1.208091 0.956675 +v -0.063943 -1.208091 -1.037016 +v 0.268237 -2.105424 -1.003645 +v -1.492386 -1.241602 0.192063 +v -0.395895 -3.002211 0.624328 +v -1.525854 -1.374554 -0.007189 +v 0.766849 -1.606946 -0.471851 +v -1.226687 -2.769637 -0.106523 +v -0.296401 -3.068687 -0.206246 +v -0.196906 -2.835930 0.890128 +v -1.226687 -1.274749 0.790404 +v 0.002539 -2.204683 -1.037016 +v -0.894507 -2.869259 0.624133 +v -0.130197 -2.902406 -0.903921 +v 0.567404 -1.374372 0.890128 +v 0.467682 -2.869259 -0.638122 +v 0.667127 -1.374372 0.823580 +v -0.794785 -2.503733 -0.870745 +v -1.193446 -1.241602 -0.870745 +v 0.667127 -2.636685 -0.007189 +v -1.160205 -2.769637 0.258610 +v 0.733608 -1.208273 -0.937097 +f 91 108 128 +f 67 68 73 +f 67 66 77 +f 68 67 77 +f 67 73 83 +f 68 77 84 +f 72 69 86 +f 71 74 88 +f 80 71 88 +f 74 85 88 +f 65 83 90 +f 87 65 90 +f 65 82 93 +f 83 65 93 +f 66 67 95 +f 86 69 96 +f 86 96 98 +f 85 70 100 +f 80 88 100 +f 88 85 100 +f 70 94 100 +f 72 86 101 +f 81 91 101 +f 97 81 101 +f 71 80 102 +f 85 74 103 +f 76 87 105 +f 87 90 105 +f 92 76 105 +f 75 82 106 +f 82 79 106 +f 94 70 106 +f 79 94 106 +f 97 75 106 +f 69 72 107 +f 67 83 107 +f 83 93 107 +f 95 67 108 +f 67 107 108 +f 107 72 108 +f 91 81 109 +f 99 78 109 +f 81 99 109 +f 73 68 110 +f 89 80 111 +f 87 89 111 +f 94 79 111 +f 68 84 112 +f 71 102 112 +f 110 68 112 +f 102 110 112 +f 86 98 113 +f 101 86 113 +f 74 71 114 +f 104 74 114 +f 84 104 114 +f 112 84 114 +f 71 112 114 +f 80 100 115 +f 100 94 115 +f 111 80 115 +f 94 111 115 +f 82 65 116 +f 79 82 116 +f 65 87 116 +f 111 79 116 +f 87 111 116 +f 83 73 117 +f 90 83 117 +f 105 90 117 +f 92 105 117 +f 73 110 117 +f 110 92 117 +f 103 95 118 +f 78 103 118 +f 108 91 118 +f 95 108 118 +f 91 109 118 +f 109 78 118 +f 87 76 119 +f 80 89 119 +f 89 87 119 +f 76 92 119 +f 102 80 119 +f 70 85 120 +f 78 99 120 +f 99 70 120 +f 85 103 120 +f 103 78 120 +f 93 82 121 +f 69 107 121 +f 107 93 121 +f 81 97 122 +f 99 81 122 +f 70 99 122 +f 106 70 122 +f 97 106 122 +f 82 75 123 +f 96 69 123 +f 75 96 123 +f 69 121 123 +f 121 82 123 +f 103 74 124 +f 95 103 124 +f 77 66 125 +f 84 77 125 +f 66 95 125 +f 74 104 125 +f 104 84 125 +f 124 74 125 +f 95 124 125 +f 96 75 126 +f 75 97 126 +f 98 96 126 +f 97 101 126 +f 113 98 126 +f 101 113 126 +f 92 110 127 +f 110 102 127 +f 119 92 127 +f 102 119 127 +f 72 101 128 +f 101 91 128 +f 108 72 128 +o convex_2 +v -1.027272 3.011632 -0.040050 +v -1.525854 -1.207671 -0.173025 +v -1.392837 -1.207671 -0.471961 +v 0.833116 -1.074664 0.856760 +v 0.833116 0.021700 -1.036847 +v 0.201979 2.812331 0.889952 +v -1.525854 0.121560 0.989734 +v -0.196840 2.878625 -0.937065 +v -1.525854 0.254567 -1.070244 +v 0.766839 -1.208091 -0.937269 +v 0.633822 2.845478 0.026130 +v -1.127034 -1.208091 0.823567 +v -0.728215 2.413730 1.022927 +v 0.833116 0.088413 0.956542 +v 0.434528 2.878625 -0.870680 +v -1.525854 1.117645 0.790375 +v -0.362650 -1.208091 -1.036642 +v -1.027272 2.812331 -0.671320 +v -1.260051 2.712471 0.026130 +v -0.030800 -1.208091 0.956337 +v -1.060526 2.845478 0.690593 +v 0.235233 3.078345 0.524426 +v 0.833116 0.984638 0.823567 +v 0.833116 0.984638 -0.903872 +v -1.525854 -0.842216 -0.904077 +v -1.525854 1.051351 -0.870680 +v -0.595198 2.513170 -1.003449 +v -0.395904 3.044779 -0.804090 +v -1.525854 -0.809070 0.823567 +v 0.368019 2.779184 0.856760 +v -0.794723 3.078345 0.524426 +v -0.263349 1.084498 -1.070039 +v -0.528921 2.912191 0.923144 +v -0.296603 1.183939 1.022927 +v 0.833116 -1.208091 -0.007062 +v 0.434528 3.078345 -0.007062 +v -1.525854 1.449953 -0.073038 +v -0.230095 -0.509489 -1.070039 +v 0.833347 1.350093 -0.106435 +v -1.193543 -1.208091 -0.870680 +v -0.296603 1.981561 1.022927 +v -0.495666 2.114568 -1.036642 +v 0.833116 -0.376902 -1.036847 +v 0.700330 -1.208091 0.823567 +v 0.833116 -0.410048 0.956542 +v 0.135471 3.078345 -0.505153 +v -0.827978 3.044779 -0.538346 +v -0.395904 -1.208091 0.956337 +v -1.525854 0.852050 0.889952 +v -1.226797 2.812331 -0.073242 +v -1.525854 -0.443195 -1.003654 +v -1.525854 -1.207671 0.125707 +v 0.833116 -1.074664 -0.937269 +v -1.525854 0.885197 -0.937065 +v -1.525854 -0.576622 0.889952 +v -0.063824 -1.208091 -1.036642 +v -0.296603 1.915268 -1.036642 +v -0.462412 2.878625 -0.937065 +v 0.500805 2.812331 0.491233 +v -1.226797 2.812331 0.125707 +v -0.196840 3.078345 0.657400 +v -1.060526 2.812331 0.723785 +v 0.733584 2.180862 -0.007062 +v -1.260051 -1.207671 0.757182 +f 180 140 192 +f 130 135 137 +f 137 135 144 +f 138 140 145 +f 140 138 148 +f 133 143 152 +f 143 139 152 +f 131 130 153 +f 130 137 153 +f 137 144 154 +f 143 136 156 +f 135 130 157 +f 134 142 158 +f 150 134 158 +f 142 151 158 +f 129 149 159 +f 141 134 161 +f 159 149 161 +f 141 135 162 +f 148 138 163 +f 139 143 164 +f 159 150 164 +f 144 147 165 +f 154 144 165 +f 147 154 165 +f 145 137 166 +f 137 160 166 +f 160 133 166 +f 151 142 167 +f 133 152 167 +f 132 163 167 +f 130 131 168 +f 145 140 168 +f 131 153 168 +f 153 145 168 +f 134 141 169 +f 142 134 169 +f 141 162 169 +f 162 142 169 +f 155 136 170 +f 137 155 170 +f 160 137 170 +f 166 133 171 +f 133 167 171 +f 132 148 172 +f 163 132 172 +f 148 163 172 +f 148 132 173 +f 142 162 173 +f 162 148 173 +f 132 167 173 +f 167 142 173 +f 143 156 174 +f 164 143 174 +f 159 164 174 +f 156 146 175 +f 129 159 175 +f 174 156 175 +f 159 174 175 +f 140 148 176 +f 162 135 176 +f 148 162 176 +f 135 141 177 +f 144 135 177 +f 146 154 178 +f 154 147 178 +f 129 175 178 +f 175 146 178 +f 137 145 179 +f 153 137 179 +f 145 153 179 +f 157 130 180 +f 130 168 180 +f 168 140 180 +f 163 138 181 +f 167 163 181 +f 138 171 181 +f 171 167 181 +f 137 154 182 +f 154 146 182 +f 155 137 182 +f 146 155 182 +f 135 157 183 +f 157 140 183 +f 140 176 183 +f 176 135 183 +f 138 145 184 +f 145 166 184 +f 171 138 184 +f 166 171 184 +f 136 143 185 +f 143 133 185 +f 133 160 185 +f 170 136 185 +f 160 170 185 +f 136 155 186 +f 155 146 186 +f 156 136 186 +f 146 156 186 +f 151 139 187 +f 150 158 187 +f 158 151 187 +f 139 164 187 +f 164 150 187 +f 147 144 188 +f 149 129 188 +f 144 149 188 +f 129 178 188 +f 178 147 188 +f 134 150 189 +f 150 159 189 +f 161 134 189 +f 159 161 189 +f 149 144 190 +f 141 161 190 +f 161 149 190 +f 177 141 190 +f 144 177 190 +f 139 151 191 +f 152 139 191 +f 151 167 191 +f 167 152 191 +f 140 157 192 +f 157 180 192 +o convex_3 +v 2.162358 -1.507304 -0.172950 +v 1.099173 -1.607115 -0.006796 +v 1.132459 -2.072186 -0.006796 +v 1.697228 -1.241676 0.591165 +v 1.697228 -2.835976 0.425011 +v 1.664052 -2.802884 -0.405651 +v 1.298561 -1.241676 -0.438818 +v 2.062608 -2.769614 0.059430 +v 2.096005 -1.241676 0.458178 +v 2.062608 -1.241676 -0.405651 +v 1.232098 -1.241676 0.425011 +v 1.265385 -2.835976 -0.006796 +v 1.232098 -2.072186 -0.372270 +v 1.697228 -3.068869 -0.006796 +v 1.298561 -2.138727 0.391738 +v 2.029542 -2.105457 -0.372270 +v 1.630876 -1.972553 -0.505365 +v 2.062608 -2.038916 0.425011 +v 2.228931 -1.241676 0.059430 +v 1.099173 -1.241676 -0.106510 +v 2.062608 -2.769614 -0.039962 +v 1.763691 -1.241676 -0.505365 +v 1.664052 -2.171461 0.524618 +v 2.162358 -2.171461 -0.006796 +v 1.365024 -2.669981 0.292024 +v 1.365024 -2.636711 -0.305937 +v 1.963079 -2.636711 0.325297 +v 1.198922 -1.407671 -0.405651 +v 1.431487 -1.274768 0.524618 +v 1.963079 -2.570170 -0.305937 +v 1.132459 -2.038916 0.059430 +v 1.099173 -1.241676 0.092703 +v 1.630876 -3.068869 -0.006796 +v 1.265385 -2.802884 0.059430 +v 1.763691 -2.072186 0.524618 +v 1.597810 -2.769614 -0.405651 +v 1.531347 -1.241676 -0.505365 +v 2.062608 -1.939283 -0.372270 +v 1.664052 -2.835976 0.425011 +v 2.162358 -2.072186 0.092703 +v 1.331848 -2.072186 0.425011 +v 1.597810 -1.972553 -0.505365 +v 1.863330 -2.038916 -0.438818 +v 2.129181 -1.241676 -0.305937 +v 1.198922 -2.005824 -0.305937 +v 1.165635 -1.274768 0.292024 +v 1.265385 -2.072186 0.358464 +v 1.597810 -2.038916 0.524618 +v 1.630876 -3.035420 0.092703 +v 2.228931 -1.274768 -0.006796 +f 236 211 242 +f 199 196 201 +f 199 201 202 +f 196 199 203 +f 200 197 206 +f 201 210 211 +f 202 201 211 +f 203 199 212 +f 200 206 213 +f 206 198 213 +f 199 202 214 +f 200 213 216 +f 204 205 218 +f 197 200 219 +f 210 197 219 +f 200 210 219 +f 212 199 220 +f 196 203 221 +f 198 208 222 +f 213 198 222 +f 208 213 222 +f 194 195 223 +f 212 194 224 +f 203 212 224 +f 194 223 224 +f 198 206 225 +f 195 204 226 +f 217 207 226 +f 223 195 226 +f 201 196 227 +f 197 210 227 +f 210 201 227 +f 196 215 227 +f 215 197 227 +f 204 218 228 +f 218 205 228 +f 225 204 228 +f 198 225 228 +f 199 214 229 +f 214 209 229 +f 213 208 230 +f 193 216 230 +f 216 213 230 +f 197 215 231 +f 207 217 231 +f 217 226 231 +f 210 200 232 +f 211 210 232 +f 200 216 232 +f 216 211 232 +f 203 207 233 +f 221 203 233 +f 207 231 233 +f 209 198 234 +f 220 199 234 +f 205 220 234 +f 198 228 234 +f 228 205 234 +f 199 229 234 +f 229 209 234 +f 208 198 235 +f 198 209 235 +f 214 202 235 +f 209 214 235 +f 202 230 235 +f 230 208 235 +f 202 211 236 +f 193 230 236 +f 230 202 236 +f 195 194 237 +f 204 195 237 +f 205 204 237 +f 194 212 237 +f 220 205 237 +f 212 220 237 +f 203 224 238 +f 224 223 238 +f 207 203 239 +f 226 207 239 +f 223 226 239 +f 203 238 239 +f 238 223 239 +f 215 196 240 +f 196 221 240 +f 231 215 240 +f 221 233 240 +f 233 231 240 +f 206 197 241 +f 204 225 241 +f 225 206 241 +f 226 204 241 +f 197 231 241 +f 231 226 241 +f 216 193 242 +f 211 216 242 +f 193 236 242 +o convex_4 +v 1.597766 -0.111391 -1.037016 +v 1.730692 0.253715 0.989903 +v 1.664136 0.253715 0.989903 +v 1.564396 -1.241319 0.591107 +v 2.727354 -0.111391 -0.007089 +v 0.833399 1.284023 -0.106490 +v 0.833399 -1.074957 -0.937218 +v 0.833399 -1.074957 0.856971 +v 2.295393 1.284023 -0.106292 +v 2.461503 -0.775851 -0.704487 +v 0.833399 0.984670 0.823639 +v 0.833399 0.984670 -0.904084 +v 2.461503 0.785431 -0.704487 +v 2.461503 0.752307 0.724039 +v 2.361763 -0.742727 0.724039 +v 2.228837 -1.241319 -0.073356 +v 1.763877 1.284023 0.557576 +v 2.693983 0.752307 0.026045 +v 1.763877 1.284023 -0.571753 +v 1.730692 0.818803 -0.970550 +v 2.627613 -0.775851 0.059378 +v 1.066065 -1.241319 -0.073356 +v 2.029356 -1.241319 -0.438821 +v 0.866770 -0.144763 0.989903 +v 1.664136 -0.643107 0.956373 +v 1.763877 0.818803 0.923239 +v 0.833399 0.021352 -1.037016 +v 2.494688 0.087600 -0.770953 +v 1.730692 -0.776098 -0.970550 +v 2.428318 -0.078267 0.790307 +v 2.062541 -1.241319 0.491110 +v 2.195652 1.284023 0.391708 +v 1.796876 0.054476 -1.037016 +v 1.232175 1.284023 0.458174 +v 2.095912 1.284023 -0.471955 +v 1.630951 -0.842346 0.890105 +v 2.660798 -0.011772 0.258776 +v 1.198990 1.284023 -0.471955 +v 0.833399 -0.377373 -1.037016 +v 1.232175 -1.241319 -0.438821 +v 2.527873 0.054476 -0.737819 +v 1.198990 -1.241319 0.458174 +v 0.933140 0.951546 0.856971 +v 0.833399 -1.141452 0.059179 +v 1.697507 -0.244382 0.989903 +v 2.461503 -0.111391 0.757173 +v 2.129097 -1.241319 0.424644 +v 2.328578 0.785431 -0.770953 +v 1.730692 -1.207947 0.624241 +v 2.627613 -0.775851 -0.040024 +v 2.394948 0.752307 0.757173 +v 1.531396 0.818803 0.923239 +v 0.833399 0.885051 -0.937218 +v 1.697507 -1.241319 -0.538421 +v 0.833399 1.284023 0.026045 +v 2.693983 0.752307 -0.007089 +v 2.394948 -0.775851 -0.737819 +v 2.295393 -0.742727 0.757173 +v 0.899955 -0.975337 0.890105 +v 2.727354 0.187220 0.059378 +v 2.129097 -1.207947 -0.438821 +v 2.727354 0.087600 -0.040024 +v 1.896431 0.054476 0.956373 +v 2.262022 -1.207947 0.125645 +f 292 263 306 +f 248 249 250 +f 248 250 253 +f 249 248 254 +f 251 248 259 +f 248 251 261 +f 254 261 262 +f 258 246 264 +f 258 264 265 +f 244 245 266 +f 253 250 266 +f 245 244 268 +f 249 254 269 +f 246 258 273 +f 251 259 274 +f 260 251 274 +f 256 260 274 +f 243 269 275 +f 269 262 275 +f 271 243 275 +f 259 248 276 +f 253 259 276 +f 251 255 277 +f 261 251 277 +f 262 261 277 +f 263 247 279 +f 254 248 280 +f 248 261 280 +f 261 254 280 +f 269 243 281 +f 249 269 281 +f 243 271 281 +f 271 249 281 +f 264 249 282 +f 265 264 282 +f 247 252 283 +f 252 270 283 +f 270 255 283 +f 246 250 284 +f 264 246 284 +f 250 264 284 +f 259 253 285 +f 253 266 285 +f 268 259 285 +f 250 249 286 +f 264 250 286 +f 249 264 286 +f 244 266 287 +f 266 267 287 +f 267 272 287 +f 257 263 288 +f 256 272 288 +f 272 257 288 +f 279 256 288 +f 263 279 288 +f 263 257 289 +f 273 258 289 +f 257 273 289 +f 255 270 290 +f 275 262 290 +f 270 275 290 +f 277 255 290 +f 262 277 290 +f 250 246 291 +f 246 273 291 +f 278 250 291 +f 252 247 292 +f 258 252 292 +f 247 263 292 +f 268 244 293 +f 259 268 293 +f 272 256 293 +f 274 259 293 +f 256 274 293 +f 266 245 294 +f 245 268 294 +f 285 266 294 +f 268 285 294 +f 254 262 295 +f 269 254 295 +f 262 269 295 +f 249 271 296 +f 271 265 296 +f 282 249 296 +f 265 282 296 +f 248 253 297 +f 276 248 297 +f 253 276 297 +f 255 251 298 +f 251 260 298 +f 283 255 298 +f 270 252 299 +f 275 270 299 +f 271 275 299 +f 257 272 300 +f 272 267 300 +f 273 257 300 +f 267 278 300 +f 291 273 300 +f 278 291 300 +f 266 250 301 +f 267 266 301 +f 250 278 301 +f 278 267 301 +f 260 256 302 +f 279 247 302 +f 256 279 302 +f 298 260 302 +f 252 258 303 +f 258 265 303 +f 265 271 303 +f 299 252 303 +f 271 299 303 +f 247 283 304 +f 283 298 304 +f 302 247 304 +f 298 302 304 +f 244 287 305 +f 287 272 305 +f 293 244 305 +f 272 293 305 +f 263 289 306 +f 289 258 306 +f 258 292 306 +o convex_5 +v 2.228716 1.948808 -0.106526 +v 1.065944 1.284023 -0.073359 +v 1.065944 1.284023 0.059306 +v 1.331786 2.812298 0.092580 +v 1.796919 1.284023 0.524709 +v 1.730489 1.284023 -0.571821 +v 1.630843 2.745787 0.458161 +v 1.664058 2.712614 -0.339120 +v 2.195621 1.284023 0.391614 +v 2.095976 2.745787 0.092580 +v 1.232141 2.015154 -0.372394 +v 1.199046 1.317528 0.424995 +v 2.162286 1.284023 -0.405667 +v 1.199046 2.646102 0.059306 +v 2.095976 2.015154 -0.372394 +v 2.129071 2.015154 0.391614 +v 1.697273 2.978495 0.059306 +v 1.232141 1.284023 -0.438834 +v 1.232141 2.081666 0.391614 +v 2.295387 1.483558 0.026140 +v 1.664058 2.081666 0.524709 +v 1.630843 1.915469 -0.505274 +v 1.099280 2.081666 0.059306 +v 2.062761 2.646102 -0.106526 +v 1.331786 2.546418 -0.239513 +v 1.298571 2.612929 0.291900 +v 1.962874 2.579756 0.358555 +v 2.262052 1.948808 0.026140 +v 2.295387 1.284023 -0.073359 +v 1.697273 2.745787 0.458161 +v 1.597628 1.350701 -0.571821 +v 1.597628 1.284023 0.524709 +v 1.232141 2.745787 0.026140 +v 2.095976 1.317528 -0.472107 +v 1.796919 1.981981 -0.472107 +v 1.962874 2.546418 -0.272680 +v 1.265356 2.048493 0.424995 +v 1.099280 2.081666 -0.007134 +v 2.129071 2.679441 0.092580 +v 1.630843 2.978495 0.059306 +v 1.730489 2.015154 0.524709 +v 1.697273 2.712614 -0.339120 +v 2.095976 2.745787 0.026140 +v 2.129071 1.383874 0.424995 +v 1.199046 1.450385 -0.405667 +v 2.162286 2.480072 -0.007134 +v 1.697273 2.911983 0.225460 +v 1.630843 2.048493 0.524709 +v 1.331786 2.546418 0.358555 +v 2.129071 1.882296 -0.372394 +v 2.295387 1.417212 -0.073359 +v 1.730489 1.383874 -0.571821 +v 1.232141 1.483558 -0.438834 +v 1.232141 2.712614 0.125854 +f 310 339 360 +f 309 308 311 +f 311 308 312 +f 311 312 315 +f 315 312 319 +f 312 308 324 +f 317 314 328 +f 308 309 329 +f 309 318 329 +f 318 325 329 +f 314 317 331 +f 322 315 334 +f 315 326 334 +f 315 319 335 +f 326 315 335 +f 313 327 336 +f 333 316 336 +f 322 333 336 +f 312 324 337 +f 317 328 337 +f 309 311 338 +f 318 309 338 +f 311 327 338 +f 314 331 339 +f 331 317 339 +f 319 312 340 +f 321 340 341 +f 330 321 342 +f 325 318 343 +f 308 329 344 +f 329 320 344 +f 339 317 344 +f 320 339 344 +f 316 333 345 +f 333 322 345 +f 322 334 345 +f 310 313 346 +f 323 314 346 +f 339 310 346 +f 314 339 346 +f 327 311 347 +f 322 336 347 +f 336 327 347 +f 314 323 348 +f 328 314 348 +f 321 341 348 +f 341 328 348 +f 342 321 348 +f 330 342 348 +f 323 316 349 +f 316 345 349 +f 348 323 349 +f 330 348 349 +f 311 315 350 +f 315 322 350 +f 347 311 350 +f 322 347 350 +f 324 308 351 +f 308 344 351 +f 344 317 351 +f 321 330 352 +f 334 307 352 +f 345 334 352 +f 330 349 352 +f 349 345 352 +f 316 323 353 +f 313 336 353 +f 336 316 353 +f 346 313 353 +f 323 346 353 +f 327 313 354 +f 318 338 354 +f 338 327 354 +f 343 318 354 +f 313 343 354 +f 313 332 355 +f 332 325 355 +f 325 343 355 +f 343 313 355 +f 319 340 356 +f 340 321 356 +f 352 307 356 +f 321 352 356 +f 307 334 357 +f 334 326 357 +f 326 335 357 +f 335 319 357 +f 356 307 357 +f 319 356 357 +f 312 337 358 +f 337 328 358 +f 340 312 358 +f 341 340 358 +f 328 341 358 +f 337 324 359 +f 317 337 359 +f 324 351 359 +f 351 317 359 +f 313 310 360 +f 320 329 360 +f 329 325 360 +f 332 313 360 +f 325 332 360 +f 339 320 360 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/207/207.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/207/207.urdf new file mode 100644 index 000000000..87d8f156e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/207/207.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/208/208.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/208/208.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/208/208.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/208/208.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/208/208.obj new file mode 100644 index 000000000..7501a2a03 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/208/208.obj @@ -0,0 +1,351 @@ +o convex_0 +v 1.075453 0.006799 0.008927 +v -1.090915 -3.977295 0.742634 +v -1.056001 -3.907098 0.218438 +v 1.040540 -3.941806 -0.934292 +v -1.021087 0.006799 -1.039047 +v 1.110367 0.006799 1.057318 +v -0.986174 0.006799 1.022469 +v 0.935799 -3.977295 0.987411 +v -0.951260 -3.837290 -1.074314 +v 1.005626 0.006799 -1.004407 +v -1.090915 -3.977295 1.022469 +v -0.496952 -3.837290 -1.074314 +v 0.097010 -1.845633 1.057527 +v -0.951260 -1.321882 -1.074314 +v -1.090915 -3.347468 1.022469 +v 0.970712 -3.977295 0.603029 +v 1.040540 -2.753910 -0.969141 +v 1.075453 -2.579196 -0.235225 +v -1.021087 -0.901867 -1.039047 +v -1.021087 0.006799 -0.235434 +v 1.075453 -0.936966 1.057318 +v 0.027183 0.006799 1.057527 +v 1.040540 0.006799 -0.829536 +v -0.357082 -3.977295 1.022469 +v -0.042644 0.006799 -1.039256 +v 1.005626 -1.006773 -1.004407 +v 0.970712 -2.893135 1.022260 +v -0.986174 -3.837290 -0.759629 +v 1.040540 -3.837290 -0.549909 +v 0.271794 -3.907098 -1.004198 +v -1.021087 -0.936966 1.022469 +v 1.110367 -0.343018 0.882656 +v 1.040540 -1.216586 -0.969141 +v 0.761015 -3.907098 -0.969349 +v 0.970712 -3.487863 0.987411 +v -0.986174 -2.648614 -1.074314 +v 1.075453 -2.473900 -0.270283 +v 1.110367 0.006799 0.847598 +v 0.900885 -3.941806 -0.934292 +v 0.900885 -3.977295 0.498065 +f 39 4 40 +f 1 5 6 +f 6 5 7 +f 5 1 10 +f 2 8 11 +f 12 9 14 +f 5 2 15 +f 2 11 15 +f 8 2 16 +f 3 2 19 +f 2 5 19 +f 7 5 20 +f 5 15 20 +f 6 13 21 +f 6 7 22 +f 13 6 22 +f 11 13 22 +f 15 11 22 +f 10 1 23 +f 11 8 24 +f 13 11 24 +f 5 10 25 +f 10 12 25 +f 14 5 25 +f 12 14 25 +f 12 10 26 +f 10 17 26 +f 17 12 26 +f 21 13 27 +f 8 21 27 +f 24 8 27 +f 13 24 27 +f 2 3 28 +f 9 2 28 +f 16 4 29 +f 4 18 29 +f 2 9 30 +f 9 12 30 +f 7 20 31 +f 20 15 31 +f 22 7 31 +f 15 22 31 +f 6 21 32 +f 29 18 32 +f 17 10 33 +f 23 1 33 +f 10 23 33 +f 17 4 34 +f 12 17 34 +f 4 30 34 +f 30 12 34 +f 8 16 35 +f 21 8 35 +f 16 29 35 +f 32 21 35 +f 29 32 35 +f 5 14 36 +f 14 9 36 +f 3 19 36 +f 19 5 36 +f 28 3 36 +f 9 28 36 +f 4 17 37 +f 18 4 37 +f 32 18 37 +f 17 33 37 +f 37 33 38 +f 1 6 38 +f 6 32 38 +f 33 1 38 +f 32 37 38 +f 2 30 39 +f 30 4 39 +f 16 2 40 +f 4 16 40 +f 2 39 40 +o convex_1 +v 1.110582 0.845775 1.826284 +v -1.021247 0.006799 -1.248466 +v -1.021247 0.042049 -1.457971 +v -0.951341 2.138612 2.944045 +v 1.005619 2.243484 -2.960832 +v -0.986190 2.208235 -3.030465 +v 0.935712 0.042049 -3.101309 +v -0.916284 0.111671 3.049403 +v 1.075525 2.173424 3.014283 +v 0.935712 0.146702 3.084522 +v -0.916284 0.076860 -3.101309 +v 1.110582 0.006799 1.057294 +v -0.986190 2.243484 1.406064 +v -0.986190 0.006799 1.266798 +v 1.040676 2.173424 -2.051970 +v -1.021247 1.055519 -0.025953 +v -0.951341 0.076860 2.839293 +v 0.341613 2.243484 0.323423 +v 1.040676 0.006799 -0.828852 +v 1.005619 1.544411 -2.995951 +v 0.621238 2.243484 -2.995951 +v -0.986190 2.208235 2.035183 +v -0.986190 1.544411 -3.065584 +v 0.970561 0.216543 3.084522 +v -0.601810 0.636031 3.049403 +v -1.021247 1.334448 -0.968723 +v -0.951341 0.216543 -3.101309 +v -1.021247 0.042049 -0.199733 +v 1.075525 1.719124 3.013678 +v 0.201800 0.111671 3.049403 +v 1.110582 0.006799 0.882303 +v 0.830957 2.173424 3.014283 +v -0.496846 2.208235 -3.030465 +v -0.566752 2.243484 1.476303 +v 1.075525 2.173424 2.245293 +v -0.951341 1.684094 2.978559 +v 1.005619 2.103363 -2.995951 +v -0.986190 2.243484 0.881698 +v -0.951341 2.173424 2.699421 +v -0.951341 0.391257 3.013678 +v -0.846377 0.601001 -3.101309 +v 0.970561 0.636031 -3.066190 +v 0.761051 0.286385 3.084522 +v 1.110582 0.915836 1.791165 +v -0.986190 2.103363 2.105422 +v 0.935712 0.111671 -3.101309 +v -0.846377 0.076860 2.873806 +v 0.656087 0.042049 -3.101309 +v -0.986190 0.705873 1.686413 +v 1.005619 0.006799 -1.003237 +v -0.881435 0.006799 1.336431 +v -0.986190 0.042049 -2.226961 +v 0.970770 1.369478 3.049403 +v -0.916284 0.426506 3.049403 +v 1.110582 0.041830 1.162046 +v -0.986190 1.369478 -3.065584 +v 0.970561 0.111671 2.664907 +v 0.970561 0.076860 -2.541823 +v -0.322184 1.404290 -3.065584 +f 86 81 99 +f 42 52 54 +f 43 42 56 +f 49 45 58 +f 45 53 58 +f 52 42 59 +f 53 45 61 +f 43 46 63 +f 46 43 66 +f 43 56 66 +f 62 53 66 +f 56 62 66 +f 47 51 67 +f 42 54 68 +f 56 42 68 +f 54 57 68 +f 41 49 69 +f 49 64 69 +f 50 48 70 +f 41 52 71 +f 52 59 71 +f 60 55 71 +f 59 60 71 +f 46 61 73 +f 63 46 73 +f 49 58 74 +f 58 53 74 +f 72 49 74 +f 53 72 74 +f 45 49 75 +f 55 45 75 +f 72 44 76 +f 65 72 76 +f 45 55 77 +f 55 60 77 +f 61 45 77 +f 73 61 77 +f 61 46 78 +f 53 61 78 +f 46 66 78 +f 66 53 78 +f 62 44 79 +f 53 62 79 +f 72 53 79 +f 44 72 79 +f 57 48 80 +f 47 67 81 +f 67 63 81 +f 60 59 82 +f 77 60 82 +f 48 50 83 +f 50 64 83 +f 49 41 84 +f 41 71 84 +f 71 55 84 +f 75 49 84 +f 55 75 84 +f 44 62 85 +f 62 56 85 +f 56 68 85 +f 76 44 85 +f 80 76 85 +f 73 77 86 +f 47 81 86 +f 82 47 86 +f 77 82 86 +f 48 57 87 +f 70 48 87 +f 52 70 87 +f 47 42 88 +f 51 47 88 +f 68 57 89 +f 57 80 89 +f 85 68 89 +f 80 85 89 +f 42 47 90 +f 59 42 90 +f 47 59 90 +f 54 52 91 +f 57 54 91 +f 52 87 91 +f 87 57 91 +f 42 43 92 +f 67 51 92 +f 88 42 92 +f 51 88 92 +f 64 49 93 +f 49 72 93 +f 72 65 93 +f 83 64 93 +f 65 83 93 +f 65 76 94 +f 80 48 94 +f 76 80 94 +f 48 83 94 +f 83 65 94 +f 52 41 95 +f 64 52 95 +f 41 69 95 +f 69 64 95 +f 43 63 96 +f 63 67 96 +f 92 43 96 +f 67 92 96 +f 64 50 97 +f 52 64 97 +f 50 70 97 +f 70 52 97 +f 59 47 98 +f 47 82 98 +f 82 59 98 +f 63 73 99 +f 81 63 99 +f 73 86 99 +o convex_2 +v 0.341722 3.152353 -0.270478 +v -0.322294 3.920687 0.113823 +v -0.322294 3.920687 0.183712 +v -0.287325 2.243484 0.113823 +v 0.341722 2.243484 0.323614 +v 0.341722 4.165447 0.183712 +v -0.287325 4.095462 -0.235502 +v -0.287325 2.243484 -0.270478 +v 0.341722 2.243484 -0.305453 +v 0.341722 4.095462 -0.200588 +v -0.252356 2.243484 0.288577 +v -0.322294 4.165447 0.183712 +v 0.166943 2.418448 0.323614 +v -0.287325 3.501339 -0.270478 +v 0.341722 3.920687 0.218688 +v 0.166943 4.095462 -0.235502 +v -0.217388 3.850889 0.218688 +v -0.252356 2.628216 0.288577 +v 0.341722 4.165447 0.043933 +v -0.322294 4.130455 -0.025833 +v 0.097071 2.278665 -0.305453 +f 113 108 120 +f 102 101 103 +f 104 100 105 +f 103 101 107 +f 104 103 107 +f 100 104 108 +f 104 107 108 +f 105 100 109 +f 102 103 110 +f 103 104 110 +f 101 102 111 +f 102 110 111 +f 110 104 112 +f 100 108 113 +f 104 105 114 +f 105 111 114 +f 112 104 114 +f 109 100 115 +f 100 113 115 +f 113 106 115 +f 114 111 116 +f 112 114 116 +f 111 110 117 +f 110 112 117 +f 116 111 117 +f 112 116 117 +f 105 109 118 +f 111 105 118 +f 115 106 118 +f 109 115 118 +f 107 101 119 +f 101 111 119 +f 106 113 119 +f 113 107 119 +f 111 118 119 +f 118 106 119 +f 108 107 120 +f 107 113 120 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/208/208.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/208/208.urdf new file mode 100644 index 000000000..fb94efc43 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/208/208.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/209/209.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/209/209.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/209/209.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/209/209.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/209/209.obj new file mode 100644 index 000000000..d72565edc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/209/209.obj @@ -0,0 +1,483 @@ +o convex_0 +v 0.872943 -1.860407 -1.091083 +v 1.040662 2.668688 1.122947 +v 0.973616 2.668688 1.122947 +v 0.872943 4.614371 -1.057704 +v -1.039221 -1.558425 0.317530 +v -0.938548 4.648137 -0.923324 +v -1.005593 4.579967 1.021945 +v 0.973616 -1.860407 0.988566 +v -1.072849 -1.826641 -0.990297 +v -0.938548 -1.860407 0.988566 +v 0.973616 4.648137 1.022162 +v 1.040662 4.614371 -1.057704 +v 1.074290 -1.591554 -0.353073 +v -0.737201 2.198514 -1.091300 +v -0.569482 2.433601 1.089352 +v 0.973616 -1.860407 -1.091300 +v -1.072849 -0.584947 -1.023893 +v 1.074290 -0.753139 0.720022 +v 0.403204 -1.860407 1.021945 +v -0.972176 4.648137 -0.587806 +v -0.938548 3.037565 -1.057488 +v -0.938548 1.159415 1.055757 +v -1.072849 -1.423998 -0.487237 +v -1.039221 -1.860407 -0.990297 +v -1.005593 -1.524659 0.753617 +v -0.234044 4.648137 -0.990514 +v 1.007034 4.648137 0.351125 +v 0.973616 -0.517415 -1.091300 +v 1.074290 -1.524659 0.586075 +v 1.074290 0.052147 0.283935 +v 1.040662 -1.860407 -0.151719 +v 0.537505 4.648137 1.021945 +v 0.537505 -1.323337 -1.091083 +v 1.040662 2.500496 1.122947 +v 1.040662 4.546839 -0.722186 +v -0.972176 3.372676 1.055757 +v -0.804247 -1.423998 -1.023893 +v -0.938548 4.479944 -0.956919 +v 0.570923 -1.860407 1.021945 +v 1.040662 2.835607 1.089135 +v 1.074290 -1.490893 -0.386451 +v -1.005593 -1.759746 0.653048 +v -0.972176 0.891835 -1.057704 +v -1.005593 4.579967 0.921376 +v -0.904920 -0.551818 1.022162 +v 0.906360 2.567390 1.122947 +v 1.074290 -0.886292 -0.386451 +v 1.007034 3.976003 1.055540 +v 1.007034 4.648137 0.082581 +v 0.939988 4.044172 1.055757 +v 0.805687 4.614371 -1.057488 +v 1.074290 -0.316730 0.720022 +v 1.040662 4.413049 -1.057704 +v 1.007034 0.220339 1.055757 +v 1.040662 -1.792875 0.418316 +v -0.972176 4.648137 -0.520832 +v -0.972176 -0.920695 0.921376 +f 25 10 57 +f 1 8 10 +f 4 12 14 +f 8 1 16 +f 10 8 19 +f 11 6 20 +f 6 17 20 +f 5 7 23 +f 9 5 23 +f 7 17 23 +f 17 9 23 +f 9 1 24 +f 1 10 24 +f 10 9 24 +f 7 5 25 +f 6 11 26 +f 12 4 26 +f 26 11 27 +f 14 12 28 +f 12 16 28 +f 16 14 28 +f 18 8 29 +f 13 18 29 +f 18 13 30 +f 8 16 31 +f 16 13 31 +f 13 29 31 +f 11 20 32 +f 16 1 33 +f 14 16 33 +f 2 3 34 +f 18 2 34 +f 12 27 35 +f 30 12 35 +f 3 7 36 +f 7 10 36 +f 15 3 36 +f 10 22 36 +f 22 15 36 +f 1 9 37 +f 9 17 37 +f 33 1 37 +f 17 6 38 +f 21 17 38 +f 6 26 38 +f 26 21 38 +f 19 8 39 +f 34 19 39 +f 35 27 40 +f 13 16 41 +f 30 13 41 +f 5 9 42 +f 9 10 42 +f 25 5 42 +f 10 25 42 +f 21 14 43 +f 17 21 43 +f 14 33 43 +f 37 17 43 +f 33 37 43 +f 17 7 44 +f 7 20 44 +f 20 17 44 +f 10 19 45 +f 22 10 45 +f 15 22 45 +f 3 15 46 +f 34 3 46 +f 19 34 46 +f 45 19 46 +f 15 45 46 +f 12 30 47 +f 41 12 47 +f 30 41 47 +f 11 2 48 +f 27 11 48 +f 2 40 48 +f 40 27 48 +f 12 26 49 +f 27 12 49 +f 26 27 49 +f 3 2 50 +f 7 3 50 +f 2 11 50 +f 32 7 50 +f 11 32 50 +f 4 14 51 +f 14 21 51 +f 26 4 51 +f 21 26 51 +f 2 18 52 +f 18 30 52 +f 30 35 52 +f 40 2 52 +f 35 40 52 +f 16 12 53 +f 41 16 53 +f 12 41 53 +f 8 18 54 +f 18 34 54 +f 39 8 54 +f 34 39 54 +f 29 8 55 +f 8 31 55 +f 31 29 55 +f 20 7 56 +f 7 32 56 +f 32 20 56 +f 10 7 57 +f 7 25 57 +o convex_1 +v 1.812722 -2.564838 0.518950 +v 2.986564 -2.967330 -0.554513 +v 2.986564 -1.927505 -0.554513 +v 1.074687 -2.095373 -0.554401 +v 2.986367 -1.994804 0.586048 +v 1.108180 -3.034629 -0.453697 +v 1.074687 -1.927505 0.451852 +v 3.053551 -2.967330 0.518950 +v 1.074687 -2.900248 0.451852 +v 3.087241 -3.034629 -0.554513 +v 3.087241 -1.927505 -0.353106 +v 1.074687 -1.994804 -0.554401 +v 2.550363 -2.967330 0.518950 +v 3.053551 -3.034629 -0.218909 +v 2.617350 -3.034629 -0.554401 +v 2.281825 -1.927505 -0.487302 +v 1.074687 -2.799679 -0.487302 +v 2.751520 -2.162455 0.586048 +v 2.952874 -2.900248 0.552443 +v 3.020057 -1.961100 0.284161 +v 3.087241 -1.927505 -0.554513 +v 1.141673 -1.927505 0.149853 +v 2.986564 -3.000925 0.284161 +v 1.074687 -3.000925 -0.185304 +v 1.343027 -3.034629 -0.487302 +v 1.343027 -1.927505 0.451852 +v 3.087241 -2.263023 -0.151811 +v 1.410014 -1.961100 0.485345 +v 1.678355 -2.933843 0.485345 +v 2.919380 -1.927505 -0.118206 +v 1.376521 -2.766192 0.485345 +v 1.611368 -1.961100 -0.554401 +f 79 73 89 +f 60 59 61 +f 64 61 66 +f 59 60 67 +f 61 59 67 +f 60 64 68 +f 60 61 69 +f 61 64 69 +f 63 67 71 +f 67 65 71 +f 61 67 72 +f 67 63 72 +f 64 60 73 +f 66 61 74 +f 65 62 76 +f 70 65 76 +f 75 58 76 +f 62 75 76 +f 62 65 77 +f 67 60 78 +f 68 67 78 +f 60 68 78 +f 69 64 79 +f 64 73 79 +f 65 70 80 +f 70 63 80 +f 63 71 80 +f 71 65 80 +f 63 70 81 +f 74 63 81 +f 66 74 81 +f 61 72 82 +f 72 63 82 +f 63 74 82 +f 74 61 82 +f 64 62 83 +f 68 64 83 +f 62 77 83 +f 65 67 84 +f 67 68 84 +f 77 65 84 +f 68 77 84 +f 62 64 85 +f 58 75 85 +f 75 62 85 +f 70 76 86 +f 81 70 86 +f 66 81 86 +f 77 68 87 +f 68 83 87 +f 83 77 87 +f 64 66 88 +f 76 58 88 +f 85 64 88 +f 58 85 88 +f 66 86 88 +f 86 76 88 +f 60 69 89 +f 73 60 89 +f 69 79 89 +o convex_2 +v -1.576481 -3.001080 -0.353217 +v -1.106543 -1.860407 -0.319589 +v -1.073046 -1.860518 -0.319484 +v -1.207230 -2.967360 0.586160 +v -3.085801 -1.894015 0.418335 +v -3.018610 -2.933863 -0.487414 +v -1.073046 -1.994728 0.586160 +v -2.917923 -2.900366 0.485486 +v -3.052107 -1.961120 -0.420263 +v -1.073046 -2.799653 -0.453786 +v -1.073046 -1.860518 -0.453786 +v -1.073046 -3.001080 -0.420263 +v -1.073046 -2.967360 0.586160 +v -1.374910 -1.961120 0.586160 +v -2.347692 -2.464128 -0.487414 +v -3.085801 -1.894015 0.116419 +v -2.548672 -2.933863 0.485486 +v -3.052107 -2.229540 0.451753 +v -2.515372 -1.894015 0.451753 +v -3.052107 -2.162547 -0.453786 +v -2.213508 -2.967360 -0.487414 +v -2.985114 -2.933863 -0.051196 +v -1.509094 -2.195932 0.586160 +v -1.274223 -1.860407 -0.453786 +v -1.106543 -3.001080 0.049373 +v -3.085801 -2.128827 0.284139 +v -2.951420 -1.927624 0.451753 +v -2.951420 -2.799653 0.485486 +v -1.207230 -1.961120 0.586160 +v -2.649556 -1.927624 -0.420263 +v -2.515372 -2.766156 0.518904 +v -2.079325 -2.464128 -0.487414 +v -2.985114 -2.564842 -0.487414 +v -1.140039 -3.001080 -0.453786 +f 110 99 123 +f 92 96 99 +f 91 92 100 +f 92 99 100 +f 99 96 101 +f 96 93 102 +f 101 96 102 +f 93 96 103 +f 93 97 106 +f 92 91 108 +f 91 94 108 +f 94 103 108 +f 105 98 109 +f 90 95 110 +f 95 104 110 +f 95 90 111 +f 90 106 111 +f 106 97 111 +f 93 103 112 +f 94 91 113 +f 91 100 113 +f 105 94 113 +f 109 98 113 +f 90 101 114 +f 102 93 114 +f 101 102 114 +f 106 90 114 +f 93 106 114 +f 94 105 115 +f 107 94 115 +f 109 95 115 +f 105 109 115 +f 95 111 115 +f 111 107 115 +f 103 94 116 +f 94 107 116 +f 112 103 116 +f 112 116 117 +f 111 97 117 +f 107 111 117 +f 116 107 117 +f 96 92 118 +f 103 96 118 +f 92 108 118 +f 108 103 118 +f 98 105 119 +f 105 113 119 +f 113 98 119 +f 97 93 120 +f 93 112 120 +f 112 117 120 +f 117 97 120 +f 100 99 121 +f 99 110 121 +f 110 104 121 +f 113 100 121 +f 104 113 121 +f 104 95 122 +f 95 109 122 +f 113 104 122 +f 109 113 122 +f 101 90 123 +f 99 101 123 +f 90 110 123 +o convex_3 +v -0.502434 -3.437048 -0.956998 +v 1.074299 -2.967274 0.619525 +v 1.074299 -3.068093 0.619525 +v -1.005593 -3.437048 1.055849 +v -1.039221 -1.860571 -0.990416 +v -0.938547 -1.860571 0.988593 +v 0.973625 -1.860407 -1.091300 +v 1.040671 -3.537867 -1.024044 +v 0.973625 -1.860407 0.988383 +v 0.973625 -3.470709 1.055639 +v -0.938547 -3.369891 -0.990416 +v 1.074299 -1.994722 -0.554302 +v -1.072849 -3.135086 0.753827 +v -1.072849 -1.994722 0.586107 +v -1.072849 -3.000935 -0.420211 +v 0.705022 -1.860407 1.022011 +v -0.837873 -3.470709 0.887919 +v -0.603108 -3.403552 -1.024044 +v 1.074299 -1.927564 0.451806 +v 1.007043 -3.504042 0.686571 +v 0.637976 -3.537867 -0.688394 +v -0.972175 -2.128873 1.022221 +v 1.074299 -3.403552 -0.722022 +v 1.040671 -3.135250 -1.057462 +v -0.871501 -2.967438 1.055849 +v -1.072849 -1.860571 -0.453629 +v -0.938547 -3.403552 -0.889742 +v 1.007043 -3.470709 1.022221 +v -1.039221 -2.229691 -0.990416 +v -0.502434 -1.860571 -1.024044 +v 0.973625 -1.961061 1.022221 +v -0.536062 -3.470709 1.055849 +v 1.040671 -3.537867 -0.420001 +v 1.040671 -1.860407 -0.453629 +v -0.837873 -1.961225 1.022221 +v -1.005593 -3.437048 0.720199 +v 0.906369 -1.927564 -1.091090 +v 1.007043 -2.095376 -1.057462 +v 0.805696 -3.537867 -1.023834 +v 0.872741 -3.302897 1.055639 +v -0.972175 -3.437048 0.149994 +v -0.972175 -3.101589 -0.990416 +f 152 141 165 +f 125 126 135 +f 136 137 138 +f 130 128 139 +f 132 130 139 +f 125 135 142 +f 136 127 145 +f 129 137 145 +f 137 136 145 +f 135 126 146 +f 135 146 147 +f 146 131 147 +f 145 127 148 +f 137 129 149 +f 138 137 149 +f 139 128 149 +f 129 139 149 +f 138 134 150 +f 141 124 150 +f 134 141 150 +f 126 125 151 +f 133 143 151 +f 146 126 151 +f 128 141 152 +f 138 149 152 +f 149 128 152 +f 128 130 153 +f 141 128 153 +f 132 139 154 +f 125 142 154 +f 142 132 154 +f 151 125 154 +f 133 151 154 +f 127 140 155 +f 143 133 155 +f 148 127 155 +f 140 144 156 +f 144 131 156 +f 131 146 156 +f 151 143 156 +f 146 151 156 +f 155 140 156 +f 143 155 156 +f 130 132 157 +f 135 130 157 +f 132 142 157 +f 142 135 157 +f 139 129 158 +f 129 145 158 +f 148 139 158 +f 145 148 158 +f 127 136 159 +f 136 138 159 +f 140 127 159 +f 138 150 159 +f 130 147 160 +f 147 141 160 +f 153 130 160 +f 141 153 160 +f 130 135 161 +f 147 130 161 +f 135 147 161 +f 124 141 162 +f 144 124 162 +f 131 144 162 +f 141 147 162 +f 147 131 162 +f 139 148 163 +f 154 139 163 +f 133 154 163 +f 155 133 163 +f 148 155 163 +f 144 140 164 +f 124 144 164 +f 150 124 164 +f 140 159 164 +f 159 150 164 +f 134 138 165 +f 141 134 165 +f 138 152 165 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/209/209.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/209/209.urdf new file mode 100644 index 000000000..89b050923 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/209/209.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/210/210.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/210/210.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/210/210.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/210/210.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/210/210.obj new file mode 100644 index 000000000..d54f3a356 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/210/210.obj @@ -0,0 +1,489 @@ +o convex_0 +v 3.011966 2.357079 -0.164824 +v 2.722274 0.802419 -1.105090 +v 2.722274 0.874640 -1.105090 +v -3.027824 1.127837 1.028540 +v -3.027824 2.827364 -1.104874 +v 2.939248 2.754930 1.064605 +v 3.011966 0.838529 1.028324 +v -2.991169 0.802419 -1.104874 +v -2.955105 2.754930 1.064605 +v 3.011966 2.899797 -1.032745 +v -1.110533 0.729773 1.100669 +v -0.568395 2.899797 0.449782 +v -3.027824 0.838529 0.992260 +v 2.975311 0.802419 -0.924120 +v 0.949830 0.729773 -0.960401 +v 1.022548 0.729773 1.064389 +v -2.557221 2.754930 1.100669 +v -1.761454 2.863474 -1.104874 +v -2.846914 0.766096 -0.960401 +v 1.130740 2.573954 1.100669 +v 2.577428 0.838529 1.064605 +v 2.975311 1.272491 -1.105090 +v 0.407691 2.899797 0.449782 +v -0.929623 0.729773 -1.032745 +v -3.027824 2.827364 -0.490268 +v -0.785368 2.899797 -0.779431 +v -3.027824 0.802419 0.522127 +v 2.975311 2.791041 0.666816 +v 2.975311 2.429512 -1.068810 +v -2.991169 2.791041 0.594256 +v 3.011966 0.874640 0.232532 +v 3.011966 1.525689 1.028324 +v -3.027824 2.067770 -1.104874 +v -1.400226 0.729773 0.811290 +v 2.975311 0.802419 -0.273233 +v -2.991169 1.959227 1.064605 +v -2.738132 0.802419 1.028540 +v 2.975311 1.670343 1.064605 +v -2.123274 2.863474 -1.104874 +v 2.975311 2.899797 -0.924120 +v 2.939248 0.802419 -1.105090 +v 0.226781 1.561800 1.100669 +v 1.166803 2.718820 1.100669 +v -3.027824 1.344712 1.028540 +v 2.975311 2.537843 1.064605 +v -3.027824 0.802419 0.232748 +f 27 33 46 +f 3 2 5 +f 1 7 10 +f 4 5 13 +f 15 14 16 +f 11 15 16 +f 12 9 17 +f 17 11 20 +f 16 7 21 +f 11 16 21 +f 2 3 22 +f 3 5 22 +f 10 14 22 +f 10 12 23 +f 17 6 23 +f 12 17 23 +f 8 2 24 +f 15 11 24 +f 19 8 24 +f 5 4 25 +f 12 10 26 +f 13 5 27 +f 1 10 28 +f 23 6 28 +f 18 10 29 +f 10 22 29 +f 22 18 29 +f 9 12 30 +f 12 25 30 +f 10 7 31 +f 14 10 31 +f 7 14 31 +f 7 1 32 +f 5 2 33 +f 2 8 33 +f 27 5 33 +f 24 11 34 +f 19 24 34 +f 27 19 34 +f 14 7 35 +f 16 14 35 +f 7 16 35 +f 17 9 36 +f 11 17 36 +f 4 13 37 +f 13 27 37 +f 34 11 37 +f 27 34 37 +f 36 4 37 +f 11 36 37 +f 21 7 38 +f 20 21 38 +f 7 32 38 +f 10 18 39 +f 22 5 39 +f 18 22 39 +f 5 25 39 +f 25 12 39 +f 12 26 39 +f 26 10 39 +f 10 23 40 +f 28 10 40 +f 23 28 40 +f 14 15 41 +f 2 22 41 +f 22 14 41 +f 24 2 41 +f 15 24 41 +f 20 11 42 +f 11 21 42 +f 21 20 42 +f 6 17 43 +f 17 20 43 +f 20 38 43 +f 25 4 44 +f 9 30 44 +f 30 25 44 +f 4 36 44 +f 36 9 44 +f 1 28 45 +f 28 6 45 +f 32 1 45 +f 38 32 45 +f 6 43 45 +f 43 38 45 +f 8 19 46 +f 19 27 46 +f 33 8 46 +o convex_1 +v 0.371785 4.816651 -0.201115 +v -0.568541 2.899797 0.341306 +v -0.568541 2.899797 0.449849 +v 0.480304 2.899797 -0.020110 +v -0.460022 2.899797 -0.454186 +v -0.568541 4.816651 0.486031 +v 0.444062 4.708012 0.522212 +v -0.460022 4.816651 -0.418103 +v 0.444062 2.899797 -0.490466 +v 0.480304 2.899797 0.449849 +v 0.407923 4.816651 -0.490466 +v 0.118608 4.092953 0.522212 +v 0.444062 4.744038 -0.454186 +v -0.568541 4.454896 0.196680 +v 0.082367 4.816651 -0.490466 +v 0.480304 4.129166 0.486031 +v -0.496161 2.899797 -0.345741 +v -0.279123 3.261553 0.486031 +v -0.460022 4.273830 -0.454186 +v 0.444062 4.744038 0.449849 +v 0.480304 3.768161 -0.020110 +v 0.444062 4.201592 0.522212 +f 58 64 68 +f 49 48 50 +f 50 48 51 +f 48 49 52 +f 52 47 54 +f 50 51 55 +f 49 50 56 +f 54 47 57 +f 53 52 58 +f 55 57 59 +f 48 52 60 +f 52 54 60 +f 55 51 61 +f 54 57 61 +f 57 55 61 +f 56 50 62 +f 51 48 63 +f 48 60 63 +f 60 54 63 +f 52 49 64 +f 49 56 64 +f 58 52 64 +f 61 51 65 +f 54 61 65 +f 51 63 65 +f 63 54 65 +f 47 52 66 +f 52 53 66 +f 57 47 66 +f 59 57 66 +f 53 62 66 +f 62 59 66 +f 50 55 67 +f 55 59 67 +f 62 50 67 +f 59 62 67 +f 53 58 68 +f 56 62 68 +f 62 53 68 +f 64 56 68 +o convex_2 +v 0.335635 -3.863445 3.017739 +v 0.046263 -4.550484 0.558379 +v 0.190918 -4.550484 0.558379 +v -0.315372 -4.514367 2.945278 +v -0.242981 -4.008183 0.703061 +v 0.299440 -4.478182 2.945278 +v -0.279176 -3.899697 2.945278 +v 0.227113 -3.972066 0.558379 +v -0.242981 -4.514367 0.558379 +v 0.299440 -4.514367 2.330438 +v 0.190918 -3.935881 0.739413 +v -0.134522 -3.863445 2.981388 +v 0.335635 -3.863445 2.655913 +v -0.279176 -3.935881 1.932501 +v -0.242981 -4.044368 0.558379 +v 0.263245 -3.972066 0.992426 +v 0.335635 -4.405879 2.909167 +v -0.315372 -4.441997 2.583692 +v 0.082459 -4.080553 3.017739 +v 0.299440 -3.863445 2.258217 +f 81 76 88 +f 70 71 72 +f 71 70 76 +f 70 72 77 +f 76 70 77 +f 72 71 78 +f 74 72 78 +f 76 73 79 +f 75 72 80 +f 80 69 81 +f 79 73 82 +f 75 80 82 +f 80 79 82 +f 73 76 83 +f 76 77 83 +f 82 73 83 +f 71 76 84 +f 78 71 84 +f 76 81 84 +f 84 81 85 +f 69 74 85 +f 74 78 85 +f 81 69 85 +f 78 84 85 +f 72 75 86 +f 77 72 86 +f 75 82 86 +f 83 77 86 +f 82 83 86 +f 74 69 87 +f 72 74 87 +f 69 80 87 +f 80 72 87 +f 76 79 88 +f 79 80 88 +f 80 81 88 +o convex_3 +v 0.407955 -3.429686 0.522130 +v -0.604708 -3.610375 -0.526583 +v -0.604708 -3.610375 -0.381703 +v 0.552355 -5.273959 0.232709 +v -0.459842 -5.129097 0.449747 +v 0.443938 -5.201333 -0.454086 +v 0.480272 -3.285018 -0.490335 +v -0.459959 -3.285018 0.558379 +v -0.459842 -5.165117 -0.562605 +v 0.552355 -5.273959 0.485882 +v 0.588805 -3.285018 0.485882 +v -0.604708 -3.285018 -0.490335 +v 0.335522 -4.153026 -0.598854 +v 0.552355 -5.165117 -0.381816 +v -0.242893 -4.514404 0.558266 +v -0.170576 -3.972142 -0.598854 +v 0.226989 -4.153026 0.558266 +v 0.335522 -4.478383 -0.598854 +v -0.315209 -5.201333 -0.526470 +v 0.516255 -3.321039 -0.345681 +v -0.459842 -5.165117 0.232709 +v -0.351309 -4.514404 -0.598854 +v 0.407722 -5.273959 0.485882 +v 0.588805 -3.429686 0.305093 +v -0.604708 -3.574160 -0.309432 +v -0.495942 -4.911997 -0.381816 +v 0.009923 -3.285018 0.558379 +v 0.588688 -3.863690 0.485882 +v 0.516255 -4.875782 -0.454086 +f 106 95 117 +f 95 96 99 +f 90 91 100 +f 96 95 100 +f 92 94 102 +f 96 93 103 +f 90 100 104 +f 100 95 104 +f 95 101 104 +f 103 98 105 +f 94 97 106 +f 101 95 106 +f 104 101 106 +f 94 92 107 +f 97 94 107 +f 95 99 108 +f 102 95 108 +f 97 107 109 +f 97 90 110 +f 90 104 110 +f 106 97 110 +f 104 106 110 +f 92 98 111 +f 103 93 111 +f 98 103 111 +f 107 92 111 +f 93 109 111 +f 109 107 111 +f 108 99 112 +f 102 108 112 +f 91 93 113 +f 93 96 113 +f 100 91 113 +f 96 100 113 +f 91 90 114 +f 93 91 114 +f 90 97 114 +f 109 93 114 +f 97 109 114 +f 99 96 115 +f 89 99 115 +f 96 103 115 +f 105 89 115 +f 103 105 115 +f 98 92 116 +f 99 89 116 +f 92 102 116 +f 89 105 116 +f 105 98 116 +f 112 99 116 +f 102 112 116 +f 102 94 117 +f 95 102 117 +f 94 106 117 +o convex_4 +v 0.552480 -3.284771 0.015820 +v -1.111047 0.584768 1.028332 +v -1.074831 -1.982481 0.955994 +v -1.038615 -3.067461 -1.105090 +v 0.950418 0.729773 -0.960631 +v 1.058847 0.440157 1.064608 +v -0.930186 0.729773 -1.032753 +v 1.131279 -3.248225 1.064608 +v 0.986414 -3.175919 -0.924354 +v -1.038615 -3.248225 0.955994 +v -1.074831 0.729773 1.100669 +v -0.785322 -3.284771 -1.105306 +v 1.022631 0.729773 1.064608 +v 0.986414 0.295545 -0.960631 +v 0.516263 -3.248225 1.064608 +v -0.966183 -0.174443 -1.068813 +v 1.022631 -3.175919 -0.815739 +v -1.038615 -2.995155 0.992055 +v 0.805773 -3.212072 -0.960415 +v -1.038615 -3.284771 -1.105090 +v -0.459816 -3.284771 0.558245 +v 0.986414 0.729773 -0.851800 +v 0.371838 0.729773 -0.996692 +v 1.131279 -3.212072 0.992271 +v 0.480267 -3.284771 -0.490112 +v -0.930186 -2.199398 -1.105090 +v -1.111047 0.729773 1.028332 +v 0.986414 -0.717129 -0.960631 +v 1.022631 -3.212072 -0.671064 +v -0.966183 0.729773 -0.743402 +v 0.588696 -3.284771 0.485907 +v -1.038615 -3.284771 -0.345652 +v 1.095063 -3.248225 0.413569 +v -1.038615 0.620921 1.100669 +v -0.496032 0.729773 -1.032753 +v -0.930186 -3.212072 0.992055 +f 151 135 153 +f 122 124 128 +f 122 128 130 +f 129 122 131 +f 119 120 135 +f 120 127 135 +f 128 119 135 +f 120 119 137 +f 119 121 137 +f 121 129 137 +f 129 118 137 +f 125 132 138 +f 132 127 138 +f 137 118 138 +f 122 130 139 +f 130 123 139 +f 131 122 139 +f 124 122 140 +f 123 125 141 +f 134 131 141 +f 139 123 141 +f 131 139 141 +f 118 129 142 +f 129 136 142 +f 129 121 143 +f 122 129 143 +f 121 133 143 +f 140 122 143 +f 121 119 144 +f 119 128 144 +f 128 124 144 +f 133 121 144 +f 129 131 145 +f 134 126 145 +f 131 134 145 +f 136 129 145 +f 126 136 145 +f 126 134 146 +f 136 126 146 +f 142 136 146 +f 124 133 147 +f 144 124 147 +f 133 144 147 +f 138 118 148 +f 125 138 148 +f 127 120 149 +f 120 137 149 +f 138 127 149 +f 137 138 149 +f 141 125 150 +f 134 141 150 +f 118 142 150 +f 146 134 150 +f 142 146 150 +f 148 118 150 +f 125 148 150 +f 125 123 151 +f 123 130 151 +f 130 128 151 +f 132 125 151 +f 128 135 151 +f 133 124 152 +f 124 140 152 +f 143 133 152 +f 140 143 152 +f 127 132 153 +f 135 127 153 +f 132 151 153 +o convex_5 +v -0.134409 -4.116660 -3.057860 +v 0.335635 -4.188916 -0.599455 +v 0.335635 -4.478196 -0.599455 +v -0.351539 -4.514324 -0.599455 +v 0.190949 -4.514324 -2.985569 +v -0.206786 -3.935892 -0.707893 +v 0.227070 -3.935892 -3.094250 +v -0.351539 -3.863445 -3.057860 +v -0.351539 -4.514324 -2.949423 +v 0.299447 -4.008212 -0.599455 +v -0.351539 -4.369684 -0.599455 +v 0.335635 -4.478196 -0.960914 +v 0.190949 -3.935892 -2.262408 +v -0.134409 -3.935892 -0.671747 +v -0.170597 -3.972020 -0.599455 +v -0.279095 -3.863445 -2.949423 +f 159 167 169 +f 156 155 157 +f 156 157 158 +f 158 154 160 +f 160 154 161 +f 157 161 162 +f 154 158 162 +f 158 157 162 +f 161 154 162 +f 157 155 163 +f 155 160 163 +f 159 161 164 +f 161 157 164 +f 157 163 164 +f 155 156 165 +f 156 158 165 +f 160 155 165 +f 158 160 165 +f 163 160 166 +f 163 166 167 +f 159 164 168 +f 164 163 168 +f 163 167 168 +f 167 159 168 +f 161 159 169 +f 160 161 169 +f 166 160 169 +f 167 166 169 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/210/210.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/210/210.urdf new file mode 100644 index 000000000..98af71c6f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/210/210.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/211/211.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/211/211.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/211/211.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/211/211.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/211/211.obj new file mode 100644 index 000000000..7ad50c6fd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/211/211.obj @@ -0,0 +1,492 @@ +o convex_0 +v -0.066831 3.567564 -1.050251 +v 0.038855 3.284574 1.029871 +v 0.003626 3.284574 1.029871 +v 0.109312 -0.945078 -1.050251 +v -1.018807 -0.945078 0.112997 +v 1.026059 -0.873295 0.042546 +v 0.920173 5.083281 -0.450811 +v -0.807234 5.823194 0.007321 +v 0.779058 5.082591 0.782887 +v 0.038855 -0.945078 1.029871 +v -0.771805 5.118482 -0.803267 +v -0.736577 5.082591 0.747662 +v 0.814487 -0.945078 -0.838492 +v -0.736577 -0.945078 -0.768042 +v -0.807234 -0.945078 0.818316 +v 0.743829 5.082591 -0.838492 +v 0.743829 -0.945078 0.747662 +v 0.074084 6.106183 -0.027701 +v -1.018807 5.047390 0.042546 +v -0.031602 5.787993 0.782887 +v 0.038855 5.823194 -0.838696 +v 1.026059 5.153683 0.007321 +v 0.779058 5.858395 0.042546 +v 0.109312 5.083281 -1.050251 +v -0.066831 5.083281 0.994442 +v -1.018807 5.047390 -0.133377 +v 1.026059 -0.238986 -0.168602 +v 0.779058 1.418226 0.782887 +v 0.849715 0.677623 -0.803267 +v -0.877692 -0.945078 -0.415382 +v -0.102060 -0.945078 -1.014822 +v -0.278203 -0.838784 0.994442 +v -0.771805 3.249373 -0.803267 +v 0.638143 5.683080 -0.556487 +v -0.807234 5.082591 0.641986 +v 0.743829 3.708368 0.818112 +v 1.026059 5.083281 0.077771 +v 0.038855 5.858395 0.747662 +v -0.595662 5.683080 -0.556487 +v -0.736577 -0.591687 0.853541 +v -0.630891 5.576787 0.571332 +v -0.066831 5.083281 -1.050251 +v 1.026059 5.083281 -0.098151 +v 0.567686 5.683080 0.571332 +v 0.215199 5.083281 0.959217 +v -1.018807 -0.945078 0.007321 +v 0.779058 5.858395 -0.098151 +v 0.814487 5.082591 -0.768042 +v -0.066831 6.106183 -0.062926 +v 0.814487 2.545352 0.712437 +v 0.074084 -0.557176 1.029871 +v -0.066831 5.858395 0.747662 +v 1.026059 -0.945078 -0.098151 +v -0.771805 5.823194 -0.133377 +v -0.701348 3.990667 -0.838696 +v 1.026059 0.148226 0.077771 +v 0.708600 0.782536 -0.873718 +v 0.708600 -0.945078 0.782887 +v -0.912920 4.941786 -0.450811 +v -0.137289 -0.945078 1.029871 +v 0.779058 0.007422 0.747662 +v -0.066831 5.823194 -0.803267 +v 0.074084 2.615063 1.029871 +v -0.278203 5.048080 0.923992 +f 40 25 64 +f 2 3 10 +f 5 4 10 +f 10 4 13 +f 4 5 14 +f 5 10 15 +f 10 13 17 +f 5 15 19 +f 4 1 24 +f 21 16 24 +f 3 2 25 +f 5 19 26 +f 19 8 26 +f 22 6 27 +f 13 16 29 +f 27 13 29 +f 14 5 30 +f 1 4 31 +f 4 14 31 +f 3 25 32 +f 14 30 33 +f 31 14 33 +f 16 21 34 +f 15 12 35 +f 8 19 35 +f 19 15 35 +f 28 9 36 +f 6 22 37 +f 23 9 37 +f 22 23 37 +f 23 18 38 +f 12 15 40 +f 15 32 40 +f 32 25 40 +f 8 35 41 +f 35 12 41 +f 11 21 42 +f 24 1 42 +f 21 24 42 +f 22 27 43 +f 29 7 43 +f 27 29 43 +f 9 23 44 +f 38 9 44 +f 23 38 44 +f 25 2 45 +f 20 25 45 +f 36 9 45 +f 38 20 45 +f 9 38 45 +f 5 26 46 +f 30 5 46 +f 21 18 47 +f 18 23 47 +f 23 22 47 +f 34 21 47 +f 43 7 47 +f 22 43 47 +f 7 29 48 +f 29 16 48 +f 16 34 48 +f 47 7 48 +f 34 47 48 +f 18 21 49 +f 9 28 50 +f 37 9 50 +f 2 10 51 +f 28 36 51 +f 12 25 52 +f 25 20 52 +f 38 18 52 +f 20 38 52 +f 41 12 52 +f 8 41 52 +f 18 49 52 +f 49 8 52 +f 6 17 53 +f 17 13 53 +f 27 6 53 +f 13 27 53 +f 26 8 54 +f 11 26 54 +f 39 11 54 +f 8 49 54 +f 1 31 55 +f 33 11 55 +f 31 33 55 +f 42 1 55 +f 11 42 55 +f 6 37 56 +f 50 28 56 +f 37 50 56 +f 13 4 57 +f 16 13 57 +f 4 24 57 +f 24 16 57 +f 10 17 58 +f 51 10 58 +f 28 51 58 +f 26 11 59 +f 11 33 59 +f 33 30 59 +f 46 26 59 +f 30 46 59 +f 10 3 60 +f 15 10 60 +f 3 32 60 +f 32 15 60 +f 17 6 61 +f 6 56 61 +f 56 28 61 +f 58 17 61 +f 28 58 61 +f 21 11 62 +f 11 39 62 +f 49 21 62 +f 39 54 62 +f 54 49 62 +f 45 2 63 +f 36 45 63 +f 2 51 63 +f 51 36 63 +f 25 12 64 +f 12 40 64 +o convex_1 +v -0.066842 -2.038182 2.333830 +v -0.031475 -3.977120 -1.719814 +v 0.038838 -3.977120 -1.719814 +v 0.003471 -2.144065 -2.707111 +v 1.025949 -2.637388 2.369238 +v -0.877750 -3.624467 2.298422 +v -0.983430 -2.531940 -2.318802 +v 1.061105 -2.566944 -2.354210 +v 0.814380 -3.659689 2.157379 +v -1.018796 -1.755973 0.394643 +v 1.025949 -1.755973 -0.062122 +v -0.807017 -3.694911 -2.318802 +v 0.849747 -3.694911 -2.247985 +v -0.807017 -2.849153 2.862592 +v 0.073994 -3.024827 -3.024604 +v -1.089109 -2.637605 2.404646 +v -0.525136 -3.941681 1.275716 +v -0.842384 -1.755973 -1.049419 +v 0.109361 -2.954384 3.004224 +v 0.602811 -3.977120 -0.238573 +v 0.884903 -1.756191 -1.084827 +v 0.814380 -1.756191 1.029039 +v -0.948273 -3.730133 -0.203164 +v -0.066842 -3.694911 2.686731 +v 0.920059 -3.730133 0.077740 +v 0.038838 -2.179287 2.756957 +v -0.912907 -1.755973 1.099856 +v 0.038838 -3.765572 -2.671703 +v -0.736704 -2.919162 -2.882972 +v 0.814380 -2.883940 -2.848153 +v 0.779224 -2.848936 2.863182 +v 0.497132 -3.941681 1.311124 +v -0.560502 -3.977120 -0.767924 +v -1.018796 -2.743270 -2.036716 +v 0.003471 -1.755973 -1.649587 +v 0.814380 -2.073404 -2.142351 +v 0.779224 -2.108626 2.121971 +v -0.842384 -2.144065 2.157969 +v -0.736704 -2.073404 -2.106943 +v -1.089109 -2.919162 1.522983 +v -1.053952 -1.826634 0.007514 +v -0.031475 -1.755973 1.452757 +v 1.025949 -2.989823 -1.754632 +v 0.073994 -2.179287 -2.777337 +v 0.497132 -3.977120 -1.296686 +v -0.101998 -3.941681 1.664025 +v -0.842384 -3.694911 2.298422 +v -0.560502 -2.355396 -2.636295 +v -0.666182 -3.941681 0.394643 +v 0.602811 -2.320174 -2.636295 +v 1.025949 -2.989823 0.112558 +v 0.038838 -3.694911 2.686731 +v -0.630815 -2.355396 2.615915 +v 0.849747 -3.518585 2.299012 +v 1.025949 -2.566944 2.369238 +v 0.567655 -2.320174 2.615915 +v 0.955426 -3.589028 0.112558 +v -0.489979 -3.977120 -1.296096 +v -1.018796 -2.919162 -1.684405 +v -0.807017 -2.919162 2.862592 +v -0.066842 -2.179287 2.756957 +v -0.948273 -3.730133 0.289009 +v 0.673334 -3.941681 0.077740 +v -0.983430 -2.743270 -2.389618 +f 76 98 128 +f 74 75 82 +f 66 67 84 +f 75 72 85 +f 75 74 91 +f 74 80 91 +f 67 66 92 +f 66 76 92 +f 77 67 92 +f 79 92 93 +f 92 76 93 +f 72 77 94 +f 77 92 94 +f 92 79 94 +f 90 83 95 +f 66 84 97 +f 87 76 97 +f 82 75 99 +f 75 85 99 +f 99 85 100 +f 85 72 100 +f 86 90 101 +f 91 80 102 +f 71 82 103 +f 99 68 103 +f 82 99 103 +f 70 80 104 +f 98 104 105 +f 80 74 105 +f 82 71 105 +f 74 82 105 +f 71 98 105 +f 104 80 105 +f 86 75 106 +f 65 90 106 +f 90 86 106 +f 75 91 106 +f 91 65 106 +f 77 72 107 +f 79 93 108 +f 94 79 108 +f 68 99 108 +f 99 100 108 +f 67 77 109 +f 84 67 109 +f 77 84 109 +f 84 96 110 +f 97 84 110 +f 81 97 110 +f 81 110 111 +f 110 88 111 +f 93 71 112 +f 71 103 112 +f 103 68 112 +f 108 93 112 +f 68 108 112 +f 97 81 113 +f 87 97 113 +f 81 111 113 +f 72 94 114 +f 100 72 114 +f 94 108 114 +f 108 100 114 +f 72 69 115 +f 107 72 115 +f 83 88 116 +f 95 83 116 +f 96 73 116 +f 88 110 116 +f 110 96 116 +f 80 78 117 +f 102 80 117 +f 73 89 118 +f 69 95 118 +f 116 73 118 +f 95 116 118 +f 69 72 119 +f 72 75 119 +f 75 86 119 +f 95 69 119 +f 86 101 119 +f 119 101 120 +f 90 95 120 +f 101 90 120 +f 95 119 120 +f 89 77 121 +f 77 107 121 +f 115 69 121 +f 107 115 121 +f 69 118 121 +f 118 89 121 +f 76 66 122 +f 66 97 122 +f 97 76 122 +f 76 87 123 +f 98 76 123 +f 87 104 123 +f 104 98 123 +f 80 70 124 +f 78 80 124 +f 83 78 124 +f 88 83 124 +f 70 111 124 +f 111 88 124 +f 78 83 125 +f 90 65 125 +f 83 90 125 +f 65 91 125 +f 91 102 125 +f 117 78 125 +f 102 117 125 +f 70 104 126 +f 104 87 126 +f 111 70 126 +f 87 113 126 +f 113 111 126 +f 84 77 127 +f 89 73 127 +f 77 89 127 +f 73 96 127 +f 96 84 127 +f 71 93 128 +f 93 76 128 +f 98 71 128 +o convex_2 +v -0.948149 -1.473822 -0.521317 +v 1.026059 -0.945236 0.042570 +v 1.026059 -1.473822 0.042570 +v -0.102060 -1.720575 1.346895 +v 0.074084 -1.755973 -1.543556 +v -1.018807 -0.945236 -0.027880 +v -0.031602 -0.945236 -1.049837 +v -0.137489 -0.945236 1.029443 +v -0.912920 -1.755973 1.099894 +v 0.814487 -1.755973 1.029726 +v 0.884944 -1.755973 -1.085487 +v -0.842463 -1.755973 -1.014753 +v 0.814487 -0.945236 -0.838485 +v 0.708600 -0.945236 0.782725 +v -0.736577 -0.945236 -0.768035 +v -0.771805 -0.945236 0.853176 +v -1.018807 -1.755973 -0.168781 +v 1.026059 -1.755973 -0.063247 +v 0.003626 -1.720575 -1.543556 +v 1.026059 -0.980476 -0.168498 +v -1.018807 -0.980476 0.183471 +v 0.074084 -1.050954 1.064810 +v -1.018807 -1.755973 0.359739 +v -0.807034 -1.509061 -0.979386 +v 0.144541 -0.945236 -1.049837 +v -0.031602 -1.755973 1.346895 +v 0.743829 -1.720575 1.064810 +v 0.920173 -1.720575 -0.979386 +v 0.074084 -1.720575 -1.543556 +v 0.849715 -1.156750 -0.908936 +v -0.842463 -1.191989 0.923626 +v 0.779058 -1.050954 0.747641 +v 0.884944 -1.755973 0.782725 +v -0.948149 -1.685336 0.958993 +v -0.771805 -1.050954 -0.803119 +v -0.877692 -1.720575 -0.944303 +v -0.031602 -1.720575 1.346895 +v -0.031602 -0.980476 1.064810 +v -0.595462 -0.945236 -0.838485 +f 147 143 167 +f 134 130 135 +f 130 134 136 +f 137 133 138 +f 138 133 139 +f 133 137 140 +f 135 130 141 +f 130 136 142 +f 134 135 143 +f 132 136 144 +f 136 134 144 +f 134 129 145 +f 140 137 145 +f 130 131 146 +f 138 139 146 +f 133 140 147 +f 141 130 148 +f 130 146 148 +f 144 134 149 +f 134 145 149 +f 145 137 151 +f 149 145 151 +f 147 140 152 +f 135 141 153 +f 147 135 153 +f 132 137 154 +f 137 138 154 +f 138 142 155 +f 142 150 155 +f 154 138 155 +f 146 139 156 +f 148 146 156 +f 139 133 157 +f 133 147 157 +f 153 141 157 +f 147 153 157 +f 141 148 158 +f 156 139 158 +f 148 156 158 +f 139 157 158 +f 157 141 158 +f 137 132 159 +f 132 144 159 +f 144 149 159 +f 138 130 160 +f 130 142 160 +f 142 138 160 +f 131 130 161 +f 130 138 161 +f 146 131 161 +f 138 146 161 +f 151 137 162 +f 149 151 162 +f 137 159 162 +f 159 149 162 +f 134 143 163 +f 143 147 163 +f 147 152 163 +f 163 152 164 +f 129 134 164 +f 145 129 164 +f 140 145 164 +f 152 140 164 +f 134 163 164 +f 132 154 165 +f 155 150 165 +f 154 155 165 +f 136 132 166 +f 142 136 166 +f 150 142 166 +f 132 165 166 +f 165 150 166 +f 143 135 167 +f 135 147 167 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/211/211.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/211/211.urdf new file mode 100644 index 000000000..afa100f8e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/211/211.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/212/212.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/212/212.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/212/212.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/212/212.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/212/212.obj new file mode 100644 index 000000000..89902eaa1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/212/212.obj @@ -0,0 +1,387 @@ +o convex_0 +v -0.891271 -2.934478 -0.969531 +v 0.756219 0.939960 1.044182 +v -0.891271 0.939960 1.044182 +v -0.616759 -3.484356 1.013645 +v 1.000415 0.939960 -1.122213 +v 1.061464 -3.392346 -1.091677 +v -0.982845 0.939960 -1.030604 +v 0.939366 -3.514880 0.860963 +v -1.074418 -3.453395 1.013645 +v 1.000415 0.939960 1.013645 +v -0.952320 -3.453395 -0.938994 +v -0.982845 0.939960 1.013645 +v -0.524976 0.237895 -1.091677 +v 0.878317 -3.087537 0.952572 +v -1.013369 0.939960 -0.999855 +v -1.013369 -0.982651 -0.969531 +v 1.061464 -3.422871 -0.786312 +v -0.860746 -1.988653 1.044182 +v 1.061464 -2.293898 -1.061140 +v -1.074418 -2.782291 1.013645 +v -1.074418 -3.453395 0.738817 +v 0.847792 -3.331733 -1.091677 +v 1.000415 0.085273 0.983109 +v -0.311514 -3.453395 -1.000067 +v -0.982845 -3.453395 -0.786524 +v 0.573071 0.146322 1.044182 +v -0.586234 0.939960 -1.091677 +v 0.664645 -3.514880 0.952572 +v -1.013369 0.939960 -0.511695 +v 0.939366 -3.514880 0.647207 +v -0.525185 -3.484356 1.013645 +v 0.390133 -3.514880 0.922036 +v 0.939366 -2.873429 0.952572 +v -1.013369 -0.586267 -0.999855 +v 0.939366 0.786901 -1.122213 +v 0.634120 -3.423307 -1.061140 +v 1.000415 0.421043 1.013645 +v -0.982845 -2.965002 -0.938994 +v 0.908841 -3.514880 0.922036 +f 33 14 39 +f 3 2 5 +f 3 5 7 +f 5 2 10 +f 3 7 12 +f 12 7 15 +f 2 3 18 +f 3 9 18 +f 9 4 18 +f 6 5 19 +f 5 10 19 +f 17 6 19 +f 10 17 19 +f 9 3 20 +f 3 12 20 +f 20 15 21 +f 4 9 21 +f 9 20 21 +f 8 17 23 +f 11 1 24 +f 1 13 24 +f 13 22 24 +f 11 4 25 +f 4 21 25 +f 2 18 26 +f 7 5 27 +f 13 7 27 +f 12 15 29 +f 20 12 29 +f 15 20 29 +f 17 8 30 +f 11 24 30 +f 8 28 30 +f 18 4 31 +f 14 26 31 +f 26 18 31 +f 4 28 31 +f 28 14 31 +f 4 11 32 +f 28 4 32 +f 11 30 32 +f 30 28 32 +f 8 23 33 +f 26 14 33 +f 1 11 34 +f 13 1 34 +f 7 13 34 +f 15 7 34 +f 21 15 34 +f 16 21 34 +f 5 6 35 +f 6 22 35 +f 22 13 35 +f 27 5 35 +f 13 27 35 +f 6 17 36 +f 22 6 36 +f 24 22 36 +f 17 30 36 +f 30 24 36 +f 10 2 37 +f 17 10 37 +f 23 17 37 +f 2 26 37 +f 33 23 37 +f 26 33 37 +f 21 16 38 +f 11 25 38 +f 25 21 38 +f 34 11 38 +f 16 34 38 +f 28 8 39 +f 14 28 39 +f 8 33 39 +o convex_1 +v -0.525093 2.068927 -1.122213 +v 0.390037 0.939960 -1.183382 +v 0.451149 0.939960 -1.183382 +v 0.451149 2.038316 -3.075020 +v -0.555704 1.062184 -3.075020 +v 0.481650 2.007815 -1.122213 +v -0.433480 1.001183 -1.122213 +v 0.451149 1.123075 -3.013661 +v -0.433480 2.038205 -2.922290 +v 0.573262 1.855201 -3.075020 +v 0.542651 2.038316 -1.915876 +v 0.451149 0.939960 -1.122213 +v 0.573262 2.038316 -2.586627 +v -0.464092 1.001183 -1.580022 +v 0.512151 2.038316 -1.335921 +v -0.525093 1.885812 -1.152989 +v -0.555704 1.123075 -3.075020 +v 0.085031 1.092685 -3.044245 +v 0.481650 1.367301 -1.122213 +v -0.464092 1.977204 -2.678189 +v 0.573262 2.038316 -3.075020 +v -0.341978 2.038205 -2.952683 +v -0.555704 1.153575 -2.800335 +v -0.433480 1.062184 -3.075020 +v -0.403090 2.068927 -1.274944 +v 0.451149 1.092685 -2.800335 +v -0.219976 0.970571 -1.152989 +v 0.451149 2.038316 -1.122213 +v -0.525093 2.068927 -1.213775 +v 0.573262 1.977204 -2.617212 +v 0.481650 1.336690 -3.044245 +f 57 63 70 +f 42 41 44 +f 45 40 46 +f 44 43 49 +f 41 42 51 +f 45 46 51 +f 42 49 51 +f 46 40 55 +f 53 46 55 +f 43 44 56 +f 45 51 58 +f 54 45 58 +f 50 54 58 +f 48 56 59 +f 49 43 60 +f 52 49 60 +f 43 56 61 +f 56 48 61 +f 44 53 62 +f 55 40 62 +f 53 55 62 +f 56 44 62 +f 42 44 63 +f 44 49 63 +f 50 52 64 +f 54 50 64 +f 60 43 64 +f 52 60 64 +f 43 61 64 +f 61 48 64 +f 49 42 65 +f 47 49 65 +f 57 47 65 +f 42 63 65 +f 63 57 65 +f 44 41 66 +f 41 51 66 +f 51 46 66 +f 53 44 66 +f 46 53 66 +f 40 45 67 +f 45 54 67 +f 64 40 67 +f 54 64 67 +f 48 59 68 +f 59 56 68 +f 62 40 68 +f 56 62 68 +f 40 64 68 +f 64 48 68 +f 51 49 69 +f 49 52 69 +f 52 50 69 +f 58 51 69 +f 50 58 69 +f 49 47 70 +f 47 57 70 +f 63 49 70 +o convex_2 +v -0.494524 1.611435 -1.122001 +v 1.030748 2.495948 1.043970 +v 0.847756 2.526499 1.043970 +v -0.891175 0.940124 1.043970 +v 1.000284 0.939960 -1.122001 +v -1.043703 2.556886 -1.030410 +v 0.969819 2.587602 -1.122001 +v -0.921640 2.617989 1.013439 +v 1.000284 0.939960 1.013439 +v -1.013238 0.940124 -1.030410 +v -0.982773 0.940124 1.013439 +v -1.043703 1.001227 -0.969349 +v -1.043703 2.556886 -0.633725 +v -0.891175 2.495948 1.043970 +v -0.433391 1.001227 -1.122001 +v 0.756159 0.939960 1.043970 +v -0.952308 2.617989 0.891317 +v 0.969819 2.587602 -0.603195 +v -0.525191 2.068721 -1.122001 +v 0.146050 2.587602 -1.091471 +v 1.030748 1.763863 1.013439 +v 1.030748 2.526499 0.616754 +v -0.982773 2.465396 -1.060940 +v -0.799578 2.617989 1.013439 +v 0.695229 2.587602 -1.122001 +v -0.952308 2.617989 0.799725 +v -0.250399 2.587602 1.043970 +v -0.860711 2.556886 -1.060940 +v -0.464059 0.939960 -1.091471 +v -0.982773 2.221313 -1.060940 +f 93 89 100 +f 72 73 74 +f 75 71 77 +f 76 80 82 +f 80 81 82 +f 82 81 83 +f 76 82 83 +f 74 73 84 +f 81 74 84 +f 78 81 84 +f 71 75 85 +f 72 74 86 +f 79 72 86 +f 75 79 86 +f 74 81 86 +f 81 78 87 +f 83 81 87 +f 76 83 87 +f 77 71 89 +f 72 79 91 +f 79 75 91 +f 73 72 92 +f 75 77 92 +f 88 73 92 +f 77 88 92 +f 72 91 92 +f 91 75 92 +f 87 78 94 +f 88 77 94 +f 77 89 95 +f 76 87 96 +f 90 76 96 +f 94 77 96 +f 87 94 96 +f 77 95 96 +f 95 90 96 +f 84 73 97 +f 78 84 97 +f 73 88 97 +f 94 78 97 +f 88 94 97 +f 76 90 98 +f 93 76 98 +f 89 93 98 +f 95 89 98 +f 90 95 98 +f 81 80 99 +f 85 75 99 +f 80 85 99 +f 75 86 99 +f 86 81 99 +f 80 76 100 +f 71 85 100 +f 85 80 100 +f 89 71 100 +f 76 93 100 +o convex_3 +v 0.481701 2.007678 2.996675 +v 0.329108 0.940080 1.044182 +v -0.189475 0.970661 1.044382 +v 0.420664 2.160465 1.044182 +v -0.586217 2.099422 3.088326 +v -0.586217 1.001003 2.996875 +v -0.555582 2.099422 1.044382 +v 0.603775 1.123209 3.027493 +v -0.464026 1.001003 1.044382 +v 0.481701 0.940080 1.044182 +v 0.451182 2.129764 2.996675 +v -0.403105 2.129883 3.057909 +v 0.603775 1.153671 2.722121 +v -0.219994 1.031585 3.027292 +v -0.586217 2.099422 1.868043 +v 0.481701 1.306219 1.044182 +v -0.555582 1.916292 1.074799 +v 0.603775 1.275757 3.027493 +v -0.281031 2.129883 1.044382 +v 0.542621 1.001123 1.807209 +v -0.586217 1.001003 2.844390 +v 0.451182 1.916173 1.044182 +v -0.586217 1.885711 3.088326 +v -0.403105 2.099422 3.088326 +v 0.451182 2.129764 1.959895 +v -0.494661 1.001003 1.379970 +v 0.359626 2.160465 1.441004 +v 0.237552 2.160465 1.044382 +v 0.481701 0.940080 1.135833 +v 0.268071 2.129883 3.027292 +v 0.603775 1.092747 2.783156 +v -0.586217 1.062047 3.027292 +v 0.512103 1.001123 1.258102 +f 131 120 133 +f 103 102 106 +f 104 102 107 +f 102 103 109 +f 107 102 109 +f 102 104 110 +f 106 105 115 +f 112 107 115 +f 105 112 115 +f 110 104 116 +f 107 109 117 +f 115 107 117 +f 101 111 118 +f 108 113 118 +f 104 107 119 +f 107 112 119 +f 103 106 121 +f 106 115 121 +f 115 117 121 +f 116 104 122 +f 104 118 122 +f 118 113 122 +f 105 106 123 +f 114 108 123 +f 112 105 124 +f 108 118 124 +f 105 123 124 +f 123 108 124 +f 111 101 125 +f 104 111 125 +f 101 118 125 +f 118 104 125 +f 109 103 126 +f 117 109 126 +f 103 121 126 +f 121 117 126 +f 111 104 127 +f 104 119 128 +f 119 112 128 +f 127 104 128 +f 112 127 128 +f 106 102 129 +f 102 110 129 +f 114 106 129 +f 120 114 129 +f 110 120 129 +f 118 111 130 +f 112 124 130 +f 124 118 130 +f 111 127 130 +f 127 112 130 +f 113 108 131 +f 108 114 131 +f 114 120 131 +f 106 114 132 +f 123 106 132 +f 114 123 132 +f 110 116 133 +f 120 110 133 +f 116 122 133 +f 122 113 133 +f 113 131 133 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/212/212.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/212/212.urdf new file mode 100644 index 000000000..c162ab110 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/212/212.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/213/213.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/213/213.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/213/213.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/213/213.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/213/213.obj new file mode 100644 index 000000000..88a9885ea --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/213/213.obj @@ -0,0 +1,1020 @@ +o convex_0 +v -1.661726 -0.727517 -0.249292 +v -2.084461 -0.812259 -0.023749 +v -2.084461 -0.812259 0.032575 +v -1.746088 1.640227 0.004413 +v -1.436221 -0.812259 0.258119 +v -1.661726 1.273651 -0.221081 +v -1.295310 -0.812259 0.004413 +v -1.915197 0.315558 0.201696 +v -1.520737 1.019904 0.117160 +v -1.943395 1.301498 -0.023749 +v -1.999791 -0.502097 -0.192869 +v -1.746088 1.301498 0.173534 +v -1.492617 1.301498 -0.080122 +v -1.492617 0.005396 -0.221081 +v -1.971593 -0.812259 0.201696 +v -1.689847 0.287231 0.258119 +v -1.746088 1.329825 -0.221081 +v -1.802483 -0.812259 -0.249292 +v -1.492617 -0.812259 -0.221081 +v -1.943395 1.329825 0.032575 +v -1.774286 -0.812259 0.258119 +v -1.661726 1.273651 0.173534 +v -1.746088 0.794244 -0.249292 +v -1.436221 -0.361180 0.229907 +v -1.492617 1.273651 0.004413 +v -1.915197 0.794244 -0.164707 +v -1.520737 0.596912 -0.221081 +v -1.577133 0.287231 -0.249292 +v -1.295310 -0.783932 0.032575 +v -1.661726 1.611900 -0.051960 +v -1.999791 -0.812259 -0.192869 +f 18 2 31 +f 3 2 5 +f 5 2 7 +f 2 10 11 +f 3 5 15 +f 8 3 15 +f 12 8 16 +f 10 4 17 +f 7 2 18 +f 18 1 19 +f 14 7 19 +f 7 18 19 +f 2 3 20 +f 3 8 20 +f 10 2 20 +f 4 10 20 +f 8 12 20 +f 12 4 20 +f 15 5 21 +f 8 15 21 +f 16 8 21 +f 5 16 21 +f 4 12 22 +f 12 16 22 +f 17 6 23 +f 11 17 23 +f 18 11 23 +f 1 18 23 +f 16 5 24 +f 9 22 24 +f 22 16 24 +f 22 9 25 +f 11 10 26 +f 10 17 26 +f 17 11 26 +f 6 13 27 +f 13 7 27 +f 7 14 27 +f 19 1 28 +f 14 19 28 +f 1 23 28 +f 23 6 28 +f 6 27 28 +f 27 14 28 +f 5 7 29 +f 7 13 29 +f 24 5 29 +f 9 24 29 +f 13 25 29 +f 25 9 29 +f 13 6 30 +f 6 17 30 +f 17 4 30 +f 4 22 30 +f 25 13 30 +f 22 25 30 +f 2 11 31 +f 11 18 31 +o convex_1 +v 0.114447 3.133799 -0.615513 +v 0.198927 -0.586454 1.301130 +v 0.114447 -0.586454 1.301130 +v 0.537085 -0.670890 -1.292304 +v -0.900502 -0.670890 -0.333728 +v 1.523795 -0.670890 0.173484 +v -0.421148 2.541902 0.906124 +v 1.128921 2.541902 0.737053 +v 1.044441 2.513616 -0.925476 +v -0.590346 2.598475 -0.784584 +v 0.339648 3.641682 0.004413 +v -0.646587 -0.670890 0.878199 +v 1.100919 -0.670890 0.906124 +v -0.618585 -0.670890 -0.869373 +v 1.157160 -0.670890 -0.812762 +v -0.759544 1.048228 0.370733 +v 1.072680 2.964505 -0.108047 +v -0.477627 2.993213 0.117127 +v 0.396127 2.964927 0.793410 +v 0.283644 -0.642604 -1.292304 +v -0.618585 0.682198 -0.925730 +v 1.128921 0.823206 0.906124 +v 0.255405 2.936219 -0.840941 +v -0.646587 0.597762 0.906378 +v 1.185400 0.794920 -0.840941 +v -0.054751 -0.671312 1.301130 +v -0.844024 -0.670890 0.342555 +v 1.523795 -0.642604 0.060770 +v -0.787546 0.766634 -0.587334 +v 0.706283 1.161373 1.019092 +v 0.283644 3.641682 -0.051690 +v 0.565324 -0.670890 1.188163 +v -0.618585 2.513616 -0.700048 +v -0.815785 -0.445446 -0.615513 +v 1.157160 2.400894 0.737053 +v -0.787546 0.992078 -0.136225 +v 0.255405 3.077649 -0.756405 +v -0.336668 2.401316 0.934303 +v 0.255405 3.612974 0.032338 +v 1.382836 -0.642604 0.483447 +v 1.185400 0.062015 -0.840941 +v 0.424366 3.528538 -0.136479 +v -0.900502 -0.642604 -0.023511 +v -0.364907 3.105935 0.004413 +v -0.421148 2.372608 0.934303 +v 0.565324 1.499117 0.990913 +v -0.646587 -0.614740 0.906378 +v 1.128921 2.654624 0.483447 +v 0.593326 -0.670890 -1.263871 +v 0.255405 -0.642604 1.301130 +v -0.449387 2.457466 0.878199 +v 1.072680 2.485330 -0.756659 +v 1.467317 -0.445446 0.314376 +v -0.618585 0.315746 -0.925730 +v 1.128921 -0.304437 0.906124 +v -0.505628 2.880069 0.088695 +v -0.110992 2.851783 -0.812762 +v 1.157160 1.104801 -0.869119 +v 1.100919 0.625626 0.934556 +v -0.787546 -0.642604 0.567982 +v 0.339648 2.993213 0.765232 +v -0.449387 2.795633 -0.643691 +v 0.508846 -0.557746 -1.292304 +v 0.987963 3.049363 -0.051944 +f 79 48 95 +f 39 42 50 +f 35 45 51 +f 41 51 52 +f 33 34 57 +f 37 44 57 +f 45 35 57 +f 36 45 57 +f 46 37 57 +f 36 57 58 +f 57 43 58 +f 37 46 59 +f 41 52 60 +f 53 39 61 +f 57 44 63 +f 49 41 64 +f 41 60 64 +f 45 36 65 +f 36 60 65 +f 60 52 65 +f 39 53 66 +f 37 59 66 +f 60 36 67 +f 47 64 67 +f 64 60 67 +f 40 54 68 +f 32 62 68 +f 34 33 69 +f 50 38 69 +f 49 38 70 +f 42 62 70 +f 44 37 71 +f 59 46 72 +f 56 59 72 +f 48 40 73 +f 42 48 73 +f 62 42 73 +f 40 68 73 +f 68 62 73 +f 36 58 74 +f 58 47 74 +f 67 36 74 +f 47 67 74 +f 41 49 75 +f 49 70 75 +f 70 62 75 +f 38 55 76 +f 57 34 76 +f 55 57 76 +f 34 69 76 +f 69 38 76 +f 39 50 77 +f 33 61 77 +f 61 39 77 +f 69 33 77 +f 50 69 77 +f 43 57 78 +f 57 55 78 +f 59 48 79 +f 39 66 79 +f 66 59 79 +f 35 40 80 +f 57 35 80 +f 46 57 80 +f 72 46 80 +f 33 57 81 +f 61 33 81 +f 57 63 81 +f 38 49 82 +f 55 38 82 +f 47 55 82 +f 40 48 83 +f 48 59 83 +f 59 40 83 +f 66 53 84 +f 37 66 84 +f 71 37 84 +f 53 71 84 +f 51 45 85 +f 52 51 85 +f 45 65 85 +f 65 52 85 +f 63 44 86 +f 44 71 86 +f 71 53 86 +f 49 64 87 +f 64 47 87 +f 82 49 87 +f 47 82 87 +f 51 41 88 +f 54 51 88 +f 32 68 88 +f 68 54 88 +f 40 59 89 +f 59 56 89 +f 56 72 89 +f 80 40 89 +f 72 80 89 +f 53 61 90 +f 61 81 90 +f 81 63 90 +f 86 53 90 +f 63 86 90 +f 55 47 91 +f 47 58 91 +f 58 43 91 +f 43 78 91 +f 78 55 91 +f 38 50 92 +f 50 42 92 +f 70 38 92 +f 42 70 92 +f 62 32 93 +f 41 75 93 +f 75 62 93 +f 32 88 93 +f 88 41 93 +f 40 35 94 +f 35 51 94 +f 54 40 94 +f 51 54 94 +f 42 39 95 +f 48 42 95 +f 39 79 95 +o convex_2 +v -1.520762 -2.757495 0.201723 +v -2.168950 -1.996254 0.032603 +v -2.168950 -1.996254 0.088927 +v -1.774324 -4.363998 -0.051933 +v -1.408024 -1.939839 -0.164680 +v -2.056131 -1.939839 0.286308 +v -1.971637 -1.968167 -0.192891 +v -1.689910 -4.053837 -0.221103 +v -1.858818 -3.941247 0.173512 +v -1.548927 -4.082164 0.004441 +v -1.351534 -1.939839 0.060765 +v -1.943393 -4.053837 -0.023771 +v -1.718075 -1.939839 0.286308 +v -1.746240 -3.969334 0.201723 +v -1.915228 -3.461841 -0.164680 +v -1.661746 -2.165499 -0.221103 +v -1.548927 -3.856505 -0.136518 +v -1.999802 -2.954827 0.229885 +v -1.464433 -2.080997 0.229885 +v -1.746240 -3.264268 0.258097 +v -1.746240 -4.025749 -0.221103 +v -1.492598 -2.983154 -0.192891 +v -1.718075 -4.392326 0.004441 +v -2.056131 -1.939839 -0.108306 +v -1.943393 -4.025749 0.032603 +v -1.379859 -1.968167 -0.136518 +v -1.605336 -3.800090 0.145300 +v -1.520762 -3.884832 0.004441 +v -1.746240 -2.532075 0.286308 +v -1.830654 -2.475661 -0.221103 +v -1.999802 -2.362831 -0.164680 +f 119 102 126 +f 97 98 101 +f 100 101 106 +f 98 97 107 +f 106 101 108 +f 107 97 110 +f 102 100 111 +f 105 103 112 +f 101 98 113 +f 104 109 113 +f 106 108 114 +f 109 96 115 +f 101 113 115 +f 113 109 115 +f 96 114 115 +f 103 99 116 +f 99 107 116 +f 110 102 116 +f 107 110 116 +f 111 103 116 +f 111 100 117 +f 103 111 117 +f 112 103 117 +f 99 103 118 +f 103 105 118 +f 109 104 118 +f 105 109 118 +f 97 101 119 +f 101 100 119 +f 100 102 119 +f 98 107 120 +f 107 99 120 +f 113 98 120 +f 104 113 120 +f 99 118 120 +f 118 104 120 +f 100 106 121 +f 117 100 121 +f 112 117 121 +f 96 109 122 +f 109 105 122 +f 105 112 123 +f 114 96 123 +f 106 114 123 +f 121 106 123 +f 112 121 123 +f 96 122 123 +f 122 105 123 +f 108 101 124 +f 114 108 124 +f 101 115 124 +f 115 114 124 +f 102 111 125 +f 116 102 125 +f 111 116 125 +f 110 97 126 +f 102 110 126 +f 97 119 126 +o convex_3 +v -2.648053 -1.545142 -0.023749 +v -1.295395 -0.812259 0.060712 +v -1.126018 -1.094265 0.258102 +v -1.408156 -1.939839 -0.164674 +v -2.056098 -1.939839 0.286308 +v -1.802740 -0.812259 -0.249292 +v -1.971488 -0.812259 0.201638 +v -1.126018 -1.094265 -0.249292 +v -2.648053 -1.291503 -0.192880 +v -1.126018 -1.573287 0.229844 +v -2.591594 -1.376049 0.229844 +v -1.943337 -1.939839 -0.192880 +v -2.676204 -1.150666 0.032506 +v -1.774589 -0.812259 0.258102 +v -1.464458 -1.939839 0.229844 +v -1.126018 -1.601433 -0.192880 +v -1.126018 -1.432340 0.286308 +v -2.337921 -1.404084 0.286308 +v -2.027947 -0.812259 -0.164674 +v -2.197010 -1.939839 0.032506 +v -2.535292 -1.376049 -0.221086 +v -1.267244 -1.855072 0.060712 +v -1.549068 -1.714125 -0.221086 +v -1.408156 -0.812259 0.258102 +v -1.492609 -0.812259 -0.221086 +v -2.591594 -1.573287 0.145330 +v -1.267244 -1.066009 0.286308 +v -2.732663 -1.404084 0.032506 +v -2.591594 -1.488631 -0.164674 +v -2.112400 -0.812259 0.032506 +v -1.689979 -1.939839 0.286308 +v -1.182635 -1.235212 -0.249292 +v -2.676204 -1.150666 -0.023749 +f 156 145 159 +f 128 132 133 +f 128 129 134 +f 134 129 136 +f 130 131 138 +f 137 133 139 +f 128 133 140 +f 133 137 140 +f 131 130 141 +f 134 136 142 +f 136 129 143 +f 141 136 143 +f 137 131 144 +f 140 137 144 +f 131 143 144 +f 133 132 145 +f 132 135 145 +f 138 131 146 +f 135 132 147 +f 141 130 148 +f 136 141 148 +f 130 142 148 +f 142 136 148 +f 130 138 149 +f 142 130 149 +f 138 147 149 +f 129 128 150 +f 128 140 150 +f 132 128 151 +f 128 134 151 +f 134 132 151 +f 131 137 152 +f 127 146 152 +f 146 131 152 +f 143 129 153 +f 140 144 153 +f 144 143 153 +f 129 150 153 +f 150 140 153 +f 137 139 154 +f 127 152 154 +f 152 137 154 +f 146 127 155 +f 138 146 155 +f 135 147 155 +f 147 138 155 +f 127 154 155 +f 154 135 155 +f 139 133 156 +f 133 145 156 +f 131 141 157 +f 143 131 157 +f 141 143 157 +f 132 134 158 +f 134 142 158 +f 147 132 158 +f 142 149 158 +f 149 147 158 +f 145 135 159 +f 135 154 159 +f 154 139 159 +f 139 156 159 +o convex_4 +v -1.126018 -1.573232 -0.192910 +v -0.956881 -1.263181 0.342687 +v -0.956881 -1.037891 0.286306 +v -0.956881 -1.488727 -0.221072 +v -1.126018 -1.037891 -0.192910 +v -1.126018 -1.516867 0.258086 +v -0.956881 -0.953301 -0.249292 +v -0.956881 -1.685963 0.088882 +v -1.126018 -1.094256 0.258086 +v -0.985093 -0.812259 0.004455 +v -0.956881 -1.573232 0.286306 +v -1.126018 -1.206987 -0.249292 +v -1.126018 -1.629598 0.088882 +f 167 170 172 +f 162 161 163 +f 164 160 165 +f 162 163 166 +f 163 161 167 +f 160 163 167 +f 161 162 168 +f 164 165 168 +f 165 161 168 +f 162 166 169 +f 166 164 169 +f 168 162 169 +f 164 168 169 +f 161 165 170 +f 167 161 170 +f 163 160 171 +f 160 164 171 +f 166 163 171 +f 164 166 171 +f 165 160 172 +f 160 167 172 +f 170 165 172 +o convex_5 +v 0.086136 -0.812394 -1.264282 +v 0.255339 -1.714323 -1.292557 +v 0.283385 -1.714323 -1.292557 +v 0.283385 -1.291381 -2.983674 +v 0.537132 -0.671516 -1.264282 +v -0.026628 -1.488713 -1.264282 +v 0.480750 -1.375908 -2.729703 +v 0.508970 -1.573241 -1.264282 +v 0.057974 -1.347733 -2.757978 +v 0.198957 -1.516889 -2.729703 +v 0.255339 -1.122429 -2.757978 +v 0.565352 -1.206854 -1.546191 +v 0.283385 -0.671516 -1.348939 +v 0.029754 -1.629592 -1.320664 +v -0.026628 -1.291381 -1.602573 +v 0.424368 -1.516889 -2.335199 +v 0.057974 -1.263206 -2.701597 +v 0.311547 -1.122429 -2.757978 +v 0.057974 -0.840570 -1.348939 +v 0.480750 -1.319557 -2.729703 +v 0.565352 -0.812394 -1.292557 +v 0.283385 -1.516889 -2.729703 +v 0.086136 -1.488713 -2.532451 +v 0.114356 -1.150605 -2.560558 +v 0.029754 -1.291381 -2.588833 +v -0.026628 -1.235030 -1.264282 +v 0.565352 -1.263206 -1.264282 +v 0.537132 -0.671516 -1.292557 +v 0.508970 -1.573241 -1.377046 +v 0.227177 -1.347733 -2.983674 +f 194 182 202 +f 177 173 178 +f 174 175 180 +f 177 178 180 +f 178 174 180 +f 175 174 182 +f 173 177 185 +f 174 178 186 +f 182 174 186 +f 183 176 189 +f 176 183 190 +f 183 185 190 +f 173 185 191 +f 179 176 192 +f 184 179 192 +f 176 190 192 +f 184 192 193 +f 175 182 194 +f 179 188 194 +f 188 175 194 +f 178 181 195 +f 181 182 195 +f 186 178 195 +f 182 186 195 +f 185 183 196 +f 183 189 196 +f 191 185 196 +f 189 191 196 +f 181 178 197 +f 178 187 197 +f 189 181 197 +f 187 191 197 +f 191 189 197 +f 178 173 198 +f 187 178 198 +f 173 191 198 +f 191 187 198 +f 177 180 199 +f 193 177 199 +f 184 193 199 +f 185 177 200 +f 190 185 200 +f 192 190 200 +f 177 193 200 +f 193 192 200 +f 180 175 201 +f 179 184 201 +f 188 179 201 +f 175 188 201 +f 199 180 201 +f 184 199 201 +f 176 179 202 +f 182 181 202 +f 189 176 202 +f 181 189 202 +f 179 194 202 +o convex_6 +v 2.087474 -0.953400 0.117149 +v 1.411191 -1.798781 -0.051897 +v 1.411191 -1.798781 0.004427 +v 1.411191 -0.671532 -0.051897 +v 1.411191 -0.727818 0.399066 +v 2.143870 -1.375980 -0.249254 +v 2.200343 -1.488661 0.229871 +v 1.411191 -1.516914 -0.362050 +v 1.411191 -1.573199 0.314432 +v 2.200343 -1.066081 -0.164693 +v 2.200343 -1.545057 -0.192855 +v 2.200343 -1.150619 0.229871 +v 1.439312 -1.714133 -0.333814 +v 1.439312 -0.812466 -0.164693 +v 1.580301 -0.671532 0.060751 +v 2.200343 -1.601452 0.032589 +v 1.439312 -0.981542 0.399066 +v 1.439312 -0.671532 0.370830 +v 1.439312 -1.432266 -0.362050 +v 2.200343 -1.347727 0.258108 +v 2.200343 -1.009685 0.004427 +v 2.172068 -1.207014 -0.221092 +f 221 216 224 +f 204 205 206 +f 206 205 207 +f 204 206 210 +f 207 205 211 +f 205 209 211 +f 212 209 213 +f 209 212 214 +f 204 210 215 +f 210 208 215 +f 213 204 215 +f 208 213 215 +f 210 206 216 +f 206 212 216 +f 212 206 217 +f 205 204 218 +f 209 205 218 +f 204 213 218 +f 213 209 218 +f 207 211 219 +f 206 207 220 +f 214 203 220 +f 207 214 220 +f 203 217 220 +f 217 206 220 +f 208 210 221 +f 210 216 221 +f 211 209 222 +f 214 207 222 +f 209 214 222 +f 207 219 222 +f 219 211 222 +f 203 214 223 +f 214 212 223 +f 217 203 223 +f 212 217 223 +f 213 208 224 +f 212 213 224 +f 216 212 224 +f 208 221 224 +o convex_7 +v 2.200450 -1.601565 0.004435 +v 2.285019 -1.037830 0.032581 +v 2.285019 -1.037830 0.004435 +v 3.299626 -1.347785 0.060773 +v 2.200450 -1.347785 0.258119 +v 2.200450 -1.235160 -0.221103 +v 2.989541 -1.347785 -0.164718 +v 3.045920 -1.319698 0.229927 +v 3.045920 -1.122424 0.004435 +v 3.017731 -1.516917 0.088918 +v 2.256830 -1.545114 -0.192910 +v 2.200450 -1.122424 0.201734 +v 2.369587 -1.516917 0.201734 +v 2.200450 -1.094226 -0.164718 +v 3.017731 -1.516917 0.004435 +v 2.792215 -1.150621 0.173542 +v 2.961352 -1.235160 -0.136526 +v 2.200450 -1.460576 -0.221103 +v 2.989541 -1.263357 0.229927 +f 240 236 243 +f 225 229 230 +f 227 226 233 +f 228 232 234 +f 230 229 236 +f 229 225 237 +f 232 229 237 +f 225 234 237 +f 234 232 237 +f 226 227 238 +f 227 233 238 +f 236 226 238 +f 230 236 238 +f 231 228 239 +f 234 225 239 +f 228 234 239 +f 225 235 239 +f 235 231 239 +f 233 226 240 +f 226 236 240 +f 231 230 241 +f 228 231 241 +f 233 228 241 +f 230 238 241 +f 238 233 241 +f 225 230 242 +f 230 231 242 +f 235 225 242 +f 231 235 242 +f 232 228 243 +f 229 232 243 +f 228 233 243 +f 236 229 243 +f 233 240 243 +o convex_8 +v -0.956812 -0.784122 -0.079918 +v 1.411037 -0.671312 0.426963 +v 1.382760 -0.671312 0.483447 +v 0.480678 -2.334329 0.088551 +v 0.593554 -0.671312 -1.264114 +v -0.111053 -0.671312 1.244751 +v -0.646693 -1.939737 -0.643774 +v -0.562093 -1.911412 0.906339 +v 1.100917 -1.939574 -0.784738 +v 1.100917 -1.939574 0.877852 +v -0.026453 -1.488984 -1.264114 +v -0.674738 -0.671312 -0.812735 +v 0.678153 -1.460822 1.244751 +v 1.411037 -1.742278 -0.361846 +v 1.157239 -0.671312 -0.812980 +v 0.170790 -2.249681 -0.700258 +v -0.562093 -2.221519 0.117039 +v -0.956812 -1.404498 0.370725 +v 0.227112 -2.249681 0.793617 +v 1.016318 -2.277843 -0.023434 +v -0.646693 -0.671312 0.878097 +v 1.100917 -0.671312 0.906094 +v 0.283203 -1.714116 -1.264114 +v -0.956812 -1.601469 -0.192886 +v 0.283203 -1.657792 1.244751 +v -0.646693 -1.883250 -0.812735 +v 1.411037 -1.770603 0.117039 +v 0.058146 -0.812447 -1.264114 +v 1.411037 -0.699637 -0.108160 +v 0.396079 -0.671312 1.244751 +v -0.646693 -1.883250 0.878097 +v -0.815659 -1.939737 0.088797 +v 0.508955 -1.573144 -1.264114 +v 0.001824 -1.460822 1.244751 +v -0.787614 -0.671312 -0.643774 +v 0.086191 -2.334329 0.088551 +v 1.411037 -1.573307 0.342483 +v -0.787614 -0.671312 0.567927 +v 1.016318 -2.277843 0.088551 +v 0.283203 -2.249681 -0.700258 +v 0.593554 -1.150715 -1.264114 +v -0.956812 -1.601469 0.286245 +v 0.367802 -2.221519 0.821859 +v -0.618416 -0.671312 -0.869218 +v -0.562093 -2.221519 0.032559 +v 0.593554 -1.657792 1.216509 +v -0.900258 -0.671312 -0.333604 +v -0.956812 -0.925095 0.258003 +v 0.537000 -0.812447 1.244751 +v -0.590370 -1.770440 0.934336 +v 1.072640 -1.967899 -0.784738 +v -0.956812 -1.404498 -0.248878 +v 1.411037 -1.404335 -0.361846 +v 1.411037 -1.826927 0.004317 +v 0.255157 -0.671312 -1.264114 +v -0.787614 -1.883250 0.483447 +v 1.100917 -1.967899 0.849610 +v 1.269884 -1.911412 -0.446326 +v 0.198835 -2.306005 -0.361600 +v -0.195652 -1.883250 -0.981941 +v 0.029869 -1.629631 -1.264114 +v -0.111053 -1.066230 1.244751 +v 1.100917 -1.291688 0.906094 +v 0.170790 -2.221519 0.821859 +f 262 286 307 +f 246 245 248 +f 246 248 249 +f 249 248 255 +f 248 245 258 +f 257 252 258 +f 249 255 264 +f 246 249 265 +f 254 248 266 +f 261 244 267 +f 256 249 268 +f 257 245 270 +f 248 254 271 +f 245 257 272 +f 258 245 272 +f 249 256 273 +f 265 249 273 +f 260 251 274 +f 264 261 274 +f 269 250 275 +f 267 269 275 +f 266 248 276 +f 268 249 277 +f 251 268 277 +f 264 255 278 +f 255 269 278 +f 247 262 279 +f 262 260 279 +f 245 246 280 +f 246 253 280 +f 270 245 280 +f 264 278 281 +f 262 247 282 +f 247 263 282 +f 259 266 283 +f 248 258 284 +f 258 252 284 +f 276 248 284 +f 252 276 284 +f 261 267 285 +f 274 261 285 +f 267 275 285 +f 262 282 286 +f 255 248 287 +f 254 269 287 +f 269 255 287 +f 271 254 287 +f 250 269 288 +f 269 259 288 +f 275 250 288 +f 260 275 288 +f 279 260 288 +f 253 256 289 +f 256 268 289 +f 286 253 289 +f 268 286 289 +f 244 281 290 +f 281 278 290 +f 244 261 291 +f 261 264 291 +f 281 244 291 +f 264 281 291 +f 256 265 292 +f 273 256 292 +f 265 273 292 +f 249 264 293 +f 274 251 293 +f 264 274 293 +f 251 277 293 +f 276 252 294 +f 266 276 294 +f 263 283 294 +f 283 266 294 +f 267 244 295 +f 269 267 295 +f 278 269 295 +f 244 290 295 +f 290 278 295 +f 257 258 296 +f 272 257 296 +f 258 272 296 +f 257 270 297 +f 282 263 297 +f 248 271 298 +f 287 248 298 +f 271 287 298 +f 260 274 299 +f 275 260 299 +f 274 285 299 +f 285 275 299 +f 280 253 300 +f 270 280 300 +f 253 286 300 +f 286 282 300 +f 297 270 300 +f 282 297 300 +f 252 257 301 +f 294 252 301 +f 263 294 301 +f 257 297 301 +f 297 263 301 +f 263 247 302 +f 247 279 302 +f 259 283 302 +f 283 263 302 +f 288 259 302 +f 279 288 302 +f 266 259 303 +f 259 269 303 +f 303 269 304 +f 254 266 304 +f 269 254 304 +f 266 303 304 +f 277 249 305 +f 249 293 305 +f 293 277 305 +f 253 246 306 +f 256 253 306 +f 246 265 306 +f 265 256 306 +f 251 260 307 +f 260 262 307 +f 268 251 307 +f 286 268 307 +o convex_9 +v 0.424360 -1.657848 1.244751 +v 0.396093 -1.122476 2.062167 +v 0.283457 -1.094278 2.033922 +v 0.339703 -0.671408 1.244751 +v -0.083007 -1.150674 1.244751 +v 0.114358 -1.573254 2.062167 +v 0.649920 -1.404164 1.442144 +v -0.083007 -0.671408 1.273076 +v 0.508874 -1.545056 2.062167 +v 0.029845 -1.234977 2.062167 +v 0.057968 -1.545056 1.244751 +v 0.537068 -0.840595 1.244751 +v 0.565264 -1.319571 2.062167 +v 0.593530 -1.601452 1.244751 +v 0.001650 -1.404164 2.033922 +v 0.339703 -1.629650 1.893019 +v 0.283457 -1.657848 1.244751 +v 0.508874 -1.178582 2.062167 +v 0.649920 -1.263175 1.244751 +v 0.227139 -0.727804 1.413980 +v 0.057968 -1.150674 2.033922 +v 0.001650 -1.460463 1.273076 +v 0.537068 -0.840595 1.301241 +v 0.593530 -1.601452 1.385815 +f 316 323 331 +f 311 308 312 +f 311 312 315 +f 309 313 316 +f 313 309 317 +f 312 308 318 +f 308 311 319 +f 309 316 320 +f 316 314 320 +f 308 319 321 +f 315 312 322 +f 313 317 322 +f 317 315 322 +f 316 313 323 +f 318 308 324 +f 313 318 324 +f 308 323 324 +f 323 313 324 +f 311 309 325 +f 309 320 325 +f 320 314 326 +f 314 321 326 +f 321 319 326 +f 310 309 327 +f 309 311 327 +f 315 310 327 +f 311 315 327 +f 309 310 328 +f 310 315 328 +f 317 309 328 +f 315 317 328 +f 312 318 329 +f 318 313 329 +f 322 312 329 +f 313 322 329 +f 319 311 330 +f 311 325 330 +f 325 320 330 +f 320 326 330 +f 326 319 330 +f 314 316 331 +f 308 321 331 +f 321 314 331 +f 323 308 331 +o convex_10 +v 0.086210 -1.545139 2.062247 +v 0.565299 -1.319717 2.090580 +v 0.508893 -1.206959 2.118725 +v 0.283529 -1.432381 3.020690 +v 0.058007 -1.178770 2.062247 +v 0.452539 -1.573329 2.062247 +v 0.255325 -1.206959 2.795152 +v 0.058007 -1.432381 2.738767 +v 0.311575 -1.601565 2.795152 +v 0.480690 -1.404192 2.710434 +v 0.367981 -1.122437 2.062247 +v 0.508893 -1.545139 2.118725 +v 0.396132 -1.206959 2.597665 +v 0.086210 -1.291528 2.682383 +v 0.227122 -1.601565 2.062247 +v 0.029804 -1.432381 2.062247 +v 0.255325 -1.601565 2.766913 +v 0.480690 -1.347906 2.710434 +v 0.227122 -1.122437 2.203255 +v 0.198971 -1.404192 2.992357 +f 348 335 351 +f 332 336 337 +f 335 340 341 +f 334 333 342 +f 333 337 342 +f 337 336 342 +f 337 333 343 +f 340 337 343 +f 333 341 343 +f 341 340 343 +f 334 342 344 +f 342 338 344 +f 338 336 345 +f 336 339 345 +f 332 337 346 +f 337 340 346 +f 336 332 347 +f 339 336 347 +f 332 339 347 +f 339 332 348 +f 340 335 348 +f 332 346 348 +f 346 340 348 +f 333 334 349 +f 338 335 349 +f 341 333 349 +f 335 341 349 +f 344 338 349 +f 334 344 349 +f 336 338 350 +f 342 336 350 +f 338 342 350 +f 335 338 351 +f 338 345 351 +f 345 339 351 +f 339 348 351 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/213/213.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/213/213.urdf new file mode 100644 index 000000000..3cc42daec --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/213/213.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/214/214.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/214/214.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/214/214.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/214/214.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/214/214.obj new file mode 100644 index 000000000..b15f33312 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/214/214.obj @@ -0,0 +1,477 @@ +o convex_0 +v -3.418724 0.104614 -1.007388 +v -3.454773 1.693952 1.051680 +v -1.539803 1.404925 1.015578 +v -1.539803 1.982980 -1.043901 +v -1.540001 -0.040213 0.581938 +v -3.491020 2.091704 -0.971286 +v -3.454773 0.068512 1.051680 +v -1.540001 0.104614 -0.935183 +v -1.539803 2.019290 0.979270 +v -3.527070 2.091704 1.015578 +v -3.563317 0.032409 -0.971286 +v -1.540001 0.068512 1.015373 +v -2.407165 -0.040213 -0.176417 +v -3.527070 0.465846 0.581938 +v -2.298621 0.068512 1.051475 +v -3.165784 2.091704 -0.971286 +v -3.382476 -0.003693 -0.863184 +v -3.527070 1.766157 -0.646159 +v -2.009632 1.441027 -1.043696 +v -1.539803 0.429744 -0.971491 +v -3.563317 0.032409 -0.573954 +v -3.563317 0.538259 -0.971286 +v -2.045879 2.019082 1.015373 +v -1.540001 -0.040213 0.220504 +v -2.840549 2.019082 -1.007388 +v -2.009632 0.068512 -0.935183 +v -3.491020 0.212921 0.943373 +v -3.382476 2.091704 1.015578 +v -3.527070 0.032409 0.039992 +v -1.576050 1.621747 -1.043696 +v -3.563317 0.212921 -0.393442 +v -2.262571 0.068512 -0.971286 +f 30 20 32 +f 3 4 9 +f 7 2 10 +f 5 7 13 +f 3 2 15 +f 2 7 15 +f 7 5 15 +f 12 3 15 +f 5 12 15 +f 4 6 16 +f 9 4 16 +f 6 10 16 +f 10 6 18 +f 4 3 20 +f 3 12 20 +f 12 5 20 +f 11 17 21 +f 6 1 22 +f 1 11 22 +f 18 6 22 +f 10 18 22 +f 11 21 22 +f 2 3 23 +f 3 9 23 +f 5 13 24 +f 8 20 24 +f 20 5 24 +f 1 6 25 +f 6 4 25 +f 19 1 25 +f 4 19 25 +f 13 17 26 +f 24 13 26 +f 8 24 26 +f 7 10 27 +f 10 14 27 +f 14 21 27 +f 10 2 28 +f 9 16 28 +f 16 10 28 +f 2 23 28 +f 23 9 28 +f 13 7 29 +f 17 13 29 +f 21 17 29 +f 7 27 29 +f 27 21 29 +f 1 19 30 +f 19 4 30 +f 4 20 30 +f 14 10 31 +f 21 14 31 +f 10 22 31 +f 22 21 31 +f 11 1 32 +f 17 11 32 +f 20 8 32 +f 8 26 32 +f 26 17 32 +f 1 30 32 +o convex_1 +v 0.302979 -0.799314 -1.116169 +v 0.664372 2.091704 1.088016 +v 0.664372 2.091704 -0.971611 +v -1.539803 1.982870 -1.043890 +v -1.539803 -3.978351 1.015737 +v 0.519814 -4.051107 -1.007643 +v -1.539803 1.982870 0.979274 +v -1.431277 -3.978351 -1.043675 +v 0.519814 -3.942273 0.943458 +v 0.664372 0.103829 1.088016 +v 0.664372 0.067751 -1.116169 +v -1.395030 -3.689129 1.051553 +v -1.214441 0.429128 1.051553 +v -1.539803 -0.077160 -0.935364 +v -1.467524 2.018948 0.907210 +v 0.519814 -3.906195 -1.043890 +v -0.058415 -1.196167 1.088016 +v -1.214441 -4.014428 0.726405 +v 0.664372 0.609516 -1.116169 +v 0.555846 -3.328353 -0.827053 +v -1.539803 1.404426 1.015737 +v -1.286720 -4.014428 -1.043675 +v 0.194453 2.018948 1.088016 +v 0.086143 -0.618926 -1.116169 +v 0.411289 2.091704 -0.971611 +v 0.013864 -4.051107 -0.429411 +v 0.519814 -3.255596 0.979489 +v -1.467524 -3.978351 -0.501690 +v 0.664372 -0.112637 -0.393380 +v -0.817017 -3.978351 1.015521 +v -1.539803 -3.978351 0.871179 +v -1.106131 1.982269 -1.043675 +v -0.491871 2.055025 1.051768 +v -0.058415 0.573439 1.088016 +v 0.555846 -0.437936 1.088016 +v -0.130693 -4.051107 -1.007643 +v 0.664372 1.801881 -1.007643 +v 0.519814 -4.051107 -0.682495 +v 0.664372 -0.004404 0.726621 +v 0.266731 0.139906 -1.116169 +v 0.483567 2.091704 1.088016 +v -1.250688 2.018948 1.015521 +v 0.519814 -0.763236 -1.116169 +f 43 48 75 +f 36 37 39 +f 35 34 42 +f 35 42 43 +f 37 36 46 +f 36 40 46 +f 36 39 47 +f 43 38 48 +f 42 34 49 +f 35 43 51 +f 43 33 51 +f 38 43 52 +f 39 37 53 +f 37 44 53 +f 44 45 53 +f 40 33 54 +f 33 48 54 +f 48 38 54 +f 50 37 54 +f 49 34 55 +f 53 45 55 +f 33 40 56 +f 40 36 56 +f 51 33 56 +f 34 35 57 +f 35 36 57 +f 36 47 57 +f 41 50 58 +f 41 42 59 +f 46 40 60 +f 40 54 60 +f 43 42 61 +f 52 43 61 +f 44 37 62 +f 49 44 62 +f 37 50 62 +f 50 41 62 +f 41 59 62 +f 59 49 62 +f 37 46 63 +f 54 37 63 +f 46 60 63 +f 60 54 63 +f 36 35 64 +f 51 36 64 +f 45 44 66 +f 44 49 66 +f 49 55 66 +f 55 45 66 +f 42 49 67 +f 59 42 67 +f 49 59 67 +f 54 38 68 +f 50 54 68 +f 38 58 68 +f 58 50 68 +f 35 51 69 +f 64 35 69 +f 51 64 69 +f 38 52 70 +f 52 41 70 +f 58 38 70 +f 41 58 70 +f 42 41 71 +f 41 52 71 +f 61 42 71 +f 52 61 71 +f 36 51 72 +f 56 36 72 +f 51 56 72 +f 55 34 73 +f 34 57 73 +f 57 47 73 +f 47 65 73 +f 65 55 73 +f 47 39 74 +f 39 53 74 +f 53 55 74 +f 65 47 74 +f 55 65 74 +f 33 43 75 +f 48 33 75 +o convex_2 +v 4.494379 0.935509 -0.284998 +v 4.530475 1.405154 0.220732 +v 4.566570 0.899361 0.329134 +v 2.687897 0.754767 0.256823 +v 2.724374 1.260490 -0.284998 +v 2.687897 1.260490 0.220732 +v 2.687897 0.827135 -0.321154 +v 4.566570 0.682471 0.256823 +v 4.638951 1.296639 -0.284998 +v 4.530475 0.790916 -0.212751 +v 3.807805 0.718619 0.329134 +v 2.687897 0.790916 -0.248843 +v 4.349807 1.405154 0.148485 +v 4.277617 0.682471 0.329134 +v 3.193995 0.971587 -0.321154 +f 84 76 90 +f 78 77 81 +f 79 81 82 +f 81 80 82 +f 77 78 84 +f 78 83 84 +f 84 83 85 +f 82 76 85 +f 76 84 85 +f 78 81 86 +f 81 79 86 +f 79 82 87 +f 85 83 87 +f 82 85 87 +f 81 77 88 +f 80 81 88 +f 77 84 88 +f 84 80 88 +f 83 78 89 +f 78 86 89 +f 86 79 89 +f 79 87 89 +f 87 83 89 +f 76 82 90 +f 82 80 90 +f 80 84 90 +o convex_3 +v 1.062028 1.513419 2.569163 +v 2.073446 0.429648 2.713898 +v 2.109551 0.429648 2.713898 +v 2.001347 0.538072 1.124150 +v 2.145884 1.621843 1.124150 +v 1.134127 0.574252 1.124150 +v 2.145884 1.549482 2.966795 +v 1.025922 0.574252 2.966795 +v 0.989590 1.585663 1.124150 +v 1.098134 1.477239 3.111530 +v 2.109551 0.429648 3.075152 +v 2.145884 0.827163 1.124150 +v 2.109551 1.585663 2.569163 +v 1.928909 0.574252 3.111530 +v 1.098134 0.574252 1.305068 +v 2.109551 0.538072 1.124150 +v 0.989590 1.585663 1.377241 +v 1.928909 0.429648 3.075152 +v 2.145884 1.043661 3.002979 +v 1.459532 1.513419 3.075152 +v 1.062028 1.115904 3.075152 +v 0.989590 1.477239 1.124150 +v 2.109551 1.115904 3.039162 +v 1.025922 0.574252 2.786266 +v 1.423200 1.332752 3.111530 +f 113 97 115 +f 93 92 94 +f 94 92 96 +f 95 94 96 +f 95 96 99 +f 92 93 101 +f 94 95 102 +f 95 97 102 +f 101 93 102 +f 97 95 103 +f 93 94 106 +f 102 93 106 +f 94 102 106 +f 95 99 107 +f 103 95 107 +f 96 92 108 +f 92 101 108 +f 104 98 108 +f 101 104 108 +f 105 96 108 +f 102 97 109 +f 101 102 109 +f 91 100 110 +f 97 103 110 +f 107 91 110 +f 103 107 110 +f 100 91 111 +f 104 100 111 +f 98 104 111 +f 91 107 111 +f 107 98 111 +f 99 96 112 +f 96 105 112 +f 98 107 112 +f 107 99 112 +f 104 101 113 +f 109 97 113 +f 101 109 113 +f 108 98 114 +f 105 108 114 +f 112 105 114 +f 98 112 114 +f 100 104 115 +f 110 100 115 +f 97 110 115 +f 104 113 115 +o convex_4 +v 0.953456 0.863258 -1.152459 +v 2.145884 0.574118 -2.922829 +v 2.145884 0.537934 -2.922829 +v 0.989639 1.549652 -3.031126 +v 2.001266 1.658094 -1.116169 +v 2.037333 0.537934 -1.116169 +v 1.062007 0.537934 -3.067415 +v 2.001266 1.621910 -2.922829 +v 0.953456 1.658094 -1.116169 +v 0.989639 0.537934 -1.116169 +v 2.145884 0.574118 -3.031126 +v 0.953456 1.585726 -2.742144 +v 2.037333 1.585726 -1.116169 +v 1.025940 0.754927 -3.067415 +v 0.989639 0.537934 -1.730613 +v 0.953456 1.513359 -2.922829 +v 2.001266 1.477285 -2.958928 +v 1.820464 1.621910 -2.922829 +v 2.073400 0.537934 -1.586027 +v 1.495628 0.537934 -3.067415 +f 129 119 135 +f 118 121 122 +f 121 120 124 +f 120 123 124 +f 122 121 125 +f 124 116 125 +f 121 124 125 +f 117 118 126 +f 116 124 127 +f 120 121 128 +f 123 120 128 +f 117 126 128 +f 126 123 128 +f 122 125 130 +f 125 116 130 +f 129 122 130 +f 130 116 131 +f 127 119 131 +f 116 127 131 +f 119 129 131 +f 129 130 131 +f 119 123 132 +f 126 119 132 +f 123 126 132 +f 123 119 133 +f 124 123 133 +f 119 127 133 +f 127 124 133 +f 118 117 134 +f 121 118 134 +f 117 128 134 +f 128 121 134 +f 118 122 135 +f 126 118 135 +f 119 126 135 +f 122 129 135 +o convex_5 +v 1.892818 2.127838 1.087966 +v 0.664382 -0.003874 -0.610255 +v 0.664382 0.068533 -1.116169 +v 2.651628 -0.003665 -1.043802 +v 2.543283 2.127838 -1.116169 +v 2.651628 -0.003665 1.124150 +v 0.664382 2.091530 1.087966 +v 0.664382 2.091530 -0.971435 +v 0.664382 0.104632 1.087966 +v 2.579332 2.127838 1.051782 +v 2.687875 1.260422 -0.248857 +v 0.953566 1.657927 -1.116169 +v 0.664382 -0.003874 0.726568 +v 0.989813 1.585729 1.124150 +v 2.037212 0.538235 -1.116169 +v 2.615579 1.730124 1.087966 +v 2.145755 1.621619 1.124150 +v 1.604031 2.127838 0.003990 +v 2.687875 0.755037 0.256838 +v 2.362643 -0.003665 -1.079986 +v 1.134207 0.574334 1.124150 +v 2.579332 2.127838 0.003990 +v 1.965114 2.127838 -1.079986 +v 2.687875 1.224323 0.220654 +v 2.615579 0.971839 -1.079986 +v 0.664382 1.079719 -1.079986 +v 2.326396 -0.003665 1.124150 +v 2.615579 0.321434 -1.079986 +v 2.615579 1.910827 0.871083 +v 2.615579 1.766223 -0.682404 +f 160 140 165 +f 137 139 141 +f 138 137 142 +f 138 142 143 +f 142 137 144 +f 140 136 145 +f 140 138 147 +f 137 141 148 +f 144 137 148 +f 142 144 149 +f 138 140 150 +f 136 142 152 +f 145 136 152 +f 149 141 152 +f 142 149 152 +f 151 145 152 +f 141 151 152 +f 136 140 153 +f 142 136 153 +f 143 142 153 +f 141 139 154 +f 139 146 154 +f 137 138 155 +f 139 137 155 +f 138 150 155 +f 141 149 156 +f 149 144 156 +f 140 145 157 +f 140 147 158 +f 147 143 158 +f 153 140 158 +f 143 153 158 +f 151 141 159 +f 141 154 159 +f 154 146 159 +f 146 139 160 +f 138 143 161 +f 147 138 161 +f 143 147 161 +f 148 141 162 +f 144 148 162 +f 141 156 162 +f 156 144 162 +f 150 140 163 +f 139 155 163 +f 155 150 163 +f 160 139 163 +f 140 160 163 +f 145 151 164 +f 157 145 164 +f 146 157 164 +f 159 146 164 +f 151 159 164 +f 140 157 165 +f 157 146 165 +f 146 160 165 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/214/214.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/214/214.urdf new file mode 100644 index 000000000..2d521a52d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/214/214.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/215/215.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/215/215.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/215/215.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/215/215.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/215/215.obj new file mode 100644 index 000000000..9ef670803 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/215/215.obj @@ -0,0 +1,564 @@ +o convex_0 +v 0.091706 -5.304797 -0.084438 +v -0.222564 -4.990711 0.544315 +v 0.123158 -3.418925 0.418551 +v -0.222564 -3.387322 -0.052965 +v 0.311806 -5.273582 0.418551 +v 0.186000 -3.387322 -0.052965 +v -0.222564 -5.273582 -0.115912 +v -0.316981 -3.387322 0.449960 +v -0.254016 -5.368002 0.544315 +v 0.280355 -5.304797 0.041325 +v 0.248903 -4.016463 0.418551 +v -0.002587 -4.299335 -0.115912 +v -0.316981 -3.544753 0.292788 +v -0.285468 -5.084937 0.544315 +v 0.248903 -5.147754 -0.052965 +v 0.311806 -4.927506 0.355670 +v 0.186000 -3.387322 0.387078 +v -0.128271 -5.368002 0.544315 +v 0.154609 -3.387322 -0.084438 +v -0.222564 -4.393173 -0.115912 +v -0.254016 -5.304797 0.104272 +v 0.217451 -3.796216 -0.052965 +v 0.280355 -5.241980 0.449960 +v -0.316981 -4.173506 0.449960 +v 0.217451 -5.336400 0.009852 +v -0.285468 -3.387322 0.135616 +v -0.222564 -3.607570 -0.084438 +v 0.311806 -5.304797 0.229906 +f 18 25 28 +f 2 3 8 +f 6 4 8 +f 1 7 12 +f 2 8 14 +f 9 2 14 +f 1 12 15 +f 11 5 16 +f 8 3 17 +f 6 8 17 +f 3 11 17 +f 11 6 17 +f 3 2 18 +f 2 9 18 +f 11 3 18 +f 4 6 19 +f 15 12 19 +f 12 7 20 +f 19 12 20 +f 13 7 21 +f 9 14 21 +f 6 11 22 +f 10 15 22 +f 11 16 22 +f 19 6 22 +f 15 19 22 +f 5 11 23 +f 18 5 23 +f 11 18 23 +f 8 13 24 +f 14 8 24 +f 13 21 24 +f 21 14 24 +f 7 1 25 +f 1 15 25 +f 15 10 25 +f 18 9 25 +f 21 7 25 +f 9 21 25 +f 8 4 26 +f 7 13 26 +f 13 8 26 +f 20 7 26 +f 20 26 27 +f 4 19 27 +f 19 20 27 +f 26 4 27 +f 16 5 28 +f 5 18 28 +f 10 22 28 +f 22 16 28 +f 25 10 28 +o convex_1 +v -0.536892 -0.275537 -0.901895 +v 0.657603 1.108505 1.267420 +v 0.940532 1.108505 1.235568 +v 0.971922 -3.292706 1.141500 +v -1.102958 -3.229775 1.141500 +v 0.940532 -3.387322 -0.901895 +v 0.971922 1.108065 -0.870256 +v -1.008579 1.108065 1.267420 +v -1.071359 -3.324391 -0.807402 +v -1.071359 1.108065 -0.870044 +v 1.034911 -0.086744 1.204354 +v -0.316743 -3.387322 0.418253 +v -1.102958 1.108505 -0.147009 +v 1.034911 1.108065 0.418465 +v 0.531625 0.479195 1.267420 +v -1.039969 -3.009736 -0.838616 +v -0.222573 1.108505 -0.901895 +v -1.102958 0.982643 -0.713121 +v 1.003312 -2.506728 1.047218 +v -1.071359 -1.186497 1.204354 +v -1.102958 -3.198529 0.386826 +v 1.034911 1.108065 1.204354 +v 0.940532 -1.343604 -0.901895 +v 0.123136 -3.387322 -0.870044 +v 0.940532 -3.387322 -0.367211 +v 0.971922 -0.369274 -0.870256 +v -1.008579 -3.261460 1.078433 +v -1.039969 1.013889 1.047006 +v -1.102958 -2.412112 1.141500 +v 0.720383 -3.387322 -0.901895 +v -0.788430 0.888027 -0.901895 +v 1.034911 0.636743 0.512534 +v 0.185916 -3.387322 0.386826 +v 0.971922 -3.292706 0.229691 +v -0.694260 -3.355637 -0.838616 +v -1.071359 -3.324391 -0.398638 +v -1.008579 0.888027 1.267420 +v 1.003312 1.013889 -0.398638 +v 0.971922 -2.066651 -0.461704 +v -0.631271 -3.261460 1.141500 +v -1.071359 0.416704 -0.870256 +v -1.102958 -3.261460 0.921298 +v 1.034911 -0.432645 1.172927 +v -1.039969 0.479635 1.235568 +v 1.003312 -2.569659 1.141500 +v -1.071359 -2.255004 1.172927 +v -0.945590 -3.261460 -0.838616 +f 58 63 75 +f 31 30 39 +f 30 31 41 +f 36 30 41 +f 35 31 42 +f 30 36 43 +f 39 30 43 +f 32 39 43 +f 34 29 45 +f 31 35 45 +f 41 31 45 +f 38 41 45 +f 33 41 46 +f 41 38 46 +f 33 46 49 +f 46 37 49 +f 31 39 50 +f 42 31 50 +f 39 42 50 +f 35 34 51 +f 34 45 51 +f 45 35 51 +f 34 40 52 +f 34 32 53 +f 40 34 53 +f 34 35 54 +f 36 41 56 +f 41 33 57 +f 33 48 57 +f 56 41 57 +f 29 34 58 +f 34 52 58 +f 29 44 59 +f 45 29 59 +f 38 45 59 +f 42 39 60 +f 32 40 61 +f 53 32 61 +f 40 53 61 +f 32 34 62 +f 60 47 62 +f 40 37 63 +f 52 40 63 +f 58 52 63 +f 37 40 64 +f 43 36 65 +f 36 48 65 +f 35 42 66 +f 54 35 66 +f 42 60 66 +f 66 60 67 +f 34 54 67 +f 62 34 67 +f 60 62 67 +f 54 66 67 +f 40 32 68 +f 32 43 68 +f 43 33 68 +f 33 55 68 +f 55 40 68 +f 44 37 69 +f 37 46 69 +f 46 38 69 +f 59 44 69 +f 38 59 69 +f 33 49 70 +f 49 37 70 +f 55 33 70 +f 40 55 70 +f 37 64 70 +f 64 40 70 +f 60 39 71 +f 47 60 71 +f 48 36 72 +f 36 56 72 +f 57 48 72 +f 56 57 72 +f 39 32 73 +f 32 62 73 +f 62 47 73 +f 71 39 73 +f 47 71 73 +f 33 43 74 +f 48 33 74 +f 43 65 74 +f 65 48 74 +f 44 29 75 +f 37 44 75 +f 29 58 75 +f 63 37 75 +o convex_2 +v -0.191217 1.988730 -4.831652 +v 0.343246 1.925864 -2.882575 +v 0.217482 1.957269 -2.882575 +v -0.222626 1.485854 -2.882575 +v 0.311772 1.454449 -4.863254 +v 0.343246 2.020246 -4.800049 +v -0.222626 1.988730 -2.882575 +v -0.191217 1.485854 -4.800049 +v 0.217482 1.485854 -2.882575 +v -0.316981 1.957269 -4.863254 +v 0.343246 1.485854 -4.674609 +v -0.002572 2.020246 -3.543124 +v 0.248891 1.454449 -3.354479 +v -0.159744 1.454449 -4.800049 +v -0.316981 1.862997 -4.706017 +v 0.343246 2.020246 -4.297318 +v -0.316981 1.957269 -4.454361 +v 0.091654 2.020246 -4.831652 +v 0.343246 1.862997 -2.882575 +v -0.222626 1.485854 -3.794393 +v 0.343246 1.611587 -4.863254 +v -0.254099 1.988730 -3.354479 +v -0.316981 1.862997 -4.863254 +v 0.028772 1.988730 -2.914177 +f 91 87 99 +f 77 78 79 +f 79 78 82 +f 77 79 84 +f 81 77 86 +f 84 79 88 +f 80 86 88 +f 88 79 89 +f 80 88 89 +f 78 77 91 +f 77 81 91 +f 81 87 91 +f 90 79 92 +f 85 90 92 +f 85 76 93 +f 76 87 93 +f 87 81 93 +f 77 84 94 +f 86 77 94 +f 84 88 94 +f 88 86 94 +f 89 79 95 +f 83 89 95 +f 79 90 95 +f 80 85 96 +f 81 86 96 +f 86 80 96 +f 93 81 96 +f 85 93 96 +f 79 82 97 +f 76 85 97 +f 87 76 97 +f 82 87 97 +f 92 79 97 +f 85 92 97 +f 85 80 98 +f 89 83 98 +f 80 89 98 +f 90 85 98 +f 83 95 98 +f 95 90 98 +f 82 78 99 +f 87 82 99 +f 78 91 99 +o convex_3 +v -0.128289 2.240322 -1.625262 +v 0.594760 1.297178 -0.901895 +v 0.500365 2.177394 -0.933498 +v 0.594760 1.422923 -2.882575 +v -0.568496 1.234361 -0.933498 +v -0.536955 1.108505 -2.882575 +v -0.536955 2.177394 -2.756746 +v 0.594760 2.240322 -2.787961 +v -0.442560 2.208858 -0.901895 +v 0.594760 1.108505 -2.756746 +v 0.594760 1.171433 -1.122143 +v -0.222570 1.988721 -2.882575 +v -0.568496 1.485962 -0.901895 +v -0.568496 1.139969 -2.127799 +v 0.217408 2.208858 -0.901895 +v 0.594760 1.108505 -2.882575 +v -0.536955 1.108505 -2.505284 +v 0.091586 1.202897 -0.901895 +v -0.474101 2.208858 -1.027724 +v 0.563219 2.240322 -2.127799 +v 0.217408 2.240322 -2.787961 +v 0.343116 1.957368 -2.882575 +v -0.536955 2.177394 -2.347853 +v 0.594760 1.202897 -0.901895 +v -0.128289 2.240322 -1.405014 +v -0.536955 1.297178 -2.882575 +v 0.500365 2.208858 -1.153552 +v 0.500365 2.114466 -0.901895 +v -0.568496 1.171433 -2.253628 +f 106 125 128 +f 101 103 107 +f 103 101 109 +f 109 101 110 +f 103 105 111 +f 101 108 112 +f 104 112 113 +f 108 101 114 +f 105 103 115 +f 103 109 115 +f 109 105 115 +f 105 109 116 +f 109 110 116 +f 113 105 116 +f 104 113 116 +f 101 112 117 +f 112 104 117 +f 116 110 117 +f 104 116 117 +f 100 106 118 +f 112 108 118 +f 102 101 119 +f 107 100 119 +f 101 107 119 +f 106 100 120 +f 100 107 120 +f 111 106 120 +f 107 111 120 +f 107 103 121 +f 103 111 121 +f 111 107 121 +f 106 112 122 +f 118 106 122 +f 112 118 122 +f 110 101 123 +f 101 117 123 +f 117 110 123 +f 108 114 124 +f 100 118 124 +f 118 108 124 +f 119 100 124 +f 111 105 125 +f 106 111 125 +f 114 102 126 +f 102 119 126 +f 124 114 126 +f 119 124 126 +f 101 102 127 +f 102 114 127 +f 114 101 127 +f 112 106 128 +f 105 113 128 +f 113 112 128 +f 125 105 128 +o convex_4 +v -0.914131 2.083060 -0.901895 +v 1.066138 2.648873 1.235741 +v 0.846156 2.680353 1.235741 +v -1.008409 1.108505 1.267408 +v 0.971860 1.108505 -0.870228 +v 0.971860 2.774791 -0.870228 +v -0.977196 2.711669 1.298859 +v 1.034712 1.108505 1.204289 +v -1.071474 1.108505 -0.870444 +v -1.102688 2.743311 -0.870444 +v 0.468830 1.108505 1.298859 +v -0.851279 2.743311 1.235956 +v -1.102688 1.108505 -0.147271 +v 0.594747 1.202943 -0.901895 +v 1.003286 2.774791 -0.555927 +v 1.034712 1.139984 0.386977 +v 0.531682 2.271447 1.298859 +v 0.311699 2.491803 -0.901895 +v -1.008409 2.680353 1.015794 +v 1.003286 2.711832 -0.807325 +v 0.185995 2.774791 -0.713185 +v 1.066138 1.706124 1.235741 +v -0.788427 1.108505 -0.901895 +v -0.442527 1.171464 1.298859 +v 1.066138 2.680353 0.858536 +v -1.040048 1.171464 0.984127 +v -1.102688 1.108505 -0.744637 +v -1.102688 2.743311 -0.713185 +v -0.253970 2.711832 1.298859 +v 1.003286 1.139984 -0.430120 +v -1.008409 2.743311 0.921439 +v 0.311699 2.774791 -0.147271 +v -0.788427 2.491640 -0.901895 +v -0.977196 1.957143 1.298859 +v -1.008409 1.957143 1.267408 +v 0.720451 2.680353 1.267408 +v 1.066138 2.019938 0.984343 +v 0.971860 1.108505 1.235741 +v 1.003286 2.680353 1.141386 +f 153 143 167 +f 132 133 136 +f 133 132 137 +f 129 137 138 +f 132 136 139 +f 137 132 141 +f 134 133 142 +f 136 133 144 +f 135 139 145 +f 134 142 146 +f 142 129 146 +f 133 134 148 +f 134 143 148 +f 134 138 149 +f 143 134 149 +f 136 144 150 +f 130 145 150 +f 145 139 150 +f 137 129 151 +f 133 137 151 +f 142 133 151 +f 129 142 151 +f 139 135 152 +f 132 139 152 +f 148 143 153 +f 130 150 153 +f 141 132 154 +f 138 137 155 +f 137 141 155 +f 141 138 155 +f 138 141 156 +f 149 138 156 +f 141 154 156 +f 154 147 156 +f 140 135 157 +f 135 145 157 +f 144 133 158 +f 133 148 158 +f 135 140 159 +f 147 135 159 +f 156 147 159 +f 149 156 159 +f 140 143 160 +f 143 149 160 +f 159 140 160 +f 149 159 160 +f 129 138 161 +f 138 134 161 +f 146 129 161 +f 134 146 161 +f 135 132 162 +f 132 152 162 +f 152 135 162 +f 132 135 163 +f 135 147 163 +f 154 132 163 +f 147 154 163 +f 130 131 164 +f 131 140 164 +f 145 130 164 +f 140 157 164 +f 157 145 164 +f 150 144 165 +f 148 153 165 +f 153 150 165 +f 144 158 165 +f 158 148 165 +f 139 136 166 +f 136 150 166 +f 150 139 166 +f 131 130 167 +f 140 131 167 +f 143 140 167 +f 130 153 167 +o convex_5 +v 0.437490 2.145825 3.247718 +v 0.186000 1.108505 1.298860 +v 0.468954 1.108505 1.298860 +v 0.343209 2.271761 1.298860 +v -0.599935 2.271761 3.247718 +v -0.474079 1.234441 3.247718 +v -0.442615 2.145825 1.298860 +v 0.468954 1.265754 3.184950 +v -0.442615 1.171587 1.298860 +v 0.531882 2.271761 1.644942 +v 0.531882 1.988690 1.298860 +v -0.599935 2.114398 2.964976 +v -0.474079 1.297181 1.362009 +v 0.468954 1.108505 1.581983 +v -0.379687 2.271761 3.247718 +v -0.568360 2.271761 2.839059 +v 0.468954 1.454430 3.216429 +v 0.468954 1.234441 2.996264 +v 0.531882 2.271761 1.298860 +v 0.468954 2.177366 2.870538 +v -0.474079 2.177366 1.613462 +v -0.065491 1.234441 3.216429 +v -0.474079 1.234441 2.116560 +v 0.437490 1.768701 3.247718 +v -0.442615 1.203014 2.587605 +v -0.568360 1.862868 3.247718 +v 0.468954 1.705847 3.216429 +f 177 187 194 +f 170 169 171 +f 168 172 173 +f 171 169 174 +f 174 169 176 +f 171 172 177 +f 177 175 178 +f 170 171 178 +f 174 176 180 +f 169 170 181 +f 173 169 181 +f 170 178 181 +f 172 168 182 +f 177 172 182 +f 172 171 183 +f 179 172 183 +f 173 175 184 +f 175 177 184 +f 178 175 185 +f 181 178 185 +f 171 177 186 +f 177 178 186 +f 178 171 186 +f 182 168 187 +f 177 182 187 +f 171 174 188 +f 174 180 188 +f 180 179 188 +f 183 171 188 +f 179 183 188 +f 175 173 189 +f 173 181 189 +f 185 175 189 +f 181 185 189 +f 176 173 190 +f 180 176 190 +f 179 180 190 +f 168 173 191 +f 184 168 191 +f 173 184 191 +f 169 173 192 +f 176 169 192 +f 173 176 192 +f 173 172 193 +f 172 179 193 +f 190 173 193 +f 179 190 193 +f 168 184 194 +f 184 177 194 +f 187 168 194 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/215/215.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/215/215.urdf new file mode 100644 index 000000000..a7602e169 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/215/215.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/216/216.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/216/216.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/216/216.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/216/216.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/216/216.obj new file mode 100644 index 000000000..1222f66d2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/216/216.obj @@ -0,0 +1,423 @@ +o convex_0 +v 0.677960 -3.505897 -0.321928 +v 0.647730 0.921609 1.012080 +v -0.625725 0.921609 1.012080 +v 1.011688 0.921609 -1.080359 +v -0.989683 -2.989730 -1.050022 +v -0.959453 -3.414885 0.981743 +v -1.020112 0.921609 -1.050022 +v 0.951028 -3.353777 1.012080 +v 0.951028 -3.384114 -1.110696 +v 0.981259 0.921609 0.951198 +v -0.929023 0.921609 0.951198 +v -0.959453 -3.414885 -1.050022 +v 1.011688 -0.322219 -0.079437 +v 0.920599 -3.475126 0.830057 +v -0.686385 -3.475559 0.708708 +v -1.020112 0.921609 -0.655637 +v 0.981259 -2.656020 -1.080151 +v -0.716814 -3.384114 -1.080359 +v -0.959453 -1.261807 0.981743 +v 0.981259 -2.504767 0.678371 +v 0.526411 -3.505897 -0.655637 +v -1.020112 -0.807615 -1.019477 +v 0.435322 0.860501 -1.080359 +v 1.011688 0.921609 0.223520 +v -0.656154 -0.231207 1.012080 +v 0.981259 -0.928097 0.981743 +v 1.011688 -0.413230 -1.080359 +v 0.951028 -3.444789 0.981743 +v -0.625725 -3.475559 0.132508 +v -0.898594 -3.444789 0.951198 +v 0.920599 -2.989730 -1.110696 +v 0.587070 -3.475126 0.920861 +v 0.162453 0.041395 -1.080359 +v 0.647730 -3.505897 -0.109567 +v 0.890369 -3.414885 -1.019684 +v 0.405091 -3.505897 -0.594963 +v -0.868364 0.648140 0.981535 +v 0.981259 -1.322048 0.981743 +v 0.951028 -3.414885 -0.716104 +v 0.829510 -3.232862 1.012080 +v 0.677960 0.830597 1.012080 +f 26 10 41 +f 3 2 4 +f 3 4 7 +f 2 3 8 +f 4 2 10 +f 3 7 11 +f 6 5 12 +f 11 7 16 +f 5 7 18 +f 12 5 18 +f 9 12 18 +f 16 6 19 +f 11 16 19 +f 5 6 22 +f 7 5 22 +f 6 16 22 +f 16 7 22 +f 7 4 23 +f 4 10 24 +f 13 4 24 +f 8 3 25 +f 3 19 25 +f 19 6 25 +f 24 10 26 +f 9 4 27 +f 4 13 27 +f 17 9 27 +f 13 20 27 +f 20 17 27 +f 8 6 28 +f 20 8 28 +f 17 20 28 +f 15 12 29 +f 6 12 30 +f 12 15 30 +f 28 6 30 +f 4 9 31 +f 9 18 31 +f 23 4 31 +f 14 28 32 +f 30 15 32 +f 28 30 32 +f 18 7 33 +f 7 23 33 +f 31 18 33 +f 23 31 33 +f 1 14 34 +f 21 1 34 +f 14 32 34 +f 32 15 34 +f 12 9 35 +f 1 21 35 +f 21 12 35 +f 12 21 36 +f 29 12 36 +f 15 29 36 +f 21 34 36 +f 34 15 36 +f 3 11 37 +f 19 3 37 +f 11 19 37 +f 8 20 38 +f 20 13 38 +f 13 24 38 +f 26 8 38 +f 24 26 38 +f 14 1 39 +f 9 17 39 +f 28 14 39 +f 17 28 39 +f 35 9 39 +f 1 35 39 +f 6 8 40 +f 8 25 40 +f 25 6 40 +f 2 8 41 +f 10 2 41 +f 8 26 41 +o convex_1 +v -0.504453 1.558442 -1.232241 +v 0.617458 1.043041 -2.990591 +v 0.587011 1.103739 -2.596438 +v 0.435470 2.104299 -2.960494 +v -0.474122 1.073283 -3.081653 +v 0.465802 1.103739 -1.110889 +v 0.435470 2.104299 -1.110889 +v -0.565232 2.013144 -3.051170 +v -0.443791 1.073283 -1.110889 +v -0.534785 2.043600 -1.110889 +v 0.617458 1.012585 -3.051363 +v 0.162488 1.012585 -2.141513 +v -0.079931 1.012585 -3.051170 +v -0.413575 2.043600 -3.051170 +v 0.132157 2.104299 -1.232241 +v -0.292134 1.043041 -1.232241 +v 0.496133 1.073283 -1.383883 +v -0.565232 1.952553 -2.353734 +v 0.465802 2.013144 -2.960494 +v -0.443791 1.043041 -3.081653 +v 0.465802 1.952553 -1.323110 +v -0.474122 1.618926 -3.081653 +v 0.556796 1.012585 -2.444796 +v 0.314029 1.073283 -1.110889 +v -0.443791 1.043041 -1.778036 +v 0.314029 2.104299 -2.960301 +v -0.534785 1.831370 -1.110889 +v -0.534785 2.043600 -1.899387 +v -0.019384 2.043600 -3.020880 +v -0.565232 1.891855 -3.051170 +v 0.465802 1.558442 -1.141179 +v -0.079931 1.103739 -3.081653 +v -0.443791 2.043600 -3.020880 +v 0.465802 1.982795 -1.626394 +f 48 62 75 +f 42 46 50 +f 47 48 50 +f 50 48 51 +f 52 53 54 +f 48 45 56 +f 51 48 56 +f 43 44 58 +f 52 43 58 +f 51 49 59 +f 45 48 60 +f 43 52 60 +f 52 45 60 +f 52 54 61 +f 44 43 62 +f 46 49 63 +f 49 55 63 +f 55 52 63 +f 61 46 63 +f 53 52 64 +f 52 58 64 +f 64 58 65 +f 47 50 65 +f 50 57 65 +f 57 53 65 +f 58 47 65 +f 53 64 65 +f 50 46 66 +f 54 53 66 +f 57 50 66 +f 53 57 66 +f 46 61 66 +f 61 54 66 +f 45 55 67 +f 56 45 67 +f 46 42 68 +f 42 50 68 +f 50 51 68 +f 59 46 68 +f 51 59 68 +f 49 51 69 +f 51 56 69 +f 45 52 70 +f 55 45 70 +f 52 55 70 +f 49 46 71 +f 46 59 71 +f 59 49 71 +f 48 47 72 +f 58 44 72 +f 47 58 72 +f 44 62 72 +f 62 48 72 +f 52 61 73 +f 63 52 73 +f 61 63 73 +f 55 49 74 +f 67 55 74 +f 56 67 74 +f 49 69 74 +f 69 56 74 +f 43 60 75 +f 60 48 75 +f 62 43 75 +o convex_2 +v -0.474072 1.073381 1.042406 +v 1.042011 2.528839 -0.655670 +v 1.042011 2.498383 -0.655670 +v -1.050438 2.498383 -1.019438 +v 1.011492 0.921609 -1.080136 +v 0.981179 2.559126 0.921009 +v -1.019919 0.921609 -1.049998 +v -0.928979 2.528839 0.951358 +v 0.981179 0.921609 0.951358 +v -0.928979 0.921609 0.951358 +v 1.041806 2.498383 -1.080136 +v -0.504591 2.650155 0.253750 +v 0.587104 2.043404 1.042406 +v -0.534904 2.043574 -1.110696 +v 0.344391 2.650155 0.435845 +v -0.656158 2.134434 1.042406 +v 1.041806 2.528670 -1.049998 +v 0.283764 1.073381 -1.110696 +v 0.556790 0.982351 1.042406 +v -1.050438 2.346780 -0.776856 +v -0.565217 2.650155 0.526681 +v 1.011492 0.921609 0.253750 +v 1.011492 2.528670 0.648078 +v -1.050438 1.376757 -0.989089 +v 0.556790 2.195177 -1.110696 +v -0.443759 1.073381 -1.110696 +v 0.950865 2.498383 0.951358 +v 1.041806 1.831058 -1.080136 +v -0.959292 2.498383 0.617729 +v -0.625844 2.498383 -1.049998 +v 0.617417 2.619699 0.132564 +v -1.019919 0.921609 -0.625110 +v -0.595531 0.921609 1.012057 +v -0.838039 0.921609 0.981708 +v -0.868352 2.407523 0.981708 +v 0.465645 1.103668 -1.110696 +v 0.101679 2.619699 0.678427 +v 1.041806 1.831058 -0.807205 +v -0.170938 2.134434 1.042406 +v -1.050438 2.498383 -0.776856 +f 95 104 115 +f 82 80 84 +f 82 84 85 +f 77 78 86 +f 82 79 89 +f 76 88 91 +f 81 77 92 +f 77 86 92 +f 79 87 92 +f 87 90 92 +f 88 76 94 +f 84 88 94 +f 87 79 96 +f 90 87 96 +f 84 80 97 +f 84 97 98 +f 78 77 98 +f 77 81 98 +f 81 84 98 +f 79 82 99 +f 95 79 99 +f 85 95 99 +f 89 86 100 +f 93 89 100 +f 80 82 101 +f 82 89 101 +f 93 80 101 +f 89 93 101 +f 81 83 102 +f 84 81 102 +f 88 84 102 +f 86 78 103 +f 97 80 103 +f 80 100 103 +f 100 86 103 +f 85 83 104 +f 95 85 104 +f 89 79 105 +f 86 89 105 +f 92 86 105 +f 79 92 105 +f 90 81 106 +f 81 92 106 +f 92 90 106 +f 82 85 107 +f 99 82 107 +f 85 99 107 +f 85 84 108 +f 84 94 108 +f 94 76 108 +f 76 91 109 +f 85 108 109 +f 108 76 109 +f 83 85 110 +f 102 83 110 +f 85 109 110 +f 109 91 110 +f 80 93 111 +f 100 80 111 +f 93 100 111 +f 83 81 112 +f 81 90 112 +f 96 83 112 +f 90 96 112 +f 98 97 113 +f 78 98 113 +f 103 78 113 +f 97 103 113 +f 91 88 114 +f 88 102 114 +f 102 110 114 +f 110 91 114 +f 79 95 115 +f 96 79 115 +f 83 96 115 +f 104 83 115 +o convex_3 +v -0.170892 1.315990 3.104532 +v -0.474204 0.951934 3.043774 +v -0.413519 0.951934 3.043774 +v 0.556764 2.013195 1.042406 +v -0.565232 1.982866 1.042406 +v 0.556764 0.982262 1.042406 +v 0.556764 2.073967 3.043774 +v -0.474204 2.134508 2.952739 +v 0.587106 1.043035 3.074052 +v -0.534776 1.073363 1.072886 +v -0.443749 2.134508 2.710112 +v -0.474204 0.951934 3.104532 +v 0.314137 0.982378 1.042406 +v 0.587106 1.012707 2.528243 +v -0.504434 2.104180 2.710112 +v 0.556764 2.043523 1.436826 +v -0.170892 2.013195 1.042406 +v -0.534776 1.043035 1.618695 +v 0.587106 1.406859 3.074052 +v 0.374822 1.922325 3.074052 +v 0.587106 1.043035 1.982635 +v -0.534776 1.103692 1.042406 +v -0.231577 2.134508 2.922461 +v 0.556764 0.982262 1.709731 +v -0.019405 0.982378 3.104532 +v -0.534776 2.043523 1.557938 +v 0.556764 2.073967 2.679632 +v -0.474204 1.103692 3.104532 +v -0.565232 1.800896 1.072886 +v 0.010937 2.104180 3.013496 +f 143 135 145 +f 118 117 121 +f 120 119 121 +f 117 118 127 +f 121 117 128 +f 120 121 128 +f 117 125 128 +f 119 120 132 +f 131 119 132 +f 126 131 132 +f 125 117 133 +f 117 127 133 +f 127 130 133 +f 124 129 134 +f 119 131 134 +f 134 122 135 +f 121 119 136 +f 129 121 136 +f 119 134 136 +f 134 129 136 +f 120 128 137 +f 128 125 137 +f 126 123 138 +f 131 126 138 +f 118 121 139 +f 121 129 139 +f 139 129 140 +f 127 118 140 +f 116 127 140 +f 129 124 140 +f 124 134 140 +f 135 116 140 +f 134 135 140 +f 118 139 140 +f 123 126 141 +f 120 130 141 +f 130 123 141 +f 132 120 141 +f 126 132 141 +f 122 134 142 +f 134 131 142 +f 138 122 142 +f 131 138 142 +f 127 116 143 +f 123 130 143 +f 130 127 143 +f 116 135 143 +f 130 120 144 +f 125 133 144 +f 133 130 144 +f 120 137 144 +f 137 125 144 +f 135 122 145 +f 122 138 145 +f 138 123 145 +f 123 143 145 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/216/216.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/216/216.urdf new file mode 100644 index 000000000..6a7d48ab4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/216/216.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/217/217.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/217/217.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/217/217.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/217/217.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/217/217.obj new file mode 100644 index 000000000..4f7f11a4d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/217/217.obj @@ -0,0 +1,393 @@ +o convex_0 +v -2.122216 0.538934 -3.415981 +v 2.962394 1.694586 -2.524775 +v 3.127668 1.694473 -2.524775 +v -2.155028 0.571966 -2.458732 +v -3.079834 1.628523 -3.415981 +v 2.928975 0.638142 -3.515101 +v -3.046415 1.661555 -2.392578 +v 2.928975 0.704092 -2.458732 +v 3.061437 1.694473 -3.383014 +v -3.046415 0.538934 -3.415981 +v -2.947372 0.538934 -2.491699 +v 2.599034 0.604997 -3.515101 +v -1.428916 1.694586 -2.689830 +v 2.928975 0.671174 -2.557742 +v 2.995206 1.100358 -2.458732 +v -3.046415 1.430221 -2.392578 +v -0.767819 1.661442 -3.416091 +v -2.122216 0.571966 -3.449167 +v 2.665265 0.770155 -3.515101 +v 1.014347 1.694586 -2.458732 +v -2.221259 1.661555 -2.392578 +v -2.650243 0.538934 -2.491699 +v 1.872922 0.638142 -3.515101 +v 2.995206 1.298321 -3.449167 +v 1.443330 1.694586 -3.383124 +v -3.013603 1.661555 -2.887961 +v 2.599034 0.671174 -2.458732 +v 3.061437 1.265289 -2.887961 +v -3.079834 1.595379 -2.821917 +v -3.046415 0.538934 -3.217960 +v 3.094249 1.562460 -2.491699 +v 2.928975 0.638142 -3.052795 +v -2.947372 0.604997 -2.458732 +v -3.079834 1.001263 -3.415981 +v 0.023917 1.661442 -3.416091 +v -1.329873 0.571966 -2.458732 +f 32 14 36 +f 2 3 9 +f 10 1 11 +f 1 10 12 +f 3 8 14 +f 12 10 18 +f 6 12 19 +f 5 17 19 +f 3 2 20 +f 2 13 20 +f 13 7 20 +f 15 20 21 +f 8 15 21 +f 16 8 21 +f 7 16 21 +f 20 7 21 +f 11 1 22 +f 4 11 22 +f 1 12 22 +f 18 5 23 +f 12 18 23 +f 19 12 23 +f 5 19 23 +f 9 6 24 +f 6 19 24 +f 2 9 25 +f 13 2 25 +f 25 17 26 +f 5 7 26 +f 7 13 26 +f 17 5 26 +f 13 25 26 +f 14 8 27 +f 8 16 27 +f 9 3 28 +f 6 9 28 +f 3 14 28 +f 7 5 29 +f 16 7 29 +f 16 29 30 +f 10 11 30 +f 11 16 30 +f 8 3 31 +f 15 8 31 +f 3 20 31 +f 20 15 31 +f 12 6 32 +f 22 12 32 +f 6 28 32 +f 28 14 32 +f 11 4 33 +f 4 16 33 +f 16 11 33 +f 5 18 34 +f 18 10 34 +f 29 5 34 +f 30 29 34 +f 10 30 34 +f 19 17 35 +f 9 24 35 +f 24 19 35 +f 25 9 35 +f 17 25 35 +f 16 4 36 +f 4 22 36 +f 14 27 36 +f 27 16 36 +f 22 32 36 +o convex_1 +v -0.504229 1.430434 -0.048255 +v -0.141062 0.571953 -1.996088 +v 0.056787 0.571953 -1.996088 +v 0.486081 1.727605 -1.897194 +v 0.453018 0.704079 -0.048255 +v -0.537400 1.562447 -1.864035 +v -0.537400 0.671048 -0.147537 +v 0.486081 1.628397 -0.147537 +v 0.552209 0.604985 -2.029247 +v -0.471272 1.628397 -0.048255 +v -0.471272 0.571953 -1.963123 +v 0.552209 1.727605 -1.467875 +v 0.453018 1.595479 -0.048255 +v 0.486081 0.671048 -0.411644 +v -0.537400 0.704079 -0.048255 +v -0.042084 1.661542 -1.897000 +v 0.552209 0.869237 -2.029247 +v -0.537400 1.430434 -1.897000 +v -0.537400 1.595479 -1.170804 +v -0.537400 0.638016 -0.642785 +v 0.486081 0.704079 -0.180696 +v 0.552209 1.595479 -1.930158 +v -0.405252 0.571953 -1.666052 +v 0.353933 1.727605 -1.897000 +v -0.537400 1.166069 -1.897000 +v -0.537400 1.067426 -0.048255 +v 0.552209 1.628397 -1.401752 +v -0.504229 0.604985 -1.666052 +v 0.188935 0.638016 -2.029053 +v 0.519145 0.604985 -1.666052 +f 50 59 66 +f 39 38 45 +f 37 41 46 +f 38 39 47 +f 46 44 48 +f 41 44 49 +f 46 41 49 +f 44 46 49 +f 41 43 50 +f 41 37 51 +f 43 41 51 +f 42 43 51 +f 48 45 53 +f 52 53 54 +f 43 42 54 +f 42 52 54 +f 37 46 55 +f 42 51 55 +f 52 42 55 +f 43 54 56 +f 44 41 57 +f 41 50 57 +f 50 45 57 +f 40 48 58 +f 48 53 58 +f 53 52 58 +f 47 39 59 +f 50 43 59 +f 56 47 59 +f 43 56 59 +f 48 40 60 +f 46 48 60 +f 55 46 60 +f 52 55 60 +f 40 58 60 +f 58 52 60 +f 54 47 61 +f 56 54 61 +f 51 37 62 +f 37 55 62 +f 55 51 62 +f 45 48 63 +f 48 44 63 +f 44 57 63 +f 57 45 63 +f 47 56 64 +f 61 47 64 +f 56 61 64 +f 45 38 65 +f 38 47 65 +f 53 45 65 +f 54 53 65 +f 47 54 65 +f 39 45 66 +f 45 50 66 +f 59 39 66 +o convex_2 +v -0.867475 -3.885562 1.371213 +v -0.207055 1.694315 2.163993 +v 0.948252 2.222884 1.998767 +v -1.065643 2.123628 0.017792 +v 1.080507 -3.819192 0.050923 +v 1.047443 -3.786306 2.163993 +v 1.014380 2.189400 0.051140 +v -1.098707 -3.851480 0.017792 +v -1.098707 -3.885562 2.097946 +v -0.999516 2.156514 1.998767 +v 0.453151 1.595059 -0.048255 +v 1.047443 1.232116 0.414073 +v 0.519065 1.495802 2.163993 +v -1.098707 -2.564138 2.097946 +v -0.570328 0.868574 2.163993 +v -0.570328 0.736432 -0.048255 +v 0.585192 -3.819192 0.017792 +v -0.834411 -3.885562 2.130861 +v 1.047443 -2.630508 2.130861 +v -1.098707 -0.782309 0.017792 +v -1.065643 2.123628 0.612214 +v 1.080507 -3.719936 1.173289 +v 0.618043 2.189400 0.017792 +v 0.981316 -3.191964 0.017792 +v 1.047443 1.628543 0.050923 +v 0.519065 -3.852078 0.579516 +v 0.453151 0.703546 -0.048255 +v 0.981316 2.057258 0.017792 +v 0.519065 -3.785708 2.163993 +v -0.471138 1.627945 -0.048255 +v 1.080507 -2.299854 0.050923 +v 0.948252 1.991486 2.031683 +v 0.816211 2.222884 1.503307 +v 1.014380 2.189400 0.678478 +v 1.047443 -3.290622 2.163993 +v -0.438287 1.694315 2.163993 +v -0.438287 -3.852078 0.017792 +v -0.966452 2.156514 1.569571 +v 1.080507 -3.819192 0.810355 +v -0.702370 -3.885562 2.031683 +v 0.618043 2.222287 1.998767 +v 0.420087 1.627945 2.163993 +v -1.032579 0.736432 1.998767 +f 87 80 109 +f 74 67 75 +f 68 72 79 +f 74 75 80 +f 76 80 81 +f 72 68 81 +f 80 75 81 +f 75 67 84 +f 81 75 84 +f 74 80 86 +f 70 82 86 +f 82 74 86 +f 76 70 87 +f 70 86 87 +f 86 80 87 +f 78 85 88 +f 71 83 90 +f 74 82 93 +f 82 77 93 +f 77 90 93 +f 90 83 93 +f 89 73 94 +f 77 89 94 +f 71 90 94 +f 90 77 94 +f 73 91 94 +f 72 81 95 +f 84 72 95 +f 81 84 95 +f 82 70 96 +f 77 82 96 +f 70 89 96 +f 89 77 96 +f 88 71 97 +f 78 88 97 +f 91 78 97 +f 71 94 97 +f 94 91 97 +f 85 69 98 +f 69 73 99 +f 73 89 99 +f 73 69 100 +f 69 85 100 +f 85 78 100 +f 91 73 100 +f 78 91 100 +f 79 72 101 +f 72 88 101 +f 88 85 101 +f 98 79 101 +f 85 98 101 +f 68 69 102 +f 76 81 102 +f 81 68 102 +f 67 74 103 +f 83 71 103 +f 71 92 103 +f 92 67 103 +f 74 93 103 +f 93 83 103 +f 70 76 104 +f 89 70 104 +f 99 89 104 +f 71 88 105 +f 88 72 105 +f 92 71 105 +f 92 105 106 +f 84 67 106 +f 72 84 106 +f 67 92 106 +f 105 72 106 +f 69 99 107 +f 102 69 107 +f 76 102 107 +f 104 76 107 +f 99 104 107 +f 69 68 108 +f 68 79 108 +f 98 69 108 +f 79 98 108 +f 80 76 109 +f 76 87 109 +o convex_3 +v -0.537257 1.133476 2.395469 +v 0.618136 0.770129 4.078725 +v 0.585208 1.067300 4.078725 +v 0.585208 0.935287 2.163993 +v -0.438240 1.727592 4.012753 +v 0.486074 1.628497 2.163993 +v -0.471285 0.704066 4.078725 +v -0.372268 0.671035 2.163993 +v 0.486074 1.760624 4.111712 +v -0.438240 1.694561 2.163993 +v 0.618136 0.604972 2.163993 +v -0.570302 0.704066 2.163993 +v 0.618136 0.671035 4.078725 +v 0.386941 0.604972 2.560401 +v -0.471285 1.199087 4.078725 +v -0.438240 1.727592 2.692537 +v 0.519119 1.529403 2.428456 +v -0.207045 1.694561 2.163993 +v 0.585208 0.638116 3.715685 +v -0.570302 0.737098 2.494428 +v -0.471285 1.661416 2.163993 +v -0.504329 0.704066 3.979766 +v 0.552163 1.166282 4.111712 +v 0.354013 1.760624 4.111712 +v 0.519119 1.628497 4.111712 +v -0.438240 1.694561 4.045739 +f 124 133 135 +f 112 111 113 +f 115 113 117 +f 115 117 119 +f 113 111 120 +f 117 113 120 +f 119 117 121 +f 120 111 122 +f 117 120 123 +f 112 113 126 +f 113 115 126 +f 115 118 126 +f 118 115 127 +f 115 119 127 +f 125 118 127 +f 119 125 127 +f 122 116 128 +f 120 122 128 +f 123 120 128 +f 116 123 128 +f 114 110 129 +f 110 121 129 +f 124 114 129 +f 110 114 130 +f 121 110 130 +f 119 121 130 +f 114 125 130 +f 125 119 130 +f 121 117 131 +f 123 116 131 +f 117 123 131 +f 116 124 131 +f 129 121 131 +f 124 129 131 +f 122 111 132 +f 116 122 132 +f 124 116 133 +f 125 114 133 +f 118 125 133 +f 132 118 133 +f 116 132 133 +f 111 112 134 +f 112 126 134 +f 126 118 134 +f 132 111 134 +f 118 132 134 +f 114 124 135 +f 133 114 135 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/217/217.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/217/217.urdf new file mode 100644 index 000000000..2314d2b22 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/217/217.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/218/218.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/218/218.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/218/218.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/218/218.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/218/218.obj new file mode 100644 index 000000000..371258758 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/218/218.obj @@ -0,0 +1,486 @@ +o convex_0 +v 0.817397 -2.057748 -1.102457 +v 1.050021 -1.669793 1.067810 +v -0.849446 -1.669793 1.068026 +v 0.119525 -3.607863 1.106735 +v -0.926790 -3.530272 -1.063532 +v 0.933610 -3.607863 -0.869774 +v -0.965660 -1.669793 -0.947407 +v -0.926790 -3.607863 1.106735 +v 0.933610 -3.607863 1.067810 +v 0.933610 -1.669793 -1.025040 +v 0.933610 -3.413980 -1.025040 +v -0.926790 -1.669793 1.068026 +v 1.050021 -2.212741 0.990610 +v 0.778527 -1.669793 -1.102457 +v 1.050021 -1.708873 0.486535 +v -0.965660 -1.980157 -0.986331 +v -0.965660 -1.708873 0.253852 +v -0.926790 -2.871222 1.106735 +v -0.965660 -2.484025 -0.908698 +v -0.229115 -3.568973 -1.024824 +v 0.972282 -3.297688 1.067810 +v -0.926790 -3.607863 0.874052 +v 0.933610 -3.568973 -0.986115 +v 0.894741 -2.096449 -1.102457 +v 0.972282 -1.669793 -0.598598 +v -0.926790 -3.413980 -1.063532 +v -0.733036 -3.530272 -1.063532 +v -0.926790 -3.568973 -0.326991 +f 20 22 28 +f 3 2 7 +f 6 4 8 +f 4 6 9 +f 7 2 10 +f 3 7 12 +f 1 5 14 +f 7 10 14 +f 2 13 15 +f 7 14 16 +f 12 7 17 +f 7 16 17 +f 2 3 18 +f 4 2 18 +f 8 4 18 +f 3 12 18 +f 12 17 18 +f 17 8 18 +f 16 5 19 +f 8 17 19 +f 17 16 19 +f 2 4 21 +f 4 9 21 +f 9 6 21 +f 13 2 21 +f 6 13 21 +f 6 8 22 +f 8 19 22 +f 20 6 22 +f 13 6 23 +f 11 15 23 +f 15 13 23 +f 6 20 23 +f 5 1 24 +f 10 11 24 +f 1 14 24 +f 14 10 24 +f 10 2 25 +f 11 10 25 +f 2 15 25 +f 15 11 25 +f 14 5 26 +f 5 16 26 +f 16 14 26 +f 20 5 27 +f 11 23 27 +f 23 20 27 +f 5 24 27 +f 24 11 27 +f 19 5 28 +f 5 20 28 +f 22 19 28 +o convex_1 +v 2.561794 -0.196838 1.106947 +v -1.391774 0.035560 -1.102669 +v -3.097745 -1.592004 -1.024805 +v 2.949515 -1.592197 -0.947373 +v -2.942657 -1.630898 1.106731 +v -3.020202 0.306853 0.951651 +v 2.949515 0.307047 -0.986305 +v 2.910447 -1.553303 1.029299 +v -2.942657 0.306853 -0.986305 +v 2.949515 0.307047 1.106947 +v 0.894891 -1.669793 -1.102669 +v 1.088455 -1.669793 1.068015 +v -1.469318 0.151856 1.068015 +v -0.965577 -1.669793 -0.947589 +v -0.422768 0.306853 -1.102453 +v 2.716883 0.307047 -1.025021 +v -2.981133 -1.359412 1.106731 +v -3.058678 -1.630898 -0.133258 +v -0.926509 -1.669793 1.068015 +v 2.949515 -1.049418 1.068015 +v -0.422768 -1.514409 -1.102453 +v -3.020202 0.306853 0.408980 +v -2.670957 0.306853 -1.024805 +v -3.097745 -1.320711 -0.986305 +v -2.399848 -0.933122 1.106731 +v -0.771421 0.306853 1.068015 +v -1.779495 -1.553303 1.106947 +v 2.949515 -0.662022 -0.986305 +v -3.020202 -0.429624 0.990367 +v -3.097745 -1.592004 -0.675929 +v 2.949515 -1.553303 0.951868 +v -3.058678 -1.630898 -0.520850 +v -2.981133 0.035560 -0.986305 +v -1.353298 0.306853 -1.102669 +v 2.561794 0.307047 1.106947 +v -2.283828 -1.630898 -1.024805 +v 0.894891 -1.475708 -1.102669 +v -2.981133 -1.630898 0.990367 +f 57 58 66 +f 32 35 38 +f 39 32 40 +f 39 40 42 +f 38 35 44 +f 40 33 47 +f 42 40 47 +f 46 42 47 +f 38 29 48 +f 32 38 48 +f 29 40 48 +f 40 36 48 +f 31 30 49 +f 39 31 49 +f 30 39 49 +f 31 37 51 +f 37 44 51 +f 34 50 52 +f 41 34 53 +f 34 45 53 +f 34 41 54 +f 29 38 55 +f 40 29 55 +f 33 40 55 +f 45 33 55 +f 53 45 55 +f 35 32 56 +f 32 39 56 +f 39 44 56 +f 44 35 56 +f 45 34 57 +f 31 46 58 +f 52 31 58 +f 34 52 58 +f 57 34 58 +f 40 32 59 +f 36 40 59 +f 32 48 59 +f 48 36 59 +f 46 31 60 +f 42 46 60 +f 37 31 61 +f 50 37 61 +f 31 52 61 +f 52 50 61 +f 30 31 62 +f 39 30 62 +f 44 43 62 +f 31 51 62 +f 51 44 62 +f 44 37 63 +f 38 44 63 +f 50 34 63 +f 37 50 63 +f 41 53 63 +f 34 54 63 +f 54 41 63 +f 55 38 63 +f 53 55 63 +f 31 39 64 +f 39 42 64 +f 60 31 64 +f 42 60 64 +f 44 39 65 +f 43 44 65 +f 39 62 65 +f 62 43 65 +f 33 45 66 +f 47 33 66 +f 46 47 66 +f 45 57 66 +f 58 46 66 +o convex_2 +v -0.577943 1.702583 -3.118459 +v 1.088786 2.516553 -0.598266 +v 1.011138 2.555417 3.006260 +v 1.011138 0.540218 2.928548 +v -1.004467 2.439023 3.083973 +v -1.081898 0.540218 2.927941 +v 1.011138 0.540218 -2.962427 +v -1.004467 0.540218 -2.846466 +v -0.965751 2.439023 -2.963034 +v 1.049854 2.555417 -3.001891 +v -1.081898 2.555417 -1.218145 +v 0.584831 0.811476 3.083366 +v -1.120830 0.540218 0.331249 +v 1.049854 0.540218 1.765288 +v -0.888103 0.578885 -3.040747 +v 1.088786 1.741446 -1.799775 +v -1.120830 1.392855 0.214680 +v -0.384147 0.966537 -3.118459 +v -1.081898 2.555417 -0.675371 +v 1.049854 0.772612 -2.652792 +v 1.049854 1.702583 2.191493 +v -0.229068 2.090235 -3.118459 +v 1.049854 1.198931 -3.001891 +v 1.088786 2.555417 -2.729897 +v 0.933490 2.439023 3.044509 +v -1.120830 0.578885 1.765288 +v -1.004467 2.477887 -2.575079 +v 0.158307 2.516553 3.044509 +v 0.739694 2.555417 -3.001891 +v -1.081898 0.540218 -0.985615 +v -1.043182 1.935174 2.696017 +v 0.584831 1.663916 3.083366 +v 0.352103 0.850143 3.083366 +v 0.817342 0.540218 -3.001891 +v 0.972422 0.540218 2.967404 +v -1.004467 2.322826 -2.768753 +v -1.043182 0.811476 2.966797 +v -1.043182 2.555417 -0.442841 +v -0.965751 0.540218 -3.001891 +v -0.926818 2.361492 -3.001284 +v -0.655591 0.889006 -3.118459 +v -1.043182 2.555417 -1.451283 +v -1.004467 2.283962 3.083973 +v -1.081898 0.850143 2.927941 +v -1.081898 2.206432 -1.257001 +v 0.856058 2.555417 3.005653 +v 1.049854 0.540218 0.640885 +v 0.739694 2.439023 -3.040747 +v -0.500511 2.477887 3.044509 +v 1.011138 1.702583 3.006260 +v -0.577943 2.439023 3.083366 +f 98 91 117 +f 70 72 73 +f 73 72 74 +f 69 76 77 +f 74 72 79 +f 70 73 80 +f 68 80 82 +f 69 77 85 +f 77 83 85 +f 68 69 87 +f 80 68 87 +f 70 80 87 +f 84 67 88 +f 84 88 89 +f 86 73 89 +f 86 89 90 +f 69 68 90 +f 76 69 90 +f 68 82 90 +f 82 86 90 +f 89 76 90 +f 79 72 92 +f 83 79 92 +f 91 69 94 +f 77 76 95 +f 75 93 95 +f 74 79 96 +f 71 85 97 +f 85 83 97 +f 83 92 97 +f 71 78 98 +f 78 91 98 +f 72 78 99 +f 73 74 100 +f 84 89 100 +f 89 73 100 +f 72 70 101 +f 78 72 101 +f 75 74 102 +f 93 75 102 +f 77 93 102 +f 72 99 103 +f 69 85 104 +f 85 71 104 +f 74 75 105 +f 100 74 105 +f 81 100 105 +f 88 67 106 +f 75 95 106 +f 105 75 106 +f 81 105 106 +f 67 84 107 +f 100 81 107 +f 84 100 107 +f 106 67 107 +f 81 106 107 +f 93 77 108 +f 77 95 108 +f 95 93 108 +f 71 72 109 +f 78 71 109 +f 99 78 109 +f 72 103 109 +f 103 99 109 +f 72 71 110 +f 92 72 110 +f 71 97 110 +f 97 92 110 +f 83 77 111 +f 79 83 111 +f 74 96 111 +f 96 79 111 +f 102 74 111 +f 77 102 111 +f 94 69 112 +f 69 104 112 +f 104 94 112 +f 80 73 113 +f 82 80 113 +f 73 86 113 +f 86 82 113 +f 89 88 114 +f 76 89 114 +f 95 76 114 +f 88 106 114 +f 106 95 114 +f 71 94 115 +f 104 71 115 +f 94 104 115 +f 87 69 116 +f 70 87 116 +f 69 91 116 +f 91 78 116 +f 101 70 116 +f 78 101 116 +f 94 71 117 +f 91 94 117 +f 71 98 117 +o convex_3 +v 0.972331 0.539805 -1.102669 +v -0.965455 0.423551 -3.002164 +v -1.004273 0.384793 -2.265496 +v 1.011149 0.345998 -2.963304 +v 1.088786 0.345998 -1.102669 +v -1.043300 0.539805 -1.102669 +v 1.011149 0.539805 -2.963304 +v -1.004273 0.345998 -1.102669 +v -0.965455 0.539805 -3.002164 +v 0.778657 0.345998 -2.963304 +v -1.004273 0.345998 -1.374132 +v 0.545956 0.501028 -3.002164 +v 1.088786 0.384793 -1.567874 +f 121 124 130 +f 122 118 123 +f 123 118 124 +f 121 122 125 +f 122 123 125 +f 119 120 126 +f 120 123 126 +f 123 124 126 +f 120 119 127 +f 119 121 127 +f 121 125 127 +f 127 125 128 +f 123 120 128 +f 125 123 128 +f 120 127 128 +f 121 119 129 +f 124 121 129 +f 119 126 129 +f 126 124 129 +f 118 122 130 +f 122 121 130 +f 124 118 130 +o convex_4 +v 1.049755 0.539824 1.106947 +v -1.353141 0.307233 -1.102669 +v -2.670877 0.307233 -1.025021 +v 2.949516 0.307233 1.106947 +v 0.972035 0.539824 -1.102669 +v -3.020325 0.423528 0.912935 +v 2.949516 0.307233 -0.986305 +v -2.942605 0.462278 -0.986305 +v -3.020325 0.307233 0.951868 +v 2.949516 0.462278 0.835287 +v -1.469429 0.539824 1.029299 +v 2.871796 0.423528 -1.025021 +v -1.042845 0.539824 -1.102669 +v -0.539125 0.346005 1.106947 +v -2.942605 0.307233 -0.986305 +v 2.949516 0.462278 1.106947 +v -1.120565 0.539824 1.106947 +v 1.553475 0.384778 -1.102669 +v -2.593741 0.462278 0.951868 +v 2.949516 0.423528 -0.869941 +v 2.794075 0.307233 -1.025021 +v -2.942605 0.462278 -0.598714 +v -0.810853 0.307233 1.068015 +v -3.020325 0.346005 0.331332 +f 145 139 154 +f 133 132 134 +f 134 132 137 +f 133 134 139 +f 135 131 140 +f 134 137 140 +f 131 135 141 +f 132 133 143 +f 135 132 143 +f 133 138 143 +f 141 135 143 +f 138 141 143 +f 134 131 144 +f 138 133 145 +f 133 139 145 +f 131 134 146 +f 140 131 146 +f 134 140 146 +f 136 139 147 +f 131 141 147 +f 144 131 147 +f 139 144 147 +f 132 135 148 +f 135 142 148 +f 136 147 149 +f 147 141 149 +f 135 140 150 +f 140 137 150 +f 142 135 150 +f 137 142 150 +f 137 132 151 +f 142 137 151 +f 132 148 151 +f 148 142 151 +f 138 136 152 +f 141 138 152 +f 136 149 152 +f 149 141 152 +f 139 134 153 +f 134 144 153 +f 144 139 153 +f 136 138 154 +f 139 136 154 +f 138 145 154 +o convex_5 +v -0.345375 0.384793 1.727229 +v -1.120618 0.501028 1.106947 +v -1.120618 0.501028 1.804987 +v 1.049808 0.539805 1.106947 +v 1.010929 0.539805 2.928912 +v 1.049808 0.384793 1.106947 +v -1.081739 0.539805 2.928912 +v -0.539132 0.345998 1.106947 +v -1.004193 0.462271 2.735052 +v 1.010929 0.501028 2.928912 +v -1.120618 0.539805 1.106947 +v 0.468323 0.345998 1.145826 +v 1.049808 0.384793 1.417266 +v -1.081739 0.501028 2.928912 +f 163 164 168 +f 156 158 160 +f 159 158 161 +f 156 160 162 +f 157 156 163 +f 156 162 163 +f 162 155 163 +f 159 161 164 +f 163 155 164 +f 156 157 165 +f 158 156 165 +f 157 161 165 +f 161 158 165 +f 162 160 166 +f 155 162 166 +f 164 155 166 +f 164 166 167 +f 158 159 167 +f 160 158 167 +f 159 164 167 +f 166 160 167 +f 161 157 168 +f 157 163 168 +f 164 161 168 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/218/218.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/218/218.urdf new file mode 100644 index 000000000..a55a538cc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/218/218.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/219/219.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/219/219.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/219/219.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/219/219.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/219/219.obj new file mode 100644 index 000000000..33e29979c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/219/219.obj @@ -0,0 +1,468 @@ +o convex_0 +v 0.856183 1.133243 -1.087670 +v 0.659603 4.048276 1.107341 +v -0.028114 4.048276 1.107341 +v 0.233715 -0.538098 1.074410 +v -1.011013 4.048738 -1.022027 +v -1.043950 -0.538098 -1.054958 +v -1.043950 -0.538098 1.008985 +v 1.052763 4.179896 -1.120601 +v 1.085700 -0.538098 1.041479 +v -0.945556 4.081528 1.074410 +v 1.052763 -0.538098 -0.989533 +v 0.987306 4.015948 1.107341 +v 1.085700 2.148332 0.910629 +v 1.085700 1.427887 -1.087670 +v -0.323088 -0.537636 1.074410 +v -0.748976 4.048738 -1.054958 +v 1.085700 3.590147 -1.022027 +v -1.043950 0.019324 1.008985 +v -0.650790 4.114317 0.779561 +v 1.052763 4.146645 -0.497972 +v 1.085700 -0.538098 -0.301479 +v 0.692332 4.179896 -0.694466 +v 0.561417 0.019324 -1.054958 +v -0.847162 -0.538098 1.041479 +v -0.978285 4.048738 0.222576 +v 0.856183 3.491316 1.107341 +v -1.043950 -0.177413 -1.054958 +v 1.020034 3.687592 -1.120601 +v 1.052763 2.770409 1.041479 +v 0.987306 4.179896 -1.120601 +v -0.945556 3.720843 1.074410 +v -0.716248 -0.538098 -1.054958 +v 1.085700 0.740231 -1.054740 +v 0.757997 4.179896 -1.022245 +v -0.945556 4.081528 0.156932 +v 0.954577 4.048276 0.976272 +v -1.011013 4.048738 -0.923890 +v 0.332109 -0.505308 1.074410 +v 1.020034 4.179896 -0.825534 +v -0.257422 4.081528 1.074410 +v 1.020034 3.720843 0.812055 +v 0.987306 3.753170 1.107341 +v 0.397566 -0.538098 -1.022245 +v 1.085700 0.740231 1.041697 +f 12 42 44 +f 6 4 7 +f 4 6 9 +f 3 2 10 +f 9 6 11 +f 2 3 12 +f 13 9 14 +f 14 8 17 +f 13 14 17 +f 6 7 18 +f 7 10 18 +f 17 8 20 +f 13 17 20 +f 9 11 21 +f 14 9 21 +f 1 14 23 +f 7 4 24 +f 4 15 24 +f 18 10 25 +f 12 3 26 +f 15 4 26 +f 3 15 26 +f 5 16 27 +f 18 5 27 +f 6 18 27 +f 1 6 28 +f 14 1 28 +f 8 14 28 +f 16 5 30 +f 22 8 30 +f 6 27 30 +f 27 16 30 +f 28 6 30 +f 8 28 30 +f 3 10 31 +f 10 7 31 +f 15 3 31 +f 7 24 31 +f 24 15 31 +f 6 1 32 +f 11 6 32 +f 1 23 32 +f 21 11 33 +f 14 21 33 +f 11 23 33 +f 23 14 33 +f 19 22 34 +f 30 5 34 +f 22 30 34 +f 5 10 35 +f 10 19 35 +f 34 5 35 +f 19 34 35 +f 2 12 36 +f 12 20 36 +f 10 5 37 +f 5 18 37 +f 25 10 37 +f 18 25 37 +f 4 9 38 +f 26 4 38 +f 20 8 39 +f 8 22 39 +f 22 19 39 +f 36 20 39 +f 36 39 40 +f 10 2 40 +f 19 10 40 +f 2 36 40 +f 39 19 40 +f 20 12 41 +f 13 20 41 +f 12 29 41 +f 29 13 41 +f 12 26 42 +f 38 9 42 +f 26 38 42 +f 23 11 43 +f 11 32 43 +f 32 23 43 +f 9 13 44 +f 29 12 44 +f 13 29 44 +f 42 9 44 +o convex_1 +v -0.617808 -1.259172 1.074577 +v -1.109436 -3.847003 -0.628977 +v -1.109436 -3.847003 -0.498062 +v 0.987288 -3.912736 -0.497854 +v 1.019949 -1.258903 -0.956679 +v 0.921752 -4.010797 0.943246 +v -1.043900 -1.258903 -1.055073 +v 1.085700 -1.258903 1.041431 +v -1.043900 -3.847003 0.976183 +v 0.987288 -3.847003 -0.989199 +v -1.076561 -1.258903 1.041640 +v -1.109436 -3.814137 -0.956679 +v -0.454075 -3.977930 -0.366940 +v 1.085700 -2.143873 1.041431 +v -1.109436 -1.717687 1.041640 +v -0.323003 -2.536924 -1.055073 +v -1.043900 -3.912736 0.943454 +v 1.085700 -1.292039 0.157134 +v 0.102659 -4.010797 -0.203088 +v 0.823341 -2.471191 1.041640 +v -1.109436 -2.241934 1.041640 +v 0.594072 -3.453683 -1.022136 +v -1.043900 -2.274800 -1.055073 +v -0.617808 -1.259172 -1.055073 +v 0.954628 -3.715806 0.975974 +v -1.109436 -3.289889 -0.956679 +v 0.954628 -3.879600 -0.956471 +v -1.076561 -2.536924 1.041640 +v 1.019949 -2.667582 -0.956679 +v 0.594072 -4.010797 0.943246 +v 0.954628 -3.977930 0.615543 +v -0.847292 -1.586759 1.074577 +v 1.085700 -1.848883 0.484629 +v 0.266606 -4.010797 -0.203088 +v -1.043900 -3.847003 -0.891222 +v 1.052824 -1.258903 -0.596040 +v 0.201070 -3.846734 -0.989199 +v -0.617808 -3.945064 0.943454 +v 0.921752 -4.010797 0.713937 +v -1.076561 -3.781539 0.451900 +v 0.987288 -3.912736 -0.268545 +v -1.076561 -1.258903 0.419171 +v -1.109436 -1.783150 0.877788 +v -0.355664 -3.977930 -0.399668 +v 1.052824 -2.438594 1.041431 +v -1.043900 -3.912736 0.714146 +v 0.987288 -3.191829 -0.989199 +v 0.954628 -3.846734 0.943246 +f 75 58 92 +f 49 51 52 +f 52 51 55 +f 45 52 55 +f 46 47 56 +f 52 45 58 +f 48 54 58 +f 56 47 59 +f 47 46 61 +f 52 58 62 +f 59 47 65 +f 61 53 65 +f 60 66 67 +f 56 51 67 +f 51 60 67 +f 51 49 68 +f 60 51 68 +f 49 66 68 +f 66 60 68 +f 53 50 69 +f 64 53 69 +f 51 56 70 +f 56 59 70 +f 54 48 71 +f 53 64 72 +f 65 53 72 +f 54 49 73 +f 50 53 74 +f 63 50 74 +f 45 55 76 +f 55 59 76 +f 59 65 76 +f 72 64 76 +f 65 72 76 +f 58 54 77 +f 62 58 77 +f 54 73 77 +f 73 62 77 +f 50 63 78 +f 71 48 78 +f 46 56 79 +f 57 46 79 +f 49 52 80 +f 52 62 80 +f 73 49 80 +f 62 73 80 +f 66 54 81 +f 67 66 81 +f 56 67 81 +f 54 71 81 +f 79 56 81 +f 71 79 81 +f 53 61 82 +f 61 57 82 +f 57 63 82 +f 74 53 82 +f 63 74 82 +f 48 75 83 +f 75 50 83 +f 78 48 83 +f 50 78 83 +f 47 61 84 +f 65 47 84 +f 61 65 84 +f 48 58 85 +f 75 48 85 +f 58 75 85 +f 55 51 86 +f 59 55 86 +f 59 86 87 +f 51 70 87 +f 70 59 87 +f 86 51 87 +f 63 57 88 +f 78 63 88 +f 71 78 88 +f 57 79 88 +f 79 71 88 +f 58 45 89 +f 69 58 89 +f 64 69 89 +f 45 76 89 +f 76 64 89 +f 46 57 90 +f 61 46 90 +f 57 61 90 +f 49 54 91 +f 66 49 91 +f 54 66 91 +f 69 50 92 +f 58 69 92 +f 50 75 92 +o convex_2 +v -0.355909 -0.767503 2.352136 +v 0.332131 -1.193311 2.974581 +v 0.332131 -1.226039 2.974581 +v 0.332131 -1.258835 1.074968 +v 0.233801 -0.570862 2.679790 +v -0.224848 -1.226039 3.073171 +v -0.257579 -0.636454 1.074968 +v -0.290379 -1.226039 1.074968 +v -0.355909 -0.570862 3.040112 +v 0.266600 -0.701978 1.074968 +v 0.266600 -0.603725 2.974581 +v 0.332131 -1.062262 1.271365 +v 0.037209 -1.258835 1.762749 +v -0.355909 -0.570862 2.515865 +v -0.355909 -0.734774 2.974581 +v 0.233801 -0.669250 1.074968 +v -0.093786 -1.258835 1.074968 +v -0.290379 -0.931213 1.074968 +v 0.332131 -1.258835 1.959342 +v -0.257579 -1.226039 2.417667 +v 0.037209 -0.570862 3.007445 +v -0.159317 -1.193311 3.073171 +f 113 101 114 +f 94 95 96 +f 99 96 100 +f 96 99 102 +f 102 97 103 +f 102 103 104 +f 94 96 104 +f 96 102 104 +f 103 94 104 +f 97 99 106 +f 101 97 106 +f 93 101 106 +f 93 100 107 +f 98 101 107 +f 101 93 107 +f 99 97 108 +f 97 102 108 +f 102 99 108 +f 100 96 109 +f 96 105 109 +f 105 98 109 +f 99 100 110 +f 100 93 110 +f 93 106 110 +f 106 99 110 +f 96 95 111 +f 95 98 111 +f 105 96 111 +f 98 105 111 +f 98 107 112 +f 107 100 112 +f 100 109 112 +f 109 98 112 +f 97 101 113 +f 103 97 113 +f 103 113 114 +f 95 94 114 +f 98 95 114 +f 101 98 114 +f 94 103 114 +o convex_3 +v -0.323146 -1.127754 -2.987817 +v 0.364895 -0.669246 -1.055471 +v 0.299364 -0.636473 -1.055471 +v -0.257615 -1.226139 -1.055471 +v -0.290347 -0.570926 -1.055471 +v 0.332096 -0.669246 -2.922404 +v 0.201034 -1.193301 -3.053428 +v -0.323146 -0.636473 -3.086233 +v 0.266565 -1.127754 -1.055471 +v -0.192016 -0.570926 -1.415735 +v -0.126486 -1.160528 -3.086233 +v 0.364895 -0.734793 -1.448541 +v -0.126486 -1.226139 -1.055471 +v -0.257615 -1.226139 -1.513953 +v -0.323146 -0.996725 -2.496529 +v -0.290347 -1.193301 -1.612370 +v -0.093686 -0.570926 -1.088078 +v 0.332096 -0.734793 -2.856793 +v -0.290347 -0.833050 -1.055471 +v 0.201034 -1.193301 -2.561941 +v 0.201034 -1.062271 -3.053428 +v -0.323146 -1.094981 -3.086233 +v 0.266565 -1.127754 -1.284712 +v -0.323146 -0.636473 -2.529135 +v 0.069972 -1.193301 -3.053428 +f 121 128 139 +f 116 117 118 +f 118 117 119 +f 117 116 120 +f 116 118 123 +f 122 119 124 +f 120 122 124 +f 120 116 126 +f 116 123 126 +f 123 118 127 +f 115 125 128 +f 127 118 128 +f 121 127 128 +f 122 115 129 +f 115 128 130 +f 128 118 130 +f 129 115 130 +f 119 117 131 +f 117 120 131 +f 124 119 131 +f 120 124 131 +f 121 120 132 +f 120 126 132 +f 118 119 133 +f 119 129 133 +f 130 118 133 +f 129 130 133 +f 121 123 134 +f 127 121 134 +f 123 127 134 +f 120 121 135 +f 122 120 135 +f 121 125 135 +f 125 122 135 +f 115 122 136 +f 125 115 136 +f 122 125 136 +f 123 121 137 +f 126 123 137 +f 121 132 137 +f 132 126 137 +f 119 122 138 +f 129 119 138 +f 122 129 138 +f 125 121 139 +f 128 125 139 +o convex_4 +v 1.085617 -0.538169 1.041640 +v -1.043695 -1.258903 -1.055073 +v -1.076714 -1.258903 0.451900 +v -1.043695 -0.538169 -1.055073 +v 1.020002 -1.258903 -0.956679 +v -1.043695 -0.538169 1.008911 +v 1.085617 -1.258903 1.041640 +v 1.052809 -0.538169 -0.989408 +v -1.076714 -1.258903 1.041640 +v 0.266488 -1.127751 -1.055073 +v -0.323200 -0.538169 1.074577 +v 0.332103 -1.258903 1.074577 +v 1.085617 -1.258903 0.124406 +v 0.299295 -0.636515 -1.055073 +v -1.076714 -0.833066 0.976183 +v 1.085617 -0.538169 -0.268545 +v -0.683236 -1.258903 1.074577 +v 0.299295 -0.538169 1.074577 +v -0.879869 -0.538169 1.041640 +v 1.052809 -1.258903 -0.628977 +v -0.093760 -1.226027 -1.055073 +v 1.052809 -0.669250 -0.989408 +f 152 159 161 +f 141 142 143 +f 142 141 144 +f 140 143 145 +f 142 144 146 +f 143 140 147 +f 142 146 148 +f 141 143 149 +f 140 145 150 +f 146 140 151 +f 148 146 151 +f 140 146 152 +f 146 144 152 +f 143 147 153 +f 149 143 153 +f 143 142 154 +f 145 143 154 +f 148 145 154 +f 142 148 154 +f 147 140 155 +f 140 152 155 +f 148 151 156 +f 151 150 156 +f 140 150 157 +f 150 151 157 +f 151 140 157 +f 145 148 158 +f 150 145 158 +f 148 156 158 +f 156 150 158 +f 152 144 159 +f 144 141 160 +f 141 149 160 +f 149 144 160 +f 144 149 161 +f 153 147 161 +f 149 153 161 +f 147 155 161 +f 155 152 161 +f 159 144 161 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/219/219.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/219/219.urdf new file mode 100644 index 000000000..0e93628dc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/219/219.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/220/220.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/220/220.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/220/220.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/220/220.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/220/220.obj new file mode 100644 index 000000000..9fa8b5561 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/220/220.obj @@ -0,0 +1,657 @@ +o convex_0 +v 0.860789 -0.768189 0.829914 +v -0.296996 -3.152002 -0.394967 +v -0.228794 -3.152002 -0.394967 +v 0.043395 -1.313274 -2.745016 +v -0.943885 -0.836558 1.306650 +v 0.826688 -2.743188 2.294343 +v 0.860789 -2.811324 -2.301911 +v -0.807687 -2.743188 -2.336132 +v -0.875889 -2.845159 2.294343 +v 0.009294 -1.347575 2.771079 +v -0.875889 -0.768656 -1.280587 +v 1.031088 -1.619651 -2.199838 +v -1.012087 -1.653952 -2.403985 +v 0.826688 -0.768189 -1.212145 +v 0.962886 -1.721854 2.396416 +v -1.046188 -1.755922 2.430637 +v 0.009294 -2.164036 3.010037 +v 0.077496 -2.130201 -3.017605 +v 0.417888 -3.083633 1.340871 +v -0.943885 -2.879226 -0.088157 +v 0.962886 -2.811324 0.114810 +v -1.046188 -0.768189 0.149031 +v -0.024601 -2.845159 -2.710795 +v 0.009294 -0.768422 1.749755 +v 0.826688 -2.027998 -2.846499 +v 0.520191 -3.083633 -1.348439 +v 0.009294 -2.845159 2.703226 +v -0.501190 -3.152002 1.340871 +v -0.739691 -1.993697 -2.880720 +v -1.080289 -2.096133 1.034651 +v -0.807687 -2.061832 2.873152 +v -0.467295 -3.117701 -1.314808 +v 0.962886 -0.768422 0.216883 +v 0.724384 -2.027998 2.838931 +v 0.792587 -0.768189 1.306650 +v 0.043395 -0.768422 -1.723102 +v 0.996987 -1.857892 1.987532 +v 1.031088 -1.926028 -2.301911 +v -0.569392 -1.415477 -2.608721 +v -0.637594 -1.483613 2.601153 +v 0.690490 -3.049565 0.284735 +v -0.637594 -3.152002 -0.122378 +v 0.622288 -1.449545 -2.540279 +v 0.588187 -1.381410 2.464268 +v 0.077496 -3.083633 -1.791544 +v -1.080289 -2.096133 1.749755 +v 0.043395 -3.117934 1.681312 +v -1.012087 -1.824058 -2.336132 +v -0.875889 -0.768656 1.273019 +v -0.773586 -1.177003 -2.131395 +v 0.111597 -2.845159 -2.710795 +v -0.773586 -2.811324 -2.267690 +v -0.058702 -1.313507 2.737448 +v 0.996987 -1.108867 0.046958 +v 1.031088 -1.993930 -1.314218 +v -0.807687 -1.211304 2.090196 +v 0.724384 -1.926261 2.838931 +v 0.826688 -2.777023 2.226490 +v -0.126697 -3.152002 0.694209 +v -1.046188 -0.768189 -0.088157 +v -1.046188 -2.027998 -0.837482 +v -1.080289 -1.891960 2.158638 +v -0.058702 -2.027765 3.010037 +v 0.962886 -1.551515 2.192269 +f 35 44 64 +f 1 14 22 +f 16 5 22 +f 18 4 25 +f 2 3 28 +f 27 9 28 +f 4 18 29 +f 23 8 29 +f 18 23 29 +f 16 9 31 +f 27 17 31 +f 9 27 31 +f 3 2 32 +f 14 1 33 +f 12 14 33 +f 6 15 34 +f 27 6 34 +f 17 27 34 +f 1 22 35 +f 24 10 35 +f 22 24 35 +f 33 1 35 +f 14 4 36 +f 15 6 37 +f 21 7 38 +f 25 12 38 +f 7 25 38 +f 4 29 39 +f 29 13 39 +f 16 31 40 +f 7 21 41 +f 19 26 41 +f 26 7 41 +f 9 20 42 +f 2 28 42 +f 28 9 42 +f 32 2 42 +f 4 14 43 +f 14 12 43 +f 25 4 43 +f 12 25 43 +f 35 10 44 +f 26 3 45 +f 7 26 45 +f 3 32 45 +f 32 23 45 +f 20 9 46 +f 30 20 46 +f 27 28 47 +f 8 20 48 +f 13 29 48 +f 29 8 48 +f 22 5 49 +f 24 22 49 +f 13 11 50 +f 36 4 50 +f 11 36 50 +f 4 39 50 +f 39 13 50 +f 23 18 51 +f 25 7 51 +f 18 25 51 +f 7 45 51 +f 45 23 51 +f 20 8 52 +f 8 23 52 +f 23 32 52 +f 42 20 52 +f 32 42 52 +f 10 24 53 +f 31 10 53 +f 40 31 53 +f 24 49 53 +f 12 33 54 +f 37 12 54 +f 33 37 54 +f 12 37 55 +f 37 21 55 +f 21 38 55 +f 38 12 55 +f 5 16 56 +f 16 40 56 +f 49 5 56 +f 40 53 56 +f 53 49 56 +f 34 15 57 +f 17 34 57 +f 15 44 57 +f 44 10 57 +f 6 27 58 +f 37 6 58 +f 21 37 58 +f 19 41 58 +f 41 21 58 +f 47 19 58 +f 27 47 58 +f 3 26 59 +f 26 19 59 +f 28 3 59 +f 19 47 59 +f 47 28 59 +f 11 13 60 +f 22 14 60 +f 36 11 60 +f 14 36 60 +f 20 30 61 +f 48 20 61 +f 13 48 61 +f 60 13 61 +f 30 60 61 +f 9 16 62 +f 16 22 62 +f 46 9 62 +f 30 46 62 +f 22 60 62 +f 60 30 62 +f 10 31 63 +f 31 17 63 +f 57 10 63 +f 17 57 63 +f 33 35 64 +f 15 37 64 +f 37 33 64 +f 44 15 64 +o convex_1 +v -1.046235 -0.768189 -0.054426 +v 0.962909 -0.666006 0.217250 +v 0.962909 -0.768189 0.217250 +v 0.043297 -0.768189 -1.689481 +v -0.909945 -0.325481 1.102946 +v -0.058576 -0.325481 -1.314468 +v -0.092599 -0.768189 1.715967 +v 0.792596 -0.325481 1.102613 +v 0.826619 -0.325481 -0.974123 +v -0.875922 -0.325481 -1.008125 +v 0.826619 -0.768189 -1.144462 +v -0.875922 -0.768189 -1.212465 +v -0.909945 -0.768189 1.170948 +v 0.792596 -0.768189 1.238951 +v -0.024749 -0.325481 1.341287 +v -1.046235 -0.325481 -0.020425 +v 0.962909 -0.325481 -0.122762 +v -0.058576 -0.734128 -1.689481 +v 0.009274 -0.734128 1.715967 +v -0.773655 -0.325481 -1.110128 +v 0.928886 -0.325481 0.421590 +v 0.758573 -0.325481 -1.042126 +v -0.943968 -0.700067 1.068278 +v 0.962909 -0.768189 -0.156763 +v -0.092599 -0.529891 1.545628 +v 0.043297 -0.734128 -1.689481 +v -0.909945 -0.359542 1.136947 +v -1.046235 -0.325481 0.115246 +v -1.046235 -0.768189 0.149248 +v -0.841702 -0.734128 -1.246466 +v -0.739632 -0.734128 1.307286 +v -0.773655 -0.325481 1.170948 +v 0.792596 -0.734128 -1.178464 +v 0.009274 -0.461769 -1.450806 +v -0.092599 -0.734128 1.715967 +v -0.943968 -0.325481 1.000609 +v 0.826619 -0.325481 1.034611 +f 85 72 101 +f 67 65 68 +f 65 67 71 +f 70 69 72 +f 70 72 73 +f 69 70 74 +f 67 68 75 +f 68 65 76 +f 65 71 77 +f 71 67 78 +f 72 69 79 +f 69 74 80 +f 76 65 80 +f 74 76 80 +f 66 67 81 +f 73 72 81 +f 75 73 81 +f 68 76 82 +f 71 78 83 +f 78 72 83 +f 72 79 83 +f 74 70 84 +f 70 82 84 +f 67 66 85 +f 78 67 85 +f 66 81 85 +f 81 72 85 +f 70 73 86 +f 67 75 88 +f 81 67 88 +f 75 81 88 +f 83 79 89 +f 68 82 90 +f 87 77 91 +f 69 80 92 +f 80 65 92 +f 65 77 93 +f 77 87 93 +f 92 65 93 +f 87 92 93 +f 76 74 94 +f 82 76 94 +f 74 84 94 +f 84 82 94 +f 77 71 95 +f 91 77 95 +f 79 69 96 +f 89 79 96 +f 69 91 96 +f 75 68 97 +f 73 75 97 +f 86 73 97 +f 68 90 97 +f 90 86 97 +f 82 70 98 +f 70 86 98 +f 90 82 98 +f 86 90 98 +f 71 83 99 +f 83 89 99 +f 95 71 99 +f 91 95 99 +f 89 96 99 +f 96 91 99 +f 91 69 100 +f 87 91 100 +f 69 92 100 +f 92 87 100 +f 72 78 101 +f 78 85 101 +o convex_2 +v -0.024601 0.525908 1.239164 +v -0.058402 -0.325481 -1.280827 +v -0.058402 -0.291253 -1.280827 +v 0.997034 1.990223 0.013243 +v -0.978032 1.990223 -0.054653 +v -0.944031 -0.325481 1.000516 +v 0.826628 -0.325481 1.000516 +v -0.092603 1.990223 1.068918 +v 0.043402 1.955996 -1.008231 +v 0.826628 -0.325481 -0.974284 +v -0.841828 -0.325481 -1.076380 +v 0.724425 1.955996 0.830270 +v -0.739625 1.990223 0.864218 +v -0.705623 1.990223 -0.769837 +v 0.758626 1.990223 -0.735636 +v -1.046235 -0.325481 -0.020452 +v 0.962833 -0.325481 -0.122802 +v -0.160605 -0.325481 1.307313 +v -0.875829 -0.291253 1.136814 +v 0.690423 -0.257252 1.136814 +v -1.012034 1.921994 0.080885 +v 0.758626 -0.291253 -1.042432 +v 0.043402 1.990223 1.068918 +v -0.909830 0.015211 -0.837986 +v 0.962833 -0.325481 0.183235 +v -0.773626 1.445298 -0.837986 +v -0.807827 1.990223 0.762121 +v -0.092603 1.819764 -1.008231 +v -0.739625 -0.223251 -1.110328 +v 0.928831 1.070606 0.455578 +v 0.758626 1.990223 0.762375 +v 0.009401 -0.291253 -1.280827 +v 0.792627 -0.018791 1.068665 +v 0.860629 -0.053018 -0.837986 +v 0.043402 -0.325481 1.307313 +v -1.012034 1.921994 0.013243 +v -1.046235 -0.087020 0.080885 +v -0.228807 1.479300 1.102866 +v 0.792627 1.990223 -0.667487 +v 0.418014 1.990223 -0.871933 +v -0.773626 1.955996 -0.701688 +v 0.213607 1.309067 1.102866 +v -0.875829 0.355675 1.034717 +v -0.773626 -0.291253 1.171015 +v 0.860629 0.015211 0.864218 +v 0.997034 1.990223 0.047191 +v -0.092603 0.185443 1.273112 +v -0.944031 -0.291253 -0.667487 +v 0.792627 0.900374 -0.871933 +v 0.894830 -0.087020 -0.633539 +v 0.077403 1.887993 -1.008231 +v -0.092603 1.990223 -0.974284 +v -0.841828 -0.018791 -1.042179 +v 0.792627 -0.325481 1.102866 +v -1.046235 -0.087020 -0.020452 +v -0.058402 1.819764 1.102866 +v 0.962833 0.798597 0.251384 +v 0.894830 1.921994 0.387682 +f 131 147 159 +f 107 103 108 +f 105 106 109 +f 108 103 111 +f 103 107 112 +f 109 106 114 +f 106 105 115 +f 115 105 116 +f 112 107 117 +f 108 111 118 +f 107 108 119 +f 107 119 120 +f 111 103 123 +f 105 109 124 +f 118 105 126 +f 108 118 126 +f 114 106 128 +f 106 122 128 +f 110 104 129 +f 127 115 129 +f 127 129 130 +f 104 103 130 +f 103 112 130 +f 129 104 130 +f 105 124 132 +f 124 113 132 +f 103 104 133 +f 104 110 133 +f 123 103 133 +f 132 113 134 +f 119 108 136 +f 122 106 137 +f 117 107 138 +f 107 122 138 +f 122 137 138 +f 109 114 139 +f 116 105 140 +f 105 135 140 +f 115 116 141 +f 106 115 142 +f 115 127 142 +f 137 106 142 +f 125 137 142 +f 124 102 143 +f 113 124 143 +f 121 134 143 +f 134 113 143 +f 102 136 143 +f 136 121 143 +f 107 120 144 +f 120 114 144 +f 122 107 144 +f 114 128 144 +f 128 122 144 +f 114 120 145 +f 120 119 145 +f 139 114 145 +f 108 126 146 +f 126 105 147 +f 105 132 147 +f 131 146 147 +f 136 102 148 +f 119 136 148 +f 145 119 148 +f 139 145 148 +f 112 117 149 +f 125 112 149 +f 137 125 149 +f 111 123 150 +f 135 111 150 +f 116 140 150 +f 140 135 150 +f 141 116 150 +f 123 141 150 +f 105 118 151 +f 118 111 151 +f 135 105 151 +f 111 135 151 +f 133 110 152 +f 123 133 152 +f 110 141 152 +f 141 123 152 +f 110 129 153 +f 129 115 153 +f 141 110 153 +f 115 141 153 +f 112 125 154 +f 127 130 154 +f 130 112 154 +f 142 127 154 +f 125 142 154 +f 134 121 155 +f 136 108 155 +f 121 136 155 +f 108 146 155 +f 146 134 155 +f 117 138 156 +f 138 137 156 +f 149 117 156 +f 137 149 156 +f 124 109 157 +f 102 124 157 +f 109 139 157 +f 148 102 157 +f 139 148 157 +f 146 126 158 +f 126 147 158 +f 147 146 158 +f 132 134 159 +f 146 131 159 +f 134 146 159 +f 147 132 159 +o convex_3 +v 0.111537 1.990223 -0.974337 +v 0.009454 2.467199 1.068932 +v -0.024381 2.467199 1.068932 +v 0.009454 4.987017 -0.735929 +v -0.978126 1.990223 -0.054706 +v 0.997034 1.990223 0.047297 +v -0.024381 4.918668 0.694319 +v 0.826701 4.578097 -0.735929 +v 0.690397 4.271553 0.728120 +v -0.671489 4.169470 0.762121 +v -0.637461 4.271553 -0.667526 +v -0.773572 1.990223 0.830324 +v 0.690397 1.990223 0.830324 +v -0.603433 4.918668 0.081299 +v 0.758452 4.952696 0.115100 +v -0.705517 1.990223 -0.769930 +v 0.758452 1.990223 -0.735929 +v -0.875849 4.203204 0.081299 +v 0.009454 4.237819 -0.940136 +v -0.024381 4.067093 1.000729 +v 0.962813 3.930982 0.081099 +v -0.467322 4.987017 -0.497321 +v -0.092629 1.990223 1.068932 +v 0.520258 4.952696 0.523913 +v 0.724424 4.510041 -0.803931 +v 0.724424 2.841799 0.796323 +v -0.467322 4.918668 0.489912 +v -0.978126 2.160949 0.149301 +v 0.213621 4.203204 0.932527 +v -0.092629 2.126628 -0.974337 +v -0.671489 3.692787 -0.701728 +v -0.739545 2.671366 0.830324 +v 0.928785 4.305581 0.081099 +v 0.758452 2.126628 0.762121 +v 0.622341 4.918668 -0.292914 +v -0.739545 2.364823 -0.735729 +v -0.807793 4.203204 -0.190911 +v 0.792673 3.488620 -0.769930 +v -0.092629 4.987017 -0.735929 +v 0.145565 2.433465 -0.974337 +v -0.978126 2.501227 0.013296 +v 0.997034 1.990223 0.013296 +v -0.501350 4.987017 -0.224912 +v -0.058602 4.237819 0.966728 +v 0.962813 4.033065 0.013296 +v -0.773572 2.229005 0.830324 +v 0.724424 4.203497 0.694119 +v 0.588313 4.714501 -0.769930 +v 0.213621 4.952403 0.626117 +v -0.671489 4.203204 -0.633525 +v 0.247649 2.024838 1.000729 +v -0.433294 4.748236 0.626117 +v 0.792673 2.365116 -0.701728 +v -0.637461 4.067093 0.796323 +v 0.690397 4.067093 0.762121 +v -0.092629 2.194684 1.068932 +v 0.826701 4.135149 -0.735929 +v 0.077510 4.203204 -0.940136 +v -0.092629 4.237819 -0.906134 +v 0.520258 2.092600 -0.837932 +v -0.024381 2.943882 -0.974337 +v -0.705517 2.092894 -0.769930 +v 0.077510 4.237819 0.966728 +v 0.792673 4.782264 -0.361116 +f 207 194 223 +f 164 160 165 +f 164 165 171 +f 171 165 172 +f 160 164 175 +f 165 160 176 +f 169 173 177 +f 162 161 179 +f 177 173 181 +f 161 162 182 +f 171 172 182 +f 174 163 183 +f 168 174 183 +f 173 169 186 +f 164 171 187 +f 168 183 188 +f 160 175 189 +f 172 165 193 +f 165 180 193 +f 185 172 193 +f 163 174 194 +f 175 164 195 +f 177 181 196 +f 184 167 197 +f 163 178 198 +f 181 163 198 +f 170 181 198 +f 160 189 199 +f 184 197 199 +f 164 187 200 +f 187 177 200 +f 195 164 200 +f 177 196 200 +f 165 176 201 +f 163 181 202 +f 181 173 202 +f 183 163 202 +f 173 186 202 +f 180 165 204 +f 167 192 204 +f 192 180 204 +f 165 201 204 +f 201 167 204 +f 169 177 205 +f 171 182 205 +f 187 171 205 +f 177 187 205 +f 191 169 205 +f 174 168 206 +f 192 174 206 +f 180 192 206 +f 193 180 206 +f 185 193 206 +f 178 163 207 +f 167 184 207 +f 184 178 207 +f 163 194 207 +f 186 166 208 +f 183 202 208 +f 202 186 208 +f 181 170 209 +f 170 190 209 +f 190 195 209 +f 196 181 209 +f 195 200 209 +f 200 196 209 +f 161 182 210 +f 182 172 210 +f 172 185 210 +f 188 161 210 +f 185 188 210 +f 166 186 211 +f 186 169 211 +f 203 166 211 +f 169 203 211 +f 176 197 212 +f 201 176 212 +f 169 191 213 +f 191 179 213 +f 203 169 213 +f 179 203 213 +f 168 188 214 +f 188 185 214 +f 206 168 214 +f 185 206 214 +f 162 179 215 +f 182 162 215 +f 179 191 215 +f 205 182 215 +f 191 205 215 +f 197 167 216 +f 167 201 216 +f 212 197 216 +f 201 212 216 +f 178 184 217 +f 184 199 217 +f 190 170 218 +f 198 178 218 +f 170 198 218 +f 176 160 219 +f 197 176 219 +f 160 199 219 +f 199 197 219 +f 199 189 220 +f 178 217 220 +f 217 199 220 +f 218 178 220 +f 218 220 221 +f 189 175 221 +f 175 195 221 +f 195 190 221 +f 190 218 221 +f 220 189 221 +f 179 161 222 +f 161 188 222 +f 188 183 222 +f 166 203 222 +f 203 179 222 +f 208 166 222 +f 183 208 222 +f 192 167 223 +f 174 192 223 +f 194 174 223 +f 167 207 223 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/220/220.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/220/220.urdf new file mode 100644 index 000000000..a6f480b6e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/220/220.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/221/221.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/221/221.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/221/221.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/221/221.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/221/221.obj new file mode 100644 index 000000000..fb5028b99 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/221/221.obj @@ -0,0 +1,633 @@ +o convex_0 +v 1.045626 -1.102615 1.251625 +v -1.105597 0.603251 -0.639539 +v -1.105597 0.603251 -0.602478 +v 1.008355 0.937192 -0.676600 +v -0.734565 0.937192 1.437351 +v -0.994203 -1.288211 -0.713871 +v -0.994203 -1.288211 1.363019 +v 0.971294 -1.288211 -0.676600 +v 0.971294 0.899942 1.437351 +v -0.845748 0.937192 -0.713871 +v -0.994203 0.937192 1.288897 +v 1.045626 -1.288211 1.325958 +v -1.105597 0.937192 -0.342840 +v 1.008355 -0.954270 -0.676600 +v 0.934233 0.937192 1.437351 +v -0.178229 -1.288211 -0.713871 +v 0.971294 0.566219 1.437351 +v -1.031264 -0.991302 -0.713871 +v -1.031264 0.937192 1.029259 +v 1.008355 -0.954270 1.363019 +v 1.008355 0.937192 -0.008870 +v -0.475138 0.937192 -0.713871 +v -1.105597 0.937192 -0.639539 +v -0.734565 0.825878 1.437351 +f 7 17 24 +f 7 6 8 +f 5 4 10 +f 7 5 11 +f 5 10 11 +f 7 8 12 +f 1 9 12 +f 2 3 13 +f 3 7 13 +f 11 10 13 +f 4 1 14 +f 1 12 14 +f 12 8 14 +f 4 5 15 +f 5 9 15 +f 8 6 16 +f 6 10 16 +f 4 14 16 +f 14 8 16 +f 9 5 17 +f 12 9 17 +f 3 2 18 +f 7 3 18 +f 6 7 18 +f 10 6 18 +f 7 11 19 +f 13 7 19 +f 11 13 19 +f 7 12 20 +f 17 7 20 +f 12 17 20 +f 1 4 21 +f 9 1 21 +f 4 15 21 +f 15 9 21 +f 10 4 22 +f 4 16 22 +f 16 10 22 +f 2 13 23 +f 13 10 23 +f 18 2 23 +f 10 18 23 +f 5 7 24 +f 17 5 24 +o convex_1 +v -0.512054 -2.400756 -2.308845 +v -0.252518 -1.325301 -2.642514 +v 0.563456 -1.362547 -2.494222 +v 0.563456 -2.437893 -2.679546 +v 0.563456 -1.399684 -2.234563 +v 0.563456 -2.437893 -2.234563 +v -0.586336 -1.362547 -2.234563 +v -0.475026 -2.400756 -2.716632 +v 0.563456 -1.362547 -2.790914 +v -0.586336 -1.473850 -2.679546 +v -0.549195 -2.363619 -2.234563 +v 0.081187 -2.437893 -2.716632 +v -0.512054 -1.325301 -2.679546 +v -0.475026 -1.325301 -2.234563 +v 0.377976 -1.399684 -2.790914 +v -0.437885 -2.437893 -2.716632 +v 0.563456 -1.548015 -2.790914 +v -0.512054 -1.918625 -2.716632 +f 37 39 42 +f 28 27 29 +f 28 29 30 +f 30 29 31 +f 26 27 33 +f 27 28 33 +f 25 30 35 +f 30 31 35 +f 32 25 35 +f 34 32 35 +f 31 34 35 +f 28 30 36 +f 26 33 37 +f 34 31 37 +f 27 26 38 +f 29 27 38 +f 31 29 38 +f 26 37 38 +f 37 31 38 +f 37 33 39 +f 30 25 40 +f 25 32 40 +f 36 30 40 +f 32 39 40 +f 40 39 41 +f 33 28 41 +f 28 36 41 +f 39 33 41 +f 36 40 41 +f 32 34 42 +f 34 37 42 +f 39 32 42 +o convex_2 +v -0.957031 -2.623317 -0.750769 +v 1.082705 -2.030067 1.288875 +v 1.045501 -1.288548 1.325925 +v -0.994236 -2.994247 1.400261 +v 0.971295 -3.031443 -0.676669 +v -0.994236 -1.288548 -0.713719 +v -0.994236 -1.288548 1.362975 +v 0.971295 -1.288548 -0.676669 +v 1.082705 -2.957052 1.251589 +v 0.526266 -1.473843 -1.010592 +v -0.920030 -2.957052 -0.787819 +v -0.475000 -2.474877 -1.010592 +v 0.563267 -2.511902 1.400261 +v -0.512001 -1.399623 -1.010592 +v 0.415059 -2.437852 -1.010592 +v 0.563267 -1.436818 1.400261 +v 1.082705 -2.920027 0.695365 +v 0.452060 -3.031443 -0.713719 +v 1.008500 -3.031443 -0.380032 +v -0.994236 -2.957052 0.509643 +v -0.512001 -1.399623 1.400261 +v -0.549206 -2.994247 -0.750769 +v -0.994236 -1.807748 -0.750769 +v 1.008500 -3.031443 -0.231595 +v -0.363794 -1.362598 -0.973305 +v -0.845825 -2.994247 1.400261 +v 0.526266 -1.918993 -1.010592 +v 1.082705 -2.437852 1.288875 +f 55 51 70 +f 45 48 49 +f 48 46 49 +f 45 44 50 +f 48 45 50 +f 50 47 52 +f 52 54 56 +f 54 53 56 +f 54 52 57 +f 53 54 57 +f 45 49 58 +f 55 45 58 +f 46 55 58 +f 50 44 59 +f 44 51 59 +f 57 47 60 +f 53 57 60 +f 47 50 61 +f 50 59 61 +f 59 51 61 +f 60 47 61 +f 46 48 62 +f 43 53 62 +f 53 46 62 +f 49 46 63 +f 58 49 63 +f 46 58 63 +f 46 53 64 +f 60 46 64 +f 53 60 64 +f 53 43 65 +f 48 56 65 +f 56 53 65 +f 62 48 65 +f 43 62 65 +f 46 60 66 +f 61 51 66 +f 60 61 66 +f 48 50 67 +f 50 52 67 +f 56 48 67 +f 52 56 67 +f 55 46 68 +f 51 55 68 +f 46 66 68 +f 66 51 68 +f 52 47 69 +f 47 57 69 +f 57 52 69 +f 44 45 70 +f 51 44 70 +f 45 55 70 +o convex_3 +v 0.229638 -1.510936 3.440214 +v 0.340835 -2.512066 1.400661 +v 0.563456 -2.512066 1.400661 +v -0.512054 -1.399648 1.400661 +v -0.475026 -2.363720 3.291665 +v 0.563456 -1.436705 1.400661 +v 0.526315 -2.437835 3.254527 +v -0.586336 -1.325417 3.365739 +v -0.437885 -2.400778 1.400661 +v 0.526315 -1.510936 3.402877 +v 0.563456 -1.436705 2.068132 +v -0.586336 -1.547994 3.365739 +v -0.252518 -2.400778 3.291665 +v -0.475026 -1.325417 3.402877 +v -0.512054 -2.215375 3.328602 +v 0.563456 -2.512066 1.919783 +v -0.475026 -2.178201 1.474735 +v 0.452146 -1.473879 3.440214 +v -0.549195 -1.436705 1.882646 +v 0.452146 -1.622224 3.440214 +v -0.437885 -2.400778 2.401968 +v -0.475026 -2.326547 3.328602 +v -0.586336 -1.325417 3.106178 +v 0.489174 -2.474893 2.883554 +v -0.475026 -2.363720 2.216482 +f 82 87 95 +f 73 72 74 +f 73 74 76 +f 74 72 79 +f 73 76 81 +f 81 76 84 +f 78 82 84 +f 72 73 86 +f 80 77 86 +f 81 80 86 +f 73 81 86 +f 74 79 87 +f 80 81 88 +f 84 71 88 +f 81 84 88 +f 74 87 89 +f 87 82 89 +f 77 80 90 +f 80 88 90 +f 88 71 90 +f 79 72 91 +f 75 79 91 +f 83 75 91 +f 72 83 91 +f 75 83 92 +f 83 77 92 +f 71 84 92 +f 84 82 92 +f 82 85 92 +f 85 75 92 +f 77 90 92 +f 90 71 92 +f 76 74 93 +f 82 78 93 +f 84 76 93 +f 78 84 93 +f 74 89 93 +f 89 82 93 +f 83 72 94 +f 77 83 94 +f 72 86 94 +f 86 77 94 +f 79 75 95 +f 85 82 95 +f 75 85 95 +f 87 79 95 +o convex_4 +v 0.934249 3.088095 1.065732 +v -0.845770 0.937192 -0.713552 +v -0.437929 0.937192 -0.713552 +v 0.711693 3.014031 -2.790496 +v -0.957155 3.162595 1.474442 +v 0.934249 0.937410 1.474024 +v -1.105597 3.088095 -2.642292 +v 0.971306 1.011692 -2.679030 +v -1.031268 1.122788 1.474442 +v -1.068325 0.974442 -2.642292 +v 1.082691 3.125345 -0.973222 +v 0.934249 3.051064 1.474024 +v 1.008363 3.014031 -2.790496 +v -1.105597 0.937192 -0.306095 +v 1.008363 0.937410 -0.676396 +v -0.994211 0.937192 1.288247 +v -0.994211 2.977000 1.474442 +v 0.971306 0.974660 1.474024 +v 1.082691 3.125345 -0.417561 +v 0.155410 3.162595 0.249983 +v 1.045420 1.567825 -0.713552 +v -1.105597 1.308165 -0.306095 +v 1.008363 1.419479 -2.308311 +v -1.105597 2.049894 -2.642292 +v -1.105597 3.088095 -2.234000 +v -0.771656 3.088095 -2.679030 +v 1.008363 2.680308 -2.790496 +v -0.957155 3.162595 0.658275 +v 0.971306 3.051064 1.214354 +v 1.082691 2.606026 -0.640076 +v -0.549100 3.162595 1.474442 +v -0.326758 0.974442 -2.642292 +v -0.771656 0.937192 1.436869 +v -1.105597 1.011474 -1.343941 +v 1.082691 2.754372 -1.009960 +v 1.008363 0.937410 -0.009687 +v -1.031268 1.493543 1.474442 +v 0.563251 1.011474 -2.679030 +v 1.008363 1.048724 -1.640767 +v 0.971306 3.125345 0.027469 +f 115 126 135 +f 98 97 105 +f 97 98 109 +f 105 97 109 +f 109 98 111 +f 104 109 111 +f 104 100 112 +f 104 101 113 +f 114 106 115 +f 102 109 117 +f 109 104 117 +f 109 102 119 +f 100 102 120 +f 112 100 120 +f 102 117 120 +f 117 112 120 +f 99 105 121 +f 108 99 121 +f 106 108 121 +f 102 115 121 +f 115 106 121 +f 119 102 121 +f 105 119 121 +f 105 99 122 +f 99 108 122 +f 118 103 122 +f 102 100 123 +f 100 115 123 +f 115 102 123 +f 96 107 124 +f 107 113 124 +f 113 114 124 +f 114 96 124 +f 114 113 125 +f 106 114 125 +f 100 104 126 +f 107 96 126 +f 104 113 126 +f 113 107 126 +f 115 100 126 +f 98 105 127 +f 110 98 127 +f 103 110 127 +f 98 101 128 +f 101 104 128 +f 111 98 128 +f 104 111 128 +f 105 109 129 +f 119 105 129 +f 109 119 129 +f 108 106 130 +f 122 108 130 +f 118 122 130 +f 106 125 130 +f 125 116 130 +f 101 98 131 +f 98 110 131 +f 113 101 131 +f 110 116 131 +f 125 113 131 +f 116 125 131 +f 104 112 132 +f 117 104 132 +f 112 117 132 +f 105 122 133 +f 122 103 133 +f 127 105 133 +f 103 127 133 +f 110 103 134 +f 116 110 134 +f 103 118 134 +f 130 116 134 +f 118 130 134 +f 96 114 135 +f 114 115 135 +f 126 96 135 +o convex_5 +v 0.044210 3.125345 1.660128 +v -1.068416 0.937192 3.143308 +v -1.068416 0.937192 3.328802 +v 1.082716 1.011474 2.957814 +v 0.896998 3.051064 3.328802 +v 0.971327 0.974442 1.474442 +v -0.994086 3.125345 1.511771 +v -1.068416 3.051281 3.403076 +v -1.031356 1.122788 1.474634 +v 0.934268 3.051064 1.474442 +v 1.082716 1.011474 3.440214 +v -0.957027 3.162595 1.474634 +v 0.971327 3.014031 3.291665 +v -0.623281 0.974442 1.808484 +v -0.994086 0.937192 3.365747 +v -1.068416 3.088095 2.883732 +v 1.082716 1.345415 3.440214 +v 1.045446 0.974660 2.512937 +v 0.637582 1.011692 3.440021 +v -0.660341 3.162595 1.734402 +v -1.068416 1.011474 2.401910 +v 1.082716 1.531011 3.365939 +v -1.068416 3.088095 3.106171 +v 0.118329 0.974442 1.474442 +v -0.734670 3.051281 3.403076 +v -1.068416 2.494713 3.403076 +v 0.674641 3.088095 1.474442 +v -1.031356 1.567825 1.474634 +v -0.771519 0.937192 3.365747 +v -1.031356 1.085756 1.511771 +v -0.586222 1.011474 1.474634 +v -1.068416 2.383617 2.549882 +f 163 156 167 +f 137 138 143 +f 139 141 145 +f 145 140 148 +f 138 137 150 +f 137 143 151 +f 147 142 151 +f 146 139 152 +f 148 140 152 +f 141 139 153 +f 139 146 153 +f 150 146 154 +f 152 143 154 +f 146 152 154 +f 140 136 155 +f 137 151 156 +f 139 145 157 +f 145 148 157 +f 152 139 157 +f 148 152 157 +f 151 143 158 +f 147 151 158 +f 140 155 158 +f 155 147 158 +f 141 137 159 +f 145 141 159 +f 137 149 159 +f 152 140 160 +f 143 152 160 +f 140 158 160 +f 158 143 160 +f 143 138 161 +f 138 150 161 +f 154 143 161 +f 150 154 161 +f 136 140 162 +f 140 145 162 +f 155 136 162 +f 147 155 162 +f 145 159 162 +f 159 147 162 +f 142 147 163 +f 144 156 163 +f 159 144 163 +f 147 159 163 +f 137 141 164 +f 150 137 164 +f 146 150 164 +f 141 153 164 +f 153 146 164 +f 149 137 165 +f 137 156 165 +f 156 144 165 +f 144 159 166 +f 159 149 166 +f 149 165 166 +f 165 144 166 +f 151 142 167 +f 156 151 167 +f 142 163 167 +o convex_6 +v -0.809191 -2.289613 -1.159086 +v -2.959758 -1.584949 -2.234447 +v -2.996899 -1.881739 -2.197273 +v -0.586347 -2.215331 -2.160332 +v -0.586347 -1.399583 -1.492835 +v -2.959758 -2.474980 -1.047798 +v -2.922857 -1.325301 -1.233317 +v -0.883233 -1.325301 -2.197273 +v -3.034279 -2.363782 -2.123159 +v -0.586347 -2.475092 -1.455777 +v -0.586347 -1.436723 -1.233201 +v -2.922857 -1.325301 -2.234447 +v -0.586347 -2.363670 -2.123159 +v -0.586347 -1.362554 -2.197273 +v -0.623487 -2.475092 -1.158970 +v -2.959758 -1.473752 -1.196260 +v -2.774294 -2.400810 -2.011870 +v -2.440746 -1.325301 -1.233317 +v -1.773412 -1.399583 -2.234447 +v -2.922857 -2.400810 -1.047798 +v -2.774294 -1.399583 -1.196260 +v -2.996899 -2.400810 -1.159086 +v -0.586347 -2.400810 -2.011870 +v -3.034279 -2.141274 -1.900582 +v -2.922857 -2.474980 -1.159086 +v -2.959758 -1.362442 -1.307432 +v -0.586347 -1.362554 -1.826467 +v -1.254161 -2.474980 -1.455777 +f 192 184 195 +f 170 169 171 +f 170 171 176 +f 171 172 177 +f 177 172 178 +f 174 175 179 +f 176 171 180 +f 171 177 180 +f 172 171 181 +f 173 177 182 +f 178 168 182 +f 177 178 182 +f 175 174 185 +f 178 172 185 +f 171 169 186 +f 169 179 186 +f 179 175 186 +f 181 171 186 +f 175 181 186 +f 168 178 187 +f 182 168 187 +f 173 182 187 +f 183 173 187 +f 183 187 188 +f 174 183 188 +f 185 174 188 +f 178 185 188 +f 187 178 188 +f 176 173 189 +f 173 183 189 +f 176 180 190 +f 180 177 190 +f 184 176 190 +f 177 184 190 +f 170 176 191 +f 176 189 191 +f 189 183 191 +f 173 176 192 +f 177 173 192 +f 176 184 192 +f 169 170 193 +f 179 169 193 +f 174 179 193 +f 183 174 193 +f 170 191 193 +f 191 183 193 +f 172 181 194 +f 181 175 194 +f 185 172 194 +f 175 185 194 +f 184 177 195 +f 177 192 195 +o convex_7 +v 3.048201 -2.252378 -1.122014 +v 1.638969 -1.585105 -2.234563 +v -0.549096 -2.363680 -2.234443 +v -0.512077 -1.399637 -1.010592 +v -0.474699 -2.475092 -1.010592 +v 3.085579 -2.475092 -2.197422 +v 3.085579 -1.362500 -1.233197 +v -0.586114 -1.362500 -2.234443 +v 2.974163 -1.362500 -2.234563 +v 3.048201 -2.437846 -1.122014 +v -0.586114 -2.475092 -1.455683 +v 0.563626 -1.473803 -1.010592 +v 0.489588 -2.437846 -2.234443 +v 0.415191 -2.437846 -1.010592 +v -0.586114 -1.362500 -1.826493 +v 3.048201 -1.844630 -2.234563 +v 3.085579 -2.475092 -1.752331 +v -0.586114 -1.955715 -1.196056 +v -0.586114 -2.400709 -2.011958 +v -0.586114 -1.436774 -1.233197 +v 3.085579 -1.362500 -1.455803 +v 2.343765 -2.475092 -2.197422 +v 3.085579 -1.955715 -1.159035 +v -0.586114 -2.475092 -1.196056 +f 213 206 219 +f 197 198 203 +f 203 202 204 +f 197 203 204 +f 201 200 206 +f 199 200 207 +f 202 199 207 +f 205 196 207 +f 200 205 209 +f 207 200 209 +f 205 207 209 +f 199 202 210 +f 202 203 210 +f 203 206 210 +f 198 197 211 +f 197 204 211 +f 208 198 211 +f 201 208 211 +f 200 201 212 +f 201 202 212 +f 205 200 212 +f 210 206 213 +f 203 198 214 +f 206 203 214 +f 198 208 214 +f 208 206 214 +f 199 210 215 +f 213 199 215 +f 210 213 215 +f 202 201 216 +f 204 202 216 +f 201 211 216 +f 211 204 216 +f 201 206 217 +f 208 201 217 +f 206 208 217 +f 196 205 218 +f 207 196 218 +f 202 207 218 +f 212 202 218 +f 205 212 218 +f 200 199 219 +f 206 200 219 +f 199 213 219 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/221/221.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/221/221.urdf new file mode 100644 index 000000000..1ad83d499 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/221/221.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/222/222.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/222/222.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/222/222.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/222/222.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/222/222.obj new file mode 100644 index 000000000..9a12f918e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/222/222.obj @@ -0,0 +1,387 @@ +o convex_0 +v 0.061867 -5.319201 0.348911 +v -0.356770 -5.493609 0.244198 +v -0.321841 -5.528415 0.174457 +v -0.286985 -3.609919 -0.244121 +v 0.375933 -5.458613 -0.313997 +v 0.341005 -3.679721 0.244198 +v -0.286985 -3.609919 0.244198 +v -0.286985 -5.493609 -0.348902 +v 0.341005 -3.609919 -0.244121 +v 0.375933 -5.563411 0.279102 +v -0.356770 -5.493609 0.348911 +v -0.286985 -5.109796 -0.348902 +v -0.321841 -5.005188 0.348911 +v -0.321841 -5.493609 -0.313997 +v -0.321841 -3.854321 0.174457 +v 0.166508 -5.563411 0.348911 +v -0.147344 -5.528415 -0.279025 +v 0.341005 -3.609919 0.209293 +v 0.341005 -5.074990 0.314006 +v 0.375933 -5.284204 -0.313997 +v -0.042703 -5.354006 -0.348902 +f 9 20 21 +f 4 7 9 +f 2 3 11 +f 4 9 12 +f 1 6 13 +f 6 7 13 +f 7 11 13 +f 11 1 13 +f 3 2 14 +f 4 12 14 +f 12 8 14 +f 7 4 15 +f 2 11 15 +f 11 7 15 +f 14 2 15 +f 4 14 15 +f 11 3 16 +f 1 11 16 +f 8 5 17 +f 5 10 17 +f 3 14 17 +f 14 8 17 +f 16 3 17 +f 10 16 17 +f 7 6 18 +f 9 7 18 +f 6 10 18 +f 6 1 19 +f 10 6 19 +f 1 16 19 +f 16 10 19 +f 10 5 20 +f 9 18 20 +f 18 10 20 +f 5 8 21 +f 8 12 21 +f 12 9 21 +f 20 5 21 +o convex_1 +v 1.108636 0.332526 0.976798 +v -1.124363 -3.539489 -1.046666 +v -0.077590 -3.574608 -1.081605 +v 1.003937 -3.609728 1.081614 +v -0.949937 0.332526 1.081614 +v 1.073664 0.332526 -1.081605 +v -0.949937 0.332526 -0.976789 +v -0.949937 -3.539489 0.941860 +v 0.968965 -3.609728 -1.081605 +v 1.108636 -0.086205 1.046675 +v -1.019664 0.332526 0.313815 +v 1.073664 -0.888550 -1.081605 +v -0.286988 -3.609728 0.244150 +v -1.089391 -2.527586 -1.046666 +v -0.949937 -0.435084 1.081614 +v 1.003937 -3.609728 -0.523225 +v -0.007863 0.332912 1.081614 +v -0.984691 -3.539489 0.732653 +v -0.007863 -1.446602 -1.081605 +v 1.038691 -2.911584 1.011737 +v -1.124363 -3.190610 -0.907124 +v -0.496168 0.332912 -1.011728 +v -0.531141 -3.574608 0.976798 +v -1.019664 0.297407 0.034731 +v 1.108636 0.332526 1.046675 +v -0.286988 -3.609728 -0.244141 +v 1.003937 -3.365049 -1.081605 +v 0.899238 -3.609728 1.081614 +v -0.984691 -0.120939 -0.976789 +v 0.829511 0.332912 -1.081605 +v -1.054418 -0.609524 -0.139326 +v 1.003937 -3.086023 1.081614 +v -0.984691 -0.714496 -1.011516 +v -0.356715 -3.574608 -1.046666 +v -0.984691 -0.260645 0.732653 +v -1.124363 -3.539489 -0.907124 +f 39 42 57 +f 24 27 30 +f 27 22 33 +f 30 27 33 +f 22 31 33 +f 30 25 34 +f 25 26 36 +f 25 30 37 +f 26 25 38 +f 34 29 39 +f 36 26 39 +f 29 36 39 +f 24 23 40 +f 27 24 40 +f 23 35 40 +f 31 25 41 +f 33 31 41 +f 25 37 41 +f 37 33 41 +f 35 23 42 +f 28 32 43 +f 32 26 43 +f 26 38 43 +f 29 34 44 +f 36 29 44 +f 32 28 45 +f 31 22 46 +f 25 31 46 +f 34 23 47 +f 30 34 47 +f 30 33 48 +f 37 30 48 +f 33 37 48 +f 34 25 49 +f 25 36 49 +f 44 34 49 +f 36 44 49 +f 28 35 50 +f 45 28 50 +f 22 27 51 +f 27 40 51 +f 43 38 51 +f 40 43 51 +f 46 22 51 +f 38 46 51 +f 35 42 52 +f 42 32 52 +f 32 45 52 +f 50 35 52 +f 45 50 52 +f 38 25 53 +f 25 46 53 +f 46 38 53 +f 35 28 54 +f 40 35 54 +f 28 43 54 +f 43 40 54 +f 23 24 55 +f 24 30 55 +f 47 23 55 +f 30 47 55 +f 26 32 56 +f 39 26 56 +f 32 42 56 +f 42 39 56 +f 23 34 57 +f 34 39 57 +f 42 23 57 +o convex_2 +v -3.113128 1.693605 0.278829 +v -1.019753 2.531021 -0.976625 +v 0.236197 2.461093 0.976750 +v 0.759730 0.332912 -1.046714 +v 0.061812 0.332912 1.081566 +v -2.938364 0.367984 -1.011776 +v -3.042995 0.402840 1.046416 +v -3.042995 2.495950 1.081566 +v -2.973241 2.495950 -1.011776 +v 0.759351 2.461093 -0.976837 +v 0.759730 0.332912 1.046416 +v 0.759351 2.426237 1.011477 +v -0.740737 0.681907 1.116504 +v -0.949999 0.332912 1.081354 +v -3.042995 0.961189 -0.627876 +v -0.182706 2.495950 -1.011776 +v 0.654720 2.112098 1.046416 +v -0.949999 0.332912 -0.976625 +v -3.042995 1.100615 1.081566 +v -3.113128 2.077242 0.697666 +v 0.759730 0.891476 -1.046714 +v -2.554718 2.495950 1.081566 +v -0.949999 0.367984 1.116504 +v -2.973241 0.402840 -1.011776 +v 0.166443 0.332912 -1.046714 +v -2.973241 0.367984 -0.313854 +v -1.717292 2.495950 1.011689 +v -3.042995 0.402840 0.662728 +v 0.236197 0.577338 1.081566 +v -3.077872 2.391165 0.976750 +v -3.042995 2.077242 -0.488123 +v -2.450087 0.437697 1.081566 +v -1.193758 0.507410 1.116504 +v 0.759351 2.461093 -0.662603 +v -3.113128 2.007529 0.383644 +v -1.089507 2.531021 -1.011776 +v 0.759730 1.728247 1.046416 +v -3.113128 1.623677 0.558125 +v -3.042995 2.495950 0.453521 +v -3.042995 1.345041 -0.627876 +v -0.042819 2.495950 -0.941899 +f 73 93 98 +f 62 61 68 +f 61 62 71 +f 61 71 75 +f 68 61 78 +f 73 67 78 +f 59 65 79 +f 69 60 79 +f 65 70 79 +f 74 69 79 +f 70 74 79 +f 71 62 80 +f 64 71 80 +f 72 66 81 +f 61 75 82 +f 75 63 82 +f 78 61 82 +f 66 78 82 +f 63 81 82 +f 81 66 82 +f 71 64 83 +f 63 75 83 +f 75 71 83 +f 81 63 83 +f 60 59 84 +f 79 60 84 +f 59 79 84 +f 58 72 85 +f 72 81 85 +f 83 64 85 +f 81 83 85 +f 62 68 86 +f 74 70 86 +f 80 62 86 +f 70 80 86 +f 64 76 87 +f 76 65 87 +f 77 64 87 +f 76 64 89 +f 64 80 89 +f 89 80 90 +f 70 65 90 +f 65 76 90 +f 80 70 90 +f 76 89 90 +f 60 69 91 +f 58 77 92 +f 77 87 92 +f 88 58 92 +f 66 88 92 +f 65 59 93 +f 78 66 93 +f 73 78 93 +f 69 74 94 +f 68 78 94 +f 78 67 94 +f 86 68 94 +f 74 86 94 +f 67 91 94 +f 91 69 94 +f 77 58 95 +f 64 77 95 +f 58 85 95 +f 85 64 95 +f 87 65 96 +f 66 92 96 +f 92 87 96 +f 65 93 96 +f 93 66 96 +f 72 58 97 +f 66 72 97 +f 58 88 97 +f 88 66 97 +f 59 60 98 +f 67 73 98 +f 60 91 98 +f 91 67 98 +f 93 59 98 +o convex_3 +v 2.224890 0.472768 -1.116495 +v 2.957696 2.600802 1.046723 +v 2.957696 0.821521 1.046723 +v 0.759730 0.332912 1.046723 +v 0.759730 2.461168 -0.976742 +v 2.957696 2.495799 -1.081557 +v 0.759730 2.426093 1.011573 +v 0.759730 0.332912 -1.046407 +v 3.062511 0.542475 -1.116495 +v 2.922757 0.437693 1.046723 +v 3.062511 1.065714 0.453193 +v 1.073951 0.332912 -1.081557 +v 2.887819 2.321312 -1.116495 +v 2.957696 2.530874 -1.046618 +v 1.876408 2.530874 1.046723 +v 0.864546 0.437915 -1.081557 +v 2.713578 2.600802 0.802154 +v 2.957696 0.437693 0.627674 +v 1.108664 0.332912 1.046723 +v 2.992634 2.286681 0.941696 +v 3.062511 0.856596 -1.116495 +v 0.759730 1.693513 1.046723 +v 3.027573 0.507621 -0.732596 +v 2.992634 0.612181 0.837093 +v 2.434295 0.402840 0.523070 +v 3.062511 0.542475 -0.732596 +v 0.759730 2.461168 -0.697446 +v 2.922757 2.600802 0.592735 +v 2.992634 2.007412 -1.116495 +v 3.062511 0.926302 0.453193 +v 2.469234 2.496021 -1.081557 +v 1.073951 2.461168 1.011573 +v 2.713578 2.600802 1.046723 +v 2.887819 2.530874 -1.046618 +v 2.957696 0.437693 0.941696 +f 124 122 133 +f 101 100 102 +f 103 102 105 +f 102 103 106 +f 101 102 108 +f 102 106 110 +f 99 107 110 +f 107 99 111 +f 102 100 113 +f 106 103 114 +f 99 110 114 +f 110 106 114 +f 103 111 114 +f 111 99 114 +f 108 102 117 +f 102 110 117 +f 100 101 118 +f 112 100 118 +f 109 107 119 +f 107 111 119 +f 118 109 119 +f 105 102 120 +f 102 113 120 +f 113 105 120 +f 110 107 121 +f 107 116 121 +f 116 110 121 +f 118 101 122 +f 110 116 123 +f 117 110 123 +f 107 109 124 +f 116 107 124 +f 103 105 125 +f 115 103 125 +f 100 112 126 +f 115 100 126 +f 103 115 126 +f 111 104 127 +f 104 112 127 +f 112 118 127 +f 118 119 127 +f 119 111 127 +f 109 118 128 +f 118 122 128 +f 124 109 128 +f 122 124 128 +f 111 103 129 +f 104 111 129 +f 112 104 129 +f 105 113 130 +f 125 105 130 +f 113 125 130 +f 113 100 131 +f 100 115 131 +f 125 113 131 +f 115 125 131 +f 126 112 132 +f 103 126 132 +f 129 103 132 +f 112 129 132 +f 101 108 133 +f 108 117 133 +f 122 101 133 +f 123 116 133 +f 117 123 133 +f 116 124 133 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/222/222.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/222/222.urdf new file mode 100644 index 000000000..61dc040d9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/222/222.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/223/223.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/223/223.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/223/223.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/223/223.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/223/223.obj new file mode 100644 index 000000000..b1eea1724 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/223/223.obj @@ -0,0 +1,405 @@ +o convex_0 +v -2.566971 0.042230 0.608973 +v -1.262667 -0.880362 -0.600168 +v -1.262667 -0.848602 -0.600168 +v -3.012401 -0.212367 -0.504535 +v -3.108159 -0.848602 0.513340 +v -1.103529 0.137716 0.545297 +v -1.167302 -0.880362 0.481620 +v -1.103529 0.137716 -0.409139 +v -2.917036 -0.912328 -0.440977 +v -3.012401 0.042230 -0.504535 +v -3.108159 0.042230 0.608973 +v -1.103529 -0.753218 -0.600168 +v -1.103529 -0.912328 0.417944 +v -2.726110 0.073990 -0.504535 +v -1.230879 0.105853 -0.472697 +v -2.917036 0.073990 0.608973 +v -2.789686 -0.880362 0.513340 +v -1.612732 -0.912328 -0.568330 +v -3.044386 -0.180504 0.608973 +v -1.485578 0.137716 0.513340 +v -2.980809 -0.912328 -0.218228 +v -3.044386 0.042230 -0.377301 +v -1.103529 -0.880362 -0.600168 +v -3.108159 -0.848602 0.417944 +v -2.217103 0.073990 -0.504535 +v -3.012401 -0.721355 0.545179 +v -2.980809 -0.912328 -0.090994 +v -2.694321 -0.912328 -0.472697 +v -3.108159 0.042230 0.481620 +v -2.789686 0.073990 -0.409139 +f 22 16 30 +f 3 2 4 +f 6 1 7 +f 3 4 10 +f 2 3 12 +f 8 6 12 +f 3 10 12 +f 6 7 13 +f 12 6 13 +f 12 10 14 +f 8 12 15 +f 14 8 15 +f 1 6 16 +f 11 1 16 +f 13 7 17 +f 4 2 18 +f 13 9 18 +f 7 1 19 +f 1 11 19 +f 11 5 19 +f 6 8 20 +f 16 6 20 +f 4 9 21 +f 9 13 21 +f 10 4 22 +f 2 12 23 +f 12 13 23 +f 18 2 23 +f 13 18 23 +f 5 11 24 +f 4 21 24 +f 21 5 24 +f 22 4 24 +f 12 14 25 +f 15 12 25 +f 14 15 25 +f 17 7 26 +f 5 17 26 +f 7 19 26 +f 19 5 26 +f 17 5 27 +f 13 17 27 +f 5 21 27 +f 21 13 27 +f 9 4 28 +f 4 18 28 +f 18 9 28 +f 11 16 29 +f 16 22 29 +f 24 11 29 +f 22 24 29 +f 8 14 30 +f 14 10 30 +f 20 8 30 +f 16 20 30 +f 10 22 30 +o convex_1 +v 2.078439 -0.943973 0.545129 +v 2.842042 -0.212398 -0.568349 +v 2.842042 0.010363 -0.568349 +v 1.092193 -0.466855 -0.536312 +v 1.092193 0.042258 0.576936 +v 3.001101 0.010363 0.577051 +v 3.001101 -0.912278 -0.472813 +v 1.092193 -0.975967 0.608973 +v 1.092193 -0.912278 -0.504504 +v 1.092193 0.010363 -0.536312 +v 3.128468 -0.880384 0.449708 +v 3.001101 -0.021531 -0.504620 +v 2.237298 0.042258 -0.122704 +v 2.969209 -0.753106 -0.536427 +v 1.219360 -0.943973 -0.440890 +v 2.969209 -0.912278 0.481515 +v 1.474094 -0.975967 0.322595 +v 1.124084 -0.530444 0.608973 +v 1.696936 0.010363 -0.568234 +v 2.173715 0.042258 0.576936 +v 2.428249 -0.943973 -0.186319 +v 3.001101 -0.085120 0.577051 +v 1.092193 0.042258 0.068023 +v 2.969209 0.010363 -0.568349 +v 2.969209 -0.912278 -0.504620 +v 3.096576 -0.912278 0.195136 +v 1.474094 -0.785000 0.608973 +v 1.092193 -0.975967 0.258865 +f 45 47 58 +f 35 34 38 +f 38 34 39 +f 34 35 40 +f 36 41 42 +f 34 32 44 +f 39 34 44 +f 31 38 47 +f 46 31 47 +f 35 38 48 +f 33 32 49 +f 32 34 49 +f 34 40 49 +f 43 33 49 +f 40 43 49 +f 36 43 50 +f 43 35 50 +f 35 48 50 +f 48 36 50 +f 47 45 51 +f 41 36 52 +f 31 46 52 +f 46 41 52 +f 40 35 53 +f 35 43 53 +f 43 40 53 +f 32 33 54 +f 42 37 54 +f 36 42 54 +f 33 43 54 +f 43 36 54 +f 44 32 54 +f 37 44 54 +f 39 44 55 +f 44 37 55 +f 45 39 55 +f 37 51 55 +f 51 45 55 +f 37 42 56 +f 42 41 56 +f 41 46 56 +f 46 47 56 +f 51 37 56 +f 47 51 56 +f 38 31 57 +f 36 48 57 +f 48 38 57 +f 31 52 57 +f 52 36 57 +f 38 39 58 +f 39 45 58 +f 47 38 58 +o convex_2 +v -0.085273 2.651458 0.577054 +v -1.103529 -3.521529 -1.077299 +v -0.021659 -3.521529 -1.109281 +v 0.932768 -3.457479 1.054447 +v 1.092018 2.651458 -1.077299 +v -0.976086 -3.488899 1.054447 +v -1.039700 2.555987 -1.013760 +v 1.059996 2.555383 1.054447 +v -1.007893 2.555987 1.022465 +v 0.932768 -3.489504 -1.109281 +v 1.092018 -0.975232 0.608824 +v -1.103529 0.136582 0.513303 +v 1.092018 -0.911786 -0.504598 +v -1.103529 0.677988 -0.568137 +v 0.582890 2.619433 -1.077299 +v -0.466958 2.651458 -0.568137 +v -1.103529 -2.502768 -1.077299 +v -1.007893 -3.107015 0.990695 +v 0.932768 -3.489504 0.799866 +v 1.092018 1.282839 0.831423 +v 0.964575 -0.308143 -1.109281 +v -1.103529 -0.848340 0.481533 +v -1.071507 -3.521529 -0.313556 +v -1.071507 1.983161 -0.886469 +v 0.519061 2.651458 0.481533 +v 0.773733 2.491937 1.054447 +v -1.039700 2.555987 -0.090956 +v 0.996382 -1.389141 -1.109281 +v -0.435151 2.651458 0.576842 +v 0.964575 -2.597635 1.054447 +v 0.964575 -3.043569 -0.790949 +v 1.092018 2.651458 -0.822718 +v -1.071507 0.232658 -1.045530 +v 0.455447 -3.489504 1.054447 +v -0.912471 -2.852627 1.054447 +v 0.232798 -3.521529 -1.077299 +v -1.039700 1.919111 0.863405 +v 1.059996 1.887086 1.054447 +v -1.103529 -3.521529 -0.886469 +v -1.007893 -1.548058 1.022465 +v -1.007893 -3.521529 -0.186265 +v -1.007893 -3.488899 0.831423 +v 1.092018 2.396466 -1.077299 +v 0.837347 2.651458 -1.077299 +v 0.964575 -3.012149 0.990695 +v 1.092018 2.491937 -0.408865 +v -1.071507 -2.343852 -1.077299 +v 0.964575 -2.629660 -1.109281 +v -0.276115 2.587408 -1.045530 +v -1.071507 0.136582 0.704133 +v -1.071507 1.919111 -0.663446 +v -1.071507 1.187368 -1.013760 +f 91 75 110 +f 64 62 66 +f 63 69 71 +f 60 70 72 +f 59 63 74 +f 61 60 75 +f 60 72 75 +f 69 63 78 +f 68 61 79 +f 70 60 80 +f 76 70 80 +f 60 61 81 +f 75 72 82 +f 63 59 83 +f 59 66 83 +f 64 66 84 +f 66 67 84 +f 74 65 85 +f 65 82 85 +f 68 79 86 +f 79 63 86 +f 66 59 87 +f 67 66 87 +f 59 74 87 +f 85 67 87 +f 74 85 87 +f 66 62 88 +f 68 71 89 +f 71 69 89 +f 77 68 89 +f 78 63 90 +f 63 83 90 +f 83 66 90 +f 62 64 92 +f 77 62 92 +f 67 64 93 +f 64 84 93 +f 84 67 93 +f 61 68 94 +f 68 77 94 +f 81 61 94 +f 67 85 95 +f 85 70 95 +f 78 66 96 +f 69 78 96 +f 66 88 96 +f 88 69 96 +f 80 60 97 +f 81 80 97 +f 60 81 97 +f 64 67 98 +f 76 64 98 +f 67 95 98 +f 64 81 99 +f 92 64 99 +f 77 92 99 +f 94 77 99 +f 81 94 99 +f 64 76 100 +f 76 80 100 +f 80 81 100 +f 81 64 100 +f 63 71 101 +f 86 63 101 +f 71 86 101 +f 74 63 102 +f 65 74 102 +f 63 79 102 +f 79 73 102 +f 62 77 103 +f 88 62 103 +f 69 88 103 +f 89 69 103 +f 77 89 103 +f 66 78 104 +f 78 90 104 +f 90 66 104 +f 61 75 105 +f 79 61 105 +f 73 79 105 +f 91 73 105 +f 75 91 105 +f 71 68 106 +f 86 71 106 +f 68 86 106 +f 91 65 107 +f 73 91 107 +f 65 102 107 +f 102 73 107 +f 70 76 108 +f 95 70 108 +f 76 98 108 +f 98 95 108 +f 72 70 109 +f 82 72 109 +f 70 85 109 +f 85 82 109 +f 82 65 110 +f 75 82 110 +f 65 91 110 +o convex_3 +v 0.201022 3.669533 0.577154 +v -0.594416 4.146901 -0.536392 +v -0.594416 4.146901 -0.504660 +v -0.467039 2.651458 0.258934 +v 0.551086 2.651458 -0.472816 +v 0.455553 4.496816 -0.504660 +v -0.435194 4.528486 0.513465 +v 0.455553 4.624269 0.545309 +v 0.519242 2.651458 0.481508 +v -0.498883 2.683321 -0.568349 +v -0.594416 4.624269 -0.536392 +v -0.435194 2.651458 0.577154 +v -0.212508 2.651458 -0.568349 +v -0.594416 4.624269 -0.345438 +v -0.148819 4.592405 -0.536392 +v 0.391864 4.433283 0.577154 +v -0.435194 3.319811 0.577154 +v -0.085130 2.651458 0.577154 +v -0.530615 3.955915 -0.568349 +v 0.551086 2.810581 -0.409127 +v -0.467039 4.528486 0.449776 +v 0.487397 3.987778 0.545309 +v 0.487397 2.842444 0.513465 +v 0.455553 4.560349 -0.186440 +v -0.594416 4.560349 -0.313593 +v -0.085130 4.560349 0.545309 +v 0.455553 3.860326 -0.504660 +v -0.467039 2.651458 -0.568349 +v -0.435194 4.624269 -0.536392 +f 118 134 139 +f 114 115 119 +f 113 112 120 +f 114 113 120 +f 112 113 121 +f 114 119 122 +f 115 114 123 +f 117 118 124 +f 121 113 124 +f 118 121 124 +f 122 111 126 +f 122 126 127 +f 111 122 128 +f 122 119 128 +f 120 112 129 +f 112 121 129 +f 116 123 129 +f 123 120 129 +f 125 116 129 +f 115 116 130 +f 119 115 130 +f 117 124 131 +f 122 127 131 +f 127 117 131 +f 118 126 132 +f 130 118 132 +f 119 130 132 +f 126 111 133 +f 111 128 133 +f 128 119 133 +f 119 132 133 +f 132 126 133 +f 116 125 134 +f 130 116 134 +f 118 130 134 +f 113 114 135 +f 114 122 135 +f 124 113 135 +f 131 124 135 +f 122 131 135 +f 118 117 136 +f 126 118 136 +f 127 126 136 +f 117 127 136 +f 116 115 137 +f 115 123 137 +f 123 116 137 +f 114 120 138 +f 123 114 138 +f 120 123 138 +f 121 118 139 +f 129 121 139 +f 125 129 139 +f 134 125 139 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/223/223.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/223/223.urdf new file mode 100644 index 000000000..aede6402b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/223/223.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/224/224.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/224/224.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/224/224.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/224/224.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/224/224.obj new file mode 100644 index 000000000..bb49d2775 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/224/224.obj @@ -0,0 +1,600 @@ +o convex_0 +v 0.825389 1.072003 1.001361 +v -1.058826 -1.800818 0.321669 +v -0.966118 -1.800818 -0.975519 +v 1.103513 -1.800818 0.198089 +v 1.072610 1.072003 -1.006110 +v -0.996809 1.072003 -0.944523 +v -0.935215 1.072003 1.001361 +v 0.856292 -1.800818 0.970365 +v 1.072398 -1.800818 -1.037309 +v -0.935215 -1.800818 0.970365 +v 0.979902 1.072003 0.970365 +v 0.578168 0.732022 1.032357 +v -0.996809 0.886406 0.754200 +v -0.996809 0.114208 -0.975519 +v 1.103513 0.207007 -0.296030 +v 0.979902 -1.800818 0.939571 +v 0.485460 -1.769604 -1.037309 +v 1.041708 -0.132974 -1.037309 +v -0.935215 -0.503043 1.001361 +v -1.058826 -1.337106 0.414456 +v 1.010805 1.072003 0.692410 +v -0.966118 -1.800818 0.908575 +v 1.072610 1.072003 -0.450201 +v 0.392964 1.072003 1.032357 +v -0.966118 1.072003 0.939368 +v -0.409870 -1.800818 -1.006313 +v 0.918097 1.072003 -1.006313 +v -0.996809 -0.379312 -0.975519 +v 0.979902 -0.040175 0.970365 +v -1.027923 -1.800818 0.599624 +v 1.103513 0.176074 -0.357820 +v 1.103513 -1.800818 0.043715 +f 9 31 32 +f 2 3 4 +f 1 5 6 +f 1 6 7 +f 2 4 8 +f 4 3 9 +f 2 8 10 +f 5 1 11 +f 10 8 12 +f 2 6 14 +f 8 4 16 +f 17 14 18 +f 5 9 18 +f 9 17 18 +f 10 12 19 +f 6 2 20 +f 13 6 20 +f 5 11 21 +f 11 4 21 +f 4 15 21 +f 2 10 22 +f 10 19 22 +f 15 5 23 +f 5 21 23 +f 21 15 23 +f 1 7 24 +f 12 1 24 +f 7 19 24 +f 19 12 24 +f 7 6 25 +f 6 13 25 +f 19 7 25 +f 13 20 25 +f 22 19 25 +f 9 3 26 +f 17 9 26 +f 14 17 26 +f 6 5 27 +f 14 6 27 +f 18 14 27 +f 5 18 27 +f 3 2 28 +f 2 14 28 +f 26 3 28 +f 14 26 28 +f 11 1 29 +f 4 11 29 +f 1 12 29 +f 12 8 29 +f 16 4 29 +f 8 16 29 +f 20 2 30 +f 2 22 30 +f 25 20 30 +f 22 25 30 +f 9 5 31 +f 15 4 31 +f 5 15 31 +f 4 9 32 +f 31 4 32 +o convex_1 +v -0.595468 2.400179 -3.106780 +v 0.609234 1.257464 -1.933335 +v 0.578338 1.442709 -1.099091 +v -0.502662 1.226571 -1.099091 +v 0.485650 2.307498 -1.099091 +v 0.609234 1.195677 -3.044875 +v 0.609234 2.214816 -3.106780 +v -0.595468 2.400179 -1.099091 +v -0.440870 1.350146 -3.075729 +v 0.578338 1.226571 -1.099091 +v -0.595468 2.214816 -3.106780 +v 0.331171 2.338509 -1.470128 +v -0.533558 1.319252 -1.161192 +v 0.578338 2.245710 -3.106780 +v -0.440870 2.400179 -2.952312 +v -0.595468 2.122135 -1.099091 +v -0.502662 1.257464 -1.686304 +v 0.516546 2.307498 -1.377369 +v 0.516546 1.195677 -3.044875 +v 0.609234 1.195677 -2.396346 +v -0.471766 2.400179 -1.161192 +v -0.564454 2.029454 -3.106780 +f 49 43 54 +f 36 35 37 +f 35 34 39 +f 34 38 39 +f 36 37 40 +f 39 38 41 +f 34 35 42 +f 35 36 42 +f 33 39 43 +f 40 33 43 +f 39 33 46 +f 44 46 47 +f 33 40 47 +f 46 33 47 +f 36 40 48 +f 40 43 48 +f 45 36 48 +f 43 45 48 +f 36 45 49 +f 45 43 49 +f 37 35 50 +f 35 39 50 +f 44 37 50 +f 39 46 50 +f 46 44 50 +f 41 38 51 +f 36 49 51 +f 49 41 51 +f 38 34 52 +f 34 42 52 +f 42 36 52 +f 36 51 52 +f 51 38 52 +f 40 37 53 +f 37 44 53 +f 44 47 53 +f 47 40 53 +f 39 41 54 +f 43 39 54 +f 41 49 54 +o convex_2 +v 0.979778 -2.974593 0.877775 +v 0.423966 -3.283558 -1.068200 +v 0.423966 -3.221765 -1.068200 +v -0.965982 -2.758552 0.908632 +v 1.072622 -2.511380 -1.068200 +v -0.935103 -2.511301 -1.006289 +v 0.948900 -2.511380 0.939686 +v -0.935103 -3.159972 0.692434 +v -0.935103 -3.190790 -1.006289 +v 1.072622 -3.314455 -0.851609 +v -0.965982 -2.511301 0.908632 +v 0.948900 -3.159972 0.939686 +v -1.058826 -2.634966 -0.018069 +v -0.935103 -3.129076 0.939686 +v 1.041535 -2.511380 0.568809 +v 1.072622 -3.314455 -1.068200 +v -0.348204 -3.159972 0.939686 +v -1.058826 -2.511301 0.414326 +v 0.979778 -3.190869 0.723292 +v -0.935103 -2.511301 0.939686 +v 0.856264 -3.314455 -0.882663 +v -0.626110 -3.221687 -0.913521 +v -0.965982 -3.098100 0.877578 +v 1.072622 -3.283558 -0.604751 +v 1.072622 -2.511380 -0.388357 +v -1.058826 -2.511301 -0.079391 +v -0.842468 -3.159972 0.846917 +f 75 71 81 +f 56 57 59 +f 59 57 60 +f 57 56 60 +f 60 56 63 +f 55 61 66 +f 65 58 68 +f 66 61 68 +f 61 55 69 +f 56 59 70 +f 59 64 70 +f 66 68 71 +f 65 60 72 +f 58 65 72 +f 55 66 73 +f 69 55 73 +f 71 64 73 +f 66 71 73 +f 59 60 74 +f 60 65 74 +f 65 68 74 +f 68 61 74 +f 61 69 74 +f 56 70 75 +f 70 64 75 +f 64 71 75 +f 63 56 76 +f 62 63 76 +f 56 75 76 +f 75 62 76 +f 63 62 77 +f 67 63 77 +f 68 58 77 +f 62 68 77 +f 58 72 77 +f 72 67 77 +f 64 59 78 +f 69 73 78 +f 73 64 78 +f 59 74 79 +f 74 69 79 +f 78 59 79 +f 69 78 79 +f 60 63 80 +f 63 67 80 +f 72 60 80 +f 67 72 80 +f 68 62 81 +f 71 68 81 +f 62 75 81 +o convex_3 +v -0.502596 1.350130 1.063248 +v 1.072622 2.832640 -0.573746 +v 1.010657 2.739872 0.939426 +v -1.058826 2.894545 -0.882772 +v 1.072413 1.072003 -1.006383 +v -0.996860 1.072003 -0.944577 +v -0.935103 2.770914 1.063248 +v 0.979778 1.072003 0.970540 +v -0.965982 1.072003 0.939426 +v 0.979778 2.770735 -1.006383 +v -0.657197 2.461745 -1.099091 +v 0.578358 1.226676 -1.099091 +v 0.547480 2.245702 1.063248 +v 1.072622 2.863503 -0.728259 +v -0.502596 1.226498 -1.099091 +v -0.873346 2.801777 0.908523 +v 1.072413 1.072003 -0.450347 +v 0.485514 2.307428 -1.099091 +v 0.640115 1.072003 1.032346 +v -1.027739 1.226498 -0.944577 +v -0.935103 1.103045 1.032346 +v 1.072622 2.863503 -0.975480 +v -0.996860 2.894545 -0.944577 +v 0.794507 2.739872 1.001443 +v -0.008541 2.894545 -0.882772 +v -0.965982 1.998617 0.939426 +v 0.547480 1.288403 1.063248 +v 0.918021 2.523650 1.001443 +v 1.010657 1.072003 0.692205 +v -1.027739 2.894545 -0.635551 +v 0.516601 2.709008 -1.037285 +v -0.965982 2.801777 0.692205 +v -1.027739 2.863325 -0.944577 +v -0.132055 2.770914 1.032346 +f 88 105 115 +f 87 86 89 +f 87 89 90 +f 91 86 93 +f 88 82 94 +f 84 83 95 +f 86 87 96 +f 92 93 96 +f 93 86 96 +f 83 84 98 +f 86 83 98 +f 89 86 98 +f 91 93 99 +f 93 92 99 +f 90 89 100 +f 87 90 101 +f 90 85 101 +f 96 87 101 +f 92 96 101 +f 82 88 102 +f 88 90 102 +f 90 100 102 +f 83 86 103 +f 86 91 103 +f 95 83 103 +f 88 94 105 +f 97 95 106 +f 95 103 106 +f 103 104 106 +f 104 85 106 +f 85 90 107 +f 90 88 107 +f 94 82 108 +f 100 89 108 +f 82 102 108 +f 102 100 108 +f 89 84 109 +f 84 105 109 +f 105 94 109 +f 94 108 109 +f 108 89 109 +f 84 89 110 +f 98 84 110 +f 89 98 110 +f 106 85 111 +f 97 106 111 +f 91 99 112 +f 99 92 112 +f 103 91 112 +f 104 103 112 +f 92 104 112 +f 88 97 113 +f 85 107 113 +f 107 88 113 +f 111 85 113 +f 97 111 113 +f 101 85 114 +f 92 101 114 +f 85 104 114 +f 104 92 114 +f 84 95 115 +f 97 88 115 +f 95 97 115 +f 105 84 115 +o convex_4 +v -0.317338 2.307464 3.039965 +v 0.362100 1.226564 2.916445 +v 0.423857 1.226564 2.916445 +v -0.440963 2.400296 1.063644 +v -0.595468 1.257470 3.071095 +v 0.547483 1.288376 1.063644 +v 0.454736 2.338485 3.102024 +v -0.595468 1.381094 1.063644 +v 0.547483 2.245767 1.063644 +v -0.595468 2.400296 1.434204 +v -0.533599 2.307464 3.009035 +v 0.423857 1.226564 3.070895 +v 0.145727 1.257470 1.650514 +v 0.547483 1.442790 1.434204 +v -0.595468 2.400296 1.063644 +v -0.564477 1.350188 1.094374 +v 0.516492 2.276673 1.217894 +v 0.454736 1.288376 2.916445 +v -0.595468 1.257470 2.731265 +v 0.485614 2.245767 2.700135 +v -0.008665 2.338370 3.071095 +v 0.485614 1.257470 1.341614 +v 0.454736 2.338485 2.731065 +v 0.454736 1.936824 3.102024 +v 0.176718 1.288376 1.063644 +v -0.564477 1.875012 3.039965 +v 0.547483 2.245767 1.248824 +v -0.533599 2.338370 2.700135 +f 126 136 143 +f 119 121 123 +f 121 119 124 +f 122 119 125 +f 123 120 125 +f 117 118 127 +f 120 117 127 +f 118 121 127 +f 121 124 129 +f 119 123 130 +f 125 119 130 +f 123 125 130 +f 124 119 132 +f 127 121 133 +f 121 129 133 +f 117 120 134 +f 120 123 134 +f 128 117 134 +f 123 131 134 +f 133 129 135 +f 120 122 136 +f 122 125 136 +f 126 116 136 +f 118 117 137 +f 121 118 137 +f 117 128 137 +f 119 122 138 +f 122 124 138 +f 132 119 138 +f 124 132 138 +f 122 120 139 +f 120 127 139 +f 127 133 139 +f 135 122 139 +f 133 135 139 +f 123 121 140 +f 131 123 140 +f 128 134 140 +f 134 131 140 +f 121 137 140 +f 137 128 140 +f 125 120 141 +f 116 126 141 +f 126 125 141 +f 136 116 141 +f 120 136 141 +f 124 122 142 +f 129 124 142 +f 122 135 142 +f 135 129 142 +f 125 126 143 +f 136 125 143 +o convex_5 +v 2.802342 -2.017107 0.321808 +v 2.864208 -2.418569 -0.357651 +v 2.864208 -2.356791 -0.357651 +v 1.134403 -2.449426 -0.264937 +v 1.134403 -1.955329 -0.264937 +v 1.134403 -2.480283 0.321808 +v 2.925886 -1.924471 -0.295864 +v 3.018684 -2.418569 0.167374 +v 1.227202 -1.955329 0.229094 +v 3.049617 -1.831709 0.321808 +v 2.987751 -2.418569 -0.357651 +v 1.659700 -2.480283 0.290881 +v 1.196269 -2.480283 -0.141429 +v 1.134403 -2.356791 0.321808 +v 1.134403 -1.986249 0.229094 +v 2.833275 -1.893551 -0.172289 +v 3.049617 -1.955329 0.136447 +v 2.740664 -1.862693 0.321808 +v 2.956819 -2.387648 0.198234 +f 155 151 162 +f 146 145 147 +f 146 147 148 +f 148 147 149 +f 146 148 150 +f 149 144 153 +f 148 152 153 +f 145 146 154 +f 147 145 154 +f 146 150 154 +f 144 149 155 +f 154 151 155 +f 154 155 156 +f 149 147 156 +f 147 154 156 +f 155 149 156 +f 148 149 157 +f 149 153 157 +f 152 148 158 +f 148 157 158 +f 157 152 158 +f 150 148 159 +f 148 153 159 +f 153 150 159 +f 150 153 160 +f 153 151 160 +f 154 150 160 +f 151 154 160 +f 153 152 161 +f 152 157 161 +f 157 153 161 +f 153 144 162 +f 151 153 162 +f 144 155 162 +o convex_6 +v -1.089955 -2.109815 0.352765 +v -3.097403 -2.449432 -0.357717 +v -3.097403 -2.449432 -0.234134 +v -2.942953 -1.924438 -0.203255 +v -1.089955 -2.048003 -0.265012 +v -1.059025 -2.511244 -0.203255 +v -2.973683 -2.418527 0.352765 +v -1.553304 -1.924438 0.352765 +v -2.942953 -2.017155 0.352765 +v -1.059025 -2.480338 0.260060 +v -1.059025 -1.924438 0.167356 +v -1.059025 -1.986249 -0.234134 +v -1.398855 -2.511244 -0.234134 +v -1.059025 -1.924438 0.352765 +v -2.973683 -2.387678 -0.357717 +v -2.263294 -2.449432 0.321817 +v -1.244405 -2.511244 -0.234134 +v -2.510534 -2.480338 -0.265012 +v -1.924064 -2.449432 0.321817 +v -2.942953 -1.924438 -0.141429 +v -3.097403 -2.356773 -0.295891 +f 182 166 183 +f 169 163 170 +f 165 169 171 +f 169 170 171 +f 166 170 173 +f 172 168 173 +f 167 166 174 +f 168 167 174 +f 166 173 174 +f 173 168 174 +f 168 172 175 +f 170 163 176 +f 163 172 176 +f 173 170 176 +f 172 173 176 +f 164 166 177 +f 166 167 177 +f 175 172 178 +f 167 168 179 +f 175 164 179 +f 168 175 179 +f 164 177 179 +f 177 167 179 +f 165 164 180 +f 169 165 180 +f 164 175 180 +f 178 169 180 +f 175 178 180 +f 163 169 181 +f 172 163 181 +f 169 178 181 +f 178 172 181 +f 170 166 182 +f 171 170 182 +f 171 182 183 +f 164 165 183 +f 166 164 183 +f 165 171 183 +o convex_7 +v 0.794479 -1.800888 0.970576 +v 0.918133 -2.511162 -1.068200 +v 0.918133 -2.449411 -1.068200 +v -1.058611 -1.986280 -0.234010 +v -0.935172 -2.511162 0.939444 +v 0.948832 -2.511162 0.939644 +v 1.072486 -1.800888 -1.037267 +v -0.935172 -2.511162 -1.006135 +v -0.935172 -1.800888 0.970377 +v -0.966086 -1.800888 -0.975202 +v 1.134098 -2.480287 0.321585 +v 0.979745 -1.800888 0.939644 +v -1.058611 -2.511162 0.414184 +v 1.072486 -2.511162 -1.068200 +v 1.134098 -1.955335 -0.079545 +v -1.058611 -1.800888 0.414184 +v 1.041572 -1.955335 -1.068200 +v -1.058611 -2.511162 -0.203077 +v 1.103399 -1.800888 0.198053 +v -0.935172 -2.109781 0.970377 +v 1.134098 -2.356785 -0.264943 +v -0.935172 -2.202338 -1.006135 +v 1.134098 -1.986280 0.228985 +v -0.966086 -2.511162 0.908511 +v -0.410073 -1.800888 -1.006135 +f 200 205 208 +f 188 185 189 +f 186 185 191 +f 185 188 191 +f 184 190 192 +f 192 190 193 +f 184 189 195 +f 190 184 195 +f 189 194 195 +f 191 188 196 +f 185 186 197 +f 189 185 197 +f 194 189 197 +f 192 193 199 +f 193 187 199 +f 187 196 199 +f 197 186 200 +f 190 197 200 +f 193 191 201 +f 187 193 201 +f 196 187 201 +f 191 196 201 +f 190 195 202 +f 198 190 202 +f 188 189 203 +f 189 184 203 +f 184 192 203 +f 197 190 204 +f 194 197 204 +f 198 194 204 +f 190 198 204 +f 186 191 205 +f 191 193 205 +f 200 186 205 +f 195 194 206 +f 194 198 206 +f 202 195 206 +f 198 202 206 +f 196 188 207 +f 192 199 207 +f 199 196 207 +f 188 203 207 +f 203 192 207 +f 193 190 208 +f 190 200 208 +f 205 193 208 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/224/224.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/224/224.urdf new file mode 100644 index 000000000..b94ecc006 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/224/224.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/225/225.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/225/225.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/225/225.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/225/225.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/225/225.obj new file mode 100644 index 000000000..1c61fd2f8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/225/225.obj @@ -0,0 +1,747 @@ +o convex_0 +v -1.015144 -0.680487 -0.177722 +v -0.039357 -2.253827 -2.128315 +v -0.007841 -2.253827 -2.128315 +v -0.070874 -0.397296 -2.914375 +v 0.936022 -0.050949 1.050029 +v -0.070874 -2.159345 1.050445 +v -0.857765 0.326723 0.830015 +v 0.967539 -1.277942 -2.222309 +v 0.873193 0.326723 -1.215404 +v 0.778644 -2.033286 1.050029 +v -1.015144 -1.246364 -2.222309 +v -0.794733 -1.970383 1.050445 +v -0.826249 0.326723 -1.120994 +v -0.039357 -1.907227 -2.978008 +v -0.763216 -2.001961 -2.190701 +v 0.747331 -1.970383 -2.190701 +v 0.684298 -1.151883 -2.978008 +v 1.062088 0.326723 -0.208915 +v -0.794733 -1.183460 -2.946399 +v 0.999055 -1.246616 1.050445 +v -0.983627 -1.277942 1.050029 +v -0.983627 0.326723 -0.303325 +v 0.873193 0.326723 0.829599 +v -0.070874 -1.120557 -3.198438 +v -0.007841 0.326723 -1.561437 +v -0.889078 -0.145430 1.050029 +v 0.526920 -0.586006 -2.789187 +v 1.030571 -1.183713 -0.491730 +v -0.605838 -0.617584 -2.757163 +v -0.070874 -2.253827 -0.901396 +v 0.684298 -2.096189 1.050445 +v -0.039357 0.169339 1.050445 +v 0.967539 -1.151883 -2.285527 +v 0.558436 -1.718517 -2.789187 +v -0.700184 -2.033286 1.050445 +v -0.070874 -1.970130 -2.946399 +v -0.794733 -2.001961 -1.781866 +v -1.015144 -1.277942 -0.869787 +v -0.637354 -1.687192 -2.789187 +v 0.023472 -0.428874 -2.946399 +v 0.747331 -0.428621 -2.285527 +v -0.983627 0.326723 -0.020094 +v 0.999055 -1.215038 -1.939078 +v -0.794733 -0.460199 -2.222309 +v -0.133703 -0.428874 -2.946399 +v -1.015144 -1.151883 -2.190701 +v 0.023472 -1.970130 -2.946399 +v -1.015144 -1.151883 0.577561 +v -0.983627 -0.931847 1.050029 +v -0.070874 -1.246616 -3.198438 +v -0.794733 0.326723 -1.183379 +v 0.999055 -1.277942 -1.372616 +v -0.826249 -1.907480 1.050029 +v 0.117818 0.326723 0.955618 +v 0.526920 -2.064864 -2.190701 +v 0.715815 -1.215038 -2.946399 +v -0.794733 -1.246364 -2.946399 +v -0.920595 -1.624289 -1.718649 +v 0.999055 -0.837619 1.050445 +v 1.030571 -1.183713 0.074732 +v -0.039357 -2.221996 0.011099 +v -0.731700 -2.033286 -1.309814 +v 0.936022 0.326723 -0.964198 +v -0.857765 0.326723 -1.026583 +f 44 46 64 +f 7 9 13 +f 9 7 18 +f 12 6 20 +f 7 13 22 +f 5 18 23 +f 18 7 23 +f 13 9 25 +f 2 3 30 +f 16 10 31 +f 20 6 31 +f 10 20 31 +f 30 3 31 +f 12 20 32 +f 7 26 32 +f 26 12 32 +f 6 12 35 +f 3 2 36 +f 2 15 36 +f 11 15 37 +f 15 2 37 +f 35 12 37 +f 1 11 38 +f 36 15 39 +f 17 24 40 +f 4 25 40 +f 25 9 40 +f 9 27 40 +f 27 17 40 +f 27 9 41 +f 17 27 41 +f 9 33 41 +f 33 17 41 +f 22 1 42 +f 7 22 42 +f 26 7 42 +f 16 8 43 +f 18 28 43 +f 8 33 43 +f 33 18 43 +f 29 19 44 +f 24 19 45 +f 25 4 45 +f 19 29 45 +f 40 24 45 +f 4 40 45 +f 11 1 46 +f 19 11 46 +f 1 22 46 +f 44 19 46 +f 34 16 47 +f 3 36 47 +f 36 14 47 +f 1 38 48 +f 38 21 48 +f 42 1 48 +f 42 48 49 +f 21 12 49 +f 12 26 49 +f 26 42 49 +f 48 21 49 +f 24 17 50 +f 19 24 50 +f 14 36 50 +f 47 14 50 +f 17 47 50 +f 13 25 51 +f 44 13 51 +f 29 44 51 +f 25 45 51 +f 45 29 51 +f 10 16 52 +f 28 10 52 +f 16 43 52 +f 43 28 52 +f 12 21 53 +f 37 12 53 +f 21 38 53 +f 5 23 54 +f 23 7 54 +f 32 5 54 +f 7 32 54 +f 31 3 55 +f 16 31 55 +f 3 47 55 +f 47 16 55 +f 8 16 56 +f 17 33 56 +f 33 8 56 +f 16 34 56 +f 47 17 56 +f 34 47 56 +f 15 11 57 +f 11 19 57 +f 39 15 57 +f 36 39 57 +f 19 50 57 +f 50 36 57 +f 11 37 58 +f 38 11 58 +f 37 53 58 +f 53 38 58 +f 18 5 59 +f 20 18 59 +f 5 32 59 +f 32 20 59 +f 20 10 60 +f 18 20 60 +f 10 28 60 +f 28 18 60 +f 31 6 61 +f 30 31 61 +f 6 35 61 +f 35 30 61 +f 2 30 62 +f 30 35 62 +f 37 2 62 +f 35 37 62 +f 9 18 63 +f 33 9 63 +f 18 33 63 +f 22 13 64 +f 13 44 64 +f 46 22 64 +o convex_1 +v 0.684390 0.327284 -1.278289 +v 0.054841 0.358961 0.956025 +v 0.023492 0.358961 0.956025 +v 0.054841 3.883448 -0.208712 +v -0.857639 0.327284 -1.026694 +v 0.935972 0.327284 0.735669 +v -0.763197 1.838027 0.609511 +v 0.778832 3.348074 -0.114274 +v -0.070950 3.316745 -0.932016 +v 0.054841 3.316397 0.609752 +v -0.731848 3.411079 -0.177232 +v -0.889185 0.327284 0.703950 +v 1.030612 1.617681 -0.397107 +v -0.007857 0.390290 -1.498885 +v 0.778832 1.900684 -0.994975 +v -0.983627 1.932361 -0.145753 +v -0.731848 1.838027 -0.963495 +v 0.904623 0.327284 -1.120892 +v 0.810181 1.900684 0.578032 +v 0.117934 3.348074 -0.932016 +v 0.054841 1.964038 0.830107 +v -0.763197 0.358961 0.861346 +v -0.983627 0.327284 -0.302669 +v 1.030612 2.026696 -0.177232 +v 1.030414 0.327284 -0.428587 +v 0.778832 3.348074 -0.271430 +v -0.542963 3.002065 0.420876 +v 0.841727 0.390290 0.829867 +v -0.794743 0.327284 -1.183851 +v 0.621297 2.970388 0.389396 +v -0.542963 3.002065 -0.743140 +v 0.589947 3.001717 -0.774619 +v -0.007857 3.442408 0.515314 +v 0.086388 0.358961 -1.498885 +v 1.030414 0.327284 0.042883 +v -0.983627 1.838027 -0.239951 +v 0.054841 3.851423 -0.082794 +v -0.731848 3.348074 -0.082794 +v -0.007857 3.285068 0.609752 +v -0.983627 0.327284 -0.019835 +v 0.023492 3.410731 -0.932016 +v 0.841727 0.453295 -1.215330 +v 1.030612 1.491670 0.043123 +v 0.054841 3.442408 0.515314 +v -0.070950 3.851423 -0.177232 +v 0.054841 3.159057 -0.994975 +v 0.935972 1.900684 -0.585983 +v -0.322533 1.176990 0.861346 +v 0.747285 0.327284 0.861346 +v -0.007857 3.316745 -0.963495 +v -0.857639 0.421618 0.798388 +v -0.794743 0.579306 -1.152612 +v -0.574510 0.327284 0.892826 +v -0.668755 3.442408 -0.114274 +v 0.841727 1.869356 0.515314 +v -0.007857 0.327632 -1.498885 +v 0.810181 1.838027 -0.963495 +v -0.763197 3.285416 -0.177232 +v -0.007857 3.851423 -0.271430 +v -0.920535 0.641964 0.515314 +v 0.999065 2.215016 -0.239951 +v 0.904623 0.453295 0.798388 +v 0.054841 3.410731 -0.932016 +v -0.637405 3.190734 -0.491545 +f 81 122 128 +f 69 65 70 +f 69 70 76 +f 70 65 82 +f 67 66 85 +f 69 76 87 +f 70 82 89 +f 82 77 89 +f 68 72 90 +f 74 85 92 +f 65 69 93 +f 74 83 94 +f 83 72 94 +f 73 81 95 +f 79 84 96 +f 90 79 96 +f 84 90 96 +f 70 89 99 +f 69 87 100 +f 87 80 100 +f 72 68 101 +f 80 71 102 +f 71 91 102 +f 91 97 102 +f 85 74 103 +f 71 86 103 +f 91 71 103 +f 74 97 103 +f 97 91 103 +f 87 76 104 +f 80 87 104 +f 73 75 105 +f 82 65 106 +f 65 98 106 +f 98 79 106 +f 77 88 107 +f 89 77 107 +f 70 99 107 +f 99 89 107 +f 94 72 108 +f 74 94 108 +f 97 74 108 +f 72 101 108 +f 101 97 108 +f 101 68 109 +f 97 101 109 +f 84 79 110 +f 79 98 110 +f 98 78 110 +f 67 85 112 +f 85 103 112 +f 103 86 112 +f 76 70 113 +f 85 66 113 +f 70 92 113 +f 92 85 113 +f 81 73 114 +f 78 81 114 +f 73 105 114 +f 110 78 114 +f 86 71 115 +f 76 86 115 +f 81 78 116 +f 93 69 116 +f 78 93 116 +f 100 81 116 +f 69 100 116 +f 66 67 117 +f 86 76 117 +f 67 112 117 +f 112 86 117 +f 113 66 117 +f 76 113 117 +f 75 102 118 +f 102 97 118 +f 109 75 118 +f 97 109 118 +f 72 83 119 +f 88 72 119 +f 107 88 119 +f 65 93 120 +f 93 78 120 +f 98 65 120 +f 78 98 120 +f 77 82 121 +f 79 90 121 +f 82 106 121 +f 106 79 121 +f 111 77 121 +f 90 111 121 +f 100 80 122 +f 81 100 122 +f 102 75 122 +f 80 102 122 +f 105 75 123 +f 75 109 123 +f 109 68 123 +f 71 80 124 +f 104 76 124 +f 80 104 124 +f 115 71 124 +f 76 115 124 +f 88 77 125 +f 72 88 125 +f 90 72 125 +f 77 111 125 +f 111 90 125 +f 83 74 126 +f 92 70 126 +f 74 92 126 +f 70 107 126 +f 119 83 126 +f 107 119 126 +f 68 90 127 +f 90 84 127 +f 84 110 127 +f 114 105 127 +f 110 114 127 +f 105 123 127 +f 123 68 127 +f 75 73 128 +f 73 95 128 +f 95 81 128 +f 122 75 128 +o convex_2 +v 0.023423 -2.663120 1.491069 +v 0.086406 -2.379892 2.214882 +v 0.212256 -2.379892 2.151896 +v 0.180823 -4.110480 2.057522 +v -0.228218 -4.142046 1.931620 +v 0.243747 -4.110480 1.585584 +v -0.291260 -2.379892 1.805860 +v 0.306731 -2.379892 1.711486 +v -0.165352 -4.142046 1.648500 +v -0.196726 -2.411458 2.183353 +v -0.039385 -3.921777 2.151896 +v -0.228218 -2.379892 1.554127 +v 0.275239 -4.110480 1.837318 +v 0.243747 -2.379892 1.554127 +v 0.023423 -4.142046 1.554127 +v -0.196726 -4.110480 2.088980 +v 0.306731 -2.442851 1.931620 +v -0.259768 -2.379892 2.088980 +v 0.117839 -2.379892 1.491069 +v -0.228218 -4.142046 1.837318 +v 0.243747 -2.474416 2.120438 +v 0.054914 -3.858818 2.151896 +v -0.039385 -2.631727 2.214882 +v -0.070877 -2.442851 1.491069 +v -0.291260 -2.442851 1.931620 +v 0.243747 -4.142046 1.805860 +v 0.117839 -4.110480 1.554127 +v 0.054914 -4.110480 2.120438 +v 0.275239 -2.411458 1.585584 +f 142 136 157 +f 130 131 135 +f 135 131 136 +f 135 136 140 +f 134 136 141 +f 140 136 142 +f 133 137 143 +f 137 140 143 +f 139 138 144 +f 136 131 145 +f 141 136 145 +f 130 135 146 +f 138 130 146 +f 144 138 146 +f 142 134 147 +f 140 142 147 +f 137 133 148 +f 135 140 148 +f 140 137 148 +f 131 132 149 +f 132 141 149 +f 145 131 149 +f 141 145 149 +f 131 130 150 +f 132 131 150 +f 139 150 151 +f 130 138 151 +f 138 139 151 +f 150 130 151 +f 129 143 152 +f 143 140 152 +f 147 129 152 +f 140 147 152 +f 133 144 153 +f 146 135 153 +f 144 146 153 +f 148 133 153 +f 135 148 153 +f 141 132 154 +f 134 141 154 +f 133 143 154 +f 143 134 154 +f 143 129 155 +f 134 143 155 +f 129 147 155 +f 147 134 155 +f 144 133 156 +f 139 144 156 +f 132 150 156 +f 150 139 156 +f 154 132 156 +f 133 154 156 +f 136 134 157 +f 134 142 157 +o convex_3 +v 0.810106 -0.397126 2.246309 +v -0.983600 -1.246351 1.050445 +v -0.826199 -1.907298 1.050445 +v -0.731681 -1.215054 2.560992 +v 0.778664 -2.033227 1.050445 +v -0.007756 0.137890 1.050620 +v 0.652899 -1.970386 2.560992 +v -0.668799 -0.365829 2.497950 +v -0.259674 -2.379719 2.183267 +v 0.936065 -0.051128 1.050445 +v 0.086374 -0.365829 2.749942 +v -0.889082 -0.145513 1.050445 +v -0.007756 0.137890 2.246309 +v 0.999141 -1.215054 1.900193 +v -0.007756 -1.938842 2.749942 +v 0.275022 -2.379719 1.522644 +v -0.668799 -1.907298 2.435083 +v -0.983600 -1.183510 1.837327 +v 0.715782 -1.120914 2.655467 +v 0.338098 0.137890 2.151834 +v -0.039391 -1.058073 2.844417 +v 0.999141 -1.246598 1.050445 +v 0.873182 -1.970386 1.900193 +v -0.322751 0.137890 1.931802 +v 0.684340 -0.365582 2.560992 +v -0.857640 -1.907298 1.837327 +v 0.212139 -2.379719 2.183267 +v -0.700240 -2.033227 1.050445 +v -0.920523 -0.428670 1.837327 +v -0.070832 -2.379719 1.459602 +v 0.936065 -0.334285 1.837502 +v 0.054933 -2.159157 1.050620 +v -0.322751 -2.379719 1.806069 +v 0.400981 -2.347929 1.868760 +v 0.778664 -1.183510 2.592425 +v 0.086374 -1.183510 2.844417 +v -0.826199 -0.082425 1.145095 +v -0.165156 -0.365829 2.718509 +v 0.715782 -1.718526 2.592425 +v -0.983600 -0.932143 1.050445 +v -0.731681 -1.026529 2.560992 +v -0.637357 -1.907298 2.497950 +v 0.023492 -2.379719 2.277567 +v 0.495499 -0.082425 2.372042 +v 0.904623 -1.907298 1.868760 +v 0.999141 -0.994985 1.868760 +v 0.369540 0.137890 1.805894 +v 0.212139 -1.938842 2.718509 +v 0.715782 -2.096069 1.082053 +v 0.999141 -0.837757 1.050445 +v -0.228233 0.137890 2.151834 +v -0.291115 0.137890 1.554077 +v -0.007756 -1.812912 2.781375 +v 0.841741 -2.001683 1.365303 +v -0.889082 -1.812912 1.806069 +v -0.731681 -2.033227 1.082053 +v 0.873182 -0.019583 1.050445 +v -0.700240 -0.586144 2.529559 +v -0.983600 -1.058073 1.837327 +v 0.715782 -1.907298 2.529559 +v -0.857640 -0.365829 1.962884 +v -0.228233 -2.379719 1.554077 +v -0.826199 -0.082425 1.050445 +v -0.039391 -1.215054 2.844417 +f 210 193 221 +f 160 159 162 +f 162 159 167 +f 167 159 169 +f 174 161 175 +f 163 170 177 +f 162 167 179 +f 170 163 181 +f 168 176 182 +f 166 174 183 +f 166 173 184 +f 160 162 185 +f 173 166 187 +f 182 158 188 +f 185 162 189 +f 173 187 189 +f 187 185 189 +f 166 183 190 +f 187 166 190 +f 180 164 191 +f 164 184 191 +f 184 173 191 +f 158 182 192 +f 182 176 192 +f 176 168 193 +f 168 178 193 +f 168 170 195 +f 178 168 195 +f 192 176 196 +f 176 193 196 +f 169 159 197 +f 159 175 197 +f 186 169 197 +f 175 161 198 +f 161 178 198 +f 166 172 199 +f 161 174 199 +f 174 166 199 +f 172 166 200 +f 166 184 200 +f 184 164 200 +f 170 168 201 +f 167 177 201 +f 177 170 201 +f 168 182 201 +f 188 167 201 +f 182 188 201 +f 179 171 202 +f 171 179 203 +f 188 158 203 +f 167 188 203 +f 192 171 203 +f 158 192 203 +f 163 177 204 +f 164 196 205 +f 196 193 205 +f 172 200 205 +f 200 164 205 +f 189 162 206 +f 173 189 206 +f 191 173 206 +f 179 167 207 +f 167 203 207 +f 203 179 207 +f 181 165 208 +f 170 181 208 +f 165 195 208 +f 195 170 208 +f 181 163 209 +f 161 199 210 +f 199 172 210 +f 172 205 210 +f 205 193 210 +f 162 179 211 +f 180 191 211 +f 179 202 211 +f 202 180 211 +f 206 162 211 +f 191 206 211 +f 159 160 212 +f 175 159 212 +f 174 175 212 +f 160 183 212 +f 183 174 212 +f 183 160 213 +f 160 185 213 +f 190 183 213 +f 167 169 214 +f 177 167 214 +f 163 204 214 +f 204 177 214 +f 165 186 215 +f 195 165 215 +f 178 195 215 +f 198 178 215 +f 198 215 216 +f 197 175 216 +f 186 197 216 +f 175 198 216 +f 215 186 216 +f 164 180 217 +f 171 192 217 +f 196 164 217 +f 192 196 217 +f 202 171 217 +f 180 202 217 +f 165 181 218 +f 186 165 218 +f 169 186 218 +f 194 169 218 +f 181 194 218 +f 185 187 219 +f 187 190 219 +f 213 185 219 +f 190 213 219 +f 169 194 220 +f 194 181 220 +f 209 163 220 +f 181 209 220 +f 163 214 220 +f 214 169 220 +f 178 161 221 +f 193 178 221 +f 161 210 221 +o convex_4 +v -0.196803 0.138137 1.522669 +v 0.054921 0.201188 2.246349 +v 0.023472 0.201188 2.246349 +v -0.039425 1.837690 1.805918 +v 0.369677 0.138137 1.805918 +v -0.322733 0.138137 1.931602 +v -0.259768 1.585818 1.900104 +v 0.117885 1.459715 2.026018 +v 0.117885 1.365555 1.648506 +v 0.275196 0.138137 1.554090 +v -0.102390 1.617260 1.617085 +v 0.306712 0.138137 2.151932 +v 0.180783 1.522933 1.805918 +v -0.291217 0.169746 1.585588 +v -0.196803 1.428273 2.026018 +v 0.023472 0.169746 1.459596 +v -0.259768 0.138137 2.088937 +v -0.007977 1.491158 2.088937 +v -0.259768 1.585818 1.805918 +v 0.306712 0.264073 2.151932 +v -0.228252 0.484502 2.120435 +v -0.228252 1.428273 1.680004 +v -0.322733 0.484502 1.837339 +v -0.007977 1.554375 1.617085 +v -0.102390 1.837690 1.868683 +v 0.369677 0.169746 1.900104 +v -0.039425 1.617260 2.057516 +v 0.180783 1.491158 1.868683 +v -0.039425 0.201188 1.459596 +v 0.023472 1.774472 1.868683 +v 0.212299 0.452893 1.554090 +v -0.070941 1.396831 2.088937 +v -0.070941 0.138137 2.214851 +f 242 238 254 +f 222 226 227 +f 226 222 231 +f 227 226 233 +f 226 231 234 +f 231 230 234 +f 222 227 235 +f 232 222 235 +f 231 222 237 +f 228 227 238 +f 227 233 238 +f 224 223 239 +f 223 233 241 +f 239 223 241 +f 229 239 241 +f 236 228 242 +f 228 238 242 +f 232 235 243 +f 240 232 243 +f 235 240 243 +f 227 228 244 +f 235 227 244 +f 228 240 244 +f 240 235 244 +f 232 225 245 +f 225 234 245 +f 234 230 245 +f 237 232 245 +f 225 232 246 +f 240 228 246 +f 232 240 246 +f 233 226 247 +f 226 234 247 +f 241 233 247 +f 228 236 248 +f 239 229 248 +f 246 228 248 +f 229 241 249 +f 247 234 249 +f 241 247 249 +f 222 232 250 +f 237 222 250 +f 232 237 250 +f 234 225 251 +f 225 246 251 +f 248 229 251 +f 246 248 251 +f 229 249 251 +f 249 234 251 +f 230 231 252 +f 231 237 252 +f 245 230 252 +f 237 245 252 +f 224 239 253 +f 242 224 253 +f 236 242 253 +f 248 236 253 +f 239 248 253 +f 223 224 254 +f 233 223 254 +f 238 233 254 +f 224 242 254 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/225/225.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/225/225.urdf new file mode 100644 index 000000000..39ae4db45 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/225/225.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/226/226.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/226/226.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/226/226.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/226/226.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/226/226.obj new file mode 100644 index 000000000..34c1107a4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/226/226.obj @@ -0,0 +1,369 @@ +o convex_0 +v 0.624759 -4.288116 -0.963692 +v -1.079626 -6.066548 0.925856 +v -1.079626 -6.066548 1.074100 +v 1.106712 -5.992286 1.074100 +v -0.968340 -3.880424 1.036884 +v -0.968340 -5.992072 -1.038124 +v 1.069474 -3.880424 1.074100 +v 1.069474 -5.955049 -0.963899 +v -0.968340 -3.880424 -0.963899 +v 0.958188 -3.880424 -0.926889 +v -1.005364 -4.213853 -0.741635 +v 0.995426 -6.029096 0.999875 +v -0.264243 -5.992072 -1.038124 +v 1.069474 -3.880424 0.592151 +v -0.968340 -4.140019 -1.000908 +v -1.005364 -5.992072 -0.926889 +v -1.005364 -4.176829 1.036884 +v -0.968340 -6.066548 0.555142 +v 0.661997 -5.992072 -0.630193 +v 1.069474 -5.732905 -0.963899 +v 1.106712 -5.325213 0.999875 +v 0.995426 -3.880424 -0.667410 +v 0.439425 -3.880424 1.074100 +v -0.857268 -5.139880 -1.038124 +v -1.079626 -5.918239 1.074100 +v 0.143234 -3.880424 -0.963692 +v -0.338505 -6.066548 1.036884 +v -1.042388 -5.510547 1.074100 +v 1.106712 -5.992286 0.629367 +v 1.032450 -5.325213 -0.963692 +v -0.449577 -5.473309 -1.038124 +v -1.005364 -6.029310 -0.408137 +v 1.069474 -5.992286 -0.222676 +v 0.995426 -4.214067 -0.926889 +v -1.005364 -4.250877 -0.778645 +v 0.995426 -6.029096 1.074100 +f 27 12 36 +f 3 4 7 +f 5 7 9 +f 9 7 10 +f 10 7 14 +f 15 6 16 +f 5 9 17 +f 9 11 17 +f 3 2 18 +f 13 8 19 +f 18 13 19 +f 8 13 20 +f 20 14 21 +f 7 4 21 +f 14 7 21 +f 10 14 22 +f 14 20 22 +f 3 7 23 +f 7 5 23 +f 13 6 24 +f 6 15 24 +f 2 3 25 +f 17 11 25 +f 3 23 25 +f 9 10 26 +f 10 1 26 +f 15 9 26 +f 24 15 26 +f 3 18 27 +f 19 12 27 +f 18 19 27 +f 5 17 28 +f 23 5 28 +f 17 25 28 +f 25 23 28 +f 4 12 29 +f 8 20 29 +f 20 21 29 +f 21 4 29 +f 1 10 30 +f 20 13 30 +f 13 24 31 +f 26 1 31 +f 24 26 31 +f 1 30 31 +f 30 13 31 +f 6 13 32 +f 2 16 32 +f 16 6 32 +f 18 2 32 +f 13 18 32 +f 19 8 33 +f 12 19 33 +f 29 12 33 +f 8 29 33 +f 10 22 34 +f 22 20 34 +f 30 10 34 +f 20 30 34 +f 11 9 35 +f 9 15 35 +f 16 2 35 +f 15 16 35 +f 2 25 35 +f 25 11 35 +f 4 3 36 +f 12 4 36 +f 3 27 36 +o convex_1 +v 0.921347 0.640002 1.074100 +v -1.116668 -0.545924 -1.037943 +v -0.968359 -3.879644 -0.963888 +v 0.995394 1.269743 -1.037943 +v -1.005383 1.900049 1.036863 +v 1.069442 -3.879644 1.074100 +v -0.968359 -3.879644 1.036863 +v 0.958371 -3.879644 -0.926860 +v -0.968359 1.900049 -1.075181 +v 1.069656 1.900615 0.999835 +v 0.995394 1.900049 -1.000705 +v -1.116668 -0.286220 1.074100 +v 0.958371 -0.323563 -1.075181 +v 1.032418 -2.063978 -0.926860 +v -1.116668 0.269400 -1.037943 +v -1.005383 -3.657283 1.036863 +v 1.069656 1.900615 0.406973 +v 1.069442 -3.249338 0.258442 +v -1.005383 -3.768747 -0.963888 +v -0.708979 1.714465 1.074100 +v 0.143207 -3.879644 -0.963888 +v -0.115958 -0.063859 -1.075181 +v -1.116668 0.157937 1.074100 +v 1.069656 1.715031 1.036863 +v 0.476635 -3.879644 1.074100 +v 1.032418 1.900049 -0.556374 +v 0.995394 -3.842301 -0.704274 +v 0.958371 0.417641 -1.075181 +v -1.042407 1.122068 -1.075181 +v 1.069442 -1.915737 0.073305 +v -1.042407 1.418549 1.074100 +v -1.005383 1.900049 0.443791 +v -0.634932 1.900049 -1.075181 +v 1.069442 -3.879644 0.592322 +v 0.773038 1.900049 1.036863 +v -1.079430 -1.656033 -0.630429 +v -1.079430 -0.694165 1.074100 +v -1.116668 -0.434461 0.517846 +v 1.069656 -1.508358 1.074100 +v 1.032418 -1.730153 -0.926860 +v 0.995394 -3.397579 -0.926860 +v 0.995394 -0.842406 -1.037943 +v -1.005383 1.566224 -1.075181 +f 51 68 79 +f 39 42 43 +f 42 39 44 +f 42 37 48 +f 38 48 51 +f 41 46 53 +f 38 39 55 +f 39 43 55 +f 43 52 55 +f 48 37 56 +f 44 39 57 +f 39 49 57 +f 49 44 57 +f 39 38 58 +f 49 39 58 +f 45 49 58 +f 51 48 59 +f 48 56 59 +f 53 46 60 +f 56 37 60 +f 43 42 61 +f 42 48 61 +f 47 53 62 +f 40 49 64 +f 49 45 64 +f 38 51 65 +f 58 38 65 +f 45 58 65 +f 54 50 66 +f 53 54 66 +f 56 41 67 +f 51 59 67 +f 59 56 67 +f 41 53 68 +f 53 45 68 +f 67 41 68 +f 51 67 68 +f 47 40 69 +f 45 53 69 +f 53 47 69 +f 40 64 69 +f 64 45 69 +f 42 44 70 +f 44 63 70 +f 63 54 70 +f 46 41 71 +f 41 56 71 +f 60 46 71 +f 56 60 71 +f 38 55 72 +f 55 52 72 +f 52 43 73 +f 48 52 73 +f 43 61 73 +f 61 48 73 +f 48 38 74 +f 52 48 74 +f 38 72 74 +f 72 52 74 +f 37 42 75 +f 54 53 75 +f 60 37 75 +f 53 60 75 +f 42 70 75 +f 70 54 75 +f 40 47 76 +f 50 40 76 +f 47 62 76 +f 62 53 76 +f 66 50 76 +f 53 66 76 +f 50 54 77 +f 63 44 77 +f 54 63 77 +f 44 49 78 +f 49 40 78 +f 40 50 78 +f 77 44 78 +f 50 77 78 +f 45 65 79 +f 65 51 79 +f 68 45 79 +o convex_2 +v 0.143227 6.088007 -0.889862 +v -1.116682 3.864787 -1.112237 +v -1.079466 3.346282 -1.112237 +v -1.005469 1.900615 1.037044 +v 0.995499 1.900615 -1.000944 +v 1.106712 5.976519 1.037044 +v -1.005469 5.976519 0.925540 +v 1.069496 1.900615 0.999806 +v 0.995499 6.050708 -1.037972 +v -1.042468 6.088007 -1.074999 +v -0.968253 1.900615 -1.074999 +v 1.032497 3.902087 -1.112237 +v 1.069496 3.975866 -1.037972 +v -1.042468 3.976276 0.962778 +v 0.736074 1.900615 1.037044 +v -1.079466 5.458013 -1.112237 +v 0.550646 5.976519 1.037044 +v -1.116682 4.123835 -0.704513 +v -1.005469 2.753587 1.037044 +v -1.005469 6.013818 0.703165 +v 1.069496 1.900615 0.406734 +v 0.995499 6.013408 0.666137 +v -0.116198 6.088007 -1.074999 +v 1.106712 5.754360 0.740192 +v -0.671829 5.976519 0.962778 +v -1.042468 6.088007 -0.704513 +v 1.032497 6.050708 -0.556193 +v -0.597832 1.900615 -1.074999 +v 1.032497 2.531019 -1.037972 +v -1.042468 6.050708 -0.148679 +v -1.005469 1.900615 0.555055 +v -1.116682 4.605041 -1.074999 +v -1.005469 3.160604 -1.112237 +v 1.032497 4.012346 -1.112237 +v 0.476649 6.088007 -1.000944 +v 1.032497 5.420713 -0.963917 +v -1.079466 5.643281 -1.037972 +v 1.032497 1.900615 -0.593431 +v 1.069496 3.753708 -0.963917 +v -1.005469 2.308451 -1.074999 +v 0.847287 6.013818 0.703165 +v 1.032497 6.050708 -0.259762 +v 0.291438 1.900615 -1.037972 +v -1.116682 4.049646 -0.704513 +v 1.032497 5.050177 -1.074999 +v -0.560616 6.088007 -0.704513 +v 1.106712 5.679761 0.740192 +f 100 118 126 +f 83 84 87 +f 84 83 90 +f 82 81 91 +f 85 83 94 +f 83 87 94 +f 87 85 94 +f 91 81 95 +f 83 85 96 +f 93 86 97 +f 93 83 98 +f 86 93 98 +f 83 96 98 +f 96 85 99 +f 87 84 100 +f 89 80 102 +f 95 89 102 +f 86 98 104 +f 98 96 104 +f 99 86 104 +f 96 99 104 +f 80 89 105 +f 85 103 106 +f 84 90 107 +f 91 92 108 +f 86 99 109 +f 99 105 109 +f 81 82 110 +f 83 81 110 +f 90 83 110 +f 95 81 111 +f 81 97 111 +f 97 86 111 +f 86 109 111 +f 90 82 112 +f 82 91 112 +f 107 90 112 +f 91 107 112 +f 92 91 113 +f 91 95 113 +f 95 102 113 +f 102 80 114 +f 88 102 114 +f 106 88 114 +f 103 92 115 +f 88 106 115 +f 106 103 115 +f 89 95 116 +f 105 89 116 +f 109 105 116 +f 95 111 116 +f 111 109 116 +f 100 84 117 +f 84 108 117 +f 117 108 118 +f 108 92 118 +f 100 117 118 +f 82 90 119 +f 110 82 119 +f 90 110 119 +f 99 85 120 +f 101 80 120 +f 85 101 120 +f 105 99 120 +f 80 101 121 +f 101 85 121 +f 85 106 121 +f 114 80 121 +f 106 114 121 +f 84 107 122 +f 107 91 122 +f 91 108 122 +f 108 84 122 +f 81 83 123 +f 83 93 123 +f 97 81 123 +f 93 97 123 +f 102 88 124 +f 92 113 124 +f 113 102 124 +f 88 115 124 +f 115 92 124 +f 80 105 125 +f 120 80 125 +f 105 120 125 +f 85 87 126 +f 87 100 126 +f 103 85 126 +f 92 103 126 +f 118 92 126 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/226/226.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/226/226.urdf new file mode 100644 index 000000000..d00813563 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/226/226.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/227/227.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/227/227.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/227/227.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/227/227.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/227/227.obj new file mode 100644 index 000000000..2e54b8e3e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/227/227.obj @@ -0,0 +1,312 @@ +o convex_0 +v 0.396362 -3.551550 -0.038194 +v -0.370974 -3.578147 0.014674 +v -0.370974 -3.578147 0.041072 +v 0.025838 -5.218523 -0.011724 +v 0.078717 -3.604744 0.385112 +v -0.000526 -3.551550 -0.355765 +v 0.025838 -4.980291 0.226291 +v -0.000526 -4.980291 -0.196943 +v -0.265068 -3.551550 0.305701 +v -0.185750 -4.980291 0.041072 +v -0.291582 -3.604744 -0.249884 +v 0.211063 -4.980291 0.067469 +v 0.316970 -3.578147 -0.276354 +v 0.316970 -3.551550 0.279231 +v 0.184624 -4.821524 -0.144075 +v -0.185750 -4.927259 -0.064664 +v -0.026965 -4.980291 0.226291 +v 0.396362 -3.631015 0.067469 +v 0.290456 -3.631015 0.305701 +v -0.026965 -3.551550 0.385112 +v 0.052278 -4.980291 -0.196943 +v 0.211063 -4.980291 -0.011724 +v -0.159236 -4.768656 0.173423 +v -0.185750 -4.450958 -0.196943 +v 0.158109 -4.742222 0.199893 +v -0.291582 -3.551550 -0.249884 +v 0.052278 -3.578147 -0.355765 +v -0.265068 -3.604744 0.305701 +v -0.000526 -5.218523 0.041072 +v 0.263941 -4.292681 -0.170545 +v 0.396362 -3.657449 -0.011724 +v -0.212189 -4.821524 0.041072 +v -0.000526 -3.657449 0.385112 +v 0.237502 -4.874228 0.014674 +v -0.079843 -5.139058 -0.011724 +v -0.026965 -4.953857 -0.196943 +v -0.238628 -4.081046 -0.223413 +v 0.316970 -3.604744 0.279231 +v 0.343334 -3.551550 -0.223413 +v -0.212189 -3.578147 0.332172 +v -0.159236 -4.821524 -0.144075 +v -0.212189 -4.847795 -0.011724 +f 10 32 42 +f 1 6 9 +f 1 9 14 +f 1 14 18 +f 5 7 19 +f 14 5 19 +f 5 14 20 +f 14 9 20 +f 4 8 21 +f 13 15 21 +f 21 15 22 +f 12 4 22 +f 4 21 22 +f 10 17 23 +f 7 12 25 +f 19 7 25 +f 2 3 26 +f 3 9 26 +f 9 6 26 +f 11 2 26 +f 6 11 26 +f 8 6 27 +f 6 13 27 +f 21 8 27 +f 13 21 27 +f 9 3 28 +f 23 17 28 +f 4 12 29 +f 12 7 29 +f 7 17 29 +f 17 10 29 +f 15 13 30 +f 22 15 30 +f 1 18 31 +f 10 23 32 +f 28 3 32 +f 23 28 32 +f 7 5 33 +f 17 7 33 +f 5 20 33 +f 18 12 34 +f 12 22 34 +f 22 30 34 +f 30 31 34 +f 31 18 34 +f 8 4 35 +f 10 16 35 +f 4 29 35 +f 29 10 35 +f 6 8 36 +f 8 35 36 +f 35 16 36 +f 11 6 37 +f 16 11 37 +f 6 36 37 +f 36 24 37 +f 12 18 38 +f 18 14 38 +f 14 19 38 +f 25 12 38 +f 19 25 38 +f 6 1 39 +f 13 6 39 +f 30 13 39 +f 31 30 39 +f 1 31 39 +f 20 9 40 +f 9 28 40 +f 28 17 40 +f 17 33 40 +f 33 20 40 +f 24 36 41 +f 36 16 41 +f 16 37 41 +f 37 24 41 +f 3 2 42 +f 2 11 42 +f 16 10 42 +f 11 16 42 +f 32 3 42 +o convex_1 +v -0.026825 -3.259613 -0.673203 +v 0.078681 0.524180 1.046405 +v 0.052304 0.524180 1.046405 +v -0.026825 4.490942 -0.434852 +v 1.031190 -0.269498 -0.038145 +v -0.979334 -0.323169 0.093818 +v 0.078681 -3.259613 0.675886 +v -0.053399 1.157658 -1.017125 +v -0.026825 4.517777 0.384954 +v 0.766637 2.004193 0.755269 +v 0.687311 1.978171 -0.752381 +v 0.687311 -2.572464 -0.752381 +v 0.766637 -2.572464 0.676091 +v -0.741355 2.004193 -0.699596 +v -0.688405 1.898478 0.781866 +v -0.635455 -2.545629 0.728876 +v -0.688405 -2.518793 -0.672999 +v -0.926581 2.109909 0.041033 +v 0.343234 4.543799 0.014640 +v 0.951864 2.004193 -0.038145 +v -0.635455 -3.286448 0.067425 +v 0.396184 -3.551550 -0.064538 +v -0.397278 4.491755 -0.037940 +v -0.026825 -2.306549 -0.964135 +v 0.078681 2.083073 0.993415 +v 0.951864 -2.572464 -0.064538 +v 0.105254 -2.544815 0.940426 +v 0.740260 -0.349191 -0.831968 +v 0.819587 -0.507764 0.781866 +v -0.873631 -2.571651 0.067425 +v -0.741355 -0.693172 -0.752381 +v -0.026825 2.004193 -0.990732 +v -0.714781 -0.587457 0.808463 +v -0.317952 -3.551550 -0.249695 +v -0.265002 -3.551550 0.305572 +v -0.000449 -0.587457 -1.043517 +v 0.555034 -3.259613 0.490934 +v 0.502084 -3.339306 -0.488046 +v -0.952958 -0.296333 -0.117323 +v 0.052304 -0.613479 1.046405 +v 0.687311 -3.285635 0.041033 +v -0.053399 4.756042 -0.064333 +v -0.688405 2.083887 0.755473 +v -0.503178 -3.259613 -0.487841 +v -0.450228 -3.286448 0.517326 +v 0.263907 4.333182 -0.302684 +v -0.291575 4.306346 -0.355674 +v 0.263907 4.280324 0.331965 +v 0.660934 2.031029 -0.778978 +v 0.316857 -3.551550 0.305572 +v -0.317952 4.306346 0.252582 +v -0.026825 -2.597673 -0.937538 +v -0.529555 -0.296333 -0.858360 +v -0.026825 2.030216 0.993415 +v -0.714781 2.004193 -0.725988 +v -0.952958 1.765928 0.041033 +v -0.714781 0.470509 0.808463 +v -0.873631 -2.545629 -0.038145 +v 0.052304 -3.550737 -0.382067 +v -0.079775 4.517777 0.384954 +v 0.025928 -2.544815 0.940426 +v 0.951864 -2.465935 0.014640 +v -0.397278 4.491755 -0.090930 +v 0.819587 0.073670 0.781866 +f 44 71 106 +f 53 61 62 +f 52 47 62 +f 61 52 62 +f 45 44 67 +f 44 52 67 +f 52 51 67 +f 49 55 69 +f 53 62 70 +f 62 47 70 +f 47 68 70 +f 68 54 70 +f 69 55 71 +f 63 58 72 +f 66 59 73 +f 48 72 75 +f 72 58 75 +f 76 64 77 +f 63 76 77 +f 54 66 78 +f 70 54 78 +f 50 74 78 +f 74 70 78 +f 55 49 79 +f 43 54 80 +f 54 68 80 +f 56 73 81 +f 73 59 81 +f 44 45 82 +f 71 44 82 +f 69 71 82 +f 45 75 82 +f 68 55 83 +f 55 79 83 +f 80 68 83 +f 64 80 83 +f 61 46 84 +f 51 61 84 +f 65 60 85 +f 43 76 86 +f 76 63 86 +f 58 63 87 +f 77 49 87 +f 63 77 87 +f 46 61 88 +f 61 53 88 +f 51 52 90 +f 61 51 90 +f 52 61 90 +f 53 70 91 +f 74 46 91 +f 70 74 91 +f 46 88 91 +f 88 53 91 +f 77 64 92 +f 49 77 92 +f 79 49 92 +f 83 79 92 +f 64 83 92 +f 65 85 93 +f 54 43 94 +f 66 54 94 +f 59 66 94 +f 43 86 94 +f 86 59 94 +f 66 73 95 +f 78 66 95 +f 50 78 95 +f 45 67 96 +f 85 57 96 +f 73 56 97 +f 46 74 97 +f 74 50 97 +f 89 46 97 +f 56 89 97 +f 50 95 97 +f 95 73 97 +f 60 56 98 +f 81 48 98 +f 56 81 98 +f 57 85 98 +f 85 60 98 +f 75 45 99 +f 48 75 99 +f 45 96 99 +f 96 57 99 +f 98 48 99 +f 57 98 99 +f 72 48 100 +f 63 72 100 +f 48 81 100 +f 81 59 100 +f 59 86 100 +f 86 63 100 +f 76 43 101 +f 64 76 101 +f 43 80 101 +f 80 64 101 +f 67 51 102 +f 51 84 102 +f 84 65 102 +f 65 93 102 +f 93 85 102 +f 96 67 102 +f 85 96 102 +f 49 69 103 +f 75 58 103 +f 69 82 103 +f 82 75 103 +f 58 87 103 +f 87 49 103 +f 68 47 104 +f 55 68 104 +f 47 71 104 +f 71 55 104 +f 56 60 105 +f 60 65 105 +f 84 46 105 +f 65 84 105 +f 46 89 105 +f 89 56 105 +f 47 52 106 +f 52 44 106 +f 71 47 106 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/227/227.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/227/227.urdf new file mode 100644 index 000000000..7790f43e5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/227/227.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/228/228.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/228/228.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/228/228.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/228/228.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/228/228.obj new file mode 100644 index 000000000..23426a74d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/228/228.obj @@ -0,0 +1,189 @@ +o convex_0 +v -0.975624 -3.021526 -0.026583 +v 0.952191 3.020512 1.095558 +v 1.009786 0.286963 -0.889702 +v -0.946826 3.049716 -0.947072 +v -1.033219 2.991917 1.009289 +v 0.923393 -2.905930 1.009289 +v 1.038584 -2.992323 -0.947072 +v -1.004421 -2.935133 -1.090925 +v -0.918029 -3.107311 1.038188 +v 0.952191 3.107513 -0.918387 +v -0.774041 -2.618156 1.066873 +v 0.261455 3.107513 -0.055054 +v 0.952191 -0.115191 1.066873 +v -0.975624 1.293868 -1.004442 +v -0.774041 -2.819537 -1.090925 +v 1.038584 -2.963728 -0.630467 +v 0.491632 2.905524 1.095558 +v 1.009786 0.286963 -0.947072 +v -1.033219 2.128595 1.009289 +v -1.033219 2.962714 0.635099 +v 0.290455 3.077702 -0.947072 +v 0.952191 -2.934525 0.807852 +v -0.946826 -2.790334 1.038188 +v 0.261455 0.632535 1.095558 +v -1.004421 -2.273192 -1.090925 +v 0.865798 -2.963120 -0.975971 +v -0.918029 2.790536 -0.975757 +v 0.060075 -3.021526 1.037974 +v 1.038584 -1.726239 -0.889702 +v 0.980988 2.272786 -0.889702 +v -0.975624 0.402559 1.038188 +v -1.033219 0.718928 0.232225 +v -0.975624 3.049716 -0.630681 +v -0.918029 -3.107311 0.865222 +v 0.002682 3.107513 -0.314075 +v 0.635620 -2.388180 1.038188 +v 0.952191 1.668035 1.095558 +v -0.774041 -3.107920 1.037974 +v -0.630256 2.991917 1.037974 +v -1.004421 -2.905930 -0.860803 +v -1.004421 3.021121 0.491246 +v -0.946826 -2.272584 -1.090925 +v -0.601458 3.078310 -0.745635 +v -0.946826 -3.078716 0.520145 +v -1.033219 0.776118 0.174641 +v 0.060075 -2.963728 -1.033556 +v 0.952191 3.107513 -0.803219 +v 1.038584 -2.992323 -0.889702 +v 0.204062 0.689725 1.095558 +v 0.923393 -1.956215 1.037974 +v 0.952191 -0.661536 1.037974 +v 0.894596 -2.934525 1.009289 +v -0.946826 -3.078716 0.865222 +v 0.750811 3.107513 -0.918387 +v -0.687851 -2.560966 1.066873 +v 0.261455 -2.935133 1.037974 +v 0.980988 0.516939 -0.947072 +v 0.405443 3.107513 -0.141323 +v 0.002682 -2.963728 -1.033556 +v 0.865798 3.020512 1.095558 +v -0.313685 3.078310 -0.947072 +v 1.038584 -1.697036 -0.947072 +v -0.774041 -2.473965 1.066873 +v -0.659054 2.876929 1.037974 +f 31 49 64 +f 19 5 20 +f 9 11 23 +f 2 17 24 +f 15 8 25 +f 14 4 27 +f 25 14 27 +f 3 2 29 +f 2 16 29 +f 16 7 29 +f 2 3 30 +f 18 10 30 +f 5 19 31 +f 23 11 31 +f 19 23 31 +f 19 20 32 +f 23 19 32 +f 4 14 33 +f 20 5 33 +f 14 20 33 +f 12 10 35 +f 16 2 37 +f 13 16 37 +f 2 24 37 +f 36 13 37 +f 24 36 37 +f 11 9 38 +f 28 11 38 +f 34 7 38 +f 9 34 38 +f 8 1 40 +f 32 8 40 +f 23 32 40 +f 5 12 41 +f 33 5 41 +f 12 35 41 +f 10 15 42 +f 21 10 42 +f 15 25 42 +f 27 21 42 +f 25 27 42 +f 4 33 43 +f 33 41 43 +f 41 35 43 +f 1 8 44 +f 7 34 44 +f 34 9 44 +f 20 14 45 +f 25 8 45 +f 14 25 45 +f 8 32 45 +f 32 20 45 +f 8 15 46 +f 15 18 46 +f 26 7 46 +f 18 26 46 +f 10 12 47 +f 2 30 47 +f 30 10 47 +f 7 16 48 +f 16 22 48 +f 38 7 48 +f 28 38 48 +f 11 24 49 +f 24 17 49 +f 6 13 50 +f 36 6 50 +f 13 36 50 +f 13 6 51 +f 16 13 51 +f 6 22 51 +f 22 16 51 +f 22 6 52 +f 48 22 52 +f 28 48 52 +f 9 23 53 +f 40 1 53 +f 23 40 53 +f 1 44 53 +f 44 9 53 +f 35 10 54 +f 43 35 54 +f 24 11 55 +f 36 24 55 +f 36 55 56 +f 11 28 56 +f 6 36 56 +f 52 6 56 +f 28 52 56 +f 55 11 56 +f 15 10 57 +f 10 18 57 +f 18 15 57 +f 12 2 58 +f 2 47 58 +f 47 12 58 +f 44 8 59 +f 7 44 59 +f 8 46 59 +f 46 7 59 +f 12 5 60 +f 2 12 60 +f 17 2 60 +f 5 39 60 +f 39 17 60 +f 10 21 61 +f 27 4 61 +f 21 27 61 +f 4 43 61 +f 54 10 61 +f 43 54 61 +f 7 26 62 +f 26 18 62 +f 3 29 62 +f 29 7 62 +f 30 3 62 +f 18 30 62 +f 31 11 63 +f 11 49 63 +f 49 31 63 +f 5 31 64 +f 39 5 64 +f 17 39 64 +f 49 17 64 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/228/228.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/228/228.urdf new file mode 100644 index 000000000..c1f79badd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/228/228.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/229/229.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/229/229.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/229/229.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/229/229.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/229/229.obj new file mode 100644 index 000000000..9af0b8dad --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/229/229.obj @@ -0,0 +1,600 @@ +o convex_0 +v -0.983824 -2.338834 -1.784196 +v 1.074952 -2.073188 1.535786 +v 1.041665 -1.907394 1.900903 +v 0.809075 -1.011023 -1.219553 +v -0.851093 -0.977739 1.203437 +v -0.751442 -2.837049 2.000373 +v 0.742710 -2.870125 -2.049841 +v -0.120453 -1.376311 -2.713955 +v 0.045356 -1.276668 2.731191 +v 0.775997 -2.870125 2.099844 +v -0.054088 -3.102695 -2.017075 +v -0.817807 -0.977739 -1.153435 +v 0.908727 -0.977739 1.204022 +v 1.008379 -2.073188 -2.049841 +v -1.017110 -2.040113 2.000373 +v 0.078643 -2.903408 2.731191 +v -0.784520 -2.139756 -2.746722 +v 0.775997 -2.172832 -2.746722 +v 0.775997 -2.073396 2.763958 +v -0.718155 -2.040113 2.764543 +v -0.817807 -2.837049 -1.983137 +v -1.017110 -0.977739 -0.024149 +v -0.020801 -2.870125 -2.747307 +v 0.078435 -3.102695 2.000958 +v 1.041665 -0.977739 -0.024149 +v -1.050397 -2.073188 -1.718077 +v 0.111929 -2.073188 2.997421 +v 0.045356 -2.040113 -2.980186 +v 0.012278 -0.977739 -1.817548 +v 0.576693 -1.542314 -2.547780 +v 0.012278 -0.977739 1.933669 +v -1.050397 -2.139756 1.037262 +v -0.751442 -1.309744 2.066492 +v -0.784520 -1.343028 -1.983137 +v 0.742710 -1.376103 2.199900 +v 1.074952 -2.139548 0.804969 +v -0.054088 -3.102695 1.967021 +v 0.842362 -2.803765 2.033725 +v -0.851093 -2.803973 0.074737 +v 0.045356 -1.343028 -2.713955 +v 0.842362 -2.670839 -2.016490 +v -1.017110 -2.073188 -2.083193 +v -0.552138 -2.637763 2.565601 +v 1.041665 -2.206115 2.033725 +v -0.054088 -1.309952 2.764543 +v 0.775997 -1.343028 -1.950371 +v 0.609980 -2.704122 2.565016 +v 0.543407 -2.704330 -2.581132 +v -0.784520 -2.837049 1.867551 +v -0.618503 -1.608881 -2.581132 +v -0.519060 -2.704122 -2.581132 +v -0.552138 -1.509030 2.598368 +v 0.543407 -2.969768 1.900903 +v 0.012278 -3.102695 -2.017075 +v -0.751442 -2.870333 -2.016490 +v 0.576693 -1.509030 2.598368 +v -0.054088 -2.139548 2.997421 +v 0.775997 -2.172832 2.763958 +v -0.054088 -2.870125 2.731191 +v 1.008379 -2.173039 -2.016490 +v -1.050397 -1.575597 0.041385 +v 0.775997 -2.040113 -2.713955 +v -0.020801 -2.172832 -2.980186 +v -1.017110 -0.977739 0.174207 +f 61 32 64 +f 12 5 13 +f 15 6 20 +f 5 12 22 +f 10 16 24 +f 3 2 25 +f 13 3 25 +f 12 13 25 +f 19 9 27 +f 17 8 28 +f 8 12 29 +f 25 4 29 +f 12 25 29 +f 9 13 31 +f 13 5 31 +f 26 1 32 +f 5 15 33 +f 15 20 33 +f 12 8 34 +f 3 13 35 +f 13 9 35 +f 19 3 35 +f 25 2 36 +f 14 25 36 +f 11 24 37 +f 24 16 37 +f 10 7 38 +f 1 21 39 +f 32 1 39 +f 28 8 40 +f 29 4 40 +f 8 29 40 +f 7 18 41 +f 38 7 41 +f 36 38 41 +f 21 1 42 +f 17 21 42 +f 22 12 42 +f 1 26 42 +f 26 22 42 +f 12 34 42 +f 34 17 42 +f 20 6 43 +f 2 3 44 +f 3 19 44 +f 36 2 44 +f 38 36 44 +f 27 9 45 +f 31 5 45 +f 9 31 45 +f 5 33 45 +f 4 25 46 +f 25 14 46 +f 40 4 46 +f 30 40 46 +f 16 10 47 +f 18 7 48 +f 7 23 48 +f 23 18 48 +f 6 15 49 +f 15 32 49 +f 37 6 49 +f 39 21 49 +f 32 39 49 +f 8 17 50 +f 34 8 50 +f 17 34 50 +f 21 17 51 +f 17 23 51 +f 33 20 52 +f 20 45 52 +f 45 33 52 +f 7 10 53 +f 10 24 53 +f 53 24 54 +f 23 7 54 +f 11 23 54 +f 24 11 54 +f 7 53 54 +f 23 11 55 +f 11 37 55 +f 37 49 55 +f 49 21 55 +f 21 51 55 +f 51 23 55 +f 9 19 56 +f 35 9 56 +f 19 35 56 +f 16 27 57 +f 27 45 57 +f 45 20 57 +f 19 27 58 +f 27 16 58 +f 10 38 58 +f 44 19 58 +f 38 44 58 +f 47 10 58 +f 16 47 58 +f 6 37 59 +f 37 16 59 +f 43 6 59 +f 20 43 59 +f 16 57 59 +f 57 20 59 +f 18 14 60 +f 14 36 60 +f 41 18 60 +f 36 41 60 +f 22 26 61 +f 26 32 61 +f 14 18 62 +f 18 28 62 +f 28 40 62 +f 40 30 62 +f 46 14 62 +f 30 46 62 +f 18 23 63 +f 23 17 63 +f 17 28 63 +f 28 18 63 +f 15 5 64 +f 5 22 64 +f 32 15 64 +f 22 61 64 +o convex_1 +v -0.983755 -0.977531 0.373779 +v 1.041743 -0.612269 0.108036 +v 1.041743 -0.977531 0.108036 +v -0.020787 -0.944280 -1.751455 +v -0.851140 -0.612269 -0.854662 +v 0.012266 -0.612269 1.370138 +v 0.045319 -0.977531 1.868318 +v -0.851140 -0.612269 1.037782 +v 0.775909 -0.612269 -0.954226 +v 0.908725 -0.612269 1.004476 +v -0.817684 -0.977531 -1.053792 +v 0.842418 -0.977531 -1.020485 +v 0.908725 -0.977531 1.137347 +v -0.851140 -0.977531 1.137702 +v -0.054243 -0.612269 -1.253276 +v -1.017210 -0.612269 0.008826 +v 0.045319 -0.977531 -1.751455 +v -0.020787 -0.944280 1.868318 +v -1.017210 -0.977531 -0.024481 +v 0.842418 -0.645484 -0.920920 +v -0.817684 -0.612269 -0.920920 +v 1.041743 -0.612269 -0.024481 +v 0.111626 -0.944280 1.835011 +v -0.950702 -0.612269 0.572909 +v -0.851140 -0.944280 -0.987533 +v 0.045319 -0.645484 -1.319534 +v 0.045319 -0.944280 -1.751455 +v 0.941979 -0.645484 0.938217 +v 1.041743 -0.977531 -0.024481 +v 0.875672 -0.612269 1.037782 +v -0.120550 -0.944280 -1.684842 +v -0.884193 -0.745095 1.004830 +f 72 88 96 +f 66 69 70 +f 65 67 71 +f 70 69 72 +f 69 66 73 +f 66 70 74 +f 67 65 75 +f 67 75 76 +f 71 67 77 +f 65 71 78 +f 69 73 79 +f 72 69 80 +f 76 75 81 +f 70 72 82 +f 78 71 82 +f 72 78 82 +f 75 65 83 +f 65 80 83 +f 79 68 85 +f 69 79 85 +f 66 67 86 +f 73 66 86 +f 84 73 86 +f 76 84 86 +f 71 77 87 +f 70 82 87 +f 82 71 87 +f 80 65 88 +f 72 80 88 +f 80 69 89 +f 75 83 89 +f 83 80 89 +f 85 75 89 +f 69 85 89 +f 68 79 90 +f 79 73 90 +f 81 68 91 +f 76 81 91 +f 73 84 91 +f 84 76 91 +f 68 90 91 +f 90 73 91 +f 67 66 92 +f 66 74 92 +f 77 67 92 +f 74 77 92 +f 67 76 93 +f 86 67 93 +f 76 86 93 +f 74 70 94 +f 77 74 94 +f 70 87 94 +f 87 77 94 +f 68 81 95 +f 81 75 95 +f 85 68 95 +f 75 85 95 +f 65 78 96 +f 78 72 96 +f 88 65 96 +o convex_2 +v -1.017210 -0.612233 0.008969 +v 1.041743 0.815666 0.108284 +v 1.041743 -0.612233 0.108284 +v 0.045521 -0.578927 -1.220112 +v -0.784631 0.948587 0.838568 +v -0.718122 0.948587 -0.721810 +v 0.111828 -0.612233 1.303766 +v 0.742654 0.948587 -0.755162 +v 0.775909 0.948587 0.805463 +v -0.851140 -0.612233 1.037938 +v 0.842418 -0.612233 -0.887828 +v 0.908725 -0.612233 1.004834 +v -0.817885 -0.612233 -0.920933 +v -1.017210 0.948587 0.041827 +v -0.054041 0.882126 1.071290 +v 0.012266 0.915280 -0.987637 +v 1.041743 0.948587 -0.024383 +v -0.054041 -0.512466 1.303766 +v 0.809163 0.317597 -0.821371 +v 0.111828 0.948587 1.037938 +v -0.020787 -0.612233 -1.220112 +v -0.917447 -0.313239 0.772111 +v -0.884193 -0.446159 -0.721810 +v 1.041743 -0.612233 -0.024383 +v 0.078573 -0.479313 1.303766 +v 0.775909 -0.578927 -0.954285 +v -0.751377 0.682899 -0.754914 +v -1.017210 -0.612233 0.141141 +v 0.975234 -0.180471 0.672549 +v -1.017210 0.915280 0.108037 +v 0.875672 -0.412700 1.004834 +v 0.145082 0.948587 -0.954285 +v -0.851140 -0.313239 1.004586 +v 0.908725 -0.280085 -0.655353 +v 0.809163 0.915280 0.772358 +v 0.809163 0.848820 -0.721810 +v -0.817885 0.882126 0.805463 +v -0.087094 -0.512466 -1.186761 +v -0.651815 0.948587 -0.754914 +v -0.817885 -0.545773 -0.920933 +v -0.253366 0.948587 1.004586 +v 1.041743 0.948587 0.075179 +v 0.941979 -0.578927 0.905025 +v -0.917447 -0.612233 -0.555791 +f 110 119 140 +f 97 99 103 +f 102 101 104 +f 104 101 105 +f 97 103 106 +f 99 97 107 +f 103 99 108 +f 107 97 109 +f 101 102 110 +f 98 99 113 +f 104 105 113 +f 106 103 114 +f 100 104 115 +f 105 101 116 +f 107 109 117 +f 112 100 117 +f 99 107 120 +f 113 99 120 +f 114 103 121 +f 111 114 121 +f 105 116 121 +f 116 111 121 +f 100 115 122 +f 115 107 122 +f 117 100 122 +f 107 117 122 +f 110 102 123 +f 119 110 123 +f 97 106 124 +f 110 97 124 +f 106 118 124 +f 99 98 125 +f 101 110 126 +f 110 124 126 +f 124 118 126 +f 103 108 127 +f 121 103 127 +f 105 121 127 +f 104 100 128 +f 102 104 128 +f 100 112 128 +f 114 101 129 +f 106 114 129 +f 118 106 129 +f 126 118 129 +f 107 115 130 +f 120 107 130 +f 113 120 130 +f 127 108 131 +f 105 127 131 +f 104 113 132 +f 115 104 132 +f 130 115 132 +f 113 130 132 +f 101 126 133 +f 129 101 133 +f 126 129 133 +f 112 117 134 +f 123 102 135 +f 102 128 135 +f 128 112 135 +f 112 134 135 +f 135 134 136 +f 117 109 136 +f 109 119 136 +f 119 123 136 +f 134 117 136 +f 123 135 136 +f 101 114 137 +f 114 111 137 +f 116 101 137 +f 111 116 137 +f 98 113 138 +f 113 105 138 +f 125 98 138 +f 105 131 138 +f 131 125 138 +f 108 99 139 +f 99 125 139 +f 125 131 139 +f 131 108 139 +f 109 97 140 +f 97 110 140 +f 119 109 140 +o convex_3 +v 1.041743 4.003596 0.074925 +v -1.017210 0.948586 0.041671 +v -0.983956 0.948586 -0.057488 +v -0.751377 4.700974 0.008618 +v 0.078573 3.970556 -1.020859 +v 0.775909 0.948586 0.805515 +v 0.742856 0.948586 -0.755025 +v -0.087296 3.970556 1.038095 +v -0.784631 0.948586 0.838568 +v -0.718324 0.948586 -0.721770 +v -0.751377 3.970163 -0.721770 +v 0.742856 4.767447 0.041671 +v -0.784631 3.970163 0.805515 +v 0.842418 3.970163 -0.755025 +v 0.775909 4.036636 0.772261 +v 1.041743 0.948586 -0.024435 +v 0.012266 4.734014 0.805313 +v 0.012266 4.734014 -0.755025 +v 0.111828 0.948586 1.038095 +v -0.983956 4.036636 0.008618 +v -0.054041 0.948586 -0.954148 +v -0.020787 4.966866 0.041671 +v 0.078573 3.970556 1.038095 +v -1.017210 3.239746 0.074925 +v -0.651815 3.970163 -0.788279 +v -0.120550 0.948586 1.038095 +v 0.643093 4.534988 -0.555901 +v 0.078573 1.380465 -0.987604 +v 0.809163 1.778910 -0.755025 +v 0.842418 4.700974 0.041671 +v 1.041743 3.970163 -0.090742 +v -0.552253 4.501162 -0.588954 +v -0.552253 4.534988 0.606190 +v 0.543531 4.568028 0.639243 +v -0.817885 1.613318 0.805515 +v 1.041743 0.948586 0.074925 +v 0.842418 3.970163 0.672699 +v 0.676347 3.937123 0.838769 +v -1.017210 3.339259 0.008618 +v -0.784631 2.775220 0.838568 +v 0.078573 4.734014 -0.755025 +v 0.111828 4.966866 -0.024435 +v 0.078573 4.734014 0.805313 +v 0.012266 1.347425 -0.987604 +v -0.817885 2.908167 0.805515 +v -0.983956 3.970163 0.141233 +v 0.775909 3.206312 -0.788279 +v -0.983956 0.948586 0.207741 +v -0.784631 0.948586 -0.588954 +v 0.045319 3.970556 -1.020859 +v 0.809163 1.081926 -0.721972 +v 0.875672 2.509721 -0.622209 +v 0.809163 4.700974 -0.090742 +v -0.718324 4.700974 0.107978 +v 0.975234 3.970163 0.307303 +v 0.809163 0.948586 0.739006 +v -0.253366 1.214479 1.004639 +v 1.008488 3.970163 -0.223760 +v -0.651815 1.048493 -0.755025 +v 0.145082 0.948586 -0.954350 +v -0.651815 3.571718 -0.788279 +v -0.685069 4.734014 -0.024435 +v 0.145082 2.542761 -0.987604 +v -0.618560 3.970556 0.871822 +f 153 180 204 +f 142 143 146 +f 146 143 147 +f 142 146 149 +f 147 143 150 +f 146 147 156 +f 149 146 159 +f 144 151 160 +f 147 150 161 +f 157 148 163 +f 148 159 163 +f 149 159 166 +f 159 148 166 +f 141 156 171 +f 170 141 171 +f 151 144 172 +f 165 151 172 +f 158 165 172 +f 153 157 173 +f 155 170 174 +f 170 152 174 +f 156 141 176 +f 146 156 176 +f 155 146 177 +f 170 155 177 +f 146 155 178 +f 159 146 178 +f 163 159 178 +f 143 142 179 +f 151 143 179 +f 160 151 179 +f 142 164 179 +f 175 149 180 +f 154 145 181 +f 145 158 181 +f 167 154 181 +f 158 162 182 +f 181 158 182 +f 162 157 183 +f 157 163 183 +f 174 152 183 +f 155 174 183 +f 178 155 183 +f 163 178 183 +f 152 182 183 +f 182 162 183 +f 145 168 184 +f 180 153 185 +f 175 180 185 +f 153 144 186 +f 144 160 186 +f 160 179 186 +f 179 164 186 +f 185 153 186 +f 164 185 186 +f 145 154 187 +f 154 169 187 +f 142 149 188 +f 164 142 188 +f 149 175 188 +f 185 164 188 +f 175 185 188 +f 150 143 189 +f 143 151 189 +f 151 150 189 +f 158 145 190 +f 165 158 190 +f 145 184 190 +f 156 147 191 +f 147 169 191 +f 191 169 192 +f 169 154 192 +f 156 191 192 +f 154 167 193 +f 152 170 193 +f 167 181 193 +f 182 152 193 +f 181 182 193 +f 144 153 194 +f 157 162 194 +f 153 173 194 +f 173 157 194 +f 141 170 195 +f 176 141 195 +f 170 177 195 +f 195 177 196 +f 146 176 196 +f 177 146 196 +f 176 195 196 +f 166 148 197 +f 149 166 197 +f 148 180 197 +f 180 149 197 +f 171 156 198 +f 170 171 198 +f 192 154 198 +f 156 192 198 +f 154 193 198 +f 193 170 198 +f 161 150 199 +f 184 161 199 +f 147 161 200 +f 169 147 200 +f 168 169 200 +f 161 184 200 +f 184 168 200 +f 150 151 201 +f 151 165 201 +f 165 190 201 +f 190 184 201 +f 199 150 201 +f 184 199 201 +f 162 158 202 +f 172 144 202 +f 158 172 202 +f 144 194 202 +f 194 162 202 +f 168 145 203 +f 169 168 203 +f 145 187 203 +f 187 169 203 +f 157 153 204 +f 148 157 204 +f 180 148 204 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/229/229.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/229/229.urdf new file mode 100644 index 000000000..fc05354c7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/229/229.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/230/230.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/230/230.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/230/230.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/230/230.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/230/230.obj new file mode 100644 index 000000000..e45258431 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/230/230.obj @@ -0,0 +1,1626 @@ +o convex_0 +v 0.970763 -1.532017 -1.167655 +v 0.970769 2.276949 0.643107 +v 0.991570 2.276949 0.018373 +v 0.949944 2.256215 -1.271810 +v 1.012389 2.298059 -1.251058 +v 0.949950 -1.511283 -0.023329 +v 0.970763 -1.553128 -0.044081 +v 0.949950 -1.511283 -1.375966 +v 0.949944 2.276949 0.643107 +v 1.012389 1.590098 -1.001243 +v 0.970763 1.277962 0.642910 +v 0.970763 -1.511283 -1.375966 +v 0.949950 1.277962 0.642910 +f 11 9 13 +f 2 3 5 +f 7 6 8 +f 6 4 8 +f 1 7 8 +f 5 4 9 +f 2 5 9 +f 4 6 9 +f 5 3 10 +f 7 1 10 +f 7 10 11 +f 3 2 11 +f 6 7 11 +f 2 9 11 +f 10 3 11 +f 4 5 12 +f 1 8 12 +f 8 4 12 +f 10 1 12 +f 5 10 12 +f 9 6 13 +f 6 11 13 +o convex_1 +v -0.528042 1.590098 1.184355 +v -0.590515 0.841027 1.121879 +v -0.465570 0.882565 0.768011 +v 0.054803 0.757674 1.059444 +v 0.054803 0.778489 0.768011 +v -0.486352 1.277962 0.768011 +v -0.548824 1.673542 1.059444 +v -0.444661 0.736859 1.017752 +v -0.444788 0.882657 1.163489 +v -0.444661 0.778489 0.768011 +v -0.590515 1.673542 1.184355 +f 22 14 24 +f 16 15 19 +f 18 16 19 +f 18 19 20 +f 14 17 20 +f 17 18 20 +f 17 15 21 +f 18 17 21 +f 15 17 22 +f 17 14 22 +f 15 16 23 +f 16 18 23 +f 21 15 23 +f 18 21 23 +f 19 15 24 +f 20 19 24 +f 14 20 24 +f 15 22 24 +o convex_2 +v 0.054803 0.757585 0.768011 +v 0.596010 1.277915 1.205129 +v 0.596010 0.799303 1.225974 +v 0.471092 0.757585 0.768011 +v 0.471092 1.277864 0.768011 +v 0.054803 0.778469 1.059438 +v 0.491911 1.277915 1.205129 +v 0.387866 0.778520 1.205129 +f 27 31 32 +f 26 27 28 +f 28 25 29 +f 26 28 29 +f 29 25 30 +f 27 26 31 +f 26 29 31 +f 29 30 31 +f 31 30 32 +f 28 27 32 +f 25 28 32 +f 30 25 32 +o convex_3 +v -0.049334 1.735925 0.768011 +v -0.569714 1.590229 1.038598 +v -0.569714 1.590229 1.059452 +v -0.465546 1.278015 0.851284 +v -0.486380 1.756799 0.768011 +v -0.049334 1.777621 1.059452 +v -0.486380 1.278015 1.059452 +v -0.569714 1.819263 1.059452 +v -0.486380 1.278015 0.768011 +v -0.215900 1.819263 0.976179 +f 40 38 42 +f 35 34 39 +f 36 33 39 +f 38 35 39 +f 33 38 39 +f 34 35 40 +f 37 34 40 +f 35 38 40 +f 33 36 41 +f 37 33 41 +f 34 37 41 +f 39 34 41 +f 36 39 41 +f 33 37 42 +f 38 33 42 +f 37 40 42 +o convex_4 +v 0.471143 1.278064 0.768011 +v 0.075645 1.777531 1.059452 +v 0.221341 1.756748 1.059452 +v 0.471143 1.278064 1.059452 +v 0.491965 1.715085 0.768011 +v -0.049283 1.735917 0.768011 +v 0.491965 1.715085 1.059452 +v -0.049283 1.756748 1.059452 +f 48 46 50 +f 45 44 46 +f 46 43 47 +f 44 45 47 +f 43 46 48 +f 47 43 48 +f 44 47 48 +f 45 46 49 +f 46 47 49 +f 47 45 49 +f 46 44 50 +f 44 48 50 +o convex_5 +v 0.221241 0.861656 -1.709565 +v 0.554308 0.861656 -2.978959 +v 0.554308 0.840845 -2.978959 +v -0.423942 0.840845 -3.270531 +v -0.548789 0.715950 -1.438615 +v -0.527945 0.840845 -1.438615 +v 0.450306 0.840845 -1.459775 +v -0.257409 0.778426 -3.228750 +v -0.465522 0.715950 -1.563600 +v 0.554308 0.840845 -3.228750 +v -0.444786 0.757615 -2.958158 +v 0.262820 0.861656 -3.228750 +v 0.429354 0.861656 -1.438615 +f 57 52 63 +f 54 55 56 +f 53 52 57 +f 57 55 59 +f 53 57 59 +f 53 59 60 +f 52 53 60 +f 58 54 60 +f 59 58 60 +f 55 54 61 +f 54 58 61 +f 59 55 61 +f 58 59 61 +f 51 52 62 +f 56 51 62 +f 54 56 62 +f 52 60 62 +f 60 54 62 +f 52 51 63 +f 51 56 63 +f 56 55 63 +f 55 57 63 +o convex_6 +v -0.444819 1.756811 -1.688675 +v -0.424020 0.840943 -3.270010 +v -0.444802 0.924237 -3.290817 +v -0.528063 0.840943 -1.438803 +v -0.528047 1.756811 -3.270384 +v -0.361542 1.361145 -3.332431 +v -0.403188 1.631826 -1.459797 +v -0.361542 0.840943 -3.249202 +v -0.403188 1.756811 -1.751096 +v -0.486416 0.903436 -1.480792 +v -0.507232 1.153136 -1.438803 +v -0.486416 1.278031 -3.353425 +v -0.486416 1.756811 -3.145355 +v -0.528063 0.840943 -1.647060 +v -0.528047 1.756811 -3.083121 +v -0.444819 1.673428 -1.438615 +f 64 78 79 +f 65 66 71 +f 67 65 71 +f 66 69 71 +f 69 70 71 +f 68 64 72 +f 70 69 72 +f 70 67 73 +f 67 71 73 +f 71 70 73 +f 69 66 75 +f 68 69 75 +f 69 68 76 +f 68 72 76 +f 72 69 76 +f 66 65 77 +f 65 67 77 +f 67 68 77 +f 75 66 77 +f 68 75 77 +f 64 68 78 +f 68 67 78 +f 67 74 78 +f 78 74 79 +f 67 70 79 +f 72 64 79 +f 70 72 79 +f 74 67 79 +o convex_7 +v -0.361525 0.820179 -3.270550 +v 0.033907 1.840080 -3.395415 +v 0.033907 1.840080 -3.416215 +v 0.575234 0.861852 -3.312152 +v 0.554219 1.361099 -3.228909 +v -0.527994 1.840080 -3.270571 +v -0.548789 1.756734 -3.437016 +v 0.554219 1.819192 -3.395415 +v -0.361525 0.778402 -3.228909 +v 0.554219 1.819192 -3.291371 +v 0.554219 0.840964 -3.228909 +v 0.325145 1.798407 -3.416215 +v 0.366955 0.840964 -3.312152 +v 0.554219 0.986664 -3.332973 +f 92 86 93 +f 81 82 85 +f 85 82 86 +f 82 81 87 +f 84 85 88 +f 86 80 88 +f 85 86 88 +f 84 83 89 +f 81 85 89 +f 85 84 89 +f 87 81 89 +f 83 87 89 +f 83 84 90 +f 84 88 90 +f 86 82 91 +f 82 87 91 +f 80 86 92 +f 88 80 92 +f 83 90 92 +f 90 88 92 +f 87 83 93 +f 86 91 93 +f 91 87 93 +f 83 92 93 +o convex_8 +v 0.658502 2.235608 0.643107 +v 0.512782 -3.655667 0.622307 +v 0.512782 -3.655667 0.643107 +v 0.658502 -3.655667 0.622307 +v 0.512782 0.965777 0.684742 +v 0.512782 1.860194 0.622298 +v 0.658502 -2.094041 0.601473 +v 0.658502 -0.720410 0.663917 +v 0.512782 -3.572050 0.601473 +v 0.554418 2.235608 0.684742 +v 0.658502 1.985332 0.622298 +f 100 99 104 +f 96 95 97 +f 95 96 98 +f 95 98 99 +f 94 97 100 +f 96 97 101 +f 97 94 101 +f 98 96 101 +f 97 95 102 +f 95 99 102 +f 100 97 102 +f 99 100 102 +f 94 99 103 +f 99 98 103 +f 101 94 103 +f 98 101 103 +f 99 94 104 +f 94 100 104 +o convex_9 +v 0.262847 2.256425 0.643149 +v -0.548897 0.757658 0.643133 +v 0.512782 0.757658 0.643133 +v -0.007769 0.757658 0.768011 +v -0.548897 2.214613 0.726363 +v 0.491893 1.715073 0.768011 +v -0.548897 2.214613 0.601485 +v 0.512782 2.256425 0.601485 +v -0.486439 1.049166 0.768011 +v 0.471005 0.757658 0.768011 +v 0.512782 2.256425 0.684715 +v -0.486439 1.756738 0.768011 +v -0.444766 0.778491 0.768011 +f 108 113 117 +f 106 107 108 +f 107 106 111 +f 109 105 111 +f 106 109 111 +f 111 105 112 +f 107 111 112 +f 109 106 113 +f 108 110 113 +f 108 107 114 +f 107 110 114 +f 110 108 114 +f 105 109 115 +f 110 107 115 +f 109 110 115 +f 112 105 115 +f 107 112 115 +f 110 109 116 +f 109 113 116 +f 113 110 116 +f 106 108 117 +f 113 106 117 +o convex_10 +v 0.346236 1.694376 1.059452 +v 0.387878 1.756816 2.141842 +v 0.387878 1.736019 2.141842 +v -0.423993 1.860881 2.141842 +v -0.361529 1.840068 1.059452 +v -0.423993 1.798426 1.080430 +v 0.367057 1.736019 1.059452 +v -0.298986 1.819239 2.141842 +v -0.278244 1.860881 2.037693 +v 0.367057 1.715189 1.892011 +v 0.325415 1.777629 2.120970 +f 122 126 128 +f 120 119 121 +f 122 118 123 +f 121 122 123 +f 120 118 124 +f 119 120 124 +f 118 122 124 +f 120 121 125 +f 121 123 125 +f 122 121 126 +f 118 120 127 +f 123 118 127 +f 120 125 127 +f 125 123 127 +f 121 119 128 +f 119 124 128 +f 124 122 128 +f 126 121 128 +o convex_11 +v -0.382006 -3.697301 -1.355042 +v 0.929126 -3.634864 0.434638 +v 0.512731 -3.614049 0.643052 +v 0.929126 -3.634864 -1.334474 +v -1.006503 -3.614041 -1.292707 +v -1.048510 -3.655671 0.726376 +v 0.929126 -3.697293 0.039216 +v -1.027410 -3.697293 -0.834740 +v 0.929126 -3.697293 -1.334474 +v -0.548681 -3.614049 0.684609 +v 0.158475 -3.676478 0.663831 +v -0.548681 -3.614041 -1.334474 +v -1.006503 -3.697293 -1.292707 +v -1.027410 -3.614041 -0.210545 +v 0.658498 -3.676478 0.622064 +v 0.512537 -3.634864 -1.417798 +v -0.153386 -3.676478 0.663831 +v -1.048510 -3.634856 0.726376 +f 138 142 146 +f 131 130 132 +f 132 130 135 +f 129 135 136 +f 135 129 137 +f 132 135 137 +f 131 132 140 +f 129 133 140 +f 133 129 141 +f 129 136 141 +f 136 133 141 +f 133 136 142 +f 138 131 142 +f 131 140 142 +f 140 133 142 +f 130 131 143 +f 135 130 143 +f 131 139 143 +f 139 135 143 +f 137 129 144 +f 132 137 144 +f 140 132 144 +f 129 140 144 +f 134 136 145 +f 136 135 145 +f 139 134 145 +f 135 139 145 +f 136 134 146 +f 131 138 146 +f 139 131 146 +f 134 139 146 +f 142 136 146 +o convex_12 +v 0.429546 1.361233 -1.438615 +v 0.533566 0.861852 -3.228786 +v 0.554388 0.861852 -3.228786 +v 0.533566 1.715177 -3.290986 +v 0.408724 0.861852 -1.480323 +v 0.408724 1.715177 -1.605628 +v 0.554388 1.715177 -3.124336 +v 0.450353 0.861852 -1.459650 +v 0.450353 1.715177 -1.563920 +v 0.554388 0.861852 -2.978902 +v 0.512759 1.652608 -3.145371 +f 152 150 157 +f 149 148 150 +f 148 149 151 +f 151 147 152 +f 149 150 153 +f 150 152 153 +f 147 151 154 +f 151 149 154 +f 152 147 155 +f 153 152 155 +f 147 154 155 +f 149 153 156 +f 154 149 156 +f 153 155 156 +f 155 154 156 +f 150 148 157 +f 148 151 157 +f 151 152 157 +o convex_13 +v 0.200354 0.486863 -1.334550 +v -1.027646 -2.989121 -1.292905 +v -1.027646 -2.989121 -1.272083 +v 0.512782 -3.634850 -1.417782 +v -1.027646 0.736767 -1.313713 +v 0.491823 0.132546 -1.396974 +v 0.470864 -3.634850 -1.376151 +v -1.006687 0.736767 -1.272083 +v -0.881836 -3.613882 -1.272083 +v -0.902645 -3.613882 -1.313713 +v 0.512782 0.486863 -1.355344 +v 0.450206 -2.926645 -1.417782 +v -0.506983 0.486863 -1.292905 +v -1.027646 -0.804168 -1.313713 +v 0.512782 0.028134 -1.355344 +v 0.491823 -2.197471 -1.417782 +v 0.450206 -3.634850 -1.417782 +v 0.512782 0.486863 -1.376151 +v -0.548901 0.736767 -1.292905 +f 175 162 176 +f 159 160 162 +f 162 160 165 +f 165 160 166 +f 160 159 167 +f 166 160 167 +f 164 166 167 +f 166 158 170 +f 165 166 170 +f 159 162 171 +f 167 159 171 +f 162 169 171 +f 164 161 172 +f 158 166 172 +f 166 164 172 +f 161 168 172 +f 168 158 172 +f 163 161 173 +f 162 163 173 +f 161 169 173 +f 169 162 173 +f 161 164 174 +f 164 167 174 +f 169 161 174 +f 167 171 174 +f 171 169 174 +f 161 163 175 +f 163 162 175 +f 168 161 175 +f 168 175 176 +f 162 165 176 +f 158 168 176 +f 170 158 176 +f 165 170 176 +o convex_14 +v -0.465563 1.798439 -1.917711 +v 0.554416 1.798427 -3.124336 +v 0.554416 1.715177 -3.124336 +v 0.429383 1.715177 -1.438797 +v -0.528079 1.756814 -3.270494 +v -0.528079 1.840064 -3.270494 +v -0.278224 1.819246 -1.438615 +v -0.423920 1.756814 -1.438615 +v 0.554416 1.819258 -3.290986 +v -0.465563 1.840064 -2.104852 +v 0.450257 1.756826 -1.792950 +v 0.242044 1.715177 -1.751242 +v 0.533436 1.715177 -3.290986 +v 0.554416 1.819258 -3.145371 +f 183 187 190 +f 179 178 180 +f 181 177 182 +f 177 181 184 +f 180 183 184 +f 178 179 185 +f 182 177 186 +f 177 184 186 +f 184 183 186 +f 185 182 186 +f 183 180 187 +f 179 180 188 +f 184 181 188 +f 180 184 188 +f 181 182 189 +f 185 179 189 +f 182 185 189 +f 179 188 189 +f 188 181 189 +f 180 178 190 +f 178 185 190 +f 186 183 190 +f 185 186 190 +f 187 180 190 +o convex_15 +v 0.346089 -1.615620 0.601481 +v -0.548897 -3.614033 0.663912 +v -0.299065 -3.280753 0.643107 +v 0.512782 -3.614033 0.643107 +v -0.528008 -1.032697 0.684734 +v 0.512782 -1.032697 0.643107 +v -0.548897 -1.032697 0.643107 +v -0.215719 -3.614033 0.684734 +v 0.491893 -3.384603 0.601481 +v 0.512782 -1.032697 0.622302 +v -0.548897 -3.614033 0.684734 +v -0.174150 -1.032697 0.622302 +f 200 191 202 +f 195 196 197 +f 193 192 197 +f 192 194 198 +f 194 196 198 +f 196 195 198 +f 192 193 199 +f 194 192 199 +f 196 194 200 +f 197 196 200 +f 194 199 200 +f 199 191 200 +f 195 197 201 +f 197 192 201 +f 192 198 201 +f 198 195 201 +f 193 197 202 +f 199 193 202 +f 191 199 202 +f 197 200 202 +o convex_16 +v -0.548897 2.193973 0.726348 +v -1.006831 0.736910 0.518229 +v -0.985987 0.736910 0.518229 +v -1.006831 0.736910 0.747155 +v -1.006831 2.193973 0.518229 +v -0.548897 0.736910 0.663902 +v -1.006831 2.173148 0.767962 +v -0.923546 2.193973 0.518229 +v -0.548897 1.839799 0.663902 +v -0.590584 2.152322 0.747155 +v -0.548897 0.736910 0.684709 +v -0.923546 0.736910 0.747155 +f 206 213 214 +f 204 205 206 +f 205 204 207 +f 204 206 207 +f 206 205 208 +f 203 207 209 +f 207 206 209 +f 207 203 210 +f 205 207 210 +f 208 205 210 +f 208 210 211 +f 203 208 211 +f 210 203 211 +f 203 209 212 +f 206 208 213 +f 208 203 213 +f 203 212 213 +f 213 212 214 +f 209 206 214 +f 212 209 214 +o convex_17 +v -0.528326 0.799227 1.975259 +v -0.465789 0.820020 1.059452 +v -0.465789 0.840843 1.059452 +v -3.005272 0.820020 1.121981 +v -0.070392 0.736788 1.059452 +v -3.046628 0.820020 2.225149 +v -0.570018 0.840843 2.183387 +v -3.005272 0.840843 1.121981 +v 0.387542 0.799207 1.205278 +v -0.882368 0.736788 1.163630 +v -3.046628 0.840843 2.225149 +v -0.444943 0.736788 1.330109 +v 0.304495 0.757611 1.080333 +v -0.570018 0.820020 2.183387 +v -2.588693 0.799207 1.121981 +f 224 220 229 +f 217 216 218 +f 216 217 219 +f 218 216 219 +f 217 218 222 +f 218 220 222 +f 221 217 222 +f 217 221 223 +f 220 221 225 +f 222 220 225 +f 221 222 225 +f 215 220 226 +f 224 219 226 +f 220 224 226 +f 219 217 227 +f 217 223 227 +f 215 226 227 +f 226 219 227 +f 220 215 228 +f 221 220 228 +f 223 221 228 +f 215 227 228 +f 227 223 228 +f 218 219 229 +f 220 218 229 +f 219 224 229 +o convex_18 +v -1.006880 -3.634449 -0.147923 +v -0.986064 0.736767 0.663925 +v -0.986064 0.736767 -0.210399 +v -1.048510 -1.739799 0.663925 +v -1.048510 -3.592945 -0.168719 +v -1.027689 -3.634449 0.663925 +v -1.006880 0.736767 -0.210399 +v -1.027689 0.465920 0.643042 +v -0.986071 -1.553243 -0.210399 +v -1.048510 -3.634449 0.663925 +v -0.986064 0.340979 0.643042 +v -1.027689 -3.634449 -0.210399 +f 239 234 241 +f 231 233 235 +f 231 232 236 +f 236 234 237 +f 233 231 237 +f 234 233 237 +f 231 236 237 +f 236 232 238 +f 233 234 239 +f 230 235 239 +f 235 233 239 +f 232 231 240 +f 231 235 240 +f 235 230 240 +f 230 238 240 +f 238 232 240 +f 234 236 241 +f 238 230 241 +f 236 238 241 +f 230 239 241 +o convex_19 +v -1.256805 1.840044 2.141901 +v -2.963695 1.673542 1.829690 +v -2.963695 1.715214 1.829690 +v -0.423993 1.840044 1.829690 +v -0.465758 1.673542 2.141901 +v -2.921681 1.673542 2.162733 +v -0.423993 1.881715 2.141901 +v -0.507275 1.881715 1.850554 +v -2.692969 1.756844 2.162733 +v -2.921681 1.736019 1.829690 +v -0.840399 1.673542 2.162733 +v -0.465758 1.673542 2.121070 +f 246 243 253 +f 243 244 245 +f 243 246 247 +f 244 243 247 +f 246 245 248 +f 242 248 249 +f 248 245 249 +f 248 242 250 +f 242 249 250 +f 250 249 251 +f 245 244 251 +f 244 247 251 +f 249 245 251 +f 247 250 251 +f 247 246 252 +f 246 248 252 +f 250 247 252 +f 248 250 252 +f 243 245 253 +f 245 246 253 +o convex_20 +v 3.031631 1.735994 1.808816 +v 2.948405 0.674420 1.746397 +v 2.969206 0.674420 1.746397 +v 2.844311 1.694217 1.059562 +v 3.073301 1.548517 1.059562 +v 2.844311 1.735994 1.808704 +v 2.969206 0.695308 1.101249 +v 2.969206 0.674420 2.204399 +v 2.844311 1.278005 1.101362 +v 3.010831 1.735994 2.162600 +v 2.948405 0.674420 2.204399 +v 3.073301 1.715106 1.267775 +v 3.010831 0.799439 1.101249 +v 2.948405 1.735994 2.162600 +v 3.031631 1.715106 2.016918 +f 261 265 268 +f 256 255 260 +f 257 258 260 +f 255 256 261 +f 259 257 262 +f 260 255 262 +f 257 260 262 +f 254 259 263 +f 261 263 264 +f 255 261 264 +f 259 262 264 +f 262 255 264 +f 258 257 265 +f 259 254 265 +f 257 259 265 +f 261 258 265 +f 256 260 266 +f 260 258 266 +f 261 256 266 +f 258 261 266 +f 263 259 267 +f 264 263 267 +f 259 264 267 +f 254 263 268 +f 263 261 268 +f 265 254 268 +o convex_21 +v 0.929126 2.297540 -1.251278 +v 0.658502 0.653776 -1.334529 +v 0.658502 0.653776 -1.313693 +v 0.929126 -0.511989 -1.334529 +v 0.741814 2.047872 -1.334529 +v 0.658502 2.276757 -1.230443 +v 0.908305 -0.511989 -1.313693 +v 0.929126 2.235192 -1.230443 +v 0.658502 2.047872 -1.334529 +v 0.929126 0.299917 -1.334529 +f 272 273 278 +f 272 270 273 +f 270 271 274 +f 271 270 275 +f 270 272 275 +f 274 271 275 +f 275 272 276 +f 272 269 276 +f 269 274 276 +f 274 275 276 +f 269 273 277 +f 273 270 277 +f 270 274 277 +f 274 269 277 +f 269 272 278 +f 273 269 278 +o convex_22 +v 0.429435 1.735958 -1.438601 +v -0.548897 0.486961 -1.313732 +v -0.528008 0.486961 -1.334541 +v 0.512782 0.486961 -1.355365 +v 0.512782 1.860898 -1.355365 +v -0.548897 1.860898 -1.376131 +v -0.548897 0.715995 -1.438587 +v -0.528008 0.820089 -1.292909 +v 0.429435 0.840935 -1.438601 +v -0.423877 1.819206 -1.438587 +v -0.548897 1.735958 -1.334541 +v 0.512782 0.757686 -1.334541 +v 0.512782 0.486961 -1.376159 +v -0.507119 0.486961 -1.292909 +v 0.512782 1.340426 -1.334541 +f 286 292 293 +f 280 281 282 +f 281 280 285 +f 280 284 285 +f 285 279 287 +f 283 279 288 +f 284 283 288 +f 279 285 288 +f 285 284 288 +f 284 280 289 +f 283 284 289 +f 280 286 289 +f 286 283 289 +f 282 283 290 +f 282 281 291 +f 279 283 291 +f 283 282 291 +f 281 285 291 +f 287 279 291 +f 285 287 291 +f 280 282 292 +f 286 280 292 +f 282 290 292 +f 292 290 293 +f 283 286 293 +f 290 283 293 +o convex_23 +v 0.512782 0.757558 0.663910 +v -0.548897 -1.032697 0.643109 +v -0.548897 -1.032697 0.663916 +v -0.548897 0.757558 0.643116 +v 0.512782 -1.032697 0.622302 +v 0.471005 0.486812 0.684742 +v -0.548897 0.757558 0.684742 +v -0.361523 0.591080 0.622296 +v 0.512782 -0.761950 0.663916 +v 0.512782 0.757558 0.643116 +v -0.174150 -1.032697 0.622302 +f 301 298 304 +f 295 296 297 +f 296 295 298 +f 297 296 300 +f 294 297 300 +f 296 299 300 +f 299 294 300 +f 295 297 301 +f 298 294 302 +f 296 298 302 +f 299 296 302 +f 294 299 302 +f 297 294 303 +f 294 298 303 +f 301 297 303 +f 298 301 303 +f 298 295 304 +f 295 301 304 +o convex_24 +v -0.986066 2.193973 0.518204 +v -1.027693 0.736910 -1.105539 +v -1.027693 2.193973 -1.105539 +v -1.027693 2.193973 -0.043971 +v -1.006878 0.736910 0.518204 +v -0.986066 0.736910 -0.418278 +v -1.006878 2.193973 -1.105539 +v -0.986066 0.736910 0.518204 +v -1.027693 0.736910 -0.376635 +v -1.006878 0.736910 -1.105539 +v -0.986066 2.193973 -0.064792 +v -1.006878 2.193973 0.518204 +f 308 309 316 +f 307 306 308 +f 305 307 308 +f 309 306 310 +f 307 305 311 +f 306 307 311 +f 305 309 312 +f 309 310 312 +f 310 305 312 +f 308 306 313 +f 309 308 313 +f 306 309 313 +f 310 306 314 +f 306 311 314 +f 311 310 314 +f 305 310 315 +f 311 305 315 +f 310 311 315 +f 305 308 316 +f 309 305 316 +o convex_25 +v -1.006876 -3.614033 -1.272077 +v -0.986062 0.736341 -0.210399 +v -0.986062 0.736341 -0.418661 +v -1.027693 0.736767 -0.397772 +v -1.027693 -3.614033 -0.210399 +v -1.027693 0.736767 -1.272077 +v -0.986062 -3.614033 -1.272077 +v -0.986062 -1.594505 -0.210399 +v -1.027693 -3.614033 -1.126169 +v -1.006876 0.736767 -1.272077 +v -1.006876 -3.614033 -0.210399 +v -1.006876 0.736341 -0.210399 +v -0.986062 -2.822746 -1.272077 +v -1.027693 -2.926661 -1.272077 +f 325 322 330 +f 321 320 322 +f 319 318 323 +f 321 317 323 +f 317 322 323 +f 318 321 324 +f 323 318 324 +f 317 321 325 +f 321 322 325 +f 318 319 326 +f 320 318 326 +f 322 320 326 +f 323 322 326 +f 321 323 327 +f 324 321 327 +f 323 324 327 +f 318 320 328 +f 320 321 328 +f 321 318 328 +f 319 323 329 +f 326 319 329 +f 323 326 329 +f 322 317 330 +f 317 325 330 +o convex_26 +v -0.736331 2.152322 -1.355316 +v -1.048510 1.819259 -1.313699 +v -1.027630 0.736910 -1.313699 +v -1.006798 2.193973 -1.105539 +v -0.548994 0.736910 -1.292852 +v -1.027630 0.736910 -1.105539 +v -0.548994 2.193973 -1.313699 +v -0.548994 1.714989 -1.376163 +v -1.048510 2.193973 -1.313699 +v -0.548994 0.799386 -1.334521 +v -0.632223 2.006402 -1.376163 +f 339 331 341 +f 333 335 336 +f 332 333 336 +f 335 334 336 +f 334 335 337 +f 337 335 338 +f 332 336 339 +f 336 334 339 +f 337 331 339 +f 334 337 339 +f 335 333 340 +f 338 335 340 +f 333 338 340 +f 333 332 341 +f 331 337 341 +f 337 338 341 +f 338 333 341 +f 332 339 341 +o convex_27 +v -0.944352 2.277289 -1.334327 +v -0.548944 2.214807 0.725995 +v -0.569824 2.214807 0.725995 +v -1.027630 2.381328 -1.251220 +v -0.549041 2.360495 -1.292774 +v -0.549041 2.193973 -1.334327 +v -1.006749 2.193973 0.538803 +v -1.048510 2.193973 -1.313550 +v -0.548944 2.360476 -0.855454 +v -0.548944 2.193973 0.725995 +v -1.006749 2.214807 0.538803 +v -1.048510 2.381328 -1.313550 +f 352 345 353 +f 342 346 347 +f 347 348 349 +f 342 347 349 +f 344 343 350 +f 345 344 350 +f 346 345 350 +f 347 346 350 +f 347 350 351 +f 343 344 351 +f 344 348 351 +f 348 347 351 +f 350 343 351 +f 344 345 352 +f 348 344 352 +f 349 348 352 +f 349 352 353 +f 346 342 353 +f 345 346 353 +f 342 349 353 +o convex_28 +v 0.929128 -3.092779 0.455630 +v 0.949942 1.589813 0.643022 +v 0.929128 1.589813 0.643022 +v 0.929128 -1.531915 -0.231130 +v 0.949942 -3.092779 -0.231130 +v 0.949942 -2.406275 0.622144 +v 0.949942 -1.531915 -0.231130 +v 0.929128 -3.092779 -0.231130 +v 0.929128 -2.406275 0.622144 +v 0.949942 -3.113959 0.434837 +f 361 358 363 +f 356 355 357 +f 354 356 357 +f 358 355 359 +f 355 356 359 +f 357 355 360 +f 358 357 360 +f 355 358 360 +f 354 357 361 +f 357 358 361 +f 356 354 362 +f 354 359 362 +f 359 356 362 +f 358 359 363 +f 359 354 363 +f 354 361 363 +o convex_29 +v -0.548897 2.339649 -1.084592 +v 0.929126 2.277242 0.559700 +v 0.658435 2.277242 0.580509 +v -0.548897 2.193973 0.476464 +v 0.929126 2.277242 -1.230443 +v -0.548897 2.360462 -0.896935 +v 0.866626 2.318869 -1.230443 +v -0.527918 2.235632 0.518082 +v 0.658435 2.235616 0.663745 +v -0.486396 2.318836 -1.084592 +v -0.278061 2.193973 0.601318 +v 0.658435 2.298039 0.351422 +v 0.929126 2.256445 -0.231420 +v -0.527918 2.339649 -0.584987 +v 0.824959 2.277242 -1.230443 +f 367 373 378 +f 364 367 369 +f 364 369 370 +f 365 368 370 +f 369 367 371 +f 365 366 372 +f 366 371 372 +f 367 364 373 +f 367 368 374 +f 371 367 374 +f 372 371 374 +f 366 365 375 +f 370 369 375 +f 365 370 375 +f 368 365 376 +f 365 372 376 +f 374 368 376 +f 372 374 376 +f 371 366 377 +f 369 371 377 +f 366 375 377 +f 375 369 377 +f 368 367 378 +f 364 370 378 +f 370 368 378 +f 373 364 378 +o convex_30 +v 0.929124 -3.072793 0.434935 +v 0.908311 -3.634850 -1.334529 +v 0.908311 -3.051968 -1.334529 +v 0.929124 -3.634850 -1.334529 +v 0.908311 -3.634850 0.434935 +v 0.929124 -3.051968 -1.334529 +v 0.929124 -3.634850 0.434935 +v 0.908311 -3.072793 0.434935 +f 381 383 386 +f 380 381 382 +f 381 380 383 +f 380 382 383 +f 381 379 384 +f 382 381 384 +f 379 382 384 +f 382 379 385 +f 379 383 385 +f 383 382 385 +f 379 381 386 +f 383 379 386 +o convex_31 +v -0.548897 1.860947 -1.376163 +v -0.340635 2.360462 -1.251240 +v 0.200389 2.339631 -1.105548 +v 0.512782 1.902609 -1.376163 +v -0.465550 2.318799 -1.084722 +v 0.512782 2.318799 -1.272065 +v -0.548897 2.318799 -1.313659 +v 0.512782 2.297968 -1.084722 +v 0.512782 1.881778 -1.334484 +v -0.548897 2.360462 -1.084722 +v -0.548897 1.860947 -1.355338 +f 391 396 397 +f 388 389 392 +f 392 390 393 +f 390 387 393 +f 388 392 393 +f 392 389 394 +f 390 392 394 +f 387 390 395 +f 390 394 395 +f 389 388 396 +f 393 387 396 +f 388 393 396 +f 391 394 396 +f 394 389 396 +f 394 391 397 +f 387 395 397 +f 395 394 397 +f 396 387 397 +o convex_32 +v 0.929126 -0.720727 0.643067 +v 0.658502 -3.676195 0.434956 +v 0.658502 -3.676195 0.622264 +v 0.929126 -3.676195 0.434956 +v 0.658502 -0.720727 0.622264 +v 0.929126 -3.676195 0.622264 +v 0.929126 -2.989112 0.434956 +v 0.658502 -2.177921 0.643067 +v 0.929126 -0.762386 0.601440 +f 404 402 406 +f 400 399 401 +f 399 400 402 +f 400 401 403 +f 401 398 403 +f 401 399 404 +f 398 401 404 +f 399 402 404 +f 398 402 405 +f 402 400 405 +f 403 398 405 +f 400 403 405 +f 402 398 406 +f 398 404 406 +o convex_33 +v 0.679344 0.778113 -1.355371 +v 0.512782 -3.697302 -1.417776 +v 0.720954 -3.696851 -1.438615 +v 0.658519 -3.697302 -1.292895 +v 0.929126 -0.388251 -1.334531 +v 0.929126 -3.696851 -1.438615 +v 0.512782 0.903305 -1.334560 +v 0.512782 0.091354 -1.396964 +v 0.929126 -3.696851 -1.334531 +v 0.512782 -3.697302 -1.292895 +v 0.658519 0.903305 -1.313734 +v 0.929126 -3.114120 -1.438615 +v 0.929126 -0.388251 -1.355371 +f 411 418 419 +f 408 409 412 +f 410 408 412 +f 409 408 414 +f 408 413 414 +f 413 407 414 +f 411 410 415 +f 410 412 415 +f 412 411 415 +f 408 410 416 +f 413 408 416 +f 413 416 417 +f 410 411 417 +f 407 413 417 +f 416 410 417 +f 412 409 418 +f 411 412 418 +f 409 414 418 +f 414 407 418 +f 407 417 419 +f 417 411 419 +f 418 407 419 +o convex_34 +v 0.575244 1.631804 -1.376123 +v 0.658502 2.318738 -0.959860 +v 0.512782 2.318738 -0.959860 +v 0.658502 0.903305 -1.313653 +v 0.658502 2.318738 -1.272006 +v 0.512782 0.903305 -1.334476 +v 0.512782 2.318738 -1.272006 +v 0.512782 1.902393 -1.376123 +v 0.658502 1.964741 -1.355299 +f 420 427 428 +f 421 422 423 +f 422 421 424 +f 421 423 424 +f 423 422 425 +f 420 423 425 +f 422 424 426 +f 425 422 426 +f 425 426 427 +f 420 425 427 +f 426 424 427 +f 427 424 428 +f 423 420 428 +f 424 423 428 +o convex_35 +v 0.929128 -2.531500 -1.417798 +v 0.949942 -1.532005 -0.231216 +v 0.949942 1.590274 -1.251240 +v 0.949942 -3.072512 -1.417798 +v 0.929128 -3.093602 -0.231216 +v 0.929128 1.590274 -1.251240 +v 0.949942 -3.093602 -0.231216 +v 0.929128 -1.532005 -0.231216 +v 0.929128 -3.072512 -1.417798 +f 432 433 437 +f 431 430 432 +f 429 431 432 +f 431 429 434 +f 430 431 434 +f 429 433 434 +f 432 430 435 +f 433 432 435 +f 430 433 435 +f 433 430 436 +f 430 434 436 +f 434 433 436 +f 429 432 437 +f 433 429 437 +o convex_36 +v 0.949942 2.277136 0.663925 +v 0.929128 1.590274 -1.272077 +v 0.929128 2.256351 -1.272077 +v 0.929128 2.277136 0.663925 +v 0.949942 2.298059 -1.251231 +v 0.949942 1.590274 0.643079 +v 0.949942 1.590274 -1.272077 +v 0.929128 1.590274 0.643079 +f 443 441 445 +f 440 439 441 +f 441 438 442 +f 440 441 442 +f 438 441 443 +f 442 438 443 +f 442 443 444 +f 439 440 444 +f 440 442 444 +f 443 439 444 +f 441 439 445 +f 439 443 445 +o convex_37 +v -2.942900 1.548521 2.183460 +v -3.005307 0.840935 1.122070 +v -3.026128 0.986739 1.330067 +v -2.942900 1.673542 1.080381 +v -2.901258 0.840935 2.225149 +v -3.046935 0.861799 2.225149 +v -3.046935 1.673542 1.080381 +v -2.942900 0.840935 1.122070 +v -2.901258 1.673542 2.037661 +v -3.005307 1.673542 1.580090 +f 454 452 455 +f 447 450 451 +f 448 447 451 +f 450 446 451 +f 447 448 452 +f 449 447 452 +f 448 451 452 +f 447 449 453 +f 450 447 453 +f 450 453 454 +f 446 450 454 +f 449 452 454 +f 453 449 454 +f 451 446 455 +f 452 451 455 +f 446 454 455 +o convex_38 +v -2.859309 1.506874 1.080269 +v -0.590991 1.673542 1.184355 +v -0.590991 1.673542 1.163520 +v -0.590991 0.840935 1.142715 +v -2.859309 0.882582 1.163520 +v -2.713583 1.673542 1.121910 +v -0.590991 0.840935 1.121910 +v -2.942647 0.840935 1.121910 +v -2.651194 1.673542 1.080269 +v -0.590991 0.882582 1.163520 +v -1.548229 1.486092 1.184355 +v -0.590991 1.444445 1.142715 +v -2.942647 1.673542 1.101105 +f 461 464 468 +f 458 457 459 +f 457 458 461 +f 458 459 462 +f 459 460 463 +f 456 462 463 +f 462 459 463 +f 461 458 464 +f 462 456 464 +f 459 457 465 +f 460 459 465 +f 460 465 466 +f 457 461 466 +f 461 460 466 +f 465 457 466 +f 458 462 467 +f 464 458 467 +f 462 464 467 +f 460 461 468 +f 456 463 468 +f 463 460 468 +f 464 456 468 +o convex_39 +v -2.901005 0.840935 2.204383 +v -0.465866 1.673542 2.141964 +v -0.736649 1.631814 2.162777 +v -2.901005 1.673542 2.141964 +v -0.570032 0.840935 2.141964 +v -2.776101 0.924228 2.225206 +v -0.570032 0.840935 2.183570 +v -2.901005 1.548521 2.183570 +v -0.465866 1.569385 2.121151 +v -2.734387 0.840935 2.183570 +v -2.901005 1.527738 2.141964 +v -0.819838 1.673542 2.162777 +f 476 474 480 +f 470 471 475 +f 469 473 475 +f 471 474 475 +f 474 469 475 +f 472 469 476 +f 469 474 476 +f 472 470 477 +f 470 475 477 +f 475 473 477 +f 473 469 478 +f 473 478 479 +f 469 472 479 +f 472 477 479 +f 477 473 479 +f 478 469 479 +f 471 470 480 +f 470 472 480 +f 474 471 480 +f 472 476 480 +o convex_40 +v -3.046964 1.673542 1.080290 +v -0.486641 1.860898 1.205158 +v -0.423993 1.840064 1.205158 +v -0.423993 1.840064 1.059466 +v -0.549031 1.673542 1.184335 +v -2.963520 1.715210 1.205158 +v -0.549031 1.673542 1.059466 +v -2.609716 1.736006 1.080290 +v -3.046964 1.673542 1.205158 +v -0.778053 1.860898 1.163526 +f 488 486 490 +f 482 483 484 +f 484 483 485 +f 483 482 486 +f 481 484 487 +f 485 481 487 +f 484 485 487 +f 484 481 488 +f 481 486 488 +f 481 485 489 +f 485 483 489 +f 483 486 489 +f 486 481 489 +f 482 484 490 +f 486 482 490 +f 484 488 490 +o convex_41 +v -1.590072 1.819230 1.829567 +v -3.026146 1.673542 1.205173 +v -3.026146 1.673542 1.371800 +v -0.423993 1.819230 1.205173 +v -0.798932 1.860898 1.205173 +v -0.423993 1.840064 1.829567 +v -2.942855 1.673542 1.829567 +v -2.901082 1.736006 1.767158 +v -2.984374 1.715210 1.205173 +v -0.861336 1.860898 1.829567 +v -0.423993 1.819230 1.538183 +v -0.423993 1.860898 1.434209 +f 500 496 502 +f 494 492 495 +f 493 492 497 +f 492 494 497 +f 496 491 497 +f 491 495 498 +f 497 491 498 +f 493 497 498 +f 492 493 499 +f 495 492 499 +f 493 498 499 +f 498 495 499 +f 495 491 500 +f 491 496 500 +f 494 496 501 +f 497 494 501 +f 496 497 501 +f 494 495 502 +f 496 494 502 +f 495 500 502 +o convex_42 +v 2.386039 0.757589 1.538273 +v 0.513259 0.778371 1.225990 +v 0.513259 0.778371 1.350975 +v 2.719068 0.674316 2.121057 +v 0.554738 0.820036 2.141948 +v 2.947920 0.695155 1.225990 +v 0.533998 0.820036 1.309283 +v 2.760786 0.715952 2.141948 +v 2.927181 0.736792 1.225990 +v 0.929485 0.820036 2.079455 +v 0.846287 0.778400 2.141948 +v 2.948159 0.674316 1.767172 +v 2.948159 0.695155 2.141948 +v 2.427757 0.757589 1.225990 +f 509 512 516 +f 505 504 506 +f 504 505 509 +f 505 507 509 +f 508 504 511 +f 503 510 511 +f 503 511 512 +f 509 507 512 +f 510 503 512 +f 507 510 512 +f 505 506 513 +f 507 505 513 +f 510 507 513 +f 506 504 514 +f 504 508 514 +f 508 511 515 +f 511 510 515 +f 513 506 515 +f 510 513 515 +f 506 514 515 +f 514 508 515 +f 504 509 516 +f 511 504 516 +f 512 511 516 +o convex_43 +v 0.783457 2.277242 0.643091 +v 0.658502 -0.720438 0.622278 +v 0.929126 -0.720438 0.622278 +v 0.658502 2.277242 0.559849 +v 0.929126 2.256408 0.559849 +v 0.929126 2.277242 0.663915 +v 0.658502 -0.512103 0.663915 +v 0.658502 2.256408 0.663915 +v 0.929126 -0.720438 0.643091 +f 522 523 525 +f 519 518 521 +f 518 520 521 +f 520 517 522 +f 521 520 522 +f 519 521 522 +f 520 518 523 +f 523 522 524 +f 517 520 524 +f 522 517 524 +f 520 523 524 +f 518 519 525 +f 519 522 525 +f 523 518 525 +o convex_44 +v 1.553983 0.736827 2.183569 +v 2.282016 1.756718 2.162763 +v 2.490025 1.548523 2.183577 +v 2.948147 0.674316 2.141965 +v 0.388129 1.756718 2.121142 +v 2.948397 1.735845 2.121142 +v 0.513185 1.048961 2.204399 +v 0.554787 0.799339 2.141965 +v 2.948147 0.674316 2.204399 +v 0.492384 1.631801 2.162763 +v 0.554787 0.799339 2.204399 +v 2.948397 1.735845 2.162763 +v 2.927095 0.965789 2.204399 +v 0.450783 1.590162 2.121142 +f 529 533 539 +f 530 527 531 +f 529 526 533 +f 526 529 534 +f 529 531 534 +f 528 527 535 +f 527 530 535 +f 532 528 535 +f 530 532 535 +f 532 530 536 +f 530 533 536 +f 533 526 536 +f 526 534 536 +f 534 532 536 +f 527 528 537 +f 531 527 537 +f 534 531 537 +f 534 537 538 +f 528 532 538 +f 532 534 538 +f 537 528 538 +f 530 531 539 +f 531 529 539 +f 533 530 539 +o convex_45 +v 0.471380 1.361325 1.142703 +v 2.844311 1.673542 1.101099 +v 2.844311 1.673542 1.080290 +v 2.844311 1.278054 1.101099 +v 0.471380 1.278054 1.059466 +v 0.492284 1.673542 1.205158 +v 0.471380 1.673542 1.059466 +v 0.741981 1.278054 1.205158 +v 2.844311 1.278054 1.080290 +v 2.739787 1.298881 1.121922 +v 0.762886 1.673542 1.205158 +v 0.492284 1.278054 1.205158 +f 547 545 551 +f 542 541 543 +f 541 542 545 +f 540 545 546 +f 544 540 546 +f 542 544 546 +f 545 542 546 +f 544 543 547 +f 542 543 548 +f 543 544 548 +f 544 542 548 +f 543 541 549 +f 547 543 549 +f 547 549 550 +f 541 545 550 +f 545 547 550 +f 549 541 550 +f 540 544 551 +f 545 540 551 +f 544 547 551 +o convex_46 +v 2.948397 1.735991 2.120996 +v 0.388119 1.694375 1.059452 +v 0.388119 1.694375 1.371836 +v 0.388370 1.756807 1.871276 +v 2.843891 1.715175 1.101228 +v 2.843891 1.673542 1.122012 +v 0.492625 1.715175 2.100212 +v 2.948397 1.715175 2.120996 +v 0.492375 1.673542 1.205356 +v 0.388119 1.735983 1.267708 +v 1.616632 1.756807 2.120996 +v 2.843891 1.735983 1.642236 +v 0.388370 1.756807 2.120996 +v 0.388119 1.715175 1.059452 +v 0.471574 1.673542 1.059452 +f 565 556 566 +f 556 552 559 +f 557 556 559 +f 557 559 560 +f 558 554 560 +f 559 558 560 +f 553 554 561 +f 559 552 562 +f 552 556 563 +f 561 555 563 +f 556 561 563 +f 562 552 563 +f 555 562 563 +f 554 558 564 +f 558 559 564 +f 561 554 564 +f 555 561 564 +f 562 555 564 +f 559 562 564 +f 553 561 565 +f 561 556 565 +f 554 553 566 +f 556 557 566 +f 557 560 566 +f 560 554 566 +f 553 565 566 +o convex_47 +v -0.923503 0.736767 0.747194 +v -1.048502 -3.634850 0.663933 +v -1.027669 -3.634850 0.663933 +v -0.569730 0.736767 0.643107 +v -0.611396 -3.634850 0.705533 +v -1.006836 0.736767 0.663933 +v -1.048502 -3.634850 0.726368 +v -0.548945 -3.634850 0.663953 +v -0.548945 0.736767 0.684768 +v -1.027669 0.632355 0.747183 +v -0.548945 -1.054072 0.643107 +v -1.006836 -0.970628 0.747183 +v -1.048502 -1.677550 0.663933 +f 573 576 579 +f 568 569 571 +f 567 570 572 +f 568 571 573 +f 571 569 574 +f 571 574 575 +f 570 567 575 +f 567 571 575 +f 567 572 576 +f 569 568 577 +f 568 570 577 +f 574 569 577 +f 575 574 577 +f 570 575 577 +f 571 567 578 +f 573 571 578 +f 567 576 578 +f 576 573 578 +f 570 568 579 +f 572 570 579 +f 568 573 579 +f 576 572 579 +o convex_48 +v 1.553749 1.153018 1.121916 +v 2.948167 1.278015 1.101107 +v 2.948167 0.736837 1.225976 +v 2.948167 0.716013 1.101107 +v 0.596281 0.778483 1.225976 +v 0.596281 1.278015 1.205152 +v 0.700569 0.840953 1.163520 +v 2.719102 1.278015 1.080284 +v 0.721288 1.278015 1.163520 +v 2.781491 1.278015 1.121916 +v 2.906498 0.695190 1.225976 +v 0.596281 0.778483 1.184343 +f 583 590 591 +f 581 582 583 +f 584 582 585 +f 580 583 586 +f 581 583 587 +f 583 580 587 +f 585 581 587 +f 585 587 588 +f 580 586 588 +f 587 580 588 +f 582 581 589 +f 585 582 589 +f 581 585 589 +f 583 582 590 +f 582 584 590 +f 590 584 591 +f 584 585 591 +f 586 583 591 +f 585 588 591 +f 588 586 591 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/230/230.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/230/230.urdf new file mode 100644 index 000000000..70d5dcd7b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/230/230.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/231/231.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/231/231.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/231/231.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/231/231.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/231/231.obj new file mode 100644 index 000000000..02a51952d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/231/231.obj @@ -0,0 +1,351 @@ +o convex_0 +v -1.007037 -1.949810 -0.735717 +v 1.035510 0.161840 1.029750 +v 1.070241 -0.149957 0.613913 +v 1.104973 -3.681067 0.960408 +v -1.007037 -3.681067 0.995079 +v 1.070241 -3.819818 -0.978201 +v -0.937574 0.161840 -0.978201 +v 1.104973 0.161840 -1.116884 +v -1.007037 0.161840 0.925738 +v -1.007037 -3.785130 -1.047542 +v -0.522242 -3.819818 0.544782 +v -0.314473 -2.296296 1.029750 +v 1.104973 -2.919112 0.995079 +v 1.104973 -3.750443 0.371639 +v -0.764536 0.127153 0.960408 +v 0.862472 -0.149957 -1.116884 +v 0.204640 -3.819818 -1.012872 +v 0.446934 -3.681067 0.994869 +v -0.972305 -1.292696 -1.012662 +v 0.585447 0.161840 1.029750 +v -1.007037 -2.330593 0.995079 +v -1.007037 0.126763 0.440980 +v -0.972305 -3.715365 0.995079 +v 1.035510 -3.715755 0.925528 +v 1.000985 -0.877226 1.029750 +v 1.070241 -3.819818 -0.666586 +v -0.591499 0.161840 -1.012872 +v 0.377884 -3.785130 0.579453 +v 1.104973 0.126763 -0.839729 +v 1.104973 0.023090 -1.116884 +v -1.007037 -3.473332 -1.047542 +v -0.868524 -3.785130 -1.047542 +v 1.070241 -3.023174 -1.012872 +v -0.972305 -0.946601 -0.978201 +v -1.007037 -3.785130 -0.597455 +v 1.104973 -0.392380 -1.082003 +v 1.070241 -0.773163 0.995079 +v 1.104973 -3.611692 0.198497 +v 0.897204 0.057778 -1.116884 +v -1.007037 -2.468954 -1.012662 +v -1.007037 -0.531130 0.960198 +v -0.972305 0.161840 -0.354972 +v 1.070241 0.161840 0.406310 +f 29 8 43 +f 7 2 8 +f 1 5 9 +f 2 7 9 +f 5 1 10 +f 4 8 13 +f 8 4 14 +f 6 11 17 +f 11 10 17 +f 4 13 18 +f 2 9 20 +f 12 2 20 +f 9 15 20 +f 20 15 21 +f 9 5 21 +f 5 12 21 +f 12 20 21 +f 1 9 22 +f 12 5 23 +f 18 12 23 +f 18 23 24 +f 14 4 24 +f 4 18 24 +f 23 11 24 +f 2 12 25 +f 13 2 25 +f 12 18 25 +f 18 13 25 +f 11 6 26 +f 6 14 26 +f 7 8 27 +f 19 7 27 +f 14 24 28 +f 24 11 28 +f 11 26 28 +f 26 14 28 +f 13 8 29 +f 8 14 30 +f 16 8 30 +f 10 1 31 +f 16 10 31 +f 10 16 32 +f 17 10 32 +f 16 30 32 +f 30 17 32 +f 6 17 33 +f 30 6 33 +f 17 30 33 +f 7 19 34 +f 5 10 35 +f 10 11 35 +f 23 5 35 +f 11 23 35 +f 6 30 36 +f 30 14 36 +f 3 2 37 +f 2 13 37 +f 29 3 37 +f 13 29 37 +f 14 6 38 +f 6 36 38 +f 36 14 38 +f 8 16 39 +f 27 8 39 +f 19 27 39 +f 16 31 39 +f 31 19 39 +f 31 1 40 +f 19 31 40 +f 34 19 40 +f 1 34 40 +f 15 9 41 +f 21 15 41 +f 9 21 41 +f 9 7 42 +f 1 22 42 +f 22 9 42 +f 7 34 42 +f 34 1 42 +f 2 3 43 +f 8 2 43 +f 3 29 43 +o convex_1 +v -2.357348 0.577586 -1.047637 +v -2.876637 0.473818 1.029750 +v -2.945822 0.473818 1.029750 +v -1.941837 2.377720 0.960205 +v -1.007237 0.196464 0.925840 +v -1.007237 2.238936 -0.978296 +v -3.049800 2.342917 -1.012865 +v -1.007237 0.265856 -0.978296 +v -2.945822 0.265856 -0.874386 +v -1.007237 2.377720 0.925840 +v -2.945822 2.342917 0.960205 +v -2.945822 0.196464 1.029750 +v -2.945822 0.300658 -1.047637 +v -1.076422 0.231480 -0.874183 +v -1.734082 2.308328 -1.012662 +v -3.049800 2.031400 -0.701338 +v -2.253371 0.196464 0.268014 +v -3.015008 1.304173 -1.047637 +v -1.318770 1.996598 0.960205 +v -2.876637 2.273738 0.994774 +v -1.284178 0.196464 0.960205 +v -1.318770 1.892830 -1.012662 +v -1.007237 2.377720 0.648882 +v -1.007237 0.196464 0.094763 +v -2.980415 1.754260 -1.047637 +v -2.391941 2.342917 -1.012865 +v -1.076422 2.273525 -0.978296 +v -1.526526 0.265856 -1.012662 +v -2.980415 0.612175 -0.805248 +v -2.945822 0.196464 0.544768 +v -2.530311 0.265856 -1.047637 +v -3.049800 2.342917 -0.701338 +v -2.807252 0.196464 1.029750 +v -1.595711 2.377720 0.960205 +v -2.391941 0.992870 -1.047637 +f 68 65 78 +f 49 48 51 +f 48 49 53 +f 45 46 55 +f 55 46 59 +f 48 55 60 +f 44 56 61 +f 59 50 61 +f 46 45 63 +f 54 46 63 +f 47 54 63 +f 48 53 64 +f 55 48 64 +f 53 62 64 +f 49 51 65 +f 58 49 65 +f 50 47 66 +f 47 53 66 +f 53 49 66 +f 51 48 67 +f 57 51 67 +f 48 60 67 +f 60 57 67 +f 44 61 68 +f 61 50 68 +f 58 65 68 +f 50 66 69 +f 66 58 69 +f 68 50 69 +f 58 68 69 +f 49 58 70 +f 66 49 70 +f 58 66 70 +f 51 57 71 +f 44 65 71 +f 65 51 71 +f 56 52 72 +f 55 59 72 +f 61 56 72 +f 59 61 72 +f 60 55 73 +f 72 52 73 +f 55 72 73 +f 56 44 74 +f 52 56 74 +f 57 60 74 +f 44 71 74 +f 71 57 74 +f 60 73 74 +f 73 52 74 +f 47 50 75 +f 46 54 75 +f 54 47 75 +f 59 46 75 +f 50 59 75 +f 45 55 76 +f 62 45 76 +f 55 64 76 +f 64 62 76 +f 53 47 77 +f 45 62 77 +f 62 53 77 +f 63 45 77 +f 47 63 77 +f 65 44 78 +f 44 68 78 +o convex_2 +v 0.689695 1.823533 -1.116884 +v 0.031860 2.377720 0.960408 +v 0.031860 2.377720 0.925528 +v -1.007037 0.161840 0.925528 +v 2.974475 0.265954 0.994869 +v -0.937645 0.161840 -0.978201 +v 3.043867 2.273606 -1.012662 +v 2.939978 0.196545 -1.082213 +v -1.007037 2.238902 -0.978201 +v 2.939978 2.204414 1.029750 +v -1.007037 2.377720 0.925528 +v 0.620304 0.161840 1.029750 +v 0.931973 0.161840 -1.116884 +v -0.522086 2.343015 -0.562785 +v 1.278139 2.238902 -1.116884 +v 1.693301 2.308094 1.029750 +v -1.007037 0.265737 -0.978201 +v 2.974475 0.612131 1.029750 +v -0.591478 2.377720 0.960408 +v 1.035466 0.161840 1.029750 +v 3.043867 2.273606 -0.701257 +v 1.035466 2.204414 1.029750 +v -0.799258 2.238902 -1.012872 +v 3.043867 1.927429 -1.012662 +v 2.939978 0.196545 -0.528114 +v -0.729866 0.161840 0.960408 +v 2.939978 0.785219 -1.082213 +v -0.972143 2.273823 -0.943531 +v 1.278139 2.343015 0.995079 +v 1.623909 0.196762 -1.116884 +v -0.799258 2.377720 0.336969 +v 2.662806 2.273823 -1.047332 +v -0.591478 0.161840 -1.012872 +v 2.974475 0.265954 0.440980 +v 0.655198 2.204414 -1.116884 +v 2.731802 0.265954 1.029750 +v 1.104858 0.161840 -1.116884 +v 2.974475 0.819924 1.029750 +v -0.314307 2.343015 -0.562785 +v -1.007037 2.377720 0.614123 +v 3.008973 1.754124 -1.047542 +v 2.974475 2.204414 0.510111 +f 116 99 120 +f 80 81 89 +f 87 82 89 +f 82 84 90 +f 90 84 91 +f 91 79 93 +f 90 88 94 +f 84 82 95 +f 82 87 95 +f 88 90 96 +f 80 89 97 +f 90 91 98 +f 96 90 98 +f 94 88 99 +f 96 83 99 +f 90 94 100 +f 97 90 100 +f 94 97 100 +f 95 87 101 +f 99 83 102 +f 85 99 102 +f 86 83 103 +f 83 98 103 +f 89 82 104 +f 82 90 104 +f 97 89 104 +f 90 97 104 +f 101 87 106 +f 93 101 106 +f 81 80 107 +f 85 81 107 +f 80 97 107 +f 97 94 107 +f 99 85 107 +f 94 99 107 +f 91 93 108 +f 105 86 108 +f 93 105 108 +f 81 85 109 +f 89 81 109 +f 106 92 110 +f 93 106 110 +f 79 91 111 +f 91 84 111 +f 84 95 111 +f 101 79 111 +f 95 101 111 +f 83 86 112 +f 102 83 112 +f 86 102 112 +f 93 79 113 +f 79 101 113 +f 101 93 113 +f 83 96 114 +f 98 83 114 +f 96 98 114 +f 98 91 115 +f 86 103 115 +f 103 98 115 +f 108 86 115 +f 91 108 115 +f 88 96 116 +f 96 99 116 +f 109 85 117 +f 92 109 117 +f 85 110 117 +f 110 92 117 +f 87 89 118 +f 106 87 118 +f 92 106 118 +f 89 109 118 +f 109 92 118 +f 102 86 119 +f 85 102 119 +f 86 105 119 +f 105 93 119 +f 110 85 119 +f 93 110 119 +f 99 88 120 +f 88 116 120 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/231/231.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/231/231.urdf new file mode 100644 index 000000000..83de6ea6c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/231/231.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/232/232.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/232/232.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/232/232.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/232/232.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/232/232.obj new file mode 100644 index 000000000..3ec7c51db --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/232/232.obj @@ -0,0 +1,1218 @@ +o convex_0 +v -0.500285 -0.424505 -2.945677 +v -0.591821 -0.571084 -1.255183 +v -0.585722 -0.571084 -1.255183 +v -0.506384 0.277330 -1.261320 +v -0.500285 0.210145 -1.255375 +v -0.500285 -0.516107 -2.988442 +v -0.506384 -0.497753 -3.116548 +v -0.597929 -0.540523 -1.188254 +v -0.585722 -0.546585 -1.163707 +v -0.506384 0.271185 -1.285867 +v -0.500285 0.271185 -1.285867 +f 10 4 11 +f 3 2 6 +f 1 5 6 +f 6 2 7 +f 1 6 7 +f 7 2 8 +f 2 3 9 +f 5 4 9 +f 3 6 9 +f 6 5 9 +f 8 2 9 +f 4 8 9 +f 1 7 10 +f 8 4 10 +f 7 8 10 +f 5 1 11 +f 4 5 11 +f 1 10 11 +o convex_1 +v -0.073056 -0.052317 -3.263256 +v -0.500276 -0.503861 -3.251047 +v -0.500276 -0.503861 -3.220543 +v -0.073056 -0.540566 -3.208333 +v -0.469748 -0.052317 -3.214446 +v -0.372018 -0.381799 -3.263256 +v -0.079203 -0.052317 -3.251041 +v -0.085309 -0.534400 -3.220548 +v -0.475854 -0.095092 -3.226645 +v -0.073056 -0.113396 -3.263256 +v -0.426926 -0.052317 -3.214446 +v -0.439179 -0.509978 -3.257143 +f 21 19 23 +f 14 15 16 +f 15 12 18 +f 12 16 18 +f 13 14 20 +f 16 12 20 +f 14 16 20 +f 17 13 20 +f 12 17 20 +f 12 15 21 +f 17 12 21 +f 15 19 21 +f 16 15 22 +f 15 18 22 +f 18 16 22 +f 14 13 23 +f 15 14 23 +f 13 17 23 +f 19 15 23 +f 17 21 23 +o convex_2 +v -0.469757 0.503085 -1.517666 +v -0.500274 -0.510047 -3.208261 +v -0.494168 -0.510047 -3.208261 +v -0.475863 -0.046086 -3.220535 +v -0.500274 0.332167 -1.273522 +v -0.469757 0.405403 -1.468952 +v -0.469757 -0.168113 -3.208069 +v -0.494168 0.265018 -1.261248 +v -0.488068 -0.491688 -3.202124 +v -0.475863 0.496998 -1.572901 +v -0.469757 0.509271 -1.285989 +v -0.500274 -0.473329 -3.195987 +v -0.469757 -0.046086 -3.220535 +v -0.500274 -0.497775 -3.079956 +v -0.500274 0.265018 -1.261248 +f 37 31 38 +f 26 25 27 +f 24 29 30 +f 29 31 32 +f 30 29 32 +f 27 28 33 +f 33 28 34 +f 29 24 34 +f 31 29 34 +f 24 33 34 +f 27 25 35 +f 28 27 35 +f 25 28 35 +f 26 27 36 +f 24 30 36 +f 32 26 36 +f 30 32 36 +f 33 24 36 +f 27 33 36 +f 25 26 37 +f 28 25 37 +f 32 31 37 +f 26 32 37 +f 34 28 38 +f 31 34 38 +f 28 37 38 +o convex_3 +v 0.561760 0.417735 -1.688583 +v 0.482420 0.374989 -3.257094 +v 0.512953 0.374989 -3.257094 +v 0.482420 0.515361 -3.269365 +v 0.482420 0.393319 -1.285792 +v 0.573975 0.374989 -1.279559 +v 0.519056 0.509246 -3.189897 +v 0.506850 0.399420 -1.285792 +v 0.482420 0.387218 -1.328447 +f 44 43 47 +f 41 40 42 +f 42 40 43 +f 40 41 44 +f 44 41 45 +f 41 42 45 +f 39 44 45 +f 39 45 46 +f 42 43 46 +f 43 44 46 +f 44 39 46 +f 45 42 46 +f 43 40 47 +f 40 44 47 +o convex_4 +v -0.408720 -0.516125 2.742778 +v -0.439236 -0.473376 2.834325 +v -0.445335 -0.473376 2.834325 +v -0.463646 -0.070581 2.742778 +v -0.408720 -0.082814 2.797701 +v -0.445335 -0.522219 2.742778 +v -0.469745 -0.070581 2.797701 +v -0.408720 -0.522219 2.834325 +f 50 53 55 +f 48 51 52 +f 51 48 53 +f 51 53 54 +f 50 49 54 +f 52 51 54 +f 49 52 54 +f 53 50 54 +f 49 50 55 +f 48 52 55 +f 52 49 55 +f 53 48 55 +o convex_5 +v 0.518999 0.539729 2.779409 +v 0.232231 -0.070461 2.773304 +v 0.549522 -0.070461 2.767199 +v 0.518999 0.496955 2.828224 +v 0.232231 0.515295 2.767199 +v 0.244422 0.515295 2.809916 +v 0.555633 -0.070461 2.803811 +v 0.518999 0.533576 2.767199 +v 0.232231 0.014968 2.785508 +f 62 59 64 +f 58 57 60 +f 59 56 61 +f 56 60 61 +f 57 58 62 +f 56 59 62 +f 60 56 63 +f 58 60 63 +f 56 62 63 +f 62 58 63 +f 60 57 64 +f 61 60 64 +f 59 61 64 +f 57 62 64 +o convex_6 +v -0.463650 0.484822 -1.975605 +v -0.469755 -0.027855 -3.141006 +v -0.463650 -0.027855 -3.141006 +v -0.439243 0.435978 -3.141006 +v -0.439243 0.497020 -1.285663 +v -0.469755 0.503119 -1.285663 +v -0.451445 0.429879 -3.128656 +v -0.469755 0.484822 -1.945094 +v -0.469755 0.094229 -3.134831 +v -0.439243 0.417682 -3.122663 +f 69 67 74 +f 67 66 68 +f 68 65 69 +f 66 67 69 +f 69 65 70 +f 66 69 70 +f 68 71 72 +f 65 68 72 +f 66 70 72 +f 70 65 72 +f 68 66 73 +f 71 68 73 +f 72 71 73 +f 66 72 73 +f 67 68 74 +f 68 69 74 +o convex_7 +v 0.482420 -0.424485 -3.177761 +v 0.525144 0.374989 -2.787173 +v 0.525144 0.374989 -2.909304 +v 0.482420 0.374989 -3.250994 +v 0.488530 -0.577101 -2.787173 +v 0.500733 -0.516129 -3.165525 +v 0.512936 0.374989 -3.257066 +v 0.512936 -0.412384 -2.787173 +v 0.519038 0.374989 -2.787173 +v 0.482420 -0.583291 -3.153335 +v 0.500733 -0.570910 -3.128909 +f 79 84 85 +f 76 77 78 +f 80 75 81 +f 78 77 81 +f 75 78 81 +f 77 80 81 +f 77 76 82 +f 76 79 82 +f 76 78 83 +f 78 79 83 +f 79 76 83 +f 78 75 84 +f 79 78 84 +f 75 80 84 +f 84 80 85 +f 80 77 85 +f 77 82 85 +f 82 79 85 +o convex_8 +v -0.408720 -0.534476 2.656979 +v -0.420932 -0.656519 0.704143 +v -0.420932 -0.650414 0.704143 +v -0.445339 -0.485632 2.742579 +v -0.433130 -0.485632 0.722700 +v -0.445339 -0.534476 2.614279 +v -0.408720 -0.650414 0.704143 +v -0.439235 -0.516176 0.722700 +v -0.408720 -0.516176 2.736393 +v -0.427030 -0.656519 0.765400 +v -0.427030 -0.485632 0.966929 +f 94 92 96 +f 87 88 92 +f 88 90 92 +f 88 87 93 +f 89 90 93 +f 90 88 93 +f 91 89 93 +f 91 86 94 +f 89 91 94 +f 86 92 94 +f 86 91 95 +f 87 92 95 +f 92 86 95 +f 93 87 95 +f 91 93 95 +f 90 89 96 +f 92 90 96 +f 89 94 96 +o convex_9 +v 0.586167 -0.442854 2.773292 +v 0.433621 -0.601580 2.736681 +v 0.494649 -0.607642 2.736681 +v 0.555645 -0.070581 2.736681 +v 0.433621 -0.070581 2.791601 +v 0.433621 -0.595465 2.785496 +v 0.561749 -0.070581 2.797706 +v 0.592286 -0.607642 2.736681 +v 0.592286 -0.607642 2.779397 +f 104 97 105 +f 99 98 100 +f 100 98 101 +f 101 98 102 +f 98 99 102 +f 97 100 103 +f 100 101 103 +f 101 102 103 +f 99 100 104 +f 100 97 104 +f 102 99 105 +f 97 103 105 +f 103 102 105 +f 99 104 105 +o convex_10 +v 0.036807 -0.064475 2.754986 +v 0.232168 0.374989 2.797707 +v 0.232168 0.277292 2.797707 +v -0.469725 -0.070581 2.797712 +v -0.494110 0.374989 2.754986 +v -0.469725 -0.070581 2.754986 +v 0.232168 -0.070581 2.779402 +v -0.262207 0.374989 2.754986 +v 0.226054 0.301716 2.785499 +v -0.494110 0.374989 2.761096 +v 0.164986 0.374989 2.797707 +v 0.213826 -0.070581 2.767198 +f 106 114 117 +f 108 107 109 +f 110 106 111 +f 109 110 111 +f 107 108 112 +f 108 109 112 +f 109 111 112 +f 106 110 113 +f 110 107 113 +f 107 112 114 +f 113 107 114 +f 106 113 114 +f 110 109 115 +f 107 110 115 +f 109 107 116 +f 107 115 116 +f 115 109 116 +f 111 106 117 +f 112 111 117 +f 114 112 117 +o convex_11 +v -0.494172 0.344503 2.730576 +v 0.232168 0.515361 2.803815 +v 0.232168 0.515361 2.761102 +v -0.225492 0.185870 2.754987 +v -0.494172 0.448205 2.754987 +v 0.232168 0.503071 2.742785 +v 0.232168 0.405498 2.803815 +v -0.488058 0.326214 2.754987 +v -0.463600 0.454301 2.730576 +v 0.232168 0.374984 2.791599 +v -0.225492 0.185870 2.748886 +v 0.158866 0.509232 2.803815 +f 126 122 129 +f 120 119 123 +f 123 119 124 +f 122 118 125 +f 121 124 125 +f 118 122 126 +f 120 123 126 +f 123 118 126 +f 124 121 127 +f 123 124 127 +f 118 123 128 +f 125 118 128 +f 121 125 128 +f 127 121 128 +f 123 127 128 +f 119 120 129 +f 124 119 129 +f 122 125 129 +f 125 124 129 +f 120 126 129 +o convex_12 +v 0.519023 0.350574 2.767193 +v 0.464117 -0.528358 0.667606 +v 0.464117 -0.497730 0.667606 +v 0.586179 -0.528358 2.675326 +v 0.421408 0.350574 0.759268 +v 0.573947 -0.522164 2.699988 +v 0.409175 0.344380 0.765433 +v 0.531238 0.350574 2.754656 +v 0.476331 -0.522164 0.667606 +v 0.464117 -0.528358 0.686103 +v 0.586179 -0.479490 2.730200 +v 0.519023 0.332163 2.754656 +v 0.427506 0.307815 0.808181 +f 137 138 142 +f 132 131 136 +f 130 134 136 +f 134 132 136 +f 134 130 137 +f 131 132 138 +f 133 131 138 +f 132 134 138 +f 131 133 139 +f 133 135 139 +f 136 131 139 +f 135 136 139 +f 130 135 140 +f 135 133 140 +f 137 130 140 +f 133 138 140 +f 138 137 140 +f 135 130 141 +f 130 136 141 +f 136 135 141 +f 134 137 142 +f 138 134 142 +o convex_13 +v -0.341527 -0.650423 0.722563 +v -0.140157 -0.632119 1.399895 +v -0.146283 -0.626020 1.399895 +v -0.408720 -0.613814 1.399895 +v -0.140157 -0.613814 0.692005 +v -0.140157 -0.644320 1.326653 +v -0.408720 -0.656526 0.704270 +v -0.408720 -0.607706 1.332751 +v -0.402595 -0.644320 0.704270 +v -0.140157 -0.626020 0.771345 +v -0.408720 -0.656526 0.789707 +v -0.359876 -0.607706 1.399895 +f 147 150 154 +f 144 145 146 +f 145 144 147 +f 144 146 148 +f 147 144 148 +f 147 143 149 +f 143 148 149 +f 149 146 150 +f 149 150 151 +f 147 149 151 +f 150 147 151 +f 143 147 152 +f 148 143 152 +f 147 148 152 +f 148 146 153 +f 146 149 153 +f 149 148 153 +f 146 145 154 +f 145 147 154 +f 150 146 154 +o convex_14 +v 0.140654 -0.558809 -3.196129 +v 0.427398 -0.052270 -3.214420 +v 0.482420 -0.052322 -3.208323 +v -0.073017 -0.510000 -3.208323 +v -0.066819 -0.113346 -3.263251 +v 0.476276 -0.534431 -3.153395 +v -0.024139 -0.052270 -3.251046 +v 0.482420 -0.546646 -3.165611 +v 0.439686 -0.058403 -3.220528 +v -0.066819 -0.522164 -3.220528 +v 0.476276 -0.064485 -3.202226 +f 157 161 165 +f 158 155 160 +f 158 160 161 +f 157 156 161 +f 159 158 161 +f 160 155 162 +f 157 160 162 +f 156 157 163 +f 161 156 163 +f 159 161 163 +f 157 162 163 +f 162 159 163 +f 155 158 164 +f 158 159 164 +f 162 155 164 +f 159 162 164 +f 160 157 165 +f 161 160 165 +o convex_15 +v 0.482420 0.503165 -3.141187 +v 0.403048 0.423819 -3.269365 +v 0.341930 0.423819 -3.263255 +v 0.470160 0.509271 -3.269365 +v -0.445342 0.436039 -3.141187 +v -0.408653 0.436039 -3.183921 +v 0.482420 0.423819 -3.257157 +v -0.420913 0.423819 -3.141187 +v 0.439646 0.490952 -3.141187 +v 0.409132 0.509271 -3.251047 +f 169 171 175 +f 167 168 169 +f 169 168 171 +f 168 167 172 +f 167 169 172 +f 169 166 172 +f 166 170 173 +f 171 168 173 +f 170 171 173 +f 168 172 173 +f 173 172 174 +f 172 166 174 +f 166 173 174 +f 166 169 175 +f 170 166 175 +f 171 170 175 +o convex_16 +v -0.481960 0.326160 2.754986 +v -0.439242 -0.485632 0.722454 +v -0.445347 -0.442802 0.728821 +v -0.445347 -0.485632 2.742650 +v -0.500276 0.258934 0.802036 +v -0.433143 -0.387893 1.174481 +v -0.488065 0.271171 0.820340 +v -0.488065 0.228420 2.754986 +v -0.439249 -0.430565 2.742650 +v -0.451446 -0.436683 2.742650 +v -0.475861 0.271171 2.388310 +v -0.433143 -0.479434 0.722454 +v -0.500276 0.326160 1.449040 +v -0.494164 0.326160 0.808204 +v -0.433137 -0.479434 2.144589 +v -0.433143 -0.430565 0.740957 +v -0.488065 0.326160 2.754986 +v -0.475861 0.240658 2.754986 +f 190 181 193 +f 178 177 179 +f 177 178 180 +f 178 179 185 +f 180 178 185 +f 179 183 185 +f 183 180 185 +f 181 182 186 +f 177 180 187 +f 180 183 188 +f 176 186 189 +f 186 182 189 +f 187 180 189 +f 188 176 189 +f 180 188 189 +f 179 177 190 +f 184 179 190 +f 177 187 190 +f 190 187 191 +f 182 181 191 +f 189 182 191 +f 187 189 191 +f 181 190 191 +f 183 176 192 +f 176 188 192 +f 188 183 192 +f 176 183 193 +f 183 179 193 +f 179 184 193 +f 186 176 193 +f 181 186 193 +f 184 190 193 +o convex_17 +v 0.146764 0.405517 -2.194951 +v 0.482382 0.399414 -1.285663 +v 0.451833 0.405517 -1.285663 +v 0.482382 0.442125 -2.225588 +v 0.091783 0.442130 -1.285663 +v 0.396929 0.387197 -1.609153 +v 0.110135 0.417712 -2.225588 +v 0.091783 0.405517 -2.024097 +v 0.476264 0.387197 -1.346754 +v 0.122370 0.429913 -1.297992 +v 0.482382 0.429913 -2.164497 +v 0.134567 0.442130 -1.285663 +v 0.421322 0.442125 -2.225588 +v 0.091783 0.442130 -1.413918 +v 0.482382 0.442125 -2.152260 +v 0.482382 0.387197 -1.511536 +f 194 204 209 +f 195 196 198 +f 197 194 200 +f 194 199 201 +f 200 194 201 +f 201 199 202 +f 195 198 203 +f 198 201 203 +f 201 202 203 +f 202 195 203 +f 197 195 204 +f 194 197 204 +f 198 196 205 +f 197 200 206 +f 206 200 207 +f 201 198 207 +f 200 201 207 +f 205 197 207 +f 198 205 207 +f 197 206 207 +f 196 195 208 +f 195 197 208 +f 205 196 208 +f 197 205 208 +f 199 194 209 +f 202 199 209 +f 195 202 209 +f 204 195 209 +o convex_18 +v 0.158866 -0.577178 2.767201 +v 0.433590 -0.491736 2.779408 +v 0.433590 -0.491736 2.773304 +v -0.408720 -0.491736 2.822119 +v -0.408720 -0.516161 2.754993 +v 0.390716 -0.589385 2.791615 +v -0.408720 -0.522265 2.834326 +v 0.433590 -0.595489 2.754993 +f 211 215 217 +f 211 212 213 +f 213 212 214 +f 211 213 216 +f 214 210 216 +f 213 214 216 +f 210 215 216 +f 215 211 216 +f 212 211 217 +f 210 214 217 +f 214 212 217 +f 215 210 217 +o convex_19 +v -0.317065 -0.168275 2.785506 +v 0.433569 -0.070622 2.791605 +v 0.433569 -0.143872 2.791605 +v -0.408658 -0.430646 2.828230 +v 0.433569 -0.491736 2.767198 +v 0.128369 -0.070622 2.761099 +v -0.408658 -0.088965 2.797704 +v 0.348077 -0.491736 2.785506 +v -0.408658 -0.491736 2.822118 +v -0.060753 -0.070622 2.761099 +v -0.323166 -0.491736 2.828230 +v -0.408658 -0.070622 2.785506 +v 0.427469 -0.119469 2.779401 +f 222 223 230 +f 219 220 222 +f 221 219 224 +f 222 220 225 +f 222 225 226 +f 218 222 226 +f 221 224 226 +f 222 218 227 +f 219 223 227 +f 223 222 227 +f 220 219 228 +f 219 221 228 +f 225 220 228 +f 226 225 228 +f 221 226 228 +f 224 219 229 +f 218 226 229 +f 226 224 229 +f 227 218 229 +f 219 227 229 +f 219 222 230 +f 223 219 230 +o convex_20 +v -0.024130 -0.607701 0.698144 +v 0.433578 -0.589399 1.894364 +v 0.433578 -0.595485 1.894364 +v 0.433578 -0.534469 0.667521 +v -0.140101 -0.632112 1.399952 +v -0.091298 -0.644318 1.357080 +v 0.097963 -0.619907 1.894364 +v 0.433578 -0.546685 0.673645 +v -0.127915 -0.607701 0.692139 +v 0.171140 -0.632102 1.888119 +v 0.421335 -0.534469 0.679770 +v 0.427457 -0.583301 1.863741 +v -0.140101 -0.626015 0.789773 +v -0.140101 -0.644318 1.332701 +v 0.421335 -0.595485 1.796611 +f 233 240 245 +f 232 233 234 +f 233 232 237 +f 234 233 238 +f 236 231 238 +f 234 238 239 +f 238 231 239 +f 233 237 240 +f 235 237 241 +f 234 239 241 +f 239 235 241 +f 232 234 242 +f 237 232 242 +f 234 241 242 +f 241 237 242 +f 231 236 243 +f 235 239 243 +f 239 231 243 +f 237 235 244 +f 236 240 244 +f 240 237 244 +f 243 236 244 +f 235 243 244 +f 238 233 245 +f 236 238 245 +f 240 236 245 +o convex_21 +v -0.433089 0.423828 -3.141187 +v 0.006331 0.417729 -2.225722 +v -0.018093 0.423828 -2.225722 +v 0.006331 0.466545 -3.141187 +v -0.439239 0.466545 -2.225722 +v -0.018093 0.405520 -2.384439 +v -0.439239 0.442131 -3.012941 +v 0.006331 0.454329 -3.104443 +v -0.396452 0.454323 -2.225722 +v -0.384284 0.466545 -2.225722 +v -0.439239 0.466545 -2.378344 +v -0.036411 0.466545 -3.141187 +v 0.000225 0.405520 -2.305125 +v 0.006331 0.466545 -3.092255 +f 249 255 259 +f 247 248 250 +f 246 250 252 +f 249 247 253 +f 246 249 253 +f 251 246 253 +f 250 246 254 +f 247 250 254 +f 249 250 255 +f 250 248 255 +f 250 249 256 +f 252 250 256 +f 252 256 257 +f 249 246 257 +f 246 252 257 +f 256 249 257 +f 246 251 258 +f 253 247 258 +f 251 253 258 +f 254 246 258 +f 247 254 258 +f 248 247 259 +f 247 249 259 +f 255 248 259 +o convex_22 +v -0.433135 0.442131 2.693851 +v 0.232168 0.509271 2.742778 +v 0.171082 0.509271 2.742778 +v 0.103940 0.448240 1.827313 +v 0.232168 0.442142 1.870057 +v -0.433135 0.405513 1.827313 +v -0.396470 0.460435 2.730412 +v -0.420892 0.399404 1.912802 +v 0.226047 0.490945 2.315424 +v 0.189382 0.497054 2.730412 +v -0.030280 0.442142 1.827313 +v -0.390349 0.448229 2.742778 +v 0.232168 0.448240 1.827313 +v -0.372049 0.399404 1.827313 +f 265 272 273 +f 265 260 266 +f 264 260 267 +f 260 265 267 +f 262 261 268 +f 266 262 268 +f 264 261 269 +f 263 265 270 +f 265 266 270 +f 268 263 270 +f 266 268 270 +f 261 262 271 +f 260 264 271 +f 266 260 271 +f 262 266 271 +f 264 269 271 +f 269 261 271 +f 261 264 272 +f 265 263 272 +f 268 261 272 +f 263 268 272 +f 264 267 273 +f 267 265 273 +f 272 264 273 +o convex_23 +v 0.403068 0.527582 2.711963 +v 0.274920 0.356678 0.765366 +v 0.384752 0.356695 0.759273 +v 0.238287 0.503141 2.767193 +v 0.232199 0.484839 2.223742 +v 0.396963 0.368890 0.777748 +v 0.403068 0.515370 2.730242 +v 0.232199 0.362801 0.771459 +v 0.403068 0.356695 0.789934 +v 0.232199 0.356678 0.844574 +v 0.232199 0.515353 2.748718 +v 0.396963 0.521476 2.602094 +f 278 284 285 +f 274 277 280 +f 276 275 281 +f 278 279 281 +f 279 276 281 +f 275 276 282 +f 279 274 282 +f 276 279 282 +f 280 277 282 +f 274 280 282 +f 281 275 283 +f 278 281 283 +f 275 282 283 +f 282 277 283 +f 277 274 284 +f 283 277 284 +f 278 283 284 +f 279 278 285 +f 274 279 285 +f 284 274 285 +o convex_24 +v -0.054787 0.368875 -3.226632 +v -0.469676 -0.052270 -3.220527 +v -0.433078 -0.052270 -3.226632 +v -0.463583 -0.033955 -3.141199 +v -0.445304 0.423819 -3.177817 +v -0.054787 -0.052270 -3.257144 +v -0.451397 0.423819 -3.141199 +v -0.060880 0.423819 -3.208317 +v -0.085292 -0.046165 -3.263249 +v -0.420892 0.423819 -3.183922 +v -0.054787 -0.033955 -3.251040 +f 293 289 296 +f 287 288 291 +f 289 287 291 +f 287 289 292 +f 290 287 292 +f 290 292 293 +f 292 289 293 +f 286 291 294 +f 291 288 294 +f 288 287 295 +f 287 290 295 +f 290 293 295 +f 293 286 295 +f 286 294 295 +f 294 288 295 +f 291 286 296 +f 289 291 296 +f 286 293 296 +o convex_25 +v -0.054706 -0.015640 -3.263253 +v 0.482420 0.423819 -3.257154 +v 0.482420 0.399353 -3.251054 +v -0.054706 0.423819 -3.214439 +v 0.482420 -0.052270 -3.208340 +v 0.451873 0.417714 -3.269364 +v -0.054706 -0.027850 -3.251048 +v 0.006336 -0.046165 -3.263253 +v 0.482420 -0.021745 -3.220545 +v -0.011961 0.423819 -3.226644 +v -0.054706 0.362770 -3.214439 +v 0.396930 0.423819 -3.269364 +v 0.000237 0.423819 -3.214439 +v 0.433576 -0.052270 -3.208340 +v 0.482420 -0.009535 -3.208340 +f 310 301 311 +f 298 299 301 +f 300 297 303 +f 303 297 304 +f 304 302 305 +f 298 301 305 +f 302 298 305 +f 301 304 305 +f 300 298 306 +f 297 300 306 +f 300 303 307 +f 298 302 308 +f 304 297 308 +f 302 304 308 +f 306 298 308 +f 297 306 308 +f 299 298 309 +f 298 300 309 +f 304 301 310 +f 303 304 310 +f 300 307 310 +f 307 303 310 +f 301 299 311 +f 299 309 311 +f 309 300 311 +f 300 310 311 +o convex_26 +v 0.439686 0.490953 -3.141187 +v 0.482420 0.442137 -2.225722 +v 0.415219 0.442137 -2.225722 +v 0.006331 0.405508 -2.353955 +v 0.006331 0.466540 -3.086166 +v 0.006331 0.417724 -2.225722 +v 0.476268 0.503159 -3.079983 +v 0.012483 0.454333 -3.098353 +v 0.482420 0.436038 -2.256279 +v 0.116219 0.405508 -2.231905 +v 0.116219 0.478746 -3.134914 +f 319 316 322 +f 313 314 317 +f 316 315 317 +f 314 313 318 +f 317 314 318 +f 315 316 319 +f 318 313 320 +f 312 318 320 +f 319 312 320 +f 319 320 321 +f 313 317 321 +f 317 315 321 +f 315 319 321 +f 320 313 321 +f 316 317 322 +f 318 312 322 +f 317 318 322 +f 312 319 322 +o convex_27 +v -0.439239 0.466535 -2.225632 +v 0.091783 0.442130 -1.285663 +v 0.085650 0.448238 -1.285663 +v 0.091783 0.411616 -2.225632 +v 0.030707 0.405508 -2.213303 +v -0.402593 0.490950 -1.285663 +v -0.433105 0.503167 -1.420089 +v 0.073434 0.436031 -1.285663 +v -0.439239 0.460436 -2.195085 +v -0.433105 0.472644 -2.219468 +v 0.085650 0.405508 -2.042349 +v -0.439239 0.503167 -1.285663 +f 329 332 334 +f 325 324 326 +f 323 326 327 +f 324 325 328 +f 324 328 330 +f 323 327 331 +f 325 326 332 +f 326 323 332 +f 329 325 332 +f 326 324 333 +f 327 326 333 +f 324 330 333 +f 330 328 333 +f 331 327 333 +f 328 331 333 +f 328 325 334 +f 325 329 334 +f 323 331 334 +f 331 328 334 +f 332 323 334 +o convex_28 +v 0.512941 -0.314729 -1.206416 +v 0.488533 -0.577188 -2.786960 +v 0.488533 -0.546564 -2.786960 +v 0.537353 -0.052270 -2.243834 +v 0.512941 -0.052270 -2.786960 +v 0.488533 -0.485574 -1.194208 +v 0.525142 -0.052321 -1.236938 +v 0.500739 -0.552730 -2.786960 +v 0.537348 -0.058436 -1.236938 +v 0.494636 -0.552730 -1.188104 +v 0.512941 -0.412354 -2.786960 +v 0.506842 -0.137769 -2.786960 +v 0.519034 -0.052270 -2.786960 +v 0.500739 -0.497751 -1.255251 +v 0.537348 -0.095071 -2.078861 +v 0.512941 -0.052270 -2.634352 +f 346 340 350 +f 336 337 339 +f 337 336 340 +f 340 335 341 +f 336 339 342 +f 341 335 343 +f 338 341 343 +f 340 336 344 +f 335 340 344 +f 336 342 344 +f 343 335 344 +f 342 339 345 +f 339 337 346 +f 337 340 346 +f 339 338 347 +f 338 345 347 +f 345 339 347 +f 344 342 348 +f 343 344 348 +f 342 345 348 +f 348 345 349 +f 338 343 349 +f 345 338 349 +f 343 348 349 +f 338 339 350 +f 340 341 350 +f 341 338 350 +f 339 346 350 +o convex_29 +v 0.464112 0.533685 2.767193 +v 0.409182 0.350574 0.759273 +v 0.403072 0.356687 0.759273 +v 0.519029 0.350574 2.766800 +v 0.403072 0.521443 2.767193 +v 0.519029 0.533685 2.760904 +v 0.421390 0.368893 0.777748 +v 0.531249 0.350574 2.760904 +v 0.403072 0.521443 2.596001 +v 0.512931 0.527573 2.638652 +f 359 351 360 +f 353 352 354 +f 354 351 355 +f 353 354 355 +f 351 354 356 +f 352 353 357 +f 354 352 358 +f 356 354 358 +f 352 357 358 +f 355 351 359 +f 353 355 359 +f 357 353 359 +f 357 359 360 +f 351 356 360 +f 356 358 360 +f 358 357 360 +o convex_30 +v 0.561761 0.228443 -1.267637 +v 0.512945 -0.052270 -2.787173 +v 0.512945 0.191848 -2.787173 +v 0.531256 -0.021739 -1.237137 +v 0.543449 -0.015633 -2.066857 +v 0.531256 0.374989 -2.707660 +v 0.519047 0.374989 -2.695521 +v 0.567868 0.374989 -1.279776 +v 0.567868 0.301716 -1.462927 +v 0.561766 0.374989 -1.279776 +v 0.537358 -0.052270 -1.237137 +v 0.525154 -0.052270 -2.646509 +v 0.531256 0.021003 -1.243206 +v 0.512945 -0.052270 -2.634369 +f 364 373 374 +f 362 363 366 +f 366 363 367 +f 366 367 368 +f 366 368 369 +f 361 365 369 +f 368 361 369 +f 364 368 370 +f 368 367 370 +f 365 361 371 +f 368 364 371 +f 361 368 371 +f 362 366 372 +f 366 369 372 +f 369 365 372 +f 371 362 372 +f 365 371 372 +f 367 363 373 +f 364 370 373 +f 370 367 373 +f 363 362 374 +f 362 371 374 +f 371 364 374 +f 373 363 374 +o convex_31 +v -0.433148 0.454337 2.687473 +v -0.500276 0.326172 0.807906 +v -0.500276 0.344489 0.807906 +v -0.433148 0.344489 0.807906 +v -0.488059 0.326172 2.730571 +v -0.494164 0.448215 2.730571 +v -0.500276 0.436008 2.449586 +v -0.481954 0.326172 2.730571 +v -0.433148 0.338379 0.863049 +v -0.433148 0.442118 2.705916 +v -0.494164 0.344489 2.730571 +v -0.439246 0.362793 1.027913 +f 377 381 386 +f 376 377 378 +f 377 376 381 +f 380 375 381 +f 379 376 382 +f 380 379 382 +f 376 378 383 +f 378 375 383 +f 382 376 383 +f 382 383 384 +f 375 380 384 +f 380 382 384 +f 383 375 384 +f 376 379 385 +f 379 380 385 +f 381 376 385 +f 380 381 385 +f 378 377 386 +f 375 378 386 +f 381 375 386 +o convex_32 +v 0.049041 -0.638225 1.662409 +v -0.408720 -0.613806 1.399965 +v -0.408720 -0.607706 1.399965 +v -0.408720 -0.583294 1.894364 +v 0.097887 -0.613806 1.399965 +v 0.079539 -0.613806 1.894364 +v -0.347675 -0.577188 1.876023 +v -0.152392 -0.638225 1.412257 +v 0.073439 -0.626013 1.894364 +v -0.408720 -0.577188 1.802801 +v -0.036402 -0.638225 1.399965 +v -0.402571 -0.601606 1.430502 +f 396 391 398 +f 389 388 390 +f 388 389 391 +f 392 391 393 +f 390 392 393 +f 390 388 394 +f 387 391 395 +f 392 390 395 +f 391 392 395 +f 390 394 395 +f 394 387 395 +f 389 390 396 +f 393 391 396 +f 390 393 396 +f 391 387 397 +f 388 391 397 +f 394 388 397 +f 387 394 397 +f 391 389 398 +f 389 396 398 +o convex_33 +v -0.347616 -0.589387 1.894364 +v 0.165027 -0.564994 2.754986 +v 0.165027 -0.577185 2.754986 +v -0.408720 -0.516151 2.754986 +v 0.158850 -0.619899 1.894364 +v -0.390355 -0.571090 1.912813 +v -0.408720 -0.528376 2.754986 +v 0.152784 -0.632113 1.912813 +v -0.408720 -0.583281 1.912813 +v -0.335429 -0.522269 2.736537 +v 0.140597 -0.577185 2.742770 +f 407 406 409 +f 401 400 402 +f 400 401 403 +f 403 399 404 +f 401 402 405 +f 399 403 406 +f 403 401 406 +f 402 404 407 +f 404 399 407 +f 405 402 407 +f 399 406 407 +f 402 400 408 +f 400 403 408 +f 403 404 408 +f 404 402 408 +f 401 405 409 +f 406 401 409 +f 405 407 409 +o convex_34 +v 0.177281 -0.632121 1.906662 +v 0.592245 -0.589402 2.736454 +v 0.232194 -0.571084 2.754986 +v 0.439676 -0.589402 1.857830 +v 0.580032 -0.613803 2.736454 +v 0.165027 -0.577190 2.754986 +v 0.165027 -0.619909 1.894366 +v 0.165027 -0.571084 2.663382 +v 0.561714 -0.595508 2.236278 +v 0.567820 -0.589402 2.266842 +v 0.171175 -0.632121 1.937226 +f 415 416 420 +f 411 412 414 +f 414 412 415 +f 413 410 416 +f 416 415 417 +f 412 413 417 +f 415 412 417 +f 413 416 417 +f 410 413 418 +f 414 410 418 +f 414 418 419 +f 412 411 419 +f 413 412 419 +f 411 414 419 +f 418 413 419 +f 410 414 420 +f 414 415 420 +f 416 410 420 +o convex_35 +v -0.390349 0.344476 0.802079 +v 0.232168 0.448223 1.827120 +v 0.213803 0.448234 1.827120 +v -0.433135 0.393300 1.808829 +v 0.225981 0.350595 0.777691 +v -0.018102 0.442114 1.808622 +v 0.207682 0.362801 0.771490 +v -0.414770 0.362801 0.991297 +v 0.232168 0.436006 1.796428 +v -0.433135 0.338367 0.856850 +v -0.433135 0.405485 1.790537 +v 0.225981 0.448223 1.784234 +v -0.274429 0.338367 0.808073 +f 424 430 433 +f 422 423 424 +f 424 423 426 +f 425 421 427 +f 422 425 427 +f 427 421 428 +f 422 424 429 +f 424 425 429 +f 425 422 429 +f 428 421 430 +f 428 430 431 +f 424 426 431 +f 426 428 431 +f 430 424 431 +f 423 422 432 +f 426 423 432 +f 422 427 432 +f 428 426 432 +f 427 428 432 +f 421 425 433 +f 425 424 433 +f 430 421 433 +o convex_36 +v 0.458023 -0.589395 1.765898 +v 0.592286 -0.571079 2.736675 +v 0.592286 -0.589395 2.736675 +v 0.476336 -0.528370 0.667521 +v 0.573958 -0.528370 2.681381 +v 0.433621 -0.583284 1.881954 +v 0.433621 -0.534470 0.716536 +v 0.555645 -0.589395 2.071126 +v 0.439710 -0.546675 0.692028 +v 0.586167 -0.528370 2.669431 +f 438 435 443 +f 436 435 438 +f 434 436 439 +f 436 438 439 +f 439 438 440 +f 438 437 440 +f 436 434 441 +f 435 436 441 +f 437 435 441 +f 437 441 442 +f 434 439 442 +f 439 440 442 +f 440 437 442 +f 441 434 442 +f 435 437 443 +f 437 438 443 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/232/232.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/232/232.urdf new file mode 100644 index 000000000..fc549f510 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/232/232.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/233/233.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/233/233.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/233/233.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/233/233.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/233/233.obj new file mode 100644 index 000000000..04e942d9f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/233/233.obj @@ -0,0 +1,714 @@ +o convex_0 +v 1.136238 -1.101393 -3.060557 +v 2.285019 -0.927871 1.777943 +v 2.285019 -0.997441 1.777943 +v 0.091791 -0.997642 1.813130 +v 0.753237 0.012323 -2.189829 +v 0.022014 -2.041789 -0.100680 +v 1.936796 -1.867463 -2.259607 +v 1.379684 -1.902448 2.370157 +v 0.857793 0.012323 2.439935 +v 1.902018 -0.162003 -2.328788 +v 0.022014 0.012323 -1.144957 +v 0.370237 -1.763108 -2.224420 +v 1.971574 -0.196586 2.300380 +v 1.066461 -1.728323 2.858003 +v 2.006352 -1.763108 2.334970 +v 0.022014 0.012323 1.186922 +v 2.215241 -1.588983 -1.388880 +v 0.892571 -2.041789 -2.433752 +v 0.440014 -0.927871 -2.816634 +v 2.215241 -0.231572 -0.170458 +v 0.405015 -0.997642 2.787629 +v 1.240350 -0.858101 3.032149 +v 0.022014 -1.902448 1.046771 +v 2.006352 -1.937233 0.246418 +v 1.867240 -0.057447 0.176640 +v 0.022014 -1.902448 -1.110366 +v 1.066461 -0.231572 -2.886411 +v 1.936796 -1.031823 -2.746856 +v 2.041130 -0.997642 2.718448 +v 0.857793 -1.972018 2.405344 +v 1.066461 -1.763108 -2.921002 +v 2.285019 -1.588983 0.977590 +v 1.170794 -0.231572 2.892594 +v 2.215241 -0.440482 -1.075776 +v 1.205572 -2.041789 -0.344603 +v 0.300681 -1.763108 2.091644 +v 0.405015 -0.231572 2.300380 +v 0.440014 -0.266357 -2.294197 +v 2.250019 -0.405496 1.395062 +v 2.180463 -0.962656 -1.841539 +v 0.196125 -1.032025 -2.050274 +v 1.170794 -2.006602 1.638985 +v 1.205572 0.012323 -0.762672 +v 2.250019 -1.728323 -0.240235 +v 1.205572 -2.041789 -1.737170 +v 1.031683 0.012323 2.369561 +v 1.344906 -0.057648 -2.363975 +v 0.579126 -0.370711 2.648671 +v 1.170794 -1.763108 -2.921002 +v 1.170794 -1.728323 2.858003 +v 0.579126 -1.519414 -2.711669 +v 0.544348 -1.484629 2.648671 +v 0.405015 -0.892885 2.787629 +v 0.022014 -1.171365 -1.319102 +v 1.240350 -1.066809 3.032149 +v 1.240350 -0.962857 -3.060557 +v 2.006352 -0.092232 -0.031499 +v 1.832241 -1.867463 -2.398565 +v 2.006352 -1.937233 -0.344603 +v 1.136238 -0.231572 -2.886411 +v 2.006352 -1.797893 2.126235 +v 0.022014 -1.101393 1.464840 +v 0.161347 -1.032025 2.091644 +v 2.285019 -1.519414 1.360471 +f 15 32 64 +f 9 5 11 +f 11 6 16 +f 9 11 16 +f 16 6 23 +f 6 11 26 +f 18 6 26 +f 12 18 26 +f 1 19 27 +f 17 7 28 +f 3 2 29 +f 2 13 29 +f 15 3 29 +f 23 6 30 +f 19 1 31 +f 2 3 32 +f 29 13 33 +f 22 29 33 +f 10 20 34 +f 2 32 34 +f 32 17 34 +f 6 18 35 +f 23 30 36 +f 9 16 37 +f 11 5 38 +f 19 11 38 +f 5 27 38 +f 27 19 38 +f 13 2 39 +f 20 13 39 +f 2 34 39 +f 34 20 39 +f 28 10 40 +f 17 28 40 +f 10 34 40 +f 34 17 40 +f 19 12 41 +f 11 19 41 +f 12 26 41 +f 8 30 42 +f 30 6 42 +f 6 35 42 +f 35 24 42 +f 5 9 43 +f 7 17 44 +f 17 32 44 +f 18 7 45 +f 35 18 45 +f 24 35 45 +f 13 25 46 +f 9 33 46 +f 33 13 46 +f 43 9 46 +f 25 43 46 +f 25 10 47 +f 5 43 47 +f 43 25 47 +f 33 9 48 +f 9 37 48 +f 18 31 49 +f 31 1 49 +f 8 15 50 +f 15 29 50 +f 30 8 50 +f 14 30 50 +f 18 12 51 +f 12 19 51 +f 31 18 51 +f 19 31 51 +f 14 21 52 +f 30 14 52 +f 21 36 52 +f 36 30 52 +f 21 22 53 +f 22 33 53 +f 37 16 53 +f 33 48 53 +f 48 37 53 +f 26 11 54 +f 11 41 54 +f 41 26 54 +f 21 14 55 +f 22 21 55 +f 29 22 55 +f 14 50 55 +f 50 29 55 +f 1 27 56 +f 49 1 56 +f 28 49 56 +f 13 20 57 +f 20 10 57 +f 10 25 57 +f 25 13 57 +f 7 18 58 +f 28 7 58 +f 18 49 58 +f 49 28 58 +f 7 44 59 +f 44 24 59 +f 45 7 59 +f 24 45 59 +f 27 5 60 +f 10 28 60 +f 47 10 60 +f 5 47 60 +f 56 27 60 +f 28 56 60 +f 15 8 61 +f 32 15 61 +f 8 42 61 +f 42 24 61 +f 24 44 61 +f 44 32 61 +f 4 16 62 +f 16 23 62 +f 62 23 63 +f 16 4 63 +f 36 21 63 +f 23 36 63 +f 53 16 63 +f 21 53 63 +f 4 62 63 +f 3 15 64 +f 32 3 64 +o convex_1 +v 0.439755 0.708699 -0.275204 +v -2.101729 0.012668 0.003210 +v -2.066652 0.012668 -0.275204 +v -0.813822 4.050521 -0.031356 +v 0.230784 0.012668 1.221745 +v 0.300441 0.012668 -1.180522 +v -1.579302 2.797190 0.734049 +v -1.579302 2.866754 -0.762430 +v 0.126299 3.145403 0.769086 +v -0.187158 3.110621 -0.658024 +v -1.614130 0.012668 0.908293 +v -1.579302 0.012668 -0.936674 +v 0.056642 3.423658 -0.135997 +v -0.778993 3.388876 -0.832033 +v -1.579302 3.493222 0.003210 +v -1.579302 0.917786 -1.006278 +v -0.813822 3.423658 0.769086 +v 0.439755 0.012668 1.047500 +v -0.848401 1.614213 1.047500 +v -2.066652 0.047450 0.490436 +v 0.439755 0.047450 -1.110683 +v -1.579302 0.883004 0.977897 +v -0.778993 1.509472 -1.075881 +v 0.300441 2.100763 -0.344808 +v -0.013015 1.718558 1.047500 +v 0.439755 0.569967 0.769086 +v -1.962415 0.047450 -0.588421 +v -0.047844 3.597567 -0.100960 +v 0.056642 1.857290 -0.901872 +v -1.614130 2.762408 -0.762430 +v 0.056642 0.186577 1.221745 +v 0.056642 0.291318 -1.180522 +v -1.614130 3.354490 0.003210 +v -0.674508 3.980958 0.072579 +v -1.300923 3.075840 -0.797467 +v -0.813822 3.319313 0.803653 +v 0.056642 3.214967 0.769086 +v -1.823101 0.186577 -0.797232 +v -1.857930 1.265999 -0.588421 +v -0.813822 3.597962 -0.623222 +v -1.474816 3.563180 -0.066158 +v -2.031823 0.012668 0.560040 +v 0.091470 0.012668 -1.180522 +v 0.091470 3.110621 0.803888 +v 0.230784 0.151795 1.221745 +v 0.230784 0.395663 -1.145485 +v -1.823101 1.962031 -0.031356 +v -0.535194 0.013063 1.117104 +v 0.021813 3.528399 0.038012 +v -0.674508 3.388876 -0.797467 +v -0.639430 3.980958 -0.066158 +v -1.892758 1.057308 0.594842 +v -0.813822 3.945781 0.142183 +v -0.535194 1.091695 1.117104 +v -1.579302 2.727626 -0.797232 +v 0.300441 2.100763 -0.205600 +v -0.709336 3.423658 0.769086 +v -1.544722 0.256536 -0.971476 +v -2.031823 0.151795 -0.449213 +v -2.101729 0.047450 0.107381 +v 0.439755 0.535186 -0.658259 +v -1.788273 0.012668 0.803653 +v -1.788273 0.012668 -0.832033 +v -0.918058 1.648994 -1.041080 +f 119 99 128 +f 66 67 69 +f 69 67 70 +f 66 69 75 +f 70 67 76 +f 79 71 81 +f 69 70 82 +f 65 82 85 +f 82 70 85 +f 83 71 86 +f 77 73 88 +f 85 77 88 +f 82 65 90 +f 73 82 90 +f 77 74 92 +f 74 77 93 +f 77 85 93 +f 79 72 94 +f 87 78 96 +f 80 87 96 +f 71 79 97 +f 79 94 97 +f 81 71 100 +f 71 83 100 +f 83 89 100 +f 94 80 102 +f 94 102 103 +f 102 91 103 +f 78 99 104 +f 104 99 105 +f 79 68 105 +f 72 79 105 +f 99 72 105 +f 68 104 105 +f 66 75 106 +f 84 66 106 +f 70 76 107 +f 96 70 107 +f 80 96 107 +f 100 89 108 +f 73 101 108 +f 69 82 109 +f 82 73 109 +f 95 69 109 +f 89 95 109 +f 73 108 109 +f 108 89 109 +f 85 70 110 +f 78 93 110 +f 93 85 110 +f 70 96 110 +f 96 78 110 +f 97 94 111 +f 94 103 111 +f 75 69 112 +f 86 75 112 +f 69 95 112 +f 95 86 112 +f 73 77 113 +f 77 92 113 +f 92 98 113 +f 101 73 113 +f 98 101 113 +f 92 74 114 +f 74 93 114 +f 93 78 114 +f 78 104 114 +f 114 104 115 +f 68 98 115 +f 98 92 115 +f 104 68 115 +f 92 114 115 +f 86 71 116 +f 71 97 116 +f 97 84 116 +f 84 106 116 +f 106 86 116 +f 68 79 117 +f 79 81 117 +f 98 68 117 +f 83 86 118 +f 89 83 118 +f 86 95 118 +f 95 89 118 +f 94 72 119 +f 80 94 119 +f 72 99 119 +f 88 73 120 +f 65 88 120 +f 90 65 120 +f 73 90 120 +f 81 100 121 +f 101 98 121 +f 100 108 121 +f 108 101 121 +f 117 81 121 +f 98 117 121 +f 76 80 122 +f 107 76 122 +f 80 107 122 +f 67 66 123 +f 91 67 123 +f 103 91 123 +f 66 111 123 +f 111 103 123 +f 66 84 124 +f 84 97 124 +f 111 66 124 +f 97 111 124 +f 65 85 125 +f 88 65 125 +f 85 88 125 +f 75 86 126 +f 106 75 126 +f 86 106 126 +f 76 67 127 +f 80 76 127 +f 67 91 127 +f 102 80 127 +f 91 102 127 +f 78 87 128 +f 87 80 128 +f 99 78 128 +f 80 119 128 +o convex_2 +v 0.439799 0.186442 -0.971588 +v 1.170924 0.047221 0.420689 +v 1.170924 0.012385 0.420689 +v 0.439799 0.047221 1.012852 +v 0.474652 0.638940 -0.344869 +v 1.066365 0.012385 -0.762614 +v 0.439799 0.430048 0.733947 +v 0.439799 0.012385 -1.076076 +v 0.544358 0.012385 0.977682 +v 0.439799 0.499658 -0.658126 +v 1.066365 0.047221 -0.762614 +v 0.474652 0.430048 0.733947 +v 0.753261 0.047221 -0.971588 +v 1.101290 0.047221 -0.553639 +v 0.509434 0.430048 -0.727853 +v 0.962021 0.047221 0.629664 +v 0.439799 0.012385 1.012852 +v 1.170924 0.047221 0.246680 +v 0.439799 0.638940 -0.344869 +f 138 135 147 +f 129 132 135 +f 132 129 136 +f 134 131 136 +f 136 131 137 +f 129 135 138 +f 130 133 140 +f 135 132 140 +f 133 135 140 +f 132 137 140 +f 136 129 141 +f 134 136 141 +f 139 134 141 +f 131 134 142 +f 139 133 142 +f 134 139 142 +f 138 133 143 +f 129 138 143 +f 133 139 143 +f 141 129 143 +f 139 141 143 +f 131 130 144 +f 137 131 144 +f 130 140 144 +f 140 137 144 +f 132 136 145 +f 137 132 145 +f 136 137 145 +f 130 131 146 +f 133 130 146 +f 131 142 146 +f 142 133 146 +f 135 133 147 +f 133 138 147 +o convex_3 +v -2.101729 -1.554372 -0.101195 +v -2.101729 0.012170 0.107602 +v -2.101729 0.012170 0.003204 +v -3.807687 -0.962319 0.037965 +v -2.101729 -0.823084 0.595066 +v -2.275898 -0.788275 -0.588659 +v -3.529149 -1.031936 0.455791 +v -3.563716 -0.962319 -0.414507 +v -3.563716 -1.414831 -0.066318 +v -2.101729 -1.380022 -0.484145 +v -2.832973 -1.380022 0.386153 +v -2.136630 -0.162026 0.490552 +v -3.563716 -0.614539 0.037965 +v -2.136630 -0.162026 -0.414507 +v -2.832973 -1.414831 -0.449384 +v -2.101729 -1.310405 0.420914 +v -2.832973 -1.031936 0.560190 +v -3.389881 -0.718965 0.351276 +v -3.529149 -1.414831 0.072726 +v -2.798072 -1.031936 -0.553782 +v -2.101729 -0.892701 -0.588659 +v -3.389881 -0.684156 -0.275231 +v -2.867874 -1.519257 0.003204 +v -3.563716 -1.066744 -0.414507 +v -3.807687 -1.066744 0.037965 +v -3.529149 -0.614539 0.107602 +v -3.389881 -1.345214 -0.310108 +v -2.101729 -0.266452 0.525429 +v -2.101729 -1.554372 -0.031557 +v -3.563716 -0.614539 0.003204 +v -3.354980 -1.310405 0.316516 +v -3.494249 -0.962319 0.455791 +v -2.136630 -0.022792 0.212001 +v -2.136630 0.012170 0.003204 +v -3.598617 -0.962319 0.386153 +v -2.798072 -1.519257 -0.101195 +v -2.832973 -0.962319 0.560190 +v -2.101729 -1.380022 0.351276 +v -2.101729 -0.475304 -0.519021 +v -2.345700 -1.275596 -0.519021 +v -3.563716 -1.066744 0.420914 +v -2.171363 -0.718965 0.595066 +v -2.206264 -0.301261 0.525429 +f 189 175 190 +f 150 149 148 +f 148 149 152 +f 150 148 157 +f 153 155 161 +f 157 148 162 +f 148 152 163 +f 158 163 164 +f 154 158 164 +f 163 152 164 +f 155 153 167 +f 150 157 168 +f 167 153 168 +f 161 155 169 +f 166 156 170 +f 158 166 170 +f 151 155 171 +f 155 167 171 +f 167 162 171 +f 156 166 172 +f 151 171 172 +f 171 156 172 +f 160 151 173 +f 165 159 173 +f 162 156 174 +f 156 171 174 +f 171 162 174 +f 152 149 175 +f 149 159 175 +f 148 163 176 +f 170 148 176 +f 158 170 176 +f 155 151 177 +f 151 160 177 +f 169 155 177 +f 161 169 177 +f 158 154 178 +f 166 158 178 +f 159 165 179 +f 159 149 180 +f 149 160 180 +f 173 159 180 +f 160 173 180 +f 149 150 181 +f 160 149 181 +f 150 161 181 +f 177 160 181 +f 161 177 181 +f 151 172 182 +f 173 151 182 +f 165 173 182 +f 154 179 182 +f 179 165 182 +f 162 148 183 +f 156 162 183 +f 148 170 183 +f 170 156 183 +f 154 164 184 +f 179 154 184 +f 163 158 185 +f 176 163 185 +f 158 176 185 +f 153 161 186 +f 161 150 186 +f 150 168 186 +f 168 153 186 +f 157 162 187 +f 162 167 187 +f 168 157 187 +f 167 168 187 +f 172 166 188 +f 178 154 188 +f 166 178 188 +f 182 172 188 +f 154 182 188 +f 164 152 189 +f 152 175 189 +f 184 164 189 +f 184 189 190 +f 175 159 190 +f 159 179 190 +f 179 184 190 +o convex_4 +v 0.021806 -2.041789 0.072497 +v 0.021806 -1.032025 1.326191 +v -0.012909 -1.032025 1.326191 +v 0.021806 0.012323 -1.145669 +v -2.101422 -1.380073 -0.483933 +v -2.066707 0.012122 0.525156 +v -1.544527 -1.484428 0.838516 +v 0.021806 0.012323 1.186892 +v 0.021806 -1.902448 -1.110652 +v -1.648880 0.012122 -0.901831 +v -1.579450 -1.971817 -0.031530 +v -0.047624 -1.902448 1.047337 +v -1.579450 0.012122 0.908038 +v -2.101422 -1.310504 0.420873 +v -0.047624 -1.206149 -1.284968 +v -1.475097 -1.449643 -0.866815 +v -2.101422 -0.162003 -0.414411 +v -2.101422 -0.823517 0.594934 +v -0.987632 -2.041789 -0.031274 +v -0.744003 -1.902448 0.803755 +v -2.101422 -0.893086 -0.588472 +v -2.101422 -1.554198 -0.031530 +v -0.709080 -1.867664 -0.832054 +v -1.579450 0.012122 -0.936592 +v 0.021806 -1.797893 1.116859 +v -1.858001 0.012122 -0.762532 +v -1.579450 -0.301343 0.908038 +v -0.012909 -1.136580 1.326191 +v -0.535089 0.012323 1.117114 +v 0.021806 -1.032025 -1.284968 +v -2.101422 0.012122 -0.066291 +v -1.579450 -1.902247 0.142275 +v -0.152185 0.012323 -1.145413 +v -1.509812 -1.414858 -0.866815 +v 0.021806 -2.041789 -0.135813 +v -0.709080 -2.041789 0.142275 +v -1.788156 0.012122 0.803755 +v -1.544527 -1.136379 0.873277 +v -0.012909 -1.902448 -1.110652 +v -2.101422 -1.380073 0.351096 +v -1.544527 -0.266558 -0.936592 +v -0.709080 -2.041789 -0.170574 +v -1.544527 -1.763108 -0.379650 +v -1.370536 -2.006602 -0.031530 +v -2.101422 -0.231572 0.525156 +v -0.047624 -1.867664 1.082098 +v -0.117470 0.012323 1.186636 +v -0.012909 -1.032025 -1.284968 +v 0.021806 -1.937233 0.838516 +v -0.012909 -1.484629 1.221653 +v -2.101422 -0.684177 -0.588472 +v -2.031992 0.012122 -0.449172 +v 0.021806 -1.937233 -0.936592 +f 232 229 243 +f 192 191 194 +f 193 192 198 +f 192 194 198 +f 194 191 199 +f 195 204 207 +f 207 204 208 +f 204 197 208 +f 195 207 211 +f 195 201 212 +f 204 195 212 +f 191 192 215 +f 200 211 216 +f 193 203 217 +f 192 193 218 +f 215 192 218 +f 193 217 218 +f 198 194 219 +f 203 193 219 +f 194 199 220 +f 199 205 220 +f 207 208 221 +f 196 219 221 +f 210 197 222 +f 201 210 222 +f 212 201 222 +f 214 200 223 +f 200 216 223 +f 219 194 223 +f 221 219 223 +f 205 206 224 +f 206 195 224 +f 195 211 224 +f 199 191 225 +f 191 209 225 +f 209 191 226 +f 202 210 226 +f 217 203 227 +f 208 217 227 +f 203 219 227 +f 219 196 227 +f 208 197 228 +f 217 208 228 +f 197 218 228 +f 218 217 228 +f 205 199 229 +f 206 205 229 +f 201 213 229 +f 213 206 229 +f 197 204 230 +f 204 212 230 +f 222 197 230 +f 212 222 230 +f 211 200 231 +f 200 214 231 +f 214 205 231 +f 205 224 231 +f 224 211 231 +f 225 209 232 +f 201 195 233 +f 195 206 233 +f 213 201 233 +f 206 213 233 +f 210 201 234 +f 209 226 234 +f 226 210 234 +f 201 229 234 +f 232 209 234 +f 229 232 234 +f 221 208 235 +f 196 221 235 +f 227 196 235 +f 208 227 235 +f 210 202 236 +f 197 210 236 +f 202 215 236 +f 193 198 237 +f 219 193 237 +f 198 219 237 +f 205 214 238 +f 194 220 238 +f 220 205 238 +f 214 223 238 +f 223 194 238 +f 191 215 239 +f 215 202 239 +f 226 191 239 +f 202 226 239 +f 215 218 240 +f 218 197 240 +f 197 236 240 +f 236 215 240 +f 211 207 241 +f 207 216 241 +f 216 211 241 +f 216 207 242 +f 207 221 242 +f 223 216 242 +f 221 223 242 +f 199 225 243 +f 229 199 243 +f 225 232 243 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/233/233.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/233/233.urdf new file mode 100644 index 000000000..3e73cef88 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/233/233.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/234/234.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/234/234.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/234/234.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/234/234.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/234/234.obj new file mode 100644 index 000000000..2344dd5ea --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/234/234.obj @@ -0,0 +1,1050 @@ +o convex_0 +v -0.042373 -3.789488 -0.575624 +v 0.086105 -0.409288 0.776311 +v 0.375938 -0.409288 0.743894 +v -0.042373 -0.409288 -1.606192 +v -1.040552 -0.409631 -0.061156 +v 1.019944 -1.890530 -0.350574 +v -0.010304 -3.435666 0.422061 +v -0.782990 -3.403032 -0.414940 +v 0.891062 -0.409631 -1.251708 +v -0.943941 -0.473869 0.711711 +v -0.847330 -0.538106 -1.316308 +v 0.021765 -3.403376 -1.091025 +v 0.762382 -3.403032 -0.254257 +v 0.826722 -0.506159 0.615161 +v -1.040552 -2.051296 -0.350574 +v -0.782990 -1.987058 -1.122975 +v 0.762382 -1.858583 -1.090791 +v -0.815059 -1.955111 0.454011 +v 0.730111 -2.179770 0.389877 +v 1.019944 -0.409631 -0.318623 +v -0.010304 -2.019348 0.679294 +v -0.010304 -3.918650 -0.286207 +v 0.762382 -3.403032 -0.382757 +v -0.589768 -3.049210 0.228960 +v -0.589768 -3.049210 -0.929874 +v 0.086105 -0.441922 -1.606192 +v -0.911670 -0.409631 -1.090791 +v -0.782990 -3.435666 -0.318390 +v 0.569160 -2.984629 -0.897691 +v -0.782990 -0.409631 0.776078 +v 0.601229 -3.081157 0.196777 +v -0.074644 -3.403376 -1.091025 +v -1.040552 -0.409631 -0.446891 +v 0.730111 -0.409631 0.679528 +v 1.019944 -1.890530 -0.286440 +v 0.762382 -1.826292 0.454011 +v 0.858791 -0.570397 -1.284125 +v 0.053835 -3.403376 0.422061 +v -1.040552 -1.955111 -0.254257 +v 0.021765 -3.918650 -0.382757 +v -1.040552 -1.955111 -0.414940 +v -0.782990 -0.473869 0.776078 +v 0.891062 -0.409631 0.389877 +v -0.976010 -0.409631 0.614928 +v 0.923333 -0.441922 -1.155158 +v -0.010304 -0.506159 -1.606192 +v -0.815059 -0.506159 -1.348491 +v -0.010304 -1.697130 0.711711 +v 0.794451 -1.858583 -1.026425 +v 0.794451 -1.922820 0.357461 +v -0.557497 -3.596432 -0.382757 +v 0.053835 -3.499904 0.325511 +v -0.815059 -0.409631 -1.348491 +v 0.633500 -0.441922 0.711711 +v -0.042373 -0.699215 0.776311 +v -0.622039 -1.922820 -1.187341 +v 0.150647 -1.729764 0.679294 +v -0.235595 -1.600946 0.711711 +v -0.654108 -3.178029 0.067810 +v -0.911670 -0.602687 0.711711 +v 0.601229 -2.952339 0.261144 +v 0.021765 -3.918650 -0.286207 +v 0.633500 -1.794002 -1.155158 +v -1.040552 -1.665183 -0.125290 +f 10 44 64 +f 2 3 4 +f 2 4 5 +f 4 3 9 +f 9 3 20 +f 6 13 23 +f 7 18 24 +f 8 16 25 +f 4 9 26 +f 15 8 28 +f 22 7 28 +f 12 17 29 +f 23 12 29 +f 17 23 29 +f 12 1 32 +f 8 25 32 +f 25 16 32 +f 5 4 33 +f 15 5 33 +f 4 27 33 +f 13 6 35 +f 6 20 35 +f 14 34 36 +f 26 9 37 +f 21 7 38 +f 13 31 38 +f 19 36 38 +f 5 15 39 +f 18 10 39 +f 15 28 39 +f 28 18 39 +f 1 12 40 +f 23 13 40 +f 12 23 40 +f 8 15 41 +f 11 16 41 +f 16 8 41 +f 27 11 41 +f 15 33 41 +f 33 27 41 +f 30 10 42 +f 20 3 43 +f 34 14 43 +f 3 34 43 +f 14 35 43 +f 35 20 43 +f 2 5 44 +f 30 2 44 +f 10 30 44 +f 9 20 45 +f 20 6 45 +f 37 9 45 +f 4 26 46 +f 26 12 46 +f 12 32 46 +f 16 11 47 +f 4 46 47 +f 6 23 49 +f 23 17 49 +f 17 37 49 +f 45 6 49 +f 37 45 49 +f 19 13 50 +f 13 35 50 +f 35 14 50 +f 36 19 50 +f 14 36 50 +f 28 8 51 +f 22 28 51 +f 32 1 51 +f 8 32 51 +f 1 40 51 +f 40 22 51 +f 38 7 52 +f 13 38 52 +f 27 4 53 +f 11 27 53 +f 47 11 53 +f 4 47 53 +f 34 3 54 +f 36 34 54 +f 48 54 55 +f 3 2 55 +f 2 30 55 +f 30 42 55 +f 42 48 55 +f 54 3 55 +f 32 16 56 +f 46 32 56 +f 16 47 56 +f 47 46 56 +f 21 38 57 +f 38 36 57 +f 48 21 57 +f 36 54 57 +f 54 48 57 +f 7 21 58 +f 42 7 58 +f 21 48 58 +f 48 42 58 +f 7 24 59 +f 24 18 59 +f 18 28 59 +f 28 7 59 +f 18 7 60 +f 10 18 60 +f 7 42 60 +f 42 10 60 +f 13 19 61 +f 31 13 61 +f 38 31 61 +f 19 38 61 +f 7 22 62 +f 40 13 62 +f 22 40 62 +f 52 7 62 +f 13 52 62 +f 17 12 63 +f 12 26 63 +f 37 17 63 +f 26 37 63 +f 5 39 64 +f 39 10 64 +f 44 5 64 +o convex_1 +v 0.569200 -0.151720 1.613558 +v -0.589855 -0.183960 1.645779 +v -0.589855 -0.183960 1.774210 +v 0.021780 -1.922499 1.678000 +v 0.086223 -0.151720 2.289522 +v -0.010328 -0.892549 1.130467 +v -0.428863 -1.664925 1.741989 +v 0.375986 -1.696991 1.678000 +v -0.106878 -1.632511 2.096309 +v -0.396642 -0.151720 1.227131 +v 0.408208 -0.860135 2.096309 +v -0.460970 -0.151720 2.160638 +v 0.440315 -0.151720 1.259352 +v -0.042435 -1.632511 1.227131 +v 0.375986 -0.956682 1.259352 +v -0.396642 -0.956682 1.291459 +v 0.472537 -0.151720 2.128417 +v -0.428863 -0.956682 2.096309 +v 0.021780 -1.664925 2.096309 +v 0.118444 -0.151720 1.130467 +v 0.504758 -1.021163 1.709995 +v -0.042435 -0.956682 2.225080 +v -0.428863 -1.664925 1.645779 +v 0.150552 -1.600444 1.291459 +v 0.279436 -1.503897 1.999645 +v -0.106878 -0.183960 2.289522 +v -0.332199 -1.439417 1.355902 +v -0.074656 -1.922499 1.709995 +v -0.525413 -1.021163 1.678000 +v -0.042435 -1.729232 1.291459 +v 0.569200 -0.183960 1.806431 +v -0.332199 -1.503897 1.999645 +v -0.106878 -0.151720 1.130467 +v -0.396642 -0.827895 1.259352 +v 0.504758 -0.956682 1.613558 +v 0.375986 -1.664925 1.613558 +v 0.021780 -0.956682 2.225080 +v 0.311544 -1.375110 1.323681 +v -0.493192 -0.151720 1.388123 +v -0.525413 -0.151720 2.031866 +v 0.279436 -0.183960 2.225080 +v 0.408208 -0.956682 1.323681 +v 0.118444 -0.924616 1.162688 +v 0.021780 -1.696991 1.259352 +v -0.042435 -1.922499 1.613558 +v -0.525413 -0.956682 1.741989 +v 0.021780 -1.600444 1.227131 +v -0.235649 -1.568204 1.323681 +v 0.569200 -0.344987 1.645779 +v -0.525413 -0.988922 1.645779 +f 98 80 114 +f 69 65 74 +f 69 74 76 +f 74 65 77 +f 65 69 81 +f 68 72 83 +f 74 77 84 +f 77 79 84 +f 75 72 85 +f 82 73 86 +f 73 83 86 +f 72 75 89 +f 83 72 89 +f 75 83 89 +f 69 76 90 +f 76 82 90 +f 82 86 90 +f 87 80 91 +f 73 71 92 +f 68 83 92 +f 83 73 92 +f 71 87 92 +f 67 66 93 +f 87 71 93 +f 65 81 95 +f 81 75 95 +f 75 85 95 +f 71 73 96 +f 82 71 96 +f 73 82 96 +f 70 74 97 +f 84 70 97 +f 74 84 97 +f 74 70 98 +f 70 78 98 +f 91 80 98 +f 99 85 100 +f 72 68 100 +f 85 72 100 +f 83 75 101 +f 86 83 101 +f 69 90 101 +f 90 86 101 +f 88 79 102 +f 100 88 102 +f 76 74 103 +f 98 66 103 +f 74 98 103 +f 66 67 104 +f 82 76 104 +f 103 66 104 +f 76 103 104 +f 81 69 105 +f 75 81 105 +f 69 101 105 +f 101 75 105 +f 79 77 106 +f 99 100 106 +f 102 79 106 +f 100 102 106 +f 70 84 107 +f 84 79 107 +f 94 78 108 +f 100 68 108 +f 88 100 108 +f 68 92 109 +f 92 87 109 +f 87 94 109 +f 108 68 109 +f 94 108 109 +f 71 82 110 +f 67 93 110 +f 93 71 110 +f 104 67 110 +f 82 104 110 +f 78 70 111 +f 79 88 111 +f 70 107 111 +f 107 79 111 +f 88 108 111 +f 108 78 111 +f 87 91 112 +f 78 94 112 +f 94 87 112 +f 98 78 112 +f 91 98 112 +f 77 65 113 +f 65 95 113 +f 95 85 113 +f 85 99 113 +f 106 77 113 +f 99 106 113 +f 80 87 114 +f 93 66 114 +f 87 93 114 +f 66 98 114 +o convex_2 +v 1.019749 0.942717 -1.960357 +v -0.976012 0.814399 -1.670716 +v -0.943772 0.557027 -1.606409 +v -0.042416 1.039078 -3.344775 +v -0.042416 2.069797 -1.573996 +v 0.118393 -0.409287 -1.573996 +v -0.042416 1.876583 -3.119094 +v -0.750722 1.039324 -3.119094 +v -0.750722 1.811933 -2.411199 +v 0.794459 1.811933 -1.574169 +v 0.762219 1.071280 -3.054961 +v -0.010176 0.299163 -3.087028 +v 0.858939 0.041790 -1.606409 +v -0.815202 -0.054816 -1.573996 +v 0.762219 1.844381 -2.411199 +v -0.750722 1.811933 -1.573996 +v -0.010176 2.101999 -2.411372 +v 0.794459 0.299409 -2.282238 +v -0.976012 1.071526 -2.411199 +v -0.750722 0.267206 -2.378958 +v 1.019749 1.135931 -2.346718 +v 1.019749 1.168133 -1.574169 +v -0.010176 -0.409287 -1.670716 +v 0.568973 1.683124 -2.926174 +v 0.568973 0.524579 -2.893934 +v -0.557476 1.650921 -2.958240 +v -0.976012 1.135931 -1.573996 +v -0.525432 0.460174 -2.926000 +v 0.729978 1.167887 -3.087028 +v 0.086153 0.299163 -3.054961 +v 0.923224 0.202556 -1.574169 +v 0.021868 1.747528 -3.183748 +v -0.976012 0.910515 -2.314651 +v 0.086153 2.069797 -1.573996 +v 0.150633 1.071280 -3.312535 +v -0.750722 1.103728 -3.119094 +v -0.654197 1.876337 -2.411199 +v 1.019749 1.039324 -2.346718 +v -0.879487 0.106195 -1.638649 +v 0.021868 1.908786 -3.054961 +v 0.118393 -0.409287 -1.606236 +v 0.729978 1.039078 -3.087028 +v -0.557476 1.908786 -1.702956 +v -0.042416 1.167887 -3.344775 +v -0.815202 -0.054816 -1.638649 +v -0.042416 0.266961 -3.022721 +v -0.074656 1.811933 -3.151334 +v 0.601213 1.908786 -2.411372 +v -0.718482 0.974673 -3.119094 +v 0.182874 1.811933 -3.087028 +v 1.019749 0.878558 -1.574169 +v 0.762219 1.844381 -1.799503 +v 0.858939 0.073993 -1.702956 +v 0.021868 2.101999 -2.411372 +v -0.589717 0.427972 -2.829453 +v -0.074656 -0.409287 -1.573996 +v -0.943772 1.200335 -2.411199 +v 0.021868 1.167887 -3.344775 +v 0.601213 0.492377 -2.829453 +v -0.782962 0.106195 -2.024837 +v 0.021868 0.653388 -3.215988 +v -0.203421 1.811933 -3.087028 +v -0.042416 1.908786 -3.054961 +v 0.794459 1.811933 -1.863983 +f 136 135 178 +f 120 119 128 +f 128 119 130 +f 115 135 136 +f 116 117 141 +f 117 128 141 +f 130 123 141 +f 128 130 141 +f 133 116 141 +f 129 135 143 +f 135 125 143 +f 138 129 143 +f 137 126 144 +f 120 127 145 +f 117 116 147 +f 116 133 147 +f 133 122 147 +f 122 134 147 +f 119 120 148 +f 131 119 148 +f 120 136 148 +f 136 124 148 +f 118 122 150 +f 122 133 150 +f 123 140 150 +f 123 130 151 +f 140 123 151 +f 132 125 152 +f 135 115 152 +f 125 135 152 +f 115 145 152 +f 128 117 153 +f 117 147 153 +f 147 134 153 +f 127 120 155 +f 120 137 155 +f 144 132 155 +f 137 144 155 +f 125 132 156 +f 143 125 156 +f 139 144 156 +f 149 143 156 +f 130 119 157 +f 119 131 157 +f 151 130 157 +f 131 151 157 +f 118 150 158 +f 128 153 159 +f 126 137 160 +f 142 126 160 +f 121 146 161 +f 146 158 161 +f 158 150 161 +f 129 154 162 +f 122 118 163 +f 118 126 163 +f 134 122 163 +f 126 142 163 +f 129 138 164 +f 138 143 164 +f 146 121 164 +f 143 146 164 +f 121 154 164 +f 154 129 164 +f 136 120 165 +f 115 136 165 +f 120 145 165 +f 145 115 165 +f 124 129 166 +f 148 124 166 +f 129 162 166 +f 162 148 166 +f 145 127 167 +f 132 152 167 +f 152 145 167 +f 127 155 167 +f 155 132 167 +f 131 148 168 +f 154 131 168 +f 148 162 168 +f 162 154 168 +f 160 134 169 +f 142 160 169 +f 134 163 169 +f 163 142 169 +f 120 128 170 +f 137 120 170 +f 128 159 170 +f 159 137 170 +f 141 123 171 +f 133 141 171 +f 150 133 171 +f 123 150 171 +f 146 143 172 +f 149 118 172 +f 143 149 172 +f 118 158 172 +f 158 146 172 +f 132 144 173 +f 144 139 173 +f 156 132 173 +f 139 156 173 +f 153 134 174 +f 137 159 174 +f 159 153 174 +f 160 137 174 +f 134 160 174 +f 126 118 175 +f 144 126 175 +f 118 149 175 +f 156 144 175 +f 149 156 175 +f 150 140 176 +f 140 151 176 +f 121 161 176 +f 161 150 176 +f 151 131 177 +f 154 121 177 +f 131 154 177 +f 121 176 177 +f 176 151 177 +f 129 124 178 +f 135 129 178 +f 124 136 178 +o convex_3 +v 0.182714 -0.409042 -1.573996 +v 0.053865 2.101753 0.905095 +v -0.074574 2.101753 0.905095 +v -0.010457 2.069797 -1.573996 +v -1.040429 -0.409042 -0.060964 +v 0.858915 -0.409042 0.550800 +v 1.019925 1.168133 -1.573996 +v -0.976107 1.135931 -1.573996 +v -0.879419 1.940742 0.905095 +v 0.858915 1.940988 0.905095 +v -0.943946 -0.087019 0.905095 +v 1.019925 -0.409042 -0.382499 +v -0.847258 -0.409042 -1.348315 +v 0.987559 0.942717 0.905095 +v 0.794388 1.811933 -1.573996 +v -0.718614 1.844135 -1.573996 +v -1.072795 1.135931 0.905095 +v 0.891076 -0.409042 -1.251733 +v 0.118392 -0.409042 0.776238 +v 0.826549 0.041790 0.905095 +v -0.879419 0.073747 -1.573996 +v -0.943946 -0.409042 0.711689 +v 0.730066 2.037349 0.840545 +v 0.923237 0.170599 -1.573996 +v 1.019925 1.135931 0.421944 +v -1.040429 -0.409042 -0.446805 +v -1.040429 1.071526 -0.607694 +v -0.847258 1.973190 0.840545 +v -0.879419 1.940742 0.647382 +v 0.053865 2.069797 -1.573996 +v -1.072795 1.071526 0.228781 +v -1.072795 0.910515 0.905095 +v -0.976107 0.814153 -1.573996 +v -0.139101 -0.409042 -1.573996 +v 1.019925 0.878312 -1.573996 +v -0.750775 1.811933 -1.573996 +v 0.633378 -0.409042 0.711689 +v -0.010457 -0.151424 0.905095 +v -1.008268 1.071526 -1.316283 +v -0.815097 -0.409042 0.776238 +v 0.923237 -0.409042 -1.155152 +v -0.976107 -0.376840 0.647382 +v -0.718614 2.005147 0.872577 +v 0.826549 0.009342 -1.573996 +v 0.987559 1.264740 0.905095 +v -0.815097 -0.087019 -1.573996 +v 1.019925 1.200335 -0.189578 +v 0.858915 1.940988 0.711689 +v 0.730066 1.844135 -1.573996 +v 1.019925 -0.409042 -0.318434 +v -0.911785 1.844135 0.711689 +v -0.139101 2.037349 -1.573996 +v -0.074574 2.101753 0.486251 +v 0.021704 2.101753 0.228781 +v 1.019925 1.200335 -1.412622 +v 0.762227 -0.409042 -1.348315 +v 0.858915 0.073992 0.905095 +v -0.976107 -0.022614 0.905095 +v -0.010457 -0.312435 0.840545 +v 0.440412 2.069797 0.905095 +v 0.794388 -0.409042 0.647382 +v 0.923237 -0.409042 0.228781 +v -0.879419 -0.409042 -1.251733 +v 0.794388 2.005147 0.808271 +f 227 201 242 +f 183 179 184 +f 179 182 185 +f 182 179 186 +f 180 181 187 +f 180 187 188 +f 188 187 189 +f 184 179 190 +f 179 183 191 +f 188 189 192 +f 185 182 193 +f 182 186 194 +f 189 187 195 +f 190 179 196 +f 183 184 197 +f 192 189 198 +f 186 179 199 +f 183 197 200 +f 179 185 202 +f 190 185 203 +f 191 183 204 +f 206 194 207 +f 187 206 207 +f 193 182 208 +f 205 204 209 +f 189 195 210 +f 204 183 210 +f 195 209 210 +f 209 204 210 +f 186 199 211 +f 199 204 211 +f 179 191 212 +f 199 179 212 +f 185 190 213 +f 202 185 213 +f 194 186 214 +f 207 194 214 +f 186 207 214 +f 197 184 215 +f 198 189 216 +f 204 205 217 +f 186 211 217 +f 211 204 217 +f 189 200 218 +f 200 197 218 +f 190 196 219 +f 196 202 219 +f 213 190 219 +f 202 213 219 +f 183 200 220 +f 210 183 220 +f 187 181 221 +f 182 206 221 +f 206 187 221 +f 179 202 222 +f 202 196 222 +f 188 192 223 +f 192 203 223 +f 191 199 224 +f 212 191 224 +f 199 212 224 +f 203 185 225 +f 188 223 225 +f 223 203 225 +f 188 225 226 +f 193 208 227 +f 208 201 227 +f 184 190 228 +f 190 203 228 +f 203 192 228 +f 195 187 229 +f 207 186 229 +f 187 207 229 +f 209 195 229 +f 205 209 229 +f 217 205 229 +f 186 217 229 +f 182 194 230 +f 206 182 230 +f 194 206 230 +f 181 180 231 +f 221 181 231 +f 182 221 231 +f 208 182 232 +f 231 180 232 +f 182 231 232 +f 185 193 233 +f 225 185 233 +f 193 226 233 +f 226 225 233 +f 196 179 234 +f 179 222 234 +f 222 196 234 +f 184 192 235 +f 192 198 235 +f 200 189 236 +f 189 210 236 +f 220 200 236 +f 210 220 236 +f 197 215 237 +f 215 198 237 +f 216 189 237 +f 198 216 237 +f 189 218 237 +f 218 197 237 +f 180 188 238 +f 188 201 238 +f 201 208 238 +f 232 180 238 +f 208 232 238 +f 215 184 239 +f 198 215 239 +f 184 235 239 +f 235 198 239 +f 192 184 240 +f 184 228 240 +f 228 192 240 +f 199 191 241 +f 191 204 241 +f 204 199 241 +f 201 188 242 +f 226 193 242 +f 188 226 242 +f 193 227 242 +o convex_4 +v 0.215015 1.135991 2.707752 +v -1.072795 0.943089 0.905275 +v -0.364248 0.009638 0.905095 +v 0.826548 2.005140 0.905275 +v -0.493129 2.327371 2.192733 +v -0.718622 0.267083 2.450332 +v 0.601257 -0.151477 1.774358 +v 0.697868 1.876297 2.418177 +v 0.858819 0.073939 0.905275 +v -0.847302 1.972869 0.905275 +v 0.762208 0.363656 2.450332 +v -0.718622 1.876297 2.450332 +v -0.943913 -0.054662 0.905275 +v 0.987701 1.425707 1.710228 +v 0.504646 2.327371 1.227364 +v -0.074616 -0.151477 2.321712 +v -1.040524 1.071933 1.838668 +v 0.021793 0.363656 2.707752 +v -0.042547 1.779724 2.707752 +v 0.440306 2.327371 2.160398 +v -0.975982 1.844025 1.806693 +v -0.074616 2.327371 1.098564 +v 0.955430 0.363656 1.710228 +v 0.987701 1.264592 0.905275 +v 0.086133 -0.151477 1.098564 +v -0.557671 -0.151477 2.031778 +v 0.923159 1.908568 1.742203 +v -0.975982 0.267083 1.806693 +v -0.750691 0.878788 2.514822 +v -0.589740 2.327371 1.645738 +v 0.762208 1.296863 2.482487 +v -0.010276 2.294857 2.385842 +v 0.504646 -0.119205 2.192733 +v 0.601257 2.327371 1.774358 +v -0.106686 1.135991 2.740266 +v 0.987701 0.943089 1.774358 +v -1.072795 1.135991 0.905275 +v -0.750691 1.296863 2.514822 +v 0.665799 1.908568 2.450332 +v 0.987701 0.943089 0.905275 +v -0.461060 -0.151477 1.227184 +v -0.975982 -0.022633 1.001919 +v -0.461060 2.327371 1.291674 +v 0.440306 -0.151477 1.227364 +v -0.074616 2.101712 0.905095 +v -0.042547 1.908568 2.675776 +v -1.008253 0.395927 1.774538 +v -0.911642 1.908568 0.969764 +v -0.493129 -0.151477 2.192733 +v 0.021793 -0.054662 0.905095 +v 0.923159 1.908568 1.452628 +v 0.118404 0.235054 2.611466 +v 0.762208 0.653372 2.482487 +v -1.072795 1.071933 1.355984 +v -0.203297 0.331627 2.643621 +v -0.203297 2.327371 2.321712 +v -0.750691 1.844025 2.418177 +v -0.782962 0.975360 2.482667 +v 0.633528 2.069441 0.905275 +v 0.021793 1.779724 2.707752 +v 0.665799 1.168019 2.546977 +v 0.826548 0.041910 0.905275 +v 0.118404 1.071933 2.740266 +v 0.858819 1.168019 2.224888 +f 273 295 306 +f 244 245 255 +f 257 247 262 +f 254 247 263 +f 247 257 264 +f 249 251 265 +f 253 249 265 +f 249 258 267 +f 267 258 268 +f 268 248 270 +f 263 247 272 +f 247 264 272 +f 269 250 273 +f 249 253 275 +f 258 249 275 +f 246 257 276 +f 257 262 276 +f 253 265 278 +f 266 256 278 +f 245 244 279 +f 261 254 280 +f 277 261 280 +f 271 277 280 +f 250 269 281 +f 273 250 281 +f 262 274 281 +f 276 262 281 +f 269 276 281 +f 265 251 282 +f 278 265 282 +f 266 278 282 +f 255 267 283 +f 267 268 283 +f 268 255 283 +f 244 255 284 +f 255 268 284 +f 268 270 284 +f 264 252 285 +f 252 272 285 +f 272 264 285 +f 249 267 286 +f 252 264 287 +f 246 266 287 +f 245 279 287 +f 279 252 287 +f 254 261 288 +f 281 274 288 +f 270 248 289 +f 244 284 289 +f 284 270 289 +f 272 252 290 +f 263 272 290 +f 252 279 290 +f 279 263 290 +f 258 248 291 +f 268 258 291 +f 248 268 291 +f 255 245 292 +f 267 255 292 +f 282 251 292 +f 266 282 292 +f 287 266 292 +f 245 287 292 +f 256 266 293 +f 266 246 293 +f 269 256 293 +f 246 276 293 +f 276 269 293 +f 253 260 294 +f 260 258 294 +f 275 253 294 +f 258 275 294 +f 260 253 295 +f 259 263 296 +f 279 244 296 +f 263 279 296 +f 244 289 296 +f 289 259 296 +f 248 258 297 +f 258 260 297 +f 271 248 297 +f 260 277 297 +f 277 271 297 +f 247 254 298 +f 262 247 298 +f 274 262 298 +f 254 288 298 +f 288 274 298 +f 254 263 299 +f 263 259 299 +f 280 254 299 +f 259 280 299 +f 248 271 300 +f 280 259 300 +f 271 280 300 +f 259 289 300 +f 289 248 300 +f 257 246 301 +f 264 257 301 +f 246 287 301 +f 287 264 301 +f 261 277 302 +f 288 261 302 +f 281 288 302 +f 273 281 303 +f 295 273 303 +f 302 243 303 +f 281 302 303 +f 251 249 304 +f 249 286 304 +f 286 267 304 +f 292 251 304 +f 267 292 304 +f 277 260 305 +f 260 295 305 +f 243 302 305 +f 302 277 305 +f 303 243 305 +f 295 303 305 +f 256 269 306 +f 269 273 306 +f 253 278 306 +f 278 256 306 +f 295 253 306 +o convex_5 +v -0.010205 2.327371 1.098271 +v -0.042388 2.488398 2.321718 +v -0.074571 2.488398 2.321718 +v 0.021862 4.098150 1.645684 +v 0.601396 2.327371 1.709995 +v -0.589855 2.327371 1.645684 +v -0.428705 3.840576 1.677899 +v 0.408179 3.872643 1.677899 +v 0.021862 3.808336 2.096334 +v -0.493072 2.327371 2.192859 +v 0.408179 2.327371 2.192859 +v 0.054046 3.840576 1.291560 +v 0.472546 2.359611 1.227130 +v -0.396522 3.100094 1.291560 +v -0.428705 3.100094 2.128429 +v 0.375996 3.164747 2.096334 +v -0.428705 2.327371 1.259345 +v 0.408179 3.164747 1.291560 +v -0.557555 3.068027 1.742090 +v -0.042388 3.840576 1.291560 +v -0.332155 3.647309 1.999689 +v 0.021862 3.068027 1.162701 +v 0.504729 3.293188 1.677899 +v 0.311629 3.647309 1.999689 +v -0.010205 3.003720 2.257288 +v -0.010205 4.098150 1.742090 +v -0.299972 3.679549 1.388085 +v 0.311629 3.679549 1.388085 +v -0.138938 2.327371 2.321718 +v 0.440363 2.327371 1.194916 +v -0.042388 3.808336 2.096334 +v -0.589855 2.424091 1.838734 +v 0.408179 3.808336 1.774305 +v -0.460889 3.068027 2.096334 +v 0.504729 3.068027 1.806520 +v -0.557555 3.035960 1.677899 +v -0.460889 2.424091 1.291560 +v 0.504729 2.359611 1.291560 +v -0.138938 3.100094 2.225074 +v -0.428705 3.840576 1.709995 +v -0.106755 3.132334 1.194916 +v -0.042388 3.937123 1.388085 +v 0.086229 3.872643 1.323655 +v 0.343813 3.100094 2.128429 +v 0.408179 3.068027 2.064119 +v 0.504729 3.132334 1.581255 +v 0.021862 2.359611 2.321718 +v -0.396522 3.840576 1.613470 +v -0.460889 2.552878 2.192859 +v 0.182779 4.001430 1.742090 +f 315 339 356 +f 307 311 312 +f 312 311 316 +f 316 311 317 +f 307 312 323 +f 320 307 323 +f 318 324 328 +f 326 318 328 +f 315 322 330 +f 309 308 331 +f 310 313 332 +f 326 320 333 +f 314 324 334 +f 324 318 334 +f 308 309 335 +f 316 317 335 +f 311 307 336 +f 324 319 336 +f 307 328 336 +f 328 324 336 +f 327 321 337 +f 331 315 337 +f 315 332 337 +f 312 316 338 +f 329 314 339 +f 315 330 339 +f 330 322 339 +f 321 327 340 +f 338 316 340 +f 325 338 340 +f 311 329 341 +f 329 339 341 +f 313 320 342 +f 325 313 342 +f 312 338 342 +f 338 325 342 +f 323 312 343 +f 320 323 343 +f 312 342 343 +f 342 320 343 +f 319 324 344 +f 311 336 344 +f 336 319 344 +f 309 331 345 +f 337 321 345 +f 331 337 345 +f 313 325 346 +f 332 313 346 +f 327 337 346 +f 337 332 346 +f 325 340 346 +f 340 327 346 +f 307 320 347 +f 320 326 347 +f 328 307 347 +f 326 328 347 +f 318 326 348 +f 310 314 349 +f 314 334 349 +f 334 318 349 +f 348 310 349 +f 318 348 349 +f 322 315 350 +f 317 322 350 +f 315 331 350 +f 317 311 351 +f 322 317 351 +f 339 322 351 +f 311 341 351 +f 341 339 351 +f 324 314 352 +f 329 311 352 +f 314 329 352 +f 344 324 352 +f 311 344 352 +f 331 308 353 +f 308 335 353 +f 335 317 353 +f 317 350 353 +f 350 331 353 +f 313 310 354 +f 320 313 354 +f 333 320 354 +f 326 333 354 +f 310 348 354 +f 348 326 354 +f 335 309 355 +f 316 335 355 +f 340 316 355 +f 321 340 355 +f 309 345 355 +f 345 321 355 +f 314 310 356 +f 310 332 356 +f 332 315 356 +f 339 314 356 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/234/234.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/234/234.urdf new file mode 100644 index 000000000..8f9d421fc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/234/234.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/235/235.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/235/235.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/235/235.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/235/235.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/235/235.obj new file mode 100644 index 000000000..563ae6eea --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/235/235.obj @@ -0,0 +1,417 @@ +o convex_0 +v 0.793037 -4.821841 -0.944296 +v -0.990673 -0.593961 1.103902 +v -1.023678 -0.593961 1.103902 +v 0.892256 1.091542 -1.076466 +v 1.024481 1.091542 1.070751 +v -0.924662 1.090953 -1.010165 +v -0.924662 -4.788296 1.004666 +v -1.023678 -4.920711 -1.109617 +v 1.024481 -4.722382 0.938581 +v -1.056887 1.090953 1.070751 +v 1.024481 -4.788296 -1.010165 +v -0.428972 -2.872684 1.103685 +v 0.958267 1.057997 -1.076466 +v 0.958267 -3.103382 1.037600 +v 1.024481 -1.552060 -0.977447 +v -0.957668 0.066351 -1.043532 +v -1.023678 -4.887166 -0.580721 +v 0.991272 -4.755339 0.938581 +v -1.023678 -3.995568 -1.109617 +v -0.759432 -4.920711 -1.109617 +v -0.990673 -2.508983 1.103902 +v 0.165326 1.090953 -1.076466 +v -1.056887 1.090953 0.806411 +v -0.957668 1.090953 -0.911146 +v 0.991272 -0.659874 1.070751 +v -1.056887 0.495966 1.070751 +v 0.958267 0.364139 -1.076466 +v 0.066310 -4.788296 0.971515 +v -0.990673 -4.920711 -0.811910 +v 1.024481 -4.788296 0.145562 +v -0.924662 -3.202840 1.103902 +v -0.957668 -4.821252 0.608157 +v 1.024481 1.091542 0.872496 +v -0.693422 -4.887166 -1.109617 +v -1.023678 -3.664824 -1.076249 +v 0.495786 -4.821841 -1.043315 +v -0.561197 1.091542 -1.043315 +v -0.891657 -4.821252 0.707392 +v 0.363561 -2.905641 1.070751 +v -0.957668 0.760209 -1.010165 +v -0.957668 -3.929654 1.037817 +v -1.023678 -1.023575 1.103902 +v -0.759432 -4.755339 1.004666 +v -0.693422 -3.070425 1.103902 +v -0.759432 -4.920711 -1.043532 +f 30 18 45 +f 3 2 5 +f 3 5 10 +f 5 9 11 +f 5 2 12 +f 5 11 15 +f 11 13 15 +f 9 14 18 +f 4 13 19 +f 11 1 20 +f 8 19 20 +f 2 3 21 +f 4 19 22 +f 19 16 22 +f 19 8 23 +f 9 5 25 +f 5 12 25 +f 14 9 25 +f 3 10 26 +f 8 17 26 +f 10 23 26 +f 23 8 26 +f 13 11 27 +f 17 8 29 +f 8 20 29 +f 18 28 29 +f 1 11 30 +f 11 9 30 +f 9 18 30 +f 2 21 31 +f 17 29 32 +f 4 5 33 +f 13 4 33 +f 5 15 33 +f 15 13 33 +f 19 13 34 +f 20 19 34 +f 13 27 34 +f 19 23 35 +f 11 20 36 +f 27 11 36 +f 20 34 36 +f 34 27 36 +f 5 4 37 +f 10 5 37 +f 16 6 37 +f 4 22 37 +f 22 16 37 +f 23 10 37 +f 24 23 37 +f 6 24 37 +f 28 7 38 +f 29 28 38 +f 7 32 38 +f 32 29 38 +f 12 14 39 +f 25 12 39 +f 14 25 39 +f 6 16 40 +f 16 19 40 +f 23 24 40 +f 24 6 40 +f 19 35 40 +f 35 23 40 +f 21 17 41 +f 31 21 41 +f 7 31 41 +f 32 7 41 +f 17 32 41 +f 21 3 42 +f 17 21 42 +f 3 26 42 +f 26 17 42 +f 7 28 43 +f 31 7 43 +f 31 43 44 +f 12 2 44 +f 14 12 44 +f 18 14 44 +f 28 18 44 +f 2 31 44 +f 43 28 44 +f 20 1 45 +f 29 20 45 +f 18 29 45 +f 1 30 45 +o convex_1 +v 0.132246 3.205947 0.839265 +v -1.089867 2.842508 -1.076366 +v -1.089867 3.106602 -1.076366 +v 1.090556 3.106809 -1.010420 +v 1.024392 1.091542 1.070609 +v -0.924670 1.091542 -1.010207 +v -1.056785 1.091542 1.070609 +v 0.925146 1.091542 -1.076366 +v -1.056785 3.205947 1.070609 +v 1.090556 3.139717 1.103902 +v 1.090556 3.205947 -0.977340 +v -0.495031 3.205947 -0.646758 +v 0.991310 1.620143 -1.076366 +v -0.561195 3.205947 1.103688 +v 1.057474 1.917559 1.103688 +v -0.990621 1.587442 -1.043286 +v -1.089867 3.172832 0.046421 +v -0.429081 3.139717 -1.076366 +v 0.165328 1.091542 -1.076366 +v 1.090343 2.908324 -1.010207 +v -1.056785 1.091542 0.806185 +v 0.958228 1.091542 -1.010207 +v -1.089867 2.181446 -0.019098 +v 1.090343 2.644231 1.103688 +v 0.826114 3.172832 1.037529 +v -1.023703 3.139717 -1.043286 +v -0.957539 1.124657 -0.977127 +v 1.024392 1.091542 0.905424 +v -1.023703 2.346608 -1.076366 +v 1.090556 3.205947 -0.646971 +v 0.991310 1.785512 -1.076366 +v 0.991310 1.818420 1.103688 +v 0.859196 3.205947 -1.010207 +v -1.056785 3.205947 0.641000 +v 0.462639 3.205947 0.575054 +v 1.090556 3.172832 0.608134 +v -0.561195 1.091542 -1.043286 +f 74 64 82 +f 51 50 52 +f 47 48 53 +f 50 51 53 +f 54 46 56 +f 55 49 56 +f 54 56 57 +f 53 48 58 +f 46 54 59 +f 54 52 59 +f 48 47 62 +f 52 54 62 +f 58 48 63 +f 47 53 64 +f 53 51 64 +f 58 49 65 +f 51 52 66 +f 50 53 67 +f 53 58 67 +f 58 65 67 +f 62 47 68 +f 52 62 68 +f 66 52 68 +f 47 66 68 +f 49 55 69 +f 55 60 69 +f 60 50 69 +f 65 49 69 +f 46 59 70 +f 59 55 70 +f 48 62 71 +f 63 48 71 +f 61 51 72 +f 47 61 72 +f 51 66 72 +f 66 47 72 +f 50 67 73 +f 67 65 73 +f 69 50 73 +f 65 69 73 +f 61 47 74 +f 47 64 74 +f 56 46 75 +f 55 56 75 +f 49 58 76 +f 63 49 76 +f 58 63 76 +f 52 50 77 +f 59 52 77 +f 55 59 77 +f 60 55 77 +f 50 60 77 +f 56 49 78 +f 57 56 78 +f 49 63 78 +f 71 57 78 +f 63 71 78 +f 54 57 79 +f 62 54 79 +f 57 71 79 +f 71 62 79 +f 46 70 80 +f 75 46 80 +f 75 80 81 +f 70 55 81 +f 55 75 81 +f 80 70 81 +f 51 61 82 +f 64 51 82 +f 61 74 82 +o convex_2 +v 0.561945 3.734824 -0.349616 +v -0.429038 3.899740 0.608221 +v -0.462014 3.899740 0.608221 +v -0.495096 5.221241 -0.547842 +v 0.561945 5.221241 0.509050 +v -0.462014 3.205947 -0.580899 +v 0.462697 3.205947 0.575164 +v -0.528286 5.187902 0.575164 +v 0.462697 5.089071 -0.481728 +v 0.561945 3.205947 -0.514901 +v -0.429038 3.205947 0.608221 +v -0.197780 3.668739 -0.580899 +v 0.330580 5.221241 -0.316559 +v 0.363556 5.221241 0.542107 +v -0.528286 5.221241 -0.151391 +v -0.528286 4.824731 0.575164 +v 0.561945 3.239286 -0.250562 +v 0.561945 4.758646 0.509050 +v 0.561945 5.221241 0.343882 +v -0.462014 3.536372 0.608221 +v -0.329897 5.221241 0.542107 +v -0.429038 4.262911 -0.580899 +v -0.131722 3.272032 0.608221 +v -0.329897 5.155156 -0.547842 +v -0.098639 3.272032 -0.580899 +v 0.528862 4.857675 0.542224 +v 0.264522 4.692562 -0.514785 +v -0.495096 4.328996 -0.547842 +v 0.528862 5.089071 -0.019279 +v 0.561945 3.338117 -0.514901 +f 91 111 112 +f 85 84 90 +f 83 87 92 +f 89 88 92 +f 84 85 93 +f 88 89 93 +f 86 87 95 +f 91 86 95 +f 87 86 96 +f 90 84 96 +f 96 86 97 +f 97 88 98 +f 85 90 98 +f 90 97 98 +f 92 87 99 +f 89 92 99 +f 99 87 100 +f 89 99 100 +f 87 83 101 +f 95 87 101 +f 91 95 101 +f 93 85 102 +f 88 93 102 +f 98 88 102 +f 85 98 102 +f 90 96 103 +f 97 90 103 +f 96 97 103 +f 88 86 104 +f 94 88 104 +f 84 93 105 +f 93 89 105 +f 96 84 105 +f 86 91 106 +f 104 86 106 +f 94 104 106 +f 92 88 107 +f 88 94 107 +f 87 96 108 +f 100 87 108 +f 89 100 108 +f 105 89 108 +f 96 105 108 +f 106 91 109 +f 94 106 109 +f 107 94 109 +f 86 88 110 +f 97 86 110 +f 88 97 110 +f 101 83 111 +f 91 101 111 +f 83 92 112 +f 92 107 112 +f 109 91 112 +f 107 109 112 +f 111 83 112 +o convex_3 +v 0.198489 7.137136 0.244886 +v -0.330060 5.221241 -0.184513 +v -0.330060 5.221241 -0.151527 +v 0.330692 5.221241 -0.316715 +v -0.297010 7.104344 -0.283664 +v -0.131757 5.221241 0.277936 +v -0.230844 7.104344 0.277936 +v 0.231540 5.221241 0.344037 +v 0.198489 7.203496 -0.217563 +v 0.231540 6.840069 0.277936 +v -0.230844 5.221241 0.211835 +v -0.197793 7.104344 0.310987 +v -0.330060 6.047245 -0.250614 +v 0.198489 5.287601 -0.316715 +v -0.297010 7.104344 -0.085426 +v 0.330692 5.353572 -0.250614 +v -0.131757 7.071164 -0.283664 +v -0.197793 6.410477 0.310987 +v 0.231540 6.972207 -0.217563 +v -0.032606 7.104344 0.310987 +v 0.033302 5.915107 -0.316715 +v 0.099403 7.203496 -0.085426 +v 0.132453 5.221241 0.344037 +v 0.231540 5.518889 0.344037 +v -0.297010 5.287601 -0.217563 +v 0.330692 5.353572 -0.316715 +v -0.297010 5.815956 0.013661 +v 0.330692 5.254420 -0.217563 +v -0.297010 6.542420 -0.283664 +v -0.197793 5.452529 0.277936 +v -0.230844 6.509629 0.277936 +f 142 130 143 +f 115 114 116 +f 115 116 118 +f 118 116 120 +f 115 118 123 +f 114 115 125 +f 116 114 126 +f 125 115 127 +f 117 125 127 +f 117 121 129 +f 124 119 130 +f 121 113 131 +f 113 122 131 +f 122 128 131 +f 122 113 132 +f 113 124 132 +f 116 126 133 +f 117 129 133 +f 113 121 134 +f 121 117 134 +f 119 124 134 +f 124 113 134 +f 127 119 134 +f 117 127 134 +f 118 120 135 +f 124 130 135 +f 122 132 136 +f 132 124 136 +f 135 120 136 +f 124 135 136 +f 114 125 137 +f 126 114 137 +f 128 116 138 +f 129 121 138 +f 121 131 138 +f 131 128 138 +f 116 133 138 +f 133 129 138 +f 115 123 139 +f 127 115 139 +f 119 127 139 +f 120 116 140 +f 116 128 140 +f 128 122 140 +f 136 120 140 +f 122 136 140 +f 125 117 141 +f 117 133 141 +f 133 126 141 +f 137 125 141 +f 126 137 141 +f 123 118 142 +f 118 135 142 +f 135 130 142 +f 130 119 143 +f 139 123 143 +f 119 139 143 +f 123 142 143 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/235/235.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/235/235.urdf new file mode 100644 index 000000000..0021db72f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/235/235.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/236/236.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/236/236.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/236/236.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/236/236.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/236/236.obj new file mode 100644 index 000000000..44df0d079 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/236/236.obj @@ -0,0 +1,519 @@ +o convex_0 +v 1.054815 2.799759 -2.116784 +v -1.106886 -2.134346 -1.626999 +v -1.106886 -2.134346 -1.545403 +v -0.984420 3.982609 -3.380799 +v 1.095781 -2.134953 -3.666489 +v -1.025170 -2.053021 -3.625587 +v -0.984420 3.819352 -1.626999 +v 0.932565 -2.216884 -1.626999 +v 0.932565 3.860621 -3.584685 +v 1.014065 3.860621 -1.626999 +v -0.984420 3.982609 -3.666489 +v 1.095781 -0.135821 -1.545403 +v -1.025170 1.983477 -1.545403 +v 1.095781 1.984084 -1.545403 +v -1.025170 3.492839 -3.217606 +v 1.095781 -1.156021 -3.666489 +v -0.739703 -0.706915 -3.666489 +v 0.973315 2.677165 -3.625587 +v -0.698953 3.983215 -3.666489 +v -1.025170 1.208465 -3.625587 +v -1.025170 2.677165 -1.586304 +v -1.106886 -2.053021 -1.912897 +v 0.850849 -2.216884 -1.912897 +v 1.095781 -2.134953 -3.298995 +v 0.973315 3.574771 -3.258508 +v 1.095781 2.147340 -1.790191 +v -0.657987 -2.134953 -1.545403 +v -1.106886 -1.808440 -1.545403 +v 0.075948 3.085609 -1.586304 +v 0.973315 -1.889765 -1.626999 +v 0.239164 -2.094290 -3.666489 +v 0.442915 3.901284 -3.625587 +v 1.014065 3.860621 -2.034980 +v -0.617237 -2.093683 -3.258508 +v 1.054815 -0.707522 -3.666489 +v -0.984420 3.860014 -1.994286 +v -0.984420 2.024746 -3.666489 +f 11 17 37 +f 3 12 13 +f 12 5 14 +f 13 12 14 +f 4 11 15 +f 5 11 16 +f 14 5 16 +f 11 5 17 +f 4 10 19 +f 11 4 19 +f 16 11 19 +f 11 6 20 +f 15 11 20 +f 13 7 21 +f 7 15 21 +f 2 3 22 +f 6 2 22 +f 20 6 22 +f 15 20 22 +f 3 2 23 +f 8 3 23 +f 5 8 23 +f 8 5 24 +f 5 12 24 +f 18 9 25 +f 16 18 25 +f 10 14 26 +f 14 16 26 +f 25 1 26 +f 16 25 26 +f 3 8 27 +f 12 3 27 +f 8 12 27 +f 3 13 28 +f 13 21 28 +f 21 15 28 +f 22 3 28 +f 15 22 28 +f 10 7 29 +f 7 13 29 +f 14 10 29 +f 13 14 29 +f 12 8 30 +f 8 24 30 +f 24 12 30 +f 5 6 31 +f 17 5 31 +f 6 17 31 +f 9 18 32 +f 18 19 32 +f 32 19 33 +f 19 10 33 +f 1 25 33 +f 25 9 33 +f 26 1 33 +f 10 26 33 +f 9 32 33 +f 2 6 34 +f 6 5 34 +f 23 2 34 +f 5 23 34 +f 18 16 35 +f 16 19 35 +f 19 18 35 +f 7 10 36 +f 10 4 36 +f 4 15 36 +f 15 7 36 +f 6 11 37 +f 17 6 37 +o convex_1 +v -1.025306 1.046246 -1.504445 +v 1.095781 1.984499 -1.137477 +v 1.095781 1.984499 -1.545403 +v 1.095781 -0.136588 -1.545403 +v -0.943502 -0.136588 0.330943 +v 1.095781 1.902695 0.330943 +v -0.943502 1.902695 0.330943 +v 0.973283 -0.054991 0.330943 +v -0.984404 -0.054784 -1.545403 +v -1.025306 1.862001 -1.545403 +v -0.984404 -0.136588 -0.199488 +v -0.984404 1.902695 -0.117756 +v 1.095781 1.331729 0.330943 +v -0.413230 -0.136588 0.330943 +v 0.769396 1.984499 -1.545403 +v 1.013977 -0.014089 0.208437 +v -0.984404 -0.095478 -1.178252 +v -1.025306 1.739503 -1.178252 +v 1.095781 -0.136588 -1.422896 +v -0.984404 1.902695 -0.444317 +f 49 52 57 +f 40 39 41 +f 41 39 43 +f 42 43 44 +f 43 39 44 +f 43 42 45 +f 40 41 46 +f 46 38 47 +f 40 46 47 +f 41 42 48 +f 42 44 49 +f 48 42 49 +f 41 43 50 +f 43 45 50 +f 42 41 51 +f 45 42 51 +f 39 40 52 +f 44 39 52 +f 40 47 52 +f 49 44 52 +f 50 45 53 +f 38 46 54 +f 46 41 54 +f 41 48 54 +f 48 38 54 +f 47 38 55 +f 38 48 55 +f 49 47 55 +f 48 49 55 +f 41 50 56 +f 51 41 56 +f 45 51 56 +f 53 45 56 +f 50 53 56 +f 47 49 57 +f 52 47 57 +o convex_2 +v 1.054991 -2.135601 0.657364 +v -1.106886 -4.052284 2.125341 +v -1.025202 -2.950863 0.657364 +v -1.106886 -1.482917 2.411240 +v 0.973307 -4.174810 2.411240 +v 1.054991 -4.133705 0.330943 +v 1.054991 -1.483181 2.411240 +v -0.943518 -1.482917 0.412599 +v -0.943518 -4.093126 0.330943 +v 1.014149 -1.483181 0.371873 +v -1.025202 -4.052284 2.411240 +v -1.106886 -1.564602 1.024715 +v -0.331734 -2.706601 0.330943 +v 0.565310 -4.174810 2.329584 +v 1.054991 -4.133705 0.943059 +v 1.054991 -2.543496 0.330943 +v -0.454260 -1.482917 0.371873 +v -0.821203 -4.093126 2.411240 +v 0.973307 -4.174810 1.391251 +v 1.054991 -2.053917 2.411240 +v -1.106886 -3.888915 2.411240 +v -0.943518 -2.013338 0.371873 +v -1.025202 -4.093126 1.228346 +v 0.238997 -4.133705 0.330943 +v 0.891623 -2.298706 0.330943 +v -0.943518 -3.358758 0.330943 +v -1.106886 -1.768549 1.024715 +v -1.106886 -1.482917 1.065237 +f 65 69 85 +f 61 62 64 +f 63 58 64 +f 64 58 67 +f 62 61 68 +f 59 61 69 +f 63 66 70 +f 62 63 72 +f 63 64 72 +f 58 63 73 +f 67 58 73 +f 63 70 73 +f 61 64 74 +f 65 61 74 +f 64 67 74 +f 68 59 75 +f 62 68 75 +f 71 62 75 +f 63 62 76 +f 62 71 76 +f 71 66 76 +f 64 62 77 +f 62 72 77 +f 72 64 77 +f 61 59 78 +f 59 68 78 +f 68 61 78 +f 60 69 79 +f 69 65 79 +f 65 74 79 +f 59 60 80 +f 60 66 80 +f 66 71 80 +f 75 59 80 +f 71 75 80 +f 66 63 81 +f 63 76 81 +f 76 66 81 +f 67 73 82 +f 73 70 82 +f 70 74 82 +f 74 67 82 +f 66 60 83 +f 70 66 83 +f 74 70 83 +f 60 79 83 +f 79 74 83 +f 60 59 84 +f 69 60 84 +f 59 69 84 +f 61 65 85 +f 69 61 85 +o convex_3 +v 0.361155 -0.218168 2.452030 +v -0.413382 -1.482590 0.371733 +v -0.943502 -1.482590 0.412663 +v 1.054879 -1.482590 2.411100 +v 0.973187 -0.218168 0.371733 +v -1.106666 -0.218168 2.452030 +v -1.106886 -1.482590 2.411100 +v -0.943502 -0.218168 0.453390 +v 1.014033 -1.482590 0.371733 +v 1.095725 -0.218168 2.411100 +v -1.106886 -1.319339 1.065709 +v 1.136571 -0.993208 1.065709 +v -0.454008 -1.482590 2.452030 +v 1.136571 -1.441746 1.676806 +v -1.106886 -0.748517 1.106028 +v -0.943502 -0.666830 0.412663 +v -0.984348 -0.218168 0.535046 +v 1.095725 -0.218168 1.962501 +v 1.136571 -1.482590 1.187684 +v -1.106886 -1.482590 1.065709 +v 1.136571 -0.870801 1.065709 +v -1.106666 -0.218168 2.003227 +v 1.095725 -1.033928 2.411100 +v -0.535700 -0.218168 0.412663 +v 1.014033 -0.707674 0.371733 +f 106 94 110 +f 88 87 89 +f 86 90 91 +f 88 89 92 +f 91 90 93 +f 89 87 94 +f 87 90 94 +f 90 86 95 +f 89 86 98 +f 86 91 98 +f 92 89 98 +f 91 92 98 +f 92 91 100 +f 96 92 100 +f 87 88 101 +f 93 101 102 +f 91 93 102 +f 96 100 102 +f 101 88 102 +f 90 95 103 +f 89 94 104 +f 94 97 104 +f 99 89 104 +f 97 99 104 +f 88 92 105 +f 92 96 105 +f 102 88 105 +f 96 102 105 +f 97 94 106 +f 95 99 106 +f 99 97 106 +f 90 103 106 +f 103 95 106 +f 100 91 107 +f 91 102 107 +f 102 100 107 +f 86 89 108 +f 95 86 108 +f 89 99 108 +f 99 95 108 +f 90 87 109 +f 93 90 109 +f 87 101 109 +f 101 93 109 +f 94 90 110 +f 90 106 110 +o convex_4 +v 0.891604 0.475663 4.450403 +v 0.850854 -0.218168 0.372484 +v 0.973318 -0.218168 0.372484 +v 1.095781 1.902783 0.330943 +v -1.025120 1.902783 2.044703 +v -0.984371 -0.218168 0.534981 +v -0.984371 -0.177202 4.409677 +v 0.932568 1.984499 4.368543 +v -0.984371 1.902783 4.491536 +v -0.943621 1.902783 0.331350 +v 0.973318 -0.218168 4.450403 +v -1.106834 -0.218168 2.044703 +v 1.095781 -0.177202 2.859636 +v -0.943621 -0.136452 0.331350 +v 1.054816 1.984499 2.451966 +v -1.106834 0.271481 2.818909 +v -0.494733 1.943533 0.780154 +v 1.095781 -0.218168 1.922117 +v 1.014067 0.149015 0.331350 +v -0.005526 -0.218168 4.450403 +v 0.483896 1.984499 4.368543 +v 0.973318 1.739351 4.164505 +v 1.095781 0.801665 2.492692 +v -0.535698 1.943533 4.450403 +v -0.984371 1.902783 0.779746 +v -1.106834 0.434698 2.370921 +v 1.095781 1.331633 0.330943 +v 0.728607 1.984499 2.044703 +v -1.025120 1.902783 2.982222 +v -1.025120 -0.177202 4.001599 +v -1.025120 1.494850 4.042733 +v 1.095781 1.902783 1.269683 +v -0.698910 1.698816 4.491536 +v -0.984371 0.434698 4.450403 +v -1.106834 -0.218168 2.451559 +v 1.095781 0.312231 2.818909 +v 0.973318 0.149015 4.450403 +f 146 132 147 +f 112 113 116 +f 116 113 121 +f 116 121 122 +f 113 112 124 +f 112 116 124 +f 120 114 124 +f 116 120 124 +f 114 120 127 +f 121 113 128 +f 114 123 128 +f 123 121 128 +f 113 124 129 +f 128 113 129 +f 122 121 130 +f 118 125 131 +f 125 118 132 +f 125 132 133 +f 123 114 133 +f 119 118 134 +f 127 115 134 +f 118 131 134 +f 131 127 134 +f 120 116 135 +f 116 122 135 +f 115 127 135 +f 127 120 135 +f 122 126 136 +f 115 135 136 +f 135 122 136 +f 124 114 137 +f 114 128 137 +f 129 124 137 +f 128 129 137 +f 125 114 138 +f 114 127 138 +f 131 125 138 +f 127 131 138 +f 134 115 139 +f 119 134 139 +f 115 136 139 +f 136 126 139 +f 126 140 141 +f 119 139 141 +f 139 126 141 +f 140 119 141 +f 114 125 142 +f 125 133 142 +f 133 114 142 +f 111 118 143 +f 118 119 143 +f 130 121 143 +f 130 143 144 +f 117 130 144 +f 140 117 144 +f 119 140 144 +f 143 119 144 +f 126 122 145 +f 130 117 145 +f 122 130 145 +f 117 140 145 +f 140 126 145 +f 133 132 146 +f 123 133 146 +f 118 111 147 +f 121 123 147 +f 132 118 147 +f 111 143 147 +f 143 121 147 +f 123 146 147 +o convex_5 +v -1.188658 -1.156241 1.636151 +v -3.105407 -1.360291 1.024375 +v -3.105407 -1.360291 1.187552 +v -3.023830 -0.748440 1.473043 +v -1.107082 -0.748440 1.106032 +v -1.107082 -1.319445 1.146826 +v -2.901368 -1.360291 1.717808 +v -3.105407 -0.870858 1.024375 +v -1.311120 -0.789286 1.595357 +v -1.107082 -1.360291 1.636151 +v -3.023830 -0.748440 1.595357 +v -2.982944 -1.156241 1.717808 +v -1.107082 -0.830072 1.595357 +v -2.819792 -0.830072 1.024375 +v -2.452796 -1.197087 1.717808 +v -2.901368 -1.360291 1.024375 +v -1.188658 -1.360291 1.269140 +v -1.107082 -0.993276 1.106032 +f 163 161 165 +f 150 149 154 +f 149 150 155 +f 153 152 157 +f 154 149 157 +f 152 151 158 +f 155 150 158 +f 151 155 158 +f 156 152 158 +f 156 158 159 +f 150 154 159 +f 158 150 159 +f 152 156 160 +f 157 152 160 +f 148 157 160 +f 151 152 161 +f 149 155 161 +f 155 151 161 +f 154 157 162 +f 157 148 162 +f 156 159 162 +f 159 154 162 +f 160 156 162 +f 148 160 162 +f 157 149 163 +f 149 161 163 +f 153 157 164 +f 163 153 164 +f 157 163 164 +f 152 153 165 +f 161 152 165 +f 153 163 165 +o convex_6 +v 2.931033 -0.952458 1.758526 +v 2.971851 -1.319390 1.024447 +v 2.971851 -1.278643 1.024447 +v 1.136571 -0.870894 1.065265 +v 1.136571 -1.441772 1.676890 +v 2.971851 -0.748440 1.065265 +v 1.136571 -0.830148 1.595325 +v 3.053488 -1.400954 1.717708 +v 1.136571 -1.482590 1.187648 +v 3.094306 -0.870894 1.758526 +v 3.053488 -1.360208 1.146830 +v 1.707833 -1.197079 1.717708 +v 1.136571 -0.993276 1.065265 +v 1.748651 -0.789330 1.391451 +v 3.053488 -1.237825 1.024447 +f 176 167 180 +f 168 167 169 +f 169 170 172 +f 170 169 174 +f 173 170 174 +f 166 173 175 +f 175 173 176 +f 174 167 176 +f 173 174 176 +f 172 170 177 +f 173 166 177 +f 170 173 177 +f 175 172 177 +f 166 175 177 +f 169 167 178 +f 167 174 178 +f 174 169 178 +f 171 169 179 +f 169 172 179 +f 175 171 179 +f 172 175 179 +f 167 168 180 +f 168 169 180 +f 169 171 180 +f 171 175 180 +f 175 176 180 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/236/236.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/236/236.urdf new file mode 100644 index 000000000..dc4ece940 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/236/236.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/237/237.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/237/237.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/237/237.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/237/237.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/237/237.obj new file mode 100644 index 000000000..8a90e2b4c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/237/237.obj @@ -0,0 +1,438 @@ +o convex_0 +v 0.994941 -4.309380 -1.071524 +v 1.105935 -2.828636 0.816265 +v 0.143353 -2.828480 1.001665 +v -0.967221 -2.828480 -0.997535 +v -0.930223 -4.309380 0.927676 +v -1.004219 -4.420490 -0.997535 +v 0.994941 -4.235358 0.964670 +v 0.994941 -2.828636 -0.997535 +v -1.041217 -2.828480 0.964670 +v 1.068937 -2.902657 1.075868 +v 1.031939 -4.272291 -1.108732 +v -0.967221 -4.050226 0.964670 +v 1.068937 -4.124248 -0.960540 +v -1.004219 -4.420490 -0.627162 +v 0.587751 -4.272291 0.964670 +v 1.031939 -4.013137 1.001451 +v 1.031939 -3.458053 -1.071524 +v -1.004219 -3.347099 -0.997535 +v -0.559821 -4.309380 0.964670 +v 0.735744 -4.272291 -1.108732 +v 1.105935 -2.828636 0.372331 +v 1.031939 -4.272291 0.261133 +v -0.708024 -4.420490 -0.923332 +v -1.041217 -3.161967 0.964670 +v -1.041217 -2.828480 0.520309 +v 0.957943 -2.828636 1.075868 +v 0.994941 -2.902657 -1.034316 +v 1.031939 -2.902657 -0.849129 +v -0.893225 -4.346313 0.668500 +v 0.994941 -4.013137 -1.108732 +v -0.967221 -4.346313 0.520309 +v -0.522823 -4.383401 -1.034529 +v 1.068937 -4.087159 -0.701151 +v -1.004219 -4.383401 -0.367987 +v -0.930223 -4.420490 -0.627162 +v 1.068937 -3.420964 1.001451 +f 16 33 36 +f 4 3 8 +f 3 4 9 +f 15 7 16 +f 13 11 17 +f 12 5 19 +f 10 12 19 +f 16 10 19 +f 15 16 19 +f 3 2 21 +f 8 3 21 +f 2 13 21 +f 1 11 22 +f 11 13 22 +f 7 15 22 +f 16 7 22 +f 6 1 23 +f 14 6 23 +f 1 22 23 +f 22 15 23 +f 6 14 24 +f 9 4 25 +f 4 18 25 +f 18 6 25 +f 6 24 25 +f 24 9 25 +f 2 3 26 +f 3 9 26 +f 10 2 26 +f 12 10 26 +f 9 24 26 +f 24 12 26 +f 4 8 27 +f 17 27 28 +f 13 17 28 +f 8 21 28 +f 21 13 28 +f 27 8 28 +f 19 5 29 +f 15 19 29 +f 17 11 30 +f 11 20 30 +f 20 4 30 +f 4 27 30 +f 27 17 30 +f 5 12 31 +f 12 24 31 +f 29 5 31 +f 14 29 31 +f 1 6 32 +f 11 1 32 +f 18 4 32 +f 6 18 32 +f 20 11 32 +f 4 20 32 +f 13 2 33 +f 22 13 33 +f 16 22 33 +f 24 14 34 +f 31 24 34 +f 14 31 34 +f 14 23 35 +f 23 15 35 +f 29 14 35 +f 15 29 35 +f 2 10 36 +f 10 16 36 +f 33 2 36 +o convex_1 +v 1.031990 -1.051443 1.038543 +v -1.115482 -2.272728 0.927439 +v -1.115482 -2.272728 0.964619 +v 1.106145 -2.828480 0.409100 +v -1.004139 -0.421717 -1.108522 +v 0.995021 -2.828480 -0.997418 +v 1.068959 -0.421717 -1.034380 +v -0.967170 -2.828480 -0.997418 +v -1.004139 -0.421717 0.964619 +v 0.920865 -2.828480 1.075505 +v 0.958051 -0.421717 1.001581 +v -1.041326 -2.828480 0.964619 +v 1.106145 -2.309951 1.112685 +v -1.078295 -2.272728 1.001581 +v 1.068959 -0.977468 -1.034380 +v -1.004139 -1.347812 -1.071342 +v 1.068959 -0.421717 -0.553220 +v 0.587708 -0.458940 -1.071342 +v 1.106145 -2.754034 1.075505 +v 0.180395 -0.421717 1.001581 +v 1.031990 -2.828480 -0.775428 +v 1.106145 -2.013818 1.075505 +v -1.041326 -0.903494 0.964619 +v -0.930201 -2.272728 -1.034380 +v -1.078295 -2.717282 0.927439 +v 0.995021 -0.829283 1.038543 +v 0.995021 -0.570137 1.001581 +v 1.068959 -2.309951 1.112685 +v -0.967170 -0.458940 -1.108522 +v -1.115482 -2.198754 0.927439 +f 59 41 66 +f 42 40 44 +f 43 41 45 +f 44 40 46 +f 43 45 47 +f 44 46 48 +f 39 48 50 +f 48 46 50 +f 43 40 51 +f 38 41 52 +f 44 38 52 +f 43 47 53 +f 41 43 54 +f 51 42 54 +f 43 51 54 +f 46 40 55 +f 49 46 55 +f 40 49 55 +f 47 45 56 +f 40 42 57 +f 42 51 57 +f 51 40 57 +f 40 43 58 +f 37 49 58 +f 49 40 58 +f 53 37 58 +f 43 53 58 +f 45 41 59 +f 39 50 59 +f 50 45 59 +f 42 44 60 +f 44 52 60 +f 39 38 61 +f 38 44 61 +f 48 39 61 +f 44 48 61 +f 49 37 62 +f 47 56 62 +f 37 53 63 +f 53 47 63 +f 62 37 63 +f 47 62 63 +f 46 49 64 +f 45 50 64 +f 50 46 64 +f 56 45 64 +f 49 62 64 +f 62 56 64 +f 52 41 65 +f 41 54 65 +f 54 42 65 +f 42 60 65 +f 60 52 65 +f 38 39 66 +f 41 38 66 +f 39 59 66 +o convex_2 +v -1.115482 1.651599 -1.219621 +v 1.106145 -0.162498 3.000382 +v 1.106145 -0.310592 3.000382 +v 1.031990 -0.273405 -3.033642 +v 1.031990 1.799910 -2.959798 +v -1.041326 -0.421717 -3.033642 +v -0.967170 1.799910 2.926538 +v -1.004357 -0.310592 3.037910 +v 0.957834 1.762723 3.112359 +v -0.967170 1.651599 -3.071169 +v 0.957834 -0.421717 1.001752 +v 1.106145 1.799910 0.927303 +v -1.115482 1.799910 -0.959957 +v 1.068959 -0.421717 -1.033801 +v -1.004357 -0.421717 0.964225 +v 1.106145 0.022782 -0.700898 +v -1.115482 1.651599 0.334735 +v -1.004357 -0.014404 3.074832 +v -1.115482 1.244286 -0.996879 +v 0.995021 1.688785 3.112359 +v -0.448950 -0.273405 3.074832 +v 1.068959 -0.273405 -2.626289 +v -1.078295 1.725754 1.408499 +v -0.448950 1.799910 3.000988 +v -0.226700 1.022254 -3.071169 +v 1.106145 1.688785 0.260891 +v 1.068959 -0.125312 3.037910 +v -0.004668 0.800004 3.112359 +v 0.809740 1.725754 -2.996720 +v 1.106145 1.762723 1.260811 +v -1.041326 -0.236436 -0.996879 +v 0.920865 1.244286 3.112359 +v -0.967170 0.800004 -3.071169 +v -0.930201 -0.421717 -3.033642 +v 0.920865 1.799910 -2.959193 +v -1.004357 0.467064 3.037910 +v 0.661646 1.725754 3.112359 +v -1.004357 1.170130 -2.885349 +v -0.560075 1.651599 -3.071169 +v -0.967170 1.614630 2.963460 +v 1.031990 -0.051373 -3.033642 +v 0.735802 -0.310592 3.037304 +v -0.263669 1.799910 3.000988 +v -1.004357 -0.273405 3.074832 +v -1.078295 1.799910 1.038069 +v -1.115482 1.318442 -1.367309 +v 1.031990 1.318442 -2.996720 +v -1.004357 1.762723 2.482264 +f 111 89 114 +f 68 69 78 +f 71 73 78 +f 73 71 79 +f 76 67 79 +f 69 77 80 +f 77 72 80 +f 74 72 81 +f 72 77 81 +f 77 74 81 +f 78 69 82 +f 69 80 82 +f 79 67 83 +f 83 67 85 +f 74 83 85 +f 80 70 88 +f 82 80 88 +f 78 73 90 +f 71 78 92 +f 78 82 92 +f 88 71 92 +f 82 88 92 +f 69 68 93 +f 68 86 93 +f 86 75 94 +f 68 78 96 +f 78 75 96 +f 86 68 96 +f 75 86 96 +f 72 74 97 +f 85 72 97 +f 74 85 97 +f 93 86 98 +f 87 93 98 +f 94 87 98 +f 86 94 98 +f 72 76 99 +f 91 70 99 +f 76 91 99 +f 70 80 100 +f 80 72 100 +f 99 70 100 +f 72 99 100 +f 71 76 101 +f 79 71 101 +f 76 79 101 +f 89 84 102 +f 75 90 103 +f 90 84 103 +f 94 75 103 +f 84 94 103 +f 67 76 104 +f 76 72 104 +f 76 71 105 +f 91 76 105 +f 71 95 105 +f 90 73 106 +f 84 90 106 +f 73 102 106 +f 102 84 106 +f 88 70 107 +f 70 91 107 +f 77 69 108 +f 74 77 108 +f 87 74 108 +f 69 93 108 +f 93 87 108 +f 75 78 109 +f 78 90 109 +f 90 75 109 +f 83 74 110 +f 74 87 110 +f 89 83 110 +f 84 89 110 +f 87 94 110 +f 94 84 110 +f 73 79 111 +f 79 83 111 +f 83 89 111 +f 85 67 112 +f 72 85 112 +f 67 104 112 +f 104 72 112 +f 71 88 113 +f 95 71 113 +f 91 105 113 +f 105 95 113 +f 88 107 113 +f 107 91 113 +f 102 73 114 +f 89 102 114 +f 73 111 114 +o convex_3 +v 0.180395 1.800106 1.001426 +v 0.402645 3.577037 -1.108312 +v 0.402645 3.614224 -1.108312 +v -1.115482 1.874088 -0.960544 +v -1.004357 3.651215 1.038630 +v 1.031990 3.799374 1.038420 +v 1.031990 1.800106 -0.997328 +v -0.930201 3.651215 -1.034323 +v -1.078295 1.799910 1.038630 +v 1.106145 1.800106 0.927437 +v 1.068959 3.614028 -1.108312 +v -1.115482 1.799910 -0.960544 +v -0.782107 3.688010 -0.923550 +v 1.068959 3.761992 0.372099 +v 1.068959 2.244388 -1.034323 +v -0.745138 1.948069 -0.997328 +v 0.735584 3.799374 0.705260 +v 1.068959 3.614028 1.038420 +v -0.967170 3.391887 -1.034323 +v -1.078295 2.244388 1.038630 +v 1.106145 1.911274 0.964431 +v 1.068959 3.651019 -0.923339 +v 0.957834 3.243728 -1.108312 +v 1.106145 1.800106 0.372099 +v 1.106145 2.429538 0.890442 +v -0.634013 1.799910 1.038630 +v -0.967170 3.058578 -1.034323 +v -0.634013 3.688010 1.038630 +v -1.004357 3.651215 0.853448 +v -0.560075 3.651215 -1.071528 +v 1.068959 1.948069 -0.997328 +v -1.115482 1.837097 -0.552974 +v 0.439614 3.651215 -1.071317 +v -0.782107 3.688010 -0.442201 +v 0.772771 3.799374 1.038420 +v 0.476583 1.800106 -0.997328 +f 130 137 150 +f 116 117 125 +f 120 128 131 +f 128 120 132 +f 126 118 133 +f 123 119 134 +f 115 124 135 +f 131 128 136 +f 116 125 137 +f 125 129 137 +f 130 116 137 +f 129 125 138 +f 135 124 138 +f 128 132 139 +f 132 135 139 +f 125 136 139 +f 136 128 139 +f 138 125 139 +f 135 138 139 +f 119 123 140 +f 124 115 140 +f 126 121 140 +f 123 126 140 +f 115 135 140 +f 135 132 140 +f 138 124 140 +f 121 138 140 +f 116 130 141 +f 130 126 141 +f 126 133 141 +f 132 120 142 +f 119 140 142 +f 140 132 142 +f 118 119 143 +f 119 127 143 +f 127 122 143 +f 133 118 143 +f 122 133 143 +f 117 116 144 +f 122 127 144 +f 133 122 144 +f 116 141 144 +f 141 133 144 +f 121 129 145 +f 138 121 145 +f 129 138 145 +f 119 118 146 +f 118 126 146 +f 126 123 146 +f 134 119 146 +f 123 134 146 +f 125 117 147 +f 127 131 147 +f 136 125 147 +f 131 136 147 +f 117 144 147 +f 144 127 147 +f 127 119 148 +f 131 127 148 +f 119 142 148 +f 142 131 148 +f 120 131 149 +f 142 120 149 +f 131 142 149 +f 121 126 150 +f 129 121 150 +f 126 130 150 +f 137 129 150 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/237/237.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/237/237.urdf new file mode 100644 index 000000000..df6d1fe98 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/237/237.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/238/238.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/238/238.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/238/238.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/238/238.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/238/238.obj new file mode 100644 index 000000000..aa374a3c8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/238/238.obj @@ -0,0 +1,351 @@ +o convex_0 +v 0.328040 5.560790 0.251459 +v -0.323245 7.188886 0.218818 +v -0.323245 7.188886 0.316613 +v -0.258027 3.476966 -0.041543 +v 0.230309 7.449024 -0.334672 +v 0.197732 3.476966 -0.204364 +v -0.258027 5.918916 -0.334672 +v -0.192937 3.476966 0.284036 +v 0.197732 7.449024 0.316613 +v -0.192937 7.351423 -0.269518 +v 0.197732 3.476966 0.186241 +v -0.258027 3.575344 -0.236941 +v 0.197732 5.138114 -0.334672 +v 0.328040 5.301041 0.284036 +v -0.323245 7.416749 0.251459 +v 0.230309 5.268377 -0.302095 +v -0.290604 5.625727 -0.302095 +v 0.262886 6.635559 0.316549 +v -0.290604 4.975188 0.186241 +v -0.258027 5.170777 -0.334672 +v -0.062693 3.476966 0.284036 +v 0.328040 5.365978 0.218882 +v 0.132578 7.449024 -0.334672 +v -0.127783 7.449024 0.316613 +v -0.225514 7.384087 -0.171850 +v 0.262886 6.309706 0.316549 +v 0.230309 7.449024 -0.106697 +v -0.290604 5.365978 0.284036 +v -0.258027 3.476966 -0.204364 +v 0.295463 5.007851 0.284036 +v -0.160360 7.449024 0.055997 +v 0.230309 3.835870 0.153728 +v -0.290604 5.495463 -0.302095 +f 29 19 33 +f 4 6 8 +f 8 6 11 +f 7 5 13 +f 6 12 13 +f 2 3 15 +f 13 5 16 +f 6 13 16 +f 10 7 17 +f 2 15 17 +f 14 1 18 +f 3 2 19 +f 4 8 19 +f 7 13 20 +f 13 12 20 +f 17 7 20 +f 8 11 21 +f 5 1 22 +f 1 14 22 +f 14 6 22 +f 16 5 22 +f 6 16 22 +f 5 7 23 +f 9 5 23 +f 7 10 23 +f 3 9 24 +f 15 3 24 +f 9 23 24 +f 10 17 25 +f 17 15 25 +f 23 10 25 +f 3 8 26 +f 9 3 26 +f 18 9 26 +f 14 18 26 +f 8 21 26 +f 1 5 27 +f 5 9 27 +f 18 1 27 +f 9 18 27 +f 8 3 28 +f 3 19 28 +f 19 8 28 +f 6 4 29 +f 12 6 29 +f 4 19 29 +f 11 14 30 +f 21 11 30 +f 14 26 30 +f 26 21 30 +f 15 24 31 +f 24 23 31 +f 25 15 31 +f 23 25 31 +f 11 6 32 +f 6 14 32 +f 14 11 32 +f 2 17 33 +f 19 2 33 +f 20 12 33 +f 17 20 33 +f 12 29 33 +o convex_1 +v 0.620917 -2.840763 -1.051085 +v -1.039521 -3.849782 1.098154 +v -1.104786 -3.849782 1.098154 +v -1.072050 -1.180064 1.032726 +v 0.979152 -1.180064 0.967719 +v -0.974462 -1.180064 -1.018476 +v 1.011682 -4.696312 1.032726 +v -0.941933 -4.663952 -0.953048 +v 1.011889 -1.179720 -1.050874 +v 1.011682 -4.598543 -0.953258 +v -1.104786 -4.631248 1.098154 +v -1.072050 -1.212769 -0.139089 +v 0.686183 -4.696312 1.065546 +v -1.072050 -4.663952 0.511616 +v 1.011889 -1.993889 0.935110 +v 1.011682 -4.500773 -0.985657 +v -1.006991 -1.245129 -0.920649 +v -0.876667 -1.180064 1.032726 +v 1.011682 -4.696312 0.674450 +v -0.941933 -1.831400 -1.018476 +v 1.011682 -3.035269 -1.051085 +v -0.453374 -4.663952 -0.953048 +v -0.290728 -4.598887 1.098154 +v -1.104786 -4.631248 0.869892 +v -0.974462 -4.663952 -0.660199 +v 0.360477 -4.696312 1.065546 +v 1.011682 -4.631248 -0.627380 +v -1.104786 -3.295872 1.032726 +v -0.941933 -4.663952 1.098154 +v 1.011889 -1.179720 -0.269314 +v 0.653654 -1.180064 -1.051085 +v 0.686183 -4.631248 1.065546 +v 1.011682 -4.272875 1.032726 +v 0.523330 -2.482391 -1.051085 +v -1.072050 -1.180064 -0.139089 +v 0.490801 -4.631248 -0.953258 +v -0.974462 -1.733630 -1.018476 +f 39 67 70 +f 36 35 37 +f 35 36 44 +f 43 42 48 +f 42 43 49 +f 37 35 51 +f 40 46 52 +f 48 40 52 +f 34 41 53 +f 41 34 54 +f 49 41 54 +f 42 49 54 +f 41 49 55 +f 52 41 55 +f 35 44 56 +f 51 35 56 +f 44 36 57 +f 47 44 57 +f 45 50 57 +f 57 50 58 +f 50 41 58 +f 47 57 58 +f 47 58 59 +f 41 52 59 +f 52 46 59 +f 58 41 59 +f 43 48 60 +f 48 52 60 +f 52 55 60 +f 36 37 61 +f 57 36 61 +f 44 47 62 +f 56 44 62 +f 46 56 62 +f 47 59 62 +f 59 46 62 +f 42 37 63 +f 38 48 63 +f 48 42 63 +f 37 51 63 +f 51 38 63 +f 39 42 64 +f 54 34 64 +f 42 54 64 +f 46 40 65 +f 38 51 65 +f 56 46 65 +f 51 56 65 +f 48 38 66 +f 40 48 66 +f 38 65 66 +f 65 40 66 +f 64 34 67 +f 39 64 67 +f 37 42 68 +f 42 39 68 +f 39 50 68 +f 50 45 68 +f 45 57 68 +f 61 37 68 +f 57 61 68 +f 49 43 69 +f 55 49 69 +f 43 60 69 +f 60 55 69 +f 50 39 70 +f 41 50 70 +f 34 53 70 +f 53 41 70 +f 67 34 70 +o convex_2 +v -0.648820 3.476965 -0.725171 +v -1.104786 -1.179264 0.251258 +v -1.006972 -1.179720 -0.953261 +v 0.979203 -1.179264 0.967776 +v 1.077017 3.183415 -1.116213 +v -1.039648 3.313781 0.935101 +v 1.011879 3.443690 1.000239 +v 0.979203 -1.179264 -1.051075 +v -1.072110 2.402135 -1.116213 +v -1.072110 -1.179264 1.032914 +v -1.006972 3.444146 -1.083537 +v -1.104786 1.002304 -1.116213 +v 0.914065 1.815491 1.065590 +v -1.104786 1.620399 1.000239 +v 1.077017 3.346600 -1.116213 +v -1.006972 -0.918989 -1.050861 +v 1.044342 3.443690 0.935101 +v -0.811558 1.457671 1.032914 +v -0.192854 3.476965 0.283720 +v 0.946528 1.100306 1.065590 +v -1.072110 3.151052 0.902425 +v 0.230223 3.476965 -0.236957 +v -1.104786 1.717945 -1.116213 +v 0.718651 3.444146 1.000452 +v 0.979203 -0.755805 1.000452 +v -1.039648 3.411783 -0.204067 +v -1.104786 0.318570 1.032914 +v 0.034809 3.411783 -1.116213 +v 1.077017 3.313781 -0.725171 +v -1.072110 2.857502 0.967776 +v 0.458099 1.490034 1.065590 +v 1.044342 3.443690 0.479134 +v -1.039648 0.904758 -1.116213 +v -0.974510 -1.179720 -1.018186 +v 1.044342 2.923141 -1.116213 +v -0.355806 3.378963 0.967776 +v -0.876696 -1.179720 1.032914 +v 1.011879 2.759956 1.032914 +v -1.039648 3.346600 0.707224 +v 0.653513 -1.179720 -1.051075 +v -1.006972 3.444146 -0.660033 +v -0.485868 3.444146 -1.083537 +v -1.072110 2.076222 1.000239 +v -1.039648 3.411783 -0.301881 +v -1.039648 3.053506 -1.083537 +v 0.197761 3.476965 0.186334 +v -0.909372 2.694773 -1.116213 +v -1.104786 -1.114081 0.186120 +v 0.555913 3.444146 0.967776 +v -0.811558 3.346600 0.935101 +f 89 109 120 +f 75 74 78 +f 72 73 80 +f 79 75 82 +f 82 72 84 +f 75 79 85 +f 73 82 86 +f 71 89 92 +f 79 82 93 +f 82 84 93 +f 84 91 93 +f 77 89 94 +f 74 87 95 +f 72 80 97 +f 84 72 97 +f 85 79 98 +f 92 85 98 +f 74 75 99 +f 75 85 99 +f 87 74 99 +f 85 87 99 +f 76 91 100 +f 91 84 100 +f 80 90 101 +f 90 83 101 +f 83 94 101 +f 94 88 101 +f 97 80 101 +f 88 97 101 +f 87 85 102 +f 85 92 102 +f 92 87 102 +f 82 75 103 +f 86 82 103 +f 73 86 104 +f 75 78 105 +f 103 75 105 +f 78 103 105 +f 76 100 106 +f 100 94 106 +f 80 73 107 +f 90 80 107 +f 74 95 107 +f 95 90 107 +f 73 104 107 +f 87 77 108 +f 83 90 108 +f 77 94 108 +f 94 83 108 +f 95 87 108 +f 90 95 108 +f 91 76 109 +f 89 96 109 +f 96 91 109 +f 78 74 110 +f 103 78 110 +f 86 103 110 +f 104 86 110 +f 74 107 110 +f 107 104 110 +f 71 81 111 +f 89 71 111 +f 81 96 111 +f 96 89 111 +f 81 71 112 +f 71 92 112 +f 98 81 112 +f 92 98 112 +f 88 94 113 +f 84 97 113 +f 97 88 113 +f 100 84 113 +f 94 100 113 +f 79 93 114 +f 93 91 114 +f 96 81 114 +f 91 96 114 +f 81 79 115 +f 79 114 115 +f 114 81 115 +f 77 87 116 +f 89 77 116 +f 87 92 116 +f 92 89 116 +f 79 81 117 +f 81 98 117 +f 98 79 117 +f 73 72 118 +f 82 73 118 +f 72 82 118 +f 94 89 119 +f 89 106 119 +f 106 94 119 +f 76 106 120 +f 106 89 120 +f 109 76 120 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/238/238.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/238/238.urdf new file mode 100644 index 000000000..06d093a16 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/238/238.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/239/239.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/239/239.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/239/239.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/239/239.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/239/239.obj new file mode 100644 index 000000000..4465b4eea --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/239/239.obj @@ -0,0 +1,411 @@ +o convex_0 +v -0.845050 -3.464474 -0.469712 +v -0.754419 0.977941 1.071443 +v -0.965892 0.977941 1.071443 +v -0.724209 0.977941 -1.013913 +v 0.967981 -3.524824 0.920186 +v 0.967981 0.977941 -0.983498 +v 0.937771 -3.555443 -0.923077 +v 0.937771 0.977941 0.920186 +v -0.935681 -3.404123 0.980607 +v -0.996102 -3.404123 -1.013913 +v -1.086938 0.977497 0.225135 +v -1.026313 0.977497 -1.013913 +v -0.603367 -3.555443 0.648289 +v 0.998396 0.977941 0.436610 +v 0.967981 -3.464474 -0.892866 +v -1.026313 0.252404 1.071443 +v -1.086938 0.192054 0.255141 +v -0.905471 -3.011402 1.010818 +v 0.967981 0.312311 -0.983498 +v 0.484411 -3.494649 0.950192 +v 0.484411 -3.494649 -0.953288 +v -0.965892 -3.404123 0.255141 +v 0.998396 0.614951 0.587664 +v -0.965892 -0.079967 1.071443 +v -0.633578 -3.555443 0.436406 +v -1.086938 0.947322 0.527038 +v -0.965892 -2.497535 1.010818 +v 0.967981 0.977941 0.859560 +v 0.967981 -3.555443 -0.560344 +v -1.026313 0.977497 1.071443 +v -0.935681 -3.404123 -1.013913 +v -0.996102 -3.404123 -0.832445 +v -1.086938 0.192054 0.194924 +v 0.847139 -3.555443 -0.923077 +v 0.967981 -1.409452 0.920186 +v -0.905471 -3.434299 0.950396 +v 0.967981 -1.893143 -0.953288 +v 0.998396 0.645126 0.376188 +v -0.301059 -3.434299 0.980607 +v -1.026313 0.765827 -1.013913 +v -1.026313 -2.285865 -0.620970 +v -0.301059 -3.464474 -0.983498 +f 34 25 42 +f 3 2 4 +f 4 2 6 +f 6 2 8 +f 3 4 12 +f 4 10 12 +f 11 3 12 +f 6 8 14 +f 2 3 16 +f 4 6 19 +f 5 2 20 +f 13 5 20 +f 2 16 24 +f 16 18 24 +f 20 2 24 +f 10 1 25 +f 7 13 25 +f 11 17 26 +f 26 17 27 +f 9 18 27 +f 18 16 27 +f 22 9 27 +f 17 22 27 +f 16 26 27 +f 14 8 28 +f 23 14 28 +f 13 7 29 +f 5 13 29 +f 7 15 29 +f 23 5 29 +f 3 11 30 +f 16 3 30 +f 11 26 30 +f 26 16 30 +f 10 4 31 +f 4 19 31 +f 19 21 31 +f 22 17 32 +f 10 25 32 +f 11 12 33 +f 17 11 33 +f 7 25 34 +f 2 5 35 +f 8 2 35 +f 5 23 35 +f 28 8 35 +f 23 28 35 +f 13 20 36 +f 9 22 36 +f 25 13 36 +f 22 32 36 +f 32 25 36 +f 15 7 37 +f 7 21 37 +f 21 19 37 +f 6 14 38 +f 19 6 38 +f 14 23 38 +f 29 15 38 +f 23 29 38 +f 15 37 38 +f 37 19 38 +f 18 9 39 +f 24 18 39 +f 20 24 39 +f 36 20 39 +f 9 36 39 +f 12 10 40 +f 33 12 40 +f 33 40 41 +f 10 32 41 +f 32 17 41 +f 17 33 41 +f 40 10 41 +f 1 10 42 +f 21 7 42 +f 25 1 42 +f 10 31 42 +f 31 21 42 +f 7 34 42 +o convex_1 +v 0.998405 1.008279 -0.137341 +v 3.083761 2.156621 -0.348798 +v 3.083761 2.156621 -0.439631 +v 3.053346 1.038504 0.013748 +v 1.119452 2.005378 0.466791 +v 3.083761 1.068730 0.587865 +v 0.998405 2.065829 -0.469872 +v 2.992925 1.008163 -0.530352 +v 3.023136 1.975152 0.618105 +v 0.998405 1.098956 0.557624 +v 0.998405 0.978053 -0.500112 +v 0.998405 2.035603 0.225093 +v 3.053346 2.035603 0.406535 +v 1.572817 1.401096 0.587865 +v 3.083761 1.884475 -0.469872 +v 0.998405 1.612445 -0.500112 +v 1.995767 2.096054 -0.469872 +v 0.998405 1.944926 0.466791 +v 1.119452 0.978053 -0.379038 +v 1.844713 1.098956 0.587865 +v 2.207038 2.005378 0.557624 +v 3.053346 1.672896 0.618105 +v 2.841871 2.156621 -0.409279 +v 2.992925 1.008163 -0.409279 +v 2.690818 1.068730 0.587865 +v 1.028819 1.310535 0.557624 +v 2.660607 1.068730 -0.530352 +v 3.083761 2.096054 0.013748 +v 3.053346 1.491888 -0.500112 +v 2.841871 1.945042 0.618105 +v 2.539560 1.038504 0.285574 +v 3.083761 1.068730 0.406535 +f 71 57 74 +f 45 44 48 +f 49 43 52 +f 43 49 53 +f 47 44 54 +f 49 52 54 +f 45 48 57 +f 53 49 58 +f 49 45 59 +f 45 57 59 +f 58 49 59 +f 47 54 60 +f 54 52 60 +f 43 53 61 +f 53 50 61 +f 56 52 62 +f 44 47 63 +f 55 44 63 +f 51 55 63 +f 47 60 63 +f 55 51 64 +f 56 62 64 +f 44 45 65 +f 45 49 65 +f 54 44 65 +f 49 54 65 +f 46 48 66 +f 50 46 66 +f 61 50 66 +f 52 43 67 +f 43 61 67 +f 62 52 67 +f 48 64 67 +f 64 62 67 +f 52 56 68 +f 60 52 68 +f 63 60 68 +f 50 53 69 +f 53 58 69 +f 58 59 69 +f 48 44 70 +f 44 55 70 +f 64 48 70 +f 55 64 70 +f 46 50 71 +f 59 57 71 +f 50 69 71 +f 69 59 71 +f 51 63 72 +f 64 51 72 +f 56 64 72 +f 68 56 72 +f 63 68 72 +f 66 48 73 +f 61 66 73 +f 67 61 73 +f 48 67 73 +f 48 46 74 +f 57 48 74 +f 46 71 74 +o convex_2 +v -2.144576 0.978151 0.527437 +v -1.963572 1.975116 -0.590797 +v -1.963572 2.035603 -0.590797 +v -1.086952 1.129155 0.527437 +v -1.086952 0.978151 -0.590797 +v -3.021007 1.099018 -0.530267 +v -2.990713 2.005360 0.466906 +v -1.086952 2.005466 0.436696 +v -2.990713 2.065953 -0.560477 +v -2.960609 0.978151 0.497117 +v -1.086952 2.005466 -0.590797 +v -1.086952 1.008181 0.466906 +v -2.839813 1.068774 -0.560477 +v -2.990713 1.944873 0.497117 +v -2.084368 2.065953 -0.530267 +v -2.990713 2.065953 -0.137308 +v -1.147540 2.005466 0.466906 +v -2.960609 0.978151 0.255431 +v -1.147540 2.035603 -0.590797 +v -2.839813 1.008288 0.527437 +v -1.268335 0.978151 -0.590797 +v -3.021007 1.068774 -0.258260 +v -3.021007 1.461618 -0.500056 +v -2.990713 2.035603 0.285642 +v -1.086952 0.978151 -0.197839 +v -2.990713 1.491862 0.497117 +v -2.990713 1.068774 -0.530267 +v -1.661205 1.038531 -0.590797 +v -1.177833 1.008181 0.527437 +f 86 78 103 +f 76 77 79 +f 78 79 82 +f 77 76 83 +f 79 75 84 +f 79 77 85 +f 82 79 85 +f 79 78 86 +f 83 76 87 +f 80 83 87 +f 89 83 90 +f 89 90 91 +f 78 82 91 +f 88 78 91 +f 81 88 91 +f 82 89 91 +f 79 84 92 +f 77 83 93 +f 85 77 93 +f 82 85 93 +f 89 82 93 +f 83 89 93 +f 75 78 94 +f 84 75 94 +f 78 88 94 +f 76 79 95 +f 79 92 95 +f 88 81 96 +f 92 84 96 +f 83 80 97 +f 90 83 97 +f 80 96 97 +f 96 81 97 +f 91 90 98 +f 81 91 98 +f 97 81 98 +f 90 97 98 +f 75 79 99 +f 86 75 99 +f 79 86 99 +f 84 94 100 +f 94 88 100 +f 88 96 100 +f 96 84 100 +f 80 87 101 +f 87 95 101 +f 95 92 101 +f 96 80 101 +f 92 96 101 +f 87 76 102 +f 76 95 102 +f 95 87 102 +f 78 75 103 +f 75 86 103 +o convex_3 +v -1.086899 2.307591 0.285417 +v 0.998405 1.310436 0.587732 +v 0.998405 0.978106 0.587732 +v 0.967990 2.609770 -1.013706 +v -1.026275 0.977941 -1.013499 +v -1.026275 0.977941 1.071228 +v 0.937780 2.488998 0.920070 +v 0.967990 0.978106 -0.983475 +v -1.026275 2.549301 -1.013499 +v -1.056689 2.609935 1.101459 +v 0.937780 0.978106 0.920070 +v 0.967990 2.670404 -0.802086 +v -1.086899 0.977941 -0.590466 +v 0.665891 2.609770 0.527269 +v -0.784595 2.428363 1.101459 +v -1.086899 0.977941 0.527269 +v 0.665891 2.670404 -1.013706 +v 0.998405 2.065716 -0.469540 +v -0.996065 1.371071 1.101459 +v -1.056689 2.609935 0.587524 +v 0.967990 2.367895 0.799352 +v -1.086899 2.005413 -0.590466 +v 0.182123 2.549301 1.010765 +v 0.545051 2.670404 -0.348822 +v -1.086899 2.458681 0.950302 +v -0.814805 2.579453 -1.013499 +v 0.998405 0.978106 -0.499979 +v 0.998405 2.005413 0.436574 +v 0.605471 2.639921 0.255393 +v -0.814805 2.609935 1.101459 +v -1.056689 1.612780 1.101459 +v -0.754385 0.977941 1.071228 +v -0.724175 0.977941 -1.013499 +v 0.786731 2.337909 0.950509 +v 0.937780 2.518984 0.829583 +v 0.967990 0.978106 0.859607 +v -1.056689 2.519149 -0.318590 +v 0.484631 2.670404 -0.560442 +f 127 120 141 +f 108 109 116 +f 112 108 116 +f 116 109 119 +f 104 116 119 +f 107 108 120 +f 108 112 120 +f 115 107 120 +f 105 106 121 +f 107 115 121 +f 118 113 122 +f 114 118 122 +f 116 104 125 +f 112 116 125 +f 118 114 126 +f 115 120 127 +f 104 119 128 +f 113 123 128 +f 120 112 129 +f 112 123 129 +f 123 120 129 +f 111 107 130 +f 121 106 130 +f 107 121 130 +f 105 121 131 +f 121 115 131 +f 124 105 131 +f 115 124 131 +f 117 115 132 +f 115 127 132 +f 132 127 133 +f 113 118 133 +f 126 117 133 +f 118 126 133 +f 127 113 133 +f 117 132 133 +f 119 109 134 +f 109 122 134 +f 122 113 134 +f 113 128 134 +f 128 119 134 +f 109 108 135 +f 122 109 135 +f 114 122 135 +f 108 107 136 +f 107 111 136 +f 130 106 136 +f 111 130 136 +f 135 108 136 +f 106 135 136 +f 114 110 137 +f 110 126 137 +f 126 114 137 +f 115 117 138 +f 110 124 138 +f 124 115 138 +f 126 110 138 +f 117 126 138 +f 106 105 139 +f 110 114 139 +f 105 124 139 +f 124 110 139 +f 135 106 139 +f 114 135 139 +f 123 112 140 +f 125 104 140 +f 112 125 140 +f 104 128 140 +f 128 123 140 +f 123 113 141 +f 120 123 141 +f 113 127 141 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/239/239.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/239/239.urdf new file mode 100644 index 000000000..01d530fbc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/239/239.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/240/240.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/240/240.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/240/240.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/240/240.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/240/240.obj new file mode 100644 index 000000000..bce1828c3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/240/240.obj @@ -0,0 +1,453 @@ +o convex_0 +v -0.224935 0.553653 2.116181 +v 0.438544 -0.615876 3.095649 +v 0.501847 -0.615759 3.063943 +v -0.509398 -0.457736 1.357330 +v 0.470253 0.553535 1.357330 +v -0.541107 0.585281 3.222092 +v 0.596744 0.521907 3.285314 +v -0.541107 -0.552620 3.190387 +v 0.470138 -0.489364 1.357330 +v -0.572701 0.458769 1.357330 +v 0.596744 -0.615759 3.285314 +v 0.501847 0.490279 1.452446 +v -0.541107 -0.489364 1.642111 +v -0.383021 0.332375 3.253609 +v 0.596744 -0.615759 3.063943 +v -0.446209 -0.584248 3.158870 +v -0.572701 0.490397 1.483962 +v 0.280573 0.553653 3.253609 +v -0.509398 -0.489364 1.515668 +v 0.438544 -0.520992 1.642111 +v 0.406950 -0.457736 3.285314 +v -0.572701 0.458769 1.863294 +v -0.288124 -0.584248 3.222092 +v 0.343761 0.553653 1.357330 +v -0.572701 0.332375 1.357330 +v 0.375356 0.522025 3.285314 +v 0.596744 0.521907 3.222092 +v -0.477918 0.585281 3.063943 +v -0.098558 -0.489364 1.357330 +v -0.541107 -0.078436 3.222092 +v -0.541107 -0.552620 2.653095 +f 25 13 31 +f 4 5 9 +f 5 4 10 +f 9 5 12 +f 2 3 15 +f 11 2 15 +f 7 11 15 +f 9 12 15 +f 2 11 16 +f 7 5 18 +f 3 2 19 +f 13 4 19 +f 15 3 20 +f 9 15 20 +f 11 7 21 +f 6 17 22 +f 17 10 22 +f 16 11 23 +f 8 16 23 +f 11 21 23 +f 21 14 23 +f 5 10 24 +f 17 1 24 +f 10 17 24 +f 10 4 25 +f 4 13 25 +f 8 22 25 +f 22 10 25 +f 6 14 26 +f 18 6 26 +f 7 18 26 +f 21 7 26 +f 14 21 26 +f 5 7 27 +f 12 5 27 +f 7 15 27 +f 15 12 27 +f 1 17 28 +f 17 6 28 +f 18 5 28 +f 6 18 28 +f 5 24 28 +f 24 1 28 +f 4 9 29 +f 3 19 29 +f 19 4 29 +f 20 3 29 +f 9 20 29 +f 14 6 30 +f 6 22 30 +f 22 8 30 +f 8 23 30 +f 23 14 30 +f 2 16 31 +f 16 8 31 +f 19 2 31 +f 13 19 31 +f 8 25 31 +o convex_1 +v 0.090951 -3.113018 -0.791867 +v -0.888770 3.018746 1.357330 +v 0.565119 3.082422 1.262248 +v -1.110162 3.018746 -0.823706 +v -1.110162 -3.017806 1.325708 +v 1.070885 -3.049341 1.325708 +v 0.912686 2.987211 -0.791867 +v -1.078352 -3.080877 -0.728624 +v 1.070885 -3.112412 -0.855327 +v 0.944283 3.082422 1.230626 +v -1.015158 3.018746 1.357330 +v 1.039074 -0.994706 -0.855327 +v -0.509606 -0.425861 -0.855111 +v 0.470115 0.553547 1.357330 +v 1.070885 -2.006256 1.325708 +v 0.596716 0.932575 -0.855327 +v -1.046755 1.975661 1.357330 +v -1.110162 3.018746 -0.412406 +v 1.039074 -3.080877 1.135761 +v -1.110162 0.774293 -0.791867 +v -0.509606 -0.457396 1.357330 +v 0.944283 2.608182 -0.791867 +v 0.628313 -3.113018 -0.855327 +v 0.912686 3.018746 -0.760245 +v -1.078352 -3.080877 -0.128027 +v 1.070885 -2.164538 -0.823489 +v 0.470115 3.082422 0.788355 +v -0.604397 3.050281 1.325492 +v 0.817895 2.260083 -0.823489 +v 0.438518 -0.488325 1.357330 +v -0.256616 -3.112412 -0.791867 +v -1.046755 3.018746 1.041112 +v 1.039074 -3.113018 -0.191270 +v -0.446198 0.426800 -0.855111 +v -0.446198 3.050281 -0.128027 +v 0.944283 3.082422 1.041112 +v -0.067034 -3.049341 1.325492 +v -1.110162 0.458336 -0.760245 +v 0.975880 1.722773 1.262248 +v -0.888770 3.018746 -0.823706 +v -1.110162 -3.017806 1.230626 +v -1.110162 -2.922595 1.325708 +v 0.912686 3.082422 0.819760 +v -0.256616 -3.112412 -0.728624 +v 0.944283 1.722773 -0.823489 +f 47 60 76 +f 34 33 45 +f 41 34 45 +f 33 42 45 +f 37 40 46 +f 45 37 46 +f 43 40 47 +f 45 42 48 +f 35 36 49 +f 40 37 50 +f 36 35 51 +f 35 44 51 +f 44 39 51 +f 48 36 52 +f 45 48 52 +f 47 40 54 +f 44 47 54 +f 53 38 55 +f 36 39 56 +f 40 43 57 +f 46 40 57 +f 43 53 57 +f 34 41 58 +f 33 34 59 +f 42 33 59 +f 35 49 59 +f 34 58 59 +f 36 37 61 +f 37 45 61 +f 52 36 61 +f 45 52 61 +f 39 44 62 +f 54 32 62 +f 44 54 62 +f 56 39 62 +f 48 42 63 +f 49 48 63 +f 42 59 63 +f 59 49 63 +f 40 50 64 +f 32 54 64 +f 54 40 64 +f 44 35 65 +f 35 47 65 +f 47 44 65 +f 35 59 66 +f 59 58 66 +f 41 46 67 +f 53 55 67 +f 46 57 67 +f 57 53 67 +f 58 41 67 +f 37 36 68 +f 50 37 68 +f 36 56 68 +f 56 50 68 +f 36 51 69 +f 51 39 69 +f 41 45 70 +f 46 41 70 +f 45 46 70 +f 47 35 71 +f 55 38 71 +f 38 60 71 +f 60 47 71 +f 35 66 71 +f 66 55 71 +f 39 36 72 +f 36 69 72 +f 69 39 72 +f 36 48 73 +f 49 36 73 +f 48 49 73 +f 55 66 74 +f 66 58 74 +f 67 55 74 +f 58 67 74 +f 50 56 75 +f 62 32 75 +f 56 62 75 +f 64 50 75 +f 32 64 75 +f 43 47 76 +f 38 53 76 +f 53 43 76 +f 60 38 76 +o convex_2 +v -0.098619 -2.954599 -1.993209 +v -0.225019 -0.584514 -1.392817 +v -0.288250 -0.584514 -1.392817 +v -0.319866 -0.584514 -2.024782 +v 0.248967 -0.584514 -1.993209 +v 0.312198 -3.081334 -1.455961 +v -0.193404 -3.049650 -1.455961 +v 0.280582 -2.954599 -2.056419 +v 0.280582 -0.584514 -1.519171 +v -0.225019 -2.828360 -1.961572 +v 0.312198 -2.986531 -1.993209 +v -0.319866 -0.900608 -2.024782 +v -0.161788 -3.112770 -1.519171 +v 0.312198 -2.385531 -1.455961 +v 0.248967 -0.837488 -2.024782 +v 0.059335 -2.227856 -2.056419 +v 0.154182 -2.354343 -1.424389 +v -0.288250 -0.963975 -1.424389 +v 0.280582 -0.616198 -1.708799 +v 0.312198 -1.817454 -1.519171 +v -0.319866 -0.742685 -1.803581 +v -0.193404 -2.986531 -1.898363 +v -0.193404 -0.616198 -1.392817 +v 0.280582 -2.322659 -2.056419 +v 0.059335 -0.584514 -2.024782 +v 0.217351 -0.774369 -1.487598 +f 99 90 102 +f 79 78 80 +f 80 78 81 +f 81 78 85 +f 77 84 87 +f 77 86 88 +f 82 83 89 +f 87 82 89 +f 82 87 90 +f 81 87 91 +f 84 77 92 +f 88 80 92 +f 77 88 92 +f 79 83 93 +f 83 82 93 +f 82 90 93 +f 83 79 94 +f 81 85 95 +f 87 81 95 +f 85 90 96 +f 90 87 96 +f 95 85 96 +f 87 95 96 +f 79 80 97 +f 86 83 97 +f 80 88 97 +f 88 86 97 +f 94 79 97 +f 83 94 97 +f 86 77 98 +f 83 86 98 +f 77 87 98 +f 89 83 98 +f 87 89 98 +f 78 79 99 +f 85 78 99 +f 79 93 99 +f 93 90 99 +f 87 84 100 +f 91 87 100 +f 84 92 100 +f 100 92 101 +f 80 81 101 +f 81 91 101 +f 92 80 101 +f 91 100 101 +f 90 85 102 +f 85 99 102 +o convex_3 +v 0.375295 0.585166 -2.340684 +v -0.319856 -0.584152 -2.056283 +v -0.288192 -0.584152 -2.056283 +v 0.438624 0.521985 -0.855327 +v -0.446305 0.427098 -0.855522 +v 0.501848 -0.552561 -0.855327 +v 0.501848 -0.426084 -2.688437 +v -0.477864 0.427098 -2.720210 +v -0.509529 -0.426084 -0.855522 +v -0.541194 -0.520856 -2.846719 +v 0.470289 0.521985 -2.783172 +v 0.533513 0.521985 -0.855327 +v -0.193303 0.585166 -1.456098 +v 0.248951 -0.584152 -1.961353 +v -0.288192 -0.584152 -1.392746 +v -0.541194 -0.457674 -1.139923 +v -0.224967 0.585166 -2.056283 +v 0.438624 -0.584152 -0.918679 +v -0.541194 -0.362902 -2.846719 +v 0.375295 -0.457674 -2.720210 +v 0.533513 0.300620 -1.234854 +v 0.312176 0.521870 -2.783367 +v 0.217392 0.585166 -1.456098 +v -0.288192 -0.331311 -2.846719 +v -0.477864 0.427098 -2.277527 +v 0.501848 -0.457789 -2.593701 +v -0.541194 -0.268015 -2.751594 +v -0.509529 -0.141652 -0.855522 +v 0.470289 0.332211 -2.783172 +v -0.414640 -0.457674 -0.855522 +v 0.501848 0.521985 -2.024704 +v -0.541194 -0.394493 -1.234659 +v -0.288192 0.458688 -0.855522 +v -0.477864 -0.520856 -2.846719 +v 0.533513 0.237553 -0.855327 +f 128 123 137 +f 108 106 111 +f 105 104 112 +f 106 108 114 +f 106 114 115 +f 104 105 116 +f 112 104 117 +f 104 116 117 +f 117 111 118 +f 112 117 118 +f 107 115 119 +f 115 103 119 +f 117 116 120 +f 112 118 121 +f 103 113 124 +f 110 119 124 +f 119 103 124 +f 121 110 124 +f 114 103 125 +f 103 115 125 +f 115 114 125 +f 112 121 126 +f 124 113 126 +f 121 124 126 +f 107 119 127 +f 119 110 127 +f 108 120 128 +f 120 116 128 +f 122 109 128 +f 116 122 128 +f 109 123 128 +f 110 121 129 +f 121 118 129 +f 127 110 129 +f 106 107 130 +f 111 106 130 +f 118 111 130 +f 107 127 130 +f 113 109 131 +f 109 122 131 +f 126 113 131 +f 122 126 131 +f 108 111 132 +f 111 117 132 +f 120 108 132 +f 117 120 132 +f 109 113 133 +f 113 103 133 +f 103 114 133 +f 123 109 133 +f 114 123 133 +f 129 118 134 +f 127 129 134 +f 118 130 134 +f 130 127 134 +f 107 106 135 +f 106 115 135 +f 115 107 135 +f 105 112 136 +f 116 105 136 +f 122 116 136 +f 112 126 136 +f 126 122 136 +f 114 108 137 +f 123 114 137 +f 108 128 137 +o convex_4 +v -0.225100 1.312520 -2.088001 +v 0.217388 3.113784 -1.455971 +v 0.248967 2.766007 -1.519180 +v -0.193410 0.585281 -1.455971 +v 0.343869 0.585281 -2.056428 +v -0.225100 2.955614 -2.119573 +v -0.193410 3.050417 -1.487608 +v 0.217388 0.585281 -1.455971 +v 0.217388 2.955614 -1.993219 +v -0.225100 0.585281 -2.056428 +v -0.225100 0.616964 -1.677236 +v 0.343869 0.838255 -1.930009 +v -0.066985 3.082101 -1.455971 +v 0.248967 2.702887 -1.993219 +v -0.161832 2.955614 -2.119573 +v 0.248967 0.585281 -1.519180 +v -0.225100 2.797690 -1.866800 +v -0.193410 2.102135 -1.455971 +v 0.217388 3.113784 -1.519180 +f 146 152 156 +f 140 139 145 +f 139 141 145 +f 141 142 145 +f 138 142 147 +f 142 141 147 +f 143 138 147 +f 147 141 148 +f 143 147 148 +f 141 139 150 +f 143 144 150 +f 142 146 151 +f 140 149 151 +f 149 142 151 +f 142 138 152 +f 138 143 152 +f 146 142 152 +f 140 145 153 +f 145 142 153 +f 149 140 153 +f 142 149 153 +f 144 143 154 +f 143 148 154 +f 148 144 154 +f 144 148 155 +f 148 141 155 +f 141 150 155 +f 150 144 155 +f 139 140 156 +f 150 139 156 +f 143 150 156 +f 140 151 156 +f 151 146 156 +f 152 143 156 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/240/240.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/240/240.urdf new file mode 100644 index 000000000..2fad54f3e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/240/240.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/241/241.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/241/241.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/241/241.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/241/241.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/241/241.obj new file mode 100644 index 000000000..8d19ad4de --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/241/241.obj @@ -0,0 +1,582 @@ +o convex_0 +v -4.202159 -0.230369 -0.305880 +v -4.832878 0.368600 0.198616 +v -4.832878 0.368600 0.167069 +v -2.909721 0.273954 -0.022086 +v -3.004444 -0.293443 0.293255 +v -4.769729 -0.325014 0.293255 +v -4.801303 0.305526 -0.274334 +v -3.004444 -0.261940 -0.274334 +v -2.909721 0.242451 0.261708 +v -4.864452 -0.198865 -0.337427 +v -2.909721 0.273954 -0.211241 +v -4.864452 0.337029 0.230162 +v -2.909721 -0.261940 -0.242788 +v -4.454370 -0.135791 -0.337427 +v -4.769729 -0.325014 0.167069 +v -2.909721 -0.104288 0.293255 +v -4.832878 0.337029 -0.211241 +v -3.256655 0.273954 -0.242788 +v -4.769729 -0.198865 0.293255 +v -3.193506 0.273954 0.261708 +v -4.864452 -0.041214 -0.337427 +v -4.139202 -0.325014 0.261708 +f 15 8 22 +f 3 2 4 +f 8 1 10 +f 3 4 11 +f 4 9 11 +f 2 3 12 +f 10 6 12 +f 8 11 13 +f 11 9 13 +f 8 10 14 +f 1 8 15 +f 6 10 15 +f 10 1 15 +f 6 5 16 +f 5 13 16 +f 13 9 16 +f 3 11 17 +f 12 3 17 +f 11 8 18 +f 8 14 18 +f 7 17 18 +f 17 11 18 +f 12 6 19 +f 6 16 19 +f 19 16 20 +f 4 2 20 +f 9 4 20 +f 2 12 20 +f 16 9 20 +f 12 19 20 +f 10 12 21 +f 14 10 21 +f 17 7 21 +f 12 17 21 +f 7 18 21 +f 18 14 21 +f 5 6 22 +f 13 5 22 +f 8 13 22 +f 6 15 22 +o convex_1 +v -0.922957 0.116358 0.324684 +v -1.175230 0.147917 -0.337359 +v -1.175230 0.179420 -0.337359 +v -2.909530 -0.072717 0.293181 +v -0.891349 -0.230400 -0.274285 +v -2.909530 0.274041 -0.211210 +v -2.909530 -0.262014 -0.242714 +v -1.994671 -0.262014 0.261610 +v -0.891349 0.305600 0.324684 +v -2.909530 0.242482 0.261610 +v -0.891349 0.274041 -0.337359 +v -0.891349 -0.198841 0.198603 +v -2.909530 -0.262014 0.293181 +v -0.922957 0.274041 0.356255 +v -2.909530 0.116358 -0.242714 +v -1.585148 -0.262014 -0.022055 +v -2.468004 -0.198841 -0.274285 +v -0.954565 -0.230400 0.135529 +v -2.246944 0.274041 0.293181 +f 26 36 41 +f 26 28 29 +f 28 26 32 +f 24 25 33 +f 27 24 33 +f 31 27 33 +f 28 31 33 +f 23 30 34 +f 31 23 34 +f 27 31 34 +f 26 29 35 +f 29 30 35 +f 30 23 35 +f 23 31 36 +f 35 23 36 +f 26 35 36 +f 29 28 37 +f 33 25 37 +f 28 33 37 +f 29 27 38 +f 30 29 38 +f 25 24 39 +f 24 27 39 +f 27 29 39 +f 29 37 39 +f 37 25 39 +f 27 34 40 +f 34 30 40 +f 38 27 40 +f 30 38 40 +f 31 28 41 +f 28 32 41 +f 32 26 41 +f 36 31 41 +o convex_2 +v 1.316037 -0.356616 -0.116633 +v 3.207980 0.368668 0.293181 +v 3.302684 -0.230387 0.198603 +v 3.207980 -0.041257 -0.337359 +v 1.316037 0.305553 -0.305788 +v 1.316037 0.305553 0.356255 +v 1.347929 -0.293502 0.198603 +v 3.144974 0.337075 -0.211210 +v 1.757860 -0.325023 -0.305788 +v 3.302684 -0.356616 0.072454 +v 3.113470 -0.198865 -0.337359 +v 1.316037 -0.356616 -0.274285 +v 1.505251 0.210917 0.356255 +v 3.176477 0.305553 0.324684 +v 3.302684 -0.293502 0.198603 +v 1.631652 0.337075 -0.179707 +v 2.703151 -0.356616 0.167032 +v 1.694464 0.337075 0.356255 +v 1.316037 -0.230387 0.230106 +v 2.860861 0.337075 -0.242714 +v 2.577138 -0.230387 -0.337359 +f 45 52 62 +f 43 44 45 +f 46 42 47 +f 43 45 49 +f 45 44 51 +f 51 50 52 +f 45 51 52 +f 42 46 53 +f 46 50 53 +f 51 42 53 +f 50 51 53 +f 44 43 55 +f 55 54 56 +f 51 44 56 +f 44 55 56 +f 46 47 57 +f 48 42 58 +f 42 51 58 +f 51 56 58 +f 56 48 58 +f 47 54 59 +f 55 43 59 +f 54 55 59 +f 43 57 59 +f 57 47 59 +f 47 42 60 +f 42 48 60 +f 54 47 60 +f 56 54 60 +f 48 56 60 +f 45 46 61 +f 43 49 61 +f 49 45 61 +f 57 43 61 +f 46 57 61 +f 46 45 62 +f 50 46 62 +f 52 50 62 +o convex_3 +v -0.386702 -0.198909 -3.112426 +v 0.748423 -0.482691 -1.630596 +v 0.748423 -0.514280 -1.630596 +v -0.292136 -0.514280 -1.094442 +v 0.685266 0.494804 -1.094442 +v 0.748423 -0.577355 -3.049210 +v -0.418338 0.463110 -3.049210 +v 0.653744 0.463110 -2.986191 +v -0.292136 0.463110 -1.094442 +v -0.386702 -0.482691 -3.112426 +v 0.716788 -0.482691 -1.094442 +v -0.323658 -0.514280 -1.157461 +v 0.748423 -0.293468 -3.049210 +v 0.432978 -0.577355 -2.481646 +v 0.685266 0.494804 -2.197765 +v -0.292136 -0.514280 -3.112426 +v -0.418338 0.463110 -2.796937 +v -0.323658 0.463110 -1.220480 +v 0.306891 0.494804 -1.094442 +v -0.039848 0.463110 -3.049210 +v 0.716788 -0.514280 -1.378126 +v 0.716788 0.210812 -1.535771 +v 0.527543 -0.577355 -3.080620 +v -0.418338 0.147738 -3.017799 +v 0.685266 0.431730 -2.891564 +v 0.716788 0.053179 -1.094442 +f 84 67 88 +f 64 65 68 +f 66 67 71 +f 69 63 72 +f 65 64 73 +f 67 66 73 +f 66 71 74 +f 64 68 75 +f 66 74 76 +f 72 63 78 +f 74 72 78 +f 76 74 78 +f 79 74 80 +f 74 71 80 +f 80 71 81 +f 71 67 81 +f 67 77 81 +f 77 69 81 +f 69 79 81 +f 79 80 81 +f 63 69 82 +f 75 63 82 +f 70 75 82 +f 69 77 82 +f 77 70 82 +f 68 65 83 +f 65 73 83 +f 73 66 83 +f 76 68 83 +f 66 76 83 +f 64 75 84 +f 77 67 84 +f 75 68 85 +f 63 75 85 +f 68 76 85 +f 78 63 85 +f 76 78 85 +f 69 72 86 +f 72 74 86 +f 79 69 86 +f 74 79 86 +f 75 70 87 +f 70 77 87 +f 84 75 87 +f 77 84 87 +f 73 64 88 +f 67 73 88 +f 64 84 88 +o convex_4 +v -0.386804 -0.325057 1.081607 +v 0.779951 -0.325057 3.004859 +v -0.071359 0.463270 3.068254 +v 0.748316 0.463270 1.081801 +v 0.748316 -0.514212 1.081607 +v -0.260489 -0.482703 2.973550 +v -0.260489 0.463270 1.081607 +v 0.748316 0.463270 2.910349 +v -0.323646 0.463270 3.068254 +v 0.779951 -0.545821 3.004859 +v -0.386804 -0.514212 1.081607 +v 0.401464 -0.545821 3.005053 +v 0.779951 -0.545821 2.216695 +v -0.386804 -0.514212 1.397222 +v -0.292125 0.210997 3.068254 +v -0.134403 -0.514212 2.973550 +v -0.292125 0.368643 1.207814 +v 0.275264 -0.545821 2.153494 +v 0.716794 0.463270 2.942047 +v 0.779951 -0.135803 2.878846 +v 0.779951 -0.482703 1.870160 +v -0.386804 -0.230430 1.460034 +f 97 105 110 +f 91 92 95 +f 93 89 95 +f 92 93 95 +f 92 91 96 +f 91 95 97 +f 90 91 98 +f 89 93 99 +f 90 98 101 +f 98 100 101 +f 94 97 102 +f 89 99 102 +f 91 97 103 +f 97 94 103 +f 98 91 103 +f 100 98 103 +f 94 100 103 +f 100 94 104 +f 94 102 104 +f 102 100 104 +f 95 89 105 +f 97 95 105 +f 99 93 106 +f 93 101 106 +f 101 100 106 +f 102 99 106 +f 100 102 106 +f 91 90 107 +f 96 91 107 +f 90 96 107 +f 96 90 108 +f 92 96 108 +f 90 101 108 +f 108 101 109 +f 93 92 109 +f 101 93 109 +f 92 108 109 +f 102 97 110 +f 89 102 110 +f 105 89 110 +o convex_5 +v 1.284475 3.049064 -0.400544 +v -0.891349 1.219248 -1.031053 +v -0.891349 1.219248 -0.999569 +v 1.221383 -3.099479 -0.463588 +v -0.859586 -2.973680 -0.337427 +v 1.221383 -3.099479 -1.062686 +v 1.316022 3.049064 -1.094245 +v -0.828256 2.985864 -0.337427 +v -0.828256 -2.909877 -0.936525 +v -0.891349 2.953962 -1.062612 +v 1.221383 -3.067578 -0.337501 +v -0.291971 -0.513660 -1.094245 +v 1.252929 3.049064 -0.337501 +v 1.252929 -1.428568 -1.094245 +v -0.355063 2.985864 -1.094245 +v -0.859586 2.985864 -0.369060 +v 1.000560 -3.099479 -1.062686 +v 0.432944 -3.100081 -0.337501 +v 1.316022 2.386358 -1.062686 +v -0.765164 -2.531875 -0.968010 +v -0.891349 2.953962 -0.778805 +v 0.716860 3.049064 -1.094245 +v -0.891349 1.944554 -1.062612 +v -0.859586 -2.973680 -0.463588 +v 0.843045 -3.036880 -1.062686 +v -0.796710 -2.941778 -0.936525 +v -0.859586 2.985864 -0.810364 +v -0.859586 -1.522467 -0.968010 +v 1.316022 3.017163 -0.904966 +v -0.575887 -2.878577 -0.968010 +v 1.252929 -1.586269 -1.031053 +f 124 129 141 +f 113 112 115 +f 112 113 120 +f 118 115 121 +f 111 117 123 +f 121 111 123 +f 118 121 123 +f 122 117 124 +f 117 122 125 +f 115 118 126 +f 118 123 126 +f 124 116 127 +f 116 114 128 +f 114 121 128 +f 121 115 128 +f 127 116 128 +f 124 117 129 +f 113 115 131 +f 120 113 131 +f 115 126 131 +f 126 120 131 +f 123 117 132 +f 117 125 132 +f 126 123 132 +f 112 120 133 +f 120 125 133 +f 125 122 133 +f 130 119 133 +f 122 130 133 +f 115 112 134 +f 128 115 134 +f 127 128 134 +f 122 124 135 +f 124 127 135 +f 134 119 136 +f 127 134 136 +f 135 127 136 +f 125 120 137 +f 120 126 137 +f 132 125 137 +f 126 132 137 +f 112 133 138 +f 133 119 138 +f 134 112 138 +f 119 134 138 +f 117 111 139 +f 111 121 139 +f 129 117 139 +f 121 129 139 +f 119 130 140 +f 130 122 140 +f 122 135 140 +f 136 119 140 +f 135 136 140 +f 114 116 141 +f 121 114 141 +f 116 124 141 +f 129 121 141 +o convex_6 +v 1.095190 0.463270 -0.274226 +v -0.891349 -3.068341 0.829220 +v 0.432938 -3.100081 -0.337427 +v 1.252920 -3.036600 1.018406 +v -0.796710 0.462921 0.986875 +v -0.891349 0.273522 -0.337288 +v 1.221374 0.462921 0.955344 +v -0.859587 -2.973815 -0.337288 +v 1.221374 -3.068341 -0.337427 +v 1.316012 0.305263 -0.305757 +v -0.481250 -0.893217 1.081607 +v 0.748183 0.463270 1.081607 +v -0.891349 -3.068341 0.955344 +v -0.796710 0.462921 -0.337288 +v 1.126736 0.462921 -0.337427 +v -0.891349 0.305263 0.356394 +v 1.316012 0.305263 0.356255 +v -0.512796 0.462921 1.081607 +v 1.316012 -0.357110 -0.274226 +v -0.859587 -0.861476 0.986875 +v 1.189828 -3.068341 0.734627 +v 0.054817 -1.208533 1.081607 +v -0.891349 -3.005208 0.230409 +v 0.748183 -0.514768 1.081607 +v 1.221374 -0.104578 0.986875 +v 1.252920 -3.036600 0.703096 +v -0.828257 0.305263 0.986875 +v -0.891349 -1.996126 0.955344 +v 1.252920 0.462921 0.261940 +v 1.316012 -0.230844 0.230270 +v -0.702072 -3.005208 -0.242695 +v 1.032098 -2.973815 1.018406 +v -0.071367 -3.068341 0.955344 +f 162 145 174 +f 147 144 149 +f 148 142 153 +f 143 144 154 +f 147 143 154 +f 153 142 155 +f 146 153 155 +f 144 147 156 +f 150 144 156 +f 151 150 156 +f 147 155 156 +f 155 142 156 +f 147 154 157 +f 146 155 157 +f 155 147 157 +f 148 145 158 +f 153 146 159 +f 152 153 159 +f 150 151 160 +f 151 158 160 +f 154 152 161 +f 152 159 161 +f 144 150 162 +f 150 145 162 +f 153 152 163 +f 152 154 163 +f 143 147 164 +f 149 143 164 +f 147 149 164 +f 145 153 165 +f 163 145 165 +f 153 163 165 +f 145 148 166 +f 148 153 166 +f 153 145 166 +f 145 150 167 +f 160 145 167 +f 150 160 167 +f 146 157 168 +f 159 146 168 +f 157 161 168 +f 161 159 168 +f 157 154 169 +f 154 161 169 +f 161 157 169 +f 142 148 170 +f 156 142 170 +f 151 156 170 +f 148 158 170 +f 158 151 170 +f 158 145 171 +f 145 160 171 +f 160 158 171 +f 144 143 172 +f 149 144 172 +f 143 149 172 +f 154 145 173 +f 145 163 173 +f 163 154 173 +f 154 144 174 +f 145 154 174 +f 144 162 174 +o convex_7 +v 1.126660 2.985558 0.955344 +v -0.828281 0.715855 0.009692 +v -0.828281 0.715855 0.104285 +v 1.252969 0.463523 0.293332 +v 1.252969 3.048577 -0.337288 +v -0.733549 2.985558 1.049937 +v -0.512915 0.463779 1.081607 +v -0.828281 2.985558 -0.337427 +v 1.126660 0.463523 -0.337288 +v 1.221391 0.463523 0.955344 +v -0.796703 0.463779 -0.337427 +v -0.796703 0.463779 0.986875 +v -0.765126 3.080599 0.860751 +v 1.221391 3.017324 0.608503 +v 1.126660 0.495032 0.986875 +v -0.292078 3.080599 1.018406 +v -0.828281 3.017067 0.041084 +v -0.481338 0.968186 1.081607 +v -0.828281 3.017067 -0.305618 +v -0.796703 1.441084 1.018406 +v 1.252969 1.157243 0.545441 +v 1.189814 2.733483 0.955344 +v 1.252969 2.512917 -0.337288 +v 1.252969 3.017324 0.104146 +v -0.828281 0.747364 -0.337427 +v -0.765126 3.080599 0.703096 +v 1.158237 0.778873 -0.337288 +v 1.000554 3.017324 0.955344 +f 179 190 202 +f 176 177 182 +f 183 178 184 +f 177 176 185 +f 182 179 185 +f 184 181 186 +f 183 184 186 +f 185 183 186 +f 177 185 186 +f 181 184 189 +f 180 175 190 +f 187 180 190 +f 182 177 191 +f 175 180 192 +f 180 181 192 +f 181 189 192 +f 179 182 193 +f 182 191 193 +f 191 187 193 +f 181 180 194 +f 186 181 194 +f 177 186 194 +f 180 187 194 +f 191 177 194 +f 187 191 194 +f 178 179 195 +f 184 178 195 +f 188 184 195 +f 188 175 196 +f 184 188 196 +f 189 184 196 +f 175 192 196 +f 192 189 196 +f 179 178 197 +f 185 179 197 +f 179 188 198 +f 195 179 198 +f 188 195 198 +f 176 182 199 +f 185 176 199 +f 182 185 199 +f 190 179 200 +f 187 190 200 +f 179 193 200 +f 193 187 200 +f 178 183 201 +f 183 185 201 +f 197 178 201 +f 185 197 201 +f 188 179 202 +f 175 188 202 +f 190 175 202 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/241/241.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/241/241.urdf new file mode 100644 index 000000000..fd07c8587 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/241/241.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/242/242.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/242/242.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/242/242.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/242/242.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/242/242.obj new file mode 100644 index 000000000..c1cf4f01d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/242/242.obj @@ -0,0 +1,717 @@ +o convex_0 +v -1.402196 0.188989 0.031484 +v -2.058339 0.158952 -0.028119 +v -2.058339 0.158952 0.031484 +v -1.700495 -2.227282 -0.028119 +v -1.611018 0.188989 -0.266792 +v -1.670691 -0.497150 0.270157 +v -1.760039 -1.779789 -0.236938 +v -1.938993 -1.869193 0.061338 +v -1.521541 -1.869193 -0.057973 +v -1.909189 0.188989 0.240303 +v -1.670691 -1.869193 0.180648 +v -1.432064 0.069548 0.210450 +v -1.938993 -0.318342 -0.236938 +v -1.461869 0.099349 -0.207084 +v -1.909189 -1.004246 0.210450 +v -1.938993 -1.839392 -0.057973 +v -1.938993 0.188989 -0.236938 +v -1.581214 -0.944643 -0.236938 +v -1.611018 0.188989 0.270157 +v -1.551346 -1.630546 0.120993 +v -1.938993 -1.004246 -0.207084 +v -1.789844 -1.242420 -0.266792 +v -1.760039 -1.869193 0.180648 +v -1.789844 -1.958597 -0.207084 +v -1.551346 -1.809354 -0.117628 +v -1.789844 -2.197244 0.001683 +v -1.879321 -0.198901 -0.266792 +v -1.670691 -1.182817 0.240303 +v -1.909189 -0.526952 0.240303 +v -1.402196 0.188989 -0.028119 +v -1.521541 -1.869193 -0.028119 +v -1.670691 -1.809354 -0.207084 +v -1.730299 -1.212855 0.240303 +v -1.879321 -1.540906 0.180648 +v -1.879321 -1.749988 -0.177283 +v -1.700495 -2.197244 0.031484 +f 31 11 36 +f 3 2 8 +f 1 5 10 +f 3 8 15 +f 8 2 16 +f 2 3 17 +f 3 10 17 +f 10 5 17 +f 13 2 17 +f 5 14 18 +f 1 10 19 +f 10 6 19 +f 12 1 19 +f 6 12 19 +f 12 11 20 +f 2 13 21 +f 16 2 21 +f 5 18 22 +f 18 7 22 +f 21 13 22 +f 22 7 24 +f 9 4 25 +f 14 9 25 +f 18 14 25 +f 8 16 26 +f 23 8 26 +f 24 4 26 +f 16 24 26 +f 17 5 27 +f 13 17 27 +f 5 22 27 +f 22 13 27 +f 11 12 28 +f 12 6 28 +f 10 3 29 +f 6 10 29 +f 3 15 29 +f 5 1 30 +f 1 9 30 +f 14 5 30 +f 9 14 30 +f 9 1 31 +f 4 9 31 +f 1 12 31 +f 20 11 31 +f 12 20 31 +f 7 18 32 +f 4 24 32 +f 24 7 32 +f 25 4 32 +f 18 25 32 +f 23 11 33 +f 11 28 33 +f 28 6 33 +f 6 29 33 +f 29 15 33 +f 15 8 34 +f 8 23 34 +f 23 33 34 +f 33 15 34 +f 16 21 35 +f 21 22 35 +f 24 16 35 +f 22 24 35 +f 11 23 36 +f 26 4 36 +f 23 26 36 +f 4 31 36 +o convex_1 +v 1.431750 1.232336 0.061314 +v -0.924820 0.277984 0.061314 +v -0.775574 -3.270789 -0.027941 +v 0.178957 2.843344 -1.012365 +v 0.268228 2.873192 0.956081 +v 1.073743 -3.926661 -0.027941 +v 0.297985 -3.211093 1.015920 +v 0.297985 -3.270004 -1.012365 +v -0.566814 2.664256 -0.773814 +v -0.596571 1.560664 0.836806 +v 1.103500 1.679271 -0.863271 +v 1.222759 -1.868717 0.777168 +v 1.013998 3.558911 -0.087578 +v -0.566814 3.529063 -0.027941 +v -0.536826 -3.300637 -0.773814 +v -0.656315 -1.928414 0.866624 +v 1.043755 -3.121549 -0.773613 +v 1.043755 2.753800 0.717530 +v -0.477312 -4.016990 0.031496 +v 1.312260 -3.211093 -0.027941 +v 1.431750 0.963704 -0.385968 +v 0.297985 -4.016990 -0.714177 +v -0.924820 0.814463 -0.296511 +v 0.238701 3.559697 -0.773814 +v 0.238701 3.559697 0.687711 +v 0.327972 -3.957294 0.747349 +v -0.507069 -3.211093 0.777168 +v 1.073743 -3.181245 0.747148 +v -0.507069 2.813496 0.747148 +v -0.536826 -0.526342 -0.863271 +v -0.924820 0.695071 0.329684 +v 1.013998 -0.020496 0.896443 +v 1.431750 0.576465 0.448959 +v -0.536826 -0.169736 0.956081 +v 0.984241 2.753800 -0.803633 +v -0.775574 2.813496 0.031496 +v 0.178957 3.798481 -0.087780 +v 0.357729 -4.225926 0.031496 +v 1.252746 2.843344 -0.087578 +v 0.178957 -2.494741 -1.042385 +v 0.297985 0.397376 1.015920 +v -0.596571 1.620360 -0.833452 +v 0.178957 0.606313 -1.042385 +v 0.984241 -0.317405 -0.893090 +v -0.387810 3.290279 -0.624519 +v -0.566814 -2.673829 -0.803432 +v 0.775481 3.409671 0.538416 +v 0.864752 -3.777421 -0.564881 +v -0.775574 0.427224 0.687711 +v -0.268552 -3.837116 -0.594700 +v 1.431750 -0.020496 0.389322 +v -0.238564 -3.807269 0.598053 +v 0.894740 -3.777421 0.508597 +v 1.133257 1.560664 0.747148 +v -0.775574 -3.181245 0.090932 +v 1.431750 1.112944 0.329684 +v -0.298309 3.380609 0.538416 +v 0.268228 0.337680 -1.042385 +v 0.805238 3.320913 -0.624720 +v 0.327972 2.634408 -1.012365 +v -0.596571 -3.270789 -0.654539 +v -0.656315 1.500968 -0.773613 +v 1.043755 -3.270789 -0.743794 +v 0.357729 2.723166 0.956081 +f 77 68 100 +f 56 53 57 +f 53 47 57 +f 51 44 58 +f 39 38 59 +f 41 54 61 +f 43 52 63 +f 62 43 63 +f 48 43 64 +f 56 48 64 +f 42 56 64 +f 43 62 64 +f 46 41 65 +f 41 61 65 +f 59 38 67 +f 46 65 67 +f 43 48 68 +f 57 37 69 +f 41 46 70 +f 52 43 70 +f 57 47 71 +f 40 60 71 +f 50 45 72 +f 45 59 72 +f 65 50 72 +f 59 67 72 +f 67 65 72 +f 49 60 73 +f 60 50 73 +f 50 61 73 +f 61 49 73 +f 58 42 74 +f 55 58 74 +f 42 62 74 +f 62 55 74 +f 49 54 75 +f 37 57 75 +f 71 49 75 +f 57 71 75 +f 44 51 76 +f 43 68 77 +f 41 70 77 +f 70 43 77 +f 45 40 78 +f 66 78 79 +f 76 66 79 +f 78 40 79 +f 53 44 80 +f 47 53 80 +f 44 76 80 +f 40 45 81 +f 45 50 81 +f 60 40 81 +f 50 60 81 +f 76 51 82 +f 66 76 82 +f 54 49 83 +f 61 54 83 +f 49 61 83 +f 42 58 84 +f 67 52 85 +f 46 67 85 +f 70 46 85 +f 52 70 85 +f 55 51 86 +f 51 58 86 +f 58 55 86 +f 48 56 87 +f 56 57 87 +f 69 48 87 +f 57 69 87 +f 55 62 88 +f 63 55 88 +f 62 63 88 +f 62 42 89 +f 42 64 89 +f 64 62 89 +f 68 48 90 +f 54 68 90 +f 69 54 90 +f 48 69 90 +f 38 39 91 +f 39 55 91 +f 63 52 91 +f 55 63 91 +f 67 38 91 +f 52 67 91 +f 54 69 92 +f 69 37 92 +f 75 54 92 +f 37 75 92 +f 61 50 93 +f 50 65 93 +f 65 61 93 +f 76 79 94 +f 80 76 94 +f 47 80 94 +f 60 49 95 +f 49 71 95 +f 71 60 95 +f 40 71 96 +f 71 47 96 +f 79 40 96 +f 47 94 96 +f 94 79 96 +f 55 39 97 +f 51 55 97 +f 39 59 97 +f 82 51 97 +f 59 82 97 +f 59 45 98 +f 45 78 98 +f 78 66 98 +f 82 59 98 +f 66 82 98 +f 44 53 99 +f 56 42 99 +f 53 56 99 +f 58 44 99 +f 42 84 99 +f 84 58 99 +f 54 41 100 +f 68 54 100 +f 41 77 100 +o convex_2 +v -1.372301 1.501868 0.061320 +v -2.147894 1.352613 0.001706 +v -2.147894 1.352613 0.061320 +v -1.789858 3.738587 0.001706 +v -1.730337 1.352613 -0.207131 +v -1.730337 2.486155 0.270157 +v -1.760098 3.171699 -0.177277 +v -1.551395 1.352613 0.270157 +v -1.521483 3.350618 0.061320 +v -1.491722 1.352613 -0.177277 +v -2.058385 1.471970 0.240303 +v -1.968800 3.440077 0.031513 +v -2.058385 1.412408 -0.177277 +v -1.730337 3.410413 0.210496 +v -1.521483 2.337134 0.240303 +v -1.968800 3.201597 -0.087809 +v -1.521483 3.350618 0.001706 +v -1.551395 2.545483 -0.147470 +v -1.372301 1.352613 0.001706 +v -1.909128 1.352613 0.270157 +v -1.909128 3.201597 0.150788 +v -1.819619 3.440077 -0.147470 +v -1.789858 2.456257 -0.207131 +v -1.551395 3.141801 0.180642 +v -1.700577 3.708689 0.001706 +v -1.700577 3.291056 -0.147470 +v -2.088146 1.501868 0.210496 +v -1.998713 2.486155 -0.147470 +v -1.491722 1.352613 0.240303 +v -1.879367 1.352613 -0.207131 +v -1.819619 3.171699 -0.177277 +v -2.088146 1.471970 -0.147470 +v -1.968800 3.410413 -0.028148 +v -1.700577 3.410413 0.210496 +v -1.730337 2.337134 -0.207131 +v -1.968800 3.380516 0.061320 +v -1.461810 1.412408 -0.147470 +f 117 119 137 +f 103 102 105 +f 103 105 108 +f 108 105 110 +f 102 103 112 +f 111 106 114 +f 104 112 114 +f 106 108 115 +f 109 101 117 +f 108 110 119 +f 117 101 119 +f 103 108 120 +f 108 106 120 +f 111 103 120 +f 106 111 120 +f 111 114 121 +f 101 109 124 +f 115 101 124 +f 109 117 125 +f 122 104 125 +f 122 125 126 +f 117 118 126 +f 118 107 126 +f 107 122 126 +f 125 117 126 +f 103 111 127 +f 111 121 127 +f 101 115 129 +f 115 108 129 +f 119 101 129 +f 108 119 129 +f 105 102 130 +f 102 113 130 +f 123 105 130 +f 113 123 130 +f 122 107 131 +f 116 122 131 +f 107 123 131 +f 123 113 131 +f 113 128 131 +f 128 116 131 +f 113 102 132 +f 102 116 132 +f 128 113 132 +f 116 128 132 +f 102 112 133 +f 112 104 133 +f 116 102 133 +f 104 122 133 +f 122 116 133 +f 114 106 134 +f 104 114 134 +f 106 115 134 +f 124 109 134 +f 115 124 134 +f 109 125 134 +f 125 104 134 +f 110 105 135 +f 118 110 135 +f 107 118 135 +f 105 123 135 +f 123 107 135 +f 112 103 136 +f 114 112 136 +f 121 114 136 +f 103 127 136 +f 127 121 136 +f 110 118 137 +f 118 117 137 +f 119 110 137 +o convex_3 +v 1.431767 0.785404 -0.356283 +v 1.461609 0.576891 0.419310 +v 1.551089 0.666173 0.329801 +v 1.461609 0.039837 0.091034 +v 1.551089 0.457660 -0.266774 +v 1.551089 1.143554 -0.057920 +v 1.431767 1.113718 0.270128 +v 1.431767 0.039837 0.329801 +v 1.551089 0.308364 0.240292 +v 1.431767 1.203227 -0.057920 +v 1.551089 0.934700 -0.326447 +v 1.431767 0.427709 -0.266774 +v 1.551089 1.024209 0.240292 +v 1.431767 1.083881 -0.266774 +v 1.461609 0.039837 0.329801 +v 1.551089 0.278528 -0.028084 +v 1.431767 1.054045 0.329801 +f 150 144 154 +f 140 142 143 +f 144 138 145 +f 142 140 146 +f 138 144 147 +f 144 143 147 +f 142 138 148 +f 143 142 148 +f 138 142 149 +f 142 141 149 +f 141 145 149 +f 145 138 149 +f 140 143 150 +f 143 144 150 +f 138 147 151 +f 147 143 151 +f 148 138 151 +f 143 148 151 +f 140 139 152 +f 139 145 152 +f 145 141 152 +f 146 140 152 +f 146 152 153 +f 141 142 153 +f 142 146 153 +f 152 141 153 +f 139 140 154 +f 145 139 154 +f 144 145 154 +f 140 150 154 +o convex_4 +v 1.551255 0.427686 -0.236865 +v 1.640791 1.143566 0.001668 +v 1.640791 1.143566 -0.028072 +v 3.251428 0.725842 0.001668 +v 1.551255 0.397879 0.270125 +v 1.551255 0.904855 -0.326453 +v 1.551255 1.024083 0.240324 +v 2.982656 0.785457 -0.236865 +v 2.982656 0.845240 0.180660 +v 2.982656 0.517192 -0.028072 +v 3.012612 0.994361 -0.028072 +v 1.581211 0.278481 0.001668 +v 2.356740 0.546999 -0.266789 +v 1.730326 1.054060 -0.236865 +v 1.611001 0.308373 0.240324 +v 3.012612 0.725842 0.180660 +v 1.760116 0.696204 0.299988 +v 2.475733 0.994361 0.180660 +v 2.982656 0.546999 -0.117537 +v 1.670580 0.725842 -0.326453 +v 1.551255 1.083867 -0.207064 +v 3.012612 0.994361 0.031469 +v 1.730326 1.024083 0.240324 +v 2.833541 0.576807 0.120996 +v 3.251428 0.785457 -0.057873 +v 1.581211 0.785457 0.299988 +v 1.551255 0.546999 -0.296590 +v 2.833541 0.904855 -0.177201 +v 1.551255 1.143566 0.031469 +v 1.849651 0.845240 -0.326453 +v 1.611001 0.308373 -0.057873 +v 2.803751 0.576807 -0.207064 +v 2.952866 0.517192 -0.087736 +v 1.551255 0.278481 0.091133 +f 164 169 188 +f 155 159 160 +f 160 159 161 +f 157 156 165 +f 157 165 168 +f 158 163 170 +f 164 158 170 +f 159 169 170 +f 170 163 171 +f 159 170 171 +f 158 164 173 +f 160 161 175 +f 157 168 175 +f 168 160 175 +f 163 158 176 +f 165 156 176 +f 172 163 176 +f 163 172 177 +f 169 164 178 +f 164 170 178 +f 170 169 178 +f 162 165 179 +f 158 173 179 +f 173 162 179 +f 176 158 179 +f 165 176 179 +f 161 159 180 +f 159 171 180 +f 171 163 180 +f 177 161 180 +f 163 177 180 +f 155 160 181 +f 167 155 181 +f 160 174 181 +f 174 167 181 +f 165 162 182 +f 162 168 182 +f 168 165 182 +f 156 157 183 +f 157 175 183 +f 175 161 183 +f 176 156 183 +f 172 176 183 +f 161 177 183 +f 177 172 183 +f 162 167 184 +f 160 168 184 +f 168 162 184 +f 174 160 184 +f 167 174 184 +f 166 155 185 +f 155 167 185 +f 167 162 186 +f 162 173 186 +f 186 173 187 +f 164 166 187 +f 173 164 187 +f 166 185 187 +f 185 167 187 +f 167 186 187 +f 159 155 188 +f 155 166 188 +f 166 164 188 +f 169 159 188 +o convex_5 +v -2.744467 0.696207 -0.028119 +v -1.372374 1.352379 0.091139 +v -1.193318 1.024179 0.210450 +v -1.611167 0.188989 -0.266792 +v -1.760200 0.188989 0.270157 +v -2.475960 0.964507 0.270157 +v -1.879519 1.352379 -0.207084 +v -1.193318 0.666371 -0.266792 +v -2.684575 0.845161 -0.207084 +v -1.193318 0.487353 0.240303 +v -1.909388 1.352379 0.270157 +v -2.714598 0.994343 0.091139 +v -1.969125 0.188989 -0.207084 +v -2.654706 0.696207 0.210450 +v -1.372374 0.188989 -0.028119 +v -1.193318 0.845161 -0.266792 +v -2.058266 0.188989 0.031484 +v -2.177585 1.352379 0.031484 +v -1.491693 1.352379 -0.177283 +v -1.551430 1.352379 0.270157 +v -2.535388 0.904720 -0.236938 +v -1.193318 1.143525 0.001683 +v -1.193318 0.934557 0.270157 +v -1.193318 0.487353 -0.207084 +v -2.058266 1.352379 -0.177283 +v -1.432111 0.188989 0.210450 +v -2.565411 0.636649 -0.207084 +v -1.939256 0.188989 0.240303 +v -2.058266 1.352379 0.240303 +v -1.819937 0.188989 -0.266792 +v -2.625148 0.576862 -0.057973 +v -2.565411 0.815325 0.270157 +v -2.714598 0.994343 0.031484 +v -2.714598 0.815325 0.210450 +v -2.625148 0.606812 0.091139 +v -2.714598 0.874998 -0.177283 +v -1.461980 0.188989 -0.207084 +v -2.774335 0.755880 0.061338 +v -1.611167 0.188989 0.270157 +v -2.625148 0.964507 0.210450 +v -1.193318 0.427680 0.061338 +v -2.535388 0.726044 -0.236938 +f 218 215 230 +f 196 191 198 +f 194 193 199 +f 190 195 199 +f 192 193 201 +f 193 192 203 +f 196 192 204 +f 191 196 204 +f 201 193 205 +f 199 195 206 +f 195 190 207 +f 204 195 207 +f 191 190 208 +f 190 199 208 +f 199 193 208 +f 195 204 209 +f 190 191 210 +f 191 204 210 +f 207 190 210 +f 204 207 210 +f 198 191 211 +f 191 208 211 +f 208 193 211 +f 192 196 212 +f 196 198 212 +f 206 195 213 +f 195 209 213 +f 193 203 214 +f 189 197 215 +f 205 193 216 +f 194 199 217 +f 199 206 217 +f 206 200 217 +f 192 201 218 +f 204 192 218 +f 209 204 218 +f 201 215 218 +f 201 205 219 +f 189 215 219 +f 215 201 219 +f 193 194 220 +f 216 193 220 +f 202 216 220 +f 200 206 221 +f 206 213 221 +f 220 194 222 +f 202 220 222 +f 216 202 223 +f 205 216 223 +f 189 219 223 +f 219 205 223 +f 197 189 224 +f 209 197 224 +f 213 209 224 +f 221 213 224 +f 203 192 225 +f 192 212 225 +f 212 203 225 +f 200 221 226 +f 222 200 226 +f 202 222 226 +f 189 223 226 +f 223 202 226 +f 224 189 226 +f 221 224 226 +f 211 193 227 +f 198 211 227 +f 193 214 227 +f 214 198 227 +f 194 217 228 +f 217 200 228 +f 200 222 228 +f 222 194 228 +f 212 198 229 +f 203 212 229 +f 198 214 229 +f 214 203 229 +f 197 209 230 +f 215 197 230 +f 209 218 230 +o convex_6 +v -0.984545 0.666321 -0.266792 +v -0.924844 0.785527 0.299988 +v -0.924844 1.024174 0.270140 +v -1.193292 0.934691 0.270140 +v -0.954721 0.308311 0.210444 +v -1.193292 0.875009 -0.266792 +v -1.193292 0.457555 -0.028063 +v -0.924844 0.994294 -0.236944 +v -1.193292 1.113735 0.001785 +v -0.924844 0.457555 -0.177192 +v -1.193292 0.517236 0.240292 +v -1.193292 0.547037 -0.236944 +v -0.924844 1.113735 0.001785 +v -0.924844 0.487356 0.299988 +v -0.924844 0.308311 0.061314 +v -1.193292 1.113735 0.061314 +f 243 239 246 +f 232 233 234 +f 234 236 237 +f 233 232 238 +f 231 236 238 +f 238 236 239 +f 236 234 239 +f 238 232 240 +f 231 238 240 +f 237 235 241 +f 234 237 241 +f 236 231 242 +f 237 236 242 +f 231 240 242 +f 233 238 243 +f 238 239 243 +f 232 234 244 +f 240 232 244 +f 234 241 244 +f 241 235 244 +f 235 237 245 +f 237 242 245 +f 242 240 245 +f 240 244 245 +f 244 235 245 +f 234 233 246 +f 239 234 246 +f 233 243 246 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/242/242.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/242/242.urdf new file mode 100644 index 000000000..9dee730ce --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/242/242.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/243/243.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/243/243.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/243/243.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/243/243.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/243/243.obj new file mode 100644 index 000000000..0ea7edefa --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/243/243.obj @@ -0,0 +1,180 @@ +o convex_0 +v 1.042039 2.969912 0.421837 +v -1.102241 2.447914 -1.113891 +v -1.102241 2.447914 -1.055602 +v 0.984051 -3.085631 -0.737139 +v -0.986264 -2.999235 1.001112 +v -0.986264 3.027308 1.059401 +v 1.100028 -2.853632 1.030256 +v -0.957162 -2.969631 -0.997738 +v 0.926062 3.027912 -0.968806 +v 1.100028 2.940308 0.943248 +v 0.926062 -3.056631 -0.939874 +v -1.102241 3.085912 -1.113891 +v 1.070925 -2.998631 1.030256 +v -0.638548 -3.086235 0.653717 +v -0.406595 3.085912 0.508419 +v 1.100028 2.940308 0.711580 +v -0.986264 -2.419237 -1.026670 +v 0.781199 2.911308 -0.997951 +v -0.696537 3.027912 1.059401 +v -0.435697 -3.086235 -0.534190 +v -0.986264 1.549521 1.059401 +v -1.102241 3.085912 -0.823934 +v -0.899173 2.621913 -1.113678 +v 1.100028 -1.781239 1.030256 +v 0.056666 -2.998631 1.030256 +v -0.928275 -2.766632 -1.026670 +v 0.954949 -0.303452 -0.939874 +v -0.986264 -2.969631 -0.099575 +v -1.015150 3.056308 0.682436 +v 0.752312 2.940308 0.972392 +v 1.070925 -3.028235 0.711580 +v 0.665222 -3.085631 -0.939874 +v -0.667435 3.085912 -1.084533 +v -0.928275 -2.998631 -0.910730 +v 0.954949 -2.940631 -0.939874 +v 0.954949 2.998912 -0.737139 +v 1.100028 -2.506237 0.972180 +v -0.986264 -1.086450 1.030256 +v -0.870287 3.056912 1.001324 +v 0.984051 -3.085631 -0.563122 +v -0.870287 3.085912 -1.113678 +v -0.348822 -2.998631 -0.997738 +v -1.015150 2.273914 -1.113891 +v -0.609446 3.085912 0.595640 +v -0.377708 -3.086235 0.566496 +v -0.986264 -2.999235 0.189956 +v 0.839187 2.969308 0.885384 +v 1.100028 1.665521 0.972180 +v 0.926062 0.506128 -0.968806 +v -0.812298 -2.998631 -0.997738 +v -0.638548 -3.086235 0.363760 +v 0.926062 3.027912 -0.882011 +v -1.073138 3.085912 -0.447182 +v 0.172643 3.056912 -1.026883 +v 0.781199 3.027912 -0.997951 +v 1.070925 -3.028235 0.566708 +v -0.493470 -3.086235 -0.476327 +v 1.100028 2.824913 0.711580 +v 0.868074 2.969308 0.856452 +v -0.203958 2.998912 1.030256 +v -0.928275 3.056912 1.001324 +f 44 53 61 +f 3 2 5 +f 2 3 12 +f 9 1 16 +f 1 10 16 +f 10 7 16 +f 13 7 21 +f 7 19 21 +f 19 6 21 +f 3 5 22 +f 12 3 22 +f 15 12 22 +f 7 10 24 +f 19 7 24 +f 5 14 25 +f 14 13 25 +f 13 21 25 +f 17 2 26 +f 8 17 26 +f 16 4 27 +f 2 17 28 +f 17 8 28 +f 21 6 29 +f 22 5 29 +f 7 13 31 +f 13 14 31 +f 11 4 32 +f 4 20 32 +f 12 15 33 +f 4 11 35 +f 11 23 35 +f 23 18 35 +f 27 4 35 +f 9 27 35 +f 9 16 36 +f 27 9 36 +f 16 27 36 +f 16 7 37 +f 5 25 38 +f 25 21 38 +f 29 5 38 +f 21 29 38 +f 19 10 39 +f 4 31 40 +f 18 23 41 +f 12 33 41 +f 11 32 42 +f 2 12 43 +f 23 11 43 +f 26 2 43 +f 12 41 43 +f 41 23 43 +f 11 42 43 +f 42 26 43 +f 15 22 44 +f 39 15 44 +f 20 4 45 +f 14 20 45 +f 31 14 45 +f 4 40 45 +f 40 31 45 +f 5 2 46 +f 14 5 46 +f 2 28 46 +f 28 8 46 +f 8 34 46 +f 39 10 47 +f 15 39 47 +f 24 10 48 +f 10 30 48 +f 30 24 48 +f 18 9 49 +f 9 35 49 +f 35 18 49 +f 8 26 50 +f 32 20 50 +f 20 34 50 +f 34 8 50 +f 26 42 50 +f 42 32 50 +f 20 14 51 +f 14 46 51 +f 46 34 51 +f 1 9 52 +f 9 15 52 +f 22 29 53 +f 44 22 53 +f 15 9 54 +f 33 15 54 +f 41 33 54 +f 41 54 55 +f 9 18 55 +f 18 41 55 +f 54 9 55 +f 31 4 56 +f 7 31 56 +f 4 37 56 +f 37 7 56 +f 34 20 57 +f 20 51 57 +f 51 34 57 +f 4 16 58 +f 37 4 58 +f 16 37 58 +f 10 1 59 +f 47 10 59 +f 15 47 59 +f 1 52 59 +f 52 15 59 +f 10 19 60 +f 19 24 60 +f 30 10 60 +f 24 30 60 +f 6 19 61 +f 29 6 61 +f 19 39 61 +f 39 44 61 +f 53 29 61 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/243/243.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/243/243.urdf new file mode 100644 index 000000000..5787d7c8d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/243/243.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/244/244.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/244/244.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/244/244.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/244/244.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/244/244.obj new file mode 100644 index 000000000..518f6d330 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/244/244.obj @@ -0,0 +1,399 @@ +o convex_0 +v -0.474652 0.588810 2.003991 +v 0.615123 0.664018 3.770345 +v 0.615123 0.588810 3.770345 +v -0.624957 1.603704 3.920754 +v 0.539970 1.603704 1.891135 +v -0.624957 0.551206 3.845450 +v -0.474652 1.565997 1.891135 +v 0.464817 0.551206 1.891135 +v 0.539970 1.565997 3.770345 +v 0.577607 1.415581 1.891135 +v -0.174041 0.551206 1.891135 +v 0.201722 0.551206 3.807898 +v -0.587441 1.603704 3.244015 +v 0.577607 1.565997 2.605426 +v 0.502455 0.664018 3.807898 +v -0.249194 1.603704 3.883003 +v -0.474652 0.964746 1.891135 +v -0.624957 0.551206 3.732793 +v 0.539970 0.551206 2.793386 +v -0.512289 1.453185 2.229504 +v 0.464817 1.565997 3.807898 +v -0.512289 1.490789 3.920754 +v -0.324346 0.551206 3.845450 +v -0.512289 0.551206 2.455017 +v -0.437136 0.588810 1.891135 +v -0.624957 1.603704 3.732793 +v 0.577607 1.565997 1.891135 +f 5 14 27 +f 7 5 8 +f 2 3 10 +f 8 5 10 +f 7 8 11 +f 8 6 11 +f 6 8 12 +f 4 5 13 +f 5 7 13 +f 9 2 14 +f 5 9 14 +f 3 2 15 +f 12 3 15 +f 5 4 16 +f 9 5 16 +f 7 11 17 +f 6 4 18 +f 11 6 18 +f 17 1 18 +f 10 3 19 +f 8 10 19 +f 3 12 19 +f 12 8 19 +f 13 7 20 +f 7 17 20 +f 17 18 20 +f 2 9 21 +f 15 2 21 +f 9 16 21 +f 21 16 22 +f 4 6 22 +f 16 4 22 +f 15 21 22 +f 15 22 23 +f 6 12 23 +f 12 15 23 +f 22 6 23 +f 18 1 24 +f 11 18 24 +f 1 17 25 +f 17 11 25 +f 24 1 25 +f 11 24 25 +f 4 13 26 +f 18 4 26 +f 13 20 26 +f 20 18 26 +f 10 5 27 +f 2 10 27 +f 14 2 27 +o convex_1 +v 1.028725 1.414783 1.777801 +v -1.076105 -3.771745 1.853292 +v -1.076105 -3.771745 1.890936 +v -1.076105 2.129957 1.890936 +v -1.001015 1.866472 -0.176673 +v 1.066271 -3.921700 -0.176673 +v 1.066271 2.167597 -0.176470 +v -1.038560 -3.922308 -0.176673 +v 1.028725 -4.034623 1.890936 +v 1.066271 2.129349 1.740359 +v 0.690400 1.715909 1.890936 +v -1.001015 2.091709 -0.139028 +v -1.038560 -3.922308 1.890936 +v -1.076105 2.129957 1.477252 +v 1.066271 -3.959341 0.650492 +v 1.066271 -3.959341 0.086636 +v -1.038560 -2.681378 -0.176673 +v -0.361910 2.129957 -0.176673 +v 0.878335 -4.034623 1.815445 +v -1.076105 1.001949 1.364319 +v 1.028725 2.167597 0.312300 +v -0.625145 2.129957 1.890936 +v 1.028725 -3.320056 1.890936 +v 0.765491 2.166990 -0.176673 +v -1.038560 2.129957 1.025924 +v 0.991180 -4.034623 1.702714 +v 0.991180 2.054068 1.777801 +v -1.076105 2.054675 1.439608 +f 44 47 55 +f 29 30 31 +f 30 29 35 +f 32 33 35 +f 31 30 36 +f 33 34 37 +f 31 36 38 +f 30 35 40 +f 36 30 40 +f 29 31 41 +f 33 37 42 +f 37 36 42 +f 35 33 43 +f 33 42 43 +f 42 36 43 +f 32 35 44 +f 39 32 44 +f 33 32 45 +f 32 39 45 +f 40 35 46 +f 36 40 46 +f 35 29 47 +f 29 41 47 +f 44 35 47 +f 37 34 48 +f 31 38 49 +f 48 31 49 +f 37 48 49 +f 37 28 50 +f 36 37 50 +f 38 36 50 +f 34 33 51 +f 41 31 51 +f 33 45 51 +f 31 48 51 +f 48 34 51 +f 39 41 52 +f 45 39 52 +f 41 51 52 +f 51 45 52 +f 35 43 53 +f 43 36 53 +f 46 35 53 +f 36 46 53 +f 28 37 54 +f 49 38 54 +f 37 49 54 +f 50 28 54 +f 38 50 54 +f 41 39 55 +f 39 44 55 +f 47 41 55 +o convex_2 +v 0.991191 -1.177677 -1.116675 +v -0.437070 4.159413 -0.176673 +v -0.963484 4.159413 -0.176673 +v 0.916105 4.084132 -2.319258 +v -0.963484 -2.042200 -2.244175 +v -1.001129 -2.042200 -0.176673 +v -1.001129 3.971210 -2.131341 +v 1.066480 2.167490 -0.176673 +v 0.953547 -1.891637 -2.243965 +v 0.953547 -2.042807 -0.176673 +v 0.991191 4.084739 -0.251965 +v 1.066480 2.580931 -0.703091 +v 0.953547 4.046491 -2.281716 +v -1.001129 4.084739 -1.266631 +v -1.001129 2.768528 -2.168882 +v 0.728085 4.084132 -2.319258 +v 0.690441 2.468009 -2.319258 +v 1.066480 1.040090 -0.289507 +v 0.615355 -2.004559 -1.830591 +v -0.963484 -0.877158 -2.244175 +v -1.001129 1.528205 -0.176673 +v -1.001129 1.227080 -2.168882 +v 0.577710 4.122380 -0.214634 +v 1.066480 1.190046 -0.703091 +v -0.775465 4.008851 -2.168882 +v 0.314604 4.122380 -1.717757 +v 0.991191 -1.440555 -0.176673 +v -1.001129 -1.966918 -0.778174 +v -0.587445 -2.042200 -2.244175 +v 0.577710 -0.124951 -2.281507 +v 0.953547 -1.929884 -2.206424 +v 0.953547 -2.042807 -0.590467 +v 1.028836 3.520128 -0.327258 +v -1.001129 4.084739 -0.928549 +v -0.625089 4.159413 -0.665550 +v 0.803172 4.084132 -0.214634 +v 0.916105 2.806169 -2.319258 +v -0.963484 4.008851 -2.131341 +v 0.991191 -0.914192 -1.755508 +v -0.173964 4.122380 -0.176673 +v 0.427335 4.122380 -1.717757 +v 1.066480 2.768528 -0.251965 +v 0.991191 -1.478196 -0.327258 +v 0.577710 -1.966918 -2.243965 +v 0.991191 4.084739 -0.665550 +v 1.066480 1.077124 -0.176673 +v 0.652797 2.468009 -2.319258 +v -1.001129 2.317446 -0.327048 +f 89 76 103 +f 57 58 61 +f 57 61 63 +f 63 61 65 +f 62 61 69 +f 61 62 70 +f 71 59 72 +f 67 63 73 +f 60 70 75 +f 61 58 76 +f 69 61 76 +f 70 60 77 +f 61 70 77 +f 67 73 79 +f 70 62 80 +f 75 70 80 +f 71 75 80 +f 59 71 81 +f 63 65 82 +f 60 61 83 +f 77 60 83 +f 61 77 83 +f 84 60 85 +f 61 60 87 +f 65 61 87 +f 60 84 87 +f 84 74 87 +f 74 86 87 +f 67 68 88 +f 58 69 89 +f 69 76 89 +f 58 57 90 +f 69 58 90 +f 81 69 90 +f 63 66 91 +f 66 78 91 +f 68 64 92 +f 59 68 92 +f 72 59 92 +f 64 85 92 +f 85 72 92 +f 62 69 93 +f 80 62 93 +f 71 80 93 +f 69 81 93 +f 81 71 93 +f 64 68 94 +f 68 67 94 +f 79 56 94 +f 67 79 94 +f 56 86 94 +f 86 64 94 +f 57 63 95 +f 78 57 95 +f 63 91 95 +f 91 78 95 +f 57 78 96 +f 78 59 96 +f 59 81 96 +f 90 57 96 +f 81 90 96 +f 66 63 97 +f 63 67 97 +f 88 66 97 +f 67 88 97 +f 56 79 98 +f 79 73 98 +f 82 65 98 +f 73 82 98 +f 86 56 98 +f 65 87 98 +f 87 86 98 +f 74 84 99 +f 85 64 99 +f 84 85 99 +f 86 74 99 +f 64 86 99 +f 68 59 100 +f 59 78 100 +f 78 66 100 +f 66 88 100 +f 88 68 100 +f 73 63 101 +f 63 82 101 +f 82 73 101 +f 71 72 102 +f 60 75 102 +f 75 71 102 +f 72 85 102 +f 85 60 102 +f 76 58 103 +f 58 89 103 +o convex_3 +v 0.089006 -4.072823 -1.379568 +v -0.249241 -2.042807 -0.815818 +v -0.286864 -2.042807 -0.815818 +v -0.249241 -2.042807 -1.492358 +v 0.277000 -2.042807 -0.966227 +v -0.286864 -3.959956 -0.853437 +v 0.314622 -4.034869 -0.891055 +v 0.201814 -2.042807 -1.379568 +v -0.249241 -3.922400 -1.417120 +v 0.164251 -4.072823 -1.379568 +v 0.314622 -4.034869 -1.003779 +v -0.098811 -2.080561 -1.492358 +v 0.051443 -3.997313 -0.853437 +v -0.286864 -3.959956 -0.966227 +v 0.201814 -4.072823 -1.341949 +v 0.164251 -2.531831 -1.417120 +v -0.174056 -2.494076 -1.492358 +v 0.314622 -3.320707 -0.966227 +v 0.277000 -2.682254 -0.928608 +v -0.061248 -3.959956 -1.417120 +v 0.201814 -4.072823 -1.078950 +v -0.286864 -2.042807 -0.928608 +f 107 117 125 +f 106 105 107 +f 107 105 108 +f 107 108 111 +f 107 111 115 +f 105 106 116 +f 106 109 116 +f 110 105 116 +f 109 106 117 +f 104 109 117 +f 112 104 117 +f 107 112 117 +f 104 113 118 +f 114 110 118 +f 111 114 118 +f 115 111 119 +f 113 115 119 +f 118 113 119 +f 111 118 119 +f 112 107 120 +f 107 115 120 +f 115 113 120 +f 108 110 121 +f 111 108 121 +f 110 114 121 +f 114 111 121 +f 108 105 122 +f 110 108 122 +f 105 110 122 +f 104 112 123 +f 113 104 123 +f 112 120 123 +f 120 113 123 +f 109 104 124 +f 116 109 124 +f 110 116 124 +f 104 118 124 +f 118 110 124 +f 106 107 125 +f 117 106 125 +o convex_4 +v -1.038722 -3.922267 -0.289451 +v 0.953554 -2.042991 -0.176673 +v 0.991265 -2.306229 -0.176673 +v 0.991265 -2.268518 -0.327044 +v -1.001011 -2.042991 -0.289451 +v 1.066480 -3.922267 -0.289451 +v -1.038722 -3.922267 -0.176673 +v -1.001011 -2.042991 -0.176673 +v 1.066480 -3.922267 -0.176673 +v 0.916050 -2.042991 -0.327044 +v 0.953554 -2.682048 -0.327044 +v -1.038722 -2.682048 -0.289451 +v 1.066480 -3.471211 -0.214266 +f 134 131 138 +f 127 128 129 +f 128 127 132 +f 126 131 132 +f 127 130 133 +f 132 127 133 +f 128 132 134 +f 132 131 134 +f 127 129 135 +f 130 127 135 +f 131 126 136 +f 129 131 136 +f 135 129 136 +f 126 135 136 +f 126 132 137 +f 133 130 137 +f 132 133 137 +f 135 126 137 +f 130 135 137 +f 129 128 138 +f 131 129 138 +f 128 134 138 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/244/244.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/244/244.urdf new file mode 100644 index 000000000..b22f98888 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/244/244.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/245/245.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/245/245.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/245/245.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/245/245.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/245/245.obj new file mode 100644 index 000000000..05b94a433 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/245/245.obj @@ -0,0 +1,954 @@ +o convex_0 +v -3.624348 -1.826273 -0.068840 +v -2.203308 -1.264484 0.063276 +v -2.203308 -1.264484 -0.068840 +v -2.203308 -2.057588 0.129426 +v -3.690359 -1.595035 0.195515 +v -2.203308 -1.826273 -0.234154 +v -2.203308 -1.727115 0.360829 +v -3.624348 -1.528956 -0.134990 +v -2.236399 -1.396720 -0.267229 +v -3.425971 -1.826273 0.195515 +v -3.723450 -1.429798 -0.002751 +v -2.401684 -1.396720 0.261604 +v -3.723450 -1.661036 -0.168004 +v -2.236399 -2.024587 0.294679 +v -3.723450 -1.859273 0.063276 +v -2.236399 -2.057588 -0.002751 +v -3.954918 -1.661036 -0.002751 +v -3.194675 -1.429798 0.195515 +v -3.161584 -1.826273 -0.168004 +v -2.236399 -1.297562 -0.201079 +v -2.269490 -1.429798 0.294679 +v -2.732254 -1.727115 -0.234154 +v -2.236399 -1.826273 0.360829 +v -3.525245 -1.628113 0.228590 +v -3.690359 -1.429798 0.063276 +v -3.690359 -1.694037 0.195515 +v -3.921826 -1.595035 0.063276 +f 17 26 27 +f 3 2 4 +f 3 4 6 +f 4 2 7 +f 3 6 9 +f 2 3 11 +f 8 9 13 +f 11 8 13 +f 4 7 14 +f 14 10 15 +f 4 14 15 +f 6 4 16 +f 15 1 16 +f 4 15 16 +f 13 1 17 +f 11 13 17 +f 1 15 17 +f 12 2 18 +f 1 13 19 +f 16 1 19 +f 6 16 19 +f 9 8 20 +f 3 9 20 +f 11 3 20 +f 8 11 20 +f 7 2 21 +f 2 12 21 +f 12 18 21 +f 9 6 22 +f 13 9 22 +f 19 13 22 +f 6 19 22 +f 14 7 23 +f 10 14 23 +f 18 5 24 +f 7 21 24 +f 21 18 24 +f 23 7 24 +f 2 11 25 +f 18 2 25 +f 5 18 25 +f 15 10 26 +f 17 15 26 +f 10 23 26 +f 24 5 26 +f 23 24 26 +f 11 17 27 +f 25 11 27 +f 5 25 27 +f 26 5 27 +o convex_1 +v -1.343526 1.545329 0.955690 +v -1.674148 -0.140512 -0.994455 +v -1.773335 -0.140512 -0.961257 +v 0.176830 -0.140512 0.889682 +v 0.044581 1.545329 -0.795849 +v -1.971455 -0.140512 0.922686 +v -1.938645 1.545329 -0.796043 +v 0.374950 -0.140512 -0.895249 +v 0.209892 1.545329 0.492858 +v -2.169828 1.545329 0.129426 +v -0.880908 1.412983 -0.994455 +v -2.004518 -0.140512 -0.696837 +v -0.286041 1.545329 0.922686 +v -1.971455 1.545329 0.823480 +v -0.880908 -0.140512 0.988888 +v 0.276016 1.545329 -0.002784 +v 0.308826 -0.107343 0.393652 +v -1.674148 1.512160 -0.961257 +v 0.110705 -0.074339 -0.961257 +v -0.153792 1.545329 -0.895249 +v -1.773335 1.346976 0.955690 +v 0.044581 1.478991 0.790282 +v -2.037580 -0.140512 -0.300208 +v 0.408265 -0.074339 -0.795849 +v -1.971455 1.016111 -0.829047 +v -1.674148 -0.140512 0.988888 +v -0.979842 0.851091 0.988888 +v -0.418290 -0.140512 -0.994455 +v 0.143767 1.545329 -0.630635 +v -2.169828 1.545329 0.030220 +v -0.153792 1.280803 -0.928253 +v -2.037580 1.545329 0.658266 +v -2.070642 1.545329 -0.432417 +v -1.740272 1.412983 -0.961257 +v -0.087668 0.124014 0.922686 +v -1.971455 0.091011 -0.829047 +v 0.374950 -0.041335 -0.895249 +v 0.408265 -0.140512 -0.696837 +v -0.682535 1.545329 -0.961257 +v -0.649725 1.478991 0.955690 +v 0.176830 -0.041335 0.889682 +v 0.276016 1.545329 -0.068792 +v -2.169828 1.478991 0.129426 +v -1.145153 1.346976 -0.994455 +v -2.037580 -0.140512 -0.465421 +v -1.938645 1.049445 -0.862051 +v -0.153792 1.478991 0.889682 +v 0.077643 1.346976 0.790282 +v -1.773335 1.545329 0.922686 +v -1.773335 1.545329 -0.928253 +f 61 73 77 +f 30 29 31 +f 30 31 33 +f 28 32 34 +f 31 29 35 +f 32 28 36 +f 28 34 37 +f 30 33 39 +f 36 28 40 +f 28 37 41 +f 33 31 42 +f 32 36 43 +f 43 36 44 +f 34 32 47 +f 41 33 48 +f 36 40 49 +f 39 33 50 +f 33 42 53 +f 48 33 53 +f 48 53 54 +f 28 48 54 +f 53 42 54 +f 35 29 55 +f 29 38 55 +f 46 35 55 +f 38 46 55 +f 32 43 56 +f 37 34 57 +f 46 38 58 +f 37 33 59 +f 33 41 59 +f 41 37 59 +f 34 52 60 +f 52 39 60 +f 57 34 60 +f 39 57 60 +f 29 30 61 +f 42 31 62 +f 54 42 62 +f 30 39 63 +f 39 52 63 +f 35 46 64 +f 47 32 64 +f 51 35 64 +f 32 56 64 +f 56 51 64 +f 46 58 64 +f 58 47 64 +f 31 35 65 +f 43 44 65 +f 44 31 65 +f 35 51 65 +f 51 43 65 +f 38 45 66 +f 34 47 66 +f 58 38 66 +f 47 58 66 +f 40 28 67 +f 28 54 67 +f 62 40 67 +f 54 62 67 +f 44 36 68 +f 31 44 68 +f 62 31 68 +f 40 62 68 +f 43 51 69 +f 56 43 69 +f 51 56 69 +f 33 37 70 +f 50 33 70 +f 37 57 70 +f 38 29 71 +f 45 38 71 +f 29 61 71 +f 61 45 71 +f 39 50 72 +f 57 39 72 +f 50 70 72 +f 70 57 72 +f 52 34 73 +f 61 30 73 +f 30 63 73 +f 63 52 73 +f 49 40 74 +f 40 68 74 +f 74 68 75 +f 36 49 75 +f 68 36 75 +f 49 74 75 +f 28 41 76 +f 48 28 76 +f 41 48 76 +f 45 61 77 +f 34 66 77 +f 66 45 77 +f 73 34 77 +o convex_2 +v -1.145101 -2.652358 -0.003127 +v 1.267293 -0.438014 0.658085 +v 1.267293 -0.438014 0.625123 +v 3.581322 -2.388106 -0.101815 +v -1.673811 -0.438014 -0.994352 +v -1.938167 -1.363664 0.955531 +v 3.350165 -0.702705 -0.763026 +v 2.093556 -2.388106 -0.829147 +v 3.514926 -1.660920 0.757365 +v -1.773406 -0.438014 0.988888 +v -1.740208 -2.288875 -0.663746 +v -1.938167 -2.354882 0.790327 +v 2.093556 -2.421110 0.724206 +v 3.746698 -0.801717 0.096351 +v -2.203136 -1.330660 -0.267019 +v 2.060973 -1.627696 0.988888 +v 2.093556 -1.660920 -1.027511 +v 3.581322 -1.627696 -0.795988 +v -1.012924 -1.627696 -1.027511 +v 1.069334 -0.438014 -0.928230 +v 2.060973 -2.685802 -0.101815 +v 2.292130 -0.801717 0.823486 +v 4.077449 -1.627916 -0.068853 +v -0.814350 -2.421330 -0.763026 +v 2.755059 -0.537245 0.327676 +v -1.971365 -0.438014 -0.795988 +v -1.971365 -0.438014 0.922569 +v -2.203136 -2.057627 0.327479 +v 1.928795 -0.801717 -0.994352 +v -1.740208 -1.561908 -0.928230 +v -1.740208 -2.553346 -0.068656 +v 0.540624 -0.438014 0.889607 +v -2.203136 -1.826159 -0.267019 +v 3.184789 -2.222867 0.526040 +v -1.608030 -1.693923 0.955531 +v -0.120264 -2.454114 0.691046 +v 3.151591 -0.967177 0.625123 +v 3.184789 -2.189643 -0.630784 +v -0.946528 -0.768713 -1.027511 +v -0.682173 -2.685802 -0.035694 +v 3.581322 -2.388106 -0.002929 +v 2.060973 -2.520342 0.492683 +v -0.946528 -2.387887 -0.795988 +v -0.880746 -0.438014 0.988888 +v -2.203136 -1.231648 0.030033 +v -2.037761 -0.438014 -0.465383 +v 3.548124 -1.594912 0.757365 +v -2.203136 -2.090631 -0.002929 +v 0.243070 -2.586570 -0.399261 +v 4.077449 -1.627916 0.030033 +v 2.027775 -1.297656 -1.027511 +v -2.004563 -1.396668 -0.696708 +v 0.078310 -2.387887 -0.828950 +v 2.159952 -0.834941 0.856645 +v -0.318838 -0.438014 -0.994154 +v 1.002938 -2.685802 -0.002929 +v 3.977855 -1.429892 -0.167936 +v 3.581322 -1.495900 -0.795988 +v 1.499064 -2.421330 -0.795988 +v -2.203136 -1.660920 0.360638 +v -1.012924 -0.966957 0.988888 +v -0.979726 -2.619574 -0.234057 +v 3.581322 -1.660920 0.724206 +v -1.971365 -1.528904 0.922569 +f 137 105 141 +f 79 80 82 +f 79 82 87 +f 90 86 93 +f 89 90 93 +f 85 94 95 +f 82 80 97 +f 85 81 98 +f 81 95 100 +f 80 79 102 +f 91 84 102 +f 97 80 102 +f 84 97 102 +f 87 82 103 +f 83 87 104 +f 87 103 104 +f 97 84 106 +f 82 96 107 +f 103 82 107 +f 78 89 108 +f 79 87 109 +f 102 79 109 +f 99 102 109 +f 92 103 110 +f 105 92 110 +f 86 90 111 +f 87 83 112 +f 89 93 112 +f 90 89 113 +f 91 102 114 +f 102 99 114 +f 81 85 115 +f 95 81 115 +f 85 95 115 +f 96 82 116 +f 94 96 116 +f 89 78 117 +f 113 89 117 +f 98 81 118 +f 81 100 118 +f 111 90 118 +f 90 113 119 +f 98 118 119 +f 118 90 119 +f 88 107 120 +f 107 96 120 +f 108 88 120 +f 87 93 121 +f 109 87 121 +f 92 105 122 +f 103 92 123 +f 104 103 123 +f 92 122 123 +f 122 104 123 +f 93 86 124 +f 91 114 124 +f 114 99 124 +f 89 105 125 +f 108 89 125 +f 88 108 125 +f 105 110 125 +f 110 88 125 +f 98 117 126 +f 100 91 127 +f 118 100 127 +f 91 124 127 +f 106 84 128 +f 94 116 128 +f 116 106 128 +f 107 88 129 +f 103 107 129 +f 110 103 129 +f 88 110 129 +f 94 85 130 +f 96 94 130 +f 120 96 130 +f 101 120 130 +f 99 109 131 +f 121 93 131 +f 109 121 131 +f 93 124 131 +f 124 99 131 +f 82 97 132 +f 97 106 132 +f 116 82 132 +f 106 116 132 +f 117 98 133 +f 113 117 133 +f 119 113 133 +f 98 119 133 +f 84 91 134 +f 91 100 134 +f 134 100 135 +f 95 94 135 +f 100 95 135 +f 128 84 135 +f 94 128 135 +f 84 134 135 +f 85 98 136 +f 98 126 136 +f 126 101 136 +f 130 85 136 +f 101 130 136 +f 104 122 137 +f 122 105 137 +f 93 87 138 +f 87 112 138 +f 112 93 138 +f 78 108 139 +f 117 78 139 +f 120 101 139 +f 108 120 139 +f 101 126 139 +f 126 117 139 +f 86 111 140 +f 111 118 140 +f 124 86 140 +f 118 127 140 +f 127 124 140 +f 83 104 141 +f 105 89 141 +f 112 83 141 +f 89 112 141 +f 104 137 141 +o convex_3 +v -1.707194 -0.140541 0.988888 +v -1.707194 -0.438013 -0.994455 +v -1.806128 -0.438013 -0.928253 +v 0.738777 -0.438013 0.790282 +v 0.375135 -0.140541 -0.895249 +v -1.971607 -0.438013 0.922686 +v -1.971607 -0.140541 -0.796043 +v 0.970212 -0.438013 -0.928059 +v 0.176678 -0.140541 0.889682 +v -1.673921 -0.140541 -0.994455 +v -0.880976 -0.438013 0.988888 +v -1.971607 -0.140541 0.922686 +v -2.037858 -0.438013 -0.465421 +v 0.342157 -0.140541 0.327644 +v -0.385422 -0.140541 -0.994455 +v 0.970212 -0.404906 -0.862051 +v -2.037858 -0.140541 -0.300208 +v 0.738777 -0.404906 0.790282 +v 0.408113 -0.438013 0.889682 +v -0.880976 -0.140541 0.988888 +v -0.319171 -0.438013 -0.994455 +v -1.773150 -0.438013 0.988888 +v -1.971607 -0.438013 -0.796043 +v 0.408113 -0.140541 -0.630635 +v 0.110721 -0.140541 -0.961257 +f 156 146 166 +f 144 143 145 +f 144 145 147 +f 143 144 148 +f 142 146 148 +f 145 143 149 +f 146 142 150 +f 143 148 151 +f 148 146 151 +f 147 145 152 +f 142 148 153 +f 144 147 154 +f 146 150 155 +f 143 151 156 +f 151 146 156 +f 145 149 157 +f 149 146 157 +f 147 153 158 +f 153 148 158 +f 148 154 158 +f 154 147 158 +f 155 150 159 +f 145 157 159 +f 157 155 159 +f 152 145 160 +f 145 159 160 +f 159 150 160 +f 150 142 161 +f 142 152 161 +f 152 160 161 +f 160 150 161 +f 149 143 162 +f 143 156 162 +f 156 149 162 +f 152 142 163 +f 147 152 163 +f 142 153 163 +f 153 147 163 +f 148 144 164 +f 154 148 164 +f 144 154 164 +f 146 155 165 +f 157 146 165 +f 155 157 165 +f 146 149 166 +f 149 156 166 +o convex_4 +v -2.203136 1.677678 -0.068714 +v -2.203136 2.966599 0.096290 +v -2.203136 2.966599 -0.068714 +v -3.988145 2.404597 0.063221 +v -2.203136 1.876032 0.559137 +v -3.161687 2.404597 -0.498607 +v -3.062617 2.735186 0.426863 +v -3.789481 2.008268 0.030492 +v -2.203136 1.743796 -0.399287 +v -3.723434 2.768245 -0.068714 +v -2.203136 2.867422 -0.432356 +v -3.756457 2.305798 0.426863 +v -2.203136 2.503773 0.625275 +v -3.723434 2.371538 -0.399287 +v -2.864302 2.834363 -0.432356 +v -2.203136 2.536832 -0.531675 +v -2.236509 2.867422 0.493000 +v -2.269533 1.809914 0.526069 +v -3.128664 2.371538 0.559137 +v -3.029594 2.900481 0.030492 +v -3.558317 2.074386 0.360726 +v -3.591341 2.107445 -0.267013 +v -3.756457 2.404597 0.426863 +v -2.269533 1.677678 0.129358 +v -3.690411 2.503773 -0.399287 +v -3.723434 2.768245 0.030492 +v -3.690411 1.975209 0.063221 +v -3.988145 2.404597 -0.035645 +v -2.665987 2.437655 -0.531675 +v -3.525294 2.702127 -0.333150 +v -3.525294 2.669068 0.327770 +v -2.236509 1.710737 -0.333150 +v -2.831279 2.404597 0.592206 +v -2.996571 2.900481 -0.068714 +v -2.963547 2.041327 0.493000 +v -2.269533 2.900481 -0.399287 +v -2.236509 1.743796 -0.399287 +v -2.930524 2.569891 -0.498607 +v -3.095641 2.305798 0.559137 +v -3.723434 2.008268 -0.035645 +v -3.690411 2.338479 -0.399287 +v -2.864302 2.272739 -0.498607 +v -2.203136 2.239680 -0.498607 +v -3.690411 2.008268 0.162427 +v -2.996571 2.536832 0.526069 +v -2.203136 2.801304 0.526069 +v -3.954772 2.272739 -0.002577 +f 194 180 213 +f 169 168 167 +f 167 168 171 +f 169 167 175 +f 169 175 177 +f 171 168 179 +f 177 175 182 +f 181 177 182 +f 168 169 186 +f 183 168 186 +f 170 178 189 +f 178 185 189 +f 167 171 190 +f 171 184 190 +f 172 180 191 +f 176 170 192 +f 173 183 192 +f 186 176 192 +f 183 186 192 +f 170 189 192 +f 167 190 193 +f 170 176 194 +f 176 191 194 +f 191 180 194 +f 176 181 196 +f 191 176 196 +f 181 191 196 +f 189 173 197 +f 173 192 197 +f 192 189 197 +f 175 167 198 +f 167 193 198 +f 171 179 199 +f 181 176 200 +f 186 169 200 +f 176 186 200 +f 184 171 201 +f 178 187 201 +f 187 184 201 +f 169 177 202 +f 177 181 202 +f 200 169 202 +f 181 200 202 +f 175 198 203 +f 181 182 204 +f 172 191 204 +f 191 181 204 +f 195 172 204 +f 182 195 204 +f 185 178 205 +f 171 199 205 +f 199 185 205 +f 201 171 205 +f 178 201 205 +f 193 174 206 +f 198 193 206 +f 188 203 206 +f 203 198 206 +f 174 180 207 +f 180 172 207 +f 203 188 207 +f 206 174 207 +f 188 206 207 +f 172 195 208 +f 207 172 208 +f 203 207 208 +f 182 175 209 +f 195 182 209 +f 175 203 209 +f 208 195 209 +f 203 208 209 +f 178 174 210 +f 187 178 210 +f 184 187 210 +f 190 184 210 +f 174 193 210 +f 193 190 210 +f 183 173 211 +f 173 189 211 +f 189 185 211 +f 185 199 211 +f 211 199 212 +f 179 168 212 +f 168 183 212 +f 199 179 212 +f 183 211 212 +f 174 178 213 +f 178 170 213 +f 180 174 213 +f 170 194 213 +o convex_5 +v -1.409761 1.809878 0.922427 +v -1.244269 1.545510 -0.961399 +v -1.475909 1.545510 -0.961212 +v -1.145170 3.396449 -0.035814 +v 0.309098 1.578670 0.492851 +v -0.021641 2.933488 -0.729815 +v -2.203043 2.900510 -0.432359 +v -0.153937 2.867532 0.658188 +v -1.971648 1.545510 0.823525 +v -1.872550 2.966647 0.757278 +v 0.077703 1.545510 -0.763033 +v 0.309098 2.966466 -0.002784 +v -1.839353 2.900510 -0.795875 +v -2.203043 1.743922 -0.399329 +v -0.186888 1.545510 0.889585 +v -2.203043 2.900510 0.493039 +v -0.186888 3.330312 0.030246 +v 0.309098 2.404752 -0.564666 +v -1.938451 1.545510 -0.795875 +v -1.773205 3.330131 -0.002784 +v 0.309098 2.768235 0.426792 +v -2.203043 1.578488 0.129336 +v -0.748775 1.611467 -0.961399 +v 0.309098 1.545510 -0.068656 +v -2.203043 2.404933 0.624971 +v -0.946972 1.578488 0.955832 +v 0.242950 2.140565 0.625158 +v -0.253035 2.867532 0.691218 +v -0.153937 1.545510 -0.895152 +v 0.309098 2.867351 -0.465389 +v -0.054592 2.966466 -0.729815 +v -1.707303 3.032603 0.691218 +v -2.203043 2.602801 -0.531636 +v -1.773205 1.545510 0.922427 +v -0.087789 2.867532 -0.763033 +v -1.971648 3.065763 -0.531636 +v -1.773205 1.644807 -0.928182 +v -2.203043 1.809878 0.525881 +v 0.309098 1.909175 -0.498419 +v -2.203043 2.999625 -0.035626 +v -1.707303 2.735076 -0.829092 +v -1.178121 3.396449 0.030246 +v -1.641155 2.801213 0.790495 +v -0.220084 1.710763 0.889585 +v 0.110654 3.032784 -0.531449 +v -0.814923 3.363290 -0.101873 +v -2.004599 3.065763 0.525881 +v 0.077703 2.008290 -0.763033 +v -0.186888 3.330312 -0.035814 +v 0.011556 1.545510 0.790495 +v -0.814923 3.396449 0.030246 +v -0.253035 2.933669 0.625158 +v -1.905500 1.975131 -0.829092 +v -2.169846 1.545510 -0.002784 +v -1.608204 3.363109 0.030058 +v 0.309098 2.338796 0.558911 +v -2.136895 2.635961 0.658188 +v -1.773205 1.644807 0.922427 +v -1.046071 1.677604 -0.961399 +v -0.153937 1.644626 -0.895152 +v -1.608204 3.363109 -0.035626 +v -1.905500 3.032603 -0.597696 +v -1.575007 2.966647 0.757278 +v -1.839353 2.669120 -0.829092 +f 250 266 277 +f 216 215 222 +f 222 215 224 +f 222 224 228 +f 220 227 229 +f 225 218 231 +f 216 222 232 +f 218 225 234 +f 230 221 234 +f 225 230 234 +f 229 227 235 +f 228 224 237 +f 231 218 237 +f 229 235 238 +f 224 215 242 +f 215 236 242 +f 231 219 243 +f 225 231 243 +f 220 226 246 +f 227 220 246 +f 232 227 246 +f 222 228 247 +f 228 239 247 +f 226 244 248 +f 244 219 248 +f 226 220 249 +f 216 232 250 +f 235 222 251 +f 222 238 251 +f 238 235 251 +f 224 231 252 +f 237 224 252 +f 231 237 252 +f 220 229 253 +f 249 220 253 +f 233 249 253 +f 226 248 254 +f 214 239 256 +f 241 256 257 +f 239 228 257 +f 228 240 257 +f 240 221 257 +f 221 241 257 +f 256 239 257 +f 243 219 258 +f 225 243 258 +f 219 244 258 +f 229 223 260 +f 223 245 260 +f 253 229 260 +f 233 253 260 +f 219 231 261 +f 231 224 261 +f 224 242 261 +f 230 225 262 +f 225 258 262 +f 258 244 262 +f 244 259 262 +f 237 218 263 +f 228 237 263 +f 218 240 263 +f 240 228 263 +f 217 255 264 +f 255 245 264 +f 259 217 264 +f 230 262 264 +f 262 259 264 +f 221 230 265 +f 241 221 265 +f 230 264 265 +f 264 245 265 +f 232 246 266 +f 250 232 266 +f 232 222 267 +f 227 232 267 +f 222 235 267 +f 235 227 267 +f 245 255 268 +f 260 245 268 +f 233 260 268 +f 218 234 269 +f 234 221 269 +f 240 218 269 +f 221 240 269 +f 223 229 270 +f 238 222 270 +f 229 238 270 +f 239 214 271 +f 222 247 271 +f 247 239 271 +f 214 256 271 +f 256 223 271 +f 223 270 271 +f 270 222 271 +f 215 216 272 +f 236 215 272 +f 248 236 272 +f 216 254 272 +f 254 248 272 +f 242 236 273 +f 236 248 273 +f 248 219 273 +f 219 261 273 +f 261 242 273 +f 217 249 274 +f 249 233 274 +f 255 217 274 +f 233 268 274 +f 268 255 274 +f 244 226 275 +f 249 217 275 +f 226 249 275 +f 259 244 275 +f 217 259 275 +f 245 223 276 +f 223 256 276 +f 256 241 276 +f 241 265 276 +f 265 245 276 +f 246 226 277 +f 216 250 277 +f 254 216 277 +f 226 254 277 +f 266 246 277 +o convex_6 +v 0.309098 1.545465 0.030220 +v 0.375465 2.933669 -0.002784 +v 0.375465 2.933669 -0.035788 +v 2.061051 2.371512 0.030220 +v 0.342196 2.404668 -0.564731 +v 0.309098 2.338491 0.559163 +v 1.796268 2.371512 -0.399381 +v 1.763342 2.404668 0.426928 +v 0.342196 1.578621 0.459931 +v 1.796268 2.801317 -0.068792 +v 1.796268 1.975270 0.063224 +v 0.309098 1.909094 -0.498613 +v 0.309098 2.801317 -0.465499 +v 1.069661 2.768161 0.393814 +v 1.102587 2.768161 -0.432495 +v 0.309098 2.768161 0.393814 +v 1.498903 2.074331 -0.300259 +v 0.342196 1.545465 -0.068792 +v 0.771952 2.272451 0.559163 +v 1.631294 2.107486 0.360810 +v 1.069661 2.404668 -0.531617 +v 1.631294 2.702121 0.294692 +v 1.102587 2.900377 -0.035788 +v 0.309098 1.611641 0.493045 +v 1.598196 2.702121 -0.333263 +v 0.970367 2.437688 0.526049 +v 1.796268 2.801317 -0.002784 +v 1.829366 2.404668 0.393814 +v 0.507684 1.909094 -0.465499 +v 1.796268 2.437688 -0.399381 +v 1.796268 1.975270 0.030220 +v 0.309098 2.834337 -0.432495 +v 0.309098 2.503728 -0.564731 +v 0.309098 2.669101 0.459931 +v 2.061051 2.437688 -0.002784 +v 0.309098 2.933669 0.030220 +v 0.375465 1.776878 0.526049 +v 0.970367 2.305471 -0.531617 +v 1.730244 2.338491 0.426928 +v 1.069661 2.801317 0.327696 +v 2.061051 2.371512 -0.035788 +v 1.135685 2.338491 0.526049 +v 1.664220 2.041310 -0.168024 +v 1.631294 2.041310 0.294692 +v 0.309098 2.008290 0.559163 +v 1.069661 2.900377 -0.068792 +v 0.408391 1.644661 0.493045 +v 1.763342 2.272451 0.393814 +f 316 324 325 +f 278 283 289 +f 289 283 290 +f 290 283 293 +f 286 278 295 +f 288 286 295 +f 278 289 295 +f 291 285 299 +f 280 279 300 +f 283 278 301 +f 278 286 301 +f 292 287 302 +f 285 291 303 +f 283 296 303 +f 287 300 304 +f 299 285 305 +f 304 299 305 +f 284 294 306 +f 295 289 306 +f 294 295 306 +f 284 298 307 +f 298 292 307 +f 302 287 307 +f 292 302 307 +f 281 288 308 +f 288 295 308 +f 292 290 309 +f 290 293 309 +f 282 289 310 +f 289 290 310 +f 290 292 310 +f 298 282 310 +f 292 298 310 +f 293 283 311 +f 291 293 311 +f 303 291 311 +f 283 303 311 +f 287 304 312 +f 305 281 312 +f 304 305 312 +f 307 287 312 +f 279 280 313 +f 300 279 313 +f 280 309 313 +f 309 293 313 +f 289 282 315 +f 282 298 315 +f 298 284 315 +f 284 306 315 +f 306 289 315 +f 293 291 317 +f 291 299 317 +f 299 304 317 +f 304 300 317 +f 313 293 317 +f 300 313 317 +f 284 307 318 +f 281 308 318 +f 308 284 318 +f 312 281 318 +f 307 312 318 +f 285 303 319 +f 303 296 319 +f 296 314 319 +f 316 285 319 +f 294 284 320 +f 295 294 320 +f 284 308 320 +f 308 295 320 +f 286 288 321 +f 297 286 321 +f 296 283 322 +f 283 301 322 +f 314 296 322 +f 301 314 322 +f 287 292 323 +f 280 300 323 +f 300 287 323 +f 309 280 323 +f 292 309 323 +f 286 297 324 +f 301 286 324 +f 314 301 324 +f 319 314 324 +f 316 319 324 +f 288 281 325 +f 281 305 325 +f 305 285 325 +f 285 316 325 +f 321 288 325 +f 297 321 325 +f 324 297 325 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/245/245.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/245/245.urdf new file mode 100644 index 000000000..087ee7a03 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/245/245.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/246/246.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/246/246.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/246/246.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/246/246.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/246/246.obj new file mode 100644 index 000000000..d0934050f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/246/246.obj @@ -0,0 +1,657 @@ +o convex_0 +v 1.630003 2.409369 1.087402 +v 0.212425 1.066869 -1.076432 +v -0.272286 1.066869 -1.038730 +v 1.368895 3.081221 -0.926895 +v -0.235019 3.006504 0.975356 +v 1.816576 1.066668 1.012634 +v -0.272286 1.066869 1.012634 +v 1.891111 1.066668 -0.926895 +v -0.123217 2.969145 -0.926895 +v 1.853844 3.118580 1.049700 +v 1.891111 3.081221 -0.927107 +v -0.496364 1.104027 -0.815060 +v 1.928378 1.104027 0.527593 +v 0.361731 1.066869 1.087402 +v 0.958481 1.253260 -1.076432 +v -0.197751 2.894428 1.012634 +v 1.891111 3.006504 1.012634 +v 1.816576 3.006504 -0.964173 +v -0.235019 3.006504 0.527593 +v 1.779309 1.066668 -1.001663 +v 1.518201 3.118580 1.049700 +v 1.294123 1.066668 1.087402 +v -0.160484 2.633319 -0.964173 +v -0.160484 2.969145 -0.777570 +v -0.496364 1.066869 -0.703014 +v -0.272286 1.775678 1.012634 +v 1.891111 3.118580 -0.255463 +v 1.853844 1.775879 1.049700 +v 0.137891 3.006504 -0.889617 +v 1.928378 1.066668 0.303711 +v 1.928378 1.402494 0.564871 +v 1.891111 2.782754 -0.964385 +v -0.235019 1.477211 -1.038730 +v 0.249930 3.043862 0.900799 +v 1.145055 3.081221 1.049700 +v 0.995986 1.066668 -1.076432 +v 1.853844 1.290619 1.012634 +f 17 28 37 +f 14 1 16 +f 9 4 18 +f 4 11 18 +f 12 5 19 +f 8 6 20 +f 1 10 21 +f 1 14 22 +f 14 7 22 +f 20 6 22 +f 12 9 23 +f 15 2 23 +f 9 18 23 +f 18 15 23 +f 9 12 24 +f 19 9 24 +f 12 19 24 +f 5 12 25 +f 12 3 25 +f 7 14 26 +f 16 5 26 +f 14 16 26 +f 5 25 26 +f 25 7 26 +f 11 4 27 +f 10 17 27 +f 21 10 27 +f 4 21 27 +f 10 1 28 +f 17 10 28 +f 1 22 28 +f 22 6 28 +f 4 9 29 +f 9 19 29 +f 6 8 30 +f 13 6 30 +f 13 30 31 +f 17 13 31 +f 11 27 31 +f 27 17 31 +f 30 11 31 +f 18 11 32 +f 15 18 32 +f 8 20 32 +f 30 8 32 +f 11 30 32 +f 2 3 33 +f 3 12 33 +f 23 2 33 +f 12 23 33 +f 19 5 34 +f 21 4 34 +f 5 21 34 +f 4 29 34 +f 29 19 34 +f 5 16 35 +f 16 1 35 +f 1 21 35 +f 21 5 35 +f 3 2 36 +f 2 15 36 +f 22 7 36 +f 20 22 36 +f 7 25 36 +f 25 3 36 +f 15 32 36 +f 32 20 36 +f 6 13 37 +f 13 17 37 +f 28 6 37 +o convex_1 +v -0.160484 -3.111573 0.490395 +v 1.891304 -1.097352 -0.255528 +v 1.891304 -1.171880 -0.255528 +v -0.235003 -2.999584 -1.076432 +v -0.160484 -1.097549 0.975396 +v 1.741849 -2.999584 0.937906 +v 1.853836 -2.999781 -1.038942 +v -0.197743 -1.097549 -0.964392 +v 1.779317 -1.097549 0.975180 +v 1.779317 -1.097549 -1.038942 +v -0.123224 -3.111573 1.124710 +v 0.660273 -1.097549 1.087220 +v 1.779317 -2.290781 0.975180 +v 1.182327 -3.037045 -1.076216 +v 0.063492 -3.111573 1.124710 +v -0.048496 -2.402770 -1.076432 +v 1.891304 -1.097352 -0.889843 +v -0.197743 -3.074111 -0.852569 +v 1.891304 -2.290979 -0.777804 +v 0.175271 -1.134813 1.087220 +v 1.480822 -3.037045 -1.038942 +v 1.779317 -2.962320 0.714043 +v 0.212531 -1.097549 -1.001667 +v 1.294315 -3.037045 1.012455 +v -0.160484 -1.880682 1.012671 +v -0.197743 -1.097549 -0.330078 +v 0.100751 -1.955407 1.124710 +v 1.816576 -1.097352 0.788807 +v 0.212531 -3.111573 1.012671 +v 1.219795 -1.097549 -1.038942 +v 1.853836 -2.999781 -0.665980 +v 1.853836 -1.507846 -1.038942 +v -0.235003 -3.036848 -1.038942 +f 42 63 70 +f 46 49 50 +f 48 38 52 +f 50 49 52 +f 41 45 53 +f 51 41 53 +f 47 51 53 +f 39 40 54 +f 54 40 56 +f 44 54 56 +f 49 42 57 +f 51 44 58 +f 38 55 58 +f 55 51 58 +f 50 43 59 +f 40 50 59 +f 56 40 59 +f 53 45 60 +f 45 54 60 +f 43 50 61 +f 50 52 61 +f 58 43 61 +f 38 48 62 +f 48 42 62 +f 45 41 63 +f 42 48 64 +f 48 52 64 +f 52 49 64 +f 57 42 64 +f 49 57 64 +f 40 39 65 +f 49 46 65 +f 42 49 65 +f 50 40 65 +f 46 50 65 +f 39 54 65 +f 54 45 65 +f 63 42 65 +f 45 63 65 +f 52 38 66 +f 38 58 66 +f 61 52 66 +f 58 61 66 +f 47 53 67 +f 54 47 67 +f 53 60 67 +f 60 54 67 +f 44 56 68 +f 43 58 68 +f 58 44 68 +f 59 43 68 +f 56 59 68 +f 44 51 69 +f 51 47 69 +f 54 44 69 +f 47 54 69 +f 41 51 70 +f 55 38 70 +f 51 55 70 +f 38 62 70 +f 62 42 70 +f 63 41 70 +o convex_2 +v 2.675020 -0.276372 -0.180935 +v 3.831304 0.357826 0.117364 +v 3.831304 0.357826 -0.255543 +v 1.928995 0.357826 0.266579 +v 3.793686 -0.276372 0.266579 +v 1.928995 0.357826 -0.330282 +v 1.928995 -0.313709 0.341253 +v 3.793686 -0.239035 -0.330282 +v 1.928995 -0.239035 -0.255543 +v 3.793686 0.357826 0.266579 +v 3.719195 -0.276372 -0.292880 +v 2.040731 0.283087 0.303916 +v 3.831304 0.245816 -0.292880 +v 2.227331 -0.239035 -0.292880 +v 3.010415 -0.313709 0.303916 +v 1.928995 -0.313709 0.154701 +v 2.190085 -0.164428 0.341253 +v 1.928995 0.171208 -0.330282 +v 2.488421 0.357826 -0.330282 +v 3.831304 -0.089820 0.117364 +f 78 83 90 +f 72 73 74 +f 74 73 76 +f 74 76 77 +f 77 76 79 +f 72 74 80 +f 75 72 80 +f 78 75 81 +f 74 77 82 +f 80 74 82 +f 73 72 83 +f 71 79 84 +f 81 71 84 +f 78 81 84 +f 75 80 85 +f 81 75 85 +f 81 85 86 +f 77 79 86 +f 79 71 86 +f 71 81 86 +f 85 77 86 +f 82 77 87 +f 80 82 87 +f 85 80 87 +f 77 85 87 +f 76 78 88 +f 79 76 88 +f 78 84 88 +f 84 79 88 +f 76 73 89 +f 78 76 89 +f 73 83 89 +f 83 78 89 +f 72 75 90 +f 75 78 90 +f 83 72 90 +o convex_3 +v -1.652925 -0.388265 3.102006 +v -2.137864 -1.059858 -3.016421 +v -2.025941 -1.059858 -3.016421 +v -1.727598 0.954717 -2.978690 +v -2.212449 1.029361 3.027143 +v -1.391831 -1.059858 -2.978091 +v -1.391831 1.029361 3.026544 +v -2.175200 -1.022434 3.102006 +v -2.249786 0.917292 -2.940959 +v -1.391831 -0.985214 3.064276 +v -1.391831 0.954717 -2.978690 +v -2.287123 -1.059858 -2.195320 +v -2.287123 0.021971 0.825563 +v -1.802184 0.991936 -2.382179 +v -2.287123 -0.910570 -3.015822 +v -2.212449 -0.947790 2.728289 +v -2.249786 0.954717 -2.828963 +v -1.690261 -1.022434 3.064276 +v -2.287123 -0.462909 0.676436 +v -2.249786 0.656140 2.206043 +v -2.287123 -0.350841 -2.978690 +v -2.212449 -1.059858 -0.851973 +v -1.391831 0.991936 -2.157589 +v -2.212449 1.029361 2.131778 +v -2.249786 0.954717 -0.665713 +v -1.391831 -1.022434 2.056915 +v -2.212449 0.469632 3.063677 +v -1.391831 0.432412 3.064276 +v -1.391831 -1.059858 -2.530708 +v -2.287123 -1.059858 -3.015822 +v -2.212449 -0.127113 3.063677 +v -2.175200 -0.350841 3.102006 +f 118 117 122 +f 92 93 96 +f 96 97 100 +f 91 98 100 +f 96 93 101 +f 97 96 101 +f 92 96 102 +f 101 94 104 +f 93 92 105 +f 99 94 105 +f 101 93 105 +f 94 101 105 +f 102 103 105 +f 102 98 106 +f 94 99 107 +f 104 94 107 +f 100 98 108 +f 103 102 109 +f 102 106 109 +f 103 109 110 +f 99 105 111 +f 105 103 111 +f 107 99 111 +f 103 107 111 +f 102 96 112 +f 98 102 112 +f 108 98 112 +f 97 101 113 +f 101 104 113 +f 113 104 114 +f 95 97 114 +f 107 95 114 +f 104 107 114 +f 97 113 114 +f 95 107 115 +f 107 103 115 +f 110 95 115 +f 103 110 115 +f 96 100 116 +f 100 108 116 +f 97 95 117 +f 95 110 117 +f 100 97 118 +f 91 100 118 +f 97 117 118 +f 112 96 119 +f 108 112 119 +f 96 116 119 +f 116 108 119 +f 92 102 120 +f 105 92 120 +f 102 105 120 +f 106 98 121 +f 109 106 121 +f 110 109 121 +f 98 117 121 +f 117 110 121 +f 98 91 122 +f 117 98 122 +f 91 118 122 +o convex_4 +v -0.272658 1.066668 1.012385 +v -0.720267 -1.097166 -2.978960 +v -0.235284 -0.499866 -3.015716 +v -0.123413 -0.984907 2.952020 +v -1.391619 1.028966 3.026737 +v -1.391619 0.954622 -2.978358 +v -1.391619 -0.985119 3.064699 +v -0.160662 0.954622 -3.091036 +v -1.391619 -1.059676 -2.978960 +v -0.160662 1.028966 3.027340 +v -0.123413 -1.097166 -0.964005 +v -0.123413 1.066668 -1.038120 +v -0.198035 -1.097166 -2.978960 +v -1.391619 -1.059676 1.720994 +v -0.944010 1.066668 -1.336989 +v -0.123413 -1.097166 0.974424 +v -1.242375 -1.097166 -2.978358 +v -0.123413 1.066668 1.012385 +v -1.354370 1.028966 -1.859407 +v -0.794765 0.283189 3.064096 +v -0.160662 0.171143 -3.053075 +v -1.242375 0.954622 -3.015716 +v -1.391619 0.432302 3.064699 +v -0.235284 -0.574635 2.989379 +v -0.272658 0.880065 -3.091036 +v -0.123413 -0.761026 2.952020 +f 126 140 148 +f 127 128 129 +f 129 128 131 +f 123 127 132 +f 133 130 134 +f 126 133 134 +f 124 125 135 +f 133 124 135 +f 129 131 136 +f 127 123 137 +f 134 130 137 +f 123 134 137 +f 126 129 138 +f 124 133 138 +f 133 126 138 +f 129 136 138 +f 138 136 139 +f 125 124 139 +f 136 131 139 +f 124 138 139 +f 123 132 140 +f 134 123 140 +f 126 134 140 +f 128 127 141 +f 127 137 141 +f 130 133 143 +f 135 125 143 +f 133 135 143 +f 125 139 143 +f 131 128 144 +f 137 130 144 +f 128 141 144 +f 141 137 144 +f 127 129 145 +f 132 127 145 +f 129 142 145 +f 142 132 145 +f 129 126 146 +f 126 132 146 +f 142 129 146 +f 132 142 146 +f 139 131 147 +f 130 143 147 +f 143 139 147 +f 131 144 147 +f 144 130 147 +f 132 126 148 +f 140 132 148 +o convex_5 +v 0.511026 0.059366 -2.642970 +v 1.182473 0.022088 -2.382066 +v 1.182473 -0.052527 -2.382066 +v 0.473700 0.320489 -1.113739 +v 0.585677 -0.239094 -1.113739 +v 1.145078 0.357826 -1.113739 +v 1.070426 0.357826 -3.053681 +v 0.585677 -0.201757 -3.091036 +v 1.033170 -0.201757 -1.113739 +v 1.182473 -0.201757 -3.016326 +v 0.511026 0.283153 -2.941616 +v 0.809493 0.357826 -2.195291 +v 0.883936 -0.239094 -1.971935 +v 1.145078 0.171259 -1.151094 +v 0.548352 -0.164420 -3.053681 +v 0.473700 0.208596 -1.113739 +v 0.473700 0.320489 -1.971935 +v 0.734842 0.357826 -1.113739 +v 1.107752 0.283153 -3.016326 +v 0.660259 0.320489 -2.978971 +v 0.585677 -0.239094 -2.084000 +v 1.145078 0.357826 -1.747999 +v 0.883936 -0.239094 -1.225804 +f 161 158 171 +f 151 150 154 +f 152 153 154 +f 154 153 157 +f 150 151 158 +f 156 155 158 +f 151 157 158 +f 154 155 160 +f 151 154 162 +f 157 151 162 +f 154 157 162 +f 149 159 163 +f 159 156 163 +f 153 152 164 +f 149 163 164 +f 163 153 164 +f 159 149 165 +f 164 152 165 +f 149 164 165 +f 152 154 166 +f 154 160 166 +f 165 152 166 +f 160 165 166 +f 150 158 167 +f 158 155 167 +f 155 156 168 +f 156 159 168 +f 160 155 168 +f 159 165 168 +f 165 160 168 +f 156 158 169 +f 161 153 169 +f 158 161 169 +f 153 163 169 +f 163 156 169 +f 154 150 170 +f 155 154 170 +f 150 167 170 +f 167 155 170 +f 157 153 171 +f 158 157 171 +f 153 161 171 +o convex_6 +v 1.853905 0.954622 0.900777 +v 1.182455 -1.097166 -1.039022 +v 0.585520 -0.238707 -1.113739 +v -0.123289 -1.097166 0.975275 +v -0.123289 1.066668 1.012743 +v 1.779188 1.066668 -1.001773 +v 1.779188 -1.097166 0.975275 +v -0.123289 1.066668 -1.039022 +v -0.123289 -1.097166 -0.964305 +v 1.891264 -1.097166 -0.889807 +v 1.294330 1.066668 1.087242 +v 0.473645 -0.275985 1.124710 +v 1.928622 1.066668 0.490380 +v 1.891264 1.066668 -0.927056 +v 1.779188 -1.097166 -1.039022 +v 1.928622 -0.313475 0.341165 +v 1.145096 0.357746 -1.113739 +v 0.212738 -1.097166 1.087242 +v 1.107938 -0.275985 1.124710 +v 1.816547 1.066668 1.012743 +v 1.928622 -0.873073 -0.441942 +v -0.123289 0.991900 -1.076271 +v 1.816547 -0.462588 1.012743 +v 0.361770 1.066668 1.087242 +v 0.995862 1.066668 -1.076271 +v 1.928622 0.954622 -0.479191 +v 1.107938 0.730740 1.124710 +v 0.249895 0.469581 -1.113739 +v 0.660238 -1.097166 1.087242 +v 1.816547 -1.097166 0.788811 +v -0.011213 1.028966 1.049992 +v 1.853905 0.730740 -1.001773 +v 0.212738 -1.097166 -1.001773 +v -0.123289 -0.089594 1.012743 +v 1.033221 -0.201428 -1.113739 +v 1.853905 -1.097166 -1.001773 +v 0.660238 0.656184 -1.113739 +v 1.891264 -1.097166 -0.218228 +f 187 201 209 +f 175 173 178 +f 175 176 179 +f 176 177 179 +f 173 175 180 +f 175 179 180 +f 178 173 181 +f 177 176 182 +f 177 182 184 +f 177 184 185 +f 173 174 186 +f 181 173 186 +f 175 178 189 +f 183 189 190 +f 172 184 191 +f 184 182 191 +f 184 187 192 +f 180 179 193 +f 184 172 194 +f 187 184 194 +f 190 178 194 +f 191 190 194 +f 172 191 194 +f 182 176 195 +f 179 177 196 +f 177 188 196 +f 193 179 196 +f 181 185 197 +f 185 184 197 +f 192 181 197 +f 184 192 197 +f 183 190 198 +f 191 182 198 +f 190 191 198 +f 182 195 198 +f 195 183 198 +f 174 180 199 +f 188 174 199 +f 180 193 199 +f 189 178 200 +f 190 189 200 +f 178 190 200 +f 178 181 201 +f 194 178 201 +f 187 194 201 +f 189 183 202 +f 195 176 202 +f 183 195 202 +f 177 185 203 +f 188 177 203 +f 186 188 203 +f 174 173 204 +f 180 174 204 +f 173 180 204 +f 176 175 205 +f 175 189 205 +f 202 176 205 +f 189 202 205 +f 186 174 206 +f 174 188 206 +f 188 186 206 +f 185 181 207 +f 181 186 207 +f 203 185 207 +f 186 203 207 +f 196 188 208 +f 193 196 208 +f 188 199 208 +f 199 193 208 +f 181 192 209 +f 192 187 209 +f 201 181 209 +o convex_7 +v 0.995844 0.357826 1.721746 +v 0.548352 -0.351016 2.393033 +v 0.511026 -0.313687 1.460638 +v 1.107752 -0.276357 1.124710 +v 1.182473 -0.164439 2.990069 +v 0.622934 0.208578 2.990069 +v 0.622934 0.171248 1.124710 +v 1.070426 0.320497 2.990069 +v 0.697585 -0.351016 3.064699 +v 1.033170 0.320497 1.162120 +v 0.473700 -0.239028 1.124710 +v 0.585677 -0.276357 3.064699 +v 0.958519 0.357826 1.124710 +v 1.182473 -0.127040 2.542102 +v 0.697585 0.245838 3.064699 +v 1.182473 -0.201768 2.840810 +v 1.145078 -0.201768 1.497858 +v 1.182473 -0.052520 2.990069 +f 224 214 227 +f 211 212 213 +f 211 213 218 +f 210 217 219 +f 212 211 220 +f 213 212 220 +f 215 216 220 +f 216 213 220 +f 211 218 221 +f 220 211 221 +f 215 220 221 +f 216 215 222 +f 213 216 222 +f 219 213 222 +f 210 219 222 +f 217 210 224 +f 218 214 224 +f 215 221 224 +f 221 218 224 +f 210 222 224 +f 222 215 224 +f 218 213 225 +f 214 218 225 +f 223 214 225 +f 223 225 226 +f 213 219 226 +f 219 223 226 +f 225 213 226 +f 219 217 227 +f 214 223 227 +f 223 219 227 +f 217 224 227 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/246/246.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/246/246.urdf new file mode 100644 index 000000000..6f66ba51b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/246/246.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/247/247.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/247/247.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/247/247.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/247/247.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/247/247.obj new file mode 100644 index 000000000..9c5f9b562 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/247/247.obj @@ -0,0 +1,1197 @@ +o convex_0 +v 0.582277 1.457444 1.075029 +v -0.412252 0.976191 -1.138978 +v -0.412252 1.072474 -1.138978 +v -1.182495 1.714200 0.529329 +v 0.903018 1.778389 -0.946298 +v 0.967166 0.944097 0.946576 +v -0.925670 0.944097 0.946576 +v 0.935092 0.944097 -0.882071 +v 1.191917 1.778389 0.593556 +v -0.925670 1.778389 -0.946072 +v -1.021892 0.944097 -0.689618 +v -0.700919 1.778389 1.010576 +v -0.380178 0.944097 1.171369 +v 0.967166 1.778389 0.946576 +v 0.421907 0.944097 -1.138978 +v 0.293610 1.778389 -1.074751 +v 1.095695 0.944097 0.754122 +v 1.191917 1.746212 0.016195 +v -1.086040 0.944097 0.529329 +v -1.086040 1.778389 -0.561391 +v -0.925670 1.778389 0.946576 +v -0.893596 0.944097 -0.946072 +v 1.031315 1.008286 -0.593052 +v -0.444326 1.778389 -1.074751 +v 0.389833 0.944097 1.139255 +v 0.967166 1.778389 -0.849958 +v -0.380178 1.072474 1.171369 +v 0.742648 1.778389 1.010802 +v -1.053966 1.072474 -0.625165 +v 1.127769 1.072474 0.657782 +v 0.678500 1.746212 -1.042638 +v -1.182495 1.778389 0.497216 +v -1.118114 1.072474 0.529329 +v -0.893596 1.778389 -0.978185 +v 0.421907 1.104651 1.139255 +v -1.086040 1.425268 -0.561391 +v 0.421907 1.072474 -1.138978 +v 1.191917 1.553646 0.593556 +f 30 18 38 +f 6 7 8 +f 9 5 10 +f 8 7 11 +f 9 10 12 +f 7 6 13 +f 9 12 14 +f 2 3 15 +f 5 8 15 +f 8 11 15 +f 10 5 16 +f 6 8 17 +f 14 6 17 +f 9 14 17 +f 11 7 19 +f 12 10 20 +f 12 20 21 +f 4 7 21 +f 7 13 21 +f 11 10 22 +f 2 15 22 +f 15 11 22 +f 17 8 23 +f 16 3 24 +f 10 16 24 +f 13 6 25 +f 8 5 26 +f 5 9 26 +f 9 18 26 +f 23 8 26 +f 18 23 26 +f 12 21 27 +f 21 13 27 +f 1 14 28 +f 14 12 28 +f 27 1 28 +f 12 27 28 +f 10 11 29 +f 17 23 30 +f 23 18 30 +f 5 15 31 +f 16 5 31 +f 21 20 32 +f 4 21 32 +f 7 4 33 +f 19 7 33 +f 11 19 33 +f 29 11 33 +f 4 29 33 +f 3 2 34 +f 2 22 34 +f 22 10 34 +f 24 3 34 +f 10 24 34 +f 14 1 35 +f 6 14 35 +f 13 25 35 +f 25 6 35 +f 1 27 35 +f 27 13 35 +f 20 10 36 +f 10 29 36 +f 29 4 36 +f 32 20 36 +f 4 32 36 +f 15 3 37 +f 3 16 37 +f 31 15 37 +f 16 31 37 +f 9 17 38 +f 18 9 38 +f 17 30 38 +o convex_1 +v -0.348153 -3.130959 -1.010374 +v 0.036804 -1.237897 1.075104 +v 0.485887 -1.237897 1.042765 +v 0.036804 -4.350236 0.753990 +v 0.935172 -1.237897 -0.817788 +v -1.021979 -1.237897 -0.240447 +v 0.774756 -4.382227 -0.047654 +v -0.829400 -4.285925 0.016196 +v -0.957853 -2.232909 0.914444 +v -0.861563 -1.237897 -0.946317 +v 0.838882 -2.040305 0.946576 +v 0.004641 -4.350236 -0.817996 +v 0.742794 -3.676121 -0.785864 +v -0.797437 -3.579819 -0.785864 +v -0.091448 -3.579819 1.042765 +v 0.999499 -3.644131 -0.015729 +v 0.742794 -3.612140 0.786123 +v -0.925689 -1.237897 0.946576 +v -1.054142 -3.579819 -0.047861 +v -0.829400 -3.579819 0.786123 +v 0.999499 -1.237897 0.336895 +v 0.582177 -1.237897 -0.978449 +v -0.091448 -4.607152 -0.015729 +v 0.004641 -3.644461 -1.042713 +v -0.123410 -1.237897 -1.042713 +v -1.021979 -1.237897 0.529480 +v 0.903209 -1.237897 0.882312 +v 0.903209 -2.008314 -0.849921 +v -0.604858 -1.270218 1.042765 +v -0.604858 -4.157302 0.593537 +v -0.861563 -1.912012 -0.946317 +v -0.701148 -4.221614 -0.368768 +v 0.582177 -4.189623 0.529273 +v 0.518051 -4.221614 -0.625410 +v 0.004641 -3.579819 1.042765 +v -0.091448 -4.350236 0.753990 +v -0.636821 -1.462822 -1.010374 +v -0.925689 -1.430831 -0.785864 +v 0.999499 -3.612140 0.048120 +v 0.999499 -1.237897 -0.015729 +v -1.054142 -3.483847 0.080252 +v 0.068767 -3.579819 -1.042713 +v -0.059284 -4.350236 -0.817996 +v -0.765274 -4.349906 0.016196 +v 0.165056 -4.574831 -0.047861 +v 0.678466 -2.393522 0.978501 +v -0.989815 -1.559124 0.882312 +v -0.027322 -2.425183 1.075104 +v -0.765274 -3.579819 -0.817996 +v 0.935172 -2.489825 -0.657335 +v -0.636821 -4.061000 -0.625410 +v 0.742794 -4.414548 -0.015729 +v 0.068767 -1.237897 -1.042713 +v 0.838882 -1.237897 0.978708 +v 0.774756 -3.644131 -0.753731 +v 0.935172 -1.270547 0.786123 +v -0.091448 -3.579819 -1.042713 +v -0.797437 -4.317916 -0.079994 +v -0.829400 -2.297220 -0.946317 +v 0.999499 -3.547829 -0.079994 +v 0.004641 -4.607152 0.047913 +v -0.861563 -2.232909 -0.914185 +v 0.838882 -2.874373 -0.817788 +v 0.646504 -4.285925 -0.400900 +f 51 93 102 +f 40 41 43 +f 40 43 44 +f 44 43 48 +f 40 44 56 +f 53 47 58 +f 43 41 59 +f 48 43 60 +f 48 60 63 +f 56 44 64 +f 59 41 65 +f 60 43 66 +f 47 53 67 +f 40 56 67 +f 56 47 67 +f 58 46 68 +f 55 42 71 +f 50 51 72 +f 53 42 73 +f 42 55 73 +f 42 53 74 +f 53 58 74 +f 58 68 74 +f 48 63 75 +f 69 48 75 +f 44 48 76 +f 57 44 76 +f 48 69 76 +f 45 54 77 +f 55 45 77 +f 49 55 77 +f 54 59 77 +f 43 59 78 +f 59 54 78 +f 44 57 79 +f 57 46 79 +f 46 58 79 +f 58 47 79 +f 64 44 79 +f 51 50 80 +f 50 62 80 +f 62 63 80 +f 60 66 80 +f 50 61 81 +f 62 50 81 +f 68 46 82 +f 61 74 82 +f 74 68 82 +f 61 50 83 +f 55 49 84 +f 41 73 84 +f 73 55 84 +f 47 56 85 +f 56 64 85 +f 79 47 85 +f 64 79 85 +f 41 40 86 +f 40 67 86 +f 67 53 86 +f 73 41 86 +f 53 73 86 +f 66 43 88 +f 70 52 89 +f 81 70 89 +f 52 87 89 +f 87 81 89 +f 45 55 90 +f 71 42 90 +f 55 71 90 +f 83 50 90 +f 63 60 91 +f 60 80 91 +f 80 63 91 +f 65 41 92 +f 49 65 92 +f 41 84 92 +f 84 49 92 +f 54 45 93 +f 65 49 94 +f 59 65 94 +f 49 77 94 +f 77 59 94 +f 63 62 95 +f 39 75 95 +f 75 63 95 +f 62 81 95 +f 87 39 95 +f 81 87 95 +f 46 57 96 +f 57 52 96 +f 52 70 96 +f 81 61 96 +f 70 81 96 +f 82 46 96 +f 61 82 96 +f 75 39 97 +f 69 75 97 +f 39 87 97 +f 87 52 97 +f 43 78 98 +f 78 54 98 +f 88 43 98 +f 54 93 98 +f 93 88 98 +f 42 74 99 +f 74 61 99 +f 61 83 99 +f 90 42 99 +f 83 90 99 +f 52 57 100 +f 57 76 100 +f 76 69 100 +f 97 52 100 +f 69 97 100 +f 51 80 101 +f 80 66 101 +f 66 88 101 +f 93 51 101 +f 88 93 101 +f 50 72 102 +f 72 51 102 +f 45 90 102 +f 90 50 102 +f 93 45 102 +o convex_2 +v -0.989831 -0.596134 -0.657266 +v 1.031587 -0.211177 0.176463 +v 0.967275 -0.211076 0.882475 +v 0.999329 -1.237897 0.369058 +v -0.925724 -1.237897 0.946588 +v 0.582224 -1.237897 -0.978088 +v -0.957778 -0.211076 0.946588 +v 0.068958 -0.211076 -1.299418 +v -0.861413 -1.237897 -0.946286 +v 0.518117 -1.237897 1.043013 +v -0.251782 -0.211076 1.299721 +v 0.935222 -0.211076 -0.849861 +v -0.893466 -0.211076 -0.914229 +v 0.935222 -1.237897 -0.818059 +v 0.870910 -1.237897 0.978645 +v -1.021885 -1.237897 0.561399 +v -1.054142 -0.211076 0.016180 +v 0.229430 -0.211076 1.267410 +v -1.021885 -1.237897 -0.240274 +v -0.219728 -1.237897 -1.042456 +v -0.636833 -1.237897 1.042758 +v 0.293537 -0.243240 -1.267107 +v -0.283835 -0.211076 -1.235051 +v -1.021885 -0.211076 0.818107 +v 0.935222 -0.211076 0.978645 +v 0.999329 -0.949028 -0.304388 +v 0.004851 -0.564071 1.235353 +v 0.999329 -0.564071 0.753994 +v 0.903168 -1.141607 -0.881918 +v -1.021885 -0.211076 -0.529039 +v -0.636833 -1.237897 -1.010399 +v 0.967275 -0.211076 -0.753691 +v -0.380200 -0.243240 1.267410 +v 0.068958 -1.141607 -1.074767 +v 0.903168 -0.211076 -0.914229 +v -1.054142 -0.692524 0.304690 +v -0.123567 -1.237897 1.075070 +v -0.989831 -1.237897 0.882220 +v -0.829359 -0.211076 -0.978342 +v -0.027203 -0.243240 -1.299418 +v -0.925724 -0.788512 0.978645 +v 1.031587 -0.307366 -0.047934 +v -0.957778 -1.237897 -0.657266 +v 0.036700 -0.275303 1.299721 +v 0.999329 -1.237897 -0.047679 +v 0.935222 -1.205733 0.818361 +v -1.054142 -0.788512 0.080039 +v -1.021885 -0.435719 -0.561096 +v -1.054142 -0.211076 0.465228 +v 0.999329 -0.275303 0.818361 +v -1.021885 -0.756449 0.786050 +v 0.325591 -0.307366 1.235353 +f 120 146 154 +f 106 107 108 +f 109 105 110 +f 108 107 111 +f 107 106 112 +f 105 109 113 +f 110 105 114 +f 109 110 115 +f 111 103 115 +f 106 108 116 +f 112 106 117 +f 111 107 118 +f 109 115 119 +f 105 113 120 +f 111 118 121 +f 108 111 122 +f 107 112 123 +f 115 110 125 +f 109 119 126 +f 105 120 127 +f 106 104 130 +f 116 108 131 +f 108 124 131 +f 119 115 132 +f 122 111 133 +f 111 125 133 +f 105 104 134 +f 114 105 134 +f 116 114 134 +f 128 116 134 +f 113 109 135 +f 107 123 135 +f 123 113 135 +f 108 122 136 +f 124 108 136 +f 110 124 136 +f 110 114 137 +f 114 116 137 +f 124 110 137 +f 116 131 137 +f 131 124 137 +f 123 112 139 +f 113 123 139 +f 129 113 139 +f 112 129 139 +f 118 107 140 +f 109 126 140 +f 111 115 141 +f 125 111 141 +f 115 125 141 +f 125 110 142 +f 122 133 142 +f 133 125 142 +f 136 122 142 +f 110 136 142 +f 107 135 143 +f 135 109 143 +f 140 107 143 +f 109 140 143 +f 104 106 144 +f 134 104 144 +f 128 134 144 +f 103 111 145 +f 111 121 145 +f 112 117 146 +f 120 113 146 +f 113 129 146 +f 129 112 146 +f 106 116 147 +f 116 128 147 +f 144 106 147 +f 128 144 147 +f 117 106 148 +f 106 130 148 +f 121 118 149 +f 118 138 149 +f 138 119 149 +f 115 103 150 +f 132 115 150 +f 119 132 150 +f 103 145 150 +f 145 121 150 +f 121 149 150 +f 149 119 150 +f 126 119 151 +f 119 138 151 +f 104 105 152 +f 105 127 152 +f 127 117 152 +f 130 104 152 +f 117 148 152 +f 148 130 152 +f 138 118 153 +f 118 140 153 +f 140 126 153 +f 126 151 153 +f 151 138 153 +f 117 127 154 +f 127 120 154 +f 146 117 154 +o convex_3 +v 0.036836 0.815744 1.460350 +v -0.091467 -0.146900 1.299888 +v 0.068911 -0.146900 1.299888 +v 0.036836 0.366366 3.000392 +v -0.380291 0.366366 1.299888 +v 0.357736 0.366366 1.299888 +v -0.219841 0.462762 2.743386 +v 0.229361 0.398592 2.807637 +v -0.283992 0.783612 1.299888 +v 0.004760 0.655272 2.711426 +v 0.261437 0.751480 1.299888 +v -0.316068 -0.082636 1.332013 +v -0.027316 0.174044 2.775512 +v 0.261437 -0.050598 1.332013 +v 0.229361 0.334422 2.775512 +v -0.219841 0.366366 2.711426 +v 0.165138 0.591102 2.615049 +v -0.155618 0.623140 2.583090 +v 0.261437 0.751480 1.428391 +v 0.004760 0.174044 2.775512 +v 0.293512 0.013572 1.364139 +v -0.187694 0.815744 1.332013 +v -0.027316 0.430630 3.000392 +v -0.251917 0.462762 2.550964 +v -0.380291 0.302478 1.332013 +v 0.036836 0.655272 2.711426 +v 0.261437 0.430630 2.486712 +v -0.283992 0.783612 1.364139 +f 178 161 182 +f 157 156 159 +f 157 159 160 +f 160 159 163 +f 160 163 165 +f 159 156 166 +f 156 157 167 +f 166 156 167 +f 157 160 168 +f 162 158 169 +f 166 167 170 +f 165 155 173 +f 160 165 173 +f 167 157 174 +f 158 167 174 +f 157 168 174 +f 168 169 174 +f 169 158 174 +f 168 160 175 +f 160 169 175 +f 169 168 175 +f 164 155 176 +f 155 165 176 +f 165 163 176 +f 158 162 177 +f 167 158 177 +f 161 170 177 +f 170 167 177 +f 172 161 177 +f 164 172 177 +f 170 161 178 +f 170 178 179 +f 159 166 179 +f 166 170 179 +f 178 159 179 +f 155 164 180 +f 162 171 180 +f 173 155 180 +f 171 173 180 +f 177 162 180 +f 164 177 180 +f 169 160 181 +f 162 169 181 +f 171 162 181 +f 160 173 181 +f 173 171 181 +f 163 159 182 +f 161 172 182 +f 172 164 182 +f 164 176 182 +f 176 163 182 +f 159 178 182 +o convex_4 +v -1.952931 2.420233 0.593682 +v -1.246888 2.516334 -0.593479 +v -1.246888 2.548407 -0.593479 +v -2.947126 2.420233 -0.079994 +v -1.214583 1.874769 -0.079994 +v -1.214583 2.997537 0.369165 +v -1.214583 1.906958 0.529480 +v -2.754679 2.035248 -0.015792 +v -2.722547 2.805102 -0.015792 +v -2.754679 2.452306 0.433241 +v -1.214583 2.933392 -0.400875 +v -2.722547 2.388161 -0.400875 +v -1.214583 1.971103 -0.464951 +v -1.214583 2.484262 0.690046 +v -2.081287 2.837175 0.433241 +v -1.984718 2.805102 -0.433039 +v -2.305521 2.067320 0.401203 +v -1.246888 3.061798 -0.047956 +v -2.209297 1.939030 0.048284 +v -2.497968 2.131465 -0.304636 +v -2.017023 2.420233 -0.529278 +v -1.246888 2.901320 0.529480 +v -2.979431 2.452306 0.048284 +v -2.722547 2.805102 0.048284 +v -1.343112 1.906958 0.529480 +v -2.690415 2.067320 0.176561 +v -2.530100 2.676696 -0.336674 +v -2.722547 2.356088 0.433241 +v -1.214583 2.869247 -0.497114 +v -2.081287 2.933392 -0.015792 +v -2.722547 2.452306 -0.400875 +v -1.278848 1.971103 -0.464951 +v -2.626323 2.644624 0.369165 +v -2.049155 2.708769 0.497442 +v -1.920799 1.906958 0.016246 +v -2.914994 2.259871 0.048284 +v -2.017023 2.035248 0.465404 +v -1.984718 2.933392 0.112359 +v -1.246888 2.420233 0.690046 +v -1.246888 1.874769 0.272800 +v -2.081287 2.067320 -0.368837 +v -1.920799 2.356088 -0.529278 +f 223 194 224 +f 187 188 189 +f 188 187 193 +f 190 186 194 +f 193 187 195 +f 189 188 196 +f 188 193 200 +f 193 198 200 +f 190 194 202 +f 185 184 203 +f 198 185 203 +f 196 188 204 +f 188 197 204 +f 191 186 205 +f 205 192 206 +f 191 205 206 +f 201 207 208 +f 190 201 208 +f 207 199 208 +f 191 198 209 +f 183 192 210 +f 192 205 210 +f 208 199 210 +f 184 185 211 +f 195 184 211 +f 193 195 211 +f 185 198 211 +f 198 193 211 +f 198 191 212 +f 200 198 212 +f 191 206 212 +f 186 191 213 +f 194 186 213 +f 203 194 213 +f 198 203 213 +f 191 209 213 +f 209 198 213 +f 184 195 214 +f 195 187 214 +f 192 197 215 +f 206 192 215 +f 197 206 215 +f 192 183 216 +f 183 196 216 +f 197 192 216 +f 196 204 216 +f 204 197 216 +f 201 190 217 +f 207 201 217 +f 214 187 217 +f 190 214 217 +f 186 190 218 +f 205 186 218 +f 190 208 218 +f 210 205 218 +f 208 210 218 +f 207 183 219 +f 199 207 219 +f 183 210 219 +f 210 199 219 +f 197 188 220 +f 188 200 220 +f 206 197 220 +f 200 212 220 +f 212 206 220 +f 189 196 221 +f 196 183 221 +f 207 189 221 +f 183 207 221 +f 187 189 222 +f 189 207 222 +f 217 187 222 +f 207 217 222 +f 190 202 223 +f 202 194 223 +f 214 190 223 +f 214 223 224 +f 203 184 224 +f 194 203 224 +f 184 214 224 +o convex_5 +v 0.068886 0.783656 -1.267330 +v 0.004785 -0.211076 -1.395859 +v 0.036836 -0.211076 -1.395859 +v -0.059382 0.462724 -3.032178 +v -0.316049 0.526891 -1.267330 +v 0.357670 0.174022 -1.267330 +v 0.197220 0.398558 -2.839386 +v -0.251882 -0.050610 -1.267330 +v 0.293503 0.719392 -1.427818 +v -0.059382 0.655225 -2.807426 +v -0.251882 0.398558 -2.679070 +v -0.283933 0.751524 -1.299635 +v -0.027265 0.174022 -2.743335 +v 0.261387 -0.146812 -1.299635 +v -0.219766 -0.114777 -1.331595 +v -0.316049 0.174022 -1.299635 +v 0.325553 0.687357 -1.267330 +v 0.165169 0.590961 -2.582847 +v -0.187716 0.623190 -2.614979 +v 0.036836 0.174022 -2.743335 +v 0.229336 0.430495 -2.679070 +v 0.004785 0.655225 -2.807426 +v 0.357670 0.302161 -1.459950 +v 0.133053 -0.211076 -1.267330 +v -0.027265 0.783656 -1.395859 +v -0.187716 0.270419 -2.614979 +v -0.059382 0.398558 -3.032178 +v 0.197220 0.334293 -2.743335 +v -0.251882 0.462724 -2.646938 +v -0.316049 0.366425 -1.588306 +f 229 253 254 +f 225 229 230 +f 230 229 232 +f 229 225 236 +f 227 226 237 +f 232 235 239 +f 237 226 239 +f 232 229 240 +f 235 232 240 +f 225 230 241 +f 233 225 241 +f 234 228 243 +f 236 234 243 +f 227 237 244 +f 233 241 245 +f 231 242 245 +f 242 233 245 +f 231 228 246 +f 225 233 246 +f 228 234 246 +f 242 231 246 +f 233 242 246 +f 241 230 247 +f 230 245 247 +f 245 241 247 +f 226 227 248 +f 230 232 248 +f 238 230 248 +f 239 226 248 +f 232 239 248 +f 227 244 248 +f 244 238 248 +f 236 225 249 +f 234 236 249 +f 225 246 249 +f 246 234 249 +f 239 235 250 +f 237 239 250 +f 228 231 251 +f 235 228 251 +f 231 244 251 +f 244 237 251 +f 250 235 251 +f 237 250 251 +f 230 238 252 +f 244 231 252 +f 238 244 252 +f 245 230 252 +f 231 245 252 +f 228 235 253 +f 229 236 253 +f 243 228 253 +f 236 243 253 +f 240 229 254 +f 235 240 254 +f 253 235 254 +o convex_6 +v -1.086231 0.751436 0.464977 +v 1.095763 0.943984 0.753946 +v 1.095763 0.847653 0.753946 +v 0.389648 0.206242 -1.267330 +v -0.316040 -0.210963 1.299721 +v -0.957652 -0.210963 -0.785882 +v -0.893576 0.943984 -0.946449 +v 1.031474 -0.210963 -0.015717 +v 0.935146 0.943984 -0.882122 +v -0.316040 0.943984 1.202979 +v 0.935146 -0.210963 0.978589 +v -0.957652 -0.210963 0.946425 +v 0.903109 -0.210963 -0.914285 +v 0.261496 0.783546 1.299721 +v -0.187675 -0.210963 -1.267330 +v -0.957652 0.943984 0.914262 +v -0.091347 0.783546 -1.267330 +v -1.021941 0.943984 -0.689643 +v -1.053979 -0.210963 -0.015717 +v 0.293534 -0.050526 1.299721 +v -0.412367 0.302460 1.299721 +v 0.967398 0.943984 0.946425 +v 0.421686 0.943984 -1.138927 +v 0.999436 0.623109 -0.689643 +v -0.893576 -0.178853 -0.946449 +v -0.316040 0.558888 -1.267330 +v 0.293534 -0.210963 -1.267330 +v 1.031474 -0.114633 0.753946 +v -1.021941 -0.210963 0.818022 +v 0.357824 0.366454 1.299721 +v -1.086231 0.943984 0.529304 +v -0.284002 0.783546 1.299721 +v 0.325572 0.719326 -1.267330 +v 1.031474 0.943984 -0.368762 +v 0.967398 -0.210963 -0.753719 +v -0.380116 0.943984 -1.138927 +v -1.021941 -0.210963 -0.529077 +v 0.293534 -0.210963 1.267306 +v 0.325572 0.943984 1.171067 +v -0.316040 0.142022 -1.267330 +v -1.053979 -0.210963 0.464977 +v -0.925614 0.238239 0.978589 +v -0.284002 0.751436 -1.267330 +v 0.903109 0.943984 -0.914285 +v -0.925614 0.943984 0.946425 +f 296 275 299 +f 259 260 262 +f 261 256 263 +f 256 261 264 +f 259 262 265 +f 260 259 266 +f 262 260 267 +f 267 260 269 +f 264 261 270 +f 258 269 271 +f 270 261 272 +f 260 266 273 +f 255 272 273 +f 268 259 274 +f 266 259 275 +f 259 268 275 +f 257 256 276 +f 256 264 276 +f 265 257 276 +f 261 263 277 +f 269 260 279 +f 260 272 279 +f 272 261 279 +f 271 269 280 +f 279 261 280 +f 258 267 281 +f 269 258 281 +f 267 269 281 +f 262 257 282 +f 257 265 282 +f 265 262 282 +f 266 270 283 +f 273 266 283 +f 274 265 284 +f 268 274 284 +f 265 276 284 +f 276 268 284 +f 272 255 285 +f 270 272 285 +f 255 283 285 +f 283 270 285 +f 268 264 286 +f 275 268 286 +f 258 271 287 +f 271 277 287 +f 256 257 288 +f 257 262 288 +f 263 256 288 +f 262 278 288 +f 278 263 288 +f 262 267 289 +f 267 263 289 +f 278 262 289 +f 263 278 289 +f 261 277 290 +f 277 271 290 +f 272 260 291 +f 260 273 291 +f 273 272 291 +f 259 265 292 +f 274 259 292 +f 265 274 292 +f 264 268 293 +f 276 264 293 +f 268 276 293 +f 269 279 294 +f 280 269 294 +f 279 280 294 +f 255 273 295 +f 283 255 295 +f 273 283 295 +f 270 266 296 +f 266 275 296 +f 280 261 297 +f 271 280 297 +f 261 290 297 +f 290 271 297 +f 267 258 298 +f 263 267 298 +f 277 263 298 +f 258 287 298 +f 287 277 298 +f 264 270 299 +f 286 264 299 +f 275 286 299 +f 270 296 299 +o convex_7 +v 0.806876 3.157968 0.689780 +v -0.604789 1.939018 -1.074801 +v -0.604789 2.067355 -1.074801 +v -1.214583 2.388113 0.689780 +v 0.967348 1.778555 0.946617 +v 0.806876 3.157968 -0.914125 +v -0.829450 3.414642 -0.144226 +v 1.288292 1.810681 -0.400655 +v -0.925489 1.778389 0.946617 +v -0.893639 3.157968 -0.946383 +v -0.893639 3.126009 0.817994 +v -1.118055 1.778389 -0.497020 +v 1.288292 2.901294 0.368835 +v 0.678498 1.778555 -1.042543 +v 0.774781 3.414642 -0.047861 +v -1.214583 3.093717 -0.047861 +v 1.288292 2.869169 -0.529074 +v 0.550120 2.324028 1.010928 +v -1.214583 2.452365 -0.593385 +v 0.068949 3.478894 -0.016216 +v 1.288292 1.842640 0.529307 +v -0.893639 1.778389 -0.978436 +v 0.133138 2.580702 -1.074801 +v -1.182244 1.778389 0.529307 +v 0.838970 3.093717 0.785940 +v 0.935253 1.939018 -0.946178 +v -0.701073 1.842640 1.010928 +v 1.288292 2.452365 0.593415 +v 0.036854 3.446768 -0.240387 +v -1.214583 2.965546 0.529307 +v -0.027090 3.254179 0.657726 +v 1.288292 3.029631 -0.176076 +v -0.027090 2.420406 1.010928 +v -0.957828 2.324028 0.946617 +v -1.214583 1.970977 -0.464966 +v -0.797356 3.414642 0.047891 +v 0.967348 2.388113 0.914359 +v 0.550120 2.356154 -1.074801 +v -1.214583 2.933420 -0.497020 +v 0.742687 1.778555 1.010928 +v -0.187562 3.254179 -0.817964 +v 1.288292 2.420406 -0.593181 +v 0.903159 2.259777 -0.978232 +v 1.288292 1.778555 0.144256 +v -0.893639 2.227817 -1.010490 +v -0.572695 2.420406 -1.074801 +v -0.893639 3.190094 -0.914329 +v -0.893639 3.190094 0.721833 +v 0.293365 1.778555 -1.074801 +v 0.935253 1.778555 -0.914125 +v 0.774781 3.382683 -0.240387 +v 1.255953 3.061757 0.016042 +v -0.091278 3.478894 -0.144226 +v -1.214583 1.842640 0.112202 +v -0.765261 3.061757 -0.978436 +v -1.214583 2.548743 0.689780 +v -0.155467 3.478894 -0.016216 +v -0.957828 3.318431 0.015837 +v -0.604789 2.388113 0.978670 +v 0.678498 3.190094 -0.882071 +v -0.476412 1.778389 -1.074801 +v 0.068949 3.222054 0.721833 +v -0.668978 3.029798 0.850456 +v -0.829450 3.190094 0.753887 +f 361 330 363 +f 312 307 316 +f 303 315 318 +f 300 314 319 +f 307 312 320 +f 308 311 321 +f 301 302 322 +f 308 303 323 +f 311 308 323 +f 312 300 324 +f 304 320 327 +f 320 312 327 +f 312 324 327 +f 315 303 329 +f 300 319 330 +f 312 316 331 +f 316 305 331 +f 317 324 332 +f 326 317 332 +f 303 308 333 +f 308 326 333 +f 303 318 334 +f 321 311 334 +f 318 321 334 +f 324 317 336 +f 304 327 336 +f 327 324 336 +f 301 322 337 +f 322 305 337 +f 309 318 338 +f 318 315 338 +f 308 304 339 +f 326 308 339 +f 317 326 339 +f 304 336 339 +f 336 317 339 +f 316 307 341 +f 341 325 342 +f 305 316 342 +f 325 313 342 +f 313 337 342 +f 337 305 342 +f 316 341 342 +f 304 308 343 +f 320 304 343 +f 307 320 343 +f 302 301 344 +f 318 309 344 +f 301 321 344 +f 321 318 344 +f 322 302 345 +f 302 344 345 +f 344 309 345 +f 305 309 346 +f 315 306 346 +f 309 338 346 +f 338 315 346 +f 329 310 347 +f 301 337 348 +f 337 313 348 +f 313 325 349 +f 341 307 349 +f 325 341 349 +f 307 343 349 +f 331 305 350 +f 314 331 350 +f 300 312 351 +f 314 300 351 +f 331 314 351 +f 312 331 351 +f 319 314 352 +f 328 340 352 +f 346 306 352 +f 340 346 352 +f 350 328 352 +f 314 350 352 +f 323 303 353 +f 311 323 353 +f 303 334 353 +f 334 311 353 +f 309 305 354 +f 305 322 354 +f 322 345 354 +f 345 309 354 +f 310 329 355 +f 329 303 355 +f 303 333 355 +f 333 310 355 +f 330 319 356 +f 306 335 356 +f 319 352 356 +f 352 306 356 +f 306 315 357 +f 315 329 357 +f 335 306 357 +f 329 347 357 +f 347 335 357 +f 332 310 358 +f 326 332 358 +f 333 326 358 +f 310 333 358 +f 340 328 359 +f 305 346 359 +f 346 340 359 +f 350 305 359 +f 328 350 359 +f 321 301 360 +f 308 321 360 +f 343 308 360 +f 301 348 360 +f 348 313 360 +f 313 349 360 +f 349 343 360 +f 324 300 361 +f 310 324 361 +f 300 330 361 +f 324 310 362 +f 310 332 362 +f 332 324 362 +f 347 310 363 +f 335 347 363 +f 330 356 363 +f 356 335 363 +f 310 361 363 +o convex_8 +v 1.577283 1.778389 -0.176293 +v 1.384792 3.029826 -0.047890 +v 1.384792 3.029826 -0.079990 +v 3.021052 2.419909 -0.015789 +v 1.288461 2.131550 0.561694 +v 1.288461 2.612599 -0.561391 +v 2.764114 2.419909 -0.432988 +v 2.732060 2.323994 0.369090 +v 2.764114 1.938983 -0.015789 +v 1.288461 1.810605 -0.400888 +v 1.288461 2.869231 0.401190 +v 2.828221 2.805165 -0.079990 +v 1.384792 1.842577 0.497492 +v 1.930212 2.837137 -0.465089 +v 1.962265 2.805165 0.369090 +v 1.545229 2.419909 0.561694 +v 2.571623 2.035144 -0.304585 +v 2.122703 2.356088 -0.529290 +v 1.288461 2.901448 -0.497190 +v 2.603677 2.035144 0.272897 +v 2.667784 2.708759 0.208696 +v 1.288461 2.292022 -0.561391 +v 1.288461 1.810605 0.401190 +v 2.026542 1.810605 0.048193 +v 2.828221 2.388305 0.336989 +v 1.994489 2.965515 -0.047890 +v 2.090649 2.388305 0.497492 +v 2.635730 2.708759 -0.336686 +v 3.021052 2.292022 -0.047890 +v 2.732060 2.323994 -0.432988 +v 2.732060 1.938983 -0.079990 +v 2.154757 1.970955 -0.368787 +v 2.090649 2.837137 -0.432988 +v 1.288461 2.484221 0.561694 +v 2.090649 2.837137 0.272897 +v 1.288461 3.029826 -0.015789 +v 2.026542 1.938983 0.401190 +v 1.320685 1.874672 0.529593 +v 1.288461 1.778389 0.144495 +v 3.021052 2.388305 -0.112091 +v 2.796168 2.805165 -0.015789 +v 2.796168 2.292022 0.336989 +v 1.769774 2.419909 -0.561391 +v 1.320685 1.778389 -0.336686 +v 2.379132 2.740976 0.304888 +f 404 398 408 +f 368 369 373 +f 369 368 374 +f 377 370 381 +f 369 374 382 +f 377 369 382 +f 373 369 385 +f 381 373 385 +f 368 373 386 +f 376 386 387 +f 366 365 389 +f 379 368 390 +f 378 379 390 +f 371 388 390 +f 375 370 391 +f 367 388 392 +f 381 370 393 +f 393 392 394 +f 387 364 394 +f 372 387 394 +f 392 372 394 +f 380 393 394 +f 373 381 395 +f 393 380 395 +f 381 393 395 +f 380 394 395 +f 370 377 396 +f 382 366 396 +f 377 382 396 +f 366 389 396 +f 389 375 396 +f 391 370 396 +f 375 391 396 +f 374 368 397 +f 378 374 397 +f 368 379 397 +f 379 378 397 +f 374 378 398 +f 398 389 399 +f 365 366 399 +f 366 382 399 +f 382 374 399 +f 389 365 399 +f 374 398 399 +f 372 383 400 +f 376 387 400 +f 387 372 400 +f 368 386 401 +f 386 376 401 +f 390 368 401 +f 371 390 401 +f 400 371 401 +f 376 400 401 +f 386 373 402 +f 387 386 402 +f 364 387 402 +f 370 375 403 +f 375 367 403 +f 367 392 403 +f 393 370 403 +f 392 393 403 +f 367 375 404 +f 388 367 404 +f 384 388 404 +f 375 389 404 +f 389 398 404 +f 383 372 405 +f 388 371 405 +f 372 392 405 +f 392 388 405 +f 371 400 405 +f 400 383 405 +f 369 377 406 +f 377 381 406 +f 385 369 406 +f 381 385 406 +f 394 364 407 +f 373 395 407 +f 395 394 407 +f 364 402 407 +f 402 373 407 +f 388 384 408 +f 378 390 408 +f 390 388 408 +f 398 378 408 +f 384 404 408 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/247/247.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/247/247.urdf new file mode 100644 index 000000000..d0318a4d4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/247/247.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/248/248.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/248/248.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/248/248.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/248/248.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/248/248.obj new file mode 100644 index 000000000..9dc383a12 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/248/248.obj @@ -0,0 +1,414 @@ +o convex_0 +v -0.823806 -3.871606 -0.799914 +v -0.226889 0.025225 1.095944 +v 0.580580 0.025225 1.060647 +v -0.929081 0.025225 -1.080990 +v 1.107384 -0.395802 -1.116287 +v 0.931783 -3.836262 0.955406 +v -1.069733 -3.942295 1.060647 +v 1.001895 -3.871995 -1.116287 +v -0.964244 0.025225 1.095944 +v 1.072221 0.025614 1.025567 +v -0.964244 -3.696049 -0.975533 +v 1.107384 0.025614 -1.116287 +v -1.069733 -3.134032 0.639249 +v 0.791344 -3.871606 0.990486 +v -0.964244 -0.150332 -0.905372 +v 1.037058 -2.853218 -0.519054 +v -0.472603 -3.942295 -0.413813 +v -0.964244 -2.572403 1.095944 +v -0.262051 -3.942295 0.639249 +v -0.999407 -3.836262 -0.554351 +v -0.929081 -0.431146 -1.080990 +v 0.966732 -3.169376 0.990486 +v -0.999407 -0.746917 1.095944 +v 0.545417 0.025225 -1.116287 +v 0.896620 -3.871995 -1.116287 +v 1.001895 -3.871995 -0.554351 +v 1.072221 -0.360846 0.885029 +v -0.577878 -3.836262 1.060647 +v -0.964244 -3.836262 -0.940452 +v 1.037058 -0.993163 1.025567 +v 1.037058 -3.239677 -1.116287 +v -0.964244 -1.449535 -1.010830 +v -1.069733 -3.028775 1.060647 +v -1.069733 -3.906562 0.604169 +v 1.107384 -0.009731 -0.519054 +v -0.964244 0.025225 -0.343436 +v 0.334866 -3.906562 -0.870291 +v -0.542929 -3.942295 -0.448893 +v 0.053775 -1.870950 1.060647 +v 0.966732 -3.871995 0.182771 +v -0.894131 -3.836262 -0.975533 +v -0.964244 -2.607360 -1.010830 +f 32 21 42 +f 2 3 10 +f 9 2 10 +f 5 8 12 +f 2 9 18 +f 14 7 19 +f 7 17 19 +f 14 6 22 +f 18 9 23 +f 7 18 23 +f 4 12 24 +f 12 8 24 +f 21 4 24 +f 21 24 25 +f 24 8 25 +f 19 8 26 +f 22 26 27 +f 10 22 27 +f 26 16 27 +f 7 14 28 +f 18 7 28 +f 1 7 29 +f 20 11 29 +f 10 3 30 +f 22 10 30 +f 14 22 30 +f 28 14 30 +f 8 5 31 +f 26 8 31 +f 16 26 31 +f 15 4 32 +f 13 15 32 +f 20 13 32 +f 4 21 32 +f 13 7 33 +f 7 23 33 +f 23 13 33 +f 7 13 34 +f 13 20 34 +f 29 7 34 +f 20 29 34 +f 5 12 35 +f 12 10 35 +f 10 27 35 +f 27 16 35 +f 31 5 35 +f 16 31 35 +f 9 10 36 +f 12 4 36 +f 10 12 36 +f 4 15 36 +f 15 13 36 +f 13 23 36 +f 23 9 36 +f 8 19 37 +f 19 17 37 +f 25 8 37 +f 7 1 38 +f 17 7 38 +f 1 37 38 +f 37 17 38 +f 3 2 39 +f 2 18 39 +f 18 28 39 +f 30 3 39 +f 28 30 39 +f 6 14 40 +f 14 19 40 +f 22 6 40 +f 19 26 40 +f 26 22 40 +f 11 25 41 +f 1 29 41 +f 29 11 41 +f 37 1 41 +f 25 37 41 +f 11 20 42 +f 21 25 42 +f 25 11 42 +f 20 32 42 +o convex_1 +v 0.334821 4.239450 -0.097917 +v -0.367437 2.237907 -0.273491 +v -0.262051 2.237907 -0.308620 +v 0.229507 2.237907 0.323419 +v -0.297204 4.239450 0.217965 +v -0.226971 4.204185 -0.378877 +v 0.334821 2.237907 -0.343748 +v -0.332284 2.237907 0.323419 +v 0.229507 4.063708 0.217965 +v 0.369974 4.239450 -0.203303 +v -0.332284 3.923232 0.077519 +v 0.229507 2.589196 0.323419 +v 0.369974 3.923232 -0.133046 +v -0.016200 3.607209 -0.378877 +v 0.334821 2.237907 -0.203303 +v -0.332284 2.518860 0.323419 +v 0.264588 4.098974 0.182836 +v 0.018736 2.237907 -0.343748 +v -0.367437 2.589196 -0.203303 +v 0.334821 2.518860 -0.343748 +v 0.053889 4.239450 -0.308620 +v -0.297204 4.239450 0.007262 +f 63 48 64 +f 44 45 46 +f 45 44 48 +f 46 45 49 +f 44 46 50 +f 47 43 52 +f 50 46 54 +f 51 47 54 +f 49 52 55 +f 54 46 55 +f 46 49 57 +f 55 46 57 +f 49 55 57 +f 47 53 58 +f 50 54 58 +f 54 47 58 +f 43 47 59 +f 47 51 59 +f 52 43 59 +f 51 54 59 +f 55 52 59 +f 54 55 59 +f 45 48 60 +f 49 45 60 +f 48 56 60 +f 56 49 60 +f 48 44 61 +f 44 50 61 +f 53 48 61 +f 50 58 61 +f 58 53 61 +f 52 49 62 +f 49 56 62 +f 62 56 63 +f 47 52 63 +f 56 48 63 +f 52 62 63 +f 48 53 64 +f 53 47 64 +f 47 63 64 +o convex_2 +v -3.035941 0.096053 -0.167817 +v 0.615695 2.237907 0.569088 +v 0.615695 2.237907 0.463847 +v 1.177614 0.025676 1.025567 +v 1.177614 0.060973 -1.116287 +v -3.106390 2.167530 -1.116287 +v -3.000716 2.097153 0.920109 +v 1.177614 2.097153 -1.045910 +v -3.071166 0.025676 0.920109 +v 1.177614 2.062072 1.095944 +v -3.000716 0.096053 -0.940452 +v -1.315378 0.025676 1.095944 +v -0.929583 0.025676 -1.080990 +v -1.455858 2.237907 -1.045910 +v 1.107164 2.062072 -1.080990 +v -3.035941 2.132450 0.533791 +v -1.877297 2.097369 0.990270 +v -3.106390 1.921534 -1.116287 +v 0.334735 2.237907 -0.343652 +v 1.107164 0.025676 -1.116287 +v -0.227184 0.025676 1.095944 +v 0.545245 2.027208 1.095944 +v -0.332439 2.237907 0.323092 +v -3.000716 0.096053 0.955190 +v -3.000716 0.201294 -0.975533 +v -3.106390 2.167530 -0.729970 +v -0.999194 0.693070 1.095944 +v 1.177614 1.394895 1.095944 +v 1.107164 0.517668 -1.116287 +v -0.823909 2.237907 -1.010830 +v -3.035941 1.745915 0.920109 +v -2.614502 2.097153 0.955190 +v 0.475215 0.025676 -1.116287 +v -1.210123 0.131134 -1.080990 +v -2.684951 2.167530 -1.116287 +v -2.509247 2.202610 -1.045910 +v 1.177614 0.447290 1.060647 +v -3.071166 0.025676 0.814868 +v -3.071166 0.376913 0.920109 +v -3.106390 1.816293 -1.080990 +v 1.177614 2.097153 -0.519271 +v -1.139674 2.062289 1.025567 +v -3.035941 2.097153 0.744707 +f 103 95 107 +f 67 66 72 +f 68 69 72 +f 68 72 74 +f 73 68 76 +f 68 73 77 +f 66 67 78 +f 78 72 79 +f 72 69 79 +f 74 66 81 +f 70 69 82 +f 67 72 83 +f 78 67 83 +f 69 68 84 +f 68 77 84 +f 82 69 84 +f 76 68 85 +f 74 76 85 +f 76 74 86 +f 74 81 86 +f 71 66 87 +f 66 78 87 +f 80 71 87 +f 73 76 88 +f 77 75 89 +f 75 82 89 +f 70 82 90 +f 76 86 91 +f 68 74 92 +f 74 85 92 +f 69 70 93 +f 79 69 93 +f 72 78 94 +f 83 72 94 +f 78 83 94 +f 88 71 95 +f 66 71 96 +f 81 66 96 +f 71 88 96 +f 88 76 96 +f 76 91 96 +f 91 81 96 +f 84 77 97 +f 82 84 97 +f 77 89 98 +f 89 82 98 +f 97 77 98 +f 82 97 98 +f 70 78 99 +f 78 79 99 +f 93 70 99 +f 79 93 99 +f 78 70 100 +f 87 78 100 +f 80 87 100 +f 70 90 100 +f 90 80 100 +f 85 68 101 +f 68 92 101 +f 92 85 101 +f 65 75 102 +f 77 73 102 +f 75 77 102 +f 73 88 103 +f 90 73 103 +f 88 95 103 +f 75 65 104 +f 82 75 104 +f 73 90 104 +f 90 82 104 +f 65 102 104 +f 102 73 104 +f 72 66 105 +f 66 74 105 +f 74 72 105 +f 86 81 106 +f 81 91 106 +f 91 86 106 +f 71 80 107 +f 80 90 107 +f 95 71 107 +f 90 103 107 +o convex_3 +v 1.915083 2.167368 -0.940452 +v 1.880109 0.060791 0.639249 +v 1.915083 0.060791 0.639249 +v 1.177803 2.062093 1.095944 +v 3.003422 2.062093 0.990270 +v 3.108910 0.166492 -0.975533 +v 1.177803 0.096166 -1.116287 +v 2.968259 0.095953 1.095944 +v 2.968448 2.237907 -0.975533 +v 1.177803 0.061004 1.025567 +v 1.177803 2.097256 -1.045910 +v 1.212776 0.061004 -1.080990 +v 2.757662 2.202744 -1.010830 +v 3.038585 0.166492 -1.010830 +v 3.003422 2.167368 -0.027495 +v 2.090707 0.306718 1.095944 +v 3.003422 1.746053 1.025350 +v 1.212776 1.851329 -1.080990 +v 3.073747 0.131116 -0.378732 +v 1.283101 2.097256 0.709627 +v 2.968259 0.587595 1.095944 +v 2.757662 2.237907 -0.765050 +v 3.003422 2.062093 -0.975533 +v 1.177803 1.359900 1.095944 +v 2.968259 0.095953 0.674330 +v 1.493888 0.061004 1.060647 +v 3.108910 0.306931 -0.940452 +v 1.247939 0.201442 -1.116287 +v 3.003422 1.219462 1.025350 +v 2.757662 0.131116 -1.010830 +v 2.230979 0.060791 1.025567 +v 3.003422 2.097043 0.709410 +v 3.108910 0.166492 -0.870291 +v 1.177803 2.097256 -0.203114 +v 2.617201 2.062093 1.025567 +f 112 139 142 +f 111 114 117 +f 114 111 118 +f 108 116 118 +f 110 109 119 +f 109 117 119 +f 117 114 119 +f 118 116 120 +f 115 111 123 +f 114 118 125 +f 118 120 125 +f 111 115 128 +f 115 124 128 +f 116 108 129 +f 111 122 129 +f 122 116 129 +f 127 111 129 +f 120 116 130 +f 113 121 130 +f 121 120 130 +f 116 122 130 +f 111 117 131 +f 123 111 131 +f 126 115 132 +f 115 123 133 +f 131 117 133 +f 123 131 133 +f 113 130 134 +f 130 122 134 +f 121 114 135 +f 120 121 135 +f 114 125 135 +f 125 120 135 +f 124 115 136 +f 115 126 136 +f 119 114 137 +f 121 113 137 +f 114 121 137 +f 113 126 137 +f 132 119 137 +f 126 132 137 +f 109 110 138 +f 117 109 138 +f 110 119 138 +f 132 115 138 +f 119 132 138 +f 115 133 138 +f 133 117 138 +f 122 111 139 +f 112 134 139 +f 134 122 139 +f 112 124 140 +f 126 113 140 +f 134 112 140 +f 113 134 140 +f 124 136 140 +f 136 126 140 +f 108 118 141 +f 118 111 141 +f 111 127 141 +f 129 108 141 +f 127 129 141 +f 124 112 142 +f 111 128 142 +f 128 124 142 +f 139 111 142 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/248/248.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/248/248.urdf new file mode 100644 index 000000000..7581be71d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/248/248.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/249/249.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/249/249.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/249/249.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/249/249.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/249/249.obj new file mode 100644 index 000000000..dfe764cd3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/249/249.obj @@ -0,0 +1,846 @@ +o convex_0 +v 0.598980 -2.826696 0.504826 +v 0.000667 -1.440068 -1.039518 +v -0.913386 -1.440068 -0.850210 +v 0.851306 -1.408589 0.851355 +v -0.944960 -1.503200 0.819871 +v -0.756047 -2.952609 -0.030812 +v 0.410067 -2.542864 -1.039518 +v 1.387002 -1.408589 -0.062296 +v -0.062481 -2.952785 0.788386 +v 0.725276 -3.015742 -0.030812 +v -1.323051 -1.408413 0.000673 +v 0.063284 -3.047044 -0.787041 +v 1.072059 -1.408589 -0.850210 +v -0.535294 -2.700431 -0.818726 +v 0.000667 -2.227905 1.009179 +v -0.818929 -2.228081 0.756902 +v 0.882880 -2.322340 -0.787241 +v -0.030907 -3.204963 0.063441 +v 0.788424 -2.227905 0.756902 +v -0.094055 -1.408589 0.977494 +v 0.819732 -2.889652 0.031957 +v 0.630554 -2.826696 -0.597933 +v -0.787355 -2.921131 0.063441 +v -0.724473 -1.408413 0.914525 +v 1.008911 -1.440068 0.788386 +v 0.063284 -2.070513 -1.039518 +v 0.094858 -1.408589 -1.039518 +v -0.629751 -2.763563 0.536310 +v -1.291742 -1.503200 -0.062296 +v 1.387002 -1.440068 0.000472 +v -0.818929 -2.858174 -0.062296 +v 0.063284 -2.952785 0.756701 +v 0.945763 -1.597635 -0.913179 +v -0.030907 -3.204963 -0.093781 +v -0.566868 -2.732085 -0.755757 +v -0.094055 -2.196602 1.009179 +v 0.126432 -3.047044 -0.787041 +v -0.913386 -1.408413 -0.850210 +v 0.126432 -1.408589 0.977494 +v -0.850238 -2.164948 0.756902 +v 0.819732 -2.889652 -0.030812 +v 0.725276 -3.015742 0.031957 +v 1.387002 -1.440068 -0.062296 +v 1.040485 -1.629289 -0.850210 +v -1.323051 -1.440068 0.000673 +v 0.189580 -2.574518 -1.007833 +v -0.913386 -1.408413 0.851556 +v -0.125364 -2.952785 0.756701 +v 0.063284 -3.204963 0.031957 +v 0.725276 -1.534678 0.883040 +v 0.441641 -2.385472 -1.039518 +v 0.536097 -2.795042 0.599279 +v 0.000667 -2.763388 0.851556 +v -0.850238 -2.038859 0.788386 +v 0.031976 -3.204963 -0.093781 +v -0.503720 -2.795042 0.630763 +v -0.251659 -3.141831 0.031957 +v 0.693702 -2.889652 -0.377542 +v 0.094858 -3.015742 -0.818726 +v 0.914454 -2.290861 -0.724272 +v 0.693702 -2.920955 0.252549 +v 0.882880 -1.408589 -0.913179 +v 0.977337 -1.944424 -0.818726 +f 43 60 63 +f 7 17 22 +f 4 8 24 +f 8 4 25 +f 3 2 26 +f 2 7 26 +f 14 3 26 +f 7 2 27 +f 16 23 28 +f 19 21 30 +f 8 25 30 +f 25 19 30 +f 6 23 31 +f 9 18 32 +f 6 12 34 +f 12 6 35 +f 3 14 35 +f 14 12 35 +f 29 3 35 +f 6 31 35 +f 31 29 35 +f 16 9 36 +f 20 24 36 +f 7 22 37 +f 34 12 37 +f 2 3 38 +f 3 11 38 +f 8 13 38 +f 24 8 38 +f 11 24 38 +f 27 2 38 +f 4 24 39 +f 24 20 39 +f 36 15 39 +f 20 36 39 +f 23 16 40 +f 21 10 41 +f 30 21 41 +f 10 21 42 +f 13 8 43 +f 8 30 43 +f 30 41 43 +f 7 33 44 +f 33 13 44 +f 13 43 44 +f 11 3 45 +f 5 11 45 +f 3 29 45 +f 31 23 45 +f 29 31 45 +f 40 5 45 +f 23 40 45 +f 26 7 46 +f 14 26 46 +f 11 5 47 +f 24 11 47 +f 9 16 48 +f 18 9 48 +f 32 18 49 +f 18 34 49 +f 10 42 49 +f 42 32 49 +f 15 19 50 +f 25 4 50 +f 19 25 50 +f 4 39 50 +f 39 15 50 +f 7 27 51 +f 33 7 51 +f 1 19 52 +f 32 1 52 +f 19 32 52 +f 19 15 53 +f 9 32 53 +f 32 19 53 +f 36 9 53 +f 15 36 53 +f 16 36 54 +f 36 24 54 +f 5 40 54 +f 40 16 54 +f 47 5 54 +f 24 47 54 +f 37 10 55 +f 34 37 55 +f 49 34 55 +f 10 49 55 +f 16 28 56 +f 28 23 56 +f 48 16 56 +f 23 48 56 +f 23 6 57 +f 6 34 57 +f 34 18 57 +f 18 48 57 +f 48 23 57 +f 22 17 58 +f 37 22 58 +f 10 37 58 +f 17 41 58 +f 41 10 58 +f 12 14 59 +f 7 37 59 +f 37 12 59 +f 46 7 59 +f 14 46 59 +f 41 17 60 +f 43 41 60 +f 19 1 61 +f 21 19 61 +f 1 32 61 +f 42 21 61 +f 32 42 61 +f 13 33 62 +f 38 13 62 +f 27 38 62 +f 51 27 62 +f 33 51 62 +f 17 7 63 +f 7 44 63 +f 44 43 63 +f 60 17 63 +o convex_1 +v -1.007896 1.333763 0.851414 +v 0.346940 3.067201 0.189552 +v 0.346940 3.067201 -0.030806 +v 1.229604 1.050023 0.094972 +v -0.976280 1.050023 -0.850235 +v 0.662325 2.468129 -0.787247 +v -0.755744 2.562709 -0.598088 +v 0.693682 2.468129 0.851414 +v 0.031813 1.050023 1.009179 +v -0.724386 2.594104 0.693847 +v 0.788272 1.050023 -0.818840 +v -1.417872 1.050023 0.031984 +v -0.314670 2.184390 -0.976210 +v 0.914219 2.531117 0.000589 +v -0.156848 2.562907 0.945994 +v 0.914219 1.050023 0.819821 +v -0.251438 3.067201 -0.314545 +v -0.944923 2.562709 0.031984 +v 0.031813 1.050023 -1.008000 +v -0.314670 3.067201 0.315724 +v -1.039513 1.050023 0.883006 +v -0.156848 2.594104 -0.881827 +v -0.409260 2.184390 1.009179 +v 1.229604 1.113208 -0.030806 +v 0.126403 3.067201 0.378514 +v 0.031813 3.067201 -0.345743 +v -1.417872 1.081615 -0.030806 +v 0.882862 1.081813 -0.755655 +v 0.031813 1.806465 1.009179 +v -0.031160 1.680687 -1.008000 +v -0.724386 2.562709 -0.661075 +v -0.755744 2.562709 0.693847 +v -0.377644 3.067201 -0.062398 +v 0.914219 2.499722 0.126564 +v -0.409260 2.027217 -0.976407 +v -0.094134 2.657289 0.883006 +v 0.000456 2.594104 -0.881827 +v -0.220080 1.113405 1.009179 +v 1.008809 1.081813 0.662254 +v -1.070870 1.144800 0.851414 +v 0.725299 2.468129 0.788229 +v -0.094134 1.050023 -1.008000 +v -1.417872 1.081615 0.031984 +v 0.819888 1.081813 0.851414 +v 1.229604 1.144800 0.063380 +v 0.220993 3.067201 -0.251558 +v 0.599093 2.373549 -0.818840 +v -0.881949 2.562709 -0.219965 +v -0.472233 1.901045 1.009179 +v -0.220080 2.216180 1.009179 +v -0.976280 1.081615 -0.850235 +v -0.881949 1.050023 -0.881630 +v 0.000456 2.625697 0.914599 +v 0.756915 2.468129 -0.535100 +v 0.315582 3.067201 0.284132 +v -0.755744 2.373549 -0.692668 +v -0.850333 2.121402 0.756834 +v -0.156848 2.625697 0.914599 +v -0.094134 3.067201 0.378514 +v 1.197988 1.081813 0.189552 +v 0.914219 2.531117 0.063380 +v -0.913307 2.562709 0.157959 +v 0.567735 2.720277 0.567674 +v 0.504503 2.499524 -0.818840 +f 110 93 127 +f 68 67 72 +f 67 68 74 +f 68 72 75 +f 66 65 77 +f 69 66 77 +f 72 67 79 +f 65 66 80 +f 74 68 82 +f 65 80 83 +f 75 72 84 +f 78 73 86 +f 64 84 86 +f 65 83 88 +f 80 66 89 +f 85 80 89 +f 68 75 90 +f 67 74 91 +f 74 69 91 +f 87 67 91 +f 69 87 91 +f 86 72 92 +f 74 82 93 +f 85 76 94 +f 80 85 94 +f 90 70 94 +f 86 73 95 +f 83 80 96 +f 81 83 96 +f 94 70 96 +f 80 94 96 +f 76 93 98 +f 94 76 98 +f 76 85 100 +f 85 89 100 +f 93 76 100 +f 84 72 101 +f 72 86 101 +f 79 67 102 +f 71 79 102 +f 84 64 103 +f 75 84 103 +f 71 102 104 +f 82 68 105 +f 93 82 105 +f 98 93 105 +f 90 75 106 +f 81 90 106 +f 75 103 106 +f 79 71 107 +f 72 79 107 +f 71 92 107 +f 92 72 107 +f 67 87 108 +f 87 77 108 +f 97 104 108 +f 66 69 109 +f 89 66 109 +f 69 89 109 +f 69 74 110 +f 74 93 110 +f 70 90 111 +f 90 81 111 +f 96 70 111 +f 81 96 111 +f 86 84 112 +f 84 101 112 +f 101 86 112 +f 71 78 113 +f 78 86 113 +f 92 71 113 +f 86 92 113 +f 68 90 114 +f 114 98 115 +f 105 68 115 +f 98 105 115 +f 68 114 115 +f 78 71 116 +f 71 88 116 +f 88 99 116 +f 69 77 117 +f 87 69 117 +f 77 87 117 +f 65 88 118 +f 88 71 118 +f 90 94 119 +f 94 98 119 +f 114 90 119 +f 98 114 119 +f 64 86 120 +f 86 95 120 +f 103 64 120 +f 95 106 120 +f 106 103 120 +f 73 78 121 +f 83 73 121 +f 78 116 121 +f 116 99 121 +f 88 83 122 +f 99 88 122 +f 83 121 122 +f 121 99 122 +f 102 67 123 +f 104 102 123 +f 67 108 123 +f 108 104 123 +f 77 65 124 +f 104 97 124 +f 108 77 124 +f 97 108 124 +f 73 83 125 +f 83 81 125 +f 95 73 125 +f 81 106 125 +f 106 95 125 +f 71 104 126 +f 65 118 126 +f 118 71 126 +f 124 65 126 +f 104 124 126 +f 89 69 127 +f 100 89 127 +f 93 100 127 +f 69 110 127 +o convex_2 +v -0.094024 3.067371 -0.346113 +v 0.063445 3.130488 0.378810 +v 0.000457 3.130488 0.378810 +v 0.000457 4.800714 0.032102 +v 0.347160 3.067371 -0.030910 +v -0.346246 3.067371 0.032102 +v -0.251629 4.548416 0.063537 +v 0.221049 4.548416 0.000596 +v 0.000457 4.548416 0.252715 +v 0.315598 3.067371 0.284221 +v -0.283122 3.067371 0.284221 +v 0.031951 4.422351 -0.188512 +v -0.283122 3.130488 -0.283030 +v 0.252543 3.224994 -0.220018 +v -0.188573 4.390793 0.221209 +v -0.157012 4.422351 -0.125429 +v 0.221049 4.516857 0.095114 +v 0.031951 3.067371 -0.346113 +v -0.030969 4.579804 -0.156935 +v 0.347160 3.256552 0.095114 +v 0.284104 3.351058 0.284221 +v -0.346246 3.067371 -0.093923 +v -0.094024 4.516857 0.252715 +v 0.189555 4.264728 -0.125429 +v -0.251629 4.548416 0.032102 +v -0.030969 4.800714 0.095114 +v -0.220135 3.792368 -0.220018 +v 0.126500 4.390793 0.221209 +v 0.063445 4.548416 -0.156935 +v -0.220135 3.067371 0.315727 +v -0.251629 3.098929 -0.314536 +v 0.221049 3.067371 -0.251524 +f 145 141 159 +f 128 132 133 +f 130 129 136 +f 133 132 137 +f 133 137 138 +f 134 133 138 +f 135 132 141 +f 134 138 142 +f 135 131 144 +f 132 128 145 +f 128 139 145 +f 139 141 145 +f 139 128 146 +f 132 135 147 +f 137 132 147 +f 135 144 147 +f 144 137 147 +f 136 129 148 +f 129 137 148 +f 137 144 148 +f 128 133 149 +f 133 134 149 +f 130 136 150 +f 134 142 150 +f 135 141 151 +f 131 146 152 +f 146 143 152 +f 149 134 152 +f 140 149 152 +f 144 131 153 +f 136 144 153 +f 134 150 153 +f 150 136 153 +f 131 152 153 +f 152 134 153 +f 143 146 154 +f 140 152 154 +f 152 143 154 +f 144 136 155 +f 136 148 155 +f 148 144 155 +f 131 135 156 +f 141 139 156 +f 146 131 156 +f 139 146 156 +f 135 151 156 +f 151 141 156 +f 129 130 157 +f 137 129 157 +f 138 137 157 +f 142 138 157 +f 130 150 157 +f 150 142 157 +f 146 128 158 +f 128 149 158 +f 149 140 158 +f 140 154 158 +f 154 146 158 +f 141 132 159 +f 132 145 159 +o convex_3 +v -2.836083 -0.210597 -0.661103 +v 1.198157 1.049782 0.221064 +v 1.198157 0.703046 0.819871 +v 1.040302 -1.407933 -0.881695 +v -0.724834 -1.407933 0.914525 +v -2.110953 0.640003 0.756902 +v -0.094249 1.049782 -1.007833 +v -2.804429 -0.935351 0.063441 +v 1.198157 -1.156001 0.819871 +v -0.913926 -1.407933 -0.850210 +v -0.188795 1.049782 1.009179 +v -2.804429 0.608481 -0.030611 +v -2.741537 -0.147794 0.819871 +v 1.198157 0.451114 -0.881695 +v -2.048061 -0.210356 -1.007833 +v -0.976401 1.049782 -0.850210 +v 0.094843 -1.407933 -1.039518 +v 0.126497 -1.407933 0.977494 +v -2.110953 -0.084992 1.009179 +v -1.480785 1.049782 0.094926 +v 1.198157 -0.462528 -1.007833 +v 1.198157 -0.053230 0.977494 +v -3.056829 -0.147794 0.094926 +v 0.882865 1.049782 -0.787041 +v -2.300045 -0.872308 -0.661103 +v -1.417477 -1.407933 0.000472 +v -2.048061 -0.935351 0.788386 +v 1.198157 -1.407933 0.347002 +v -2.426245 0.451114 -0.629618 +v -1.008055 1.049782 0.882840 +v 0.945756 1.049782 0.819871 +v 1.198157 -1.313609 -0.850210 +v -2.678229 0.356309 0.599279 +v -0.944747 -1.407933 0.819871 +v -2.836083 -0.179075 0.756902 +v 0.882865 -1.407933 0.851355 +v -2.772775 -0.242118 -0.755556 +v -2.016407 0.545438 -0.787241 +v -2.646991 -0.651657 0.630763 +v 0.031534 0.387831 1.009179 +v 1.198157 -0.399726 0.977494 +v -2.048061 -0.872308 -0.787241 +v -2.079298 -0.210356 1.009179 +v 1.198157 1.049782 -0.125265 +v -2.804429 0.608481 0.031957 +v -2.615337 -0.777984 -0.503480 +v 0.031534 1.049782 1.009179 +v -2.772775 -0.084751 -0.724072 +v 0.031534 1.049782 -1.007833 +v -3.056829 -0.147794 -0.030611 +v -1.512023 1.049782 -0.030611 +v -2.741537 -0.967113 0.031957 +v -1.984753 -0.116513 -1.007833 +v 0.031534 -1.061437 -1.039518 +v -2.804429 -0.021949 0.756902 +v 1.198157 0.577200 0.882840 +v -1.102601 1.049782 0.819871 +v 1.198157 0.640003 -0.787041 +v -2.615337 0.387831 -0.566449 +v 1.198157 -0.336442 -1.007833 +v 0.000297 -1.407933 -1.039518 +v -2.836083 0.576960 -0.030611 +v -3.056829 -0.242118 0.031957 +v -2.772775 -0.935351 -0.030611 +f 211 167 223 +f 161 162 168 +f 163 164 169 +f 161 166 170 +f 161 168 173 +f 170 166 175 +f 163 169 176 +f 164 163 177 +f 170 175 179 +f 173 168 180 +f 163 176 180 +f 168 162 181 +f 166 161 183 +f 169 164 185 +f 177 163 187 +f 180 168 187 +f 171 175 188 +f 165 178 189 +f 178 170 189 +f 170 179 189 +f 162 161 190 +f 161 170 190 +f 163 180 191 +f 187 163 191 +f 180 187 191 +f 185 164 193 +f 164 186 193 +f 186 167 193 +f 177 187 195 +f 187 168 195 +f 188 175 197 +f 167 186 198 +f 186 172 198 +f 194 167 198 +f 172 194 198 +f 170 178 199 +f 181 199 200 +f 168 181 200 +f 195 168 200 +f 177 195 200 +f 199 177 200 +f 174 169 201 +f 169 184 201 +f 184 196 201 +f 196 174 201 +f 164 177 202 +f 178 172 202 +f 186 164 202 +f 172 186 202 +f 199 178 202 +f 177 199 202 +f 161 173 203 +f 183 161 203 +f 192 165 204 +f 196 184 205 +f 190 170 206 +f 170 199 206 +f 199 181 206 +f 196 160 207 +f 174 196 207 +f 188 197 207 +f 166 183 208 +f 183 173 208 +f 175 171 210 +f 179 175 210 +f 171 204 210 +f 204 179 210 +f 169 185 211 +f 185 193 211 +f 193 167 211 +f 175 166 212 +f 197 175 212 +f 174 207 212 +f 207 197 212 +f 166 208 213 +f 212 166 213 +f 174 212 213 +f 178 165 214 +f 172 178 214 +f 165 192 214 +f 182 194 214 +f 194 172 214 +f 192 204 214 +f 181 162 215 +f 162 190 215 +f 190 206 215 +f 206 181 215 +f 165 189 216 +f 189 179 216 +f 179 204 216 +f 204 165 216 +f 173 183 217 +f 203 173 217 +f 183 203 217 +f 171 188 218 +f 188 207 218 +f 173 180 219 +f 180 176 219 +f 208 173 219 +f 176 213 219 +f 213 208 219 +f 169 174 220 +f 176 169 220 +f 174 213 220 +f 213 176 220 +f 204 171 221 +f 207 160 221 +f 160 209 221 +f 209 182 221 +f 182 214 221 +f 214 204 221 +f 171 218 221 +f 218 207 221 +f 160 167 222 +f 167 194 222 +f 194 182 222 +f 209 160 222 +f 182 209 222 +f 167 160 223 +f 184 169 223 +f 160 196 223 +f 205 184 223 +f 196 205 223 +f 169 211 223 +o convex_4 +v 1.198333 -0.462621 -1.008000 +v 1.891717 -0.021844 1.009179 +v 1.797108 -0.021844 1.009179 +v 1.229810 1.049782 -0.062398 +v 2.805443 -0.147918 -0.724063 +v 1.198333 -1.408173 0.252737 +v 2.742488 -0.116399 0.788426 +v 2.742488 -0.935397 -0.030806 +v 1.261287 -1.282099 -0.850235 +v 1.198333 -1.156026 0.820019 +v 2.773966 0.577006 0.094972 +v 1.198333 0.671561 0.851414 +v 1.828586 0.577006 -0.755852 +v 2.049280 0.577006 0.788426 +v 2.049280 -0.935397 0.757031 +v 2.994660 -0.210473 0.126367 +v 1.198333 0.608524 -0.818840 +v 2.049280 -0.179195 -1.008000 +v 2.238145 -0.872360 -0.724063 +v 1.450328 -1.408173 0.031984 +v 2.112059 0.545488 -0.692668 +v 1.198333 -0.399584 0.977389 +v 2.017802 -0.273510 1.009179 +v 1.198333 1.049782 0.126564 +v 2.616403 -0.620213 0.630662 +v 2.584925 0.387896 -0.535100 +v 1.198333 -1.408173 -0.440520 +v 2.584925 0.324859 0.662254 +v 2.616403 -0.683249 -0.598088 +v 2.994660 -0.179195 -0.093793 +v 2.711011 -0.210473 0.820019 +v 2.742488 -0.903878 0.094972 +v 2.773966 0.577006 0.031984 +v 2.711011 -0.147918 -0.787247 +v 1.986325 -0.903878 -0.818840 +v 1.261287 0.450932 -0.881827 +v 1.324418 1.049782 0.063577 +v 1.198333 -1.219063 -0.881827 +v 1.324418 -0.210473 1.009179 +v 1.986325 0.577006 0.820019 +v 2.805443 -0.210473 -0.724063 +v 2.994660 -0.053362 0.063577 +v 2.206492 -0.147918 0.977389 +v 1.450328 -1.408173 -0.093793 +v 2.773966 -0.903878 -0.030806 +v 1.229810 -0.305028 -1.008000 +v 2.773966 -0.210473 0.725242 +v 2.049280 0.577006 -0.692668 +v 2.017802 -0.241992 -1.008000 +v 1.324418 0.671561 0.851414 +v 1.198333 0.419414 0.914599 +v 1.324418 1.049782 0.000589 +v 2.490317 -0.777805 0.599069 +v 2.049280 0.009675 -0.944815 +v 1.229810 -1.187544 0.788426 +v 2.616403 -0.210473 -0.818840 +v 1.229810 -1.345136 -0.692668 +v 1.891717 -0.336547 1.009179 +v 1.292765 0.640043 -0.787247 +v 2.490317 0.419414 0.662254 +v 1.198333 -0.935397 0.883006 +v 2.742488 0.009675 -0.692470 +v 1.954672 0.608524 0.788426 +v 2.049280 0.482451 -0.755852 +f 285 257 287 +f 224 229 233 +f 224 233 235 +f 224 235 240 +f 231 232 242 +f 238 229 243 +f 235 233 245 +f 225 226 246 +f 240 235 247 +f 227 240 247 +f 229 224 250 +f 243 229 250 +f 230 234 251 +f 231 242 252 +f 246 238 254 +f 238 248 254 +f 243 231 255 +f 238 243 255 +f 253 228 256 +f 242 232 258 +f 240 236 259 +f 227 247 260 +f 234 256 260 +f 250 224 261 +f 258 232 261 +f 246 226 262 +f 230 251 263 +f 252 242 264 +f 228 253 264 +f 257 228 264 +f 234 230 265 +f 230 239 265 +f 239 253 265 +f 256 234 265 +f 253 256 265 +f 225 246 266 +f 254 230 266 +f 246 254 266 +f 263 225 266 +f 230 263 266 +f 231 243 267 +f 243 250 267 +f 231 252 268 +f 253 239 268 +f 255 231 268 +f 239 255 268 +f 252 264 268 +f 264 253 268 +f 224 240 269 +f 241 224 269 +f 240 259 269 +f 259 241 269 +f 239 230 270 +f 230 254 270 +f 254 248 270 +f 248 255 270 +f 255 239 270 +f 236 227 271 +f 249 244 271 +f 256 249 271 +f 224 241 272 +f 261 224 272 +f 258 261 272 +f 247 235 273 +f 225 263 273 +f 226 225 274 +f 235 245 274 +f 262 226 274 +f 245 262 274 +f 225 273 274 +f 273 235 274 +f 227 260 275 +f 260 256 275 +f 271 227 275 +f 256 271 275 +f 248 238 276 +f 255 248 276 +f 238 255 276 +f 257 241 277 +f 259 236 277 +f 241 259 277 +f 233 229 278 +f 229 238 278 +f 238 233 278 +f 241 257 279 +f 242 258 279 +f 264 242 279 +f 257 264 279 +f 272 241 279 +f 258 272 279 +f 232 231 280 +f 250 261 280 +f 261 232 280 +f 231 267 280 +f 267 250 280 +f 233 238 281 +f 238 246 281 +f 262 245 281 +f 246 262 281 +f 227 236 282 +f 240 227 282 +f 236 240 282 +f 234 237 283 +f 251 234 283 +f 263 251 283 +f 237 263 283 +f 245 233 284 +f 233 281 284 +f 281 245 284 +f 244 249 285 +f 256 228 285 +f 249 256 285 +f 228 257 285 +f 237 234 286 +f 234 260 286 +f 260 247 286 +f 263 237 286 +f 247 273 286 +f 273 263 286 +f 236 271 287 +f 271 244 287 +f 277 236 287 +f 257 277 287 +f 244 285 287 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/249/249.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/249/249.urdf new file mode 100644 index 000000000..64420812e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/249/249.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/250/250.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/250/250.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/250/250.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/250/250.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/250/250.obj new file mode 100644 index 000000000..3eaa1febe --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/250/250.obj @@ -0,0 +1,423 @@ +o convex_0 +v 0.938811 -0.987122 -1.511956 +v -0.240936 1.094977 -1.720429 +v -0.240936 1.094977 -1.928507 +v -1.073984 -1.022145 -2.761018 +v 0.973565 0.921313 -3.073530 +v -0.969722 -0.987122 -1.095405 +v 1.077828 0.886498 -1.095405 +v 1.077828 -1.022145 -3.108407 +v -0.934968 1.094977 -3.004170 +v -0.969722 1.094977 -1.095405 +v 0.973565 -0.952514 -1.095405 +v -1.004476 -1.022145 -3.073333 +v 0.626444 1.060161 -3.073530 +v 1.043074 0.955922 -1.269001 +v 1.077828 -1.022145 -2.483580 +v -1.004476 0.782465 -1.303878 +v 1.043074 -0.050002 -3.108407 +v -1.073984 -0.744242 -3.038653 +v -0.796161 1.094977 -3.038653 +v 0.973565 1.025553 -2.552742 +v 0.071219 -1.022145 -1.928507 +v 1.008319 -0.744242 -1.095405 +v 0.939022 0.227073 -3.108407 +v -0.588057 1.094977 -1.095405 +v 1.077828 -0.501361 -3.073530 +v 0.383586 -1.022145 -3.108407 +v 0.973565 1.025553 -2.969491 +v 0.175271 1.025553 -3.073530 +v -0.136674 -0.987122 -1.095405 +v -1.004476 -1.022145 -2.136389 +v -0.969722 1.094977 -1.859148 +v 0.939022 0.955922 -1.095405 +v -0.969722 0.643617 -3.038653 +v 1.077828 0.643617 -1.164962 +v -0.518549 1.094977 -3.038653 +v -1.073984 -0.778850 -2.691658 +v 0.661198 1.060161 -2.691658 +v 1.077828 0.851889 -1.199838 +f 25 27 38 +f 2 3 9 +f 6 7 10 +f 2 9 10 +f 7 6 11 +f 8 4 12 +f 4 8 15 +f 8 7 15 +f 11 1 15 +f 6 10 16 +f 12 4 18 +f 9 3 19 +f 2 14 20 +f 15 1 21 +f 4 15 21 +f 7 11 22 +f 11 15 22 +f 13 5 23 +f 5 17 23 +f 17 8 23 +f 2 10 24 +f 10 7 24 +f 14 2 24 +f 7 8 25 +f 8 17 25 +f 8 12 26 +f 23 8 26 +f 12 23 26 +f 5 13 27 +f 14 7 27 +f 17 5 27 +f 20 14 27 +f 25 17 27 +f 12 19 28 +f 19 13 28 +f 23 12 28 +f 13 23 28 +f 1 11 29 +f 11 6 29 +f 21 1 29 +f 6 21 29 +f 6 4 30 +f 21 6 30 +f 4 21 30 +f 10 9 31 +f 16 10 31 +f 18 16 31 +f 7 14 32 +f 24 7 32 +f 14 24 32 +f 12 18 33 +f 9 19 33 +f 19 12 33 +f 31 9 33 +f 18 31 33 +f 15 7 34 +f 7 22 34 +f 22 15 34 +f 3 13 35 +f 19 3 35 +f 13 19 35 +f 4 6 36 +f 6 16 36 +f 18 4 36 +f 16 18 36 +f 3 2 37 +f 13 3 37 +f 2 20 37 +f 27 13 37 +f 20 27 37 +f 7 25 38 +f 27 7 38 +o convex_1 +v -1.004352 -1.056852 2.375015 +v 0.869421 1.094977 1.334426 +v 0.869421 1.094977 1.021717 +v 1.112552 -0.952378 1.021914 +v 1.042994 0.088361 2.999645 +v -1.073910 1.060223 1.021717 +v -1.004352 1.025257 3.034719 +v -1.039024 -1.021887 1.021717 +v 0.834750 -1.022098 2.965162 +v 1.077666 0.990714 2.999645 +v -0.969680 -1.056852 2.965162 +v 1.042994 0.921205 1.021914 +v 0.973651 -0.987343 2.964965 +v -1.073910 -0.605465 1.056594 +v -0.900337 0.296466 3.034719 +v 0.487604 1.025468 3.034719 +v -0.345161 -1.021887 1.091274 +v -1.039024 1.060223 2.270976 +v 1.042994 1.094766 1.403786 +v -0.171588 -1.056852 2.895803 +v 1.042994 -0.987343 1.577184 +v 1.112552 -0.501412 1.472948 +v 0.106000 1.094977 1.056594 +v 1.077666 1.025468 2.791566 +v -0.969680 -1.056852 1.715903 +v 1.008322 -0.987343 2.617971 +v -0.969680 -0.570711 2.999842 +v -1.004352 0.747643 3.034719 +v -1.073910 0.886450 1.403589 +v 0.730734 0.955749 3.034719 +v 1.112552 -0.605465 1.125954 +v 0.661177 -0.987343 1.021717 +v 1.077666 1.025468 2.583291 +v -1.004352 1.060223 2.340533 +v 1.077666 0.747643 2.999645 +v -1.039024 -1.021887 1.681421 +v 1.008322 -0.050025 2.999645 +v 1.008322 1.094766 1.021914 +f 57 50 76 +f 44 41 46 +f 42 41 50 +f 44 46 52 +f 47 51 53 +f 45 53 54 +f 41 40 57 +f 49 39 58 +f 47 49 58 +f 47 58 59 +f 40 41 61 +f 41 44 61 +f 44 56 61 +f 54 48 62 +f 57 54 62 +f 48 60 62 +f 39 46 63 +f 46 55 63 +f 58 39 63 +f 59 58 63 +f 43 51 64 +f 51 47 64 +f 59 42 64 +f 47 59 64 +f 60 43 64 +f 42 60 64 +f 49 47 65 +f 47 53 65 +f 65 53 66 +f 39 49 66 +f 53 45 66 +f 45 56 66 +f 49 65 66 +f 66 56 67 +f 44 52 67 +f 56 44 67 +f 52 66 67 +f 48 54 68 +f 54 53 68 +f 42 50 69 +f 60 42 69 +f 41 42 70 +f 46 41 70 +f 55 46 70 +f 42 59 70 +f 63 55 70 +f 59 63 70 +f 50 57 71 +f 57 62 71 +f 62 60 71 +f 69 50 71 +f 60 69 71 +f 45 54 72 +f 56 45 72 +f 54 57 72 +f 57 40 72 +f 40 61 72 +f 61 56 72 +f 43 60 73 +f 60 48 73 +f 68 43 73 +f 48 68 73 +f 46 39 74 +f 52 46 74 +f 39 66 74 +f 66 52 74 +f 51 43 75 +f 53 51 75 +f 43 68 75 +f 68 53 75 +f 50 41 76 +f 41 57 76 +o convex_2 +v 1.112552 -2.548951 -0.331567 +v -1.039024 -3.104357 -1.060698 +v -1.039024 -3.104357 -0.262262 +v -1.073910 -1.022349 0.813190 +v 0.973651 -1.022349 -1.060698 +v 0.973651 -3.104357 1.021717 +v 1.112552 -1.022349 0.952208 +v -0.935009 -1.022349 -0.990985 +v -1.004352 -3.069504 0.952208 +v 1.112552 -3.000206 -0.956536 +v -0.414504 -1.022349 0.952208 +v 1.112552 -2.791903 -0.991189 +v -1.073910 -1.057202 0.917352 +v 1.008322 -3.104357 0.917556 +v -0.726764 -3.104357 -1.060698 +v -1.039024 -2.757254 -1.060698 +v 1.008322 -1.126500 -1.060698 +v 1.042994 -1.091851 0.986861 +v -0.969680 -1.022349 -0.887028 +v 1.112552 -1.022349 0.709233 +v -1.004352 -3.104357 0.396748 +v 0.626505 -1.022349 -1.060698 +v -1.004352 -2.479653 0.952208 +v 1.008322 -1.369452 -1.060698 +v 1.008322 -3.000206 -0.991189 +v 1.077666 -1.751205 0.986861 +v 0.938979 -3.000206 1.021717 +v 0.140672 -3.104357 0.986861 +v -1.039024 -2.479653 -0.921680 +v 1.077666 -3.034855 -0.401076 +v 1.112552 -3.000206 -0.748213 +f 90 86 107 +f 79 78 82 +f 81 80 83 +f 80 81 84 +f 83 77 86 +f 83 80 87 +f 83 86 88 +f 78 79 89 +f 80 78 89 +f 79 85 89 +f 87 80 89 +f 82 78 90 +f 78 81 91 +f 90 78 91 +f 78 80 92 +f 81 78 92 +f 91 81 93 +f 83 87 94 +f 80 84 95 +f 84 92 95 +f 81 83 96 +f 83 88 96 +f 93 81 96 +f 88 93 96 +f 79 82 97 +f 85 79 97 +f 84 81 98 +f 81 92 98 +f 92 84 98 +f 89 85 99 +f 87 89 99 +f 93 88 100 +f 91 93 100 +f 88 86 101 +f 86 91 101 +f 100 88 101 +f 91 100 101 +f 77 83 102 +f 82 90 102 +f 90 77 102 +f 94 82 102 +f 83 94 102 +f 85 82 103 +f 82 94 103 +f 94 87 103 +f 99 85 103 +f 87 99 103 +f 82 85 104 +f 97 82 104 +f 85 97 104 +f 92 80 105 +f 80 95 105 +f 95 92 105 +f 86 90 106 +f 91 86 106 +f 90 91 106 +f 86 77 107 +f 77 90 107 +o convex_3 +v 0.938964 3.038443 -0.366556 +v -1.073984 -1.022145 0.847846 +v -1.004425 -1.022145 -0.297132 +v 1.112541 -1.022145 0.952293 +v -0.969752 3.038038 1.021717 +v -1.004425 3.073211 -1.095405 +v 0.973636 -0.952609 -1.095405 +v 1.008309 2.933734 0.952293 +v 1.042982 3.003675 -1.025981 +v -0.935079 -0.986973 -1.095405 +v -1.073984 -0.778769 1.021717 +v 1.112541 -0.709233 1.021717 +v 1.077655 0.921633 -1.095405 +v 0.591808 3.107979 0.500726 +v -1.073984 1.372001 0.986694 +v 1.008309 -1.022145 -0.921741 +v 1.008309 1.094260 1.021717 +v -0.969752 -0.813537 -1.095405 +v -1.004425 3.073211 0.188422 +v 0.314211 3.107979 -0.505197 +v -1.039098 -1.022145 1.021717 +v 0.869404 2.933734 0.986694 +v -0.449232 3.073211 -1.095405 +v -1.004425 1.719277 -1.060589 +v -1.073984 1.059897 0.604966 +v -0.483905 3.038038 1.021717 +v 1.008309 3.038443 -0.956557 +v -0.935079 -1.022145 -0.991165 +v 1.112541 -1.022145 0.743814 +v -0.171422 3.107979 -0.401165 +v 1.112541 -0.952205 1.021717 +v 1.042982 3.003675 -0.782893 +v 0.973636 -1.022145 -1.060589 +v -1.004425 2.691166 1.021717 +v 1.077655 0.782965 -1.095405 +v -0.969752 3.073211 0.466118 +v 0.938964 2.968906 0.917270 +v 0.591808 3.107979 -0.262316 +f 134 127 145 +f 109 110 111 +f 113 114 117 +f 112 118 119 +f 114 113 120 +f 116 119 120 +f 109 118 122 +f 111 110 123 +f 112 119 124 +f 119 115 124 +f 110 109 125 +f 117 110 125 +f 113 117 125 +f 113 122 126 +f 109 111 128 +f 118 109 128 +f 119 118 128 +f 124 115 129 +f 120 113 130 +f 116 120 130 +f 113 127 130 +f 125 109 131 +f 113 125 131 +f 109 122 132 +f 122 113 132 +f 131 109 132 +f 113 131 132 +f 121 112 133 +f 112 124 133 +f 124 129 133 +f 121 108 134 +f 116 130 134 +f 130 127 134 +f 110 117 135 +f 123 110 135 +f 119 111 136 +f 120 119 136 +f 111 123 136 +f 113 126 137 +f 127 113 137 +f 121 127 137 +f 111 119 138 +f 128 111 138 +f 119 128 138 +f 115 119 139 +f 119 116 139 +f 134 115 139 +f 116 134 139 +f 117 114 140 +f 114 123 140 +f 135 117 140 +f 123 135 140 +f 118 112 141 +f 122 118 141 +f 112 126 141 +f 126 122 141 +f 114 120 142 +f 123 114 142 +f 120 136 142 +f 136 123 142 +f 112 121 143 +f 126 112 143 +f 121 137 143 +f 137 126 143 +f 108 121 144 +f 129 115 144 +f 121 133 144 +f 133 129 144 +f 134 108 144 +f 115 134 144 +f 127 121 145 +f 121 134 145 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/250/250.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/250/250.urdf new file mode 100644 index 000000000..c07e2299b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/250/250.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/251/251.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/251/251.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/251/251.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/251/251.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/251/251.obj new file mode 100644 index 000000000..bf1b9f764 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/251/251.obj @@ -0,0 +1,432 @@ +o convex_0 +v -0.151870 1.113486 -5.835366 +v 0.121057 0.431035 -6.279042 +v 0.189255 0.431035 -6.279042 +v 0.052792 0.465238 -4.368134 +v 0.257520 1.045214 -4.368134 +v -0.356531 0.567645 -4.368134 +v 0.325719 0.976942 -6.313141 +v -0.322466 0.567645 -6.313141 +v -0.288333 1.045214 -4.368134 +v 0.291653 0.499374 -4.504918 +v -0.185935 1.113486 -6.347434 +v 0.325719 0.840465 -6.313141 +v 0.257520 0.431035 -5.050891 +v -0.254201 1.079350 -4.368134 +v -0.322466 0.635850 -6.313141 +v -0.083605 1.113486 -6.176551 +v -0.288333 0.533509 -4.368134 +v 0.325719 0.976942 -5.732874 +v 0.257520 0.465238 -4.368134 +v -0.254201 0.635850 -6.347434 +v -0.356531 0.669986 -4.504918 +v 0.121057 1.079350 -4.982693 +v -0.288333 0.533509 -5.221581 +f 17 6 23 +f 4 5 6 +f 6 5 9 +f 11 7 12 +f 2 3 13 +f 4 2 13 +f 3 12 13 +f 12 10 13 +f 9 5 14 +f 1 11 14 +f 11 9 14 +f 9 11 15 +f 11 1 16 +f 7 11 16 +f 2 4 17 +f 4 6 17 +f 7 5 18 +f 5 10 18 +f 10 12 18 +f 12 7 18 +f 5 4 19 +f 10 5 19 +f 4 13 19 +f 13 10 19 +f 3 2 20 +f 2 8 20 +f 12 3 20 +f 11 12 20 +f 8 15 20 +f 15 11 20 +f 8 6 21 +f 6 9 21 +f 15 8 21 +f 9 15 21 +f 5 7 22 +f 1 14 22 +f 14 5 22 +f 16 1 22 +f 7 16 22 +f 8 2 23 +f 6 8 23 +f 2 17 23 +o convex_1 +v -0.595429 0.499420 -1.672364 +v 0.598742 0.942880 -1.843247 +v 0.598742 0.908623 -1.843247 +v -0.424850 0.567582 -4.368134 +v -0.527268 1.318294 -3.617177 +v 0.598742 0.294585 -4.299548 +v 0.496325 1.318177 -4.368134 +v 0.359885 1.352433 -0.409534 +v -0.083575 0.158028 -0.409534 +v -0.458989 1.181737 -0.409534 +v -0.595429 0.226307 -4.299548 +v 0.428163 0.294702 -0.409534 +v -0.493128 0.328841 -0.409534 +v -0.527268 1.318294 -4.299548 +v 0.564720 1.352433 -0.409534 +v -0.595429 0.942763 -0.478119 +v 0.496325 1.352433 -4.129052 +v 0.530464 0.260446 -3.889971 +v 0.462302 0.294702 -0.614516 +v -0.595429 0.601838 -4.265449 +v 0.359885 0.397003 -4.368134 +v -0.424850 0.192284 -2.798023 +v 0.291606 0.226424 -0.409534 +v 0.598742 0.499420 -4.265449 +v 0.598742 0.294585 -3.753574 +v 0.564720 1.079319 -0.478119 +v -0.595429 1.011041 -1.433670 +v -0.493128 0.294585 -0.614516 +v -0.595429 0.704139 -0.409534 +v -0.458989 1.215760 -0.819111 +v 0.564720 1.352433 -1.331373 +v -0.322432 0.226307 -4.265449 +v -0.595429 0.226307 -3.685376 +v -0.151853 0.158028 -0.409534 +v -0.254271 1.079319 -4.368134 +v -0.561407 1.045180 -4.299548 +v -0.527268 0.362863 -0.682714 +v 0.530464 0.260446 -3.207600 +v -0.083575 0.158028 -0.546318 +v -0.493128 1.284038 -2.525230 +f 53 31 63 +f 25 26 29 +f 32 31 33 +f 31 32 35 +f 32 33 36 +f 28 31 37 +f 26 25 38 +f 31 35 38 +f 34 24 39 +f 30 37 40 +f 37 31 40 +f 31 38 40 +f 34 39 43 +f 27 30 44 +f 30 29 44 +f 34 27 44 +f 29 34 44 +f 35 32 46 +f 42 35 46 +f 25 29 47 +f 29 30 47 +f 29 26 48 +f 41 29 48 +f 42 48 49 +f 26 38 49 +f 38 35 49 +f 35 42 49 +f 48 26 49 +f 28 37 50 +f 39 28 50 +f 43 39 50 +f 36 33 52 +f 33 39 52 +f 39 24 52 +f 33 31 53 +f 28 39 53 +f 39 33 53 +f 38 25 54 +f 30 40 54 +f 40 38 54 +f 25 47 54 +f 47 30 54 +f 34 29 55 +f 29 41 55 +f 45 34 55 +f 24 34 56 +f 34 45 56 +f 51 56 57 +f 32 36 57 +f 36 51 57 +f 56 45 57 +f 30 27 58 +f 27 37 58 +f 37 30 58 +f 27 34 59 +f 37 27 59 +f 34 43 59 +f 50 37 59 +f 43 50 59 +f 51 36 60 +f 36 52 60 +f 52 24 60 +f 24 56 60 +f 56 51 60 +f 32 41 61 +f 46 32 61 +f 42 46 61 +f 41 48 61 +f 48 42 61 +f 41 32 62 +f 55 41 62 +f 45 55 62 +f 32 57 62 +f 57 45 62 +f 31 28 63 +f 28 53 63 +o convex_2 +v 0.189269 1.079426 3.787948 +v -0.288293 0.431035 1.808648 +v -0.288293 0.601701 1.808648 +v 0.325732 0.465244 1.808648 +v -0.254207 0.499327 3.719556 +v -0.185975 1.079426 1.808648 +v 0.291646 0.465244 3.753655 +v -0.185975 1.011135 3.787948 +v 0.223415 0.942906 1.808648 +v 0.189269 0.431035 3.549060 +v 0.223415 1.011135 3.787948 +v -0.288293 0.533536 3.344272 +v -0.220061 1.011135 2.116121 +v 0.223415 1.011135 2.525311 +v 0.189269 0.431035 1.808648 +v -0.288293 0.431035 2.354815 +v -0.220061 0.874614 3.787948 +v 0.086951 1.079426 3.787948 +v 0.257500 0.874614 1.808648 +v 0.325732 0.499327 1.842941 +f 82 74 83 +f 65 66 67 +f 67 66 69 +f 67 69 72 +f 67 70 73 +f 70 68 73 +f 64 71 74 +f 66 65 75 +f 69 66 76 +f 71 69 76 +f 66 75 76 +f 69 64 77 +f 72 69 77 +f 64 74 77 +f 65 67 78 +f 73 65 78 +f 67 73 78 +f 65 73 79 +f 73 68 79 +f 75 65 79 +f 68 75 79 +f 68 70 80 +f 70 74 80 +f 74 71 80 +f 75 68 80 +f 71 76 80 +f 76 75 80 +f 64 69 81 +f 69 71 81 +f 71 64 81 +f 67 72 82 +f 72 77 82 +f 77 74 82 +f 70 67 83 +f 74 70 83 +f 67 82 83 +o convex_3 +v 1.076621 3.774675 -0.272953 +v -1.107434 0.260005 -0.272843 +v -1.107434 0.260005 -0.238780 +v 0.974217 -4.346586 -0.341188 +v 0.974217 -4.346586 0.716620 +v -1.005030 3.842820 0.716620 +v -1.039022 -4.175823 0.716620 +v 1.076621 3.809149 0.716620 +v -1.005030 3.842820 -0.341188 +v -1.073228 -4.175823 -0.272843 +v -0.595412 0.703347 -0.409533 +v 0.564600 1.351926 -0.409533 +v 0.837607 -2.502667 -0.409533 +v -0.766015 -2.502667 -0.375361 +v -1.107434 1.727123 -0.068138 +v 1.076621 3.365005 -0.307016 +v -0.083605 3.843622 -0.341188 +v -1.073228 -4.175823 0.477632 +v -1.073228 2.955334 -0.341188 +v -1.039022 1.761596 0.682447 +v 1.076621 2.956136 -0.238891 +v 0.837607 -4.346586 -0.341188 +v 1.076621 3.228715 0.716620 +v -0.424810 -4.243968 0.716620 +v 0.837607 3.809149 -0.307126 +v 0.871813 -2.127470 -0.409533 +v -0.083605 3.843622 0.716620 +v -1.005030 -3.662733 -0.307016 +v 0.974217 -3.083101 -0.375361 +v -0.424810 1.180361 -0.409533 +v 0.632798 -2.468996 -0.409533 +v -1.039022 3.774675 -0.341188 +v -1.107434 2.136794 -0.307016 +v -0.834213 -4.209495 -0.272953 +v 0.769408 -4.346586 0.136567 +v -0.288413 -0.557733 -0.409533 +v 0.974217 3.774675 -0.307016 +v 1.076621 3.809149 0.000097 +f 108 100 121 +f 88 89 90 +f 89 88 91 +f 86 85 93 +f 94 95 96 +f 85 86 98 +f 84 91 99 +f 92 89 100 +f 95 92 100 +f 86 93 101 +f 98 86 101 +f 94 97 102 +f 90 89 103 +f 89 98 103 +f 101 90 103 +f 98 101 103 +f 88 87 104 +f 87 99 104 +f 99 91 104 +f 87 88 105 +f 96 87 105 +f 91 88 106 +f 88 104 106 +f 104 91 106 +f 88 90 107 +f 90 101 107 +f 96 95 109 +f 95 99 109 +f 89 91 110 +f 91 100 110 +f 100 89 110 +f 93 102 111 +f 102 97 111 +f 105 93 111 +f 97 105 111 +f 87 96 112 +f 99 87 112 +f 96 109 112 +f 109 99 112 +f 95 94 113 +f 92 95 113 +f 94 96 114 +f 96 105 114 +f 105 97 114 +f 89 92 115 +f 94 102 115 +f 92 113 115 +f 113 94 115 +f 93 85 116 +f 85 98 116 +f 98 89 116 +f 102 93 116 +f 89 115 116 +f 115 102 116 +f 101 93 117 +f 93 105 117 +f 107 101 117 +f 107 117 118 +f 105 88 118 +f 88 107 118 +f 117 105 118 +f 97 94 119 +f 94 114 119 +f 114 97 119 +f 84 99 120 +f 99 95 120 +f 95 100 120 +f 108 84 120 +f 100 108 120 +f 91 84 121 +f 100 91 121 +f 84 108 121 +o convex_4 +v 1.076622 0.532584 1.740343 +v -1.039182 -4.175823 0.716620 +v -0.800181 -4.209495 0.716620 +v 1.076622 3.809149 0.716620 +v -0.970837 3.842820 1.774442 +v 0.974104 -4.312113 1.808648 +v -1.005010 3.842820 0.716620 +v -1.005010 -4.175823 1.774442 +v 0.974104 -4.346586 0.716620 +v 1.076622 3.672057 1.774442 +v -0.970837 -0.013376 1.808648 +v 0.974104 1.761596 1.808648 +v -1.005010 3.842820 1.535641 +v 1.076622 3.842820 1.740343 +v -0.731836 -4.209495 1.808648 +v -1.039182 -4.106877 1.364931 +v 1.042449 -2.366377 1.808648 +v 1.076622 3.227913 0.716620 +v 0.564653 -4.312113 1.808648 +v 1.008276 3.842820 1.092138 +v -1.039182 -3.390153 0.716620 +v 0.871793 -4.346586 0.887330 +v -0.185902 1.078545 1.808648 +v -0.970837 -3.049429 1.808648 +v 1.042449 -2.331904 1.740343 +v -0.800181 -4.209495 1.603839 +v -0.083591 3.843622 0.716620 +v -1.005010 -3.527245 1.774442 +f 134 137 149 +f 124 123 125 +f 125 123 128 +f 124 125 130 +f 122 125 131 +f 131 126 133 +f 132 127 133 +f 131 125 135 +f 126 131 135 +f 127 132 136 +f 123 129 137 +f 127 130 138 +f 122 131 138 +f 131 133 138 +f 133 127 138 +f 125 122 139 +f 130 125 139 +f 127 136 140 +f 135 125 141 +f 128 123 142 +f 134 128 142 +f 123 137 142 +f 137 134 142 +f 130 127 143 +f 124 130 143 +f 127 140 143 +f 126 132 144 +f 133 126 144 +f 132 133 144 +f 132 129 145 +f 129 136 145 +f 136 132 145 +f 138 130 146 +f 122 138 146 +f 139 122 146 +f 130 139 146 +f 123 124 147 +f 129 123 147 +f 136 129 147 +f 140 136 147 +f 124 143 147 +f 143 140 147 +f 125 128 148 +f 128 134 148 +f 134 126 148 +f 126 135 148 +f 141 125 148 +f 135 141 148 +f 132 126 149 +f 129 132 149 +f 126 134 149 +f 137 129 149 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/251/251.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/251/251.urdf new file mode 100644 index 000000000..9be989092 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/251/251.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/252/252.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/252/252.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/252/252.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/252/252.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/252/252.obj new file mode 100644 index 000000000..c1dcf5003 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/252/252.obj @@ -0,0 +1,1206 @@ +o convex_0 +v -2.010206 -0.339619 -0.360059 +v -1.846816 -0.208728 0.391902 +v -2.042845 -0.208728 0.391902 +v -2.010206 -1.843265 0.064869 +v -2.337113 -0.208728 -0.033100 +v -1.683299 -0.208728 -0.033100 +v -2.239003 -1.614125 -0.000419 +v -1.814177 -1.614125 -0.000419 +v -2.140956 -1.516037 -0.196580 +v -2.010206 -1.614125 0.261103 +v -2.271706 -0.208728 -0.294623 +v -2.239003 -0.241530 0.293711 +v -1.716066 -0.404904 0.326466 +v -1.781473 -0.306816 -0.261942 +v -2.010206 -1.548840 -0.196580 +v -2.239003 -1.614125 0.064869 +v -1.814177 -1.320021 0.228349 +v -2.108253 -0.208728 -0.360059 +v -1.683299 -0.241530 0.228349 +v -2.173596 -1.417949 0.195594 +v -1.944927 -1.581643 0.261103 +v -1.879520 -1.352664 -0.163825 +v -2.271706 -0.502992 -0.261942 +v -2.337113 -0.274173 0.032188 +v -2.075549 -1.843265 -0.000419 +v -1.683299 -0.404904 -0.000419 +f 19 8 26 +f 3 2 5 +f 5 2 6 +f 2 3 10 +f 5 6 11 +f 3 5 12 +f 10 3 12 +f 9 1 15 +f 1 14 15 +f 4 10 16 +f 8 13 17 +f 1 9 18 +f 11 6 18 +f 6 14 18 +f 14 1 18 +f 6 2 19 +f 2 13 19 +f 13 8 19 +f 10 12 20 +f 16 10 20 +f 12 16 20 +f 4 8 21 +f 2 10 21 +f 10 4 21 +f 13 2 21 +f 8 17 21 +f 17 13 21 +f 14 8 22 +f 8 15 22 +f 15 14 22 +f 7 5 23 +f 9 7 23 +f 5 11 23 +f 18 9 23 +f 11 18 23 +f 5 7 24 +f 12 5 24 +f 7 16 24 +f 16 12 24 +f 8 4 25 +f 7 9 25 +f 15 8 25 +f 9 15 25 +f 4 16 25 +f 16 7 25 +f 14 6 26 +f 8 14 26 +f 6 19 26 +o convex_1 +v 0.834007 -1.320162 0.816673 +v -0.048550 -3.772207 -0.065564 +v 0.016786 -3.772207 -0.065564 +v -0.081116 -1.320162 -1.307934 +v -0.963878 -1.320162 0.751285 +v -0.767663 -3.020224 -0.817524 +v -0.702327 -3.118152 0.816673 +v 0.768670 -2.006859 -0.752137 +v 0.736104 -3.216080 0.097407 +v -0.931107 -1.320162 -0.850218 +v 0.082123 -3.346891 -0.752137 +v 0.114689 -3.379774 0.718591 +v -0.081116 -1.353044 1.241694 +v 1.062992 -1.320162 -0.033120 +v -1.029420 -1.778120 -0.000675 +v -0.767663 -3.314249 -0.000675 +v 0.834007 -1.876048 0.751285 +v 0.834007 -1.320162 -0.784831 +v 0.768670 -3.248723 -0.065564 +v -0.375438 -1.320162 1.209250 +v 0.376240 -2.039502 0.980143 +v -0.735097 -3.052867 -0.850218 +v -0.408209 -1.353284 -1.210101 +v 0.637997 -2.856530 0.555122 +v 0.572455 -2.922056 -0.588667 +v 0.278133 -2.137670 -1.013688 +v -0.931107 -1.679952 0.783979 +v -1.029420 -1.320162 -0.229034 +v 0.801236 -1.810763 -0.784831 +v -0.735097 -3.150795 0.685897 +v 0.016786 -3.772207 0.032019 +v -0.931107 -1.810763 -0.752137 +v -0.604424 -3.248963 -0.654055 +v 0.082123 -3.281606 -0.784831 +v -0.865771 -1.353284 0.882061 +v 0.768670 -3.248723 -0.000675 +v 0.212796 -1.320162 1.143613 +v -0.146658 -1.353044 -1.307934 +v -0.800434 -3.183438 -0.000675 +v -0.081116 -3.739084 0.064713 +v 1.062992 -1.353044 -0.000675 +v -0.015780 -3.379774 -0.719443 +v 0.866573 -1.516738 0.783979 +v 0.310904 -2.301364 0.947449 +v 0.180230 -1.385687 -1.177158 +v -0.735097 -3.020224 0.816673 +v -0.310102 -1.353044 1.241694 +v -1.029420 -1.353284 0.260876 +v 0.866573 -1.843405 0.653204 +v 0.703333 -3.314249 -0.065564 +v -0.702327 -1.843405 -0.980994 +v -0.996649 -1.974456 0.064713 +v -0.996649 -1.974456 -0.098258 +v -0.702327 -3.150795 0.783979 +v 0.474348 -3.477942 -0.000675 +v -0.767663 -3.216321 -0.392503 +v -0.473546 -3.183438 -0.817524 +v -0.669761 -1.483855 1.012837 +v 0.768670 -1.320162 -0.850218 +v 0.409011 -3.117912 0.620510 +f 43 70 86 +f 27 30 31 +f 31 30 36 +f 33 38 39 +f 30 27 40 +f 30 40 44 +f 27 31 46 +f 32 36 48 +f 36 30 49 +f 35 43 50 +f 45 37 51 +f 34 45 51 +f 31 36 54 +f 44 40 55 +f 45 34 55 +f 40 45 55 +f 34 52 55 +f 28 29 57 +f 36 32 58 +f 54 36 58 +f 41 54 58 +f 34 51 60 +f 51 37 60 +f 30 52 60 +f 52 34 60 +f 46 31 61 +f 31 53 61 +f 35 38 62 +f 43 35 62 +f 27 46 63 +f 46 39 63 +f 39 47 63 +f 49 30 64 +f 48 49 64 +f 30 60 64 +f 42 56 65 +f 42 28 66 +f 28 57 66 +f 57 38 66 +f 40 27 67 +f 45 40 67 +f 62 45 67 +f 29 28 68 +f 37 29 68 +f 28 59 68 +f 47 43 69 +f 27 63 69 +f 63 47 69 +f 67 27 69 +f 39 38 70 +f 47 39 70 +f 43 47 70 +f 52 30 71 +f 55 52 71 +f 61 53 72 +f 33 39 73 +f 39 46 73 +f 72 33 73 +f 46 72 73 +f 53 31 74 +f 41 53 74 +f 31 54 74 +f 54 41 74 +f 43 62 75 +f 62 67 75 +f 69 43 75 +f 67 69 75 +f 29 37 76 +f 37 45 76 +f 45 62 76 +f 48 36 77 +f 36 49 77 +f 49 48 77 +f 53 41 78 +f 41 65 78 +f 65 56 78 +f 72 53 78 +f 56 72 78 +f 58 32 79 +f 41 58 79 +f 65 41 79 +f 38 33 80 +f 56 42 80 +f 66 38 80 +f 42 66 80 +f 33 72 80 +f 72 56 80 +f 57 29 81 +f 38 57 81 +f 62 38 81 +f 29 76 81 +f 76 62 81 +f 28 42 82 +f 32 48 82 +f 59 28 82 +f 48 59 82 +f 42 65 82 +f 79 32 82 +f 65 79 82 +f 59 48 83 +f 60 37 83 +f 48 64 83 +f 64 60 83 +f 37 68 83 +f 68 59 83 +f 46 61 84 +f 72 46 84 +f 61 72 84 +f 30 44 85 +f 44 55 85 +f 71 30 85 +f 55 71 85 +f 38 35 86 +f 35 50 86 +f 50 43 86 +f 70 38 86 +o convex_2 +v 3.286440 1.131938 0.359208 +v 3.220793 1.164664 -0.360059 +v 3.220793 0.968510 -0.261843 +v 5.018607 1.099279 -0.033024 +v 3.220793 1.556905 -0.000426 +v 3.253705 1.524112 -0.360059 +v 4.822546 1.327958 0.032243 +v 3.220793 0.870399 0.130318 +v 4.757251 1.099279 -0.196577 +v 4.626485 0.935784 0.032243 +v 4.757251 1.197323 0.195725 +v 3.220793 1.393342 0.261062 +v 3.351735 0.935784 0.293801 +v 4.626485 1.295299 -0.163767 +v 4.724515 1.099279 0.195725 +v 4.561014 0.968510 -0.131099 +v 3.253705 0.870399 -0.033024 +v 3.253705 1.556905 -0.327320 +v 3.319176 1.426068 0.228393 +v 3.220793 1.197323 0.359208 +v 3.417206 1.197323 -0.360059 +v 4.822546 1.327958 -0.033024 +v 4.757251 1.164664 -0.196577 +v 3.417206 0.935784 -0.229245 +v 4.561014 1.001169 0.162986 +f 101 99 111 +f 88 89 91 +f 88 91 92 +f 91 89 94 +f 90 93 97 +f 91 94 98 +f 94 96 99 +f 96 90 101 +f 97 87 101 +f 90 97 101 +f 87 99 101 +f 95 90 102 +f 90 96 102 +f 102 96 103 +f 94 89 103 +f 96 94 103 +f 92 91 104 +f 91 93 104 +f 100 92 104 +f 93 91 105 +f 97 93 105 +f 91 98 105 +f 98 97 105 +f 87 97 106 +f 98 94 106 +f 97 98 106 +f 99 87 106 +f 94 99 106 +f 88 92 107 +f 93 90 108 +f 104 93 108 +f 100 104 108 +f 90 95 109 +f 92 100 109 +f 107 92 109 +f 95 107 109 +f 108 90 109 +f 100 108 109 +f 89 88 110 +f 95 102 110 +f 102 103 110 +f 103 89 110 +f 88 107 110 +f 107 95 110 +f 99 96 111 +f 96 101 111 +o convex_3 +v -2.435099 2.341576 -0.196474 +v -1.617911 2.374279 0.064911 +v -1.617911 2.341576 0.064911 +v -2.042865 2.374279 0.424596 +v -2.075504 2.505013 -0.392625 +v -2.271662 2.505013 0.228355 +v -1.781508 2.505013 0.293679 +v -2.010305 2.341576 -0.490835 +v -1.748789 2.505013 -0.261977 +v -2.337101 2.341576 0.261062 +v -2.304381 2.505013 -0.327301 +v -1.716069 2.341576 0.359182 +v -1.683430 2.341576 -0.294594 +v -2.369740 2.374279 -0.425421 +f 112 122 125 +f 116 117 118 +f 117 115 118 +f 114 112 119 +f 119 116 120 +f 118 113 120 +f 116 118 120 +f 112 114 121 +f 115 117 121 +f 117 112 121 +f 117 116 122 +f 112 117 122 +f 114 113 123 +f 113 118 123 +f 118 115 123 +f 121 114 123 +f 115 121 123 +f 113 114 124 +f 114 119 124 +f 119 120 124 +f 120 113 124 +f 119 112 125 +f 116 119 125 +f 122 116 125 +o convex_4 +v -2.173628 2.505029 -0.360014 +v -2.010321 2.766661 0.326514 +v -2.042849 2.766661 0.326514 +v -1.944901 4.172420 -0.000451 +v -1.715993 2.505029 -0.098456 +v -2.337056 2.505029 0.032217 +v -2.173628 3.976237 0.032217 +v -1.781473 2.505029 0.293775 +v -1.944901 3.943431 -0.196532 +v -1.781473 3.943431 0.064956 +v -2.042849 3.910789 0.228368 +v -1.781473 2.537835 -0.294607 +v -2.271697 2.766661 -0.294607 +v -2.271697 2.505029 0.195700 +v -2.010321 2.505029 -0.392753 +v -1.814183 3.779891 -0.131195 +v -1.846832 3.518260 0.228368 +v -2.140918 3.747248 -0.163863 +v -1.715993 2.570641 0.130292 +v -2.337056 2.570641 -0.163863 +v -2.238987 2.701212 0.228368 +v -2.075559 2.505029 0.326514 +v -2.206338 3.779891 -0.033120 +v -2.173628 3.583872 0.163031 +v -1.977611 3.910789 0.228368 +f 142 135 150 +f 126 130 131 +f 131 130 133 +f 132 129 134 +f 128 127 136 +f 129 132 136 +f 134 126 138 +f 131 133 139 +f 130 126 140 +f 126 134 140 +f 137 130 140 +f 134 137 140 +f 134 129 141 +f 129 135 141 +f 135 130 141 +f 130 137 141 +f 137 134 141 +f 133 135 142 +f 132 134 143 +f 134 138 143 +f 133 130 144 +f 135 133 144 +f 130 135 144 +f 126 131 145 +f 138 126 145 +f 128 136 146 +f 131 139 146 +f 146 139 147 +f 127 128 147 +f 133 127 147 +f 139 133 147 +f 128 146 147 +f 131 132 148 +f 132 143 148 +f 143 138 148 +f 145 131 148 +f 138 145 148 +f 132 131 149 +f 136 132 149 +f 131 146 149 +f 146 136 149 +f 127 133 150 +f 135 129 150 +f 136 127 150 +f 129 136 150 +f 133 142 150 +o convex_5 +v 0.180250 -0.666360 2.647729 +v -0.277421 -1.254774 1.274638 +v -0.310150 -1.222054 1.274638 +v 0.311032 -0.568201 1.274638 +v -0.310150 -0.568201 1.274638 +v -0.244759 -0.829881 2.811247 +v 0.180250 -0.960528 2.484211 +v 0.180250 -1.091176 1.274638 +v 0.016738 -0.993171 2.843810 +v -0.015924 -0.633717 2.811247 +v 0.016738 -0.470119 1.373030 +v 0.245641 -0.829881 2.811247 +v -0.015924 -1.254774 1.307377 +v -0.375541 -0.927809 1.373030 +v 0.311032 -0.797084 1.274638 +v 0.016738 -0.797084 3.072805 +v 0.245641 -0.502839 1.307377 +v -0.179368 -0.666360 2.614814 +v 0.311032 -0.797084 1.961447 +v -0.081180 -0.470119 1.274638 +v -0.277421 -1.254774 1.373030 +v 0.245641 -0.764365 2.811247 +v -0.179368 -0.960528 2.647729 +v 0.212912 -1.058533 1.373030 +v -0.342812 -0.633717 1.274638 +v -0.244759 -0.797084 2.811247 +v 0.082129 -0.633717 2.745769 +f 166 172 177 +f 152 153 154 +f 154 153 155 +f 152 154 158 +f 159 157 162 +f 152 158 163 +f 157 159 163 +f 153 156 164 +f 158 154 165 +f 156 159 166 +f 159 162 166 +f 165 154 169 +f 154 155 170 +f 160 161 170 +f 167 154 170 +f 161 167 170 +f 155 168 170 +f 168 160 170 +f 153 152 171 +f 156 153 171 +f 152 163 171 +f 163 159 171 +f 166 162 172 +f 167 151 172 +f 154 167 172 +f 169 154 172 +f 162 169 172 +f 159 156 173 +f 156 171 173 +f 171 159 173 +f 162 157 174 +f 157 163 174 +f 163 158 174 +f 158 165 174 +f 169 162 174 +f 165 169 174 +f 155 153 175 +f 153 164 175 +f 175 164 176 +f 164 156 176 +f 156 166 176 +f 166 160 176 +f 168 155 176 +f 160 168 176 +f 155 175 176 +f 161 160 177 +f 160 166 177 +f 151 167 177 +f 167 161 177 +f 172 151 177 +o convex_6 +v -2.762077 0.641891 -0.719407 +v -1.944876 1.327849 1.013086 +v -1.977611 1.589452 0.980223 +v -1.258277 1.295149 -1.046632 +v -1.258277 0.118436 0.914899 +v -2.402495 2.341560 -0.425248 +v -1.258277 2.079707 0.751388 +v -2.696775 0.412739 0.653200 +v -1.977611 -0.208568 -0.359925 +v -2.664040 1.981856 0.718726 +v -1.258277 0.183837 -0.981106 +v -1.258277 2.079707 -0.784933 +v -2.664040 1.949156 -0.752271 +v -2.990886 1.294899 -0.000643 +v -2.304458 -0.208568 0.130206 +v -2.075648 1.229748 -1.046632 +v -1.716236 2.341560 0.391703 +v -2.925585 0.380038 -0.065766 +v -2.696775 0.347338 -0.719407 +v -2.892849 1.949156 -0.065766 +v -2.075648 1.949156 -0.948444 +v -1.683331 -0.208568 0.228394 +v -1.258277 1.262448 1.013086 +v -2.010347 0.412739 0.947561 +v -2.729342 0.968645 0.751388 +v -2.369759 2.341560 0.293717 +v -2.075648 1.981856 0.914899 +v -2.042913 -0.208568 0.391703 +v -2.762077 1.196798 -0.817595 +v -2.042913 0.412739 -0.981106 +v -1.618029 2.341560 -0.196413 +v -1.258277 -0.012366 -0.033104 +v -2.271722 -0.208568 -0.294601 +v -1.977611 2.341560 -0.523436 +v -1.258277 0.216786 0.980223 +v -2.042913 1.098697 1.013086 +v -1.258277 2.178058 0.097544 +v -2.075648 2.341560 0.457027 +v -1.781537 -0.208568 -0.261737 +v -1.323748 2.014307 -0.883120 +v -2.990886 0.968645 -0.000643 +v -1.650765 0.772443 -1.046632 +v -2.729342 1.393000 0.751388 +v -2.566003 2.275909 -0.033104 +v -1.258277 0.118436 -0.915782 +v -1.487257 2.014307 0.849575 +v -1.356484 0.183837 -0.981106 +v -2.990886 1.196798 -0.098427 +v -1.944876 1.883755 -0.981106 +v -2.860114 0.380038 0.195530 +v -2.566003 0.380038 0.718726 +v -2.631304 1.229748 0.816712 +v -2.238987 -0.208568 0.293717 +v -2.892849 1.949156 0.032019 +v -2.729342 0.478140 -0.752271 +v -2.042913 1.294899 1.013086 +v -2.729342 1.785654 -0.686746 +v -2.108384 -0.208568 -0.359925 +v -2.827378 1.262448 0.522553 +v -1.519992 0.216537 0.947561 +v -1.650765 0.772443 1.013086 +v -1.258277 0.347588 -1.013768 +v -2.762077 1.098697 -0.817595 +v -1.585294 2.341560 0.097544 +f 214 208 241 +f 182 181 184 +f 181 182 188 +f 184 181 189 +f 183 190 197 +f 190 183 198 +f 193 190 198 +f 192 186 199 +f 180 179 200 +f 182 184 200 +f 194 183 203 +f 180 200 204 +f 199 182 205 +f 192 199 205 +f 190 193 206 +f 183 194 208 +f 188 182 209 +f 182 199 209 +f 186 192 210 +f 192 195 210 +f 195 196 210 +f 198 183 211 +f 183 208 211 +f 208 189 211 +f 182 200 212 +f 200 179 213 +f 184 189 214 +f 189 208 214 +f 184 194 215 +f 194 203 215 +f 203 187 215 +f 187 204 215 +f 199 186 216 +f 209 199 216 +f 189 181 217 +f 211 189 217 +f 198 211 217 +f 193 181 219 +f 207 193 219 +f 183 197 221 +f 203 183 221 +f 187 203 221 +f 188 209 222 +f 216 186 222 +f 209 216 222 +f 200 184 223 +f 204 200 223 +f 184 215 223 +f 215 204 223 +f 196 207 224 +f 188 222 224 +f 178 195 225 +f 191 197 225 +f 195 218 225 +f 218 191 225 +f 181 193 226 +f 193 198 226 +f 217 181 226 +f 198 217 226 +f 195 192 227 +f 185 202 227 +f 218 195 227 +f 202 218 227 +f 202 185 228 +f 201 202 228 +f 205 201 228 +f 202 201 229 +f 201 213 229 +f 187 220 229 +f 220 202 229 +f 192 205 230 +f 185 227 230 +f 227 192 230 +f 228 185 230 +f 205 228 230 +f 197 191 231 +f 221 197 231 +f 187 221 231 +f 195 178 232 +f 196 195 232 +f 207 196 232 +f 179 180 233 +f 180 204 233 +f 204 187 233 +f 213 179 233 +f 187 229 233 +f 229 213 233 +f 197 190 234 +f 190 206 234 +f 225 197 234 +f 206 225 234 +f 186 210 235 +f 210 196 235 +f 222 186 235 +f 196 224 235 +f 224 222 235 +f 191 218 236 +f 218 202 236 +f 220 187 236 +f 202 220 236 +f 187 231 236 +f 231 191 236 +f 205 182 237 +f 201 205 237 +f 182 212 237 +f 212 201 237 +f 212 200 238 +f 201 212 238 +f 213 201 238 +f 200 213 238 +f 181 188 239 +f 219 181 239 +f 207 219 239 +f 224 207 239 +f 188 224 239 +f 206 193 240 +f 193 207 240 +f 178 225 240 +f 225 206 240 +f 232 178 240 +f 207 232 240 +f 194 184 241 +f 208 194 241 +f 184 214 241 +o convex_7 +v -0.081180 -0.372037 -1.275662 +v -0.113977 -1.320162 -1.439128 +v -0.081180 -1.320162 -1.439128 +v 0.016738 -0.829765 -3.040962 +v 0.311032 -0.764521 -1.275662 +v -0.375541 -0.731760 -1.275662 +v -0.212030 -0.862434 -2.811832 +v 0.212912 -0.797097 -2.779173 +v -0.310150 -1.320162 -1.275662 +v 0.049468 -1.091298 -2.811832 +v 0.278303 -0.437467 -1.308493 +v -0.048585 -0.600901 -2.779173 +v 0.180250 -1.123966 -1.275662 +v -0.342812 -0.535565 -1.341152 +v 0.180250 -1.058537 -2.288774 +v -0.375541 -0.993200 -1.439128 +v -0.015924 -1.091298 -2.811832 +v 0.147521 -0.633663 -2.583048 +v -0.212030 -0.666331 -2.517731 +v 0.016738 -1.287400 -1.275662 +v -0.244759 -0.895102 -2.648366 +v 0.311032 -0.502896 -1.275662 +v -0.179368 -1.025868 -2.615707 +v 0.212912 -0.862434 -2.779173 +v 0.212912 -1.025868 -2.125653 +v 0.016738 -0.372037 -1.308493 +v 0.016738 -0.600901 -2.746515 +f 267 252 268 +f 246 242 247 +f 243 244 250 +f 246 247 250 +f 244 243 251 +f 245 248 253 +f 246 250 254 +f 247 242 255 +f 242 253 255 +f 250 247 257 +f 248 245 258 +f 243 250 258 +f 251 243 258 +f 245 251 258 +f 252 249 259 +f 253 248 260 +f 255 253 260 +f 250 244 261 +f 244 251 261 +f 254 250 261 +f 251 256 261 +f 256 254 261 +f 247 255 262 +f 257 247 262 +f 250 257 262 +f 260 248 262 +f 255 260 262 +f 242 246 263 +f 246 249 263 +f 252 242 263 +f 249 252 263 +f 248 258 264 +f 258 250 264 +f 250 262 264 +f 262 248 264 +f 245 249 265 +f 249 246 265 +f 251 245 265 +f 256 251 265 +f 256 265 266 +f 246 254 266 +f 254 256 266 +f 265 246 266 +f 242 252 267 +f 253 242 267 +f 253 267 268 +f 249 245 268 +f 245 253 268 +f 259 249 268 +f 252 259 268 +o convex_8 +v -1.029100 -1.320162 0.260927 +v 1.324544 -0.208568 0.032025 +v 1.324544 -0.241319 0.032025 +v -0.408158 -0.829541 -1.275489 +v -1.029100 -0.208568 0.881984 +v 0.866560 -1.320162 0.784133 +v 0.768542 -1.320162 -0.850385 +v -0.996508 -0.208568 -0.948486 +v 0.311045 -0.502896 1.274638 +v -0.310140 -1.320162 1.241938 +v 0.833968 -0.208568 -0.948486 +v -0.931082 -1.320162 -0.850385 +v 0.931986 -0.208568 0.914934 +v -0.048435 -1.320162 -1.275489 +v 0.311045 -0.404751 -1.275489 +v 1.062839 -1.320162 -0.032876 +v -1.160195 -0.241319 -0.032876 +v -0.963917 -1.287410 0.784133 +v -0.113861 -0.437502 1.274638 +v 0.180192 -1.091227 1.274638 +v -0.963917 -0.208568 0.980335 +v -0.081270 -0.339356 -1.275489 +v 0.833968 -1.287410 -0.817685 +v 0.343636 -0.699188 -1.275489 +v -0.375323 -1.058476 1.274638 +v 0.016991 -0.208568 1.111136 +v -1.061934 -1.254767 -0.032876 +v 0.343636 -0.731831 1.274638 +v -0.310140 -1.320162 -1.275489 +v 0.147601 -0.208568 -1.144688 +v 1.324544 -0.241319 -0.032876 +v -0.963917 -1.189264 -0.850385 +v 0.866560 -0.404751 -0.915786 +v -0.865656 -1.320162 0.881984 +v 0.245618 -1.320162 1.143836 +v -0.342732 -0.568291 1.274638 +v 0.147601 -1.189264 -1.275489 +v 0.899395 -0.894936 0.849533 +v -0.375323 -0.535539 -1.275489 +v -0.996508 -0.372108 -0.948486 +v -1.160195 -0.208568 0.032025 +v -0.898490 -0.208568 -1.013887 +v -0.408158 -0.993190 -1.275489 +v 1.062839 -1.320162 0.032025 +v -0.048435 -1.287410 1.274638 +v -0.996508 -0.339356 0.947635 +v 0.866560 -1.254767 0.816833 +v -0.440750 -1.058476 1.241938 +v 0.637933 -0.208568 1.013035 +f 281 294 317 +f 274 269 275 +f 273 270 276 +f 269 274 278 +f 276 270 279 +f 275 269 280 +f 271 270 281 +f 270 273 281 +f 275 280 282 +f 282 272 283 +f 274 275 284 +f 277 287 288 +f 281 273 289 +f 283 272 290 +f 284 275 291 +f 283 279 292 +f 282 283 292 +f 288 287 293 +f 287 277 294 +f 281 289 294 +f 289 287 294 +f 280 269 295 +f 281 277 296 +f 277 288 296 +f 272 282 297 +f 282 280 297 +f 276 279 298 +f 279 283 298 +f 283 290 298 +f 270 271 299 +f 279 270 299 +f 271 284 299 +f 284 291 299 +f 280 295 300 +f 295 285 300 +f 292 279 301 +f 291 292 301 +f 279 299 301 +f 299 291 301 +f 269 278 302 +f 286 269 302 +f 278 274 303 +f 287 289 304 +f 293 287 304 +f 289 293 304 +f 275 282 305 +f 291 275 305 +f 282 292 305 +f 292 291 305 +f 271 281 306 +f 281 296 306 +f 290 272 307 +f 285 276 308 +f 300 285 308 +f 273 276 309 +f 276 285 309 +f 269 286 309 +f 286 273 309 +f 295 269 309 +f 285 295 309 +f 276 298 310 +f 298 290 310 +f 307 272 310 +f 290 307 310 +f 308 276 310 +f 308 310 311 +f 272 297 311 +f 297 280 311 +f 280 300 311 +f 300 308 311 +f 310 272 311 +f 271 274 312 +f 284 271 312 +f 274 284 312 +f 293 278 313 +f 288 293 313 +f 278 303 313 +f 303 288 313 +f 273 286 314 +f 289 273 314 +f 286 302 314 +f 274 271 315 +f 296 288 315 +f 303 274 315 +f 288 303 315 +f 271 306 315 +f 306 296 315 +f 278 293 316 +f 293 289 316 +f 302 278 316 +f 289 314 316 +f 314 302 316 +f 277 281 317 +f 294 277 317 +o convex_9 +v 1.324435 0.151040 0.816897 +v -0.048307 -0.208568 -1.144714 +v -0.734835 -0.208568 -1.046350 +v -1.258277 0.183760 -0.980847 +v -0.963782 -0.208568 0.980328 +v -1.258277 0.183760 0.947686 +v 1.161036 0.183760 -0.915779 +v 1.357052 -0.208568 0.032166 +v 0.637907 -0.208568 1.012971 +v 1.945729 0.183760 0.032166 +v 0.833924 -0.208568 -0.948422 +v -1.159799 -0.208568 -0.098188 +v 0.147709 0.183760 1.045614 +v 0.932089 -0.208568 0.914825 +v -0.015690 0.183760 -1.079211 +v -0.996399 -0.208568 -0.948204 +v 1.912798 0.118359 -0.033120 +v -0.048307 -0.208568 1.078474 +v 1.193653 0.183760 0.914825 +v -1.258277 -0.077728 0.032166 +v -1.258277 0.085678 0.914825 +v -1.192729 0.183760 0.980328 +v 1.912798 0.118359 0.032166 +v -1.029016 -0.208568 0.882183 +v 1.389669 0.151040 -0.686845 +v 1.487834 -0.143167 -0.033120 +v -1.258277 0.118359 -0.915562 +v 0.539742 -0.208568 -1.046568 +v 0.899472 -0.208568 -0.882919 +v -0.244637 0.183760 1.045614 +v -0.571436 -0.208568 1.045614 +v 1.030254 0.183760 -0.948422 +f 324 345 349 +f 319 320 321 +f 320 319 322 +f 321 323 324 +f 322 319 325 +f 322 325 326 +f 324 323 327 +f 325 319 328 +f 320 322 329 +f 327 323 330 +f 326 325 331 +f 319 321 332 +f 321 324 332 +f 321 320 333 +f 320 329 333 +f 322 326 335 +f 326 330 335 +f 318 327 336 +f 330 326 336 +f 327 330 336 +f 331 318 336 +f 326 331 336 +f 323 321 337 +f 322 323 338 +f 323 337 338 +f 323 322 339 +f 330 323 339 +f 327 318 340 +f 318 331 340 +f 331 325 340 +f 334 327 340 +f 329 322 341 +f 337 329 341 +f 338 337 341 +f 322 338 341 +f 324 327 342 +f 328 324 342 +f 327 334 342 +f 340 325 343 +f 334 340 343 +f 321 333 344 +f 333 329 344 +f 337 321 344 +f 329 337 344 +f 328 319 345 +f 324 328 345 +f 325 328 346 +f 328 342 346 +f 342 334 346 +f 343 325 346 +f 334 343 346 +f 335 330 347 +f 330 339 347 +f 347 339 348 +f 322 335 348 +f 339 322 348 +f 335 347 348 +f 319 332 349 +f 332 324 349 +f 345 319 349 +o convex_10 +v 3.220722 1.458535 0.260921 +v -1.258213 0.837811 -1.046632 +v -1.258213 0.347421 -1.013656 +v -1.258213 1.262538 1.013010 +v 1.226333 0.183958 0.914697 +v -1.258213 2.112388 -0.686768 +v 2.730126 1.001274 -0.882983 +v 2.207087 1.948925 0.784024 +v 2.599476 1.949123 -0.719539 +v 2.730126 0.249422 -0.065762 +v -1.258213 0.183958 0.947468 +v -1.258213 2.079656 0.751253 +v 1.062801 0.183958 -0.948319 +v 2.730126 1.132204 0.947673 +v 2.207087 2.210585 0.031935 +v 1.978230 1.262538 -1.013656 +v -1.258213 2.047122 -0.850417 +v 2.730126 0.445618 0.653146 +v 0.147811 0.183958 1.045780 +v -0.408110 0.183958 -1.046632 +v 3.220722 1.164738 -0.392446 +v 2.730126 0.478350 -0.686768 +v 2.763008 1.916193 0.653146 +v 2.076437 1.262538 1.012805 +v -0.931149 2.210585 -0.000426 +v 3.220722 0.936008 0.326258 +v 2.763008 2.112388 -0.065762 +v 3.220722 1.556732 -0.392446 +v -1.258213 1.295270 -1.046632 +v -1.258213 0.183958 -0.981090 +v 2.174205 1.981657 -0.752105 +v 2.730126 1.328003 -0.915549 +v 2.011111 2.210585 -0.098328 +v 2.207087 0.183958 -0.032787 +v -1.225331 1.948925 0.816795 +v 3.220722 0.936008 -0.229002 +v 0.213136 0.183958 -1.046632 +v 2.076437 2.210585 0.097477 +v 2.795451 1.883659 -0.686768 +v 3.220722 1.621998 -0.032992 +v 2.631919 1.164738 -0.948524 +v 2.763008 1.720196 0.784024 +v 2.730126 0.249422 0.064706 +v 2.730126 0.576151 0.751458 +v 2.043555 2.014390 0.685917 +v 0.017161 0.674348 1.045780 +v -0.244578 0.183958 1.045780 +v 2.011111 1.948925 -0.784875 +v 1.291658 0.183958 -0.882983 +v -1.258213 2.177853 0.097477 +v -0.146371 1.229806 -1.046632 +v -1.258213 0.216690 0.980034 +v 3.220722 1.229806 0.359028 +v 2.763008 2.112388 0.064706 +v 1.160570 0.216690 0.947468 +v 2.207087 1.164738 1.012805 +v 2.076437 1.687463 0.882131 +v -0.375228 2.210585 -0.098328 +v 3.220722 0.870543 0.130043 +v 2.763008 1.164738 -0.915549 +v -0.277021 2.210585 0.064911 +v -1.127124 2.079656 -0.784875 +v 2.076437 1.197272 -1.013656 +v -1.258213 0.805079 1.013010 +f 401 396 413 +f 351 352 353 +f 351 353 355 +f 353 352 360 +f 355 353 361 +f 354 360 362 +f 351 355 366 +f 360 354 368 +f 352 351 369 +f 362 360 369 +f 362 356 371 +f 370 350 375 +f 350 370 377 +f 351 366 378 +f 366 365 378 +f 369 351 378 +f 360 352 379 +f 352 369 379 +f 369 360 379 +f 374 364 382 +f 376 358 382 +f 364 376 382 +f 358 380 382 +f 354 362 383 +f 361 353 384 +f 357 361 384 +f 353 373 384 +f 359 371 385 +f 371 370 385 +f 370 375 385 +f 362 369 386 +f 369 378 386 +f 364 374 387 +f 358 376 388 +f 376 377 388 +f 381 358 388 +f 377 381 388 +f 372 350 389 +f 350 377 389 +f 377 376 389 +f 356 362 390 +f 362 386 390 +f 350 372 391 +f 372 357 391 +f 373 363 391 +f 367 354 392 +f 354 383 392 +f 383 359 392 +f 354 367 393 +f 375 363 393 +f 367 375 393 +f 361 357 394 +f 357 372 394 +f 387 361 394 +f 372 387 394 +f 373 353 395 +f 360 368 396 +f 395 353 396 +f 368 395 396 +f 365 366 397 +f 380 358 397 +f 366 380 397 +f 381 365 397 +f 358 381 397 +f 362 371 398 +f 371 359 398 +f 359 383 398 +f 383 362 398 +f 355 361 399 +f 374 355 399 +f 361 374 399 +f 378 365 400 +f 386 378 400 +f 353 360 401 +f 360 396 401 +f 375 350 402 +f 363 375 402 +f 350 391 402 +f 391 363 402 +f 376 364 403 +f 387 372 403 +f 364 387 403 +f 372 389 403 +f 389 376 403 +f 368 354 404 +f 354 393 404 +f 393 363 404 +f 363 373 405 +f 395 368 405 +f 373 395 405 +f 368 404 405 +f 404 363 405 +f 357 384 406 +f 384 373 406 +f 391 357 406 +f 373 391 406 +f 355 374 407 +f 382 355 407 +f 374 382 407 +f 375 367 408 +f 359 385 408 +f 385 375 408 +f 367 392 408 +f 392 359 408 +f 371 356 409 +f 370 371 409 +f 377 370 409 +f 381 377 409 +f 356 390 409 +f 390 381 409 +f 374 361 410 +f 361 387 410 +f 387 374 410 +f 366 355 411 +f 380 366 411 +f 355 382 411 +f 382 380 411 +f 365 381 412 +f 381 390 412 +f 390 386 412 +f 400 365 412 +f 386 400 412 +f 396 353 413 +f 353 401 413 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/252/252.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/252/252.urdf new file mode 100644 index 000000000..3b06ca497 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/252/252.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/253/253.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/253/253.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/253/253.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/253/253.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/253/253.obj new file mode 100644 index 000000000..60caef829 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/253/253.obj @@ -0,0 +1,591 @@ +o convex_0 +v 0.358940 -1.555355 -1.044766 +v -0.933950 -1.770790 1.079635 +v -0.964844 -1.770790 1.079635 +v 0.635974 0.445778 1.048651 +v -0.995738 0.445778 -0.983005 +v 0.943901 -1.832565 1.048651 +v 1.005486 0.445778 -0.983005 +v -0.995738 -1.832565 -0.952229 +v -0.964844 0.445778 1.017875 +v 1.067072 -1.832565 -0.952229 +v 0.943901 0.445778 1.048651 +v -0.964844 -1.832565 1.079635 +v -0.133542 -1.832565 -1.044766 +v -0.718502 0.445778 -1.013782 +v -0.995738 0.445778 -0.090075 +v 1.036178 0.106792 -0.983005 +v 0.451217 -0.539735 -1.044766 +v 1.067072 -1.740013 -0.736586 +v -0.964844 0.291673 1.048651 +v -0.964844 -1.801566 -0.983005 +v 0.820730 0.445778 -1.013782 +v -0.995738 -1.832565 -0.551928 +v 1.067072 -1.216592 -0.890676 +v -0.656917 -1.740013 -1.013782 +v 0.328046 -1.832565 -1.044766 +v 0.882315 -1.647684 -0.983005 +v 1.036178 0.106792 -0.921452 +v 1.005486 0.445778 -0.675241 +f 11 27 28 +f 3 2 4 +f 5 4 7 +f 4 5 9 +f 6 8 10 +f 4 2 11 +f 2 6 11 +f 7 4 11 +f 2 3 12 +f 6 2 12 +f 8 6 12 +f 10 8 13 +f 5 7 14 +f 5 8 15 +f 9 5 15 +f 12 3 15 +f 1 13 17 +f 13 14 17 +f 6 10 18 +f 11 6 18 +f 3 4 19 +f 4 9 19 +f 15 3 19 +f 9 15 19 +f 8 5 20 +f 13 8 20 +f 5 14 20 +f 14 7 21 +f 7 16 21 +f 1 17 21 +f 17 14 21 +f 8 12 22 +f 15 8 22 +f 12 15 22 +f 10 16 23 +f 18 10 23 +f 11 18 23 +f 14 13 24 +f 13 20 24 +f 20 14 24 +f 13 1 25 +f 10 13 25 +f 16 10 26 +f 1 21 26 +f 21 16 26 +f 25 1 26 +f 10 25 26 +f 16 7 27 +f 23 16 27 +f 11 23 27 +f 7 11 28 +f 27 7 28 +o convex_1 +v -0.595371 1.739028 -2.430197 +v 0.605143 2.323757 -2.799368 +v 0.605143 2.292960 -2.799368 +v 0.482082 1.892698 -1.013978 +v 0.512877 1.338766 -3.046013 +v -0.595371 2.323757 -1.013978 +v -0.472193 1.369563 -1.013978 +v -0.472193 2.292960 -2.922492 +v -0.595371 1.338660 -2.984153 +v 0.451288 1.277066 -1.013978 +v 0.482082 2.262162 -1.013978 +v 0.605143 2.354555 -2.922492 +v -0.533782 1.338660 -1.753117 +v 0.512877 1.307968 -2.645613 +v -0.595371 2.077483 -1.044808 +v -0.225955 2.323757 -1.075838 +v 0.389582 1.461850 -3.046013 +v -0.564576 2.323757 -1.598963 +v -0.349133 2.169770 -2.953323 +v 0.512877 2.292960 -1.414378 +v -0.595371 1.461850 -2.984153 +v -0.595371 1.338660 -2.707274 +v 0.574348 2.231365 -2.953323 +v -0.349133 1.338660 -1.013978 +v 0.420493 2.354555 -2.707274 +v 0.543671 1.492753 -2.984153 +v 0.512877 2.231365 -1.229792 +v 0.389582 1.277066 -1.075838 +v -0.502987 1.400255 -1.106668 +v -0.287544 1.369563 -3.015183 +v -0.595371 2.323757 -1.229792 +f 53 46 59 +f 32 34 35 +f 34 29 37 +f 32 35 38 +f 34 32 39 +f 30 31 40 +f 37 33 42 +f 35 34 43 +f 34 37 43 +f 34 39 44 +f 30 40 48 +f 44 39 48 +f 40 44 48 +f 29 36 49 +f 37 29 49 +f 36 47 49 +f 43 37 50 +f 40 33 51 +f 36 40 51 +f 33 45 51 +f 47 36 51 +f 45 47 51 +f 38 35 52 +f 35 41 52 +f 40 36 53 +f 34 44 53 +f 44 40 53 +f 36 46 53 +f 31 38 54 +f 40 31 54 +f 33 40 54 +f 42 33 54 +f 38 42 54 +f 31 30 55 +f 38 31 55 +f 32 38 55 +f 39 32 55 +f 30 48 55 +f 48 39 55 +f 37 42 56 +f 42 38 56 +f 50 37 56 +f 41 50 56 +f 38 52 56 +f 52 41 56 +f 41 35 57 +f 35 43 57 +f 50 41 57 +f 43 50 57 +f 33 37 58 +f 45 33 58 +f 47 45 58 +f 37 49 58 +f 49 47 58 +f 29 34 59 +f 36 29 59 +f 46 36 59 +f 34 53 59 +o convex_2 +v -0.348964 -1.955797 -1.044766 +v 1.097875 -2.540795 -0.859900 +v 1.097670 -2.848592 -0.767363 +v -0.964792 -1.832565 1.079635 +v -0.995738 -3.217864 -0.952229 +v 0.943559 -3.279621 1.048651 +v 0.943764 -1.832565 1.048651 +v -0.964588 -3.248742 1.079635 +v 1.066930 -1.832565 -0.952229 +v -0.995533 -1.832565 -0.952229 +v 1.097670 -3.125510 -0.921245 +v 0.297195 -2.540795 -1.044766 +v -0.441389 -3.217864 -0.952229 +v 0.328140 -1.863444 1.079635 +v 0.943559 -3.279621 0.802232 +v 0.328140 -1.832565 -1.044766 +v -0.964588 -3.248742 0.032823 +v -0.903107 -3.156389 -0.982797 +v -0.995738 -3.156389 -0.336286 +v 1.005244 -3.063894 -0.952229 +v 1.066725 -3.156389 -0.736586 +v -0.133578 -3.248742 1.079635 +v 0.204565 -3.279621 1.048443 +v -0.379909 -2.571391 -1.044766 +v -0.933847 -1.832565 -0.983005 +v 1.005244 -3.217864 0.401723 +v 1.066930 -1.863444 -0.706018 +v -0.995533 -1.832565 -0.552136 +v 1.097670 -3.125510 -0.705810 +v 0.297195 -2.509917 1.079635 +v 0.173825 -3.187126 -0.952229 +v 1.066930 -2.448442 -0.952229 +f 79 71 91 +f 62 61 66 +f 63 66 68 +f 63 68 69 +f 68 61 70 +f 66 63 73 +f 65 66 73 +f 63 67 73 +f 70 65 74 +f 64 72 74 +f 69 68 75 +f 71 60 75 +f 67 64 76 +f 64 74 76 +f 72 64 77 +f 67 63 78 +f 64 67 78 +f 69 64 78 +f 77 71 79 +f 70 74 80 +f 67 65 81 +f 73 67 81 +f 65 67 82 +f 74 65 82 +f 67 76 82 +f 76 74 82 +f 60 71 83 +f 71 77 83 +f 83 77 84 +f 64 69 84 +f 75 60 84 +f 69 75 84 +f 77 64 84 +f 60 83 84 +f 66 65 85 +f 66 61 86 +f 61 68 86 +f 68 66 86 +f 63 69 87 +f 78 63 87 +f 69 78 87 +f 61 62 88 +f 62 66 88 +f 70 61 88 +f 65 70 88 +f 85 65 88 +f 66 85 88 +f 65 73 89 +f 81 65 89 +f 73 81 89 +f 74 72 90 +f 72 77 90 +f 79 70 90 +f 77 79 90 +f 70 80 90 +f 80 74 90 +f 68 70 91 +f 75 68 91 +f 71 75 91 +f 70 79 91 +o convex_3 +v -0.718619 0.445778 -1.013977 +v 0.943840 2.878063 1.048847 +v 0.974670 2.662358 -0.983083 +v -1.026526 2.846874 -0.983083 +v -0.964865 0.445778 1.017953 +v 0.943840 0.445778 1.048847 +v -0.964865 2.724022 0.987059 +v 1.005501 0.445778 -0.983083 +v -1.026526 0.661484 -0.983083 +v 0.943840 2.878063 -1.013977 +v -0.564467 2.323800 1.048847 +v -1.026526 2.846874 -0.613568 +v -0.995696 0.445778 -0.983083 +v -0.318221 2.878063 -0.182669 +v 0.820717 0.445778 -1.013977 +v -0.780081 2.200471 -1.013977 +v 1.005501 1.123371 -0.859912 +v 0.389687 2.846874 1.048847 +v 1.005501 0.445778 -0.675154 +v -0.472174 1.369551 1.048847 +v -1.026526 2.693071 -0.521088 +v -0.687789 2.754735 1.017953 +v -0.964865 2.385226 1.017953 +v 1.005501 1.400264 -0.983083 +v -0.995696 2.754735 0.340508 +v 0.204903 2.846874 -1.013977 +v 0.697395 2.878063 1.017953 +v 0.635933 0.445778 1.048847 +v -1.026526 0.661484 -0.921296 +v -0.964865 2.754735 0.710024 +v 0.974670 1.892626 -1.013977 +v -0.379882 2.878063 -0.305841 +v -0.995696 0.445778 -0.090189 +f 120 104 124 +f 96 92 97 +f 97 92 99 +f 93 94 101 +f 97 93 102 +f 95 100 103 +f 92 96 104 +f 100 92 104 +f 93 101 105 +f 99 92 106 +f 92 101 106 +f 92 100 107 +f 100 95 107 +f 101 92 107 +f 102 93 109 +f 93 97 110 +f 97 99 110 +f 108 93 110 +f 99 108 110 +f 97 102 111 +f 102 96 111 +f 103 100 112 +f 102 109 113 +f 96 102 114 +f 113 98 114 +f 102 113 114 +f 94 93 115 +f 93 108 115 +f 108 99 115 +f 98 103 116 +f 112 96 116 +f 103 112 116 +f 96 114 116 +f 114 98 116 +f 95 101 117 +f 107 95 117 +f 101 107 117 +f 93 105 118 +f 109 93 118 +f 113 109 118 +f 96 97 119 +f 111 96 119 +f 97 111 119 +f 100 104 120 +f 96 112 120 +f 112 100 120 +f 103 98 121 +f 105 103 121 +f 98 113 121 +f 118 105 121 +f 113 118 121 +f 101 94 122 +f 99 106 122 +f 106 101 122 +f 94 115 122 +f 115 99 122 +f 101 95 123 +f 95 103 123 +f 105 101 123 +f 103 105 123 +f 104 96 124 +f 96 120 124 +o convex_4 +v -0.533779 2.385340 2.310928 +v 0.543683 1.523433 2.957397 +v 0.543683 1.369494 2.957397 +v 0.451246 2.231401 1.049040 +v -0.472262 1.369603 1.049040 +v -0.533779 1.307984 3.019113 +v 0.451246 2.293020 2.988448 +v 0.451246 1.277066 1.049040 +v -0.564700 2.323721 1.049040 +v -0.503075 2.385340 3.019113 +v -0.164354 1.307984 3.019113 +v -0.503075 1.338793 1.480084 +v -0.256683 2.385340 2.957397 +v -0.564700 2.077462 1.049040 +v 0.266479 2.046653 3.019113 +v -0.564700 2.354531 1.726367 +v 0.482058 1.338793 1.418368 +v -0.379825 2.323721 1.079897 +v 0.482058 2.169782 2.988448 +v 0.297292 1.277066 1.049040 +v 0.451246 2.262211 1.695702 +v 0.451246 1.277066 1.295323 +v -0.503075 1.307984 2.280070 +v 0.512871 1.492732 2.988448 +v -0.533779 2.385340 2.557211 +v 0.543683 1.400304 2.741972 +v 0.235666 2.262102 1.049040 +v 0.451246 2.293020 2.680449 +v -0.533779 1.523542 3.019113 +f 149 140 153 +f 129 128 132 +f 128 129 133 +f 134 130 135 +f 125 134 137 +f 134 131 137 +f 133 129 138 +f 129 136 138 +f 136 130 138 +f 131 134 139 +f 134 135 139 +f 125 133 140 +f 133 138 140 +f 138 130 140 +f 127 132 141 +f 132 128 141 +f 133 125 142 +f 125 137 142 +f 126 128 143 +f 131 139 143 +f 129 132 144 +f 136 129 144 +f 143 128 145 +f 132 127 146 +f 127 135 146 +f 135 130 146 +f 144 132 146 +f 130 144 146 +f 130 136 147 +f 144 130 147 +f 136 144 147 +f 127 126 148 +f 135 127 148 +f 139 135 148 +f 126 143 148 +f 143 139 148 +f 134 125 149 +f 125 140 149 +f 126 127 150 +f 128 126 150 +f 127 141 150 +f 141 128 150 +f 128 133 151 +f 133 142 151 +f 142 137 151 +f 137 145 151 +f 145 128 151 +f 137 131 152 +f 131 143 152 +f 145 137 152 +f 143 145 152 +f 130 134 153 +f 140 130 153 +f 134 149 153 +o convex_5 +v 0.081752 -1.894187 -2.399251 +v 0.112573 -2.540699 -1.599039 +v -0.041282 -2.509853 -2.153110 +v -0.349181 -1.955740 -1.044766 +v 0.235733 -1.832565 -1.044766 +v -0.287601 -1.863411 -3.107590 +v 0.266554 -2.448301 -2.953525 +v -0.256779 -2.479008 -1.044766 +v 0.297376 -2.540699 -1.044766 +v -0.195200 -2.448301 -3.076696 +v 0.266554 -2.017362 -2.984418 +v -0.349181 -2.017362 -1.568549 +v -0.226021 -2.386678 -3.076696 +v -0.349181 -1.924964 -1.167938 +v 0.266554 -1.924964 -1.044766 +v -0.164441 -2.479008 -2.922832 +v -0.318359 -1.924964 -2.737873 +v -0.256779 -2.479008 -1.537453 +v 0.204911 -1.986586 -3.015110 +v 0.266554 -2.479008 -2.676287 +v 0.204911 -2.386678 -3.015110 +v -0.349181 -2.078984 -1.260417 +v -0.226021 -1.863411 -3.076696 +v -0.287601 -1.863411 -2.830353 +v 0.081752 -2.540699 -1.044766 +v -0.195200 -2.017362 -3.107590 +v 0.266554 -1.955740 -2.460636 +f 164 172 180 +f 158 157 161 +f 158 161 162 +f 162 160 164 +f 159 163 166 +f 157 158 167 +f 165 157 167 +f 158 162 168 +f 155 156 169 +f 163 160 169 +f 159 166 170 +f 166 165 170 +f 167 159 170 +f 165 167 170 +f 166 163 171 +f 169 156 171 +f 163 169 171 +f 162 155 173 +f 160 162 173 +f 155 169 173 +f 169 160 173 +f 160 163 174 +f 164 160 174 +f 172 164 174 +f 161 157 175 +f 157 165 175 +f 165 166 175 +f 171 161 175 +f 166 171 175 +f 158 154 176 +f 159 158 176 +f 154 172 176 +f 172 159 176 +f 158 159 177 +f 167 158 177 +f 159 167 177 +f 156 155 178 +f 155 162 178 +f 162 161 178 +f 171 156 178 +f 161 171 178 +f 163 159 179 +f 159 172 179 +f 174 163 179 +f 172 174 179 +f 154 158 180 +f 162 164 180 +f 158 168 180 +f 168 162 180 +f 172 154 180 +o convex_6 +v -0.318350 -1.925015 2.310871 +v 0.328164 -1.863354 1.172326 +v 0.328164 -1.925015 1.172326 +v 0.235673 -2.417443 3.049811 +v -0.349181 -2.509868 1.079635 +v 0.297334 -2.509868 1.079635 +v -0.318350 -2.540699 3.111671 +v 0.020190 -1.894184 2.988150 +v -0.225991 -1.986544 1.079635 +v -0.318350 -1.863354 3.080841 +v 0.204908 -1.925015 2.926887 +v 0.204908 -1.863354 1.079635 +v 0.174144 -2.479038 3.018981 +v -0.349181 -2.540699 2.372532 +v -0.256755 -1.955846 1.326280 +v -0.349181 -2.048205 2.465024 +v 0.297334 -2.509868 1.387544 +v -0.318350 -1.863354 2.711271 +v -0.225991 -2.540699 3.111671 +v -0.349181 -2.417443 1.079635 +v -0.287586 -2.540699 2.034191 +v -0.256755 -1.863354 3.080841 +v 0.328164 -1.863354 1.079635 +v -0.102867 -2.540699 2.310871 +f 199 201 204 +f 183 182 184 +f 186 185 189 +f 184 182 191 +f 188 184 191 +f 182 188 191 +f 186 189 192 +f 190 182 192 +f 192 189 195 +f 187 190 196 +f 185 194 196 +f 194 187 196 +f 183 184 197 +f 186 183 197 +f 184 193 197 +f 190 192 198 +f 195 181 198 +f 192 195 198 +f 181 196 198 +f 196 190 198 +f 190 187 199 +f 193 184 199 +f 187 194 199 +f 197 193 199 +f 189 185 200 +f 181 195 200 +f 195 189 200 +f 196 181 200 +f 185 196 200 +f 185 186 201 +f 194 185 201 +f 199 194 201 +f 184 188 202 +f 188 182 202 +f 182 190 202 +f 190 199 202 +f 199 184 202 +f 182 183 203 +f 183 186 203 +f 192 182 203 +f 186 192 203 +f 186 197 204 +f 197 199 204 +f 201 186 204 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/253/253.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/253/253.urdf new file mode 100644 index 000000000..7719bde9d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/253/253.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/254/254.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/254/254.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/254/254.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/254/254.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/254/254.obj new file mode 100644 index 000000000..68a7900e7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/254/254.obj @@ -0,0 +1,477 @@ +o convex_0 +v -3.060967 -2.157973 0.082135 +v -1.097964 -1.096019 -0.207391 +v -1.097964 -1.128323 0.532760 +v -1.097964 -2.222360 0.404010 +v -2.996706 -1.128323 0.564787 +v -3.093196 -2.190277 -0.432757 +v -2.964478 -1.160407 -0.432757 +v -1.097964 -2.061391 -0.464784 +v -2.996706 -2.125889 0.597135 +v -1.097964 -1.096019 -0.497132 +v -1.226877 -2.190277 0.500519 +v -1.355596 -1.321486 0.564787 +v -2.996706 -1.128323 0.082135 +v -1.097964 -2.093585 -0.432650 +v -1.355596 -1.353569 -0.497132 +v -3.028739 -2.157973 0.371769 +v -2.481833 -1.900533 0.597135 +v -1.741751 -1.096130 -0.078641 +v -2.288657 -1.128323 -0.464784 +v -3.093196 -2.029197 -0.432757 +v -1.097964 -2.222360 0.468278 +v -3.093196 -2.190277 -0.271766 +v -2.385147 -1.836145 -0.464784 +v -2.932249 -2.190277 -0.432757 +v -2.224200 -1.128323 0.564787 +v -1.097964 -1.578926 0.532760 +v -2.996706 -1.771758 0.597135 +v -1.967154 -2.190277 0.532653 +v -2.707041 -2.125889 0.597135 +f 28 11 29 +f 2 3 4 +f 2 4 8 +f 2 8 10 +f 8 4 14 +f 10 8 15 +f 5 1 16 +f 3 2 18 +f 2 10 18 +f 13 5 18 +f 13 18 19 +f 7 13 19 +f 10 15 19 +f 18 10 19 +f 5 13 20 +f 13 7 20 +f 7 19 20 +f 4 3 21 +f 6 4 21 +f 1 5 22 +f 16 1 22 +f 5 20 22 +f 20 6 22 +f 6 21 22 +f 8 6 23 +f 15 8 23 +f 19 15 23 +f 6 20 23 +f 20 19 23 +f 4 6 24 +f 6 8 24 +f 14 4 24 +f 8 14 24 +f 12 3 25 +f 3 18 25 +f 18 5 25 +f 3 12 26 +f 21 3 26 +f 11 21 26 +f 5 16 27 +f 16 9 27 +f 9 17 27 +f 17 12 27 +f 12 25 27 +f 25 5 27 +f 9 16 28 +f 21 11 28 +f 16 22 28 +f 22 21 28 +f 17 9 29 +f 12 17 29 +f 26 12 29 +f 11 26 29 +f 9 28 29 +o convex_1 +v -3.029023 -0.130332 -0.336034 +v -1.098152 0.931480 0.468331 +v -1.098152 0.931480 -0.336148 +v -1.098152 -0.226945 -0.529272 +v -3.029023 0.899198 -0.496953 +v -2.900109 -0.259110 0.436012 +v -2.996700 0.802701 0.564837 +v -1.098152 -0.162614 0.564950 +v -2.996700 -0.130332 -0.593572 +v -1.098152 0.899314 -0.529272 +v -3.029023 0.931363 -0.432653 +v -1.387736 0.931480 0.500538 +v -2.674793 0.094943 -0.593572 +v -2.964566 0.834867 0.564837 +v -1.098152 -0.226945 -0.175116 +v -2.932432 -0.259110 0.371712 +v -1.484326 -0.194663 -0.561365 +v -1.516649 -0.226828 -0.529159 +v -1.291145 -0.194779 0.532631 +v -1.098152 -0.001670 0.564950 +v -2.964566 0.223605 0.500424 +v -1.259011 -0.162614 0.564950 +v -1.162420 0.931480 0.500538 +v -2.706927 0.834867 0.564837 +v -3.029023 0.030496 -0.593572 +v -3.029023 0.867032 -0.046404 +v -1.741776 0.545260 -0.561365 +v -2.932432 0.931363 -0.496953 +v -2.964566 0.706205 0.564837 +v -1.516649 0.899198 -0.529159 +v -2.964566 -0.226828 0.243000 +f 45 50 60 +f 32 31 33 +f 33 31 37 +f 32 33 39 +f 34 30 40 +f 31 32 41 +f 32 40 41 +f 40 36 43 +f 41 40 43 +f 35 33 44 +f 33 37 44 +f 33 35 45 +f 39 33 46 +f 38 42 46 +f 33 45 47 +f 45 38 47 +f 46 33 47 +f 38 46 47 +f 35 44 48 +f 44 37 48 +f 37 31 49 +f 45 35 50 +f 43 36 51 +f 35 48 51 +f 48 37 51 +f 37 49 51 +f 49 43 51 +f 50 35 51 +f 31 41 52 +f 41 43 52 +f 49 31 52 +f 49 52 53 +f 43 49 53 +f 52 43 53 +f 30 34 54 +f 38 30 54 +f 42 38 54 +f 30 36 55 +f 40 30 55 +f 36 40 55 +f 39 46 56 +f 46 42 56 +f 32 39 57 +f 40 32 57 +f 34 40 57 +f 54 34 57 +f 36 50 58 +f 51 36 58 +f 50 51 58 +f 42 54 59 +f 39 56 59 +f 56 42 59 +f 57 39 59 +f 54 57 59 +f 36 30 60 +f 30 38 60 +f 38 45 60 +f 50 36 60 +o convex_2 +v 1.058222 3.409439 0.017666 +v -1.097963 -2.221991 0.403934 +v -1.097963 -2.221991 0.500396 +v 1.090356 -2.704633 -0.979667 +v -1.033481 3.345329 -1.044045 +v 0.993954 -2.672578 1.047715 +v -1.097963 3.474154 0.951043 +v -1.001347 -2.671973 -1.108634 +v 1.090570 3.441494 0.983126 +v 1.090570 3.344724 -0.947583 +v -1.065615 -2.608468 0.951043 +v -1.097963 -0.741405 -0.657988 +v 1.090356 -2.318761 0.628941 +v -0.679366 -2.575808 -1.108634 +v 1.090570 3.151788 1.015421 +v 0.607705 -2.672578 1.047715 +v 0.800722 3.312669 -0.979667 +v 0.993954 -2.704633 -1.011962 +v -0.969213 1.767972 -1.076340 +v -0.775982 -2.608468 0.983337 +v -1.097963 0.898853 -0.529231 +v -1.097963 -2.093165 -0.432559 +v 0.961820 -0.773460 1.047715 +v 0.961820 -2.704633 0.082044 +v -1.097963 3.474154 0.822075 +v 1.090570 1.381495 -0.979878 +v -1.001347 -2.671973 -0.786533 +v -0.647232 3.345329 -1.044045 +v -1.097963 -1.803459 0.725825 +v 0.221455 -2.704633 -1.044256 +v 1.090570 2.218559 1.015421 +v -0.035830 3.473549 0.918748 +v -1.097963 3.441494 0.597069 +v -0.936865 -1.256102 -1.108634 +v 0.414473 -2.672578 1.015210 +v -0.035830 3.441494 0.983126 +v 1.090570 3.441494 0.532690 +v -1.033481 -2.640523 0.275178 +v -1.033481 -2.157276 -0.979878 +v -1.097963 1.413550 0.951043 +v -1.065615 -2.608468 0.532479 +v 1.026088 -1.191992 1.047504 +v -0.872598 3.376779 -0.625693 +v 0.993954 3.377384 -0.496937 +v -1.033481 1.864137 -1.044045 +v -1.001347 -1.159936 -1.108634 +v -0.100098 -2.575808 1.015421 +v -0.454214 -2.640523 0.983337 +v -1.065615 3.376779 -0.271719 +v 1.058222 -2.704633 -0.239424 +f 66 84 110 +f 62 63 67 +f 63 62 71 +f 62 67 72 +f 70 69 75 +f 68 74 78 +f 72 67 81 +f 65 72 81 +f 62 72 82 +f 76 66 83 +f 67 76 83 +f 66 76 84 +f 78 64 84 +f 81 67 85 +f 73 64 86 +f 70 75 86 +f 77 70 86 +f 74 77 86 +f 78 74 86 +f 64 78 86 +f 70 77 88 +f 79 65 88 +f 77 79 88 +f 67 63 89 +f 63 71 89 +f 68 78 90 +f 78 84 90 +f 87 68 90 +f 84 87 90 +f 73 86 91 +f 86 75 91 +f 67 69 92 +f 85 67 92 +f 85 65 93 +f 81 85 93 +f 74 68 94 +f 77 74 94 +f 79 77 94 +f 84 76 95 +f 87 84 95 +f 69 67 96 +f 75 69 96 +f 83 75 96 +f 67 83 96 +f 70 61 97 +f 69 70 97 +f 61 92 97 +f 92 69 97 +f 68 87 98 +f 87 95 98 +f 68 82 99 +f 82 72 99 +f 80 67 100 +f 71 80 100 +f 67 89 100 +f 89 71 100 +f 71 62 101 +f 62 82 101 +f 82 68 101 +f 68 98 101 +f 98 71 101 +f 66 73 102 +f 83 66 102 +f 75 83 102 +f 73 91 102 +f 91 75 102 +f 65 85 103 +f 70 88 103 +f 88 65 103 +f 61 70 104 +f 92 61 104 +f 85 92 104 +f 70 103 104 +f 103 85 104 +f 65 68 105 +f 72 65 105 +f 68 99 105 +f 99 72 105 +f 68 65 106 +f 65 79 106 +f 94 68 106 +f 79 94 106 +f 76 67 107 +f 67 80 107 +f 80 76 107 +f 80 71 108 +f 76 80 108 +f 95 76 108 +f 71 98 108 +f 98 95 108 +f 65 81 109 +f 93 65 109 +f 81 93 109 +f 64 73 110 +f 73 66 110 +f 84 64 110 +o convex_3 +v 2.828341 -1.192733 -0.593685 +v 1.090570 -2.093572 -0.593685 +v 1.090570 -2.125810 -0.303941 +v 1.090570 -1.096126 0.532744 +v 3.053742 -2.093679 0.564837 +v 1.090570 -1.096126 -0.561479 +v 2.957058 -1.192733 0.532631 +v 2.989286 -2.061442 -0.529159 +v 1.090570 -2.190179 0.468331 +v 3.085970 -1.128257 -0.593572 +v 1.348199 -2.190179 0.500538 +v 1.863260 -2.093572 -0.593685 +v 2.120303 -1.096126 -0.593685 +v 3.085970 -1.128257 -0.432653 +v 3.021514 -1.900466 -0.561365 +v 1.090570 -1.546707 0.532744 +v 3.053742 -1.900466 0.564837 +v 1.090570 -1.289232 -0.593685 +v 3.085970 -1.321470 -0.593572 +v 1.122994 -2.190179 0.307299 +v 3.053742 -2.093679 0.371712 +v 2.989286 -1.192733 0.436012 +v 2.892797 -2.093679 0.564837 +v 2.892797 -2.061442 -0.561365 +v 1.219482 -2.190179 0.500538 +v 1.348199 -2.190179 0.436125 +f 118 131 136 +f 112 113 114 +f 112 114 116 +f 114 113 119 +f 112 111 122 +f 113 112 122 +f 111 112 123 +f 116 114 123 +f 120 111 123 +f 120 123 124 +f 114 117 124 +f 123 114 124 +f 114 119 126 +f 117 114 127 +f 115 124 127 +f 112 116 128 +f 123 112 128 +f 116 123 128 +f 111 120 129 +f 122 111 129 +f 120 124 129 +f 124 115 129 +f 119 113 130 +f 121 119 130 +f 113 122 130 +f 122 118 130 +f 115 121 131 +f 118 125 131 +f 129 115 131 +f 125 129 131 +f 124 117 132 +f 117 127 132 +f 127 124 132 +f 121 115 133 +f 114 126 133 +f 127 114 133 +f 115 127 133 +f 118 122 134 +f 125 118 134 +f 122 129 134 +f 129 125 134 +f 119 121 135 +f 126 119 135 +f 121 133 135 +f 133 126 135 +f 130 118 136 +f 121 130 136 +f 131 121 136 +o convex_4 +v 1.316182 -0.098211 0.500490 +v 1.412653 0.963777 -0.496949 +v 1.412653 0.963777 -0.561293 +v 3.021529 -0.130294 -0.014374 +v 1.090570 -0.259227 -0.625869 +v 2.957151 0.802761 0.468319 +v 3.053622 0.867168 -0.432723 +v 1.090570 0.899371 0.436030 +v 3.021529 -0.066007 0.564950 +v 2.989436 -0.194820 -0.432723 +v 1.090570 0.963777 -0.561293 +v 1.090570 -0.130414 0.436030 +v 3.021529 0.127092 0.564950 +v 3.021529 -0.098211 0.436030 +v 3.021529 0.802761 0.436030 +v 1.122855 0.030482 -0.625869 +v 2.570882 -0.033924 0.564950 +v 1.734351 0.899371 0.178540 +v 3.053622 0.867168 -0.303919 +v 1.122855 -0.259227 -0.593464 +v 2.731924 -0.162617 -0.464894 +v 1.090570 0.352275 0.468319 +v 2.989436 -0.194820 -0.368262 +v 1.316182 0.899371 0.436030 +v 2.409841 -0.098211 0.532662 +v 3.021529 0.030602 -0.432723 +v 1.122855 0.963777 -0.303919 +v 3.053622 0.673948 -0.207404 +f 162 143 164 +f 139 138 143 +f 138 139 147 +f 141 144 147 +f 144 141 148 +f 142 144 149 +f 142 149 151 +f 139 143 152 +f 147 139 152 +f 141 147 152 +f 137 145 153 +f 149 144 153 +f 145 149 153 +f 154 151 155 +f 143 138 155 +f 138 154 155 +f 141 146 156 +f 148 141 156 +f 146 141 157 +f 152 143 157 +f 141 152 157 +f 148 137 158 +f 144 148 158 +f 137 153 158 +f 153 144 158 +f 146 140 159 +f 140 150 159 +f 156 146 159 +f 150 156 159 +f 144 142 160 +f 142 151 160 +f 151 154 160 +f 145 137 161 +f 137 148 161 +f 150 145 161 +f 148 156 161 +f 156 150 161 +f 140 146 162 +f 157 143 162 +f 146 157 162 +f 138 147 163 +f 147 144 163 +f 154 138 163 +f 144 160 163 +f 160 154 163 +f 149 145 164 +f 150 140 164 +f 145 150 164 +f 151 149 164 +f 155 151 164 +f 143 155 164 +f 140 162 164 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/254/254.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/254/254.urdf new file mode 100644 index 000000000..a1eec95bc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/254/254.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/255/255.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/255/255.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/255/255.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/255/255.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/255/255.obj new file mode 100644 index 000000000..eacf9b7e0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/255/255.obj @@ -0,0 +1,393 @@ +o convex_0 +v -1.009517 0.281479 0.225017 +v 0.996076 4.060917 1.652068 +v 0.996076 4.060917 0.918832 +v 1.034818 0.204449 0.070617 +v -0.932441 4.022021 -0.585310 +v -1.048258 0.204449 1.458904 +v -1.009517 4.099814 1.536213 +v 0.957538 0.204449 1.458904 +v 0.919001 4.099814 -0.507781 +v -0.970979 0.204449 -0.546546 +v 1.034818 0.204449 -0.507781 +v -1.048258 0.705527 1.497668 +v 0.378861 0.204449 -0.546546 +v 0.494678 4.099814 -0.546546 +v -0.970979 3.944991 -0.083564 +v 0.996076 2.865042 1.613304 +v 0.649033 4.022021 1.652068 +v 0.957538 3.675004 -0.507781 +v 1.034818 2.324687 0.687560 +v 0.957538 0.512951 1.497668 +v -0.893903 2.209141 -0.585310 +v 0.957538 4.099814 0.841741 +v -0.469581 3.906476 -0.585310 +v -1.048258 1.091441 1.382032 +v 1.034818 0.859587 -0.507781 +v -0.970979 1.669930 -0.546546 +v 0.919001 3.636489 1.652068 +v 0.996076 2.286553 1.574758 +v -1.009517 4.099814 1.382032 +v -1.048258 0.281479 1.150322 +v -1.009517 3.597974 1.536213 +v 0.301785 4.099814 -0.546546 +v 0.996076 0.281479 0.918832 +v -0.970979 4.060536 0.263562 +v 0.957538 4.099814 -0.160655 +v 1.034818 2.286172 0.764651 +f 28 33 36 +f 6 4 8 +f 4 6 10 +f 4 10 11 +f 11 10 13 +f 11 13 14 +f 7 9 14 +f 2 7 17 +f 14 9 18 +f 3 2 19 +f 4 11 19 +f 6 8 20 +f 12 6 20 +f 10 5 21 +f 13 10 21 +f 2 3 22 +f 7 2 22 +f 9 7 22 +f 14 13 23 +f 5 14 23 +f 21 5 23 +f 13 21 23 +f 6 12 24 +f 12 7 24 +f 11 14 25 +f 18 3 25 +f 14 18 25 +f 3 19 25 +f 19 11 25 +f 10 1 26 +f 5 10 26 +f 15 5 26 +f 16 2 27 +f 17 12 27 +f 2 17 27 +f 12 20 27 +f 20 16 27 +f 20 8 28 +f 16 20 28 +f 7 14 29 +f 24 7 29 +f 15 24 29 +f 1 10 30 +f 10 6 30 +f 6 24 30 +f 24 15 30 +f 26 1 30 +f 15 26 30 +f 7 12 31 +f 12 17 31 +f 17 7 31 +f 14 5 32 +f 29 14 32 +f 8 4 33 +f 28 8 33 +f 5 15 34 +f 15 29 34 +f 32 5 34 +f 29 32 34 +f 3 18 35 +f 18 9 35 +f 22 3 35 +f 9 22 35 +f 2 16 36 +f 19 2 36 +f 4 19 36 +f 16 28 36 +f 33 4 36 +o convex_1 +v -0.700894 0.203690 1.459749 +v 0.841854 -2.033688 -0.353479 +v -0.739589 -1.917833 -0.353857 +v -0.392386 -1.956159 3.503691 +v 1.034698 0.126162 3.503691 +v 1.034698 0.203690 -0.353479 +v 1.073393 -2.033688 3.503691 +v -1.086792 0.164926 3.464798 +v -0.970917 0.203690 -0.353857 +v -1.086792 -1.879288 3.464798 +v -1.048097 -1.879288 -0.353857 +v 1.073393 -2.033688 -0.353479 +v 0.957518 0.203690 1.459372 +v 1.073393 -0.876673 3.503691 +v -1.086792 0.164926 2.500411 +v -0.315207 0.164926 3.503691 +v -0.970917 -1.917833 1.266796 +v -1.048097 -1.300671 -0.353857 +v 0.764675 -2.033688 3.503691 +v -1.048097 0.203690 1.150874 +v -1.086792 -1.879288 2.615956 +v -0.970917 -1.917833 3.464798 +v 0.031785 0.164926 3.503691 +v -1.009613 0.203690 0.225002 +v -1.086792 -0.992089 2.384489 +v 1.073393 -1.917614 -0.314964 +f 50 48 62 +f 41 40 43 +f 37 42 45 +f 42 39 45 +f 40 44 46 +f 45 39 47 +f 38 39 48 +f 39 42 48 +f 43 38 48 +f 41 42 49 +f 42 37 49 +f 42 41 50 +f 41 43 50 +f 43 48 50 +f 46 44 51 +f 40 41 52 +f 37 44 52 +f 44 40 52 +f 39 38 53 +f 47 39 53 +f 45 47 54 +f 38 43 55 +f 43 40 55 +f 53 38 55 +f 44 37 56 +f 37 45 56 +f 51 44 56 +f 54 51 56 +f 46 51 57 +f 53 46 57 +f 47 53 57 +f 40 46 58 +f 46 53 58 +f 55 40 58 +f 53 55 58 +f 41 49 59 +f 49 37 59 +f 52 41 59 +f 37 52 59 +f 45 54 60 +f 56 45 60 +f 54 56 60 +f 54 47 61 +f 51 54 61 +f 57 51 61 +f 47 57 61 +f 48 42 62 +f 42 50 62 +o convex_2 +v -3.054077 -0.876499 -1.935444 +v -2.359779 0.087964 -0.469584 +v -2.938230 0.087964 -0.469584 +v -2.976911 -1.956371 -0.508325 +v -1.087030 -1.995112 -2.436843 +v -1.087030 0.010684 -2.552660 +v -1.087030 -1.879091 -0.469584 +v -3.092759 0.087964 -2.552660 +v -2.938230 -1.879091 -2.552660 +v -1.087030 0.010684 -0.508325 +v -2.822579 -1.995112 -0.662476 +v -1.434179 -1.995112 -2.475380 +v -1.472664 0.049222 -2.552660 +v -3.015396 -1.647865 -0.816831 +v -1.087030 -1.995112 -1.819627 +v -1.241362 0.049222 -0.508325 +v -3.092759 -0.027853 -2.205412 +v -1.087030 -0.452176 -2.552660 +v -1.472664 -1.917833 -0.469584 +v -2.436945 0.087964 -2.552660 +v -2.976911 -1.647865 -2.552660 +v -1.087030 -0.876703 -0.469584 +v -2.976911 -1.956371 -1.241358 +v -1.858298 -1.917833 -0.469584 +v -3.092759 -0.220746 -2.475380 +v -2.706928 -1.879091 -2.552660 +v -2.976911 -0.876499 -0.546863 +v -2.938230 -0.336563 -0.469584 +v -1.588315 -1.995112 -2.359767 +v -2.976911 0.049222 -0.816831 +f 79 89 92 +f 64 65 69 +f 67 68 69 +f 65 64 70 +f 70 68 71 +f 69 68 72 +f 67 73 74 +f 68 70 75 +f 67 69 77 +f 73 67 77 +f 64 72 78 +f 72 68 78 +f 68 75 78 +f 68 67 80 +f 71 68 80 +f 67 74 80 +f 69 65 81 +f 66 73 81 +f 77 69 81 +f 73 77 81 +f 70 64 82 +f 75 70 82 +f 64 78 82 +f 78 75 82 +f 70 71 83 +f 76 63 83 +f 64 69 84 +f 72 64 84 +f 69 72 84 +f 73 66 85 +f 66 76 85 +f 83 71 85 +f 76 83 85 +f 81 65 86 +f 66 81 86 +f 63 76 87 +f 79 70 87 +f 76 79 87 +f 83 63 87 +f 70 83 87 +f 74 71 88 +f 71 80 88 +f 80 74 88 +f 66 65 89 +f 76 66 89 +f 79 76 89 +f 65 66 90 +f 86 65 90 +f 66 86 90 +f 71 74 91 +f 74 73 91 +f 73 85 91 +f 85 71 91 +f 65 70 92 +f 70 79 92 +f 89 65 92 +o convex_3 +v -0.469460 -2.033688 -1.935377 +v 1.034463 0.203690 -0.353857 +v 1.034463 0.203690 -0.508178 +v 3.117894 -1.840523 -0.508393 +v 3.040516 0.126381 -2.475392 +v -1.086834 0.010526 -2.552660 +v -1.048145 -1.879288 -0.353857 +v 2.963139 -1.879288 -2.436650 +v -0.970767 0.203690 -0.353857 +v 3.079205 -0.028019 -0.469867 +v -1.086834 -1.994924 -2.436865 +v 1.073152 -2.033688 -0.353857 +v 0.687910 0.164926 -2.513918 +v 1.266184 -1.879288 -2.513918 +v -1.086834 0.010526 -0.508178 +v 2.269210 0.164926 -2.513918 +v 3.001827 -1.493397 -2.475392 +v 3.079205 0.087835 -1.587993 +v -1.086834 -1.917614 -0.778293 +v 3.079205 -1.879288 -1.279782 +v -1.086834 -0.413691 -2.552660 +v 0.224880 0.087616 -2.552660 +v 1.188806 -2.033688 -0.469867 +v 3.079205 0.049071 -2.050956 +v 3.117894 -0.105110 -0.508393 +v -0.970767 0.203690 -0.546920 +v 3.040516 0.010526 -0.469867 +v 0.764876 -1.917614 -2.513918 +v 2.500520 0.049290 -2.513918 +v 0.841842 -2.033688 -0.353857 +v -1.086834 -1.994924 -1.858109 +v 3.040516 -1.879288 -0.508393 +v 3.117894 -1.840523 -0.817035 +v -0.353805 -1.994924 -2.436865 +v -1.086834 -1.686123 -2.475392 +v -0.778147 0.049290 -2.552660 +v 3.040516 -0.568091 -2.475392 +v 3.040516 0.126381 -2.128008 +v 2.731829 -1.879288 -2.475392 +v -1.086834 -1.879288 -0.469652 +v 1.111840 0.164926 -0.353857 +v -0.739458 -1.917614 -0.353857 +v 3.079205 -0.259510 -0.469867 +f 102 133 135 +f 94 95 101 +f 99 94 101 +f 94 99 104 +f 101 98 107 +f 99 101 107 +f 98 103 107 +f 95 94 108 +f 107 103 111 +f 100 109 112 +f 103 98 113 +f 105 108 114 +f 113 98 114 +f 106 113 114 +f 93 100 115 +f 104 93 115 +f 100 112 115 +f 97 110 116 +f 102 96 117 +f 110 102 117 +f 116 110 117 +f 101 95 118 +f 98 101 118 +f 95 108 118 +f 108 105 118 +f 110 94 119 +f 102 110 119 +f 113 106 120 +f 108 97 121 +f 109 106 121 +f 114 108 121 +f 106 114 121 +f 104 99 122 +f 93 104 122 +f 103 93 123 +f 111 103 123 +f 93 122 123 +f 96 104 124 +f 112 96 124 +f 104 115 124 +f 115 112 124 +f 96 112 125 +f 112 109 125 +f 117 96 125 +f 116 117 125 +f 100 93 126 +f 93 103 126 +f 103 120 126 +f 103 113 127 +f 120 103 127 +f 113 120 127 +f 114 98 128 +f 105 114 128 +f 98 118 128 +f 118 105 128 +f 97 116 129 +f 121 97 129 +f 109 121 129 +f 125 109 129 +f 116 125 129 +f 108 94 130 +f 97 108 130 +f 110 97 130 +f 94 110 130 +f 106 109 131 +f 109 100 131 +f 120 106 131 +f 100 126 131 +f 126 120 131 +f 99 107 132 +f 111 99 132 +f 107 111 132 +f 94 104 133 +f 119 94 133 +f 102 119 133 +f 99 111 134 +f 122 99 134 +f 111 123 134 +f 123 122 134 +f 96 102 135 +f 104 96 135 +f 133 104 135 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/255/255.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/255/255.urdf new file mode 100644 index 000000000..afa4fd0fe --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/255/255.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/256/256.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/256/256.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/256/256.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/256/256.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/256/256.obj new file mode 100644 index 000000000..4a5f98339 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/256/256.obj @@ -0,0 +1,912 @@ +o convex_0 +v -0.855415 2.380307 -1.861812 +v 0.987041 1.643135 0.127769 +v 0.987041 1.606341 0.127769 +v -0.966111 1.679929 0.238285 +v 0.065718 3.485605 -0.940459 +v 0.765839 1.606341 -1.935682 +v 0.728941 3.080133 -1.788231 +v 0.765839 3.043339 -0.204069 +v -0.708010 1.606341 -2.009263 +v -0.708010 3.006360 -0.204069 +v 0.507739 1.606341 0.901382 +v -0.671112 3.043339 -1.788231 +v 0.950142 2.674660 -1.640780 +v -0.229091 2.416917 -2.046487 +v -0.744909 3.227494 -0.940747 +v -0.007889 3.227494 -0.204069 +v -0.966111 1.606341 -1.161780 +v -0.966111 2.527668 -0.830231 +v 0.728941 3.338060 -0.977682 +v -0.155293 1.606341 0.754220 +v 0.102425 3.264472 -1.788231 +v 0.950142 2.895794 -1.088198 +v 0.950142 1.606341 -1.235361 +v 0.839446 2.196152 -1.972328 +v 0.618435 1.643135 0.901382 +v -0.966111 2.380307 -0.167422 +v -0.929021 2.454079 -1.603845 +v -0.560606 2.416917 -2.046487 +v -0.413202 1.643135 -2.046487 +v -0.892313 1.643135 -1.788231 +v 0.802738 1.643135 0.680350 +v -0.044788 3.485605 -0.940747 +v -0.966111 1.606341 0.238285 +v 0.581536 2.416917 -2.009552 +v 0.802738 3.006360 -0.204069 +v 0.876345 1.606341 -1.825166 +v 0.507739 1.643135 0.901382 +v 0.950142 2.527668 -1.788231 +v -0.781808 2.232762 -2.009263 +v 0.728941 3.338060 -1.088198 +v -0.007889 3.448627 -1.198715 +v -0.155293 1.643135 0.754220 +v 0.286728 1.606341 -2.009552 +v 0.950142 2.895794 -1.345877 +v 0.987041 1.606341 -0.425101 +v -0.744909 3.227494 -1.014329 +v -0.966111 2.454079 -1.272296 +v -0.007889 3.264472 -1.788231 +v 0.950142 2.196152 -0.167422 +v 0.102425 2.564094 -2.009552 +v 0.028819 3.227494 -0.204069 +v -0.523708 3.153905 -1.640780 +v -0.118394 3.153905 -0.167422 +v 0.765839 3.301266 -0.903812 +v 0.950142 2.380307 -1.788231 +v -0.560606 3.301266 -1.051264 +f 41 52 56 +f 6 3 9 +f 9 3 11 +f 9 11 17 +f 17 4 18 +f 17 11 20 +f 3 6 23 +f 4 10 26 +f 10 15 26 +f 18 4 26 +f 15 18 26 +f 12 1 27 +f 9 28 29 +f 28 14 29 +f 9 17 30 +f 27 1 30 +f 17 27 30 +f 3 2 31 +f 11 3 31 +f 25 11 31 +f 15 10 32 +f 16 5 32 +f 10 16 32 +f 4 17 33 +f 20 4 33 +f 17 20 33 +f 7 24 34 +f 29 14 34 +f 8 25 35 +f 31 2 35 +f 25 31 35 +f 23 6 36 +f 6 24 36 +f 20 11 37 +f 11 25 37 +f 25 16 37 +f 7 13 38 +f 24 7 38 +f 1 12 39 +f 28 9 39 +f 12 28 39 +f 30 1 39 +f 9 30 39 +f 5 19 40 +f 7 21 40 +f 32 5 41 +f 5 40 41 +f 40 21 41 +f 10 4 42 +f 4 20 42 +f 37 10 42 +f 20 37 42 +f 6 9 43 +f 24 6 43 +f 9 29 43 +f 34 24 43 +f 29 34 43 +f 13 7 44 +f 22 2 44 +f 7 40 44 +f 2 3 45 +f 3 23 45 +f 38 13 45 +f 44 2 45 +f 13 44 45 +f 18 15 46 +f 12 27 46 +f 17 18 47 +f 27 17 47 +f 18 46 47 +f 46 27 47 +f 28 12 48 +f 41 21 48 +f 2 22 49 +f 35 2 49 +f 22 35 49 +f 21 7 50 +f 14 28 50 +f 7 34 50 +f 34 14 50 +f 28 48 50 +f 48 21 50 +f 5 16 51 +f 19 5 51 +f 8 19 51 +f 25 8 51 +f 16 25 51 +f 12 46 52 +f 48 12 52 +f 41 48 52 +f 16 10 53 +f 10 37 53 +f 37 16 53 +f 19 8 54 +f 8 35 54 +f 35 22 54 +f 40 19 54 +f 22 44 54 +f 44 40 54 +f 23 36 55 +f 36 24 55 +f 24 38 55 +f 45 23 55 +f 38 45 55 +f 15 32 56 +f 32 41 56 +f 46 15 56 +f 52 46 56 +o convex_1 +v -1.408457 0.500631 3.370746 +v -1.334948 0.353252 2.560004 +v -1.371619 0.169061 2.818083 +v -2.992967 0.500631 3.002119 +v -1.297778 0.795324 2.560004 +v -1.297778 0.832266 3.223295 +v -1.297778 0.205874 3.260118 +v -2.734939 0.426942 3.260118 +v -2.698101 0.390130 2.781180 +v -2.808614 0.647945 2.965375 +v -2.771610 0.316440 3.038942 +v -2.661098 0.611068 3.260118 +v -2.734939 0.537379 2.744278 +v -1.297778 0.758447 3.333844 +v -2.366398 0.721635 2.928632 +v -1.519135 0.169061 3.075844 +v -1.519135 0.242751 3.297021 +v -2.439907 0.684757 3.223295 +v -1.297778 0.169061 2.818083 +v -1.334948 0.832266 2.891809 +v -2.587589 0.463819 3.297021 +v -2.587589 0.353252 2.781180 +v -2.698101 0.316440 3.112668 +v -1.297778 0.426942 3.370746 +f 77 73 80 +f 61 62 63 +f 64 60 67 +f 60 65 67 +f 60 64 68 +f 66 60 68 +f 61 58 69 +f 58 65 69 +f 65 60 69 +f 66 61 69 +f 60 66 69 +f 63 62 70 +f 61 66 71 +f 67 59 72 +f 72 63 73 +f 66 68 74 +f 70 62 74 +f 68 70 74 +f 62 71 74 +f 71 66 74 +f 59 58 75 +f 58 61 75 +f 61 63 75 +f 72 59 75 +f 63 72 75 +f 62 61 76 +f 61 71 76 +f 71 62 76 +f 68 64 77 +f 57 70 77 +f 70 68 77 +f 64 73 77 +f 58 59 78 +f 65 58 78 +f 59 67 78 +f 67 65 78 +f 64 67 79 +f 67 72 79 +f 72 73 79 +f 73 64 79 +f 70 57 80 +f 63 70 80 +f 73 63 80 +f 57 77 80 +o convex_2 +v -0.855426 -0.199588 -1.013861 +v -0.044690 -2.594728 -3.003638 +v -0.008091 -2.594728 -3.003638 +v -0.044690 -2.299790 1.822309 +v 0.986875 -0.199822 -0.830727 +v -1.076667 -0.199822 2.228337 +v 1.023886 -0.420908 2.227735 +v -0.966046 -1.562914 -3.040987 +v 0.986875 -1.599723 -2.967493 +v 0.176139 -0.752655 -3.741596 +v -0.781611 -2.300025 1.084953 +v 0.765840 -2.300025 1.122303 +v -0.892231 -0.199822 -1.934953 +v 0.728830 -2.336599 -3.003638 +v -0.744806 -2.336599 -3.004240 +v 0.028714 -2.115513 -3.778344 +v 0.913266 -0.199822 -1.898809 +v -0.671196 -0.715612 -3.556655 +v -0.044690 -2.557685 1.084953 +v -1.039656 -1.526106 1.122303 +v 1.023886 -0.199822 2.227735 +v 0.728830 -1.489297 -3.704247 +v 0.986875 -1.636766 1.085556 +v -1.076667 -0.605186 2.228337 +v -0.708001 -1.599723 -3.704247 +v -0.708001 -2.041895 1.822309 +v 0.360575 -0.531334 -3.336171 +v -0.081495 -1.121210 2.227735 +v 0.765840 -1.784000 1.748815 +v 0.839450 -0.789464 -3.077735 +v -0.008091 -1.415445 -3.925935 +v -0.929241 -0.715846 -2.893396 +v -0.008091 -2.336599 -3.704247 +v -0.781611 -2.336599 -2.598815 +v -1.002851 -1.562914 -2.193389 +v -0.634391 -0.199588 -2.156040 +v 0.065519 -2.594728 -1.972303 +v 0.360575 -1.121210 2.227735 +v -0.081495 -2.594728 -1.530131 +v -0.966046 -0.199822 -1.234947 +v -0.966046 -1.526106 1.748815 +v 0.728830 -1.636766 -3.704247 +v 0.102530 -2.299790 1.822309 +v 0.765840 -2.300025 -2.598212 +v -0.523771 -0.641995 -3.519907 +v 0.692025 -2.373642 -2.967493 +v 0.544600 -2.152556 -3.519907 +v -0.966046 -1.194593 -2.966890 +v -1.076667 -0.199822 1.822309 +v -0.486966 -2.152556 -3.556655 +v 0.028714 -2.557685 1.084953 +v -0.744806 -2.336599 0.532539 +v 0.581610 -0.199588 -2.083148 +v 0.618415 -0.936933 -3.519907 +v 0.913266 -1.894661 1.085556 +v 0.839450 -1.562914 1.822309 +v -0.044690 -1.636531 -3.925935 +v -1.002851 -1.673340 1.085556 +v 0.692025 -2.373642 -1.603625 +v 0.618415 -2.115747 1.637970 +v 0.102530 -0.863315 -3.814488 +v -0.781611 -1.562914 -3.594005 +v -0.413356 -2.484303 -2.045798 +v -1.076667 -0.752655 1.896406 +f 129 115 144 +f 85 89 97 +f 84 91 99 +f 81 86 101 +f 86 87 101 +f 89 85 101 +f 87 89 101 +f 89 87 103 +f 87 86 104 +f 91 84 106 +f 106 84 108 +f 104 106 108 +f 97 89 110 +f 89 102 110 +f 107 97 110 +f 105 98 111 +f 93 98 112 +f 83 82 113 +f 82 95 113 +f 95 82 114 +f 88 95 114 +f 88 114 115 +f 93 81 116 +f 82 83 117 +f 87 104 118 +f 108 84 118 +f 104 108 118 +f 82 117 119 +f 81 93 120 +f 93 112 120 +f 104 100 121 +f 91 106 121 +f 106 104 121 +f 89 94 122 +f 102 89 122 +f 111 102 122 +f 113 96 122 +f 84 99 123 +f 118 84 123 +f 94 89 124 +f 98 93 125 +f 90 98 125 +f 107 90 125 +f 93 116 125 +f 116 107 125 +f 83 113 126 +f 113 94 126 +f 117 83 126 +f 94 124 126 +f 124 92 126 +f 94 113 127 +f 122 94 127 +f 113 122 127 +f 88 115 128 +f 120 112 128 +f 120 128 129 +f 86 81 129 +f 104 86 129 +f 81 120 129 +f 128 115 129 +f 95 105 130 +f 113 95 130 +f 105 113 130 +f 99 119 131 +f 119 117 131 +f 123 99 131 +f 92 123 131 +f 99 91 132 +f 91 114 132 +f 119 99 132 +f 85 97 133 +f 81 101 133 +f 101 85 133 +f 97 107 133 +f 116 81 133 +f 107 116 133 +f 102 90 134 +f 90 107 134 +f 110 102 134 +f 107 110 134 +f 89 103 135 +f 124 89 135 +f 92 124 135 +f 103 87 136 +f 109 92 136 +f 87 118 136 +f 123 109 136 +f 118 123 136 +f 135 103 136 +f 92 135 136 +f 105 111 137 +f 96 113 137 +f 113 105 137 +f 111 122 137 +f 122 96 137 +f 114 91 138 +f 100 115 138 +f 115 114 138 +f 91 121 138 +f 121 100 138 +f 117 126 139 +f 126 92 139 +f 92 131 139 +f 131 117 139 +f 92 109 140 +f 123 92 140 +f 109 123 140 +f 98 90 141 +f 90 102 141 +f 111 98 141 +f 102 111 141 +f 95 88 142 +f 105 95 142 +f 98 105 142 +f 112 98 142 +f 88 128 142 +f 128 112 142 +f 114 82 143 +f 82 119 143 +f 132 114 143 +f 119 132 143 +f 100 104 144 +f 115 100 144 +f 104 129 144 +o convex_3 +v 0.876311 -0.420454 3.112916 +v -0.228914 1.495355 2.597015 +v -0.228914 1.495355 2.486553 +v -1.076582 -0.604652 2.228337 +v -0.781653 0.537083 3.923265 +v 1.208106 0.905725 2.228513 +v 0.913178 1.311157 3.554764 +v -1.223794 0.905725 2.228337 +v -0.818519 -0.420454 3.775865 +v 0.360439 -1.010330 2.228337 +v 0.802579 -0.236010 3.739103 +v -0.818519 1.274121 3.628464 +v -1.297778 0.426711 3.370602 +v 1.281839 -0.015021 3.002278 +v 0.950044 1.421529 2.228337 +v 0.139494 0.537328 4.033904 +v 1.281839 0.868934 3.296902 +v 0.986910 -0.494280 2.228337 +v -0.781653 1.421529 2.228337 +v 0.802579 0.537328 3.923265 +v -0.118316 -1.010085 2.265452 +v -1.297778 0.868934 3.186263 +v -1.297778 0.169177 3.186263 +v 1.281839 0.242513 3.333663 +v 0.765713 1.384984 3.444302 +v 1.281839 0.279303 2.449614 +v 0.139494 -0.309837 3.812803 +v -1.297778 0.352885 2.560253 +v -0.892251 -0.420454 3.739103 +v -0.744787 -0.825641 2.265452 +v 0.139494 1.274121 3.665403 +v 0.065762 0.389921 4.033904 +v -1.039463 -0.494035 3.039216 +v 0.360439 -1.010330 2.265452 +v -0.302646 1.495355 2.707654 +v 0.802579 1.458565 2.228337 +v -0.855385 1.384738 2.486553 +v 1.281839 0.832144 2.412676 +v -1.297778 0.758317 3.333663 +v -0.707921 0.500292 3.960204 +v 0.802579 0.389921 3.923265 +v 0.065762 -0.273046 3.849565 +v 0.913178 1.384984 3.223202 +v -1.297778 0.831898 2.449614 +v 1.208106 0.353130 2.228513 +v -0.265780 0.758317 3.923265 +v -0.965984 1.274121 2.228337 +v 1.281839 0.905725 3.186440 +v 1.281839 0.021769 2.670715 +v 1.281839 0.647700 3.370602 +v 1.023776 0.979306 3.591703 +v 0.876311 1.347948 3.554764 +v 0.913178 -0.494280 2.670715 +v 1.208106 0.058560 3.370602 +v -1.297778 0.169177 2.781354 +v -0.781653 0.316094 3.923265 +v -0.560709 1.458320 2.228337 +v -0.597575 1.384738 3.186263 +v -1.297778 0.205967 3.296902 +v 0.986910 1.384984 2.228337 +v -0.044584 0.389921 4.033904 +v 0.691981 0.426711 3.960204 +v -0.744787 1.237331 3.665403 +v -0.118316 -1.010085 2.228337 +f 165 174 208 +f 148 152 154 +f 154 152 159 +f 154 159 162 +f 159 152 163 +f 157 166 167 +f 158 161 168 +f 161 158 170 +f 152 148 172 +f 167 166 172 +f 165 153 173 +f 165 173 174 +f 167 148 177 +f 148 174 177 +f 174 173 177 +f 145 155 178 +f 154 162 178 +f 153 165 178 +f 165 154 178 +f 171 153 178 +f 155 171 178 +f 146 147 179 +f 179 169 180 +f 147 146 180 +f 159 163 180 +f 146 179 180 +f 166 156 181 +f 179 163 181 +f 161 170 182 +f 149 156 183 +f 157 149 183 +f 166 157 183 +f 156 166 183 +f 153 171 186 +f 171 155 186 +f 180 169 187 +f 159 180 187 +f 152 172 188 +f 172 166 188 +f 162 150 189 +f 170 162 189 +f 150 182 189 +f 182 170 189 +f 160 175 190 +f 184 160 190 +f 163 152 191 +f 181 163 191 +f 166 181 191 +f 152 188 191 +f 188 166 191 +f 151 161 192 +f 161 182 192 +f 187 151 192 +f 158 162 193 +f 170 158 193 +f 162 170 193 +f 168 161 194 +f 164 185 194 +f 185 168 194 +f 161 151 195 +f 151 164 195 +f 194 161 195 +f 164 194 195 +f 160 164 196 +f 164 151 196 +f 169 156 196 +f 175 160 196 +f 156 175 196 +f 151 187 196 +f 187 169 196 +f 158 145 197 +f 162 158 197 +f 145 178 197 +f 178 162 197 +f 155 145 198 +f 145 158 198 +f 158 168 198 +f 185 155 198 +f 168 185 198 +f 148 167 199 +f 172 148 199 +f 167 172 199 +f 149 157 200 +f 173 153 200 +f 157 173 200 +f 184 149 200 +f 179 147 201 +f 163 179 201 +f 147 180 201 +f 180 163 201 +f 156 169 202 +f 169 179 202 +f 181 156 202 +f 179 181 202 +f 157 167 203 +f 173 157 203 +f 167 177 203 +f 177 173 203 +f 150 162 204 +f 162 159 204 +f 182 150 204 +f 159 187 204 +f 192 182 204 +f 187 192 204 +f 176 160 205 +f 160 184 205 +f 186 176 205 +f 153 186 205 +f 200 153 205 +f 184 200 205 +f 164 160 206 +f 160 176 206 +f 185 164 206 +f 155 185 206 +f 176 186 206 +f 186 155 206 +f 156 149 207 +f 175 156 207 +f 149 184 207 +f 190 175 207 +f 184 190 207 +f 148 154 208 +f 154 165 208 +f 174 148 208 +o convex_4 +v 1.282203 0.058444 2.670668 +v 1.466415 0.869118 3.186476 +v 1.466415 0.869118 3.112635 +v 3.050576 0.426902 3.038960 +v 1.282203 0.132202 3.296988 +v 1.282203 0.795277 2.523152 +v 2.755732 0.721685 3.112635 +v 2.608223 0.242798 3.223230 +v 1.282203 0.795277 3.333743 +v 2.829313 0.390065 2.854939 +v 2.681977 0.168957 3.038960 +v 2.792609 0.500577 3.260068 +v 2.608223 0.721685 2.854939 +v 1.318907 0.463740 2.523152 +v 1.429538 0.021524 3.038960 +v 1.355784 0.390065 3.370746 +v 1.318907 0.869118 2.781264 +v 1.282203 0.869118 3.296988 +v 1.318907 0.095365 2.633831 +v 2.755732 0.205794 3.149472 +v 1.355784 0.795277 2.523152 +v 2.792609 0.205794 3.002122 +v 1.466415 0.132202 3.296988 +v 1.318907 0.611090 3.370746 +v 2.792609 0.721685 3.038960 +v 1.318907 0.021524 2.818018 +v 2.792609 0.426902 3.260068 +v 3.050576 0.463740 3.112635 +v 1.318907 0.279552 2.560156 +f 218 227 237 +f 209 213 214 +f 214 213 217 +f 212 218 221 +f 209 214 222 +f 210 211 225 +f 215 210 226 +f 214 217 226 +f 220 215 226 +f 217 220 226 +f 210 225 226 +f 225 214 226 +f 223 219 228 +f 221 218 229 +f 222 214 229 +f 218 222 229 +f 214 225 229 +f 225 221 229 +f 218 212 230 +f 219 209 230 +f 209 227 230 +f 227 218 230 +f 212 228 230 +f 228 219 230 +f 213 223 231 +f 224 213 231 +f 228 216 231 +f 223 228 231 +f 217 213 232 +f 220 217 232 +f 213 224 232 +f 224 220 232 +f 211 210 233 +f 210 215 233 +f 212 221 233 +f 225 211 233 +f 221 225 233 +f 213 209 234 +f 209 219 234 +f 223 213 234 +f 219 223 234 +f 220 224 235 +f 216 228 235 +f 224 231 235 +f 231 216 235 +f 215 220 236 +f 228 212 236 +f 233 215 236 +f 212 233 236 +f 220 235 236 +f 235 228 236 +f 209 222 237 +f 222 218 237 +f 227 209 237 +o convex_5 +v -0.081535 0.832266 -2.194241 +v -0.081535 0.021524 -2.230945 +v -0.044813 0.021524 -2.230945 +v -0.008019 0.463639 -3.962614 +v 0.323706 0.721559 -2.194241 +v -0.413332 0.537364 -2.194241 +v 0.176241 0.353328 -3.704647 +v -0.229000 0.316426 -3.594015 +v -0.081535 0.611010 -3.704647 +v 0.249974 0.279523 -2.194241 +v -0.339527 0.205798 -2.194241 +v -0.008019 0.242700 -3.778228 +v 0.139447 0.611010 -3.483557 +v -0.302661 0.684815 -2.636420 +v -0.229000 0.463639 -3.704647 +v 0.102580 0.832266 -2.230945 +v 0.176241 0.242700 -3.041723 +v 0.213107 0.463639 -3.594015 +v -0.265867 0.205798 -2.967969 +v -0.339527 0.390151 -2.967969 +v -0.302661 0.758461 -2.267822 +v 0.323706 0.574267 -2.230945 +v -0.155268 0.242700 -3.594015 +v 0.249974 0.795364 -2.230945 +v 0.065714 0.611010 -3.667769 +v 0.065714 0.242700 -3.667769 +v 0.249974 0.426895 -3.114958 +v -0.044813 0.390151 -3.962614 +f 260 245 265 +f 242 238 243 +f 242 243 247 +f 239 240 248 +f 240 247 248 +f 247 243 248 +f 240 239 249 +f 251 246 252 +f 246 241 252 +f 243 251 252 +f 246 238 253 +f 247 240 254 +f 244 241 255 +f 250 242 255 +f 239 248 256 +f 248 243 257 +f 243 252 257 +f 252 245 257 +f 245 256 257 +f 256 248 257 +f 243 238 258 +f 238 246 258 +f 251 243 258 +f 246 251 258 +f 242 247 259 +f 255 242 259 +f 249 239 260 +f 256 245 260 +f 239 256 260 +f 238 242 261 +f 242 250 261 +f 253 238 261 +f 253 261 262 +f 241 246 262 +f 246 253 262 +f 255 241 262 +f 250 255 262 +f 261 250 262 +f 240 249 263 +f 249 244 263 +f 254 240 263 +f 244 254 263 +f 247 254 264 +f 254 244 264 +f 244 255 264 +f 259 247 264 +f 255 259 264 +f 241 244 265 +f 244 249 265 +f 245 252 265 +f 252 241 265 +f 249 260 265 +o convex_6 +v -0.192131 0.058654 -2.193894 +v 1.208124 0.905671 2.228336 +v 1.208124 0.611371 2.228336 +v -1.187222 0.721490 2.228336 +v -0.707966 1.606157 -2.009490 +v 0.876349 1.606157 -1.788292 +v 1.060642 -0.199588 2.154315 +v -0.965883 -0.199588 -1.271875 +v 0.913160 -0.199588 -1.898675 +v -0.560718 1.458742 2.228336 +v -1.076553 -0.199588 2.228336 +v 0.839537 1.606157 0.864787 +v -0.965883 1.606157 -1.161925 +v 0.987018 1.421623 2.228336 +v -0.892259 -0.199588 -1.898675 +v -0.965883 1.606157 0.274781 +v 0.360514 0.758256 -2.193894 +v 0.987018 1.569215 -0.977521 +v -0.965883 1.274208 2.228336 +v -0.707966 -0.199588 -2.119873 +v 0.765679 1.606157 -1.935902 +v -1.187222 0.942790 2.080294 +v -0.855447 1.606157 -1.861448 +v -0.413237 0.685079 -2.193894 +v 0.581620 -0.199588 -2.083079 +v 0.507996 1.606157 1.085552 +v 1.060642 -0.199588 2.228336 +v 0.987018 1.606157 0.164398 +v 0.987018 -0.199588 -0.793117 +v 0.987018 0.390072 -1.087904 +v 0.876349 1.458742 2.228336 +v -0.929071 -0.162646 -1.825086 +v 0.286891 1.606157 -2.009490 +v 1.171077 0.279776 2.191110 +v -0.781824 1.421623 2.228336 +v -0.081696 0.868905 -2.193894 +v -1.076553 -0.199588 1.822302 +v 0.839537 -0.162646 -1.972696 +v -0.044650 -0.015054 -2.193894 +v -0.892259 1.606157 -1.751498 +v -0.965883 0.168950 -1.309102 +v 1.208124 0.868905 2.154315 +v -0.118508 1.606157 0.827559 +v -1.187222 0.942790 2.228336 +v 0.949972 -0.015054 -1.530300 +v 0.249845 0.279776 -2.193894 +f 290 304 311 +f 268 267 269 +f 272 273 274 +f 269 267 275 +f 268 269 276 +f 273 272 276 +f 271 270 277 +f 277 270 278 +f 275 267 279 +f 274 273 280 +f 277 278 281 +f 274 271 283 +f 269 275 284 +f 274 280 285 +f 270 271 286 +f 271 274 286 +f 273 269 287 +f 281 278 287 +f 278 270 288 +f 270 285 288 +f 285 280 288 +f 282 266 289 +f 266 285 289 +f 285 270 289 +f 274 285 290 +f 277 281 291 +f 268 276 292 +f 276 272 292 +f 271 277 293 +f 279 267 293 +f 277 279 293 +f 267 283 293 +f 283 271 293 +f 272 274 294 +f 275 279 296 +f 279 277 296 +f 291 275 296 +f 277 291 296 +f 280 273 297 +f 288 280 297 +f 270 286 298 +f 286 282 298 +f 268 292 299 +f 292 272 299 +f 294 268 299 +f 272 294 299 +f 275 281 300 +f 284 275 300 +f 281 284 300 +f 282 289 301 +f 289 270 301 +f 270 298 301 +f 298 282 301 +f 269 273 302 +f 276 269 302 +f 273 276 302 +f 286 274 303 +f 282 286 303 +f 290 282 303 +f 274 290 303 +f 266 282 304 +f 285 266 304 +f 290 285 304 +f 278 288 305 +f 297 278 305 +f 288 297 305 +f 273 287 306 +f 287 278 306 +f 297 273 306 +f 278 297 306 +f 267 268 307 +f 283 267 307 +f 268 295 307 +f 295 283 307 +f 281 275 308 +f 275 291 308 +f 291 281 308 +f 269 284 309 +f 284 281 309 +f 287 269 309 +f 281 287 309 +f 274 283 310 +f 268 294 310 +f 294 274 310 +f 295 268 310 +f 283 295 310 +f 282 290 311 +f 304 282 311 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/256/256.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/256/256.urdf new file mode 100644 index 000000000..b780fcd6e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/256/256.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/257/257.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/257/257.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/257/257.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/257/257.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/257/257.obj new file mode 100644 index 000000000..64967423c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/257/257.obj @@ -0,0 +1,936 @@ +o convex_0 +v 0.663409 -2.687551 -0.037609 +v -0.617234 -2.720667 -0.037609 +v -0.485860 -3.541563 -0.005142 +v -0.124583 -2.687551 0.619009 +v 0.039258 -4.296406 0.388980 +v 0.039258 -4.066390 -0.431730 +v -0.026052 -2.687551 -0.661634 +v 0.367818 -4.296406 -0.005142 +v 0.499192 -2.720667 0.454792 +v 0.499192 -2.720667 -0.530260 +v -0.518704 -2.687551 0.487635 +v -0.354487 -4.263470 -0.005142 +v -0.453017 -2.687551 -0.464574 +v -0.387330 -3.574320 0.454792 +v -0.026052 -4.526243 -0.005142 +v 0.400536 -3.475870 0.421823 +v 0.006791 -3.377240 0.586166 +v -0.321643 -3.705347 -0.366043 +v 0.400536 -3.574320 -0.398887 +v 0.039258 -4.296406 -0.366043 +v -0.026052 -4.230713 0.454792 +v 0.367818 -4.263470 0.093389 +v -0.288800 -4.066390 0.356136 +v -0.617234 -2.720667 0.126232 +v -0.058896 -4.263470 -0.366043 +v 0.104945 -2.720667 -0.661634 +v 0.072102 -2.687551 0.619009 +v -0.026052 -4.526243 0.093389 +v 0.269288 -4.132083 -0.300356 +v 0.170632 -4.165020 0.388980 +v -0.354487 -4.263470 0.060545 +v 0.663409 -2.720667 -0.005142 +v 0.072102 -3.574320 -0.530260 +v -0.190270 -3.541563 -0.464574 +v -0.354487 -3.475870 0.487635 +v -0.420174 -2.720667 -0.497417 +v 0.499192 -3.639653 -0.037609 +v 0.630566 -2.720667 -0.168983 +v -0.255956 -4.066390 -0.300356 +v 0.039258 -4.197776 0.454792 +v 0.499192 -2.687551 -0.530260 +v 0.104945 -4.493306 0.060545 +v -0.485860 -2.720667 0.520479 +v 0.006791 -3.574320 -0.530260 +v 0.433380 -2.687551 0.487635 +f 27 17 45 +f 4 1 7 +f 4 7 11 +f 2 11 13 +f 11 7 13 +f 3 2 18 +f 12 3 18 +f 2 13 18 +f 6 19 20 +f 21 14 23 +f 2 3 24 +f 11 2 24 +f 14 11 24 +f 15 12 25 +f 20 15 25 +f 6 20 25 +f 1 4 27 +f 4 17 27 +f 12 15 28 +f 5 21 28 +f 19 8 29 +f 8 20 29 +f 20 19 29 +f 5 22 30 +f 22 16 30 +f 3 12 31 +f 23 14 31 +f 21 23 31 +f 24 3 31 +f 14 24 31 +f 12 28 31 +f 28 21 31 +f 1 9 32 +f 9 16 32 +f 16 22 32 +f 19 6 33 +f 10 19 33 +f 26 10 33 +f 25 18 34 +f 17 4 35 +f 14 21 35 +f 21 17 35 +f 13 7 36 +f 18 13 36 +f 7 34 36 +f 34 18 36 +f 8 19 37 +f 22 8 37 +f 1 32 37 +f 32 22 37 +f 19 10 38 +f 1 37 38 +f 37 19 38 +f 12 18 39 +f 25 12 39 +f 18 25 39 +f 16 17 40 +f 21 5 40 +f 17 21 40 +f 5 30 40 +f 30 16 40 +f 7 1 41 +f 26 7 41 +f 10 26 41 +f 1 38 41 +f 38 10 41 +f 20 8 42 +f 15 20 42 +f 8 22 42 +f 22 5 42 +f 28 15 42 +f 5 28 42 +f 4 11 43 +f 11 14 43 +f 35 4 43 +f 14 35 43 +f 6 25 44 +f 7 26 44 +f 33 6 44 +f 26 33 44 +f 34 7 44 +f 25 34 44 +f 9 1 45 +f 16 9 45 +f 17 16 45 +f 1 27 45 +o convex_1 +v -0.912586 2.468088 -0.858473 +v 1.057453 1.844162 0.914275 +v 1.057453 1.712608 0.914275 +v -0.814053 1.745584 1.012790 +v -0.025996 3.288476 0.651486 +v 0.794562 1.712608 -1.022494 +v 0.761855 2.993088 -0.628437 +v -0.748433 1.712608 -1.219523 +v -0.748433 3.354253 -0.103113 +v 0.893095 3.025889 0.783008 +v 0.039418 3.255674 -0.759705 +v -0.025996 1.712608 1.308078 +v -0.781346 3.025889 0.651486 +v -1.044032 1.712608 0.355943 +v 0.105038 3.485633 -0.004598 +v 1.024540 2.796104 0.093408 +v 0.039418 1.778559 -1.285030 +v -0.814053 3.025889 -0.825720 +v -1.011119 2.861707 -0.135866 +v 0.794767 3.288650 -0.004598 +v -1.011119 1.712608 -0.923980 +v 0.991627 1.712608 -0.365902 +v -0.025996 3.157269 0.782754 +v 0.761855 1.778559 1.144057 +v 1.057453 2.303906 0.848515 +v -1.011119 2.435112 0.257683 +v -0.748433 3.354253 0.027647 +v -0.025996 1.745757 1.308078 +v -0.091616 3.485633 -0.037352 +v 0.827475 1.778385 -0.956987 +v 1.057453 1.712608 0.618733 +v -0.223062 1.745584 -1.285283 +v 0.761855 2.927311 -0.661191 +v -0.420128 3.157269 -0.792712 +v -0.814053 2.993088 0.618733 +v -0.846966 1.712608 0.947029 +v 0.794767 3.058864 0.783008 +v -0.091616 3.222873 0.750000 +v 0.991627 2.336707 -0.234380 +v 0.794767 3.288650 0.093408 +v 0.039418 1.745757 1.308078 +v 0.794562 1.876964 -0.989741 +v 0.039418 3.190071 -0.792712 +v 0.926007 2.993088 0.750254 +v -1.044032 2.041145 0.224676 +v -0.781346 3.255848 0.224676 +v 0.170863 3.222873 0.750000 +v -0.814053 3.091492 -0.727205 +v 0.072331 1.712608 -1.285030 +v -0.025996 3.485633 0.060401 +v -0.978412 2.894683 -0.300141 +v -0.025996 2.172526 -1.153762 +v -0.781346 1.811360 -1.186769 +v 0.105038 3.485633 0.027647 +v 0.170863 3.157269 0.782754 +v 0.761855 1.712608 1.144057 +v -0.978412 2.139550 -0.858473 +v -0.846966 1.778385 0.947029 +v 0.827475 2.828906 -0.529923 +f 84 75 104 +f 51 48 53 +f 53 48 57 +f 53 57 59 +f 52 56 65 +f 56 60 65 +f 61 52 65 +f 53 59 66 +f 48 51 67 +f 48 47 69 +f 47 48 70 +f 69 47 70 +f 55 69 70 +f 54 64 72 +f 49 57 73 +f 58 49 73 +f 56 54 74 +f 60 56 74 +f 54 72 74 +f 67 51 75 +f 48 67 76 +f 67 61 76 +f 70 48 76 +f 61 70 76 +f 54 56 79 +f 49 58 80 +f 64 71 80 +f 57 49 81 +f 59 57 81 +f 58 73 83 +f 73 68 83 +f 61 67 84 +f 67 75 84 +f 65 60 85 +f 61 65 85 +f 82 55 85 +f 69 55 86 +f 73 57 86 +f 68 73 86 +f 55 82 86 +f 51 62 87 +f 75 51 87 +f 62 78 87 +f 78 75 87 +f 56 52 88 +f 52 78 88 +f 78 62 88 +f 79 56 88 +f 70 61 89 +f 55 70 89 +f 85 55 89 +f 61 85 89 +f 66 59 90 +f 64 66 90 +f 59 71 90 +f 71 64 90 +f 50 72 91 +f 72 64 91 +f 80 58 91 +f 64 80 91 +f 83 50 91 +f 58 83 91 +f 50 83 92 +f 83 68 92 +f 54 79 93 +f 79 63 93 +f 51 53 94 +f 62 51 94 +f 53 77 94 +f 77 62 94 +f 72 50 95 +f 60 74 95 +f 74 72 95 +f 64 54 96 +f 54 93 96 +f 93 63 96 +f 62 77 97 +f 77 63 97 +f 63 79 97 +f 88 62 97 +f 79 88 97 +f 46 63 98 +f 53 66 98 +f 77 53 98 +f 63 77 98 +f 85 60 99 +f 82 85 99 +f 50 92 99 +f 92 82 99 +f 95 50 99 +f 60 95 99 +f 68 86 100 +f 86 82 100 +f 92 68 100 +f 82 92 100 +f 57 48 101 +f 48 69 101 +f 69 86 101 +f 86 57 101 +f 63 46 102 +f 66 64 102 +f 96 63 102 +f 64 96 102 +f 46 98 102 +f 98 66 102 +f 71 59 103 +f 49 80 103 +f 80 71 103 +f 81 49 103 +f 59 81 103 +f 52 61 104 +f 78 52 104 +f 75 78 104 +f 61 84 104 +o convex_2 +v 2.666299 -1.702331 0.027959 +v 1.254787 -1.177048 0.093501 +v 1.254787 -1.177048 0.027959 +v 1.221638 -1.899321 -0.070523 +v 1.221638 -1.603836 0.389150 +v 2.633324 -1.472674 -0.234750 +v 2.600522 -1.341301 0.192051 +v 1.221638 -1.374180 -0.300427 +v 1.385993 -1.800826 -0.267555 +v 1.221638 -1.242806 0.356278 +v 2.797506 -1.308493 -0.004846 +v 1.254787 -1.833705 0.257796 +v 2.764704 -1.538220 0.192051 +v 2.731903 -1.702331 -0.070523 +v 1.353192 -1.308493 -0.267555 +v 2.994663 -1.505483 -0.037718 +v 1.221638 -1.735210 -0.300427 +v 2.666299 -1.275685 0.060696 +v 2.567721 -1.636715 -0.201878 +v 2.666299 -1.308493 -0.070523 +v 2.633324 -1.472674 0.224856 +v 1.648754 -1.603836 -0.300427 +v 2.863283 -1.439796 0.126374 +v 1.254787 -1.439796 0.389150 +v 1.254787 -1.899321 -0.004846 +v 1.484572 -1.242806 0.323473 +f 114 125 130 +f 108 109 112 +f 106 107 114 +f 107 112 114 +f 112 109 114 +f 109 108 116 +f 109 116 117 +f 116 105 117 +f 108 113 118 +f 112 107 119 +f 110 112 119 +f 110 115 120 +f 117 105 120 +f 105 118 120 +f 108 112 121 +f 113 108 121 +f 107 106 122 +f 118 113 123 +f 110 120 123 +f 120 118 123 +f 115 110 124 +f 119 107 124 +f 110 119 124 +f 107 122 124 +f 122 115 124 +f 109 117 125 +f 112 110 126 +f 121 112 126 +f 113 121 126 +f 123 113 126 +f 110 123 126 +f 120 115 127 +f 117 120 127 +f 122 111 127 +f 115 122 127 +f 111 125 127 +f 125 117 127 +f 114 109 128 +f 125 114 128 +f 109 125 128 +f 105 116 129 +f 116 108 129 +f 118 105 129 +f 108 118 129 +f 106 114 130 +f 122 106 130 +f 111 122 130 +f 125 111 130 +o convex_3 +v -1.043993 -0.454634 -0.694461 +v 1.057453 -0.815777 0.585896 +v 1.057453 -0.848678 0.585896 +v 0.006515 -0.487535 -2.270647 +v -0.978310 -0.848678 -0.923600 +v -0.058954 -0.454634 2.096674 +v -0.912626 -0.848678 1.045884 +v 0.991554 -0.454634 -0.628627 +v 0.860187 -0.848678 -1.055270 +v -1.076727 -0.454634 0.618813 +v 0.893136 -0.454634 1.111291 +v 0.860187 -0.848678 1.045456 +v 0.794503 -0.454634 -1.481913 +v -1.142626 -0.848678 0.487144 +v -0.846942 -0.454634 1.374202 +v -0.058954 -0.848678 -1.252347 +v -0.453056 -0.454634 -1.843577 +v 0.006515 -0.848678 1.275450 +v 1.024504 -0.848678 -0.529875 +v -1.142626 -0.684480 -0.398633 +v 1.024504 -0.454634 0.684648 +v -0.026435 -0.487535 2.096674 +v -0.912626 -0.454634 -1.186939 +v -0.058954 -0.454634 -2.270647 +v -1.142626 -0.848678 -0.398633 +v 1.024504 -0.520359 -0.529875 +v -0.879676 -0.848678 -1.022780 +v -1.109677 -0.454634 -0.234473 +v -0.058954 -0.487535 -2.270647 +v -1.142626 -0.717304 0.487144 +v -0.617157 -0.487535 1.603769 +v 0.794503 -0.487535 -1.481913 +v -0.058954 -0.487535 2.096674 +v 0.827453 -0.487535 -1.416506 +v 0.925870 -0.848678 0.980049 +v -0.354422 -0.487535 -1.974819 +v -0.814208 -0.487535 -1.351099 +f 166 135 167 +f 135 133 137 +f 131 136 138 +f 133 135 139 +f 136 131 140 +f 133 132 141 +f 138 136 141 +f 137 133 142 +f 131 138 143 +f 135 137 144 +f 136 140 145 +f 144 137 145 +f 134 139 146 +f 139 135 146 +f 131 143 147 +f 137 142 148 +f 132 133 149 +f 133 139 149 +f 141 132 151 +f 138 141 151 +f 141 136 152 +f 148 142 152 +f 131 147 153 +f 150 131 153 +f 143 134 154 +f 147 143 154 +f 135 144 155 +f 144 150 155 +f 153 135 155 +f 150 153 155 +f 132 149 156 +f 151 132 156 +f 138 151 156 +f 146 135 157 +f 140 131 158 +f 131 150 158 +f 134 146 159 +f 154 134 159 +f 146 157 159 +f 145 140 160 +f 144 145 160 +f 150 144 160 +f 140 158 160 +f 158 150 160 +f 136 145 161 +f 145 137 161 +f 139 134 162 +f 134 143 162 +f 137 148 163 +f 152 136 163 +f 148 152 163 +f 136 161 163 +f 161 137 163 +f 143 138 164 +f 149 139 164 +f 138 156 164 +f 156 149 164 +f 139 162 164 +f 162 143 164 +f 133 141 165 +f 142 133 165 +f 141 152 165 +f 152 142 165 +f 147 154 166 +f 157 135 166 +f 154 159 166 +f 159 157 166 +f 153 147 167 +f 135 153 167 +f 147 166 167 +o convex_4 +v 0.072359 0.432245 3.015647 +v -0.058848 -0.454422 -2.368821 +v -0.058848 -0.355786 -2.697062 +v -1.043942 1.712608 0.355821 +v 0.991641 1.712608 -0.398777 +v -1.076952 -0.454422 0.618652 +v 1.024442 -0.454422 0.684063 +v -0.748518 0.563548 -2.795178 +v 0.794622 0.497790 -2.729768 +v 1.057453 1.712608 0.914188 +v 0.006547 1.252517 -2.795773 +v -0.584301 1.055669 2.621995 +v -0.058848 -0.290240 2.720111 +v 0.729019 0.497790 2.785522 +v -1.011140 1.712608 -0.923845 +v -0.781319 0.465123 2.785522 +v 0.006547 1.252517 2.786116 +v -1.076952 -0.454422 -0.562303 +v 0.991641 -0.454422 -0.628309 +v 1.024442 0.498002 -2.040579 +v -1.043942 0.432245 -2.040579 +v -0.781319 -0.290240 -2.105990 +v 0.827424 1.712608 -0.989255 +v 0.761820 -0.322907 -1.974574 +v -0.814121 1.712608 1.012899 +v -1.011140 0.530669 2.030328 +v 0.039348 0.399366 -3.025898 +v -0.814121 -0.454422 1.504666 +v 0.729019 -0.257361 2.030328 +v 0.958839 0.432245 2.063034 +v 0.794622 1.219851 -2.072690 +v 0.039348 1.712608 1.406551 +v -0.026046 -0.454422 2.194449 +v -0.026046 1.712608 -1.383502 +v -0.649904 1.121214 -2.434231 +v 0.564802 1.055669 2.555990 +v 1.057453 -0.257574 0.454531 +v -0.781319 -0.257361 2.030328 +v -0.748518 1.252517 2.096334 +v 0.597603 -0.060301 -2.598352 +v -0.781319 0.432245 -2.795178 +v -0.781319 1.712608 -1.219381 +v 0.466397 -0.093180 2.621401 +v 0.597603 1.055669 -2.598352 +v 0.006547 -0.290240 -2.795773 +v -0.518697 -0.158725 -2.631057 +v -0.058848 0.497790 3.048947 +v 0.794622 -0.454422 -1.580328 +v -1.076952 0.465123 0.224406 +v -0.485687 -0.126058 2.621995 +v -0.879724 -0.454422 -1.383502 +v 0.072359 1.252517 -2.795773 +v 0.761820 0.399366 -2.762473 +v -0.124660 1.219851 2.786116 +v 0.761820 1.712608 1.177019 +v 1.024442 0.399366 -2.007279 +v -0.058848 -0.224483 2.786116 +v 0.893236 -0.454422 1.111014 +v 0.039348 0.530669 -3.025898 +v 1.057453 1.712608 0.618652 +v -0.781319 1.252517 -2.072690 +v -1.043942 0.497790 -2.040579 +v -0.781319 0.530669 2.785522 +v -1.011140 0.465123 2.030328 +f 173 205 231 +f 173 169 174 +f 172 171 177 +f 171 172 182 +f 169 173 185 +f 174 169 186 +f 185 188 189 +f 170 169 189 +f 182 172 190 +f 177 171 192 +f 173 174 195 +f 181 196 197 +f 177 181 197 +f 196 174 197 +f 172 187 198 +f 187 176 198 +f 190 172 198 +f 177 192 199 +f 192 184 199 +f 195 174 200 +f 180 195 200 +f 196 180 200 +f 182 190 201 +f 178 175 202 +f 181 177 203 +f 177 184 203 +f 184 181 203 +f 174 186 204 +f 197 174 204 +f 177 197 204 +f 173 195 205 +f 195 180 205 +f 192 171 206 +f 171 193 206 +f 189 188 208 +f 201 178 209 +f 182 201 209 +f 180 196 210 +f 196 181 210 +f 198 176 211 +f 191 170 212 +f 207 191 212 +f 208 194 212 +f 208 212 213 +f 170 189 213 +f 189 208 213 +f 212 170 213 +f 168 181 214 +f 181 184 214 +f 169 170 215 +f 186 169 215 +f 170 191 215 +f 185 173 216 +f 193 171 216 +f 173 193 216 +f 205 180 217 +f 183 205 217 +f 169 185 218 +f 185 189 218 +f 189 169 218 +f 190 198 219 +f 178 201 219 +f 201 190 219 +f 211 176 219 +f 198 211 219 +f 191 207 220 +f 212 194 220 +f 207 212 220 +f 184 192 221 +f 206 179 221 +f 192 206 221 +f 214 184 221 +f 184 177 222 +f 177 199 222 +f 199 184 222 +f 176 187 223 +f 204 186 223 +f 187 204 223 +f 186 215 223 +f 215 191 223 +f 220 176 223 +f 191 220 223 +f 181 168 224 +f 180 210 224 +f 210 181 224 +f 168 214 224 +f 214 183 224 +f 217 180 224 +f 183 217 224 +f 174 196 225 +f 200 174 225 +f 196 200 225 +f 175 178 226 +f 208 175 226 +f 194 208 226 +f 219 176 226 +f 178 219 226 +f 176 220 226 +f 220 194 226 +f 172 177 227 +f 187 172 227 +f 177 204 227 +f 204 187 227 +f 202 175 228 +f 178 202 228 +f 209 178 228 +f 182 209 228 +f 171 182 229 +f 188 185 229 +f 175 208 229 +f 208 188 229 +f 185 216 229 +f 216 171 229 +f 228 175 229 +f 182 228 229 +f 193 183 230 +f 179 206 230 +f 206 193 230 +f 183 214 230 +f 221 179 230 +f 214 221 230 +f 193 173 231 +f 183 193 231 +f 205 183 231 +o convex_5 +v -1.307065 -1.899462 -0.037638 +v -1.274141 -1.111374 0.093585 +v -1.274141 -1.111374 -0.201833 +v -2.981332 -1.472710 0.060761 +v -1.274141 -1.669500 0.389150 +v -1.274141 -1.636715 -0.366101 +v -2.751366 -1.538127 -0.201833 +v -1.372746 -1.242748 0.356252 +v -2.587249 -1.603775 0.224955 +v -2.751366 -1.308396 -0.004814 +v -2.784290 -1.669500 -0.004814 +v -1.274141 -1.833660 0.323428 +v -2.652929 -1.472710 0.257779 +v -1.307065 -1.800951 -0.300379 +v -1.307065 -1.439770 -0.366101 +v -2.751366 -1.472710 -0.201833 +v -2.554492 -1.341336 0.192057 +v -2.587249 -1.669500 -0.136110 +v -2.620006 -1.702286 0.060761 +v -1.372746 -1.144237 -0.234657 +v -1.274141 -1.209885 0.323428 +v -1.274141 -1.899462 0.027936 +v -2.062307 -1.472710 0.323428 +v -2.981332 -1.538127 0.060761 +f 250 240 255 +f 234 233 236 +f 234 236 237 +f 233 234 241 +f 237 236 243 +f 236 240 243 +f 240 236 244 +f 238 237 245 +f 234 237 246 +f 237 238 246 +f 246 238 247 +f 238 235 247 +f 235 241 247 +f 233 241 248 +f 241 235 248 +f 244 239 248 +f 235 244 248 +f 242 238 249 +f 232 242 249 +f 245 232 249 +f 238 245 249 +f 242 232 250 +f 243 240 250 +f 241 234 251 +f 234 246 251 +f 246 247 251 +f 247 241 251 +f 236 233 252 +f 239 236 252 +f 233 248 252 +f 248 239 252 +f 237 243 253 +f 232 245 253 +f 245 237 253 +f 250 232 253 +f 243 250 253 +f 236 239 254 +f 244 236 254 +f 239 244 254 +f 235 238 255 +f 238 242 255 +f 240 244 255 +f 244 235 255 +f 242 250 255 +o convex_6 +v -0.026125 -2.194892 0.947360 +v -0.124568 -0.881798 -1.219863 +v -0.124568 -0.848678 -1.219863 +v 1.221638 -1.735354 -0.300180 +v 0.827621 -0.848678 1.045717 +v -0.978314 -0.848678 0.914333 +v -0.846893 -2.359052 -0.727115 +v 0.827621 -2.424572 -0.825472 +v 0.531802 -2.687550 0.454371 +v -0.945336 -2.326112 0.750164 +v -1.273888 -1.111657 -0.234367 +v 0.893087 -0.848678 -0.989641 +v 0.893087 -2.326112 0.750164 +v -0.978314 -0.848678 -0.924070 +v -0.485853 -2.687550 -0.464349 +v -0.026125 -0.947318 1.242912 +v 1.221638 -1.243057 0.356014 +v -1.273888 -1.866574 0.323228 +v -0.058858 -2.326112 -0.957096 +v -0.091591 -2.687550 0.651807 +v -1.273888 -1.833454 -0.332965 +v -0.978314 -2.457331 -0.004627 +v 0.072319 -2.687550 -0.694330 +v 0.958797 -2.490271 -0.037413 +v 1.221638 -1.866574 0.290443 +v -0.551563 -2.687550 0.454612 +v -0.846893 -0.848678 1.078502 +v 1.057240 -0.848678 0.585995 +v 0.564779 -2.687550 -0.464590 +v -1.142467 -0.848678 0.487397 +v 0.860354 -2.359052 -0.858499 +v 1.221638 -1.144237 0.027676 +v 0.105052 -0.881798 -1.219863 +v -0.879870 -0.881798 -1.022668 +v 1.221638 -1.571195 0.454612 +v -1.273888 -1.604135 0.421585 +v 0.860354 -2.326112 0.782950 +v -0.912603 -2.326112 0.782950 +v 0.761910 -0.881798 -1.088480 +v -0.846893 -2.194892 -0.792686 +v 0.958797 -0.947318 0.914333 +v 1.221638 -1.341336 -0.300180 +v 1.024507 -0.848678 -0.529920 +v -0.978314 -1.045957 0.947119 +v 0.072319 -0.848678 1.242912 +v -1.273888 -1.210117 0.356014 +v 0.137785 -2.293172 0.914333 +v -1.142467 -0.848678 -0.398777 +v 1.221638 -1.833454 -0.267394 +v -1.273888 -1.636895 -0.398777 +v -0.650006 -2.687550 -0.037413 +v 0.958797 -1.308396 -0.858499 +v 0.663223 -2.687550 0.093488 +v 0.827621 -0.947318 1.045717 +v -0.124568 -2.293172 0.914333 +v -0.879870 -2.260412 -0.759901 +v 0.893087 -2.424572 -0.661303 +v 0.039341 -2.654430 0.684593 +v -1.273888 -1.932094 -0.037413 +v 0.039341 -2.326112 -0.957096 +v -0.978314 -2.424572 -0.168796 +v -0.715717 -2.359052 -0.792686 +v -0.091591 -0.914378 1.242912 +v -0.945336 -2.260412 0.782950 +f 299 291 319 +f 260 258 261 +f 258 260 267 +f 261 258 269 +f 270 264 275 +f 273 266 276 +f 265 273 277 +f 264 270 278 +f 259 272 280 +f 268 279 280 +f 270 275 281 +f 265 277 281 +f 260 261 282 +f 267 260 283 +f 278 263 284 +f 264 278 284 +f 261 269 285 +f 272 259 287 +f 283 272 287 +f 257 258 288 +f 274 257 288 +f 258 257 289 +f 269 258 289 +f 268 280 290 +f 280 272 290 +f 266 273 291 +f 264 268 292 +f 265 281 293 +f 281 275 293 +f 258 267 294 +f 267 286 294 +f 288 258 294 +f 286 288 294 +f 289 257 295 +f 283 260 296 +f 272 283 296 +f 268 290 296 +f 290 272 296 +f 292 268 296 +f 287 259 297 +f 287 297 298 +f 267 283 298 +f 283 287 298 +f 297 267 298 +f 282 261 299 +f 261 291 299 +f 260 282 300 +f 271 292 300 +f 261 285 301 +f 285 266 301 +f 291 261 301 +f 266 291 301 +f 271 256 302 +f 292 271 302 +f 269 266 303 +f 285 269 303 +f 266 285 303 +f 259 280 304 +f 280 279 304 +f 286 259 304 +f 266 269 305 +f 276 266 305 +f 270 281 306 +f 281 277 306 +f 286 267 307 +f 259 286 307 +f 297 259 307 +f 267 297 307 +f 268 264 308 +f 279 268 308 +f 264 284 308 +f 284 279 308 +f 296 260 309 +f 292 296 309 +f 260 300 309 +f 300 292 309 +f 256 271 310 +f 293 275 310 +f 302 256 310 +f 262 276 311 +f 269 289 311 +f 289 295 311 +f 305 269 311 +f 276 305 311 +f 284 263 312 +f 279 284 312 +f 263 286 312 +f 304 279 312 +f 286 304 312 +f 275 264 313 +f 264 292 313 +f 292 302 313 +f 310 275 313 +f 302 310 313 +f 273 276 314 +f 277 273 314 +f 263 278 315 +f 278 274 315 +f 286 263 315 +f 274 288 315 +f 288 286 315 +f 262 270 316 +f 276 262 316 +f 270 306 316 +f 306 277 316 +f 314 276 316 +f 277 314 316 +f 270 262 317 +f 257 274 317 +f 278 270 317 +f 274 278 317 +f 295 257 317 +f 262 311 317 +f 311 295 317 +f 282 293 318 +f 300 282 318 +f 271 300 318 +f 310 271 318 +f 293 310 318 +f 273 265 319 +f 291 273 319 +f 265 293 319 +f 293 282 319 +f 282 299 319 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/257/257.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/257/257.urdf new file mode 100644 index 000000000..ce7719dd3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/257/257.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/258/258.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/258/258.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/258/258.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/258/258.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/258/258.obj new file mode 100644 index 000000000..1bcddafb7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/258/258.obj @@ -0,0 +1,573 @@ +o convex_0 +v 1.002082 1.795014 -2.759644 +v -1.104767 -4.207788 -2.839030 +v 0.922650 -4.247597 -2.004313 +v -0.985408 1.834823 -0.970937 +v 1.002082 -4.247597 -0.970937 +v -0.985408 1.834823 -2.958498 +v 1.042009 1.913839 -0.970937 +v -1.025124 -4.167375 -0.970937 +v 0.962366 -4.207788 -2.918610 +v 1.042009 -2.020674 -2.878723 +v -1.104767 -2.179912 -0.970937 +v 0.882934 -0.193052 -2.958498 +v -0.945692 -2.339150 -2.958498 +v 1.002082 1.755204 -2.839224 +v 1.042009 1.834823 -2.282552 +v -1.104767 -4.207788 -2.282552 +v -0.627542 1.834823 -2.958498 +v 1.002082 -4.207788 -2.361938 +v 1.042009 -2.259531 -2.401630 +v 0.365993 -4.207184 -2.918610 +v 0.604500 -4.247597 -0.970937 +v -1.104767 -3.929121 -2.839030 +v -1.104767 -2.736643 -0.970937 +v 1.002082 1.278092 -2.878723 +v 1.002082 1.913839 -1.288869 +v 1.042009 0.999425 -0.970937 +v 1.002082 -3.730676 -2.918610 +v -1.064840 -4.207788 -1.726269 +v -1.064840 -3.929121 -1.130098 +v 1.042009 -2.457976 -2.878723 +v 1.042009 1.795014 -2.481211 +v 0.962366 0.601933 -2.918610 +v 0.922650 1.914443 -0.970937 +v -0.508393 -2.060483 -2.958498 +v 1.002082 -0.749180 -2.918610 +v -1.064840 -3.610644 -2.878723 +v -1.104767 -2.617214 -1.487722 +v 0.564784 1.795014 -2.878723 +f 24 17 38 +f 4 5 7 +f 5 4 8 +f 5 3 9 +f 4 6 11 +f 8 4 11 +f 6 12 13 +f 7 10 15 +f 11 2 16 +f 12 6 17 +f 15 1 17 +f 5 9 18 +f 10 7 19 +f 3 2 20 +f 9 3 20 +f 13 9 20 +f 2 3 21 +f 3 5 21 +f 5 8 21 +f 16 2 21 +f 6 2 22 +f 2 11 22 +f 8 11 23 +f 11 16 23 +f 14 10 24 +f 7 15 25 +f 17 6 25 +f 15 17 25 +f 7 5 26 +f 5 19 26 +f 19 7 26 +f 9 12 27 +f 18 9 27 +f 8 16 28 +f 21 8 28 +f 16 21 28 +f 16 8 29 +f 8 23 29 +f 23 16 29 +f 5 18 30 +f 10 19 30 +f 19 5 30 +f 18 27 30 +f 27 10 30 +f 14 1 31 +f 10 14 31 +f 1 15 31 +f 15 10 31 +f 12 17 32 +f 17 24 32 +f 6 4 33 +f 4 7 33 +f 25 6 33 +f 7 25 33 +f 12 9 34 +f 9 13 34 +f 13 12 34 +f 24 10 35 +f 27 12 35 +f 10 27 35 +f 12 32 35 +f 32 24 35 +f 2 6 36 +f 6 13 36 +f 20 2 36 +f 13 20 36 +f 11 6 37 +f 6 22 37 +f 22 11 37 +f 1 14 38 +f 17 1 38 +f 14 24 38 +o convex_1 +v 0.922655 -2.617016 -0.732236 +v -1.104685 -2.656708 -0.970719 +v -1.064760 -3.690310 -0.970719 +v 1.042009 1.914318 -0.970719 +v -1.025046 3.862442 -0.732236 +v -1.025046 -4.167418 -0.771995 +v 1.002084 -4.247597 -0.970719 +v 1.042009 3.862442 -0.732236 +v -1.025046 3.862442 -0.930960 +v -1.104685 -2.219294 -0.732236 +v 1.042009 3.862442 -0.891201 +v 1.002084 -4.207110 -0.811754 +v -0.985331 1.834139 -0.970719 +v -1.025046 -4.167418 -0.970719 +v 0.127521 3.862442 -0.930960 +v 1.042009 0.760845 -0.732236 +v 0.445658 -2.815480 -0.732236 +v 0.525088 -4.247597 -0.811754 +v 1.002084 -2.577323 -0.732236 +v -1.104685 -2.139908 -0.970719 +v -0.746833 -4.127725 -0.771995 +v 1.042009 0.960103 -0.970719 +f 54 45 60 +f 41 40 42 +f 41 42 45 +f 43 39 46 +f 43 46 47 +f 40 41 48 +f 39 43 48 +f 41 44 48 +f 46 42 49 +f 47 46 49 +f 42 40 51 +f 47 42 51 +f 44 41 52 +f 41 45 52 +f 42 47 53 +f 49 42 53 +f 47 49 53 +f 46 39 54 +f 42 46 54 +f 50 45 54 +f 39 48 55 +f 48 44 55 +f 50 44 56 +f 45 50 56 +f 44 52 56 +f 52 45 56 +f 39 50 57 +f 54 39 57 +f 50 54 57 +f 43 47 58 +f 48 43 58 +f 40 48 58 +f 51 40 58 +f 47 51 58 +f 50 39 59 +f 44 50 59 +f 39 55 59 +f 55 44 59 +f 45 42 60 +f 42 54 60 +o convex_2 +v 1.081550 0.245091 0.897723 +v -1.104553 -2.220087 -0.732212 +v -1.104553 -2.220087 -0.652632 +v -1.025147 3.941952 1.136270 +v 1.041954 3.861730 -0.732212 +v -0.945742 -2.220087 1.255543 +v 1.002145 -2.220087 -0.732212 +v -1.025147 3.862333 -0.732212 +v 1.002145 3.941952 1.096382 +v 1.041954 -2.180278 1.255543 +v 0.207023 1.078679 1.255543 +v -1.025147 -0.152402 1.255543 +v 1.081550 -0.152402 1.255543 +v 0.684096 3.941952 1.136270 +v 1.041954 3.902143 -0.453779 +v 1.041954 -2.180278 -0.016574 +v 1.041954 0.722202 -0.732212 +v -0.866123 3.345412 1.175768 +v 0.684096 -2.220087 1.255543 +v -1.025147 3.941952 0.658983 +v 1.041954 3.902143 0.142587 +v 1.081550 0.284900 0.539710 +v -0.428860 1.238520 1.255543 +v -1.104553 -1.901611 -0.573052 +v -0.985338 -1.663356 1.255543 +v 1.081550 -0.907578 1.215655 +v 1.041954 2.470204 1.096382 +v 1.002145 3.941952 0.778450 +v -1.025147 3.902143 -0.175540 +v -1.025147 -0.390656 1.255543 +f 85 72 90 +f 63 62 66 +f 62 65 67 +f 66 62 67 +f 65 62 68 +f 66 70 71 +f 66 71 72 +f 71 70 73 +f 71 73 74 +f 69 64 74 +f 73 69 74 +f 65 68 75 +f 70 67 76 +f 67 65 77 +f 76 67 77 +f 64 72 78 +f 71 74 78 +f 74 64 78 +f 66 67 79 +f 70 66 79 +f 67 70 79 +f 64 69 80 +f 73 61 81 +f 75 69 81 +f 75 81 82 +f 61 73 82 +f 65 75 82 +f 77 65 82 +f 76 77 82 +f 81 61 82 +f 72 71 83 +f 78 72 83 +f 71 78 83 +f 62 63 84 +f 68 62 84 +f 72 64 84 +f 64 80 84 +f 63 66 85 +f 66 72 85 +f 73 70 86 +f 70 76 86 +f 82 73 86 +f 76 82 86 +f 69 73 87 +f 73 81 87 +f 81 69 87 +f 69 75 88 +f 80 69 88 +f 75 80 88 +f 75 68 89 +f 80 75 89 +f 68 84 89 +f 84 80 89 +f 84 63 90 +f 72 84 90 +f 63 85 90 +o convex_3 +v 1.041752 -2.060876 1.812215 +v -1.025256 -0.868854 2.845396 +v -1.025256 -0.868854 3.203410 +v 1.081764 -0.152842 1.255737 +v -0.945645 -2.219916 1.255543 +v 0.922541 -2.219916 3.123830 +v 1.081764 -0.152842 3.123830 +v -1.025256 -0.152842 1.255543 +v -0.945645 -2.259842 3.083942 +v -1.025256 -0.073433 3.243297 +v 1.041752 -2.180212 1.255737 +v 0.525103 0.006198 1.693136 +v -0.587806 0.006198 1.613556 +v 0.525103 0.006198 2.607045 +v -0.428790 -2.259842 1.693136 +v 0.723719 -2.259842 3.123830 +v 0.604508 -1.862132 3.163717 +v -0.985244 -1.782723 1.454590 +v -0.508401 0.006198 2.766205 +v 1.081764 -1.107303 2.249420 +v 0.962347 -2.219916 3.004557 +v 0.644314 -2.219916 1.255737 +v -0.866034 -2.100803 3.123830 +v -0.826434 -0.073433 3.243297 +v -0.985244 -1.862132 3.123830 +v 1.002152 -2.219916 1.573669 +v 0.604508 -0.152842 3.163717 +v 1.081764 -0.908337 1.255737 +v 1.081764 -0.351808 3.123830 +v -1.025256 -0.073433 2.567352 +v -0.945645 -2.259842 2.090649 +v -1.025256 -0.431217 1.295430 +v -0.866034 -0.311882 3.243297 +v -0.428790 -0.073433 3.203410 +v -0.269773 -2.259842 3.123830 +v -1.025256 -0.113137 1.653444 +f 120 103 126 +f 92 93 98 +f 94 95 98 +f 98 93 100 +f 97 94 102 +f 94 98 103 +f 102 94 103 +f 97 102 104 +f 102 103 104 +f 99 105 106 +f 106 96 107 +f 103 100 109 +f 104 103 109 +f 94 97 110 +f 91 101 110 +f 101 91 111 +f 96 106 111 +f 91 110 111 +f 95 101 112 +f 105 95 112 +f 109 100 114 +f 93 92 115 +f 92 108 115 +f 113 93 115 +f 99 113 115 +f 106 105 116 +f 101 111 116 +f 111 106 116 +f 112 101 116 +f 105 112 116 +f 107 97 117 +f 97 114 117 +f 114 107 117 +f 95 94 118 +f 101 95 118 +f 94 110 118 +f 110 101 118 +f 107 96 119 +f 97 107 119 +f 110 97 119 +f 96 111 119 +f 111 110 119 +f 98 100 120 +f 100 103 120 +f 95 105 121 +f 105 99 121 +f 108 95 121 +f 99 115 121 +f 115 108 121 +f 92 98 122 +f 98 95 122 +f 108 92 122 +f 95 108 122 +f 100 93 123 +f 107 114 123 +f 114 100 123 +f 97 104 124 +f 104 109 124 +f 114 97 124 +f 109 114 124 +f 99 106 125 +f 106 107 125 +f 93 113 125 +f 113 99 125 +f 123 93 125 +f 107 123 125 +f 103 98 126 +f 98 120 126 +o convex_4 +v -0.389097 1.596573 1.573700 +v -0.349326 2.669338 2.766120 +v 0.485422 3.822547 2.726314 +v 0.525192 1.198851 2.646819 +v 0.485422 3.782855 1.693001 +v -0.548180 3.822547 1.732806 +v -0.508409 1.198851 2.766120 +v 0.525192 1.198851 1.693001 +v -0.508409 3.902198 2.726314 +v -0.587950 1.198851 1.653311 +v 0.405880 1.198851 2.726314 +v -0.587950 1.676223 2.090474 +v -0.031379 1.198851 1.573700 +v 0.525192 2.868331 1.692884 +v -0.587950 3.186404 1.693001 +v 0.048053 2.033988 2.766120 +v -0.548180 3.225832 2.567325 +v 0.485422 3.822547 1.931484 +v -0.548180 3.544168 1.693001 +v 0.525192 2.629910 2.448024 +v -0.071041 1.795302 1.573700 +v -0.548180 3.862240 1.891795 +v -0.548180 1.198851 2.567325 +v -0.548180 3.862240 2.408335 +v 0.366110 3.862240 2.726314 +v 0.207136 1.874688 1.613506 +v 0.087824 3.782855 1.693001 +v -0.428868 3.902198 2.607014 +v -0.110811 1.238808 2.766120 +v 0.485422 2.590217 2.726314 +v 0.246907 3.822547 1.732806 +v -0.349326 1.198851 1.573700 +v -0.389097 1.715916 1.573700 +v 0.326339 3.225832 1.653311 +f 147 159 160 +f 130 133 134 +f 133 128 135 +f 134 133 136 +f 133 130 137 +f 134 136 139 +f 130 134 140 +f 136 138 141 +f 129 128 142 +f 128 133 142 +f 133 135 143 +f 129 140 144 +f 140 131 144 +f 141 132 145 +f 129 130 146 +f 140 129 146 +f 130 140 146 +f 139 127 147 +f 132 141 148 +f 136 133 149 +f 138 136 149 +f 133 143 149 +f 143 138 149 +f 141 138 150 +f 143 135 150 +f 138 143 150 +f 148 141 150 +f 135 148 150 +f 128 129 151 +f 135 128 151 +f 129 144 151 +f 134 139 152 +f 131 140 152 +f 140 134 152 +f 139 147 152 +f 132 131 153 +f 145 132 153 +f 148 135 154 +f 135 151 154 +f 151 144 154 +f 133 137 155 +f 142 133 155 +f 137 142 155 +f 130 129 156 +f 137 130 156 +f 129 142 156 +f 142 137 156 +f 131 132 157 +f 144 131 157 +f 132 148 157 +f 148 154 157 +f 154 144 157 +f 136 127 158 +f 127 139 158 +f 139 136 158 +f 127 136 159 +f 136 141 159 +f 141 145 159 +f 147 127 159 +f 145 153 159 +f 159 153 160 +f 131 152 160 +f 152 147 160 +f 153 131 160 +o convex_5 +v -0.548180 0.483259 2.567278 +v 0.525192 0.483259 2.607115 +v 0.485422 0.483259 2.646952 +v 0.485422 0.006198 2.646952 +v -0.468638 0.006198 1.613338 +v 0.525192 0.483259 1.692899 +v -0.508409 0.006198 2.766236 +v -0.587950 0.483259 1.613338 +v 0.525192 0.006198 1.692899 +v -0.428868 0.483259 2.766236 +v -0.587950 0.006198 1.613338 +v 0.366110 0.363994 2.726287 +v -0.587950 0.006198 2.130201 +v 0.525192 0.006198 2.607115 +v -0.587950 0.483259 2.130201 +f 168 173 175 +f 163 162 161 +f 162 163 164 +f 161 162 166 +f 165 164 167 +f 161 166 168 +f 166 165 168 +f 164 165 169 +f 166 162 169 +f 165 166 169 +f 163 161 170 +f 161 167 170 +f 165 167 171 +f 168 165 171 +f 164 163 172 +f 167 164 172 +f 163 170 172 +f 170 167 172 +f 167 161 173 +f 171 167 173 +f 168 171 173 +f 162 164 174 +f 169 162 174 +f 164 169 174 +f 161 168 175 +f 173 161 175 +o convex_6 +v -0.587950 0.483259 2.130174 +v 0.525192 1.198851 2.646776 +v 0.405880 1.198851 2.726361 +v -0.309665 1.159065 1.255543 +v 0.525192 0.483259 1.693156 +v 0.326339 0.483259 3.283052 +v -0.508409 1.198851 2.766053 +v 0.525192 1.198851 1.693156 +v 0.366110 0.602548 1.255543 +v -0.587950 0.483259 1.613572 +v -0.309665 1.079492 3.203468 +v -0.508409 0.483259 2.766053 +v -0.587950 1.198851 1.653265 +v 0.286568 1.079492 3.203468 +v -0.309665 0.602548 1.255543 +v 0.525192 0.483259 2.606885 +v 0.167365 1.079492 1.255543 +v -0.110811 0.602548 3.163577 +v -0.548180 1.198851 2.567192 +v -0.309665 0.960274 3.203468 +v -0.587950 1.198851 2.090481 +v 0.326339 0.602548 3.283052 +v 0.246907 0.483259 3.283052 +f 197 186 198 +f 176 180 181 +f 178 177 182 +f 177 180 183 +f 182 177 183 +f 183 180 184 +f 180 176 185 +f 184 180 185 +f 186 182 187 +f 176 181 187 +f 183 179 188 +f 182 183 188 +f 185 176 188 +f 179 185 188 +f 177 178 189 +f 178 182 189 +f 182 186 189 +f 179 184 190 +f 185 179 190 +f 184 185 190 +f 180 177 191 +f 177 181 191 +f 181 180 191 +f 179 183 192 +f 184 179 192 +f 183 184 192 +f 187 182 194 +f 176 187 194 +f 182 188 194 +f 186 187 195 +f 187 193 195 +f 188 176 196 +f 176 194 196 +f 194 188 196 +f 181 177 197 +f 177 189 197 +f 189 186 197 +f 187 181 198 +f 193 187 198 +f 186 195 198 +f 195 193 198 +f 181 197 198 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/258/258.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/258/258.urdf new file mode 100644 index 000000000..263a15676 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/258/258.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/259/259.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/259/259.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/259/259.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/259/259.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/259/259.obj new file mode 100644 index 000000000..f96293004 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/259/259.obj @@ -0,0 +1,531 @@ +o convex_0 +v -1.076360 -0.664272 0.917892 +v 1.062025 -0.858693 1.112484 +v 1.062025 -0.897604 1.112484 +v 0.673323 -0.741958 -1.103735 +v 0.984159 0.502114 1.112484 +v -0.959561 0.502114 -0.987024 +v 1.023092 0.502114 -1.025855 +v -0.998285 -0.897604 -1.103735 +v -0.998285 0.502114 0.995772 +v -1.076360 -0.897604 1.073436 +v 0.945226 -0.897604 -1.064687 +v -0.104291 0.463202 1.112484 +v 0.517800 0.502114 -1.064687 +v 1.023092 -0.159108 -1.025855 +v -0.765106 -0.858693 1.112484 +v -0.959561 -0.625361 -1.103735 +v -1.037218 0.229870 0.917892 +v -0.959561 0.385379 -1.025855 +v 0.984159 -0.780870 -1.025855 +v 1.023092 0.502114 -0.326019 +v -1.037218 0.074361 1.034604 +v 0.867569 0.502114 -1.064687 +v 1.023092 -0.042236 1.112484 +v -0.998285 -0.741958 -1.103735 +f 18 16 24 +f 3 2 5 +f 6 5 7 +f 2 3 7 +f 5 6 9 +f 1 8 10 +f 8 3 10 +f 8 4 11 +f 3 8 11 +f 3 5 12 +f 5 9 12 +f 6 7 13 +f 7 3 14 +f 11 7 14 +f 10 3 15 +f 3 12 15 +f 4 8 16 +f 6 1 17 +f 9 6 17 +f 6 13 18 +f 13 16 18 +f 3 11 19 +f 14 3 19 +f 11 14 19 +f 7 5 20 +f 2 7 20 +f 1 10 21 +f 12 9 21 +f 10 15 21 +f 15 12 21 +f 17 1 21 +f 9 17 21 +f 7 11 22 +f 11 4 22 +f 13 7 22 +f 4 16 22 +f 16 13 22 +f 5 2 23 +f 2 20 23 +f 20 5 23 +f 1 6 24 +f 8 1 24 +f 16 8 24 +f 6 18 24 +o convex_1 +v -1.504090 1.979593 1.034722 +v -2.903571 3.068263 1.034722 +v -3.059294 3.068263 1.034722 +v -2.981432 1.202307 -1.103735 +v -0.998598 2.951467 -0.947998 +v -0.998598 0.890924 -0.986932 +v -3.020363 0.968717 0.995578 +v -2.981432 2.951467 -0.986932 +v -0.998598 0.929927 0.956853 +v -0.998598 2.990257 1.034722 +v -2.864641 1.007932 -1.064801 +v -3.020363 1.474475 -0.714811 +v -3.020363 2.990257 -0.714811 +v -1.892992 0.929927 0.995788 +v -3.059294 2.212545 1.034722 +v -3.020363 0.968717 0.451126 +v -1.309841 2.601507 -0.986932 +v -3.059294 2.795882 0.373467 +v -3.020363 1.590844 1.034722 +v -1.037529 1.124515 0.995788 +v -2.981432 1.046722 -1.103735 +v -2.281490 2.951467 -0.986932 +v -3.020363 2.951467 -0.909273 +v -0.998598 2.990257 0.567929 +v -2.825912 1.085512 -1.103735 +v -1.076459 0.890924 -0.986932 +v -2.981432 3.068263 0.917919 +v -0.998598 2.251548 1.034722 +v -0.998598 1.202094 -0.986932 +v -2.903571 2.523715 -1.025867 +v -2.281490 1.629847 1.034722 +f 38 44 55 +f 25 26 27 +f 30 29 33 +f 26 25 34 +f 33 29 34 +f 30 33 38 +f 25 27 39 +f 39 36 40 +f 31 39 40 +f 39 27 42 +f 36 39 42 +f 31 38 43 +f 25 39 43 +f 39 31 43 +f 38 33 44 +f 40 36 45 +f 35 40 45 +f 37 29 46 +f 32 37 46 +f 29 41 46 +f 32 28 47 +f 27 37 47 +f 37 32 47 +f 42 27 47 +f 36 42 47 +f 28 45 47 +f 45 36 47 +f 26 34 48 +f 34 29 48 +f 28 41 49 +f 45 28 49 +f 30 45 49 +f 38 31 50 +f 30 38 50 +f 31 40 50 +f 40 35 50 +f 45 30 50 +f 35 45 50 +f 27 26 51 +f 37 27 51 +f 29 37 51 +f 26 48 51 +f 48 29 51 +f 34 25 52 +f 33 34 52 +f 25 44 52 +f 44 33 52 +f 29 30 53 +f 41 29 53 +f 49 41 53 +f 30 49 53 +f 28 32 54 +f 41 28 54 +f 32 46 54 +f 46 41 54 +f 25 43 55 +f 43 38 55 +f 44 25 55 +o convex_2 +v -0.765192 -0.897604 1.112484 +v -0.337443 -3.113823 -1.608580 +v -0.959566 -3.035944 -2.580682 +v 1.023171 -0.936652 -3.047620 +v 0.945379 -2.958063 1.112484 +v 1.100963 -3.035727 -3.008572 +v -0.959566 -1.053147 -3.008572 +v 1.061960 -0.897604 1.112484 +v -0.920776 -3.035944 1.112484 +v -1.076360 -0.897604 1.073436 +v -0.998355 -2.997112 -3.086668 +v -0.998355 -0.897604 -1.103005 +v 1.100963 -2.919232 -0.754034 +v -0.959566 -3.113823 -0.520565 +v 1.061960 -3.074775 -2.930886 +v -1.076360 -1.364233 1.112484 +v 1.100963 -2.297059 -3.008572 +v 0.478840 -2.997112 1.112484 +v 0.945379 -0.897604 -1.064367 +v -0.998355 -2.491434 -3.086668 +v 0.517630 -0.936652 -3.047620 +v -1.076360 -1.053147 0.529223 +v 1.061960 -1.442114 -3.047620 +v -0.998355 -2.763689 -0.481928 +v -0.531816 -2.997112 -3.086668 +v 1.100963 -2.413771 -0.365605 +v -0.959566 -2.841352 1.112484 +v 1.061960 -1.247739 1.073025 +v -0.687400 -3.113823 -0.676348 +v -0.998355 -3.035944 -2.075518 +v -0.959566 -3.113823 -1.259199 +v -0.454024 -3.035944 1.112484 +v 0.751006 -2.685808 -3.047620 +v -1.076360 -1.442114 0.839967 +v 1.061960 -3.074775 -2.852788 +v -0.998355 -2.336107 -3.047620 +v -0.493027 -0.897604 -1.259199 +v -0.959566 -1.636705 -3.047620 +v 1.100963 -3.035727 -2.308576 +f 90 61 94 +f 56 60 63 +f 60 56 64 +f 56 63 65 +f 62 65 67 +f 65 63 67 +f 57 58 70 +f 58 66 70 +f 64 56 71 +f 56 65 71 +f 68 61 72 +f 60 64 73 +f 63 59 74 +f 67 63 74 +f 62 67 76 +f 59 75 76 +f 65 62 77 +f 71 65 77 +f 75 66 77 +f 59 63 78 +f 72 61 78 +f 63 72 78 +f 70 66 80 +f 61 70 80 +f 75 59 80 +f 66 75 80 +f 59 78 80 +f 72 63 81 +f 68 72 81 +f 69 64 82 +f 64 71 82 +f 63 60 83 +f 60 68 83 +f 81 63 83 +f 68 81 83 +f 69 57 84 +f 69 82 85 +f 82 79 85 +f 58 57 86 +f 66 58 86 +f 57 69 86 +f 85 66 86 +f 69 85 86 +f 64 69 87 +f 73 64 87 +f 69 84 87 +f 84 73 87 +f 78 61 88 +f 61 80 88 +f 80 78 88 +f 71 77 89 +f 77 66 89 +f 82 71 89 +f 79 82 89 +f 66 85 89 +f 85 79 89 +f 57 70 90 +f 70 61 90 +f 60 73 90 +f 84 57 90 +f 73 84 90 +f 62 75 91 +f 77 62 91 +f 75 77 91 +f 74 59 92 +f 67 74 92 +f 59 76 92 +f 76 67 92 +f 75 62 93 +f 62 76 93 +f 76 75 93 +f 68 60 94 +f 61 68 94 +f 60 90 94 +o convex_3 +v 1.062089 -1.053147 1.734771 +v -1.115242 -1.170076 2.978569 +v -1.115242 -1.170076 3.056209 +v 0.945295 -3.113823 2.784080 +v -0.920654 -3.035944 1.112484 +v -1.076239 -1.053364 1.112484 +v 0.945295 -2.958063 1.112678 +v -1.076239 -2.996895 3.095417 +v 1.023087 -1.014316 2.939749 +v 0.673128 -0.897604 1.112678 +v 0.984297 -2.997112 3.056209 +v -1.115242 -0.975484 3.017389 +v 1.062089 -1.014316 1.112484 +v -0.181947 -1.325619 3.056209 +v -0.493116 -0.936652 1.112484 +v 0.634339 -3.113823 3.056209 +v -0.959444 -2.996895 1.151692 +v -1.076239 -1.364450 1.112484 +v -0.415324 -0.975484 3.017389 +v -0.104155 -2.996895 3.095417 +v 0.556546 -2.997112 1.112678 +v -1.037236 -2.180347 3.095417 +v 0.673128 -0.897604 1.306973 +v -0.181947 -3.074558 1.695757 +v 1.062089 -1.169859 1.112484 +v 1.023087 -1.831080 2.978569 +v -0.609485 -3.035944 3.095417 +v -1.115242 -0.975484 2.706245 +v 0.945295 -0.975484 2.473130 +v -1.076239 -2.996895 3.017389 +v -0.959444 -1.014533 3.056209 +v 0.945295 -2.997112 1.306973 +v -0.376321 -3.035944 1.112484 +v -1.076239 -1.014533 1.579296 +f 122 109 128 +f 97 96 102 +f 96 97 106 +f 99 100 107 +f 103 95 107 +f 105 103 108 +f 107 100 109 +f 104 107 109 +f 98 105 110 +f 100 99 112 +f 99 111 112 +f 105 108 114 +f 110 105 114 +f 97 102 116 +f 102 114 116 +f 114 108 116 +f 109 106 117 +f 104 109 117 +f 106 113 117 +f 98 110 118 +f 110 99 118 +f 95 105 119 +f 105 101 119 +f 99 107 119 +f 107 95 119 +f 95 103 120 +f 105 95 120 +f 103 105 120 +f 102 99 121 +f 99 110 121 +f 114 102 121 +f 110 114 121 +f 96 106 122 +f 106 109 122 +f 100 112 122 +f 103 107 123 +f 107 104 123 +f 113 103 123 +f 104 117 123 +f 117 113 123 +f 102 96 124 +f 99 102 124 +f 111 99 124 +f 112 111 124 +f 96 122 124 +f 122 112 124 +f 106 97 125 +f 108 103 125 +f 103 113 125 +f 113 106 125 +f 97 116 125 +f 116 108 125 +f 101 105 126 +f 105 98 126 +f 115 101 126 +f 98 118 126 +f 126 118 127 +f 101 115 127 +f 118 99 127 +f 99 119 127 +f 119 101 127 +f 115 126 127 +f 109 100 128 +f 100 122 128 +o convex_4 +v 0.517694 0.541383 -1.064854 +v 1.022963 2.951596 1.112484 +v 1.062093 2.951341 1.112271 +v 1.062093 3.107143 -1.025851 +v -0.998515 2.990101 0.567936 +v 0.984236 0.502113 1.112484 +v -0.959586 0.502368 -0.986849 +v -0.998515 0.502368 0.995689 +v -0.998515 2.951341 -0.948059 +v 1.061892 0.502113 -1.025851 +v -0.998515 2.990101 1.034478 +v -0.065230 0.502113 1.112484 +v 1.062093 1.007769 1.112271 +v -0.998515 0.891236 -0.986849 +v 0.750864 3.107143 -0.675892 +v -0.765143 2.445941 1.073481 +v 0.867449 1.513424 -1.064854 +v -0.843001 2.990101 -0.948059 +v 0.634279 2.951596 1.112484 +v -0.920657 1.590943 -0.986849 +v 0.789793 3.107143 -1.025851 +v 0.867449 0.502113 -1.064854 +v -0.298602 3.029370 0.490144 +v 0.128809 1.746745 1.112484 +v -0.376459 0.696675 -1.025851 +v -0.220946 2.990101 -0.986849 +v 0.984236 3.107143 -0.714894 +v -0.531973 2.951341 1.073481 +f 144 147 156 +f 136 133 137 +f 130 131 139 +f 133 136 139 +f 134 130 140 +f 136 135 140 +f 138 134 140 +f 131 130 141 +f 132 131 141 +f 130 134 141 +f 138 132 141 +f 134 138 141 +f 135 136 142 +f 136 137 142 +f 133 139 143 +f 139 136 144 +f 136 140 144 +f 137 133 146 +f 133 143 146 +f 130 139 147 +f 140 130 147 +f 142 137 148 +f 143 132 149 +f 132 145 149 +f 137 146 149 +f 146 143 149 +f 135 129 150 +f 132 138 150 +f 140 135 150 +f 138 140 150 +f 145 132 150 +f 129 145 150 +f 139 131 151 +f 143 139 151 +f 144 140 152 +f 140 147 152 +f 147 144 152 +f 129 135 153 +f 135 142 153 +f 145 129 153 +f 142 148 153 +f 148 145 153 +f 148 137 154 +f 145 148 154 +f 149 145 154 +f 137 149 154 +f 131 132 155 +f 132 143 155 +f 151 131 155 +f 143 151 155 +f 139 144 156 +f 147 139 156 +o convex_5 +v 3.083911 1.785260 -0.092596 +v 3.005936 3.068209 1.112484 +v 3.044924 2.990340 0.995681 +v 1.062097 3.107143 -1.025973 +v 1.062097 1.007620 1.112484 +v 1.062097 0.968686 -0.986830 +v 3.083911 2.912472 -1.025764 +v 3.044924 0.968686 1.073550 +v 1.062097 2.951406 1.112484 +v 2.967146 0.968686 -1.025973 +v 3.083911 2.990340 -0.326202 +v 3.005936 1.007830 -1.025973 +v 3.083911 1.357611 0.645900 +v 1.800883 1.007620 -1.025973 +v 1.956437 0.968686 1.073550 +v 1.295429 3.107143 -1.025973 +v 1.062097 3.107143 -0.753642 +v 2.772802 3.068209 1.112484 +v 3.044924 3.068209 0.840153 +v 1.062097 1.863129 -1.025973 +v 3.083911 2.446097 -1.025764 +v 2.967146 2.951406 -1.025973 +v 1.062097 0.968686 -0.170255 +v 2.695025 2.406954 1.112484 +v 3.044924 0.968686 0.101447 +v 1.334417 1.007620 1.112484 +v 1.567551 2.990340 1.112484 +f 174 173 183 +f 161 160 162 +f 159 158 164 +f 160 161 165 +f 161 158 165 +f 164 162 166 +f 157 163 167 +f 166 160 168 +f 159 164 169 +f 157 167 169 +f 167 159 169 +f 160 166 170 +f 166 162 170 +f 164 161 171 +f 162 164 171 +f 168 160 172 +f 160 165 173 +f 158 172 173 +f 172 160 173 +f 165 158 174 +f 158 173 174 +f 158 159 175 +f 159 167 175 +f 172 158 175 +f 167 172 175 +f 162 160 176 +f 160 170 176 +f 170 162 176 +f 163 157 177 +f 157 168 177 +f 168 163 177 +f 167 163 178 +f 163 168 178 +f 172 167 178 +f 168 172 178 +f 161 162 179 +f 171 161 179 +f 162 171 179 +f 158 161 180 +f 164 158 180 +f 164 166 181 +f 168 157 181 +f 166 168 181 +f 169 164 181 +f 157 169 181 +f 161 164 182 +f 180 161 182 +f 164 180 182 +f 173 165 183 +f 165 174 183 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/259/259.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/259/259.urdf new file mode 100644 index 000000000..7c2da8438 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/259/259.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/260/260.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/260/260.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/260/260.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/260/260.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/260/260.obj new file mode 100644 index 000000000..a94ee8904 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/260/260.obj @@ -0,0 +1,495 @@ +o convex_0 +v -1.921317 -0.369407 -0.344675 +v -1.652189 0.019226 0.253680 +v -1.682068 0.019226 0.253680 +v -1.502575 1.126477 -0.314785 +v -1.472641 -1.536347 -0.224992 +v -1.981130 1.126477 0.193838 +v -1.921317 -1.446422 0.193838 +v -2.040998 -1.476397 -0.374627 +v -1.472641 1.126477 0.223728 +v -1.472641 -1.476397 0.223728 +v -2.011064 1.036552 -0.195102 +v -1.891383 -1.416447 0.253680 +v -1.592321 0.916912 -0.344675 +v -1.981130 0.916912 0.223728 +v -2.040998 -1.177168 -0.224992 +v -1.472641 -1.266833 -0.254944 +v -1.472641 1.126477 -0.105247 +v -2.011064 1.126477 -0.135260 +v -2.040998 -0.160103 -0.224992 +v -1.981130 -1.386733 -0.374627 +v -1.652189 1.126477 -0.314785 +v -1.502575 0.408380 -0.314785 +v -1.712002 -1.446422 0.253680 +v -2.040998 -1.266833 -0.374627 +v -1.921317 -0.937890 0.253680 +v -1.981130 -1.446422 -0.015638 +f 25 14 26 +f 5 7 8 +f 3 2 9 +f 4 6 9 +f 7 5 10 +f 9 2 10 +f 5 9 10 +f 2 3 12 +f 3 9 14 +f 9 6 14 +f 9 5 16 +f 4 9 17 +f 16 4 17 +f 9 16 17 +f 6 4 18 +f 14 6 19 +f 8 15 19 +f 15 14 19 +f 6 18 19 +f 18 11 19 +f 5 8 20 +f 16 5 20 +f 1 11 21 +f 4 13 21 +f 18 4 21 +f 11 18 21 +f 13 4 22 +f 4 16 22 +f 20 13 22 +f 16 20 22 +f 10 2 23 +f 7 10 23 +f 2 12 23 +f 12 7 23 +f 11 1 24 +f 8 19 24 +f 19 11 24 +f 20 8 24 +f 13 20 24 +f 1 21 24 +f 21 13 24 +f 12 3 25 +f 7 12 25 +f 3 14 25 +f 8 7 26 +f 15 8 26 +f 14 15 26 +f 7 25 26 +o convex_1 +v 1.369755 0.976300 1.091422 +v -0.784425 1.155746 -0.194999 +v -0.784425 1.155746 0.193695 +v -0.634712 -3.600784 -1.002934 +v 1.339812 2.502197 -1.002934 +v 1.369755 -3.420731 1.031560 +v -0.634712 -3.600784 0.971698 +v 1.339812 -3.480749 -0.943071 +v -0.664655 2.592526 0.971698 +v -0.634712 2.532508 -0.942866 +v 1.369755 2.502197 1.091422 +v 1.369755 1.365504 -0.344655 +v 0.561937 0.138481 1.061491 +v -0.784425 1.783807 0.403007 +v -0.664655 -3.211580 0.911631 +v 1.339812 -2.343450 -0.973003 +v -0.784425 1.814118 -0.284793 +v -0.036282 2.532508 -0.973003 +v 1.369755 -3.451043 0.163559 +v -0.365440 -2.702342 1.001629 +v -0.365440 -3.600784 -1.002934 +v -0.634712 -2.433173 -1.002934 +v 1.040597 2.502197 1.091422 +v 1.249985 -3.450437 1.031560 +v 1.339812 0.856871 -1.002934 +v 0.860942 2.502197 -1.002934 +v 1.010654 -3.510454 -0.613830 +v -0.425325 2.592526 0.911631 +v -0.335497 2.562214 1.001629 +v -0.664655 -1.086722 0.971698 +v -0.664655 2.592526 0.612525 +v -0.185995 -3.570472 -1.002934 +v -0.664655 2.382768 -0.853278 +v 0.920827 -3.510454 -0.973003 +v 0.860942 2.532508 1.061491 +v -0.634712 0.557997 -0.972798 +v -0.664655 2.562214 -0.135137 +v 1.369755 2.502197 0.612525 +v 0.292665 2.532508 -0.973003 +v 0.143163 -3.540766 1.001424 +v 1.040597 1.514638 1.091422 +v -0.694597 2.412473 0.851769 +v -0.634712 2.562214 -0.374381 +v 1.190099 -3.420731 1.031560 +v 1.369755 -3.451043 0.672387 +v -0.604770 -3.600784 0.971698 +v 1.369755 1.694084 -0.284793 +f 64 38 73 +f 27 32 37 +f 37 32 38 +f 28 29 40 +f 29 28 41 +f 28 30 41 +f 30 33 41 +f 40 29 41 +f 38 34 42 +f 30 28 43 +f 28 40 43 +f 38 32 45 +f 34 38 45 +f 30 31 47 +f 33 30 47 +f 31 30 48 +f 30 43 48 +f 27 37 49 +f 32 27 50 +f 31 38 51 +f 38 42 51 +f 47 31 51 +f 44 31 52 +f 31 48 52 +f 48 44 52 +f 35 46 55 +f 46 39 55 +f 49 35 55 +f 39 49 55 +f 41 33 56 +f 40 41 56 +f 33 46 56 +f 46 35 56 +f 35 54 57 +f 51 42 58 +f 47 51 58 +f 48 43 59 +f 42 34 60 +f 53 47 60 +f 34 53 60 +f 58 42 60 +f 47 58 60 +f 49 37 61 +f 35 49 61 +f 54 35 61 +f 31 54 61 +f 36 44 62 +f 44 48 62 +f 59 36 62 +f 48 59 62 +f 43 57 63 +f 36 59 63 +f 59 43 63 +f 37 38 64 +f 31 61 64 +f 61 37 64 +f 31 44 65 +f 54 31 65 +f 57 54 65 +f 46 33 66 +f 39 46 67 +f 27 49 67 +f 49 39 67 +f 43 40 68 +f 56 35 68 +f 40 56 68 +f 57 43 68 +f 35 57 68 +f 44 36 69 +f 36 63 69 +f 63 57 69 +f 65 44 69 +f 57 65 69 +f 50 27 70 +f 46 66 70 +f 66 50 70 +f 67 46 70 +f 27 67 70 +f 45 32 71 +f 34 45 71 +f 32 50 71 +f 53 34 71 +f 50 66 71 +f 66 53 71 +f 33 47 72 +f 47 53 72 +f 66 33 72 +f 53 66 72 +f 38 31 73 +f 31 64 73 +o convex_2 +v 2.596270 1.724797 0.163916 +v 1.369948 1.216311 -0.344708 +v 1.459820 1.186383 -0.225024 +v 3.254368 1.186383 -0.284866 +v 3.254368 1.156455 0.283599 +v 3.314282 1.694869 -0.344708 +v 1.369948 1.754725 0.223758 +v 1.369948 1.156455 0.283599 +v 1.369948 1.694869 -0.284866 +v 3.344240 1.694869 0.223758 +v 1.399905 1.664940 0.253648 +v 2.985137 1.724797 -0.254914 +v 2.237554 1.156455 -0.045499 +v 3.134731 1.186383 -0.314756 +v 3.344240 1.575215 0.253648 +v 1.639372 1.455560 -0.344708 +v 1.369948 1.365893 0.283599 +v 1.639372 1.754725 0.044233 +v 3.284325 1.485430 -0.344708 +v 3.254368 1.156455 -0.015609 +v 2.655992 1.694869 -0.344708 +v 3.045052 1.306037 0.283599 +v 3.344240 1.515358 0.193806 +v 1.699093 1.754725 0.223758 +v 2.058196 1.186383 -0.314756 +v 1.369948 1.156455 0.104074 +f 86 81 99 +f 80 75 81 +f 75 80 82 +f 74 83 85 +f 83 79 85 +f 78 81 86 +f 83 84 88 +f 79 75 89 +f 75 82 89 +f 81 78 90 +f 80 81 90 +f 84 80 90 +f 82 80 91 +f 85 82 91 +f 75 79 92 +f 79 77 92 +f 87 75 92 +f 77 87 92 +f 78 86 93 +f 87 77 93 +f 86 87 93 +f 85 79 94 +f 82 85 94 +f 79 89 94 +f 89 82 94 +f 78 88 95 +f 88 84 95 +f 90 78 95 +f 84 90 95 +f 77 79 96 +f 79 83 96 +f 88 78 96 +f 83 88 96 +f 78 93 96 +f 93 77 96 +f 83 74 97 +f 80 84 97 +f 84 83 97 +f 74 85 97 +f 91 80 97 +f 85 91 97 +f 76 75 98 +f 86 76 98 +f 75 87 98 +f 87 86 98 +f 75 76 99 +f 81 75 99 +f 76 86 99 +o convex_3 +v -1.412867 3.759171 -0.075421 +v -2.070973 4.297778 0.253615 +v -2.070973 4.297778 0.283567 +v -2.011029 1.844542 -0.075421 +v -1.442771 1.844542 0.283567 +v -2.011029 4.447316 -0.224995 +v -1.442771 1.844542 -0.314788 +v -1.382895 4.566947 0.223664 +v -1.502581 4.506862 -0.284837 +v -1.951219 1.844542 0.313519 +v -1.861438 4.597124 0.313519 +v -1.981124 1.844542 -0.254947 +v -2.040933 3.489732 -0.224995 +v -2.070973 4.597124 0.313519 +v -1.412867 2.323334 0.283567 +v -1.622267 4.506862 -0.284837 +v -1.622267 1.844542 0.313519 +v -1.382895 3.848893 0.074090 +v -1.472676 4.537039 -0.224995 +v -2.040933 4.476954 -0.165153 +v -1.502581 2.532957 -0.314788 +v -1.981124 2.203972 0.313519 +v -1.412867 2.472872 -0.165153 +v -1.472676 4.476954 0.253615 +v -2.011029 1.844542 -0.224995 +v -1.442771 2.383149 -0.314788 +v -2.011029 4.597124 0.193774 +v -1.412867 4.566947 0.014249 +v -2.040933 2.802395 -0.045470 +v -1.981124 2.263518 -0.254947 +v -1.412867 2.532957 0.283567 +v -1.472676 4.476954 -0.254947 +f 118 127 131 +f 104 103 106 +f 103 104 109 +f 106 103 111 +f 101 102 113 +f 109 110 113 +f 104 106 114 +f 109 104 116 +f 110 109 116 +f 104 114 116 +f 107 114 117 +f 108 115 118 +f 112 101 119 +f 105 112 119 +f 101 113 119 +f 115 105 119 +f 106 111 120 +f 115 108 120 +f 102 103 121 +f 103 109 121 +f 113 102 121 +f 109 113 121 +f 114 106 122 +f 117 114 122 +f 107 110 123 +f 111 103 124 +f 112 111 124 +f 100 117 125 +f 106 120 125 +f 120 108 125 +f 122 106 125 +f 117 122 125 +f 113 110 126 +f 118 115 126 +f 119 113 126 +f 115 119 126 +f 110 107 127 +f 117 100 127 +f 107 117 127 +f 126 110 127 +f 118 126 127 +f 102 101 128 +f 103 102 128 +f 101 112 128 +f 124 103 128 +f 112 124 128 +f 112 105 129 +f 111 112 129 +f 105 115 129 +f 120 111 129 +f 115 120 129 +f 114 107 130 +f 110 116 130 +f 116 114 130 +f 107 123 130 +f 123 110 130 +f 108 118 131 +f 100 125 131 +f 125 108 131 +f 127 100 131 +o convex_4 +v -2.250580 1.335986 -0.225013 +v -2.041126 1.844401 0.253645 +v -2.041126 1.844401 0.223708 +v -2.788964 1.814532 -0.165139 +v -2.669266 1.126477 0.283582 +v -2.041126 1.216296 0.223708 +v -2.041126 1.724782 -0.254949 +v -2.699209 1.784592 0.253645 +v -2.699209 1.335986 -0.225013 +v -2.041126 1.186427 -0.165139 +v -2.041126 1.814532 0.313519 +v -2.788964 1.814532 -0.254949 +v -2.549568 1.276176 -0.225013 +v -2.729079 1.455675 -0.254949 +v -2.250580 1.485474 0.313519 +v -2.579511 1.784592 0.283582 +v -2.669266 1.156487 0.133953 +v -2.160825 1.754652 -0.254949 +f 138 143 149 +f 133 134 135 +f 134 133 137 +f 134 137 138 +f 133 135 139 +f 135 136 139 +f 137 136 141 +f 138 137 141 +f 132 138 141 +f 137 133 142 +f 135 134 143 +f 132 141 144 +f 136 135 145 +f 138 132 145 +f 140 136 145 +f 135 143 145 +f 143 138 145 +f 144 140 145 +f 132 144 145 +f 136 137 146 +f 137 142 146 +f 146 142 147 +f 133 139 147 +f 139 136 147 +f 142 133 147 +f 136 146 147 +f 136 140 148 +f 141 136 148 +f 140 144 148 +f 144 141 148 +f 134 138 149 +f 143 134 149 +o convex_5 +v -2.041053 1.186427 -0.015507 +v -1.442572 1.844401 0.283582 +v -1.442572 1.844401 -0.314788 +v -0.784563 1.156487 0.193829 +v -0.784563 1.635033 -0.284763 +v -1.502347 1.126477 -0.314788 +v -2.041053 1.814532 0.313413 +v -2.010920 1.844401 -0.254932 +v -0.784563 1.694842 0.343438 +v -1.861361 1.126477 0.223661 +v -0.784563 1.156487 -0.195011 +v -0.784563 1.814532 -0.284763 +v -1.981033 1.126477 -0.195011 +v -2.041053 1.635033 0.313413 +v -2.041053 1.664902 -0.254932 +v -2.041053 1.216296 0.223661 +v -1.651905 1.126477 -0.314788 +v -0.784563 1.635033 0.343438 +v -1.472459 1.126477 0.223661 +v -2.010920 1.844401 0.313413 +v -1.143578 1.455675 -0.314788 +v -0.784563 1.814532 -0.195011 +f 158 161 171 +f 151 152 157 +f 153 154 158 +f 154 153 160 +f 152 151 161 +f 158 154 161 +f 155 159 162 +f 156 150 163 +f 158 156 163 +f 150 156 164 +f 156 157 164 +f 162 150 164 +f 150 162 165 +f 162 159 165 +f 163 150 165 +f 159 163 165 +f 152 155 166 +f 157 152 166 +f 155 162 166 +f 164 157 166 +f 162 164 166 +f 153 158 167 +f 158 163 167 +f 163 159 167 +f 159 155 168 +f 160 153 168 +f 155 160 168 +f 153 167 168 +f 167 159 168 +f 151 157 169 +f 157 156 169 +f 158 151 169 +f 156 158 169 +f 155 152 170 +f 154 160 170 +f 160 155 170 +f 152 161 170 +f 161 154 170 +f 151 158 171 +f 161 151 171 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/260/260.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/260/260.urdf new file mode 100644 index 000000000..dfd28794b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/260/260.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/261/261.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/261/261.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/261/261.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/261/261.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/261/261.obj new file mode 100644 index 000000000..3f76931e9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/261/261.obj @@ -0,0 +1,393 @@ +o convex_0 +v 0.965322 3.732133 0.534775 +v -1.094232 -0.142052 0.953635 +v -1.059274 -0.142052 0.464859 +v -1.024316 3.732522 -1.001045 +v 1.070196 -0.142441 -1.070961 +v 1.000280 -0.142052 0.988381 +v -1.059274 3.837314 0.988593 +v 0.965322 3.802254 -0.966087 +v -0.919654 -0.142052 -1.001045 +v 0.965322 3.697072 0.988381 +v -0.151638 -0.142052 1.093467 +v -0.989358 3.732522 -1.070961 +v 0.371884 0.975209 1.093467 +v -1.094232 0.870028 1.058509 +v -0.360962 -0.142052 -1.070961 +v 1.000280 3.034039 0.674395 +v -0.395920 3.697072 -1.070961 +v -0.954400 0.276726 -1.035791 +v 0.895618 3.313354 1.023551 +v -1.059274 3.802254 0.045999 +v 1.070196 0.276726 -1.070961 +v -0.884696 3.208563 1.023339 +v 0.755998 3.802254 -1.001045 +v 1.035238 -0.037260 0.395155 +v -1.094232 -0.142052 1.058509 +v -0.291258 0.940149 1.093467 +v 0.371884 -0.142052 1.093467 +v 0.965322 3.802254 -0.512057 +v -0.989358 2.021960 -1.070961 +v -1.094232 2.196483 0.988593 +v -0.814780 3.837314 0.988593 +v 0.301968 3.802254 -1.000833 +v 1.070196 0.242055 -0.686847 +v 1.000280 2.859516 -1.001045 +v 1.000280 1.743034 0.988381 +v 0.895618 -0.142052 1.023551 +v -1.059274 3.837314 0.639437 +v -0.954400 -0.142052 -0.896171 +v 1.070196 -0.142441 -0.616931 +v -0.884696 -0.072320 -1.036003 +v 0.965322 3.313354 -1.001045 +v -1.024316 3.627730 -1.001045 +v -1.024316 3.767193 -0.581973 +f 37 32 43 +f 2 3 5 +f 5 9 15 +f 12 5 15 +f 1 10 16 +f 5 12 17 +f 5 17 21 +f 7 14 22 +f 19 7 22 +f 17 12 23 +f 21 17 23 +f 2 5 25 +f 14 2 25 +f 14 25 26 +f 11 13 26 +f 13 19 26 +f 22 14 26 +f 19 22 26 +f 25 11 26 +f 13 11 27 +f 19 13 27 +f 1 16 28 +f 16 8 28 +f 4 12 29 +f 12 15 29 +f 18 3 29 +f 4 2 30 +f 2 14 30 +f 14 7 30 +f 20 4 30 +f 10 1 31 +f 19 10 31 +f 7 19 31 +f 1 28 31 +f 28 8 31 +f 23 12 32 +f 5 21 33 +f 21 16 33 +f 8 16 34 +f 16 21 34 +f 16 10 35 +f 19 6 35 +f 10 19 35 +f 6 24 35 +f 33 16 35 +f 24 33 35 +f 6 19 36 +f 19 27 36 +f 8 23 37 +f 30 7 37 +f 20 30 37 +f 7 31 37 +f 31 8 37 +f 23 32 37 +f 5 3 38 +f 9 5 38 +f 3 18 38 +f 18 9 38 +f 24 6 39 +f 25 5 39 +f 11 25 39 +f 27 11 39 +f 5 33 39 +f 33 24 39 +f 6 36 39 +f 36 27 39 +f 15 9 40 +f 9 18 40 +f 29 15 40 +f 18 29 40 +f 23 8 41 +f 21 23 41 +f 8 34 41 +f 34 21 41 +f 3 2 42 +f 2 4 42 +f 29 3 42 +f 4 29 42 +f 12 4 43 +f 4 20 43 +f 32 12 43 +f 20 37 43 +o convex_1 +v 0.371870 -0.247305 -1.629681 +v -1.094232 -2.271642 -2.781408 +v -0.500800 -2.306730 -3.060668 +v 1.035218 -2.376690 -1.070961 +v 1.000261 -0.387011 -3.025785 +v -0.919656 -0.177560 -1.070961 +v -0.954401 -0.282393 -2.920939 +v -1.024317 -2.271642 -1.070961 +v 0.965303 -2.376690 -3.095749 +v 1.070176 -0.317051 -1.070961 +v -1.094232 -2.027533 -3.095749 +v 1.000261 -0.317051 -2.990903 +v -0.954401 -0.247305 -1.140925 +v -0.221350 -0.840786 -3.060668 +v -0.884486 -0.177560 -1.629681 +v 0.581404 -2.376690 -2.676759 +v 1.070176 -0.701080 -1.350420 +v -0.710122 -2.306730 -1.245573 +v -0.989359 -0.491845 -2.956020 +v -1.059063 -2.201896 -1.524834 +v -0.465842 -0.177560 -1.070961 +v -0.954401 -0.247305 -2.746525 +v -1.024317 -2.271642 -3.095749 +v 1.000261 -2.341602 -2.432381 +v 0.965303 -2.062191 -3.095749 +v -1.094232 -1.992445 -2.816290 +v 1.000261 -0.980492 -3.025785 +v 0.755769 -0.282178 -2.571714 +v -0.640418 -0.282393 -2.956020 +v 0.197506 -0.736168 -3.060668 +v 0.162548 -0.282178 -2.956020 +v 1.035218 -2.376690 -1.455068 +v -1.024317 -1.782994 -1.070961 +v 1.035218 -0.317051 -2.362616 +v -0.430884 -0.910532 -3.060668 +v 1.070176 -1.189943 -1.070961 +v -0.814783 -1.887827 -3.095749 +v 0.651108 -2.376690 -3.095749 +v 0.825684 -0.352139 -3.025785 +v -0.675164 -2.306730 -1.070961 +v 0.965303 -2.376690 -1.106042 +v -0.012028 -0.212433 -1.070961 +f 71 64 85 +f 47 49 51 +f 49 47 53 +f 52 47 59 +f 45 46 61 +f 51 45 61 +f 46 59 61 +f 45 51 63 +f 49 53 64 +f 58 49 64 +f 56 49 65 +f 49 58 65 +f 50 62 65 +f 62 56 65 +f 46 45 66 +f 45 54 66 +f 54 52 66 +f 48 52 68 +f 52 54 68 +f 54 45 69 +f 56 62 69 +f 62 54 69 +f 45 63 69 +f 52 48 70 +f 67 52 70 +f 60 67 70 +f 44 53 71 +f 58 64 71 +f 62 50 72 +f 50 65 72 +f 48 68 73 +f 65 58 74 +f 71 55 74 +f 58 71 74 +f 72 65 74 +f 47 52 75 +f 52 67 75 +f 67 60 75 +f 51 49 76 +f 49 56 76 +f 63 51 76 +f 56 69 76 +f 69 63 76 +f 48 55 77 +f 53 60 77 +f 70 48 77 +f 60 70 77 +f 71 53 77 +f 55 71 77 +f 54 62 78 +f 72 57 78 +f 62 72 78 +f 53 47 79 +f 60 53 79 +f 47 75 79 +f 75 60 79 +f 68 54 80 +f 57 73 80 +f 73 68 80 +f 54 78 80 +f 78 57 80 +f 59 46 81 +f 52 59 81 +f 46 66 81 +f 66 52 81 +f 55 48 82 +f 57 72 82 +f 73 57 82 +f 48 73 82 +f 74 55 82 +f 72 74 82 +f 47 51 83 +f 51 61 83 +f 61 59 83 +f 59 47 84 +f 47 83 84 +f 83 59 84 +f 53 44 85 +f 64 53 85 +f 44 71 85 +o convex_2 +v -0.954513 -0.142442 -0.895864 +v -0.954513 -2.376690 2.873447 +v -0.919637 -2.376690 2.873447 +v 0.162379 -2.341698 -1.070961 +v 1.105106 -0.317184 3.082580 +v 1.070015 -0.142442 -1.070551 +v 1.070015 -2.306487 1.616600 +v -1.024265 -0.177434 3.048134 +v -1.024265 -2.271932 -1.070551 +v 1.035139 -2.341698 -1.070551 +v 0.930511 -2.236722 2.943158 +v -0.954513 -2.376690 3.082580 +v -1.094232 -0.142442 1.058092 +v 1.000263 -0.142442 0.989201 +v 1.105106 -2.341698 0.360573 +v -0.919422 -0.142442 -1.070551 +v -1.024265 -2.341698 1.267635 +v 0.336974 -1.468863 3.118255 +v -0.081753 -0.212426 3.082990 +v -1.094232 -0.561472 1.092948 +v 1.105106 -0.666230 3.048134 +v -0.989389 -0.701004 3.082580 +v -1.024265 -1.818128 -1.070551 +v -1.059141 -1.643167 -0.302501 +v 1.105106 -0.282191 2.734025 +v -1.024265 -2.341698 0.849370 +v -0.849670 -2.376690 3.082580 +v 1.070015 -1.189800 -1.070551 +v 1.105106 -2.306487 1.267635 +v 0.616197 -2.271714 2.978423 +v -0.535571 -0.177434 3.048134 +v 1.035139 -1.364105 3.013279 +v -1.094232 -0.177434 0.919491 +v -0.640199 -2.306706 -1.070551 +v 0.895635 -0.282191 3.082580 +v 1.105106 -2.341698 0.709948 +v -0.954513 -0.317184 -1.070551 +v 0.965387 -2.236722 2.768880 +v 1.070015 -2.341698 -0.546899 +v -1.024265 -0.386949 2.978423 +v 1.105106 -0.282191 2.524482 +v 0.860544 -2.132183 2.978423 +v 1.105106 -0.491707 3.082580 +v -0.675290 -2.341698 3.082580 +v -1.059141 -1.573402 0.954346 +v 0.302098 -1.398878 3.118255 +v -1.094232 -0.351957 1.267635 +v -1.024265 -2.306706 -0.372622 +v 0.371850 -0.142442 1.093358 +f 116 99 134 +f 88 87 89 +f 88 89 95 +f 87 88 97 +f 91 86 98 +f 91 98 99 +f 86 91 101 +f 91 89 101 +f 87 97 102 +f 102 97 105 +f 100 90 106 +f 93 97 107 +f 104 93 107 +f 89 94 108 +f 108 94 109 +f 91 99 110 +f 90 100 110 +f 89 87 111 +f 87 102 111 +f 102 109 111 +f 88 95 112 +f 97 88 112 +f 103 97 112 +f 89 91 113 +f 95 89 113 +f 91 100 113 +f 100 106 114 +f 92 96 115 +f 112 92 115 +f 93 104 116 +f 114 106 117 +f 98 86 118 +f 105 98 118 +f 109 105 118 +f 108 109 118 +f 94 89 119 +f 89 111 119 +f 110 99 120 +f 90 110 120 +f 99 116 120 +f 116 104 120 +f 92 112 121 +f 112 100 121 +f 114 92 121 +f 100 114 121 +f 86 101 122 +f 101 89 122 +f 89 108 122 +f 118 86 122 +f 108 118 122 +f 96 92 123 +f 92 114 123 +f 117 96 123 +f 114 117 123 +f 112 95 124 +f 100 112 124 +f 95 113 124 +f 113 100 124 +f 97 93 125 +f 100 91 126 +f 91 110 126 +f 110 100 126 +f 115 96 127 +f 96 117 127 +f 127 117 128 +f 90 103 128 +f 106 90 128 +f 117 106 128 +f 103 127 128 +f 103 112 129 +f 112 115 129 +f 115 127 129 +f 127 103 129 +f 102 105 130 +f 109 102 130 +f 105 109 130 +f 103 90 131 +f 97 103 131 +f 107 97 131 +f 104 107 131 +f 90 120 131 +f 120 104 131 +f 93 98 132 +f 105 97 132 +f 98 105 132 +f 125 93 132 +f 97 125 132 +f 109 94 133 +f 111 109 133 +f 94 119 133 +f 119 111 133 +f 98 93 134 +f 99 98 134 +f 93 116 134 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/261/261.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/261/261.urdf new file mode 100644 index 000000000..3cd1061fc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/261/261.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/262/262.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/262/262.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/262/262.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/262/262.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/262/262.obj new file mode 100644 index 000000000..0a884737e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/262/262.obj @@ -0,0 +1,516 @@ +o convex_0 +v -3.060674 -0.968490 -0.642347 +v 1.029953 -0.373975 0.965623 +v 1.029953 -2.052375 0.965623 +v 1.029953 -1.423029 -0.992318 +v -2.990595 -2.506695 1.105569 +v -2.955756 -2.611841 -1.097331 +v -2.955756 -0.478902 0.965623 +v 0.575439 -0.373975 -1.027251 +v 1.030353 -2.576792 -0.992103 +v -3.060674 -0.478902 -1.061968 +v 0.191004 -2.506695 1.035488 +v 1.029953 -0.409024 -0.957170 +v -0.927862 -0.373975 0.965408 +v 1.030353 -2.471646 0.965408 +v 0.330762 -0.828952 1.035488 +v -0.788104 -2.541524 1.070421 +v -1.102459 -0.373975 -0.992318 +v 0.925034 -1.807471 -1.027251 +v -2.955756 -2.611841 -0.677495 +v -1.522134 -2.471646 1.105569 +v -2.885676 -2.017107 -1.097331 +v -2.990595 -2.541744 0.790745 +v 0.750437 -2.576792 -0.607630 +v -0.123752 -0.373975 1.000340 +v -2.990595 -1.912398 1.070205 +v 0.750437 -0.373975 -1.027251 +v 0.890195 -1.492908 1.000340 +v -3.060674 -0.478902 -0.712428 +v -2.955756 -0.828733 1.000556 +v -2.990595 -2.401987 1.105569 +v -0.368429 -2.331889 1.070421 +v 1.030353 -2.506695 0.580935 +v -2.745918 -2.576573 -1.097331 +v 0.820115 -0.373975 1.000340 +v -3.025434 -1.877350 0.440990 +v -1.452055 -2.541744 1.070421 +v -2.151246 -2.611841 -0.992318 +v -2.710679 -0.478902 -1.061968 +v -2.675839 -2.296840 -1.097331 +v -3.060674 -0.828733 -1.061968 +v -2.990595 -2.541744 0.476138 +v 0.960274 -0.373975 -0.957170 +v 0.785276 -2.471646 1.000340 +v -0.333590 -1.702544 1.070421 +v -2.990595 -0.688757 0.580935 +v -1.102459 -0.373975 -0.607630 +f 17 28 46 +f 9 4 12 +f 2 8 13 +f 2 3 14 +f 12 2 14 +f 9 12 14 +f 8 10 17 +f 13 8 17 +f 4 9 18 +f 5 16 20 +f 16 11 20 +f 6 10 21 +f 6 19 22 +f 16 19 23 +f 2 13 24 +f 13 7 24 +f 8 2 26 +f 10 8 26 +f 12 4 26 +f 4 18 26 +f 3 2 27 +f 14 3 27 +f 10 1 28 +f 17 10 28 +f 24 7 29 +f 7 25 29 +f 29 25 30 +f 5 20 30 +f 20 15 30 +f 15 24 30 +f 24 29 30 +f 20 11 31 +f 27 15 31 +f 14 11 32 +f 9 14 32 +f 11 16 32 +f 23 9 32 +f 16 23 32 +f 9 6 33 +f 18 9 33 +f 6 21 33 +f 2 24 34 +f 24 15 34 +f 27 2 34 +f 15 27 34 +f 22 5 35 +f 28 1 35 +f 25 28 35 +f 30 25 35 +f 5 30 35 +f 16 5 36 +f 19 16 36 +f 5 22 36 +f 22 19 36 +f 6 9 37 +f 19 6 37 +f 9 23 37 +f 23 19 37 +f 21 10 38 +f 10 26 38 +f 26 21 38 +f 26 18 39 +f 21 26 39 +f 18 33 39 +f 33 21 39 +f 1 10 40 +f 10 6 40 +f 6 22 41 +f 35 1 41 +f 22 35 41 +f 1 40 41 +f 40 6 41 +f 2 12 42 +f 26 2 42 +f 12 26 42 +f 11 14 43 +f 14 27 43 +f 31 11 43 +f 27 31 43 +f 15 20 44 +f 31 15 44 +f 20 31 44 +f 25 7 45 +f 7 28 45 +f 28 25 45 +f 7 13 46 +f 13 17 46 +f 28 7 46 +o convex_1 +v 2.743686 -2.017066 1.105569 +v 1.974617 -2.576875 -1.061968 +v 2.568685 -2.541860 -1.097331 +v 1.030548 -0.408942 -0.957170 +v 3.023453 -0.408942 -1.061968 +v 1.030548 -0.513985 0.965408 +v 1.030548 -2.471619 0.965408 +v 3.023453 -0.408942 1.070205 +v 2.988336 -2.471831 0.546003 +v 1.030548 -2.576875 -0.992103 +v 3.023453 -2.541860 -1.097331 +v 2.953414 -2.436816 1.105569 +v 2.988336 -0.444168 -1.097331 +v 1.310121 -0.478971 1.000340 +v 1.729772 -2.471619 1.035488 +v 3.023453 -0.898721 1.105569 +v 1.030548 -1.283457 -0.992103 +v 3.023453 -2.541860 -0.502617 +v 1.100393 -2.576875 -0.817441 +v 1.240276 -0.408942 -0.992103 +v 1.030548 -0.408942 -0.747360 +v 2.953414 -2.471831 0.825678 +v 1.345238 -2.436816 -1.027251 +v 1.100393 -2.506633 0.545787 +v 2.463918 -0.443956 1.070205 +v 1.240276 -2.471619 1.000340 +v 2.883569 -0.408942 1.070205 +v 1.275198 -0.513985 1.000340 +v 2.708568 -2.436816 1.105569 +f 74 61 75 +f 52 50 53 +f 51 50 54 +f 53 50 56 +f 48 49 57 +f 51 54 57 +f 57 49 59 +f 51 57 59 +f 57 54 62 +f 47 58 62 +f 58 55 62 +f 56 50 63 +f 48 57 64 +f 57 62 64 +f 62 55 64 +f 56 48 65 +f 48 64 65 +f 50 51 66 +f 51 59 66 +f 63 50 66 +f 59 63 66 +f 50 52 67 +f 54 50 67 +f 52 60 67 +f 55 58 68 +f 58 61 68 +f 64 55 68 +f 49 48 69 +f 48 56 69 +f 59 49 69 +f 56 63 69 +f 63 59 69 +f 53 56 70 +f 56 65 70 +f 65 64 70 +f 68 61 70 +f 64 68 70 +f 47 62 71 +f 52 53 72 +f 53 70 72 +f 70 61 72 +f 62 54 73 +f 54 67 73 +f 67 60 73 +f 60 71 73 +f 71 62 73 +f 60 52 74 +f 47 71 74 +f 71 60 74 +f 52 72 74 +f 72 61 74 +f 58 47 75 +f 61 58 75 +f 47 74 75 +o convex_2 +v 0.295815 1.548997 -1.097331 +v -0.123289 2.108658 1.070602 +v -0.437988 2.108658 1.070602 +v 0.820385 -0.373975 1.000361 +v -1.102613 -0.373975 -0.992287 +v -0.962558 -0.373975 0.930544 +v -1.067600 2.108658 -0.957273 +v 0.960228 -0.373975 -0.957273 +v 1.065269 2.108658 1.035587 +v 0.960228 2.108658 -0.957273 +v -1.032586 2.108658 0.895529 +v 1.030255 -0.373975 0.965558 +v 0.645740 -0.303987 -1.062317 +v -1.102613 1.199056 -0.117984 +v 0.330829 -0.024277 1.035375 +v 0.226000 2.108658 -1.097331 +v 1.065269 2.073421 0.615837 +v -0.927757 -0.373975 0.965558 +v -1.102613 1.514003 -0.992287 +v 0.995241 2.108658 -0.852441 +v -1.102613 -0.338981 -0.572749 +v -0.053474 1.234293 1.070602 +v 0.995241 -0.303987 -0.327859 +v -1.067600 2.108658 0.510793 +v 1.065269 1.409020 1.035587 +v -0.927757 2.108658 0.965558 +v 0.330829 2.038427 -1.097331 +v 1.065269 1.129311 0.965558 +v -0.997572 0.780100 0.930544 +v -0.437988 1.618985 1.070602 +v 0.855399 2.108658 -0.992287 +v 0.890412 -0.373975 -0.992287 +v -0.158303 -0.373975 1.000361 +v -1.102613 1.653979 -0.887244 +f 89 99 109 +f 80 79 81 +f 78 77 82 +f 79 80 83 +f 82 77 84 +f 82 84 85 +f 78 82 86 +f 79 83 87 +f 80 76 88 +f 76 80 91 +f 82 85 91 +f 81 79 93 +f 80 89 94 +f 91 80 94 +f 82 91 94 +f 83 85 95 +f 85 84 95 +f 84 92 95 +f 80 81 96 +f 89 80 96 +f 77 78 97 +f 84 77 97 +f 87 83 98 +f 83 95 98 +f 95 92 98 +f 86 82 99 +f 79 87 100 +f 90 79 100 +f 92 84 100 +f 84 97 100 +f 97 90 100 +f 78 86 101 +f 93 78 101 +f 88 76 102 +f 76 91 102 +f 87 98 103 +f 98 92 103 +f 100 87 103 +f 92 100 103 +f 81 93 104 +f 96 81 104 +f 89 96 104 +f 86 99 104 +f 99 89 104 +f 101 86 104 +f 93 101 104 +f 78 93 105 +f 97 78 105 +f 90 97 105 +f 91 85 106 +f 88 102 106 +f 102 91 106 +f 83 80 107 +f 85 83 107 +f 80 88 107 +f 106 85 107 +f 88 106 107 +f 79 90 108 +f 93 79 108 +f 105 93 108 +f 90 105 108 +f 82 94 109 +f 94 89 109 +f 99 82 109 +o convex_3 +v 0.295588 2.178738 1.070602 +v -0.263372 2.318611 -1.097331 +v -0.263372 2.842868 -1.097331 +v -1.067647 3.227519 0.860514 +v 1.100287 3.472163 1.070602 +v 0.995031 2.108935 -0.887244 +v 0.995243 3.437195 -0.957061 +v -1.067647 2.108935 -0.957273 +v -1.067647 3.437195 -0.957273 +v -1.032420 2.108935 0.930544 +v 1.065060 2.108935 1.035375 +v -1.032420 3.437195 0.930331 +v -0.438021 2.388548 1.070602 +v 0.295588 2.108935 -1.097331 +v 0.260573 3.472163 0.266115 +v 1.100287 3.332290 0.755683 +v 0.855185 2.108935 -0.992075 +v -1.067647 2.108935 0.510793 +v 1.100075 2.737963 1.070602 +v 0.890411 3.332290 -0.992287 +v -0.438021 2.108935 1.070602 +v 0.855185 3.472163 1.070602 +v 0.260573 2.737963 -1.097331 +v -0.927588 3.227519 0.965558 +v 1.065060 2.143770 0.580822 +v -0.228358 2.703129 1.070602 +v 0.995031 2.423516 -0.957273 +v -1.067647 3.437195 0.580610 +v 1.030258 3.437195 -0.467705 +f 125 136 138 +f 112 111 117 +f 112 117 118 +f 117 113 118 +f 117 115 119 +f 119 115 120 +f 113 119 121 +f 110 114 122 +f 111 112 123 +f 117 111 123 +f 115 117 123 +f 114 116 124 +f 116 118 124 +f 115 123 126 +f 113 117 127 +f 119 113 127 +f 117 119 127 +f 114 110 128 +f 110 120 128 +f 125 114 128 +f 112 118 129 +f 118 116 129 +f 126 123 129 +f 120 110 130 +f 119 120 130 +f 110 122 130 +f 122 114 131 +f 114 124 131 +f 124 121 131 +f 123 112 132 +f 112 129 132 +f 129 123 132 +f 121 119 133 +f 119 130 133 +f 130 122 133 +f 131 121 133 +f 120 115 134 +f 115 125 134 +f 128 120 134 +f 125 128 134 +f 122 131 135 +f 133 122 135 +f 131 133 135 +f 125 115 136 +f 115 126 136 +f 129 116 136 +f 126 129 136 +f 118 113 137 +f 113 121 137 +f 124 118 137 +f 121 124 137 +f 116 114 138 +f 114 125 138 +f 136 116 138 +o convex_4 +v 0.331020 2.458448 -2.460761 +v -0.088563 2.143625 -3.055464 +v -0.263413 2.178605 -3.055464 +v -0.228443 2.178605 -1.097523 +v -0.263413 2.842958 -2.740576 +v 0.261022 2.737949 -1.097523 +v -0.263413 2.842958 -1.097523 +v 0.261022 2.772929 -2.985319 +v 0.261022 2.248635 -1.132596 +v 0.331020 2.143625 -3.020200 +v -0.263413 2.807978 -3.020200 +v 0.331020 2.702968 -2.985319 +v -0.263413 2.178605 -1.307384 +v -0.193473 2.842958 -1.097523 +v -0.088563 2.178605 -1.097523 +v 0.331020 2.178605 -2.390807 +f 147 153 154 +f 143 141 145 +f 142 144 145 +f 142 140 148 +f 140 141 149 +f 141 143 149 +f 146 140 149 +f 143 146 149 +f 144 139 150 +f 140 146 150 +f 146 144 150 +f 148 140 150 +f 139 148 150 +f 141 140 151 +f 140 142 151 +f 145 141 151 +f 142 145 151 +f 143 145 152 +f 145 144 152 +f 146 143 152 +f 144 146 152 +f 144 142 153 +f 147 144 153 +f 142 148 153 +f 153 148 154 +f 139 144 154 +f 144 147 154 +f 148 139 154 +o convex_5 +v -0.333309 2.143625 1.245678 +v 0.365987 2.842958 2.993464 +v -0.228368 2.842958 2.993464 +v 0.191109 2.807978 1.070602 +v 0.261046 2.248635 2.958528 +v 0.296050 2.178605 1.070602 +v -0.368313 2.213654 3.028400 +v -0.228368 2.702968 1.070602 +v 0.365987 2.807978 1.070602 +v 0.296050 2.353439 3.098470 +v 0.121172 2.143625 1.070602 +v -0.368313 2.318458 2.923592 +v 0.121172 2.842958 1.595434 +v -0.298376 2.143625 1.070602 +v 0.330982 2.388419 1.560300 +v -0.228368 2.842958 2.643907 +v -0.368313 2.283615 3.063336 +v -0.193364 2.772929 3.028400 +v 0.365987 2.842958 1.490428 +v 0.296050 2.178605 1.560300 +v -0.263300 2.143625 1.560300 +v 0.156176 2.248635 3.098470 +v -0.298376 2.353439 1.070602 +v 0.365987 2.772929 2.923592 +f 164 169 178 +f 158 160 162 +f 160 158 163 +f 162 160 165 +f 155 161 166 +f 157 156 167 +f 158 162 167 +f 165 155 168 +f 162 165 168 +f 160 163 169 +f 166 157 170 +f 162 166 170 +f 157 167 170 +f 167 162 170 +f 166 161 171 +f 157 166 171 +f 156 157 172 +f 164 156 172 +f 157 171 172 +f 171 164 172 +f 156 163 173 +f 163 158 173 +f 167 156 173 +f 158 167 173 +f 164 159 174 +f 165 160 174 +f 160 169 174 +f 169 164 174 +f 161 155 175 +f 155 165 175 +f 165 174 175 +f 175 174 176 +f 159 164 176 +f 164 171 176 +f 171 161 176 +f 174 159 176 +f 161 175 176 +f 155 166 177 +f 166 162 177 +f 168 155 177 +f 162 168 177 +f 163 156 178 +f 156 164 178 +f 169 163 178 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/262/262.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/262/262.urdf new file mode 100644 index 000000000..96bb5ead4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/262/262.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/263/263.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/263/263.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/263/263.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/263/263.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/263/263.obj new file mode 100644 index 000000000..927e0aa55 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/263/263.obj @@ -0,0 +1,621 @@ +o convex_0 +v 1.011044 0.832566 0.672317 +v -1.275438 0.961081 0.055869 +v -1.275438 0.961081 0.107173 +v -0.042060 -3.252209 0.030117 +v 0.728314 0.986700 -0.843050 +v -0.864149 -1.941436 0.749373 +v -0.812921 -0.426549 -0.843050 +v 0.831258 -2.121189 0.723822 +v -0.633135 1.038358 0.852181 +v 0.497299 -2.018293 -0.637634 +v 1.216688 1.038358 0.081622 +v -0.787063 -2.609632 -0.098041 +v 0.137483 -0.195138 1.032247 +v -0.838535 1.038358 -0.817499 +v -0.042060 -2.506315 -0.765994 +v 0.754172 -2.532355 -0.123794 +v 0.754172 -0.323653 -0.868802 +v -0.067674 -0.323653 -1.023115 +v -0.042060 -2.506315 0.775125 +v -0.787063 0.189989 0.929438 +v 0.779786 0.986700 0.852181 +v 0.779786 0.010235 0.954989 +v -1.172493 1.038358 0.441149 +v -1.069793 -0.477368 -0.354962 +v 0.985430 -0.605883 -0.354962 +v -0.864149 -2.146808 0.698069 +v -0.607277 -2.018713 -0.586129 +v 0.471441 1.038358 -0.894353 +v 1.216688 1.038358 0.338341 +v -1.198107 1.038358 -0.277906 +v -0.093532 -0.298034 1.032247 +v 0.985430 1.038358 -0.509073 +v -0.119146 1.038358 0.903686 +v -0.504576 1.038358 -0.894554 +v 0.111869 -3.174932 -0.020784 +v 0.779786 -2.481116 0.081420 +v 0.831258 -2.044332 0.749373 +v 0.008924 -2.506315 -0.765994 +v -0.967093 -1.350517 -0.252153 +v 0.034782 -0.092241 -1.023115 +v -0.812921 -0.323653 0.903686 +v 0.008924 -2.172847 0.826630 +v -0.812921 1.038358 0.826429 +v -1.249580 0.986700 0.312789 +v 1.216688 0.909423 0.287037 +v 0.137483 -3.097654 0.132925 +v -1.095407 0.935042 -0.483321 +v 0.008924 -0.041003 1.032247 +v 0.599999 -1.684825 -0.663387 +v 1.088130 0.961081 -0.303658 +v 0.805400 -2.224086 -0.149345 +v -0.042060 -3.123693 -0.149345 +v -0.812921 -2.506735 0.132925 +v 0.008924 -0.323653 -1.023115 +v 0.856872 -1.967475 0.723822 +v 1.088130 1.038358 0.569508 +v -0.761449 -0.349272 -0.868802 +v -1.069793 0.883804 0.595462 +v 0.805400 1.038358 -0.791746 +v -0.247704 -2.404259 0.775125 +v 0.266041 -2.378220 0.775125 +v 0.111869 1.038358 0.903686 +v -0.093532 -0.117860 -1.023115 +v 0.008924 -0.374891 1.032247 +f 42 61 64 +f 9 11 14 +f 1 21 22 +f 9 14 23 +f 3 2 26 +f 12 7 27 +f 7 15 27 +f 15 12 27 +f 14 11 28 +f 11 9 29 +f 2 3 30 +f 23 14 30 +f 24 2 30 +f 28 11 32 +f 9 20 33 +f 29 9 33 +f 14 28 34 +f 35 16 36 +f 22 13 37 +f 10 16 38 +f 15 18 38 +f 16 35 38 +f 7 12 39 +f 2 24 39 +f 24 7 39 +f 26 2 39 +f 5 17 40 +f 28 5 40 +f 34 28 40 +f 6 31 41 +f 31 20 41 +f 20 9 43 +f 9 23 43 +f 6 23 44 +f 3 26 44 +f 26 6 44 +f 30 3 44 +f 23 30 44 +f 25 11 45 +f 11 29 45 +f 19 4 46 +f 4 35 46 +f 35 36 46 +f 36 8 46 +f 14 7 47 +f 7 24 47 +f 30 14 47 +f 24 30 47 +f 13 22 48 +f 22 21 48 +f 31 13 48 +f 20 31 48 +f 33 20 48 +f 16 10 49 +f 10 38 49 +f 38 17 49 +f 11 25 50 +f 25 17 50 +f 17 32 50 +f 32 11 50 +f 17 25 51 +f 36 16 51 +f 25 45 51 +f 45 36 51 +f 16 49 51 +f 49 17 51 +f 4 12 52 +f 12 15 52 +f 35 4 52 +f 15 38 52 +f 38 35 52 +f 12 4 53 +f 4 26 53 +f 39 12 53 +f 26 39 53 +f 17 38 54 +f 38 18 54 +f 40 17 54 +f 18 40 54 +f 1 22 55 +f 8 36 55 +f 37 8 55 +f 22 37 55 +f 45 29 55 +f 36 45 55 +f 21 1 56 +f 29 33 56 +f 1 55 56 +f 55 29 56 +f 7 14 57 +f 15 7 57 +f 18 15 57 +f 23 6 58 +f 6 41 58 +f 41 20 58 +f 20 43 58 +f 43 23 58 +f 17 5 59 +f 5 28 59 +f 32 17 59 +f 28 32 59 +f 4 19 60 +f 6 26 60 +f 26 4 60 +f 31 6 60 +f 19 42 60 +f 42 31 60 +f 8 37 61 +f 42 19 61 +f 19 46 61 +f 46 8 61 +f 48 21 62 +f 33 48 62 +f 21 56 62 +f 56 33 62 +f 14 34 63 +f 40 18 63 +f 34 40 63 +f 57 14 63 +f 18 57 63 +f 13 31 64 +f 37 13 64 +f 31 42 64 +f 61 37 64 +o convex_1 +v 1.242380 1.654821 -0.329335 +v 1.396819 2.143017 0.004553 +v 1.396819 2.143017 -0.021114 +v 3.015130 1.706210 0.030220 +v 1.242380 1.141225 0.287108 +v 1.242380 1.988850 0.287108 +v 1.268409 1.346781 -0.252261 +v 2.758137 1.731905 0.210034 +v 2.732455 1.808988 -0.175188 +v 1.242380 2.091628 -0.303668 +v 2.783819 1.526643 -0.021114 +v 2.758137 1.937461 0.055887 +v 1.294091 1.552337 0.364181 +v 1.268409 1.141225 0.030220 +v 1.268409 1.860377 -0.380742 +v 2.655409 1.680516 -0.175188 +v 2.783819 1.680516 0.210034 +v 2.038868 1.963156 0.210034 +v 2.552334 1.937461 -0.123854 +v 1.294091 1.141225 0.287108 +v 1.242380 2.143017 0.030220 +v 2.758137 1.526643 0.030220 +v 2.013186 1.757599 -0.277928 +v 2.655409 1.963156 0.004553 +v 1.294091 2.091628 -0.303668 +v 1.294091 2.040239 0.235701 +v 1.268409 1.500948 0.364181 +v 1.242380 1.346781 -0.252261 +v 2.989101 1.757599 -0.021114 +v 1.371137 1.963156 0.287108 +v 2.604045 1.578032 -0.123854 +v 2.500970 1.886072 0.184367 +v 1.294091 1.963156 -0.355002 +v 2.758137 1.937461 0.004553 +v 1.268409 2.143017 -0.123854 +v 2.604045 1.808988 -0.200928 +v 2.989101 1.757599 0.055887 +v 1.550737 1.449559 -0.252261 +v 2.835183 1.731905 -0.123854 +v 1.345455 2.143017 0.030220 +v 2.629727 1.963156 0.055887 +f 104 82 105 +f 65 69 70 +f 65 70 74 +f 71 75 78 +f 71 65 79 +f 65 74 79 +f 72 77 81 +f 69 78 84 +f 78 75 84 +f 66 67 85 +f 74 70 85 +f 75 68 86 +f 68 81 86 +f 84 75 86 +f 81 84 86 +f 67 66 88 +f 88 83 89 +f 83 73 89 +f 70 82 90 +f 85 70 90 +f 70 69 91 +f 77 70 91 +f 81 77 91 +f 69 84 91 +f 84 81 91 +f 69 65 92 +f 65 71 92 +f 78 69 92 +f 71 78 92 +f 70 77 94 +f 77 72 94 +f 82 70 94 +f 72 82 94 +f 75 71 95 +f 71 80 95 +f 80 75 95 +f 72 76 96 +f 82 72 96 +f 76 82 96 +f 79 74 97 +f 74 89 97 +f 73 83 98 +f 88 76 98 +f 83 88 98 +f 76 93 98 +f 93 73 98 +f 85 67 99 +f 74 85 99 +f 67 88 99 +f 88 89 99 +f 89 74 99 +f 73 80 100 +f 87 79 100 +f 80 87 100 +f 89 73 100 +f 79 97 100 +f 97 89 100 +f 76 72 101 +f 81 68 101 +f 72 81 101 +f 68 93 101 +f 93 76 101 +f 71 79 102 +f 80 71 102 +f 79 87 102 +f 87 80 102 +f 68 75 103 +f 80 73 103 +f 75 80 103 +f 93 68 103 +f 73 93 103 +f 66 85 104 +f 90 82 104 +f 85 90 104 +f 82 76 105 +f 88 66 105 +f 76 88 105 +f 66 104 105 +o convex_2 +v -1.327020 1.192526 -0.175213 +v -1.301296 2.117423 0.055884 +v -1.301296 2.065971 0.158653 +v -2.996803 1.783243 0.030192 +v -1.301296 1.089931 0.287113 +v -1.301296 1.834695 -0.329365 +v -2.765281 1.757569 -0.200905 +v -2.585540 1.757569 0.235729 +v -2.791005 1.526706 0.004566 +v -2.713997 1.988948 0.004566 +v -1.301296 1.629094 0.338497 +v -1.378470 2.014519 -0.226597 +v -1.506927 1.988948 0.261421 +v -1.301296 1.064050 0.004566 +v -1.352745 1.295429 -0.252289 +v -2.739722 1.706220 0.210037 +v -2.636823 1.552380 -0.123829 +v -2.559815 1.937496 0.158653 +v -1.327020 1.398230 0.338497 +v -2.508531 1.911719 -0.149521 +v -2.765281 1.526706 0.055884 +v -1.327020 1.064050 0.235729 +v -1.404194 2.117423 0.004566 +v -1.995033 1.988948 0.210037 +v -1.301296 1.937496 0.287113 +v -2.713997 1.809021 0.210037 +v -2.765281 1.731998 -0.200905 +v -1.327020 1.783243 -0.329365 +v -1.327020 1.064050 0.004566 +v -1.301296 2.040297 -0.200905 +v -2.713997 1.988948 0.030192 +v -2.996803 1.731998 -0.021061 +v -1.378470 1.243978 -0.226597 +v -1.301296 1.295429 -0.252289 +v -1.327020 1.089931 0.287113 +v -1.429753 1.603523 0.338497 +v -2.713997 1.963068 -0.046753 +v -1.404194 2.117423 0.055884 +v -2.482807 1.552380 -0.175213 +v -1.455478 1.911719 0.287113 +v -1.352745 1.064050 0.030192 +v -2.945188 1.731998 0.081576 +f 137 126 147 +f 107 108 110 +f 107 110 111 +f 110 108 116 +f 111 112 117 +f 111 110 119 +f 110 116 124 +f 113 121 124 +f 117 112 125 +f 119 110 127 +f 126 114 127 +f 118 108 129 +f 116 108 130 +f 108 118 130 +f 113 118 131 +f 121 113 131 +f 118 129 131 +f 129 123 131 +f 122 114 132 +f 112 111 133 +f 132 112 133 +f 120 132 133 +f 106 119 134 +f 114 122 134 +f 119 127 134 +f 107 111 135 +f 111 117 135 +f 128 107 135 +f 115 128 135 +f 115 109 136 +f 128 115 136 +f 123 129 136 +f 109 131 136 +f 131 123 136 +f 114 126 137 +f 112 132 137 +f 132 114 137 +f 106 134 138 +f 134 122 138 +f 119 106 139 +f 111 119 139 +f 133 111 139 +f 120 133 139 +f 106 138 139 +f 138 120 139 +f 110 124 140 +f 124 121 140 +f 121 126 140 +f 127 110 140 +f 126 127 140 +f 124 116 141 +f 113 124 141 +f 109 115 142 +f 125 112 142 +f 117 125 142 +f 135 117 142 +f 115 135 142 +f 137 109 142 +f 112 137 142 +f 108 107 143 +f 107 128 143 +f 129 108 143 +f 128 136 143 +f 136 129 143 +f 132 120 144 +f 122 132 144 +f 120 138 144 +f 138 122 144 +f 118 113 145 +f 116 130 145 +f 130 118 145 +f 141 116 145 +f 113 141 145 +f 127 114 146 +f 114 134 146 +f 134 127 146 +f 126 121 147 +f 131 109 147 +f 121 131 147 +f 109 137 147 +o convex_3 +v 1.242380 1.346715 0.364043 +v -0.504621 1.038358 -0.894655 +v -0.607196 1.038358 -0.868953 +v -0.144864 2.811108 -0.020960 +v -0.838486 1.038532 0.800802 +v 0.831087 2.220076 -0.766145 +v -1.095420 2.297122 -0.432018 +v 0.805443 2.091666 0.697994 +v 0.805443 1.038358 -0.791671 +v -0.787199 2.065810 0.723872 +v 0.702620 1.038358 0.852206 +v -1.301067 1.038532 0.132900 +v 1.242380 2.168538 -0.046662 +v -0.915666 2.168712 -0.765969 +v 0.754156 2.733715 0.030092 +v -1.301067 2.040128 0.209830 +v -0.812842 2.708033 0.030092 +v -1.301067 1.269670 -0.252279 +v 1.216488 1.038358 0.055794 +v 1.242380 1.834846 -0.380789 +v -0.016646 2.065984 0.800978 +v -0.890022 1.038532 -0.765969 +v -0.093577 1.064388 0.903787 +v -1.301067 1.886210 -0.329209 +v 1.242380 2.014620 0.286937 +v 0.445935 1.141433 -0.894479 +v -1.301067 1.655246 0.338341 +v 1.011090 2.348485 -0.483422 +v 1.088021 1.038358 0.569659 +v -0.119220 2.811108 0.030092 +v 1.242380 1.346715 -0.252103 +v -1.301067 1.064214 0.286937 +v 0.805443 2.143030 -0.791671 +v -1.301067 2.117348 -0.020960 +v 0.728263 2.708033 -0.072364 +v 0.702620 2.091666 0.723696 +v -0.812842 2.682351 -0.072188 +v 0.779800 1.218306 0.826504 +v 0.086177 2.811108 0.030092 +v 0.111821 2.759397 -0.098067 +v -0.787199 1.115578 0.826504 +v -0.812842 2.014446 -0.791671 +v 1.242380 1.038358 0.286937 +v 1.216488 1.449617 0.415447 +v -0.890022 1.218479 -0.791671 +v -1.198243 1.038532 -0.277981 +v 1.242380 2.091492 -0.303683 +v 0.702620 1.038358 -0.843075 +v -0.812842 2.040128 0.723872 +v 1.088021 1.038358 -0.303683 +v 0.034641 1.115752 0.903787 +v 0.779800 1.911892 0.749398 +v -0.042041 2.425705 0.441325 +v -1.121064 1.038532 0.518079 +v 0.959554 2.065984 0.569659 +v -1.301067 1.963083 0.286937 +v -0.812842 2.451213 0.312639 +v 1.036734 2.425531 0.004566 +v -0.658732 2.374341 -0.534826 +v 0.728263 2.245584 -0.740266 +v -0.915666 2.605479 0.030092 +v -1.301067 1.706610 -0.329209 +v 0.805443 1.090070 0.826504 +v -1.301067 2.065810 -0.226401 +f 171 181 211 +f 150 149 156 +f 150 156 158 +f 149 150 161 +f 159 163 165 +f 158 156 166 +f 160 148 167 +f 152 158 170 +f 168 157 170 +f 154 161 171 +f 165 163 171 +f 148 160 172 +f 163 159 174 +f 158 166 176 +f 151 164 177 +f 156 167 178 +f 167 148 178 +f 174 159 179 +f 161 153 180 +f 153 167 180 +f 167 156 180 +f 171 163 181 +f 175 153 182 +f 162 175 182 +f 155 162 183 +f 161 154 184 +f 164 151 184 +f 151 177 186 +f 162 182 186 +f 183 162 186 +f 182 153 187 +f 151 186 187 +f 186 182 187 +f 152 170 188 +f 170 157 188 +f 149 161 189 +f 173 149 189 +f 161 180 189 +f 180 173 189 +f 148 176 190 +f 176 166 190 +f 178 148 190 +f 166 178 190 +f 148 172 191 +f 176 148 191 +f 161 150 192 +f 150 169 192 +f 150 159 193 +f 159 165 193 +f 169 150 193 +f 165 169 193 +f 167 153 194 +f 160 167 194 +f 153 175 194 +f 175 160 194 +f 156 149 195 +f 149 173 195 +f 180 156 195 +f 173 180 195 +f 174 152 196 +f 152 188 196 +f 188 157 196 +f 166 156 197 +f 178 166 197 +f 156 178 197 +f 170 158 198 +f 168 170 198 +f 158 185 198 +f 198 185 199 +f 155 183 199 +f 183 168 199 +f 168 198 199 +f 157 168 200 +f 177 157 200 +f 168 183 200 +f 186 177 200 +f 183 186 200 +f 150 158 201 +f 158 152 201 +f 159 150 201 +f 152 174 201 +f 179 159 201 +f 174 179 201 +f 162 155 202 +f 172 162 202 +f 191 172 202 +f 155 199 202 +f 199 191 202 +f 163 174 203 +f 174 196 203 +f 203 196 204 +f 177 164 204 +f 157 177 204 +f 196 157 204 +f 163 203 204 +f 172 160 205 +f 162 172 205 +f 175 162 205 +f 160 175 205 +f 184 151 206 +f 161 184 206 +f 151 187 206 +f 206 187 207 +f 153 161 207 +f 187 153 207 +f 161 206 207 +f 154 181 208 +f 181 163 208 +f 184 154 208 +f 164 184 208 +f 163 204 208 +f 204 164 208 +f 169 165 209 +f 171 161 209 +f 165 171 209 +f 161 192 209 +f 192 169 209 +f 158 176 210 +f 185 158 210 +f 176 191 210 +f 199 185 210 +f 191 199 210 +f 154 171 211 +f 181 154 211 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/263/263.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/263/263.urdf new file mode 100644 index 000000000..4ae805c8d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/263/263.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/264/264.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/264/264.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/264/264.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/264/264.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/264/264.obj new file mode 100644 index 000000000..d063149ac --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/264/264.obj @@ -0,0 +1,549 @@ +o convex_0 +v 0.682031 -1.052834 -1.092767 +v -0.963224 -0.935469 1.101274 +v -1.002246 -0.935469 1.101274 +v -1.002457 -4.030350 1.101274 +v 1.113172 -3.834354 1.022670 +v -0.963224 -3.951719 -1.014163 +v 1.113172 -0.073240 1.022670 +v -1.041690 -0.073240 -0.975076 +v 1.073939 -3.951719 -1.014163 +v 1.034706 -0.073240 -1.092767 +v -1.002246 -0.073240 1.061972 +v 1.113172 -3.167734 -0.857599 +v -0.297107 -3.990841 1.101274 +v -1.041690 -1.993306 -0.544042 +v -1.041690 -0.622107 0.317596 +v -0.845736 -0.269236 -1.014378 +v 1.113172 -0.622107 -0.152310 +v 1.073939 -3.285487 -1.053465 +v 0.603776 -0.856838 1.061972 +v -1.002457 -4.030350 0.552549 +v 0.525310 -0.073240 -1.092767 +v 1.113172 -3.873088 0.944281 +v -0.375573 -2.697498 -1.053465 +v -1.002457 -2.933004 -1.014163 +v 0.211868 -0.073240 1.061972 +v -0.218852 -2.463542 1.101274 +v 1.113172 -3.912210 -0.739908 +v -0.728037 -4.030350 1.101274 +v -1.002457 -3.990841 0.043126 +v -0.963224 -3.990841 -0.465652 +v -1.041690 -1.287952 0.317596 +v -1.002457 -3.324609 -0.857599 +v 1.113172 -0.073240 0.591851 +v 1.073939 -3.951719 -0.896472 +v 1.034706 -1.170199 -1.092767 +v 0.486077 -3.559727 1.061972 +v -1.041690 -0.817716 -0.975076 +f 24 14 37 +f 2 3 4 +f 8 7 10 +f 3 2 11 +f 7 8 11 +f 7 5 12 +f 2 4 13 +f 4 3 15 +f 3 11 15 +f 11 8 15 +f 8 14 15 +f 7 12 17 +f 12 10 17 +f 9 6 18 +f 12 9 18 +f 10 12 18 +f 5 7 19 +f 4 14 20 +f 10 1 21 +f 8 10 21 +f 16 8 21 +f 12 5 22 +f 5 13 22 +f 1 18 23 +f 18 6 23 +f 21 1 23 +f 16 21 23 +f 8 16 24 +f 23 6 24 +f 16 23 24 +f 11 2 25 +f 7 11 25 +f 2 19 25 +f 19 7 25 +f 2 13 26 +f 19 2 26 +f 9 12 27 +f 12 22 27 +f 13 4 28 +f 4 20 28 +f 20 9 28 +f 22 13 28 +f 6 20 29 +f 20 14 29 +f 6 9 30 +f 9 20 30 +f 20 6 30 +f 14 4 31 +f 4 15 31 +f 15 14 31 +f 14 24 32 +f 24 6 32 +f 6 29 32 +f 29 14 32 +f 10 7 33 +f 7 17 33 +f 17 10 33 +f 9 27 34 +f 27 22 34 +f 28 9 34 +f 22 28 34 +f 1 10 35 +f 18 1 35 +f 10 18 35 +f 13 5 36 +f 5 19 36 +f 26 13 36 +f 19 26 36 +f 14 8 37 +f 8 24 37 +o convex_1 +v 2.210150 2.120801 0.434973 +v 2.445238 0.044298 -0.974930 +v 3.032862 0.044298 -0.974930 +v 3.032862 0.044298 1.022916 +v 1.152351 0.161985 1.022916 +v 1.152351 2.042343 -1.014278 +v 3.072137 2.120801 -1.014278 +v 1.152351 0.122959 -1.092767 +v 3.032862 2.120801 1.022916 +v 1.152351 2.042343 0.944427 +v 2.405962 0.044298 0.983568 +v 3.072137 0.122756 -0.465683 +v 3.072137 1.806968 0.709167 +v 1.661801 0.749610 -1.092767 +v 1.309264 2.081368 -1.014278 +v 1.152351 1.885629 0.983568 +v 1.269989 0.122959 1.022916 +v 2.601963 1.689687 -1.053419 +v 2.601963 2.120801 1.022916 +v 1.622714 0.083527 -0.309119 +v 2.249426 2.120801 -1.014278 +v 3.072137 0.044298 -0.935789 +v 1.152351 1.571999 -1.053419 +v 1.152351 0.710584 1.022916 +v 1.661801 2.081368 0.983568 +v 3.072137 1.415489 -1.014278 +v 1.387627 0.161985 -1.092767 +v 1.152351 0.122959 0.356691 +v 1.230902 0.749610 -1.092767 +f 60 55 66 +f 39 40 41 +f 40 39 45 +f 42 43 45 +f 42 41 46 +f 44 38 46 +f 43 42 47 +f 39 41 48 +f 46 41 50 +f 44 46 50 +f 41 49 50 +f 49 44 50 +f 43 47 52 +f 47 42 53 +f 41 42 54 +f 48 41 54 +f 46 38 56 +f 42 46 56 +f 45 39 57 +f 39 48 57 +f 38 44 58 +f 52 38 58 +f 44 55 58 +f 55 52 58 +f 41 40 59 +f 49 41 59 +f 44 49 59 +f 45 43 60 +f 43 52 60 +f 52 55 60 +f 53 42 61 +f 42 56 61 +f 56 53 61 +f 38 52 62 +f 52 47 62 +f 47 53 62 +f 56 38 62 +f 53 56 62 +f 40 51 63 +f 55 44 63 +f 51 55 63 +f 59 40 63 +f 44 59 63 +f 40 45 64 +f 51 40 64 +f 45 51 64 +f 42 45 65 +f 54 42 65 +f 48 54 65 +f 45 57 65 +f 57 48 65 +f 51 45 66 +f 55 51 66 +f 45 60 66 +o convex_2 +v 3.150496 -0.739335 -0.152379 +v 1.113172 -1.170261 -0.348360 +v 1.113172 -1.170261 0.278505 +v 1.113172 -0.621751 -0.074013 +v 3.072122 -1.131066 0.317688 +v 1.269920 -0.700140 0.278505 +v 3.111209 -1.131066 -0.269929 +v 3.111209 -0.700140 0.200139 +v 1.230833 -0.621751 -0.152379 +v 2.641165 -1.170261 -0.309177 +v 3.150496 -0.896006 -0.230811 +v 1.113172 -0.700140 0.278505 +v 1.583416 -1.013482 -0.309177 +v 1.897111 -1.170261 0.278505 +v 3.111209 -0.778529 0.239322 +v 2.836801 -0.700140 -0.152379 +v 1.740164 -0.700140 -0.191562 +v 2.405844 -1.091872 0.317688 +f 72 78 84 +f 68 69 70 +f 70 72 74 +f 68 70 75 +f 70 74 75 +f 69 68 76 +f 73 71 76 +f 73 76 77 +f 71 73 77 +f 70 69 78 +f 72 70 78 +f 68 75 79 +f 76 68 79 +f 77 76 79 +f 71 69 80 +f 69 76 80 +f 76 71 80 +f 72 71 81 +f 67 74 81 +f 74 72 81 +f 77 67 81 +f 71 77 81 +f 74 67 82 +f 75 74 82 +f 67 77 82 +f 82 77 83 +f 79 75 83 +f 77 79 83 +f 75 82 83 +f 69 71 84 +f 71 72 84 +f 78 69 84 +o convex_3 +v -2.961476 1.376321 0.160818 +v -2.648026 2.120483 1.062095 +v -2.961476 2.120483 1.062095 +v -1.903677 0.122764 1.022747 +v -1.041690 2.199160 -1.053588 +v -2.882926 0.083742 -1.014240 +v -1.041690 0.044298 -1.053588 +v -1.041690 2.003206 1.062095 +v -2.922201 2.081460 -1.053588 +v -2.961476 0.161997 1.062095 +v -1.041690 0.122764 0.983606 +v -2.922201 0.083742 -0.818328 +v -1.511865 0.044298 -0.504993 +v -2.961476 0.122975 0.748553 +v -1.159328 2.042439 1.062095 +v -1.041690 1.297644 1.062095 +v -2.961476 2.120483 0.121677 +v -2.922201 1.297644 -1.053588 +v -1.041690 2.199160 -0.857676 +v -1.276965 2.199160 -1.053588 +v -2.452026 0.161997 1.062095 +v -1.982039 0.044298 -0.975099 +v -1.041690 0.083531 0.435218 +v -2.569476 2.120483 -1.053588 +v -2.804563 0.122975 0.905324 +v -2.961476 1.963973 -0.034887 +f 102 96 110 +f 86 87 92 +f 91 89 92 +f 89 91 93 +f 87 85 94 +f 92 87 94 +f 91 92 95 +f 94 85 98 +f 85 96 98 +f 86 92 99 +f 92 94 100 +f 95 92 100 +f 85 87 101 +f 91 90 102 +f 93 91 102 +f 90 96 102 +f 87 86 103 +f 92 89 103 +f 86 99 103 +f 99 92 103 +f 89 93 104 +f 101 87 104 +f 87 103 104 +f 103 89 104 +f 94 88 105 +f 88 95 105 +f 100 94 105 +f 95 100 105 +f 90 91 106 +f 96 90 106 +f 91 97 106 +f 98 96 106 +f 97 98 106 +f 95 88 107 +f 91 95 107 +f 97 91 107 +f 93 101 108 +f 104 93 108 +f 101 104 108 +f 88 94 109 +f 94 98 109 +f 98 97 109 +f 107 88 109 +f 97 107 109 +f 96 85 110 +f 85 101 110 +f 101 93 110 +f 93 102 110 +o convex_4 +v -1.198733 -1.209310 -0.230753 +v -1.903765 -0.582571 0.317596 +v -1.747113 -0.817762 0.356730 +v -3.039639 -1.131028 -0.230753 +v -1.041690 -0.621850 -0.230753 +v -1.041690 -1.287799 0.317596 +v -2.961215 -1.131028 0.356730 +v -2.922101 -0.700201 -0.269886 +v -3.000329 -0.582571 0.278394 +v -1.041690 -0.621850 0.317596 +v -1.041690 -1.170169 -0.348222 +v -1.198733 -1.287799 0.200058 +v -2.295298 -0.661060 -0.269886 +v -2.961215 -0.896113 0.356730 +v -2.961215 -0.582571 0.160925 +v -3.000329 -0.974257 -0.269886 +v -2.099336 -1.209310 0.356730 +v -3.000329 -1.131028 0.317596 +f 114 127 128 +f 112 113 120 +f 115 112 120 +f 116 115 120 +f 113 116 120 +f 111 114 121 +f 115 116 121 +f 114 111 122 +f 111 121 122 +f 121 116 122 +f 115 121 123 +f 121 118 123 +f 113 112 124 +f 117 113 124 +f 112 119 124 +f 112 115 125 +f 119 112 125 +f 118 119 125 +f 115 123 125 +f 123 118 125 +f 114 119 126 +f 119 118 126 +f 121 114 126 +f 118 121 126 +f 116 113 127 +f 113 117 127 +f 114 122 127 +f 122 116 127 +f 119 114 128 +f 117 124 128 +f 124 119 128 +f 127 117 128 +o convex_5 +v -0.375703 2.198941 1.219127 +v -1.041690 -0.033842 2.903335 +v -0.963086 -0.033842 2.903335 +v 0.055331 2.199160 3.020869 +v 1.113049 0.162004 1.062095 +v 1.152351 0.122879 2.942449 +v 1.152351 2.042439 1.062095 +v -1.041690 0.122879 1.062095 +v -0.884697 2.198941 3.020869 +v 1.034660 2.199160 3.020869 +v -0.923999 2.198941 1.062095 +v -1.041690 0.083753 3.020869 +v 0.956271 0.083535 2.981563 +v 1.152351 2.081346 1.414889 +v -0.884697 0.083753 1.219127 +v 1.073962 1.767903 3.020869 +v 1.113049 0.122879 1.610843 +v -0.258012 0.005502 3.020869 +v -0.923999 2.198941 2.002560 +v 0.407975 0.122879 1.062095 +v 1.152351 1.063205 1.062095 +v 1.034660 2.199160 2.785800 +v 1.073962 1.258615 3.020869 +v 0.917183 2.081346 1.062095 +v -0.923999 1.807029 3.020869 +v -1.041690 0.162223 1.336661 +f 140 147 154 +f 135 133 136 +f 132 137 138 +f 135 136 139 +f 136 130 140 +f 138 137 140 +f 134 135 142 +f 131 130 143 +f 130 136 143 +f 138 140 144 +f 134 142 144 +f 142 138 144 +f 133 134 145 +f 134 141 145 +f 130 131 146 +f 140 130 146 +f 144 140 146 +f 131 145 146 +f 145 141 146 +f 137 132 147 +f 132 139 147 +f 136 133 148 +f 131 143 148 +f 143 136 148 +f 133 145 148 +f 145 131 148 +f 134 133 149 +f 135 134 149 +f 133 135 149 +f 132 138 150 +f 129 139 150 +f 139 132 150 +f 138 142 150 +f 141 134 151 +f 134 144 151 +f 144 146 151 +f 146 141 151 +f 139 129 152 +f 135 139 152 +f 142 135 152 +f 129 150 152 +f 150 142 152 +f 140 137 153 +f 137 147 153 +f 147 140 153 +f 139 136 154 +f 136 140 154 +f 147 139 154 +o convex_6 +v 0.407753 2.120640 1.062095 +v 0.525443 -0.073240 -1.092054 +v 1.034649 -0.073240 -1.092054 +v 0.603832 2.042343 -3.090912 +v -1.002388 0.044651 -2.933589 +v -1.041475 2.003194 1.062095 +v -1.041475 -0.073240 1.062095 +v -1.041475 2.081269 -2.737646 +v 1.152125 0.162096 1.022256 +v 1.073736 0.005279 -3.012453 +v 1.152125 2.042343 1.062095 +v 0.995562 2.042343 -3.090912 +v -1.041475 2.199160 -1.209944 +v 1.113038 -0.073240 1.022256 +v 1.152125 2.042343 -1.014408 +v -0.963301 -0.033647 -2.933589 +v -1.002388 2.042343 -2.973021 +v -0.923999 2.199160 1.062095 +v 1.152125 0.122725 -1.092460 +v -1.041475 -0.073240 -0.975382 +v 1.073951 0.279542 -3.051479 +v 1.113038 0.162096 1.062095 +v 0.917173 2.081491 -0.858305 +v -0.571357 2.199160 1.022256 +v -0.414579 -0.033647 -2.973021 +v -0.767222 1.963823 -3.012047 +v 1.034649 1.532966 -3.090912 +v 0.211888 -0.033647 -2.973021 +v -1.041475 0.044651 -1.483939 +v -1.002388 0.984662 -2.973021 +v 1.073951 0.632325 -3.051479 +v -1.002388 2.199160 -1.209944 +v -1.041475 2.199160 -0.466420 +v -1.041475 2.003194 -2.816511 +v 0.917173 1.493817 -3.090912 +v 0.877871 2.081491 1.062095 +f 165 177 190 +f 156 157 161 +f 155 160 161 +f 161 160 162 +f 155 161 165 +f 158 162 166 +f 162 160 167 +f 161 157 168 +f 157 164 168 +f 165 163 169 +f 162 158 171 +f 160 155 172 +f 168 164 173 +f 163 168 173 +f 169 163 173 +f 156 161 174 +f 161 162 174 +f 170 156 174 +f 159 170 174 +f 173 164 175 +f 163 165 176 +f 165 161 176 +f 161 168 176 +f 168 163 176 +f 165 169 177 +f 169 166 177 +f 172 155 178 +f 167 172 178 +f 155 177 178 +f 157 156 179 +f 156 170 179 +f 175 164 179 +f 171 158 180 +f 158 166 181 +f 166 169 181 +f 164 157 182 +f 157 179 182 +f 179 164 182 +f 159 174 183 +f 174 162 183 +f 170 159 184 +f 179 170 184 +f 180 158 184 +f 171 180 184 +f 169 173 185 +f 173 175 185 +f 181 169 185 +f 175 181 185 +f 166 162 186 +f 162 167 186 +f 177 166 186 +f 167 178 186 +f 178 177 186 +f 167 160 187 +f 160 172 187 +f 172 167 187 +f 162 171 188 +f 159 183 188 +f 183 162 188 +f 184 159 188 +f 171 184 188 +f 175 179 189 +f 158 181 189 +f 181 175 189 +f 184 158 189 +f 179 184 189 +f 155 165 190 +f 177 155 190 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/264/264.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/264/264.urdf new file mode 100644 index 000000000..2c29c0239 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/264/264.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/265/265.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/265/265.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/265/265.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/265/265.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/265/265.obj new file mode 100644 index 000000000..d5c194e34 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/265/265.obj @@ -0,0 +1,576 @@ +o convex_0 +v -1.853310 -0.956335 -0.621744 +v -1.671647 1.006732 1.414360 +v -1.635239 1.006946 1.414157 +v -3.562226 1.079541 -0.658263 +v -3.562226 -1.101739 1.414360 +v -1.635239 -1.065442 1.341323 +v -1.635239 0.934137 -0.549113 +v -3.489409 1.043030 1.341323 +v -3.562226 -1.028930 -0.658263 +v -1.635239 -0.956335 -0.585429 +v -3.525629 1.079541 0.577683 +v -3.380374 1.079541 -0.658263 +v -3.162114 -1.028930 -0.658263 +v -3.162114 1.043030 1.377842 +v -1.962534 0.970435 -0.585429 +v -3.562226 -0.738121 1.414360 +v -1.671647 0.497710 1.414360 +v -3.525629 -1.065228 -0.040087 +v -1.635239 -1.065442 1.195858 +v -3.307558 -1.101739 1.414360 +v -3.234742 1.079541 -0.621744 +v -2.725783 -0.920037 -0.658263 +v -1.635239 1.006946 1.123430 +v -1.635239 0.316221 -0.585226 +v -3.453001 1.079541 0.868816 +v -3.525629 0.352305 1.377842 +v -2.325861 -1.065442 1.377842 +v -3.125895 -1.101739 1.341323 +v -3.562226 1.043030 -0.439964 +v -2.544120 1.043244 1.377842 +f 21 25 30 +f 3 6 7 +f 5 4 9 +f 7 6 10 +f 9 4 12 +f 4 11 12 +f 1 10 13 +f 9 12 13 +f 4 5 16 +f 5 2 16 +f 2 14 16 +f 3 2 17 +f 2 5 17 +f 6 3 17 +f 5 9 18 +f 9 13 18 +f 18 13 19 +f 10 6 19 +f 13 10 19 +f 17 5 20 +f 12 11 21 +f 15 12 21 +f 12 1 22 +f 1 13 22 +f 13 12 22 +f 3 7 23 +f 7 15 23 +f 21 3 23 +f 15 21 23 +f 10 1 24 +f 7 10 24 +f 1 12 24 +f 15 7 24 +f 12 15 24 +f 11 8 25 +f 8 14 25 +f 21 11 25 +f 8 11 26 +f 14 8 26 +f 16 14 26 +f 6 17 27 +f 17 20 27 +f 20 6 27 +f 5 18 28 +f 18 19 28 +f 19 6 28 +f 20 5 28 +f 6 20 28 +f 11 4 29 +f 4 16 29 +f 26 11 29 +f 16 26 29 +f 2 3 30 +f 14 2 30 +f 3 21 30 +f 25 14 30 +o convex_1 +v -0.362526 3.042744 1.414047 +v -1.634833 -1.064545 1.196004 +v -1.634833 -1.064545 1.341437 +v 0.583019 -2.992332 1.341437 +v 0.583019 0.060906 -0.694625 +v -1.525841 -3.101852 -0.548978 +v -1.562316 3.042744 -0.548978 +v 0.583019 3.079654 -0.585496 +v 0.473809 -2.992332 -0.548978 +v 0.583019 3.079654 1.377955 +v -1.562316 3.006439 1.414047 +v -1.453106 -3.064942 1.305132 +v 0.583019 0.424559 1.487084 +v -1.634833 0.243035 -0.585283 +v -1.634833 1.006042 1.414047 +v 0.001145 -1.392498 -0.694625 +v -0.217058 0.934037 1.487084 +v 0.583019 -0.992540 -0.694625 +v -1.634833 -0.919930 -0.585283 +v -1.634833 1.624435 -0.003551 +v 0.437551 1.515520 1.487084 +v -0.144323 -0.919930 -0.694625 +v -0.144323 3.079654 1.377955 +v -1.162169 -3.101852 -0.185289 +v 0.473809 -2.847113 -0.585496 +v 0.583019 -2.992332 0.941443 +v -1.598575 2.606481 1.050571 +v -0.616771 3.079654 -0.548978 +v -1.634833 0.570384 1.414047 +v 0.219131 -3.028637 -0.548978 +v -1.307638 -0.955630 -0.621801 +v 0.182872 -3.028637 0.977961 +v 0.073879 -2.992332 1.341437 +v 0.001145 0.606084 1.487084 +v -1.525841 -3.101852 -0.221807 +v 0.510068 -2.992332 -0.294630 +v -1.234903 -2.773898 -0.585283 +v -1.562316 3.042744 0.141882 +v -1.634833 1.479215 -0.548978 +v 0.401075 0.025206 -0.694625 +v -1.489365 -3.064942 0.759705 +v 0.473809 -1.428803 -0.694625 +v 0.546544 2.715395 1.414260 +v -1.525841 -1.901371 1.341437 +v -1.525841 -1.937676 -0.585283 +f 61 67 75 +f 33 32 36 +f 34 35 38 +f 34 38 40 +f 34 40 43 +f 32 33 44 +f 44 33 45 +f 41 45 47 +f 35 34 48 +f 46 35 48 +f 36 32 49 +f 32 44 49 +f 44 45 50 +f 31 41 51 +f 41 47 51 +f 47 43 51 +f 44 37 52 +f 35 46 52 +f 31 40 53 +f 40 38 53 +f 41 31 53 +f 48 39 55 +f 48 34 56 +f 45 41 57 +f 37 50 57 +f 50 45 57 +f 38 37 58 +f 53 38 58 +f 45 33 59 +f 47 45 59 +f 54 36 60 +f 36 55 60 +f 55 39 60 +f 56 34 60 +f 49 44 61 +f 44 52 61 +f 52 46 61 +f 34 42 62 +f 42 54 62 +f 60 34 62 +f 54 60 62 +f 42 34 63 +f 34 43 63 +f 63 43 64 +f 43 47 64 +f 47 59 64 +f 42 63 64 +f 33 36 65 +f 36 54 65 +f 54 42 65 +f 39 48 66 +f 48 56 66 +f 60 39 66 +f 56 60 66 +f 55 36 67 +f 61 46 67 +f 41 53 68 +f 37 57 68 +f 57 41 68 +f 58 37 68 +f 53 58 68 +f 37 44 69 +f 50 37 69 +f 44 50 69 +f 38 35 70 +f 37 38 70 +f 35 52 70 +f 52 37 70 +f 42 33 71 +f 33 65 71 +f 65 42 71 +f 46 48 72 +f 48 55 72 +f 55 67 72 +f 67 46 72 +f 40 31 73 +f 43 40 73 +f 31 51 73 +f 51 43 73 +f 33 42 74 +f 59 33 74 +f 42 64 74 +f 64 59 74 +f 36 49 75 +f 49 61 75 +f 67 36 75 +o convex_2 +v 0.873885 1.006853 1.487084 +v 0.583019 -1.101953 0.941443 +v 0.619410 -1.101953 0.941443 +v 0.583019 1.006853 -0.658106 +v 0.910276 -0.992754 -0.694625 +v 0.910276 1.006853 -0.658106 +v 0.910276 -1.101953 1.341437 +v 0.583019 1.043393 1.487084 +v 0.583019 -0.992754 -0.694625 +v 0.583019 -1.101953 1.341437 +v 0.910276 1.043393 1.450565 +v 0.910276 0.097979 1.487084 +v 0.764779 1.043393 -0.258112 +v 0.583019 0.388827 1.487084 +v 0.910276 0.061440 -0.694625 +v 0.801137 -0.665576 1.414260 +v 0.583019 0.061440 -0.694625 +f 90 84 92 +f 78 77 80 +f 80 81 82 +f 77 78 82 +f 78 80 82 +f 79 77 83 +f 77 79 84 +f 80 77 84 +f 77 82 85 +f 83 77 85 +f 82 81 86 +f 83 76 86 +f 76 83 87 +f 82 86 87 +f 86 76 87 +f 81 79 88 +f 79 83 88 +f 86 81 88 +f 83 86 88 +f 83 85 89 +f 87 83 89 +f 79 81 90 +f 81 80 90 +f 80 84 90 +f 85 82 91 +f 82 87 91 +f 89 85 91 +f 87 89 91 +f 84 79 92 +f 79 90 92 +o convex_3 +v 1.710178 0.170696 -2.549023 +v 1.201170 0.170696 -2.258228 +v 1.201170 0.170696 -2.221820 +v 1.601121 -0.301993 -2.621761 +v 1.782959 -0.229263 -2.221820 +v 1.710178 0.279792 -2.221820 +v 1.310284 0.316157 -2.621761 +v 1.310284 -0.265628 -2.476324 +v 1.310284 -0.192897 -2.221820 +v 1.710178 -0.301993 -2.621761 +v 1.201170 0.279792 -2.221820 +v 1.310284 -0.120167 -2.585392 +f 100 94 104 +f 95 97 98 +f 97 93 98 +f 98 93 99 +f 95 94 100 +f 96 97 100 +f 100 97 101 +f 97 95 101 +f 95 100 101 +f 93 97 102 +f 97 96 102 +f 99 93 102 +f 96 99 102 +f 94 95 103 +f 95 98 103 +f 98 99 103 +f 99 94 103 +f 94 99 104 +f 99 96 104 +f 96 100 104 +o convex_4 +v 1.201213 -3.065333 -2.076188 +v 1.819200 0.279144 -1.021881 +v 1.601067 0.279144 -1.021881 +v 0.983080 3.116016 -2.221703 +v 2.073853 3.042979 -2.112596 +v 0.946780 2.969942 -1.058406 +v 1.928321 -3.101852 -2.185412 +v 0.946780 -3.065333 -1.167513 +v 1.964732 -2.992297 -1.131105 +v 1.964732 3.042979 -1.167513 +v 1.019491 -3.065333 -2.003489 +v 1.164802 -0.192552 -1.021881 +v 1.782899 0.024124 -2.221703 +v 1.201213 0.170198 -2.221703 +v 0.946780 -0.119515 -1.712577 +v 1.964732 -2.701367 -1.094814 +v 2.073853 2.133671 -2.039897 +v 2.073853 3.042979 -1.894382 +v 1.964732 -3.028815 -1.676286 +v 0.946780 3.042370 -1.712577 +v 1.019491 -2.228453 -2.076188 +v 1.164802 2.969942 -1.058406 +v 1.128502 3.116016 -2.221703 +v 1.782899 -0.846840 -1.021881 +v 0.946780 -3.065333 -1.385609 +v 0.983080 1.478774 -2.185295 +v 2.073853 2.024724 -2.112596 +v 0.946780 1.478774 -1.058406 +v 1.819200 3.079497 -2.148886 +v 1.419456 -3.028815 -1.131105 +v 0.983080 3.116016 -2.039897 +v 1.855610 -3.101852 -2.185295 +v 1.928321 -3.101852 -1.967198 +v 1.964732 -2.119507 -2.149004 +v 0.983080 -2.446955 -1.131105 +v 1.928321 2.497638 -1.131105 +v 2.001032 3.042979 -1.385609 +v 1.164802 -3.028206 -2.076188 +v 1.273923 -0.156034 -2.221703 +f 142 118 143 +f 107 106 110 +f 106 107 116 +f 107 110 116 +f 109 111 117 +f 108 117 118 +f 112 110 119 +f 120 113 122 +f 121 109 122 +f 113 121 122 +f 108 119 124 +f 119 110 124 +f 110 106 126 +f 114 110 126 +f 117 108 127 +f 106 116 128 +f 120 106 128 +f 112 119 129 +f 119 115 129 +f 108 118 130 +f 119 108 130 +f 115 119 130 +f 125 115 130 +f 118 125 130 +f 111 109 131 +f 109 121 131 +f 121 113 131 +f 113 123 131 +f 110 112 132 +f 116 110 132 +f 109 117 133 +f 122 109 133 +f 127 114 133 +f 117 127 133 +f 112 113 134 +f 113 120 134 +f 128 116 134 +f 120 128 134 +f 110 114 135 +f 108 124 135 +f 124 110 135 +f 127 108 135 +f 114 127 135 +f 115 105 136 +f 112 129 136 +f 129 115 136 +f 113 112 137 +f 111 123 137 +f 123 113 137 +f 136 111 137 +f 112 136 137 +f 123 111 138 +f 111 131 138 +f 131 123 138 +f 132 112 139 +f 116 132 139 +f 112 134 139 +f 134 116 139 +f 120 114 140 +f 106 120 140 +f 126 106 140 +f 114 126 140 +f 114 120 141 +f 120 122 141 +f 122 133 141 +f 133 114 141 +f 105 115 142 +f 115 125 142 +f 125 118 142 +f 136 105 142 +f 136 142 143 +f 117 111 143 +f 118 117 143 +f 111 136 143 +o convex_5 +v 1.819324 1.079755 1.414143 +v 0.910347 -1.065591 0.759641 +v 0.910347 -0.992722 -0.694261 +v 2.473716 -0.956182 -0.621812 +v 0.910347 1.006886 -0.658160 +v 2.437370 -0.992512 1.450490 +v 2.401024 1.006675 -0.694261 +v 0.910347 0.861566 1.487084 +v 2.582918 1.079755 1.341448 +v 1.746632 -0.265496 -1.021881 +v 0.946693 -1.065591 1.377795 +v 1.164932 0.207001 -1.021881 +v 0.910347 1.043215 1.450490 +v 2.546408 1.079755 0.687192 +v 0.910347 0.061472 1.487084 +v 1.819324 0.243120 -1.021881 +v 0.910347 1.043215 -0.258091 +v 1.710286 0.243120 1.487084 +v 1.455864 -1.065591 1.341448 +v 2.582918 0.788697 1.050667 +v 2.437370 0.497639 -0.694261 +v 1.164932 -0.229166 -1.021881 +v 2.510062 -0.156297 1.414143 +v 1.164932 -0.229166 1.487084 +v 1.528393 1.006886 -0.694261 +v 1.673940 1.079755 0.614251 +v 0.910347 -1.065591 1.341448 +v 1.601248 0.279450 -1.021881 +v 2.473716 1.043215 -0.112700 +v 2.546408 0.752367 1.377795 +v 2.437370 -0.592674 1.450490 +v 2.110093 -0.992512 1.450490 +v 2.473716 -0.956182 -0.330786 +v 1.564902 1.079755 1.414143 +v 1.710286 -0.374486 1.487084 +v 1.019548 -0.992722 -0.694261 +f 153 147 179 +f 146 145 148 +f 148 145 151 +f 146 148 155 +f 151 144 156 +f 148 151 156 +f 144 152 157 +f 151 145 158 +f 147 153 159 +f 153 155 159 +f 148 156 160 +f 144 151 161 +f 151 158 161 +f 145 147 162 +f 147 149 162 +f 154 145 162 +f 149 154 162 +f 147 157 163 +f 157 152 163 +f 157 147 164 +f 147 159 164 +f 159 150 164 +f 153 146 165 +f 146 155 165 +f 155 153 165 +f 163 152 166 +f 158 154 167 +f 161 158 167 +f 148 160 168 +f 160 150 168 +f 144 157 169 +f 157 160 169 +f 145 154 170 +f 158 145 170 +f 154 158 170 +f 155 148 171 +f 150 159 171 +f 159 155 171 +f 148 168 171 +f 168 150 171 +f 150 160 172 +f 160 157 172 +f 157 164 172 +f 164 150 172 +f 152 144 173 +f 144 161 173 +f 166 152 173 +f 166 173 174 +f 161 149 174 +f 149 166 174 +f 173 161 174 +f 154 149 175 +f 167 154 175 +f 149 147 176 +f 147 163 176 +f 166 149 176 +f 163 166 176 +f 156 144 177 +f 160 156 177 +f 144 169 177 +f 169 160 177 +f 149 161 178 +f 161 167 178 +f 175 149 178 +f 167 175 178 +f 145 146 179 +f 147 145 179 +f 146 153 179 +o convex_6 +v 1.128514 -0.120113 2.577567 +v 1.819253 -0.011135 3.450393 +v 1.782873 -0.301936 3.523344 +v 1.746494 -0.338263 1.487084 +v 1.710114 0.279795 1.487084 +v 1.237653 0.207015 3.486869 +v 1.164894 0.170689 1.487084 +v 1.128514 -0.192830 3.450393 +v 1.164894 -0.229156 1.487084 +v 1.819253 0.243405 3.086632 +v 1.710114 -0.374717 3.050356 +v 1.455795 0.279795 1.669263 +v 1.673802 -0.374717 1.487084 +v 1.782873 0.207015 3.413917 +v 1.128514 -0.083723 3.450393 +v 1.346724 -0.265546 3.486869 +v 1.491972 0.279795 2.214604 +v 1.819253 0.025256 2.795824 +v 1.782873 -0.338263 3.523344 +v 1.201273 0.207015 1.487084 +f 185 191 199 +f 184 183 186 +f 187 180 188 +f 180 186 188 +f 186 183 188 +f 188 183 192 +f 183 190 192 +f 190 188 192 +f 182 181 193 +f 185 182 193 +f 181 189 193 +f 189 185 193 +f 186 180 194 +f 185 186 194 +f 187 185 194 +f 180 187 194 +f 185 187 195 +f 187 188 195 +f 188 190 195 +f 189 184 196 +f 185 189 196 +f 184 191 196 +f 191 185 196 +f 183 184 197 +f 189 181 197 +f 184 189 197 +f 181 182 198 +f 182 185 198 +f 190 183 198 +f 185 195 198 +f 195 190 198 +f 197 181 198 +f 183 197 198 +f 184 186 199 +f 186 185 199 +f 191 184 199 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/265/265.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/265/265.urdf new file mode 100644 index 000000000..cd56727b2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/265/265.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/266/266.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/266/266.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/266/266.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/266/266.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/266/266.obj new file mode 100644 index 000000000..66d4ae656 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/266/266.obj @@ -0,0 +1,396 @@ +o convex_0 +v -0.821082 -1.809335 1.513484 +v -1.074707 -5.908501 -0.683745 +v -0.821082 -5.908501 -0.683745 +v -1.032544 0.050505 -0.641375 +v 1.080359 0.050505 -0.218748 +v 0.953653 -5.908501 1.428959 +v 1.122522 0.050505 1.471329 +v 0.995817 -5.950797 -0.514694 +v -0.990380 -5.908501 1.428959 +v -1.074707 0.050505 1.386589 +v 0.995817 -1.176073 -0.641590 +v 1.038195 0.050505 -0.557064 +v -1.074707 -2.274001 1.513484 +v -0.018256 -3.921186 -0.683745 +v -1.074707 -0.372453 -0.092067 +v 0.995817 -5.950797 0.372715 +v -1.032544 -4.851106 1.471114 +v 0.995817 -2.612367 -0.641590 +v -0.356424 -5.950797 -0.641375 +v -1.074707 -5.908501 -0.049912 +v 0.150613 -4.260140 1.471329 +v 1.038195 -0.160974 -0.599220 +v 0.530944 0.050505 1.471329 +v -1.074707 -1.683035 1.513484 +v 1.038195 -1.133190 1.471329 +v 0.700028 -5.866205 -0.557064 +v 1.122522 0.008209 1.259908 +v -0.948002 -5.147177 1.471114 +v -1.074707 -5.104881 -0.683745 +v -1.074707 -0.330745 1.428959 +v -1.032544 -5.908501 0.963962 +v 0.277318 -5.950797 0.203879 +v 1.038195 -0.964007 -0.599220 +f 18 22 33 +f 5 4 7 +f 7 4 10 +f 4 5 12 +f 10 2 13 +f 3 2 14 +f 4 11 14 +f 2 10 15 +f 10 4 15 +f 7 6 16 +f 6 9 16 +f 14 11 18 +f 2 3 19 +f 8 16 19 +f 13 2 20 +f 17 13 20 +f 2 19 20 +f 1 13 21 +f 11 4 22 +f 4 12 22 +f 12 5 22 +f 18 11 22 +f 7 10 23 +f 1 7 24 +f 13 1 24 +f 10 13 24 +f 7 23 24 +f 7 1 25 +f 6 7 25 +f 1 21 25 +f 21 6 25 +f 3 14 26 +f 18 8 26 +f 14 18 26 +f 19 3 26 +f 8 19 26 +f 5 7 27 +f 8 5 27 +f 7 16 27 +f 16 8 27 +f 9 6 28 +f 17 9 28 +f 13 17 28 +f 6 21 28 +f 21 13 28 +f 14 2 29 +f 4 14 29 +f 2 15 29 +f 15 4 29 +f 23 10 30 +f 10 24 30 +f 24 23 30 +f 9 17 31 +f 19 9 31 +f 17 20 31 +f 20 19 31 +f 16 9 32 +f 9 19 32 +f 19 16 32 +f 5 8 33 +f 8 18 33 +f 22 5 33 +o convex_1 +v -0.947630 0.050720 -0.641710 +v 3.066821 2.247949 -2.205301 +v 3.066821 2.205571 -0.599724 +v -2.934150 2.163622 -1.909292 +v 2.981633 0.135047 -2.585491 +v -2.934150 0.135262 -2.585702 +v -2.934150 2.121244 -0.557317 +v 2.981633 0.219804 -0.557317 +v -1.116821 2.163407 -2.627899 +v -2.976743 0.135262 -0.557317 +v 3.066821 2.247949 -2.585491 +v -0.990223 2.247949 -0.514909 +v -2.934150 2.163622 -2.501098 +v 1.460686 0.219589 -2.670306 +v 1.037707 0.050720 -0.514909 +v 1.080301 2.247949 -0.514909 +v -0.398645 0.093099 -2.585491 +v 0.234935 0.938303 -2.670306 +v 3.066821 1.360582 -0.599724 +v -1.032225 0.050720 -0.514909 +v -0.736436 2.247949 -1.191319 +v -2.131378 0.092883 -2.543295 +v -2.976743 1.107171 -1.487116 +v -2.807552 2.163622 -2.543295 +v 3.066821 1.613992 -2.585491 +v 1.080301 2.078866 -2.627899 +v 3.024227 0.515593 -0.557317 +v -2.976743 0.135262 -1.951700 +v 2.981633 0.177640 -1.022322 +v 0.657914 0.177425 -2.670306 +v 1.713881 0.219589 -0.514909 +v 1.037707 0.853761 -2.670306 +v -2.976743 1.149335 -0.557317 +v 2.813034 2.247949 -2.585491 +v -1.286013 1.909782 -2.627899 +v 2.348053 0.177640 -2.627899 +v -2.934150 0.346509 -2.585702 +v 3.024227 0.684677 -0.557317 +f 64 60 71 +f 35 36 44 +f 37 40 45 +f 35 44 45 +f 37 45 46 +f 45 48 49 +f 36 35 49 +f 35 45 49 +f 48 34 50 +f 38 48 50 +f 44 36 52 +f 34 48 53 +f 48 45 53 +f 45 44 54 +f 46 45 54 +f 50 34 55 +f 39 50 55 +f 34 53 55 +f 53 43 55 +f 44 52 58 +f 42 44 59 +f 51 42 59 +f 52 36 60 +f 38 58 60 +f 58 52 60 +f 39 55 61 +f 55 43 61 +f 43 56 61 +f 56 46 61 +f 48 38 62 +f 41 48 62 +f 38 60 62 +f 60 41 62 +f 50 39 63 +f 38 50 63 +f 39 51 63 +f 51 47 63 +f 48 41 64 +f 49 48 64 +f 41 60 64 +f 44 47 65 +f 47 51 65 +f 59 44 65 +f 51 59 65 +f 40 37 66 +f 45 40 66 +f 37 46 66 +f 43 53 66 +f 53 45 66 +f 56 43 66 +f 46 56 66 +f 44 42 67 +f 54 44 67 +f 46 54 67 +f 42 57 67 +f 57 46 67 +f 42 51 68 +f 57 42 68 +f 47 44 69 +f 58 38 69 +f 44 58 69 +f 38 63 69 +f 63 47 69 +f 51 39 70 +f 46 57 70 +f 39 61 70 +f 61 46 70 +f 68 51 70 +f 57 68 70 +f 36 49 71 +f 60 36 71 +f 49 64 71 +o convex_2 +v -1.074922 3.684889 -0.557201 +v 1.080474 4.276773 -0.514909 +v 1.080474 4.276773 -0.683927 +v 1.080474 2.248363 -0.514909 +v -0.990318 2.248363 -0.641668 +v -0.990318 2.248363 -0.514909 +v -1.074922 4.149700 -0.641668 +v 1.080474 2.248363 -0.599427 +v -1.074922 4.149700 -0.514909 +v 0.108267 3.009215 -0.683927 +v 0.108267 4.234283 -0.683927 +v 1.080474 3.727181 -0.683927 +v -0.060519 2.248363 -0.641668 +f 81 79 84 +f 74 73 75 +f 75 73 77 +f 72 76 77 +f 76 75 77 +f 76 72 78 +f 74 75 79 +f 75 76 79 +f 77 73 80 +f 72 77 80 +f 78 72 80 +f 76 78 81 +f 73 74 82 +f 80 73 82 +f 78 80 82 +f 74 81 82 +f 81 78 82 +f 74 79 83 +f 81 74 83 +f 79 81 83 +f 79 76 84 +f 76 81 84 +o convex_3 +v 1.038195 3.473385 1.471404 +v -1.074707 0.050505 0.541294 +v -1.032544 0.050505 -0.514909 +v -1.074707 4.149770 -0.514909 +v 1.038195 0.050505 -0.514909 +v 1.080359 4.276773 -0.514909 +v -1.032544 4.107160 1.429108 +v 1.122522 0.135311 1.513700 +v -1.074707 0.177508 1.513700 +v 0.995817 4.107574 1.513700 +v 1.122522 0.050505 1.471404 +v -1.074707 2.121443 1.513700 +v 1.080359 0.219704 -0.430318 +v -1.074707 0.050505 1.386614 +v 1.122522 1.403688 1.429108 +v 0.235155 4.107160 1.513700 +v 1.080359 4.276773 -0.345726 +v 0.911275 4.149770 1.302221 +v 1.122522 0.135311 1.133236 +v -1.074707 4.149770 -0.176742 +v 1.080359 2.797000 1.429108 +v -0.652213 4.107160 1.471404 +v 0.869111 4.276773 -0.472613 +v 1.080359 4.234163 -0.134446 +v -1.032544 4.149770 0.203722 +v 1.080359 0.769086 -0.514909 +v -1.074707 3.642585 -0.514909 +v -1.074707 2.543407 1.386614 +f 91 104 112 +f 86 87 89 +f 87 88 89 +f 89 88 90 +f 88 86 93 +f 93 92 94 +f 92 85 94 +f 86 89 95 +f 92 93 95 +f 88 93 96 +f 93 94 96 +f 95 89 97 +f 93 86 98 +f 86 95 98 +f 95 93 98 +f 92 95 99 +f 96 94 100 +f 99 90 101 +f 100 94 102 +f 101 91 102 +f 94 101 102 +f 95 97 103 +f 90 99 103 +f 99 95 103 +f 88 96 104 +f 85 92 105 +f 92 99 105 +f 91 96 106 +f 96 100 106 +f 102 91 106 +f 100 102 106 +f 90 88 107 +f 101 90 107 +f 91 101 107 +f 88 104 107 +f 94 85 108 +f 101 94 108 +f 99 101 108 +f 85 105 108 +f 105 99 108 +f 104 91 109 +f 91 107 109 +f 107 104 109 +f 89 90 110 +f 97 89 110 +f 90 103 110 +f 103 97 110 +f 87 86 111 +f 88 87 111 +f 86 88 111 +f 96 91 112 +f 104 96 112 +o convex_4 +v -0.018199 0.092767 3.161679 +v 1.080423 2.205902 1.809613 +v 1.080423 2.205902 1.513890 +v -1.117040 2.121095 2.612289 +v -1.074727 0.177367 1.513890 +v 1.122737 0.135171 1.513890 +v 0.953482 2.079105 3.415346 +v -1.117040 0.135171 3.415156 +v 1.038110 0.092767 3.457783 +v -1.074727 2.121095 1.513890 +v -1.074727 2.121095 3.415156 +v 0.911169 2.163498 3.415346 +v -1.074727 2.163498 3.119433 +v -0.736655 0.135171 1.598572 +v 1.038110 0.557963 3.457783 +v -0.990318 2.163498 1.556326 +v 1.080423 0.092767 2.316757 +v 1.080423 0.177574 2.950258 +v -1.117040 2.079105 3.415156 +v -1.117040 0.177367 2.739028 +v 0.953482 1.022952 3.457783 +v 0.995796 2.205902 2.232264 +v -0.567620 2.163498 3.415156 +v 1.122737 0.557963 1.556136 +v 0.150398 0.092767 2.527797 +f 126 129 137 +f 117 115 118 +f 120 113 121 +f 117 116 122 +f 115 117 122 +f 119 114 124 +f 122 116 125 +f 117 118 126 +f 113 120 126 +f 120 117 126 +f 114 119 127 +f 115 122 128 +f 122 125 128 +f 118 121 129 +f 121 113 129 +f 126 118 129 +f 121 118 130 +f 114 127 130 +f 127 121 130 +f 116 120 131 +f 125 116 131 +f 123 125 131 +f 116 117 132 +f 120 116 132 +f 117 120 132 +f 120 121 133 +f 119 124 133 +f 127 119 133 +f 121 127 133 +f 131 120 133 +f 123 131 133 +f 114 115 134 +f 124 114 134 +f 115 128 134 +f 128 125 134 +f 125 123 135 +f 123 133 135 +f 133 124 135 +f 124 134 135 +f 134 125 135 +f 115 114 136 +f 118 115 136 +f 114 130 136 +f 130 118 136 +f 113 126 137 +f 129 113 137 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/266/266.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/266/266.urdf new file mode 100644 index 000000000..35d136b4a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/266/266.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/267/267.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/267/267.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/267/267.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/267/267.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/267/267.obj new file mode 100644 index 000000000..6dbe1c822 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/267/267.obj @@ -0,0 +1,1782 @@ +o convex_0 +v -0.575777 0.656889 -2.152525 +v -0.653517 -0.042258 -4.068217 +v -0.679478 0.294381 -3.938812 +v -0.187414 0.630951 -3.938812 +v -0.213328 0.061354 -2.074648 +v -0.627603 -0.016321 -2.074648 +v -0.265202 0.035417 -4.068217 +v -0.213376 0.605014 -2.074648 +v -0.679478 0.527339 -3.886894 +v -0.679478 0.630951 -2.074648 +v -0.187414 0.294381 -2.877619 +v -0.239289 0.035417 -2.074648 +v -0.368711 0.656889 -3.343123 +v -0.239289 0.035417 -3.886894 +v -0.653517 0.164830 -2.126761 +v -0.601738 -0.042258 -3.809213 +v -0.653517 0.656889 -2.152525 +f 13 9 17 +f 2 4 7 +f 6 5 8 +f 2 3 9 +f 4 2 9 +f 8 1 10 +f 6 8 10 +f 9 3 10 +f 4 8 11 +f 8 5 11 +f 5 6 12 +f 1 8 13 +f 8 4 13 +f 4 9 13 +f 7 4 14 +f 4 11 14 +f 11 5 14 +f 5 12 14 +f 3 2 15 +f 2 6 15 +f 10 3 15 +f 6 10 15 +f 6 2 16 +f 2 7 16 +f 12 6 16 +f 7 14 16 +f 14 12 16 +f 10 1 17 +f 9 10 17 +f 1 13 17 +o convex_1 +v -2.828924 0.113140 0.826124 +v -0.627682 0.501536 0.800216 +v -0.627682 0.501536 0.722542 +v -2.984409 0.501536 0.774358 +v -0.627682 0.113140 0.722542 +v -0.653750 0.423781 0.852032 +v -2.906436 0.501536 0.826124 +v -2.984409 0.113140 0.774358 +v -0.627682 0.113140 0.774358 +v -1.689778 0.501536 0.852032 +f 24 18 27 +f 19 20 21 +f 20 19 22 +f 21 20 22 +f 19 21 24 +f 22 18 25 +f 21 22 25 +f 24 21 25 +f 18 24 25 +f 18 22 26 +f 22 19 26 +f 19 23 26 +f 23 18 26 +f 23 19 27 +f 18 23 27 +f 19 24 27 +o convex_2 +v -0.032048 0.760431 -1.919065 +v -0.653580 0.087166 -1.970861 +v -0.653580 0.087166 -1.944963 +v -0.653580 0.838087 -1.996759 +v 0.252854 0.967575 -1.996759 +v -0.187498 0.139089 -1.996759 +v -0.264956 0.579111 -1.893166 +v -0.653580 0.838087 -1.970861 +f 34 28 35 +f 29 30 31 +f 30 29 33 +f 29 31 33 +f 32 28 33 +f 31 32 33 +f 33 28 34 +f 30 33 34 +f 31 30 35 +f 28 32 35 +f 32 31 35 +f 30 34 35 +o convex_3 +v 0.460038 -4.755779 -1.841183 +v 0.537705 -3.719956 0.074902 +v 0.485969 -2.813421 0.049014 +v 0.460038 -4.626111 0.074902 +v 0.589516 -4.600253 -0.184165 +v 0.511850 -3.046900 -0.934729 +v 0.511824 -4.160105 -1.841183 +v 0.460038 -3.046900 -0.753513 +v 0.537717 -4.729731 -1.556227 +v 0.589516 -4.418870 0.074902 +v 0.460038 -2.813421 0.049014 +v 0.485957 -4.160105 -1.841183 +v 0.589516 -4.626111 0.074902 +f 40 45 48 +f 41 40 42 +f 36 39 43 +f 36 42 44 +f 42 40 44 +f 38 37 45 +f 37 39 45 +f 40 41 45 +f 41 38 45 +f 37 38 46 +f 39 37 46 +f 38 41 46 +f 41 43 46 +f 43 39 46 +f 42 36 47 +f 41 42 47 +f 43 41 47 +f 36 43 47 +f 39 36 48 +f 36 44 48 +f 44 40 48 +f 45 39 48 +o convex_4 +v 0.589529 -0.352884 -1.996766 +v -1.482319 1.200769 -2.022667 +v -1.482319 1.200769 -1.996766 +v 0.589529 1.330275 -2.074453 +v -0.627297 -0.016335 -2.074453 +v 0.589529 1.330275 -1.996766 +v 0.511652 -0.793369 -2.022667 +v -0.135699 -0.560134 -1.996766 +v -0.679417 0.630778 -2.074453 +v -0.213373 0.061410 -2.074453 +v 0.304589 1.330275 -2.074453 +v 0.589529 1.045071 -2.074453 +f 55 58 60 +f 51 50 53 +f 51 49 54 +f 49 52 54 +f 53 55 56 +f 49 51 56 +f 51 53 56 +f 55 49 56 +f 52 53 57 +f 53 50 57 +f 53 52 58 +f 55 53 58 +f 50 51 59 +f 51 54 59 +f 54 52 59 +f 57 50 59 +f 52 57 59 +f 52 49 60 +f 49 55 60 +f 58 52 60 +o convex_5 +v -0.964084 -4.678084 -0.054401 +v 0.459663 -4.445002 0.075089 +v 0.459663 -4.626247 0.075089 +v -1.456046 -4.445002 0.049181 +v 0.459663 -4.600352 -0.054401 +v -1.456046 -4.445002 -0.054401 +v -1.456046 -4.678084 0.049181 +f 64 66 67 +f 63 62 64 +f 63 61 65 +f 62 63 65 +f 62 65 66 +f 64 62 66 +f 65 61 66 +f 66 61 67 +f 61 63 67 +f 63 64 67 +o convex_6 +v 0.330193 1.019498 0.100967 +v -0.808758 1.304377 -0.028503 +v -0.808758 1.304377 -0.054401 +v -1.482319 1.019498 -0.054401 +v -1.482319 1.304377 0.100967 +v 0.459848 1.252538 -0.054401 +v 0.459848 1.252538 0.152784 +v -1.482319 1.019498 0.100967 +v -1.482319 1.304377 -0.054401 +v 0.459848 1.019498 0.152784 +f 74 75 77 +f 69 70 72 +f 70 69 73 +f 71 70 73 +f 68 71 73 +f 69 72 74 +f 73 69 74 +f 71 68 75 +f 72 71 75 +f 74 72 75 +f 70 71 76 +f 71 72 76 +f 72 70 76 +f 68 73 77 +f 73 74 77 +f 75 68 77 +o convex_7 +v -0.575747 0.035375 0.670699 +v -0.239254 0.605128 0.722542 +v -0.213386 0.553223 0.722542 +v -0.187518 0.553223 0.178778 +v 0.019702 -0.016403 0.722542 +v -0.679425 0.087217 0.178778 +v -0.653420 0.553223 0.722542 +v -0.135713 0.061296 0.178778 +v -0.653488 0.527429 0.204646 +v -0.679357 0.061296 0.722542 +v -0.213386 -0.042324 0.644778 +f 82 87 88 +f 79 80 81 +f 80 79 82 +f 81 80 82 +f 82 79 84 +f 81 82 85 +f 83 81 85 +f 79 81 86 +f 81 83 86 +f 84 79 86 +f 83 84 86 +f 83 78 87 +f 82 84 87 +f 84 83 87 +f 78 83 88 +f 85 82 88 +f 83 85 88 +f 87 78 88 +o convex_8 +v 2.531881 0.398671 0.878085 +v 2.531866 3.065448 2.069053 +v 2.557785 2.469338 1.939575 +v 2.557769 3.065448 0.126886 +v 2.480090 0.035666 2.069053 +v 2.505993 3.065448 0.126886 +v 2.557785 0.035666 1.732525 +v 2.506009 3.065448 2.069053 +v 2.557769 1.460399 0.126886 +v 2.505993 0.579580 0.852418 +v 2.531866 0.217169 2.069053 +v 2.531881 1.460399 0.126886 +v 2.480090 0.553778 2.069053 +v 2.557769 0.035666 1.395806 +f 97 95 102 +f 90 91 92 +f 90 92 94 +f 92 91 95 +f 93 90 96 +f 90 94 96 +f 94 92 97 +f 92 95 97 +f 89 93 98 +f 93 94 98 +f 91 90 99 +f 90 93 99 +f 95 91 99 +f 93 95 99 +f 94 97 100 +f 97 89 100 +f 89 98 100 +f 98 94 100 +f 94 93 101 +f 93 96 101 +f 96 94 101 +f 93 89 102 +f 95 93 102 +f 89 97 102 +o convex_9 +v 0.460056 -2.812418 0.049232 +v 0.641307 3.375619 0.204580 +v 0.537755 3.375619 0.204580 +v 0.615402 3.375619 -0.002585 +v 0.641307 -2.760315 0.204554 +v 0.641307 -2.760315 0.023324 +v 0.460056 1.252154 -0.054401 +v 0.460056 -2.786366 0.204554 +v 0.485962 -2.812418 -0.054401 +v 0.460056 1.252154 0.152738 +v 0.537755 3.375619 -0.002585 +v 0.537755 -0.249720 -0.054401 +v 0.641307 3.375619 0.023298 +f 108 106 115 +f 105 104 106 +f 104 107 108 +f 104 105 110 +f 103 107 110 +f 107 104 110 +f 109 103 110 +f 107 103 111 +f 108 107 111 +f 103 109 111 +f 105 109 112 +f 110 105 112 +f 109 110 112 +f 105 106 113 +f 109 105 113 +f 106 109 113 +f 106 108 114 +f 109 106 114 +f 108 111 114 +f 111 109 114 +f 106 104 115 +f 104 108 115 +o convex_10 +v 2.531886 0.890636 2.121029 +v 1.858602 3.168863 2.069251 +v 1.858602 3.168863 2.095151 +v 2.531886 3.298531 2.069251 +v 2.480019 -0.715675 2.069251 +v 2.531886 3.298531 2.146930 +v 2.454118 -0.611941 2.095151 +v 2.376416 3.194797 2.146930 +f 118 122 123 +f 117 118 119 +f 119 116 120 +f 117 119 120 +f 119 118 121 +f 116 119 121 +f 118 117 122 +f 120 116 122 +f 117 120 122 +f 116 121 123 +f 121 118 123 +f 122 116 123 +o convex_11 +v -1.508217 1.226683 -1.996759 +v -0.653580 1.304377 -0.934937 +v -0.653580 1.278459 -0.934937 +v -1.508217 1.097192 -0.934937 +v -1.197433 1.097192 -1.996759 +v -1.508217 1.278459 -0.934937 +v -0.653580 1.278459 -1.996759 +v -1.508217 1.097192 -1.996759 +v -0.705447 1.304377 -1.530393 +v -1.326766 1.252581 -1.996759 +v -0.653580 1.252581 -1.996759 +f 128 130 134 +f 126 125 127 +f 126 127 128 +f 127 125 129 +f 124 127 129 +f 125 126 130 +f 128 124 130 +f 127 124 131 +f 124 128 131 +f 128 127 131 +f 129 125 132 +f 125 130 132 +f 132 130 133 +f 124 129 133 +f 130 124 133 +f 129 132 133 +f 126 128 134 +f 130 126 134 +o convex_12 +v 0.589184 -4.626326 -0.054751 +v -1.404333 -4.729863 -1.867000 +v -1.404333 -4.729863 -1.349265 +v 0.460034 -4.755778 -1.867000 +v 0.511494 -4.600410 -0.934793 +v -1.456393 -4.678079 -0.054751 +v -1.456393 -4.626310 -0.934793 +v -0.161689 -4.600410 -0.054751 +v -0.653460 -4.703964 -1.867000 +v -1.456393 -4.626310 -0.054751 +v 0.460034 -4.755778 -1.711573 +v -0.937791 -4.678064 -0.054751 +v -1.456393 -4.703964 -0.417059 +v -1.404333 -4.703964 -1.867000 +v 0.460034 -4.703979 -1.737655 +v -0.523910 -4.755778 -1.841095 +v 0.563154 -4.678064 -0.624117 +v 0.589184 -4.600410 -0.054751 +f 151 139 152 +f 140 135 142 +f 139 141 142 +f 138 136 143 +f 141 140 144 +f 140 142 144 +f 142 141 144 +f 135 140 146 +f 136 137 147 +f 140 141 147 +f 141 136 147 +f 146 140 147 +f 145 146 147 +f 141 139 148 +f 136 141 148 +f 143 136 148 +f 139 143 148 +f 138 143 149 +f 143 139 149 +f 137 136 150 +f 136 138 150 +f 138 145 150 +f 147 137 150 +f 145 147 150 +f 145 138 151 +f 146 145 151 +f 135 146 151 +f 138 149 151 +f 149 139 151 +f 142 135 152 +f 139 142 152 +f 135 151 152 +o convex_13 +v -1.482319 -3.279699 -0.883162 +v -1.456419 -3.047057 -0.054573 +v -1.482319 -3.047057 -0.054573 +v -1.456411 -1.777497 -1.867000 +v -1.404633 -4.729881 -1.867000 +v -1.456419 -4.626131 -0.054573 +v -1.430526 -3.098498 -0.054573 +v -1.456411 -4.056231 -1.841095 +v -1.430541 -2.140187 -1.867000 +v -1.482319 -1.777497 -0.934971 +v -1.404633 -4.677283 -0.934971 +v -1.482319 -2.191918 -1.867000 +v -1.456411 -4.703871 -1.245825 +v -1.456411 -1.777497 -0.934971 +v -1.482319 -3.952482 -0.210000 +v -1.430526 -4.626131 -0.054573 +v -1.404633 -3.952770 -1.841095 +f 159 163 169 +f 154 155 158 +f 154 158 159 +f 157 156 161 +f 153 155 162 +f 155 154 162 +f 156 157 164 +f 160 153 164 +f 157 160 164 +f 153 162 164 +f 162 156 164 +f 153 160 165 +f 160 157 165 +f 157 163 165 +f 154 159 166 +f 161 156 166 +f 159 161 166 +f 162 154 166 +f 156 162 166 +f 155 153 167 +f 158 155 167 +f 153 165 167 +f 165 158 167 +f 159 158 168 +f 163 159 168 +f 158 165 168 +f 165 163 168 +f 157 161 169 +f 161 159 169 +f 163 157 169 +o convex_14 +v 0.641442 -2.761612 0.981888 +v 2.557600 -2.632134 1.369366 +v 2.531716 -2.632134 1.757883 +v 0.641442 -2.658043 0.023379 +v 0.641442 -2.658056 2.121039 +v 2.505832 -2.683913 0.127109 +v 2.376225 -2.709821 1.965134 +v 1.055959 -2.761612 0.023379 +v 1.832663 -2.632134 -0.002605 +v 0.641442 -2.709821 2.121039 +v 1.832663 -2.632134 2.068863 +v 2.557600 -2.632134 0.127109 +v 0.641442 -2.761612 0.023379 +v 2.505832 -2.683913 2.042671 +v 0.693584 -2.735704 1.809852 +v 1.185378 -2.761612 0.774429 +v 1.987966 -2.709821 -0.002605 +f 182 178 186 +f 173 170 174 +f 175 176 177 +f 172 171 178 +f 174 170 179 +f 173 174 180 +f 178 173 180 +f 172 178 180 +f 171 175 181 +f 178 171 181 +f 170 173 182 +f 177 170 182 +f 173 178 182 +f 171 172 183 +f 175 171 183 +f 176 175 183 +f 174 179 183 +f 179 176 183 +f 180 174 183 +f 172 180 183 +f 179 170 184 +f 176 179 184 +f 177 176 185 +f 170 177 185 +f 184 170 185 +f 176 184 185 +f 175 177 186 +f 181 175 186 +f 178 181 186 +f 177 182 186 +o convex_15 +v -2.725046 0.113064 1.292300 +v -0.809523 0.061260 0.722565 +v -0.809523 0.087156 0.722565 +v -0.627739 0.061260 1.266312 +v -2.984282 -0.016426 0.774374 +v -2.984282 0.113064 0.774374 +v -0.627739 0.113064 1.266312 +v -0.394852 0.009482 0.722565 +v -3.113900 0.061260 1.266312 +v -0.705722 0.035378 1.266312 +v -0.628271 0.113064 0.722565 +v -2.828581 -0.016426 0.877937 +f 196 195 198 +f 189 188 191 +f 189 191 192 +f 187 190 193 +f 192 187 193 +f 188 189 194 +f 191 188 194 +f 193 190 194 +f 187 192 195 +f 192 191 195 +f 190 187 196 +f 194 190 196 +f 187 195 196 +f 189 192 197 +f 192 193 197 +f 194 189 197 +f 193 194 197 +f 191 194 198 +f 195 191 198 +f 194 196 198 +o convex_16 +v -1.508217 -0.585977 -1.685846 +v -1.456421 1.252581 -0.054573 +v -1.456421 1.252581 -0.779544 +v -1.456421 -3.046504 -0.054573 +v -1.456421 -1.777315 -1.867000 +v -1.508217 1.252581 -0.753640 +v -1.482319 -3.046504 -0.054573 +v -1.482319 1.096878 -1.867000 +v -1.482319 -3.046504 -0.934793 +v -1.482319 1.252581 -0.054573 +v -1.508217 1.096878 -1.867000 +v -1.482319 -1.777315 -1.867000 +v -1.508217 -1.051823 -1.193838 +v -1.456421 -0.327594 -1.867000 +v -1.456421 -3.046504 -0.934793 +f 202 207 213 +f 201 200 202 +f 201 202 203 +f 200 201 204 +f 202 200 205 +f 202 205 207 +f 200 204 208 +f 205 200 208 +f 204 205 208 +f 199 204 209 +f 204 201 209 +f 206 203 209 +f 201 206 209 +f 207 199 210 +f 203 207 210 +f 199 209 210 +f 209 203 210 +f 204 199 211 +f 205 204 211 +f 199 207 211 +f 207 205 211 +f 201 203 212 +f 203 206 212 +f 206 201 212 +f 203 202 213 +f 207 203 213 +o convex_17 +v 0.123151 1.330275 -1.168060 +v -0.653569 1.252591 -1.996569 +v -1.508164 1.252581 -0.934793 +v 0.563631 1.226683 -0.080619 +v -1.482206 1.304377 -0.054574 +v 0.511714 1.330275 -1.996569 +v 0.563631 1.226683 -0.934793 +v -0.420553 1.304367 -1.970714 +v 0.563631 1.278479 -0.339552 +v -1.482206 1.252581 -0.054574 +v -0.756794 1.330275 -0.650005 +v -1.508164 1.278479 -0.934793 +v -0.782752 1.304377 -0.054574 +v 0.511714 1.304367 -1.996569 +v 0.045276 1.226683 -0.054574 +v 0.071437 1.330275 -1.996569 +v -0.368636 1.252591 -1.996569 +f 227 220 230 +f 216 215 220 +f 219 214 222 +f 217 220 222 +f 220 219 222 +f 218 216 223 +f 214 219 224 +f 215 216 225 +f 216 218 225 +f 221 215 225 +f 218 224 225 +f 224 221 225 +f 222 214 226 +f 217 222 226 +f 218 223 226 +f 214 224 226 +f 224 218 226 +f 215 219 227 +f 219 220 227 +f 216 220 228 +f 220 217 228 +f 223 216 228 +f 217 226 228 +f 226 223 228 +f 219 215 229 +f 215 221 229 +f 224 219 229 +f 221 224 229 +f 220 215 230 +f 215 227 230 +o convex_18 +v 0.460038 -3.951843 -1.168173 +v 0.537706 1.226683 -0.054573 +v 0.563612 1.226683 -0.080459 +v 0.563612 1.096442 -1.841370 +v 0.537706 -3.667633 -1.815310 +v 0.485945 -3.046484 -0.054573 +v 0.460038 -1.751457 -0.080459 +v 0.589519 0.034478 -1.815310 +v 0.511838 -4.160122 -0.935029 +v 0.485970 -4.160122 -1.841370 +v 0.537706 0.552278 -1.633937 +v 0.511838 1.226683 -0.132230 +v 0.589519 1.096442 -1.841370 +v 0.460038 -3.046484 -0.054573 +v 0.485970 -3.589594 -1.841370 +v 0.589519 1.044767 -1.219944 +v 0.485970 -4.160122 -0.935029 +v 0.511838 -1.803132 -0.054573 +v 0.511838 -4.160122 -1.841370 +v 0.460038 -2.036194 -0.287718 +f 242 241 250 +f 235 238 239 +f 232 233 242 +f 237 232 242 +f 234 241 242 +f 238 235 243 +f 240 234 243 +f 242 233 243 +f 234 242 243 +f 236 232 244 +f 237 231 244 +f 232 237 244 +f 239 236 244 +f 240 231 245 +f 234 240 245 +f 241 234 245 +f 231 241 245 +f 239 238 246 +f 233 239 246 +f 243 233 246 +f 238 243 246 +f 231 240 247 +f 240 239 247 +f 244 231 247 +f 239 244 247 +f 233 232 248 +f 232 236 248 +f 239 233 248 +f 236 239 248 +f 235 239 249 +f 239 240 249 +f 243 235 249 +f 240 243 249 +f 231 237 250 +f 241 231 250 +f 237 242 250 +o convex_19 +v 0.563580 -0.016426 0.748757 +v 0.641307 1.770368 1.654873 +v 0.641307 1.770368 1.628753 +v 0.460074 0.657011 1.266193 +v 0.537730 1.770543 0.204633 +v 0.641307 -0.016426 1.576939 +v 0.460074 0.035525 0.748757 +v 0.537766 1.640753 1.602775 +v 0.563598 0.165139 0.308262 +v 0.641307 -0.016426 1.111033 +v 0.589483 -0.016426 1.654873 +v 0.563598 1.770543 0.204633 +v 0.511862 -0.016251 0.204633 +v 0.460074 0.164964 1.369822 +v 0.511862 1.433649 0.204633 +v 0.563633 1.770368 1.654873 +v 0.460074 0.605060 0.826408 +f 265 257 267 +f 253 252 256 +f 253 256 260 +f 256 251 260 +f 256 252 261 +f 251 256 261 +f 252 253 262 +f 255 252 262 +f 253 260 262 +f 260 259 262 +f 260 251 263 +f 259 260 263 +f 251 261 263 +f 261 257 263 +f 255 262 263 +f 262 259 263 +f 254 257 264 +f 258 254 264 +f 257 261 264 +f 261 258 264 +f 254 258 265 +f 258 255 265 +f 255 263 265 +f 263 257 265 +f 252 255 266 +f 255 258 266 +f 261 252 266 +f 258 261 266 +f 257 254 267 +f 254 265 267 +o convex_20 +v -1.482319 -3.123940 -0.028493 +v -1.404633 -0.482592 0.075089 +v -1.482319 -0.482592 0.075089 +v -1.482319 -0.482592 -0.054401 +v -1.404633 -4.445002 0.023286 +v -1.456411 -4.445002 0.049181 +v -1.430533 -4.445002 -0.054401 +v -1.456411 -0.482592 -0.054401 +f 274 271 275 +f 270 269 271 +f 268 270 271 +f 272 269 273 +f 270 268 273 +f 269 270 273 +f 268 271 274 +f 269 272 274 +f 272 273 274 +f 273 268 274 +f 271 269 275 +f 269 274 275 +o convex_21 +v -0.886779 1.019498 0.075084 +v -1.482319 -0.482445 -0.054401 +v -1.482319 -0.482445 0.075084 +v -0.886779 -0.482445 0.100987 +v -1.482319 1.019498 0.100987 +v -1.482319 1.019498 -0.054401 +v -0.886779 -0.482445 0.075084 +v -0.886779 1.019498 0.100987 +v -1.326832 -0.482445 0.100987 +f 280 278 284 +f 278 277 279 +f 277 278 280 +f 276 277 281 +f 280 276 281 +f 277 280 281 +f 277 276 282 +f 279 277 282 +f 276 279 282 +f 279 276 283 +f 276 280 283 +f 280 279 283 +f 278 279 284 +f 279 280 284 +o convex_22 +v -0.213294 -0.042256 0.722605 +v 0.460005 0.656924 1.266258 +v 0.460005 0.630986 1.292176 +v -0.265109 0.630917 1.318158 +v -0.265109 0.605047 0.722669 +v 0.460005 0.113102 1.343949 +v 0.460005 0.035423 0.748587 +v -0.213294 0.087232 1.318031 +v 0.460005 0.604910 0.826279 +v 0.408191 0.527300 1.369931 +v -0.265109 0.656856 1.033309 +v 0.330470 0.009484 0.722669 +f 293 291 296 +f 287 286 288 +f 285 288 289 +f 286 287 290 +f 286 290 291 +f 288 285 292 +f 285 290 292 +f 286 291 293 +f 287 288 294 +f 290 287 294 +f 288 292 294 +f 292 290 294 +f 288 286 295 +f 289 288 295 +f 286 293 295 +f 293 289 295 +f 285 289 296 +f 290 285 296 +f 291 290 296 +f 289 293 296 +o convex_23 +v -2.751286 0.113140 1.240511 +v -0.627682 0.501536 1.318198 +v -0.627682 0.371995 1.318198 +v -0.627682 0.242605 1.240511 +v -3.113900 0.501536 1.266412 +v -3.113900 0.113140 1.292290 +v -0.627682 0.113140 1.266412 +v -2.336592 0.501536 1.318198 +v -0.627682 0.501536 1.292290 +f 301 298 305 +f 298 299 300 +f 300 297 301 +f 301 297 302 +f 302 297 303 +f 300 299 303 +f 297 300 303 +f 299 302 303 +f 299 298 304 +f 298 301 304 +f 301 302 304 +f 302 299 304 +f 298 300 305 +f 300 301 305 +o convex_24 +v 0.175119 -1.208261 -0.028503 +v -0.472293 -4.444875 0.023308 +v -0.213201 -4.444875 0.023308 +v -0.472202 -0.482592 0.100975 +v 0.460038 -4.444875 0.075082 +v 0.460038 -0.482592 0.100975 +v -0.135537 -0.482592 -0.028503 +v -0.472202 -2.295018 0.100975 +v 0.460038 -3.900720 0.023308 +v -0.472293 -4.185791 0.075082 +v 0.201037 -3.149841 0.100975 +v -0.446284 -0.482592 0.049176 +v 0.460038 -2.165864 0.023308 +v 0.460038 -0.482592 0.075069 +v 0.097455 -1.544915 -0.028503 +v -0.264946 -4.444875 0.075082 +f 310 316 321 +f 307 308 310 +f 309 311 312 +f 311 309 313 +f 310 308 314 +f 311 310 314 +f 309 307 315 +f 313 309 315 +f 313 315 316 +f 310 311 316 +f 311 313 316 +f 307 309 317 +f 312 307 317 +f 309 312 317 +f 314 306 318 +f 311 314 318 +f 306 312 319 +f 312 311 319 +f 318 306 319 +f 311 318 319 +f 308 307 320 +f 307 312 320 +f 312 306 320 +f 306 314 320 +f 314 308 320 +f 307 310 321 +f 315 307 321 +f 316 315 321 +o convex_25 +v 0.589501 -2.191956 2.120852 +v 0.460074 -2.761625 0.204767 +v 0.460074 -2.424958 0.204767 +v 0.641290 -2.761625 0.204767 +v 0.485977 -2.709793 2.120852 +v 0.641290 -2.709793 2.120852 +v 0.485977 -2.140185 0.204767 +v 0.641290 -2.140185 2.068898 +v 0.511862 -2.140185 2.120852 +v 0.511862 -2.140185 0.204767 +v 0.460074 -2.761625 1.033583 +v 0.485977 -2.424958 2.120852 +f 332 326 333 +f 323 324 325 +f 322 326 327 +f 325 324 328 +f 322 327 329 +f 327 325 329 +f 329 328 330 +f 326 322 330 +f 328 324 330 +f 322 329 330 +f 325 328 331 +f 329 325 331 +f 328 329 331 +f 324 323 332 +f 323 325 332 +f 325 327 332 +f 327 326 332 +f 326 330 333 +f 330 324 333 +f 324 332 333 +o convex_26 +v 1.832521 3.220836 2.069218 +v 0.641442 3.220836 1.939753 +v 0.641442 3.298531 1.939753 +v 1.832521 3.298531 1.939753 +v 1.599436 3.298531 2.069218 +f 337 336 338 +f 335 336 337 +f 334 335 337 +f 334 337 338 +f 335 334 338 +f 336 335 338 +o convex_27 +v -3.398695 -0.042218 0.774374 +v -3.113930 0.501434 1.292300 +v -3.372843 0.501434 1.292300 +v -2.984452 0.501434 0.774374 +v -3.113930 0.061360 1.266343 +v -3.424634 0.501434 0.774374 +v -2.984452 -0.016350 0.774374 +v -3.398738 0.061360 1.292300 +v -2.984452 0.009518 0.955617 +f 339 345 347 +f 341 340 342 +f 341 342 344 +f 342 339 344 +f 339 342 345 +f 340 341 346 +f 339 343 346 +f 343 340 346 +f 344 339 346 +f 341 344 346 +f 342 340 347 +f 343 339 347 +f 340 343 347 +f 345 342 347 +o convex_28 +v 0.589529 1.226657 -1.090531 +v 0.563626 1.097215 -1.996759 +v 0.511835 1.304336 -1.996759 +v 0.537738 1.097215 -0.934937 +v 0.589529 1.330252 -1.996759 +v 0.511835 1.304336 -0.934937 +f 352 350 353 +f 350 349 351 +f 349 348 351 +f 348 349 352 +f 349 350 352 +f 350 351 353 +f 351 348 353 +f 348 352 353 +o convex_29 +v -0.472293 -0.482592 0.100987 +v -1.404625 -4.445002 0.023301 +v -0.472293 -4.445002 0.023301 +v -1.404625 -0.482592 0.049201 +v -1.223196 -3.175914 0.075079 +v -0.472293 -4.133935 0.075079 +v -1.300860 -0.560553 0.100987 +v -0.472293 -0.482592 0.075079 +v -1.404625 -4.445002 0.049201 +v -0.498212 -2.269865 0.100987 +v -1.378707 -2.476596 0.023301 +v -0.472293 -4.082350 0.023301 +v -1.275124 -0.482592 0.049201 +v -1.404625 -2.580156 0.075079 +f 362 358 367 +f 356 354 359 +f 354 357 360 +f 354 356 361 +f 357 354 361 +f 355 356 362 +f 357 355 362 +f 359 358 362 +f 356 359 362 +f 358 359 363 +f 359 354 363 +f 354 360 363 +f 360 358 363 +f 356 355 364 +f 355 357 364 +f 361 356 365 +f 356 364 365 +f 365 364 366 +f 357 361 366 +f 364 357 366 +f 361 365 366 +f 360 357 367 +f 358 360 367 +f 357 362 367 +o convex_30 +v -0.265119 0.553256 0.178682 +v -0.886663 -0.482592 0.075077 +v -0.187607 0.087161 -0.054401 +v 0.459775 -0.482592 0.100972 +v 0.460038 0.993473 0.100995 +v -0.886531 1.019498 0.075077 +v -0.705143 0.087161 0.178682 +v 0.019618 -0.482592 -0.028483 +v 0.460038 1.019498 0.152763 +v -0.135801 0.061283 0.178682 +v -0.886531 1.019498 0.100995 +v -0.886663 -0.482592 0.100972 +v -0.109963 0.164942 -0.054401 +v 0.459775 -0.067959 0.075077 +v -0.627500 0.527231 0.178682 +v -0.032188 -0.430689 0.126868 +v -0.032188 -0.249398 -0.054401 +f 372 381 384 +f 370 369 373 +f 371 369 375 +f 371 372 376 +f 372 373 376 +f 368 374 377 +f 376 368 377 +f 371 376 377 +f 373 369 378 +f 376 373 378 +f 369 371 379 +f 378 369 379 +f 374 378 379 +f 370 373 380 +f 373 372 380 +f 372 371 381 +f 371 375 381 +f 374 368 382 +f 368 376 382 +f 378 374 382 +f 376 378 382 +f 377 374 383 +f 371 377 383 +f 379 371 383 +f 374 379 383 +f 369 370 384 +f 375 369 384 +f 370 380 384 +f 380 372 384 +f 381 375 384 +o convex_31 +v -0.938713 0.605118 1.318175 +v -0.653869 0.501536 0.722577 +v -0.653869 0.553342 0.722577 +v -3.424677 0.501536 0.774406 +v -3.424677 0.631021 0.774406 +v -3.139524 0.501536 1.292232 +v -0.524592 0.501536 1.318175 +v -0.265109 0.656924 1.033261 +v -0.265109 0.605118 0.722577 +v -0.265109 0.656924 1.214575 +v -3.372409 0.553342 1.162804 +v -1.947882 0.656924 0.981548 +v -0.265109 0.553342 1.318175 +f 393 394 397 +f 387 386 388 +f 387 388 389 +f 388 386 390 +f 390 386 391 +f 385 390 391 +f 386 387 393 +f 387 389 393 +f 389 392 393 +f 393 392 394 +f 389 388 395 +f 390 385 395 +f 388 390 395 +f 392 389 396 +f 385 394 396 +f 394 392 396 +f 389 395 396 +f 395 385 396 +f 385 391 397 +f 391 386 397 +f 386 393 397 +f 394 385 397 +o convex_32 +v 2.531795 3.064966 0.126886 +v 1.832665 -2.631552 -0.002605 +v 2.117541 -2.631552 -0.002605 +v 1.832665 3.220644 0.049199 +v 1.832665 2.287744 0.126886 +v 2.557699 -1.025215 -0.002605 +v 2.557699 1.406737 0.126886 +v 1.832665 -2.165685 0.049199 +v 2.531795 3.323846 0.075069 +v 2.557699 -2.243232 0.023303 +v 2.117541 3.323846 0.126860 +v 2.557699 2.287161 0.049199 +v 1.832665 -1.077691 0.075056 +v 1.832665 -2.113209 -0.002605 +v 2.557699 -2.243232 -0.002605 +v 1.832665 3.194406 0.100977 +f 408 401 413 +f 401 399 402 +f 400 399 403 +f 398 402 404 +f 399 400 405 +f 402 399 405 +f 403 404 407 +f 405 400 407 +f 404 405 407 +f 402 398 408 +f 398 406 408 +f 406 401 408 +f 403 401 409 +f 398 404 409 +f 404 403 409 +f 406 398 409 +f 401 406 409 +f 404 402 410 +f 402 405 410 +f 405 404 410 +f 399 401 411 +f 403 399 411 +f 401 403 411 +f 400 403 412 +f 407 400 412 +f 403 407 412 +f 401 402 413 +f 402 408 413 +o convex_33 +v 2.531874 -2.632134 0.955625 +v 2.506001 0.035370 2.069243 +v 2.531874 0.035370 2.043299 +v 2.506001 -2.632134 2.043299 +v 2.557785 -2.632134 1.396014 +v 2.557785 0.035370 1.396014 +v 2.480090 -0.094141 1.991521 +v 2.480090 -2.632134 1.732520 +v 2.531874 0.035370 1.396014 +v 2.557785 -2.605762 0.955625 +v 2.557785 -0.845356 1.680741 +v 2.480090 -2.321152 2.069243 +f 420 421 425 +f 416 415 417 +f 417 414 418 +f 415 416 419 +f 414 417 421 +f 420 414 421 +f 415 419 422 +f 414 420 422 +f 420 415 422 +f 418 414 423 +f 419 418 423 +f 422 419 423 +f 414 422 423 +f 416 417 424 +f 417 418 424 +f 419 416 424 +f 418 419 424 +f 417 415 425 +f 415 420 425 +f 421 417 425 +o convex_34 +v 2.065682 3.298521 0.049389 +v 2.117517 3.298521 2.069046 +v 2.117517 3.272633 2.069046 +v 1.832665 3.298521 2.069046 +v 1.832665 3.220836 0.049389 +v 1.832665 3.324429 0.049389 +v 2.117517 3.220836 0.075287 +v 1.832665 3.220836 2.069046 +v 2.117517 3.324429 0.411962 +f 432 426 434 +f 428 427 429 +f 426 430 431 +f 430 429 431 +f 427 428 432 +f 430 426 432 +f 430 432 433 +f 428 429 433 +f 429 430 433 +f 432 428 433 +f 429 427 434 +f 426 431 434 +f 431 429 434 +f 427 432 434 +o convex_35 +v 0.615417 -0.845082 1.654874 +v 0.563651 -1.207587 2.095098 +v 0.589509 -0.275103 2.069200 +v 0.641325 -2.140071 2.095098 +v 0.511835 -2.140071 1.654874 +v 0.641325 1.770543 1.654874 +v 0.589509 1.770543 1.991506 +v 0.511835 -2.140071 2.095098 +v 0.641325 1.589099 2.017404 +v 0.511835 -1.207587 2.095098 +v 0.589509 1.770543 1.836203 +v 0.563651 -1.958627 1.654874 +v 0.615417 1.770543 1.654874 +v 0.563651 1.226594 1.991506 +v 0.641325 0.578525 1.654874 +f 435 440 449 +f 435 439 440 +f 438 436 442 +f 439 438 442 +f 437 436 443 +f 436 438 443 +f 438 440 443 +f 440 441 443 +f 443 441 444 +f 436 437 444 +f 442 436 444 +f 439 442 444 +f 437 443 444 +f 441 440 445 +f 435 438 446 +f 439 435 446 +f 438 439 446 +f 440 439 447 +f 439 445 447 +f 445 440 447 +f 444 441 448 +f 439 444 448 +f 445 439 448 +f 441 445 448 +f 438 435 449 +f 440 438 449 +o convex_36 +v 0.615427 2.573265 1.991374 +v 0.537733 1.770690 0.204755 +v 0.537733 3.272486 0.204755 +v 0.589529 3.168838 0.256700 +v 0.641325 1.770690 1.628803 +v 0.563631 1.770690 1.654689 +v 0.641325 3.272486 1.965314 +v 0.589529 2.858040 1.861772 +v 0.563631 1.770690 0.204755 +v 0.641325 3.272486 1.499201 +v 0.641325 1.770690 1.991374 +v 0.563631 2.262761 1.732345 +v 0.537733 1.770690 0.826355 +v 0.589529 1.770690 1.991374 +v 0.615427 3.272486 1.965314 +f 457 463 464 +f 451 454 455 +f 451 452 458 +f 452 453 458 +f 453 454 458 +f 454 451 458 +f 453 452 459 +f 454 453 459 +f 452 456 459 +f 456 454 459 +f 455 454 460 +f 456 450 460 +f 454 456 460 +f 457 452 461 +f 452 451 462 +f 451 455 462 +f 461 452 462 +f 455 461 462 +f 455 460 463 +f 460 450 463 +f 461 455 463 +f 457 461 463 +f 456 452 464 +f 450 456 464 +f 452 457 464 +f 463 450 464 +o convex_37 +v 0.537733 3.272633 0.205072 +v 1.832521 3.298561 1.939644 +v 0.641407 3.298541 1.965306 +v 0.641534 3.376225 0.023346 +v 1.832521 3.272633 0.049579 +v 1.754575 3.350327 0.049579 +v 1.832521 3.272633 1.939644 +v 0.615552 3.272633 1.965306 +v 0.563715 3.376225 0.308481 +v 0.641534 3.272633 0.023346 +v 0.952430 3.376225 0.075431 +f 468 473 475 +f 466 469 470 +f 469 468 470 +f 466 467 471 +f 465 469 471 +f 469 466 471 +f 465 471 472 +f 471 467 472 +f 467 466 473 +f 468 465 473 +f 465 472 473 +f 472 467 473 +f 465 468 474 +f 469 465 474 +f 468 469 474 +f 466 470 475 +f 470 468 475 +f 473 466 475 +o convex_38 +v 0.952386 2.702773 1.939766 +v 0.641442 -0.145917 2.017437 +v 0.641442 -0.145917 2.043327 +v 1.832521 -0.145917 2.017437 +v 1.832521 3.220836 2.069218 +v 0.641442 3.220836 1.965681 +v 1.573459 0.268666 1.965669 +v 1.832521 3.220836 2.043315 +v 0.641442 2.469447 1.939766 +v 1.832521 1.848232 2.069218 +v 1.599342 3.220836 2.069218 +v 0.641442 0.605143 2.043327 +v 1.832521 0.216926 2.043327 +v 1.832521 0.398182 1.991559 +v 0.874621 3.194801 1.939766 +v 1.133566 -0.145917 1.991559 +v 1.651108 3.194801 2.017424 +v 0.822855 3.220836 1.991572 +f 487 486 493 +f 478 477 479 +f 477 478 481 +f 480 479 483 +f 481 480 483 +f 477 481 484 +f 476 482 484 +f 479 480 485 +f 485 480 486 +f 480 481 486 +f 478 485 486 +f 481 478 487 +f 478 486 487 +f 478 479 488 +f 485 478 488 +f 479 485 488 +f 482 476 489 +f 479 482 489 +f 483 479 489 +f 481 483 490 +f 484 481 490 +f 476 484 490 +f 479 477 491 +f 482 479 491 +f 477 484 491 +f 484 482 491 +f 489 476 492 +f 483 489 492 +f 490 483 492 +f 476 490 492 +f 486 481 493 +f 481 487 493 +o convex_39 +v 1.055842 0.397667 0.126886 +v 0.641442 -2.658033 0.023303 +v 1.185269 -2.658033 -0.002605 +v 1.832521 -2.191738 0.049199 +v 1.832521 0.630983 0.049199 +v 0.641442 0.786415 0.100977 +v 0.641442 -2.062267 0.075069 +v 1.832521 0.786415 0.100977 +v 1.832521 -2.658033 -0.002605 +v 0.641442 -2.010345 0.023303 +v 1.236923 -2.658033 0.049199 +v 0.641442 0.786415 0.126886 +v 1.159383 0.786415 0.075069 +v 0.693329 0.061179 0.126886 +v 1.832521 -1.129677 0.075069 +v 1.806519 -2.139815 -0.002605 +f 498 502 509 +f 499 495 500 +f 497 498 501 +f 495 496 502 +f 498 497 502 +f 496 495 503 +f 498 496 503 +f 495 499 503 +f 500 495 504 +f 495 502 504 +f 502 497 504 +f 499 500 505 +f 494 501 505 +f 501 499 505 +f 501 498 506 +f 499 501 506 +f 498 503 506 +f 503 499 506 +f 500 504 507 +f 504 497 507 +f 494 505 507 +f 505 500 507 +f 501 494 508 +f 497 501 508 +f 494 507 508 +f 507 497 508 +f 496 498 509 +f 502 496 509 +o convex_40 +v 2.117517 3.298497 0.126886 +v 2.531886 3.298497 2.069053 +v 2.531886 3.065473 2.069053 +v 2.117517 3.298497 2.069053 +v 2.531886 3.324429 0.126886 +v 2.505927 3.065473 0.126886 +v 2.117517 3.272592 2.069053 +v 2.117517 3.324429 0.386196 +v 2.117517 3.272592 0.334296 +v 2.531886 3.065473 0.126886 +f 515 514 519 +f 512 511 513 +f 511 512 514 +f 510 514 515 +f 512 513 516 +f 513 510 516 +f 515 512 516 +f 513 511 517 +f 510 513 517 +f 514 510 517 +f 511 514 517 +f 510 515 518 +f 516 510 518 +f 515 516 518 +f 514 512 519 +f 512 515 519 +o convex_41 +v 1.832521 3.168726 0.100967 +v 0.641442 0.786415 0.100967 +v 1.185269 0.786415 0.075110 +v 0.641442 3.272389 0.023293 +v 0.641442 1.434190 0.152784 +v 1.832521 0.786415 0.075110 +v 1.832521 3.272389 0.049201 +v 1.832521 2.210448 0.126863 +v 1.211154 0.786415 0.126863 +v 0.641442 2.935605 0.075110 +v 0.667444 2.883773 0.023293 +v 1.236923 3.246352 0.023293 +v 1.832521 0.786415 0.100967 +v 1.159383 3.272389 0.075110 +v 1.806519 2.676690 0.126863 +f 533 524 534 +f 523 521 524 +f 521 522 525 +f 520 525 526 +f 525 520 527 +f 524 521 528 +f 521 525 528 +f 527 524 528 +f 523 524 529 +f 522 521 530 +f 521 523 530 +f 525 522 530 +f 526 525 531 +f 523 526 531 +f 530 523 531 +f 525 530 531 +f 525 527 532 +f 528 525 532 +f 527 528 532 +f 520 526 533 +f 526 523 533 +f 523 529 533 +f 529 524 533 +f 527 520 534 +f 524 527 534 +f 520 533 534 +o convex_42 +v 1.236923 -0.171982 2.043360 +v 0.641442 -2.658033 2.095121 +v 0.822756 -2.631967 2.069228 +v 1.832521 -2.658033 2.069228 +v 1.159383 -0.171982 1.991562 +v 1.832521 -1.052551 1.991562 +v 0.641442 -2.320904 2.121027 +v 0.641442 -0.145917 2.017467 +v 1.832521 -0.145917 2.017467 +v 1.599436 -2.606148 2.095121 +v 0.641442 -0.379030 2.069228 +v 1.573550 -2.658033 2.043360 +v 1.832521 -0.145917 1.991562 +v 0.641442 -0.430915 2.017467 +f 542 539 548 +f 536 541 542 +f 538 540 543 +f 542 535 543 +f 536 538 544 +f 541 536 544 +f 535 541 544 +f 538 543 544 +f 543 535 544 +f 541 535 545 +f 535 542 545 +f 542 541 545 +f 536 537 546 +f 538 536 546 +f 537 539 546 +f 539 540 546 +f 540 538 546 +f 540 539 547 +f 539 542 547 +f 543 540 547 +f 542 543 547 +f 537 536 548 +f 539 537 548 +f 536 542 548 +o convex_43 +v 1.858585 1.873897 2.017457 +v 1.832665 -2.632134 2.043335 +v 2.221082 -2.605207 2.017457 +v 2.480090 -0.404614 2.069236 +v 1.832665 3.220837 2.069243 +v 1.832665 -2.632134 2.069243 +v 2.091610 -1.259413 1.991556 +v 2.480090 -2.631562 2.017457 +v 2.480090 -0.404614 2.043343 +v 1.832665 -1.103579 1.991556 +v 2.480090 -2.268902 2.069236 +v 1.910425 3.194482 2.043335 +f 552 557 560 +f 553 550 554 +f 552 553 554 +f 550 551 556 +f 554 550 556 +f 551 555 556 +f 556 555 557 +f 555 549 557 +f 552 556 557 +f 551 550 558 +f 553 549 558 +f 550 553 558 +f 549 555 558 +f 555 551 558 +f 552 554 559 +f 556 552 559 +f 554 556 559 +f 549 553 560 +f 553 552 560 +f 557 549 560 +o convex_44 +v 2.583698 -2.579000 -0.028503 +v 2.583690 0.760127 1.499485 +v 2.609565 1.096371 0.670728 +v 2.557800 1.898974 0.282449 +v 2.635471 -2.657348 -0.028503 +v 2.557800 -2.631699 1.007406 +v 2.635471 -0.069059 0.852004 +v 2.557800 -2.657348 -0.028503 +v 2.583698 1.380850 0.049272 +v 2.557800 0.760127 1.499485 +v 2.583690 -2.631699 1.007406 +v 2.583698 2.079921 0.411975 +v 2.635471 -1.776397 -0.002478 +v 2.635471 -2.631232 0.230549 +v 2.583690 -0.275656 1.421710 +v 2.557800 0.682245 0.023397 +f 569 565 576 +f 563 562 567 +f 561 565 568 +f 566 564 568 +f 565 566 568 +f 563 567 569 +f 564 566 570 +f 566 565 571 +f 562 563 572 +f 563 569 572 +f 569 564 572 +f 570 562 572 +f 564 570 572 +f 567 565 573 +f 565 569 573 +f 569 567 573 +f 565 567 574 +f 571 565 574 +f 567 571 574 +f 567 562 575 +f 562 570 575 +f 570 566 575 +f 566 571 575 +f 571 567 575 +f 565 561 576 +f 561 568 576 +f 568 564 576 +f 564 569 576 +o convex_45 +v -0.290913 0.060917 -1.970845 +v -0.653580 -4.729233 -1.893175 +v 0.434095 -4.418264 -1.919069 +v 0.356372 -4.030027 -1.867268 +v 0.460038 -1.674061 -1.996751 +v -0.653580 -0.068495 -1.919069 +v -0.627636 -0.016825 -1.996751 +v 0.460038 -0.716031 -1.970845 +v -0.653580 -3.460234 -1.867268 +v 0.460038 -4.755305 -1.867268 +v -0.006295 -1.518576 -1.996751 +v -0.653580 -4.729233 -1.867268 +v 0.460038 -0.716031 -1.996751 +v -0.549914 -0.120640 -1.919069 +f 582 585 590 +f 578 582 583 +f 582 577 583 +f 582 578 585 +f 578 579 586 +f 579 581 586 +f 584 580 586 +f 581 584 586 +f 580 585 586 +f 579 578 587 +f 581 579 587 +f 583 581 587 +f 578 583 587 +f 585 578 588 +f 578 586 588 +f 586 585 588 +f 583 577 589 +f 581 583 589 +f 584 581 589 +f 577 584 589 +f 577 582 590 +f 580 584 590 +f 584 577 590 +f 585 580 590 +o convex_46 +v -1.430523 -3.538112 -1.919080 +v -1.482309 1.097192 -1.867281 +v -1.508210 1.097192 -1.867281 +v -1.508210 1.097192 -1.996759 +v -1.430523 1.097192 -1.996759 +v -1.456431 -3.978836 -1.867281 +v -1.430523 -2.114081 -1.867281 +v -1.508210 0.061217 -1.996759 +f 596 593 598 +f 593 592 594 +f 594 592 595 +f 592 593 596 +f 591 595 597 +f 595 592 597 +f 592 596 597 +f 596 591 597 +f 593 594 598 +f 595 591 598 +f 594 595 598 +f 591 596 598 +o convex_47 +v -0.679587 0.863904 -1.970840 +v -1.430523 -4.729881 -1.893187 +v -0.653656 -4.729881 -1.893187 +v -1.119655 -3.149909 -1.867281 +v -1.430523 0.138372 -1.996759 +v -1.430523 1.097192 -1.970840 +v -0.653656 -0.094346 -1.919080 +v -0.653656 0.371090 -1.996759 +v -1.430523 -3.460199 -1.867281 +v -0.653656 -4.729881 -1.867281 +v -0.653656 -3.434532 -1.867281 +v -1.145586 1.097192 -1.996759 +v -1.430523 -4.729881 -1.867281 +v -1.430523 0.190277 -1.944947 +f 607 605 612 +f 601 600 603 +f 603 600 604 +f 599 604 605 +f 601 603 606 +f 599 605 606 +f 605 601 606 +f 604 600 607 +f 602 605 607 +f 600 601 608 +f 601 605 608 +f 602 607 608 +f 605 602 609 +f 608 605 609 +f 602 608 609 +f 603 604 610 +f 604 599 610 +f 606 603 610 +f 599 606 610 +f 607 600 611 +f 600 608 611 +f 608 607 611 +f 605 604 612 +f 604 607 612 +o convex_48 +v 0.589503 -1.181770 0.800256 +v 0.615407 -0.016426 1.654873 +v 0.641325 -0.016426 1.577078 +v 0.511855 -0.016426 0.204580 +v 0.511840 -2.140071 1.654873 +v 0.485936 -2.140071 0.204580 +v 0.563646 -1.958596 1.654873 +v 0.563631 -0.016426 0.360171 +v 0.589503 -0.016426 1.654873 +v 0.537758 -2.036341 0.386009 +v 0.641325 -0.275438 1.136851 +v 0.485936 -0.715923 0.230559 +v 0.511855 -0.016426 0.386009 +v 0.511840 -1.906836 1.654873 +v 0.537758 -0.922966 0.204580 +v 0.485936 -2.140071 0.774419 +v 0.615407 -0.948951 1.654873 +v 0.537758 -2.140071 0.696623 +f 622 613 630 +f 614 615 616 +f 614 617 619 +f 616 615 620 +f 614 616 621 +f 617 614 621 +f 620 615 623 +f 613 622 623 +f 616 618 624 +f 621 616 625 +f 616 624 625 +f 625 624 626 +f 617 621 626 +f 621 625 626 +f 618 616 627 +f 616 620 627 +f 622 618 627 +f 620 623 627 +f 623 622 627 +f 618 617 628 +f 624 618 628 +f 626 624 628 +f 617 626 628 +f 615 614 629 +f 619 613 629 +f 614 619 629 +f 613 623 629 +f 623 615 629 +f 617 618 630 +f 619 617 630 +f 613 619 630 +f 618 622 630 +o convex_49 +v 2.531844 -2.657992 -0.028503 +v 2.557742 -2.243706 0.023303 +v 2.557742 -2.632096 0.126886 +v 2.117517 -2.243706 0.023303 +v 2.117517 -2.683887 0.126886 +v 2.117517 -2.683887 -0.002600 +f 635 634 636 +f 631 632 633 +f 633 632 634 +f 632 631 634 +f 631 633 635 +f 633 634 635 +f 634 631 636 +f 631 635 636 +o convex_50 +v 0.460038 -4.444682 -1.919065 +v 0.589516 1.097192 -1.841370 +v 0.563610 1.097192 -1.841370 +v 0.589516 1.097192 -1.996759 +v 0.460038 -0.741887 -1.996759 +v 0.537717 -3.538320 -1.944952 +v 0.460038 -4.755779 -1.841370 +v 0.537717 -3.745717 -1.841370 +v 0.589516 -0.327665 -1.996759 +f 638 644 645 +f 639 638 640 +f 639 640 641 +f 637 641 642 +f 638 639 643 +f 641 637 643 +f 639 641 643 +f 637 642 643 +f 643 642 644 +f 638 643 644 +f 640 638 645 +f 641 640 645 +f 642 641 645 +f 644 642 645 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/267/267.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/267/267.urdf new file mode 100644 index 000000000..34f5a0b36 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/267/267.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/268/268.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/268/268.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/268/268.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/268/268.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/268/268.obj new file mode 100644 index 000000000..2c587dac6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/268/268.obj @@ -0,0 +1,534 @@ +o convex_0 +v 0.577605 -3.263750 0.977220 +v -0.785093 -5.270191 -1.067441 +v -0.785093 -5.194176 -1.067441 +v 1.107722 -5.156463 -1.067441 +v -0.103637 -5.270191 1.052979 +v -0.936647 -3.263750 -0.915923 +v -0.974482 -3.263750 1.052979 +v 0.956383 -3.263750 -0.991682 +v 0.994217 -5.232282 1.052979 +v -1.087987 -5.270191 1.052979 +v 1.032052 -3.263750 0.939029 +v -1.012317 -5.270191 -1.029458 +v -1.087987 -5.156267 0.371356 +v 1.069887 -4.474882 -1.067441 +v 1.032052 -5.232282 0.598425 +v -0.974482 -4.058666 -0.991682 +v -0.444365 -3.263750 1.052979 +v 0.880498 -5.194176 -1.067441 +v -1.087987 -4.815476 1.014996 +v 0.577605 -3.263750 -0.991682 +v 1.032052 -3.755785 0.977220 +v 0.994217 -3.263750 -0.575112 +v 1.107722 -5.156463 -0.764405 +v -1.050152 -5.194176 -0.688646 +v -0.179521 -5.270191 -0.234300 +v 1.107722 -4.929204 -1.067441 +v 0.994217 -4.967113 1.052979 +v -0.595919 -3.263750 -0.953699 +v -0.974482 -3.263750 0.674184 +v 1.032052 -3.263750 0.598425 +v -1.012317 -4.739854 -1.029458 +f 24 6 31 +f 2 3 4 +f 1 6 7 +f 6 1 8 +f 7 5 9 +f 2 5 10 +f 5 7 10 +f 8 1 11 +f 3 2 12 +f 2 10 12 +f 4 3 14 +f 9 5 15 +f 1 7 17 +f 7 9 17 +f 2 4 18 +f 4 15 18 +f 10 7 19 +f 13 10 19 +f 6 13 19 +f 6 8 20 +f 14 3 20 +f 8 14 20 +f 3 16 20 +f 11 1 21 +f 9 15 21 +f 1 17 21 +f 8 11 22 +f 14 8 22 +f 15 4 23 +f 11 21 23 +f 21 15 23 +f 12 10 24 +f 10 13 24 +f 13 6 24 +f 5 2 25 +f 15 5 25 +f 2 18 25 +f 18 15 25 +f 4 14 26 +f 14 22 26 +f 23 4 26 +f 11 23 26 +f 17 9 27 +f 9 21 27 +f 21 17 27 +f 16 6 28 +f 6 20 28 +f 20 16 28 +f 7 6 29 +f 6 19 29 +f 19 7 29 +f 22 11 30 +f 11 26 30 +f 26 22 30 +f 3 12 31 +f 16 3 31 +f 6 16 31 +f 12 24 31 +o convex_1 +v 1.107937 0.030459 -0.802281 +v -1.050296 -0.650982 0.939229 +v -1.050296 -0.650982 1.015063 +v 1.032094 -3.263365 0.560676 +v -0.936638 -3.263365 -0.915827 +v -1.012269 0.636694 -1.029576 +v 1.069910 0.636312 1.052979 +v -0.974454 -3.263365 1.052979 +v 0.956252 -3.263365 -0.991660 +v -1.050296 0.636694 1.015063 +v 1.107937 0.636312 -1.029576 +v 1.032094 -3.263365 0.939229 +v 1.069910 -0.272277 1.052979 +v -0.254902 -0.840335 -1.029576 +v -0.406587 -3.225189 1.052979 +v -0.103640 0.636694 1.052979 +v -0.898823 -2.884659 -0.953743 +v 0.994279 -2.922453 -0.991660 +v -1.050296 0.598518 -0.044970 +v 1.107937 0.560724 -0.044970 +v -1.012269 -1.219423 1.052979 +v 0.539858 -3.263365 -0.991660 +v 1.069910 -1.937895 0.295668 +v 1.069910 -1.029306 1.015063 +v -0.974454 -3.263365 0.750055 +v -1.050296 -0.272277 0.447130 +v -0.974454 0.068635 -1.029576 +v 1.107937 0.295400 -1.029576 +v 0.994279 -2.468159 0.977146 +v -0.974454 -1.483601 -0.953743 +v 0.994279 -3.187395 -0.726652 +f 40 49 62 +f 34 33 39 +f 36 35 39 +f 35 36 40 +f 33 34 41 +f 39 35 43 +f 38 39 44 +f 37 42 45 +f 39 43 46 +f 44 39 46 +f 39 38 47 +f 37 41 47 +f 38 42 47 +f 42 37 47 +f 33 41 50 +f 41 37 50 +f 32 42 51 +f 42 38 51 +f 38 44 51 +f 34 39 52 +f 41 34 52 +f 39 47 52 +f 47 41 52 +f 40 36 53 +f 45 40 53 +f 36 48 53 +f 48 45 53 +f 35 32 54 +f 43 35 54 +f 32 51 54 +f 54 51 55 +f 44 43 55 +f 51 44 55 +f 43 54 55 +f 39 33 56 +f 36 39 56 +f 33 50 57 +f 56 33 57 +f 36 56 57 +f 36 37 58 +f 37 45 58 +f 48 36 58 +f 45 48 58 +f 42 32 59 +f 40 45 59 +f 45 42 59 +f 32 49 59 +f 49 40 59 +f 43 44 60 +f 46 43 60 +f 44 46 60 +f 37 36 61 +f 50 37 61 +f 57 50 61 +f 36 57 61 +f 32 35 62 +f 35 40 62 +f 49 32 62 +o convex_2 +v 2.054594 1.204663 -0.158615 +v 3.039045 2.416332 -0.272228 +v 3.039045 2.416332 -0.612951 +v 1.107948 2.416332 -0.347931 +v 1.107948 2.340425 0.560624 +v 2.925440 1.318287 0.560624 +v 1.107948 1.204663 -0.612951 +v 3.001050 1.204663 -0.537132 +v 1.107948 1.280452 0.447011 +v 3.001050 2.378378 0.522715 +v 1.145942 2.416332 -0.499338 +v 3.001050 1.999791 0.522715 +v 2.546441 1.318287 0.560624 +v 3.001050 1.204663 -0.347931 +v 1.940989 2.378378 0.522715 +v 2.963245 1.810498 0.560624 +v 1.221553 1.242617 0.257696 +v 1.145942 2.151250 0.560624 +v 3.039045 2.264874 -0.612951 +v 3.039045 2.340425 0.181992 +v 2.773840 1.204663 -0.196410 +v 1.107948 1.280452 -0.612951 +v 1.940989 1.280452 0.484806 +v 3.039045 1.848333 -0.499338 +v 2.925440 2.416332 -0.612951 +f 84 73 87 +f 64 65 66 +f 67 66 69 +f 63 69 70 +f 67 69 71 +f 66 65 73 +f 68 67 75 +f 63 70 76 +f 74 68 76 +f 64 66 77 +f 66 67 77 +f 72 64 77 +f 67 72 77 +f 67 68 78 +f 72 67 78 +f 68 74 78 +f 74 72 78 +f 69 63 79 +f 71 69 79 +f 67 71 80 +f 75 67 80 +f 71 75 80 +f 65 64 81 +f 69 65 81 +f 70 69 81 +f 64 72 82 +f 72 74 82 +f 74 76 82 +f 81 64 82 +f 63 76 83 +f 76 68 83 +f 79 63 83 +f 65 69 84 +f 69 66 84 +f 66 73 84 +f 68 75 85 +f 75 71 85 +f 71 79 85 +f 83 68 85 +f 79 83 85 +f 76 70 86 +f 70 81 86 +f 82 76 86 +f 81 82 86 +f 73 65 87 +f 65 84 87 +o convex_3 +v -1.732275 1.394164 -0.575201 +v -1.126066 2.416217 0.447130 +v -1.239671 1.507662 0.485009 +v -3.057163 2.378308 0.485009 +v -1.126066 2.340399 -0.461562 +v -2.943558 1.356255 -0.461562 +v -2.943558 2.378308 -0.537321 +v -2.943558 1.356255 0.447130 +v -1.126066 1.242643 -0.575201 +v -1.126066 1.280552 0.447130 +v -2.791959 2.302605 -0.575201 +v -1.618481 1.242643 -0.461562 +v -1.126066 1.621274 -0.575201 +v -2.716348 1.318461 0.447130 +v -2.981364 1.431959 -0.423683 +v -2.186128 2.378308 -0.537321 +v -3.019169 1.886179 0.485009 +v -2.640359 1.318461 -0.499442 +v -1.504876 2.416217 0.106318 +v -1.164061 1.242643 0.030559 +v -2.224123 2.378308 0.485009 +v -1.126066 1.356255 0.485009 +v -3.057163 2.151198 0.295612 +v -2.943558 1.469868 -0.499442 +v -1.845502 2.416217 0.447130 +v -1.277666 2.340399 -0.499442 +f 98 103 113 +f 92 89 96 +f 96 89 97 +f 96 88 98 +f 92 96 100 +f 96 98 100 +f 95 93 101 +f 93 95 102 +f 98 94 103 +f 90 91 104 +f 102 95 104 +f 88 96 105 +f 96 99 105 +f 101 93 105 +f 99 101 105 +f 89 92 106 +f 92 103 106 +f 103 94 106 +f 96 97 107 +f 99 96 107 +f 97 101 107 +f 101 99 107 +f 90 89 108 +f 91 90 108 +f 89 91 108 +f 89 90 109 +f 97 89 109 +f 95 101 109 +f 101 97 109 +f 90 104 109 +f 104 95 109 +f 91 94 110 +f 94 102 110 +f 104 91 110 +f 102 104 110 +f 98 88 111 +f 94 98 111 +f 102 94 111 +f 93 102 111 +f 88 105 111 +f 105 93 111 +f 91 89 112 +f 94 91 112 +f 89 106 112 +f 106 94 112 +f 92 100 113 +f 100 98 113 +f 103 92 113 +o convex_4 +v 1.069909 1.961712 -1.029773 +v -1.050337 1.697107 -3.036043 +v -1.012309 0.863956 -3.074267 +v 1.107937 2.832695 -3.036243 +v -0.936677 2.832695 -1.067797 +v 1.107937 0.712631 -1.029773 +v -1.012309 0.788508 -1.029973 +v 0.956249 0.788293 -2.998419 +v -1.050337 2.908572 -2.998219 +v 1.032093 2.757032 -1.029773 +v 1.107937 2.832695 -2.354612 +v -0.482248 0.826340 -3.074267 +v 0.426399 0.712845 -1.067597 +v -0.936677 2.794863 -1.029973 +v 0.994277 1.167037 -3.036243 +v -0.292955 2.870526 -3.036043 +v -1.050337 2.870526 -2.657403 +v -1.012309 0.788508 -1.635556 +v 0.918433 2.870526 -2.998419 +v 1.107937 2.491997 -3.036243 +v 0.994277 2.794863 -1.294941 +v -1.012309 1.394026 -3.074267 +v 1.107937 0.712631 -1.219093 +v -0.974493 2.832695 -1.408412 +v 0.994277 0.712845 -1.521884 +v -1.012309 0.826340 -2.657403 +v -1.012309 0.977665 -1.029973 +v 1.069909 2.794648 -1.484261 +v 1.107937 1.053328 -1.029773 +v -0.595697 0.750677 -1.029973 +v -0.558092 2.832695 -1.219093 +v -1.012309 2.908572 -2.922571 +v -1.050337 2.378288 -3.036043 +v 0.539848 2.794863 -1.029773 +f 134 144 147 +f 119 114 123 +f 119 117 124 +f 121 125 128 +f 115 120 130 +f 122 115 130 +f 120 115 131 +f 124 117 132 +f 117 129 132 +f 129 122 132 +f 117 119 133 +f 125 117 133 +f 128 125 133 +f 124 132 134 +f 116 115 135 +f 125 116 135 +f 117 125 135 +f 129 117 135 +f 119 126 136 +f 121 128 136 +f 133 119 136 +f 128 133 136 +f 118 122 137 +f 127 118 137 +f 122 130 137 +f 125 121 138 +f 121 136 138 +f 136 126 138 +f 115 116 139 +f 116 125 139 +f 131 115 139 +f 126 131 139 +f 125 138 139 +f 138 126 139 +f 130 120 140 +f 127 137 140 +f 137 130 140 +f 123 114 141 +f 134 123 141 +f 124 134 141 +f 114 119 142 +f 119 124 142 +f 141 114 142 +f 124 141 142 +f 119 120 143 +f 126 119 143 +f 120 131 143 +f 131 126 143 +f 134 132 144 +f 122 118 145 +f 132 122 145 +f 118 144 145 +f 144 132 145 +f 115 122 146 +f 122 129 146 +f 135 115 146 +f 129 135 146 +f 120 119 147 +f 119 123 147 +f 118 127 147 +f 123 134 147 +f 140 120 147 +f 127 140 147 +f 144 118 147 +o convex_5 +v 1.032053 2.832739 1.999128 +v -1.012323 0.636694 -1.029576 +v 1.107933 0.636694 -1.029576 +v -0.974492 0.674944 2.945967 +v -0.936662 2.794712 -1.029576 +v -1.012323 2.870545 2.945967 +v 0.956392 0.788360 2.984076 +v 1.032053 2.756684 -1.029576 +v 0.994223 2.756684 2.945967 +v -1.126033 2.340380 -0.461473 +v 1.032053 2.908572 0.712449 +v 1.069884 0.636694 1.052683 +v -1.126033 1.280496 0.447256 +v 1.107933 2.340380 0.561191 +v -1.126033 2.794712 1.128115 +v -0.898831 2.870545 2.984076 +v -1.050153 0.636694 1.014966 +v 1.107933 0.939804 0.864101 +v -1.012323 0.712749 2.680773 +v 1.032053 2.416214 2.680773 +v -1.126033 1.204886 -0.575015 +v 1.107933 2.416214 -0.461080 +v 1.032053 2.908572 1.241657 +v 0.994223 2.794934 2.870141 +v 0.464159 2.794934 -1.029576 +v 0.653311 2.908572 0.939533 +v 0.388498 0.750332 2.984076 +v 0.994223 0.788360 2.680773 +v -1.087984 0.750554 1.014966 +v 0.956392 1.507773 2.984076 +v -0.974492 2.151131 2.984076 +v -1.126033 2.794712 0.825991 +v -0.406379 2.832517 2.984076 +v 1.107933 1.129053 -1.029576 +v 0.994223 1.469746 2.945967 +v -1.012323 0.977831 -1.029576 +v -1.050153 0.636694 -0.045021 +f 176 168 184 +f 150 149 152 +f 150 152 155 +f 149 150 159 +f 157 160 162 +f 149 159 164 +f 159 151 164 +f 159 150 165 +f 150 161 165 +f 151 153 166 +f 153 162 166 +f 162 160 166 +f 164 151 166 +f 148 156 167 +f 161 148 167 +f 165 161 167 +f 160 157 168 +f 155 158 169 +f 161 150 169 +f 161 169 170 +f 148 161 170 +f 153 163 170 +f 169 158 170 +f 170 163 171 +f 156 148 171 +f 163 156 171 +f 148 170 171 +f 155 152 172 +f 152 158 172 +f 158 155 172 +f 152 153 173 +f 158 152 173 +f 153 170 173 +f 170 158 173 +f 151 159 174 +f 159 154 174 +f 154 163 174 +f 154 159 175 +f 159 165 175 +f 166 160 176 +f 164 166 176 +f 160 168 176 +f 154 156 177 +f 163 154 177 +f 153 151 178 +f 163 153 178 +f 151 174 178 +f 174 163 178 +f 153 152 179 +f 152 157 179 +f 162 153 179 +f 157 162 179 +f 156 163 180 +f 177 156 180 +f 163 177 180 +f 150 155 181 +f 169 150 181 +f 155 169 181 +f 156 154 182 +f 167 156 182 +f 165 167 182 +f 154 175 182 +f 175 165 182 +f 152 149 183 +f 157 152 183 +f 149 168 183 +f 168 157 183 +f 149 164 184 +f 168 149 184 +f 164 176 184 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/268/268.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/268/268.urdf new file mode 100644 index 000000000..02fc076b0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/268/268.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/269/269.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/269/269.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/269/269.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/269/269.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/269/269.obj new file mode 100644 index 000000000..6d07da016 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/269/269.obj @@ -0,0 +1,480 @@ +o convex_0 +v -2.115085 1.859148 0.600309 +v -3.178091 1.765382 -0.556705 +v -3.178091 1.890440 -0.556705 +v -1.364662 1.859258 -0.525333 +v -1.364662 0.858682 -0.150119 +v -3.209313 0.890085 0.412532 +v -3.240718 0.827610 -0.462817 +v -1.364662 0.921266 0.600309 +v -3.240718 1.953134 0.537679 +v -1.364662 1.827966 0.600309 +v -1.364662 0.858682 -0.462817 +v -3.146686 1.953134 0.568824 +v -1.364662 1.015143 -0.494075 +v -2.834102 1.953134 0.506307 +v -3.240718 1.953134 0.224869 +v -1.614803 1.827966 -0.556705 +v -3.084242 0.890085 0.443791 +v -1.520954 1.859258 0.600309 +v -3.240718 1.702797 0.537679 +v -2.958988 0.827610 -0.306525 +v -3.209313 1.015143 -0.494075 +v -2.552556 1.890440 -0.556705 +v -3.209313 1.671615 -0.525333 +v -1.364662 1.859258 0.162352 +v -2.271560 0.827610 -0.462817 +v -1.614987 0.890085 0.318757 +v -3.178091 1.953134 0.162352 +v -3.240718 1.296551 0.443791 +v -1.395884 0.921266 0.600309 +f 19 17 29 +f 5 4 8 +f 1 8 10 +f 8 4 10 +f 4 5 11 +f 4 11 13 +f 9 12 14 +f 7 9 15 +f 9 14 15 +f 2 3 16 +f 13 2 16 +f 4 13 16 +f 1 10 18 +f 12 1 18 +f 14 12 18 +f 9 7 19 +f 12 9 19 +f 6 17 19 +f 6 7 20 +f 17 6 20 +f 7 2 21 +f 2 13 21 +f 13 7 21 +f 16 3 22 +f 4 16 22 +f 3 2 23 +f 2 7 23 +f 15 3 23 +f 7 15 23 +f 10 4 24 +f 4 14 24 +f 18 10 24 +f 14 18 24 +f 11 5 25 +f 7 13 25 +f 13 11 25 +f 20 7 25 +f 5 20 25 +f 5 8 26 +f 8 17 26 +f 20 5 26 +f 17 20 26 +f 14 4 27 +f 3 15 27 +f 15 14 27 +f 22 3 27 +f 4 22 27 +f 7 6 28 +f 6 19 28 +f 19 7 28 +f 8 1 29 +f 1 12 29 +f 17 8 29 +f 12 19 29 +o convex_1 +v 0.855521 1.952969 -0.118751 +v -1.364249 0.858511 -0.462863 +v -1.364249 0.858511 -0.150034 +v 0.855521 -3.675499 -1.025741 +v -1.270582 -3.706855 1.038074 +v 0.793148 -3.643540 1.100640 +v -1.333172 2.422108 0.944225 +v -1.301877 -3.675499 -0.931678 +v 0.449121 2.390149 -1.088306 +v 0.793148 2.452862 0.944225 +v -1.270582 2.453465 -0.994458 +v 0.793148 2.390149 -1.088306 +v -1.239287 2.077791 0.975294 +v 0.824443 -3.518717 -1.056809 +v 0.855521 1.921009 0.568830 +v 0.793148 2.358793 0.975294 +v 0.824443 -3.643540 0.975294 +v -1.364249 0.920621 0.600113 +v -1.270582 1.327650 -0.994458 +v -1.364249 1.858900 -0.525214 +v 0.636673 -3.268469 1.100640 +v 0.855521 -3.675499 -0.212599 +v -1.301877 -3.706855 -0.431365 +v 0.855521 1.921009 -0.587780 +v -1.270582 -2.768576 1.038074 +v 0.793148 2.452862 0.162367 +v -1.301877 2.422108 -0.963175 +v -0.613822 -3.706855 1.037860 +v -1.364249 2.171860 0.818879 +v -0.551232 2.452862 0.944225 +v 0.824443 1.170266 -1.088306 +v -1.083029 -3.706855 -0.931678 +v -1.301877 -2.236724 1.006577 +v 0.605378 -3.675499 1.100640 +v -0.863964 2.296683 -1.025526 +v 0.323941 2.421505 -1.057024 +v 0.855521 -1.736228 -1.056809 +v 0.761853 0.451481 -1.088306 +v -0.582527 -3.643540 1.069357 +v -1.333172 1.858900 0.975294 +v -1.301877 2.453465 -0.337517 +v -1.333172 2.422108 0.068518 +v -1.301877 -1.110910 -0.963175 +v 0.574083 2.358793 0.975508 +v -0.957849 2.453465 -0.994244 +v 0.292863 -3.612183 -1.025526 +v 0.793148 2.421505 -0.743980 +v 0.793148 -3.268469 1.100640 +v 0.824443 -3.675499 0.381133 +v -1.333172 0.326659 0.975294 +f 69 58 79 +f 33 30 44 +f 30 39 44 +f 44 39 45 +f 44 45 46 +f 31 32 47 +f 37 31 49 +f 31 47 49 +f 33 44 51 +f 44 46 51 +f 32 31 52 +f 31 37 52 +f 47 32 52 +f 30 33 53 +f 50 42 54 +f 39 30 55 +f 40 48 56 +f 33 51 57 +f 34 52 57 +f 49 47 58 +f 38 41 60 +f 41 53 60 +f 52 37 61 +f 33 57 61 +f 57 52 61 +f 52 34 62 +f 47 52 62 +f 35 50 63 +f 34 57 63 +f 40 38 64 +f 48 40 64 +f 43 48 64 +f 38 40 65 +f 41 38 65 +f 33 43 66 +f 53 33 66 +f 43 60 66 +f 60 53 66 +f 38 60 67 +f 60 43 67 +f 64 38 67 +f 43 64 67 +f 54 34 68 +f 50 54 68 +f 63 50 68 +f 34 63 68 +f 42 36 69 +f 34 54 69 +f 54 42 69 +f 36 58 69 +f 40 56 70 +f 59 39 70 +f 36 59 70 +f 56 49 71 +f 58 36 71 +f 49 58 71 +f 36 70 71 +f 70 56 71 +f 37 49 72 +f 56 48 72 +f 49 56 72 +f 36 42 73 +f 45 39 73 +f 42 50 73 +f 39 59 73 +f 59 36 73 +f 39 55 74 +f 65 40 74 +f 70 39 74 +f 40 70 74 +f 43 33 75 +f 48 43 75 +f 33 61 75 +f 61 37 75 +f 37 72 75 +f 72 48 75 +f 30 53 76 +f 53 41 76 +f 55 30 76 +f 41 65 76 +f 74 55 76 +f 65 74 76 +f 35 46 77 +f 46 45 77 +f 50 35 77 +f 45 73 77 +f 73 50 77 +f 46 35 78 +f 51 46 78 +f 57 51 78 +f 35 63 78 +f 63 57 78 +f 58 47 79 +f 62 34 79 +f 47 62 79 +f 34 69 79 +o convex_2 +v 1.950122 0.108079 -0.243983 +v 1.449945 0.170468 0.162483 +v 1.449945 0.170468 0.193772 +v 1.543784 -1.705533 -0.369081 +v 2.012661 -1.674097 0.225061 +v 1.981423 0.764849 0.193772 +v 1.481246 0.764849 -0.306503 +v 1.481246 -1.611467 0.193772 +v 2.075199 -1.674097 -0.212694 +v 2.106564 0.764849 -0.181405 +v 1.449945 0.764849 0.193772 +v 2.043962 -1.611467 0.193772 +v 1.637560 -1.642903 -0.369081 +v 1.449945 0.733413 -0.150174 +v 1.918885 0.076885 0.225061 +v 1.793809 -1.642903 0.225061 +v 1.481246 -0.110763 -0.306503 +v 1.543784 0.733413 -0.306503 +v 2.075199 0.577200 -0.025193 +v 2.012661 -1.361189 -0.243983 +v 2.075199 -1.580031 -0.056482 +v 1.481246 -1.611467 0.131194 +v 2.012661 -0.579401 0.225061 +v 1.700098 -1.705533 -0.087596 +f 88 84 103 +f 82 81 87 +f 86 85 89 +f 81 82 90 +f 85 86 90 +f 84 88 91 +f 83 86 92 +f 88 83 92 +f 81 90 93 +f 90 86 93 +f 85 90 94 +f 94 90 95 +f 82 87 95 +f 87 84 95 +f 90 82 95 +f 84 94 95 +f 86 83 96 +f 93 86 96 +f 89 80 97 +f 86 89 97 +f 80 92 97 +f 92 86 97 +f 89 85 98 +f 91 89 98 +f 80 89 99 +f 89 88 99 +f 92 80 99 +f 88 92 99 +f 88 89 100 +f 91 88 100 +f 89 91 100 +f 83 87 101 +f 87 81 101 +f 81 93 101 +f 96 83 101 +f 93 96 101 +f 84 91 102 +f 94 84 102 +f 85 94 102 +f 98 85 102 +f 91 98 102 +f 87 83 103 +f 84 87 103 +f 83 88 103 +o convex_3 +v 1.637466 0.764849 -0.337725 +v 2.043736 2.015675 0.350107 +v 2.043736 2.015675 0.006081 +v 2.857060 0.764971 -0.212654 +v 0.855876 0.889981 0.443882 +v 0.855876 1.921643 -0.587976 +v 2.857060 1.859200 -0.431500 +v 2.825718 0.796193 0.412587 +v 0.855876 1.953110 0.537768 +v 2.794376 1.984209 0.475178 +v 0.855876 0.921202 -0.462795 +v 2.857060 0.764971 -0.462795 +v 1.450002 0.764849 0.193742 +v 1.574978 2.015675 -0.275245 +v 2.825718 0.921325 0.443772 +v 0.855876 0.827415 0.412587 +v 0.918560 1.671625 0.537768 +v 1.637466 1.921643 0.537768 +v 2.857060 1.890544 -0.056289 +v 1.950102 2.015675 -0.243950 +v 1.450002 0.764849 -0.306430 +v 1.325026 1.921643 -0.556681 +v 0.855876 0.889981 -0.431610 +v 2.387910 1.984209 0.506473 +v 1.543832 2.015675 0.225037 +v 0.887218 1.859322 -0.587976 +v 2.857060 1.046456 -0.462795 +v 2.825718 0.764971 0.131151 +v 2.513082 0.764971 -0.462795 +v 2.857060 1.890544 -0.306430 +v 0.855876 1.953110 0.068671 +v 2.825718 1.953110 0.381292 +v 1.918760 0.796193 0.412587 +v 2.857060 1.265375 0.006191 +v 2.794376 1.609059 0.475178 +f 127 121 138 +f 109 108 112 +f 106 105 113 +f 108 109 114 +f 107 104 115 +f 110 107 115 +f 105 106 117 +f 108 111 118 +f 108 114 119 +f 112 108 120 +f 108 118 120 +f 120 118 121 +f 112 120 121 +f 107 110 122 +f 106 113 123 +f 117 106 123 +f 104 116 124 +f 116 119 124 +f 109 117 125 +f 123 110 125 +f 117 123 125 +f 119 114 126 +f 104 124 126 +f 124 119 126 +f 105 112 127 +f 113 105 127 +f 112 121 127 +f 112 105 128 +f 105 117 128 +f 114 109 129 +f 109 125 129 +f 129 125 130 +f 110 115 130 +f 125 110 130 +f 115 129 130 +f 104 107 131 +f 107 111 131 +f 116 104 131 +f 111 116 131 +f 115 104 132 +f 104 126 132 +f 126 114 132 +f 114 129 132 +f 129 115 132 +f 122 110 133 +f 110 123 133 +f 123 113 133 +f 109 112 134 +f 117 109 134 +f 112 128 134 +f 128 117 134 +f 113 118 135 +f 122 133 135 +f 133 113 135 +f 111 108 136 +f 116 111 136 +f 108 119 136 +f 119 116 136 +f 111 107 137 +f 118 111 137 +f 107 122 137 +f 135 118 137 +f 122 135 137 +f 118 113 138 +f 121 118 138 +f 113 127 138 +o convex_4 +v 1.575058 2.015676 -0.275269 +v 2.043986 2.234849 0.350144 +v 2.043986 2.578927 0.318861 +v 1.512422 4.329248 0.224951 +v 2.106564 4.329248 -0.181421 +v 1.512422 4.329248 -0.212703 +v 1.543711 2.015676 0.224951 +v 2.012639 2.015676 -0.212703 +v 1.981466 4.423281 0.193729 +v 1.981466 2.015676 0.350144 +v 2.075217 2.954114 -0.212703 +v 1.543711 2.516239 -0.275269 +v 2.012639 3.954062 -0.212703 +v 1.512422 3.453970 0.224951 +v 1.825079 4.391936 0.224951 +v 2.106564 4.360592 -0.118916 +v 2.043986 2.015676 0.350144 +v 1.543711 2.078599 -0.275269 +v 1.700098 2.328645 -0.275269 +v 2.043986 2.109944 -0.212703 +v 2.106564 3.797812 -0.150138 +v 1.793907 4.329248 -0.212703 +v 1.950119 2.015676 -0.243986 +v 1.512422 3.735360 -0.212703 +v 1.731387 2.015676 0.287578 +v 1.856310 4.423281 0.162447 +v 1.575058 3.672672 -0.243986 +f 160 151 165 +f 145 139 146 +f 140 141 147 +f 140 142 148 +f 145 146 148 +f 143 149 151 +f 142 144 152 +f 142 140 153 +f 140 147 153 +f 141 140 154 +f 147 141 154 +f 140 148 155 +f 148 146 155 +f 154 140 155 +f 139 145 156 +f 144 150 156 +f 150 139 156 +f 145 152 156 +f 139 150 157 +f 149 155 158 +f 155 146 158 +f 149 143 159 +f 143 154 159 +f 155 149 159 +f 154 155 159 +f 143 151 160 +f 154 143 160 +f 144 154 160 +f 146 139 161 +f 151 149 161 +f 139 157 161 +f 157 151 161 +f 149 158 161 +f 158 146 161 +f 152 144 162 +f 144 156 162 +f 156 152 162 +f 148 142 163 +f 145 148 163 +f 142 152 163 +f 152 145 163 +f 144 142 164 +f 142 153 164 +f 153 147 164 +f 154 144 164 +f 147 154 164 +f 150 144 165 +f 157 150 165 +f 151 157 165 +f 144 160 165 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/269/269.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/269/269.urdf new file mode 100644 index 000000000..7013743fa --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/269/269.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/270/270.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/270/270.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/270/270.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/270/270.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/270/270.obj new file mode 100644 index 000000000..002ec43bb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/270/270.obj @@ -0,0 +1,948 @@ +o convex_0 +v 2.045701 -1.957576 -0.626558 +v 0.686302 0.412180 0.349315 +v 0.686302 0.412180 0.244623 +v 3.962495 -0.249999 0.105297 +v 0.651509 -2.027253 0.976676 +v 0.651509 -0.110646 -0.975070 +v 3.683797 -1.016692 0.802519 +v 3.788177 -0.981601 -0.765883 +v 0.651509 -1.957576 -0.975070 +v 3.892908 -1.713709 0.000803 +v 0.651509 -0.006131 0.907013 +v 3.369955 -0.075808 -0.765883 +v 2.429130 -0.145736 0.872181 +v 3.404748 -1.818223 0.697827 +v 2.463572 -0.877339 -1.010099 +v 0.651509 0.342251 -0.661389 +v 2.359192 -0.981601 1.011705 +v 0.721095 -2.166858 -0.347709 +v 2.882146 0.098636 0.314285 +v 4.241544 -0.981601 0.070466 +v 2.463572 -1.678870 -0.870576 +v 3.021319 -1.922738 -0.347511 +v 0.686302 -2.166858 0.593332 +v 2.080494 -0.110646 -0.975070 +v 2.115287 -1.713709 0.976676 +v 0.651509 -1.051530 1.011705 +v 3.474334 -0.354513 0.593134 +v 3.509128 -1.539518 -0.556895 +v 0.790682 0.237736 -0.870576 +v 0.651509 -0.563795 -1.010099 +v 4.241544 -0.912177 -0.034028 +v 3.544272 -0.110646 -0.626558 +v 3.927701 -1.678870 -0.103691 +v 3.753384 -0.946763 0.767489 +v 3.892908 -0.180322 0.140128 +v 1.627478 -1.399912 -1.010099 +v 2.184874 -0.319675 -1.010099 +v 2.289605 -0.842753 1.011705 +v 2.882146 0.063545 0.418978 +v 3.683797 -0.598633 -0.765883 +v 3.056112 0.063545 0.140128 +v 0.930207 -1.992414 -0.905407 +v 0.790682 -2.062091 0.941844 +v 0.965000 0.028707 0.872181 +v 3.021319 -1.922738 -0.138523 +v 0.651509 -1.574356 -1.010099 +v 1.662272 -1.365074 1.011705 +v 0.721095 0.342251 -0.626558 +v 0.651509 -2.166858 -0.382540 +v 2.324399 -1.086368 -1.010099 +v 3.439541 -0.075808 -0.731052 +v 0.651509 0.377089 0.418978 +v 3.683797 -0.946763 0.802519 +v 4.206399 -0.981601 -0.103691 +v 3.300017 -1.539518 -0.661191 +v 2.498365 -1.957829 -0.487034 +v 1.801445 0.063798 -0.905407 +v 1.836590 -0.807915 1.011705 +v 3.300017 -1.853061 0.453809 +v 3.822970 -1.016692 0.662995 +v 3.474334 -0.946763 -0.835546 +v 3.892908 -0.180322 0.000803 +v 3.683797 -0.842753 0.767489 +v 2.324399 -0.180575 -0.975070 +f 40 61 64 +f 5 6 9 +f 6 5 11 +f 6 11 16 +f 3 2 19 +f 14 10 20 +f 14 7 25 +f 7 17 25 +f 11 5 26 +f 6 16 29 +f 16 12 29 +f 24 6 29 +f 9 6 30 +f 4 20 31 +f 20 10 33 +f 10 22 33 +f 28 8 33 +f 22 28 33 +f 7 14 34 +f 20 4 34 +f 34 4 35 +f 21 9 36 +f 30 15 36 +f 6 24 37 +f 30 6 37 +f 15 30 37 +f 13 11 38 +f 26 17 38 +f 19 2 39 +f 13 27 39 +f 27 35 39 +f 35 19 39 +f 31 8 40 +f 32 31 40 +f 3 19 41 +f 19 35 41 +f 21 1 42 +f 9 21 42 +f 5 23 43 +f 23 14 43 +f 25 5 43 +f 14 25 43 +f 11 13 44 +f 22 10 45 +f 18 22 45 +f 23 18 45 +f 9 30 46 +f 36 9 46 +f 30 36 46 +f 5 25 47 +f 25 17 47 +f 26 5 47 +f 17 26 47 +f 16 3 48 +f 12 16 48 +f 3 41 48 +f 5 9 49 +f 23 5 49 +f 18 23 49 +f 9 42 49 +f 21 36 50 +f 36 15 50 +f 40 12 51 +f 32 40 51 +f 12 48 51 +f 48 41 51 +f 2 3 52 +f 3 16 52 +f 16 11 52 +f 39 2 52 +f 13 39 52 +f 11 44 52 +f 44 13 52 +f 17 7 53 +f 7 34 53 +f 13 38 53 +f 38 17 53 +f 8 31 54 +f 31 20 54 +f 20 33 54 +f 33 8 54 +f 21 8 55 +f 22 21 55 +f 8 28 55 +f 28 22 55 +f 1 21 56 +f 22 18 56 +f 21 22 56 +f 42 1 56 +f 18 49 56 +f 49 42 56 +f 12 24 57 +f 29 12 57 +f 24 29 57 +f 11 26 58 +f 38 11 58 +f 26 38 58 +f 10 14 59 +f 14 23 59 +f 45 10 59 +f 23 45 59 +f 14 20 60 +f 34 14 60 +f 20 34 60 +f 8 21 61 +f 40 8 61 +f 50 15 61 +f 21 50 61 +f 4 31 62 +f 31 32 62 +f 35 4 62 +f 41 35 62 +f 32 51 62 +f 51 41 62 +f 27 13 63 +f 35 27 63 +f 34 35 63 +f 13 53 63 +f 53 34 63 +f 24 12 64 +f 15 37 64 +f 37 24 64 +f 12 40 64 +f 61 15 64 +o convex_1 +v 0.093443 2.573814 -0.417416 +v 0.232986 3.619431 0.000615 +v 0.232986 3.619431 -0.033974 +v 2.289458 3.061604 -0.033974 +v 0.058502 2.817822 0.488671 +v 0.058502 3.479918 -0.522030 +v 1.940707 3.026922 0.418964 +v 1.208702 2.573814 0.035522 +v 1.940707 3.096398 -0.417416 +v 2.010588 3.445124 -0.068880 +v 0.058502 3.445124 0.453765 +v 0.058502 2.573814 0.384057 +v 1.871044 2.678308 0.000615 +v 1.034873 3.445124 0.418964 +v 1.034873 3.026922 -0.556936 +v 1.139258 3.445124 -0.452322 +v 1.034873 2.643402 0.384057 +v 1.069595 3.026922 0.523683 +v 1.139258 2.713327 -0.382615 +v 0.058502 2.469095 0.070322 +v 0.058502 2.713327 -0.522030 +v 1.975429 3.445124 0.070322 +v 0.058502 3.584525 -0.347709 +v 1.278365 3.549619 -0.033974 +v 1.940707 3.166211 0.384057 +v 1.836104 2.748121 0.209843 +v 0.895110 2.538908 -0.068880 +v 1.731501 2.783028 -0.278002 +v 2.289458 3.061604 0.070322 +v 0.058502 2.992129 0.523683 +v 1.731501 3.375199 -0.347709 +v 0.058502 3.270705 -0.556936 +v 0.999932 3.131191 -0.556936 +v 0.058502 3.619431 0.035522 +v 1.975429 2.713327 0.000615 +v 1.034873 3.096398 0.523683 +v 2.010588 3.061604 -0.382615 +v 0.163105 3.549619 -0.487123 +v 1.696778 3.375199 0.314350 +v 0.232986 2.469095 -0.068880 +v 0.476915 2.643402 -0.452322 +v 0.058502 2.957335 -0.556936 +v 2.289458 3.131191 -0.033974 +v 0.999932 2.678308 -0.382615 +v 1.069595 3.549619 0.070322 +v 1.940707 3.061604 -0.417416 +v 1.034873 2.992129 0.523683 +v 1.731501 2.783028 0.314350 +v 2.184855 3.270705 0.035522 +v 1.940707 3.096398 0.418964 +f 100 82 114 +f 70 69 75 +f 69 70 76 +f 69 76 81 +f 72 77 81 +f 76 70 84 +f 81 76 84 +f 72 81 84 +f 65 84 85 +f 84 70 85 +f 70 75 87 +f 67 66 88 +f 74 80 88 +f 86 74 88 +f 87 67 88 +f 81 77 90 +f 77 72 91 +f 71 90 93 +f 75 69 94 +f 74 73 95 +f 73 80 95 +f 80 74 95 +f 85 70 96 +f 73 79 97 +f 80 73 97 +f 70 80 97 +f 96 70 97 +f 79 96 97 +f 66 67 98 +f 75 78 98 +f 67 87 98 +f 87 75 98 +f 90 77 99 +f 77 92 99 +f 68 93 99 +f 93 90 99 +f 78 75 100 +f 75 94 100 +f 94 82 100 +f 73 74 101 +f 68 99 101 +f 99 92 101 +f 80 70 102 +f 70 87 102 +f 88 80 102 +f 87 88 102 +f 86 78 103 +f 78 89 103 +f 89 86 103 +f 84 65 104 +f 72 84 104 +f 91 72 104 +f 65 91 104 +f 79 83 105 +f 85 79 105 +f 65 85 105 +f 79 85 106 +f 96 79 106 +f 85 96 106 +f 93 68 107 +f 68 101 107 +f 101 74 107 +f 77 91 108 +f 91 65 108 +f 92 77 108 +f 83 92 108 +f 105 83 108 +f 65 105 108 +f 78 86 109 +f 88 66 109 +f 86 88 109 +f 66 98 109 +f 98 78 109 +f 79 73 110 +f 83 79 110 +f 92 83 110 +f 73 101 110 +f 101 92 110 +f 69 81 111 +f 81 71 111 +f 71 82 111 +f 94 69 111 +f 82 94 111 +f 71 81 112 +f 90 71 112 +f 81 90 112 +f 74 86 113 +f 86 89 113 +f 89 93 113 +f 107 74 113 +f 93 107 113 +f 82 71 114 +f 89 78 114 +f 71 93 114 +f 93 89 114 +f 78 100 114 +o convex_2 +v -1.963636 -0.772848 0.593401 +v -1.963636 -0.946971 -0.696371 +v -1.963636 -0.877226 -0.696371 +v -3.810812 -0.981843 0.070346 +v -1.928443 -1.435064 0.384078 +v -1.928443 -0.249883 -0.138598 +v -3.531847 -0.528861 0.000656 +v -3.287707 -1.260703 -0.312823 +v -3.497023 -0.981843 0.453768 +v -1.928443 -1.435064 -0.487174 +v -1.928443 -0.389372 0.488739 +v -3.462014 -1.365320 0.035501 +v -3.497023 -0.842593 -0.382639 +v -1.928443 -0.389372 -0.556864 +v -3.357540 -0.633478 0.349233 +v -2.730514 -1.330447 0.418923 +v -3.531847 -1.016716 -0.382639 +v -1.928443 -0.981843 0.593401 +v -2.869628 -0.528861 -0.417484 +v -2.904452 -1.435064 0.035501 +v -3.531847 -0.911979 0.453768 +v -1.963636 -0.249883 0.035501 +v -3.531847 -0.528861 0.070346 +v -3.566672 -1.330447 0.070346 +v -2.730514 -1.330447 -0.417484 +v -1.963636 -1.469937 -0.173443 +v -2.730514 -0.493989 0.418923 +v -3.357540 -1.225830 0.349233 +v -3.531847 -1.330447 -0.068908 +v -2.660496 -0.946971 0.558303 +v -2.033101 -1.400192 0.453768 +v -3.775619 -0.911979 -0.068908 +v -3.357540 -0.633478 -0.312823 +v -2.730514 -0.772848 0.523458 +v -2.730514 -0.877226 -0.556864 +v -1.963636 -0.354500 -0.487174 +v -3.775619 -0.842593 0.070346 +v -2.834803 -0.389372 -0.034189 +v -1.998277 -1.435064 -0.487174 +v -3.775619 -1.051588 0.000656 +v -3.601312 -0.981843 0.384078 +v -3.566672 -0.877226 0.418923 +v -1.928443 -1.469937 0.035501 +v -3.601312 -0.911979 -0.347668 +v -2.834803 -0.389372 0.035501 +f 152 137 159 +f 120 119 124 +f 119 120 125 +f 116 117 128 +f 124 116 128 +f 120 124 128 +f 125 115 132 +f 119 125 132 +f 119 130 134 +f 130 126 134 +f 125 120 136 +f 126 130 138 +f 131 116 139 +f 122 131 139 +f 129 135 141 +f 125 136 141 +f 137 129 141 +f 130 123 142 +f 138 130 142 +f 131 122 143 +f 126 138 143 +f 122 139 143 +f 123 130 144 +f 132 115 144 +f 135 123 144 +f 130 119 145 +f 119 132 145 +f 144 130 145 +f 132 144 145 +f 121 133 147 +f 133 127 147 +f 115 125 148 +f 125 141 148 +f 141 135 148 +f 144 115 148 +f 135 144 148 +f 117 116 149 +f 128 117 149 +f 116 131 149 +f 131 127 149 +f 127 133 149 +f 133 128 149 +f 120 128 150 +f 133 121 150 +f 128 133 150 +f 137 121 151 +f 121 146 151 +f 146 118 151 +f 136 120 152 +f 121 137 152 +f 120 150 152 +f 150 121 152 +f 116 124 153 +f 134 126 153 +f 139 116 153 +f 124 140 153 +f 140 134 153 +f 126 143 153 +f 143 139 153 +f 138 118 154 +f 131 143 154 +f 143 138 154 +f 118 146 154 +f 123 135 155 +f 118 138 155 +f 142 123 155 +f 138 142 155 +f 135 129 156 +f 129 137 156 +f 151 118 156 +f 137 151 156 +f 155 135 156 +f 118 155 156 +f 124 119 157 +f 119 134 157 +f 140 124 157 +f 134 140 157 +f 127 131 158 +f 146 121 158 +f 121 147 158 +f 147 127 158 +f 131 154 158 +f 154 146 158 +f 141 136 159 +f 137 141 159 +f 136 152 159 +o convex_3 +v 0.651100 0.411911 0.209778 +v -1.928443 -1.469524 -0.312693 +v -1.928443 -1.469524 0.105161 +v -0.011209 -3.700159 -0.034056 +v -0.290221 1.840902 -0.974995 +v -1.510050 1.840902 0.837275 +v -0.394757 -3.316949 1.011705 +v 0.651100 -1.957191 -0.974995 +v -1.544895 -3.456022 -0.800769 +v -1.684275 1.074481 -1.009799 +v 0.651100 -1.329844 1.011705 +v -1.649430 -3.560479 0.872079 +v -0.011209 1.840902 0.872079 +v -0.429602 -3.282333 -1.009799 +v -1.196192 2.258729 -0.452319 +v -1.614585 1.074481 0.941687 +v 0.651100 0.237614 -0.870378 +v 0.058229 2.049815 -0.068860 +v 0.651100 -2.062255 0.976491 +v -1.719121 1.840902 0.035552 +v -0.847742 -3.944296 -0.034056 +v -1.928443 -0.808168 0.628041 +v -1.126502 1.387851 -1.079816 +v -1.823656 -2.933739 -0.591535 +v -0.429602 2.259943 0.523424 +v -1.579740 -2.305784 -0.974995 +v -1.928443 -0.285277 -0.626339 +v -0.952277 1.736445 0.976491 +v -0.011209 -3.525862 -0.730956 +v -1.265882 -2.340401 1.011705 +v 0.023636 -3.491246 0.732453 +v 0.651100 -0.564030 -1.010003 +v 0.651100 -0.005916 0.907088 +v -1.614585 1.840902 -0.800769 +v -0.673517 -3.770000 0.802471 +v -1.614585 -3.770000 -0.034056 +v -0.150841 2.119655 -0.626544 +v -0.673517 -3.770000 -0.730956 +v -1.823656 -3.316949 0.070357 +v -1.265882 2.258729 0.418807 +v -1.823656 0.795121 -0.905386 +v 0.651100 -2.201328 -0.347702 +v 0.023636 1.736445 -0.940191 +v 0.163016 1.910742 0.000748 +v -0.952277 1.945359 -0.975199 +v -1.719121 0.934801 0.872079 +v -0.812897 0.133157 -1.079816 +v -1.823656 -2.724218 0.732658 +v -1.928443 -0.947241 -0.730956 +v -1.928443 -0.320501 0.523629 +v 0.058229 0.864961 0.976491 +v -0.290221 2.259943 -0.452114 +v -0.952277 1.945359 0.941687 +v 0.651100 -2.236552 0.593237 +v -1.544895 -2.759442 0.976696 +v 0.058229 1.840902 0.802471 +v -1.544895 -1.678437 -1.009799 +v 0.651100 -1.573981 -1.010003 +v -0.743207 -0.424957 1.011705 +v -1.440360 1.213555 0.976696 +v 0.093326 -3.002972 -0.974995 +v -1.719121 -0.006523 -1.010003 +v -1.579740 1.875518 0.802471 +v -1.544895 2.085039 -0.034056 +f 222 199 223 +f 167 160 170 +f 160 167 176 +f 170 166 178 +f 167 170 178 +f 161 162 181 +f 173 168 185 +f 168 183 185 +f 161 181 186 +f 166 170 189 +f 178 166 190 +f 176 167 191 +f 182 164 191 +f 170 160 192 +f 166 171 194 +f 180 163 194 +f 171 180 194 +f 190 166 194 +f 163 190 194 +f 180 171 195 +f 183 168 195 +f 168 173 197 +f 163 180 197 +f 188 163 197 +f 173 188 197 +f 180 195 197 +f 195 168 197 +f 162 161 198 +f 161 183 198 +f 195 171 198 +f 183 195 198 +f 184 174 199 +f 186 179 200 +f 179 193 200 +f 193 169 200 +f 167 178 201 +f 163 188 201 +f 188 167 201 +f 176 191 202 +f 191 164 202 +f 164 196 202 +f 196 177 202 +f 160 176 203 +f 176 202 203 +f 202 177 203 +f 164 182 204 +f 182 169 204 +f 193 174 204 +f 169 193 204 +f 196 164 204 +f 182 191 206 +f 181 162 207 +f 162 198 207 +f 198 171 207 +f 205 181 207 +f 183 161 208 +f 185 183 208 +f 161 186 208 +f 186 200 208 +f 179 186 209 +f 186 181 209 +f 205 179 209 +f 181 205 209 +f 187 170 210 +f 172 187 210 +f 170 192 210 +f 192 172 210 +f 174 184 211 +f 184 177 211 +f 177 196 211 +f 204 174 211 +f 196 204 211 +f 172 184 212 +f 187 172 212 +f 184 199 212 +f 190 163 213 +f 178 190 213 +f 163 201 213 +f 201 178 213 +f 171 166 214 +f 166 189 214 +f 175 205 214 +f 207 171 214 +f 205 207 214 +f 184 172 215 +f 177 184 215 +f 192 160 215 +f 172 192 215 +f 160 203 215 +f 203 177 215 +f 173 185 216 +f 206 173 216 +f 182 206 216 +f 191 167 217 +f 173 206 217 +f 206 191 217 +f 170 187 218 +f 189 170 218 +f 189 218 219 +f 165 175 219 +f 187 212 219 +f 212 165 219 +f 214 189 219 +f 175 214 219 +f 218 187 219 +f 167 188 220 +f 188 173 220 +f 217 167 220 +f 173 217 220 +f 169 182 221 +f 200 169 221 +f 185 208 221 +f 208 200 221 +f 182 216 221 +f 216 185 221 +f 175 165 222 +f 205 175 222 +f 179 205 222 +f 165 212 222 +f 212 199 222 +f 174 193 223 +f 193 179 223 +f 199 174 223 +f 179 222 223 +o convex_4 +v -3.287707 2.678264 -0.208295 +v -1.544998 3.689149 0.000615 +v -1.544998 3.619333 0.314456 +v -1.545216 2.399378 -0.068880 +v -3.461956 3.026967 0.418964 +v -2.521273 3.479952 -0.452322 +v -1.545216 2.538884 0.453765 +v -1.545216 2.887461 -0.556936 +v -3.496675 3.479952 -0.033974 +v -3.461956 3.026967 -0.417416 +v -3.461956 2.643419 0.000615 +v -2.451617 2.608574 -0.452322 +v -1.545216 3.201066 0.523683 +v -1.544998 3.514797 -0.487123 +v -2.695085 3.445107 0.384057 +v -3.775735 3.026967 0.035522 +v -2.660367 3.096531 -0.556936 +v -2.590929 2.643419 0.418964 +v -2.695085 3.026967 0.523683 +v -1.545216 2.573729 -0.452322 +v -2.590929 3.619333 0.000615 +v -2.625866 2.504039 0.000615 +v -1.579935 3.584487 0.419070 +v -3.287707 3.340446 -0.347709 +v -3.496675 3.479952 0.035522 +v -2.556210 3.514797 -0.417416 +v -3.461956 3.096531 0.418964 +v -3.252770 2.748081 0.314350 +v -1.684746 2.608574 0.488671 +v -2.556210 3.131376 0.523683 +v -3.775735 3.026967 -0.068880 +v -1.684746 3.689023 -0.068880 +v -1.684746 3.445107 -0.522030 +v -3.392300 3.166095 -0.417416 +v -3.217833 3.375417 0.314350 +v -2.521273 2.957151 -0.556936 +v -3.148177 2.713109 -0.347709 +v -1.580153 2.399378 0.035522 +v -1.545216 2.887461 0.523683 +v -1.545216 3.201066 -0.556936 +v -3.427019 2.643419 -0.068880 +v -2.486336 2.608574 0.384057 +v -3.357363 3.026967 -0.452322 +v -3.775735 3.096531 0.035522 +v -2.556210 3.619333 -0.068880 +v -3.601268 3.096531 -0.278002 +v -2.486336 2.504039 -0.103681 +v -3.392300 2.643419 0.070322 +v -1.580153 2.504039 -0.347709 +v -2.207494 2.852616 0.523683 +f 252 262 273 +f 227 226 230 +f 225 226 237 +f 226 227 237 +f 234 228 239 +f 228 241 242 +f 235 231 243 +f 237 227 243 +f 231 237 243 +f 226 225 244 +f 236 226 246 +f 226 244 246 +f 244 232 248 +f 238 246 248 +f 246 244 248 +f 237 229 249 +f 229 247 249 +f 247 232 249 +f 239 228 250 +f 228 242 250 +f 241 228 251 +f 241 230 252 +f 242 236 253 +f 236 246 253 +f 246 238 253 +f 250 242 253 +f 238 250 253 +f 234 239 254 +f 225 237 255 +f 244 225 255 +f 237 249 255 +f 229 237 256 +f 240 229 256 +f 229 240 257 +f 247 229 257 +f 232 247 257 +f 238 248 258 +f 250 238 258 +f 248 250 258 +f 231 235 259 +f 240 231 259 +f 224 233 260 +f 235 224 260 +f 227 230 261 +f 245 227 261 +f 230 226 262 +f 226 236 262 +f 236 242 262 +f 252 230 262 +f 237 231 263 +f 231 240 263 +f 256 237 263 +f 240 256 263 +f 233 224 264 +f 224 235 264 +f 245 234 264 +f 254 233 264 +f 234 254 264 +f 230 241 265 +f 261 230 265 +f 245 261 265 +f 257 240 266 +f 233 257 266 +f 259 235 266 +f 240 259 266 +f 260 233 266 +f 235 260 266 +f 248 232 267 +f 239 250 267 +f 250 248 267 +f 232 254 267 +f 254 239 267 +f 232 244 268 +f 249 232 268 +f 244 255 268 +f 255 249 268 +f 254 232 269 +f 233 254 269 +f 257 233 269 +f 232 257 269 +f 235 227 270 +f 227 245 270 +f 264 235 270 +f 245 264 270 +f 228 234 271 +f 234 245 271 +f 251 228 271 +f 241 251 271 +f 265 241 271 +f 245 265 271 +f 227 235 272 +f 243 227 272 +f 235 243 272 +f 242 241 273 +f 241 252 273 +f 262 242 273 +o convex_5 +v -0.778093 4.072417 -0.068860 +v -1.544998 2.364795 -0.034028 +v -1.544998 2.364795 0.000803 +v 0.058502 2.469293 -0.103582 +v 0.058502 2.992136 0.523601 +v 0.058502 3.305451 -0.556936 +v -1.544998 3.514624 0.453939 +v -1.544998 2.887638 -0.556936 +v -0.917316 2.259943 0.558542 +v -0.499333 2.259943 -0.521995 +v -0.534335 3.967742 0.419107 +v -1.544998 3.514624 -0.487164 +v 0.058502 3.619299 0.035525 +v -0.534335 3.898018 -0.487164 +v -0.324950 2.259943 0.419107 +v -1.544998 2.573968 0.488770 +v -0.987163 3.932969 0.488770 +v -1.126543 4.037467 -0.068860 +v -1.196233 2.259943 -0.452333 +v 0.058502 2.608564 -0.487055 +v 0.058502 3.445077 0.453829 +v -0.394797 4.002693 0.000803 +v 0.058502 3.549575 -0.487055 +v -0.847783 3.793520 0.523601 +v -1.544998 3.200953 0.523601 +v -0.743248 3.619121 -0.556936 +v -1.544998 3.688846 0.070466 +v -1.265924 2.259943 0.419107 +v 0.058502 2.573791 0.384057 +v -0.952318 3.967742 -0.382561 +v -0.290262 2.259943 -0.382561 +v -0.812938 4.072417 0.349335 +v -0.429643 2.259943 0.523601 +v -1.544998 2.504244 -0.417501 +v 0.058502 2.922411 -0.556936 +v -1.056853 4.002693 0.314504 +v -0.987163 2.573968 -0.556936 +v -1.544998 3.200953 -0.556936 +v -0.917316 2.259943 -0.521995 +v -0.673558 3.828294 -0.521995 +v -0.673558 2.434520 0.558542 +v -0.464488 3.967742 0.349335 +v -0.220415 2.259943 0.000803 +v -1.544998 3.584348 0.419107 +v -0.638870 4.002693 -0.347729 +v -1.370459 2.259943 -0.068860 +v -1.544998 3.688846 -0.103691 +v 0.058502 2.469293 0.070357 +v -0.429643 3.932969 -0.312898 +f 287 318 322 +f 278 277 279 +f 275 276 280 +f 275 280 281 +f 281 280 285 +f 278 279 286 +f 282 283 288 +f 280 276 289 +f 283 282 292 +f 279 277 293 +f 278 286 294 +f 286 279 296 +f 279 287 296 +f 295 286 296 +f 284 290 297 +f 278 294 297 +f 294 284 297 +f 280 289 298 +f 289 282 298 +f 290 280 298 +f 282 297 298 +f 297 290 298 +f 279 281 299 +f 285 280 300 +f 289 276 301 +f 282 289 301 +f 292 282 301 +f 277 278 302 +f 285 291 303 +f 291 274 303 +f 288 283 304 +f 293 277 304 +f 283 293 304 +f 290 284 305 +f 274 291 305 +f 295 274 305 +f 282 288 306 +f 302 278 306 +f 288 302 306 +f 275 281 307 +f 292 275 307 +f 281 292 307 +f 281 279 308 +f 279 293 308 +f 293 283 308 +f 291 300 309 +f 290 305 309 +f 305 291 309 +f 281 308 310 +f 308 283 310 +f 281 285 311 +f 299 281 311 +f 292 281 312 +f 283 292 312 +f 281 310 312 +f 310 283 312 +f 287 279 313 +f 279 299 313 +f 303 287 313 +f 285 303 313 +f 311 285 313 +f 299 311 313 +f 278 297 314 +f 297 282 314 +f 306 278 314 +f 282 306 314 +f 294 286 315 +f 284 294 315 +f 286 295 315 +f 305 284 315 +f 295 305 315 +f 304 277 316 +f 288 304 316 +f 280 290 317 +f 300 280 317 +f 290 309 317 +f 309 300 317 +f 274 295 318 +f 303 274 318 +f 287 303 318 +f 276 275 319 +f 275 292 319 +f 301 276 319 +f 292 301 319 +f 291 285 320 +f 285 300 320 +f 300 291 320 +f 277 302 321 +f 302 288 321 +f 316 277 321 +f 288 316 321 +f 296 287 322 +f 295 296 322 +f 318 295 322 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/270/270.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/270/270.urdf new file mode 100644 index 000000000..ae9d01be2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/270/270.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/271/271.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/271/271.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/271/271.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/271/271.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/271/271.obj new file mode 100644 index 000000000..2f63f7710 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/271/271.obj @@ -0,0 +1,447 @@ +o convex_0 +v 1.110642 -1.673301 1.157181 +v -1.040708 -3.042038 -1.033627 +v -1.079998 -1.673301 -0.955139 +v 1.149932 -1.634245 -1.033627 +v 0.954136 -3.628863 1.078907 +v -1.040708 -1.634049 1.078692 +v -1.001636 -3.550554 1.078692 +v 0.993208 -3.472246 -0.955353 +v -1.001636 -3.511498 -1.033627 +v -0.806059 -3.355076 1.117937 +v 0.993208 -3.511498 1.000633 +v 0.915065 -1.634245 1.157181 +v -1.079998 -1.634049 -0.955139 +v -1.040708 -2.963730 1.078692 +v -0.375832 -3.511498 -1.033627 +v 0.915065 -3.628863 0.765812 +v -0.532120 -3.589806 1.039663 +v 0.406476 -1.634245 -1.033627 +v 1.032498 -3.081095 -0.994383 +v 1.149932 -1.712358 -0.837835 +v 0.993208 -3.511498 -0.720532 +v 0.993208 -2.885617 1.117937 +v 1.110642 -2.142761 -1.033627 +v 0.445767 -3.628863 1.039663 +v -0.219327 -1.634049 1.117937 +v -1.001636 -3.550554 0.257140 +v 1.110642 -1.634245 1.157181 +v 1.110642 -1.829723 0.883330 +f 11 20 28 +f 2 4 9 +f 7 5 10 +f 1 5 11 +f 10 1 12 +f 2 3 13 +f 3 6 13 +f 3 2 14 +f 6 3 14 +f 2 7 14 +f 10 6 14 +f 7 10 14 +f 9 4 15 +f 9 15 16 +f 5 7 17 +f 4 2 18 +f 2 13 18 +f 13 4 18 +f 8 15 19 +f 11 19 20 +f 11 5 21 +f 15 8 21 +f 16 15 21 +f 5 16 21 +f 19 11 21 +f 8 19 21 +f 5 1 22 +f 1 10 22 +f 10 5 22 +f 15 4 23 +f 19 15 23 +f 4 20 23 +f 20 19 23 +f 9 16 24 +f 16 5 24 +f 5 17 24 +f 6 10 25 +f 10 12 25 +f 4 13 25 +f 13 6 25 +f 7 2 26 +f 2 9 26 +f 17 7 26 +f 9 24 26 +f 24 17 26 +f 12 1 27 +f 1 20 27 +f 20 4 27 +f 4 25 27 +f 25 12 27 +f 1 11 28 +f 20 1 28 +o convex_1 +v 1.149865 -1.555370 1.157181 +v 2.518605 -1.594422 -1.072749 +v 2.518605 -1.555370 -1.072749 +v -2.996538 0.322029 -0.955097 +v 3.027620 0.322029 1.000457 +v -3.075083 -1.594422 1.117672 +v -3.075083 0.322029 1.039529 +v 3.145132 0.322029 -1.033459 +v -2.957571 -1.516317 -0.916025 +v 3.145132 -1.633666 1.000457 +v 3.105555 -1.633666 -1.072531 +v -1.588223 -1.633666 -0.916025 +v 2.871140 0.322029 1.039747 +v -1.040849 -1.633666 1.078601 +v 0.445403 -1.633666 -1.033459 +v -3.035506 0.243733 -0.642086 +v 3.066587 0.204680 1.000457 +v -2.996538 -1.164269 -0.916025 +v -3.075083 -0.343014 1.078819 +v 2.518605 0.322029 -1.033459 +v -2.996538 -0.303962 -0.955097 +v 1.032353 -1.477073 1.157181 +v 3.145132 -1.633666 0.100714 +v -2.096629 -1.633666 0.061643 +v 3.145132 -1.242374 1.000457 +v 1.110289 -1.633666 1.157181 +v -3.075083 0.322029 0.491869 +v 2.323157 -0.225665 1.078601 +v 3.145132 0.322029 -0.759520 +v -2.096629 -1.516317 -0.955097 +v 3.145132 -0.382067 -1.033459 +v 2.753628 -1.516317 1.039747 +v -3.075083 -1.594422 1.039529 +v -3.075083 -1.438020 1.117672 +v 0.328500 -1.516317 -1.033459 +v -2.996538 -1.555370 -0.133716 +v -2.996538 -1.516317 -0.720448 +v 3.105555 -1.320671 -1.072531 +f 48 36 66 +f 33 32 35 +f 32 33 36 +f 30 31 39 +f 39 38 40 +f 33 35 41 +f 40 38 42 +f 30 39 43 +f 40 37 43 +f 39 40 43 +f 33 41 45 +f 35 34 47 +f 31 32 48 +f 32 36 48 +f 44 32 49 +f 37 46 49 +f 46 44 49 +f 35 47 50 +f 36 38 51 +f 38 39 51 +f 42 34 52 +f 40 42 52 +f 38 36 53 +f 41 38 53 +f 45 41 53 +f 34 42 54 +f 42 38 54 +f 29 50 54 +f 50 34 54 +f 35 32 55 +f 34 35 55 +f 32 44 55 +f 41 35 56 +f 50 29 56 +f 35 50 56 +f 36 33 57 +f 33 45 57 +f 53 36 57 +f 45 53 57 +f 43 37 58 +f 37 49 58 +f 39 36 59 +f 36 51 59 +f 51 39 59 +f 38 41 60 +f 29 54 60 +f 54 38 60 +f 56 29 60 +f 41 56 60 +f 44 46 61 +f 52 34 61 +f 34 55 61 +f 55 44 61 +f 47 34 62 +f 34 50 62 +f 50 47 62 +f 31 30 63 +f 32 31 63 +f 30 43 63 +f 49 32 63 +f 43 58 63 +f 58 49 63 +f 37 40 64 +f 40 52 64 +f 52 61 64 +f 64 61 65 +f 46 37 65 +f 61 46 65 +f 37 64 65 +f 36 39 66 +f 39 31 66 +f 31 48 66 +o convex_2 +v -0.180174 1.730432 -3.067949 +v 1.110803 2.199876 0.218470 +v 1.110803 1.730432 0.218470 +v -1.040754 2.434598 3.151772 +v -1.040754 0.596454 3.073234 +v 0.993285 0.596454 3.112807 +v -1.079998 0.596454 -3.067340 +v 1.032529 0.596454 -2.910873 +v -1.040754 2.512711 -2.949837 +v 0.993285 2.473654 -3.067949 +v 1.071558 2.434598 3.034878 +v 1.071558 2.551959 1.508563 +v -0.962480 2.551959 1.195628 +v 1.110803 0.596454 -1.463704 +v 1.110803 2.395350 -1.345593 +v -1.079998 1.026650 1.703994 +v 0.563102 0.596454 -3.028375 +v -1.079998 1.535150 -3.027766 +v 1.110803 0.596454 -0.407399 +v -1.040754 2.473654 3.034269 +v 1.071558 2.551959 0.530795 +v -0.180174 2.512711 -3.028375 +v 1.071558 1.886850 3.034878 +v -1.079998 0.596454 1.782532 +v -0.493054 1.925906 3.151772 +v 0.993285 1.965154 -3.067949 +v -1.040754 1.026650 3.112199 +v 1.032529 1.026650 3.034269 +v 0.993285 0.596454 -2.988802 +v 0.993285 2.473654 2.721335 +v -0.336507 0.596454 -3.067340 +v 0.328282 2.551959 1.625456 +v -0.062657 0.596454 3.112807 +v -0.962480 2.512711 -2.988802 +v 1.110803 2.473654 -0.211358 +v -0.884207 2.551959 0.843730 +v 0.993285 0.791928 3.112807 +v -0.766904 2.395350 3.151772 +v -0.688630 2.473654 3.034269 +v -0.062657 2.512711 -3.028375 +v 0.523858 2.473654 -3.067949 +f 100 88 107 +f 72 71 73 +f 72 73 74 +f 69 68 77 +f 68 69 80 +f 72 74 80 +f 74 76 81 +f 68 80 81 +f 80 74 81 +f 74 73 83 +f 67 73 84 +f 73 82 84 +f 80 69 85 +f 72 80 85 +f 79 75 86 +f 82 70 86 +f 75 84 86 +f 84 82 86 +f 79 78 87 +f 69 77 89 +f 77 72 89 +f 85 69 89 +f 73 71 90 +f 70 82 90 +f 82 73 90 +f 67 76 92 +f 76 74 92 +f 70 90 93 +f 90 71 93 +f 91 70 93 +f 72 85 94 +f 89 72 94 +f 85 89 94 +f 74 83 95 +f 92 74 95 +f 83 92 95 +f 77 78 96 +f 73 67 97 +f 83 73 97 +f 67 92 97 +f 92 83 97 +f 78 79 98 +f 79 86 98 +f 71 72 99 +f 72 91 99 +f 93 71 99 +f 91 93 99 +f 67 84 100 +f 84 75 100 +f 87 88 100 +f 77 68 101 +f 78 77 101 +f 81 76 101 +f 68 81 101 +f 76 87 101 +f 87 78 101 +f 75 79 102 +f 79 87 102 +f 100 75 102 +f 87 100 102 +f 72 77 103 +f 91 72 103 +f 91 103 104 +f 77 70 104 +f 70 91 104 +f 103 77 104 +f 70 77 105 +f 86 70 105 +f 77 96 105 +f 96 78 105 +f 78 98 105 +f 98 86 105 +f 87 76 106 +f 76 88 106 +f 88 87 106 +f 76 67 107 +f 88 76 107 +f 67 100 107 +o convex_3 +v 1.110810 0.596072 -1.033826 +v -1.079998 0.361342 -3.067750 +v -1.079998 0.361342 -2.833020 +v -1.079998 0.596072 -3.067750 +v 0.993292 0.478707 -2.989506 +v -0.923450 0.596072 -1.033826 +v 1.110810 0.478707 -1.033826 +v 0.993292 0.596072 -2.989506 +v -0.923450 0.478707 -1.151290 +v -0.649599 0.361342 -3.067750 +v -1.001724 0.361342 -2.676534 +v 1.032536 0.478707 -2.911263 +v -0.923450 0.517813 -1.033826 +v -0.375748 0.596072 -3.067750 +f 112 117 121 +f 109 110 111 +f 111 110 113 +f 108 111 113 +f 108 113 114 +f 111 108 115 +f 110 109 117 +f 109 111 117 +f 116 110 118 +f 114 116 118 +f 110 117 118 +f 117 114 118 +f 108 114 119 +f 115 108 119 +f 112 115 119 +f 114 117 119 +f 117 112 119 +f 113 110 120 +f 114 113 120 +f 110 116 120 +f 116 114 120 +f 111 115 121 +f 115 112 121 +f 117 111 121 +o convex_4 +v 3.027618 0.322221 1.000442 +v -0.923412 0.517825 -1.033627 +v -2.996652 0.322221 -0.955284 +v -2.879138 0.517825 1.039816 +v 3.144523 0.556935 -1.033627 +v 3.144523 0.322221 -1.033627 +v 1.032314 0.596072 1.039816 +v -3.074589 0.322221 1.039816 +v -2.370722 0.556935 -0.955284 +v 3.027618 0.517798 1.000442 +v -0.923412 0.596072 -1.033627 +v -1.001349 0.596072 1.039816 +v -2.996652 0.517825 -0.955284 +v 1.110860 0.596072 -1.033627 +v -3.074589 0.517825 0.804788 +v 3.105555 0.556935 0.022376 +v 2.910104 0.322221 1.039816 +v -3.035620 0.361358 -0.681491 +f 136 134 139 +f 123 126 127 +f 122 124 127 +f 124 123 127 +f 124 122 129 +f 128 125 129 +f 123 124 132 +f 126 123 132 +f 132 130 133 +f 125 128 133 +f 128 132 133 +f 132 124 134 +f 130 132 134 +f 126 132 135 +f 132 128 135 +f 129 125 136 +f 133 130 136 +f 125 133 136 +f 130 134 136 +f 127 126 137 +f 122 127 137 +f 131 122 137 +f 128 131 137 +f 126 135 137 +f 135 128 137 +f 129 122 138 +f 128 129 138 +f 122 131 138 +f 131 128 138 +f 124 129 139 +f 134 124 139 +f 129 136 139 +o convex_5 +v 0.015161 0.596072 3.113056 +v -1.079998 0.361342 1.040019 +v -1.079998 0.478707 1.040019 +v 1.032567 0.596072 1.040019 +v 0.993070 0.478707 3.113056 +v -1.040707 0.596072 3.073889 +v -1.040707 0.596072 1.040019 +v 0.719487 0.478707 1.040019 +v -1.040707 0.517813 3.073889 +v 0.993070 0.596072 3.113056 +v -1.079998 0.361342 1.470456 +v -0.610378 0.361342 1.040019 +v 0.993070 0.478707 1.783390 +v 0.210784 0.478707 3.113056 +v -1.079998 0.596072 1.783390 +v 0.993070 0.517813 1.040019 +f 152 147 155 +f 141 142 143 +f 140 143 145 +f 143 142 146 +f 145 143 146 +f 141 143 147 +f 140 145 148 +f 143 140 149 +f 140 144 149 +f 144 143 149 +f 142 141 150 +f 141 147 151 +f 150 141 151 +f 144 150 151 +f 143 144 152 +f 151 147 152 +f 144 151 152 +f 144 140 153 +f 140 148 153 +f 150 144 153 +f 148 150 153 +f 146 142 154 +f 145 146 154 +f 148 145 154 +f 142 150 154 +f 150 148 154 +f 147 143 155 +f 143 152 155 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/271/271.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/271/271.urdf new file mode 100644 index 000000000..d54a9d519 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/271/271.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/272/272.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/272/272.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/272/272.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/272/272.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/272/272.obj new file mode 100644 index 000000000..a02c2539e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/272/272.obj @@ -0,0 +1,756 @@ +o convex_0 +v 0.054558 -3.047997 0.471912 +v 0.021897 -1.742242 -0.997454 +v 0.021897 -1.415501 -0.997454 +v -1.251620 -1.415501 0.765746 +v 1.230093 -1.415674 0.896383 +v 0.185201 -3.015548 -0.736181 +v 1.001468 -1.546336 -0.931940 +v 0.903486 -2.721602 0.863821 +v -0.696388 -2.852091 -0.246197 +v -0.892103 -1.448296 -0.768743 +v -0.826782 -2.754052 0.765746 +v 0.805504 -2.950131 -0.017681 +v -0.435103 -1.676825 0.994262 +v 1.295414 -1.415674 -0.246197 +v -0.533085 -2.688980 -0.735986 +v -1.186298 -1.415501 -0.311516 +v 0.380915 -2.558145 -0.997454 +v 0.870825 -2.329789 -0.801499 +v -0.010514 -3.178832 0.080003 +v 0.805504 -2.199300 0.994457 +v -0.729049 -2.101433 0.961506 +v -0.990334 -2.232095 -0.148123 +v 0.119879 -1.415501 0.994457 +v 0.054558 -2.917508 0.798503 +v -0.696388 -2.950131 -0.050243 +v 0.936147 -1.415674 -0.964697 +v -0.892103 -1.415501 0.961506 +v 1.295414 -1.448296 0.667672 +v 1.066789 -2.199300 -0.148318 +v -0.794370 -1.415501 -0.833866 +v 0.805504 -2.786847 0.863821 +v -0.859692 -2.754052 0.732990 +v -1.251620 -1.448296 0.080003 +v -0.075835 -2.199300 0.994457 +v 0.968807 -1.480918 0.994457 +v 0.119879 -3.178832 0.047442 +v 0.674861 -2.819296 -0.507470 +v 0.087219 -3.047997 -0.670863 +v 0.054558 -2.101433 -0.997454 +v -1.022746 -1.840109 0.896383 +v 1.262753 -1.448296 -0.409395 +v -0.761460 -2.884713 -0.050243 +v 1.295414 -1.480918 0.177883 +v 1.066789 -1.840109 0.961506 +v 0.870825 -2.819296 0.667867 +v 0.903486 -2.297167 -0.768743 +v -1.251620 -1.480918 0.732990 +v -1.186298 -1.448296 -0.311516 +v 0.217612 -2.590767 -0.964697 +v 0.478897 -2.427656 -0.997454 +v -1.186298 -1.448296 0.863626 +v -0.010514 -3.178832 -0.017681 +v 0.544219 -2.688980 -0.768743 +v -0.826782 -1.611580 -0.801304 +v -0.174067 -2.917508 0.732990 +v -0.500424 -2.721429 -0.735986 +v 0.087219 -3.015548 -0.736181 +v 0.870825 -2.786847 -0.050438 +v 0.119879 -3.113242 -0.376834 +v 1.262753 -1.480918 0.830869 +v -0.761460 -2.688980 0.798308 +v -0.892103 -2.558318 0.798308 +v 0.805504 -2.950131 0.080003 +v 0.283183 -1.513541 -0.997454 +f 26 50 64 +f 4 3 16 +f 2 3 17 +f 15 9 22 +f 3 4 23 +f 14 3 23 +f 5 14 23 +f 3 14 26 +f 21 13 27 +f 23 4 27 +f 13 23 27 +f 14 5 28 +f 3 2 30 +f 10 16 30 +f 16 3 30 +f 8 20 31 +f 24 1 31 +f 19 11 32 +f 25 19 32 +f 4 16 33 +f 22 32 33 +f 13 21 34 +f 23 13 34 +f 20 23 34 +f 31 20 34 +f 24 31 34 +f 5 23 35 +f 23 20 35 +f 1 19 36 +f 31 1 36 +f 12 6 37 +f 18 12 37 +f 2 17 39 +f 30 2 39 +f 21 27 40 +f 26 14 41 +f 7 26 41 +f 14 29 41 +f 22 9 42 +f 9 25 42 +f 32 22 42 +f 25 32 42 +f 28 8 43 +f 14 28 43 +f 29 14 43 +f 8 29 43 +f 20 8 44 +f 5 35 44 +f 35 20 44 +f 29 8 45 +f 8 31 45 +f 31 36 45 +f 12 18 46 +f 18 7 46 +f 7 41 46 +f 41 29 46 +f 4 33 47 +f 33 32 47 +f 16 10 48 +f 15 22 48 +f 33 16 48 +f 22 33 48 +f 39 17 49 +f 15 39 49 +f 17 3 50 +f 7 18 50 +f 18 17 50 +f 26 7 50 +f 27 4 51 +f 40 27 51 +f 4 47 51 +f 19 25 52 +f 36 19 52 +f 25 38 52 +f 6 17 53 +f 17 18 53 +f 37 6 53 +f 18 37 53 +f 10 30 54 +f 39 15 54 +f 30 39 54 +f 48 10 54 +f 15 48 54 +f 19 1 55 +f 11 19 55 +f 1 24 55 +f 24 11 55 +f 9 15 56 +f 25 9 56 +f 38 25 56 +f 15 49 56 +f 56 49 57 +f 17 6 57 +f 6 38 57 +f 49 17 57 +f 38 56 57 +f 29 45 58 +f 45 12 58 +f 12 46 58 +f 46 29 58 +f 6 12 59 +f 12 36 59 +f 38 6 59 +f 36 52 59 +f 52 38 59 +f 28 5 60 +f 8 28 60 +f 5 44 60 +f 44 8 60 +f 21 11 61 +f 11 24 61 +f 34 21 61 +f 24 34 61 +f 11 21 62 +f 32 11 62 +f 21 40 62 +f 47 32 62 +f 40 51 62 +f 51 47 62 +f 36 12 63 +f 12 45 63 +f 45 36 63 +f 3 26 64 +f 50 3 64 +o convex_1 +v -1.676059 -1.317299 0.569603 +v 1.196958 1.098878 -0.213457 +v 1.196958 1.098878 -0.572670 +v 2.731977 -0.990695 -0.017944 +v -1.904253 -0.827516 -0.931883 +v -1.022646 1.098878 0.961637 +v 2.666695 -0.142067 0.830959 +v -2.557666 0.641584 -0.572670 +v 0.935828 -1.415501 -0.964502 +v 1.099328 -1.415501 0.961435 +v 2.013871 0.641584 -0.964502 +v -2.753513 -0.239778 0.733102 +v -0.925016 1.098878 -0.997323 +v 2.633760 0.608850 0.667863 +v 2.797260 -0.174556 -0.801205 +v -2.557666 -0.892985 -0.638110 +v -1.937189 -0.958207 0.961637 +v 0.184785 1.098878 0.994256 +v -0.859146 -1.415501 -0.834026 +v -2.557666 0.641584 0.700281 +v 2.013871 -0.305000 -1.062359 +v -1.969536 -0.174556 -1.029942 +v 1.980935 -0.958207 0.994055 +v 2.797260 0.608850 -0.115600 +v -2.753513 -0.925473 0.112734 +v -2.982296 -0.109579 -0.082980 +v 2.536130 -0.958207 -0.703348 +v 3.026043 -0.207044 0.079914 +v -2.034818 -0.044357 0.994256 +v -0.892081 -1.415501 0.961637 +v 2.601413 -0.990695 0.732900 +v 1.980935 0.608850 0.961435 +v -2.688231 -0.076845 -0.801407 +v 1.001110 1.098878 0.863578 +v -2.688231 0.674318 -0.017944 +v -2.524731 -0.990695 0.733102 +v 0.021873 -1.415501 -0.997323 +v 1.425740 -1.415501 0.177973 +v 2.601413 0.608850 -0.736168 +v 0.935828 1.098878 -0.899264 +v -1.904253 0.641584 -0.931883 +v -1.186146 -1.415501 -0.311516 +v 2.046218 0.869985 0.210592 +v -1.937189 0.674072 0.961637 +v -1.153211 1.098878 -0.409574 +v 1.948000 -0.958207 -0.964502 +v 2.013871 -0.011623 -1.062359 +v 2.829607 -0.207044 0.732900 +v 1.327523 -1.415501 -0.441992 +v 1.850370 -1.284564 0.765519 +v 2.143847 -0.142067 0.994055 +v 0.054221 1.098878 -0.997323 +v -2.720578 -0.958207 -0.017944 +v 3.026043 -0.207044 -0.115600 +v -2.459448 0.674318 -0.670729 +v -1.316711 -1.415501 0.732900 +v -2.982296 -0.109579 0.047295 +v -2.034818 0.869985 0.177771 +v 2.764325 -0.239778 -0.834026 +v 2.797260 -0.925473 0.014676 +v 2.601413 0.608850 0.732900 +v 1.980935 0.869985 -0.507432 +v -2.688231 -0.305000 -0.768787 +v -2.753513 0.608850 0.014676 +f 90 121 128 +f 66 67 70 +f 70 67 77 +f 66 70 82 +f 73 74 83 +f 80 69 83 +f 88 78 92 +f 76 81 93 +f 87 82 93 +f 87 93 94 +f 83 74 94 +f 74 87 94 +f 93 81 94 +f 71 87 95 +f 87 74 95 +f 90 72 97 +f 66 82 98 +f 82 96 98 +f 81 76 100 +f 76 89 100 +f 94 81 100 +f 83 69 101 +f 73 83 101 +f 85 73 101 +f 69 86 101 +f 86 85 101 +f 74 73 102 +f 77 67 104 +f 103 75 104 +f 77 86 105 +f 86 97 105 +f 80 83 106 +f 83 94 106 +f 67 66 107 +f 78 88 107 +f 66 98 107 +f 82 70 108 +f 70 84 108 +f 84 76 108 +f 76 93 108 +f 93 82 108 +f 70 77 109 +f 73 85 110 +f 91 73 110 +f 86 77 111 +f 85 86 111 +f 92 78 112 +f 71 95 112 +f 95 92 112 +f 91 68 113 +f 73 91 113 +f 68 102 113 +f 102 73 113 +f 68 95 114 +f 95 74 114 +f 102 68 114 +f 74 102 114 +f 87 71 115 +f 82 87 115 +f 71 96 115 +f 96 82 115 +f 77 104 116 +f 104 75 116 +f 75 111 116 +f 111 77 116 +f 90 80 117 +f 89 90 117 +f 100 89 117 +f 65 100 117 +f 80 106 117 +f 106 65 117 +f 88 92 118 +f 79 103 118 +f 103 88 118 +f 97 72 119 +f 72 99 119 +f 77 105 119 +f 105 97 119 +f 109 77 119 +f 99 109 119 +f 100 65 120 +f 94 100 120 +f 65 106 120 +f 106 94 120 +f 76 84 121 +f 89 76 121 +f 90 89 121 +f 84 70 122 +f 99 84 122 +f 70 109 122 +f 109 99 122 +f 75 103 123 +f 103 79 123 +f 110 85 123 +f 91 110 123 +f 111 75 123 +f 85 111 123 +f 118 91 123 +f 79 118 123 +f 68 91 124 +f 95 68 124 +f 92 95 124 +f 91 118 124 +f 118 92 124 +f 96 71 125 +f 98 96 125 +f 78 107 125 +f 107 98 125 +f 71 112 125 +f 112 78 125 +f 88 103 126 +f 104 67 126 +f 103 104 126 +f 67 107 126 +f 107 88 126 +f 69 80 127 +f 86 69 127 +f 80 90 127 +f 97 86 127 +f 90 97 127 +f 72 90 128 +f 99 72 128 +f 84 99 128 +f 121 84 128 +o convex_2 +v -1.317168 1.752018 0.341301 +v -1.284478 1.915181 -0.376952 +v -1.284478 1.980486 -0.376952 +v -2.981957 1.849875 -0.017825 +v -1.251789 1.490797 -0.050454 +v -1.251789 2.176469 0.047362 +v -2.720781 2.078411 0.047362 +v -2.688261 1.654094 -0.017825 +v -2.753470 1.882495 0.210646 +v -1.251789 1.523483 0.276044 +v -1.251789 2.078411 0.276044 +v -1.251789 1.621407 -0.311695 +v -2.622882 1.882495 -0.213738 +v -1.317168 2.143716 -0.278996 +v -2.557672 2.045791 -0.148410 +v -2.590192 1.686713 0.145318 +v -2.002799 1.654094 -0.213738 +v -1.251789 1.882495 0.341301 +v -2.720781 1.817323 0.210646 +v -2.753470 2.078411 -0.017825 +v -2.524983 2.013105 0.178017 +v -2.622882 1.784704 -0.181039 +v -1.349857 1.490797 -0.050454 +v -1.251789 2.176469 -0.083083 +v -2.753470 1.915181 -0.181039 +v -2.981957 1.849875 0.047362 +v -1.284478 1.490797 0.112690 +v -1.415067 1.654094 -0.311695 +v -2.655571 1.654094 0.047362 +v -1.251789 2.143716 -0.278996 +v -1.317168 2.078411 0.276044 +v -2.981957 1.915181 0.047362 +f 154 137 160 +f 133 134 138 +f 138 134 139 +f 130 131 140 +f 134 133 140 +f 131 130 141 +f 142 131 143 +f 137 129 146 +f 129 138 146 +f 138 139 146 +f 129 137 147 +f 138 129 147 +f 144 138 147 +f 135 134 148 +f 142 143 148 +f 135 137 149 +f 136 132 150 +f 145 136 150 +f 140 133 151 +f 136 145 151 +f 145 140 151 +f 134 140 152 +f 148 134 152 +f 142 148 152 +f 131 141 153 +f 143 131 153 +f 148 143 153 +f 150 132 153 +f 141 150 153 +f 132 136 154 +f 147 137 154 +f 144 147 154 +f 133 138 155 +f 136 151 155 +f 151 133 155 +f 130 140 156 +f 141 130 156 +f 140 145 156 +f 150 141 156 +f 145 150 156 +f 138 144 157 +f 154 136 157 +f 144 154 157 +f 136 155 157 +f 155 138 157 +f 140 131 158 +f 131 142 158 +f 152 140 158 +f 142 152 158 +f 134 135 159 +f 139 134 159 +f 137 146 159 +f 146 139 159 +f 135 149 159 +f 149 137 159 +f 137 135 160 +f 135 148 160 +f 153 132 160 +f 148 153 160 +f 132 154 160 +o convex_3 +v 0.805457 1.392997 0.929053 +v -0.500563 1.850054 -1.030108 +v -0.500563 1.947921 -1.030108 +v -1.055525 1.098878 0.929053 +v -0.206421 2.698925 0.765555 +v 1.099359 1.098878 -0.703313 +v 0.838059 2.568090 -0.768752 +v -0.924875 2.568090 -0.768551 +v -0.957478 1.098878 -0.964668 +v 1.197407 2.176277 0.243246 +v -1.251620 2.111033 0.275865 +v 1.001312 1.098878 0.830994 +v 0.707409 2.568263 0.830994 +v 0.772854 2.796792 0.014711 +v -0.369913 2.208900 1.026910 +v 0.936107 1.098878 -0.899430 +v -0.761862 2.763997 -0.017707 +v -0.826828 2.502846 0.700518 +v -1.251620 1.621526 -0.311480 +v -0.206421 2.698925 -0.768551 +v 1.197407 2.208900 -0.311480 +v 1.197407 1.098878 -0.246242 +v -0.271865 2.241522 -1.029705 +v 0.087242 1.098878 0.994090 +v -0.141215 2.862209 -0.017707 +v -1.251620 2.176277 -0.311480 +v -1.153572 1.098878 -0.344100 +v 0.054400 1.098878 -0.997086 +v -0.892273 1.882849 0.929053 +v -1.251620 1.523486 0.275865 +v 1.197407 1.523486 0.275865 +v -0.892273 2.535468 -0.833991 +v -0.043168 1.327579 1.026910 +v -1.153572 2.339562 0.014509 +v 0.772854 2.568090 -0.801371 +v -0.043168 2.731547 0.700316 +v -1.022922 1.098878 0.961672 +v 0.021797 2.698925 -0.768551 +v 0.903504 1.098878 0.929053 +v -1.251620 2.045788 -0.376920 +v -0.892273 1.197090 -0.997288 +v 0.185050 2.862209 -0.017707 +v 1.197407 1.947921 0.341305 +v 1.164564 1.164295 -0.605455 +v -0.076010 1.817432 1.026910 +v -0.859670 2.600885 -0.801371 +v -0.826828 1.947921 -0.964668 +v -1.120730 1.098878 -0.605254 +v -0.826828 2.731547 -0.017707 +v 1.164564 2.306939 -0.082945 +v -0.206421 2.176277 -1.029705 +v -0.826828 2.535468 0.667697 +v 1.001312 1.197090 0.830994 +v 1.197407 2.078238 -0.376920 +v 0.772854 2.796792 0.047330 +v -1.251620 2.078238 0.308484 +v 0.740252 2.274144 0.863613 +v 0.740252 2.796792 -0.050326 +v -0.141215 1.882849 -1.029705 +v 0.185050 2.666130 0.798174 +v 0.772854 2.437429 0.798375 +v -0.402515 2.208900 -1.030108 +v -0.076010 2.862209 0.079949 +v 0.968709 2.404806 0.471983 +f 215 173 224 +f 166 164 169 +f 164 166 172 +f 167 166 176 +f 166 169 176 +f 175 165 178 +f 172 166 182 +f 181 170 182 +f 164 172 184 +f 179 171 186 +f 169 164 187 +f 176 169 188 +f 175 178 189 +f 171 179 190 +f 187 164 190 +f 179 187 190 +f 172 182 191 +f 182 170 191 +f 168 186 194 +f 186 171 194 +f 167 176 195 +f 164 184 197 +f 189 164 197 +f 175 189 197 +f 193 175 197 +f 184 193 197 +f 183 180 198 +f 180 185 198 +f 167 195 198 +f 195 183 198 +f 184 172 199 +f 193 184 199 +f 186 168 200 +f 179 186 200 +f 192 169 200 +f 168 192 200 +f 163 162 201 +f 162 188 201 +f 188 169 201 +f 198 185 202 +f 191 170 203 +f 172 191 203 +f 166 167 204 +f 182 166 204 +f 175 193 205 +f 199 161 205 +f 193 199 205 +f 180 183 206 +f 177 185 206 +f 185 180 206 +f 192 168 206 +f 183 192 206 +f 169 192 207 +f 163 201 207 +f 201 169 207 +f 169 187 208 +f 187 179 208 +f 200 169 208 +f 179 200 208 +f 168 194 209 +f 206 168 209 +f 177 206 209 +f 167 174 210 +f 181 167 210 +f 170 181 210 +f 195 176 211 +f 183 195 211 +f 165 177 212 +f 171 178 212 +f 178 165 212 +f 194 171 212 +f 177 209 212 +f 209 194 212 +f 199 172 213 +f 172 203 213 +f 167 181 214 +f 181 182 214 +f 204 167 214 +f 182 204 214 +f 174 202 215 +f 202 196 215 +f 210 174 215 +f 170 210 215 +f 178 171 216 +f 164 189 216 +f 189 178 216 +f 190 164 216 +f 171 190 216 +f 173 175 217 +f 161 199 217 +f 205 161 217 +f 175 205 217 +f 199 213 217 +f 174 167 218 +f 167 198 218 +f 202 174 218 +f 198 202 218 +f 188 162 219 +f 176 188 219 +f 211 176 219 +f 165 175 220 +f 175 173 220 +f 196 165 220 +f 173 215 220 +f 215 196 220 +f 170 173 221 +f 203 170 221 +f 213 203 221 +f 173 217 221 +f 217 213 221 +f 162 163 222 +f 192 183 222 +f 163 207 222 +f 207 192 222 +f 183 211 222 +f 219 162 222 +f 211 219 222 +f 177 165 223 +f 185 177 223 +f 165 196 223 +f 196 202 223 +f 202 185 223 +f 173 170 224 +f 170 215 224 +o convex_4 +v 1.197451 1.425501 -0.017825 +v 1.262849 2.241698 -0.017825 +v 1.262849 2.241698 -0.050428 +v 2.993436 1.817339 0.047381 +v 1.197451 1.915139 0.308717 +v 1.197451 1.915139 -0.344368 +v 2.732196 1.817339 -0.181033 +v 2.732196 1.784739 0.243319 +v 1.230150 1.458181 0.243319 +v 2.666622 1.588820 0.014778 +v 2.699497 2.045779 0.080112 +v 1.328071 2.176338 -0.278970 +v 1.197451 2.143739 0.243319 +v 2.013872 1.654100 -0.213700 +v 2.633923 2.045779 -0.050428 +v 1.197451 1.686780 -0.278970 +v 1.197451 1.686780 0.308717 +v 2.503303 1.621420 0.178049 +v 1.197451 2.143739 -0.311701 +v 2.699497 1.882459 -0.181033 +v 2.699497 1.621420 -0.050428 +v 2.633923 1.915139 0.210652 +v 1.230150 2.045779 -0.344368 +v 2.536177 2.013099 -0.148366 +v 1.915951 1.849859 -0.278970 +v 2.830117 1.654100 0.047381 +v 2.732196 1.817339 0.243319 +v 2.993436 1.849859 0.014778 +v 1.197451 2.241698 0.014778 +v 1.197451 1.523460 0.276050 +v 1.230150 1.425501 0.080112 +v 1.491391 1.849859 0.308717 +v 2.274761 1.654100 -0.181033 +f 245 225 257 +f 225 229 230 +f 227 226 235 +f 230 229 237 +f 227 235 239 +f 236 227 239 +f 225 230 240 +f 238 225 240 +f 229 225 241 +f 232 233 242 +f 233 234 242 +f 227 236 243 +f 230 237 243 +f 243 236 244 +f 234 225 245 +f 235 237 246 +f 230 243 247 +f 243 244 247 +f 236 239 248 +f 239 244 248 +f 244 236 248 +f 231 238 249 +f 240 230 249 +f 238 240 249 +f 244 231 249 +f 230 247 249 +f 247 244 249 +f 228 232 250 +f 232 242 250 +f 242 234 250 +f 234 245 250 +f 232 228 251 +f 228 235 251 +f 237 229 251 +f 235 246 251 +f 246 237 251 +f 235 228 252 +f 239 235 252 +f 231 244 252 +f 244 239 252 +f 245 231 252 +f 228 250 252 +f 250 245 252 +f 226 227 253 +f 235 226 253 +f 237 235 253 +f 227 243 253 +f 243 237 253 +f 233 232 254 +f 225 233 254 +f 241 225 254 +f 232 241 254 +f 233 225 255 +f 225 234 255 +f 234 233 255 +f 229 241 256 +f 241 232 256 +f 232 251 256 +f 251 229 256 +f 225 238 257 +f 238 231 257 +f 231 245 257 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/272/272.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/272/272.urdf new file mode 100644 index 000000000..5b4a5fc1b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/272/272.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/273/273.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/273/273.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/273/273.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/273/273.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/273/273.obj new file mode 100644 index 000000000..cfae52e79 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/273/273.obj @@ -0,0 +1,498 @@ +o convex_0 +v -0.996771 -3.706645 -0.962198 +v 0.659927 -0.976417 1.062750 +v 0.629340 -0.976417 1.062750 +v 0.874837 0.803706 -1.023671 +v -0.996771 0.803706 0.939803 +v 0.936010 -3.583908 1.062750 +v 1.028171 -3.706645 -1.023671 +v -0.935396 -3.645277 0.970642 +v -0.935396 0.803706 -0.931359 +v 1.058959 0.803706 1.031911 +v 0.997585 0.803706 -1.023671 +v -0.198908 0.803706 1.031911 +v -0.720487 -3.522540 -0.992832 +v -0.965983 -0.393638 -0.962198 +v 0.997585 -2.233805 1.062750 +v -0.996771 -0.025429 0.970642 +v 1.028171 -1.466480 -1.023671 +v -0.996771 -3.706645 -0.593970 +v 1.028171 -3.675740 -0.593765 +v -0.597739 -2.847488 1.001276 +v 1.058959 0.005476 1.031911 +v -0.965983 -2.693847 0.970642 +v 1.028171 -3.706645 -0.839455 +v -0.812648 0.772360 -0.961993 +v 0.690714 -3.706645 -1.023671 +v 0.966797 -3.583908 0.909168 +v 0.752089 -3.461172 1.062750 +v -0.996771 -2.939320 -0.962198 +v -0.720487 -1.375532 1.001276 +v -0.659113 -3.645277 0.970438 +v -0.965983 -3.675740 0.356724 +v -0.689900 0.803706 1.001276 +v 1.058959 0.803706 0.909168 +v -0.996771 0.803706 0.847899 +v -0.965983 -3.645277 0.571575 +v -0.536364 -3.553003 1.001276 +f 27 20 36 +f 2 3 6 +f 5 4 9 +f 3 2 10 +f 4 5 10 +f 7 4 11 +f 4 10 11 +f 3 10 12 +f 10 5 12 +f 2 6 15 +f 10 2 15 +f 5 1 16 +f 7 11 17 +f 1 7 18 +f 16 1 18 +f 10 15 21 +f 15 19 21 +f 18 7 23 +f 7 21 23 +f 21 19 23 +f 9 4 24 +f 4 13 24 +f 14 9 24 +f 13 14 24 +f 7 1 25 +f 4 7 25 +f 1 13 25 +f 13 4 25 +f 15 6 26 +f 19 15 26 +f 6 23 26 +f 23 19 26 +f 6 3 27 +f 3 12 27 +f 1 5 28 +f 13 1 28 +f 14 13 28 +f 8 20 29 +f 22 8 29 +f 16 22 29 +f 27 12 29 +f 20 27 29 +f 6 8 30 +f 23 6 30 +f 23 30 31 +f 18 23 31 +f 30 8 31 +f 12 5 32 +f 5 16 32 +f 29 12 32 +f 16 29 32 +f 11 10 33 +f 7 17 33 +f 17 11 33 +f 21 7 33 +f 10 21 33 +f 5 9 34 +f 9 14 34 +f 28 5 34 +f 14 28 34 +f 16 18 35 +f 8 22 35 +f 22 16 35 +f 31 8 35 +f 18 31 35 +f 8 6 36 +f 20 8 36 +f 6 27 36 +o convex_1 +v -3.082897 1.172015 -0.287179 +v -2.499999 1.754803 -0.103131 +v -2.499999 1.754803 -0.133850 +v -1.058346 1.172015 0.295617 +v -1.058346 1.264048 -0.379269 +v -2.990945 1.570671 0.234246 +v -1.058346 1.693425 0.234246 +v -2.898792 1.079916 0.203527 +v -1.089131 1.693425 -0.348550 +v -3.113883 1.693425 -0.287179 +v -1.058346 1.172015 -0.379269 +v -2.990945 1.724081 0.234246 +v -3.113883 1.386737 -0.348550 +v -1.089131 1.141294 0.295617 +v -2.990945 1.079916 0.080851 +v -3.113883 1.754803 -0.256526 +v -3.113883 1.202671 -0.348550 +v -2.438630 1.079916 0.172875 +v -1.058346 1.601392 0.264899 +v -1.672029 1.693425 -0.348550 +v -1.580077 1.724081 0.142222 +v -1.334604 1.141294 0.295617 +v -1.089131 1.325359 0.295617 +v -1.580077 1.172015 -0.379269 +v -3.113883 1.233327 -0.256526 +v -3.052314 1.754803 0.019479 +f 52 61 62 +f 40 41 43 +f 43 41 45 +f 41 40 47 +f 47 40 50 +f 44 42 51 +f 38 39 52 +f 39 45 52 +f 46 49 52 +f 52 49 53 +f 37 51 53 +f 50 44 54 +f 47 50 54 +f 44 51 54 +f 51 47 54 +f 40 43 55 +f 43 48 55 +f 45 41 56 +f 49 46 56 +f 52 45 56 +f 46 52 56 +f 39 38 57 +f 45 39 57 +f 43 45 57 +f 48 43 57 +f 42 44 58 +f 48 42 58 +f 44 50 58 +f 50 40 58 +f 40 55 59 +f 55 48 59 +f 48 58 59 +f 58 40 59 +f 41 47 60 +f 51 37 60 +f 47 51 60 +f 53 49 60 +f 37 53 60 +f 56 41 60 +f 49 56 60 +f 51 42 61 +f 52 53 61 +f 53 51 61 +f 42 48 62 +f 38 52 62 +f 57 38 62 +f 48 57 62 +f 61 42 62 +o convex_2 +v 3.022367 1.509302 0.326366 +v 1.120324 1.447934 -0.348653 +v 1.120324 1.141218 -0.317928 +v 1.120324 1.693470 0.295641 +v 2.961074 1.662818 -0.348653 +v 3.114502 1.141218 0.234258 +v 1.120324 1.233366 0.264983 +v 3.022367 1.202650 -0.256478 +v 1.120324 1.693470 -0.348653 +v 1.120324 1.079850 -0.195161 +v 2.991721 1.601386 0.326366 +v 1.151361 1.724186 0.264983 +v 1.396729 1.079850 -0.287203 +v 2.041090 1.171997 0.264983 +v 2.347361 1.693470 -0.103119 +v 2.991721 1.601386 -0.348653 +v 2.347361 1.478650 0.326366 +v 3.114502 1.141218 0.142216 +v 3.114502 1.171997 0.264983 +v 2.193932 1.141218 -0.287203 +v 2.991721 1.662818 -0.256478 +v 1.273948 1.202650 0.264983 +v 1.458023 1.325387 0.295641 +f 84 76 85 +f 64 65 66 +f 66 65 69 +f 64 66 71 +f 67 64 71 +f 69 65 72 +f 71 66 74 +f 66 73 74 +f 72 65 75 +f 68 72 75 +f 72 68 76 +f 67 71 77 +f 74 73 77 +f 71 74 77 +f 65 64 78 +f 64 67 78 +f 63 73 79 +f 73 66 79 +f 68 75 80 +f 70 78 80 +f 76 68 81 +f 63 79 81 +f 79 76 81 +f 68 80 81 +f 75 65 82 +f 65 78 82 +f 78 70 82 +f 70 80 82 +f 80 75 82 +f 73 63 83 +f 67 77 83 +f 77 73 83 +f 78 67 83 +f 80 78 83 +f 81 80 83 +f 63 81 83 +f 69 72 84 +f 72 76 84 +f 66 69 85 +f 79 66 85 +f 76 79 85 +f 69 84 85 +o convex_3 +v 0.506671 1.969515 2.014171 +v -0.475066 0.834503 1.952727 +v -0.536540 0.865204 1.032266 +v -0.536540 1.938814 2.995481 +v 0.475934 0.895904 3.026203 +v 0.475934 2.000330 1.032266 +v 0.414563 0.957192 1.032266 +v -0.444432 1.908114 1.032266 +v -0.444432 0.834503 3.056726 +v 0.506671 1.938814 2.964760 +v -0.076306 1.447946 3.056726 +v 0.445197 1.018593 1.154954 +v 0.138443 0.865204 2.289873 +v -0.536540 1.141396 1.062987 +v 0.506671 1.969515 2.688859 +v -0.536540 0.926605 1.492496 +v 0.506671 1.386773 2.934236 +v -0.321689 0.865204 1.062987 +v 0.230449 1.785425 3.026203 +v -0.475066 1.908114 1.277841 +v -0.168210 0.834503 3.056726 +v 0.383928 2.000330 1.032266 +v -0.475066 1.141396 3.056726 +v -0.505701 1.846827 3.026203 +v 0.475934 0.895904 2.750104 +v -0.229683 1.938814 1.032266 +v 0.169078 0.865204 3.056726 +f 110 90 112 +f 88 91 92 +f 91 88 93 +f 88 87 94 +f 91 86 97 +f 92 91 97 +f 88 89 99 +f 93 88 99 +f 86 91 100 +f 95 86 100 +f 89 95 100 +f 89 88 101 +f 88 94 101 +f 86 95 102 +f 95 90 102 +f 97 86 102 +f 87 88 103 +f 88 92 103 +f 98 87 103 +f 92 98 103 +f 95 89 104 +f 90 95 104 +f 89 93 105 +f 99 89 105 +f 93 99 105 +f 94 87 106 +f 96 94 106 +f 87 98 106 +f 91 93 107 +f 89 100 107 +f 100 91 107 +f 94 96 108 +f 89 101 108 +f 101 94 108 +f 104 89 109 +f 96 104 109 +f 89 108 109 +f 108 96 109 +f 92 97 110 +f 98 92 110 +f 102 90 110 +f 97 102 110 +f 93 89 111 +f 89 107 111 +f 107 93 111 +f 90 104 112 +f 104 96 112 +f 96 106 112 +f 106 98 112 +f 98 110 112 +o convex_4 +v -0.536540 0.926512 -2.158782 +v 0.598719 0.987853 -1.054555 +v 0.506596 1.816072 -1.054555 +v 0.567937 1.079976 -3.110092 +v -0.536540 1.877524 -3.017738 +v -0.444417 1.816072 -1.054555 +v 0.414584 1.908195 -3.079106 +v -0.475087 0.834389 -1.054555 +v -0.536540 0.895841 -3.079106 +v 0.567937 0.926512 -3.110092 +v 0.445255 1.969647 -1.054555 +v 0.598719 0.895841 -1.054555 +v -0.229611 0.834389 -1.453550 +v 0.445255 1.908195 -2.956370 +v -0.505758 0.834389 -1.238660 +v -0.475087 1.846742 -1.606870 +v 0.230449 1.908195 -3.079106 +v -0.536540 1.202659 -3.079106 +v -0.106928 0.957294 -3.110092 +v -0.536540 1.846742 -2.772264 +v 0.598719 0.895841 -1.545501 +v 0.475925 1.938866 -1.729607 +v 0.506596 1.447913 -3.110092 +v -0.137599 0.834389 -1.054555 +v -0.321734 0.895841 -3.079106 +f 125 121 137 +f 115 114 116 +f 114 115 118 +f 114 118 120 +f 113 117 121 +f 118 115 123 +f 114 120 124 +f 119 123 126 +f 120 118 127 +f 113 121 127 +f 125 120 127 +f 121 125 127 +f 118 123 128 +f 123 117 128 +f 127 118 128 +f 117 123 129 +f 123 119 129 +f 121 117 130 +f 117 129 130 +f 130 129 131 +f 122 121 131 +f 116 122 131 +f 121 130 131 +f 117 113 132 +f 113 127 132 +f 128 117 132 +f 127 128 132 +f 116 114 133 +f 122 116 133 +f 114 124 133 +f 125 122 133 +f 115 116 134 +f 123 115 134 +f 116 126 134 +f 126 123 134 +f 126 116 135 +f 119 126 135 +f 129 119 135 +f 131 129 135 +f 116 131 135 +f 124 120 136 +f 120 125 136 +f 133 124 136 +f 125 133 136 +f 121 122 137 +f 122 125 137 +o convex_5 +v 1.120270 2.521935 1.032067 +v -0.475110 0.834653 -1.054354 +v -0.781947 0.803874 -0.962246 +v 1.058860 0.803706 1.032067 +v -0.996669 2.429599 0.939959 +v 0.997450 2.399157 -1.054354 +v -0.965964 0.803874 0.970594 +v -0.935259 2.306988 -0.931611 +v 0.997450 0.803706 -1.023515 +v -1.058079 1.172042 -0.379167 +v 1.120270 1.141263 -0.317898 +v -0.536520 2.000210 1.032067 +v -0.935259 0.803874 -0.931611 +v -0.996669 2.429599 0.540892 +v -0.444405 1.816210 -1.054354 +v -1.058079 1.754653 -0.440640 +v -1.058079 1.172042 0.295407 +v -0.536520 0.865264 1.032067 +v 1.120270 1.693263 -0.348532 +v -0.904554 2.337767 -0.931611 +v -0.996669 0.803874 0.939959 +v 0.997450 1.356042 -1.054354 +v -1.027374 2.276210 0.786582 +v 0.629417 2.399157 -0.962246 +v 1.089565 1.141263 1.032067 +v -0.965964 2.398988 0.970594 +v -0.751242 2.460546 0.909325 +v 1.120270 1.233432 0.264773 +v 1.058860 2.521935 0.970594 +v 1.120270 1.079874 -0.287263 +v 0.598498 0.896042 -1.054354 +v 0.659908 2.491157 1.032067 +v -0.628422 2.337767 -0.962246 +v -1.058079 1.693431 0.233934 +v 0.874630 2.399157 -1.054354 +f 170 157 172 +f 140 139 146 +f 141 138 149 +f 139 140 150 +f 145 139 150 +f 140 146 150 +f 143 139 152 +f 139 145 152 +f 145 150 153 +f 150 147 153 +f 151 145 153 +f 153 147 154 +f 144 141 155 +f 141 149 155 +f 149 144 155 +f 143 138 156 +f 138 148 156 +f 145 151 157 +f 152 145 157 +f 141 144 158 +f 144 142 158 +f 146 141 158 +f 150 146 158 +f 147 150 158 +f 154 147 158 +f 139 143 159 +f 148 146 159 +f 143 156 159 +f 156 148 159 +f 142 151 160 +f 151 153 160 +f 158 142 160 +f 154 158 160 +f 157 151 161 +f 138 141 162 +f 142 144 163 +f 144 149 163 +f 142 138 164 +f 151 142 164 +f 161 151 164 +f 148 138 165 +f 138 162 165 +f 162 141 165 +f 138 143 166 +f 164 138 166 +f 161 164 166 +f 141 146 167 +f 146 148 167 +f 148 165 167 +f 165 141 167 +f 146 139 168 +f 139 159 168 +f 159 146 168 +f 138 142 169 +f 149 138 169 +f 142 163 169 +f 163 149 169 +f 152 157 170 +f 153 154 171 +f 160 153 171 +f 154 160 171 +f 143 152 172 +f 157 161 172 +f 166 143 172 +f 161 166 172 +f 152 170 172 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/273/273.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/273/273.urdf new file mode 100644 index 000000000..79ba70b9f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/273/273.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/274/274.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/274/274.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/274/274.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/274/274.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/274/274.obj new file mode 100644 index 000000000..1bb7035b9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/274/274.obj @@ -0,0 +1,537 @@ +o convex_0 +v 0.387919 -1.636648 -1.101674 +v -0.106845 -1.318107 1.091024 +v 1.059851 -1.318107 1.019981 +v -0.814254 -4.005578 1.019981 +v 1.059851 -4.041297 -0.995430 +v -1.061741 -1.318107 -0.960015 +v -0.991001 -4.005578 -0.960015 +v 1.095116 -3.934939 1.055610 +v 0.989111 -1.318107 -0.960015 +v -0.920260 -1.318107 0.984781 +v -0.955736 -4.005578 0.631064 +v 1.095116 -3.970392 -0.677128 +v -0.460550 -2.061014 1.091024 +v 1.024587 -3.828848 -1.030630 +v -0.920260 -4.005578 1.019981 +v 1.024587 -1.919470 -0.995430 +v -1.061741 -1.353560 -0.677128 +v 0.317178 -1.318107 -1.101674 +v -0.496026 -4.041297 -0.924601 +v 0.918370 -4.041297 -0.535684 +v 1.095116 -2.520832 0.984781 +v 1.059851 -1.318107 0.631064 +v -1.061741 -2.025828 -0.960015 +v -0.778989 -3.439935 1.055610 +v -0.920260 -1.601196 1.019981 +v -0.955736 -1.318107 0.701679 +v 1.059851 -3.970392 0.701893 +v 1.059851 -3.015569 -0.995430 +v 0.352654 -4.041297 -0.288212 +v 0.423183 -1.424465 -1.101674 +v -0.319068 -1.318107 1.091024 +v 0.140431 -4.041297 -0.995430 +f 19 7 32 +f 2 3 6 +f 3 2 8 +f 6 3 9 +f 2 6 10 +f 8 5 12 +f 8 2 13 +f 4 8 15 +f 1 7 18 +f 6 9 18 +f 11 7 19 +f 15 11 19 +f 19 5 20 +f 3 8 21 +f 8 12 21 +f 21 12 22 +f 9 3 22 +f 16 9 22 +f 3 21 22 +f 7 11 23 +f 17 6 23 +f 11 17 23 +f 18 7 23 +f 6 18 23 +f 8 13 24 +f 15 8 24 +f 15 24 25 +f 24 13 25 +f 10 6 26 +f 11 15 26 +f 6 17 26 +f 17 11 26 +f 15 25 26 +f 25 10 26 +f 8 4 27 +f 5 8 27 +f 4 20 27 +f 20 5 27 +f 12 5 28 +f 5 14 28 +f 14 16 28 +f 22 12 28 +f 16 22 28 +f 4 15 29 +f 15 19 29 +f 19 20 29 +f 20 4 29 +f 14 1 30 +f 9 16 30 +f 16 14 30 +f 1 18 30 +f 18 9 30 +f 2 10 31 +f 13 2 31 +f 10 25 31 +f 25 13 31 +f 7 1 32 +f 1 14 32 +f 14 5 32 +f 5 19 32 +o convex_1 +v -0.460729 4.021972 -0.500450 +v 0.423233 4.057290 0.595899 +v 0.317218 4.057290 0.595899 +v 0.564888 2.147770 0.595899 +v 0.529349 4.163440 -0.465035 +v -0.460729 2.147770 -0.429621 +v -0.425290 2.147770 0.525070 +v 0.564888 2.147770 -0.465035 +v -0.425290 4.163440 0.454241 +v -0.460729 2.784671 0.206661 +v 0.211102 4.127925 -0.500450 +v -0.460729 3.314633 -0.500450 +v 0.458672 4.057290 0.489763 +v -0.425290 2.855306 0.525070 +v -0.460729 4.092607 -0.146734 +v -0.319175 4.163440 0.489763 +v 0.529349 4.127925 -0.252870 +v 0.564888 2.784671 -0.465035 +v 0.034410 2.147770 -0.465035 +v 0.387895 4.092607 -0.500450 +v -0.460729 2.147770 0.206661 +f 42 38 53 +f 34 35 36 +f 36 35 39 +f 38 36 39 +f 36 38 40 +f 33 38 42 +f 41 37 43 +f 38 33 44 +f 33 43 44 +f 34 36 45 +f 37 34 45 +f 39 35 46 +f 42 39 46 +f 41 42 46 +f 42 41 47 +f 33 42 47 +f 43 33 47 +f 41 43 47 +f 35 34 48 +f 34 37 48 +f 37 41 48 +f 46 35 48 +f 41 46 48 +f 45 36 49 +f 37 45 49 +f 36 40 50 +f 49 36 50 +f 37 49 50 +f 40 38 51 +f 38 44 51 +f 44 40 51 +f 43 37 52 +f 40 44 52 +f 44 43 52 +f 50 40 52 +f 37 50 52 +f 38 39 53 +f 39 42 53 +o convex_2 +v -0.283871 -1.211906 -2.162386 +v 0.317325 -0.646276 -2.622108 +v 0.317325 -0.681601 -2.622108 +v 0.281931 -1.211906 -1.101871 +v -0.283871 -0.752312 -1.101871 +v 0.211206 -1.282679 -3.117344 +v -0.177752 -0.681601 -3.046511 +v 0.175812 -0.646276 -1.101871 +v -0.319265 -1.247292 -2.940361 +v 0.175812 -1.282679 -1.101871 +v 0.317325 -0.646276 -3.081829 +v -0.213146 -1.105870 -1.101871 +v 0.317325 -0.858411 -3.081829 +v -0.319265 -1.105870 -2.975876 +v 0.281931 -1.282679 -1.384807 +v -0.319265 -1.035158 -1.915360 +v 0.246475 -1.247292 -3.117344 +v 0.105087 -0.646276 -1.101871 +v 0.140481 -0.646276 -3.081829 +v -0.213146 -0.752312 -3.046511 +v 0.140481 -1.282679 -3.117344 +f 67 73 74 +f 56 55 57 +f 57 55 61 +f 58 57 61 +f 57 58 63 +f 54 62 63 +f 55 56 64 +f 61 55 64 +f 54 63 65 +f 63 58 65 +f 56 57 66 +f 64 56 66 +f 57 63 68 +f 63 59 68 +f 66 57 68 +f 62 54 69 +f 54 65 69 +f 65 58 69 +f 58 67 69 +f 67 62 69 +f 64 66 70 +f 68 59 70 +f 66 68 70 +f 60 58 71 +f 58 61 71 +f 61 64 71 +f 71 64 72 +f 64 70 72 +f 60 71 72 +f 58 60 73 +f 67 58 73 +f 60 72 73 +f 73 72 74 +f 59 63 74 +f 63 62 74 +f 62 67 74 +f 70 59 74 +f 72 70 74 +o convex_3 +v -1.450924 2.076816 1.091024 +v -1.804519 1.157163 -1.101674 +v -1.804519 1.228116 -1.101674 +v 1.024647 0.025915 -0.960015 +v -3.042305 0.025915 0.984781 +v 1.024647 -0.009562 0.984566 +v 1.024647 2.006285 -0.924601 +v -3.113186 1.970808 -1.066259 +v -2.936186 0.025915 -1.066259 +v 1.024647 2.147770 0.984781 +v -3.042305 2.041339 1.055610 +v -0.461020 2.147770 -0.429655 +v -0.779377 2.041339 -1.101674 +v -2.264234 -0.009562 -1.030844 +v -0.814615 2.147770 1.091024 +v -2.936186 0.167400 1.019981 +v 0.564528 2.147770 -0.464855 +v 0.953766 -0.009562 -0.960015 +v -3.077543 2.041339 0.348177 +v -2.971424 2.006073 -1.066259 +v -0.920734 -0.009562 0.984781 +v 0.953766 2.006285 -0.960015 +v -3.113186 1.581829 -0.712543 +v -3.077543 2.041339 0.984781 +v 0.812409 2.112293 1.020195 +v -2.335115 0.025915 -1.066259 +v -1.026853 1.935542 1.091024 +v -2.653067 2.077027 1.019981 +v -2.971424 0.238143 -1.066259 +v -1.486162 2.041550 -1.101674 +v -3.042305 1.510875 1.055610 +v -1.026853 2.147770 1.020195 +v 1.024647 2.147770 0.666479 +v -1.627519 1.228116 -1.101674 +v -3.113186 2.006073 -0.924601 +v -3.113186 1.864799 -0.394026 +v 1.024647 1.440344 -0.960015 +v -0.955972 1.758580 -1.101674 +v -3.113186 1.723103 -1.030630 +v -2.688710 0.167400 1.019981 +f 101 90 114 +f 80 78 81 +f 77 76 82 +f 80 81 84 +f 76 77 87 +f 79 83 88 +f 85 75 89 +f 84 86 89 +f 86 84 91 +f 78 80 92 +f 80 88 92 +f 88 80 95 +f 79 88 95 +f 90 79 95 +f 91 81 96 +f 87 91 96 +f 80 84 99 +f 89 80 99 +f 84 89 99 +f 83 76 100 +f 88 83 100 +f 78 92 100 +f 92 88 100 +f 89 75 101 +f 80 89 101 +f 75 90 101 +f 85 89 102 +f 86 93 102 +f 98 85 102 +f 93 98 102 +f 82 76 103 +f 76 83 103 +f 83 79 103 +f 77 82 104 +f 87 77 104 +f 86 91 104 +f 91 87 104 +f 82 94 104 +f 94 86 104 +f 75 85 105 +f 79 90 105 +f 90 75 105 +f 98 79 105 +f 85 98 105 +f 89 86 106 +f 102 89 106 +f 86 102 106 +f 84 81 107 +f 81 91 107 +f 91 84 107 +f 76 87 108 +f 100 76 108 +f 78 100 108 +f 93 86 109 +f 94 82 109 +f 86 94 109 +f 82 97 109 +f 98 93 109 +f 98 109 110 +f 97 79 110 +f 79 98 110 +f 109 97 110 +f 81 78 111 +f 78 87 111 +f 96 81 111 +f 87 96 111 +f 87 78 112 +f 108 87 112 +f 78 108 112 +f 79 97 113 +f 97 82 113 +f 82 103 113 +f 103 79 113 +f 95 80 114 +f 90 95 114 +f 80 101 114 +o convex_4 +v 1.272418 0.167462 1.019960 +v 2.686757 0.025804 -1.101674 +v 3.075680 0.025804 -1.101674 +v 1.060186 2.147770 0.701758 +v 2.934326 2.112251 0.984846 +v 1.095525 2.006111 -0.959912 +v 3.040341 2.006111 -1.066124 +v 2.934326 0.096633 1.126390 +v 1.024647 0.025804 -0.959912 +v 1.024647 2.147770 0.984628 +v 1.024647 0.096633 0.984628 +v 3.040341 0.025804 -0.252628 +v 1.024647 2.006111 -0.924580 +v 2.898787 1.970593 -1.101674 +v 2.969665 2.112251 0.666427 +v 3.075680 0.450363 -0.677042 +v 1.024647 0.061322 0.418889 +v 1.272418 0.167462 -0.995243 +v 2.934326 1.829350 1.019960 +v 3.075680 1.192719 -1.101674 +v 2.191617 2.147770 0.949515 +v 2.969665 1.900179 0.772640 +v 2.898787 0.202773 1.126390 +v 2.969665 0.096633 0.772421 +v 1.024647 0.025804 -0.571047 +v 3.040341 1.970801 -0.712373 +v 2.863649 0.061322 0.560433 +v 2.828110 0.096633 1.126390 +v 1.024647 1.687692 -0.959912 +f 128 132 143 +f 120 118 121 +f 116 117 123 +f 124 123 125 +f 115 124 125 +f 123 117 126 +f 118 120 127 +f 124 118 127 +f 123 124 127 +f 117 116 128 +f 120 121 128 +f 126 117 130 +f 125 123 131 +f 116 123 132 +f 128 116 132 +f 119 124 133 +f 117 128 134 +f 128 121 134 +f 130 117 134 +f 121 118 135 +f 118 124 135 +f 124 119 135 +f 119 129 135 +f 129 121 135 +f 129 119 136 +f 119 133 136 +f 133 122 136 +f 133 124 137 +f 122 133 137 +f 122 126 138 +f 126 130 138 +f 136 122 138 +f 130 136 138 +f 123 126 139 +f 131 123 139 +f 126 131 139 +f 121 129 140 +f 134 121 140 +f 130 134 140 +f 129 136 140 +f 136 130 140 +f 126 122 141 +f 131 126 141 +f 131 141 142 +f 124 115 142 +f 115 125 142 +f 125 131 142 +f 122 137 142 +f 137 124 142 +f 141 122 142 +f 127 120 143 +f 123 127 143 +f 120 128 143 +f 132 123 143 +o convex_5 +v -0.283885 -0.752216 -1.101674 +v 1.060013 -1.176571 1.020195 +v 1.060013 -1.318108 1.020195 +v -0.920357 -0.009562 0.984781 +v 0.953794 -0.009562 -0.960015 +v -0.920357 -1.318108 0.984781 +v 0.953794 -1.318108 -0.995430 +v -1.097319 -0.009562 -0.995430 +v 1.024536 -0.009562 0.984781 +v -1.061842 -1.318108 -0.960015 +v -0.283885 -0.575454 1.091024 +v 0.388064 -1.318108 -1.101674 +v -1.097319 -0.115747 -0.606514 +v -0.319150 -1.318108 1.091024 +v 0.317322 -0.540102 -1.101674 +v 0.989060 -0.716735 -0.960015 +v -1.097319 -1.035033 -0.995430 +v 1.060013 -0.327860 0.949366 +v 0.211102 -0.575454 1.091024 +v -0.955834 -0.009562 0.878752 +v 1.060013 -1.318108 0.631064 +v -0.955834 -1.318108 0.701679 +v -0.177665 -1.141218 -1.101674 +v 0.989060 -1.318108 -0.960015 +v 0.812309 -0.045042 -0.995430 +v 1.024536 -0.009562 0.312548 +v 0.246579 -1.141218 1.091024 +f 162 157 170 +f 146 149 150 +f 147 148 151 +f 148 147 152 +f 150 149 153 +f 152 147 154 +f 150 153 155 +f 149 146 157 +f 147 149 157 +f 154 147 157 +f 144 151 158 +f 155 144 158 +f 150 155 158 +f 150 148 159 +f 151 144 160 +f 156 151 160 +f 145 146 161 +f 152 145 161 +f 145 152 162 +f 152 154 162 +f 154 157 162 +f 149 147 163 +f 147 151 163 +f 151 156 163 +f 146 150 164 +f 161 146 164 +f 159 161 164 +f 153 149 165 +f 160 153 165 +f 156 160 165 +f 149 163 165 +f 163 156 165 +f 144 155 166 +f 155 153 166 +f 160 144 166 +f 153 160 166 +f 150 159 167 +f 164 150 167 +f 159 164 167 +f 148 150 168 +f 151 148 168 +f 150 158 168 +f 158 151 168 +f 148 152 169 +f 159 148 169 +f 152 161 169 +f 161 159 169 +f 146 145 170 +f 157 146 170 +f 145 162 170 +o convex_6 +v 0.211216 -0.575420 3.036052 +v 0.175788 -1.247310 2.505644 +v 0.246527 -1.247310 2.505644 +v -0.283898 -0.575420 1.091024 +v -0.283898 -1.247310 3.071373 +v 0.246527 -1.141160 1.091024 +v -0.248529 -1.211926 1.091024 +v -0.283898 -0.646252 3.000731 +v 0.211216 -0.575420 1.091024 +v 0.317325 -0.787720 3.106892 +v 0.246527 -1.247310 3.071373 +v 0.317325 -0.575420 2.682249 +v 0.281956 -1.035075 1.480148 +v -0.283898 -1.211926 1.798630 +v 0.317325 -0.575420 3.106892 +v -0.283898 -0.610869 2.434804 +f 174 178 186 +f 172 173 175 +f 174 176 177 +f 173 172 177 +f 172 175 177 +f 176 173 177 +f 174 175 178 +f 174 171 179 +f 176 174 179 +f 175 173 181 +f 180 175 181 +f 179 171 182 +f 182 180 183 +f 173 176 183 +f 176 179 183 +f 181 173 183 +f 180 181 183 +f 179 182 183 +f 175 174 184 +f 174 177 184 +f 177 175 184 +f 171 178 185 +f 178 175 185 +f 175 180 185 +f 182 171 185 +f 180 182 185 +f 171 174 186 +f 178 171 186 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/274/274.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/274/274.urdf new file mode 100644 index 000000000..0b2cd2390 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/274/274.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/275/275.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/275/275.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/275/275.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/275/275.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/275/275.obj new file mode 100644 index 000000000..750f73770 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/275/275.obj @@ -0,0 +1,564 @@ +o convex_0 +v 2.059885 0.563906 -0.083278 +v 2.095410 1.550401 0.057570 +v 2.095410 1.550401 0.022461 +v 3.856400 1.127450 0.092747 +v 2.059885 0.845796 0.409897 +v 2.059885 1.374045 -0.294757 +v 3.609830 1.198040 -0.188949 +v 2.095410 0.352490 0.163240 +v 3.609830 1.162745 0.268911 +v 2.059885 1.374045 0.339404 +v 3.609830 1.374045 0.057570 +v 3.645180 0.916268 0.057570 +v 2.095410 0.458257 0.339404 +v 2.165759 0.634496 -0.153702 +v 2.095410 1.479812 -0.259511 +v 2.095410 1.127450 -0.294757 +v 3.574656 1.057095 0.268911 +v 2.799947 1.374045 0.268911 +v 3.504132 1.374045 -0.083278 +v 3.468958 0.986623 -0.118594 +v 2.165759 0.986623 0.409897 +v 3.574656 1.127450 -0.188949 +v 2.059885 0.352490 0.127994 +v 3.645180 0.916268 0.092747 +v 3.363260 1.162745 0.304157 +v 3.856400 1.198040 0.022461 +v 2.059885 1.515107 -0.188949 +v 3.398434 1.303690 0.233733 +v 3.398434 1.092156 0.304157 +v 2.236283 0.740146 -0.188949 +v 2.201108 1.374045 0.339404 +v 2.095410 0.352490 0.127994 +v 3.433784 1.338984 -0.153702 +v 3.398434 1.409339 0.057570 +f 18 28 34 +f 1 5 6 +f 6 5 10 +f 7 6 15 +f 1 6 16 +f 6 7 16 +f 14 1 16 +f 4 9 17 +f 10 5 21 +f 16 7 22 +f 12 20 22 +f 20 14 22 +f 5 1 23 +f 13 5 23 +f 8 13 23 +f 12 4 24 +f 8 12 24 +f 13 8 24 +f 4 17 24 +f 17 13 24 +f 9 4 26 +f 11 9 26 +f 4 12 26 +f 19 11 26 +f 7 19 26 +f 22 7 26 +f 12 22 26 +f 2 3 27 +f 10 2 27 +f 6 10 27 +f 15 6 27 +f 3 19 27 +f 19 15 27 +f 9 11 28 +f 25 9 28 +f 5 13 29 +f 17 9 29 +f 13 17 29 +f 21 5 29 +f 9 25 29 +f 25 21 29 +f 14 16 30 +f 16 22 30 +f 22 14 30 +f 2 10 31 +f 18 2 31 +f 10 21 31 +f 21 25 31 +f 28 18 31 +f 25 28 31 +f 12 8 32 +f 1 14 32 +f 20 12 32 +f 14 20 32 +f 23 1 32 +f 8 23 32 +f 7 15 33 +f 19 7 33 +f 15 19 33 +f 3 2 34 +f 2 18 34 +f 19 3 34 +f 11 19 34 +f 28 11 34 +o convex_1 +v -0.089517 -2.430293 -0.717480 +v -0.829270 3.592812 1.044086 +v -0.864447 3.592812 1.044086 +v -0.794093 3.592812 -1.069876 +v -2.167861 -0.528107 -0.012895 +v -0.089517 -2.958598 0.902755 +v -0.124694 3.170750 0.022075 +v -1.921208 3.416710 -0.858191 +v -1.886031 1.443938 0.973317 +v -1.886031 -1.231785 -0.717274 +v -1.850854 -1.302371 0.867784 +v -0.089517 0.000925 -1.069876 +v -1.921208 3.875156 0.022282 +v -0.089517 2.007899 0.902755 +v -0.124694 -3.206013 -0.118428 +v -1.886031 0.986947 -0.963930 +v -0.371348 3.981399 0.022075 +v -2.132684 2.430688 0.550566 +v -2.203038 2.254586 -0.541179 +v -1.111101 -1.267442 1.044086 +v -0.089517 2.218930 -0.893575 +v -1.815470 3.452367 0.867784 +v -1.921208 -1.549059 0.162992 +v -0.124694 -2.042434 -0.964137 +v -1.181455 4.228086 -0.048073 +v -0.089517 0.071511 1.044086 +v -2.167861 -0.034732 0.585743 +v -1.075924 4.086186 -0.823220 +v -1.075924 4.051258 0.797222 +v -1.181455 0.634017 -1.069876 +v -0.265610 3.311195 -0.823220 +v -2.203038 1.057534 -0.646918 +v -0.335964 3.346852 0.761838 +v -1.111101 -0.985825 -0.964137 +v -2.203038 2.641718 -0.188990 +v -1.850854 0.951290 1.008494 +v -0.089517 -2.253464 1.008701 +v -0.124694 -3.064113 0.691483 +v -2.132684 1.302766 0.726660 +v -1.111101 2.782891 -1.069876 +v -2.167861 -0.140247 -0.506001 +v -0.512263 3.840227 -0.611741 +v -1.850854 -1.231785 0.902962 +v -0.582617 3.840227 0.620921 +v -2.167861 2.747962 0.198170 +v -1.463285 0.845775 1.043879 +v -0.124694 -2.888011 -0.400262 +v -1.921208 -1.514129 -0.012895 +v -1.850854 3.381781 0.867784 +v -1.956592 0.880704 -0.928752 +v -0.089517 2.218930 0.867577 +v -2.203038 1.725554 0.092637 +v -0.723532 3.522953 -1.069876 +v -1.850854 3.522953 -0.858191 +v -1.005569 3.381781 1.044086 +v -1.075924 4.228086 0.057253 +v -2.167861 -0.175177 0.550566 +v -1.287193 -1.232513 -0.893575 +v -0.265610 -1.514129 -0.999314 +v -1.005569 4.086186 -0.823220 +v -1.886031 3.910813 -0.012895 +v -0.758709 3.487296 1.044086 +v -0.089517 2.818547 0.022075 +v -0.089517 -3.206013 -0.118428 +f 49 81 98 +f 40 35 46 +f 40 46 48 +f 36 37 54 +f 48 46 55 +f 46 35 58 +f 40 48 60 +f 36 54 60 +f 37 36 63 +f 56 37 63 +f 47 56 63 +f 38 46 64 +f 51 41 65 +f 41 55 65 +f 53 42 66 +f 41 51 67 +f 50 64 68 +f 47 42 69 +f 42 53 69 +f 53 66 69 +f 54 40 71 +f 40 60 71 +f 60 54 71 +f 40 45 72 +f 45 57 72 +f 57 49 72 +f 70 43 73 +f 42 38 74 +f 50 42 74 +f 38 64 74 +f 64 50 74 +f 44 39 75 +f 39 66 75 +f 66 44 75 +f 51 65 76 +f 45 40 77 +f 40 54 77 +f 54 70 77 +f 73 61 77 +f 70 73 77 +f 63 36 78 +f 51 63 78 +f 36 67 78 +f 67 51 78 +f 47 69 79 +f 70 54 80 +f 49 44 81 +f 58 35 81 +f 44 58 81 +f 39 44 82 +f 44 49 82 +f 57 39 82 +f 49 57 82 +f 56 47 83 +f 73 43 83 +f 52 73 83 +f 47 79 83 +f 79 52 83 +f 42 50 84 +f 50 44 84 +f 44 66 84 +f 66 42 84 +f 48 55 85 +f 41 67 85 +f 69 66 86 +f 73 52 86 +f 61 73 86 +f 52 79 86 +f 79 69 86 +f 46 38 87 +f 55 46 87 +f 65 55 87 +f 76 65 87 +f 38 42 88 +f 62 38 88 +f 54 37 89 +f 37 56 89 +f 43 70 89 +f 80 54 89 +f 70 80 89 +f 83 43 89 +f 56 83 89 +f 63 51 90 +f 59 63 90 +f 39 57 91 +f 57 45 91 +f 66 39 91 +f 45 77 91 +f 77 61 91 +f 61 86 91 +f 86 66 91 +f 44 50 92 +f 58 44 92 +f 50 68 92 +f 68 58 92 +f 46 58 93 +f 64 46 93 +f 58 68 93 +f 68 64 93 +f 38 62 94 +f 62 59 94 +f 51 76 94 +f 87 38 94 +f 76 87 94 +f 90 51 94 +f 59 90 94 +f 42 47 95 +f 59 62 95 +f 47 63 95 +f 63 59 95 +f 88 42 95 +f 62 88 95 +f 36 60 96 +f 60 48 96 +f 67 36 96 +f 48 85 96 +f 85 67 96 +f 55 41 97 +f 41 85 97 +f 85 55 97 +f 35 40 98 +f 40 72 98 +f 72 49 98 +f 81 35 98 +o convex_2 +v 1.178998 -4.192532 0.057470 +v 0.474413 -4.227851 -0.012840 +v 0.474413 -4.227851 0.057470 +v 0.861879 -5.848465 -0.012840 +v 0.861879 -4.122063 -0.329990 +v 0.721114 -4.122063 0.339432 +v 0.861879 -5.496121 0.233671 +v 0.650628 -5.460633 -0.118535 +v 1.038026 -5.566421 -0.048094 +v 1.108512 -4.122063 0.268859 +v 0.650628 -5.566421 0.092723 +v 0.544968 -4.122063 -0.259483 +v 0.791600 -5.601571 -0.189042 +v 1.073269 -4.263170 -0.259483 +v 0.580211 -4.122063 0.304113 +v 1.038026 -5.496121 0.092723 +v 1.143755 -4.122063 -0.153788 +v 0.967609 -4.157382 0.339432 +v 0.861879 -5.601571 -0.189042 +v 0.685871 -5.355184 0.198418 +v 0.756357 -4.192532 -0.329990 +v 0.932366 -5.566421 0.198418 +v 0.615454 -5.496121 0.057470 +v 1.108512 -4.263170 0.268859 +v 0.826705 -5.707359 0.163165 +v 0.721114 -5.742678 -0.012840 +v 0.474413 -4.122063 0.092723 +v 0.826705 -4.404108 0.339432 +v 0.580211 -4.192532 0.304113 +v 1.178998 -4.227851 -0.048094 +f 107 115 128 +f 103 104 108 +f 104 103 110 +f 106 100 110 +f 106 110 111 +f 104 110 113 +f 107 99 114 +f 102 107 114 +f 108 99 115 +f 103 108 115 +f 107 112 115 +f 112 103 115 +f 108 104 116 +f 107 102 117 +f 102 111 117 +f 112 107 117 +f 103 112 117 +f 110 103 119 +f 111 110 119 +f 117 111 119 +f 103 117 119 +f 102 114 120 +f 116 105 120 +f 101 100 121 +f 100 106 121 +f 109 118 121 +f 99 108 122 +f 114 99 122 +f 108 116 122 +f 120 114 122 +f 116 120 122 +f 105 118 123 +f 118 109 123 +f 102 120 123 +f 120 105 123 +f 106 111 124 +f 111 102 124 +f 121 106 124 +f 109 121 124 +f 102 123 124 +f 123 109 124 +f 100 101 125 +f 110 100 125 +f 113 110 125 +f 101 121 125 +f 116 104 126 +f 105 116 126 +f 104 113 127 +f 118 105 127 +f 121 118 127 +f 113 125 127 +f 125 121 127 +f 126 104 127 +f 105 126 127 +f 99 107 128 +f 115 99 128 +o convex_3 +v 1.707506 -3.345882 0.092637 +v -0.089310 2.077767 0.409649 +v -0.089310 2.077767 0.867577 +v 2.059884 1.585117 0.092637 +v -0.053967 -2.043051 -0.999314 +v 0.439363 -3.205399 1.043879 +v 1.707506 1.972566 -0.858397 +v 1.637030 -0.282210 0.973524 +v -0.089100 2.113049 -0.893575 +v 0.791531 -3.663410 -0.928752 +v -0.018624 -3.522928 0.797222 +v 1.742638 -3.170118 0.902962 +v 1.355127 2.254814 0.550773 +v 1.531421 -3.099556 -0.787835 +v 1.143700 -4.121422 0.303909 +v -0.089100 -3.416444 -0.083250 +v 0.932483 -0.071165 -1.034492 +v -0.089100 0.175802 1.044086 +v 1.601687 1.796161 0.832400 +v 2.059884 1.197667 -0.329907 +v -0.089310 2.430577 -0.083250 +v 0.122117 -3.628129 -0.682303 +v 2.059884 0.492689 0.409649 +v 0.474496 -4.121422 -0.118428 +v 1.777981 -3.170118 -0.083043 +v -0.089100 0.211083 -1.069876 +v 0.580314 -3.240039 -1.034492 +v 1.108567 -4.121422 -0.223960 +v 0.897350 -3.628129 0.973317 +v -0.089100 -2.465782 1.008701 +v 1.601687 2.254814 0.022282 +v 0.862007 1.338150 0.973317 +v 0.967826 -0.246929 1.043879 +v -0.053967 2.218891 0.867577 +v 1.002748 1.620398 -0.963930 +v 1.496078 -3.839815 -0.012895 +v 0.826874 -2.429859 -1.034492 +v 0.650790 -4.121422 0.339087 +v 0.791531 -3.134837 1.043879 +v 2.059884 0.211083 0.162992 +v 1.777981 2.148329 0.092637 +v 0.756399 2.148329 -0.787629 +v -0.089100 -2.324658 -0.928752 +v 2.024541 0.810218 0.480211 +v 1.355127 -3.698692 -0.541179 +v -0.053967 -3.592849 -0.083250 +v 0.051851 -3.522928 0.902755 +v 1.672163 0.880780 -0.858397 +v 1.672163 1.796161 0.797222 +v 1.355127 -3.874455 0.515388 +v 0.615447 -4.121422 -0.294522 +v 2.059884 1.408712 0.339294 +v -0.053967 2.430577 0.092430 +v 0.474496 -3.205399 -1.034492 +v 0.580314 1.796803 0.938139 +v 2.059884 1.514555 -0.294522 +v 0.086984 -2.853231 1.044086 +v 1.531421 -3.240680 -0.752451 +v -0.089100 -3.170118 0.867577 +v 0.016508 -2.994355 -0.858397 +v 0.862007 2.254814 0.691483 +v 1.460735 2.218891 -0.259345 +v 0.051851 1.972566 -0.928752 +v 0.474496 -4.121422 0.128022 +f 166 175 192 +f 131 130 144 +f 130 131 149 +f 144 130 149 +f 148 132 151 +f 140 129 153 +f 142 148 153 +f 149 137 154 +f 142 138 155 +f 143 152 156 +f 146 131 158 +f 136 147 160 +f 160 146 161 +f 136 160 161 +f 131 146 162 +f 149 131 162 +f 135 145 163 +f 145 154 163 +f 129 140 164 +f 153 129 164 +f 143 156 164 +f 154 145 165 +f 142 155 165 +f 155 154 165 +f 152 143 166 +f 143 157 166 +f 140 136 167 +f 134 157 167 +f 157 140 167 +f 136 161 167 +f 151 140 168 +f 148 151 168 +f 140 153 168 +f 153 148 168 +f 135 159 169 +f 159 141 169 +f 135 137 170 +f 137 149 170 +f 144 149 171 +f 154 133 171 +f 149 154 171 +f 136 140 172 +f 140 151 172 +f 156 138 173 +f 164 156 173 +f 150 152 174 +f 157 134 175 +f 166 157 175 +f 145 135 176 +f 135 148 176 +f 148 142 176 +f 142 165 176 +f 165 145 176 +f 147 136 177 +f 141 147 177 +f 169 141 177 +f 136 172 177 +f 140 157 178 +f 157 143 178 +f 164 140 178 +f 143 164 178 +f 150 138 179 +f 152 150 179 +f 138 156 179 +f 156 152 179 +f 151 132 180 +f 132 169 180 +f 172 151 180 +f 169 177 180 +f 177 172 180 +f 141 159 181 +f 159 149 181 +f 149 162 181 +f 138 150 182 +f 133 154 182 +f 155 138 182 +f 154 155 182 +f 146 160 183 +f 160 147 183 +f 162 146 183 +f 147 162 183 +f 132 148 184 +f 148 135 184 +f 169 132 184 +f 135 169 184 +f 146 158 185 +f 161 146 185 +f 134 167 185 +f 167 161 185 +f 175 134 185 +f 158 175 185 +f 138 142 186 +f 142 153 186 +f 153 164 186 +f 173 138 186 +f 164 173 186 +f 131 144 187 +f 158 131 187 +f 174 139 187 +f 144 174 187 +f 175 158 187 +f 139 175 187 +f 144 171 188 +f 171 133 188 +f 174 144 188 +f 150 174 188 +f 182 150 188 +f 133 182 188 +f 147 141 189 +f 162 147 189 +f 141 181 189 +f 181 162 189 +f 159 135 190 +f 149 159 190 +f 135 170 190 +f 170 149 190 +f 137 135 191 +f 154 137 191 +f 135 163 191 +f 163 154 191 +f 152 166 192 +f 139 174 192 +f 174 152 192 +f 175 139 192 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/275/275.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/275/275.urdf new file mode 100644 index 000000000..a48d0d3d1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/275/275.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/276/276.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/276/276.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/276/276.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/276/276.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/276/276.obj new file mode 100644 index 000000000..b0564e94a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/276/276.obj @@ -0,0 +1,465 @@ +o convex_0 +v -2.615302 0.984080 -0.560159 +v -2.317379 1.811810 0.598849 +v -2.515942 1.811810 0.598849 +v -2.549028 0.652941 0.433212 +v -2.151744 0.619921 -0.493904 +v -2.151744 1.811810 -0.560159 +v -2.151744 0.686079 0.466339 +v -2.681473 1.712281 -0.493904 +v -2.151744 1.811810 0.565722 +v -2.615302 0.619921 -0.560159 +v -2.582165 0.818511 0.466339 +v -2.615302 1.778556 0.035796 +v -2.681473 1.513692 -0.427649 +v -2.151744 1.182786 -0.560159 +v -2.582165 0.652941 0.433212 +v -2.151744 0.619921 -0.162742 +v -2.515942 1.679144 0.598849 +v -2.681473 1.712281 -0.361394 +v -2.549028 1.745419 -0.527031 +v -2.582165 1.050354 0.466339 +v -2.582165 0.619921 -0.063360 +v -2.416635 0.652941 -0.560159 +f 10 14 22 +f 3 2 6 +f 5 6 7 +f 6 2 9 +f 2 7 9 +f 7 6 9 +f 1 6 10 +f 8 1 10 +f 3 6 12 +f 8 10 13 +f 6 5 14 +f 10 6 14 +f 4 7 15 +f 7 11 15 +f 13 10 15 +f 7 4 16 +f 5 7 16 +f 10 5 16 +f 2 3 17 +f 7 2 17 +f 3 11 17 +f 11 7 17 +f 12 8 18 +f 8 13 18 +f 15 11 18 +f 13 15 18 +f 6 1 19 +f 1 8 19 +f 12 6 19 +f 8 12 19 +f 11 3 20 +f 3 12 20 +f 12 18 20 +f 18 11 20 +f 4 15 21 +f 15 10 21 +f 16 4 21 +f 10 16 21 +f 5 10 22 +f 14 5 22 +o convex_1 +v 1.557080 1.778148 -0.063182 +v -0.694706 0.519783 0.366866 +v -0.661423 -2.128479 -0.460659 +v 1.490735 -3.883885 1.029260 +v 1.457672 -3.883885 -1.023684 +v -0.661423 2.175781 -0.990492 +v 1.391326 2.308527 1.062452 +v -0.628360 -3.751138 0.929891 +v 1.523797 2.241851 -1.056876 +v -0.628360 2.307921 0.929683 +v -0.628360 -3.751138 -0.957299 +v 1.490735 -3.155295 -1.056876 +v 1.557080 1.678739 0.598590 +v -0.297293 2.208513 -1.023684 +v -0.429764 -3.751138 0.963083 +v 1.027196 2.076373 1.062452 +v 1.557080 0.453713 -0.460659 +v 1.523797 2.275189 -1.023684 +v -0.661423 -0.803439 -0.990492 +v -0.495889 2.307921 0.963083 +v -0.694706 1.711471 -0.560029 +v 0.762254 -3.850547 -1.023684 +v -0.694706 1.744809 0.499428 +v -0.628360 2.307921 0.499428 +v 1.325201 -3.883885 1.029260 +v 0.894725 2.241851 -1.056876 +v 1.490735 -3.883885 -0.427675 +v 1.358263 -0.275483 1.062452 +v 1.424609 -3.552322 -1.056876 +v 1.457672 2.308527 0.134935 +v 1.557080 0.619192 0.598590 +v -0.297293 -3.783870 0.963083 +v -0.694706 0.619192 -0.526837 +v -0.131539 -3.783870 -0.990492 +v 1.490735 -2.923140 1.029260 +v 1.523797 0.354305 -1.056876 +v 1.192730 -3.883885 0.863713 +v 0.199528 2.308527 0.068758 +v -0.330356 2.109105 -1.023684 +v -0.661423 2.241851 -0.394482 +v -0.264010 -3.783870 -0.957507 +v 1.557080 1.811486 -0.493644 +v 0.497312 2.307921 1.029260 +v 1.490735 -3.486252 -0.990492 +v 1.225793 -3.883885 -0.626206 +v 1.424609 0.552516 1.062452 +v -0.628360 -1.135002 -0.990492 +v -0.694706 0.519783 0.466236 +v 1.523797 2.275189 -0.791753 +v 1.557080 0.950149 -0.560029 +v 1.424609 2.275189 -1.023684 +f 62 60 73 +f 30 25 33 +f 23 35 39 +f 29 32 42 +f 32 30 42 +f 30 37 42 +f 28 41 43 +f 30 32 45 +f 43 24 45 +f 27 26 47 +f 31 34 48 +f 40 31 48 +f 26 27 49 +f 39 26 49 +f 38 37 50 +f 29 38 50 +f 47 26 50 +f 37 47 50 +f 34 27 51 +f 27 44 51 +f 48 34 51 +f 29 35 52 +f 35 26 53 +f 26 39 53 +f 39 35 53 +f 30 33 54 +f 37 30 54 +f 47 37 54 +f 25 24 55 +f 33 25 55 +f 41 33 55 +f 24 43 55 +f 43 41 55 +f 51 44 56 +f 26 35 57 +f 34 31 58 +f 27 47 59 +f 47 54 59 +f 32 29 60 +f 46 32 60 +f 29 52 60 +f 52 40 60 +f 28 36 61 +f 41 28 61 +f 36 48 61 +f 48 51 61 +f 36 28 62 +f 28 43 62 +f 45 32 62 +f 43 45 62 +f 32 46 62 +f 46 60 62 +f 54 33 63 +f 33 56 63 +f 56 44 63 +f 59 54 63 +f 23 39 64 +f 31 40 64 +f 37 38 65 +f 38 29 65 +f 29 42 65 +f 42 37 65 +f 27 34 66 +f 34 39 66 +f 49 27 66 +f 39 49 66 +f 44 27 67 +f 27 59 67 +f 63 44 67 +f 59 63 67 +f 35 29 68 +f 50 26 68 +f 29 50 68 +f 26 57 68 +f 57 35 68 +f 33 41 69 +f 56 33 69 +f 51 56 69 +f 41 61 69 +f 61 51 69 +f 24 25 70 +f 25 30 70 +f 45 24 70 +f 30 45 70 +f 35 23 71 +f 52 35 71 +f 40 52 71 +f 23 64 71 +f 64 40 71 +f 39 34 72 +f 58 31 72 +f 34 58 72 +f 64 39 72 +f 31 64 72 +f 48 36 73 +f 40 48 73 +f 60 40 73 +f 36 62 73 +o convex_2 +v 2.020849 0.619688 0.168285 +v 3.378304 1.844924 -0.228916 +v 3.378304 1.844924 -0.427623 +v 1.557081 1.811703 -0.295116 +v 1.557081 1.679297 0.598638 +v 3.477560 0.652909 0.565592 +v 3.510836 0.619688 -0.427623 +v 1.557081 0.686011 -0.427516 +v 3.444474 1.811703 0.598745 +v 1.557081 0.619688 0.598638 +v 1.557081 1.811703 -0.493823 +v 3.345218 1.844924 -0.460669 +v 1.590357 1.480568 -0.493823 +v 3.510836 0.619688 -0.063362 +v 1.855231 0.652909 -0.427516 +v 2.451341 0.652909 0.598638 +v 2.451341 1.844924 -0.427516 +v 3.278857 1.811703 0.598638 +v 3.444474 1.811703 0.267638 +v 1.557081 0.884740 -0.460669 +v 2.186467 1.778601 -0.493823 +v 3.510836 0.752214 -0.427623 +v 3.477560 1.281958 0.565592 +v 3.444474 1.480568 0.598745 +v 3.411389 1.679297 -0.427623 +v 3.047068 0.619688 -0.427516 +v 1.557081 0.652909 -0.261962 +f 88 99 100 +f 78 77 81 +f 76 75 82 +f 74 80 83 +f 78 81 83 +f 82 78 83 +f 81 77 84 +f 75 76 85 +f 83 80 87 +f 79 83 87 +f 83 79 89 +f 84 77 90 +f 75 85 90 +f 85 84 90 +f 77 78 91 +f 82 75 91 +f 78 82 91 +f 75 90 91 +f 90 77 91 +f 76 82 92 +f 81 84 93 +f 84 86 93 +f 86 80 93 +f 88 81 93 +f 85 80 94 +f 84 85 94 +f 86 84 94 +f 80 86 94 +f 80 85 95 +f 87 80 95 +f 92 82 95 +f 82 79 96 +f 79 87 96 +f 95 82 96 +f 87 95 96 +f 79 82 97 +f 82 83 97 +f 89 79 97 +f 83 89 97 +f 85 76 98 +f 76 92 98 +f 95 85 98 +f 92 95 98 +f 80 74 99 +f 93 80 99 +f 88 93 99 +f 74 83 100 +f 83 81 100 +f 81 88 100 +f 99 74 100 +o convex_3 +v -1.688012 -1.234112 -0.593273 +v -1.853597 4.328512 0.598849 +v -2.019299 4.328512 0.598849 +v -1.224629 -1.863900 0.598849 +v -0.992763 4.295174 -0.593273 +v -2.118604 4.228498 -0.560133 +v -2.085463 -1.731154 0.532568 +v -1.125324 4.229104 0.565709 +v -1.059043 -1.731154 -0.361407 +v -0.959622 -1.863294 0.598849 +v -1.986159 -1.731154 -0.593273 +v -0.959622 1.215940 -0.593273 +v -0.959622 1.678431 0.565709 +v -2.151628 0.189731 -0.526992 +v -2.151628 1.811178 0.565709 +v -1.092184 -1.697816 -0.460711 +v -2.151628 -0.141226 0.499428 +v -0.959622 -1.863294 0.366983 +v -1.092184 2.009995 0.598849 +v -1.853597 1.811178 -0.593273 +v -2.118604 4.261836 -0.262102 +v -1.919878 -1.366858 0.565709 +v -2.151628 1.811178 -0.560133 +v -1.025903 4.295174 -0.195821 +v -2.019299 -1.598407 -0.593273 +v -2.052323 4.328512 0.466287 +v -0.959622 0.653434 -0.560133 +v -1.919878 -1.763886 -0.526992 +v -1.257653 4.328512 -0.361407 +v -2.019299 3.301697 0.598849 +v -2.019299 4.261836 -0.560133 +v -2.118604 -1.001957 0.168257 +v -0.959622 1.811178 -0.593273 +v -1.224629 4.295174 -0.593273 +v -1.588707 4.261836 0.598849 +v -0.992763 4.295174 -0.460711 +v -0.992763 1.083800 0.598849 +v -1.092184 4.229104 0.366983 +v -1.853597 -1.731154 -0.593273 +v -2.151628 -0.207903 -0.129657 +v -1.224629 -1.863900 0.300819 +v -1.489519 -0.406113 0.598849 +v -2.085463 -1.731154 0.433264 +v -1.919878 -1.763886 0.532568 +f 107 128 144 +f 102 103 104 +f 102 104 110 +f 105 101 111 +f 101 105 112 +f 110 112 113 +f 101 112 116 +f 107 115 117 +f 115 114 117 +f 110 104 118 +f 112 110 118 +f 102 110 119 +f 105 111 120 +f 107 104 122 +f 115 107 122 +f 114 115 123 +f 121 106 123 +f 115 121 123 +f 102 108 124 +f 106 120 125 +f 120 111 125 +f 123 106 125 +f 114 123 125 +f 103 102 126 +f 115 103 126 +f 121 115 126 +f 109 116 127 +f 116 112 127 +f 118 109 127 +f 112 118 127 +f 116 109 128 +f 109 118 128 +f 102 124 129 +f 126 102 129 +f 104 103 130 +f 103 115 130 +f 115 122 130 +f 106 121 131 +f 121 126 131 +f 126 129 131 +f 107 117 132 +f 114 125 132 +f 112 105 133 +f 113 112 133 +f 105 120 134 +f 120 106 134 +f 129 105 134 +f 106 131 134 +f 131 129 134 +f 108 102 135 +f 102 119 135 +f 119 108 135 +f 105 129 136 +f 129 124 136 +f 133 105 136 +f 113 133 136 +f 110 113 137 +f 113 108 137 +f 108 119 137 +f 119 110 137 +f 108 113 138 +f 124 108 138 +f 113 136 138 +f 136 124 138 +f 111 101 139 +f 101 116 139 +f 128 111 139 +f 116 128 139 +f 117 114 140 +f 132 117 140 +f 114 132 140 +f 118 104 141 +f 104 128 141 +f 128 118 141 +f 122 104 142 +f 104 130 142 +f 130 122 142 +f 125 111 143 +f 128 107 143 +f 111 128 143 +f 107 132 143 +f 132 125 143 +f 104 107 144 +f 128 104 144 +o convex_4 +v -0.727869 1.745419 -0.527018 +v -0.926485 1.679144 0.565735 +v -0.959622 1.679144 0.565735 +v -0.694732 0.619921 -0.527018 +v -0.959622 0.652941 -0.560146 +v -0.694732 0.619921 0.466352 +v -0.959622 1.778556 -0.593273 +v -0.694732 1.745419 0.499480 +v -0.959622 0.719216 0.565735 +v -0.694732 1.712281 -0.560146 +v -0.727869 1.811810 0.101950 +v -0.959622 1.811810 -0.361381 +v -0.827177 1.646124 -0.593273 +v -0.760980 1.248711 0.532494 +v -0.694732 1.811810 -0.096475 +v -0.926485 1.712281 0.532494 +f 155 156 160 +f 149 148 150 +f 149 147 151 +f 147 146 152 +f 150 148 152 +f 146 147 153 +f 147 149 153 +f 149 150 153 +f 151 145 154 +f 152 148 154 +f 151 147 156 +f 148 149 157 +f 149 151 157 +f 154 148 157 +f 151 154 157 +f 152 146 158 +f 150 152 158 +f 146 153 158 +f 153 150 158 +f 145 151 159 +f 154 145 159 +f 152 154 159 +f 155 152 159 +f 156 155 159 +f 151 156 159 +f 147 152 160 +f 152 155 160 +f 156 147 160 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/276/276.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/276/276.urdf new file mode 100644 index 000000000..dc53d7109 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/276/276.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/277/277.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/277/277.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/277/277.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/277/277.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/277/277.obj new file mode 100644 index 000000000..83a1f4b5f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/277/277.obj @@ -0,0 +1,576 @@ +o convex_0 +v -0.849144 1.628412 -0.797282 +v 0.030044 2.039328 0.990607 +v -0.057757 2.039328 0.990607 +v 0.030044 -4.292370 -0.006422 +v 0.880161 2.038708 -0.826822 +v -0.761342 -3.265391 0.697243 +v 0.704167 -3.353400 0.697243 +v 0.030044 -3.324890 -1.090646 +v -0.966408 2.039328 0.667907 +v -0.966408 -3.295140 -0.123157 +v 0.967962 2.038708 0.697243 +v 0.938695 -3.324270 -0.123157 +v -0.087025 2.039328 -1.031973 +v -0.731880 -3.295140 -0.826618 +v 0.000777 -3.295140 0.961271 +v 0.704167 -3.295140 -0.855955 +v -0.937141 2.039328 -0.621467 +v -0.819877 1.950699 0.843721 +v 0.880161 1.803810 0.814589 +v -0.057757 -4.028343 -0.826822 +v 0.704167 -4.056853 -0.122953 +v -0.702612 -4.027723 -0.006219 +v 0.000777 -4.028343 0.726783 +v 0.997425 1.657542 -0.181829 +v 0.821431 1.892439 -0.914627 +v -0.995870 2.039328 -0.093820 +v -0.761342 2.039328 -0.855955 +v -0.995870 -2.620817 -0.035351 +v -0.057757 -1.771095 -1.090646 +v 0.997425 -0.482567 -0.093820 +v 0.938695 -3.324270 -0.035351 +v -0.087025 -3.001983 0.961271 +v 0.909428 1.979828 -0.768149 +v 0.528368 -3.881454 0.521429 +v 0.997425 2.038708 0.580101 +v 0.030044 -1.155031 -1.090646 +v 0.528368 -3.851705 -0.650804 +v -0.556081 -3.881454 -0.562795 +v -0.585348 -3.764316 0.550765 +v -0.057757 -3.295140 -1.090646 +v 0.117846 2.038708 -1.031973 +v -0.731880 -3.265391 0.726580 +v -0.966408 -3.266011 0.023118 +v -0.907873 1.921569 -0.738813 +v 0.674900 -3.324270 0.726580 +v 0.792164 2.039328 0.843925 +v 0.030044 -4.028343 -0.826822 +v 0.674900 -4.056853 0.023118 +v 0.762897 -3.295140 -0.709477 +v -0.731880 -3.998593 -0.093820 +v -0.028490 -4.292370 -0.123157 +v -0.057757 -4.057473 0.697447 +v 0.938695 2.038708 -0.650804 +v 0.030044 0.836950 0.990607 +v -0.995870 -2.064252 -0.123157 +v 0.645437 -3.295140 -0.885291 +v -0.702612 -2.151642 -0.855955 +v -0.995870 1.511273 0.140260 +v 0.733434 -3.295140 0.638774 +v 0.059312 -3.060863 -1.090646 +v -0.790609 -3.148872 0.638774 +v -0.321553 -3.295140 0.873261 +v 0.030044 -4.085983 0.638774 +v -0.878606 1.599282 0.785252 +f 42 18 64 +f 3 2 9 +f 9 2 13 +f 9 13 17 +f 3 9 18 +f 7 11 19 +f 5 16 25 +f 9 17 26 +f 17 13 27 +f 27 13 29 +f 21 12 31 +f 12 30 31 +f 3 18 32 +f 16 5 33 +f 7 23 34 +f 30 24 35 +f 11 31 35 +f 31 30 35 +f 8 29 36 +f 29 13 36 +f 16 21 37 +f 14 20 38 +f 6 22 39 +f 8 20 40 +f 20 14 40 +f 29 8 40 +f 27 29 40 +f 13 5 41 +f 5 25 41 +f 36 13 41 +f 25 36 41 +f 6 39 42 +f 22 6 43 +f 9 28 43 +f 28 10 43 +f 1 14 44 +f 14 10 44 +f 27 1 44 +f 17 27 44 +f 7 19 45 +f 19 15 45 +f 15 23 45 +f 23 7 45 +f 13 2 46 +f 5 13 46 +f 19 11 46 +f 15 19 46 +f 11 35 46 +f 20 8 47 +f 16 37 47 +f 37 21 47 +f 4 21 48 +f 31 7 48 +f 21 31 48 +f 7 34 48 +f 21 16 49 +f 12 21 49 +f 16 33 49 +f 33 12 49 +f 10 14 50 +f 14 38 50 +f 38 20 50 +f 22 43 50 +f 43 10 50 +f 21 4 51 +f 4 22 51 +f 20 47 51 +f 47 21 51 +f 50 20 51 +f 22 50 51 +f 22 4 52 +f 39 22 52 +f 42 39 52 +f 30 12 53 +f 24 30 53 +f 33 5 53 +f 12 33 53 +f 35 24 53 +f 5 46 53 +f 46 35 53 +f 2 3 54 +f 3 32 54 +f 32 15 54 +f 46 2 54 +f 15 46 54 +f 26 17 55 +f 10 28 55 +f 28 26 55 +f 44 10 55 +f 17 44 55 +f 25 16 56 +f 47 8 56 +f 16 47 56 +f 14 1 57 +f 1 27 57 +f 40 14 57 +f 27 40 57 +f 9 26 58 +f 28 9 58 +f 26 28 58 +f 11 7 59 +f 7 31 59 +f 31 11 59 +f 36 25 60 +f 8 36 60 +f 56 8 60 +f 25 56 60 +f 6 9 61 +f 43 6 61 +f 9 43 61 +f 23 15 62 +f 15 32 62 +f 32 18 62 +f 18 42 62 +f 52 23 62 +f 42 52 62 +f 34 23 63 +f 4 48 63 +f 48 34 63 +f 52 4 63 +f 23 52 63 +f 9 6 64 +f 18 9 64 +f 6 42 64 +o convex_1 +v -1.289194 2.684286 0.375025 +v -1.377160 2.713619 -0.357810 +v -1.377160 2.772079 -0.357810 +v -3.047655 2.713619 0.052509 +v -1.289194 3.094610 0.052509 +v -1.289194 2.391157 -0.093972 +v -2.813021 2.508422 -0.006026 +v -2.783756 2.742884 -0.181918 +v -1.406597 2.449824 0.287079 +v -2.813021 2.742884 0.199133 +v -1.289194 3.006610 -0.269864 +v -2.695791 2.918678 -0.006026 +v -1.406597 3.006610 0.287079 +v -1.289194 2.479158 -0.299132 +v -2.783756 2.625687 0.199133 +v -1.289194 2.391157 0.111187 +v -2.607996 2.567089 -0.152579 +v -2.695791 2.889345 0.111187 +v -1.289194 2.772079 0.375025 +v -2.637261 2.537756 0.169794 +v -1.318631 3.094610 -0.035294 +v -2.432064 2.889345 -0.152579 +v -2.754492 2.684286 -0.181918 +v -1.318631 2.420491 0.257740 +v -2.695791 2.918678 0.052509 +v -1.523828 2.391157 0.023241 +v -2.783756 2.508422 0.052509 +v -3.018218 2.713619 -0.035294 +v -1.347895 2.479158 -0.299132 +v -1.377160 2.684286 0.375025 +v -2.783756 2.508422 -0.035294 +v -1.289194 3.006610 0.287079 +v -2.813021 2.889345 -0.006026 +v -2.637261 2.860011 0.169794 +f 77 82 98 +f 69 65 70 +f 67 66 72 +f 69 70 75 +f 67 72 75 +f 66 67 78 +f 67 75 78 +f 75 70 78 +f 74 68 79 +f 70 65 80 +f 68 74 82 +f 65 69 83 +f 77 74 83 +f 73 79 84 +f 69 75 85 +f 75 76 85 +f 75 72 86 +f 76 75 86 +f 72 66 87 +f 65 73 88 +f 80 65 88 +f 73 84 88 +f 77 69 89 +f 82 77 89 +f 69 85 89 +f 85 76 89 +f 70 80 90 +f 80 88 90 +f 90 88 91 +f 68 71 91 +f 79 68 91 +f 84 79 91 +f 88 84 91 +f 71 90 91 +f 71 68 92 +f 72 87 92 +f 66 78 93 +f 78 70 93 +f 87 66 93 +f 81 87 93 +f 73 65 94 +f 79 73 94 +f 74 79 94 +f 65 83 94 +f 83 74 94 +f 87 81 95 +f 70 90 95 +f 90 71 95 +f 71 92 95 +f 92 87 95 +f 93 70 95 +f 81 93 95 +f 69 77 96 +f 83 69 96 +f 77 83 96 +f 68 82 97 +f 86 72 97 +f 76 86 97 +f 89 76 97 +f 82 89 97 +f 92 68 97 +f 72 92 97 +f 74 77 98 +f 82 74 98 +o convex_2 +v 0.323111 3.563465 0.814597 +v -0.145700 2.625688 -1.032019 +v -0.145700 2.742993 -1.032019 +v -1.289022 2.654973 0.404172 +v 0.938708 2.039494 0.755993 +v 0.762716 3.504729 -0.797405 +v -0.819960 3.504729 -0.797207 +v -0.907831 2.039494 -0.738604 +v 0.791923 2.039494 -0.914613 +v -0.849168 2.039494 0.843899 +v 1.261234 3.065125 0.316266 +v -0.849168 3.534180 0.755993 +v 0.528310 3.739339 0.374870 +v 1.261234 2.508382 -0.328376 +v 0.000585 2.889417 0.990607 +v -0.497434 3.739339 -0.533688 +v -1.289022 3.035840 -0.240471 +v 0.791923 3.563465 0.755993 +v -1.289022 2.361959 -0.035159 +v 0.880044 3.651319 -0.064461 +v 0.059249 2.039494 0.990607 +v 0.791923 2.830847 0.902503 +v 0.030042 3.446159 -0.973217 +v 1.261234 3.006556 -0.328376 +v 0.762716 2.742993 -0.973217 +v -0.937038 3.622034 0.081653 +v -0.087036 2.039494 -1.032019 +v -0.790504 2.742993 -0.914613 +v -0.526641 3.709888 0.492276 +v -0.819960 2.801563 0.902503 +v 1.261234 2.361959 0.228360 +v 0.059249 3.709888 -0.709500 +v -1.289022 3.035840 0.316068 +v -1.289022 2.654973 -0.357678 +v -0.145700 3.504729 0.902503 +v 0.909251 2.039494 -0.797405 +v 1.261234 2.772278 0.433474 +v -0.995702 2.039494 0.550682 +v 0.147120 3.739339 0.550880 +v 0.469646 3.709888 -0.533490 +v -0.819960 2.098230 -0.856009 +v 0.850587 2.068945 0.843899 +v 1.261234 2.830847 -0.386980 +v 0.997122 2.039494 -0.181669 +v 0.088456 3.504729 0.902503 +v 0.791923 3.446159 -0.826707 +v -0.731840 2.713708 0.931805 +v -0.937038 3.622034 -0.093763 +v 0.235240 2.713708 -1.032019 +v -0.057829 3.680604 0.697389 +v 1.261234 3.123861 -0.093763 +v -0.878624 3.416875 0.785097 +v 0.909251 3.622034 0.110955 +v 0.117913 2.039494 -1.032019 +v -1.289022 2.420528 0.286964 +v -1.289022 3.123861 0.052351 +v 1.261234 2.361959 -0.064461 +v -0.556098 3.739339 -0.035159 +v -0.702633 2.742993 -0.943915 +v 0.850587 3.534180 -0.562792 +v -0.995702 2.039494 -0.123065 +v -0.819960 3.416875 -0.826707 +v -0.057829 2.039494 0.990607 +v 0.030042 3.739339 -0.503990 +f 138 130 162 +f 103 106 107 +f 106 103 108 +f 102 115 117 +f 108 103 119 +f 113 119 120 +f 109 112 122 +f 100 101 125 +f 107 106 125 +f 124 110 127 +f 102 108 128 +f 112 109 129 +f 105 114 130 +f 121 105 130 +f 104 121 130 +f 115 102 131 +f 106 117 132 +f 117 115 132 +f 103 107 134 +f 107 123 134 +f 109 116 135 +f 120 103 135 +f 116 120 135 +f 103 129 135 +f 129 109 135 +f 106 108 136 +f 111 114 137 +f 116 111 137 +f 111 118 138 +f 104 130 138 +f 125 106 139 +f 106 132 139 +f 132 126 139 +f 119 103 140 +f 120 119 140 +f 103 120 140 +f 122 112 141 +f 112 134 141 +f 134 123 141 +f 129 103 142 +f 103 134 142 +f 116 99 143 +f 113 120 143 +f 120 116 143 +f 133 113 143 +f 121 104 144 +f 123 121 144 +f 122 141 144 +f 141 123 144 +f 128 108 145 +f 113 133 145 +f 133 128 145 +f 114 105 146 +f 105 115 146 +f 101 121 147 +f 121 123 147 +f 125 101 147 +f 99 116 148 +f 127 110 148 +f 110 133 148 +f 116 137 148 +f 137 127 148 +f 143 99 148 +f 133 143 148 +f 109 122 149 +f 102 128 150 +f 131 102 150 +f 110 131 150 +f 133 110 150 +f 128 133 150 +f 116 109 151 +f 111 116 151 +f 118 111 151 +f 149 118 151 +f 109 149 151 +f 123 107 152 +f 107 125 152 +f 147 123 152 +f 125 147 152 +f 108 102 153 +f 102 117 153 +f 136 108 153 +f 117 136 153 +f 110 124 154 +f 131 110 154 +f 115 131 154 +f 146 115 154 +f 124 146 154 +f 112 129 155 +f 134 112 155 +f 129 142 155 +f 142 134 155 +f 124 127 156 +f 137 114 156 +f 127 137 156 +f 114 146 156 +f 146 124 156 +f 101 100 157 +f 121 101 157 +f 100 125 157 +f 125 139 157 +f 139 126 157 +f 104 138 158 +f 138 118 158 +f 144 104 158 +f 122 144 158 +f 118 149 158 +f 149 122 158 +f 117 106 159 +f 106 136 159 +f 136 117 159 +f 115 105 160 +f 105 121 160 +f 132 115 160 +f 126 132 160 +f 121 157 160 +f 157 126 160 +f 108 119 161 +f 119 113 161 +f 145 108 161 +f 113 145 161 +f 114 111 162 +f 130 114 162 +f 111 138 162 +o convex_3 +v 2.521519 2.742850 0.257760 +v 1.261246 2.684286 -0.387124 +v 1.261246 2.801413 -0.387124 +v 1.261246 2.772094 0.404339 +v 1.261246 2.361775 0.111104 +v 2.785245 2.567009 -0.035320 +v 1.290855 3.123924 -0.035320 +v 2.755980 2.947934 -0.006035 +v 1.320119 3.035967 0.287045 +v 2.726716 2.830658 -0.181898 +v 1.320119 2.420413 0.316252 +v 1.378821 2.479126 -0.299037 +v 1.261246 3.035967 -0.299037 +v 2.726716 2.567009 0.111104 +v 3.019706 2.772094 0.052535 +v 2.755980 2.713605 -0.181898 +v 2.755980 2.772094 0.228398 +v 1.261246 2.361775 -0.064527 +v 2.668014 2.947934 0.081742 +v 2.697451 2.684286 0.228398 +v 1.261246 2.655041 0.404339 +v 2.697451 2.537765 0.052535 +v 1.261246 3.065286 0.228398 +v 2.668014 2.947934 -0.064527 +v 1.349384 2.801413 -0.387124 +v 2.580048 2.596403 -0.152614 +v 2.668014 2.742850 -0.211183 +v 2.287057 2.537765 0.228398 +v 2.521519 2.918690 0.169828 +v 1.290855 3.006573 0.316252 +v 2.990442 2.772094 -0.035320 +v 1.437350 3.006573 -0.299037 +v 1.290855 2.449733 -0.269830 +v 1.378821 2.361775 -0.006035 +f 168 184 196 +f 165 164 166 +f 166 164 167 +f 165 166 175 +f 176 168 177 +f 166 163 179 +f 167 164 180 +f 170 169 181 +f 177 170 181 +f 179 177 181 +f 176 177 182 +f 179 163 182 +f 177 179 182 +f 163 166 183 +f 166 167 183 +f 167 173 183 +f 182 163 183 +f 173 182 183 +f 173 167 184 +f 168 176 184 +f 175 166 185 +f 169 175 185 +f 181 169 185 +f 171 181 185 +f 169 170 186 +f 170 172 186 +f 175 169 186 +f 164 165 187 +f 165 175 187 +f 168 174 188 +f 174 178 188 +f 178 168 188 +f 174 164 189 +f 172 178 189 +f 178 174 189 +f 164 187 189 +f 187 172 189 +f 182 173 190 +f 176 182 190 +f 173 184 190 +f 184 176 190 +f 181 171 191 +f 179 181 191 +f 166 179 192 +f 185 166 192 +f 171 185 192 +f 191 171 192 +f 179 191 192 +f 172 170 193 +f 170 177 193 +f 177 168 193 +f 178 172 193 +f 168 178 193 +f 186 172 194 +f 175 186 194 +f 187 175 194 +f 172 187 194 +f 164 174 195 +f 174 168 195 +f 180 164 195 +f 168 180 195 +f 167 180 196 +f 180 168 196 +f 184 167 196 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/277/277.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/277/277.urdf new file mode 100644 index 000000000..ccbfdc391 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/277/277.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/278/278.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/278/278.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/278/278.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/278/278.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/278/278.obj new file mode 100644 index 000000000..2b8e85f6e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/278/278.obj @@ -0,0 +1,2226 @@ +o convex_0 +v 0.250502 -2.161370 -3.804983 +v 0.202288 -2.740685 -1.319757 +v 0.226420 -2.740685 -1.319757 +v 0.153974 -2.137148 -0.932615 +v 0.153974 -2.595709 -4.867201 +v 0.322948 -2.282007 -2.816008 +v 0.274651 -2.595709 -4.867201 +v 0.153974 -2.209637 -4.794734 +v 0.274651 -2.137148 -1.222874 +v 0.153974 -2.644034 -2.888864 +v 0.322948 -2.137148 -3.080691 +v 0.226420 -2.740685 -0.933002 +v 0.250535 -2.716463 -1.392225 +v 0.202271 -2.233740 -4.794734 +v 0.153974 -2.137148 -3.201600 +v 0.250502 -2.137148 -0.932615 +v 0.202288 -2.740685 -0.933002 +v 0.322948 -2.161370 -2.381975 +v 0.298783 -2.475131 -4.287845 +v 0.250535 -2.499235 -0.957804 +v 0.153974 -2.619871 -4.625771 +f 10 5 21 +f 5 4 8 +f 7 5 8 +f 4 5 10 +f 4 9 11 +f 2 3 12 +f 3 7 13 +f 12 3 13 +f 8 1 14 +f 7 8 14 +f 1 11 14 +f 1 8 15 +f 8 4 15 +f 11 1 15 +f 4 11 15 +f 9 4 16 +f 4 12 16 +f 10 2 17 +f 4 10 17 +f 2 12 17 +f 12 4 17 +f 6 11 18 +f 11 9 18 +f 13 6 18 +f 11 6 19 +f 13 7 19 +f 6 13 19 +f 7 14 19 +f 14 11 19 +f 12 13 20 +f 9 16 20 +f 16 12 20 +f 18 9 20 +f 13 18 20 +f 3 2 21 +f 5 7 21 +f 7 3 21 +f 2 10 21 +o convex_1 +v 0.009071 -2.281978 -4.915730 +v 0.153974 -2.161320 -3.636461 +v 0.153974 -2.185441 -3.636461 +v -0.256431 -2.281978 -3.636461 +v -0.184000 -2.088884 -4.939845 +v -0.232287 -2.137181 -3.636461 +v -0.232287 -2.281978 -4.915730 +v 0.153974 -2.281978 -4.819268 +v 0.129830 -2.185441 -4.819268 +v -0.184000 -2.113023 -3.805652 +v -0.256431 -2.257839 -4.650204 +f 26 28 32 +f 24 23 25 +f 25 23 27 +f 22 25 28 +f 26 22 28 +f 23 24 29 +f 24 25 29 +f 25 22 29 +f 22 26 30 +f 26 23 30 +f 23 29 30 +f 29 22 30 +f 23 26 31 +f 27 23 31 +f 26 27 31 +f 27 26 32 +f 25 27 32 +f 28 25 32 +o convex_2 +v -0.256403 -2.281997 -3.636460 +v 0.153974 -2.137148 -0.932615 +v 0.105625 -2.137148 -0.932615 +v -0.256403 -2.281997 -0.932615 +v -0.232205 -2.137148 -3.636460 +v 0.153974 -2.185455 -3.636460 +v -0.304705 -2.233691 -0.956964 +v 0.129823 -2.185455 -0.932615 +v 0.153974 -2.137148 -3.201876 +v -0.232205 -2.137148 -2.767027 +v -0.208148 -2.281997 -2.863895 +v -0.328855 -2.281997 -1.149907 +f 39 37 44 +f 34 35 36 +f 35 34 37 +f 33 37 38 +f 36 35 39 +f 34 36 40 +f 38 34 40 +f 37 34 41 +f 34 38 41 +f 38 37 41 +f 35 37 42 +f 39 35 42 +f 37 39 42 +f 36 33 43 +f 33 38 43 +f 40 36 43 +f 38 40 43 +f 33 36 44 +f 37 33 44 +f 36 39 44 +o convex_3 +v 1.119593 2.546069 3.195577 +v 0.709268 1.266927 3.099021 +v 0.902381 1.266927 3.074870 +v 1.071315 2.570312 3.074870 +v 0.709268 2.570312 3.171427 +v 1.047175 1.315286 3.123160 +v 0.709268 1.508337 3.147287 +v 1.071315 1.629043 3.074870 +v 0.709268 2.570312 3.147287 +v 0.733407 2.449607 3.195577 +f 49 51 54 +f 47 46 48 +f 45 48 49 +f 46 47 50 +f 50 45 51 +f 49 46 51 +f 46 50 51 +f 47 48 52 +f 48 45 52 +f 50 47 52 +f 45 50 52 +f 48 46 53 +f 49 48 53 +f 46 49 53 +f 45 49 54 +f 51 45 54 +o convex_4 +v -0.932392 2.570444 -1.729653 +v 1.023067 2.570444 -2.791231 +v 1.023067 2.546298 -2.791231 +v 0.757197 2.570444 -0.933028 +v 0.660917 2.618722 -2.887720 +v -0.932392 2.546298 -2.863598 +v -0.932392 2.618722 -1.656894 +v 0.178177 2.546298 -0.933028 +v -0.256327 2.618722 -1.029518 +v 0.998758 2.618722 -2.598057 +v -0.835730 2.570444 -2.936161 +v 0.950331 2.546298 -1.174252 +v -0.280445 2.570444 -0.933028 +v 1.023067 2.546298 -2.912039 +v -0.932392 2.546298 -2.284662 +v 1.023067 2.618722 -2.912039 +v -0.932392 2.618722 -1.777702 +f 65 60 71 +f 60 55 61 +f 60 57 62 +f 59 61 63 +f 63 58 64 +f 59 63 64 +f 57 56 66 +f 58 62 66 +f 62 57 66 +f 64 58 66 +f 61 55 67 +f 62 58 67 +f 58 63 67 +f 63 61 67 +f 56 57 68 +f 57 60 68 +f 60 65 68 +f 55 60 69 +f 60 62 69 +f 67 55 69 +f 62 67 69 +f 59 64 70 +f 65 59 70 +f 66 56 70 +f 64 66 70 +f 56 68 70 +f 68 65 70 +f 61 59 71 +f 60 61 71 +f 59 65 71 +o convex_5 +v 0.322938 -2.499301 1.554148 +v 0.178115 -2.740685 2.615957 +v 0.178115 -2.716513 2.037020 +v 0.178115 -2.475155 3.098830 +v 0.347106 -2.740685 3.074631 +v 0.178115 -2.668221 1.240300 +v 0.322938 -2.668221 1.240300 +v 0.322938 -2.499301 3.074631 +v 0.250568 -2.475155 1.240300 +v 0.178115 -2.740685 3.098830 +f 73 76 81 +f 74 73 75 +f 74 75 77 +f 73 74 78 +f 72 76 78 +f 76 73 78 +f 74 77 78 +f 76 72 79 +f 75 76 79 +f 77 75 80 +f 72 78 80 +f 78 77 80 +f 79 72 80 +f 75 79 80 +f 75 73 81 +f 76 75 81 +o convex_6 +v -1.004829 -0.085265 -0.884332 +v -1.028947 0.445990 -0.691200 +v -1.053100 0.445990 -0.691200 +v -1.004829 -1.919875 -0.691200 +v -1.028947 -1.919875 -0.860153 +v -0.980675 0.445990 -0.884332 +v -1.053100 0.445990 -0.860153 +v -0.980675 -1.919875 -0.860153 +v -1.004829 -0.012779 -0.691200 +v -1.028947 -1.919875 -0.691200 +v -1.053100 -0.544033 -0.860153 +f 91 84 92 +f 83 84 85 +f 84 83 87 +f 87 82 88 +f 84 87 88 +f 86 82 89 +f 85 86 89 +f 82 87 89 +f 89 87 90 +f 83 85 90 +f 87 83 90 +f 85 89 90 +f 85 84 91 +f 86 85 91 +f 86 91 92 +f 82 86 92 +f 88 82 92 +f 84 88 92 +o convex_7 +v -1.053100 -0.036864 -0.691200 +v -0.956543 0.445990 1.022845 +v -0.956543 0.445990 0.805569 +v -0.932392 -1.919875 1.022845 +v -0.980694 -1.895559 -0.618719 +v -0.980694 -1.871474 0.612286 +v -1.004810 0.445990 0.829562 +v -1.004810 0.445990 -0.570398 +v -1.028937 -1.919875 -0.570398 +v -0.932392 -1.847389 0.564133 +v -0.980694 -0.712858 1.022845 +v -1.053100 0.445990 -0.691200 +v -0.932392 -0.616287 0.998684 +v -1.004810 0.083792 -0.691200 +v -1.028937 -1.919875 -0.691200 +v -0.956543 -1.919875 1.022845 +f 103 98 108 +f 94 95 99 +f 99 95 100 +f 99 93 101 +f 96 97 102 +f 96 94 103 +f 94 99 103 +f 101 98 103 +f 99 101 103 +f 93 99 104 +f 99 100 104 +f 95 94 105 +f 94 96 105 +f 100 95 105 +f 96 102 105 +f 102 100 105 +f 102 97 106 +f 100 102 106 +f 93 104 106 +f 104 100 106 +f 97 96 107 +f 101 93 107 +f 96 101 107 +f 93 106 107 +f 106 97 107 +f 101 96 108 +f 98 101 108 +f 96 103 108 +o convex_8 +v 0.926537 -3.053969 -0.787584 +v 1.047206 -1.919629 1.070946 +v 1.023058 -1.919629 1.070946 +v 0.950673 0.445989 -0.763570 +v 0.974821 -3.392505 -0.642591 +v 1.047194 0.445989 0.684722 +v 0.926525 0.445989 -0.497962 +v 0.998898 -3.392505 0.732932 +v 1.047194 -3.392505 0.708736 +v 1.023046 0.445989 0.974526 +v 0.926537 -3.392505 -0.618213 +v 0.974809 0.349050 -0.546172 +v 0.998910 0.445989 0.708918 +v 1.047206 -3.392505 1.070946 +v 0.926525 0.445989 -0.763570 +v 1.047194 0.445989 0.974526 +v 0.950673 -3.053969 -0.787584 +v 1.023058 -3.392505 1.070946 +v 1.047194 0.083782 0.660526 +v 0.974821 -2.499010 -0.642591 +f 120 127 128 +f 114 112 115 +f 116 113 117 +f 111 110 118 +f 114 115 118 +f 109 113 119 +f 116 115 119 +f 113 116 119 +f 112 114 120 +f 116 111 121 +f 115 116 121 +f 111 118 121 +f 118 115 121 +f 110 111 122 +f 116 117 122 +f 112 109 123 +f 115 112 123 +f 109 119 123 +f 119 115 123 +f 110 114 124 +f 118 110 124 +f 114 118 124 +f 109 112 125 +f 113 109 125 +f 111 116 126 +f 122 111 126 +f 116 122 126 +f 114 110 127 +f 117 113 127 +f 120 114 127 +f 110 122 127 +f 122 117 127 +f 112 120 128 +f 125 112 128 +f 113 125 128 +f 127 113 128 +o convex_9 +v 0.926501 -1.919875 1.095250 +v 1.071336 0.445990 1.143552 +v 1.071336 0.445990 1.095250 +v 0.926501 0.445990 1.119385 +v 1.047192 -1.919875 0.974562 +v 1.047192 -1.919875 1.143552 +v 1.023048 0.445990 0.974562 +v 0.950659 -0.205920 1.143552 +f 129 134 136 +f 130 131 132 +f 131 130 133 +f 129 133 134 +f 133 130 134 +f 132 131 135 +f 129 132 135 +f 133 129 135 +f 131 133 135 +f 130 132 136 +f 132 129 136 +f 134 130 136 +o convex_10 +v -0.256446 -2.281997 -4.915758 +v -0.280548 -2.692402 -3.033056 +v -0.304685 -2.668218 -3.636581 +v -0.328834 -2.281997 -0.932804 +v -0.208148 -2.281997 -2.912584 +v -0.208148 -2.668218 -2.936367 +v -0.256458 -2.644114 -0.932804 +v -0.328822 -2.619931 -4.867023 +v -0.208148 -2.619931 -4.819069 +v -0.304697 -2.571683 -0.932804 +v -0.208148 -2.281997 -4.915758 +v -0.328822 -2.523395 -4.891195 +v -0.280572 -2.281997 -1.126181 +v -0.328834 -2.378572 -0.932804 +f 148 144 150 +f 137 140 141 +f 142 141 143 +f 138 142 143 +f 138 139 144 +f 142 138 145 +f 141 142 145 +f 138 144 145 +f 139 138 146 +f 138 143 146 +f 143 140 146 +f 144 139 146 +f 137 141 147 +f 141 145 147 +f 145 144 147 +f 140 137 148 +f 137 147 148 +f 147 144 148 +f 141 140 149 +f 143 141 149 +f 140 143 149 +f 146 140 150 +f 144 146 150 +f 140 148 150 +o convex_11 +v 1.095482 1.508337 2.085273 +v 1.095482 2.570312 3.074870 +v 1.095482 2.570312 2.809311 +v 0.998935 2.570312 2.229991 +v 1.023084 1.266927 3.074870 +v 1.047213 1.266927 1.940221 +v 1.023084 2.570312 1.940221 +v 0.998935 2.159838 1.940221 +v 1.095482 2.039133 3.074870 +v 1.071343 2.570312 3.074870 +v 1.047213 1.266927 3.074870 +v 1.023084 1.653158 3.074870 +v 1.023084 1.266927 2.398923 +v 1.071343 1.266927 1.940221 +f 161 156 164 +f 153 152 151 +f 152 153 154 +f 153 151 157 +f 154 153 157 +f 157 156 158 +f 155 154 158 +f 154 157 158 +f 151 152 159 +f 152 155 159 +f 152 154 160 +f 155 152 160 +f 155 156 161 +f 151 159 161 +f 159 155 161 +f 154 155 162 +f 160 154 162 +f 155 160 162 +f 156 155 163 +f 158 156 163 +f 155 158 163 +f 157 151 164 +f 156 157 164 +f 151 161 164 +o convex_12 +v -0.135660 -2.644112 -4.191485 +v 0.153974 -2.619982 -2.912407 +v -0.015035 -2.619982 -2.912407 +v -0.208148 -2.571704 -4.867484 +v 0.153974 -2.595853 -4.867484 +v -0.208148 -2.668261 -2.936714 +v 0.153974 -2.644112 -3.588406 +v 0.153974 -2.571704 -4.601831 +v -0.208148 -2.619982 -4.819062 +v 0.009104 -2.668261 -2.912407 +v 0.153974 -2.619982 -4.625947 +v -0.111521 -2.668261 -3.564291 +v -0.208148 -2.644112 -2.936714 +f 168 170 177 +f 169 166 171 +f 167 166 172 +f 168 167 172 +f 169 168 172 +f 166 169 172 +f 168 169 173 +f 170 168 173 +f 166 167 174 +f 167 170 174 +f 171 166 174 +f 169 171 175 +f 165 173 175 +f 173 169 175 +f 173 165 176 +f 170 173 176 +f 174 170 176 +f 171 174 176 +f 175 171 176 +f 165 175 176 +f 167 168 177 +f 170 167 177 +o convex_13 +v -0.208148 -2.571695 -4.891808 +v 0.153974 -2.281997 -4.795251 +v 0.153974 -2.281997 -4.843553 +v -0.208148 -2.281997 -4.891808 +v 0.153974 -2.523374 -4.891808 +v -0.208148 -2.571695 -4.843553 +f 182 179 183 +f 179 180 181 +f 178 181 182 +f 180 179 182 +f 181 180 182 +f 179 181 183 +f 181 178 183 +f 178 182 183 +o convex_14 +v -0.980668 -1.920019 0.588029 +v -1.004804 -3.392505 -0.835881 +v -1.028951 -2.692227 -0.835881 +v -0.956544 -1.919875 -0.860191 +v -0.908260 -3.368144 1.070960 +v -0.908260 -1.920019 1.095269 +v -0.956544 -3.392505 -0.835881 +v -0.932420 -3.368144 1.070960 +v -1.028951 -1.919875 -0.860191 +v -0.908260 -3.368144 0.588029 +v -0.956544 -1.920019 1.095269 +v -1.004804 -3.392505 -0.449613 +v -1.028951 -1.992382 -0.594511 +f 186 195 196 +f 185 187 190 +f 188 189 191 +f 185 186 192 +f 187 185 192 +f 189 187 192 +f 187 189 193 +f 189 188 193 +f 190 187 193 +f 188 190 193 +f 191 189 194 +f 192 184 194 +f 189 192 194 +f 186 185 195 +f 185 190 195 +f 190 188 195 +f 188 191 195 +f 194 184 195 +f 191 194 195 +f 184 192 196 +f 192 186 196 +f 195 184 196 +o convex_15 +v 0.974557 -3.392514 -0.642683 +v -0.956260 -3.392514 -0.835858 +v -0.859788 -3.416646 1.046674 +v 1.047209 -3.489057 0.805448 +v 0.322879 -3.368382 1.119139 +v -0.956260 -3.344222 -0.835858 +v 1.047209 -3.392514 1.143552 +v 0.322879 -3.344222 -0.787612 +v -0.932241 -3.368382 1.070894 +v 0.781416 -3.416646 -0.787612 +v 0.757199 -3.489057 1.119332 +v 0.057285 -3.416646 -0.811638 +v 0.974557 -3.440778 -0.449702 +v 1.047209 -3.489057 1.143552 +v -0.980675 -3.392529 0.081770 +f 205 202 211 +f 200 197 203 +f 201 203 204 +f 202 201 204 +f 203 197 204 +f 201 202 205 +f 204 197 206 +f 202 204 206 +f 199 198 207 +f 198 200 207 +f 200 198 208 +f 198 202 208 +f 202 206 208 +f 208 206 209 +f 197 200 209 +f 206 197 209 +f 200 208 209 +f 200 203 210 +f 203 201 210 +f 205 199 210 +f 201 205 210 +f 199 207 210 +f 207 200 210 +f 198 199 211 +f 202 198 211 +f 199 205 211 +o convex_16 +v -0.666876 1.266927 3.171391 +v -1.077201 2.304659 2.905908 +v -1.077201 2.304659 3.123132 +v -0.666876 2.570312 3.147261 +v -0.980645 1.266927 2.905908 +v -1.028923 1.291170 3.123132 +v -0.666876 2.570312 3.050742 +v -1.077201 2.570312 3.147261 +v -0.980645 2.570312 2.905908 +v -0.763433 1.532581 3.195577 +v -1.028923 1.291170 2.905908 +f 216 217 222 +f 214 213 217 +f 216 212 217 +f 215 212 218 +f 212 216 218 +f 213 214 219 +f 214 217 219 +f 215 218 219 +f 219 218 220 +f 216 213 220 +f 218 216 220 +f 213 219 220 +f 212 215 221 +f 217 212 221 +f 215 219 221 +f 219 217 221 +f 213 216 222 +f 217 213 222 +o convex_17 +v 0.998926 1.604941 0.829528 +v 0.926501 1.266920 -1.053138 +v 0.950655 1.266920 -1.053138 +v 0.926501 2.498015 -1.053138 +v 0.926501 2.498015 0.829528 +v 0.926501 1.266920 0.129426 +v 0.950655 2.498015 -1.053138 +v 0.974772 1.266920 0.829528 +v 0.950655 2.498015 0.829528 +v 0.998926 1.266920 0.491548 +v 0.926501 1.990924 0.829528 +f 228 230 233 +f 225 224 226 +f 226 224 227 +f 227 224 228 +f 224 225 228 +f 225 226 229 +f 226 227 229 +f 223 227 230 +f 228 225 230 +f 227 223 231 +f 223 229 231 +f 229 227 231 +f 229 223 232 +f 225 229 232 +f 223 230 232 +f 230 225 232 +f 227 228 233 +f 230 227 233 +o convex_18 +v 0.153959 -2.137148 3.099011 +v -0.256431 -2.764827 3.050747 +v 0.033195 -2.764827 3.050747 +v -0.256431 -2.764827 3.171436 +v -0.208115 -2.161417 3.026587 +v -0.208115 -2.161417 3.147275 +v 0.298799 -2.475072 3.050747 +v 0.178090 -2.740619 3.099011 +v 0.274614 -2.137148 3.050747 +f 240 238 242 +f 235 236 237 +f 236 235 238 +f 235 237 238 +f 237 234 239 +f 234 238 239 +f 238 237 239 +f 236 238 240 +f 237 236 241 +f 234 237 241 +f 236 240 241 +f 240 234 241 +f 238 234 242 +f 234 240 242 +o convex_19 +v -0.256431 -2.475098 1.240293 +v 0.057408 -2.161351 3.026587 +v -0.208139 -2.161351 3.026587 +v -0.208139 -2.475098 3.026587 +v 0.057408 -2.233752 1.240293 +v -0.208139 -2.209608 1.457634 +v 0.057408 -2.257895 1.868014 +v -0.256431 -2.378523 2.350432 +v -0.232285 -2.282039 1.264597 +v -0.232285 -2.475098 1.240293 +v -0.256431 -2.475098 2.616033 +v 0.057408 -2.161351 2.712552 +f 248 245 254 +f 244 245 246 +f 244 246 249 +f 247 244 249 +f 247 243 251 +f 248 247 251 +f 245 248 251 +f 250 245 251 +f 243 250 251 +f 246 243 252 +f 243 247 252 +f 249 246 252 +f 247 249 252 +f 246 245 253 +f 243 246 253 +f 245 250 253 +f 250 243 253 +f 245 244 254 +f 244 247 254 +f 247 248 254 +o convex_20 +v -0.425289 0.470167 2.519468 +v 0.926501 0.590839 3.050455 +v 0.540124 0.590839 3.050455 +v 0.926501 0.590839 1.336871 +v 0.467612 0.470167 1.361030 +v -0.425289 0.518435 1.312712 +v -0.425289 0.518435 3.050455 +v 0.926501 0.566669 3.050455 +v 0.926501 0.542534 1.312712 +v -0.232101 0.494301 3.050455 +v 0.033467 0.470167 1.312712 +v -0.256315 0.542534 3.050455 +v -0.425289 0.470167 1.867857 +f 260 265 267 +f 257 256 258 +f 257 258 260 +f 256 257 261 +f 260 255 261 +f 258 256 262 +f 256 261 262 +f 260 258 263 +f 258 262 263 +f 262 259 263 +f 255 259 264 +f 261 255 264 +f 259 262 264 +f 262 261 264 +f 259 255 265 +f 260 263 265 +f 263 259 265 +f 257 260 266 +f 261 257 266 +f 260 261 266 +f 255 260 267 +f 265 255 267 +o convex_21 +v 0.298799 -2.330256 2.109445 +v 0.250502 -2.475129 1.240118 +v 0.057432 -2.257870 1.240118 +v 0.274651 -2.475129 3.050729 +v 0.105729 -2.137148 3.050729 +v 0.274651 -2.137148 2.857545 +v 0.226377 -2.233752 1.264399 +v 0.057432 -2.185483 3.050729 +v 0.298799 -2.475129 1.360991 +v 0.298799 -2.282021 3.050729 +v 0.057432 -2.257870 1.891980 +v 0.057432 -2.233752 1.240118 +f 275 272 279 +f 273 268 274 +f 271 272 275 +f 271 269 276 +f 269 274 276 +f 274 268 276 +f 272 271 277 +f 273 272 277 +f 268 273 277 +f 271 276 277 +f 276 268 277 +f 270 269 278 +f 269 271 278 +f 275 270 278 +f 271 275 278 +f 269 270 279 +f 272 273 279 +f 274 269 279 +f 273 274 279 +f 270 275 279 +o convex_22 +v 0.902282 0.590815 -1.319044 +v -0.787544 0.542542 -2.018877 +v -0.787544 0.518443 -1.825623 +v 0.298867 0.470150 -2.018877 +v -0.787544 0.470169 -0.956860 +v 0.660784 0.663225 -0.956860 +v 0.902282 0.590815 -1.922198 +v -0.787544 0.566678 -2.018877 +v -0.763228 0.518443 -0.956860 +v -0.352847 0.494306 -0.956860 +v 0.902282 0.542598 -2.018877 +v 0.902282 0.639070 -0.956860 +v 0.902282 0.663225 -1.077657 +v -0.014915 0.470169 -1.994655 +v -0.787544 0.566678 -1.777387 +v -0.787544 0.470169 -1.270704 +v 0.564184 0.494325 -1.994655 +f 283 290 296 +f 281 282 284 +f 283 281 287 +f 281 284 287 +f 284 285 288 +f 284 283 289 +f 285 284 289 +f 286 280 290 +f 287 286 290 +f 283 287 290 +f 280 286 291 +f 289 280 291 +f 285 289 291 +f 287 285 292 +f 286 287 292 +f 291 286 292 +f 285 291 292 +f 282 281 293 +f 281 283 293 +f 285 287 294 +f 287 284 294 +f 284 288 294 +f 288 285 294 +f 283 284 295 +f 284 282 295 +f 282 293 295 +f 293 283 295 +f 280 289 296 +f 289 283 296 +f 290 280 296 +o convex_23 +v -0.425497 0.228447 -0.908443 +v -0.980675 -1.919747 -0.860200 +v -0.956529 -2.788968 -0.860212 +v -0.473728 0.204381 -0.956756 +v -0.352997 -2.788968 -0.884339 +v -0.956468 -0.061293 -0.836049 +v -0.352997 -2.764585 -0.932606 +v -0.980675 0.445990 -0.884363 +v -0.763298 -2.788968 -0.836061 +v -0.401289 0.445990 -0.956756 +v -0.811652 0.445990 -0.860200 +v -0.859883 -2.161356 -0.884339 +v -0.956529 -2.788968 -0.836061 +v -0.980675 -0.423231 -0.884363 +f 300 308 310 +f 301 299 303 +f 298 302 304 +f 299 301 305 +f 301 302 305 +f 297 301 306 +f 303 300 306 +f 301 303 306 +f 300 304 306 +f 306 304 307 +f 301 297 307 +f 302 301 307 +f 304 302 307 +f 297 306 307 +f 303 299 308 +f 300 303 308 +f 298 299 309 +f 302 298 309 +f 299 305 309 +f 305 302 309 +f 299 298 310 +f 298 304 310 +f 304 300 310 +f 308 299 310 +o convex_24 +v 0.202189 -1.871474 -0.787766 +v -0.401266 -1.919875 -0.932589 +v -0.280540 -1.919875 -0.932589 +v -0.401266 0.445990 -0.956740 +v 0.419425 0.445990 -0.884304 +v -0.352923 -1.750587 -0.811917 +v 0.371170 0.445990 -0.836085 +v 0.491808 -1.919875 -0.836085 +v -0.401266 0.325103 -0.908438 +v -0.304668 -1.098909 -0.956740 +v 0.491808 -0.713089 -0.811934 +v 0.395210 -1.726734 -0.860202 +v -0.328795 -1.919875 -0.811917 +v -0.280540 0.445990 -0.956740 +v 0.491808 0.445990 -0.860202 +v 0.491808 -1.919875 -0.811934 +v 0.491808 -0.929621 -0.860202 +f 325 318 327 +f 315 314 317 +f 316 311 317 +f 312 313 318 +f 314 312 319 +f 312 316 319 +f 317 314 319 +f 316 317 319 +f 313 312 320 +f 312 314 320 +f 317 311 321 +f 318 313 322 +f 313 320 322 +f 316 312 323 +f 311 316 323 +f 312 318 323 +f 314 315 324 +f 320 314 324 +f 315 320 324 +f 315 317 325 +f 317 321 325 +f 321 318 325 +f 321 311 326 +f 318 321 326 +f 311 323 326 +f 323 318 326 +f 320 315 327 +f 318 322 327 +f 322 320 327 +f 315 325 327 +o convex_25 +v -0.763433 0.325103 1.119392 +v -0.980649 -0.640604 1.022845 +v -0.956506 -1.919875 1.022845 +v -0.980649 -0.230005 1.143540 +v -0.715145 -1.919875 1.071142 +v -0.956506 0.445990 1.022845 +v -0.715145 -0.326575 1.047005 +v -0.956506 -1.919875 1.095255 +v -0.980649 0.445990 1.143540 +v -0.715145 0.445990 1.071142 +v -0.908218 -1.461107 1.119392 +v -0.715145 -1.919875 1.047005 +f 330 334 339 +f 330 329 333 +f 330 333 334 +f 329 330 335 +f 331 329 335 +f 330 332 335 +f 329 331 336 +f 331 328 336 +f 333 329 336 +f 333 336 337 +f 328 332 337 +f 334 333 337 +f 332 334 337 +f 336 328 337 +f 328 331 338 +f 332 328 338 +f 331 335 338 +f 335 332 338 +f 332 330 339 +f 334 332 339 +o convex_26 +v 0.033176 -1.074592 1.167677 +v -0.715074 -1.919875 1.047000 +v -0.618456 -1.919875 1.047000 +v -0.666765 0.445990 1.047000 +v 0.202167 0.445990 1.047000 +v -0.715074 0.445990 1.095274 +v 0.202167 -1.919875 1.191821 +v -0.208100 -1.919875 1.071158 +v -0.642611 -1.919875 1.095274 +v 0.202167 0.373504 1.095302 +v -0.015133 -1.654248 1.191821 +v 0.202167 -1.629931 1.143533 +v -0.715074 -0.350892 1.095274 +f 348 350 352 +f 342 341 343 +f 342 343 344 +f 343 341 345 +f 344 343 345 +f 341 342 346 +f 342 344 347 +f 346 342 347 +f 341 346 348 +f 345 340 349 +f 344 345 349 +f 340 346 349 +f 346 344 349 +f 340 345 350 +f 346 340 350 +f 348 346 350 +f 344 346 351 +f 347 344 351 +f 346 347 351 +f 345 341 352 +f 341 348 352 +f 350 345 352 +o convex_27 +v 0.926468 2.498020 -1.415265 +v 0.998900 2.546293 -2.067179 +v 0.998900 2.498020 -2.067179 +v 0.950612 2.546293 0.829713 +v 0.733395 2.546293 -0.980888 +v 0.926468 2.498020 0.829713 +v 0.974756 2.498020 -2.743226 +v 0.733395 2.522154 -0.980888 +v 0.974756 2.546293 -2.743226 +f 359 357 361 +f 355 354 356 +f 356 354 357 +f 353 355 358 +f 355 356 358 +f 356 357 358 +f 355 353 359 +f 354 355 359 +f 357 359 360 +f 353 358 360 +f 358 357 360 +f 359 353 360 +f 357 354 361 +f 354 359 361 +o convex_28 +v 0.950598 0.445990 -0.763634 +v 0.492000 -1.919875 -0.836042 +v 0.588568 -1.919875 -0.836042 +v 0.492000 0.445990 -0.860181 +v 0.950598 -0.374976 -0.836042 +v 0.950598 -1.919875 -0.763634 +v 0.564459 -1.847389 -0.787783 +v 0.492000 -0.495632 -0.811912 +v 0.757461 0.445990 -0.860181 +v 0.950598 -1.702417 -0.811912 +v 0.516153 -0.736943 -0.860181 +v 0.950598 0.445990 -0.836042 +v 0.492000 0.445990 -0.836042 +f 369 362 374 +f 363 364 367 +f 366 362 367 +f 367 362 368 +f 363 367 368 +f 365 363 369 +f 368 362 369 +f 363 368 369 +f 365 362 370 +f 364 366 371 +f 367 364 371 +f 366 367 371 +f 364 363 372 +f 363 365 372 +f 366 364 372 +f 365 370 372 +f 370 366 372 +f 362 366 373 +f 370 362 373 +f 366 370 373 +f 362 365 374 +f 365 369 374 +o convex_29 +v 0.322964 -1.919875 -0.811922 +v -0.352997 -2.788968 -0.908450 +v -0.352997 -2.788968 -0.884318 +v 0.322964 -2.788968 -0.860169 +v -0.280544 -2.644006 -0.763641 +v -0.352997 -1.919875 -0.932615 +v 0.250512 -2.137148 -0.932615 +v -0.328846 -1.919875 -0.811922 +v 0.250512 -2.764807 -0.787790 +v 0.226361 -2.764807 -0.932615 +v 0.322964 -1.992441 -0.787790 +v -0.352997 -2.764807 -0.932615 +f 380 384 386 +f 377 376 378 +f 376 377 380 +f 380 375 381 +f 375 378 381 +f 377 379 382 +f 380 377 382 +f 375 380 382 +f 377 378 383 +f 379 377 383 +f 378 376 384 +f 380 381 384 +f 381 378 384 +f 378 375 385 +f 375 382 385 +f 382 379 385 +f 383 378 385 +f 379 383 385 +f 376 380 386 +f 384 376 386 +o convex_30 +v 0.805770 0.445990 1.071144 +v 0.202257 -1.919875 1.167677 +v 0.202257 -1.919875 1.191821 +v 0.926501 -1.919875 1.119403 +v 0.202257 0.349419 1.046986 +v 0.926501 0.445990 1.119403 +v 0.829874 -1.581530 1.071144 +v 0.202257 0.373504 1.095288 +v 0.298884 -1.605847 1.191821 +v 0.685039 -1.895559 1.095288 +v 0.636761 0.445990 1.046986 +v 0.371266 -1.919875 1.191821 +v 0.926501 0.445990 1.095288 +v 0.202257 -1.629931 1.143533 +v 0.781525 0.445990 1.119403 +v 0.202257 -1.605847 1.191821 +f 401 394 402 +f 389 388 390 +f 388 389 391 +f 391 389 394 +f 390 388 396 +f 393 390 396 +f 391 393 396 +f 392 387 397 +f 387 393 397 +f 393 391 397 +f 391 394 397 +f 389 390 398 +f 390 392 398 +f 392 395 398 +f 395 389 398 +f 392 390 399 +f 387 392 399 +f 390 393 399 +f 393 387 399 +f 388 391 400 +f 396 388 400 +f 391 396 400 +f 395 392 401 +f 392 397 401 +f 397 394 401 +f 394 389 402 +f 389 395 402 +f 395 401 402 +o convex_31 +v -0.811713 0.590824 -2.646409 +v -0.787570 0.494296 -0.957115 +v -1.028930 0.639088 -0.957115 +v -1.053074 0.470131 -1.029485 +v -0.980642 0.639088 -2.622346 +v -0.787570 0.639088 -2.598103 +v -0.787570 0.470131 -1.246775 +v -0.956524 0.614956 -2.791508 +v -1.053074 0.639088 -1.174226 +f 405 407 411 +f 404 405 406 +f 407 405 408 +f 405 404 408 +f 403 408 409 +f 404 406 409 +f 406 403 409 +f 408 404 409 +f 403 406 410 +f 406 407 410 +f 407 408 410 +f 408 403 410 +f 406 405 411 +f 407 406 411 +o convex_32 +v -0.425421 0.566784 3.123165 +v 1.047209 1.266800 3.099014 +v 1.047209 1.194288 3.099014 +v -0.401204 1.025295 3.219719 +v -0.328697 1.266800 3.147283 +v 0.974557 0.566784 3.050729 +v -0.425421 0.518544 3.050729 +v 1.022847 1.266800 3.050729 +v 0.805614 0.639221 3.099014 +v -0.425421 1.266800 3.195568 +v 0.129986 1.266800 3.099014 +v 0.926411 1.266800 3.123165 +v -0.401204 0.928739 3.219719 +v -0.280551 0.494424 3.099014 +f 420 424 425 +f 413 414 419 +f 416 413 419 +f 414 417 419 +f 417 418 419 +f 417 414 420 +f 413 416 421 +f 418 412 421 +f 416 418 421 +f 418 416 422 +f 416 419 422 +f 419 418 422 +f 414 413 423 +f 420 414 423 +f 413 421 423 +f 421 415 423 +f 415 421 424 +f 421 412 424 +f 420 423 424 +f 423 415 424 +f 412 418 425 +f 418 417 425 +f 417 420 425 +f 424 412 425 +o convex_33 +v -1.053100 2.570445 2.422781 +v 1.119633 2.594581 3.195577 +v 0.878029 2.594581 3.195577 +v -0.980576 2.618713 0.829713 +v 0.950553 2.570445 0.830176 +v 0.491591 2.618713 0.830176 +v -1.004609 2.618713 1.988560 +v -0.980576 2.570445 0.829713 +v 1.119633 2.570445 3.195577 +v -0.956331 2.594581 2.978120 +v 0.636425 2.618713 2.712493 +v -0.570105 2.570445 3.147176 +v 0.950553 2.594581 0.830176 +v -0.570105 2.594581 3.147176 +f 435 437 439 +f 431 429 432 +f 429 426 432 +f 426 429 433 +f 430 426 433 +f 429 430 433 +f 427 428 434 +f 426 430 434 +f 430 427 434 +f 432 426 435 +f 428 427 436 +f 431 432 436 +f 432 435 436 +f 426 434 437 +f 434 428 437 +f 435 426 437 +f 430 429 438 +f 427 430 438 +f 429 431 438 +f 436 427 438 +f 431 436 438 +f 428 436 439 +f 436 435 439 +f 437 428 439 +o convex_34 +v 1.047192 1.266779 -2.767367 +v 0.950659 1.266779 -0.956933 +v 0.926501 1.266779 -0.956933 +v 0.974803 2.498015 -1.343263 +v 0.974803 2.498015 -2.743089 +v 0.926501 0.687582 -1.125997 +v 1.071336 0.687582 -2.525645 +v 1.023034 2.498015 -2.718987 +v 1.023048 0.687582 -2.549924 +v 0.926515 2.498015 -1.391643 +v 0.974803 0.687582 -1.101896 +v 0.974803 2.304654 -1.174377 +v 0.926515 2.498015 -1.053339 +v 1.071336 1.097876 -2.742911 +v 1.023048 1.049491 -2.767367 +v 1.071336 0.687582 -2.767367 +f 448 454 455 +f 440 444 447 +f 444 443 447 +f 446 445 448 +f 443 444 449 +f 445 442 449 +f 444 445 449 +f 441 442 450 +f 442 445 450 +f 445 446 450 +f 450 446 451 +f 441 450 451 +f 442 441 452 +f 449 442 452 +f 443 449 452 +f 441 451 452 +f 451 443 452 +f 447 443 453 +f 440 447 453 +f 451 446 453 +f 443 451 453 +f 444 440 454 +f 445 444 454 +f 448 445 454 +f 446 448 455 +f 440 453 455 +f 453 446 455 +f 454 440 455 +o convex_35 +v -0.980687 2.570312 1.988362 +v -0.980675 0.639122 0.878097 +v -0.980687 1.267099 0.829713 +v -1.077232 2.304528 2.905733 +v -0.956550 0.639122 3.026587 +v -0.956562 2.570312 0.829713 +v -1.004811 0.784112 3.026587 +v -1.028936 2.570312 2.905733 +v -0.956550 0.639122 0.878097 +v -0.980687 2.570312 0.829713 +v -1.004811 0.808309 1.313128 +v -1.077232 2.570312 2.881433 +v -0.956562 2.570312 1.505806 +v -0.956550 0.808309 3.026587 +f 468 456 469 +f 457 460 462 +f 456 461 463 +f 459 462 463 +f 457 458 464 +f 460 457 464 +f 458 461 464 +f 461 458 465 +f 463 461 465 +f 458 457 466 +f 457 462 466 +f 462 459 466 +f 465 458 466 +f 465 466 467 +f 459 463 467 +f 463 465 467 +f 466 459 467 +f 461 456 468 +f 461 468 469 +f 462 460 469 +f 463 462 469 +f 456 463 469 +f 460 464 469 +f 464 461 469 +o convex_36 +v 0.105651 1.291296 3.099021 +v 0.709228 2.570312 3.171427 +v 0.709228 2.087412 3.171427 +v -0.666836 1.266927 3.195577 +v -0.666836 2.570312 3.074870 +v 0.709228 1.266927 3.099021 +v -0.666836 2.570312 3.147287 +v 0.709228 2.570312 3.147287 +v -0.304771 1.266927 3.195577 +v -0.618480 1.725715 3.195577 +v -0.666836 1.266927 3.171427 +v 0.709228 1.508441 3.147287 +v 0.709228 1.532682 3.099021 +v -0.111481 2.570312 3.171427 +f 476 479 483 +f 471 472 475 +f 470 474 475 +f 474 473 476 +f 471 474 476 +f 474 471 477 +f 471 475 477 +f 472 471 478 +f 473 475 478 +f 476 473 479 +f 478 471 479 +f 473 478 479 +f 474 470 480 +f 473 474 480 +f 475 473 480 +f 470 475 480 +f 475 472 481 +f 472 478 481 +f 478 475 481 +f 475 474 482 +f 474 477 482 +f 477 475 482 +f 471 476 483 +f 479 471 483 +o convex_37 +v 0.588577 -1.919875 -0.836030 +v 0.322964 -3.392505 -0.787785 +v 0.878176 -3.392505 -0.787785 +v 0.322964 -2.813025 -0.884332 +v 0.322964 -2.016455 -0.787785 +v 0.926501 -1.919875 -0.763641 +v 0.757421 -3.392505 -0.739511 +v 0.854072 -1.919875 -0.811915 +v 0.395453 -2.451065 -0.763641 +v 0.322964 -1.919875 -0.836030 +v 0.926501 -3.368144 -0.787785 +v 0.926501 -3.030113 -0.739511 +v 0.322964 -3.392505 -0.763641 +v 0.395453 -2.764735 -0.884332 +f 491 494 497 +f 486 485 487 +f 487 485 488 +f 485 486 490 +f 484 489 491 +f 489 488 492 +f 487 488 493 +f 488 489 493 +f 489 484 493 +f 486 487 494 +f 490 486 494 +f 491 489 494 +f 489 492 495 +f 492 490 495 +f 490 494 495 +f 494 489 495 +f 488 485 496 +f 485 490 496 +f 492 488 496 +f 490 492 496 +f 484 491 497 +f 493 484 497 +f 487 493 497 +f 494 487 497 +o convex_38 +v -0.401176 0.542579 -0.956756 +v 0.950643 0.663220 -0.811908 +v 0.950643 0.663220 -0.956756 +v 0.950643 0.445990 -0.811908 +v -0.280487 0.445990 -0.956756 +v -0.087332 0.445990 -0.884332 +v 0.467754 0.663220 -0.836068 +f 503 501 504 +f 500 499 501 +f 498 500 502 +f 500 501 502 +f 498 502 503 +f 502 501 503 +f 500 498 504 +f 499 500 504 +f 501 499 504 +f 498 503 504 +o convex_39 +v 0.322964 -3.030236 1.191816 +v -0.908189 -3.368222 1.047005 +v -0.739231 -3.368222 1.047005 +v -0.859864 -1.919875 1.047005 +v -0.328646 -2.619947 1.240080 +v 0.322844 -1.920300 1.167674 +v 0.322964 -3.368222 1.095307 +v -0.908189 -1.919875 1.095288 +v -0.883966 -3.368222 1.095288 +v -0.184031 -1.944402 1.071146 +v 0.153765 -2.234185 1.240118 +v -0.208133 -2.234185 1.240080 +v 0.322844 -2.667866 1.240118 +v 0.202090 -3.344121 1.143552 +v 0.033132 -1.920300 1.191797 +v -0.618478 -1.919875 1.047005 +v 0.322844 -2.547502 1.119448 +v -0.256459 -2.692109 1.240080 +f 513 518 522 +f 507 506 508 +f 506 507 511 +f 510 505 511 +f 508 506 512 +f 506 511 513 +f 512 506 513 +f 509 512 513 +f 512 509 516 +f 509 515 516 +f 505 510 517 +f 515 509 517 +f 510 515 517 +f 511 505 518 +f 513 511 518 +f 510 512 519 +f 515 510 519 +f 512 516 519 +f 516 515 519 +f 507 508 520 +f 511 507 520 +f 508 512 520 +f 512 510 520 +f 510 514 520 +f 514 511 520 +f 510 511 521 +f 514 510 521 +f 511 514 521 +f 509 513 522 +f 505 517 522 +f 517 509 522 +f 518 505 522 +o convex_40 +v 0.564474 -2.692227 1.191835 +v 0.323035 -3.392505 1.095288 +v 1.022965 -3.392505 1.071139 +v 1.022965 -1.919875 1.071139 +v 0.323035 -1.919875 1.167675 +v 1.047209 -1.919875 1.143538 +v 1.047209 -3.392505 1.143538 +v 0.323035 -3.078403 1.191835 +v 0.516200 -1.919875 1.119425 +v 0.371380 -1.919875 1.191835 +v 0.419653 -3.392505 1.143538 +f 529 530 533 +f 525 524 526 +f 525 526 528 +f 526 527 528 +f 524 525 529 +f 528 523 529 +f 525 528 529 +f 527 524 530 +f 529 523 530 +f 526 524 531 +f 527 526 531 +f 524 527 531 +f 523 528 532 +f 528 527 532 +f 530 523 532 +f 527 530 532 +f 524 529 533 +f 530 524 533 +o convex_41 +v -0.280554 -2.475129 1.843950 +v -0.208167 -2.764827 2.881649 +v -0.184030 -2.764827 2.881649 +v -0.256417 -2.644081 1.240118 +v -0.184030 -2.619978 1.240118 +v -0.208167 -2.475129 3.050729 +v -0.280554 -2.740638 2.688465 +v -0.232304 -2.475129 1.240118 +v -0.304702 -2.619978 1.240118 +v -0.256417 -2.571742 3.050729 +f 540 535 543 +f 536 535 537 +f 536 537 538 +f 536 538 539 +f 537 535 540 +f 538 537 541 +f 539 538 541 +f 534 539 541 +f 540 534 542 +f 537 540 542 +f 534 541 542 +f 541 537 542 +f 535 536 543 +f 536 539 543 +f 539 534 543 +f 534 540 543 +o convex_42 +v 0.153905 -2.692402 1.505790 +v 0.178115 -2.716520 3.050729 +v -0.039137 -2.716520 3.050729 +v -0.159832 -2.619978 1.553997 +v -0.184007 -2.764827 2.881649 +v 0.129766 -2.619978 1.264399 +v -0.184007 -2.644124 1.240118 +v 0.178115 -2.740680 2.591696 +v -0.184007 -2.716520 2.905752 +v 0.178115 -2.668284 1.240118 +f 551 544 553 +f 546 545 547 +f 545 546 548 +f 547 545 549 +f 547 549 550 +f 544 548 550 +f 548 544 551 +f 545 548 551 +f 546 547 552 +f 548 546 552 +f 547 550 552 +f 550 548 552 +f 549 545 553 +f 550 549 553 +f 544 550 553 +f 545 551 553 +o convex_43 +v -0.859980 2.401244 -2.936338 +v -0.932366 1.266757 -2.743244 +v -0.956517 1.266757 -2.743244 +v -0.932366 2.546111 -2.743263 +v -0.787544 0.639308 -2.767383 +v -0.956517 1.773608 -2.888060 +v -0.956517 0.639308 -2.791523 +v -0.835829 2.546111 -2.888060 +v -0.787544 0.735824 -2.815643 +v -0.932366 2.546111 -2.936338 +v -0.956517 2.546111 -2.743263 +f 563 559 564 +f 556 555 557 +f 555 556 558 +f 557 555 558 +f 558 556 560 +f 556 559 560 +f 557 558 561 +f 561 558 562 +f 559 554 562 +f 558 560 562 +f 560 559 562 +f 554 561 562 +f 554 559 563 +f 561 554 563 +f 557 561 563 +f 556 557 564 +f 559 556 564 +f 557 563 564 +o convex_44 +v -0.980711 0.639308 -2.646289 +v -1.077199 2.546111 -0.932792 +v -1.101383 2.546111 -0.932792 +v -0.932392 2.546111 -2.743226 +v -1.004829 0.639308 -1.150236 +v -0.932392 0.639308 -2.598086 +v -1.053064 0.639308 -1.198438 +v -0.980678 2.546111 -2.549883 +v -0.932392 2.546111 -2.525782 +v -1.101383 2.401244 -1.101856 +v -1.028930 1.266757 -0.957071 +v -1.053064 0.639308 -0.957071 +v -1.053081 2.183942 -0.932792 +v -0.980711 0.784176 -2.694491 +v -0.932392 0.639308 -2.743226 +v -0.956560 2.546111 -2.743226 +f 568 579 580 +f 567 566 568 +f 569 565 570 +f 565 569 571 +f 567 568 572 +f 568 566 573 +f 570 568 573 +f 569 570 573 +f 565 571 574 +f 567 572 574 +f 569 573 575 +f 571 569 576 +f 574 571 576 +f 567 574 576 +f 569 575 576 +f 576 575 577 +f 566 567 577 +f 573 566 577 +f 575 573 577 +f 567 576 577 +f 565 574 578 +f 574 572 578 +f 570 565 579 +f 568 570 579 +f 565 578 579 +f 579 578 580 +f 572 568 580 +f 578 572 580 +o convex_45 +v -0.787544 0.615072 -2.767379 +v 0.974784 1.266722 -2.863914 +v 0.974784 1.266722 -2.888074 +v 0.974784 0.470209 -2.863914 +v 0.974784 0.494379 -2.767379 +v -0.787544 1.266722 -2.839777 +v 0.709124 1.266722 -2.815664 +v 0.588369 0.518549 -2.888074 +v -0.787544 1.121859 -2.791527 +v -0.715091 0.615072 -2.815664 +v 0.395334 0.735765 -2.888074 +v -0.787544 1.073597 -2.839777 +f 591 588 592 +f 583 582 584 +f 581 584 585 +f 584 582 585 +f 582 583 586 +f 585 582 587 +f 582 586 587 +f 583 584 588 +f 581 585 589 +f 586 581 589 +f 587 586 589 +f 585 587 589 +f 584 581 590 +f 588 584 590 +f 586 583 591 +f 583 588 591 +f 586 591 592 +f 581 586 592 +f 590 581 592 +f 588 590 592 +o convex_46 +v 1.047185 1.846207 -2.767405 +v 0.829935 1.266829 -2.863907 +v 0.974794 0.470209 -2.888070 +v 1.023011 2.546298 -2.912199 +v 1.071306 0.494392 -2.767372 +v 0.974742 2.546298 -2.743258 +v 0.854135 2.497932 -2.912199 +v 1.095480 0.470209 -2.912199 +v 0.974794 0.470209 -2.767372 +v 0.829935 1.918350 -2.839761 +v 0.829935 2.546298 -2.863907 +f 602 598 603 +f 593 596 598 +f 597 593 598 +f 595 594 599 +f 596 593 600 +f 593 597 600 +f 595 599 600 +f 599 596 600 +f 594 595 601 +f 597 598 601 +f 600 597 601 +f 595 600 601 +f 594 601 602 +f 601 598 602 +f 598 596 603 +f 599 594 603 +f 596 599 603 +f 594 602 603 +o convex_47 +v -1.053038 0.446013 -0.522061 +v -0.425483 0.518400 -0.932447 +v -0.425483 0.446013 -0.932447 +v -0.956463 0.446013 0.998703 +v -1.053038 0.566697 -0.956756 +v -0.980607 0.566697 0.998703 +v -1.053038 0.470150 -0.956756 +f 608 606 610 +f 606 605 607 +f 604 606 607 +f 605 606 608 +f 605 608 609 +f 607 605 609 +f 604 607 609 +f 608 604 609 +f 606 604 610 +f 604 608 610 +o convex_48 +v -0.425421 0.928774 3.219700 +v -1.004817 0.784053 3.026606 +v -0.980656 0.566766 3.026606 +v -0.425421 0.590954 3.074903 +v -0.980656 1.266800 3.026606 +v -0.932392 0.566766 3.123162 +v -1.004817 1.266800 3.123162 +v -0.425421 1.266800 3.171422 +v -0.618591 1.218422 3.219700 +v -0.425421 0.566766 3.123162 +f 611 616 620 +f 613 612 615 +f 614 613 615 +f 612 613 616 +f 615 612 617 +f 612 616 617 +f 611 614 618 +f 614 615 618 +f 615 617 618 +f 618 617 619 +f 616 611 619 +f 617 616 619 +f 611 618 619 +f 613 614 620 +f 614 611 620 +f 616 613 620 +o convex_49 +v -1.101383 2.642855 -1.100944 +v -0.932392 2.618706 0.829713 +v -0.932392 2.594576 0.829713 +v -0.932392 2.546298 -2.839792 +v -1.101383 2.546298 -0.739597 +v -0.932392 2.642855 -1.221632 +v -1.004829 2.546298 0.805288 +v -1.028947 2.642855 0.443222 +v -0.956560 2.570447 -2.839792 +v -0.956560 2.546298 0.829713 +f 627 624 630 +f 622 623 624 +f 622 624 626 +f 625 624 627 +f 625 627 628 +f 621 625 628 +f 622 626 628 +f 626 621 628 +f 627 622 628 +f 625 621 629 +f 624 625 629 +f 621 626 629 +f 626 624 629 +f 623 622 630 +f 624 623 630 +f 622 627 630 +o convex_50 +v 0.757452 2.570444 -0.932615 +v 0.950643 2.594576 0.829713 +v 0.516054 2.618722 0.781411 +v -0.280573 2.594576 0.829713 +v 0.950643 2.546298 0.829713 +v -0.280573 2.570444 -0.932615 +v -0.280573 2.618722 -0.787709 +v 0.178120 2.546298 -0.884313 +v 0.950643 2.546298 -0.594329 +v -0.280573 2.618722 0.829713 +v 0.950643 2.594576 0.443298 +f 639 631 641 +f 632 634 635 +f 631 636 637 +f 636 634 637 +f 635 634 638 +f 636 631 638 +f 634 636 638 +f 632 635 639 +f 638 631 639 +f 635 638 639 +f 632 633 640 +f 634 632 640 +f 633 637 640 +f 637 634 640 +f 633 632 641 +f 631 637 641 +f 637 633 641 +f 632 639 641 +o convex_51 +v -0.859845 -3.320035 -0.860167 +v 0.322964 -2.788968 -0.836049 +v 0.322964 -3.126925 -0.787785 +v -0.956534 -2.788968 -0.836049 +v -0.087462 -2.813154 -0.908473 +v 0.322964 -3.344222 -0.811931 +v -0.956534 -3.344222 -0.811931 +v 0.250448 -3.344222 -0.763625 +v -0.570154 -2.788968 -0.908473 +v 0.322964 -2.788968 -0.884313 +v -0.956534 -3.030397 -0.811931 +f 648 649 652 +f 644 643 645 +f 643 644 647 +f 642 646 647 +f 645 642 648 +f 642 647 648 +f 644 645 649 +f 647 644 649 +f 648 647 649 +f 645 643 650 +f 642 645 650 +f 646 642 650 +f 646 650 651 +f 643 647 651 +f 647 646 651 +f 650 643 651 +f 645 648 652 +f 649 645 652 +o convex_52 +v 0.926501 2.135723 0.974708 +v 1.023048 2.570312 1.940112 +v 1.023048 2.570312 1.891744 +v 1.071336 1.266927 1.602079 +v 0.950659 2.570312 0.829930 +v 1.047192 1.266927 1.940112 +v 0.974803 1.266927 0.829930 +v 0.974803 2.570312 1.915874 +v 1.023048 1.291170 0.926449 +v 1.071336 1.749748 1.915874 +v 0.926501 2.546069 1.312632 +v 0.974803 1.435991 1.143724 +v 0.926501 2.570312 0.829930 +f 663 660 665 +f 654 655 657 +f 656 658 659 +f 654 657 660 +f 658 654 660 +f 656 659 661 +f 659 657 661 +f 655 654 662 +f 657 655 662 +f 654 658 662 +f 658 656 662 +f 656 661 662 +f 661 657 662 +f 658 660 663 +f 659 658 664 +f 653 659 664 +f 663 653 664 +f 658 663 664 +f 659 653 665 +f 657 659 665 +f 660 657 665 +f 653 663 665 +o convex_53 +v 0.564081 0.494296 -2.018981 +v -0.787544 0.614956 -2.767367 +v -0.787544 0.639088 -2.767367 +v 0.902360 0.470131 -2.767367 +v 0.902360 0.566676 -2.018981 +v -0.787544 0.542577 -2.018981 +v 0.878209 0.518428 -2.767367 +v -0.787544 0.590824 -2.067330 +v 0.057408 0.470131 -2.043156 +v -0.690940 0.590824 -2.767367 +v 0.902360 0.566676 -2.212158 +v -0.642638 0.639088 -2.767367 +v -0.763393 0.639088 -2.622466 +v 0.902360 0.470131 -2.598292 +f 666 674 679 +f 667 668 669 +f 668 667 671 +f 666 670 671 +f 669 668 672 +f 668 671 673 +f 671 670 673 +f 666 671 674 +f 674 671 675 +f 667 669 675 +f 671 667 675 +f 669 674 675 +f 670 669 676 +f 669 672 676 +f 676 672 677 +f 672 668 677 +f 670 676 677 +f 670 677 678 +f 668 673 678 +f 673 670 678 +f 677 668 678 +f 670 666 679 +f 669 670 679 +f 674 669 679 +o convex_54 +v 0.926527 0.687383 -0.956933 +v 0.902360 0.470152 -2.767367 +v 0.902360 0.494310 -2.767367 +v 1.071350 0.494310 -2.767367 +v 1.047183 0.687383 -2.767367 +v 0.974813 0.614952 -1.101896 +v 1.071350 0.687383 -2.525645 +v 1.071350 0.494310 -2.525645 +v 0.902360 0.614952 -1.053516 +f 681 687 688 +f 681 682 683 +f 682 680 684 +f 683 682 684 +f 684 680 686 +f 683 684 686 +f 680 685 686 +f 686 685 687 +f 681 683 687 +f 683 686 687 +f 680 682 688 +f 682 681 688 +f 685 680 688 +f 687 685 688 +o convex_55 +v -1.077227 1.146159 -0.956756 +v -0.956560 1.266757 0.877996 +v -0.980702 1.266757 0.877996 +v -1.101368 2.546111 -0.932511 +v -0.956560 2.522029 0.757128 +v -1.028957 0.639308 -0.956756 +v -1.004843 0.639308 0.877996 +v -1.004843 2.546111 0.805439 +v -1.053071 2.546111 -0.787577 +v -0.956560 0.663391 0.829684 +v -1.101368 2.473678 -0.763511 +v -1.004843 0.808258 -0.594511 +v -1.028957 1.218593 -0.956756 +v -1.053071 0.639308 -0.546200 +v -1.077227 1.025373 -0.860134 +v -0.956560 2.159860 0.636439 +v -1.101368 2.111695 -0.884200 +f 703 695 705 +f 690 691 695 +f 691 690 696 +f 690 693 696 +f 695 691 696 +f 692 696 697 +f 696 693 697 +f 693 690 698 +f 690 695 698 +f 695 694 698 +f 696 692 699 +f 695 696 699 +f 698 694 700 +f 689 692 701 +f 694 689 701 +f 692 697 701 +f 697 693 701 +f 700 694 701 +f 694 695 702 +f 689 694 703 +f 694 702 703 +f 702 695 703 +f 693 698 704 +f 698 700 704 +f 701 693 704 +f 700 701 704 +f 692 689 705 +f 699 692 705 +f 695 699 705 +f 689 703 705 +o convex_56 +v 0.926501 0.542527 1.312512 +v -0.980621 0.446025 0.998736 +v -0.980621 0.566697 0.998736 +v -0.425248 0.494294 1.312512 +v 0.926501 0.446025 1.095311 +v 0.926501 0.566697 1.095311 +v -0.980621 0.566697 1.143537 +v 0.491724 0.470160 1.312512 +v -0.980621 0.446025 1.143537 +v 0.733101 0.566697 1.312512 +v 0.636401 0.494294 1.047023 +f 711 710 716 +f 706 710 711 +f 708 707 712 +f 711 708 712 +f 706 709 713 +f 710 706 713 +f 710 713 714 +f 707 710 714 +f 712 707 714 +f 709 712 714 +f 713 709 714 +f 709 706 715 +f 706 711 715 +f 712 709 715 +f 711 712 715 +f 707 708 716 +f 710 707 716 +f 708 711 716 +o convex_57 +v -0.859918 0.470141 2.398661 +v -0.425530 0.566678 3.098652 +v -0.618622 0.566678 3.123153 +v -0.787475 0.566678 1.167693 +v -0.425530 0.494280 1.192003 +v -0.425530 0.494280 3.098652 +v -0.980621 0.566678 3.098652 +v -0.980621 0.470141 3.098652 +v -0.425530 0.542549 1.167693 +v -0.980621 0.542549 1.843950 +v -0.425530 0.470141 2.543751 +v -0.715086 0.518409 1.167693 +f 726 720 728 +f 719 718 720 +f 721 718 722 +f 718 719 722 +f 719 720 723 +f 722 719 724 +f 719 723 724 +f 720 718 725 +f 718 721 725 +f 723 720 726 +f 717 724 726 +f 724 723 726 +f 717 721 727 +f 721 722 727 +f 724 717 727 +f 722 724 727 +f 721 717 728 +f 720 725 728 +f 725 721 728 +f 717 726 728 +o convex_58 +v -1.053100 0.566697 -0.956756 +v -0.739261 0.590850 1.142921 +v -0.932369 0.639121 1.215835 +v -0.980661 0.566697 3.026587 +v -1.053100 0.639121 -0.956756 +v -0.980661 0.639121 3.026587 +v -0.739261 0.566697 1.070397 +f 733 730 735 +f 729 732 733 +f 731 730 733 +f 731 733 734 +f 730 731 734 +f 732 730 734 +f 733 732 734 +f 730 732 735 +f 732 729 735 +f 729 733 735 +o convex_59 +v 1.023048 1.266719 1.336684 +v 0.926515 0.446070 -0.811733 +v 0.926501 0.663324 -0.956756 +v 1.071336 0.663324 1.167639 +v 0.950659 1.266719 -0.956756 +v 0.926501 1.266719 0.105554 +v 0.998919 0.446070 0.708771 +v 0.974803 0.446070 -0.522134 +v 1.047192 1.266719 1.264172 +v 1.023048 0.832291 1.336684 +v 0.926515 0.446070 -0.497889 +v 1.047192 0.446070 0.684750 +v 0.974803 1.242535 0.950328 +v 0.926501 1.266719 -0.956756 +v 1.071336 0.904763 1.312438 +v 0.950659 0.663324 -0.956756 +v 1.047192 0.663324 1.336684 +f 750 736 752 +f 736 740 741 +f 742 737 743 +f 740 736 744 +f 738 737 746 +f 741 738 746 +f 737 742 746 +f 740 739 747 +f 742 743 747 +f 736 741 748 +f 745 736 748 +f 742 745 748 +f 741 746 748 +f 746 742 748 +f 740 738 749 +f 738 741 749 +f 741 740 749 +f 739 740 750 +f 744 736 750 +f 740 744 750 +f 737 738 751 +f 738 740 751 +f 743 737 751 +f 740 747 751 +f 747 743 751 +f 736 745 752 +f 745 742 752 +f 747 739 752 +f 742 747 752 +f 739 750 752 +o convex_60 +v 1.071350 1.170208 2.302166 +v 1.023067 0.663263 1.336851 +v 1.023067 1.266800 1.336851 +v 0.974784 0.784018 3.050561 +v 1.071350 0.663263 1.385167 +v 1.047190 1.266800 3.050561 +v 1.023067 0.663263 2.929770 +v 0.998926 1.218474 3.050561 +v 1.071350 1.266800 1.578264 +v 0.974784 0.663263 2.857296 +f 759 756 762 +f 754 755 757 +f 757 753 759 +f 754 757 759 +f 753 758 759 +f 758 756 759 +f 755 756 760 +f 758 755 760 +f 756 758 760 +f 753 757 761 +f 757 755 761 +f 758 753 761 +f 755 758 761 +f 755 754 762 +f 756 755 762 +f 754 759 762 +o convex_61 +v -0.353117 2.570440 -1.004791 +v -0.280573 2.618718 0.829713 +v -0.908211 2.642864 0.298371 +v -0.425471 2.642864 -1.559986 +v -0.932392 2.594586 -1.656859 +v -0.932392 2.594586 0.829713 +v -0.280573 2.594586 -1.656859 +v -0.932392 2.642864 -1.222147 +v -0.280573 2.594586 0.829713 +v -0.280573 2.618718 -1.656859 +v -0.932392 2.618718 0.829713 +v -0.280573 2.570440 -0.763582 +f 769 771 774 +f 765 764 766 +f 767 763 768 +f 763 767 769 +f 765 766 770 +f 766 767 770 +f 767 768 770 +f 764 768 771 +f 769 764 771 +f 766 764 772 +f 767 766 772 +f 764 769 772 +f 769 767 772 +f 764 765 773 +f 768 764 773 +f 765 770 773 +f 770 768 773 +f 768 763 774 +f 763 769 774 +f 771 768 774 +o convex_62 +v -0.497892 1.797962 -2.767367 +v 0.829772 2.546298 -2.863904 +v 0.829772 2.546298 -2.888056 +v 0.829772 1.266800 -2.839803 +v -0.835555 2.497954 -2.936357 +v -0.835555 1.266800 -2.839803 +v -0.183870 2.135746 -2.767367 +v 0.829772 1.266800 -2.863904 +v -0.835555 2.449609 -2.863921 +v 0.709120 1.266800 -2.815686 +v 0.540044 2.522001 -2.912206 +v -0.570120 1.315144 -2.863921 +v -0.497892 1.315144 -2.791518 +v 0.684990 2.473656 -2.839803 +v -0.522022 2.111700 -2.767367 +v -0.835555 1.266800 -2.815652 +v -0.473761 2.546298 -2.936357 +v -0.835555 2.546298 -2.888072 +v -0.835555 2.039058 -2.912206 +v 0.829772 1.894651 -2.888056 +f 791 785 794 +f 777 776 778 +f 777 778 782 +f 778 780 782 +f 779 780 783 +f 778 776 784 +f 780 778 784 +f 781 775 784 +f 782 780 786 +f 784 775 787 +f 784 776 788 +f 781 784 788 +f 775 781 789 +f 781 788 789 +f 783 780 790 +f 780 784 790 +f 787 775 790 +f 784 787 790 +f 775 789 790 +f 789 783 790 +f 776 777 791 +f 782 779 791 +f 777 785 791 +f 779 783 792 +f 788 776 792 +f 783 789 792 +f 789 788 792 +f 776 791 792 +f 791 779 792 +f 780 779 793 +f 779 782 793 +f 786 780 793 +f 782 786 793 +f 777 782 794 +f 785 777 794 +f 782 791 794 +o convex_63 +v 0.998919 0.590810 3.050729 +v 1.023048 0.445990 0.805571 +v 1.047192 0.445990 0.805571 +v 1.023048 0.663220 0.805571 +v 0.926501 0.445990 1.095666 +v 0.926501 0.590810 3.050729 +v 1.071336 0.663220 1.360927 +v 0.926501 0.590810 1.216099 +v 0.974803 0.663220 3.050729 +v 1.071336 0.445990 1.143576 +v 0.926501 0.566673 3.050729 +v 1.023048 0.663220 2.881507 +f 804 801 806 +f 797 796 798 +f 796 797 799 +f 798 796 799 +f 797 798 801 +f 798 799 802 +f 799 800 802 +f 802 800 803 +f 800 795 803 +f 801 798 803 +f 798 802 803 +f 799 797 804 +f 797 801 804 +f 795 800 805 +f 800 799 805 +f 799 804 805 +f 804 795 805 +f 803 795 806 +f 801 803 806 +f 795 804 806 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/278/278.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/278/278.urdf new file mode 100644 index 000000000..e9d4e5b86 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/278/278.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/279/279.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/279/279.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/279/279.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/279/279.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/279/279.obj new file mode 100644 index 000000000..6a369bc57 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/279/279.obj @@ -0,0 +1,228 @@ +o convex_0 +v -3.186778 -2.795406 -0.715090 +v -1.406782 1.290531 1.064669 +v -1.285410 1.290531 1.023952 +v -3.267561 1.168945 -0.998214 +v -1.285410 -2.795406 -1.079437 +v -3.308151 -2.795406 0.983656 +v -1.285410 -2.713815 1.024162 +v -1.285410 1.209340 -1.038720 +v -3.267561 1.290531 1.064669 +v -3.146189 -2.795406 -0.998214 +v -3.308151 -0.651649 -0.998214 +v -2.863053 1.209340 -1.038930 +v -1.447371 1.249735 -0.917411 +v -1.730508 -2.754611 1.024162 +v -1.730508 -2.754611 -1.079437 +v -3.308151 0.157459 -0.957918 +v -3.267561 1.290531 0.619309 +v -3.308151 -1.095599 -0.957918 +v -1.285410 -2.795406 -0.310656 +v -3.267561 0.885777 1.064669 +v -2.215997 -2.754611 1.023952 +v -3.308151 -2.795406 0.700322 +v -3.308151 -2.228270 0.983656 +v -2.579718 -2.795406 0.983656 +v -2.539327 1.290531 0.336185 +v -1.285410 -2.430647 -1.079437 +v -2.903444 1.088154 -1.038930 +v -3.267561 1.209340 -0.836399 +v -1.285410 1.249735 -0.917411 +v -1.325999 1.290531 0.821841 +v -1.285410 -2.754611 0.578803 +f 14 19 31 +f 1 5 6 +f 3 2 7 +f 5 3 7 +f 3 5 8 +f 2 3 9 +f 5 1 10 +f 5 10 15 +f 4 11 16 +f 11 6 16 +f 9 3 17 +f 13 12 17 +f 16 9 17 +f 10 1 18 +f 11 10 18 +f 6 11 18 +f 6 5 19 +f 5 7 19 +f 7 2 20 +f 2 9 20 +f 9 6 20 +f 14 7 20 +f 14 20 21 +f 6 14 21 +f 20 6 21 +f 1 6 22 +f 18 1 22 +f 6 18 22 +f 6 9 23 +f 9 16 23 +f 16 6 23 +f 14 6 24 +f 6 19 24 +f 19 14 24 +f 17 3 25 +f 13 17 25 +f 8 5 26 +f 12 8 26 +f 5 15 26 +f 15 12 26 +f 10 11 27 +f 11 4 27 +f 4 12 27 +f 15 10 27 +f 12 15 27 +f 12 4 28 +f 4 16 28 +f 17 12 28 +f 16 17 28 +f 3 8 29 +f 8 12 29 +f 12 13 29 +f 13 25 29 +f 29 25 30 +f 25 3 30 +f 3 29 30 +f 7 14 31 +f 19 7 31 +o convex_1 +v 2.557584 3.272817 -0.189244 +v -1.285410 -2.795057 -1.079381 +v 0.171110 1.128205 -1.119891 +v -1.285410 3.272215 0.943083 +v 2.840649 -2.876315 0.943083 +v 2.840649 -2.795057 -0.998361 +v -1.285410 -2.713799 1.024103 +v 2.719510 3.191558 1.064613 +v -1.285410 3.231285 -1.079381 +v 2.840649 3.150628 -1.119891 +v 0.292657 -1.298102 1.105124 +v -1.001937 1.289517 1.064613 +v 2.881436 0.077266 0.983593 +v 2.881436 1.168533 -1.119891 +v 2.597964 -2.876315 0.983593 +v 2.840649 3.272215 -1.079163 +v 1.667602 2.017830 1.105124 +v 0.211490 3.272215 1.024103 +v 1.344157 -0.327218 1.105124 +v 0.737648 -2.713799 1.064395 +v 2.881436 -1.783243 0.902790 +v -1.285410 -2.795057 -0.310557 +v 2.759890 2.058158 1.064613 +v -0.638113 -2.795057 -1.079381 +v 2.840649 1.451431 0.983593 +v -0.921178 -2.349642 1.064613 +v 2.840649 -2.876315 0.457613 +v 2.840649 3.272215 -0.674496 +v 1.344157 3.231887 1.064395 +v 0.575722 1.168533 1.105124 +v 2.840649 0.966290 -1.119891 +v -1.285410 3.272215 0.376810 +v -1.285410 1.289517 1.024103 +v 1.101064 3.272215 1.024103 +v 0.898758 -1.338430 1.105124 +v -1.285410 -2.754127 0.578926 +v 2.840649 -2.835385 -0.472598 +v 2.881436 1.734932 -1.079163 +v 2.234139 3.272817 -1.079163 +v 2.759890 2.706418 1.064613 +v -1.244622 2.705816 0.983593 +v 2.517204 -2.876315 0.983593 +v 2.759890 3.231285 0.498123 +v 0.575722 0.925360 -1.119891 +v 2.597964 3.110902 -1.119891 +v 2.112593 3.231285 1.064613 +v 0.211490 1.249189 -1.119891 +f 40 76 78 +f 35 33 38 +f 34 33 40 +f 33 35 40 +f 34 41 45 +f 32 35 49 +f 48 42 50 +f 44 36 52 +f 45 44 52 +f 37 45 52 +f 38 33 53 +f 36 44 54 +f 46 36 54 +f 50 46 54 +f 48 50 54 +f 42 43 57 +f 43 38 57 +f 38 51 57 +f 51 42 57 +f 36 46 58 +f 52 36 58 +f 47 32 59 +f 56 44 59 +f 49 43 60 +f 43 42 61 +f 42 48 61 +f 48 60 61 +f 60 43 61 +f 34 45 62 +f 45 37 62 +f 37 55 62 +f 40 35 63 +f 35 38 64 +f 38 43 64 +f 32 49 65 +f 49 60 65 +f 46 50 66 +f 50 42 66 +f 42 51 66 +f 51 46 66 +f 38 53 67 +f 37 52 68 +f 33 55 68 +f 55 37 68 +f 58 33 68 +f 52 58 68 +f 45 41 69 +f 44 45 69 +f 41 47 69 +f 59 44 69 +f 47 59 69 +f 35 32 70 +f 41 40 70 +f 32 47 70 +f 47 41 70 +f 63 35 70 +f 40 63 70 +f 39 48 71 +f 54 44 71 +f 48 54 71 +f 44 56 71 +f 56 59 71 +f 49 35 72 +f 43 49 72 +f 35 64 72 +f 64 43 72 +f 51 38 73 +f 46 51 73 +f 53 33 73 +f 33 58 73 +f 58 46 73 +f 38 67 73 +f 67 53 73 +f 59 32 74 +f 39 71 74 +f 71 59 74 +f 33 34 75 +f 55 33 75 +f 34 62 75 +f 62 55 75 +f 41 34 76 +f 40 41 76 +f 48 39 77 +f 60 48 77 +f 32 65 77 +f 65 60 77 +f 74 32 77 +f 39 74 77 +f 34 40 78 +f 76 34 78 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/279/279.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/279/279.urdf new file mode 100644 index 000000000..344d4701a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/279/279.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/280/280.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/280/280.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/280/280.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/280/280.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/280/280.obj new file mode 100644 index 000000000..50089ee96 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/280/280.obj @@ -0,0 +1,1080 @@ +o convex_0 +v 0.866786 -0.779194 0.814399 +v -0.049483 -3.250768 0.009520 +v 0.005721 -3.250768 0.009520 +v 0.255683 -0.779194 -1.268265 +v -0.910547 -0.779194 0.759070 +v -0.882753 -2.333999 -0.768217 +v 0.866786 -2.333999 -0.795881 +v -0.021881 -2.917353 0.814399 +v -0.938342 -0.779194 -0.823546 +v 0.005721 -0.779194 1.397963 +v 0.672414 -2.306174 0.814399 +v -0.716176 -2.278591 0.786735 +v 0.977966 -0.779194 -0.684702 +v -0.021881 -2.889528 -0.740552 +v -0.216253 -0.806777 -1.268265 +v -0.771573 -2.583939 0.147842 +v 0.755799 -2.556356 0.147842 +v -0.993932 -0.862426 0.314612 +v 0.950171 -0.918076 0.314612 +v 0.838991 -0.779194 -0.934726 +v 0.366863 -0.807019 1.231193 +v -0.882753 -0.890251 0.842325 +v -0.993932 -0.945659 -0.601447 +v 0.700209 -2.167292 0.842325 +v 0.089106 -2.861703 0.814399 +v -0.327239 -0.779194 -1.240340 +v 0.061311 -0.807019 1.397963 +v -0.716176 -2.222941 0.814399 +v 0.033516 -1.223424 -1.184750 +v 0.061311 -3.222943 0.064849 +v 0.366863 -0.807019 -1.240340 +v 0.755799 -2.333999 -0.823807 +v 0.838991 -0.918076 0.869989 +v 0.033516 -2.889528 -0.740552 +v -0.827163 -2.417231 -0.712627 +v -0.049483 -2.945178 0.758809 +v -0.799368 -2.472881 0.120178 +v 0.977966 -0.973484 -0.629112 +v 0.866786 -2.222941 -0.823807 +v 0.755799 -2.556356 -0.073734 +v 0.561234 -2.361824 0.842064 +v -0.688381 -2.472881 -0.768217 +v -0.938342 -1.695721 -0.323759 +v -0.993932 -0.779194 -0.629373 +v -0.910547 -0.918076 -0.851471 +v 0.700209 -2.611763 0.175768 +v -0.604996 -2.750646 0.120178 +v 0.005721 -0.806777 1.397963 +v 0.950171 -1.140191 0.009259 +v -0.299444 -2.667413 0.814399 +v 0.950171 -0.807019 0.397866 +v -0.049483 -3.250768 0.064849 +v 0.172491 -3.083818 -0.157250 +v 0.866786 -1.029134 -0.907061 +v -0.021881 -2.806296 -0.768217 +v -0.993932 -0.806777 0.370202 +v 0.033516 -2.945178 0.758809 +v 0.700209 -2.306174 0.759070 +v -0.132868 -2.834121 -0.740552 +v 0.866786 -2.333999 -0.740291 +v 0.144696 -0.862668 -1.268265 +v -0.688381 -2.278591 0.814399 +v -0.882753 -0.779194 0.842325 +v 0.033516 -2.806296 -0.768217 +f 34 55 64 +f 1 4 5 +f 5 4 9 +f 1 5 10 +f 4 1 13 +f 3 2 14 +f 4 13 20 +f 1 10 21 +f 9 4 26 +f 4 15 26 +f 15 6 26 +f 21 10 27 +f 24 21 27 +f 8 25 27 +f 22 12 28 +f 4 20 31 +f 4 31 32 +f 1 21 33 +f 24 1 33 +f 21 24 33 +f 3 14 34 +f 32 7 34 +f 16 6 35 +f 12 16 36 +f 6 16 37 +f 16 12 37 +f 7 13 38 +f 13 7 39 +f 7 32 39 +f 32 31 39 +f 7 17 40 +f 11 24 41 +f 25 11 41 +f 24 27 41 +f 27 25 41 +f 6 15 42 +f 35 6 42 +f 23 6 43 +f 18 23 43 +f 6 37 43 +f 37 18 43 +f 5 9 44 +f 9 6 44 +f 6 23 44 +f 23 18 44 +f 6 9 45 +f 9 26 45 +f 26 6 45 +f 40 17 46 +f 30 40 46 +f 35 2 47 +f 16 35 47 +f 36 16 47 +f 10 22 48 +f 8 27 48 +f 27 10 48 +f 22 28 48 +f 19 17 49 +f 38 19 49 +f 36 8 50 +f 12 36 50 +f 8 48 50 +f 13 1 51 +f 1 24 51 +f 38 13 51 +f 19 38 51 +f 2 3 52 +f 3 30 52 +f 47 2 52 +f 36 47 52 +f 30 3 53 +f 3 34 53 +f 34 7 53 +f 7 40 53 +f 40 30 53 +f 20 13 54 +f 31 20 54 +f 13 39 54 +f 39 31 54 +f 15 29 55 +f 34 14 55 +f 42 15 55 +f 22 5 56 +f 12 22 56 +f 37 12 56 +f 18 37 56 +f 5 44 56 +f 44 18 56 +f 25 8 57 +f 11 25 57 +f 8 36 57 +f 46 11 57 +f 30 46 57 +f 52 30 57 +f 36 52 57 +f 17 19 58 +f 24 11 58 +f 11 46 58 +f 46 17 58 +f 51 24 58 +f 19 51 58 +f 14 2 59 +f 2 35 59 +f 35 42 59 +f 55 14 59 +f 42 55 59 +f 17 7 60 +f 7 38 60 +f 49 17 60 +f 38 49 60 +f 15 4 61 +f 29 15 61 +f 4 32 61 +f 32 29 61 +f 28 12 62 +f 48 28 62 +f 12 50 62 +f 50 48 62 +f 10 5 63 +f 5 22 63 +f 22 10 63 +f 29 32 64 +f 32 34 64 +f 55 29 64 +o convex_1 +v -1.271833 1.109722 -0.240635 +v -1.271833 2.081594 0.120308 +v -1.271833 2.081594 -0.046200 +v -2.993435 1.803875 -0.046200 +v -1.299642 1.387440 0.259218 +v -1.910587 1.748313 -0.296159 +v -2.771135 1.776094 0.203628 +v -1.271833 1.914906 0.314808 +v -1.271833 1.970469 -0.240635 +v -2.771135 1.970469 0.009194 +v -2.687878 1.776094 -0.240635 +v -2.743495 1.581910 -0.018471 +v -1.271833 1.470785 -0.351749 +v -2.549004 1.942687 0.175833 +v -1.299642 1.109722 -0.296159 +v -1.299642 1.193066 0.009194 +v -2.243615 1.942687 -0.185110 +v -1.910587 1.776094 0.287013 +v -2.743495 1.720531 -0.212840 +v -1.327450 2.053813 0.231423 +v -2.549004 1.637187 0.148103 +v -2.771135 1.831657 0.203628 +v -1.466324 1.914906 -0.268430 +v -2.771135 1.609406 -0.073995 +v -1.271833 1.748313 0.314808 +v -2.549004 1.998250 0.036989 +v -2.687878 1.970469 -0.046200 +v -1.410707 2.081594 -0.046200 +v -2.993435 1.748313 0.009194 +v -1.327450 1.554129 -0.351749 +v -1.271833 1.387440 0.259218 +f 89 69 95 +f 67 66 65 +f 65 66 72 +f 67 65 73 +f 73 65 77 +f 65 76 79 +f 77 65 79 +f 75 77 79 +f 76 65 80 +f 71 69 82 +f 68 75 83 +f 75 79 83 +f 72 66 84 +f 78 72 84 +f 69 71 85 +f 71 76 85 +f 80 69 85 +f 76 80 85 +f 74 68 86 +f 72 78 86 +f 78 74 86 +f 71 82 86 +f 82 72 86 +f 70 75 87 +f 81 73 87 +f 75 81 87 +f 79 76 88 +f 83 79 88 +f 65 72 89 +f 82 69 89 +f 72 82 89 +f 74 78 90 +f 84 66 90 +f 78 84 90 +f 68 74 91 +f 75 68 91 +f 81 75 91 +f 74 90 91 +f 91 90 92 +f 66 67 92 +f 67 73 92 +f 73 81 92 +f 90 66 92 +f 81 91 92 +f 76 71 93 +f 68 83 93 +f 86 68 93 +f 71 86 93 +f 88 76 93 +f 83 88 93 +f 75 70 94 +f 73 77 94 +f 77 75 94 +f 70 87 94 +f 87 73 94 +f 80 65 95 +f 69 80 95 +f 65 89 95 +o convex_2 +v 0.338880 0.665255 1.147722 +v -0.077224 0.665255 -1.212719 +v -0.216256 0.665255 -1.184897 +v 0.061312 2.803793 0.008884 +v -1.271607 1.720708 0.314694 +v 1.255695 1.443134 -0.407279 +v 0.839096 2.248225 0.842379 +v -0.160594 2.414854 -0.768266 +v -1.215945 0.665255 -0.379223 +v -0.938378 2.303698 0.814557 +v -0.938378 0.665255 0.842379 +v 1.200033 0.665255 -0.295991 +v -0.855008 2.109229 -0.768266 +v 0.755727 2.136860 -0.851499 +v 1.255695 2.053756 0.286871 +v -0.827301 2.692428 -0.018471 +v 0.894511 0.665255 0.842379 +v 0.839096 0.665255 -0.934731 +v 0.728019 2.720269 -0.046059 +v -1.271607 1.970441 -0.240580 +v -0.021810 0.776411 1.175777 +v -0.910423 0.665255 -0.851499 +v 0.005898 2.498168 0.731091 +v 1.255695 1.970441 -0.212758 +v 1.255695 1.276296 0.175817 +v 0.366835 0.693097 -1.184897 +v -1.271607 2.053756 0.231461 +v -0.355040 0.665255 1.120133 +v -1.271607 1.470765 -0.379223 +v -1.271607 1.387661 0.259049 +v -0.021810 2.442485 -0.768266 +v 1.255448 0.832093 -0.407046 +v -0.827301 2.692428 0.064762 +v 1.033295 2.331539 0.453571 +v 0.728019 2.109229 -0.879321 +v -0.105179 2.387012 -0.796088 +v -0.466116 0.720938 -1.101430 +v -0.049517 0.720938 -1.212719 +v 1.255695 2.109438 -0.018471 +v -0.105179 2.803793 -0.046059 +v 0.866803 2.276066 0.814557 +v 1.255695 1.803813 0.314694 +v 0.755727 2.220384 -0.768032 +v -0.827301 2.331539 0.814557 +v 0.700065 2.720269 0.009118 +v 0.811141 1.359819 -0.907143 +v 0.783434 0.998721 0.925612 +v -1.077162 0.665255 0.342282 +v -0.938378 1.526448 0.842379 +v 1.088957 0.665255 0.231461 +v -0.105179 2.803793 0.036706 +v -0.188301 2.470327 0.758913 +v -1.271607 2.081388 -0.073881 +v -1.271607 0.970880 -0.268169 +v -1.049454 2.359171 0.342282 +v -0.882716 1.692867 -0.795854 +v 0.866803 1.998073 0.842379 +v -0.771639 2.081388 -0.795854 +v 0.228051 0.693097 1.175777 +v -0.827301 2.664587 -0.073881 +v -0.882716 2.220384 0.842379 +v 0.422249 0.720938 1.120133 +v 1.200033 0.665255 -0.462690 +v 0.311173 2.414854 0.786501 +f 147 139 159 +f 98 97 96 +f 98 96 104 +f 104 96 106 +f 96 97 107 +f 96 107 112 +f 107 97 113 +f 98 104 117 +f 101 109 119 +f 110 101 119 +f 101 110 120 +f 113 97 121 +f 100 105 122 +f 115 100 122 +f 106 96 123 +f 100 115 124 +f 115 108 124 +f 117 104 124 +f 106 100 125 +f 100 124 125 +f 113 101 127 +f 101 120 127 +f 120 107 127 +f 126 109 130 +f 126 130 131 +f 108 103 131 +f 103 126 131 +f 108 98 132 +f 98 117 132 +f 97 98 133 +f 121 97 133 +f 130 121 133 +f 131 130 133 +f 110 119 134 +f 129 110 134 +f 114 129 134 +f 99 114 135 +f 114 126 135 +f 111 128 135 +f 110 129 136 +f 120 110 137 +f 112 120 137 +f 110 136 137 +f 119 109 138 +f 109 126 138 +f 126 114 138 +f 114 134 138 +f 134 119 138 +f 128 105 139 +f 114 99 140 +f 99 118 140 +f 129 114 140 +f 136 129 140 +f 109 101 141 +f 101 113 141 +f 113 121 141 +f 130 109 141 +f 121 130 141 +f 104 106 143 +f 106 125 143 +f 105 100 144 +f 100 106 144 +f 106 123 144 +f 112 107 145 +f 107 120 145 +f 120 112 145 +f 118 99 146 +f 99 135 146 +f 135 128 146 +f 128 139 147 +f 118 146 147 +f 146 128 147 +f 115 122 148 +f 128 111 148 +f 124 104 149 +f 125 124 149 +f 104 143 149 +f 143 125 149 +f 122 105 150 +f 105 128 150 +f 148 122 150 +f 128 148 150 +f 124 108 151 +f 117 124 151 +f 108 132 151 +f 132 117 151 +f 136 102 152 +f 112 137 152 +f 137 136 152 +f 142 112 152 +f 98 108 153 +f 108 131 153 +f 133 98 153 +f 131 133 153 +f 102 116 154 +f 123 96 154 +f 116 123 154 +f 103 108 155 +f 108 115 155 +f 126 103 155 +f 111 135 155 +f 135 126 155 +f 148 111 155 +f 115 148 155 +f 116 102 156 +f 123 116 156 +f 102 139 156 +f 139 105 156 +f 105 144 156 +f 144 123 156 +f 96 112 157 +f 112 142 157 +f 152 102 157 +f 142 152 157 +f 154 96 157 +f 102 154 157 +f 107 113 158 +f 127 107 158 +f 113 127 158 +f 102 136 159 +f 139 102 159 +f 140 118 159 +f 136 140 159 +f 118 147 159 +o convex_3 +v 1.450195 2.026018 0.203715 +v 1.255771 0.970978 -0.379523 +v 1.283588 0.970978 -0.379523 +v 1.450195 1.942728 -0.240613 +v 2.005428 1.498552 0.120395 +v 2.005428 1.748313 -0.296203 +v 1.255771 1.304137 0.175920 +v 1.255771 2.081580 -0.018514 +v 2.005428 1.970455 0.064805 +v 1.894381 1.720477 0.259240 +v 1.255771 1.526279 -0.379523 +v 1.255771 1.942728 0.287035 +v 2.005428 1.470825 -0.268408 +v 1.949941 1.914892 -0.212883 +v 1.283588 1.081995 -0.101769 +v 2.005428 1.887165 0.203715 +v 1.255771 1.692750 0.287035 +v 1.255771 1.887165 -0.268408 +v 1.949941 1.498552 0.175920 +v 2.005428 1.442989 -0.018514 +v 1.922124 1.998182 -0.018514 +v 1.339148 1.304137 0.175920 +v 1.339148 2.026018 0.259240 +f 169 175 182 +f 161 166 167 +f 164 165 168 +f 162 161 170 +f 165 162 170 +f 161 167 170 +f 167 166 171 +f 162 165 172 +f 165 164 172 +f 165 163 173 +f 163 167 173 +f 168 165 173 +f 161 162 174 +f 166 161 174 +f 164 168 175 +f 171 166 176 +f 169 171 176 +f 163 165 177 +f 167 163 177 +f 165 170 177 +f 170 167 177 +f 174 164 178 +f 164 175 178 +f 175 169 178 +f 162 172 179 +f 172 164 179 +f 174 162 179 +f 164 174 179 +f 167 160 180 +f 160 168 180 +f 173 167 180 +f 168 173 180 +f 166 174 181 +f 176 166 181 +f 169 176 181 +f 178 169 181 +f 174 178 181 +f 160 167 182 +f 168 160 182 +f 167 171 182 +f 171 169 182 +f 175 168 182 +o convex_4 +v 2.089049 1.776149 0.231488 +v 2.005672 1.609591 -0.296203 +v 2.005672 1.748356 -0.296203 +v 3.005312 1.692919 -0.073938 +v 2.005672 1.498520 0.120382 +v 2.005672 1.970547 -0.046149 +v 2.755378 1.498520 -0.018514 +v 2.755378 1.748356 0.175909 +v 2.755378 1.914963 -0.046149 +v 2.783072 1.665126 -0.240572 +v 2.116841 1.498520 -0.268413 +v 2.005672 1.914963 0.175909 +v 2.588722 1.859427 -0.185045 +v 2.727586 1.665126 0.175909 +v 2.116841 1.526312 0.175909 +v 2.005672 1.470727 -0.185045 +v 2.116841 1.914963 -0.185045 +v 2.755378 1.498520 -0.073938 +v 2.144536 1.914963 0.175909 +v 2.005672 1.665126 0.231488 +v 2.783072 1.720662 -0.240572 +v 3.005312 1.665126 -0.018514 +v 2.422262 1.470727 -0.018514 +v 2.783072 1.887220 0.009275 +f 190 204 206 +f 185 184 187 +f 185 187 188 +f 184 185 192 +f 184 192 193 +f 188 187 194 +f 190 183 196 +f 189 196 197 +f 187 184 198 +f 184 193 198 +f 185 188 199 +f 188 191 199 +f 195 185 199 +f 191 195 199 +f 192 186 200 +f 193 192 200 +f 198 193 200 +f 183 190 201 +f 191 188 201 +f 194 183 201 +f 188 194 201 +f 183 194 202 +f 194 187 202 +f 196 183 202 +f 187 197 202 +f 197 196 202 +f 191 186 203 +f 192 185 203 +f 186 192 203 +f 185 195 203 +f 195 191 203 +f 196 189 204 +f 190 196 204 +f 200 186 204 +f 189 200 204 +f 197 187 205 +f 189 197 205 +f 187 198 205 +f 200 189 205 +f 198 200 205 +f 186 191 206 +f 201 190 206 +f 191 201 206 +f 204 186 206 +o convex_5 +v -0.299542 -0.306753 -2.073805 +v 0.311349 -0.195769 -2.018142 +v 0.311349 -0.251261 -2.018142 +v 0.033649 -0.251261 -2.990205 +v -0.049589 -0.001302 -2.018142 +v 0.033649 -0.501220 -2.018142 +v 0.033649 -0.473425 -2.767932 +v -0.021843 -0.029097 -2.740243 +v -0.216185 -0.251261 -2.767932 +v 0.227991 -0.223564 -2.767932 +v 0.227991 -0.029097 -2.184942 +v -0.243990 -0.084638 -2.018142 +v 0.227991 -0.445630 -2.073805 +v -0.216185 -0.445630 -2.018142 +v -0.188439 -0.417884 -2.573443 +v -0.049589 -0.473425 -2.740243 +v 0.227991 -0.278958 -2.740243 +v 0.144693 -0.001302 -2.018142 +v 0.033649 -0.029097 -2.740243 +v -0.188439 -0.112433 -2.545659 +v -0.021843 -0.278958 -2.990205 +v -0.216185 -0.306753 -2.767932 +v 0.172499 -0.056892 -2.573443 +v 0.172499 -0.417884 -2.573443 +f 223 219 230 +f 209 208 211 +f 209 211 212 +f 208 209 216 +f 208 216 217 +f 212 211 218 +f 211 214 218 +f 215 207 218 +f 209 212 219 +f 212 213 219 +f 218 207 220 +f 212 218 220 +f 220 207 221 +f 220 221 222 +f 213 212 222 +f 212 220 222 +f 213 210 223 +f 216 209 223 +f 210 216 223 +f 209 219 223 +f 211 208 224 +f 214 211 224 +f 208 217 224 +f 224 217 225 +f 210 214 225 +f 216 210 225 +f 214 224 225 +f 214 215 226 +f 218 214 226 +f 215 218 226 +f 210 213 227 +f 214 210 227 +f 215 214 227 +f 213 222 227 +f 227 222 228 +f 207 215 228 +f 221 207 228 +f 222 221 228 +f 215 227 228 +f 217 216 229 +f 225 217 229 +f 216 225 229 +f 219 213 230 +f 213 223 230 +o convex_6 +v 0.366944 -0.112476 -1.462765 +v -0.382922 -0.334387 -1.351661 +v -0.382922 -0.334387 -1.296180 +v 0.033611 -0.778952 -1.323885 +v -0.216217 -0.445502 -2.018142 +v -0.077373 0.304204 -1.296180 +v 0.311376 -0.195812 -2.018142 +v -0.244001 -0.056919 -1.990295 +v 0.311376 -0.640059 -1.296180 +v 0.228024 -0.445502 -2.018142 +v 0.311376 0.193089 -1.296180 +v 0.228024 -0.001362 -2.018142 +v -0.327353 0.165310 -1.323885 +v -0.299569 -0.640059 -1.296180 +v -0.327353 -0.278830 -1.906968 +v -0.049589 0.304204 -1.379437 +v 0.394728 -0.278830 -1.296180 +v 0.005903 -0.556617 -1.906968 +v -0.077373 -0.001362 -2.018142 +v 0.311376 -0.640059 -1.379437 +v -0.299569 -0.195812 -2.018142 +v -0.382922 -0.168034 -1.434989 +v 0.144748 0.276425 -1.323885 +v -0.021805 -0.751173 -1.407213 +v 0.311376 -0.306609 -1.962519 +f 247 250 255 +f 236 233 239 +f 235 237 240 +f 231 237 241 +f 236 239 241 +f 237 235 242 +f 241 237 242 +f 233 236 243 +f 233 232 244 +f 239 233 244 +f 234 239 244 +f 244 232 245 +f 235 244 245 +f 243 236 246 +f 238 243 246 +f 237 231 247 +f 231 241 247 +f 241 239 247 +f 240 234 248 +f 235 240 248 +f 242 235 249 +f 238 246 249 +f 246 242 249 +f 239 234 250 +f 234 240 250 +f 247 239 250 +f 243 238 251 +f 235 245 251 +f 249 235 251 +f 238 249 251 +f 232 233 252 +f 233 243 252 +f 245 232 252 +f 243 251 252 +f 251 245 252 +f 236 241 253 +f 241 242 253 +f 246 236 253 +f 242 246 253 +f 234 244 254 +f 244 235 254 +f 248 234 254 +f 235 248 254 +f 240 237 255 +f 237 247 255 +f 250 240 255 +o convex_7 +v -1.188345 0.526291 -0.351554 +v 1.200151 0.665255 -0.351554 +v 1.088863 0.665255 0.231341 +v 0.950220 -0.778952 0.425640 +v 0.089136 -0.778952 -1.295788 +v -0.882769 -0.778952 0.842243 +v 0.005903 0.665255 1.203083 +v -0.105151 0.665255 -1.212268 +v -0.938179 -0.778952 -0.823671 +v 0.339068 -0.751102 1.258847 +v -0.938179 0.665255 0.842243 +v 0.894575 -0.751102 -0.906942 +v 0.894575 0.665255 0.842243 +v 0.866753 0.609698 -0.934699 +v -0.910357 0.665255 -0.851428 +v -0.299439 -0.362343 1.258847 +v -0.410494 -0.251228 -1.295788 +v 0.422534 -0.195671 -1.295788 +v 0.894575 -0.501165 0.870000 +v -1.021412 -0.639988 0.342369 +v 0.339068 0.193089 1.258847 +v 0.977808 -0.778952 -0.684886 +v 0.283657 0.331912 -1.295788 +v -0.243795 -0.778952 1.230840 +v -0.966002 -0.362343 0.786729 +v -1.188345 0.665255 -0.268033 +v -0.243795 0.165240 1.258847 +v -0.993824 -0.778952 -0.629373 +v 1.200151 0.554141 -0.434824 +v -0.299439 -0.751102 -1.267781 +v -0.966002 0.137532 -0.851428 +v -0.327261 0.165240 -1.295788 +v 0.866753 -0.778952 0.842243 +v 0.422534 -0.251228 1.258847 +v 0.394712 0.665255 -1.184511 +v 0.894575 0.109682 -0.962456 +v 0.394712 0.665255 1.147569 +v 0.366890 -0.778952 -1.240024 +v -0.910357 -0.417900 0.870000 +v 0.977808 -0.778952 0.175577 +v -0.382672 0.665255 1.119812 +v -1.077056 0.665255 0.342369 +v -1.188345 0.498583 -0.407067 +v -0.438316 0.637406 -1.128997 +v 1.200151 0.665255 -0.462581 +v 0.922398 -0.362343 0.814486 +v -0.993824 -0.778952 0.397883 +v 0.838931 0.665255 0.897757 +v -0.938179 -0.251228 -0.879185 +v 0.894575 0.415177 0.870250 +v 0.005903 0.443026 1.258847 +v -0.243795 -0.695545 1.258847 +v -1.188345 0.665255 -0.407067 +v 0.977808 -0.639988 0.370126 +v -0.049507 0.387469 -1.295788 +v 0.311246 -0.778952 1.258847 +v 0.894575 -0.056848 -0.962456 +v -1.077056 0.248646 0.314612 +v 0.339068 -0.584431 -1.295788 +v 0.838931 0.665255 -0.934699 +v -1.021412 -0.667837 0.259098 +v -0.299439 -0.140113 1.258847 +v -1.021412 -0.528873 0.425640 +v -0.938179 0.526291 -0.851428 +f 286 308 319 +f 260 259 261 +f 258 257 262 +f 262 257 263 +f 260 261 264 +f 262 263 266 +f 258 262 268 +f 266 263 270 +f 260 272 273 +f 271 265 276 +f 259 260 277 +f 269 273 278 +f 273 272 278 +f 261 259 279 +f 266 270 281 +f 271 276 282 +f 264 261 283 +f 260 264 285 +f 272 260 285 +f 264 272 285 +f 278 272 287 +f 274 265 288 +f 279 259 288 +f 265 274 289 +f 276 265 289 +f 263 257 290 +f 278 263 290 +f 269 278 290 +f 273 269 291 +f 268 262 292 +f 277 260 293 +f 267 277 293 +f 266 280 294 +f 280 261 294 +f 259 277 295 +f 277 284 295 +f 262 266 296 +f 266 282 296 +f 280 266 297 +f 266 281 297 +f 275 256 298 +f 256 281 298 +f 264 283 298 +f 270 263 299 +f 263 287 299 +f 287 270 299 +f 277 267 300 +f 257 284 300 +f 284 277 300 +f 290 257 300 +f 291 269 300 +f 257 258 301 +f 288 259 301 +f 274 288 301 +f 261 280 302 +f 283 261 302 +f 276 289 303 +f 268 292 303 +f 292 276 303 +f 272 264 304 +f 286 272 304 +f 264 298 304 +f 298 286 304 +f 258 268 305 +f 289 274 305 +f 301 258 305 +f 274 301 305 +f 268 303 305 +f 303 289 305 +f 282 276 306 +f 292 262 306 +f 276 292 306 +f 262 296 306 +f 296 282 306 +f 265 271 307 +f 261 279 307 +f 294 261 307 +f 271 294 307 +f 281 270 308 +f 298 281 308 +f 286 298 308 +f 284 257 309 +f 259 295 309 +f 295 284 309 +f 257 301 309 +f 301 259 309 +f 263 278 310 +f 287 263 310 +f 278 287 310 +f 288 265 311 +f 279 288 311 +f 265 307 311 +f 307 279 311 +f 267 273 312 +f 273 291 312 +f 300 267 312 +f 291 300 312 +f 280 297 313 +f 297 281 313 +f 260 273 314 +f 273 267 314 +f 293 260 314 +f 267 293 314 +f 269 290 315 +f 290 300 315 +f 300 269 315 +f 275 298 316 +f 298 283 316 +f 302 275 316 +f 283 302 316 +f 282 266 317 +f 271 282 317 +f 294 271 317 +f 266 294 317 +f 256 275 318 +f 281 256 318 +f 302 280 318 +f 275 302 318 +f 280 313 318 +f 313 281 318 +f 272 286 319 +f 270 287 319 +f 287 272 319 +f 308 270 319 +o convex_8 +v 0.005947 -0.528949 1.981084 +v 0.116996 -0.001432 2.008827 +v 0.061341 0.026297 1.981084 +v 0.366955 -0.417813 1.259171 +v -0.299602 -0.168137 1.259171 +v 0.089201 0.331977 1.259171 +v -0.105168 -0.778952 1.259171 +v -0.216282 -0.195867 2.008827 +v 0.255840 -0.473381 2.008827 +v 0.311365 0.165272 1.286987 +v -0.216282 0.193111 1.314730 +v 0.311365 -0.723384 1.286987 +v 0.311365 -0.251217 1.981084 +v -0.216282 -0.612247 1.564714 +v 0.061341 -0.778952 1.453594 +v -0.160692 -0.057000 2.008827 +v -0.132963 -0.473381 2.008827 +v 0.228045 -0.029271 1.981084 +v -0.244012 -0.667815 1.259171 +v 0.005947 0.331977 1.314730 +v -0.244012 -0.278947 1.897780 +v 0.366955 -0.112569 1.259171 +v -0.244012 0.137434 1.259171 +v -0.299602 -0.334515 1.314730 +v 0.255840 0.248461 1.286987 +v 0.200316 -0.778952 1.259171 +v -0.021848 -0.778952 1.425851 +f 336 333 346 +f 323 324 325 +f 324 323 326 +f 321 327 328 +f 328 331 332 +f 321 328 332 +f 331 323 332 +f 328 320 334 +f 331 328 334 +f 321 322 335 +f 327 321 335 +f 330 327 335 +f 320 328 336 +f 328 327 336 +f 325 321 337 +f 321 332 337 +f 332 329 337 +f 324 326 338 +f 326 333 338 +f 322 321 339 +f 321 325 339 +f 335 322 339 +f 330 335 339 +f 327 324 340 +f 336 327 340 +f 333 336 340 +f 338 333 340 +f 323 325 341 +f 325 329 341 +f 329 332 341 +f 332 323 341 +f 325 324 342 +f 324 327 342 +f 327 330 342 +f 339 325 342 +f 330 339 342 +f 324 338 343 +f 340 324 343 +f 338 340 343 +f 329 325 344 +f 325 337 344 +f 337 329 344 +f 326 323 345 +f 323 331 345 +f 334 326 345 +f 331 334 345 +f 333 326 346 +f 334 320 346 +f 326 334 346 +f 320 336 346 +o convex_9 +v -0.216282 -0.306753 2.009071 +v 0.283635 -0.251261 2.342383 +v 0.283635 -0.278958 2.342383 +v 0.005930 -0.251261 3.008711 +v -0.021864 -0.001302 2.009071 +v 0.116964 -0.501220 2.009071 +v 0.005930 -0.445630 2.758679 +v -0.188487 -0.195769 2.703192 +v 0.061423 -0.056892 2.786471 +v 0.227997 -0.056892 2.009071 +v 0.227997 -0.278958 2.814264 +v -0.160644 -0.445630 2.147935 +v 0.255791 -0.445630 2.009071 +v -0.160644 -0.056892 2.120240 +v -0.188487 -0.278958 2.703192 +v 0.200299 -0.112433 2.619914 +v -0.049611 -0.056892 2.703192 +v 0.200299 -0.417884 2.536537 +v -0.021864 -0.501220 2.009071 +v -0.216282 -0.195769 2.009071 +v 0.061423 -0.001302 2.203519 +v 0.283635 -0.195769 2.009071 +v 0.061423 -0.445630 2.758679 +v 0.227997 -0.223564 2.814264 +f 362 355 370 +f 347 351 352 +f 352 351 356 +f 349 348 357 +f 352 356 359 +f 349 357 359 +f 353 350 361 +f 350 354 361 +f 354 347 361 +f 347 358 361 +f 358 353 361 +f 348 356 362 +f 356 355 362 +f 354 350 363 +f 350 355 363 +f 351 360 363 +f 360 354 363 +f 352 359 364 +f 359 357 364 +f 347 352 365 +f 352 353 365 +f 358 347 365 +f 353 358 365 +f 351 347 366 +f 347 354 366 +f 360 351 366 +f 354 360 366 +f 356 351 367 +f 355 356 367 +f 351 363 367 +f 363 355 367 +f 348 349 368 +f 356 348 368 +f 349 359 368 +f 359 356 368 +f 353 352 369 +f 350 353 369 +f 357 350 369 +f 352 364 369 +f 364 357 369 +f 355 350 370 +f 357 348 370 +f 350 357 370 +f 348 362 370 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/280/280.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/280/280.urdf new file mode 100644 index 000000000..3fbbcb903 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/280/280.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/281/281.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/281/281.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/281/281.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/281/281.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/281/281.obj new file mode 100644 index 000000000..0780e391f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/281/281.obj @@ -0,0 +1,540 @@ +o convex_0 +v -0.737980 -3.225237 -1.020255 +v 1.129291 -3.567535 1.002519 +v 1.129291 -3.629758 1.002519 +v -0.955798 -2.945163 1.065004 +v 1.035999 -2.945022 -1.113663 +v -0.924769 -3.660869 -0.957983 +v -0.924769 -3.598576 1.065004 +v 1.067028 -2.945022 1.033655 +v 1.035999 -3.536353 -1.113663 +v -0.955798 -2.945163 -0.957983 +v -0.022060 -3.660869 -0.117524 +v 1.098261 -2.945022 0.130924 +v -0.613455 -2.945163 -1.051605 +v -0.893535 -3.629688 0.597964 +v -0.955798 -3.380725 1.002519 +v 1.067028 -3.536353 -0.926847 +v 0.942502 -3.629758 1.033655 +v -0.644484 -3.660869 -0.957983 +v 1.035999 -3.629758 0.629100 +v -0.240082 -3.598576 1.065004 +v 0.849210 -3.536353 -1.113663 +v 0.226787 -3.629688 1.033655 +v -0.924769 -3.660869 -0.428885 +v 0.569130 -2.945022 -1.113663 +v 1.098261 -2.945022 1.002519 +v 1.035999 -3.567535 -0.615701 +v -0.955798 -3.163014 -0.957983 +v 1.067028 -2.976204 -0.833439 +f 12 16 28 +f 3 2 8 +f 5 8 12 +f 1 10 13 +f 7 4 15 +f 4 10 15 +f 2 3 16 +f 9 5 16 +f 12 2 16 +f 3 8 17 +f 11 3 17 +f 6 9 18 +f 11 6 18 +f 11 18 19 +f 3 11 19 +f 4 7 20 +f 8 4 20 +f 17 8 20 +f 7 17 20 +f 6 1 21 +f 5 9 21 +f 9 6 21 +f 1 13 21 +f 7 14 22 +f 17 7 22 +f 11 17 22 +f 6 11 23 +f 14 7 23 +f 7 15 23 +f 15 6 23 +f 22 14 23 +f 11 22 23 +f 4 8 24 +f 8 5 24 +f 10 4 24 +f 13 10 24 +f 5 21 24 +f 21 13 24 +f 8 2 25 +f 2 12 25 +f 12 8 25 +f 16 3 26 +f 9 16 26 +f 18 9 26 +f 19 18 26 +f 3 19 26 +f 1 6 27 +f 10 1 27 +f 6 15 27 +f 15 10 27 +f 5 12 28 +f 16 5 28 +o convex_1 +v 0.911461 2.501605 -0.615701 +v -1.111636 1.941377 -0.957983 +v -1.111636 1.941377 -0.771167 +v 1.098368 -2.228176 1.033655 +v 1.067217 -2.228176 -1.082527 +v -0.955880 -2.228176 1.064791 +v -0.987032 2.501605 1.033655 +v 1.067217 2.532367 1.065004 +v -0.955880 -2.228176 -0.957983 +v 1.067217 2.439617 -1.020255 +v -1.111636 2.501605 -0.989333 +v -0.426743 -1.823619 -1.113663 +v -0.987032 -2.228176 0.660236 +v -0.987032 0.136714 1.064791 +v 1.098368 1.910149 1.002519 +v -0.987032 -2.135427 -0.957983 +v 1.098368 -2.041744 0.286604 +v -0.706887 2.532367 -0.677973 +v -1.018183 2.314707 0.971596 +v 1.067217 -0.734855 -1.082527 +v 0.693619 1.381148 -1.051391 +v 0.724770 2.532367 -0.615701 +v -0.395592 -2.228176 -1.113663 +v -0.987032 1.723251 -1.020255 +v -0.551131 2.532367 0.566828 +v 0.880310 1.256705 1.064791 +v 0.351172 2.470378 -1.020255 +v -0.924729 -2.072972 -0.989119 +v -0.115447 -1.699175 -1.113663 +v 0.693619 2.532367 1.064791 +v -1.111636 2.501605 -0.677973 +v -1.018183 -1.263857 0.193409 +v -1.049334 0.229464 -0.989333 +v 0.008941 -2.228176 -1.113663 +v -1.018183 2.501605 0.971596 +v -0.987032 -1.325845 0.846839 +v 1.067217 1.163489 -1.051391 +v -0.862427 -2.228176 1.064791 +v -0.426743 -2.134960 -1.113663 +v 1.067217 2.532367 0.753644 +v -0.551131 2.501605 -0.989119 +v -1.111636 2.034593 -0.740031 +v -0.987032 -2.228176 -0.273204 +f 41 60 71 +f 33 32 34 +f 33 34 37 +f 30 31 39 +f 37 34 41 +f 34 36 42 +f 36 32 43 +f 32 33 45 +f 43 32 45 +f 38 43 45 +f 45 33 48 +f 29 38 50 +f 46 36 50 +f 33 37 51 +f 49 40 52 +f 36 46 53 +f 32 36 54 +f 38 49 55 +f 50 38 55 +f 52 39 55 +f 49 52 55 +f 37 44 56 +f 51 37 56 +f 40 49 57 +f 51 40 57 +f 35 42 58 +f 42 36 58 +f 53 35 58 +f 36 53 58 +f 39 31 59 +f 46 39 59 +f 31 30 60 +f 41 31 60 +f 30 39 61 +f 44 30 61 +f 39 52 61 +f 56 44 61 +f 48 33 62 +f 33 51 62 +f 57 48 62 +f 51 57 62 +f 42 35 63 +f 47 42 63 +f 35 53 63 +f 53 46 63 +f 46 59 63 +f 59 47 63 +f 41 34 64 +f 34 42 64 +f 42 47 64 +f 38 45 65 +f 45 48 65 +f 49 38 65 +f 48 57 65 +f 57 49 65 +f 34 32 66 +f 36 34 66 +f 32 54 66 +f 54 36 66 +f 40 51 67 +f 52 40 67 +f 51 56 67 +f 61 52 67 +f 56 61 67 +f 38 29 68 +f 36 43 68 +f 43 38 68 +f 29 50 68 +f 50 36 68 +f 39 46 69 +f 46 50 69 +f 50 55 69 +f 55 39 69 +f 31 41 70 +f 59 31 70 +f 47 59 70 +f 41 64 70 +f 64 47 70 +f 37 41 71 +f 30 44 71 +f 44 37 71 +f 60 30 71 +o convex_2 +v 0.569279 -2.945022 -1.113663 +v 1.098368 -2.229176 1.033667 +v 0.320197 -2.229176 1.033667 +v 1.098368 -2.945022 1.033667 +v 1.067214 -2.229176 -1.082345 +v 0.320197 -2.945022 1.002348 +v 0.320197 -2.229176 -1.082345 +v 1.036060 -2.945022 -1.113663 +v 0.320197 -2.945022 -0.989019 +v 1.098368 -2.945022 0.131099 +v 0.413660 -2.695919 -1.113663 +v 1.098368 -2.229176 0.255533 +v 1.067214 -2.945022 -0.802368 +v 0.538201 -2.945022 1.033667 +v 1.036060 -2.633696 -1.113663 +f 79 82 86 +f 73 74 75 +f 74 73 76 +f 72 75 77 +f 74 76 78 +f 77 74 78 +f 75 72 79 +f 72 77 80 +f 77 78 80 +f 73 75 81 +f 75 79 81 +f 79 72 82 +f 72 80 82 +f 80 78 82 +f 76 73 83 +f 73 81 83 +f 81 76 83 +f 79 76 84 +f 76 81 84 +f 81 79 84 +f 75 74 85 +f 74 77 85 +f 77 75 85 +f 78 76 86 +f 76 79 86 +f 82 78 86 +o convex_3 +v 0.288888 4.525220 -0.211129 +v -0.582365 3.342856 -0.148899 +v -0.582365 3.342856 0.473506 +v 0.600223 2.533686 -0.024441 +v 0.538049 4.431825 0.535848 +v -0.582365 4.431825 -0.615844 +v -0.551220 2.533686 -0.553502 +v 0.600223 4.494218 -0.491273 +v -0.053245 2.533686 0.504621 +v -0.582365 4.462827 0.473506 +v 0.600223 2.533686 -0.460158 +v 0.569078 2.533686 0.473506 +v -0.551220 2.533686 0.504621 +v -0.426755 4.213836 -0.615844 +v -0.364465 4.525220 0.286818 +v -0.022216 3.436252 0.535848 +v 0.600223 4.494218 -0.242243 +v 0.475759 2.751479 -0.491273 +v 0.506904 4.462827 0.535848 +v -0.208855 4.525220 -0.242243 +v 0.538049 3.933843 0.535848 +v -0.333320 4.276230 0.504621 +v 0.195568 4.525220 0.255704 +v 0.413584 4.462827 -0.522388 +v -0.426755 2.564687 -0.553502 +v -0.551220 3.436252 0.504621 +v 0.195568 4.400628 0.535848 +v -0.582365 4.027239 -0.615844 +v 0.600223 3.684658 -0.491273 +v -0.146565 4.462827 -0.584617 +v 0.569078 4.307427 0.224476 +f 98 103 117 +f 88 89 92 +f 89 88 93 +f 93 90 95 +f 92 89 96 +f 90 93 97 +f 94 90 97 +f 95 90 98 +f 89 93 99 +f 93 95 99 +f 96 89 99 +f 92 96 101 +f 99 95 102 +f 94 87 103 +f 90 94 103 +f 98 90 103 +f 101 96 105 +f 102 91 105 +f 91 103 105 +f 87 94 106 +f 101 87 106 +f 92 101 106 +f 98 91 107 +f 95 98 107 +f 91 102 107 +f 102 95 107 +f 87 101 109 +f 103 87 109 +f 101 105 109 +f 105 103 109 +f 97 93 111 +f 104 97 111 +f 100 104 111 +f 96 99 112 +f 99 102 112 +f 108 96 112 +f 108 112 113 +f 105 96 113 +f 102 105 113 +f 96 108 113 +f 112 102 113 +f 88 92 114 +f 93 88 114 +f 92 100 114 +f 111 93 114 +f 100 111 114 +f 94 97 115 +f 97 104 115 +f 104 100 115 +f 110 94 115 +f 100 110 115 +f 100 92 116 +f 92 106 116 +f 106 94 116 +f 94 110 116 +f 110 100 116 +f 91 98 117 +f 103 91 117 +o convex_4 +v 0.320164 6.455132 0.162259 +v -0.302339 6.330723 -0.211171 +v -0.240082 5.148049 -0.242322 +v -0.240082 4.525415 0.224562 +v 0.289068 4.525415 -0.211171 +v -0.240082 6.517532 0.255603 +v 0.289068 6.486332 -0.242322 +v 0.226811 4.868030 0.286754 +v 0.351324 6.424128 0.317960 +v -0.208922 4.525415 -0.242322 +v 0.226811 4.587815 0.255603 +v -0.115569 6.517532 -0.242322 +v -0.271179 6.517532 0.224562 +v 0.195651 6.330723 0.317960 +v 0.289068 5.397259 -0.242322 +v -0.053312 4.525415 0.255603 +v -0.302339 6.517532 -0.117772 +v 0.289068 4.525415 -0.117772 +v -0.240082 4.525415 0.006723 +v -0.240082 5.863698 0.255603 +v 0.351324 6.392928 0.224562 +v 0.351324 6.299328 0.317960 +v 0.195651 4.525415 0.255603 +v -0.053312 6.517532 0.131108 +f 124 129 141 +f 124 118 126 +f 122 121 127 +f 120 124 127 +f 120 119 129 +f 124 120 129 +f 123 129 130 +f 126 123 131 +f 122 127 132 +f 127 124 132 +f 121 122 133 +f 125 131 133 +f 119 121 134 +f 129 119 134 +f 121 130 134 +f 130 129 134 +f 133 122 135 +f 119 120 136 +f 121 119 136 +f 120 127 136 +f 127 121 136 +f 130 121 137 +f 123 130 137 +f 131 123 137 +f 121 133 137 +f 133 131 137 +f 124 126 138 +f 132 124 138 +f 122 132 138 +f 125 128 139 +f 131 125 139 +f 126 131 139 +f 135 122 139 +f 128 135 139 +f 138 126 139 +f 122 138 139 +f 128 125 140 +f 125 133 140 +f 135 128 140 +f 133 135 140 +f 118 124 141 +f 123 126 141 +f 126 118 141 +f 129 123 141 +o convex_5 +v -0.582532 -2.229176 1.002726 +v -0.613690 -2.945022 -1.051596 +v -0.520282 -2.727031 -1.082521 +v -0.955908 -2.229176 -0.957965 +v -0.955908 -2.945022 1.065004 +v -0.333466 -2.945022 1.002726 +v -0.333466 -2.229176 -1.113874 +v -0.955908 -2.229176 1.065004 +v -0.955908 -2.945022 -0.957965 +v -0.333466 -2.945022 -0.957965 +v -0.333466 -2.229176 0.940448 +v -0.987065 -2.322580 0.473576 +v -0.987065 -2.229176 -0.024435 +v -0.893657 -2.229176 -0.989104 +v -0.862564 -2.229176 1.065004 +v -0.333466 -2.447097 -1.113874 +v -0.333466 -2.727031 1.002726 +v -0.987065 -2.229176 0.660197 +v -0.831407 -2.945022 1.065004 +f 158 156 160 +f 146 143 147 +f 145 142 148 +f 142 145 149 +f 144 143 150 +f 143 146 150 +f 147 143 151 +f 148 147 151 +f 147 148 152 +f 148 142 152 +f 150 146 153 +f 150 153 154 +f 149 145 154 +f 145 150 154 +f 148 144 155 +f 145 148 155 +f 144 150 155 +f 150 145 155 +f 142 149 156 +f 149 146 156 +f 143 144 157 +f 144 148 157 +f 151 143 157 +f 148 151 157 +f 152 142 158 +f 147 152 158 +f 142 156 158 +f 146 149 159 +f 153 146 159 +f 154 153 159 +f 149 154 159 +f 146 147 160 +f 156 146 160 +f 147 158 160 +o convex_6 +v -0.177792 -2.291469 3.025400 +v 0.008914 -2.945022 -0.988782 +v 0.320197 -2.945022 -0.988782 +v 0.257877 -2.291469 -2.949964 +v -0.333466 -2.353692 -2.981169 +v -0.271145 -2.913770 2.994194 +v 0.289037 -2.260357 2.931782 +v -0.333466 -2.882659 -2.949363 +v 0.226780 -2.882659 2.931782 +v -0.333466 -2.229176 0.939394 +v 0.195684 -2.882659 -3.105393 +v 0.320197 -2.229176 -1.082400 +v -0.333466 -2.945022 1.033612 +v 0.320197 -2.945022 1.002406 +v -0.333466 -2.229176 -1.113006 +v -0.271145 -2.291469 3.025400 +v 0.320197 -2.229176 1.033612 +v -0.333466 -2.945022 -0.957575 +v -0.302305 -2.727031 2.527303 +v -0.115535 -2.260357 2.994194 +v 0.289037 -2.478208 2.931782 +v -0.177792 -2.322580 -2.981169 +v -0.084439 -2.913770 2.994194 +v 0.257877 -2.415985 -2.981169 +v 0.320197 -2.913770 1.251455 +v 0.102267 -2.820436 -3.105393 +v 0.226780 -2.415985 2.962988 +f 183 169 187 +f 165 168 170 +f 163 162 171 +f 162 163 173 +f 170 168 173 +f 163 172 174 +f 173 163 174 +f 165 170 175 +f 172 164 175 +f 170 172 175 +f 166 161 176 +f 172 170 177 +f 174 172 177 +f 171 162 178 +f 168 171 178 +f 162 173 178 +f 173 168 178 +f 173 166 179 +f 170 173 179 +f 166 176 179 +f 176 170 179 +f 161 167 180 +f 176 161 180 +f 170 176 180 +f 167 177 180 +f 177 170 180 +f 175 164 182 +f 165 175 182 +f 161 166 183 +f 166 173 183 +f 174 169 183 +f 173 174 183 +f 163 171 184 +f 172 163 184 +f 164 172 184 +f 169 174 185 +f 177 167 185 +f 174 177 185 +f 167 181 185 +f 181 169 185 +f 168 165 186 +f 171 168 186 +f 182 164 186 +f 165 182 186 +f 184 171 186 +f 164 184 186 +f 167 161 187 +f 181 167 187 +f 169 181 187 +f 161 183 187 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/281/281.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/281/281.urdf new file mode 100644 index 000000000..77aa8fb3a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/281/281.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/282/282.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/282/282.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/282/282.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/282/282.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/282/282.obj new file mode 100644 index 000000000..77620261d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/282/282.obj @@ -0,0 +1,708 @@ +o convex_0 +v -2.695224 1.605943 -0.117971 +v -1.256009 2.203487 0.072003 +v -1.256009 2.203487 0.017873 +v -1.256009 1.171274 0.289423 +v -1.256009 1.415788 -0.308153 +v -2.831039 1.768818 0.207916 +v -2.749620 1.877435 -0.226646 +v -1.256009 1.986152 0.370929 +v -1.256009 1.986152 -0.308153 +v -2.776819 2.013332 0.017873 +v -1.310405 1.470147 0.398098 +v -2.831039 1.578865 -0.036465 +v -1.419021 2.121949 -0.226646 +v -2.098095 1.986152 0.262254 +v -3.048448 1.823177 -0.036465 +v -1.310405 1.361429 -0.253815 +v -2.831039 1.714358 0.207916 +v -1.283207 1.171274 0.207916 +v -2.749620 1.795896 -0.226646 +v -1.636430 1.850356 -0.308153 +v -2.776819 2.013332 -0.036465 +v -1.283207 2.094769 0.289423 +v -1.364801 1.578865 0.398098 +v -2.586608 1.986152 -0.172309 +v -2.776819 1.578865 0.044973 +v -2.641004 1.931692 0.180747 +v -1.310405 1.225633 0.316592 +v -1.310405 1.415788 -0.308153 +v -2.803841 1.578865 -0.063634 +v -3.048448 1.768818 0.017873 +v -2.505189 1.850356 -0.253815 +v -1.283207 1.171274 0.289423 +v -1.256009 2.121949 -0.226646 +v -3.021250 1.768818 -0.063634 +v -1.256009 1.470147 0.398098 +v -2.722422 2.013332 0.044973 +v -2.613806 1.578865 0.153579 +f 32 17 37 +f 3 2 4 +f 3 4 5 +f 4 2 8 +f 3 5 9 +f 2 3 10 +f 9 7 13 +f 6 8 14 +f 5 4 18 +f 16 5 18 +f 9 5 20 +f 10 3 21 +f 3 13 21 +f 7 15 21 +f 15 10 21 +f 8 2 22 +f 14 8 22 +f 8 6 23 +f 17 11 23 +f 6 17 23 +f 13 7 24 +f 21 13 24 +f 7 21 24 +f 10 6 26 +f 6 14 26 +f 11 17 27 +f 5 16 28 +f 1 19 28 +f 20 5 28 +f 18 12 29 +f 16 18 29 +f 19 1 29 +f 1 28 29 +f 28 16 29 +f 6 10 30 +f 10 15 30 +f 17 6 30 +f 12 25 30 +f 25 17 30 +f 7 9 31 +f 19 7 31 +f 9 20 31 +f 28 19 31 +f 20 28 31 +f 18 4 32 +f 12 18 32 +f 25 12 32 +f 4 27 32 +f 27 17 32 +f 3 9 33 +f 13 3 33 +f 9 13 33 +f 15 7 34 +f 7 19 34 +f 29 12 34 +f 19 29 34 +f 30 15 34 +f 12 30 34 +f 4 8 35 +f 8 23 35 +f 23 11 35 +f 27 4 35 +f 11 27 35 +f 2 10 36 +f 22 2 36 +f 14 22 36 +f 10 26 36 +f 26 14 36 +f 17 25 37 +f 25 32 37 +o convex_1 +v 0.808406 2.474499 0.262076 +v -1.255833 -0.838505 -0.090696 +v -1.255833 -0.838505 0.099151 +v 0.754170 -2.848168 -0.036454 +v 0.129324 -0.105742 -1.014404 +v -0.006142 -0.321987 1.022858 +v -1.255833 2.230049 0.017588 +v 0.889886 2.230049 -0.715475 +v -0.875427 -2.359267 0.859734 +v -0.902671 -2.223527 -0.769717 +v 0.889886 -2.332237 0.778171 +v -0.821191 2.257080 -0.796838 +v 0.862893 -2.223527 -0.796838 +v 1.297535 1.523729 0.316517 +v -0.739461 2.066691 0.723730 +v 1.297535 -0.675147 -0.253621 +v 0.781163 2.040248 0.669488 +v -0.060629 -3.174885 -0.009333 +v 0.020851 2.828247 0.017788 +v -1.011144 0.410188 -0.824158 +v -1.255833 1.659470 0.425001 +v 1.297535 1.958569 -0.308062 +v -0.739461 0.138120 0.968218 +v 0.781163 0.138708 0.886855 +v 0.998609 0.328509 -0.796838 +v -0.793947 -2.848168 -0.009333 +v -0.712468 -0.078712 -0.986884 +v 1.297535 -0.783857 0.316517 +v -1.255833 1.958569 -0.335183 +v -0.739461 2.718950 0.017588 +v 0.047844 1.985599 0.778371 +v 0.808406 2.718950 -0.009333 +v 0.808406 0.029410 -0.932642 +v -0.114865 -2.440359 -0.769916 +v 0.862893 -2.386886 0.805292 +v -1.255833 -0.512376 -0.335183 +v 1.297535 2.012630 0.234955 +v -1.255833 -0.621086 0.343638 +v -0.033386 -0.321987 -1.014404 +v 0.047844 -0.078712 1.022858 +v -1.228590 2.039660 0.397880 +v 0.047844 -3.146679 0.072030 +v 1.297535 -0.376636 -0.335183 +v -0.712468 2.121927 -0.823959 +v 0.754170 2.365790 -0.606792 +v 1.297535 2.121340 -0.253621 +v 0.210804 2.094309 0.723930 +v -0.984150 2.392820 -0.443867 +v 1.297535 -0.810887 -0.009333 +v -0.060629 2.800629 -0.063575 +v 1.297535 -0.539407 0.343638 +v 1.052846 0.166326 -0.742596 +v 0.102331 -3.066175 -0.117817 +v 1.052846 2.393408 -0.389425 +v -0.060629 -2.304619 -0.797037 +v -1.038387 0.275036 -0.797037 +v 0.862893 -2.305206 -0.715475 +v 0.808406 2.094309 -0.742596 +v -0.902671 -2.305206 -0.688155 +v -0.848184 -2.576687 0.506563 +v -0.821191 -1.218696 0.913976 +v 1.052846 0.572959 -0.742596 +v 1.270292 2.203019 0.017588 +v -0.848184 0.192769 -0.932841 +f 49 64 101 +f 39 40 44 +f 44 40 58 +f 51 53 59 +f 51 54 61 +f 40 39 63 +f 53 51 65 +f 39 44 66 +f 49 57 66 +f 52 56 67 +f 52 60 68 +f 56 38 69 +f 50 42 70 +f 45 62 70 +f 62 50 70 +f 43 46 72 +f 41 48 72 +f 48 61 72 +f 47 39 73 +f 39 66 73 +f 54 51 74 +f 38 54 74 +f 51 59 74 +f 69 38 74 +f 40 46 75 +f 58 40 75 +f 46 58 75 +f 42 50 76 +f 64 42 76 +f 47 64 76 +f 60 43 77 +f 61 54 77 +f 54 68 77 +f 68 60 77 +f 43 72 77 +f 72 61 77 +f 44 58 78 +f 60 52 78 +f 58 60 78 +f 67 44 78 +f 52 67 78 +f 46 55 79 +f 55 41 79 +f 72 46 79 +f 41 72 79 +f 53 50 80 +f 59 53 80 +f 49 45 81 +f 42 64 81 +f 64 49 81 +f 45 49 82 +f 59 45 83 +f 74 59 83 +f 54 38 84 +f 38 56 84 +f 56 52 84 +f 52 68 84 +f 68 54 84 +f 66 44 85 +f 49 66 85 +f 44 67 85 +f 67 49 85 +f 48 41 86 +f 65 48 86 +f 53 65 86 +f 49 67 87 +f 67 56 87 +f 56 69 87 +f 82 49 87 +f 69 82 87 +f 61 48 88 +f 51 61 88 +f 48 65 88 +f 65 51 88 +f 50 62 89 +f 80 50 89 +f 41 55 90 +f 71 50 90 +f 55 71 90 +f 45 82 91 +f 82 69 91 +f 83 45 91 +f 71 47 92 +f 50 71 92 +f 76 50 92 +f 47 76 92 +f 57 47 93 +f 66 57 93 +f 47 73 93 +f 73 66 93 +f 50 53 94 +f 86 41 94 +f 53 86 94 +f 41 90 94 +f 90 50 94 +f 70 42 95 +f 45 70 95 +f 42 81 95 +f 81 45 95 +f 39 47 96 +f 63 39 96 +f 55 63 96 +f 47 71 96 +f 71 55 96 +f 46 40 97 +f 55 46 97 +f 40 63 97 +f 63 55 97 +f 46 43 98 +f 58 46 98 +f 43 60 98 +f 60 58 98 +f 45 59 99 +f 62 45 99 +f 59 80 99 +f 89 62 99 +f 80 89 99 +f 69 74 100 +f 74 83 100 +f 91 69 100 +f 83 91 100 +f 47 57 101 +f 57 49 101 +f 64 47 101 +o convex_2 +v -2.994201 -0.268423 0.017729 +v -1.826267 0.057443 0.099214 +v -1.826267 0.057443 -0.172325 +v -1.826267 -0.594289 -0.063639 +v -1.962095 -0.295477 0.289444 +v -2.586717 -0.214122 -0.253810 +v -2.804089 0.030325 0.017729 +v -2.776946 -0.214122 0.262185 +v -1.826267 -0.322659 -0.308153 +v -2.559575 -0.431324 0.235101 +v -1.826267 0.030325 0.262185 +v -2.695403 -0.458442 -0.036497 +v -1.826267 -0.512743 0.207842 +v -2.125182 0.003143 -0.253810 +v -1.880668 -0.485624 -0.253810 +v -2.776946 -0.214122 -0.226609 +v -2.641118 0.003143 0.207842 +v -2.776946 0.030325 -0.063639 +v -2.396721 -0.078340 0.289444 +v -3.021460 -0.186940 0.044872 +v -2.749687 -0.458442 0.044872 +v -2.451006 0.057443 0.044872 +v -1.853526 -0.594289 0.017729 +v -2.858256 -0.241305 0.235101 +v -1.826267 -0.186940 -0.308153 +v -1.826267 -0.024039 0.289444 +v -2.586717 -0.376960 -0.172325 +v -2.613976 -0.051157 -0.199467 +v -2.776946 -0.105522 0.235101 +v -2.315295 0.057443 -0.145124 +v -2.098040 0.030325 0.262185 +v -3.021460 -0.186940 -0.009354 +v -1.826267 -0.404142 0.262185 +v -2.423863 -0.241305 0.289444 +v -1.826267 0.003143 -0.253810 +v -2.016613 -0.186940 -0.308153 +v -2.749687 -0.159822 -0.226609 +f 115 137 138 +f 104 103 105 +f 104 105 110 +f 105 103 112 +f 105 112 114 +f 110 105 116 +f 107 110 116 +f 105 113 116 +f 113 102 117 +f 107 116 117 +f 102 113 122 +f 113 105 122 +f 103 104 123 +f 108 118 123 +f 119 108 123 +f 105 114 124 +f 114 111 124 +f 122 105 124 +f 111 122 124 +f 111 109 125 +f 121 102 125 +f 102 122 125 +f 122 111 125 +f 104 110 126 +f 114 112 127 +f 120 106 127 +f 116 113 128 +f 113 117 128 +f 117 116 128 +f 118 108 130 +f 109 120 130 +f 120 118 130 +f 108 121 130 +f 125 109 130 +f 121 125 130 +f 104 115 131 +f 123 104 131 +f 119 123 131 +f 115 129 131 +f 129 119 131 +f 112 103 132 +f 118 120 132 +f 103 123 132 +f 123 118 132 +f 127 112 132 +f 120 127 132 +f 117 102 133 +f 108 119 133 +f 102 121 133 +f 121 108 133 +f 106 111 134 +f 111 114 134 +f 127 106 134 +f 114 127 134 +f 111 106 135 +f 109 111 135 +f 106 120 135 +f 120 109 135 +f 115 104 136 +f 104 126 136 +f 126 115 136 +f 110 107 137 +f 126 110 137 +f 115 126 137 +f 107 117 138 +f 129 115 138 +f 119 129 138 +f 117 133 138 +f 133 119 138 +f 137 107 138 +o convex_3 +v -1.337355 -0.458461 -0.335250 +v -1.255833 -0.512799 0.343704 +v -1.283026 -0.512799 0.343704 +v -1.283026 0.220552 0.099284 +v -1.826267 -0.023967 0.289330 +v -1.826267 -0.349786 -0.308129 +v -1.826267 -0.594305 0.072030 +v -1.255833 -0.838824 -0.063575 +v -1.826267 0.030370 -0.226633 +v -1.255833 -0.023967 -0.253754 +v -1.255833 0.084708 0.262209 +v -1.771937 -0.567136 0.207900 +v -1.283026 -0.811656 0.207900 +v -1.283026 -0.702980 -0.308129 +v -1.826267 -0.512799 -0.226633 +v -1.255833 -0.241422 -0.335250 +v -1.771937 0.057539 0.262209 +v -1.826267 -0.295655 0.289330 +v -1.608948 -0.702980 -0.063575 +v -1.255833 0.057539 -0.199446 +v -1.283026 -0.594305 0.343704 +v -1.826267 -0.186980 -0.308129 +v -1.826267 0.057539 -0.172258 +v -1.255833 0.220552 0.072030 +v -1.826267 0.003201 -0.253754 +v -1.826267 0.057539 0.099284 +v -1.554562 -0.241422 -0.335250 +v -1.364492 -0.811656 -0.063575 +f 157 153 166 +f 141 140 143 +f 143 144 145 +f 144 143 147 +f 140 146 148 +f 143 140 149 +f 140 148 149 +f 146 140 151 +f 150 145 151 +f 144 139 152 +f 145 144 153 +f 144 152 153 +f 148 146 154 +f 152 139 154 +f 146 152 154 +f 149 142 155 +f 143 149 155 +f 141 143 156 +f 143 145 156 +f 145 150 156 +f 145 153 157 +f 149 148 158 +f 140 141 159 +f 151 140 159 +f 150 151 159 +f 141 156 159 +f 156 150 159 +f 144 147 160 +f 147 143 161 +f 142 149 162 +f 158 147 162 +f 149 158 162 +f 161 142 162 +f 147 161 162 +f 148 154 163 +f 147 158 163 +f 158 148 163 +f 160 147 163 +f 155 142 164 +f 143 155 164 +f 142 161 164 +f 161 143 164 +f 139 144 165 +f 154 139 165 +f 144 160 165 +f 163 154 165 +f 160 163 165 +f 151 145 166 +f 146 151 166 +f 152 146 166 +f 153 152 166 +f 145 157 166 +o convex_4 +v 1.297535 -0.702847 -0.226633 +v 1.406357 0.166129 0.153525 +v 1.406357 0.166129 0.099284 +v 2.954184 -0.268455 -0.036454 +v 1.297535 -0.757206 0.316584 +v 1.297535 0.030328 -0.280875 +v 2.737028 -0.241275 0.235088 +v 2.682698 -0.159833 -0.226633 +v 2.737028 -0.458424 -0.036454 +v 2.709782 -0.024031 -0.009333 +v 1.297535 0.003148 0.235088 +v 1.406357 -0.349802 -0.335250 +v 2.492463 -0.051211 0.235088 +v 1.324943 -0.811565 0.017721 +v 1.487932 -0.512783 0.343704 +v 2.682698 -0.295634 -0.226633 +v 2.546793 -0.024031 -0.172258 +v 2.574039 -0.431340 0.180713 +v 1.949653 -0.214096 -0.308129 +v 1.297535 0.166129 0.044909 +v 1.352027 -0.675764 -0.253754 +v 1.352027 -0.757206 0.316584 +v 2.682698 -0.024031 0.099284 +v 2.737028 -0.295634 0.235088 +v 1.895324 -0.349802 0.316584 +v 2.737028 -0.458424 0.017721 +v 1.297535 -0.268455 -0.335250 +v 1.895324 -0.051211 -0.280875 +v 2.954184 -0.214096 0.017721 +v 2.302391 -0.268455 -0.280875 +v 1.297535 -0.539962 0.343704 +v 1.324943 -0.811565 0.099284 +v 2.628368 -0.431340 -0.117950 +v 1.297535 0.138950 0.180713 +v 1.379273 0.030328 -0.280875 +v 2.546793 -0.295634 0.262209 +v 1.324943 -0.757206 -0.117950 +v 1.324943 -0.675764 0.343704 +v 2.356720 -0.132653 0.262209 +f 191 202 205 +f 167 171 172 +f 169 168 176 +f 172 171 177 +f 171 167 180 +f 174 170 182 +f 170 175 182 +f 169 176 183 +f 176 174 183 +f 168 169 186 +f 172 177 186 +f 169 183 186 +f 176 168 189 +f 179 173 189 +f 168 179 189 +f 188 184 190 +f 177 181 191 +f 175 170 192 +f 180 175 192 +f 184 188 192 +f 170 190 192 +f 190 184 192 +f 167 172 193 +f 185 178 193 +f 187 167 193 +f 178 187 193 +f 183 174 194 +f 174 185 194 +f 170 174 195 +f 174 176 195 +f 189 173 195 +f 176 189 195 +f 190 170 195 +f 173 190 195 +f 174 182 196 +f 185 174 196 +f 178 185 196 +f 187 178 196 +f 182 187 196 +f 177 171 197 +f 181 177 197 +f 171 180 198 +f 188 171 198 +f 180 192 198 +f 192 188 198 +f 182 175 199 +f 175 187 199 +f 187 182 199 +f 179 168 200 +f 177 179 200 +f 168 186 200 +f 186 177 200 +f 172 186 201 +f 186 183 201 +f 193 172 201 +f 185 193 201 +f 183 194 201 +f 194 185 201 +f 190 173 202 +f 191 181 202 +f 180 167 203 +f 175 180 203 +f 167 187 203 +f 187 175 203 +f 171 188 204 +f 188 190 204 +f 197 171 204 +f 181 197 204 +f 202 181 204 +f 190 202 204 +f 173 179 205 +f 179 177 205 +f 177 191 205 +f 202 173 205 +o convex_5 +v 1.297705 1.171274 0.126399 +v 1.460713 2.149160 0.017740 +v 1.460713 2.149160 -0.036478 +v 3.035829 1.768765 -0.009341 +v 1.297705 1.524485 -0.280989 +v 1.297705 1.850223 0.262195 +v 2.682589 1.795949 -0.253797 +v 2.791317 1.795949 0.180729 +v 1.297705 2.094790 -0.253797 +v 2.818372 2.013332 -0.036478 +v 2.791317 1.578758 -0.063671 +v 1.324930 1.361472 -0.253797 +v 1.324930 1.225644 0.235114 +v 2.139798 1.986147 0.180729 +v 1.487938 1.551669 0.289444 +v 1.297705 1.986147 0.235114 +v 2.519752 1.986147 -0.199467 +v 2.791317 1.741676 0.180729 +v 1.352155 1.171274 0.207922 +v 1.895286 1.877504 -0.280989 +v 2.791317 1.578758 -0.009341 +v 2.818372 1.795949 -0.226660 +v 1.297705 2.121975 -0.226660 +v 2.764093 2.013332 0.017740 +v 2.628310 1.660217 -0.199467 +v 1.297705 1.442930 0.289444 +v 1.297705 2.121975 0.072070 +v 1.297705 1.986147 -0.280989 +v 3.035829 1.823134 -0.009341 +v 2.628310 1.958962 0.126399 +v 2.601085 1.850223 -0.253797 +v 1.324930 1.171274 0.126399 +v 1.433658 1.986147 0.235114 +v 2.791317 1.850223 -0.226660 +v 3.008604 1.823134 -0.090808 +v 1.324930 1.660217 0.289444 +v 2.031069 2.040325 -0.226660 +f 222 236 242 +f 210 206 211 +f 210 211 214 +f 208 207 215 +f 206 210 217 +f 210 212 217 +f 214 211 221 +f 209 213 223 +f 213 220 223 +f 218 206 224 +f 223 218 224 +f 212 210 225 +f 216 209 226 +f 209 223 226 +f 224 216 226 +f 223 224 226 +f 207 208 228 +f 208 215 228 +f 214 221 228 +f 215 207 229 +f 207 219 229 +f 217 212 230 +f 216 217 230 +f 227 216 230 +f 212 227 230 +f 211 206 231 +f 206 218 231 +f 218 223 231 +f 223 220 231 +f 219 207 232 +f 207 228 232 +f 228 221 232 +f 210 214 233 +f 225 210 233 +f 214 225 233 +f 213 209 234 +f 229 213 234 +f 215 229 234 +f 219 213 235 +f 213 229 235 +f 229 219 235 +f 212 225 236 +f 225 214 236 +f 206 217 237 +f 217 216 237 +f 224 206 237 +f 216 224 237 +f 213 219 238 +f 221 211 238 +f 219 232 238 +f 232 221 238 +f 222 215 239 +f 227 212 239 +f 236 222 239 +f 212 236 239 +f 209 216 240 +f 216 227 240 +f 234 209 240 +f 215 234 240 +f 239 215 240 +f 227 239 240 +f 220 213 241 +f 211 231 241 +f 231 220 241 +f 238 211 241 +f 213 238 241 +f 215 222 242 +f 228 215 242 +f 214 228 242 +f 236 214 242 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/282/282.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/282/282.urdf new file mode 100644 index 000000000..8605d18cf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/282/282.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/283/283.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/283/283.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/283/283.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/283/283.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/283/283.obj new file mode 100644 index 000000000..b97730e77 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/283/283.obj @@ -0,0 +1,753 @@ +o convex_0 +v 0.267476 -1.113120 1.842065 +v -0.467935 -1.113120 1.234395 +v 0.555418 -1.113120 1.234395 +v 0.491431 0.038095 2.897122 +v -0.563915 0.038095 1.234395 +v -0.563915 -1.049001 3.185229 +v 0.523424 -1.016997 3.281198 +v 0.555418 0.006091 1.234395 +v -0.435942 -0.025912 3.089260 +v 0.331354 0.038095 3.281198 +v -0.563915 -0.793200 3.185229 +v -0.467935 0.006091 2.833410 +v 0.459437 0.038095 3.281198 +v -0.563915 -1.049001 2.705384 +v -0.435942 -1.049001 3.217085 +v -0.499819 -1.113120 1.938234 +v -0.563915 0.038095 1.554358 +v 0.523424 -1.049001 2.961235 +v -0.467935 -0.121809 3.121116 +v 0.555418 -1.113120 1.522502 +v -0.275974 0.038095 1.234395 +v -0.563915 -0.057915 1.234395 +f 14 5 22 +f 1 2 3 +f 3 2 5 +f 4 7 8 +f 3 5 8 +f 4 5 10 +f 5 6 11 +f 9 10 12 +f 7 4 13 +f 4 10 13 +f 10 7 13 +f 6 5 14 +f 7 10 15 +f 10 11 15 +f 11 6 15 +f 2 1 16 +f 14 2 16 +f 6 14 16 +f 1 15 16 +f 15 6 16 +f 10 5 17 +f 5 11 17 +f 12 10 17 +f 15 1 18 +f 7 15 18 +f 10 9 19 +f 11 10 19 +f 9 12 19 +f 17 11 19 +f 12 17 19 +f 1 3 20 +f 8 7 20 +f 3 8 20 +f 18 1 20 +f 7 18 20 +f 5 4 21 +f 4 8 21 +f 8 5 21 +f 5 2 22 +f 2 14 22 +o convex_1 +v 1.034959 1.061609 -0.748317 +v -1.107585 -3.446938 -0.748317 +v -1.107585 -3.446938 -0.716227 +v 1.099112 -3.575264 -0.236541 +v -0.979495 1.061145 1.234395 +v 1.002990 -3.639194 1.106241 +v -0.979495 1.061145 -0.812289 +v -1.075400 -3.671160 1.106241 +v 0.971022 1.061609 1.202304 +v 1.099112 -3.543298 -0.876261 +v -1.107585 1.061145 0.115200 +v -0.563687 -0.122047 -0.908352 +v 0.587399 -1.273737 1.234395 +v 1.034959 1.061609 -0.876261 +v -0.851620 -3.574800 -0.812289 +v -1.075400 -3.478903 1.138332 +v -0.595872 -1.592467 -0.908352 +v 0.587399 0.037781 -0.908352 +v -0.435813 -1.145411 1.234395 +v 1.034959 -3.639194 1.042269 +v 1.002990 1.061609 0.786591 +v 1.099112 -1.944089 -0.844170 +v -1.107585 -0.729857 0.498612 +v 0.843147 1.061609 1.234395 +v 0.907085 -3.575264 -0.684345 +v -1.107585 1.028716 -0.140479 +v -1.043432 -3.351040 -0.812080 +v -1.075400 -3.671160 0.786381 +v -1.011463 0.645129 1.202304 +v -0.787683 1.061145 -0.844380 +v 0.619367 -3.543298 -0.876261 +v -1.075400 -3.574800 -0.780199 +v 0.523245 -1.081480 -0.908352 +v -1.011463 0.069747 -0.812289 +v -1.011463 -3.542834 1.138332 +v -0.307938 -3.671160 1.042479 +v 1.002990 -2.487968 1.138122 +v -0.403844 0.037781 -0.908352 +v -0.691777 -0.410201 1.234395 +v -1.107585 -3.191212 -0.748317 +v 0.907085 -3.095315 1.138122 +v -1.075400 -3.159247 1.138332 +v 1.066928 -0.281875 -0.876261 +v -0.116127 -3.574800 -0.812289 +f 47 50 66 +f 25 24 30 +f 24 25 33 +f 31 23 36 +f 29 33 36 +f 39 34 40 +f 35 27 41 +f 23 31 43 +f 42 26 43 +f 31 42 43 +f 26 32 44 +f 43 26 44 +f 25 30 45 +f 33 25 45 +f 30 38 45 +f 33 27 46 +f 27 35 46 +f 31 36 46 +f 36 33 46 +f 32 26 47 +f 26 42 47 +f 24 33 48 +f 33 29 48 +f 39 37 49 +f 30 24 50 +f 27 33 51 +f 33 45 51 +f 34 29 52 +f 29 36 52 +f 32 37 53 +f 39 32 53 +f 37 39 53 +f 24 49 54 +f 49 37 54 +f 50 24 54 +f 37 50 54 +f 32 39 55 +f 40 32 55 +f 39 40 55 +f 29 34 56 +f 34 39 56 +f 48 29 56 +f 39 49 56 +f 30 28 57 +f 38 30 57 +f 35 41 57 +f 41 38 57 +f 28 30 58 +f 42 28 58 +f 47 42 58 +f 30 50 58 +f 50 47 58 +f 28 42 59 +f 42 31 59 +f 31 46 59 +f 46 35 59 +f 36 40 60 +f 40 34 60 +f 34 52 60 +f 52 36 60 +f 27 38 61 +f 41 27 61 +f 38 41 61 +f 24 48 62 +f 49 24 62 +f 48 56 62 +f 56 49 62 +f 57 28 63 +f 35 57 63 +f 28 59 63 +f 59 35 63 +f 38 27 64 +f 45 38 64 +f 27 51 64 +f 51 45 64 +f 36 23 65 +f 32 40 65 +f 40 36 65 +f 23 43 65 +f 44 32 65 +f 43 44 65 +f 37 32 66 +f 32 47 66 +f 50 37 66 +o convex_2 +v 0.171642 4.515264 -1.803744 +v -0.372028 4.355614 -1.995626 +v -0.308046 2.789000 -2.059607 +v -0.308046 1.797179 -1.452034 +v 0.331561 1.797179 -2.091598 +v 0.267580 4.387383 -1.548069 +v -0.308046 4.515264 -1.516078 +v 0.267580 4.547571 -2.091598 +v 0.235554 1.797179 -1.643979 +v -0.244065 1.797179 -2.091598 +v 0.075704 4.515264 -2.091598 +v 0.267580 3.172375 -1.580060 +v 0.043679 4.451458 -1.516078 +v -0.308046 1.797179 -1.675969 +v 0.299536 3.588057 -1.707960 +v -0.276021 2.436855 -2.091598 +v -0.276021 1.797179 -1.452034 +v -0.308046 3.811782 -1.484088 +v 0.267580 1.989135 -1.675969 +v -0.340003 4.419420 -1.995626 +f 73 77 86 +f 67 72 74 +f 73 67 74 +f 70 71 75 +f 71 70 76 +f 74 71 76 +f 74 76 77 +f 73 74 77 +f 72 67 79 +f 67 73 79 +f 68 69 80 +f 70 68 80 +f 69 76 80 +f 76 70 80 +f 71 74 81 +f 74 72 81 +f 72 78 81 +f 69 68 82 +f 76 69 82 +f 77 76 82 +f 68 77 82 +f 70 75 83 +f 78 72 83 +f 75 78 83 +f 72 79 83 +f 83 79 84 +f 68 70 84 +f 73 68 84 +f 79 73 84 +f 70 83 84 +f 75 71 85 +f 78 75 85 +f 71 81 85 +f 81 78 85 +f 68 73 86 +f 77 68 86 +o convex_3 +v -0.148108 1.765132 3.025348 +v 0.139648 1.093722 2.961235 +v 0.235567 1.093722 2.961235 +v -0.180102 1.765132 1.234395 +v 0.331548 1.733119 1.234395 +v -0.244090 1.221575 1.234395 +v 0.331548 1.637213 3.249142 +v 0.363542 1.221575 1.234395 +v -0.276084 1.125668 3.089260 +v -0.244090 1.765132 3.281198 +v 0.267561 1.221575 3.185229 +v 0.363542 1.509294 2.929379 +v -0.244090 1.445334 1.330364 +v -0.116177 1.093722 3.121116 +v 0.363542 1.637213 1.234395 +v -0.212033 1.189628 1.522502 +v -0.148108 1.605200 3.281198 +v 0.331548 1.189628 1.458389 +v 0.331548 1.541241 3.281198 +v 0.363542 1.221575 1.586214 +v 0.331548 1.733119 1.490245 +v 0.011798 1.765132 1.234395 +v -0.212033 1.765132 1.682183 +f 99 96 109 +f 90 91 92 +f 92 91 94 +f 87 90 96 +f 93 87 96 +f 90 92 99 +f 92 95 99 +f 95 96 99 +f 88 89 100 +f 89 97 100 +f 94 91 101 +f 93 98 101 +f 98 94 101 +f 95 92 102 +f 88 100 102 +f 100 95 102 +f 96 95 103 +f 95 100 103 +f 100 97 103 +f 89 88 104 +f 94 89 104 +f 92 94 104 +f 88 102 104 +f 102 92 104 +f 93 96 105 +f 98 93 105 +f 97 98 105 +f 96 103 105 +f 103 97 105 +f 89 94 106 +f 97 89 106 +f 94 98 106 +f 98 97 106 +f 87 93 107 +f 101 91 107 +f 93 101 107 +f 90 87 108 +f 91 90 108 +f 87 107 108 +f 107 91 108 +f 96 90 109 +f 90 99 109 +o convex_4 +v 0.267598 1.061609 -1.580032 +v -0.340046 0.038207 -2.027626 +v -0.340046 0.038207 -1.867710 +v 0.235598 0.038207 -1.771901 +v 0.203598 1.061609 -2.027626 +v -0.307987 1.061609 -1.611985 +v -0.243987 0.038207 -1.547978 +v 0.235598 0.038207 -2.059629 +v -0.180046 1.061609 -2.059629 +v 0.203598 0.038207 -1.547978 +v -0.275987 0.358070 -1.547978 +v -0.340046 0.741746 -1.803804 +v 0.267598 0.613720 -1.835757 +v -0.243987 0.773702 -2.059629 +f 121 118 123 +f 112 111 113 +f 110 114 115 +f 112 113 116 +f 113 111 117 +f 114 117 118 +f 115 114 118 +f 113 110 119 +f 116 113 119 +f 116 119 120 +f 115 112 120 +f 110 115 120 +f 112 116 120 +f 119 110 120 +f 111 112 121 +f 112 115 121 +f 115 118 121 +f 110 113 122 +f 114 110 122 +f 113 117 122 +f 117 114 122 +f 117 111 123 +f 118 117 123 +f 111 121 123 +o convex_5 +v -0.212021 1.765060 -2.699196 +v 0.267511 1.061609 -2.827133 +v 0.331561 1.061609 -2.827133 +v -0.180027 1.093700 -2.091660 +v 0.331561 1.637179 -2.091660 +v 0.299567 1.733107 -2.859137 +v -0.244015 1.189628 -2.795130 +v -0.244015 1.669132 -2.091660 +v 0.203586 1.189628 -2.091660 +v -0.308065 1.765060 -2.827133 +v -0.212021 1.093700 -2.763127 +v -0.276009 1.605225 -2.315608 +f 131 133 135 +f 125 126 127 +f 128 126 129 +f 126 125 129 +f 124 128 129 +f 128 124 131 +f 127 128 131 +f 127 126 132 +f 128 127 132 +f 126 128 132 +f 129 125 133 +f 124 129 133 +f 125 130 133 +f 131 124 133 +f 125 127 134 +f 130 125 134 +f 127 130 134 +f 130 127 135 +f 127 131 135 +f 133 130 135 +o convex_6 +v -0.180099 1.797179 -1.484166 +v -0.180099 1.061681 -2.059560 +v -0.180099 1.093718 -2.091551 +v 0.331561 1.573203 -2.091551 +v 0.299545 1.285584 -0.972424 +v -0.308031 1.285584 -0.972424 +v -0.244065 1.797179 -2.091551 +v 0.299545 1.669172 -1.004415 +v 0.267595 1.061681 -1.707772 +v 0.331561 1.797179 -2.091551 +v -0.340046 1.637207 -0.972424 +v -0.308031 1.061681 -1.611800 +v 0.203629 1.061681 -2.027570 +v -0.308031 1.797179 -1.675781 +v -0.308031 1.061681 -1.771754 +v 0.267595 1.253619 -0.972424 +v 0.235579 1.797179 -1.643791 +v 0.267595 1.061681 -1.579809 +v -0.276081 1.253619 -0.972424 +v -0.340046 1.381481 -1.324213 +f 149 150 155 +f 139 138 142 +f 139 140 144 +f 140 139 145 +f 139 142 145 +f 142 136 145 +f 143 140 145 +f 141 140 146 +f 143 136 146 +f 140 143 146 +f 137 144 147 +f 137 138 148 +f 138 139 148 +f 144 137 148 +f 139 144 148 +f 136 142 149 +f 146 136 149 +f 138 137 150 +f 142 138 150 +f 137 147 150 +f 149 142 150 +f 140 141 151 +f 136 143 152 +f 145 136 152 +f 143 145 152 +f 144 140 153 +f 147 144 153 +f 140 151 153 +f 153 151 154 +f 141 147 154 +f 151 141 154 +f 147 153 154 +f 141 146 155 +f 147 141 155 +f 146 149 155 +f 150 147 155 +o convex_7 +v 2.122351 1.477316 0.466844 +v 3.113730 1.701175 0.019115 +v 3.081586 1.573247 0.274937 +v 1.994792 1.093590 -0.076838 +v 1.035353 1.669178 -0.012870 +v 1.035353 1.253575 0.434806 +v 3.081586 1.253575 0.466844 +v 1.035353 1.669178 0.402875 +v 2.953824 1.093590 -0.076838 +v 1.035353 1.093590 0.083084 +v 2.953824 1.701175 0.434806 +v 1.834886 1.701175 -0.044854 +v 1.099438 1.093590 -0.044854 +v 3.113730 1.701175 -0.044854 +v 2.985765 1.669178 0.466844 +v 3.017705 1.445319 -0.076838 +v 2.953824 1.093590 -0.012870 +v 1.419251 1.669178 0.434806 +v 1.962648 1.253575 0.466844 +v 3.049646 1.221578 0.402875 +f 162 174 175 +f 157 158 162 +f 160 161 163 +f 161 160 165 +f 159 164 165 +f 163 166 167 +f 160 163 167 +f 166 157 167 +f 159 165 168 +f 165 160 168 +f 167 159 168 +f 160 167 168 +f 157 162 169 +f 162 164 169 +f 167 157 169 +f 158 157 170 +f 156 162 170 +f 162 158 170 +f 157 166 170 +f 164 159 171 +f 159 167 171 +f 169 164 171 +f 167 169 171 +f 164 162 172 +f 165 164 172 +f 161 156 173 +f 163 161 173 +f 166 163 173 +f 156 170 173 +f 170 166 173 +f 156 161 174 +f 162 156 174 +f 161 165 174 +f 174 165 175 +f 172 162 175 +f 165 172 175 +o convex_8 +v 0.331548 -1.528801 -1.579997 +v 0.267561 -1.177170 -2.123642 +v 0.267561 -1.145148 -2.123642 +v -0.276084 -1.145148 -1.515997 +v -0.212033 -1.496826 -1.995641 +v 0.331548 -1.145148 -1.515997 +v -0.244090 -1.145148 -2.027642 +v -0.244090 -1.528801 -1.612057 +v 0.363542 -1.624727 -1.707938 +v 0.331548 -1.464851 -2.027642 +v 0.331548 -1.145148 -2.123642 +f 185 177 186 +f 178 179 181 +f 179 176 181 +f 178 177 182 +f 179 178 182 +f 177 180 182 +f 182 180 183 +f 176 179 183 +f 179 182 183 +f 181 176 184 +f 183 180 184 +f 176 183 184 +f 180 177 185 +f 184 180 185 +f 184 185 186 +f 177 178 186 +f 178 181 186 +f 181 184 186 +o convex_9 +v -0.403884 0.038091 -0.908540 +v 0.203561 -1.144985 -2.251529 +v 0.235454 -1.144985 -2.251529 +v 0.395486 -0.121721 -2.827230 +v 0.587411 0.006129 -0.908540 +v -0.499790 -1.144985 -0.908540 +v -0.531796 -0.121837 -2.827230 +v 0.523399 -1.081060 -0.908540 +v 0.555405 -1.049097 -2.795111 +v -0.435890 -0.985057 -2.762992 +v 0.235454 0.038091 -2.059378 +v 0.587411 -0.121721 -2.827230 +v -0.563915 -0.121837 -0.908540 +v -0.339984 0.038091 -2.027635 +v 0.587411 -0.793166 -2.187479 +v -0.243965 -1.144985 -2.027635 +v -0.563915 -0.601391 -0.972590 +v 0.331473 -1.144985 -1.516172 +v 0.555405 -0.953094 -0.908540 +v -0.499790 -0.441578 -2.827230 +v 0.587411 -0.665200 -2.827230 +v 0.203561 -1.048982 -2.795111 +v -0.499790 -1.112907 -1.228416 +v 0.587411 -0.473656 -0.908540 +v 0.555405 -1.081060 -1.420191 +v 0.587411 0.006129 -1.292466 +v 0.523399 -1.081060 -2.731061 +v -0.563915 -0.249687 -1.836048 +f 206 209 214 +f 188 189 192 +f 191 187 192 +f 191 192 194 +f 187 191 197 +f 190 193 197 +f 193 190 198 +f 190 197 198 +f 192 187 199 +f 187 193 199 +f 193 187 200 +f 187 197 200 +f 197 193 200 +f 198 191 201 +f 188 192 202 +f 192 199 203 +f 192 189 204 +f 194 192 204 +f 191 194 205 +f 193 198 206 +f 201 195 207 +f 198 201 207 +f 206 198 207 +f 206 207 208 +f 188 202 208 +f 202 196 208 +f 196 206 208 +f 207 195 208 +f 202 192 209 +f 196 202 209 +f 192 203 209 +f 206 196 209 +f 201 191 210 +f 191 205 210 +f 210 205 211 +f 195 201 211 +f 194 204 211 +f 205 194 211 +f 201 210 211 +f 197 191 212 +f 191 198 212 +f 198 197 212 +f 189 188 213 +f 204 189 213 +f 188 208 213 +f 208 195 213 +f 195 211 213 +f 211 204 213 +f 199 193 214 +f 203 199 214 +f 193 206 214 +f 209 203 214 +o convex_10 +v -2.290555 1.125681 0.019115 +v -1.107598 1.797041 -0.012835 +v -2.226881 1.669160 0.466809 +v -1.107598 1.093590 0.370893 +v -3.026476 1.733135 -0.044851 +v -2.930494 1.253563 0.402843 +v -3.026476 1.189656 -0.172782 +v -1.107598 1.221609 -0.012835 +v -1.107598 1.637207 0.434859 +v -2.994357 1.669160 0.498825 +v -1.107598 1.765088 -0.108817 +v -2.578687 1.797041 -0.012835 +v -2.418656 1.381513 -0.172782 +v -2.706600 1.605185 0.498825 +v -2.930494 1.157634 -0.172782 +v -1.139717 1.093590 0.210946 +v -2.994357 1.765088 0.147046 +v -1.107598 1.477303 0.434859 +v -2.482518 1.285585 -0.172782 +v -3.026476 1.317538 -0.172782 +v -1.299561 1.093590 0.370893 +f 230 218 235 +f 216 218 222 +f 216 217 223 +f 218 216 223 +f 217 216 224 +f 219 221 224 +f 221 220 224 +f 223 217 224 +f 216 222 225 +f 216 225 226 +f 225 219 226 +f 223 224 228 +f 224 220 228 +f 215 220 229 +f 220 221 229 +f 221 227 229 +f 222 218 230 +f 215 229 230 +f 229 222 230 +f 224 216 231 +f 219 224 231 +f 216 226 231 +f 226 219 231 +f 218 223 232 +f 228 218 232 +f 223 228 232 +f 225 222 233 +f 227 225 233 +f 222 229 233 +f 229 227 233 +f 221 219 234 +f 219 225 234 +f 227 221 234 +f 225 227 234 +f 220 215 235 +f 218 228 235 +f 228 220 235 +f 215 230 235 +o convex_11 +v -1.011535 1.061747 -0.652195 +v 1.035150 1.413507 0.434743 +v 1.035150 1.253741 0.434743 +v -0.979444 2.468648 1.234395 +v 1.003059 2.404604 -0.844224 +v -0.947563 2.436558 -0.812255 +v -0.979444 1.061747 1.234395 +v 0.939087 2.468648 1.234395 +v 1.035150 1.061747 -0.876193 +v 0.970968 1.061747 1.202210 +v -0.308053 1.285694 -0.972315 +v -1.107598 1.797082 -0.076541 +v -1.107598 1.093837 0.370806 +v -0.979444 1.061747 -0.812255 +v 0.299577 1.637454 -0.972315 +v 0.970968 2.468648 0.562618 +v 0.843234 1.061747 1.234395 +v 1.035150 2.020891 -0.364476 +v -0.339934 1.637454 -0.972315 +v -1.107598 1.637454 0.434743 +v -0.883591 2.468648 0.434743 +v -1.107598 1.061747 -0.108510 +v 1.035150 1.669407 0.402775 +v -0.148018 2.404604 -0.844008 +v 0.267486 1.253741 -0.972315 +v 0.043689 2.468648 0.210962 +v 1.035150 1.381553 -0.876193 +v -0.787738 1.061747 -0.844008 +f 246 260 263 +f 239 242 243 +f 237 238 244 +f 242 236 244 +f 242 244 245 +f 238 237 245 +f 244 238 245 +f 241 236 247 +f 239 241 247 +f 236 241 249 +f 244 236 249 +f 239 243 251 +f 243 242 252 +f 242 245 252 +f 245 243 252 +f 237 244 253 +f 240 251 253 +f 249 241 254 +f 246 249 254 +f 240 250 254 +f 250 246 254 +f 242 239 255 +f 239 247 255 +f 248 242 255 +f 247 248 255 +f 241 239 256 +f 239 251 256 +f 236 242 257 +f 247 236 257 +f 242 248 257 +f 248 247 257 +f 245 237 258 +f 243 245 258 +f 251 243 258 +f 237 253 258 +f 253 251 258 +f 241 240 259 +f 240 254 259 +f 254 241 259 +f 250 244 260 +f 246 250 260 +f 240 241 261 +f 251 240 261 +f 241 256 261 +f 256 251 261 +f 250 240 262 +f 244 250 262 +f 253 244 262 +f 240 253 262 +f 244 249 263 +f 249 246 263 +f 260 244 263 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/283/283.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/283/283.urdf new file mode 100644 index 000000000..985815bc0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/283/283.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/284/284.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/284/284.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/284/284.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/284/284.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/284/284.obj new file mode 100644 index 000000000..d9bd9eb4f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/284/284.obj @@ -0,0 +1,1884 @@ +o convex_0 +v -0.054534 -1.540799 -3.768993 +v -0.001422 -1.567344 -2.282204 +v -0.001422 -1.593926 -2.282204 +v -0.320031 -1.567344 -2.282204 +v -0.266888 -1.408053 -2.282204 +v -0.320031 -1.408053 -4.247150 +v -0.001422 -1.408053 -4.247150 +v -0.320031 -1.514253 -4.247150 +v -0.001422 -1.514253 -4.247150 +f 1 8 9 +f 3 2 4 +f 4 2 5 +f 4 5 6 +f 6 5 7 +f 2 3 7 +f 5 2 7 +f 1 3 8 +f 3 4 8 +f 4 6 8 +f 6 7 8 +f 8 7 9 +f 3 1 9 +f 7 3 9 +o convex_1 +v -0.001360 -0.956680 -3.928206 +v 0.317218 -1.169039 -3.423685 +v 0.317218 -1.195601 -3.423685 +v -0.001360 -1.089382 -2.282204 +v -0.001360 -1.195601 -4.194033 +v 0.317218 -0.930119 -4.167470 +v 0.264106 -1.195601 -2.282204 +v 0.317218 -1.195601 -4.220597 +v 0.264106 -1.089382 -2.282204 +v -0.001360 -0.956680 -4.194033 +f 15 17 19 +f 13 10 14 +f 11 12 15 +f 10 13 15 +f 12 11 16 +f 13 14 16 +f 14 12 16 +f 12 14 17 +f 15 12 17 +f 11 15 18 +f 15 13 18 +f 16 11 18 +f 13 16 18 +f 14 10 19 +f 10 15 19 +f 17 14 19 +o convex_2 +v -0.983732 3.026208 -0.290704 +v -1.063436 3.318149 -0.184503 +v -1.063436 3.318149 -0.131412 +v -0.160887 3.690187 -0.131412 +v -0.213906 1.778347 -0.104831 +v -0.904116 1.778347 -0.290704 +v -0.585652 1.831495 -0.104831 +v -1.063436 3.690187 -0.104831 +v -1.063436 3.690187 -0.290704 +v -0.160887 1.778347 -0.157940 +v -0.160887 3.690187 -0.157940 +v -0.957222 1.778347 -0.237595 +v -0.267012 3.690187 -0.104831 +f 27 24 32 +f 21 22 27 +f 22 26 27 +f 26 24 27 +f 20 25 28 +f 21 27 28 +f 27 23 28 +f 23 24 29 +f 24 25 29 +f 29 25 30 +f 25 20 30 +f 20 28 30 +f 28 23 30 +f 23 29 30 +f 22 21 31 +f 25 24 31 +f 26 22 31 +f 24 26 31 +f 21 28 31 +f 28 25 31 +f 24 23 32 +f 23 27 32 +o convex_3 +v 1.007371 3.743283 -0.158096 +v -0.983724 3.690187 -2.255651 +v -1.063223 3.690187 -0.768435 +v -0.983724 3.769836 -2.255651 +v 1.087296 3.663633 -2.175858 +v -1.090077 3.743283 -0.104831 +v 1.007371 3.690187 -0.158096 +v 1.087296 3.716740 -2.149120 +v 0.449600 3.769836 -0.742118 +v -1.063223 3.690187 -0.104831 +v 1.007371 3.663633 -1.114133 +v -1.036368 3.769836 -0.954548 +v -0.558735 3.769836 -2.255651 +v 0.768235 3.663633 -2.175858 +v 1.034012 3.743283 -1.087184 +f 45 41 47 +f 34 35 36 +f 36 35 38 +f 33 39 40 +f 39 37 40 +f 38 33 41 +f 33 38 42 +f 38 35 42 +f 39 33 42 +f 39 42 43 +f 37 39 43 +f 36 38 44 +f 38 41 44 +f 41 36 44 +f 34 36 45 +f 37 34 45 +f 40 37 45 +f 36 41 45 +f 35 34 46 +f 34 37 46 +f 42 35 46 +f 43 42 46 +f 37 43 46 +f 33 40 47 +f 41 33 47 +f 40 45 47 +o convex_4 +v 1.007636 3.690187 -0.157942 +v -0.160711 1.778347 -0.157942 +v 0.954456 1.778347 -0.290704 +v -0.160711 3.690187 -0.157942 +v 0.688788 1.778347 -0.131384 +v 0.980989 3.690187 -0.290704 +v -0.160711 3.690187 -0.131384 +v 0.980989 1.804921 -0.157942 +v 0.874859 3.690187 -0.131384 +v -0.160711 1.778347 -0.131384 +v 1.007636 2.708067 -0.290704 +f 55 50 58 +f 50 49 51 +f 49 50 52 +f 50 51 53 +f 51 48 53 +f 51 49 54 +f 48 51 54 +f 52 50 55 +f 52 55 56 +f 48 54 56 +f 54 52 56 +f 55 48 56 +f 49 52 57 +f 54 49 57 +f 52 54 57 +f 53 48 58 +f 50 53 58 +f 48 55 58 +o convex_5 +v 1.432302 -2.363963 1.169690 +v -0.718331 -2.284323 -0.290371 +v -0.718331 -2.310874 -0.210864 +v -0.718331 -2.310874 1.408543 +v 1.990109 -2.257760 1.143077 +v -0.319859 -2.390526 0.957118 +v 0.927784 -2.284323 -0.078132 +v -0.718331 -2.257760 1.222584 +v 0.423530 -2.390526 0.559086 +v -0.054477 -2.257760 -0.290371 +v 1.990109 -2.337412 1.408709 +v 1.990109 -2.284323 1.408709 +v -0.585242 -2.363963 1.275478 +v 1.990109 -2.257760 0.824219 +v 0.503331 -2.390526 1.143077 +v -0.718331 -2.337412 0.001541 +v -0.718331 -2.257760 -0.290371 +v 1.883532 -2.284323 0.718099 +v 1.272967 -2.363963 1.382096 +v 0.981072 -2.257760 -0.051352 +v -0.266836 -2.390526 0.506192 +f 74 67 79 +f 60 61 62 +f 60 62 66 +f 61 65 67 +f 61 60 68 +f 65 61 68 +f 66 63 68 +f 66 62 70 +f 63 66 70 +f 62 69 70 +f 69 63 70 +f 68 63 72 +f 63 69 72 +f 67 59 73 +f 64 67 73 +f 71 64 73 +f 62 61 74 +f 61 67 74 +f 71 62 74 +f 64 71 74 +f 60 66 75 +f 68 60 75 +f 66 68 75 +f 59 67 76 +f 67 65 76 +f 69 59 76 +f 72 69 76 +f 69 62 77 +f 59 69 77 +f 62 71 77 +f 73 59 77 +f 71 73 77 +f 65 68 78 +f 68 72 78 +f 76 65 78 +f 72 76 78 +f 67 64 79 +f 64 74 79 +o convex_6 +v 0.025142 -1.514212 -4.273704 +v -0.001370 -0.956691 -4.167513 +v 0.317226 -1.195636 -4.140937 +v -0.320031 -1.408002 -4.167513 +v 0.343803 -1.514212 -4.140937 +v 0.343803 -1.408002 -4.273704 +v -0.293389 -0.956691 -4.220576 +f 81 85 86 +f 82 81 83 +f 83 80 84 +f 82 83 84 +f 82 84 85 +f 81 82 85 +f 84 80 85 +f 85 80 86 +f 83 81 86 +f 80 83 86 +o convex_7 +v -0.001422 -1.089457 -2.282204 +v -0.320031 -1.408009 -4.167490 +v -0.320031 -1.195582 -4.167490 +v -0.001422 -0.983244 -4.167490 +v -0.240347 -1.062904 -2.282204 +v -0.293428 -1.408009 -2.282204 +v -0.293428 -0.956691 -4.008046 +v -0.266888 -1.408009 -3.795453 +v -0.001422 -0.956691 -3.928323 +v -0.001422 -1.116011 -2.494981 +f 92 94 96 +f 88 89 90 +f 89 88 92 +f 87 91 92 +f 90 89 93 +f 89 92 93 +f 92 91 93 +f 88 90 94 +f 92 88 94 +f 87 90 95 +f 91 87 95 +f 90 93 95 +f 93 91 95 +f 90 87 96 +f 87 92 96 +f 94 90 96 +o convex_8 +v -0.426057 1.645583 1.275971 +v -0.505904 1.725204 0.028160 +v -0.505904 1.778331 0.028160 +v 2.892922 1.725235 0.028160 +v 2.892922 1.778347 1.753846 +v -0.505904 1.751760 1.753846 +v 2.282092 1.672154 0.028160 +v 2.468069 1.725204 1.700636 +v -0.505904 1.619043 0.877489 +v 0.370418 1.778347 1.753846 +v 2.892922 1.778347 1.222761 +v -0.426057 1.645598 0.346743 +v 2.892922 1.698695 0.479514 +v 0.450265 1.645583 1.222761 +v -0.505904 1.725204 1.753846 +v 2.892922 1.751744 0.426473 +v 0.556063 1.672154 0.028160 +v 2.892922 1.751760 1.753846 +f 111 104 114 +f 98 99 100 +f 99 98 102 +f 98 100 103 +f 102 98 105 +f 99 102 106 +f 102 101 106 +f 101 100 107 +f 99 106 107 +f 106 101 107 +f 103 105 108 +f 105 98 108 +f 100 101 109 +f 103 100 109 +f 104 97 110 +f 105 103 110 +f 97 105 110 +f 103 109 110 +f 109 104 110 +f 101 102 111 +f 97 104 111 +f 102 105 111 +f 105 97 111 +f 100 99 112 +f 99 107 112 +f 107 100 112 +f 98 103 113 +f 108 98 113 +f 103 108 113 +f 109 101 114 +f 104 109 114 +f 101 111 114 +o convex_9 +v 0.343803 -1.275318 -4.061246 +v 0.210976 -1.593926 -2.760169 +v 0.290686 -1.593926 -2.760169 +v 0.264127 -1.195626 -2.282204 +v -0.001391 -1.487645 -4.140937 +v -0.001391 -1.593926 -2.282204 +v 0.343803 -1.514235 -4.140937 +v 0.290686 -1.195626 -4.140937 +v 0.264127 -1.593926 -2.282204 +v 0.237568 -1.195626 -2.282204 +v -0.001391 -1.540786 -3.769045 +v -0.001391 -1.540786 -2.441586 +f 120 124 126 +f 117 115 118 +f 116 117 120 +f 115 117 121 +f 121 119 122 +f 118 115 122 +f 115 121 122 +f 117 118 123 +f 120 117 123 +f 118 120 123 +f 120 118 124 +f 122 119 124 +f 118 122 124 +f 117 116 125 +f 116 120 125 +f 120 119 125 +f 121 117 125 +f 119 121 125 +f 119 120 126 +f 124 119 126 +o convex_10 +v -0.160666 -3.107565 0.506000 +v -0.213747 -4.115713 1.196213 +v -0.240256 -4.115713 1.196213 +v -0.319971 -2.390526 1.090042 +v 0.290615 -2.390526 1.036852 +v 0.290553 -4.222696 0.638696 +v -0.213747 -4.249259 0.479405 +v 0.290553 -2.390526 0.638696 +v 0.210963 -4.249259 1.063447 +v -0.240318 -2.390526 0.559121 +v 0.264044 -2.390526 1.089972 +v -0.319971 -2.629782 0.957277 +v -0.240256 -4.222696 1.116497 +v 0.317249 -3.877367 0.638696 +v -0.134094 -4.249259 0.479405 +v -0.266828 -4.115713 1.143092 +v 0.290553 -4.142823 0.797986 +v 0.317249 -2.390526 0.665221 +v 0.184453 -2.709291 1.116567 +v -0.160666 -2.390526 0.532525 +f 136 134 146 +f 130 131 134 +f 130 134 136 +f 131 130 137 +f 135 131 137 +f 130 136 138 +f 136 133 138 +f 128 129 139 +f 135 128 139 +f 133 135 139 +f 133 127 141 +f 127 134 141 +f 132 135 141 +f 135 133 141 +f 140 132 141 +f 134 140 141 +f 129 130 142 +f 130 138 142 +f 138 133 142 +f 139 129 142 +f 133 139 142 +f 131 135 143 +f 135 132 143 +f 132 140 143 +f 140 131 143 +f 134 131 144 +f 140 134 144 +f 131 140 144 +f 129 128 145 +f 130 129 145 +f 128 135 145 +f 137 130 145 +f 135 137 145 +f 127 133 146 +f 134 127 146 +f 133 136 146 +o convex_11 +v -1.461972 -0.345920 -0.131396 +v -2.975314 -1.673519 -0.104847 +v -2.975314 -1.673519 -0.078285 +v -1.461972 -2.231206 -0.211044 +v -2.975314 -0.345920 -0.157919 +v -2.497386 -2.231206 -0.078285 +v -2.975314 -0.345920 -0.078285 +v -2.789387 -2.231206 -0.157919 +v -1.461972 -1.195738 -0.104834 +v -2.019457 -0.345920 -0.157932 +v -1.461972 -0.345920 -0.104834 +v -1.886864 -2.204632 -0.211044 +v -1.461972 -1.885743 -0.211044 +v -1.461972 -2.231206 -0.184482 +v -2.975314 -1.567038 -0.157919 +v -2.948647 -2.231206 -0.078285 +f 161 154 162 +f 148 149 151 +f 147 151 153 +f 151 149 153 +f 149 152 153 +f 150 152 154 +f 150 147 155 +f 151 147 156 +f 147 153 157 +f 153 152 157 +f 155 147 157 +f 152 155 157 +f 150 154 158 +f 147 150 159 +f 156 147 159 +f 151 156 159 +f 150 158 159 +f 158 151 159 +f 152 150 160 +f 150 155 160 +f 155 152 160 +f 148 151 161 +f 158 154 161 +f 151 158 161 +f 149 148 162 +f 152 149 162 +f 154 152 162 +f 148 161 162 +o convex_12 +v 1.140361 -0.478551 -0.157937 +v 0.928007 1.353109 -0.290704 +v 0.928007 1.353109 -0.264127 +v 1.060802 -2.204653 -0.290704 +v 1.246585 -0.345860 -0.211052 +v 0.928007 1.592474 -0.157937 +v 1.087312 1.592474 -0.157937 +v 1.246585 -2.177892 -0.264127 +v 1.060802 -2.098351 -0.211052 +v 0.981119 1.433021 -0.290704 +v 1.246585 -2.204653 -0.211052 +v 1.220013 -0.345860 -0.157937 +f 173 167 174 +f 165 164 166 +f 164 165 168 +f 168 163 169 +f 165 166 171 +f 168 165 171 +f 163 168 171 +f 166 164 172 +f 164 168 172 +f 168 169 172 +f 169 167 172 +f 170 166 172 +f 167 170 172 +f 166 170 173 +f 170 167 173 +f 171 166 173 +f 163 171 173 +f 169 163 174 +f 167 169 174 +f 163 173 174 +o convex_13 +v 0.290608 -0.292813 -2.122884 +v -1.089937 -2.337420 -2.176001 +v -0.744801 -2.337420 -2.176001 +v -0.081196 -1.063143 -2.282204 +v -1.063410 -0.319431 -2.202544 +v 0.343662 -2.151092 -2.149442 +v -0.744801 -2.151092 -2.122884 +v 0.264080 -1.593908 -2.282204 +v -1.063410 -0.346050 -2.149442 +v 0.317135 -0.292813 -2.176016 +v -0.320083 -1.567290 -2.282204 +v 0.343662 -2.204528 -2.202544 +v 0.343662 -1.859091 -2.122884 +v 0.078108 -0.292813 -2.202544 +v 0.264080 -1.116380 -2.282204 +v -1.089937 -2.337420 -2.149442 +v -1.063410 -1.275489 -2.202544 +f 185 176 191 +f 175 179 183 +f 181 175 183 +f 179 178 185 +f 178 182 185 +f 185 182 186 +f 177 176 186 +f 180 177 186 +f 176 185 186 +f 186 184 187 +f 175 181 187 +f 181 180 187 +f 184 175 187 +f 180 186 187 +f 179 175 188 +f 178 179 188 +f 175 184 188 +f 188 184 189 +f 182 178 189 +f 186 182 189 +f 184 186 189 +f 178 188 189 +f 176 177 190 +f 179 176 190 +f 177 180 190 +f 180 181 190 +f 183 179 190 +f 181 183 190 +f 176 179 191 +f 179 185 191 +o convex_14 +v 1.060654 -2.204653 -1.246571 +v -0.266529 -2.310856 -2.202437 +v -0.266529 -2.284305 -2.202437 +v -0.558948 -2.257767 -0.290704 +v -0.744588 -2.204653 -2.175677 +v 0.927659 -2.257767 -0.290704 +v -1.036794 -2.337394 -1.273330 +v 1.007371 -2.231217 -2.202437 +v 0.874589 -2.204653 -0.290704 +v -0.611806 -2.337420 -2.175677 +v -1.090077 -2.257767 -2.149105 +v -1.036794 -2.257767 -1.193800 +v 0.847947 -2.257767 -2.202437 +v 1.007371 -2.204653 -2.202437 +v -0.558948 -2.284305 -0.290704 +v -1.090077 -2.337394 -2.149105 +v -0.080890 -2.231217 -0.290704 +v 1.087296 -2.231217 -0.290704 +f 197 204 209 +f 194 193 196 +f 193 194 199 +f 192 196 200 +f 195 197 200 +f 197 198 201 +f 195 196 203 +f 196 202 203 +f 193 199 204 +f 201 193 204 +f 197 201 204 +f 196 192 205 +f 194 196 205 +f 199 194 205 +f 192 199 205 +f 197 195 206 +f 198 197 206 +f 195 203 206 +f 203 198 206 +f 196 193 207 +f 193 201 207 +f 201 198 207 +f 202 196 207 +f 198 203 207 +f 203 202 207 +f 196 195 208 +f 200 196 208 +f 195 200 208 +f 199 192 209 +f 192 200 209 +f 200 197 209 +f 204 199 209 +o convex_15 +v 2.282196 -2.204653 -0.157867 +v -0.081051 -2.257750 -0.290704 +v -0.081051 -2.257750 -0.237467 +v 2.282196 -2.257750 -0.157867 +v 2.122811 -2.231204 1.010409 +v 0.901631 -2.204653 -0.290704 +v 2.175785 -2.257750 1.010409 +v -0.081051 -2.231204 -0.237467 +f 215 211 217 +f 212 211 213 +f 213 211 215 +f 210 213 215 +f 214 210 215 +f 212 213 216 +f 213 210 216 +f 210 214 216 +f 214 212 216 +f 211 212 217 +f 212 214 217 +f 214 215 217 +o convex_16 +v -1.010373 -2.310835 -0.768547 +v -0.559099 -2.257739 -0.290704 +v -0.930713 -2.151546 -0.290704 +v -0.559099 -2.257739 -1.113777 +v -1.010373 -2.151546 -1.113777 +v -0.983820 -2.310835 -0.317372 +v -0.585608 -2.310835 -1.113777 +v -1.010373 -2.310835 -1.113777 +f 224 218 225 +f 220 219 221 +f 220 221 222 +f 220 222 223 +f 219 220 223 +f 222 218 223 +f 223 218 224 +f 221 219 224 +f 222 221 224 +f 219 223 224 +f 222 224 225 +f 218 222 225 +o convex_17 +v -1.036960 -2.045291 -1.113777 +v -0.930757 0.822427 -0.290704 +v -0.930757 0.822427 -0.715453 +v -0.957319 -2.151546 -0.290704 +v -1.010399 -0.160358 -0.290704 +v -0.983859 0.822427 -1.113777 +v -0.983859 -2.151546 -1.113777 +v -1.036960 -0.930051 -0.689108 +v -0.983859 -2.151546 -0.290704 +v -0.983859 0.716172 -0.317372 +v -0.957319 -2.151546 -0.742040 +v -0.957319 0.131625 -1.113777 +v -1.036960 -0.797305 -1.113777 +f 235 231 238 +f 228 227 229 +f 229 227 230 +f 227 228 231 +f 226 231 232 +f 229 230 234 +f 232 229 234 +f 226 232 234 +f 233 226 234 +f 230 233 234 +f 230 227 235 +f 227 231 235 +f 228 229 236 +f 229 232 236 +f 236 232 237 +f 231 228 237 +f 232 231 237 +f 228 236 237 +f 231 226 238 +f 226 233 238 +f 233 230 238 +f 230 235 238 +o convex_18 +v -2.975354 -0.345920 -0.184491 +v -2.895712 1.592474 -0.051724 +v -2.922252 1.592474 -0.051724 +v -2.922252 1.592474 -0.184491 +v -2.869151 -0.345920 -0.157914 +v -2.975354 -0.345920 -0.051724 +v -2.869151 1.592474 -0.184491 +f 240 243 245 +f 241 240 242 +f 239 241 242 +f 243 240 244 +f 241 239 244 +f 240 241 244 +f 239 243 244 +f 242 240 245 +f 239 242 245 +f 243 239 245 +o convex_19 +v 1.087283 -2.204653 -0.662521 +v 0.981103 0.822427 -0.290704 +v 0.954542 0.822427 -0.290704 +v 0.981103 0.822427 -1.113777 +v 1.007652 -2.018572 -1.113777 +v 1.060722 -2.204653 -0.290704 +v 1.060722 -0.452585 -0.290704 +v 0.954542 -0.452585 -1.113777 +v 1.060722 -1.938865 -1.113777 +v 1.034174 -2.204653 -0.609427 +v 0.954542 0.822427 -1.113777 +v 1.007652 0.795463 -0.317372 +v 1.087283 -1.540627 -0.290704 +f 252 251 258 +f 248 247 249 +f 247 248 251 +f 247 251 252 +f 249 250 253 +f 246 250 254 +f 250 249 254 +f 252 246 254 +f 249 252 254 +f 250 246 255 +f 251 248 255 +f 246 251 255 +f 248 253 255 +f 253 250 255 +f 248 249 256 +f 253 248 256 +f 249 253 256 +f 249 247 257 +f 247 252 257 +f 252 249 257 +f 251 246 258 +f 246 252 258 +o convex_20 +v -0.904204 1.645757 -0.397052 +v -1.036965 3.690187 -0.290704 +v -1.010407 3.663239 -0.609427 +v -0.983864 0.822427 -1.113777 +v -0.930763 2.734080 -1.113777 +v -1.036965 3.690187 -1.113777 +v -0.957321 0.822427 -0.290704 +v -1.063524 3.397965 -0.290704 +v -0.930763 0.849095 -0.742040 +v -0.904204 1.831589 -0.290704 +v -1.063524 3.663239 -0.742040 +v -0.983864 0.822427 -0.689108 +v -0.930763 1.884643 -1.113777 +v -0.983864 3.557410 -1.087190 +f 268 263 272 +f 260 261 264 +f 263 262 264 +f 265 260 266 +f 259 265 267 +f 265 262 267 +f 261 260 268 +f 259 263 268 +f 260 265 268 +f 265 259 268 +f 260 264 269 +f 264 262 269 +f 262 266 269 +f 266 260 269 +f 262 265 270 +f 266 262 270 +f 265 266 270 +f 263 259 271 +f 262 263 271 +f 259 267 271 +f 267 262 271 +f 264 261 272 +f 263 264 272 +f 261 268 272 +o convex_21 +v 2.627389 1.592474 -0.104831 +v 1.087446 -0.345920 -0.184483 +v 1.193717 -0.345920 -0.211020 +v 1.087446 1.592474 -0.184483 +v 2.627389 0.052536 -0.237597 +v 1.432637 0.158601 -0.131407 +v 2.627389 -0.345920 -0.211020 +v 1.220247 1.592474 -0.131407 +v 2.228837 0.875253 -0.104831 +v 2.627389 1.592474 -0.131407 +v 1.936857 -0.345920 -0.237597 +v 1.087446 -0.345920 -0.157945 +v 2.627389 1.087763 -0.104831 +v 1.989917 1.592474 -0.104831 +f 281 273 286 +f 275 274 276 +f 274 275 279 +f 277 273 279 +f 273 276 280 +f 278 279 281 +f 276 273 282 +f 273 277 282 +f 277 276 282 +f 275 276 283 +f 276 277 283 +f 279 275 283 +f 277 279 283 +f 276 274 284 +f 274 279 284 +f 279 278 284 +f 280 276 284 +f 278 280 284 +f 279 273 285 +f 273 281 285 +f 281 279 285 +f 273 280 286 +f 280 278 286 +f 278 281 286 +o convex_22 +v 0.927976 1.168062 -0.423609 +v 1.007629 3.690187 -0.290704 +v 1.034186 3.690187 -0.317391 +v 1.034170 3.636384 -2.096058 +v 1.034170 -0.292813 -2.016350 +v 1.087283 3.663285 -2.096058 +v 0.981104 -0.292813 -2.069547 +v 0.981089 0.822630 -0.290704 +v 0.954548 -0.292813 -1.114115 +v 0.981089 3.690187 -0.290704 +v 0.927976 1.619542 -0.317391 +v 0.981104 -0.292813 -1.114115 +v 1.034170 -0.292813 -2.096058 +v 1.087283 3.636384 -2.016350 +v 0.954548 -0.212498 -1.459103 +v 0.954532 0.822630 -0.290704 +f 297 287 302 +f 289 288 294 +f 291 289 294 +f 293 291 295 +f 288 289 296 +f 289 292 296 +f 292 290 296 +f 294 288 296 +f 296 290 297 +f 291 294 298 +f 295 291 298 +f 294 295 298 +f 290 292 299 +f 293 290 299 +f 291 293 299 +f 289 291 300 +f 292 289 300 +f 291 299 300 +f 299 292 300 +f 290 293 301 +f 295 287 301 +f 293 295 301 +f 297 290 301 +f 287 297 301 +f 287 295 302 +f 295 294 302 +f 294 296 302 +f 296 297 302 +o convex_23 +v 3.078796 -1.965288 -0.131394 +v 2.627428 -0.345860 -0.237556 +v 2.627428 -0.345860 -0.211015 +v 2.999047 1.592474 -0.131412 +v 3.025689 -0.266320 -0.264151 +v 2.627428 1.592474 -0.104872 +v 2.892920 -2.204653 -0.131394 +v 2.999047 -0.345860 -0.078314 +v 2.654026 -0.319099 -0.264151 +v 2.999047 1.592474 -0.078314 +v 3.078796 -2.204653 -0.157971 +v 2.627428 1.592474 -0.131412 +v 2.627428 1.087726 -0.104872 +v 3.025645 -2.204653 -0.104836 +v 2.892920 -1.912138 -0.184475 +v 2.972493 -0.106867 -0.264151 +f 311 314 318 +f 306 303 307 +f 304 305 308 +f 305 304 309 +f 303 306 312 +f 306 308 312 +f 308 310 312 +f 310 303 312 +f 307 303 313 +f 304 308 314 +f 308 306 314 +f 311 304 314 +f 308 305 315 +f 305 309 315 +f 310 308 315 +f 310 315 316 +f 303 310 316 +f 313 303 316 +f 309 313 316 +f 315 309 316 +f 309 304 317 +f 311 307 317 +f 304 311 317 +f 307 313 317 +f 313 309 317 +f 306 307 318 +f 307 311 318 +f 314 306 318 +o convex_24 +v 2.892922 1.698664 0.027936 +v 0.928017 1.592474 -0.290704 +v -0.266695 1.698664 -0.157896 +v 0.981249 1.778311 -0.290704 +v -0.505904 1.778311 0.027936 +v 0.503164 1.672157 0.027936 +v 2.892922 1.592474 -0.104872 +v 2.892922 1.725225 -0.104872 +v 0.928017 1.592474 -0.157896 +v 2.892922 1.725225 0.027936 +v -0.505904 1.778311 -0.131384 +v -0.505904 1.725225 0.027936 +f 329 321 330 +f 319 323 324 +f 319 324 325 +f 320 322 325 +f 325 322 326 +f 319 325 326 +f 321 320 327 +f 325 324 327 +f 320 325 327 +f 323 319 328 +f 322 323 328 +f 326 322 328 +f 319 326 328 +f 320 321 329 +f 322 320 329 +f 323 322 329 +f 323 329 330 +f 324 323 330 +f 321 327 330 +f 327 324 330 +o convex_25 +v 2.972604 -0.345920 1.753861 +v 3.052225 -2.204653 -0.104831 +v 3.025669 -2.045271 -0.104831 +v 2.919476 -2.204653 1.807009 +v 2.972604 -0.345920 -0.104831 +v 3.078765 -2.098398 0.028040 +v 2.919476 -0.345920 1.807009 +v 3.025669 -0.372484 -0.104831 +v 2.919476 -2.204653 1.461733 +v 2.946048 -2.204653 1.807009 +v 3.025669 -2.204653 0.771554 +f 331 340 341 +f 332 333 335 +f 331 335 337 +f 335 331 338 +f 332 335 338 +f 336 332 338 +f 331 336 338 +f 333 332 339 +f 332 334 339 +f 335 333 339 +f 334 337 339 +f 337 335 339 +f 334 332 340 +f 331 337 340 +f 337 334 340 +f 332 336 341 +f 336 331 341 +f 340 332 341 +o convex_26 +v -1.036960 0.424564 -2.229087 +v -0.957319 3.690187 -2.122884 +v -0.930757 3.690187 -2.229087 +v -0.930757 -0.292813 -2.175998 +v -1.036960 -0.292813 -2.122884 +v -1.010399 3.371266 -2.255651 +v -0.930757 2.043339 -2.255651 +v -1.010399 3.105369 -2.122884 +f 347 342 349 +f 344 343 345 +f 342 345 346 +f 345 343 346 +f 343 344 347 +f 347 344 348 +f 344 345 348 +f 345 342 348 +f 342 347 348 +f 342 346 349 +f 346 343 349 +f 343 347 349 +o convex_27 +v -1.063501 -2.071249 -1.538854 +v -0.957328 3.079460 -1.113857 +v -0.983867 3.079460 -1.113857 +v -0.957328 3.079460 -2.122780 +v -0.983867 -2.257760 -1.113959 +v -1.090057 -2.177827 -2.149336 +v -1.036962 -2.257760 -2.149336 +v -1.010407 3.026171 -2.122780 +v -0.930773 1.964056 -1.113857 +v -1.036962 -0.797025 -1.113959 +v -1.063501 -1.593219 -1.379518 +v -0.983867 -2.257760 -1.220182 +v -0.930773 2.919594 -1.485742 +v -1.036962 -2.230593 -1.167071 +v -0.957328 2.919594 -2.122780 +f 353 362 364 +f 352 351 353 +f 355 353 356 +f 352 353 357 +f 353 355 357 +f 351 352 358 +f 352 354 358 +f 354 352 359 +f 355 350 360 +f 352 357 360 +f 357 355 360 +f 359 352 360 +f 354 356 361 +f 358 354 361 +f 358 361 362 +f 353 351 362 +f 351 358 362 +f 350 355 363 +f 356 354 363 +f 355 356 363 +f 354 359 363 +f 360 350 363 +f 359 360 363 +f 356 353 364 +f 361 356 364 +f 362 361 364 +o convex_28 +v 1.034166 -2.204653 -1.804129 +v 0.981090 -0.292813 -1.113857 +v 0.954540 -0.292813 -1.113857 +v 0.927976 -0.292813 -2.202437 +v 1.034166 -0.292813 -2.202437 +v 0.927976 -2.204653 -2.202437 +v 1.060742 -2.204653 -1.113857 +v 1.007628 -2.071595 -1.113857 +v 1.007628 -2.204653 -2.202437 +v 1.034166 -1.009753 -1.113857 +f 371 369 374 +f 367 366 368 +f 368 366 369 +f 367 368 370 +f 368 369 370 +f 366 367 371 +f 365 369 371 +f 370 365 371 +f 370 371 372 +f 367 370 372 +f 371 367 372 +f 369 365 373 +f 365 370 373 +f 370 369 373 +f 369 366 374 +f 366 371 374 +o convex_29 +v -1.063524 1.592474 -0.237592 +v -2.869151 -0.345920 -0.157948 +v -1.966337 -0.345920 -0.157948 +v -2.869151 1.592474 -0.157948 +v -1.063524 -0.000591 -0.104831 +v -1.355683 1.273709 -0.264151 +v -2.045519 -0.345920 -0.104831 +v -1.063524 -0.345920 -0.131389 +v -2.869151 -0.292792 -0.184491 +v -2.470767 1.592474 -0.211033 +v -2.444256 1.592474 -0.157948 +v -2.869151 -0.345920 -0.131389 +v -1.063524 1.592474 -0.264151 +v -1.329172 1.592474 -0.211033 +v -2.869151 1.592474 -0.184491 +f 378 384 389 +f 376 377 381 +f 379 378 381 +f 379 381 382 +f 375 379 382 +f 377 380 382 +f 381 377 382 +f 377 376 383 +f 376 378 383 +f 380 377 383 +f 380 383 384 +f 378 375 384 +f 375 378 385 +f 378 379 385 +f 378 376 386 +f 376 381 386 +f 381 378 386 +f 375 382 387 +f 382 380 387 +f 380 384 387 +f 384 375 387 +f 379 375 388 +f 375 385 388 +f 385 379 388 +f 383 378 389 +f 384 383 389 +o convex_30 +v 1.087296 3.450523 -2.096341 +v 0.290696 -0.292405 -2.149442 +v 0.343875 -2.204653 -2.202544 +v 0.768609 3.663633 -2.175972 +v 0.927914 -2.204653 -2.202544 +v 1.034117 -0.292405 -2.096341 +v 0.343875 -1.858852 -2.122891 +v 1.034117 1.088503 -2.202544 +v 0.290696 -0.186137 -2.122902 +v 1.087296 3.663633 -2.175972 +v 0.768609 3.663633 -2.149442 +v 0.927914 -2.204653 -2.175982 +v 1.034117 -0.292405 -2.202544 +v 1.034117 3.556791 -2.096341 +f 399 400 403 +f 392 391 393 +f 392 393 397 +f 394 392 397 +f 391 392 398 +f 393 391 398 +f 396 395 398 +f 392 396 398 +f 397 393 399 +f 393 398 400 +f 399 393 400 +f 392 394 401 +f 394 395 401 +f 395 396 401 +f 396 392 401 +f 395 394 402 +f 390 395 402 +f 394 397 402 +f 399 390 402 +f 397 399 402 +f 395 390 403 +f 398 395 403 +f 390 399 403 +f 400 398 403 +o convex_31 +v -0.957363 0.397386 -0.131399 +v -1.461772 -2.231206 -0.211010 +v -1.435193 -2.231206 -0.237582 +v -0.930783 -2.231206 -0.211010 +v -0.930783 1.592474 -0.290704 +v -1.461772 -0.345566 -0.104849 +v -0.930783 -2.231206 -0.290704 +v -0.983942 -0.451863 -0.078319 +v -1.063572 1.592474 -0.264132 +v -1.461772 -1.168990 -0.104849 +v -0.904204 1.592474 -0.237582 +v -1.461772 -0.345566 -0.131399 +v -1.063572 1.406455 -0.211010 +v -1.382088 -2.231206 -0.184501 +v -1.010522 -0.345566 -0.290704 +f 408 410 418 +f 405 406 407 +f 407 406 410 +f 404 409 411 +f 408 406 412 +f 409 405 413 +f 411 409 413 +f 407 410 414 +f 410 408 414 +f 411 407 414 +f 404 411 414 +f 408 412 414 +f 406 405 415 +f 405 409 415 +f 412 406 415 +f 409 412 415 +f 409 404 416 +f 412 409 416 +f 404 414 416 +f 414 412 416 +f 405 407 417 +f 407 411 417 +f 413 405 417 +f 411 413 417 +f 406 408 418 +f 410 406 418 +o convex_32 +v -2.019150 -2.231206 1.594583 +v -0.957708 -2.284308 -0.290704 +v -0.957708 -2.310848 -0.237556 +v -2.523609 -2.257768 -0.131259 +v -1.223236 -2.337409 1.434953 +v -0.931111 -2.231206 -0.237556 +v -0.718778 -2.284308 1.594583 +v -3.001694 -2.231206 1.594583 +v -3.001694 -2.257768 1.594583 +v -2.497012 -2.231206 -0.157833 +v -0.718778 -2.310848 -0.210981 +v -0.718778 -2.257768 1.222730 +v -0.718778 -2.337409 1.461528 +v -3.001694 -2.257768 1.169581 +v -0.718778 -2.257768 -0.290704 +v -1.886386 -2.310848 1.594583 +v -1.701098 -2.231206 1.488102 +f 430 424 435 +f 420 421 422 +f 422 421 423 +f 419 424 426 +f 425 419 426 +f 425 426 427 +f 420 422 428 +f 426 424 428 +f 421 420 429 +f 425 429 430 +f 423 421 431 +f 421 429 431 +f 429 425 431 +f 422 423 432 +f 427 426 432 +f 428 422 432 +f 426 428 432 +f 420 428 433 +f 428 424 433 +f 429 420 433 +f 430 429 433 +f 424 430 433 +f 425 427 434 +f 423 431 434 +f 431 425 434 +f 432 423 434 +f 427 432 434 +f 424 419 435 +f 419 425 435 +f 425 430 435 +o convex_33 +v -3.001909 -0.611315 1.594583 +v -2.922267 -0.000620 1.886669 +v -2.922267 0.530403 1.860080 +v -3.028471 1.565367 1.807015 +v -3.001909 -2.257367 1.860051 +v -2.922278 -2.257367 1.594583 +v -2.922267 1.751401 1.753892 +v -2.922278 -2.257367 1.860051 +v -3.001909 -2.257367 1.594583 +v -3.028471 1.751401 1.753892 +v -2.948829 -0.346000 1.594583 +v -3.001899 -0.000620 1.886669 +f 440 437 447 +f 438 437 442 +f 439 438 442 +f 437 441 442 +f 437 440 443 +f 441 437 443 +f 440 441 443 +f 440 439 444 +f 441 440 444 +f 436 441 444 +f 439 442 445 +f 436 444 445 +f 444 439 445 +f 441 436 446 +f 442 441 446 +f 445 442 446 +f 436 445 446 +f 437 438 447 +f 438 439 447 +f 439 440 447 +o convex_34 +v 2.706784 -2.310866 1.860103 +v 2.946029 -1.779903 1.860103 +v 2.946029 -1.806413 1.886669 +v -0.718331 -1.779903 1.860103 +v 2.946029 -2.284253 1.807009 +v -0.664528 -2.284253 1.860103 +v -0.718331 -2.231131 1.807009 +v 2.946029 -1.779903 1.807009 +v 0.556806 -2.284253 1.886669 +v -0.718331 -1.779903 1.833576 +v 2.919127 -2.284253 1.886669 +v 1.061122 -1.832974 1.886669 +v -0.718331 -2.284253 1.807009 +f 451 454 460 +f 450 449 451 +f 449 450 452 +f 451 449 455 +f 449 452 455 +f 452 454 455 +f 453 448 456 +f 451 453 456 +f 454 451 457 +f 451 455 457 +f 455 454 457 +f 448 452 458 +f 452 450 458 +f 456 448 458 +f 450 456 458 +f 450 451 459 +f 456 450 459 +f 451 456 459 +f 452 448 460 +f 448 453 460 +f 453 451 460 +f 454 452 460 +o convex_35 +v -2.975302 -2.178100 0.160937 +v -2.497453 -2.204653 -0.024900 +v -2.497453 -2.231206 -0.024900 +v -2.975302 -2.231206 1.594583 +v -2.948735 -2.231206 -0.078113 +v -2.975302 -2.178100 1.594583 +f 461 464 466 +f 463 462 464 +f 464 461 465 +f 461 462 465 +f 462 463 465 +f 463 464 465 +f 462 461 466 +f 464 462 466 +o convex_36 +v 2.600711 0.185147 1.833563 +v 2.122876 -0.345920 1.806996 +v 2.919351 -0.345920 1.753903 +v 2.122876 1.778347 1.753903 +v 2.972583 1.778347 1.806996 +v 2.122876 1.778347 1.806996 +v 2.972583 1.778347 1.753903 +v 2.945967 -0.345920 1.833563 +v 2.122876 0.716214 1.833563 +v 2.122876 -0.345920 1.833563 +f 475 468 476 +f 469 468 470 +f 470 468 472 +f 471 470 472 +f 469 470 473 +f 470 471 473 +f 473 471 474 +f 468 469 474 +f 471 467 474 +f 469 473 474 +f 467 471 475 +f 472 468 475 +f 471 472 475 +f 474 467 475 +f 474 475 476 +f 468 474 476 +o convex_37 +v 0.582816 -0.292690 1.807009 +v 2.122876 1.778287 1.806999 +v 1.644776 1.300257 1.833552 +v -0.505904 1.751672 1.753903 +v -0.505904 0.663162 1.860106 +v 2.122876 -0.345920 1.807009 +v 2.122876 1.751672 1.753903 +v -0.505904 -0.345920 1.860106 +v 1.007394 -0.345920 1.860106 +v -0.505904 1.725057 1.806999 +v 2.122876 -0.345920 1.833542 +v -0.505904 -0.345920 1.833542 +v 2.122876 0.742591 1.833542 +v -0.505904 1.698442 1.753903 +f 488 480 490 +f 480 478 483 +f 478 482 483 +f 481 480 484 +f 484 482 485 +f 479 481 485 +f 481 484 485 +f 479 478 486 +f 478 480 486 +f 480 481 486 +f 481 479 486 +f 482 478 487 +f 485 482 487 +f 477 482 488 +f 484 480 488 +f 482 484 488 +f 478 479 489 +f 479 485 489 +f 487 478 489 +f 485 487 489 +f 482 477 490 +f 480 483 490 +f 483 482 490 +f 477 488 490 +o convex_38 +v 2.892922 -0.345920 -0.237574 +v 1.246616 -2.204653 -0.237574 +v 1.246616 -2.204653 -0.211036 +v 1.246616 -0.345920 -0.184498 +v 2.892922 -2.204653 -0.131384 +v 2.892922 -0.505484 -0.264151 +v 1.273206 -2.151344 -0.264151 +v 2.627025 -2.204653 -0.184498 +v 1.246616 -0.345920 -0.211049 +v 1.963894 -0.345920 -0.184498 +v 2.574168 -2.204653 -0.131384 +v 2.892922 -1.885888 -0.131384 +v 2.627025 -0.345920 -0.264151 +v 2.892922 -0.452357 -0.211049 +v 1.246616 -1.116086 -0.184498 +v 1.246616 -1.859325 -0.264151 +v 2.892922 -1.939016 -0.184498 +f 498 497 507 +f 492 493 494 +f 493 492 495 +f 491 495 496 +f 495 492 498 +f 492 497 498 +f 492 494 499 +f 494 491 499 +f 491 494 500 +f 493 495 501 +f 501 495 502 +f 495 491 502 +f 500 494 502 +f 494 501 502 +f 491 496 503 +f 496 497 503 +f 499 491 503 +f 491 500 504 +f 502 491 504 +f 500 502 504 +f 494 493 505 +f 493 501 505 +f 501 494 505 +f 497 492 506 +f 492 499 506 +f 503 497 506 +f 499 503 506 +f 496 495 507 +f 497 496 507 +f 495 498 507 +o convex_39 +v 1.990216 -2.257767 -0.211044 +v 3.078796 -2.204676 0.028175 +v 3.025512 -2.204676 0.771513 +v 3.078796 -2.310859 0.028175 +v 1.990216 -2.337404 1.620731 +v 2.919265 -2.204676 1.807009 +v 2.786590 -2.310859 1.807009 +v 1.990216 -2.257767 1.807009 +v 2.282315 -2.204676 -0.184376 +v 2.760054 -2.310859 -0.157708 +v 1.990216 -2.284313 -0.211044 +v 2.945907 -2.284300 1.807009 +v 3.052047 -2.204676 -0.157708 +f 517 518 520 +f 509 510 511 +f 510 509 513 +f 512 511 514 +f 508 512 515 +f 512 514 515 +f 514 513 515 +f 513 509 516 +f 508 515 516 +f 515 513 516 +f 511 512 517 +f 512 508 518 +f 517 512 518 +f 511 510 519 +f 510 513 519 +f 513 514 519 +f 514 511 519 +f 509 511 520 +f 516 509 520 +f 508 516 520 +f 511 517 520 +f 518 508 520 +o convex_40 +v -0.559198 1.698653 0.479343 +v -0.930965 1.592474 -0.290704 +v -0.930965 1.778293 -0.290704 +v -2.948551 1.592492 0.479343 +v -2.922013 1.592492 -0.184423 +v -2.948551 1.672149 0.479343 +v -0.506122 1.645609 0.479343 +v -0.506122 1.778293 0.028139 +v -2.922013 1.645573 -0.131282 +v -0.506122 1.725212 -0.157740 +v -1.143267 1.619069 0.479343 +f 527 524 531 +f 523 522 525 +f 522 524 525 +f 525 524 526 +f 524 521 526 +f 521 524 527 +f 526 521 528 +f 523 526 528 +f 521 527 528 +f 523 525 529 +f 525 526 529 +f 526 523 529 +f 522 523 530 +f 527 522 530 +f 523 528 530 +f 528 527 530 +f 524 522 531 +f 522 527 531 +o convex_41 +v -0.930757 3.769779 -1.113857 +v -0.983859 3.079460 -2.122785 +v -0.957319 3.079460 -2.122785 +v -0.983859 3.079460 -1.113857 +v -1.036960 3.769779 -1.459121 +v -0.930757 3.769779 -2.122785 +v -1.010399 3.769779 -2.122785 +v -1.036960 3.530776 -1.113857 +v -0.957319 3.079460 -1.113857 +f 532 535 540 +f 533 534 535 +f 532 534 537 +f 534 533 537 +f 536 532 537 +f 533 536 538 +f 537 533 538 +f 536 537 538 +f 533 535 539 +f 535 532 539 +f 532 536 539 +f 536 533 539 +f 534 532 540 +f 535 534 540 +o convex_42 +v 0.821643 -2.310846 1.753793 +v -0.718040 -2.337404 1.408748 +v -0.718040 -2.310846 1.408748 +v -2.922257 -2.257767 1.860090 +v -0.718040 -2.204676 1.833494 +v 1.990109 -2.310846 1.408748 +v -2.922257 -2.231235 1.594613 +v 1.990109 -2.257767 1.806986 +v 1.990109 -2.337404 1.621121 +v -2.922257 -2.204676 1.860090 +v 1.990109 -2.310846 1.806986 +v -2.550079 -2.284300 1.753838 +v -0.718040 -2.204676 1.860090 +v 1.990109 -2.337404 1.408748 +f 549 542 554 +f 542 543 546 +f 543 542 547 +f 546 543 547 +f 545 546 547 +f 546 545 548 +f 546 548 549 +f 547 544 550 +f 545 547 550 +f 549 548 551 +f 541 549 551 +f 547 542 552 +f 544 547 552 +f 542 549 552 +f 549 541 552 +f 541 551 552 +f 551 544 552 +f 548 545 553 +f 550 544 553 +f 545 550 553 +f 544 551 553 +f 551 548 553 +f 542 546 554 +f 546 549 554 +o convex_43 +v -1.727544 -1.726485 1.886662 +v -0.506258 0.370698 1.860124 +v -0.160794 -1.036330 1.913207 +v 0.901423 -1.779419 1.833563 +v -2.922257 0.370698 1.833571 +v -2.922257 -2.204401 1.833571 +v -2.922257 -0.001098 1.886662 +v 0.901423 -0.345924 1.833563 +v -0.718851 -2.204401 1.860124 +v 0.874474 -0.770906 1.886654 +v -2.922257 -1.115983 1.886662 +v 0.901423 -1.779419 1.860132 +v -2.922257 -2.204401 1.860124 +v -0.506258 0.370698 1.833571 +v -0.718851 -2.204401 1.833571 +v -1.939389 0.052087 1.886662 +v -2.922257 0.370698 1.860124 +v 0.901423 -0.345924 1.860132 +v -0.293665 -1.115731 1.913207 +f 563 566 573 +f 559 558 560 +f 559 560 561 +f 558 559 562 +f 556 557 564 +f 561 560 565 +f 558 562 566 +f 563 558 566 +f 564 557 566 +f 563 555 567 +f 560 563 567 +f 555 565 567 +f 565 560 567 +f 559 556 568 +f 556 562 568 +f 562 559 568 +f 560 558 569 +f 558 563 569 +f 563 560 569 +f 557 556 570 +f 561 557 570 +f 561 570 571 +f 556 559 571 +f 559 561 571 +f 570 556 571 +f 562 556 572 +f 556 564 572 +f 566 562 572 +f 564 566 572 +f 557 561 573 +f 555 563 573 +f 565 555 573 +f 561 565 573 +f 566 557 573 +o convex_44 +v -3.001917 -1.753096 0.903957 +v -2.948821 -0.346278 1.594583 +v -2.975353 -0.346278 1.594583 +v -2.948821 -0.346278 -0.078113 +v -2.922272 -2.178100 0.187461 +v -2.975353 -2.178100 1.594583 +v -2.975353 -2.178100 0.134412 +v -2.975353 -0.346278 -0.078113 +v -3.001917 -0.611682 1.594583 +v -2.922272 -1.646755 -0.078113 +v -3.001917 -2.178100 1.594583 +v -3.001917 -1.036506 0.585660 +v -2.948821 -2.178100 1.169532 +v -2.975353 -1.726555 -0.078113 +f 585 581 587 +f 576 575 577 +f 575 576 579 +f 578 579 580 +f 576 577 581 +f 579 576 582 +f 576 581 582 +f 577 575 583 +f 575 578 583 +f 578 580 583 +f 581 577 583 +f 574 580 584 +f 580 579 584 +f 582 574 584 +f 579 582 584 +f 574 582 585 +f 582 581 585 +f 578 575 586 +f 575 579 586 +f 579 578 586 +f 580 574 587 +f 583 580 587 +f 581 583 587 +f 574 585 587 +o convex_45 +v 0.104927 3.690187 -2.229097 +v -0.930757 -0.292813 -2.202544 +v -0.372992 -0.186376 -2.229097 +v 0.768656 -0.292813 -2.149447 +v 0.609128 3.663285 -2.149447 +v -0.930757 3.690187 -2.255651 +v -0.930757 0.371150 -2.176011 +v 0.662359 3.636773 -2.202544 +v -0.930757 3.690187 -2.229076 +v 0.768656 -0.292813 -2.176001 +v 0.051861 -0.292813 -2.149447 +v -0.638650 1.883879 -2.255651 +v 0.768656 3.690187 -2.149447 +v -0.930757 0.318127 -2.229076 +v -0.452839 3.477703 -2.255651 +v -0.930757 -0.292813 -2.176011 +v -0.479288 3.690187 -2.202544 +v -0.930757 2.016828 -2.255651 +f 601 593 605 +f 593 589 594 +f 588 593 596 +f 593 594 596 +f 589 590 597 +f 591 589 597 +f 589 591 598 +f 591 592 598 +f 592 594 598 +f 597 590 599 +f 592 591 600 +f 595 588 600 +f 588 596 600 +f 591 597 600 +f 597 595 600 +f 590 589 601 +f 589 593 601 +f 593 588 602 +f 588 595 602 +f 595 597 602 +f 599 593 602 +f 597 599 602 +f 594 589 603 +f 589 598 603 +f 598 594 603 +f 594 592 604 +f 596 594 604 +f 592 600 604 +f 600 596 604 +f 599 590 605 +f 593 599 605 +f 590 601 605 +o convex_46 +v 0.954659 -0.903641 1.807009 +v 2.946029 -0.345920 1.833560 +v 2.946029 -0.345920 1.807009 +v 2.946029 -1.779519 1.807009 +v 0.901423 -1.779519 1.860111 +v 0.901423 -0.345920 1.860111 +v 2.946029 -1.779519 1.860111 +v 0.981277 -0.345920 1.807009 +v 0.901423 -1.779519 1.833560 +v 2.946029 -1.036405 1.860111 +f 611 612 615 +f 608 607 609 +f 606 608 609 +f 607 608 611 +f 609 607 612 +f 610 609 612 +f 611 610 612 +f 608 606 613 +f 606 611 613 +f 611 608 613 +f 606 609 614 +f 609 610 614 +f 610 611 614 +f 611 606 614 +f 607 611 615 +f 612 607 615 +o convex_47 +v -2.895717 0.981578 -0.051724 +v -2.895717 1.751793 1.753903 +v -3.028458 1.751793 1.753903 +v -2.948834 -0.345920 1.753903 +v -2.975341 -0.345920 -0.051724 +v -2.922289 1.592453 -0.051724 +v -3.001886 0.052638 1.753903 +v -2.948834 -0.345920 -0.051724 +v -2.975341 0.211773 -0.051724 +v -3.028458 1.725100 1.541279 +v -2.895717 1.672123 0.479395 +v -3.028458 1.193895 1.727214 +v -2.948834 1.592453 0.187412 +v -2.975341 -0.345920 1.753903 +v -2.922289 0.158796 -0.025035 +v -2.922289 0.318137 1.196096 +f 619 630 631 +f 617 618 619 +f 616 620 621 +f 619 618 622 +f 620 616 623 +f 619 620 623 +f 621 620 624 +f 618 621 625 +f 624 620 625 +f 617 616 626 +f 618 617 626 +f 621 618 626 +f 616 621 626 +f 622 618 627 +f 620 622 627 +f 618 625 627 +f 625 620 627 +f 621 624 628 +f 625 621 628 +f 624 625 628 +f 620 619 629 +f 619 622 629 +f 622 620 629 +f 623 616 630 +f 619 623 630 +f 616 617 631 +f 617 619 631 +f 630 616 631 +o convex_48 +v -0.505904 1.698671 1.620907 +v -2.895704 1.645601 0.479343 +v -2.895704 1.645601 0.771658 +v -2.895704 1.751781 1.620907 +v -0.505904 1.672149 0.479343 +v -0.505904 1.619027 0.957303 +v -2.762599 1.698671 1.700755 +v -0.505904 1.751781 1.753903 +v -2.895704 1.698671 0.745084 +v -1.116688 1.619027 0.479343 +v -0.505904 1.751781 1.594583 +v -2.311120 1.619027 0.505917 +v -2.895704 1.751781 1.753903 +v -0.505904 1.645601 1.275943 +v -2.895704 1.672149 0.479343 +f 640 636 646 +f 633 634 635 +f 636 632 637 +f 638 632 639 +f 632 636 639 +f 633 635 640 +f 633 636 641 +f 636 637 641 +f 639 636 642 +f 635 639 642 +f 640 635 642 +f 636 640 642 +f 634 633 643 +f 638 634 643 +f 637 638 643 +f 633 641 643 +f 641 637 643 +f 635 634 644 +f 634 638 644 +f 638 639 644 +f 639 635 644 +f 637 632 645 +f 638 637 645 +f 632 638 645 +f 636 633 646 +f 633 640 646 +o convex_49 +v -2.922257 0.503990 1.807009 +v -0.505904 1.751658 1.780456 +v -0.505904 1.725038 1.807009 +v -0.505904 0.371155 1.833542 +v -2.922257 0.530475 1.860116 +v -2.922257 1.751658 1.753903 +v -0.559122 1.671931 1.753903 +v -2.842548 1.592338 1.807009 +v -0.505904 0.663310 1.860116 +v -0.665323 0.610203 1.807009 +v -2.922257 0.371155 1.860116 +v -2.815584 1.539232 1.753903 +v -0.505904 0.371155 1.860116 +v -2.922257 1.751658 1.780456 +f 651 654 660 +f 648 649 650 +f 647 651 652 +f 648 650 653 +f 652 648 653 +f 651 649 654 +f 650 649 655 +f 649 651 655 +f 650 647 656 +f 653 650 656 +f 647 650 657 +f 651 647 657 +f 655 651 657 +f 647 652 658 +f 652 653 658 +f 656 647 658 +f 653 656 658 +f 650 655 659 +f 657 650 659 +f 655 657 659 +f 649 648 660 +f 652 651 660 +f 648 652 660 +f 654 649 660 +o convex_50 +v 2.946034 -0.345920 0.744913 +v 2.972577 1.592474 1.753903 +v 2.999136 0.981697 0.983620 +v 2.946034 1.592474 0.134246 +v 2.919476 -0.345920 1.753903 +v 2.999136 -0.345920 -0.078277 +v 2.972577 -0.345920 1.753903 +v 2.999136 1.592474 -0.078277 +v 2.946034 1.592474 1.753903 +v 2.972577 -0.345920 -0.078277 +v 2.999136 -0.345920 0.824721 +v 2.919476 0.264856 1.753903 +f 665 669 672 +f 664 661 665 +f 665 661 666 +f 665 666 667 +f 663 662 667 +f 662 665 667 +f 662 663 668 +f 664 662 668 +f 663 666 668 +f 662 664 669 +f 665 662 669 +f 661 664 670 +f 666 661 670 +f 664 668 670 +f 668 666 670 +f 666 663 671 +f 667 666 671 +f 663 667 671 +f 664 665 672 +f 669 664 672 +o convex_51 +v 2.919484 1.778311 1.196215 +v 2.892922 1.592474 -0.131384 +v 2.999125 1.592474 -0.131384 +v 2.946024 1.592474 1.753903 +v 2.999125 1.725225 -0.104810 +v 2.972575 1.778311 1.753903 +v 2.892922 1.751768 1.753903 +v 2.892922 1.725225 -0.104810 +f 674 679 680 +f 674 675 676 +f 675 674 677 +f 675 677 678 +f 676 675 678 +f 677 673 678 +f 678 673 679 +f 674 676 679 +f 676 678 679 +f 673 677 680 +f 677 674 680 +f 679 673 680 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/284/284.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/284/284.urdf new file mode 100644 index 000000000..a57e37c81 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/284/284.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/285/285.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/285/285.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/285/285.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/285/285.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/285/285.obj new file mode 100644 index 000000000..1bb4ccf8b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/285/285.obj @@ -0,0 +1,1278 @@ +o convex_0 +v -1.228167 -0.426202 0.006941 +v 1.249952 -0.367876 0.093582 +v 1.191492 -0.367876 0.326760 +v 1.016598 -1.009272 0.589320 +v -0.003419 -1.009272 -1.888617 +v -0.353451 -1.009272 1.755208 +v -0.382560 -0.367876 -1.217713 +v -0.470129 -0.367876 1.259470 +v -0.994813 -1.009272 -0.634580 +v 0.987489 -0.367876 -0.926147 +v 0.958380 -1.009272 -0.897141 +v 0.054555 -0.980078 1.959757 +v -0.907244 -0.367876 -0.955529 +v 0.841703 -0.367876 0.968281 +v -1.023921 -1.009272 0.472543 +v -0.907244 -0.367876 0.909892 +v -0.382560 -1.009272 -1.684068 +v 0.404345 -1.009272 1.668191 +v 0.404345 -0.367876 -1.217713 +v 0.375236 -0.980078 -1.684445 +v 1.133275 -0.950946 -0.022442 +v 1.220601 -0.397071 -0.372397 +v -1.198816 -0.367876 -0.343014 +v 0.375236 -0.367876 1.172076 +v 0.899920 -1.009272 0.909892 +v -1.111490 -0.980078 -0.080454 +v -0.907244 -0.921689 0.851504 +v -0.878135 -0.980078 -0.955529 +v -1.169707 -0.367876 0.326760 +v -0.061879 -0.980078 -1.888617 +v 1.045706 -1.009272 -0.605574 +v 0.899920 -0.367876 0.909892 +v -0.090988 -0.367876 1.259847 +v -0.849027 -0.367876 -1.013541 +v -0.032771 -1.009272 1.959757 +v -1.169707 -0.455397 -0.430409 +v -0.003419 -0.980078 -1.888617 +v 0.987489 -0.542854 -0.926147 +v -0.382560 -0.980078 1.726203 +v -0.907244 -0.630374 -0.955529 +v 1.249952 -0.455397 0.035570 +v -0.907244 -1.009272 0.822498 +v 0.958380 -0.367876 -0.955529 +v 1.162384 -0.426202 0.414154 +v 1.104166 -1.009272 0.093582 +v 0.375236 -1.009272 -1.684445 +v -0.790567 -0.367876 1.026293 +v -0.032771 -0.980078 1.959757 +v -0.353451 -0.980078 -1.713074 +v -1.169707 -0.426202 0.326760 +v 1.249952 -0.397071 -0.197231 +f 41 21 51 +f 5 4 6 +f 3 2 7 +f 3 7 8 +f 5 6 9 +f 7 2 10 +f 4 5 11 +f 8 7 13 +f 3 8 14 +f 9 6 15 +f 8 13 16 +f 5 9 17 +f 6 4 18 +f 14 12 18 +f 7 10 19 +f 10 2 22 +f 16 13 23 +f 14 8 24 +f 12 14 24 +f 18 4 25 +f 15 1 26 +f 9 15 26 +f 1 23 26 +f 17 9 28 +f 23 1 29 +f 16 23 29 +f 5 17 30 +f 7 19 30 +f 4 11 31 +f 11 22 31 +f 3 14 32 +f 14 18 32 +f 18 25 32 +f 24 8 33 +f 12 24 33 +f 13 7 34 +f 7 30 34 +f 6 18 35 +f 18 12 35 +f 23 13 36 +f 9 26 36 +f 26 23 36 +f 28 9 36 +f 20 5 37 +f 5 30 37 +f 30 19 37 +f 20 10 38 +f 22 11 38 +f 10 22 38 +f 16 27 39 +f 13 17 40 +f 17 28 40 +f 36 13 40 +f 28 36 40 +f 15 6 42 +f 6 39 42 +f 39 27 42 +f 19 10 43 +f 10 20 43 +f 37 19 43 +f 20 37 43 +f 2 3 44 +f 25 4 44 +f 3 32 44 +f 32 25 44 +f 41 2 44 +f 4 41 44 +f 4 31 45 +f 31 21 45 +f 41 4 45 +f 21 41 45 +f 11 5 46 +f 5 20 46 +f 20 38 46 +f 38 11 46 +f 8 16 47 +f 39 8 47 +f 16 39 47 +f 33 8 48 +f 12 33 48 +f 6 35 48 +f 35 12 48 +f 8 39 48 +f 39 6 48 +f 17 13 49 +f 30 17 49 +f 13 34 49 +f 34 30 49 +f 1 15 50 +f 27 16 50 +f 29 1 50 +f 16 29 50 +f 15 42 50 +f 42 27 50 +f 22 2 51 +f 21 31 51 +f 31 22 51 +f 2 41 51 +o convex_1 +v -0.878305 0.973223 -0.926230 +v 0.083522 3.451101 0.006224 +v 0.083522 3.451101 -0.051725 +v 1.279064 0.973466 0.093756 +v -0.703147 0.973223 0.997641 +v 0.870962 2.401592 -0.809723 +v 0.783383 2.518258 0.705869 +v -0.761704 2.634924 0.822578 +v -0.790726 2.401592 -0.838698 +v -1.344708 1.002814 0.006224 +v 0.958284 0.973466 -0.897255 +v 0.754104 0.973223 0.939286 +v -0.703147 3.101103 -0.051725 +v 0.783383 3.130451 0.035199 +v 0.083522 1.002814 -1.043141 +v -0.032822 2.838908 -0.780749 +v 0.141822 2.838908 0.764426 +v 0.375280 1.061026 1.026818 +v 0.870962 2.605576 -0.693217 +v -0.907327 0.973223 0.851552 +v -0.761704 2.430698 0.880932 +v -1.257129 0.973223 -0.314117 +v 1.162206 1.002572 0.414502 +v 1.220507 1.031678 -0.255762 +v 0.841683 1.061026 0.910109 +v -0.499225 0.973223 -1.013964 +v 0.141822 2.838908 -0.780749 +v -0.761704 2.314033 -0.868078 +v -0.761704 2.955574 -0.051725 +v -1.228107 0.973223 0.297794 +v 0.637503 1.031920 -0.984787 +v -0.003800 3.451101 0.006224 +v -0.178444 1.148586 1.026818 +v 0.812404 3.013785 -0.168231 +v -0.615825 2.459804 0.880932 +v 1.279064 1.002572 0.093756 +v -0.732426 3.013785 0.122731 +v -0.761704 2.664030 -0.576509 +v -0.003800 3.421752 -0.080902 +v 0.812404 3.042891 0.064376 +v -1.344708 1.002814 -0.051725 +v 0.899983 2.284927 -0.809723 +v -0.849027 1.615007 0.880932 +v 0.812404 2.459804 0.676692 +v 0.754104 2.430698 0.735046 +v -0.790726 2.430698 0.851552 +v -0.878305 1.090132 -0.926230 +v 0.958284 1.352570 -0.867875 +v 0.083522 3.421752 0.064579 +v -0.674126 2.634924 0.851552 +v 0.433581 0.973223 1.026818 +v -0.674126 1.206798 0.997641 +v -1.228107 1.031920 -0.372471 +v 0.783383 3.042891 0.151908 +v 0.812404 2.459804 -0.809723 +v -0.615825 2.518016 -0.838698 +v 1.279064 1.002572 0.035402 +v 0.171101 2.663788 0.793400 +v 0.812404 2.110534 0.764223 +v -0.703147 3.101103 0.006224 +v -0.178444 3.217769 0.268616 +v 0.899983 2.430698 -0.751369 +v 0.783383 2.576470 -0.780546 +v -0.761704 2.722242 0.647717 +f 88 61 115 +f 56 52 63 +f 62 55 63 +f 54 53 65 +f 52 56 71 +f 52 71 73 +f 63 55 74 +f 55 62 75 +f 63 74 76 +f 63 52 77 +f 62 63 77 +f 66 62 77 +f 67 54 78 +f 66 77 79 +f 61 73 81 +f 73 71 81 +f 62 66 82 +f 53 54 83 +f 54 65 85 +f 70 54 85 +f 84 69 86 +f 72 84 86 +f 74 55 87 +f 80 61 88 +f 80 64 89 +f 54 67 90 +f 83 54 90 +f 64 83 90 +f 89 64 90 +f 67 89 90 +f 85 65 91 +f 73 61 92 +f 61 80 92 +f 89 60 92 +f 80 89 92 +f 71 56 94 +f 56 72 94 +f 81 71 94 +f 74 87 95 +f 91 58 95 +f 87 91 95 +f 58 68 96 +f 59 61 97 +f 72 59 97 +f 61 81 97 +f 94 72 97 +f 81 94 97 +f 77 52 98 +f 60 79 98 +f 79 77 98 +f 75 62 99 +f 82 57 99 +f 62 82 99 +f 57 93 99 +f 93 75 99 +f 65 53 100 +f 53 83 100 +f 59 72 101 +f 86 68 101 +f 72 86 101 +f 56 63 102 +f 63 76 102 +f 84 56 102 +f 69 84 102 +f 96 69 102 +f 76 96 102 +f 72 56 103 +f 56 84 103 +f 84 72 103 +f 52 73 104 +f 92 60 104 +f 73 92 104 +f 98 52 104 +f 60 98 104 +f 68 58 105 +f 58 91 105 +f 91 65 105 +f 65 100 105 +f 100 68 105 +f 66 78 106 +f 57 82 106 +f 82 66 106 +f 78 66 107 +f 67 78 107 +f 79 60 107 +f 66 79 107 +f 60 89 107 +f 89 67 107 +f 55 75 108 +f 70 85 108 +f 87 55 108 +f 85 91 108 +f 91 87 108 +f 68 86 109 +f 86 69 109 +f 96 68 109 +f 69 96 109 +f 76 74 110 +f 95 58 110 +f 74 95 110 +f 58 96 110 +f 96 76 110 +f 64 80 111 +f 83 64 111 +f 59 83 111 +f 88 59 111 +f 80 88 111 +f 83 59 112 +f 68 100 112 +f 100 83 112 +f 59 101 112 +f 101 68 112 +f 57 70 113 +f 93 57 113 +f 75 93 113 +f 108 75 113 +f 70 108 113 +f 70 57 114 +f 54 70 114 +f 78 54 114 +f 57 106 114 +f 106 78 114 +f 61 59 115 +f 59 88 115 +o convex_2 +v 0.141939 -1.009272 -1.859675 +v 0.054533 -2.146292 -1.480684 +v 0.083596 -2.146292 -1.480684 +v -0.032765 -1.592251 -2.996482 +v -0.528355 -1.242553 -1.276624 +v 0.579294 -1.271824 -1.276456 +v 0.375202 -1.621411 -2.762959 +v -0.382606 -1.971220 -1.276624 +v 0.491888 -1.971331 -1.276456 +v -0.353434 -1.563313 -2.733831 +v 0.025470 -1.971220 -2.733831 +v -0.061936 -1.184344 -2.733831 +v -0.470120 -1.009272 -1.276624 +v 0.491888 -1.009383 -1.364006 +v 0.433545 -1.971220 -2.034439 +v -0.324263 -1.942171 -2.092862 +v -0.470120 -1.592251 -2.005312 +v -0.382606 -1.009272 -1.742998 +v 0.112876 -1.213392 -2.675577 +v 0.521059 -1.592251 -1.888634 +v 0.375202 -1.563313 -2.762959 +v 0.112876 -2.146292 -1.276624 +v -0.353434 -1.505104 -2.733831 +v 0.375202 -1.009272 -1.713870 +v 0.316859 -1.883851 -2.558899 +v 0.491888 -1.009383 -1.276456 +v -0.265920 -1.242553 -2.558899 +v -0.236857 -1.854691 -2.588026 +v 0.054533 -1.534153 -2.996482 +v 0.054533 -2.087972 -2.063735 +v -0.528355 -1.417513 -1.276624 +v -0.003702 -1.155184 -2.675577 +v 0.025470 -1.942171 -2.792086 +v 0.579294 -1.359193 -1.422261 +v 0.287796 -1.330033 -2.588026 +v -0.440840 -1.009272 -1.538938 +v -0.295200 -1.971220 -2.034439 +v 0.521059 -1.854580 -1.334710 +v -0.411777 -1.913011 -1.305751 +v -0.061936 -1.009272 -1.917930 +v -0.528355 -1.300873 -1.393133 +v -0.061936 -2.117132 -1.305751 +v 0.375202 -2.000380 -2.034439 +v -0.032765 -1.534153 -2.996482 +v -0.353434 -1.913011 -2.034439 +v 0.025470 -1.242553 -2.792086 +v 0.141939 -1.942171 -2.704704 +f 158 126 162 +f 128 116 133 +f 130 122 135 +f 135 122 136 +f 117 118 137 +f 124 123 137 +f 119 125 138 +f 125 132 138 +f 116 128 139 +f 122 130 140 +f 120 124 141 +f 124 121 141 +f 128 120 141 +f 121 129 141 +f 139 128 141 +f 129 139 141 +f 133 127 142 +f 127 138 142 +f 138 133 142 +f 131 125 143 +f 126 131 143 +f 136 122 144 +f 118 117 145 +f 124 120 146 +f 123 124 146 +f 127 133 147 +f 116 139 147 +f 139 134 147 +f 125 119 148 +f 143 125 148 +f 126 143 148 +f 119 144 148 +f 144 122 148 +f 129 121 149 +f 136 129 149 +f 135 136 149 +f 129 136 150 +f 136 134 150 +f 139 129 150 +f 134 139 150 +f 120 128 151 +f 128 133 151 +f 133 138 151 +f 123 131 152 +f 131 126 152 +f 145 117 152 +f 126 145 152 +f 121 124 153 +f 124 130 153 +f 130 135 153 +f 149 121 153 +f 135 149 153 +f 123 146 154 +f 146 132 154 +f 133 116 155 +f 116 147 155 +f 147 133 155 +f 138 132 156 +f 146 120 156 +f 132 146 156 +f 120 151 156 +f 151 138 156 +f 117 137 157 +f 137 123 157 +f 152 117 157 +f 123 152 157 +f 130 124 158 +f 137 118 158 +f 124 137 158 +f 118 145 158 +f 145 126 158 +f 119 138 159 +f 138 127 159 +f 144 119 159 +f 131 123 160 +f 125 131 160 +f 132 125 160 +f 123 154 160 +f 154 132 160 +f 134 136 161 +f 136 144 161 +f 127 147 161 +f 147 134 161 +f 159 127 161 +f 144 159 161 +f 122 140 162 +f 140 130 162 +f 148 122 162 +f 126 148 162 +f 130 158 162 +o convex_3 +v -1.053073 -1.242647 -0.080728 +v 1.104180 -1.009272 0.064428 +v 1.104180 -1.038464 0.064428 +v -0.615800 -1.155229 1.289207 +v 0.025233 -2.612604 0.122942 +v -0.470043 -1.009272 -1.276376 +v 0.112773 -2.175204 -1.276376 +v 0.870883 -2.000369 0.939126 +v -0.790667 -2.291969 -0.168122 +v 0.899992 -1.971334 -0.867781 +v -0.499152 -1.971177 1.289207 +v 0.404502 -1.009272 1.289207 +v 0.695803 -1.009272 -1.159599 +v -0.819989 -2.029560 -0.896913 +v -1.023964 -1.009272 0.443640 +v 0.025233 -2.554221 -0.867781 +v -0.032771 -2.525030 0.793469 +v -0.849098 -2.000369 0.793469 +v 0.404502 -2.000369 1.289207 +v 0.783343 -2.262778 0.035547 +v -0.878207 -1.009272 -0.926044 +v 0.899992 -1.009272 0.909995 +v 0.491828 -1.971334 -1.276376 +v -0.411826 -1.942143 -1.276376 +v 0.958209 -1.009272 -0.896913 +v -0.674232 -1.009272 1.201561 +v 0.491828 -1.009272 -1.276376 +v 0.550259 -1.534090 1.289207 +v -0.061879 -2.146169 1.289207 +v 0.579368 -2.175360 1.026772 +v -0.557583 -1.301030 -1.276376 +v -1.082396 -1.009272 -0.168122 +v -0.761558 -2.321161 -0.022465 +v 0.083664 -2.554221 -0.838650 +v -0.907315 -1.155229 0.822600 +v 1.045749 -1.096846 -0.605597 +v 0.579368 -1.505056 -1.276376 +v 0.025233 -2.525030 0.793469 +v -0.878207 -1.971177 0.735206 +v -0.120097 -2.583413 -0.022465 +v 0.987532 -1.184264 0.676943 +v 0.899992 -2.000369 -0.809518 +v -0.994855 -1.126038 -0.605346 +v -0.849098 -1.971177 -0.867781 +v 0.812451 -2.233586 -0.109859 +v 0.054555 -2.612604 -0.197254 +v -0.295177 -2.379387 -0.867781 +v 0.987532 -1.621665 -0.488820 +v -0.003662 -2.583413 -0.663860 +v 0.899992 -1.912951 0.851732 +v -0.353394 -2.000369 -1.276376 +v -0.207637 -2.437613 0.764337 +v -0.615800 -1.301030 1.289207 +v -0.819989 -2.204552 -0.197254 +v -1.082396 -1.096846 -0.022465 +v 0.550259 -2.233586 -0.867781 +v -0.557583 -1.009272 1.289207 +v 0.491828 -2.204552 1.055904 +v -0.878207 -1.242647 -0.926044 +v -0.032771 -2.554221 0.676943 +v 0.929100 -1.563439 -0.896913 +v -0.849098 -2.087786 0.560166 +v 1.104180 -1.067655 -0.051847 +v 0.841774 -2.146169 0.414508 +f 204 212 226 +f 164 168 174 +f 166 173 174 +f 168 164 175 +f 174 168 177 +f 174 173 181 +f 177 168 183 +f 164 174 184 +f 169 168 185 +f 168 169 186 +f 175 164 187 +f 174 177 188 +f 168 175 189 +f 185 168 189 +f 181 170 190 +f 174 181 190 +f 170 184 190 +f 184 174 190 +f 173 179 191 +f 181 173 191 +f 170 181 192 +f 183 168 193 +f 168 186 193 +f 186 176 193 +f 177 183 194 +f 178 169 196 +f 169 185 196 +f 188 177 197 +f 187 164 198 +f 172 185 199 +f 175 187 199 +f 189 175 199 +f 185 189 199 +f 167 182 200 +f 191 179 200 +f 182 192 200 +f 180 197 201 +f 197 177 201 +f 165 164 203 +f 164 184 203 +f 184 170 203 +f 194 183 205 +f 194 205 206 +f 176 171 206 +f 163 194 206 +f 182 196 207 +f 182 167 208 +f 196 182 208 +f 167 202 208 +f 171 176 209 +f 178 171 209 +f 172 198 210 +f 204 172 210 +f 171 178 211 +f 195 171 211 +f 178 196 211 +f 202 195 211 +f 196 208 211 +f 208 202 211 +f 165 203 212 +f 203 170 212 +f 204 210 212 +f 169 178 213 +f 186 169 213 +f 176 186 213 +f 209 176 213 +f 178 209 213 +f 179 173 214 +f 173 180 214 +f 173 166 215 +f 180 173 215 +f 166 188 215 +f 197 180 215 +f 188 197 215 +f 201 163 216 +f 163 206 216 +f 206 171 216 +f 194 163 217 +f 177 194 217 +f 163 201 217 +f 201 177 217 +f 185 172 218 +f 196 185 218 +f 172 204 218 +f 207 196 218 +f 204 207 218 +f 166 174 219 +f 188 166 219 +f 174 188 219 +f 181 191 220 +f 192 181 220 +f 191 200 220 +f 200 192 220 +f 193 176 221 +f 183 193 221 +f 205 183 221 +f 206 205 221 +f 176 206 221 +f 167 200 222 +f 200 179 222 +f 202 167 222 +f 195 202 222 +f 179 214 222 +f 214 195 222 +f 198 172 223 +f 187 198 223 +f 172 199 223 +f 199 187 223 +f 171 195 224 +f 180 201 224 +f 214 180 224 +f 195 214 224 +f 201 216 224 +f 216 171 224 +f 164 165 225 +f 198 164 225 +f 210 198 225 +f 165 212 225 +f 212 210 225 +f 170 192 226 +f 192 182 226 +f 182 207 226 +f 207 204 226 +f 212 170 226 +o convex_4 +v -0.528340 -1.534250 1.843299 +v 0.550248 -1.534033 1.784911 +v 0.550248 -1.563205 1.784911 +v 0.112847 -1.563205 3.038468 +v -0.120211 -2.117137 1.289207 +v -0.528340 -1.009272 1.289207 +v 0.404448 -1.009272 1.289207 +v 0.083687 -1.125958 2.746696 +v 0.025367 -1.942109 2.834365 +v 0.433608 -1.971280 1.289207 +v -0.353380 -1.592159 2.746696 +v 0.433608 -1.534033 2.805085 +v -0.470020 -1.971280 1.289207 +v -0.382540 -1.971280 2.105791 +v 0.404448 -1.009272 1.726522 +v 0.404448 -1.942109 2.047231 +v -0.382540 -1.009272 1.784911 +v 0.025367 -2.087966 1.989185 +v -0.324331 -1.475907 2.775805 +v 0.550248 -1.534033 1.289207 +v -0.586772 -1.184301 1.318487 +v 0.346127 -1.213472 2.571873 +v 0.346127 -1.825531 2.630261 +v -0.236851 -1.242535 2.601153 +v 0.083687 -1.009272 2.018123 +v -0.266011 -1.854703 2.630261 +v 0.025367 -1.505079 3.038468 +v 0.433608 -1.125958 2.018294 +v 0.054527 -2.117137 1.405984 +v -0.586772 -1.446736 1.289207 +v -0.499180 -1.621331 2.047231 +v 0.112847 -1.942109 2.775805 +v 0.520976 -1.534033 2.221884 +v 0.433608 -1.038552 1.580808 +v -0.295171 -1.592159 2.834365 +v -0.470020 -1.971280 1.464202 +v 0.025367 -1.155129 2.775805 +v 0.433608 -1.446627 2.746867 +v 0.433608 -1.592268 2.775976 +v 0.112847 -1.505079 3.038468 +v 0.404448 -2.000452 1.318487 +v -0.091051 -2.058794 2.076683 +v 0.520976 -1.388393 1.901517 +v -0.411700 -1.534250 2.484375 +v 0.112847 -1.184301 2.805085 +v 0.550248 -1.621439 1.464202 +f 236 246 272 +f 231 232 233 +f 231 233 236 +f 232 231 239 +f 233 232 241 +f 241 232 243 +f 243 232 245 +f 228 229 246 +f 236 233 246 +f 245 232 247 +f 241 234 248 +f 243 245 250 +f 234 241 251 +f 243 234 251 +f 241 243 251 +f 240 235 252 +f 237 240 252 +f 235 230 253 +f 241 248 254 +f 244 231 255 +f 232 239 256 +f 227 247 256 +f 247 232 256 +f 240 237 257 +f 227 256 257 +f 230 235 258 +f 235 244 258 +f 244 242 258 +f 242 249 258 +f 229 228 259 +f 242 229 259 +f 233 241 260 +f 246 233 260 +f 241 254 260 +f 245 237 261 +f 252 235 261 +f 237 252 261 +f 235 253 261 +f 253 245 261 +f 239 231 262 +f 231 240 262 +f 256 239 262 +f 240 257 262 +f 257 256 262 +f 234 243 263 +f 243 250 263 +f 250 245 263 +f 245 253 263 +f 254 248 264 +f 238 259 264 +f 238 230 265 +f 249 242 265 +f 230 258 265 +f 258 249 265 +f 242 259 265 +f 259 238 265 +f 230 238 266 +f 253 230 266 +f 238 264 266 +f 231 236 267 +f 236 242 267 +f 242 244 267 +f 255 231 267 +f 244 255 267 +f 240 231 268 +f 235 240 268 +f 231 244 268 +f 244 235 268 +f 228 246 269 +f 259 228 269 +f 246 260 269 +f 260 254 269 +f 254 264 269 +f 264 259 269 +f 237 245 270 +f 247 227 270 +f 245 247 270 +f 257 237 270 +f 227 257 270 +f 248 234 271 +f 234 263 271 +f 263 253 271 +f 264 248 271 +f 253 266 271 +f 266 264 271 +f 242 236 272 +f 229 242 272 +f 246 229 272 +o convex_5 +v -2.423641 0.156925 0.006393 +v -1.986277 0.652526 0.064707 +v -1.986277 0.652526 -0.080982 +v -2.977331 0.390137 0.006393 +v -1.986277 0.302708 -0.255973 +v -1.986277 0.302708 0.239650 +v -2.744096 0.390137 0.210493 +v -2.773202 0.419262 -0.168502 +v -2.744096 0.564994 0.035550 +v -1.986277 0.156925 -0.168502 +v -2.744096 0.186102 0.064707 +v -2.015480 0.564994 0.210493 +v -2.132098 0.594120 -0.197611 +v -1.986277 0.186102 0.181336 +v -2.569170 0.244405 -0.139345 +v -2.510862 0.215228 0.181336 +v -1.986277 0.477565 -0.255973 +v -2.656585 0.564994 -0.080982 +v -2.015480 0.127747 0.035550 +v -2.744096 0.186102 0.006393 +v -2.307024 0.564994 0.181336 +v -2.539967 0.390137 0.239650 +v -2.948128 0.390137 0.093864 +f 283 279 295 +f 275 274 277 +f 277 274 278 +f 274 275 281 +f 277 278 282 +f 278 274 284 +f 282 278 286 +f 280 277 287 +f 277 282 287 +f 279 283 288 +f 286 278 288 +f 275 277 289 +f 277 280 289 +f 285 275 289 +f 280 285 289 +f 280 276 290 +f 281 275 290 +f 276 281 290 +f 275 285 290 +f 285 280 290 +f 273 282 291 +f 283 273 291 +f 282 286 291 +f 288 283 291 +f 286 288 291 +f 276 280 292 +f 282 273 292 +f 273 283 292 +f 283 276 292 +f 280 287 292 +f 287 282 292 +f 274 281 293 +f 281 279 293 +f 284 274 293 +f 284 293 294 +f 278 284 294 +f 288 278 294 +f 279 288 294 +f 293 279 294 +f 279 281 295 +f 281 276 295 +f 276 283 295 +o convex_6 +v -1.257322 0.914838 0.210465 +v -1.986180 0.127859 -0.080979 +v -1.986180 0.127859 0.035527 +v -1.257322 -0.222105 -0.022762 +v -1.257322 0.769049 -0.343385 +v -1.986180 0.681529 -0.022762 +v -1.927749 0.390068 0.268753 +v -1.315753 -0.105450 -0.314276 +v -1.956929 0.419202 -0.285025 +v -1.257322 0.011204 0.239645 +v -1.286573 0.943972 -0.255916 +v -1.257322 0.477471 0.327114 +v -1.257322 0.302899 -0.401745 +v -1.956929 0.186127 0.210465 +v -1.986180 0.564991 0.210465 +v -1.403222 0.973224 0.006347 +v -1.986180 0.594126 -0.226808 +v -1.986180 0.186127 -0.226808 +v -1.403222 0.856569 0.239645 +v -1.286573 -0.222105 -0.080979 +v -1.286573 -0.076316 0.181285 +v -1.986180 0.652511 0.093745 +v -1.257322 -0.105450 -0.314276 +v -1.286573 0.419202 -0.401745 +v -1.286573 0.885703 -0.314276 +v -1.956929 0.361051 -0.285025 +v -1.257322 0.973224 -0.197628 +f 320 306 322 +f 296 299 300 +f 297 298 301 +f 299 296 305 +f 305 296 307 +f 302 305 307 +f 300 299 308 +f 298 299 309 +f 305 302 309 +f 301 298 310 +f 298 309 310 +f 309 302 310 +f 306 301 311 +f 297 301 312 +f 301 306 312 +f 297 312 313 +f 312 304 313 +f 307 296 314 +f 302 307 314 +f 310 302 314 +f 296 311 314 +f 298 297 315 +f 299 298 315 +f 297 313 315 +f 313 303 315 +f 299 305 316 +f 309 299 316 +f 305 309 316 +f 301 310 317 +f 311 301 317 +f 310 314 317 +f 314 311 317 +f 308 299 318 +f 303 308 318 +f 299 315 318 +f 315 303 318 +f 304 300 319 +f 300 308 319 +f 300 304 320 +f 304 312 320 +f 312 306 320 +f 308 303 321 +f 303 313 321 +f 313 304 321 +f 304 319 321 +f 319 308 321 +f 296 300 322 +f 311 296 322 +f 306 311 322 +f 300 320 322 +o convex_7 +v 1.279107 0.652389 0.385171 +v -0.353334 -0.367876 -1.218067 +v -0.470026 -0.367876 -1.188821 +v 0.346070 -0.367876 1.172407 +v -1.257322 0.973224 0.268668 +v 0.637551 0.973224 -0.984581 +v 0.987378 -0.367876 -0.926329 +v -1.169679 -0.367876 0.326919 +v -0.703161 0.973224 0.997412 +v -0.878198 0.973224 -0.926329 +v 0.841637 0.973224 0.909915 +v 1.162415 -0.367876 0.443662 +v -0.528372 -0.367876 1.230898 +v -1.257322 -0.163745 -0.343334 +v 1.279107 0.885663 -0.168339 +v 1.279107 -0.222031 -0.314088 +v 0.987378 0.973224 -0.868078 +v -0.965593 0.156959 0.880909 +v -0.907247 -0.338602 -0.984581 +v 0.841637 -0.367876 0.968167 +v 0.491811 -0.280316 -1.188821 +v -1.257322 0.973224 -0.343334 +v 0.404416 0.827378 1.055664 +v -0.090902 0.973224 -1.042833 +v 1.279107 0.973224 0.151925 +v 0.870686 0.594103 0.968167 +v -1.257322 -0.017899 0.268668 +v 1.016675 0.419114 -0.926329 +v -0.936544 0.186233 -0.984581 +v -0.907247 -0.367876 0.910155 +v -0.907247 0.914806 0.880909 +v 1.279107 -0.338602 0.035422 +v -1.228025 -0.367876 -0.255837 +v -0.120199 -0.251173 1.230898 +v 1.279107 0.390102 0.414417 +v 1.279107 0.448388 -0.343334 +v 0.375119 -0.338602 -1.218067 +v -0.586718 0.943949 -1.013827 +v -0.324286 0.973224 1.026658 +v -1.257322 0.273531 -0.430831 +v -0.032805 -0.192888 -1.218067 +v 0.112687 0.973224 -1.042833 +v -1.257322 0.623246 0.326919 +v -0.499075 -0.251173 1.230898 +v 1.016675 -0.105459 -0.926329 +v 0.899983 -0.367876 0.909915 +v 1.249810 -0.367876 -0.255837 +v 0.987378 0.885663 -0.897084 +v 1.279107 -0.047173 0.326919 +v 0.433465 0.973224 1.026658 +v 1.279107 0.856521 0.326919 +v -1.257322 -0.309459 -0.022590 +v -0.470026 -0.251173 -1.188821 +v -0.090902 0.856521 1.055904 +v 0.404416 -0.076316 1.143401 +v 0.491811 -0.367876 -1.188821 +v -0.878198 0.798235 -0.955335 +v 0.929032 -0.251173 -0.984581 +v -0.645063 0.914806 1.026418 +v -0.849149 -0.367876 -1.013827 +v -0.878198 -0.163745 0.968406 +v -1.257322 0.302674 0.326919 +v -0.936544 -0.309459 0.880909 +v 0.870686 0.215245 0.968167 +f 368 357 386 +f 325 324 326 +f 326 324 329 +f 325 326 330 +f 328 327 331 +f 327 328 332 +f 328 331 333 +f 326 329 334 +f 330 326 335 +f 337 323 338 +f 328 333 339 +f 326 334 342 +f 327 332 344 +f 336 327 344 +f 332 328 346 +f 323 337 347 +f 337 339 347 +f 339 333 347 +f 323 333 348 +f 327 336 349 +f 344 332 351 +f 330 335 352 +f 331 327 353 +f 335 331 353 +f 338 323 354 +f 325 330 355 +f 336 341 355 +f 335 326 356 +f 323 348 357 +f 354 323 357 +f 337 338 358 +f 339 337 358 +f 328 343 359 +f 332 346 360 +f 333 331 361 +f 341 336 362 +f 336 344 362 +f 351 341 362 +f 344 351 362 +f 359 324 363 +f 324 360 363 +f 360 346 363 +f 346 328 364 +f 328 359 364 +f 359 363 364 +f 363 346 364 +f 327 349 365 +f 353 327 365 +f 340 353 365 +f 331 335 366 +f 335 356 366 +f 338 329 367 +f 358 338 367 +f 350 358 367 +f 342 334 368 +f 334 329 369 +f 329 338 369 +f 354 334 369 +f 338 354 369 +f 328 339 370 +f 343 328 370 +f 350 343 370 +f 339 358 370 +f 358 350 370 +f 334 354 371 +f 354 357 371 +f 368 334 371 +f 357 368 371 +f 348 333 372 +f 345 348 372 +f 333 361 372 +f 333 323 373 +f 323 347 373 +f 347 333 373 +f 330 349 374 +f 349 336 374 +f 355 330 374 +f 336 355 374 +f 324 325 375 +f 325 351 375 +f 360 324 375 +f 356 345 376 +f 366 356 376 +f 345 372 376 +f 372 361 376 +f 326 348 377 +f 348 345 377 +f 356 326 377 +f 345 356 377 +f 329 324 378 +f 324 359 378 +f 359 343 378 +f 351 332 379 +f 332 360 379 +f 375 351 379 +f 360 375 379 +f 343 350 380 +f 367 329 380 +f 350 367 380 +f 329 378 380 +f 378 343 380 +f 361 331 381 +f 331 366 381 +f 366 376 381 +f 376 361 381 +f 351 325 382 +f 341 351 382 +f 325 355 382 +f 355 341 382 +f 352 335 383 +f 335 353 383 +f 353 340 383 +f 365 349 384 +f 340 365 384 +f 349 330 385 +f 330 352 385 +f 352 383 385 +f 383 340 385 +f 340 384 385 +f 384 349 385 +f 326 342 386 +f 348 326 386 +f 357 348 386 +f 342 368 386 +o convex_8 +v 1.599944 0.856560 0.093810 +v 1.279107 -0.192950 -0.080913 +v 1.279107 -0.192950 0.064702 +v 2.007965 0.098593 -0.022696 +v 1.279107 0.506571 -0.314282 +v 1.279107 0.477577 0.414577 +v 2.007965 0.331919 0.297928 +v 1.978714 0.390137 -0.255922 +v 1.279107 0.914892 -0.110165 +v 1.308358 -0.105396 -0.285102 +v 2.007965 0.623234 0.239639 +v 1.279107 0.856560 0.327108 +v 1.308358 -0.017956 0.327108 +v 2.007965 0.594011 -0.110165 +v 2.007965 0.156925 -0.226813 +v 2.007965 0.186147 0.239639 +v 1.337538 0.798229 -0.226813 +v 1.949534 0.448354 0.327108 +v 1.308358 0.973224 0.122990 +v 1.512475 0.361142 -0.314282 +v 1.337538 0.856560 0.327108 +v 2.007965 0.652457 0.035593 +v 1.337538 0.973224 0.035593 +v 1.745559 0.390137 0.356216 +v 1.308358 -0.192950 0.064702 +v 1.454044 0.798229 -0.197633 +f 395 409 412 +f 388 389 391 +f 391 389 392 +f 391 392 395 +f 388 391 396 +f 393 390 397 +f 395 392 398 +f 392 389 399 +f 397 390 400 +f 390 388 401 +f 388 396 401 +f 400 390 401 +f 394 400 401 +f 390 393 402 +f 393 399 402 +f 394 391 403 +f 391 395 403 +f 393 397 404 +f 397 387 405 +f 395 398 405 +f 391 394 406 +f 396 391 406 +f 401 396 406 +f 394 401 406 +f 398 392 407 +f 404 397 407 +f 392 404 407 +f 397 405 407 +f 405 398 407 +f 387 397 408 +f 397 400 408 +f 408 400 409 +f 405 387 409 +f 395 405 409 +f 387 408 409 +f 392 399 410 +f 399 393 410 +f 393 404 410 +f 404 392 410 +f 389 388 411 +f 388 390 411 +f 399 389 411 +f 390 402 411 +f 402 399 411 +f 400 394 412 +f 394 403 412 +f 403 395 412 +f 409 400 412 +o convex_9 +v 2.416246 0.215228 0.210479 +v 2.095554 0.652526 0.064644 +v 2.095554 0.652526 0.035570 +v 3.028268 0.361011 0.035570 +v 2.007966 0.186102 -0.226819 +v 2.007966 0.477565 0.297959 +v 2.736739 0.390137 -0.197642 +v 2.794965 0.156925 -0.022733 +v 2.007966 0.127747 0.093822 +v 2.007966 0.535868 -0.168465 +v 2.765902 0.390137 0.239605 +v 2.765902 0.564994 0.006444 +v 2.212206 0.594120 0.239605 +v 2.007966 0.244405 0.268731 +v 2.765902 0.331834 -0.197642 +v 2.794965 0.156925 0.035570 +v 2.736739 0.564994 0.093822 +v 2.153880 0.419262 -0.226819 +v 2.007966 0.623297 0.210479 +v 2.037228 0.127747 -0.110162 +v 2.183043 0.564994 -0.139339 +v 2.503735 0.186102 -0.168465 +v 2.736739 0.331834 0.239605 +v 2.095554 0.186102 0.239605 +f 413 435 436 +f 418 417 421 +f 417 418 422 +f 415 414 424 +f 416 419 424 +f 418 423 425 +f 418 421 426 +f 419 416 427 +f 416 420 427 +f 420 416 428 +f 423 416 429 +f 424 414 429 +f 416 424 429 +f 425 423 429 +f 414 425 429 +f 417 422 430 +f 419 427 430 +f 427 417 430 +f 414 415 431 +f 415 422 431 +f 422 418 431 +f 425 414 431 +f 418 425 431 +f 421 417 432 +f 420 428 432 +f 428 421 432 +f 422 415 433 +f 415 424 433 +f 424 419 433 +f 430 422 433 +f 419 430 433 +f 417 427 434 +f 427 420 434 +f 432 417 434 +f 420 432 434 +f 416 423 435 +f 423 418 435 +f 418 426 435 +f 428 416 435 +f 413 428 435 +f 426 421 436 +f 428 413 436 +f 421 428 436 +f 435 426 436 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/285/285.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/285/285.urdf new file mode 100644 index 000000000..e19d9d208 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/285/285.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/286/286.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/286/286.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/286/286.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/286/286.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/286/286.obj new file mode 100644 index 000000000..89ab27b5b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/286/286.obj @@ -0,0 +1,456 @@ +o convex_0 +v -0.030760 -3.414921 0.282173 +v 0.094901 -3.320614 -0.283637 +v 0.094901 -3.289161 -0.283637 +v -0.313715 -3.571986 -0.189261 +v 0.314963 -3.729100 0.156339 +v -0.187930 -3.792005 0.282173 +v -0.313715 -3.289161 0.219201 +v 0.283517 -3.289161 0.250714 +v 0.283517 -3.477727 -0.220665 +v -0.313715 -3.666245 -0.189261 +v -0.250822 -3.289161 -0.252178 +v 0.314963 -3.289161 -0.220665 +v 0.220624 -3.634841 -0.157803 +v 0.314963 -3.666245 0.219201 +v -0.219376 -3.792005 0.187797 +v -0.062207 -3.792005 0.282173 +f 6 15 16 +f 6 1 7 +f 7 1 8 +f 3 7 8 +f 7 4 10 +f 2 9 10 +f 3 2 11 +f 7 3 11 +f 4 7 11 +f 2 10 11 +f 10 4 11 +f 2 3 12 +f 3 8 12 +f 9 2 12 +f 5 9 12 +f 9 5 13 +f 10 9 13 +f 12 8 14 +f 5 12 14 +f 6 7 15 +f 7 10 15 +f 13 5 15 +f 10 13 15 +f 1 6 16 +f 8 1 16 +f 5 14 16 +f 14 8 16 +f 15 5 16 +o convex_1 +v 0.723559 4.349195 -0.503556 +v -1.036694 1.112271 0.784798 +v -1.005100 2.023585 -1.006259 +v 1.006438 1.111948 -0.974865 +v 1.037822 1.143607 0.973561 +v -0.973715 4.285878 1.004955 +v 1.100801 4.286201 0.910573 +v -1.036694 4.411866 -0.943471 +v 1.037822 4.317536 -1.037853 +v -0.973715 1.112271 -1.006259 +v -1.036694 1.112271 1.004955 +v 1.100801 3.909206 0.942167 +v 1.069207 4.317536 0.879379 +v -0.847968 4.411866 -0.975065 +v 1.006438 1.677925 -1.006459 +v 1.006438 1.111948 0.973561 +v 1.037822 2.683892 -1.006459 +v -0.690836 4.285878 1.004955 +v -0.690836 4.411866 -0.660725 +v 1.069207 2.557904 0.973361 +v -1.036694 1.740596 1.004955 +v -0.973715 4.317536 0.816391 +v 1.069207 4.317536 -0.440768 +v 0.849306 4.349195 -1.006459 +v -1.005100 2.400903 -1.006259 +v -1.005100 4.348872 0.187712 +v 0.943460 4.286201 0.941967 +v -0.879353 1.112271 1.004955 +v 1.100801 4.317536 0.627828 +v -1.036694 4.411866 -0.817895 +v -0.565089 1.112271 -1.006259 +v -1.036694 4.160213 -0.943471 +v 1.100801 3.909206 0.879379 +v -1.005100 4.411866 -0.660725 +v -1.005100 4.065884 -0.975065 +f 30 41 51 +f 18 19 26 +f 20 18 26 +f 19 25 26 +f 18 20 27 +f 24 18 27 +f 20 21 32 +f 27 20 32 +f 20 31 33 +f 31 25 33 +f 22 27 34 +f 29 22 34 +f 29 17 35 +f 30 24 35 +f 21 28 36 +f 34 21 36 +f 27 22 37 +f 24 27 37 +f 22 29 38 +f 33 25 39 +f 17 29 40 +f 25 30 40 +f 35 17 40 +f 30 35 40 +f 39 25 40 +f 19 24 41 +f 25 19 41 +f 30 25 41 +f 37 22 42 +f 22 38 42 +f 28 23 43 +f 23 29 43 +f 29 34 43 +f 36 28 43 +f 34 36 43 +f 32 21 44 +f 27 32 44 +f 21 34 44 +f 34 27 44 +f 23 28 45 +f 29 23 45 +f 33 39 45 +f 40 29 45 +f 39 40 45 +f 35 24 46 +f 24 37 46 +f 37 42 46 +f 42 38 46 +f 20 26 47 +f 26 25 47 +f 31 20 47 +f 25 31 47 +f 19 18 48 +f 24 19 48 +f 18 24 48 +f 21 20 49 +f 28 21 49 +f 20 33 49 +f 45 28 49 +f 33 45 49 +f 29 35 50 +f 38 29 50 +f 35 46 50 +f 46 38 50 +f 24 30 51 +f 41 24 51 +o convex_2 +v -3.079707 -3.257481 0.344899 +v 0.283446 -2.031757 0.250634 +v 0.346058 -2.157541 0.502121 +v 0.346058 -3.226096 -0.597976 +v -2.985280 -2.157665 -0.597976 +v -3.111183 -2.157665 0.470699 +v 0.346058 -3.226096 0.502121 +v -3.016756 -3.194712 -0.597976 +v 0.346058 -2.126280 -0.597976 +v -3.079707 -3.288989 0.565078 +v 0.283446 -3.289112 -0.283532 +v -0.188350 -2.031757 -0.283418 +v 0.346058 -2.188926 0.533542 +v 0.314583 -3.289112 0.250634 +v 0.346058 -3.006035 0.533542 +v -3.048231 -3.288989 0.344899 +v -2.010890 -2.157665 0.502121 +v -1.822374 -3.006158 0.565078 +v -3.111183 -2.157665 0.282056 +v -0.282438 -2.031757 0.219213 +v -0.250963 -3.289112 -0.283418 +v -3.079707 -3.163204 0.565078 +v -0.502429 -2.188926 0.533429 +v -0.659807 -3.257604 0.533429 +v -1.822374 -2.126280 -0.597976 +v -3.016756 -2.157665 -0.503483 +v 0.220495 -2.031757 -0.220689 +v -3.016756 -3.226096 -0.346375 +v -2.545298 -3.288989 0.565078 +v -0.754234 -3.226096 -0.597976 +v -3.111183 -2.629050 0.439278 +v -1.570908 -3.037542 0.565078 +v -0.282438 -2.031757 -0.126424 +v -3.048231 -2.408988 0.502121 +f 73 68 85 +f 55 54 58 +f 56 55 59 +f 53 54 60 +f 54 55 60 +f 55 56 60 +f 52 59 61 +f 58 54 64 +f 55 58 65 +f 62 55 65 +f 58 64 66 +f 61 59 67 +f 54 53 68 +f 53 57 68 +f 64 54 68 +f 57 53 71 +f 53 63 71 +f 70 57 71 +f 65 61 72 +f 62 65 72 +f 61 67 72 +f 57 61 73 +f 61 69 73 +f 73 69 74 +f 64 68 74 +f 69 64 74 +f 68 73 74 +f 65 58 75 +f 58 66 75 +f 60 56 76 +f 56 63 76 +f 63 60 76 +f 56 59 77 +f 59 70 77 +f 53 60 78 +f 63 53 78 +f 60 63 78 +f 67 59 79 +f 59 72 79 +f 72 67 79 +f 61 65 80 +f 69 61 80 +f 65 75 80 +f 75 66 80 +f 59 55 81 +f 55 62 81 +f 72 59 81 +f 62 72 81 +f 59 52 82 +f 52 61 82 +f 61 57 82 +f 70 59 82 +f 57 70 82 +f 66 64 83 +f 64 69 83 +f 69 80 83 +f 80 66 83 +f 63 56 84 +f 71 63 84 +f 70 71 84 +f 56 77 84 +f 77 70 84 +f 68 57 85 +f 57 73 85 +o convex_3 +v 3.018231 -2.126206 0.187865 +v 0.346542 -3.226112 -0.597976 +v 0.346542 -3.226112 0.502038 +v 0.346542 -2.094640 0.093508 +v 2.923741 -3.257561 -0.597976 +v 2.986825 -2.126206 -0.597976 +v 3.018231 -3.194662 0.470585 +v 3.112449 -2.220554 0.596512 +v 0.346542 -2.126089 -0.597976 +v 0.346542 -2.189104 0.533490 +v 3.018231 -2.063307 -0.503619 +v 0.692280 -2.094640 0.282105 +v 0.346542 -2.974634 0.533490 +v 1.226726 -3.226112 0.502038 +v 3.018231 -3.194662 0.156413 +v 1.792308 -2.063307 -0.126424 +v 0.975206 -2.189104 0.565059 +v 2.986825 -2.157655 0.470585 +v 2.452378 -2.252003 0.596512 +v 3.018231 -2.063307 -0.315022 +v 3.112449 -2.220554 0.439250 +v 2.955148 -3.194662 -0.472049 +v 2.515191 -3.257561 -0.566406 +v 2.389566 -2.063307 -0.503619 +v 3.112449 -2.252003 0.596512 +v 0.346542 -2.157655 0.502038 +v 2.923741 -3.257561 -0.503619 +v 3.081043 -2.189104 0.564942 +v 0.346542 -2.094640 0.282105 +f 111 97 114 +f 87 88 89 +f 90 87 91 +f 87 89 94 +f 91 87 94 +f 89 88 95 +f 90 91 96 +f 91 94 96 +f 95 88 98 +f 98 88 99 +f 92 90 100 +f 95 98 102 +f 101 97 103 +f 93 102 104 +f 102 98 104 +f 93 96 105 +f 96 101 105 +f 103 86 105 +f 101 103 105 +f 96 93 106 +f 106 100 107 +f 90 96 107 +f 100 90 107 +f 96 106 107 +f 88 87 108 +f 87 90 108 +f 94 89 109 +f 96 94 109 +f 89 101 109 +f 101 96 109 +f 99 92 110 +f 98 99 110 +f 92 100 110 +f 93 104 110 +f 104 98 110 +f 106 93 110 +f 100 106 110 +f 89 95 111 +f 95 102 111 +f 103 97 111 +f 90 92 112 +f 99 88 112 +f 92 99 112 +f 88 108 112 +f 108 90 112 +f 102 93 113 +f 86 103 113 +f 105 86 113 +f 93 105 113 +f 111 102 113 +f 103 111 113 +f 101 89 114 +f 97 101 114 +f 89 111 114 +o convex_4 +v 0.283529 -2.031732 0.282173 +v -0.156447 -2.031732 -0.283637 +v -0.250822 -2.031732 -0.252178 +v -0.282281 -1.780286 -0.252178 +v 0.283529 -1.780286 -0.252178 +v -0.282281 -1.780286 0.250714 +v -0.282281 -2.031732 0.219201 +v 0.220557 -1.780286 0.282173 +v 0.220557 -2.031732 -0.220665 +f 116 119 123 +f 117 116 115 +f 116 117 118 +f 116 118 119 +f 119 118 120 +f 117 115 121 +f 118 117 121 +f 115 120 121 +f 120 118 121 +f 115 119 122 +f 120 115 122 +f 119 120 122 +f 115 116 123 +f 119 115 123 +o convex_5 +v -1.036479 -1.717159 0.030554 +v 0.786314 -0.585416 1.036586 +v 0.974943 -0.365465 1.036380 +v -1.036479 1.111632 1.005044 +v 1.006484 1.111632 -0.974859 +v 0.974943 -1.654316 -0.943524 +v -0.973603 1.111632 -1.006401 +v -1.099561 -1.654316 1.005044 +v -0.942268 -1.780286 -1.069484 +v 1.006484 1.111632 1.005044 +v 0.974943 -1.591473 1.036380 +v 0.220634 -1.780286 0.281856 +v 1.006484 -0.899915 -0.974859 +v -0.973603 0.765711 -1.037942 +v -0.659428 -1.654316 -1.069484 +v 0.943607 -1.685738 -0.943524 +v 0.000464 -1.622895 1.036586 +v -1.099561 -1.182993 0.910626 +v -0.345046 -1.780286 0.219185 +v 1.006484 -0.208924 1.005044 +v 0.283510 -1.780286 -0.251877 +v -1.068020 0.325526 0.942168 +v 0.880731 -1.622895 1.005044 +v -0.973603 -0.082954 -1.037942 +v -1.099561 -1.654316 0.816414 +v 0.849190 -1.685738 -0.974859 +v -0.910933 -0.899915 -1.069484 +v 0.974943 -1.622895 0.753537 +v -0.785180 -1.780286 -1.069484 +v 1.006484 -0.994180 -0.911982 +v -0.973603 -1.685738 0.847955 +v -0.942268 -1.780286 -0.880647 +v -0.596551 -1.654316 1.005044 +v -1.036479 1.111632 0.784872 +v -0.973603 -1.748581 -0.755099 +f 147 132 158 +f 125 126 127 +f 127 128 130 +f 127 126 133 +f 128 127 133 +f 126 125 134 +f 133 126 134 +f 128 133 136 +f 130 128 137 +f 128 136 138 +f 125 127 140 +f 127 131 140 +f 134 125 140 +f 132 135 142 +f 133 134 143 +f 136 133 143 +f 135 132 144 +f 139 135 144 +f 131 127 145 +f 130 141 145 +f 141 131 145 +f 134 140 146 +f 137 132 147 +f 124 131 148 +f 130 137 148 +f 141 130 148 +f 131 141 148 +f 147 124 148 +f 137 147 148 +f 136 129 149 +f 138 136 149 +f 129 139 149 +f 137 128 150 +f 132 137 150 +f 138 132 150 +f 128 138 150 +f 139 129 151 +f 135 139 151 +f 146 135 151 +f 134 146 151 +f 132 138 152 +f 144 132 152 +f 139 144 152 +f 138 149 152 +f 149 139 152 +f 129 136 153 +f 143 134 153 +f 136 143 153 +f 151 129 153 +f 134 151 153 +f 131 124 154 +f 142 135 154 +f 124 132 155 +f 132 142 155 +f 154 124 155 +f 142 154 155 +f 140 131 156 +f 135 146 156 +f 146 140 156 +f 131 154 156 +f 154 135 156 +f 127 130 157 +f 145 127 157 +f 130 145 157 +f 132 124 158 +f 124 147 158 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/286/286.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/286/286.urdf new file mode 100644 index 000000000..ac91653ee --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/286/286.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/287/287.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/287/287.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/287/287.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/287/287.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/287/287.obj new file mode 100644 index 000000000..042626a71 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/287/287.obj @@ -0,0 +1,465 @@ +o convex_0 +v -0.273548 -2.051347 1.555078 +v 0.355211 -1.570633 1.222157 +v 0.355211 -1.607620 1.222157 +v 0.318129 -2.125322 2.960433 +v -0.273548 -1.496596 2.923503 +v -0.273548 -1.533645 1.111184 +v 0.207145 -2.014360 1.111184 +v -0.310565 -2.051347 2.923503 +v 0.170193 -1.570633 2.997547 +v -0.236532 -2.051347 1.111184 +v -0.014628 -1.496596 2.257663 +v 0.355211 -1.644608 1.111184 +v 0.318129 -2.125322 2.590583 +v 0.133177 -2.125322 2.960433 +v 0.281112 -1.866410 2.960433 +v -0.310565 -1.718583 2.923503 +v -0.310565 -2.051347 2.220733 +v 0.207145 -2.051347 1.222157 +v 0.207145 -1.570633 2.849460 +f 9 15 19 +f 3 2 4 +f 1 6 10 +f 6 7 10 +f 2 6 11 +f 6 5 11 +f 5 9 11 +f 2 3 12 +f 3 4 12 +f 6 2 12 +f 7 6 12 +f 12 4 13 +f 10 13 14 +f 4 9 14 +f 9 8 14 +f 1 10 14 +f 13 4 14 +f 4 2 15 +f 9 4 15 +f 5 6 16 +f 9 5 16 +f 8 9 16 +f 6 1 17 +f 1 14 17 +f 14 8 17 +f 16 6 17 +f 8 16 17 +f 10 7 18 +f 7 12 18 +f 12 13 18 +f 13 10 18 +f 2 11 19 +f 11 9 19 +f 15 2 19 +o convex_1 +v -1.604930 1.277500 1.111184 +v -0.643427 3.311780 -1.070920 +v -0.015081 3.274677 -0.997061 +v 0.946809 1.055763 -1.033773 +v -2.936389 1.092646 -0.996844 +v -2.899587 3.237574 0.999961 +v 0.983998 3.163588 0.926102 +v 0.983998 1.055763 0.926102 +v -2.973579 3.237574 -1.108067 +v -2.936389 1.277721 1.074037 +v 0.983998 3.200470 -1.033773 +v -0.976583 1.055763 1.111184 +v -0.902591 3.126705 1.037108 +v -0.495832 2.719673 -1.108067 +v -2.936389 3.052720 1.036890 +v 0.170092 3.200691 0.963031 +v -1.382955 3.311780 -0.664043 +v -2.973579 2.349964 -1.070703 +v 0.983998 1.166632 -1.033773 +v 0.798826 2.941630 0.963031 +v -0.939781 1.055763 -0.959914 +v 0.983998 3.200470 0.408218 +v -0.902591 1.425472 1.111184 +v 0.872817 1.055763 0.963031 +v 0.466058 1.684533 -1.070920 +v -2.973579 3.237574 -0.257166 +v -0.643427 3.311780 -1.108067 +v -2.973579 1.869608 -0.959914 +v -2.936389 1.092646 -0.848908 +v -2.973579 2.978513 -1.108067 +v -2.936389 2.017359 1.074037 +v -1.420145 3.311780 -1.108067 +v 0.354877 1.055763 -1.033991 +v -0.976583 3.311780 -0.738119 +v -0.828600 1.166632 1.111184 +v -2.973579 2.460832 -0.257166 +v -2.936389 1.240618 0.741019 +v 0.614041 3.237795 -1.033773 +v -0.199866 3.200691 1.000178 +f 42 39 58 +f 26 27 30 +f 23 27 31 +f 20 29 31 +f 32 25 34 +f 27 23 38 +f 30 27 38 +f 23 31 40 +f 31 24 40 +f 22 21 41 +f 26 30 41 +f 35 26 41 +f 20 31 42 +f 34 20 42 +f 32 34 42 +f 27 26 43 +f 31 27 43 +f 26 39 43 +f 33 30 44 +f 38 23 44 +f 30 38 44 +f 34 25 45 +f 28 37 45 +f 33 28 46 +f 30 33 46 +f 36 21 46 +f 37 24 47 +f 45 37 47 +f 24 31 48 +f 47 24 48 +f 28 33 49 +f 24 37 49 +f 37 28 49 +f 33 44 49 +f 29 20 50 +f 20 34 50 +f 34 45 50 +f 45 29 50 +f 25 36 51 +f 45 25 51 +f 28 45 51 +f 46 28 51 +f 36 46 51 +f 23 40 52 +f 40 24 52 +f 44 23 52 +f 24 49 52 +f 49 44 52 +f 25 35 53 +f 21 36 53 +f 36 25 53 +f 41 21 53 +f 35 41 53 +f 42 31 54 +f 39 42 54 +f 43 39 54 +f 31 43 54 +f 29 45 55 +f 47 29 55 +f 45 47 55 +f 31 29 56 +f 29 47 56 +f 48 31 56 +f 47 48 56 +f 21 22 57 +f 22 41 57 +f 41 30 57 +f 46 21 57 +f 30 46 57 +f 25 32 58 +f 35 25 58 +f 26 35 58 +f 39 26 58 +f 32 42 58 +o convex_2 +v 3.092287 3.163606 0.482230 +v 2.796350 1.240704 -1.108067 +v 2.796350 1.277804 -1.108067 +v 0.983998 1.203807 0.926134 +v 0.983998 3.200503 -1.033980 +v 3.055140 1.203807 1.000221 +v 0.983998 3.163606 0.926134 +v 0.983998 1.166910 -1.033980 +v 2.944112 3.237806 -0.997039 +v 3.092287 3.126709 0.926134 +v 3.055140 1.240704 -1.108067 +v 2.685323 1.166910 0.630198 +v 3.092287 2.017366 -0.331286 +v 0.983998 3.200503 0.371408 +v 2.870231 3.163606 0.926134 +v 1.280141 1.203807 0.963075 +v 3.018199 1.684482 1.000221 +v 3.092287 1.721379 0.962868 +v 3.018199 2.128463 -1.070920 +v 2.981052 3.237806 -0.553135 +v 1.871807 3.237806 -0.959892 +v 1.021145 1.166910 0.038325 +v 1.538930 1.203807 -1.070920 +v 1.354022 1.166910 -1.033980 +v 2.426533 1.240704 1.000221 +v 3.055140 1.203807 -0.146377 +v 2.944112 2.867619 -1.033980 +v 3.092287 2.571835 0.962868 +v 3.055140 1.388698 -1.108067 +f 77 71 87 +f 63 62 65 +f 62 63 66 +f 60 61 69 +f 66 60 69 +f 59 68 71 +f 63 65 72 +f 68 59 73 +f 72 65 73 +f 65 62 74 +f 62 70 74 +f 70 64 74 +f 71 68 76 +f 69 71 76 +f 67 59 77 +f 59 71 77 +f 59 67 78 +f 72 73 78 +f 73 59 78 +f 67 63 79 +f 63 72 79 +f 78 67 79 +f 72 78 79 +f 62 66 80 +f 70 62 80 +f 66 70 80 +f 61 60 81 +f 63 61 81 +f 66 63 81 +f 60 66 81 +f 66 69 82 +f 70 66 82 +f 65 74 83 +f 74 64 83 +f 64 75 83 +f 75 65 83 +f 64 70 84 +f 76 64 84 +f 69 76 84 +f 82 69 84 +f 70 82 84 +f 63 67 85 +f 77 63 85 +f 67 77 85 +f 73 65 86 +f 68 73 86 +f 75 64 86 +f 65 75 86 +f 64 76 86 +f 76 68 86 +f 61 63 87 +f 69 61 87 +f 71 69 87 +f 63 77 87 +o convex_3 +v -0.236579 -1.422621 -2.661282 +v -0.162597 -2.125247 -2.994329 +v -0.347552 -2.088310 -3.031418 +v -0.236579 -2.088310 -1.108067 +v 0.281236 -1.829408 -1.108067 +v 0.244244 -2.125247 -2.957240 +v 0.170262 -1.496701 -3.031418 +v 0.133271 -1.459696 -1.145156 +v -0.199588 -1.607649 -1.108067 +v -0.347552 -1.422621 -2.920151 +v 0.281236 -2.014298 -1.108067 +v 0.244244 -1.496701 -1.367312 +v -0.347552 -1.459696 -2.624193 +v -0.273570 -2.088310 -1.367312 +v 0.244244 -1.977362 -2.920151 +v 0.244244 -2.125247 -2.624193 +v -0.088614 -2.088310 -1.108067 +v -0.199588 -1.570644 -1.182245 +v 0.244244 -1.496701 -1.108067 +v -0.347552 -2.088310 -2.735460 +f 101 100 107 +f 89 90 93 +f 93 90 94 +f 94 88 95 +f 91 92 96 +f 88 94 97 +f 94 90 97 +f 95 88 97 +f 92 91 98 +f 93 92 98 +f 94 95 99 +f 97 90 100 +f 89 91 101 +f 91 96 101 +f 96 100 101 +f 92 93 102 +f 93 94 102 +f 99 92 102 +f 94 99 102 +f 91 89 103 +f 89 93 103 +f 93 98 103 +f 103 98 104 +f 98 91 104 +f 91 103 104 +f 96 95 105 +f 95 97 105 +f 100 96 105 +f 97 100 105 +f 96 92 106 +f 95 96 106 +f 92 99 106 +f 99 95 106 +f 90 89 107 +f 100 90 107 +f 89 101 107 +o convex_4 +v -0.051594 -2.198834 -1.108067 +v -0.828202 1.054960 1.111184 +v -0.384395 1.055542 1.074037 +v -0.976354 -4.899447 1.110967 +v 1.094961 -4.714083 1.036890 +v 0.946808 1.055542 -1.033991 +v -0.939208 1.054960 -0.959914 +v 0.946808 -4.899447 -0.922985 +v -1.050214 -4.714083 -0.959914 +v 0.983955 1.055542 0.926102 +v -1.087143 -1.681794 1.073820 +v 0.355066 -1.571625 1.111184 +v -1.087143 -2.716456 -0.997061 +v -1.124290 -4.899447 1.110967 +v -1.013284 0.759425 1.110967 +v 1.094961 -2.605704 0.778166 +v 0.946808 -3.197938 -1.033991 +v 0.983955 -4.899447 -0.886055 +v -0.236459 -1.349537 -1.108067 +v 0.540148 -2.272280 -1.108067 +v 0.909878 1.018236 0.963031 +v 0.983955 0.500614 -0.664043 +v 0.798872 0.500614 -1.070920 +v -0.421542 -4.788112 -0.959914 +v -0.828202 0.759425 -0.996844 +v -0.976137 1.054960 0.038271 +v 1.020884 0.241803 0.926102 +v -1.087143 -3.345414 -0.997061 +v 0.983955 -4.899447 -0.700973 +v -1.124290 -4.899447 0.999961 +v 0.946808 -4.529301 -0.959914 +v 0.318136 1.055542 -1.033991 +v 0.725013 -4.899447 -0.922985 +v -0.976137 1.054960 1.111184 +v 0.244060 -4.787529 1.074037 +v -1.124290 -4.343936 1.036890 +v -1.087143 -4.787529 -0.257166 +v 0.503001 -0.905361 -1.108067 +v 0.983955 1.018236 0.038271 +v -0.236459 -2.088081 -1.108067 +v 1.094961 -4.491995 0.889172 +v 0.836019 -2.643010 -1.070920 +v 1.094961 -2.531674 0.926102 +v -1.013284 0.574060 0.667160 +v -0.976137 0.351972 -0.886055 +v 0.761943 -4.751389 1.037108 +v 0.983955 0.278526 -0.700973 +v 1.094961 -4.491995 1.036890 +v -0.569477 -2.050775 -1.070920 +v -1.087143 -2.605704 -0.886055 +v -0.865348 -4.862142 1.111184 +v -0.125453 -4.787529 -0.959914 +v -1.050214 -1.755824 -0.997061 +f 132 156 160 +f 113 110 117 +f 110 109 119 +f 115 111 121 +f 118 121 122 +f 111 115 125 +f 124 113 125 +f 116 108 127 +f 108 126 127 +f 117 110 128 +f 110 119 128 +f 116 127 131 +f 110 114 133 +f 111 125 136 +f 125 112 136 +f 115 121 137 +f 120 135 137 +f 125 115 138 +f 124 125 138 +f 127 124 138 +f 110 113 139 +f 114 110 139 +f 113 130 139 +f 130 126 139 +f 132 114 139 +f 126 132 139 +f 131 115 140 +f 115 137 140 +f 137 131 140 +f 109 110 141 +f 119 109 141 +f 122 121 141 +f 110 133 141 +f 133 122 141 +f 112 119 142 +f 121 118 143 +f 120 137 143 +f 137 121 143 +f 116 131 144 +f 135 116 144 +f 131 137 144 +f 137 135 144 +f 127 126 145 +f 126 130 145 +f 130 127 145 +f 113 117 146 +f 129 113 146 +f 123 129 146 +f 117 134 146 +f 134 123 146 +f 108 116 147 +f 126 108 147 +f 116 135 147 +f 123 112 148 +f 112 125 148 +f 125 123 148 +f 113 124 149 +f 124 127 149 +f 130 113 149 +f 127 130 149 +f 112 123 150 +f 123 134 150 +f 118 122 151 +f 122 133 151 +f 151 133 152 +f 133 114 152 +f 111 136 153 +f 136 112 153 +f 142 111 153 +f 112 142 153 +f 123 125 154 +f 125 113 154 +f 113 129 154 +f 129 123 154 +f 119 112 155 +f 117 128 155 +f 128 119 155 +f 134 117 155 +f 112 150 155 +f 150 134 155 +f 132 126 156 +f 135 120 156 +f 126 147 156 +f 147 135 156 +f 143 118 157 +f 120 143 157 +f 118 151 157 +f 151 152 157 +f 152 120 157 +f 121 111 158 +f 119 141 158 +f 141 121 158 +f 111 142 158 +f 142 119 158 +f 115 131 159 +f 131 127 159 +f 138 115 159 +f 127 138 159 +f 114 132 160 +f 152 114 160 +f 120 152 160 +f 156 120 160 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/287/287.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/287/287.urdf new file mode 100644 index 000000000..e3943b988 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/287/287.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/288/288.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/288/288.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/288/288.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/288/288.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/288/288.obj new file mode 100644 index 000000000..9b5faa98b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/288/288.obj @@ -0,0 +1,495 @@ +o convex_0 +v -1.044642 0.416342 -0.570090 +v 1.110028 2.570600 1.229994 +v 1.110028 2.464495 1.229994 +v 1.110028 0.804751 -2.972636 +v -1.044642 2.535017 -3.114427 +v -1.080014 0.522233 3.102495 +v -1.080014 2.605969 3.066590 +v 0.968541 0.451496 3.066590 +v 0.968541 2.464495 -3.043227 +v -1.009271 0.522233 -3.078523 +v 1.039284 2.499863 3.066590 +v 0.968541 0.416342 -1.030152 +v 1.110028 0.557387 -2.972636 +v 1.074656 0.416342 0.982315 +v 1.039284 2.570600 -1.171335 +v -1.080014 0.416342 0.982924 +v -1.044642 1.228529 -3.114427 +v -0.196794 2.605969 2.289475 +v 1.003913 2.499863 -2.724957 +v 0.226808 2.570600 -1.736067 +v 0.050378 0.522018 -3.043227 +v -1.080014 0.416342 0.241104 +v 1.074656 2.358604 2.537154 +v 1.110028 2.570600 0.770540 +v -1.009271 0.416342 -0.994247 +v -0.620826 2.535017 -3.114427 +v -1.080014 2.605969 2.784224 +v 1.039284 1.899243 3.031295 +v 0.650625 0.451496 3.066590 +v 0.615467 2.535017 3.030686 +v 1.110028 2.111239 0.982315 +v -0.055522 1.405157 -3.078523 +v 1.074656 0.522018 -2.690269 +v 1.074656 1.122638 1.688839 +v -1.080014 1.440526 1.088811 +v 1.003913 2.393758 -3.007323 +v -0.514711 0.522233 -3.078523 +v 1.039284 1.263898 -3.007931 +v -0.726726 2.605969 3.066590 +v -0.938527 0.592755 3.102495 +v 1.110028 0.557387 -2.724957 +v 0.332709 2.570600 -1.736067 +v 0.650625 2.499863 -3.007323 +v -0.973899 1.122638 -3.114427 +v 0.368080 0.522018 -3.007931 +v -1.080014 2.535017 2.431267 +v 1.074656 2.535017 2.324771 +v 0.968541 2.287867 -3.043227 +v -1.044642 0.698860 3.102495 +f 40 11 49 +f 2 3 4 +f 4 3 13 +f 9 4 13 +f 1 12 14 +f 6 7 16 +f 1 14 16 +f 14 8 16 +f 10 1 22 +f 16 7 22 +f 1 16 22 +f 5 17 22 +f 17 10 22 +f 3 2 23 +f 2 4 24 +f 18 2 24 +f 15 18 24 +f 19 15 24 +f 1 10 25 +f 12 1 25 +f 10 12 25 +f 17 5 26 +f 5 20 26 +f 7 18 27 +f 20 5 27 +f 18 20 27 +f 22 7 27 +f 11 8 28 +f 23 11 28 +f 8 6 29 +f 6 16 29 +f 16 8 29 +f 13 3 31 +f 14 12 33 +f 13 14 33 +f 8 14 34 +f 3 23 34 +f 28 8 34 +f 23 28 34 +f 31 3 34 +f 14 31 34 +f 5 22 35 +f 22 27 35 +f 4 9 36 +f 9 19 36 +f 24 4 36 +f 19 24 36 +f 12 10 37 +f 21 12 37 +f 37 32 38 +f 9 13 38 +f 13 21 38 +f 21 37 38 +f 18 7 39 +f 11 30 39 +f 30 18 39 +f 6 8 40 +f 8 11 40 +f 14 13 41 +f 13 31 41 +f 31 14 41 +f 18 15 42 +f 20 18 42 +f 26 20 42 +f 26 42 43 +f 19 9 43 +f 15 19 43 +f 9 26 43 +f 42 15 43 +f 10 17 44 +f 17 26 44 +f 26 32 44 +f 37 10 44 +f 32 37 44 +f 12 21 45 +f 21 13 45 +f 33 12 45 +f 13 33 45 +f 27 5 46 +f 5 35 46 +f 35 27 46 +f 2 18 47 +f 23 2 47 +f 11 23 47 +f 30 11 47 +f 18 30 47 +f 26 9 48 +f 32 26 48 +f 38 32 48 +f 9 38 48 +f 7 6 49 +f 39 7 49 +f 11 39 49 +f 6 40 49 +o convex_1 +v 1.074704 0.309905 0.665117 +v -1.115348 -2.162440 -0.429543 +v -1.115348 -2.162440 0.982758 +v -1.079976 0.415664 0.982758 +v -1.009232 0.415664 -0.995011 +v 1.003960 -2.162440 -1.065669 +v 1.039332 -2.162440 1.053626 +v 0.968589 0.415664 -1.030024 +v -1.079976 -2.162440 -0.995011 +v 1.074704 0.415664 0.982969 +v -0.479298 -1.350188 1.089060 +v 1.039332 -2.162440 -0.641514 +v -1.044604 0.345242 1.018192 +v 1.074704 -0.043720 1.018192 +v -0.408769 -2.162440 1.089060 +v -1.079976 0.345242 0.170516 +v -1.115348 -0.538189 0.982758 +v 1.003960 0.380579 -0.818263 +v -1.044604 -0.255491 -0.995011 +v -0.373397 -1.950669 -1.030234 +v 0.368125 0.415664 -1.030234 +v 1.074704 -0.679538 0.947535 +v -1.009232 -2.162440 1.018192 +v 1.003960 -1.667971 -1.065669 +v 1.039332 -1.738645 1.053626 +v -1.115348 -1.314851 0.029202 +v -0.055479 -2.127355 1.089060 +v 1.003960 -0.538189 -1.030024 +v -1.044604 0.415664 -0.606291 +v -1.079976 -1.667971 -0.995011 +v 1.074704 -0.149732 0.559025 +v 0.933217 -1.773983 -1.065669 +f 70 73 81 +f 52 51 55 +f 52 55 56 +f 54 53 57 +f 55 51 58 +f 57 53 59 +f 56 55 61 +f 59 53 62 +f 62 60 63 +f 50 59 63 +f 59 62 63 +f 52 56 64 +f 51 52 66 +f 52 62 66 +f 62 53 66 +f 53 65 66 +f 59 50 67 +f 57 59 67 +f 55 58 69 +f 68 54 69 +f 54 57 70 +f 56 61 71 +f 50 63 71 +f 63 56 71 +f 62 52 72 +f 60 62 72 +f 52 64 72 +f 64 60 72 +f 61 55 73 +f 70 57 73 +f 63 60 74 +f 56 63 74 +f 51 66 75 +f 66 65 75 +f 64 56 76 +f 60 64 76 +f 74 60 76 +f 56 74 76 +f 57 67 77 +f 61 73 77 +f 73 57 77 +f 53 54 78 +f 65 53 78 +f 54 68 78 +f 68 65 78 +f 58 51 79 +f 65 68 79 +f 69 58 79 +f 68 69 79 +f 51 75 79 +f 75 65 79 +f 67 50 80 +f 71 61 80 +f 50 71 80 +f 61 77 80 +f 77 67 80 +f 69 54 81 +f 55 69 81 +f 54 70 81 +f 73 55 81 +o convex_2 +v -1.115348 -2.904592 -0.888920 +v 1.039329 -3.434236 1.089060 +v 1.039329 -3.469594 1.089060 +v 1.003896 -3.469594 -1.065669 +v -1.115348 -3.610880 0.982969 +v 1.039329 -2.869161 1.053415 +v -1.115348 -2.869161 0.982969 +v 1.003896 -2.869161 -1.065669 +v -1.115348 -3.504879 -0.959577 +v -1.079915 -2.869161 -0.994800 +v -0.302704 -2.869161 1.089060 +v -0.832726 -3.610880 0.735774 +v -0.903170 -3.469594 -1.030024 +v 1.039329 -2.939877 -0.818052 +v 0.756707 -3.504879 1.053415 +v -0.973826 -3.540237 1.018192 +v 1.039329 -3.469594 -0.394109 +v 0.297341 -3.469594 -1.065669 +v -1.044481 -3.610880 0.665117 +v -1.009048 -2.869161 1.018192 +v 0.827362 -2.869161 -1.065669 +v -0.761859 -3.504879 -0.924354 +v -0.832726 -3.610880 0.982969 +f 93 96 104 +f 83 84 87 +f 82 86 88 +f 88 87 89 +f 86 82 90 +f 82 88 91 +f 88 89 91 +f 90 82 91 +f 84 83 92 +f 83 87 92 +f 87 88 92 +f 90 91 94 +f 87 84 95 +f 89 87 95 +f 85 89 95 +f 93 85 96 +f 86 84 97 +f 84 92 97 +f 95 84 98 +f 85 95 98 +f 84 96 98 +f 96 85 98 +f 89 85 99 +f 85 90 99 +f 90 94 99 +f 86 90 100 +f 85 93 100 +f 93 86 100 +f 88 86 101 +f 92 88 101 +f 86 97 101 +f 97 92 101 +f 91 89 102 +f 94 91 102 +f 89 99 102 +f 99 94 102 +f 90 85 103 +f 85 100 103 +f 100 90 103 +f 84 86 104 +f 86 93 104 +f 96 84 104 +o convex_3 +v -0.126251 -2.833838 -2.866980 +v 0.297589 -2.268663 -2.725610 +v 0.297589 -2.304014 -2.725610 +v -0.338233 -2.339310 -1.065869 +v 0.226825 -2.692544 -1.065869 +v -0.196890 -2.268663 -2.937564 +v 0.262176 -2.833838 -3.114226 +v 0.262176 -2.304014 -1.065869 +v -0.338233 -2.727840 -1.383901 +v -0.338233 -2.833838 -3.114226 +v 0.297589 -2.268663 -3.008149 +v 0.262176 -2.798486 -2.266409 +v -0.302881 -2.692544 -1.065869 +v -0.338233 -2.657137 -3.008149 +v -0.302881 -2.304014 -1.242531 +v 0.226825 -2.268663 -1.913687 +v 0.262176 -2.516010 -1.136654 +v -0.338233 -2.763191 -3.114226 +v 0.226825 -2.727840 -1.313116 +v 0.120896 -2.833838 -2.690318 +v -0.338233 -2.339310 -1.242531 +f 108 119 125 +f 107 106 112 +f 108 109 112 +f 111 105 114 +f 105 113 114 +f 113 108 114 +f 106 107 115 +f 110 106 115 +f 107 111 115 +f 111 107 116 +f 109 108 117 +f 108 113 117 +f 114 108 118 +f 108 112 119 +f 119 112 120 +f 106 110 120 +f 112 106 120 +f 110 119 120 +f 107 112 121 +f 112 109 121 +f 116 107 121 +f 109 116 121 +f 111 114 122 +f 110 115 122 +f 115 111 122 +f 118 110 122 +f 114 118 122 +f 116 109 123 +f 109 117 123 +f 117 113 123 +f 105 111 124 +f 113 105 124 +f 111 116 124 +f 116 123 124 +f 123 113 124 +f 118 108 125 +f 110 118 125 +f 119 110 125 +o convex_4 +v -0.338118 -2.621824 -1.065669 +v 1.039381 -2.162762 1.053640 +v -0.055701 -2.162762 1.089012 +v 1.039381 -2.869092 1.053640 +v -1.115348 -2.869092 0.982896 +v -1.079703 -2.162762 -0.994925 +v 1.003947 -2.162762 -1.065669 +v 1.003947 -2.869092 -1.065669 +v -1.079703 -2.869092 -0.994925 +v -1.115348 -2.162762 0.982896 +v -0.267461 -2.833758 1.124383 +v -1.115348 -2.833758 -0.853652 +v 1.039381 -2.869092 -0.782694 +v -0.161581 -2.198095 1.124383 +v 0.297375 -2.727757 1.124383 +v 1.039381 -2.162762 -0.641421 +v -1.115348 -2.162762 -0.464991 +v -0.338118 -2.339361 -1.065669 +v -1.009046 -2.162762 1.018054 +v -1.009046 -2.869092 1.018054 +v 0.261940 -2.304097 1.124383 +f 140 127 146 +f 128 127 131 +f 131 127 132 +f 129 130 133 +f 126 132 133 +f 133 130 134 +f 131 126 134 +f 126 133 134 +f 128 131 135 +f 134 130 137 +f 131 134 137 +f 130 135 137 +f 127 129 138 +f 129 133 138 +f 133 132 138 +f 127 128 139 +f 139 136 140 +f 129 127 140 +f 136 129 140 +f 132 127 141 +f 127 138 141 +f 138 132 141 +f 135 131 142 +f 131 137 142 +f 137 135 142 +f 126 131 143 +f 132 126 143 +f 131 132 143 +f 128 135 144 +f 135 130 144 +f 139 128 144 +f 136 139 144 +f 130 129 145 +f 129 136 145 +f 144 130 145 +f 136 144 145 +f 127 139 146 +f 139 140 146 +o convex_5 +v 0.014974 -2.304007 3.067171 +v -0.267582 -2.833838 1.124383 +v -0.267582 -2.621793 1.124383 +v 0.297589 -2.727847 1.124383 +v 0.226935 -2.833838 2.996428 +v 0.262262 -2.268718 1.301052 +v -0.302909 -2.198016 2.925874 +v -0.267582 -2.727847 3.067171 +v 0.191608 -2.198016 3.067171 +v -0.196929 -2.304007 1.159755 +v 0.297589 -2.445349 1.124383 +v -0.302909 -2.727847 1.371796 +v -0.302909 -2.198016 2.678462 +v 0.297589 -2.763135 1.724944 +v 0.085628 -2.833838 2.996428 +v -0.126275 -2.833838 1.124383 +v -0.267582 -2.833838 1.548275 +v 0.262262 -2.304007 1.124383 +v 0.226935 -2.833838 2.537164 +v -0.302909 -2.410060 2.961056 +v -0.267582 -2.198016 2.537164 +v 0.262262 -2.727847 2.501983 +v -0.267582 -2.763135 2.819758 +v 0.297589 -2.551153 1.513093 +v 0.191608 -2.198016 2.819758 +f 167 155 171 +f 148 149 150 +f 147 153 154 +f 153 147 155 +f 147 154 155 +f 154 151 155 +f 150 149 157 +f 152 155 157 +f 149 148 158 +f 153 155 159 +f 156 149 159 +f 149 158 159 +f 158 153 159 +f 150 157 160 +f 148 151 161 +f 151 154 161 +f 148 150 162 +f 151 148 162 +f 158 148 163 +f 148 161 163 +f 149 156 164 +f 156 152 164 +f 157 149 164 +f 152 157 164 +f 150 160 165 +f 160 151 165 +f 162 150 165 +f 151 162 165 +f 154 153 166 +f 153 158 166 +f 158 154 166 +f 152 156 167 +f 159 155 167 +f 156 159 167 +f 155 151 168 +f 151 160 168 +f 154 158 169 +f 161 154 169 +f 158 163 169 +f 163 161 169 +f 157 155 170 +f 160 157 170 +f 155 168 170 +f 168 160 170 +f 155 152 171 +f 152 167 171 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/288/288.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/288/288.urdf new file mode 100644 index 000000000..a86643dcf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/288/288.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/289/289.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/289/289.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/289/289.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/289/289.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/289/289.obj new file mode 100644 index 000000000..88f95b482 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/289/289.obj @@ -0,0 +1,393 @@ +o convex_0 +v -0.578941 -3.227342 -1.101854 +v 0.912130 -3.973131 1.104205 +v 0.881034 -3.973131 1.104205 +v -0.237323 2.644593 0.606676 +v 1.067607 2.022882 -1.008567 +v -1.107347 -4.097869 1.042014 +v -1.014061 2.022222 -1.008351 +v 1.098702 -4.066189 -1.070758 +v 1.005416 2.084921 0.979823 +v -0.982966 2.022222 1.010703 +v -1.076252 -4.097869 -1.101854 +v 0.446130 2.644593 -0.511253 +v -0.610036 2.644593 -0.542349 +v -1.014061 1.277093 1.042014 +v 1.098486 -2.481553 -0.511469 +v -1.045157 1.494230 -0.821993 +v 1.098486 0.842159 -1.039662 +v 0.943225 -4.035170 0.979823 +v 0.477225 2.644593 0.482510 +v -1.107347 -2.947506 0.700179 +v 0.943225 1.681007 -1.039662 +v -0.889679 1.836104 1.042014 +v 0.415034 -4.035170 -1.101854 +v -1.045157 0.779460 -1.039446 +v -0.485870 2.644593 0.420319 +v 1.098702 -4.066189 -0.728707 +v -0.423679 -4.066189 1.073110 +v -1.076252 -3.289381 -1.101854 +v 0.974321 -0.711458 1.042014 +v -0.081845 -4.097869 -0.387087 +v 1.067607 2.022882 -0.386871 +v 1.098486 -1.518626 -1.070758 +v -1.014061 2.022222 0.265057 +v -1.107347 -4.035170 0.140890 +v 0.259557 -4.066189 1.073110 +v 0.166486 2.053901 1.010919 +v 1.036511 0.624362 0.544917 +v -1.107347 -3.289381 1.042014 +v -0.175132 -4.097869 -1.101854 +v 0.477225 2.644593 -0.449062 +v 0.943225 -3.382439 1.073110 +v -1.076252 -2.823427 -1.039446 +v -0.796393 -4.097869 1.042014 +v 1.067607 -4.066189 -0.418183 +v 1.036511 1.991862 0.389439 +v 0.881034 1.090315 1.010919 +v -0.081845 2.644593 0.606676 +v -0.454775 2.644593 0.513821 +v 1.005416 1.432190 0.979823 +v -0.610036 2.644593 -0.449062 +v 1.098702 -4.004150 -0.697827 +v 0.912130 -4.035170 1.104205 +v -0.392584 2.053901 1.010919 +v 1.098486 0.810480 -0.977471 +f 15 51 54 +f 5 7 13 +f 4 12 13 +f 12 5 13 +f 12 4 19 +f 7 5 21 +f 5 17 21 +f 3 2 22 +f 14 3 22 +f 10 14 22 +f 11 1 23 +f 1 21 23 +f 16 7 24 +f 7 21 24 +f 4 13 25 +f 3 14 27 +f 1 11 28 +f 21 1 28 +f 24 21 28 +f 6 11 30 +f 8 26 30 +f 17 5 31 +f 19 9 31 +f 5 19 31 +f 17 8 32 +f 21 17 32 +f 8 23 32 +f 23 21 32 +f 13 7 33 +f 14 10 33 +f 7 16 33 +f 20 14 33 +f 16 20 33 +f 11 6 34 +f 6 20 34 +f 20 16 34 +f 28 11 34 +f 20 6 38 +f 14 20 38 +f 27 14 38 +f 6 27 38 +f 11 23 39 +f 23 8 39 +f 30 11 39 +f 8 30 39 +f 5 12 40 +f 19 5 40 +f 12 19 40 +f 29 2 41 +f 16 24 42 +f 24 28 42 +f 34 16 42 +f 28 34 42 +f 6 30 43 +f 35 43 44 +f 26 18 44 +f 30 26 44 +f 43 30 44 +f 31 9 45 +f 37 15 45 +f 9 37 45 +f 22 2 46 +f 29 9 46 +f 2 29 46 +f 9 36 46 +f 36 22 46 +f 19 4 47 +f 9 19 47 +f 4 36 47 +f 36 9 47 +f 10 4 48 +f 4 25 48 +f 25 10 48 +f 9 29 49 +f 37 9 49 +f 29 41 49 +f 41 37 49 +f 10 25 50 +f 25 13 50 +f 13 33 50 +f 33 10 50 +f 8 17 51 +f 26 8 51 +f 18 26 51 +f 15 37 51 +f 41 18 51 +f 37 41 51 +f 2 3 52 +f 3 27 52 +f 27 6 52 +f 41 2 52 +f 18 41 52 +f 6 43 52 +f 43 35 52 +f 35 44 52 +f 44 18 52 +f 4 10 53 +f 10 22 53 +f 36 4 53 +f 22 36 53 +f 17 31 54 +f 31 45 54 +f 45 15 54 +f 51 17 54 +o convex_1 +v 0.321884 2.955413 -0.573569 +v -0.081811 3.328202 0.638137 +v -0.237179 4.042620 0.606992 +v -0.610217 2.644803 -0.542547 +v -0.579012 4.104942 -0.604714 +v 0.508348 4.042620 -0.542547 +v 0.477253 2.644803 0.482659 +v -0.454848 2.644803 0.513803 +v 0.477253 3.980440 0.575970 +v 0.477253 2.644803 -0.511402 +v -0.423643 4.042620 0.606992 +v 0.321884 2.800036 0.638137 +v -0.206084 2.706839 0.638137 +v -0.579012 4.104942 -0.387069 +v 0.508348 3.048467 -0.045212 +v -0.485725 2.706839 0.420492 +v -0.330356 2.675821 -0.573569 +v 0.508348 3.980440 0.358325 +v 0.415062 4.042620 -0.573448 +v -0.610217 2.738000 -0.449236 +v 0.508348 3.328202 -0.542547 +v -0.392548 4.104942 -0.418091 +v 0.135420 4.042620 0.171946 +v 0.197612 3.266023 0.638137 +v -0.454848 3.887386 0.482659 +v -0.081811 2.644803 0.606871 +v -0.610217 3.141665 -0.573569 +v -0.423643 4.104942 -0.604714 +v 0.290789 2.800036 -0.573569 +v -0.392548 4.073637 0.327302 +v 0.477253 4.042620 -0.355925 +f 76 84 85 +f 58 61 62 +f 61 58 64 +f 56 57 65 +f 61 63 66 +f 56 65 67 +f 65 62 67 +f 66 56 67 +f 61 64 69 +f 58 62 70 +f 62 65 70 +f 64 58 71 +f 60 63 72 +f 63 61 72 +f 69 60 72 +f 61 69 72 +f 58 70 74 +f 70 68 74 +f 60 69 75 +f 69 64 75 +f 55 73 75 +f 73 60 75 +f 59 68 76 +f 57 63 77 +f 57 56 78 +f 63 57 78 +f 56 66 78 +f 66 63 78 +f 65 68 79 +f 70 65 79 +f 68 70 79 +f 62 61 80 +f 61 66 80 +f 67 62 80 +f 66 67 80 +f 68 59 81 +f 59 71 81 +f 71 58 81 +f 58 74 81 +f 74 68 81 +f 71 59 82 +f 73 55 82 +f 60 73 82 +f 76 60 82 +f 59 76 82 +f 64 71 83 +f 55 75 83 +f 75 64 83 +f 82 55 83 +f 71 82 83 +f 65 57 84 +f 68 65 84 +f 76 68 84 +f 57 77 84 +f 84 77 85 +f 63 60 85 +f 60 76 85 +f 77 63 85 +o convex_2 +v 0.228628 2.675722 -2.934963 +v 0.352925 3.234874 -0.667011 +v 0.352925 3.172701 -0.667011 +v -0.330508 2.737895 -0.573642 +v -0.206211 3.234874 -2.996798 +v -0.175170 3.265960 -0.573642 +v 0.290777 2.800010 -0.573642 +v -0.268360 2.768981 -2.966004 +v 0.197587 3.203787 -3.090414 +v 0.352925 2.675722 -3.059126 +v -0.330508 2.675722 -0.573642 +v 0.290777 3.265960 -1.474812 +v -0.144063 2.675722 -0.635970 +v 0.352925 2.800010 -3.059126 +v 0.321818 3.265960 -0.573642 +v 0.352925 2.706809 -2.282120 +v -0.299401 2.737895 -2.406530 +v -0.206211 3.234874 -0.573642 +v -0.175170 3.265960 -2.127162 +v 0.135439 3.234874 -3.059126 +v -0.330508 2.675722 -0.977666 +v -0.268360 2.924298 -2.966004 +v 0.073290 3.172701 -3.090414 +v 0.321818 2.924298 -0.573642 +f 92 101 109 +f 91 89 92 +f 87 88 95 +f 86 93 95 +f 92 89 96 +f 86 95 96 +f 92 96 98 +f 96 95 98 +f 87 95 99 +f 95 94 99 +f 97 87 99 +f 94 97 99 +f 88 87 100 +f 91 92 100 +f 87 97 100 +f 97 91 100 +f 95 88 101 +f 92 98 101 +f 98 95 101 +f 93 86 102 +f 90 89 103 +f 91 90 103 +f 89 91 103 +f 90 91 104 +f 91 97 104 +f 104 97 105 +f 97 94 105 +f 90 104 105 +f 96 89 106 +f 86 96 106 +f 89 102 106 +f 102 86 106 +f 89 90 107 +f 90 93 107 +f 102 89 107 +f 93 102 107 +f 93 90 108 +f 95 93 108 +f 94 95 108 +f 90 105 108 +f 105 94 108 +f 88 100 109 +f 100 92 109 +f 101 88 109 +o convex_3 +v 0.042231 3.265939 3.061694 +v -0.206254 2.706796 0.638137 +v -0.237343 3.017417 0.669214 +v 0.321921 2.893218 0.638137 +v -0.268433 2.768957 2.906307 +v 0.321921 2.800037 2.968225 +v -0.237343 3.328099 0.638137 +v 0.197621 3.265939 0.638137 +v -0.237343 3.234858 2.999302 +v 0.166531 3.297019 3.061694 +v 0.321921 2.800037 0.638137 +v 0.321921 2.924298 2.968225 +v -0.081896 2.706796 1.011065 +v 0.197621 3.297019 1.911596 +v -0.050864 3.328099 1.880756 +v -0.268433 3.110598 2.968225 +v -0.050864 3.328099 0.638137 +v -0.081896 2.768957 2.937385 +v 0.259742 3.110598 0.638137 +v -0.268433 2.768957 2.595297 +v 0.197621 3.265939 3.061694 +v -0.237343 2.737877 2.284523 +v -0.237343 3.328099 1.011065 +v 0.073263 3.297019 3.061694 +v -0.268433 2.800037 2.937385 +v 0.104352 3.172698 3.061694 +f 134 115 135 +f 111 112 116 +f 113 111 116 +f 113 116 117 +f 111 113 120 +f 113 115 120 +f 115 113 121 +f 111 120 122 +f 120 115 122 +f 119 123 124 +f 117 116 126 +f 123 117 126 +f 116 124 126 +f 124 123 126 +f 122 115 127 +f 113 117 128 +f 121 113 128 +f 117 123 128 +f 123 121 128 +f 112 111 129 +f 116 112 129 +f 114 125 129 +f 125 116 129 +f 119 110 130 +f 115 121 130 +f 123 119 130 +f 121 123 130 +f 111 122 131 +f 127 114 131 +f 122 127 131 +f 129 111 131 +f 114 129 131 +f 124 116 132 +f 118 124 132 +f 116 125 132 +f 125 118 132 +f 118 110 133 +f 110 119 133 +f 124 118 133 +f 119 124 133 +f 110 118 134 +f 125 114 134 +f 118 125 134 +f 114 127 134 +f 127 115 134 +f 130 110 135 +f 115 130 135 +f 110 134 135 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/289/289.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/289/289.urdf new file mode 100644 index 000000000..7b9cc8361 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/289/289.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/290/290.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/290/290.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/290/290.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/290/290.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/290/290.obj new file mode 100644 index 000000000..ddcac5d63 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/290/290.obj @@ -0,0 +1,969 @@ +o convex_0 +v -2.214904 -0.186003 -1.891140 +v -2.214904 -1.315344 -1.599655 +v -2.214904 -1.278857 -2.000534 +v -1.631992 -0.804992 -1.271822 +v -2.761550 -0.623262 -1.235474 +v -2.251391 -0.732253 -3.020555 +v -1.814318 -0.732253 -2.728896 +v -1.814318 -0.258742 -1.235474 +v -2.615601 -0.768623 -2.765244 +v -2.652088 -1.169513 -1.235474 +v -1.777830 -1.205882 -1.235474 +v -2.579224 -0.222255 -1.235474 +v -2.251391 -0.368086 -2.801767 +v -2.178638 -1.169513 -2.692373 +v -2.615601 -0.331717 -2.036882 +v -1.814318 -1.169513 -2.000534 +v -1.850694 -0.331717 -2.036882 +v -2.579224 -1.133025 -2.073405 +v -2.178638 -0.112911 -1.235474 +v -2.724952 -0.768623 -2.000534 +v -2.069286 -1.315344 -1.235474 +v -1.631992 -0.696001 -1.235474 +v -2.287768 -1.133025 -2.728896 +v -1.887182 -1.023799 -2.583154 +v -2.542737 -0.477313 -2.619502 +v -1.959935 -0.441061 -2.619502 +v -2.178638 -0.804992 -3.020555 +v -1.704966 -0.732253 -2.036882 +v -1.814318 -0.368086 -2.000534 +v -2.506360 -1.060168 -2.546631 +v -2.652088 -0.295230 -1.417564 +v -2.214904 -0.368086 -2.801767 +v -2.397009 -1.278857 -1.271822 +v -2.761550 -0.768623 -1.417564 +v -2.142150 -1.133025 -2.765244 +v -2.724952 -0.696001 -2.000534 +v -2.360632 -0.222255 -1.927663 +v -1.777830 -0.295230 -1.381042 +v -1.777830 -1.096656 -1.964011 +v -1.923558 -0.804992 -2.838115 +v -2.251391 -0.914454 -2.947510 +v -2.142150 -1.278857 -1.964011 +v -2.615601 -0.732253 -2.765244 +v -1.741454 -1.169513 -1.308170 +f 16 39 44 +f 8 5 10 +f 8 10 11 +f 5 8 12 +f 12 8 19 +f 17 1 19 +f 8 17 19 +f 18 10 20 +f 9 18 20 +f 11 10 21 +f 16 11 21 +f 11 4 22 +f 8 11 22 +f 14 3 23 +f 3 18 23 +f 15 13 25 +f 22 4 28 +f 22 28 29 +f 7 26 29 +f 26 17 29 +f 28 7 29 +f 18 9 30 +f 9 23 30 +f 23 18 30 +f 5 12 31 +f 12 15 31 +f 6 13 32 +f 13 1 32 +f 1 17 32 +f 26 7 32 +f 17 26 32 +f 27 6 32 +f 7 27 32 +f 3 2 33 +f 18 3 33 +f 10 18 33 +f 2 21 33 +f 21 10 33 +f 10 5 34 +f 20 10 34 +f 16 14 35 +f 14 23 35 +f 24 16 35 +f 9 20 36 +f 5 31 36 +f 31 15 36 +f 34 5 36 +f 20 34 36 +f 1 13 37 +f 15 12 37 +f 13 15 37 +f 19 1 37 +f 12 19 37 +f 17 8 38 +f 8 22 38 +f 22 29 38 +f 29 17 38 +f 24 7 39 +f 16 24 39 +f 28 4 39 +f 7 28 39 +f 7 24 40 +f 27 7 40 +f 24 35 40 +f 35 27 40 +f 9 6 41 +f 23 9 41 +f 6 27 41 +f 35 23 41 +f 27 35 41 +f 2 3 42 +f 3 14 42 +f 14 16 42 +f 21 2 42 +f 16 21 42 +f 6 9 43 +f 13 6 43 +f 25 13 43 +f 15 25 43 +f 9 36 43 +f 36 15 43 +f 4 11 44 +f 11 16 44 +f 39 4 44 +o convex_1 +v 1.064563 -2.079783 -0.907067 +v 0.955132 1.234997 1.096867 +v 0.882316 1.671775 1.023843 +v 2.886203 1.234997 -0.032428 +v 2.157423 -3.391508 0.659547 +v 0.773092 2.109248 -0.870451 +v 2.485301 -2.808674 -0.761225 +v 0.773092 -1.788367 0.841798 +v 2.631140 1.271163 0.768774 +v 0.773092 3.348639 0.040183 +v 2.558324 1.234997 -0.761432 +v 1.100971 -3.500702 -0.032634 +v 2.558324 -2.735646 0.768774 +v 1.829544 -2.735646 1.023843 +v 0.773092 -0.914116 -0.979678 +v 1.829544 -2.808674 -0.979885 +v 2.558324 -3.501398 -0.068836 +v 1.865952 1.234302 -0.979885 +v 2.631140 1.963192 0.003981 +v 1.865952 1.270468 1.060251 +v 2.776772 -2.808674 -0.032428 +v 1.793136 -3.500702 -0.761225 +v 1.902360 1.963192 0.804976 +v 0.773092 -2.662618 -0.032428 +v 1.173787 -3.100091 0.659547 +v 0.773092 -0.003699 1.096867 +v 1.793136 1.963192 -0.761225 +v 1.793136 -3.756648 0.076385 +v 1.028155 -2.698784 -0.761225 +v 0.773092 2.181581 0.914616 +v 0.773092 1.161969 -1.016500 +v 1.756728 -3.500702 0.732365 +v 2.558324 -2.808674 -0.688407 +v 2.375871 1.780969 -0.579181 +v 2.448894 1.817135 0.550114 +v 0.773092 -1.861395 -0.834249 +v 0.773092 -0.841088 1.060251 +v 0.991540 -2.553423 0.805183 +v 0.809500 3.348639 0.003981 +v 2.776772 -2.626451 0.112794 +v 2.448894 -1.679172 0.841591 +v 2.667548 0.688330 0.695956 +v 2.375871 -3.319175 -0.579181 +v 2.558324 -3.501398 0.076385 +v 1.246603 -3.282313 -0.578974 +v 2.667548 1.234997 -0.579181 +v 1.100971 -3.464536 0.149410 +v 1.865952 -2.772507 -0.979885 +v 2.849588 1.234997 0.149410 +v 1.902360 -3.500702 0.732365 +v 1.865952 -3.756648 -0.069043 +v 1.647504 -2.698784 -0.979885 +v 0.809500 3.238750 0.149410 +v 1.210195 1.125107 1.096867 +v 0.773092 1.234302 1.096867 +v 1.720320 2.000053 0.841591 +v 0.809500 3.348639 0.040183 +v 2.558324 0.032468 -0.761432 +v 1.683912 1.380358 -0.979885 +v 1.319419 -2.735646 0.878000 +v 2.412486 -3.246147 0.586523 +v 2.121015 1.234302 -0.906860 +v 2.740364 -2.771812 -0.178270 +v 0.773092 -2.662618 0.040183 +f 91 82 108 +f 50 52 54 +f 52 50 59 +f 47 46 64 +f 64 53 67 +f 52 59 68 +f 54 52 70 +f 56 68 73 +f 47 64 74 +f 54 70 74 +f 59 50 75 +f 63 55 78 +f 55 71 78 +f 53 63 79 +f 67 53 79 +f 59 45 80 +f 68 59 80 +f 45 73 80 +f 73 68 80 +f 70 52 81 +f 58 70 81 +f 81 52 82 +f 50 54 83 +f 71 50 83 +f 63 78 83 +f 78 71 83 +f 65 48 84 +f 57 65 84 +f 57 53 85 +f 58 57 85 +f 53 64 85 +f 64 58 85 +f 53 57 86 +f 57 84 86 +f 66 51 87 +f 61 66 87 +f 51 77 87 +f 77 61 87 +f 65 57 88 +f 61 65 88 +f 66 56 89 +f 56 73 89 +f 73 66 89 +f 63 48 90 +f 55 63 90 +f 48 77 90 +f 56 72 91 +f 76 69 91 +f 72 76 91 +f 69 82 91 +f 51 66 92 +f 66 60 92 +f 60 75 92 +f 75 62 92 +f 48 63 93 +f 63 53 93 +f 84 48 93 +f 53 86 93 +f 86 84 93 +f 49 57 94 +f 57 58 94 +f 58 76 94 +f 76 72 94 +f 88 49 94 +f 72 88 94 +f 56 66 95 +f 66 61 95 +f 72 56 95 +f 61 88 95 +f 88 72 95 +f 45 59 96 +f 60 66 96 +f 73 45 96 +f 66 73 96 +f 59 75 96 +f 75 60 96 +f 54 74 97 +f 64 46 98 +f 58 64 98 +f 46 70 98 +f 70 58 98 +f 46 47 99 +f 70 46 99 +f 47 74 99 +f 74 70 99 +f 64 67 100 +f 74 64 100 +f 97 74 100 +f 67 97 100 +f 79 63 101 +f 67 79 101 +f 83 54 101 +f 63 83 101 +f 54 97 101 +f 97 67 101 +f 77 51 102 +f 55 90 102 +f 90 77 102 +f 51 92 102 +f 50 71 103 +f 71 62 103 +f 75 50 103 +f 62 75 103 +f 76 58 104 +f 69 76 104 +f 58 81 104 +f 82 69 104 +f 81 82 104 +f 57 49 105 +f 49 88 105 +f 88 57 105 +f 62 71 106 +f 71 55 106 +f 92 62 106 +f 55 102 106 +f 102 92 106 +f 48 65 107 +f 65 61 107 +f 77 48 107 +f 61 77 107 +f 68 56 108 +f 52 68 108 +f 82 52 108 +f 56 91 108 +o convex_2 +v -2.652260 -1.242298 -1.198455 +v -2.287963 -0.185814 1.279054 +v -2.324255 -0.185814 1.279054 +v -1.449805 0.834461 -0.032424 +v -1.449805 -1.643166 0.914331 +v -1.449805 -1.606700 -0.907071 +v -3.162242 -0.695823 0.659369 +v -2.615796 -0.222537 -1.235125 +v -2.907166 -1.460837 0.805062 +v -2.943630 0.069191 0.112776 +v -1.449805 0.324195 -0.979671 +v -1.449805 0.287729 0.987423 +v -3.162242 -0.732289 -0.652109 +v -2.251499 -1.752564 -0.542593 +v -1.741517 -1.278507 1.279054 +v -1.632125 -0.804964 -1.235125 +v -2.907166 -0.003998 0.805062 +v -2.907166 0.032725 -0.761378 +v -2.761310 -0.804964 1.279054 +v -2.943630 -1.460837 -0.652109 +v -2.215035 -1.716098 0.841485 +v -1.449805 -1.789030 -0.105516 +v -1.559197 -0.768498 1.279054 +v -2.215035 -1.351439 1.279054 +v -2.142107 -1.351439 -1.235125 +v -2.251499 -1.789030 0.112776 +v -2.251499 -1.716098 -0.797801 +v -2.797774 -0.732289 -1.235125 +v -3.198706 -0.804964 0.039930 +v -1.486269 0.834461 0.039930 +v -1.777809 -0.259003 -1.235125 +v -1.632125 0.360404 -0.907071 +v -3.198706 -0.622891 0.003753 +v -2.943630 -1.497303 0.294892 +v -2.688724 -0.368144 1.279054 +v -3.125778 -0.768498 0.841485 +v -1.632125 0.323938 0.914331 +v -1.705053 -0.331934 1.279054 +v -2.579332 -1.205832 1.279054 +v -2.943630 -1.424371 -0.761378 +v -1.449805 -1.789030 0.185623 +v -1.741517 -1.169110 -1.235125 +v -2.943630 -0.003998 0.732215 +v -3.089314 -0.659357 -0.834224 +v -1.449805 -0.914362 1.096693 +v -2.907166 -1.533769 -0.032670 +v -1.486440 -0.768498 -1.089186 +v -2.287963 -0.113139 -1.235125 +v -2.105814 0.287472 -0.797801 +v -2.251499 0.214797 0.805062 +v -2.980093 0.032725 0.003753 +v -2.980093 -1.460837 0.149200 +v -1.996422 -1.716098 -0.797801 +v -1.486269 0.834461 -0.032424 +v -2.943630 0.069191 -0.105516 +v -3.052850 -0.368144 0.805062 +v -3.125778 -0.586682 -0.724955 +v -1.449805 -1.570235 0.987177 +v -2.761310 -1.533769 -0.761378 +v -2.688724 -0.331678 -1.235125 +v -3.125778 -0.841430 0.768638 +v -2.725017 -0.222537 1.169539 +v -2.688724 -1.132900 -1.235125 +v -3.125778 -0.804964 -0.761378 +f 136 171 172 +f 112 113 114 +f 112 114 119 +f 111 110 120 +f 113 112 120 +f 110 111 123 +f 123 111 127 +f 114 113 130 +f 110 123 131 +f 123 127 132 +f 129 113 132 +f 116 124 133 +f 129 117 134 +f 122 130 134 +f 109 133 135 +f 116 133 136 +f 121 128 137 +f 120 112 138 +f 124 116 139 +f 119 124 139 +f 137 115 141 +f 121 137 141 +f 134 117 142 +f 127 111 143 +f 127 143 144 +f 117 127 144 +f 111 120 145 +f 120 138 145 +f 120 110 146 +f 110 131 146 +f 131 120 146 +f 127 117 147 +f 117 129 147 +f 132 127 147 +f 129 132 147 +f 128 121 148 +f 113 129 149 +f 130 113 149 +f 129 134 149 +f 134 130 149 +f 124 114 150 +f 114 133 150 +f 133 124 150 +f 138 118 151 +f 125 138 151 +f 113 120 153 +f 120 131 153 +f 122 134 154 +f 134 142 154 +f 119 114 155 +f 114 124 155 +f 124 119 155 +f 139 116 156 +f 119 139 156 +f 140 119 156 +f 140 156 157 +f 116 126 157 +f 156 116 157 +f 138 125 158 +f 145 138 158 +f 151 118 159 +f 141 151 159 +f 137 128 160 +f 142 117 160 +f 128 154 160 +f 154 142 160 +f 114 130 161 +f 130 122 161 +f 133 114 161 +f 122 135 161 +f 135 133 161 +f 112 119 162 +f 138 112 162 +f 118 138 162 +f 119 140 162 +f 140 157 162 +f 157 126 162 +f 159 118 163 +f 126 159 163 +f 118 162 163 +f 162 126 163 +f 141 115 164 +f 144 143 164 +f 115 144 164 +f 125 151 164 +f 151 141 164 +f 121 141 165 +f 152 121 165 +f 126 152 165 +f 159 126 165 +f 141 159 165 +f 131 123 166 +f 132 113 166 +f 123 132 166 +f 113 153 166 +f 153 131 166 +f 109 135 167 +f 135 122 167 +f 128 148 167 +f 148 109 167 +f 122 154 167 +f 154 128 167 +f 126 116 168 +f 116 136 168 +f 152 126 168 +f 136 152 168 +f 115 137 169 +f 144 115 169 +f 117 144 169 +f 137 160 169 +f 160 117 169 +f 143 111 170 +f 111 145 170 +f 158 125 170 +f 145 158 170 +f 125 164 170 +f 164 143 170 +f 133 109 171 +f 136 133 171 +f 109 148 171 +f 171 148 172 +f 148 121 172 +f 121 152 172 +f 152 136 172 +o convex_3 +v -2.142204 -0.222309 1.935112 +v -2.178609 -1.351781 1.279222 +v -2.287711 -1.315258 1.279222 +v -2.178609 -0.768783 2.991443 +v -1.595668 -0.695966 1.279222 +v -2.688511 -0.368058 1.279222 +v -1.741518 -0.768783 2.772701 +v -2.542776 -0.768783 2.736328 +v -1.741518 -1.169509 2.044399 +v -2.142204 -1.132986 2.736328 +v -2.178609 -0.331535 2.772701 +v -2.579181 -1.169509 1.497964 +v -1.777923 -0.331535 1.279222 +v -1.777923 -0.368058 2.153351 +v -1.668593 -1.206032 1.279222 +v -2.761550 -0.768783 1.279222 +v -2.615701 -0.331535 1.862198 +v -2.251306 -0.185786 1.279222 +v -2.506371 -1.132986 2.153351 +v -1.595668 -0.805192 1.862198 +v -2.688511 -0.768783 2.008026 +v -2.069393 -1.278850 2.044399 +v -2.469965 -0.440876 2.554127 +v -1.741518 -0.659557 2.736328 +v -2.069393 -1.132986 2.736328 +v -1.887253 -1.315258 1.315763 +v -2.542776 -0.695966 2.736328 +v -1.704998 -0.477284 2.044399 +v -2.579181 -1.169509 1.279222 +v -1.814328 -0.477284 2.627041 +v -1.850734 -1.060168 2.590667 +v -2.214900 -0.222309 2.008026 +v -2.652106 -0.295126 1.425050 +v -2.397041 -1.060168 2.590667 +v -2.105798 -0.695966 2.991443 +v -2.142204 -1.278850 2.044399 +v -2.688511 -0.695966 2.008026 +v -1.704998 -0.404581 1.315763 +v -2.105798 -0.331535 2.736328 +v -1.704998 -1.132986 2.008026 +v -1.595668 -0.950828 1.352136 +v -1.668593 -0.768783 2.444839 +v -1.632188 -0.659557 2.008026 +f 214 192 215 +f 174 175 177 +f 177 175 178 +f 176 180 182 +f 177 178 185 +f 185 173 186 +f 174 177 187 +f 178 175 188 +f 173 185 190 +f 185 178 190 +f 184 175 191 +f 188 184 193 +f 191 180 193 +f 184 191 193 +f 183 189 195 +f 179 176 197 +f 176 182 197 +f 194 181 197 +f 182 194 197 +f 174 187 198 +f 187 181 198 +f 181 194 198 +f 194 174 198 +f 180 176 199 +f 176 183 199 +f 193 180 199 +f 183 195 199 +f 195 189 199 +f 186 196 200 +f 175 184 201 +f 188 175 201 +f 184 188 201 +f 196 186 202 +f 179 197 203 +f 197 181 203 +f 189 183 204 +f 173 190 204 +f 204 190 205 +f 178 189 205 +f 190 178 205 +f 189 204 205 +f 182 180 206 +f 191 182 206 +f 180 191 206 +f 176 179 207 +f 183 176 207 +f 179 196 207 +f 175 174 208 +f 191 175 208 +f 182 191 208 +f 194 182 208 +f 174 194 208 +f 178 188 209 +f 189 178 209 +f 188 193 209 +f 199 189 209 +f 193 199 209 +f 177 185 210 +f 185 186 210 +f 186 200 210 +f 186 173 211 +f 202 186 211 +f 196 202 211 +f 173 204 211 +f 204 183 211 +f 183 207 211 +f 207 196 211 +f 181 187 212 +f 179 203 212 +f 203 181 212 +f 187 177 213 +f 177 192 213 +f 212 187 213 +f 192 212 213 +f 196 179 214 +f 179 212 214 +f 212 192 214 +f 192 177 215 +f 200 196 215 +f 177 210 215 +f 210 200 215 +f 196 214 215 +o convex_4 +v -0.793977 3.348030 -0.615411 +v -0.247375 2.728922 1.060430 +v -0.247375 3.566953 0.841770 +v -0.247493 -0.805050 -1.016322 +v -1.449805 -1.533031 0.987405 +v -1.449805 -1.497132 -0.943504 +v -0.247493 -1.533031 0.805154 +v -1.449805 0.324880 0.987405 +v -0.247375 2.801309 -1.016322 +v -0.976060 3.749390 -0.032456 +v -1.449805 0.361367 -0.979706 +v -0.247493 -1.751954 -0.105480 +v -0.247375 4.223136 -0.032663 +v -0.247493 -0.913923 1.060430 +v -0.793977 3.384517 0.623110 +v -1.449805 -1.788442 0.185790 +v -1.449805 1.052860 0.039948 +v -0.247493 -1.497132 -0.797662 +v -1.449805 -0.476664 1.060430 +v -0.283862 3.821776 -0.761253 +v -1.449805 -0.805050 -1.016322 +v -1.449805 -1.643081 -0.834071 +v -0.283862 3.858263 0.732337 +v -0.939573 2.546486 -0.797662 +v -0.976060 2.474100 0.805154 +v -0.283862 1.782018 -1.052938 +v -1.194748 -1.643081 0.914588 +v -0.976060 3.749390 0.039948 +v -0.247493 -1.751954 0.149381 +v -1.194748 -1.788442 -0.141889 +v -0.356719 2.692435 -1.016322 +v -1.449805 -0.112380 -1.016322 +v -1.267604 2.145714 0.003746 +v -1.449805 -0.950411 1.060430 +v -0.283862 2.728922 1.060430 +v -1.449805 0.178930 1.023814 +v -0.283862 4.223136 0.040155 +v -0.939573 -1.606005 -0.834071 +v -0.247375 1.344759 -1.052938 +v -0.247375 3.821776 -0.761253 +v -0.283862 3.821776 0.768745 +v -0.611894 -1.788442 0.076357 +v -0.939573 3.712314 -0.141889 +v -0.684751 3.967725 -0.032456 +v -1.449805 -1.643081 0.914588 +v -0.830464 2.474100 0.877972 +v -0.538920 -1.533031 0.877972 +v -0.976060 2.328151 -0.834071 +v -0.793977 -0.913923 -1.016322 +v -0.320350 -1.533031 -0.797662 +v -1.267604 2.145714 -0.032456 +v -0.648264 3.530466 -0.651820 +v -0.903203 3.821776 0.039948 +v -0.793977 3.493979 0.550085 +v -1.449805 -1.788442 -0.105480 +v -1.121773 -1.570106 0.950996 +v -1.121773 -1.643081 -0.797662 +f 253 265 272 +f 221 220 223 +f 218 217 224 +f 221 223 226 +f 218 224 228 +f 222 217 229 +f 220 221 231 +f 226 223 232 +f 223 220 234 +f 229 217 234 +f 221 226 236 +f 231 221 237 +f 218 228 238 +f 223 240 243 +f 240 230 243 +f 222 242 244 +f 235 224 246 +f 239 235 246 +f 224 241 246 +f 246 241 247 +f 236 226 247 +f 241 236 247 +f 226 246 247 +f 232 223 248 +f 243 225 248 +f 223 243 248 +f 220 229 249 +f 234 220 249 +f 229 234 249 +f 217 218 250 +f 234 217 250 +f 223 234 251 +f 240 223 251 +f 234 250 251 +f 238 228 252 +f 237 221 253 +f 217 222 254 +f 224 217 254 +f 233 219 254 +f 227 233 254 +f 241 224 254 +f 236 241 254 +f 222 244 254 +f 244 227 254 +f 228 224 255 +f 224 235 255 +f 235 228 255 +f 218 238 256 +f 230 240 256 +f 250 218 256 +f 242 231 257 +f 227 244 257 +f 244 242 257 +f 231 245 257 +f 245 227 257 +f 226 225 258 +f 216 239 258 +f 239 226 258 +f 228 235 259 +f 252 228 259 +f 258 225 259 +f 235 258 259 +f 220 231 260 +f 242 220 260 +f 231 242 260 +f 240 251 261 +f 251 250 261 +f 256 240 261 +f 250 256 261 +f 222 229 262 +f 242 222 262 +f 226 239 263 +f 246 226 263 +f 239 246 263 +f 219 221 264 +f 221 236 264 +f 254 219 264 +f 236 254 264 +f 221 219 265 +f 219 233 265 +f 233 227 265 +f 253 221 265 +f 225 226 266 +f 226 232 266 +f 248 225 266 +f 232 248 266 +f 239 216 267 +f 235 239 267 +f 216 258 267 +f 258 235 267 +f 225 243 268 +f 243 238 268 +f 238 252 268 +f 259 225 268 +f 252 259 268 +f 238 243 269 +f 243 230 269 +f 256 238 269 +f 230 256 269 +f 231 237 270 +f 245 231 270 +f 237 245 270 +f 229 220 271 +f 220 242 271 +f 262 229 271 +f 242 262 271 +f 245 237 272 +f 227 245 272 +f 237 253 272 +f 265 227 272 +o convex_5 +v -0.210920 -1.169581 -0.907106 +v -0.138017 1.599021 1.096867 +v -0.174468 1.599021 1.096867 +v -0.210920 3.894740 -0.761064 +v 0.772775 1.162154 -1.016322 +v 0.772875 -1.715164 0.878015 +v 0.627068 3.165739 0.695778 +v -0.247272 -1.497064 0.841609 +v 0.772875 -2.554215 -0.032538 +v -0.247272 3.858723 0.768588 +v 0.772775 3.493889 0.003867 +v 0.772875 -1.715164 -0.870491 +v 0.772775 1.198838 1.096867 +v -0.247272 2.728872 -1.052938 +v 0.627068 4.003456 -0.032538 +v -0.247272 -1.533080 -0.761064 +v 0.590617 3.093039 -0.761275 +v -0.247272 -0.877447 1.060251 +v -0.247272 -0.804747 -1.016112 +v -0.247272 4.222223 -0.032538 +v -0.247272 2.801572 1.060251 +v -0.247272 -1.752514 0.112873 +v 0.772875 -0.840763 1.060251 +v 0.590617 3.129056 0.804994 +v 0.481361 -0.732047 -1.016322 +v -0.065113 3.894740 0.768588 +v 0.772775 2.218638 -0.870491 +v 0.772775 2.291338 0.914420 +v -0.210920 -0.512613 1.096867 +v 0.408458 3.748673 -0.579038 +v 0.444910 3.711989 0.622967 +v 0.736323 -2.554215 0.040062 +v -0.101565 4.259573 0.039852 +v -0.028662 1.271538 -1.052938 +v -0.138017 2.801572 1.060041 +v 0.772875 -0.914130 -0.979706 +v -0.174468 2.728872 -1.052938 +v 0.590617 3.967440 0.149278 +v 0.772775 -0.039729 1.096867 +v -0.247272 -1.752514 -0.068943 +v -0.174468 3.821373 -0.797680 +v 0.736323 -2.554215 -0.032538 +v -0.247272 3.858723 -0.761064 +v -0.101565 4.259573 -0.032538 +v -0.065113 -0.950147 1.060041 +v 0.699971 2.254655 0.950825 +v 0.335555 -1.642464 -0.834085 +v -0.138017 3.930756 0.768588 +v -0.138017 3.930756 -0.688254 +v -0.247272 -1.533080 0.805204 +v 0.772775 3.457206 0.076467 +v 0.444910 2.983656 -0.834085 +v -0.138017 3.858723 0.804994 +v 0.590617 -1.679147 0.878015 +v -0.247272 1.343571 -1.052938 +v -0.210920 4.259573 0.039852 +v 0.117045 3.821373 -0.688254 +f 321 287 329 +f 278 281 284 +f 274 275 285 +f 280 282 286 +f 280 286 288 +f 287 283 289 +f 282 280 290 +f 273 288 291 +f 288 286 291 +f 286 282 292 +f 275 274 293 +f 282 290 293 +f 280 288 294 +f 278 284 295 +f 284 291 297 +f 289 283 299 +f 285 295 300 +f 279 296 300 +f 285 275 301 +f 275 293 301 +f 293 290 301 +f 287 289 302 +f 298 296 303 +f 281 278 304 +f 277 297 306 +f 297 291 306 +f 274 285 307 +f 293 274 307 +f 295 284 308 +f 283 295 308 +f 297 277 308 +f 284 297 308 +f 277 299 308 +f 299 283 308 +f 299 277 309 +f 277 306 309 +f 306 286 309 +f 296 279 310 +f 303 296 310 +f 298 303 310 +f 287 305 310 +f 295 285 311 +f 285 301 311 +f 301 295 311 +f 294 288 312 +f 304 294 312 +f 309 286 313 +f 284 281 314 +f 281 304 314 +f 312 288 314 +f 304 312 314 +f 292 276 315 +f 286 292 315 +f 276 313 315 +f 313 286 315 +f 276 292 316 +f 305 287 316 +f 290 280 317 +f 278 295 317 +f 301 290 317 +f 295 301 317 +f 285 300 318 +f 300 296 318 +f 307 285 318 +f 296 307 318 +f 288 273 319 +f 273 291 319 +f 291 284 319 +f 284 314 319 +f 314 288 319 +f 298 310 320 +f 310 305 320 +f 276 316 321 +f 316 287 321 +f 280 294 322 +f 304 280 322 +f 294 304 322 +f 283 287 323 +f 295 283 323 +f 279 300 323 +f 300 295 323 +f 310 279 323 +f 287 310 323 +f 289 299 324 +f 299 309 324 +f 313 289 324 +f 309 313 324 +f 282 293 325 +f 296 298 325 +f 293 307 325 +f 307 296 325 +f 320 282 325 +f 298 320 325 +f 304 278 326 +f 280 304 326 +f 278 317 326 +f 317 280 326 +f 291 286 327 +f 286 306 327 +f 306 291 327 +f 292 282 328 +f 316 292 328 +f 305 316 328 +f 282 320 328 +f 320 305 328 +f 287 302 329 +f 302 289 329 +f 313 276 329 +f 289 313 329 +f 276 321 329 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/290/290.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/290/290.urdf new file mode 100644 index 000000000..0e2259a0b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/290/290.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/291/291.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/291/291.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/291/291.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/291/291.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/291/291.obj new file mode 100644 index 000000000..64c8e4f30 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/291/291.obj @@ -0,0 +1,726 @@ +o convex_0 +v -1.013757 -1.128755 0.708402 +v 1.029566 -0.714405 0.945614 +v 1.029566 -1.632319 0.945614 +v 0.822153 0.055479 -1.067827 +v -0.924752 -1.632319 -0.979163 +v -1.013757 0.055479 0.975239 +v 0.940560 -1.632319 -1.008577 +v -0.924752 0.055479 -0.979163 +v 0.999764 0.055479 0.945614 +v -1.013757 -1.632319 0.945614 +v 0.377926 -1.632319 1.064113 +v 0.970162 0.055479 -1.038202 +v 0.200316 -1.543270 -1.097663 +v 0.644542 0.055479 1.034489 +v -0.983956 -0.862269 -0.505164 +v 0.437130 0.055479 -1.097663 +v 0.999764 -0.862269 -0.653289 +v -0.214109 0.055479 1.034489 +v 0.999764 0.055479 -0.534789 +v -0.983956 0.025741 -0.386875 +v 0.259519 -1.632319 1.064113 +v 0.970162 -1.632319 -0.771789 +v -0.954354 -1.632319 -0.712327 +v 0.970162 -0.684833 -1.038202 +v -1.013757 -0.388774 0.975239 +v 0.496333 -1.632319 -1.068038 +v -1.013757 -1.632319 0.678989 +v 0.970162 -0.359201 0.975027 +v 0.555737 -0.003832 -1.097663 +v 0.407528 -1.454386 1.064113 +v 1.029566 -1.632319 0.826902 +f 22 17 31 +f 3 5 7 +f 6 4 8 +f 4 6 9 +f 5 3 10 +f 6 1 10 +f 10 3 11 +f 4 9 12 +f 5 8 13 +f 9 6 14 +f 8 5 15 +f 8 4 16 +f 13 8 16 +f 14 6 18 +f 9 2 19 +f 12 9 19 +f 17 12 19 +f 1 6 20 +f 6 8 20 +f 15 1 20 +f 8 15 20 +f 10 11 21 +f 3 7 22 +f 5 10 23 +f 15 5 23 +f 4 12 24 +f 12 17 24 +f 22 7 24 +f 17 22 24 +f 6 10 25 +f 18 6 25 +f 10 21 25 +f 21 18 25 +f 7 5 26 +f 5 13 26 +f 24 7 26 +f 10 1 27 +f 1 15 27 +f 23 10 27 +f 15 23 27 +f 3 2 28 +f 2 9 28 +f 9 14 28 +f 16 4 29 +f 13 16 29 +f 4 24 29 +f 26 13 29 +f 24 26 29 +f 11 3 30 +f 14 18 30 +f 21 11 30 +f 18 21 30 +f 3 28 30 +f 28 14 30 +f 2 3 31 +f 19 2 31 +f 17 19 31 +f 3 22 31 +o convex_1 +v -1.043371 1.180946 -0.002154 +v 1.059179 1.654766 -0.061010 +v 1.059179 1.625025 -0.061010 +v 0.703746 0.677542 1.034500 +v 0.970269 0.055644 -1.038390 +v -1.013529 0.055644 0.975018 +v -0.984098 1.654766 0.975018 +v -0.924825 1.654766 -1.008754 +v -0.924825 0.055644 -0.978908 +v 0.999906 0.055644 0.945590 +v 0.881360 1.654766 -1.097663 +v 0.999906 1.654766 0.975227 +v 0.466653 0.055644 -1.097663 +v 0.999906 1.654766 -1.068027 +v 1.029542 0.085385 -0.505141 +v -0.243595 0.055644 1.034500 +v -1.013529 0.055644 -0.238620 +v -0.717575 1.654766 1.004863 +v -1.043371 1.654766 0.234730 +v -0.924825 0.144554 -1.008754 +v 0.910996 1.654766 1.004863 +v 1.059179 1.032868 -0.357166 +v 0.644473 0.055644 1.034500 +v -0.954461 1.654766 -0.860571 +v 0.999906 1.003127 -1.068027 +v 0.703746 1.654766 -1.097663 +v -1.013529 1.151049 0.975018 +v 0.999906 0.144554 0.975227 +v -0.302868 0.499879 1.034500 +v 0.851723 0.085385 -1.068027 +f 42 56 61 +f 38 33 39 +f 36 37 40 +f 37 36 41 +f 39 33 42 +f 34 33 43 +f 33 38 43 +f 36 40 44 +f 42 33 45 +f 41 36 46 +f 37 41 47 +f 37 32 48 +f 40 37 48 +f 43 38 49 +f 32 37 50 +f 38 39 50 +f 44 40 51 +f 39 44 51 +f 40 48 51 +f 43 49 52 +f 49 35 52 +f 33 34 53 +f 34 41 53 +f 45 33 53 +f 41 46 53 +f 35 47 54 +f 47 41 54 +f 48 32 55 +f 32 50 55 +f 50 39 55 +f 39 51 55 +f 51 48 55 +f 42 45 56 +f 46 36 56 +f 45 53 56 +f 53 46 56 +f 39 42 57 +f 44 39 57 +f 42 44 57 +f 37 49 58 +f 49 38 58 +f 50 37 58 +f 38 50 58 +f 41 34 59 +f 34 43 59 +f 52 35 59 +f 43 52 59 +f 35 54 59 +f 54 41 59 +f 47 35 60 +f 37 47 60 +f 49 37 60 +f 35 49 60 +f 36 44 61 +f 44 42 61 +f 56 36 61 +o convex_2 +v 0.999878 -2.579985 0.945509 +v -0.539749 -2.580057 -1.038437 +v -0.747153 -2.816738 -1.008475 +v -1.013758 -2.372653 0.945509 +v -1.013758 -3.112988 0.945509 +v 0.910877 -2.994430 -0.949341 +v 0.940677 -2.372726 -0.978908 +v 1.029479 -2.964863 0.915942 +v -0.924756 -2.372653 -0.978908 +v -0.924756 -3.024069 -0.978908 +v 1.029479 -2.372726 0.915942 +v -0.776753 -3.112988 0.708579 +v 0.910877 -2.994430 0.915942 +v 0.822075 -2.609624 0.975273 +v 0.792474 -2.846377 -1.008475 +v 0.614871 -2.372726 -1.038437 +v -1.013758 -3.083348 0.530980 +v 0.111462 -2.372653 0.975273 +v 1.029479 -2.964863 0.708579 +v -1.013758 -2.372653 0.590114 +v 0.940677 -2.964863 -0.831073 +v 0.022661 -3.053636 0.945509 +v -0.450948 -2.372653 -1.038437 +v 0.881276 -2.994430 -0.978908 +v 0.822075 -2.372726 0.975273 +v -0.954356 -2.935223 -0.564379 +v -0.924756 -3.083348 0.086686 +f 71 85 88 +f 63 64 70 +f 70 64 71 +f 62 69 72 +f 67 69 74 +f 73 67 74 +f 69 62 75 +f 64 63 76 +f 71 64 76 +f 76 63 77 +f 68 76 77 +f 66 65 78 +f 71 66 78 +f 65 66 79 +f 70 65 79 +f 72 68 79 +f 66 75 79 +f 69 67 80 +f 72 69 80 +f 68 72 80 +f 65 70 81 +f 78 65 81 +f 67 68 82 +f 80 67 82 +f 68 80 82 +f 66 73 83 +f 74 69 83 +f 73 74 83 +f 75 66 83 +f 69 75 83 +f 63 70 84 +f 77 63 84 +f 68 77 84 +f 70 79 84 +f 79 68 84 +f 68 67 85 +f 67 73 85 +f 76 68 85 +f 71 76 85 +f 62 72 86 +f 75 62 86 +f 72 79 86 +f 79 75 86 +f 70 71 87 +f 71 78 87 +f 81 70 87 +f 78 81 87 +f 66 71 88 +f 73 66 88 +f 85 73 88 +o convex_3 +v -0.954357 2.335874 -0.919844 +v 1.029473 2.483999 0.442203 +v 1.029473 2.454360 0.442203 +v -0.983957 2.957651 0.975250 +v 1.029473 3.016930 -1.097663 +v -0.924756 3.076209 -1.008754 +v 0.999872 3.046569 0.975250 +v -0.983957 2.335874 0.975250 +v 0.999872 2.335874 -1.097663 +v 0.940672 2.335874 1.004887 +v -0.924756 2.335874 -1.008754 +v -0.983957 3.016857 0.264384 +v 0.999872 3.046569 -0.505138 +v -0.806355 3.046569 -1.038390 +v 0.555666 3.046569 0.975250 +v -1.013758 2.335874 0.412567 +v -0.954357 3.046569 -0.979117 +v -0.806355 2.484071 1.004887 +v 0.999872 2.987290 1.004887 +v 0.999872 2.335874 0.975250 +v -0.865555 2.987290 0.975250 +v -1.013758 2.779959 0.856704 +v -0.658152 3.076209 -0.682751 +v 0.674068 3.046569 -1.068027 +v 0.822070 2.335874 -1.097663 +v 1.029473 2.335874 0.146044 +v 0.644467 3.016930 -1.097663 +v 1.029473 2.750392 -1.097663 +v -0.510150 2.365514 -1.038390 +v -0.835955 2.335874 1.004887 +f 98 106 118 +f 90 91 93 +f 90 93 95 +f 96 89 97 +f 96 97 98 +f 97 89 99 +f 95 93 101 +f 99 94 102 +f 89 96 104 +f 99 89 105 +f 94 99 105 +f 100 94 105 +f 89 104 105 +f 91 90 107 +f 90 95 107 +f 95 103 107 +f 92 106 107 +f 106 98 107 +f 98 97 108 +f 91 107 108 +f 107 98 108 +f 100 92 109 +f 103 100 109 +f 107 103 109 +f 92 107 109 +f 96 92 110 +f 92 100 110 +f 104 96 110 +f 100 105 110 +f 105 104 110 +f 94 100 111 +f 95 101 111 +f 103 95 111 +f 100 103 111 +f 101 93 112 +f 94 111 112 +f 111 101 112 +f 93 97 113 +f 97 99 113 +f 93 91 114 +f 91 108 114 +f 108 97 114 +f 102 94 115 +f 112 93 115 +f 94 112 115 +f 93 113 115 +f 113 102 115 +f 97 93 116 +f 93 114 116 +f 114 97 116 +f 99 102 117 +f 113 99 117 +f 102 113 117 +f 92 96 118 +f 96 98 118 +f 106 92 118 +o convex_4 +v -0.362263 -1.810022 3.107437 +v 0.348458 -1.750772 1.745555 +v 0.348458 -1.780397 1.745555 +v -0.332627 -2.194973 1.064114 +v 0.289185 -2.313415 3.018231 +v -0.302990 -1.750772 1.064114 +v 0.200345 -2.313415 1.064114 +v -0.332627 -2.254165 3.107437 +v 0.289185 -1.750772 3.077435 +v 0.348458 -1.750772 1.064114 +v -0.332627 -2.343040 1.064114 +v 0.348458 -1.839705 1.064114 +v -0.243787 -1.780397 3.107437 +v -0.332627 -2.313415 2.071174 +v 0.200345 -2.313415 3.047833 +v 0.289185 -2.313415 2.692812 +v 0.318821 -1.780397 2.781617 +v 0.081937 -1.750772 3.077435 +v -0.125240 -2.343040 1.123717 +v -0.362263 -1.898839 2.781617 +f 129 132 138 +f 122 124 125 +f 120 124 127 +f 120 121 128 +f 124 120 128 +f 125 124 128 +f 122 125 129 +f 121 123 130 +f 128 121 130 +f 125 128 130 +f 124 119 131 +f 119 126 131 +f 126 127 131 +f 132 129 133 +f 123 127 133 +f 127 126 133 +f 126 132 133 +f 130 123 134 +f 125 130 134 +f 121 120 135 +f 123 121 135 +f 120 127 135 +f 127 123 135 +f 127 124 136 +f 124 131 136 +f 131 127 136 +f 129 125 137 +f 133 129 137 +f 123 133 137 +f 125 134 137 +f 134 123 137 +f 119 124 138 +f 124 122 138 +f 126 119 138 +f 122 129 138 +f 132 126 138 +o convex_5 +v 2.569070 1.684443 -0.238872 +v 1.592411 2.335874 -0.238872 +v 2.450863 2.306159 -0.209227 +v 1.059179 1.714095 0.323779 +v 3.013497 2.187746 0.205320 +v 1.059179 2.335874 0.294134 +v 1.059179 1.743682 -0.238872 +v 3.102502 1.743682 0.294134 +v 3.013497 1.802920 -0.298102 +v 1.059179 2.335874 -0.268457 +v 2.983695 2.276572 -0.238872 +v 3.013497 1.684443 -0.298102 +v 2.983695 2.246921 0.175674 +v 3.102502 1.832507 0.294134 +v 1.059179 1.714095 -0.179643 +v 1.059179 1.980572 -0.268457 +v 2.184247 1.714095 0.294134 +v 2.598872 1.684443 -0.298102 +v 1.177986 2.335874 0.294134 +v 2.066240 2.306159 -0.268457 +v 3.013497 1.684443 -0.179643 +v 1.503406 1.743682 0.323779 +v 2.983695 2.276572 -0.090768 +f 157 151 161 +f 142 144 145 +f 144 140 148 +f 145 144 148 +f 140 141 149 +f 147 146 150 +f 146 147 152 +f 147 149 152 +f 149 143 152 +f 139 142 153 +f 142 145 153 +f 145 148 154 +f 146 142 155 +f 148 147 156 +f 150 139 156 +f 147 150 156 +f 139 153 156 +f 153 145 156 +f 145 154 156 +f 154 148 156 +f 141 140 157 +f 140 144 157 +f 143 151 157 +f 152 143 157 +f 148 140 158 +f 147 148 158 +f 149 147 158 +f 140 149 158 +f 142 139 159 +f 139 150 159 +f 150 146 159 +f 155 142 159 +f 146 155 159 +f 144 142 160 +f 142 146 160 +f 146 152 160 +f 157 144 160 +f 152 157 160 +f 149 141 161 +f 143 149 161 +f 151 143 161 +f 141 157 161 +o convex_6 +v 0.200356 -1.839726 -1.068050 +v -0.184545 -2.342907 -3.081563 +v -0.214190 -2.224511 -3.081563 +v -0.332650 -2.342907 -1.068050 +v -0.332650 -1.691665 -1.068050 +v 0.200356 -1.721263 -2.933348 +v 0.289231 -2.194912 -1.068050 +v -0.243775 -1.661932 -3.022238 +v 0.200356 -2.224511 -2.933348 +v -0.332650 -2.342907 -1.453369 +v -0.095731 -2.342907 -2.814895 +v 0.200356 -1.780461 -1.394044 +v -0.066025 -1.661932 -2.903784 +v -0.214190 -2.342907 -1.098008 +v 0.230002 -2.224511 -2.726202 +v -0.332650 -1.691665 -1.482933 +v 0.230002 -2.224511 -1.068050 +v 0.289231 -2.135648 -1.186701 +v -0.273420 -1.691665 -1.068050 +v -0.125316 -2.224511 -3.081563 +v 0.200356 -1.721263 -2.726202 +f 174 180 182 +f 165 162 166 +f 162 165 168 +f 164 163 171 +f 163 165 171 +f 165 166 171 +f 169 164 171 +f 165 163 172 +f 163 170 172 +f 169 166 174 +f 167 169 174 +f 165 172 175 +f 170 167 176 +f 172 170 176 +f 166 169 177 +f 171 166 177 +f 169 171 177 +f 168 165 178 +f 165 175 178 +f 175 172 178 +f 176 168 178 +f 172 176 178 +f 162 168 179 +f 173 162 179 +f 176 167 179 +f 168 176 179 +f 166 162 180 +f 162 173 180 +f 174 166 180 +f 163 164 181 +f 164 169 181 +f 169 167 181 +f 170 163 181 +f 167 170 181 +f 167 174 182 +f 173 179 182 +f 179 167 182 +f 180 173 182 +o convex_7 +v -0.362245 -2.313302 -1.068050 +v 1.029566 -1.632319 0.945359 +v 0.881364 -1.632319 0.974995 +v 0.999765 -2.372653 0.945359 +v -1.013650 -2.372653 0.945359 +v -0.924650 -1.632319 -0.979140 +v 0.940565 -1.632319 -1.008777 +v -1.013650 -1.632319 0.945359 +v 0.940565 -2.372653 -0.979140 +v -0.924650 -2.372653 -0.979140 +v -0.332645 -2.343014 1.064114 +v 0.377960 -1.632319 1.064114 +v 0.496361 -1.632319 -1.068050 +v 1.029566 -2.372653 0.767748 +v -0.954250 -2.165249 -0.771893 +v 0.970165 -1.721237 -0.801321 +v 0.377960 -2.313302 -1.068050 +v -0.303045 -1.750877 1.064114 +v -0.332645 -1.691670 -1.068050 +v 0.200359 -2.313302 1.064114 +v -1.013650 -1.632319 0.678838 +v -1.013650 -2.372653 0.619565 +v 0.881364 -2.372653 -1.008777 +v -0.954250 -1.632319 -0.712620 +f 197 203 206 +f 184 185 186 +f 185 184 188 +f 188 184 189 +f 185 188 190 +f 186 187 191 +f 188 183 192 +f 191 187 192 +f 187 186 193 +f 190 187 193 +f 186 185 194 +f 185 190 194 +f 188 189 195 +f 184 186 196 +f 186 191 196 +f 188 192 197 +f 189 184 198 +f 191 189 198 +f 184 196 198 +f 196 191 198 +f 183 195 199 +f 190 193 200 +f 194 190 200 +f 193 194 200 +f 183 188 201 +f 195 183 201 +f 188 195 201 +f 193 186 202 +f 194 193 202 +f 186 194 202 +f 187 190 203 +f 190 188 203 +f 203 197 204 +f 192 187 204 +f 197 192 204 +f 187 203 204 +f 189 191 205 +f 192 183 205 +f 191 192 205 +f 195 189 205 +f 183 199 205 +f 199 195 205 +f 188 197 206 +f 203 188 206 +o convex_8 +v -1.695161 1.714095 -0.209244 +v -1.043568 2.335874 0.323779 +v -1.043568 2.217334 0.323779 +v -2.997559 2.187746 0.234887 +v -2.967994 2.187746 -0.238875 +v -2.997559 1.802920 0.205311 +v -1.043568 2.217334 -0.209244 +v -1.043568 1.743682 0.175680 +v -3.056884 1.684443 -0.179614 +v -1.043568 1.743682 -0.209244 +v -2.671762 1.891746 0.264517 +v -1.369365 2.335874 0.323779 +v -1.102893 2.335874 0.205311 +v -2.879105 2.217334 0.264517 +v -1.339800 1.773333 0.205311 +v -2.286837 2.217334 -0.209244 +v -2.286837 2.158095 -0.238875 +v -2.849541 1.802920 0.234887 +v -1.576707 2.187746 0.323779 +v -2.967994 2.098921 -0.238875 +v -3.056884 1.684443 -0.149983 +f 214 224 227 +f 208 209 213 +f 213 209 214 +f 210 211 215 +f 214 207 216 +f 213 214 216 +f 209 208 218 +f 208 213 219 +f 218 208 219 +f 211 218 219 +f 211 210 220 +f 210 212 220 +f 218 211 220 +f 214 209 221 +f 209 217 221 +f 213 211 222 +f 219 213 222 +f 211 219 222 +f 211 213 223 +f 213 216 223 +f 220 212 224 +f 217 220 224 +f 214 221 224 +f 221 217 224 +f 217 209 225 +f 209 218 225 +f 220 217 225 +f 218 220 225 +f 207 215 226 +f 215 211 226 +f 216 207 226 +f 211 223 226 +f 223 216 226 +f 212 210 227 +f 207 214 227 +f 215 207 227 +f 210 215 227 +f 224 212 227 +o convex_9 +v -1.043371 2.247002 -0.149911 +v 1.059086 1.743638 0.323657 +v 1.059086 1.714103 0.323657 +v 0.999816 2.335874 -1.097663 +v -0.924830 1.654766 -1.008548 +v -0.835924 2.335874 1.004887 +v -0.984100 1.654766 0.975044 +v 0.999816 2.335874 0.975250 +v 0.999816 1.654766 -1.068027 +v -0.924830 2.335874 -1.008548 +v 0.910910 1.654766 1.004887 +v -0.984100 2.335874 0.975044 +v -1.043371 1.654766 0.234747 +v 1.059086 2.335874 -0.268251 +v 0.703669 1.654766 -1.097663 +v 0.999816 1.654766 0.975250 +v 0.940545 2.335874 1.004887 +v -1.043371 2.335874 0.323451 +v -0.717383 1.654766 1.004887 +v 1.059086 1.654766 -0.268251 +v -1.043371 1.743638 -0.209184 +v 1.059086 2.335874 0.294021 +v -0.954259 2.335874 -0.919638 +v -0.480507 2.335874 -1.038390 +v -1.043371 2.069325 0.412361 +f 245 240 252 +f 230 229 235 +f 231 233 235 +f 234 232 236 +f 233 231 237 +f 234 236 238 +f 234 233 239 +f 233 237 239 +f 232 234 240 +f 229 230 241 +f 231 235 241 +f 231 236 242 +f 236 232 242 +f 230 235 243 +f 238 236 243 +f 238 243 244 +f 235 233 244 +f 233 238 244 +f 243 235 244 +f 239 237 245 +f 228 240 245 +f 233 234 246 +f 238 233 246 +f 234 238 246 +f 236 231 247 +f 241 230 247 +f 231 241 247 +f 230 243 247 +f 243 236 247 +f 240 228 248 +f 232 240 248 +f 235 229 249 +f 229 241 249 +f 241 235 249 +f 237 232 250 +f 228 245 250 +f 245 237 250 +f 248 228 250 +f 232 248 250 +f 232 237 251 +f 237 231 251 +f 231 242 251 +f 242 232 251 +f 234 239 252 +f 240 234 252 +f 239 245 252 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/291/291.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/291/291.urdf new file mode 100644 index 000000000..a90e3b48e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/291/291.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/292/292.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/292/292.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/292/292.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/292/292.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/292/292.obj new file mode 100644 index 000000000..8fcf507b8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/292/292.obj @@ -0,0 +1,1530 @@ +o convex_0 +v 0.194818 -1.738662 -0.343484 +v 0.132223 -1.838832 0.203299 +v 0.132223 -1.834640 0.165739 +v 0.128038 -1.713607 -0.322549 +v 0.194811 -1.763704 0.228377 +v 0.194811 -1.834640 0.207442 +v 0.203173 -1.713607 -0.189044 +v 0.128038 -1.751177 -0.326747 +v 0.132223 -1.834640 0.228377 +v 0.203173 -1.713607 -0.343484 +v 0.203166 -1.780399 -0.109668 +v 0.190641 -1.763704 0.228377 +f 9 5 12 +f 2 3 6 +f 3 2 8 +f 2 6 9 +f 6 5 9 +f 8 2 9 +f 4 8 9 +f 4 7 10 +f 8 4 10 +f 1 8 10 +f 5 6 11 +f 6 3 11 +f 7 5 11 +f 3 8 11 +f 8 1 11 +f 1 10 11 +f 10 7 11 +f 7 4 12 +f 5 7 12 +f 4 9 12 +o convex_1 +v 0.140562 0.365269 -0.234963 +v 0.153079 2.139150 -0.180713 +v 0.153079 2.139150 -0.189053 +v 0.128038 2.122328 -0.243303 +v 0.136390 0.310865 -0.180713 +v 0.132215 0.310865 -0.293394 +v 0.148909 2.118033 -0.239122 +v 0.148904 0.765967 -0.184872 +v 0.128038 0.310865 -0.264173 +v 0.144732 1.700691 -0.180713 +v 0.128038 0.423790 -0.293394 +v 0.140560 2.122328 -0.247472 +v 0.136390 0.678455 -0.285033 +v 0.128038 2.105505 -0.239122 +v 0.144732 0.411084 -0.180713 +v 0.132213 0.310865 -0.209912 +v 0.153079 1.596177 -0.184872 +f 27 20 29 +f 14 15 16 +f 13 17 18 +f 18 17 21 +f 17 14 22 +f 21 16 23 +f 18 21 23 +f 16 15 24 +f 15 19 24 +f 23 16 24 +f 23 24 25 +f 13 18 25 +f 20 13 25 +f 18 23 25 +f 24 19 25 +f 14 16 26 +f 16 21 26 +f 22 14 26 +f 17 22 26 +f 17 13 27 +f 14 17 27 +f 13 20 27 +f 21 17 28 +f 26 21 28 +f 17 26 28 +f 15 14 29 +f 19 15 29 +f 20 25 29 +f 25 19 29 +f 14 27 29 +o convex_2 +v 0.132214 -0.098198 -0.285029 +v 0.144733 0.210628 -0.068011 +v 0.140564 0.210628 -0.068011 +v 0.153077 -0.653368 -0.068011 +v 0.157250 -0.569743 -0.180711 +v 0.136386 0.310865 -0.268331 +v 0.128039 0.122945 -0.226600 +v 0.148905 -0.624014 -0.093046 +v 0.140561 -0.152469 -0.297568 +v 0.153077 -0.653368 -0.180711 +v 0.128039 0.310865 -0.293366 +v 0.157250 -0.498766 -0.068011 +v 0.140561 0.310865 -0.214083 +v 0.140564 0.014308 -0.068011 +v 0.128039 -0.002209 -0.255814 +v 0.148905 0.039415 -0.072191 +f 34 42 45 +f 31 32 33 +f 35 34 38 +f 34 33 39 +f 37 30 39 +f 33 37 39 +f 30 38 39 +f 38 34 39 +f 36 32 40 +f 38 30 40 +f 35 38 40 +f 31 33 41 +f 33 34 41 +f 32 31 42 +f 34 35 42 +f 40 32 42 +f 35 40 42 +f 33 32 43 +f 32 36 43 +f 36 37 43 +f 37 33 43 +f 30 37 44 +f 37 36 44 +f 36 40 44 +f 40 30 44 +f 31 41 45 +f 41 34 45 +f 42 31 45 +o convex_3 +v -0.255964 -1.822133 -0.180692 +v 0.111270 -1.751191 -0.326773 +v 0.111270 -1.747000 -0.326773 +v 0.128038 -1.767883 -0.180692 +v -0.368635 -1.747016 -0.180706 +v -0.372852 -1.826292 -0.230782 +v -0.372852 -1.747016 -0.230782 +v 0.115486 -1.776233 -0.197407 +v -0.368635 -1.830467 -0.180706 +v 0.128038 -1.747000 -0.301706 +v 0.119605 -1.755366 -0.318408 +v -0.335246 -1.826292 -0.218256 +f 56 53 57 +f 46 49 50 +f 48 47 51 +f 50 48 52 +f 48 51 52 +f 51 50 52 +f 49 46 53 +f 46 50 54 +f 50 51 54 +f 50 49 55 +f 48 50 55 +f 47 48 56 +f 51 47 56 +f 49 53 56 +f 48 55 56 +f 55 49 56 +f 53 46 57 +f 46 54 57 +f 54 51 57 +f 51 56 57 +o convex_4 +v 0.173948 -1.304435 -0.009580 +v 0.161434 -0.653368 -0.005411 +v 0.161434 -0.653368 -0.047142 +v 0.190651 -1.408793 -0.180692 +v 0.153083 -0.682708 -0.180674 +v 0.190651 -1.500647 -0.013733 +v 0.186473 -1.504898 -0.180692 +v 0.161434 -0.674373 -0.180674 +v 0.153083 -0.745223 -0.059668 +v 0.182299 -1.504898 -0.005411 +v 0.161434 -0.987362 -0.005411 +v 0.153083 -0.653368 -0.038785 +f 66 68 69 +f 60 59 61 +f 61 59 63 +f 61 63 64 +f 58 62 64 +f 62 61 64 +f 60 61 65 +f 61 62 65 +f 63 59 67 +f 64 63 67 +f 58 64 67 +f 62 58 68 +f 66 62 68 +f 67 59 68 +f 58 67 68 +f 59 60 69 +f 60 65 69 +f 65 62 69 +f 62 66 69 +f 68 59 69 +o convex_5 +v 0.144748 -0.186019 -0.297573 +v 0.128038 -1.713427 -0.326786 +v 0.136393 -1.713427 -0.330956 +v 0.203173 -1.713427 -0.297573 +v 0.203173 -1.696570 -0.343480 +v 0.128038 0.118674 -0.301747 +v 0.128038 -0.165216 -0.297573 +v 0.128038 -1.550590 -0.318441 +v 0.198996 -1.525483 -0.339305 +v 0.194818 -1.659088 -0.297573 +v 0.203173 -1.650660 -0.297573 +v 0.128038 -1.492126 -0.326786 +f 71 75 81 +f 71 72 73 +f 73 72 74 +f 70 75 76 +f 73 70 76 +f 75 71 76 +f 76 71 77 +f 74 75 78 +f 75 70 78 +f 71 73 79 +f 73 76 79 +f 76 77 79 +f 77 71 79 +f 70 73 80 +f 73 74 80 +f 78 70 80 +f 74 78 80 +f 72 71 81 +f 74 72 81 +f 75 74 81 +o convex_6 +v 0.107159 0.770040 -0.268339 +v -0.164154 0.310970 -0.226613 +v -0.159949 0.310970 -0.230783 +v -0.051436 1.391974 -0.226621 +v 0.115511 0.344305 -0.293394 +v -0.151598 0.890998 -0.205737 +v 0.128038 1.391974 -0.255820 +v 0.119658 0.310865 -0.285037 +v 0.123834 1.387741 -0.264169 +v -0.034732 1.366894 -0.218273 +v -0.151598 0.331818 -0.222443 +v -0.164154 0.903591 -0.214094 +v 0.128038 0.310865 -0.293394 +v -0.164154 0.895231 -0.205737 +v -0.159949 0.335945 -0.230783 +v 0.128038 1.350067 -0.255820 +f 89 94 97 +f 86 85 90 +f 85 88 90 +f 88 85 91 +f 82 87 92 +f 83 89 92 +f 89 82 92 +f 83 84 94 +f 84 86 94 +f 89 83 94 +f 86 90 94 +f 90 88 94 +f 87 91 95 +f 91 85 95 +f 83 92 95 +f 92 87 95 +f 93 83 95 +f 85 93 95 +f 84 83 96 +f 85 86 96 +f 86 84 96 +f 83 93 96 +f 93 85 96 +f 87 82 97 +f 82 89 97 +f 91 87 97 +f 88 91 97 +f 94 88 97 +o convex_7 +v -0.322777 -1.826306 -0.122193 +v -0.339470 -1.868051 0.207435 +v -0.343645 -1.863868 0.161559 +v -0.335300 -1.747000 0.232477 +v -0.368683 -1.747000 -0.180610 +v -0.368683 -1.830477 -0.180610 +v -0.322777 -1.868051 0.211643 +v -0.326951 -1.747000 0.228310 +v -0.322777 -1.822112 -0.180610 +v -0.360334 -1.747000 -0.180610 +v -0.322777 -1.830477 -0.172276 +f 106 104 108 +f 100 99 101 +f 100 101 102 +f 100 102 103 +f 99 100 104 +f 101 99 104 +f 101 104 105 +f 102 101 105 +f 104 98 105 +f 103 102 106 +f 98 104 106 +f 105 98 106 +f 102 105 107 +f 106 102 107 +f 105 106 107 +f 100 103 108 +f 104 100 108 +f 103 106 108 +o convex_8 +v 0.194825 -1.580072 0.245070 +v 0.132212 -1.838832 0.228382 +v 0.169776 -1.838832 0.228382 +v 0.190639 -1.504931 0.228382 +v 0.132212 -1.504931 0.253422 +v 0.136398 -1.830432 0.236729 +v 0.194825 -1.801212 0.232554 +v 0.132212 -1.525816 0.245070 +f 110 113 116 +f 111 110 112 +f 109 112 113 +f 113 110 114 +f 110 111 114 +f 109 113 114 +f 114 111 115 +f 111 112 115 +f 112 109 115 +f 109 114 115 +f 112 110 116 +f 113 112 116 +o convex_9 +v 0.161431 2.285246 0.274300 +v 0.161431 0.294350 0.345254 +v 0.161431 0.816036 0.328550 +v 0.132212 0.210685 0.341073 +v 0.132212 2.239149 0.282648 +v 0.132212 2.235088 0.274300 +v 0.148907 0.210685 0.336898 +v 0.132212 0.419441 0.341073 +v 0.161431 2.243414 0.282648 +v 0.161431 0.290085 0.336898 +v 0.132212 0.210685 0.336898 +f 122 123 127 +f 119 118 117 +f 121 117 122 +f 120 121 122 +f 118 120 123 +f 122 117 123 +f 118 119 124 +f 120 118 124 +f 121 120 124 +f 119 121 124 +f 119 117 125 +f 117 121 125 +f 121 119 125 +f 117 118 126 +f 118 123 126 +f 123 117 126 +f 120 122 127 +f 123 120 127 +o convex_10 +v -0.306091 0.272995 -0.180692 +v -0.368675 -1.747000 -0.230774 +v -0.356152 -1.747000 -0.234947 +v -0.360322 -1.742568 -0.180692 +v -0.301908 -1.747000 -0.239121 +v -0.314438 0.310865 -0.197392 +v -0.368675 -1.725849 -0.180692 +v -0.301908 -1.592298 -0.243294 +v -0.301908 0.310865 -0.197392 +v -0.364498 -1.458947 -0.226600 +v -0.314438 0.264736 -0.180692 +v -0.301908 -1.646685 -0.234947 +v -0.306091 -1.400330 -0.239121 +f 137 133 140 +f 129 130 132 +f 131 129 132 +f 129 131 134 +f 131 128 134 +f 132 130 135 +f 133 128 136 +f 132 135 136 +f 130 129 137 +f 129 134 137 +f 134 133 137 +f 128 133 138 +f 134 128 138 +f 133 134 138 +f 128 131 139 +f 131 132 139 +f 136 128 139 +f 132 136 139 +f 135 130 140 +f 133 136 140 +f 136 135 140 +f 130 137 140 +o convex_11 +v 0.061235 0.790954 0.328553 +v -0.043103 0.152246 0.316041 +v -0.038916 0.152246 0.316041 +v -0.043103 1.304265 0.303514 +v 0.132212 1.191499 0.307691 +v 0.132212 0.152246 0.341073 +v -0.043103 0.202427 0.324384 +v -0.043103 1.283291 0.311864 +v 0.132212 1.304265 0.311864 +v 0.123855 0.415330 0.341073 +v 0.111327 0.152246 0.332727 +v 0.052895 1.299980 0.303514 +v 0.107157 0.152246 0.341073 +f 150 147 153 +f 142 143 146 +f 144 142 147 +f 144 147 148 +f 146 145 149 +f 144 148 149 +f 148 141 149 +f 148 147 150 +f 141 148 150 +f 146 149 150 +f 149 141 150 +f 143 145 151 +f 146 143 151 +f 145 146 151 +f 143 142 152 +f 142 144 152 +f 145 143 152 +f 144 149 152 +f 149 145 152 +f 142 146 153 +f 147 142 153 +f 146 150 153 +o convex_12 +v 0.182292 -1.408744 -0.193229 +v 0.140564 -0.152468 -0.180703 +v 0.136386 -0.152468 -0.180703 +v 0.140564 -0.152468 -0.297568 +v 0.203167 -1.655079 -0.289206 +v 0.136386 -0.194339 -0.297568 +v 0.198996 -1.613361 -0.180703 +v 0.194818 -1.659205 -0.297568 +v 0.144741 -0.185934 -0.180703 +v 0.140564 -0.365489 -0.180703 +v 0.144741 -0.185934 -0.297568 +v 0.194818 -1.713607 -0.180703 +v 0.203167 -1.713607 -0.297568 +f 165 161 166 +f 156 155 157 +f 156 157 159 +f 155 156 160 +f 154 159 161 +f 159 157 161 +f 157 155 162 +f 155 160 162 +f 160 158 162 +f 159 154 163 +f 156 159 163 +f 160 156 163 +f 161 157 164 +f 157 162 164 +f 162 158 164 +f 154 161 165 +f 163 154 165 +f 160 163 165 +f 158 160 166 +f 164 158 166 +f 161 164 166 +f 160 165 166 +o convex_13 +v 0.132212 -0.511633 0.311850 +v -0.243463 -1.843006 0.265947 +v -0.214191 -1.843006 0.261778 +v 0.123828 -1.780267 0.240907 +v 0.128020 -0.428119 0.307681 +v -0.235079 -1.596620 0.286810 +v 0.128020 -1.680133 0.236730 +v -0.068128 -0.745416 0.307681 +v -0.059781 -0.849566 0.311850 +v -0.210036 -1.843006 0.270117 +v 0.036197 -1.838713 0.236730 +v -0.243463 -1.517261 0.282633 +v -0.068128 -0.745416 0.311850 +v 0.086246 -1.842867 0.240907 +v -0.230886 -1.788577 0.265947 +v 0.132212 -1.763509 0.236730 +f 180 177 182 +f 171 173 174 +f 170 167 175 +f 172 170 175 +f 168 169 176 +f 172 168 176 +f 170 172 176 +f 174 173 177 +f 168 172 178 +f 167 171 179 +f 171 174 179 +f 172 175 179 +f 175 167 179 +f 178 172 179 +f 174 178 179 +f 176 169 180 +f 170 176 180 +f 169 177 180 +f 169 168 181 +f 174 177 181 +f 177 169 181 +f 168 178 181 +f 178 174 181 +f 167 170 182 +f 171 167 182 +f 173 171 182 +f 177 173 182 +f 170 180 182 +o convex_14 +v -0.026456 2.088792 -0.268378 +v -0.310250 0.903734 -0.243302 +v -0.306055 0.903734 -0.243302 +v -0.301832 2.272482 -0.343469 +v -0.026456 1.392063 -0.226626 +v -0.310250 0.912108 -0.234971 +v -0.297693 2.297605 -0.335110 +v -0.160019 0.907853 -0.205743 +v -0.026456 2.184893 -0.285041 +v -0.034817 1.458921 -0.222447 +v -0.151657 0.903734 -0.214102 +v -0.293499 2.222509 -0.339289 +v -0.038984 2.180637 -0.276696 +v -0.297693 0.916227 -0.243302 +f 194 187 196 +f 185 184 186 +f 186 184 188 +f 186 188 189 +f 188 184 190 +f 189 188 190 +f 183 187 191 +f 186 189 191 +f 187 183 192 +f 190 187 192 +f 189 190 192 +f 184 185 193 +f 190 184 193 +f 187 190 193 +f 185 186 194 +f 191 187 194 +f 186 191 194 +f 183 191 195 +f 191 189 195 +f 192 183 195 +f 189 192 195 +f 193 185 196 +f 187 193 196 +f 185 194 196 +o convex_15 +v 0.157259 -0.653368 0.023913 +v 0.165602 0.210685 0.245074 +v 0.165602 0.210685 0.203305 +v 0.140561 0.210685 -0.051288 +v 0.161428 -0.636622 -0.042891 +v 0.173949 -0.653368 0.245074 +v 0.157259 0.185565 0.215808 +v 0.148915 0.210685 -0.055455 +v 0.178126 -0.649139 0.199138 +v 0.148915 -0.502988 -0.063760 +v 0.140561 0.035354 -0.063791 +v 0.178126 -0.465435 0.245074 +v 0.157259 -0.653368 -0.067989 +v 0.169776 -0.486326 0.245074 +f 198 203 210 +f 198 199 200 +f 198 200 203 +f 200 199 204 +f 201 204 205 +f 204 199 205 +f 197 203 206 +f 203 200 207 +f 200 204 207 +f 206 203 207 +f 199 198 208 +f 198 202 208 +f 205 199 208 +f 202 205 208 +f 202 197 209 +f 204 201 209 +f 201 205 209 +f 205 202 209 +f 197 206 209 +f 207 204 209 +f 206 207 209 +f 202 198 210 +f 197 202 210 +f 203 197 210 +o convex_16 +v 0.119678 2.013882 -0.234965 +v -0.026406 1.391974 -0.226614 +v -0.018046 1.391974 -0.230790 +v -0.026406 2.189240 -0.280867 +v 0.128038 1.391974 -0.259995 +v 0.119678 2.130710 -0.251650 +v -0.001356 1.542359 -0.222433 +v -0.026406 2.155761 -0.272516 +v 0.115505 1.396266 -0.251650 +v 0.107160 1.391974 -0.259995 +v -0.026406 2.139060 -0.280867 +v -0.009701 2.184948 -0.280867 +v 0.123850 2.093172 -0.239135 +v -0.013873 1.391974 -0.222433 +v -0.026406 1.479692 -0.222433 +v 0.128038 1.529873 -0.259995 +v 0.128038 1.913678 -0.239135 +f 215 226 227 +f 212 213 215 +f 214 212 218 +f 215 213 220 +f 215 220 221 +f 213 212 221 +f 212 214 221 +f 220 213 221 +f 221 214 222 +f 214 216 222 +f 215 221 222 +f 216 214 223 +f 217 211 223 +f 214 218 223 +f 212 215 224 +f 211 217 224 +f 215 219 224 +f 218 212 225 +f 217 223 225 +f 223 218 225 +f 212 224 225 +f 224 217 225 +f 222 216 226 +f 215 222 226 +f 219 215 227 +f 223 211 227 +f 216 223 227 +f 211 224 227 +f 224 219 227 +f 226 216 227 +o convex_17 +v -0.076514 0.152246 0.311859 +v -0.255985 -0.845380 0.286819 +v -0.247620 -0.845380 0.286819 +v -0.072340 -0.749289 0.316030 +v -0.255985 0.152246 0.299340 +v -0.255985 -0.841083 0.295166 +v -0.068148 -0.845380 0.307685 +v -0.080688 0.093752 0.320207 +v -0.226751 0.152246 0.295166 +v -0.068148 0.152246 0.320207 +v -0.230924 0.085451 0.303511 +v -0.068148 -0.669897 0.307685 +v -0.255985 -0.069036 0.290992 +f 232 236 240 +f 232 229 233 +f 231 233 234 +f 229 230 234 +f 233 229 234 +f 233 231 235 +f 232 228 236 +f 228 232 237 +f 231 234 237 +f 235 231 237 +f 232 235 237 +f 232 233 238 +f 235 232 238 +f 233 235 238 +f 234 230 239 +f 236 228 239 +f 230 236 239 +f 228 237 239 +f 237 234 239 +f 230 229 240 +f 229 232 240 +f 236 230 240 +o convex_18 +v -0.297698 -1.868051 0.228377 +v 0.132212 -1.751186 0.236726 +v 0.132212 -1.838823 0.236726 +v -0.255967 -1.842999 0.274281 +v -0.239222 -1.868051 0.270111 +v 0.107138 -1.842976 0.228377 +v -0.322772 -1.863853 0.228377 +v 0.127937 -1.751186 0.232552 +f 247 244 248 +f 243 242 244 +f 243 244 245 +f 243 245 246 +f 245 241 246 +f 246 241 247 +f 241 245 247 +f 245 244 247 +f 242 243 248 +f 244 242 248 +f 243 246 248 +f 246 247 248 +o convex_19 +v -0.356143 -1.746908 -0.021967 +v -0.272682 0.131116 0.278459 +v -0.276864 0.131116 0.278459 +v -0.306087 0.273297 -0.180606 +v -0.318604 -1.613230 0.274279 +v -0.360325 -1.746908 -0.180651 +v -0.314441 0.252336 -0.176381 +v -0.326938 -1.575460 0.278459 +v -0.272682 0.047468 0.274279 +v -0.368679 -1.738405 -0.176381 +v -0.281036 0.068429 0.278459 +v -0.306087 0.193802 -0.168022 +v -0.326948 -1.746908 0.236575 +v -0.335283 -1.738405 0.232395 +v -0.351971 -1.479551 -0.172202 +v -0.368679 -1.746908 -0.180651 +f 258 255 264 +f 251 250 252 +f 251 252 255 +f 250 251 256 +f 253 250 256 +f 252 250 257 +f 250 253 257 +f 251 255 259 +f 256 251 259 +f 255 256 259 +f 254 252 260 +f 252 257 260 +f 249 254 261 +f 254 253 261 +f 253 256 261 +f 261 256 262 +f 256 255 262 +f 258 249 262 +f 255 258 262 +f 249 261 262 +f 253 254 263 +f 257 253 263 +f 254 260 263 +f 260 257 263 +f 254 249 264 +f 252 254 264 +f 255 252 264 +f 249 258 264 +o convex_20 +v 0.161434 -0.991446 -0.005376 +v 0.178126 -0.653368 0.245074 +v 0.178126 -0.653368 0.199156 +v 0.190651 -1.504815 0.245074 +v 0.186474 -1.404625 -0.005376 +v 0.161434 -0.653368 -0.005376 +v 0.178129 -1.488145 0.136544 +v 0.173952 -0.753641 0.245074 +v 0.190651 -1.266927 0.240881 +v 0.182300 -1.504815 -0.005376 +v 0.157260 -0.670122 0.019678 +v 0.165608 -0.653368 0.015511 +v 0.186474 -1.504815 0.245074 +v 0.182300 -0.732720 0.240881 +v 0.169785 -0.653368 0.203324 +f 275 272 279 +f 266 267 270 +f 269 265 270 +f 268 266 272 +f 266 268 273 +f 268 269 273 +f 265 269 274 +f 269 268 274 +f 271 265 274 +f 270 265 275 +f 265 271 275 +f 271 272 275 +f 267 269 276 +f 270 267 276 +f 269 270 276 +f 268 272 277 +f 272 271 277 +f 274 268 277 +f 271 274 277 +f 267 266 278 +f 269 267 278 +f 266 273 278 +f 273 269 278 +f 266 270 279 +f 272 266 279 +f 270 275 279 +o convex_21 +v 0.132212 0.152246 0.341077 +v -0.068148 -0.778593 0.311863 +v 0.094635 -0.498776 0.311860 +v -0.068148 0.152155 0.316036 +v 0.132212 -0.352718 0.311860 +v 0.115502 -0.014769 0.341077 +v -0.043083 0.097941 0.324384 +v -0.068148 -0.778593 0.316036 +v 0.132212 -0.440462 0.316039 +v -0.068148 -0.056591 0.311863 +v 0.111325 0.152246 0.332729 +v -0.038906 0.152155 0.316036 +v -0.068148 0.152155 0.320211 +f 290 283 292 +f 285 280 286 +f 285 286 287 +f 283 281 287 +f 281 282 288 +f 284 280 288 +f 282 284 288 +f 280 285 288 +f 285 287 288 +f 287 281 288 +f 282 281 289 +f 281 283 289 +f 284 282 289 +f 280 284 290 +f 290 284 291 +f 289 283 291 +f 284 289 291 +f 283 290 291 +f 286 280 292 +f 287 286 292 +f 283 287 292 +f 280 290 292 +o convex_22 +v -0.193410 0.757510 -0.201567 +v -0.314424 0.310895 -0.197392 +v -0.314424 0.310895 -0.193222 +v -0.310246 0.903539 -0.234947 +v -0.164154 0.310895 -0.226602 +v -0.164154 0.903539 -0.214091 +v -0.310246 0.845115 -0.239122 +v -0.285182 0.903539 -0.239122 +v -0.164154 0.373553 -0.218252 +v -0.281019 0.319249 -0.193222 +v -0.164154 0.886830 -0.205746 +v -0.180863 0.310895 -0.226602 +v -0.314424 0.331781 -0.201571 +v -0.164154 0.411090 -0.226602 +v -0.276856 0.436153 -0.193222 +f 303 296 307 +f 295 294 297 +f 299 296 300 +f 296 298 300 +f 297 299 300 +f 297 298 301 +f 295 297 302 +f 301 293 302 +f 297 301 302 +f 298 296 303 +f 293 301 303 +f 301 298 303 +f 297 294 304 +f 299 297 304 +f 299 304 305 +f 294 295 305 +f 295 296 305 +f 296 299 305 +f 304 294 305 +f 298 297 306 +f 300 298 306 +f 297 300 306 +f 296 295 307 +f 302 293 307 +f 295 302 307 +f 293 303 307 +o convex_23 +v -0.243463 -1.609331 0.286811 +v -0.335279 -1.872175 0.253432 +v -0.335279 -1.872175 0.274286 +v -0.331109 -1.617666 0.236735 +v -0.256009 -1.863840 0.236735 +v -0.255991 -1.450634 0.286811 +v -0.322751 -1.613457 0.282630 +v -0.243463 -1.830375 0.274291 +v -0.335279 -1.868007 0.236735 +v -0.251812 -1.450634 0.282634 +v -0.310231 -1.872175 0.278458 +f 312 315 318 +f 311 310 314 +f 308 313 314 +f 313 311 314 +f 312 308 315 +f 309 310 316 +f 310 311 316 +f 311 312 316 +f 312 309 316 +f 308 312 317 +f 312 311 317 +f 313 308 317 +f 311 313 317 +f 310 309 318 +f 309 312 318 +f 308 314 318 +f 314 310 318 +f 315 308 318 +o convex_24 +v -0.043103 1.283229 0.311856 +v -0.276856 0.152246 0.290990 +v -0.276856 0.152246 0.295167 +v -0.043103 0.152246 0.316033 +v -0.222582 1.304317 0.282644 +v -0.230934 1.304317 0.290990 +v -0.080674 0.194084 0.320206 +v -0.043103 1.304317 0.303513 +v -0.264317 0.190025 0.299337 +v -0.255966 0.185739 0.290990 +v -0.047290 0.540630 0.320206 +v -0.247614 1.137303 0.282644 +v -0.043103 1.258193 0.303513 +v -0.247614 1.128845 0.290990 +f 324 330 332 +f 321 320 322 +f 321 322 325 +f 319 322 326 +f 323 324 326 +f 324 319 326 +f 321 325 327 +f 325 324 327 +f 322 320 328 +f 322 319 329 +f 319 324 329 +f 324 325 329 +f 325 322 329 +f 320 321 330 +f 324 323 330 +f 328 320 330 +f 323 328 330 +f 326 322 331 +f 323 326 331 +f 322 328 331 +f 328 323 331 +f 321 327 332 +f 327 324 332 +f 330 321 332 +o convex_25 +v -0.076507 1.796764 0.295161 +v -0.239289 1.304317 0.282645 +v -0.222570 1.304317 0.282645 +v -0.076507 2.185066 0.278470 +v -0.218415 2.122303 0.282645 +v -0.068148 1.304317 0.307683 +v -0.076507 1.304317 0.299336 +v -0.226741 1.346130 0.290992 +v -0.068148 2.051350 0.278470 +v -0.230929 1.675894 0.278470 +v -0.072336 1.404668 0.307683 +v -0.068148 2.185066 0.282645 +v -0.218415 2.122303 0.278470 +v -0.197542 2.022210 0.286817 +f 344 337 346 +f 334 335 338 +f 338 335 339 +f 337 334 340 +f 334 338 340 +f 339 335 341 +f 338 339 341 +f 335 334 342 +f 334 337 342 +f 341 335 342 +f 336 341 342 +f 340 338 343 +f 336 337 344 +f 341 336 344 +f 338 341 344 +f 333 343 344 +f 343 338 344 +f 337 336 345 +f 336 342 345 +f 342 337 345 +f 337 340 346 +f 343 333 346 +f 340 343 346 +f 333 344 346 +o convex_26 +v 0.132212 2.239167 0.282648 +v -0.068148 1.304317 0.303505 +v 0.069590 1.304317 0.303505 +v -0.047261 2.184945 0.274293 +v -0.068148 1.408779 0.307683 +v 0.132212 1.325266 0.311860 +v 0.132212 2.230825 0.274293 +v -0.068148 2.189211 0.282648 +v 0.132212 1.321095 0.303505 +v -0.068148 2.189211 0.274293 +v -0.068148 1.400437 0.299332 +v 0.123857 2.272724 0.274293 +f 356 354 358 +f 351 348 352 +f 348 349 352 +f 347 351 352 +f 349 350 353 +f 347 352 353 +f 351 347 354 +f 348 351 354 +f 352 349 355 +f 349 353 355 +f 353 352 355 +f 353 350 356 +f 348 354 356 +f 349 348 357 +f 350 349 357 +f 348 356 357 +f 356 350 357 +f 347 353 358 +f 354 347 358 +f 353 356 358 +o convex_27 +v 0.132212 -1.780403 -0.159785 +v -0.322772 -1.826304 -0.180692 +v -0.322772 -1.826304 -0.163960 +v 0.132212 -1.826304 0.144894 +v 0.127981 -1.767877 -0.176485 +v 0.123839 -1.822128 0.144894 +v 0.119653 -1.826304 0.103144 +v -0.318541 -1.822128 -0.159785 +v -0.276810 -1.826304 -0.176485 +f 359 365 367 +f 361 360 362 +f 362 359 363 +f 361 362 364 +f 362 363 364 +f 362 360 365 +f 359 362 365 +f 360 361 366 +f 363 360 366 +f 361 364 366 +f 364 363 366 +f 363 359 367 +f 360 363 367 +f 365 360 367 +o convex_28 +v 0.182302 -1.600925 0.174080 +v 0.198997 -1.763646 -0.180692 +v 0.194824 -1.730261 -0.180692 +v 0.194824 -1.513283 -0.180692 +v 0.194824 -1.609284 0.228377 +v 0.190652 -1.763646 0.228377 +v 0.203173 -1.759492 -0.109697 +v 0.182302 -1.504898 -0.017881 +v 0.190652 -1.504898 0.228377 +v 0.186478 -1.504898 -0.180692 +v 0.186478 -1.734441 0.190778 +v 0.194824 -1.763646 0.228377 +v 0.182302 -1.504898 0.194982 +v 0.203173 -1.721927 -0.176487 +f 376 372 381 +f 369 370 371 +f 373 372 376 +f 375 376 377 +f 371 370 377 +f 370 375 377 +f 376 371 377 +f 370 369 378 +f 369 373 378 +f 368 375 378 +f 375 370 378 +f 373 369 379 +f 372 373 379 +f 369 374 379 +f 374 372 379 +f 375 368 380 +f 373 376 380 +f 376 375 380 +f 378 373 380 +f 368 378 380 +f 369 371 381 +f 374 369 381 +f 372 374 381 +f 371 376 381 +o convex_29 +v 0.161431 -1.492303 0.253428 +v 0.161431 0.210685 0.345254 +v 0.144737 0.210685 0.345254 +v 0.157256 -1.479709 0.245074 +v 0.132212 -1.463084 0.257606 +v 0.132212 0.210685 0.336899 +v 0.132212 0.010175 0.341066 +v 0.132212 -1.450489 0.249251 +v 0.161431 0.139650 0.336899 +v 0.161431 0.127055 0.345254 +f 388 386 391 +f 385 382 386 +f 384 383 387 +f 384 387 388 +f 387 386 388 +f 385 386 389 +f 386 387 389 +f 387 385 389 +f 383 382 390 +f 382 385 390 +f 387 383 390 +f 385 387 390 +f 382 383 391 +f 383 384 391 +f 386 382 391 +f 384 388 391 +o convex_30 +v 0.165607 -1.483907 0.253428 +v 0.173956 0.210685 0.345254 +v 0.161431 0.210685 0.345254 +v 0.161431 0.210685 0.245074 +v 0.190651 -1.250147 0.245074 +v 0.161431 -1.504898 0.245074 +v 0.169783 0.089607 0.245074 +v 0.190651 -1.442260 0.253428 +v 0.161431 0.135452 0.345254 +v 0.169783 0.210685 0.265961 +f 396 398 401 +f 394 393 395 +f 394 395 397 +f 395 396 397 +f 396 395 398 +f 396 393 399 +f 392 397 399 +f 397 396 399 +f 393 394 400 +f 397 392 400 +f 394 397 400 +f 399 393 400 +f 392 399 400 +f 395 393 401 +f 393 396 401 +f 398 395 401 +o convex_31 +v 0.136391 0.415418 -0.180678 +v 0.182297 0.962035 0.270119 +v 0.182297 0.962035 0.228331 +v 0.169777 0.210758 0.270074 +v 0.161427 0.227525 0.270074 +v 0.144741 0.962035 -0.151422 +v 0.148907 0.594633 -0.176486 +v 0.140566 0.210758 -0.180678 +v 0.173952 0.924309 0.249203 +v 0.161427 0.962035 -0.088806 +v 0.136391 0.210758 -0.113870 +v 0.148907 0.962035 -0.180678 +v 0.165602 0.227525 0.194927 +v 0.178122 0.962035 0.270119 +f 407 410 415 +f 404 403 405 +f 403 404 407 +f 407 406 410 +f 407 404 411 +f 404 408 411 +f 405 406 412 +f 406 407 412 +f 407 402 412 +f 402 409 412 +f 409 405 412 +f 402 407 413 +f 409 402 413 +f 408 409 413 +f 407 411 413 +f 411 408 413 +f 404 405 414 +f 408 404 414 +f 409 408 414 +f 405 409 414 +f 405 403 415 +f 406 405 415 +f 403 407 415 +f 410 406 415 +o convex_32 +v 0.169785 0.962166 0.048888 +v 0.207342 2.301903 0.270119 +v 0.207342 2.301903 0.257580 +v 0.178133 2.230817 0.061426 +v 0.178133 1.066565 0.270097 +v 0.186476 1.045711 0.265917 +v 0.182304 1.500421 0.061448 +v 0.165606 0.962166 0.107357 +v 0.198995 2.276721 0.245042 +v 0.207342 2.176651 0.240862 +v 0.182308 2.222554 0.048888 +v 0.165606 1.141585 0.048888 +v 0.178133 2.230817 0.073943 +v 0.182304 0.962166 0.270097 +v 0.186476 2.230817 0.069763 +v 0.173961 0.978823 0.232525 +v 0.203170 2.301903 0.270119 +v 0.207342 2.097302 0.270119 +f 432 420 433 +f 421 416 422 +f 418 417 425 +f 421 422 425 +f 422 416 426 +f 426 416 427 +f 416 423 427 +f 419 426 427 +f 419 427 428 +f 420 424 428 +f 427 423 428 +f 416 421 429 +f 423 416 429 +f 419 418 430 +f 418 425 430 +f 425 422 430 +f 422 426 430 +f 426 419 430 +f 420 428 431 +f 428 423 431 +f 429 420 431 +f 423 429 431 +f 417 418 432 +f 418 419 432 +f 424 420 432 +f 419 428 432 +f 428 424 432 +f 425 417 433 +f 421 425 433 +f 420 429 433 +f 429 421 433 +f 417 432 433 +o convex_33 +v 0.194821 1.892719 0.270126 +v 0.173954 0.298468 0.345246 +v 0.169781 0.298468 0.345246 +v 0.169781 0.210685 0.270119 +v 0.161431 2.284872 0.278473 +v 0.211521 2.305792 0.278473 +v 0.161431 0.210685 0.345246 +v 0.165609 0.210685 0.270119 +v 0.173954 0.214992 0.328546 +v 0.211521 2.297588 0.270126 +v 0.161431 2.284872 0.274303 +v 0.161431 2.247339 0.282650 +v 0.207344 2.255748 0.282650 +f 439 445 446 +f 435 436 440 +f 437 440 441 +f 439 435 442 +f 435 440 442 +f 440 437 442 +f 441 434 443 +f 437 441 443 +f 439 442 443 +f 442 437 443 +f 438 439 444 +f 440 438 444 +f 441 440 444 +f 434 441 444 +f 443 434 444 +f 439 443 444 +f 439 438 445 +f 440 436 445 +f 438 440 445 +f 436 435 446 +f 435 439 446 +f 445 436 446 +o convex_34 +v -0.068148 -1.158546 0.295167 +v -0.255985 -1.529844 0.286818 +v -0.251793 -1.542466 0.286818 +v -0.101556 -0.908081 0.311858 +v -0.255985 -0.845516 0.286818 +v -0.068148 -1.145993 0.286818 +v -0.068148 -0.849678 0.303509 +v -0.251793 -0.845516 0.295167 +v -0.251793 -1.542466 0.290992 +v -0.068148 -0.862164 0.311858 +v -0.068148 -1.229299 0.286818 +f 455 449 457 +f 449 448 451 +f 449 451 452 +f 452 451 453 +f 447 452 453 +f 451 448 454 +f 453 451 454 +f 448 449 455 +f 450 454 455 +f 454 448 455 +f 447 453 456 +f 454 450 456 +f 453 454 456 +f 455 447 456 +f 450 455 456 +f 452 447 457 +f 449 452 457 +f 447 455 457 +o convex_35 +v 0.057051 0.310774 -0.280882 +v -0.189199 -1.746799 -0.268361 +v -0.168300 -1.746799 -0.272535 +v 0.119654 -1.709132 -0.318428 +v 0.061212 0.281366 -0.272529 +v 0.123846 -1.546379 -0.326787 +v -0.159947 -1.742569 -0.264175 +v 0.123815 0.114585 -0.301739 +v -0.118212 -0.811978 -0.268361 +v 0.128007 0.118613 -0.289224 +v -0.097344 -0.611760 -0.264175 +v 0.128038 -1.746799 -0.326787 +v 0.128007 0.310774 -0.293397 +v 0.023669 0.202205 -0.276702 +v -0.072315 -0.628679 -0.264175 +v 0.111332 -1.705103 -0.326787 +v -0.189199 -1.734310 -0.264175 +v 0.040345 0.310774 -0.272529 +f 468 472 475 +f 461 462 464 +f 460 459 466 +f 462 461 467 +f 459 460 469 +f 464 459 469 +f 461 464 469 +f 463 465 469 +f 467 461 469 +f 467 469 470 +f 465 458 470 +f 462 467 470 +f 469 465 470 +f 458 465 471 +f 465 466 471 +f 466 468 471 +f 464 462 472 +f 468 464 472 +f 465 463 473 +f 466 465 473 +f 460 466 473 +f 469 460 473 +f 463 469 473 +f 459 464 474 +f 466 459 474 +f 464 468 474 +f 468 466 474 +f 470 458 475 +f 462 470 475 +f 458 471 475 +f 471 468 475 +f 472 462 475 +o convex_36 +v -0.114086 -0.611737 -0.264175 +v -0.301891 -1.747000 -0.243302 +v -0.293535 -1.747000 -0.247475 +v -0.297703 -0.620183 -0.222435 +v -0.180869 -1.738443 -0.259997 +v -0.289368 -0.624295 -0.214085 +v -0.089019 -0.615960 -0.259997 +v -0.210062 -1.725997 -0.264175 +v -0.289368 -1.747000 -0.239130 +v -0.301891 -1.538194 -0.243302 +v -0.180869 -1.738443 -0.264175 +v -0.301891 -0.611737 -0.214085 +v -0.147467 -0.920668 -0.264175 +f 483 485 488 +f 481 480 482 +f 477 478 484 +f 480 481 484 +f 478 477 485 +f 483 478 485 +f 476 482 486 +f 482 480 486 +f 483 476 486 +f 478 483 486 +f 484 478 486 +f 480 484 486 +f 476 479 487 +f 482 476 487 +f 481 482 487 +f 477 484 487 +f 484 481 487 +f 485 477 487 +f 479 485 487 +f 479 476 488 +f 476 483 488 +f 485 479 488 +o convex_37 +v -0.255992 0.152246 0.295160 +v -0.326946 -1.613427 0.278469 +v -0.326946 -1.613427 0.282644 +v -0.255992 -1.613427 0.286818 +v -0.272689 0.127185 0.278469 +v -0.268515 0.147925 0.299334 +v -0.281037 -1.613427 0.278469 +v -0.255992 -1.454592 0.290987 +v -0.276863 0.152246 0.295160 +v -0.255992 -1.375434 0.282644 +v -0.281037 0.052003 0.278469 +f 497 493 499 +f 491 490 492 +f 492 490 495 +f 490 493 495 +f 491 492 496 +f 492 489 496 +f 494 491 496 +f 489 494 496 +f 489 493 497 +f 491 494 497 +f 494 489 497 +f 489 492 498 +f 493 489 498 +f 492 495 498 +f 495 493 498 +f 490 491 499 +f 493 490 499 +f 491 497 499 +o convex_38 +v 0.148912 0.962035 -0.180692 +v 0.182297 2.222634 0.048888 +v 0.182297 2.222634 0.040528 +v 0.148912 2.143044 -0.180692 +v 0.161435 0.962035 0.040528 +v 0.178124 1.358872 0.040528 +v 0.157258 2.126509 -0.172332 +v 0.173950 2.201657 0.040528 +v 0.144739 0.999794 -0.151455 +v 0.161431 0.962035 -0.088869 +v 0.148912 2.130581 -0.163972 +v 0.169781 0.962035 0.048888 +v 0.182297 1.896995 0.044708 +v 0.144739 1.600478 -0.176489 +v 0.153085 1.496580 -0.180692 +v 0.144739 0.962035 -0.180692 +v 0.173950 2.001264 0.048888 +f 504 511 516 +f 501 502 503 +f 503 502 506 +f 501 503 507 +f 504 500 509 +f 507 503 510 +f 504 507 510 +f 504 509 511 +f 509 505 511 +f 502 501 512 +f 506 502 512 +f 505 509 512 +f 501 511 512 +f 511 505 512 +f 508 504 513 +f 510 503 513 +f 504 510 513 +f 500 503 514 +f 503 506 514 +f 509 500 514 +f 506 512 514 +f 512 509 514 +f 503 500 515 +f 500 504 515 +f 504 508 515 +f 513 503 515 +f 508 513 515 +f 501 507 516 +f 507 504 516 +f 511 501 516 +o convex_39 +v -0.118280 0.310832 -0.230804 +v -0.301901 -0.023081 -0.205744 +v -0.301867 -0.611626 -0.218266 +v 0.002778 0.181348 -0.272523 +v -0.051478 -0.611626 -0.268339 +v -0.285116 0.289883 -0.193214 +v -0.076537 -0.582280 -0.272508 +v -0.293492 0.294127 -0.201567 +v 0.044521 0.310832 -0.268347 +v -0.297696 -0.528013 -0.209921 +v -0.293526 -0.578127 -0.222443 +v 0.019461 0.310832 -0.272523 +v -0.051478 -0.611626 -0.272508 +v -0.301901 0.310832 -0.193214 +v -0.289321 -0.611626 -0.214097 +f 521 526 531 +f 517 521 525 +f 521 517 526 +f 517 522 526 +f 519 518 527 +f 523 519 527 +f 520 523 527 +f 518 524 527 +f 524 520 527 +f 520 524 528 +f 517 525 528 +f 528 525 529 +f 521 519 529 +f 519 523 529 +f 523 520 529 +f 525 521 529 +f 520 528 529 +f 518 519 530 +f 522 517 530 +f 524 518 530 +f 519 526 530 +f 526 522 530 +f 517 528 530 +f 528 524 530 +f 519 521 531 +f 526 519 531 +o convex_40 +v -0.051451 1.345990 -0.218265 +v -0.151631 0.903597 -0.214091 +v -0.139109 0.903597 -0.218265 +v -0.151631 1.391879 -0.247478 +v -0.051451 0.903597 -0.234951 +v -0.051451 1.391879 -0.230777 +v -0.122409 1.062294 -0.209914 +v -0.151631 1.379403 -0.239124 +v -0.055629 0.924533 -0.226611 +v -0.130754 0.912010 -0.209914 +v -0.151631 0.987152 -0.209914 +f 541 538 542 +f 534 533 535 +f 533 534 536 +f 534 535 536 +f 532 536 537 +f 536 535 537 +f 535 533 539 +f 532 537 539 +f 537 535 539 +f 538 532 539 +f 536 532 540 +f 533 536 541 +f 532 538 541 +f 540 532 541 +f 536 540 541 +f 539 533 542 +f 538 539 542 +f 533 541 542 +o convex_41 +v 0.127981 -1.830485 0.136473 +v -0.322772 -1.830485 -0.172343 +v -0.322772 -1.826309 -0.172343 +v -0.322772 -1.868051 0.228377 +v 0.123839 -1.826309 0.169932 +v -0.314399 -1.859699 0.228377 +v 0.102907 -1.843008 0.224180 +v -0.314399 -1.826309 -0.113898 +v -0.314399 -1.868051 0.215825 +v 0.090393 -1.834661 0.228377 +f 549 547 552 +f 543 544 545 +f 545 544 546 +f 543 545 547 +f 545 546 548 +f 544 543 549 +f 543 547 549 +f 547 545 550 +f 545 548 550 +f 548 547 550 +f 546 544 551 +f 549 546 551 +f 544 549 551 +f 547 548 552 +f 548 546 552 +f 546 549 552 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/292/292.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/292/292.urdf new file mode 100644 index 000000000..bc1f37453 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/292/292.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/293/293.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/293/293.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/293/293.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/293/293.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/293/293.obj new file mode 100644 index 000000000..2c824045f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/293/293.obj @@ -0,0 +1,831 @@ +o convex_0 +v -2.699723 -0.326662 -1.767398 +v -0.015975 1.842481 -0.553970 +v -0.015975 1.842481 -0.590832 +v 2.925516 -0.253350 -1.400019 +v 2.373801 1.474407 -2.208500 +v -1.008350 -0.621172 -0.553970 +v -2.883826 1.511189 -1.363157 +v 2.962337 0.628920 -0.553970 +v -1.412783 -0.069439 -2.355770 +v -2.957467 0.482295 -0.553970 +v -2.553034 1.401094 -2.171815 +v 2.300160 -0.290132 -2.134954 +v 2.851875 1.474407 -1.289611 +v 0.167534 -0.731266 -0.553970 +v -3.067335 0.518825 -2.135130 +v 2.962337 0.555607 -2.171639 +v -2.553034 -0.326662 -2.171815 +v -2.736543 1.327530 -0.553970 +v 1.270964 1.143619 -2.355770 +v 2.630951 -0.216316 -0.627693 +v -2.847005 -0.069439 -0.627517 +v 2.704592 1.253965 -0.590832 +v -2.405752 0.555607 -2.355770 +v 2.630951 0.555607 -2.318908 +v 0.461505 -0.400227 -2.135130 +v -0.236305 1.511189 -2.171815 +v -2.994287 -0.216567 -1.326296 +v 2.484263 -0.437009 -1.363157 +v -0.052202 1.327278 -2.355770 +v 0.277996 -0.253098 -2.318732 +v -3.067335 1.253965 -1.583444 +v 2.962337 1.180401 -1.987861 +v -2.773364 -0.363444 -1.179203 +v 2.998564 -0.032656 -0.774610 +v 2.998564 1.143619 -0.774610 +v 2.962337 -0.032656 -1.951000 +v 2.594724 1.548223 -1.179379 +v -2.332704 1.585005 -0.921702 +v -3.067335 0.077690 -1.988038 +v -2.994287 1.180401 -0.737925 +v -2.810184 0.518825 -2.318732 +v -2.994287 0.040908 -0.737925 +v -3.067335 1.143619 -1.951176 +v 1.564935 1.547971 -0.553970 +v -0.677559 -0.400479 -2.135130 +v -1.449604 1.143619 -2.355770 +v -2.663496 -0.143003 -0.553970 +v 2.667772 -0.032656 -0.553970 +v 1.344605 -0.069439 -2.318732 +v 0.057072 -0.731266 -0.590832 +v 2.998564 0.886143 -1.730537 +v 2.410621 -0.216316 -2.171639 +v -1.707348 1.584753 -0.553970 +v 2.667772 1.511189 -1.620305 +v 0.792890 1.511189 -2.171815 +v -2.589855 1.327530 -2.208677 +v -0.861662 -0.106221 -2.355770 +v -2.883826 1.511189 -1.179203 +v 2.336980 1.548223 -0.958740 +v -2.994287 -0.069439 -1.988038 +v -1.375962 -0.547355 -0.553970 +v -2.773364 0.665702 -2.318732 +v 2.962337 1.364312 -1.436527 +v 2.521083 1.437876 -2.171639 +f 63 32 64 +f 2 6 8 +f 6 2 10 +f 7 3 11 +f 8 6 14 +f 10 2 18 +f 19 9 23 +f 19 5 24 +f 11 3 26 +f 12 4 28 +f 4 20 28 +f 20 14 28 +f 25 12 28 +f 5 19 29 +f 19 23 29 +f 11 26 29 +f 17 9 30 +f 12 25 30 +f 1 17 33 +f 17 6 33 +f 27 1 33 +f 21 27 33 +f 20 4 34 +f 22 8 35 +f 13 22 35 +f 8 34 35 +f 4 12 36 +f 34 4 36 +f 3 2 37 +f 22 13 37 +f 2 3 38 +f 3 7 38 +f 31 15 39 +f 10 18 40 +f 9 17 41 +f 23 9 41 +f 39 15 41 +f 21 10 42 +f 27 21 42 +f 39 27 42 +f 31 39 42 +f 40 31 42 +f 10 40 42 +f 7 11 43 +f 31 7 43 +f 15 31 43 +f 2 8 44 +f 8 22 44 +f 17 30 45 +f 30 25 45 +f 29 23 46 +f 6 10 47 +f 10 21 47 +f 21 33 47 +f 8 14 48 +f 14 20 48 +f 20 34 48 +f 34 8 48 +f 14 6 50 +f 6 17 50 +f 28 14 50 +f 25 28 50 +f 17 45 50 +f 45 25 50 +f 16 32 51 +f 35 34 51 +f 36 16 51 +f 34 36 51 +f 24 16 52 +f 12 30 52 +f 36 12 52 +f 16 36 52 +f 49 24 52 +f 30 49 52 +f 18 2 53 +f 2 38 53 +f 38 18 53 +f 5 3 54 +f 3 37 54 +f 37 13 54 +f 3 5 55 +f 26 3 55 +f 5 29 55 +f 29 26 55 +f 11 29 56 +f 43 11 56 +f 29 46 56 +f 9 19 57 +f 19 24 57 +f 30 9 57 +f 24 49 57 +f 49 30 57 +f 7 31 58 +f 38 7 58 +f 18 38 58 +f 31 40 58 +f 40 18 58 +f 37 2 59 +f 22 37 59 +f 2 44 59 +f 44 22 59 +f 17 1 60 +f 1 27 60 +f 27 39 60 +f 41 17 60 +f 39 41 60 +f 33 6 61 +f 6 47 61 +f 47 33 61 +f 41 15 62 +f 23 41 62 +f 15 43 62 +f 46 23 62 +f 43 56 62 +f 56 46 62 +f 13 35 63 +f 51 32 63 +f 35 51 63 +f 54 13 63 +f 54 63 64 +f 24 5 64 +f 16 24 64 +f 32 16 64 +f 5 54 64 +o convex_1 +v 0.094262 1.107052 1.946486 +v -0.015980 -0.400576 1.946486 +v 0.020842 -0.400576 1.946486 +v 0.020842 0.481776 3.637806 +v -0.530816 0.518523 1.946486 +v 0.609098 0.334939 2.020324 +v -0.383529 0.555269 3.417120 +v 0.351680 0.481776 3.417120 +v -0.457172 -0.216697 1.983571 +v -0.052579 0.114314 3.417120 +v -0.052579 0.923174 3.343613 +v 0.461811 0.923174 2.204091 +v 0.461811 -0.179803 1.946486 +v -0.383529 0.923174 2.314352 +v 0.388390 0.886132 2.792146 +v 0.498744 0.886132 1.946486 +v 0.278036 0.187807 3.196434 +v -0.493883 0.555269 2.718805 +v -0.346819 0.959920 1.946486 +v -0.346819 0.923174 2.718805 +v -0.310108 0.224553 3.233353 +v 0.057440 0.923174 3.343613 +v 0.535454 0.518523 2.535038 +v 0.020842 1.107052 2.057078 +v -0.530816 0.187807 1.946486 +v 0.094262 1.033412 2.682051 +v 0.020842 0.114314 3.380366 +v 0.461811 -0.179803 1.983571 +v -0.346819 -0.290189 1.983571 +v 0.020842 0.628761 3.600887 +v 0.278036 0.812640 3.233353 +v -0.273398 0.849534 3.196434 +v 0.609098 0.444883 1.946486 +v 0.498744 0.444883 2.755558 +v -0.383529 0.518523 3.417120 +v -0.015980 1.033412 2.718805 +v 0.020842 -0.400576 1.983571 +v -0.126111 0.481776 3.600887 +v 0.351680 0.518523 3.417120 +f 72 98 103 +f 67 66 65 +f 65 66 69 +f 67 65 77 +f 65 76 80 +f 77 65 80 +f 78 69 82 +f 65 69 83 +f 69 78 83 +f 83 78 84 +f 82 71 84 +f 78 82 84 +f 73 74 85 +f 76 79 87 +f 80 76 87 +f 65 83 88 +f 83 84 88 +f 69 66 89 +f 66 73 89 +f 82 69 89 +f 73 82 89 +f 76 65 90 +f 79 76 90 +f 86 79 90 +f 65 88 90 +f 72 68 91 +f 68 74 91 +f 81 72 91 +f 81 91 92 +f 67 77 92 +f 77 70 92 +f 72 81 92 +f 73 66 93 +f 74 73 93 +f 75 71 94 +f 86 75 94 +f 79 86 95 +f 71 75 96 +f 75 84 96 +f 84 71 96 +f 70 77 97 +f 77 80 97 +f 87 70 97 +f 80 87 97 +f 70 87 98 +f 92 70 98 +f 72 92 98 +f 82 73 99 +f 71 82 99 +f 73 85 99 +f 85 74 99 +f 84 75 100 +f 75 86 100 +f 88 84 100 +f 86 90 100 +f 90 88 100 +f 66 67 101 +f 91 74 101 +f 92 91 101 +f 67 92 101 +f 93 66 101 +f 74 93 101 +f 74 68 102 +f 68 94 102 +f 94 71 102 +f 71 99 102 +f 99 74 102 +f 68 72 103 +f 87 79 103 +f 94 68 103 +f 86 94 103 +f 95 86 103 +f 79 95 103 +f 98 87 103 +o convex_2 +v 1.528131 -0.326540 -0.553970 +v 0.057311 3.018810 -0.149485 +v 0.829348 2.209641 -0.149485 +v -1.082146 -0.620848 -0.149485 +v -2.847131 1.033477 -0.553970 +v 2.741415 0.996778 -0.553970 +v 0.939803 -0.620848 -0.149485 +v -1.192601 -0.584149 -0.553970 +v 0.020683 1.915689 -0.553970 +v -2.736676 0.592728 -0.333356 +v 2.778042 0.482273 -0.406841 +v -2.736676 -0.032588 -0.553970 +v -1.597219 0.666126 -0.149485 +v 1.528131 0.482273 -0.149485 +v 2.704788 0.077510 -0.553970 +v -2.589594 1.327429 -0.553970 +v 0.461929 -0.620848 -0.553970 +v -0.935064 2.099542 -0.149485 +v 0.057311 3.018810 -0.186267 +v 2.263542 1.290729 -0.553970 +v -2.809931 1.143932 -0.517188 +v -0.052572 3.018810 -0.149485 +v 2.741415 0.996778 -0.517188 +v 0.939803 -0.620848 -0.370099 +v -2.626222 -0.105987 -0.517188 +v -1.633847 1.585038 -0.553970 +v -2.920958 0.482273 -0.517188 +v 1.491504 1.547982 -0.553970 +v 2.741415 0.629071 -0.406841 +v 2.925697 0.482273 -0.553970 +v -0.052572 3.018810 -0.186267 +v 2.741415 0.114566 -0.517188 +v -2.773304 0.739525 -0.370099 +v -1.008891 -0.620848 -0.553970 +v -2.736676 -0.032588 -0.517188 +v 2.630960 0.518972 -0.370099 +v -0.089199 1.915689 -0.553970 +v -1.303055 -0.179742 -0.149485 +f 116 113 141 +f 106 105 107 +f 104 108 109 +f 106 107 110 +f 108 104 111 +f 109 108 112 +f 108 111 115 +f 107 105 116 +f 106 110 117 +f 104 109 118 +f 112 108 119 +f 110 107 120 +f 111 104 120 +f 116 105 121 +f 113 116 121 +f 105 109 122 +f 109 112 123 +f 122 109 123 +f 119 108 124 +f 124 121 125 +f 121 105 125 +f 105 122 125 +f 119 124 125 +f 105 106 126 +f 109 105 126 +f 104 118 127 +f 118 110 127 +f 120 104 127 +f 110 120 127 +f 111 107 128 +f 115 111 128 +f 112 119 129 +f 108 115 130 +f 124 108 130 +f 112 122 131 +f 123 112 131 +f 122 123 131 +f 126 106 132 +f 126 132 133 +f 118 109 133 +f 109 126 133 +f 132 114 133 +f 122 112 134 +f 125 122 134 +f 119 125 134 +f 129 119 134 +f 114 110 135 +f 110 118 135 +f 118 133 135 +f 133 114 135 +f 113 121 136 +f 121 124 136 +f 130 113 136 +f 124 130 136 +f 107 111 137 +f 120 107 137 +f 111 120 137 +f 107 113 138 +f 128 107 138 +f 115 128 138 +f 130 115 138 +f 113 130 138 +f 110 114 139 +f 106 117 139 +f 117 110 139 +f 132 106 139 +f 114 132 139 +f 112 129 140 +f 134 112 140 +f 129 134 140 +f 113 107 141 +f 107 116 141 +o convex_3 +v 0.903118 2.356910 0.181458 +v -1.413053 0.554682 -0.149485 +v -0.751488 -2.973826 -0.149485 +v 1.417792 0.481773 -0.149485 +v -0.015923 -4.298346 0.181458 +v -1.155855 0.848598 0.181458 +v -0.015923 3.275871 -0.112684 +v 0.866257 -3.525203 0.144658 +v 0.755950 -3.487989 -0.149485 +v -0.567458 3.202203 0.181458 +v -0.824933 -3.451535 0.181458 +v 1.160594 0.260766 0.181458 +v -0.052507 -4.186704 -0.112684 +v 0.792811 2.356910 -0.149485 +v -0.898379 2.246027 -0.149485 +v 0.535336 3.202203 0.181458 +v -1.045548 2.099449 0.181458 +v 0.609058 -4.040126 0.181458 +v -0.788072 -3.415080 -0.039149 +v -0.604319 -4.002912 0.144658 +v -0.015923 3.460423 0.181458 +v 0.903118 -3.157619 0.181458 +v -1.413053 0.702020 -0.112684 +v 1.417792 0.408104 -0.112684 +v -1.082132 -0.657436 0.181458 +v -0.015923 3.386754 -0.075917 +v 0.057246 -4.077340 -0.149485 +v 0.057246 3.129293 -0.149485 +v 0.572197 3.165748 0.107890 +v 0.572197 -4.040126 0.071122 +v -0.641181 -3.415080 -0.149485 +v 0.976564 2.135903 0.181458 +v 0.792811 -3.487989 -0.112684 +v -1.082132 1.879202 -0.075917 +v -0.567458 3.202203 0.144658 +v 0.903118 2.099449 -0.149485 +v -1.413053 0.554682 -0.112684 +v -0.714626 -3.598872 -0.039149 +v 1.417792 0.408104 -0.149485 +v 0.719365 2.650066 -0.075917 +v -0.751488 -3.341411 -0.112684 +v 0.167830 -4.151009 -0.075917 +v 0.020662 3.386754 -0.075917 +v 0.976564 2.062235 0.034354 +f 177 181 185 +f 144 143 145 +f 146 142 147 +f 144 145 150 +f 147 142 151 +f 146 147 152 +f 142 146 153 +f 145 143 155 +f 155 143 156 +f 151 142 157 +f 147 151 158 +f 153 146 159 +f 152 143 160 +f 146 152 161 +f 154 146 161 +f 152 160 161 +f 151 157 162 +f 159 149 163 +f 153 159 163 +f 156 143 164 +f 147 158 164 +f 163 149 165 +f 153 163 165 +f 152 147 166 +f 148 156 167 +f 144 150 168 +f 156 148 169 +f 155 156 169 +f 157 142 170 +f 149 159 171 +f 159 146 171 +f 144 168 172 +f 168 154 172 +f 142 153 173 +f 165 145 173 +f 153 165 173 +f 149 171 174 +f 171 150 174 +f 156 164 175 +f 164 158 175 +f 158 151 176 +f 151 162 176 +f 167 156 176 +f 162 167 176 +f 156 175 176 +f 175 158 176 +f 145 155 177 +f 143 152 178 +f 164 143 178 +f 147 164 178 +f 166 147 178 +f 152 166 178 +f 154 161 179 +f 161 160 179 +f 172 154 179 +f 150 145 180 +f 145 165 180 +f 165 149 180 +f 174 150 180 +f 149 174 180 +f 177 155 181 +f 143 144 182 +f 160 143 182 +f 144 172 182 +f 179 160 182 +f 172 179 182 +f 146 154 183 +f 168 150 183 +f 154 168 183 +f 150 171 183 +f 171 146 183 +f 162 157 184 +f 148 167 184 +f 167 162 184 +f 169 148 184 +f 155 169 184 +f 157 170 184 +f 181 155 184 +f 170 181 184 +f 170 142 185 +f 142 173 185 +f 173 145 185 +f 145 177 185 +f 181 170 185 +o convex_4 +v 0.719225 0.187216 1.835913 +v -1.119159 0.591597 0.181458 +v -1.119159 0.591597 0.218258 +v -0.089418 -4.445432 0.696315 +v 0.976770 2.172862 0.181631 +v -0.751394 2.613503 1.505229 +v -0.751394 -3.452215 1.505229 +v 0.866331 -3.525524 0.181631 +v 0.756112 -3.488475 1.468429 +v -0.824947 -3.488475 0.181458 +v 0.094135 3.607509 0.659515 +v 0.719225 2.650552 1.431456 +v -0.567622 3.202339 0.181631 +v -0.567622 0.444191 1.946486 +v 1.123876 0.224265 0.291859 +v 0.020582 -3.489263 1.725857 +v -0.935167 -0.583709 1.505056 +v -1.008719 -3.415166 0.733288 +v 0.020582 2.614292 1.725857 +v 1.013437 -3.452215 0.733116 +v -1.008719 2.577243 0.733288 +v 0.939884 -0.143856 1.468429 +v 0.976770 2.613503 0.696315 +v 0.609006 0.481240 1.946486 +v -0.052751 3.349745 1.431629 +v -0.714508 3.386006 0.769916 +v 0.756112 3.348957 0.622888 +v 0.756112 -4.224717 0.696488 +v 0.020582 -4.224717 1.431629 +v 0.057469 -4.298026 0.181631 +v -0.788061 -4.187668 0.733288 +v 0.572119 3.202339 0.181631 +v 0.903217 -2.201234 1.541856 +v -1.045386 2.136602 0.181458 +v -0.457182 -0.364571 1.946486 +v 0.498567 -0.254214 1.946486 +v -0.861614 1.363311 1.578657 +v -0.824947 -2.127925 1.615284 +v -0.346743 0.995979 1.946486 +v -0.052751 3.460103 0.181631 +v 1.123876 0.187216 0.181631 +v 0.498567 0.922670 1.946486 +v -0.567622 -4.040262 0.181631 +v 0.609006 -4.076523 0.181631 +v -1.082273 -0.657018 0.181458 +v 0.609006 3.202339 1.137400 +v -0.494069 -4.040262 1.321055 +v 0.756112 2.136602 1.505056 +v 1.013437 -3.415166 0.586088 +v -0.567622 3.165291 1.284600 +v 0.057469 3.349745 1.431629 +v -0.089418 -3.452215 1.725857 +v 0.498567 -4.040262 1.284600 +v -0.751394 3.349745 0.659515 +v -1.119159 0.885621 0.255058 +v 0.020582 -0.547449 1.946486 +v -0.052751 3.607509 0.733288 +v -0.751394 0.003550 1.762485 +v -0.935167 -0.143856 1.505056 +v -1.008719 -3.415166 0.659688 +v -0.052751 -4.224717 1.431629 +v -0.788061 -4.187668 0.659515 +v 0.756112 3.348957 0.696488 +v 1.013437 -1.796853 0.181631 +f 226 234 249 +f 188 187 203 +f 205 200 207 +f 207 200 208 +f 191 204 210 +f 206 191 211 +f 208 190 212 +f 205 194 213 +f 194 201 214 +f 189 213 214 +f 213 189 215 +f 192 203 216 +f 212 190 217 +f 194 205 218 +f 207 186 218 +f 205 207 218 +f 186 209 218 +f 195 187 219 +f 217 190 219 +f 209 199 220 +f 209 220 221 +f 201 194 221 +f 194 218 221 +f 218 209 221 +f 199 191 222 +f 191 206 222 +f 203 192 223 +f 202 203 223 +f 192 220 223 +f 220 199 223 +f 191 199 224 +f 204 191 224 +f 199 209 224 +f 196 212 225 +f 212 217 225 +f 219 198 225 +f 217 219 225 +f 200 205 226 +f 190 208 226 +f 208 200 226 +f 195 219 226 +f 219 190 226 +f 197 204 227 +f 204 224 227 +f 224 209 227 +f 195 215 228 +f 195 193 229 +f 193 213 229 +f 215 195 229 +f 213 215 229 +f 187 195 230 +f 192 216 232 +f 186 207 233 +f 208 197 233 +f 207 208 233 +f 209 186 233 +f 197 227 233 +f 227 209 233 +f 213 193 234 +f 205 213 234 +f 226 205 234 +f 191 210 235 +f 211 191 235 +f 210 211 235 +f 204 197 236 +f 210 204 236 +f 197 231 236 +f 220 192 237 +f 213 194 238 +f 194 214 238 +f 214 213 238 +f 206 211 239 +f 219 206 239 +f 198 219 239 +f 225 198 239 +f 187 188 240 +f 188 203 240 +f 203 202 240 +f 219 187 240 +f 206 219 240 +f 221 220 241 +f 201 221 241 +f 237 201 241 +f 220 237 241 +f 211 210 242 +f 196 225 242 +f 236 196 242 +f 210 236 242 +f 239 211 242 +f 225 239 242 +f 199 222 243 +f 223 199 243 +f 202 223 243 +f 222 206 244 +f 240 202 244 +f 206 240 244 +f 243 222 244 +f 202 243 244 +f 203 187 245 +f 216 203 245 +f 187 230 245 +f 230 195 245 +f 189 214 246 +f 214 201 246 +f 216 189 246 +f 192 232 246 +f 232 216 246 +f 237 192 246 +f 201 237 246 +f 215 189 247 +f 189 216 247 +f 195 228 247 +f 228 215 247 +f 216 245 247 +f 245 195 247 +f 197 208 248 +f 212 196 248 +f 208 212 248 +f 231 197 248 +f 196 236 248 +f 236 231 248 +f 193 195 249 +f 195 226 249 +f 234 193 249 +o convex_5 +v 0.645848 -3.452323 -0.149485 +v -0.861759 -1.724548 -0.186263 +v -0.861759 -1.724548 -0.149485 +v 0.976812 -1.577261 -0.149485 +v 0.057527 -3.452323 -0.370113 +v 0.755989 -1.577261 -0.370113 +v -0.530794 -3.415501 -0.149485 +v -0.751437 -1.577261 -0.296556 +v -0.015901 -4.004175 -0.149485 +v -0.089509 -1.577261 -0.370113 +v 0.792883 -3.084580 -0.186263 +v -0.530794 -3.415501 -0.186263 +v 0.866491 -1.761132 -0.333313 +v -0.015901 -3.452323 -0.370113 +v -0.861759 -1.577261 -0.149485 +v 0.020813 -4.004175 -0.186263 +v 0.645848 -3.452323 -0.186263 +v -0.788151 -2.423450 -0.186263 +v -0.824865 -1.724548 -0.259799 +f 267 251 268 +f 252 250 253 +f 250 252 256 +f 253 255 257 +f 250 256 258 +f 255 254 259 +f 257 255 259 +f 253 250 260 +f 258 256 261 +f 254 255 262 +f 255 253 262 +f 253 260 262 +f 259 254 263 +f 257 259 263 +f 251 252 264 +f 252 253 264 +f 253 257 264 +f 250 258 265 +f 258 261 265 +f 263 254 265 +f 261 263 265 +f 260 250 266 +f 254 262 266 +f 262 260 266 +f 250 265 266 +f 265 254 266 +f 252 251 267 +f 256 252 267 +f 261 256 267 +f 261 267 268 +f 257 263 268 +f 263 261 268 +f 251 264 268 +f 264 257 268 +o convex_6 +v -0.751416 -1.577261 -0.296614 +v 0.939925 -0.621204 -0.149485 +v 0.976812 -1.099233 -0.149485 +v 0.425126 -0.621204 -0.553970 +v -1.082387 -0.621204 -0.149485 +v 0.829467 -1.577261 -0.370099 +v -0.824987 -0.658076 -0.553970 +v -0.861672 -1.577261 -0.149485 +v 0.976812 -1.577261 -0.149485 +v 0.903241 -0.621204 -0.406841 +v -1.045501 -0.621204 -0.443624 +v -0.089473 -1.577261 -0.370099 +v 0.241096 -0.768412 -0.553970 +v 0.903241 -1.025769 -0.406841 +v -1.045501 -0.694761 -0.443624 +v 0.976812 -1.466925 -0.259831 +f 282 278 284 +f 271 270 273 +f 270 272 273 +f 271 273 276 +f 269 274 276 +f 276 274 277 +f 271 276 277 +f 270 271 278 +f 272 270 278 +f 273 272 279 +f 272 275 279 +f 274 269 280 +f 269 275 280 +f 280 275 281 +f 272 274 281 +f 275 272 281 +f 274 280 281 +f 274 272 282 +f 272 278 282 +f 275 269 283 +f 276 273 283 +f 269 276 283 +f 273 279 283 +f 279 275 283 +f 277 274 284 +f 271 277 284 +f 278 271 284 +f 274 282 284 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/293/293.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/293/293.urdf new file mode 100644 index 000000000..5433f7597 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/293/293.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/294/294.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/294/294.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/294/294.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/294/294.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/294/294.obj new file mode 100644 index 000000000..124c16c52 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/294/294.obj @@ -0,0 +1,531 @@ +o convex_0 +v -0.323836 -5.572258 0.044516 +v 0.473650 0.345494 1.807120 +v 0.263864 0.345494 1.807120 +v -1.540681 0.345494 -0.333262 +v -1.624638 -5.656268 1.681048 +v 0.515522 0.345494 -0.291021 +v 0.389693 -5.656268 1.639025 +v -1.666510 0.345494 1.681048 +v -1.624638 -5.487659 -0.417092 +v 0.389693 -5.529959 -0.375286 +v 0.431565 -2.885094 -0.417310 +v -1.540681 -3.976644 1.764878 +v 0.515522 -0.536911 1.345294 +v 0.053864 -5.319638 1.681048 +v -1.624638 -0.074558 1.722854 +v 0.515522 -0.326590 -0.333262 +v 0.515522 0.303195 1.806902 +v 0.389693 -4.354398 -0.417310 +v -1.582553 0.345494 0.170588 +v -1.540681 -5.656268 1.345294 +v -1.540681 -2.425680 1.764878 +v -1.624638 -5.236216 -0.417092 +v -1.204852 -3.892633 1.764878 +v -0.701323 0.345494 -0.333262 +v 0.389693 -5.572258 0.002493 +v 0.095950 -0.410601 1.807120 +v -0.743195 -5.656268 1.681048 +v -1.666510 0.345494 1.597219 +v -0.785280 -5.487659 -0.417092 +v 0.515522 -0.578034 0.967515 +v 0.515522 -0.284291 1.765096 +v -1.498809 0.345494 1.722854 +v -1.624638 -5.529959 -0.081337 +v -0.533622 -5.529959 -0.375286 +v 0.389693 -5.656268 1.512953 +f 25 30 35 +f 3 2 4 +f 4 2 6 +f 3 4 8 +f 8 5 15 +f 5 12 15 +f 10 11 16 +f 6 13 16 +f 6 2 17 +f 13 6 17 +f 14 7 17 +f 11 10 18 +f 8 4 19 +f 7 5 20 +f 15 12 21 +f 4 11 22 +f 18 9 22 +f 11 18 22 +f 19 4 22 +f 4 6 24 +f 11 4 24 +f 6 16 24 +f 16 11 24 +f 20 1 25 +f 2 3 26 +f 17 2 26 +f 14 17 26 +f 3 21 26 +f 21 12 26 +f 12 23 26 +f 23 14 26 +f 5 7 27 +f 12 5 27 +f 7 14 27 +f 23 12 27 +f 14 23 27 +f 5 8 28 +f 8 19 28 +f 22 9 28 +f 19 22 28 +f 10 9 29 +f 9 18 29 +f 18 10 29 +f 13 7 30 +f 10 16 30 +f 16 13 30 +f 25 10 30 +f 7 13 31 +f 13 17 31 +f 17 7 31 +f 3 8 32 +f 8 15 32 +f 21 3 32 +f 15 21 32 +f 1 20 33 +f 20 5 33 +f 5 28 33 +f 28 9 33 +f 9 10 34 +f 25 1 34 +f 10 25 34 +f 1 33 34 +f 33 9 34 +f 7 20 35 +f 20 25 35 +f 30 7 35 +o convex_1 +v -3.345390 1.143026 -1.466520 +v -2.674148 1.772355 -1.004989 +v -1.792865 1.730422 -1.046988 +v -2.632062 1.688488 -1.634385 +v -1.709080 1.143026 -1.634385 +v -3.680915 1.101026 -1.004989 +v -3.639023 1.646489 -1.634385 +v -1.876842 1.184959 -1.046988 +v -3.597130 1.772355 -0.963056 +v -1.709080 1.688488 -1.592386 +v -3.555045 1.184959 -1.508453 +v -1.709080 1.226958 -1.088922 +v -3.261413 1.772355 -1.214788 +v -2.548278 1.101026 -1.298720 +v -3.219520 1.646489 -0.963056 +v -3.471260 1.478624 -1.634385 +v -2.002712 1.730422 -1.466520 +v -1.709080 1.730422 -1.088922 +v -3.219520 1.101026 -1.004989 +v -3.639023 1.101026 -1.214788 +v -2.044605 1.143026 -1.634385 +v -3.639023 1.688488 -1.550452 +f 44 48 57 +f 39 40 42 +f 40 39 45 +f 38 43 47 +f 43 40 47 +f 40 45 47 +f 44 37 48 +f 40 43 49 +f 38 37 50 +f 43 38 50 +f 44 41 50 +f 37 44 50 +f 42 40 51 +f 46 42 51 +f 45 39 52 +f 39 48 52 +f 48 37 52 +f 37 38 53 +f 38 47 53 +f 47 45 53 +f 52 37 53 +f 45 52 53 +f 41 49 54 +f 49 43 54 +f 43 50 54 +f 50 41 54 +f 41 42 55 +f 46 36 55 +f 42 46 55 +f 49 41 55 +f 49 55 56 +f 36 46 56 +f 40 49 56 +f 51 40 56 +f 46 51 56 +f 55 36 56 +f 42 41 57 +f 39 42 57 +f 41 44 57 +f 48 39 57 +o convex_2 +v -1.498800 2.401911 3.695782 +v -1.540741 0.345494 -0.332966 +v -0.659472 0.345494 -0.332966 +v -1.708673 2.527953 -2.389917 +v 0.012091 2.401911 -2.305368 +v 0.012091 0.429665 3.653508 +v 0.012091 2.485868 3.779727 +v 0.012091 0.471537 -2.347643 +v -1.708673 0.513409 3.779727 +v -1.582682 0.513409 -2.222027 +v -1.666564 2.485868 1.974611 +v -1.666564 0.345494 1.848996 +v -1.708673 1.142980 -1.634413 +v 0.012091 0.345494 1.764447 +v 0.012091 2.485868 1.219107 +v -1.372808 2.527953 -2.389917 +v -1.204875 0.471537 3.779727 +v -0.449598 2.485868 3.779727 +v 0.012091 0.345494 -0.290692 +v -1.708673 2.150039 -2.389917 +v -1.582682 1.898381 3.737453 +v -0.156010 2.443782 -2.305368 +v -0.323775 0.471537 -2.347643 +v -0.156010 0.429665 3.695178 +v -1.708673 2.527953 -1.927918 +v -1.582682 0.555494 -2.263698 +v -1.624623 0.639451 -2.095808 +v -0.323775 2.443782 -2.347643 +v -1.624623 2.485868 2.394335 +v 0.012091 2.108167 3.779727 +v -0.701413 0.429665 3.695178 +v -1.666564 0.471537 3.611837 +v -1.666564 1.017365 3.779727 +v -1.079051 2.485868 -2.389917 +v -1.666564 0.345494 1.596557 +v -1.540741 2.401911 3.611837 +v -1.708673 2.485868 -1.508194 +v -0.659472 0.471537 -2.305368 +v -1.288926 2.527953 -2.095808 +f 73 82 96 +f 63 62 64 +f 60 59 65 +f 62 63 65 +f 59 60 69 +f 66 61 70 +f 65 63 71 +f 69 60 71 +f 64 62 72 +f 64 66 74 +f 66 64 75 +f 60 65 76 +f 71 60 76 +f 65 71 76 +f 70 61 77 +f 61 73 77 +f 75 58 78 +f 72 62 79 +f 65 59 80 +f 77 65 80 +f 71 63 81 +f 69 71 81 +f 61 66 82 +f 73 61 82 +f 75 64 82 +f 77 80 83 +f 70 77 84 +f 83 67 84 +f 77 83 84 +f 62 65 85 +f 79 62 85 +f 73 79 85 +f 58 75 86 +f 82 68 86 +f 75 82 86 +f 63 64 87 +f 64 74 87 +f 81 63 87 +f 74 81 87 +f 69 81 88 +f 81 74 88 +f 66 69 89 +f 74 66 89 +f 69 88 89 +f 88 74 89 +f 68 66 90 +f 66 75 90 +f 78 68 90 +f 75 78 90 +f 65 77 91 +f 77 73 91 +f 85 65 91 +f 73 85 91 +f 67 59 92 +f 59 69 92 +f 69 66 92 +f 66 70 92 +f 84 67 92 +f 70 84 92 +f 78 58 93 +f 68 78 93 +f 58 86 93 +f 86 68 93 +f 66 68 94 +f 82 66 94 +f 68 82 94 +f 59 67 95 +f 80 59 95 +f 67 83 95 +f 83 80 95 +f 64 72 96 +f 72 79 96 +f 79 73 96 +f 82 64 96 +o convex_3 +v 0.389824 2.527953 1.764389 +v 0.012091 0.345494 -0.291033 +v 0.012091 0.471537 -2.347713 +v 0.012091 2.485868 3.779583 +v 0.389824 0.387580 3.653241 +v 0.389824 2.401911 -2.473426 +v 0.389824 0.471537 -2.389827 +v 0.012091 2.401911 -2.305598 +v 0.012091 0.429451 3.653241 +v 0.347821 2.527953 3.821697 +v 0.389824 0.345494 -0.291033 +v 0.347821 2.066082 -2.599769 +v 0.347821 2.527953 0.086737 +v 0.389824 2.317953 3.653241 +v 0.012091 0.345494 1.764389 +v 0.012091 2.485868 1.218791 +v 0.138027 2.527953 3.653241 +v 0.389824 0.345494 1.806504 +v 0.054094 0.387580 3.653241 +v 0.389824 2.485868 -1.171659 +v 0.012091 2.443996 -1.382230 +v 0.221922 2.443996 3.821697 +f 105 115 118 +f 99 98 100 +f 97 101 102 +f 102 101 103 +f 98 99 103 +f 99 100 104 +f 100 98 105 +f 103 101 107 +f 98 103 107 +f 102 103 108 +f 103 99 108 +f 99 104 108 +f 104 102 108 +f 106 97 109 +f 101 97 110 +f 106 101 110 +f 97 106 110 +f 105 98 111 +f 98 107 111 +f 104 100 112 +f 109 112 113 +f 100 106 113 +f 106 109 113 +f 112 100 113 +f 107 101 114 +f 111 107 114 +f 111 114 115 +f 105 111 115 +f 114 101 115 +f 97 102 116 +f 102 104 116 +f 109 97 116 +f 109 116 117 +f 104 112 117 +f 112 109 117 +f 116 104 117 +f 100 105 118 +f 101 106 118 +f 106 100 118 +f 115 101 118 +o convex_4 +v 0.389824 1.688382 3.233389 +v 0.473765 0.345494 -0.292434 +v 0.515719 0.345494 -0.292434 +v 0.473765 2.443996 -4.278584 +v 0.557706 2.527953 1.764361 +v 0.389824 0.639451 -4.067729 +v 0.557706 0.471537 -4.236104 +v 0.389824 0.387580 3.611846 +v 0.389824 2.485868 -2.472806 +v 0.557706 0.555494 1.806840 +v 0.557706 2.443996 -4.278584 +v 0.389824 2.527953 1.764361 +v 0.431795 0.387580 3.611846 +v 0.431795 0.471537 -4.236104 +v 0.389824 2.401911 -3.313134 +v 0.431795 1.898381 3.149974 +v 0.389824 0.345494 -0.291662 +v 0.431795 2.108167 -4.278584 +v 0.515719 0.345494 1.806840 +v 0.515719 2.485868 -3.060572 +v 0.389824 2.527953 0.169437 +f 123 138 139 +f 121 120 125 +f 119 124 126 +f 124 119 127 +f 125 123 128 +f 123 125 129 +f 127 119 130 +f 119 126 131 +f 128 123 131 +f 125 120 132 +f 127 122 133 +f 124 127 133 +f 130 119 134 +f 123 130 134 +f 119 131 134 +f 131 123 134 +f 120 121 135 +f 126 124 135 +f 124 132 135 +f 132 120 135 +f 122 129 136 +f 129 125 136 +f 132 124 136 +f 125 132 136 +f 133 122 136 +f 124 133 136 +f 121 125 137 +f 125 128 137 +f 131 126 137 +f 128 131 137 +f 135 121 137 +f 126 135 137 +f 122 127 138 +f 129 122 138 +f 123 129 138 +f 130 123 139 +f 127 130 139 +f 138 127 139 +o convex_5 +v 0.725694 2.485839 1.807120 +v 2.110535 0.387465 -4.277975 +v 2.404225 0.387465 -4.277975 +v 1.858746 2.527953 -4.362524 +v 2.446319 2.401820 1.723175 +v 0.557899 0.513597 1.722571 +v 0.557899 0.471483 -4.236305 +v 2.362325 0.513388 1.722571 +v 0.557899 2.443934 -4.277975 +v 2.362325 2.527953 -4.362524 +v 0.557899 2.527953 1.764846 +v 2.530120 0.975177 -2.179354 +v 2.530120 1.856222 -0.753500 +v 0.557899 0.471483 0.212168 +v 2.488219 0.555502 -3.690361 +v 0.767788 0.513388 1.807120 +v 2.446319 2.443725 0.715233 +v 2.362325 0.471483 0.756903 +v 0.809688 2.485630 -4.320250 +v 0.809688 0.429788 -2.683627 +v 2.152436 0.513388 1.764846 +v 2.446319 0.387674 -3.606416 +v 2.446319 0.849254 -4.320250 +v 2.362325 2.527953 -3.438527 +v 0.557899 1.143005 -4.277975 +v 2.530120 1.814108 -1.339906 +v 2.446319 1.982145 1.723175 +v 2.530120 1.143005 -1.423851 +v 1.019577 2.443725 1.807120 +v 0.683794 2.527953 1.722571 +v 0.557899 2.527953 1.051012 +v 0.557899 0.555502 1.807120 +v 2.488219 2.233992 0.883123 +v 2.278331 1.940031 -4.362524 +v 1.355167 0.471693 -4.277975 +v 0.599799 2.401820 -4.320250 +v 2.110535 2.443934 1.722571 +v 2.446319 2.191878 -2.892583 +v 2.026541 0.387465 -3.900526 +v 2.446319 1.059196 -4.194031 +v 1.145472 0.471693 0.505069 +v 1.858746 2.443934 1.764846 +v 0.557899 2.485839 -2.641353 +v 1.145472 0.429788 -4.194031 +f 178 159 183 +f 146 145 148 +f 148 145 150 +f 149 143 150 +f 145 146 153 +f 151 147 154 +f 153 146 159 +f 157 147 160 +f 155 157 160 +f 142 154 161 +f 154 147 161 +f 147 157 161 +f 142 141 162 +f 154 142 162 +f 149 150 163 +f 156 149 163 +f 146 148 164 +f 152 151 165 +f 151 154 165 +f 144 160 166 +f 160 147 166 +f 147 151 167 +f 151 152 167 +f 166 147 167 +f 140 155 168 +f 155 160 168 +f 163 150 169 +f 156 163 169 +f 150 143 170 +f 148 150 170 +f 143 158 170 +f 140 150 171 +f 150 145 171 +f 155 140 171 +f 145 155 171 +f 156 144 172 +f 152 165 172 +f 144 166 172 +f 167 152 172 +f 166 167 172 +f 143 149 173 +f 149 162 173 +f 164 173 174 +f 141 146 174 +f 162 141 174 +f 146 164 174 +f 173 162 174 +f 158 143 175 +f 148 158 175 +f 164 148 175 +f 143 173 175 +f 173 164 175 +f 144 156 176 +f 169 150 176 +f 156 169 176 +f 149 156 177 +f 156 172 177 +f 172 165 177 +f 141 142 178 +f 153 159 178 +f 142 161 178 +f 161 153 178 +f 162 149 179 +f 154 162 179 +f 165 154 179 +f 149 177 179 +f 177 165 179 +f 145 153 180 +f 155 145 180 +f 157 155 180 +f 153 161 180 +f 161 157 180 +f 150 140 181 +f 160 144 181 +f 140 168 181 +f 168 160 181 +f 144 176 181 +f 176 150 181 +f 158 148 182 +f 148 170 182 +f 170 158 182 +f 146 141 183 +f 159 146 183 +f 141 178 183 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/294/294.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/294/294.urdf new file mode 100644 index 000000000..91437e998 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/294/294.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/295/295.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/295/295.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/295/295.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/295/295.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/295/295.obj new file mode 100644 index 000000000..f60f3d6ff --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/295/295.obj @@ -0,0 +1,1416 @@ +o convex_0 +v -0.429958 -0.589008 0.010844 +v -0.171354 -0.199721 0.002681 +v 0.046410 -0.199760 0.005403 +v -0.062498 -0.202465 -0.000044 +v 0.046410 -0.594495 0.019014 +v -0.484413 -0.262399 0.002681 +v -0.484413 -0.265104 -0.002766 +v 0.043719 -0.548201 0.013567 +v -0.307437 -0.583598 0.016292 +v 0.040975 -0.237861 0.008124 +v -0.443572 -0.559060 0.008124 +v -0.492591 -0.199760 -0.000042 +v 0.040975 -0.542753 0.019014 +v -0.449007 -0.556316 0.013569 +v 0.046410 -0.240566 0.002681 +v -0.086982 -0.591713 0.013567 +v -0.288388 -0.202465 -0.002766 +v -0.492591 -0.199760 -0.002766 +v -0.073368 -0.199760 0.005403 +v -0.446316 -0.586303 0.013569 +v -0.095160 -0.591713 0.019014 +v 0.046410 -0.594495 0.016289 +v 0.046410 -0.199760 0.002681 +v -0.304693 -0.589046 0.010844 +v -0.451751 -0.545419 0.008124 +v -0.478978 -0.259656 0.002681 +v -0.228499 -0.556316 0.016292 +v 0.046410 -0.542753 0.019014 +v -0.476234 -0.265104 -0.002766 +v -0.059755 -0.594495 0.019014 +v -0.299258 -0.199721 0.002681 +v -0.084238 -0.210618 -0.000044 +v -0.446316 -0.553611 0.013569 +v -0.288388 -0.199721 -0.002766 +v -0.312871 -0.589046 0.016292 +v -0.492591 -0.207952 -0.000042 +v 0.043719 -0.243310 0.002681 +v -0.429958 -0.589008 0.013569 +v 0.046410 -0.237861 0.008124 +v -0.446316 -0.586303 0.010844 +v -0.089673 -0.586303 0.019014 +v -0.059755 -0.594495 0.016289 +v -0.487104 -0.251502 -0.002766 +v -0.449007 -0.567213 0.013569 +v -0.449007 -0.559060 0.008124 +f 40 25 45 +f 3 5 15 +f 17 7 18 +f 3 2 19 +f 10 3 19 +f 13 10 19 +f 5 13 21 +f 15 5 22 +f 8 15 22 +f 16 8 22 +f 2 3 23 +f 3 15 23 +f 15 4 23 +f 8 16 24 +f 16 22 24 +f 12 6 26 +f 19 26 27 +f 13 19 27 +f 5 3 28 +f 13 5 28 +f 10 13 28 +f 11 7 29 +f 7 17 29 +f 24 11 29 +f 17 24 29 +f 5 21 30 +f 22 5 30 +f 18 12 31 +f 19 2 31 +f 12 26 31 +f 26 19 31 +f 17 4 32 +f 8 24 32 +f 24 17 32 +f 6 14 33 +f 26 6 33 +f 27 26 33 +f 4 17 34 +f 17 18 34 +f 2 23 34 +f 23 4 34 +f 31 2 34 +f 18 31 34 +f 21 9 35 +f 30 21 35 +f 9 33 35 +f 33 14 35 +f 6 12 36 +f 12 18 36 +f 4 15 37 +f 15 8 37 +f 32 4 37 +f 8 32 37 +f 20 1 38 +f 1 30 38 +f 35 20 38 +f 30 35 38 +f 3 10 39 +f 28 3 39 +f 10 28 39 +f 1 20 40 +f 21 13 41 +f 9 21 41 +f 13 27 41 +f 33 9 41 +f 27 33 41 +f 1 24 42 +f 24 22 42 +f 30 1 42 +f 22 30 42 +f 18 7 43 +f 7 25 43 +f 36 18 43 +f 25 36 43 +f 14 6 44 +f 20 35 44 +f 35 14 44 +f 6 36 44 +f 36 25 44 +f 40 20 44 +f 25 40 44 +f 7 11 45 +f 24 1 45 +f 11 24 45 +f 25 7 45 +f 1 40 45 +o convex_1 +v 0.291495 0.461814 0.005401 +v 0.046463 -0.240420 0.002678 +v 0.051931 -0.240420 0.002678 +v 0.073710 0.475339 -0.005489 +v 0.046463 0.369243 -0.000044 +v 0.046463 -0.085271 0.005401 +v 0.288760 0.450952 0.002678 +v 0.217956 0.467210 0.005401 +v 0.079154 -0.226825 0.002678 +v 0.049197 0.358311 -0.005489 +v 0.079154 -0.226825 0.005401 +v 0.046463 0.475339 -0.002766 +v 0.076420 0.467210 -0.000044 +v 0.046463 -0.096203 -0.000044 +v 0.046463 -0.240420 0.005401 +v 0.046463 0.475339 -0.005489 +v 0.079154 0.453615 -0.005489 +v 0.291495 0.464547 0.002678 +v 0.057376 -0.071676 -0.000044 +v 0.212536 0.453685 0.005401 +v 0.242469 0.467210 0.005401 +v 0.109088 -0.131591 0.002678 +v 0.245203 0.309328 0.005401 +v 0.046463 0.358311 -0.005489 +v 0.081865 0.472676 -0.005489 +v 0.079154 0.472676 -0.000044 +f 66 57 71 +f 50 47 51 +f 51 46 53 +f 46 51 56 +f 48 54 56 +f 47 50 57 +f 50 51 58 +f 57 50 58 +f 48 47 59 +f 54 48 59 +f 47 57 59 +f 47 48 60 +f 51 47 60 +f 48 56 60 +f 56 51 60 +f 49 55 61 +f 57 49 61 +f 59 57 61 +f 55 49 62 +f 46 52 63 +f 52 62 63 +f 54 59 64 +f 59 55 64 +f 55 62 64 +f 51 53 65 +f 58 51 65 +f 53 58 65 +f 53 46 66 +f 49 57 66 +f 46 63 66 +f 63 49 66 +f 56 54 67 +f 62 52 67 +f 54 64 67 +f 64 62 67 +f 52 46 68 +f 46 56 68 +f 67 52 68 +f 56 67 68 +f 55 59 69 +f 61 55 69 +f 59 61 69 +f 62 49 70 +f 49 63 70 +f 63 62 70 +f 58 53 71 +f 57 58 71 +f 53 66 71 +o convex_2 +v -0.503425 -0.118052 -0.008212 +v -0.073373 -0.090828 -0.000044 +v -0.073373 -0.126227 0.002679 +v -0.073373 -0.199710 -0.000044 +v -0.492536 -0.199710 -0.000044 +v -0.429914 -0.090828 -0.002766 +v -0.190441 -0.090828 -0.005489 +v -0.481647 -0.191535 -0.005489 +v -0.291111 -0.196982 0.002679 +v -0.506221 -0.090828 -0.008212 +v -0.073373 -0.199710 0.002679 +v -0.076127 -0.131663 -0.002766 +v -0.500713 -0.115334 -0.002766 +v -0.201330 -0.090828 -0.000044 +v -0.073373 -0.090828 -0.002766 +v -0.432668 -0.099004 -0.008212 +v -0.280306 -0.199710 -0.002766 +v -0.492536 -0.199710 -0.002766 +v -0.492536 -0.188817 -0.000044 +v -0.506221 -0.090828 -0.005489 +v -0.419025 -0.090828 -0.008212 +v -0.492536 -0.191535 -0.005489 +v -0.291111 -0.199710 0.002679 +v -0.190441 -0.093557 -0.005489 +v -0.078839 -0.126227 0.002679 +f 85 80 96 +f 73 74 75 +f 77 73 78 +f 77 78 81 +f 75 74 82 +f 76 75 82 +f 74 80 82 +f 74 73 85 +f 73 77 85 +f 77 80 85 +f 73 75 86 +f 78 73 86 +f 75 83 86 +f 79 72 87 +f 72 81 87 +f 83 79 87 +f 75 76 88 +f 83 75 88 +f 79 83 88 +f 76 72 89 +f 88 76 89 +f 79 88 89 +f 76 80 90 +f 80 77 90 +f 84 76 90 +f 77 84 90 +f 72 76 91 +f 81 72 91 +f 77 81 91 +f 76 84 91 +f 84 77 91 +f 81 78 92 +f 87 81 92 +f 72 79 93 +f 89 72 93 +f 79 89 93 +f 80 76 94 +f 76 82 94 +f 82 80 94 +f 78 86 95 +f 86 83 95 +f 83 87 95 +f 92 78 95 +f 87 92 95 +f 80 74 96 +f 74 85 96 +o convex_3 +v -0.067878 -0.128945 -0.002766 +v 0.046463 -0.090828 0.002678 +v 0.046463 -0.093557 0.005401 +v 0.046463 -0.199710 0.002678 +v -0.065158 -0.199710 0.005401 +v -0.073331 -0.090828 -0.000043 +v -0.073331 -0.199710 -0.000043 +v 0.046463 -0.090828 -0.000043 +v 0.046463 -0.199710 0.005401 +v 0.024676 -0.172477 -0.000043 +v -0.021596 -0.090828 -0.002766 +v -0.073331 -0.126227 0.002678 +v -0.073331 -0.090828 -0.002766 +v -0.024316 -0.090828 0.002678 +v -0.054264 -0.199710 -0.000043 +v -0.027036 -0.112615 -0.002766 +v 0.046463 -0.107169 -0.000043 +v -0.073331 -0.199710 0.002678 +v 0.043730 -0.093557 0.005401 +f 110 108 115 +f 98 99 100 +f 100 101 103 +f 98 100 104 +f 102 98 104 +f 100 99 105 +f 101 100 105 +f 99 101 105 +f 102 104 107 +f 102 103 108 +f 97 103 109 +f 103 102 109 +f 107 97 109 +f 102 107 109 +f 99 98 110 +f 98 102 110 +f 102 108 110 +f 103 97 111 +f 100 103 111 +f 97 106 111 +f 106 100 111 +f 106 97 112 +f 97 107 112 +f 112 107 113 +f 104 100 113 +f 100 106 113 +f 107 104 113 +f 106 112 113 +f 103 101 114 +f 101 108 114 +f 108 103 114 +f 101 99 115 +f 108 101 115 +f 99 110 115 +o convex_4 +v -0.527968 0.099751 -0.016379 +v -0.231241 0.162382 -0.010933 +v -0.231241 0.143323 -0.008212 +v -0.231241 -0.090818 -0.005490 +v -0.511642 -0.044520 -0.005490 +v -0.536146 0.162382 -0.013656 +v -0.342894 0.159656 -0.016379 +v -0.506210 -0.090818 -0.008212 +v -0.231241 -0.025461 -0.002768 +v -0.421806 -0.088091 -0.002766 +v -0.233986 0.121537 -0.013656 +v -0.410942 -0.090818 -0.008212 +v -0.231241 -0.090818 -0.002768 +v -0.536146 0.162382 -0.016379 +v -0.525252 0.105204 -0.010933 +v -0.231241 -0.030913 -0.008212 +v -0.506210 -0.047222 -0.010933 +v -0.231241 0.162382 -0.013656 +v -0.506210 -0.090818 -0.005490 +v -0.353788 0.162382 -0.010933 +v -0.233986 0.143323 -0.008212 +v -0.508896 -0.041794 -0.005490 +v -0.533430 0.129691 -0.016379 +v -0.522536 0.099751 -0.016379 +v -0.421806 -0.090818 -0.002766 +v -0.342894 0.162382 -0.016379 +v -0.511642 -0.047222 -0.010933 +v -0.511642 -0.049973 -0.005490 +f 142 123 143 +f 117 118 119 +f 119 118 124 +f 119 123 127 +f 123 119 128 +f 119 124 128 +f 124 125 128 +f 121 117 129 +f 122 116 129 +f 121 120 130 +f 117 119 131 +f 122 126 131 +f 119 127 131 +f 131 127 132 +f 127 123 132 +f 122 131 132 +f 126 122 133 +f 129 117 133 +f 117 131 133 +f 131 126 133 +f 123 128 134 +f 118 117 135 +f 117 121 135 +f 135 121 136 +f 124 118 136 +f 125 124 136 +f 121 130 136 +f 118 135 136 +f 136 130 137 +f 120 125 137 +f 130 120 137 +f 125 136 137 +f 121 129 138 +f 129 116 138 +f 116 122 139 +f 132 116 139 +f 122 132 139 +f 125 120 140 +f 128 125 140 +f 134 128 140 +f 122 129 141 +f 133 122 141 +f 129 133 141 +f 116 132 142 +f 132 123 142 +f 138 116 142 +f 138 142 143 +f 120 121 143 +f 123 134 143 +f 121 138 143 +f 140 120 143 +f 134 140 143 +o convex_5 +v 0.016480 0.478158 -0.002769 +v -0.231241 0.064452 -0.010932 +v -0.182229 0.064452 -0.010932 +v -0.231241 0.489050 -0.016379 +v 0.013761 0.469968 -0.008210 +v 0.046463 0.064369 0.002679 +v -0.231241 0.151550 -0.008212 +v 0.046463 0.121617 -0.002769 +v -0.198566 0.486306 -0.010932 +v -0.228495 0.366572 -0.016379 +v 0.043717 0.361126 -0.000045 +v -0.116881 0.067155 -0.002767 +v 0.046463 0.475455 -0.005490 +v 0.027380 0.064369 -0.002769 +v 0.024662 0.072601 0.002679 +v -0.193103 0.486306 -0.016379 +v -0.231241 0.380126 -0.010932 +v -0.231241 0.064452 -0.008212 +v -0.231241 0.140616 -0.013656 +v 0.046463 0.475455 -0.002767 +v 0.046463 0.350234 -0.005490 +v -0.231241 0.489050 -0.013656 +v -0.184948 0.075262 -0.005490 +v 0.008325 0.472712 -0.002769 +v 0.046463 0.132468 0.002679 +v 0.013761 0.478158 -0.008210 +v 0.046463 0.064369 -0.000045 +v -0.108726 0.072601 -0.008212 +v -0.206721 0.489050 -0.016379 +v -0.223058 0.156955 -0.013656 +v -0.056997 0.467265 -0.010934 +v 0.024662 0.064369 0.002679 +v -0.184948 0.064452 -0.005490 +v 0.038280 0.094344 -0.002769 +f 171 174 177 +f 147 145 150 +f 149 151 156 +f 145 146 157 +f 154 152 158 +f 153 147 159 +f 147 150 160 +f 150 145 161 +f 146 145 162 +f 145 147 162 +f 147 153 162 +f 144 154 163 +f 156 144 163 +f 149 156 163 +f 148 156 164 +f 156 151 164 +f 152 144 165 +f 147 160 165 +f 160 152 165 +f 158 152 166 +f 155 158 166 +f 160 150 166 +f 152 160 166 +f 150 161 166 +f 144 152 167 +f 154 144 167 +f 152 154 167 +f 158 149 168 +f 154 158 168 +f 163 154 168 +f 149 163 168 +f 144 156 169 +f 156 148 169 +f 148 159 169 +f 151 149 170 +f 149 157 170 +f 157 146 171 +f 159 147 172 +f 165 144 172 +f 147 165 172 +f 144 169 172 +f 169 159 172 +f 146 162 173 +f 162 153 173 +f 171 146 173 +f 153 171 173 +f 153 159 174 +f 159 148 174 +f 171 153 174 +f 145 157 175 +f 157 149 175 +f 149 158 175 +f 158 155 175 +f 161 145 175 +f 161 175 176 +f 155 166 176 +f 166 161 176 +f 175 155 176 +f 148 164 177 +f 164 151 177 +f 151 170 177 +f 170 157 177 +f 157 171 177 +f 174 148 177 +o convex_6 +v 0.068279 -0.540041 0.013569 +v 0.242488 -0.471979 0.016292 +v 0.242488 -0.477434 0.019014 +v 0.242488 -0.597218 0.019014 +v 0.046463 -0.542751 0.019014 +v 0.046463 -0.471979 0.016292 +v 0.242488 -0.471979 0.013569 +v 0.125422 -0.597218 0.021737 +v 0.046463 -0.594484 0.016292 +v 0.046463 -0.471979 0.013569 +v 0.242488 -0.553649 0.021737 +v 0.133596 -0.594484 0.016292 +v 0.237020 -0.559092 0.016292 +v 0.242488 -0.597218 0.021737 +v 0.046463 -0.594484 0.019014 +v 0.046463 -0.545484 0.013569 +v 0.237020 -0.482890 0.013569 +v 0.152611 -0.580876 0.021737 +v 0.234295 -0.477434 0.019014 +v 0.049206 -0.540041 0.019014 +f 196 183 197 +f 179 180 181 +f 180 179 183 +f 179 181 184 +f 183 179 184 +f 182 183 186 +f 181 185 186 +f 186 183 187 +f 184 178 187 +f 183 184 187 +f 181 180 188 +f 181 186 189 +f 184 181 190 +f 181 189 190 +f 185 181 191 +f 181 188 191 +f 188 185 191 +f 185 182 192 +f 182 186 192 +f 186 185 192 +f 186 187 193 +f 187 178 193 +f 178 189 193 +f 189 186 193 +f 178 184 194 +f 189 178 194 +f 184 190 194 +f 190 189 194 +f 185 188 195 +f 195 188 196 +f 180 183 196 +f 188 180 196 +f 183 182 197 +f 182 185 197 +f 185 195 197 +f 195 196 197 +o convex_7 +v 0.245232 -0.371257 0.010846 +v 0.435773 -0.281416 0.021736 +v 0.435773 -0.303198 0.021736 +v 0.283355 -0.455616 0.019012 +v 0.419426 -0.463793 0.019012 +v 0.267008 -0.281416 0.016291 +v 0.411272 -0.281416 0.016291 +v 0.242507 -0.463793 0.013571 +v 0.351372 -0.463793 0.021736 +v 0.242507 -0.281416 0.010846 +v 0.242507 -0.360366 0.016291 +v 0.419426 -0.463793 0.021736 +v 0.405823 -0.286862 0.021736 +v 0.286079 -0.463793 0.013571 +v 0.272457 -0.284148 0.010846 +v 0.242507 -0.463793 0.016291 +v 0.435773 -0.303198 0.019012 +v 0.364975 -0.439280 0.016291 +v 0.242507 -0.281416 0.013571 +v 0.411272 -0.289593 0.016291 +v 0.435773 -0.281416 0.019012 +v 0.384046 -0.354921 0.021736 +f 206 210 219 +f 203 199 204 +f 200 199 206 +f 205 202 206 +f 203 204 207 +f 198 205 207 +f 207 205 208 +f 202 200 209 +f 200 206 209 +f 206 202 209 +f 199 203 210 +f 206 199 210 +f 205 198 211 +f 202 205 211 +f 198 207 212 +f 207 204 212 +f 206 201 213 +f 205 206 213 +f 208 205 213 +f 201 208 213 +f 199 200 214 +f 200 202 214 +f 211 198 215 +f 202 211 215 +f 198 212 215 +f 203 207 216 +f 207 208 216 +f 208 203 216 +f 212 204 217 +f 214 202 217 +f 204 214 217 +f 202 215 217 +f 215 212 217 +f 204 199 218 +f 199 214 218 +f 214 204 218 +f 201 206 219 +f 208 201 219 +f 203 208 219 +f 210 203 219 +o convex_8 +v 0.119964 -0.074482 0.008124 +v 0.046470 -0.281398 0.005401 +v 0.046470 -0.281398 0.008124 +v 0.122695 -0.281398 0.005401 +v 0.119964 -0.074482 0.005401 +v 0.122695 -0.281398 0.008124 +v 0.046470 -0.237832 0.008124 +v 0.046470 -0.237832 0.005401 +v 0.122695 -0.074482 0.005401 +v 0.122695 -0.074482 0.008124 +f 228 220 229 +f 222 221 223 +f 223 221 224 +f 220 222 225 +f 222 223 225 +f 222 220 226 +f 221 222 226 +f 220 224 226 +f 226 224 227 +f 224 221 227 +f 221 226 227 +f 224 220 228 +f 223 224 228 +f 225 223 228 +f 225 228 229 +f 220 225 229 +o convex_9 +v 0.468428 0.456410 0.013569 +v 0.122708 -0.281398 0.005401 +v 0.130863 -0.281398 0.005401 +v 0.408559 -0.281398 0.021737 +v 0.122708 -0.066204 0.008124 +v 0.449412 -0.164272 0.016291 +v 0.359552 0.453635 0.005401 +v 0.286079 0.464589 0.008126 +v 0.512024 0.453635 0.016291 +v 0.498381 0.453635 0.010847 +v 0.128158 -0.281398 0.010847 +v 0.286079 0.464589 0.005401 +v 0.438513 -0.275849 0.019012 +v 0.487520 0.434577 0.016291 +v 0.122708 -0.066204 0.005401 +v 0.443962 -0.161570 0.021735 +v 0.411265 -0.281398 0.016291 +v 0.484776 0.175935 0.013569 +v 0.136351 -0.270445 0.005401 +v 0.441218 -0.251387 0.021735 +v 0.512024 0.439980 0.013569 +v 0.133607 -0.256790 0.010847 +v 0.484776 0.173233 0.019012 +v 0.422164 -0.254161 0.016291 +v 0.356808 0.461814 0.005401 +v 0.408559 -0.275922 0.021737 +v 0.492931 0.450861 0.016291 +v 0.490226 0.420922 0.010847 +v 0.122708 -0.281398 0.008124 +v 0.435769 -0.281398 0.021735 +v 0.400366 -0.074383 0.019014 +v 0.160855 -0.191509 0.005401 +v 0.452117 -0.145213 0.016291 +v 0.139057 -0.011803 0.008124 +v 0.479327 0.178637 0.019012 +v 0.449412 -0.158795 0.021735 +f 252 264 265 +f 231 232 233 +f 232 231 236 +f 230 237 238 +f 230 238 239 +f 231 233 240 +f 236 231 241 +f 231 234 244 +f 241 231 244 +f 233 232 246 +f 232 236 248 +f 246 232 248 +f 239 238 250 +f 247 239 250 +f 234 240 251 +f 250 238 252 +f 235 242 253 +f 242 246 253 +f 247 235 253 +f 246 248 253 +f 237 230 254 +f 239 236 254 +f 230 239 254 +f 236 241 254 +f 241 237 254 +f 240 233 255 +f 251 240 255 +f 238 237 256 +f 237 243 256 +f 236 239 257 +f 239 247 257 +f 234 231 258 +f 231 240 258 +f 240 234 258 +f 233 246 259 +f 246 242 259 +f 249 233 259 +f 242 249 259 +f 243 237 260 +f 245 243 260 +f 237 251 260 +f 255 245 260 +f 251 255 260 +f 248 236 261 +f 247 253 261 +f 253 248 261 +f 236 257 261 +f 257 247 261 +f 242 235 262 +f 235 247 262 +f 249 242 262 +f 247 250 262 +f 252 249 262 +f 250 252 262 +f 237 241 263 +f 244 234 263 +f 241 244 263 +f 234 251 263 +f 251 237 263 +f 243 245 264 +f 252 238 264 +f 238 256 264 +f 256 243 264 +f 233 249 265 +f 249 252 265 +f 255 233 265 +f 245 255 265 +f 264 245 265 +o convex_10 +v -0.046080 0.064369 -0.000044 +v -0.089666 -0.090818 -0.002765 +v -0.018884 -0.090818 -0.002765 +v -0.089666 0.064369 -0.005489 +v 0.046463 0.064369 0.002679 +v -0.024307 -0.090818 0.002679 +v 0.027394 0.064369 -0.002765 +v 0.046463 -0.090818 -0.000044 +v -0.089666 -0.055424 -0.000044 +v -0.078767 -0.055424 -0.005489 +v 0.046463 -0.090818 0.002679 +v -0.043362 0.058916 -0.005489 +v -0.089666 0.064369 -0.002765 +v 0.021958 0.061635 0.002679 +v 0.046463 0.064369 -0.000044 +v -0.089666 -0.090818 -0.000044 +v -0.089666 -0.058143 -0.005489 +v 0.027394 0.058916 -0.002765 +v -0.048812 0.061635 -0.000044 +f 274 279 284 +f 269 266 270 +f 267 268 271 +f 269 270 272 +f 271 268 273 +f 269 267 274 +f 270 271 276 +f 273 270 276 +f 271 273 276 +f 269 272 277 +f 268 275 277 +f 275 269 277 +f 266 269 278 +f 269 274 278 +f 270 266 279 +f 271 270 279 +f 274 271 279 +f 272 270 280 +f 270 273 280 +f 273 272 280 +f 267 271 281 +f 274 267 281 +f 271 274 281 +f 268 267 282 +f 267 269 282 +f 275 268 282 +f 269 275 282 +f 272 273 283 +f 273 268 283 +f 268 277 283 +f 277 272 283 +f 266 278 284 +f 278 274 284 +f 279 266 284 +o convex_11 +v 0.051931 -0.393030 0.008124 +v 0.242488 -0.344018 0.013568 +v 0.242488 -0.368543 0.016291 +v 0.242488 -0.471979 0.013568 +v 0.046463 -0.471979 0.016291 +v 0.046463 -0.344018 0.010847 +v 0.182564 -0.344018 0.008124 +v 0.046463 -0.469236 0.010847 +v 0.242488 -0.471979 0.016291 +v 0.234295 -0.406658 0.010847 +v 0.049206 -0.387594 0.013568 +v 0.046463 -0.344018 0.008124 +v 0.242488 -0.344018 0.010847 +v 0.177134 -0.344018 0.013568 +v 0.049206 -0.463800 0.016291 +v 0.223396 -0.412069 0.010847 +v 0.174390 -0.352197 0.008124 +v 0.051931 -0.469236 0.010847 +v 0.242488 -0.379428 0.010847 +v 0.046463 -0.471979 0.013568 +v 0.239744 -0.368543 0.016291 +f 295 299 305 +f 286 287 288 +f 290 286 291 +f 289 290 292 +f 288 287 293 +f 289 288 293 +f 287 289 293 +f 290 289 295 +f 291 285 296 +f 290 291 296 +f 285 292 296 +f 292 290 296 +f 286 288 297 +f 291 286 297 +f 287 286 298 +f 286 290 298 +f 290 295 298 +f 289 287 299 +f 295 289 299 +f 294 288 300 +f 294 300 301 +f 285 291 301 +f 291 294 301 +f 300 285 301 +f 292 285 302 +f 288 292 302 +f 285 300 302 +f 300 288 302 +f 288 294 303 +f 294 291 303 +f 297 288 303 +f 291 297 303 +f 288 289 304 +f 292 288 304 +f 289 292 304 +f 287 298 305 +f 298 295 305 +f 299 287 305 +o convex_12 +v 0.046463 -0.316787 0.005401 +v 0.242488 -0.281398 0.013568 +v 0.242488 -0.344006 0.013568 +v 0.046463 -0.344006 0.010845 +v 0.182564 -0.344006 0.008125 +v 0.046463 -0.281398 0.005401 +v 0.201618 -0.281398 0.008125 +v 0.049206 -0.311351 0.010845 +v 0.196168 -0.281398 0.013568 +v 0.130890 -0.286853 0.005401 +v 0.242488 -0.344006 0.010845 +v 0.046463 -0.281398 0.008125 +v 0.179839 -0.344006 0.013568 +v 0.046463 -0.344006 0.008125 +v 0.242488 -0.281398 0.010845 +v 0.130890 -0.281398 0.005401 +f 312 315 321 +f 308 309 310 +f 306 309 311 +f 311 307 312 +f 308 307 314 +f 307 311 314 +f 310 306 315 +f 306 311 315 +f 312 310 315 +f 307 308 316 +f 308 310 316 +f 310 312 316 +f 311 309 317 +f 309 313 317 +f 314 311 317 +f 313 314 317 +f 309 308 318 +f 313 309 318 +f 314 313 318 +f 308 314 318 +f 309 306 319 +f 306 310 319 +f 310 309 319 +f 312 307 320 +f 307 316 320 +f 316 312 320 +f 311 312 321 +f 315 311 321 +o convex_13 +v 0.332320 -0.520989 0.021737 +v 0.242488 -0.597209 0.019014 +v 0.307821 -0.599940 0.019014 +v 0.286059 -0.463811 0.013569 +v 0.242488 -0.474711 0.019014 +v 0.335038 -0.463811 0.016292 +v 0.242488 -0.597209 0.021737 +v 0.242488 -0.480161 0.013569 +v 0.335038 -0.599940 0.019014 +v 0.335038 -0.599940 0.021737 +v 0.335038 -0.463811 0.019014 +v 0.242488 -0.550931 0.021737 +v 0.335038 -0.526439 0.016292 +v 0.245225 -0.556354 0.016292 +v 0.242488 -0.463811 0.016292 +v 0.275168 -0.463811 0.019014 +v 0.242488 -0.463811 0.013569 +f 329 336 338 +f 323 324 328 +f 326 323 328 +f 323 326 329 +f 322 328 331 +f 328 324 331 +f 330 327 331 +f 324 330 331 +f 327 325 332 +f 322 331 332 +f 331 327 332 +f 328 322 333 +f 326 328 333 +f 325 327 334 +f 329 325 334 +f 327 330 334 +f 334 330 335 +f 324 323 335 +f 323 329 335 +f 330 324 335 +f 329 334 335 +f 329 326 336 +f 332 325 336 +f 332 336 337 +f 322 332 337 +f 333 322 337 +f 326 333 337 +f 336 326 337 +f 325 329 338 +f 336 325 338 +o convex_14 +v 0.413999 -0.515566 0.024459 +v 0.335056 -0.599940 0.019015 +v 0.343234 -0.599940 0.019015 +v 0.335056 -0.463811 0.016292 +v 0.340516 -0.594490 0.024459 +v 0.405829 -0.594490 0.021736 +v 0.416717 -0.463811 0.019015 +v 0.351404 -0.463811 0.021736 +v 0.389497 -0.583590 0.019015 +v 0.403111 -0.599940 0.024459 +v 0.337790 -0.523734 0.016292 +v 0.335056 -0.515566 0.021736 +v 0.416717 -0.463811 0.021736 +v 0.411273 -0.499229 0.024459 +v 0.413999 -0.507398 0.019015 +v 0.354122 -0.474711 0.016292 +v 0.335056 -0.463811 0.019015 +v 0.335056 -0.599940 0.021736 +v 0.403111 -0.599940 0.021736 +v 0.416717 -0.488316 0.019015 +f 353 354 358 +f 345 342 346 +f 340 341 348 +f 339 343 348 +f 344 339 348 +f 341 340 349 +f 340 342 349 +f 347 341 349 +f 342 340 350 +f 343 346 350 +f 345 346 351 +f 351 346 352 +f 343 339 352 +f 346 343 352 +f 339 351 352 +f 344 347 353 +f 342 345 354 +f 349 342 354 +f 347 349 354 +f 353 347 354 +f 346 342 355 +f 342 350 355 +f 350 346 355 +f 340 348 356 +f 348 343 356 +f 350 340 356 +f 343 350 356 +f 341 347 357 +f 347 344 357 +f 348 341 357 +f 344 348 357 +f 339 344 358 +f 351 339 358 +f 345 351 358 +f 344 353 358 +f 354 345 358 +o convex_15 +v -0.547025 0.246770 -0.021824 +v -0.345605 0.303956 -0.016381 +v -0.345605 0.238594 -0.013658 +v -0.345605 0.162396 -0.016381 +v -0.536130 0.162410 -0.013658 +v -0.552493 0.295781 -0.019100 +v -0.389146 0.303956 -0.021824 +v -0.536130 0.173287 -0.019100 +v -0.345605 0.162396 -0.013658 +v -0.541578 0.252215 -0.016381 +v -0.345605 0.235864 -0.019100 +v -0.552493 0.295781 -0.021824 +v -0.394593 0.303956 -0.016381 +v -0.533416 0.178733 -0.013658 +v -0.345605 0.303956 -0.019100 +v -0.536130 0.162410 -0.016381 +v -0.391880 0.295767 -0.021824 +v -0.429993 0.303956 -0.021824 +v -0.530703 0.173287 -0.019100 +v -0.547025 0.244040 -0.016381 +v -0.353787 0.238594 -0.013658 +v -0.538864 0.246770 -0.021824 +v -0.538864 0.176017 -0.019100 +f 363 378 381 +f 360 361 362 +f 362 361 367 +f 363 362 367 +f 361 363 367 +f 360 362 369 +f 365 359 370 +f 361 360 371 +f 360 365 371 +f 364 368 371 +f 363 361 372 +f 371 368 372 +f 365 360 373 +f 360 369 373 +f 369 365 373 +f 362 363 374 +f 366 362 374 +f 359 365 375 +f 365 369 375 +f 370 364 376 +f 365 370 376 +f 371 365 376 +f 364 371 376 +f 366 359 377 +f 362 366 377 +f 369 362 377 +f 375 369 377 +f 368 364 378 +f 370 359 378 +f 364 370 378 +f 363 372 378 +f 372 368 378 +f 361 371 379 +f 372 361 379 +f 371 372 379 +f 359 375 380 +f 377 359 380 +f 375 377 380 +f 359 366 381 +f 374 363 381 +f 366 374 381 +f 378 359 381 +o convex_16 +v -0.323845 0.303956 -0.013659 +v -0.378240 0.497260 -0.019100 +v -0.378240 0.497260 -0.021822 +v -0.231241 0.489066 -0.013659 +v -0.247582 0.306681 -0.016381 +v -0.429989 0.303956 -0.021822 +v -0.400029 0.497260 -0.024546 +v -0.429989 0.418281 -0.019100 +v -0.263944 0.491810 -0.019100 +v -0.233964 0.369312 -0.010936 +v -0.405476 0.497260 -0.019100 +v -0.429989 0.407382 -0.024546 +v -0.231241 0.303956 -0.010936 +v -0.429989 0.303956 -0.019100 +v -0.231241 0.358413 -0.016381 +v -0.389134 0.303956 -0.021822 +v -0.429989 0.497260 -0.024546 +v -0.266648 0.489066 -0.013659 +v -0.231241 0.489066 -0.016381 +v -0.391838 0.314874 -0.016381 +v -0.429989 0.497260 -0.021822 +v -0.253030 0.309406 -0.010936 +v -0.231241 0.303956 -0.013659 +v -0.331938 0.486342 -0.021822 +v -0.416371 0.440078 -0.024546 +v -0.272095 0.475462 -0.013659 +v -0.263944 0.480911 -0.019100 +f 396 405 408 +f 383 384 388 +f 384 383 390 +f 383 385 390 +f 388 384 390 +f 385 383 392 +f 383 388 392 +f 387 389 393 +f 382 387 394 +f 385 391 394 +f 387 382 395 +f 389 387 395 +f 385 394 396 +f 387 393 397 +f 394 387 397 +f 392 388 398 +f 388 393 398 +f 393 389 398 +f 391 385 399 +f 385 392 399 +f 390 385 400 +f 385 396 400 +f 396 390 400 +f 395 382 401 +f 389 395 401 +f 389 392 402 +f 398 389 402 +f 392 398 402 +f 382 394 403 +f 394 391 403 +f 401 382 403 +f 386 396 404 +f 396 394 404 +f 397 386 404 +f 394 397 404 +f 388 390 405 +f 393 388 406 +f 396 386 406 +f 397 393 406 +f 386 397 406 +f 388 405 406 +f 405 396 406 +f 392 389 407 +f 391 399 407 +f 399 392 407 +f 389 401 407 +f 403 391 407 +f 401 403 407 +f 390 396 408 +f 405 390 408 +o convex_17 +v -0.182215 -0.090818 -0.005489 +v -0.089680 -0.028198 -0.002766 +v -0.089680 -0.055432 -0.000044 +v -0.231241 -0.028198 -0.002766 +v -0.193107 -0.090818 -0.000044 +v -0.089680 -0.090818 -0.002766 +v -0.089680 -0.028198 -0.005489 +v -0.231241 -0.028198 -0.005489 +v -0.231241 -0.090818 -0.005489 +v -0.089680 -0.090818 -0.000044 +v -0.092410 -0.060863 -0.005489 +v -0.231241 -0.090818 -0.002766 +f 412 417 420 +f 411 410 412 +f 411 412 413 +f 410 411 414 +f 413 409 414 +f 412 410 415 +f 410 414 415 +f 412 415 416 +f 415 409 416 +f 409 413 417 +f 412 416 417 +f 416 409 417 +f 411 413 418 +f 414 411 418 +f 413 414 418 +f 414 409 419 +f 409 415 419 +f 415 414 419 +f 413 412 420 +f 417 413 420 +o convex_18 +v -0.231241 0.064369 -0.010934 +v -0.089680 0.064369 -0.002766 +v -0.089680 -0.028198 -0.002766 +v -0.231241 -0.028198 -0.002766 +v -0.133246 0.001766 -0.008210 +v -0.231241 -0.028198 -0.008210 +v -0.231241 0.050751 -0.005490 +v -0.114193 0.064369 -0.008210 +v -0.089680 -0.028198 -0.005490 +v -0.182215 0.061642 -0.010934 +v -0.116909 0.064369 -0.002766 +v -0.089680 0.064369 -0.005490 +v -0.231241 0.064369 -0.008210 +v -0.223051 0.048023 -0.010934 +v -0.193107 0.064369 -0.005490 +v -0.223051 -0.028198 -0.008210 +f 434 430 436 +f 423 422 424 +f 423 424 426 +f 424 421 426 +f 421 424 427 +f 421 422 428 +f 425 428 429 +f 422 423 429 +f 423 426 429 +f 421 428 430 +f 428 425 430 +f 422 421 431 +f 424 422 431 +f 427 424 431 +f 428 422 432 +f 429 428 432 +f 422 429 432 +f 421 427 433 +f 431 421 433 +f 426 421 434 +f 421 430 434 +f 427 431 435 +f 433 427 435 +f 431 433 435 +f 425 429 436 +f 429 426 436 +f 430 425 436 +f 426 434 436 +o convex_19 +v -0.563373 0.393792 -0.027270 +v -0.430002 0.418305 -0.021825 +v -0.430002 0.410126 -0.019102 +v -0.430002 0.295789 -0.021825 +v -0.552488 0.295789 -0.019102 +v -0.563373 0.396502 -0.021825 +v -0.495342 0.418305 -0.027270 +v -0.555206 0.320301 -0.024547 +v -0.430002 0.295789 -0.019102 +v -0.566118 0.418305 -0.024547 +v -0.430002 0.418305 -0.024547 +v -0.443619 0.355691 -0.024547 +v -0.555206 0.323024 -0.019102 +v -0.552488 0.295789 -0.021825 +v -0.566118 0.418305 -0.027270 +v -0.500765 0.418305 -0.021825 +v -0.563373 0.377446 -0.021825 +v -0.430002 0.396502 -0.024547 +v -0.547038 0.320301 -0.024547 +v -0.498060 0.412836 -0.027270 +v -0.566118 0.401947 -0.027270 +f 450 453 457 +f 438 439 440 +f 440 439 445 +f 441 440 445 +f 439 441 445 +f 438 443 446 +f 438 440 447 +f 443 438 447 +f 441 439 449 +f 439 442 449 +f 440 441 450 +f 444 440 450 +f 443 437 451 +f 446 443 451 +f 439 438 452 +f 442 439 452 +f 438 446 452 +f 446 442 452 +f 442 446 453 +f 441 449 453 +f 449 442 453 +f 450 441 453 +f 447 440 454 +f 443 447 454 +f 448 443 454 +f 440 448 454 +f 440 444 455 +f 444 437 455 +f 448 440 455 +f 448 455 456 +f 437 443 456 +f 443 448 456 +f 455 437 456 +f 437 444 457 +f 444 450 457 +f 446 451 457 +f 451 437 457 +f 453 446 457 +o convex_20 +v -0.563381 0.467302 -0.029992 +v -0.547035 0.505419 -0.027269 +v -0.547035 0.505419 -0.029992 +v -0.430003 0.418305 -0.021825 +v -0.566101 0.418305 -0.024548 +v -0.432737 0.499970 -0.021825 +v -0.430003 0.418305 -0.024548 +v -0.571540 0.470022 -0.024548 +v -0.430003 0.497250 -0.024548 +v -0.498067 0.418305 -0.021825 +v -0.495347 0.418305 -0.027269 +v -0.473561 0.499970 -0.021825 +v -0.576994 0.505419 -0.027269 +v -0.566101 0.418305 -0.027269 +v -0.470841 0.491801 -0.027269 +v -0.576994 0.491801 -0.029992 +v -0.547035 0.472742 -0.029992 +v -0.544315 0.502690 -0.024548 +v -0.571540 0.445541 -0.024548 +v -0.576994 0.505419 -0.029992 +f 473 470 477 +f 460 459 463 +f 461 462 464 +f 460 463 466 +f 463 461 466 +f 461 464 466 +f 462 461 467 +f 461 463 467 +f 464 462 468 +f 463 459 469 +f 467 463 469 +f 465 467 469 +f 459 460 470 +f 469 459 470 +f 458 468 471 +f 468 462 471 +f 460 466 472 +f 466 464 472 +f 464 468 472 +f 460 458 473 +f 458 471 473 +f 458 460 474 +f 468 458 474 +f 460 472 474 +f 472 468 474 +f 465 469 475 +f 470 465 475 +f 469 470 475 +f 462 467 476 +f 467 465 476 +f 465 470 476 +f 471 462 476 +f 470 473 476 +f 473 471 476 +f 470 460 477 +f 460 473 477 +o convex_21 +v -0.253031 0.303956 -0.010934 +v -0.345589 0.162396 -0.016378 +v -0.334688 0.162396 -0.016378 +v -0.345589 0.303956 -0.019101 +v -0.231252 0.162396 -0.013658 +v -0.345589 0.162396 -0.010934 +v -0.250312 0.303956 -0.016378 +v -0.323798 0.303956 -0.013658 +v -0.231252 0.162396 -0.010934 +v -0.337408 0.241324 -0.019101 +v -0.231252 0.303956 -0.010934 +v -0.345589 0.303956 -0.016378 +v -0.285701 0.181463 -0.016378 +v -0.231252 0.303956 -0.013658 +v -0.321067 0.295767 -0.019101 +v -0.345589 0.235878 -0.019101 +v -0.253031 0.287605 -0.016378 +f 487 492 494 +f 479 480 482 +f 481 479 483 +f 479 482 483 +f 481 478 484 +f 478 481 485 +f 483 478 485 +f 478 483 486 +f 483 482 486 +f 484 478 488 +f 478 486 488 +f 486 482 488 +f 481 483 489 +f 485 481 489 +f 483 485 489 +f 482 480 490 +f 482 484 491 +f 484 488 491 +f 488 482 491 +f 481 484 492 +f 487 481 492 +f 480 479 493 +f 479 481 493 +f 481 487 493 +f 490 480 493 +f 487 490 493 +f 484 482 494 +f 482 490 494 +f 490 487 494 +f 492 484 494 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/295/295.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/295/295.urdf new file mode 100644 index 000000000..d80ae5057 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/295/295.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/296/296.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/296/296.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/296/296.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/296/296.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/296/296.obj new file mode 100644 index 000000000..f55748a09 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/296/296.obj @@ -0,0 +1,459 @@ +o convex_0 +v -0.120662 -0.431594 -1.105821 +v -0.997544 4.115033 1.102927 +v -0.542880 4.147766 1.102710 +v -0.185555 -0.497060 1.102927 +v 0.918658 4.050029 -1.040528 +v 1.048651 -0.497060 1.037849 +v -1.062643 4.180037 -1.040744 +v -1.029990 -0.497060 0.095845 +v 0.983551 4.212770 1.005418 +v 1.048651 -0.497060 -0.975666 +v -0.997544 -0.464327 -0.975666 +v -1.029990 -0.497060 0.940341 +v 1.015997 2.198092 -1.105821 +v -1.062643 4.147766 0.647816 +v 1.048651 2.036272 -1.008097 +v -0.932651 4.017296 -1.072958 +v -0.445334 -0.497060 -1.105821 +v 0.983551 2.815865 1.037849 +v -1.062643 3.335440 -1.040744 +v 0.983551 4.179577 0.388154 +v -1.029990 3.757278 1.102927 +v -0.607773 4.180037 -1.040744 +v 0.691326 -0.497060 -1.040744 +v -1.062643 4.180037 -0.001447 +v 0.561333 4.212770 1.005418 +v 0.951104 4.115033 -0.455910 +v -0.250448 -0.497060 1.102927 +v -1.029990 4.147766 1.037849 +v 1.015997 2.685856 -1.073174 +v 1.048651 -0.334318 -1.008097 +v 0.983551 4.212770 0.777755 +v -0.997544 -0.497060 -0.943235 +v 0.593780 4.179577 1.037849 +v 0.723773 4.082762 -1.040528 +v -0.445334 -0.204309 -1.105821 +v -1.029990 1.192596 -0.975666 +v 0.658673 0.250262 -1.073174 +v 0.951104 3.757739 -1.040528 +v 1.048651 1.289873 -1.073174 +v 1.048651 0.250262 0.485446 +f 15 9 40 +f 3 2 4 +f 6 4 8 +f 6 8 10 +f 8 4 12 +f 6 10 15 +f 5 13 16 +f 10 8 17 +f 13 1 17 +f 3 4 18 +f 4 6 18 +f 6 9 18 +f 8 12 19 +f 14 7 19 +f 12 14 19 +f 7 16 19 +f 16 17 19 +f 17 11 19 +f 4 2 21 +f 14 12 21 +f 16 7 22 +f 17 1 23 +f 10 17 23 +f 7 14 24 +f 3 9 25 +f 7 24 25 +f 12 4 27 +f 4 21 27 +f 21 12 27 +f 2 3 28 +f 21 2 28 +f 14 21 28 +f 24 14 28 +f 25 24 28 +f 3 25 28 +f 13 5 29 +f 20 15 29 +f 15 10 30 +f 10 23 30 +f 9 15 31 +f 15 20 31 +f 22 7 31 +f 25 9 31 +f 7 25 31 +f 20 26 31 +f 26 22 31 +f 8 11 32 +f 17 8 32 +f 11 17 32 +f 9 3 33 +f 3 18 33 +f 18 9 33 +f 5 16 34 +f 16 22 34 +f 26 5 34 +f 22 26 34 +f 16 13 35 +f 13 17 35 +f 17 16 35 +f 11 8 36 +f 8 19 36 +f 19 11 36 +f 1 13 37 +f 23 1 37 +f 5 26 38 +f 26 20 38 +f 29 5 38 +f 20 29 38 +f 13 29 39 +f 29 15 39 +f 15 30 39 +f 30 23 39 +f 37 13 39 +f 23 37 39 +f 9 6 40 +f 6 15 40 +o convex_1 +v 1.081132 -1.439366 0.940296 +v -1.062653 -3.842219 -1.008332 +v 0.918502 -3.874665 -0.585912 +v -0.997601 -3.907370 1.005348 +v -0.997601 -1.276618 -0.943280 +v 1.048606 -1.276876 -0.943280 +v -1.062653 -1.276618 0.940296 +v 1.016080 -3.907370 0.972822 +v 0.496502 -1.276618 1.102927 +v 0.951028 -3.842219 -0.943070 +v 0.009240 -1.276618 -1.040858 +v 1.048606 -1.276876 1.037875 +v 1.048606 -3.647539 0.777876 +v 1.048606 -1.991474 -0.943280 +v -0.640233 -1.276618 -1.040858 +v 1.081132 -2.284009 1.037875 +v 0.561344 -3.842219 -0.975596 +v 0.691239 -1.309580 -1.008332 +v -1.062653 -2.056367 0.940296 +v -0.997601 -3.907370 0.518086 +v 0.301555 -1.276618 1.102927 +v 0.626396 -1.471813 1.102927 +v -1.030127 -3.874665 0.355666 +v 1.016080 -3.907370 0.517877 +v -0.607707 -3.842219 -1.008122 +v -1.062653 -3.614835 -1.008332 +v 0.983554 -3.647539 -0.683491 +v 1.048606 -3.322815 1.005348 +v 1.081132 -1.276876 0.615455 +v -0.705285 -3.907370 1.005348 +v 0.983554 -1.276618 -0.975596 +v -1.062653 -3.842219 -0.716017 +v 1.081132 -1.893876 0.550403 +v -1.062653 -1.276618 0.842928 +v -1.030127 -3.874665 -0.358440 +v 0.983554 -1.829241 1.070191 +v -0.997601 -3.744879 1.005348 +v -0.932548 -1.276618 -0.975806 +v -1.030127 -3.290111 0.907770 +v 1.016080 -3.874665 0.258087 +v 1.048606 -3.744879 0.972822 +v 1.048606 -3.257665 0.323140 +f 80 67 82 +f 45 47 49 +f 45 49 51 +f 51 42 55 +f 45 51 55 +f 41 52 56 +f 50 43 57 +f 57 51 58 +f 50 57 58 +f 47 42 59 +f 44 47 59 +f 44 42 60 +f 48 44 60 +f 49 47 61 +f 49 61 62 +f 52 49 62 +f 61 44 62 +f 43 50 64 +f 60 43 64 +f 48 60 64 +f 43 42 65 +f 42 51 65 +f 57 43 65 +f 51 57 65 +f 42 47 66 +f 55 42 66 +f 50 54 67 +f 52 41 69 +f 41 56 69 +f 44 48 70 +f 62 44 70 +f 48 68 70 +f 68 62 70 +f 51 49 71 +f 49 52 71 +f 54 50 71 +f 46 54 71 +f 58 51 71 +f 50 58 71 +f 69 46 71 +f 52 69 71 +f 42 44 72 +f 59 42 72 +f 44 63 72 +f 54 46 73 +f 56 53 73 +f 46 69 73 +f 69 56 73 +f 47 45 74 +f 66 47 74 +f 45 66 74 +f 42 43 75 +f 43 60 75 +f 60 42 75 +f 56 52 76 +f 52 62 76 +f 68 56 76 +f 62 68 76 +f 47 44 77 +f 44 61 77 +f 61 47 77 +f 45 55 78 +f 66 45 78 +f 55 66 78 +f 44 59 79 +f 63 44 79 +f 59 72 79 +f 72 63 79 +f 64 50 80 +f 50 67 80 +f 53 56 81 +f 48 64 81 +f 68 48 81 +f 56 68 81 +f 80 53 81 +f 64 80 81 +f 67 54 82 +f 73 53 82 +f 54 73 82 +f 53 80 82 +o convex_2 +v -0.283095 -1.016730 2.109614 +v 0.334056 -0.562023 3.019143 +v 0.301555 -0.562023 3.019143 +v 0.041670 -0.594524 1.103314 +v 0.334056 -1.179173 1.103314 +v 0.204113 -1.179173 3.084303 +v -0.283095 -0.691965 2.954177 +v -0.250594 -1.146673 1.103314 +v -0.250594 -0.594524 1.168087 +v -0.283095 -1.114111 2.921597 +v 0.269054 -0.627085 1.168087 +v -0.185593 -0.562023 1.298020 +v -0.055711 -1.179173 1.362986 +v -0.283095 -1.146673 2.531798 +v -0.283095 -0.627085 2.207160 +v 0.334056 -0.691965 2.954177 +v 0.139112 -1.179173 3.084303 +v 0.334056 -0.594524 2.596765 +v -0.250594 -0.659525 2.954177 +v 0.301555 -0.854408 1.103314 +v 0.334056 -1.179173 1.265633 +v -0.218093 -0.594524 1.103314 +f 91 94 104 +f 84 85 88 +f 86 87 90 +f 90 83 91 +f 89 83 92 +f 86 84 93 +f 85 84 94 +f 84 86 94 +f 87 88 95 +f 90 87 95 +f 83 90 96 +f 92 83 96 +f 90 95 96 +f 83 89 97 +f 91 83 97 +f 94 91 97 +f 87 84 98 +f 84 88 98 +f 88 85 99 +f 85 89 99 +f 89 92 99 +f 95 88 99 +f 92 96 99 +f 96 95 99 +f 84 87 100 +f 93 84 100 +f 89 85 101 +f 85 94 101 +f 97 89 101 +f 94 97 101 +f 87 86 102 +f 86 93 102 +f 100 87 102 +f 93 100 102 +f 88 87 103 +f 87 98 103 +f 98 88 103 +f 86 90 104 +f 90 91 104 +f 94 86 104 +o convex_3 +v 0.334056 -0.854383 -2.209992 +v -0.348058 -1.244136 -3.054717 +v -0.348058 -1.146628 -3.054717 +v -0.315541 -1.016734 -1.105821 +v -0.283091 -0.562138 -2.989474 +v 0.301472 -0.594594 -1.105821 +v 0.334056 -1.081716 -1.105821 +v 0.334056 -1.081716 -2.989474 +v 0.204056 -0.529541 -3.054717 +v -0.315541 -0.692032 -1.105821 +v -0.185609 -1.244136 -1.105821 +v 0.074123 -1.179084 -3.022095 +v 0.236506 -0.562138 -1.366030 +v -0.348058 -0.789470 -1.430701 +v -0.283091 -1.244136 -1.105821 +v -0.283091 -0.562138 -2.632354 +v -0.185609 -1.244136 -3.054717 +v 0.301472 -1.114172 -2.242614 +v -0.088192 -0.529541 -2.957234 +v 0.106573 -0.594594 -1.105821 +v 0.301472 -0.854383 -3.022095 +v -0.315541 -0.627050 -1.788011 +v 0.236506 -0.562138 -2.794508 +v -0.348058 -1.244136 -2.729837 +v 0.334056 -0.854383 -1.105821 +v -0.315541 -0.627050 -2.209992 +f 118 126 130 +f 110 108 111 +f 105 111 112 +f 106 107 113 +f 107 109 113 +f 108 110 114 +f 111 108 115 +f 110 113 117 +f 107 106 118 +f 108 114 118 +f 106 115 119 +f 115 108 119 +f 106 113 121 +f 115 106 121 +f 116 115 121 +f 112 111 122 +f 111 115 122 +f 116 112 122 +f 115 116 122 +f 113 109 123 +f 117 113 123 +f 109 120 123 +f 120 117 123 +f 114 110 124 +f 110 117 124 +f 117 120 124 +f 105 112 125 +f 112 116 125 +f 121 113 125 +f 116 121 125 +f 118 114 126 +f 120 109 126 +f 114 124 126 +f 124 120 126 +f 110 105 127 +f 113 110 127 +f 105 125 127 +f 125 113 127 +f 118 106 128 +f 108 118 128 +f 106 119 128 +f 119 108 128 +f 105 110 129 +f 111 105 129 +f 110 111 129 +f 109 107 130 +f 107 118 130 +f 126 109 130 +o convex_4 +v -0.835180 -0.789470 -1.008313 +v 1.081132 -1.244035 0.777971 +v 1.081132 -1.276618 0.777971 +v -1.062653 -1.276618 0.940341 +v -0.185707 -0.497060 1.102927 +v 1.048396 -0.497060 -0.975882 +v 1.016080 -1.276618 -0.975882 +v -0.997601 -0.497060 -0.943235 +v -0.997601 -1.276618 -0.943235 +v 1.048396 -0.497060 1.037849 +v -1.029917 -0.497060 0.940341 +v 0.463976 -1.276618 1.102927 +v -0.185707 -1.244035 -1.105821 +v -0.412970 -0.497060 -1.105821 +v 1.048396 -1.276618 1.037849 +v 0.301555 -0.594657 -1.105821 +v -0.250549 -1.146590 1.102927 +v 1.048396 -1.276618 -0.943235 +v 0.334081 -1.081728 -1.105821 +v -0.640233 -1.276618 -1.040744 +v -1.062653 -0.984284 0.875479 +v 0.983554 -0.497060 -1.008313 +v 0.269029 -0.659519 1.102927 +v -1.029917 -0.497060 0.095845 +v 1.081132 -1.114083 0.615601 +v -0.250549 -0.497060 1.102927 +v -0.412970 -0.886839 -1.105821 +v -0.965075 -0.497060 -0.975882 +f 138 144 158 +f 133 134 137 +f 135 136 138 +f 137 134 139 +f 133 132 140 +f 136 135 140 +f 135 138 141 +f 134 133 142 +f 138 136 144 +f 133 140 145 +f 142 133 145 +f 140 142 145 +f 143 144 146 +f 134 142 147 +f 142 135 147 +f 133 137 148 +f 137 136 148 +f 137 143 149 +f 143 146 149 +f 137 139 150 +f 139 131 150 +f 143 137 150 +f 139 134 151 +f 138 139 151 +f 134 141 151 +f 136 137 152 +f 144 136 152 +f 146 144 152 +f 137 149 152 +f 149 146 152 +f 140 135 153 +f 135 142 153 +f 142 140 153 +f 141 138 154 +f 138 151 154 +f 151 141 154 +f 132 133 155 +f 140 132 155 +f 136 140 155 +f 133 148 155 +f 148 136 155 +f 141 134 156 +f 135 141 156 +f 134 147 156 +f 147 135 156 +f 131 144 157 +f 144 143 157 +f 150 131 157 +f 143 150 157 +f 131 139 158 +f 139 138 158 +f 144 131 158 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/296/296.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/296/296.urdf new file mode 100644 index 000000000..78ae6fc8c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/296/296.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/297/297.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/297/297.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/297/297.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/297/297.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/297/297.obj new file mode 100644 index 000000000..be7adb7df --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/297/297.obj @@ -0,0 +1,1692 @@ +o convex_0 +v 0.069576 -0.460384 -0.020588 +v 0.028309 -0.061476 0.463698 +v 0.033814 -0.099950 0.458151 +v 0.072328 -0.584184 0.414112 +v 0.080586 -0.518147 -0.015042 +v 0.033814 -0.066957 0.001455 +v 0.039314 -0.061476 -0.020588 +v 0.077833 -0.581443 0.414112 +v 0.025561 -0.072439 0.449903 +v 0.075081 -0.529162 0.006954 +v 0.039314 -0.061476 0.004205 +v 0.031061 -0.066957 0.452605 +v 0.072328 -0.584184 0.400365 +v 0.039314 -0.124720 -0.017744 +v 0.077833 -0.589717 0.400365 +v 0.025561 -0.061476 0.463698 +v 0.080586 -0.523628 -0.020588 +v 0.075081 -0.545658 0.394866 +v 0.028309 -0.064165 0.268248 +v 0.036561 -0.061476 -0.020588 +v 0.025561 -0.072439 0.463698 +v 0.075081 -0.523628 -0.017791 +v 0.080586 -0.531902 0.017952 +v 0.075081 -0.589717 0.400365 +v 0.033814 -0.061476 0.001455 +v 0.055818 -0.309074 -0.017791 +v 0.031061 -0.130253 0.430657 +v 0.072328 -0.537384 0.419611 +v 0.036561 -0.091728 -0.020588 +v 0.080586 -0.520888 -0.001294 +v 0.050318 -0.179742 -0.020588 +v 0.031061 -0.061476 0.425158 +v 0.075081 -0.534643 0.034496 +v 0.025561 -0.061476 0.411410 +v 0.058571 -0.435614 0.425110 +f 27 13 35 +f 3 2 8 +f 7 2 11 +f 2 3 12 +f 3 8 12 +f 8 4 15 +f 2 7 16 +f 1 7 17 +f 12 8 18 +f 11 12 18 +f 6 14 19 +f 7 1 20 +f 16 7 20 +f 2 16 21 +f 16 9 21 +f 1 17 22 +f 17 10 22 +f 8 15 23 +f 17 5 23 +f 10 17 23 +f 4 13 24 +f 15 4 24 +f 6 19 25 +f 16 20 25 +f 20 6 25 +f 10 13 26 +f 19 14 26 +f 22 10 26 +f 1 22 26 +f 9 19 27 +f 26 13 27 +f 19 26 27 +f 8 2 28 +f 4 8 28 +f 2 21 28 +f 21 4 28 +f 14 6 29 +f 20 1 29 +f 6 20 29 +f 1 26 29 +f 26 14 29 +f 5 11 30 +f 18 8 30 +f 11 18 30 +f 23 5 30 +f 8 23 30 +f 7 11 31 +f 11 5 31 +f 17 7 31 +f 5 17 31 +f 11 2 32 +f 2 12 32 +f 12 11 32 +f 13 10 33 +f 23 15 33 +f 10 23 33 +f 24 13 33 +f 15 24 33 +f 9 16 34 +f 19 9 34 +f 25 19 34 +f 16 25 34 +f 13 4 35 +f 4 21 35 +f 21 9 35 +f 9 27 35 +o convex_1 +v 0.028311 0.172483 0.034445 +v 0.069579 -0.061405 -0.471809 +v 0.069579 -0.058635 -0.474568 +v 0.069579 0.164218 -0.502107 +v 0.039313 -0.058635 0.004147 +v 0.025554 0.169712 0.006906 +v 0.031062 -0.042128 0.026167 +v 0.064075 0.161470 -0.507625 +v 0.072331 -0.055888 -0.441564 +v 0.031062 0.172483 0.012424 +v 0.055820 -0.061405 -0.298459 +v 0.036566 -0.039381 0.034445 +v 0.064075 0.172483 -0.507625 +v 0.033814 -0.061405 0.034445 +v 0.025554 0.111927 0.031632 +v 0.072331 -0.061405 -0.471809 +v 0.066827 -0.047646 -0.452601 +v 0.066827 0.172483 -0.469050 +v 0.072331 0.032164 -0.488311 +v 0.033814 -0.061405 -0.001372 +v 0.025554 0.172483 0.034445 +v 0.069579 -0.061405 -0.403042 +v 0.042065 0.169712 -0.216003 +v 0.036566 -0.061405 0.034445 +v 0.069579 0.158723 -0.507625 +v 0.069579 0.158723 -0.499348 +v 0.066827 0.026669 -0.485605 +v 0.031062 -0.042128 0.034445 +v 0.031062 0.122939 0.034445 +v 0.025554 0.172483 0.006906 +v 0.072331 0.037658 -0.482846 +v 0.064075 0.103685 -0.482846 +v 0.031062 0.166942 0.015130 +f 64 47 68 +f 40 44 47 +f 36 45 48 +f 46 37 49 +f 47 36 49 +f 46 42 50 +f 37 38 51 +f 49 37 51 +f 38 37 52 +f 37 46 52 +f 39 48 53 +f 48 45 53 +f 51 38 54 +f 44 51 54 +f 42 46 55 +f 49 42 55 +f 46 49 55 +f 36 48 56 +f 49 36 56 +f 41 50 56 +f 44 40 57 +f 51 44 57 +f 49 51 57 +f 48 43 58 +f 50 41 58 +f 40 47 59 +f 47 49 59 +f 57 40 59 +f 49 57 59 +f 38 43 60 +f 43 48 60 +f 48 39 60 +f 54 38 60 +f 39 53 61 +f 53 45 61 +f 43 38 62 +f 38 52 62 +f 42 49 63 +f 50 42 63 +f 49 56 63 +f 56 50 63 +f 36 47 64 +f 56 48 65 +f 41 56 65 +f 58 41 65 +f 48 58 65 +f 47 44 66 +f 44 54 66 +f 60 39 66 +f 54 60 66 +f 39 61 66 +f 61 47 66 +f 46 50 67 +f 52 46 67 +f 58 43 67 +f 50 58 67 +f 43 62 67 +f 62 52 67 +f 45 36 68 +f 47 61 68 +f 61 45 68 +f 36 64 68 +o convex_2 +v 0.020054 0.494412 0.012384 +v 0.064074 0.172483 -0.507563 +v 0.064074 0.177989 -0.510336 +v 0.061321 0.532921 -0.554338 +v 0.053066 0.563188 -0.537881 +v 0.017301 0.362329 0.031672 +v 0.031056 0.178028 0.009612 +v 0.066822 0.177989 -0.471819 +v 0.025555 0.175295 0.004127 +v 0.014548 0.491640 0.015157 +v 0.055820 0.563188 -0.493820 +v 0.020054 0.455865 0.034445 +v 0.028308 0.172483 0.034445 +v 0.055820 0.571468 -0.568140 +v 0.061321 0.175256 -0.477304 +v 0.066822 0.288124 -0.526851 +v 0.014548 0.491640 0.034445 +v 0.022807 0.197282 0.034445 +v 0.055820 0.541122 -0.565368 +v 0.066822 0.172483 -0.507563 +v 0.028308 0.219309 0.028900 +v 0.014548 0.483360 0.015157 +v 0.061321 0.543934 -0.565368 +v 0.066822 0.186269 -0.474591 +v 0.022807 0.491640 -0.017875 +v 0.064074 0.172483 -0.433302 +v 0.050318 0.563188 -0.493820 +v 0.025555 0.172483 0.006899 +v 0.042059 0.535654 -0.378269 +v 0.058573 0.571468 -0.554338 +v 0.031056 0.180801 -0.072907 +v 0.061321 0.274299 -0.521366 +v 0.058573 0.337646 -0.430530 +v 0.066822 0.290819 -0.521366 +v 0.014548 0.447586 0.034445 +v 0.017301 0.491640 0.034445 +v 0.033810 0.172483 -0.026132 +v 0.058573 0.568695 -0.535109 +v 0.028308 0.205523 0.034445 +v 0.025555 0.172483 0.034445 +v 0.039316 0.499919 -0.243490 +v 0.033810 0.189042 -0.031618 +v 0.020054 0.491640 0.017870 +f 104 80 111 +f 71 70 83 +f 81 80 85 +f 74 77 86 +f 81 85 86 +f 73 82 87 +f 84 71 87 +f 70 71 88 +f 81 70 88 +f 84 76 88 +f 71 84 88 +f 78 73 90 +f 85 78 90 +f 87 82 91 +f 84 87 91 +f 75 76 92 +f 76 84 92 +f 80 89 93 +f 76 75 94 +f 88 76 94 +f 81 88 94 +f 73 78 95 +f 82 73 95 +f 78 85 95 +f 70 81 96 +f 83 70 96 +f 77 83 96 +f 86 77 96 +f 73 87 97 +f 90 73 97 +f 74 90 97 +f 91 82 98 +f 82 95 98 +f 95 85 98 +f 77 74 99 +f 83 77 99 +f 74 97 99 +f 99 97 100 +f 71 83 100 +f 87 71 100 +f 97 87 100 +f 83 99 100 +f 92 72 101 +f 91 72 102 +f 84 91 102 +f 72 92 102 +f 92 84 102 +f 74 86 103 +f 86 85 103 +f 90 74 103 +f 85 90 103 +f 69 79 104 +f 85 80 104 +f 79 98 104 +f 98 85 104 +f 75 81 105 +f 94 75 105 +f 81 94 105 +f 79 72 106 +f 72 91 106 +f 98 79 106 +f 91 98 106 +f 81 75 107 +f 80 81 107 +f 75 89 107 +f 89 80 107 +f 81 86 108 +f 96 81 108 +f 86 96 108 +f 72 79 109 +f 79 93 109 +f 101 72 109 +f 101 109 110 +f 89 75 110 +f 75 92 110 +f 93 89 110 +f 92 101 110 +f 109 93 110 +f 79 69 111 +f 93 79 111 +f 80 93 111 +f 69 104 111 +o convex_3 +v 0.080584 -0.512666 -0.111424 +v 0.058578 -0.289790 -0.020634 +v 0.055824 -0.289790 -0.020634 +v 0.064080 -0.289790 -0.254476 +v 0.075080 -0.471364 -0.254476 +v 0.075080 -0.520908 -0.020634 +v 0.058578 -0.292560 -0.232431 +v 0.080584 -0.518137 -0.020634 +v 0.080584 -0.468640 -0.254476 +v 0.061329 -0.300802 -0.026128 +v 0.055824 -0.306343 -0.028875 +v 0.077831 -0.490641 -0.254476 +v 0.064080 -0.289790 -0.218673 +v 0.061329 -0.317332 -0.254476 +v 0.075080 -0.520908 -0.031622 +v 0.080584 -0.479629 -0.191156 +v 0.080584 -0.490641 -0.254476 +v 0.064080 -0.350345 -0.251683 +v 0.055824 -0.289790 -0.092148 +v 0.077831 -0.523678 -0.037139 +v 0.072329 -0.375117 -0.248936 +v 0.072329 -0.424614 -0.020634 +v 0.061329 -0.289790 -0.254476 +v 0.075080 -0.474135 -0.246189 +v 0.055824 -0.306343 -0.020634 +v 0.061329 -0.289790 -0.078390 +v 0.055824 -0.295307 -0.081160 +v 0.080584 -0.523678 -0.020634 +v 0.080584 -0.512666 -0.039886 +v 0.064080 -0.300802 -0.166387 +v 0.066831 -0.314562 -0.254476 +f 124 132 142 +f 114 113 115 +f 113 114 117 +f 113 117 119 +f 116 115 120 +f 119 112 120 +f 116 120 123 +f 115 113 124 +f 115 116 125 +f 117 122 126 +f 119 120 127 +f 120 112 128 +f 112 123 128 +f 123 120 128 +f 125 116 129 +f 118 125 129 +f 114 115 130 +f 122 114 130 +f 123 112 131 +f 117 126 131 +f 126 123 131 +f 127 120 132 +f 113 119 133 +f 121 113 133 +f 115 125 134 +f 125 118 134 +f 130 115 134 +f 118 130 134 +f 116 123 135 +f 123 126 135 +f 129 116 135 +f 126 129 135 +f 117 114 136 +f 114 122 136 +f 122 117 136 +f 113 121 137 +f 124 113 137 +f 126 122 138 +f 118 129 138 +f 129 126 138 +f 130 118 138 +f 122 130 138 +f 112 119 139 +f 119 117 139 +f 131 112 139 +f 117 131 139 +f 119 127 140 +f 133 119 140 +f 127 133 140 +f 132 124 141 +f 127 132 141 +f 121 133 141 +f 133 127 141 +f 137 121 141 +f 124 137 141 +f 120 115 142 +f 115 124 142 +f 132 120 142 +o convex_4 +v 0.055826 -0.061450 -0.218740 +v 0.075083 -0.289790 -0.438833 +v 0.077835 -0.289790 -0.438833 +v 0.072327 -0.061450 -0.471854 +v 0.050324 -0.097215 -0.207742 +v 0.061328 -0.289790 -0.204973 +v 0.066825 -0.064199 -0.444293 +v 0.058576 -0.286996 -0.235250 +v 0.077835 -0.234734 -0.436064 +v 0.072327 -0.061450 -0.438807 +v 0.064078 -0.284246 -0.229738 +v 0.072327 -0.220964 -0.449805 +v 0.050324 -0.061450 -0.204973 +v 0.055826 -0.265000 -0.204973 +v 0.055826 -0.088945 -0.204973 +v 0.077835 -0.289790 -0.414068 +v 0.075083 -0.088922 -0.469085 +v 0.069578 -0.077947 -0.471854 +v 0.072327 -0.286996 -0.419528 +v 0.053074 -0.064199 -0.260016 +v 0.061328 -0.242982 -0.210485 +v 0.058576 -0.289790 -0.232507 +v 0.069578 -0.061450 -0.471854 +v 0.077835 -0.220986 -0.449832 +v 0.050324 -0.080696 -0.215997 +v 0.069578 -0.099965 -0.466316 +v 0.075083 -0.088922 -0.463573 +v 0.077835 -0.284269 -0.414068 +v 0.055826 -0.253980 -0.213228 +v 0.050324 -0.061450 -0.221483 +v 0.058576 -0.171496 -0.204973 +v 0.058576 -0.289790 -0.204973 +f 156 164 174 +f 144 145 148 +f 146 143 152 +f 143 146 155 +f 155 147 156 +f 148 155 156 +f 152 143 157 +f 143 155 157 +f 155 148 157 +f 148 145 158 +f 145 151 158 +f 153 148 158 +f 146 152 159 +f 146 159 160 +f 154 144 161 +f 150 154 161 +f 148 153 163 +f 144 148 164 +f 156 150 164 +f 161 144 164 +f 150 161 164 +f 155 146 165 +f 146 160 165 +f 160 149 165 +f 145 144 166 +f 151 145 166 +f 144 154 166 +f 154 160 166 +f 160 159 166 +f 147 155 167 +f 167 162 168 +f 149 160 168 +f 160 154 168 +f 162 149 168 +f 154 167 168 +f 159 152 169 +f 151 166 169 +f 166 159 169 +f 158 151 170 +f 153 158 170 +f 163 153 170 +f 151 169 170 +f 154 150 171 +f 156 147 171 +f 150 156 171 +f 147 167 171 +f 167 154 171 +f 149 162 172 +f 155 165 172 +f 165 149 172 +f 167 155 172 +f 162 167 172 +f 152 157 173 +f 157 148 173 +f 148 163 173 +f 169 152 173 +f 163 170 173 +f 170 169 173 +f 148 156 174 +f 164 148 174 +o convex_5 +v 0.025553 -0.036636 0.287594 +v 0.000792 0.241273 0.491174 +v 0.003542 0.241273 0.447170 +v 0.028304 -0.039392 0.463671 +v 0.006293 0.241273 0.287594 +v -0.001962 0.227496 0.482923 +v 0.022803 -0.042118 0.466422 +v 0.031057 -0.033881 0.298615 +v 0.003542 0.208238 0.287594 +v 0.031057 -0.061405 0.287594 +v 0.000792 0.241273 0.309636 +v 0.025553 -0.061405 0.397645 +v 0.031057 -0.061405 0.414146 +v 0.006293 0.241273 0.315136 +v 0.003542 0.230252 0.491174 +v 0.028304 -0.061405 0.463671 +v -0.001962 0.241273 0.491174 +v 0.028304 -0.000846 0.287594 +v 0.025553 -0.009112 0.469172 +v 0.028304 -0.061405 0.287594 +v 0.017298 0.015657 0.466422 +v -0.001962 0.238518 0.430648 +v -0.001962 0.227496 0.491174 +v 0.025553 -0.061405 0.463671 +v 0.003542 0.233007 0.485673 +v 0.031057 -0.053139 0.389394 +v 0.025553 -0.039392 0.295884 +v 0.003542 0.219260 0.491174 +v 0.003542 0.241273 0.287594 +v 0.000792 0.233007 0.315136 +v 0.009047 0.213749 0.287594 +f 188 192 205 +f 176 177 179 +f 179 175 183 +f 175 179 184 +f 176 179 185 +f 186 184 187 +f 184 182 187 +f 179 177 188 +f 186 187 190 +f 187 178 190 +f 176 185 191 +f 189 176 191 +f 184 179 192 +f 182 184 192 +f 188 182 192 +f 181 190 193 +f 190 178 193 +f 175 184 194 +f 184 186 194 +f 186 181 195 +f 180 191 196 +f 191 185 196 +f 195 180 196 +f 191 180 197 +f 189 191 197 +f 180 195 197 +f 195 181 197 +f 181 186 198 +f 190 181 198 +f 186 190 198 +f 177 176 199 +f 188 177 199 +f 176 189 199 +f 193 188 199 +f 189 193 199 +f 178 187 200 +f 187 182 200 +f 182 188 200 +f 193 178 200 +f 188 193 200 +f 183 175 201 +f 175 194 201 +f 194 186 201 +f 186 195 201 +f 196 183 201 +f 195 196 201 +f 193 189 202 +f 181 193 202 +f 197 181 202 +f 189 197 202 +f 179 183 203 +f 185 179 203 +f 183 185 203 +f 185 183 204 +f 183 196 204 +f 196 185 204 +f 179 188 205 +f 192 179 205 +o convex_6 +v -0.007460 0.450376 0.337094 +v 0.022801 0.241297 0.034445 +v 0.025551 0.241297 0.034445 +v 0.014546 0.488919 0.034445 +v -0.001959 0.442110 0.337094 +v 0.000791 0.241297 0.309589 +v 0.003545 0.241297 0.339875 +v 0.020050 0.450376 0.037225 +v 0.014546 0.433868 0.037225 +v 0.025551 0.246800 0.053728 +v 0.020050 0.244037 0.048227 +v 0.017297 0.488919 0.053728 +v -0.007460 0.431129 0.334344 +v 0.003545 0.268811 0.339875 +v 0.011793 0.486156 0.053728 +v -0.001959 0.260569 0.337094 +v -0.001959 0.450376 0.331593 +v 0.014543 0.241297 0.122522 +v -0.007460 0.425602 0.339875 +v 0.009046 0.241297 0.276552 +v 0.025551 0.282556 0.034445 +v 0.020050 0.274314 0.034445 +v 0.011793 0.477890 0.136274 +v 0.011793 0.486156 0.075733 +v 0.017297 0.488919 0.034445 +v 0.000791 0.255042 0.301307 +v -0.001959 0.458642 0.249047 +v 0.000791 0.241297 0.339875 +v -0.001959 0.433868 0.339875 +v 0.011793 0.480653 0.053728 +v 0.025551 0.241297 0.053728 +v 0.003545 0.288083 0.331593 +f 215 228 237 +f 208 207 209 +f 207 208 211 +f 211 208 212 +f 206 210 222 +f 207 211 223 +f 216 207 223 +f 206 218 224 +f 212 219 224 +f 218 221 224 +f 212 208 225 +f 219 212 225 +f 215 219 225 +f 208 209 226 +f 215 208 226 +f 213 215 226 +f 209 207 227 +f 214 209 227 +f 207 216 227 +f 216 223 227 +f 223 214 227 +f 215 213 228 +f 213 217 228 +f 206 222 228 +f 222 210 228 +f 217 209 229 +f 209 220 229 +f 220 206 229 +f 206 228 229 +f 228 217 229 +f 209 217 230 +f 217 213 230 +f 226 209 230 +f 213 226 230 +f 218 214 231 +f 211 221 231 +f 221 218 231 +f 223 211 231 +f 214 223 231 +f 218 206 232 +f 206 220 232 +f 211 212 233 +f 221 211 233 +f 212 224 233 +f 224 221 233 +f 210 206 234 +f 219 210 234 +f 206 224 234 +f 224 219 234 +f 209 214 235 +f 214 218 235 +f 220 209 235 +f 218 232 235 +f 232 220 235 +f 208 215 236 +f 225 208 236 +f 215 225 236 +f 210 219 237 +f 219 215 237 +f 228 210 237 +o convex_7 +v 0.080587 -0.465880 -0.411305 +v 0.072333 -0.366835 -0.328788 +v 0.069580 -0.366835 -0.328788 +v 0.077834 -0.366835 -0.425076 +v 0.080587 -0.452123 -0.328788 +v 0.080587 -0.366835 -0.416810 +v 0.077834 -0.465880 -0.411305 +v 0.077834 -0.476879 -0.328788 +v 0.069580 -0.391613 -0.337036 +v 0.075083 -0.372351 -0.419562 +v 0.075083 -0.366835 -0.342541 +v 0.080587 -0.476879 -0.328788 +v 0.075083 -0.454870 -0.328788 +v 0.080587 -0.386108 -0.425076 +v 0.069580 -0.366835 -0.345294 +v 0.075083 -0.441113 -0.389295 +v 0.077834 -0.476879 -0.348046 +v 0.069580 -0.394370 -0.328788 +v 0.077834 -0.405369 -0.422315 +f 251 238 256 +f 240 239 241 +f 239 240 242 +f 241 239 243 +f 242 238 243 +f 242 240 245 +f 239 242 248 +f 243 239 248 +f 242 243 248 +f 238 242 249 +f 242 245 249 +f 245 240 250 +f 241 243 251 +f 243 238 251 +f 240 241 252 +f 246 240 252 +f 241 247 252 +f 247 246 252 +f 247 244 253 +f 246 247 253 +f 244 250 253 +f 244 238 254 +f 238 249 254 +f 249 245 254 +f 245 250 254 +f 250 244 254 +f 240 246 255 +f 250 240 255 +f 246 253 255 +f 253 250 255 +f 238 244 256 +f 247 241 256 +f 244 247 256 +f 241 251 256 +o convex_8 +v 0.077833 -0.482381 -0.312249 +v 0.069582 -0.366848 -0.254476 +v 0.066831 -0.366848 -0.254476 +v 0.072333 -0.366848 -0.328762 +v 0.080587 -0.465874 -0.254476 +v 0.069582 -0.394370 -0.328762 +v 0.075082 -0.471377 -0.254476 +v 0.080587 -0.452119 -0.328762 +v 0.072333 -0.372362 -0.262744 +v 0.080587 -0.490646 -0.254476 +v 0.066831 -0.369611 -0.303995 +v 0.080587 -0.479630 -0.328762 +v 0.075082 -0.454870 -0.328762 +v 0.066831 -0.377864 -0.254476 +v 0.075082 -0.391619 -0.315005 +v 0.077833 -0.490646 -0.257239 +v 0.069582 -0.366848 -0.328762 +f 262 267 273 +f 259 258 260 +f 258 259 261 +f 261 259 263 +f 262 260 264 +f 260 258 265 +f 258 261 265 +f 261 263 266 +f 264 261 266 +f 262 264 268 +f 264 266 268 +f 257 263 269 +f 267 262 269 +f 263 267 269 +f 268 257 269 +f 262 268 269 +f 263 259 270 +f 259 267 270 +f 267 263 270 +f 261 264 271 +f 264 260 271 +f 260 265 271 +f 265 261 271 +f 263 257 272 +f 266 263 272 +f 257 268 272 +f 268 266 272 +f 259 260 273 +f 260 262 273 +f 267 259 273 +o convex_9 +v 0.064080 -0.289790 -0.254497 +v 0.077832 -0.366828 -0.427812 +v 0.080587 -0.366828 -0.427812 +v 0.075079 -0.289790 -0.438801 +v 0.066831 -0.366828 -0.309550 +v 0.069581 -0.344808 -0.254497 +v 0.077832 -0.289790 -0.414026 +v 0.061325 -0.295310 -0.268246 +v 0.066829 -0.366828 -0.254497 +v 0.075079 -0.347553 -0.430555 +v 0.066829 -0.289790 -0.265486 +v 0.080587 -0.366828 -0.416805 +v 0.072332 -0.289790 -0.416805 +v 0.061325 -0.317314 -0.254497 +v 0.069581 -0.366828 -0.254497 +v 0.077832 -0.289790 -0.438801 +v 0.080587 -0.344808 -0.425033 +v 0.075079 -0.366828 -0.419548 +v 0.061325 -0.289790 -0.254497 +v 0.064080 -0.347553 -0.262743 +v 0.072332 -0.295310 -0.416805 +v 0.066831 -0.364075 -0.312292 +f 281 294 295 +f 276 275 277 +f 275 276 278 +f 277 274 280 +f 278 276 282 +f 279 274 282 +f 277 275 283 +f 274 279 284 +f 280 274 284 +f 279 280 284 +f 282 276 285 +f 274 277 286 +f 282 274 287 +f 279 282 288 +f 285 279 288 +f 282 285 288 +f 276 277 289 +f 277 280 289 +f 289 280 290 +f 280 279 290 +f 285 276 290 +f 279 285 290 +f 276 289 290 +f 275 278 291 +f 283 275 291 +f 274 286 292 +f 286 281 292 +f 287 274 292 +f 281 287 292 +f 278 282 293 +f 287 278 293 +f 282 287 293 +f 277 283 294 +f 286 277 294 +f 281 286 294 +f 287 281 295 +f 278 287 295 +f 291 278 295 +f 283 291 295 +f 294 283 295 +o convex_10 +v -0.007464 0.362345 0.427912 +v -0.001962 0.304560 0.339877 +v 0.000790 0.304560 0.339877 +v -0.004714 0.362345 0.339877 +v -0.010217 0.332084 0.427912 +v -0.001962 0.304560 0.425163 +v 0.000790 0.345823 0.342635 +v -0.007464 0.310064 0.389406 +v -0.010217 0.362345 0.403152 +v -0.001962 0.362345 0.370153 +v -0.007464 0.304560 0.427912 +v -0.004714 0.304560 0.353641 +v -0.004714 0.362345 0.408650 +v -0.004714 0.337565 0.339877 +v 0.000790 0.304560 0.359139 +v -0.010217 0.362345 0.427912 +v -0.001962 0.362345 0.339877 +f 305 302 312 +f 298 297 299 +f 297 298 301 +f 296 299 304 +f 303 300 304 +f 299 296 305 +f 301 302 305 +f 296 300 306 +f 297 301 306 +f 301 296 306 +f 300 303 306 +f 306 303 307 +f 303 304 307 +f 297 306 307 +f 296 301 308 +f 305 296 308 +f 301 305 308 +f 299 297 309 +f 304 299 309 +f 297 307 309 +f 307 304 309 +f 301 298 310 +f 298 302 310 +f 302 301 310 +f 300 296 311 +f 296 304 311 +f 304 300 311 +f 298 299 312 +f 302 298 312 +f 299 305 312 +o convex_11 +v 0.058571 -0.289778 -0.122398 +v 0.047569 -0.171470 -0.020598 +v 0.044816 -0.171470 -0.020598 +v 0.047569 -0.171470 -0.122398 +v 0.058571 -0.270508 -0.023358 +v 0.053070 -0.276021 -0.020598 +v 0.053070 -0.190752 -0.122398 +v 0.047569 -0.193497 -0.122398 +v 0.061325 -0.281521 -0.122398 +v 0.050320 -0.171470 -0.056375 +v 0.055821 -0.287022 -0.116877 +v 0.058571 -0.289778 -0.020598 +v 0.044816 -0.182495 -0.034361 +v 0.050320 -0.179739 -0.020598 +v 0.055821 -0.289778 -0.020598 +v 0.061325 -0.287022 -0.089362 +v 0.044816 -0.174238 -0.072868 +v 0.050320 -0.171470 -0.122398 +v 0.053070 -0.190752 -0.108625 +v 0.055821 -0.289778 -0.105875 +f 325 329 332 +f 315 314 316 +f 314 315 318 +f 313 316 319 +f 316 313 320 +f 313 319 321 +f 316 314 322 +f 320 313 323 +f 314 318 324 +f 318 315 325 +f 322 314 326 +f 317 322 326 +f 314 324 326 +f 324 317 326 +f 324 318 327 +f 313 324 327 +f 313 321 328 +f 317 324 328 +f 324 313 328 +f 315 316 329 +f 316 320 329 +f 325 315 329 +f 319 316 330 +f 322 319 330 +f 316 322 330 +f 321 319 331 +f 319 322 331 +f 322 317 331 +f 328 321 331 +f 317 328 331 +f 323 313 332 +f 320 323 332 +f 318 325 332 +f 313 327 332 +f 327 318 332 +f 329 320 332 +o convex_12 +v 0.053070 -0.171470 -0.204938 +v 0.047567 -0.061405 -0.119655 +v 0.050319 -0.088922 -0.130666 +v 0.047567 -0.171470 -0.119655 +v 0.047567 -0.061405 -0.185679 +v 0.055822 -0.094427 -0.202183 +v 0.055822 -0.171470 -0.169167 +v 0.044816 -0.124680 -0.122410 +v 0.053070 -0.061405 -0.204938 +v 0.053070 -0.165965 -0.133412 +v 0.044816 -0.061405 -0.119655 +v 0.050319 -0.105449 -0.204938 +v 0.055822 -0.171470 -0.204938 +v 0.053070 -0.061405 -0.180178 +v 0.047567 -0.168712 -0.138914 +v 0.050319 -0.113701 -0.119655 +v 0.044816 -0.066911 -0.147170 +v 0.050319 -0.171470 -0.119655 +v 0.050319 -0.061405 -0.204938 +f 341 344 351 +f 336 333 339 +f 337 334 341 +f 338 335 342 +f 339 338 342 +f 336 334 343 +f 334 337 343 +f 340 336 343 +f 341 333 344 +f 339 333 345 +f 338 339 345 +f 333 341 345 +f 341 338 345 +f 334 335 346 +f 335 338 346 +f 341 334 346 +f 338 341 346 +f 333 336 347 +f 336 340 347 +f 344 333 347 +f 340 344 347 +f 335 334 348 +f 334 336 348 +f 342 335 348 +f 343 337 349 +f 340 343 349 +f 344 340 349 +f 337 344 349 +f 336 339 350 +f 339 342 350 +f 348 336 350 +f 342 348 350 +f 337 341 351 +f 344 337 351 +o convex_13 +v 0.017300 0.191734 0.188535 +v 0.025554 0.128457 0.034445 +v 0.022801 0.183507 0.037205 +v 0.028306 0.199994 0.037205 +v 0.011796 0.241273 0.160993 +v 0.014548 0.128457 0.174764 +v 0.028306 0.128457 0.067477 +v 0.025554 0.241273 0.053721 +v 0.022801 0.241273 0.034445 +v 0.014548 0.241273 0.188535 +v 0.020051 0.128457 0.177525 +v 0.011796 0.183507 0.188535 +v 0.020051 0.235752 0.050961 +v 0.014548 0.128457 0.188535 +v 0.017300 0.241273 0.166514 +v 0.028306 0.128457 0.034445 +v 0.022801 0.133978 0.059211 +v 0.011796 0.241273 0.188535 +v 0.011796 0.194495 0.180255 +v 0.025554 0.241273 0.034445 +v 0.020051 0.133978 0.177525 +v 0.017300 0.128457 0.188535 +f 365 362 373 +f 357 353 358 +f 356 359 360 +f 353 354 360 +f 359 356 361 +f 357 358 362 +f 352 361 363 +f 356 360 364 +f 360 354 364 +f 357 362 365 +f 363 357 365 +f 352 363 365 +f 355 359 366 +f 361 352 366 +f 359 361 366 +f 358 353 367 +f 355 358 367 +f 353 360 367 +f 354 353 368 +f 353 357 368 +f 364 354 368 +f 361 356 369 +f 356 363 369 +f 363 361 369 +f 363 356 370 +f 357 363 370 +f 356 364 370 +f 368 357 370 +f 364 368 370 +f 359 355 371 +f 360 359 371 +f 355 367 371 +f 367 360 371 +f 358 355 372 +f 352 362 372 +f 362 358 372 +f 366 352 372 +f 355 366 372 +f 362 352 373 +f 352 365 373 +o convex_14 +v -0.004714 0.304560 0.496717 +v 0.000790 0.241279 0.339875 +v -0.001962 0.257793 0.342653 +v 0.000790 0.304560 0.339875 +v 0.000790 0.241279 0.491205 +v -0.007465 0.301798 0.422410 +v -0.004714 0.257793 0.493938 +v 0.003541 0.244036 0.433418 +v -0.001962 0.290797 0.496717 +v 0.003541 0.241279 0.339875 +v -0.004714 0.304560 0.356394 +v -0.001962 0.241279 0.419647 +v -0.007465 0.304560 0.496717 +v 0.003541 0.263294 0.339875 +v 0.000790 0.304560 0.359158 +v 0.000790 0.260544 0.493938 +v -0.007465 0.288040 0.485709 +v -0.001962 0.241279 0.491205 +v -0.001962 0.304560 0.339875 +v -0.004714 0.285290 0.364654 +f 379 384 393 +f 375 377 383 +f 378 375 383 +f 381 378 383 +f 374 377 384 +f 376 375 385 +f 375 378 385 +f 382 374 386 +f 380 382 386 +f 374 384 386 +f 384 379 386 +f 383 377 387 +f 381 383 387 +f 377 374 388 +f 374 382 388 +f 387 377 388 +f 381 387 388 +f 380 378 389 +f 378 381 389 +f 382 380 389 +f 381 388 389 +f 388 382 389 +f 379 376 390 +f 376 385 390 +f 385 380 390 +f 386 379 390 +f 380 386 390 +f 378 380 391 +f 385 378 391 +f 380 385 391 +f 375 376 392 +f 377 375 392 +f 376 384 392 +f 384 377 392 +f 376 379 393 +f 384 376 393 +o convex_15 +v -0.010217 0.409115 0.381145 +v -0.007465 0.439379 0.405914 +v -0.004714 0.444881 0.372897 +v -0.001962 0.362361 0.370150 +v -0.007465 0.447645 0.339887 +v -0.010217 0.362361 0.403154 +v -0.004714 0.362361 0.339887 +v -0.001962 0.428376 0.339887 +v -0.004714 0.362361 0.405914 +v -0.010217 0.439379 0.405914 +v -0.001962 0.362361 0.339887 +v -0.010217 0.444881 0.367397 +v -0.007465 0.420119 0.339887 +v -0.007465 0.365108 0.364650 +v -0.004714 0.447645 0.339887 +f 401 398 408 +f 397 399 400 +f 396 397 401 +f 400 398 401 +f 396 395 402 +f 397 396 402 +f 399 397 402 +f 399 402 403 +f 395 396 403 +f 394 399 403 +f 402 395 403 +f 397 400 404 +f 401 397 404 +f 400 401 404 +f 396 398 405 +f 403 396 405 +f 394 403 405 +f 398 400 406 +f 405 398 406 +f 394 405 406 +f 399 394 407 +f 400 399 407 +f 394 406 407 +f 406 400 407 +f 398 396 408 +f 396 401 408 +o convex_16 +v -0.007465 0.398130 0.430693 +v -0.010217 0.362345 0.405914 +v -0.012969 0.411863 0.416926 +v -0.015720 0.378868 0.504969 +v -0.018472 0.428379 0.485696 +v -0.010217 0.365097 0.504969 +v -0.007465 0.439390 0.411430 +v -0.015720 0.425626 0.510475 +v -0.012969 0.439390 0.408667 +v -0.007465 0.362345 0.405914 +v -0.012969 0.362345 0.438952 +v -0.010217 0.381606 0.504969 +v -0.018472 0.409118 0.507712 +v -0.012969 0.428379 0.491203 +v -0.007465 0.362345 0.444449 +v -0.012969 0.362345 0.502215 +v -0.007465 0.439390 0.405914 +v -0.018472 0.428379 0.502215 +v -0.018472 0.411863 0.491203 +f 421 413 427 +f 412 414 416 +f 410 411 417 +f 411 413 417 +f 415 409 418 +f 411 410 419 +f 410 418 419 +f 409 415 420 +f 416 414 420 +f 412 416 421 +f 420 415 422 +f 416 420 422 +f 418 409 423 +f 419 418 423 +f 409 420 423 +f 420 414 423 +f 414 412 424 +f 412 419 424 +f 423 414 424 +f 419 423 424 +f 417 415 425 +f 410 417 425 +f 418 410 425 +f 415 418 425 +f 415 417 426 +f 417 413 426 +f 421 416 426 +f 413 421 426 +f 422 415 426 +f 416 422 426 +f 413 411 427 +f 411 419 427 +f 419 412 427 +f 412 421 427 +o convex_17 +v 0.061324 -0.262268 -0.204947 +v 0.050320 -0.171470 -0.122414 +v 0.047567 -0.171470 -0.122414 +v 0.061324 -0.289774 -0.122414 +v 0.058573 -0.179739 -0.202176 +v 0.055823 -0.267769 -0.204947 +v 0.055823 -0.284272 -0.122414 +v 0.053071 -0.171470 -0.204947 +v 0.047567 -0.193498 -0.125169 +v 0.061324 -0.289774 -0.204947 +v 0.053071 -0.171470 -0.133425 +v 0.061324 -0.281528 -0.122414 +v 0.058571 -0.289774 -0.204947 +v 0.047567 -0.176983 -0.136172 +v 0.055821 -0.171470 -0.169166 +v 0.053071 -0.187997 -0.204947 +f 433 441 443 +f 429 430 431 +f 431 430 434 +f 430 429 435 +f 432 428 435 +f 428 433 435 +f 434 430 436 +f 433 434 436 +f 428 431 437 +f 433 428 437 +f 435 429 438 +f 429 431 439 +f 431 428 439 +f 428 432 439 +f 438 429 439 +f 431 434 440 +f 434 433 440 +f 437 431 440 +f 433 437 440 +f 430 435 441 +f 433 436 441 +f 436 430 441 +f 432 435 442 +f 435 438 442 +f 439 432 442 +f 438 439 442 +f 435 433 443 +f 441 435 443 +o convex_18 +v 0.033808 -0.031139 0.144494 +v 0.033808 -0.061400 0.034445 +v 0.031058 -0.044891 0.039955 +v 0.033808 -0.011881 0.034445 +v 0.028306 -0.011881 0.155516 +v 0.031058 -0.061400 0.155516 +v 0.036559 -0.061400 0.130747 +v 0.028306 -0.014634 0.050977 +v 0.036559 -0.039389 0.034445 +v 0.028306 -0.036641 0.141757 +v 0.031058 -0.011881 0.155516 +v 0.036559 -0.061400 0.034445 +v 0.033808 -0.061400 0.155516 +v 0.031058 -0.061400 0.116976 +v 0.031058 -0.011881 0.034445 +v 0.033808 -0.011881 0.056464 +v 0.033808 -0.033892 0.155516 +f 454 456 460 +f 449 445 450 +f 445 447 452 +f 444 450 452 +f 449 448 453 +f 451 446 453 +f 448 451 453 +f 447 448 454 +f 448 449 454 +f 450 445 455 +f 445 452 455 +f 452 450 455 +f 449 450 456 +f 454 449 456 +f 446 445 457 +f 445 449 457 +f 453 446 457 +f 449 453 457 +f 445 446 458 +f 447 445 458 +f 448 447 458 +f 446 451 458 +f 451 448 458 +f 452 447 459 +f 444 452 459 +f 454 444 459 +f 447 454 459 +f 450 444 460 +f 444 454 460 +f 456 450 460 +o convex_19 +v 0.050317 -0.171470 -0.119637 +v 0.039313 -0.061415 -0.020598 +v 0.036561 -0.061415 -0.020598 +v 0.047566 -0.171470 -0.020598 +v 0.047566 -0.061415 -0.119637 +v 0.044815 -0.165955 -0.103127 +v 0.042065 -0.061415 -0.111377 +v 0.036561 -0.091676 -0.026104 +v 0.047566 -0.149451 -0.020598 +v 0.044815 -0.171470 -0.020598 +v 0.042065 -0.061415 -0.031611 +v 0.050317 -0.168702 -0.070117 +v 0.044815 -0.130200 -0.119637 +v 0.047566 -0.061415 -0.105880 +v 0.050317 -0.121948 -0.119637 +v 0.042065 -0.152198 -0.020598 +v 0.044815 -0.171470 -0.083864 +v 0.036561 -0.061415 -0.037107 +v 0.047566 -0.171470 -0.119637 +v 0.044815 -0.061415 -0.119637 +f 473 467 480 +f 462 463 464 +f 463 462 465 +f 463 465 467 +f 462 464 469 +f 464 463 470 +f 461 464 470 +f 465 462 471 +f 462 469 471 +f 464 461 472 +f 469 464 472 +f 465 461 473 +f 466 468 473 +f 468 467 473 +f 465 471 474 +f 471 469 474 +f 469 472 474 +f 474 472 475 +f 461 465 475 +f 472 461 475 +f 465 474 475 +f 463 468 476 +f 470 463 476 +f 470 476 477 +f 468 466 477 +f 461 470 477 +f 476 468 477 +f 463 467 478 +f 467 468 478 +f 468 463 478 +f 473 461 479 +f 466 473 479 +f 461 477 479 +f 477 466 479 +f 467 465 480 +f 465 473 480 +o convex_20 +v 0.025555 0.037648 0.155506 +v 0.031057 -0.011871 0.034445 +v 0.033809 -0.011871 0.034445 +v 0.028306 -0.011871 0.155506 +v 0.022803 0.037648 0.103235 +v 0.033809 0.032137 0.034445 +v 0.031057 -0.003616 0.155506 +v 0.028306 0.037648 0.034445 +v 0.028306 -0.011871 0.050964 +v 0.025555 -0.006365 0.155506 +v 0.022803 0.023892 0.155506 +v 0.028306 0.029393 0.149996 +v 0.033809 -0.011871 0.053713 +v 0.031057 0.037648 0.070232 +v 0.025555 0.007387 0.081241 +v 0.031057 -0.011871 0.155506 +v 0.022803 0.037648 0.155506 +v 0.028306 0.023892 0.034445 +f 489 485 498 +f 482 483 484 +f 483 482 486 +f 481 484 487 +f 485 481 488 +f 486 482 488 +f 482 484 489 +f 484 481 490 +f 489 484 490 +f 490 481 491 +f 481 487 492 +f 487 486 492 +f 484 483 493 +f 483 486 493 +f 486 487 493 +f 488 481 494 +f 486 488 494 +f 481 492 494 +f 492 486 494 +f 485 489 495 +f 489 490 495 +f 490 491 495 +f 491 485 495 +f 487 484 496 +f 484 493 496 +f 493 487 496 +f 481 485 497 +f 491 481 497 +f 485 491 497 +f 485 488 498 +f 488 482 498 +f 482 489 498 +o convex_21 +v 0.020052 0.128448 0.155516 +v 0.028305 0.037662 0.034445 +v 0.031057 0.037662 0.034445 +v 0.025552 0.128448 0.034445 +v 0.017299 0.089920 0.152743 +v 0.025552 0.037662 0.155516 +v 0.031057 0.114690 0.037218 +v 0.022805 0.037662 0.103229 +v 0.022805 0.128448 0.141757 +v 0.017299 0.128448 0.138984 +v 0.031057 0.037662 0.070235 +v 0.025552 0.056930 0.155516 +v 0.025552 0.106433 0.034445 +v 0.020052 0.054175 0.155516 +v 0.028305 0.128448 0.067486 +v 0.025552 0.037662 0.064724 +v 0.022805 0.037662 0.155516 +v 0.017299 0.128448 0.155516 +v 0.028305 0.128448 0.034445 +f 513 505 517 +f 501 500 502 +f 500 501 504 +f 500 504 506 +f 502 499 507 +f 499 502 508 +f 504 501 509 +f 501 505 509 +f 509 505 510 +f 499 504 510 +f 507 499 510 +f 504 509 510 +f 502 500 511 +f 508 502 511 +f 503 508 511 +f 504 499 512 +f 503 506 512 +f 502 507 513 +f 510 505 513 +f 507 510 513 +f 500 506 514 +f 506 503 514 +f 511 500 514 +f 503 511 514 +f 506 504 515 +f 504 512 515 +f 512 506 515 +f 499 508 516 +f 508 503 516 +f 512 499 516 +f 503 512 516 +f 501 502 517 +f 505 501 517 +f 502 513 517 +o convex_22 +v 0.031056 -0.061405 0.155516 +v 0.017300 0.098189 0.287581 +v 0.014548 0.098189 0.287581 +v 0.017300 0.098189 0.155516 +v 0.033809 -0.058640 0.271060 +v 0.022804 0.092674 0.155516 +v 0.025553 -0.036613 0.287581 +v 0.033809 -0.033864 0.155516 +v 0.017300 0.081661 0.163789 +v 0.020051 0.089925 0.287581 +v 0.028306 -0.061405 0.287581 +v 0.014548 0.087175 0.279320 +v 0.028306 -0.039378 0.155516 +v 0.031056 -0.031130 0.287581 +v 0.033809 -0.061405 0.155516 +v 0.020051 0.098189 0.257305 +v 0.028306 -0.061405 0.257305 +v 0.014548 0.095424 0.240797 +v 0.031056 -0.061405 0.287581 +v 0.022804 0.092674 0.158282 +v 0.017300 0.084426 0.155516 +v 0.020051 0.098189 0.155516 +f 533 523 539 +f 520 519 521 +f 518 521 523 +f 519 520 524 +f 518 523 525 +f 519 524 527 +f 527 524 528 +f 524 520 529 +f 521 518 530 +f 527 528 531 +f 518 525 532 +f 525 522 532 +f 528 518 532 +f 521 519 533 +f 519 527 533 +f 527 531 533 +f 528 524 534 +f 518 528 534 +f 524 529 534 +f 530 518 534 +f 530 534 535 +f 520 521 535 +f 529 520 535 +f 526 530 535 +f 534 529 535 +f 522 531 536 +f 531 528 536 +f 532 522 536 +f 528 532 536 +f 522 525 537 +f 525 523 537 +f 531 522 537 +f 523 533 537 +f 533 531 537 +f 530 526 538 +f 521 530 538 +f 535 521 538 +f 526 535 538 +f 523 521 539 +f 521 533 539 +o convex_23 +v 0.014548 0.128457 0.287581 +v 0.017299 0.098189 0.155516 +v 0.020051 0.098189 0.155516 +v 0.017299 0.128457 0.155516 +v 0.011796 0.117450 0.287581 +v 0.020051 0.098189 0.243551 +v 0.020051 0.128457 0.180297 +v 0.014548 0.098189 0.287581 +v 0.011796 0.128457 0.243551 +v 0.017299 0.122952 0.284827 +v 0.014548 0.109196 0.183051 +v 0.014548 0.098189 0.229796 +v 0.014548 0.128457 0.174790 +v 0.017299 0.098189 0.287581 +v 0.020051 0.128457 0.155516 +f 543 546 554 +f 542 541 543 +f 541 542 545 +f 543 540 546 +f 545 542 546 +f 540 544 547 +f 541 545 547 +f 540 543 548 +f 544 540 548 +f 546 540 549 +f 545 546 549 +f 544 548 550 +f 547 544 551 +f 541 547 551 +f 550 541 551 +f 544 550 551 +f 543 541 552 +f 548 543 552 +f 541 550 552 +f 550 548 552 +f 540 547 553 +f 547 545 553 +f 549 540 553 +f 545 549 553 +f 542 543 554 +f 546 542 554 +o convex_24 +v 0.011795 0.169723 0.191309 +v 0.006294 0.241268 0.287594 +v 0.009045 0.238507 0.279332 +v 0.014547 0.128457 0.287594 +v 0.014547 0.241268 0.188535 +v 0.003543 0.211000 0.284821 +v 0.014545 0.128457 0.188535 +v 0.009045 0.241268 0.199560 +v 0.017299 0.131228 0.246297 +v 0.009047 0.147737 0.287594 +v 0.017299 0.128457 0.188535 +v 0.014547 0.153236 0.287594 +v 0.011795 0.133978 0.207812 +v 0.017299 0.186221 0.191309 +v 0.014547 0.241268 0.202304 +v 0.003543 0.241268 0.273825 +v 0.011795 0.128457 0.287594 +v 0.011795 0.241268 0.188535 +v 0.011795 0.128457 0.229813 +v 0.003543 0.241268 0.287594 +f 570 560 574 +f 556 559 562 +f 555 560 562 +f 558 556 564 +f 561 559 565 +f 558 561 565 +f 563 558 565 +f 557 556 566 +f 556 558 566 +f 558 563 566 +f 560 555 567 +f 555 561 567 +f 565 559 568 +f 563 565 568 +f 556 557 569 +f 559 556 569 +f 557 566 569 +f 566 563 569 +f 568 559 569 +f 563 568 569 +f 556 562 570 +f 562 560 570 +f 561 558 571 +f 558 564 571 +f 561 555 572 +f 559 561 572 +f 555 562 572 +f 562 559 572 +f 564 560 573 +f 560 567 573 +f 567 561 573 +f 561 571 573 +f 571 564 573 +f 564 556 574 +f 560 564 574 +f 556 570 574 +o convex_25 +v -0.004714 0.323831 0.491204 +v -0.007466 0.304560 0.427934 +v -0.004714 0.304560 0.427934 +v -0.010216 0.362345 0.427934 +v -0.012969 0.348583 0.502220 +v -0.007466 0.304560 0.496708 +v -0.007466 0.362345 0.455449 +v -0.010216 0.362345 0.502220 +v -0.012969 0.362345 0.441692 +v -0.004714 0.334821 0.427934 +v -0.004714 0.307321 0.499457 +v -0.010216 0.318322 0.488455 +v -0.007466 0.351332 0.502220 +v -0.012969 0.362345 0.502220 +v -0.010216 0.332084 0.427934 +v -0.007466 0.362345 0.427934 +f 581 584 590 +f 577 576 578 +f 576 577 580 +f 581 578 582 +f 582 578 583 +f 575 577 584 +f 577 578 584 +f 581 575 584 +f 577 575 585 +f 579 580 585 +f 580 577 585 +f 576 580 586 +f 580 579 586 +f 579 583 586 +f 575 581 587 +f 582 579 587 +f 581 582 587 +f 585 575 587 +f 579 585 587 +f 579 582 588 +f 583 579 588 +f 582 583 588 +f 578 576 589 +f 583 578 589 +f 576 586 589 +f 586 583 589 +f 578 581 590 +f 584 578 590 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/297/297.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/297/297.urdf new file mode 100644 index 000000000..ceaec1271 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/297/297.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/298/298.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/298/298.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/298/298.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/298/298.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/298/298.obj new file mode 100644 index 000000000..7be226079 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/298/298.obj @@ -0,0 +1,474 @@ +o convex_0 +v -1.215737 -3.538957 -1.041407 +v -0.938072 0.873199 1.056494 +v -1.215737 0.873199 1.056494 +v -0.166893 0.873199 -1.010601 +v 0.696908 -3.507864 0.963871 +v 0.820543 -3.538957 -1.041407 +v 0.820543 0.873199 0.963871 +v -1.277554 -3.600705 0.963871 +v -1.215737 0.873199 -1.010601 +v 0.789532 0.873199 -0.979589 +v -1.277554 0.873199 0.130666 +v -1.215737 0.008723 -1.041612 +v -1.277554 -3.507864 0.994677 +v 0.727920 -3.538957 0.747611 +v 0.820543 0.873199 -0.825353 +v -1.277554 -3.600705 0.408332 +v -1.277554 0.873199 0.747611 +v 0.820543 -3.538957 -0.702128 +v 0.419243 -3.569174 -0.640310 +v -1.184931 -0.022370 1.056494 +v 0.295813 0.749264 -1.010601 +v -1.246543 -3.569174 -0.486074 +v -0.876460 -3.600705 0.963871 +v 0.265007 -1.841536 -1.041407 +v 0.789532 -0.423077 -1.010396 +v 0.727920 -3.013878 0.963871 +v -1.277554 -1.902847 0.994677 +v -1.215737 -3.569174 -0.671117 +v 0.820543 0.749264 0.963871 +v -0.691212 -3.600705 0.470150 +v 0.820543 -1.256022 -1.010396 +v -1.246543 0.564019 0.994677 +v 0.635296 -3.538957 0.963871 +v 0.820543 -3.106281 -1.041407 +v -1.277554 -3.569174 0.346720 +f 22 16 35 +f 3 2 4 +f 4 2 7 +f 3 4 9 +f 4 7 10 +f 3 9 11 +f 11 9 12 +f 6 1 12 +f 9 4 12 +f 11 8 13 +f 7 6 15 +f 10 7 15 +f 8 11 16 +f 3 11 17 +f 11 13 17 +f 6 7 18 +f 18 14 19 +f 6 18 19 +f 2 3 20 +f 5 2 20 +f 3 13 20 +f 13 5 20 +f 4 10 21 +f 12 4 21 +f 11 12 22 +f 12 1 22 +f 13 8 23 +f 8 16 23 +f 12 21 24 +f 21 10 25 +f 2 5 26 +f 5 14 26 +f 14 18 26 +f 13 3 27 +f 17 13 27 +f 1 6 28 +f 6 19 28 +f 19 16 28 +f 22 1 28 +f 16 22 28 +f 7 2 29 +f 18 7 29 +f 2 26 29 +f 26 18 29 +f 19 14 30 +f 16 19 30 +f 14 23 30 +f 23 16 30 +f 15 6 31 +f 10 15 31 +f 25 10 31 +f 3 17 32 +f 27 3 32 +f 17 27 32 +f 5 13 33 +f 14 5 33 +f 13 23 33 +f 23 14 33 +f 6 12 34 +f 12 24 34 +f 24 21 34 +f 21 25 34 +f 31 6 34 +f 25 31 34 +f 16 11 35 +f 11 22 35 +o convex_1 +v -2.665831 0.904283 -0.239292 +v -3.282997 1.860437 -0.609649 +v -3.159525 0.965907 -0.547789 +v -1.308418 1.058401 -0.609649 +v -1.308418 1.983801 0.531950 +v -3.221163 0.965907 0.562822 +v -3.313816 2.076525 0.531950 +v -1.308418 0.996777 0.531950 +v -1.308418 1.983801 -0.486044 +v -3.282997 2.045540 -0.609649 +v -1.308418 0.965792 -0.609649 +v -1.709655 1.706204 0.562822 +v -2.820122 2.076525 0.500962 +v -3.159525 0.904283 -0.516916 +v -1.987419 2.014671 -0.547789 +v -3.252178 1.058516 0.562822 +v -3.313816 2.014671 -0.578776 +v -2.511735 0.965907 0.562822 +v -3.282997 1.459592 0.562822 +v -3.190344 0.904283 -0.208420 +v -3.252178 2.076525 -0.085044 +v -3.067068 2.045540 -0.609649 +v -1.678639 2.014671 0.531950 +v -3.221163 0.935037 0.346714 +v -2.511735 0.904283 -0.547789 +v -1.431891 1.983801 -0.516916 +v -1.308418 0.965792 -0.393541 +v -2.018238 0.996777 0.562822 +v -1.462710 0.965792 -0.609649 +v -3.313816 1.860437 0.470204 +v -1.709655 0.965792 0.284969 +v -3.282997 1.582726 0.562822 +f 54 47 67 +f 39 40 43 +f 40 39 44 +f 39 37 45 +f 37 39 46 +f 39 43 46 +f 43 40 47 +f 37 38 49 +f 48 44 50 +f 41 47 51 +f 42 45 52 +f 45 37 52 +f 37 49 52 +f 47 41 53 +f 51 47 54 +f 49 36 55 +f 52 49 55 +f 51 52 55 +f 45 42 56 +f 42 48 56 +f 48 50 56 +f 56 50 57 +f 39 45 57 +f 50 39 57 +f 45 56 57 +f 40 44 58 +f 47 40 58 +f 42 47 58 +f 48 42 58 +f 44 48 58 +f 41 51 59 +f 36 53 59 +f 53 41 59 +f 55 36 59 +f 51 55 59 +f 49 38 60 +f 36 49 60 +f 44 39 61 +f 39 50 61 +f 50 44 61 +f 46 43 62 +f 36 60 62 +f 60 46 62 +f 43 47 63 +f 53 43 63 +f 47 53 63 +f 38 37 64 +f 37 46 64 +f 46 60 64 +f 60 38 64 +f 52 51 65 +f 42 52 65 +f 54 42 65 +f 51 54 65 +f 53 36 66 +f 43 53 66 +f 36 62 66 +f 62 43 66 +f 47 42 67 +f 42 54 67 +o convex_2 +v 0.851398 2.014508 0.963713 +v -1.246623 2.384753 -1.010758 +v -1.308355 0.965880 -0.609251 +v 0.789455 0.873199 -0.979746 +v -1.215758 0.873199 1.056337 +v -1.184892 2.508488 1.087349 +v 0.758801 2.508488 -0.948940 +v 0.820321 0.873199 0.963713 +v -1.215758 0.873199 -1.010758 +v 0.851398 2.415646 0.963713 +v -1.308355 1.983934 0.531811 +v -1.215758 2.477434 -1.010758 +v 0.851398 1.058561 -0.609456 +v -0.938178 2.508488 1.087349 +v 0.851398 1.891093 -0.547844 +v 0.203218 0.965880 -1.010553 +v 0.666204 2.508488 -0.979746 +v -1.308355 0.996774 0.531811 +v -1.308355 2.107349 -0.640262 +v -1.215758 2.508488 -0.084724 +v 0.789455 2.508488 -0.856316 +v -1.215758 1.706050 1.087349 +v -0.629521 2.508488 1.056337 +v -0.444327 2.446540 -1.010553 +v 0.851398 1.027508 0.439187 +v 0.789455 2.076455 -0.979746 +v -1.277489 0.873199 0.747865 +v -1.215758 2.508488 0.840489 +v 0.542741 2.292231 0.994725 +v -0.907312 0.873199 1.056337 +v 0.820321 0.873199 -0.825305 +v 0.820321 2.446540 0.469993 +v -1.246623 2.446540 -1.010758 +v 0.264950 2.508488 -0.979746 +v -1.154026 1.706050 1.087349 +v -1.215758 2.323125 1.056337 +v 0.851398 2.415646 0.716853 +v -1.246623 0.904092 0.963919 +v 0.851398 0.965880 -0.609456 +f 98 80 106 +f 72 71 75 +f 70 69 76 +f 71 72 76 +f 76 69 79 +f 77 68 80 +f 74 73 81 +f 77 80 82 +f 71 76 83 +f 76 79 83 +f 73 74 84 +f 78 70 85 +f 69 70 86 +f 70 78 86 +f 73 84 87 +f 74 81 88 +f 81 73 89 +f 81 77 90 +f 88 81 90 +f 83 79 91 +f 79 84 91 +f 84 83 91 +f 68 75 92 +f 80 68 92 +f 82 80 93 +f 71 83 93 +f 83 84 93 +f 84 74 93 +f 74 88 93 +f 88 82 93 +f 70 76 94 +f 76 72 94 +f 85 70 94 +f 78 85 94 +f 86 78 95 +f 73 87 95 +f 75 68 96 +f 68 77 96 +f 81 75 96 +f 77 81 96 +f 72 75 97 +f 89 72 97 +f 75 71 98 +f 71 93 98 +f 93 80 98 +f 77 88 99 +f 90 77 99 +f 88 90 99 +f 79 69 100 +f 69 86 100 +f 87 79 100 +f 86 95 100 +f 95 87 100 +f 84 79 101 +f 79 87 101 +f 87 84 101 +f 75 81 102 +f 81 89 102 +f 97 75 102 +f 89 97 102 +f 89 73 103 +f 73 95 103 +f 95 78 103 +f 77 82 104 +f 88 77 104 +f 82 88 104 +f 72 89 105 +f 94 72 105 +f 78 94 105 +f 89 103 105 +f 103 78 105 +f 92 75 106 +f 80 92 106 +f 75 98 106 +o convex_3 +v 2.795058 0.965898 -0.146789 +v 1.406954 2.076525 0.562822 +v 1.406954 2.076525 0.531950 +v 0.851398 0.965898 -0.516916 +v 2.856896 1.922104 -0.486159 +v 2.825879 0.873199 0.531950 +v 0.851398 0.996759 0.439217 +v 0.851398 1.922104 -0.516916 +v 2.795058 2.045664 0.562822 +v 0.851398 2.076525 0.562822 +v 2.764238 1.027619 -0.486159 +v 0.882415 0.965898 -0.609649 +v 0.851398 1.767801 -0.578776 +v 2.579118 0.873199 0.531950 +v 2.825879 1.274386 0.562822 +v 2.856896 1.952965 -0.362668 +v 2.856896 1.243643 -0.270050 +v 2.856896 1.829640 0.346714 +v 2.795058 2.045664 0.315841 +v 2.825879 0.873199 0.408459 +v 0.851398 1.983825 0.562822 +v 1.499415 1.922104 -0.547789 +v 0.851398 2.076525 0.500962 +v 2.270519 0.996759 -0.516916 +v 2.363177 0.904177 0.531950 +v 2.455835 1.027619 -0.517031 +v 2.455835 1.736941 -0.517031 +v 2.856896 1.305246 0.285083 +v 1.221834 0.996759 0.470204 +v 1.005893 1.922104 -0.547789 +v 0.851398 1.058480 -0.609649 +f 133 118 137 +f 110 113 114 +f 109 108 115 +f 108 109 116 +f 114 113 116 +f 115 108 116 +f 110 114 119 +f 113 110 120 +f 110 118 120 +f 115 116 121 +f 120 112 121 +f 107 117 123 +f 117 111 123 +f 111 122 123 +f 121 112 124 +f 115 121 124 +f 122 115 124 +f 123 122 124 +f 109 115 125 +f 115 122 125 +f 112 120 126 +f 120 118 126 +f 107 123 126 +f 123 112 126 +f 116 113 127 +f 121 116 127 +f 122 111 128 +f 116 109 129 +f 114 116 129 +f 109 125 129 +f 125 122 129 +f 117 107 130 +f 107 126 130 +f 126 118 130 +f 113 120 131 +f 120 121 131 +f 121 127 131 +f 111 117 132 +f 117 130 132 +f 130 118 132 +f 128 111 133 +f 111 132 133 +f 132 118 133 +f 112 123 134 +f 124 112 134 +f 123 124 134 +f 127 113 135 +f 113 131 135 +f 131 127 135 +f 119 114 136 +f 128 119 136 +f 122 128 136 +f 129 122 136 +f 114 129 136 +f 118 110 137 +f 110 119 137 +f 119 128 137 +f 128 133 137 +o convex_4 +v 4.862288 1.120104 0.223353 +v 3.134894 1.829688 0.007456 +v 3.134894 1.829688 -0.270216 +v 2.856941 1.243531 -0.270216 +v 4.800455 1.706192 -0.270216 +v 2.856941 1.829688 0.346841 +v 4.646167 1.737031 0.346841 +v 2.856941 1.305280 0.285129 +v 4.862288 1.336119 -0.208504 +v 2.856941 1.829688 -0.301104 +v 4.831273 1.181852 0.315953 +v 4.522894 1.675352 -0.301104 +v 4.615349 1.120104 0.285129 +v 4.769637 1.551925 0.346841 +v 3.258364 1.243531 -0.270216 +v 2.856941 1.428637 -0.301104 +v 4.862288 1.274371 -0.146792 +v 2.856941 1.243531 -0.085080 +v 2.856941 1.737031 0.346841 +v 2.980607 1.274371 0.285129 +v 4.491879 1.737031 -0.301104 +v 4.862288 1.212692 0.285129 +v 4.738818 1.706192 0.346841 +v 3.104076 1.829688 0.346841 +v 4.769637 1.551925 -0.270216 +v 4.584531 1.459477 0.346841 +f 151 156 163 +f 139 140 143 +f 140 139 144 +f 143 141 145 +f 143 140 147 +f 141 143 147 +f 141 138 150 +f 138 148 150 +f 144 143 151 +f 138 141 152 +f 149 152 153 +f 141 147 153 +f 147 149 153 +f 152 141 153 +f 146 138 154 +f 138 152 154 +f 152 146 154 +f 145 141 155 +f 141 150 155 +f 143 145 156 +f 151 143 156 +f 150 148 157 +f 145 155 157 +f 155 150 157 +f 156 145 157 +f 148 156 157 +f 140 144 158 +f 144 142 158 +f 147 140 158 +f 142 149 158 +f 149 147 158 +f 138 146 159 +f 146 142 159 +f 148 138 159 +f 151 148 159 +f 151 159 160 +f 142 144 160 +f 144 151 160 +f 159 142 160 +f 139 143 161 +f 144 139 161 +f 143 144 161 +f 142 146 162 +f 149 142 162 +f 146 152 162 +f 152 149 162 +f 148 151 163 +f 156 148 163 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/298/298.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/298/298.urdf new file mode 100644 index 000000000..5ebb11214 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/298/298.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/299/299.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/299/299.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/299/299.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/299/299.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/299/299.obj new file mode 100644 index 000000000..a8ecbe5a6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/299/299.obj @@ -0,0 +1,573 @@ +o convex_0 +v -1.515830 -1.823978 -2.326615 +v 0.451546 0.348856 -1.875572 +v 0.492808 0.225709 -2.859451 +v -1.638765 0.225709 -3.596967 +v 0.369661 -1.782929 -3.843133 +v 0.451546 -1.741668 -1.875572 +v -1.680027 0.266545 -1.875769 +v -1.638765 -1.700831 -3.884227 +v 0.492808 0.143611 -3.720050 +v -1.638765 -1.823978 -1.875769 +v -1.638765 0.184660 -3.760947 +v 0.451546 -1.782929 -2.941048 +v 0.492808 -0.184143 -3.761143 +v -1.680027 -0.921750 -3.064131 +v -1.556879 -1.372652 -3.884227 +v 0.492808 0.184660 -3.638060 +v -0.819060 -1.823978 -1.875769 +v -1.638765 -1.741880 -3.720050 +v -1.680027 0.266545 -2.531491 +v -0.573404 0.184660 -3.760947 +v 0.451546 -1.331815 -3.802040 +v 0.410710 -1.782929 -1.875572 +v -1.680027 -0.757979 -1.875769 +v 0.492808 -0.471274 -3.678957 +v -0.736962 -1.823978 -2.654574 +v -1.105978 0.307807 -1.916665 +v 0.082743 -1.782929 -3.843133 +v -0.941994 -1.659782 -3.884227 +v -1.638765 -0.184356 -3.802040 +v 0.451546 0.348856 -1.916469 +v 0.410710 -1.782929 -3.802040 +f 12 25 31 +f 3 2 6 +f 9 3 13 +f 3 9 16 +f 10 1 17 +f 1 10 18 +f 10 14 18 +f 14 8 18 +f 4 11 19 +f 14 7 19 +f 11 14 19 +f 11 4 20 +f 9 13 20 +f 13 15 20 +f 4 16 20 +f 16 9 20 +f 5 13 21 +f 6 2 22 +f 2 7 22 +f 12 6 22 +f 10 17 22 +f 7 14 23 +f 14 10 23 +f 22 7 23 +f 10 22 23 +f 3 6 24 +f 6 12 24 +f 13 3 24 +f 12 21 24 +f 21 13 24 +f 17 1 25 +f 12 22 25 +f 22 17 25 +f 7 2 26 +f 4 19 26 +f 19 7 26 +f 8 5 27 +f 1 18 27 +f 18 8 27 +f 5 25 27 +f 25 1 27 +f 5 8 28 +f 13 5 28 +f 8 15 28 +f 15 13 28 +f 8 14 29 +f 14 11 29 +f 15 8 29 +f 11 20 29 +f 20 15 29 +f 2 3 30 +f 3 16 30 +f 16 4 30 +f 26 2 30 +f 4 26 30 +f 5 21 31 +f 21 12 31 +f 25 5 31 +o convex_1 +v -0.777978 2.890025 -1.874966 +v -1.556720 0.923672 0.338215 +v -1.597889 0.923672 0.338215 +v -1.638625 -1.823163 -1.874966 +v 0.451455 -1.864975 0.133235 +v 0.369551 4.201937 0.215357 +v 0.451455 -1.741964 -1.874966 +v -1.680010 4.283742 -1.834230 +v 0.328599 4.325554 -1.752108 +v -1.556720 4.243143 0.256310 +v -1.597889 -1.740752 0.338215 +v 0.533576 2.274971 0.092282 +v 0.369551 -1.864975 0.338215 +v 0.451455 0.635839 -1.874966 +v -1.680010 -0.593662 -0.932186 +v 0.369551 0.514040 0.338215 +v -1.597889 4.119526 0.215357 +v 0.369551 3.669295 -1.793277 +v -1.638625 0.636445 0.051113 +v -1.680010 -0.757273 -1.874966 +v -1.680010 4.201937 -1.342147 +v -0.695857 -1.864975 -0.932186 +v 0.451455 -1.782564 -1.834230 +v -0.122526 4.325554 -1.301194 +v 0.369551 4.283136 -1.260242 +v -1.638625 -1.495337 0.010160 +v -1.556720 -1.782564 0.010160 +v 0.410503 3.997121 0.215357 +v -1.680010 1.618712 -1.874966 +v -1.064860 4.283742 -1.834230 +v 0.410503 1.454496 -1.874966 +v 0.533576 2.233766 0.133235 +v 0.082452 -1.864975 0.338215 +v 0.451455 -1.864975 -0.276726 +v -0.818930 -1.823163 -1.874966 +v 0.369551 3.955310 -1.711372 +v -1.105813 3.217852 -1.874966 +v -1.597673 -1.823163 -1.096214 +v -1.680010 0.349218 -0.891234 +v 0.328599 4.325554 -1.424053 +v -0.204430 4.325554 -1.793277 +v -1.228669 4.243143 0.215357 +f 71 55 73 +f 35 32 38 +f 34 33 41 +f 33 34 42 +f 33 42 44 +f 38 32 45 +f 43 38 45 +f 41 33 47 +f 37 41 47 +f 33 44 47 +f 34 41 48 +f 42 34 50 +f 34 48 50 +f 32 35 51 +f 46 39 51 +f 35 46 51 +f 41 39 52 +f 39 46 52 +f 48 41 52 +f 50 48 52 +f 36 44 53 +f 39 41 55 +f 35 42 57 +f 46 35 57 +f 42 50 57 +f 37 47 59 +f 56 37 59 +f 43 56 59 +f 32 51 60 +f 51 39 60 +f 49 32 61 +f 45 32 62 +f 32 49 62 +f 49 45 62 +f 38 43 63 +f 44 36 63 +f 47 44 63 +f 54 38 63 +f 59 47 63 +f 43 59 63 +f 44 42 64 +f 53 44 64 +f 42 58 64 +f 36 53 65 +f 63 36 65 +f 54 63 65 +f 35 38 66 +f 53 35 66 +f 38 54 66 +f 65 53 66 +f 54 65 66 +f 43 45 67 +f 49 40 67 +f 45 49 67 +f 40 56 67 +f 56 43 67 +f 32 60 68 +f 60 39 68 +f 61 32 68 +f 39 61 68 +f 42 35 69 +f 35 53 69 +f 58 42 69 +f 53 64 69 +f 64 58 69 +f 52 46 70 +f 50 52 70 +f 46 57 70 +f 57 50 70 +f 40 55 71 +f 37 56 71 +f 56 40 71 +f 40 49 72 +f 55 40 72 +f 39 55 72 +f 61 39 72 +f 49 61 72 +f 41 37 73 +f 55 41 73 +f 37 71 73 +o convex_2 +v 2.460658 -0.184344 1.896269 +v 0.246827 -1.864558 0.625599 +v 0.410871 -3.832826 0.625599 +v 0.246827 -1.864558 2.265217 +v 0.410871 2.234713 0.625599 +v 2.378528 -3.750270 0.666555 +v 2.460658 -3.709289 2.224260 +v 0.288000 2.193138 2.347299 +v 2.460658 2.193138 0.625599 +v 2.378528 2.193138 2.183304 +v 0.410871 -3.791251 2.265217 +v 0.246827 0.307426 0.625599 +v 2.419485 -2.028481 0.625599 +v 2.050441 -3.340462 2.265049 +v 2.419485 0.060947 2.224260 +v 0.328957 2.234713 1.322706 +v 1.681613 -3.791251 0.625599 +v 2.460658 -0.102382 0.625599 +v 0.410871 -1.864558 2.306174 +v 0.246827 0.348407 2.224260 +v 0.410871 2.193138 2.347299 +v 2.419485 2.193138 1.896269 +v 0.779915 -3.791251 2.265049 +v 2.132571 2.193138 2.224092 +v 1.312786 2.234713 0.666724 +v 2.460658 -3.668308 1.978183 +v 2.337571 -3.750270 0.625599 +v 0.369914 2.193138 0.666724 +v 0.410871 2.234713 1.609066 +v 2.460658 2.193138 0.994547 +v 2.419485 1.250579 2.183304 +v 0.410871 -3.832826 1.199499 +v 1.968527 -3.750270 1.937057 +v 1.640657 -3.750270 2.265049 +v 0.288000 2.193138 1.978014 +v 2.460658 -2.479270 2.224260 +v 0.738958 -3.832826 0.707681 +v 2.378528 -3.750270 1.117585 +f 110 90 111 +f 75 76 77 +f 76 75 78 +f 76 78 82 +f 74 80 82 +f 75 77 85 +f 78 75 85 +f 76 82 86 +f 76 86 90 +f 82 80 91 +f 86 82 91 +f 81 77 92 +f 77 84 92 +f 77 81 93 +f 85 77 93 +f 87 88 94 +f 81 92 94 +f 92 87 94 +f 92 84 96 +f 88 83 97 +f 94 88 97 +f 82 78 98 +f 78 89 98 +f 83 95 98 +f 80 79 99 +f 79 86 99 +f 91 80 99 +f 86 91 99 +f 86 79 100 +f 79 90 100 +f 90 86 100 +f 78 85 101 +f 89 78 101 +f 85 89 101 +f 89 81 102 +f 81 94 102 +f 97 83 102 +f 94 97 102 +f 98 89 102 +f 83 98 102 +f 74 82 103 +f 95 74 103 +f 82 98 103 +f 98 95 103 +f 83 88 104 +f 74 95 104 +f 95 83 104 +f 77 76 105 +f 84 77 105 +f 96 84 105 +f 80 87 107 +f 87 92 107 +f 92 96 107 +f 96 106 107 +f 106 80 107 +f 81 89 108 +f 89 85 108 +f 93 81 108 +f 85 93 108 +f 80 74 109 +f 87 80 109 +f 88 87 109 +f 74 104 109 +f 104 88 109 +f 76 90 110 +f 105 76 110 +f 96 105 110 +f 106 96 110 +f 106 110 111 +f 79 80 111 +f 90 79 111 +f 80 106 111 +o convex_3 +v -3.688685 -1.373013 0.748489 +v -2.909796 -0.184103 1.773275 +v -2.909796 -0.184103 1.732318 +v -1.762209 -1.373013 0.789446 +v -1.762209 -0.225301 0.707424 +v -1.762209 -1.249886 1.732318 +v -3.565534 -1.331815 1.773275 +v -3.565534 -0.348195 0.707424 +v -3.688685 -0.184103 1.814340 +v -1.762209 -0.266149 1.732318 +v -3.688685 -0.184103 1.568274 +v -3.647572 -1.373013 1.363165 +v -1.762209 -1.126991 0.748489 +v -3.524609 -0.758192 0.707424 +v -1.762209 -1.373013 0.953490 +v -2.172210 -0.225301 0.707424 +v -2.295172 -0.225301 1.773275 +v -3.278684 -1.331815 1.773275 +v -3.606647 -0.307230 0.871468 +v -3.688685 -0.307230 1.814340 +v -1.762209 -0.225301 1.158598 +v -3.688685 -1.085910 0.789446 +v -2.868683 -1.373013 0.748489 +f 112 125 134 +f 114 113 116 +f 115 116 117 +f 113 114 120 +f 117 116 121 +f 114 116 122 +f 120 114 122 +f 112 120 122 +f 112 115 123 +f 116 115 124 +f 116 124 125 +f 112 119 125 +f 119 116 125 +f 115 117 126 +f 123 115 126 +f 116 119 127 +f 122 116 127 +f 113 120 128 +f 117 121 128 +f 118 123 129 +f 126 117 129 +f 123 126 129 +f 127 119 130 +f 122 127 130 +f 120 112 131 +f 112 123 131 +f 123 118 131 +f 128 120 131 +f 117 128 131 +f 129 117 131 +f 118 129 131 +f 116 113 132 +f 121 116 132 +f 113 128 132 +f 128 121 132 +f 119 112 133 +f 112 122 133 +f 130 119 133 +f 122 130 133 +f 115 112 134 +f 124 115 134 +f 125 124 134 +o convex_4 +v 0.369424 0.307859 0.625430 +v -1.639030 0.184500 0.502420 +v -1.597740 -1.741828 0.338452 +v -1.597740 -1.741828 0.625430 +v 0.369424 -1.864975 0.338452 +v 0.369424 0.307859 0.338452 +v 0.369424 -1.864975 0.625430 +v -1.597740 0.225549 0.338452 +v -1.639030 0.225549 0.625430 +v -1.392864 0.266810 0.461491 +v -1.351770 -1.782877 0.625430 +v 0.082559 -1.864975 0.338452 +f 145 137 146 +f 136 137 138 +f 139 137 140 +f 135 139 140 +f 135 138 141 +f 139 135 141 +f 137 136 142 +f 140 137 142 +f 136 138 143 +f 138 135 143 +f 142 136 143 +f 143 135 144 +f 135 140 144 +f 140 142 144 +f 142 143 144 +f 138 137 145 +f 141 138 145 +f 141 145 146 +f 137 139 146 +f 139 141 146 +o convex_5 +v 2.460454 0.061545 0.502391 +v 0.370022 -1.864413 0.133468 +v 0.410955 -2.151423 0.133468 +v 0.410955 -3.832825 0.625334 +v 0.410955 2.275710 0.625334 +v 2.337656 -3.750310 0.174545 +v 0.943898 2.234452 0.133468 +v 2.337656 -3.750310 0.625382 +v 2.460454 2.193194 0.297535 +v 2.460454 2.193194 0.625382 +v 0.370022 2.275710 0.133468 +v 0.410955 -3.832825 0.297487 +v 2.460454 1.127669 0.256506 +v 0.370022 1.947442 0.625334 +v 1.271769 -2.766104 0.133468 +v 0.656960 -3.832825 0.256506 +v 2.337656 -2.929939 0.174545 +v 2.378588 -3.504557 0.625382 +v 0.370022 -1.864413 0.625334 +v 0.861828 2.275710 0.133468 +v 2.255586 2.193194 0.256506 +v 1.968443 -3.750310 0.174497 +v 2.378588 -2.602269 0.215477 +v 2.460454 -0.143548 0.625382 +v 1.886578 -3.791568 0.297487 +v 1.353839 -2.684186 0.133468 +v 0.779963 -3.832825 0.625334 +f 162 171 173 +f 149 148 153 +f 147 155 156 +f 153 148 157 +f 148 149 158 +f 150 148 158 +f 155 147 159 +f 154 156 160 +f 156 151 160 +f 157 148 160 +f 151 157 160 +f 149 153 161 +f 158 149 162 +f 150 158 162 +f 149 161 162 +f 159 152 163 +f 153 159 163 +f 154 152 164 +f 156 154 164 +f 148 150 165 +f 150 154 165 +f 160 148 165 +f 154 160 165 +f 151 156 166 +f 156 155 166 +f 157 151 166 +f 153 157 166 +f 159 153 167 +f 155 159 167 +f 153 166 167 +f 166 155 167 +f 161 152 168 +f 152 162 168 +f 162 161 168 +f 159 147 169 +f 152 159 169 +f 147 164 169 +f 164 152 169 +f 147 156 170 +f 164 147 170 +f 156 164 170 +f 152 154 171 +f 162 152 171 +f 161 153 172 +f 152 161 172 +f 163 152 172 +f 153 163 172 +f 154 150 173 +f 150 162 173 +f 171 154 173 +o convex_6 +v 0.246827 0.348856 2.224056 +v -1.761876 -1.372627 0.789626 +v -1.761876 -1.372627 0.953662 +v 0.246827 -1.864975 0.625430 +v 0.082647 -1.864975 2.265145 +v 0.246827 0.307683 0.625430 +v -1.720978 0.225769 2.183127 +v -1.638790 0.225769 0.625430 +v -1.597892 -1.700715 2.265145 +v -1.597892 -1.741888 0.625430 +v 0.246827 -1.864975 2.265145 +v -1.761876 -0.225188 0.707609 +v -1.761876 -1.249757 1.732109 +v -1.597892 -0.839756 2.265145 +v -1.393011 0.266726 0.625430 +v -1.310822 -1.782845 0.789626 +v 0.246827 -0.594232 2.265145 +v -1.679884 0.184596 2.224056 +v -1.474806 -1.741888 2.183127 +v -1.761876 -0.266362 1.732109 +v 0.041749 -1.864975 0.625430 +v 0.164638 0.348856 2.019091 +v -1.638790 -1.249757 2.265145 +v -1.597892 -1.741888 1.691181 +v -0.040243 0.307683 0.625430 +f 188 195 198 +f 174 177 179 +f 179 177 181 +f 176 175 183 +f 181 177 183 +f 177 174 184 +f 178 177 184 +f 182 178 184 +f 175 176 185 +f 180 181 185 +f 183 175 185 +f 181 183 185 +f 176 182 186 +f 185 176 186 +f 182 184 187 +f 179 181 188 +f 181 180 188 +f 184 174 190 +f 187 184 190 +f 187 190 191 +f 174 180 191 +f 190 174 191 +f 178 182 192 +f 180 185 193 +f 186 180 193 +f 185 186 193 +f 177 178 194 +f 183 177 194 +f 178 189 194 +f 189 183 194 +f 174 179 195 +f 180 174 195 +f 188 180 195 +f 186 182 196 +f 180 186 196 +f 182 187 196 +f 187 191 196 +f 191 180 196 +f 182 176 197 +f 176 183 197 +f 189 178 197 +f 183 189 197 +f 178 192 197 +f 192 182 197 +f 179 188 198 +f 195 179 198 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/299/299.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/299/299.urdf new file mode 100644 index 000000000..e25115cf2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/299/299.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/300/300.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/300/300.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/300/300.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/300/300.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/300/300.obj new file mode 100644 index 000000000..d16cf774a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/300/300.obj @@ -0,0 +1,633 @@ +o convex_0 +v 1.217386 -3.114661 0.312116 +v 1.438836 -1.122772 1.050055 +v -0.626661 -1.122772 1.050055 +v -0.479096 -1.122772 -1.126268 +v -0.552981 -3.040765 1.012987 +v 1.401790 -3.077616 -1.126268 +v -0.626661 -3.040765 -0.941784 +v 1.327905 -1.122772 -0.978638 +v 1.438836 -3.114661 1.050055 +v -0.663706 -1.122772 -1.089201 +v 1.438836 -1.897613 0.054136 +v -0.626661 -1.602417 1.050055 +v 1.364951 -1.787060 -1.052347 +v -0.663706 -1.233715 0.090990 +v -0.626661 -3.040765 -0.462251 +v 1.032981 -3.114661 1.050055 +v -0.663706 -1.823911 -1.052347 +v 1.364951 -1.159818 -0.794153 +v 1.254225 -1.122772 -1.015492 +v -0.589821 -1.159818 -1.126268 +v 0.959096 -3.077616 -1.089201 +v 1.401790 -2.524270 -1.089201 +v 1.438836 -1.122772 0.607164 +v 0.959096 -3.114661 0.607377 +v 0.110958 -3.077616 1.012987 +v -0.589821 -2.966869 0.496601 +v -0.663706 -2.008360 -0.978638 +f 14 17 27 +f 3 2 4 +f 4 2 8 +f 2 3 9 +f 1 6 9 +f 3 4 10 +f 2 9 11 +f 9 6 11 +f 9 3 12 +f 6 4 13 +f 3 10 14 +f 12 3 14 +f 12 14 15 +f 1 9 16 +f 12 5 16 +f 9 12 16 +f 14 10 17 +f 13 8 18 +f 4 8 19 +f 13 4 19 +f 8 13 19 +f 4 6 20 +f 10 4 20 +f 7 17 20 +f 17 10 20 +f 6 1 21 +f 20 6 21 +f 7 20 21 +f 11 6 22 +f 6 13 22 +f 13 18 22 +f 22 18 23 +f 8 2 23 +f 2 11 23 +f 18 8 23 +f 11 22 23 +f 1 16 24 +f 21 1 24 +f 7 21 24 +f 5 15 25 +f 15 7 25 +f 16 5 25 +f 7 24 25 +f 24 16 25 +f 5 12 26 +f 12 15 26 +f 15 5 26 +f 15 14 27 +f 7 15 27 +f 17 7 27 +o convex_1 +v -0.626610 1.791652 -0.314513 +v 1.512397 1.164511 -0.904644 +v 1.512397 1.127574 -0.904644 +v 1.328108 1.090438 1.013067 +v 1.438681 3.082078 0.976238 +v 0.295462 3.008401 -1.089223 +v -0.589752 3.119213 1.012850 +v -0.552895 1.090438 1.086942 +v -0.626610 1.090438 -1.015348 +v 1.364966 3.008401 -1.052177 +v -0.516037 3.008401 -1.089223 +v 1.475539 1.090438 -1.126268 +v -0.552895 3.045339 -0.757111 +v 1.401823 3.045140 -0.462045 +v -0.626610 1.127375 -1.052177 +v 1.364966 1.090438 0.939192 +v 0.516609 3.082078 1.013067 +v 1.401823 2.934725 -1.052177 +v 1.438681 3.082078 0.533422 +v -0.552895 2.233709 -1.089223 +v -0.626610 1.090438 -0.462045 +v 1.364966 3.082078 0.275186 +v 1.438681 2.860652 0.976238 +v -0.589752 2.602487 1.012850 +v -0.442112 1.127375 1.086942 +v -0.552895 2.824111 -1.089223 +v 1.512397 1.127574 -1.089223 +v -0.220965 3.119213 0.976021 +v -0.405464 3.045339 -0.793940 +v -0.589752 3.082078 0.607297 +v -0.626610 1.385540 -1.015348 +v 1.475539 1.201250 -1.126268 +v 1.364966 1.090438 -1.126268 +f 59 39 60 +f 30 29 32 +f 31 35 36 +f 31 36 39 +f 36 28 42 +f 39 30 43 +f 31 39 43 +f 32 34 44 +f 37 41 45 +f 45 41 46 +f 32 29 46 +f 28 36 48 +f 36 35 48 +f 46 41 49 +f 32 31 50 +f 30 32 50 +f 31 43 50 +f 43 30 50 +f 34 28 51 +f 35 34 51 +f 28 48 51 +f 48 35 51 +f 31 32 52 +f 35 31 52 +f 34 35 52 +f 32 44 52 +f 44 34 52 +f 40 38 53 +f 47 42 53 +f 29 30 54 +f 30 39 54 +f 45 46 54 +f 46 29 54 +f 34 32 55 +f 32 46 55 +f 46 49 55 +f 55 49 56 +f 37 33 56 +f 33 38 56 +f 40 34 56 +f 38 40 56 +f 41 37 56 +f 49 41 56 +f 34 55 56 +f 28 34 57 +f 34 40 57 +f 57 40 58 +f 42 28 58 +f 40 53 58 +f 53 42 58 +f 28 57 58 +f 33 37 59 +f 38 33 59 +f 37 45 59 +f 54 39 59 +f 45 54 59 +f 39 36 60 +f 36 42 60 +f 42 47 60 +f 53 38 60 +f 47 53 60 +f 38 59 60 +o convex_2 +v 1.623609 0.168252 0.349140 +v 1.512617 0.242033 -0.314693 +v 1.512617 0.315814 -0.314693 +v 3.467619 0.094471 -0.240876 +v 1.512617 -0.311262 -0.019620 +v 3.393751 -0.274372 0.312231 +v 3.467619 0.242033 0.238479 +v 3.319884 -0.274372 -0.240876 +v 1.586484 -0.311262 0.238479 +v 1.512617 -0.274372 -0.204033 +v 3.356626 0.242033 -0.240876 +v 1.512617 0.242033 0.238479 +v 2.840319 -0.311262 0.312231 +v 3.393751 -0.089919 0.312231 +v 1.512617 0.131362 0.349140 +v 1.881763 0.315814 -0.240876 +v 3.024605 0.205143 -0.277785 +v 2.398070 -0.274372 -0.240876 +v 1.512617 0.315814 -0.167124 +v 2.877061 0.242033 0.275323 +f 67 79 80 +f 63 62 65 +f 66 64 67 +f 64 66 68 +f 65 62 70 +f 67 64 71 +f 63 65 72 +f 65 68 73 +f 68 66 73 +f 69 65 73 +f 61 66 74 +f 66 67 74 +f 66 61 75 +f 65 69 75 +f 72 65 75 +f 61 72 75 +f 73 66 75 +f 69 73 75 +f 71 63 76 +f 67 71 76 +f 62 63 77 +f 68 62 77 +f 64 68 77 +f 63 71 77 +f 71 64 77 +f 62 68 78 +f 68 65 78 +f 70 62 78 +f 65 70 78 +f 63 72 79 +f 76 63 79 +f 67 76 79 +f 72 61 80 +f 61 74 80 +f 74 67 80 +f 79 72 80 +o convex_3 +v -2.471092 -0.016110 -0.351645 +v -2.213000 -0.126767 0.275431 +v -2.249891 -0.126767 0.275431 +v -2.213000 0.352701 0.201589 +v -2.655545 0.352701 0.164699 +v -2.655545 -0.348149 0.164699 +v -2.213000 -0.311240 -0.277864 +v -2.655545 -0.348149 -0.351645 +v -2.692482 0.352701 -0.240974 +v -2.213000 0.241975 -0.314754 +v -2.213000 -0.348149 0.275431 +v -2.507983 -0.348149 0.238541 +v -2.213000 0.168227 -0.351645 +f 89 90 93 +f 83 82 84 +f 83 84 85 +f 84 82 87 +f 85 84 89 +f 86 85 89 +f 81 88 89 +f 88 86 89 +f 84 87 90 +f 89 84 90 +f 82 83 91 +f 87 82 91 +f 86 88 91 +f 88 87 91 +f 83 85 92 +f 85 86 92 +f 91 83 92 +f 86 91 92 +f 88 81 93 +f 87 88 93 +f 81 89 93 +f 90 87 93 +o convex_4 +v 1.328033 0.979734 1.049647 +v -0.626698 -1.122772 -1.126048 +v -0.663526 -1.048898 -3.117749 +v 1.475564 -1.085727 -3.044315 +v -0.553041 1.053392 -3.080624 +v -0.626698 -1.122772 1.049239 +v 1.438736 -1.122772 1.049647 +v -0.553041 1.090438 1.049239 +v 1.328033 1.016346 -2.970065 +v 1.512393 1.090438 -0.942054 +v -0.700355 0.315511 0.201073 +v 1.512393 0.131365 0.349165 +v -0.700355 -0.679957 -3.117749 +v -0.626698 1.090438 -1.015896 +v 1.364862 1.090438 0.901963 +v -0.700355 -1.048898 -1.937089 +v -0.147060 1.053392 -3.080624 +v 1.438736 -0.421720 -3.044315 +v 1.328033 -1.122772 -0.978771 +v 1.512393 -0.311233 0.201481 +v 1.512393 0.536918 -1.568694 +v -0.700355 -0.274187 0.311632 +v -0.110231 -1.012069 -3.117749 +v 0.479676 1.053392 -3.043907 +v -0.663526 0.537135 -1.494851 +v -0.626698 -0.311233 1.049239 +v 1.512393 1.090438 -1.126048 +v 1.364862 0.647406 -3.006782 +v -0.663526 -1.122772 0.238198 +v -0.589869 0.869030 -2.896222 +v 1.475564 -0.717003 -3.006782 +v 0.959098 -0.975023 -3.081032 +v -0.553041 0.020445 -3.117749 +v 1.438736 -0.717003 1.049647 +v -0.626698 1.090438 -0.462691 +v 1.328033 1.090438 1.012522 +v 1.180502 -1.085727 -3.043907 +v -0.700355 -1.048898 -2.970065 +v 1.512393 0.205024 0.349165 +v 0.737909 1.053392 -3.007190 +v 0.516505 0.020445 -3.081032 +v -0.700355 -0.384891 -2.490702 +v 1.364862 0.758110 1.049647 +f 127 132 136 +f 94 99 100 +f 99 95 100 +f 101 103 107 +f 103 101 108 +f 104 106 109 +f 95 97 112 +f 100 95 112 +f 97 100 112 +f 100 97 113 +f 105 100 113 +f 103 105 113 +f 113 97 114 +f 103 113 114 +f 104 109 115 +f 97 96 116 +f 96 106 116 +f 111 110 117 +f 104 107 118 +f 99 94 119 +f 94 101 119 +f 101 104 119 +f 115 99 119 +f 104 115 119 +f 107 103 120 +f 98 107 120 +f 110 98 120 +f 103 114 120 +f 117 110 120 +f 117 102 121 +f 111 117 121 +f 102 120 121 +f 95 99 122 +f 99 115 122 +f 115 109 122 +f 98 106 123 +f 107 98 123 +f 118 107 123 +f 97 111 124 +f 114 97 124 +f 120 114 124 +f 111 121 124 +f 121 120 124 +f 111 97 125 +f 97 116 125 +f 125 116 126 +f 106 98 126 +f 98 110 126 +f 116 106 126 +f 94 100 127 +f 100 105 127 +f 104 101 128 +f 107 104 128 +f 101 107 128 +f 101 94 129 +f 108 101 129 +f 95 96 130 +f 96 97 130 +f 97 95 130 +f 96 95 131 +f 106 96 131 +f 109 106 131 +f 95 122 131 +f 122 109 131 +f 105 103 132 +f 103 108 132 +f 127 105 132 +f 102 117 133 +f 120 102 133 +f 117 120 133 +f 110 111 134 +f 111 125 134 +f 125 126 134 +f 126 110 134 +f 106 104 135 +f 104 118 135 +f 123 106 135 +f 118 123 135 +f 94 127 136 +f 129 94 136 +f 108 129 136 +f 132 108 136 +o convex_5 +v -0.036576 1.090438 1.714213 +v -0.700593 -1.048681 2.267172 +v -0.700593 -1.048681 2.931128 +v 1.475730 -1.085727 1.824805 +v 1.328100 0.979517 3.115313 +v 1.328100 0.979517 1.050257 +v -0.626672 -0.975023 1.050055 +v -0.589817 0.979517 2.967925 +v 1.475730 -1.085727 2.931128 +v -0.552963 1.090438 1.050055 +v 1.438663 -1.122772 1.050055 +v 1.364954 0.832201 3.115313 +v -0.552963 -1.085727 2.931128 +v -0.552963 -0.901365 2.967925 +v -0.626672 0.869030 2.967925 +v 1.254178 1.016346 3.004721 +v 1.291245 1.016346 1.050257 +v 1.364954 0.758109 1.050257 +v 1.475730 -0.975023 2.967925 +v 1.475730 -0.679957 2.931128 +v 1.069693 0.794939 3.115313 +v -0.663526 -0.901365 1.234644 +v 0.147909 1.090438 1.050055 +v -0.589817 1.053175 2.119582 +v -0.700593 -0.606299 2.783537 +v 1.328100 -1.122772 1.050257 +v 1.438663 -1.122772 1.382235 +v 1.291245 0.721280 3.115313 +v 1.438663 -0.716786 1.050055 +v -0.589817 0.942688 1.824805 +v -0.294556 1.016346 2.709742 +v 0.627228 0.979517 3.078516 +f 150 157 168 +f 140 145 147 +f 143 146 147 +f 142 141 148 +f 139 138 149 +f 139 149 150 +f 139 150 151 +f 141 142 153 +f 152 141 153 +f 142 148 154 +f 145 140 155 +f 149 145 155 +f 150 149 155 +f 140 154 156 +f 154 148 156 +f 148 155 156 +f 155 140 156 +f 148 141 157 +f 143 138 158 +f 146 143 158 +f 146 137 159 +f 147 146 159 +f 137 152 159 +f 153 142 159 +f 152 153 159 +f 137 146 160 +f 151 144 160 +f 138 139 161 +f 139 151 161 +f 158 138 161 +f 138 143 162 +f 143 147 162 +f 149 138 162 +f 149 162 163 +f 147 145 163 +f 145 149 163 +f 162 147 163 +f 155 148 164 +f 150 155 164 +f 148 157 164 +f 157 150 164 +f 140 147 165 +f 154 140 165 +f 142 154 165 +f 159 142 165 +f 147 159 165 +f 146 158 166 +f 160 146 166 +f 151 160 166 +f 161 151 166 +f 158 161 166 +f 152 137 167 +f 144 152 167 +f 137 160 167 +f 160 144 167 +f 144 151 168 +f 151 150 168 +f 141 152 168 +f 152 144 168 +f 157 141 168 +o convex_6 +v -1.880859 -0.089793 -3.007497 +v -1.032575 0.537135 3.078831 +v -1.327776 0.537135 3.078831 +v -1.217090 -0.606357 3.004360 +v -2.212918 -0.569419 2.782736 +v -1.180233 -0.495657 -3.007497 +v -2.139088 0.537135 -3.007497 +v -1.032575 0.463260 -2.970560 +v -2.065375 0.537135 3.004360 +v -2.212918 -0.458719 -2.933622 +v -1.069547 -0.532482 2.967423 +v -2.212918 0.352560 0.200694 +v -1.032575 -0.274368 0.017794 +v -2.175945 -0.569419 3.078831 +v -1.143376 -0.532482 -2.269345 +v -1.032575 0.537135 1.233749 +v -2.175945 0.500086 -2.675061 +v -1.954689 -0.569419 1.528652 +v -1.844003 0.537135 -3.007497 +v -1.106404 -0.606357 2.045180 +v -1.253947 -0.532482 -2.417094 +v -2.212918 -0.089905 -2.970560 +v -2.175945 -0.311194 3.078831 +v -1.143376 -0.458719 -2.933622 +v -1.364633 0.500198 -3.007497 +v -1.032575 0.352672 3.078831 +v -2.212918 -0.495545 -1.457914 +v -1.549033 -0.606357 2.931081 +v -1.032575 0.352672 -2.859747 +v -1.733317 -0.495657 -2.933622 +v -2.212918 0.315623 -1.310165 +v -1.106404 -0.569419 0.348443 +v -2.102232 0.278797 3.041893 +v -1.032575 0.500198 -1.384039 +v -2.212918 -0.569419 2.303741 +v -2.212918 -0.311194 -2.970560 +v -1.032575 0.241972 3.041893 +f 181 194 205 +f 171 170 175 +f 174 169 175 +f 171 175 177 +f 178 173 180 +f 176 170 181 +f 170 171 182 +f 175 170 184 +f 170 176 184 +f 177 175 185 +f 180 177 185 +f 174 175 187 +f 175 184 187 +f 179 172 188 +f 174 183 189 +f 183 188 189 +f 178 180 190 +f 185 175 190 +f 180 173 191 +f 182 171 191 +f 173 182 191 +f 174 176 192 +f 183 174 192 +f 181 183 192 +f 176 174 193 +f 174 187 193 +f 172 179 194 +f 181 170 194 +f 170 182 194 +f 182 172 194 +f 173 178 195 +f 172 182 196 +f 182 173 196 +f 188 172 196 +f 186 189 196 +f 189 188 196 +f 176 181 197 +f 192 176 197 +f 181 192 197 +f 178 174 198 +f 189 186 198 +f 174 189 198 +f 195 178 198 +f 180 185 199 +f 190 180 199 +f 185 190 199 +f 181 179 200 +f 183 181 200 +f 179 188 200 +f 188 183 200 +f 171 177 201 +f 177 180 201 +f 191 171 201 +f 180 191 201 +f 184 176 202 +f 187 184 202 +f 176 193 202 +f 193 187 202 +f 173 195 203 +f 196 173 203 +f 186 196 203 +f 198 186 203 +f 195 198 203 +f 169 174 204 +f 175 169 204 +f 174 178 204 +f 190 175 204 +f 178 190 204 +f 179 181 205 +f 194 179 205 +o convex_7 +v -1.032510 0.315756 -0.019790 +v -1.032510 -0.274375 0.090856 +v -1.032510 -0.237460 -0.277907 +v -0.700593 -0.274375 0.127851 +v -0.995630 0.389588 -1.421363 +v -0.700593 0.315756 0.164677 +v -0.700593 -0.200544 -0.315072 +v -1.032510 -0.089927 0.312318 +v -0.700593 0.241990 -0.351728 +v -0.700593 -0.274375 0.312318 +v -1.032510 0.352672 -1.421363 +v -1.032510 0.241990 0.238497 +v -1.032510 0.352672 -0.204256 +v -1.032510 -0.274375 0.312318 +f 215 213 219 +f 208 207 206 +f 207 208 209 +f 209 208 212 +f 211 209 212 +f 206 207 213 +f 210 211 214 +f 212 210 214 +f 211 212 214 +f 207 209 215 +f 209 211 215 +f 208 206 216 +f 210 212 216 +f 212 208 216 +f 211 206 217 +f 206 213 217 +f 215 211 217 +f 213 215 217 +f 206 211 218 +f 211 210 218 +f 216 206 218 +f 210 216 218 +f 213 207 219 +f 207 215 219 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/300/300.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/300/300.urdf new file mode 100644 index 000000000..275d6ded4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/300/300.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/301/301.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/301/301.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/301/301.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/301/301.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/301/301.obj new file mode 100644 index 000000000..e482ee123 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/301/301.obj @@ -0,0 +1,933 @@ +o convex_0 +v 0.786985 1.533247 -0.868688 +v -0.292872 -0.437366 1.210057 +v -0.346905 -0.437366 1.210057 +v 0.112074 3.288191 0.508002 +v -0.805885 0.777563 -0.733761 +v 1.056950 -0.599751 0.129918 +v 0.084957 -0.599751 -1.247014 +v -0.724936 3.017972 -0.031706 +v -0.940867 -0.599751 0.048865 +v 0.921968 0.777563 0.777857 +v -0.049824 3.072101 -0.733761 +v -0.724936 2.666983 0.804794 +v 0.813901 2.964267 -0.005010 +v 0.138990 3.045036 0.750920 +v 0.948884 -0.572264 -0.733761 +v 0.895051 -0.599329 0.858909 +v 0.004209 3.720373 -0.005250 +v 0.759868 2.532085 -0.841751 +v -0.805885 -0.599751 0.804794 +v 1.084067 0.804627 -0.005250 +v -0.778969 -0.599751 -0.787876 +v -0.967984 0.858333 0.021928 +v 0.381838 1.074847 0.993837 +v 0.462988 -0.599329 -1.192899 +v -0.886834 0.723435 0.750920 +v -0.292872 0.750499 -1.030793 +v 1.002917 0.480703 -0.706824 +v 0.652003 2.423828 0.588814 +v -0.049824 -0.599751 1.210057 +v -0.589753 2.315994 -0.571656 +v -0.292872 -0.545200 -1.138783 +v 0.084957 3.692886 -0.058884 +v -0.049824 2.990908 -0.760698 +v 0.841018 2.856010 0.048865 +v 0.786985 2.639919 -0.679646 +v 1.084067 0.696371 0.129918 +v 0.138990 -0.491495 -1.247014 +v -0.481888 -0.599751 1.128764 +v -0.886834 -0.599751 -0.382854 +v -0.751852 2.909715 -0.031706 +v 0.624886 -0.599329 -1.084668 +v -0.292872 1.020718 -1.003616 +v -0.913951 0.480703 0.642930 +v 0.652003 -0.491495 0.966659 +v 0.354922 -0.572264 -1.247014 +v 0.895051 0.777563 0.804794 +v -0.967984 0.750499 -0.058884 +v -0.724936 2.477957 0.831732 +v 1.056950 -0.599751 -0.005250 +v 0.084957 3.666245 0.075802 +v 0.813901 2.883074 0.102980 +v 0.732952 2.639919 -0.787876 +v -0.508804 2.532085 0.831732 +v -0.778969 2.315994 0.669867 +v 0.921968 -0.599329 0.804794 +v -0.481888 2.532085 -0.598834 +v 0.813901 2.235224 -0.814814 +v -0.967984 0.696371 0.156855 +v 0.004209 3.720373 0.021687 +v -0.022908 3.072101 0.696804 +v -0.886834 0.237970 0.750920 +v -0.724936 2.963844 0.156614 +v 1.084067 0.102649 0.021928 +v 0.031125 3.017972 -0.760698 +f 32 52 64 +f 7 6 9 +f 11 8 17 +f 9 6 19 +f 7 9 21 +f 14 2 23 +f 2 3 29 +f 6 16 29 +f 19 6 29 +f 23 2 29 +f 21 5 31 +f 7 21 31 +f 26 7 31 +f 5 26 31 +f 11 17 32 +f 13 34 35 +f 34 20 35 +f 34 10 36 +f 20 34 36 +f 29 3 38 +f 19 29 38 +f 5 21 39 +f 21 9 39 +f 30 5 40 +f 8 30 40 +f 18 1 41 +f 7 24 41 +f 24 18 41 +f 27 15 41 +f 1 27 41 +f 7 26 42 +f 26 5 42 +f 37 7 42 +f 33 37 42 +f 29 16 44 +f 23 29 44 +f 24 7 45 +f 18 24 45 +f 7 37 45 +f 37 18 45 +f 16 10 46 +f 14 23 46 +f 10 28 46 +f 28 14 46 +f 44 16 46 +f 23 44 46 +f 5 39 47 +f 39 9 47 +f 40 5 47 +f 22 40 47 +f 12 25 48 +f 38 3 48 +f 25 38 48 +f 6 7 49 +f 15 27 49 +f 7 41 49 +f 41 15 49 +f 13 32 50 +f 4 14 51 +f 28 10 51 +f 14 28 51 +f 34 13 51 +f 10 34 51 +f 50 4 51 +f 13 50 51 +f 32 13 52 +f 35 18 52 +f 13 35 52 +f 3 2 53 +f 2 14 53 +f 14 12 53 +f 48 3 53 +f 12 48 53 +f 25 12 54 +f 12 40 54 +f 40 22 54 +f 16 6 55 +f 10 16 55 +f 6 36 55 +f 36 10 55 +f 8 11 56 +f 5 30 56 +f 30 8 56 +f 11 33 56 +f 42 5 56 +f 33 42 56 +f 1 18 57 +f 27 1 57 +f 20 27 57 +f 18 35 57 +f 35 20 57 +f 9 43 58 +f 43 25 58 +f 47 9 58 +f 22 47 58 +f 25 54 58 +f 54 22 58 +f 17 8 59 +f 32 17 59 +f 4 50 59 +f 50 32 59 +f 12 14 60 +f 14 4 60 +f 4 59 60 +f 59 12 60 +f 9 19 61 +f 38 25 61 +f 19 38 61 +f 43 9 61 +f 25 43 61 +f 8 40 62 +f 40 12 62 +f 12 59 62 +f 59 8 62 +f 27 20 63 +f 36 6 63 +f 20 36 63 +f 6 49 63 +f 49 27 63 +f 11 32 64 +f 33 11 64 +f 18 37 64 +f 37 33 64 +f 52 18 64 +o convex_1 +v 0.030984 -2.786815 -0.598995 +v 0.030984 -2.570808 0.643041 +v -0.076979 -2.570808 0.643041 +v -0.076979 -4.298858 -0.004846 +v -0.589973 -2.570808 -0.004846 +v 0.571026 -2.570808 -0.058948 +v 0.354986 -4.055619 0.022023 +v -0.454849 -4.001659 -0.058948 +v 0.030984 -4.082852 -0.436932 +v -0.427802 -2.570808 -0.490913 +v -0.104027 -4.001659 0.400007 +v 0.408968 -2.624937 0.507968 +v -0.427802 -3.246060 0.426998 +v 0.489997 -2.570808 -0.409942 +v 0.408968 -3.380874 -0.409942 +v -0.400868 -3.408107 -0.436932 +v 0.328052 -3.300020 0.453988 +v -0.454849 -2.570808 0.453988 +v 0.517044 -3.218996 0.048891 +v 0.003936 -3.327084 -0.571883 +v -0.076979 -3.299850 0.561949 +v -0.076979 -4.055619 -0.436932 +v -0.427802 -4.082852 -0.004846 +v 0.084965 -2.570808 -0.598995 +v -0.049932 -4.028724 0.400007 +v -0.535878 -3.434833 -0.031836 +v 0.301005 -3.893741 -0.328850 +v -0.346886 -3.866677 0.291925 +v 0.247023 -3.839782 0.318915 +v -0.319839 -3.893572 -0.355962 +v 0.571026 -2.570808 0.102993 +v -0.454849 -3.272955 0.373017 +v 0.354986 -4.028724 -0.085816 +v 0.084965 -4.244561 -0.004846 +v -0.535878 -3.353979 -0.085816 +v 0.382034 -3.327084 -0.436811 +v 0.462949 -3.327084 -0.220889 +v -0.427802 -4.082852 -0.058948 +v -0.022998 -3.299850 0.561949 +v -0.400868 -2.624937 0.507968 +v -0.076979 -4.271625 -0.112928 +v 0.354986 -3.218996 0.453988 +v 0.408968 -2.570808 0.507968 +v -0.535878 -3.353979 0.048891 +v -0.049932 -2.598042 -0.598995 +v -0.454849 -2.598042 -0.436932 +v 0.462949 -2.705960 -0.436811 +v 0.436015 -3.704630 0.022023 +v 0.030984 -3.327084 -0.571883 +v -0.589973 -2.598042 0.022023 +v -0.454849 -4.001659 -0.004846 +v -0.427802 -3.380874 0.400007 +v -0.104027 -3.272955 0.561949 +v 0.571026 -2.733025 0.075882 +v 0.003936 -4.217666 -0.220889 +v 0.003936 -2.679065 0.643041 +v 0.165994 -2.598042 -0.571883 +v -0.265857 -3.353979 -0.490913 +v -0.049932 -4.163706 -0.328971 +f 119 105 123 +f 67 66 69 +f 69 66 70 +f 69 70 74 +f 74 70 78 +f 67 69 82 +f 84 73 86 +f 68 75 87 +f 74 78 88 +f 75 68 89 +f 85 75 89 +f 73 79 91 +f 87 75 92 +f 89 71 93 +f 81 89 93 +f 72 80 94 +f 80 86 94 +f 70 66 95 +f 77 82 96 +f 73 91 97 +f 91 79 97 +f 89 68 98 +f 71 89 98 +f 97 71 98 +f 80 72 99 +f 90 69 99 +f 72 90 99 +f 79 73 100 +f 78 70 101 +f 79 78 101 +f 70 83 101 +f 97 79 101 +f 68 87 102 +f 87 72 102 +f 72 94 102 +f 94 86 102 +f 89 81 103 +f 85 89 103 +f 67 82 104 +f 82 77 104 +f 68 102 105 +f 76 81 106 +f 93 71 106 +f 81 93 106 +f 66 76 107 +f 95 66 107 +f 76 95 107 +f 65 84 109 +f 84 74 109 +f 88 65 109 +f 74 88 109 +f 69 74 110 +f 74 80 110 +f 99 69 110 +f 80 99 110 +f 78 79 111 +f 79 100 111 +f 71 97 112 +f 101 83 112 +f 97 101 112 +f 83 106 112 +f 106 71 112 +f 84 65 113 +f 73 84 113 +f 65 88 113 +f 100 73 113 +f 82 69 114 +f 69 90 114 +f 96 82 114 +f 90 108 114 +f 108 96 114 +f 72 87 115 +f 90 72 115 +f 87 92 115 +f 108 90 115 +f 96 108 115 +f 92 75 116 +f 77 96 116 +f 115 92 116 +f 96 115 116 +f 75 85 117 +f 67 104 117 +f 104 77 117 +f 77 116 117 +f 116 75 117 +f 83 70 118 +f 70 95 118 +f 95 76 118 +f 76 106 118 +f 106 83 118 +f 73 97 119 +f 98 68 119 +f 97 98 119 +f 68 105 119 +f 66 67 120 +f 76 66 120 +f 81 76 120 +f 103 81 120 +f 85 103 120 +f 67 117 120 +f 117 85 120 +f 88 78 121 +f 78 111 121 +f 111 100 121 +f 113 88 121 +f 100 113 121 +f 80 74 122 +f 74 84 122 +f 86 80 122 +f 84 86 122 +f 86 73 123 +f 102 86 123 +f 105 102 123 +f 73 119 123 +o convex_2 +v -0.778926 -2.165776 -0.112804 +v 0.976061 -1.706868 0.399754 +v 0.948923 -1.706868 0.615926 +v 0.570967 -2.570808 0.129949 +v 0.084998 -1.706953 -1.220013 +v -0.724830 -1.706953 0.831629 +v -0.076931 -2.570808 0.642977 +v -0.454887 -2.570808 -0.490812 +v -0.778926 -1.706953 -0.814719 +v 0.867868 -1.868830 -0.760617 +v 0.409038 -1.733932 1.156005 +v 0.462954 -2.570808 -0.463526 +v 0.867868 -1.922959 0.913017 +v -0.454887 -2.570808 0.507722 +v 0.031082 -2.246799 0.966884 +v 0.813952 -2.327653 0.021980 +v 0.084998 -2.273779 -0.895636 +v -0.778926 -1.949854 -0.814719 +v 0.867868 -1.706953 -0.760617 +v 0.409038 -2.570808 0.507958 +v -0.724830 -2.381782 0.048796 +v -0.319916 -1.733932 -1.192727 +v -0.859981 -1.733932 0.183816 +v 0.031082 -1.706953 1.183056 +v -0.724830 -1.841935 0.831629 +v 0.058040 -2.570808 -0.625597 +v 0.976061 -1.787807 -0.005071 +v 0.867868 -1.706953 0.939833 +v -0.589859 -2.570808 -0.058937 +v 0.544009 -2.516680 -0.463526 +v -0.859981 -1.706953 -0.328977 +v -0.589859 -2.246799 0.669793 +v 0.274066 -2.165776 0.966884 +v 0.813952 -2.327653 0.102898 +v 0.084998 -1.733932 -1.220013 +v 0.031082 -2.273779 -0.895636 +v 0.895006 -1.895810 0.885731 +v 0.732897 -2.165776 -0.625597 +v 0.948923 -1.706868 -0.382844 +v 0.031082 -1.733932 1.183056 +v -0.859981 -1.814956 -0.058937 +v -0.049973 -2.192755 0.966884 +v 0.084998 -2.246799 0.966884 +v -0.778926 -2.192755 0.048796 +v 0.867868 -1.895895 0.939833 +v 0.976061 -1.787807 0.157000 +v -0.724830 -1.922959 0.750711 +v 0.544009 -2.570808 -0.247589 +v -0.724830 -2.381782 -0.031886 +v 0.031082 -2.570808 0.642977 +v 0.895006 -1.841851 -0.652648 +v 0.813952 -2.057941 0.750946 +v -0.319916 -1.706953 -1.192727 +v 0.678980 -2.327653 -0.490577 +v -0.130848 -1.733932 -1.219778 +v -0.589859 -2.570808 0.075847 +v -0.346874 -1.760827 -1.165676 +f 159 131 180 +f 127 130 131 +f 127 131 135 +f 131 130 137 +f 137 130 138 +f 133 128 142 +f 130 127 143 +f 141 132 145 +f 126 129 147 +f 129 146 148 +f 147 129 148 +f 135 131 149 +f 140 135 149 +f 126 147 151 +f 147 134 151 +f 131 137 152 +f 141 131 152 +f 135 140 153 +f 129 126 154 +f 132 141 154 +f 146 129 154 +f 144 137 155 +f 127 139 157 +f 139 150 157 +f 128 133 158 +f 133 140 158 +f 149 131 159 +f 140 149 159 +f 158 140 159 +f 125 126 160 +f 126 151 160 +f 136 157 160 +f 140 133 161 +f 153 140 161 +f 126 125 162 +f 142 128 162 +f 125 150 162 +f 154 126 162 +f 132 154 162 +f 134 147 163 +f 147 148 163 +f 141 124 164 +f 154 141 164 +f 146 154 164 +f 137 138 165 +f 155 137 165 +f 148 155 165 +f 138 163 165 +f 163 148 165 +f 138 130 166 +f 156 134 166 +f 143 156 166 +f 134 163 166 +f 163 138 166 +f 164 124 167 +f 146 164 167 +f 143 136 168 +f 151 134 168 +f 134 156 168 +f 156 143 168 +f 160 151 168 +f 136 160 168 +f 150 125 169 +f 157 150 169 +f 125 160 169 +f 160 157 169 +f 148 146 170 +f 144 155 170 +f 155 148 170 +f 167 144 170 +f 146 167 170 +f 127 135 171 +f 139 127 171 +f 135 153 171 +f 153 139 171 +f 124 141 172 +f 141 152 172 +f 152 144 172 +f 167 124 172 +f 144 167 172 +f 130 143 173 +f 166 130 173 +f 143 166 173 +f 139 133 174 +f 133 142 174 +f 150 139 174 +f 142 162 174 +f 162 150 174 +f 143 127 175 +f 136 143 175 +f 157 136 175 +f 127 157 175 +f 145 132 176 +f 162 128 176 +f 132 162 176 +f 133 139 177 +f 139 153 177 +f 161 133 177 +f 153 161 177 +f 128 158 178 +f 159 145 178 +f 158 159 178 +f 176 128 178 +f 145 176 178 +f 137 144 179 +f 152 137 179 +f 144 152 179 +f 131 141 180 +f 141 145 180 +f 145 159 180 +o convex_3 +v -0.076906 -0.599751 1.264096 +v 0.004044 -1.625781 1.237058 +v 0.193017 -1.625781 1.237058 +v -0.022825 -1.301682 3.019109 +v -0.346966 -1.112766 1.237058 +v 0.355054 -1.247649 1.237058 +v 0.193017 -1.247649 2.749081 +v -0.211867 -1.274665 2.775769 +v -0.319892 -0.626768 1.237058 +v -0.076906 -1.058934 2.775769 +v 0.219955 -0.815784 1.318171 +v 0.030912 -1.517715 2.667967 +v -0.238942 -1.463681 1.534125 +v 0.327979 -1.598764 1.264096 +v 0.193017 -1.463681 2.532953 +v -0.022825 -1.058934 2.775769 +v -0.157924 -1.463681 2.371075 +v -0.265948 -1.436765 1.237058 +v -0.238942 -1.301682 2.586854 +v 0.355054 -1.355715 1.453360 +v 0.247030 -0.869817 1.237058 +v -0.346966 -0.950767 1.372247 +v 0.193017 -1.328699 2.775769 +v -0.292954 -0.599751 1.264096 +v -0.211867 -1.139582 2.614066 +v 0.301042 -1.247649 1.858229 +v 0.004044 -1.490698 2.775769 +v -0.238942 -1.247649 2.614066 +v 0.355054 -1.517715 1.264096 +v 0.111999 -1.112766 2.614066 +v -0.292954 -1.274665 1.804328 +v 0.219955 -1.274665 2.640929 +v -0.346966 -1.085950 1.426148 +v 0.084993 -1.490698 2.722043 +v -0.184930 -1.382732 2.640929 +v 0.004044 -1.274665 3.019109 +v 0.247030 -0.923851 1.453360 +v 0.004044 -1.517715 2.667967 +v -0.184930 -1.490698 1.858229 +f 218 197 219 +f 183 182 185 +f 183 185 186 +f 186 185 189 +f 188 184 190 +f 182 183 192 +f 183 186 194 +f 192 183 194 +f 181 190 196 +f 191 181 196 +f 185 182 198 +f 182 193 198 +f 198 193 199 +f 189 181 201 +f 186 189 201 +f 181 191 201 +f 189 185 202 +f 181 189 204 +f 190 181 204 +f 190 204 205 +f 188 190 205 +f 204 189 205 +f 200 186 206 +f 184 188 207 +f 199 188 208 +f 189 202 208 +f 188 205 208 +f 205 189 208 +f 194 186 209 +f 195 194 209 +f 186 200 209 +f 203 195 209 +f 187 191 210 +f 196 187 210 +f 191 196 210 +f 185 198 211 +f 198 199 211 +f 187 203 212 +f 200 206 212 +f 209 200 212 +f 203 209 212 +f 202 185 213 +f 199 208 213 +f 208 202 213 +f 185 211 213 +f 211 199 213 +f 192 194 214 +f 194 195 214 +f 203 184 214 +f 195 203 214 +f 184 207 214 +f 207 192 214 +f 193 197 215 +f 199 193 215 +f 188 199 215 +f 207 188 215 +f 190 184 216 +f 187 196 216 +f 196 190 216 +f 184 203 216 +f 203 187 216 +f 191 187 217 +f 186 201 217 +f 201 191 217 +f 206 186 217 +f 187 212 217 +f 212 206 217 +f 182 192 218 +f 192 207 218 +f 215 197 218 +f 207 215 218 +f 193 182 219 +f 197 193 219 +f 182 218 219 +o convex_4 +v 0.085041 -0.626752 -1.247014 +v 0.004165 -1.706783 -1.274052 +v 0.031044 -1.706783 -1.274052 +v -0.022873 -1.301772 -3.029065 +v -0.373967 -1.436776 -1.247014 +v 0.436056 -1.085892 -1.247014 +v 0.219992 -1.328730 -2.731999 +v -0.238858 -1.328730 -2.704786 +v 0.355022 -0.626752 -1.301089 +v -0.076869 -1.544610 -2.785725 +v -0.211820 -0.869802 -1.274052 +v 0.327905 -1.517757 -1.382203 +v -0.292933 -1.652761 -1.247014 +v 0.004165 -1.112957 -2.759037 +v 0.004165 -1.544610 -2.785725 +v 0.219992 -1.274708 -2.731999 +v -0.211820 -1.463734 -2.650885 +v 0.273988 -1.571674 -1.247014 +v -0.130865 -1.166768 -2.624022 +v 0.193033 -1.517757 -2.191941 +v 0.436056 -1.004805 -1.301089 +v 0.085041 -1.112957 -2.704786 +v -0.238858 -0.923824 -1.247014 +v -0.373967 -1.490693 -1.274052 +v 0.381981 -0.680881 -1.247014 +v 0.085041 -0.626752 -1.274052 +v -0.211820 -1.328730 -2.812763 +v 0.327905 -1.301772 -1.922261 +v -0.292933 -1.301772 -2.003374 +v 0.004165 -1.355583 -3.029065 +v -0.238858 -1.571674 -2.057275 +v 0.165996 -1.490693 -2.489007 +v 0.355022 -1.463734 -1.301089 +v 0.193033 -1.247643 -2.759037 +v -0.211820 -1.382647 -2.812763 +f 223 249 254 +f 220 224 225 +f 222 221 229 +f 221 222 232 +f 225 224 232 +f 229 221 232 +f 222 229 234 +f 232 222 237 +f 225 232 237 +f 227 230 238 +f 222 234 239 +f 231 237 239 +f 237 222 239 +f 225 226 240 +f 226 235 240 +f 223 233 241 +f 233 228 241 +f 224 220 242 +f 220 230 242 +f 230 227 242 +f 224 227 243 +f 232 224 243 +f 227 236 243 +f 220 225 244 +f 228 220 244 +f 235 228 244 +f 225 240 244 +f 240 235 244 +f 220 228 245 +f 230 220 245 +f 228 233 245 +f 238 230 245 +f 233 238 245 +f 233 223 246 +f 227 238 246 +f 238 233 246 +f 226 225 247 +f 227 224 248 +f 224 242 248 +f 242 227 248 +f 226 234 249 +f 234 229 249 +f 235 226 249 +f 229 232 250 +f 236 229 250 +f 232 243 250 +f 243 236 250 +f 226 231 251 +f 234 226 251 +f 231 239 251 +f 239 234 251 +f 231 226 252 +f 225 237 252 +f 237 231 252 +f 247 225 252 +f 226 247 252 +f 228 235 253 +f 223 241 253 +f 241 228 253 +f 249 223 253 +f 235 249 253 +f 236 227 254 +f 229 236 254 +f 246 223 254 +f 227 246 254 +f 249 229 254 +o convex_5 +v -0.859817 -1.706783 -0.328860 +v 1.057074 -0.599968 0.129730 +v 1.002898 -0.599968 0.453856 +v -0.886808 -0.599968 -0.382598 +v 0.354937 -1.517601 -1.247014 +v 0.354937 -1.706783 1.182834 +v -0.481954 -0.599968 1.128854 +v 1.002898 -1.706783 0.048759 +v 0.598045 -0.599968 -1.111820 +v -0.724866 -1.706783 0.831719 +v -0.319818 -1.706783 -1.219780 +v -0.238847 -0.599968 -1.165557 +v 0.867947 -1.706783 -0.760947 +v 0.867947 -0.599968 0.885699 +v 0.894937 -1.706783 0.912932 +v -0.805837 -0.599968 0.777738 +v -0.778847 -1.139886 -0.814927 +v 0.219986 -0.788934 1.237058 +v -0.265837 -1.463642 1.237058 +v 0.948918 -0.599968 -0.706723 +v -0.913798 -1.517601 0.048759 +v 0.381928 -0.599968 -1.247014 +v -0.778847 -1.706783 -0.814927 +v -0.373798 -1.409682 -1.247014 +v -0.778847 -0.599968 -0.787694 +v 0.381928 -1.328635 1.237058 +v -0.940984 -0.599968 0.021769 +v -0.319818 -0.599968 1.237058 +v 1.029888 -1.598648 0.021769 +v 0.085035 -1.706783 -1.247014 +v 0.031055 -1.679587 1.237058 +v -0.373798 -1.004879 1.237058 +v 0.435908 -1.112906 -1.247014 +v -0.238847 -0.923940 -1.247014 +v -0.805837 -0.842893 0.777738 +v -0.049720 -0.599968 1.237058 +v -0.859817 -1.679587 0.264924 +v 0.975908 -1.706783 0.453856 +v 0.894937 -1.382594 -0.760947 +v 1.057074 -0.653927 -0.004978 +v 0.894937 -0.815914 0.885699 +v 0.354937 -1.625628 1.237058 +v -0.751857 -0.626948 0.858952 +v 0.058045 -0.599968 -1.247014 +v -0.805837 -1.625628 -0.733714 +v 0.921927 -0.734866 -0.760947 +v 0.867947 -1.706783 0.939679 +v -0.373798 -1.544580 -1.247014 +v -0.913798 -1.409682 -0.031725 +v 1.029888 -1.598648 0.129730 +v 0.894937 -1.706783 -0.679733 +v 0.921927 -0.599968 0.804728 +v -0.805837 -0.599968 -0.733714 +v -0.886808 -1.706783 0.048759 +v -0.454964 -0.599968 -1.030849 +v 1.029888 -1.571668 -0.004978 +v 0.813967 -1.706783 -0.814927 +v 0.975908 -0.869873 0.588807 +v -0.697876 -1.706783 0.858952 +v -0.778847 -1.166649 0.804971 +v 0.031055 -1.706783 1.209825 +v 0.840957 -1.490621 -0.814927 +v 0.894937 -1.328635 0.912932 +f 312 306 317 +f 257 256 258 +f 257 258 261 +f 260 255 262 +f 258 256 263 +f 255 260 264 +f 262 255 265 +f 258 263 266 +f 262 265 267 +f 257 261 268 +f 260 262 269 +f 261 258 270 +f 263 256 274 +f 266 263 276 +f 265 255 277 +f 277 271 278 +f 276 259 278 +f 258 266 279 +f 278 271 279 +f 268 272 280 +f 272 273 280 +f 270 258 281 +f 268 261 282 +f 273 272 282 +f 267 265 284 +f 278 259 284 +f 280 273 285 +f 282 261 286 +f 273 282 286 +f 259 276 287 +f 276 263 287 +f 276 278 288 +f 270 281 289 +f 281 275 289 +f 272 268 290 +f 268 282 290 +f 282 272 290 +f 289 275 291 +f 269 262 292 +f 274 256 294 +f 268 280 295 +f 285 260 296 +f 280 285 296 +f 261 270 297 +f 286 261 297 +f 270 289 297 +f 266 276 298 +f 288 266 298 +f 276 288 298 +f 277 255 299 +f 271 277 299 +f 263 274 300 +f 274 293 300 +f 260 269 301 +f 296 260 301 +f 280 296 301 +f 265 277 302 +f 277 278 302 +f 284 265 302 +f 278 284 302 +f 255 275 303 +f 281 258 303 +f 275 281 303 +f 299 255 303 +f 258 299 303 +f 262 283 304 +f 256 292 304 +f 292 262 304 +f 294 256 304 +f 283 294 304 +f 262 267 305 +f 283 262 305 +f 293 274 305 +f 267 293 305 +f 257 268 306 +f 268 295 306 +f 258 279 307 +f 279 271 307 +f 299 258 307 +f 271 299 307 +f 255 264 308 +f 275 255 308 +f 264 291 308 +f 291 275 308 +f 279 266 309 +f 278 279 309 +f 266 288 309 +f 288 278 309 +f 274 294 310 +f 294 283 310 +f 283 305 310 +f 305 274 310 +f 284 259 311 +f 267 284 311 +f 259 287 311 +f 256 257 312 +f 292 256 312 +f 269 292 312 +f 257 306 312 +f 264 260 313 +f 285 273 313 +f 286 264 313 +f 273 286 313 +f 264 286 314 +f 291 264 314 +f 289 291 314 +f 286 297 314 +f 297 289 314 +f 260 285 315 +f 313 260 315 +f 285 313 315 +f 287 263 316 +f 293 267 316 +f 263 300 316 +f 300 293 316 +f 267 311 316 +f 311 287 316 +f 295 280 317 +f 301 269 317 +f 280 301 317 +f 306 295 317 +f 269 312 317 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/301/301.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/301/301.urdf new file mode 100644 index 000000000..e742d6e1f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/301/301.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/302/302.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/302/302.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/302/302.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/302/302.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/302/302.obj new file mode 100644 index 000000000..27d17df9b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/302/302.obj @@ -0,0 +1,3426 @@ +o convex_0 +v -1.867564 -0.232117 0.854677 +v -2.122783 0.533014 0.650677 +v -2.122783 0.533014 0.625129 +v -0.796595 -0.104580 0.625129 +v -0.822432 -0.283077 0.854677 +v -2.811517 0.533014 0.854677 +v -2.020814 0.303376 0.625129 +v -2.046059 -0.181066 0.829129 +v -0.822432 -0.181066 0.625129 +v -2.785679 0.507488 0.778146 +v -1.052010 0.099353 0.650677 +v -0.949647 -0.385179 0.829129 +v -2.760434 0.533014 0.854677 +f 5 11 13 +f 2 3 6 +f 1 5 6 +f 3 4 7 +f 1 6 8 +f 8 7 9 +f 4 5 9 +f 7 4 9 +f 6 3 10 +f 3 7 10 +f 8 6 10 +f 7 8 10 +f 3 2 11 +f 4 3 11 +f 5 4 11 +f 5 1 12 +f 1 8 12 +f 8 9 12 +f 9 5 12 +f 2 6 13 +f 6 5 13 +f 11 2 13 +o convex_1 +v -2.760309 0.660565 0.854677 +v -1.459863 1.298174 0.650677 +v -1.459863 1.247094 0.650677 +v -2.275725 0.558629 0.625129 +v -2.021036 1.272559 0.752643 +v -1.919004 1.272559 0.854677 +v -2.097494 0.558629 0.650677 +v -2.760309 0.533014 0.854677 +v -2.786011 0.558629 0.778146 +v -1.587467 1.298174 0.625129 +v -2.199266 1.221628 0.854677 +f 18 22 24 +f 16 15 19 +f 16 19 20 +f 17 20 21 +f 19 14 21 +f 20 19 21 +f 17 21 22 +f 21 14 22 +f 15 16 23 +f 19 15 23 +f 18 19 23 +f 16 20 23 +f 20 17 23 +f 22 18 23 +f 17 22 23 +f 19 18 24 +f 14 19 24 +f 22 14 24 +o convex_2 +v -0.822330 1.578706 0.650742 +v -1.561545 1.298202 0.625129 +v -1.714737 1.298202 0.676176 +v -0.643562 1.527662 1.543254 +v -1.867799 1.527662 1.543254 +v -1.969840 1.298202 0.854750 +v -0.643562 1.527662 0.854750 +v -1.153899 1.527662 0.625129 +v -1.867799 1.527662 1.313633 +v -1.434058 1.298202 0.625129 +v -0.643562 1.553198 1.543254 +v -1.510525 1.553198 1.543254 +v -1.357462 1.502182 1.543254 +v -1.867539 1.323709 0.727223 +v -0.796624 1.527662 0.625129 +f 34 32 39 +f 27 26 30 +f 30 29 33 +f 25 32 33 +f 30 26 34 +f 28 30 34 +f 31 28 34 +f 26 32 34 +f 29 28 35 +f 31 25 35 +f 28 31 35 +f 25 33 36 +f 33 29 36 +f 35 25 36 +f 29 35 36 +f 28 29 37 +f 30 28 37 +f 29 30 37 +f 26 27 38 +f 27 30 38 +f 32 26 38 +f 30 33 38 +f 33 32 38 +f 25 31 39 +f 32 25 39 +f 31 34 39 +o convex_3 +v -0.184613 -0.461862 0.727123 +v -0.796595 -0.385302 0.829109 +v -0.796595 -0.385302 0.854630 +v -0.694521 -1.532764 0.370076 +v 0.044937 -1.532764 0.625089 +v -0.796595 -0.155755 0.625089 +v 0.121516 -0.742359 0.599616 +v 0.147103 -1.532764 0.548623 +v -0.617942 -0.589508 0.854630 +v 0.019534 -0.461862 0.625089 +v -0.669025 -1.430729 0.370076 +v -0.669025 -1.532764 0.421116 +v 0.147103 -1.430729 0.625089 +v -0.771007 -0.181365 0.752596 +v -0.057044 -1.532764 0.625089 +v -0.566952 -0.410912 0.854630 +f 53 42 55 +f 42 41 43 +f 41 42 45 +f 43 41 45 +f 44 43 47 +f 40 46 49 +f 49 46 50 +f 43 45 50 +f 46 47 50 +f 47 43 50 +f 45 49 50 +f 42 43 51 +f 43 44 51 +f 48 42 51 +f 46 40 52 +f 44 47 52 +f 47 46 52 +f 48 44 52 +f 45 42 53 +f 40 49 53 +f 49 45 53 +f 44 48 54 +f 51 44 54 +f 48 51 54 +f 42 48 55 +f 52 40 55 +f 48 52 55 +f 40 53 55 +o convex_4 +v 2.238442 0.507509 0.650677 +v 1.320427 1.578733 0.854677 +v 1.320427 1.578733 0.829129 +v 2.748649 0.533094 0.829129 +v 1.218353 1.553148 0.625129 +v 1.090801 1.553148 0.854677 +v 2.034294 0.507509 0.650677 +v 1.932220 1.323510 0.829129 +v 2.621097 0.507509 0.854677 +v 1.090801 1.527562 0.625129 +v 2.162008 0.533094 0.625129 +v 1.932220 1.323510 0.854677 +f 57 64 67 +f 58 60 61 +f 57 58 61 +f 58 57 63 +f 59 60 63 +f 60 58 63 +f 56 59 64 +f 57 61 64 +f 62 56 64 +f 61 62 64 +f 61 60 65 +f 62 61 65 +f 62 65 66 +f 59 56 66 +f 60 59 66 +f 56 62 66 +f 65 60 66 +f 63 57 67 +f 59 63 67 +f 64 59 67 +o convex_5 +v 0.784737 -4.440479 -0.599197 +v 0.070587 -4.261999 -1.313277 +v 0.070587 -4.313052 -1.287694 +v 0.070587 -4.440479 -0.599197 +v 0.835708 -4.236486 -0.599197 +v 0.580614 -4.491532 -1.007123 +v 0.733606 -4.236486 -1.109174 +v 0.070587 -4.491532 -1.160130 +v 0.657070 -4.517045 -0.599197 +v 0.070587 -4.236486 -1.262182 +f 72 74 77 +f 69 70 71 +f 71 68 72 +f 68 73 74 +f 70 69 74 +f 72 68 74 +f 73 70 74 +f 71 70 75 +f 70 73 75 +f 75 73 76 +f 68 71 76 +f 73 68 76 +f 71 75 76 +f 69 71 77 +f 71 72 77 +f 74 69 77 +o convex_6 +v -1.000610 -1.022937 -0.369639 +v -0.745616 -1.532764 -1.185730 +v -0.796637 -1.507304 -1.058104 +v -0.847630 -0.742254 -1.287692 +v -0.720078 -0.742254 -1.338723 +v -0.949589 -0.742254 -0.344074 +v -1.000610 -1.532764 -0.446135 +v -0.720078 -1.532764 -1.058104 +v -0.949589 -1.532764 -0.344074 +v -0.975100 -0.742254 -0.522631 +v -0.924079 -1.048398 -0.930677 +f 87 81 88 +f 79 81 82 +f 82 81 83 +f 80 79 84 +f 79 82 85 +f 82 83 85 +f 84 79 85 +f 83 78 86 +f 78 84 86 +f 85 83 86 +f 84 85 86 +f 78 83 87 +f 83 81 87 +f 84 78 87 +f 84 87 88 +f 79 80 88 +f 81 79 88 +f 80 84 88 +o convex_7 +v -0.669063 -1.532764 -1.211331 +v 0.147103 -0.742254 -1.593761 +v 0.147103 -0.793407 -1.568283 +v -0.720078 -0.742254 -1.338825 +v -0.005944 -0.767869 -1.670300 +v 0.147103 -1.532764 -1.389833 +v -0.694528 -1.507304 -1.134792 +v 0.019522 -1.532764 -1.440737 +v -0.720078 -0.793407 -1.389833 +v 0.147103 -1.303311 -1.415259 +v -0.694528 -0.818867 -1.313347 +v 0.147103 -0.767869 -1.644769 +f 94 96 100 +f 91 90 92 +f 92 90 93 +f 90 91 94 +f 89 94 95 +f 89 93 96 +f 94 89 96 +f 93 89 97 +f 92 93 97 +f 89 95 97 +f 95 92 97 +f 94 91 98 +f 95 94 98 +f 95 98 99 +f 91 92 99 +f 92 95 99 +f 98 91 99 +f 93 90 100 +f 90 94 100 +f 96 93 100 +o convex_8 +v -0.745621 -1.175777 0.548568 +v -0.975132 -1.532764 -0.344074 +v -0.975132 -0.742254 -0.344074 +v -0.694628 -1.532764 0.344500 +v -0.771132 -0.742254 0.599609 +v -0.924084 -0.742254 -0.318554 +v -0.694628 -0.844405 0.599609 +v -0.975132 -1.507304 -0.241993 +v -0.796614 -1.532764 0.318885 +v -0.924084 -1.532764 -0.293033 +f 106 104 110 +f 103 105 106 +f 102 103 106 +f 104 106 107 +f 101 104 107 +f 105 101 107 +f 106 105 107 +f 103 102 108 +f 105 103 108 +f 105 108 109 +f 102 104 109 +f 104 101 109 +f 101 105 109 +f 108 102 109 +f 104 102 110 +f 102 106 110 +o convex_9 +v -0.235494 3.491562 -0.497116 +v -0.720078 2.598947 -1.185750 +v -0.720078 2.598947 -1.160235 +v -0.720078 3.313094 -0.471601 +v -0.057024 3.313094 -1.185750 +v 0.019577 3.491562 -0.471601 +v -0.617992 3.109039 -1.007143 +v -0.337508 2.828497 -1.160235 +v 0.019577 3.262011 -1.185750 +v -0.694521 2.905168 -0.803300 +v -0.720078 2.752011 -1.160235 +v -0.668963 3.262011 -0.471601 +v -0.005981 3.542645 -0.522631 +v -0.668963 2.598947 -1.160235 +v -0.720078 3.210928 -0.726754 +f 117 121 125 +f 112 113 114 +f 114 111 115 +f 111 114 116 +f 116 118 119 +f 112 115 119 +f 118 112 119 +f 114 113 120 +f 112 114 121 +f 115 112 121 +f 117 115 121 +f 116 114 122 +f 114 120 122 +f 120 116 122 +f 115 111 123 +f 111 116 123 +f 116 119 123 +f 119 115 123 +f 113 112 124 +f 112 118 124 +f 118 116 124 +f 120 113 124 +f 116 120 124 +f 114 115 125 +f 115 117 125 +f 121 114 125 +o convex_10 +v 0.810242 -1.022889 -1.262344 +v 0.045157 -0.742283 -1.644819 +v 0.045157 -0.742283 -1.619305 +v 0.147158 -1.532764 -1.364353 +v 0.810242 -0.436290 -1.644819 +v 0.784555 -0.461789 -1.415287 +v 0.784704 -1.532764 -1.211363 +v 0.172621 -1.532764 -1.415239 +v 0.784704 -1.405267 -1.160335 +v 0.147158 -1.456266 -1.364353 +v 0.682553 -0.410790 -1.619305 +f 131 130 136 +f 128 127 129 +f 126 130 131 +f 130 126 132 +f 130 132 133 +f 129 127 133 +f 127 130 133 +f 132 129 133 +f 126 131 134 +f 132 126 134 +f 129 132 134 +f 128 129 135 +f 131 128 135 +f 129 134 135 +f 134 131 135 +f 127 128 136 +f 130 127 136 +f 128 131 136 +o convex_11 +v 0.810242 -1.354260 -1.236571 +v 1.039731 0.558519 -0.395085 +v 1.039731 0.558519 -1.338690 +v 1.065296 -1.532764 -0.446290 +v 0.810242 -0.742187 -1.389604 +v 0.963234 -1.532764 -0.573818 +v 1.014265 0.558519 -0.395085 +v 0.912304 -0.716599 -1.338690 +v 0.810242 -1.532764 -1.083538 +v 0.988750 0.532726 -1.338690 +v 1.065296 0.175718 -0.395085 +v 0.861323 -1.532764 -1.134549 +v 1.014265 -1.532764 -0.420688 +f 147 143 149 +f 138 139 143 +f 139 140 144 +f 137 141 144 +f 141 139 144 +f 141 137 145 +f 140 142 145 +f 142 143 145 +f 143 141 145 +f 139 141 146 +f 143 139 146 +f 141 143 146 +f 139 138 147 +f 140 139 147 +f 138 143 147 +f 144 140 148 +f 137 144 148 +f 145 137 148 +f 140 145 148 +f 142 140 149 +f 143 142 149 +f 140 147 149 +o convex_12 +v 0.759202 -1.532919 0.370131 +v -0.005929 -0.742368 0.599506 +v -0.005929 -0.742368 0.625092 +v 0.912264 -0.257777 0.319065 +v 0.886738 -0.461750 0.854677 +v 0.045122 -1.430808 0.650677 +v -0.005929 -0.461874 0.625092 +v 0.172748 -1.532919 0.523118 +v 0.861213 -0.257652 0.676105 +v 0.912264 -0.742368 0.319065 +v 0.682536 -0.691313 0.829092 +v 0.708061 -1.456273 0.344598 +v 0.886738 -0.538395 0.854677 +v 0.198274 -1.532919 0.574131 +v -0.005929 -0.461874 0.599506 +v 0.886738 -0.257777 0.319065 +f 164 158 165 +f 152 151 155 +f 151 152 156 +f 152 155 156 +f 155 151 157 +f 154 153 158 +f 156 154 158 +f 153 154 159 +f 154 156 160 +f 156 155 160 +f 150 157 161 +f 159 150 161 +f 150 159 162 +f 159 154 162 +f 154 160 162 +f 160 155 162 +f 157 150 163 +f 155 157 163 +f 150 162 163 +f 162 155 163 +f 151 156 164 +f 157 151 164 +f 156 158 164 +f 161 157 164 +f 161 164 165 +f 158 153 165 +f 153 159 165 +f 159 161 165 +o convex_13 +v 0.810277 -0.971862 0.625129 +v 1.014250 -1.532764 -0.420590 +v 1.014250 -1.430768 -0.420590 +v 0.759232 -1.430768 0.293377 +v 1.014250 -0.742254 -0.395000 +v 1.065266 -1.532764 -0.395000 +v 0.886786 -0.742254 0.523075 +v 0.784784 -0.793407 0.599539 +v 1.065266 -0.742254 -0.369512 +v 0.784784 -1.532764 0.369943 +v 0.759232 -0.946401 0.574051 +f 175 166 176 +f 168 167 169 +f 168 169 170 +f 167 168 171 +f 166 171 172 +f 172 170 173 +f 166 172 173 +f 168 170 174 +f 171 168 174 +f 172 171 174 +f 170 172 174 +f 169 167 175 +f 167 171 175 +f 171 166 175 +f 170 169 176 +f 173 170 176 +f 166 173 176 +f 169 175 176 +o convex_14 +v -2.020691 0.379982 0.625099 +v -1.128354 0.711551 0.344618 +v -1.128354 0.711551 0.319065 +v -1.026143 0.048412 0.625099 +v -1.051753 0.278005 0.319065 +v -1.918710 0.711551 0.625099 +v -2.199389 0.558489 0.599576 +v -1.153734 0.711551 0.395633 +v -1.255716 0.507404 0.319065 +v -1.026143 0.099433 0.625099 +v -1.969815 0.354536 0.599576 +v -1.077248 0.048412 0.599576 +f 187 181 188 +f 179 178 181 +f 178 179 182 +f 177 180 182 +f 177 182 183 +f 182 179 183 +f 178 182 184 +f 179 181 185 +f 181 183 185 +f 183 179 185 +f 180 181 186 +f 181 178 186 +f 182 180 186 +f 178 184 186 +f 184 182 186 +f 177 183 187 +f 183 181 187 +f 180 177 188 +f 181 180 188 +f 177 187 188 +o convex_15 +v -0.847655 0.150429 -0.037980 +v -0.975072 0.099323 0.625099 +v -0.949548 0.124818 0.599535 +v -0.720078 -0.742253 0.625099 +v -0.975072 -0.742253 -0.395085 +v -1.128132 0.430992 0.216966 +v -0.949628 0.430992 -0.395085 +v -1.026078 0.022837 0.625099 +v -0.720078 -0.206621 0.625099 +v -0.924145 -0.640157 -0.343956 +v -0.924145 0.430992 -0.216433 +v -0.822172 -0.742253 0.395618 +v -0.975072 0.430992 -0.395085 +v -0.975072 -0.742253 -0.292927 +v -1.077085 0.430992 0.319024 +v -1.128132 0.379887 0.319024 +v -0.720078 -0.742253 0.574070 +f 193 198 205 +f 192 190 196 +f 191 190 197 +f 190 192 197 +f 195 189 198 +f 193 195 198 +f 195 194 199 +f 189 195 199 +f 197 189 199 +f 193 192 200 +f 192 196 200 +f 193 194 201 +f 194 195 201 +f 195 193 201 +f 193 200 202 +f 200 196 202 +f 190 191 203 +f 191 197 203 +f 199 194 203 +f 197 199 203 +f 194 193 204 +f 196 190 204 +f 193 202 204 +f 202 196 204 +f 190 203 204 +f 203 194 204 +f 192 193 205 +f 197 192 205 +f 189 197 205 +f 198 189 205 +o convex_16 +v -0.975314 1.145155 0.319065 +v -2.020851 0.711551 0.599576 +v -1.179347 0.711551 0.319065 +v -0.949731 1.502107 0.625099 +v -0.975314 1.808281 0.319065 +v -1.357797 1.451114 0.625099 +v -1.153764 0.711551 0.395633 +v -1.893147 0.711551 0.625099 +v -2.020851 0.762652 0.599576 +f 207 213 214 +f 209 206 210 +f 206 208 210 +f 209 210 211 +f 208 206 212 +f 207 208 212 +f 206 209 212 +f 212 209 213 +f 209 211 213 +f 207 212 213 +f 213 211 214 +f 208 207 214 +f 210 208 214 +f 211 210 214 +o convex_17 +v -0.133570 2.981382 0.319065 +v -0.949627 1.502362 0.523068 +v -0.924006 1.502362 0.523068 +v -0.133570 2.241800 0.625099 +v -0.949627 1.527989 0.625099 +v -0.924006 1.757480 0.319065 +v -0.796482 2.343731 0.344618 +v -0.108115 2.140013 0.599576 +v -0.108115 2.853823 0.319065 +v -0.133570 2.930272 0.370111 +v -0.617965 1.604438 0.599576 +v -0.949627 1.885039 0.319065 +f 221 215 226 +f 216 217 219 +f 217 216 220 +f 222 220 223 +f 220 215 223 +f 219 218 224 +f 221 219 224 +f 215 221 224 +f 218 222 224 +f 222 223 224 +f 223 215 224 +f 218 219 225 +f 219 217 225 +f 217 220 225 +f 222 218 225 +f 220 222 225 +f 216 219 226 +f 220 216 226 +f 215 220 226 +f 219 221 226 +o convex_18 +v -1.000602 -3.853906 -0.395085 +v -0.694573 -1.533179 0.395581 +v -0.694573 -1.533179 0.344500 +v -0.694573 -4.185475 0.191491 +v -0.796669 -3.267103 0.370041 +v -0.975094 -1.533179 -0.395085 +v -0.898539 -4.159770 -0.369544 +v -1.000602 -1.660666 -0.318541 +v -0.796669 -1.533179 0.319038 +v -0.720113 -4.108879 0.344500 +v -1.026110 -3.471186 -0.344004 +v -0.822145 -2.451291 0.344500 +v -0.949554 -1.533179 -0.369544 +v -0.949554 -4.185475 -0.318541 +v -0.694573 -3.598672 0.395581 +v -0.796669 -3.522336 0.344500 +v -1.026110 -2.221763 -0.369544 +f 237 238 243 +f 229 228 230 +f 228 229 232 +f 227 232 233 +f 232 234 235 +f 228 232 235 +f 231 228 238 +f 235 234 238 +f 228 235 238 +f 237 231 238 +f 229 230 239 +f 232 229 239 +f 233 232 239 +f 230 233 239 +f 227 233 240 +f 233 230 240 +f 230 236 240 +f 237 227 240 +f 230 228 241 +f 228 231 241 +f 236 230 241 +f 231 236 241 +f 236 231 242 +f 231 237 242 +f 240 236 242 +f 237 240 242 +f 232 227 243 +f 234 232 243 +f 227 237 243 +f 238 234 243 +o convex_19 +v 0.835748 -0.206601 0.472082 +v 2.059942 0.558519 0.625099 +v 2.085510 0.532954 0.625099 +v 1.294866 0.558519 0.319065 +v 0.912329 -0.257652 0.319065 +v 0.861315 -0.232087 0.625099 +v 1.039800 0.022927 0.625099 +v 1.243976 0.558519 0.344618 +v 2.034374 0.456498 0.599576 +v 0.912329 -0.257652 0.625099 +v 0.886761 -0.028044 0.319065 +v 1.728417 0.558519 0.548561 +f 245 251 255 +f 245 246 247 +f 246 245 249 +f 244 248 249 +f 249 245 250 +f 249 250 251 +f 245 247 251 +f 247 246 252 +f 248 247 252 +f 246 249 253 +f 249 248 253 +f 252 246 253 +f 248 252 253 +f 248 244 254 +f 247 248 254 +f 244 249 254 +f 249 251 254 +f 251 247 254 +f 250 245 255 +f 251 250 255 +o convex_20 +v 0.733706 2.547822 0.344618 +v -0.107950 2.165578 0.599576 +v -0.107950 2.165578 0.625099 +v 0.988780 1.578733 0.625099 +v 0.963229 1.885037 0.319065 +v -0.031407 3.108754 0.344618 +v -0.107950 2.904752 0.319065 +v 0.045137 2.369282 0.625099 +v 0.988780 1.783036 0.574084 +v 0.912236 1.578733 0.599576 +v 0.784699 2.496746 0.319065 +v 0.019587 3.108754 0.344618 +v 0.988780 1.987038 0.319065 +f 266 264 268 +f 257 258 262 +f 260 257 262 +f 258 261 262 +f 258 259 263 +f 261 258 263 +f 263 259 264 +f 258 257 265 +f 259 258 265 +f 260 259 265 +f 257 260 265 +f 260 262 266 +f 256 264 266 +f 262 261 267 +f 261 263 267 +f 264 256 267 +f 263 264 267 +f 256 266 267 +f 266 262 267 +f 259 260 268 +f 264 259 268 +f 260 266 268 +o convex_21 +v 1.651874 1.017840 0.625099 +v 0.988780 1.578678 0.574084 +v 1.014370 1.247164 0.319065 +v 1.014370 1.935808 0.319065 +v 1.295044 0.558519 0.319065 +v 2.034499 0.584269 0.599576 +v 1.243966 0.609615 0.395633 +v 0.988780 1.578678 0.625099 +v 1.932343 0.558519 0.625099 +v 1.014370 1.706215 0.599576 +f 276 269 278 +f 271 270 272 +f 271 272 273 +f 272 269 274 +f 273 272 274 +f 271 273 275 +f 271 275 276 +f 270 271 276 +f 272 270 276 +f 274 269 277 +f 273 274 277 +f 275 273 277 +f 276 275 277 +f 269 276 277 +f 269 272 278 +f 272 276 278 +o convex_22 +v -1.000637 0.456583 -2.486523 +v -0.796581 1.119637 -2.307986 +v -0.541566 1.017486 -2.945519 +v -0.924065 0.329048 -2.359016 +v -0.822105 0.533119 -3.022135 +v -0.694575 0.329126 -3.022135 +v -0.822105 1.042946 -2.461078 +v -0.592614 0.991948 -3.022135 +v -1.000637 0.584117 -2.307986 +v -0.796581 0.991948 -2.307986 +v -0.771057 0.329126 -2.996480 +f 284 282 289 +f 281 282 284 +f 283 279 285 +f 283 285 286 +f 280 281 286 +f 281 284 286 +f 284 283 286 +f 285 280 286 +f 279 282 287 +f 280 285 287 +f 285 279 287 +f 281 280 288 +f 282 281 288 +f 280 287 288 +f 287 282 288 +f 282 279 289 +f 279 283 289 +f 283 284 289 +o convex_23 +v 0.886938 -0.206621 0.650677 +v 2.723143 0.507508 0.854677 +v 2.723143 0.507508 0.829129 +v 2.034207 -0.257552 0.829129 +v 0.886938 -0.461675 0.854677 +v 2.008864 0.507508 0.625129 +v 0.912461 -0.283117 0.625129 +v 2.034207 0.354416 0.625129 +v 1.014552 -0.028064 0.650677 +v 2.595350 0.507508 0.854677 +v 1.014552 -0.512705 0.854677 +v 2.034207 -0.232087 0.803649 +v 2.085253 -0.232087 0.854677 +v 0.886938 -0.385079 0.829129 +v 1.881250 0.456478 0.650677 +f 298 303 304 +f 291 292 295 +f 294 290 296 +f 295 292 297 +f 296 295 297 +f 296 290 298 +f 295 296 298 +f 294 291 299 +f 291 295 299 +f 291 294 300 +f 294 296 300 +f 300 296 301 +f 296 297 301 +f 297 292 301 +f 293 300 301 +f 292 291 302 +f 291 300 302 +f 300 293 302 +f 301 292 302 +f 293 301 302 +f 290 294 303 +f 298 290 303 +f 294 299 303 +f 303 299 304 +f 295 298 304 +f 299 295 304 +o convex_24 +v 0.096093 1.961211 0.701660 +v 0.019547 2.318388 0.650677 +v 0.096093 1.808433 0.854677 +v -0.796595 1.527722 0.625129 +v -0.796595 1.553340 0.854677 +v 0.096093 1.757353 0.829129 +v 0.096093 2.165301 0.625129 +v -0.592384 1.527722 0.854677 +v -0.567044 1.604266 0.625129 +v -0.796595 1.578803 0.625129 +f 311 308 314 +f 307 306 309 +f 305 307 310 +f 307 305 311 +f 306 307 311 +f 307 309 312 +f 309 308 312 +f 308 310 312 +f 310 307 312 +f 310 308 313 +f 305 310 313 +f 311 305 313 +f 308 311 313 +f 309 306 314 +f 308 309 314 +f 306 311 314 +o convex_25 +v 0.759102 1.629856 0.625129 +v 0.121698 2.241737 0.650677 +v 0.121698 2.241737 0.625129 +v 0.096190 1.757300 0.854677 +v 1.090801 1.578838 0.854677 +v 1.090801 1.604313 0.625129 +v 0.096190 1.808319 0.752643 +v 0.759102 1.553295 0.854677 +v 0.121698 1.808319 0.854677 +v 0.096190 2.139768 0.625129 +f 321 318 324 +f 316 319 320 +f 315 317 320 +f 317 316 320 +f 315 318 321 +f 318 315 322 +f 319 318 322 +f 320 319 322 +f 315 320 322 +f 316 318 323 +f 318 319 323 +f 319 316 323 +f 317 315 324 +f 316 317 324 +f 318 316 324 +f 315 321 324 +o convex_26 +v 0.096093 0.584024 2.589041 +v -0.745584 -0.436104 2.282977 +v -0.745584 -0.436104 2.308532 +v 0.096093 -0.461695 2.512495 +v -0.745584 0.481971 2.563485 +v -0.056984 -0.461695 2.589041 +v 0.096093 0.481971 2.538020 +v -0.745584 0.532946 2.512495 +v -0.669045 -0.334153 2.282977 +v -0.464970 0.584024 2.589041 +v -0.235519 0.584024 2.538020 +f 334 325 335 +f 326 327 329 +f 329 327 330 +f 327 326 330 +f 326 328 330 +f 328 325 330 +f 325 328 331 +f 326 329 332 +f 328 326 333 +f 331 328 333 +f 326 332 333 +f 329 330 334 +f 330 325 334 +f 332 329 334 +f 332 334 335 +f 325 331 335 +f 331 333 335 +f 333 332 335 +o convex_27 +v -1.995467 0.711699 2.512401 +v -2.989954 0.584084 1.543322 +v -2.989954 0.635130 1.543322 +v -2.683789 0.584084 2.308420 +v -2.632861 1.145107 1.925968 +v -1.969903 1.196093 2.308420 +v -2.760281 1.145107 1.543322 +v -1.969903 0.609607 2.486891 +v -2.530707 1.094062 2.129852 +v -2.811408 0.915462 1.543322 +v -2.021030 1.196093 2.334027 +v -2.709253 0.635130 2.282813 +v -2.836772 1.068479 1.569026 +v -1.969903 1.094062 2.308420 +v -1.969903 0.584025 2.538008 +v -2.938927 0.584084 1.543322 +f 350 337 351 +f 337 338 342 +f 337 342 345 +f 336 341 346 +f 342 340 346 +f 341 342 346 +f 340 344 346 +f 346 344 347 +f 338 337 347 +f 337 339 347 +f 339 336 347 +f 344 340 347 +f 336 346 347 +f 347 340 348 +f 342 338 348 +f 340 342 348 +f 338 347 348 +f 342 341 349 +f 341 343 349 +f 345 342 349 +f 343 345 349 +f 339 337 350 +f 336 339 350 +f 341 336 350 +f 343 341 350 +f 343 350 351 +f 337 345 351 +f 345 343 351 +o convex_28 +v -1.969840 0.737184 2.436050 +v 1.141496 1.349185 2.334050 +v 1.319865 1.323482 2.385067 +v 2.008806 0.507591 2.589002 +v 0.988830 0.584204 2.640051 +v 2.008806 1.272489 2.308574 +v -1.944136 1.221496 2.334050 +v -1.969840 0.584039 2.537986 +v 2.008806 1.272489 2.410575 +v -1.969840 1.119509 2.308542 +v 0.937812 1.298027 2.410575 +v -1.969840 0.635197 2.537986 +v -1.306213 0.609660 2.486969 +v -0.745402 1.323565 2.308542 +v 2.008806 0.584204 2.614511 +v 0.835775 0.507591 2.640051 +v 0.096205 0.507591 2.563494 +v 2.008806 0.558666 2.563494 +v -1.612323 1.119509 2.308542 +v 0.427629 1.323482 2.385067 +f 365 358 371 +f 353 354 360 +f 357 353 360 +f 355 357 360 +f 352 359 361 +f 360 354 362 +f 356 360 362 +f 358 361 363 +f 361 359 363 +f 356 362 363 +f 359 352 364 +f 353 357 365 +f 361 358 365 +f 355 360 366 +f 360 356 366 +f 356 363 367 +f 363 359 367 +f 355 366 367 +f 366 356 367 +f 364 355 368 +f 359 364 368 +f 355 367 368 +f 367 359 368 +f 357 355 369 +f 355 364 369 +f 364 357 369 +f 352 361 370 +f 357 364 370 +f 364 352 370 +f 365 357 370 +f 361 365 370 +f 354 353 371 +f 362 354 371 +f 358 363 371 +f 363 362 371 +f 353 365 371 +o convex_29 +v 1.014195 -0.461675 2.334015 +v 1.320349 0.507508 2.614518 +v 1.320349 0.405447 2.614518 +v 0.096212 0.507508 2.589008 +v 0.096212 -0.461675 2.537987 +v 0.096212 0.481943 2.537987 +v 1.320349 -0.334148 2.334015 +v 0.682878 -0.487140 2.334015 +v 1.320349 -0.232087 2.436029 +v 1.320349 0.507508 2.589008 +v 0.402366 0.481943 2.614518 +v 0.147258 -0.359613 2.486994 +v 0.274752 -0.487140 2.512505 +v 1.269184 -0.385079 2.385036 +f 384 372 385 +f 376 375 377 +f 373 374 378 +f 377 378 379 +f 378 372 379 +f 378 374 380 +f 375 373 381 +f 377 375 381 +f 373 378 381 +f 378 377 381 +f 374 373 382 +f 373 375 382 +f 375 376 382 +f 376 374 382 +f 376 377 383 +f 377 379 383 +f 379 376 383 +f 374 376 384 +f 379 372 384 +f 376 379 384 +f 380 374 384 +f 380 384 385 +f 372 378 385 +f 378 380 385 +o convex_30 +v 1.320349 -0.155628 2.461539 +v 2.773870 0.507508 2.359525 +v 2.773870 0.507508 2.334015 +v 1.320349 0.507508 2.589008 +v 2.009188 0.430962 2.614518 +v 1.983576 -0.257602 2.359525 +v 1.320349 -0.334148 2.334015 +v 2.646375 0.507508 2.334015 +v 1.320349 0.405447 2.614518 +v 2.059845 0.507508 2.614518 +v 2.773870 0.456478 2.359525 +v 1.983576 -0.257602 2.334015 +v 1.371575 -0.359663 2.385036 +f 397 391 398 +f 387 388 389 +f 386 389 392 +f 389 388 393 +f 388 392 393 +f 392 389 393 +f 389 386 394 +f 386 390 394 +f 394 390 395 +f 387 389 395 +f 389 394 395 +f 388 387 396 +f 390 391 396 +f 395 390 396 +f 387 395 396 +f 392 388 397 +f 388 396 397 +f 396 391 397 +f 390 386 398 +f 391 390 398 +f 386 392 398 +f 392 397 398 +o convex_31 +v 0.759232 3.211075 -0.522689 +v 0.019577 3.211075 -1.211256 +v 0.019577 3.211075 -1.160160 +v 0.019577 3.517139 -0.548202 +v 0.733674 3.313116 -0.522689 +v 0.045134 3.287621 -1.211256 +v 0.019577 3.466119 -0.497246 +v 0.708116 3.211075 -0.497246 +v 0.657145 3.211075 -0.726722 +f 404 403 407 +f 401 400 399 +f 400 401 402 +f 400 402 404 +f 402 403 404 +f 402 401 405 +f 403 402 405 +f 403 405 406 +f 401 399 406 +f 399 403 406 +f 405 401 406 +f 399 400 407 +f 403 399 407 +f 400 404 407 +o convex_32 +v 2.748541 0.584122 2.334037 +v 2.008994 0.507509 2.563525 +v 2.136608 0.635120 2.461514 +v 2.085607 1.247021 2.410523 +v 2.008994 1.272559 2.308482 +v 2.034606 0.584122 2.614546 +v 2.697541 0.507509 2.308482 +v 2.264147 1.196023 2.308482 +v 2.621002 0.533124 2.410523 +f 414 408 416 +f 410 409 412 +f 412 409 413 +f 411 412 413 +f 409 410 414 +f 410 412 414 +f 411 408 415 +f 412 411 415 +f 408 414 415 +f 414 412 415 +f 408 411 416 +f 413 409 416 +f 411 413 416 +f 409 414 416 +o convex_33 +v 0.070587 -3.598991 -1.415299 +v -0.745584 -4.236449 -1.134790 +v -0.490490 -4.261955 -1.211306 +v 0.070587 -4.440401 -1.109264 +v -0.617917 -3.471460 -1.185750 +v -0.031434 -4.210943 -1.364278 +v -0.566947 -3.547979 -1.262267 +v 0.070587 -3.496966 -1.364278 +v 0.019537 -4.465907 -1.211306 +v -0.694533 -4.083315 -1.109234 +v -0.056999 -3.471460 -1.415299 +v 0.070587 -4.236449 -1.338723 +v -0.235477 -4.465907 -1.109264 +v -0.694533 -3.547979 -1.160255 +f 426 420 430 +f 419 418 422 +f 422 418 423 +f 420 417 424 +f 421 420 424 +f 418 419 425 +f 419 422 425 +f 417 422 427 +f 423 421 427 +f 422 423 427 +f 424 417 427 +f 421 424 427 +f 417 420 428 +f 422 417 428 +f 420 425 428 +f 425 422 428 +f 418 425 429 +f 425 420 429 +f 426 418 429 +f 420 426 429 +f 420 421 430 +f 421 423 430 +f 423 418 430 +f 418 426 430 +o convex_34 +v -0.949627 -4.211016 -0.471451 +v 0.070587 -4.440481 -0.599140 +v 0.070587 -4.466004 -0.599140 +v -0.006009 -4.466034 0.242549 +v -0.669008 -4.466004 -0.752102 +v -0.720039 -4.160000 -1.109234 +v -0.694473 -4.185493 0.242549 +v -0.592412 -4.440511 0.191341 +v 0.070587 -4.466004 -1.109234 +v -0.592412 -4.466004 -1.007083 +v -0.770969 -4.440511 -0.344027 +v -0.745404 -4.262031 -1.109234 +v -0.949627 -4.185493 -0.344027 +v -0.439520 -4.466034 0.242549 +v -0.006009 -4.440511 0.242549 +v 0.070587 -4.440481 -1.109234 +v -0.796535 -4.236508 0.063917 +f 443 441 447 +f 433 432 434 +f 432 436 437 +f 432 433 439 +f 433 434 439 +f 431 435 441 +f 435 431 442 +f 431 436 442 +f 436 439 442 +f 439 440 442 +f 440 435 442 +f 436 431 443 +f 437 436 443 +f 431 441 443 +f 434 437 444 +f 437 438 444 +f 439 434 444 +f 440 439 444 +f 435 440 444 +f 441 435 444 +f 438 441 444 +f 434 432 445 +f 432 437 445 +f 437 434 445 +f 436 432 446 +f 432 439 446 +f 439 436 446 +f 438 437 447 +f 441 438 447 +f 437 443 447 +o convex_35 +v -0.720139 -3.853386 -1.185633 +v -0.975093 -1.533179 -0.395085 +v -0.949617 -1.533179 -0.420648 +v -0.924141 -4.185475 -0.395085 +v -1.026143 -3.598413 -0.446132 +v -0.694598 -1.532919 -1.185633 +v -0.771123 -2.909569 -1.185633 +v -1.000602 -1.686371 -0.471695 +v -0.694598 -4.159511 -1.109102 +v -0.771123 -4.159511 -1.109102 +v -0.694598 -1.532919 -1.134586 +v -0.745647 -1.532919 -1.160149 +v -1.026143 -2.426106 -0.471695 +v -0.898601 -4.108620 -0.446132 +v -0.796632 -3.649564 -1.134586 +v -0.975093 -4.108620 -0.395085 +v -1.026143 -2.017941 -0.395085 +f 452 463 464 +f 450 449 451 +f 453 448 454 +f 448 453 456 +f 448 456 457 +f 456 451 457 +f 449 450 458 +f 456 453 458 +f 453 454 459 +f 455 449 459 +f 449 458 459 +f 458 453 459 +f 459 454 460 +f 455 459 460 +f 450 451 461 +f 451 456 461 +f 458 450 461 +f 456 458 461 +f 454 448 462 +f 457 452 462 +f 448 457 462 +f 452 460 462 +f 460 454 462 +f 451 449 463 +f 457 451 463 +f 452 457 463 +f 449 455 464 +f 460 452 464 +f 455 460 464 +f 463 449 464 +o convex_36 +v -0.566996 3.108956 0.089492 +v -0.694573 2.420484 0.293512 +v -0.643473 2.420484 0.293512 +v -0.668988 3.134419 -0.267558 +v 0.019577 3.057956 0.293512 +v -0.031454 3.185570 0.319065 +v -0.694573 2.522561 0.319065 +v -0.694573 3.185570 -0.191015 +v -0.235507 2.752026 0.293512 +v 0.019577 3.185570 0.268017 +v -0.668988 2.930416 -0.140024 +f 468 473 475 +f 466 467 471 +f 470 465 471 +f 465 470 472 +f 466 471 472 +f 471 465 472 +f 468 469 473 +f 469 470 473 +f 471 467 473 +f 470 471 473 +f 469 468 474 +f 470 469 474 +f 468 472 474 +f 472 470 474 +f 467 466 475 +f 466 472 475 +f 472 468 475 +f 473 467 475 +o convex_37 +v -0.005929 -4.491509 0.370137 +v -0.720078 -4.236471 0.242549 +v -0.720078 -4.236471 0.268130 +v -0.005929 -3.547934 0.574083 +v -0.005929 -4.440428 0.242549 +v -0.668978 -3.573521 0.344627 +v -0.056959 -4.210977 0.548572 +v -0.643463 -3.598923 0.421124 +v -0.694493 -4.210977 0.344627 +v -0.107990 -3.598923 0.599559 +v -0.363004 -4.465922 0.242549 +f 484 478 486 +f 479 476 480 +f 480 477 481 +f 477 478 481 +f 479 480 481 +f 476 479 482 +f 479 481 483 +f 481 478 484 +f 476 482 484 +f 483 481 484 +f 483 484 485 +f 482 479 485 +f 479 483 485 +f 484 482 485 +f 478 477 486 +f 480 476 486 +f 477 480 486 +f 476 484 486 +o convex_38 +v -0.005929 -4.491479 0.242549 +v 0.937744 -4.261991 -0.344054 +v 0.937744 -4.287556 -0.344054 +v -0.005929 -4.440524 -0.599127 +v -0.005929 -4.261991 0.523108 +v 0.606128 -4.517045 0.165983 +v 0.733694 -4.517045 -0.599127 +v 0.835673 -4.261991 -0.599127 +v 0.708200 -4.261991 0.293520 +v 0.045153 -4.491479 0.369976 +v 0.784684 -4.517045 -0.344054 +v -0.005929 -4.466014 -0.599127 +f 490 493 498 +f 490 487 491 +f 492 487 493 +f 493 490 494 +f 488 489 494 +f 490 491 494 +f 491 488 494 +f 489 493 494 +f 489 488 495 +f 488 491 495 +f 492 489 495 +f 492 495 496 +f 491 487 496 +f 487 492 496 +f 495 491 496 +f 489 492 497 +f 492 493 497 +f 493 489 497 +f 487 490 498 +f 493 487 498 +o convex_39 +v 0.019577 3.516955 -0.420570 +v 0.045104 3.134469 0.319065 +v 0.045104 3.210948 0.293500 +v 0.657210 3.287519 -0.497106 +v 0.606092 2.573534 0.293500 +v 0.555099 3.134469 0.089457 +v 0.045104 3.465969 -0.497106 +v 0.019577 3.007097 0.293500 +v 0.657210 2.650105 0.319065 +v 0.657210 3.338505 -0.420570 +v 0.070695 3.287519 0.242529 +v 0.274668 2.752076 0.293500 +v 0.657210 2.854140 0.217044 +f 504 509 511 +f 502 503 505 +f 501 499 506 +f 500 501 506 +f 499 505 506 +f 501 500 507 +f 503 502 507 +f 505 499 508 +f 502 505 508 +f 507 502 508 +f 499 501 509 +f 504 508 509 +f 508 499 509 +f 505 503 510 +f 506 505 510 +f 500 506 510 +f 507 500 510 +f 503 507 510 +f 501 507 511 +f 508 504 511 +f 507 508 511 +f 509 501 511 +o convex_40 +v -0.108038 1.527745 -2.256785 +v 0.019487 1.757270 -1.644897 +v -0.873003 1.757270 -1.185750 +v -0.873003 1.527745 -1.185750 +v -0.847480 1.757270 -1.415323 +v -0.847480 1.527745 -1.466429 +v 0.019487 1.527745 -2.231405 +v -0.006036 1.553268 -2.358996 +v -0.031559 1.757270 -1.772373 +v 0.019487 1.706225 -1.695887 +f 515 518 521 +f 513 514 515 +f 514 513 516 +f 514 516 517 +f 515 514 517 +f 512 515 517 +f 516 512 517 +f 515 512 518 +f 512 516 519 +f 513 518 519 +f 518 512 519 +f 516 513 520 +f 519 516 520 +f 513 519 520 +f 513 515 521 +f 518 513 521 +o convex_41 +v 0.019577 1.731755 -1.823484 +v 0.861253 1.680749 -1.313387 +v 0.861253 1.502217 -1.313387 +v 0.045117 1.527732 -2.435512 +v 0.019577 1.706240 -1.670477 +v 0.835713 1.757270 -1.364462 +v 0.835713 1.502217 -1.568435 +v 0.045117 1.502217 -2.256803 +v 0.172654 1.757270 -1.568435 +f 527 522 530 +f 522 525 526 +f 525 522 527 +f 523 524 528 +f 527 523 528 +f 525 527 528 +f 526 525 529 +f 524 526 529 +f 528 524 529 +f 525 528 529 +f 524 523 530 +f 522 526 530 +f 526 524 530 +f 523 527 530 +o convex_42 +v 0.810106 2.318171 -1.160245 +v 0.019577 1.757310 -1.670232 +v 0.835653 1.502217 -1.313316 +v 0.019577 2.726346 -1.313316 +v 0.861116 1.502217 -1.160245 +v 0.784643 2.369243 -1.236781 +v 0.045209 2.853893 -1.338828 +v 0.835738 1.782978 -1.364340 +v 0.096134 1.782978 -1.670232 +v 0.019577 1.782978 -1.619259 +v 0.733633 2.420314 -1.160245 +f 536 537 541 +f 532 533 535 +f 532 534 537 +f 531 535 538 +f 535 533 538 +f 536 531 538 +f 536 538 539 +f 533 532 539 +f 532 537 539 +f 537 536 539 +f 538 533 539 +f 534 532 540 +f 535 534 540 +f 532 535 540 +f 535 531 541 +f 534 535 541 +f 531 536 541 +f 537 534 541 +o convex_43 +v -1.485501 -0.461690 1.466805 +v -2.097150 -0.181141 0.854737 +v -2.097150 -0.155631 0.854737 +v -0.643767 -0.487200 0.854737 +v -0.898826 -0.410669 1.466805 +v -2.734796 -0.155631 1.466805 +v -1.969621 -0.436179 1.441223 +v -0.745913 -0.359616 0.854737 +v -2.173708 -0.155631 1.109786 +v -2.734796 -0.206651 1.441223 +v -1.969621 -0.232162 0.880260 +v -1.969621 -0.155631 0.880260 +f 544 550 553 +f 543 544 545 +f 542 545 546 +f 542 546 547 +f 542 547 548 +f 545 542 548 +f 545 544 549 +f 546 545 549 +f 544 547 550 +f 547 546 550 +f 544 543 551 +f 547 544 551 +f 548 547 551 +f 548 551 552 +f 543 545 552 +f 545 548 552 +f 551 543 552 +f 549 544 553 +f 546 549 553 +f 550 546 553 +o convex_44 +v -2.913408 0.150556 1.543322 +v -2.683897 0.584024 2.257471 +v -2.683897 0.584024 2.231956 +v -2.174048 -0.155631 2.257471 +v -2.556538 -0.079030 2.155410 +v -2.938946 0.584024 1.568837 +v -2.734891 -0.155631 1.543322 +v -2.760428 0.430895 2.257471 +v -2.811422 -0.155631 1.594352 +v -2.174048 -0.104515 2.231956 +v -3.015559 0.456453 1.594352 +v -2.785884 0.584024 2.155410 +v -2.276034 -0.155631 2.257471 +f 558 562 566 +f 555 556 559 +f 554 559 560 +f 557 555 561 +f 560 557 562 +f 554 560 562 +f 558 561 562 +f 556 555 563 +f 555 557 563 +f 559 556 563 +f 557 560 563 +f 560 559 563 +f 559 554 564 +f 554 562 564 +f 562 561 564 +f 555 559 565 +f 561 555 565 +f 559 564 565 +f 564 561 565 +f 557 561 566 +f 561 558 566 +f 562 557 566 +o convex_45 +v -1.969841 0.584024 2.537980 +v -2.760429 0.456405 2.257471 +v -2.683893 0.303328 2.257471 +v -1.969841 -0.232112 2.257471 +v -2.020993 -0.181113 2.359513 +v -2.658355 0.584024 2.257471 +v -2.658355 0.456405 2.359513 +v -1.995456 0.481946 2.563535 +v -1.995456 0.584024 2.486989 +v -2.199449 -0.181113 2.283027 +f 571 573 576 +f 569 568 570 +f 570 568 572 +f 568 569 573 +f 572 568 573 +f 567 572 573 +f 570 567 574 +f 571 570 574 +f 567 573 574 +f 573 571 574 +f 567 570 575 +f 572 567 575 +f 570 572 575 +f 569 570 576 +f 570 571 576 +f 573 569 576 +o convex_46 +v -1.765658 -0.308563 2.257471 +v -0.745823 0.584024 2.563535 +v -0.745823 0.507429 2.563535 +v -1.969840 0.481963 2.563535 +v -0.745823 -0.436189 2.308492 +v -0.847795 0.584024 2.512515 +v -1.969840 0.584024 2.512515 +v -1.969840 -0.257632 2.333987 +v -0.745823 -0.410624 2.257471 +v -1.969840 -0.232067 2.257471 +f 585 577 586 +f 579 578 580 +f 578 579 581 +f 579 580 581 +f 580 578 583 +f 578 582 583 +f 577 581 584 +f 581 580 584 +f 580 583 584 +f 581 577 585 +f 578 581 585 +f 582 578 585 +f 582 585 586 +f 583 582 586 +f 577 584 586 +f 584 583 586 +o convex_47 +v 1.065129 1.476694 1.976907 +v -1.867819 1.502157 1.543322 +v -1.867819 1.476619 1.568937 +v -1.867819 1.298267 2.308482 +v -1.561350 1.196190 2.282867 +v 1.269339 1.553195 1.543322 +v 1.269339 1.298229 2.308482 +v -0.006283 1.578733 1.645408 +v -0.388294 1.349230 2.308482 +v -1.867819 1.527657 1.594402 +v 1.269339 1.349230 2.308482 +v 1.269339 1.578695 1.645408 +v -1.867819 1.196190 2.308482 +v -0.490553 1.578733 1.543322 +v -1.637814 1.323729 2.282867 +v 1.269339 1.298229 2.282867 +v -1.637814 1.476619 1.568937 +f 588 592 603 +f 588 589 590 +f 590 593 595 +f 587 594 595 +f 588 590 596 +f 593 592 597 +f 587 595 597 +f 595 593 597 +f 594 587 598 +f 587 597 598 +f 597 592 598 +f 590 589 599 +f 589 591 599 +f 593 590 599 +f 591 593 599 +f 592 588 600 +f 588 596 600 +f 596 594 600 +f 594 598 600 +f 598 592 600 +f 590 595 601 +f 595 594 601 +f 596 590 601 +f 594 596 601 +f 591 592 602 +f 592 593 602 +f 593 591 602 +f 589 588 603 +f 591 589 603 +f 592 591 603 +o convex_48 +v 2.289245 -0.410644 1.594225 +v 0.784927 -0.538211 0.854677 +v 0.784927 -0.538211 0.905828 +v 1.906762 -0.232147 0.854677 +v 0.963457 -0.512655 1.619688 +v 2.544424 -0.232147 1.619688 +v 1.983221 -0.512655 1.543224 +v 2.008834 -0.283197 0.880290 +v 2.723143 -0.257702 1.543224 +v 0.938034 -0.538211 0.854677 +v 1.295094 -0.538211 1.619688 +v 0.861575 -0.487160 0.880290 +v 2.238210 -0.232147 1.313684 +f 608 609 616 +f 610 611 612 +f 609 604 612 +f 607 609 612 +f 604 610 612 +f 611 607 612 +f 606 605 613 +f 605 607 613 +f 607 611 613 +f 611 610 613 +f 608 606 614 +f 604 609 614 +f 609 608 614 +f 610 604 614 +f 606 613 614 +f 613 610 614 +f 605 606 615 +f 607 605 615 +f 608 607 615 +f 606 608 615 +f 607 608 616 +f 609 607 616 +o convex_49 +v 1.702927 -0.334218 2.333917 +v 0.963384 -0.538211 1.619907 +v 0.963384 -0.512655 1.619907 +v 2.646627 -0.232147 1.619907 +v 1.906892 -0.512655 1.645420 +v 0.733851 -0.461695 2.333917 +v 1.881325 -0.232147 2.308404 +v 0.810362 -0.512655 2.333917 +v 1.957643 -0.283197 2.333917 +v 2.263880 -0.232147 1.823940 +v 0.887066 -0.487160 1.798427 +v 2.518788 -0.308663 1.645420 +f 620 625 628 +f 618 619 620 +f 618 620 621 +f 621 617 624 +f 618 621 624 +f 622 618 624 +f 617 622 624 +f 617 621 625 +f 622 617 625 +f 623 622 625 +f 620 623 625 +f 620 619 626 +f 623 620 626 +f 623 626 627 +f 619 618 627 +f 618 622 627 +f 622 623 627 +f 626 619 627 +f 621 620 628 +f 625 621 628 +o convex_50 +v -0.566849 1.068693 -3.022099 +v 0.019497 1.527692 -2.308296 +v -0.082515 1.527692 -2.180647 +v 0.019497 1.017665 -3.277029 +v -0.770952 1.017665 -2.384590 +v -0.796595 1.527692 -1.492152 +v -0.006066 1.272704 -3.200365 +v -0.592412 1.502128 -1.568631 +v -0.745469 1.247240 -2.486193 +v -0.082515 1.527692 -2.358913 +v -0.796595 1.017665 -2.512055 +v 0.019497 1.502128 -2.308296 +v -0.566849 1.017665 -3.047408 +v -0.796595 1.476665 -1.466659 +v 0.019497 1.196162 -3.277029 +f 632 641 643 +f 631 630 634 +f 633 632 636 +f 631 634 636 +f 635 629 637 +f 635 637 638 +f 634 630 638 +f 630 635 638 +f 637 634 638 +f 632 633 639 +f 637 629 639 +f 634 637 639 +f 630 631 640 +f 632 630 640 +f 631 636 640 +f 636 632 640 +f 639 629 641 +f 632 639 641 +f 633 636 642 +f 636 634 642 +f 639 633 642 +f 634 639 642 +f 630 632 643 +f 629 635 643 +f 635 630 643 +f 641 629 643 +o convex_51 +v 0.045047 -1.532919 -1.389761 +v -0.694573 -3.471136 -1.211288 +v -0.643418 -3.471136 -1.236796 +v 0.070587 -3.471136 -1.389761 +v -0.617952 -1.532919 -1.160272 +v 0.019507 -1.532919 -1.440776 +v -0.669033 -1.660793 -1.211288 +v 0.019507 -3.266993 -1.440776 +v -0.617952 -3.471136 -1.185780 +v -0.414004 -2.451371 -1.313265 +v -0.694573 -1.532919 -1.160272 +v -0.159051 -3.471136 -1.389761 +f 646 653 655 +f 645 646 647 +f 647 644 648 +f 644 647 649 +f 648 644 649 +f 646 645 650 +f 649 647 651 +f 645 647 652 +f 647 648 652 +f 650 649 653 +f 646 650 653 +f 648 649 654 +f 649 650 654 +f 650 645 654 +f 645 652 654 +f 652 648 654 +f 647 646 655 +f 651 647 655 +f 649 651 655 +f 653 649 655 +o convex_52 +v 0.784655 -1.533641 -1.211286 +v 0.070587 -4.236486 -1.313227 +v 0.147132 -4.236486 -1.313227 +v 0.096127 -1.533112 -1.440749 +v 0.631641 -4.210817 -1.083764 +v 0.759116 -3.522007 -1.185775 +v 0.070587 -1.533112 -1.389726 +v 0.096127 -2.782390 -1.440749 +v 0.759116 -1.533641 -1.160263 +v 0.096127 -4.210817 -1.262239 +v 0.835735 -2.553493 -1.185775 +v 0.708186 -4.236486 -1.083764 +v 0.096127 -3.522272 -1.415203 +v 0.682571 -4.236486 -1.134787 +v 0.835735 -1.533641 -1.160263 +f 660 667 670 +f 659 656 663 +f 657 662 663 +f 662 659 663 +f 662 660 664 +f 662 657 665 +f 660 662 665 +f 663 656 666 +f 661 663 666 +f 657 658 667 +f 665 657 667 +f 660 665 667 +f 661 666 667 +f 658 657 668 +f 657 663 668 +f 663 661 668 +f 667 658 669 +f 661 667 669 +f 658 668 669 +f 668 661 669 +f 656 659 670 +f 659 662 670 +f 664 660 670 +f 662 664 670 +f 666 656 670 +f 667 666 670 +o convex_53 +v 2.085312 1.451196 1.900499 +v 1.269339 1.527712 1.619905 +v 1.269339 1.451196 1.823930 +v 2.671995 1.272669 1.619905 +v 1.269339 1.298224 2.308482 +v 2.110850 1.298224 2.308482 +v 1.320551 1.578733 1.645450 +v 2.085312 1.527712 1.619905 +v 1.269339 1.349185 2.308482 +v 2.569981 1.272669 1.619905 +v 2.110850 1.272669 2.308482 +v 2.671995 1.298224 1.645450 +v 1.958173 1.323689 2.308482 +f 677 679 683 +f 672 673 675 +f 677 671 678 +f 674 672 678 +f 672 677 678 +f 672 675 679 +f 675 676 679 +f 677 672 679 +f 673 672 680 +f 672 674 680 +f 675 673 680 +f 675 680 681 +f 676 675 681 +f 680 674 681 +f 676 681 682 +f 671 676 682 +f 678 671 682 +f 674 678 682 +f 681 674 682 +f 676 671 683 +f 671 677 683 +f 679 676 683 +o convex_54 +v 0.657253 2.420409 -1.262267 +v 0.759269 3.211075 -0.497256 +v 0.708278 3.211075 -0.497256 +v 0.988745 2.420409 -0.497256 +v 0.784782 2.573496 -1.134652 +v 0.631740 2.853898 -1.109115 +v 0.631740 2.420409 -1.211116 +v 0.988745 2.573496 -0.522719 +v 0.631740 3.185457 -0.650258 +v 0.963232 2.420409 -0.497256 +v 0.784782 3.185457 -0.522719 +v 0.784782 2.420409 -1.185653 +v 0.657253 3.211075 -0.752259 +f 685 694 696 +f 685 686 687 +f 688 684 689 +f 684 687 690 +f 689 684 690 +f 685 687 691 +f 689 690 692 +f 692 690 693 +f 687 686 693 +f 690 687 693 +f 686 692 693 +f 685 691 694 +f 691 688 694 +f 687 684 695 +f 684 688 695 +f 691 687 695 +f 688 691 695 +f 686 685 696 +f 688 689 696 +f 692 686 696 +f 689 692 696 +f 694 688 696 +o convex_55 +v 0.759274 -4.185323 -1.058089 +v 1.039758 -1.532919 -0.420608 +v 1.039758 -1.532919 -0.522619 +v 0.810295 -1.532919 -1.083574 +v 0.886761 -4.236079 -0.446165 +v 1.014248 -3.573045 -0.446165 +v 0.835805 -2.757475 -1.160245 +v 0.708253 -4.159678 -1.007119 +v 0.988770 -1.685989 -0.471649 +v 0.835805 -1.532919 -1.160245 +v 0.708253 -3.496377 -1.160245 +v 0.810295 -3.445620 -1.160245 +v 0.937782 -4.261991 -0.497134 +v 0.708253 -4.236346 -1.109131 +v 0.861251 -2.400313 -1.109131 +v 0.937782 -4.261991 -0.420608 +f 710 709 712 +f 698 699 700 +f 699 698 702 +f 700 704 705 +f 698 700 705 +f 701 698 705 +f 704 701 705 +f 700 699 706 +f 704 700 707 +f 700 706 707 +f 706 703 707 +f 703 702 708 +f 707 703 708 +f 697 708 709 +f 708 702 709 +f 701 704 710 +f 704 707 710 +f 708 697 710 +f 707 708 710 +f 697 709 710 +f 699 702 711 +f 702 703 711 +f 706 699 711 +f 703 706 711 +f 698 701 712 +f 702 698 712 +f 709 702 712 +f 701 710 712 +o convex_56 +v 0.708116 0.737156 -3.124157 +v 0.019577 0.354476 -3.430171 +v 0.019577 0.354476 -3.379180 +v 0.019577 1.145065 -3.251721 +v 0.759197 0.533086 -3.251721 +v 0.682576 0.354476 -3.124157 +v 0.045117 0.533086 -3.481197 +v 0.249215 1.093989 -3.124157 +v 0.045117 1.119527 -3.302677 +v 0.351226 1.145065 -3.149705 +v 0.096198 0.354476 -3.328155 +v 0.708116 0.354476 -3.200730 +f 717 718 724 +f 714 715 716 +f 715 714 718 +f 717 713 718 +f 714 716 719 +f 717 714 719 +f 718 713 720 +f 719 716 721 +f 717 719 721 +f 713 717 722 +f 716 720 722 +f 720 713 722 +f 717 721 722 +f 721 716 722 +f 716 715 723 +f 715 718 723 +f 720 716 723 +f 718 720 723 +f 714 717 724 +f 718 714 724 +o convex_57 +v 0.657210 3.338602 -0.497106 +v 0.708241 2.624612 0.319065 +v 0.657210 2.624612 0.319065 +v 0.963254 2.420409 -0.497106 +v 1.014285 2.573561 -0.395085 +v 0.759272 3.287551 -0.446055 +v 0.810267 2.471460 0.319065 +v 0.657210 2.548036 0.293500 +v 0.682726 3.261936 -0.267498 +v 1.014285 2.445935 -0.242013 +v 0.759272 2.420409 0.319065 +v 0.657210 2.904941 -0.114506 +v 0.988770 2.599087 -0.497106 +f 725 730 737 +f 726 727 731 +f 727 725 732 +f 725 727 733 +f 727 726 733 +f 730 725 733 +f 726 731 733 +f 731 730 733 +f 728 729 734 +f 729 730 734 +f 730 731 734 +f 734 731 735 +f 731 727 735 +f 727 732 735 +f 732 728 735 +f 728 734 735 +f 725 728 736 +f 732 725 736 +f 728 732 736 +f 728 725 737 +f 729 728 737 +f 730 729 737 +o convex_58 +v -0.056957 -1.532919 0.625129 +v -0.694573 -3.547645 0.370076 +v -0.617997 -3.547645 0.370076 +v -0.694573 -1.532919 0.370076 +v -0.005929 -3.547645 0.574098 +v -0.516008 -3.445488 0.472112 +v -0.031477 -1.532919 0.574098 +v -0.056957 -3.496567 0.625129 +v -0.669025 -1.532919 0.421106 +v -0.107985 -2.425899 0.625129 +v -0.643478 -1.532919 0.370076 +v -0.694573 -3.547645 0.395591 +v -0.005929 -1.532919 0.625129 +f 745 742 750 +f 740 739 741 +f 739 740 742 +f 741 738 744 +f 738 741 746 +f 746 743 747 +f 745 738 747 +f 743 745 747 +f 738 746 747 +f 740 741 748 +f 742 740 748 +f 741 744 748 +f 744 742 748 +f 741 739 749 +f 739 742 749 +f 742 745 749 +f 745 743 749 +f 746 741 749 +f 743 746 749 +f 744 738 750 +f 742 744 750 +f 738 745 750 +o convex_59 +v 0.580594 3.159995 -0.930757 +v 0.019577 2.803127 -1.313277 +v 0.045102 2.752124 -1.313277 +v 0.580594 3.185457 -0.701149 +v 0.631705 2.420409 -1.262167 +v 0.096093 3.211075 -1.211176 +v 0.376631 2.420409 -1.287692 +v 0.631705 2.930364 -1.083729 +v 0.019577 3.134454 -1.185651 +v 0.427562 2.548033 -1.313277 +v 0.376631 3.185457 -0.828775 +v 0.631705 3.211075 -0.701149 +v 0.121618 2.649962 -1.287692 +v 0.606120 2.420409 -1.211176 +f 755 762 764 +f 756 751 758 +f 756 752 759 +f 753 752 760 +f 752 756 760 +f 757 753 760 +f 755 757 760 +f 758 755 760 +f 756 758 760 +f 759 752 761 +f 756 759 761 +f 751 756 762 +f 758 751 762 +f 755 758 762 +f 761 754 762 +f 756 761 762 +f 752 753 763 +f 753 757 763 +f 757 754 763 +f 761 752 763 +f 754 761 763 +f 754 757 764 +f 757 755 764 +f 762 754 764 +o convex_60 +v 0.759192 -3.726152 0.268089 +v -0.005929 -4.261991 0.497552 +v -0.005929 -4.261991 0.548548 +v -0.005929 -1.533112 0.599579 +v 0.733546 -2.782691 0.395631 +v 0.759192 -1.558755 0.268089 +v 0.045122 -1.533112 0.625094 +v 0.784677 -1.533112 0.370116 +v 0.070767 -3.547984 0.599544 +v 0.708061 -4.108665 0.319120 +v 0.606120 -4.261991 0.268089 +v 0.019637 -4.236348 0.472037 +v 0.019637 -1.533112 0.574063 +v 0.733626 -3.547984 0.370151 +v 0.019637 -3.037254 0.625094 +v 0.121658 -4.236348 0.523068 +v 0.810242 -1.533112 0.268089 +f 770 777 781 +f 766 767 768 +f 768 771 772 +f 771 769 772 +f 767 766 775 +f 770 765 775 +f 765 774 775 +f 766 768 776 +f 775 766 776 +f 770 775 776 +f 768 772 777 +f 776 768 777 +f 770 776 777 +f 765 772 778 +f 772 769 778 +f 769 773 778 +f 774 765 778 +f 768 767 779 +f 769 771 779 +f 771 768 779 +f 767 773 779 +f 773 769 779 +f 773 767 780 +f 767 775 780 +f 775 774 780 +f 778 773 780 +f 774 778 780 +f 765 770 781 +f 772 765 781 +f 777 772 781 +o convex_61 +v -0.949574 2.420409 -0.803300 +v -0.720078 3.287591 -0.471601 +v -0.796647 3.287591 -0.471601 +v -0.720078 2.675573 -1.185750 +v -0.975097 2.420409 -0.497116 +v -0.720078 2.828535 -0.803300 +v -0.796647 2.420409 -1.083689 +v -0.822140 2.522526 -1.185750 +v -1.026113 2.547991 -0.497116 +f 784 789 790 +f 784 783 785 +f 783 784 786 +f 783 786 787 +f 785 783 787 +f 785 787 788 +f 786 782 788 +f 787 786 788 +f 784 785 789 +f 785 788 789 +f 788 782 789 +f 782 786 790 +f 786 784 790 +f 789 782 790 +o convex_62 +v -0.847635 -0.742253 -1.287699 +v -0.949592 0.507508 -0.395085 +v -0.975092 0.507508 -0.395085 +v -0.949592 0.507508 -1.338783 +v -0.975092 -0.742253 -0.395085 +v -0.771134 -0.716686 -1.313195 +v -1.000637 0.430928 -1.338783 +v -0.924091 -0.563646 -0.446168 +v -0.924091 0.430928 -0.471663 +v -0.975092 -0.742253 -0.522746 +v -0.873135 -0.742253 -1.211121 +v -1.000637 0.481941 -1.083552 +f 797 795 802 +f 793 792 794 +f 792 793 795 +f 795 791 796 +f 794 796 797 +f 796 791 797 +f 792 795 798 +f 795 796 798 +f 798 796 799 +f 794 792 799 +f 796 794 799 +f 792 798 799 +f 791 795 800 +f 795 797 800 +f 800 797 801 +f 797 791 801 +f 791 800 801 +f 793 794 802 +f 795 793 802 +f 794 797 802 +o convex_63 +v -0.847594 1.910291 -1.364198 +v -0.975089 2.420283 -0.318569 +v -0.771102 2.573361 -1.185668 +v -0.949600 0.507509 -0.395112 +v -0.975114 0.507509 -1.338755 +v -1.026143 2.420283 -0.522756 +v -0.771102 1.757212 -1.415298 +v -0.975114 0.507509 -0.395112 +v -0.924111 0.584149 -0.497206 +v -0.949600 0.507509 -1.338755 +v -1.026143 2.343642 -0.318569 +v -0.975114 0.686067 -1.338755 +v -0.796616 2.573361 -1.211111 +v -1.000579 2.420283 -0.650400 +f 808 815 816 +f 807 806 810 +f 805 804 811 +f 804 806 811 +f 809 805 811 +f 809 811 812 +f 806 807 812 +f 807 809 812 +f 811 806 812 +f 806 804 813 +f 808 807 813 +f 804 808 813 +f 810 806 813 +f 807 810 813 +f 807 808 814 +f 803 809 814 +f 809 807 814 +f 804 805 815 +f 808 804 815 +f 809 803 815 +f 805 809 815 +f 814 808 816 +f 803 814 816 +f 815 803 816 +o convex_64 +v 0.580520 -0.002588 -3.047451 +v 0.810222 -0.130115 -2.256975 +v 0.784683 -0.130115 -2.256975 +v 0.784683 0.354476 -2.716139 +v 0.019577 0.354476 -3.353485 +v 0.019577 -0.155631 -3.226083 +v 0.708141 0.328961 -3.174965 +v 0.784683 -0.155631 -2.512228 +v 0.019577 -0.079085 -3.175077 +v 0.045194 0.303446 -3.404715 +v 0.810222 0.354476 -2.843540 +v 0.249201 -0.155631 -3.124072 +v 0.784683 0.303446 -2.639630 +f 827 820 829 +f 818 819 824 +f 819 822 824 +f 817 823 824 +f 819 821 825 +f 822 819 825 +f 821 822 825 +f 822 821 826 +f 823 822 826 +f 821 823 826 +f 821 820 827 +f 823 821 827 +f 818 824 827 +f 824 823 827 +f 823 817 828 +f 822 823 828 +f 824 822 828 +f 817 824 828 +f 819 818 829 +f 820 821 829 +f 821 819 829 +f 818 827 829 +o convex_65 +v -1.179142 0.456647 0.267964 +v -0.949659 1.527722 0.319065 +v -0.949659 1.527722 -0.241993 +v -0.924176 0.431207 -0.267508 +v -1.000680 1.527722 -0.395085 +v -1.000680 0.482195 -0.395085 +v -1.102639 0.431207 0.319065 +v -1.204680 0.609720 0.293480 +v -0.949659 1.196030 0.319065 +v -0.975169 1.527722 0.319065 +v -0.924176 0.431207 -0.369569 +v -1.204680 0.507636 0.242519 +f 830 837 841 +f 832 831 833 +f 831 832 834 +f 830 836 837 +f 833 831 838 +f 831 836 838 +f 836 833 838 +f 831 834 839 +f 836 831 839 +f 834 837 839 +f 837 836 839 +f 832 833 840 +f 834 832 840 +f 830 835 840 +f 835 834 840 +f 836 830 840 +f 833 836 840 +f 835 830 841 +f 834 835 841 +f 837 834 841 +o convex_66 +v 0.070657 -0.181183 -3.200673 +v 0.810242 -0.385204 -1.644847 +v 0.810242 -0.410699 -1.644847 +v 0.019577 -0.742253 -1.644847 +v 0.759162 -0.232174 -2.460985 +v 0.784702 -0.155631 -2.206199 +v 0.019577 -0.155631 -3.149655 +v 0.070657 -0.742253 -1.721450 +v 0.045117 -0.691148 -1.644847 +v 0.045117 -0.232174 -3.175088 +v 0.631692 -0.410699 -1.670432 +v 0.733699 -0.155631 -2.588455 +v 0.810242 -0.359766 -1.925523 +f 849 846 854 +f 844 843 845 +f 844 845 849 +f 845 843 850 +f 848 845 850 +f 848 842 851 +f 845 848 851 +f 849 845 851 +f 846 849 851 +f 843 847 852 +f 847 848 852 +f 850 843 852 +f 848 850 852 +f 847 846 853 +f 842 848 853 +f 848 847 853 +f 851 842 853 +f 846 851 853 +f 843 844 854 +f 846 847 854 +f 847 843 854 +f 844 849 854 +o convex_67 +v 0.019577 3.236366 -1.236826 +v -0.771089 1.757271 -1.440779 +v -0.771089 1.757271 -1.389853 +v 0.019577 1.757271 -1.695807 +v 0.019577 2.828360 -1.287852 +v -0.771089 2.547819 -1.236826 +v -0.363141 2.751822 -1.185800 +v 0.019577 1.808496 -1.619269 +v -0.031504 1.808496 -1.695807 +v -0.056967 3.261829 -1.236826 +v -0.771089 2.497043 -1.185800 +v -0.745549 1.808496 -1.364340 +v -0.082507 3.287441 -1.185800 +v 0.019577 3.159827 -1.185800 +f 867 861 868 +f 857 856 858 +f 858 855 859 +f 856 857 860 +f 857 858 862 +f 858 859 862 +f 858 856 863 +f 855 858 863 +f 856 860 863 +f 863 860 864 +f 855 863 864 +f 860 857 865 +f 859 861 866 +f 857 862 866 +f 862 859 866 +f 861 865 866 +f 865 857 866 +f 864 860 867 +f 855 864 867 +f 865 861 867 +f 860 865 867 +f 859 855 868 +f 861 859 868 +f 855 867 868 +o convex_68 +v -1.026110 2.522548 -0.471601 +v -0.694581 2.497036 0.319065 +v -0.720129 2.497036 0.319065 +v -0.975119 1.527897 -0.318514 +v -0.694581 3.312747 -0.471601 +v -1.000632 1.782851 0.267907 +v -0.796668 3.261896 -0.420520 +v -0.669068 2.394984 0.293525 +v -0.949606 1.527897 0.318988 +v -0.771155 2.497036 0.293525 +v -1.000632 1.527897 -0.318514 +v -0.694581 3.210871 -0.242048 +v -1.000632 1.833876 0.267907 +v -0.694581 3.261896 -0.471601 +v -0.949606 1.527897 -0.216430 +f 872 882 883 +f 873 869 875 +f 870 871 877 +f 876 870 877 +f 869 872 879 +f 874 869 879 +f 877 874 879 +f 872 877 879 +f 871 870 880 +f 873 875 880 +f 876 873 880 +f 870 876 880 +f 878 871 880 +f 875 878 880 +f 869 874 881 +f 875 869 881 +f 877 871 881 +f 874 877 881 +f 871 878 881 +f 878 875 881 +f 872 869 882 +f 869 873 882 +f 873 876 882 +f 882 876 883 +f 877 872 883 +f 876 877 883 +o convex_69 +v -0.796595 1.119534 -2.307796 +v -0.847625 1.527722 -1.338972 +v -0.873111 1.527722 -1.338972 +v -0.949587 0.329088 -1.338972 +v -1.000637 0.584162 -2.307796 +v -0.949587 0.329088 -2.307796 +v -1.000637 0.533124 -1.338972 +v -0.796595 1.476567 -1.440939 +v -0.796595 1.017458 -2.256860 +v -0.822120 1.349030 -1.950866 +v -1.000637 0.380127 -2.307796 +f 887 890 894 +f 885 886 887 +f 888 884 889 +f 887 886 890 +f 886 888 890 +f 885 887 891 +f 891 887 892 +f 889 884 892 +f 887 889 892 +f 884 891 892 +f 886 885 893 +f 884 888 893 +f 888 886 893 +f 885 891 893 +f 891 884 893 +f 889 887 894 +f 888 889 894 +f 890 888 894 +o convex_70 +v 1.014285 0.354476 -1.338783 +v 0.810242 -0.742253 -1.389813 +v 0.861293 -0.742253 -1.389813 +v 0.810242 0.354476 -2.767082 +v 0.988740 0.328926 -2.358837 +v 0.810242 -0.436187 -1.415398 +v 0.835788 -0.104677 -2.409867 +v 0.912264 -0.665710 -1.364368 +v 0.963254 0.328926 -1.338783 +v 0.810242 0.354476 -2.639296 +v 1.014285 0.328926 -1.670412 +f 895 902 905 +f 898 895 899 +f 898 896 900 +f 897 896 901 +f 896 898 901 +f 898 899 901 +f 901 899 902 +f 896 897 902 +f 897 901 902 +f 900 896 903 +f 896 902 903 +f 902 895 903 +f 895 898 904 +f 898 900 904 +f 903 895 904 +f 900 903 904 +f 899 895 905 +f 902 899 905 +o convex_71 +v 0.759149 0.380112 -3.098526 +v 0.810246 1.221658 -2.307986 +v 0.810246 1.221658 -2.384675 +v 0.300183 1.145007 -3.073043 +v 0.937744 0.354561 -2.333629 +v 0.810246 0.558624 -3.098606 +v 1.014285 0.558624 -2.512092 +v 0.606207 1.093907 -2.996513 +v 0.682608 0.354476 -3.073043 +v 0.784732 1.119627 -2.307986 +v 0.376794 1.145007 -3.124089 +v 1.014285 0.405577 -2.307986 +v 0.988702 0.737221 -2.307986 +v 0.300183 1.119457 -3.073043 +v 0.682608 0.354476 -3.124089 +v 0.657164 0.864379 -3.124089 +f 911 920 921 +f 907 908 909 +f 911 908 912 +f 906 911 912 +f 908 911 913 +f 907 909 915 +f 909 908 916 +f 908 913 916 +f 910 906 917 +f 906 912 917 +f 907 915 917 +f 915 910 917 +f 908 907 918 +f 912 908 918 +f 907 917 918 +f 917 912 918 +f 914 910 919 +f 915 909 919 +f 910 915 919 +f 909 916 919 +f 919 916 920 +f 906 910 920 +f 911 906 920 +f 910 914 920 +f 914 919 920 +f 913 911 921 +f 916 913 921 +f 920 916 921 +o convex_72 +v 0.861283 1.502217 -1.339083 +v 0.963244 0.354813 -2.307796 +v 0.784737 1.144910 -2.307796 +v 1.014250 0.558684 -0.395272 +v 1.014275 0.635290 -2.307796 +v 1.014250 1.502105 -0.395272 +v 0.784737 1.476382 -1.542786 +v 1.039790 0.507800 -1.491861 +v 0.810252 1.425386 -1.950754 +v 0.963244 0.354813 -1.644825 +v 1.039765 1.298009 -0.395272 +v 0.937754 1.502105 -0.624812 +v 1.014250 1.502105 -0.522774 +v 0.988735 0.635290 -0.471848 +v 1.039765 0.558684 -0.395272 +v 0.963244 0.839273 -2.282333 +v 1.014275 0.354813 -1.899828 +v 0.810252 1.246901 -2.307796 +f 930 937 939 +f 923 924 926 +f 928 922 930 +f 924 928 930 +f 924 923 931 +f 927 925 932 +f 929 926 932 +f 927 922 933 +f 925 927 933 +f 922 928 933 +f 922 927 934 +f 930 922 934 +f 927 932 934 +f 932 926 934 +f 928 924 935 +f 924 931 935 +f 931 925 935 +f 925 933 935 +f 933 928 935 +f 925 931 936 +f 932 925 936 +f 929 932 936 +f 934 926 937 +f 930 934 937 +f 923 926 938 +f 926 929 938 +f 931 923 938 +f 936 931 938 +f 929 936 938 +f 926 924 939 +f 924 930 939 +f 937 926 939 +o convex_73 +v 0.937807 0.252410 -0.063455 +v 1.218295 0.430992 0.319065 +v 1.218295 0.430992 0.242519 +v 1.065248 -0.742253 -0.369569 +v 0.886758 -0.742253 0.319065 +v 1.039838 0.430992 -0.395085 +v 0.886758 -0.028154 0.319065 +v 1.014330 -0.742253 -0.395085 +v 0.937807 -0.742253 0.267964 +v 0.988822 0.430992 -0.318539 +v 1.167280 0.430992 0.319065 +v 1.065248 -0.028154 -0.395085 +v 0.886758 -0.742253 0.242519 +v 1.218295 0.379887 0.319065 +f 944 948 953 +f 941 942 945 +f 944 941 946 +f 943 944 947 +f 944 943 948 +f 941 945 949 +f 947 940 949 +f 945 947 949 +f 946 941 950 +f 940 946 950 +f 941 949 950 +f 949 940 950 +f 942 943 951 +f 945 942 951 +f 943 947 951 +f 947 945 951 +f 946 940 952 +f 944 946 952 +f 940 947 952 +f 947 944 952 +f 942 941 953 +f 943 942 953 +f 941 944 953 +f 948 943 953 +o convex_74 +v 1.243798 0.430992 0.267964 +v 1.039825 1.502217 0.319065 +v 1.039825 1.502217 -0.140001 +v 0.988810 0.430992 -0.216477 +v 1.065348 0.533019 -0.395085 +v 1.294814 0.558709 0.293480 +v 0.988810 1.502217 -0.395085 +v 1.014333 1.221513 0.319065 +v 1.192783 0.430992 0.319065 +v 1.039825 1.298059 -0.395085 +v 1.014333 0.430992 -0.395085 +v 0.988810 1.502217 -0.088971 +f 961 955 965 +f 956 955 959 +f 954 958 959 +f 955 956 960 +f 957 954 962 +f 959 955 962 +f 954 959 962 +f 961 957 962 +f 955 961 962 +f 956 959 963 +f 959 958 963 +f 960 956 963 +f 958 960 963 +f 954 957 964 +f 958 954 964 +f 957 960 964 +f 960 958 964 +f 955 960 965 +f 960 957 965 +f 957 961 965 +o convex_75 +v 1.039790 1.527830 -0.114379 +v 0.810252 2.420320 0.319065 +v 0.784737 2.420320 0.319065 +v 0.963244 2.420320 -0.522611 +v 0.963244 1.502217 -0.522611 +v 1.039790 1.884880 0.319065 +v 1.014275 1.502217 0.319065 +v 1.014275 2.420320 -0.446073 +v 1.014275 2.420320 -0.216457 +v 1.014275 1.502217 -0.522611 +v 0.784737 2.343751 0.293525 +f 972 968 976 +f 968 967 969 +f 967 968 971 +f 966 971 972 +f 971 968 972 +f 969 967 973 +f 971 966 973 +f 971 973 974 +f 967 971 974 +f 973 967 974 +f 970 969 975 +f 966 972 975 +f 972 970 975 +f 969 973 975 +f 973 966 975 +f 968 969 976 +f 969 970 976 +f 970 972 976 +o convex_76 +v -1.765882 -0.385126 2.027864 +v -2.734933 -0.206676 1.466806 +v -2.734933 -0.155690 1.466806 +v -1.740292 -0.436142 1.466806 +v -2.122917 -0.155690 2.257394 +v -2.760421 -0.257692 1.619955 +v -2.046454 -0.461695 1.568957 +v -1.995478 -0.283185 2.257394 +v -1.740292 -0.257692 2.231856 +v -2.683855 -0.155690 1.849486 +v -1.740292 -0.461695 1.772950 +v -2.046454 -0.461695 1.619955 +v -2.225074 -0.181183 2.257394 +f 986 982 989 +f 978 979 980 +f 979 978 982 +f 978 980 983 +f 982 978 983 +f 980 979 985 +f 979 981 985 +f 984 977 985 +f 981 984 985 +f 981 979 986 +f 979 982 986 +f 983 980 987 +f 980 985 987 +f 985 977 987 +f 982 983 988 +f 977 984 988 +f 984 982 988 +f 983 987 988 +f 987 977 988 +f 984 981 989 +f 982 984 989 +f 981 986 989 +o convex_77 +v -0.847625 -0.385166 2.257394 +v -1.740292 -0.461695 1.466806 +v -1.740292 -0.461695 1.772950 +v -1.740292 -0.283157 2.155320 +v -0.924254 -0.385166 1.492421 +v -0.745584 -0.436162 2.257394 +v -0.898646 -0.436162 1.466806 +v -1.638251 -0.334188 2.257394 +v -1.561623 -0.410664 1.466806 +v -1.561623 -0.283157 2.257394 +f 997 990 999 +f 991 992 993 +f 992 991 995 +f 994 990 995 +f 995 991 996 +f 994 995 996 +f 993 992 997 +f 992 995 997 +f 995 990 997 +f 991 993 998 +f 993 994 998 +f 996 991 998 +f 994 996 998 +f 990 994 999 +f 994 993 999 +f 993 997 999 +o convex_78 +v -2.938909 0.252425 1.543187 +v -2.735053 0.584024 0.880290 +v -2.735053 0.584024 0.854745 +v -2.021073 -0.155631 0.854677 +v -2.607327 -0.053544 1.058837 +v -2.938909 0.584024 1.543187 +v -2.735053 -0.155631 1.543187 +v -2.811475 0.481938 0.854745 +v -2.785969 -0.155631 1.517709 +v -2.021073 -0.130073 0.880290 +v -3.015428 0.481938 1.492231 +v -2.276038 -0.130073 0.905768 +v -2.403375 -0.130073 1.262728 +v -2.735053 0.328954 0.854745 +v -2.097494 -0.027986 0.880290 +f 1005 1009 1014 +f 1001 1002 1005 +f 1005 1000 1006 +f 1002 1003 1007 +f 1003 1006 1008 +f 1006 1000 1008 +f 1000 1005 1010 +f 1005 1002 1010 +f 1002 1007 1010 +f 1008 1000 1010 +f 1007 1008 1010 +f 1003 1008 1011 +f 1008 1004 1011 +f 1006 1003 1012 +f 1005 1006 1012 +f 1003 1009 1012 +f 1009 1005 1012 +f 1007 1003 1013 +f 1004 1008 1013 +f 1008 1007 1013 +f 1011 1004 1013 +f 1003 1011 1013 +f 1002 1001 1014 +f 1003 1002 1014 +f 1001 1005 1014 +f 1009 1003 1014 +o convex_79 +v 0.937707 -4.261991 -0.420590 +v 0.810305 -1.532919 0.268054 +v 0.835770 -1.532919 0.242507 +v 1.014215 -1.532919 -0.420590 +v 0.682716 -4.236346 0.191411 +v 1.014253 -3.522289 -0.343947 +v 0.733796 -4.159678 0.268054 +v 1.065296 -1.532919 -0.395042 +v 0.759262 -1.839326 0.242507 +v 0.861236 -4.236346 -0.318534 +v 0.784802 -3.522289 0.268054 +v 0.963210 -4.210701 -0.420590 +v 0.682716 -4.261991 0.268054 +v 1.039755 -2.476982 -0.343947 +v 0.861310 -1.558832 -0.012567 +v 1.039755 -2.935389 -0.420590 +f 1028 1020 1030 +f 1016 1017 1018 +f 1018 1017 1022 +f 1018 1015 1024 +f 1019 1023 1024 +f 1017 1016 1025 +f 1016 1021 1025 +f 1021 1020 1025 +f 1015 1018 1026 +f 1021 1015 1026 +f 1020 1021 1026 +f 1021 1016 1027 +f 1015 1021 1027 +f 1016 1023 1027 +f 1023 1019 1027 +f 1024 1015 1027 +f 1019 1024 1027 +f 1022 1017 1028 +f 1017 1025 1028 +f 1025 1020 1028 +f 1016 1018 1029 +f 1023 1016 1029 +f 1018 1024 1029 +f 1024 1023 1029 +f 1018 1022 1030 +f 1026 1018 1030 +f 1020 1026 1030 +f 1022 1028 1030 +o convex_80 +v -2.734961 1.170648 1.517711 +v -2.785964 0.584025 0.854745 +v -2.811504 0.584025 0.931306 +v -2.199389 1.145095 0.880287 +v -2.913433 0.584025 1.517711 +v -2.607337 1.094104 1.007799 +v -2.811504 1.145095 1.492236 +v -2.403479 0.864588 0.880287 +v -2.990054 0.609577 1.517711 +v -2.301472 1.170648 0.854745 +v -2.734961 0.584025 0.905763 +f 1038 1035 1041 +f 1034 1031 1035 +f 1033 1032 1035 +f 1032 1033 1037 +f 1036 1032 1037 +f 1034 1035 1038 +f 1035 1031 1039 +f 1033 1035 1039 +f 1037 1033 1039 +f 1031 1037 1039 +f 1031 1034 1040 +f 1032 1036 1040 +f 1037 1031 1040 +f 1036 1037 1040 +f 1038 1032 1040 +f 1034 1038 1040 +f 1035 1032 1041 +f 1032 1038 1041 +o convex_81 +v -2.046479 1.527653 1.543254 +v -2.276005 1.170648 0.854745 +v -2.276005 1.196195 0.854745 +v -2.785832 1.170648 1.543254 +v -1.867819 1.502175 1.543254 +v -2.760399 1.272699 1.492236 +v -1.918955 1.349168 0.854745 +v -2.199526 1.170648 0.931306 +v -1.867819 1.298212 0.880287 +v -1.893432 1.527653 1.339249 +v -2.734876 1.170648 1.543254 +f 1049 1046 1052 +f 1042 1045 1046 +f 1044 1043 1047 +f 1043 1045 1047 +f 1045 1042 1047 +f 1043 1044 1048 +f 1044 1047 1048 +f 1045 1043 1049 +f 1043 1048 1050 +f 1049 1043 1050 +f 1046 1049 1050 +f 1042 1046 1051 +f 1047 1042 1051 +f 1048 1047 1051 +f 1050 1048 1051 +f 1046 1050 1051 +f 1046 1045 1052 +f 1045 1049 1052 +o convex_82 +v -0.796595 0.482093 -3.124217 +v 0.019497 1.017548 -3.277159 +v 0.019497 0.992005 -3.277159 +v -0.057032 0.533044 -3.481142 +v 0.019497 0.329106 -3.379150 +v -0.694503 0.329106 -3.022225 +v -0.566929 1.017548 -3.047700 +v -0.668940 0.482093 -3.251683 +v -0.031549 1.017548 -3.328155 +v -0.490401 0.992005 -3.022225 +v -0.668940 0.329106 -3.175212 +v -0.719986 0.533044 -3.226208 +v -0.796595 0.558587 -3.022225 +v -0.031549 0.329106 -3.430146 +v 0.019497 0.558587 -3.481142 +f 1057 1066 1067 +f 1054 1055 1057 +f 1059 1054 1061 +f 1055 1054 1062 +f 1057 1055 1062 +f 1058 1057 1062 +f 1054 1059 1062 +f 1058 1053 1063 +f 1057 1058 1063 +f 1060 1063 1064 +f 1053 1059 1064 +f 1056 1060 1064 +f 1059 1061 1064 +f 1061 1056 1064 +f 1063 1053 1064 +f 1053 1058 1065 +f 1059 1053 1065 +f 1058 1062 1065 +f 1062 1059 1065 +f 1060 1056 1066 +f 1057 1063 1066 +f 1063 1060 1066 +f 1054 1057 1067 +f 1061 1054 1067 +f 1056 1061 1067 +f 1066 1056 1067 +o convex_83 +v -2.020956 1.527685 1.568937 +v -2.785832 1.145180 1.543322 +v -2.785832 1.145180 1.594402 +v -1.867819 1.196213 2.282867 +v -2.046479 1.298204 2.282867 +v -1.867819 1.476652 1.568937 +v -2.734876 1.272706 1.568937 +v -2.352304 1.145180 2.180855 +v -1.867819 1.323702 2.257326 +v -2.734876 1.145180 1.543322 +v -1.995433 1.145180 2.308482 +v -2.658397 1.170715 1.849431 +f 1070 1075 1079 +f 1068 1069 1074 +f 1069 1070 1074 +f 1072 1068 1074 +f 1070 1069 1075 +f 1068 1072 1076 +f 1073 1068 1076 +f 1071 1073 1076 +f 1069 1068 1077 +f 1068 1073 1077 +f 1073 1071 1077 +f 1075 1069 1077 +f 1075 1077 1078 +f 1072 1075 1078 +f 1076 1072 1078 +f 1071 1076 1078 +f 1077 1071 1078 +f 1074 1070 1079 +f 1072 1074 1079 +f 1075 1072 1079 +o convex_84 +v -0.643473 3.338647 -0.471601 +v 0.019577 3.236630 0.293560 +v 0.019577 3.185605 0.293560 +v 0.019577 3.491584 -0.471601 +v -0.668988 3.185605 -0.318509 +v -0.056969 3.313134 0.242479 +v -0.056969 3.542645 -0.446060 +v -0.694573 3.211118 -0.216497 +v -0.286607 3.185605 0.191398 +v -0.362944 3.211118 -0.165417 +f 1082 1084 1089 +f 1081 1082 1083 +f 1080 1083 1084 +f 1080 1085 1086 +f 1081 1083 1086 +f 1083 1080 1086 +f 1085 1081 1086 +f 1080 1084 1087 +f 1085 1080 1087 +f 1085 1087 1088 +f 1082 1081 1088 +f 1084 1082 1088 +f 1081 1085 1088 +f 1087 1084 1088 +f 1083 1082 1089 +f 1084 1083 1089 +o convex_85 +v 0.070592 1.629764 1.466693 +v -0.643562 1.527750 0.854745 +v -0.643562 1.553260 0.854745 +v 1.269338 1.553260 0.854745 +v -0.031457 1.808281 0.854745 +v 1.269338 1.553260 1.543254 +v -0.643562 1.527750 1.543254 +v 1.269338 1.578798 1.543254 +v 0.070592 1.808281 0.905830 +v -0.643562 1.553260 1.543254 +v 1.269338 1.578798 0.854745 +v -0.260832 1.527750 1.237213 +v -0.490396 1.578770 1.543254 +f 1099 1097 1102 +f 1091 1092 1093 +f 1093 1092 1094 +f 1092 1091 1096 +f 1096 1095 1097 +f 1095 1093 1097 +f 1090 1097 1098 +f 1094 1092 1099 +f 1092 1096 1099 +f 1096 1097 1099 +f 1093 1094 1100 +f 1097 1093 1100 +f 1098 1097 1100 +f 1094 1098 1100 +f 1091 1093 1101 +f 1093 1095 1101 +f 1096 1091 1101 +f 1095 1096 1101 +f 1097 1090 1102 +f 1098 1094 1102 +f 1090 1098 1102 +f 1094 1099 1102 +o convex_86 +v 2.442610 -0.104575 0.956836 +v 3.003702 0.507508 1.594332 +v 3.003702 0.507508 1.517731 +v 2.289656 0.201322 0.880235 +v 2.646484 -0.232147 1.594332 +v 2.774125 0.481951 0.854677 +v 2.009158 -0.206589 0.905793 +v 2.748616 -0.232147 1.517731 +v 2.111193 -0.232147 0.854677 +v 2.238638 -0.206589 1.237103 +v 2.671993 0.507508 0.854677 +v 2.952588 0.507508 1.568774 +v 2.570056 -0.053604 1.007879 +f 1110 1103 1115 +f 1105 1104 1110 +f 1104 1107 1110 +f 1108 1105 1110 +f 1108 1103 1111 +f 1109 1106 1111 +f 1110 1107 1111 +f 1103 1110 1111 +f 1109 1111 1112 +f 1111 1107 1112 +f 1104 1105 1113 +f 1105 1108 1113 +f 1111 1106 1113 +f 1108 1111 1113 +f 1107 1104 1114 +f 1106 1109 1114 +f 1112 1107 1114 +f 1109 1112 1114 +f 1104 1113 1114 +f 1113 1106 1114 +f 1103 1108 1115 +f 1108 1110 1115 +o convex_87 +v 2.340353 1.425701 1.619688 +v 1.269473 1.553178 0.854677 +v 1.269473 1.578733 0.854677 +v 1.269473 1.553178 1.619688 +v 1.907094 1.272669 0.854677 +v 2.544446 1.272669 1.619688 +v 2.059827 1.298224 0.880290 +v 1.881617 1.553178 1.441223 +v 1.295086 1.527712 1.619688 +v 2.646627 1.298224 1.594225 +v 1.320564 1.578733 1.619688 +v 1.371520 1.578733 0.880290 +v 2.263920 1.272669 1.390222 +v 2.059827 1.527712 1.619688 +f 1123 1126 1129 +f 1118 1117 1119 +f 1117 1118 1120 +f 1116 1119 1121 +f 1121 1120 1122 +f 1120 1118 1122 +f 1119 1117 1124 +f 1117 1120 1124 +f 1121 1119 1124 +f 1116 1121 1125 +f 1121 1122 1125 +f 1123 1116 1125 +f 1118 1119 1126 +f 1119 1116 1126 +f 1126 1123 1127 +f 1122 1118 1127 +f 1125 1122 1127 +f 1123 1125 1127 +f 1118 1126 1127 +f 1120 1121 1128 +f 1124 1120 1128 +f 1121 1124 1128 +f 1116 1123 1129 +f 1126 1116 1129 +o convex_88 +v 1.958155 -0.206589 2.333987 +v 3.003702 0.507508 1.670933 +v 3.003702 0.481951 1.670933 +v 2.774122 0.507508 2.333987 +v 2.723150 -0.232147 1.645448 +v 2.544439 -0.079017 2.155445 +v 2.366036 -0.206589 1.798432 +v 2.952627 0.507508 1.619890 +v 2.340550 0.252365 2.308429 +v 2.774122 0.430908 2.333987 +v 2.060202 -0.232147 2.333987 +v 2.621000 -0.232147 1.594332 +v 2.009127 -0.130060 2.308429 +v 2.238708 -0.206589 1.926004 +v 2.978114 0.354379 1.619890 +v 2.723150 0.507508 2.308429 +f 1138 1133 1145 +f 1132 1131 1133 +f 1133 1131 1137 +f 1130 1133 1138 +f 1132 1133 1139 +f 1133 1130 1139 +f 1135 1134 1139 +f 1135 1139 1140 +f 1134 1135 1140 +f 1139 1130 1140 +f 1136 1137 1141 +f 1134 1140 1141 +f 1130 1138 1142 +f 1138 1137 1142 +f 1137 1136 1143 +f 1140 1130 1143 +f 1136 1141 1143 +f 1141 1140 1143 +f 1130 1142 1143 +f 1142 1137 1143 +f 1131 1132 1144 +f 1137 1131 1144 +f 1132 1139 1144 +f 1139 1134 1144 +f 1134 1141 1144 +f 1141 1137 1144 +f 1133 1137 1145 +f 1137 1138 1145 +o convex_89 +v 0.325761 1.145212 -3.149560 +v 0.784737 1.502217 -1.568331 +v 0.784737 1.476669 -1.568331 +v 0.019577 1.502217 -2.384789 +v 0.019577 1.145212 -3.226171 +v 0.784737 1.145212 -2.410214 +v 0.759197 1.272706 -2.511916 +v 0.045117 1.272706 -3.200578 +v 0.147128 1.502217 -2.410214 +v 0.274755 1.476669 -2.078513 +v 0.784737 1.476669 -1.797996 +v 0.759197 1.145212 -2.410214 +v 0.657185 1.145212 -2.792433 +f 1152 1151 1158 +f 1147 1148 1151 +f 1150 1146 1151 +f 1146 1150 1153 +f 1150 1149 1153 +f 1152 1146 1153 +f 1149 1147 1154 +f 1153 1149 1154 +f 1152 1153 1154 +f 1148 1147 1155 +f 1147 1149 1155 +f 1149 1150 1155 +f 1147 1151 1156 +f 1151 1152 1156 +f 1154 1147 1156 +f 1152 1154 1156 +f 1151 1148 1157 +f 1150 1151 1157 +f 1148 1155 1157 +f 1155 1150 1157 +f 1151 1146 1158 +f 1146 1152 1158 +o convex_90 +v 2.850631 0.507656 1.058777 +v 2.697561 1.272669 1.594332 +v 2.748619 1.247056 1.594332 +v 2.952644 0.507656 1.594332 +v 1.932627 1.247056 0.880235 +v 2.595444 1.043053 1.033220 +v 2.493432 0.635195 0.854677 +v 2.442583 1.247056 1.492174 +v 2.060116 1.272669 0.854677 +v 2.774096 0.533194 0.854677 +v 2.264140 0.813661 0.880235 +v 3.003702 0.584120 1.568774 +v 2.774096 1.221518 1.543217 +v 2.264140 1.247056 1.313704 +v 2.569967 1.272669 1.594332 +v 2.697561 0.507656 0.880235 +f 1168 1159 1174 +f 1161 1160 1162 +f 1165 1163 1167 +f 1165 1167 1168 +f 1167 1164 1168 +f 1162 1163 1169 +f 1165 1162 1169 +f 1163 1165 1169 +f 1161 1162 1170 +f 1162 1159 1170 +f 1159 1168 1170 +f 1170 1168 1171 +f 1160 1161 1171 +f 1167 1160 1171 +f 1164 1167 1171 +f 1168 1164 1171 +f 1161 1170 1171 +f 1163 1162 1172 +f 1162 1166 1172 +f 1162 1160 1173 +f 1166 1162 1173 +f 1167 1163 1173 +f 1160 1167 1173 +f 1163 1172 1173 +f 1172 1166 1173 +f 1159 1162 1174 +f 1162 1165 1174 +f 1165 1168 1174 +o convex_91 +v -0.694655 0.328866 -3.098559 +v -0.745644 -0.742253 -1.389943 +v -0.694655 -0.742253 -1.389943 +v -0.949569 0.328971 -1.338783 +v -0.975132 0.303386 -2.384554 +v -0.771151 -0.257602 -2.461036 +v -0.822140 -0.742253 -1.338783 +v -0.694655 -0.538201 -1.415437 +v -0.975132 0.252425 -1.338783 +v -0.924061 0.303386 -1.338783 +v -0.694655 -0.206641 -2.588506 +v -0.694655 0.328866 -2.970917 +v -0.720136 0.303386 -3.098559 +v -0.975132 0.226840 -2.206268 +f 1181 1183 1188 +f 1178 1175 1179 +f 1176 1177 1181 +f 1180 1176 1181 +f 1179 1180 1181 +f 1177 1175 1182 +f 1178 1179 1183 +f 1181 1178 1183 +f 1181 1177 1184 +f 1178 1181 1184 +f 1177 1182 1184 +f 1175 1177 1185 +f 1177 1176 1185 +f 1176 1180 1185 +f 1175 1178 1186 +f 1182 1175 1186 +f 1178 1184 1186 +f 1184 1182 1186 +f 1179 1175 1187 +f 1180 1179 1187 +f 1175 1185 1187 +f 1185 1180 1187 +f 1179 1181 1188 +f 1183 1179 1188 +o convex_92 +v 2.723161 0.507509 2.282967 +v 2.697573 1.272669 1.696393 +v 2.723161 1.272594 1.670878 +v 2.952619 0.533124 1.594332 +v 2.060004 1.247054 2.282967 +v 2.646582 0.941019 2.231936 +v 2.595499 1.247054 1.594332 +v 3.003702 0.533124 1.670878 +v 2.289647 1.195973 2.308482 +v 2.799647 1.247054 1.645363 +v 2.774152 0.558664 2.308482 +v 2.289647 1.247054 1.900446 +v 2.391629 0.839158 2.282967 +v 2.060004 1.272669 2.308482 +v 2.671985 1.119502 2.027743 +f 1194 1199 1203 +f 1189 1192 1196 +f 1191 1190 1197 +f 1195 1191 1198 +f 1192 1195 1198 +f 1196 1192 1198 +f 1191 1197 1198 +f 1196 1198 1199 +f 1189 1196 1199 +f 1194 1197 1199 +f 1192 1193 1200 +f 1195 1192 1200 +f 1192 1189 1201 +f 1193 1192 1201 +f 1190 1191 1202 +f 1191 1195 1202 +f 1197 1190 1202 +f 1189 1199 1202 +f 1199 1197 1202 +f 1200 1193 1202 +f 1195 1200 1202 +f 1201 1189 1202 +f 1193 1201 1202 +f 1197 1194 1203 +f 1198 1197 1203 +f 1199 1198 1203 +o convex_93 +v 0.861265 1.502217 -1.058144 +v 0.988780 2.420320 -0.522611 +v 0.988780 2.420320 -0.599187 +v 0.759232 2.420320 -1.083669 +v 0.963232 1.502217 -0.522611 +v 0.886746 1.884880 -1.160183 +v 0.988780 1.502217 -0.650238 +v 0.937729 2.420320 -0.548199 +v 0.810282 2.369274 -1.160183 +v 0.886746 1.502217 -1.160183 +f 1207 1212 1213 +f 1205 1206 1207 +f 1207 1204 1208 +f 1206 1205 1210 +f 1208 1204 1210 +f 1205 1208 1210 +f 1209 1206 1210 +f 1205 1207 1211 +f 1207 1208 1211 +f 1208 1205 1211 +f 1207 1206 1212 +f 1206 1209 1212 +f 1212 1209 1213 +f 1204 1207 1213 +f 1210 1204 1213 +f 1209 1210 1213 +o convex_94 +v -0.618027 -0.104590 -2.894688 +v 0.019577 -0.130110 -3.175107 +v 0.019577 -0.155631 -3.175107 +v -0.694573 0.303451 -3.149622 +v -0.668988 -0.130110 -2.588544 +v 0.019577 0.328971 -3.353665 +v -0.082485 -0.155631 -3.226158 +v -0.668988 0.201417 -2.869203 +v -0.031454 0.277930 -3.404716 +v -0.694573 -0.155631 -2.690726 +v -0.694573 0.328971 -3.047601 +v -0.541481 -0.079070 -3.022035 +f 1220 1214 1225 +f 1216 1215 1218 +f 1218 1215 1219 +f 1215 1216 1219 +f 1218 1219 1221 +f 1219 1216 1222 +f 1217 1219 1222 +f 1220 1217 1222 +f 1216 1220 1222 +f 1217 1214 1223 +f 1216 1218 1223 +f 1214 1220 1223 +f 1220 1216 1223 +f 1219 1217 1224 +f 1218 1221 1224 +f 1221 1219 1224 +f 1217 1223 1224 +f 1223 1218 1224 +f 1214 1217 1225 +f 1217 1220 1225 +o convex_95 +v -0.209991 -0.155631 -3.149632 +v 0.019577 -0.716643 -1.619623 +v -0.056969 -0.691148 -1.593926 +v -0.694573 -0.742253 -1.389803 +v -0.668988 -0.512680 -1.491865 +v -0.694573 -0.155631 -2.562962 +v 0.019577 -0.155631 -3.175148 +v -0.031454 -0.257669 -3.149632 +v 0.019577 -0.742253 -1.721503 +v -0.694573 -0.283165 -2.460718 +v -0.362944 -0.155631 -2.766902 +v -0.694573 -0.589109 -1.389803 +v -0.694573 -0.181183 -2.665023 +f 1233 1235 1238 +f 1227 1228 1229 +f 1228 1227 1232 +f 1226 1231 1232 +f 1226 1232 1233 +f 1233 1232 1234 +f 1227 1229 1234 +f 1232 1227 1234 +f 1229 1233 1234 +f 1229 1231 1235 +f 1233 1229 1235 +f 1230 1228 1236 +f 1231 1230 1236 +f 1228 1232 1236 +f 1232 1231 1236 +f 1229 1228 1237 +f 1228 1230 1237 +f 1230 1231 1237 +f 1231 1229 1237 +f 1231 1226 1238 +f 1226 1233 1238 +f 1235 1231 1238 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/302/302.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/302/302.urdf new file mode 100644 index 000000000..3a9caf17c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/302/302.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/303/303.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/303/303.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/303/303.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/303/303.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/303/303.obj new file mode 100644 index 000000000..9640a1673 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/303/303.obj @@ -0,0 +1,759 @@ +o convex_0 +v 0.338733 0.008368 1.710896 +v -0.447658 -0.166120 1.215837 +v -0.447658 -0.166120 1.245013 +v 0.018257 -0.836155 1.245013 +v -0.272868 -0.224420 2.002266 +v 0.047361 0.561940 1.215837 +v -0.243764 0.212416 2.002266 +v 0.397024 -0.166120 1.215837 +v 0.280359 -0.049932 2.002266 +v -0.331076 0.445204 1.215837 +v -0.360263 -0.690406 1.215837 +v 0.222234 0.212416 2.002266 +v 0.309546 0.416054 1.215837 +v 0.338733 -0.515644 1.215837 +v 0.193047 -0.224420 2.002266 +v -0.331076 0.008368 1.973090 +v -0.039869 -0.311869 2.002266 +v -0.039869 0.561940 1.303287 +v -0.272868 -0.777855 1.245013 +v -0.447658 0.066531 1.245013 +v -0.010848 0.328879 1.885641 +v 0.397024 0.124830 1.245013 +v -0.389367 -0.632243 1.245013 +v 0.280359 0.095680 1.973090 +v 0.251255 0.474354 1.245013 +v 0.338733 -0.515644 1.245013 +v 0.018257 -0.836155 1.215837 +v -0.098077 0.270442 2.002266 +f 21 18 28 +f 2 6 8 +f 7 5 9 +f 8 1 9 +f 6 2 10 +f 2 8 11 +f 7 9 12 +f 8 6 13 +f 11 8 14 +f 9 5 15 +f 5 7 16 +f 7 10 16 +f 4 15 17 +f 15 5 17 +f 6 10 18 +f 10 7 18 +f 12 6 18 +f 5 11 19 +f 4 17 19 +f 17 5 19 +f 2 3 20 +f 10 2 20 +f 3 16 20 +f 16 10 20 +f 12 18 21 +f 1 8 22 +f 8 13 22 +f 3 2 23 +f 2 11 23 +f 11 5 23 +f 5 16 23 +f 16 3 23 +f 9 1 24 +f 12 9 24 +f 13 12 24 +f 1 22 24 +f 22 13 24 +f 6 12 25 +f 13 6 25 +f 12 13 25 +f 8 9 26 +f 4 14 26 +f 14 8 26 +f 15 4 26 +f 9 15 26 +f 14 4 27 +f 11 14 27 +f 4 19 27 +f 19 11 27 +f 7 12 28 +f 18 7 28 +f 12 21 28 +o convex_1 +v -0.302023 -0.049644 2.177096 +v 0.280516 0.037626 2.118919 +v 0.280516 0.008482 2.118919 +v 0.018328 0.037626 3.021710 +v -0.068973 0.270670 2.002266 +v 0.047466 -0.282742 2.002266 +v -0.010753 -0.224454 2.817741 +v -0.039778 0.241526 2.759564 +v -0.243689 -0.253598 2.002266 +v -0.214608 -0.049644 2.788503 +v -0.243689 0.212382 2.002266 +v 0.193101 0.037626 2.817741 +v 0.193101 0.212382 2.002266 +v 0.222182 -0.195310 2.002266 +v -0.214608 0.037626 2.788503 +v 0.163906 0.183238 2.555496 +v 0.163906 -0.137022 2.643011 +v -0.185413 -0.195310 2.613872 +v 0.018328 0.241526 2.759564 +v -0.185413 0.183238 2.584634 +v -0.302023 0.066770 2.002266 +v -0.039778 0.037626 3.021710 +v 0.047466 0.270670 2.060542 +f 47 41 51 +f 33 34 37 +f 34 35 37 +f 36 33 39 +f 33 37 39 +f 31 30 40 +f 32 35 40 +f 34 33 41 +f 34 41 42 +f 30 31 42 +f 35 34 42 +f 41 30 42 +f 29 38 43 +f 40 30 44 +f 30 41 44 +f 31 40 45 +f 40 35 45 +f 42 31 45 +f 35 42 45 +f 29 37 46 +f 37 35 46 +f 35 38 46 +f 38 29 46 +f 36 32 47 +f 32 40 47 +f 40 44 47 +f 44 41 47 +f 36 39 48 +f 43 36 48 +f 43 48 49 +f 37 29 49 +f 39 37 49 +f 29 43 49 +f 48 39 49 +f 35 32 50 +f 32 36 50 +f 38 35 50 +f 36 43 50 +f 43 38 50 +f 33 36 51 +f 41 33 51 +f 36 47 51 +o convex_2 +v -0.214608 -0.166132 -2.599650 +v 0.280516 0.066747 -1.988226 +v 0.280516 0.008528 -1.988226 +v -0.302023 0.066747 -1.988226 +v -0.010753 0.270602 -2.716158 +v 0.193101 -0.020554 -2.716158 +v 0.047466 -0.282742 -1.988226 +v 0.076548 0.299797 -1.988226 +v -0.243689 0.037552 -2.774412 +v -0.010753 -0.224408 -2.774412 +v -0.272828 -0.224408 -1.988226 +v -0.214608 0.241464 -2.075656 +v -0.010753 0.037552 -2.978350 +v 0.222182 -0.195327 -2.133910 +v 0.134881 0.212382 -2.541397 +v -0.068973 0.270602 -2.687080 +v -0.098055 0.299797 -1.988226 +v 0.163906 0.270602 -2.017402 +v 0.193101 0.066747 -2.687080 +v -0.039778 -0.253547 -2.628826 +v -0.068973 -0.020554 -2.978350 +v -0.272828 -0.020554 -2.599650 +v -0.214608 0.154162 -2.628826 +v -0.243689 -0.253547 -2.017402 +v 0.047466 -0.224408 -2.687080 +f 58 71 76 +f 54 53 55 +f 53 54 57 +f 54 55 58 +f 55 53 59 +f 58 55 62 +f 57 61 64 +f 57 54 65 +f 54 58 65 +f 56 64 67 +f 64 60 67 +f 55 59 68 +f 59 56 68 +f 63 55 68 +f 56 67 68 +f 67 63 68 +f 59 53 69 +f 56 59 69 +f 53 66 69 +f 66 56 69 +f 53 57 70 +f 64 56 70 +f 57 64 70 +f 66 53 70 +f 56 66 70 +f 52 61 71 +f 52 60 72 +f 61 52 72 +f 60 64 72 +f 64 61 72 +f 60 52 73 +f 55 60 73 +f 62 55 73 +f 52 62 73 +f 60 55 74 +f 55 63 74 +f 63 67 74 +f 67 60 74 +f 58 62 75 +f 62 52 75 +f 52 71 75 +f 71 58 75 +f 61 57 76 +f 57 65 76 +f 65 58 76 +f 71 61 76 +o convex_3 +v 0.309546 0.095854 -1.784146 +v -0.447658 -0.020594 -1.260032 +v -0.447658 -0.020594 -1.230976 +v 0.018257 -0.661393 -1.260032 +v 0.280359 0.503623 -1.230976 +v -0.301972 0.066642 -1.988129 +v -0.243764 0.678362 -1.260032 +v -0.272868 -0.253490 -1.988129 +v 0.163860 0.270459 -1.988129 +v 0.193047 -0.224411 -1.988129 +v 0.338733 -0.370072 -1.230976 +v -0.331076 -0.603102 -1.230976 +v 0.047361 0.707575 -1.230976 +v -0.039869 0.328884 -1.988129 +v 0.397024 0.095854 -1.230976 +v -0.331076 0.532702 -1.230976 +v 0.280359 0.008619 -1.988129 +v -0.243764 0.241515 -1.958925 +v 0.018257 -0.311781 -1.958925 +v -0.272868 -0.661393 -1.260032 +v 0.280359 -0.282702 -1.696757 +v 0.280359 0.445332 -1.405681 +v -0.360263 -0.544811 -1.260032 +v 0.047361 0.707575 -1.260032 +v 0.397024 0.037563 -1.289162 +v 0.309546 -0.428363 -1.260032 +v -0.301972 -0.107963 -1.988129 +v 0.193047 0.270459 -1.958925 +f 100 98 104 +f 84 82 85 +f 84 85 86 +f 81 79 87 +f 87 79 88 +f 80 87 88 +f 79 81 89 +f 85 82 90 +f 81 87 91 +f 78 79 92 +f 82 78 92 +f 79 89 92 +f 89 83 92 +f 86 85 93 +f 90 82 94 +f 83 90 94 +f 82 92 94 +f 92 83 94 +f 86 80 95 +f 84 86 95 +f 88 84 96 +f 80 88 96 +f 95 80 96 +f 84 95 96 +f 80 86 97 +f 86 93 97 +f 91 77 98 +f 81 91 98 +f 79 78 99 +f 88 79 99 +f 84 88 99 +f 89 81 100 +f 83 89 100 +f 85 90 100 +f 90 83 100 +f 81 98 100 +f 77 91 101 +f 91 87 101 +f 93 77 101 +f 87 97 101 +f 97 93 101 +f 87 80 102 +f 80 97 102 +f 97 87 102 +f 78 82 103 +f 82 84 103 +f 99 78 103 +f 84 99 103 +f 77 93 104 +f 93 85 104 +f 98 77 104 +f 85 100 104 +o convex_4 +v 1.300131 -0.690514 -0.357008 +v 1.329212 0.794956 -0.007495 +v 1.329212 0.794956 -0.065675 +v 3.047519 -0.078665 0.021540 +v 1.300131 -0.661245 0.429341 +v 2.202820 0.037586 -0.502620 +v 2.465056 -0.020788 0.458485 +v 2.843614 -0.428246 -0.007495 +v 1.300131 0.649270 -0.473476 +v 1.300131 0.503583 0.429341 +v 2.785282 0.357897 0.021540 +v 2.814534 0.037421 -0.386043 +v 1.329212 -0.894409 0.050684 +v 2.814534 -0.078665 0.400197 +v 1.300131 -0.107935 -0.560908 +v 1.300131 0.037586 0.545917 +v 2.639709 -0.340933 0.312873 +v 2.581549 0.241481 0.312873 +v 2.610629 0.299689 -0.327755 +v 2.639709 -0.282725 -0.298719 +v 1.329212 -0.632140 -0.415187 +v 2.057247 -0.078665 0.516773 +v 1.358292 0.561792 0.400197 +v 2.785282 -0.049726 -0.386043 +v 2.814534 -0.428246 0.079720 +v 2.028167 0.416271 -0.444331 +v 1.329212 0.154003 -0.560908 +v 1.329212 -0.894409 -0.007495 +v 3.047519 0.008482 0.021540 +v 2.785282 0.357897 -0.036531 +v 2.202820 -0.020622 -0.502620 +v 2.698041 -0.107769 0.429341 +v 1.329212 -0.107935 0.545917 +v 1.329212 0.649270 -0.473476 +v 2.756202 0.008482 0.400197 +v 1.329212 -0.690514 -0.357008 +v 1.387543 0.503583 0.429341 +v 1.329212 -0.661245 0.429341 +v 2.756202 0.357897 0.050684 +v 2.028167 -0.020622 0.516773 +v 1.970006 0.357897 0.400197 +v 1.300131 0.794956 -0.007495 +v 1.940754 -0.020622 -0.531764 +v 2.698041 -0.340933 -0.211287 +v 3.047519 -0.049726 -0.036531 +v 1.300131 -0.894409 0.050684 +f 132 117 150 +f 105 109 113 +f 113 109 114 +f 107 106 115 +f 105 113 119 +f 114 109 120 +f 105 119 125 +f 124 125 128 +f 112 108 129 +f 117 112 129 +f 108 118 129 +f 121 117 129 +f 118 121 129 +f 116 110 130 +f 123 116 130 +f 119 113 131 +f 112 117 132 +f 118 108 133 +f 107 115 134 +f 116 123 134 +f 133 116 134 +f 115 133 134 +f 110 116 135 +f 116 128 135 +f 128 125 135 +f 121 118 136 +f 111 126 136 +f 120 109 137 +f 126 120 137 +f 113 107 138 +f 130 110 138 +f 123 130 138 +f 110 131 138 +f 131 113 138 +f 107 134 138 +f 134 123 138 +f 133 115 139 +f 118 133 139 +f 111 136 139 +f 136 118 139 +f 105 125 140 +f 125 124 140 +f 132 105 140 +f 112 132 140 +f 114 120 141 +f 127 114 141 +f 109 117 142 +f 117 121 142 +f 121 136 142 +f 136 126 142 +f 137 109 142 +f 126 137 142 +f 115 106 143 +f 106 127 143 +f 127 122 143 +f 139 115 143 +f 122 139 143 +f 126 111 144 +f 120 126 144 +f 141 120 144 +f 141 144 145 +f 122 127 145 +f 139 122 145 +f 111 139 145 +f 127 141 145 +f 144 111 145 +f 106 107 146 +f 107 113 146 +f 113 114 146 +f 127 106 146 +f 114 127 146 +f 125 119 147 +f 131 110 147 +f 119 131 147 +f 110 135 147 +f 135 125 147 +f 128 112 148 +f 124 128 148 +f 112 140 148 +f 140 124 148 +f 108 112 149 +f 112 128 149 +f 128 116 149 +f 133 108 149 +f 116 133 149 +f 109 105 150 +f 117 109 150 +f 105 132 150 +o convex_5 +v -1.263225 -0.777827 -0.298731 +v -1.263225 0.794956 0.079777 +v -1.263225 0.794956 -0.036534 +v -3.010661 0.037421 0.050553 +v -1.263225 -0.020622 0.604171 +v -1.438054 0.037421 -0.590035 +v -2.777669 0.037421 -0.356828 +v -1.292477 -0.632140 0.429295 +v -2.748417 0.037421 0.371081 +v -2.777669 -0.340933 0.050553 +v -1.263225 0.591061 -0.444383 +v -2.748417 0.387001 -0.007427 +v -1.321558 0.591061 0.487626 +v -1.292477 -0.661245 -0.473490 +v -1.263225 -0.894409 -0.007427 +v -2.573759 -0.282560 -0.269507 +v -2.020704 0.008317 0.516733 +v -2.573759 0.299689 0.283760 +v -2.573759 -0.224351 0.312750 +v -1.350639 0.591061 -0.444383 +v -2.078866 0.008317 -0.502480 +v -1.263225 -0.107935 -0.590035 +v -2.486344 0.299689 -0.298731 +v -2.777669 -0.340933 -0.007427 +v -2.777669 -0.020622 -0.356828 +v -2.719336 0.357897 0.108884 +v -2.748417 -0.020622 0.371081 +v -3.010661 0.008317 -0.036534 +v -1.263225 0.591061 0.487626 +v -1.292477 -0.836035 0.109001 +v -2.602840 -0.282560 0.254536 +v -1.321558 0.620165 0.458519 +v -1.292477 -0.777827 -0.298731 +v -1.292477 -0.894409 -0.036534 +v -1.292477 0.066690 0.604171 +v -2.049785 -0.049726 -0.502480 +v -2.719336 0.357897 -0.094748 +v -1.991622 0.066690 0.516733 +v -1.292477 0.794956 0.079777 +v -1.292477 0.794956 -0.036534 +v -1.671216 -0.282560 0.487509 +v -1.263225 -0.632140 0.429295 +v -2.020704 0.066690 -0.502480 +v -1.263225 0.095794 -0.590035 +v -3.010661 -0.020622 0.050553 +v -1.292477 -0.719618 -0.415159 +f 183 174 196 +f 153 152 151 +f 151 152 155 +f 153 151 161 +f 151 155 165 +f 159 163 168 +f 153 161 170 +f 161 151 172 +f 151 164 172 +f 170 157 173 +f 166 174 175 +f 164 166 175 +f 157 171 175 +f 154 159 176 +f 162 154 176 +f 159 168 176 +f 159 154 177 +f 167 159 177 +f 169 158 177 +f 154 162 178 +f 175 174 178 +f 157 175 178 +f 155 152 179 +f 160 165 180 +f 158 169 181 +f 177 160 181 +f 169 177 181 +f 180 158 181 +f 160 180 181 +f 168 163 182 +f 176 168 182 +f 179 152 182 +f 163 179 182 +f 174 183 184 +f 151 165 184 +f 165 160 184 +f 160 174 184 +f 183 151 184 +f 167 155 185 +f 155 179 185 +f 179 163 185 +f 171 156 186 +f 156 172 186 +f 172 164 186 +f 164 175 186 +f 175 171 186 +f 173 157 187 +f 170 173 187 +f 157 178 187 +f 178 162 187 +f 163 159 188 +f 159 167 188 +f 167 185 188 +f 185 163 188 +f 152 153 189 +f 162 176 189 +f 182 152 189 +f 176 182 189 +f 153 170 190 +f 187 162 190 +f 170 187 190 +f 189 153 190 +f 162 189 190 +f 158 155 191 +f 155 167 191 +f 177 158 191 +f 167 177 191 +f 155 158 192 +f 165 155 192 +f 158 180 192 +f 180 165 192 +f 170 156 193 +f 157 170 193 +f 156 171 193 +f 171 157 193 +f 156 170 194 +f 170 161 194 +f 161 172 194 +f 172 156 194 +f 174 160 195 +f 177 154 195 +f 160 177 195 +f 154 178 195 +f 178 174 195 +f 164 151 196 +f 166 164 196 +f 174 166 196 +f 151 183 196 +o convex_6 +v 1.299960 0.649067 0.283729 +v -1.263182 -0.981627 -0.065453 +v -1.233827 -1.068714 -0.123650 +v -0.622396 2.338209 -0.881168 +v 0.892005 -2.146492 -0.822731 +v -0.389315 -0.777644 1.215837 +v -0.767915 2.221898 0.865937 +v 0.892005 2.251122 -0.822731 +v 0.804694 -2.233579 0.865937 +v 0.833798 2.163450 0.865937 +v -0.826123 -2.175716 -0.793753 +v -0.826123 -2.204355 0.807741 +v 0.047493 -0.748420 -1.230828 +v 0.076597 -2.962424 -0.007495 +v 0.076597 3.008606 0.050702 +v -1.263182 0.066342 -0.618922 +v -1.263182 0.066342 0.603932 +v 1.299960 -0.748420 -0.415113 +v -0.331107 0.735570 -1.230828 +v 0.338531 0.503532 1.215837 +v -0.709708 2.716951 -0.036235 +v 0.979568 0.124790 -0.968583 +v 1.299960 -0.107832 0.545735 +v -1.263182 0.794602 -0.065453 +v -0.767915 -2.670769 -0.007495 +v 0.950213 -0.078608 0.982571 +v 0.804694 -2.670769 0.050702 +v -0.039818 -2.641545 0.778762 +v 0.804694 2.687727 0.050702 +v 0.076597 -2.612321 -0.735556 +v 1.299960 0.736154 -0.473310 +v 0.396990 0.153430 -1.230828 +v 0.105701 2.658503 -0.822731 +v 0.047493 2.658503 0.778762 +v -0.476626 -0.020160 -1.230828 +v -0.767915 2.221898 -0.880928 +v 1.299960 -0.981627 0.050462 +v -0.476626 0.066342 1.215837 +v 0.367886 -0.602301 1.215837 +v -0.884331 -0.078608 0.982571 +v -0.913435 -0.049384 -0.968343 +v 0.047493 0.853050 -1.230828 +v -0.039818 0.678291 1.215837 +v 1.299960 -0.078608 -0.589704 +v -1.263182 -0.689972 0.458319 +v -0.010715 -0.952403 1.215837 +v -1.263182 0.619843 0.487538 +v -0.272649 -0.748420 -1.230828 +v -1.263182 -0.748420 -0.473310 +v 1.299960 -0.748420 0.429341 +v 0.892005 2.192674 -0.851950 +v 0.338531 -0.457350 -1.230828 +v 0.862901 -2.146492 0.836959 +v 0.076597 2.746175 -0.706098 +v -1.263182 0.619843 -0.444092 +v -0.039818 -2.612321 -0.735556 +v 0.833798 -2.583097 -0.152868 +v 0.833798 2.629279 0.050702 +v 0.047493 2.483744 0.836959 +v 0.134804 -2.583682 0.807980 +v -0.826123 -2.117268 0.836959 +v -0.855227 1.144120 0.924374 +v -0.738812 2.571416 0.254510 +v 0.979568 -0.456766 -0.939365 +f 248 218 260 +f 212 198 213 +f 197 206 219 +f 214 197 219 +f 212 213 220 +f 198 199 221 +f 199 207 221 +f 208 198 221 +f 206 216 222 +f 219 206 222 +f 208 221 224 +f 221 210 224 +f 209 201 226 +f 197 214 227 +f 209 215 228 +f 206 225 230 +f 225 211 230 +f 215 209 231 +f 215 231 232 +f 200 215 232 +f 217 200 232 +f 220 217 232 +f 201 214 233 +f 214 219 233 +f 202 216 234 +f 216 202 235 +f 205 222 235 +f 222 216 235 +f 202 234 236 +f 207 212 237 +f 231 207 237 +f 232 231 237 +f 212 232 237 +f 215 200 238 +f 228 215 238 +f 200 229 238 +f 216 206 239 +f 203 234 239 +f 234 216 239 +f 214 201 240 +f 227 214 240 +f 198 208 241 +f 213 198 241 +f 235 202 242 +f 205 235 242 +f 213 203 243 +f 220 213 243 +f 209 226 244 +f 207 231 244 +f 231 209 244 +f 199 198 245 +f 207 199 245 +f 198 212 245 +f 212 207 245 +f 233 219 246 +f 204 227 247 +f 218 228 247 +f 229 204 247 +f 228 238 247 +f 238 229 247 +f 240 218 247 +f 227 240 247 +f 201 209 248 +f 209 228 248 +f 228 218 248 +f 222 205 249 +f 219 222 249 +f 205 223 249 +f 223 233 249 +f 246 219 249 +f 233 246 249 +f 200 217 250 +f 217 211 250 +f 225 204 250 +f 211 225 250 +f 229 200 250 +f 204 229 250 +f 212 220 251 +f 232 212 251 +f 220 232 251 +f 221 207 252 +f 210 221 252 +f 226 210 252 +f 244 226 252 +f 207 244 252 +f 223 210 253 +f 226 201 253 +f 210 226 253 +f 201 233 253 +f 233 223 253 +f 206 197 254 +f 204 225 254 +f 225 206 254 +f 197 227 254 +f 227 204 254 +f 230 203 255 +f 206 230 255 +f 239 206 255 +f 203 239 255 +f 210 223 256 +f 223 205 256 +f 224 210 256 +f 205 242 256 +f 242 224 256 +f 208 224 257 +f 202 236 257 +f 236 213 257 +f 241 208 257 +f 213 241 257 +f 242 202 257 +f 224 242 257 +f 203 213 258 +f 234 203 258 +f 213 236 258 +f 236 234 258 +f 211 217 259 +f 217 220 259 +f 203 230 259 +f 230 211 259 +f 243 203 259 +f 220 243 259 +f 240 201 260 +f 218 240 260 +f 201 248 260 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/303/303.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/303/303.urdf new file mode 100644 index 000000000..b5ed35678 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/303/303.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/304/304.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/304/304.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/304/304.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/304/304.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/304/304.obj new file mode 100644 index 000000000..0618b8b43 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/304/304.obj @@ -0,0 +1,1668 @@ +o convex_0 +v -0.443242 -1.878034 -0.501195 +v -0.345163 -1.910716 0.076513 +v -0.465044 -1.867126 0.076513 +v -0.475939 -1.932526 0.076513 +v -0.345163 -1.878034 -0.501195 +v -0.345163 -1.867126 -0.403025 +v -0.345163 -1.921618 -0.043428 +v -0.454149 -1.899826 -0.370283 +v -0.454149 -1.867126 -0.370283 +f 1 8 9 +f 2 3 4 +f 2 5 6 +f 3 2 6 +f 5 1 6 +f 2 4 7 +f 5 2 7 +f 5 7 8 +f 1 5 8 +f 7 4 8 +f 8 4 9 +f 4 3 9 +f 6 1 9 +f 3 6 9 +o convex_1 +v -0.345163 -1.866767 -0.490294 +v -0.475939 -0.134290 -0.490294 +v -0.475939 -0.134290 -0.479395 +v -0.345163 -0.036079 -0.501193 +v -0.443242 -1.866767 -0.501193 +v -0.443242 -1.866767 -0.479395 +v -0.345163 -0.036079 -0.490294 +v -0.465044 -0.036079 -0.501193 +v -0.345163 -1.866767 -0.501193 +v -0.454149 -0.036079 -0.479395 +v -0.432347 -1.419983 -0.479395 +f 16 19 20 +f 12 11 14 +f 14 10 15 +f 12 14 15 +f 10 13 16 +f 11 12 17 +f 13 14 17 +f 14 11 17 +f 16 13 17 +f 13 10 18 +f 10 14 18 +f 14 13 18 +f 12 15 19 +f 17 12 19 +f 16 17 19 +f 15 10 20 +f 10 16 20 +f 19 15 20 +o convex_2 +v -0.465064 -1.921619 0.076502 +v 0.494149 -1.856235 0.076502 +v 0.406922 -1.899809 0.490719 +v -0.301502 -1.888911 -0.392031 +v 0.374060 -1.801748 -0.468379 +v -0.366852 -1.943398 0.490719 +v -0.366852 -1.965209 0.457863 +v 0.494149 -1.867116 0.043741 +v -0.301408 -1.856235 -0.468379 +v 0.494149 -1.812646 -0.479395 +v 0.406922 -1.910706 0.425196 +v 0.483164 -1.845322 0.065487 +v -0.345069 -1.878030 -0.479395 +v -0.465064 -1.965209 0.392530 +v -0.465064 -1.943398 0.414276 +v 0.286927 -1.899809 0.490719 +v 0.483164 -1.801748 -0.381206 +v 0.417814 -1.823543 -0.468379 +v 0.308710 -1.921603 0.490719 +v -0.465064 -1.943398 0.131104 +v -0.465064 -1.965209 0.490719 +f 27 39 41 +f 22 23 28 +f 22 28 30 +f 27 24 31 +f 28 23 31 +f 24 28 31 +f 23 22 32 +f 21 29 33 +f 29 25 33 +f 25 30 33 +f 29 21 35 +f 25 29 35 +f 21 34 35 +f 26 23 36 +f 23 32 36 +f 36 32 37 +f 22 30 37 +f 30 25 37 +f 32 22 37 +f 25 35 37 +f 35 26 37 +f 26 36 37 +f 28 24 38 +f 30 28 38 +f 24 33 38 +f 33 30 38 +f 23 26 39 +f 31 23 39 +f 27 31 39 +f 24 27 40 +f 33 24 40 +f 21 33 40 +f 34 21 40 +f 27 34 40 +f 34 27 41 +f 26 35 41 +f 35 34 41 +f 39 26 41 +o convex_3 +v 0.276148 -1.376689 0.490719 +v -0.039958 -1.867126 0.523412 +v 0.058207 -1.867126 0.512517 +v 0.406948 -1.289495 0.523416 +v -0.039958 -1.093215 0.501622 +v 0.406948 -1.867126 0.490719 +v 0.069100 -1.867126 0.534315 +v -0.039958 -1.256769 0.523412 +v 0.406948 -1.093215 0.523416 +v 0.036422 -1.093215 0.490727 +v 0.374226 -1.867126 0.512517 +v 0.406948 -1.256769 0.501626 +v -0.039958 -1.616377 0.534315 +v 0.308826 -1.093215 0.501626 +v -0.039958 -1.093215 0.512517 +v 0.330612 -1.801674 0.490719 +v -0.039958 -1.289495 0.501622 +f 57 44 58 +f 43 44 47 +f 43 47 48 +f 46 43 49 +f 45 47 50 +f 48 45 50 +f 46 50 51 +f 47 45 52 +f 45 48 52 +f 48 47 52 +f 47 42 53 +f 50 47 53 +f 43 48 54 +f 49 43 54 +f 48 50 54 +f 50 49 54 +f 42 51 55 +f 51 50 55 +f 53 42 55 +f 50 53 55 +f 46 49 56 +f 49 50 56 +f 50 46 56 +f 47 44 57 +f 42 47 57 +f 51 42 57 +f 51 57 58 +f 44 43 58 +f 43 46 58 +f 46 51 58 +o convex_4 +v -0.530459 1.348304 -0.468488 +v -0.563166 1.947868 -0.435800 +v -0.563166 1.947868 -0.424900 +v -0.465064 2.100529 -0.435800 +v -0.465064 -0.035900 -0.424900 +v -0.475983 -0.035900 -0.490288 +v -0.465064 0.552789 -0.490288 +v -0.465064 2.100529 -0.446701 +v -0.475983 -0.035900 -0.424900 +v -0.563166 2.089237 -0.446701 +v -0.552257 2.089237 -0.424900 +f 62 68 69 +f 60 59 64 +f 61 60 64 +f 62 63 65 +f 63 64 65 +f 64 59 65 +f 65 59 66 +f 62 65 66 +f 63 61 67 +f 61 64 67 +f 64 63 67 +f 59 60 68 +f 60 61 68 +f 66 59 68 +f 62 66 68 +f 63 62 69 +f 61 63 69 +f 68 61 69 +o convex_5 +v 0.265158 0.628915 -0.468495 +v -0.465064 -0.035900 -0.501195 +v -0.465064 -0.035900 -0.479397 +v -0.465064 0.748911 -0.468495 +v 0.297946 0.193029 -0.501195 +v 0.276063 0.672550 -0.490293 +v 0.297946 -0.035900 -0.490293 +v -0.465064 0.552708 -0.490293 +v 0.297946 0.748911 -0.468495 +v -0.465064 0.171211 -0.501195 +v -0.465064 0.748911 -0.479397 +v 0.297946 0.182120 -0.479397 +v 0.297946 -0.035900 -0.501195 +v -0.465064 0.541799 -0.468495 +v 0.297946 0.748911 -0.479397 +v 0.134305 0.563540 -0.468495 +f 83 72 85 +f 71 72 73 +f 72 71 76 +f 71 73 77 +f 73 70 78 +f 76 74 78 +f 74 71 79 +f 75 74 79 +f 71 77 79 +f 77 75 79 +f 77 73 80 +f 75 77 80 +f 73 78 80 +f 72 76 81 +f 78 70 81 +f 76 78 81 +f 71 74 82 +f 76 71 82 +f 74 76 82 +f 73 72 83 +f 70 73 83 +f 74 75 84 +f 78 74 84 +f 75 80 84 +f 80 78 84 +f 81 70 85 +f 72 81 85 +f 70 83 85 +o convex_6 +v 0.199799 2.143987 -0.435794 +v -0.465064 0.749050 -0.479395 +v -0.465064 0.749050 -0.468486 +v 0.297938 0.749050 -0.479390 +v 0.199799 2.176831 -0.457594 +v -0.465064 2.100382 -0.435794 +v -0.018212 0.956174 -0.457594 +v -0.465064 1.740642 -0.435794 +v -0.465064 2.100382 -0.446703 +v 0.297938 1.196000 -0.479390 +v -0.465064 0.956174 -0.479395 +v 0.297938 0.749050 -0.468490 +v 0.297938 2.176831 -0.446699 +v -0.465064 0.934371 -0.457594 +v 0.297938 1.697037 -0.446699 +v 0.297938 2.176831 -0.457594 +v -0.388659 1.740642 -0.435794 +v -0.465064 1.751543 -0.457594 +f 96 94 103 +f 88 87 89 +f 87 88 91 +f 86 91 93 +f 91 88 93 +f 87 91 94 +f 91 90 94 +f 89 87 95 +f 90 95 96 +f 87 94 96 +f 95 87 96 +f 88 89 97 +f 89 95 97 +f 97 95 98 +f 90 91 98 +f 91 86 98 +f 93 88 99 +f 88 97 99 +f 97 92 99 +f 86 92 100 +f 92 97 100 +f 97 98 100 +f 98 86 100 +f 95 90 101 +f 98 95 101 +f 90 98 101 +f 92 86 102 +f 86 93 102 +f 99 92 102 +f 93 99 102 +f 94 90 103 +f 90 96 103 +o convex_7 +v 0.396048 2.187731 -0.446694 +v 0.297946 -0.035900 -0.501195 +v 0.396048 -0.035900 -0.501195 +v 0.297946 0.182197 -0.479392 +v 0.297946 2.187731 -0.457604 +v 0.396048 0.203963 -0.479392 +v 0.297946 1.697122 -0.446694 +v 0.396048 1.784186 -0.468498 +v 0.297946 0.193080 -0.501195 +v 0.396048 1.762202 -0.446694 +v 0.396048 0.225947 -0.501195 +v 0.297946 2.187731 -0.446694 +v 0.396048 -0.035900 -0.490285 +f 109 107 116 +f 105 107 108 +f 106 104 109 +f 107 109 110 +f 108 107 110 +f 104 106 111 +f 108 104 111 +f 108 111 112 +f 106 105 112 +f 105 108 112 +f 109 104 113 +f 110 109 113 +f 104 110 113 +f 111 106 114 +f 112 111 114 +f 106 112 114 +f 104 108 115 +f 110 104 115 +f 108 110 115 +f 105 106 116 +f 107 105 116 +f 106 109 116 +o convex_8 +v 0.494133 2.045784 -0.435800 +v 0.396059 -0.035900 -0.501189 +v 0.396059 -0.035900 -0.490287 +v 0.396059 2.187551 -0.457603 +v 0.396059 -0.024910 -0.435800 +v 0.505035 1.827966 -0.468498 +v 0.417864 -0.035900 -0.435800 +v 0.417864 -0.035900 -0.501189 +v 0.396059 2.187551 -0.446702 +v 0.515926 2.209531 -0.435800 +v 0.396059 0.236646 -0.501189 +v 0.515926 2.209531 -0.457603 +v 0.515926 2.023804 -0.435800 +f 122 128 129 +f 118 119 120 +f 120 119 121 +f 119 118 123 +f 117 121 123 +f 121 119 123 +f 123 118 124 +f 121 117 125 +f 120 121 125 +f 117 123 126 +f 125 117 126 +f 120 125 126 +f 118 120 127 +f 120 122 127 +f 124 118 127 +f 122 124 127 +f 122 120 128 +f 120 126 128 +f 128 126 129 +f 124 122 129 +f 123 124 129 +f 126 123 129 +o convex_9 +v 0.461454 0.901715 0.000200 +v 0.515949 2.209402 0.032912 +v 0.515949 2.209402 -0.435794 +v 0.461454 1.392130 -0.424875 +v 0.505041 2.209402 0.032912 +v 0.472357 0.890613 0.021993 +v 0.472357 1.163252 -0.435794 +v 0.515949 1.969552 -0.348577 +v 0.461454 1.130592 0.032912 +v 0.515949 1.947736 0.032912 +v 0.505041 2.209402 -0.435794 +v 0.461454 1.163252 -0.435794 +v 0.483255 1.108776 0.032912 +v 0.515949 2.024028 -0.435794 +v 0.494143 2.035001 -0.435794 +f 141 133 144 +f 131 132 134 +f 135 130 136 +f 135 136 137 +f 132 131 137 +f 133 130 138 +f 134 133 138 +f 131 134 138 +f 130 135 138 +f 137 131 139 +f 131 138 139 +f 134 132 140 +f 132 136 140 +f 140 136 141 +f 130 133 141 +f 136 130 141 +f 135 137 142 +f 138 135 142 +f 139 138 142 +f 137 139 142 +f 136 132 143 +f 137 136 143 +f 132 137 143 +f 133 134 144 +f 134 140 144 +f 140 141 144 +o convex_10 +v 0.330647 1.152449 0.588816 +v -0.465064 1.457175 0.567020 +v -0.443178 1.424686 0.567020 +v 0.330647 2.209228 0.588816 +v -0.465064 2.045822 0.599717 +v 0.330647 0.585568 0.567020 +v 0.188889 0.629101 0.577924 +v -0.454082 1.751658 0.567020 +v 0.330647 1.174215 0.567020 +v 0.330647 1.729892 0.599717 +v -0.465064 2.220431 0.588816 +v 0.330647 2.209228 0.599717 +v -0.465064 1.457175 0.577924 +v -0.465064 2.220431 0.599717 +v -0.465064 2.067748 0.577924 +v 0.156176 0.661750 0.567020 +v 0.319742 1.751658 0.577924 +v 0.330647 0.585568 0.577924 +v -0.192454 1.370270 0.588816 +f 157 151 163 +f 147 146 150 +f 148 145 150 +f 150 146 152 +f 150 152 153 +f 148 150 153 +f 145 148 154 +f 151 145 154 +f 149 151 154 +f 146 149 155 +f 154 148 156 +f 149 154 156 +f 148 155 156 +f 146 147 157 +f 149 146 157 +f 155 149 158 +f 149 156 158 +f 156 155 158 +f 148 152 159 +f 152 146 159 +f 155 148 159 +f 146 155 159 +f 147 150 160 +f 150 151 160 +f 157 147 160 +f 151 157 160 +f 152 148 161 +f 153 152 161 +f 148 153 161 +f 150 145 162 +f 145 151 162 +f 151 150 162 +f 151 149 163 +f 149 157 163 +o convex_11 +v 0.472357 0.879939 0.043905 +v 0.515943 2.209531 0.534270 +v 0.515943 2.209531 0.032912 +v 0.450555 0.901583 0.054800 +v 0.472357 0.749188 0.534270 +v 0.450555 0.759937 0.534270 +v 0.505042 2.209531 0.534270 +v 0.515943 1.936839 0.109274 +v 0.505042 2.209531 0.032912 +v 0.515943 1.915195 0.534270 +v 0.450555 0.705310 0.032912 +v 0.494141 1.370401 0.032912 +v 0.472357 0.770833 0.229166 +v 0.461456 0.705310 0.032912 +v 0.450555 0.705310 0.534270 +f 174 177 178 +f 168 165 169 +f 165 166 170 +f 169 165 170 +f 167 169 170 +f 166 165 171 +f 170 166 172 +f 167 170 172 +f 165 168 173 +f 171 165 173 +f 168 171 173 +f 169 167 174 +f 172 166 174 +f 167 172 174 +f 166 171 175 +f 174 166 175 +f 171 168 176 +f 164 175 176 +f 175 171 176 +f 175 164 177 +f 174 175 177 +f 176 168 177 +f 164 176 177 +f 168 169 178 +f 169 174 178 +f 177 168 178 +o convex_12 +v 0.417839 1.697188 0.599715 +v 0.330655 -0.035900 0.545220 +v 0.417839 -0.035900 0.545220 +v 0.330655 2.209531 0.588812 +v 0.330655 0.574692 0.577914 +v 0.417839 2.209531 0.588812 +v 0.417839 0.062348 0.567026 +v 0.330655 2.209531 0.599715 +v 0.341563 0.204117 0.545220 +v 0.330655 1.729717 0.599715 +v 0.330655 -0.035900 0.556128 +v 0.417839 2.209531 0.599715 +f 184 186 190 +f 182 180 183 +f 179 181 184 +f 181 179 185 +f 179 183 185 +f 182 183 186 +f 184 182 186 +f 181 180 187 +f 180 182 187 +f 184 181 187 +f 182 184 187 +f 183 179 188 +f 179 186 188 +f 186 183 188 +f 180 181 189 +f 183 180 189 +f 181 185 189 +f 185 183 189 +f 179 184 190 +f 186 179 190 +o convex_13 +v 0.472334 1.664438 0.599714 +v 0.417848 -0.035900 0.545227 +v 0.428766 -0.003151 0.534326 +v 0.417848 2.209531 0.588813 +v 0.515949 2.209531 0.534326 +v 0.515949 1.915005 0.599714 +v 0.450555 0.029599 0.567023 +v 0.417848 1.686198 0.599714 +v 0.450555 -0.035900 0.534326 +v 0.515949 2.209531 0.599714 +v 0.505041 2.209531 0.534326 +v 0.515949 1.915005 0.534326 +v 0.417848 0.051359 0.567023 +v 0.428766 0.182137 0.534326 +v 0.417848 2.209531 0.599714 +f 198 200 205 +f 196 191 197 +f 194 192 198 +f 191 196 198 +f 197 191 198 +f 192 193 199 +f 193 195 199 +f 197 192 199 +f 196 197 199 +f 195 194 200 +f 196 195 200 +f 198 196 200 +f 194 195 201 +f 195 193 201 +f 195 196 202 +f 199 195 202 +f 196 199 202 +f 192 197 203 +f 198 192 203 +f 197 198 203 +f 193 192 204 +f 192 194 204 +f 201 193 204 +f 194 201 204 +f 194 198 205 +f 200 194 205 +o convex_14 +v -0.454167 -1.867126 -0.381229 +v -0.475955 -0.766318 0.076513 +v -0.454167 -0.766318 -0.294001 +v -0.432364 -1.867126 -0.359409 +v -0.465061 -0.766318 -0.479395 +v -0.486865 -1.485426 0.076513 +v -0.465061 -1.867126 0.076513 +v -0.486865 -0.809962 -0.119709 +v -0.432364 -1.463658 -0.479395 +v -0.443274 -1.867126 -0.479395 +v -0.454167 -1.856026 0.011051 +v -0.443274 -0.799078 -0.468403 +v -0.475955 -1.867126 -0.010769 +v -0.486865 -0.766318 0.076513 +v -0.454167 -1.507410 -0.479395 +v -0.432364 -1.867126 -0.479395 +f 209 215 221 +f 207 208 210 +f 206 209 212 +f 207 211 212 +f 210 214 215 +f 209 206 215 +f 207 212 216 +f 212 209 216 +f 208 207 217 +f 210 208 217 +f 209 214 217 +f 214 210 217 +f 207 216 217 +f 216 209 217 +f 206 212 218 +f 212 211 218 +f 213 206 218 +f 211 213 218 +f 207 210 219 +f 211 207 219 +f 210 213 219 +f 213 211 219 +f 206 213 220 +f 213 210 220 +f 210 215 220 +f 215 206 220 +f 214 209 221 +f 215 214 221 +o convex_15 +v -0.475964 -0.177712 -0.479395 +v -0.475964 -0.036003 0.076513 +v -0.486859 -0.036003 0.076513 +v -0.475964 -0.766210 0.076513 +v -0.454167 -0.123184 -0.479395 +v -0.497762 0.334705 -0.217765 +v -0.486859 -0.766210 -0.130592 +v -0.454167 -0.766210 -0.479395 +v -0.465070 0.280069 -0.424870 +v -0.497762 0.334705 0.032872 +v -0.454167 -0.755218 -0.293947 +v -0.486859 -0.766210 0.076513 +v -0.486859 0.334705 -0.424870 +v -0.465070 -0.766210 -0.479395 +v -0.486859 0.334705 0.032872 +v -0.475964 0.138467 0.032872 +v -0.497762 0.116699 0.032872 +v -0.486859 0.258300 -0.424870 +f 227 234 239 +f 223 224 225 +f 222 226 229 +f 225 228 229 +f 224 223 231 +f 223 225 232 +f 229 226 232 +f 225 229 232 +f 225 224 233 +f 228 225 233 +f 224 231 233 +f 226 222 234 +f 230 226 234 +f 227 231 234 +f 228 222 235 +f 222 229 235 +f 229 228 235 +f 231 223 236 +f 230 234 236 +f 234 231 236 +f 226 230 237 +f 223 232 237 +f 232 226 237 +f 236 223 237 +f 230 236 237 +f 227 228 238 +f 231 227 238 +f 228 233 238 +f 233 231 238 +f 222 228 239 +f 228 227 239 +f 234 222 239 +o convex_16 +v 0.592250 -1.790828 -0.479412 +v 0.515821 -1.801735 -0.577486 +v 0.515821 -1.790828 -0.577486 +v -0.345093 -1.867111 -0.479412 +v -0.345093 -1.801735 -0.512113 +v -0.312338 -1.878010 -0.512113 +v 0.526739 -1.812625 -0.479412 +v -0.345093 -1.801735 -0.490309 +f 242 244 247 +f 240 241 242 +f 242 241 244 +f 244 241 245 +f 243 244 245 +f 243 245 246 +f 241 240 246 +f 240 243 246 +f 245 241 246 +f 240 242 247 +f 243 240 247 +f 244 243 247 +o convex_17 +v -0.061767 -0.809895 0.490724 +v -0.475964 -1.681787 0.545213 +v -0.366963 -1.605419 0.534324 +v -0.039958 -1.583637 0.534324 +v -0.465039 -0.951609 0.545213 +v -0.039958 -0.788113 0.512531 +v -0.399569 -0.788113 0.512531 +v -0.465039 -1.670852 0.567020 +v -0.039958 -1.627201 0.512531 +v -0.475964 -0.788113 0.534309 +v -0.039958 -1.681787 0.534324 +v -0.475964 -0.995173 0.523420 +v -0.050884 -0.908045 0.490724 +f 259 254 260 +f 253 248 254 +f 251 253 255 +f 253 252 255 +f 249 250 256 +f 253 251 256 +f 252 253 257 +f 253 254 257 +f 249 255 257 +f 255 252 257 +f 255 249 258 +f 251 255 258 +f 249 256 258 +f 256 251 258 +f 250 249 259 +f 257 254 259 +f 249 257 259 +f 248 253 260 +f 254 248 260 +f 256 250 260 +f 253 256 260 +f 250 259 260 +o convex_18 +v 0.428779 -1.899805 0.327138 +v 0.592250 -1.790832 -0.457501 +v 0.581332 -1.801746 -0.359361 +v 0.406960 -1.834440 0.501619 +v 0.494164 -1.801746 -0.479395 +v 0.472345 -1.910719 0.501619 +v 0.526847 -1.790832 0.043761 +v 0.406960 -1.867122 0.076507 +v 0.581332 -1.812636 -0.435702 +v 0.472345 -1.834440 0.501619 +v 0.406960 -1.910719 0.501619 +v 0.494164 -1.812636 -0.479395 +v 0.505046 -1.790832 0.076507 +v 0.515965 -1.790832 -0.479395 +f 273 262 274 +f 263 262 267 +f 264 265 268 +f 262 263 269 +f 266 261 269 +f 263 266 269 +f 266 263 270 +f 264 266 270 +f 263 267 270 +f 261 266 271 +f 266 264 271 +f 268 261 271 +f 264 268 271 +f 261 268 272 +f 268 265 272 +f 262 269 272 +f 269 261 272 +f 267 262 273 +f 264 270 273 +f 270 267 273 +f 265 264 274 +f 262 272 274 +f 272 265 274 +f 264 273 274 +o convex_19 +v 0.428744 -0.951404 -0.021652 +v 0.428744 -0.036000 0.076513 +v 0.428744 -0.036000 -0.141529 +v 0.406951 -0.036000 -0.119709 +v 0.439645 -0.330338 -0.479395 +v 0.406951 -0.112317 -0.479395 +v 0.439645 -1.060514 0.076513 +v 0.439645 -0.297645 0.076513 +v 0.428744 -1.060514 0.076513 +v 0.406951 -0.373962 -0.283173 +v 0.439645 -0.199566 -0.479395 +v 0.417852 -0.330338 0.076513 +v 0.417852 -0.036000 -0.479395 +v 0.428744 -0.352099 -0.468403 +v 0.417852 -0.036000 0.076513 +f 278 286 289 +f 276 277 278 +f 275 279 281 +f 281 279 282 +f 276 281 282 +f 281 276 283 +f 275 281 283 +f 278 280 284 +f 280 275 284 +f 283 278 284 +f 275 283 284 +f 277 276 285 +f 279 280 285 +f 282 279 285 +f 276 282 285 +f 283 276 286 +f 278 283 286 +f 278 277 287 +f 280 278 287 +f 277 285 287 +f 285 280 287 +f 279 275 288 +f 280 279 288 +f 275 280 288 +f 276 278 289 +f 286 276 289 +o convex_20 +v 0.570427 -1.790679 -0.479394 +v 0.450568 -1.027997 0.076453 +v 0.439648 -1.027997 0.076453 +v 0.450568 -0.308839 -0.479394 +v 0.592250 -1.692606 -0.522951 +v 0.439648 -0.450437 -0.479394 +v 0.494170 -1.735985 0.065519 +v 0.526824 -1.779508 0.043770 +v 0.439648 -1.180186 0.065519 +v 0.505060 -1.049759 -0.533825 +v 0.526854 -1.017116 -0.522951 +v 0.592250 -1.790825 -0.533825 +v 0.505075 -1.790679 0.076453 +v 0.570427 -1.725249 -0.533825 +v 0.439648 -0.319720 -0.457525 +v 0.450568 -0.319720 -0.457525 +v 0.515964 -0.908017 -0.533825 +v 0.592221 -1.790679 -0.457525 +v 0.505075 -1.768627 0.000154 +f 295 303 308 +f 294 291 297 +f 292 295 298 +f 291 294 300 +f 291 292 302 +f 297 291 302 +f 292 298 302 +f 298 296 302 +f 290 301 302 +f 295 299 303 +f 299 301 303 +f 301 290 303 +f 292 291 304 +f 295 292 304 +f 293 295 304 +f 291 300 305 +f 300 293 305 +f 304 291 305 +f 293 304 305 +f 295 293 306 +f 299 295 306 +f 293 300 306 +f 300 294 306 +f 301 299 306 +f 294 301 306 +f 294 297 307 +f 301 294 307 +f 297 302 307 +f 302 301 307 +f 298 295 308 +f 296 298 308 +f 290 302 308 +f 302 296 308 +f 303 290 308 +o convex_21 +v -0.486860 -1.877962 0.174662 +v -0.486860 -1.398419 0.490719 +v -0.465068 -1.474811 0.087459 +v -0.465068 -1.965116 0.490719 +v -0.497762 -1.965116 0.490719 +v -0.497762 -1.398419 0.229149 +v -0.465068 -1.932440 0.076594 +v -0.486860 -1.398419 0.076594 +v -0.497762 -1.398419 0.490719 +v -0.497762 -1.965116 0.392569 +v -0.475969 -1.932440 0.076594 +f 318 309 319 +f 311 310 312 +f 312 310 313 +f 311 312 315 +f 310 311 316 +f 314 310 316 +f 309 314 316 +f 311 315 316 +f 313 310 317 +f 310 314 317 +f 314 313 317 +f 312 313 318 +f 313 314 318 +f 314 309 318 +f 315 312 318 +f 315 318 319 +f 309 316 319 +f 316 315 319 +o convex_22 +v -0.497763 -1.016748 0.152851 +v -0.497763 -0.036167 0.490719 +v -0.508665 -0.036167 0.490719 +v -0.486867 -1.398419 0.490719 +v -0.475964 -0.036167 0.076594 +v -0.475964 -1.398419 0.076594 +v -0.497763 -0.036167 0.076594 +v -0.497763 -1.398419 0.490719 +v -0.486867 -0.036167 0.436151 +v -0.475964 -1.354678 0.240055 +v -0.508665 -0.766035 0.479773 +v -0.497763 -1.398419 0.229149 +v -0.486867 -1.398419 0.076594 +v -0.486867 -0.635611 0.490719 +v -0.508665 -0.156056 0.425245 +f 330 322 334 +f 321 322 323 +f 322 321 324 +f 324 325 326 +f 322 324 326 +f 323 322 327 +f 325 323 327 +f 324 321 328 +f 324 328 329 +f 323 325 329 +f 325 324 329 +f 327 322 330 +f 327 330 331 +f 325 327 331 +f 330 320 331 +f 325 331 332 +f 326 325 332 +f 320 326 332 +f 331 320 332 +f 321 323 333 +f 328 321 333 +f 329 328 333 +f 323 329 333 +f 326 320 334 +f 322 326 334 +f 320 330 334 +o convex_23 +v -0.475952 -0.569946 0.534315 +v -0.508665 -0.788011 0.490723 +v -0.486860 -0.788011 0.490723 +v -0.508665 -0.035900 0.490723 +v -0.377863 -0.035900 0.501622 +v -0.377863 -0.788011 0.523412 +v -0.508665 -0.788011 0.534315 +v -0.508665 -0.035900 0.512517 +v -0.377863 -0.035900 0.512517 +v -0.377863 -0.482705 0.501622 +v -0.388772 -0.777041 0.534315 +v -0.508665 -0.188516 0.523412 +f 335 343 346 +f 337 336 338 +f 337 338 339 +f 336 337 340 +f 338 336 341 +f 336 340 341 +f 338 341 342 +f 339 338 342 +f 339 342 343 +f 340 339 343 +f 337 339 344 +f 340 337 344 +f 339 340 344 +f 335 341 345 +f 341 340 345 +f 340 343 345 +f 343 335 345 +f 341 335 346 +f 342 341 346 +f 343 342 346 +o convex_24 +v -0.214318 -0.210308 0.501622 +v -0.377863 -0.788011 0.512523 +v -0.377863 -0.788011 0.523415 +v -0.039991 -0.788011 0.501622 +v -0.039991 -0.035900 0.534319 +v -0.377863 -0.035900 0.512523 +v -0.377863 -0.504497 0.501622 +v -0.039991 -0.788011 0.512523 +v -0.061819 -0.123141 0.512523 +v -0.345121 -0.035900 0.523415 +v -0.377863 -0.035900 0.501622 +v -0.039991 -0.199412 0.534319 +v -0.138085 -0.035900 0.534319 +v -0.236113 -0.788011 0.523415 +v -0.039991 -0.504497 0.501622 +v -0.257908 -0.788011 0.501622 +v -0.116290 -0.035900 0.512523 +f 347 357 363 +f 349 348 350 +f 348 349 352 +f 347 350 353 +f 348 352 353 +f 349 350 354 +f 350 351 354 +f 352 349 356 +f 351 352 356 +f 352 351 357 +f 347 353 357 +f 353 352 357 +f 354 351 358 +f 356 349 359 +f 351 356 359 +f 349 358 359 +f 358 351 359 +f 349 354 360 +f 358 349 360 +f 354 358 360 +f 350 347 361 +f 351 350 361 +f 347 355 361 +f 355 351 361 +f 350 348 362 +f 348 353 362 +f 353 350 362 +f 355 347 363 +f 351 355 363 +f 357 351 363 +o convex_25 +v 0.450559 -1.659922 0.338027 +v 0.461448 -1.158638 0.490719 +v 0.461448 -1.158638 0.338068 +v 0.515942 -1.834425 0.152859 +v 0.439648 -1.158638 0.076594 +v 0.472358 -1.834425 0.479812 +v 0.505039 -1.834425 0.076554 +v 0.515942 -1.725344 0.076554 +v 0.450552 -1.387583 0.490719 +v 0.461448 -1.169553 0.076594 +v 0.439648 -1.158638 0.348974 +v 0.450559 -1.747107 0.425279 +v 0.439648 -1.387583 0.218258 +v 0.461455 -1.834425 0.392600 +v 0.494143 -1.758022 0.076554 +v 0.472358 -1.583783 0.479812 +f 369 367 379 +f 365 366 368 +f 367 369 370 +f 366 365 371 +f 365 367 371 +f 367 370 371 +f 369 365 372 +f 368 366 373 +f 371 368 373 +f 366 371 373 +f 365 368 374 +f 372 365 374 +f 372 374 375 +f 369 372 375 +f 374 368 376 +f 375 374 376 +f 364 375 376 +f 370 369 377 +f 375 364 377 +f 369 375 377 +f 368 371 378 +f 371 370 378 +f 364 376 378 +f 376 368 378 +f 370 377 378 +f 377 364 378 +f 367 365 379 +f 365 369 379 +o convex_26 +v 0.406948 -1.387467 0.501628 +v 0.450534 -0.036032 0.556106 +v 0.406948 -0.036032 0.556106 +v 0.439645 -0.036032 0.490732 +v 0.472336 -1.834425 0.501620 +v 0.472336 -1.561920 0.479822 +v 0.406954 -1.649058 0.512516 +v 0.406954 -1.834425 0.490725 +v 0.450534 -0.319628 0.556106 +v 0.428757 -0.036032 0.490732 +v 0.450534 -0.068951 0.490732 +v 0.472336 -1.725282 0.512516 +v 0.461435 -1.834425 0.479822 +f 387 389 392 +f 382 381 383 +f 382 380 386 +f 384 386 387 +f 386 380 387 +f 381 382 388 +f 382 386 388 +f 380 382 389 +f 382 383 389 +f 383 385 389 +f 387 380 389 +f 383 381 390 +f 381 385 390 +f 385 383 390 +f 385 381 391 +f 384 385 391 +f 386 384 391 +f 381 388 391 +f 388 386 391 +f 385 384 392 +f 384 387 392 +f 389 385 392 +o convex_27 +v -0.018190 -0.613475 -0.533887 +v -0.345163 -0.918812 -0.501203 +v -0.334247 -0.918812 -0.512093 +v -0.345163 -0.035900 -0.501203 +v -0.018190 -0.112213 -0.490295 +v -0.029105 -0.918812 -0.512093 +v -0.345163 -0.918812 -0.490295 +v -0.018190 -0.101324 -0.512093 +v -0.323332 -0.090434 -0.512093 +v -0.345163 -0.035900 -0.490295 +v -0.040020 -0.918812 -0.533887 +v -0.018190 -0.035900 -0.490295 +f 402 397 404 +f 395 394 396 +f 394 395 398 +f 393 397 398 +f 396 394 399 +f 394 398 399 +f 398 397 399 +f 397 393 400 +f 395 396 401 +f 400 393 401 +f 396 400 401 +f 396 399 402 +f 399 397 402 +f 393 398 403 +f 398 395 403 +f 401 393 403 +f 395 401 403 +f 400 396 404 +f 397 400 404 +f 396 402 404 +o convex_28 +v 0.406959 -0.035782 -0.119593 +v 0.461442 0.705257 0.534270 +v 0.461442 1.174017 -0.413954 +v 0.450540 -0.035782 0.512431 +v 0.417848 -0.035782 -0.435794 +v 0.396057 0.094969 -0.413954 +v 0.439645 0.476562 0.534270 +v 0.450528 1.174017 -0.413954 +v 0.461442 0.944966 -0.435794 +v 0.428750 -0.024886 0.534270 +v 0.450540 0.705257 0.534270 +v 0.461442 0.465547 0.392502 +v 0.428756 0.193150 0.534270 +v 0.396057 -0.003094 -0.435794 +v 0.450528 1.174017 -0.435794 +v 0.417861 0.127775 0.272668 +v 0.461442 0.465547 0.534270 +f 408 416 421 +f 408 405 409 +f 406 407 412 +f 407 406 413 +f 408 409 413 +f 405 408 414 +f 406 411 414 +f 410 411 415 +f 411 406 415 +f 406 412 415 +f 412 410 415 +f 413 406 416 +f 408 413 416 +f 414 411 417 +f 409 405 418 +f 413 409 418 +f 412 407 419 +f 410 412 419 +f 407 413 419 +f 418 410 419 +f 413 418 419 +f 411 410 420 +f 405 414 420 +f 417 411 420 +f 414 417 420 +f 418 405 420 +f 410 418 420 +f 406 414 421 +f 414 408 421 +f 416 406 421 +o convex_29 +v -0.508665 -1.147841 0.512525 +v -0.486867 -1.616180 0.567020 +v -0.486867 -1.256814 0.556109 +v -0.475968 -1.965195 0.490726 +v -0.475964 -0.788011 0.523429 +v -0.497759 -1.976127 0.567020 +v -0.475968 -1.976127 0.567020 +v -0.508665 -0.908148 0.545206 +v -0.508665 -0.788011 0.490726 +v -0.497759 -1.965195 0.490726 +v -0.486867 -0.788011 0.490726 +v -0.508665 -1.452779 0.556109 +f 431 427 433 +f 427 425 428 +f 424 423 428 +f 425 426 428 +f 426 424 428 +f 423 427 428 +f 423 424 429 +f 424 426 429 +f 422 429 430 +f 429 426 430 +f 425 427 431 +f 422 430 431 +f 430 425 431 +f 426 425 432 +f 425 430 432 +f 430 426 432 +f 427 423 433 +f 423 429 433 +f 429 422 433 +f 422 431 433 +o convex_30 +v -0.497774 0.116848 0.033002 +v -0.584944 2.209385 0.490629 +v -0.595858 2.209385 0.490629 +v -0.508664 -0.035900 0.490629 +v -0.475970 0.106079 0.076588 +v -0.584944 2.143890 0.076588 +v -0.563151 2.154659 0.033002 +v -0.497774 0.258607 0.490629 +v -0.574042 2.176638 0.468814 +v -0.497774 -0.035900 0.076588 +v -0.486884 -0.035900 0.436114 +v -0.595858 2.143890 0.468814 +v -0.475970 -0.035900 0.033002 +v -0.508664 -0.035900 0.425228 +v -0.574042 1.893120 0.033002 +v -0.563151 2.154659 0.098403 +v -0.475970 0.127837 0.054817 +f 440 449 450 +f 435 436 437 +f 436 435 440 +f 439 436 440 +f 435 437 441 +f 435 441 442 +f 438 441 444 +f 441 437 444 +f 437 443 444 +f 437 436 445 +f 436 439 445 +f 434 440 446 +f 443 434 446 +f 438 444 446 +f 444 443 446 +f 443 437 447 +f 437 445 447 +f 447 445 448 +f 440 434 448 +f 439 440 448 +f 434 443 448 +f 445 439 448 +f 443 447 448 +f 440 435 449 +f 435 442 449 +f 449 442 450 +f 441 438 450 +f 442 441 450 +f 446 440 450 +f 438 446 450 +o convex_31 +v 0.363278 -1.137013 -0.555689 +v -0.345093 -1.801638 -0.512093 +v -0.345093 -1.801638 -0.490295 +v -0.345093 -0.918813 -0.490295 +v 0.363278 -1.801638 -0.544787 +v 0.363278 -0.918813 -0.533898 +v -0.334205 -0.918813 -0.512093 +v 0.232478 -1.801638 -0.555689 +v 0.101748 -0.918813 -0.544787 +v 0.363278 -1.147815 -0.533898 +v 0.232478 -1.235095 -0.555689 +v -0.323247 -1.365583 -0.490295 +v 0.363278 -1.801638 -0.555689 +v 0.243367 -1.801638 -0.533898 +v 0.363278 -0.918813 -0.544787 +v -0.334205 -1.801638 -0.490295 +f 464 460 466 +f 452 453 454 +f 453 452 455 +f 455 451 456 +f 452 454 457 +f 454 456 457 +f 455 452 458 +f 457 456 459 +f 455 456 460 +f 452 457 461 +f 451 458 461 +f 458 452 461 +f 457 459 461 +f 459 451 461 +f 454 453 462 +f 456 454 462 +f 460 456 462 +f 451 455 463 +f 458 451 463 +f 455 458 463 +f 453 455 464 +f 455 460 464 +f 456 451 465 +f 451 459 465 +f 459 456 465 +f 462 453 466 +f 460 462 466 +f 453 464 466 +o convex_32 +v -0.465077 2.067815 0.577890 +v -0.595853 2.078417 0.567018 +v -0.595853 2.078417 0.588795 +v -0.508661 -0.035900 0.512549 +v -0.584945 2.209388 0.490719 +v -0.465077 0.171269 0.501645 +v -0.465077 2.220431 0.599720 +v -0.595853 2.220431 0.599720 +v -0.465077 1.468174 0.577890 +v -0.519569 0.225822 0.490719 +v -0.595853 2.132969 0.490719 +v -0.574049 2.154614 0.490719 +v -0.465077 0.138581 0.523421 +v -0.595853 2.154614 0.599720 +v -0.497765 -0.035900 0.490719 +f 472 479 481 +f 472 467 473 +f 468 469 474 +f 473 471 474 +f 472 473 475 +f 469 468 476 +f 470 469 476 +f 468 474 477 +f 474 471 477 +f 476 468 477 +f 471 476 477 +f 467 472 478 +f 473 467 478 +f 471 473 478 +f 476 471 478 +f 472 475 479 +f 479 475 480 +f 469 470 480 +f 474 469 480 +f 473 474 480 +f 475 473 480 +f 470 479 480 +f 470 476 481 +f 478 472 481 +f 476 478 481 +f 479 470 481 +o convex_33 +v 0.428761 -0.068605 -0.479395 +v 0.363347 -0.886054 -0.533885 +v 0.494147 -0.897012 -0.533885 +v 0.494147 -0.897012 -0.479395 +v 0.428761 -0.101310 -0.512089 +v 0.363347 -0.112267 -0.490303 +v 0.494147 -0.689826 -0.533885 +v 0.363347 -0.613459 -0.533885 +v 0.363347 -0.886054 -0.522987 +v 0.363347 -0.101310 -0.512089 +v 0.505049 -0.853350 -0.479395 +f 488 482 492 +f 483 484 485 +f 485 482 487 +f 484 483 488 +f 486 482 488 +f 486 488 489 +f 483 487 489 +f 488 483 489 +f 483 485 490 +f 487 483 490 +f 485 487 490 +f 482 486 491 +f 487 482 491 +f 486 489 491 +f 489 487 491 +f 485 484 492 +f 482 485 492 +f 484 488 492 +o convex_34 +v 0.232495 0.639942 0.567013 +v -0.465064 -0.035900 0.501625 +v -0.334136 -0.035900 0.501625 +v -0.465064 1.479221 0.556106 +v -0.454082 1.174002 0.567007 +v 0.265208 -0.035900 0.556112 +v 0.330633 0.596340 0.556112 +v -0.465064 0.127684 0.523428 +v 0.287016 -0.035900 0.534323 +v 0.330633 0.193237 0.567013 +v -0.454082 0.149486 0.501625 +v -0.454082 1.479221 0.567007 +v -0.356022 -0.024925 0.523428 +v 0.330633 0.596340 0.567013 +v -0.432274 1.457420 0.556106 +v 0.330633 -0.035900 0.545224 +f 502 498 508 +f 494 495 498 +f 496 494 500 +f 497 496 500 +f 498 495 501 +f 495 499 501 +f 493 497 502 +f 497 498 502 +f 495 494 503 +f 494 496 503 +f 499 495 503 +f 497 493 504 +f 496 497 504 +f 494 498 505 +f 498 497 505 +f 500 494 505 +f 497 500 505 +f 502 499 506 +f 493 502 506 +f 504 493 506 +f 504 506 507 +f 503 496 507 +f 499 503 507 +f 496 504 507 +f 506 499 507 +f 498 501 508 +f 501 499 508 +f 499 502 508 +o convex_35 +v 0.428756 -0.994994 0.109270 +v 0.439650 -0.036010 0.490719 +v 0.428756 -0.036010 0.490719 +v 0.461444 -1.158616 0.490719 +v 0.439650 -0.275893 0.076594 +v 0.417852 -0.036010 0.076594 +v 0.450545 -1.158616 0.076594 +v 0.439650 -1.158616 0.359853 +v 0.450545 -0.090514 0.479773 +v 0.461444 -1.147517 0.338082 +v 0.439650 -0.864228 0.490719 +v 0.417852 -0.090514 0.185568 +v 0.439650 -0.036010 0.185568 +v 0.428756 -1.038509 0.076594 +v 0.461444 -0.831482 0.490719 +f 518 517 523 +f 510 511 512 +f 511 510 514 +f 514 513 515 +f 515 512 516 +f 512 515 518 +f 515 513 518 +f 513 517 518 +f 512 511 519 +f 509 516 519 +f 516 512 519 +f 511 514 520 +f 509 519 520 +f 519 511 520 +f 514 510 521 +f 513 514 521 +f 510 517 521 +f 517 513 521 +f 514 515 522 +f 516 509 522 +f 515 516 522 +f 509 520 522 +f 520 514 522 +f 510 512 523 +f 517 510 523 +f 512 518 523 +o convex_36 +v 0.363347 -0.035900 -0.501204 +v -0.018158 -0.918812 -0.533887 +v -0.018158 -0.918812 -0.522989 +v 0.363347 -0.918812 -0.544796 +v -0.018158 -0.101324 -0.512102 +v 0.363347 -0.112213 -0.490300 +v -0.018158 -0.035900 -0.490300 +v 0.363347 -0.885971 -0.522989 +v 0.101753 -0.875082 -0.544796 +v 0.363347 -0.101324 -0.512102 +v -0.018158 -0.112213 -0.490300 +v -0.018158 -0.613475 -0.533887 +f 533 532 535 +f 526 525 527 +f 525 526 528 +f 527 524 529 +f 524 528 530 +f 528 526 530 +f 529 524 530 +f 526 527 531 +f 529 526 531 +f 527 529 531 +f 527 525 532 +f 524 527 533 +f 528 524 533 +f 527 532 533 +f 526 529 534 +f 530 526 534 +f 529 530 534 +f 525 528 535 +f 532 525 535 +f 528 533 535 +o convex_37 +v 0.406948 -0.232129 0.534310 +v -0.039915 -1.093215 0.501625 +v 0.025523 -1.093215 0.490723 +v -0.039915 -0.035900 0.523421 +v 0.395969 -0.602644 0.545205 +v 0.069089 -0.057738 0.545205 +v 0.406948 -1.093215 0.512520 +v -0.039915 -1.093215 0.512520 +v 0.406948 -0.035900 0.556113 +v -0.028979 -0.864282 0.490723 +v 0.406948 -0.940558 0.534310 +v 0.079981 -0.035900 0.523421 +v 0.297900 -1.071274 0.501625 +v 0.385077 -0.243099 0.556113 +v -0.039915 -0.210394 0.534310 +v 0.287009 -1.093215 0.523415 +v 0.297900 -0.046871 0.534310 +v -0.039915 -0.188557 0.512533 +v 0.276073 -0.057738 0.556113 +f 549 544 554 +f 537 538 542 +f 539 537 543 +f 537 542 543 +f 539 541 544 +f 542 536 544 +f 538 537 545 +f 540 543 546 +f 544 540 546 +f 542 544 546 +f 539 544 547 +f 536 542 548 +f 542 538 548 +f 538 545 548 +f 543 540 549 +f 540 544 549 +f 541 539 550 +f 539 543 550 +f 543 541 550 +f 543 542 551 +f 546 543 551 +f 542 546 551 +f 544 536 552 +f 547 544 552 +f 545 547 552 +f 536 548 552 +f 548 545 552 +f 537 539 553 +f 545 537 553 +f 539 547 553 +f 547 545 553 +f 541 543 554 +f 544 541 554 +f 543 549 554 +o convex_38 +v 0.537730 -1.115139 -0.533900 +v 0.363347 -1.790825 -0.555694 +v 0.374286 -1.790825 -0.566588 +v 0.363347 -0.875212 -0.544803 +v 0.603151 -1.758022 -0.577492 +v 0.592212 -1.790825 -0.533900 +v 0.363347 -1.147763 -0.533900 +v 0.505032 -0.875212 -0.544803 +v 0.374286 -1.387510 -0.566588 +v 0.363347 -1.790825 -0.544803 +v 0.363347 -0.875212 -0.533900 +v 0.515947 -1.649037 -0.577492 +f 557 563 566 +f 557 559 560 +f 556 557 560 +f 559 555 560 +f 560 555 561 +f 558 556 561 +f 555 559 562 +f 557 556 563 +f 556 558 563 +f 558 562 563 +f 556 560 564 +f 560 561 564 +f 561 556 564 +f 561 555 565 +f 558 561 565 +f 555 562 565 +f 562 558 565 +f 559 557 566 +f 562 559 566 +f 563 562 566 +o convex_39 +v -0.464989 -1.976127 0.512531 +v -0.039953 -1.681823 0.534308 +v 0.384996 -1.867117 0.512523 +v -0.421431 -1.976127 0.567020 +v -0.475964 -1.681823 0.567020 +v -0.475964 -1.954291 0.490731 +v 0.406948 -1.910704 0.490731 +v -0.170713 -1.681823 0.523434 +v 0.406948 -1.867117 0.490731 +v -0.475964 -1.681823 0.545212 +v -0.345118 -1.965209 0.567020 +v -0.475964 -1.976127 0.567020 +v 0.330549 -1.921593 0.512523 +f 569 577 579 +f 569 568 571 +f 567 572 573 +f 571 568 574 +f 568 569 575 +f 569 573 575 +f 573 572 575 +f 572 574 575 +f 574 568 575 +f 572 571 576 +f 574 572 576 +f 571 574 576 +f 571 570 577 +f 569 571 577 +f 567 570 578 +f 570 571 578 +f 572 567 578 +f 571 572 578 +f 570 567 579 +f 573 569 579 +f 567 573 579 +f 577 570 579 +o convex_40 +v -0.497777 0.498270 -0.424894 +v -0.563148 2.144130 0.032912 +v -0.574056 2.144130 0.032912 +v -0.486879 0.334800 0.032912 +v -0.541371 1.958699 -0.424894 +v -0.475971 0.520232 -0.413960 +v -0.508676 0.367565 0.032912 +v -0.563148 1.936914 -0.424894 +v -0.574056 1.904149 0.021978 +v -0.475971 0.334800 -0.424894 +v -0.574056 2.111188 -0.272217 +v -0.541351 1.097779 0.000199 +v -0.552250 1.925934 0.032912 +v -0.552250 2.100384 -0.403025 +v -0.475971 0.345781 -0.206880 +v -0.497777 0.334800 -0.228614 +v -0.552250 2.100384 -0.228614 +v -0.486879 0.378546 0.032912 +f 594 592 597 +f 581 582 583 +f 583 582 586 +f 584 580 587 +f 586 582 588 +f 580 584 589 +f 584 585 589 +f 587 588 590 +f 588 582 590 +f 587 580 591 +f 586 588 591 +f 588 587 591 +f 581 583 592 +f 582 581 593 +f 584 587 593 +f 590 582 593 +f 587 590 593 +f 589 585 594 +f 583 589 594 +f 585 592 594 +f 583 586 595 +f 580 589 595 +f 589 583 595 +f 591 580 595 +f 586 591 595 +f 585 584 596 +f 581 592 596 +f 592 585 596 +f 593 581 596 +f 584 593 596 +f 592 583 597 +f 583 594 597 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/304/304.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/304/304.urdf new file mode 100644 index 000000000..b460c48f0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/304/304.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/305/305.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/305/305.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/305/305.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/305/305.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/305/305.obj new file mode 100644 index 000000000..8d05f4824 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/305/305.obj @@ -0,0 +1,1014 @@ +o convex_0 +v -0.998089 1.623166 -1.084261 +v 1.219387 0.591386 0.444335 +v 1.219387 0.552855 0.444335 +v -0.998089 0.552855 1.476347 +v 0.722090 2.540715 1.400258 +v 0.645740 0.552855 -2.461479 +v 0.798695 1.967418 -1.658135 +v -0.998089 2.540715 0.635359 +v -0.806958 0.552855 -2.231609 +v -0.004259 2.043702 -2.155520 +v 0.951651 0.552855 1.476347 +v -1.380605 0.552855 0.482379 +v 0.913221 2.540715 0.099930 +v -0.042434 2.426095 1.629727 +v -0.845133 2.540715 -0.359009 +v -0.806958 1.585024 -2.117074 +v 1.180957 0.629528 -0.817147 +v -0.768783 2.540715 1.323367 +v 0.836871 1.585024 -2.193564 +v 0.989826 2.540715 0.749894 +v 0.033917 2.540715 -0.779103 +v -0.004259 1.203020 -2.423034 +v -0.004259 0.935443 1.629727 +v 1.028002 1.623166 -1.237641 +v 0.913221 0.552855 -2.193564 +v -0.577652 0.552855 -2.423034 +v 0.798695 2.540715 -0.320564 +v -1.380605 0.591386 0.596914 +v -0.730607 2.158517 -1.352176 +v -0.883563 0.591386 -2.078629 +v -0.309915 0.552855 1.591282 +v 0.148697 2.120180 1.629727 +v 1.180957 0.782485 -0.740657 +v -0.998089 2.540715 0.482379 +v 0.798695 2.273138 1.400258 +v 0.033917 2.273138 -1.582046 +v 0.760520 2.158517 -1.352576 +v -0.921738 0.591386 1.514392 +v 1.066432 0.935443 -1.390621 +v 0.989826 2.540715 0.520424 +v -0.424441 2.540715 1.476748 +v -0.845133 1.585024 -1.964095 +v 0.301653 0.935443 -2.461479 +v 0.033917 2.005560 -2.193564 +v -1.380605 0.591386 0.482379 +v -0.156960 2.120180 1.629727 +v 0.875046 1.623166 -2.040184 +v 1.066432 1.508935 -1.084662 +v -0.806958 2.540715 1.247278 +v -0.806958 2.005560 1.400258 +v 0.492784 0.552855 1.552837 +v -0.998089 0.629528 1.476347 +v 0.072092 2.540715 1.591282 +v 1.180957 0.552855 -0.817147 +v 0.722090 2.311474 1.438302 +v -0.080609 2.349616 -1.352576 +v 0.989826 1.967418 0.940918 +v -0.348091 1.852602 -2.155520 +v 0.033917 2.043702 -2.155520 +v 0.836871 0.744343 -2.308099 +v -0.959914 1.661503 -1.276087 +v -0.539222 0.667865 -2.423034 +v -0.845133 1.164878 -2.117074 +v 0.607564 0.744343 -2.461479 +f 19 60 64 +f 3 4 6 +f 6 4 9 +f 3 2 11 +f 4 3 11 +f 9 4 12 +f 8 5 13 +f 8 13 15 +f 2 3 17 +f 5 8 18 +f 13 5 20 +f 15 13 21 +f 3 6 25 +f 6 9 26 +f 9 16 26 +f 21 13 27 +f 12 4 28 +f 15 10 29 +f 16 15 29 +f 9 12 30 +f 4 11 31 +f 14 23 32 +f 2 17 33 +f 8 15 34 +f 28 8 34 +f 20 5 35 +f 21 27 36 +f 36 27 37 +f 13 7 37 +f 27 13 37 +f 4 31 38 +f 17 25 39 +f 33 17 39 +f 20 2 40 +f 13 20 40 +f 24 13 40 +f 2 33 40 +f 5 18 41 +f 15 16 42 +f 6 26 43 +f 19 43 44 +f 43 22 44 +f 12 28 45 +f 30 12 45 +f 34 1 45 +f 28 34 45 +f 1 42 45 +f 23 14 46 +f 31 23 46 +f 38 31 46 +f 14 41 46 +f 7 13 47 +f 19 7 47 +f 13 24 47 +f 25 19 47 +f 24 39 47 +f 39 25 47 +f 39 24 48 +f 33 39 48 +f 24 40 48 +f 40 33 48 +f 18 8 49 +f 8 28 49 +f 41 18 50 +f 38 46 50 +f 46 41 50 +f 31 11 51 +f 23 31 51 +f 11 32 51 +f 32 23 51 +f 28 4 52 +f 4 38 52 +f 18 49 52 +f 49 28 52 +f 50 18 52 +f 38 50 52 +f 14 32 53 +f 5 41 53 +f 41 14 53 +f 17 3 54 +f 3 25 54 +f 25 17 54 +f 32 11 55 +f 11 35 55 +f 35 5 55 +f 5 53 55 +f 53 32 55 +f 10 15 56 +f 15 21 56 +f 36 10 56 +f 21 36 56 +f 11 2 57 +f 2 20 57 +f 35 11 57 +f 20 35 57 +f 22 16 58 +f 29 10 58 +f 16 29 58 +f 10 44 58 +f 44 22 58 +f 7 19 59 +f 10 36 59 +f 36 37 59 +f 37 7 59 +f 44 10 59 +f 19 44 59 +f 25 6 60 +f 19 25 60 +f 1 34 61 +f 34 15 61 +f 42 1 61 +f 15 42 61 +f 16 22 62 +f 26 16 62 +f 22 43 62 +f 43 26 62 +f 16 9 63 +f 9 30 63 +f 42 16 63 +f 30 45 63 +f 45 42 63 +f 6 43 64 +f 43 19 64 +f 60 6 64 +o convex_1 +v -0.998250 3.344082 0.176918 +v 0.989929 2.579498 0.750167 +v 0.951590 2.579498 0.864773 +v 0.033984 4.299769 0.673763 +v -0.615833 2.541277 1.400262 +v -0.004160 2.541277 -0.664407 +v -0.004160 4.032053 -0.167341 +v -0.080449 3.802557 1.400262 +v 0.760479 3.917391 0.558937 +v 0.798623 2.541277 -0.320148 +v -0.806944 4.108666 0.597139 +v -0.845283 2.541277 -0.358350 +v 0.760479 2.541277 1.361839 +v -0.806944 3.420523 -0.205543 +v -0.768800 3.573233 1.209031 +v -0.998250 2.541277 0.635340 +v -0.042305 2.694159 1.591492 +v 0.607512 3.458571 1.208810 +v 0.722334 3.191371 -0.167120 +v -0.998250 3.726116 0.406350 +v 0.072323 3.802557 1.400262 +v 0.760479 3.917391 0.673763 +v -0.768800 4.146714 0.482312 +v 0.989929 2.770773 0.520735 +v 0.531029 3.802729 0.024110 +v -0.768800 2.541277 1.323637 +v -0.118788 4.032053 -0.167341 +v 0.072323 2.541277 1.591492 +v -0.577494 3.917391 -0.014313 +v 0.033984 4.299769 0.558716 +v -0.998250 3.649674 0.215120 +v -0.042305 2.579498 -0.664407 +v -0.998250 3.152979 0.597139 +v -0.309899 4.261376 0.635340 +v -0.768800 3.802557 1.017580 +v 0.989929 2.541277 0.520735 +v -0.998250 2.541277 0.444552 +v -0.004160 2.579498 -0.664407 +v 0.683995 2.579498 1.400262 +v 0.989929 2.808821 0.673763 +v -0.768800 4.146714 0.597139 +v 0.072323 3.649674 1.438463 +v -0.004160 4.108666 -0.014313 +v -0.806944 2.579498 1.247233 +v -0.845283 2.617718 -0.358350 +v 0.760479 2.579498 1.361839 +v -0.692316 3.420523 -0.243745 +v -0.806944 3.305861 -0.243745 +v -0.042305 3.955611 1.209031 +v -0.080449 4.299769 0.558716 +v 0.645656 3.191371 -0.205322 +v 0.760479 3.038317 -0.167120 +v -0.080449 4.070273 -0.128918 +f 114 107 117 +f 69 70 74 +f 70 69 76 +f 66 67 77 +f 69 74 77 +f 76 69 80 +f 79 69 81 +f 72 79 81 +f 65 80 84 +f 85 82 86 +f 73 68 86 +f 68 85 86 +f 84 75 87 +f 83 71 89 +f 73 83 89 +f 69 79 90 +f 80 69 90 +f 69 77 92 +f 81 69 92 +f 91 78 93 +f 87 91 93 +f 68 73 94 +f 65 84 95 +f 84 87 95 +f 93 78 95 +f 87 93 95 +f 70 76 96 +f 91 71 96 +f 79 84 97 +f 84 80 97 +f 79 72 99 +f 75 84 99 +f 84 79 99 +f 66 77 100 +f 77 74 100 +f 88 66 100 +f 74 88 100 +f 65 76 101 +f 80 65 101 +f 76 80 101 +f 74 70 102 +f 70 96 102 +f 96 71 102 +f 92 77 103 +f 67 66 104 +f 73 86 104 +f 66 88 104 +f 88 73 104 +f 87 75 105 +f 98 87 105 +f 99 72 105 +f 75 99 105 +f 72 81 106 +f 85 72 106 +f 81 92 106 +f 103 85 106 +f 92 103 106 +f 89 71 107 +f 73 89 107 +f 94 73 107 +f 90 79 108 +f 80 90 108 +f 79 97 108 +f 97 80 108 +f 76 65 109 +f 65 95 109 +f 96 76 109 +f 77 67 110 +f 82 85 110 +f 86 82 110 +f 103 77 110 +f 85 103 110 +f 67 104 110 +f 104 86 110 +f 78 91 111 +f 91 96 111 +f 111 96 112 +f 95 78 112 +f 109 95 112 +f 96 109 112 +f 78 111 112 +f 85 68 113 +f 72 85 113 +f 68 98 113 +f 105 72 113 +f 98 105 113 +f 68 94 114 +f 98 68 114 +f 87 98 114 +f 94 107 114 +f 71 83 115 +f 83 74 115 +f 74 102 115 +f 102 71 115 +f 83 73 116 +f 74 83 116 +f 88 74 116 +f 73 88 116 +f 71 91 117 +f 91 87 117 +f 107 71 117 +f 87 114 117 +o convex_2 +v 0.722133 -3.729530 -1.467553 +v -1.265831 -0.824165 -0.741100 +v -1.265831 -0.824165 -0.702931 +v 1.181010 0.552855 -0.702931 +v -0.577516 0.552855 -2.423024 +v -0.845069 -3.193813 -2.193655 +v 0.798613 -0.517742 -2.499539 +v -0.615881 -3.537963 -0.702931 +v -1.112872 0.552855 -0.702931 +v 0.875092 -3.232378 -2.269994 +v 1.028051 -2.467367 -0.702931 +v 0.913457 0.552855 -2.193655 +v -0.004046 -2.544077 -2.499539 +v -0.883434 0.399433 -2.155309 +v 1.295855 -0.747454 -0.779270 +v -0.959914 -3.537963 -1.352869 +v 0.760498 -3.537963 -0.741100 +v -0.004046 -3.690965 -2.078970 +v 0.989937 -3.537963 -1.391038 +v 0.989937 -0.861892 -2.231824 +v -0.768840 -0.747874 -2.423200 +v -0.501037 -3.729530 -0.932300 +v -0.004046 -3.385380 -2.384678 +v -0.959914 -0.747874 -2.078970 +v 0.645905 0.552855 -2.461194 +v -1.074507 -2.390656 -0.702931 +v 0.645905 -2.161782 -2.499539 +v -0.577516 -2.123217 -2.461194 +v -0.424557 -3.690965 -1.925940 +v 0.913457 -3.270523 -2.193655 +v 0.531060 -3.729530 -1.925940 +v -0.195119 -1.359044 -2.499539 +v 0.072183 -3.729530 -0.779270 +v -1.074507 -2.926373 -1.008815 +v -0.768840 -3.499398 -0.741100 +v 1.028051 -3.155667 -1.046985 +v -1.265831 -0.633017 -0.779446 +v -1.036393 -3.078956 -1.314523 +v -0.883434 0.552855 -2.078970 +v 1.295855 -0.785600 -0.702931 +v 0.684019 -3.537963 -0.702931 +v -0.921548 -1.282753 -2.193655 +v 0.148663 0.552855 -2.461194 +v 1.181010 0.514290 -0.855785 +v 0.531060 -3.729530 -0.932300 +v 0.951572 -3.614673 -1.429208 +v 0.913457 -2.926373 -2.269994 +v 1.295855 -0.518161 -0.741100 +v 0.989937 -0.632598 -2.231824 +v 0.301622 -3.385380 -2.346509 +v -1.265831 -0.786019 -0.779446 +v -0.692361 -3.690965 -1.429384 +v -0.921548 -0.441450 -2.193655 +v 1.028051 -3.308669 -1.276354 +v -0.004046 -3.461671 -2.346509 +v 0.836978 0.437998 -2.346509 +v 0.836978 -0.976748 -2.461194 +v 0.148663 -3.729530 -2.002455 +v 0.684019 -0.212156 -2.499539 +v -1.036393 0.552855 -1.238184 +v -0.615881 -1.206042 -2.461194 +v -0.730475 -3.231958 -2.231824 +v 0.951572 -3.614673 -1.314523 +v -0.883434 -2.352510 -2.193655 +f 168 159 181 +f 121 120 125 +f 120 121 126 +f 121 122 126 +f 121 125 128 +f 122 121 129 +f 131 122 138 +f 122 129 142 +f 125 120 143 +f 130 124 144 +f 140 130 144 +f 123 138 145 +f 130 140 145 +f 133 123 146 +f 118 139 148 +f 127 147 148 +f 124 130 149 +f 130 145 149 +f 125 139 150 +f 139 118 150 +f 120 119 151 +f 143 120 151 +f 143 151 152 +f 139 125 152 +f 133 139 152 +f 125 143 152 +f 151 133 152 +f 128 134 153 +f 119 120 154 +f 120 126 154 +f 123 133 155 +f 133 151 155 +f 126 122 156 +f 122 131 156 +f 131 154 156 +f 121 128 157 +f 128 153 157 +f 128 125 158 +f 134 128 158 +f 125 150 158 +f 122 142 160 +f 149 122 160 +f 129 121 161 +f 150 118 162 +f 134 158 162 +f 158 150 162 +f 147 136 163 +f 118 148 163 +f 148 147 163 +f 137 132 164 +f 127 144 164 +f 147 127 164 +f 132 147 164 +f 121 157 165 +f 157 132 165 +f 161 121 165 +f 129 161 165 +f 132 137 166 +f 129 165 166 +f 165 132 166 +f 144 127 167 +f 140 144 167 +f 127 148 167 +f 151 119 168 +f 119 154 168 +f 154 141 168 +f 123 155 168 +f 155 151 168 +f 141 159 168 +f 139 133 169 +f 133 146 169 +f 146 139 169 +f 131 138 170 +f 154 131 170 +f 141 154 170 +f 138 159 170 +f 159 141 170 +f 136 147 171 +f 147 132 171 +f 153 136 171 +f 132 157 171 +f 157 153 171 +f 135 146 172 +f 148 135 172 +f 140 167 172 +f 167 148 172 +f 124 142 173 +f 142 129 173 +f 166 124 173 +f 129 166 173 +f 144 124 174 +f 137 164 174 +f 164 144 174 +f 124 166 174 +f 166 137 174 +f 146 135 175 +f 139 146 175 +f 148 139 175 +f 135 148 175 +f 142 124 176 +f 124 149 176 +f 160 142 176 +f 149 160 176 +f 154 126 177 +f 126 156 177 +f 156 154 177 +f 138 122 178 +f 145 138 178 +f 122 149 178 +f 149 145 178 +f 123 145 179 +f 145 140 179 +f 146 123 179 +f 140 172 179 +f 172 146 179 +f 153 134 180 +f 136 153 180 +f 162 118 180 +f 134 162 180 +f 163 136 180 +f 118 163 180 +f 138 123 181 +f 159 138 181 +f 123 168 181 +o convex_3 +v 0.569371 -3.538127 -0.664370 +v -1.992375 -0.747301 -0.473267 +v -1.992375 -0.747301 -0.435020 +v 1.219337 0.552855 -0.587902 +v 2.022166 -0.747301 -0.435020 +v -1.112524 0.552855 -0.702617 +v -0.042084 -2.964541 -0.435020 +v -0.768679 -3.308448 -0.702617 +v 1.372200 -0.632665 -0.702617 +v -1.112524 0.552855 -0.435020 +v 1.180826 0.552855 -0.435020 +v 1.180826 0.552855 -0.702617 +v -1.380527 -0.747301 -0.702617 +v 0.760352 -3.308448 -0.702617 +v -0.042084 -3.499779 -0.511487 +v 1.945538 -0.747301 -0.511487 +v -0.615815 -3.499779 -0.664370 +v 0.951727 -2.123336 -0.435020 +v -1.036288 -2.008701 -0.435020 +v -0.157223 -3.614823 -0.702617 +v -1.074406 -2.314260 -0.702617 +v 2.022166 -0.632665 -0.473267 +v 1.027962 -2.390547 -0.702617 +v -1.992375 -0.671013 -0.473267 +v 0.033758 -3.499779 -0.511487 +v 0.760352 -3.308448 -0.664370 +f 186 199 207 +f 186 184 188 +f 184 183 189 +f 189 187 190 +f 184 186 191 +f 185 187 191 +f 185 191 192 +f 191 186 192 +f 187 185 193 +f 190 187 193 +f 187 189 194 +f 189 190 195 +f 190 193 197 +f 186 195 197 +f 184 189 198 +f 186 188 199 +f 188 184 200 +f 196 188 200 +f 184 198 200 +f 198 196 200 +f 195 182 201 +f 189 195 201 +f 198 189 201 +f 196 198 201 +f 189 183 202 +f 183 194 202 +f 194 189 202 +f 185 192 203 +f 192 186 203 +f 193 185 203 +f 186 197 203 +f 197 193 203 +f 195 190 204 +f 190 197 204 +f 197 195 204 +f 183 184 205 +f 184 191 205 +f 191 187 205 +f 194 183 205 +f 187 194 205 +f 188 196 206 +f 182 199 206 +f 199 188 206 +f 201 182 206 +f 196 201 206 +f 182 195 207 +f 195 186 207 +f 199 182 207 +o convex_4 +v -0.004117 0.055639 1.629727 +v -0.042338 -1.511866 1.629727 +v 0.110406 -1.511866 1.629727 +v -0.004117 -0.747065 3.617977 +v 0.722351 -0.632744 1.668068 +v -0.692365 -0.632744 1.668068 +v 0.454530 -0.632744 3.350178 +v -0.386462 -0.709163 3.388519 +v -0.539344 -1.320666 1.629727 +v -0.004117 -1.129466 3.350178 +v 0.607412 -1.244094 1.629727 +v -0.042338 -0.326762 3.312033 +v -0.577565 -0.212134 1.629727 +v 0.492750 -0.097352 1.629727 +v 0.454530 -0.250343 2.585706 +v 0.378089 -1.052894 2.967942 +v -0.309882 -1.091256 3.082574 +v 0.110406 -0.326762 3.350178 +v -0.386462 -0.288553 2.547561 +v -0.386462 -0.823484 3.388519 +v -0.692365 -0.861847 1.668068 +v 0.454530 -0.747065 3.312033 +v 0.722351 -0.823484 1.668068 +v -0.424682 -1.397085 1.668068 +v 0.301509 -1.435294 1.668068 +v -0.424682 -0.097352 1.668068 +v 0.148627 -1.091256 3.312033 +v 0.569330 -0.173925 1.629727 +v -0.309882 -0.441544 3.159060 +v 0.072185 -0.670953 3.617977 +v 0.530971 -1.320666 1.668068 +v 0.339730 -0.364971 3.159060 +v -0.042338 0.055639 1.668068 +v 0.072185 -0.288553 3.273692 +v 0.072185 -0.823484 3.579637 +v 0.569330 -0.632744 2.700144 +v -0.577565 -0.212134 1.668068 +v -0.004117 -0.556172 3.541491 +v -0.539344 -1.320666 1.668068 +f 231 224 246 +f 210 209 208 +f 208 209 216 +f 209 210 217 +f 210 208 218 +f 208 216 220 +f 218 208 221 +f 221 208 222 +f 211 215 227 +f 215 213 227 +f 217 211 227 +f 224 217 227 +f 213 220 228 +f 220 216 228 +f 227 213 228 +f 223 218 229 +f 218 212 230 +f 229 218 230 +f 216 209 231 +f 209 217 231 +f 217 224 231 +f 208 220 233 +f 226 219 233 +f 217 210 234 +f 223 229 234 +f 210 232 234 +f 212 218 235 +f 218 221 235 +f 222 212 235 +f 221 222 235 +f 215 219 236 +f 219 226 236 +f 214 225 237 +f 210 218 238 +f 218 223 238 +f 232 210 238 +f 223 234 238 +f 234 232 238 +f 214 222 239 +f 225 214 239 +f 208 233 240 +f 233 219 240 +f 222 208 241 +f 219 225 241 +f 239 222 241 +f 225 239 241 +f 208 240 241 +f 240 219 241 +f 211 217 242 +f 229 214 242 +f 217 234 242 +f 234 229 242 +f 237 211 242 +f 214 237 242 +f 212 222 243 +f 222 214 243 +f 214 229 243 +f 230 212 243 +f 229 230 243 +f 213 215 244 +f 220 213 244 +f 233 220 244 +f 226 233 244 +f 215 236 244 +f 236 226 244 +f 215 211 245 +f 219 215 245 +f 225 219 245 +f 211 237 245 +f 237 225 245 +f 224 227 246 +f 228 216 246 +f 227 228 246 +f 216 231 246 +o convex_5 +v -0.080503 -1.970559 -0.129109 +v 1.180612 0.552855 -0.129109 +v 1.180612 0.552855 -0.434994 +v -2.718572 -0.594325 -0.167375 +v 0.034243 -2.697169 -0.434994 +v 2.825307 -0.747346 -0.129139 +v -1.112672 0.552855 -0.434994 +v 2.136830 -0.747346 -0.434994 +v -2.106592 -0.747346 -0.434994 +v -1.150921 0.552855 -0.129109 +v -2.144841 -1.435145 -0.129109 +v 2.022084 -1.473002 -0.129109 +v 2.251576 -0.020735 -0.205610 +v 2.710561 -0.747346 -0.243846 +v -2.144841 -0.020735 -0.129109 +v -1.227418 -1.741186 -0.434994 +v -0.080503 -2.697169 -0.396698 +v 0.989915 -1.970559 -0.434994 +v -2.718572 -0.709170 -0.205580 +v -1.418115 -1.741186 -0.129109 +v 1.333607 -1.741186 -0.129109 +v 1.486602 0.284989 -0.434994 +v 2.289825 -0.020735 -0.129139 +v -1.800603 -1.549990 -0.282051 +v -2.756821 -0.747346 -0.129109 +v 2.787059 -0.632501 -0.205610 +v 2.022084 -1.473002 -0.167375 +v -0.080503 -2.697169 -0.434994 +v 0.034243 -2.697169 -0.396698 +v -2.106592 -0.671313 -0.434994 +v -2.144841 -1.435145 -0.167375 +v 2.748810 -0.861873 -0.167375 +v 2.022084 -0.479798 -0.434994 +v -2.718572 -0.671313 -0.205580 +v -2.144841 -0.020735 -0.167375 +f 261 256 281 +f 248 249 253 +f 249 251 253 +f 251 249 254 +f 253 251 255 +f 247 248 256 +f 248 253 256 +f 247 256 257 +f 248 247 258 +f 252 248 258 +f 257 256 261 +f 255 251 262 +f 251 254 264 +f 254 260 264 +f 247 257 266 +f 257 263 266 +f 263 247 266 +f 258 247 267 +f 254 249 268 +f 249 259 268 +f 249 248 269 +f 248 252 269 +f 259 249 269 +f 255 262 270 +f 265 255 270 +f 261 250 271 +f 257 261 271 +f 260 254 272 +f 252 260 272 +f 268 259 272 +f 269 252 272 +f 259 269 272 +f 258 251 273 +f 251 264 273 +f 262 251 274 +f 263 257 274 +f 251 263 274 +f 270 262 274 +f 251 258 275 +f 247 263 275 +f 263 251 275 +f 267 247 275 +f 258 267 275 +f 253 255 276 +f 255 265 276 +f 265 270 277 +f 257 271 277 +f 271 265 277 +f 274 257 277 +f 270 274 277 +f 252 258 278 +f 260 252 278 +f 264 260 278 +f 258 273 278 +f 273 264 278 +f 254 268 279 +f 272 254 279 +f 268 272 279 +f 250 253 280 +f 271 250 280 +f 265 271 280 +f 253 276 280 +f 276 265 280 +f 253 250 281 +f 256 253 281 +f 250 261 281 +o convex_6 +v -2.680181 -1.473485 0.635819 +v 1.219174 0.552611 0.520985 +v 2.136948 0.285060 0.559206 +v -0.310054 0.552611 1.591335 +v 2.022226 -1.473485 1.362011 +v 1.372333 -1.741280 -0.129109 +v -1.150953 0.552611 -0.129109 +v -2.756465 -0.670830 1.361839 +v 2.825277 -0.632643 -0.129109 +v -2.756465 -0.746960 -0.129109 +v -0.118457 -1.549859 1.629727 +v 2.748402 -0.670830 1.362011 +v -2.718618 0.055452 0.635819 +v -0.195333 -1.932214 -0.129109 +v 2.748402 -1.473485 0.559378 +v 1.180736 0.552611 -0.129109 +v 0.951293 0.552611 1.476673 +v 1.678061 -0.670586 1.629727 +v 2.825277 0.055452 0.597599 +v -2.030288 -1.473485 1.400059 +v -2.068726 -0.746960 1.591335 +v -0.997793 0.552611 1.476673 +v 1.983788 -1.702850 0.712261 +v -0.042173 -1.702606 1.400232 +v -1.915567 -1.549859 -0.129109 +v -2.068726 -1.702850 0.635819 +v 3.054721 -0.746960 0.597599 +v -2.986500 -0.746960 0.635819 +v -2.527021 -0.135726 -0.014103 +v 2.633680 -0.135726 -0.052496 +v 2.442675 -0.059109 1.208956 +v 2.595243 -1.244120 -0.014275 +v -1.456680 0.552611 0.597427 +v -0.577344 -0.135726 1.629727 +v -2.527021 -0.135726 1.170736 +v 2.060072 -0.746960 1.591335 +v -2.603897 -1.282307 0.062338 +v -2.794902 -1.396868 0.635819 +v 2.595243 -1.244120 1.170736 +v 0.034111 -1.932214 -0.014275 +v -1.532964 -1.741037 -0.052496 +v -2.603897 -1.282307 1.132515 +v -2.718618 0.055452 0.521158 +v 2.825277 0.055452 0.482937 +v 0.186679 0.552611 1.591335 +v 0.148832 -1.549859 1.629727 +v 2.136948 -1.435298 -0.129109 +v 2.748402 -1.473485 0.673868 +v 2.022226 0.055452 1.362011 +v 1.907504 -0.517839 1.591335 +v -1.074669 -1.588046 1.476673 +v -2.986500 -0.594456 0.559378 +v -2.680181 -0.479652 -0.129109 +v -1.992442 -0.594456 1.591335 +v 1.716498 -1.741280 0.291490 +v 2.825277 -0.746960 1.247349 +v 2.825277 -0.746960 -0.129109 +v -0.577344 -1.396868 1.629727 +v -1.992442 -1.702850 0.712261 +v 2.404237 -0.059109 -0.129109 +v 0.071957 0.055452 1.629727 +v 1.983788 -1.435298 1.400232 +v -0.921509 0.552611 1.514721 +v -2.680181 -1.473485 0.559378 +f 322 307 345 +f 285 283 288 +f 287 288 290 +f 288 287 291 +f 291 287 295 +f 283 284 297 +f 288 283 297 +f 290 288 297 +f 284 283 298 +f 283 285 298 +f 284 298 300 +f 289 301 302 +f 285 288 303 +f 304 286 305 +f 291 295 306 +f 301 282 307 +f 293 300 312 +f 300 298 312 +f 303 288 314 +f 294 303 314 +f 292 299 315 +f 294 289 316 +f 303 294 316 +f 291 306 318 +f 289 309 319 +f 309 291 319 +f 291 318 319 +f 295 287 321 +f 304 305 321 +f 306 295 322 +f 295 307 322 +f 282 301 323 +f 301 289 323 +f 319 282 323 +f 289 319 323 +f 288 310 324 +f 314 288 324 +f 294 314 324 +f 297 284 325 +f 284 300 325 +f 308 290 325 +f 300 308 325 +f 290 311 325 +f 298 285 326 +f 299 292 327 +f 305 286 327 +f 292 305 327 +f 317 299 327 +f 287 290 328 +f 296 287 328 +f 313 296 328 +f 286 304 329 +f 304 296 329 +f 296 308 329 +f 320 286 329 +f 293 312 330 +f 312 298 330 +f 317 293 331 +f 299 317 331 +f 298 326 331 +f 326 299 331 +f 293 330 331 +f 330 298 331 +f 292 301 332 +f 305 292 332 +f 289 294 333 +f 309 289 333 +f 291 309 333 +f 294 324 333 +f 333 324 334 +f 288 291 334 +f 310 288 334 +f 324 310 334 +f 291 333 334 +f 289 302 335 +f 315 285 335 +f 302 315 335 +f 287 296 336 +f 296 304 336 +f 321 287 336 +f 304 321 336 +f 300 293 337 +f 308 300 337 +f 293 320 337 +f 329 308 337 +f 320 329 337 +f 290 308 338 +f 308 296 338 +f 296 313 338 +f 328 290 338 +f 313 328 338 +f 301 292 339 +f 302 301 339 +f 292 315 339 +f 315 302 339 +f 307 295 340 +f 301 307 340 +f 295 321 340 +f 321 305 340 +f 332 301 340 +f 305 332 340 +f 290 297 341 +f 311 290 341 +f 297 325 341 +f 325 311 341 +f 285 315 342 +f 315 299 342 +f 326 285 342 +f 299 326 342 +f 293 317 343 +f 286 320 343 +f 320 293 343 +f 327 286 343 +f 317 327 343 +f 285 303 344 +f 316 289 344 +f 303 316 344 +f 289 335 344 +f 335 285 344 +f 307 282 345 +f 318 306 345 +f 282 319 345 +f 319 318 345 +f 306 322 345 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/305/305.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/305/305.urdf new file mode 100644 index 000000000..c9fe34db6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/305/305.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/306/306.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/306/306.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/306/306.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/306/306.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/306/306.obj new file mode 100644 index 000000000..bd270f83b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/306/306.obj @@ -0,0 +1,1125 @@ +o convex_0 +v -0.729315 -1.721019 1.100932 +v -0.064222 -3.938163 0.029547 +v 0.009589 -3.938163 0.029547 +v 0.009589 -1.721019 -1.190226 +v 0.933518 -1.721019 0.953050 +v -0.913941 -2.053753 -0.746580 +v 0.711687 -3.198898 -0.635668 +v 0.711687 -3.198898 0.916079 +v -0.729315 -3.235796 0.842138 +v -0.729315 -3.161999 -0.709609 +v 0.970523 -1.721019 -0.598698 +v 0.083599 -1.757917 1.396696 +v -1.024956 -1.721019 0.250611 +v -0.101028 -3.642326 0.878856 +v 0.009589 -3.605211 -0.672639 +v -0.803126 -3.420721 -0.007423 +v 0.785697 -3.346707 0.139699 +v -0.470679 -1.721019 -1.153255 +v 0.526862 -1.794815 -1.079314 +v -0.950946 -1.979523 0.842138 +v 1.007528 -1.979523 0.176923 +v -0.470679 -1.757917 1.322502 +v 0.453051 -1.794815 1.359725 +v -0.950946 -1.721019 -0.746580 +v -1.024956 -1.979523 0.029547 +v 0.748692 -3.457619 0.103235 +v 0.046594 -3.642326 0.879109 +v 0.933518 -1.979523 -0.672639 +v 0.009589 -3.531415 -0.709609 +v -0.803126 -3.420721 0.139952 +v 0.009589 -3.938163 0.176923 +v -0.729315 -2.977075 -0.783550 +v -0.064023 -1.721019 1.396696 +v -0.138032 -3.901047 0.103235 +v 0.933518 -1.942624 0.879109 +v -0.729315 -3.161999 0.878856 +v -0.064222 -3.568313 0.916079 +v -0.766320 -3.198898 -0.598698 +v -0.950946 -1.721019 0.878856 +v 0.674881 -2.903061 -0.746580 +v 0.711687 -1.721019 1.174873 +v -0.064222 -3.605211 -0.672386 +v 1.007528 -1.721019 0.361775 +v -0.396669 -1.794815 -1.153255 +v 0.046594 -1.757917 -1.190226 +v 0.711687 -1.721019 -0.931432 +v 0.748692 -3.161999 -0.561727 +v 1.007528 -1.942624 -0.007423 +v 0.748692 -3.420721 0.287834 +v -0.766320 -3.309809 0.583598 +v 0.009589 -3.568313 0.916079 +v -0.766320 -1.868828 1.063961 +v -0.359863 -1.868828 1.322502 +v -0.064222 -3.531415 -0.709609 +v -0.581494 -1.757917 -1.079061 +v 0.453051 -3.346707 -0.672639 +v 0.748692 -3.014190 -0.672639 +v 0.083599 -3.716340 0.657539 +v -1.024956 -1.942624 -0.044141 +v -1.024956 -1.979523 0.103235 +v 0.748692 -2.238244 1.063961 +f 41 23 61 +f 4 1 5 +f 4 5 11 +f 1 4 13 +f 3 2 15 +f 13 4 18 +f 13 18 24 +f 3 7 26 +f 25 16 30 +f 2 3 31 +f 3 26 31 +f 27 14 31 +f 10 6 32 +f 5 1 33 +f 1 22 33 +f 12 23 33 +f 16 2 34 +f 30 16 34 +f 2 31 34 +f 31 14 34 +f 5 8 35 +f 8 17 35 +f 17 21 35 +f 9 14 36 +f 20 9 36 +f 14 27 37 +f 12 33 37 +f 36 14 37 +f 6 10 38 +f 2 16 38 +f 1 13 39 +f 13 20 39 +f 5 33 41 +f 33 23 41 +f 15 2 42 +f 2 38 42 +f 38 10 42 +f 11 5 43 +f 5 35 43 +f 35 21 43 +f 18 4 44 +f 32 18 44 +f 4 19 45 +f 44 4 45 +f 4 11 46 +f 19 4 46 +f 11 28 46 +f 26 7 47 +f 17 26 47 +f 47 28 48 +f 21 17 48 +f 28 11 48 +f 11 43 48 +f 43 21 48 +f 17 47 48 +f 17 8 49 +f 26 17 49 +f 31 26 49 +f 14 9 50 +f 9 20 50 +f 20 30 50 +f 34 14 50 +f 30 34 50 +f 8 23 51 +f 23 12 51 +f 27 8 51 +f 12 37 51 +f 37 27 51 +f 22 1 52 +f 20 36 52 +f 36 22 52 +f 1 39 52 +f 39 20 52 +f 33 22 53 +f 22 36 53 +f 36 37 53 +f 37 33 53 +f 29 15 54 +f 10 32 54 +f 15 42 54 +f 42 10 54 +f 32 44 54 +f 45 29 54 +f 44 45 54 +f 6 24 55 +f 24 18 55 +f 32 6 55 +f 18 32 55 +f 7 3 56 +f 3 15 56 +f 15 29 56 +f 40 7 56 +f 19 40 56 +f 45 19 56 +f 29 45 56 +f 7 40 57 +f 40 19 57 +f 19 46 57 +f 46 28 57 +f 47 7 57 +f 28 47 57 +f 8 27 58 +f 27 31 58 +f 49 8 58 +f 31 49 58 +f 24 6 59 +f 13 24 59 +f 16 25 59 +f 25 13 59 +f 6 38 59 +f 38 16 59 +f 20 13 60 +f 13 25 60 +f 30 20 60 +f 25 30 60 +f 8 5 61 +f 23 8 61 +f 5 41 61 +o convex_1 +v 0.009677 0.607718 3.022573 +v 0.231308 2.048713 1.359805 +v 0.231308 2.048713 1.286008 +v -1.246660 1.198551 1.286189 +v 0.970420 0.016255 1.286008 +v -0.987791 -0.094736 1.323087 +v 0.009677 1.789804 2.911697 +v -0.766160 0.127036 2.763743 +v 1.376958 1.124697 1.322907 +v 0.785514 0.940271 2.837720 +v -0.766160 1.604959 2.726845 +v -0.840122 1.937722 1.286189 +v 0.785514 1.826731 2.062136 +v 0.379233 0.016255 2.209728 +v -0.803141 0.903344 2.911697 +v 0.970420 1.900795 1.286008 +v -0.027304 2.048713 2.136113 +v 0.305271 0.275164 2.801003 +v 0.896458 0.275164 2.099034 +v -1.024772 0.163963 2.099215 +v -0.101010 1.013915 3.133448 +v -0.766160 1.900795 1.951260 +v 0.748532 1.124697 2.837720 +v -0.248935 -0.094736 1.286189 +v 0.600864 1.605168 2.653049 +v 0.157602 0.238027 2.874799 +v -0.950809 1.863868 1.359986 +v -0.729178 -0.020672 2.061955 +v 0.046658 1.050843 3.133448 +v 1.376958 1.050633 1.286008 +v 1.007402 0.090109 1.470861 +v 0.785514 1.974649 1.359805 +v 0.637845 0.422662 2.653049 +v 0.527158 -0.057390 1.322907 +v 0.083640 -0.020463 2.099034 +v -1.098735 0.385735 1.286189 +v -0.692197 1.900795 2.099215 +v -0.137991 2.048713 1.286189 +v -1.246660 1.198551 1.323087 +v -0.581510 0.090109 2.689947 +v 0.083640 2.048713 2.099034 +v -0.987791 0.607718 2.320242 +v 1.376958 1.050633 1.322907 +v 0.822495 1.050633 2.763924 +v 0.046658 0.940061 3.133448 +v 0.527158 0.016255 2.062136 +v -0.027304 1.789804 2.911697 +v -0.729178 0.829280 2.948596 +v 0.157602 0.201100 2.837720 +v -0.211954 0.755426 3.059471 +v 0.970420 1.900795 1.359805 +v -0.987791 -0.094736 1.286189 +v -0.877104 0.127036 2.505275 +v -0.729178 0.940061 2.948596 +v -1.246660 1.124487 1.323087 +v 0.748532 0.976988 2.874799 +v 0.453196 -0.020463 1.914362 +v -0.766160 0.090109 2.689947 +v 0.859476 0.238027 2.099034 +f 110 107 120 +f 64 65 73 +f 66 64 77 +f 63 64 78 +f 78 73 83 +f 74 68 86 +f 68 84 86 +f 62 69 87 +f 79 71 87 +f 73 65 88 +f 72 83 88 +f 83 73 88 +f 84 68 90 +f 66 77 91 +f 77 70 91 +f 66 91 92 +f 64 63 93 +f 77 64 93 +f 71 79 94 +f 80 71 94 +f 85 66 95 +f 67 85 96 +f 89 67 96 +f 65 64 97 +f 67 81 97 +f 83 72 98 +f 78 83 98 +f 64 73 99 +f 78 64 99 +f 73 78 99 +f 76 72 100 +f 88 65 100 +f 72 88 100 +f 96 75 101 +f 68 74 102 +f 63 78 102 +f 78 68 102 +f 93 63 102 +f 74 93 102 +f 76 100 103 +f 71 80 104 +f 91 70 104 +f 80 92 104 +f 92 91 104 +f 70 74 105 +f 74 86 105 +f 86 84 105 +f 104 70 105 +f 71 104 105 +f 62 87 106 +f 90 82 106 +f 66 92 107 +f 68 78 108 +f 72 82 108 +f 82 90 108 +f 90 68 108 +f 98 72 108 +f 78 98 108 +f 76 69 109 +f 87 69 110 +f 79 87 110 +f 69 101 110 +f 101 75 110 +f 75 107 110 +f 69 62 111 +f 62 106 111 +f 106 82 111 +f 109 69 111 +f 82 109 111 +f 74 70 112 +f 70 77 112 +f 77 93 112 +f 93 74 112 +f 64 66 113 +f 66 85 113 +f 85 67 113 +f 97 64 113 +f 67 97 113 +f 69 76 114 +f 81 67 114 +f 76 103 114 +f 103 81 114 +f 72 76 115 +f 82 72 115 +f 76 109 115 +f 109 82 115 +f 65 97 116 +f 97 81 116 +f 100 65 116 +f 81 103 116 +f 103 100 116 +f 87 71 117 +f 84 90 117 +f 71 105 117 +f 105 84 117 +f 106 87 117 +f 90 106 117 +f 95 66 118 +f 85 95 118 +f 96 85 118 +f 75 96 118 +f 107 75 118 +f 66 107 118 +f 67 89 119 +f 89 96 119 +f 101 69 119 +f 96 101 119 +f 114 67 119 +f 69 114 119 +f 92 80 120 +f 94 79 120 +f 80 94 120 +f 107 92 120 +f 79 110 120 +o convex_2 +v -0.027205 -0.316747 1.470818 +v -0.101106 -1.720801 1.396696 +v 0.083479 -1.720801 1.396696 +v -0.027205 -0.981869 3.133459 +v 0.601011 -0.981869 1.396696 +v -0.544625 -0.981869 1.396696 +v 0.416202 -0.907921 2.837822 +v -0.396711 -0.907921 2.874713 +v 0.046472 -1.388034 2.911604 +v 0.526998 -0.390558 1.396696 +v 0.009802 -0.538455 2.837822 +v -0.433718 -1.572767 1.470818 +v -0.433718 -0.464506 1.396696 +v 0.416202 -1.572767 1.433927 +v -0.285915 -1.277112 2.726979 +v -0.359816 -0.538455 2.209826 +v 0.379084 -1.314086 2.394281 +v 0.342189 -0.575291 2.505124 +v -0.507619 -0.907921 2.136045 +v 0.046472 -0.390558 2.209826 +v 0.526998 -0.944895 2.209826 +v -0.396711 -1.018706 2.874713 +v -0.064099 -0.538455 2.837822 +v -0.248908 -0.390558 1.692503 +v 0.379084 -0.981869 2.911604 +v -0.101106 -1.351060 2.874713 +v 0.416202 -0.501480 2.172935 +v -0.470612 -1.461983 1.396696 +v 0.305182 -1.277112 2.726979 +v 0.194274 -0.316747 1.396696 +v 0.601011 -1.055405 1.433927 +v -0.507619 -1.018706 2.062093 +v 0.526998 -0.427532 1.544770 +v 0.379084 -0.870947 2.874713 +v 0.416202 -1.351060 2.136045 +v -0.322810 -0.612265 2.542184 +v 0.009802 -0.944895 3.133459 +v 0.416202 -0.981869 2.837822 +v 0.526998 -0.870947 2.209826 +v -0.101106 -1.720801 1.433927 +v 0.453097 -1.498819 1.396696 +f 151 155 161 +f 123 122 125 +f 125 122 126 +f 125 126 130 +f 130 126 133 +f 129 123 134 +f 133 126 139 +f 128 136 139 +f 136 133 139 +f 124 128 142 +f 132 135 142 +f 128 139 142 +f 131 140 143 +f 143 140 144 +f 121 133 144 +f 133 136 144 +f 140 121 144 +f 136 143 144 +f 129 124 146 +f 135 132 146 +f 124 142 146 +f 142 135 146 +f 138 127 147 +f 131 138 147 +f 130 140 147 +f 140 131 147 +f 126 122 148 +f 122 132 148 +f 129 134 149 +f 134 137 149 +f 145 129 149 +f 133 121 150 +f 130 133 150 +f 121 140 150 +f 140 130 150 +f 139 126 152 +f 132 142 152 +f 142 139 152 +f 126 148 152 +f 148 132 152 +f 125 130 153 +f 147 127 153 +f 130 147 153 +f 127 138 154 +f 138 131 154 +f 145 127 154 +f 137 134 155 +f 151 141 155 +f 136 128 156 +f 128 143 156 +f 143 136 156 +f 128 124 157 +f 124 129 157 +f 143 128 157 +f 131 143 157 +f 129 145 157 +f 154 131 157 +f 145 154 157 +f 141 127 158 +f 127 145 158 +f 149 137 158 +f 145 149 158 +f 137 155 158 +f 155 141 158 +f 127 141 159 +f 151 125 159 +f 141 151 159 +f 125 153 159 +f 153 127 159 +f 122 123 160 +f 123 129 160 +f 132 122 160 +f 129 146 160 +f 146 132 160 +f 123 125 161 +f 134 123 161 +f 125 151 161 +f 155 134 161 +o convex_3 +v -0.544510 0.016132 -1.929502 +v 0.157423 2.122625 -1.153451 +v 0.637967 2.048601 -1.153451 +v 0.046468 1.826941 -2.779161 +v 1.192221 0.201089 -1.153451 +v -1.357398 1.087730 -1.153451 +v 0.785647 0.533682 -2.631222 +v -0.692189 1.051027 -2.779161 +v -0.987808 1.974783 -1.190526 +v -1.098763 0.127065 -1.153451 +v 1.007296 1.937668 -1.227421 +v 0.822632 1.124639 -2.705191 +v 0.748662 0.201089 -2.557432 +v -0.064226 0.385840 -2.779161 +v 0.896602 0.016132 -1.153451 +v 1.302916 1.161754 -1.190526 +v 0.120438 1.051027 -3.000890 +v 0.009483 2.122625 -2.040366 +v -0.766159 1.863850 -2.003472 +v -0.877114 0.274907 -2.003472 +v 0.785647 1.900759 -1.929502 +v 1.044281 0.274907 -1.929502 +v 0.933587 0.016132 -1.633984 +v -0.950823 0.016132 -1.153451 +v -0.138196 0.274907 -2.705191 +v -0.581495 1.605074 -2.594327 +v 0.600982 1.679099 -2.557432 +v -0.766159 1.087730 -2.668297 +v -0.027241 1.900759 -2.705191 +v -0.581495 0.459658 -2.557432 +v -0.175181 2.122625 -1.153451 +v 0.970311 1.974783 -1.153451 +v -1.357398 1.087730 -1.190526 +v -0.027241 1.124639 -3.000890 +v -1.135748 0.163974 -1.227421 +v 0.748662 0.016132 -1.818638 +v 1.302916 1.014118 -1.227421 +v 0.785647 1.161754 -2.742086 +v -0.101211 2.122625 -1.966577 +v -1.024793 1.937668 -1.153451 +v -0.138196 0.053453 -2.113975 +v 0.046468 1.900759 -2.705191 +v -0.064226 1.789826 -2.779161 +v -0.729174 1.014118 -2.742086 +v 0.379073 2.085304 -1.670879 +v -0.729174 1.124639 -2.742086 +v 1.302916 1.161754 -1.153451 +v -0.913838 0.274907 -1.929502 +v 0.083453 1.161754 -3.000890 +v -1.357398 1.051027 -1.190526 +v 1.081266 1.124639 -1.929502 +v 0.009483 1.014118 -3.000890 +v -0.950823 1.937668 -1.412255 +v 0.785647 1.014118 -2.742086 +v 0.822632 0.201089 -2.446568 +v 1.192221 0.237998 -1.264315 +v 0.822632 1.014118 -2.705191 +v -0.175181 1.826941 -2.705191 +v 0.157423 0.274907 -2.705191 +f 186 175 220 +f 164 163 166 +f 166 163 167 +f 166 167 171 +f 166 171 176 +f 168 174 178 +f 172 173 182 +f 176 162 184 +f 166 176 184 +f 162 176 185 +f 176 171 185 +f 169 175 186 +f 162 181 186 +f 186 181 191 +f 167 163 192 +f 163 179 192 +f 164 166 193 +f 172 182 193 +f 171 167 196 +f 181 162 196 +f 162 185 196 +f 185 171 196 +f 184 162 197 +f 174 184 197 +f 182 173 199 +f 165 188 199 +f 188 182 199 +f 179 190 200 +f 190 180 200 +f 170 192 200 +f 192 179 200 +f 167 192 201 +f 192 170 201 +f 194 167 201 +f 162 186 202 +f 186 174 202 +f 197 162 202 +f 174 197 202 +f 179 182 203 +f 188 165 203 +f 182 188 203 +f 190 179 203 +f 165 190 203 +f 190 165 204 +f 165 195 204 +f 195 169 204 +f 169 186 205 +f 191 181 205 +f 186 191 205 +f 163 164 206 +f 179 163 206 +f 182 179 206 +f 164 193 206 +f 193 182 206 +f 180 187 207 +f 194 180 207 +f 189 194 207 +f 204 169 207 +f 169 205 207 +f 205 189 207 +f 177 172 208 +f 193 166 208 +f 172 193 208 +f 166 198 208 +f 198 177 208 +f 181 196 209 +f 205 181 209 +f 195 165 210 +f 178 195 210 +f 165 199 210 +f 199 178 210 +f 167 194 211 +f 194 189 211 +f 196 167 211 +f 189 205 211 +f 209 196 211 +f 205 209 211 +f 173 172 212 +f 172 177 212 +f 177 198 212 +f 198 183 212 +f 175 169 213 +f 178 175 213 +f 169 195 213 +f 195 178 213 +f 180 194 214 +f 170 200 214 +f 200 180 214 +f 201 170 214 +f 194 201 214 +f 168 178 215 +f 199 173 215 +f 178 199 215 +f 174 168 216 +f 184 174 216 +f 183 184 216 +f 166 184 217 +f 184 183 217 +f 198 166 217 +f 183 198 217 +f 173 212 218 +f 212 183 218 +f 168 215 218 +f 215 173 218 +f 216 168 218 +f 183 216 218 +f 187 180 219 +f 180 190 219 +f 190 204 219 +f 207 187 219 +f 204 207 219 +f 178 174 220 +f 175 178 220 +f 174 186 220 +o convex_4 +v 2.966068 1.161432 0.509404 +v -1.431165 0.976616 -1.153270 +v -1.653044 0.976616 -1.079257 +v 1.007128 -0.242560 1.137562 +v -2.022644 1.863781 0.953007 +v 0.156988 2.122430 -1.153270 +v 0.896189 0.016324 -1.153270 +v -2.687686 0.238056 -0.007257 +v 0.785843 1.974765 1.285828 +v -0.988001 -0.094425 1.285828 +v 2.817753 1.900697 -0.044264 +v -2.022644 2.122430 -0.450859 +v -0.950625 -0.242560 -0.857455 +v 2.633250 0.533621 -0.524634 +v -2.798626 1.124516 0.841986 +v -2.687686 1.161667 -0.709429 +v 2.780971 1.161432 -0.635654 +v 2.817753 0.311889 0.066279 +v 2.817753 1.161432 0.878993 +v 1.783703 2.159581 0.472636 +v 1.043910 -0.242560 -0.783442 +v -0.840279 1.937613 1.285828 +v 1.007128 1.974765 -1.153270 +v -2.761844 1.863781 -0.007257 +v 1.487667 1.050683 1.285828 +v -0.988001 1.974530 -1.153270 +v -0.988001 -0.242560 1.101033 +v 2.596468 1.900697 0.731205 +v -1.024783 0.053240 -1.153270 +v 2.041771 2.159581 -0.413853 +v -2.539965 0.274972 0.657192 +v -1.689826 2.085514 0.509643 +v 2.633250 0.311889 0.657431 +v -2.983723 1.014002 0.029511 +v -2.059426 0.274972 -0.820449 +v 1.007128 0.016324 1.285828 +v -1.578886 1.124751 1.248821 +v 1.413510 -0.242560 0.287603 +v 1.376728 1.050448 -1.153270 +v -2.539965 1.900697 0.657192 +v -0.137861 2.048362 1.285828 +v 3.077007 1.087835 0.066279 +v 2.079146 1.900697 -0.746674 +v -2.022644 1.863781 -0.820449 +v 2.115928 0.053240 -0.413853 +v -2.022644 0.016324 -0.487866 +v 1.192225 0.201140 -1.153270 +v -2.650904 0.349040 -0.340078 +v 0.637528 -0.242560 -1.005004 +v -2.687686 1.050919 0.916000 +v -1.800765 2.122430 0.214067 +v 0.637528 2.159581 -0.672661 +v 2.115928 0.311889 -0.746674 +v 1.007128 1.863781 1.285828 +v -2.687686 0.976851 -0.709429 +v 2.780971 1.013767 -0.635654 +v -2.576747 1.715881 -0.487866 +v 2.817753 1.050919 0.878993 +v 0.637528 -0.242560 1.248821 +v 2.079146 2.159581 0.103047 +v -2.022644 1.124516 1.137801 +v 2.780971 0.311889 -0.118277 +v 2.633250 1.642049 -0.524634 +v -0.581025 -0.242560 -1.005004 +f 269 233 284 +f 222 226 227 +f 222 223 236 +f 224 233 241 +f 230 229 242 +f 227 226 243 +f 229 230 245 +f 226 222 246 +f 232 226 246 +f 222 236 246 +f 233 224 247 +f 221 231 248 +f 239 221 248 +f 240 229 248 +f 223 222 249 +f 222 227 249 +f 243 226 250 +f 247 230 251 +f 228 247 251 +f 235 244 254 +f 244 236 254 +f 228 251 254 +f 251 235 254 +f 223 249 255 +f 249 233 255 +f 245 230 256 +f 224 253 256 +f 230 242 257 +f 224 241 258 +f 238 253 258 +f 253 224 258 +f 227 243 259 +f 243 237 259 +f 235 225 260 +f 225 242 260 +f 232 244 260 +f 244 235 260 +f 252 260 261 +f 229 240 261 +f 242 229 261 +f 260 242 261 +f 231 221 262 +f 237 231 262 +f 237 243 263 +f 250 231 263 +f 243 250 263 +f 232 246 264 +f 246 236 264 +f 258 241 265 +f 238 258 265 +f 247 228 266 +f 233 247 266 +f 255 233 266 +f 227 259 267 +f 228 254 268 +f 266 228 268 +f 255 266 268 +f 227 241 269 +f 241 233 269 +f 225 235 270 +f 235 251 270 +f 251 230 270 +f 232 260 271 +f 260 252 271 +f 252 261 271 +f 261 240 271 +f 226 232 272 +f 250 226 272 +f 240 250 272 +f 232 271 272 +f 271 240 272 +f 241 227 273 +f 265 241 273 +f 227 267 273 +f 229 245 274 +f 245 239 274 +f 248 229 274 +f 239 248 274 +f 236 223 275 +f 254 236 275 +f 223 255 275 +f 268 254 275 +f 255 268 275 +f 259 237 276 +f 237 262 276 +f 267 259 276 +f 234 273 276 +f 273 267 276 +f 244 232 277 +f 236 244 277 +f 232 264 277 +f 264 236 277 +f 221 239 278 +f 239 245 278 +f 253 238 278 +f 245 256 278 +f 256 253 278 +f 262 221 278 +f 238 262 278 +f 247 224 279 +f 230 247 279 +f 224 256 279 +f 256 230 279 +f 248 231 280 +f 240 248 280 +f 231 250 280 +f 250 240 280 +f 242 225 281 +f 230 257 281 +f 257 242 281 +f 225 270 281 +f 270 230 281 +f 262 238 282 +f 238 265 282 +f 273 234 282 +f 265 273 282 +f 234 276 282 +f 276 262 282 +f 231 237 283 +f 263 231 283 +f 237 263 283 +f 249 227 284 +f 233 249 284 +f 227 269 284 +o convex_5 +v 0.305334 -0.427572 -1.301250 +v 0.009715 -1.720801 -1.264185 +v 0.046613 -1.720801 -1.264185 +v 0.046613 -0.907899 -2.927159 +v -0.507619 -0.612262 -1.190226 +v 0.564055 -1.240207 -1.190226 +v -0.396707 -0.834023 -2.668387 +v -0.433714 -1.535844 -1.190226 +v 0.120518 -0.501448 -2.631323 +v 0.416137 -0.907899 -2.594258 +v -0.064190 -1.277145 -2.668387 +v -0.433714 -0.390634 -1.190226 +v 0.490042 -1.572782 -1.227290 +v 0.453144 -0.501448 -1.190226 +v -0.544625 -0.981775 -1.559851 +v 0.009715 -0.464510 -2.594258 +v -0.396707 -1.277145 -2.077055 +v 0.305334 -1.203269 -2.446680 +v 0.046613 -0.353696 -1.707769 +v 0.564055 -0.981775 -1.596746 +v -0.322802 -0.501448 -2.187908 +v 0.416137 -0.538386 -1.818623 +v 0.009715 -1.277145 -2.668387 +v 0.083620 -0.353696 -1.190226 +v -0.359809 -0.907899 -2.742176 +v -0.507619 -0.834023 -2.003266 +v -0.322802 -1.609720 -1.227290 +v 0.120518 -1.720801 -1.190226 +v -0.544625 -1.129393 -1.190226 +v -0.027183 -0.501448 -2.668387 +v 0.342232 -0.612262 -2.409616 +v -0.433714 -0.390634 -1.301250 +v 0.527049 -0.870961 -1.892582 +v -0.285904 -1.203269 -2.520639 +v 0.046613 -0.834023 -2.927159 +v 0.564055 -0.944837 -1.190226 +v -0.433714 -1.425030 -1.596746 +v 0.527049 -0.981775 -1.929647 +v -0.285904 -0.612262 -2.557534 +v -0.359809 -0.834023 -2.742176 +v -0.396707 -0.907899 -2.668387 +v 0.416137 -0.870961 -2.594258 +v 0.342232 -0.501448 -1.929647 +v 0.305334 -0.944837 -2.705112 +f 319 326 328 +f 290 289 292 +f 287 286 295 +f 289 290 296 +f 296 290 298 +f 294 297 302 +f 293 300 303 +f 287 295 307 +f 295 288 307 +f 302 297 307 +f 298 285 308 +f 296 298 308 +f 285 303 308 +f 303 296 308 +f 288 295 309 +f 299 289 310 +f 295 286 311 +f 286 287 312 +f 290 292 312 +f 297 290 312 +f 287 307 312 +f 307 297 312 +f 311 286 312 +f 292 311 312 +f 292 289 313 +f 289 299 313 +f 300 293 314 +f 305 300 314 +f 289 296 316 +f 296 303 316 +f 303 300 316 +f 305 291 316 +f 300 305 316 +f 310 289 316 +f 291 310 316 +f 298 304 317 +f 306 298 317 +f 309 295 318 +f 295 311 318 +f 288 309 319 +f 314 293 319 +f 298 290 320 +f 290 304 320 +f 304 298 320 +f 311 292 321 +f 292 313 321 +f 313 299 321 +f 301 318 321 +f 318 311 321 +f 290 297 322 +f 297 294 322 +f 304 290 322 +f 317 304 322 +f 291 305 323 +f 305 314 323 +f 323 314 324 +f 309 291 324 +f 319 309 324 +f 314 319 324 +f 291 323 324 +f 291 309 325 +f 299 310 325 +f 310 291 325 +f 309 318 325 +f 318 301 325 +f 321 299 325 +f 301 321 325 +f 293 315 326 +f 315 306 326 +f 306 317 326 +f 319 293 326 +f 322 294 326 +f 317 322 326 +f 285 298 327 +f 303 285 327 +f 293 303 327 +f 298 306 327 +f 315 293 327 +f 306 315 327 +f 294 302 328 +f 307 288 328 +f 302 307 328 +f 288 319 328 +f 326 294 328 +o convex_6 +v -0.988011 -1.683618 -0.488040 +v 1.340132 -0.242705 0.324805 +v 1.340132 -0.279600 0.324805 +v -0.544423 -0.944859 1.396696 +v -0.988011 -0.242705 -0.820521 +v 0.933355 -1.720657 -0.709609 +v 0.527041 -1.720657 1.322755 +v -0.988011 -0.242705 1.100932 +v 0.453187 -0.501401 -1.190226 +v 1.007441 -0.242705 1.137902 +v -0.470569 -1.720657 -1.153255 +v -0.950968 -1.720657 0.879109 +v 1.044252 -0.242705 -0.783550 +v 0.933355 -1.720657 0.953050 +v 0.527041 -0.390573 1.396696 +v 0.489999 -1.572789 -1.190226 +v -0.433757 -0.390573 -1.190226 +v -0.322860 -1.646723 1.396696 +v 1.044252 -1.683618 0.103235 +v -1.025054 -1.720657 0.250864 +v -0.950968 -1.720657 -0.746580 +v 0.046874 -0.279744 1.396696 +v -0.581466 -1.092437 -1.190226 +v 0.600896 -1.166226 1.396696 +v 0.637707 -0.242705 -1.005373 +v 1.340132 -0.279600 0.140206 +v -0.618277 -1.720657 1.211843 +v 0.563853 -1.277199 -1.190226 +v -0.433757 -0.464506 1.396696 +v 0.157539 -1.720657 -1.190226 +v 0.970398 -1.683618 -0.672639 +v -0.988011 -0.649269 1.063961 +v -1.025054 -1.424922 -0.118335 +v 1.044252 -0.649269 -0.746580 +v -0.064023 -0.279744 -1.116285 +v 0.268205 -1.720657 1.396696 +v 1.007441 -0.723202 1.063961 +v -0.544423 -1.129331 1.396696 +v 0.970398 -1.720657 0.768197 +v -0.470569 -1.646723 -1.190226 +v -0.581466 -0.242705 1.248814 +v -0.581466 -0.242705 -1.005373 +v -0.950968 -1.683618 0.916079 +v 0.563853 -0.907964 -1.190226 +v 0.120728 -0.353678 -1.190226 +v 0.527041 -1.720657 -1.079314 +v -0.988011 -1.683618 0.731480 +v 0.674750 -1.240160 1.322755 +v -0.988011 -0.390573 -0.820521 +v -0.470569 -1.720657 1.322755 +v -0.950968 -0.242705 1.137902 +v 0.674750 -0.242705 1.248814 +v 0.970398 -1.498856 0.953050 +v -1.025054 -1.720657 -0.118335 +f 361 377 382 +f 330 333 336 +f 331 330 338 +f 330 336 338 +f 334 335 339 +f 339 335 340 +f 333 330 341 +f 335 334 342 +f 337 344 345 +f 343 332 346 +f 339 340 348 +f 339 348 349 +f 332 343 350 +f 333 345 351 +f 345 344 351 +f 338 343 352 +f 343 346 352 +f 333 341 353 +f 341 337 353 +f 330 331 354 +f 341 330 354 +f 331 347 354 +f 340 335 355 +f 334 344 356 +f 344 337 356 +f 332 350 357 +f 334 339 358 +f 351 344 358 +f 347 334 359 +f 354 347 359 +f 336 348 360 +f 336 333 361 +f 348 336 361 +f 341 354 362 +f 334 356 362 +f 356 341 362 +f 359 334 362 +f 354 359 362 +f 335 352 364 +f 352 346 364 +f 355 335 364 +f 331 338 365 +f 346 332 366 +f 331 342 367 +f 342 334 367 +f 347 331 367 +f 334 347 367 +f 339 349 368 +f 349 351 368 +f 358 339 368 +f 351 358 368 +f 338 336 369 +f 357 350 369 +f 345 333 370 +f 333 353 370 +f 363 345 370 +f 353 363 370 +f 340 355 371 +f 355 366 371 +f 366 360 371 +f 337 341 372 +f 341 356 372 +f 356 337 372 +f 337 345 373 +f 353 337 373 +f 345 363 373 +f 363 353 373 +f 344 334 374 +f 334 358 374 +f 358 344 374 +f 348 340 375 +f 360 348 375 +f 340 371 375 +f 371 360 375 +f 335 342 376 +f 352 335 376 +f 338 352 376 +f 365 338 376 +f 342 365 376 +f 349 329 377 +f 333 351 377 +f 351 349 377 +f 361 333 377 +f 364 346 378 +f 355 364 378 +f 346 366 378 +f 366 355 378 +f 332 357 379 +f 336 360 379 +f 366 332 379 +f 360 366 379 +f 369 336 379 +f 357 369 379 +f 343 338 380 +f 350 343 380 +f 338 369 380 +f 369 350 380 +f 342 331 381 +f 331 365 381 +f 365 342 381 +f 329 349 382 +f 349 348 382 +f 348 361 382 +f 377 329 382 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/306/306.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/306/306.urdf new file mode 100644 index 000000000..07dc8116e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/306/306.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/307/307.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/307/307.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/307/307.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/307/307.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/307/307.obj new file mode 100644 index 000000000..e3583a013 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/307/307.obj @@ -0,0 +1,612 @@ +o convex_0 +v 0.525471 -3.725687 1.905020 +v -0.632489 -4.540536 2.205123 +v -0.632489 -4.540536 2.333769 +v -0.503726 -2.568100 2.333769 +v -0.503726 -2.568100 1.347627 +v 0.439667 -2.568100 2.419602 +v 0.525471 -4.454610 1.347627 +v 0.482512 -2.568100 1.347627 +v 0.525471 -4.497476 2.290957 +v -0.546685 -4.368877 1.347627 +v -0.032086 -4.540536 2.333769 +v -0.589530 -4.283144 1.390543 +v -0.546685 -2.911225 1.690751 +v 0.482512 -2.954092 2.376686 +v -0.546685 -2.868359 2.333769 +v 0.525471 -3.554222 1.347627 +v 0.268058 -4.540536 2.248040 +v 0.353863 -2.654027 2.419602 +f 4 15 18 +f 5 4 6 +f 5 6 8 +f 7 5 8 +f 7 1 9 +f 5 7 10 +f 7 2 10 +f 3 2 11 +f 9 6 11 +f 10 2 12 +f 5 10 12 +f 12 2 13 +f 5 12 13 +f 1 8 14 +f 8 6 14 +f 9 1 14 +f 6 9 14 +f 2 3 15 +f 4 5 15 +f 13 2 15 +f 5 13 15 +f 1 7 16 +f 8 1 16 +f 7 8 16 +f 2 7 17 +f 7 9 17 +f 11 2 17 +f 9 11 17 +f 6 4 18 +f 3 11 18 +f 11 6 18 +f 15 3 18 +o convex_1 +v -0.932479 -2.524819 -2.640761 +v 0.396619 -0.466424 -1.268808 +v 0.954120 -0.466625 -1.268808 +v 0.396619 -0.466424 -3.198302 +v 1.125824 -2.438985 -3.284122 +v 0.825449 -2.482103 -1.268808 +v -0.975512 -0.466424 -1.268808 +v -0.932479 -0.466424 -3.198302 +v -1.061363 -2.438985 -1.268808 +v -1.018330 -2.524819 -3.284122 +v 0.997153 -0.552258 -3.198302 +v 0.954120 -2.438985 -1.268808 +v -1.018330 -0.681209 -1.311817 +v 1.082791 -1.967303 -3.284122 +v 0.868482 -2.482103 -3.284122 +v -1.018330 -2.224602 -3.284122 +v 0.954120 -0.466625 -3.198302 +v -1.061363 -2.481902 -1.611895 +v -0.331944 -2.524819 -3.284122 +v -1.061363 -2.353151 -2.169436 +v -0.975512 -0.981224 -3.155292 +v 0.954120 -1.024141 -3.241113 +v 0.997153 -0.938307 -1.697716 +v -1.061363 -1.752719 -1.268808 +v -0.975512 -0.466424 -2.426307 +v 1.125824 -2.396270 -3.241113 +v 0.997153 -2.438985 -1.697716 +f 23 44 45 +f 20 21 22 +f 21 20 24 +f 20 22 25 +f 24 20 25 +f 25 22 26 +f 24 25 27 +f 21 24 30 +f 23 28 32 +f 29 23 32 +f 23 24 33 +f 28 23 33 +f 32 28 34 +f 22 21 35 +f 21 29 35 +f 19 24 36 +f 24 27 36 +f 28 19 36 +f 24 19 37 +f 19 28 37 +f 33 24 37 +f 28 33 37 +f 34 28 38 +f 36 27 38 +f 28 36 38 +f 26 34 39 +f 38 31 39 +f 34 38 39 +f 26 22 40 +f 29 32 40 +f 34 26 40 +f 32 34 40 +f 22 35 40 +f 35 29 40 +f 29 21 41 +f 21 30 41 +f 27 25 42 +f 25 31 42 +f 38 27 42 +f 31 38 42 +f 25 26 43 +f 31 25 43 +f 26 39 43 +f 39 31 43 +f 23 29 44 +f 29 41 44 +f 44 41 45 +f 24 23 45 +f 30 24 45 +f 41 30 45 +o convex_2 +v -1.060853 -2.438883 -1.268611 +v 1.039677 -0.294874 0.875613 +v 0.997054 -0.466626 0.918648 +v -3.119960 -0.423688 0.832579 +v -3.076736 -2.567698 0.832579 +v 2.969715 -2.396168 0.789759 +v 3.012938 -0.423688 -1.225577 +v -2.948267 -0.466626 -1.139936 +v 3.012338 -2.438883 -1.268397 +v -2.990891 -2.524760 -1.225577 +v 2.969715 -0.380750 0.789759 +v 0.310885 -0.294874 -1.225577 +v -1.104076 -2.482044 0.918648 +v -0.975007 -0.466626 -1.268611 +v -1.104076 -0.294874 0.918648 +v -0.975007 -0.294874 -1.139936 +v 1.082900 -2.396168 0.918648 +v 3.012938 -0.380750 -0.367887 +v -2.990891 -2.482044 0.875613 +v 2.969715 -1.281559 0.832579 +v -2.990891 -2.567698 -0.067931 +v 0.953831 -0.294874 -1.225577 +v -2.990891 -1.838641 -1.225577 +v 0.953831 -0.466626 -1.268611 +v 3.012338 -2.438883 -0.796732 +v -3.119960 -0.423688 0.575229 +v -2.776575 -0.423688 0.875613 +v 3.012938 -0.938277 0.189419 +v -3.034114 -2.524760 -0.710877 +v 2.927092 -2.396168 0.832579 +v 0.825362 -2.482044 -1.268611 +v 3.012338 -1.624173 -1.268397 +v -3.119960 -1.367435 0.789973 +v -3.034114 -0.423688 -0.196178 +v -1.446860 -0.595440 0.918648 +v -2.948267 -0.852624 -1.182542 +v -2.176252 -2.524760 -1.225577 +v -2.990891 -2.567698 0.832579 +v 2.540484 -0.380750 0.832579 +v -3.076736 -2.567698 0.403734 +v 3.012338 -2.396168 -0.410707 +f 70 73 86 +f 53 57 59 +f 48 47 60 +f 47 57 60 +f 58 48 60 +f 57 53 61 +f 60 57 61 +f 48 58 62 +f 47 56 63 +f 49 50 64 +f 50 58 64 +f 48 62 65 +f 57 47 67 +f 59 57 67 +f 63 52 67 +f 47 63 67 +f 46 55 68 +f 59 46 68 +f 46 59 69 +f 67 52 69 +f 59 67 69 +f 66 54 70 +f 49 60 71 +f 60 61 71 +f 53 68 71 +f 60 49 72 +f 49 64 72 +f 54 52 73 +f 52 63 73 +f 63 56 73 +f 56 65 73 +f 65 51 73 +f 70 54 73 +f 68 55 74 +f 71 68 74 +f 62 58 75 +f 65 62 75 +f 51 65 75 +f 55 46 76 +f 54 66 76 +f 46 69 76 +f 69 54 76 +f 52 54 77 +f 54 69 77 +f 69 52 77 +f 50 49 78 +f 49 71 78 +f 71 74 78 +f 61 53 79 +f 53 71 79 +f 71 61 79 +f 58 60 80 +f 64 58 80 +f 60 72 80 +f 72 64 80 +f 53 59 81 +f 68 53 81 +f 59 68 81 +f 66 55 82 +f 55 76 82 +f 76 66 82 +f 58 50 83 +f 50 66 83 +f 70 51 83 +f 66 70 83 +f 51 75 83 +f 75 58 83 +f 47 48 84 +f 56 47 84 +f 48 65 84 +f 65 56 84 +f 66 50 85 +f 55 66 85 +f 74 55 85 +f 50 78 85 +f 78 74 85 +f 51 70 86 +f 73 51 86 +o convex_3 +v 1.040120 -0.294702 0.704076 +v -0.975370 1.334617 -1.268401 +v -0.975370 1.463338 -1.268401 +v -1.104251 -0.294702 0.875340 +v 0.954270 1.463338 0.832734 +v 0.954270 -0.294702 -1.225585 +v 0.997090 1.463338 -1.139743 +v -0.932550 1.463338 0.832524 +v -0.975370 -0.294702 -1.139743 +v 1.040120 -0.294702 0.875760 +v -1.018401 0.734378 0.875340 +v 0.997090 0.905777 -1.182559 +v 0.997090 0.691356 0.875760 +v 0.267886 -0.294702 -1.225375 +v 0.997090 1.205896 0.832734 +v -0.546538 1.420316 -1.268401 +v -1.018401 -0.294702 -0.753769 +v -0.203556 0.862927 -1.268401 +v -0.975370 1.463338 -0.667927 +v 0.997090 1.463338 0.146418 +v 0.997090 0.562979 -1.182559 +v -0.932550 0.048439 -1.182559 +v -1.104251 -0.251680 0.789708 +v 1.040120 -0.080282 0.875760 +v -0.975370 1.248918 0.832524 +f 105 109 111 +f 87 90 92 +f 89 91 93 +f 91 89 94 +f 92 90 95 +f 90 87 96 +f 91 94 97 +f 93 87 98 +f 90 96 99 +f 97 90 99 +f 91 97 99 +f 92 95 100 +f 91 99 101 +f 88 89 102 +f 89 93 102 +f 93 98 102 +f 89 88 103 +f 88 95 103 +f 95 90 103 +f 98 92 104 +f 100 88 104 +f 92 100 104 +f 88 102 104 +f 102 98 104 +f 94 89 105 +f 93 91 106 +f 91 101 106 +f 87 92 107 +f 92 98 107 +f 98 87 107 +f 95 88 108 +f 88 100 108 +f 100 95 108 +f 90 97 109 +f 89 103 109 +f 103 90 109 +f 105 89 109 +f 87 93 110 +f 96 87 110 +f 99 96 110 +f 101 99 110 +f 93 106 110 +f 106 101 110 +f 97 94 111 +f 94 105 111 +f 109 97 111 +o convex_4 +v 2.283641 2.921326 0.918648 +v 0.439222 3.607734 -1.311498 +v 0.439222 3.650769 -1.311498 +v -2.948301 1.635219 0.832856 +v 2.969668 1.506545 -1.268493 +v -3.119959 1.506545 -1.182702 +v -2.990911 3.522094 0.747064 +v 3.098716 1.549365 0.918648 +v 3.098108 3.607734 -1.011119 +v -2.948301 3.564700 -1.225489 +v 2.927058 3.607520 0.918648 +v -0.932222 1.463510 0.832856 +v -0.974833 1.463510 -1.268493 +v -1.061271 3.650769 0.146523 +v 3.012278 3.607520 -1.268493 +v 2.111982 1.463510 -1.139915 +v 3.098716 1.506545 0.746846 +v 2.241031 3.607520 0.918648 +v 1.468566 3.650769 -1.311498 +v -1.361370 3.650769 -1.268493 +v -1.704078 3.607734 0.747064 +v -3.034130 2.792865 -1.225489 +v 0.954198 1.463510 0.832638 +v -3.034130 1.549579 -0.025060 +v 3.098108 3.264530 -1.225489 +v -2.948301 2.964360 0.789851 +v 3.098716 1.978210 0.918648 +v 1.597615 3.050000 -1.311498 +v -1.961567 3.522094 -1.268493 +v -1.447199 1.592185 -1.268493 +v 2.969668 3.521880 0.918648 +v -3.119959 1.806929 -0.882322 +v 2.455300 1.549365 0.918648 +v -2.219055 3.607734 -0.410795 +v 3.098716 1.506545 0.446684 +v -2.990911 1.592185 0.532476 +v 1.768665 3.650769 -1.182702 +v -2.690812 1.506545 -1.225489 +v -3.076741 1.506545 -0.624947 +v 1.082638 3.650769 -0.582160 +v -2.948301 3.564700 -0.410795 +v -2.948301 1.763894 0.832856 +v -3.034130 2.235774 -1.225489 +v -2.390714 3.607734 -1.139697 +v -2.990911 3.307350 -1.225489 +f 140 133 156 +f 112 119 122 +f 123 117 124 +f 124 116 127 +f 123 124 127 +f 115 112 129 +f 112 122 129 +f 122 125 129 +f 113 114 130 +f 114 125 130 +f 125 114 131 +f 118 129 132 +f 129 125 132 +f 119 123 134 +f 123 127 134 +f 128 119 134 +f 127 128 134 +f 116 126 136 +f 126 120 136 +f 129 118 137 +f 122 119 138 +f 119 128 138 +f 116 124 139 +f 126 116 139 +f 113 130 139 +f 130 126 139 +f 114 113 140 +f 131 114 140 +f 121 131 140 +f 113 139 141 +f 139 124 141 +f 140 113 141 +f 120 122 142 +f 122 138 142 +f 138 120 142 +f 133 117 143 +f 118 133 143 +f 117 135 143 +f 112 115 144 +f 119 112 144 +f 115 123 144 +f 123 119 144 +f 132 125 145 +f 127 116 146 +f 128 127 146 +f 116 136 146 +f 136 120 146 +f 120 138 146 +f 138 128 146 +f 115 118 147 +f 123 115 147 +f 135 123 147 +f 118 143 147 +f 143 135 147 +f 122 120 148 +f 120 126 148 +f 130 125 148 +f 126 130 148 +f 124 117 149 +f 141 124 149 +f 117 123 150 +f 135 117 150 +f 123 135 150 +f 125 122 151 +f 122 148 151 +f 148 125 151 +f 121 118 152 +f 118 132 152 +f 132 145 152 +f 118 115 153 +f 115 129 153 +f 137 118 153 +f 129 137 153 +f 117 133 154 +f 133 140 154 +f 140 141 154 +f 149 117 154 +f 141 149 154 +f 131 121 155 +f 125 131 155 +f 145 125 155 +f 121 152 155 +f 152 145 155 +f 118 121 156 +f 133 118 156 +f 121 140 156 +o convex_5 +v 0.439542 -2.396324 2.891469 +v -1.104117 -2.482116 0.918841 +v -0.932550 -2.482116 0.918841 +v 0.310977 -0.337762 1.261965 +v -0.975551 -0.466558 2.762484 +v 1.082806 -2.396324 0.918841 +v 0.954241 -0.380767 2.848216 +v -1.061116 -0.466558 0.918841 +v -1.061116 -2.396324 2.891469 +v 1.125807 -2.567908 2.848216 +v 1.040024 -0.466558 0.918841 +v -0.717984 -0.337762 2.462419 +v -0.503635 -2.567908 1.347698 +v -1.104117 -0.466558 1.176232 +v -0.503635 -2.567908 2.333626 +v 0.482543 -2.567908 1.347698 +v -1.018334 -1.924580 2.891469 +v -0.632419 -0.337762 1.347698 +v 1.125807 -2.353319 2.848216 +v -0.932550 -0.380767 2.719617 +v 1.082806 -2.439111 0.961900 +v 0.568326 -0.337762 1.261965 +v 0.568326 -0.337762 2.290760 +v 1.125807 -2.482116 2.247893 +v 0.654109 -0.380767 2.848216 +v 1.040024 -0.466558 1.176232 +v -0.889550 -2.439111 2.891469 +v -1.104117 -2.439111 1.347698 +v -1.018334 -1.367480 2.848216 +v -1.061116 -2.439111 2.548151 +v 0.997023 -0.766720 2.848216 +v -1.104117 -0.509345 0.918841 +v 0.568326 -2.524903 2.891469 +f 175 187 189 +f 159 158 162 +f 162 158 164 +f 164 160 167 +f 162 164 167 +f 158 159 169 +f 158 169 171 +f 169 166 171 +f 169 159 172 +f 166 169 172 +f 157 163 173 +f 165 157 173 +f 160 164 174 +f 168 160 174 +f 164 170 174 +f 170 161 176 +f 168 174 176 +f 174 170 176 +f 159 162 177 +f 172 159 177 +f 166 172 177 +f 167 160 178 +f 163 167 178 +f 160 168 178 +f 178 168 179 +f 168 163 179 +f 163 178 179 +f 162 167 180 +f 175 166 180 +f 167 175 180 +f 177 162 180 +f 166 177 180 +f 163 168 181 +f 173 163 181 +f 176 161 181 +f 168 176 181 +f 167 163 182 +f 175 167 182 +f 157 165 183 +f 171 166 183 +f 170 158 184 +f 165 170 184 +f 170 165 185 +f 161 170 185 +f 165 173 185 +f 173 181 185 +f 181 161 185 +f 158 171 186 +f 183 165 186 +f 171 183 186 +f 184 158 186 +f 165 184 186 +f 182 163 187 +f 175 182 187 +f 164 158 188 +f 158 170 188 +f 170 164 188 +f 163 157 189 +f 166 175 189 +f 157 183 189 +f 183 166 189 +f 187 163 189 +o convex_6 +v 0.525337 1.591807 1.733588 +v -0.632489 -0.337568 1.347677 +v -0.632489 -0.337568 1.562110 +v 0.568359 -0.337568 2.290864 +v -0.503659 1.635060 2.333932 +v 0.482550 1.548941 1.176085 +v 0.525337 -0.337568 1.261881 +v -0.460755 1.506074 1.219040 +v -0.589468 -0.337568 2.290864 +v 0.525337 1.635060 2.333932 +v 0.568359 0.563013 2.333932 +v -0.503659 1.591807 1.733588 +v -0.546563 1.120083 2.333932 +v 0.568359 -0.208776 1.776316 +v 0.525337 1.635060 1.947795 +v 0.568359 1.420341 2.290864 +v 0.310933 -0.294509 1.261881 +v -0.546563 0.734285 1.261881 +v -0.160543 0.391547 2.333932 +v -0.546563 1.291742 2.119386 +v -0.417851 1.548941 1.219040 +v -0.460755 1.334609 1.219040 +f 206 207 211 +f 192 191 193 +f 193 191 196 +f 192 193 198 +f 199 194 200 +f 192 198 202 +f 200 194 202 +f 195 190 203 +f 193 196 203 +f 196 195 203 +f 200 193 203 +f 190 195 204 +f 194 199 204 +f 201 194 204 +f 199 200 205 +f 203 190 205 +f 200 203 205 +f 190 204 205 +f 204 199 205 +f 196 191 206 +f 195 196 206 +f 201 197 207 +f 206 191 207 +f 198 193 208 +f 193 200 208 +f 202 198 208 +f 200 202 208 +f 191 192 209 +f 194 201 209 +f 192 202 209 +f 202 194 209 +f 207 191 209 +f 201 207 209 +f 195 197 210 +f 197 201 210 +f 204 195 210 +f 201 204 210 +f 197 195 211 +f 195 206 211 +f 207 197 211 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/307/307.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/307/307.urdf new file mode 100644 index 000000000..c48c696e6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/307/307.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/308/308.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/308/308.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/308/308.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/308/308.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/308/308.obj new file mode 100644 index 000000000..bda7c59bf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/308/308.obj @@ -0,0 +1,336 @@ +o convex_0 +v 1.519711 1.078428 -0.568747 +v -2.702894 -0.752716 0.290400 +v -2.702894 -0.752716 0.327735 +v 1.407284 -3.890527 0.963085 +v -1.133057 -3.853107 -1.054539 +v 1.332471 2.199204 0.962869 +v -2.515654 2.162388 -1.017203 +v -2.665281 2.162388 1.075091 +v -2.628081 -3.891130 0.925749 +v 1.370084 -3.778268 -1.092090 +v 1.407284 2.161784 -0.979652 +v -2.515654 -3.778268 -0.942533 +v -0.460979 -3.778872 1.112642 +v -0.685005 2.274647 -1.092090 +v -0.460979 2.237227 1.075091 +v -2.628081 2.124365 -0.979868 +v 1.519711 1.639118 0.477077 +v 1.519711 -1.050865 -0.344518 +v -0.348965 -3.891130 -0.979868 +v -0.647391 -2.396159 -1.092090 +v 1.444898 -3.479515 0.888198 +v 1.407284 -3.666009 -1.054539 +v 1.257658 -3.293021 1.000420 +v 1.407284 1.153267 -1.017203 +v -0.685005 -3.740849 1.112642 +v -2.628081 -3.105923 0.962869 +v -0.610192 -1.984544 1.112642 +v -2.702894 0.667416 0.663970 +v -0.498178 2.274647 -1.092090 +v -2.553267 -1.760630 -0.979868 +v 1.407284 2.199204 -0.792975 +v 1.519711 -1.088285 0.365071 +v 0.958819 1.153267 1.000420 +v -2.665281 1.639118 1.075091 +v -2.553267 -3.180159 -0.792975 +v 1.370084 1.675934 0.963085 +v 1.444898 2.086945 -0.942533 +v -0.946231 2.161784 -1.092090 +v -2.590467 -3.891130 0.589299 +v 0.398340 2.236624 1.000420 +v 1.407284 -3.815688 -0.568747 +v -2.665281 2.162388 0.439741 +v -2.515654 1.713957 -1.017203 +v 1.519711 1.713353 -0.494076 +v -2.254428 -3.778268 -0.979868 +v 1.370084 -3.479515 -1.092090 +v -2.628081 -3.891130 0.813527 +v -2.702894 -0.566222 0.215513 +v 1.370084 2.199204 0.776192 +v -0.685005 2.237227 1.075091 +v -2.702894 0.667416 0.439741 +v -2.628081 1.863032 -0.979868 +v -2.515654 -3.815688 -0.643418 +v 1.519711 0.107330 -0.568747 +v -0.647391 -3.891130 -0.942533 +v 1.257658 -3.853107 1.000420 +v -0.460979 -3.255601 1.112642 +v 1.407284 -1.498693 0.963085 +v -2.665281 0.181566 1.037756 +v 1.519711 0.704836 0.514628 +v -1.507123 -1.386434 -1.054539 +v -2.553267 -3.778268 -0.494076 +v -0.498178 2.274647 -0.792975 +v 1.407284 2.199204 -0.157625 +f 63 49 64 +f 3 2 9 +f 9 4 13 +f 1 17 18 +f 4 9 19 +f 5 10 19 +f 10 5 20 +f 14 10 20 +f 18 21 22 +f 9 13 25 +f 9 25 26 +f 8 25 27 +f 25 13 27 +f 2 3 28 +f 3 9 28 +f 10 14 29 +f 11 24 29 +f 11 29 31 +f 18 17 32 +f 21 18 32 +f 6 15 33 +f 15 27 33 +f 25 8 34 +f 26 25 34 +f 8 28 34 +f 30 12 35 +f 17 6 36 +f 6 33 36 +f 33 23 36 +f 24 11 37 +f 22 24 37 +f 11 31 37 +f 7 14 38 +f 14 20 38 +f 19 9 39 +f 15 6 40 +f 4 19 41 +f 19 10 41 +f 21 4 41 +f 22 21 41 +f 10 22 41 +f 14 7 42 +f 8 14 42 +f 7 16 42 +f 28 8 42 +f 16 7 43 +f 7 38 43 +f 38 20 43 +f 17 1 44 +f 1 37 44 +f 5 12 45 +f 12 30 45 +f 22 10 46 +f 24 22 46 +f 10 29 46 +f 29 24 46 +f 9 2 47 +f 39 9 47 +f 2 28 48 +f 35 2 48 +f 6 17 49 +f 40 6 49 +f 14 8 50 +f 27 15 50 +f 8 27 50 +f 42 16 51 +f 28 42 51 +f 48 28 51 +f 16 48 51 +f 30 35 52 +f 16 43 52 +f 43 30 52 +f 48 16 52 +f 35 48 52 +f 12 5 53 +f 47 12 53 +f 39 47 53 +f 1 18 54 +f 18 22 54 +f 37 1 54 +f 22 37 54 +f 5 19 55 +f 19 39 55 +f 53 5 55 +f 39 53 55 +f 13 4 56 +f 4 23 56 +f 23 13 56 +f 13 23 57 +f 27 13 57 +f 23 33 57 +f 33 27 57 +f 4 21 58 +f 23 4 58 +f 36 23 58 +f 9 26 59 +f 28 9 59 +f 26 34 59 +f 34 28 59 +f 32 17 60 +f 21 32 60 +f 17 36 60 +f 58 21 60 +f 36 58 60 +f 20 5 61 +f 43 20 61 +f 30 43 61 +f 5 45 61 +f 45 30 61 +f 2 35 62 +f 35 12 62 +f 47 2 62 +f 12 47 62 +f 29 14 63 +f 31 29 63 +f 15 40 63 +f 40 49 63 +f 14 50 63 +f 50 15 63 +f 37 31 64 +f 17 44 64 +f 44 37 64 +f 49 17 64 +f 31 63 64 +o convex_1 +v 3.499846 -1.088380 0.178393 +v 1.519711 -1.051114 -0.344723 +v 1.519711 -0.490611 -0.344723 +v 1.519711 -0.938987 0.365275 +v 3.275760 -0.528008 0.253104 +v 3.350390 -0.565472 -0.307333 +v 1.519711 -0.490611 0.290495 +v 3.462627 -1.013716 -0.232483 +v 1.669554 -1.125843 0.327885 +v 3.387803 -1.163241 0.028902 +v 2.192550 -0.490611 -0.344723 +v 2.827395 -1.163241 0.253104 +v 3.088892 -0.602804 0.290495 +v 2.491460 -1.051114 -0.307333 +v 1.519711 -1.088380 0.365275 +v 1.819009 -1.088380 -0.269943 +v 3.387803 -0.640135 0.253104 +v 2.267374 -0.864192 -0.344723 +v 2.902025 -1.163241 0.028902 +v 1.744184 -1.088380 0.365275 +v 3.499846 -1.163241 0.178393 +v 3.313172 -0.826926 0.253104 +v 2.304593 -0.490611 0.028902 +v 3.425215 -0.901655 -0.269943 +v 2.976850 -0.528008 -0.269943 +f 70 75 89 +f 67 66 68 +f 67 68 71 +f 70 65 72 +f 66 67 75 +f 67 71 75 +f 71 68 77 +f 69 71 77 +f 72 74 78 +f 68 66 79 +f 66 73 79 +f 73 66 80 +f 66 78 80 +f 78 74 80 +f 70 69 81 +f 65 70 81 +f 69 77 81 +f 66 75 82 +f 75 70 82 +f 78 66 82 +f 76 73 83 +f 74 76 83 +f 73 80 83 +f 80 74 83 +f 73 76 84 +f 77 68 84 +f 68 79 84 +f 79 73 84 +f 72 65 85 +f 74 72 85 +f 76 74 85 +f 65 81 85 +f 85 81 86 +f 81 77 86 +f 84 76 86 +f 77 84 86 +f 76 85 86 +f 71 69 87 +f 69 75 87 +f 75 71 87 +f 70 72 88 +f 72 78 88 +f 82 70 88 +f 78 82 88 +f 69 70 89 +f 75 69 89 +o convex_2 +v 1.781597 0.630491 -0.008393 +v 3.350390 1.751490 0.439888 +v 3.350390 1.751490 -0.494014 +v 1.519711 1.714070 -0.232534 +v 3.462627 0.705217 -0.531565 +v 1.519711 0.593071 0.514566 +v 3.462627 0.705217 0.552117 +v 1.519711 0.742749 -0.456781 +v 1.519711 1.639345 0.477227 +v 1.519711 1.714070 -0.494014 +v 3.499846 1.452474 0.215641 +v 1.819009 0.593071 0.252980 +v 3.387803 1.415167 -0.531565 +v 2.939437 0.705217 -0.531565 +v 2.229962 1.751490 -0.494014 +v 3.462627 1.564505 -0.307318 +v 3.462627 0.854668 0.552117 +v 1.856227 1.676651 0.477227 +v 1.519711 0.705217 -0.419442 +v 2.976850 0.667910 0.552117 +v 1.519711 1.415167 -0.494014 +v 2.304593 1.676651 0.477227 +v 2.902025 0.742749 0.552117 +v 1.519711 0.593071 0.252980 +v 3.238348 1.751490 0.439888 +v 3.499846 1.377635 -0.008393 +f 94 105 115 +f 95 93 97 +f 93 95 98 +f 97 93 99 +f 94 101 103 +f 99 102 103 +f 102 94 103 +f 91 92 104 +f 99 93 104 +f 92 102 104 +f 102 99 104 +f 92 91 105 +f 91 100 105 +f 102 92 105 +f 94 102 105 +f 100 91 106 +f 96 100 106 +f 93 98 107 +f 98 106 107 +f 95 97 108 +f 103 90 108 +f 97 103 108 +f 94 96 109 +f 101 94 109 +f 95 101 109 +f 96 106 109 +f 97 99 110 +f 103 97 110 +f 99 103 110 +f 106 91 111 +f 91 107 111 +f 107 106 111 +f 98 95 112 +f 106 98 112 +f 95 109 112 +f 109 106 112 +f 101 95 113 +f 90 103 113 +f 103 101 113 +f 95 108 113 +f 108 90 113 +f 91 104 114 +f 104 93 114 +f 107 91 114 +f 93 107 114 +f 96 94 115 +f 100 96 115 +f 105 100 115 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/308/308.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/308/308.urdf new file mode 100644 index 000000000..3d41a0ddb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/308/308.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/309/309.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/309/309.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/309/309.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/309/309.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/309/309.obj new file mode 100644 index 000000000..255a72812 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/309/309.obj @@ -0,0 +1,1221 @@ +o convex_0 +v 0.545744 -1.256180 2.220583 +v -0.066464 -1.901045 1.221338 +v -0.292236 -1.804236 1.221338 +v 0.062188 -0.418275 1.221338 +v -0.356622 -1.223958 2.800779 +v -0.614646 -0.901888 1.221338 +v 0.610250 -1.288546 1.221518 +v 0.062188 -1.643128 2.800779 +v 0.029935 -0.869667 2.800779 +v -0.453381 -0.450642 1.253711 +v 0.448985 -1.772014 1.318097 +v 0.481238 -0.676193 1.318097 +v 0.448985 -1.223958 2.800779 +v -0.388875 -1.643128 2.091991 +v 0.094441 -1.256325 3.058683 +v 0.448985 -1.707571 1.930665 +v -0.517887 -1.610907 1.253711 +v 0.352226 -0.966331 2.607260 +v -0.517887 -1.256325 1.962859 +v 0.352226 -1.578540 2.575067 +v 0.062188 -1.901045 1.221338 +v -0.356622 -1.288401 2.800779 +v 0.094441 -0.869667 2.800779 +v -0.227730 -0.966331 2.639633 +v 0.513491 -0.740781 1.221518 +v -0.002198 -1.772014 2.156017 +v -0.388875 -0.418275 1.253711 +v 0.448985 -1.320768 2.768406 +v 0.577997 -1.320768 1.995052 +v 0.481238 -1.739648 1.221338 +v -0.259983 -1.546464 2.607260 +v -0.614646 -1.159660 1.221338 +v 0.610250 -1.127439 1.253711 +v 0.029935 -1.223958 3.058683 +v 0.062188 -0.418275 1.253711 +v 0.158828 -1.772014 2.027245 +v 0.029935 -1.643128 2.800779 +v -0.421128 -1.739648 1.221338 +v -0.614646 -0.901888 1.253711 +v -0.453381 -0.450642 1.221338 +v -0.485634 -1.352989 2.059618 +v 0.191081 -0.901888 2.736033 +f 35 23 42 +f 2 3 4 +f 4 3 6 +f 1 12 13 +f 3 2 14 +f 13 12 18 +f 8 16 20 +f 2 4 21 +f 11 16 21 +f 5 19 22 +f 15 13 23 +f 5 9 24 +f 10 5 24 +f 9 10 24 +f 12 1 25 +f 4 12 25 +f 14 2 26 +f 2 21 26 +f 10 9 27 +f 9 23 27 +f 1 13 28 +f 15 8 28 +f 13 15 28 +f 8 20 28 +f 20 16 28 +f 1 28 29 +f 28 16 29 +f 16 11 30 +f 21 4 30 +f 11 21 30 +f 25 7 30 +f 4 25 30 +f 7 29 30 +f 29 16 30 +f 22 14 31 +f 6 3 32 +f 17 19 32 +f 25 1 33 +f 7 25 33 +f 29 7 33 +f 1 29 33 +f 9 5 34 +f 5 22 34 +f 23 9 34 +f 15 23 34 +f 12 4 35 +f 4 27 35 +f 27 23 35 +f 16 8 36 +f 21 16 36 +f 8 26 36 +f 26 21 36 +f 8 15 37 +f 14 26 37 +f 26 8 37 +f 31 14 37 +f 22 31 37 +f 15 34 37 +f 34 22 37 +f 3 14 38 +f 14 17 38 +f 32 3 38 +f 17 32 38 +f 5 10 39 +f 10 6 39 +f 19 5 39 +f 6 32 39 +f 32 19 39 +f 4 6 40 +f 6 10 40 +f 27 4 40 +f 10 27 40 +f 17 14 41 +f 19 17 41 +f 14 22 41 +f 22 19 41 +f 18 12 42 +f 13 18 42 +f 23 13 42 +f 12 35 42 +o convex_1 +v -1.033690 1.386949 -0.067825 +v 1.029196 1.547924 0.189720 +v 1.029196 1.000026 0.189720 +v 0.094476 2.031474 -1.228456 +v -0.034353 2.063752 1.221338 +v -0.807936 1.000026 0.995686 +v -0.807936 1.000026 -0.970431 +v -1.033690 2.063752 -0.100198 +v 0.868058 1.000026 -0.938298 +v 0.932473 2.063752 -0.809286 +v 0.868058 1.000026 0.898807 +v 0.900165 2.063752 0.866674 +v -0.904659 2.063752 -0.938298 +v -0.872350 2.063752 0.898807 +v -1.033690 1.000026 0.060707 +v -0.936765 1.000026 -0.873792 +v 0.062168 1.000026 1.027820 +v 0.158891 1.000026 -1.034938 +v 1.029196 2.063752 -0.132331 +v 0.771335 2.063752 -1.002565 +v 1.029196 1.000026 -0.196838 +v -0.969073 2.063752 -0.841419 +v -0.034353 2.063752 -1.228456 +v 0.062168 2.031474 1.221338 +v -0.775627 2.063752 0.995686 +v 0.932473 1.000026 0.834301 +v 0.835750 2.063752 0.931180 +v -1.033690 2.063752 0.093080 +v -0.872350 1.000026 0.866674 +v 0.932473 1.000026 -0.809286 +v 0.932473 1.967022 0.834301 +v 0.803442 1.000026 -0.970431 +v -0.163385 1.000026 -1.034938 +v -0.872350 1.902569 -0.970431 +v 1.029196 2.063752 0.093080 +v 0.900165 1.934743 -0.905925 +v -1.033690 1.386949 0.093080 +v -0.904659 1.000026 -0.938298 +v -1.033690 1.096757 -0.035692 +f 64 58 81 +f 45 48 49 +f 45 49 51 +f 50 47 52 +f 48 45 53 +f 52 47 54 +f 50 52 55 +f 47 50 56 +f 49 48 57 +f 50 43 57 +f 49 57 58 +f 48 53 59 +f 51 49 60 +f 44 45 61 +f 52 54 61 +f 55 52 62 +f 45 51 63 +f 61 45 63 +f 52 61 63 +f 43 50 64 +f 50 55 64 +f 62 46 65 +f 55 62 65 +f 47 48 66 +f 48 59 66 +f 59 53 66 +f 48 47 67 +f 56 48 67 +f 47 56 67 +f 45 44 68 +f 53 45 68 +f 68 54 69 +f 54 47 69 +f 47 66 69 +f 66 53 69 +f 53 68 69 +f 56 50 70 +f 50 57 70 +f 48 56 71 +f 57 48 71 +f 63 51 72 +f 52 63 72 +f 68 44 73 +f 54 68 73 +f 60 46 74 +f 51 60 74 +f 46 62 74 +f 62 51 74 +f 46 60 75 +f 60 49 75 +f 49 65 75 +f 65 46 75 +f 65 49 76 +f 55 65 76 +f 44 61 77 +f 61 54 77 +f 73 44 77 +f 54 73 77 +f 51 62 78 +f 62 52 78 +f 72 51 78 +f 52 72 78 +f 56 70 79 +f 70 57 79 +f 57 71 79 +f 71 56 79 +f 49 58 80 +f 64 55 80 +f 58 64 80 +f 76 49 80 +f 55 76 80 +f 57 43 81 +f 58 57 81 +f 43 64 81 +o convex_2 +v 0.319954 -0.515252 -1.292924 +v -0.034350 -1.868811 -1.389892 +v 0.030036 -1.868811 -1.389892 +v -0.034350 -1.191819 -2.969099 +v -0.582412 -1.063037 -1.292924 +v 0.642485 -1.256281 -1.292924 +v 0.416713 -1.288512 -2.711011 +v -0.421147 -1.224050 -2.743334 +v -0.324508 -0.547341 -1.325247 +v 0.030036 -0.869651 -2.775656 +v -0.034350 -1.643052 -2.711011 +v -0.485653 -1.643052 -1.292924 +v 0.481099 -1.739745 -1.292924 +v 0.513353 -0.611803 -1.325247 +v -0.453400 -1.643052 -1.937733 +v 0.416713 -1.675283 -2.034536 +v -0.034350 -0.418275 -1.292924 +v 0.319954 -0.966344 -2.582049 +v -0.453400 -0.644034 -1.325247 +v 0.577859 -1.320743 -1.937733 +v -0.550159 -1.224050 -2.002214 +v -0.292255 -0.966344 -2.582049 +v -0.356761 -1.514128 -2.549891 +v 0.416713 -1.224050 -2.711011 +v 0.094303 -0.418275 -1.325247 +v 0.319954 -1.514128 -2.582049 +v -0.034350 -1.352974 -2.936612 +v -0.421147 -1.288512 -2.743334 +v -0.034350 -1.771976 -2.066859 +v -0.034350 -0.869651 -2.743334 +v -0.034350 -1.868811 -1.292924 +v -0.582412 -1.256281 -1.454208 +v 0.577859 -1.224050 -1.905575 +v 0.384460 -1.224050 -2.775656 +v 0.513353 -1.675283 -1.421886 +v -0.421147 -1.707514 -1.325247 +v -0.421147 -1.643052 -2.066859 +v -0.550159 -1.288512 -2.002214 +v 0.319954 -1.288512 -2.807815 +v 0.642485 -1.191819 -1.389892 +v -0.002097 -1.643052 -2.711011 +v 0.062049 -1.224050 -2.969099 +v -0.034350 -0.418275 -1.325247 +v 0.448846 -1.643052 -2.002214 +v 0.062049 -1.771976 -2.002214 +v -0.388894 -0.579572 -1.292924 +f 103 100 127 +f 82 86 87 +f 87 86 93 +f 87 93 94 +f 82 87 95 +f 94 84 97 +f 86 82 98 +f 91 95 99 +f 86 100 102 +f 100 89 102 +f 89 100 103 +f 99 95 105 +f 101 88 105 +f 82 95 106 +f 95 91 106 +f 98 82 106 +f 88 97 107 +f 108 92 109 +f 89 85 109 +f 102 89 109 +f 92 104 109 +f 85 108 109 +f 84 83 110 +f 85 89 111 +f 91 85 111 +f 89 103 111 +f 103 90 111 +f 83 84 112 +f 94 93 112 +f 84 94 112 +f 93 86 113 +f 86 102 113 +f 105 95 114 +f 101 105 114 +f 91 99 115 +f 105 88 115 +f 99 105 115 +f 87 94 116 +f 101 87 116 +f 96 83 117 +f 93 96 117 +f 83 112 117 +f 112 93 117 +f 83 96 118 +f 104 92 118 +f 96 109 118 +f 109 104 118 +f 110 83 118 +f 92 110 118 +f 96 93 119 +f 102 109 119 +f 109 96 119 +f 93 113 119 +f 113 102 119 +f 88 107 120 +f 115 88 120 +f 95 87 121 +f 87 101 121 +f 114 95 121 +f 101 114 121 +f 107 97 122 +f 92 108 122 +f 110 92 122 +f 120 107 122 +f 108 120 122 +f 85 91 123 +f 108 85 123 +f 91 115 123 +f 120 108 123 +f 115 120 123 +f 90 98 124 +f 106 91 124 +f 98 106 124 +f 91 111 124 +f 111 90 124 +f 97 88 125 +f 94 97 125 +f 88 101 125 +f 116 94 125 +f 101 116 125 +f 97 84 126 +f 84 110 126 +f 122 97 126 +f 110 122 126 +f 86 98 127 +f 98 90 127 +f 100 86 127 +f 90 103 127 +o convex_3 +v 0.062232 3.320884 1.285977 +v -0.066568 2.095987 1.285977 +v -0.163299 2.128240 1.285977 +v -0.034394 2.708435 3.026279 +v 0.545782 2.644169 1.414945 +v -0.517944 2.772701 2.059615 +v -0.002116 2.289625 2.768342 +v -0.002116 3.159498 2.736143 +v -0.421213 3.127245 1.285977 +v 0.384599 2.772701 2.703944 +v 0.416773 2.225119 1.285977 +v -0.453387 2.708435 2.800542 +v 0.416773 3.191751 1.285977 +v -0.388935 2.225119 1.285977 +v -0.388935 3.159498 1.995216 +v 0.352321 2.257372 2.059615 +v -0.388935 2.289625 2.091814 +v 0.384599 3.159498 2.027415 +v -0.517944 2.611796 1.285977 +v -0.002116 2.128240 1.995216 +v 0.384599 2.644169 2.703944 +v -0.034394 3.288630 2.027415 +v 0.513504 2.676422 1.995216 +v -0.324482 3.062979 2.574976 +v -0.324482 2.386144 2.607175 +v 0.545782 2.772701 1.285977 +v -0.517944 2.644169 2.027415 +v -0.131125 3.288630 1.285977 +v 0.094407 2.095987 1.414945 +v -0.066568 2.289625 2.768342 +v 0.287868 3.030726 2.574976 +v 0.287868 2.418517 2.607175 +v -0.066568 3.095232 2.800542 +v 0.416773 2.225119 1.479514 +v -0.453387 2.772701 2.768342 +v 0.029954 3.288630 2.027415 +v -0.517944 2.772701 1.285977 +v 0.416773 3.095232 1.995216 +v -0.421213 2.321638 1.995216 +v 0.416773 3.191751 1.511713 +v -0.002116 2.805074 2.993909 +v 0.320042 2.676422 2.800542 +v -0.195577 2.192746 2.027415 +v 0.384599 2.289625 2.027415 +v -0.421213 3.095232 2.059615 +v -0.066568 3.159498 2.703944 +v -0.163299 2.772701 2.961709 +v 0.062232 3.127245 2.736143 +v 0.513504 2.740448 1.962846 +v -0.356761 3.191751 1.285977 +f 142 155 177 +f 128 129 130 +f 128 130 136 +f 129 128 138 +f 138 128 140 +f 136 130 141 +f 136 141 146 +f 143 134 147 +f 137 148 150 +f 139 144 152 +f 132 138 153 +f 138 140 153 +f 139 133 154 +f 133 146 154 +f 128 136 155 +f 149 128 155 +f 142 149 155 +f 129 138 156 +f 147 129 156 +f 143 147 156 +f 134 131 157 +f 131 139 157 +f 147 134 157 +f 139 152 157 +f 152 144 157 +f 137 145 158 +f 134 143 159 +f 138 132 161 +f 132 150 161 +f 156 138 161 +f 143 156 161 +f 133 139 162 +f 160 151 162 +f 135 145 163 +f 128 149 163 +f 149 135 163 +f 133 136 164 +f 146 133 164 +f 136 146 164 +f 145 137 165 +f 144 139 166 +f 141 144 166 +f 146 141 166 +f 139 154 166 +f 154 146 166 +f 140 128 167 +f 153 140 167 +f 128 163 167 +f 163 145 167 +f 145 165 167 +f 165 153 167 +f 135 160 168 +f 131 134 169 +f 148 137 169 +f 134 159 169 +f 159 148 169 +f 168 131 169 +f 137 168 169 +f 130 129 170 +f 141 130 170 +f 144 141 170 +f 129 147 170 +f 147 157 170 +f 157 144 170 +f 150 148 171 +f 159 143 171 +f 148 159 171 +f 161 150 171 +f 143 161 171 +f 136 133 172 +f 142 136 172 +f 151 142 172 +f 133 162 172 +f 162 151 172 +f 149 142 173 +f 135 149 173 +f 142 151 173 +f 160 135 173 +f 151 160 173 +f 139 131 174 +f 162 139 174 +f 160 162 174 +f 131 168 174 +f 168 160 174 +f 145 135 175 +f 137 158 175 +f 158 145 175 +f 168 137 175 +f 135 168 175 +f 150 132 176 +f 137 150 176 +f 132 153 176 +f 165 137 176 +f 153 165 176 +f 136 142 177 +f 155 136 177 +o convex_4 +v 0.191036 -2.094450 -1.034881 +v 0.062119 -2.094450 1.027933 +v 0.642346 -2.094450 0.898930 +v 0.094397 -4.318605 0.028520 +v -0.969222 -2.094450 -0.132477 +v 1.029294 -3.351524 -0.100072 +v -0.034325 -4.092837 0.802127 +v -0.582273 -3.738182 -0.648078 +v -0.775748 -3.319085 0.769928 +v 0.803542 -3.383746 -0.777080 +v 0.867903 -2.094450 -0.841479 +v -0.743469 -4.060615 0.028520 +v -0.808026 -2.094450 -0.873679 +v 0.771263 -3.415750 0.769928 +v -0.775748 -2.094450 0.931130 +v 0.030036 -3.963951 -0.809280 +v 0.803542 -4.092619 -0.003679 +v 1.029294 -2.094450 0.028520 +v 0.030036 -3.415750 1.027933 +v -0.969222 -3.383528 -0.035468 +v -0.002047 -3.351524 -1.034881 +v -0.711191 -3.319085 -0.809280 +v 0.867903 -2.094450 0.769928 +v 0.835820 -2.126889 -0.938077 +v 0.094397 -4.060398 -0.744881 +v 0.577985 -3.931511 0.608725 +v 1.029294 -3.383746 0.060720 +v -0.582273 -3.899508 0.576321 +v -0.969222 -2.449104 0.189518 +v -0.002047 -2.513765 -1.067285 +v -0.743469 -4.060615 -0.067873 +v 0.577985 -3.899290 -0.583679 +v 0.126675 -3.319303 -1.034881 +v -0.098686 -3.319303 1.027933 +v -0.034325 -4.318605 -0.003679 +v -0.969222 -3.319085 0.125324 +v -0.808026 -2.320218 0.898725 +v -0.775748 -2.126889 -0.905878 +v 0.030036 -4.125058 0.769928 +v -0.743469 -3.351306 0.802127 +v 0.803542 -4.092619 0.060720 +v 0.803542 -2.997305 0.802127 +v -0.969222 -3.254642 -0.132477 +v -0.002047 -4.028394 -0.777080 +v -0.969222 -2.094450 0.189518 +v 0.094397 -3.319303 1.027933 +v 1.029294 -2.094450 -0.100072 +v -0.130964 -2.094450 -1.034881 +v -0.034325 -4.125058 0.769928 +v 0.835820 -2.642651 -0.873679 +v 0.771263 -2.159111 0.866526 +v -0.872387 -2.545987 -0.615673 +v -0.098686 -2.223554 1.027933 +v -0.711191 -4.092619 0.028520 +v -0.453356 -3.899508 -0.615673 +v 0.030036 -4.092837 0.802127 +v 0.094397 -3.963951 -0.809280 +v 0.706902 -2.094450 -0.970482 +v -0.066408 -3.222420 -1.034881 +v -0.743469 -3.158195 -0.809280 +v 0.900181 -2.513765 0.640925 +v 0.030036 -4.092837 -0.680277 +v 0.867903 -3.383746 0.544326 +v -0.002047 -4.318605 0.093124 +f 226 231 241 +f 178 179 180 +f 179 178 182 +f 178 180 188 +f 182 178 190 +f 179 182 192 +f 187 183 194 +f 188 180 195 +f 195 180 200 +f 194 181 202 +f 194 183 204 +f 183 195 204 +f 186 189 205 +f 182 197 206 +f 189 197 208 +f 199 185 208 +f 197 199 208 +f 187 194 209 +f 194 202 209 +f 198 207 210 +f 196 179 211 +f 184 196 211 +f 189 186 213 +f 197 189 213 +f 206 197 213 +f 206 213 214 +f 211 192 214 +f 213 186 214 +f 205 184 217 +f 186 205 217 +f 184 211 217 +f 214 186 217 +f 211 214 217 +f 181 194 218 +f 191 203 218 +f 194 204 218 +f 216 181 218 +f 203 216 218 +f 197 182 220 +f 199 197 220 +f 198 193 221 +f 199 198 221 +f 185 199 221 +f 192 182 222 +f 182 206 222 +f 206 214 222 +f 214 192 222 +f 180 179 223 +f 179 196 223 +f 196 191 223 +f 191 219 223 +f 183 188 224 +f 188 195 224 +f 195 183 224 +f 190 178 225 +f 178 207 225 +f 215 190 225 +f 207 215 225 +f 184 205 226 +f 216 184 226 +f 183 187 227 +f 188 183 227 +f 201 188 227 +f 187 210 227 +f 210 201 227 +f 200 180 228 +f 219 200 228 +f 180 223 228 +f 223 219 228 +f 182 190 229 +f 220 182 229 +f 179 192 230 +f 211 179 230 +f 192 211 230 +f 205 189 231 +f 189 208 231 +f 208 212 231 +f 226 205 231 +f 208 185 232 +f 185 221 232 +f 221 208 232 +f 196 184 233 +f 191 196 233 +f 203 191 233 +f 184 216 233 +f 216 203 233 +f 193 198 234 +f 187 209 234 +f 209 202 234 +f 210 187 234 +f 198 210 234 +f 221 193 234 +f 202 221 234 +f 178 188 235 +f 188 201 235 +f 207 178 235 +f 201 210 235 +f 210 207 235 +f 198 199 236 +f 207 198 236 +f 199 215 236 +f 215 207 236 +f 190 215 237 +f 215 199 237 +f 199 220 237 +f 229 190 237 +f 220 229 237 +f 195 200 238 +f 204 195 238 +f 200 219 238 +f 202 181 239 +f 181 212 239 +f 212 208 239 +f 221 202 239 +f 208 221 239 +f 191 218 240 +f 218 204 240 +f 219 191 240 +f 204 238 240 +f 238 219 240 +f 212 181 241 +f 181 216 241 +f 216 226 241 +f 231 212 241 +o convex_5 +v -0.034293 -2.062039 -1.099482 +v 0.062231 -0.289743 1.221092 +v -0.324470 -0.289743 1.221092 +v 0.158957 1.000026 -1.034755 +v 1.029288 -2.094450 0.028442 +v -0.969040 -2.094450 0.189644 +v -0.936933 1.000026 -0.873798 +v 0.932562 1.000026 0.834453 +v -0.840207 1.000026 0.963168 +v 0.900253 0.870989 -0.938033 +v 0.481242 -1.771856 1.221092 +v -0.614446 -1.159080 -1.292678 +v 0.674694 -1.191793 -1.292678 +v -0.807898 -2.094450 0.930928 +v -0.807898 -2.094450 -0.873798 +v 0.867943 -2.094450 0.801966 +v 0.835836 -2.094450 -0.938033 +v -1.033659 1.000026 0.060682 +v 1.029288 1.000026 -0.196749 +v -0.646755 -1.062453 1.221092 +v -0.969040 -0.579017 -0.776831 +v -0.936933 -0.450888 0.834206 +v 0.996979 -0.482996 -0.744837 +v -0.066602 -0.321851 -1.292678 +v -0.034293 -1.868786 -1.292678 +v 0.062231 1.000026 1.027895 +v 0.610075 -1.127275 1.221092 +v 0.996979 -0.547212 0.705491 +v -0.034293 -1.933002 1.221092 +v -0.807898 1.000026 -0.970274 +v -1.001349 -1.965412 -0.003799 +v 0.513349 -0.515407 -1.292678 +v 0.867943 1.000026 0.898687 +v 0.835836 1.000026 -0.970274 +v 0.481242 -1.739748 -1.292678 +v 1.029288 1.000026 0.157403 +v -0.485613 -1.643122 -1.292678 +v -0.517720 -1.675230 1.221092 +v -0.453303 -0.515407 -1.292678 +v 0.481242 -0.643536 1.221092 +v 0.964669 -0.772573 -0.841558 +v -0.807898 1.000026 0.995409 +v 1.029288 -1.997520 -0.132268 +v 0.062231 -2.094450 1.027895 +v -0.163328 1.000026 -1.034755 +v -0.840207 -1.868786 -0.873798 +v -0.969040 0.064959 -0.809072 +v 0.964669 -0.611428 0.769726 +v 0.932562 0.967615 -0.841558 +v -0.904623 1.000026 -0.938033 +v -0.872516 0.967615 0.898933 +v 1.029288 -0.450888 0.318606 +v 0.867943 -1.997520 -0.905793 +v -0.807898 -0.836789 -1.035001 +v -0.485613 -0.386066 1.221092 +v 0.642384 -1.223598 1.189097 +v -0.711172 -0.901611 1.156857 +v 1.029288 -0.418477 -0.357951 +v 0.803527 -2.094450 0.866693 +v -1.033659 0.774362 -0.003799 +v -1.001349 -1.900591 0.060682 +v -0.969040 -2.094450 -0.132268 +v -0.775790 -2.094450 -0.906039 +v 0.964669 0.161888 -0.841558 +f 290 260 305 +f 245 248 249 +f 249 248 250 +f 243 244 252 +f 247 246 255 +f 246 247 256 +f 255 246 257 +f 246 256 258 +f 250 248 259 +f 245 249 260 +f 252 244 261 +f 247 255 263 +f 254 253 265 +f 253 254 266 +f 258 242 266 +f 244 243 267 +f 249 250 267 +f 243 252 268 +f 257 246 269 +f 252 261 270 +f 248 245 271 +f 265 245 273 +f 254 265 273 +f 249 267 274 +f 268 249 274 +f 251 254 275 +f 245 260 275 +f 273 245 275 +f 254 273 275 +f 254 258 276 +f 266 254 276 +f 258 266 276 +f 260 249 277 +f 246 260 277 +f 249 269 277 +f 253 266 278 +f 261 255 279 +f 255 270 279 +f 270 261 279 +f 265 253 280 +f 267 243 281 +f 243 268 281 +f 274 267 281 +f 268 274 281 +f 244 267 283 +f 267 250 283 +f 246 258 284 +f 260 246 284 +f 282 264 284 +f 255 257 285 +f 270 255 285 +f 245 265 286 +f 271 245 286 +f 265 280 286 +f 280 271 286 +f 253 256 287 +f 257 269 289 +f 269 249 289 +f 251 275 290 +f 275 260 290 +f 248 271 291 +f 280 253 291 +f 271 280 291 +f 288 248 291 +f 250 259 292 +f 259 263 292 +f 263 250 292 +f 269 246 293 +f 246 277 293 +f 277 269 293 +f 258 254 294 +f 254 282 294 +f 284 258 294 +f 282 284 294 +f 253 287 295 +f 287 262 295 +f 262 288 295 +f 291 253 295 +f 288 291 295 +f 261 244 296 +f 244 283 296 +f 283 261 296 +f 249 268 297 +f 268 252 297 +f 289 249 297 +f 257 289 297 +f 255 261 298 +f 263 255 298 +f 250 263 298 +f 261 283 298 +f 283 250 298 +f 264 260 299 +f 260 284 299 +f 284 264 299 +f 252 270 300 +f 285 257 300 +f 270 285 300 +f 297 252 300 +f 257 297 300 +f 259 248 301 +f 262 272 301 +f 248 288 301 +f 288 262 301 +f 247 263 302 +f 263 259 302 +f 272 247 302 +f 259 301 302 +f 301 272 302 +f 256 247 303 +f 247 272 303 +f 272 262 303 +f 287 256 303 +f 262 287 303 +f 256 253 304 +f 242 258 304 +f 258 256 304 +f 266 242 304 +f 253 278 304 +f 278 266 304 +f 254 251 305 +f 260 264 305 +f 282 254 305 +f 264 282 305 +f 251 290 305 +o convex_6 +v 0.029932 3.256279 -1.808986 +v -0.002094 2.063752 -1.293063 +v 0.062179 2.063752 -1.293063 +v -0.034341 2.644203 -3.001333 +v -0.550178 2.837277 -1.260690 +v 0.578016 2.740433 -1.260690 +v 0.416783 2.644203 -2.743201 +v -0.388944 2.676321 -2.807606 +v 0.416783 3.159681 -1.260690 +v -0.002094 2.289559 -2.743201 +v -0.421191 2.257195 -1.260690 +v 0.481276 2.192837 -1.260690 +v -0.034341 3.062837 -2.775574 +v -0.421191 3.191799 -1.260690 +v 0.384536 3.095077 -2.002201 +v -0.388944 2.289559 -1.969999 +v 0.416783 2.257195 -2.034574 +v -0.356698 3.095077 -2.131011 +v -0.034341 3.320884 -1.260690 +v -0.517931 2.676321 -1.937796 +v 0.545770 2.644203 -1.873220 +v 0.094426 3.062837 -2.710999 +v 0.287906 2.353916 -2.582188 +v -0.292204 2.998479 -2.614221 +v -0.324451 2.386157 -2.485581 +v -0.002094 2.160597 -2.066606 +v 0.029932 2.740433 -3.001333 +v -0.550178 2.611963 -1.293063 +v -0.485685 2.805037 -2.066606 +v 0.320042 2.966239 -2.549986 +v -0.034341 3.224039 -2.034574 +v 0.513523 2.805037 -1.873220 +v 0.416783 2.708315 -2.710999 +v -0.453438 3.159681 -1.293063 +v -0.388944 2.772673 -2.743201 +v 0.416783 3.159681 -1.389671 +v 0.481276 2.418397 -2.002201 +v 0.062179 2.160597 -2.066606 +v 0.062179 2.611963 -2.968960 +v 0.029932 2.289559 -2.743201 +v 0.578016 2.611963 -1.293063 +v -0.421191 2.676321 -2.678967 +v 0.062179 3.224039 -2.002201 +v 0.029932 3.320884 -1.293063 +v 0.449029 3.127441 -1.293063 +v -0.388944 2.224955 -1.260690 +f 316 321 351 +f 310 311 314 +f 313 309 315 +f 311 310 316 +f 311 316 317 +f 307 308 317 +f 310 314 319 +f 317 308 322 +f 319 314 324 +f 312 322 328 +f 323 318 329 +f 313 315 330 +f 315 321 330 +f 308 307 331 +f 307 321 331 +f 321 315 331 +f 309 313 332 +f 313 318 332 +f 318 327 332 +f 316 310 333 +f 321 316 333 +f 310 325 333 +f 325 321 333 +f 325 310 334 +f 327 320 335 +f 318 323 336 +f 323 319 336 +f 319 324 336 +f 311 326 337 +f 337 326 338 +f 326 312 338 +f 312 332 338 +f 332 327 338 +f 335 320 338 +f 327 335 338 +f 320 337 338 +f 310 319 339 +f 319 323 339 +f 334 310 339 +f 323 334 339 +f 318 313 340 +f 329 318 340 +f 323 329 340 +f 334 323 340 +f 322 312 342 +f 317 322 342 +f 326 317 342 +f 312 326 342 +f 322 308 343 +f 308 331 343 +f 331 315 343 +f 309 332 344 +f 332 312 344 +f 315 309 345 +f 312 328 345 +f 328 322 345 +f 322 343 345 +f 343 315 345 +f 344 312 345 +f 309 344 345 +f 311 317 346 +f 326 311 346 +f 317 326 346 +f 321 325 347 +f 313 330 347 +f 330 321 347 +f 325 334 347 +f 340 313 347 +f 334 340 347 +f 327 318 348 +f 320 327 348 +f 318 336 348 +f 336 306 348 +f 341 320 348 +f 341 348 349 +f 324 314 349 +f 336 324 349 +f 306 336 349 +f 314 341 349 +f 348 306 349 +f 314 311 350 +f 311 337 350 +f 337 320 350 +f 341 314 350 +f 320 341 350 +f 317 316 351 +f 307 317 351 +f 321 307 351 +o convex_7 +v -0.614672 3.288501 -1.067260 +v 1.029294 2.128441 0.092821 +v 1.029294 2.063913 0.092821 +v -0.517944 2.773080 1.285806 +v -0.969070 2.063913 -0.841176 +v 0.706801 3.449580 0.705267 +v 0.610074 2.708552 -1.260690 +v 0.029910 2.064074 1.285806 +v -0.743507 3.385213 0.640956 +v -0.034306 3.675188 -0.809270 +v -0.872343 2.063913 0.898946 +v 0.126638 2.064074 -1.260690 +v 0.706801 3.417397 -0.776866 +v 0.448928 3.159606 1.285806 +v 0.900257 2.063913 0.866541 +v -1.033690 2.740896 -0.196576 +v -0.066616 3.643004 0.737671 +v 0.932567 2.096258 -0.841425 +v -0.775615 3.417397 -0.809270 +v -0.453526 3.191789 -1.260690 +v 0.996984 2.805103 0.125226 +v -0.066616 3.320846 1.285806 +v 0.416820 3.191789 -1.260690 +v -0.936962 2.708552 0.802231 +v 0.964674 2.740896 0.705267 +v 0.964674 2.740896 -0.712555 +v -0.453526 2.257337 -1.260690 +v -1.033690 2.063913 0.093071 +v -1.001380 2.740896 -0.809270 +v -0.098724 3.707693 0.028511 +v 0.739111 3.481764 -0.164421 +v 0.545656 2.611840 1.285806 +v -0.807925 3.417397 0.060666 +v -0.582362 2.805424 -1.260690 +v -0.421216 3.127261 1.285806 +v -0.421216 2.257337 1.285806 +v 0.481238 2.192809 -1.260690 +v 0.029910 3.707693 0.060666 +v -0.711197 3.385213 0.769826 +v 0.416820 2.224992 1.285806 +v -0.098724 3.320846 -1.260690 +v 0.835839 2.063913 -0.970296 +v -0.872343 2.063913 -0.970296 +v -1.033690 2.708552 0.125226 +v 0.062220 3.643004 0.737671 +v -0.711197 3.481925 0.028511 +v 0.094530 3.320846 1.285806 +v 1.029294 2.644184 -0.035550 +v 1.029294 2.063913 -0.132265 +v 0.577966 3.481925 -0.809270 +v 0.932567 2.740896 -0.809270 +v 0.932567 2.773080 0.769826 +v 0.481238 3.578637 -0.067705 +v 0.610074 2.740735 1.221246 +v 0.062220 3.353029 -1.228036 +v -0.259869 3.610820 -0.809270 +v 0.996984 2.805103 -0.164421 +v 0.642384 3.417397 0.834386 +v -0.775615 2.063913 0.995661 +v -1.033690 2.063913 -0.099861 +v 0.739111 3.481764 0.125226 +v 0.932567 2.063913 0.802231 +v -0.066616 2.064074 -1.260690 +v 0.513346 3.514269 0.737671 +f 412 404 415 +f 356 354 362 +f 355 359 365 +f 362 354 366 +f 358 363 371 +f 355 365 373 +f 364 358 374 +f 358 371 374 +f 362 355 375 +f 354 353 376 +f 372 357 376 +f 371 363 378 +f 356 362 379 +f 362 375 379 +f 370 352 380 +f 367 370 380 +f 365 359 383 +f 370 367 384 +f 352 371 385 +f 371 378 385 +f 380 352 385 +f 355 373 386 +f 375 355 386 +f 359 355 387 +f 363 358 388 +f 361 381 389 +f 381 368 389 +f 373 368 390 +f 360 375 390 +f 386 373 390 +f 375 386 390 +f 359 366 391 +f 383 359 391 +f 366 383 391 +f 371 352 392 +f 374 371 392 +f 354 356 393 +f 358 369 393 +f 388 358 393 +f 363 388 393 +f 356 380 394 +f 385 378 394 +f 380 385 394 +f 393 356 394 +f 363 393 394 +f 375 360 395 +f 367 379 395 +f 379 375 395 +f 384 367 395 +f 360 384 395 +f 368 373 396 +f 389 368 396 +f 368 381 397 +f 370 384 397 +f 384 360 397 +f 390 368 397 +f 360 390 397 +f 373 365 398 +f 396 373 398 +f 353 354 399 +f 376 353 399 +f 372 376 399 +f 377 399 400 +f 369 377 400 +f 354 393 400 +f 393 369 400 +f 399 354 400 +f 364 374 401 +f 382 364 401 +f 358 364 402 +f 369 358 402 +f 364 377 402 +f 377 369 402 +f 376 357 403 +f 361 389 404 +f 401 361 404 +f 382 401 404 +f 365 383 405 +f 383 366 405 +f 403 365 405 +f 366 403 405 +f 392 361 406 +f 374 392 406 +f 401 374 406 +f 361 401 406 +f 352 370 407 +f 381 361 407 +f 392 352 407 +f 361 392 407 +f 397 381 407 +f 370 397 407 +f 377 364 408 +f 364 382 408 +f 382 372 408 +f 372 399 408 +f 399 377 408 +f 398 365 409 +f 403 357 409 +f 365 403 409 +f 355 362 410 +f 362 366 410 +f 366 359 410 +f 387 355 410 +f 359 387 410 +f 356 379 411 +f 379 367 411 +f 367 380 411 +f 380 356 411 +f 357 372 412 +f 372 382 412 +f 382 404 412 +f 366 354 413 +f 354 376 413 +f 376 403 413 +f 403 366 413 +f 378 363 414 +f 363 394 414 +f 394 378 414 +f 389 396 415 +f 396 398 415 +f 404 389 415 +f 409 357 415 +f 398 409 415 +f 357 412 415 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/309/309.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/309/309.urdf new file mode 100644 index 000000000..f5a76aa7e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/309/309.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/310/310.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/310/310.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/310/310.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/310/310.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/310/310.obj new file mode 100644 index 000000000..9274f13cf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/310/310.obj @@ -0,0 +1,618 @@ +o convex_0 +v -1.671644 -0.679681 2.050529 +v -1.126713 0.373612 3.030971 +v -2.325466 0.373612 3.030971 +v -1.526376 0.410094 1.105890 +v -2.179964 -0.498016 1.105890 +v -1.199465 -0.643199 1.105890 +v -2.252715 -0.643199 3.030971 +v -1.199465 -0.679681 2.958234 +v -2.216457 0.373612 1.105890 +v -1.235723 0.410094 1.105890 +v -2.143705 -0.643199 1.105890 +v -1.126713 0.083140 2.522377 +v -1.163089 -0.643199 2.958234 +v -1.235723 0.410094 1.941612 +v -1.889428 -0.679681 2.994603 +v -2.252715 -0.643199 2.776580 +v -1.199465 0.410094 1.505755 +v -2.325466 0.337343 2.958234 +v -2.070954 -0.643199 3.030971 +v -1.199465 -0.679681 2.231806 +v -2.216457 0.192054 1.105890 +f 5 18 21 +f 5 4 6 +f 2 3 7 +f 3 4 9 +f 4 5 9 +f 6 4 10 +f 6 1 11 +f 5 6 11 +f 12 2 13 +f 6 12 13 +f 3 2 14 +f 4 3 14 +f 10 4 14 +f 1 8 15 +f 11 1 15 +f 11 15 16 +f 5 11 16 +f 15 7 16 +f 6 10 17 +f 2 12 17 +f 12 6 17 +f 14 2 17 +f 10 14 17 +f 7 3 18 +f 3 9 18 +f 5 16 18 +f 16 7 18 +f 2 7 19 +f 13 2 19 +f 8 13 19 +f 15 8 19 +f 7 15 19 +f 1 6 20 +f 8 1 20 +f 13 8 20 +f 6 13 20 +f 9 5 21 +f 18 9 21 +o convex_1 +v -2.071004 -0.497860 -2.998600 +v -1.090508 0.373768 -2.780780 +v -1.090508 0.301017 -2.780780 +v -2.325466 -0.534235 -1.073860 +v -1.235812 -0.679525 -1.073860 +v -2.252694 0.373768 -1.073860 +v -2.216307 0.373768 -3.107709 +v -1.163160 -0.606880 -2.998600 +v -1.235812 0.373768 -1.073860 +v -2.288959 -0.716007 -1.618808 +v -2.143656 -0.606880 -2.962363 +v -1.126894 0.373768 -2.998600 +v -2.325466 -0.716007 -1.073860 +v -1.163160 -0.643149 -2.671671 +v -1.344850 -0.716007 -1.110296 +v -1.126894 -0.497860 -2.998600 +v -1.199546 0.373768 -1.291879 +v -2.180042 -0.425322 -2.998600 +v -1.199546 -0.679525 -1.546135 +v -1.381115 -0.425322 -3.035036 +v -2.143656 -0.643149 -2.708107 +v -1.925701 -0.716007 -1.655045 +v -2.252694 0.373768 -1.655045 +v -2.216307 0.264748 -3.107709 +v -2.325466 -0.716007 -1.255642 +v -2.071004 0.373768 -3.107709 +f 41 45 47 +f 25 26 27 +f 27 23 28 +f 23 27 30 +f 27 26 30 +f 22 29 32 +f 23 24 33 +f 28 23 33 +f 26 25 34 +f 26 34 36 +f 34 31 36 +f 33 24 37 +f 35 29 37 +f 24 23 38 +f 23 30 38 +f 30 26 38 +f 32 31 39 +f 22 32 39 +f 26 36 40 +f 36 35 40 +f 37 24 40 +f 35 37 40 +f 24 38 40 +f 38 26 40 +f 29 22 41 +f 37 29 41 +f 33 37 41 +f 32 29 42 +f 31 32 42 +f 29 35 42 +f 42 35 43 +f 36 31 43 +f 35 36 43 +f 31 42 43 +f 25 27 44 +f 28 25 44 +f 27 28 44 +f 22 39 45 +f 41 22 45 +f 25 28 46 +f 34 25 46 +f 31 34 46 +f 39 31 46 +f 28 45 46 +f 45 39 46 +f 28 33 47 +f 33 41 47 +f 45 28 47 +o convex_2 +v -2.325352 -0.752219 -1.073661 +v -1.235876 0.409881 1.105890 +v -1.526198 0.409881 1.105890 +v -2.361643 -1.224356 1.105890 +v -0.836299 -1.187873 -1.073661 +v -2.724930 0.845748 -0.964641 +v -0.836299 0.882231 -0.964427 +v -2.797702 0.918499 0.996870 +v -0.836299 -1.151604 1.032925 +v -2.688639 -1.224356 -0.964641 +v -0.836299 0.954769 0.996656 +v -2.724930 -1.079066 1.105890 +v -1.199393 0.373612 -1.073661 +v -2.797702 0.918499 0.633327 +v -2.252772 0.373612 -1.073661 +v -2.216481 0.373612 1.105890 +v -2.688639 -1.224356 1.105890 +v -2.543286 -1.224356 -1.036965 +v -1.199393 -0.642985 1.105890 +v -2.724930 0.773210 -1.000696 +v -2.797702 0.482632 1.032925 +v -1.744324 -1.224569 -1.036965 +v -1.272166 -1.187873 1.032925 +v -1.235876 0.954982 0.923905 +v -0.836299 0.591439 1.032925 +v -2.797702 0.845748 0.560789 +v -0.836299 -1.187873 -0.456022 +v -2.797702 0.736941 1.032925 +v -2.543286 0.882017 -0.347002 +v -0.872589 0.700673 -1.000696 +v -2.688639 -1.187873 -1.000696 +f 57 73 78 +f 49 50 51 +f 52 54 56 +f 50 49 58 +f 55 50 58 +f 56 54 58 +f 51 50 59 +f 52 48 60 +f 60 48 62 +f 59 50 63 +f 51 59 64 +f 59 57 64 +f 48 52 65 +f 49 51 66 +f 51 56 66 +f 53 54 67 +f 54 60 67 +f 62 48 67 +f 60 62 67 +f 48 65 67 +f 57 59 68 +f 55 61 68 +f 51 64 69 +f 64 57 69 +f 65 52 69 +f 57 65 69 +f 56 51 70 +f 55 58 71 +f 58 54 71 +f 61 55 71 +f 58 49 72 +f 56 58 72 +f 49 66 72 +f 66 56 72 +f 61 53 73 +f 53 67 73 +f 57 68 73 +f 68 61 73 +f 52 56 74 +f 51 69 74 +f 69 52 74 +f 70 51 74 +f 56 70 74 +f 50 55 75 +f 63 50 75 +f 59 63 75 +f 68 59 75 +f 55 68 75 +f 54 53 76 +f 53 61 76 +f 71 54 76 +f 61 71 76 +f 54 52 77 +f 52 60 77 +f 60 54 77 +f 65 57 78 +f 67 65 78 +f 73 67 78 +o convex_3 +v 0.398937 -0.099044 -1.073661 +v -0.836107 -3.149159 0.379352 +v -0.799667 -3.222046 -0.964570 +v 1.379553 -3.186047 0.633408 +v -0.727005 1.317796 0.996766 +v 1.343330 1.318240 0.996557 +v 1.379553 -3.186047 -1.000654 +v -0.727005 1.317796 -0.964570 +v 1.234228 1.318240 -1.036947 +v -0.836107 -3.149159 1.069564 +v 1.343330 -2.931389 0.960263 +v -0.836107 -1.042566 -1.073661 +v 1.379770 0.954697 -1.037157 +v -0.836107 0.627598 1.032851 +v 1.270668 1.318240 1.033060 +v -0.836107 0.881811 -0.964570 +v 1.306891 -1.478107 -1.073661 +v 1.379770 0.954697 0.996557 +v 1.198005 -3.186047 0.960263 +v -0.727005 -1.442108 -1.073661 +v 1.270668 -1.768763 0.996557 +v 0.653146 -3.222046 -0.928066 +v -0.618119 -3.149159 1.069564 +v -0.799667 -3.222046 -0.492330 +v -0.836107 0.954253 0.996766 +v 0.871133 1.317796 -1.036947 +v -0.182145 1.317796 1.032851 +v 1.379770 -0.243928 -1.073451 +v -0.763444 1.317796 -0.891982 +v -0.799667 -2.495405 1.069564 +v 1.379770 -1.079010 0.996557 +v 0.616707 -3.185603 0.960263 +v 1.343330 1.318240 0.342848 +v 0.980018 -3.186047 -1.000654 +v -0.581680 -0.716356 -1.073661 +v 1.343330 -2.422518 -1.036947 +v -0.763444 1.317796 0.088371 +v 1.343330 -3.186047 0.923969 +f 109 89 116 +f 80 81 88 +f 81 80 90 +f 80 88 90 +f 90 88 92 +f 84 87 93 +f 86 90 94 +f 90 92 94 +f 90 79 95 +f 91 84 96 +f 84 93 96 +f 81 90 98 +f 90 95 98 +f 81 85 100 +f 85 82 100 +f 88 97 101 +f 97 89 101 +f 89 99 101 +f 99 93 101 +f 88 81 102 +f 81 100 102 +f 92 83 103 +f 94 92 103 +f 87 79 104 +f 86 87 104 +f 83 92 105 +f 93 83 105 +f 79 87 106 +f 87 91 106 +f 95 79 106 +f 91 96 106 +f 87 86 107 +f 86 94 107 +f 94 103 107 +f 92 88 108 +f 88 101 108 +f 101 93 108 +f 105 92 108 +f 93 105 108 +f 82 85 109 +f 96 93 109 +f 99 89 109 +f 93 99 109 +f 85 106 109 +f 106 96 109 +f 97 88 110 +f 88 102 110 +f 102 97 110 +f 87 84 111 +f 84 91 111 +f 91 87 111 +f 85 81 112 +f 81 98 112 +f 79 90 113 +f 90 86 113 +f 104 79 113 +f 86 104 113 +f 98 95 114 +f 106 85 114 +f 95 106 114 +f 85 112 114 +f 112 98 114 +f 83 93 115 +f 93 87 115 +f 103 83 115 +f 87 107 115 +f 107 103 115 +f 89 97 116 +f 100 82 116 +f 97 102 116 +f 102 100 116 +f 82 109 116 +o convex_4 +v 3.232302 0.845883 0.996766 +v 1.379770 -1.151917 -1.073661 +v 1.379770 -0.243657 -1.073661 +v 3.341365 0.918272 -1.037157 +v 1.379770 0.954982 0.996557 +v 3.232111 -1.151917 1.069564 +v 3.268593 -1.151711 -1.000863 +v 1.379770 -1.079116 0.996557 +v 1.379770 0.954982 -1.036947 +v 2.941596 0.882181 1.069564 +v 1.852119 -1.115413 1.033060 +v 3.304883 0.918272 -0.274147 +v 2.396858 0.954982 -1.037157 +v 2.178924 -0.316252 -1.073661 +v 2.542211 0.373605 1.069564 +v 1.379770 -1.151917 -0.310651 +v 3.268593 -1.151711 -0.020091 +v 1.597896 -0.715936 1.033060 +v 3.232111 0.518794 1.069564 +v 3.341365 0.664190 -1.037157 +v 1.561413 0.954982 0.996557 +v 2.651082 -1.151917 1.032851 +v 3.341365 0.845883 -0.891772 +v 3.304883 0.119111 -1.037157 +v 1.924700 0.918478 1.033060 +v 1.634186 -1.151917 -1.073661 +v 3.304883 -0.461442 -1.000863 +f 136 133 143 +f 119 118 121 +f 121 118 124 +f 119 121 125 +f 126 117 128 +f 120 119 129 +f 119 125 129 +f 125 121 129 +f 128 120 129 +f 118 119 130 +f 119 120 130 +f 122 126 131 +f 118 122 132 +f 124 118 132 +f 127 124 132 +f 122 123 133 +f 121 124 134 +f 127 122 134 +f 124 127 134 +f 122 131 134 +f 117 126 135 +f 126 122 135 +f 128 117 135 +f 130 120 136 +f 121 126 137 +f 126 128 137 +f 129 121 137 +f 128 129 137 +f 122 127 138 +f 132 122 138 +f 127 132 138 +f 120 128 139 +f 122 133 139 +f 135 122 139 +f 128 135 139 +f 136 120 139 +f 133 136 139 +f 130 136 140 +f 136 123 140 +f 126 121 141 +f 131 126 141 +f 121 134 141 +f 134 131 141 +f 122 118 142 +f 123 122 142 +f 118 130 142 +f 140 123 142 +f 130 140 142 +f 133 123 143 +f 123 136 143 +o convex_5 +v 0.035707 1.826752 -1.073661 +v 1.343444 2.952903 1.105677 +v 0.980058 2.952903 1.105890 +v 0.072004 1.318400 1.069194 +v -0.763455 2.916420 0.996870 +v 1.306940 2.952903 -0.964427 +v 1.270643 1.318400 -0.782869 +v -0.726951 1.318400 -0.964641 +v -0.618059 2.952903 -1.000696 +v 1.343238 1.318400 0.996870 +v -0.726951 1.318400 0.996870 +v 1.234139 1.318400 -1.036965 +v -0.073186 2.153493 1.105890 +v -0.763455 1.354722 -0.855620 +v 0.580374 2.262619 -1.073661 +v 1.343238 2.044686 -0.165444 +v 0.653175 1.645301 1.105890 +v -0.654356 2.916420 -1.000696 +v -0.763455 1.318400 0.124708 +v 1.306940 1.318400 1.032925 +v -0.618059 2.952903 -0.383271 +v 1.343444 2.952903 0.052383 +v 1.343238 1.318400 0.342748 +v 0.072004 1.645301 -1.073661 +v 1.306940 2.407909 -0.964427 +v 0.108301 1.536334 1.105890 +v -0.690654 2.081008 -1.000696 +v 1.343444 2.517035 1.105677 +v -0.763455 2.807454 0.742347 +v 0.180896 2.952903 -1.000696 +v 0.798158 1.718105 -1.073661 +v 0.616465 2.952903 1.069194 +v -0.000591 2.117330 -1.073661 +f 170 161 176 +f 146 145 149 +f 150 147 151 +f 146 149 152 +f 147 150 153 +f 151 147 154 +f 150 151 155 +f 146 148 156 +f 148 154 156 +f 146 156 160 +f 148 152 161 +f 154 148 162 +f 151 154 162 +f 157 151 162 +f 148 157 162 +f 147 153 163 +f 146 152 164 +f 152 148 164 +f 149 145 165 +f 159 149 165 +f 159 165 166 +f 153 150 166 +f 150 159 166 +f 155 151 167 +f 144 158 167 +f 155 149 168 +f 150 155 168 +f 149 159 168 +f 159 150 168 +f 154 147 169 +f 156 154 169 +f 160 156 169 +f 147 163 169 +f 163 160 169 +f 151 157 170 +f 157 161 170 +f 144 167 170 +f 167 151 170 +f 145 146 171 +f 146 160 171 +f 163 153 171 +f 160 163 171 +f 165 145 171 +f 166 165 171 +f 153 166 171 +f 157 148 172 +f 148 161 172 +f 161 157 172 +f 152 149 173 +f 158 152 173 +f 149 158 173 +f 149 155 174 +f 158 149 174 +f 155 167 174 +f 167 158 174 +f 148 146 175 +f 146 164 175 +f 164 148 175 +f 158 144 176 +f 152 158 176 +f 161 152 176 +f 144 170 176 +o convex_6 +v 0.544275 1.645190 -1.909301 +v 0.035763 1.499869 -2.998600 +v -0.000612 1.536216 -3.035036 +v 0.072139 1.645190 -1.073860 +v 0.289966 2.153713 -3.035036 +v -0.000612 2.117366 -1.073860 +v 0.471524 2.190060 -1.073860 +v 0.544275 1.499869 -2.962363 +v -0.000612 2.117366 -3.107709 +v 0.507846 2.117366 -2.998600 +v 0.507846 1.645190 -1.073860 +v 0.544275 1.499869 -2.562761 +v 0.507846 2.117366 -1.146533 +v 0.144730 1.608978 -1.255642 +v -0.000612 1.536216 -2.526524 +v 0.544275 1.826926 -2.962363 +v 0.398933 2.190060 -1.509898 +v 0.072139 1.971977 -3.107709 +v 0.471524 2.153713 -2.998600 +f 181 193 195 +f 182 180 183 +f 178 179 184 +f 179 182 185 +f 183 180 187 +f 178 184 188 +f 184 177 188 +f 177 187 188 +f 186 183 189 +f 187 177 189 +f 183 187 189 +f 187 180 190 +f 178 188 190 +f 188 187 190 +f 179 178 191 +f 182 179 191 +f 180 182 191 +f 178 190 191 +f 190 180 191 +f 177 184 192 +f 184 186 192 +f 189 177 192 +f 186 189 192 +f 182 183 193 +f 185 182 193 +f 181 185 193 +f 184 179 194 +f 179 185 194 +f 186 184 194 +f 185 186 194 +f 185 181 195 +f 186 185 195 +f 183 186 195 +f 193 183 195 +o convex_7 +v 0.072057 2.190039 1.905293 +v 0.108404 1.536195 1.106281 +v 0.217446 1.536195 1.106281 +v 0.181099 1.608890 2.994499 +v 0.616927 2.153692 1.106281 +v 0.544165 1.681516 3.067243 +v 0.544165 2.226386 3.067243 +v -0.000502 2.117345 3.103811 +v -0.073264 2.153692 1.106281 +v -0.073264 1.608890 2.994499 +v 0.616927 1.681516 1.106281 +v 0.616927 2.190039 1.651079 +v -0.036917 2.190039 1.106281 +v 0.035778 1.536195 1.578335 +v 0.580512 1.681516 2.740286 +v 0.507886 1.645304 2.813030 +v 0.362564 2.226386 2.740286 +v 0.580512 1.645304 1.578335 +v 0.616927 2.190039 1.324122 +f 208 212 214 +f 198 197 200 +f 201 202 203 +f 200 197 204 +f 203 204 205 +f 199 201 205 +f 201 203 205 +f 198 200 206 +f 206 200 207 +f 203 196 208 +f 200 204 208 +f 204 203 208 +f 197 198 209 +f 198 199 209 +f 204 197 209 +f 205 204 209 +f 199 205 209 +f 202 201 210 +f 206 207 210 +f 207 202 210 +f 199 198 211 +f 201 199 211 +f 210 201 211 +f 203 202 212 +f 196 203 212 +f 208 196 212 +f 198 206 213 +f 206 210 213 +f 211 198 213 +f 210 211 213 +f 202 207 214 +f 207 200 214 +f 200 208 214 +f 212 202 214 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/310/310.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/310/310.urdf new file mode 100644 index 000000000..27fe89c2c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/310/310.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/311/311.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/311/311.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/311/311.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/311/311.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/311/311.obj new file mode 100644 index 000000000..82526927e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/311/311.obj @@ -0,0 +1,999 @@ +o convex_0 +v -0.077668 2.720580 -2.271525 +v 0.053375 2.162900 -1.058065 +v 0.250117 2.130341 -1.123677 +v -0.044996 3.803046 -1.648580 +v -0.602669 2.097281 -1.615773 +v 0.479768 2.097281 -2.140300 +v 0.381397 3.573296 -1.746623 +v -0.471389 3.507677 -1.713817 +v -0.504061 2.097281 -2.173106 +v -0.044996 3.573296 -2.140300 +v -0.110577 3.573296 -1.320516 +v -0.438599 2.753640 -1.254903 +v 0.479768 2.097281 -1.222097 +v 0.611048 2.130341 -1.648580 +v 0.381397 2.851985 -1.287709 +v -0.405809 2.097281 -1.189290 +v 0.381397 2.950164 -2.107493 +v -0.438599 2.884712 -2.140300 +v -0.012087 2.097281 -2.337138 +v -0.569641 2.884712 -1.713817 +v 0.020466 3.540570 -1.320516 +v 0.545349 2.753640 -1.681386 +v -0.438599 3.606022 -1.746623 +v -0.012087 2.884712 -1.156484 +v -0.340228 3.409331 -1.386129 +v 0.020466 3.573296 -2.140300 +v -0.012087 3.803046 -1.812236 +v -0.340228 3.409331 -2.041881 +v 0.282907 3.376271 -1.418935 +v 0.414187 2.130341 -2.205913 +v 0.020466 2.982723 -2.238719 +v 0.250117 3.442057 -2.041881 +v -0.602669 2.162900 -1.812236 +v -0.012087 2.097281 -1.058065 +v -0.077668 2.130341 -2.337138 +v 0.512440 2.884712 -1.779430 +v 0.611048 2.097281 -1.746623 +v 0.381397 3.540570 -1.681386 +v -0.504061 2.097281 -1.320516 +v 0.414187 2.819259 -1.320516 +v -0.569641 2.819259 -1.648580 +v -0.077668 2.851985 -1.156484 +v -0.504061 2.851985 -1.976268 +v -0.438599 2.884712 -1.287709 +v 0.479768 2.162900 -1.222097 +v 0.053375 2.819259 -1.156484 +v -0.373018 2.851985 -2.173106 +v 0.118956 3.737427 -1.681386 +v -0.602669 2.392651 -1.648580 +v 0.414187 2.884712 -2.074687 +f 37 6 50 +f 6 5 9 +f 5 6 13 +f 5 13 16 +f 6 9 19 +f 4 11 21 +f 11 4 23 +f 18 8 23 +f 21 11 24 +f 11 23 25 +f 23 8 25 +f 23 4 27 +f 10 23 27 +f 7 26 27 +f 26 10 27 +f 10 18 28 +f 23 10 28 +f 18 23 28 +f 21 15 29 +f 17 6 30 +f 6 19 30 +f 1 10 31 +f 10 26 31 +f 26 17 31 +f 17 30 31 +f 30 19 31 +f 7 17 32 +f 26 7 32 +f 17 26 32 +f 9 5 33 +f 3 2 34 +f 13 3 34 +f 12 16 34 +f 16 13 34 +f 19 9 35 +f 1 31 35 +f 31 19 35 +f 7 22 36 +f 36 22 37 +f 13 6 37 +f 14 13 37 +f 22 14 37 +f 22 7 38 +f 21 29 38 +f 16 12 39 +f 5 16 39 +f 29 15 40 +f 22 38 40 +f 38 29 40 +f 8 20 41 +f 11 12 42 +f 24 11 42 +f 2 24 42 +f 34 2 42 +f 12 34 42 +f 8 18 43 +f 18 9 43 +f 20 8 43 +f 9 33 43 +f 33 20 43 +f 12 11 44 +f 25 8 44 +f 11 25 44 +f 8 41 44 +f 41 12 44 +f 3 13 45 +f 13 14 45 +f 15 3 45 +f 14 22 45 +f 40 15 45 +f 22 40 45 +f 2 3 46 +f 3 15 46 +f 15 21 46 +f 24 2 46 +f 21 24 46 +f 10 1 47 +f 9 18 47 +f 18 10 47 +f 35 9 47 +f 1 35 47 +f 4 21 48 +f 27 4 48 +f 7 27 48 +f 38 7 48 +f 21 38 48 +f 33 5 49 +f 20 33 49 +f 5 39 49 +f 39 12 49 +f 12 41 49 +f 41 20 49 +f 6 17 50 +f 17 7 50 +f 7 36 50 +f 36 37 50 +o convex_1 +v 0.807752 1.703492 1.533823 +v -0.996307 0.588101 2.025697 +v -0.996307 0.588101 2.189713 +v 0.086088 -0.887541 1.566591 +v 0.709406 0.785013 3.107752 +v -0.766570 1.637677 1.533823 +v -0.044906 1.572129 3.107752 +v -0.799418 0.785013 3.074983 +v 0.938945 -0.133200 1.533823 +v 0.020591 0.063712 3.042215 +v -0.799418 -0.297071 1.533823 +v 1.037489 0.850561 2.288019 +v 0.774903 1.604903 2.353729 +v -0.012058 1.834589 2.255424 +v 0.774903 0.063712 2.353729 +v -0.766570 1.539354 2.353729 +v -0.766570 0.030938 2.353729 +v -0.077754 0.719464 3.304710 +v -0.996307 0.850561 1.533823 +v 1.037489 0.916110 1.533823 +v -0.077754 1.834589 1.533823 +v -0.537031 0.195076 2.878199 +v -0.996307 0.916110 2.255424 +v 0.578213 1.342442 2.943736 +v 0.479668 0.227584 2.910967 +v -0.602528 1.375483 2.878199 +v 0.873448 -0.264297 1.599360 +v -0.044906 0.948884 3.304710 +v 0.774903 0.850561 3.042215 +v -0.077754 0.063712 3.042215 +v 0.053240 -0.887541 1.533823 +v -0.897763 1.342709 1.697665 +v 1.004641 0.719198 2.353556 +v 0.053240 -0.887541 1.566591 +v 0.118936 1.801548 2.353729 +v -0.110403 1.801548 2.353729 +v 0.906097 1.441031 1.664897 +v -0.799418 -0.297071 1.599360 +v 0.118936 1.539354 3.074983 +v -0.832266 0.817787 3.009446 +v -0.897763 0.063712 1.566591 +v 0.545365 1.768774 1.632128 +v -0.963260 0.752239 2.550167 +v 0.086088 0.785013 3.304710 +v 0.709406 0.948884 3.074983 +v 0.742055 0.752239 3.074983 +v 0.807752 0.030938 2.255424 +v -0.602528 1.703226 1.599360 +v 1.037489 0.686690 1.533823 +v 1.004641 0.949151 2.353556 +v -0.668224 0.358947 2.910967 +v -0.733721 1.572129 2.320961 +v 0.118936 1.834589 1.533823 +v -0.799418 0.817787 3.074983 +v -0.799418 1.604903 1.796144 +v 0.610862 0.227584 2.779893 +v 0.971793 0.129261 1.763376 +v 0.413972 0.850561 3.206231 +v -0.996307 0.686690 1.533823 +v -0.799418 0.719464 3.042215 +v -0.996307 0.817787 2.419266 +v -0.897763 1.342709 1.533823 +v -0.241796 0.850561 3.271768 +v 0.578213 1.670451 2.353729 +f 92 85 114 +f 56 51 59 +f 56 59 61 +f 52 53 69 +f 56 61 69 +f 59 51 70 +f 51 56 71 +f 69 53 73 +f 60 54 75 +f 57 66 76 +f 54 60 80 +f 68 58 80 +f 60 68 80 +f 61 59 81 +f 77 54 81 +f 59 77 81 +f 62 79 83 +f 72 67 84 +f 54 80 84 +f 80 72 84 +f 61 81 84 +f 81 54 84 +f 64 57 85 +f 57 64 86 +f 51 63 87 +f 70 51 87 +f 62 70 87 +f 67 53 88 +f 61 84 88 +f 84 67 88 +f 74 63 89 +f 57 78 89 +f 85 57 89 +f 76 66 90 +f 53 52 91 +f 88 53 91 +f 61 88 91 +f 64 85 92 +f 53 67 93 +f 60 55 94 +f 68 60 94 +f 78 68 94 +f 63 74 95 +f 79 63 95 +f 55 79 95 +f 74 89 95 +f 55 60 96 +f 60 75 96 +f 79 55 96 +f 83 79 96 +f 83 96 97 +f 65 54 97 +f 54 77 97 +f 77 59 97 +f 96 65 97 +f 71 56 98 +f 64 71 98 +f 86 64 98 +f 59 70 99 +f 70 62 99 +f 79 62 100 +f 63 79 100 +f 87 63 100 +f 62 87 100 +f 67 72 101 +f 72 80 101 +f 66 57 102 +f 57 86 102 +f 86 98 102 +f 51 71 103 +f 71 64 103 +f 92 51 103 +f 64 92 103 +f 57 76 104 +f 90 58 104 +f 76 90 104 +f 73 66 105 +f 82 73 105 +f 98 56 105 +f 66 102 105 +f 102 98 105 +f 54 65 106 +f 75 54 106 +f 96 75 106 +f 65 96 106 +f 62 83 107 +f 83 97 107 +f 97 59 107 +f 59 99 107 +f 99 62 107 +f 89 78 108 +f 94 55 108 +f 78 94 108 +f 55 95 108 +f 95 89 108 +f 52 69 109 +f 69 61 109 +f 91 52 109 +f 61 91 109 +f 80 58 110 +f 58 90 110 +f 93 67 110 +f 90 93 110 +f 67 101 110 +f 101 80 110 +f 73 53 111 +f 66 73 111 +f 90 66 111 +f 53 93 111 +f 93 90 111 +f 56 69 112 +f 69 73 112 +f 73 82 112 +f 105 56 112 +f 82 105 112 +f 58 68 113 +f 78 57 113 +f 68 78 113 +f 104 58 113 +f 57 104 113 +f 63 51 114 +f 89 63 114 +f 85 89 114 +f 51 92 114 +o convex_2 +v -0.077767 -1.150471 -2.206006 +v 0.053343 -0.625382 -1.156349 +v -0.044990 -0.625382 -1.156349 +v 0.086120 -2.101525 -1.648541 +v 0.512639 -0.625382 -1.812252 +v -0.537063 -0.625382 -1.812252 +v -0.372970 -1.871781 -1.681389 +v 0.414203 -1.904581 -1.648541 +v -0.012212 -1.838981 -1.287741 +v -0.438628 -0.723927 -1.287741 +v 0.053343 -1.871781 -2.107461 +v 0.381426 -0.625382 -2.140309 +v 0.414203 -0.756727 -1.287741 +v -0.438628 -0.658327 -2.107461 +v -0.274638 -1.707637 -2.009129 +v 0.348546 -1.445382 -2.041977 +v 0.414203 -1.183271 -1.320484 +v 0.053343 -0.625382 -2.238854 +v -0.504183 -1.216071 -1.746662 +v -0.405850 -1.150471 -1.320484 +v 0.512639 -1.150471 -1.746662 +v 0.151778 -1.806037 -1.320484 +v 0.479758 -0.625382 -1.484406 +v -0.372970 -1.248726 -2.074825 +v -0.537063 -0.625382 -1.582951 +v -0.044990 -2.101525 -1.713813 +v -0.012212 -1.183271 -1.189197 +v 0.414203 -1.871781 -1.746662 +v 0.381426 -1.084871 -2.107461 +v -0.307415 -1.707637 -1.451664 +v -0.372970 -1.871781 -1.746662 +v -0.012212 -1.871781 -2.107461 +v 0.020565 -0.920871 -2.238854 +v 0.512639 -1.150471 -1.648541 +v 0.348546 -1.707637 -1.418816 +v -0.110545 -0.625382 -2.238854 +v -0.537063 -0.986471 -1.681389 +v 0.053343 -1.150471 -1.189197 +v -0.438628 -0.625382 -1.287741 +v 0.053343 -2.035781 -1.877948 +v 0.282991 -1.740437 -2.009129 +v 0.414203 -0.625382 -1.287741 +v 0.381426 -1.117671 -1.287741 +v -0.012212 -2.068581 -1.582951 +v 0.446981 -1.773237 -1.648541 +v -0.372970 -1.084871 -2.107461 +v 0.053343 -1.937381 -1.386180 +v -0.471405 -1.412582 -1.681389 +v -0.274638 -0.723927 -1.222045 +f 153 124 163 +f 117 116 119 +f 117 119 120 +f 120 119 126 +f 120 126 132 +f 120 128 133 +f 119 116 137 +f 127 131 137 +f 133 128 138 +f 117 120 139 +f 116 117 141 +f 134 123 141 +f 122 118 142 +f 135 142 143 +f 126 119 143 +f 130 125 143 +f 119 135 143 +f 142 130 143 +f 121 123 144 +f 123 134 144 +f 134 121 144 +f 138 129 145 +f 133 138 145 +f 140 121 145 +f 140 145 146 +f 129 138 146 +f 145 129 146 +f 132 126 147 +f 126 143 147 +f 143 125 147 +f 146 115 147 +f 125 146 147 +f 135 119 148 +f 119 137 148 +f 137 131 148 +f 136 122 149 +f 131 136 149 +f 128 120 150 +f 120 132 150 +f 147 115 150 +f 132 147 150 +f 120 133 151 +f 134 124 151 +f 139 120 151 +f 124 139 151 +f 123 136 152 +f 116 141 152 +f 141 123 152 +f 117 139 153 +f 139 124 153 +f 118 140 154 +f 142 118 154 +f 125 142 154 +f 140 146 154 +f 146 125 154 +f 125 130 155 +f 142 125 155 +f 130 142 155 +f 116 127 156 +f 137 116 156 +f 127 137 156 +f 127 116 157 +f 131 127 157 +f 136 131 157 +f 116 152 157 +f 152 136 157 +f 123 121 158 +f 121 140 158 +f 140 118 158 +f 122 142 159 +f 142 135 159 +f 148 131 159 +f 135 148 159 +f 149 122 159 +f 131 149 159 +f 138 128 160 +f 115 146 160 +f 146 138 160 +f 128 150 160 +f 150 115 160 +f 118 122 161 +f 122 136 161 +f 136 123 161 +f 123 158 161 +f 158 118 161 +f 121 134 162 +f 145 121 162 +f 133 145 162 +f 151 133 162 +f 134 151 162 +f 124 134 163 +f 141 117 163 +f 134 141 163 +f 117 153 163 +o convex_3 +v 0.971838 0.981781 -1.779465 +v -1.029111 0.687050 -1.746755 +v -0.996262 0.359008 -1.386161 +v -0.832221 1.801751 -0.762711 +v 0.906142 -0.329852 -0.762711 +v -0.012212 0.129299 -2.698089 +v -0.044861 2.097281 -2.369813 +v 0.807797 1.736196 -0.762711 +v -0.897718 -0.297074 -0.762711 +v -0.438641 -0.625116 -2.107545 +v -0.766525 1.637597 -2.468139 +v 0.709252 0.063744 -2.402719 +v 0.709252 1.670374 -2.468335 +v 0.381368 -0.625116 -2.140255 +v -0.012212 -0.625116 -0.762711 +v -0.701027 0.096522 -2.468139 +v 0.479713 2.097281 -1.222023 +v -0.044861 1.637597 -2.730799 +v -0.602682 2.097281 -1.583009 +v -0.996262 1.604819 -1.746755 +v -1.029111 0.949003 -0.762711 +v 1.004686 0.850404 -0.762711 +v 0.938990 1.604819 -1.714045 +v 0.610907 2.097281 -1.812175 +v 0.938990 0.030967 -1.714045 +v -0.963414 0.096522 -1.746755 +v -0.766525 0.687050 -2.533951 +v 0.053285 0.817627 -2.763705 +v -0.044861 2.097281 -1.058081 +v -0.569834 -0.625116 -1.714045 +v 0.512562 -0.625116 -1.812175 +v -0.504138 2.097281 -2.172965 +v 0.742100 0.588717 -2.468335 +v -0.110557 -0.625116 -2.238777 +v 0.479713 2.097281 -2.205871 +v -0.897718 1.768973 -0.762711 +v 1.004686 0.784849 -1.681335 +v 0.414216 -0.625116 -1.287639 +v -0.930566 -0.264297 -0.828523 +v -0.077709 0.784849 -2.763705 +v -0.471489 2.097281 -1.222219 +v -1.029111 1.014558 -1.779465 +v -0.766525 1.080113 -2.533951 +v -0.438641 -0.625116 -1.287639 +v 0.118782 1.834528 -0.762711 +v 0.938990 -0.132921 -1.254929 +v -1.029111 0.687050 -0.762711 +v 0.184478 0.096522 -2.632473 +v 1.004686 0.654272 -0.762711 +v 0.742100 1.211223 -2.468335 +v -0.799373 0.817627 -2.501240 +v -0.799373 1.604819 -2.435429 +v 0.840446 1.703152 -0.828523 +v 0.086133 -0.625116 -2.238777 +v 0.676603 2.031193 -1.648625 +v -0.438641 0.096522 -2.566661 +v -0.832221 1.834528 -1.714045 +v 0.643755 0.915959 -2.533951 +v -0.012212 1.637597 -2.730799 +v 0.971838 0.784849 -1.812175 +v -0.996262 1.604819 -1.583009 +v 0.512562 1.900083 -2.369813 +v 0.906142 1.670374 -1.746755 +v -0.438641 1.637597 -2.599371 +f 181 206 227 +f 167 168 171 +f 168 167 172 +f 168 172 178 +f 173 177 178 +f 180 170 182 +f 172 167 184 +f 171 168 185 +f 164 176 186 +f 170 180 187 +f 166 165 189 +f 179 173 189 +f 171 180 192 +f 180 182 192 +f 173 178 193 +f 189 173 193 +f 177 175 194 +f 178 177 194 +f 175 188 194 +f 170 174 195 +f 182 170 195 +f 174 183 195 +f 188 175 196 +f 177 173 197 +f 173 179 197 +f 170 187 198 +f 187 176 198 +f 184 167 199 +f 186 185 200 +f 164 186 200 +f 168 178 201 +f 194 168 201 +f 178 194 201 +f 166 189 202 +f 193 172 202 +f 189 193 202 +f 181 191 203 +f 191 169 203 +f 167 192 204 +f 192 182 204 +f 199 167 204 +f 182 199 204 +f 165 184 205 +f 203 190 206 +f 181 203 206 +f 178 172 207 +f 172 193 207 +f 193 178 207 +f 167 171 208 +f 192 167 208 +f 171 192 208 +f 168 194 209 +f 194 188 209 +f 188 200 209 +f 165 166 210 +f 184 165 210 +f 172 184 210 +f 166 202 210 +f 202 172 210 +f 175 177 211 +f 169 191 211 +f 196 175 211 +f 191 196 211 +f 185 168 212 +f 200 185 212 +f 168 209 212 +f 209 200 212 +f 176 164 213 +f 189 165 214 +f 179 189 214 +f 190 179 214 +f 165 205 214 +f 206 190 214 +f 206 214 215 +f 183 174 215 +f 205 183 215 +f 174 206 215 +f 214 205 215 +f 171 185 216 +f 185 186 216 +f 177 197 217 +f 197 169 217 +f 169 211 217 +f 211 177 217 +f 180 171 218 +f 187 180 218 +f 171 216 218 +f 179 190 219 +f 169 197 219 +f 197 179 219 +f 203 169 219 +f 190 203 219 +f 182 195 220 +f 195 183 220 +f 199 182 220 +f 183 199 220 +f 191 176 221 +f 196 191 221 +f 176 213 221 +f 213 196 221 +f 181 170 222 +f 191 181 222 +f 176 191 222 +f 188 196 223 +f 164 200 223 +f 200 188 223 +f 213 164 223 +f 196 213 223 +f 199 183 224 +f 184 199 224 +f 183 205 224 +f 205 184 224 +f 170 198 225 +f 198 176 225 +f 222 170 225 +f 176 222 225 +f 186 176 226 +f 176 187 226 +f 216 186 226 +f 187 218 226 +f 218 216 226 +f 174 170 227 +f 170 181 227 +f 206 174 227 +o convex_4 +v 0.119021 -4.167810 0.319993 +v 0.119021 1.833880 1.533511 +v -0.077643 1.833880 1.533511 +v -0.307393 1.833880 -0.762711 +v 1.004523 0.850157 -0.762711 +v -0.799361 -2.231643 -0.434551 +v -0.996230 0.686408 1.533511 +v 0.938968 -0.166683 1.533511 +v -0.536937 -3.347224 0.910232 +v 0.807859 -3.707840 0.319993 +v -0.897796 1.768871 -0.762711 +v 0.020586 -3.708453 -0.434551 +v 0.053261 -3.642831 1.106903 +v 0.840533 1.703249 1.402247 +v -0.996230 -2.297878 0.287177 +v 0.479674 2.064478 -0.172247 +v -1.029110 0.686408 -0.762711 +v -0.766481 -3.675336 0.352809 +v 1.070283 -2.199751 0.352809 +v -0.635372 2.064478 0.417767 +v 0.906088 -0.331046 -0.762711 +v 1.037403 0.915780 1.533511 +v 0.053261 -1.084171 1.533511 +v 0.807859 1.703249 -0.762711 +v -0.799361 1.637626 1.533511 +v -0.012088 -2.297878 -0.664263 +v 0.807859 -2.297878 -0.401735 +v 0.807859 -2.297878 1.074087 +v -0.799361 -0.331046 1.533511 +v -0.930676 -0.264810 -0.762711 +v 0.447000 2.064478 0.745927 +v 0.938968 1.604508 0.254361 +v -0.963350 1.538886 0.352809 +v -0.602491 -3.347224 -0.204839 +v 1.070283 -0.297928 0.319993 +v -0.504057 2.063865 -0.172247 +v 0.610989 -3.314719 0.910232 +v 0.610989 -3.314719 -0.237655 +v -0.733806 -2.199138 1.074087 +v -0.471382 2.063865 0.811559 +v -0.077643 -4.167810 0.352809 +v 0.578109 2.064478 0.155913 +v -0.077643 -3.642831 1.074087 +v -1.029110 0.850157 -0.139431 +v 0.807859 1.703249 1.533511 +v -0.996230 -2.232256 0.385400 +v -0.766481 -3.675336 0.287177 +v 1.037403 0.850157 0.221545 +v 0.086141 -3.741571 1.041271 +v -0.044968 -0.691663 -0.762711 +v 0.053261 2.063865 -0.336103 +v -0.012088 -3.708453 -0.434551 +v -0.996230 0.850157 1.533511 +v 1.037403 -2.232256 0.221545 +v -1.029110 0.948897 -0.762711 +v -0.930676 1.637013 0.450583 +v 0.807859 -3.707840 0.352809 +v 0.906088 -0.265424 1.533511 +v 0.053261 2.063865 0.910232 +v 0.938968 -0.134179 -0.762711 +v -0.733806 -3.740958 0.352809 +v -0.012088 -4.200928 0.287177 +v 1.037403 0.686408 1.533511 +v 0.053261 -4.200928 0.385400 +f 268 289 291 +f 229 230 234 +f 229 234 235 +f 231 232 238 +f 237 228 239 +f 238 232 244 +f 244 232 248 +f 229 235 249 +f 235 234 250 +f 232 231 251 +f 234 230 252 +f 248 239 253 +f 239 248 254 +f 246 235 255 +f 250 234 256 +f 240 250 256 +f 233 242 257 +f 242 244 257 +f 244 248 257 +f 243 247 258 +f 241 249 259 +f 232 251 259 +f 246 232 262 +f 249 246 262 +f 238 247 263 +f 247 243 263 +f 255 240 264 +f 237 239 265 +f 254 237 265 +f 239 254 265 +f 245 236 266 +f 236 256 266 +f 256 234 266 +f 252 230 267 +f 247 252 267 +f 258 247 267 +f 251 243 269 +f 258 241 269 +f 243 258 269 +f 241 259 269 +f 259 251 269 +f 256 236 270 +f 240 256 270 +f 244 242 271 +f 229 249 272 +f 249 241 272 +f 258 229 272 +f 241 258 272 +f 242 245 273 +f 266 234 273 +f 245 266 273 +f 234 271 273 +f 271 242 273 +f 242 233 274 +f 245 242 274 +f 233 261 274 +f 259 249 275 +f 232 259 275 +f 262 232 275 +f 249 262 275 +f 264 240 276 +f 240 270 276 +f 270 268 276 +f 248 253 277 +f 257 248 277 +f 253 257 277 +f 231 238 278 +f 251 231 278 +f 243 251 278 +f 238 263 278 +f 263 243 278 +f 253 239 279 +f 233 257 279 +f 257 253 279 +f 261 233 279 +f 274 261 279 +f 234 252 280 +f 271 234 280 +f 260 271 280 +f 232 246 281 +f 246 237 281 +f 237 254 281 +f 238 244 282 +f 260 238 282 +f 244 271 282 +f 271 260 282 +f 247 238 283 +f 252 247 283 +f 238 260 283 +f 280 252 283 +f 260 280 283 +f 228 237 284 +f 237 246 284 +f 246 255 284 +f 255 264 284 +f 264 276 284 +f 235 250 285 +f 250 240 285 +f 255 235 285 +f 240 255 285 +f 230 229 286 +f 229 258 286 +f 267 230 286 +f 258 267 286 +f 248 232 287 +f 254 248 287 +f 232 281 287 +f 281 254 287 +f 236 245 288 +f 270 236 288 +f 268 270 288 +f 245 274 288 +f 239 228 289 +f 279 239 289 +f 274 279 289 +f 268 288 289 +f 288 274 289 +f 235 246 290 +f 249 235 290 +f 246 249 290 +f 276 268 291 +f 228 284 291 +f 284 276 291 +f 289 228 291 +o convex_5 +v 0.578245 2.064825 0.319669 +v -0.635472 2.064825 0.319669 +v -0.635472 2.064825 0.352459 +v -0.110471 3.835503 0.319669 +v -0.045009 2.130354 -0.303466 +v -0.012337 2.097589 0.910251 +v 0.348594 3.573212 0.221535 +v -0.340122 3.409216 -0.008116 +v -0.340122 3.441980 0.615019 +v 0.348594 2.884634 0.680481 +v 0.348594 2.851870 -0.139396 +v 0.020572 3.573212 -0.106606 +v -0.471402 2.064825 -0.172186 +v -0.045009 3.605977 0.680481 +v -0.471402 2.064825 0.778971 +v -0.471402 3.507683 0.287116 +v 0.446965 2.064825 -0.172186 +v 0.414175 2.064825 0.746181 +v -0.438612 2.917399 0.713390 +v -0.045009 2.851870 -0.237767 +v 0.479636 2.884634 0.254326 +v -0.012337 2.950164 0.811642 +v -0.438612 2.851870 -0.073815 +v 0.348594 3.540448 0.319669 +v 0.086152 2.064825 -0.303466 +v -0.077799 3.573212 -0.106606 +v -0.438612 3.605977 0.254326 +v -0.012337 3.835503 0.254326 +v -0.569773 2.819105 0.319669 +v 0.250104 3.409216 -0.041025 +v 0.250104 3.376451 0.582110 +v -0.438612 3.573212 0.385249 +v -0.569773 2.097589 0.057465 +v -0.110471 3.605977 0.680481 +v -0.274541 2.851870 0.778971 +v 0.381384 2.851870 -0.106606 +v 0.512546 2.097589 -0.008116 +v 0.414175 2.163119 0.746181 +v 0.479636 2.786341 0.352459 +v -0.536864 2.884634 0.450830 +v -0.012337 3.835503 0.319669 +v -0.110471 3.835503 0.254326 +v -0.405821 2.097589 0.811642 +v -0.373031 2.884634 -0.106606 +v -0.110471 2.097589 -0.303466 +v -0.045009 2.064825 0.910251 +v -0.471402 2.786341 0.680481 +v -0.077799 2.720638 0.844552 +f 334 337 339 +f 294 293 292 +f 292 293 304 +f 294 292 306 +f 292 304 308 +f 306 292 309 +f 303 302 311 +f 301 305 313 +f 312 298 315 +f 302 308 316 +f 308 304 316 +f 296 311 316 +f 311 302 316 +f 303 311 317 +f 314 307 318 +f 299 314 318 +f 317 299 318 +f 298 303 319 +f 303 317 319 +f 293 294 320 +f 307 314 320 +f 303 298 321 +f 302 303 321 +f 305 301 322 +f 315 305 322 +f 301 315 322 +f 310 300 323 +f 295 318 323 +f 318 307 323 +f 304 293 324 +f 314 304 324 +f 293 320 324 +f 320 314 324 +f 305 295 325 +f 300 310 325 +f 313 305 325 +f 295 323 325 +f 323 300 325 +f 325 310 326 +f 308 302 327 +f 298 312 327 +f 321 298 327 +f 302 321 327 +f 292 308 328 +f 312 292 328 +f 308 327 328 +f 327 312 328 +f 309 292 329 +f 297 309 329 +f 313 297 329 +f 301 313 329 +f 292 312 330 +f 315 301 330 +f 312 315 330 +f 329 292 330 +f 301 329 330 +f 320 294 331 +f 307 320 331 +f 310 323 331 +f 323 307 331 +f 295 305 332 +f 315 298 332 +f 305 315 332 +f 298 319 332 +f 319 295 332 +f 318 295 333 +f 317 318 333 +f 295 319 333 +f 319 317 333 +f 310 306 334 +f 326 310 334 +f 311 304 335 +f 304 314 335 +f 314 299 335 +f 299 317 335 +f 317 311 335 +f 311 296 336 +f 304 311 336 +f 296 316 336 +f 316 304 336 +f 309 297 337 +f 306 309 337 +f 334 306 337 +f 294 306 338 +f 306 310 338 +f 331 294 338 +f 310 331 338 +f 297 313 339 +f 313 325 339 +f 325 326 339 +f 326 334 339 +f 337 297 339 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/311/311.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/311/311.urdf new file mode 100644 index 000000000..c5cdacf1e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/311/311.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/312/312.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/312/312.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/312/312.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/312/312.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/312/312.obj new file mode 100644 index 000000000..66ff20d92 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/312/312.obj @@ -0,0 +1,567 @@ +o convex_0 +v -0.614771 -3.866899 -0.122626 +v 1.337305 -0.034677 1.070425 +v 1.228926 -0.034677 1.070425 +v -0.687024 -0.034677 -1.099067 +v 1.337514 -3.939522 -0.954236 +v -0.759485 -3.830587 0.997797 +v 1.337514 -3.866899 1.033687 +v 1.265052 -0.034677 -0.990337 +v -0.759485 -0.034677 0.961696 +v -0.650897 -3.830587 -0.990125 +v 1.373640 -0.034677 0.347120 +v -0.072458 -2.637652 1.070425 +v 0.542108 -3.216346 -1.026651 +v 1.373849 -3.722416 -0.881820 +v -0.759485 -3.866899 0.708560 +v 1.373849 -2.818446 1.033687 +v 1.156673 -0.107300 -1.026439 +v -0.687024 -0.938647 -1.099067 +v -0.759485 -0.034677 0.455424 +v -0.687024 -3.830587 -0.881820 +v -0.108584 -0.034677 -1.099067 +v 0.505981 -3.180034 1.070425 +v 0.867662 -3.939522 -0.483854 +v 1.301179 -0.721923 -0.990337 +v 1.373640 -0.034677 1.033899 +v -0.723150 -3.866899 0.997797 +v -0.325343 -3.866899 -0.990125 +v 1.337514 -3.903210 0.491526 +v -0.650897 -3.180034 -1.026651 +v -0.723150 -1.299853 -0.339447 +v 1.301179 -2.275682 -0.990337 +v -0.216963 -0.071371 0.997797 +v 1.084420 -0.794165 -1.026439 +v 0.578234 -3.866899 1.033687 +v 0.072465 -3.071864 1.070425 +v 1.373849 -3.830587 -0.845719 +v -0.036332 -3.903210 0.346907 +v 0.975833 -3.939522 -0.954236 +v 1.301179 -0.071371 -0.773516 +f 14 24 39 +f 3 2 4 +f 4 2 8 +f 3 4 9 +f 8 2 11 +f 2 3 12 +f 9 6 12 +f 6 9 15 +f 2 7 16 +f 14 11 16 +f 9 4 19 +f 15 9 19 +f 10 1 20 +f 1 15 20 +f 18 10 20 +f 4 8 21 +f 8 17 21 +f 13 18 21 +f 18 4 21 +f 7 2 22 +f 2 12 22 +f 14 5 24 +f 17 8 24 +f 11 2 25 +f 2 16 25 +f 16 11 25 +f 6 15 26 +f 1 10 27 +f 13 5 27 +f 23 5 28 +f 18 13 29 +f 10 18 29 +f 27 10 29 +f 13 27 29 +f 4 18 30 +f 15 19 30 +f 19 4 30 +f 20 15 30 +f 18 20 30 +f 5 13 31 +f 24 5 31 +f 17 24 31 +f 3 9 32 +f 12 3 32 +f 9 12 32 +f 21 17 33 +f 13 21 33 +f 31 13 33 +f 17 31 33 +f 7 22 34 +f 28 7 34 +f 26 28 34 +f 12 6 35 +f 22 12 35 +f 6 26 35 +f 34 22 35 +f 26 34 35 +f 5 14 36 +f 16 7 36 +f 14 16 36 +f 28 5 36 +f 7 28 36 +f 15 1 37 +f 26 15 37 +f 23 28 37 +f 28 26 37 +f 5 23 38 +f 1 27 38 +f 27 5 38 +f 37 1 38 +f 23 37 38 +f 8 11 39 +f 11 14 39 +f 24 8 39 +o convex_1 +v 0.542055 4.123470 0.491866 +v -0.325587 2.207373 -0.484321 +v 0.686822 2.207373 -0.484321 +v 0.578276 4.087266 -0.556694 +v 0.759025 2.207373 0.455736 +v -0.253263 4.195879 0.600369 +v -0.289365 2.207373 0.491866 +v -0.289365 4.123470 -0.484321 +v 0.903792 4.051257 0.455736 +v 0.903792 2.207373 -0.411948 +v 0.759025 4.087266 -0.556694 +v -0.000071 3.689604 0.600369 +v -0.289365 3.617390 0.564125 +v 0.650600 2.243772 0.491866 +v -0.253263 4.123470 -0.520451 +v 0.903792 3.978848 0.202600 +v 0.036031 2.750046 -0.520451 +v 0.903792 3.725808 0.455736 +v -0.108616 4.195879 0.600369 +v -0.289365 4.159675 0.166470 +v 0.867570 2.316180 -0.484321 +v 0.903792 2.243772 -0.303558 +v -0.253263 3.653400 0.600369 +v -0.217041 4.195879 0.383363 +v -0.325587 2.352190 -0.339688 +v 0.867570 4.087266 0.057967 +f 50 58 65 +f 41 42 44 +f 41 44 46 +f 44 42 49 +f 46 44 53 +f 41 47 54 +f 50 43 54 +f 48 49 55 +f 49 50 55 +f 42 41 56 +f 50 42 56 +f 43 50 56 +f 41 54 56 +f 54 43 56 +f 49 48 57 +f 48 51 57 +f 53 44 57 +f 51 53 57 +f 48 40 58 +f 45 51 58 +f 51 48 58 +f 45 47 59 +f 52 45 59 +f 49 42 60 +f 50 49 60 +f 42 50 60 +f 44 49 61 +f 57 44 61 +f 49 57 61 +f 51 45 62 +f 45 52 62 +f 52 46 62 +f 46 53 62 +f 53 51 62 +f 47 45 63 +f 54 47 63 +f 50 54 63 +f 58 50 63 +f 45 58 63 +f 41 46 64 +f 47 41 64 +f 46 52 64 +f 59 47 64 +f 52 59 64 +f 40 48 65 +f 48 55 65 +f 55 50 65 +f 58 40 65 +o convex_2 +v 0.108329 -2.746408 -3.087768 +v 0.650685 -2.601771 -2.147641 +v 0.650685 -2.637947 -2.147641 +v -0.000142 -2.746408 -1.026751 +v 0.578326 -3.216290 -1.207715 +v 0.397563 -3.216290 -3.051252 +v -0.000142 -3.143939 -2.906804 +v 0.650685 -2.529419 -3.087768 +v -0.036321 -2.529419 -3.051252 +v 0.614505 -2.674056 -1.026751 +v 0.614505 -3.216290 -3.087768 +v 0.108329 -3.071654 -1.026751 +v 0.036038 -2.637947 -1.135289 +v 0.433675 -3.216290 -1.026751 +v 0.614505 -2.529419 -2.617704 +v 0.650685 -3.035478 -2.979230 +v -0.036321 -2.818692 -3.015342 +v 0.614505 -2.854868 -1.026751 +v 0.072217 -3.071654 -1.207715 +v -0.036321 -2.565595 -2.364314 +f 74 82 85 +f 67 68 73 +f 73 66 74 +f 68 67 75 +f 71 66 76 +f 70 71 76 +f 66 73 76 +f 75 69 77 +f 69 75 78 +f 71 70 79 +f 72 71 79 +f 75 77 79 +f 67 73 80 +f 73 74 80 +f 75 67 80 +f 78 75 80 +f 73 68 81 +f 70 76 81 +f 76 73 81 +f 66 71 82 +f 71 72 82 +f 72 69 82 +f 74 66 82 +f 68 75 83 +f 79 70 83 +f 75 79 83 +f 81 68 83 +f 70 81 83 +f 69 72 84 +f 77 69 84 +f 72 79 84 +f 79 77 84 +f 69 78 85 +f 80 74 85 +f 78 80 85 +f 82 69 85 +o convex_3 +v -3.254638 1.267082 0.600369 +v -4.772738 0.544315 -0.629010 +v -4.772738 0.544315 -0.484363 +v -4.664330 1.664999 0.419500 +v -2.784543 1.592591 -0.448141 +v -2.784345 0.616613 0.455722 +v -4.772738 0.652708 0.600369 +v -4.809006 1.556387 -0.592788 +v -2.784345 0.688912 -0.592788 +v -2.784543 1.592591 0.564147 +v -4.628063 1.664999 0.600369 +v -4.809006 1.194783 -0.014321 +v -3.363046 1.628685 0.600369 +v -3.001556 0.652708 -0.592788 +v -4.772738 1.592481 -0.448141 +v -4.591993 1.556387 -0.592788 +v -3.109963 0.616613 0.491823 +v -2.784345 0.616613 0.202529 +v -4.447318 0.652708 0.600369 +v -2.820811 1.230988 0.564147 +v -4.628063 0.544315 -0.629010 +v -4.772738 0.833509 0.600369 +v -4.266572 1.664999 0.564147 +f 96 98 108 +f 91 94 95 +f 94 90 95 +f 92 86 96 +f 87 88 97 +f 88 92 97 +f 89 93 97 +f 93 87 97 +f 86 95 98 +f 95 90 98 +f 96 86 98 +f 89 90 100 +f 93 89 100 +f 90 93 100 +f 87 93 101 +f 93 90 101 +f 90 94 101 +f 88 91 102 +f 92 88 102 +f 94 91 103 +f 99 94 103 +f 86 92 104 +f 92 102 104 +f 104 102 105 +f 91 95 105 +f 95 86 105 +f 102 91 105 +f 86 104 105 +f 88 87 106 +f 91 88 106 +f 94 99 106 +f 87 101 106 +f 101 94 106 +f 103 91 106 +f 99 103 106 +f 96 89 107 +f 92 96 107 +f 97 92 107 +f 89 97 107 +f 90 89 108 +f 89 96 108 +f 98 90 108 +o convex_4 +v 1.880050 1.954247 -1.062909 +v 1.446213 1.339473 1.034267 +v 1.952484 2.062418 0.997727 +v 3.362550 0.037880 -0.737329 +v 1.410283 0.038089 -0.990444 +v 3.362550 2.171214 0.925467 +v 3.290116 0.146468 0.961802 +v 3.253804 2.134879 -0.990444 +v 1.410283 0.182594 1.034267 +v 1.410283 2.062418 -1.062909 +v 3.362550 0.037880 -0.990444 +v 1.410283 2.098753 0.997727 +v 3.326237 0.110342 0.889337 +v 2.205523 0.146468 1.034267 +v 3.362550 1.845659 0.961802 +v 3.362550 2.171214 0.563963 +v 1.410283 0.363644 -1.026368 +v 1.410283 0.038089 -0.773459 +v 2.892400 2.134879 -0.990444 +v 3.290116 1.881786 -0.990444 +v 3.253804 0.037880 -0.375825 +v 2.819967 2.098753 -1.026574 +v 3.036885 0.146468 0.997932 +v 1.446213 1.447852 -1.062909 +v 2.024726 0.869830 1.034267 +v 1.410283 2.098753 0.708687 +v 3.362550 1.483978 0.961802 +v 3.217874 2.134879 0.961802 +v 1.410283 0.146468 0.744817 +v 3.181561 2.171214 0.889337 +v 3.362550 0.182594 -0.990444 +v 1.988605 2.098753 -0.918184 +f 134 127 140 +f 113 117 118 +f 114 112 119 +f 110 111 120 +f 117 110 120 +f 118 117 120 +f 110 117 122 +f 112 114 123 +f 114 119 124 +f 113 118 125 +f 119 113 125 +f 117 113 126 +f 121 122 126 +f 124 116 127 +f 116 124 128 +f 113 119 129 +f 119 112 129 +f 112 121 129 +f 126 113 129 +f 121 126 129 +f 109 118 130 +f 119 109 130 +f 127 116 130 +f 118 127 130 +f 116 128 130 +f 121 115 131 +f 122 121 131 +f 118 109 132 +f 109 119 132 +f 125 118 132 +f 119 125 132 +f 111 110 133 +f 110 122 133 +f 122 131 133 +f 131 123 133 +f 118 120 134 +f 121 112 135 +f 115 121 135 +f 112 123 135 +f 131 115 135 +f 123 131 135 +f 120 111 136 +f 114 120 136 +f 123 114 136 +f 111 133 136 +f 133 123 136 +f 122 117 137 +f 117 126 137 +f 126 122 137 +f 120 114 138 +f 114 124 138 +f 124 127 138 +f 134 120 138 +f 127 134 138 +f 124 119 139 +f 128 124 139 +f 119 130 139 +f 130 128 139 +f 127 118 140 +f 118 134 140 +o convex_5 +v 0.180642 -3.107823 1.070616 +v 0.614527 -2.710203 3.022968 +v 0.614527 -2.818678 3.022968 +v -0.000120 -2.637887 2.841990 +v 0.505988 -2.601729 1.070616 +v 0.072171 -3.180080 3.022968 +v 0.542168 -3.180080 1.179165 +v -0.072479 -2.565510 1.070616 +v 0.578347 -3.180080 2.986467 +v 0.072171 -3.071665 1.070616 +v 0.578347 -2.637887 1.070616 +v 0.108351 -2.637887 2.986467 +v 0.614527 -2.674045 2.986467 +v -0.072479 -2.637887 1.251404 +v 0.469876 -3.180080 1.070616 +v 0.614527 -2.927032 2.878109 +v 0.072171 -3.180080 2.733441 +f 155 146 157 +f 143 142 146 +f 145 141 148 +f 143 146 149 +f 146 147 149 +f 148 141 150 +f 141 145 151 +f 146 142 152 +f 144 146 152 +f 145 148 152 +f 148 144 152 +f 142 143 153 +f 151 145 153 +f 152 142 153 +f 145 152 153 +f 146 144 154 +f 144 148 154 +f 148 150 154 +f 147 146 155 +f 141 151 155 +f 151 147 155 +f 143 149 156 +f 149 147 156 +f 147 151 156 +f 153 143 156 +f 151 153 156 +f 150 141 157 +f 146 154 157 +f 154 150 157 +f 141 155 157 +o convex_6 +v -2.784344 0.616645 0.455424 +v 0.903368 2.207372 -0.339447 +v 0.903368 2.207372 -0.411863 +v 1.373467 -0.034436 0.383221 +v -0.687169 -0.034436 -1.099067 +v -2.784344 2.207372 -1.026651 +v -0.940078 2.207372 1.033899 +v 1.409597 2.062541 -1.062753 +v -2.711674 0.038199 1.070425 +v 1.409597 2.098749 0.997797 +v -2.675544 0.074407 -0.954236 +v -2.711674 2.062541 0.997797 +v 1.337337 -0.034436 1.070425 +v 1.410007 0.037979 -0.990550 +v 0.867238 1.664914 -1.099067 +v 1.410007 0.218799 1.070425 +v -0.759428 -0.034436 0.961696 +v 1.156687 -0.034436 -1.026439 +v -1.156857 0.146603 -1.099067 +v -2.784344 0.688841 -0.592583 +v -2.060925 0.833672 1.070425 +v -2.711674 0.038199 -0.194829 +v -2.784344 1.592499 0.564154 +v 0.722718 2.207372 0.455637 +v -2.711674 0.399618 -0.990337 +v -2.711674 2.098749 0.853391 +v -0.470389 2.207372 1.034111 +v -0.072550 0.001991 -1.099067 +v -2.784344 2.207372 -0.809617 +v -2.711674 1.483876 1.033899 +v 1.409597 1.375691 -1.062753 +v -2.784344 1.845514 -1.026651 +v -0.687169 0.725049 -1.099067 +v 1.409597 1.375691 1.034111 +v -2.603285 0.074407 -0.990337 +v -2.494895 2.207372 -1.026651 +v -1.085008 2.207372 0.997797 +v -2.711674 0.580657 1.070425 +v 0.867238 2.207372 -0.448177 +f 165 193 196 +f 159 160 163 +f 159 163 164 +f 160 159 167 +f 165 160 167 +f 162 161 170 +f 163 165 172 +f 165 167 173 +f 170 161 173 +f 166 170 173 +f 161 171 173 +f 171 165 173 +f 162 170 174 +f 170 166 174 +f 161 162 175 +f 171 161 175 +f 172 162 176 +f 158 163 177 +f 166 173 178 +f 166 158 179 +f 168 162 179 +f 162 174 179 +f 174 166 179 +f 158 177 179 +f 177 168 179 +f 163 158 180 +f 158 166 180 +f 159 164 181 +f 167 159 181 +f 168 177 182 +f 164 178 184 +f 178 173 184 +f 181 164 184 +f 167 181 184 +f 162 172 185 +f 175 162 185 +f 164 163 186 +f 163 180 186 +f 180 169 186 +f 169 183 186 +f 164 169 187 +f 169 180 187 +f 165 171 188 +f 172 165 188 +f 171 175 188 +f 185 172 188 +f 175 185 188 +f 163 176 189 +f 177 163 189 +f 182 177 189 +f 163 172 190 +f 176 163 190 +f 172 176 190 +f 173 167 191 +f 167 184 191 +f 184 173 191 +f 162 168 192 +f 176 162 192 +f 168 182 192 +f 189 176 192 +f 182 189 192 +f 163 160 193 +f 165 163 193 +f 169 164 194 +f 183 169 194 +f 164 186 194 +f 186 183 194 +f 178 164 195 +f 166 178 195 +f 180 166 195 +f 164 187 195 +f 187 180 195 +f 160 165 196 +f 193 160 196 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/312/312.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/312/312.urdf new file mode 100644 index 000000000..cf5cce2b3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/312/312.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/313/313.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/313/313.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/313/313.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/313/313.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/313/313.obj new file mode 100644 index 000000000..7ce2cc498 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/313/313.obj @@ -0,0 +1,639 @@ +o convex_0 +v -2.946209 -2.606523 -0.016863 +v 1.893600 -1.388142 0.050234 +v 1.893600 -1.388142 -0.017065 +v 2.197984 -3.520415 0.016887 +v -2.065714 -2.606523 1.032038 +v -0.136787 -1.388142 -0.964715 +v -0.272069 -1.388142 0.998085 +v -1.998073 -3.249640 -0.727651 +v 2.062702 -2.572597 -0.998667 +v 2.739692 -2.572597 0.828927 +v -2.065714 -3.317281 0.761021 +v -2.708884 -1.760696 -0.016863 +v -2.065714 -2.471242 -0.964715 +v 2.028882 -3.215502 0.862880 +v 2.739692 -2.471242 -0.761604 +v 2.028882 -3.317281 -0.761604 +v -2.065714 -3.520415 -0.016863 +v 2.028882 -2.471242 1.065991 +v 1.351892 -1.388142 0.828927 +v -1.185802 -1.388142 0.862678 +v -1.185802 -1.388142 -0.795354 +v 2.739692 -1.794410 0.050436 +v 1.148969 -1.388142 -0.829105 +v 2.807333 -3.317281 0.016887 +v -2.708884 -2.538882 0.794974 +v -2.675063 -2.437527 -0.761604 +v -2.708884 -3.317281 -0.016863 +v 3.010839 -2.538882 0.050436 +v 2.028882 -3.554341 0.117938 +v -1.828971 -1.388142 0.084187 +v -2.065714 -1.794410 0.794974 +v 2.299445 -1.862051 -0.660149 +v 1.995062 -1.692843 0.795177 +v 2.028882 -3.317281 0.795177 +v -1.930432 -1.693055 -0.761604 +v -1.998073 -2.572597 -0.964715 +v -0.001506 -1.523636 1.032038 +v 2.604411 -3.148073 -0.558493 +v 2.028882 -3.520415 -0.152473 +v -1.998073 -3.520415 0.117938 +v -2.539782 -3.147861 0.592065 +v -2.539782 -3.012579 -0.592243 +v 2.773513 -2.572597 -0.761604 +v 2.570591 -1.997545 0.625816 +v 2.502950 -3.148073 0.659567 +v -2.573602 -1.963830 0.558113 +v 1.995062 -2.437739 -0.998667 +v -2.539782 -1.896190 -0.490789 +v -1.998073 -3.486489 -0.152271 +v -2.742704 -2.640238 0.761021 +v -2.031893 -3.283354 0.794974 +v 2.028882 -2.538882 1.065991 +v -2.708884 -1.794410 0.117938 +v -2.031893 -3.350995 0.693520 +v 2.705872 -1.794410 -0.084567 +v -2.031893 -2.504744 1.032038 +v 0.201416 -1.388142 0.998085 +v -2.675063 -2.538882 -0.761604 +v 1.995062 -1.760484 -0.761604 +v -2.946209 -2.471242 0.016887 +v 1.724499 -2.606311 -0.998667 +v -1.828971 -2.268532 -0.964715 +v 0.133776 -1.388142 -0.964715 +v 1.758319 -3.317281 -0.761604 +f 36 61 64 +f 2 3 6 +f 2 6 7 +f 2 7 19 +f 7 6 20 +f 20 6 21 +f 3 2 22 +f 2 19 22 +f 6 3 23 +f 22 10 28 +f 10 24 28 +f 4 24 29 +f 21 12 30 +f 20 21 30 +f 18 10 33 +f 19 18 33 +f 22 19 33 +f 29 24 34 +f 12 21 35 +f 13 26 35 +f 24 16 38 +f 24 4 39 +f 16 24 39 +f 4 29 39 +f 29 17 39 +f 27 17 40 +f 17 29 40 +f 27 11 41 +f 8 27 42 +f 9 15 43 +f 16 9 43 +f 15 28 43 +f 28 24 43 +f 38 16 43 +f 24 38 43 +f 10 22 44 +f 33 10 44 +f 22 33 44 +f 10 14 45 +f 24 10 45 +f 14 34 45 +f 34 24 45 +f 25 31 46 +f 15 9 47 +f 26 12 48 +f 12 35 48 +f 35 26 48 +f 27 8 49 +f 17 27 49 +f 39 17 49 +f 5 25 50 +f 1 27 50 +f 41 11 50 +f 27 41 50 +f 14 5 51 +f 34 14 51 +f 11 34 51 +f 5 50 51 +f 50 11 51 +f 5 14 52 +f 14 10 52 +f 18 5 52 +f 10 18 52 +f 30 12 53 +f 20 30 53 +f 31 20 53 +f 25 46 53 +f 46 31 53 +f 11 27 54 +f 34 11 54 +f 29 34 54 +f 27 40 54 +f 40 29 54 +f 3 22 55 +f 23 3 55 +f 28 15 55 +f 22 28 55 +f 15 32 55 +f 5 18 56 +f 7 20 56 +f 25 5 56 +f 20 31 56 +f 31 25 56 +f 37 7 56 +f 18 37 56 +f 19 7 57 +f 18 19 57 +f 7 37 57 +f 37 18 57 +f 1 26 58 +f 26 13 58 +f 27 1 58 +f 13 36 58 +f 36 8 58 +f 8 42 58 +f 42 27 58 +f 32 15 59 +f 15 47 59 +f 47 23 59 +f 23 55 59 +f 55 32 59 +f 26 1 60 +f 12 26 60 +f 1 50 60 +f 50 25 60 +f 53 12 60 +f 25 53 60 +f 9 16 61 +f 36 13 61 +f 47 9 61 +f 47 61 62 +f 21 6 62 +f 35 21 62 +f 13 35 62 +f 6 47 62 +f 61 13 62 +f 6 23 63 +f 47 6 63 +f 23 47 63 +f 8 36 64 +f 16 39 64 +f 49 8 64 +f 39 49 64 +f 61 16 64 +o convex_1 +v 0.201151 -1.388142 0.998297 +v -0.170723 -1.185081 -0.964821 +v -0.407532 -1.015889 -0.930808 +v -1.795416 -1.388142 0.050559 +v -1.016570 -0.982059 0.862824 +v 1.826198 -1.388142 -0.016890 +v 1.047707 -0.982059 0.794991 +v 0.945965 -0.982059 -0.829155 +v 1.081385 -1.388142 -0.829155 +v -0.982892 -0.982059 -0.795527 +v -1.050603 -1.388142 -0.829347 +v -1.118313 -1.388142 0.862824 +v 1.284516 -1.388142 0.828811 +v 1.352226 -0.982059 -0.016890 +v -1.287412 -0.982059 -0.050902 +v 0.201151 -0.982059 0.998297 +v 0.133441 -1.388142 -0.964821 +v 0.167474 -0.982059 -0.964821 +v -1.795416 -1.354232 -0.017082 +v -0.238434 -0.982059 0.998297 +v 1.826198 -1.354232 0.050367 +v -0.272466 -1.388142 0.998297 +v 1.792166 -1.354232 -0.084531 +v 0.844576 -0.982059 0.896452 +v -1.287412 -0.982059 0.118199 +v -1.186023 -1.354232 -0.727886 +v -1.761384 -1.354232 0.118199 +v 1.182773 -1.354232 -0.761514 +v 1.182773 -1.354232 0.862632 +v -0.982892 -1.151250 0.896644 +v -0.813439 -0.982059 -0.863168 +v 1.284516 -1.354232 0.828811 +v -1.050603 -1.015889 0.862824 +v 1.758134 -1.286571 0.050367 +v -0.136691 -1.388142 -0.964821 +v -1.761384 -1.320402 0.050559 +v 1.758134 -1.286571 -0.016890 +v -1.050603 -0.982059 0.829004 +v 0.979997 -0.982059 -0.795335 +f 101 87 103 +f 65 68 70 +f 69 71 72 +f 70 68 73 +f 69 72 74 +f 67 66 75 +f 73 68 75 +f 68 65 76 +f 65 70 77 +f 72 71 78 +f 69 74 79 +f 71 69 80 +f 73 75 81 +f 66 67 82 +f 72 73 82 +f 74 72 82 +f 81 66 82 +f 73 81 82 +f 75 68 83 +f 79 74 83 +f 80 69 84 +f 65 80 84 +f 77 70 85 +f 76 65 86 +f 65 84 86 +f 85 70 87 +f 71 80 88 +f 69 79 89 +f 74 75 90 +f 75 83 90 +f 83 74 90 +f 68 76 91 +f 83 68 91 +f 70 73 92 +f 73 72 92 +f 87 70 92 +f 65 77 93 +f 80 65 93 +f 88 80 93 +f 76 86 94 +f 86 84 94 +f 67 75 95 +f 75 74 95 +f 82 67 95 +f 74 82 95 +f 77 85 96 +f 85 71 96 +f 71 88 96 +f 93 77 96 +f 88 93 96 +f 84 69 97 +f 91 76 97 +f 76 94 97 +f 94 84 97 +f 78 71 98 +f 71 85 98 +f 75 66 99 +f 66 81 99 +f 81 75 99 +f 79 83 100 +f 89 79 100 +f 83 91 100 +f 85 87 101 +f 78 98 101 +f 98 85 101 +f 69 89 102 +f 97 69 102 +f 91 97 102 +f 89 100 102 +f 100 91 102 +f 72 78 103 +f 92 72 103 +f 87 92 103 +f 78 101 103 +o convex_2 +v 0.167659 0.303926 0.998297 +v -0.136761 0.134709 -0.998668 +v -0.644630 -0.846456 -0.896825 +v 1.284619 -0.981980 -0.050813 +v -1.050523 -0.981980 0.828821 +v -1.050523 0.541129 -0.050813 +v 1.047680 0.541129 -0.084630 +v 1.013688 -0.981980 0.829017 +v 0.945955 -0.981980 -0.829387 +v -0.813584 0.541129 0.795004 +v 0.743009 0.541129 -0.795570 +v -1.287713 -0.981980 -0.050813 +v -0.779844 0.541129 -0.761557 +v 0.810742 0.541129 0.727370 +v -0.983042 -0.981980 -0.795374 +v -0.238486 -0.981980 0.998297 +v -0.136761 0.541129 0.998297 +v 0.099926 0.541129 -0.998668 +v 0.167659 -0.981980 -0.964655 +v -1.152248 -0.000666 0.084260 +v 1.284619 -0.846456 0.050638 +v 0.810742 0.507137 -0.761557 +v 0.201399 -0.981980 0.998297 +v -0.915309 -0.914143 0.896455 +v 0.844482 -0.880300 0.896651 +v 1.081421 0.439301 0.016821 +v 0.844482 0.337770 0.761187 +v -1.287713 -0.947987 0.118077 +v -0.915309 -0.034509 0.828821 +v -0.102768 0.541129 -0.998668 +v 0.979948 -0.846456 -0.795570 +v -0.915309 -0.406490 -0.795374 +v 0.032193 -0.609402 -0.998668 +v 1.284619 -0.880300 -0.050813 +v -1.084515 0.473293 0.050443 +v 0.844482 -0.914143 -0.863204 +v 1.013688 -0.846456 0.829017 +v -0.813584 0.405606 -0.761557 +v -0.170753 -0.981980 -0.964655 +v -1.287713 -0.846456 -0.016996 +v 0.065934 0.541129 0.998297 +v -0.813584 -0.846456 -0.863008 +v -0.915309 0.541129 0.558089 +v 0.336865 -0.034509 -0.964655 +v -0.475172 -0.203727 0.964285 +v 1.115413 0.236239 -0.050813 +v 0.776749 0.473293 -0.795570 +v -0.983042 0.541129 -0.253911 +v -0.983042 -0.880300 -0.795374 +v 1.284619 -0.981980 0.084260 +f 124 140 153 +f 108 107 111 +f 107 108 112 +f 110 109 113 +f 109 110 114 +f 112 108 115 +f 109 114 116 +f 110 113 117 +f 112 115 118 +f 108 111 119 +f 117 113 120 +f 119 104 120 +f 116 114 121 +f 112 118 122 +f 114 110 125 +f 104 119 126 +f 119 111 126 +f 108 119 127 +f 104 126 128 +f 126 111 128 +f 110 117 129 +f 124 129 130 +f 104 128 130 +f 129 117 130 +f 115 108 131 +f 120 113 132 +f 108 127 132 +f 131 108 132 +f 121 105 133 +f 116 121 133 +f 107 112 134 +f 105 121 136 +f 124 107 137 +f 107 134 137 +f 134 125 137 +f 112 122 139 +f 122 136 139 +f 128 111 140 +f 124 130 140 +f 130 128 140 +f 116 133 141 +f 133 135 141 +f 106 105 142 +f 122 118 142 +f 105 136 142 +f 136 122 142 +f 115 131 143 +f 131 123 143 +f 138 109 143 +f 123 138 143 +f 120 104 144 +f 117 120 144 +f 104 130 144 +f 130 117 144 +f 105 106 145 +f 133 105 145 +f 135 133 145 +f 106 142 145 +f 142 118 145 +f 113 109 146 +f 123 131 146 +f 131 132 146 +f 132 113 146 +f 109 138 146 +f 138 123 146 +f 136 121 147 +f 139 136 147 +f 119 120 148 +f 127 119 148 +f 120 132 148 +f 132 127 148 +f 125 110 149 +f 110 129 149 +f 129 124 149 +f 124 137 149 +f 137 125 149 +f 121 114 150 +f 114 125 150 +f 134 112 150 +f 125 134 150 +f 112 139 150 +f 147 121 150 +f 139 147 150 +f 109 116 151 +f 116 141 151 +f 143 109 151 +f 141 143 151 +f 118 115 152 +f 141 135 152 +f 115 143 152 +f 143 141 152 +f 145 118 152 +f 135 145 152 +f 111 107 153 +f 107 124 153 +f 140 111 153 +o convex_3 +v 0.268997 6.023628 -0.321651 +v -1.050785 0.542100 -0.050704 +v -0.982998 0.542100 -0.253864 +v 0.878460 0.541513 0.558182 +v 0.742887 0.542100 -0.795361 +v -0.779844 3.620622 0.761144 +v -0.746157 4.095007 -0.727773 +v 0.776780 4.263886 0.693556 +v -0.136694 0.542100 0.998297 +v -0.373742 6.226518 0.151861 +v 0.742887 3.688056 -0.761567 +v -0.103007 0.542100 -0.998522 +v 1.047720 3.519764 -0.050902 +v -0.982998 4.229876 -0.050704 +v 0.032156 4.128431 0.930312 +v -0.001532 3.688056 -0.998522 +v -0.847631 0.542100 0.761144 +v 0.032156 6.293952 0.388815 +v -0.103007 6.293952 -0.423231 +v -0.779844 0.542100 -0.761567 +v 1.047720 0.541513 -0.084497 +v 0.370677 6.226518 -0.050704 +v 0.675306 0.542100 0.794938 +v -0.441323 6.327962 -0.050704 +v -1.050785 3.552601 -0.017108 +v 0.032156 3.418319 0.998297 +v 0.979934 4.195866 -0.017108 +v -0.779844 3.654632 -0.761567 +v -0.712263 4.297310 0.659564 +v 0.776780 2.911096 -0.795361 +v 0.066049 1.794032 -1.032514 +v 0.675306 4.263886 -0.693980 +v 0.810673 3.722067 0.727350 +v -0.813738 2.673610 0.795137 +v -0.069113 4.229876 -0.930735 +v -0.069113 2.572752 -1.032514 +v -0.001532 6.532024 -0.050902 +v -1.050785 1.286222 0.118067 +v 0.066049 0.542100 0.998297 +v 0.370677 6.226518 0.050479 +v 1.047720 0.981302 0.050479 +v -0.813738 3.552601 -0.727773 +v -0.746157 4.263886 -0.693781 +v 0.844566 1.218788 -0.659987 +v -0.035220 6.293952 0.388815 +v -0.339848 6.125073 -0.355246 +v -0.001532 6.260528 -0.423231 +v -1.050785 3.519764 0.050280 +v -0.915212 4.263886 0.185853 +v -0.746157 1.726011 -0.795560 +v 0.810673 0.541513 0.727350 +v 0.303096 6.091649 0.287235 +v 0.099942 0.542100 -0.998522 +v -0.746157 0.542100 0.828931 +v 0.133630 4.263300 0.896518 +v -0.103007 2.403286 0.998297 +v 0.878460 3.519764 0.558182 +v -0.373742 4.263886 0.794938 +v 0.776780 0.744989 -0.795361 +v 0.303096 2.301255 -0.964728 +v 0.066049 2.911096 0.998297 +v 0.201416 4.229876 -0.863147 +v 0.946041 2.301842 -0.389238 +v 1.013827 3.519764 0.118067 +f 210 194 217 +f 155 156 174 +f 156 173 174 +f 173 165 174 +f 168 159 179 +f 166 164 180 +f 163 177 182 +f 164 166 183 +f 169 164 183 +f 154 175 185 +f 180 164 185 +f 175 180 185 +f 161 179 186 +f 179 159 187 +f 181 160 188 +f 169 181 188 +f 181 169 189 +f 184 165 189 +f 169 184 189 +f 172 177 190 +f 155 170 191 +f 178 155 191 +f 179 162 192 +f 161 180 193 +f 180 175 193 +f 190 171 193 +f 175 190 193 +f 157 174 194 +f 174 166 194 +f 156 155 195 +f 173 156 195 +f 155 178 195 +f 178 167 195 +f 160 181 195 +f 167 177 196 +f 188 160 196 +f 172 188 196 +f 160 195 196 +f 195 167 196 +f 168 171 198 +f 177 163 198 +f 163 182 198 +f 171 190 198 +f 190 177 198 +f 177 172 199 +f 196 177 199 +f 172 196 199 +f 175 154 200 +f 154 185 200 +f 188 172 200 +f 190 175 200 +f 172 190 200 +f 167 178 201 +f 170 187 201 +f 187 159 201 +f 191 170 201 +f 178 191 201 +f 177 167 202 +f 159 182 202 +f 182 177 202 +f 201 159 202 +f 167 201 202 +f 165 173 203 +f 189 165 203 +f 181 189 203 +f 173 195 203 +f 195 181 203 +f 170 155 204 +f 155 174 204 +f 174 157 204 +f 157 186 204 +f 186 176 204 +f 192 162 204 +f 176 192 204 +f 171 161 205 +f 161 193 205 +f 193 171 205 +f 158 174 206 +f 174 165 206 +f 165 184 206 +f 187 170 207 +f 170 204 207 +f 204 162 207 +f 161 171 208 +f 171 168 208 +f 168 179 208 +f 179 161 208 +f 162 179 209 +f 179 187 209 +f 207 162 209 +f 187 207 209 +f 186 157 210 +f 157 194 210 +f 159 168 211 +f 182 159 211 +f 168 198 211 +f 198 182 211 +f 174 158 212 +f 197 174 212 +f 183 197 212 +f 158 206 212 +f 206 184 212 +f 169 183 213 +f 184 169 213 +f 183 212 213 +f 212 184 213 +f 176 186 214 +f 186 179 214 +f 192 176 214 +f 179 192 214 +f 164 169 215 +f 185 164 215 +f 169 188 215 +f 200 185 215 +f 188 200 215 +f 166 174 216 +f 183 166 216 +f 174 197 216 +f 197 183 216 +f 180 161 217 +f 166 180 217 +f 161 186 217 +f 194 166 217 +f 186 210 217 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/313/313.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/313/313.urdf new file mode 100644 index 000000000..8a8a5d4cb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/313/313.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/314/314.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/314/314.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/314/314.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/314/314.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/314/314.obj new file mode 100644 index 000000000..94ae485c2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/314/314.obj @@ -0,0 +1,1089 @@ +o convex_0 +v 1.187290 -2.094947 0.191158 +v 1.481466 -1.474166 0.027730 +v 1.481466 -1.474166 -0.037572 +v 2.854121 -1.833573 0.027730 +v 1.187290 -2.094947 -0.266359 +v 1.187290 -1.604924 0.256517 +v 1.187290 -1.604924 -0.266359 +v 2.592578 -1.768335 -0.201000 +v 2.592578 -2.029639 -0.037572 +v 2.625209 -1.768335 0.191158 +v 2.559946 -1.572269 -0.037572 +v 1.220085 -2.192980 -0.037572 +v 1.252717 -1.898882 0.289226 +v 2.428929 -1.996915 0.125798 +v 1.187290 -1.506891 -0.201000 +v 1.220085 -1.539545 0.223809 +v 1.416202 -1.800989 -0.299068 +v 2.559946 -1.866227 -0.201000 +v 2.428929 -1.637578 -0.168291 +v 1.318143 -2.127672 -0.233651 +v 2.396461 -1.604924 0.093090 +v 2.069490 -1.996915 0.191158 +v 1.220085 -2.192980 0.027730 +v 1.416202 -1.768335 0.289226 +v 2.625209 -1.833573 0.191158 +v 2.854121 -1.768335 -0.037572 +v 2.527151 -2.029639 0.060439 +v 1.416202 -2.062293 0.223809 +v 1.187290 -1.474166 0.060439 +v 2.461724 -1.964260 -0.168291 +f 9 20 30 +f 5 1 6 +f 5 6 7 +f 3 2 11 +f 1 5 12 +f 6 1 13 +f 7 6 15 +f 3 11 15 +f 6 10 16 +f 5 7 17 +f 7 8 17 +f 17 8 18 +f 5 17 18 +f 8 7 19 +f 11 8 19 +f 7 15 19 +f 15 11 19 +f 12 5 20 +f 9 12 20 +f 11 2 21 +f 10 11 21 +f 16 10 21 +f 2 16 21 +f 1 12 23 +f 12 9 23 +f 10 6 24 +f 6 13 24 +f 24 13 25 +f 4 10 25 +f 13 22 25 +f 22 14 25 +f 10 24 25 +f 4 9 26 +f 10 4 26 +f 8 11 26 +f 11 10 26 +f 18 8 26 +f 9 18 26 +f 9 4 27 +f 23 9 27 +f 4 25 27 +f 25 14 27 +f 13 1 28 +f 22 13 28 +f 14 22 28 +f 1 23 28 +f 27 14 28 +f 23 27 28 +f 2 3 29 +f 3 15 29 +f 15 6 29 +f 6 16 29 +f 16 2 29 +f 18 9 30 +f 5 18 30 +f 20 5 30 +o convex_1 +v -2.701805 -0.427997 -0.593074 +v -1.329478 0.421530 1.040934 +v -1.362084 0.421530 1.040934 +v -1.329478 1.238476 -0.789242 +v -1.329299 -0.755019 -0.821970 +v -2.897979 0.944278 0.027762 +v -2.179210 -0.624210 0.812038 +v -1.329478 1.271056 0.812038 +v -2.897979 0.257897 0.746583 +v -2.897979 0.160155 -0.789242 +v -1.329299 -1.049217 0.060093 +v -2.930585 -0.591387 -0.004767 +v -1.329299 -0.787600 0.910023 +v -2.146425 0.029347 -0.985410 +v -3.159545 0.225073 -0.037495 +v -1.394691 1.434689 -0.037297 +v -2.211995 0.192736 1.008008 +v -2.701805 0.748065 -0.593074 +v -1.329478 0.486934 -0.985410 +v -2.146425 -0.624210 -0.756514 +v -2.179210 0.944278 0.746781 +v -2.146425 -0.885585 0.060093 +v -2.897979 0.094994 0.746583 +v -2.015641 0.356125 -0.985410 +v -2.113818 0.944278 -0.756514 +v -2.897979 0.944278 -0.070025 +v -2.767196 -0.460578 0.485157 +v -2.701805 0.780889 0.550613 +v -1.394691 1.075087 0.910023 +v -1.362084 -0.395417 -0.919955 +v -1.917644 -0.101219 1.008008 +v -2.832588 -0.656791 -0.004767 +v -2.113818 -0.885585 -0.037297 +v -3.159545 0.127575 0.027762 +v -1.394691 1.009439 -0.887227 +v -1.362084 1.434689 0.092821 +v -1.362084 -0.853004 0.746781 +v -1.362084 -1.049217 -0.004569 +v -1.558259 1.271056 -0.495089 +v -2.897979 0.127575 -0.789242 +v -1.362084 1.271056 0.812038 +v -1.362084 -0.722195 -0.854499 +v -1.362084 -0.689615 0.942751 +v -1.329478 0.160155 -0.985410 +v -2.244422 0.192736 -0.985212 +v -2.113818 -0.656791 0.812038 +v -2.832588 0.976858 -0.070025 +v -2.015641 1.238476 0.060093 +v -2.081033 0.323301 1.008008 +v -3.159545 0.160155 -0.070025 +v -2.211995 0.127575 1.008008 +v -2.113818 -0.591630 -0.789242 +v -1.689042 1.140491 0.812038 +v -2.734411 -0.362593 0.615870 +v -1.362084 1.238476 -0.789242 +v -1.492867 0.225317 1.040934 +v -1.329478 1.434689 -0.070025 +v -2.832588 -0.656791 0.027762 +v -2.963371 0.225073 0.615870 +v -2.930585 -0.591387 0.027762 +v -2.897979 0.225073 -0.756316 +v -2.799802 -0.526225 -0.331648 +v -2.179210 -0.656791 -0.658529 +v -2.146425 0.911697 0.779310 +f 59 83 94 +f 38 32 43 +f 41 35 43 +f 34 35 49 +f 47 39 53 +f 49 44 54 +f 40 48 55 +f 45 36 56 +f 36 39 58 +f 51 36 58 +f 39 51 58 +f 33 32 59 +f 32 38 59 +f 52 62 63 +f 34 49 65 +f 49 54 65 +f 54 55 65 +f 41 43 67 +f 52 41 67 +f 35 41 68 +f 41 52 68 +f 52 63 68 +f 59 38 71 +f 38 66 71 +f 35 50 72 +f 60 35 72 +f 44 60 72 +f 43 32 73 +f 61 37 73 +f 49 35 74 +f 44 49 74 +f 35 60 74 +f 60 44 74 +f 54 44 75 +f 40 55 75 +f 55 54 75 +f 70 40 75 +f 44 70 75 +f 67 43 76 +f 52 67 76 +f 43 73 76 +f 73 37 76 +f 55 48 77 +f 56 36 77 +f 48 56 77 +f 46 69 77 +f 66 46 78 +f 36 71 78 +f 71 66 78 +f 77 36 78 +f 46 77 78 +f 47 33 79 +f 39 47 79 +f 33 59 79 +f 45 40 80 +f 42 64 80 +f 64 45 80 +f 70 42 80 +f 40 70 80 +f 53 37 81 +f 47 53 81 +f 37 61 81 +f 50 31 82 +f 31 70 82 +f 70 44 82 +f 72 50 82 +f 44 72 82 +f 36 51 83 +f 71 36 83 +f 59 71 83 +f 37 53 84 +f 57 37 84 +f 53 57 84 +f 34 65 85 +f 65 55 85 +f 69 46 85 +f 55 77 85 +f 77 69 85 +f 32 33 86 +f 33 47 86 +f 73 32 86 +f 61 73 86 +f 47 81 86 +f 81 61 86 +f 35 34 87 +f 38 43 87 +f 43 35 87 +f 66 38 87 +f 46 66 87 +f 34 85 87 +f 85 46 87 +f 37 57 88 +f 42 62 88 +f 62 52 88 +f 76 37 88 +f 52 76 88 +f 39 36 89 +f 36 45 89 +f 53 39 89 +f 45 64 89 +f 64 53 89 +f 57 53 90 +f 64 42 90 +f 53 64 90 +f 88 57 90 +f 42 88 90 +f 40 45 91 +f 48 40 91 +f 45 56 91 +f 56 48 91 +f 31 50 92 +f 62 42 92 +f 70 31 92 +f 42 70 92 +f 50 35 93 +f 63 62 93 +f 35 68 93 +f 68 63 93 +f 92 50 93 +f 62 92 93 +f 51 39 94 +f 39 79 94 +f 79 59 94 +f 83 51 94 +o convex_2 +v -0.119805 -1.572391 1.040934 +v -0.022114 -1.899201 -1.050776 +v -0.022114 -1.833771 -1.050776 +v -1.459759 -1.931577 -0.364254 +v 0.206437 -2.846409 0.027634 +v 0.860219 -1.147435 -0.887182 +v -1.165648 -1.147435 -0.789108 +v 0.892869 -1.147435 0.909895 +v -1.067438 -1.147435 0.942655 +v -0.871537 -2.552314 0.844580 +v 1.186980 -2.127528 -0.233420 +v -0.773328 -2.585029 -0.821662 +v 0.664058 -2.552314 0.681396 +v 0.631408 -2.585029 -0.756348 +v -0.904187 -2.813694 -0.037476 +v -1.459759 -2.160243 0.289098 +v 0.271738 -2.225503 1.008174 +v -1.459759 -1.474246 0.060189 +v 1.186980 -1.605106 0.256338 +v 0.010536 -2.715719 0.779470 +v 0.664058 -2.780980 -0.004921 +v -0.022114 -2.748265 -0.756348 +v 0.206437 -2.258218 -1.050776 +v -0.904187 -1.147435 -0.919737 +v 1.186980 -2.029553 0.256338 +v -0.904187 -2.519768 -0.821662 +v 0.729359 -1.899201 -0.952702 +v 1.186980 -1.441700 -0.004921 +v 0.010536 -1.147435 -1.017812 +v -1.459759 -2.192958 -0.135550 +v 0.729359 -1.964462 0.909895 +v 0.010536 -1.147435 1.040934 +v -1.165648 -1.147435 0.844580 +v -0.904187 -1.637651 0.975415 +v -0.283316 -2.879124 0.027634 +v -0.936838 -1.670366 -0.919737 +v 0.794918 -1.147435 -0.952702 +v 1.186980 -2.192958 0.027634 +v 1.186980 -1.703081 -0.298940 +v 0.108746 -2.258218 1.008174 +v -0.904187 -2.813694 0.027634 +v -1.459759 -1.637651 0.289098 +v -1.230948 -1.147435 -0.037476 +v -1.459759 -1.605106 -0.266180 +v -0.675377 -2.486884 -0.887182 +v 0.010536 -2.650289 -0.854627 +v 0.925519 -1.147435 -0.037476 +v 0.696968 -2.552314 -0.723588 +v -0.087414 -2.879124 -0.102586 +v 0.664058 -2.780980 -0.070031 +v -1.165648 -1.539676 0.779266 +v 1.186980 -2.094983 -0.266180 +v 0.369947 -1.997177 1.008174 +v -0.610077 -1.147435 1.008174 +v 0.271738 -2.062268 -1.050776 +v -1.132739 -2.421793 0.583117 +v -0.087414 -2.715719 0.779470 +v -1.459759 -2.094813 -0.331495 +v 0.696968 -2.552314 0.648636 +v 0.108746 -2.258218 -1.050776 +v -1.100348 -1.212865 -0.854627 +v 0.925519 -1.147435 0.844580 +v 1.186980 -1.506961 -0.233420 +v -0.184847 -1.147435 -1.017812 +f 118 123 158 +f 100 101 102 +f 102 101 103 +f 98 110 112 +f 107 111 114 +f 114 99 115 +f 107 114 115 +f 109 106 116 +f 96 97 117 +f 101 100 118 +f 105 113 119 +f 106 109 120 +f 108 117 121 +f 113 105 122 +f 118 100 123 +f 110 98 124 +f 120 109 124 +f 111 107 125 +f 119 102 125 +f 102 103 126 +f 103 101 127 +f 103 104 128 +f 99 114 129 +f 97 96 130 +f 118 97 130 +f 100 121 131 +f 123 100 131 +f 105 119 132 +f 122 105 133 +f 111 95 134 +f 114 111 134 +f 128 104 134 +f 95 128 134 +f 110 124 135 +f 124 109 135 +f 109 129 135 +f 112 110 136 +f 110 127 136 +f 127 112 136 +f 101 112 137 +f 127 101 137 +f 112 127 137 +f 101 98 138 +f 98 112 138 +f 112 101 138 +f 106 120 139 +f 120 130 139 +f 116 106 140 +f 108 116 140 +f 117 108 140 +f 106 139 140 +f 100 102 141 +f 122 100 141 +f 108 121 142 +f 109 116 143 +f 99 129 143 +f 129 109 143 +f 115 99 144 +f 116 108 144 +f 105 132 144 +f 132 115 144 +f 142 105 144 +f 108 142 144 +f 99 143 144 +f 143 116 144 +f 104 103 145 +f 110 104 145 +f 103 127 145 +f 127 110 145 +f 121 100 146 +f 100 133 146 +f 133 105 146 +f 105 142 146 +f 142 121 146 +f 95 111 147 +f 125 102 147 +f 111 125 147 +f 102 126 147 +f 126 95 147 +f 126 103 148 +f 95 126 148 +f 103 128 148 +f 128 95 148 +f 117 97 149 +f 121 117 149 +f 97 123 149 +f 131 121 149 +f 123 131 149 +f 104 110 150 +f 135 104 150 +f 110 135 150 +f 129 114 151 +f 134 104 151 +f 114 134 151 +f 104 135 151 +f 135 129 151 +f 98 120 152 +f 124 98 152 +f 120 124 152 +f 107 115 153 +f 125 107 153 +f 119 125 153 +f 115 132 153 +f 132 119 153 +f 96 117 154 +f 130 96 154 +f 139 130 154 +f 117 140 154 +f 140 139 154 +f 98 101 155 +f 101 118 155 +f 120 98 155 +f 118 130 155 +f 130 120 155 +f 102 119 156 +f 119 113 156 +f 113 122 156 +f 141 102 156 +f 122 141 156 +f 100 122 157 +f 133 100 157 +f 122 133 157 +f 97 118 158 +f 123 97 158 +o convex_3 +v 1.187290 1.467154 -0.004703 +v -1.329299 -1.081810 -0.004703 +v -1.296536 -1.114327 -0.037354 +v -0.446670 2.545692 -1.018093 +v -0.577475 2.480237 1.008082 +v 1.187290 -0.787472 0.942780 +v 1.187290 -0.819988 -0.952590 +v -1.329299 0.193094 -0.985241 +v -1.329299 -0.689499 0.942578 +v 0.435466 2.741637 0.681169 +v -0.904366 2.905064 0.027746 +v 0.468229 2.676181 -0.789133 +v -0.185305 -1.147266 -1.018093 +v 0.010533 -1.147266 1.040934 +v -1.329299 1.270788 0.844625 +v 1.187290 0.944777 0.975431 +v 1.187290 0.160155 -1.018093 +v -1.329299 1.238271 -0.821784 +v 0.958442 -1.147266 -0.037354 +v -0.087263 3.166886 -0.004905 +v -1.067688 -1.147266 -0.887086 +v 0.631551 2.905064 0.027746 +v -1.329299 0.421977 1.040934 +v 1.187290 0.944777 -0.919939 +v -0.283348 3.003036 0.779323 +v -0.217822 3.003036 -0.821986 +v -1.067688 -1.147266 0.942578 +v 0.762357 -0.035789 1.040934 +v -0.904366 2.349326 -0.756482 +v 0.860399 -1.147266 -0.919939 +v 0.893162 -1.147266 0.910129 +v -0.348627 2.545692 1.008082 +v -0.969645 2.284292 0.779323 +v -1.329299 1.532610 -0.004703 +v -1.329299 -0.722016 -0.854435 +v -0.185305 1.728132 1.040934 +v 1.187290 1.107782 0.909927 +v 0.402950 2.676181 0.779122 +v 0.631551 2.905064 -0.070207 +v 1.187290 -0.950899 0.354457 +v -0.283348 2.513176 -1.018093 +v 1.187290 0.585405 1.007880 +v -0.773560 2.774153 0.550363 +v -0.708281 2.774153 -0.592824 +v 1.187290 1.074843 -0.821784 +v 1.187290 -0.950899 -0.625677 +v -0.904366 2.905064 -0.037354 +v -0.348627 -1.048872 1.040934 +v -1.329299 0.487011 -0.985241 +v -0.185305 3.166886 -0.037354 +v -1.165730 -1.147266 0.844625 +v -0.152542 3.003036 -0.821986 +v -1.165730 -1.147266 -0.789133 +v 1.187290 -0.591105 0.975431 +v -0.217822 3.003036 0.779323 +v 1.187290 -0.656561 -0.985241 +v 0.402950 2.676181 -0.821784 +v -1.329299 1.107360 0.909927 +v -0.871603 2.937581 -0.037354 +v 0.598788 2.938003 0.027746 +v 0.598788 2.938003 -0.070207 +v -1.329299 0.258550 1.040934 +v 1.187290 1.467154 0.092846 +v 0.010533 -1.147266 -1.018093 +f 175 214 222 +f 159 164 165 +f 166 160 167 +f 166 162 171 +f 166 167 173 +f 164 159 174 +f 159 165 175 +f 171 162 175 +f 166 173 176 +f 172 171 177 +f 166 171 179 +f 171 172 179 +f 173 167 181 +f 159 175 182 +f 179 172 185 +f 181 172 186 +f 162 176 187 +f 177 171 188 +f 164 172 189 +f 172 177 189 +f 183 163 190 +f 169 173 191 +f 173 169 192 +f 176 173 192 +f 160 166 193 +f 166 179 193 +f 163 181 194 +f 181 186 194 +f 190 163 194 +f 174 159 195 +f 180 168 195 +f 190 174 196 +f 174 195 196 +f 195 168 196 +f 180 159 197 +f 165 164 198 +f 164 189 198 +f 189 177 198 +f 175 162 199 +f 182 175 199 +f 164 174 200 +f 174 190 200 +f 194 186 200 +f 190 194 200 +f 163 183 201 +f 183 169 201 +f 191 163 201 +f 169 191 201 +f 184 162 202 +f 162 187 202 +f 182 170 203 +f 159 182 203 +f 197 159 203 +f 170 197 203 +f 188 165 204 +f 177 188 204 +f 165 198 204 +f 198 177 204 +f 187 176 205 +f 192 169 205 +f 176 192 205 +f 202 187 205 +f 172 181 206 +f 185 172 206 +f 162 166 207 +f 176 162 207 +f 166 176 207 +f 183 178 208 +f 160 161 209 +f 167 160 209 +f 185 167 209 +f 179 185 209 +f 162 184 210 +f 199 162 210 +f 208 178 210 +f 184 208 210 +f 161 160 211 +f 160 193 211 +f 193 179 211 +f 209 161 211 +f 179 209 211 +f 172 164 212 +f 186 172 212 +f 164 200 212 +f 200 186 212 +f 178 183 213 +f 183 190 213 +f 196 168 213 +f 190 196 213 +f 175 165 214 +f 170 182 215 +f 182 199 215 +f 210 170 215 +f 199 210 215 +f 181 163 216 +f 173 181 216 +f 163 191 216 +f 191 173 216 +f 169 183 217 +f 184 202 217 +f 205 169 217 +f 202 205 217 +f 183 208 217 +f 208 184 217 +f 168 180 218 +f 180 197 218 +f 213 168 218 +f 178 213 218 +f 197 170 219 +f 210 178 219 +f 170 210 219 +f 218 197 219 +f 178 218 219 +f 181 167 220 +f 167 185 220 +f 206 181 220 +f 185 206 220 +f 159 180 221 +f 195 159 221 +f 180 195 221 +f 171 175 222 +f 165 188 222 +f 188 171 222 +f 214 165 222 +o convex_4 +v 1.514219 -0.003327 1.269881 +v 2.167712 0.159941 1.531371 +v 2.167712 0.094719 1.531371 +v 1.808318 0.192704 2.969063 +v 1.710307 0.454200 1.269881 +v 2.102349 -0.134075 1.269881 +v 1.840898 -0.036029 2.772946 +v 2.004271 0.323452 2.576829 +v 1.612229 0.192704 2.707574 +v 2.102349 0.388795 1.269881 +v 2.036986 0.127482 2.772946 +v 1.808318 0.388795 2.707574 +v 1.742955 -0.166777 1.368023 +v 1.546867 0.356093 1.302651 +v 1.644944 -0.003327 2.413481 +v 1.481437 0.192704 1.335254 +v 1.938909 0.454200 1.400626 +v 2.004271 -0.003327 2.576829 +v 1.579582 -0.101372 1.269881 +v 1.808318 -0.068670 2.609432 +v 1.873546 0.388795 2.707574 +v 2.102349 0.388795 1.498768 +v 2.036986 0.192704 2.772946 +v 1.579582 0.388795 1.433395 +v 1.612229 0.127482 2.674804 +v 2.167712 0.225406 1.269881 +v 1.873546 -0.166777 1.465998 +v 1.677592 0.323452 2.544060 +v 2.069634 -0.101372 1.727488 +v 1.742955 -0.036029 2.674804 +f 247 237 252 +f 223 227 228 +f 228 227 232 +f 225 224 233 +f 226 229 233 +f 231 226 234 +f 227 223 236 +f 236 223 238 +f 231 236 238 +f 232 227 239 +f 227 234 239 +f 233 229 240 +f 223 228 241 +f 228 235 241 +f 237 223 241 +f 234 226 243 +f 239 234 243 +f 239 243 244 +f 232 239 244 +f 243 230 244 +f 233 224 245 +f 226 233 245 +f 230 243 245 +f 243 226 245 +f 224 244 245 +f 244 230 245 +f 234 227 246 +f 227 236 246 +f 236 231 246 +f 226 231 247 +f 223 237 247 +f 238 223 247 +f 231 238 247 +f 224 225 248 +f 225 228 248 +f 228 232 248 +f 244 224 248 +f 232 244 248 +f 235 228 249 +f 242 235 249 +f 231 234 250 +f 234 246 250 +f 246 231 250 +f 228 225 251 +f 225 233 251 +f 240 229 251 +f 233 240 251 +f 229 242 251 +f 249 228 251 +f 242 249 251 +f 229 226 252 +f 241 235 252 +f 237 241 252 +f 235 242 252 +f 242 229 252 +f 226 247 252 +o convex_5 +v -1.492967 -2.160326 -0.200977 +v -1.460031 -1.474166 0.060432 +v -1.460031 -1.474166 -0.004937 +v -3.159379 -1.768335 -0.070172 +v -1.460031 -2.094947 0.289191 +v -1.460031 -1.800989 -0.364434 +v -2.897890 -1.866227 0.191170 +v -1.492967 -1.539545 0.256540 +v -2.897890 -1.996915 -0.070172 +v -2.832517 -1.768335 -0.266346 +v -2.897890 -1.604924 -0.004937 +v -1.623711 -1.572269 -0.233695 +v -1.460031 -2.094947 -0.331715 +v -1.525570 -2.160326 0.256540 +v -1.721687 -1.800989 0.321909 +v -2.832517 -1.735611 0.191170 +v -1.623711 -2.192980 -0.070172 +v -2.865120 -1.996915 0.060432 +v -2.767145 -1.637578 -0.168326 +v -2.734376 -1.964260 -0.200977 +v -1.460031 -1.996915 0.321909 +v -2.930493 -1.833573 -0.233695 +v -3.159379 -1.833573 -0.004937 +v -2.897890 -1.604924 -0.070172 +v -1.460031 -1.604924 -0.266346 +v -2.767145 -1.833573 0.223821 +v -1.460031 -2.192980 0.093083 +f 266 269 279 +f 255 254 257 +f 255 257 258 +f 254 255 263 +f 260 254 263 +f 258 257 265 +f 262 258 265 +f 267 260 268 +f 263 256 268 +f 260 263 268 +f 261 253 269 +f 269 266 270 +f 266 259 270 +f 261 269 270 +f 264 262 271 +f 253 261 272 +f 265 253 272 +f 257 254 273 +f 254 260 273 +f 260 267 273 +f 256 262 274 +f 262 265 274 +f 272 261 274 +f 265 272 274 +f 268 256 275 +f 259 268 275 +f 270 259 275 +f 261 270 275 +f 256 274 275 +f 274 261 275 +f 262 256 276 +f 263 255 276 +f 256 263 276 +f 255 264 276 +f 271 262 276 +f 264 271 276 +f 255 258 277 +f 258 262 277 +f 262 264 277 +f 264 255 277 +f 266 257 278 +f 259 266 278 +f 267 268 278 +f 268 259 278 +f 257 273 278 +f 273 267 278 +f 253 265 279 +f 265 257 279 +f 257 266 279 +f 269 253 279 +o convex_6 +v 2.069487 1.173104 0.158484 +v 1.187290 -0.951168 -0.527567 +v 1.187290 -0.918261 -0.821694 +v 2.690668 -0.460879 0.027432 +v 1.481577 0.094988 1.269715 +v 1.187290 1.009753 -0.886974 +v 2.200411 0.290535 -1.246874 +v 1.187290 1.107763 0.877298 +v 2.592517 0.813495 0.779256 +v 1.187290 -0.885591 0.877298 +v 2.592517 0.878835 -0.723898 +v 2.527304 -0.526219 0.812019 +v 2.559911 -0.526219 -0.723898 +v 1.220062 1.467372 -0.004591 +v 2.886804 0.225432 0.125721 +v 2.200411 0.160328 1.269715 +v 1.546790 -0.166610 -1.246874 +v 1.841077 -0.885591 0.060442 +v 2.788653 0.094988 -0.723898 +v 2.788653 0.127658 0.779256 +v 1.873683 1.140197 0.779256 +v 2.657896 0.977082 0.060195 +v 1.873683 0.486793 1.269715 +v 2.069487 -0.166610 1.269715 +v 1.808471 0.552133 -1.246874 +v 1.971835 1.107763 -0.723652 +v 2.069487 -0.133940 -1.246874 +v 2.592517 -0.624230 0.125721 +v 1.187290 -0.820251 -0.952254 +v 1.416199 0.160328 -1.214111 +v 1.873683 -0.787581 -0.756169 +v 1.187290 0.977082 0.975341 +v 1.841077 -0.787581 0.779256 +v 2.756047 0.388546 -0.723898 +v 1.187290 -0.787581 0.942824 +v 2.167638 0.519226 -1.214111 +v 2.429153 0.944176 0.779256 +v 1.187290 0.192998 -1.018026 +v 1.187290 1.467372 0.060442 +v 1.546790 1.107763 -0.788932 +v 1.252835 -0.951168 0.256527 +v 1.677547 -0.166610 1.269715 +v 2.886804 0.127658 -0.037354 +v 1.546790 0.421453 -1.246874 +v 1.187290 -0.166610 1.008104 +v 2.102260 0.388546 1.269715 +v 2.788653 0.225432 0.779256 +v 1.579562 0.421453 1.269715 +v 2.592517 -0.558653 0.550408 +v 2.592517 -0.624230 -0.037354 +v 2.559911 0.911505 -0.723898 +v 2.233017 0.094988 -1.214111 +v 1.841077 -0.885591 -0.069871 +v 2.135032 -0.133940 1.269715 +v 2.886804 0.258102 -0.004591 +v 2.886804 0.127658 0.125721 +v 2.657896 0.977082 -0.004591 +v 1.841077 -0.231951 -1.246874 +v 1.416199 1.107763 0.877298 +v 1.220062 -0.918261 0.713976 +v 1.220062 1.107763 -0.788932 +v 2.527304 -0.526219 -0.756415 +v 2.625289 0.846165 -0.690889 +v 1.252835 -0.852921 -0.919737 +f 337 341 343 +f 282 281 285 +f 285 281 287 +f 287 281 289 +f 283 292 298 +f 280 293 300 +f 293 280 301 +f 284 295 302 +f 295 284 303 +f 286 296 304 +f 296 286 306 +f 282 285 308 +f 296 308 309 +f 287 289 311 +f 303 289 312 +f 291 303 312 +f 297 307 312 +f 298 286 313 +f 289 303 314 +f 311 289 314 +f 286 304 315 +f 304 305 315 +f 313 286 315 +f 290 313 315 +f 280 300 316 +f 301 280 316 +f 288 301 316 +f 300 302 316 +f 308 285 317 +f 285 309 317 +f 309 308 317 +f 285 287 318 +f 300 293 318 +f 304 285 319 +f 293 305 319 +f 305 304 319 +f 303 284 321 +f 284 314 321 +f 314 303 321 +f 283 298 322 +f 285 304 323 +f 304 296 323 +f 309 285 323 +f 296 309 323 +f 284 311 324 +f 314 284 324 +f 311 314 324 +f 295 288 325 +f 302 295 325 +f 288 316 325 +f 316 302 325 +f 288 295 326 +f 299 294 326 +f 295 299 326 +f 301 288 326 +f 294 301 326 +f 284 302 327 +f 311 284 327 +f 302 311 327 +f 299 291 328 +f 307 283 328 +f 291 312 328 +f 312 307 328 +f 292 283 329 +f 283 307 329 +f 307 297 329 +f 310 292 329 +f 305 293 330 +f 290 315 330 +f 315 305 330 +f 286 298 331 +f 306 286 331 +f 281 282 332 +f 282 310 332 +f 320 281 332 +f 297 320 332 +f 329 297 332 +f 310 329 332 +f 291 299 333 +f 299 295 333 +f 303 291 333 +f 295 303 333 +f 301 294 334 +f 298 313 334 +f 322 298 334 +f 294 322 334 +f 294 299 335 +f 283 322 335 +f 322 294 335 +f 328 283 335 +f 299 328 335 +f 293 301 336 +f 330 293 336 +f 290 330 336 +f 301 334 336 +f 296 306 337 +f 308 296 337 +f 302 300 338 +f 287 311 338 +f 311 302 338 +f 318 287 338 +f 300 318 338 +f 289 281 339 +f 312 289 339 +f 297 312 339 +f 281 320 339 +f 320 297 339 +f 285 318 340 +f 318 293 340 +f 319 285 340 +f 293 319 340 +f 298 292 341 +f 292 310 341 +f 331 298 341 +f 306 331 341 +f 337 306 341 +f 313 290 342 +f 334 313 342 +f 290 336 342 +f 336 334 342 +f 282 308 343 +f 310 282 343 +f 308 337 343 +f 341 310 343 +o convex_7 +v 1.906239 0.519566 -1.247043 +v 1.775660 -0.199460 -1.279765 +v 1.840917 -0.199460 -1.279765 +v 1.808353 0.160053 -2.978902 +v 1.514120 0.258025 -1.247043 +v 2.167715 0.127396 -1.247043 +v 2.036945 0.094738 -2.750022 +v 1.775660 -0.068689 -2.652027 +v 1.808353 0.356138 -2.684749 +v 2.135022 0.454110 -1.279765 +v 1.612261 0.127396 -2.554033 +v 1.546876 -0.101347 -1.247043 +v 1.579569 0.421382 -1.345207 +v 2.069637 -0.101347 -1.345207 +v 1.873546 -0.068689 -2.717300 +v 1.644954 0.258025 -2.619306 +v 1.971624 0.290682 -2.619306 +v 1.514120 0.127396 -1.541197 +v 1.808353 0.519566 -1.247043 +v 1.579569 -0.134075 -1.377929 +v 1.644954 0.062010 -2.619306 +v 2.004316 -0.068689 -2.161885 +v 2.167715 0.225297 -1.377929 +v 2.069637 -0.101347 -1.247043 +v 1.873546 0.160053 -2.978902 +v 2.036945 0.062010 -2.717300 +v 1.612261 0.192640 -2.586585 +v 1.873546 0.356138 -2.619306 +f 360 368 371 +f 344 348 349 +f 344 349 353 +f 345 346 355 +f 349 348 355 +f 346 345 358 +f 351 347 358 +f 345 351 358 +f 352 347 359 +f 356 352 359 +f 353 350 360 +f 355 348 361 +f 354 355 361 +f 348 344 362 +f 344 352 362 +f 356 348 362 +f 352 356 362 +f 351 345 363 +f 345 355 363 +f 363 355 364 +f 347 351 364 +f 355 354 364 +f 351 363 364 +f 357 346 365 +f 346 358 365 +f 350 353 366 +f 353 349 366 +f 355 346 367 +f 349 355 367 +f 346 357 367 +f 357 349 367 +f 347 352 368 +f 358 347 368 +f 360 350 368 +f 349 357 369 +f 357 365 369 +f 365 358 369 +f 366 349 369 +f 350 366 369 +f 358 368 369 +f 368 350 369 +f 348 356 370 +f 359 347 370 +f 356 359 370 +f 361 348 370 +f 354 361 370 +f 347 364 370 +f 364 354 370 +f 352 344 371 +f 344 353 371 +f 353 360 371 +f 368 352 371 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/314/314.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/314/314.urdf new file mode 100644 index 000000000..ab8ec1330 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/314/314.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/315/315.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/315/315.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/315/315.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/315/315.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/315/315.obj new file mode 100644 index 000000000..55a26a160 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/315/315.obj @@ -0,0 +1,2214 @@ +o convex_0 +v 3.788817 1.504789 0.181643 +v 1.859419 1.528016 -0.004305 +v 1.859419 1.365314 0.181643 +v 3.788817 1.365314 -0.004305 +v 3.788817 1.551280 -0.004305 +v 1.859419 1.528016 0.204898 +v 3.788817 1.365314 0.228152 +v 1.929297 1.551280 0.158411 +v 3.300613 1.504789 0.228152 +v 1.859419 1.365314 0.204898 +v 1.859419 1.551280 -0.004305 +f 6 8 11 +f 3 2 4 +f 1 4 5 +f 4 2 5 +f 2 3 6 +f 3 4 7 +f 4 1 7 +f 8 6 9 +f 1 5 9 +f 7 1 9 +f 5 8 9 +f 7 9 10 +f 6 3 10 +f 3 7 10 +f 9 6 10 +f 5 2 11 +f 2 6 11 +f 8 5 11 +o convex_1 +v -4.254224 1.365063 -0.562090 +v -4.277431 1.016945 0.530347 +v -4.323937 1.016945 0.530347 +v -4.207755 1.923212 0.483742 +v -4.207755 0.737870 -0.492293 +v -4.161285 0.970297 0.507045 +v -4.161249 1.876565 -0.608695 +v -4.230962 1.853357 -0.562090 +v -4.347180 0.784286 0.251385 +v -4.161285 1.923212 0.483742 +v -4.300675 0.737870 -0.492293 +v -4.277449 0.807493 0.530347 +v -4.347180 0.923765 0.530347 +v -4.231017 1.876449 0.483742 +v -4.161249 1.504658 -0.562090 +v -4.300675 0.947089 -0.492293 +f 22 20 27 +f 14 13 15 +f 16 12 18 +f 15 18 19 +f 18 12 19 +f 15 13 21 +f 13 17 21 +f 18 15 21 +f 12 16 22 +f 16 20 22 +f 13 14 23 +f 17 13 23 +f 16 17 23 +f 20 16 23 +f 20 23 24 +f 19 20 24 +f 23 14 24 +f 19 24 25 +f 14 15 25 +f 15 19 25 +f 24 14 25 +f 17 16 26 +f 16 18 26 +f 21 17 26 +f 18 21 26 +f 19 12 27 +f 20 19 27 +f 12 22 27 +o convex_2 +v 1.719926 1.411310 1.088241 +v 0.976217 -2.376971 1.041759 +v 1.673404 -3.655770 1.041759 +v 1.626954 -3.655770 1.088241 +v 1.719926 1.411310 1.041759 +v 0.976217 1.411806 1.065000 +v 1.185387 -2.214269 1.088241 +v 0.976217 1.411806 1.041759 +v 0.976217 -2.376971 1.065000 +v 1.696629 -3.655770 1.088241 +v 1.557133 1.364682 1.088241 +v 1.719926 -1.029718 1.041759 +f 28 37 39 +f 29 30 31 +f 30 29 32 +f 28 32 33 +f 31 28 34 +f 32 29 35 +f 29 33 35 +f 33 32 35 +f 29 31 36 +f 33 29 36 +f 34 33 36 +f 31 34 36 +f 31 30 37 +f 28 31 37 +f 28 33 38 +f 34 28 38 +f 33 34 38 +f 32 28 39 +f 30 32 39 +f 37 30 39 +o convex_3 +v 1.626961 -3.679032 0.995263 +v 0.139233 -3.748744 -0.027551 +v 0.139233 -3.748744 0.971935 +v 0.139233 -3.655779 0.971935 +v 1.626961 -3.725501 -0.027551 +v 1.626961 -3.702266 -0.027551 +v 0.394954 -3.702266 -0.027551 +v 0.650676 -3.748744 0.995263 +v 1.626961 -3.725501 0.483856 +v 1.603516 -3.679032 0.437401 +v 1.626961 -3.702266 0.995263 +v 0.999162 -3.679032 0.344390 +v 0.674122 -3.655779 0.995263 +f 51 43 52 +f 41 42 43 +f 44 41 45 +f 40 44 45 +f 41 43 46 +f 45 41 46 +f 42 41 47 +f 43 42 47 +f 41 44 47 +f 47 44 48 +f 44 40 48 +f 40 45 49 +f 40 47 50 +f 47 48 50 +f 48 40 50 +f 46 43 51 +f 45 46 51 +f 49 45 51 +f 49 51 52 +f 43 47 52 +f 47 40 52 +f 40 49 52 +o convex_4 +v -0.232681 -2.655602 -0.631925 +v -0.255925 -0.145660 -0.027551 +v -0.279191 -0.145660 -0.027551 +v -0.186217 -0.145660 -0.887599 +v -0.162962 -3.679016 -0.027551 +v -0.162962 -3.679016 -0.887599 +v -0.279191 -0.773405 -0.515747 +v -0.209472 -3.562459 -0.887599 +v -0.209472 -3.097617 -0.027551 +v -0.186217 -0.145660 -0.562218 +v -0.162962 -1.563706 -0.748102 +v -0.209472 -0.145660 -0.887599 +v -0.162962 -3.074444 -0.027551 +v -0.279191 -0.703886 -0.027551 +v -0.279191 -0.145660 -0.446041 +v -0.186217 -3.679016 -0.027551 +v -0.232681 -0.680713 -0.027551 +v -0.232681 -2.725812 -0.794573 +f 66 59 70 +f 55 54 56 +f 54 55 57 +f 56 58 60 +f 57 55 61 +f 53 60 61 +f 56 54 62 +f 58 56 63 +f 57 58 63 +f 56 62 63 +f 55 56 64 +f 56 60 64 +f 54 57 65 +f 57 63 65 +f 63 62 65 +f 55 59 66 +f 61 55 66 +f 53 61 66 +f 59 55 67 +f 55 64 67 +f 64 59 67 +f 58 57 68 +f 60 58 68 +f 57 61 68 +f 61 60 68 +f 62 54 69 +f 54 65 69 +f 65 62 69 +f 60 53 70 +f 59 64 70 +f 64 60 70 +f 53 66 70 +o convex_5 +v -1.580769 1.249085 0.460582 +v -0.906905 1.923213 0.321079 +v -0.906905 1.923213 0.251463 +v -0.349049 1.342128 0.460582 +v -0.349049 1.737128 0.135233 +v -1.580769 1.783649 0.181677 +v -1.580769 1.783649 0.460582 +v -0.349049 1.783715 0.437309 +v -0.930179 1.249085 0.483856 +v -1.464519 1.876691 0.181677 +v -0.837082 1.899853 0.135233 +v -1.580769 1.737194 0.181677 +v -0.930179 1.249085 0.460582 +v -1.580769 1.830104 0.437343 +v -0.349049 1.574601 0.460582 +v -1.580769 1.342128 0.483856 +v -0.349049 1.783715 0.135233 +f 81 73 87 +f 76 71 77 +f 73 72 78 +f 74 75 78 +f 72 73 80 +f 80 73 81 +f 76 80 81 +f 75 71 82 +f 71 76 82 +f 81 75 82 +f 76 81 82 +f 71 75 83 +f 75 74 83 +f 79 71 83 +f 74 79 83 +f 76 77 84 +f 78 72 84 +f 77 78 84 +f 72 80 84 +f 80 76 84 +f 74 78 85 +f 78 77 85 +f 77 79 85 +f 79 74 85 +f 77 71 86 +f 79 77 86 +f 71 79 86 +f 73 78 87 +f 78 75 87 +f 75 81 87 +o convex_6 +v 1.743190 -3.493050 -1.003855 +v 1.766443 1.435051 -0.701678 +v 1.789677 1.435051 -0.794697 +v 1.743190 1.435051 -1.073610 +v 1.836155 0.528157 -1.073610 +v 1.766443 -3.493050 -0.980627 +v 1.743190 1.365105 -0.701678 +v 1.836155 1.435051 -1.003855 +v 1.766443 -3.190591 -1.027119 +v 1.743190 -0.029486 -1.073610 +f 92 96 97 +f 89 90 91 +f 90 89 93 +f 88 93 94 +f 89 91 94 +f 91 88 94 +f 93 89 94 +f 91 90 95 +f 92 91 95 +f 90 93 95 +f 93 92 95 +f 92 93 96 +f 93 88 96 +f 88 91 97 +f 91 92 97 +f 96 88 97 +o convex_7 +v 1.859419 2.155489 -0.678282 +v 1.812891 0.993382 -0.259990 +v 1.859419 0.993382 -0.259990 +v 1.743190 2.341563 0.344381 +v 1.743190 1.574832 -1.096856 +v 1.673453 1.876510 -0.585313 +v 1.743190 2.248526 -1.096856 +v 1.836137 1.969547 0.344381 +v 1.859419 2.248526 -1.096856 +v 1.812891 1.086551 0.181438 +v 1.696717 1.318946 -0.399515 +v 1.836137 1.458436 -1.096856 +v 1.859419 1.016741 0.181438 +v 1.743190 1.435078 -1.073437 +v 1.789682 2.341563 0.274548 +v 1.859419 1.528115 0.204716 +v 1.673453 1.830057 -0.422651 +v 1.696717 1.318946 -0.538757 +v 1.859419 1.876510 -1.096856 +f 109 106 116 +f 102 103 104 +f 103 101 104 +f 98 100 106 +f 102 104 106 +f 105 101 107 +f 99 107 108 +f 107 101 108 +f 102 106 109 +f 100 98 110 +f 99 100 110 +f 107 99 110 +f 105 107 110 +f 100 99 111 +f 103 102 111 +f 109 100 111 +f 102 109 111 +f 104 101 112 +f 105 98 112 +f 101 105 112 +f 98 106 112 +f 106 104 112 +f 98 105 113 +f 110 98 113 +f 105 110 113 +f 101 103 114 +f 108 101 114 +f 108 114 115 +f 99 108 115 +f 111 99 115 +f 103 111 115 +f 114 103 115 +f 106 100 116 +f 100 109 116 +o convex_8 +v 1.836155 1.714045 0.437437 +v 1.719942 2.271596 1.088246 +v 1.743194 2.271596 1.018417 +v 1.719942 0.853908 1.041645 +v 1.673469 1.016736 0.530493 +v 1.743194 2.341401 0.344381 +v 1.673469 2.271596 1.088246 +v 1.719942 0.853908 0.553721 +v 1.673469 0.853908 0.878906 +v 1.836155 1.946235 0.344381 +v 1.766430 2.271596 0.925507 +v 1.673469 1.411903 1.088246 +v 1.766430 2.364768 0.693013 +v 1.836155 1.899797 0.507193 +v 1.789667 1.829992 0.344381 +f 126 124 131 +f 119 118 120 +f 122 121 123 +f 117 120 124 +f 123 121 125 +f 124 120 125 +f 121 124 125 +f 117 124 126 +f 119 120 127 +f 120 118 128 +f 118 123 128 +f 125 120 128 +f 123 125 128 +f 118 119 129 +f 123 118 129 +f 122 123 129 +f 126 122 129 +f 119 127 129 +f 129 127 130 +f 120 117 130 +f 117 126 130 +f 127 120 130 +f 126 129 130 +f 121 122 131 +f 124 121 131 +f 122 126 131 +o convex_9 +v 3.812063 1.063119 -0.004355 +v 1.859419 0.993382 -0.259983 +v 1.859419 1.063119 -0.259983 +v 1.859419 0.993382 -0.004355 +v 3.788744 0.970136 -0.259983 +v 3.788744 1.063119 -0.259983 +v 3.812063 1.016628 -0.004355 +v 2.696594 1.063119 -0.004355 +v 2.371090 0.970136 -0.259983 +f 133 136 140 +f 134 133 135 +f 133 134 136 +f 134 132 137 +f 132 136 137 +f 136 134 137 +f 132 135 138 +f 136 132 138 +f 135 136 138 +f 132 134 139 +f 134 135 139 +f 135 132 139 +f 135 133 140 +f 136 135 140 +o convex_10 +v 1.859419 1.063119 -0.259983 +v 3.788744 1.504789 -0.004380 +v 3.812063 1.132897 -0.004380 +v 3.788744 1.249065 -0.259983 +v 1.859419 1.504789 -0.213467 +v 3.788744 1.481486 -0.236713 +v 3.788744 1.063119 -0.259983 +v 3.788744 1.063119 -0.004380 +v 1.859419 1.365319 -0.259983 +v 1.859419 1.063119 -0.236713 +v 3.323711 1.504789 -0.236713 +v 1.859419 1.342103 -0.213467 +f 150 148 152 +f 142 143 146 +f 143 144 146 +f 144 143 147 +f 141 144 147 +f 143 142 148 +f 142 145 148 +f 141 147 148 +f 147 143 148 +f 144 141 149 +f 141 145 149 +f 146 144 149 +f 145 141 150 +f 141 148 150 +f 145 142 151 +f 142 146 151 +f 149 145 151 +f 146 149 151 +f 148 145 152 +f 145 150 152 +o convex_11 +v 0.906241 2.271924 -0.120520 +v 0.255628 2.341615 -0.887644 +v 0.255628 2.364867 -0.887644 +v -0.139716 2.388118 0.716313 +v 1.743190 2.364867 0.716313 +v 1.743190 2.225421 -0.887644 +v 1.743190 2.318395 0.716313 +v -0.093086 2.341631 0.716313 +v 1.743190 2.271924 -0.864250 +v -0.139716 2.388118 -0.027574 +v 0.488042 2.364867 -0.887644 +v 1.743190 2.364867 0.530263 +v 0.441596 2.318363 -0.864250 +v 0.208997 2.318395 0.576736 +v 1.603668 2.225421 -0.841014 +v 0.046252 2.388118 -0.027574 +v -0.139716 2.364867 -0.027574 +f 165 160 169 +f 154 155 158 +f 157 156 159 +f 158 157 159 +f 159 156 160 +f 157 158 161 +f 155 154 162 +f 158 155 163 +f 161 158 163 +f 155 162 163 +f 157 161 164 +f 161 163 164 +f 154 158 165 +f 160 165 166 +f 153 159 166 +f 159 160 166 +f 159 153 167 +f 158 159 167 +f 165 158 167 +f 166 165 167 +f 153 166 167 +f 156 157 168 +f 162 156 168 +f 163 162 168 +f 164 163 168 +f 157 164 168 +f 160 156 169 +f 162 154 169 +f 156 162 169 +f 154 165 169 +o convex_12 +v 3.788817 1.574526 -0.050815 +v 1.859419 1.504789 -0.236763 +v 1.859419 1.504789 -0.213508 +v 2.487380 1.597772 -0.236763 +v 1.859419 1.551280 -0.004305 +v 3.788817 1.504789 -0.213508 +v 3.788817 1.504789 -0.004305 +v 3.788817 1.597772 -0.213508 +v 2.324394 1.504789 -0.004305 +v 1.859419 1.574526 -0.236763 +f 171 174 179 +f 170 173 174 +f 171 172 174 +f 172 171 175 +f 171 173 175 +f 170 174 176 +f 172 175 176 +f 175 170 176 +f 173 170 177 +f 175 173 177 +f 170 175 177 +f 174 172 178 +f 176 174 178 +f 172 176 178 +f 173 171 179 +f 174 173 179 +o convex_13 +v 1.859419 0.993418 -0.004305 +v 3.579605 1.365278 0.228152 +v 3.579605 1.365278 0.204898 +v 1.859419 1.365278 0.204898 +v 3.044826 1.039942 0.228152 +v 3.579605 1.063167 -0.004305 +v 1.859419 1.016680 0.181643 +v 3.579605 1.063167 0.228152 +v 1.859419 1.365278 0.181643 +v 2.022244 1.039942 -0.004305 +v 3.579605 1.039942 -0.004305 +v 3.161177 1.365278 0.181643 +v 1.906061 0.993418 0.135133 +f 190 184 192 +f 181 182 183 +f 181 183 184 +f 182 181 185 +f 183 180 186 +f 184 183 186 +f 181 184 187 +f 185 181 187 +f 183 182 188 +f 180 183 188 +f 188 185 189 +f 185 180 189 +f 180 188 189 +f 180 185 190 +f 187 184 190 +f 185 187 190 +f 182 185 191 +f 188 182 191 +f 185 188 191 +f 186 180 192 +f 184 186 192 +f 180 190 192 +o convex_14 +v 3.835309 1.179371 0.204868 +v 3.579605 1.039874 -0.004305 +v 3.579605 1.039874 0.088680 +v 3.579605 1.365314 0.204868 +v 3.788779 1.365314 -0.004305 +v 3.812056 1.039874 -0.004305 +v 3.602858 1.063160 0.251398 +v 3.812056 1.365314 0.228146 +v 3.835309 1.086415 0.251398 +f 200 199 201 +f 194 195 196 +f 194 196 197 +f 194 197 198 +f 195 194 198 +f 197 193 198 +f 195 198 199 +f 196 195 199 +f 193 197 200 +f 197 196 200 +f 196 199 200 +f 198 193 201 +f 199 198 201 +f 193 200 201 +o convex_15 +v -1.906472 0.877153 -0.190253 +v -4.207725 0.737679 -0.422729 +v -4.207725 0.737679 -0.376224 +v -1.580954 0.807416 -0.422729 +v -2.278529 0.807416 0.088628 +v -4.207725 0.807416 0.088628 +v -3.580087 0.807416 -0.422729 +v -1.580954 0.877153 0.088628 +v -1.580954 0.877153 -0.329718 +v -4.137530 0.760929 -0.050888 +v -4.207725 0.807416 -0.074115 +v -1.650891 0.830639 0.088628 +v -1.953011 0.877153 -0.306491 +v -4.207725 0.784193 -0.399451 +v -2.255131 0.784193 -0.399451 +v -3.580087 0.830639 0.088628 +v -4.207725 0.784193 0.088628 +f 211 206 218 +f 203 204 207 +f 205 203 208 +f 207 206 209 +f 205 208 210 +f 202 209 210 +f 209 205 210 +f 204 206 211 +f 203 207 212 +f 206 205 213 +f 205 209 213 +f 209 206 213 +f 202 210 214 +f 210 208 214 +f 208 212 214 +f 208 203 215 +f 203 212 215 +f 212 208 215 +f 204 203 216 +f 203 205 216 +f 205 206 216 +f 206 204 216 +f 209 202 217 +f 207 209 217 +f 212 207 217 +f 202 214 217 +f 214 212 217 +f 207 204 218 +f 206 207 218 +f 204 211 218 +o convex_16 +v -1.580954 1.504789 -0.562199 +v -3.347272 1.876685 -0.515712 +v -3.347272 1.876685 -0.538965 +v -4.160980 1.504789 -0.538965 +v -4.160980 1.876685 -0.608686 +v -1.580954 1.806936 -0.515712 +v -1.651162 1.806936 -0.585433 +v -4.160980 1.876685 -0.515712 +v -4.160980 1.597799 -0.585433 +v -1.580954 1.644323 -0.585433 +v -1.580954 1.504789 -0.538965 +v -3.231100 1.830161 -0.608686 +f 225 228 230 +f 220 221 223 +f 221 220 224 +f 223 221 225 +f 221 224 225 +f 223 222 226 +f 220 223 226 +f 224 220 226 +f 222 224 226 +f 219 222 227 +f 222 223 227 +f 224 219 228 +f 225 224 228 +f 219 227 228 +f 222 219 229 +f 224 222 229 +f 219 224 229 +f 223 225 230 +f 227 223 230 +f 228 227 230 +o convex_17 +v -1.650900 0.877153 0.274644 +v -4.277462 0.784170 0.088678 +v -4.277462 0.784170 0.297872 +v -1.580954 0.784170 0.437346 +v -3.719472 0.853907 0.460610 +v -1.580954 0.877153 0.088678 +v -1.627673 0.830662 0.088678 +v -4.253970 0.830662 0.251416 +v -4.277462 0.807416 0.460610 +v -1.580954 0.830662 0.460610 +v -3.556352 0.784170 0.088678 +v -3.649526 0.830662 0.088678 +f 238 236 242 +f 233 232 234 +f 235 231 236 +f 232 236 237 +f 236 234 237 +f 235 236 238 +f 232 233 239 +f 233 234 239 +f 238 232 239 +f 235 238 239 +f 231 235 240 +f 234 236 240 +f 236 231 240 +f 239 234 240 +f 235 239 240 +f 234 232 241 +f 232 237 241 +f 237 234 241 +f 236 232 242 +f 232 238 242 +o convex_18 +v -2.487884 0.784170 0.483860 +v -1.580954 0.970118 0.507090 +v -1.580954 0.970118 0.483860 +v -4.277462 0.970118 0.530347 +v -4.277462 0.830675 0.460610 +v -2.464656 0.784170 0.530347 +v -1.580954 0.784170 0.460610 +v -4.277462 0.807432 0.530347 +v -4.207251 0.970118 0.483860 +v -1.580954 0.784170 0.507090 +f 248 249 252 +f 244 245 246 +f 244 246 248 +f 245 244 249 +f 243 247 249 +f 247 245 249 +f 248 243 249 +f 247 243 250 +f 246 247 250 +f 243 248 250 +f 248 246 250 +f 246 245 251 +f 247 246 251 +f 245 247 251 +f 244 248 252 +f 249 244 252 +o convex_19 +v -1.580954 1.737247 0.204964 +v -4.160980 1.876689 0.088678 +v -4.160980 1.876689 0.321079 +v -1.580954 1.830220 0.414053 +v -1.580954 1.783752 0.088678 +v -4.137493 1.923194 0.251451 +v -1.604693 1.760508 0.437364 +v -4.160980 1.923194 0.437364 +v -3.835446 1.899933 0.088678 +v -1.767334 1.737247 0.088678 +v -4.091024 1.876689 0.437364 +f 255 262 263 +f 256 253 257 +f 253 256 259 +f 259 256 260 +f 254 255 260 +f 258 254 260 +f 256 258 260 +f 256 257 261 +f 257 254 261 +f 254 258 261 +f 258 256 261 +f 255 254 262 +f 257 253 262 +f 254 257 262 +f 253 259 263 +f 259 260 263 +f 260 255 263 +f 262 253 263 +o convex_20 +v -1.976443 1.342150 0.437364 +v -3.951618 1.923212 0.483844 +v -3.603102 1.899798 0.483844 +v -4.160980 0.970230 0.507102 +v -1.580954 1.063233 0.507102 +v -4.160980 1.899798 0.437364 +v -1.651162 1.830116 0.437364 +v -4.160980 0.970230 0.483844 +v -1.580954 1.040005 0.460621 +v -4.160980 1.527971 0.507102 +v -1.580954 1.806888 0.460621 +v -1.580954 0.970230 0.507102 +f 271 272 275 +f 264 269 270 +f 269 265 270 +f 269 264 271 +f 267 269 271 +f 264 270 272 +f 271 264 272 +f 266 265 273 +f 267 268 273 +f 268 266 273 +f 265 269 273 +f 269 267 273 +f 265 266 274 +f 266 268 274 +f 270 265 274 +f 268 272 274 +f 272 270 274 +f 268 267 275 +f 267 271 275 +f 272 268 275 +o convex_21 +v -0.999811 -1.563142 -0.190271 +v -1.023049 0.784170 0.344381 +v -0.999843 0.784170 0.274619 +v -0.976590 0.760292 -0.143746 +v -1.092793 0.784170 0.321092 +v -1.069523 -1.679880 0.228093 +v -0.953337 -1.563142 -0.166982 +v -1.092793 -1.679880 0.065489 +v -0.930084 0.783688 -0.190271 +v -1.046286 -1.260924 0.251330 +v -1.092793 0.086634 0.344381 +v -0.930084 0.737137 -0.097272 +v -0.976590 0.272354 -0.190271 +v -1.023049 0.086634 0.321092 +f 286 285 289 +f 277 278 280 +f 282 281 283 +f 280 279 283 +f 276 282 283 +f 279 280 284 +f 280 278 284 +f 282 276 284 +f 281 282 285 +f 277 280 286 +f 283 281 286 +f 280 283 286 +f 281 285 286 +f 278 282 287 +f 284 278 287 +f 282 284 287 +f 276 283 288 +f 283 279 288 +f 284 276 288 +f 279 284 288 +f 278 277 289 +f 282 278 289 +f 285 282 289 +f 277 286 289 +o convex_22 +v -1.580769 0.853878 0.344172 +v -0.930179 0.784170 -0.538844 +v -0.930179 0.853901 -0.538844 +v -0.349049 0.784170 0.507056 +v -0.349049 0.877144 0.507056 +v -0.349049 0.877144 -0.538844 +v -1.580769 0.900399 -0.515501 +v -1.580769 0.784170 -0.538741 +v -1.580769 0.807448 0.413892 +v -0.349049 0.784170 -0.538844 +v -0.930179 0.877144 0.507056 +v -1.487793 0.784170 0.251212 +v -0.930179 0.900399 -0.492262 +v -1.418091 0.900399 -0.236622 +v -1.580769 0.877121 0.251212 +v -0.930179 0.784170 0.507056 +f 298 301 305 +f 291 292 295 +f 294 293 295 +f 295 292 296 +f 296 292 297 +f 292 291 297 +f 291 293 297 +f 290 296 297 +f 290 297 298 +f 293 291 299 +f 291 295 299 +f 295 293 299 +f 293 294 300 +f 290 298 300 +f 297 293 301 +f 298 297 301 +f 294 295 302 +f 295 296 302 +f 300 294 303 +f 294 302 303 +f 302 296 303 +f 296 290 304 +f 290 300 304 +f 303 296 304 +f 300 303 304 +f 293 300 305 +f 300 298 305 +f 301 293 305 +o convex_23 +v -1.580769 0.900497 -0.515694 +v -0.349049 1.342068 -0.422733 +v -0.349049 1.342068 -0.445984 +v -0.349049 0.877199 -0.492457 +v -1.580769 1.109588 -0.422733 +v -0.349049 0.900497 -0.538958 +v -1.580769 1.249058 -0.445984 +v -0.395476 1.318770 -0.399483 +v -1.580769 0.900497 -0.469220 +v -0.930179 1.342068 -0.399483 +f 310 313 315 +f 308 307 309 +f 308 309 311 +f 309 306 311 +f 306 310 312 +f 311 306 312 +f 308 311 312 +f 309 307 313 +f 310 309 313 +f 306 309 314 +f 310 306 314 +f 309 310 314 +f 307 308 315 +f 308 312 315 +f 312 310 315 +f 313 307 315 +o convex_24 +v 1.394258 1.318065 -1.050333 +v -0.139716 -3.678527 -0.957400 +v 0.278654 -3.678527 -0.980623 +v 1.185073 -3.655046 -0.957400 +v -0.139566 1.318065 -0.957400 +v 1.324430 0.760388 -1.073596 +v 0.000091 1.318065 -1.003873 +v 1.394408 -3.678527 -1.003873 +v 0.325206 -3.678527 -0.934136 +v 1.324430 1.225119 -1.027123 +v -0.000209 -3.143353 -0.980623 +v 0.023217 1.318065 -0.957400 +v -0.139716 -1.470810 -0.934136 +v 1.394408 -2.470226 -0.980636 +v 1.394408 -2.516699 -1.027096 +v -0.139716 -1.749649 -0.980623 +v 1.394258 1.318065 -1.073596 +v -0.139716 -3.678527 -0.934136 +v -0.139566 1.318065 -0.980650 +v 1.092119 -3.608572 -1.003873 +f 330 323 335 +f 320 316 322 +f 317 318 323 +f 317 323 324 +f 323 319 324 +f 318 317 326 +f 321 318 326 +f 316 320 327 +f 325 316 327 +f 324 319 328 +f 327 320 328 +f 319 327 328 +f 319 323 329 +f 316 325 329 +f 327 319 329 +f 325 327 329 +f 329 323 330 +f 322 321 331 +f 326 317 331 +f 321 326 331 +f 317 328 331 +f 322 316 332 +f 321 322 332 +f 316 329 332 +f 330 321 332 +f 329 330 332 +f 317 324 333 +f 328 317 333 +f 324 328 333 +f 320 322 334 +f 328 320 334 +f 322 331 334 +f 331 328 334 +f 318 321 335 +f 323 318 335 +f 321 330 335 +o convex_25 +v -1.580769 0.784216 0.437364 +v -0.349049 1.342068 0.460619 +v -0.349049 1.272228 0.483838 +v -1.580769 1.249075 0.483856 +v -0.349049 0.877209 0.507102 +v -0.930179 0.830740 0.414119 +v -1.580769 0.784216 0.507102 +v -0.930179 1.342068 0.437364 +v -1.580769 0.830740 0.414119 +v -0.349049 1.248966 0.437364 +v -1.580769 1.063087 0.507102 +v -0.930179 0.784216 0.414119 +v -0.349049 0.946996 0.460619 +f 340 347 348 +f 338 337 339 +f 337 338 340 +f 339 336 342 +f 339 337 343 +f 343 341 344 +f 336 339 344 +f 339 343 344 +f 337 340 345 +f 343 337 345 +f 341 343 345 +f 338 339 346 +f 340 338 346 +f 342 340 346 +f 339 342 346 +f 340 342 347 +f 342 336 347 +f 344 341 347 +f 336 344 347 +f 341 345 347 +f 347 345 348 +f 345 340 348 +o convex_26 +v -1.580769 1.365360 -0.538958 +v -0.349049 1.713955 -0.538958 +v -0.349049 1.713955 -0.562203 +v -0.349049 1.342105 -0.445993 +v -1.301841 1.295641 -0.399483 +v -1.580769 1.713955 -0.562203 +v -0.349049 1.481589 -0.399483 +v -0.488452 1.667445 -0.585449 +v -1.580769 1.249085 -0.422747 +v -1.580769 1.644191 -0.585449 +v -0.930179 1.249085 -0.445993 +v -0.349049 1.342105 -0.399483 +f 359 352 360 +f 351 350 352 +f 350 351 354 +f 352 350 355 +f 350 354 355 +f 354 353 355 +f 351 352 356 +f 352 349 356 +f 354 351 356 +f 353 354 357 +f 354 349 357 +f 349 354 358 +f 356 349 358 +f 354 356 358 +f 349 352 359 +f 357 349 359 +f 357 359 360 +f 352 355 360 +f 355 353 360 +f 353 357 360 +o convex_27 +v -0.930179 1.876689 0.158311 +v -0.930179 1.714001 -0.585449 +v -1.580769 1.714001 -0.585374 +v -1.441366 1.737283 0.181586 +v -0.349049 1.737283 0.135110 +v -1.580769 1.876689 -0.236694 +v -0.349049 1.760517 -0.562099 +v -1.580769 1.876689 0.181586 +v -1.580769 1.806954 -0.562099 +v -0.744106 1.876689 0.018809 +v -0.349049 1.714001 -0.538748 +v -0.349049 1.783768 0.135110 +v -1.580769 1.737283 0.181586 +v -1.092856 1.876689 -0.190369 +f 370 367 374 +f 364 361 368 +f 361 366 368 +f 366 363 368 +f 362 363 369 +f 363 366 369 +f 367 362 369 +f 366 361 370 +f 363 362 371 +f 365 364 371 +f 362 367 371 +f 367 365 371 +f 361 364 372 +f 364 365 372 +f 365 367 372 +f 370 361 372 +f 367 370 372 +f 368 363 373 +f 364 368 373 +f 363 371 373 +f 371 364 373 +f 369 366 374 +f 367 369 374 +f 366 370 374 +o convex_28 +v 0.418323 1.318921 -1.027119 +v 0.255471 2.318293 -0.980632 +v 0.255471 2.318293 -1.003868 +v 1.743190 2.202066 -1.096842 +v 1.743190 1.318921 -1.050355 +v -0.232506 1.318823 -0.957381 +v -0.093056 2.318293 -1.003868 +v 1.649966 2.202066 -1.050355 +v 1.719594 1.597943 -1.096842 +v -0.069847 2.318293 -0.957381 +v 0.023184 1.318823 -0.957381 +v -0.232506 1.318823 -0.980632 +v 1.278036 1.318921 -1.073578 +v 1.626757 1.992800 -1.096842 +v -0.232506 2.318293 -0.957381 +v 1.743190 1.667600 -1.050355 +f 384 385 390 +f 377 376 378 +f 376 377 381 +f 377 378 381 +f 378 376 382 +f 378 379 383 +f 376 381 384 +f 382 376 384 +f 384 380 385 +f 381 375 386 +f 379 385 386 +f 385 380 386 +f 383 379 387 +f 386 375 387 +f 379 386 387 +f 381 378 388 +f 375 381 388 +f 378 383 388 +f 387 375 388 +f 383 387 388 +f 380 384 389 +f 384 381 389 +f 381 386 389 +f 386 380 389 +f 379 378 390 +f 378 382 390 +f 382 384 390 +f 385 379 390 +o convex_29 +v -0.255945 -0.145374 -0.515712 +v -0.302437 0.830471 -0.027551 +v -0.162962 1.318823 -0.422711 +v -0.348928 1.248874 -0.469184 +v -0.279173 -0.145374 -0.027551 +v -0.186208 -0.145374 -0.585449 +v -0.162962 1.318823 -0.585449 +v -0.348928 0.807250 -0.538921 +v -0.348928 0.830471 -0.027551 +v -0.255945 -0.145374 -0.027551 +v -0.302437 -0.098932 -0.376237 +v -0.348928 1.318823 -0.422711 +f 394 399 402 +f 395 391 396 +f 393 396 397 +f 397 396 398 +f 396 391 398 +f 394 397 398 +f 392 393 399 +f 395 392 399 +f 394 398 399 +f 393 392 400 +f 392 395 400 +f 396 393 400 +f 395 396 400 +f 391 395 401 +f 398 391 401 +f 395 399 401 +f 399 398 401 +f 393 397 402 +f 397 394 402 +f 399 393 402 +o convex_30 +v -3.696306 0.737679 -0.469225 +v -1.580954 1.504714 -0.538928 +v -1.580954 1.272163 -0.422756 +v -4.207725 1.504714 -0.538928 +v -1.580954 0.784234 -0.515694 +v -4.207725 0.737679 -0.422742 +v -4.207725 1.365198 -0.562176 +v -1.580954 0.807436 -0.422742 +v -4.207725 0.737679 -0.492459 +v -1.580954 1.504714 -0.562176 +v -3.068412 0.760956 -0.515694 +v -4.207725 1.388401 -0.515694 +v -1.697430 1.411678 -0.562176 +v -4.207725 1.504714 -0.562176 +v -2.022691 0.760956 -0.515694 +f 409 415 417 +f 405 404 406 +f 404 405 407 +f 408 406 409 +f 407 405 410 +f 405 408 410 +f 403 408 411 +f 408 409 411 +f 406 404 412 +f 404 407 412 +f 411 409 413 +f 405 406 414 +f 408 405 414 +f 406 408 414 +f 412 407 415 +f 409 412 415 +f 409 406 416 +f 406 412 416 +f 412 409 416 +f 408 403 417 +f 407 410 417 +f 410 408 417 +f 403 411 417 +f 413 409 417 +f 411 413 417 +f 415 407 417 +o convex_31 +v -1.581086 1.876705 -0.190326 +v -4.161112 1.853470 -0.515712 +v -3.765875 1.830235 -0.469211 +v -4.161112 1.876691 0.088678 +v -1.581086 1.760504 0.088678 +v -1.581086 1.783766 -0.515712 +v -4.137626 1.899953 -0.469211 +v -3.835578 1.899953 0.088678 +v -2.255388 1.760504 -0.004323 +v -2.022791 1.830222 -0.515712 +v -1.581086 1.807001 0.065428 +v -2.115982 1.783766 -0.515712 +v -3.882047 1.853470 0.088678 +v -3.277953 1.876691 -0.515712 +v -1.627807 1.876705 -0.259958 +f 431 424 432 +f 418 422 423 +f 419 421 424 +f 424 421 425 +f 421 422 425 +f 418 424 425 +f 423 422 426 +f 423 419 427 +f 422 418 428 +f 418 425 428 +f 425 422 428 +f 420 419 429 +f 419 423 429 +f 426 420 429 +f 423 426 429 +f 419 420 430 +f 421 419 430 +f 422 421 430 +f 420 426 430 +f 426 422 430 +f 419 424 431 +f 427 419 431 +f 427 431 432 +f 418 423 432 +f 424 418 432 +f 423 427 432 +o convex_32 +v 0.395198 -3.702278 -0.027646 +v 1.161844 -3.725512 -1.003873 +v 1.161844 -3.679025 -1.003873 +v -0.069979 -3.679025 -0.957331 +v 0.511313 -3.771990 -0.980554 +v 1.394504 -3.748746 -0.167176 +v -0.069979 -3.748746 -0.027646 +v 1.394504 -3.702278 -0.027646 +v 1.394504 -3.771990 -1.003873 +v -0.069979 -3.748746 -0.957331 +v 1.394504 -3.679025 -0.980554 +v 1.394504 -3.771990 -0.771356 +v -0.069979 -3.725512 -0.027646 +f 436 439 445 +f 435 434 437 +f 436 435 437 +f 436 433 440 +f 439 438 440 +f 433 439 440 +f 434 435 441 +f 437 434 441 +f 440 438 441 +f 436 437 442 +f 437 439 442 +f 439 436 442 +f 435 436 443 +f 436 440 443 +f 441 435 443 +f 440 441 443 +f 439 437 444 +f 438 439 444 +f 437 441 444 +f 441 438 444 +f 433 436 445 +f 439 433 445 +o convex_33 +v -1.487897 -1.610116 0.367627 +v -0.953379 -1.563701 -0.166982 +v -0.999939 -1.563701 0.018815 +v -1.511177 -1.447446 0.065371 +v -1.580833 -1.679848 -0.352992 +v -0.976721 -1.726372 -0.143775 +v -1.092813 -1.447446 0.251310 +v -1.092813 -1.679848 0.228102 +v -1.487897 -1.447446 0.344349 +v -1.580833 -1.610143 -0.352992 +v -1.557614 -1.679848 -0.143775 +f 455 450 456 +f 450 447 451 +f 447 448 451 +f 448 447 452 +f 447 449 452 +f 452 446 453 +f 451 448 453 +f 448 452 453 +f 452 449 454 +f 446 452 454 +f 449 447 455 +f 447 450 455 +f 454 449 455 +f 454 455 456 +f 450 451 456 +f 453 446 456 +f 451 453 456 +f 446 454 456 +o convex_34 +v -1.023142 0.784170 -0.236765 +v -1.580831 -1.610134 -0.352992 +v -1.580831 -1.610134 -0.260020 +v -0.953391 -1.726372 -0.190271 +v -1.441393 0.760333 -0.213526 +v -1.418270 0.783925 -0.283243 +v -1.557644 -1.610134 -0.213526 +v -0.976641 -1.726372 -0.236765 +v -0.930140 0.784170 -0.190271 +v -1.278704 -1.703026 -0.190271 +v -1.511143 -1.493896 -0.352992 +v -0.976641 -0.029741 -0.236765 +v -1.557644 -0.935561 -0.213526 +v -1.046392 0.784170 -0.190271 +f 466 465 470 +f 458 461 462 +f 460 464 465 +f 459 458 466 +f 463 459 466 +f 458 464 466 +f 464 460 466 +f 460 465 466 +f 458 462 467 +f 462 457 467 +f 464 458 467 +f 464 467 468 +f 457 465 468 +f 465 464 468 +f 467 457 468 +f 458 459 469 +f 461 458 469 +f 459 463 469 +f 463 466 469 +f 466 461 469 +f 457 462 470 +f 462 461 470 +f 465 457 470 +f 461 466 470 +o convex_35 +v 1.255111 -2.377385 1.041754 +v 0.976144 -3.725507 0.995263 +v 0.976144 -3.725507 1.041754 +v 1.626898 -3.702018 0.995263 +v 1.626898 -3.702018 1.088246 +v 1.626898 -2.377385 1.088246 +v 0.976144 -2.377385 1.064982 +v 0.976144 -2.447193 1.018517 +v 1.231859 -2.447193 1.088246 +v 1.626898 -2.377385 1.064982 +f 478 471 480 +f 473 472 474 +f 473 474 475 +f 475 474 476 +f 472 473 477 +f 476 471 477 +f 474 472 478 +f 472 477 478 +f 477 471 478 +f 473 475 479 +f 475 476 479 +f 477 473 479 +f 476 477 479 +f 471 476 480 +f 476 474 480 +f 474 478 480 +o convex_36 +v -0.209454 -3.237253 -0.957340 +v -0.186208 1.318823 -0.585449 +v -0.139716 1.318823 -0.957340 +v -0.232699 1.318823 -0.980627 +v -0.139716 -3.679016 -0.957340 +v -0.209454 -0.145403 -0.585449 +v -0.232699 1.318823 -0.748224 +v -0.209454 -3.585575 -0.887635 +v -0.186208 -0.145403 -0.585449 +v -0.232699 -0.448228 -0.980588 +v -0.139716 -1.494174 -0.980588 +v -0.162971 -3.679016 -0.887635 +v -0.139716 -3.679016 -0.934131 +f 492 485 493 +f 482 483 484 +f 482 484 487 +f 486 482 487 +f 486 487 488 +f 481 485 488 +f 482 486 489 +f 487 484 490 +f 488 487 490 +f 481 488 490 +f 484 483 491 +f 485 481 491 +f 483 485 491 +f 481 490 491 +f 490 484 491 +f 486 488 492 +f 488 485 492 +f 489 486 492 +f 489 492 493 +f 483 482 493 +f 485 483 493 +f 482 489 493 +o convex_37 +v 1.719783 2.271899 1.088246 +v -0.139716 2.364861 0.716313 +v -0.139716 2.388128 0.716313 +v 1.743190 2.364861 0.716313 +v 1.719783 2.388128 1.088246 +v -0.139716 2.271899 1.041754 +v 1.743190 2.271899 0.786105 +v -0.139716 2.388128 1.041754 +v -0.093086 2.341618 0.716313 +v 1.743190 2.388128 0.879052 +f 500 497 503 +f 495 496 497 +f 496 495 499 +f 494 498 499 +f 494 499 500 +f 498 496 501 +f 496 499 501 +f 499 498 501 +f 495 497 502 +f 499 495 502 +f 500 499 502 +f 497 500 502 +f 497 496 503 +f 498 494 503 +f 496 498 503 +f 494 500 503 +o convex_38 +v 1.743156 1.318325 -1.073599 +v 1.394538 -3.771999 -1.003886 +v 1.719881 -3.167100 -1.027105 +v 1.743156 -2.725134 -0.957393 +v 1.394538 0.690505 -1.027105 +v 1.394538 0.620747 -1.073599 +v 1.394538 -3.771999 -0.957393 +v 1.743156 -3.771999 -0.957393 +v 1.743156 1.318325 -1.050346 +v 1.743156 0.016346 -1.073599 +v 1.394538 1.318325 -1.073599 +v 1.743156 -3.771999 -1.003886 +f 513 511 515 +f 505 508 509 +f 506 505 509 +f 507 508 510 +f 508 505 510 +f 504 507 511 +f 510 505 511 +f 507 510 511 +f 507 504 512 +f 508 507 512 +f 509 504 513 +f 506 509 513 +f 504 511 513 +f 509 508 514 +f 504 509 514 +f 512 504 514 +f 508 512 514 +f 505 506 515 +f 511 505 515 +f 506 513 515 +o convex_39 +v -0.255945 2.411364 -0.980554 +v 0.255462 2.364877 -0.027646 +v 0.255462 2.341643 -0.027646 +v 0.255462 2.364877 -1.003873 +v -0.255945 2.318399 -0.027646 +v -0.255945 2.318399 -0.980554 +v -0.209440 2.411364 -0.074092 +v 0.255462 2.318399 -1.003873 +v 0.208956 2.388112 -1.003873 +f 519 523 524 +f 517 518 519 +f 518 517 520 +f 520 516 521 +f 516 520 522 +f 520 517 522 +f 519 518 523 +f 518 520 523 +f 520 521 523 +f 523 521 524 +f 517 519 524 +f 521 516 524 +f 522 517 524 +f 516 522 524 +o convex_40 +v 1.394538 -3.725512 -0.027478 +v 1.743122 -3.679034 -0.329637 +v 1.743122 -3.748739 -0.329637 +v 1.696678 -3.655784 1.088246 +v 1.394538 -3.725512 -0.794588 +v 1.626927 -3.702261 1.088246 +v 1.394538 -3.771979 -0.957381 +v 1.743122 -3.679034 -0.957381 +v 1.743122 -3.771979 -0.957381 +v 1.394538 -3.702284 -0.190271 +v 1.626927 -3.655784 1.088246 +v 1.696678 -3.655784 -0.027478 +f 534 535 536 +f 527 526 528 +f 527 528 530 +f 525 529 531 +f 530 525 531 +f 526 527 532 +f 528 526 532 +f 531 529 532 +f 531 532 533 +f 527 530 533 +f 530 531 533 +f 532 527 533 +f 529 525 534 +f 532 529 534 +f 525 530 535 +f 530 528 535 +f 534 525 535 +f 535 528 536 +f 528 532 536 +f 532 534 536 +o convex_41 +v -0.139737 2.388032 1.041754 +v -0.348908 1.411901 0.437524 +v -0.302400 1.411901 0.437524 +v -0.232711 2.318281 -0.399483 +v -0.139716 1.411901 0.995058 +v -0.255913 2.388032 1.041754 +v -0.348928 1.737342 -0.399483 +v -0.139737 2.388032 -0.027464 +v -0.232752 1.411901 1.018335 +v -0.302421 1.807093 -0.399483 +v -0.348908 1.853434 0.507074 +v -0.279198 2.271749 -0.399483 +v -0.255913 2.388032 -0.027464 +f 548 542 549 +f 538 539 541 +f 539 538 543 +f 537 541 544 +f 542 537 544 +f 541 537 545 +f 538 541 545 +f 537 542 545 +f 541 539 546 +f 539 543 546 +f 543 540 546 +f 544 541 546 +f 540 544 546 +f 543 538 547 +f 538 545 547 +f 545 542 547 +f 540 543 548 +f 543 547 548 +f 547 542 548 +f 544 540 549 +f 542 544 549 +f 540 548 549 +o convex_42 +v -0.139716 1.411806 1.018515 +v 1.673453 2.271815 1.064991 +v 1.673453 2.202028 1.088246 +v -0.139716 2.271815 1.041763 +v 1.580452 1.411806 1.088246 +v 1.673453 1.969599 1.041763 +v 0.441542 2.271815 1.018515 +v 0.302217 1.411806 1.064991 +v 1.603525 1.411806 1.041763 +v 0.418291 2.271815 1.064991 +v -0.139716 2.271815 1.018515 +v 0.348718 1.411806 1.018515 +v -0.139716 1.411806 1.041763 +v 1.673453 2.271815 1.041763 +f 556 551 563 +f 552 554 555 +f 551 552 555 +f 553 551 556 +f 550 554 557 +f 554 552 557 +f 554 550 558 +f 555 554 558 +f 552 551 559 +f 551 553 559 +f 557 552 559 +f 553 557 559 +f 550 553 560 +f 556 550 560 +f 553 556 560 +f 550 556 561 +f 556 555 561 +f 558 550 561 +f 555 558 561 +f 553 550 562 +f 557 553 562 +f 550 557 562 +f 551 555 563 +f 555 556 563 +o convex_43 +v 0.673764 -3.725507 1.018520 +v -0.232699 0.598163 0.995263 +v -0.209272 0.226040 0.995263 +v 0.255615 0.714326 1.065000 +v 0.976076 1.411806 1.041743 +v 0.976076 -3.655608 0.995263 +v 0.976076 -2.469340 1.065000 +v -0.139580 1.411806 0.995263 +v -0.162889 1.411806 1.041743 +v 0.976076 1.411806 1.065000 +v -0.209272 0.226040 1.018520 +v 0.650454 -3.701872 0.995263 +v 0.929457 -3.678741 1.041743 +v 0.302115 1.411806 1.065000 +f 573 572 577 +f 566 565 569 +f 569 568 570 +f 569 565 571 +f 568 569 571 +f 571 565 572 +f 568 571 572 +f 567 570 573 +f 570 568 573 +f 568 572 573 +f 565 566 574 +f 572 565 574 +f 567 572 574 +f 569 564 575 +f 566 569 575 +f 564 574 575 +f 574 566 575 +f 564 569 576 +f 570 567 576 +f 569 570 576 +f 574 564 576 +f 567 574 576 +f 572 567 577 +f 567 573 577 +o convex_44 +v 1.673453 -1.400931 0.228157 +v 1.719940 0.853907 1.041754 +v 1.719940 0.853907 -0.027551 +v 1.719936 -3.655770 0.483865 +v 1.673453 -3.655770 1.041754 +v 1.673453 0.853907 0.878888 +v 1.696699 -3.655770 -0.027551 +v 1.673453 0.807115 0.158447 +v 1.696699 -3.655770 1.041754 +v 1.719936 -3.655770 -0.027551 +v 1.673453 -3.608978 0.437496 +v 1.673453 -0.587371 1.041754 +v 1.719940 -0.820006 1.041754 +v 1.696699 0.853907 -0.027551 +f 584 585 591 +f 579 580 583 +f 578 582 583 +f 581 582 584 +f 578 583 585 +f 584 578 585 +f 582 581 586 +f 579 582 586 +f 584 580 587 +f 581 584 587 +f 582 578 588 +f 578 584 588 +f 584 582 588 +f 582 579 589 +f 579 583 589 +f 583 582 589 +f 580 579 590 +f 579 586 590 +f 586 581 590 +f 587 580 590 +f 581 587 590 +f 583 580 591 +f 580 584 591 +f 585 583 591 +o convex_45 +v 0.488028 2.364866 -0.887644 +v 1.603679 2.248667 -1.096835 +v 1.603679 2.271919 -1.096835 +v 1.743190 2.248667 -0.887644 +v 0.255462 2.202178 -1.003850 +v 0.325217 2.364866 -1.027091 +v 1.743190 2.202178 -1.096835 +v 1.603679 2.225430 -0.887644 +v 0.255462 2.341614 -0.887644 +f 599 592 600 +f 594 592 595 +f 593 596 597 +f 592 594 597 +f 594 593 597 +f 593 594 598 +f 594 595 598 +f 596 593 598 +f 596 598 599 +f 595 592 599 +f 598 595 599 +f 597 596 600 +f 592 597 600 +f 596 599 600 +o convex_46 +v -1.534425 -0.540718 -0.213517 +v -1.418238 -1.237965 0.367627 +v -1.441504 -1.237965 0.367627 +v -1.418238 0.784170 0.251353 +v -1.395019 0.737062 -0.213517 +v -1.511207 0.528239 0.158402 +v -1.557708 -1.610143 -0.213517 +v -1.487941 -1.447257 0.344361 +v -1.511191 -1.610143 -0.120509 +v -1.441504 0.784170 -0.213517 +v -1.487941 0.784170 0.251353 +v -1.418238 -1.447257 0.321095 +v -1.557708 -0.772977 -0.120509 +v -1.534425 -1.610143 0.065450 +f 613 607 614 +f 603 602 604 +f 604 602 605 +f 601 605 607 +f 602 603 608 +f 607 605 609 +f 605 601 610 +f 604 605 610 +f 601 606 610 +f 610 606 611 +f 603 604 611 +f 606 608 611 +f 608 603 611 +f 604 610 611 +f 605 602 612 +f 602 608 612 +f 609 605 612 +f 606 601 613 +f 601 607 613 +f 608 606 614 +f 607 609 614 +f 612 608 614 +f 609 612 614 +f 606 613 614 +o convex_47 +v -0.069833 -0.168990 0.995263 +v -0.162880 -3.655770 0.925525 +v 0.116096 -3.655770 0.925525 +v 0.673885 -3.655770 0.995263 +v -0.162880 -2.609477 0.972005 +v -0.139618 0.133289 0.972005 +v 0.673885 -3.562675 0.972005 +v 0.348386 -3.632404 0.995263 +v -0.162880 -1.285012 0.995263 +v -0.162880 -2.469649 0.925525 +v -0.162880 -3.655770 0.948782 +f 622 619 625 +f 616 617 618 +f 620 615 621 +f 618 617 621 +f 615 618 621 +f 617 620 621 +f 618 615 622 +f 619 622 623 +f 616 619 623 +f 615 620 623 +f 622 615 623 +f 617 616 624 +f 620 617 624 +f 616 623 624 +f 623 620 624 +f 616 618 625 +f 619 616 625 +f 618 622 625 +o convex_48 +v -0.186176 -3.771987 -0.329798 +v 0.139233 -3.655781 0.972017 +v 0.139233 -3.748735 0.972017 +v -0.162953 -3.655781 0.948598 +v -0.069965 -3.679034 -0.957381 +v 0.139233 -3.748735 -0.027433 +v -0.162953 -3.771999 0.948598 +v -0.186208 -3.655781 -0.027433 +v -0.186176 -3.748746 -0.957381 +v 0.115978 -3.771999 0.855679 +v -0.069965 -3.748746 -0.957381 +v -0.186176 -3.679034 -0.957381 +f 634 633 637 +f 628 627 629 +f 630 627 631 +f 627 628 631 +f 628 629 632 +f 626 632 633 +f 629 627 633 +f 627 630 633 +f 632 629 633 +f 626 633 634 +f 631 628 635 +f 628 632 635 +f 632 626 635 +f 630 631 636 +f 634 630 636 +f 626 634 636 +f 635 626 636 +f 631 635 636 +f 633 630 637 +f 630 634 637 +o convex_49 +v -0.976564 1.900374 -0.074024 +v -0.999809 4.178051 0.111924 +v -1.023055 4.178051 0.111924 +v -0.999809 4.178051 -0.120534 +v -1.023055 1.876721 -0.120534 +v -0.999809 1.876721 0.111924 +v -0.976564 3.503827 0.111924 +v -0.976564 3.712874 -0.120534 +v -1.023055 4.178051 -0.120534 +v -0.976564 1.876721 0.111924 +f 644 643 647 +f 640 639 641 +f 640 642 643 +f 639 640 643 +f 639 643 644 +f 641 639 645 +f 638 642 645 +f 642 641 645 +f 644 638 645 +f 639 644 645 +f 640 641 646 +f 641 642 646 +f 642 640 646 +f 642 638 647 +f 643 642 647 +f 638 644 647 +o convex_50 +v -1.185780 0.063315 0.367627 +v -1.418233 -1.447423 0.321117 +v -1.371692 -1.447423 0.297897 +v -1.418233 0.784170 0.228166 +v -1.092793 -1.447423 0.228166 +v -1.092793 0.784170 0.321117 +v -1.418233 -1.377522 0.367627 +v -1.418233 0.784170 0.274662 +v -1.092793 -1.214783 0.274662 +v -1.092793 -0.029741 0.344365 +v -1.116079 0.784170 0.297897 +v -1.162589 -1.447423 0.228166 +v -1.092793 -1.051826 0.228166 +v -1.139334 0.784170 0.344365 +f 657 653 661 +f 650 649 651 +f 649 650 652 +f 651 649 654 +f 649 652 654 +f 653 651 655 +f 651 654 655 +f 654 648 655 +f 652 653 656 +f 654 652 656 +f 654 656 657 +f 648 654 657 +f 656 653 657 +f 651 653 658 +f 650 651 659 +f 651 652 659 +f 652 650 659 +f 652 651 660 +f 653 652 660 +f 651 658 660 +f 658 653 660 +f 655 648 661 +f 653 655 661 +f 648 657 661 +o convex_51 +v -0.186221 -3.655770 -0.027551 +v -0.186221 -1.169204 0.925496 +v -0.186221 -1.169204 0.785935 +v -0.255945 -1.169204 -0.027551 +v -0.255945 -1.703517 0.646560 +v -0.139728 -3.655770 0.925496 +v -0.162992 -3.050864 -0.027551 +v -0.186221 -3.469308 0.902173 +v -0.209429 -1.447923 -0.027551 +v -0.162992 -1.494417 0.902173 +v -0.139728 -3.655770 0.344395 +v -0.232681 -1.169204 0.809164 +v -0.209429 -3.097357 -0.027551 +v -0.209429 -1.703517 0.925496 +v -0.255945 -1.494417 -0.027551 +v -0.139728 -2.981245 0.925496 +v -0.186221 -3.655770 0.414175 +v -0.255945 -1.169204 0.669789 +f 675 673 679 +f 663 664 665 +f 662 665 668 +f 665 664 670 +f 668 665 670 +f 668 670 671 +f 664 663 671 +f 670 664 671 +f 667 662 672 +f 662 668 672 +f 668 671 672 +f 663 665 673 +f 665 662 674 +f 667 663 675 +f 666 669 675 +f 669 667 675 +f 663 673 675 +f 666 665 676 +f 665 674 676 +f 674 666 676 +f 663 667 677 +f 671 663 677 +f 667 672 677 +f 672 671 677 +f 662 667 678 +f 669 666 678 +f 667 669 678 +f 674 662 678 +f 666 674 678 +f 665 666 679 +f 673 665 679 +f 666 675 679 +o convex_52 +v -0.279204 -0.982376 0.414109 +v -0.279204 0.807375 0.437364 +v -0.279204 0.807375 0.390809 +v -0.348928 0.807375 0.437364 +v -0.348928 0.830662 -0.027551 +v -0.232711 -1.168474 -0.027551 +v -0.279204 0.574704 -0.027551 +v -0.232711 -1.168474 0.437364 +v -0.232711 -0.587284 0.088678 +v -0.255963 -1.168474 -0.027551 +f 685 687 689 +f 680 683 684 +f 681 682 684 +f 683 681 684 +f 685 684 686 +f 684 682 686 +f 681 683 687 +f 683 680 687 +f 687 685 688 +f 682 681 688 +f 685 686 688 +f 686 682 688 +f 681 687 688 +f 680 684 689 +f 684 685 689 +f 687 680 689 +o convex_53 +v 1.696699 -2.377210 -0.864362 +v 1.719926 0.853577 -0.027551 +v 1.743190 1.318823 -0.515584 +v 1.650207 0.876571 -0.469166 +v 1.719944 -3.679016 -0.027642 +v 1.743181 -3.679016 -0.957381 +v 1.696699 -3.679016 -0.027642 +v 1.719926 1.318823 -0.748133 +v 1.743181 -3.679016 -0.353119 +v 1.696699 0.853577 -0.027551 +v 1.696699 -3.679016 -0.376328 +v 1.650207 0.109479 -0.515584 +v 1.650207 0.737144 -0.353119 +v 1.743190 1.318823 -0.748133 +v 1.719944 -3.679016 -0.957381 +v 1.719944 -2.307252 -0.957381 +v 1.696699 1.318823 -0.399629 +v 1.696699 -2.655574 -0.864362 +f 704 700 707 +f 695 694 696 +f 694 691 696 +f 692 691 698 +f 691 694 698 +f 695 692 698 +f 694 695 698 +f 696 691 699 +f 695 696 700 +f 700 696 701 +f 693 697 701 +f 697 690 701 +f 696 699 702 +f 701 696 702 +f 693 701 702 +f 692 695 703 +f 697 692 703 +f 695 700 704 +f 690 697 705 +f 703 695 705 +f 697 703 705 +f 704 690 705 +f 695 704 705 +f 691 692 706 +f 692 697 706 +f 697 693 706 +f 699 691 706 +f 693 702 706 +f 702 699 706 +f 700 701 707 +f 701 690 707 +f 690 704 707 +o convex_54 +v -0.325646 1.992800 -0.492484 +v -0.232722 2.318293 -0.399483 +v -0.186240 2.109026 -0.771379 +v -0.139716 1.342205 -0.399483 +v -0.232722 1.318823 -0.957381 +v -0.348908 1.342205 -0.399483 +v -0.279164 2.271724 -0.887535 +v -0.348908 1.783827 -0.631959 +v -0.209481 2.318293 -0.957381 +v -0.209481 1.318823 -0.957381 +v -0.139716 1.551374 -0.446011 +v -0.279164 2.271724 -0.399483 +f 714 708 719 +f 711 709 713 +f 712 711 713 +f 713 708 715 +f 712 713 715 +f 714 712 715 +f 708 714 715 +f 709 710 716 +f 712 714 716 +f 714 709 716 +f 711 712 717 +f 712 716 717 +f 717 716 718 +f 710 709 718 +f 709 711 718 +f 716 710 718 +f 711 717 718 +f 713 709 719 +f 708 713 719 +f 709 714 719 +o convex_55 +v -0.976616 3.759232 -0.143780 +v -1.511216 1.876721 -0.236726 +v -1.511216 1.876721 -0.143780 +v -1.418165 4.247788 -0.190289 +v -0.999853 4.177928 -0.306500 +v -0.999853 1.876721 -0.167025 +v -0.999853 4.177928 -0.120534 +v -0.999853 1.876721 -0.120534 +v -1.418165 4.247788 -0.143780 +v -0.999853 3.875742 -0.306500 +v -1.232324 4.247788 -0.260008 +v -0.999853 2.016441 -0.190289 +v -1.069615 4.177928 -0.306500 +f 730 724 732 +f 721 722 723 +f 722 721 725 +f 720 724 726 +f 725 720 727 +f 722 725 727 +f 726 722 727 +f 720 726 727 +f 723 722 728 +f 722 726 728 +f 724 720 729 +f 721 723 730 +f 726 724 730 +f 723 728 730 +f 728 726 730 +f 725 721 731 +f 720 725 731 +f 729 720 731 +f 721 729 731 +f 724 729 732 +f 729 721 732 +f 721 730 732 +o convex_56 +v -1.325307 4.271034 0.018925 +v -1.557708 1.876721 -0.027583 +v -1.557708 1.876721 0.065432 +v -1.209021 4.224160 -0.143780 +v -1.418213 4.247363 -0.143780 +v -1.487909 1.876721 -0.143780 +v -1.209021 4.224160 0.065432 +v -1.418213 4.271034 0.065432 +v -1.511187 1.900392 0.018925 +v -1.534396 1.946563 -0.143780 +v -1.557708 2.109215 0.042168 +f 740 737 743 +f 733 736 737 +f 735 734 738 +f 737 736 738 +f 738 736 739 +f 736 733 739 +f 735 739 740 +f 733 737 740 +f 739 733 740 +f 735 738 741 +f 738 739 741 +f 739 735 741 +f 734 737 742 +f 738 734 742 +f 737 738 742 +f 734 735 743 +f 737 734 743 +f 735 740 743 +o convex_57 +v -1.232317 3.248032 0.204879 +v -1.580917 1.876721 0.088714 +v -1.580917 1.876721 0.181638 +v -1.441433 4.084768 0.228121 +v -1.394987 4.131560 0.065432 +v -1.209058 1.876721 0.251362 +v -1.209058 4.131560 0.274624 +v -1.371764 4.131560 0.274624 +v -1.511175 2.085960 0.065432 +v -1.209058 1.876721 0.228121 +v -1.302059 1.876721 0.251362 +v -1.441433 3.898925 0.065432 +v -1.464693 3.643335 0.251362 +v -1.209058 3.875750 0.228121 +v -1.418210 3.317558 0.065432 +f 753 752 758 +f 745 746 747 +f 746 745 749 +f 750 748 751 +f 748 747 751 +f 749 750 751 +f 748 744 753 +f 749 745 753 +f 750 749 753 +f 745 752 753 +f 746 749 754 +f 749 751 754 +f 745 747 755 +f 747 748 755 +f 752 745 755 +f 748 752 755 +f 747 746 756 +f 751 747 756 +f 746 754 756 +f 754 751 756 +f 744 748 757 +f 748 750 757 +f 753 744 757 +f 750 753 757 +f 752 748 758 +f 748 753 758 +o convex_58 +v -1.162498 4.201310 -0.283191 +v -0.999830 4.178078 0.274639 +v -1.023092 4.224529 0.297890 +v -1.418172 4.131600 0.251330 +v -1.418172 4.271034 0.274580 +v -0.999830 4.247775 -0.306500 +v -0.999830 4.178064 -0.306500 +v -1.418172 4.271034 0.065387 +v -1.418172 4.131600 0.065387 +v -1.209021 4.131600 0.274580 +f 762 767 768 +f 763 761 764 +f 761 760 764 +f 759 764 765 +f 764 760 765 +f 762 763 766 +f 763 764 766 +f 764 759 766 +f 759 765 767 +f 766 759 767 +f 762 766 767 +f 760 761 768 +f 763 762 768 +f 761 763 768 +f 765 760 768 +f 767 765 768 +o convex_59 +v -0.186217 -2.493441 0.972005 +v -0.209444 1.411806 0.995263 +v -0.209444 1.411806 0.925525 +v -0.162976 0.248835 0.995263 +v -0.162976 -3.004889 0.925525 +v -0.232692 -0.030018 0.925525 +v -0.232692 0.388478 0.995263 +f 771 774 775 +f 771 770 772 +f 772 769 773 +f 771 772 773 +f 771 773 774 +f 773 769 774 +f 774 769 775 +f 770 771 775 +f 772 770 775 +f 769 772 775 +o convex_60 +v -0.976596 3.480478 0.135188 +v -1.208967 1.876721 0.228141 +v -0.999857 1.876721 0.111924 +v -0.930072 1.876721 0.321136 +v -1.208967 4.154806 0.274628 +v -0.999857 4.154806 0.297872 +v -1.023092 4.154806 0.111924 +v -1.208967 1.876721 0.274628 +v -0.930072 1.876721 0.135188 +v -1.208967 3.806046 0.228141 +v -1.023092 2.434870 0.321136 +f 780 783 786 +f 777 778 779 +f 779 776 781 +f 780 781 782 +f 778 777 782 +f 781 776 782 +f 777 779 783 +f 780 777 783 +f 779 778 784 +f 776 779 784 +f 782 776 784 +f 778 782 784 +f 777 780 785 +f 780 782 785 +f 782 777 785 +f 779 781 786 +f 781 780 786 +f 783 779 786 +o convex_61 +v -0.279164 -1.005344 0.437364 +v -0.209463 1.411553 0.925525 +v -0.209463 1.411553 0.902255 +v -0.348928 1.411553 0.460635 +v -0.209463 -1.168221 0.925525 +v -0.232718 -0.958880 0.437364 +v -0.279164 1.248676 0.460635 +v -0.255972 1.411553 0.925525 +v -0.348928 0.784034 0.507177 +v -0.186208 -1.168221 0.786044 +v -0.279164 -1.121504 0.576846 +v -0.302418 1.411553 0.437364 +v -0.186208 -0.006111 0.902255 +v -0.255972 0.784034 0.483858 +f 792 793 800 +f 788 789 790 +f 788 790 794 +f 791 788 794 +f 791 794 795 +f 790 787 795 +f 794 790 795 +f 792 796 797 +f 787 792 797 +f 791 795 797 +f 795 787 797 +f 796 791 797 +f 790 789 798 +f 787 790 798 +f 792 787 798 +f 789 793 798 +f 793 792 798 +f 789 788 799 +f 788 791 799 +f 792 789 799 +f 791 796 799 +f 796 792 799 +f 789 792 800 +f 793 789 800 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/315/315.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/315/315.urdf new file mode 100644 index 000000000..7bd9c3de2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/315/315.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/316/316.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/316/316.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/316/316.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/316/316.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/316/316.obj new file mode 100644 index 000000000..7db48ae5c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/316/316.obj @@ -0,0 +1,1479 @@ +o convex_0 +v -0.304962 -3.433486 -4.982649 +v 0.000852 -3.280576 -0.956814 +v -0.101140 -3.280576 -0.956814 +v -0.228460 -3.433486 -0.956814 +v 0.000852 -3.433486 -4.931419 +v -0.330452 -3.280576 -3.020566 +v 0.000852 -3.357031 -4.931419 +v 0.000852 -3.382506 -1.746927 +v -0.279440 -3.407981 -0.956814 +v -0.304962 -3.357031 -4.957034 +v -0.330452 -3.433486 -2.638711 +v -0.253982 -3.331556 -0.956814 +f 6 9 12 +f 2 3 4 +f 4 1 5 +f 3 2 6 +f 5 1 7 +f 2 5 7 +f 6 2 7 +f 2 4 8 +f 4 5 8 +f 5 2 8 +f 4 3 9 +f 1 6 10 +f 7 1 10 +f 6 7 10 +f 1 4 11 +f 6 1 11 +f 4 9 11 +f 9 6 11 +f 3 6 12 +f 9 3 12 +o convex_1 +v 0.204732 -3.204121 -1.007604 +v 0.128237 -3.892215 -1.033106 +v 0.179227 -3.892215 -1.033106 +v 0.204732 -3.357083 -2.791336 +v 0.000852 -3.357083 -2.791336 +v 0.000852 -3.255176 -0.956779 +v 0.153762 -3.815700 -2.791336 +v 0.204732 -3.560830 -2.791336 +v 0.000852 -3.382610 -1.848645 +f 18 17 21 +f 13 16 17 +f 15 13 18 +f 14 15 18 +f 13 17 18 +f 15 14 19 +f 17 16 19 +f 14 17 19 +f 13 15 20 +f 16 13 20 +f 15 19 20 +f 19 16 20 +f 17 14 21 +f 14 18 21 +o convex_2 +v -0.254017 -3.560952 -0.956814 +v -0.330432 -3.892214 -4.931419 +v -0.330432 -3.739245 -4.931419 +v -0.228512 -3.433530 -4.982649 +v -0.228512 -3.892214 -4.727684 +v -0.355925 -3.815707 -0.956814 +v -0.330432 -3.433530 -2.613096 +v -0.228512 -3.866667 -2.842446 +v -0.254017 -3.433530 -0.956814 +v -0.304952 -3.433530 -4.982649 +v -0.330432 -3.866667 -0.956814 +v -0.330432 -3.433530 -3.708616 +v -0.355925 -3.866667 -2.307297 +v -0.279497 -3.433530 -0.956814 +f 30 28 35 +f 23 25 26 +f 26 25 29 +f 27 22 30 +f 25 28 30 +f 22 29 30 +f 29 25 30 +f 23 24 31 +f 25 23 31 +f 28 25 31 +f 23 26 32 +f 22 27 32 +f 29 22 32 +f 26 29 32 +f 27 28 33 +f 31 24 33 +f 28 31 33 +f 24 23 34 +f 23 32 34 +f 32 27 34 +f 33 24 34 +f 27 33 34 +f 28 27 35 +f 27 30 35 +o convex_3 +v 0.000830 -3.433486 -4.906224 +v -0.228512 -3.866730 -4.906224 +v -0.228512 -3.815755 -4.931786 +v -0.228512 -3.841242 -2.842593 +v 0.000830 -3.841242 -2.817031 +v -0.228512 -3.433486 -4.931786 +v 0.000830 -3.815755 -4.880871 +v -0.126548 -3.815755 -2.817031 +v -0.050153 -3.866730 -3.988915 +v -0.228512 -3.866730 -2.842593 +f 44 40 45 +f 38 37 39 +f 36 38 41 +f 38 39 41 +f 38 36 42 +f 37 38 42 +f 36 40 42 +f 40 36 43 +f 36 41 43 +f 41 39 43 +f 37 42 44 +f 42 40 44 +f 39 37 45 +f 40 43 45 +f 43 39 45 +f 37 44 45 +o convex_4 +v 0.332157 -3.357057 -4.676844 +v 0.000852 -3.841195 -4.345759 +v 0.026375 -3.841195 -4.345759 +v 0.000852 -3.357057 -2.791755 +v 0.179217 -3.815701 -2.791546 +v 0.000852 -3.357057 -4.931863 +v 0.179217 -3.790207 -4.829604 +v 0.204707 -3.357057 -2.791755 +v 0.000852 -3.841195 -2.817320 +v 0.332157 -3.408045 -4.880733 +v 0.000852 -3.815701 -4.855169 +v 0.000852 -3.331613 -2.893595 +v 0.204707 -3.790207 -2.970080 +f 52 55 58 +f 47 49 51 +f 50 48 52 +f 49 50 53 +f 47 48 54 +f 49 47 54 +f 50 49 54 +f 48 50 54 +f 51 46 55 +f 55 52 56 +f 48 47 56 +f 47 51 56 +f 52 48 56 +f 51 55 56 +f 46 51 57 +f 51 49 57 +f 53 46 57 +f 49 53 57 +f 50 52 58 +f 46 53 58 +f 53 50 58 +f 55 46 58 +o convex_5 +v 1.377020 2.631935 -0.930910 +v -2.267010 3.549293 -0.803530 +v -2.267010 3.549293 -0.829000 +v -3.031858 2.631935 -0.854485 +v 2.319983 3.472877 -0.829015 +v 1.835405 3.498379 -0.930925 +v -1.094592 2.631935 -0.829030 +v 2.319983 2.631935 -0.905425 +v -2.878364 3.523701 -0.778045 +v -2.470271 2.886956 -0.879955 +v -2.878364 3.549293 -0.829000 +v 2.319983 3.498379 -0.930925 +v -1.884586 3.498199 -0.778045 +v -3.031858 2.631935 -0.829030 +v -2.623764 2.631935 -0.879955 +v 2.319983 2.631935 -0.930910 +v 1.427835 2.631935 -0.879955 +v 0.943257 3.523881 -0.829015 +f 67 71 76 +f 62 59 65 +f 65 59 66 +f 60 61 69 +f 61 64 69 +f 67 60 69 +f 68 62 69 +f 64 68 69 +f 64 61 70 +f 59 64 70 +f 63 66 70 +f 65 63 71 +f 71 67 72 +f 62 65 72 +f 67 69 72 +f 69 62 72 +f 65 71 72 +f 59 62 73 +f 64 59 73 +f 62 68 73 +f 68 64 73 +f 66 59 74 +f 59 70 74 +f 70 66 74 +f 63 65 75 +f 66 63 75 +f 65 66 75 +f 61 60 76 +f 60 67 76 +f 70 61 76 +f 63 70 76 +f 71 63 76 +o convex_6 +v 0.281149 -3.509975 1.260974 +v 0.153782 -3.866695 2.534763 +v 0.306639 -3.866695 2.534763 +v 0.051877 -3.509975 3.171754 +v 0.051877 -3.790218 1.184317 +v 0.332157 -3.509975 3.120974 +v 0.051877 -3.841202 3.146461 +v 0.332157 -3.790218 1.184317 +v 0.306639 -3.866695 3.120974 +v 0.230197 -3.509975 1.184317 +v 0.332157 -3.509975 1.821698 +f 82 84 87 +f 79 78 81 +f 77 80 82 +f 80 81 83 +f 81 78 83 +f 79 81 84 +f 84 82 85 +f 78 79 85 +f 82 80 85 +f 80 83 85 +f 83 78 85 +f 79 84 85 +f 80 77 86 +f 81 80 86 +f 77 84 86 +f 84 81 86 +f 77 82 87 +f 84 77 87 +o convex_7 +v -0.254005 -3.204121 3.171754 +v -0.304957 -3.509940 1.184317 +v -0.330452 -3.484436 1.184317 +v -0.304957 -3.509940 3.171754 +v -0.330452 -3.204121 1.184317 +v -0.254005 -3.229626 1.184317 +v -0.254005 -3.509940 3.171754 +v -0.330452 -3.204121 2.407326 +f 92 90 95 +f 90 89 91 +f 89 90 92 +f 92 88 93 +f 89 92 93 +f 91 89 94 +f 88 91 94 +f 89 93 94 +f 93 88 94 +f 90 91 95 +f 91 88 95 +f 88 92 95 +o convex_8 +v -1.018556 -3.178195 -0.879624 +v -1.044014 -3.178195 0.750923 +v -1.018556 -0.299242 0.470543 +v -1.069501 1.332201 -0.013719 +v -0.993061 1.332201 -0.981905 +v -0.993069 -4.452884 -0.242705 +v -1.069501 -4.452884 0.292104 +v -1.044021 1.332201 -0.981905 +v -1.069501 1.332201 0.725480 +v -0.993069 -4.452884 -0.777853 +v -1.069501 -4.452884 0.750923 +v -1.044029 1.332201 0.725480 +v -1.018556 -4.452884 -0.777853 +v -0.993061 -2.260259 -0.166376 +v -1.044014 -4.452884 0.750923 +v -1.044029 0.413700 -0.956292 +f 96 108 111 +f 100 96 103 +f 99 100 103 +f 100 99 104 +f 99 102 104 +f 96 100 105 +f 101 102 105 +f 102 101 106 +f 97 104 106 +f 104 102 106 +f 97 98 107 +f 98 100 107 +f 104 97 107 +f 100 104 107 +f 96 105 108 +f 105 102 108 +f 100 98 109 +f 98 101 109 +f 105 100 109 +f 101 105 109 +f 98 97 110 +f 101 98 110 +f 97 106 110 +f 106 101 110 +f 102 99 111 +f 99 103 111 +f 103 96 111 +f 108 102 111 +o convex_9 +v -0.993061 1.332201 -0.956415 +v -0.993061 -3.178636 -0.879990 +v -0.126573 -3.178636 -0.879990 +v -0.152103 -2.872644 -0.828995 +v -0.126573 0.872993 -0.956415 +v -0.993061 1.051820 -0.981904 +v -0.126573 0.949822 -0.905450 +v -0.993061 -2.642599 -0.854485 +v -0.993061 1.102156 -0.930910 +v -0.993061 -2.719428 -0.905450 +v -0.126573 1.332201 -0.956415 +v -0.356002 -3.178636 -0.828995 +f 115 119 123 +f 116 114 117 +f 113 112 117 +f 115 114 118 +f 114 116 118 +f 112 113 119 +f 115 118 119 +f 119 118 120 +f 118 112 120 +f 112 119 120 +f 114 113 121 +f 117 114 121 +f 113 117 121 +f 116 117 122 +f 117 112 122 +f 112 118 122 +f 118 116 122 +f 113 114 123 +f 114 115 123 +f 119 113 123 +o convex_10 +v -1.095001 0.388610 1.005846 +v -1.069511 -3.713940 1.184274 +v -1.095001 -3.713940 1.184274 +v -1.069511 -4.478369 0.751090 +v -1.018546 1.332201 1.056807 +v -1.018546 -4.478369 1.184274 +v -1.044036 1.332201 0.725588 +v -1.018546 -4.478369 0.751090 +v -1.095001 -4.478369 0.827598 +v -1.069511 1.332201 0.725588 +v -1.069511 1.332201 1.056807 +v -1.095001 -4.478369 1.184274 +f 132 129 135 +f 126 125 128 +f 128 125 129 +f 125 126 129 +f 130 128 131 +f 128 129 131 +f 129 127 131 +f 127 130 131 +f 126 124 132 +f 127 129 132 +f 130 127 133 +f 128 130 133 +f 132 124 133 +f 127 132 133 +f 124 126 134 +f 126 128 134 +f 133 124 134 +f 128 133 134 +f 129 126 135 +f 126 132 135 +o convex_11 +v -0.228552 -0.095318 1.031420 +v -1.018546 -3.178636 1.133327 +v -1.018546 -3.178636 1.158832 +v -1.018546 1.332201 1.056912 +v -0.126573 -2.770205 1.133327 +v -0.126573 1.332201 1.056912 +v -0.483414 -3.178636 1.082392 +v -1.018546 0.185064 1.031420 +v -0.126573 -2.872644 1.082392 +v -0.126573 1.332201 1.031420 +v -0.993051 -2.820983 1.158832 +v -1.018546 -2.923422 1.107847 +v -0.126573 -3.178636 1.133327 +v -1.018546 1.332201 1.031420 +v -0.483414 -1.980279 1.056912 +f 144 142 150 +f 137 138 139 +f 138 137 142 +f 137 139 143 +f 141 140 144 +f 139 141 145 +f 136 143 145 +f 141 144 145 +f 144 136 145 +f 139 138 146 +f 140 141 146 +f 141 139 146 +f 142 137 147 +f 137 143 147 +f 143 142 147 +f 138 142 148 +f 144 140 148 +f 142 144 148 +f 146 138 148 +f 140 146 148 +f 143 139 149 +f 139 145 149 +f 145 143 149 +f 143 136 150 +f 142 143 150 +f 136 144 150 +o convex_12 +v 0.994757 -2.362189 -0.930925 +v 1.020246 1.332201 -0.242841 +v 0.994757 1.332201 -0.242841 +v 0.969298 -3.178195 -0.242841 +v 0.892846 -3.178195 -0.956350 +v 0.943809 1.332201 -0.930925 +v 1.045735 1.332201 -0.930925 +v 1.045735 -1.113549 -0.242841 +v 0.943794 -4.452884 -0.956350 +v 1.020246 -2.667979 -0.242841 +v 0.918320 -4.452884 -0.701540 +v 1.045735 0.745539 -0.930925 +v 1.045735 0.032030 -0.242841 +v 0.943794 -4.452884 -0.701540 +v 0.892846 -3.178195 -0.930855 +v 0.892846 -4.452884 -0.956350 +f 165 155 166 +f 152 153 154 +f 153 152 156 +f 155 156 157 +f 156 152 157 +f 152 154 158 +f 155 157 159 +f 158 154 160 +f 159 151 160 +f 157 158 162 +f 151 159 162 +f 159 157 162 +f 158 160 162 +f 160 151 162 +f 157 152 163 +f 152 158 163 +f 158 157 163 +f 160 154 164 +f 159 160 164 +f 161 159 164 +f 154 161 164 +f 154 153 165 +f 153 156 165 +f 156 155 165 +f 161 154 165 +f 161 165 166 +f 155 159 166 +f 159 161 166 +o convex_13 +v 0.255634 -4.580286 -0.624935 +v 0.943796 -4.503895 0.317553 +v 0.943599 -4.452909 1.082146 +v -0.992989 -4.452909 -0.854167 +v -1.018411 -4.478367 1.183980 +v 0.943796 -4.452891 -0.956210 +v -1.018411 -4.427399 1.183980 +v 0.943796 -4.605779 -0.956210 +v 0.943599 -4.529318 0.750871 +v -0.763602 -4.529318 -0.879730 +v 0.714211 -4.605779 -0.726769 +v -1.043832 -4.503860 -0.064429 +v 0.280859 -4.503842 1.107500 +v -0.406909 -4.427399 1.133063 +v -0.763405 -4.503860 0.878269 +f 177 179 181 +f 169 168 172 +f 171 169 173 +f 172 168 174 +f 168 169 175 +f 174 168 175 +f 170 172 176 +f 172 174 176 +f 176 174 177 +f 174 175 177 +f 167 176 177 +f 173 170 178 +f 171 173 178 +f 176 167 178 +f 170 176 178 +f 167 177 178 +f 169 171 179 +f 175 169 179 +f 177 175 179 +f 169 172 180 +f 172 170 180 +f 170 173 180 +f 173 169 180 +f 171 178 181 +f 178 177 181 +f 179 171 181 +o convex_14 +v -0.814885 1.434131 1.031407 +v -2.878948 1.434131 0.063168 +v -2.878948 1.459589 0.063168 +v -2.878948 1.383196 1.031407 +v -1.044087 1.332221 0.063168 +v -0.942219 1.536041 1.005723 +v -1.044087 1.459589 0.063168 +v -1.044087 1.332221 1.031407 +v -2.878948 1.357699 0.827353 +v -2.139579 1.357699 0.088663 +v -1.120488 1.536041 1.031407 +v -2.878948 1.459589 0.241538 +v -0.763744 1.510544 1.005723 +f 187 192 194 +f 184 183 185 +f 183 184 186 +f 186 184 188 +f 184 187 188 +f 182 185 189 +f 186 182 189 +f 186 189 190 +f 185 183 190 +f 189 185 190 +f 183 186 191 +f 186 190 191 +f 190 183 191 +f 185 182 192 +f 187 184 192 +f 184 185 193 +f 192 184 193 +f 185 192 193 +f 182 186 194 +f 186 188 194 +f 188 187 194 +f 192 182 194 +o convex_15 +v 1.045735 -3.178636 0.496243 +v 0.943796 -4.580172 -0.675826 +v 0.969290 -4.580172 -0.675826 +v 0.994765 -4.478102 1.082377 +v 0.943796 -3.178636 1.082377 +v 0.943796 -3.178636 -0.956420 +v 1.045735 -4.503619 1.056633 +v 0.943796 -4.503619 1.056633 +v 1.020250 -3.178636 1.056633 +v 0.994765 -3.178636 -0.624936 +v 0.969290 -3.841402 -0.956420 +f 204 195 205 +f 196 199 200 +f 199 195 200 +f 197 195 201 +f 196 197 201 +f 198 199 202 +f 199 196 202 +f 196 201 202 +f 201 198 202 +f 195 199 203 +f 199 198 203 +f 201 195 203 +f 198 201 203 +f 200 195 204 +f 200 204 205 +f 195 197 205 +f 197 196 205 +f 196 200 205 +o convex_16 +v -2.368730 2.657462 1.082377 +v 2.549348 3.320028 1.209802 +v 2.549348 3.192593 1.209802 +v -1.833860 3.320028 1.184294 +v 2.396378 2.631934 1.184294 +v 2.523678 3.243513 1.158824 +v -2.802493 2.631934 1.133354 +v -2.802493 3.320028 1.133354 +v 1.504230 2.631934 1.107885 +v -1.553591 3.320028 1.133354 +v -2.802493 2.963319 1.158824 +v 2.421524 2.631934 1.133354 +v -2.292769 2.708449 1.082377 +f 213 215 218 +f 208 207 209 +f 208 209 210 +f 207 208 211 +f 209 207 213 +f 206 212 213 +f 212 206 214 +f 210 212 214 +f 207 211 215 +f 213 207 215 +f 210 209 216 +f 212 210 216 +f 209 213 216 +f 213 212 216 +f 208 210 217 +f 211 208 217 +f 210 214 217 +f 214 211 217 +f 206 213 218 +f 211 214 218 +f 214 206 218 +f 215 211 218 +o convex_17 +v -0.228483 -3.815725 1.490316 +v 0.051822 -3.815725 3.121174 +v -0.279472 -3.510005 3.121174 +v 0.051822 -3.764750 1.184317 +v -0.304967 -3.815725 3.121174 +v -0.304967 -3.510005 1.184317 +v -0.304967 -3.790237 1.184317 +v 0.051822 -3.841245 1.949125 +v -0.126573 -3.841245 3.121174 +f 219 226 227 +f 221 220 222 +f 220 221 223 +f 221 222 224 +f 223 221 224 +f 223 224 225 +f 222 219 225 +f 219 223 225 +f 224 222 225 +f 222 220 226 +f 219 222 226 +f 223 219 227 +f 220 223 227 +f 226 220 227 +o convex_18 +v -0.151963 -3.841244 3.121189 +v -0.024513 -3.204183 3.121189 +v 0.357642 -3.229628 3.146652 +v -0.304967 -3.560913 3.197628 +v 0.026337 -3.841244 3.172125 +v 0.332087 -3.509960 3.095696 +v -0.253987 -3.204183 3.095696 +f 230 233 234 +f 230 229 231 +f 231 228 232 +f 230 231 232 +f 230 232 233 +f 232 228 233 +f 233 228 234 +f 229 230 234 +f 231 229 234 +f 228 231 234 +o convex_19 +v -0.228492 -3.255101 1.184317 +v 0.357642 -3.229626 3.095689 +v 0.357642 -3.407981 3.095689 +v -0.253997 -3.204121 3.095689 +v 0.230177 -3.509940 1.184317 +v 0.230177 -3.331556 1.209949 +v 0.306632 -3.509940 3.095689 +v -0.202988 -3.204121 1.184317 +v 0.332137 -3.509940 1.897901 +v -0.253997 -3.229626 3.095689 +v 0.153722 -3.204121 2.458253 +f 240 242 245 +f 237 236 238 +f 237 238 241 +f 235 238 242 +f 239 235 242 +f 240 239 242 +f 236 237 243 +f 240 236 243 +f 239 240 243 +f 237 241 243 +f 241 239 243 +f 238 235 244 +f 235 239 244 +f 241 238 244 +f 239 241 244 +f 238 236 245 +f 236 240 245 +f 242 238 245 +o convex_20 +v 2.905965 3.472921 -0.013566 +v 2.320012 3.396483 -0.930935 +v 2.320012 3.498413 -0.930935 +v 1.249887 3.421975 0.215889 +v 1.249887 3.498413 -0.828892 +v 2.957107 3.396483 0.215889 +v 1.249887 3.396483 -0.497508 +v 2.957107 3.396483 -0.930935 +v 2.957107 3.498413 -0.930935 +v 1.249887 3.498413 -0.522991 +v 1.249887 3.396483 0.215889 +v 2.217896 3.447448 0.215889 +f 255 249 257 +f 248 247 250 +f 249 250 252 +f 250 247 252 +f 247 251 252 +f 247 248 253 +f 251 247 253 +f 251 253 254 +f 248 250 254 +f 246 251 254 +f 253 248 254 +f 250 249 255 +f 246 254 255 +f 254 250 255 +f 251 249 256 +f 249 252 256 +f 252 251 256 +f 251 246 257 +f 249 251 257 +f 246 255 257 +o convex_21 +v 0.943796 1.332202 -0.905442 +v -0.126573 -3.178636 -0.879972 +v -0.101008 -3.178636 -0.905442 +v -0.126573 1.332202 -0.956420 +v 0.943796 -3.178636 -0.956420 +v -0.101008 -2.872644 -0.828995 +v 0.943796 -2.872644 -0.905442 +v 0.102882 -3.178636 -0.956420 +v 0.943796 1.051378 -0.879972 +v -0.126573 0.974991 -0.905442 +v 0.943796 1.332202 -0.930925 +v 0.179262 1.332202 -0.956420 +v 0.867311 -3.178636 -0.905442 +v 0.153802 1.332202 -0.905442 +f 267 266 271 +f 260 259 261 +f 259 260 262 +f 262 258 264 +f 260 261 265 +f 261 262 265 +f 262 260 265 +f 263 264 266 +f 264 258 266 +f 261 259 267 +f 259 263 267 +f 263 266 267 +f 261 258 268 +f 258 262 268 +f 268 262 269 +f 262 261 269 +f 261 268 269 +f 259 262 270 +f 263 259 270 +f 262 264 270 +f 264 263 270 +f 258 261 271 +f 266 258 271 +f 261 267 271 +o convex_22 +v 0.866982 3.371011 1.209802 +v -2.802493 3.421960 0.215889 +v -2.802493 3.447453 0.215889 +v 2.982592 3.345531 0.215889 +v -2.802493 3.320038 1.158822 +v 2.956543 3.447453 0.623922 +v 2.548824 3.320038 1.209802 +v -2.037453 3.396467 1.184312 +v 2.548824 3.421960 1.209802 +v 2.956543 3.447453 0.215889 +v 0.280885 3.345531 0.215889 +v -2.802493 3.447453 0.496278 +v 2.982592 3.345531 1.133332 +v -2.802493 3.396467 1.107842 +v 2.982592 3.421960 1.133332 +f 280 284 286 +f 273 274 275 +f 274 273 276 +f 272 276 278 +f 276 275 278 +f 276 272 279 +f 272 278 280 +f 279 272 280 +f 275 274 281 +f 274 277 281 +f 273 275 282 +f 275 276 282 +f 276 273 282 +f 274 276 283 +f 277 274 283 +f 280 277 283 +f 279 280 283 +f 278 275 284 +f 280 278 284 +f 276 279 285 +f 283 276 285 +f 279 283 285 +f 277 280 286 +f 275 281 286 +f 281 277 286 +f 284 275 286 +o convex_23 +v 0.739794 -0.248093 1.107847 +v -0.126470 -3.178636 1.107862 +v -0.126470 -3.178636 1.133337 +v -0.126470 1.332201 1.056897 +v 0.918161 -1.725507 1.031422 +v 0.306662 -3.178636 1.184317 +v 0.918161 1.332201 1.031422 +v -0.126470 -0.044098 1.031407 +v 0.918161 -3.178636 1.056912 +v 0.867228 0.924213 1.082402 +v 0.255729 -2.769764 1.184317 +v 0.816296 -3.178636 1.107847 +v -0.126470 -1.801453 1.056897 +v -0.126470 1.332201 1.031407 +v -0.075538 -3.126534 1.158827 +v 0.918161 -0.757637 1.082402 +v -0.126470 -2.795374 1.082387 +f 299 295 303 +f 288 289 290 +f 289 288 292 +f 293 291 294 +f 288 290 294 +f 292 288 295 +f 291 293 295 +f 292 287 296 +f 293 290 296 +f 296 290 297 +f 292 296 297 +f 287 292 298 +f 292 295 298 +f 294 291 299 +f 288 294 299 +f 291 295 299 +f 290 293 300 +f 293 294 300 +f 294 290 300 +f 290 289 301 +f 289 292 301 +f 297 290 301 +f 292 297 301 +f 295 293 302 +f 296 287 302 +f 293 296 302 +f 287 298 302 +f 298 295 302 +f 295 288 303 +f 288 299 303 +o convex_24 +v -2.725719 1.485223 -0.905442 +v 1.045735 2.631934 -0.879972 +v 1.045735 1.893015 -0.879972 +v -3.031857 2.631934 -0.828995 +v -1.476816 1.842055 -0.956420 +v -2.394434 1.485223 -0.828995 +v 1.045735 1.485223 -0.930925 +v -2.139784 2.529790 -0.905442 +v -1.119987 2.631934 -0.828995 +v 1.045735 2.631934 -0.905442 +v 0.000393 1.485223 -0.956420 +v 0.841377 1.536295 -0.879972 +v -2.929279 1.510816 -0.828995 +v -3.031857 2.631934 -0.854490 +v -1.706720 1.485223 -0.956420 +v -2.827499 1.536295 -0.905442 +f 308 318 319 +f 305 306 310 +f 309 304 310 +f 306 305 312 +f 305 307 312 +f 307 309 312 +f 307 305 313 +f 305 310 313 +f 308 311 313 +f 310 304 314 +f 313 310 314 +f 308 313 314 +f 310 306 315 +f 309 310 315 +f 306 312 315 +f 312 309 315 +f 304 309 316 +f 309 307 316 +f 307 313 317 +f 313 311 317 +f 316 307 317 +f 314 304 318 +f 308 314 318 +f 311 308 319 +f 304 316 319 +f 317 311 319 +f 316 317 319 +f 318 304 319 +o convex_25 +v 1.045735 -2.897813 0.368895 +v 0.943818 -1.699456 1.082327 +v 0.918311 -1.699456 1.082327 +v 0.994758 1.332201 -0.242841 +v 0.969301 -3.178636 -0.242841 +v 0.918311 1.332201 1.056773 +v 1.020228 -3.178636 1.056773 +v 1.045735 -0.044098 -0.217287 +v 0.969301 1.332201 0.751035 +v 0.918311 -3.178636 1.056773 +v 0.918311 1.332201 0.700057 +v 0.969301 1.332201 -0.217287 +v 1.020240 -2.718986 -0.242841 +v 1.045723 -3.100924 0.725611 +v 0.969301 0.338281 1.056773 +v 1.020240 1.332201 -0.242841 +v 1.020240 -3.178636 -0.064353 +v 1.045735 -1.164302 -0.242841 +f 332 335 337 +f 322 321 325 +f 321 322 326 +f 323 325 328 +f 322 325 329 +f 326 322 329 +f 324 326 329 +f 325 323 330 +f 329 325 330 +f 324 329 330 +f 323 324 331 +f 330 323 331 +f 324 330 331 +f 324 323 332 +f 320 327 333 +f 327 328 333 +f 333 328 334 +f 325 321 334 +f 321 326 334 +f 328 325 334 +f 326 333 334 +f 328 327 335 +f 323 328 335 +f 332 323 335 +f 326 324 336 +f 332 320 336 +f 324 332 336 +f 320 333 336 +f 333 326 336 +f 327 320 337 +f 320 332 337 +f 335 327 337 +o convex_26 +v 3.008076 3.065058 1.133347 +v 2.957124 1.510925 -0.803106 +v 2.931630 3.217870 -0.854345 +v 3.059029 1.536394 -0.497443 +v 3.059012 1.536394 1.031262 +v 2.957124 3.014122 1.133347 +v 2.982583 3.243338 -0.854345 +v 3.110017 1.561862 0.980023 +v 2.931630 3.396334 0.215572 +v 3.033535 1.969543 -0.828725 +v 2.982617 3.345397 1.133347 +v 2.957124 3.396334 -0.854345 +f 348 344 349 +f 339 341 342 +f 339 342 343 +f 342 338 343 +f 338 342 345 +f 342 341 345 +f 344 338 345 +f 340 339 346 +f 339 343 346 +f 339 340 347 +f 341 339 347 +f 340 344 347 +f 345 341 347 +f 344 345 347 +f 343 338 348 +f 338 344 348 +f 346 343 348 +f 346 348 349 +f 344 340 349 +f 340 346 349 +o convex_27 +v 3.084355 1.485095 0.139556 +v 1.045937 1.434159 -0.930934 +v 1.045735 1.408679 0.012203 +v 3.033031 1.408679 -0.803390 +v 1.045937 1.510576 -0.930934 +v 1.045735 1.434172 1.031407 +v 3.110017 1.536069 1.031407 +v 3.033031 1.510576 -0.803390 +v 1.300740 1.408679 1.031407 +v 2.523830 1.536069 1.005668 +v 3.084355 1.485095 0.750963 +v 3.058693 1.536069 -0.013344 +v 3.058895 1.408679 -0.446688 +v 1.810546 1.408679 -0.879840 +v 1.275280 1.459652 1.031407 +f 356 359 364 +f 351 352 354 +f 353 351 354 +f 354 352 355 +f 353 354 357 +f 356 350 357 +f 352 353 358 +f 355 352 358 +f 356 355 358 +f 356 358 360 +f 357 354 361 +f 356 357 361 +f 354 359 361 +f 359 356 361 +f 350 356 362 +f 357 350 362 +f 353 357 362 +f 358 353 362 +f 356 360 362 +f 360 358 362 +f 352 351 363 +f 353 352 363 +f 351 353 363 +f 354 355 364 +f 355 356 364 +f 359 354 364 +o convex_28 +v 1.045735 1.408656 1.056897 +v 2.727742 2.631934 1.184317 +v 2.727742 1.510676 1.184317 +v 2.727742 1.510676 1.031407 +v 1.045735 2.631934 1.133337 +v 1.682909 2.631934 1.107862 +v 1.045735 1.612696 1.031407 +v 2.421669 1.485171 1.184317 +v 1.096775 1.408656 1.082387 +v 2.421669 2.631934 1.133337 +v 1.045735 2.300610 1.133337 +v 1.479079 2.631934 1.158827 +v 1.045735 2.351380 1.082387 +f 371 369 377 +f 366 367 368 +f 369 366 370 +f 368 365 371 +f 365 369 371 +f 367 366 372 +f 368 367 372 +f 365 368 373 +f 368 372 373 +f 366 368 374 +f 370 366 374 +f 368 370 374 +f 369 365 375 +f 373 372 375 +f 365 373 375 +f 366 369 376 +f 372 366 376 +f 369 375 376 +f 375 372 376 +f 369 370 377 +f 370 368 377 +f 368 371 377 +o convex_29 +v -2.802550 3.396363 1.107657 +v -3.031818 2.631935 0.215704 +v -3.057289 2.759459 -0.217236 +v -3.057289 3.396363 0.980402 +v -2.878993 3.549393 -0.828995 +v -2.802550 2.631935 1.133147 +v -3.108290 3.549393 -0.828995 +v -3.006347 2.632114 -0.828995 +v -3.006317 2.631935 1.133147 +v -2.878993 3.014328 -0.828995 +v -2.802550 3.421778 0.215704 +v -3.031818 3.370858 1.158832 +v -3.108290 3.370858 -0.624881 +v -3.031818 2.632114 -0.828995 +f 380 390 391 +f 381 378 384 +f 378 382 384 +f 384 382 385 +f 383 379 385 +f 380 379 386 +f 379 383 386 +f 385 382 387 +f 383 385 387 +f 382 378 388 +f 378 383 388 +f 387 382 388 +f 383 387 388 +f 378 381 389 +f 383 378 389 +f 381 386 389 +f 386 383 389 +f 381 384 390 +f 380 386 390 +f 386 381 390 +f 379 380 391 +f 384 385 391 +f 385 379 391 +f 390 384 391 +o convex_30 +v 3.008001 3.090408 1.209802 +v 2.549395 2.631907 1.158834 +v 2.727854 1.510816 1.031442 +v 3.033464 1.510816 1.209784 +v 3.033464 2.631907 1.031442 +v 2.549395 3.421891 1.133342 +v 3.110017 1.510816 1.031442 +v 2.753317 1.510816 1.209784 +v 2.549395 3.421891 1.209802 +v 2.982483 3.421891 1.133342 +v 3.110017 1.663836 1.209784 +f 396 401 402 +f 396 394 397 +f 394 393 397 +f 395 394 398 +f 394 396 398 +f 393 394 399 +f 394 395 399 +f 395 392 399 +f 397 393 400 +f 393 399 400 +f 399 392 400 +f 396 397 401 +f 397 400 401 +f 400 392 401 +f 392 395 402 +f 395 398 402 +f 398 396 402 +f 401 392 402 +o convex_31 +v -1.018546 -4.452884 -0.828994 +v 0.892826 -3.178761 -0.930896 +v 0.892826 -3.178761 -0.956385 +v 0.892826 -4.452884 -0.930896 +v -0.202808 -3.739619 -0.778052 +v -1.018546 -3.178761 -0.879936 +v -0.355852 -3.866458 -0.956385 +v -1.018546 -3.178761 -0.778035 +v -0.967469 -4.452884 -0.778035 +v 0.663259 -4.452884 -0.956385 +v -0.814424 -4.452884 -0.879936 +v 0.841748 -3.178761 -0.905425 +v -0.253885 -3.331665 -0.956385 +v -0.177363 -3.866458 -0.778052 +v -1.018546 -3.968477 -0.879936 +f 413 403 417 +f 405 404 406 +f 404 405 408 +f 404 408 410 +f 408 403 410 +f 403 406 411 +f 410 403 411 +f 405 406 412 +f 406 403 412 +f 409 405 412 +f 409 412 413 +f 412 403 413 +f 406 404 414 +f 410 407 414 +f 404 410 414 +f 408 405 415 +f 409 408 415 +f 405 409 415 +f 407 410 416 +f 411 406 416 +f 410 411 416 +f 406 414 416 +f 414 407 416 +f 403 408 417 +f 408 409 417 +f 409 413 417 +o convex_32 +v 0.408731 3.345531 0.113916 +v -0.101088 3.498400 -0.828995 +v 0.332179 3.345531 -0.268403 +v 1.249615 3.498400 -0.828995 +v -0.101088 3.447438 0.215889 +v 1.249615 3.421983 0.215889 +v 1.122160 3.371021 -0.446573 +v -0.050053 3.523890 -0.446573 +v 0.102919 3.345531 -0.191898 +v 1.198580 3.371021 0.215889 +v 1.249615 3.498400 -0.497508 +v -0.075570 3.396493 0.215889 +v 0.867251 3.523890 -0.828995 +v 1.249615 3.472928 -0.828995 +f 427 424 431 +f 418 420 424 +f 420 419 424 +f 419 422 425 +f 422 423 425 +f 420 418 426 +f 419 420 426 +f 423 422 427 +f 418 424 427 +f 423 421 428 +f 425 423 428 +f 422 419 429 +f 426 418 429 +f 419 426 429 +f 418 427 429 +f 427 422 429 +f 421 419 430 +f 419 425 430 +f 428 421 430 +f 425 428 430 +f 419 421 431 +f 421 423 431 +f 424 419 431 +f 423 427 431 +o convex_33 +v 0.943816 1.332211 0.241461 +v 1.045723 1.434131 1.031407 +v 0.918311 1.434131 1.031407 +v 1.045723 1.434131 0.063168 +v 0.918311 1.332211 1.031407 +f 433 434 436 +f 434 433 435 +f 432 434 435 +f 433 432 435 +f 434 432 436 +f 432 433 436 +o convex_34 +v -0.483397 -4.401625 1.107862 +v 0.943796 -3.178761 1.082387 +v 0.943796 -3.178761 1.056897 +v -1.018546 -3.178885 1.133337 +v 0.331812 -3.790380 1.184317 +v 0.943796 -4.452884 1.031407 +v -1.018546 -4.427317 1.184302 +v -0.330305 -3.714052 1.056897 +v -0.330305 -3.178761 1.184317 +v 0.943796 -4.452884 1.082387 +v -0.941904 -4.350739 1.133337 +v 0.306457 -3.178761 1.184317 +v -0.457850 -3.178885 1.082402 +v -1.018546 -3.178885 1.158812 +f 443 445 450 +f 439 438 442 +f 437 442 443 +f 439 442 444 +f 442 437 444 +f 438 439 445 +f 439 440 445 +f 443 441 445 +f 438 441 446 +f 442 438 446 +f 443 442 446 +f 441 443 446 +f 437 443 447 +f 443 440 447 +f 440 444 447 +f 444 437 447 +f 441 438 448 +f 438 445 448 +f 445 441 448 +f 440 439 449 +f 439 444 449 +f 444 440 449 +f 440 443 450 +f 445 440 450 +o convex_35 +v 1.479139 1.740230 -0.930935 +v 2.956997 3.396334 -0.854480 +v 2.956997 3.396334 -0.930935 +v 2.956997 1.510816 -0.803515 +v 1.045925 2.631865 -0.879925 +v 2.803998 1.510816 -0.778025 +v 1.173709 1.510816 -0.879925 +v 2.319973 3.396334 -0.930935 +v 1.045925 1.510816 -0.930935 +v 2.854808 1.510816 -0.829035 +v 2.982592 3.141449 -0.930935 +v 1.351734 2.606210 -0.930935 +v 2.931402 1.663820 -0.778025 +f 456 454 463 +f 456 455 457 +f 454 456 457 +f 453 451 458 +f 452 453 458 +f 455 452 458 +f 454 457 459 +f 457 455 459 +f 458 451 459 +f 459 451 460 +f 454 459 460 +f 451 453 461 +f 453 452 461 +f 452 454 461 +f 460 451 461 +f 454 460 461 +f 455 458 462 +f 459 455 462 +f 458 459 462 +f 454 452 463 +f 452 455 463 +f 455 456 463 +o convex_36 +v -0.305287 3.523898 -0.344499 +v -1.884773 3.498403 -0.828995 +v -2.878851 3.421968 0.164851 +v -0.101088 3.421968 0.037411 +v -2.878851 3.549393 -0.701453 +v -2.878851 3.472970 0.190319 +v -0.101088 3.523898 -0.828995 +v -0.254441 3.472945 0.215889 +v -2.878851 3.498390 -0.727023 +v -0.101088 3.498403 -0.828995 +v -0.101088 3.421968 0.215889 +v -0.789546 3.523898 -0.268403 +f 471 464 475 +f 466 465 467 +f 468 466 469 +f 468 464 470 +f 465 468 470 +f 470 464 471 +f 465 466 472 +f 466 468 472 +f 468 465 472 +f 467 465 473 +f 465 470 473 +f 470 467 473 +f 466 467 474 +f 469 466 474 +f 467 470 474 +f 471 469 474 +f 470 471 474 +f 464 468 475 +f 468 469 475 +f 469 471 475 +o convex_37 +v -1.885035 1.587161 1.031417 +v 1.045735 2.631934 1.133337 +v 1.045735 2.325958 1.133337 +v 1.045735 1.612606 1.031417 +v -1.885035 2.631934 1.082382 +v -1.885035 1.536271 1.082382 +v -1.833970 2.606235 1.133337 +v 0.943606 1.332201 1.056909 +v 1.045735 2.631934 1.107854 +v -1.298651 1.918583 1.031417 +v -1.069434 1.332201 1.031417 +v 1.045735 1.587161 1.082382 +v 0.892254 2.376975 1.082382 +f 479 485 488 +f 477 478 479 +f 480 476 481 +f 480 481 482 +f 478 477 482 +f 477 480 482 +f 481 478 482 +f 477 479 484 +f 480 477 484 +f 479 476 485 +f 476 480 485 +f 476 479 486 +f 481 476 486 +f 479 483 486 +f 483 481 486 +f 479 478 487 +f 478 481 487 +f 483 479 487 +f 481 483 487 +f 484 479 488 +f 480 484 488 +f 485 480 488 +o convex_38 +v -1.018800 1.459603 -0.013526 +v -1.197021 1.383190 -0.981904 +v -1.197021 1.434139 -0.981904 +v -2.929918 1.434139 0.062979 +v -2.929716 1.536076 -0.828895 +v -1.044261 1.332201 0.062979 +v -2.929716 1.536076 0.062877 +v -0.865636 1.485108 -0.956335 +v -1.044261 1.332201 -0.981904 +v -2.929716 1.485108 -0.701353 +v -2.063267 1.357706 0.037409 +v -0.865636 1.332201 -0.956335 +v -1.044261 1.459603 0.062979 +v -2.725834 1.408674 0.037409 +v -2.292407 1.459603 -0.930867 +f 497 498 503 +f 493 492 495 +f 493 495 496 +f 490 491 497 +f 491 496 497 +f 492 493 498 +f 494 492 499 +f 497 494 499 +f 489 494 500 +f 496 489 500 +f 494 497 500 +f 497 496 500 +f 494 489 501 +f 492 494 501 +f 495 492 501 +f 496 495 501 +f 489 496 501 +f 492 498 502 +f 498 497 502 +f 499 492 502 +f 497 499 502 +f 491 490 503 +f 493 496 503 +f 496 491 503 +f 490 497 503 +f 498 493 503 +o convex_39 +v 1.045735 1.485111 -0.905400 +v -0.865636 1.332201 -0.981904 +v -0.865636 1.332201 -0.956335 +v -0.865636 1.485111 -0.956335 +v 0.969213 1.332201 0.062979 +v 1.045735 1.332201 -0.930867 +v 1.045735 1.459621 0.037409 +f 509 504 510 +f 505 506 507 +f 504 505 507 +f 506 505 508 +f 507 506 508 +f 505 504 509 +f 508 505 509 +f 508 509 510 +f 504 507 510 +f 507 508 510 +o convex_40 +v -3.006353 2.631934 -0.828907 +v -2.904453 1.357811 0.852769 +v -2.878948 1.357811 0.852769 +v -2.980878 2.631934 1.031407 +v -2.904438 1.816650 -0.828907 +v -3.031858 2.453338 0.088685 +v -2.929928 1.536283 -0.828907 +v -2.955403 1.561726 0.929250 +v -2.955403 2.555233 1.031407 +v -2.980863 2.606242 -0.828907 +v -3.031858 2.631934 -0.828907 +v -3.006353 2.631934 1.031407 +v -2.929928 1.357811 1.031407 +v -2.878948 1.459831 0.063191 +f 519 513 524 +f 513 512 517 +f 511 515 517 +f 516 517 518 +f 511 514 520 +f 515 511 520 +f 514 519 520 +f 519 515 520 +f 514 511 521 +f 511 517 521 +f 517 516 521 +f 516 518 522 +f 519 514 522 +f 514 521 522 +f 521 516 522 +f 512 513 523 +f 517 512 523 +f 518 517 523 +f 513 519 523 +f 522 518 523 +f 519 522 523 +f 513 517 524 +f 517 515 524 +f 515 519 524 +o convex_41 +v -1.885035 1.536283 1.082382 +v -3.006263 2.529790 1.031417 +v -3.006263 2.529790 1.082382 +v -2.929766 1.357811 1.107854 +v -1.885035 2.631934 1.107854 +v -1.885035 1.434263 1.031417 +v -2.929766 1.357811 1.031417 +v -3.006263 2.631934 1.133337 +v -1.885035 2.300433 1.056909 +v -2.343909 2.606242 1.133337 +v -2.980691 2.631934 1.031417 +f 533 530 535 +f 527 526 528 +f 525 528 530 +f 529 525 530 +f 528 526 531 +f 526 530 531 +f 530 528 531 +f 526 527 532 +f 527 528 532 +f 529 530 533 +f 528 525 534 +f 525 529 534 +f 532 528 534 +f 529 532 534 +f 530 526 535 +f 526 532 535 +f 532 529 535 +f 529 533 535 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/316/316.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/316/316.urdf new file mode 100644 index 000000000..abb00c052 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/316/316.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/317/317.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/317/317.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/317/317.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/317/317.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/317/317.obj new file mode 100644 index 000000000..7a20a64b4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/317/317.obj @@ -0,0 +1,1188 @@ +o convex_0 +v -0.068284 -3.804334 0.009322 +v 1.461828 -1.349606 0.009109 +v 1.461828 -1.349606 -0.022513 +v -1.248232 -1.349846 -0.085970 +v -0.068284 -1.349846 1.061562 +v 0.027216 -1.381564 -1.106588 +v 0.059049 -3.517196 -0.819228 +v -0.068284 -3.517196 0.806461 +v 0.792006 -3.549394 0.040944 +v 0.855938 -1.700419 0.965634 +v 0.983536 -1.700419 -0.946990 +v -0.769939 -2.847769 -0.755771 +v -0.833605 -2.784094 0.774202 +v -0.801772 -3.549394 -0.022513 +v -0.929370 -1.349846 0.965634 +v -0.897272 -1.349846 -0.883109 +v 0.824105 -2.847769 -0.787605 +v -0.068284 -2.784094 1.061562 +v 0.760173 -2.752136 0.806249 +v 0.027216 -2.847769 -1.042494 +v 0.824105 -1.349846 -1.010660 +v 0.792006 -1.349846 0.997469 +v -1.024869 -2.879726 0.009322 +v -0.036451 -3.581111 -0.787393 +v -0.897272 -1.764334 -0.883109 +v 0.632841 -3.389846 -0.564338 +v 0.537076 -3.357889 0.614816 +v -0.642341 -3.357889 0.551147 +v 1.047202 -2.816051 0.009109 +v -0.929370 -1.604786 0.965634 +v -0.610508 -3.421804 -0.500669 +v -1.248232 -1.381564 0.009322 +v 0.792006 -3.549394 -0.054135 +v 0.059049 -3.804334 0.041156 +v 0.090882 -3.581111 -0.787393 +v -0.514743 -1.349846 -1.010872 +v -0.801772 -2.815811 0.806249 +v 0.027216 -2.752136 1.061562 +v 0.059049 -3.517196 0.774414 +v 0.983536 -1.349846 -0.946990 +v -0.801772 -3.549394 0.040944 +v -0.993036 -2.784094 0.264211 +v 0.090882 -2.816051 -1.042494 +v -0.195882 -2.592829 1.061562 +v -0.993036 -2.784094 -0.181686 +v -0.546842 -2.847769 -0.851274 +v -0.514743 -1.349846 1.029515 +v -1.088801 -1.381564 -0.532504 +v 1.461828 -1.381564 -0.022513 +v 0.887771 -1.349846 0.933799 +v 1.461828 -1.381564 0.009109 +v -0.769939 -3.581111 -0.022513 +v 0.122450 -1.700419 1.061562 +v 0.059049 -3.740419 -0.277190 +v 0.760173 -2.847769 -0.819440 +v 1.047202 -2.816051 -0.022513 +v 0.696507 -2.752136 0.838083 +v -0.482910 -3.421804 -0.628008 +v 0.919604 -2.815811 0.359927 +v -0.004883 -2.816051 -1.042494 +v 0.951703 -1.828009 -0.946990 +v -0.801772 -2.624546 -0.787605 +v 0.824105 -1.477196 -1.010660 +v -0.004883 -3.262256 0.901965 +f 39 57 64 +f 2 3 4 +f 2 4 15 +f 4 3 16 +f 2 5 22 +f 20 7 24 +f 9 19 27 +f 14 12 31 +f 15 4 32 +f 4 23 32 +f 30 15 32 +f 26 17 33 +f 29 9 33 +f 8 1 34 +f 33 9 34 +f 24 7 35 +f 17 26 35 +f 26 33 35 +f 16 3 36 +f 3 21 36 +f 21 6 36 +f 25 16 36 +f 8 18 37 +f 28 8 37 +f 30 13 37 +f 5 18 38 +f 10 22 38 +f 9 27 39 +f 27 19 39 +f 8 34 39 +f 34 9 39 +f 3 11 40 +f 21 3 40 +f 11 21 40 +f 1 8 41 +f 23 14 41 +f 8 28 41 +f 28 37 41 +f 37 13 41 +f 13 30 42 +f 32 23 42 +f 30 32 42 +f 41 13 42 +f 23 41 42 +f 20 6 43 +f 7 20 43 +f 18 5 44 +f 37 18 44 +f 30 37 44 +f 12 14 45 +f 23 4 45 +f 14 23 45 +f 24 12 46 +f 5 2 47 +f 2 15 47 +f 15 30 47 +f 44 5 47 +f 30 44 47 +f 4 16 48 +f 16 25 48 +f 45 4 48 +f 3 2 49 +f 11 3 49 +f 17 11 49 +f 2 22 50 +f 22 10 50 +f 10 19 51 +f 49 2 51 +f 29 49 51 +f 2 50 51 +f 50 10 51 +f 24 1 52 +f 14 31 52 +f 31 24 52 +f 1 41 52 +f 41 14 52 +f 22 5 53 +f 5 38 53 +f 38 22 53 +f 1 24 54 +f 34 1 54 +f 33 34 54 +f 35 33 54 +f 24 35 54 +f 35 7 55 +f 17 35 55 +f 7 43 55 +f 33 17 56 +f 29 33 56 +f 17 49 56 +f 49 29 56 +f 19 10 57 +f 10 38 57 +f 39 19 57 +f 12 24 58 +f 31 12 58 +f 24 31 58 +f 19 9 59 +f 9 29 59 +f 51 19 59 +f 29 51 59 +f 6 20 60 +f 20 24 60 +f 36 6 60 +f 25 36 60 +f 24 46 60 +f 46 25 60 +f 11 17 61 +f 17 55 61 +f 55 43 61 +f 12 45 62 +f 46 12 62 +f 25 46 62 +f 48 25 62 +f 45 48 62 +f 21 11 63 +f 6 21 63 +f 43 6 63 +f 11 61 63 +f 61 43 63 +f 18 8 64 +f 38 18 64 +f 8 39 64 +f 57 38 64 +o convex_1 +v 0.377884 0.659171 1.189088 +v 0.090698 0.021573 -1.106588 +v 0.090698 0.053598 -1.106588 +v -1.343966 0.053598 0.041250 +v -0.961221 1.009995 -0.819287 +v 0.983350 1.009995 -0.883309 +v 0.951497 0.021573 0.933912 +v -0.897261 1.009995 0.997478 +v -0.929114 0.021573 0.997478 +v 0.951497 1.009995 0.997706 +v 1.142870 0.021573 -0.500544 +v -0.865408 0.021573 -0.915206 +v 1.238683 0.053598 0.104816 +v 0.441591 0.021573 1.220985 +v -1.088634 1.009995 0.710632 +v 0.983350 0.021573 -0.947103 +v 0.537151 0.882282 -1.074691 +v -0.706141 1.009995 -0.946875 +v 1.047310 1.009995 -0.628132 +v 0.409485 1.009995 1.157191 +v -1.248153 0.021573 0.455456 +v 0.186511 0.085430 1.220985 +v -1.120487 0.021573 -0.564338 +v 0.409485 0.021573 -1.106588 +v -0.993074 0.977970 -0.787618 +v 0.983350 1.009995 0.902015 +v 0.632711 1.009995 -1.042794 +v -0.769848 1.009995 1.029603 +v 0.919644 0.021573 0.997706 +v 1.047310 1.009995 -0.277493 +v -1.343966 0.053598 -0.022316 +v -0.323648 0.117261 -1.042794 +v 0.250218 0.308541 1.220985 +v -1.088634 1.009995 0.583044 +v 1.238683 0.021573 0.041250 +v -1.024927 1.009995 0.838220 +v -0.993074 0.021573 -0.787618 +v -0.865408 0.659171 -0.915206 +v 0.951497 0.085430 0.965809 +v 0.696418 0.021573 -1.042794 +v 0.441591 0.181118 1.220985 +v 0.983350 0.754859 -0.915206 +f 80 91 106 +f 70 69 72 +f 66 71 73 +f 70 72 74 +f 71 66 75 +f 66 73 76 +f 73 71 78 +f 72 69 79 +f 75 66 80 +f 69 70 82 +f 81 67 82 +f 70 74 83 +f 75 70 83 +f 74 72 84 +f 76 73 85 +f 79 68 85 +f 73 78 86 +f 76 85 87 +f 66 67 88 +f 80 66 88 +f 67 81 88 +f 74 77 90 +f 83 74 90 +f 82 70 91 +f 81 82 91 +f 72 73 92 +f 84 72 92 +f 73 86 92 +f 78 71 93 +f 74 78 93 +f 77 83 94 +f 90 77 94 +f 83 90 94 +f 68 79 95 +f 85 68 95 +f 87 85 95 +f 89 87 95 +f 67 66 96 +f 66 76 96 +f 82 67 96 +f 65 84 97 +f 86 78 97 +f 84 92 97 +f 92 86 97 +f 79 69 98 +f 69 89 98 +f 95 79 98 +f 89 95 98 +f 71 75 99 +f 77 71 99 +f 75 83 99 +f 83 77 99 +f 73 72 100 +f 72 79 100 +f 85 73 100 +f 79 85 100 +f 76 87 101 +f 89 76 101 +f 87 89 101 +f 69 82 102 +f 89 69 102 +f 76 89 102 +f 96 76 102 +f 82 96 102 +f 71 77 103 +f 77 74 103 +f 93 71 103 +f 74 93 103 +f 80 88 104 +f 88 81 104 +f 91 80 104 +f 81 91 104 +f 78 74 105 +f 84 65 105 +f 74 84 105 +f 65 97 105 +f 97 78 105 +f 70 75 106 +f 75 80 106 +f 91 70 106 +o convex_2 +v -0.100406 4.006907 -0.723624 +v 0.473380 1.361131 1.125331 +v 0.919821 2.827115 1.029615 +v 0.983389 1.009995 -0.883221 +v -1.088849 1.010313 0.710632 +v -0.801747 3.751911 0.806348 +v -0.961295 1.010313 -0.819340 +v 0.792267 3.974753 -0.149752 +v -0.961295 2.986607 -0.883221 +v 0.951605 1.009995 0.997568 +v 0.856044 3.719758 -0.819552 +v 0.856044 3.911084 0.870018 +v -0.833740 3.018441 1.029615 +v 0.441387 1.009995 -1.042819 +v 1.047376 2.827115 -0.277302 +v -0.737970 4.038741 0.009634 +v -0.769963 1.010313 1.029615 +v 0.058723 4.262220 0.073091 +v -1.025072 3.018441 0.710632 +v -0.195968 3.241602 -0.978938 +v 0.824051 2.858950 -0.978938 +v -0.706186 3.847415 -0.723624 +v -0.737970 1.169805 -0.947103 +v 0.983389 3.305590 0.933899 +v 1.047376 1.042466 -0.245468 +v -0.068622 3.337424 1.029615 +v -0.132190 4.006907 0.774302 +v 1.015383 1.966944 0.870018 +v -0.993079 3.273755 -0.086082 +v 1.015383 2.986607 -0.659955 +v 1.015383 3.337424 -0.086082 +v -0.801747 3.145780 -0.947103 +v -1.025072 1.903274 0.901852 +v 0.345826 1.009995 1.125331 +v 0.664503 1.488788 -1.042819 +v 1.047376 1.009995 -0.628120 +v 0.058723 4.038741 -0.691789 +v -0.068622 4.262220 0.009422 +v 0.983389 2.858950 -0.819552 +v -1.088849 1.042148 0.583082 +v -0.897518 1.010313 0.997568 +v -0.961295 3.241602 -0.628120 +v -0.993079 1.010313 -0.628120 +v 0.887828 3.879250 0.742467 +v -0.769963 3.974753 0.232264 +v 0.856044 2.986607 1.029615 +v -0.833740 1.010313 -0.915056 +v 0.983389 1.009995 0.902065 +v 0.696496 4.038741 -0.054035 +v -0.706186 3.273755 -0.947103 +v 0.824051 3.751593 -0.819552 +v -0.865734 1.552457 1.029615 +v -1.088849 1.329296 0.678798 +v -0.769963 4.006907 0.009634 +v -0.993079 3.305271 0.104713 +v 0.058723 4.262220 -0.022413 +v -0.100406 3.975072 0.806136 +v 0.983389 3.050276 0.997568 +v 0.154494 3.368940 -0.946891 +v -1.025072 2.221939 0.901852 +v -0.737970 3.847415 -0.691789 +v -0.801747 1.743783 -0.947103 +v -0.068622 4.102410 0.551247 +v 0.728280 1.009995 -1.010560 +f 141 127 170 +f 109 108 116 +f 110 116 120 +f 119 112 125 +f 119 108 132 +f 112 119 132 +f 121 130 134 +f 131 121 134 +f 130 121 137 +f 136 117 137 +f 121 136 137 +f 126 120 138 +f 115 128 138 +f 116 108 140 +f 108 119 140 +f 111 120 140 +f 120 116 140 +f 120 126 141 +f 126 127 141 +f 116 110 142 +f 121 131 142 +f 136 121 142 +f 107 128 144 +f 143 107 144 +f 110 127 145 +f 127 117 145 +f 117 136 145 +f 142 110 145 +f 136 142 145 +f 139 111 147 +f 111 140 147 +f 140 123 147 +f 115 135 148 +f 115 113 149 +f 120 111 149 +f 113 120 149 +f 111 146 149 +f 146 115 149 +f 117 114 150 +f 114 118 150 +f 118 130 150 +f 137 117 150 +f 130 137 150 +f 112 133 151 +f 144 122 151 +f 108 109 152 +f 132 108 152 +f 118 132 152 +f 113 115 153 +f 120 113 153 +f 129 120 153 +f 134 116 154 +f 131 134 154 +f 116 142 154 +f 142 131 154 +f 118 114 155 +f 124 118 155 +f 107 126 156 +f 128 107 156 +f 126 138 156 +f 138 128 156 +f 114 117 157 +f 117 127 157 +f 107 143 157 +f 155 114 157 +f 140 119 158 +f 123 140 158 +f 147 123 158 +f 139 147 158 +f 135 115 159 +f 125 135 159 +f 146 111 159 +f 115 146 159 +f 148 135 160 +f 151 122 160 +f 151 160 161 +f 125 112 161 +f 135 125 161 +f 112 151 161 +f 160 135 161 +f 144 124 162 +f 143 144 162 +f 124 155 162 +f 157 143 162 +f 155 157 162 +f 112 132 163 +f 132 118 163 +f 133 112 163 +f 118 133 163 +f 109 116 164 +f 130 118 164 +f 116 134 164 +f 134 130 164 +f 152 109 164 +f 118 152 164 +f 126 107 165 +f 127 126 165 +f 107 157 165 +f 157 127 165 +f 119 125 166 +f 111 139 166 +f 158 119 166 +f 139 158 166 +f 125 159 166 +f 159 111 166 +f 128 115 167 +f 144 128 167 +f 122 144 167 +f 115 148 167 +f 160 122 167 +f 148 160 167 +f 120 129 168 +f 138 120 168 +f 115 138 168 +f 153 115 168 +f 129 153 168 +f 118 124 169 +f 133 118 169 +f 124 144 169 +f 151 133 169 +f 144 151 169 +f 110 120 170 +f 127 110 170 +f 120 141 170 +o convex_3 +v 0.250121 -0.137903 1.348523 +v -0.387430 -0.998564 1.189101 +v -0.387430 -0.998564 1.221013 +v 0.250121 -0.871191 1.221013 +v 0.186452 0.021573 1.189101 +v -0.355517 -0.711600 1.348523 +v 0.026967 -1.062424 1.348523 +v 0.026967 -1.158156 1.189101 +v 0.409685 0.021573 1.189101 +v 0.313947 -0.775460 1.348523 +v -0.291692 -0.424867 1.252895 +v -0.291692 -0.456854 1.348523 +v -0.291692 -1.030552 1.348523 +v -0.323604 -0.488611 1.189101 +v 0.345859 -0.679843 1.189101 +v 0.026967 -0.042286 1.221013 +v 0.409685 0.021573 1.252895 +f 175 186 187 +f 172 173 176 +f 171 176 177 +f 173 172 178 +f 172 175 178 +f 178 175 179 +f 171 177 180 +f 178 174 180 +f 177 178 180 +f 176 171 182 +f 176 173 183 +f 177 176 183 +f 178 177 183 +f 173 178 183 +f 175 172 184 +f 172 176 184 +f 176 182 184 +f 182 181 184 +f 174 178 185 +f 178 179 185 +f 180 174 185 +f 181 182 186 +f 182 171 186 +f 175 184 186 +f 184 181 186 +f 179 175 187 +f 171 180 187 +f 185 179 187 +f 180 185 187 +f 186 171 187 +o convex_4 +v -0.196082 -0.616059 2.560012 +v -0.164228 -1.062411 1.348692 +v 0.027023 -1.062411 1.348692 +v 0.218340 -0.137850 1.348692 +v 0.186486 -0.807288 2.846833 +v -0.291773 -0.456776 1.348692 +v 0.314031 -0.775432 1.348692 +v -0.196082 -0.934804 2.655563 +v -0.036618 -0.552436 2.846833 +v -0.355545 -0.902948 1.380711 +v 0.027023 -0.998608 2.783132 +v -0.228000 -0.775432 2.814982 +v 0.314031 -0.329260 1.444411 +v 0.186486 -0.966751 2.082090 +v -0.036618 -0.839235 3.070121 +v 0.090795 -0.169887 1.380711 +v 0.154567 -0.616059 2.687413 +v -0.291773 -1.030464 1.444411 +v -0.355545 -0.775432 1.540130 +v -0.100456 -0.998608 2.751282 +v 0.027023 -0.552436 2.846833 +v -0.291773 -0.456776 1.412561 +v -0.004830 -1.030464 2.527993 +v 0.314031 -0.520580 1.571980 +v 0.186486 -0.743575 2.846833 +v -0.036618 -0.743575 3.070121 +v 0.250259 -0.169887 1.380711 +f 204 212 214 +f 190 189 191 +f 191 189 193 +f 190 191 194 +f 193 189 197 +f 196 188 199 +f 197 195 199 +f 190 194 201 +f 194 192 201 +f 192 198 201 +f 198 192 202 +f 191 193 203 +f 196 191 203 +f 197 189 205 +f 195 197 205 +f 193 197 206 +f 197 199 206 +f 199 195 207 +f 198 202 207 +f 202 199 207 +f 205 189 207 +f 195 205 207 +f 191 196 208 +f 188 196 209 +f 199 188 209 +f 203 193 209 +f 196 203 209 +f 193 206 209 +f 206 199 209 +f 189 190 210 +f 190 201 210 +f 201 198 210 +f 207 189 210 +f 198 207 210 +f 192 194 211 +f 194 200 211 +f 211 200 212 +f 202 192 212 +f 204 208 212 +f 192 211 212 +f 212 208 213 +f 196 199 213 +f 199 202 213 +f 208 196 213 +f 202 212 213 +f 194 191 214 +f 200 194 214 +f 191 208 214 +f 208 204 214 +f 212 200 214 +o convex_5 +v 0.345872 -0.361104 -1.361830 +v -0.036649 -1.094386 -1.521274 +v 0.027070 -1.094386 -1.521274 +v 0.027070 -0.679725 -3.051381 +v -0.227944 -0.488605 -1.361830 +v 0.313943 -0.966798 -1.361830 +v -0.227944 -0.648003 -2.828092 +v 0.154508 -0.201619 -1.425674 +v -0.291732 -1.030505 -1.361830 +v -0.004790 -0.934901 -2.828092 +v 0.218296 -0.679725 -2.796170 +v 0.027070 -0.488605 -2.828092 +v 0.282015 -0.201619 -1.425674 +v 0.218296 -0.934901 -2.318002 +v 0.377731 -0.648003 -1.521274 +v -0.164225 -0.520589 -2.636891 +v -0.323592 -0.775416 -1.585119 +v -0.164225 -0.871194 -2.668648 +v 0.218296 -0.807400 -2.732492 +v -0.291732 -1.030505 -1.521274 +v -0.196085 -0.424811 -1.361830 +v -0.227944 -0.711622 -2.828092 +v 0.154508 -1.062402 -1.361830 +v 0.313943 -0.966798 -1.521274 +v -0.036649 -0.488605 -2.828092 +v -0.227944 -0.520589 -1.999609 +v 0.058861 -0.934901 -2.796170 +v 0.313943 -0.233516 -1.361830 +f 222 235 242 +f 215 219 220 +f 220 219 223 +f 217 216 224 +f 225 218 226 +f 225 226 227 +f 226 222 227 +f 215 220 229 +f 225 215 229 +f 223 219 231 +f 218 225 233 +f 225 229 233 +f 216 223 234 +f 224 216 234 +f 223 231 234 +f 232 224 234 +f 219 215 235 +f 222 230 235 +f 221 218 236 +f 218 224 236 +f 231 221 236 +f 224 232 236 +f 234 231 236 +f 232 234 236 +f 216 217 237 +f 223 216 237 +f 220 223 237 +f 217 228 237 +f 237 228 238 +f 229 220 238 +f 228 233 238 +f 233 229 238 +f 220 237 238 +f 218 221 239 +f 226 218 239 +f 222 226 239 +f 221 230 239 +f 230 222 239 +f 230 221 240 +f 231 219 240 +f 221 231 240 +f 219 235 240 +f 235 230 240 +f 217 224 241 +f 224 218 241 +f 228 217 241 +f 218 233 241 +f 233 228 241 +f 215 225 242 +f 225 227 242 +f 227 222 242 +f 235 215 242 +o convex_6 +v 0.313962 -0.106099 -1.138494 +v -0.387430 -1.189875 -1.170388 +v -0.355501 -1.221775 -1.170388 +v 0.282128 -0.169899 -1.361642 +v 0.473416 -1.094174 -1.138494 +v 0.090839 -1.094174 -1.361642 +v -0.227976 -0.488664 -1.361642 +v -0.196047 -0.424982 -1.138494 +v 0.569107 -0.488664 -1.170388 +v 0.345797 -0.902892 -1.361642 +v -0.291738 -1.062393 -1.361642 +v 0.090839 -0.074199 -1.170388 +v 0.090839 -1.285694 -1.138494 +v -0.387430 -0.871110 -1.138494 +v 0.569107 -0.393082 -1.138494 +v -0.323573 -0.775410 -1.361642 +v 0.377725 -0.488664 -1.361642 +v 0.473416 -1.094174 -1.170388 +f 247 255 260 +f 246 248 249 +f 247 243 250 +f 248 246 252 +f 245 244 253 +f 248 245 253 +f 249 248 253 +f 243 246 254 +f 246 249 254 +f 250 243 254 +f 249 250 254 +f 245 248 255 +f 247 250 255 +f 255 250 256 +f 244 245 256 +f 250 249 256 +f 245 255 256 +f 246 243 257 +f 243 247 257 +f 251 246 257 +f 247 251 257 +f 253 244 258 +f 249 253 258 +f 244 256 258 +f 256 249 258 +f 246 251 259 +f 252 246 259 +f 251 252 259 +f 251 247 260 +f 248 252 260 +f 252 251 260 +f 255 248 260 +o convex_7 +v 1.589638 -1.317388 0.200585 +v 1.270668 0.021573 0.104988 +v 1.270668 0.021573 0.041181 +v 3.024044 -0.711722 -0.054304 +v 1.238683 -0.966845 -0.596323 +v 1.238683 -0.966845 0.551297 +v 2.769042 -0.743528 0.391893 +v 2.673264 -0.775335 -0.436919 +v 2.769042 -1.157953 -0.086207 +v 1.238683 -1.317388 -0.468709 +v 1.238683 -0.265491 -0.405015 +v 2.769042 -0.361045 -0.022513 +v 1.238683 -0.297297 0.487490 +v 2.099641 -1.189893 0.359990 +v 2.577660 -0.456733 0.296183 +v 1.238683 -1.285581 0.423684 +v 2.036022 -0.392985 -0.405015 +v 2.163260 -1.157953 -0.405015 +v 2.036022 -1.317388 0.009278 +v 2.004212 -0.807410 0.519394 +v 2.067832 -0.743528 -0.532516 +v 2.769042 -0.711587 -0.405015 +v 2.769042 -1.157953 0.009278 +v 1.876624 -0.361045 0.423684 +v 2.577660 -0.456733 -0.309305 +v 1.238683 -1.349463 0.200585 +v 2.577660 -1.062399 0.296183 +v 2.769042 -0.807410 -0.405015 +v 3.024044 -0.807276 0.009278 +v 1.557654 -1.253775 0.423684 +v 1.270668 -0.871157 -0.596323 +v 1.749036 -1.349463 -0.054304 +v 1.398256 -0.265491 -0.405015 +v 2.737058 -0.871157 0.359990 +v 1.270668 -0.711587 0.551297 +v 2.737058 -0.361045 0.041181 +v 2.609470 -1.030458 -0.341209 +v 1.270668 -1.094340 -0.564419 +v 2.036022 -1.317388 -0.054304 +v 1.972228 -0.743528 0.519394 +v 1.238683 0.021573 0.104988 +v 2.067832 -0.807410 -0.532516 +v 1.398256 -0.329238 -0.436919 +v 3.024044 -0.711722 0.009278 +v 1.238683 -1.349463 -0.309305 +f 292 286 305 +f 266 265 270 +f 265 266 271 +f 263 262 272 +f 271 266 273 +f 266 270 276 +f 281 277 282 +f 272 264 282 +f 268 281 282 +f 279 269 283 +f 274 279 283 +f 262 273 284 +f 275 262 284 +f 267 275 284 +f 263 272 285 +f 277 263 285 +f 282 277 285 +f 272 282 285 +f 261 276 286 +f 276 270 286 +f 279 261 286 +f 274 283 287 +f 278 268 288 +f 268 282 288 +f 282 264 288 +f 283 269 289 +f 288 264 289 +f 269 288 289 +f 276 261 290 +f 266 276 290 +f 261 279 290 +f 279 274 290 +f 280 266 290 +f 274 280 290 +f 265 271 291 +f 279 286 292 +f 271 263 293 +f 263 277 293 +f 267 280 294 +f 280 274 294 +f 274 287 294 +f 287 283 294 +f 289 267 294 +f 283 289 294 +f 273 266 295 +f 266 280 295 +f 272 262 296 +f 262 275 296 +f 275 267 296 +f 269 278 297 +f 288 269 297 +f 278 288 297 +f 270 265 298 +f 278 270 298 +f 278 269 299 +f 270 278 299 +f 269 279 299 +f 292 270 299 +f 279 292 299 +f 280 267 300 +f 284 273 300 +f 267 284 300 +f 273 295 300 +f 295 280 300 +f 262 263 301 +f 263 271 301 +f 273 262 301 +f 271 273 301 +f 268 278 302 +f 281 268 302 +f 265 291 302 +f 291 281 302 +f 298 265 302 +f 278 298 302 +f 277 281 303 +f 291 271 303 +f 281 291 303 +f 271 293 303 +f 293 277 303 +f 264 272 304 +f 289 264 304 +f 267 289 304 +f 296 267 304 +f 272 296 304 +f 286 270 305 +f 270 292 305 +o convex_8 +v -1.599230 -1.349463 -0.054323 +v -1.248625 0.021573 0.455568 +v -1.216606 0.021439 0.487472 +v -2.810429 -0.775335 0.359971 +v -1.280466 -0.265491 -0.468728 +v -2.778588 -0.775335 -0.405034 +v -1.216606 -1.189893 0.423777 +v -1.216606 -1.189893 -0.500632 +v -2.746569 -0.361045 -0.054323 +v -2.714728 -1.189893 -0.054323 +v -1.216606 0.021439 -0.118129 +v -1.248625 -0.616302 0.583182 +v -2.045536 -1.157953 0.359971 +v -3.033493 -0.807410 -0.054323 +v -1.981854 -1.189893 -0.436825 +v -1.599230 -0.807410 -0.564438 +v -2.555346 -0.488673 -0.341227 +v -2.682887 -0.520480 0.296164 +v -1.216606 -1.349463 -0.181823 +v -2.109396 -0.775335 -0.532535 +v -1.216606 -0.775335 -0.564438 +v -1.408007 0.021573 -0.022419 +v -2.619205 -1.062399 0.264373 +v -2.013695 -0.775335 0.487472 +v -2.778588 -0.392985 0.041163 +v -2.587187 -1.062399 -0.341227 +v -2.810429 -0.711587 0.359971 +v -1.248625 -1.285581 0.264373 +v -1.981854 -1.317388 -0.022419 +v -1.312307 0.021573 0.455568 +v -2.746569 -1.157953 0.041163 +v -2.714728 -0.839216 -0.436825 +v -3.001652 -0.679781 -0.054323 +v -2.045536 -0.392985 -0.405034 +v -1.312307 -0.010367 0.487472 +v -1.280466 -1.253775 -0.468728 +v -1.950014 -1.317388 -0.086226 +v -2.459645 -0.711587 0.423777 +v -2.013695 -0.871157 -0.532535 +v -2.842269 -1.094340 -0.054323 +v -2.746569 -0.392985 -0.118129 +v -1.216606 -0.265491 -0.468841 +v -3.033493 -0.807410 0.009372 +v -1.216606 -1.349463 0.073066 +v -1.216606 -0.552555 0.583182 +v -1.248447 0.021439 -0.118129 +v -2.714728 -0.775335 -0.436825 +v -1.248625 -0.966845 -0.564438 +f 344 321 353 +f 308 312 313 +f 307 308 316 +f 308 313 316 +f 313 312 324 +f 310 321 325 +f 316 313 326 +f 321 310 326 +f 307 316 327 +f 318 309 328 +f 312 317 329 +f 318 312 329 +f 309 318 329 +f 320 315 331 +f 323 330 332 +f 312 318 333 +f 333 318 334 +f 308 307 335 +f 307 327 335 +f 327 314 335 +f 314 330 335 +f 330 323 335 +f 328 309 336 +f 318 328 336 +f 315 334 336 +f 334 318 336 +f 319 311 337 +f 320 331 337 +f 311 319 338 +f 330 314 338 +f 332 330 338 +f 310 325 339 +f 323 332 340 +f 308 335 340 +f 335 323 340 +f 320 313 341 +f 313 324 341 +f 341 324 342 +f 315 320 342 +f 324 306 342 +f 334 315 342 +f 306 334 342 +f 320 341 342 +f 309 329 343 +f 329 317 343 +f 332 309 343 +f 340 332 343 +f 313 320 344 +f 325 321 344 +f 337 325 344 +f 320 337 344 +f 331 315 345 +f 315 336 345 +f 319 337 345 +f 337 331 345 +f 322 311 346 +f 311 338 346 +f 338 314 346 +f 316 326 347 +f 326 310 347 +f 309 332 348 +f 336 309 348 +f 338 319 348 +f 332 338 348 +f 319 345 348 +f 345 336 348 +f 306 324 349 +f 324 312 349 +f 312 333 349 +f 334 306 349 +f 333 334 349 +f 312 308 350 +f 317 312 350 +f 308 340 350 +f 343 317 350 +f 340 343 350 +f 314 327 351 +f 327 316 351 +f 310 339 351 +f 339 322 351 +f 322 346 351 +f 346 314 351 +f 347 310 351 +f 316 347 351 +f 311 322 352 +f 337 311 352 +f 325 337 352 +f 322 339 352 +f 339 325 352 +f 326 313 353 +f 321 326 353 +f 313 344 353 +o convex_9 +v 1.238683 -0.265491 0.455468 +v -0.419227 -1.221834 -1.138473 +v -0.865486 -0.552555 -0.915193 +v -0.929409 -1.349463 0.965821 +v -0.929409 0.021573 0.997718 +v 0.856107 -1.349463 0.965593 +v 0.983472 0.021573 -0.946862 +v 0.983472 -1.349463 -0.946862 +v 0.441329 0.021573 1.189101 +v -1.120697 0.021573 -0.564326 +v -1.216341 -1.349463 -0.245583 +v 0.090714 0.021573 -1.138473 +v 1.238683 -1.349463 -0.468635 +v -1.216341 0.021573 0.487593 +v -0.355544 -1.126146 1.189101 +v 0.919789 0.021573 0.997490 +v 1.238683 -1.285581 0.455468 +v -0.929409 -1.349463 -0.851399 +v 1.238683 0.021573 0.009365 +v 0.505012 -1.094340 -1.138473 +v -1.216341 -1.189893 0.455696 +v -1.216341 -0.902964 -0.596223 +v -0.865486 0.021573 -0.915193 +v 1.238683 -0.871157 -0.596223 +v -0.004689 -1.221834 1.189101 +v 0.600896 -0.329238 -1.138473 +v -1.216341 -0.552555 0.614954 +v -0.004689 0.021573 1.189101 +v 0.027032 -1.349463 -1.138473 +v 0.377646 -0.775335 1.189101 +v 1.238683 -0.966845 0.551160 +v -1.216341 0.021573 -0.181789 +v 1.238683 -0.233550 -0.404840 +v -0.419227 -0.807410 1.189101 +v -0.387266 -0.839216 -1.138473 +v -1.216341 -1.253775 -0.500759 +v 0.058993 -1.349463 1.061512 +v 0.887828 -1.221834 0.965593 +v 1.238683 -1.349463 0.264086 +v -1.216341 -1.349463 0.136726 +v -1.216341 -0.265491 -0.468862 +v -0.993091 0.021573 -0.787605 +v 0.568935 0.021573 -1.074678 +v 0.792184 -1.349463 0.997490 +v -0.323583 -0.488673 1.189101 +v 1.142799 0.021573 -0.500532 +v -0.929409 -0.361045 0.997718 +v 0.919789 -0.137996 0.997490 +v 0.696540 -1.349463 -1.042781 +v -0.897447 -1.349463 -0.883296 +v 1.238683 0.021573 0.104829 +v 1.238683 -0.456733 0.519263 +v -0.164016 -0.361045 -1.138473 +f 388 376 406 +f 359 357 361 +f 360 358 362 +f 358 360 363 +f 361 357 364 +f 363 360 365 +f 359 361 366 +f 358 363 367 +f 360 362 369 +f 366 354 370 +f 361 364 371 +f 354 366 372 +f 360 369 372 +f 355 365 373 +f 367 364 374 +f 364 367 375 +f 355 356 376 +f 363 365 376 +f 356 375 376 +f 361 360 377 +f 366 361 377 +f 372 366 377 +f 368 357 378 +f 362 368 378 +f 360 361 379 +f 361 373 379 +f 373 365 379 +f 358 367 380 +f 374 357 380 +f 367 374 380 +f 362 358 381 +f 368 362 381 +f 361 371 382 +f 355 373 382 +f 362 378 383 +f 370 354 384 +f 367 363 385 +f 375 367 385 +f 377 360 386 +f 372 377 386 +f 357 368 387 +f 368 381 387 +f 365 355 388 +f 355 376 388 +f 371 364 389 +f 364 375 389 +f 375 371 389 +f 357 359 390 +f 378 357 390 +f 359 370 391 +f 370 384 391 +f 359 366 392 +f 366 370 392 +f 370 359 392 +f 364 357 393 +f 357 374 393 +f 374 364 393 +f 385 363 394 +f 375 385 394 +f 363 376 395 +f 376 375 395 +f 394 363 395 +f 375 394 395 +f 365 360 396 +f 360 379 396 +f 379 365 396 +f 383 378 397 +f 390 359 397 +f 378 390 397 +f 359 391 397 +f 391 383 397 +f 381 358 398 +f 358 387 398 +f 387 381 398 +f 360 372 399 +f 386 360 399 +f 372 386 399 +f 380 357 400 +f 358 380 400 +f 357 387 400 +f 387 358 400 +f 369 362 401 +f 362 383 401 +f 384 369 401 +f 383 391 401 +f 391 384 401 +f 373 361 402 +f 361 382 402 +f 382 373 402 +f 356 355 403 +f 375 356 403 +f 371 375 403 +f 355 382 403 +f 382 371 403 +f 369 354 404 +f 354 372 404 +f 372 369 404 +f 354 369 405 +f 384 354 405 +f 369 384 405 +f 376 365 406 +f 365 388 406 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/317/317.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/317/317.urdf new file mode 100644 index 000000000..7742438d2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/317/317.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/318/318.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/318/318.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/318/318.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/318/318.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/318/318.obj new file mode 100644 index 000000000..17ebffda3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/318/318.obj @@ -0,0 +1,846 @@ +o convex_0 +v -0.001949 0.896837 -2.104909 +v -0.064745 -0.485769 -1.256364 +v 0.092189 -0.485769 -1.256364 +v 0.029282 0.331258 -3.015879 +v 0.563768 0.331258 -1.224800 +v -0.567667 0.299844 -1.224625 +v -0.379058 0.362671 -2.795984 +v 0.406501 0.331258 -2.701643 +v 0.343595 0.865424 -1.224625 +v -0.410511 0.771184 -1.224625 +v 0.469408 -0.328561 -1.224625 +v 0.060736 -0.014288 -2.733031 +v -0.441964 -0.328561 -1.224625 +v 0.029282 0.771184 -2.764595 +v -0.379058 0.771184 -2.104909 +v 0.375159 0.771184 -1.979179 +v -0.064745 0.959805 -1.224625 +v -0.504871 0.425497 -2.041956 +v -0.284698 0.111365 -2.575913 +v 0.343595 0.048539 -2.450183 +v -0.379058 0.456910 -2.795984 +v 0.532315 0.362671 -1.758933 +v 0.375159 0.456910 -2.701643 +v -0.064745 0.771184 -2.764595 +v 0.406501 0.834010 -1.350530 +v -0.064745 0.017125 -2.701643 +v 0.029282 0.425497 -3.015879 +v -0.441964 -0.328561 -1.256364 +v 0.343595 0.802597 -2.010567 +v 0.029282 0.959805 -1.444871 +v 0.469408 -0.328561 -1.256364 +v -0.536214 0.048539 -1.256364 +v -0.316262 0.708358 -2.513136 +v 0.280799 0.676944 -2.544524 +v 0.500862 0.425497 -2.010567 +v -0.096088 0.896837 -2.010567 +v 0.532315 -0.014288 -1.256189 +v -0.410511 0.771184 -1.601990 +v -0.504871 0.362671 -2.010567 +v -0.033403 0.425497 -3.015879 +v -0.001949 0.079952 -2.827373 +v -0.473307 -0.234322 -1.256364 +v -0.064745 -0.485769 -1.224625 +v 0.375159 0.237018 -2.670254 +f 31 20 44 +f 6 9 10 +f 5 9 11 +f 9 6 11 +f 3 2 12 +f 11 6 13 +f 10 9 17 +f 7 18 21 +f 18 15 21 +f 1 14 24 +f 9 5 25 +f 5 22 25 +f 12 2 26 +f 19 7 26 +f 8 4 27 +f 23 8 27 +f 14 23 27 +f 24 14 27 +f 2 13 28 +f 7 19 28 +f 26 2 28 +f 19 26 28 +f 14 1 29 +f 25 16 29 +f 25 29 30 +f 17 9 30 +f 9 25 30 +f 29 1 30 +f 11 3 31 +f 3 12 31 +f 12 20 31 +f 13 6 32 +f 21 15 33 +f 15 24 33 +f 24 21 33 +f 16 23 34 +f 23 14 34 +f 14 29 34 +f 29 16 34 +f 22 8 35 +f 23 16 35 +f 8 23 35 +f 16 25 35 +f 25 22 35 +f 15 17 36 +f 1 24 36 +f 24 15 36 +f 30 1 36 +f 17 30 36 +f 5 11 37 +f 8 22 37 +f 22 5 37 +f 11 31 37 +f 31 8 37 +f 6 10 38 +f 10 17 38 +f 17 15 38 +f 18 6 38 +f 15 18 38 +f 6 18 39 +f 18 7 39 +f 32 6 39 +f 4 7 40 +f 7 21 40 +f 21 24 40 +f 27 4 40 +f 24 27 40 +f 7 4 41 +f 4 12 41 +f 26 7 41 +f 12 26 41 +f 28 13 42 +f 7 28 42 +f 13 32 42 +f 39 7 42 +f 32 39 42 +f 2 3 43 +f 3 11 43 +f 13 2 43 +f 11 13 43 +f 4 8 44 +f 12 4 44 +f 20 12 44 +f 8 31 44 +o convex_1 +v 0.186514 3.663070 -0.501595 +v 0.092256 3.694637 0.629844 +v -0.064804 3.694637 0.629844 +v -0.002002 5.454675 -0.030191 +v -0.567772 3.663070 -0.061610 +v 0.563768 3.977688 0.032648 +v -0.064804 5.203191 0.409794 +v 0.029344 5.203191 -0.375917 +v -0.410601 5.203191 0.032648 +v -0.441947 4.103430 -0.375917 +v 0.375141 5.171624 0.095487 +v 0.469399 3.663070 0.472633 +v -0.410601 3.663070 0.503939 +v 0.406598 4.354914 -0.375917 +v 0.469399 3.663070 -0.344498 +v -0.096260 3.663070 -0.533128 +v 0.375141 4.543264 0.409794 +v -0.379145 4.574481 0.409794 +v -0.536315 4.417522 0.064068 +v -0.316232 4.982923 -0.281659 +v 0.375141 5.140232 -0.061610 +v -0.473403 3.663070 -0.375917 +v 0.029344 5.203191 0.409794 +v -0.033347 4.543264 -0.470175 +v 0.563768 3.663070 -0.093029 +v -0.410601 4.511872 -0.344498 +v -0.567772 3.757420 0.126906 +v 0.500856 4.543264 0.032648 +v 0.029344 4.543264 0.535472 +v 0.312229 4.951531 -0.281659 +v -0.033347 5.454675 0.064068 +v -0.316232 5.014315 0.315422 +v 0.500856 3.694637 0.409794 +v -0.096260 4.417522 0.535472 +v 0.217971 5.077273 0.346956 +v 0.406598 3.726028 -0.438756 +v 0.029344 4.197605 -0.501595 +v -0.410601 5.203191 0.001229 +v 0.375141 3.694637 0.535472 +v -0.536315 4.386130 0.001229 +v -0.033347 5.171624 -0.375917 +v 0.312229 5.265974 0.001229 +v -0.410601 4.386130 0.409794 +v -0.379145 4.417522 0.441214 +v 0.500856 4.417522 -0.061610 +v 0.060800 5.423108 0.064068 +v 0.563768 3.663070 0.158326 +v 0.343685 4.480305 0.441214 +v -0.190518 4.417522 -0.438756 +v 0.500856 4.386130 0.126906 +f 77 50 94 +f 49 45 56 +f 46 47 57 +f 56 46 57 +f 49 56 57 +f 56 45 59 +f 45 49 60 +f 62 53 63 +f 60 49 66 +f 54 60 66 +f 56 59 69 +f 59 58 69 +f 49 57 71 +f 65 55 72 +f 47 46 73 +f 67 51 73 +f 58 52 74 +f 52 65 74 +f 65 58 74 +f 53 51 75 +f 51 67 75 +f 51 53 76 +f 62 51 76 +f 53 62 76 +f 61 56 77 +f 47 73 78 +f 73 51 78 +f 61 55 79 +f 55 67 79 +f 67 61 79 +f 59 45 80 +f 58 59 80 +f 52 58 81 +f 45 60 81 +f 68 52 81 +f 60 68 81 +f 80 45 81 +f 58 80 81 +f 63 53 82 +f 64 70 82 +f 75 48 82 +f 53 75 82 +f 46 56 83 +f 56 61 83 +f 66 49 84 +f 54 66 84 +f 70 54 84 +f 49 71 84 +f 71 63 84 +f 63 82 84 +f 82 70 84 +f 48 52 85 +f 52 68 85 +f 70 64 85 +f 82 48 85 +f 64 82 85 +f 52 48 86 +f 65 52 86 +f 55 65 86 +f 62 63 87 +f 71 57 87 +f 63 71 87 +f 57 47 88 +f 51 62 88 +f 47 78 88 +f 78 51 88 +f 87 57 88 +f 62 87 88 +f 58 65 89 +f 50 69 89 +f 69 58 89 +f 72 50 89 +f 65 72 89 +f 67 55 90 +f 48 75 90 +f 75 67 90 +f 86 48 90 +f 55 86 90 +f 69 50 91 +f 56 69 91 +f 77 56 91 +f 50 77 91 +f 61 67 92 +f 73 46 92 +f 67 73 92 +f 46 83 92 +f 83 61 92 +f 60 54 93 +f 68 60 93 +f 54 70 93 +f 85 68 93 +f 70 85 93 +f 55 61 94 +f 50 72 94 +f 72 55 94 +f 61 77 94 +o convex_2 +v 0.500807 0.802465 1.289909 +v -0.662067 0.048588 1.164182 +v -0.504896 -0.485824 1.164182 +v 0.532214 0.834050 1.164182 +v 0.563756 -0.643026 1.195614 +v -0.473354 -0.297037 1.289909 +v -0.441811 0.802465 1.289909 +v -0.033249 1.054241 1.164182 +v 0.500807 -0.360027 1.289909 +v 0.720927 0.048588 1.164182 +v -0.001842 -0.800227 1.164182 +v -0.536168 0.802465 1.164182 +v -0.630524 0.237012 1.289909 +v 0.657977 0.268416 1.289909 +v -0.001842 -0.800227 1.195614 +v -0.096063 0.959848 1.289909 +v -0.033249 -0.454239 1.289909 +v 0.563756 -0.643026 1.164182 +v -0.504896 -0.485824 1.195614 +v 0.218008 0.991252 1.195614 +f 102 110 114 +f 97 96 98 +f 100 95 101 +f 98 96 102 +f 95 100 103 +f 97 98 104 +f 97 104 105 +f 102 96 106 +f 101 102 106 +f 100 101 107 +f 106 96 107 +f 101 106 107 +f 98 95 108 +f 95 103 108 +f 103 99 108 +f 104 98 108 +f 99 104 108 +f 99 103 109 +f 97 105 109 +f 105 99 109 +f 101 95 110 +f 102 101 110 +f 103 100 111 +f 100 109 111 +f 109 103 111 +f 104 99 112 +f 99 105 112 +f 105 104 112 +f 96 97 113 +f 107 96 113 +f 100 107 113 +f 97 109 113 +f 109 100 113 +f 95 98 114 +f 98 102 114 +f 110 95 114 +o convex_3 +v -0.033323 0.928379 1.918696 +v -0.002005 -0.454479 1.290075 +v -0.379019 -0.328626 1.290075 +v -0.002005 0.394093 2.987052 +v 0.626512 0.362665 1.290075 +v -0.504770 0.739808 1.290075 +v 0.437885 0.394093 2.735538 +v -0.379019 0.331236 2.735538 +v 0.437885 0.834093 1.290075 +v -0.002005 0.802665 2.766936 +v -0.002005 -0.014202 2.672742 +v 0.500760 -0.265769 1.321639 +v -0.599083 0.111513 1.321639 +v 0.437885 0.802665 2.075851 +v -0.410456 0.771236 2.044453 +v -0.064760 0.959946 1.290075 +v -0.536208 0.394093 2.013056 +v -0.442014 -0.234202 1.510192 +v 0.343691 0.111513 2.546985 +v 0.563756 0.394093 2.107249 +v -0.379019 0.425522 2.735538 +v 0.060751 -0.014202 2.672742 +v 0.343691 0.708379 2.578382 +v -0.284825 0.080084 2.546985 +v 0.060751 0.959946 1.384434 +v 0.626512 0.174231 1.290075 +v -0.599083 0.362665 1.290075 +v 0.437885 0.456950 2.735538 +v -0.536208 0.268379 1.981658 +v -0.316263 0.645522 2.578382 +v 0.123507 -0.422773 1.321639 +v 0.500760 0.771236 1.321639 +v 0.563756 0.488379 2.044287 +v 0.029313 0.928379 1.981658 +v 0.060751 0.394093 2.987052 +v -0.442014 -0.297197 1.353037 +v 0.060751 0.017227 2.735538 +v -0.442014 0.802665 1.321639 +v 0.029313 0.802665 2.766936 +v -0.002005 -0.454479 1.321639 +v 0.375129 0.834093 2.044453 +v -0.002005 0.017227 2.735538 +v -0.473332 -0.265769 1.353037 +v -0.599083 0.299807 1.572988 +v 0.500760 -0.265769 1.290075 +v -0.410456 0.331236 2.641178 +f 143 157 160 +f 116 117 119 +f 119 117 120 +f 119 120 123 +f 124 115 129 +f 123 120 130 +f 129 115 130 +f 129 120 131 +f 126 121 133 +f 121 126 134 +f 122 118 135 +f 118 124 135 +f 129 131 135 +f 126 133 136 +f 122 132 138 +f 123 130 139 +f 116 119 140 +f 119 134 140 +f 134 126 140 +f 120 117 141 +f 117 127 141 +f 121 134 142 +f 128 137 142 +f 124 129 144 +f 135 124 144 +f 129 135 144 +f 126 136 145 +f 119 123 146 +f 123 128 146 +f 134 119 147 +f 142 134 147 +f 128 142 147 +f 119 146 147 +f 146 128 147 +f 115 124 148 +f 130 115 148 +f 139 130 148 +f 124 118 149 +f 121 142 149 +f 125 138 150 +f 138 132 150 +f 133 121 151 +f 125 136 151 +f 136 133 151 +f 149 118 151 +f 121 149 151 +f 120 129 152 +f 130 120 152 +f 129 130 152 +f 137 128 153 +f 142 137 153 +f 148 124 153 +f 124 149 153 +f 149 142 153 +f 117 116 154 +f 136 125 154 +f 116 145 154 +f 145 136 154 +f 150 117 154 +f 125 150 154 +f 128 123 155 +f 123 139 155 +f 139 148 155 +f 153 128 155 +f 148 153 155 +f 118 122 156 +f 122 138 156 +f 138 125 156 +f 151 118 156 +f 125 151 156 +f 127 117 157 +f 143 127 157 +f 117 150 157 +f 150 132 157 +f 131 120 158 +f 120 141 158 +f 141 127 158 +f 127 143 158 +f 143 131 158 +f 116 140 159 +f 140 126 159 +f 145 116 159 +f 126 145 159 +f 132 122 160 +f 122 135 160 +f 135 131 160 +f 131 143 160 +f 157 132 160 +o convex_4 +v -0.064825 -0.611985 -1.224625 +v 0.060714 1.054044 1.164182 +v -0.096158 1.054044 1.164182 +v -0.001952 -4.383213 0.786781 +v 1.066675 -3.628742 0.001112 +v -0.976168 -3.628742 -0.092888 +v 0.878057 1.117105 -0.878790 +v -0.850629 1.117105 -0.752990 +v 0.092253 -4.383213 -0.721657 +v -0.881962 1.117105 0.912581 +v 0.783645 -0.015165 1.101282 +v -0.819090 -3.094419 -0.784557 +v 0.878057 -2.465506 -0.847223 +v -0.724884 -3.597212 0.786781 +v 1.035136 1.117105 0.001112 +v 0.815185 -3.628179 0.786781 +v 0.029381 -3.597212 1.038382 +v -0.441854 0.739306 -1.224625 +v -0.693345 0.016365 1.164182 +v -1.039247 1.117105 0.001112 +v -0.724884 -4.382649 0.001112 +v 0.815185 -4.382649 0.032445 +v 0.595028 0.110393 -1.224625 +v 0.029381 -3.723332 -0.973024 +v -0.976168 -0.706575 -0.752990 +v -0.976168 -0.549488 0.786781 +v 0.783645 -3.722769 -0.721423 +v 1.003803 -0.486427 -0.784323 +v 0.972263 -0.706575 0.755447 +v 0.815185 1.117105 0.849681 +v -0.599139 0.173453 -1.224625 +v 0.563694 -0.738105 1.164182 +v -0.001952 -4.634891 0.095345 +v -0.756217 -3.628742 -0.752990 +v 0.029381 0.990984 -1.224625 +v -1.007707 -3.408594 0.032445 +v 0.563694 0.770836 1.164182 +v -1.039247 -2.276888 0.032445 +v 0.500822 -0.392400 -1.224625 +v -0.473394 -0.392400 -1.224625 +v 0.595028 -4.194032 0.629647 +v -0.881962 -2.465506 -0.815890 +v 0.878057 -2.182297 0.881014 +v -0.473394 -4.226125 -0.564523 +v 1.066675 -1.491450 0.001112 +v -0.567599 -4.225562 0.504080 +v 0.437949 0.833896 -1.224625 +v -0.567599 0.802366 1.164182 +v -0.504727 -0.612548 1.164182 +v 0.626567 -4.225562 -0.501623 +v 1.066675 -3.628742 0.063778 +v -0.976168 -3.565681 0.126679 +v 0.155126 -4.351683 0.786781 +v 0.972263 -0.360870 0.755447 +v -1.007707 -0.517958 -0.595856 +v -1.039247 1.117105 0.126679 +v 0.815185 -3.502621 -0.752990 +v -0.064825 -4.383213 -0.690089 +v -0.064825 -3.660272 -0.973024 +v -0.944835 0.079426 -0.752990 +v -0.787757 1.117105 -0.847223 +v 0.123587 -4.634891 0.064012 +v 1.035136 1.117105 -0.124221 +v 0.280665 -3.597212 0.975481 +f 177 213 224 +f 163 162 170 +f 167 168 170 +f 167 170 175 +f 174 164 177 +f 162 163 179 +f 170 168 180 +f 161 178 183 +f 179 170 186 +f 174 179 186 +f 165 182 187 +f 169 184 187 +f 165 173 188 +f 183 167 188 +f 173 183 188 +f 170 162 190 +f 175 170 190 +f 178 161 191 +f 162 179 192 +f 164 181 193 +f 166 172 194 +f 181 166 194 +f 183 178 195 +f 185 166 196 +f 190 162 197 +f 171 190 197 +f 162 192 197 +f 192 171 197 +f 196 186 198 +f 161 183 199 +f 183 173 199 +f 184 161 199 +f 161 184 200 +f 191 161 200 +f 172 191 200 +f 194 172 200 +f 182 176 201 +f 172 166 202 +f 166 185 202 +f 191 172 202 +f 185 191 202 +f 189 171 203 +f 171 192 203 +f 192 176 203 +f 181 194 204 +f 165 188 205 +f 164 174 206 +f 181 164 206 +f 174 181 206 +f 167 183 207 +f 195 167 207 +f 183 195 207 +f 163 170 208 +f 179 163 208 +f 170 179 208 +f 174 177 209 +f 179 174 209 +f 177 192 209 +f 192 179 209 +f 182 169 210 +f 169 187 210 +f 187 182 210 +f 182 165 211 +f 176 182 211 +f 203 176 211 +f 189 203 211 +f 165 205 211 +f 166 181 212 +f 181 174 212 +f 174 186 212 +f 196 166 212 +f 186 196 212 +f 177 164 213 +f 201 176 213 +f 182 201 213 +f 171 189 214 +f 190 171 214 +f 175 190 214 +f 205 175 214 +f 189 211 214 +f 211 205 214 +f 185 196 215 +f 198 180 215 +f 196 198 215 +f 170 180 216 +f 186 170 216 +f 180 198 216 +f 198 186 216 +f 173 165 217 +f 165 187 217 +f 187 184 217 +f 199 173 217 +f 184 199 217 +f 184 169 218 +f 193 181 218 +f 181 204 218 +f 204 194 218 +f 200 184 219 +f 194 200 219 +f 184 218 219 +f 218 194 219 +f 180 168 220 +f 191 185 220 +f 215 180 220 +f 185 215 220 +f 168 167 221 +f 178 191 221 +f 167 195 221 +f 195 178 221 +f 220 168 221 +f 191 220 221 +f 169 182 222 +f 164 193 222 +f 213 164 222 +f 182 213 222 +f 218 169 222 +f 193 218 222 +f 167 175 223 +f 188 167 223 +f 205 188 223 +f 175 205 223 +f 176 192 224 +f 192 177 224 +f 213 176 224 +o convex_5 +v 1.035243 1.368810 0.032482 +v -1.039247 1.117354 0.001210 +v -0.850601 1.117354 -0.752965 +v -0.599210 3.663070 0.032482 +v 0.657953 3.128507 -0.815914 +v 0.060745 3.222959 0.975303 +v -0.850601 1.117354 0.943828 +v 0.846598 1.117354 -0.910136 +v 0.783648 1.117354 0.849607 +v 1.003769 3.159908 0.001210 +v -0.693431 3.128507 -0.752965 +v -0.693431 3.222959 0.723911 +v 0.029270 3.128507 -1.004560 +v 0.500782 3.631419 0.535266 +v -0.944823 3.002903 -0.030061 +v 0.406561 3.663070 -0.438624 +v 0.752174 3.191558 0.723911 +v -0.033476 1.117354 -1.004560 +v 0.060745 1.117354 1.038455 +v -0.127495 3.663070 0.629487 +v -0.442039 3.663070 -0.407352 +v 0.815123 3.128507 -0.690219 +v -0.756177 1.148755 -0.847186 +v -1.007772 2.468340 0.063957 +v 1.035243 1.117354 -0.124282 +v 1.035243 2.374387 -0.155757 +v 0.029270 2.436939 1.038455 +v -0.033476 2.374636 -1.036035 +v 0.595206 3.663070 -0.030061 +v -0.881873 1.305759 0.912557 +v -0.913348 3.222959 0.032482 +v 0.846598 1.400211 0.723911 +v 0.186441 2.217382 -1.036035 +v 0.877870 1.305759 -0.878661 +v -0.442039 3.663070 0.503791 +v 1.035243 2.311585 0.063957 +v -0.096223 3.663070 -0.533048 +v -0.002002 3.222959 0.975303 +v -0.976297 2.249032 -0.155757 +v 0.720902 1.148755 0.881082 +v 0.846598 2.060128 -0.847389 +v -0.661956 3.222959 -0.721490 +v 0.092219 3.128507 -1.004560 +v -1.039247 1.117354 0.126703 +v -0.787652 2.343235 0.818132 +v -0.158969 1.117354 1.038455 +v 0.060745 3.663070 0.660962 +v 0.783648 3.191558 0.661165 +v -0.033476 2.468340 1.038455 +v -0.819127 1.525815 -0.784237 +v 0.626478 3.128507 0.786861 +v 0.846598 1.117354 0.723911 +v -0.473311 3.222959 0.818132 +v 0.532257 3.663070 0.378298 +v 0.689427 1.117354 -0.941610 +v -0.630684 3.097106 -0.784237 +v 0.846598 1.274358 -0.910136 +v -0.913348 3.222959 -0.030061 +v -0.850601 1.463013 0.912557 +v 0.972294 3.128507 -0.187232 +v 0.815123 2.814249 -0.784440 +v 0.815123 3.411613 -0.030061 +v -0.473311 3.663070 -0.375877 +v -0.693431 1.148755 0.975506 +f 270 273 288 +f 226 227 231 +f 231 227 232 +f 231 232 233 +f 238 230 241 +f 232 227 242 +f 231 233 243 +f 240 228 244 +f 228 240 245 +f 229 240 246 +f 242 227 247 +f 233 232 249 +f 225 249 250 +f 242 247 252 +f 240 244 253 +f 246 240 253 +f 236 228 255 +f 239 248 255 +f 241 233 256 +f 242 252 257 +f 249 232 258 +f 250 249 258 +f 228 236 259 +f 244 228 259 +f 225 250 260 +f 250 234 260 +f 245 240 261 +f 227 226 263 +f 239 235 263 +f 226 248 263 +f 248 239 263 +f 233 241 264 +f 243 233 264 +f 251 243 264 +f 250 258 265 +f 237 235 266 +f 261 237 266 +f 245 261 266 +f 240 229 267 +f 252 237 267 +f 257 252 267 +f 237 261 267 +f 261 240 267 +f 229 265 267 +f 226 231 268 +f 248 226 268 +f 231 254 268 +f 254 248 268 +f 248 254 269 +f 236 255 269 +f 255 248 269 +f 231 243 270 +f 243 251 270 +f 230 238 271 +f 253 244 271 +f 244 262 271 +f 262 230 271 +f 238 241 272 +f 241 256 272 +f 260 234 272 +f 256 260 272 +f 251 230 273 +f 230 262 273 +f 270 251 273 +f 247 227 274 +f 235 247 274 +f 227 263 274 +f 263 235 274 +f 241 230 275 +f 230 251 275 +f 264 241 275 +f 251 264 275 +f 233 249 276 +f 249 225 276 +f 256 233 276 +f 225 260 276 +f 260 256 276 +f 259 236 277 +f 244 259 277 +f 262 244 277 +f 236 269 277 +f 271 238 278 +f 253 271 278 +f 272 234 278 +f 238 272 278 +f 232 242 279 +f 242 257 279 +f 235 237 280 +f 247 235 280 +f 237 252 280 +f 252 247 280 +f 258 232 281 +f 265 258 281 +f 257 267 281 +f 267 265 281 +f 232 279 281 +f 279 257 281 +f 235 239 282 +f 255 228 282 +f 239 255 282 +f 266 235 282 +f 254 231 283 +f 269 254 283 +f 273 262 283 +f 231 273 283 +f 262 277 283 +f 277 269 283 +f 234 250 284 +f 229 246 285 +f 265 229 285 +f 250 265 285 +f 284 250 285 +f 246 284 285 +f 246 253 286 +f 278 234 286 +f 253 278 286 +f 234 284 286 +f 284 246 286 +f 228 245 287 +f 245 266 287 +f 282 228 287 +f 266 282 287 +f 231 270 288 +f 273 231 288 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/318/318.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/318/318.urdf new file mode 100644 index 000000000..95a6e88da --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/318/318.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/319/319.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/319/319.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/319/319.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/319/319.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/319/319.obj new file mode 100644 index 000000000..c036b47f1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/319/319.obj @@ -0,0 +1,378 @@ +o convex_0 +v -0.897128 -0.028479 -0.844604 +v 0.037163 0.472762 1.458215 +v -0.029322 0.472762 1.458215 +v 0.037163 -4.934502 0.056306 +v 0.905176 0.472762 -0.978185 +v 0.971866 -1.930231 0.356517 +v -0.897128 0.472762 1.090797 +v -0.796886 -4.166497 0.056306 +v 0.037163 -4.199842 -0.711301 +v 0.004024 -4.133152 0.790587 +v 0.871624 0.472762 1.124123 +v 0.804933 -4.166497 0.056028 +v -0.029322 0.472762 -1.378929 +v -1.030716 0.472762 -0.043672 +v -0.796886 -2.030268 -0.711301 +v -1.030716 -2.097488 0.023258 +v 1.072109 -1.930231 0.023258 +v 0.804933 -1.930231 -0.711023 +v 0.671345 -3.131728 0.657005 +v -0.763540 -2.097488 0.790309 +v 1.038558 0.472762 0.222935 +v -0.830437 0.472762 -1.045115 +v -0.563262 -3.665256 -0.544116 +v 0.604654 -3.631910 -0.510790 +v -0.529916 -3.665256 0.623402 +v -0.062667 -4.166497 -0.711301 +v 0.804933 -1.997452 0.790309 +v 0.037163 0.438887 -1.378929 +v 0.070715 -4.099277 0.790587 +v 0.804933 -4.166497 -0.010068 +v -0.863783 0.104903 1.090797 +v -1.030716 -1.697342 0.189610 +v 1.038558 0.472762 -0.143649 +v 0.871624 -0.161861 -0.944860 +v 0.004024 -4.934502 -0.010068 +v -0.763540 -4.166497 -0.043672 +v 0.905176 0.405542 1.057472 +v 0.638000 -3.631910 0.556750 +v -1.030716 0.472762 0.156284 +v 0.871624 0.171594 1.090797 +v 0.070715 -4.199842 0.757261 +v -0.830437 -0.795955 -0.878208 +v -1.030716 -1.764033 -0.076998 +v -0.029322 -4.934502 0.056306 +v -0.897128 0.472762 -0.911256 +v -0.096013 -4.099277 0.757261 +v 0.838279 -1.830724 -0.677697 +v 0.070715 -4.133152 -0.711301 +v 0.838279 -3.999240 0.056028 +v -0.763540 -4.199842 0.089354 +v 1.072109 -1.930231 0.056306 +v -0.029322 0.438887 -1.378929 +v -0.796886 -4.099806 -0.010068 +v 0.037163 0.438887 1.458215 +v 0.838279 0.438887 -1.044837 +v 0.938521 0.038741 -0.811278 +v -0.663504 -3.865858 0.389843 +v -0.897128 -1.963577 0.490098 +v -0.029322 0.438887 1.458215 +v 0.037163 -4.934502 -0.010068 +v 0.671345 -3.131728 -0.577719 +v -0.096013 -4.867282 -0.010068 +v -0.629952 -3.732476 -0.444138 +v 0.838279 -3.965895 -0.010068 +f 49 30 64 +f 3 2 5 +f 3 5 7 +f 5 2 11 +f 7 5 13 +f 7 13 14 +f 5 11 21 +f 14 13 22 +f 23 15 26 +f 19 27 29 +f 12 4 30 +f 9 24 30 +f 16 8 32 +f 14 16 32 +f 5 21 33 +f 21 17 33 +f 26 9 35 +f 21 11 37 +f 27 6 37 +f 27 19 38 +f 19 29 38 +f 7 14 39 +f 32 7 39 +f 14 32 39 +f 29 27 40 +f 37 11 40 +f 27 37 40 +f 4 12 41 +f 29 10 41 +f 12 38 41 +f 38 29 41 +f 26 15 42 +f 16 14 43 +f 15 16 43 +f 1 42 43 +f 42 15 43 +f 35 4 44 +f 4 41 44 +f 41 10 44 +f 14 22 45 +f 42 1 45 +f 22 42 45 +f 1 43 45 +f 43 14 45 +f 20 25 46 +f 10 31 46 +f 31 20 46 +f 44 10 46 +f 18 34 47 +f 24 9 48 +f 9 28 48 +f 34 18 48 +f 6 27 49 +f 12 30 49 +f 38 12 49 +f 27 38 49 +f 8 44 50 +f 44 46 50 +f 17 21 51 +f 37 6 51 +f 21 37 51 +f 6 49 51 +f 49 17 51 +f 22 13 52 +f 9 26 52 +f 13 28 52 +f 28 9 52 +f 42 22 52 +f 26 42 52 +f 8 16 53 +f 16 15 53 +f 36 8 53 +f 2 3 54 +f 11 2 54 +f 10 29 54 +f 40 11 54 +f 29 40 54 +f 13 5 55 +f 28 13 55 +f 5 34 55 +f 48 28 55 +f 34 48 55 +f 5 33 56 +f 33 17 56 +f 34 5 56 +f 17 47 56 +f 47 34 56 +f 20 8 57 +f 25 20 57 +f 46 25 57 +f 8 50 57 +f 50 46 57 +f 8 20 58 +f 31 7 58 +f 20 31 58 +f 7 32 58 +f 32 8 58 +f 3 7 59 +f 7 31 59 +f 31 10 59 +f 54 3 59 +f 10 54 59 +f 30 4 60 +f 9 30 60 +f 4 35 60 +f 35 9 60 +f 18 30 61 +f 30 24 61 +f 24 48 61 +f 48 18 61 +f 26 35 62 +f 8 36 62 +f 36 26 62 +f 44 8 62 +f 35 44 62 +f 15 23 63 +f 23 26 63 +f 26 36 63 +f 53 15 63 +f 36 53 63 +f 30 18 64 +f 47 17 64 +f 18 47 64 +f 17 49 64 +o convex_1 +v 0.037229 3.143016 0.189766 +v -0.029214 0.472762 -1.411157 +v 0.037229 0.472762 -1.411157 +v 0.004007 1.307347 2.826511 +v -1.030716 1.841084 -2.346582 +v 1.038731 1.907736 -2.379647 +v -0.997292 1.740976 2.459195 +v 0.971883 1.807889 2.425529 +v 1.038731 0.473024 0.222831 +v -0.897020 0.472762 1.090324 +v -0.830375 2.842430 -2.279852 +v -0.796951 2.775517 2.292068 +v 0.838390 2.875886 -2.246187 +v 0.771542 2.775778 2.292068 +v 0.004007 2.008106 -3.080615 +v -1.030716 0.472762 -0.043489 +v 0.871814 0.473024 1.123989 +v 0.037229 2.074758 3.059767 +v -0.096062 1.307347 -2.813694 +v 0.905035 0.473024 -0.977712 +v -0.863799 0.472762 -1.011377 +v -0.529965 3.143016 -1.311964 +v -0.930444 2.842430 0.255896 +v 0.905035 2.875886 0.155500 +v 0.504556 3.109560 1.257450 +v -0.029214 2.875886 -2.746964 +v 0.804966 2.007845 -2.914090 +v -0.796951 1.940931 -2.880424 +v 0.504556 3.143016 -1.278298 +v -0.096062 2.809234 2.692450 +v -0.496541 3.076103 1.257450 +v -0.763527 2.007845 2.892640 +v 0.738118 1.907998 2.859576 +v 1.038731 2.107953 0.222831 +v -0.029214 0.472762 1.490705 +v -1.030716 2.007845 1.690896 +v 0.604625 1.440912 -2.613503 +v -0.596813 1.441174 2.659385 +v -0.696882 1.307347 -2.379647 +v 1.038731 1.707781 -2.346582 +v -0.663458 3.109560 0.022640 +v 0.604625 1.440912 2.592655 +v -1.030716 1.641390 -2.312917 +v -0.029214 3.143016 -1.746011 +v 0.070653 1.307347 -2.813694 +v 0.671473 3.109560 0.155500 +v 1.005307 1.941193 1.891086 +v -0.029214 3.076103 1.725162 +v 0.938459 2.808973 0.089371 +v 0.070653 2.809234 2.692450 +v -1.030716 2.074758 -1.478489 +v 1.038731 2.141410 -1.711744 +v 0.971883 1.641129 2.358799 +v 0.738118 2.041301 2.859576 +v -0.796951 2.041301 -2.880424 +v -0.029214 2.141671 -3.080615 +v -0.930444 2.842430 -0.377140 +v -0.062638 1.307347 2.826511 +v 1.038731 0.473024 -0.143283 +v 0.838390 2.642213 -2.479442 +v -0.830375 2.708865 2.292068 +v -0.863799 2.742321 -2.312917 +v -0.997292 1.641390 2.392464 +v -1.030716 1.807889 2.158608 +f 127 71 128 +f 66 67 74 +f 66 74 80 +f 67 66 83 +f 66 80 85 +f 83 66 85 +f 79 83 92 +f 86 65 93 +f 65 89 93 +f 94 76 96 +f 82 94 96 +f 82 68 97 +f 73 70 98 +f 67 73 99 +f 74 67 99 +f 81 68 99 +f 73 81 99 +f 69 80 100 +f 83 85 103 +f 92 83 103 +f 70 73 104 +f 91 70 104 +f 84 101 104 +f 101 91 104 +f 65 86 105 +f 86 75 105 +f 87 76 105 +f 95 65 105 +f 76 95 105 +f 68 81 106 +f 97 68 106 +f 80 69 107 +f 85 80 107 +f 69 92 107 +f 103 85 107 +f 92 103 107 +f 75 86 108 +f 90 75 108 +f 77 90 108 +f 86 93 108 +f 93 77 108 +f 67 83 109 +f 83 79 109 +f 84 67 109 +f 79 91 109 +f 101 84 109 +f 91 101 109 +f 88 77 110 +f 78 88 110 +f 89 78 110 +f 77 93 110 +f 93 89 110 +f 78 72 111 +f 73 98 111 +f 89 65 112 +f 76 94 112 +f 65 95 112 +f 95 76 112 +f 77 88 113 +f 88 78 113 +f 78 111 113 +f 111 98 113 +f 78 89 114 +f 94 82 114 +f 89 112 114 +f 112 94 114 +f 69 100 115 +f 100 87 115 +f 70 77 116 +f 98 70 116 +f 77 113 116 +f 113 98 116 +f 81 73 117 +f 72 97 117 +f 106 81 117 +f 97 106 117 +f 111 72 117 +f 73 111 117 +f 72 78 118 +f 97 72 118 +f 82 97 118 +f 78 114 118 +f 114 82 118 +f 75 90 119 +f 92 69 119 +f 92 119 120 +f 91 79 120 +f 90 91 120 +f 79 92 120 +f 119 90 120 +f 105 75 121 +f 87 105 121 +f 115 87 121 +f 68 82 122 +f 82 96 122 +f 74 99 122 +f 99 68 122 +f 102 74 122 +f 96 102 122 +f 73 67 123 +f 67 84 123 +f 104 73 123 +f 84 104 123 +f 77 70 124 +f 90 77 124 +f 70 91 124 +f 91 90 124 +f 76 87 125 +f 71 96 125 +f 96 76 125 +f 87 100 125 +f 69 115 126 +f 119 69 126 +f 75 119 126 +f 121 75 126 +f 115 121 126 +f 80 74 127 +f 96 71 127 +f 74 102 127 +f 102 96 127 +f 100 80 128 +f 71 125 128 +f 125 100 128 +f 80 127 128 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/319/319.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/319/319.urdf new file mode 100644 index 000000000..2e91a5f9b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/319/319.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/320/320.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/320/320.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/320/320.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/320/320.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/320/320.obj new file mode 100644 index 000000000..60806e876 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/320/320.obj @@ -0,0 +1,882 @@ +o convex_0 +v -0.479989 -2.835444 -0.387801 +v 0.068959 -2.780247 0.600307 +v 0.453400 -2.780247 0.463044 +v 0.041523 -4.509964 0.051255 +v 0.398527 -2.780247 -0.470298 +v -0.370023 -3.384361 0.408047 +v 0.288561 -4.070424 -0.332919 +v -0.287824 -4.070424 -0.305536 +v 0.041523 -4.262765 0.435545 +v 0.398527 -4.262765 0.023756 +v -0.370023 -4.207737 0.023756 +v -0.562409 -2.780247 0.051255 +v -0.013240 -3.521845 -0.552563 +v 0.563256 -3.082474 -0.030895 +v -0.013240 -4.262765 -0.415300 +v 0.398527 -3.521845 0.435661 +v -0.095659 -2.780247 -0.580062 +v -0.397570 -2.780247 0.463044 +v 0.398527 -3.548935 -0.415416 +v -0.397570 -3.494416 -0.415300 +v 0.014086 -3.576703 0.545309 +v 0.563256 -2.780247 -0.085892 +v -0.507316 -3.411790 0.023756 +v -0.260278 -4.070424 0.325781 +v -0.452443 -2.780247 -0.470182 +v 0.316107 -4.070424 0.325781 +v -0.260278 -4.345221 0.023756 +v 0.398527 -4.262765 -0.030895 +v 0.508273 -3.521845 0.078638 +v 0.041523 -4.262765 -0.415300 +v 0.068959 -2.917731 -0.580062 +v -0.562409 -2.808015 -0.113391 +v 0.041523 -4.509964 -0.031010 +v 0.371090 -3.521845 -0.442799 +v 0.563256 -2.835274 0.106137 +v 0.453400 -2.862873 -0.415416 +v -0.342697 -3.549104 0.408047 +v 0.508273 -3.603962 -0.030895 +v -0.479989 -3.604131 -0.031010 +v -0.013240 -2.808015 0.600307 +v -0.452443 -2.808015 0.380663 +v 0.014086 -4.262765 0.435545 +v -0.287824 -4.317453 -0.031010 +v 0.068959 -3.549104 0.545309 +v 0.041523 -3.494416 -0.552563 +v -0.013240 -3.549104 0.545309 +v -0.013240 -4.509964 -0.031010 +v -0.040786 -3.494416 -0.552563 +v -0.370023 -4.180478 -0.031010 +v -0.342697 -4.235167 0.078638 +v -0.452443 -3.549104 0.133636 +v 0.041523 -4.317453 0.380663 +f 42 27 52 +f 2 3 5 +f 2 5 12 +f 3 2 16 +f 12 5 17 +f 2 12 18 +f 15 8 20 +f 5 3 22 +f 12 17 25 +f 20 1 25 +f 16 9 26 +f 10 16 26 +f 10 4 28 +f 7 19 28 +f 16 10 29 +f 15 13 30 +f 7 28 30 +f 17 5 31 +f 13 17 31 +f 1 20 32 +f 23 12 32 +f 25 1 32 +f 12 25 32 +f 28 4 33 +f 15 30 33 +f 30 28 33 +f 19 7 34 +f 7 30 34 +f 31 5 34 +f 3 16 35 +f 22 3 35 +f 14 22 35 +f 29 14 35 +f 16 29 35 +f 14 19 36 +f 5 22 36 +f 22 14 36 +f 19 34 36 +f 34 5 36 +f 18 6 37 +f 19 14 38 +f 10 28 38 +f 28 19 38 +f 14 29 38 +f 29 10 38 +f 11 23 39 +f 32 20 39 +f 23 32 39 +f 2 18 40 +f 21 2 40 +f 6 18 41 +f 18 12 41 +f 12 23 41 +f 9 21 42 +f 37 24 42 +f 8 15 43 +f 27 11 43 +f 16 2 44 +f 9 16 44 +f 21 9 44 +f 2 21 44 +f 30 13 45 +f 13 31 45 +f 34 30 45 +f 31 34 45 +f 18 37 46 +f 40 18 46 +f 21 40 46 +f 42 21 46 +f 37 42 46 +f 4 27 47 +f 33 4 47 +f 15 33 47 +f 43 15 47 +f 27 43 47 +f 13 15 48 +f 17 13 48 +f 15 20 48 +f 25 17 48 +f 20 25 48 +f 20 8 49 +f 11 39 49 +f 39 20 49 +f 8 43 49 +f 43 11 49 +f 11 27 50 +f 37 11 50 +f 24 37 50 +f 27 42 50 +f 42 24 50 +f 23 11 51 +f 37 6 51 +f 11 37 51 +f 6 41 51 +f 41 23 51 +f 4 10 52 +f 26 9 52 +f 10 26 52 +f 27 4 52 +f 9 42 52 +o convex_1 +v 0.782819 -2.505280 0.051148 +v -1.331172 -0.117231 -0.003425 +v -1.331172 -0.117231 0.051148 +v 1.249675 -0.089577 -0.223053 +v 0.068892 -0.089577 0.984804 +v -0.040748 -1.763871 -0.937082 +v -0.589709 -2.587981 0.545358 +v 0.810103 -1.873963 0.792463 +v -0.836779 -0.089840 -0.882127 +v -0.644529 -2.478153 -0.607545 +v 0.782819 -0.199405 -0.854650 +v 0.810103 -1.928746 -0.717263 +v -0.864315 -1.846308 0.764986 +v 0.919996 -0.089577 0.737699 +v 0.014072 -2.780247 -0.607354 +v -0.809495 -0.089840 0.874895 +v 0.014072 -2.587981 0.764795 +v -0.891852 -1.928746 -0.717263 +v -1.001493 -2.148403 -0.003425 +v 0.453392 -2.780247 0.463117 +v -0.040748 -1.901355 0.929850 +v -0.589709 -2.780247 0.023670 +v 0.096429 -0.089577 -0.964559 +v 0.947532 -2.093621 0.023670 +v 1.222139 -0.117231 0.243298 +v 0.453392 -2.780247 -0.415394 +v -1.276099 -0.089840 -0.305294 +v 0.727998 -0.117231 0.902372 +v -0.864315 -1.873963 -0.799695 +v -0.013465 -2.505280 -0.772027 +v -0.452532 -2.780247 0.462926 +v 0.975069 -0.089577 -0.689786 +v -1.221279 -0.089840 0.325730 +v 1.222139 -0.144623 -0.360440 +v -0.452532 -2.780247 -0.470349 +v 0.590569 -2.532935 0.600312 +v -0.040748 -1.489431 0.957327 +v -0.809495 -2.532935 -0.030903 +v -0.754422 -0.117231 -0.909414 +v 0.919996 -2.175795 0.160866 +v -1.029029 -0.172014 -0.689786 +v 0.810103 -1.819181 -0.744740 +v 0.563285 -2.532935 -0.552590 +v 0.919996 -2.231104 -0.030903 +v -0.974209 -2.148403 -0.195576 +v -0.946672 -2.093621 0.298253 +v 0.590569 -2.780247 -0.003425 +v 0.041608 -2.780247 0.627599 +v -1.001493 -0.364280 0.655267 +v -0.013465 -0.886032 -0.964559 +v 0.096429 -1.819181 0.929850 +v -0.095569 -0.172014 0.984804 +v -0.836779 -1.928746 0.764986 +v 1.249675 -0.172014 -0.030903 +v -0.122852 -1.846572 0.929850 +v 0.810103 -1.956401 0.764986 +v 0.343499 -1.819181 -0.854650 +v -0.068032 -2.560327 0.764795 +v -0.836779 -0.474109 -0.882127 +v 1.167066 -0.089577 0.353207 +v -0.177925 -0.089577 -0.964559 +v 0.782819 -0.474109 0.874895 +v -0.864315 -1.928746 0.737508 +v 0.727998 -1.983528 0.792463 +f 88 108 116 +f 56 57 66 +f 55 54 71 +f 67 72 74 +f 57 56 75 +f 72 67 78 +f 54 55 79 +f 66 57 80 +f 62 70 81 +f 70 79 81 +f 67 62 82 +f 81 58 82 +f 62 81 82 +f 59 74 83 +f 74 72 83 +f 75 56 84 +f 63 75 84 +f 55 65 85 +f 68 57 85 +f 79 55 85 +f 84 56 86 +f 62 67 87 +f 67 74 87 +f 72 53 88 +f 80 57 89 +f 74 59 90 +f 62 87 90 +f 87 74 90 +f 88 53 92 +f 79 61 93 +f 81 79 93 +f 64 82 94 +f 63 84 94 +f 86 64 94 +f 84 86 94 +f 53 78 95 +f 78 67 95 +f 82 64 95 +f 67 82 95 +f 56 76 96 +f 86 56 96 +f 64 86 96 +f 92 53 96 +f 76 92 96 +f 53 95 96 +f 95 64 96 +f 70 62 97 +f 71 54 97 +f 54 79 97 +f 79 70 97 +f 62 90 97 +f 90 71 97 +f 55 71 98 +f 90 59 98 +f 71 90 98 +f 53 72 99 +f 78 53 99 +f 72 78 99 +f 83 72 100 +f 88 69 100 +f 72 88 100 +f 65 68 101 +f 85 65 101 +f 68 85 101 +f 63 58 102 +f 75 63 102 +f 58 91 102 +f 73 69 103 +f 89 73 103 +f 80 89 103 +f 57 68 104 +f 89 57 104 +f 68 89 104 +f 76 56 106 +f 56 77 106 +f 92 76 106 +f 77 92 106 +f 68 65 107 +f 89 68 107 +f 73 89 107 +f 65 105 107 +f 77 60 108 +f 92 77 108 +f 88 92 108 +f 58 63 109 +f 82 58 109 +f 63 94 109 +f 94 82 109 +f 69 73 110 +f 59 83 110 +f 100 69 110 +f 83 100 110 +f 105 59 110 +f 73 107 110 +f 107 105 110 +f 58 81 111 +f 61 91 111 +f 91 58 111 +f 93 61 111 +f 81 93 111 +f 56 66 112 +f 66 60 112 +f 77 56 112 +f 60 77 112 +f 57 75 113 +f 61 79 113 +f 85 57 113 +f 79 85 113 +f 91 61 113 +f 75 102 113 +f 102 91 113 +f 60 66 114 +f 66 80 114 +f 103 60 114 +f 80 103 114 +f 65 55 115 +f 55 98 115 +f 98 59 115 +f 59 105 115 +f 105 65 115 +f 69 88 116 +f 60 103 116 +f 103 69 116 +f 108 60 116 +o convex_2 +v -0.095617 1.063804 -0.937103 +v 0.041447 3.479680 0.023625 +v 0.068860 3.259969 0.243476 +v -1.440727 1.091238 -0.031018 +v 0.782668 1.063568 0.847471 +v 1.276905 1.091238 -0.332925 +v -0.836838 2.435993 0.682629 +v -0.782013 2.518533 -0.717435 +v 0.782668 2.490862 -0.689840 +v 0.810350 2.490862 0.710042 +v -0.754600 1.063804 0.847471 +v -0.809425 3.149995 -0.031018 +v 0.810350 3.149995 0.051220 +v -0.836838 1.063804 -0.854499 +v -0.040791 2.738244 0.765050 +v 0.782668 1.063804 -0.827087 +v 0.014034 2.710809 -0.772261 +v 1.304318 1.063568 0.023625 +v 0.014034 1.255844 0.929893 +v 0.041447 3.479680 -0.031018 +v 1.194667 1.091238 0.353127 +v -1.221155 1.063804 0.353127 +v -1.248568 1.228410 -0.387933 +v 0.810350 3.149995 -0.031018 +v -0.864251 2.353690 -0.689840 +v -0.672093 3.204863 0.023807 +v 0.014034 1.146107 -0.937103 +v -0.836838 1.118673 0.819876 +v -0.040791 3.479680 -0.031018 +v -1.440727 1.091238 -0.085844 +v 0.014034 2.765678 -0.744848 +v -0.809425 1.283279 -0.854499 +v 0.837763 2.381361 -0.662427 +v -0.836838 3.095126 -0.031018 +v 0.123954 2.710573 0.765050 +v 0.178780 1.091238 0.929893 +v -0.644680 2.518533 0.710042 +v 0.782668 1.228410 0.847471 +v 1.084747 1.063568 -0.552593 +v -0.123030 3.424574 0.051038 +v -0.150443 1.118673 0.929893 +v 1.304318 1.091238 0.023625 +v 0.782668 1.173541 -0.827269 +v -1.275981 1.063804 -0.360338 +v 0.837763 2.436229 0.682629 +v -1.083822 1.722701 0.462961 +v -0.424840 2.628270 -0.744848 +v 0.782668 2.518533 0.710042 +v -0.864251 2.985389 0.023807 +v 0.837763 3.067455 0.051220 +v 0.920001 1.091238 0.710042 +v -0.836838 2.902849 -0.250503 +v 1.276905 1.173541 -0.250686 +v 1.167254 1.448121 -0.415163 +v -0.040791 1.942175 -0.854682 +v 0.096541 2.738007 -0.744848 +v 0.837763 3.067455 -0.031018 +v -0.809425 2.957954 -0.250503 +v -0.836838 2.463664 -0.689840 +v -1.083822 1.228410 -0.580006 +v -0.782013 2.628270 0.545382 +v -0.782013 1.585529 0.792463 +v -0.150443 2.655704 0.765050 +v -0.040791 2.765678 -0.744848 +f 163 145 180 +f 118 119 129 +f 119 118 131 +f 118 129 136 +f 121 134 137 +f 121 127 138 +f 136 129 140 +f 132 117 143 +f 133 125 143 +f 138 127 144 +f 118 136 145 +f 128 142 145 +f 141 139 146 +f 145 136 147 +f 117 130 148 +f 141 124 148 +f 130 141 148 +f 125 140 149 +f 123 128 150 +f 146 120 150 +f 119 131 151 +f 131 135 151 +f 151 135 152 +f 127 121 152 +f 126 151 154 +f 151 152 154 +f 152 121 154 +f 130 117 155 +f 117 132 155 +f 134 121 155 +f 122 134 155 +f 131 118 156 +f 118 145 156 +f 145 142 156 +f 152 135 157 +f 127 152 157 +f 134 122 158 +f 137 134 158 +f 132 143 159 +f 143 125 159 +f 125 149 159 +f 155 132 159 +f 149 155 159 +f 138 120 160 +f 121 138 160 +f 120 146 160 +f 146 139 160 +f 130 155 160 +f 155 121 160 +f 129 126 161 +f 137 158 161 +f 123 120 162 +f 120 138 162 +f 144 123 162 +f 138 144 162 +f 124 145 163 +f 148 124 163 +f 129 119 164 +f 126 129 164 +f 119 151 164 +f 151 126 164 +f 120 123 165 +f 150 120 165 +f 123 150 165 +f 140 129 166 +f 129 161 166 +f 161 158 166 +f 121 137 167 +f 154 121 167 +f 126 154 167 +f 161 126 167 +f 137 161 167 +f 146 150 168 +f 158 122 169 +f 122 155 170 +f 155 149 170 +f 169 122 170 +f 143 117 171 +f 133 143 171 +f 117 148 171 +f 163 133 171 +f 148 163 171 +f 125 133 172 +f 140 125 172 +f 136 140 172 +f 133 147 172 +f 147 136 172 +f 149 140 173 +f 140 166 173 +f 166 158 173 +f 158 169 173 +f 170 149 173 +f 169 170 173 +f 145 124 174 +f 128 145 174 +f 150 128 174 +f 168 150 174 +f 168 174 175 +f 124 141 175 +f 141 146 175 +f 146 168 175 +f 174 124 175 +f 141 130 176 +f 139 141 176 +f 130 160 176 +f 160 139 176 +f 128 123 177 +f 142 128 177 +f 123 153 177 +f 153 131 177 +f 131 156 177 +f 156 142 177 +f 123 144 178 +f 144 127 178 +f 153 123 178 +f 127 157 178 +f 178 157 179 +f 135 131 179 +f 131 153 179 +f 157 135 179 +f 153 178 179 +f 147 133 180 +f 145 147 180 +f 133 163 180 +o convex_3 +v -0.836638 1.063568 0.820003 +v 1.194549 1.063568 0.353401 +v 1.359407 0.514312 0.353401 +v -1.193702 -0.089577 0.325993 +v 0.727838 -0.089577 0.902361 +v -1.221049 1.063568 0.325993 +v 0.700490 1.063568 0.874886 +v -0.809291 -0.089577 0.874886 +v 1.167201 -0.089577 0.325926 +v -0.040727 0.486995 1.012126 +v 0.755443 0.486995 0.929835 +v -1.276260 0.432138 0.353401 +v 0.068921 -0.089577 0.984718 +v 0.014226 1.008597 0.957243 +v 1.194549 1.063568 0.325926 +v -0.809291 0.541740 0.902361 +v 0.810396 1.035913 0.847478 +v 0.810396 -0.062035 0.874886 +v -0.946544 -0.089577 0.737646 +v -0.589738 1.063568 0.874886 +v -0.095679 -0.089577 0.984718 +v -0.809291 0.267451 0.902361 +v 0.920043 -0.089577 0.737646 +v -1.166355 0.514312 0.490641 +v -1.221049 1.063568 0.353401 +v 1.359407 0.486995 0.325926 +v 0.782790 0.733969 0.902361 +v 0.014226 0.486995 1.012126 +v -0.177980 1.063568 0.929835 +v -1.193702 -0.034606 0.380876 +v -0.891591 0.486995 0.820003 +v 1.167201 -0.089577 0.353401 +v 0.920043 1.063568 0.710171 +f 187 197 213 +f 181 182 186 +f 182 181 187 +f 184 185 188 +f 185 184 189 +f 184 186 189 +f 186 184 192 +f 188 185 193 +f 185 191 193 +f 182 183 195 +f 186 182 195 +f 189 186 195 +f 183 191 198 +f 191 185 198 +f 184 188 199 +f 187 181 200 +f 196 190 200 +f 181 196 200 +f 188 193 201 +f 193 190 201 +f 190 196 202 +f 199 188 202 +f 188 201 202 +f 201 190 202 +f 185 189 203 +f 183 198 203 +f 198 185 203 +f 192 199 204 +f 181 186 205 +f 186 192 205 +f 204 181 205 +f 192 204 205 +f 195 183 206 +f 189 195 206 +f 191 183 207 +f 187 194 207 +f 183 197 207 +f 197 187 207 +f 190 193 208 +f 193 191 208 +f 194 190 208 +f 191 207 208 +f 207 194 208 +f 194 187 209 +f 190 194 209 +f 187 200 209 +f 200 190 209 +f 192 184 210 +f 184 199 210 +f 199 192 210 +f 196 181 211 +f 202 196 211 +f 199 202 211 +f 181 204 211 +f 204 199 211 +f 183 203 212 +f 203 189 212 +f 206 183 212 +f 189 206 212 +f 183 182 213 +f 182 187 213 +f 197 183 213 +o convex_4 +v -0.178087 0.514312 -0.992015 +v 1.194694 1.063568 -0.388046 +v 1.221977 0.981055 -0.388046 +v -1.193651 -0.089577 -0.387987 +v -1.221187 1.063568 -0.387987 +v 1.167157 -0.089577 -0.415480 +v 0.782910 -0.089577 -0.854666 +v 0.673017 1.063568 -0.854666 +v -0.836688 -0.089577 -0.882100 +v -0.809404 1.035913 -0.882100 +v -0.013373 0.020252 -0.992015 +v 0.782910 0.651569 -0.882159 +v 1.304587 0.459567 -0.388046 +v -1.221187 0.486995 -0.497902 +v 0.068984 1.063568 -0.937087 +v -0.809404 0.459567 -0.937087 +v 1.167157 -0.089577 -0.388046 +v 0.920087 1.063568 -0.717435 +v 0.096267 0.514312 -0.992015 +v 1.304587 0.459567 -0.415480 +v 0.782910 0.212480 -0.882159 +v -1.028937 -0.089577 -0.690001 +v -0.178087 -0.089577 -0.964462 +v -0.919044 1.063568 -0.772304 +v 0.974907 -0.089577 -0.690001 +v -1.276260 0.706427 -0.415480 +v -0.809404 -0.034606 -0.909594 +v -0.150550 1.063568 -0.937087 +v -0.974117 0.541740 -0.772304 +v 0.700553 0.459567 -0.909594 +v -1.193651 1.063568 -0.470467 +v -1.276260 0.432138 -0.415480 +v 1.112337 1.063568 -0.525336 +v 0.782910 1.063568 -0.827172 +v 0.096267 -0.089577 -0.964462 +f 236 224 248 +f 216 215 218 +f 219 217 220 +f 218 215 221 +f 220 217 222 +f 218 217 226 +f 216 218 226 +f 218 221 228 +f 223 214 229 +f 214 224 229 +f 217 219 230 +f 226 217 230 +f 219 226 230 +f 221 215 231 +f 224 214 232 +f 221 225 232 +f 228 221 232 +f 214 228 232 +f 216 226 233 +f 226 219 233 +f 225 231 233 +f 220 224 234 +f 225 233 234 +f 222 217 235 +f 229 222 235 +f 220 222 236 +f 218 228 237 +f 219 220 238 +f 233 219 238 +f 220 234 238 +f 234 233 238 +f 229 224 240 +f 222 229 240 +f 236 222 240 +f 224 236 240 +f 214 223 241 +f 228 214 241 +f 237 228 241 +f 223 237 241 +f 223 229 242 +f 235 227 242 +f 229 235 242 +f 237 223 242 +f 227 239 242 +f 224 232 243 +f 232 225 243 +f 234 224 243 +f 225 234 243 +f 218 237 244 +f 239 218 244 +f 237 242 244 +f 242 239 244 +f 217 218 245 +f 235 217 245 +f 227 235 245 +f 218 239 245 +f 239 227 245 +f 215 216 246 +f 231 215 246 +f 216 233 246 +f 233 231 246 +f 225 221 247 +f 221 231 247 +f 231 225 247 +f 224 220 248 +f 220 236 248 +o convex_5 +v -2.977845 0.486995 -0.085914 +v 1.359576 1.063568 0.023791 +v 1.359576 1.063568 -0.031061 +v 1.331661 -0.089577 -0.031061 +v -1.221020 -0.089577 0.325864 +v -1.193700 -0.089577 -0.387987 +v 1.221785 1.063568 -0.387987 +v -1.221020 1.063568 0.325864 +v 2.732132 0.514312 0.243481 +v -1.248935 1.063568 -0.387987 +v 2.786773 0.486995 -0.223220 +v 1.194465 -0.089577 -0.387987 +v 1.167145 -0.089577 0.325864 +v 1.194465 1.063568 0.325864 +v -2.758093 0.569169 0.188558 +v 2.814093 0.706427 0.051253 +v 2.842008 0.322309 -0.003670 +v -2.758093 0.486995 -0.250681 +v -2.813328 0.706427 -0.085914 +v -2.758093 0.322309 0.023791 +v -1.496007 1.063568 -0.031061 +v 1.496772 0.486995 -0.387987 +v -1.386131 -0.089577 -0.003670 +v 1.633968 0.486995 0.325864 +v 3.061759 0.541740 0.023791 +v -2.730773 0.459567 0.188558 +v -2.593576 0.514312 0.216020 +v 2.759452 0.569169 -0.195759 +v -2.786007 0.706427 -0.003670 +v -2.758093 0.322309 -0.031061 +v 2.814093 0.569169 0.216020 +v -2.758093 0.541740 -0.250681 +v -1.330896 0.459567 0.325864 +v -1.303576 0.432138 -0.387987 +v 2.759452 0.706427 -0.031061 +v -3.005759 0.541740 -0.003670 +v 2.786773 0.486995 0.216020 +v 2.759452 0.322309 -0.085914 +v -1.276255 -0.089577 -0.305603 +v 1.277020 1.063568 -0.333064 +v -1.496007 1.063568 -0.085914 +v -2.566256 0.678998 -0.223220 +v 1.221785 -0.089577 0.270942 +v 2.814093 0.322309 0.023791 +v 2.842008 0.322309 -0.031061 +v -3.005759 0.486995 -0.003670 +v -2.703452 0.432138 -0.223220 +v -1.386131 -0.089577 0.051253 +v 3.033845 0.486995 0.051253 +v 2.814093 0.459567 -0.195759 +v 1.249700 -0.089577 -0.305603 +v 3.061759 0.541740 -0.003670 +f 293 298 300 +f 252 253 254 +f 250 251 255 +f 250 255 256 +f 255 254 258 +f 256 255 258 +f 252 254 260 +f 254 255 260 +f 253 252 261 +f 256 253 261 +f 250 256 262 +f 256 261 262 +f 251 250 264 +f 250 262 264 +f 256 258 269 +f 255 259 270 +f 260 255 270 +f 259 260 270 +f 254 253 271 +f 261 257 272 +f 257 262 272 +f 262 261 272 +f 268 253 274 +f 256 263 275 +f 263 274 275 +f 274 253 275 +f 259 255 276 +f 263 256 277 +f 256 269 277 +f 269 267 277 +f 271 268 278 +f 262 257 279 +f 264 262 279 +f 273 264 279 +f 266 249 280 +f 249 267 280 +f 253 256 281 +f 275 253 281 +f 256 275 281 +f 258 254 282 +f 254 266 282 +f 266 280 282 +f 280 258 282 +f 276 255 283 +f 267 249 284 +f 263 277 284 +f 277 267 284 +f 257 261 285 +f 279 257 285 +f 254 271 287 +f 278 254 287 +f 271 278 287 +f 255 251 288 +f 251 264 288 +f 283 255 288 +f 264 283 288 +f 258 267 289 +f 269 258 289 +f 267 269 289 +f 267 258 290 +f 258 280 290 +f 280 267 290 +f 261 252 291 +f 252 265 291 +f 265 261 291 +f 261 265 292 +f 285 261 292 +f 265 252 293 +f 260 286 293 +f 274 263 294 +f 268 274 294 +f 249 278 294 +f 278 268 294 +f 284 249 294 +f 263 284 294 +f 249 266 295 +f 266 254 295 +f 278 249 295 +f 254 278 295 +f 253 268 296 +f 271 253 296 +f 268 271 296 +f 273 279 297 +f 279 285 297 +f 292 265 297 +f 285 292 297 +f 265 293 297 +f 260 259 298 +f 286 260 298 +f 293 286 298 +f 252 260 299 +f 293 252 299 +f 260 293 299 +f 264 273 300 +f 259 276 300 +f 283 264 300 +f 276 283 300 +f 273 297 300 +f 297 293 300 +f 298 259 300 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/320/320.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/320/320.urdf new file mode 100644 index 000000000..bffd0e8d3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/320/320.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/321/321.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/321/321.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/321/321.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/321/321.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/321/321.obj new file mode 100644 index 000000000..e6587927a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/321/321.obj @@ -0,0 +1,1350 @@ +o convex_0 +v -0.731586 1.683050 1.057140 +v -0.957197 1.523869 0.844821 +v -0.957197 1.683050 0.844821 +v -0.957197 1.537139 1.057140 +v -0.731586 1.497290 1.043859 +v -0.731586 1.696359 0.844821 +v -0.957197 1.696359 1.057140 +v -0.930629 1.497290 0.844821 +v -0.943924 1.497290 1.057140 +f 8 5 9 +f 3 2 4 +f 2 3 6 +f 1 5 6 +f 6 3 7 +f 3 4 7 +f 4 1 7 +f 1 6 7 +f 2 6 8 +f 6 5 8 +f 4 2 9 +f 1 4 9 +f 5 1 9 +f 2 8 9 +o convex_1 +v 1.179459 1.590199 1.004039 +v -0.731586 1.683077 0.844821 +v -0.731586 1.696359 0.844821 +v -0.731586 1.683077 1.057140 +v -0.731586 1.576918 1.043859 +v 1.206012 1.576918 0.844821 +v 1.139630 1.576918 1.057140 +v 1.046695 1.603469 0.844821 +v -0.572269 1.683077 1.057140 +v -0.200719 1.643256 0.844821 +v -0.731586 1.576918 1.057140 +v 1.020142 1.576918 0.844821 +v -0.665204 1.696359 0.871382 +f 18 10 22 +f 12 11 13 +f 13 11 14 +f 11 12 15 +f 14 15 16 +f 15 10 16 +f 10 15 17 +f 15 12 17 +f 16 10 18 +f 13 16 18 +f 14 11 19 +f 11 15 19 +f 13 14 20 +f 16 13 20 +f 14 16 20 +f 15 14 21 +f 14 19 21 +f 19 15 21 +f 12 13 22 +f 10 17 22 +f 17 12 22 +f 13 18 22 +o convex_2 +v -0.890822 -2.006176 -1.013168 +v -0.851040 -0.427036 -0.960065 +v -0.797965 -0.519984 -1.052954 +v -0.797965 -2.417719 -0.973358 +v -0.877554 -0.599682 -1.079506 +v -0.917383 -2.417719 -0.960065 +v -0.797965 -0.546485 -1.079506 +v -0.877554 -0.745631 -0.960065 +v -0.797965 -2.417719 -0.986616 +v -0.917383 -2.284825 -0.999886 +v -0.864285 -0.427036 -1.079506 +f 27 30 33 +f 25 24 26 +f 26 24 28 +f 25 26 29 +f 23 27 29 +f 28 24 30 +f 26 28 31 +f 29 26 31 +f 23 29 31 +f 27 23 32 +f 30 27 32 +f 28 30 32 +f 31 28 32 +f 23 31 32 +f 24 25 33 +f 25 29 33 +f 29 27 33 +f 30 24 33 +o convex_3 +v -0.837778 -0.625885 0.990804 +v -0.943925 1.231845 0.844835 +v -0.943925 1.231845 0.924435 +v -0.824504 -2.444262 0.844835 +v -0.851037 -0.188364 0.844835 +v -0.824504 -2.271414 0.990804 +v -0.930637 1.497290 0.990804 +v -0.797956 -2.271414 0.844835 +v -0.797956 -2.444262 0.990804 +v -0.930637 1.497290 0.844835 +v -0.943925 1.244963 0.990804 +v -0.824504 -2.444262 0.937709 +v -0.851037 -0.175246 0.990804 +f 43 40 46 +f 36 35 37 +f 37 35 38 +f 39 34 40 +f 38 34 41 +f 37 38 41 +f 34 39 42 +f 41 34 42 +f 37 41 42 +f 38 35 43 +f 40 43 44 +f 35 36 44 +f 39 40 44 +f 43 35 44 +f 39 44 45 +f 36 37 45 +f 42 39 45 +f 37 42 45 +f 44 36 45 +f 34 38 46 +f 40 34 46 +f 38 43 46 +o convex_4 +v -0.811230 -0.320825 -1.079506 +v -0.930637 1.510562 -0.893709 +v -0.851037 1.510562 -0.906985 +v -0.851037 -0.427036 -0.893709 +v -0.877556 -0.400483 -1.079506 +v -0.797956 1.510562 -0.933538 +v -0.943925 1.470732 -0.933538 +v -0.877556 -0.387207 -0.893709 +v -0.797956 -0.427036 -1.066211 +v -0.797956 1.364331 -0.920280 +v -0.943925 1.364331 -0.893709 +f 54 48 57 +f 49 48 50 +f 48 49 52 +f 52 47 53 +f 47 51 53 +f 48 52 53 +f 50 48 54 +f 51 50 54 +f 51 47 55 +f 50 51 55 +f 47 52 55 +f 55 52 56 +f 49 50 56 +f 52 49 56 +f 50 55 56 +f 48 53 57 +f 53 51 57 +f 51 54 57 +o convex_5 +v -0.917383 1.683087 0.765015 +v -0.943919 1.510578 -0.920078 +v -0.957197 1.603435 0.114816 +v -0.930661 1.510578 0.844648 +v -0.917383 1.537123 -0.920078 +v -0.957197 1.523851 0.844648 +v -0.957197 1.683087 0.791444 +v -0.943919 1.550396 -0.840444 +v -0.917383 1.510578 -0.906777 +f 59 62 66 +f 60 59 63 +f 59 61 63 +f 63 61 64 +f 61 58 64 +f 60 63 64 +f 59 60 65 +f 58 62 65 +f 62 59 65 +f 60 64 65 +f 64 58 65 +f 61 59 66 +f 58 61 66 +f 62 58 66 +o convex_6 +v -0.824503 1.696359 0.831417 +v -0.864285 1.510598 -0.933522 +v -0.797965 1.510598 -0.933522 +v -0.797965 1.550405 -0.933522 +v -0.917383 1.550405 -0.867026 +v -0.917383 1.656515 0.778325 +v -0.797965 1.669790 0.844821 +v -0.917383 1.683065 0.751865 +v -0.917383 1.510598 -0.906889 +f 69 72 75 +f 69 68 70 +f 67 70 71 +f 72 69 73 +f 69 70 73 +f 70 67 73 +f 67 72 73 +f 67 71 74 +f 71 72 74 +f 72 67 74 +f 68 69 75 +f 70 68 75 +f 71 70 75 +f 72 71 75 +o convex_7 +v -0.797942 -0.812076 -1.066225 +v 0.741519 -0.373951 -0.999886 +v 0.741519 -0.400690 -0.999886 +v -0.797942 -1.607959 -0.999886 +v -0.704966 -0.373951 -1.052953 +v -0.784531 -1.899992 -1.013159 +v 0.741519 -0.400690 -1.013159 +v 0.436219 -0.373951 -0.999886 +v -0.691705 -0.373951 -1.079506 +v -0.797942 -1.899992 -0.999886 +v -0.797942 -0.373951 -1.066225 +v -0.784531 -0.533487 -1.079506 +f 76 86 87 +f 78 77 79 +f 77 78 82 +f 78 81 82 +f 79 77 83 +f 80 79 83 +f 77 80 83 +f 80 77 84 +f 77 82 84 +f 78 79 85 +f 79 76 85 +f 76 81 85 +f 81 78 85 +f 76 79 86 +f 79 80 86 +f 80 84 86 +f 86 84 87 +f 81 76 87 +f 82 81 87 +f 84 82 87 +o convex_8 +v 1.152853 -1.461964 -0.933533 +v -0.797942 -2.417550 -0.986597 +v -0.731444 -2.417550 -0.986597 +v 0.728170 -0.373951 -0.999878 +v 1.099694 -2.324532 -0.933533 +v -0.691624 -2.390945 -0.960065 +v 1.033393 -0.387354 -0.999878 +v 1.179334 -0.546585 -0.960065 +v -0.797942 -1.873444 -0.986597 +v -0.784603 -2.178704 -0.999878 +v 0.701689 -2.324532 -0.920251 +v 0.728170 -0.373951 -0.986597 +v 1.206012 -0.373951 -0.986604 +v 0.714831 -2.351337 -0.946799 +v -0.797942 -1.873444 -0.999878 +v 1.099694 -2.324532 -0.920251 +v 1.006715 -0.373951 -0.973331 +v 1.099694 -1.926455 -0.920251 +v 1.126176 -1.939657 -0.946799 +v -0.797942 -2.152099 -0.973331 +v 0.714831 -2.351337 -0.920251 +f 101 103 108 +f 90 89 97 +f 91 94 97 +f 91 96 99 +f 94 91 100 +f 95 88 100 +f 91 99 100 +f 90 97 101 +f 97 94 101 +f 89 96 102 +f 96 91 102 +f 91 97 102 +f 97 89 102 +f 101 92 103 +f 99 96 104 +f 95 100 104 +f 100 99 104 +f 88 95 105 +f 95 93 105 +f 93 98 105 +f 103 88 105 +f 98 103 105 +f 100 88 106 +f 94 100 106 +f 92 101 106 +f 101 94 106 +f 88 103 106 +f 103 92 106 +f 89 93 107 +f 93 95 107 +f 96 89 107 +f 95 104 107 +f 104 96 107 +f 89 90 108 +f 93 89 108 +f 98 93 108 +f 90 101 108 +f 103 98 108 +o convex_9 +v 1.099872 1.284909 -0.906980 +v 1.006944 -0.373951 -0.999878 +v 1.033522 -0.373951 -0.999878 +v 1.060043 1.669816 -1.013149 +v 1.206012 -0.373951 -0.986607 +v 1.192703 -0.373951 -0.906980 +v 1.006944 1.656412 -0.906980 +v 1.006944 1.669816 -1.013149 +v 1.020253 -0.373951 -0.973336 +v 1.113084 1.006232 -1.013149 +v 1.206012 -0.187900 -0.906980 +v 1.073313 1.643209 -0.906980 +f 118 112 120 +f 110 111 113 +f 110 113 114 +f 114 109 115 +f 110 115 116 +f 115 112 116 +f 110 114 117 +f 115 110 117 +f 114 115 117 +f 111 110 118 +f 113 111 118 +f 110 116 118 +f 116 112 118 +f 109 114 119 +f 114 113 119 +f 118 109 119 +f 113 118 119 +f 112 115 120 +f 115 109 120 +f 109 118 120 +o convex_10 +v -0.744888 -0.825355 1.057150 +v -0.943925 1.244963 0.990812 +v -0.943925 1.244963 1.043876 +v -0.731586 1.497290 1.057142 +v -0.797973 -2.444262 0.990804 +v -0.877538 -0.175631 1.070432 +v -0.731586 -1.992465 1.004086 +v -0.824495 -2.271414 1.017368 +v -0.731586 1.497290 1.043876 +v -0.943925 1.497290 1.057142 +v -0.930644 1.497290 0.990812 +v -0.731586 -2.444262 1.017368 +v -0.744888 -0.201867 1.070432 +v -0.824495 -2.072330 1.030618 +v -0.850996 -0.175631 0.990804 +v -0.824495 -2.271414 0.990804 +f 135 125 136 +f 123 122 128 +f 126 123 128 +f 124 127 129 +f 122 123 130 +f 123 126 130 +f 126 124 130 +f 124 129 130 +f 130 129 131 +f 122 130 131 +f 127 124 132 +f 125 127 132 +f 128 125 132 +f 124 126 133 +f 121 132 133 +f 132 124 133 +f 126 128 134 +f 132 121 134 +f 128 132 134 +f 133 126 134 +f 121 133 134 +f 127 125 135 +f 129 127 135 +f 131 129 135 +f 122 131 135 +f 125 128 136 +f 128 122 136 +f 122 135 136 +o convex_11 +v 1.152948 -0.254453 -0.044453 +v 1.192730 -0.373951 -0.906980 +v 1.206012 -0.373951 -0.906980 +v 1.139666 0.435593 -0.906980 +v 1.206004 0.435593 -0.031165 +v 1.126385 -0.373951 -0.031165 +v 1.179457 0.395734 -0.031165 +v 1.166206 0.435593 -0.853742 +v 1.206004 0.435593 -0.323160 +v 1.126385 -0.373951 -0.203739 +v 1.126385 -0.214673 -0.031165 +v 1.179449 -0.373951 -0.880318 +v 1.206012 -0.174894 -0.906980 +v 1.206004 0.369108 -0.031165 +v 1.206012 -0.373951 -0.853742 +v 1.139666 0.355875 -0.906980 +v 1.139666 0.435593 -0.827251 +f 140 147 153 +f 139 138 140 +f 138 139 142 +f 142 141 143 +f 140 141 144 +f 144 141 145 +f 138 142 146 +f 146 142 147 +f 142 143 147 +f 140 146 147 +f 138 146 148 +f 139 140 149 +f 140 144 149 +f 145 141 149 +f 144 145 149 +f 142 137 150 +f 141 142 150 +f 137 142 151 +f 142 139 151 +f 139 149 151 +f 149 141 151 +f 150 137 151 +f 141 150 151 +f 140 138 152 +f 146 140 152 +f 138 148 152 +f 148 146 152 +f 141 140 153 +f 143 141 153 +f 147 143 153 +o convex_12 +v -0.107668 -0.227674 1.057160 +v -0.731544 -2.006311 1.017354 +v -0.718241 -2.006311 1.017354 +v 1.020183 1.324380 1.030623 +v -0.731544 1.576918 1.043884 +v 1.033486 1.298074 1.057160 +v 1.033486 -0.413570 1.030623 +v 1.033486 0.448565 1.017354 +v -0.731544 -0.798339 1.057160 +v -0.731544 1.576918 1.057160 +v -0.731544 -1.381982 1.017354 +v -0.718241 -2.006311 1.030623 +v 1.033486 -0.413570 1.017354 +v 1.033486 1.576918 1.057160 +v 1.033486 1.576918 1.043884 +v 0.834281 -0.612444 1.030623 +f 166 160 169 +f 159 154 160 +f 159 160 161 +f 156 155 161 +f 158 157 161 +f 158 155 162 +f 154 159 162 +f 158 162 163 +f 162 159 163 +f 155 158 164 +f 161 155 164 +f 158 161 164 +f 155 156 165 +f 162 155 165 +f 161 160 166 +f 156 161 166 +f 159 161 167 +f 158 163 167 +f 163 159 167 +f 157 158 168 +f 161 157 168 +f 158 167 168 +f 167 161 168 +f 160 154 169 +f 154 162 169 +f 165 156 169 +f 162 165 169 +f 156 166 169 +o convex_13 +v 1.033486 -2.311549 0.897929 +v 1.046768 -0.427036 1.017347 +v 1.033486 -0.427036 1.017347 +v 1.033486 -2.192015 0.924466 +v 1.113113 -2.112141 0.897929 +v 1.113113 -2.125422 0.924466 +v 1.033486 -0.599697 0.990786 +v 1.060042 -0.612979 1.017347 +f 173 175 177 +f 172 170 173 +f 173 170 175 +f 170 174 175 +f 170 172 176 +f 172 171 176 +f 174 170 176 +f 171 174 176 +f 171 172 177 +f 172 173 177 +f 174 171 177 +f 175 174 177 +o convex_14 +v -0.877558 -2.430990 -0.575101 +v -0.837769 -1.249967 -0.084164 +v -0.851035 -1.249967 -0.084164 +v -0.877558 -1.249967 -0.960065 +v -0.917383 -2.390991 -0.880414 +v -0.877558 -2.430990 -0.097454 +v -0.824503 -1.488923 -0.097454 +v -0.864310 -1.303146 -0.960065 +v -0.851035 -2.430990 -0.124032 +v -0.890833 -2.298160 -0.960065 +v -0.890833 -1.263262 -0.946689 +v -0.917383 -2.417580 -0.960065 +v -0.837769 -1.249967 -0.469043 +v -0.851035 -2.430990 -0.084164 +f 183 186 191 +f 180 179 181 +f 180 182 183 +f 183 178 186 +f 181 185 187 +f 185 184 187 +f 184 186 187 +f 186 178 187 +f 180 181 188 +f 182 180 188 +f 183 182 189 +f 178 183 189 +f 187 178 189 +f 181 187 189 +f 188 181 189 +f 182 188 189 +f 181 179 190 +f 179 184 190 +f 185 181 190 +f 184 185 190 +f 179 180 191 +f 180 183 191 +f 184 179 191 +f 186 184 191 +o convex_15 +v -0.824484 -1.183331 0.844821 +v -0.877569 -1.249852 -0.960065 +v -0.877569 -0.772205 -0.960065 +v -0.864298 -0.652853 0.844821 +v -0.851032 -0.427197 -0.960065 +v -0.837756 -1.249852 -0.468915 +v -0.851022 -0.427197 0.844821 +v -0.851022 -1.209826 0.831394 +v -0.864298 -0.427197 0.844821 +v -0.864288 -0.427197 -0.960065 +v -0.837756 -0.878188 -0.668025 +v -0.837766 -0.639565 0.818143 +v -0.877569 -1.249852 -0.707776 +v -0.864288 -1.249852 -0.960065 +v -0.824484 -1.249852 0.393423 +v -0.837766 -1.249852 0.844821 +v -0.837756 -0.825357 -0.641524 +f 206 202 208 +f 193 194 196 +f 195 192 198 +f 195 198 200 +f 198 196 200 +f 196 194 201 +f 194 200 201 +f 200 196 201 +f 198 192 203 +f 196 198 203 +f 194 193 204 +f 193 197 204 +f 199 195 204 +f 200 194 204 +f 195 200 204 +f 193 196 205 +f 197 193 205 +f 196 202 205 +f 202 197 205 +f 197 202 206 +f 204 197 206 +f 204 206 207 +f 192 195 207 +f 195 199 207 +f 199 204 207 +f 206 192 207 +f 202 196 208 +f 203 192 208 +f 196 203 208 +f 192 206 208 +o convex_16 +v -0.797942 -0.307549 -1.079506 +v 0.210671 0.316152 -1.026432 +v 0.210671 -0.188118 -1.013149 +v -0.797942 0.316152 -1.013149 +v -0.240717 0.223201 -1.066223 +v 0.170784 -0.373951 -1.039696 +v -0.797942 -0.334096 -1.052959 +v 0.157555 -0.373951 -1.013149 +v -0.638495 0.316152 -1.039696 +v 0.064651 0.316152 -1.052959 +v -0.691710 -0.373951 -1.079506 +v -0.797942 0.183414 -1.013149 +f 215 216 220 +f 211 210 212 +f 210 211 214 +f 212 209 215 +f 211 212 216 +f 214 211 216 +f 212 210 217 +f 209 212 217 +f 213 209 217 +f 213 217 218 +f 210 214 218 +f 214 213 218 +f 217 210 218 +f 209 213 219 +f 213 214 219 +f 215 209 219 +f 214 216 219 +f 216 215 219 +f 212 215 220 +f 216 212 220 +o convex_17 +v -0.917383 0.554910 -0.070562 +v -0.930640 1.510372 0.844821 +v -0.917383 1.377616 -0.827339 +v -0.851031 -0.187953 0.844821 +v -0.851031 -0.426913 -0.893709 +v -0.864307 -0.426913 0.844821 +v -0.943925 1.364341 -0.893709 +v -0.877573 -0.387086 -0.893709 +v -0.943925 1.231775 0.844821 +v -0.943925 1.510372 -0.893709 +v -0.877573 -0.214504 0.805000 +v -0.851031 -0.360345 -0.827339 +v -0.943925 1.510372 0.844821 +v -0.851031 -0.426913 0.844821 +v -0.930640 1.510372 -0.893709 +v -0.943925 1.205224 0.473154 +v -0.917383 1.244861 0.844821 +v -0.917383 1.377616 -0.893709 +f 225 235 238 +f 224 222 226 +f 227 225 228 +f 225 226 228 +f 221 227 228 +f 226 222 229 +f 225 227 230 +f 227 229 230 +f 221 228 231 +f 228 226 231 +f 226 229 231 +f 229 221 231 +f 224 225 232 +f 229 222 233 +f 222 230 233 +f 230 229 233 +f 225 224 234 +f 224 226 234 +f 226 225 234 +f 222 223 235 +f 230 222 235 +f 225 230 235 +f 227 221 236 +f 229 227 236 +f 221 229 236 +f 223 222 237 +f 224 223 237 +f 222 224 237 +f 223 224 238 +f 224 232 238 +f 232 225 238 +f 235 223 238 +o convex_18 +v 0.834301 1.019526 -1.026421 +v 0.210795 -0.373951 -1.026421 +v 0.462972 -0.373951 -1.026421 +v 0.953765 0.501883 -0.986607 +v 0.210795 1.019526 -1.013149 +v 1.006835 -0.373951 -0.986607 +v 0.210795 0.900039 -1.039692 +v 0.728240 -0.373951 -0.986607 +v 1.006835 1.019526 -0.999878 +v 1.006835 -0.373951 -0.999878 +v 0.210795 -0.373951 -1.013149 +v 0.224043 -0.201403 -1.039692 +v 0.542537 1.019526 -1.039692 +v 1.006835 0.581405 -1.013149 +v 1.006835 0.647832 -0.986607 +f 244 247 253 +f 240 241 244 +f 240 243 245 +f 242 243 246 +f 240 244 246 +f 244 242 246 +f 239 243 247 +f 247 244 248 +f 244 241 248 +f 243 240 249 +f 246 243 249 +f 240 246 249 +f 241 240 250 +f 240 245 250 +f 250 245 251 +f 243 239 251 +f 245 243 251 +f 239 250 251 +f 239 247 252 +f 247 248 252 +f 248 241 252 +f 250 239 252 +f 241 250 252 +f 243 242 253 +f 242 244 253 +f 247 243 253 +o convex_19 +v 0.051271 1.683073 -0.110748 +v -0.797838 1.537118 -0.906980 +v -0.797838 1.537118 -0.787402 +v 0.237052 1.603473 -0.893588 +v -0.651852 1.603473 -0.097435 +v -0.744743 1.563666 -0.867121 +v 0.210556 1.629992 -0.906980 +v 0.263652 1.669799 -0.097435 +v -0.797838 1.616718 -0.163841 +v 0.250352 1.683073 -0.296573 +v -0.784538 1.590199 -0.137295 +v -0.704947 1.537118 -0.853887 +v -0.797838 1.616718 -0.097435 +v 0.263652 1.629992 -0.906980 +f 263 261 267 +f 255 259 260 +f 255 256 262 +f 259 255 262 +f 259 262 263 +f 260 259 263 +f 254 261 263 +f 262 254 263 +f 261 258 264 +f 256 255 265 +f 255 257 265 +f 257 261 265 +f 264 256 265 +f 261 264 265 +f 261 254 266 +f 258 261 266 +f 262 256 266 +f 254 262 266 +f 256 264 266 +f 264 258 266 +f 257 255 267 +f 255 260 267 +f 261 257 267 +f 260 263 267 +o convex_20 +v 0.555842 1.683081 -0.376204 +v 0.263756 1.616738 -0.906917 +v 0.263756 1.616738 -0.774177 +v 1.033411 1.630013 -0.270024 +v 0.953778 1.683081 -0.906917 +v 0.263756 1.683081 -0.270024 +v 1.033411 1.656537 -0.906917 +v 0.263756 1.656537 -0.283304 +v 1.033411 1.656537 -0.362923 +v 0.263756 1.643282 -0.800737 +v 0.409836 1.616738 -0.906917 +v 1.033411 1.630013 -0.402764 +v 0.953778 1.656537 -0.270024 +f 271 276 280 +f 269 270 273 +f 268 272 273 +f 269 272 274 +f 270 271 275 +f 273 270 275 +f 271 273 275 +f 272 268 276 +f 271 274 276 +f 274 272 276 +f 272 269 277 +f 269 273 277 +f 273 272 277 +f 270 269 278 +f 271 270 278 +f 269 274 278 +f 278 274 279 +f 274 271 279 +f 271 278 279 +f 273 271 280 +f 268 273 280 +f 276 268 280 +o convex_21 +v 0.661843 1.643262 -0.256542 +v 1.033411 1.603473 0.844712 +v 1.033411 1.590189 0.844712 +v 0.263756 1.643262 0.844712 +v 0.940519 1.656537 -0.243232 +v 0.303685 1.616739 0.831402 +v 0.263756 1.683078 -0.269852 +v 1.033411 1.616739 -0.084055 +v 0.316944 1.683078 -0.070745 +v 0.980297 1.590189 0.579272 +v 0.263756 1.656537 -0.057544 +v 1.033411 1.643262 -0.269852 +v 0.330204 1.643262 0.844712 +v 0.794513 1.590189 0.844712 +f 290 283 294 +f 283 282 284 +f 282 283 288 +f 287 284 289 +f 285 287 289 +f 288 283 290 +f 281 288 290 +f 286 284 291 +f 284 287 291 +f 287 281 291 +f 281 290 291 +f 290 286 291 +f 285 282 292 +f 281 287 292 +f 287 285 292 +f 282 288 292 +f 288 281 292 +f 284 282 293 +f 282 285 293 +f 289 284 293 +f 285 289 293 +f 283 284 294 +f 284 286 294 +f 286 290 294 +o convex_22 +v 1.033486 1.643274 -0.721100 +v 1.206012 1.590189 0.844821 +v 1.206012 1.563646 0.844821 +v 1.033486 1.603460 0.844821 +v 1.060051 1.563646 -0.906980 +v 1.073324 1.669816 -0.893605 +v 1.033486 1.576918 0.844821 +v 1.086581 1.563646 -0.814040 +v 1.033486 1.669816 -0.694349 +v 1.192721 1.603460 0.645737 +f 303 298 304 +f 297 296 298 +f 299 295 300 +f 297 298 301 +f 298 295 301 +f 295 299 301 +f 299 297 301 +f 297 299 302 +f 299 300 302 +f 295 298 303 +f 300 295 303 +f 300 303 304 +f 296 297 304 +f 298 296 304 +f 297 302 304 +f 302 300 304 +o convex_23 +v 1.033486 -0.838753 0.990804 +v -0.492704 -2.417719 0.977520 +v -0.492704 -2.417719 0.990804 +v 1.033486 -2.311373 0.911190 +v 1.020190 -2.178594 0.897924 +v -0.028094 -2.191887 0.990804 +v 1.020190 -0.838753 0.977520 +v 1.033486 -1.090862 0.990804 +v 0.927268 -2.324666 0.924456 +v 0.900676 -2.324666 0.897924 +v -0.240381 -2.404271 0.990804 +v -0.386486 -2.284786 0.977520 +f 314 306 316 +f 305 308 309 +f 305 307 310 +f 305 309 311 +f 308 305 312 +f 305 310 312 +f 312 310 313 +f 308 312 313 +f 308 313 314 +f 309 308 314 +f 306 314 315 +f 307 306 315 +f 310 307 315 +f 313 310 315 +f 314 313 315 +f 307 305 316 +f 306 307 316 +f 305 311 316 +f 311 309 316 +f 309 314 316 +o convex_24 +v 0.741496 -1.170291 0.990804 +v -0.731586 -2.444262 0.990804 +v -0.731586 -2.444262 1.017347 +v 1.020010 -0.387223 1.017347 +v -0.731586 -1.979736 1.004076 +v 1.020010 -0.613143 0.990804 +v 1.033486 -0.865037 1.004076 +v -0.466030 -2.417481 1.004076 +v -0.731586 -1.979736 1.017347 +v 1.033486 -0.639520 1.017347 +v 1.020010 -0.387223 1.004076 +v -0.466030 -2.417481 0.990804 +f 317 324 328 +f 318 319 321 +f 317 318 322 +f 318 321 322 +f 317 322 323 +f 319 318 324 +f 317 323 324 +f 319 320 325 +f 320 321 325 +f 321 319 325 +f 320 319 326 +f 319 324 326 +f 324 323 326 +f 321 320 327 +f 322 321 327 +f 323 322 327 +f 320 326 327 +f 326 323 327 +f 318 317 328 +f 324 318 328 +o convex_25 +v 1.219247 1.338024 0.844835 +v 1.033486 -0.373951 0.977516 +v 1.033486 -0.373951 0.990804 +v 1.166183 1.576918 0.964243 +v 1.219247 1.457375 0.990804 +v 1.073330 -0.347408 0.844835 +v 1.046780 -0.320864 0.844835 +v 1.192715 1.576918 0.844835 +v 1.060055 -0.373951 0.990804 +v 1.166183 1.576918 0.990804 +f 333 336 338 +f 330 331 332 +f 329 333 334 +f 329 334 335 +f 330 332 335 +f 334 330 335 +f 335 332 336 +f 333 329 336 +f 329 335 336 +f 331 330 337 +f 333 331 337 +f 334 333 337 +f 330 334 337 +f 332 331 338 +f 331 333 338 +f 336 332 338 +o convex_26 +v 1.219247 1.510420 1.043879 +v 1.033486 -0.427036 1.004086 +v 1.033486 -0.427036 1.017355 +v 1.033486 1.576918 1.043879 +v 1.219247 1.576918 0.990805 +v 1.152908 1.576918 0.990805 +v 1.060055 -0.347396 1.030610 +v 1.033486 1.311319 1.057148 +v 1.219247 1.576918 1.057148 +v 1.033486 -0.373877 0.990805 +v 1.060055 -0.373877 0.990805 +f 348 343 349 +f 340 341 342 +f 342 343 344 +f 342 341 346 +f 341 345 346 +f 346 345 347 +f 339 343 347 +f 343 342 347 +f 345 339 347 +f 342 346 347 +f 340 342 348 +f 344 343 348 +f 342 344 348 +f 341 340 349 +f 343 339 349 +f 345 341 349 +f 339 345 349 +f 340 348 349 +o convex_27 +v -0.824484 -1.926662 0.128349 +v -0.824495 -1.250021 0.844821 +v -0.824495 -1.250021 0.300852 +v -0.864298 -2.430870 0.154720 +v -0.811213 -2.444197 0.844821 +v -0.851027 -1.250021 -0.084164 +v -0.837750 -1.250021 0.844821 +v -0.851027 -2.430870 -0.084164 +v -0.824495 -1.303095 -0.084164 +v -0.837756 -2.444197 0.672137 +v -0.811213 -1.833957 0.340590 +v -0.851027 -1.250021 0.406790 +v -0.864298 -1.966526 -0.084164 +v -0.811213 -1.727574 0.844821 +v -0.811213 -2.430870 0.645675 +v -0.837750 -1.740901 0.844821 +f 359 354 365 +f 351 352 355 +f 354 351 356 +f 351 355 356 +f 357 355 358 +f 355 352 358 +f 350 357 358 +f 357 354 359 +f 353 357 359 +f 350 358 360 +f 353 356 361 +f 356 355 361 +f 357 353 362 +f 355 357 362 +f 353 361 362 +f 361 355 362 +f 352 351 363 +f 351 354 363 +f 358 352 363 +f 354 360 363 +f 360 358 363 +f 357 350 364 +f 354 357 364 +f 360 354 364 +f 350 360 364 +f 356 353 365 +f 354 356 365 +f 353 359 365 +o convex_28 +v 0.648700 1.523833 -0.986607 +v 0.515909 1.019526 -1.039692 +v 0.542534 1.019526 -1.039692 +v 0.967053 1.523833 -1.026421 +v 1.006896 1.019526 -0.999878 +v 0.529270 1.019526 -1.013149 +v 0.515909 1.457438 -1.013149 +v 1.006896 1.523833 -0.999878 +v 0.515909 1.430929 -0.986607 +v 1.006896 1.019526 -1.013149 +f 373 370 375 +f 368 367 369 +f 367 368 370 +f 367 370 371 +f 369 367 372 +f 366 369 372 +f 369 366 373 +f 366 370 373 +f 370 366 374 +f 367 371 374 +f 371 370 374 +f 372 367 374 +f 366 372 374 +f 368 369 375 +f 370 368 375 +f 369 373 375 +o convex_29 +v -0.598656 1.523833 -0.946813 +v 0.953765 1.683087 -0.906980 +v 1.006944 1.669806 -0.906980 +v 0.980266 1.590210 -1.026421 +v 1.006944 1.523833 -0.999857 +v 0.860836 1.669806 -1.013139 +v -0.797942 1.550396 -0.906980 +v -0.651834 1.537114 -0.906980 +v 0.887336 1.523833 -1.026421 +v -0.280292 1.590210 -0.960083 +v 1.006944 1.656524 -0.906980 +v 1.006944 1.669806 -1.013139 +f 379 381 387 +f 378 377 382 +f 376 380 383 +f 378 382 383 +f 382 376 383 +f 380 376 384 +f 379 380 384 +f 377 381 385 +f 381 379 385 +f 382 377 385 +f 376 382 385 +f 384 376 385 +f 379 384 385 +f 380 378 386 +f 383 380 386 +f 378 383 386 +f 377 378 387 +f 380 379 387 +f 378 380 387 +f 381 377 387 +o convex_30 +v -0.784627 1.683073 0.632407 +v -0.253822 1.669815 0.844821 +v -0.253822 1.656529 0.844821 +v -0.253822 1.643289 -0.097435 +v -0.797942 1.603460 0.022007 +v -0.306977 1.696359 0.393523 +v -0.691738 1.630004 -0.097435 +v -0.797942 1.669815 0.831539 +v -0.797942 1.696359 0.844821 +v -0.479491 1.616746 -0.097435 +v -0.253822 1.669815 0.008817 +v -0.797942 1.616746 -0.097435 +v -0.426443 1.656529 0.844821 +v -0.651952 1.696359 0.844821 +f 393 396 401 +f 389 390 391 +f 392 395 396 +f 390 389 396 +f 393 388 396 +f 391 390 397 +f 390 392 397 +f 394 391 397 +f 389 391 398 +f 393 389 398 +f 388 393 398 +f 391 394 398 +f 394 388 398 +f 388 394 399 +f 392 396 399 +f 396 388 399 +f 397 392 399 +f 394 397 399 +f 392 390 400 +f 395 392 400 +f 396 395 400 +f 390 396 400 +f 389 393 401 +f 396 389 401 +o convex_31 +v -0.253822 1.669816 -0.004464 +v 0.263756 1.643274 0.844821 +v 0.077922 1.656545 0.844821 +v 0.263756 1.683087 -0.097435 +v -0.253822 1.643274 -0.097435 +v -0.253822 1.669816 0.844821 +v 0.263756 1.630002 0.579373 +v -0.187453 1.643274 0.844821 +v 0.263756 1.656545 -0.044309 +v -0.240548 1.683087 0.632407 +v 0.051374 1.630002 0.844821 +v -0.253822 1.683087 0.154731 +v 0.263756 1.683087 -0.004464 +f 405 411 414 +f 402 405 406 +f 403 404 407 +f 402 406 407 +f 405 403 408 +f 403 407 409 +f 407 406 409 +f 406 405 410 +f 405 408 410 +f 408 406 410 +f 407 404 411 +f 408 403 412 +f 406 408 412 +f 403 409 412 +f 409 406 412 +f 405 402 413 +f 402 407 413 +f 411 405 413 +f 407 411 413 +f 404 403 414 +f 403 405 414 +f 411 404 414 +o convex_32 +v 1.192708 1.417518 0.473227 +v 1.139665 0.435593 -0.906980 +v 1.126404 0.541813 -0.906980 +v 1.086593 1.483878 -0.906980 +v 1.152926 1.550238 0.446612 +v 1.205998 0.448953 -0.309827 +v 1.192708 0.435593 -0.031246 +v 1.060029 1.444129 -0.893605 +v 1.152912 0.568423 -0.906980 +v 1.206012 1.072580 0.473227 +v 1.179448 1.563598 0.420132 +v 1.060029 1.563598 -0.906980 +v 1.192708 1.072580 0.473227 +v 1.205998 0.435593 -0.031246 +v 1.206012 1.231910 0.459852 +v 1.086593 1.563598 -0.827269 +v 1.166172 0.435593 -0.840509 +f 420 428 431 +f 416 417 418 +f 417 416 421 +f 417 421 422 +f 421 419 422 +f 416 418 423 +f 418 420 423 +f 419 415 425 +f 420 418 425 +f 418 417 426 +f 417 422 426 +f 422 419 426 +f 419 425 426 +f 415 419 427 +f 419 421 427 +f 424 415 427 +f 421 424 427 +f 421 416 428 +f 420 424 428 +f 424 421 428 +f 415 424 429 +f 424 420 429 +f 425 415 429 +f 420 425 429 +f 425 418 430 +f 418 426 430 +f 426 425 430 +f 416 423 431 +f 423 420 431 +f 428 416 431 +o convex_33 +v 1.046757 -0.373951 0.804953 +v 1.152906 0.594848 0.844821 +v 1.166171 0.594848 0.698723 +v 1.192716 0.594848 -0.031079 +v 1.139642 -0.373951 -0.004501 +v 1.073318 -0.360675 0.844821 +v 1.113128 -0.360675 -0.031079 +v 1.126377 0.581571 0.831532 +v 1.205997 0.382425 -0.017790 +v 1.205997 0.581571 0.194583 +v 1.046757 -0.334122 0.831532 +v 1.152906 0.515189 0.804953 +f 440 441 443 +f 433 434 435 +f 432 436 437 +f 436 432 438 +f 433 435 439 +f 438 435 440 +f 436 438 440 +f 435 434 441 +f 440 435 441 +f 437 433 442 +f 432 437 442 +f 438 432 442 +f 435 438 442 +f 433 439 442 +f 439 435 442 +f 434 433 443 +f 437 436 443 +f 433 437 443 +f 436 440 443 +f 441 434 443 +o convex_34 +v 1.179470 0.701137 -0.031079 +v 1.192720 1.072632 0.844821 +v 1.219283 1.430854 0.844735 +v 1.166204 1.563598 0.473146 +v 1.139656 0.594941 0.844821 +v 1.219283 0.701137 0.141511 +v 1.166219 1.072632 -0.031079 +v 1.179470 1.563598 0.804953 +v 1.179470 1.072632 -0.031079 +v 1.206002 0.594941 -0.031079 +v 1.166219 0.608215 0.738592 +v 1.139656 0.594941 0.685434 +v 1.192736 1.563598 0.605955 +v 1.219283 1.324658 0.844735 +v 1.139656 0.740960 0.844821 +v 1.166219 0.886790 -0.031079 +v 1.166204 1.563598 0.632448 +f 447 458 460 +f 450 447 452 +f 444 450 452 +f 452 449 453 +f 444 452 453 +f 445 448 454 +f 448 453 454 +f 453 449 454 +f 447 450 455 +f 444 453 455 +f 453 448 455 +f 446 449 456 +f 451 446 456 +f 447 451 456 +f 452 447 456 +f 449 452 456 +f 446 445 457 +f 449 446 457 +f 445 454 457 +f 454 449 457 +f 445 446 458 +f 448 445 458 +f 446 451 458 +f 447 455 458 +f 455 448 458 +f 450 444 459 +f 455 450 459 +f 444 455 459 +f 451 447 460 +f 458 451 460 +o convex_35 +v -0.797942 1.019526 -0.973354 +v 0.515909 1.523833 -0.986589 +v 0.515909 1.417650 -0.986589 +v -0.585483 1.523833 -0.920251 +v -0.625351 1.523833 -0.946814 +v 0.489287 1.099250 -1.039692 +v 0.436172 1.019526 -1.013140 +v -0.784567 1.032805 -0.946814 +v 0.369811 1.523833 -0.999859 +v -0.797942 1.523833 -0.920251 +v 0.515909 1.019526 -1.039692 +v -0.784567 1.072692 -0.973354 +f 470 465 472 +f 463 462 464 +f 464 462 465 +f 461 467 468 +f 463 464 468 +f 467 463 468 +f 465 462 469 +f 462 466 469 +f 466 465 469 +f 464 465 470 +f 461 468 470 +f 468 464 470 +f 462 463 471 +f 466 462 471 +f 461 466 471 +f 463 467 471 +f 467 461 471 +f 465 466 472 +f 466 461 472 +f 461 470 472 +o convex_36 +v -0.598806 0.342794 -1.039679 +v 0.210671 1.019526 -1.013138 +v 0.210671 1.019526 -1.026413 +v -0.797942 1.019526 -0.960074 +v 0.210671 0.316221 -1.026413 +v -0.797942 0.356081 -0.999890 +v 0.157555 0.687701 -1.052963 +v -0.784614 0.900014 -0.986615 +v -0.572149 1.006171 -0.960074 +v 0.064651 0.316221 -1.052963 +v 0.170784 1.019526 -0.999890 +v -0.797942 0.316221 -1.026413 +v -0.784614 0.860154 -0.960074 +v -0.373211 0.329508 -1.052963 +v -0.612135 1.019526 -0.986615 +f 479 486 487 +f 474 475 476 +f 475 474 477 +f 475 477 479 +f 479 477 482 +f 474 476 483 +f 477 474 483 +f 476 481 483 +f 481 477 483 +f 478 476 484 +f 477 478 484 +f 476 480 484 +f 480 473 484 +f 482 477 484 +f 476 478 485 +f 478 477 485 +f 481 476 485 +f 477 481 485 +f 473 480 486 +f 479 482 486 +f 484 473 486 +f 482 484 486 +f 476 475 487 +f 475 479 487 +f 480 476 487 +f 486 480 487 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/321/321.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/321/321.urdf new file mode 100644 index 000000000..36ba58fd4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/321/321.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/322/322.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/322/322.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/322/322.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/322/322.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/322/322.obj new file mode 100644 index 000000000..4b0991466 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/322/322.obj @@ -0,0 +1,1014 @@ +o convex_0 +v -0.073085 1.493028 -2.697071 +v 0.018382 0.089573 -2.086765 +v 0.048801 0.089573 -2.086765 +v 0.048801 0.913353 -3.703952 +v 0.537181 0.791593 -2.025652 +v -0.530732 1.126871 -2.025816 +v -0.408637 0.943793 -3.367997 +v 0.414982 1.401562 -2.025816 +v 0.414982 0.943793 -3.490058 +v -0.408637 0.333824 -2.025816 +v -0.042561 0.577929 -3.490058 +v 0.414982 0.150746 -2.025816 +v 0.048801 1.370976 -3.429109 +v -0.408637 1.432002 -2.117321 +v 0.414982 1.401562 -2.697071 +v 0.018382 1.584494 -2.025816 +v -0.347590 1.340536 -2.879752 +v -0.317170 0.669541 -3.276492 +v -0.500208 0.974379 -2.819132 +v 0.506658 0.974379 -2.819132 +v 0.292991 0.669541 -3.307048 +v -0.378113 0.974379 -3.459666 +v 0.323411 1.279510 -3.307048 +v 0.018382 0.577929 -3.490058 +v -0.408637 0.577929 -2.788575 +v 0.048801 1.493028 -2.849688 +v -0.286542 1.248923 -3.276492 +v -0.530732 0.913353 -2.117321 +v 0.048801 1.004819 -3.703952 +v 0.414982 1.004819 -3.490058 +v 0.414982 0.150746 -2.056208 +v -0.408637 0.333824 -2.086765 +v -0.103504 0.577929 -3.429109 +v 0.506658 1.035405 -2.788575 +v -0.012037 1.340536 -3.459666 +v -0.500208 0.852327 -2.666514 +v 0.537181 0.699981 -2.056373 +v -0.408637 1.432002 -2.025816 +v -0.012037 0.089573 -2.056208 +v -0.378113 1.370976 -2.666514 +v -0.073085 0.974379 -3.673232 +v 0.445610 1.309950 -2.025652 +v 0.384458 1.401562 -2.819132 +f 30 23 43 +f 3 2 11 +f 5 10 12 +f 1 14 16 +f 8 15 16 +f 18 7 22 +f 4 9 24 +f 3 11 24 +f 11 4 24 +f 9 21 24 +f 7 18 25 +f 13 1 26 +f 1 16 26 +f 22 17 27 +f 10 6 28 +f 6 19 28 +f 9 4 29 +f 20 9 30 +f 13 23 30 +f 9 29 30 +f 29 13 30 +f 12 3 31 +f 9 20 31 +f 21 9 31 +f 3 24 31 +f 24 21 31 +f 25 18 32 +f 10 28 32 +f 11 2 33 +f 22 11 33 +f 18 22 33 +f 32 18 33 +f 5 20 34 +f 20 30 34 +f 30 15 34 +f 1 13 35 +f 17 1 35 +f 27 17 35 +f 22 27 35 +f 13 29 35 +f 19 7 36 +f 7 25 36 +f 28 19 36 +f 25 32 36 +f 32 28 36 +f 5 12 37 +f 20 5 37 +f 12 31 37 +f 31 20 37 +f 14 6 38 +f 16 14 38 +f 2 3 39 +f 3 12 39 +f 12 10 39 +f 10 32 39 +f 33 2 39 +f 32 33 39 +f 6 14 40 +f 14 1 40 +f 1 17 40 +f 19 6 40 +f 7 19 40 +f 22 7 40 +f 17 22 40 +f 4 11 41 +f 11 22 41 +f 29 4 41 +f 22 35 41 +f 35 29 41 +f 10 5 42 +f 6 10 42 +f 15 8 42 +f 8 16 42 +f 5 34 42 +f 34 15 42 +f 38 6 42 +f 16 38 42 +f 16 15 43 +f 23 13 43 +f 13 26 43 +f 26 16 43 +f 15 30 43 +o convex_1 +v -0.744355 -3.358467 -0.622287 +v 0.048713 1.553334 0.567832 +v 0.018416 1.858474 0.171041 +v 0.720182 -2.839256 -1.567680 +v -0.561339 1.126967 -1.994934 +v 0.720182 1.248786 -1.567680 +v 0.781188 -2.686687 0.079650 +v -1.018878 -0.673712 0.079650 +v 0.994706 -0.582051 0.049186 +v -0.042383 -3.540604 0.079396 +v -0.134097 -3.418785 -1.445570 +v -0.774858 1.248786 0.048932 +v -0.896868 -1.160989 -1.476288 +v 0.567669 1.309696 0.567832 +v 0.384448 1.431515 -2.025398 +v -0.805360 1.340446 -1.598143 +v 0.018416 -4.060406 -0.713678 +v -0.500128 0.577006 0.567832 +v -0.774858 -2.808506 0.110113 +v 0.933701 -0.826281 -1.537216 +v 0.781188 -3.327716 -0.652751 +v 0.018416 1.919383 -1.536962 +v -0.378118 0.302617 -2.025398 +v -1.079884 -1.069920 -0.743888 +v 0.781188 1.278945 -0.195032 +v 0.537167 0.516688 -2.025398 +v 1.025208 -0.948101 -0.926925 +v 0.018416 -1.923838 0.323614 +v -0.042383 1.980884 -0.317141 +v -0.805360 -3.236056 -0.774352 +v -0.561339 1.614835 -1.781434 +v -0.500128 1.248195 0.567832 +v 0.475955 0.638507 0.567832 +v 0.689680 -2.991826 -1.567680 +v -0.652847 -2.777755 -1.262534 +v 1.025208 -1.282808 -0.743888 +v 0.018416 0.058387 -2.025398 +v 0.811690 1.157126 -0.774606 +v -0.439123 -1.466128 -1.720252 +v -0.073092 1.584085 -2.025398 +v 0.750685 -2.839256 0.079650 +v 0.079421 1.950134 -0.774352 +v 0.018416 1.950134 0.048932 +v 0.994706 -0.948101 0.049186 +v -0.835863 1.096216 -0.713424 +v -0.805360 -3.021985 -0.195032 +v -0.012086 -4.060406 -0.622287 +v 0.750685 1.309696 0.049186 +v -0.622345 -1.527038 0.323867 +v -0.805360 -0.277503 0.323867 +v 0.414950 0.058387 -2.025398 +v -0.164599 -3.296966 -1.476034 +v -0.988376 -1.191739 0.079650 +v 0.445453 1.492425 0.567832 +v -0.835863 -3.205306 -0.682961 +v -0.073092 -3.449535 0.110113 +v 0.781188 1.278945 -0.896461 +v 0.781188 -3.327716 -0.744142 +v -0.012086 0.394277 0.567832 +v 0.537167 0.821236 -2.025398 +v 0.598172 -1.527629 0.293150 +v -0.042383 1.950134 0.048932 +v -0.042383 -4.060406 -0.713678 +v -0.530837 0.912896 -2.025652 +f 103 69 107 +f 48 56 59 +f 57 45 61 +f 49 58 65 +f 59 56 67 +f 63 47 69 +f 63 49 70 +f 59 55 74 +f 48 59 74 +f 72 65 74 +f 55 51 75 +f 61 45 75 +f 50 57 76 +f 57 61 76 +f 60 54 77 +f 69 47 77 +f 54 73 78 +f 73 56 78 +f 47 63 79 +f 63 70 79 +f 70 52 79 +f 68 52 81 +f 70 49 81 +f 52 70 81 +f 78 56 82 +f 65 58 83 +f 48 74 83 +f 74 65 83 +f 64 50 84 +f 65 72 85 +f 85 72 86 +f 52 57 87 +f 57 50 87 +f 50 64 87 +f 79 52 87 +f 64 79 87 +f 51 55 88 +f 55 59 88 +f 67 51 88 +f 59 67 88 +f 53 62 89 +f 60 64 90 +f 84 53 90 +f 64 84 90 +f 89 44 90 +f 53 89 90 +f 57 52 91 +f 52 68 91 +f 85 86 91 +f 71 61 92 +f 75 51 93 +f 61 75 93 +f 92 61 93 +f 62 92 93 +f 69 77 94 +f 77 80 94 +f 77 54 95 +f 54 78 95 +f 66 80 95 +f 80 77 95 +f 82 66 95 +f 78 82 95 +f 51 67 96 +f 89 62 96 +f 93 51 96 +f 62 93 96 +f 46 45 97 +f 45 57 97 +f 86 46 97 +f 57 91 97 +f 91 86 97 +f 67 56 98 +f 56 73 98 +f 73 44 98 +f 44 89 98 +f 96 67 98 +f 89 96 98 +f 62 53 99 +f 53 84 99 +f 84 71 99 +f 92 62 99 +f 71 92 99 +f 49 65 100 +f 81 49 100 +f 68 81 100 +f 65 85 100 +f 91 68 100 +f 85 91 100 +f 64 60 101 +f 60 77 101 +f 77 47 101 +f 47 79 101 +f 79 64 101 +f 61 71 102 +f 76 61 102 +f 71 76 102 +f 58 49 103 +f 49 63 103 +f 63 69 103 +f 50 76 104 +f 76 71 104 +f 84 50 104 +f 71 84 104 +f 45 46 105 +f 74 55 105 +f 72 74 105 +f 75 45 105 +f 55 75 105 +f 86 72 105 +f 46 86 105 +f 54 60 106 +f 73 54 106 +f 44 73 106 +f 90 44 106 +f 60 90 106 +f 56 48 107 +f 80 66 107 +f 66 82 107 +f 82 56 107 +f 83 58 107 +f 48 83 107 +f 69 94 107 +f 94 80 107 +f 58 103 107 +o convex_2 +v -0.744466 0.455951 1.422433 +v -0.744466 1.950809 1.330949 +v -0.744466 1.950809 1.300530 +v -3.032830 1.035677 1.330949 +v -0.744466 0.852590 0.751173 +v -0.775153 1.157684 1.910726 +v -2.666594 0.974597 0.934368 +v -2.697281 1.005213 1.727531 +v -2.544515 0.547342 1.300530 +v -0.775153 0.394871 0.903949 +v -1.141390 0.577959 1.788596 +v -0.775153 1.432011 0.812238 +v -2.727521 1.401547 1.300530 +v -0.866545 1.584634 1.788482 +v -2.239429 1.340619 0.995433 +v -2.514051 1.310003 1.605401 +v -2.483587 0.669502 1.635934 +v -1.812489 0.455951 1.391901 +v -0.744466 0.700118 1.849661 +v -1.843176 0.974597 1.849661 +v -2.483587 0.669502 1.056498 +v -2.727521 0.577959 1.361368 +v -1.782249 0.974597 0.812238 +v -1.812489 0.577959 1.727531 +v -0.866545 0.425487 0.873416 +v -2.697281 1.096604 0.964900 +v -2.697281 1.401547 1.391901 +v -1.782249 1.401547 0.934368 +v -0.744466 1.584634 1.788482 +v -2.666594 0.913517 1.727531 +v -3.032830 0.944133 1.361368 +v -2.819136 0.974597 1.025965 +v -1.903880 1.371083 1.727531 +v -1.812489 0.608422 0.934368 +v -0.744466 0.577959 1.788482 +v -1.751561 1.035677 0.812238 +v -1.721097 1.066141 1.849661 +v -0.744466 0.974597 1.910726 +v -2.453123 1.310003 1.025965 +v -0.775153 1.950809 1.330949 +v -0.927696 1.462475 0.842770 +v -0.744466 0.394871 0.964787 +v -0.775153 1.950809 1.300530 +v -0.744466 0.974597 0.751173 +v -2.636130 0.608422 1.208933 +v -1.903880 0.455951 1.330949 +v -1.721097 0.913517 1.849661 +f 145 127 154 +f 110 109 108 +f 110 108 112 +f 108 118 125 +f 108 109 126 +f 125 118 131 +f 124 129 131 +f 129 125 131 +f 112 117 132 +f 117 116 132 +f 130 112 132 +f 111 120 133 +f 111 115 134 +f 120 111 134 +f 115 123 134 +f 133 122 135 +f 109 121 136 +f 121 113 136 +f 126 109 136 +f 127 115 137 +f 129 124 137 +f 124 131 137 +f 115 111 138 +f 137 115 138 +f 129 137 138 +f 114 128 139 +f 111 133 139 +f 133 114 139 +f 138 111 139 +f 129 138 139 +f 123 115 140 +f 128 114 141 +f 114 130 141 +f 132 128 141 +f 130 132 141 +f 118 108 142 +f 108 126 142 +f 126 118 142 +f 130 114 143 +f 114 133 143 +f 135 119 143 +f 133 135 143 +f 113 121 144 +f 115 127 144 +f 127 113 144 +f 140 115 144 +f 121 140 144 +f 113 127 145 +f 136 113 145 +f 126 136 145 +f 133 120 146 +f 122 133 146 +f 109 110 147 +f 121 109 147 +f 120 134 147 +f 134 123 147 +f 123 140 147 +f 140 121 147 +f 119 135 148 +f 112 108 149 +f 117 112 149 +f 108 125 149 +f 110 119 150 +f 135 122 150 +f 146 120 150 +f 122 146 150 +f 147 110 150 +f 120 147 150 +f 119 148 150 +f 148 135 150 +f 110 112 151 +f 119 110 151 +f 112 130 151 +f 143 119 151 +f 130 143 151 +f 116 129 152 +f 132 116 152 +f 128 132 152 +f 139 128 152 +f 129 139 152 +f 116 117 153 +f 125 129 153 +f 129 116 153 +f 117 149 153 +f 149 125 153 +f 118 126 154 +f 131 118 154 +f 127 137 154 +f 137 131 154 +f 126 145 154 +o convex_3 +v 0.811813 0.394749 1.788593 +v 0.842535 1.889932 1.361446 +v 0.842535 1.889932 1.300551 +v 3.069788 0.944163 1.361336 +v 0.811813 0.455870 0.781786 +v 2.734053 1.035420 0.934299 +v 1.818795 1.035250 1.819096 +v 0.811813 1.584664 0.842902 +v 2.764555 0.608419 1.361336 +v 2.764555 1.370993 1.330833 +v 0.811813 1.493237 1.788593 +v 0.873036 0.150602 1.269938 +v 2.764555 0.974639 1.697085 +v 2.520545 0.700017 1.025917 +v 1.178270 1.005285 0.751173 +v 2.368039 1.279566 1.635969 +v 2.551046 1.310042 1.056420 +v 0.903537 0.791614 1.880211 +v 2.551046 0.669541 1.605467 +v 1.910520 1.035250 0.812289 +v 1.147547 0.455870 1.788593 +v 0.873036 0.150602 1.330833 +v 2.703552 0.608419 1.239546 +v 1.025542 0.455870 0.812289 +v 1.666289 0.943993 1.849488 +v 0.811813 1.096371 1.880211 +v 2.734053 0.974639 0.934299 +v 0.811813 1.126847 0.751173 +v 1.178270 1.462591 1.757980 +v 2.703552 0.883041 1.697085 +v 1.757793 1.432115 0.934409 +v 3.039287 1.065896 1.300551 +v 0.811813 0.150602 1.269938 +v 0.964540 1.462591 0.812289 +v 2.703552 1.035420 1.697085 +v 2.764555 1.370993 1.300551 +v 3.069788 0.944163 1.300551 +v 2.703552 1.340518 1.422451 +v 0.811813 1.889932 1.361446 +v 1.391778 0.791614 0.781786 +v 0.873036 0.425395 1.819096 +v 2.154309 0.913687 1.788593 +v 0.842535 0.669371 0.751173 +v 2.795056 1.035420 0.964912 +v 2.978284 1.126847 1.361336 +f 192 167 199 +f 159 155 162 +f 157 156 164 +f 162 155 165 +f 173 175 176 +f 166 163 176 +f 163 173 176 +f 175 155 176 +f 163 166 177 +f 168 177 178 +f 166 159 178 +f 177 166 178 +f 165 155 180 +f 161 165 180 +f 155 172 180 +f 179 161 180 +f 172 179 180 +f 174 160 181 +f 177 168 181 +f 168 178 181 +f 159 162 182 +f 165 161 183 +f 156 165 183 +f 170 156 183 +f 163 158 184 +f 158 167 184 +f 173 163 184 +f 175 173 184 +f 162 157 185 +f 157 171 185 +f 171 160 185 +f 155 159 187 +f 159 166 187 +f 176 155 187 +f 166 176 187 +f 160 174 188 +f 174 169 188 +f 182 162 188 +f 169 182 188 +f 162 185 188 +f 185 160 188 +f 161 167 189 +f 183 161 189 +f 170 183 189 +f 157 164 190 +f 171 157 190 +f 164 186 190 +f 158 163 191 +f 163 177 191 +f 177 181 191 +f 186 158 191 +f 164 156 192 +f 156 170 192 +f 189 167 192 +f 170 189 192 +f 156 157 193 +f 157 162 193 +f 165 156 193 +f 162 165 193 +f 169 174 194 +f 178 159 194 +f 174 181 194 +f 181 178 194 +f 172 155 195 +f 155 175 195 +f 179 172 195 +f 167 161 196 +f 161 179 196 +f 184 167 196 +f 175 184 196 +f 195 175 196 +f 179 195 196 +f 159 182 197 +f 182 169 197 +f 194 159 197 +f 169 194 197 +f 160 171 198 +f 181 160 198 +f 171 190 198 +f 190 186 198 +f 191 181 198 +f 186 191 198 +f 167 158 199 +f 186 164 199 +f 158 186 199 +f 164 192 199 +o convex_4 +v 0.079467 0.181117 1.880211 +v -0.622276 0.120040 0.964828 +v -0.622276 0.120040 0.995349 +v 0.018544 -1.985416 1.270150 +v 0.506634 0.180905 0.781822 +v 0.811813 0.150367 1.391883 +v -0.012058 -1.649706 1.697088 +v -0.012058 -1.710783 0.903787 +v -0.408623 -1.680244 1.330842 +v -0.408623 0.181117 1.727609 +v 0.384506 -1.619167 1.300321 +v 0.567557 0.119828 1.819054 +v -0.103584 0.181117 0.690144 +v -0.439225 -0.887305 0.903787 +v 0.323442 -1.497013 1.544369 +v -0.347559 -0.795477 1.697088 +v -0.530750 -0.764939 1.330842 +v 0.811813 0.180905 1.239513 +v 0.292980 -1.252918 0.964828 +v 0.018544 -0.826016 1.819170 +v -0.591674 0.181117 0.873267 +v -0.073122 -0.887305 0.781705 +v -0.347559 -1.466263 0.995349 +v 0.049005 -1.649706 1.697088 +v -0.286635 -1.435936 1.605527 +v -0.073122 -1.710783 0.903787 +v -0.286635 0.028425 1.788650 +v 0.811813 0.119828 1.239513 +v -0.408623 -1.680244 1.270150 +v 0.353904 -1.649706 1.239513 +v 0.567557 -0.032652 1.788533 +v 0.598159 0.180905 1.788533 +v -0.530750 0.181117 1.391883 +v -0.042661 -1.985416 1.330842 +v -0.561212 -0.154594 0.873267 +v 0.201314 -1.832512 1.330842 +v 0.292980 -0.032652 0.751185 +v 0.476172 -0.093729 0.812342 +v 0.323442 -1.283456 1.636047 +v -0.164508 -0.704074 0.781705 +v -0.439225 0.028425 1.666451 +v -0.134046 -1.924340 1.270150 +v 0.079467 -0.795477 1.819170 +f 219 223 242 +f 209 200 212 +f 210 205 214 +f 202 201 216 +f 208 215 216 +f 212 200 217 +f 204 212 217 +f 215 206 219 +f 201 202 220 +f 209 212 220 +f 219 206 223 +f 208 206 224 +f 206 215 224 +f 215 208 224 +f 207 203 225 +f 221 207 225 +f 222 213 225 +f 200 209 226 +f 209 215 226 +f 219 200 226 +f 215 219 226 +f 205 210 227 +f 204 217 227 +f 217 205 227 +f 216 201 228 +f 208 216 228 +f 213 222 228 +f 222 225 228 +f 203 207 229 +f 207 218 229 +f 227 210 229 +f 218 227 229 +f 214 205 230 +f 211 223 230 +f 200 211 231 +f 205 217 231 +f 217 200 231 +f 230 205 231 +f 211 230 231 +f 202 216 232 +f 220 202 232 +f 209 220 232 +f 206 208 233 +f 223 206 233 +f 201 220 234 +f 220 212 234 +f 228 201 234 +f 213 228 234 +f 210 214 235 +f 214 223 235 +f 203 229 235 +f 229 210 235 +f 233 203 235 +f 223 233 235 +f 212 204 236 +f 207 221 236 +f 221 212 236 +f 218 207 237 +f 204 227 237 +f 227 218 237 +f 236 204 237 +f 207 236 237 +f 223 214 238 +f 214 230 238 +f 230 223 238 +f 212 221 239 +f 221 225 239 +f 225 213 239 +f 234 212 239 +f 213 234 239 +f 215 209 240 +f 216 215 240 +f 209 232 240 +f 232 216 240 +f 225 203 241 +f 208 228 241 +f 228 225 241 +f 233 208 241 +f 203 233 241 +f 211 200 242 +f 200 219 242 +f 223 211 242 +o convex_5 +v 0.811660 1.706728 1.544247 +v -0.134128 0.181117 0.690147 +v -0.439236 0.516888 0.568085 +v -0.408618 0.883053 2.185109 +v -0.744191 1.798388 1.209112 +v 0.811660 0.394832 1.819090 +v 0.567635 1.371116 0.568085 +v -0.408618 0.181117 1.757977 +v 0.811660 0.425386 0.781816 +v 0.018502 1.401669 2.246386 +v -0.744191 0.394832 0.964825 +v 0.018502 1.798388 0.720703 +v -0.744191 1.187954 1.910430 +v -0.591713 1.798388 1.788369 +v -0.500166 1.279456 0.568085 +v 0.598100 0.181117 1.819090 +v 0.811660 1.798388 1.209112 +v 0.384540 0.974713 2.215665 +v 0.537018 1.798388 1.788369 +v -0.744191 0.608389 1.849646 +v 0.811660 0.181117 1.209112 +v 0.384540 0.486334 0.568085 +v -0.012115 0.639101 2.185109 +v 0.811660 1.401669 1.819090 +v -0.744191 1.431906 0.812208 +v -0.622178 0.181117 0.904041 +v 0.811660 1.584515 0.842764 +v -0.439236 1.279456 2.185109 +v 0.506553 0.181117 0.781816 +v -0.469701 1.798388 0.842764 +v -0.744191 0.791551 0.751259 +v 0.628565 1.798388 0.842764 +v -0.012115 1.584515 0.568085 +v -0.042580 1.798388 1.910430 +v -0.744191 1.615068 1.788369 +v 0.018502 0.181117 1.880202 +v 0.292992 1.340404 2.185109 +v 0.811660 0.913607 1.910430 +v -0.195210 0.974713 2.246386 +v 0.811660 0.913607 0.720703 +v -0.012115 0.333726 0.568085 +v 0.476087 1.493171 0.568085 +v 0.506553 0.730603 0.568085 +v -0.744191 0.455781 1.422350 +v 0.384540 1.096294 2.215665 +v -0.378153 1.431906 0.568085 +v -0.744191 0.486334 0.842764 +v -0.500166 0.608389 0.568085 +v 0.231910 1.004792 2.246386 +v 0.292992 0.791551 2.185109 +v -0.042580 1.401669 2.246386 +v -0.530783 0.181117 1.392122 +v -0.317071 0.639101 2.093769 +v 0.811660 1.493171 1.788369 +v 0.811660 0.181117 1.392122 +v -0.744191 1.798388 1.483298 +f 277 256 298 +f 243 248 251 +f 247 253 255 +f 254 247 256 +f 249 245 257 +f 250 244 258 +f 243 251 259 +f 254 256 259 +f 243 259 261 +f 259 256 261 +f 246 255 262 +f 255 253 262 +f 251 248 263 +f 258 244 263 +f 245 249 264 +f 248 243 266 +f 253 247 267 +f 245 244 268 +f 244 250 268 +f 259 251 269 +f 255 246 270 +f 263 244 271 +f 251 263 271 +f 264 251 271 +f 247 254 272 +f 267 247 272 +f 253 267 273 +f 267 257 273 +f 254 259 274 +f 259 269 274 +f 249 257 275 +f 272 254 275 +f 252 261 276 +f 261 256 276 +f 247 255 277 +f 255 270 277 +f 270 256 277 +f 250 258 278 +f 265 250 278 +f 258 265 278 +f 261 252 279 +f 260 248 280 +f 248 266 280 +f 246 265 281 +f 270 246 281 +f 249 269 282 +f 269 251 282 +f 244 245 283 +f 245 264 283 +f 271 244 283 +f 264 271 283 +f 269 249 284 +f 254 274 284 +f 274 269 284 +f 249 275 284 +f 275 254 284 +f 264 249 285 +f 251 264 285 +f 249 282 285 +f 282 251 285 +f 262 253 286 +f 253 268 286 +f 279 252 287 +f 260 280 287 +f 280 266 287 +f 257 267 288 +f 267 272 288 +f 275 257 288 +f 272 275 288 +f 268 253 289 +f 253 273 289 +f 289 273 290 +f 257 245 290 +f 245 268 290 +f 273 257 290 +f 268 289 290 +f 252 281 291 +f 281 265 291 +f 287 252 291 +f 260 287 291 +f 258 248 292 +f 248 260 292 +f 265 258 292 +f 260 291 292 +f 291 265 292 +f 256 270 293 +f 252 276 293 +f 276 256 293 +f 281 252 293 +f 270 281 293 +f 250 262 294 +f 268 250 294 +f 262 286 294 +f 286 268 294 +f 246 262 295 +f 262 250 295 +f 265 246 295 +f 250 265 295 +f 243 261 296 +f 266 243 296 +f 261 279 296 +f 279 287 296 +f 287 266 296 +f 248 258 297 +f 263 248 297 +f 258 263 297 +f 256 247 298 +f 247 277 298 +o convex_6 +v 0.811813 1.798797 1.422341 +v -0.744430 1.798797 1.208933 +v -0.744430 1.798797 1.452954 +v 0.048925 3.995221 1.300551 +v 0.140325 1.798797 0.751173 +v 0.018458 2.439340 1.849488 +v 0.109858 3.690109 0.964802 +v 0.079392 3.690109 1.696975 +v -0.347600 3.690109 1.300551 +v -0.561172 1.798797 1.788593 +v -0.469772 1.859648 0.842902 +v 0.476069 3.690109 1.361336 +v 0.598088 1.890181 0.842791 +v 0.506688 1.798797 1.788593 +v -0.286667 3.384996 1.605467 +v 0.354049 3.415529 1.636080 +v -0.256048 3.354463 1.025917 +v 0.811813 1.798797 1.209044 +v 0.384516 3.476594 1.056420 +v -0.103561 1.798797 1.880211 +v 0.048925 2.866799 0.842902 +v -0.042628 3.629043 1.696975 +v 0.415135 2.744668 1.727588 +v 0.018458 3.659576 0.964802 +v -0.744430 2.012312 1.361446 +v -0.347600 3.690109 1.361446 +v -0.530705 2.103695 1.757980 +v -0.012009 2.836051 1.819096 +v 0.048925 3.934156 1.452954 +v -0.378067 1.798797 0.812289 +v 0.506688 1.798797 0.812399 +v 0.476069 3.690109 1.330833 +v 0.811813 1.981779 1.300551 +v -0.744430 1.920713 1.239546 +v 0.109858 2.866799 0.842902 +v 0.506688 2.622537 0.934409 +v 0.018458 1.890181 0.751173 +v 0.079392 3.598511 1.727588 +v 0.079392 2.744453 1.819096 +v -0.317133 3.629043 1.208933 +v 0.506688 1.890181 1.788593 +v 0.476069 3.659576 1.391838 +v 0.018458 1.890181 1.880211 +v -0.286667 2.256359 1.819096 +v 0.140325 3.964689 1.300551 +v -0.744430 1.859648 1.452954 +v 0.811813 1.829115 1.422341 +f 331 340 345 +f 301 300 299 +f 299 300 303 +f 301 299 308 +f 308 299 312 +f 299 303 316 +f 308 312 318 +f 302 305 322 +f 309 315 322 +f 319 309 322 +f 305 319 322 +f 300 301 323 +f 302 307 324 +f 313 320 324 +f 307 323 324 +f 320 313 325 +f 313 324 325 +f 318 304 326 +f 306 310 327 +f 320 306 327 +f 302 324 327 +f 324 320 327 +f 303 300 328 +f 300 309 328 +f 309 319 328 +f 316 303 329 +f 311 316 329 +f 317 305 330 +f 299 316 331 +f 330 310 331 +f 316 330 331 +f 309 300 332 +f 315 309 332 +f 300 323 332 +f 323 307 332 +f 305 311 333 +f 319 305 333 +f 329 303 333 +f 311 329 333 +f 311 305 334 +f 316 311 334 +f 305 317 334 +f 330 316 334 +f 317 330 334 +f 303 328 335 +f 328 319 335 +f 333 303 335 +f 319 333 335 +f 314 306 336 +f 306 320 336 +f 321 314 336 +f 320 326 336 +f 336 326 337 +f 326 304 337 +f 321 336 337 +f 307 302 338 +f 302 322 338 +f 322 315 338 +f 332 307 338 +f 315 332 338 +f 312 299 339 +f 337 304 339 +f 321 337 339 +f 310 306 340 +f 306 314 340 +f 331 310 340 +f 304 318 341 +f 318 312 341 +f 312 339 341 +f 339 304 341 +f 308 318 342 +f 325 308 342 +f 320 325 342 +f 318 326 342 +f 326 320 342 +f 305 302 343 +f 302 327 343 +f 327 310 343 +f 330 305 343 +f 310 330 343 +f 301 308 344 +f 323 301 344 +f 324 323 344 +f 308 325 344 +f 325 324 344 +f 314 321 345 +f 299 331 345 +f 339 299 345 +f 321 339 345 +f 340 314 345 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/322/322.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/322/322.urdf new file mode 100644 index 000000000..362812dfd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/322/322.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/323/323.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/323/323.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/323/323.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/323/323.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/323/323.obj new file mode 100644 index 000000000..a5fb5e32b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/323/323.obj @@ -0,0 +1,963 @@ +o convex_0 +v -0.665460 3.146129 -1.881885 +v -2.481094 -0.749431 -1.654899 +v -2.481094 -0.749431 -1.616901 +v -0.173655 -2.149745 -0.217387 +v -2.102922 3.032736 -0.330980 +v -1.081585 -1.657776 -2.260461 +v -2.178376 3.108331 -2.108871 +v -0.173655 1.822011 -0.217387 +v -0.173655 0.649683 -2.222464 +v -2.102922 -1.582180 -0.444573 +v -1.270671 3.675897 -0.444573 +v -2.140649 -1.619978 -2.108871 +v -1.497484 -2.301536 -1.276722 +v -2.405415 1.973201 -0.595964 +v -2.140649 0.574087 -0.255385 +v -0.627507 3.599701 -1.238924 +v -1.043632 3.145529 -2.222464 +v -2.254281 0.989262 -2.222264 +v -0.173655 1.822011 -2.033275 +v -2.178376 3.524706 -1.238924 +v -2.481094 1.822011 -1.881885 +v -0.173655 -0.333657 -2.071073 +v -1.384078 3.675897 -1.957680 +v -1.043632 3.183927 -0.217387 +v -2.405415 -0.636638 -0.671759 +v -2.178602 -1.998555 -1.201326 +v -1.346125 -2.149745 -1.995478 +v -0.551827 -2.186943 -0.217387 +v -0.627507 -1.506585 -1.957480 +v -1.459758 3.827687 -1.163329 +v -2.481094 0.536889 -2.033275 +v -1.384078 2.124992 -2.260461 +v -0.173655 2.199987 -1.163329 +v -0.740913 3.410713 -0.633761 +v -2.443367 2.502969 -1.238924 +v -1.308624 -2.149745 -0.520168 +v -1.497484 2.578564 -0.217387 +v -2.367688 0.422897 -0.444573 +v -0.967952 -1.695573 -0.217387 +v -0.854546 -1.922959 -1.806289 +v -2.216329 -1.506585 -2.109071 +v -1.459758 -1.014615 -2.260461 +v -2.140649 3.070534 -0.368778 +v -2.443367 -1.052413 -1.201326 +v -2.102922 -1.468187 -0.406575 +v -0.514100 2.918743 -0.482371 +v -2.178602 -1.998555 -1.314319 +v -1.005905 3.524706 -1.882085 +v -0.362741 -2.225341 -0.255385 +v -1.459758 -2.111948 -2.033275 +v -2.481094 -0.673836 -1.844087 +v -0.173655 -2.149745 -0.255385 +v -2.329961 1.330041 -0.406575 +v -2.216329 0.309503 -2.222264 +v -1.838156 0.800273 -2.260461 +v -0.589780 3.524106 -1.163329 +v -1.308624 3.827687 -1.238924 +v -0.551827 2.880945 -1.957480 +v -1.573164 0.725878 -0.217387 +v -2.443367 2.237785 -1.844087 +v -2.216329 3.449111 -1.276722 +v -0.173655 0.838071 -2.222464 +v -1.384078 3.638099 -0.444573 +v -2.481094 0.951464 -2.033275 +f 31 21 64 +f 8 4 9 +f 8 9 19 +f 2 3 21 +f 9 4 22 +f 6 9 22 +f 17 7 23 +f 7 20 23 +f 4 8 24 +f 14 3 25 +f 4 24 28 +f 6 22 29 +f 23 20 30 +f 2 21 31 +f 7 17 32 +f 18 7 32 +f 8 19 33 +f 16 11 34 +f 11 24 34 +f 3 14 35 +f 21 3 35 +f 10 26 36 +f 26 13 36 +f 28 10 36 +f 5 15 37 +f 24 5 37 +f 28 24 37 +f 14 25 38 +f 28 37 39 +f 27 6 40 +f 6 29 40 +f 6 12 41 +f 32 6 42 +f 6 41 42 +f 35 14 43 +f 3 2 44 +f 25 3 44 +f 10 25 44 +f 26 10 44 +f 25 10 45 +f 10 28 45 +f 15 38 45 +f 38 25 45 +f 39 15 45 +f 28 39 45 +f 24 8 46 +f 34 24 46 +f 13 26 47 +f 41 12 47 +f 44 2 47 +f 26 44 47 +f 16 1 48 +f 1 17 48 +f 23 16 48 +f 17 23 48 +f 13 27 49 +f 4 28 49 +f 36 13 49 +f 28 36 49 +f 12 6 50 +f 6 27 50 +f 27 13 50 +f 13 47 50 +f 47 12 50 +f 2 31 51 +f 31 41 51 +f 41 47 51 +f 47 2 51 +f 22 4 52 +f 29 22 52 +f 27 40 52 +f 40 29 52 +f 4 49 52 +f 49 27 52 +f 15 5 53 +f 14 38 53 +f 38 15 53 +f 5 43 53 +f 43 14 53 +f 31 18 54 +f 41 31 54 +f 42 41 54 +f 42 54 55 +f 18 32 55 +f 32 42 55 +f 54 18 55 +f 19 16 56 +f 8 33 56 +f 33 19 56 +f 16 34 56 +f 46 8 56 +f 34 46 56 +f 11 16 57 +f 16 23 57 +f 30 11 57 +f 23 30 57 +f 1 16 58 +f 17 1 58 +f 16 19 58 +f 19 17 58 +f 37 15 59 +f 15 39 59 +f 39 37 59 +f 7 21 60 +f 21 35 60 +f 60 35 61 +f 20 7 61 +f 43 20 61 +f 35 43 61 +f 7 60 61 +f 9 6 62 +f 19 9 62 +f 17 19 62 +f 6 32 62 +f 32 17 62 +f 5 24 63 +f 24 11 63 +f 11 30 63 +f 30 20 63 +f 43 5 63 +f 20 43 63 +f 7 18 64 +f 21 7 64 +f 18 31 64 +o convex_1 +v 0.469961 -3.209517 -0.217139 +v 0.620904 -0.561140 2.317539 +v 0.507844 -0.561140 2.317539 +v 0.961457 -0.561140 -0.217387 +v -0.400363 -0.561140 -0.217139 +v -0.211145 -3.890031 0.879857 +v 1.377776 -3.663193 0.842389 +v 1.491228 -0.561140 1.522769 +v -0.362480 -0.561140 1.711846 +v 0.583217 -3.776794 1.598202 +v 1.453345 -0.599248 -0.217387 +v -0.438246 -2.226311 -0.217139 +v 0.545531 -4.079486 0.047619 +v 1.339893 -2.339549 1.598450 +v 1.150675 -3.549593 0.047867 +v -0.211145 -2.452423 1.598450 +v 1.566994 -2.452786 0.766460 +v -0.438246 -2.679624 0.955537 +v 0.583217 -4.268941 0.879857 +v -0.059810 -3.398247 -0.066026 +v 1.453345 -0.599248 1.787775 +v 1.566994 -0.561140 0.615347 +v -0.438246 -0.561140 0.653063 +v 1.150675 -3.398247 1.409372 +v -0.021927 -3.474101 1.409124 +v 1.339893 -3.776794 0.842389 +v -0.211145 -3.928140 0.804424 +v 0.242860 -3.625448 -0.179423 +v 0.507844 -3.776794 1.598202 +v 1.566994 -1.885873 1.068934 +v -0.059810 -3.814903 0.274661 +v -0.286714 -3.209155 0.047619 +v -0.438246 -2.906462 0.804424 +v 1.188558 -3.436356 0.047867 +v -0.324597 -0.788703 1.749811 +v 1.415462 -0.977433 1.787775 +v 1.566994 -1.847764 0.539667 +v 0.583217 -4.268941 0.728496 +v 0.469961 -4.079486 0.047619 +v 1.112988 -3.474101 0.009655 +v -0.438246 -1.923619 1.068686 +v 1.566994 -0.561140 0.955537 +v 0.620904 -0.599248 2.317539 +v 0.696670 -3.739048 1.560734 +v 1.566994 -2.264057 0.955537 +v 0.507844 -0.599248 2.317539 +v 1.377776 -2.150820 0.085583 +v 1.491228 -0.561140 -0.028062 +v 0.167291 -3.436356 -0.217139 +v 0.356509 -3.625448 -0.179423 +v -0.249028 -2.377295 1.560485 +v 1.302010 -3.700939 0.577383 +v -0.438246 -0.561140 0.312625 +v 1.415462 -0.788340 -0.217387 +v 0.507844 -4.268941 0.842141 +v 1.377776 -2.301803 1.522769 +v -0.400363 -2.377295 -0.217139 +v 1.415462 -0.561140 1.825491 +v 0.734552 -4.193087 0.766460 +v 1.377776 -3.625448 0.880105 +v 0.507844 -3.966249 1.333692 +v 0.999340 -4.003632 0.880105 +v 0.620904 -3.739048 1.598202 +f 108 78 127 +f 67 66 68 +f 67 68 69 +f 68 66 72 +f 67 69 73 +f 69 68 76 +f 68 72 86 +f 73 69 87 +f 76 82 87 +f 80 70 89 +f 89 70 93 +f 80 89 93 +f 72 85 94 +f 81 86 94 +f 84 92 95 +f 84 95 96 +f 95 91 96 +f 82 76 97 +f 70 82 97 +f 91 70 97 +f 76 96 97 +f 96 91 97 +f 67 73 99 +f 86 81 101 +f 92 77 103 +f 91 95 103 +f 95 92 103 +f 77 102 103 +f 98 79 104 +f 82 73 105 +f 73 87 105 +f 87 82 105 +f 86 72 106 +f 72 94 106 +f 94 86 106 +f 66 67 107 +f 93 74 107 +f 78 100 107 +f 74 83 108 +f 88 78 108 +f 90 88 108 +f 71 81 109 +f 81 94 109 +f 80 93 110 +f 67 99 110 +f 99 80 110 +f 107 67 110 +f 93 107 110 +f 98 75 111 +f 81 98 111 +f 75 101 111 +f 101 81 111 +f 75 68 112 +f 68 86 112 +f 101 75 112 +f 86 101 112 +f 92 84 113 +f 92 113 114 +f 79 77 114 +f 77 92 114 +f 65 104 114 +f 104 79 114 +f 113 65 114 +f 70 80 115 +f 73 82 115 +f 82 70 115 +f 99 73 115 +f 80 99 115 +f 77 79 116 +f 81 71 116 +f 71 90 116 +f 90 77 116 +f 79 98 116 +f 98 81 116 +f 69 76 117 +f 87 69 117 +f 76 87 117 +f 68 75 118 +f 75 98 118 +f 104 65 118 +f 98 104 118 +f 65 113 118 +f 113 68 118 +f 70 91 119 +f 102 83 119 +f 91 103 119 +f 103 102 119 +f 94 85 120 +f 100 78 120 +f 85 100 120 +f 109 94 120 +f 76 68 121 +f 96 76 121 +f 84 96 121 +f 68 113 121 +f 113 84 121 +f 72 66 122 +f 85 72 122 +f 100 85 122 +f 66 107 122 +f 107 100 122 +f 77 90 123 +f 102 77 123 +f 83 102 123 +f 78 88 124 +f 90 71 124 +f 88 90 124 +f 71 109 124 +f 120 78 124 +f 109 120 124 +f 83 74 125 +f 74 93 125 +f 93 70 125 +f 70 119 125 +f 119 83 125 +f 108 83 126 +f 90 108 126 +f 123 90 126 +f 83 123 126 +f 107 74 127 +f 78 107 127 +f 74 108 127 +o convex_2 +v 1.453479 1.292628 -0.217387 +v -0.173403 -2.150197 -0.255251 +v 0.016052 -2.150197 -0.255251 +v -0.173403 1.860282 -0.557899 +v 1.491224 -0.258017 -0.557899 +v -0.173403 1.822203 -0.217387 +v 1.415551 1.595299 -0.557899 +v -0.173403 -0.333390 -0.557899 +v 1.415551 -0.598374 -0.217387 +v 0.583510 -2.074431 -0.217387 +v 1.680498 0.800740 -0.520035 +v 0.621256 -0.598374 -0.557899 +v 0.696747 1.746437 -0.217387 +v -0.173403 -2.150197 -0.217387 +v 0.583510 -2.074431 -0.255251 +v 1.415551 1.557219 -0.255251 +v 1.529152 0.422304 -0.217387 +v 0.583510 1.784516 -0.557899 +v 1.680498 0.724974 -0.557899 +v 1.453479 -0.485314 -0.217387 +v 1.529152 0.914192 -0.217387 +v 1.339878 1.632985 -0.520035 +v 1.491224 1.481454 -0.557899 +f 138 146 150 +f 131 129 133 +f 132 131 134 +f 129 131 135 +f 131 132 135 +f 128 133 136 +f 136 133 137 +f 130 129 139 +f 129 135 139 +f 135 132 139 +f 133 128 140 +f 131 133 140 +f 129 130 141 +f 133 129 141 +f 137 133 141 +f 130 137 141 +f 132 136 142 +f 136 137 142 +f 137 130 142 +f 130 139 142 +f 139 132 142 +f 128 138 143 +f 140 128 143 +f 128 136 144 +f 134 131 145 +f 131 140 145 +f 132 134 146 +f 146 138 147 +f 136 132 147 +f 144 136 147 +f 138 144 147 +f 132 146 147 +f 138 128 148 +f 128 144 148 +f 144 138 148 +f 143 134 149 +f 140 143 149 +f 134 145 149 +f 145 140 149 +f 143 138 150 +f 134 143 150 +f 146 134 150 +o convex_3 +v 1.566994 0.725148 0.463471 +v 0.091277 1.822448 0.274483 +v 0.091277 1.822448 0.198888 +v -0.437876 -0.561139 0.349978 +v 1.453282 -0.560906 -0.217387 +v -1.308444 0.800510 -0.217387 +v 1.377568 1.557397 -0.217387 +v -0.400159 -0.561139 0.804150 +v -0.173299 1.557164 0.804150 +v 1.566994 -0.560906 0.804150 +v 1.301854 1.519599 0.804150 +v -0.400159 -0.561139 -0.217387 +v -0.437876 1.822448 -0.217387 +v -0.400159 0.914370 0.804150 +v 0.545279 1.784417 0.766253 +v 1.528996 0.914137 -0.217387 +v 1.566994 0.800744 0.804150 +v 0.469565 1.784417 -0.217387 +v -1.308444 0.725148 -0.179489 +v -0.437876 -0.031039 0.804150 +v -0.437876 1.822448 -0.141691 +v 1.528996 0.422767 -0.217387 +v -1.308444 0.800510 -0.179489 +v 1.377568 1.557397 0.123192 +v 1.566994 -0.560906 0.614962 +v 1.037278 1.671023 0.274483 +v -1.232449 0.914370 -0.179489 +v 0.280421 1.708821 0.804150 +v 1.415566 1.481568 -0.217387 +v -0.437876 -0.561139 0.652660 +v 0.696425 1.746619 -0.217387 +v -0.211297 1.595195 0.690457 +v 0.810137 1.708821 0.804150 +v 1.339852 1.519599 0.690457 +f 174 183 184 +f 155 156 157 +f 159 158 160 +f 159 160 161 +f 156 155 162 +f 158 154 162 +f 160 158 162 +f 152 153 163 +f 157 156 163 +f 158 159 164 +f 153 152 165 +f 155 157 166 +f 160 151 167 +f 161 160 167 +f 151 166 167 +f 163 153 168 +f 157 163 168 +f 153 165 168 +f 156 162 169 +f 162 154 169 +f 158 164 170 +f 169 158 170 +f 152 163 171 +f 165 152 171 +f 166 151 172 +f 155 166 172 +f 164 159 173 +f 156 169 173 +f 170 164 173 +f 169 170 173 +f 151 160 175 +f 162 155 175 +f 160 162 175 +f 172 151 175 +f 155 172 175 +f 174 157 176 +f 163 156 177 +f 171 163 177 +f 173 159 177 +f 156 173 177 +f 159 161 178 +f 165 171 178 +f 166 157 179 +f 167 166 179 +f 157 174 179 +f 174 167 179 +f 154 158 180 +f 169 154 180 +f 158 169 180 +f 157 168 181 +f 168 165 181 +f 165 176 181 +f 176 157 181 +f 177 159 182 +f 171 177 182 +f 159 178 182 +f 178 171 182 +f 176 165 183 +f 174 176 183 +f 178 161 183 +f 165 178 183 +f 161 167 184 +f 167 174 184 +f 183 161 184 +o convex_4 +v 0.696818 0.876572 3.792800 +v -0.400411 -0.561139 0.804443 +v -0.400411 0.914137 0.804443 +v 1.566946 -0.561139 0.804443 +v 1.302158 1.519599 0.804443 +v -0.135428 1.557397 2.808968 +v 0.545679 0.006759 3.565785 +v 1.453297 1.405973 2.846999 +v -0.173310 0.725148 3.528046 +v 1.377728 0.762713 3.566077 +v 0.545679 1.784417 0.880212 +v 1.377728 -0.561139 1.863752 +v 0.696818 1.595195 3.527754 +v -0.362528 -0.561139 1.712506 +v -0.400411 0.800744 2.884737 +v 0.658935 1.822448 2.808968 +v -0.173310 1.557397 0.804443 +v 1.604829 0.800744 2.884737 +v 1.566946 0.800744 0.804443 +v 0.507796 -0.561139 2.392968 +v -0.021975 0.157950 3.338769 +v 1.377728 1.557397 2.884737 +v 1.188510 0.195981 3.300738 +v 0.053594 1.330378 3.414538 +v 1.453297 -0.561139 1.787982 +v 1.226393 1.330378 3.414246 +v 0.242812 0.800744 3.717324 +v 0.621052 0.006759 3.565785 +v -0.211193 0.006759 2.846999 +v 1.604829 0.800744 1.939521 +v 1.339845 1.519599 0.993427 +v 0.696818 1.519366 3.603523 +v 0.696818 1.746619 0.804443 +v 0.658935 0.687351 3.792800 +v 0.507796 1.784417 2.846999 +v -0.135428 0.838541 3.565785 +v 1.302158 1.595428 2.544214 +v 0.583365 1.557164 3.565785 +v 1.377728 0.838541 3.566077 +v -0.400411 0.838541 2.846999 +v 1.604829 0.724915 2.846999 +v -0.059662 1.595195 2.846999 +v -0.097545 0.725148 3.603523 +v 1.339845 0.006526 2.809261 +v 0.658935 -0.561139 2.354937 +v 1.415611 1.519599 2.619983 +v 1.566946 -0.561139 0.955689 +v 0.621052 1.784417 0.917951 +v 1.037175 0.157950 3.414246 +v -0.400411 -0.561139 1.182705 +v -0.400411 0.762946 2.884737 +v 0.583365 0.914370 3.792800 +v 0.053594 0.157950 3.414538 +v 1.112940 1.671023 2.846999 +v 0.545679 0.573958 3.754769 +v 1.604829 0.876339 2.695753 +v -0.286763 -0.561139 1.787982 +v 0.961409 1.481568 3.490015 +v -0.173310 1.557397 1.031458 +f 226 219 243 +f 186 187 188 +f 188 187 189 +f 186 188 196 +f 186 196 198 +f 187 186 199 +f 189 187 201 +f 188 189 203 +f 198 196 204 +f 196 188 209 +f 191 204 212 +f 205 193 213 +f 198 205 213 +f 188 203 214 +f 203 189 215 +f 189 201 217 +f 201 195 217 +f 194 185 218 +f 191 212 218 +f 212 194 218 +f 200 195 219 +f 197 200 219 +f 195 201 219 +f 199 193 220 +f 208 190 220 +f 206 215 221 +f 216 197 222 +f 197 219 222 +f 208 220 222 +f 220 211 222 +f 185 194 223 +f 202 192 223 +f 194 202 223 +f 192 206 223 +f 206 210 223 +f 216 185 223 +f 187 199 224 +f 220 190 224 +f 199 220 224 +f 202 194 225 +f 188 214 225 +f 214 202 225 +f 190 208 226 +f 208 222 226 +f 222 219 226 +f 220 193 227 +f 211 220 227 +f 194 207 228 +f 207 209 228 +f 225 194 228 +f 209 225 228 +f 204 196 229 +f 212 204 229 +f 196 212 229 +f 206 192 230 +f 214 203 230 +f 203 215 230 +f 215 206 230 +f 209 188 231 +f 188 225 231 +f 225 209 231 +f 195 200 232 +f 215 189 232 +f 217 195 232 +f 189 217 232 +f 221 215 232 +f 207 194 233 +f 196 209 233 +f 209 207 233 +f 194 212 233 +f 212 196 233 +f 186 198 234 +f 199 186 234 +f 199 234 235 +f 193 199 235 +f 213 193 235 +f 198 213 235 +f 234 198 235 +f 185 216 236 +f 218 185 236 +f 211 218 236 +f 216 222 236 +f 222 211 236 +f 193 205 237 +f 205 198 237 +f 191 227 237 +f 227 193 237 +f 200 197 238 +f 197 206 238 +f 206 221 238 +f 232 200 238 +f 221 232 238 +f 218 211 239 +f 191 218 239 +f 227 191 239 +f 211 227 239 +f 192 202 240 +f 202 214 240 +f 230 192 240 +f 214 230 240 +f 204 191 241 +f 198 204 241 +f 191 237 241 +f 237 198 241 +f 206 197 242 +f 210 206 242 +f 197 216 242 +f 223 210 242 +f 216 223 242 +f 201 187 243 +f 219 201 243 +f 187 224 243 +f 224 190 243 +f 190 226 243 +o convex_5 +v 1.869672 1.216937 -0.785196 +v -0.173310 -0.598974 -1.276940 +v -0.135514 -0.598974 -1.276940 +v -0.173310 1.708647 -2.071095 +v -0.173310 1.860104 -0.558062 +v 1.415520 0.006593 -1.957528 +v 1.453316 -0.296059 -0.558062 +v 1.415520 1.519588 -1.957528 +v -0.173310 -0.220594 -2.108897 +v -0.173310 -0.333924 -0.558062 +v 1.377724 1.632918 -0.558062 +v 1.869672 0.309244 -1.730557 +v 1.415520 0.800692 -2.184499 +v -0.135514 2.087291 -1.239139 +v 1.869672 1.216937 -1.654954 +v -0.173310 0.838556 -2.222627 +v 1.869672 0.271380 -0.747232 +v 1.377724 1.708647 -1.314742 +v 0.659001 -0.561110 -0.596026 +v 1.718088 0.800692 -0.558062 +v -0.097519 1.822240 -2.033294 +v 1.377724 -0.220594 -1.276940 +v 1.869672 0.120186 -1.276940 +v 1.869672 1.368394 -1.314742 +v -0.135514 -0.333924 -2.033294 +v 1.869672 0.838556 -1.844124 +v 0.810585 0.800692 -2.222627 +v 1.415520 0.725226 -2.184499 +v 0.507617 -0.561110 -0.558062 +v 1.377724 1.708647 -1.012168 +v 0.583409 1.784376 -0.558062 +v 1.869672 0.800692 -0.633828 +v 1.415520 -0.031272 -1.881925 +v 0.583409 0.649760 -2.222627 +v -0.173310 2.087291 -1.201337 +v 1.680292 0.649760 -1.995329 +v -0.173310 0.649760 -2.222627 +v -0.173310 -0.598974 -1.201337 +v 1.491112 1.519588 -0.558062 +v 1.869672 1.368394 -1.201337 +v 1.529108 -0.182466 -0.558062 +v -0.135514 1.897969 -1.844124 +v -0.135514 2.087291 -1.201337 +f 257 278 286 +f 247 245 248 +f 245 247 252 +f 248 245 253 +f 250 248 253 +f 248 250 254 +f 244 255 258 +f 252 247 259 +f 255 244 260 +f 251 257 261 +f 254 250 263 +f 251 256 264 +f 256 247 264 +f 262 246 265 +f 250 262 265 +f 260 250 266 +f 255 260 266 +f 250 265 266 +f 244 258 267 +f 258 251 267 +f 251 261 267 +f 246 245 268 +f 252 249 268 +f 245 252 268 +f 256 251 269 +f 251 258 269 +f 258 255 269 +f 247 256 270 +f 259 247 270 +f 249 252 271 +f 270 256 271 +f 250 253 272 +f 262 250 272 +f 261 257 273 +f 267 261 273 +f 248 254 274 +f 260 244 275 +f 249 255 276 +f 265 246 276 +f 255 266 276 +f 266 265 276 +f 246 268 276 +f 268 249 276 +f 259 270 277 +f 271 252 277 +f 270 271 277 +f 247 248 278 +f 255 249 279 +f 256 269 279 +f 269 255 279 +f 249 271 279 +f 271 256 279 +f 252 259 280 +f 277 252 280 +f 259 277 280 +f 245 246 281 +f 253 245 281 +f 246 262 281 +f 272 253 281 +f 262 272 281 +f 254 263 282 +f 275 244 282 +f 263 275 282 +f 244 267 283 +f 273 254 283 +f 267 273 283 +f 282 244 283 +f 254 282 283 +f 250 260 284 +f 263 250 284 +f 260 275 284 +f 275 263 284 +f 257 251 285 +f 251 264 285 +f 264 247 285 +f 247 278 285 +f 278 257 285 +f 254 273 286 +f 273 257 286 +f 248 274 286 +f 274 254 286 +f 278 248 286 +o convex_6 +v 2.210358 0.157720 -1.238776 +v 2.059093 1.368431 -1.238776 +v 2.059093 1.368431 -1.276659 +v 3.609728 0.838567 -1.276659 +v 1.907829 0.800762 -0.633684 +v 1.869672 0.611855 -1.806330 +v 3.345014 0.800762 -0.822868 +v 3.345014 0.838567 -1.654913 +v 3.382831 0.346983 -1.276659 +v 1.869672 0.271254 -0.785100 +v 1.869672 1.179050 -1.692796 +v 3.345014 1.217092 -1.201238 +v 1.869672 1.254897 -0.822868 +v 1.869672 0.271254 -1.654913 +v 2.588691 0.309059 -0.822868 +v 2.664323 1.179050 -1.654913 +v 2.588691 1.217092 -0.822868 +v 2.777601 0.384788 -1.617145 +v 2.664323 0.800762 -1.768447 +v 3.231566 0.422593 -0.974170 +v 1.869672 0.157720 -1.087704 +v 3.345014 1.217092 -1.276659 +v 3.420647 0.763076 -1.617145 +v 3.345014 0.725389 -0.822868 +v 2.588691 0.195644 -1.238776 +v 2.626507 1.330507 -1.276659 +v 2.664323 0.800762 -0.709449 +v 2.021277 0.838567 -1.806330 +v 1.869672 1.368431 -1.276659 +v 3.609728 0.725389 -1.201238 +v 3.382831 0.346983 -1.201238 +v 3.155763 1.065516 -0.898519 +v 2.437426 0.611855 -0.709449 +v 3.193750 1.103440 -1.541494 +v 3.193750 0.460398 -1.541494 +v 2.664323 0.725389 -1.768447 +v 1.945645 0.309059 -0.747217 +v 2.513058 1.330507 -1.163355 +v 1.907829 0.309059 -1.692796 +v 3.571912 0.914177 -1.201238 +v 3.420647 0.838567 -1.617145 +v 2.702139 0.309059 -1.503612 +f 295 311 328 +f 292 296 297 +f 296 291 299 +f 297 296 299 +f 296 292 300 +f 297 289 302 +f 299 291 303 +f 302 294 305 +f 300 287 307 +f 296 300 307 +f 301 296 307 +f 301 306 310 +f 287 300 311 +f 307 287 311 +f 301 307 311 +f 289 288 312 +f 302 289 312 +f 298 308 312 +f 308 302 312 +f 303 291 313 +f 293 303 313 +f 310 293 313 +f 292 297 314 +f 297 302 314 +f 302 305 314 +f 288 289 315 +f 289 297 315 +f 299 288 315 +f 297 299 315 +f 309 290 316 +f 295 309 316 +f 293 310 316 +f 316 310 317 +f 306 301 317 +f 310 306 317 +f 311 295 317 +f 301 311 317 +f 295 316 317 +f 293 298 318 +f 303 293 318 +f 298 303 318 +f 301 310 319 +f 313 291 319 +f 310 313 319 +f 294 302 320 +f 302 308 320 +f 295 304 321 +f 309 295 321 +f 304 309 321 +f 305 294 322 +f 294 309 322 +f 309 304 322 +f 292 314 322 +f 314 305 322 +f 291 296 323 +f 296 301 323 +f 319 291 323 +f 301 319 323 +f 288 299 324 +f 303 298 324 +f 299 303 324 +f 312 288 324 +f 298 312 324 +f 300 292 325 +f 304 300 325 +f 292 322 325 +f 322 304 325 +f 298 293 326 +f 290 308 326 +f 308 298 326 +f 316 290 326 +f 293 316 326 +f 308 290 327 +f 290 309 327 +f 309 294 327 +f 294 320 327 +f 320 308 327 +f 304 295 328 +f 300 304 328 +f 311 300 328 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/323/323.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/323/323.urdf new file mode 100644 index 000000000..47af08f0b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/323/323.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/324/324.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/324/324.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/324/324.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/324/324.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/324/324.obj new file mode 100644 index 000000000..fa92775d4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/324/324.obj @@ -0,0 +1,846 @@ +o convex_0 +v -1.782573 -1.613573 -1.729475 +v -1.232231 -0.512946 -1.632626 +v -1.232231 -0.545344 -1.535453 +v -3.012391 -0.998577 -1.664945 +v -1.232231 -1.031090 -2.247441 +v -1.232231 -1.581175 -1.244151 +v -2.688599 -1.095658 -1.276470 +v -2.688599 -1.031090 -2.085523 +v -2.721013 -0.642539 -1.729475 +v -2.753427 -1.451582 -1.600199 +v -1.264645 -0.707221 -1.244151 +v -1.426541 -0.642539 -2.117949 +v -1.232231 -1.516493 -2.053204 +v -2.073951 -1.419184 -2.053204 +v -2.138257 -0.674823 -1.341216 +v -1.232231 -0.998577 -1.146871 +v -1.944469 -1.516493 -1.276470 +v -2.009123 -0.674823 -2.085523 +v -1.232231 -1.678370 -1.664945 +v -2.721013 -1.451582 -1.729475 +v -2.041537 -0.545344 -1.729475 +v -1.944469 -1.063488 -1.179405 +v -2.785667 -1.031090 -1.308897 +v -1.232231 -0.610141 -2.053204 +v -2.785667 -1.063488 -2.053204 +v -2.073951 -1.063488 -2.182695 +v -2.688599 -0.707221 -1.535453 +v -1.361713 -1.451582 -2.117949 +v -2.138257 -1.581175 -1.632626 +v -2.591531 -0.772132 -1.988458 +v -2.559117 -1.387014 -1.373643 +v -1.264645 -1.225023 -1.146871 +v -3.012391 -1.095658 -1.697156 +v -2.623945 -1.289819 -1.988458 +v -1.297059 -0.512946 -1.794221 +v -1.232231 -0.642539 -1.276470 +v -2.818081 -0.707221 -1.729475 +v -2.009123 -0.545344 -1.664945 +v -2.785667 -1.095658 -1.308897 +v -1.944469 -1.127828 -1.179405 +v -2.009123 -0.869098 -2.150269 +v -1.264645 -1.613573 -1.341216 +v -1.653091 -0.642539 -1.308897 +v -2.041537 -1.451582 -2.020777 +v -2.656185 -1.095658 -2.085523 +v -1.944469 -1.127828 -2.182695 +v -2.138257 -1.581175 -1.697156 +v -2.753427 -0.674823 -1.632626 +v -2.526703 -0.739734 -1.405962 +v -2.041537 -0.707221 -1.308897 +f 43 15 50 +f 2 3 5 +f 5 3 6 +f 5 6 13 +f 6 3 16 +f 1 13 19 +f 13 6 19 +f 18 9 21 +f 12 18 21 +f 16 11 22 +f 7 22 23 +f 2 5 24 +f 5 12 24 +f 5 13 28 +f 17 10 29 +f 18 8 30 +f 9 18 30 +f 8 25 30 +f 17 7 31 +f 10 17 31 +f 6 16 32 +f 17 6 32 +f 16 22 32 +f 20 10 33 +f 4 25 33 +f 25 20 33 +f 14 20 34 +f 20 25 34 +f 21 2 35 +f 12 21 35 +f 2 24 35 +f 24 12 35 +f 11 16 36 +f 16 3 36 +f 25 4 37 +f 9 30 37 +f 30 25 37 +f 2 21 38 +f 21 9 38 +f 23 4 39 +f 7 23 39 +f 31 7 39 +f 10 31 39 +f 33 10 39 +f 4 33 39 +f 7 17 40 +f 22 7 40 +f 17 32 40 +f 32 22 40 +f 12 5 41 +f 8 18 41 +f 18 12 41 +f 5 26 41 +f 26 8 41 +f 6 17 42 +f 19 6 42 +f 17 29 42 +f 29 19 42 +f 3 2 43 +f 36 3 43 +f 11 36 43 +f 2 38 43 +f 38 15 43 +f 13 1 44 +f 20 14 44 +f 28 13 44 +f 14 28 44 +f 25 8 45 +f 8 26 45 +f 14 34 45 +f 34 25 45 +f 26 5 46 +f 5 28 46 +f 28 14 46 +f 14 45 46 +f 45 26 46 +f 1 19 47 +f 10 20 47 +f 29 10 47 +f 19 29 47 +f 44 1 47 +f 20 44 47 +f 4 23 48 +f 27 15 48 +f 23 27 48 +f 37 4 48 +f 9 37 48 +f 15 38 48 +f 38 9 48 +f 23 15 49 +f 15 27 49 +f 27 23 49 +f 22 11 50 +f 15 23 50 +f 23 22 50 +f 11 43 50 +o convex_1 +v 0.289456 0.360868 -0.952633 +v -0.034108 -2.131590 1.539521 +v -0.001836 -2.131590 1.539521 +v -0.034108 -0.383607 3.093876 +v -1.037708 -0.998317 -0.952633 +v 0.969068 -1.710660 -0.952633 +v 1.001552 -1.063076 2.381115 +v -0.940682 0.393495 1.054308 +v 1.034036 0.393495 0.310175 +v -0.778687 -1.160214 3.028623 +v -0.908198 -1.904936 -0.952633 +v 0.580749 -1.710413 2.866746 +v -0.875926 0.393495 -0.725922 +v -0.778687 -1.872309 2.316699 +v -1.037708 -1.160214 2.284072 +v 0.839770 0.393495 1.248393 +v 1.098791 -0.998317 -0.952633 +v 0.775015 -1.872309 2.316699 +v -0.001836 -1.904936 3.061250 +v 0.775015 -1.095455 3.061250 +v -0.001836 -2.066832 -0.952633 +v 0.936797 0.393495 -0.693295 +v -1.037708 0.393495 0.148298 +v -0.066591 0.393495 1.669190 +v -0.034108 -1.159966 3.320588 +v 0.839770 -1.872557 -0.952633 +v -0.746416 -0.383854 2.478576 +v -0.066591 -2.131590 2.284491 +v 0.613021 -0.480744 2.770122 +v -0.908198 0.004697 -0.952633 +v -1.070192 -1.095455 0.116090 +v 1.034036 -1.095455 1.960736 +v -0.972953 -1.807551 -0.887381 +v 1.001552 -0.092441 -0.952633 +v -0.908198 0.393495 1.215767 +v 0.062707 -0.351227 3.061250 +v 0.062707 -2.131590 2.284491 +v -1.037708 -1.030697 2.284072 +v -1.070192 -1.127834 1.442479 +v -0.519666 -0.513123 2.899373 +v -0.584421 -1.710413 2.834956 +v 0.775015 -0.286469 2.284072 +v 0.969068 -1.321863 2.284072 +v -0.196102 0.393495 -0.952633 +v -0.746416 -1.063076 3.061250 +v 0.742531 -1.904689 2.284491 +v -0.066591 -0.351227 3.061250 +v -0.649177 -1.937068 2.284491 +v 0.775015 -1.160214 3.061250 +v -1.037708 0.393495 0.375010 +v 0.062707 -1.127834 3.320588 +v 1.098791 -1.095455 -0.920007 +v -0.811171 -0.383854 2.348907 +v -0.066591 -2.066832 -0.952633 +v 0.451238 -0.480744 2.931999 +v 0.904525 -1.840177 -0.920007 +v 0.030435 -1.904936 3.061250 +v 0.872042 0.393495 1.151769 +v -0.001836 0.393495 1.669190 +v -0.940682 -0.124820 -0.952633 +v -1.005437 -1.581144 -0.952633 +v -0.681660 -1.160214 3.093458 +v 1.034036 -0.254090 -0.952633 +v 0.030435 -2.131590 1.604774 +f 76 87 114 +f 55 51 56 +f 55 56 61 +f 58 59 63 +f 64 60 65 +f 59 58 66 +f 56 51 67 +f 53 52 71 +f 61 56 71 +f 63 59 72 +f 58 63 73 +f 66 58 74 +f 71 56 76 +f 52 53 78 +f 61 52 78 +f 51 55 80 +f 73 55 81 +f 59 57 82 +f 67 59 82 +f 61 64 83 +f 64 65 83 +f 67 51 84 +f 51 72 84 +f 74 58 85 +f 78 53 87 +f 69 78 87 +f 65 60 88 +f 85 58 88 +f 83 65 89 +f 65 88 89 +f 85 77 90 +f 60 64 91 +f 64 69 91 +f 70 57 92 +f 66 79 92 +f 79 70 92 +f 68 56 93 +f 82 57 93 +f 56 82 93 +f 72 51 94 +f 63 72 94 +f 51 80 94 +f 80 63 94 +f 75 54 95 +f 88 60 95 +f 90 77 95 +f 87 76 96 +f 74 85 97 +f 54 86 97 +f 86 74 97 +f 85 90 97 +f 95 54 97 +f 90 95 97 +f 64 61 98 +f 69 64 98 +f 61 78 98 +f 78 69 98 +f 62 68 99 +f 57 70 99 +f 68 93 99 +f 93 57 99 +f 58 73 100 +f 73 81 100 +f 88 58 100 +f 81 89 100 +f 89 88 100 +f 54 75 101 +f 86 54 101 +f 70 86 101 +f 99 70 101 +f 56 67 102 +f 82 56 102 +f 67 82 102 +f 77 85 103 +f 85 88 103 +f 88 95 103 +f 95 77 103 +f 52 61 104 +f 71 52 104 +f 61 71 104 +f 79 66 105 +f 70 79 105 +f 66 86 105 +f 86 70 105 +f 56 68 106 +f 76 56 106 +f 68 96 106 +f 96 76 106 +f 68 62 107 +f 75 69 107 +f 69 87 107 +f 96 68 107 +f 87 96 107 +f 62 99 107 +f 101 75 107 +f 99 101 107 +f 57 59 108 +f 59 66 108 +f 92 57 108 +f 66 92 108 +f 66 74 109 +f 74 86 109 +f 86 66 109 +f 55 73 110 +f 73 63 110 +f 80 55 110 +f 63 80 110 +f 55 61 111 +f 81 55 111 +f 61 83 111 +f 89 81 111 +f 83 89 111 +f 69 75 112 +f 60 91 112 +f 91 69 112 +f 75 95 112 +f 95 60 112 +f 59 67 113 +f 72 59 113 +f 67 84 113 +f 84 72 113 +f 53 71 114 +f 71 76 114 +f 87 53 114 +o convex_2 +v -0.390260 0.393495 -0.887796 +v 0.030359 0.425912 1.604825 +v -0.066582 0.425912 1.604825 +v -0.001887 3.954512 0.213193 +v 0.969148 0.393495 -0.596151 +v -1.037819 2.076752 0.277530 +v 0.775062 2.076752 1.021786 +v 0.030359 3.436533 -0.499270 +v -0.066582 3.468602 1.022037 +v -0.908226 0.393495 1.183755 +v 0.775062 3.501019 0.245487 +v 0.872003 0.393495 1.151462 +v -0.875777 0.458678 -0.725827 +v -0.811082 3.436533 0.213193 +v 1.034045 2.044683 0.309824 +v -0.811082 2.044683 1.022037 +v 0.224647 0.425912 -0.952633 +v 0.775062 2.076752 -0.466977 +v -0.778836 1.915363 -0.531564 +v -1.037819 0.393495 0.148355 +v 1.034045 0.393495 0.309824 +v 0.548325 3.112710 0.860068 +v -0.616997 2.983041 -0.337301 +v -0.616997 3.080292 0.827774 +v -0.001887 0.749736 -0.952633 +v 0.062808 3.436533 1.021786 +v 0.580774 3.079944 -0.305008 +v 0.839757 0.458678 1.248343 +v 0.904452 0.555930 -0.693533 +v -0.811082 3.436533 0.309824 +v -0.066582 3.403768 -0.499270 +v -0.875777 0.490747 1.248593 +v -0.034133 3.954512 0.310324 +v -1.037819 1.882946 0.148355 +v 1.034045 1.979849 0.213193 +v 0.775062 3.436533 0.341867 +v -0.940472 0.393495 -0.499270 +v -1.037819 0.393495 0.374411 +v -1.037819 1.753625 0.406955 +v -0.066582 3.468602 -0.466977 +v -0.811082 1.915363 1.054330 +v 0.030359 0.393495 1.604825 +v -0.875777 1.947780 0.892361 +v 0.289342 3.792426 0.310074 +v -0.940472 0.587998 1.054330 +v 0.839757 3.209613 0.245487 +v 0.807308 1.915363 -0.466977 +v 0.030359 3.274447 -0.531564 +v -0.066582 3.954512 0.245487 +v -0.098828 0.587998 -0.952633 +v 0.872003 0.393495 -0.725827 +v -0.034133 3.371350 1.054330 +v 0.775062 1.915363 1.054330 +v 1.001596 1.008725 -0.272714 +v 1.034045 1.947780 0.341867 +v -0.357811 3.242030 -0.402139 +v -0.649243 2.950623 0.860068 +v 0.030359 3.501019 -0.434433 +v 1.034045 0.393495 0.180649 +v -0.843531 0.587998 -0.725827 +v 0.710164 3.533088 0.309824 +v 0.645469 3.242030 0.665805 +v 0.062808 1.332549 -0.855252 +v 0.807308 3.371350 0.309824 +f 129 160 178 +f 115 119 124 +f 124 119 126 +f 115 124 134 +f 126 119 135 +f 133 128 137 +f 121 136 140 +f 122 125 141 +f 132 122 141 +f 125 132 141 +f 128 120 144 +f 138 123 144 +f 124 117 146 +f 123 140 147 +f 144 123 147 +f 120 128 148 +f 133 127 148 +f 128 133 148 +f 134 120 148 +f 129 135 149 +f 127 115 151 +f 115 134 151 +f 148 127 151 +f 134 148 151 +f 134 124 152 +f 120 134 152 +f 120 152 153 +f 122 145 154 +f 123 130 155 +f 146 117 155 +f 116 117 156 +f 117 124 156 +f 124 126 156 +f 142 116 156 +f 126 142 156 +f 144 120 157 +f 130 144 157 +f 120 153 157 +f 155 130 157 +f 146 155 157 +f 125 118 158 +f 118 147 158 +f 147 140 158 +f 124 146 159 +f 152 124 159 +f 153 152 159 +f 146 157 159 +f 157 153 159 +f 132 125 160 +f 129 149 160 +f 119 143 161 +f 143 132 161 +f 132 160 161 +f 160 149 161 +f 122 132 162 +f 132 143 162 +f 145 122 162 +f 139 145 162 +f 128 144 163 +f 147 118 163 +f 144 147 163 +f 118 154 163 +f 154 128 163 +f 131 115 164 +f 139 131 164 +f 133 145 164 +f 145 139 164 +f 119 115 165 +f 115 131 165 +f 143 119 165 +f 131 143 165 +f 117 116 166 +f 116 140 166 +f 140 123 166 +f 155 117 166 +f 123 155 166 +f 140 116 167 +f 121 140 167 +f 116 142 167 +f 142 121 167 +f 119 161 168 +f 161 149 168 +f 129 121 169 +f 126 135 169 +f 135 129 169 +f 121 142 169 +f 142 126 169 +f 137 128 170 +f 133 137 170 +f 145 133 170 +f 128 154 170 +f 154 145 170 +f 130 123 171 +f 123 138 171 +f 144 130 171 +f 138 144 171 +f 125 122 172 +f 118 125 172 +f 154 118 172 +f 122 154 172 +f 135 119 173 +f 149 135 173 +f 119 168 173 +f 168 149 173 +f 115 127 174 +f 127 133 174 +f 164 115 174 +f 133 164 174 +f 150 125 175 +f 125 158 175 +f 158 140 175 +f 136 121 176 +f 140 136 176 +f 121 150 176 +f 150 175 176 +f 175 140 176 +f 131 139 177 +f 143 131 177 +f 139 162 177 +f 162 143 177 +f 121 129 178 +f 125 150 178 +f 150 121 178 +f 160 125 178 +o convex_3 +v 0.839719 -0.739572 -2.506494 +v -1.232057 -1.677980 -1.762146 +v -1.232057 -1.677980 -1.535583 +v -0.001646 0.555359 -0.952633 +v 0.904478 -1.839943 -0.952801 +v -0.778747 -0.351221 -2.376838 +v 0.386410 -1.807858 -2.409084 +v -0.940644 -0.124833 -0.952801 +v 1.293029 -0.610207 -1.211778 +v -0.811127 -1.937223 -0.952801 +v 1.293029 -1.516274 -2.182689 +v -0.713989 -1.062984 -2.603400 +v 0.807340 -0.351478 -2.409252 +v -1.232057 -0.675146 -2.150275 +v 0.969236 -0.027552 -0.952801 +v -0.001646 -2.066844 -1.697485 +v -0.746368 -1.775260 -2.344424 +v 1.293029 -0.610207 -2.117861 +v -1.232057 -1.030643 -1.114704 +v 0.742582 -0.998302 -2.635983 +v 0.774961 -1.969307 -1.762146 +v 1.293029 -1.160264 -1.049876 +v -0.131163 -0.286795 -2.441666 +v -0.001646 -2.066844 -0.952633 +v -0.811127 -2.001905 -1.697318 +v -1.232057 -1.419250 -2.150275 +v -1.232057 -0.480842 -1.762146 +v 1.293029 -1.645895 -1.665071 +v -0.066405 -1.127923 -2.668396 +v 0.710203 -1.775260 -2.409252 +v -0.875885 0.004789 -1.049876 +v -0.973023 -1.839943 -0.952801 +v 0.062865 0.555359 -0.985047 +v 0.807340 -0.092235 -1.697318 +v 1.293029 -0.998302 -2.279763 +v -0.260680 -1.807858 -2.409084 +v 0.580686 -0.319136 -2.441666 +v -0.778747 -0.092235 -1.665071 +v -0.034025 -0.868937 -2.635983 +v -1.232057 -0.610207 -1.276438 +v 0.742582 -1.127666 -2.635983 +v 1.293029 -1.516274 -1.244192 +v 1.293029 -0.480842 -1.697318 +v -1.199430 -1.030643 -2.279763 +v 1.163265 -1.095325 -0.952801 +v -1.232057 -1.548615 -1.211778 +v 0.677823 -2.001905 -1.729900 +v 0.936857 0.004789 -1.017462 +v -0.552093 -0.319136 -2.409252 +v 0.774961 -1.969307 -1.503001 +v -0.001646 0.555359 -0.985047 +v -1.037534 -0.998302 -0.952801 +v -0.746368 -1.742919 -2.376838 +v 0.127624 -1.775260 -2.441666 +v 0.159756 -0.286795 -2.441666 +v -0.875885 -1.937223 -0.985215 +v -0.098784 -1.840199 -2.376838 +v -0.746368 -2.001905 -1.762146 +v -0.908264 -0.027552 -0.952801 +v -0.746368 -0.933362 -2.571154 +v 1.293029 -0.965960 -1.049876 +v -0.875885 -1.095325 -2.506494 +v -1.232057 -1.516274 -2.085615 +v 1.260402 -1.127666 -2.312177 +f 189 219 242 +f 180 181 192 +f 187 189 196 +f 192 181 197 +f 191 179 198 +f 189 187 200 +f 181 180 203 +f 180 195 203 +f 194 202 203 +f 180 192 204 +f 184 192 205 +f 192 197 205 +f 199 189 206 +f 189 200 206 +f 189 199 208 +f 188 202 210 +f 182 193 211 +f 196 191 212 +f 191 211 212 +f 179 191 213 +f 196 189 213 +f 191 196 213 +f 198 179 213 +f 191 198 215 +f 211 191 215 +f 184 205 216 +f 205 209 216 +f 207 190 217 +f 198 207 217 +f 215 198 217 +f 197 186 218 +f 205 197 218 +f 207 198 219 +f 189 208 219 +f 200 183 220 +f 183 206 220 +f 206 200 220 +f 193 187 221 +f 187 196 221 +f 196 212 221 +f 192 184 222 +f 204 192 222 +f 193 182 223 +f 183 200 223 +f 182 202 223 +f 202 183 223 +f 197 181 224 +f 181 210 224 +f 210 197 224 +f 194 185 225 +f 202 194 225 +f 185 208 225 +f 208 199 225 +f 211 193 226 +f 212 211 226 +f 193 221 226 +f 221 212 226 +f 201 217 227 +f 183 202 228 +f 199 206 228 +f 206 183 228 +f 225 199 228 +f 202 225 228 +f 209 182 229 +f 182 211 229 +f 211 201 229 +f 184 216 229 +f 216 209 229 +f 227 184 229 +f 201 227 229 +f 182 186 230 +f 186 197 230 +f 202 182 230 +f 197 210 230 +f 210 202 230 +f 190 207 231 +f 214 195 231 +f 207 214 231 +f 208 185 232 +f 214 207 232 +f 207 219 232 +f 219 208 232 +f 201 211 233 +f 211 215 233 +f 217 201 233 +f 215 217 233 +f 202 188 234 +f 181 203 234 +f 203 202 234 +f 210 181 234 +f 188 210 234 +f 185 194 235 +f 195 214 235 +f 232 185 235 +f 214 232 235 +f 203 195 236 +f 194 203 236 +f 235 194 236 +f 195 235 236 +f 186 182 237 +f 182 209 237 +f 209 205 237 +f 218 186 237 +f 205 218 237 +f 217 190 238 +f 222 184 238 +f 184 227 238 +f 227 217 238 +f 187 193 239 +f 200 187 239 +f 193 223 239 +f 223 200 239 +f 204 222 240 +f 190 231 240 +f 231 204 240 +f 238 190 240 +f 222 238 240 +f 195 180 241 +f 180 204 241 +f 204 231 241 +f 231 195 241 +f 213 189 242 +f 198 213 242 +f 219 198 242 +o convex_4 +v 1.681769 -1.451598 -1.244205 +v 1.293200 -1.160296 -2.279922 +v 1.293200 -1.031020 -2.279922 +v 3.040993 -0.998701 -1.794211 +v 1.293200 -0.642545 -1.179427 +v 1.293200 -1.613516 -1.826600 +v 2.037830 -0.642545 -2.053201 +v 2.749609 -1.451598 -1.794211 +v 2.749609 -0.966274 -1.341251 +v 2.749609 -0.642545 -1.664897 +v 2.814285 -0.966274 -2.117858 +v 1.293200 -0.512946 -1.729434 +v 2.070168 -1.451598 -2.150246 +v 1.293200 -1.095550 -1.049872 +v 2.749609 -1.160296 -1.341251 +v 1.293200 -0.642545 -2.117858 +v 1.293200 -1.613516 -1.600240 +v 1.293200 -1.484025 -2.182635 +v 2.070168 -1.451598 -1.308862 +v 2.102506 -0.707291 -1.276473 +v 2.037830 -1.031020 -2.247413 +v 2.037830 -1.095550 -1.147039 +v 1.293200 -1.484025 -1.211816 +v 1.972983 -1.581089 -1.761822 +v 2.749609 -1.127869 -2.117858 +v 2.846623 -0.674972 -1.729434 +v 3.040993 -1.063231 -1.664897 +v 2.231687 -0.577800 -1.632629 +v 2.684762 -1.386852 -1.535463 +v 2.490562 -0.707291 -2.020812 +v 1.325709 -0.512946 -1.567851 +v 2.652424 -0.772037 -1.406028 +v 2.102506 -0.674972 -2.085469 +v 1.358047 -1.548771 -2.085469 +v 2.846623 -1.386852 -1.794211 +v 2.620086 -1.354533 -2.020812 +v 1.325709 -1.031020 -1.049872 +v 2.846623 -0.674972 -1.664897 +v 2.814285 -1.031020 -1.341251 +v 2.102506 -0.772037 -1.244205 +v 2.070168 -1.548771 -1.632629 +v 3.008484 -1.063231 -1.858989 +v 2.749609 -1.451598 -1.729434 +v 2.102506 -0.577800 -1.761822 +v 2.846623 -1.386852 -1.729434 +f 285 277 287 +f 245 244 247 +f 247 244 248 +f 245 247 254 +f 247 248 256 +f 245 254 258 +f 254 249 258 +f 256 248 259 +f 248 244 260 +f 244 255 260 +f 244 245 263 +f 255 244 263 +f 245 258 263 +f 256 243 264 +f 243 261 264 +f 261 257 264 +f 243 256 265 +f 256 259 265 +f 261 243 265 +f 259 261 265 +f 255 250 266 +f 259 248 266 +f 263 253 267 +f 255 263 267 +f 249 252 268 +f 246 253 268 +f 247 262 270 +f 262 252 270 +f 257 261 271 +f 249 268 272 +f 268 253 272 +f 254 247 273 +f 247 270 273 +f 270 254 273 +f 252 262 274 +f 258 249 275 +f 253 263 275 +f 263 258 275 +f 249 272 275 +f 272 253 275 +f 248 260 276 +f 260 255 276 +f 266 248 276 +f 255 266 276 +f 250 255 278 +f 255 267 278 +f 267 277 278 +f 277 250 278 +f 247 256 279 +f 256 264 279 +f 246 268 280 +f 268 252 280 +f 269 246 280 +f 252 274 280 +f 280 274 281 +f 251 264 281 +f 264 257 281 +f 257 269 281 +f 274 251 281 +f 269 280 281 +f 262 247 282 +f 264 251 282 +f 274 262 282 +f 251 274 282 +f 247 279 282 +f 279 264 282 +f 261 259 283 +f 259 266 283 +f 253 246 284 +f 267 253 284 +f 246 269 284 +f 277 267 284 +f 269 277 284 +f 266 250 285 +f 271 261 285 +f 250 277 285 +f 261 283 285 +f 283 266 285 +f 252 249 286 +f 249 254 286 +f 270 252 286 +f 254 270 286 +f 269 257 287 +f 257 271 287 +f 277 269 287 +f 271 285 287 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/324/324.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/324/324.urdf new file mode 100644 index 000000000..0464dca60 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/324/324.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/325/325.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/325/325.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/325/325.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/325/325.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/325/325.obj new file mode 100644 index 000000000..2c8818200 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/325/325.obj @@ -0,0 +1,645 @@ +o convex_0 +v 1.249257 1.038670 0.824887 +v -1.105902 0.190380 -0.022712 +v -1.105902 0.190380 0.071138 +v 0.307482 3.833145 -0.022712 +v 1.312253 0.190380 -0.870508 +v -0.446169 1.792112 -0.776265 +v -0.571874 0.190380 0.856367 +v 0.307482 3.330375 0.762124 +v 1.155050 3.330731 -0.053995 +v 1.846282 0.190380 0.039854 +v 0.401399 3.330375 -0.744981 +v -0.477667 3.299353 0.008571 +v 0.213276 0.190380 -0.996428 +v 0.370190 0.190380 1.013570 +v -0.446169 1.823491 0.762124 +v -0.697578 0.190380 -0.807941 +v 0.338980 1.886605 1.013570 +v 0.307482 1.917983 -0.996428 +v 1.123841 1.917627 -0.744981 +v 0.966927 2.953832 0.605117 +v 1.343752 0.190380 0.856367 +v -0.226258 2.953832 -0.587778 +v 1.155050 3.299353 0.134098 +v 1.155050 1.792469 0.793604 +v 1.846282 0.222115 -0.053995 +v -0.226258 2.953832 0.573637 +v 0.966927 2.953832 -0.556692 +v -0.477667 1.854869 -0.744981 +v 0.307482 3.330375 -0.744981 +v 0.370190 3.361753 0.762124 +v -0.446169 3.267974 -0.116759 +v -0.634582 0.347629 0.825084 +v 0.464396 3.801409 0.039854 +v 0.401399 1.792469 -0.996428 +v 1.060844 0.599014 0.919327 +v 1.155050 3.393488 0.039658 +v 1.186549 0.347629 -0.901988 +v 0.401399 1.823847 1.013570 +v 0.244774 1.792469 -0.996428 +v 0.464396 3.801409 -0.022712 +v 0.370190 0.190380 -0.996428 +v 0.307482 1.855226 1.013570 +v 1.846282 0.222115 0.039854 +v 1.155050 1.635576 -0.776461 +v -1.105902 0.222115 -0.022712 +v 0.338980 3.801409 0.102618 +v -1.105902 0.222115 0.071138 +v -0.571874 1.226942 -0.776265 +v -0.446169 1.917983 0.730644 +v -0.257756 0.787285 0.919130 +v -0.477667 3.267974 -0.053995 +v 1.186549 3.330731 0.039658 +v 1.092342 1.949362 0.793604 +v -0.383461 2.325904 -0.682218 +v -0.446169 3.330731 -0.053995 +v -0.571874 0.379008 -0.839225 +v 0.307482 0.347986 1.013570 +v -0.351962 3.111081 0.322387 +v 1.155050 1.886248 0.762124 +v 0.872431 1.886605 -0.839225 +v 0.307482 3.393488 0.699360 +v 1.123841 3.393488 -0.022712 +v 1.092342 2.137276 -0.713501 +v 0.432898 3.298996 -0.744981 +f 63 19 64 +f 3 2 5 +f 3 5 7 +f 7 5 10 +f 5 2 13 +f 7 10 14 +f 13 2 16 +f 14 10 21 +f 10 5 25 +f 15 8 26 +f 4 11 29 +f 11 18 29 +f 18 6 29 +f 8 17 30 +f 20 23 30 +f 29 22 31 +f 3 7 32 +f 13 18 34 +f 21 1 35 +f 14 21 35 +f 1 24 35 +f 30 23 36 +f 33 30 36 +f 17 14 38 +f 30 17 38 +f 14 35 38 +f 35 24 38 +f 6 18 39 +f 18 13 39 +f 11 4 40 +f 4 33 40 +f 33 36 40 +f 5 13 41 +f 13 34 41 +f 37 5 41 +f 34 37 41 +f 8 15 42 +f 17 8 42 +f 14 17 42 +f 1 21 43 +f 21 10 43 +f 24 1 43 +f 10 25 43 +f 25 5 44 +f 19 25 44 +f 5 37 44 +f 2 3 45 +f 16 2 45 +f 4 12 46 +f 33 4 46 +f 30 33 46 +f 3 32 47 +f 32 15 47 +f 45 3 47 +f 12 45 47 +f 28 6 48 +f 16 45 48 +f 45 28 48 +f 15 26 49 +f 12 47 49 +f 47 15 49 +f 32 7 50 +f 15 32 50 +f 42 15 50 +f 31 28 51 +f 45 12 51 +f 28 45 51 +f 25 9 52 +f 9 36 52 +f 36 23 52 +f 23 43 52 +f 43 25 52 +f 24 20 53 +f 20 30 53 +f 30 38 53 +f 38 24 53 +f 6 28 54 +f 29 6 54 +f 22 29 54 +f 28 31 54 +f 31 22 54 +f 12 4 55 +f 4 29 55 +f 29 31 55 +f 51 12 55 +f 31 51 55 +f 13 16 56 +f 6 39 56 +f 39 13 56 +f 48 6 56 +f 16 48 56 +f 7 14 57 +f 14 42 57 +f 50 7 57 +f 42 50 57 +f 26 8 58 +f 12 49 58 +f 49 26 58 +f 23 20 59 +f 20 24 59 +f 43 23 59 +f 24 43 59 +f 37 34 60 +f 19 44 60 +f 44 37 60 +f 8 30 61 +f 46 12 61 +f 30 46 61 +f 58 8 61 +f 12 58 61 +f 9 11 62 +f 36 9 62 +f 11 40 62 +f 40 36 62 +f 25 19 63 +f 9 25 63 +f 27 9 63 +f 27 63 64 +f 11 9 64 +f 18 11 64 +f 9 27 64 +f 34 18 64 +f 19 60 64 +f 60 34 64 +o convex_1 +v -2.896057 -1.160094 0.636696 +v -3.241713 -1.160094 -0.525335 +v -3.618526 -1.160094 -0.493827 +v -2.959060 -1.756806 -0.054198 +v -4.497470 -1.097420 0.354036 +v -2.896057 -0.594776 -0.085592 +v -4.403309 -0.720465 0.102771 +v -4.371980 -1.505541 0.071264 +v -2.896057 -1.662510 0.479612 +v -3.241713 -0.751859 0.479612 +v -2.896057 -1.599723 -0.431039 +v -4.403309 -1.066026 -0.336857 +v -2.896057 -0.689071 -0.399645 +v -4.309149 -1.128700 0.479612 +v -3.650028 -1.536935 -0.368251 +v -3.712858 -0.720465 -0.336857 +v -4.654633 -1.128700 0.008590 +v -3.712858 -1.536935 0.448218 +v -2.896057 -0.594776 0.134165 +v -3.681357 -0.751859 0.448218 +v -3.681357 -1.662510 0.071264 +v -3.775345 -0.626284 0.071264 +v -4.183487 -1.411245 -0.274069 +v -2.896057 -0.720465 0.448218 +v -3.744188 -1.160094 0.573794 +v -4.403309 -0.720465 0.008590 +v -2.896057 -1.066026 -0.525335 +v -4.277648 -0.877435 0.385430 +v -4.246318 -1.411245 0.354036 +v -3.618526 -1.097420 -0.493827 +v -2.896057 -1.756806 0.165445 +v -2.927731 -1.348457 0.605188 +v -4.340479 -1.128700 -0.368251 +v -4.246318 -0.846041 -0.274069 +v -4.466140 -1.411245 0.008590 +v -4.654633 -1.128700 0.102771 +v -3.681357 -1.662510 0.008590 +v -4.434811 -1.128700 0.448218 +v -3.681357 -1.097420 0.573794 +v -3.021891 -1.631117 -0.399645 +v -3.650028 -1.505541 0.479612 +v -4.466140 -1.128700 -0.274069 +v -4.654633 -1.066026 0.008590 +v -3.367375 -0.594776 0.008590 +v -2.927731 -1.285556 -0.525335 +v -4.371980 -1.034518 0.448218 +v -4.340479 -1.505541 0.008590 +v -3.650028 -0.751859 -0.368251 +v -4.403309 -1.474033 0.102771 +v -4.309149 -1.066026 -0.368251 +v -4.654633 -1.066026 0.102771 +v -2.927731 -1.631117 0.511006 +v -3.681357 -0.626284 -0.022804 +v -2.927731 -0.877435 0.542400 +f 74 103 118 +f 70 65 73 +f 70 73 75 +f 70 75 77 +f 67 75 79 +f 65 70 83 +f 82 72 85 +f 73 82 85 +f 84 83 86 +f 71 84 86 +f 65 83 88 +f 84 74 88 +f 83 84 88 +f 71 86 90 +f 77 75 91 +f 84 71 92 +f 72 82 93 +f 66 67 94 +f 91 66 94 +f 77 91 94 +f 68 75 95 +f 75 73 95 +f 85 68 95 +f 73 85 95 +f 73 65 96 +f 65 89 96 +f 67 79 97 +f 79 87 97 +f 94 67 97 +f 76 90 98 +f 90 80 98 +f 81 99 100 +f 68 85 101 +f 85 72 101 +f 93 82 102 +f 69 100 102 +f 74 84 103 +f 89 65 103 +f 78 89 103 +f 75 68 104 +f 79 75 104 +f 68 101 104 +f 101 79 104 +f 89 78 105 +f 96 89 105 +f 78 102 105 +f 102 82 105 +f 76 97 106 +f 97 87 106 +f 99 81 106 +f 87 99 106 +f 90 76 107 +f 71 90 107 +f 81 100 107 +f 76 106 107 +f 106 81 107 +f 70 77 108 +f 77 80 108 +f 83 70 108 +f 86 83 108 +f 67 66 109 +f 75 67 109 +f 66 91 109 +f 91 75 109 +f 71 69 110 +f 92 71 110 +f 84 92 110 +f 102 78 110 +f 69 102 110 +f 103 84 110 +f 78 103 110 +f 87 79 111 +f 72 99 111 +f 99 87 111 +f 79 101 111 +f 101 72 111 +f 80 77 112 +f 77 94 112 +f 98 80 112 +f 72 93 113 +f 99 72 113 +f 100 99 113 +f 93 102 113 +f 102 100 113 +f 97 76 114 +f 94 97 114 +f 76 98 114 +f 112 94 114 +f 98 112 114 +f 69 71 115 +f 100 69 115 +f 71 107 115 +f 107 100 115 +f 82 73 116 +f 73 96 116 +f 105 82 116 +f 96 105 116 +f 80 90 117 +f 90 86 117 +f 108 80 117 +f 86 108 117 +f 65 88 118 +f 88 74 118 +f 103 65 118 +o convex_2 +v -2.895977 -1.725165 -0.242525 +v 2.442767 -0.155288 0.008454 +v 2.725152 -0.249424 0.008454 +v -1.859124 -1.222634 0.981998 +v 2.474280 -2.164804 0.039827 +v 0.244860 -0.155288 -0.996262 +v -2.424511 -0.217978 0.102572 +v 2.379740 -1.913640 -0.776455 +v 1.563481 -0.155288 0.887881 +v 2.442767 -1.913640 0.762191 +v -2.456025 -1.222634 -0.902145 +v -2.456025 -2.196453 0.039827 +v 3.165104 -1.128904 -0.807828 +v 3.165104 -1.160148 0.762191 +v -2.424511 -1.945086 0.730619 +v -2.393616 -0.437899 0.730619 +v -2.330589 -1.976330 -0.682138 +v 2.379740 -1.191391 -1.027834 +v 2.411253 -1.191391 1.013570 +v -2.456025 -0.469345 -0.650766 +v 0.181834 -0.155288 0.981998 +v 1.877379 -0.155288 -0.839200 +v 3.165104 -1.945086 -0.054091 +v -2.895977 -0.751955 0.510812 +v 3.165104 -0.406453 0.008454 +v -2.895977 -0.720509 -0.430959 +v 3.416594 -1.160148 0.039827 +v -1.136787 -2.227899 0.039827 +v -2.393616 -1.128904 0.950626 +v -2.895977 -1.662476 0.510812 +v -1.074378 -0.155491 -0.776455 +v 2.411253 -0.406655 0.762191 +v -1.011351 -0.155491 0.824936 +v 1.625890 -2.007776 0.667874 +v -1.733688 -1.316973 -0.933517 +v 2.913614 -0.563481 -0.619393 +v 2.411253 -2.164804 -0.117035 +v -1.670661 -2.039222 -0.619393 +v -1.670661 -1.944883 0.762191 +v -1.796715 -1.913640 -0.745083 +v -2.895977 -1.348419 -0.525276 +v 3.008155 -1.693922 0.573757 +v 2.913614 -1.756612 -0.619393 +v -2.487538 -1.945086 -0.682138 +v -1.733688 -2.227899 -0.054091 +v -1.670661 -2.101912 0.416695 +v -2.832950 -0.500791 0.071199 +v 2.348227 -1.034566 -1.027834 +v 2.976641 -0.626373 0.573757 +v -2.832950 -1.160351 0.699247 +v 1.814352 -0.155288 0.824936 +v -1.765201 -0.155491 0.039827 +v 2.379740 -0.375209 -0.807828 +v 1.720430 -1.128904 -1.027834 +v -2.424511 -0.217978 -0.022518 +v 1.657403 -0.280870 -0.933517 +v 2.065842 -2.196453 0.008454 +v 3.165104 -1.254081 -0.776455 +v 3.416594 -1.160148 -0.085463 +v 2.411253 -1.976330 0.699446 +v 3.165104 -1.945086 0.008454 +v -2.424511 -0.689063 -0.745083 +v -2.016073 -1.222634 -0.933517 +v 0.558141 -0.155288 0.981998 +f 139 137 182 +f 120 124 127 +f 128 132 137 +f 127 124 139 +f 122 137 139 +f 120 121 140 +f 124 120 140 +f 140 121 143 +f 138 129 144 +f 119 142 144 +f 143 132 145 +f 133 122 147 +f 122 139 147 +f 119 130 148 +f 130 133 148 +f 142 119 148 +f 127 137 150 +f 137 132 150 +f 125 134 151 +f 134 147 151 +f 147 139 151 +f 143 131 154 +f 141 123 155 +f 126 141 155 +f 135 126 156 +f 126 155 156 +f 122 133 157 +f 137 122 157 +f 128 137 157 +f 126 135 158 +f 136 126 158 +f 153 136 158 +f 119 144 159 +f 144 129 159 +f 132 128 160 +f 141 126 161 +f 130 119 162 +f 135 130 162 +f 129 153 162 +f 158 135 162 +f 153 158 162 +f 119 159 162 +f 159 129 162 +f 130 135 163 +f 146 130 163 +f 156 155 163 +f 135 156 163 +f 133 130 164 +f 130 146 164 +f 146 152 164 +f 157 133 164 +f 152 157 164 +f 134 125 165 +f 142 134 165 +f 144 142 165 +f 131 136 166 +f 132 143 167 +f 150 132 167 +f 143 150 167 +f 134 142 168 +f 133 147 168 +f 147 134 168 +f 142 148 168 +f 148 133 168 +f 121 120 169 +f 120 127 169 +f 143 121 169 +f 127 150 169 +f 150 143 169 +f 139 124 170 +f 124 149 170 +f 125 151 170 +f 151 139 170 +f 140 143 171 +f 154 131 171 +f 143 154 171 +f 131 166 171 +f 136 153 172 +f 124 166 172 +f 166 136 172 +f 138 144 173 +f 149 138 173 +f 165 125 173 +f 144 165 173 +f 170 149 173 +f 125 170 173 +f 124 140 174 +f 166 124 174 +f 140 171 174 +f 171 166 174 +f 152 146 175 +f 155 123 175 +f 146 163 175 +f 163 155 175 +f 136 131 176 +f 126 136 176 +f 161 126 176 +f 141 161 176 +f 131 143 177 +f 145 141 177 +f 143 145 177 +f 176 131 177 +f 141 176 177 +f 128 157 178 +f 157 152 178 +f 160 128 178 +f 175 123 178 +f 152 175 178 +f 123 141 179 +f 141 145 179 +f 145 132 179 +f 132 160 179 +f 178 123 179 +f 160 178 179 +f 124 129 180 +f 129 138 180 +f 149 124 180 +f 138 149 180 +f 129 124 181 +f 153 129 181 +f 124 172 181 +f 172 153 181 +f 137 127 182 +f 127 139 182 +o convex_3 +v 0.589914 -0.155089 0.982090 +v 0.213153 0.064718 -0.996428 +v 0.213153 0.190380 -0.996428 +v -1.639418 -0.123673 0.039854 +v -0.571603 0.190380 0.856367 +v 2.348391 -0.155089 -0.053995 +v 1.343826 0.190380 0.856367 +v -0.917130 -0.155089 -0.807941 +v 1.312201 0.190380 -0.870508 +v 1.720587 -0.155089 -0.870508 +v -0.728554 0.190380 -0.776461 +v -0.979989 -0.155089 0.825084 +v 1.908772 0.190380 -0.022515 +v 1.751821 -0.155089 0.825084 +v -1.168174 0.190380 0.039854 +v 0.370104 0.190380 1.013570 +v 0.338870 -0.155089 -0.996428 +v 2.348391 -0.123673 0.039658 +v 1.845913 -0.123673 -0.807941 +v -1.545325 -0.155089 -0.116955 +v -1.074471 -0.123673 -0.713698 +v 1.532011 -0.123673 0.887650 +v -0.665696 0.190380 0.793604 +v 0.181919 -0.155089 0.982090 +v 1.563245 -0.123673 -0.901988 +v 2.317157 -0.092258 -0.053995 +v -1.074471 -0.123673 0.730840 +v 0.370104 0.190380 -0.996428 +v -1.639418 -0.123673 0.008571 +v 1.751821 -0.123673 0.825084 +v -0.697320 0.190380 -0.807941 +v -0.823037 -0.123673 0.856367 +v 1.940397 0.158964 0.039658 +v -1.639418 -0.155089 0.039854 +v 0.338870 0.001955 1.013570 +v 1.877147 0.190380 -0.085475 +v 1.249343 0.190380 0.887650 +f 204 212 219 +f 185 187 189 +f 185 184 190 +f 188 183 190 +f 185 189 191 +f 188 190 192 +f 187 185 193 +f 190 183 194 +f 191 189 195 +f 183 188 196 +f 187 193 197 +f 189 187 198 +f 184 185 199 +f 190 184 199 +f 192 190 199 +f 196 188 200 +f 188 192 201 +f 192 191 201 +f 190 194 202 +f 190 202 203 +f 183 196 204 +f 194 187 205 +f 197 186 205 +f 187 197 205 +f 194 183 206 +f 191 192 207 +f 192 199 207 +f 200 188 208 +f 195 200 208 +f 188 201 208 +f 194 205 209 +f 205 186 209 +f 185 191 210 +f 199 185 210 +f 191 207 210 +f 207 199 210 +f 186 197 211 +f 197 193 211 +f 193 203 211 +f 203 202 211 +f 200 189 212 +f 196 200 212 +f 204 196 212 +f 185 190 213 +f 193 185 213 +f 203 193 213 +f 190 203 213 +f 187 194 214 +f 198 187 214 +f 194 206 214 +f 195 189 215 +f 200 195 215 +f 189 200 215 +f 202 194 216 +f 209 186 216 +f 194 209 216 +f 186 211 216 +f 211 202 216 +f 183 204 217 +f 204 198 217 +f 206 183 217 +f 198 214 217 +f 214 206 217 +f 191 195 218 +f 201 191 218 +f 195 208 218 +f 208 201 218 +f 189 198 219 +f 198 204 219 +f 212 189 219 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/325/325.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/325/325.urdf new file mode 100644 index 000000000..cc6ff3cad --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/325/325.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/326/326.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/326/326.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/326/326.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/326/326.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/326/326.obj new file mode 100644 index 000000000..aefe03f9d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/326/326.obj @@ -0,0 +1,996 @@ +o convex_0 +v 0.041890 -3.901101 -0.635555 +v 0.134524 -3.901101 0.569168 +v 0.258074 -3.901101 0.538271 +v 0.011084 -5.599737 0.013033 +v -0.544942 -3.901101 0.074826 +v 0.536196 -4.611485 -0.017864 +v 0.041890 -5.352466 0.445582 +v -0.019722 -5.383229 -0.357488 +v 0.412646 -3.901101 -0.481073 +v -0.359564 -4.704107 0.414686 +v -0.359564 -4.642248 -0.388384 +v -0.328649 -5.383229 0.074826 +v 0.412646 -5.352466 0.074826 +v 0.474366 -3.901101 0.445582 +v 0.350817 -4.796398 -0.388384 +v -0.421284 -3.901101 -0.450177 +v -0.452199 -3.901101 0.414686 +v 0.443452 -4.673178 0.414686 +v 0.567110 -3.901101 -0.079303 +v 0.011084 -4.457003 0.569168 +v -0.483113 -4.642248 -0.017864 +v -0.019722 -4.642248 -0.542866 +v 0.350817 -5.259677 -0.172110 +v 0.350817 -5.136125 0.352893 +v -0.266929 -5.167055 -0.264799 +v -0.359564 -3.931864 -0.511970 +v -0.544942 -3.962794 -0.110317 +v -0.236015 -5.197984 0.352893 +v 0.567110 -3.962794 0.105722 +v 0.381732 -4.611485 -0.419281 +v 0.041890 -5.383229 -0.357488 +v 0.072804 -5.599737 0.105722 +v 0.134524 -4.611485 0.538271 +v -0.050636 -3.901101 0.569168 +v -0.483113 -4.642248 0.043929 +v 0.412646 -5.352466 0.013033 +v 0.474366 -4.271591 0.445582 +v 0.041890 -4.642248 -0.542866 +v 0.103719 -5.321537 0.445582 +v -0.050636 -3.962794 -0.635555 +v -0.019722 -5.321537 0.445582 +v 0.381732 -3.962794 -0.511970 +v -0.359564 -5.290606 0.043929 +v 0.536196 -4.611485 0.043929 +v 0.072804 -5.599737 0.013033 +v 0.011084 -5.599737 0.105722 +v -0.390478 -4.024487 0.445582 +v 0.289097 -5.197984 -0.295695 +v 0.567110 -4.024487 -0.079303 +v 0.011084 -4.765468 0.538271 +f 10 41 50 +f 1 2 3 +f 2 1 5 +f 1 3 9 +f 8 4 12 +f 9 3 14 +f 5 1 16 +f 2 5 17 +f 9 14 19 +f 8 11 22 +f 13 18 24 +f 11 8 25 +f 8 12 25 +f 16 1 26 +f 11 16 26 +f 22 11 26 +f 5 16 27 +f 16 11 27 +f 11 21 27 +f 10 12 28 +f 19 14 29 +f 23 15 30 +f 4 8 31 +f 8 22 31 +f 3 2 33 +f 2 20 33 +f 2 17 34 +f 20 2 34 +f 17 5 35 +f 10 17 35 +f 5 27 35 +f 27 21 35 +f 6 13 36 +f 30 6 36 +f 23 30 36 +f 31 23 36 +f 13 32 36 +f 14 3 37 +f 29 14 37 +f 3 33 37 +f 33 18 37 +f 30 15 38 +f 31 22 38 +f 15 31 38 +f 13 24 39 +f 24 18 39 +f 7 32 39 +f 32 13 39 +f 18 33 39 +f 26 1 40 +f 22 26 40 +f 1 38 40 +f 38 22 40 +f 10 28 41 +f 28 12 41 +f 1 9 42 +f 9 30 42 +f 38 1 42 +f 30 38 42 +f 12 10 43 +f 21 11 43 +f 11 25 43 +f 25 12 43 +f 10 35 43 +f 35 21 43 +f 13 6 44 +f 18 13 44 +f 37 18 44 +f 29 37 44 +f 4 31 45 +f 32 4 45 +f 31 36 45 +f 36 32 45 +f 12 4 46 +f 4 32 46 +f 32 7 46 +f 7 41 46 +f 41 12 46 +f 17 10 47 +f 10 20 47 +f 34 17 47 +f 20 34 47 +f 15 23 48 +f 31 15 48 +f 23 31 48 +f 9 19 49 +f 19 29 49 +f 6 30 49 +f 30 9 49 +f 44 6 49 +f 29 44 49 +f 20 10 50 +f 33 20 50 +f 7 39 50 +f 39 33 50 +f 41 7 50 +o convex_1 +v 0.906720 3.389049 -0.233682 +v -1.193639 1.783054 -0.048412 +v -1.193639 1.783054 0.260162 +v -0.792096 4.130454 0.013136 +v 0.783113 1.783054 0.908605 +v 0.041952 1.783054 -1.036933 +v -0.019731 3.698158 0.970361 +v -0.081414 4.161441 -0.820785 +v 0.876000 1.783054 -0.789907 +v -0.884500 2.555699 -0.851455 +v -0.884500 1.783054 0.908813 +v 0.721430 4.130454 0.074684 +v 1.277543 1.814295 0.044014 +v 0.752150 3.358062 0.816179 +v 0.721430 3.420036 -0.789907 +v -0.792096 3.296342 0.816179 +v -0.019731 3.481756 -1.068020 +v -0.050693 4.099466 0.815970 +v -0.822817 3.420036 -0.789907 +v -0.884500 1.783054 -0.882542 +v -0.050693 4.377842 0.074684 +v -0.050693 3.420036 1.063413 +v -1.039069 3.389049 0.013136 +v 0.072672 1.783054 1.063413 +v 0.968645 3.420036 0.044014 +v 0.876000 2.215857 0.877935 +v 0.536140 4.007013 -0.542673 +v -0.606564 3.883319 0.630701 +v 0.814075 1.968722 -0.851664 +v -0.606564 3.976026 -0.604429 +v 0.505177 3.945039 0.630701 +v 0.721430 4.161441 -0.017534 +v 0.134597 3.203889 1.063413 +v 1.246580 1.783054 -0.110169 +v -0.884500 2.246590 0.908813 +v -0.143339 3.358062 -1.068020 +v -0.143339 2.092163 1.063413 +v -0.019731 2.246590 -1.068020 +v 0.041952 4.161441 -0.789907 +v 0.041952 4.099466 0.815970 +v -0.050693 4.377842 -0.079499 +v 1.153935 1.783054 0.383675 +v -1.162677 1.814041 0.383675 +v -0.792096 3.450769 -0.820577 +v 0.597822 3.450769 -0.851664 +v -0.143339 3.265609 1.063413 +v -0.761134 3.389049 0.816179 +v -0.174059 1.875761 -1.036933 +v -0.946424 1.968468 -0.789907 +v 0.845037 2.092163 -0.820785 +v -1.008107 3.389049 -0.141047 +v -0.792096 4.130454 -0.017534 +v 0.011231 3.450769 -1.068020 +v 1.277543 1.814295 -0.017534 +v 0.350849 3.358062 0.970570 +v 0.597822 3.759878 -0.697272 +v -0.112376 3.450769 -1.068020 +v 0.906720 1.814295 0.816179 +v 0.968645 3.420036 -0.017534 +v 0.319887 4.284881 0.043805 +v 0.814075 1.783054 -0.851664 +v -0.081414 4.192174 -0.759029 +v 0.041952 4.377842 -0.017742 +v -0.730172 3.327329 0.846848 +f 72 97 114 +f 53 52 55 +f 55 52 56 +f 55 56 59 +f 53 55 61 +f 60 52 69 +f 56 52 70 +f 54 68 71 +f 57 68 72 +f 52 53 73 +f 66 54 73 +f 61 55 74 +f 62 64 75 +f 64 63 75 +f 68 54 78 +f 64 62 81 +f 62 75 82 +f 74 55 83 +f 72 74 83 +f 55 76 83 +f 55 59 84 +f 70 60 86 +f 61 74 87 +f 74 72 87 +f 85 61 87 +f 86 67 88 +f 67 58 89 +f 82 77 89 +f 68 57 90 +f 71 68 90 +f 81 62 90 +f 64 81 90 +f 54 71 91 +f 63 64 92 +f 64 76 92 +f 55 84 92 +f 84 63 92 +f 53 61 93 +f 73 53 93 +f 66 73 93 +f 61 85 93 +f 85 66 93 +f 60 69 94 +f 80 58 94 +f 86 60 94 +f 65 79 95 +f 67 89 95 +f 87 72 96 +f 85 87 96 +f 54 66 97 +f 72 68 97 +f 78 54 97 +f 68 78 97 +f 56 70 98 +f 70 86 98 +f 88 56 98 +f 86 88 98 +f 52 60 99 +f 70 52 99 +f 60 70 99 +f 59 79 100 +f 79 65 100 +f 84 59 100 +f 65 84 100 +f 69 52 101 +f 52 73 101 +f 101 73 102 +f 73 54 102 +f 54 91 102 +f 94 69 102 +f 80 94 102 +f 69 101 102 +f 88 67 103 +f 95 79 103 +f 67 95 103 +f 65 51 104 +f 75 63 104 +f 63 84 104 +f 84 65 104 +f 57 72 105 +f 76 64 105 +f 72 83 105 +f 83 76 105 +f 90 57 105 +f 64 90 105 +f 82 65 106 +f 77 82 106 +f 89 77 106 +f 65 95 106 +f 95 89 106 +f 58 67 107 +f 67 86 107 +f 94 58 107 +f 86 94 107 +f 76 55 108 +f 55 92 108 +f 92 76 108 +f 51 65 109 +f 65 82 109 +f 82 75 109 +f 104 51 109 +f 75 104 109 +f 62 82 110 +f 71 90 110 +f 90 62 110 +f 59 56 111 +f 79 59 111 +f 56 88 111 +f 103 79 111 +f 88 103 111 +f 58 80 112 +f 89 58 112 +f 91 89 112 +f 80 102 112 +f 102 91 112 +f 82 89 113 +f 91 71 113 +f 89 91 113 +f 110 82 113 +f 71 110 113 +f 66 85 114 +f 96 72 114 +f 85 96 114 +f 97 66 114 +o convex_2 +v 0.567050 -3.776584 0.476333 +v -1.039187 -1.120720 -0.758978 +v -1.039187 -1.120720 -0.697312 +v 1.030293 -0.472276 -0.697112 +v -0.174180 -0.472276 1.032523 +v -0.884568 -3.406045 -0.851576 +v -0.792042 -3.313411 0.785261 +v 0.814195 -3.282532 -0.913442 +v 0.721464 -0.472276 0.908792 +v -1.008140 -0.471941 0.568932 +v -0.174180 -0.472276 -1.006240 +v 0.721464 -3.313746 0.754328 +v -0.421325 -3.900769 -0.480783 +v 0.041918 -3.313746 1.001590 +v 0.968609 -2.664632 0.136473 +v 0.999451 -2.356185 -0.975307 +v -0.946457 -3.406045 -0.017591 +v -0.884568 -0.471941 -0.913442 +v -0.050607 -3.313746 -1.006240 +v -0.421325 -3.900769 0.445600 +v -0.792042 -0.471941 0.939725 +v 0.381588 -3.900769 -0.511716 +v 0.968609 -0.472276 0.445401 +v 0.906720 -3.375167 0.043875 +v 0.814195 -0.472276 -0.944175 +v -1.008140 -2.510576 -0.913442 +v 1.061340 -1.707742 -0.882509 +v -0.853726 -2.541455 -0.975307 +v 0.072760 -3.900769 0.599865 +v -0.112291 -2.664968 1.032523 +v 0.567050 -3.900769 -0.110190 +v 0.011076 -3.869555 -0.666180 +v 0.845037 -2.510576 -1.006040 +v -1.039187 -0.471941 -0.697312 +v 0.721464 -2.479362 0.846927 +v 0.072760 -2.664968 1.032523 +v -0.606581 -3.838676 0.043875 +v -0.699312 -2.387063 0.908792 +v -0.977298 -3.066385 -0.110190 +v 0.072760 -0.472276 1.032523 +v -0.019765 -3.437259 0.970658 +v 1.030293 -2.325307 -0.944374 +v 0.196332 -0.472276 -1.006240 +v -0.884568 -0.595789 0.846927 +v 0.443478 -3.900769 0.476333 +v -0.915409 -3.499016 0.043875 +v -0.853726 -3.406045 -0.882509 +v -0.977298 -1.615107 0.445401 +v -0.483008 -2.602875 -1.006240 +v 0.752306 -2.757602 0.785261 +v 0.041918 -3.468138 -0.944175 +v 0.690623 -3.406381 0.754328 +v 0.845037 -0.564911 0.723396 +v -0.544897 -3.900769 -0.140923 +v 1.061340 -1.491594 -0.789910 +v -0.915409 -3.436924 -0.604514 +v 0.906720 -3.375167 -0.079457 +v -0.760995 -0.472276 -0.944175 +v 0.968609 -1.337203 0.352802 +v -0.019765 -3.313746 1.001590 +v -1.008140 -1.954768 -0.913442 +v 0.628734 -3.838676 -0.048524 +v 0.196332 -3.406381 0.939725 +v -0.792042 -1.553351 0.908792 +f 135 158 178 +f 132 124 135 +f 118 132 135 +f 134 127 136 +f 118 135 137 +f 135 123 137 +f 129 126 138 +f 132 118 139 +f 117 116 140 +f 130 139 141 +f 139 118 141 +f 134 136 143 +f 119 135 144 +f 136 122 145 +f 143 136 145 +f 122 136 146 +f 136 127 146 +f 130 122 147 +f 122 133 147 +f 139 130 147 +f 116 117 148 +f 117 124 148 +f 124 132 148 +f 119 144 150 +f 144 128 150 +f 149 123 150 +f 128 149 150 +f 144 135 152 +f 124 117 153 +f 117 140 153 +f 140 131 153 +f 123 135 154 +f 135 119 154 +f 119 150 154 +f 150 123 154 +f 121 134 155 +f 134 143 155 +f 122 130 156 +f 129 138 156 +f 141 129 156 +f 130 141 156 +f 125 132 157 +f 133 125 157 +f 132 139 157 +f 147 133 157 +f 139 147 157 +f 124 121 158 +f 135 124 158 +f 143 145 159 +f 121 131 160 +f 134 121 160 +f 151 134 160 +f 127 120 161 +f 120 140 161 +f 142 133 161 +f 140 142 161 +f 146 127 161 +f 121 124 162 +f 131 121 162 +f 124 153 162 +f 153 131 162 +f 125 133 163 +f 142 125 163 +f 133 142 163 +f 126 129 164 +f 149 126 164 +f 133 122 165 +f 122 146 165 +f 161 133 165 +f 146 161 165 +f 115 138 166 +f 138 126 166 +f 159 115 166 +f 137 123 167 +f 123 149 167 +f 164 137 167 +f 149 164 167 +f 120 127 168 +f 127 134 168 +f 134 151 168 +f 151 160 168 +f 118 137 169 +f 141 118 169 +f 129 141 169 +f 140 120 170 +f 131 140 170 +f 160 131 170 +f 120 168 170 +f 168 160 170 +f 122 156 171 +f 156 138 171 +f 132 125 172 +f 125 142 172 +f 142 132 172 +f 164 129 173 +f 137 164 173 +f 169 137 173 +f 129 169 173 +f 128 144 174 +f 152 121 174 +f 144 152 174 +f 121 155 174 +f 155 128 174 +f 140 116 175 +f 132 142 175 +f 142 140 175 +f 116 148 175 +f 148 132 175 +f 138 115 176 +f 145 122 176 +f 115 159 176 +f 159 145 176 +f 122 171 176 +f 171 138 176 +f 149 128 177 +f 126 149 177 +f 128 155 177 +f 155 143 177 +f 143 159 177 +f 166 126 177 +f 159 166 177 +f 121 152 178 +f 152 135 178 +f 158 121 178 +o convex_3 +v -0.019823 0.516471 1.063413 +v -0.050483 0.670899 -1.037130 +v -0.174067 -0.471941 -1.006082 +v -1.224530 0.825453 -0.048337 +v 1.184884 0.825453 -0.017700 +v -0.174067 -0.471941 1.032366 +v 1.030404 -0.471941 -0.697251 +v -1.038918 -0.471941 -0.697251 +v 0.752340 -0.471941 0.877950 +v -0.884674 -0.471941 0.847108 +v -0.822882 0.825453 0.939634 +v 0.783236 0.825453 -0.913556 +v 0.783236 0.825453 0.908792 +v -0.822882 0.825453 -0.913351 +v 0.783236 -0.471941 -0.944398 +v 0.968612 -0.471941 0.445340 +v -1.008258 -0.440954 0.599756 +v -0.884674 -0.471941 -0.913351 +v -1.008258 0.732746 0.785219 +v 1.184884 0.825453 -0.326531 +v -1.069814 0.825453 -0.635362 +v 1.092196 0.732746 0.383656 +v -0.791986 0.207616 0.970476 +v -0.050483 0.825453 1.063413 +v 1.030404 0.825453 -0.666204 +v -1.069814 -0.440954 -0.635362 +v 0.597860 -0.379234 0.939840 +v -1.193398 0.701886 -0.388215 +v 0.875924 -0.410094 -0.913556 +v -0.019823 0.825453 -1.037130 +v -0.791986 -0.471941 0.939634 +v -0.791986 0.547331 -0.944193 +v 0.196449 -0.471941 -1.006082 +v 0.072865 -0.471941 1.032366 +v 0.690548 0.115163 0.939840 +v -1.224530 0.732746 -0.079384 +v -0.761090 -0.471941 -0.944193 +v 1.184884 0.763606 -0.048542 +v -1.008258 0.578319 0.785219 +v -1.008258 -0.471941 0.569119 +v -0.977126 0.825453 0.816061 +v -1.008258 0.084303 -0.758935 +v -0.791986 0.670899 0.970476 +v 1.030404 -0.471941 -0.573678 +v 0.011073 0.825453 1.063413 +v 0.844792 -0.471941 0.723535 +v 1.061300 0.825453 0.445340 +v -1.069814 -0.131972 -0.666204 +v 0.690548 0.423764 -0.944398 +v -1.224530 0.825453 -0.233800 +v 0.937716 -0.471941 -0.851667 +v -0.575714 0.362044 1.001524 +v -0.853542 0.485611 -0.913351 +v 0.690548 0.640039 0.939840 +f 223 213 232 +f 184 181 185 +f 181 184 186 +f 184 185 187 +f 186 184 188 +f 183 182 189 +f 182 183 190 +f 183 189 191 +f 182 190 192 +f 185 181 193 +f 187 185 194 +f 181 186 196 +f 190 183 198 +f 182 192 199 +f 194 183 200 +f 191 189 202 +f 198 185 203 +f 190 198 203 +f 193 190 207 +f 190 203 207 +f 192 190 208 +f 188 184 209 +f 184 201 209 +f 208 180 210 +f 192 208 210 +f 181 180 211 +f 193 181 211 +f 180 208 211 +f 208 193 211 +f 179 184 212 +f 184 187 212 +f 187 205 212 +f 212 205 213 +f 187 191 213 +f 205 187 213 +f 195 182 214 +f 180 181 215 +f 181 196 215 +f 210 180 215 +f 196 210 215 +f 183 194 216 +f 198 183 216 +f 185 198 216 +f 182 195 217 +f 195 188 217 +f 197 182 217 +f 188 209 217 +f 209 201 217 +f 186 188 218 +f 188 195 218 +f 204 186 218 +f 195 214 218 +f 214 204 218 +f 189 182 219 +f 182 197 219 +f 197 217 219 +f 217 201 219 +f 202 189 221 +f 189 219 221 +f 219 201 221 +f 194 185 222 +f 216 194 222 +f 185 216 222 +f 202 179 223 +f 191 202 223 +f 179 212 223 +f 212 213 223 +f 187 194 224 +f 194 200 224 +f 224 200 225 +f 191 187 225 +f 183 191 225 +f 200 183 225 +f 187 224 225 +f 196 186 226 +f 186 204 226 +f 206 199 226 +f 204 206 226 +f 220 196 226 +f 199 220 226 +f 190 193 227 +f 208 190 227 +f 193 208 227 +f 182 199 228 +f 199 206 228 +f 206 204 228 +f 214 182 228 +f 204 214 228 +f 185 193 229 +f 203 185 229 +f 193 207 229 +f 207 203 229 +f 184 179 230 +f 201 184 230 +f 179 202 230 +f 202 221 230 +f 221 201 230 +f 199 192 231 +f 210 196 231 +f 192 210 231 +f 196 220 231 +f 220 199 231 +f 213 191 232 +f 191 223 232 +o convex_4 +v -2.583565 1.227113 -0.203012 +v -1.255420 1.721186 0.167581 +v -1.255420 1.721186 -0.017749 +v -1.255420 0.825453 -0.141213 +v -2.706970 1.350477 0.229314 +v -1.255420 1.072709 0.291112 +v -1.255420 1.319614 -0.357542 +v -2.768844 1.628508 -0.017749 +v -2.768844 1.134435 0.013117 +v -1.286443 1.628508 0.322045 +v -1.286443 0.856492 -0.326610 +v -2.706970 1.443154 -0.203012 +v -1.471722 1.597558 -0.233878 +v -3.016169 1.350477 -0.017749 +v -1.378996 1.010895 0.260246 +v -2.614417 1.597558 0.136649 +v -1.626149 1.412291 0.322045 +v -1.286443 0.949169 -0.357542 +v -1.286443 0.825453 -0.079414 +v -2.768844 1.134435 -0.048548 +v -2.676291 1.504968 0.198447 +v -2.583565 1.196249 0.167581 +v -2.583565 1.350477 -0.233878 +v -1.255420 1.690235 0.291112 +v -1.255420 1.566694 -0.264744 +v -2.768844 1.628508 0.043984 +v -2.861569 1.350477 0.167581 +v -2.830719 1.350477 -0.172079 +v -3.016169 1.412291 -0.017749 +v -1.378996 1.288751 -0.357542 +v -2.490840 1.566694 -0.141213 +v -2.706970 1.412291 0.229314 +f 253 259 264 +f 235 234 236 +f 236 234 238 +f 235 236 239 +f 234 235 240 +f 239 236 243 +f 240 235 245 +f 238 237 247 +f 237 238 249 +f 238 242 249 +f 243 233 250 +f 239 243 250 +f 236 238 251 +f 238 247 251 +f 247 241 251 +f 233 243 252 +f 243 236 252 +f 241 246 252 +f 236 251 252 +f 251 241 252 +f 247 237 254 +f 241 247 254 +f 250 233 255 +f 238 234 256 +f 242 238 256 +f 253 242 256 +f 248 253 256 +f 235 239 257 +f 239 244 257 +f 245 235 257 +f 244 245 257 +f 234 240 258 +f 253 248 258 +f 256 234 258 +f 248 256 258 +f 246 241 259 +f 254 237 259 +f 241 254 259 +f 253 258 259 +f 233 252 260 +f 252 246 260 +f 244 255 260 +f 255 233 260 +f 240 244 261 +f 258 240 261 +f 246 259 261 +f 259 258 261 +f 244 260 261 +f 260 246 261 +f 244 239 262 +f 239 250 262 +f 255 244 262 +f 250 255 262 +f 244 240 263 +f 240 245 263 +f 245 244 263 +f 237 249 264 +f 249 242 264 +f 242 253 264 +f 259 237 264 +o convex_5 +v 0.041885 1.165398 1.063413 +v -0.143321 1.535804 -1.037130 +v -0.668445 0.825547 -0.944193 +v 1.277340 0.825547 -0.295689 +v 1.277340 1.782960 0.105668 +v -1.193570 1.782960 0.383451 +v -0.977123 0.825547 0.816061 +v 0.783208 0.825547 0.908792 +v 0.072877 1.782960 1.063413 +v -0.884396 1.782960 -0.882509 +v -1.255057 0.856477 -0.357373 +v 0.814199 1.782960 -0.851667 +v 0.783208 0.825547 -0.913556 +v 0.844943 1.782960 0.877950 +v -0.884396 1.782960 0.908792 +v 1.277340 1.041773 0.291130 +v -1.255057 1.628500 -0.233800 +v -0.730181 0.825547 0.970682 +v 1.277340 1.412273 -0.357373 +v -1.255057 0.980008 0.260083 +v 0.041885 1.782960 -1.037130 +v -0.019602 0.825547 -1.037130 +v -0.853652 0.887406 -0.913351 +v 1.277340 1.535804 0.352814 +v -0.050594 0.825547 1.063413 +v -1.255057 1.628500 0.352814 +v 1.277340 1.721101 -0.264642 +v -0.112330 1.782960 1.063413 +v -1.255057 0.825547 -0.048337 +v -1.255057 1.288929 -0.388215 +v -1.224313 1.782960 -0.017495 +v 1.122877 0.825547 0.321972 +v 1.215604 1.165398 -0.450105 +v 0.814199 1.227164 0.908792 +v -1.069851 0.825547 -0.635362 +v -0.853652 1.412273 0.939634 +v -0.143321 1.782960 -1.037130 +v 1.215604 1.752031 0.352814 +v 0.906679 1.782960 -0.758730 +v 1.277340 1.350508 0.352814 +v -0.946379 1.628500 0.847108 +v -0.977123 1.782960 -0.728093 +v 0.906679 0.825547 -0.789777 +v 0.783208 1.782960 0.908792 +v 0.659737 0.825547 0.939840 +v -0.853652 1.196234 -0.913351 +v 1.277340 1.782960 -0.110226 +f 291 303 311 +f 267 268 271 +f 271 268 272 +f 269 270 273 +f 270 269 274 +f 274 269 276 +f 268 267 277 +f 269 273 278 +f 273 270 279 +f 268 269 280 +f 271 272 282 +f 269 268 283 +f 281 275 284 +f 274 276 285 +f 276 277 285 +f 285 277 286 +f 267 266 286 +f 277 267 286 +f 266 285 286 +f 266 267 287 +f 280 269 288 +f 265 273 289 +f 282 272 289 +f 279 270 290 +f 284 271 290 +f 281 284 290 +f 269 283 291 +f 273 279 292 +f 289 273 292 +f 282 289 292 +f 267 271 293 +f 271 284 293 +f 284 275 293 +f 275 281 294 +f 270 274 295 +f 290 270 295 +f 281 290 295 +f 272 268 296 +f 268 280 296 +f 280 272 296 +f 283 268 297 +f 287 267 299 +f 274 287 299 +f 267 293 299 +f 293 275 299 +f 294 274 299 +f 275 294 299 +f 271 282 300 +f 292 279 300 +f 282 292 300 +f 285 266 301 +f 274 285 301 +f 266 287 301 +f 269 278 302 +f 288 269 302 +f 278 288 302 +f 276 269 303 +f 291 283 303 +f 283 297 303 +f 272 280 304 +f 288 278 304 +f 280 288 304 +f 298 272 304 +f 278 298 304 +f 279 290 305 +f 290 271 305 +f 271 300 305 +f 300 279 305 +f 274 294 306 +f 294 281 306 +f 295 274 306 +f 281 295 306 +f 268 277 307 +f 277 276 307 +f 297 268 307 +f 276 303 307 +f 303 297 307 +f 278 273 308 +f 273 298 308 +f 298 278 308 +f 273 265 309 +f 265 289 309 +f 289 272 309 +f 272 298 309 +f 298 273 309 +f 287 274 310 +f 274 301 310 +f 301 287 310 +f 269 291 311 +f 303 269 311 +o convex_6 +v 1.277763 0.856344 -0.172064 +v 1.308802 1.783054 0.044014 +v 1.308802 1.783054 -0.017673 +v 3.069052 1.381383 0.044014 +v 1.277763 1.196240 0.321988 +v 1.277763 1.350450 -0.357542 +v 2.790933 1.443157 -0.203012 +v 2.821796 1.350450 0.229353 +v 1.277763 1.659414 0.291109 +v 1.308802 0.856344 -0.326595 +v 2.852835 1.566707 0.013136 +v 1.277763 1.690347 -0.264838 +v 1.308802 1.041758 0.260231 +v 2.760070 1.227173 0.074892 +v 1.432254 1.473999 0.352935 +v 2.420400 1.597639 -0.172064 +v 2.821796 1.412225 0.229353 +v 2.945424 1.319699 -0.017673 +v 1.308802 0.918209 0.013136 +v 2.821796 1.381383 -0.172064 +v 1.308802 1.134466 -0.357542 +v 2.667481 1.535774 0.136649 +v 2.636618 1.258015 0.198475 +v 2.852835 1.566707 -0.048551 +v 1.370528 1.072691 0.291109 +v 2.173495 1.350450 0.291109 +v 3.069052 1.443157 -0.017673 +v 1.277763 1.350450 0.352935 +f 336 337 339 +f 312 316 317 +f 317 316 320 +f 312 317 321 +f 314 313 322 +f 313 314 323 +f 318 317 323 +f 320 313 323 +f 317 320 323 +f 316 312 324 +f 315 319 325 +f 312 321 325 +f 323 314 327 +f 318 323 327 +f 319 315 328 +f 320 326 328 +f 315 325 329 +f 325 321 329 +f 324 312 330 +f 312 325 330 +f 321 318 331 +f 329 321 331 +f 317 318 332 +f 321 317 332 +f 318 321 332 +f 313 320 333 +f 322 313 333 +f 328 322 333 +f 320 328 333 +f 325 319 334 +f 324 330 334 +f 330 325 334 +f 314 322 335 +f 327 314 335 +f 318 327 335 +f 316 324 336 +f 334 319 336 +f 324 334 336 +f 319 328 337 +f 328 326 337 +f 336 319 337 +f 328 315 338 +f 322 328 338 +f 315 329 338 +f 331 318 338 +f 329 331 338 +f 318 335 338 +f 335 322 338 +f 320 316 339 +f 326 320 339 +f 316 336 339 +f 337 326 339 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/326/326.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/326/326.urdf new file mode 100644 index 000000000..674ab717b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/326/326.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/327/327.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/327/327.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/327/327.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/327/327.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/327/327.obj new file mode 100644 index 000000000..3fbbbe6b7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/327/327.obj @@ -0,0 +1,504 @@ +o convex_0 +v -1.370570 -3.085606 -0.962385 +v 0.766643 -1.411799 0.675580 +v 0.730869 -1.411799 0.746918 +v 0.588402 -3.406388 0.925047 +v -1.299232 -1.411994 0.960716 +v 0.730869 -1.411799 -0.926716 +v 0.623967 -3.227937 -1.105061 +v -1.370570 -1.411994 -1.105061 +v -1.370570 -3.263666 1.103392 +v -1.334796 -3.299200 -1.069392 +v 0.517064 -1.483062 0.960716 +v -0.337319 -3.299200 -1.105061 +v 0.623967 -3.334929 0.925047 +v 0.517064 -3.406388 0.960716 +v 0.766643 -1.447528 -0.712918 +v -1.370570 -1.411994 -0.143294 +v 0.730869 -1.518596 -0.962385 +v 0.588402 -3.299200 -0.819709 +v -1.370570 -3.299200 -0.143294 +v -1.227894 -3.121140 1.103392 +v -1.120991 -1.411994 -1.105061 +v 0.588402 -3.406388 0.640127 +v -1.370570 -2.871816 -1.105061 +v -1.334796 -2.124236 1.032054 +v 0.339033 -3.406388 0.960716 +v 0.624176 -1.411799 0.925263 +v 0.766643 -1.554326 0.283869 +v -1.085427 -1.661318 0.996385 +v 0.623967 -3.156869 -1.105061 +v -1.370570 -2.836282 1.067723 +v 0.303468 -1.411994 0.960716 +v -0.586897 -3.335125 1.032054 +v 0.588402 -3.263666 -1.105061 +v -1.334796 -1.981710 0.996385 +f 30 24 34 +f 3 2 6 +f 8 1 9 +f 8 7 12 +f 2 3 13 +f 4 13 14 +f 6 2 15 +f 8 9 16 +f 6 15 17 +f 15 7 17 +f 9 1 19 +f 1 10 19 +f 14 11 20 +f 9 14 20 +f 8 6 21 +f 7 8 21 +f 6 17 21 +f 10 12 22 +f 7 13 22 +f 13 4 22 +f 4 14 22 +f 18 7 22 +f 12 18 22 +f 1 8 23 +f 10 1 23 +f 8 12 23 +f 12 10 23 +f 9 20 24 +f 19 10 25 +f 10 22 25 +f 22 14 25 +f 3 6 26 +f 6 8 26 +f 13 3 26 +f 11 14 26 +f 14 13 26 +f 16 5 26 +f 8 16 26 +f 2 13 27 +f 13 7 27 +f 15 2 27 +f 7 15 27 +f 5 24 28 +f 24 20 28 +f 17 7 29 +f 7 21 29 +f 21 17 29 +f 16 9 30 +f 9 24 30 +f 20 11 31 +f 26 5 31 +f 11 26 31 +f 5 28 31 +f 28 20 31 +f 14 9 32 +f 9 19 32 +f 25 14 32 +f 19 25 32 +f 12 7 33 +f 7 18 33 +f 18 12 33 +f 5 16 34 +f 24 5 34 +f 16 30 34 +o convex_1 +v 0.481515 1.545047 -1.033821 +v 0.766430 2.613190 1.103392 +v -0.479998 2.613190 1.103392 +v -1.263567 0.761560 1.031845 +v -1.263567 2.613190 -1.033821 +v 0.730841 0.761560 0.889587 +v -1.299155 0.761560 -1.033821 +v 0.695253 2.719985 -1.033821 +v 0.766430 0.761365 -0.962273 +v -1.263567 2.613190 1.067618 +v -0.836296 2.755908 0.461977 +v -1.334744 0.975150 -0.570646 +v 0.125422 2.755908 0.569089 +v -0.764913 2.755908 -0.570646 +v 0.695253 0.761560 0.960716 +v 0.766430 2.648723 0.248381 +v 0.766430 2.363872 1.103392 +v 0.766430 0.761365 0.746911 +v 0.695253 0.761560 -0.998047 +v 0.445926 2.755908 -0.677549 +v 0.730841 2.328339 -0.998047 +v -1.334744 0.761560 -0.392406 +v -0.373026 1.438252 1.067618 +v 0.766430 2.648723 0.782475 +v -1.263567 1.758636 1.067618 +v -0.373026 0.761560 -1.033821 +v 0.766430 1.509319 -0.855580 +v -0.942857 2.648723 -1.033821 +v 0.338954 2.185816 1.103392 +v 0.730841 1.793974 -1.033821 +v -0.088316 0.761560 0.996489 +v -1.299155 1.402524 -1.033821 +f 46 39 66 +f 39 35 41 +f 35 39 42 +f 39 44 45 +f 44 39 46 +f 37 36 47 +f 44 37 47 +f 45 44 47 +f 45 47 48 +f 39 45 48 +f 36 43 50 +f 36 37 51 +f 43 36 51 +f 49 40 51 +f 40 49 52 +f 43 51 52 +f 51 40 52 +f 48 47 54 +f 42 48 54 +f 42 50 55 +f 41 43 56 +f 46 41 56 +f 44 46 56 +f 52 38 56 +f 43 52 56 +f 47 36 58 +f 36 50 58 +f 50 42 58 +f 42 54 58 +f 54 47 58 +f 37 44 59 +f 56 38 59 +f 44 56 59 +f 38 57 59 +f 41 35 60 +f 43 41 60 +f 35 53 60 +f 53 43 60 +f 50 43 61 +f 43 55 61 +f 55 50 61 +f 42 39 62 +f 39 48 62 +f 48 42 62 +f 51 37 63 +f 57 51 63 +f 37 59 63 +f 59 57 63 +f 35 42 64 +f 53 35 64 +f 43 53 64 +f 42 55 64 +f 55 43 64 +f 49 51 65 +f 38 52 65 +f 52 49 65 +f 57 38 65 +f 51 57 65 +f 39 41 66 +f 41 46 66 +o convex_2 +v -0.800549 2.827431 -0.392528 +v 0.161050 4.714828 0.604709 +v 0.161050 4.714828 0.462033 +v 0.196719 2.755908 -0.107636 +v 0.125381 4.607831 -0.570758 +v -0.871887 4.679163 0.462033 +v -0.764880 2.755908 0.497817 +v -0.800549 4.643497 -0.428082 +v 0.125381 2.755908 0.569040 +v -0.586744 2.755908 -0.570758 +v 0.196719 2.755908 -0.463866 +v -0.871887 3.290508 0.426479 +v -0.764880 2.755908 -0.570758 +v -0.836113 4.501027 -0.321305 +v 0.196719 3.504117 -0.428082 +v -0.230786 4.643497 -0.535089 +v -0.836113 2.755908 0.462033 +v -0.159553 2.755908 0.569040 +v -0.693646 4.679163 -0.285751 +v -0.729211 4.679163 0.497817 +v -0.800549 4.501027 -0.463866 +v 0.161050 4.394222 -0.535089 +v 0.089817 4.216086 0.604709 +v 0.196719 3.788675 0.105918 +v 0.125381 4.287417 -0.570758 +v -0.871887 4.679163 0.141587 +v 0.161050 4.109281 0.604709 +v 0.196719 3.148037 -0.499420 +v -0.693646 3.076706 -0.570758 +v 0.161050 4.679163 0.034580 +v -0.836113 2.755908 0.105918 +f 79 83 97 +f 68 69 72 +f 73 70 75 +f 70 73 76 +f 70 76 77 +f 71 76 79 +f 76 73 79 +f 67 78 80 +f 79 67 80 +f 70 77 81 +f 73 72 83 +f 72 78 83 +f 79 73 83 +f 73 75 84 +f 82 74 85 +f 68 72 86 +f 72 73 86 +f 80 74 87 +f 79 80 87 +f 74 82 87 +f 73 84 89 +f 68 86 89 +f 86 73 89 +f 69 68 90 +f 70 81 90 +f 81 88 90 +f 76 71 91 +f 72 69 92 +f 78 72 92 +f 74 80 92 +f 80 78 92 +f 69 85 92 +f 85 74 92 +f 75 70 93 +f 84 75 93 +f 68 89 93 +f 89 84 93 +f 90 68 93 +f 70 90 93 +f 77 76 94 +f 81 77 94 +f 71 88 94 +f 88 81 94 +f 91 71 94 +f 76 91 94 +f 71 79 95 +f 82 71 95 +f 79 87 95 +f 87 82 95 +f 71 82 96 +f 85 69 96 +f 82 85 96 +f 88 71 96 +f 69 90 96 +f 90 88 96 +f 78 67 97 +f 67 79 97 +f 83 78 97 +o convex_3 +v -3.329159 -1.411656 -0.784144 +v 0.765980 0.761176 0.747009 +v 0.765980 0.761176 -0.962385 +v 2.725580 -1.304674 1.032151 +v -3.436542 0.654194 0.960604 +v 2.618803 -1.304674 -1.105061 +v -3.436542 -1.304674 0.996378 +v -3.258176 0.618462 -0.997949 +v 2.761374 0.653981 0.996378 +v 2.761374 0.653981 -0.998159 +v -3.293971 -1.411656 -1.105061 +v -1.370165 0.761176 1.032151 +v 0.944346 -1.411656 0.960604 +v -1.691103 0.761176 -1.033723 +v 0.944346 -1.411656 -0.962385 +v -1.405960 0.511479 -1.069287 +v -1.833674 -1.411656 0.960813 +v 2.761374 -0.841437 -0.428082 +v -3.436542 0.689713 0.746799 +v 2.761374 -0.200817 1.032151 +v -1.940451 0.084187 1.032151 +v -2.795274 -0.841437 -1.105061 +v 2.618803 -1.055189 -1.105061 +v -3.151399 0.725445 0.604542 +v 2.369455 -1.340193 -1.069287 +v -3.293971 -0.485395 -1.069078 +v 2.333660 -1.340193 1.032151 +v 2.725580 0.262420 -1.033723 +v -3.436542 -1.304674 0.711235 +v -3.258176 0.654194 -0.713016 +v -3.436542 -0.414144 0.996378 +v 0.694998 0.761176 0.960604 +v -1.299183 -0.663628 -1.105061 +v -2.118211 0.761176 -0.250051 +v -3.008828 0.725445 0.960604 +v -3.044622 -1.340193 0.996378 +v -2.403354 0.689926 -1.033723 +v -3.293971 0.618462 -0.819918 +v -1.120817 -1.411656 -1.105061 +v 2.761374 -0.770398 1.032151 +v -0.444361 0.761176 -1.033723 +v 2.725580 -1.304674 0.604542 +v -3.329159 -1.411656 -0.641887 +v 2.689785 -0.485182 -1.069287 +v -1.263388 0.511479 -1.069287 +v -1.085022 0.761176 1.032151 +v -3.258176 0.226689 -1.033514 +v 2.653991 -1.304674 -0.713225 +v -3.329159 -1.090921 -0.784144 +v -3.079810 0.654194 -0.997949 +f 111 134 147 +f 100 99 106 +f 100 106 107 +f 99 100 109 +f 98 108 110 +f 109 100 111 +f 110 108 112 +f 98 110 114 +f 107 106 115 +f 104 102 116 +f 109 101 117 +f 115 106 117 +f 101 109 118 +f 103 108 119 +f 103 119 120 +f 110 112 122 +f 119 108 123 +f 114 110 124 +f 101 118 124 +f 118 104 124 +f 122 101 124 +f 110 122 124 +f 98 104 126 +f 104 116 126 +f 121 111 127 +f 116 121 127 +f 102 104 128 +f 109 102 128 +f 104 118 128 +f 118 109 128 +f 106 99 129 +f 99 109 129 +f 119 113 130 +f 120 119 130 +f 109 111 131 +f 111 121 131 +f 131 121 132 +f 102 109 132 +f 116 102 132 +f 121 116 132 +f 109 131 132 +f 124 104 133 +f 114 124 133 +f 111 113 134 +f 113 119 134 +f 105 123 135 +f 123 116 135 +f 127 105 135 +f 116 127 135 +f 108 103 136 +f 112 108 136 +f 103 122 136 +f 122 112 136 +f 101 115 137 +f 117 101 137 +f 115 117 137 +f 100 107 138 +f 111 100 138 +f 113 111 138 +f 115 101 139 +f 101 122 139 +f 104 98 140 +f 98 114 140 +f 133 104 140 +f 114 133 140 +f 115 103 141 +f 107 115 141 +f 103 120 141 +f 125 107 141 +f 120 125 141 +f 107 125 142 +f 125 120 142 +f 130 113 142 +f 120 130 142 +f 138 107 142 +f 113 138 142 +f 109 117 143 +f 117 106 143 +f 106 129 143 +f 129 109 143 +f 123 105 144 +f 119 123 144 +f 105 134 144 +f 134 119 144 +f 103 115 145 +f 122 103 145 +f 115 139 145 +f 139 122 145 +f 108 98 146 +f 123 108 146 +f 116 123 146 +f 98 126 146 +f 126 116 146 +f 105 127 147 +f 127 111 147 +f 134 105 147 +o convex_4 +v 2.761374 -0.521008 -0.463897 +v 4.648956 0.298114 0.462211 +v 4.648956 0.298114 0.355333 +v 4.720486 -0.841684 0.141577 +v 2.761374 -0.841684 0.497803 +v 2.761374 0.155438 0.569089 +v 4.684817 0.226776 -0.463897 +v 4.648956 -0.841684 -0.463897 +v 2.761374 0.119884 -0.463897 +v 4.720486 -0.627785 0.462211 +v 2.761374 -0.841684 -0.428103 +v 3.936534 0.262445 0.569089 +v 4.578001 -0.841684 0.426517 +v 2.797044 -0.877353 0.426517 +v 4.613479 -0.022562 0.533395 +v 3.260165 -0.841684 0.497803 +v 2.903859 0.191222 0.462211 +v 3.046343 0.155438 -0.356918 +v 2.832904 -0.556677 0.533395 +v 4.684817 -0.592346 -0.463897 +v 4.684817 0.262445 -0.107570 +v 4.435517 0.298114 0.533395 +v 2.761374 -0.058231 0.569089 +v 4.648956 0.226776 0.533395 +v 3.972395 0.191222 0.569089 +v 4.435517 0.226776 -0.428103 +f 168 154 173 +f 148 152 153 +f 148 154 155 +f 148 153 156 +f 154 148 156 +f 151 154 157 +f 152 148 158 +f 148 155 158 +f 151 157 160 +f 155 151 161 +f 152 158 161 +f 158 155 161 +f 151 160 161 +f 160 157 163 +f 152 161 163 +f 161 160 163 +f 157 162 163 +f 156 153 164 +f 153 159 164 +f 156 164 165 +f 152 163 166 +f 154 151 167 +f 155 154 167 +f 151 155 167 +f 150 149 168 +f 149 157 168 +f 157 154 168 +f 149 150 169 +f 164 159 169 +f 150 165 169 +f 165 164 169 +f 153 152 170 +f 159 153 170 +f 152 166 170 +f 157 149 171 +f 162 157 171 +f 149 169 171 +f 169 159 171 +f 163 162 172 +f 166 163 172 +f 159 170 172 +f 170 166 172 +f 162 171 172 +f 171 159 172 +f 154 156 173 +f 165 150 173 +f 156 165 173 +f 150 168 173 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/327/327.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/327/327.urdf new file mode 100644 index 000000000..248e5189d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/327/327.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/328/328.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/328/328.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/328/328.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/328/328.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/328/328.obj new file mode 100644 index 000000000..4e1e1262f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/328/328.obj @@ -0,0 +1,495 @@ +o convex_0 +v 1.117265 1.251717 -0.030393 +v -1.348166 0.234874 -0.030393 +v -1.348166 0.234874 0.000269 +v -0.053783 3.747574 0.000070 +v -0.023013 1.837339 -1.047427 +v -0.023013 0.512383 0.986640 +v 0.962903 0.234530 -0.862457 +v -0.023013 3.254455 0.739748 +v 0.962903 0.234530 0.801670 +v 0.778028 3.161952 -0.091917 +v -0.824310 3.285404 -0.061056 +v -0.978416 0.234874 -0.862258 +v -1.039955 0.234874 0.801471 +v -0.084552 3.254455 -0.831596 +v -0.824310 1.836995 0.739947 +v -0.793284 1.867944 -0.800734 +v 0.778028 1.806734 0.709086 +v -0.023013 1.775785 0.986640 +v 0.778028 1.683283 -0.800734 +v 1.271371 0.234530 0.031130 +v -0.084552 0.234874 -1.016565 +v 0.531613 2.853838 -0.646626 +v 0.593409 2.822890 0.524117 +v -0.608409 2.884788 0.554978 +v -0.639178 2.945997 -0.584903 +v 0.007757 3.254455 -0.831596 +v 1.024699 0.265823 -0.800734 +v -0.269428 0.234874 0.955579 +v 0.716488 3.254455 -0.030393 +v -0.023013 3.716625 -0.153640 +v -0.023013 0.666440 -1.047427 +v -0.885850 0.296428 0.863194 +v -0.824310 3.254455 0.000269 +v 0.069297 1.714231 -1.047427 +v 0.778028 0.388931 0.863194 +v 0.778028 3.161952 -0.030393 +v -0.084552 1.775785 -1.047427 +v 0.007757 3.254455 0.739748 +v 1.240345 0.512039 -0.061056 +v -0.978416 0.388931 -0.862258 +v 0.562383 0.234530 -0.954842 +v -0.793284 3.316009 0.000269 +v -0.762514 0.234874 -0.923981 +v -0.053783 1.775785 0.986640 +v -0.885850 1.405774 0.770610 +v 0.654949 1.745180 0.770610 +v 1.271371 0.296428 0.031130 +v 0.747258 3.223506 -0.091917 +v 0.161863 0.234874 0.955579 +v 0.038527 3.716625 0.000070 +v -0.762514 1.775785 -0.831397 +v 0.962903 0.327377 0.801670 +v -1.348166 0.265823 0.000269 +v -1.348166 0.265823 -0.030393 +v -0.762514 3.346958 -0.061056 +v 0.747258 0.481434 -0.923981 +v 0.007757 1.745180 0.986640 +v 0.654949 2.360719 -0.708150 +v -1.039955 0.327377 0.801471 +v -0.577639 2.945997 -0.646427 +v 1.024699 1.559831 -0.184302 +v 1.055469 1.590780 0.000269 +v 0.100066 3.685676 -0.091917 +v 0.192632 0.234874 -1.016565 +f 34 41 64 +f 3 9 13 +f 9 7 20 +f 15 8 24 +f 11 14 25 +f 16 11 25 +f 5 14 26 +f 7 19 27 +f 20 7 27 +f 13 9 28 +f 26 14 30 +f 13 28 32 +f 15 24 33 +f 5 26 34 +f 26 19 34 +f 31 5 34 +f 1 10 36 +f 23 17 36 +f 29 23 36 +f 14 5 37 +f 5 31 37 +f 4 8 38 +f 8 18 38 +f 17 23 38 +f 23 29 38 +f 10 1 39 +f 12 2 40 +f 3 2 41 +f 9 3 41 +f 7 9 41 +f 2 12 41 +f 8 4 42 +f 24 8 42 +f 11 33 42 +f 33 24 42 +f 31 21 43 +f 37 31 43 +f 12 40 43 +f 40 37 43 +f 41 12 43 +f 21 41 43 +f 8 15 44 +f 6 18 44 +f 18 8 44 +f 28 6 44 +f 32 28 44 +f 32 44 45 +f 44 15 45 +f 17 38 46 +f 9 20 47 +f 20 27 47 +f 39 1 47 +f 27 39 47 +f 10 22 48 +f 22 26 48 +f 36 10 48 +f 29 36 48 +f 6 28 49 +f 28 9 49 +f 9 35 49 +f 35 6 49 +f 4 38 50 +f 38 29 50 +f 16 14 51 +f 14 37 51 +f 40 16 51 +f 37 40 51 +f 35 9 52 +f 17 46 52 +f 46 35 52 +f 9 47 52 +f 47 17 52 +f 2 3 53 +f 3 13 53 +f 33 11 53 +f 15 33 53 +f 45 15 53 +f 11 16 54 +f 40 2 54 +f 16 40 54 +f 2 53 54 +f 53 11 54 +f 14 11 55 +f 4 30 55 +f 30 14 55 +f 42 4 55 +f 11 42 55 +f 19 7 56 +f 34 19 56 +f 7 41 56 +f 41 34 56 +f 18 6 57 +f 6 35 57 +f 38 18 57 +f 35 46 57 +f 46 38 57 +f 10 19 58 +f 22 10 58 +f 19 26 58 +f 26 22 58 +f 13 32 59 +f 32 45 59 +f 53 13 59 +f 45 53 59 +f 14 16 60 +f 25 14 60 +f 16 25 60 +f 19 10 61 +f 27 19 61 +f 10 39 61 +f 39 27 61 +f 1 36 62 +f 36 17 62 +f 17 47 62 +f 47 1 62 +f 26 30 63 +f 30 4 63 +f 48 26 63 +f 29 48 63 +f 4 50 63 +f 50 29 63 +f 21 31 64 +f 31 34 64 +f 41 21 64 +o convex_1 +v -2.888962 -1.799340 0.000377 +v 1.856685 -0.135300 0.030898 +v 1.856685 -0.135300 0.000175 +v 2.781454 -2.107558 0.000175 +v 0.007739 -0.474576 -1.047426 +v -1.193751 -0.135300 0.832516 +v 1.979672 -1.367747 0.986332 +v -2.025688 -2.045872 0.770869 +v -1.994941 -2.045872 -0.800837 +v 2.103251 -1.336904 -1.016300 +v -1.348076 -0.166143 -0.831560 +v -2.796131 -0.443733 0.031100 +v -2.149266 -1.244588 0.986534 +v -2.025688 -1.214173 -1.047426 +v 2.565635 -0.721109 0.585725 +v 2.072504 -2.323462 -0.060866 +v -0.023008 -0.135300 0.986534 +v 2.103251 -2.076715 -0.800635 +v 2.596382 -0.782581 -0.584970 +v 2.011010 -2.045872 0.739944 +v 1.116988 -0.135300 -0.862282 +v -2.025688 -2.292619 -0.122715 +v -2.796131 -1.152487 -0.769710 +v -2.796131 -1.244802 0.770869 +v 2.750115 -1.367747 0.770667 +v 2.781454 -1.306275 -0.769912 +v 1.116988 -0.135300 0.832516 +v 2.750115 -0.536049 0.000175 +v 2.997272 -1.306275 0.092747 +v -1.933447 -0.135300 -0.030345 +v -2.796131 -2.045872 -0.061068 +v -3.043288 -1.183544 0.031100 +v -0.145995 -0.135300 -1.016502 +v -2.056434 -0.474576 0.770869 +v -2.025688 -1.306061 1.017459 +v 1.209229 -1.336904 -1.047426 +v -2.056434 -0.443733 -0.769912 +v -2.025688 -2.200089 0.370060 +v 2.011010 -0.505205 0.770667 +v -0.331067 -1.984185 -0.862282 +v 2.011010 -2.323462 0.030898 +v 1.948925 -0.474576 -0.769912 +v -2.611650 -1.860812 0.554800 +v 1.948925 -1.152487 0.986332 +v -2.611650 -1.799340 -0.615895 +v 1.640866 -2.107344 -0.769912 +v 2.596382 -1.922713 -0.584970 +v -2.025688 -2.076715 0.739944 +v -2.611650 -0.628793 -0.554045 +v -2.611650 -0.721109 0.616649 +v 2.504141 -1.922713 0.585725 +v -2.025688 -2.292619 0.062025 +v -2.796131 -1.275432 -0.769710 +v 0.192220 -0.135300 -1.016502 +v -2.025688 -1.275217 -1.047426 +v 2.997272 -1.306275 -0.091791 +v 2.041757 -1.214387 -1.016300 +v 1.979672 -2.076715 0.709019 +v -1.224497 -0.135300 -0.862282 +v 2.011010 -2.292619 -0.215085 +v 2.750115 -0.536049 0.061823 +v -2.796131 -2.045872 0.031100 +v 1.918178 -2.045872 -0.831357 +v -1.994941 -1.214173 1.017459 +f 108 81 128 +f 66 67 70 +f 66 70 81 +f 68 80 82 +f 71 72 84 +f 70 67 85 +f 71 84 89 +f 82 74 90 +f 66 81 91 +f 67 66 92 +f 85 67 92 +f 90 83 92 +f 89 68 93 +f 75 76 94 +f 76 70 94 +f 70 85 94 +f 73 86 95 +f 76 87 96 +f 65 88 96 +f 88 76 96 +f 69 78 97 +f 94 85 97 +f 70 76 98 +f 88 77 98 +f 72 71 99 +f 88 72 99 +f 77 88 99 +f 78 69 100 +f 76 75 101 +f 78 87 101 +f 89 79 103 +f 80 68 105 +f 86 80 105 +f 83 90 106 +f 85 92 106 +f 92 83 106 +f 72 88 107 +f 71 89 108 +f 91 81 108 +f 89 103 108 +f 103 91 108 +f 73 95 109 +f 86 73 110 +f 68 82 111 +f 90 68 111 +f 82 90 111 +f 84 72 112 +f 102 105 112 +f 72 107 112 +f 87 76 113 +f 76 101 113 +f 101 87 113 +f 76 88 114 +f 98 76 114 +f 88 98 114 +f 68 89 115 +f 89 84 115 +f 95 86 116 +f 86 105 116 +f 105 102 116 +f 87 78 117 +f 95 65 117 +f 65 96 117 +f 96 87 117 +f 73 109 117 +f 109 95 117 +f 69 97 118 +f 97 85 118 +f 78 100 119 +f 104 73 119 +f 100 104 119 +f 73 117 119 +f 117 78 119 +f 68 90 120 +f 90 92 120 +f 93 68 120 +f 92 93 120 +f 90 74 121 +f 100 69 121 +f 74 100 121 +f 85 106 121 +f 106 90 121 +f 69 118 121 +f 118 85 121 +f 105 68 122 +f 84 112 122 +f 112 105 122 +f 68 115 122 +f 115 84 122 +f 75 94 123 +f 97 78 123 +f 94 97 123 +f 101 75 123 +f 78 101 123 +f 82 80 124 +f 80 86 124 +f 110 82 124 +f 86 110 124 +f 79 89 125 +f 66 91 125 +f 92 66 125 +f 89 93 125 +f 93 92 125 +f 103 79 125 +f 91 103 125 +f 88 65 126 +f 65 95 126 +f 107 88 126 +f 102 112 126 +f 112 107 126 +f 95 116 126 +f 116 102 126 +f 74 82 127 +f 100 74 127 +f 73 104 127 +f 104 100 127 +f 110 73 127 +f 82 110 127 +f 81 70 128 +f 70 98 128 +f 98 77 128 +f 99 71 128 +f 77 99 128 +f 71 108 128 +o convex_2 +v 0.377690 0.234531 0.924884 +v -0.146140 -0.135300 -1.016411 +v -0.361898 0.142001 -0.985435 +v -1.902978 -0.135300 0.031088 +v 1.795324 -0.135300 0.031088 +v 0.963061 0.234531 -0.862315 +v -1.378786 0.234531 0.031088 +v -1.132257 -0.135300 0.832348 +v 1.086145 -0.135300 0.832348 +v -1.009173 0.234531 0.832348 +v 0.993832 0.234531 0.740008 +v -0.978040 0.234531 -0.862315 +v 1.055374 -0.135300 -0.862315 +v -1.163028 -0.135300 -0.862315 +v 1.301903 0.234531 -0.061056 +v -0.053827 -0.135300 0.986444 +v 0.192702 0.234531 -1.016411 +v -1.902978 -0.104456 -0.030276 +v -0.269585 0.234531 0.955467 +v 1.795324 -0.104456 -0.030276 +v 0.192702 -0.135300 -1.016411 +v 0.963061 0.234531 0.801372 +v 1.764191 -0.104456 0.092844 +v 1.148049 -0.104456 0.801372 +v -1.378786 0.234531 -0.061056 +v -1.902978 -0.104456 0.031088 +v 1.024603 0.234531 -0.800755 +v 1.363445 0.203687 0.000112 +v -0.762644 0.234531 -0.923875 +v 1.055374 -0.042842 -0.862315 +v -0.146140 0.234531 -1.016411 +v -1.224570 -0.104456 -0.800559 +v 0.161570 0.234531 0.955467 +v 0.901520 0.234531 -0.893095 +v -1.009173 0.234531 -0.831339 +v 1.764191 -0.073649 0.031088 +v -1.070715 0.234531 0.739812 +v 0.778436 0.234531 0.863128 +v -1.348016 -0.104456 0.616496 +v 1.024603 0.203687 -0.831535 +f 148 158 168 +f 132 130 133 +f 129 134 135 +f 132 133 136 +f 136 133 137 +f 129 135 138 +f 134 129 139 +f 135 134 140 +f 133 130 141 +f 131 130 142 +f 130 132 142 +f 134 139 143 +f 136 137 144 +f 140 134 145 +f 142 132 146 +f 129 138 147 +f 138 136 147 +f 136 144 147 +f 133 141 148 +f 141 130 149 +f 130 145 149 +f 139 129 150 +f 133 148 151 +f 151 150 152 +f 137 133 152 +f 150 137 152 +f 133 151 152 +f 135 140 153 +f 146 135 153 +f 146 132 154 +f 135 146 154 +f 134 143 155 +f 143 148 155 +f 143 139 156 +f 148 143 156 +f 131 142 157 +f 142 140 157 +f 140 145 157 +f 148 141 158 +f 130 131 159 +f 145 130 159 +f 131 157 159 +f 157 145 159 +f 140 142 160 +f 142 146 160 +f 137 129 161 +f 144 137 161 +f 129 147 161 +f 147 144 161 +f 145 134 162 +f 141 149 162 +f 149 145 162 +f 134 158 162 +f 158 141 162 +f 153 140 163 +f 146 153 163 +f 140 160 163 +f 160 146 163 +f 139 150 164 +f 151 148 164 +f 150 151 164 +f 156 139 164 +f 148 156 164 +f 138 135 165 +f 135 154 165 +f 154 138 165 +f 129 137 166 +f 150 129 166 +f 137 150 166 +f 132 136 167 +f 136 138 167 +f 154 132 167 +f 138 154 167 +f 134 155 168 +f 155 148 168 +f 158 134 168 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/328/328.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/328/328.urdf new file mode 100644 index 000000000..3e9d6e14f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/328/328.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/329/329.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/329/329.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/329/329.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/329/329.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/329/329.obj new file mode 100644 index 000000000..0de03946d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/329/329.obj @@ -0,0 +1,426 @@ +o convex_0 +v 1.086236 1.375090 0.800408 +v -0.190599 3.339374 1.095342 +v -0.288979 3.339374 1.095342 +v 0.758935 4.125546 -0.967712 +v -1.074756 -0.524558 -1.033300 +v -1.074756 4.092999 -0.934918 +v -1.009381 -0.524558 1.095342 +v 0.955274 -0.524558 -1.000506 +v -1.074756 4.125546 1.062336 +v 1.020861 -0.524558 1.095342 +v 0.955274 4.027447 0.964166 +v 1.086236 3.895883 -1.000506 +v -0.387149 2.094793 -1.066093 +v 1.086236 2.422556 1.095342 +v 0.988067 -0.262347 -1.033300 +v 0.398629 4.158552 0.309346 +v 0.988067 0.851129 -1.066093 +v 1.086236 4.125088 -0.771160 +v -1.009381 2.455103 -1.033300 +v 1.020861 2.619213 -1.066093 +v -1.074756 3.011612 1.062336 +v 1.020861 -0.360447 -0.116340 +v 0.431422 0.261614 -1.066093 +v 1.086236 3.503026 -1.000506 +v -1.042175 2.618755 1.095342 +v -0.059636 4.092999 1.029754 +v -1.074756 4.125546 -0.050541 +v 1.053654 -0.130784 1.095342 +v 0.529591 4.158552 -0.247304 +v 0.955274 4.059994 0.898790 +v -1.074756 -0.524558 -0.902124 +v 0.955274 -0.459005 -1.033300 +v -1.042175 1.080792 1.095342 +v 0.005740 4.092999 -0.967712 +v 0.922692 3.830789 0.996960 +v 0.988067 -0.524558 -0.902336 +v -0.714662 4.125546 1.062336 +v 1.086236 4.092541 -0.640196 +v 1.086236 4.125088 -0.967712 +v 1.086236 1.145886 1.095342 +v 0.202078 4.158552 0.145588 +v -1.042175 3.666678 -0.967500 +v 1.020861 -0.524558 0.080000 +v 1.020861 2.520655 1.095342 +v 0.758935 3.798242 -1.000506 +v -0.518111 4.125546 1.029542 +v -0.419942 2.029241 -1.066093 +f 13 23 47 +f 2 3 7 +f 7 5 8 +f 3 2 9 +f 6 5 9 +f 2 7 10 +f 7 8 10 +f 2 10 14 +f 1 12 14 +f 14 12 18 +f 5 6 19 +f 17 13 20 +f 9 5 21 +f 13 17 23 +f 12 1 24 +f 15 17 24 +f 20 12 24 +f 17 20 24 +f 1 22 24 +f 7 3 25 +f 3 9 25 +f 9 21 25 +f 6 9 27 +f 14 10 28 +f 22 1 28 +f 4 6 29 +f 16 18 29 +f 6 27 29 +f 18 16 30 +f 26 11 30 +f 5 7 31 +f 21 5 31 +f 8 5 32 +f 17 15 32 +f 5 23 32 +f 23 17 32 +f 7 25 33 +f 25 21 33 +f 31 7 33 +f 21 31 33 +f 6 4 34 +f 4 12 34 +f 14 11 35 +f 11 26 35 +f 10 8 36 +f 15 24 36 +f 24 22 36 +f 8 32 36 +f 32 15 36 +f 9 2 37 +f 16 9 37 +f 11 14 38 +f 14 18 38 +f 30 11 38 +f 18 30 38 +f 12 4 39 +f 18 12 39 +f 4 29 39 +f 29 18 39 +f 1 14 40 +f 14 28 40 +f 28 1 40 +f 9 16 41 +f 27 9 41 +f 16 29 41 +f 29 27 41 +f 19 6 42 +f 6 34 42 +f 28 10 43 +f 22 28 43 +f 10 36 43 +f 36 22 43 +f 2 14 44 +f 14 35 44 +f 35 26 44 +f 37 2 44 +f 26 37 44 +f 13 19 45 +f 12 20 45 +f 20 13 45 +f 34 12 45 +f 19 42 45 +f 42 34 45 +f 30 16 46 +f 26 30 46 +f 16 37 46 +f 37 26 46 +f 5 19 47 +f 19 13 47 +f 23 5 47 +o convex_1 +v 0.595056 -3.963204 -1.000506 +v 0.922603 -1.245302 1.095342 +v -1.009338 -1.245302 1.095342 +v -1.074764 -1.245302 -1.033300 +v -1.009338 -3.963204 1.029542 +v 0.955316 -1.245302 -1.000294 +v 1.020950 -3.929949 0.931372 +v -1.074764 -3.831779 -1.000294 +v 0.922603 -3.963204 -1.066093 +v 1.020950 -1.409185 1.095130 +v -1.107685 -2.391418 -0.672990 +v 1.020950 -3.963204 0.341928 +v -0.943912 -3.864502 1.062336 +v 0.988029 -1.998472 1.095130 +v -0.812851 -3.864502 -1.033300 +v -1.009338 -2.849545 1.095342 +v 0.988029 -1.245302 -0.509232 +v 0.955316 -3.963204 -0.902336 +v -1.107685 -1.409185 -1.033300 +v -1.042051 -3.602715 0.636650 +v -1.074764 -3.864502 -0.934918 +v -1.107685 -3.209769 -0.967500 +v 0.038311 -3.963204 0.996960 +v 1.020950 -1.245302 0.898790 +v -1.074764 -3.864502 -0.345474 +v -1.009338 -3.963204 0.865784 +v -1.107685 -1.900302 -0.672990 +v -1.042051 -2.129631 0.603856 +v -0.943912 -1.245302 -1.033300 +v 0.955316 -2.849545 -1.000506 +v 1.020950 -3.963204 0.603856 +v -0.485305 -3.897225 -1.033300 +v 1.020950 -2.391418 1.062336 +v -1.074764 -1.245302 -0.443644 +f 51 66 81 +f 50 49 51 +f 51 49 53 +f 52 48 56 +f 52 56 59 +f 57 54 59 +f 57 49 61 +f 49 50 63 +f 52 60 63 +f 61 49 63 +f 60 61 63 +f 53 49 64 +f 59 56 65 +f 51 56 66 +f 62 55 66 +f 56 62 66 +f 63 50 67 +f 52 63 67 +f 55 62 68 +f 58 66 69 +f 66 55 69 +f 67 58 69 +f 55 68 69 +f 52 59 70 +f 60 52 70 +f 61 60 70 +f 49 57 71 +f 57 59 71 +f 64 49 71 +f 59 64 71 +f 52 67 72 +f 68 52 72 +f 67 69 72 +f 69 68 72 +f 48 52 73 +f 52 68 73 +f 50 66 74 +f 66 58 74 +f 58 67 74 +f 74 67 75 +f 67 50 75 +f 50 74 75 +f 51 53 76 +f 56 51 76 +f 53 56 76 +f 56 53 77 +f 53 64 77 +f 64 59 77 +f 59 65 77 +f 65 56 77 +f 59 54 78 +f 70 59 78 +f 54 70 78 +f 56 48 79 +f 62 56 79 +f 68 62 79 +f 48 73 79 +f 73 68 79 +f 54 57 80 +f 57 61 80 +f 70 54 80 +f 61 70 80 +f 50 51 81 +f 66 50 81 +o convex_2 +v 0.136659 -0.557371 -1.164616 +v -0.027099 -1.212287 -3.030695 +v 0.136659 -1.146706 -3.063614 +v -0.288950 -0.557371 -2.965261 +v -0.354499 -1.048430 -1.033345 +v 0.202209 -1.113947 -1.033345 +v 0.234983 -0.688405 -3.096533 +v -0.354499 -0.655647 -1.033345 +v -0.321724 -1.146706 -2.997978 +v 0.234983 -0.590129 -1.033345 +v 0.202209 -1.212287 -2.670404 +v -0.321724 -1.113947 -1.590139 +v -0.354499 -0.622888 -1.524907 +v 0.234983 -0.884829 -3.096533 +v -0.157967 -0.557371 -2.932746 +v 0.234983 -0.852135 -1.033345 +v 0.202209 -0.557371 -1.197131 +v -0.321724 -0.950218 -2.997978 +v -0.288950 -0.557371 -2.473901 +v 0.005676 -1.113947 -1.099182 +v 0.103885 -0.753859 -3.096533 +v 0.136659 -1.212287 -2.604970 +v 0.202209 -1.179464 -3.030695 +v -0.354499 -0.884829 -1.786844 +v -0.256233 -1.179464 -2.932746 +v -0.321724 -0.590129 -2.572455 +v -0.321724 -1.081189 -1.033345 +f 93 101 108 +f 86 87 89 +f 84 83 90 +f 82 89 91 +f 89 87 91 +f 86 90 93 +f 89 82 94 +f 86 89 94 +f 88 91 95 +f 85 82 96 +f 88 85 96 +f 91 87 97 +f 87 92 97 +f 95 91 97 +f 92 95 97 +f 91 88 98 +f 82 91 98 +f 96 82 98 +f 88 96 98 +f 82 85 100 +f 94 82 100 +f 85 88 102 +f 84 90 102 +f 95 84 102 +f 88 95 102 +f 99 85 102 +f 90 99 102 +f 83 92 103 +f 92 87 103 +f 93 83 103 +f 87 101 103 +f 101 93 103 +f 83 84 104 +f 92 83 104 +f 84 95 104 +f 95 92 104 +f 90 86 105 +f 86 94 105 +f 99 90 105 +f 94 99 105 +f 90 83 106 +f 83 93 106 +f 93 90 106 +f 85 99 107 +f 99 94 107 +f 100 85 107 +f 94 100 107 +f 87 86 108 +f 86 93 108 +f 101 87 108 +o convex_3 +v 0.202157 -1.113944 -1.033345 +v 1.020755 -0.524558 1.095342 +v -1.009326 -0.524558 1.095342 +v 1.020755 -1.244966 1.095342 +v 0.955308 -0.524558 -1.000422 +v -1.074772 -1.244966 -1.033345 +v -1.074772 -0.524558 -1.033345 +v -1.009326 -1.244966 1.095342 +v 0.955308 -1.244966 -1.000422 +v 1.020755 -0.557419 0.112679 +v -1.074772 -1.244966 -0.443663 +v 0.988134 -1.146664 -0.640154 +v 0.333256 -0.524558 -1.033345 +v 0.988134 -0.524558 -0.902281 +v -1.074772 -0.557419 -0.836645 +v 1.020755 -1.244966 0.865929 +f 120 118 124 +f 110 111 112 +f 111 110 113 +f 111 113 115 +f 109 114 115 +f 112 111 116 +f 114 112 116 +f 112 114 117 +f 114 109 117 +f 110 112 118 +f 115 114 119 +f 116 111 119 +f 114 116 119 +f 109 115 121 +f 115 113 121 +f 117 109 121 +f 113 117 121 +f 113 110 122 +f 117 113 122 +f 110 118 122 +f 120 117 122 +f 118 120 122 +f 111 115 123 +f 119 111 123 +f 115 119 123 +f 112 117 124 +f 118 112 124 +f 117 120 124 +o convex_4 +v -0.354499 -0.852163 1.193922 +v 0.365979 -0.655660 3.060193 +v 0.202221 -0.655660 3.092788 +v 0.333185 -1.113966 2.994605 +v 0.300462 -0.557307 1.095342 +v 0.267668 -1.245036 1.095342 +v -0.256188 -1.081182 2.863430 +v -0.288982 -0.688309 3.060193 +v -0.321705 -1.113966 1.095342 +v -0.288982 -0.622875 1.095342 +v 0.365979 -1.081182 3.027200 +v 0.333185 -0.622875 1.455876 +v -0.256188 -0.753878 3.125781 +v -0.190741 -1.113966 2.732453 +v -0.354499 -0.655660 1.095342 +v 0.234945 -0.557307 1.226517 +v 0.202221 -1.245036 1.160929 +v -0.223465 -1.048465 2.994605 +v -0.354499 -0.721161 1.619448 +v 0.300462 -0.884813 1.095342 +v -0.157947 -0.655660 2.699857 +v 0.365979 -0.655660 2.601675 +v -0.288982 -1.113966 1.816211 +f 141 138 147 +f 129 130 133 +f 131 125 133 +f 129 133 134 +f 126 127 135 +f 128 130 135 +f 132 131 137 +f 127 132 137 +f 135 127 137 +f 128 131 138 +f 133 125 139 +f 132 134 139 +f 134 133 139 +f 127 126 140 +f 126 129 140 +f 129 134 140 +f 130 128 141 +f 133 130 141 +f 128 138 141 +f 131 128 142 +f 128 135 142 +f 137 131 142 +f 135 137 142 +f 125 131 143 +f 131 132 143 +f 139 125 143 +f 132 139 143 +f 130 129 144 +f 135 130 144 +f 129 136 144 +f 136 135 144 +f 132 127 145 +f 134 132 145 +f 127 140 145 +f 140 134 145 +f 129 126 146 +f 126 135 146 +f 136 129 146 +f 135 136 146 +f 131 133 147 +f 138 131 147 +f 133 141 147 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/329/329.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/329/329.urdf new file mode 100644 index 000000000..fda136316 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/329/329.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/330/330.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/330/330.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/330/330.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/330/330.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/330/330.obj new file mode 100644 index 000000000..9642727ef --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/330/330.obj @@ -0,0 +1,414 @@ +o convex_0 +v 1.661560 -0.670242 -1.111672 +v 0.532779 5.276278 1.071789 +v 1.398453 5.313972 1.033959 +v 1.887729 -0.783931 1.033959 +v -0.144902 -0.670850 0.996342 +v -0.144902 5.200890 -1.073842 +v 1.849965 5.162588 -0.998609 +v -0.182666 -0.670850 -0.960993 +v -0.107345 5.276278 1.071789 +v 1.925493 5.313972 0.996129 +v 1.849965 -0.859319 -0.923163 +v 0.231909 -0.897013 0.544732 +v 1.812202 4.372231 -1.073842 +v -0.032024 -0.821625 -0.960993 +v -0.144902 5.238584 0.168140 +v -0.107345 3.092462 1.071789 +v 1.812408 -0.859319 -1.111459 +v 0.908971 -0.783931 1.033959 +v 1.285162 -0.897013 0.544732 +v 0.306817 -0.897013 -0.509169 +v -0.144902 0.910471 1.033959 +v -0.144902 4.560701 -1.073842 +v 1.548682 5.313972 0.657367 +v 1.887729 2.265628 1.033959 +v 1.097170 5.162588 -1.073842 +v 1.887729 -0.783931 0.581921 +v 1.849965 5.200890 -0.847716 +v -0.182666 0.307976 -0.885547 +v -0.032024 -0.783931 0.996129 +v 1.548682 0.120723 -1.111672 +v 1.925493 5.162588 0.921109 +v -0.107345 5.276278 0.619965 +v 1.435804 -0.897013 -0.546785 +v -0.144902 3.657263 0.619965 +v 0.645657 5.200890 1.071789 +v -0.182666 -0.406384 -0.697037 +v 1.849965 -0.859319 -0.358489 +v 0.269259 -0.746238 -0.998609 +v 1.812202 5.162588 -1.036012 +v 0.532986 -0.859319 -0.998609 +v -0.032024 -0.821625 -0.170407 +v 0.908764 5.313972 0.996342 +v 0.269053 5.200890 -1.073842 +v 1.774851 5.313972 0.657367 +f 27 43 44 +f 2 3 9 +f 2 9 16 +f 7 11 17 +f 13 7 17 +f 12 4 18 +f 4 16 18 +f 4 12 19 +f 12 14 20 +f 19 12 20 +f 16 9 21 +f 5 18 21 +f 18 16 21 +f 8 6 22 +f 3 10 23 +f 10 3 24 +f 4 10 24 +f 4 11 26 +f 10 7 27 +f 6 8 28 +f 15 6 28 +f 12 18 29 +f 18 5 29 +f 17 1 30 +f 13 17 30 +f 1 22 30 +f 22 6 30 +f 25 13 30 +f 10 4 31 +f 7 10 31 +f 11 7 31 +f 4 26 31 +f 26 11 31 +f 6 15 32 +f 15 9 32 +f 23 6 32 +f 17 11 33 +f 20 17 33 +f 19 20 33 +f 9 15 34 +f 21 9 34 +f 15 28 34 +f 3 2 35 +f 2 16 35 +f 16 4 35 +f 24 3 35 +f 4 24 35 +f 8 5 36 +f 5 21 36 +f 28 8 36 +f 21 34 36 +f 34 28 36 +f 11 4 37 +f 4 19 37 +f 33 11 37 +f 19 33 37 +f 14 8 38 +f 1 17 38 +f 17 14 38 +f 22 1 38 +f 8 22 38 +f 7 13 39 +f 13 25 39 +f 27 7 39 +f 14 17 40 +f 17 20 40 +f 20 14 40 +f 5 8 41 +f 8 14 41 +f 14 12 41 +f 29 5 41 +f 12 29 41 +f 9 3 42 +f 3 23 42 +f 32 9 42 +f 23 32 42 +f 6 23 43 +f 30 6 43 +f 25 30 43 +f 39 25 43 +f 27 39 43 +f 23 10 44 +f 10 27 44 +f 43 23 44 +o convex_1 +v -2.177840 -2.704015 -0.659240 +v -0.032310 -0.671138 0.996162 +v -0.107484 -0.671138 0.996162 +v -1.951878 -0.746555 -3.069063 +v -0.107484 -2.704015 -3.030621 +v -2.253013 -2.666207 2.953091 +v -2.290599 -0.708946 2.915851 +v -0.258051 -2.704015 3.029374 +v -0.220464 -0.859581 -3.106904 +v -2.102445 -2.704015 -2.955539 +v -0.069897 -0.821972 2.953692 +v -2.290599 -0.708946 -2.767534 +v -0.032310 -0.671138 -0.960768 +v -0.032310 -2.063866 0.167860 +v -2.290599 -2.101475 0.092178 +v -1.951878 -2.704015 2.991533 +v -1.688330 -0.708946 2.953692 +v -2.290599 -0.821972 -3.030621 +v -0.220464 -2.666207 2.991533 +v -2.140032 -2.666207 -2.616771 +v -0.069897 -1.123043 2.953692 +v -0.258051 -0.821972 -3.106904 +v -0.258051 -2.063866 3.029374 +v -2.290599 -0.784363 2.953091 +v -0.107484 -2.704015 -1.788469 +v -1.575349 -0.746555 -3.069063 +v -0.107484 -2.365136 -3.030621 +v -0.371032 -1.198261 -3.106904 +v -2.290599 -2.214501 1.259248 +v -1.086282 -2.666207 3.029374 +v -2.177840 -2.101475 -2.993380 +v -2.253013 -2.704015 2.802327 +v -0.371032 -0.784363 2.953692 +v -2.290599 -1.386505 2.953091 +v -0.069897 -2.440354 -1.638306 +v -0.182878 -0.671138 -0.960167 +v -0.258051 -2.704015 -3.031221 +v -0.220464 -2.704015 2.840769 +v -0.032310 -1.950840 -0.207548 +f 58 79 83 +f 45 49 52 +f 49 45 54 +f 47 46 57 +f 57 46 58 +f 51 56 59 +f 45 52 60 +f 46 47 61 +f 47 51 61 +f 56 48 62 +f 59 56 62 +f 54 45 64 +f 45 59 64 +f 46 55 65 +f 55 52 65 +f 58 46 65 +f 52 63 65 +f 63 58 65 +f 57 53 66 +f 52 55 67 +f 67 61 68 +f 51 59 68 +f 61 51 68 +f 52 49 69 +f 48 56 70 +f 56 57 70 +f 66 48 70 +f 57 66 70 +f 49 53 71 +f 57 49 71 +f 53 57 71 +f 53 49 72 +f 48 66 72 +f 66 53 72 +f 68 59 73 +f 60 52 74 +f 52 67 74 +f 67 68 74 +f 68 60 74 +f 62 48 75 +f 59 62 75 +f 54 64 75 +f 64 59 75 +f 48 72 75 +f 59 45 76 +f 45 60 76 +f 60 50 76 +f 50 73 76 +f 73 59 76 +f 55 46 77 +f 46 61 77 +f 67 55 77 +f 61 67 77 +f 50 60 78 +f 60 68 78 +f 73 50 78 +f 68 73 78 +f 49 57 79 +f 69 49 79 +f 58 69 79 +f 51 47 80 +f 56 51 80 +f 47 57 80 +f 57 56 80 +f 49 54 81 +f 72 49 81 +f 54 75 81 +f 75 72 81 +f 63 52 82 +f 58 63 82 +f 52 69 82 +f 69 58 82 +f 57 58 83 +f 79 57 83 +o convex_2 +v 1.021826 -2.289808 0.544746 +v 1.436019 -1.348764 -0.509235 +v 1.436019 -1.348764 -0.546932 +v -0.032082 -1.461723 0.092930 +v 0.382111 -2.741647 -0.584630 +v 1.436019 -2.816953 -0.546932 +v 1.285524 -1.348764 0.544746 +v 0.382111 -2.779300 0.469352 +v 0.306790 -1.348764 -0.546932 +v 1.323110 -2.703993 0.507049 +v 0.269203 -1.348764 0.507049 +v 1.473753 -1.838256 0.318783 +v -0.032082 -1.989013 -0.208097 +v -0.032082 -2.064175 0.205911 +v -0.032082 -1.537174 -0.283382 +v 0.457432 -2.816953 0.394067 +v 1.473753 -1.386417 0.205911 +v -0.032082 -1.574683 0.318783 +v 1.172321 -2.816953 -0.584630 +v 0.833744 -1.913562 -0.584630 +v 0.419698 -1.386417 0.544746 +v 1.473753 -2.101541 -0.358666 +v 1.360697 -2.741647 0.318783 +v 1.323110 -2.402623 0.544746 +v 1.473753 -1.989013 0.318783 +v 1.323110 -2.816953 -0.245795 +v 1.210202 -2.741647 0.507049 +v 0.306790 -1.951216 0.507049 +f 104 94 111 +f 85 86 90 +f 90 86 92 +f 92 87 94 +f 90 92 94 +f 88 91 97 +f 87 96 97 +f 96 88 97 +f 87 92 98 +f 92 88 98 +f 96 87 98 +f 88 96 98 +f 91 88 99 +f 86 85 100 +f 85 90 100 +f 90 95 100 +f 94 87 101 +f 97 91 101 +f 87 97 101 +f 86 89 102 +f 99 88 102 +f 89 99 102 +f 88 92 103 +f 92 86 103 +f 86 102 103 +f 102 88 103 +f 84 90 104 +f 90 94 104 +f 89 86 105 +f 86 100 105 +f 100 95 105 +f 90 84 107 +f 95 90 107 +f 95 107 108 +f 89 105 108 +f 105 95 108 +f 106 89 108 +f 93 106 108 +f 107 93 108 +f 99 89 109 +f 89 106 109 +f 109 106 110 +f 84 91 110 +f 91 99 110 +f 106 93 110 +f 107 84 110 +f 93 107 110 +f 99 109 110 +f 91 84 111 +f 94 101 111 +f 101 91 111 +f 84 104 111 +o convex_3 +v 1.473753 -2.026275 0.168247 +v 1.549435 -1.386410 0.168247 +v 1.549435 -1.386410 0.130579 +v 3.920496 -1.951009 0.168247 +v 1.511834 -2.101681 -0.358755 +v 3.882655 -1.461815 -0.358755 +v 3.807451 -1.461815 0.318849 +v 1.473753 -1.499483 -0.358755 +v 3.882655 -1.951009 -0.321087 +v 1.473753 -1.988607 0.318849 +v 3.920496 -1.951009 0.356517 +v 1.473753 -1.499483 0.243443 +v 1.624639 -1.800477 0.318849 +v 3.882655 -1.762809 -0.358755 +v 3.016858 -1.424078 -0.170485 +v 3.544000 -1.988607 -0.321087 +v 1.473753 -2.101681 -0.283349 +v 3.355752 -1.461815 0.318849 +v 3.920496 -1.838145 0.356517 +v 1.473753 -1.386410 0.205915 +f 123 129 131 +f 117 116 119 +f 119 112 121 +f 121 112 122 +f 119 121 123 +f 123 121 124 +f 116 117 125 +f 117 115 125 +f 115 120 125 +f 120 116 125 +f 114 113 126 +f 118 117 126 +f 113 118 126 +f 119 114 126 +f 117 119 126 +f 120 115 127 +f 116 120 127 +f 122 116 127 +f 115 122 127 +f 112 119 128 +f 119 116 128 +f 122 112 128 +f 116 122 128 +f 123 124 129 +f 129 124 130 +f 115 117 130 +f 117 118 130 +f 122 115 130 +f 121 122 130 +f 124 121 130 +f 118 129 130 +f 113 114 131 +f 118 113 131 +f 114 119 131 +f 119 123 131 +f 129 118 131 +o convex_4 +v 1.285524 -1.348675 0.544747 +v 0.344406 -1.348675 -0.546984 +v 0.306790 -1.348675 -0.509261 +v 0.306790 -0.897013 -0.509261 +v 1.436107 -0.897013 -0.546984 +v 0.231439 -0.897013 0.544747 +v 1.436107 -1.348675 -0.546984 +v 1.285524 -0.897013 0.544747 +v 0.269173 -1.348675 0.506916 +v 1.360756 -1.348675 0.243388 +v 0.231439 -1.122866 0.544747 +v 0.231439 -0.897013 0.243388 +f 134 142 143 +f 134 133 132 +f 133 134 135 +f 133 135 136 +f 136 135 137 +f 132 133 138 +f 133 136 138 +f 137 132 139 +f 136 137 139 +f 134 132 140 +f 132 138 141 +f 138 136 141 +f 139 132 141 +f 136 139 141 +f 132 137 142 +f 140 132 142 +f 134 140 142 +f 135 134 143 +f 137 135 143 +f 142 137 143 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/330/330.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/330/330.urdf new file mode 100644 index 000000000..8e439b7b1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/330/330.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/331/331.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/331/331.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/331/331.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/331/331.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/331/331.obj new file mode 100644 index 000000000..a15aec809 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/331/331.obj @@ -0,0 +1,387 @@ +o convex_0 +v 0.858726 -3.118446 -1.646045 +v 1.093159 -1.947134 2.102727 +v 1.093159 -1.986099 2.102727 +v -1.054853 -1.087543 3.118488 +v 1.053980 -1.048578 -3.051455 +v -1.094033 -2.962157 -2.974255 +v -0.976709 -3.118446 3.078369 +v -0.976709 -1.048578 -2.973647 +v 1.053980 -1.048578 2.961657 +v 0.936870 -3.079267 2.922144 +v 1.053980 -3.040302 -3.091575 +v -1.054853 -0.931254 -0.161611 +v 1.053980 -0.931254 -1.021148 +v -1.094033 -3.118446 0.696102 +v -1.054853 -0.931254 1.595151 +v 1.093159 -3.079267 1.320999 +v 1.053980 -1.165902 3.040072 +v 0.936870 -0.931254 1.048062 +v -0.976709 -3.001122 -2.973647 +v -0.547235 -3.118446 3.078369 +v -1.094033 -2.532469 -2.934742 +v 0.663471 -2.649365 -3.091575 +v -0.976709 -0.931254 -0.942732 +v 1.015015 -3.118446 -0.239420 +v -1.094033 -2.219891 -0.591380 +v 0.975836 -3.079267 -3.051455 +v 1.053980 -1.009399 -2.661806 +v 0.975836 -2.766689 2.961657 +v -1.094033 -3.118446 1.164774 +v -0.586200 -1.048578 -3.013158 +v -0.937529 -2.649365 3.118488 +v 1.093159 -3.079267 0.579390 +v -1.015888 -1.283012 -2.974255 +v -1.054853 -1.048578 3.000560 +v 0.975836 -1.634341 -3.091575 +v -0.586200 -1.087543 3.118488 +v -0.195477 -3.118446 3.039464 +v -0.469090 -0.931254 1.594543 +v -1.015888 -2.258856 3.118488 +v -0.664344 -1.634341 -3.013158 +v 1.015015 -1.048578 3.000560 +v 1.053980 -3.079267 -3.051455 +v 0.077494 -3.040302 -3.052063 +v 1.053980 -1.439301 3.000560 +v 0.975836 -3.001122 2.844336 +v 0.311928 -1.048578 -3.052063 +v -1.015674 -1.009399 -2.192526 +v -1.054853 -0.970434 -0.435156 +v -1.094033 -3.001122 -2.818030 +f 19 14 49 +f 9 2 13 +f 1 7 14 +f 13 12 15 +f 2 3 16 +f 3 2 17 +f 2 9 17 +f 9 13 18 +f 13 15 18 +f 7 1 20 +f 6 14 21 +f 12 13 23 +f 16 10 24 +f 20 1 24 +f 15 12 25 +f 12 21 25 +f 21 14 25 +f 1 14 26 +f 14 19 26 +f 2 5 27 +f 13 2 27 +f 8 23 27 +f 23 13 27 +f 20 10 28 +f 17 20 28 +f 14 7 29 +f 4 25 29 +f 25 14 29 +f 8 27 30 +f 7 20 31 +f 20 17 31 +f 5 2 32 +f 11 5 32 +f 2 16 32 +f 16 24 32 +f 6 21 33 +f 8 30 33 +f 25 4 34 +f 15 25 34 +f 5 11 35 +f 11 22 35 +f 22 30 35 +f 4 31 36 +f 31 17 36 +f 34 4 36 +f 10 20 37 +f 24 10 37 +f 20 24 37 +f 18 15 38 +f 4 29 39 +f 29 7 39 +f 31 4 39 +f 7 31 39 +f 30 22 40 +f 6 33 40 +f 33 30 40 +f 17 9 41 +f 9 18 41 +f 15 34 41 +f 36 17 41 +f 34 36 41 +f 18 38 41 +f 38 15 41 +f 24 1 42 +f 1 26 42 +f 26 11 42 +f 11 32 42 +f 32 24 42 +f 19 6 43 +f 22 11 43 +f 11 26 43 +f 26 19 43 +f 6 40 43 +f 40 22 43 +f 16 3 44 +f 3 17 44 +f 17 28 44 +f 44 28 45 +f 10 16 45 +f 28 10 45 +f 16 44 45 +f 27 5 46 +f 30 27 46 +f 5 35 46 +f 35 30 46 +f 23 8 47 +f 12 23 47 +f 8 33 47 +f 47 33 48 +f 21 12 48 +f 33 21 48 +f 12 47 48 +f 14 6 49 +f 6 19 49 +o convex_1 +v -1.054976 -0.931254 0.384323 +v 1.054102 -0.618829 0.033169 +v 1.014877 -0.618829 0.657886 +v -0.976731 -0.618829 -0.982443 +v 1.054102 -0.931254 -1.021554 +v 0.936840 -0.931254 1.048360 +v -1.054976 -0.618829 1.048360 +v -0.976731 -0.931254 -0.943332 +v 1.054102 -0.618829 -1.021554 +v -1.054976 -0.931254 1.126581 +v 0.975858 -0.618829 1.048360 +v 1.054102 -0.931254 -0.357516 +v 0.975858 -0.931254 0.891918 +v -1.054976 -0.618829 0.540554 +f 50 56 63 +f 52 51 53 +f 50 54 55 +f 52 53 56 +f 50 53 57 +f 54 50 57 +f 53 54 57 +f 53 51 58 +f 54 53 58 +f 51 54 58 +f 50 55 59 +f 56 50 59 +f 56 59 60 +f 52 56 60 +f 59 55 60 +f 54 51 61 +f 55 54 61 +f 55 61 62 +f 51 52 62 +f 52 60 62 +f 60 55 62 +f 61 51 62 +f 53 50 63 +f 56 53 63 +o convex_2 +v 1.093159 0.513629 1.048467 +v -1.054976 0.865360 -1.099668 +v -1.015865 -0.189087 -1.021446 +v -1.054976 -0.306281 1.048467 +v 1.054049 -0.618798 -1.021236 +v 1.054049 0.904425 -1.060557 +v -1.015865 0.904425 0.970246 +v 0.975828 -0.618798 1.048467 +v -0.976754 -0.618798 -0.982336 +v 1.093159 0.904425 1.048467 +v -1.054976 -0.618798 1.048467 +v 1.093159 -0.540669 -0.435630 +v -1.054976 0.904425 -1.099668 +v 1.054049 0.006236 -1.060557 +v 0.312000 0.904425 1.048467 +v 1.093159 0.904425 -0.200967 +v -1.015865 -0.579734 -0.982336 +v -1.054976 0.904425 -0.084056 +v -1.054976 0.279241 -1.021446 +v 0.468232 -0.618798 -1.021236 +v -1.015865 0.630823 1.009357 +v 1.014938 -0.618798 0.696683 +v -1.054976 0.201112 1.009357 +v -1.054976 -0.618798 0.540661 +f 82 80 87 +f 64 67 71 +f 68 71 72 +f 67 64 73 +f 69 70 73 +f 67 65 74 +f 71 67 74 +f 72 71 74 +f 73 64 75 +f 65 67 76 +f 69 65 76 +f 70 69 76 +f 65 69 77 +f 75 68 77 +f 69 75 77 +f 67 73 78 +f 73 70 78 +f 69 73 79 +f 75 69 79 +f 73 75 79 +f 65 66 80 +f 66 72 80 +f 76 67 81 +f 70 76 81 +f 74 65 82 +f 65 80 82 +f 66 65 83 +f 68 72 83 +f 72 66 83 +f 65 77 83 +f 77 68 83 +f 67 78 84 +f 78 70 84 +f 64 71 85 +f 71 68 85 +f 68 75 85 +f 75 64 85 +f 81 67 86 +f 70 81 86 +f 67 84 86 +f 84 70 86 +f 72 74 87 +f 80 72 87 +f 74 82 87 +o convex_3 +v 3.006438 2.974277 1.048131 +v -1.679478 2.232095 -1.099668 +v -2.070221 0.943650 -1.060442 +v -3.007164 3.013503 1.009124 +v 3.085066 0.904631 0.931109 +v 2.928409 3.013503 -0.982210 +v -3.046779 0.982668 1.048349 +v 2.967423 1.021894 -0.943202 +v -2.929136 3.013503 -0.982210 +v -3.046779 0.943650 -0.982210 +v 1.053923 0.904631 -1.060442 +v 0.975894 2.700940 1.126581 +v 1.092937 0.904631 1.048349 +v 1.483680 2.974277 -1.099668 +v -1.132678 0.904631 -1.099668 +v -1.015635 0.904631 0.970116 +v 3.006438 3.013503 0.188881 +v 1.053923 1.178175 -1.099668 +v -1.562436 2.974277 -1.099668 +v -3.046779 2.466414 0.384135 +v 2.967423 1.763870 -0.982210 +v 3.045452 2.505433 1.048131 +v 0.819237 2.935259 1.126581 +v -3.046779 1.997776 1.048349 +v 1.092937 1.490325 1.087356 +v 3.085066 0.904631 0.657622 +v -2.968150 1.256213 -1.021217 +v 3.006438 0.982668 -0.669933 +v 2.967423 2.778977 -0.826181 +v 1.483680 0.943650 1.048349 +v 2.733338 3.013503 -1.021435 +v 2.538266 2.974277 1.087356 +v -1.366764 3.013503 1.009342 +v -2.968150 2.974277 -0.591701 +v -3.046779 1.256213 -0.982210 +v -3.046779 0.943650 -0.396447 +v 3.085066 1.256006 0.970116 +v 2.733338 1.021894 -0.982210 +v -2.109236 3.013503 -1.060442 +v 3.045452 2.935259 1.009124 +v 3.085066 1.099725 0.657622 +v 3.006438 3.013503 0.306121 +v -3.007164 3.013503 0.267113 +v -3.046779 2.622695 1.009124 +v -2.968150 0.943650 -1.021217 +v -2.656036 2.974277 -1.021217 +f 126 114 133 +f 91 93 96 +f 98 92 100 +f 90 89 102 +f 98 100 102 +f 89 101 102 +f 102 100 103 +f 100 94 103 +f 93 91 104 +f 98 102 105 +f 102 101 105 +f 101 89 106 +f 97 94 107 +f 94 99 110 +f 107 94 111 +f 110 91 111 +f 94 110 111 +f 99 94 112 +f 94 100 112 +f 92 98 113 +f 106 89 114 +f 98 95 115 +f 95 108 115 +f 113 98 115 +f 93 104 116 +f 108 93 116 +f 115 108 116 +f 100 92 117 +f 112 100 117 +f 109 112 117 +f 96 93 118 +f 105 101 118 +f 93 108 118 +f 108 105 118 +f 109 88 119 +f 91 110 119 +f 110 99 119 +f 99 112 119 +f 112 109 119 +f 104 91 120 +f 119 88 120 +f 91 119 120 +f 107 121 122 +f 97 107 122 +f 114 97 122 +f 96 114 122 +f 121 96 122 +f 94 97 123 +f 97 102 123 +f 102 103 123 +f 103 94 123 +f 92 113 124 +f 117 92 124 +f 109 117 124 +f 95 98 125 +f 98 105 125 +f 108 95 125 +f 105 108 125 +f 101 106 126 +f 106 114 126 +f 96 118 126 +f 118 101 126 +f 88 109 127 +f 109 124 127 +f 127 124 128 +f 113 115 128 +f 115 116 128 +f 116 104 128 +f 124 113 128 +f 104 127 128 +f 120 88 129 +f 104 120 129 +f 88 127 129 +f 127 104 129 +f 91 96 130 +f 96 121 130 +f 121 107 130 +f 111 91 131 +f 107 111 131 +f 91 130 131 +f 130 107 131 +f 89 90 132 +f 90 102 132 +f 102 97 132 +f 114 89 132 +f 97 114 132 +f 114 96 133 +f 96 126 133 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/331/331.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/331/331.urdf new file mode 100644 index 000000000..0e37889cc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/331/331.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/332/332.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/332/332.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/332/332.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/332/332.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/332/332.obj new file mode 100644 index 000000000..990b9dcd5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/332/332.obj @@ -0,0 +1,684 @@ +o convex_0 +v 1.539977 -1.012462 0.101401 +v 3.562516 -0.576923 0.661355 +v 3.500153 -0.732591 0.692477 +v 3.500153 -1.199148 0.101401 +v 1.539977 -1.230295 0.661355 +v 1.539977 -0.576923 0.225889 +v 3.469071 -0.608134 0.101401 +v 1.539977 -0.701445 0.723599 +v 3.406906 -1.074691 0.723599 +v 1.539977 -1.168066 0.101401 +v 2.846629 -1.136919 0.723599 +v 3.500153 -1.199148 0.225889 +v 1.571456 -0.576923 0.350317 +v 2.971157 -0.608134 0.101401 +v 1.539977 -0.670363 0.692477 +v 1.539977 -1.136919 0.692477 +v 1.789033 -0.576923 0.194767 +v 2.815547 -1.199148 0.101401 +f 5 10 18 +f 1 5 6 +f 2 4 7 +f 4 1 7 +f 3 2 8 +f 6 5 8 +f 2 3 9 +f 3 8 9 +f 1 4 10 +f 5 1 10 +f 9 8 11 +f 9 11 12 +f 4 2 12 +f 5 4 12 +f 2 9 12 +f 11 5 12 +f 2 6 13 +f 7 1 14 +f 8 2 15 +f 6 8 15 +f 2 13 15 +f 13 6 15 +f 8 5 16 +f 5 11 16 +f 11 8 16 +f 6 2 17 +f 1 6 17 +f 2 7 17 +f 14 1 17 +f 7 14 17 +f 4 5 18 +f 10 4 18 +o convex_1 +v 1.539977 -1.789862 0.847856 +v -0.638141 -1.199584 0.132761 +v -0.638141 -1.199584 0.754684 +v -0.575885 -3.937083 1.345906 +v 1.446593 -3.937083 -0.645443 +v 1.477721 0.760601 -0.614315 +v -0.607013 0.761064 1.439078 +v -0.513629 -3.844028 -0.520718 +v -0.638141 0.761064 -0.552059 +v 1.384337 0.760601 1.408163 +v 1.508849 -3.968565 1.377035 +v -0.575885 -3.937083 1.532675 +v 1.539977 -0.577362 0.225932 +v 0.139850 -3.968565 1.501547 +v 1.446593 0.760601 1.159137 +v -0.420244 -3.158843 1.532675 +v 1.259824 -3.937083 -0.645443 +v 0.824243 0.636527 -0.614315 +v 1.477721 -2.381528 1.408163 +v 1.539977 -1.168565 0.101633 +v -0.638141 0.761064 1.127796 +v 0.170978 0.760601 1.439291 +v 1.477721 -3.968565 0.257060 +v 1.539977 -0.701899 0.723343 +v -0.544757 -3.937083 1.096881 +v 1.259824 -2.879213 -0.645443 +v -0.607013 -0.110695 -0.552059 +v 1.384337 -3.968565 1.408163 +v 1.415465 0.667546 1.408163 +v 1.477721 -0.981528 -0.614102 +v -0.607013 -0.359306 1.470419 +v -0.295732 -3.812546 1.532675 +v -0.140091 -3.844028 -0.551846 +v -0.513629 -3.874583 -0.147393 +v -0.607013 -1.324121 1.470419 +v 0.046465 -3.968565 1.439291 +v -0.638141 0.605046 -0.552059 +v 1.477721 0.760601 -0.396205 +f 33 42 56 +f 21 20 22 +f 22 20 26 +f 20 21 27 +f 25 24 27 +f 21 22 30 +f 25 28 33 +f 27 24 36 +f 19 29 38 +f 31 19 38 +f 24 31 38 +f 27 21 39 +f 25 27 39 +f 28 25 40 +f 34 28 40 +f 29 32 41 +f 35 23 41 +f 23 38 41 +f 38 29 41 +f 29 19 42 +f 19 31 42 +f 37 29 42 +f 24 23 44 +f 23 35 44 +f 35 27 44 +f 36 24 44 +f 27 36 44 +f 32 29 46 +f 29 37 46 +f 37 32 46 +f 33 28 47 +f 28 34 47 +f 42 33 47 +f 37 42 47 +f 23 24 48 +f 38 23 48 +f 24 38 48 +f 30 34 49 +f 25 39 49 +f 40 25 49 +f 34 40 49 +f 30 32 50 +f 34 30 50 +f 32 37 50 +f 47 34 50 +f 37 47 50 +f 35 26 51 +f 26 45 51 +f 45 35 51 +f 22 26 52 +f 26 35 52 +f 43 22 52 +f 35 43 52 +f 21 30 53 +f 39 21 53 +f 30 49 53 +f 49 39 53 +f 30 22 54 +f 32 30 54 +f 41 32 54 +f 35 41 54 +f 22 43 54 +f 43 35 54 +f 26 20 55 +f 20 27 55 +f 27 35 55 +f 45 26 55 +f 35 45 55 +f 24 25 56 +f 31 24 56 +f 25 33 56 +f 42 31 56 +o convex_2 +v 0.419869 1.289916 -2.636866 +v 0.886542 1.320947 -1.236866 +v 0.730852 1.352118 -0.645443 +v 0.170972 0.792302 -0.645443 +v 0.886542 0.792302 -1.921077 +v 0.077526 1.445561 -1.330044 +v 0.139850 0.854504 -2.481116 +v 0.761974 1.476732 -2.605482 +v 0.793175 0.916775 -0.645443 +v 0.637565 0.885674 -2.605482 +v 0.233216 1.352118 -0.645443 +v 0.233216 1.352118 -2.512305 +v 0.886542 0.761131 -1.330044 +v 0.077526 0.854644 -1.330044 +v 0.855420 1.445561 -1.796515 +v 0.077526 1.414390 -1.827510 +v 0.637565 0.761131 -1.361233 +v 0.886542 1.383289 -1.858699 +v 0.202014 1.445561 -1.205677 +v 0.264259 1.321087 -2.636866 +v 0.699651 0.792302 -2.107821 +v 0.730931 1.165442 -2.605482 +v 0.077526 0.947876 -1.827510 +v 0.419869 0.854504 -2.574488 +v 0.793175 1.476732 -2.512305 +v 0.170972 1.072420 -0.645443 +f 67 62 82 +f 58 59 65 +f 59 60 65 +f 60 59 67 +f 61 58 69 +f 58 65 69 +f 65 60 69 +f 60 62 70 +f 63 60 70 +f 59 58 71 +f 62 64 72 +f 68 63 72 +f 64 68 72 +f 70 62 72 +f 60 63 73 +f 69 60 73 +f 58 61 74 +f 71 58 74 +f 67 59 75 +f 62 67 75 +f 59 71 75 +f 64 57 76 +f 57 66 76 +f 63 68 76 +f 68 64 76 +f 66 61 77 +f 61 69 77 +f 73 63 77 +f 69 73 77 +f 57 64 78 +f 66 57 78 +f 61 66 78 +f 63 70 79 +f 72 63 79 +f 70 72 79 +f 76 66 80 +f 63 76 80 +f 77 63 80 +f 66 77 80 +f 64 62 81 +f 74 61 81 +f 71 74 81 +f 62 75 81 +f 75 71 81 +f 61 78 81 +f 78 64 81 +f 62 60 82 +f 60 67 82 +o convex_3 +v 0.139761 0.854473 2.061647 +v 0.730962 1.383323 2.994980 +v 0.730962 1.352176 2.994980 +v 0.077526 1.010077 3.524025 +v 0.201996 1.414405 1.563791 +v 0.699748 0.792308 1.563791 +v 0.699748 0.854473 3.430653 +v 0.170911 1.445616 3.555214 +v 0.730962 1.445616 1.563791 +v 0.201996 0.823390 1.563791 +v 0.699748 1.383323 3.461842 +v 0.170911 0.885619 3.461842 +v 0.668727 0.823390 3.088352 +v 0.730962 1.072306 1.563791 +v 0.170911 1.445616 2.714863 +v 0.077526 0.916702 3.243908 +v 0.326466 1.445616 3.461842 +v 0.606492 0.792308 1.968665 +f 88 95 100 +f 86 89 90 +f 84 85 91 +f 88 87 91 +f 83 87 92 +f 87 88 92 +f 85 84 93 +f 89 85 93 +f 90 89 93 +f 84 91 93 +f 89 86 94 +f 83 92 94 +f 88 89 95 +f 89 94 95 +f 89 88 96 +f 85 89 96 +f 91 85 96 +f 88 91 96 +f 87 86 97 +f 86 90 97 +f 90 91 97 +f 91 87 97 +f 87 83 98 +f 86 87 98 +f 83 94 98 +f 94 86 98 +f 91 90 99 +f 90 93 99 +f 93 91 99 +f 92 88 100 +f 94 92 100 +f 95 94 100 +o convex_4 +v -1.820488 -3.843827 0.350274 +v -1.229473 -1.230630 0.785892 +v -1.260555 -1.230630 0.785892 +v -1.540553 -1.230630 0.132499 +v -1.353867 -3.874727 0.101340 +v -1.851570 -1.230630 0.723642 +v -1.322784 -3.999681 0.723642 +v -1.851570 -1.230630 0.163590 +v -1.882781 -3.874727 0.630233 +v -1.322784 -1.230630 0.163590 +v -1.789341 -3.905897 0.256999 +v -1.229473 -1.697378 0.723642 +v -1.416096 -3.999681 0.723642 +v -1.882781 -2.382052 0.350274 +v -1.882781 -3.594732 0.661391 +v -1.291638 -3.625902 0.692416 +v -1.664883 -3.905897 0.194749 +v -1.229473 -1.355313 0.661391 +v -1.353867 -1.230630 0.132499 +f 110 105 119 +f 103 102 104 +f 103 104 106 +f 102 103 107 +f 104 105 108 +f 106 104 108 +f 104 102 110 +f 109 101 111 +f 103 106 113 +f 107 103 113 +f 109 111 113 +f 106 108 114 +f 101 109 114 +f 111 101 114 +f 108 111 114 +f 113 106 115 +f 109 113 115 +f 106 114 115 +f 114 109 115 +f 102 107 116 +f 107 105 116 +f 112 102 116 +f 105 112 116 +f 105 107 117 +f 108 105 117 +f 111 108 117 +f 107 113 117 +f 113 111 117 +f 110 102 118 +f 105 110 118 +f 102 112 118 +f 112 105 118 +f 105 104 119 +f 104 110 119 +o convex_5 +v -2.598031 0.854473 -1.547724 +v 0.077526 1.445616 -1.330092 +v 0.077526 1.445616 -1.516721 +v -0.047017 0.823390 -1.298967 +v -2.536024 1.414405 -1.205592 +v -2.598031 1.010077 -1.796665 +v 0.077526 0.947848 -1.827851 +v -2.505021 1.445616 -1.734414 +v -2.536024 0.792308 -1.205592 +v 0.077526 1.414405 -1.765539 +v -2.629564 0.916702 -1.796665 +v -2.411481 0.792308 -1.361217 +v 0.077526 0.916702 -1.796665 +v 0.077526 1.414405 -1.298967 +v -2.100123 0.792308 -1.205592 +v 0.077526 0.854473 -1.330092 +v -1.664752 1.445616 -1.267842 +v -0.980560 1.414405 -1.765539 +v -1.260650 0.792308 -1.298967 +v -2.567293 1.352176 -1.298967 +f 127 130 139 +f 122 121 126 +f 121 122 127 +f 122 126 129 +f 127 122 129 +f 125 126 130 +f 127 125 130 +f 128 120 131 +f 120 130 131 +f 131 130 132 +f 126 121 132 +f 130 126 132 +f 132 121 133 +f 124 128 134 +f 128 131 134 +f 133 124 134 +f 123 133 134 +f 123 132 135 +f 133 123 135 +f 132 133 135 +f 121 127 136 +f 127 124 136 +f 133 121 136 +f 124 133 136 +f 126 125 137 +f 125 127 137 +f 129 126 137 +f 127 129 137 +f 131 132 138 +f 132 123 138 +f 123 134 138 +f 134 131 138 +f 124 127 139 +f 120 128 139 +f 128 124 139 +f 130 120 139 +o convex_6 +v -1.353928 1.290042 0.754721 +v -1.882781 1.849900 0.194759 +v -1.882781 1.849900 0.225882 +v -1.820423 -0.514691 0.163697 +v -1.260552 -0.358981 0.132514 +v -1.727048 -0.514691 0.692415 +v -1.322846 2.129696 0.288127 +v -1.820487 2.098608 0.754721 +v -1.229534 2.223229 0.754721 +v -1.322782 -0.514691 0.661292 +v -1.882781 2.129696 0.225882 +v -1.353928 2.098608 0.225882 +v -1.260552 -0.514691 0.319249 +v -1.229534 1.507661 0.754721 +v -1.229406 0.387675 0.319249 +v -1.758194 0.107880 0.723659 +v -1.353928 -0.483335 0.692415 +v -1.820423 -0.390070 0.257004 +v -1.229534 2.129696 0.599108 +v -1.385075 -0.514691 0.132514 +v -1.758194 -0.452246 0.661292 +v -1.820487 2.005342 0.194759 +v -1.820487 1.943166 0.754721 +v -1.322846 1.476840 0.194759 +f 161 151 163 +f 142 141 143 +f 147 140 148 +f 145 143 149 +f 141 142 150 +f 142 147 150 +f 148 146 150 +f 147 148 150 +f 150 146 151 +f 149 143 152 +f 149 152 153 +f 148 140 153 +f 152 144 154 +f 153 152 154 +f 148 153 154 +f 145 149 156 +f 149 153 156 +f 153 140 156 +f 140 155 156 +f 155 145 156 +f 142 143 157 +f 146 148 158 +f 154 146 158 +f 148 154 158 +f 143 141 159 +f 152 143 159 +f 144 152 159 +f 143 145 160 +f 145 155 160 +f 157 143 160 +f 141 150 161 +f 150 151 161 +f 159 141 161 +f 144 159 161 +f 147 142 162 +f 140 147 162 +f 155 140 162 +f 142 157 162 +f 160 155 162 +f 157 160 162 +f 151 146 163 +f 154 144 163 +f 146 154 163 +f 144 161 163 +o convex_7 +v -2.629202 -1.168011 0.505799 +v -1.260583 -0.514691 0.288158 +v -1.260583 -0.514691 0.132499 +v -0.638141 -1.199185 0.132499 +v -0.638141 -0.701454 0.785892 +v -2.598317 -0.608073 0.723642 +v -1.229500 -1.230359 0.785892 +v -2.535954 -0.608073 0.194749 +v -1.851546 -1.230359 0.163590 +v -0.638141 -0.545865 0.101340 +v -0.638141 -1.199185 0.754733 +v -2.660680 -1.199185 0.661391 +v -1.416193 -0.514691 0.692416 +v -2.442707 -1.136977 0.225841 +v -1.104972 -0.919181 0.101340 +v -1.820265 -0.514691 0.163590 +v -0.638141 -0.545865 0.288158 +v -1.572001 -1.230359 0.132499 +v -2.629202 -0.794765 0.723642 +v -1.726820 -0.514691 0.692416 +v -0.638141 -1.136977 0.101340 +v -1.851546 -1.230359 0.723642 +f 175 172 185 +f 168 169 170 +f 166 165 173 +f 168 167 173 +f 167 168 174 +f 168 170 174 +f 170 167 174 +f 171 164 175 +f 165 166 176 +f 164 171 177 +f 171 172 177 +f 175 164 177 +f 172 175 177 +f 171 166 178 +f 166 173 178 +f 166 171 179 +f 171 169 179 +f 176 166 179 +f 173 165 180 +f 168 173 180 +f 165 176 180 +f 176 168 180 +f 167 170 181 +f 170 172 181 +f 172 171 181 +f 171 178 181 +f 170 169 182 +f 169 171 182 +f 175 170 182 +f 171 175 182 +f 169 168 183 +f 168 176 183 +f 179 169 183 +f 176 179 183 +f 173 167 184 +f 178 173 184 +f 167 181 184 +f 181 178 184 +f 172 170 185 +f 170 175 185 +o convex_8 +v 0.046550 1.507762 -0.645443 +v 1.477745 2.192259 -0.116274 +v 1.477745 1.974414 -0.116274 +v -0.606840 1.041251 1.439230 +v 1.477745 0.761064 -0.614303 +v 1.384224 0.761064 1.408090 +v -0.575736 2.098816 1.408090 +v -0.637943 0.761064 -0.552022 +v -0.669257 2.129917 -0.552022 +v 1.353120 2.129917 1.439230 +v 1.477745 2.192259 -0.583163 +v -0.606840 0.761064 1.439230 +v 0.761938 1.445701 1.563791 +v 0.202069 0.823546 1.563791 +v 1.446431 0.761064 1.128043 +v -0.637943 2.067716 1.408090 +v -0.637943 0.761064 1.127826 +v 0.170965 0.792445 -0.645443 +v 0.139862 1.445701 1.563791 +v 1.384224 2.129917 -0.614303 +v 1.384224 2.161018 1.128043 +v 0.979664 2.192259 -0.489742 +v 0.699730 0.792445 1.563791 +v 1.384224 1.974414 1.439230 +v 0.793041 1.072352 -0.645443 +v -0.669257 2.129917 -0.240619 +v -0.513528 2.005514 -0.583163 +v 1.384224 1.165794 1.439230 +v -0.669257 1.756568 -0.552022 +v 0.886353 2.129917 1.439014 +v 0.606419 1.663266 -0.645443 +v -0.669257 2.067716 -0.054209 +f 211 214 217 +f 187 188 190 +f 190 191 193 +f 187 190 196 +f 193 191 197 +f 188 187 200 +f 190 188 200 +f 191 190 200 +f 197 189 201 +f 193 197 202 +f 197 201 202 +f 193 186 203 +f 190 193 203 +f 189 197 204 +f 198 195 204 +f 197 199 204 +f 199 198 204 +f 192 201 204 +f 201 189 204 +f 196 190 205 +f 194 196 205 +f 187 196 207 +f 196 194 207 +f 206 187 207 +f 192 206 207 +f 197 191 208 +f 199 197 208 +f 198 199 208 +f 195 198 209 +f 200 187 209 +f 187 206 209 +f 206 195 209 +f 203 186 210 +f 190 203 210 +f 205 190 210 +f 201 192 211 +f 192 207 211 +f 207 194 211 +f 186 193 212 +f 194 205 212 +f 191 200 213 +f 208 191 213 +f 198 208 213 +f 209 198 213 +f 200 209 213 +f 193 202 214 +f 211 194 214 +f 212 193 214 +f 194 212 214 +f 192 204 215 +f 204 195 215 +f 206 192 215 +f 195 206 215 +f 210 186 216 +f 205 210 216 +f 186 212 216 +f 212 205 216 +f 202 201 217 +f 201 211 217 +f 214 202 217 +o convex_9 +v 2.846848 1.414500 -1.765539 +v 0.886797 0.792274 -1.921198 +v 0.886797 0.761192 -1.392306 +v 3.375686 0.854503 -1.361147 +v 0.886797 1.321060 -1.236647 +v 0.949224 1.414500 -1.858881 +v 3.437602 0.947815 -1.858881 +v 3.500284 1.289978 -1.298964 +v 3.406644 1.414500 -1.921198 +v 1.073566 0.823357 -1.298964 +v 3.375686 0.854503 -1.330056 +v 1.198164 0.792274 -1.921198 +v 0.886797 1.414500 -1.672198 +v 1.571446 1.227749 -1.236647 +v 0.886797 0.947815 -1.921198 +v 0.886797 1.134373 -1.236647 +v 3.219875 0.916732 -1.858881 +v 3.375686 1.289978 -1.921198 +v 1.291549 1.321060 -1.236647 +v 2.908764 1.414500 -1.921198 +v 1.011395 0.761192 -1.330056 +f 227 233 238 +f 219 220 222 +f 225 224 226 +f 223 218 226 +f 218 225 226 +f 221 224 228 +f 224 225 228 +f 220 219 229 +f 219 226 229 +f 219 222 230 +f 218 223 230 +f 228 225 231 +f 226 219 232 +f 219 230 232 +f 230 223 232 +f 222 220 233 +f 227 228 233 +f 231 222 233 +f 228 231 233 +f 224 221 234 +f 221 229 234 +f 229 224 234 +f 226 224 235 +f 224 229 235 +f 229 226 235 +f 225 218 236 +f 218 230 236 +f 230 222 236 +f 222 231 236 +f 231 225 236 +f 223 226 237 +f 226 232 237 +f 232 223 237 +f 221 228 238 +f 228 227 238 +f 220 229 238 +f 229 221 238 +f 233 220 238 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/332/332.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/332/332.urdf new file mode 100644 index 000000000..9bf4b1d2c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/332/332.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/333/333.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/333/333.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/333/333.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/333/333.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/333/333.obj new file mode 100644 index 000000000..3becfd4f6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/333/333.obj @@ -0,0 +1,669 @@ +o convex_0 +v -1.028820 1.309247 -0.036958 +v 1.024336 1.972593 -0.037209 +v 1.024336 1.246122 -0.037209 +v 0.044987 1.277685 1.257843 +v -0.491816 3.077990 0.467939 +v -0.049471 1.246122 -1.300704 +v 0.013434 2.793571 -0.953086 +v 0.834616 2.762008 0.689082 +v 0.739957 2.762008 -0.763499 +v -0.681134 2.793571 -0.668581 +v -0.839100 1.246122 0.941781 +v 0.834616 1.246122 -1.079311 +v -0.681134 2.825133 0.689082 +v 0.834616 1.246122 0.910225 +v -0.839100 1.246122 -0.889724 +v -0.902407 2.793571 -0.036958 +v 0.518885 3.014686 -0.510800 +v 0.076741 2.825133 0.909975 +v 1.024336 2.382902 -0.447688 +v -0.460263 3.077990 -0.510800 +v 0.518885 3.014686 0.467689 +v 0.929476 2.856695 -0.037209 +v -0.997066 2.130404 0.025653 +v -0.649581 2.762008 -0.731943 +v 0.771510 2.161966 -0.921530 +v 0.202953 3.046248 0.594164 +v 0.108294 3.046248 -0.668831 +v 0.044987 1.277685 -1.300704 +v -0.933960 1.340809 0.657526 +v -0.017918 1.246122 1.257843 +v -0.049471 2.825133 0.909975 +v -0.902407 1.277685 -0.731943 +v -0.618028 3.077990 0.088765 +v -0.049471 3.077990 -0.321464 +v 0.392472 2.762008 -0.889974 +v -1.028820 1.246122 0.088765 +v 0.866370 1.246122 -1.047755 +v -0.807547 1.277685 0.973338 +v 0.645298 3.014506 0.025653 +v -0.839100 2.825133 0.215240 +v -0.839100 1.340809 -0.889724 +v 0.929476 2.856695 -0.163433 +v -0.207437 1.277685 1.194230 +v 0.866370 2.730446 0.594164 +v 1.024336 2.477589 -0.321213 +v -0.081024 2.730446 -0.953086 +v -0.997066 1.909468 -0.131626 +v -0.049471 3.046248 0.657276 +v 0.834616 1.340989 -1.079311 +v 1.024336 2.225091 -0.479244 +v -0.049471 1.277685 -1.300704 +v -0.712888 2.825133 0.625720 +v -0.618028 3.077990 -0.100070 +v 0.044987 2.698704 -0.984642 +v -0.365403 3.077990 0.531302 +v -0.902407 2.762008 -0.068514 +v -0.649581 2.825133 -0.700387 +v -0.839100 1.340809 0.941781 +v -0.428509 2.825133 0.783751 +v -0.933960 2.604017 0.025653 +v 0.708404 2.762008 -0.795056 +v 0.424025 2.793571 0.815307 +v 1.024336 1.277685 -0.100070 +v -0.997066 1.846164 0.183684 +f 29 60 64 +f 6 3 11 +f 3 6 12 +f 3 2 14 +f 8 4 14 +f 11 3 14 +f 6 11 15 +f 2 3 19 +f 21 8 22 +f 9 19 25 +f 8 21 26 +f 7 20 27 +f 12 6 28 +f 14 4 30 +f 11 14 30 +f 4 18 31 +f 30 4 31 +f 5 20 33 +f 20 5 34 +f 17 27 34 +f 27 20 34 +f 7 27 35 +f 25 28 35 +f 15 11 36 +f 23 1 36 +f 11 29 36 +f 1 32 36 +f 32 15 36 +f 3 12 37 +f 11 30 38 +f 21 22 39 +f 26 21 39 +f 17 34 39 +f 34 26 39 +f 33 16 40 +f 6 15 41 +f 10 24 41 +f 15 32 41 +f 9 17 42 +f 19 9 42 +f 17 39 42 +f 39 22 42 +f 30 31 43 +f 38 30 43 +f 14 2 44 +f 8 14 44 +f 22 8 44 +f 22 44 45 +f 2 19 45 +f 19 42 45 +f 42 22 45 +f 44 2 45 +f 1 23 47 +f 32 1 47 +f 18 26 48 +f 31 18 48 +f 25 19 49 +f 12 28 49 +f 28 25 49 +f 37 12 49 +f 19 37 49 +f 19 3 50 +f 37 19 50 +f 28 6 51 +f 6 41 51 +f 41 24 51 +f 24 46 51 +f 13 5 52 +f 5 33 52 +f 33 40 52 +f 16 33 53 +f 33 20 53 +f 7 35 54 +f 35 28 54 +f 46 7 54 +f 28 51 54 +f 51 46 54 +f 5 13 55 +f 34 5 55 +f 26 34 55 +f 48 26 55 +f 31 48 55 +f 16 10 56 +f 23 16 56 +f 10 41 56 +f 41 32 56 +f 47 23 56 +f 32 47 56 +f 10 16 57 +f 20 7 57 +f 24 10 57 +f 7 46 57 +f 46 24 57 +f 16 53 57 +f 53 20 57 +f 29 11 58 +f 11 38 58 +f 38 13 58 +f 13 52 58 +f 52 29 58 +f 13 38 59 +f 43 31 59 +f 38 43 59 +f 55 13 59 +f 31 55 59 +f 16 23 60 +f 40 16 60 +f 29 52 60 +f 52 40 60 +f 17 9 61 +f 9 25 61 +f 27 17 61 +f 25 35 61 +f 35 27 61 +f 4 8 62 +f 18 4 62 +f 8 26 62 +f 26 18 62 +f 3 37 63 +f 50 3 63 +f 37 50 63 +f 23 36 64 +f 36 29 64 +f 60 23 64 +o convex_1 +v -0.839174 -2.923368 -0.005476 +v 0.961162 -1.312774 0.152072 +v 0.866376 -1.312774 0.720712 +v -0.965621 -1.312944 -0.700400 +v 0.645143 -2.828647 -0.731909 +v -0.870835 -1.312944 0.973279 +v 0.645143 -2.797017 0.752222 +v -0.018159 -1.312944 -1.237530 +v -0.681264 -2.828477 -0.731909 +v -0.523353 -3.049890 0.562920 +v -0.018159 -1.344234 1.257843 +v 0.803054 -1.312774 -0.889946 +v 0.897839 -2.797017 -0.100250 +v -0.681264 -2.828477 0.783976 +v -1.060406 -2.134141 0.057299 +v 0.487233 -3.018089 -0.542363 +v -0.081086 -2.828477 -0.952966 +v 0.045163 -2.797187 0.973523 +v 0.424109 -3.018089 0.562920 +v -0.902298 -1.344234 -0.921456 +v -0.491692 -3.018089 -0.542363 +v 0.771590 -1.312774 0.941769 +v -1.060406 -1.312944 0.152072 +v -0.965621 -2.797187 0.057299 +v 0.961162 -2.323243 -0.005476 +v 0.739929 -2.797017 0.657449 +v -0.112747 -1.376035 -1.237530 +v 0.708466 -2.986629 0.025789 +v 0.897839 -1.407495 -0.605626 +v -0.933960 -1.344234 0.846996 +v -0.744388 -2.797187 -0.700400 +v -0.744388 -2.828477 0.720712 +v 0.645143 -2.765387 -0.763663 +v -0.649800 -3.049890 -0.068496 +v -0.144210 -3.049890 0.657449 +v 0.076627 -3.018089 -0.700155 +v 0.045163 -2.797187 -0.952966 +v -0.049622 -2.797187 0.973523 +v 0.897839 -2.797017 0.088809 +v -1.060406 -2.039421 -0.036986 +v -0.049622 -1.312944 1.257843 +v 0.961162 -1.312774 -0.131759 +v 0.013502 -2.986459 0.783976 +v -0.807513 -1.344234 1.005033 +v -0.965621 -2.765387 -0.005476 +v -1.060406 -1.312944 -0.068496 +v 0.834715 -1.344234 0.846996 +v 0.676805 -2.797017 -0.700400 +v 0.961162 -1.912899 -0.195023 +v -0.049622 -1.344234 1.257843 +v 0.550358 -2.986459 0.562920 +v -0.018159 -1.344234 -1.237530 +v -0.144210 -2.765387 -0.952966 +v 0.771590 -1.470585 -0.889946 +v -1.060406 -2.039421 0.120562 +v 0.961162 -1.975990 0.120562 +v -0.744388 -2.828477 -0.668646 +v 0.771590 -1.344234 0.941769 +v 0.550358 -3.018089 -0.384326 +v 0.234537 -2.797187 0.910259 +v -0.902298 -1.312944 -0.921456 +v 0.708466 -2.797017 0.720712 +v -0.933960 -1.344234 -0.826683 +v -0.902298 -2.860108 0.120562 +f 96 88 128 +f 67 66 76 +f 73 81 85 +f 67 76 86 +f 70 86 87 +f 73 84 91 +f 70 87 94 +f 84 73 95 +f 78 70 96 +f 74 78 96 +f 70 94 96 +f 94 88 96 +f 74 65 98 +f 74 98 99 +f 98 80 99 +f 69 80 100 +f 85 81 100 +f 80 98 100 +f 98 85 100 +f 81 91 101 +f 97 69 101 +f 69 100 101 +f 100 81 101 +f 82 75 102 +f 77 89 103 +f 92 77 103 +f 90 92 103 +f 79 87 104 +f 86 70 105 +f 75 86 105 +f 76 66 106 +f 66 89 106 +f 93 76 106 +f 78 74 107 +f 74 99 107 +f 99 83 107 +f 102 78 107 +f 82 102 107 +f 70 78 108 +f 105 70 108 +f 88 79 109 +f 79 104 109 +f 76 68 110 +f 86 76 110 +f 87 86 110 +f 68 104 110 +f 104 87 110 +f 67 86 111 +f 90 103 111 +f 77 69 112 +f 76 93 112 +f 93 77 112 +f 97 76 112 +f 69 97 112 +f 89 77 113 +f 77 93 113 +f 106 89 113 +f 93 106 113 +f 102 75 114 +f 78 102 114 +f 75 105 114 +f 108 78 114 +f 105 108 114 +f 83 92 115 +f 92 90 115 +f 71 107 115 +f 107 83 115 +f 72 76 116 +f 91 72 116 +f 101 91 116 +f 97 101 116 +f 81 73 117 +f 91 81 117 +f 73 91 117 +f 76 97 118 +f 116 76 118 +f 97 116 118 +f 87 79 119 +f 79 88 119 +f 94 87 119 +f 88 94 119 +f 66 67 120 +f 89 66 120 +f 103 89 120 +f 67 111 120 +f 111 103 120 +f 73 85 121 +f 65 88 121 +f 95 73 121 +f 98 65 121 +f 85 98 121 +f 88 109 121 +f 109 95 121 +f 75 71 122 +f 86 75 122 +f 111 86 122 +f 69 77 123 +f 80 69 123 +f 77 92 123 +f 92 83 123 +f 99 80 123 +f 83 99 123 +f 71 75 124 +f 75 82 124 +f 107 71 124 +f 82 107 124 +f 68 76 125 +f 76 72 125 +f 72 91 125 +f 91 84 125 +f 90 111 126 +f 71 115 126 +f 115 90 126 +f 122 71 126 +f 111 122 126 +f 84 95 127 +f 104 68 127 +f 95 109 127 +f 109 104 127 +f 68 125 127 +f 125 84 127 +f 65 74 128 +f 88 65 128 +f 74 96 128 +o convex_2 +v -0.239024 0.930048 1.983581 +v -0.112611 -1.312604 -1.269034 +v -0.081058 -1.280993 -1.363118 +v 0.960995 -0.175472 1.983581 +v 0.739923 0.835213 -2.057936 +v -1.028653 0.045588 -1.963852 +v -0.839134 -0.807039 1.952024 +v 0.960995 -1.312604 0.151574 +v -1.028653 0.961660 -0.068149 +v 0.708370 -0.017636 -2.753339 +v -1.060407 -1.312604 0.152159 +v 0.992749 0.961660 0.183715 +v -0.049505 -0.807039 2.742095 +v -0.807581 -0.017636 2.742095 +v 0.550404 0.519318 2.583730 +v -0.776028 0.013976 -2.721783 +v -0.049505 0.961660 -2.247272 +v -0.081058 -0.744038 -2.721783 +v 0.960995 0.077199 -2.058520 +v 0.803029 -1.312604 -0.889192 +v -0.902441 -1.312604 -0.920748 +v 0.771476 -1.312604 0.941645 +v -1.028653 -0.017636 2.078833 +v 0.708370 -0.112471 2.773651 +v -0.776028 0.771990 -1.900156 +v -0.049505 0.708766 -2.784895 +v -0.870687 -1.312604 0.973201 +v -0.776028 0.740378 1.983581 +v 0.013400 0.708766 2.773067 +v 0.739923 0.740378 2.015137 +v -0.112611 -0.080859 2.995128 +v -0.081058 -0.017636 -2.974816 +v -0.776028 -0.744038 -2.121048 +v 0.013400 0.961660 2.078249 +v 0.708370 -0.838651 2.015137 +v 0.013400 -1.312604 1.320903 +v 0.518851 -0.554368 -2.531862 +v 0.866336 0.961660 -1.363118 +v -1.060407 0.235035 0.056906 +v -0.870687 0.961660 1.067870 +v 0.992749 -0.459755 0.246827 +v 0.960995 0.045588 2.015721 +v 0.550404 0.614154 -2.594974 +v -0.870687 0.961660 -1.047557 +v 0.866336 0.961660 0.973201 +v -0.586509 0.582542 -2.531862 +v -1.028653 -0.175472 -1.900740 +v -0.554956 0.550930 2.583730 +v 0.992749 -0.080859 1.762688 +v -0.649615 -0.649203 2.458091 +v -1.060407 -0.049248 -1.300006 +v 0.518851 -0.649203 2.552175 +v 0.708370 -0.744038 -1.994824 +v 0.897889 -1.312604 -0.605187 +v -0.049505 0.803601 -2.721783 +v 0.992749 0.961660 -0.352739 +v -1.060407 -0.049248 1.162538 +v 0.708370 0.108811 -2.753339 +v -0.649615 -0.522756 -2.532446 +v -0.081058 0.708766 2.773067 +v 0.866336 -1.312604 0.720168 +v 0.960995 -0.017636 -2.026380 +v 0.045154 -0.049248 2.995128 +v -1.060407 -1.312604 -0.068149 +f 179 175 192 +f 130 136 139 +f 137 140 145 +f 130 131 148 +f 136 130 148 +f 131 146 148 +f 131 130 149 +f 130 139 149 +f 146 131 149 +f 139 136 150 +f 139 135 151 +f 135 142 151 +f 144 134 153 +f 135 139 155 +f 139 150 155 +f 151 142 156 +f 152 143 157 +f 143 152 158 +f 157 143 158 +f 142 141 159 +f 138 146 160 +f 146 144 160 +f 144 154 160 +f 146 149 161 +f 140 137 162 +f 157 158 162 +f 141 150 163 +f 132 152 163 +f 150 141 164 +f 141 155 164 +f 155 150 164 +f 146 138 165 +f 148 146 165 +f 133 145 166 +f 145 140 166 +f 147 133 166 +f 137 151 168 +f 156 129 168 +f 151 156 168 +f 129 162 168 +f 162 137 168 +f 152 132 170 +f 158 152 170 +f 134 137 172 +f 137 145 172 +f 153 134 172 +f 145 153 172 +f 140 162 173 +f 162 158 173 +f 170 140 173 +f 158 170 173 +f 144 153 174 +f 154 144 174 +f 134 144 175 +f 144 161 175 +f 161 149 175 +f 156 142 176 +f 132 136 177 +f 136 169 177 +f 169 140 177 +f 170 132 177 +f 140 170 177 +f 142 135 178 +f 141 142 178 +f 135 155 178 +f 155 141 178 +f 137 134 179 +f 167 137 179 +f 139 167 179 +f 134 175 179 +f 152 141 180 +f 141 163 180 +f 163 152 180 +f 165 138 181 +f 148 165 181 +f 136 148 182 +f 148 181 182 +f 145 133 183 +f 153 145 183 +f 133 171 183 +f 171 154 183 +f 174 153 183 +f 154 174 183 +f 166 140 184 +f 147 166 184 +f 140 169 184 +f 139 151 185 +f 151 137 185 +f 137 167 185 +f 167 139 185 +f 133 147 186 +f 147 138 186 +f 138 160 186 +f 160 154 186 +f 171 133 186 +f 154 171 186 +f 144 146 187 +f 161 144 187 +f 146 161 187 +f 129 156 188 +f 142 159 188 +f 162 129 188 +f 157 162 188 +f 176 142 188 +f 156 176 188 +f 136 132 189 +f 150 136 189 +f 132 163 189 +f 163 150 189 +f 138 147 190 +f 169 136 190 +f 181 138 190 +f 136 182 190 +f 182 181 190 +f 147 184 190 +f 184 169 190 +f 141 152 191 +f 152 157 191 +f 159 141 191 +f 188 159 191 +f 157 188 191 +f 149 139 192 +f 175 149 192 +f 139 179 192 +o convex_3 +v -1.028820 0.961688 -0.069213 +v 1.024336 1.245915 -0.037620 +v 0.961029 0.993297 0.404685 +v 0.044987 0.961688 -2.153553 +v -0.902407 1.245915 0.815396 +v 0.013434 0.961688 1.984344 +v -0.839100 1.245915 -0.921014 +v 0.834616 1.245915 0.910176 +v 0.834616 1.245915 -1.079385 +v 0.803063 0.961688 -1.584471 +v -0.870653 0.961688 1.036548 +v -0.017918 1.245915 1.289294 +v -0.049672 1.245915 -1.394912 +v 0.866370 0.961688 0.973362 +v -0.870653 0.961688 -0.952607 +v -1.028820 1.245915 -0.037620 +v -0.049672 0.993297 -2.153553 +v 0.992582 0.961688 -0.321149 +v -0.049672 0.993297 1.984344 +v -0.839100 1.245915 0.973362 +v 0.771510 0.993297 -1.679656 +v 0.044987 0.993297 -2.153553 +v 0.866370 0.993297 -1.331726 +v -1.028820 0.961688 0.151939 +v 0.013434 0.993297 1.984344 +v 0.076540 1.245915 -1.394912 +v -0.870653 1.056458 -0.952607 +v -0.175884 0.961688 -1.995183 +v 0.992582 0.961688 0.183532 +v 0.866370 1.245915 -1.016199 +v 0.044987 1.245915 1.289294 +v -0.933960 1.245915 -0.605082 +v -1.028820 1.214307 0.120346 +v 0.866370 0.993297 0.973362 +v -0.902407 0.993297 0.910176 +f 225 216 227 +f 193 196 198 +f 197 194 199 +f 194 197 200 +f 199 194 201 +f 198 196 202 +f 193 198 203 +f 200 197 204 +f 199 201 205 +f 198 202 206 +f 196 193 207 +f 197 199 208 +f 199 205 209 +f 206 202 210 +f 203 198 211 +f 211 204 212 +f 197 203 212 +f 204 197 212 +f 203 211 212 +f 202 196 213 +f 196 209 214 +f 209 205 214 +f 213 196 214 +f 201 213 214 +f 194 210 215 +f 210 202 215 +f 202 213 215 +f 193 203 216 +f 208 193 216 +f 198 206 217 +f 211 198 217 +f 204 211 217 +f 205 201 218 +f 201 214 218 +f 214 205 218 +f 196 207 220 +f 209 196 220 +f 199 209 220 +f 207 219 220 +f 219 199 220 +f 194 195 221 +f 195 206 221 +f 210 194 221 +f 206 210 221 +f 201 194 222 +f 213 201 222 +f 194 215 222 +f 215 213 222 +f 200 204 223 +f 217 200 223 +f 204 217 223 +f 207 193 224 +f 208 199 224 +f 193 208 224 +f 219 207 224 +f 199 219 224 +f 197 208 225 +f 208 216 225 +f 195 194 226 +f 194 200 226 +f 206 195 226 +f 200 217 226 +f 217 206 226 +f 203 197 227 +f 216 203 227 +f 197 225 227 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/333/333.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/333/333.urdf new file mode 100644 index 000000000..08e98a5c7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/333/333.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/334/334.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/334/334.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/334/334.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/334/334.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/334/334.obj new file mode 100644 index 000000000..3b2bb825b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/334/334.obj @@ -0,0 +1,768 @@ +o convex_0 +v -2.986901 -1.399609 -0.084504 +v 1.852465 -0.197915 0.044973 +v 1.852465 -0.197915 0.012656 +v 2.080152 -2.374215 0.044973 +v 1.690424 -1.334636 -1.026726 +v -2.109866 -1.367016 0.986775 +v -1.070197 -0.197915 -0.896620 +v -1.979759 -2.114107 -0.799250 +v -0.095582 -0.197915 1.019512 +v 2.794554 -1.399396 0.856879 +v -2.012286 -2.114107 0.759509 +v -2.759215 -0.555377 -0.084504 +v 2.762027 -1.270088 -0.701670 +v -2.012286 -1.269875 -1.059253 +v 1.073010 -0.197915 -0.929147 +v 1.884992 -2.081727 0.856879 +v 2.015098 -2.114107 -0.766723 +v -2.044813 -2.341409 -0.051977 +v 1.982572 -1.432203 1.084565 +v -1.200304 -0.197915 0.857089 +v 2.794554 -0.620351 0.142343 +v 0.975430 -0.197915 0.954459 +v 2.794554 -2.114107 0.110026 +v -2.759215 -1.334636 0.759509 +v -0.160635 -2.341622 0.662139 +v -2.726688 -1.270088 -0.831777 +v -2.726688 -2.114107 -0.117031 +v 0.065868 -2.049134 -0.961463 +v 0.228501 -2.309028 -0.636827 +v -0.225689 -2.114107 0.921932 +v 0.065868 -0.197915 -1.026726 +v 3.054767 -1.367229 0.045183 +v -1.882179 -0.197915 -0.052187 +v 2.112678 -0.587971 -0.734197 +v -2.012286 -0.522784 -0.799250 +v 2.080152 -0.620351 0.824352 +v -2.531528 -0.750298 0.564559 +v 2.015098 -2.146488 0.824352 +v 2.080152 -1.302255 -0.994200 +v 2.794554 -1.432203 -0.701670 +v 2.794554 -0.620351 -0.019661 +v -2.596582 -1.951779 0.499716 +v 2.599394 -1.951779 -0.539457 +v -1.947233 -1.399609 -1.059253 +v -2.531528 -1.919186 -0.636827 +v 2.534933 -1.984160 0.661929 +v -2.564055 -0.750298 -0.636827 +v 2.631921 -0.847865 0.661929 +v 2.015098 -1.334636 1.084565 +v -1.947233 -0.522784 0.759509 +v -2.726688 -2.114107 0.012656 +v 2.047625 -1.432203 -0.994200 +v -1.979759 -2.016753 -0.864303 +v -0.355795 -2.276648 -0.701670 +v -2.759215 -0.555377 -0.019661 +v 2.599394 -0.782679 -0.539457 +v 2.762027 -2.146488 0.012656 +v -2.726688 -1.367016 -0.831777 +v -1.979759 -1.464370 0.986985 +v 1.040483 -2.179294 -0.831567 +v 1.982572 -2.374215 -0.051977 +v -1.849653 -1.075167 0.986985 +v 0.650755 -2.276648 0.759509 +v 1.235643 -0.230509 -0.896620 +f 41 34 64 +f 2 3 7 +f 2 7 9 +f 7 3 15 +f 9 7 20 +f 3 2 21 +f 2 9 22 +f 21 2 22 +f 11 6 24 +f 18 4 25 +f 11 18 25 +f 1 12 26 +f 8 18 27 +f 16 19 30 +f 11 25 30 +f 5 14 31 +f 14 7 31 +f 7 15 31 +f 21 10 32 +f 10 23 32 +f 20 7 33 +f 7 14 35 +f 14 26 35 +f 33 7 35 +f 12 33 35 +f 21 22 36 +f 10 19 38 +f 19 16 38 +f 4 23 38 +f 16 30 38 +f 5 31 39 +f 31 15 39 +f 34 13 39 +f 13 32 40 +f 39 13 40 +f 3 21 41 +f 21 32 41 +f 32 13 41 +f 11 24 42 +f 17 40 43 +f 14 5 44 +f 5 28 44 +f 8 27 45 +f 23 10 46 +f 10 38 46 +f 38 23 46 +f 26 12 47 +f 12 35 47 +f 35 26 47 +f 10 21 48 +f 36 10 48 +f 21 36 48 +f 9 6 49 +f 6 19 49 +f 19 10 49 +f 22 9 49 +f 10 36 49 +f 36 22 49 +f 37 24 50 +f 18 11 51 +f 24 1 51 +f 27 18 51 +f 1 27 51 +f 11 42 51 +f 42 24 51 +f 28 5 52 +f 5 39 52 +f 40 17 52 +f 39 40 52 +f 28 8 53 +f 44 28 53 +f 8 45 53 +f 18 8 54 +f 8 28 54 +f 29 18 54 +f 12 1 55 +f 1 24 55 +f 33 12 55 +f 20 33 55 +f 24 37 55 +f 50 20 55 +f 37 50 55 +f 13 34 56 +f 41 13 56 +f 34 41 56 +f 23 4 57 +f 32 23 57 +f 40 32 57 +f 17 43 57 +f 43 40 57 +f 1 26 58 +f 26 14 58 +f 27 1 58 +f 14 44 58 +f 45 27 58 +f 44 53 58 +f 53 45 58 +f 6 11 59 +f 19 6 59 +f 11 30 59 +f 30 19 59 +f 28 52 60 +f 52 17 60 +f 54 28 60 +f 29 54 60 +f 4 18 61 +f 18 29 61 +f 57 4 61 +f 17 57 61 +f 60 17 61 +f 29 60 61 +f 6 9 62 +f 9 20 62 +f 24 6 62 +f 20 50 62 +f 50 24 62 +f 25 4 63 +f 30 25 63 +f 4 38 63 +f 38 30 63 +f 15 3 64 +f 39 15 64 +f 34 39 64 +f 3 41 64 +o convex_1 +v -0.128433 0.159388 1.117047 +v -0.031025 0.126896 -1.156699 +v -0.031025 0.159388 -1.156699 +v 1.787966 -0.197915 0.077436 +v -1.817546 -0.197915 0.012446 +v -0.095964 -0.197915 1.019562 +v 0.066030 -0.197915 -1.026497 +v 1.333041 0.159388 0.044941 +v -1.362622 0.159388 -0.051876 +v 0.910940 0.159388 -0.961508 +v 0.910940 0.159388 0.954350 +v -1.005459 0.159388 0.889583 +v -0.972636 -0.165424 -0.896518 +v 1.040817 -0.197915 -0.929013 +v 0.943409 -0.197915 0.954350 +v -1.102514 -0.197915 0.889583 +v -0.907698 0.159388 -0.896518 +v 1.787966 -0.165424 -0.019826 +v -1.817546 -0.165424 -0.084371 +v -0.972636 -0.197915 -0.896518 +v -1.784724 -0.165424 0.077436 +v 0.066030 0.126896 1.117047 +v 1.787966 -0.165424 0.077436 +v 0.975878 0.159388 -0.896741 +v -1.654846 -0.035457 0.012446 +v 1.138225 -0.165424 -0.831751 +v 0.943409 0.029456 0.954350 +v 0.033561 0.126896 -1.156699 +f 74 78 92 +f 69 68 70 +f 68 69 71 +f 67 65 72 +f 65 67 73 +f 67 72 74 +f 72 65 75 +f 65 73 76 +f 67 66 77 +f 68 71 78 +f 70 68 79 +f 70 65 80 +f 69 70 80 +f 65 76 80 +f 73 67 81 +f 67 77 81 +f 68 78 82 +f 73 81 83 +f 81 77 83 +f 66 71 84 +f 71 69 84 +f 77 66 84 +f 69 83 84 +f 83 77 84 +f 69 80 85 +f 80 76 85 +f 83 69 85 +f 65 70 86 +f 75 65 86 +f 70 79 86 +f 72 75 87 +f 79 68 87 +f 68 82 87 +f 82 72 87 +f 74 72 88 +f 72 82 88 +f 76 73 89 +f 73 83 89 +f 85 76 89 +f 83 85 89 +f 78 74 90 +f 82 78 90 +f 74 88 90 +f 88 82 90 +f 75 86 91 +f 86 79 91 +f 87 75 91 +f 79 87 91 +f 66 67 92 +f 71 66 92 +f 67 74 92 +f 78 71 92 +o convex_2 +v 0.098633 1.198986 -1.189102 +v 0.326138 1.198986 1.279457 +v 0.033695 1.198986 1.279457 +v 0.488485 3.732417 -0.441899 +v -0.972856 3.147412 0.044811 +v -1.135422 1.166332 -0.019578 +v 1.105842 1.166583 -0.052140 +v 0.780929 3.244871 0.824575 +v -0.745570 3.212468 0.759696 +v -0.745570 3.180066 -0.734219 +v 0.878337 3.472192 -0.831659 +v -0.940386 1.166332 0.824575 +v -0.518285 3.667361 0.532010 +v -0.875448 1.166332 -0.799097 +v 0.943276 1.166332 -0.799097 +v -0.128214 3.667361 -0.799342 +v 0.943276 1.166332 0.792013 +v 0.813398 3.699763 0.142495 +v -0.128214 3.309927 0.922015 +v 0.975745 3.212468 0.142495 +v -0.550754 3.699763 -0.506778 +v 0.391077 1.166332 -1.221663 +v -0.128214 3.147412 -0.961660 +v 0.066164 3.667361 0.694573 +v -0.680632 3.667361 0.077372 +v 0.910806 3.082356 -0.831659 +v 0.975745 3.277274 -0.182141 +v 0.845868 2.725425 0.824575 +v 0.196261 3.342330 -0.929099 +v -0.258310 1.393904 -1.059100 +v 0.586113 3.667361 0.532010 +v -0.290780 1.166332 1.149456 +v 0.131322 3.277525 0.922015 +v -0.940386 1.458960 0.792013 +v -0.907917 3.212468 -0.214703 +v 1.105842 1.264042 0.045055 +v 0.943276 1.393904 0.792013 +v 0.423546 3.732417 -0.117018 +v 0.813398 1.166332 -0.929099 +v -0.778040 3.082607 0.759696 +v -1.135422 1.198986 0.044811 +v -0.128214 3.180066 0.954576 +v 0.780929 3.147412 0.856891 +v -0.615693 1.231389 -0.929099 +v 0.391077 1.231389 -1.221663 +v -0.842978 1.913601 -0.766780 +v 0.033695 3.699763 -0.766780 +v 0.618582 3.699763 -0.506778 +v 0.748459 3.439789 -0.864220 +v 0.975745 1.296445 -0.701902 +v 0.813398 3.244871 0.792013 +v -0.355718 1.296445 1.116894 +v 0.878337 3.244871 -0.864220 +v 0.715990 1.166332 0.986893 +v -0.907917 3.309927 0.044811 +v -0.713101 3.309927 -0.701902 +v -0.193372 3.277525 -0.929099 +v 0.910806 3.407135 -0.734219 +v -1.135422 1.231389 -0.019578 +v -0.778040 3.244871 0.662012 +v -0.290780 3.667361 0.629695 +v 0.618582 3.699763 0.402253 +v 0.456235 1.198986 -1.189102 +v 0.228730 1.166332 -1.221663 +f 115 137 156 +f 104 98 106 +f 104 106 107 +f 104 107 109 +f 107 99 109 +f 107 106 114 +f 105 113 117 +f 110 112 119 +f 115 93 122 +f 116 100 123 +f 94 95 124 +f 104 109 124 +f 100 116 125 +f 116 111 125 +f 109 99 128 +f 99 119 128 +f 119 112 128 +f 112 120 129 +f 109 128 129 +f 128 112 129 +f 110 96 130 +f 96 113 130 +f 113 105 130 +f 107 114 131 +f 97 126 132 +f 126 104 132 +f 98 104 133 +f 126 97 133 +f 104 126 133 +f 95 94 134 +f 101 95 134 +f 111 101 134 +f 94 125 134 +f 125 111 134 +f 125 94 135 +f 100 125 135 +f 93 106 136 +f 106 102 136 +f 122 93 136 +f 102 122 136 +f 115 121 137 +f 102 106 138 +f 127 102 138 +f 113 96 139 +f 108 113 139 +f 110 103 140 +f 96 110 140 +f 139 96 140 +f 103 139 140 +f 121 108 141 +f 137 121 141 +f 139 103 141 +f 108 139 141 +f 99 107 142 +f 118 99 142 +f 107 118 142 +f 112 110 143 +f 120 112 143 +f 123 100 143 +f 110 123 143 +f 135 120 143 +f 100 135 143 +f 95 101 144 +f 124 95 144 +f 104 124 144 +f 101 132 144 +f 132 104 144 +f 118 107 145 +f 103 118 145 +f 107 131 145 +f 141 103 145 +f 137 141 145 +f 94 124 146 +f 124 109 146 +f 109 129 146 +f 129 120 146 +f 135 94 146 +f 120 135 146 +f 117 113 147 +f 127 97 147 +f 113 127 147 +f 113 108 148 +f 102 127 148 +f 127 113 148 +f 108 121 149 +f 121 115 149 +f 122 102 149 +f 115 122 149 +f 102 148 149 +f 148 108 149 +f 103 110 150 +f 99 118 150 +f 118 103 150 +f 110 119 150 +f 119 99 150 +f 106 98 151 +f 97 127 151 +f 133 97 151 +f 98 133 151 +f 138 106 151 +f 127 138 151 +f 101 105 152 +f 105 117 152 +f 97 132 152 +f 132 101 152 +f 147 97 152 +f 117 147 152 +f 105 101 153 +f 101 111 153 +f 111 116 153 +f 130 105 153 +f 130 153 154 +f 123 110 154 +f 116 123 154 +f 110 130 154 +f 153 116 154 +f 131 114 155 +f 114 137 155 +f 145 131 155 +f 137 145 155 +f 106 93 156 +f 114 106 156 +f 93 115 156 +f 137 114 156 +o convex_3 +v -0.128401 0.971354 -1.254145 +v -0.031003 0.256834 -1.286672 +v 0.033952 0.256834 -1.286672 +v 0.066396 0.711427 -3.040660 +v 0.391169 0.841470 -1.254145 +v -0.225866 0.679076 -2.683217 +v -0.290821 0.419308 -1.254145 +v 0.228749 0.549271 -2.650691 +v 0.326215 1.068886 -1.319373 +v -0.031003 0.873981 -2.780622 +v 0.293704 0.354287 -1.254145 +v 0.001508 0.484250 -2.780622 +v 0.261260 0.679076 -2.780622 +v -0.193356 0.906412 -1.741520 +v -0.258310 0.354287 -1.416778 +v 0.066396 1.068886 -1.384077 +v -0.290821 0.646644 -1.254145 +v 0.066396 0.873981 -2.780622 +v 0.391169 0.646644 -1.286672 +v 0.228749 0.451739 -2.228544 +v -0.193356 0.743938 -2.812974 +v -0.258310 0.711427 -2.228544 +v -0.160912 0.549271 -2.618339 +v -0.160912 0.841470 -2.618339 +v 0.066396 0.484250 -2.780622 +v 0.261260 0.614293 -2.715744 +v 0.326215 1.068886 -1.254145 +v -0.128401 0.679076 -2.910729 +f 168 179 184 +f 161 157 163 +f 158 159 167 +f 163 158 167 +f 161 163 167 +f 159 158 168 +f 165 161 169 +f 158 163 171 +f 163 162 171 +f 168 158 171 +f 170 157 172 +f 163 157 173 +f 157 170 173 +f 160 166 174 +f 169 160 174 +f 165 169 174 +f 172 165 174 +f 166 172 174 +f 161 167 175 +f 169 161 175 +f 167 159 176 +f 166 160 177 +f 162 163 178 +f 163 173 178 +f 173 170 178 +f 177 162 178 +f 171 162 179 +f 168 171 179 +f 172 166 180 +f 170 172 180 +f 166 177 180 +f 178 170 180 +f 177 178 180 +f 159 168 181 +f 168 160 181 +f 176 159 181 +f 164 176 181 +f 160 169 182 +f 175 167 182 +f 169 175 182 +f 167 176 182 +f 176 164 182 +f 181 160 182 +f 164 181 182 +f 157 161 183 +f 161 165 183 +f 172 157 183 +f 165 172 183 +f 160 168 184 +f 177 160 184 +f 162 177 184 +f 179 162 184 +o convex_4 +v 0.293663 0.354410 1.246975 +v -0.290840 0.386832 -1.254145 +v -0.290840 0.646698 -1.254145 +v -1.297832 0.159585 0.045135 +v -0.940399 1.166234 0.824654 +v 1.105737 1.166234 -0.052060 +v 0.975875 0.159585 -0.896703 +v -0.875343 1.166234 -0.799263 +v 0.943222 0.159585 0.922094 +v 0.358719 1.166234 1.246975 +v 0.391122 1.166234 -1.221584 +v -0.972802 0.159585 0.889532 +v -0.875343 0.159585 -0.896703 +v 1.268252 0.159585 0.044890 +v 0.943222 1.166234 0.792092 +v -0.420702 0.646698 1.246975 +v 0.943222 1.166234 -0.831824 +v -1.135317 1.166234 -0.052305 +v 0.228606 0.289468 -1.254145 +v -0.095922 0.159585 1.149290 +v -0.063268 1.166234 1.246975 +v -0.030866 0.159585 -1.189022 +v -0.030866 1.036251 -1.254145 +v -1.297832 0.192006 -0.052305 +v 0.423775 0.906368 -1.254145 +v -0.355897 0.354410 1.246975 +v -1.005204 0.484294 0.856971 +v -0.907745 0.516814 -0.864141 +v 1.268252 0.224527 -0.019743 +v 0.910819 0.159585 -0.961581 +v 0.423775 0.873946 1.246975 +v 1.138139 1.068772 0.044890 +v 0.943222 1.101193 0.824654 +v -1.167720 1.003830 0.045135 +v -0.290840 0.971309 1.246975 +v 0.975875 0.646698 -0.864141 +v 0.910819 0.159585 0.954411 +v 0.131398 1.166234 -1.221584 +v 0.358719 0.451774 -1.254145 +v -0.193381 0.906368 -1.254145 +v -0.972802 1.133713 0.759531 +v 0.001286 0.256948 1.246975 +v -0.842940 1.166234 -0.831824 +v 0.975875 1.166234 -0.734384 +v 0.975875 0.256948 0.856971 +v 1.268252 0.224527 0.044890 +v -0.193381 0.289468 -1.254145 +v 1.170793 0.873946 -0.019743 +v -1.037858 0.159585 0.792092 +f 196 211 233 +f 189 190 192 +f 188 191 193 +f 190 189 194 +f 192 190 195 +f 188 193 196 +f 187 186 197 +f 191 188 197 +f 193 191 198 +f 190 194 199 +f 185 194 200 +f 195 190 201 +f 189 192 202 +f 186 187 203 +f 196 193 204 +f 194 189 205 +f 200 194 205 +f 191 197 206 +f 203 187 207 +f 197 188 208 +f 202 192 208 +f 195 201 209 +f 207 195 209 +f 203 207 209 +f 185 200 210 +f 200 196 210 +f 196 204 210 +f 200 189 211 +f 196 200 211 +f 187 197 212 +f 197 208 212 +f 208 192 212 +f 198 191 213 +f 191 206 214 +f 206 203 214 +f 194 185 215 +f 190 199 216 +f 199 194 217 +f 194 215 217 +f 208 188 218 +f 202 208 218 +f 189 200 219 +f 205 189 219 +f 200 205 219 +f 209 201 220 +f 213 191 220 +f 191 214 220 +f 214 209 220 +f 204 193 221 +f 215 185 221 +f 193 217 221 +f 217 215 221 +f 192 195 222 +f 195 207 222 +f 203 209 223 +f 214 203 223 +f 209 214 223 +f 207 187 224 +f 189 202 225 +f 188 211 225 +f 211 189 225 +f 218 188 225 +f 202 218 225 +f 185 210 226 +f 210 204 226 +f 221 185 226 +f 204 221 226 +f 187 212 227 +f 212 192 227 +f 192 222 227 +f 222 207 227 +f 224 187 227 +f 207 224 227 +f 201 190 228 +f 220 201 228 +f 213 220 228 +f 193 198 229 +f 217 193 229 +f 217 229 230 +f 198 213 230 +f 216 199 230 +f 199 217 230 +f 229 198 230 +f 197 186 231 +f 186 203 231 +f 206 197 231 +f 203 206 231 +f 190 216 232 +f 228 190 232 +f 213 228 232 +f 230 213 232 +f 216 230 232 +f 188 196 233 +f 211 188 233 +o convex_5 +v 0.066367 0.873879 2.741062 +v -0.031006 0.289402 1.246975 +v 0.001425 0.289402 1.246975 +v 0.326215 1.166332 1.246975 +v -0.290853 0.971306 1.246975 +v -0.225911 0.646749 2.773341 +v 0.196331 0.516789 2.513738 +v 0.326215 0.419362 1.246975 +v -0.420816 0.549236 1.246975 +v 0.228762 0.711643 2.741062 +v -0.031006 0.484342 2.741062 +v 0.001425 1.166332 1.344498 +v -0.323364 0.386915 1.279597 +v -0.160890 0.841432 2.578639 +v 0.391236 0.744005 1.344498 +v -0.031006 0.711643 3.001008 +v -0.323364 0.711643 2.026812 +v 0.293783 0.386915 1.442020 +v 0.033857 0.484342 2.741062 +v -0.063437 0.873879 2.708440 +v -0.225911 0.711643 2.773341 +v 0.228762 0.646749 2.708440 +v -0.193400 0.549236 2.611089 +v 0.293783 1.166332 1.344498 +v 0.196331 0.841432 2.578639 +v 0.391236 0.841432 1.279597 +v -0.290853 0.971306 1.312047 +v 0.033857 0.679196 3.001008 +v -0.420816 0.614216 1.279597 +f 250 260 262 +f 236 235 237 +f 237 235 238 +f 236 237 241 +f 238 235 242 +f 235 236 244 +f 237 238 245 +f 242 235 246 +f 239 242 246 +f 235 244 246 +f 239 244 249 +f 236 241 251 +f 244 236 252 +f 236 251 252 +f 251 240 252 +f 234 245 253 +f 245 247 253 +f 249 234 253 +f 249 253 254 +f 239 249 254 +f 250 239 254 +f 253 247 254 +f 241 248 255 +f 248 243 255 +f 251 241 255 +f 240 251 255 +f 252 240 255 +f 244 239 256 +f 239 246 256 +f 246 244 256 +f 245 234 257 +f 237 245 257 +f 234 243 258 +f 243 237 258 +f 257 234 258 +f 237 257 258 +f 241 237 259 +f 237 243 259 +f 248 241 259 +f 243 248 259 +f 245 238 260 +f 247 245 260 +f 254 247 260 +f 250 254 260 +f 243 234 261 +f 234 249 261 +f 249 244 261 +f 244 252 261 +f 255 243 261 +f 252 255 261 +f 238 242 262 +f 242 239 262 +f 239 250 262 +f 260 238 262 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/334/334.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/334/334.urdf new file mode 100644 index 000000000..b6e0cc29f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/334/334.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/335/335.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/335/335.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/335/335.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/335/335.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/335/335.obj new file mode 100644 index 000000000..4c55c7e5d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/335/335.obj @@ -0,0 +1,918 @@ +o convex_0 +v 0.292124 -1.315753 1.029866 +v -0.575070 -0.548793 -1.071231 +v -0.575070 -0.481929 -1.071231 +v 1.159319 -1.549257 -0.537524 +v -1.308789 -1.549257 -0.037342 +v 0.892369 -0.481929 0.996342 +v -1.041840 -0.481929 0.896387 +v 0.892369 -0.481929 -0.937753 +v -0.241513 -1.549257 -1.037707 +v -0.808324 -1.549257 0.963024 +v 1.092712 -1.549257 0.762909 +v -1.041840 -0.481929 -0.904435 +v 1.125885 -0.481929 0.829751 +v -1.008406 -1.549257 -0.837593 +v 1.359661 -1.515824 0.029294 +v 0.758894 -1.549257 -0.937753 +v 1.125885 -0.481929 -0.437364 +v -0.274686 -0.481929 1.029866 +v -1.208487 -1.549257 0.529477 +v 0.192084 -1.015593 -1.071231 +v 0.758894 -1.549257 0.963024 +v -0.774890 -1.148904 -1.037707 +v -1.108446 -0.615449 0.696273 +v 0.725721 -0.481929 -1.004389 +v -0.808324 -1.282320 0.996342 +v -1.141881 -1.549257 -0.637479 +v -1.041840 -1.382408 0.829751 +v 1.092712 -0.481929 -0.604161 +v 0.058609 -1.382408 -1.071231 +v -0.308120 -1.382408 1.029866 +v 1.359661 -1.549257 0.095931 +v -0.941799 -0.481929 0.963024 +v -0.874931 -0.615449 -1.037707 +v 0.192084 -0.481929 -1.071231 +v -0.808324 -1.549257 -0.971071 +v 1.059278 -1.515824 0.829751 +v 0.525640 -0.481929 1.029866 +v 0.792328 -1.182336 0.996342 +v -1.308789 -1.515824 0.029294 +v 0.758894 -1.248992 -0.971071 +v 0.392426 -1.549257 0.996342 +v 0.792328 -1.482496 -0.937753 +v 1.159319 -1.549257 0.629637 +v -1.075274 -0.481929 0.596113 +v 0.859196 -0.615449 -0.971071 +v 0.192084 -1.549257 -1.037707 +v -0.274686 -1.248992 -1.071231 +v 1.059278 -0.615449 0.896387 +v -1.208487 -1.415736 0.529477 +v -1.008406 -1.549257 0.829751 +f 10 27 50 +f 6 3 7 +f 3 6 8 +f 4 5 9 +f 5 4 10 +f 10 4 11 +f 7 3 12 +f 8 6 13 +f 9 5 14 +f 4 9 16 +f 8 13 17 +f 13 15 17 +f 6 7 18 +f 5 10 19 +f 2 3 20 +f 10 11 21 +f 3 8 24 +f 5 12 26 +f 14 5 26 +f 12 14 26 +f 7 19 27 +f 10 25 27 +f 25 7 27 +f 4 8 28 +f 15 4 28 +f 8 17 28 +f 17 15 28 +f 2 20 29 +f 1 18 30 +f 25 10 30 +f 18 25 30 +f 11 4 31 +f 4 15 31 +f 15 13 31 +f 18 7 32 +f 7 25 32 +f 25 18 32 +f 3 2 33 +f 12 3 33 +f 14 12 33 +f 2 22 33 +f 20 3 34 +f 3 24 34 +f 24 20 34 +f 9 14 35 +f 22 9 35 +f 14 33 35 +f 33 22 35 +f 11 13 36 +f 21 11 36 +f 18 1 37 +f 6 18 37 +f 1 21 38 +f 36 6 38 +f 21 36 38 +f 37 1 38 +f 6 37 38 +f 12 5 39 +f 5 19 39 +f 20 24 40 +f 29 20 40 +f 21 1 41 +f 10 21 41 +f 1 30 41 +f 30 10 41 +f 4 16 42 +f 16 40 42 +f 13 11 43 +f 11 31 43 +f 31 13 43 +f 7 12 44 +f 23 7 44 +f 12 39 44 +f 39 23 44 +f 8 4 45 +f 24 8 45 +f 40 24 45 +f 4 42 45 +f 42 40 45 +f 16 9 46 +f 9 29 46 +f 40 16 46 +f 29 40 46 +f 22 2 47 +f 9 22 47 +f 29 9 47 +f 2 29 47 +f 13 6 48 +f 6 36 48 +f 36 13 48 +f 19 7 49 +f 7 23 49 +f 39 19 49 +f 23 39 49 +f 19 10 50 +f 27 19 50 +o convex_1 +v 0.992660 0.118450 0.996342 +v -0.941676 0.318633 -1.071231 +v -0.975295 -0.081478 -1.037707 +v -1.075386 0.385360 0.963024 +v -1.008404 -0.481928 0.929706 +v 0.892568 -0.481928 -0.937753 +v 1.292679 0.385360 -0.570843 +v 1.125860 -0.481928 0.863069 +v -1.041768 -0.481928 -0.904435 +v 1.292679 0.385360 0.896387 +v -1.208587 0.385360 -0.937753 +v 0.925677 0.385360 -1.004389 +v 0.191928 -0.481928 -1.071231 +v 0.525566 -0.481928 1.029866 +v -1.242205 0.351997 0.262727 +v 1.125860 -0.481928 -0.470888 +v 1.359661 0.351997 -0.070660 +v -0.241546 0.385360 1.029866 +v -1.075386 -0.481928 0.863069 +v -0.274910 -0.481928 1.029866 +v 0.191928 0.385360 -1.071231 +v -0.608039 -0.481928 -1.071231 +v -1.075386 -0.448480 -0.904435 +v 0.525566 0.385360 1.029866 +v 0.892568 -0.481928 0.996342 +v 0.892568 -0.381752 -0.971071 +v -0.708385 -0.481928 0.996342 +v 1.359661 0.351997 0.196091 +v -0.908567 -0.448480 -1.037707 +v 0.992660 -0.481928 -0.804275 +v 0.992660 0.318633 -0.971071 +v 1.159479 -0.381752 0.829751 +v 1.026023 0.385360 0.996342 +v 0.525566 -0.481928 -1.037707 +v -0.941676 0.385360 -1.071231 +v 1.292679 0.351997 -0.570843 +v -1.242205 0.385360 0.262727 +v -1.208587 0.351997 -0.937753 +v -0.975295 -0.415116 0.963024 +v -1.075386 -0.415116 0.896387 +v 1.092496 -0.481928 -0.604161 +f 80 86 91 +f 55 56 58 +f 56 55 59 +f 57 54 60 +f 54 57 61 +f 61 57 62 +f 56 59 63 +f 55 58 64 +f 58 56 66 +f 57 60 67 +f 60 54 68 +f 59 55 69 +f 55 64 70 +f 64 68 70 +f 61 62 71 +f 63 52 71 +f 62 63 71 +f 52 63 72 +f 63 59 72 +f 59 69 73 +f 69 65 73 +f 60 68 74 +f 68 64 74 +f 60 51 75 +f 58 60 75 +f 51 64 75 +f 64 58 75 +f 68 54 77 +f 55 70 77 +f 70 68 77 +f 67 60 78 +f 53 52 79 +f 52 72 79 +f 72 59 79 +f 59 73 79 +f 66 56 80 +f 56 76 80 +f 62 57 81 +f 76 62 81 +f 60 58 82 +f 58 66 82 +f 66 67 82 +f 78 60 82 +f 67 78 82 +f 51 60 83 +f 64 51 83 +f 60 74 83 +f 74 64 83 +f 56 63 84 +f 63 62 84 +f 76 56 84 +f 62 76 84 +f 52 61 85 +f 71 52 85 +f 61 71 85 +f 67 66 86 +f 57 67 86 +f 80 76 86 +f 81 57 86 +f 76 81 86 +f 54 61 87 +f 65 54 87 +f 61 65 87 +f 52 53 88 +f 61 52 88 +f 65 61 88 +f 73 65 88 +f 53 79 88 +f 79 73 88 +f 77 54 89 +f 55 77 89 +f 54 65 90 +f 69 55 90 +f 65 69 90 +f 89 54 90 +f 55 89 90 +f 66 80 91 +f 86 66 91 +o convex_2 +v 1.359531 0.385360 -0.437508 +v -0.140958 2.720369 0.062518 +v -0.140958 2.720369 0.029197 +v -2.842779 0.986026 0.129366 +v 1.926696 0.952656 0.996544 +v 2.026611 1.752858 -1.037910 +v -2.009370 1.552865 -1.037704 +v -2.075784 2.520147 0.763089 +v 2.126526 2.419807 0.796410 +v -1.075458 0.385360 0.963017 +v -0.974955 0.385360 -1.071231 +v -2.042283 2.486548 -0.704285 +v 2.593776 2.319925 -0.570999 +v 2.827106 1.019397 0.028991 +v -2.075784 1.752858 1.029866 +v 1.292529 0.385360 0.929696 +v -2.742864 2.486548 -0.037240 +v 0.925782 0.385360 -1.004382 +v -2.609448 0.885915 -0.704285 +v 2.026611 2.486777 -0.737812 +v 2.793606 1.719488 0.762883 +v -2.742864 1.719488 0.796410 +v 2.560275 1.019397 -0.670963 +v 2.760105 2.486777 0.095839 +v -2.742864 1.752858 -0.770927 +v 2.060112 1.752858 1.030071 +v -2.042283 2.720369 -0.070562 +v 2.026611 2.686999 0.129366 +v 2.793606 1.786000 -0.770927 +v 2.626689 0.919286 0.729768 +v 0.525534 0.385360 1.029866 +v -2.376117 0.719064 0.362821 +v 3.027524 1.686117 0.062518 +v -2.976783 1.752858 -0.103883 +v -2.109285 0.952656 0.896580 +v -2.009370 1.819599 -1.004382 +v -1.241787 0.385360 -0.937740 +v 2.060112 2.419807 0.829732 +v -1.975869 0.952656 -1.037704 +v 1.959609 0.986026 -0.937740 +v 2.727191 0.919286 0.028991 +v 2.026611 2.686999 -0.070562 +v 2.026611 2.386666 -0.804454 +v -1.908867 2.486777 -0.737606 +v -2.575947 2.319925 0.596071 +v -2.042283 2.720369 0.129161 +v 0.191700 0.385360 -1.071231 +v -0.140958 0.952656 -1.071231 +v 2.026611 2.486777 0.729768 +v 1.425945 0.385360 0.229330 +v -2.976783 1.752858 0.129366 +v -2.609448 1.152649 0.629598 +v -2.543034 2.286555 -0.570794 +v 2.760105 2.486777 -0.037035 +v 2.593776 2.286555 0.596071 +v -0.241461 0.385360 1.029866 +v 2.526774 0.952656 -0.637642 +v -1.241787 0.385360 0.295973 +v -2.042283 1.786000 1.029866 +v -1.141872 1.752858 -1.037704 +v -1.108371 2.520147 -0.704285 +v -2.742864 2.453406 0.129366 +v 3.027524 1.752858 -0.070562 +v -0.841539 2.720369 -0.070562 +f 152 118 155 +f 92 101 102 +f 101 92 107 +f 92 102 109 +f 106 99 113 +f 96 112 117 +f 93 94 118 +f 103 108 118 +f 94 93 119 +f 105 114 120 +f 96 107 121 +f 112 96 121 +f 101 107 122 +f 107 96 122 +f 96 117 122 +f 95 110 123 +f 115 112 124 +f 121 105 124 +f 112 121 124 +f 110 95 125 +f 108 116 125 +f 116 110 125 +f 101 106 126 +f 106 113 126 +f 123 101 126 +f 98 116 127 +f 116 103 127 +f 102 101 128 +f 110 102 128 +f 123 110 128 +f 112 100 129 +f 117 112 129 +f 98 102 130 +f 102 110 130 +f 116 98 130 +f 110 116 130 +f 109 97 131 +f 114 109 131 +f 97 120 131 +f 120 114 131 +f 105 121 132 +f 94 119 133 +f 119 115 133 +f 111 104 134 +f 120 97 134 +f 104 120 134 +f 103 118 135 +f 127 103 135 +f 111 134 135 +f 113 99 136 +f 93 118 137 +f 118 108 137 +f 119 93 137 +f 99 119 137 +f 109 102 138 +f 97 109 138 +f 102 98 139 +f 97 138 139 +f 138 102 139 +f 100 115 140 +f 119 99 140 +f 115 119 140 +f 99 129 140 +f 129 100 140 +f 107 92 141 +f 121 107 141 +f 92 132 141 +f 132 121 141 +f 95 113 142 +f 125 95 142 +f 108 125 142 +f 113 95 143 +f 95 123 143 +f 126 113 143 +f 123 126 143 +f 108 103 144 +f 103 116 144 +f 116 108 144 +f 104 111 145 +f 120 104 145 +f 111 133 145 +f 133 115 145 +f 100 112 146 +f 115 100 146 +f 112 115 146 +f 106 101 147 +f 117 106 147 +f 101 122 147 +f 122 117 147 +f 92 109 148 +f 114 105 148 +f 109 114 148 +f 132 92 148 +f 105 132 148 +f 101 123 149 +f 128 101 149 +f 123 128 149 +f 99 106 150 +f 106 117 150 +f 129 99 150 +f 117 129 150 +f 98 127 151 +f 134 97 151 +f 127 135 151 +f 135 134 151 +f 97 139 151 +f 139 98 151 +f 135 118 152 +f 111 135 152 +f 136 99 153 +f 113 136 153 +f 99 137 153 +f 137 108 153 +f 142 113 153 +f 108 142 153 +f 105 120 154 +f 115 124 154 +f 124 105 154 +f 120 145 154 +f 145 115 154 +f 118 94 155 +f 133 111 155 +f 94 133 155 +f 111 152 155 +o convex_3 +v -1.242382 -2.883651 -0.037309 +v -1.242382 -1.549361 0.229464 +v -1.242382 -1.549361 -0.137335 +v -3.043498 -2.383293 -0.004004 +v -1.275879 -2.449772 -0.571078 +v -1.275879 -2.316552 0.563069 +v -2.776398 -2.383293 -0.404219 +v -2.809719 -2.349726 0.362906 +v -2.776398 -1.949674 -0.037309 +v -1.242382 -1.782888 -0.504357 +v -2.709755 -2.750170 0.029301 +v -1.275879 -1.616102 0.496348 +v -1.876192 -2.716735 0.396211 +v -2.076297 -2.716735 -0.404219 +v -1.242382 -2.716735 0.429627 +v -1.242382 -2.750170 -0.437636 +v -2.442832 -2.016415 -0.337498 +v -2.642936 -2.083286 0.296185 +v -2.076297 -2.349726 0.496348 +v -2.843040 -2.716735 -0.037309 +v -2.176085 -2.349726 -0.504357 +v -1.909514 -2.850216 0.029301 +v -2.576293 -2.616689 0.296185 +v -2.776398 -2.316552 -0.404219 +v -2.809719 -2.283116 0.362906 +v -1.242382 -2.083286 0.563069 +v -2.609615 -2.650125 -0.304193 +v -1.375843 -1.549361 -0.037309 +v -3.043498 -2.316552 -0.070614 +v -2.776398 -1.949674 -0.004004 +v -2.076297 -2.750170 -0.337498 +v -2.809719 -2.716735 0.062606 +v -1.275879 -2.850216 0.129327 +v -2.076297 -2.716735 0.362906 +v -2.242727 -2.816780 -0.037309 +v -1.275879 -1.549361 -0.137335 +v -3.043498 -2.316552 0.029301 +v -1.275879 -1.782888 -0.504357 +v -1.242382 -2.349726 -0.571078 +v -1.275879 -1.549361 0.229464 +v -2.676258 -2.283116 0.396211 +v -2.642936 -2.016415 -0.237472 +v -2.042975 -2.683299 0.396211 +v -1.809550 -2.316552 -0.537662 +v -1.976333 -2.216506 0.496348 +v -1.442662 -2.216506 0.563069 +f 200 174 201 +f 158 157 156 +f 158 156 165 +f 156 157 170 +f 161 168 170 +f 165 156 171 +f 169 160 171 +f 160 169 176 +f 169 162 176 +f 176 162 179 +f 167 173 180 +f 157 167 181 +f 170 157 181 +f 161 170 181 +f 162 169 182 +f 175 162 182 +f 157 158 183 +f 175 159 184 +f 162 175 184 +f 179 162 184 +f 164 179 184 +f 173 167 185 +f 180 173 185 +f 183 164 185 +f 164 184 185 +f 171 156 186 +f 169 171 186 +f 182 169 186 +f 175 182 186 +f 163 159 187 +f 159 175 187 +f 175 166 187 +f 178 163 187 +f 156 170 188 +f 170 168 188 +f 168 177 188 +f 177 156 188 +f 166 177 189 +f 177 168 189 +f 187 166 189 +f 178 187 189 +f 166 175 190 +f 177 166 190 +f 156 177 190 +f 186 156 190 +f 175 186 190 +f 158 165 191 +f 183 158 191 +f 164 183 191 +f 159 163 192 +f 163 180 192 +f 184 159 192 +f 180 185 192 +f 185 184 192 +f 179 172 193 +f 176 179 193 +f 191 165 193 +f 172 191 193 +f 165 171 194 +f 171 160 194 +f 193 165 194 +f 167 157 195 +f 157 183 195 +f 185 167 195 +f 183 185 195 +f 163 174 196 +f 180 163 196 +f 167 180 196 +f 179 164 197 +f 172 179 197 +f 164 191 197 +f 191 172 197 +f 168 161 198 +f 161 174 198 +f 174 163 198 +f 163 178 198 +f 189 168 198 +f 178 189 198 +f 160 176 199 +f 176 193 199 +f 194 160 199 +f 193 194 199 +f 167 196 200 +f 196 174 200 +f 174 161 201 +f 181 167 201 +f 161 181 201 +f 167 200 201 +o convex_4 +v -0.007732 -1.649707 0.996714 +v -0.208049 -1.582810 -1.038079 +v -0.374817 -1.749714 -1.004617 +v 1.259557 -2.850124 -0.070477 +v -1.175351 -2.950301 0.029112 +v 1.259557 -1.549531 -0.137400 +v -1.242205 -1.549361 0.362733 +v 0.892472 -2.850124 0.796342 +v 0.825618 -2.816676 -0.837707 +v -0.741657 -2.783567 0.763079 +v -0.875120 -2.783567 -0.804444 +v 0.192096 -3.283939 -0.037214 +v 1.059240 -1.549531 0.796342 +v -1.142047 -1.549361 -0.637534 +v 0.759009 -1.549361 -0.937893 +v -1.008584 -1.549361 0.829803 +v 1.259557 -2.449759 -0.604272 +v -0.741657 -3.250490 0.029112 +v -1.242205 -2.750118 0.429458 +v -1.242205 -2.750118 -0.470823 +v 1.259557 -2.483208 0.596368 +v 0.759009 -3.217041 -0.037214 +v -0.808266 -1.549361 -0.971156 +v -0.808266 -2.816676 -0.837707 +v 0.725704 -1.549361 0.963053 +v -0.774962 -1.549361 0.963252 +v -1.242205 -2.250086 -0.571009 +v 1.159398 -1.549531 -0.537547 +v 1.059240 -2.916852 0.596368 +v -1.242205 -2.216807 0.596169 +v 0.992630 -2.950131 -0.570810 +v 1.259557 -1.749714 0.529444 +v 0.892472 -2.783567 0.829803 +v -0.808266 -2.883403 -0.770983 +v 0.192096 -1.549361 -1.038079 +v 0.258705 -3.183593 0.229285 +v -0.741657 -2.850124 0.696156 +v -1.008584 -2.950301 -0.537547 +v -1.242205 -1.549361 -0.237387 +v 0.692399 -2.916682 -0.704458 +v 1.259557 -2.749948 0.496182 +v 1.226007 -2.783397 -0.470823 +v -1.008584 -1.649707 -0.837707 +v -0.774962 -1.849720 0.929790 +v -0.208049 -2.783567 0.796342 +v -0.308208 -3.150314 -0.303913 +v 1.025935 -1.883169 0.829803 +v -1.208656 -2.516656 -0.604272 +v 0.692399 -3.217041 0.062374 +v 0.258705 -1.682986 0.996714 +v -0.675048 -3.250490 -0.037214 +v -1.242205 -1.616258 0.496182 +v 1.259557 -1.549531 0.262746 +v 1.259557 -1.849720 -0.470823 +v -1.242205 -2.883403 -0.103740 +v -0.241354 -3.283939 0.029112 +v -1.008584 -2.149909 -0.804444 +v 0.792558 -2.049733 -0.904631 +v 1.226007 -2.883403 0.062573 +v -1.242205 -1.782992 -0.504085 +v 0.859167 -1.682986 0.929790 +v 1.059240 -1.582979 -0.670996 +v -0.774962 -1.716265 -0.971156 +v 0.825618 -3.183593 0.029112 +f 260 230 265 +f 215 208 216 +f 216 208 217 +f 207 205 218 +f 206 219 220 +f 220 208 221 +f 205 207 222 +f 215 216 224 +f 204 203 225 +f 203 210 225 +f 216 217 226 +f 226 217 227 +f 202 226 227 +f 221 208 228 +f 216 207 229 +f 208 220 231 +f 220 211 231 +f 223 213 232 +f 222 207 233 +f 214 222 233 +f 225 210 235 +f 210 203 236 +f 203 224 236 +f 224 216 236 +f 211 220 238 +f 220 219 238 +f 237 209 238 +f 221 212 239 +f 212 225 239 +f 225 235 239 +f 208 215 240 +f 228 208 240 +f 210 232 241 +f 232 213 241 +f 235 210 241 +f 205 222 242 +f 209 230 242 +f 234 209 242 +f 222 234 242 +f 218 205 243 +f 210 218 243 +f 232 210 243 +f 205 232 243 +f 215 224 244 +f 228 215 244 +f 227 217 245 +f 202 227 245 +f 217 231 245 +f 231 211 245 +f 234 202 246 +f 209 234 246 +f 238 209 246 +f 211 238 246 +f 202 245 246 +f 245 211 246 +f 241 213 247 +f 235 241 247 +f 222 214 248 +f 234 222 248 +f 212 221 249 +f 221 228 249 +f 228 244 249 +f 213 223 250 +f 230 209 250 +f 209 237 250 +f 237 213 250 +f 226 202 251 +f 202 234 251 +f 234 226 251 +f 219 239 252 +f 239 235 252 +f 247 213 252 +f 235 247 252 +f 217 208 253 +f 208 231 253 +f 231 217 253 +f 207 216 254 +f 226 214 254 +f 216 226 254 +f 233 207 254 +f 214 233 254 +f 207 218 255 +f 229 207 255 +f 218 229 255 +f 219 206 256 +f 206 220 256 +f 220 221 256 +f 239 219 256 +f 221 239 256 +f 213 237 257 +f 238 219 257 +f 237 238 257 +f 252 213 257 +f 219 252 257 +f 225 212 258 +f 244 224 258 +f 212 249 258 +f 249 244 258 +f 218 210 259 +f 216 218 259 +f 210 236 259 +f 236 216 259 +f 205 242 260 +f 242 230 260 +f 215 228 261 +f 240 215 261 +f 228 240 261 +f 214 226 262 +f 226 234 262 +f 248 214 262 +f 234 248 262 +f 218 216 263 +f 216 229 263 +f 229 218 263 +f 203 204 264 +f 224 203 264 +f 204 225 264 +f 225 258 264 +f 258 224 264 +f 232 205 265 +f 223 232 265 +f 250 223 265 +f 230 250 265 +f 205 260 265 +o convex_5 +v 1.259590 -2.850294 -0.037267 +v 1.426647 -1.549361 0.095986 +v 1.426647 -1.549361 0.029245 +v 2.993998 -2.349710 -0.037267 +v 1.259590 -2.416438 0.596427 +v 1.259590 -2.316474 -0.571078 +v 2.760389 -2.316474 0.396205 +v 2.660392 -2.316474 -0.437596 +v 1.259590 -1.749671 0.529572 +v 2.693668 -2.683475 0.029245 +v 2.727113 -1.949854 -0.003896 +v 1.259590 -1.849635 -0.470967 +v 1.426647 -2.750076 -0.437596 +v 1.459923 -2.716839 0.462945 +v 2.560226 -2.049945 -0.337485 +v 2.560226 -2.016582 0.296208 +v 2.593671 -2.550020 -0.337485 +v 1.259590 -1.549361 -0.070637 +v 2.093688 -2.316474 0.529572 +v 2.060412 -2.349710 -0.537707 +v 1.993691 -2.650112 0.429575 +v 1.960246 -1.949854 -0.437596 +v 2.060412 -2.783439 0.029245 +v 1.993691 -2.683475 -0.404226 +v 1.259590 -2.483165 -0.571078 +v 1.259590 -2.750076 0.396205 +v 2.727113 -1.949854 -0.070637 +v 2.560226 -2.583384 0.296208 +v 2.760389 -2.316474 -0.404226 +v 2.727113 -2.249746 0.396205 +v 1.293205 -1.549361 0.196097 +v 1.259590 -2.750076 -0.437596 +v 2.993998 -2.283110 -0.003896 +v 2.760389 -2.650112 -0.037267 +v 1.393202 -2.249746 0.596427 +v 2.727113 -2.650112 0.095986 +v 2.026967 -2.283110 -0.537707 +v 1.326481 -2.850294 0.062616 +v 2.093688 -2.249746 0.529572 +v 1.293205 -1.749671 0.529572 +v 2.026967 -2.783439 -0.037267 +v 1.293205 -1.549361 -0.070637 +v 2.727113 -2.383074 -0.404226 +v 1.359926 -1.816271 -0.437596 +v 1.960246 -2.783439 0.095986 +v 2.660392 -2.650112 -0.137378 +v 1.593365 -2.416438 -0.571078 +f 302 285 312 +f 266 270 271 +f 271 270 274 +f 268 267 276 +f 271 274 277 +f 276 267 281 +f 267 268 283 +f 277 274 283 +f 270 279 286 +f 284 270 286 +f 272 284 286 +f 280 273 287 +f 266 271 290 +f 270 266 291 +f 279 270 291 +f 268 276 292 +f 272 286 293 +f 273 280 294 +f 280 292 294 +f 276 281 295 +f 281 267 296 +f 267 283 296 +f 283 274 296 +f 278 266 297 +f 266 290 297 +f 290 278 297 +f 272 269 298 +f 292 276 298 +f 269 294 298 +f 294 292 298 +f 295 272 298 +f 276 295 298 +f 274 270 300 +f 270 284 300 +f 269 272 301 +f 286 275 301 +f 272 293 301 +f 293 286 301 +f 299 269 301 +f 275 299 301 +f 271 277 302 +f 273 285 302 +f 287 273 302 +f 277 287 302 +f 291 266 303 +f 279 291 303 +f 284 272 304 +f 272 295 304 +f 300 284 304 +f 300 304 305 +f 295 281 305 +f 281 296 305 +f 296 274 305 +f 274 300 305 +f 304 295 305 +f 266 278 306 +f 275 288 306 +f 278 289 306 +f 303 266 306 +f 288 303 306 +f 283 268 307 +f 280 287 307 +f 268 292 307 +f 292 280 307 +f 285 273 308 +f 282 289 308 +f 289 285 308 +f 273 294 308 +f 294 269 308 +f 269 299 308 +f 299 282 308 +f 277 283 309 +f 287 277 309 +f 283 307 309 +f 307 287 309 +f 275 286 310 +f 286 279 310 +f 288 275 310 +f 303 288 310 +f 279 303 310 +f 289 282 311 +f 299 275 311 +f 282 299 311 +f 275 306 311 +f 306 289 311 +f 285 289 312 +f 289 278 312 +f 290 271 312 +f 278 290 312 +f 271 302 312 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/335/335.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/335/335.urdf new file mode 100644 index 000000000..78167e399 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/335/335.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/336/336.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/336/336.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/336/336.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/336/336.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/336/336.obj new file mode 100644 index 000000000..685d2e6f7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/336/336.obj @@ -0,0 +1,465 @@ +o convex_0 +v -3.008677 0.321444 -0.380948 +v -0.723907 2.498918 -0.809226 +v -0.723907 2.498918 -1.059286 +v 3.024535 0.285556 1.011116 +v -3.116273 2.391475 1.082532 +v 2.988469 2.427363 0.939701 +v 2.953004 0.356891 -0.952270 +v -3.080207 0.285556 1.011116 +v 2.988469 2.355808 -0.952270 +v -3.080207 2.391475 -1.023472 +v -2.937146 0.321444 -1.059286 +v 0.953154 0.249669 -1.059499 +v -0.438386 0.499781 1.118346 +v -0.295325 0.249669 1.082318 +v -2.973212 2.427363 0.939488 +v -1.080958 0.249669 -1.023472 +v 1.489333 0.821228 -1.059286 +v -3.116273 0.714006 1.046717 +v 2.238901 2.391695 0.975302 +v -2.116048 2.463030 -1.059286 +v 3.024535 0.892563 1.011116 +v 2.988469 2.391475 -0.523778 +v -1.366480 2.498918 -0.630794 +v -2.509165 2.391475 1.082532 +v 2.595953 0.321444 -0.988084 +v -3.080207 0.285556 0.547024 +v 0.989220 0.249669 1.010903 +v -3.080207 2.070249 -1.023472 +v -3.116273 2.391475 0.011729 +v -0.545381 0.356891 1.118346 +v 2.988469 0.285556 0.296964 +v -3.116273 1.642019 1.082532 +v -0.973963 0.249669 1.082318 +v -3.116273 0.392559 0.939488 +v 3.024535 1.534797 0.939701 +v 3.024535 0.285556 0.761056 +v -3.008677 1.606132 -1.059286 +v -2.866217 2.427363 -1.023472 +v 2.988469 1.820356 -0.952270 +v -0.509916 2.462810 -1.059286 +v -3.044743 0.285556 0.118319 +v 2.988469 1.927579 0.975302 +v 2.524422 1.891911 -0.988084 +v 1.489333 0.285556 -1.059286 +v 2.988469 2.427363 0.796871 +v 2.988469 0.321444 -0.273932 +v -2.973212 0.607004 -1.059286 +v -2.580696 0.321444 1.046717 +v -1.366480 2.498918 -1.059286 +f 20 38 49 +f 3 2 6 +f 5 6 15 +f 11 12 16 +f 12 14 16 +f 13 4 21 +f 9 3 22 +f 2 3 23 +f 6 2 23 +f 15 6 23 +f 6 5 24 +f 5 13 24 +f 19 6 24 +f 13 19 24 +f 16 8 26 +f 4 14 27 +f 14 12 27 +f 1 26 28 +f 5 15 29 +f 15 10 29 +f 18 5 29 +f 10 28 29 +f 13 5 30 +f 4 13 30 +f 14 4 30 +f 25 7 31 +f 12 25 31 +f 5 18 32 +f 30 5 32 +f 18 30 32 +f 8 16 33 +f 16 14 33 +f 14 30 33 +f 8 18 34 +f 26 8 34 +f 28 26 34 +f 18 29 34 +f 29 28 34 +f 6 21 35 +f 21 4 35 +f 9 22 35 +f 4 27 36 +f 27 12 36 +f 12 31 36 +f 35 4 36 +f 9 35 36 +f 10 20 37 +f 20 12 37 +f 28 10 37 +f 10 15 38 +f 20 10 38 +f 7 25 39 +f 25 9 39 +f 9 36 39 +f 3 9 40 +f 12 3 40 +f 17 12 40 +f 1 11 41 +f 11 16 41 +f 26 1 41 +f 16 26 41 +f 6 19 42 +f 19 13 42 +f 21 6 42 +f 13 21 42 +f 9 25 43 +f 25 17 43 +f 40 9 43 +f 17 40 43 +f 12 17 44 +f 25 12 44 +f 17 25 44 +f 3 6 45 +f 22 3 45 +f 6 35 45 +f 35 22 45 +f 31 7 46 +f 36 31 46 +f 7 39 46 +f 39 36 46 +f 11 1 47 +f 12 11 47 +f 1 28 47 +f 37 12 47 +f 28 37 47 +f 18 8 48 +f 30 18 48 +f 8 33 48 +f 33 30 48 +f 3 12 49 +f 12 20 49 +f 23 3 49 +f 15 23 49 +f 38 15 49 +o convex_1 +v -0.795579 -3.570415 -1.095201 +v -0.224253 -1.249831 1.082643 +v -0.581357 -1.249831 1.082643 +v -0.938255 -3.677592 1.011228 +v 1.060869 -3.677592 0.939600 +v 0.989325 -1.249831 -1.023573 +v -1.045469 -1.249831 -1.023786 +v 0.989325 -3.605824 -0.987972 +v 1.024994 -1.249831 0.975414 +v -0.938255 -1.249831 1.046829 +v -0.973925 -3.605824 -1.095201 +v 0.489543 -1.249831 -1.095201 +v 1.060869 -3.677592 0.475507 +v 0.989325 -3.534769 0.975414 +v -0.652696 -1.249831 -1.095201 +v 1.060869 -2.499120 0.296863 +v -0.973925 -1.285953 0.832583 +v -0.759703 -3.034530 1.046829 +v 0.882317 -3.141707 -1.023573 +v -1.045469 -1.535716 -0.987759 +v -0.152914 -1.571600 1.082643 +v 1.024994 -3.605824 -0.559480 +v 1.024994 -1.249831 -0.345235 +v 1.060869 -2.142656 0.975414 +v -0.938255 -3.677592 0.654152 +v -0.973925 -3.605824 -0.487852 +v -0.331260 -3.677592 1.011228 +v 0.882317 -3.641470 -0.416650 +v -1.009800 -1.357008 -1.059174 +v 0.989325 -2.748883 -1.023573 +v -0.938255 -2.570413 1.046829 +v -1.045469 -1.285953 -0.844928 +v -0.509813 -1.892893 1.082643 +v 0.596757 -3.605824 -1.023786 +f 77 60 83 +f 52 51 55 +f 52 55 56 +f 55 51 58 +f 52 56 59 +f 56 55 61 +f 50 60 61 +f 54 53 62 +f 56 61 64 +f 61 60 64 +f 54 62 65 +f 59 56 66 +f 50 61 68 +f 56 60 69 +f 51 52 70 +f 58 51 70 +f 62 57 71 +f 65 62 71 +f 65 71 72 +f 55 58 72 +f 71 55 72 +f 72 58 73 +f 63 54 73 +f 54 65 73 +f 58 70 73 +f 70 63 73 +f 65 72 73 +f 53 60 74 +f 62 53 74 +f 60 53 75 +f 53 69 75 +f 69 60 75 +f 53 54 76 +f 54 63 76 +f 67 53 76 +f 57 62 77 +f 74 60 77 +f 62 74 77 +f 60 56 78 +f 56 64 78 +f 64 60 78 +f 61 55 79 +f 57 68 79 +f 68 61 79 +f 55 71 79 +f 71 57 79 +f 52 59 80 +f 66 53 80 +f 59 66 80 +f 53 67 80 +f 53 66 81 +f 66 56 81 +f 69 53 81 +f 56 69 81 +f 70 52 82 +f 63 70 82 +f 76 63 82 +f 67 76 82 +f 52 80 82 +f 80 67 82 +f 60 50 83 +f 50 68 83 +f 68 57 83 +f 57 77 83 +o convex_2 +v -0.402809 -0.856996 -2.987273 +v 0.561071 -1.035571 -1.095201 +v 0.561071 -1.071246 -1.095201 +v -0.474270 -1.071246 -1.095201 +v -0.474270 -0.071653 -1.095201 +v 0.525285 -0.178777 -3.023129 +v 0.453936 -1.071246 -2.951606 +v -0.545619 -0.178777 -2.951606 +v 0.453936 -0.178777 -1.095201 +v -0.581405 -1.107021 -2.951606 +v 0.311015 -1.107021 -1.416585 +v -0.581405 -0.856996 -2.523031 +v -0.545619 -0.143103 -2.773080 +v -0.509944 -1.107021 -1.523965 +v 0.132419 -1.107021 -2.951606 +v -0.367135 -0.071653 -1.166725 +v -0.509944 -0.250227 -1.416585 +v 0.168205 -0.464477 -3.023129 +v -0.581405 -0.571500 -2.880271 +v 0.489499 -0.714197 -2.987273 +v -0.438595 -0.071653 -1.345251 +f 99 89 104 +f 86 85 87 +f 87 85 88 +f 85 86 89 +f 88 85 92 +f 85 89 92 +f 91 84 93 +f 86 87 94 +f 90 86 94 +f 89 91 96 +f 94 87 97 +f 93 94 97 +f 95 93 97 +f 84 90 98 +f 93 84 98 +f 90 94 98 +f 94 93 98 +f 88 92 99 +f 92 89 99 +f 87 88 100 +f 88 96 100 +f 97 87 100 +f 95 97 100 +f 90 84 101 +f 84 91 101 +f 91 89 101 +f 91 93 102 +f 93 95 102 +f 96 91 102 +f 100 96 102 +f 95 100 102 +f 89 86 103 +f 86 90 103 +f 101 89 103 +f 90 101 103 +f 96 88 104 +f 89 96 104 +f 88 99 104 +o convex_3 +v -0.759787 0.142520 -1.059174 +v 1.025202 -0.964051 0.975414 +v 1.025202 -1.249831 0.975414 +v -0.974019 0.249669 1.082643 +v -1.045361 -1.249831 -1.023786 +v 0.953654 0.249669 -1.059174 +v 0.989325 -1.214017 -1.059174 +v -0.938142 -1.249831 1.046829 +v 0.989325 0.249669 0.975414 +v -1.081238 0.249669 -1.023786 +v 0.560861 -1.107014 1.082643 +v 0.489519 -1.249831 -1.095201 +v 0.989325 0.178187 -1.023786 +v -0.974019 -0.928384 1.046829 +v 0.453849 -0.035964 1.082643 +v -0.474214 -0.071778 -1.095201 +v -0.616898 -1.249831 -1.095201 +v 1.025202 -1.249831 -0.345235 +v -1.081238 0.213855 -0.630683 +v -0.581227 -1.249831 1.082643 +v 1.024996 -0.500081 0.975414 +v 0.453849 -0.178781 -1.095201 +v -0.974019 -1.249831 0.868398 +v -1.081238 -0.393226 -0.987759 +v -0.295859 0.249669 1.082643 +v -0.974019 -1.142682 -1.059174 +v -0.974019 -0.535602 1.082643 +v 0.989325 -1.249831 -1.023786 +v -1.045361 -1.249831 -0.844928 +f 128 109 133 +f 109 107 112 +f 110 108 113 +f 108 110 114 +f 110 105 114 +f 107 106 115 +f 107 109 116 +f 110 111 116 +f 111 110 117 +f 110 113 117 +f 108 115 119 +f 115 113 119 +f 105 110 120 +f 114 105 120 +f 120 116 121 +f 116 109 121 +f 106 107 122 +f 107 116 122 +f 111 117 122 +f 108 114 123 +f 112 107 124 +f 107 115 124 +f 115 108 124 +f 115 106 125 +f 113 115 125 +f 117 113 125 +f 106 122 125 +f 122 117 125 +f 110 116 126 +f 120 110 126 +f 116 120 126 +f 109 112 127 +f 112 118 127 +f 118 123 127 +f 127 123 128 +f 114 109 128 +f 123 114 128 +f 113 108 129 +f 108 119 129 +f 119 113 129 +f 109 114 130 +f 114 120 130 +f 120 121 130 +f 121 109 130 +f 118 112 131 +f 108 123 131 +f 123 118 131 +f 112 124 131 +f 124 108 131 +f 116 111 132 +f 122 116 132 +f 111 122 132 +f 109 127 133 +f 127 128 133 +o convex_4 +v 0.061070 -0.036066 3.046162 +v -0.545619 -1.214013 2.581947 +v -0.509832 -1.214013 2.581947 +v 0.168205 -0.036066 1.082839 +v 0.489610 -1.178265 2.939111 +v 0.561071 -1.107000 1.082839 +v -0.509832 -0.178941 1.082839 +v 0.453824 -0.071813 3.010543 +v -0.438484 -0.036066 3.081976 +v -0.438484 -1.106885 1.082839 +v -0.581405 -1.214013 3.046162 +v 0.453824 -0.036066 1.082839 +v -0.474158 -0.036066 2.760627 +v -0.474158 -1.142518 1.225509 +v 0.418150 -1.214013 2.903296 +v 0.489610 -0.143194 1.296942 +v -0.081516 -0.107561 3.081976 +v -0.509832 -0.500210 1.082839 +v -0.509832 -0.143194 1.368374 +v -0.581405 -1.106885 3.046162 +v -0.402809 -1.214013 3.046162 +v 0.418150 -0.464463 3.010543 +v 0.489610 -0.821249 2.939111 +v -0.581405 -1.214013 2.867678 +v 0.453824 -0.036066 2.296412 +v 0.525285 -0.642856 1.689723 +v -0.509832 -0.428830 3.081976 +f 154 150 160 +f 137 139 140 +f 134 137 142 +f 140 139 143 +f 135 136 144 +f 137 134 145 +f 139 137 145 +f 142 137 146 +f 136 135 147 +f 143 139 147 +f 139 138 148 +f 144 136 148 +f 136 147 148 +f 147 139 148 +f 139 145 149 +f 141 134 150 +f 134 142 150 +f 140 143 151 +f 143 147 151 +f 137 140 152 +f 146 137 152 +f 152 140 153 +f 148 138 154 +f 144 148 154 +f 150 154 155 +f 138 141 155 +f 141 150 155 +f 154 138 155 +f 138 139 156 +f 141 138 156 +f 135 144 157 +f 147 135 157 +f 140 151 157 +f 151 147 157 +f 153 140 157 +f 144 153 157 +f 134 141 158 +f 145 134 158 +f 141 149 158 +f 149 145 158 +f 139 149 159 +f 149 141 159 +f 156 139 159 +f 141 156 159 +f 142 146 160 +f 150 142 160 +f 146 152 160 +f 152 153 160 +f 153 144 160 +f 144 154 160 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/336/336.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/336/336.urdf new file mode 100644 index 000000000..c8ca1eb4d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/336/336.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/337/337.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/337/337.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/337/337.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/337/337.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/337/337.obj new file mode 100644 index 000000000..40da62800 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/337/337.obj @@ -0,0 +1,435 @@ +o convex_0 +v -0.973558 -3.836757 -0.845776 +v 1.081132 2.175436 1.118221 +v 1.081132 2.175436 0.302461 +v -1.034015 2.205778 -0.966596 +v 0.960217 -3.776074 -1.117841 +v -1.003787 -3.836757 0.936771 +v 1.111361 -3.867098 1.118221 +v -0.943329 2.236119 0.936771 +v 1.050904 2.114754 -0.936391 +v 0.325630 2.780283 -0.362273 +v -1.094473 -3.806415 -0.936172 +v 0.809074 -3.958122 -1.117841 +v -0.248284 2.779624 0.241613 +v -1.003787 2.236119 0.181202 +v -0.882872 2.236119 0.966976 +v 1.111361 -3.897439 0.906565 +v -0.822414 1.510566 -0.996802 +v -1.094473 -2.416652 -0.815570 +v 0.355859 2.780283 0.272037 +v -0.429657 -3.867098 0.997181 +v 1.020675 1.751977 -0.966596 +v -0.973558 1.994048 0.876360 +v -0.248284 2.779624 -0.271657 +v -1.064244 1.480885 -0.966596 +v 1.111361 -0.784818 1.057592 +v 1.020675 -1.933170 1.118221 +v -0.882872 -3.867098 0.846155 +v 0.960217 -3.958122 -0.664325 +v 0.114029 2.175436 -0.966596 +v 0.839302 -3.504322 -1.117841 +v -1.094473 -3.625027 -0.634120 +v 0.627701 2.205778 1.087797 +v -0.822414 -3.836757 0.966976 +v 1.111361 -3.050521 0.755539 +v -1.034015 -0.453703 -0.966596 +v 0.657930 -3.958122 -0.936391 +v -0.520343 2.236119 0.997181 +v -1.034015 2.205778 -0.422683 +v 0.960217 -3.958122 -1.087417 +v 1.050904 2.145095 -0.875981 +v 0.657930 -3.685710 1.087797 +v -0.490114 -3.867098 -0.996802 +v 1.050904 1.963707 -0.936391 +v -0.066912 2.779624 0.271818 +v 0.778845 -3.776074 -1.117841 +v 1.020675 2.145095 -0.936391 +v -0.882872 0.453238 0.966976 +v 1.050904 -3.897439 0.966757 +v -0.973558 1.420202 0.936771 +v -0.973558 2.236119 0.815731 +v -1.064244 -3.836757 -0.120412 +v 0.355859 2.780283 0.060381 +v -0.127369 2.235459 1.027386 +v -0.641042 2.205778 -0.966596 +v 1.020675 2.175436 1.118221 +v -0.882872 -3.867098 0.664705 +v -0.731728 1.510566 -0.996802 +v 1.111361 -2.658063 0.755539 +v -0.822414 1.208473 -0.996802 +v 0.657930 -3.958122 -0.785146 +v -1.064244 1.450543 -0.906186 +v -1.094473 -2.023535 -0.936172 +v 1.111361 -0.784818 1.118221 +f 7 25 63 +f 13 8 15 +f 2 3 19 +f 10 13 19 +f 9 5 21 +f 10 4 23 +f 13 10 23 +f 4 14 23 +f 14 13 23 +f 4 17 24 +f 3 2 25 +f 7 16 25 +f 7 2 26 +f 20 6 27 +f 5 12 30 +f 21 5 30 +f 18 11 31 +f 22 18 31 +f 2 19 32 +f 6 20 33 +f 25 16 34 +f 11 24 35 +f 12 28 36 +f 26 32 37 +f 14 4 38 +f 4 24 38 +f 12 5 39 +f 28 12 39 +f 16 28 39 +f 34 16 39 +f 3 9 40 +f 20 7 41 +f 7 26 41 +f 33 20 41 +f 1 11 42 +f 11 35 42 +f 36 1 42 +f 12 36 42 +f 5 9 43 +f 9 34 43 +f 39 5 43 +f 34 39 43 +f 13 15 44 +f 19 13 44 +f 32 19 44 +f 15 37 44 +f 30 12 45 +f 17 30 45 +f 42 35 45 +f 12 42 45 +f 9 21 46 +f 29 10 46 +f 21 29 46 +f 40 9 46 +f 10 40 46 +f 15 6 47 +f 6 33 47 +f 37 15 47 +f 26 37 47 +f 41 26 47 +f 33 41 47 +f 16 7 48 +f 7 20 48 +f 20 27 48 +f 28 16 48 +f 6 15 49 +f 15 8 49 +f 8 22 49 +f 31 6 49 +f 22 31 49 +f 8 13 50 +f 13 14 50 +f 22 8 50 +f 14 38 50 +f 38 22 50 +f 11 1 51 +f 27 6 51 +f 6 31 51 +f 31 11 51 +f 19 3 52 +f 10 19 52 +f 3 40 52 +f 40 10 52 +f 37 32 53 +f 32 44 53 +f 44 37 53 +f 4 10 54 +f 17 4 54 +f 10 29 54 +f 26 2 55 +f 2 32 55 +f 32 26 55 +f 1 36 56 +f 36 27 56 +f 51 1 56 +f 27 51 56 +f 29 21 57 +f 21 30 57 +f 30 17 57 +f 17 54 57 +f 54 29 57 +f 9 3 58 +f 3 25 58 +f 34 9 58 +f 25 34 58 +f 24 17 59 +f 35 24 59 +f 17 45 59 +f 45 35 59 +f 27 36 60 +f 36 28 60 +f 48 27 60 +f 28 48 60 +f 18 22 61 +f 22 38 61 +f 38 24 61 +f 11 18 62 +f 24 11 62 +f 18 61 62 +f 61 24 62 +f 2 7 63 +f 25 2 63 +o convex_1 +v 0.204837 3.505564 0.211674 +v -0.308841 4.079514 0.302319 +v -0.308841 4.079514 0.332577 +v 0.325676 4.200394 0.241867 +v -0.278582 3.535801 -0.332198 +v 0.204837 4.230631 -0.271746 +v 0.355934 3.505564 -0.241488 +v -0.248389 3.505564 0.332577 +v -0.187937 4.139989 -0.271746 +v -0.308841 4.200394 0.272126 +v 0.325676 4.049276 0.272126 +v -0.067098 4.200394 0.332577 +v -0.157744 3.505564 -0.332198 +v 0.325676 3.656682 -0.271746 +v 0.114192 4.079514 -0.301940 +v -0.157744 3.505564 0.332577 +v -0.278582 3.505564 -0.120649 +v 0.355934 3.535801 -0.150842 +v -0.218131 4.170156 -0.150842 +v 0.204837 3.535801 0.241867 +f 81 74 83 +f 70 64 71 +f 65 66 73 +f 68 65 73 +f 67 69 75 +f 66 71 75 +f 69 73 75 +f 73 66 75 +f 74 67 75 +f 70 71 76 +f 69 67 77 +f 67 70 77 +f 70 76 77 +f 77 76 78 +f 68 72 78 +f 72 69 78 +f 76 68 78 +f 69 77 78 +f 71 64 79 +f 75 71 79 +f 74 75 79 +f 66 65 80 +f 65 68 80 +f 71 66 80 +f 68 76 80 +f 76 71 80 +f 64 70 81 +f 70 67 81 +f 67 74 81 +f 72 68 82 +f 69 72 82 +f 73 69 82 +f 68 73 82 +f 79 64 83 +f 74 79 83 +f 64 81 83 +o convex_2 +v -0.157744 3.173182 -3.021517 +v 0.355934 3.475220 -0.362415 +v 0.355934 3.384524 -0.362415 +v -0.308841 3.384524 -0.362415 +v 0.295483 2.961672 -0.362415 +v 0.235031 3.384524 -3.021517 +v 0.355934 2.901152 -2.960609 +v -0.248389 2.961672 -0.785643 +v -0.248389 2.931440 -2.930676 +v -0.308841 3.324117 -3.021517 +v -0.218131 2.961672 -0.362415 +v 0.265224 3.475220 -0.966804 +v 0.355934 2.901152 -2.296094 +v -0.278582 2.991903 -2.447321 +v -0.218131 3.414756 -0.513642 +v 0.023547 3.384524 -2.991063 +v 0.355934 2.991903 -2.960609 +v -0.308841 3.263709 -0.453256 +v 0.174579 2.901152 -2.265640 +v 0.325676 2.991903 -0.362415 +v -0.308841 3.354348 -2.326288 +v 0.295483 2.901152 -2.991063 +v 0.235031 3.414756 -2.749255 +v 0.174579 3.475220 -0.362415 +v 0.265224 3.414756 -2.417128 +f 89 106 108 +f 86 85 87 +f 86 87 88 +f 85 86 90 +f 89 84 93 +f 84 92 93 +f 88 87 94 +f 91 92 94 +f 90 86 96 +f 92 91 97 +f 93 92 97 +f 89 93 99 +f 85 90 100 +f 87 93 101 +f 94 87 101 +f 91 94 101 +f 97 91 101 +f 93 97 101 +f 88 94 102 +f 94 92 102 +f 96 88 102 +f 90 96 102 +f 86 88 103 +f 96 86 103 +f 88 96 103 +f 93 87 104 +f 87 98 104 +f 98 95 104 +f 95 99 104 +f 99 93 104 +f 84 89 105 +f 92 84 105 +f 89 100 105 +f 100 90 105 +f 90 102 105 +f 102 92 105 +f 95 85 106 +f 99 95 106 +f 89 99 106 +f 87 85 107 +f 85 95 107 +f 98 87 107 +f 95 98 107 +f 85 100 108 +f 100 89 108 +f 106 85 108 +o convex_3 +v 0.174579 3.505493 0.272072 +v 0.235031 2.780354 -0.362415 +v -0.218131 2.961710 -0.362415 +v -0.248389 2.870996 0.362794 +v -0.278582 3.505493 -0.332103 +v 0.355934 2.810592 0.362794 +v 0.355934 3.475184 -0.362415 +v -0.218131 3.505493 0.332554 +v -0.248389 2.780354 -0.271693 +v 0.204837 3.444946 0.362794 +v 0.325676 2.780354 -0.362415 +v -0.248389 2.780354 0.241903 +v -0.308841 3.384542 -0.362415 +v 0.355934 3.505493 -0.211211 +v 0.355934 2.780354 0.090841 +v -0.308841 3.384542 -0.181113 +v -0.248389 3.173019 0.362794 +v 0.355934 2.901234 0.362794 +f 122 118 126 +f 110 111 115 +f 109 113 116 +f 111 110 117 +f 112 114 118 +f 109 116 118 +f 110 115 119 +f 117 110 119 +f 117 119 120 +f 114 112 120 +f 115 111 121 +f 113 115 121 +f 111 117 121 +f 117 120 121 +f 113 109 122 +f 115 113 122 +f 114 115 122 +f 109 118 122 +f 115 114 123 +f 119 115 123 +f 120 119 123 +f 114 120 123 +f 116 113 124 +f 120 112 124 +f 113 121 124 +f 121 120 124 +f 112 118 125 +f 118 116 125 +f 116 124 125 +f 124 112 125 +f 118 114 126 +f 114 122 126 +o convex_4 +v 0.295418 3.414824 2.447497 +v 0.265248 2.810500 0.363061 +v -0.036864 2.840759 0.363061 +v 0.053764 2.840759 3.051720 +v -0.218178 3.384500 0.363061 +v -0.248407 3.475276 3.082330 +v 0.204790 3.475276 0.393405 +v -0.248407 2.870952 1.390506 +v 0.234960 2.931404 3.051720 +v 0.355935 2.810500 0.363061 +v -0.218178 2.870952 2.960953 +v 0.325646 3.384500 2.930875 +v -0.248407 2.870952 0.363061 +v 0.053764 3.475276 0.363061 +v 0.204790 2.840759 3.082330 +v 0.355935 2.931404 0.484172 +v -0.248407 3.445017 1.812930 +v -0.157720 3.475276 3.082330 +v 0.325646 3.293855 2.930875 +v 0.325646 3.384500 2.598419 +v -0.248407 3.233533 3.051720 +v 0.204790 3.475276 0.997628 +v -0.248407 3.173016 0.363061 +v -0.006635 2.840759 3.021375 +f 137 134 150 +f 128 129 131 +f 128 131 136 +f 131 129 139 +f 129 134 139 +f 134 132 139 +f 132 133 140 +f 136 131 140 +f 133 136 140 +f 130 128 141 +f 128 136 141 +f 136 135 141 +f 135 138 141 +f 136 133 142 +f 139 132 143 +f 140 131 143 +f 132 140 143 +f 133 132 144 +f 138 127 144 +f 132 141 144 +f 141 138 144 +f 135 136 145 +f 138 135 145 +f 136 142 145 +f 142 138 145 +f 133 127 146 +f 127 138 146 +f 142 133 146 +f 138 142 146 +f 132 134 147 +f 137 130 147 +f 134 137 147 +f 130 141 147 +f 141 132 147 +f 127 133 148 +f 144 127 148 +f 133 144 148 +f 131 139 149 +f 143 131 149 +f 139 143 149 +f 129 128 150 +f 128 130 150 +f 134 129 150 +f 130 137 150 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/337/337.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/337/337.urdf new file mode 100644 index 000000000..39c326e52 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/337/337.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/338/338.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/338/338.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/338/338.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/338/338.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/338/338.obj new file mode 100644 index 000000000..f300fb72f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/338/338.obj @@ -0,0 +1,1779 @@ +o convex_0 +v -0.382971 1.751486 0.242388 +v -0.356633 0.540193 0.742589 +v -0.330295 0.540193 0.742589 +v -0.356633 1.040481 -0.284338 +v -0.435646 1.093131 -0.205266 +v -0.330295 1.698600 -0.231666 +v -0.356633 1.329935 1.006079 +v -0.409308 0.619167 0.979553 +v -0.435646 1.751486 0.373881 +v -0.435646 1.698600 -0.231666 +v -0.330295 1.751486 0.373881 +v -0.330295 0.540193 1.006079 +v -0.330295 1.040481 -0.284338 +v -0.409308 0.540193 0.768863 +f 12 8 14 +f 3 2 4 +f 8 7 9 +f 5 8 9 +f 5 9 10 +f 4 5 10 +f 1 6 10 +f 6 4 10 +f 9 1 10 +f 6 1 11 +f 3 6 11 +f 9 7 11 +f 1 9 11 +f 2 3 12 +f 7 8 12 +f 3 11 12 +f 11 7 12 +f 3 4 13 +f 6 3 13 +f 4 6 13 +f 4 2 14 +f 5 4 14 +f 8 5 14 +f 2 12 14 +o convex_1 +v -0.330283 -1.461784 -0.732204 +v -0.409308 -1.672405 -4.972562 +v -0.356631 -1.672405 -4.972562 +v -0.356631 -1.382691 -4.972562 +v -0.224945 -1.514418 -1.259344 +v -0.409308 -1.488072 -0.732204 +v -0.382960 -1.567024 -1.101202 +v -0.330283 -1.382691 -0.969625 +v -0.382960 -1.382691 -4.972562 +v -0.224945 -1.488072 -1.891496 +v -0.382960 -1.382691 -0.969625 +f 22 23 25 +f 17 16 18 +f 16 17 21 +f 19 15 21 +f 17 19 21 +f 20 16 21 +f 15 20 21 +f 15 19 22 +f 18 16 23 +f 16 20 23 +f 22 18 23 +f 17 18 24 +f 19 17 24 +f 22 19 24 +f 18 22 24 +f 20 15 25 +f 15 22 25 +f 23 20 25 +o convex_2 +v -0.198615 -2.541655 1.006079 +v -0.277605 -3.489523 -0.942905 +v -0.198615 -3.489523 -0.942905 +v -0.198615 -1.672405 -0.942905 +v -0.251272 -1.672405 1.006079 +v -0.251272 -3.489523 0.953234 +v -0.251272 -1.988657 -0.890060 +v -0.198615 -3.489523 0.953234 +v -0.198615 -1.672405 1.006079 +v -0.251272 -1.672405 -0.284150 +f 29 32 35 +f 28 27 29 +f 26 28 29 +f 30 27 31 +f 27 28 31 +f 26 30 31 +f 29 27 32 +f 28 26 33 +f 26 31 33 +f 31 28 33 +f 26 29 34 +f 30 26 34 +f 29 30 34 +f 30 29 35 +f 27 30 35 +f 32 27 35 +o convex_3 +v -1.568164 -0.381882 3.060223 +v -1.594501 -0.829601 1.111430 +v -1.594501 -0.697856 1.111430 +v -1.515489 -0.460910 1.111430 +v -1.568164 -0.750526 3.033708 +v -1.620839 -0.750526 3.033708 +v -1.568164 -0.355524 1.401383 +v -1.620839 -0.566297 2.981058 +v -1.541826 -0.776884 2.085826 +v -1.515489 -0.355524 1.559332 +f 44 39 45 +f 37 38 39 +f 37 40 41 +f 40 36 41 +f 39 38 42 +f 36 42 43 +f 38 37 43 +f 37 41 43 +f 41 36 43 +f 42 38 43 +f 37 39 44 +f 40 37 44 +f 40 44 45 +f 36 40 45 +f 39 42 45 +f 42 36 45 +o convex_4 +v -0.330295 0.329255 -4.998533 +v -0.330295 -0.961289 -3.707838 +v -0.303953 -0.961289 -3.707838 +v -0.251283 0.329255 -1.258957 +v -0.330295 -0.487188 -1.258957 +v -0.251283 0.302726 -3.997750 +v -0.303953 -0.934761 -1.258957 +v -0.303953 -0.671371 -4.998533 +v -0.251283 -0.092294 -1.258957 +v -0.277625 0.329255 -1.258957 +v -0.277625 0.329255 -4.998533 +v -0.330295 -0.697900 -4.972178 +v -0.330295 -0.934761 -1.258957 +v -0.251283 -0.092294 -2.102338 +f 51 54 59 +f 46 47 50 +f 47 48 52 +f 49 50 52 +f 51 48 53 +f 51 49 54 +f 52 48 54 +f 49 52 54 +f 49 46 55 +f 46 50 55 +f 50 49 55 +f 46 49 56 +f 49 51 56 +f 53 46 56 +f 51 53 56 +f 47 46 57 +f 48 47 57 +f 46 53 57 +f 53 48 57 +f 50 47 58 +f 47 52 58 +f 52 50 58 +f 48 51 59 +f 54 48 59 +o convex_5 +v -0.198607 0.460938 -0.995783 +v -0.330285 0.329255 -4.997969 +v -0.277606 0.329255 -4.997969 +v -0.330285 0.487280 -4.997969 +v -0.330272 0.408267 0.769040 +v -0.251312 0.329255 -1.259434 +v -0.251312 0.487280 -4.681814 +v -0.330272 0.460938 0.769040 +v -0.198607 0.381940 -0.995783 +v -0.251299 0.408267 0.769040 +f 65 68 69 +f 62 61 63 +f 63 61 64 +f 64 61 65 +f 61 62 65 +f 62 63 66 +f 66 63 67 +f 63 64 67 +f 60 66 67 +f 65 62 68 +f 66 60 68 +f 62 66 68 +f 64 65 69 +f 60 67 69 +f 67 64 69 +f 68 60 69 +o convex_6 +v 0.538769 2.462483 1.058754 +v 0.064823 -3.514750 0.953404 +v 0.301877 -3.542377 0.953404 +v 0.591442 -2.409706 1.032417 +v 0.617859 0.539236 0.979762 +v 0.064823 2.462483 1.058754 +v 0.064823 2.225017 1.006079 +v 0.064823 -1.934772 1.032417 +v 0.617859 -3.542377 0.953404 +v 0.459787 -3.542377 1.006079 +v 0.617859 1.251049 1.058754 +v 0.064823 0.934818 0.979762 +v 0.617859 2.436033 1.032417 +v 0.091186 -2.751799 0.953404 +v 0.064823 -3.514750 0.979762 +v 0.617859 -3.542377 1.006079 +f 78 80 85 +f 71 75 76 +f 75 71 77 +f 72 71 78 +f 73 77 79 +f 72 78 79 +f 70 75 80 +f 77 73 80 +f 75 77 80 +f 78 74 80 +f 76 74 81 +f 71 76 81 +f 75 70 82 +f 74 76 82 +f 76 75 82 +f 70 80 82 +f 80 74 82 +f 78 71 83 +f 74 78 83 +f 81 74 83 +f 71 81 83 +f 71 72 84 +f 77 71 84 +f 72 79 84 +f 79 77 84 +f 73 79 85 +f 79 78 85 +f 80 73 85 +o convex_7 +v 2.672521 1.409218 -0.258127 +v 2.224856 1.777767 0.268538 +v 2.224856 1.777767 0.242211 +v 3.751619 1.698700 -0.126372 +v 3.672470 1.224789 0.321252 +v 1.803248 1.224789 0.189556 +v 3.804516 1.172139 -0.179086 +v 1.803248 1.672344 -0.152699 +v 1.803248 1.145721 -0.231740 +v 3.620160 1.751350 0.347638 +v 3.777872 1.672344 -0.258127 +v 1.803248 1.777767 0.268538 +v 1.803248 1.251145 0.242211 +v 3.777872 1.172139 0.005265 +v 1.803248 1.145721 -0.126372 +v 2.356511 1.672344 -0.205413 +v 1.803248 1.777767 0.189556 +v 3.488310 1.672344 0.347638 +v 3.725171 1.514394 -0.258127 +f 96 92 104 +f 91 93 94 +f 88 87 95 +f 89 88 95 +f 87 88 97 +f 93 91 97 +f 95 87 97 +f 91 90 98 +f 97 91 98 +f 89 95 99 +f 95 90 99 +f 96 89 99 +f 92 96 99 +f 90 91 100 +f 91 94 100 +f 94 92 100 +f 99 90 100 +f 92 99 100 +f 94 93 101 +f 86 94 101 +f 96 86 101 +f 88 89 102 +f 89 96 102 +f 97 88 102 +f 93 97 102 +f 101 93 102 +f 96 101 102 +f 90 95 103 +f 95 97 103 +f 97 98 103 +f 98 90 103 +f 94 86 104 +f 92 94 104 +f 86 96 104 +o convex_8 +v -1.568120 -0.776926 2.085922 +v -1.120468 -0.355524 3.113089 +v -1.120468 -0.724209 3.113089 +v -1.568120 -0.592542 3.060404 +v -1.541782 -0.355524 2.085922 +v -1.568120 -0.381882 3.060404 +v -1.568120 -0.750567 3.034061 +v -1.120468 -0.776926 3.007718 +v -1.489107 -0.776926 2.138607 +f 109 112 113 +f 107 106 108 +f 106 109 110 +f 108 106 110 +f 105 108 110 +f 109 105 110 +f 107 108 111 +f 108 105 111 +f 106 107 112 +f 109 106 112 +f 111 105 112 +f 107 111 112 +f 105 109 113 +f 112 105 113 +o convex_9 +v -2.305398 0.381930 -1.943268 +v -0.461984 0.460943 0.689770 +v -1.620916 0.487280 -1.022092 +v -0.461984 0.434605 -3.076031 +v -2.358094 0.381930 0.689770 +v -2.252702 0.460943 -3.076031 +v -2.358094 0.460943 0.636689 +v -0.646607 0.408267 -0.995552 +v -0.461984 0.460943 -3.076031 +v -0.461984 0.434605 0.689770 +v -1.252610 0.408267 -3.023319 +v -2.331746 0.487280 -0.679646 +v -1.647264 0.381930 -1.074436 +v -2.384630 0.434605 -0.969380 +v -2.252702 0.434605 -3.076031 +f 127 119 128 +f 118 115 120 +f 116 115 122 +f 115 117 122 +f 119 116 122 +f 117 119 122 +f 117 115 123 +f 115 118 123 +f 121 117 123 +f 118 121 123 +f 117 121 124 +f 115 116 125 +f 116 119 125 +f 120 115 125 +f 118 114 126 +f 121 118 126 +f 114 124 126 +f 124 121 126 +f 114 118 127 +f 118 120 127 +f 125 119 127 +f 120 125 127 +f 119 117 128 +f 117 124 128 +f 124 114 128 +f 114 127 128 +o convex_10 +v 1.724008 -3.489309 -0.810972 +v 1.803052 -1.488042 0.979741 +v 1.803052 -1.488042 0.716342 +v 1.618689 -1.488042 0.979741 +v 1.776704 -3.489701 0.979741 +v 1.803052 -1.567199 -0.890230 +v 1.750338 -1.567199 -0.890230 +v 1.776704 -3.489309 -0.890230 +v 1.724026 -3.252621 0.953200 +v 1.618689 -1.804279 0.795234 +v 1.724008 -3.489309 -0.363248 +v 1.724026 -1.540944 -0.573931 +f 138 132 140 +f 130 131 132 +f 130 132 133 +f 130 133 134 +f 131 130 134 +f 133 129 136 +f 134 133 136 +f 129 135 136 +f 135 134 136 +f 133 132 137 +f 137 132 138 +f 137 138 139 +f 129 133 139 +f 133 137 139 +f 138 129 139 +f 132 131 140 +f 131 134 140 +f 135 129 140 +f 134 135 140 +f 129 138 140 +o convex_11 +v -1.541746 -0.855918 1.137881 +v -1.015074 -0.776926 3.113089 +v -1.120473 -0.776926 3.113089 +v -1.094164 -0.776926 1.111430 +v -1.067801 -0.908614 1.401412 +v -1.568110 -0.776926 1.506628 +v -1.568110 -0.803274 2.112259 +v -1.146837 -0.803274 3.086638 +v -1.067801 -0.908614 1.111430 +f 142 145 149 +f 143 142 144 +f 143 144 146 +f 144 141 146 +f 141 145 147 +f 146 141 147 +f 143 146 147 +f 142 143 148 +f 145 142 148 +f 147 145 148 +f 143 147 148 +f 144 142 149 +f 141 144 149 +f 145 141 149 +o convex_12 +v -2.410968 1.488102 -0.284465 +v -0.435646 1.751430 0.347638 +v -0.435646 1.540755 0.347638 +v -0.435646 1.698713 -0.231748 +v -0.435646 1.093046 -0.205390 +v -2.305396 1.251133 0.242205 +v -2.278713 1.751430 0.294922 +v -2.357795 1.172121 -0.284465 +v -0.435646 1.198480 0.268564 +v -2.410968 1.619701 -0.258044 +v -1.962769 1.145827 -0.284465 +v -0.541605 1.093046 -0.152735 +v -1.410159 1.672419 -0.258044 +v -2.120741 1.145827 -0.231748 +v -0.620494 1.093046 -0.231748 +v -2.278713 1.751430 0.242205 +v -1.068112 1.698713 0.347638 +f 151 156 166 +f 151 152 153 +f 153 152 154 +f 155 150 157 +f 154 152 158 +f 152 155 158 +f 150 155 159 +f 155 156 159 +f 157 150 160 +f 154 158 161 +f 158 155 161 +f 150 159 162 +f 160 150 162 +f 153 160 162 +f 155 157 163 +f 157 160 163 +f 161 155 163 +f 161 163 164 +f 153 154 164 +f 160 153 164 +f 154 161 164 +f 163 160 164 +f 151 153 165 +f 156 151 165 +f 159 156 165 +f 153 162 165 +f 162 159 165 +f 152 151 166 +f 155 152 166 +f 156 155 166 +o convex_13 +v -2.279280 -1.382691 -4.972562 +v -2.279280 0.381930 -3.365967 +v -2.305617 0.381930 -3.365967 +v -2.279280 0.381930 -4.972562 +v -2.252942 -0.855861 -3.365967 +v -2.305617 -1.382691 -3.365967 +v -2.305617 -0.539763 -4.972562 +v -2.252942 -1.382691 -4.972562 +v -2.252942 -0.487253 -4.840776 +v -2.305617 0.381930 -4.972562 +v -2.252942 -0.329204 -3.365967 +v -2.252942 -1.382691 -4.077108 +v -2.305617 -1.382691 -4.103528 +f 172 173 179 +f 169 168 170 +f 168 169 171 +f 171 169 172 +f 170 167 173 +f 172 169 173 +f 167 170 174 +f 172 167 174 +f 174 170 175 +f 171 174 175 +f 169 170 176 +f 173 169 176 +f 170 173 176 +f 170 168 177 +f 168 171 177 +f 175 170 177 +f 171 175 177 +f 171 172 178 +f 174 171 178 +f 172 174 178 +f 167 172 179 +f 173 167 179 +o convex_14 +v 0.617859 0.434605 -0.969232 +v 0.064823 -3.515515 -0.942885 +v 0.275514 -3.542376 -0.942885 +v 0.617859 -3.515515 -0.863892 +v 0.064823 -1.462013 -0.916588 +v 0.064823 0.434605 -0.995580 +v 0.512460 -1.566732 -0.995580 +v 0.064823 -3.515515 -0.863892 +v 0.591442 0.223610 -0.942885 +v 0.617859 -3.357464 -0.942885 +v 0.064823 -1.566732 -0.995580 +v 0.617859 0.434605 -0.995580 +v 0.064823 0.434605 -0.969232 +f 188 180 192 +f 181 184 185 +f 181 182 187 +f 182 183 187 +f 184 181 187 +f 184 187 188 +f 183 180 188 +f 187 183 188 +f 183 182 189 +f 180 183 189 +f 182 186 189 +f 182 181 190 +f 181 185 190 +f 186 182 190 +f 185 186 190 +f 185 180 191 +f 186 185 191 +f 180 189 191 +f 189 186 191 +f 185 184 192 +f 180 185 192 +f 184 188 192 +o convex_15 +v 3.725511 0.250222 1.058762 +v 1.803052 -1.540406 1.006079 +v 1.803052 -1.540406 1.085071 +v 1.803240 0.381930 1.032427 +v 3.620317 -1.672315 1.137767 +v 3.620317 -1.672315 1.006079 +v 3.725511 0.381930 1.006079 +v 1.803240 0.381930 1.058762 +v 3.593596 -1.356215 1.137767 +v 2.567068 0.381930 1.006079 +v 3.172258 -1.593089 1.137767 +v 3.725511 -0.750559 1.006079 +f 198 199 204 +f 194 195 196 +f 195 194 197 +f 197 194 198 +f 198 194 199 +f 196 195 200 +f 199 196 200 +f 193 199 200 +f 197 193 201 +f 193 200 201 +f 194 196 202 +f 199 194 202 +f 196 199 202 +f 195 197 203 +f 200 195 203 +f 197 201 203 +f 201 200 203 +f 193 197 204 +f 197 198 204 +f 199 193 204 +o convex_16 +v -0.330275 -1.619572 0.769040 +v -0.198607 -1.619572 1.032417 +v -0.330275 -1.619572 1.032417 +v -0.224973 0.460943 1.006017 +v -0.382971 0.118471 0.979721 +v -0.251303 0.460943 0.769040 +v -0.224973 -1.672405 0.769040 +v -0.330275 0.434422 0.769040 +v -0.198607 0.460943 0.953399 +v -0.330275 0.460943 1.006017 +f 210 212 214 +f 207 206 208 +f 205 207 209 +f 207 205 211 +f 206 207 211 +f 205 210 211 +f 205 209 212 +f 210 205 212 +f 208 206 213 +f 210 208 213 +f 206 211 213 +f 211 210 213 +f 207 208 214 +f 209 207 214 +f 208 210 214 +f 212 209 214 +o convex_17 +v -0.330283 1.751270 0.215759 +v -0.251298 0.460943 -1.021918 +v -0.198607 0.460943 -1.021918 +v -0.198607 0.460943 1.005822 +v -0.198607 2.383133 -0.863463 +v -0.198607 2.488940 1.032365 +v -0.330283 0.460943 1.005822 +v -0.330283 0.935188 -0.494875 +v -0.251298 2.356929 -0.968832 +v -0.277592 2.409734 1.032365 +v -0.330283 1.698466 1.005822 +v -0.277592 0.460943 -0.969033 +v -0.330283 1.698466 -0.231856 +f 224 223 227 +f 216 217 218 +f 218 217 219 +f 218 219 220 +f 216 218 221 +f 221 215 222 +f 217 216 223 +f 219 217 223 +f 220 219 223 +f 218 220 224 +f 221 218 224 +f 220 223 224 +f 215 221 225 +f 224 215 225 +f 221 224 225 +f 216 221 226 +f 221 222 226 +f 223 216 226 +f 222 223 226 +f 222 215 227 +f 223 222 227 +f 215 224 227 +o convex_18 +v -0.093241 -3.515848 -0.942905 +v -0.066919 -3.463008 -0.653191 +v 0.064769 -1.567055 -0.916531 +v -0.198607 -1.567055 -0.916531 +v 0.064769 -3.515848 -0.942905 +v 0.064769 -3.515848 -0.653191 +v -0.198607 -3.489332 -0.653191 +v -0.198607 -3.489332 -0.942905 +v 0.064769 -1.567055 -0.942905 +f 232 235 236 +f 229 230 231 +f 230 229 233 +f 228 232 233 +f 232 230 233 +f 229 231 234 +f 233 229 234 +f 228 233 234 +f 232 228 235 +f 234 231 235 +f 228 234 235 +f 231 230 236 +f 230 232 236 +f 235 231 236 +o convex_19 +v 0.064769 2.488940 1.006043 +v -0.198607 -3.488810 0.927077 +v -0.014249 -3.515848 0.927077 +v -0.066919 2.488940 0.900729 +v -0.198607 2.488940 1.032417 +v 0.064769 -1.909438 1.032417 +v 0.064769 2.436039 0.900729 +v -0.198607 -1.699012 1.032417 +v -0.198607 2.488940 0.900729 +v 0.064769 -3.515848 0.979734 +v 0.064769 2.488940 1.032417 +v -0.198607 -3.436497 0.979734 +v 0.064769 -3.515848 0.927077 +f 243 246 249 +f 237 240 241 +f 239 238 243 +f 240 237 243 +f 237 242 243 +f 241 238 244 +f 242 241 244 +f 241 240 245 +f 238 241 245 +f 243 238 245 +f 240 243 245 +f 238 239 246 +f 243 242 246 +f 237 241 247 +f 241 242 247 +f 242 237 247 +f 244 238 248 +f 242 244 248 +f 238 246 248 +f 246 242 248 +f 239 243 249 +f 246 239 249 +o convex_20 +v 1.328789 -0.223848 -0.969243 +v 0.617859 -3.542193 -0.916580 +v 0.617859 -3.542193 -0.890230 +v 1.776485 -3.516034 -0.916580 +v 1.803052 0.039541 -0.916580 +v 0.617859 0.039541 -0.942892 +v 0.617859 -1.567671 -0.969243 +v 1.750266 -1.567671 -0.890230 +v 1.486800 -1.593472 -0.969243 +v 0.644310 -3.358000 -0.942892 +v 1.249900 0.039541 -0.916580 +v 1.776485 -3.516034 -0.890230 +v 1.803052 0.039541 -0.942892 +v 0.617859 0.039541 -0.969243 +v 1.803052 -1.830343 -0.942892 +v 0.617859 -3.305322 -0.890230 +f 257 260 265 +f 252 251 253 +f 251 252 255 +f 251 255 256 +f 256 250 258 +f 256 258 259 +f 253 251 259 +f 251 256 259 +f 258 253 259 +f 254 255 260 +f 257 254 260 +f 252 253 261 +f 257 252 261 +f 254 257 261 +f 255 254 262 +f 258 250 262 +f 250 256 263 +f 256 255 263 +f 255 262 263 +f 262 250 263 +f 253 258 264 +f 261 253 264 +f 254 261 264 +f 262 254 264 +f 258 262 264 +f 255 252 265 +f 252 257 265 +f 260 255 265 +o convex_21 +v 0.433533 1.040600 -0.995580 +v 0.064823 0.434615 -0.995580 +v 0.617973 0.197664 -0.995580 +v 1.750136 0.487402 -0.890230 +v 0.617973 2.383478 -0.890230 +v 1.723763 2.436265 -0.916568 +v 0.064823 2.225355 -0.969222 +v 1.803052 0.039541 -0.942905 +v 0.617973 0.039541 -0.942905 +v 0.064823 1.408930 -0.942915 +v 1.723763 2.436265 -0.890230 +v 1.381426 0.540188 -0.969243 +v 1.249732 0.039541 -0.916568 +v 1.039259 2.409754 -0.942905 +v 1.750136 1.225234 -0.942905 +v 0.091196 1.461481 -0.995580 +f 272 279 281 +f 268 267 266 +f 267 268 274 +f 268 273 274 +f 270 272 275 +f 272 267 275 +f 267 274 275 +f 274 270 275 +f 270 269 276 +f 269 273 276 +f 273 271 276 +f 268 266 277 +f 273 268 277 +f 269 270 278 +f 273 269 278 +f 270 274 278 +f 274 273 278 +f 272 270 279 +f 270 276 279 +f 276 271 279 +f 271 273 280 +f 277 266 280 +f 273 277 280 +f 266 279 280 +f 279 271 280 +f 266 267 281 +f 267 272 281 +f 279 266 281 +o convex_22 +v 3.698977 -0.618879 -0.969227 +v 1.803052 -0.592583 -0.942915 +v 1.935155 -1.461523 -0.969227 +v 3.409367 0.381930 -1.048256 +v 3.672820 -0.592583 -0.890230 +v 3.725511 -1.540606 -1.021913 +v 1.803052 0.381930 -0.916573 +v 1.803240 -1.593392 -0.890230 +v 3.725511 -1.540606 -0.890230 +v 3.620317 0.381930 -1.021897 +v 2.014003 0.381930 -0.969258 +v 3.383021 -1.540606 -1.021913 +v 3.435712 0.381930 -0.995555 +v 3.593596 -0.355529 -1.048256 +v 1.803240 -1.593392 -0.942931 +v 2.040537 0.381930 -0.916573 +f 294 288 297 +f 286 288 289 +f 288 283 289 +f 289 287 290 +f 282 286 290 +f 287 282 290 +f 286 289 290 +f 286 282 291 +f 282 287 291 +f 285 288 291 +f 284 283 292 +f 285 284 292 +f 283 288 292 +f 288 285 292 +f 286 291 294 +f 291 288 294 +f 284 285 295 +f 285 291 295 +f 291 287 295 +f 293 284 295 +f 287 293 295 +f 283 284 296 +f 289 283 296 +f 287 289 296 +f 284 293 296 +f 293 287 296 +f 288 286 297 +f 286 294 297 +o convex_23 +v 2.935338 0.381930 -1.021856 +v 3.725511 0.460935 1.032149 +v 2.567068 0.434600 1.058754 +v 1.803052 0.513618 -0.942658 +v 1.803240 0.381930 1.058754 +v 3.725511 0.381930 1.032149 +v 3.646475 0.408278 -1.048256 +v 1.803052 0.381930 -0.942658 +v 1.803052 0.513618 -0.547696 +v 2.145730 0.513618 -0.969057 +v 2.119385 0.434600 1.058754 +v 3.646475 0.381930 -1.048256 +f 304 303 309 +f 300 302 303 +f 299 300 303 +f 302 298 303 +f 299 303 304 +f 298 302 305 +f 305 302 306 +f 301 305 306 +f 301 306 307 +f 304 298 307 +f 299 304 307 +f 298 305 307 +f 305 301 307 +f 306 299 307 +f 300 299 308 +f 302 300 308 +f 306 302 308 +f 299 306 308 +f 303 298 309 +f 298 304 309 +o convex_24 +v 3.646702 0.381930 0.031917 +v 3.699337 -1.672315 0.821504 +v 3.725681 -1.672315 0.821504 +v 3.699337 -1.514265 -0.890124 +v 3.620369 -1.672315 1.137767 +v 3.725681 0.381930 1.005955 +v 3.620359 0.381930 -1.048256 +v 3.725681 -1.198165 -0.890124 +v 3.620369 -1.592888 -0.047256 +v 3.620369 -0.750358 1.084914 +v 3.673015 0.381930 -0.574075 +v 3.620359 -0.592710 -1.021722 +v 3.725681 -1.672315 1.137767 +v 3.725681 0.381930 0.558095 +v 3.673015 -0.066079 -1.048256 +v 3.699348 0.381930 1.005955 +v 3.725681 -1.514265 -0.890124 +v 3.620359 0.381930 -0.521436 +f 316 321 327 +f 311 312 314 +f 310 315 316 +f 315 312 317 +f 312 311 318 +f 311 314 318 +f 316 315 320 +f 313 318 321 +f 318 314 321 +f 314 312 322 +f 312 315 322 +f 315 319 322 +f 319 314 322 +f 315 317 323 +f 320 315 323 +f 320 323 324 +f 316 320 324 +f 321 316 324 +f 323 317 324 +f 315 310 325 +f 310 319 325 +f 319 315 325 +f 317 312 326 +f 312 318 326 +f 318 313 326 +f 313 321 326 +f 324 317 326 +f 321 324 326 +f 310 316 327 +f 319 310 327 +f 314 319 327 +f 321 314 327 +o convex_25 +v -2.173568 -1.540717 -0.732204 +v -0.330296 -1.619688 1.032205 +v -0.356999 -1.593392 0.900646 +v -2.173568 -1.514379 1.111430 +v -0.330296 -1.461704 -0.732204 +v -2.173568 -1.646047 1.032205 +v -0.330296 -1.672405 0.979509 +v -1.646893 -1.567034 -0.732204 +v -0.330296 -1.514420 -0.652980 +v -0.778484 -1.461704 -0.310637 +v -2.173568 -1.567034 -0.732204 +v -1.068074 -1.672405 0.979509 +v -1.699579 -1.488062 0.479079 +v -0.699455 -1.461704 -0.705676 +f 328 340 341 +f 329 330 331 +f 330 329 332 +f 329 331 333 +f 331 328 333 +f 332 329 334 +f 329 333 334 +f 328 332 335 +f 335 332 336 +f 332 334 336 +f 334 335 336 +f 331 330 337 +f 330 332 337 +f 333 328 338 +f 335 334 338 +f 328 335 338 +f 334 333 339 +f 333 338 339 +f 338 334 339 +f 328 331 340 +f 331 337 340 +f 340 337 341 +f 332 328 341 +f 337 332 341 +o convex_26 +v -2.252958 -1.382691 0.979200 +v -2.279316 -1.672405 -4.946224 +v -2.226623 -1.672405 -4.946224 +v -2.279316 -1.382691 -4.946224 +v -2.410968 -1.619658 -0.995941 +v -2.173929 -1.646060 1.031973 +v -2.410968 -1.382691 -1.048715 +v -2.173929 -1.540650 -0.732668 +v -2.200287 -1.382691 1.031973 +v -2.305604 -1.567024 0.900337 +v -2.252958 -1.382691 -4.946224 +v -2.226623 -1.646060 1.031973 +v -2.226623 -1.488072 -4.813994 +f 352 349 354 +f 344 343 345 +f 343 344 347 +f 345 343 348 +f 342 345 348 +f 343 346 348 +f 347 344 349 +f 347 349 350 +f 345 342 350 +f 342 348 351 +f 348 346 351 +f 344 345 352 +f 350 349 352 +f 345 350 352 +f 346 343 353 +f 343 347 353 +f 347 350 353 +f 350 342 353 +f 351 346 353 +f 342 351 353 +f 349 344 354 +f 344 352 354 +o convex_27 +v -1.514999 -1.487897 -5.051575 +v -2.331772 0.460912 -4.998910 +v -2.331772 0.460912 -4.972562 +v -0.330296 0.487115 -4.998899 +v -1.778701 -1.672405 -4.946224 +v -0.356744 -1.672405 -4.972562 +v -2.252622 -1.672405 -5.051575 +v -0.330296 0.487115 -4.972562 +v -0.356744 -1.672405 -5.025217 +v -2.279266 -1.382650 -4.946224 +v -2.278679 -1.171722 -5.051575 +v -0.330296 -0.829343 -5.025227 +v -2.331772 0.539956 -4.998910 +f 358 365 367 +f 360 359 361 +f 359 360 362 +f 360 361 363 +f 361 355 363 +f 357 356 364 +f 361 359 364 +f 362 357 364 +f 359 362 364 +f 358 355 365 +f 355 361 365 +f 364 356 365 +f 361 364 365 +f 355 358 366 +f 358 362 366 +f 362 360 366 +f 363 355 366 +f 360 363 366 +f 356 357 367 +f 357 362 367 +f 362 358 367 +f 365 356 367 +o convex_28 +v -2.410968 -1.250725 -0.705867 +v -2.305628 -1.382691 -3.365578 +v -2.279285 -1.382691 -3.365578 +v -2.305628 0.381930 -3.365578 +v -2.279285 0.381930 -0.969625 +v -2.384609 0.381930 -0.705867 +v -2.358282 -1.382691 -0.705867 +v -2.252942 -0.197928 -2.075429 +v -2.331955 -1.382691 -3.339280 +v -2.384609 0.223881 -1.338053 +v -2.252942 -0.302949 -3.365578 +v -2.410968 -1.382691 -1.048518 +v -2.279285 0.381930 -3.365578 +v -2.252942 -0.829433 -3.312983 +f 378 375 381 +f 370 369 371 +f 372 371 373 +f 372 373 374 +f 369 370 374 +f 373 368 374 +f 374 370 375 +f 372 374 375 +f 371 369 376 +f 369 374 376 +f 368 373 377 +f 373 371 377 +f 371 376 377 +f 370 371 378 +f 374 368 379 +f 376 374 379 +f 368 377 379 +f 377 376 379 +f 371 372 380 +f 372 375 380 +f 378 371 380 +f 375 378 380 +f 375 370 381 +f 370 378 381 +o convex_29 +v -1.041419 -0.197498 2.955009 +v -1.094069 -0.776926 1.111430 +v -1.120424 -0.355570 1.111430 +v -1.120424 -0.776926 3.113025 +v -0.962414 -0.355570 3.086424 +v -1.120424 -0.250189 3.113025 +v -0.988754 -0.724235 3.113025 +v -1.067728 -0.302879 1.111430 +v -1.041419 -0.776926 1.453863 +v -0.962414 -0.197498 3.007615 +v -1.120424 -0.223872 2.401757 +f 382 391 392 +f 384 383 385 +f 384 385 387 +f 386 387 388 +f 387 385 388 +f 383 384 389 +f 385 383 390 +f 386 388 390 +f 388 385 390 +f 383 389 390 +f 390 389 391 +f 382 387 391 +f 387 386 391 +f 386 390 391 +f 387 382 392 +f 384 387 392 +f 389 384 392 +f 391 389 392 +o convex_30 +v -0.198607 -1.540691 0.005167 +v -0.224966 -1.672405 -0.942529 +v -0.330283 -1.540691 -1.258957 +v -0.330283 -1.619696 0.769040 +v -0.198607 -1.277341 -0.995531 +v -0.330283 -1.277341 -0.968931 +v -0.224966 -1.593361 0.769040 +v -0.198607 -1.488021 -1.205954 +v -0.224966 -1.672405 0.769040 +f 393 399 401 +f 395 394 396 +f 397 395 398 +f 395 396 398 +f 398 396 399 +f 393 397 399 +f 397 398 399 +f 393 394 400 +f 394 395 400 +f 397 393 400 +f 395 397 400 +f 394 393 401 +f 396 394 401 +f 399 396 401 +o convex_31 +v -1.357419 -0.250194 1.638492 +v -1.120468 -0.250194 3.113089 +v -1.173143 -0.250194 3.113089 +v -1.120468 -0.355511 3.113089 +v -1.568120 -0.355511 2.138515 +v -1.120468 -0.329165 1.111430 +v -1.541782 -0.355511 1.111430 +v -1.541782 -0.276526 1.111430 +v -1.436432 -0.329165 3.086638 +v -1.120468 -0.223836 2.375594 +f 407 402 411 +f 403 404 405 +f 403 405 407 +f 405 406 408 +f 407 405 408 +f 407 408 409 +f 404 402 409 +f 402 407 409 +f 408 406 409 +f 409 406 410 +f 405 404 410 +f 406 405 410 +f 404 409 410 +f 402 404 411 +f 404 403 411 +f 403 407 411 +o convex_32 +v -0.330283 -0.934799 -1.258957 +v -0.198607 -0.381926 -0.969243 +v -0.198607 0.381930 -0.995617 +v -0.330283 -0.855864 -0.969243 +v -0.198607 -1.277341 -0.995617 +v -0.224966 0.381930 -1.258957 +v -0.277605 0.355456 -0.995617 +v -0.277605 0.381930 -1.258957 +v -0.330283 -1.277341 -0.969243 +f 416 413 420 +f 414 413 416 +f 416 412 417 +f 414 416 417 +f 413 414 418 +f 415 413 418 +f 412 415 419 +f 414 417 419 +f 417 412 419 +f 418 414 419 +f 415 418 419 +f 413 415 420 +f 415 412 420 +f 412 416 420 +o convex_33 +v 0.064912 -3.489722 -0.863526 +v 1.618511 -3.595046 0.584609 +v 1.355072 -3.568704 0.531923 +v -0.014067 -3.516033 0.926886 +v 1.381576 -3.621389 -0.890230 +v 0.012260 -3.463363 0.926886 +v 1.407902 -3.568704 -0.890230 +v -0.093045 -3.516033 -0.652964 +v 1.302419 -3.621389 0.584609 +v -0.040393 -3.463363 -0.600098 +v -0.198350 -3.463363 0.926886 +v 1.618511 -3.621389 -0.890230 +v 0.617939 -3.542376 0.953048 +v -0.198350 -3.463363 -0.652964 +v 1.618511 -3.621389 0.584609 +f 433 429 435 +f 422 423 426 +f 423 422 427 +f 425 421 427 +f 426 423 427 +f 421 425 428 +f 428 425 429 +f 424 428 429 +f 427 421 430 +f 426 427 430 +f 428 424 431 +f 426 430 431 +f 427 422 432 +f 425 427 432 +f 429 425 432 +f 422 426 433 +f 424 429 433 +f 431 424 433 +f 426 431 433 +f 421 428 434 +f 430 421 434 +f 428 431 434 +f 431 430 434 +f 432 422 435 +f 429 432 435 +f 422 433 435 +o convex_34 +v -0.330295 0.539914 0.979159 +v -0.382991 0.118554 0.952824 +v -0.461984 0.460889 -4.972562 +v -0.330295 0.460889 -4.972562 +v -0.461984 0.487203 0.979159 +v -0.330295 0.118554 0.979159 +v -0.409288 0.144951 0.979159 +v -0.461984 0.487203 -4.972562 +v -0.461984 0.408219 1.006079 +v -0.409288 0.539914 0.979159 +v -0.330295 0.487203 -4.972562 +f 443 436 446 +f 437 438 439 +f 437 439 441 +f 439 436 441 +f 438 437 442 +f 437 441 442 +f 439 438 443 +f 438 440 443 +f 440 438 444 +f 441 436 444 +f 438 442 444 +f 442 441 444 +f 436 443 445 +f 443 440 445 +f 444 436 445 +f 440 444 445 +f 436 439 446 +f 439 443 446 +o convex_35 +v -0.145911 0.697476 -1.021918 +v -0.198607 -1.567054 -0.995580 +v 0.064769 -1.567054 -0.995580 +v -0.198607 2.330914 -0.942905 +v 0.064769 -1.567054 -0.916568 +v 0.064769 2.330914 -0.969243 +v -0.198607 -1.567054 -0.916568 +v 0.064769 2.330914 -0.942905 +v -0.014249 0.355603 -1.021918 +v -0.198607 1.777659 -0.995580 +f 452 447 456 +f 448 449 451 +f 451 449 452 +f 450 448 453 +f 448 451 453 +f 451 450 453 +f 450 451 454 +f 452 450 454 +f 451 452 454 +f 448 447 455 +f 449 448 455 +f 447 452 455 +f 452 449 455 +f 447 448 456 +f 448 450 456 +f 450 452 456 +o convex_36 +v -0.198527 2.330930 -0.969243 +v 0.617859 2.436244 0.742579 +v -0.093192 2.488940 0.900729 +v 0.617859 2.383548 -0.942702 +v 0.617859 2.225564 -0.916343 +v -0.145860 2.436244 0.900729 +v 0.064890 2.225564 -0.969243 +v 0.617859 2.383548 0.716221 +v -0.093192 2.383574 -0.969243 +v -0.198527 2.488940 0.821654 +f 460 465 466 +f 459 458 460 +f 460 458 461 +f 458 459 462 +f 460 461 463 +f 462 457 463 +f 462 463 464 +f 461 458 464 +f 458 462 464 +f 463 461 464 +f 463 457 465 +f 460 463 465 +f 459 460 466 +f 457 462 466 +f 462 459 466 +f 465 457 466 +o convex_37 +v -0.488690 0.487280 1.006048 +v -2.384262 0.381930 0.690028 +v -2.410777 0.434605 1.032383 +v -0.461984 0.408267 1.006048 +v -0.461984 0.460943 0.690028 +v -2.410777 0.487280 1.058680 +v -1.831251 0.460943 0.690028 +v -2.384262 0.381930 1.032383 +v -0.461984 0.408267 0.821741 +v -1.831251 0.434605 1.085092 +f 472 474 476 +f 467 470 471 +f 468 469 472 +f 472 467 473 +f 467 471 473 +f 471 468 473 +f 468 472 473 +f 469 468 474 +f 468 470 474 +f 472 469 474 +f 470 468 475 +f 471 470 475 +f 468 471 475 +f 470 467 476 +f 467 472 476 +f 474 470 476 +o convex_38 +v 0.512460 2.462602 1.006043 +v 0.064823 2.436244 0.742703 +v 0.064823 2.462602 0.742703 +v 0.617859 2.409886 0.742703 +v 0.064823 2.225564 1.032417 +v 0.064823 2.462602 1.032417 +v 0.617859 2.409886 1.032417 +f 477 482 483 +f 478 479 480 +f 479 477 480 +f 479 478 481 +f 478 480 481 +f 477 479 482 +f 479 481 482 +f 482 481 483 +f 480 477 483 +f 481 480 483 +o convex_39 +v -2.279293 0.513597 -3.945263 +v -2.305604 0.381930 -4.972562 +v -2.331955 0.460943 -4.972562 +v -2.305604 0.381930 -1.943735 +v -2.252942 0.487270 -4.840333 +v -2.252942 0.408273 -1.943735 +v -2.331955 0.539956 -4.788152 +f 487 489 490 +f 486 485 487 +f 485 486 488 +f 485 488 489 +f 487 485 489 +f 488 484 489 +f 489 484 490 +f 486 487 490 +f 484 488 490 +f 488 486 490 +o convex_40 +v 0.617859 2.357252 -0.890230 +v 1.724039 2.383600 0.979741 +v 1.407972 2.409906 0.979741 +v 1.724039 2.436265 -0.890230 +v 1.724039 2.330914 -0.890230 +v 0.617859 2.436265 0.979741 +v 0.617859 2.357252 0.321151 +v 1.697619 2.330914 0.584551 +v 0.749635 2.409927 -0.890230 +v 1.355132 2.357252 0.979741 +v 0.933926 2.436265 0.979741 +v 1.724039 2.409927 0.584551 +f 494 501 502 +f 491 494 495 +f 494 492 495 +f 492 493 496 +f 496 491 497 +f 491 495 498 +f 495 492 498 +f 497 491 498 +f 494 491 499 +f 491 496 499 +f 496 494 499 +f 492 496 500 +f 496 497 500 +f 497 498 500 +f 498 492 500 +f 496 493 501 +f 494 496 501 +f 493 492 502 +f 492 494 502 +f 501 493 502 +o convex_41 +v 1.803052 -3.647727 0.716391 +v 0.617859 -3.542387 0.584677 +v 0.617859 -3.516059 0.584677 +v 0.617859 -3.516059 0.979741 +v 1.776485 -3.489701 0.584677 +v 1.776485 -3.489701 0.979741 +v 1.618475 -3.647727 0.979741 +v 1.644926 -3.647727 0.584677 +v 0.617859 -3.568714 0.979741 +f 504 510 511 +f 505 504 506 +f 504 505 507 +f 505 506 507 +f 503 507 508 +f 507 506 508 +f 503 508 509 +f 508 506 509 +f 507 503 510 +f 504 507 510 +f 503 509 510 +f 510 509 511 +f 506 504 511 +f 509 506 511 +o convex_42 +v -1.489233 -0.855856 0.979762 +v -1.436605 -0.276619 1.111430 +v -1.094290 -0.303037 1.111430 +v -2.226491 -1.382691 1.032417 +v -1.067749 -0.908475 1.111430 +v -1.541976 -0.276619 1.006105 +v -2.200063 -1.382691 0.953404 +v -1.120605 -0.908475 1.032417 +v -1.594605 -0.829655 1.111430 +v -1.067749 -0.355655 1.058729 +v -1.541976 -0.276619 1.111430 +f 515 520 522 +f 514 513 516 +f 513 514 517 +f 515 517 518 +f 516 515 518 +f 517 512 518 +f 516 518 519 +f 518 512 519 +f 515 516 520 +f 516 513 520 +f 514 516 521 +f 512 517 521 +f 517 514 521 +f 516 519 521 +f 519 512 521 +f 513 517 522 +f 517 515 522 +f 520 513 522 +o convex_43 +v 1.803052 -1.356657 1.085092 +v 0.617859 -3.568377 0.979741 +v 1.276003 -3.620929 0.979741 +v 1.381575 -0.092619 1.006079 +v 0.617859 -0.092619 1.032417 +v 1.803052 -1.488560 0.979741 +v 1.723931 -3.647379 1.058754 +v 0.670645 -1.620115 1.058754 +v 1.803052 -0.092619 1.058754 +v 0.617859 -0.092619 1.006079 +v 1.803052 -3.647379 0.979741 +v 0.617859 -3.568377 1.006079 +v 0.617859 -2.383340 0.979741 +v 1.328789 -0.092619 1.058754 +v 1.565921 -1.540764 1.085092 +v 1.803052 -0.092619 1.032417 +f 531 528 538 +f 525 524 528 +f 526 527 531 +f 523 528 531 +f 527 526 532 +f 524 527 532 +f 526 528 532 +f 528 523 533 +f 525 528 533 +f 529 525 533 +f 523 529 533 +f 524 525 534 +f 527 524 534 +f 525 529 534 +f 530 527 534 +f 529 530 534 +f 528 524 535 +f 524 532 535 +f 532 528 535 +f 527 530 536 +f 523 531 536 +f 531 527 536 +f 529 523 537 +f 530 529 537 +f 523 536 537 +f 536 530 537 +f 528 526 538 +f 526 531 538 +o convex_44 +v 1.724014 -3.647727 -0.811114 +v 1.776715 -3.489701 0.584677 +v 1.750372 -3.489701 0.584677 +v 1.776715 -3.489701 -0.890230 +v 1.618689 -3.568714 -0.890230 +v 1.645032 -3.647727 0.584677 +v 1.776715 -3.647727 0.584677 +f 540 544 545 +f 541 540 542 +f 542 539 543 +f 541 542 543 +f 541 543 544 +f 540 541 544 +f 543 539 544 +f 544 539 545 +f 542 540 545 +f 539 542 545 +o convex_45 +v 1.724039 0.645474 -0.810972 +v 1.724055 2.357252 0.979741 +v 1.724055 2.357252 0.584551 +v 1.645026 1.698489 0.031760 +v 1.671369 0.381930 0.979741 +v 1.803052 0.381930 0.979741 +v 1.724039 2.330762 -0.890230 +v 1.803052 1.672386 -0.152748 +v 1.803052 0.487502 -0.890230 +v 1.671369 2.304272 -0.784797 +v 1.697712 2.357252 0.979741 +v 1.750351 2.278169 0.979741 +v 1.645026 1.619406 -0.178923 +v 1.803052 1.777571 0.242077 +v 1.750351 0.487502 -0.890230 +v 1.671369 2.067025 0.637267 +v 1.671369 0.408420 0.742700 +f 560 550 562 +f 547 550 551 +f 553 551 554 +f 551 550 554 +f 552 553 554 +f 552 555 556 +f 547 548 556 +f 550 547 556 +f 548 552 556 +f 548 547 557 +f 547 551 557 +f 552 548 557 +f 550 549 558 +f 549 555 558 +f 555 546 558 +f 553 552 559 +f 551 553 559 +f 557 551 559 +f 552 557 559 +f 554 550 560 +f 552 554 560 +f 546 555 560 +f 555 552 560 +f 549 550 561 +f 555 549 561 +f 556 555 561 +f 550 556 561 +f 558 546 562 +f 550 558 562 +f 546 560 562 +o convex_46 +v -2.384630 -1.382691 -0.705696 +v -2.226604 -1.092848 1.032247 +v -2.252963 -1.092848 1.032247 +v -2.384630 0.381930 -0.705696 +v -2.384630 0.381930 0.979509 +v -2.358272 0.381930 -0.705696 +v -2.226604 -1.382691 0.637229 +v -2.252963 -1.382691 1.005878 +v -2.331945 0.197453 0.979509 +v -2.331945 -1.382691 -0.521287 +v -2.384630 -0.829433 0.057971 +v -2.384630 0.144770 0.979509 +v -2.226604 -1.013737 0.979509 +v -2.384630 -1.382691 -0.494918 +f 570 573 576 +f 566 563 567 +f 565 564 567 +f 563 566 568 +f 566 567 568 +f 564 565 570 +f 563 569 570 +f 569 564 570 +f 567 564 571 +f 568 567 571 +f 563 568 572 +f 569 563 572 +f 568 569 572 +f 567 563 573 +f 573 570 574 +f 565 567 574 +f 570 565 574 +f 567 573 574 +f 564 569 575 +f 569 568 575 +f 571 564 575 +f 568 571 575 +f 563 570 576 +f 573 563 576 +o convex_47 +v 1.539586 2.409711 1.111430 +v 0.617859 -0.092147 1.006089 +v 0.617859 -0.092147 1.032424 +v 1.803052 -0.092147 1.032424 +v 1.750266 2.383477 0.979741 +v 0.617859 2.436193 0.979741 +v 0.749650 2.436193 1.085056 +v 1.803052 0.382288 0.979741 +v 1.723815 1.962252 1.111430 +v 0.617859 -0.012951 0.979741 +v 1.803052 -0.092147 1.058747 +v 1.750266 2.383477 1.111430 +v 0.617859 2.436193 1.058734 +v 1.355008 -0.092147 1.058747 +v 1.486916 2.172617 1.111430 +f 590 585 591 +f 579 578 580 +f 578 579 582 +f 577 581 582 +f 577 582 583 +f 582 581 584 +f 580 578 586 +f 578 582 586 +f 584 580 586 +f 582 584 586 +f 579 580 587 +f 580 584 587 +f 585 587 588 +f 581 577 588 +f 584 581 588 +f 577 585 588 +f 587 584 588 +f 582 579 589 +f 579 583 589 +f 583 582 589 +f 579 587 590 +f 587 585 590 +f 583 579 591 +f 577 583 591 +f 585 577 591 +f 579 590 591 +o convex_48 +v -0.330295 -0.908645 -0.995890 +v -0.382971 -1.382691 -4.972562 +v -0.382971 -1.250879 -4.972562 +v -0.382971 -1.329995 -0.969243 +v -0.330295 -1.382691 -4.603815 +v -0.356633 -0.645238 -4.972562 +v -0.330295 -1.382691 -0.969243 +v -0.330295 -0.645238 -4.972562 +v -0.356633 -0.908645 -0.995890 +f 592 597 600 +f 594 593 595 +f 593 594 597 +f 594 595 597 +f 595 593 598 +f 592 595 598 +f 596 592 598 +f 593 596 598 +f 592 596 599 +f 596 593 599 +f 593 597 599 +f 597 592 599 +f 595 592 600 +f 597 595 600 +o convex_49 +v 1.935155 -1.488042 0.874198 +v 1.803240 -1.593379 -0.890147 +v 1.803240 -1.593379 -0.626776 +v 3.725511 -1.593379 -0.047508 +v 3.541093 -1.672405 1.005976 +v 3.725511 -1.514390 -0.890147 +v 3.725511 -1.514390 -0.047508 +v 1.803052 -1.540737 1.005976 +v 1.803240 -1.540737 -0.679488 +v 3.593596 -1.619709 1.005976 +v 3.725511 -1.567067 -0.732013 +v 2.593413 -1.488042 0.057914 +v 2.908805 -1.514390 -0.890147 +v 3.620317 -1.672405 0.926723 +v 1.829774 -1.488042 0.979435 +v 2.119385 -1.593379 -0.890147 +v 1.803052 -1.488042 0.689893 +f 615 612 617 +f 603 602 605 +f 604 606 607 +f 602 603 608 +f 603 605 608 +f 608 605 610 +f 606 604 611 +f 607 606 612 +f 601 607 612 +f 606 602 613 +f 602 609 613 +f 612 606 613 +f 605 602 614 +f 604 607 614 +f 610 605 614 +f 607 610 614 +f 611 604 614 +f 607 601 615 +f 610 607 615 +f 608 610 615 +f 601 612 615 +f 602 606 616 +f 606 611 616 +f 614 602 616 +f 611 614 616 +f 602 608 617 +f 609 602 617 +f 613 609 617 +f 612 613 617 +f 608 615 617 +o convex_50 +v -0.883561 0.460943 -4.946204 +v -0.461984 0.460943 -3.076253 +v -2.226298 0.487280 -3.155513 +v -2.015597 0.539956 -4.972562 +v -2.252767 0.434605 -3.208044 +v -2.252767 0.487280 -4.867129 +v -0.778210 0.513618 -4.972562 +v -0.461984 0.434605 -3.708480 +v -0.461984 0.487280 -3.603047 +v -0.461984 0.460943 -4.972562 +v -0.672860 0.434605 -4.261446 +v -2.252767 0.539956 -4.814227 +v -0.461984 0.434605 -3.076253 +v -2.252767 0.434605 -3.076253 +f 622 630 631 +f 621 618 623 +f 620 619 626 +f 624 621 626 +f 619 625 626 +f 618 621 627 +f 621 624 627 +f 624 626 627 +f 626 625 627 +f 622 623 628 +f 623 618 628 +f 625 622 628 +f 618 627 628 +f 627 625 628 +f 623 622 629 +f 621 623 629 +f 620 626 629 +f 626 621 629 +f 622 625 630 +f 625 619 630 +f 619 620 631 +f 620 629 631 +f 629 622 631 +f 630 619 631 +o convex_51 +v -2.226604 -1.672405 -4.946198 +v -0.409620 -1.461704 -0.732204 +v -0.672874 -1.461704 -0.732204 +v -2.226604 -1.593392 -0.732204 +v -0.409620 -1.672405 -4.945782 +v -2.068474 -1.619709 -4.682641 +v -0.409620 -1.619709 -4.972345 +v -2.200101 -1.540717 -0.759183 +v -0.620223 -1.514400 -0.758768 +v -0.435946 -1.461704 -1.338176 +v -2.226604 -1.672405 -4.260951 +v -2.226604 -1.646026 -4.946198 +v -2.147450 -1.593392 -0.732204 +v -0.409620 -1.488083 -0.732204 +f 644 640 645 +f 633 634 635 +f 636 632 638 +f 633 636 638 +f 635 634 639 +f 634 633 641 +f 638 637 641 +f 633 638 641 +f 639 634 641 +f 637 639 641 +f 635 632 642 +f 632 636 642 +f 632 635 643 +f 638 632 643 +f 637 638 643 +f 635 639 643 +f 639 637 643 +f 633 635 644 +f 636 640 644 +f 635 642 644 +f 642 636 644 +f 636 633 645 +f 640 636 645 +f 633 644 645 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/338/338.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/338/338.urdf new file mode 100644 index 000000000..1667402fe --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/338/338.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/339/339.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/339/339.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/339/339.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/339/339.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/339/339.obj new file mode 100644 index 000000000..2a71a5195 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/339/339.obj @@ -0,0 +1,744 @@ +o convex_0 +v 1.569741 1.349949 -0.305089 +v -0.922206 -0.505450 0.220606 +v -0.894479 -0.505450 -0.249531 +v 0.517608 3.509537 -0.055980 +v 1.652923 -0.505057 0.802261 +v 1.348173 -0.477153 -0.914221 +v -0.312957 2.512078 -0.831185 +v -0.229775 2.290814 0.774582 +v 1.542013 2.539982 0.746903 +v 1.320445 2.318717 -0.775627 +v -0.174320 0.187033 0.968333 +v -0.174320 0.242447 -0.969579 +v 0.683721 0.630348 1.023891 +v -0.922206 -0.505450 0.497594 +v -0.229775 2.899979 0.054534 +v 1.569741 -0.505057 -0.775828 +v 0.600538 0.685762 -1.025137 +v -0.783569 -0.505450 -0.554197 +v 0.573063 2.789543 0.774382 +v 1.348173 2.983297 -0.111137 +v 0.600538 2.789543 -0.803506 +v -0.063662 -0.505450 0.912976 +v 1.348173 0.270351 0.968333 +v -0.229775 -0.505450 -0.858864 +v 1.652923 0.713273 0.469916 +v 1.348173 0.297862 -0.969579 +v 0.545335 3.509537 0.026855 +v -0.922206 -0.394228 0.442237 +v 1.569741 0.381180 -0.720270 +v 0.849834 -0.477546 0.912775 +v 0.877561 -0.421739 -0.941900 +v -0.174320 0.436201 0.968333 +v 1.652923 -0.505057 0.248486 +v -0.312957 2.567492 -0.748149 +v 1.597468 1.266631 -0.221852 +v 1.542013 2.373739 0.774382 +v 0.655993 3.481633 -0.055980 +v -0.202047 2.955393 0.082213 +v 0.655993 0.381180 -1.025137 +v 0.462153 0.519126 1.023891 +v 1.652923 0.824102 0.719024 +v 1.292718 2.207889 -0.803306 +v 1.569741 2.152474 0.442237 +v 1.431355 0.574934 0.940654 +v -0.839024 -0.477153 -0.498840 +v -0.202047 -0.422132 0.912976 +v 1.514286 1.183706 -0.692791 +v 1.348173 -0.505057 0.885297 +v 0.822106 3.287879 0.192928 +v 0.600538 2.595396 -0.831185 +v 0.489880 0.685369 -1.025137 +v 0.628266 0.436594 1.023891 +v 0.822106 2.734129 0.774382 +v -0.894479 -0.449643 0.525273 +v 0.489880 2.789150 -0.803506 +v -0.229775 2.457057 0.608309 +v 1.126605 0.408690 -0.997257 +v -0.202047 0.297862 0.968333 +v -0.202047 2.955393 -0.000623 +v -0.285230 2.539982 -0.831185 +v 0.573063 1.626627 0.912775 +v -0.894479 -0.477153 -0.249531 +v 0.019269 -0.505450 -0.886543 +v -0.035934 2.429153 0.774582 +f 61 19 64 +f 2 3 14 +f 7 12 18 +f 14 3 18 +f 1 10 20 +f 20 10 21 +f 14 18 22 +f 18 12 24 +f 22 18 24 +f 16 6 26 +f 2 14 28 +f 14 8 28 +f 16 26 29 +f 25 5 33 +f 16 29 33 +f 28 15 34 +f 1 20 35 +f 25 33 35 +f 33 29 35 +f 20 21 37 +f 21 4 37 +f 4 27 37 +f 27 4 38 +f 31 12 39 +f 6 31 39 +f 8 32 40 +f 5 25 41 +f 36 5 41 +f 9 36 41 +f 21 10 42 +f 10 26 42 +f 20 9 43 +f 35 20 43 +f 25 35 43 +f 41 25 43 +f 9 41 43 +f 23 5 44 +f 13 23 44 +f 5 36 44 +f 36 13 44 +f 18 3 45 +f 7 18 45 +f 22 11 46 +f 14 22 46 +f 10 1 47 +f 26 10 47 +f 29 26 47 +f 1 35 47 +f 35 29 47 +f 22 5 48 +f 5 23 48 +f 30 22 48 +f 9 20 49 +f 20 37 49 +f 37 27 49 +f 21 42 50 +f 42 17 50 +f 12 7 51 +f 39 12 51 +f 17 39 51 +f 50 17 51 +f 11 22 52 +f 23 13 52 +f 22 30 52 +f 13 40 52 +f 40 11 52 +f 48 23 52 +f 30 48 52 +f 27 19 53 +f 36 9 53 +f 13 36 53 +f 9 49 53 +f 49 27 53 +f 8 14 54 +f 14 46 54 +f 4 21 55 +f 21 50 55 +f 28 8 56 +f 15 28 56 +f 38 15 56 +f 27 38 56 +f 26 6 57 +f 39 17 57 +f 6 39 57 +f 17 42 57 +f 42 26 57 +f 32 8 58 +f 11 40 58 +f 40 32 58 +f 46 11 58 +f 8 54 58 +f 54 46 58 +f 4 34 59 +f 34 15 59 +f 15 38 59 +f 38 4 59 +f 7 34 60 +f 34 4 60 +f 51 7 60 +f 50 51 60 +f 4 55 60 +f 55 50 60 +f 8 40 61 +f 40 13 61 +f 13 53 61 +f 53 19 61 +f 3 2 62 +f 2 28 62 +f 34 7 62 +f 28 34 62 +f 45 3 62 +f 7 45 62 +f 6 16 63 +f 5 22 63 +f 24 12 63 +f 22 24 63 +f 12 31 63 +f 31 6 63 +f 33 5 63 +f 16 33 63 +f 19 27 64 +f 56 8 64 +f 27 56 64 +f 8 61 64 +o convex_1 +v -3.164866 -1.945248 -0.083575 +v -1.835962 -0.837725 -0.249748 +v -1.835962 -0.893164 0.276248 +v -4.134069 -1.031590 -0.055896 +v -1.835962 -1.834484 -0.471278 +v -1.835962 -1.751383 0.442221 +v -4.078614 -1.446754 0.359184 +v -3.912501 -1.474417 -0.443499 +v -3.635478 -0.976265 0.359184 +v -1.946872 -0.920826 -0.443599 +v -3.884773 -1.889809 -0.028318 +v -1.835962 -0.920826 0.470100 +v -2.196168 -1.917472 0.359285 +v -4.410840 -1.474417 -0.055896 +v -1.835962 -1.308670 -0.554414 +v -1.835962 -2.000687 -0.083675 +v -3.220573 -1.363995 0.470000 +v -3.414162 -1.806822 0.359184 +v -2.528142 -1.862033 -0.443599 +v -3.608002 -1.114691 -0.332784 +v -3.054460 -0.893278 -0.194290 +v -2.472939 -1.446868 -0.554414 +v -3.497344 -1.779045 -0.360463 +v -3.912501 -1.419206 -0.443499 +v -1.863690 -1.668396 0.470100 +v -3.884773 -1.889809 -0.083575 +v -2.445211 -2.000687 -0.028418 +v -1.835962 -1.945248 0.303927 +v -2.168440 -0.837725 -0.277426 +v -4.078614 -1.003927 -0.083575 +v -2.555869 -1.031590 -0.443599 +v -3.137391 -1.225455 0.470000 +v -4.078614 -1.391657 0.359184 +v -4.410840 -1.474417 -0.000739 +v -2.417484 -1.889923 -0.415920 +v -2.417484 -1.502193 -0.554414 +v -3.690933 -1.695944 0.359184 +v -3.497344 -0.948602 0.220891 +v -1.835962 -0.837725 -0.360563 +v -1.835962 -1.502193 -0.554414 +v -4.078614 -1.003927 -0.000739 +v -4.410840 -1.419206 -0.000739 +v -4.355385 -1.419206 -0.111254 +v -3.857046 -1.889809 -0.000739 +v -1.863690 -1.889923 -0.415920 +v -2.611324 -1.059252 0.470100 +v -2.334301 -2.000687 -0.083675 +v -4.134069 -1.031590 -0.083575 +v -3.940228 -1.363995 0.386963 +v -2.528142 -1.114691 -0.471278 +v -1.835962 -2.000687 0.054618 +v -4.327909 -1.474417 -0.139033 +v -3.940228 -1.862147 -0.028318 +v -1.974600 -1.889923 0.386963 +v -2.417484 -1.806822 -0.471278 +v -3.663205 -1.170130 -0.360463 +f 88 112 120 +f 66 67 69 +f 69 67 70 +f 70 67 76 +f 66 69 79 +f 69 70 80 +f 74 84 85 +f 72 83 87 +f 86 72 88 +f 70 76 89 +f 82 70 89 +f 81 82 89 +f 72 87 90 +f 87 83 90 +f 90 65 91 +f 75 90 91 +f 80 70 92 +f 77 91 92 +f 67 66 93 +f 85 84 94 +f 84 74 95 +f 71 97 98 +f 83 69 99 +f 65 90 99 +f 90 83 99 +f 72 86 100 +f 86 79 100 +f 81 71 101 +f 82 81 101 +f 76 67 102 +f 73 76 102 +f 67 93 102 +f 93 85 102 +f 66 79 103 +f 79 74 103 +f 74 85 103 +f 93 66 103 +f 85 93 103 +f 79 69 104 +f 69 100 104 +f 100 79 104 +f 94 68 105 +f 85 94 105 +f 97 73 105 +f 73 102 105 +f 102 85 105 +f 98 97 106 +f 78 98 106 +f 105 68 106 +f 97 105 106 +f 78 106 107 +f 77 82 108 +f 75 91 108 +f 91 77 108 +f 82 101 108 +f 69 80 109 +f 99 69 109 +f 80 99 109 +f 76 73 110 +f 89 76 110 +f 81 89 110 +f 73 96 110 +f 96 81 110 +f 80 91 111 +f 91 65 111 +f 99 80 111 +f 65 99 111 +f 68 94 112 +f 106 68 112 +f 88 107 112 +f 107 106 112 +f 71 81 113 +f 96 73 113 +f 81 96 113 +f 73 97 113 +f 97 71 113 +f 74 79 114 +f 79 86 114 +f 86 88 114 +f 95 74 114 +f 88 95 114 +f 91 80 115 +f 80 92 115 +f 92 91 115 +f 88 72 116 +f 72 90 116 +f 90 78 116 +f 78 107 116 +f 107 88 116 +f 90 75 117 +f 78 90 117 +f 71 98 117 +f 98 78 117 +f 101 71 117 +f 75 108 117 +f 108 101 117 +f 70 82 118 +f 82 77 118 +f 92 70 118 +f 77 92 118 +f 83 72 119 +f 69 83 119 +f 100 69 119 +f 72 100 119 +f 94 84 120 +f 84 95 120 +f 95 88 120 +f 112 94 120 +o convex_2 +v -1.835962 -1.502087 -0.554241 +v -1.033043 -1.446787 0.525479 +v -1.060787 -1.446787 0.525479 +v -1.033043 -0.561116 0.082381 +v -1.835962 -0.920929 0.470078 +v -1.033043 -1.862043 -0.471194 +v -1.835962 -1.945066 0.303876 +v -1.780475 -0.893350 -0.443547 +v -1.033043 -0.837906 -0.471194 +v -1.033043 -1.972788 0.359276 +v -1.835962 -2.000510 -0.083496 +v -1.033043 -0.782606 0.470078 +v -1.835962 -1.668276 0.470078 +v -1.033043 -1.197863 -0.582104 +v -1.835962 -0.837906 -0.360392 +v -1.835962 -1.834321 -0.471194 +v -1.088452 -0.561116 0.331630 +v -1.033043 -2.028376 -0.055850 +v -1.060787 -1.723577 0.525479 +v -1.060787 -0.616417 -0.166652 +v -1.808140 -1.917344 0.387031 +v -1.835962 -0.865628 0.248583 +v -1.614326 -1.336042 -0.582104 +v -1.752809 -1.862043 -0.471194 +v -1.808140 -2.000510 0.082381 +v -1.033043 -1.363621 -0.582104 +v -1.143861 -0.782606 -0.443547 +v -1.033043 -1.945066 0.414677 +v -1.835962 -1.308320 -0.554241 +v -1.033043 -1.779021 -0.498840 +v -1.143861 -1.668276 0.525479 +v -1.808140 -0.976373 -0.471194 +f 143 149 152 +f 124 122 126 +f 125 121 127 +f 124 126 129 +f 126 122 130 +f 127 121 131 +f 123 122 132 +f 122 124 132 +f 125 123 132 +f 125 127 133 +f 129 126 134 +f 121 125 135 +f 131 121 136 +f 132 124 137 +f 125 132 137 +f 124 135 137 +f 126 130 138 +f 122 123 139 +f 124 129 140 +f 135 124 140 +f 127 130 141 +f 133 127 141 +f 139 133 141 +f 135 125 142 +f 125 137 142 +f 137 135 142 +f 136 121 144 +f 131 136 144 +f 126 138 144 +f 138 131 144 +f 130 127 145 +f 127 131 145 +f 138 130 145 +f 131 138 145 +f 134 126 146 +f 121 143 146 +f 143 134 146 +f 129 128 147 +f 128 135 147 +f 140 129 147 +f 135 140 147 +f 130 122 148 +f 122 139 148 +f 141 130 148 +f 139 141 148 +f 121 135 149 +f 143 121 149 +f 144 121 150 +f 126 144 150 +f 121 146 150 +f 146 126 150 +f 123 125 151 +f 125 133 151 +f 139 123 151 +f 133 139 151 +f 128 129 152 +f 129 134 152 +f 135 128 152 +f 134 143 152 +f 149 135 152 +o convex_3 +v -1.032964 -2.028214 -0.000623 +v 1.292807 -0.505450 0.137657 +v 1.652723 -0.505640 0.774495 +v 1.652723 -2.194416 -0.526551 +v -0.423631 -0.505640 -0.775920 +v -0.894311 -0.505640 0.525305 +v -0.118965 -1.917602 0.774495 +v 1.541959 -0.505640 -0.803469 +v 1.403571 -2.388319 0.054653 +v -0.174480 -1.751399 -0.720286 +v 1.625098 -1.778910 0.636037 +v -1.032964 -1.197770 -0.582006 +v -0.174480 -2.388319 -0.028171 +v -0.008201 -0.505450 0.912954 +v -1.032964 -1.806610 0.497578 +v 1.431195 -1.723699 -0.803469 +v 0.656115 -0.533340 -0.914379 +v -1.032964 -0.588741 -0.194358 +v -1.032964 -1.862011 -0.471096 +v 1.403571 -1.253361 0.802223 +v -0.423631 -2.139015 0.552854 +v 1.680613 -1.280872 -0.332637 +v -0.229729 -0.616441 0.885226 +v 1.375946 -1.945112 -0.775741 +v -0.174480 -0.644142 -0.858745 +v 1.292807 -0.533340 0.885405 +v 1.652723 -2.221927 0.082202 +v 0.545351 -2.443720 0.054653 +v -1.032964 -0.782454 0.470029 +v -0.839062 -0.505640 -0.498824 +v 1.403571 -1.723699 0.746768 +v 1.265182 -0.505450 -0.914379 +v 1.680613 -1.751209 0.303664 +v 1.625098 -1.723699 -0.720465 +v -0.257353 -1.889711 0.774495 +v -1.032964 -1.972813 0.359119 +v 1.652723 -0.505640 0.220839 +v -1.032964 -1.723509 0.525305 +v 0.240951 -0.644142 0.912954 +v -1.032964 -1.363973 -0.582006 +v 0.683740 -2.443720 -0.028171 +v 1.569583 -0.505640 -0.775741 +v -1.032964 -0.533340 0.303664 +v 1.680613 -0.810154 0.303664 +v 1.403571 -0.727053 -0.886651 +v 0.932892 -0.671842 -0.914379 +v 1.652723 -0.727053 0.774495 +v -0.174480 -2.388319 0.026926 +v -1.032964 -1.391673 0.525305 +v 1.043655 -1.640598 0.774674 +v -0.202104 -0.505450 -0.858745 +v -1.032964 -0.782454 -0.443548 +v 1.652723 -1.723699 0.636037 +v -0.285243 -0.505450 0.857499 +v 1.680613 -1.862011 -0.277361 +v -0.423631 -2.028214 0.663764 +v 1.652723 -2.111315 -0.609555 +v -0.174480 -2.221927 -0.221906 +v 1.292807 -1.723699 -0.803469 +v 1.403571 -1.917602 0.553033 +v -0.229729 -1.363973 0.829950 +v 1.459085 -0.505640 0.857678 +v 1.486710 -1.917602 -0.775741 +v -1.032964 -2.028214 -0.055899 +f 171 165 216 +f 155 154 166 +f 164 153 167 +f 164 167 170 +f 153 164 171 +f 161 159 173 +f 156 165 176 +f 171 162 176 +f 161 156 179 +f 163 161 179 +f 161 173 180 +f 170 167 181 +f 157 164 182 +f 166 154 184 +f 167 153 188 +f 154 155 189 +f 184 154 189 +f 181 167 190 +f 178 166 191 +f 162 171 192 +f 171 164 192 +f 177 162 192 +f 156 161 193 +f 165 156 193 +f 161 180 193 +f 180 165 193 +f 160 184 194 +f 186 160 194 +f 174 186 194 +f 189 174 194 +f 184 189 194 +f 181 158 195 +f 170 181 195 +f 158 182 195 +f 182 170 195 +f 155 185 196 +f 185 174 196 +f 189 155 196 +f 174 189 196 +f 184 160 197 +f 168 184 197 +f 160 186 197 +f 177 169 198 +f 184 168 198 +f 169 184 198 +f 172 183 199 +f 185 155 199 +f 153 165 200 +f 165 180 200 +f 180 173 200 +f 188 153 200 +f 173 188 200 +f 158 181 201 +f 181 190 201 +f 190 175 201 +f 172 178 202 +f 159 183 202 +f 183 172 202 +f 178 191 202 +f 191 159 202 +f 164 157 203 +f 169 177 203 +f 157 182 203 +f 182 158 203 +f 166 184 203 +f 184 169 203 +f 192 164 203 +f 177 192 203 +f 164 170 204 +f 182 164 204 +f 170 182 204 +f 163 179 205 +f 183 163 205 +f 179 185 205 +f 199 183 205 +f 185 199 205 +f 175 166 206 +f 158 201 206 +f 201 175 206 +f 203 158 206 +f 166 203 206 +f 179 156 207 +f 174 185 207 +f 185 179 207 +f 173 159 208 +f 159 187 208 +f 167 188 208 +f 188 173 208 +f 190 167 208 +f 187 190 208 +f 156 176 209 +f 186 174 209 +f 207 156 209 +f 174 207 209 +f 165 171 210 +f 176 165 210 +f 171 176 210 +f 168 176 211 +f 176 162 211 +f 162 177 211 +f 198 168 211 +f 177 198 211 +f 159 161 212 +f 161 163 212 +f 183 159 212 +f 163 183 212 +f 166 175 213 +f 187 159 213 +f 175 190 213 +f 190 187 213 +f 191 166 213 +f 159 191 213 +f 155 166 214 +f 166 178 214 +f 178 172 214 +f 199 155 214 +f 172 199 214 +f 176 168 215 +f 168 197 215 +f 197 186 215 +f 209 176 215 +f 186 209 215 +f 165 153 216 +f 153 171 216 +o convex_4 +v 1.736339 -1.447004 0.359271 +v 1.680613 -1.723737 -0.360517 +v 1.680613 -1.557589 -0.360517 +v 3.591006 -1.474650 -0.055942 +v 1.680613 -1.170000 0.054697 +v 1.680613 -1.862239 0.054697 +v 3.369411 -1.253074 -0.055942 +v 3.341735 -1.474650 0.193172 +v 3.148003 -1.640663 -0.222112 +v 1.708663 -1.308502 -0.332892 +v 1.930071 -1.170000 0.220867 +v 3.231031 -1.474650 -0.277502 +v 1.680613 -1.723737 0.303952 +v 3.314059 -1.668309 -0.000623 +v 1.708663 -1.862239 -0.194417 +v 3.092464 -1.280856 0.165477 +v 2.677323 -1.280856 -0.249807 +v 1.680613 -1.197714 0.248562 +v 3.231031 -1.696091 -0.055942 +v 2.566806 -1.197714 -0.028247 +v 3.369411 -1.253074 0.027002 +v 1.708663 -1.779165 0.248562 +v 3.148003 -1.613016 0.137711 +v 1.736339 -1.834525 -0.277502 +v 3.369411 -1.447004 -0.249807 +v 1.680613 -1.280856 -0.305197 +v 1.708663 -1.557589 0.359271 +v 3.341735 -1.419222 0.193172 +v 2.898731 -1.474650 -0.305197 +v 1.708663 -1.419222 0.359271 +v 3.341735 -1.668309 -0.083637 +v 3.591006 -1.474650 -0.000623 +v 3.203355 -1.336148 -0.222112 +v 1.736339 -1.197714 -0.083637 +v 3.369411 -1.502296 -0.249807 +v 2.622159 -1.308502 -0.277502 +v 3.591006 -1.419222 -0.055942 +f 237 248 253 +f 219 218 221 +f 221 218 222 +f 225 218 228 +f 221 222 229 +f 222 218 231 +f 227 221 234 +f 221 229 234 +f 230 222 235 +f 222 231 235 +f 221 227 236 +f 223 233 236 +f 227 232 237 +f 236 227 237 +f 223 236 237 +f 229 222 238 +f 222 230 238 +f 238 230 239 +f 224 229 239 +f 230 224 239 +f 229 238 239 +f 218 225 240 +f 231 218 240 +f 235 231 240 +f 219 221 242 +f 226 219 242 +f 233 226 242 +f 224 217 243 +f 229 224 243 +f 217 224 244 +f 237 232 244 +f 218 219 245 +f 219 226 245 +f 228 218 245 +f 232 227 246 +f 227 234 246 +f 234 229 246 +f 243 217 246 +f 229 243 246 +f 217 244 246 +f 244 232 246 +f 230 235 247 +f 240 225 247 +f 235 240 247 +f 224 230 248 +f 244 224 248 +f 237 244 248 +f 247 220 248 +f 230 247 248 +f 233 223 249 +f 223 241 249 +f 241 228 249 +f 221 236 250 +f 236 233 250 +f 242 221 250 +f 233 242 250 +f 225 228 251 +f 241 220 251 +f 228 241 251 +f 220 247 251 +f 247 225 251 +f 226 233 252 +f 245 226 252 +f 228 245 252 +f 233 249 252 +f 249 228 252 +f 223 237 253 +f 220 241 253 +f 241 223 253 +f 248 220 253 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/339/339.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/339/339.urdf new file mode 100644 index 000000000..c2a03470f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/339/339.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/340/340.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/340/340.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/340/340.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/340/340.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/340/340.obj new file mode 100644 index 000000000..4ea547da2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/340/340.obj @@ -0,0 +1,390 @@ +o convex_0 +v 0.524068 -3.888319 0.440885 +v -0.573469 -4.702276 0.086722 +v -0.537864 -5.339717 -0.550576 +v -0.573469 -3.427775 -0.515117 +v 0.488796 -5.339717 -0.515117 +v 0.559673 -5.304261 0.476237 +v -0.537864 -3.427775 0.547155 +v 0.488796 -3.427775 -0.515117 +v -0.537864 -5.375173 0.440885 +v 0.488796 -3.427775 0.440885 +v 0.028374 -4.242495 -0.550576 +v -0.325566 -3.746686 0.547155 +v -0.573469 -4.384127 -0.550576 +v 0.347043 -3.427775 0.476237 +v -0.077553 -5.375173 -0.019333 +v 0.099251 -5.339717 -0.550576 +v -0.573469 -3.427775 0.086722 +v 0.347043 -5.339717 0.440885 +v 0.559673 -5.268806 0.370074 +v -0.502592 -4.950275 0.476237 +v -0.325566 -3.427775 0.547155 +v 0.524068 -5.339717 -0.019333 +f 19 6 22 +f 4 7 8 +f 2 3 9 +f 7 2 9 +f 6 1 10 +f 8 7 10 +f 1 8 10 +f 4 8 11 +f 3 2 13 +f 2 4 13 +f 11 3 13 +f 4 11 13 +f 6 10 14 +f 10 7 14 +f 9 3 15 +f 8 5 16 +f 3 11 16 +f 11 8 16 +f 15 3 16 +f 5 15 16 +f 4 2 17 +f 2 7 17 +f 7 4 17 +f 6 9 18 +f 9 15 18 +f 1 6 19 +f 5 8 19 +f 8 1 19 +f 9 6 20 +f 7 9 20 +f 6 12 20 +f 12 7 20 +f 12 6 21 +f 7 12 21 +f 6 14 21 +f 14 7 21 +f 15 5 22 +f 6 18 22 +f 18 15 22 +f 5 19 22 +o convex_1 +v 1.055374 0.538222 -0.656393 +v -1.104414 -3.356351 0.192695 +v -1.104414 -3.356351 0.971938 +v 1.090619 -3.356739 0.865560 +v -0.998252 0.537834 0.936478 +v -1.104414 -3.321027 -1.046014 +v -1.033711 0.537834 -1.081688 +v 0.948997 -3.321415 -1.116933 +v 1.090619 0.538222 1.078100 +v 1.019915 0.538222 -1.010770 +v 1.090619 -3.356739 1.042856 +v 0.488672 -3.427387 -0.514985 +v 0.630293 -0.099552 1.078100 +v -0.148520 -1.090954 -1.116933 +v -0.608845 -3.427387 0.617775 +v -1.033711 0.325113 0.936478 +v -1.069170 -0.453957 -1.081688 +v 1.055374 -2.577281 1.078100 +v 1.019915 -0.595253 -1.046014 +v -0.573386 -3.427387 -0.514985 +v -0.715008 -2.541957 1.007397 +v 1.090619 0.538222 0.192909 +v -0.360845 0.538222 -1.081473 +v 0.984456 -3.321415 -0.833689 +v 0.488672 -3.427387 0.440694 +v -1.104414 -3.037658 0.971938 +v 0.276346 -3.321027 1.042856 +v -0.679548 0.538222 0.971723 +v 0.559590 -3.321027 -1.116933 +v 0.948997 -2.790001 -1.116933 +v -1.104414 -2.577669 -1.046014 +v -1.069170 -1.267962 -1.081688 +v -1.033711 0.537834 0.511613 +v -1.069170 -1.833923 0.971938 +v 1.090619 -3.250379 0.794857 +v 0.842834 -3.356739 -0.975311 +v -1.069170 -3.356351 -0.904607 +v 0.736671 0.538222 1.078100 +v 0.984456 -0.382920 -1.046014 +v -0.396305 -3.321027 -1.081473 +v -0.573386 -3.356351 1.007397 +v 0.984456 -2.435985 -1.081473 +f 41 46 64 +f 24 25 28 +f 31 23 32 +f 26 31 33 +f 26 33 34 +f 25 24 37 +f 29 36 39 +f 33 31 40 +f 31 35 40 +f 32 23 41 +f 37 24 42 +f 34 37 42 +f 31 26 44 +f 23 31 44 +f 31 32 45 +f 36 29 45 +f 26 30 46 +f 34 33 47 +f 33 37 47 +f 37 34 47 +f 28 25 48 +f 25 43 48 +f 33 40 49 +f 40 35 49 +f 35 43 49 +f 27 38 50 +f 43 35 50 +f 45 29 50 +f 31 45 50 +f 36 30 51 +f 30 36 52 +f 41 30 52 +f 36 45 52 +f 39 28 53 +f 28 48 53 +f 48 39 53 +f 28 39 54 +f 39 36 54 +f 36 51 54 +f 38 27 55 +f 29 39 55 +f 39 48 55 +f 48 38 55 +f 27 50 55 +f 50 29 55 +f 38 48 56 +f 48 43 56 +f 50 38 56 +f 43 50 56 +f 41 23 57 +f 23 44 57 +f 44 26 57 +f 26 46 57 +f 46 41 57 +f 30 26 58 +f 26 34 58 +f 34 42 58 +f 51 30 58 +f 24 28 59 +f 42 24 59 +f 58 42 59 +f 35 31 60 +f 31 50 60 +f 50 35 60 +f 32 41 61 +f 45 32 61 +f 41 52 61 +f 52 45 61 +f 28 54 62 +f 54 51 62 +f 51 58 62 +f 58 59 62 +f 59 28 62 +f 25 37 63 +f 37 33 63 +f 43 25 63 +f 33 49 63 +f 49 43 63 +f 30 41 64 +f 46 30 64 +o convex_2 +v 1.090619 1.246651 -1.683750 +v -1.104414 2.556219 -2.923048 +v -1.104414 2.556219 -2.887408 +v -1.033711 0.609227 -1.365199 +v -0.927333 2.627408 -1.081737 +v 0.736671 0.644822 -2.958503 +v 1.090619 2.662566 -2.922864 +v 1.090619 2.698160 -1.081921 +v 1.019700 0.679979 -1.081737 +v -0.927333 0.573633 -2.958503 +v -1.104414 2.804507 -2.923048 +v 1.090619 0.644603 -2.922864 +v -1.033711 0.644603 -1.081737 +v -0.962792 2.662784 -1.188288 +v -1.104414 2.804507 -2.710313 +v -0.998252 1.565254 -2.958503 +v -0.821171 2.804507 -2.923048 +v 0.240887 0.644822 -1.117193 +v 1.090619 2.698160 -2.108484 +v 1.055374 0.786326 -1.117376 +v 1.090619 0.644603 -2.462674 +v 0.417968 2.697942 -1.081737 +v -1.033711 0.963206 -1.081737 +v -0.856630 0.573633 -2.816497 +v -0.962792 0.892454 -2.958503 +v -0.962792 2.627408 -1.117193 +v 1.090619 2.025360 -1.081921 +v 0.736671 2.697942 -2.923048 +v -0.962792 0.609227 -1.294471 +f 88 82 93 +f 67 66 68 +f 65 71 72 +f 66 67 75 +f 71 65 76 +f 70 71 76 +f 74 70 76 +f 67 68 77 +f 73 69 77 +f 75 67 79 +f 67 77 79 +f 71 70 80 +f 70 74 80 +f 66 75 80 +f 80 75 81 +f 79 72 81 +f 75 79 81 +f 73 77 82 +f 72 71 83 +f 81 72 83 +f 76 65 85 +f 73 82 85 +f 65 84 85 +f 84 73 85 +f 69 73 86 +f 73 72 86 +f 78 69 86 +f 72 79 86 +f 79 78 86 +f 77 69 87 +f 79 77 87 +f 68 74 88 +f 74 76 88 +f 76 85 88 +f 85 82 88 +f 68 66 89 +f 74 68 89 +f 66 80 89 +f 80 74 89 +f 69 78 90 +f 78 79 90 +f 87 69 90 +f 79 87 90 +f 65 72 91 +f 72 73 91 +f 84 65 91 +f 73 84 91 +f 71 80 92 +f 80 81 92 +f 83 71 92 +f 81 83 92 +f 77 68 93 +f 82 77 93 +f 68 88 93 +o convex_3 +v 0.984481 2.308480 3.061141 +v -1.033677 0.538222 -1.081737 +v -1.033677 0.998977 -1.081737 +v 1.090833 2.060688 -1.081737 +v -0.998367 2.733297 2.317149 +v 1.055312 0.715470 2.990382 +v -1.069198 0.680198 3.025557 +v 1.019791 0.538444 -1.010569 +v -0.927536 2.627259 -1.081737 +v 1.090833 2.698247 -1.081737 +v 0.948960 2.804507 3.096725 +v -0.856493 2.769013 3.025557 +v 1.090833 0.538444 1.078253 +v -1.069198 2.662753 0.830801 +v -0.998367 0.538222 0.936735 +v 0.417832 2.698025 -1.081737 +v 1.055312 0.892496 -1.081737 +v 1.090833 2.698247 -0.585606 +v -1.069198 1.175781 3.025557 +v 1.090833 0.715470 2.140456 +v 0.559494 2.379467 3.096725 +v -1.069198 1.919156 0.264320 +v -0.962846 2.662753 2.989973 +v -0.431718 0.679976 3.025557 +v 1.090833 0.538444 0.193561 +v -1.069198 0.715470 2.069697 +v -1.069198 2.662753 1.184187 +v 1.055312 0.927768 2.990382 +v 1.019791 0.679976 -1.081737 +v -0.962846 2.520999 -0.833467 +v -0.360887 2.662531 -1.081328 +v 0.878340 2.804507 3.025557 +v -0.431718 1.352807 3.060732 +v -0.856493 2.769013 2.954798 +v 0.948960 2.520999 3.096725 +v 0.630326 2.769013 3.096725 +v -0.998367 2.166948 3.025557 +v -1.033677 0.538222 0.477006 +v 0.984481 1.246547 3.025557 +v 1.055312 0.679976 2.636178 +v 1.055312 0.538444 -0.691949 +f 110 118 134 +f 95 96 97 +f 97 96 102 +f 97 102 103 +f 97 103 106 +f 98 102 107 +f 106 100 108 +f 103 102 109 +f 95 97 110 +f 104 94 111 +f 103 104 111 +f 106 103 111 +f 107 100 112 +f 99 106 113 +f 106 111 113 +f 96 95 115 +f 107 96 115 +f 100 107 115 +f 105 98 116 +f 100 106 117 +f 97 106 118 +f 108 95 118 +f 106 108 118 +f 110 97 118 +f 95 100 119 +f 115 95 119 +f 100 115 119 +f 98 107 120 +f 107 112 120 +f 94 104 121 +f 104 99 121 +f 111 94 121 +f 99 113 121 +f 113 111 121 +f 101 95 122 +f 95 110 122 +f 110 101 122 +f 102 96 123 +f 96 107 123 +f 107 102 123 +f 109 102 124 +f 104 103 125 +f 105 104 125 +f 103 109 125 +f 112 100 126 +f 100 117 126 +f 117 114 126 +f 102 98 127 +f 98 105 127 +f 124 102 127 +f 109 124 127 +f 105 125 127 +f 125 109 127 +f 99 104 128 +f 104 114 128 +f 114 117 128 +f 104 105 129 +f 114 104 129 +f 126 114 129 +f 126 129 130 +f 116 98 130 +f 105 116 130 +f 98 120 130 +f 120 112 130 +f 112 126 130 +f 129 105 130 +f 100 95 131 +f 95 108 131 +f 108 100 131 +f 117 99 132 +f 99 128 132 +f 128 117 132 +f 106 99 133 +f 117 106 133 +f 99 117 133 +f 95 101 134 +f 101 110 134 +f 118 95 134 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/340/340.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/340/340.urdf new file mode 100644 index 000000000..d788ed399 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/340/340.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/341/341.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/341/341.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/341/341.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/341/341.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/341/341.obj new file mode 100644 index 000000000..b9a1fde7d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/341/341.obj @@ -0,0 +1,660 @@ +o convex_0 +v -0.748647 0.623245 1.058743 +v 1.072999 1.251395 -0.794212 +v 1.072796 1.659779 -0.762900 +v -1.000070 1.565521 -1.045736 +v 0.978639 1.659678 0.995707 +v 1.072999 0.623245 -1.014218 +v -0.968414 1.659678 0.995913 +v -1.000070 0.623245 -1.045736 +v 0.978639 0.623245 0.995707 +v -1.000070 0.623245 0.775701 +v 1.072796 1.659779 -0.982906 +v -1.000070 1.659678 -1.014218 +v -0.748647 1.659678 1.058743 +v 0.915733 0.717503 1.027225 +v 1.041546 0.623245 0.021953 +v -1.000070 1.659678 0.524383 +v -0.968414 0.623245 0.995913 +v 1.072999 0.968824 -1.014218 +v 0.758873 1.188489 1.027225 +f 13 14 19 +f 4 6 8 +f 6 1 8 +f 1 6 9 +f 4 8 10 +f 8 1 10 +f 3 2 11 +f 4 10 12 +f 3 11 12 +f 11 4 12 +f 5 3 13 +f 3 7 13 +f 7 1 13 +f 1 9 14 +f 9 5 14 +f 13 1 14 +f 2 3 15 +f 3 5 15 +f 6 2 15 +f 5 9 15 +f 9 6 15 +f 7 3 16 +f 10 7 16 +f 3 12 16 +f 12 10 16 +f 1 7 17 +f 7 10 17 +f 10 1 17 +f 2 6 18 +f 6 4 18 +f 11 2 18 +f 4 11 18 +f 5 13 19 +f 14 5 19 +o convex_1 +v -0.434577 -3.019798 -1.077146 +v -0.622951 0.622879 1.090153 +v -0.654312 0.622879 1.090153 +v 1.072839 -2.988698 1.089941 +v 1.072839 0.622879 -1.014138 +v -0.999910 0.622879 -1.045536 +v -1.031480 -3.114560 0.932952 +v 1.072839 -3.051629 -1.014138 +v 1.010117 0.559948 0.995747 +v -0.937188 -2.988698 -1.077146 +v -0.968549 0.622879 0.995747 +v 0.507506 0.434452 -1.077146 +v 1.104409 -3.020164 0.901554 +v -0.183271 -2.266456 1.090153 +v 0.947186 0.622879 1.027145 +v 0.507506 0.434452 1.090153 +v -0.999910 0.622879 0.775750 +v 0.947186 -3.051629 -1.045536 +v -0.968549 -1.826671 -1.077146 +v 1.104409 -2.737340 1.058543 +v -0.591590 -0.916368 1.090153 +v -0.434577 0.528483 -1.077146 +v -0.717243 -3.114560 0.932740 +v -0.999910 -3.114560 0.650159 +v 0.350492 -2.234625 -1.077146 +v 1.072839 -3.051629 -0.071779 +v 1.072839 0.622879 -0.794141 +v 0.319131 -3.051629 -1.045536 +v 1.104409 -2.988332 0.650159 +v -0.968549 -3.019798 -0.668550 +v -0.968549 -2.800271 0.964350 +v -1.031480 -3.114560 0.838758 +v -1.031480 -2.674409 0.869944 +v -0.999910 0.277125 -1.045536 +v 1.104409 -2.894302 1.089941 +v -0.968549 -0.727941 -1.077146 +v -0.277563 -3.083095 0.995747 +v -0.999910 -0.162660 0.964350 +v 1.010117 0.465918 1.027145 +v -0.968549 -0.225225 0.995747 +v 1.104409 -2.580379 0.964350 +v 0.005104 -3.019798 -1.077146 +f 44 37 61 +f 22 21 24 +f 22 24 25 +f 22 25 30 +f 20 29 31 +f 21 22 33 +f 24 21 34 +f 21 33 35 +f 34 21 35 +f 30 25 36 +f 24 27 37 +f 31 24 37 +f 31 29 38 +f 33 22 40 +f 25 24 41 +f 24 31 41 +f 31 38 41 +f 37 27 43 +f 42 26 43 +f 27 42 43 +f 20 31 44 +f 31 37 44 +f 27 32 45 +f 32 42 45 +f 42 27 45 +f 24 34 46 +f 34 28 46 +f 20 37 47 +f 43 20 47 +f 37 43 47 +f 27 24 48 +f 32 27 48 +f 39 32 48 +f 29 20 49 +f 38 29 49 +f 20 43 49 +f 26 33 50 +f 33 40 50 +f 43 26 51 +f 38 49 51 +f 49 43 51 +f 36 25 52 +f 25 51 52 +f 51 26 52 +f 25 38 53 +f 51 25 53 +f 38 51 53 +f 23 32 54 +f 33 23 54 +f 35 33 54 +f 32 39 54 +f 38 25 55 +f 25 41 55 +f 41 38 55 +f 32 23 56 +f 23 33 56 +f 33 26 56 +f 26 42 56 +f 42 32 56 +f 26 30 57 +f 30 36 57 +f 36 52 57 +f 52 26 57 +f 28 34 58 +f 34 35 58 +f 39 28 58 +f 35 54 58 +f 54 39 58 +f 22 30 59 +f 30 26 59 +f 40 22 59 +f 26 50 59 +f 50 40 59 +f 28 39 60 +f 24 46 60 +f 46 28 60 +f 48 24 60 +f 39 48 60 +f 37 20 61 +f 20 44 61 +o convex_2 +v 0.005079 -1.795424 3.005940 +v 0.067801 -2.329248 1.090153 +v -0.183400 -2.297823 1.467363 +v -0.183400 -1.732573 1.090153 +v 0.287746 -1.732573 1.090153 +v 0.224867 -2.234972 3.005940 +v -0.214813 -2.329248 2.943040 +v -0.246227 -1.732573 2.911590 +v 0.224867 -2.329248 1.278853 +v 0.193454 -1.826849 3.037390 +v -0.183400 -2.266397 1.090153 +v 0.287746 -1.889642 1.090153 +v -0.246227 -1.826849 2.597661 +v -0.089161 -2.329248 2.943040 +v 0.256332 -1.763998 1.938352 +v -0.214813 -1.732573 1.404463 +v -0.214813 -2.329248 2.503310 +v 0.224867 -2.297823 1.090153 +v 0.224867 -2.329248 1.561523 +v 0.287746 -1.763998 1.467363 +f 76 71 81 +f 63 65 66 +f 66 65 69 +f 68 62 69 +f 68 63 70 +f 62 68 71 +f 68 67 71 +f 69 62 71 +f 63 64 72 +f 65 63 72 +f 63 66 73 +f 68 69 74 +f 67 68 75 +f 68 70 75 +f 66 69 76 +f 69 71 76 +f 69 65 77 +f 65 72 77 +f 74 69 77 +f 72 74 77 +f 64 63 78 +f 63 68 78 +f 72 64 78 +f 68 74 78 +f 74 72 78 +f 70 63 79 +f 63 73 79 +f 73 70 79 +f 73 67 80 +f 70 73 80 +f 67 75 80 +f 75 70 80 +f 71 67 81 +f 73 66 81 +f 67 73 81 +f 66 76 81 +o convex_3 +v -0.277524 0.403322 3.100401 +v 0.319139 -0.601750 1.090350 +v 0.538920 -0.601750 1.090350 +v -0.560328 0.560425 1.090350 +v 0.507523 0.466118 1.373087 +v 0.601828 -0.601750 3.100401 +v -0.434511 -0.444647 2.942997 +v -0.497420 -0.507443 1.090350 +v 0.476125 0.497515 2.942997 +v -0.466022 0.434720 3.100401 +v 0.507523 0.434720 1.090350 +v -0.560328 0.403322 1.561578 +v 0.413217 -0.601750 3.068723 +v 0.601828 -0.381738 3.068723 +v 0.570317 -0.570238 1.153311 +v -0.497420 -0.507443 1.593059 +v -0.466022 -0.130555 3.005958 +v 0.099244 0.497515 3.005958 +v 0.538920 0.214821 1.090350 +v -0.528817 -0.444647 1.121830 +v -0.497420 0.466118 2.817467 +v -0.434511 0.560425 1.090350 +v -0.340319 -0.538841 1.153311 +v 0.601828 -0.601750 2.157943 +v -0.560328 0.560425 1.310322 +v -0.277524 0.089230 3.100401 +v 0.476125 0.497515 2.220708 +v -0.466022 -0.444647 2.628975 +v 0.507523 0.466118 1.875600 +v 0.601828 -0.507443 3.100401 +f 95 90 111 +f 84 83 85 +f 83 84 87 +f 85 83 89 +f 87 82 91 +f 84 85 92 +f 83 87 94 +f 94 88 97 +f 82 90 99 +f 91 82 99 +f 84 92 100 +f 92 86 100 +f 96 84 100 +f 85 89 101 +f 93 85 101 +f 89 97 101 +f 98 91 102 +f 93 98 102 +f 91 99 102 +f 92 85 103 +f 86 92 103 +f 89 83 104 +f 83 94 104 +f 97 89 104 +f 94 97 104 +f 87 84 105 +f 95 87 105 +f 84 96 105 +f 100 95 105 +f 96 100 105 +f 85 93 106 +f 99 90 106 +f 93 102 106 +f 102 99 106 +f 90 103 106 +f 103 85 106 +f 87 91 107 +f 94 87 107 +f 88 94 107 +f 91 98 107 +f 98 88 107 +f 90 86 108 +f 86 103 108 +f 103 90 108 +f 97 88 109 +f 98 93 109 +f 88 98 109 +f 93 101 109 +f 101 97 109 +f 86 90 110 +f 90 95 110 +f 100 86 110 +f 95 100 110 +f 82 87 111 +f 90 82 111 +f 87 95 111 +o convex_4 +v 1.104326 1.816962 0.210522 +v -1.031480 2.382209 -1.014326 +v -1.031480 3.010246 -1.014326 +v -0.937192 2.978851 1.027290 +v 1.072757 3.104571 -0.982670 +v -0.968551 1.659847 0.995836 +v 0.915749 2.978851 0.964180 +v 1.072757 1.659847 -0.982872 +v -0.999911 1.659847 -1.014326 +v 0.947318 1.659847 0.995836 +v -1.031480 2.444999 0.492992 +v -0.748615 1.785567 1.058743 +v 0.947318 3.010246 0.870024 +v 1.104326 2.256489 0.304678 +v 0.821461 3.104571 -0.731247 +v -1.031480 1.659847 0.304881 +v 1.104326 2.978851 -0.825607 +v -0.089016 3.041640 -1.014326 +v 0.884390 2.350814 0.995836 +v 1.104326 1.659847 -0.323168 +v -0.968551 2.916061 0.964180 +v 0.382007 2.978851 0.995634 +v -0.308952 1.879751 -1.014326 +v -0.560248 3.010246 0.618601 +v -0.811544 1.659847 1.058743 +v 0.947318 2.758946 0.964180 +v 0.884390 3.010246 0.932727 +v -1.031480 1.691383 -0.354621 +v 1.072757 3.104571 -0.699794 +v -1.031480 3.010246 -0.888513 +v -0.780184 1.942683 1.058743 +f 136 123 142 +f 119 117 120 +f 113 114 120 +f 117 119 121 +f 114 113 122 +f 121 112 125 +f 116 114 126 +f 120 117 127 +f 122 113 127 +f 117 122 127 +f 119 116 128 +f 124 125 128 +f 125 112 128 +f 114 116 129 +f 116 119 129 +f 120 114 129 +f 123 121 130 +f 112 121 131 +f 121 119 131 +f 128 112 131 +f 119 128 131 +f 117 115 132 +f 122 117 132 +f 130 118 133 +f 119 120 134 +f 129 119 134 +f 120 129 134 +f 115 117 136 +f 117 121 136 +f 121 123 136 +f 124 118 137 +f 121 125 137 +f 125 124 137 +f 118 130 137 +f 130 121 137 +f 118 124 138 +f 115 133 138 +f 133 118 138 +f 135 115 138 +f 126 135 138 +f 113 120 139 +f 120 127 139 +f 127 113 139 +f 116 126 140 +f 128 116 140 +f 124 128 140 +f 138 124 140 +f 126 138 140 +f 114 122 141 +f 126 114 141 +f 132 115 141 +f 122 132 141 +f 115 135 141 +f 135 126 141 +f 123 130 142 +f 133 115 142 +f 130 133 142 +f 115 136 142 +o convex_5 +v -0.371867 -1.701104 -3.024411 +v 0.350566 -1.795372 -1.077146 +v 0.350566 -2.234978 -1.077146 +v -0.340399 -2.266462 -1.077146 +v 0.162037 -2.266462 -2.993031 +v -0.309001 -1.701104 -1.140098 +v 0.193506 -1.732527 -3.055984 +v -0.183339 -2.329307 -3.055984 +v 0.256231 -2.234978 -2.710423 +v -0.120543 -1.701104 -1.077146 +v 0.067773 -1.701104 -2.364863 +v -0.340399 -1.858155 -3.055984 +v -0.214807 -2.329307 -2.835941 +v -0.340399 -2.046505 -1.077146 +v -0.089145 -2.329307 -3.055984 +v -0.340399 -2.266462 -1.297189 +v 0.224833 -1.983845 -2.993031 +v -0.183339 -2.329307 -2.647471 +v 0.287629 -1.764011 -1.328568 +v 0.067773 -1.701104 -3.055984 +f 149 154 162 +f 145 144 146 +f 144 145 151 +f 145 147 151 +f 146 144 152 +f 143 148 152 +f 143 152 153 +f 149 150 154 +f 154 150 155 +f 143 146 156 +f 148 143 156 +f 146 152 156 +f 152 148 156 +f 147 145 157 +f 149 147 157 +f 150 149 157 +f 155 150 157 +f 146 143 158 +f 143 154 158 +f 154 155 158 +f 155 146 158 +f 149 144 159 +f 147 149 159 +f 144 151 159 +f 151 147 159 +f 145 146 160 +f 146 155 160 +f 157 145 160 +f 155 157 160 +f 144 149 161 +f 152 144 161 +f 149 153 161 +f 153 152 161 +f 153 149 162 +f 143 153 162 +f 154 143 162 +o convex_6 +v 0.350498 0.466038 -1.077146 +v -0.214730 -0.507520 -2.993139 +v -0.560328 0.434615 -3.087394 +v -0.528758 -0.507520 -1.077146 +v 0.444790 -0.476097 -3.055910 +v 0.476151 0.497460 -3.087394 +v 0.444790 -0.444675 -1.077146 +v -0.434571 0.528882 -1.077146 +v -0.466036 -0.507520 -2.961655 +v -0.560328 0.591835 -2.898884 +v 0.507616 0.434723 -1.077146 +v 0.507616 0.120606 -1.736931 +v -0.120439 -0.507520 -1.077146 +v -0.403105 0.591835 -3.087394 +v 0.507616 0.434723 -2.741858 +v -0.466036 0.528882 -1.202885 +v -0.497397 -0.413252 -2.961655 +v 0.476151 -0.318985 -1.077146 +v -0.528758 -0.350407 -1.077146 +v 0.476151 -0.256140 -2.616119 +v -0.528758 -0.507520 -1.516937 +v 0.287567 -0.476097 -1.077146 +v -0.434571 0.560305 -1.862473 +v 0.476151 0.246296 -3.087394 +v 0.256206 -0.476097 -3.055910 +v 0.507616 0.466038 -1.736931 +f 173 177 188 +f 163 166 169 +f 166 163 170 +f 165 164 171 +f 164 166 171 +f 165 166 172 +f 163 169 173 +f 166 164 175 +f 164 167 175 +f 169 166 175 +f 168 165 176 +f 165 172 176 +f 173 174 177 +f 170 172 178 +f 165 171 179 +f 169 167 180 +f 173 169 180 +f 174 173 180 +f 166 170 181 +f 172 166 181 +f 170 178 181 +f 178 172 181 +f 167 177 182 +f 177 174 182 +f 180 167 182 +f 174 180 182 +f 166 165 183 +f 171 166 183 +f 165 179 183 +f 179 171 183 +f 167 169 184 +f 175 167 184 +f 169 175 184 +f 170 163 185 +f 172 170 185 +f 163 176 185 +f 176 172 185 +f 165 168 186 +f 177 167 186 +f 168 177 186 +f 164 165 187 +f 167 164 187 +f 165 186 187 +f 186 167 187 +f 163 173 188 +f 176 163 188 +f 168 176 188 +f 177 168 188 +o convex_7 +v -1.534276 2.193687 0.336310 +v -1.377228 1.691297 -0.354713 +v -1.377228 1.722679 -0.354713 +v -3.041445 1.691297 -0.260421 +v -2.978545 2.350802 -0.291874 +v -2.947298 1.722679 0.242018 +v -1.031683 2.319284 -0.291874 +v -1.031683 1.659847 0.304789 +v -3.104345 2.287902 0.242018 +v -1.031683 2.350802 0.336310 +v -1.031683 1.691297 -0.354713 +v -1.440128 1.659847 0.304789 +v -1.063133 1.659847 -0.103426 +v -3.009995 1.691297 0.022116 +v -1.031683 1.848344 -0.354713 +v -2.162060 2.319284 0.304789 +v -2.978545 2.350802 -0.166197 +v -2.319108 2.350802 -0.291874 +v -2.633203 1.879727 0.273403 +v -2.978545 2.068022 -0.291874 +v -1.031683 1.942559 0.336310 +f 200 196 209 +f 191 190 193 +f 193 192 197 +f 196 195 198 +f 190 191 199 +f 195 196 199 +f 196 200 201 +f 192 190 201 +f 190 199 201 +f 199 196 201 +f 200 192 201 +f 197 192 202 +f 194 197 202 +f 192 200 202 +f 200 194 202 +f 191 193 203 +f 199 191 203 +f 195 199 203 +f 189 198 204 +f 204 198 205 +f 193 197 205 +f 198 193 205 +f 197 204 205 +f 193 198 206 +f 198 195 206 +f 203 193 206 +f 195 203 206 +f 197 194 207 +f 200 189 207 +f 194 200 207 +f 189 204 207 +f 204 197 207 +f 190 192 208 +f 192 193 208 +f 193 190 208 +f 198 189 209 +f 196 198 209 +f 189 200 209 +o convex_8 +v 2.988733 2.319392 0.084955 +v 1.104596 1.911112 -0.354713 +v 1.104596 2.319392 -0.354713 +v 1.104596 2.225069 0.304789 +v 3.020426 1.785478 0.304789 +v 2.894592 1.722661 -0.260421 +v 1.104596 1.659844 -0.197650 +v 3.020426 2.319392 0.336310 +v 2.988733 2.256510 -0.197650 +v 1.104596 1.816919 0.210565 +v 1.670006 1.659844 -0.323260 +v 1.513041 2.287886 0.304789 +v 2.423323 2.287886 -0.260421 +v 1.104596 1.659844 -0.323260 +v 1.136101 2.319392 -0.166197 +v 2.831769 1.785478 0.304789 +v 1.230243 2.319392 -0.354713 +v 3.020426 1.785478 0.147726 +v 2.203536 2.319392 0.304789 +v 1.701512 1.659844 -0.260421 +f 216 220 229 +f 212 211 213 +f 213 211 216 +f 210 212 217 +f 210 217 218 +f 213 216 219 +f 213 217 221 +f 210 218 222 +f 218 215 222 +f 216 211 223 +f 211 220 223 +f 220 216 223 +f 212 213 224 +f 217 212 224 +f 213 221 224 +f 216 214 225 +f 217 213 225 +f 214 217 225 +f 213 219 225 +f 219 216 225 +f 212 210 226 +f 211 212 226 +f 220 211 226 +f 215 220 226 +f 210 222 226 +f 222 215 226 +f 214 215 227 +f 217 214 227 +f 218 217 227 +f 215 218 227 +f 221 217 228 +f 217 224 228 +f 224 221 228 +f 215 214 229 +f 214 216 229 +f 220 215 229 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/341/341.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/341/341.urdf new file mode 100644 index 000000000..1b01ecd99 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/341/341.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/342/342.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/342/342.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/342/342.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/342/342.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/342/342.obj new file mode 100644 index 000000000..63ae11b7d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/342/342.obj @@ -0,0 +1,564 @@ +o convex_0 +v -1.812306 -4.307003 -0.326356 +v -1.655307 -3.898717 0.333242 +v -1.686685 -3.898717 0.333242 +v -1.780929 -1.951739 -0.232128 +v -2.063494 -3.270549 0.301788 +v -1.529686 -1.951739 0.207492 +v -1.561064 -3.835999 -0.326356 +v -2.094982 -4.307003 -0.263447 +v -2.032061 -2.046185 0.238879 +v -1.561064 -4.464414 0.333242 +v -2.063494 -4.307003 0.333242 +v -1.529686 -1.951739 -0.169287 +v -1.969250 -2.046185 -0.200741 +v -1.592497 -4.307003 -0.357811 +v -1.937873 -2.140386 0.270401 +v -1.561064 -2.171622 -0.263447 +v -1.529686 -2.894238 0.270401 +v -2.000683 -1.951739 0.238879 +v -1.655307 -4.150084 -0.357811 +v -1.780929 -4.432685 0.113263 +v -2.094982 -4.307003 0.113263 +v -1.906439 -2.297305 -0.232128 +v -2.094982 -4.338485 -0.232128 +v -1.592497 -4.338485 -0.326356 +v -2.094982 -4.150084 -0.232128 +v -1.529686 -3.019675 0.207492 +v -1.561064 -4.432685 0.144650 +v -1.969250 -1.951739 -0.106513 +v -2.063494 -4.338485 0.238879 +f 21 23 29 +f 2 3 10 +f 3 5 11 +f 10 3 11 +f 4 6 12 +f 3 2 15 +f 5 3 15 +f 9 5 15 +f 4 12 16 +f 12 7 16 +f 7 14 16 +f 2 10 17 +f 12 6 17 +f 15 2 17 +f 6 15 17 +f 6 4 18 +f 15 6 18 +f 9 15 18 +f 1 8 19 +f 14 1 19 +f 4 16 19 +f 16 14 19 +f 5 9 21 +f 11 5 21 +f 13 4 22 +f 8 13 22 +f 19 8 22 +f 4 19 22 +f 8 1 23 +f 21 8 23 +f 1 14 24 +f 23 1 24 +f 20 23 24 +f 13 8 25 +f 9 13 25 +f 21 9 25 +f 8 21 25 +f 7 12 26 +f 17 10 26 +f 12 17 26 +f 14 7 27 +f 10 20 27 +f 24 14 27 +f 20 24 27 +f 7 26 27 +f 26 10 27 +f 4 13 28 +f 13 9 28 +f 18 4 28 +f 9 18 28 +f 10 11 29 +f 20 10 29 +f 11 21 29 +f 23 20 29 +o convex_1 +v 1.454620 -1.951376 0.176043 +v 1.737434 -0.757972 -0.514715 +v 1.737434 -0.757972 -0.546262 +v 3.339209 -1.951376 0.395936 +v 1.360284 -0.789402 0.490226 +v 3.276254 -0.852145 -0.577691 +v 1.360284 -1.857086 -0.546262 +v 3.244873 -0.852145 0.427366 +v 3.339209 -1.951376 -0.483285 +v 1.360284 -1.951376 0.615946 +v 1.360284 -0.757972 -0.546262 +v 3.056395 -1.951376 0.490226 +v 2.930872 -1.951376 -0.514832 +v 1.391858 -0.915122 0.521539 +v 2.993633 -0.977865 0.458796 +v 3.056395 -0.820832 -0.514832 +v 3.276254 -0.977865 0.427366 +v 3.339209 -1.700053 -0.514832 +v 1.391858 -1.888516 0.615946 +v 3.307635 -1.574450 0.458796 +v 1.391858 -0.757972 -0.106359 +v 1.360284 -1.888516 -0.389112 +v 1.580337 -0.789402 0.490226 +v 3.244873 -0.915005 -0.577691 +f 47 42 53 +f 33 30 38 +f 30 33 39 +f 34 36 39 +f 31 32 40 +f 32 35 40 +f 36 34 40 +f 39 33 41 +f 38 30 42 +f 34 39 43 +f 37 43 44 +f 32 31 45 +f 35 32 45 +f 31 37 45 +f 37 35 45 +f 35 37 46 +f 33 38 47 +f 38 42 47 +f 46 33 47 +f 35 46 47 +f 39 41 48 +f 43 39 48 +f 44 43 48 +f 44 48 49 +f 41 33 49 +f 37 44 49 +f 33 46 49 +f 46 37 49 +f 48 41 49 +f 37 31 50 +f 31 40 50 +f 40 34 50 +f 30 39 51 +f 39 36 51 +f 36 42 51 +f 42 30 51 +f 34 43 52 +f 43 37 52 +f 50 34 52 +f 37 50 52 +f 40 35 53 +f 36 40 53 +f 42 36 53 +f 35 47 53 +o convex_2 +v -0.869933 -1.605763 0.521573 +v -2.817333 -0.977865 -0.609103 +v -2.848711 -1.637193 -0.483312 +v -2.848711 -0.915122 0.458738 +v -0.869933 -0.915005 -0.514730 +v -0.869933 -0.789285 0.584408 +v -2.754382 -1.825656 0.584528 +v -0.869933 -1.825773 -0.389059 +v -2.094854 -0.757972 -0.326344 +v -0.869933 -1.951376 0.458738 +v -1.937768 -1.951376 -0.200673 +v -2.848711 -1.794226 -0.451895 +v -2.817333 -0.820832 -0.609103 +v -0.869933 -1.731483 -0.451895 +v -1.937768 -0.757972 0.333187 +v -2.126233 -1.951376 0.301769 +v -0.932884 -0.852262 0.615946 +v -1.561034 -0.757972 -0.294806 +v -1.561034 -1.951376 -0.231971 +v -2.848711 -0.852262 0.113263 +v -1.152727 -0.883692 -0.546268 +v -2.723004 -1.857086 0.552991 +v -0.869933 -0.789285 0.301649 +v -2.817333 -0.883692 0.458738 +v -2.848711 -1.794226 -0.231971 +v -2.785954 -1.825656 -0.357762 +v -2.377454 -0.883692 -0.609103 +v -0.869933 -0.915005 0.615946 +v -0.869933 -0.883692 -0.451895 +v -2.534539 -1.794226 0.584528 +v -1.184105 -0.789285 0.584408 +v -2.848711 -1.103468 -0.546148 +v -0.869933 -1.857086 -0.294926 +v -1.466898 -0.757972 0.207396 +v -1.089970 -1.919946 0.490155 +v -2.754382 -1.794226 0.584528 +v -2.597490 -0.820832 -0.609103 +f 74 80 90 +f 54 58 59 +f 58 54 61 +f 61 54 63 +f 57 56 65 +f 56 55 67 +f 58 61 67 +f 65 56 67 +f 61 65 67 +f 62 66 68 +f 64 63 69 +f 62 68 71 +f 63 64 72 +f 64 65 72 +f 65 61 72 +f 56 57 73 +f 68 66 73 +f 58 67 74 +f 63 60 75 +f 69 63 75 +f 59 58 76 +f 73 57 77 +f 68 73 77 +f 60 57 78 +f 57 65 78 +f 75 60 78 +f 75 78 79 +f 65 64 79 +f 64 69 79 +f 69 75 79 +f 78 65 79 +f 55 66 80 +f 67 55 80 +f 74 67 80 +f 54 59 81 +f 59 70 81 +f 70 60 81 +f 58 74 82 +f 74 71 82 +f 76 58 82 +f 71 76 82 +f 54 81 83 +f 81 60 83 +f 59 68 84 +f 70 59 84 +f 68 77 84 +f 77 70 84 +f 55 56 85 +f 66 55 85 +f 56 73 85 +f 73 66 85 +f 61 63 86 +f 72 61 86 +f 63 72 86 +f 68 59 87 +f 71 68 87 +f 59 76 87 +f 76 71 87 +f 63 54 88 +f 60 63 88 +f 54 83 88 +f 83 60 88 +f 57 60 89 +f 60 70 89 +f 77 57 89 +f 70 77 89 +f 66 62 90 +f 62 71 90 +f 71 74 90 +f 80 66 90 +o convex_3 +v -1.466771 1.000996 0.333242 +v -2.094982 -0.757855 -0.326399 +v -2.094982 -0.757855 -0.263573 +v -2.000686 1.660831 0.081938 +v -1.466771 1.566366 -0.263573 +v -1.466771 -0.757855 0.207590 +v -1.937913 -0.757855 0.333242 +v -1.560999 -0.757855 -0.294954 +v -1.969232 1.660831 -0.294954 +v -1.403929 1.597854 0.333242 +v -2.000686 1.660831 0.238971 +v -1.466771 -0.663390 -0.012269 +v -1.812230 0.247642 -0.326399 +v -1.969232 -0.757855 0.301797 +v -1.498225 -0.474933 -0.263573 +v -1.529680 1.566366 0.333242 +v -1.560999 1.409397 -0.294954 +v -1.403929 1.095224 0.270416 +v -1.843684 -0.757855 0.333242 +v -2.032141 0.592830 -0.326399 +v -1.435384 -0.317965 0.238971 +v -1.843684 1.660831 -0.294954 +v -1.466771 1.126712 -0.263573 +v -1.812230 -0.757855 -0.326399 +v -2.063528 0.184902 -0.075095 +v -1.937913 -0.569162 0.333242 +v -1.403929 1.472137 0.207590 +v -1.969232 0.844027 -0.326399 +f 112 107 118 +f 93 92 96 +f 93 96 97 +f 96 92 98 +f 97 91 100 +f 99 94 101 +f 96 98 102 +f 93 97 104 +f 102 98 105 +f 97 100 106 +f 100 101 106 +f 95 98 107 +f 98 103 107 +f 91 97 109 +f 97 96 109 +f 94 99 110 +f 103 92 110 +f 100 91 111 +f 96 102 111 +f 108 100 111 +f 102 108 111 +f 91 109 111 +f 109 96 111 +f 100 95 112 +f 99 101 112 +f 101 100 112 +f 95 107 112 +f 98 95 113 +f 105 98 113 +f 102 105 113 +f 98 92 114 +f 92 103 114 +f 103 98 114 +f 92 93 115 +f 101 94 115 +f 93 104 115 +f 104 101 115 +f 110 92 115 +f 94 110 115 +f 104 97 116 +f 101 104 116 +f 97 106 116 +f 106 101 116 +f 95 100 117 +f 100 108 117 +f 108 102 117 +f 113 95 117 +f 102 113 117 +f 107 103 118 +f 110 99 118 +f 103 110 118 +f 99 112 118 +o convex_4 +v 1.360284 -1.951296 0.615918 +v -0.712753 -1.605942 -1.080276 +v -0.869934 -1.731489 -0.451867 +v 1.265976 -0.443740 1.055507 +v 1.265976 -0.443740 -0.985866 +v -0.744189 -0.443740 0.961310 +v -0.681317 -2.454077 0.961310 +v 1.234540 -2.454077 -0.985866 +v -0.744189 -0.443740 -1.048664 +v 1.234540 -2.454077 1.087119 +v -0.649881 -2.328333 -1.080276 +v -0.869934 -0.820777 0.615706 +v 1.360284 -0.758003 -0.546277 +v -0.869934 -1.982781 0.490109 +v 1.360284 -1.857037 -0.546277 +v -0.681317 -2.454077 0.521508 +v -0.869934 -0.915233 -0.514665 +v 1.360284 -0.789292 0.490109 +v 1.014705 -2.359818 1.087119 +v -0.367392 -2.265362 -1.080276 +v -0.681317 -2.328333 -1.048664 +v -0.649881 -1.291876 -1.080276 +v 1.297412 -0.443740 -0.074864 +v 1.108795 -2.454077 -0.985866 +v -0.335956 -2.454077 0.992709 +v -0.367392 -0.443740 -1.048664 +v -0.744189 -2.328333 0.835713 +v 1.203103 -1.825748 1.087119 +v -0.869934 -0.789292 0.301502 +v -0.869934 -1.825748 -0.389069 +v 1.265976 -1.511683 1.055507 +v -0.744189 -0.758003 0.961310 +v 0.731998 -2.422592 -1.017265 +v -0.712753 -2.422592 0.835713 +v 1.297412 -0.443740 -0.734460 +v 1.203103 -0.475226 1.055507 +f 124 146 154 +f 122 123 124 +f 120 121 127 +f 124 123 127 +f 126 119 128 +f 125 126 128 +f 130 121 132 +f 119 126 133 +f 126 123 133 +f 131 119 133 +f 123 131 133 +f 126 125 134 +f 127 121 135 +f 121 130 135 +f 122 119 136 +f 119 131 136 +f 129 120 138 +f 121 120 139 +f 120 129 139 +f 129 134 139 +f 120 127 140 +f 138 120 140 +f 123 138 140 +f 123 122 141 +f 122 136 141 +f 136 131 141 +f 126 134 142 +f 134 129 142 +f 125 128 143 +f 137 124 143 +f 128 137 143 +f 127 123 144 +f 140 127 144 +f 123 140 144 +f 130 132 145 +f 128 122 146 +f 124 137 146 +f 137 128 146 +f 124 127 147 +f 130 124 147 +f 127 135 147 +f 135 130 147 +f 132 121 148 +f 121 139 148 +f 139 132 148 +f 119 122 149 +f 128 119 149 +f 122 128 149 +f 124 130 150 +f 143 124 150 +f 125 143 150 +f 145 125 150 +f 130 145 150 +f 123 126 151 +f 138 123 151 +f 129 138 151 +f 126 142 151 +f 142 129 151 +f 134 125 152 +f 132 139 152 +f 139 134 152 +f 125 145 152 +f 145 132 152 +f 131 123 153 +f 123 141 153 +f 141 131 153 +f 122 124 154 +f 146 122 154 +o convex_5 +v 1.266025 3.733991 0.678701 +v -0.869933 3.513572 0.835568 +v -0.869933 3.513572 1.024296 +v 1.297449 -0.443740 -0.043536 +v -0.838510 3.576549 -0.985752 +v -0.744238 -0.443740 0.961183 +v -0.744238 -0.443740 -1.048864 +v 1.297449 3.608037 -1.048864 +v 1.266025 -0.443740 1.024296 +v 1.266025 -0.443740 -0.985752 +v 1.328872 3.733582 0.961386 +v -0.555695 3.608037 1.024296 +v 1.328872 0.781444 -0.043536 +v -0.838510 2.508806 -1.017207 +v -0.775662 -0.097777 -0.546200 +v -0.744238 -0.286298 0.992638 +v -0.807086 3.608037 -0.923046 +v 1.297449 0.970374 1.024296 +v 1.266025 0.373322 -1.017207 +v 1.297449 -0.443740 -0.734725 +v -0.775662 0.812932 -1.048864 +v -0.335944 3.608037 -1.017207 +v 1.328872 3.608037 0.018967 +v -0.367153 -0.443740 -1.048864 +v -0.869933 3.576549 -0.420585 +v 0.794883 -0.443740 1.024296 +v 1.077482 3.733991 0.929932 +v -0.775662 0.310345 0.992638 +v 1.297449 0.436298 1.024296 +v -0.838510 2.633942 1.024296 +v 1.328872 2.382853 0.961386 +v -0.869933 3.576549 1.024296 +v 1.171753 3.639525 -0.765976 +v -0.838510 2.885440 -1.017207 +v 1.297449 3.451004 -1.048864 +v -0.838510 2.351774 -0.891591 +v 1.203177 3.608037 -1.048864 +v -0.587119 3.608037 0.992638 +v 1.297449 2.665839 -1.017207 +v 0.669188 3.702502 0.270198 +f 187 176 194 +f 158 160 161 +f 160 158 163 +f 158 161 164 +f 162 155 165 +f 157 163 166 +f 157 156 169 +f 161 160 169 +f 168 161 169 +f 166 163 172 +f 165 166 172 +f 158 164 174 +f 167 158 174 +f 162 161 175 +f 161 168 175 +f 159 171 176 +f 162 165 177 +f 167 162 177 +f 165 167 177 +f 161 162 178 +f 164 161 178 +f 173 164 178 +f 156 157 179 +f 171 159 179 +f 163 157 180 +f 160 163 180 +f 170 160 180 +f 165 155 181 +f 166 165 181 +f 157 169 182 +f 169 160 182 +f 160 170 182 +f 163 158 183 +f 158 167 183 +f 172 163 183 +f 165 172 183 +f 180 157 184 +f 170 180 184 +f 157 182 184 +f 182 170 184 +f 167 165 185 +f 183 167 185 +f 165 183 185 +f 157 166 186 +f 179 157 186 +f 171 179 186 +f 155 162 187 +f 175 168 188 +f 176 175 188 +f 159 176 188 +f 179 159 188 +f 168 179 188 +f 162 167 189 +f 164 173 189 +f 178 162 189 +f 173 178 189 +f 169 156 190 +f 168 169 190 +f 156 179 190 +f 179 168 190 +f 162 175 191 +f 175 176 191 +f 187 162 191 +f 176 187 191 +f 166 181 192 +f 181 171 192 +f 186 166 192 +f 171 186 192 +f 174 164 193 +f 167 174 193 +f 189 167 193 +f 164 189 193 +f 176 171 194 +f 181 155 194 +f 171 181 194 +f 155 187 194 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/342/342.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/342/342.urdf new file mode 100644 index 000000000..ac02c7985 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/342/342.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/343/343.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/343/343.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/343/343.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/343/343.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/343/343.obj new file mode 100644 index 000000000..2a3b1c96b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/343/343.obj @@ -0,0 +1,549 @@ +o convex_0 +v 0.300642 -1.379645 -1.808736 +v -0.206528 -2.120977 -3.057093 +v -0.206528 -1.964888 -3.057093 +v -0.245602 -1.730936 -1.067397 +v 0.339717 -1.964888 -1.067397 +v 0.261625 -2.042896 -3.017942 +v -0.167510 -1.379645 -2.940029 +v -0.245602 -1.379645 -1.067397 +v 0.339717 -1.418758 -2.978986 +v -0.206528 -2.042896 -1.145504 +v 0.261625 -1.379645 -1.067397 +v -0.245602 -2.003855 -2.861922 +v -0.245602 -1.379645 -1.769780 +v -0.128493 -2.120977 -2.940029 +v 0.339717 -1.379645 -2.705901 +v 0.300642 -1.847839 -3.017942 +v -0.206528 -1.535806 -2.940029 +v -0.128493 -2.042896 -1.106548 +v 0.300642 -2.003855 -1.613760 +v 0.339717 -1.847839 -1.067397 +f 5 15 20 +f 1 7 8 +f 4 5 8 +f 3 7 9 +f 1 8 11 +f 8 5 11 +f 3 2 12 +f 4 8 12 +f 2 10 12 +f 10 4 12 +f 8 7 13 +f 12 8 13 +f 2 6 14 +f 10 2 14 +f 7 1 15 +f 5 9 15 +f 9 7 15 +f 2 3 16 +f 6 2 16 +f 5 6 16 +f 9 5 16 +f 3 9 16 +f 7 3 17 +f 3 12 17 +f 13 7 17 +f 12 13 17 +f 5 4 18 +f 4 10 18 +f 10 14 18 +f 18 14 19 +f 6 5 19 +f 14 6 19 +f 5 18 19 +f 1 11 20 +f 11 5 20 +f 15 1 20 +o convex_1 +v 0.612770 1.352037 -2.940208 +v 1.120131 3.341737 3.069055 +v 0.885915 3.341737 3.069055 +v -0.986958 1.352037 3.069055 +v -0.908886 3.341737 -2.939612 +v 0.963987 1.352232 2.990997 +v 1.042059 3.185522 -3.018266 +v -1.025887 3.302781 3.029728 +v -0.947815 1.352037 -2.978939 +v 1.080988 1.390993 -2.784093 +v -1.065030 2.990545 0.766050 +v 1.120131 3.263629 -1.379051 +v 1.042059 1.352232 1.507898 +v -0.986958 1.352037 -1.105551 +v -1.065030 3.302781 2.600708 +v -0.947815 2.288550 -2.978939 +v 1.120131 3.068458 2.873612 +v 1.042059 1.352232 -2.900882 +v 1.120131 2.483137 -1.730014 +v 0.846772 3.224673 -3.018266 +v -1.065030 3.224673 0.805377 +v 1.042059 2.795373 -3.018266 +v 1.080988 1.976314 1.780802 +v -1.025887 2.132529 3.029728 +v 0.651699 3.341737 3.029728 +v -0.830814 3.341737 -2.939612 +v -0.947815 2.639353 -2.939612 +v -1.025887 2.054421 -0.130125 +v 0.261553 1.352037 3.029728 +v 0.534698 3.224673 -3.018266 +v -0.284524 1.352232 -2.978939 +v 1.002916 1.664273 2.951670 +v 1.042059 1.508252 -2.940208 +v 1.120131 3.341737 2.912939 +v -0.713599 1.352232 3.069055 +v 1.120131 3.224673 3.069055 +v -0.986958 1.586165 3.069055 +v 1.120131 3.224673 -1.573898 +f 32 39 58 +f 22 23 24 +f 23 22 25 +f 21 24 29 +f 26 21 33 +f 29 24 34 +f 28 25 35 +f 29 31 36 +f 32 22 37 +f 33 21 38 +f 30 33 38 +f 32 37 39 +f 37 30 39 +f 32 27 40 +f 35 25 41 +f 31 35 41 +f 27 30 42 +f 40 27 42 +f 33 30 43 +f 30 37 43 +f 24 28 44 +f 28 35 44 +f 35 31 44 +f 23 25 45 +f 28 23 45 +f 25 28 45 +f 25 22 46 +f 40 25 46 +f 32 40 46 +f 25 36 47 +f 36 31 47 +f 41 25 47 +f 31 41 47 +f 31 29 48 +f 34 24 48 +f 29 34 48 +f 24 44 48 +f 44 31 48 +f 24 21 49 +f 21 26 49 +f 36 25 50 +f 29 36 50 +f 25 40 50 +f 42 29 50 +f 40 42 50 +f 21 29 51 +f 29 42 51 +f 26 33 52 +f 33 43 52 +f 43 37 52 +f 38 21 53 +f 30 38 53 +f 42 30 53 +f 21 51 53 +f 51 42 53 +f 22 32 54 +f 46 22 54 +f 32 46 54 +f 22 24 55 +f 24 49 55 +f 55 49 56 +f 37 22 56 +f 49 26 56 +f 26 52 56 +f 52 37 56 +f 22 55 56 +f 24 23 57 +f 23 28 57 +f 28 24 57 +f 30 27 58 +f 27 32 58 +f 39 30 58 +o convex_2 +v -1.025906 -1.652969 -0.949985 +v 1.120143 -2.706154 -0.871912 +v 1.120143 -2.823329 -0.871912 +v -1.025906 -0.833537 1.117991 +v 0.963996 -0.833736 -1.067202 +v 1.002926 -2.784204 0.961844 +v -1.065049 -2.706154 0.922701 +v 1.042069 -0.833736 1.000774 +v -0.908903 -2.745080 -1.067202 +v -1.065049 -0.833537 -0.911055 +v 1.120143 -2.862255 -1.028058 +v 0.339625 -2.042824 1.117991 +v -1.025906 -2.706154 1.000774 +v 0.846780 -0.872662 1.078847 +v -0.245389 -1.379891 -1.067202 +v 1.002926 -2.862454 -0.442831 +v -1.065049 -0.950514 1.078847 +v -0.479822 -2.784403 -1.067202 +v 1.002926 -1.145739 -1.067202 +v -1.065049 -2.706154 0.610622 +v 0.963996 -2.823131 0.688695 +v -0.128386 -2.003699 1.117991 +v 0.534701 -1.223790 1.117991 +v 1.042069 -0.833736 0.649552 +v -0.947833 -2.745080 -0.794053 +v 1.042069 -2.823131 0.454476 +v -1.065049 -2.237851 1.039917 +v 0.768920 -2.862454 -0.911055 +v -0.908903 -2.472003 -1.067202 +v -0.089456 -2.784403 -1.067202 +v -1.065049 -1.184665 -0.911055 +v 1.002926 -1.574918 -1.067202 +v 1.002926 -1.184864 1.039917 +v 0.768920 -0.833736 -1.067202 +f 73 68 92 +f 61 60 66 +f 60 61 69 +f 64 70 71 +f 66 62 72 +f 63 67 73 +f 71 65 74 +f 62 68 75 +f 68 65 75 +f 67 63 76 +f 60 69 77 +f 76 63 77 +f 65 68 78 +f 64 71 79 +f 71 74 79 +f 70 62 80 +f 71 70 80 +f 62 70 81 +f 72 62 81 +f 66 60 82 +f 62 66 82 +f 68 62 82 +f 63 68 82 +f 60 77 82 +f 77 63 82 +f 59 67 83 +f 67 76 83 +f 76 65 83 +f 78 59 83 +f 65 78 83 +f 61 66 84 +f 66 64 84 +f 69 61 84 +f 74 69 84 +f 64 79 84 +f 79 74 84 +f 65 71 85 +f 62 75 85 +f 75 65 85 +f 80 62 85 +f 71 80 85 +f 74 65 86 +f 69 74 86 +f 65 76 86 +f 76 69 86 +f 67 68 87 +f 73 67 87 +f 68 73 87 +f 69 76 88 +f 76 77 88 +f 67 59 89 +f 68 67 89 +f 59 78 89 +f 78 68 89 +f 77 69 90 +f 69 88 90 +f 88 77 90 +f 64 66 91 +f 70 64 91 +f 66 72 91 +f 81 70 91 +f 72 81 91 +f 68 63 92 +f 63 73 92 +o convex_3 +v -0.167499 -2.042976 2.522562 +v 0.378738 -1.535730 3.107882 +v 0.378738 -1.613772 3.107882 +v 0.339686 -1.769857 1.118185 +v -0.167499 -1.496739 1.118185 +v -0.245602 -1.574782 2.990818 +v 0.339686 -2.082028 1.235249 +v 0.222653 -2.082028 2.990818 +v -0.167499 -1.964933 1.118185 +v 0.300635 -1.457687 1.196293 +v -0.206551 -2.042976 2.990818 +v -0.206551 -1.535730 2.678582 +v -0.206551 -1.847839 1.703505 +v -0.167499 -2.003985 1.235249 +v 0.300635 -1.886830 3.068730 +v 0.339686 -2.042976 1.118185 +v 0.183601 -1.691876 3.107882 +v 0.183601 -1.457687 1.118185 +v 0.066568 -2.082028 2.834603 +f 100 103 111 +f 94 95 96 +f 97 96 101 +f 94 96 102 +f 98 94 104 +f 97 98 104 +f 98 97 105 +f 97 101 105 +f 103 98 105 +f 103 105 106 +f 99 93 106 +f 93 103 106 +f 105 101 106 +f 99 95 107 +f 100 99 107 +f 103 100 107 +f 96 95 108 +f 95 99 108 +f 101 96 108 +f 99 106 108 +f 106 101 108 +f 95 94 109 +f 94 98 109 +f 98 103 109 +f 107 95 109 +f 103 107 109 +f 96 97 110 +f 94 102 110 +f 102 96 110 +f 104 94 110 +f 97 104 110 +f 93 99 111 +f 99 100 111 +f 103 93 111 +o convex_4 +v 3.110229 0.688438 0.961844 +v -0.479642 -0.755037 -1.067202 +v -3.094157 -0.793997 -1.066988 +v -3.015812 1.156739 -0.949771 +v -2.859731 -0.755037 1.000774 +v -3.054681 1.156739 1.078847 +v 3.070753 1.156739 -0.949985 +v 3.031885 -0.716076 1.117991 +v 2.993016 -0.716076 -1.028058 +v 3.110229 1.156739 1.078847 +v -0.947886 -0.833346 1.117991 +v 0.963958 -0.833346 -1.067202 +v -2.742518 1.156739 1.117991 +v -3.054681 -0.755037 0.727625 +v -1.103968 1.078624 -0.988915 +v 1.041695 -0.833346 1.039704 +v -2.079324 -0.833346 -0.988915 +v -3.094157 -0.403811 -1.066988 +v 1.860971 -0.677116 -1.067202 +v 3.031885 -0.716076 -0.793839 +v 3.070753 0.259097 1.117991 +v -3.094157 0.337212 0.142397 +v 2.602509 -0.755231 -1.028058 +v -3.054681 -0.013624 1.039704 +v -3.054681 1.078624 -0.871698 +v -3.094157 -0.793997 -0.520690 +v 3.070753 -0.481926 1.117991 +v 3.110229 1.117584 0.064110 +v -0.909018 1.156739 1.117991 +v 3.031885 -0.442966 -1.028058 +v -2.976944 0.844474 -0.988915 +v -3.015812 -0.755037 0.961844 +v -1.025623 -0.833346 1.117991 +v -3.054681 0.571363 1.078847 +v 3.070753 0.493248 -0.949985 +v -2.508700 -0.365045 -1.066988 +f 130 113 147 +f 115 117 118 +f 118 117 121 +f 114 113 123 +f 121 117 124 +f 122 119 124 +f 115 118 126 +f 119 122 127 +f 122 123 127 +f 114 123 128 +f 123 122 128 +f 113 114 129 +f 123 113 130 +f 120 123 130 +f 126 118 130 +f 124 119 132 +f 129 114 133 +f 123 120 134 +f 119 127 134 +f 127 123 134 +f 131 119 134 +f 120 131 134 +f 133 125 135 +f 117 115 136 +f 115 129 136 +f 133 117 136 +f 129 133 136 +f 114 128 137 +f 133 114 137 +f 125 133 137 +f 112 121 138 +f 131 112 138 +f 119 131 138 +f 132 119 138 +f 121 132 138 +f 121 112 139 +f 118 121 139 +f 112 131 139 +f 121 124 140 +f 132 121 140 +f 124 132 140 +f 130 118 141 +f 120 130 141 +f 131 120 141 +f 115 126 142 +f 129 115 142 +f 126 129 142 +f 116 135 143 +f 135 125 143 +f 125 137 143 +f 143 137 144 +f 122 124 144 +f 128 122 144 +f 135 116 144 +f 137 128 144 +f 116 143 144 +f 135 144 145 +f 124 117 145 +f 117 133 145 +f 133 135 145 +f 144 124 145 +f 118 139 146 +f 139 131 146 +f 141 118 146 +f 131 141 146 +f 113 129 147 +f 129 126 147 +f 126 130 147 +o convex_5 +v -3.054746 1.273773 -0.403702 +v -1.065050 1.234782 1.117784 +v -1.065050 1.156739 1.117784 +v -1.065050 1.156739 -0.988953 +v -3.054746 1.156739 1.117784 +v -1.065050 1.312825 1.078603 +v -3.015790 1.156739 -0.949771 +v -1.182308 1.273773 -0.949771 +v -3.015790 1.312825 -0.949771 +v -2.625642 1.273773 1.117784 +v -3.054746 1.273773 0.610485 +v -1.533500 1.312825 1.078603 +v -2.625642 1.312825 -0.949771 +v -1.065050 1.312825 0.766593 +v -3.015790 1.312825 -0.598786 +v -3.054746 1.234782 1.117784 +v -1.065050 1.234782 -0.949771 +f 155 161 164 +f 149 150 151 +f 150 149 152 +f 151 150 152 +f 149 151 153 +f 152 148 154 +f 151 152 154 +f 154 148 156 +f 151 154 156 +f 152 149 157 +f 149 153 157 +f 148 152 158 +f 156 148 158 +f 153 156 159 +f 157 153 159 +f 155 151 160 +f 156 153 160 +f 151 156 160 +f 153 151 161 +f 155 160 161 +f 160 153 161 +f 156 158 162 +f 158 157 162 +f 159 156 162 +f 157 159 162 +f 152 157 163 +f 157 158 163 +f 158 152 163 +f 151 155 164 +f 161 151 164 +o convex_6 +v 0.613134 1.156758 -1.535255 +v 3.110229 1.273788 1.078610 +v 0.964199 1.351827 2.990314 +v -0.947652 1.351827 -2.979245 +v -1.025712 1.156758 1.663548 +v 3.070995 1.351827 -0.910650 +v 3.110229 1.156758 1.078610 +v -0.986887 1.351827 3.069055 +v 1.041850 1.234797 -2.901095 +v -0.947652 1.234797 -2.979245 +v 3.070995 1.156758 -0.910650 +v -0.791533 1.234797 3.029388 +v -1.064946 1.156758 -0.988800 +v 1.041850 1.351827 -2.901095 +v 0.964199 1.273788 2.990314 +v 3.110229 1.351827 -0.052782 +v 1.041850 1.195787 -2.549422 +v -1.064946 1.312798 0.766012 +v 3.110229 1.312798 1.000461 +v -0.986887 1.234797 3.029388 +v 0.613134 1.234797 2.756457 +v -1.064946 1.156758 1.273392 +v -0.206289 1.234797 -2.979245 +v -0.206289 1.195787 -2.315566 +v -1.064946 1.234797 -0.949725 +v 1.041850 1.156758 -1.573737 +f 181 175 190 +f 168 167 170 +f 166 167 171 +f 169 165 171 +f 167 168 172 +f 171 165 175 +f 173 170 175 +f 169 171 176 +f 165 169 177 +f 168 174 177 +f 168 170 178 +f 170 173 178 +f 171 167 179 +f 167 172 179 +f 172 176 179 +f 170 167 180 +f 166 171 180 +f 171 175 180 +f 175 170 180 +f 173 175 181 +f 172 168 182 +f 167 166 183 +f 180 167 183 +f 166 180 183 +f 169 176 184 +f 176 172 184 +f 176 171 185 +f 171 179 185 +f 179 176 185 +f 177 169 186 +f 172 182 186 +f 182 177 186 +f 169 184 186 +f 184 172 186 +f 174 168 187 +f 168 178 187 +f 178 173 187 +f 181 174 187 +f 173 181 187 +f 165 177 188 +f 177 174 188 +f 181 165 188 +f 174 181 188 +f 168 177 189 +f 182 168 189 +f 177 182 189 +f 175 165 190 +f 165 181 190 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/343/343.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/343/343.urdf new file mode 100644 index 000000000..f8782542f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/343/343.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/344/344.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/344/344.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/344/344.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/344/344.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/344/344.obj new file mode 100644 index 000000000..1fdd5117c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/344/344.obj @@ -0,0 +1,576 @@ +o convex_0 +v -1.031294 -1.221655 0.790796 +v -1.103031 -3.688387 -1.068381 +v -0.816936 -3.688387 -1.068381 +v 0.470067 -3.652165 0.933840 +v 1.042259 -1.221413 -0.961048 +v 1.078127 -1.221413 0.969751 +v 1.042259 -3.545189 -0.961048 +v -0.995639 -1.221655 -1.032470 +v -0.924115 -3.580687 0.933840 +v 1.078127 -3.652165 0.933840 +v -0.673888 -1.221655 0.969751 +v 1.078127 -3.580928 -0.603337 +v -1.067163 -1.221655 0.540419 +v 1.006390 -2.722703 0.969751 +v -0.101697 -1.757743 -1.032470 +v -1.103031 -3.688387 -0.889426 +v 0.756163 -3.544947 -0.996559 +v 0.398544 -3.688387 0.254530 +v -0.995639 -1.221655 0.933840 +v -1.067163 -2.615485 -1.068381 +v -0.959770 -3.223294 0.862418 +v -1.067163 -1.221655 0.111286 +v 0.577460 -1.221655 -0.996559 +v -1.103031 -2.829921 -0.496203 +v -0.173221 -2.186856 0.969751 +v -0.673888 -3.366251 -1.068381 +v -0.995639 -3.688387 -0.674959 +v -1.031294 -1.579047 -0.996759 +v -1.103031 -3.294773 -1.068381 +v 1.078127 -3.652165 0.468996 +v 1.078127 -3.509449 -0.710670 +v 1.078127 -1.221413 0.719174 +v -0.530840 -1.221655 -1.032470 +v -0.995639 -1.829222 0.933840 +v 0.255496 -3.616426 -0.996559 +v -1.067163 -1.293133 0.540419 +v 0.291364 -3.688387 0.290041 +v -0.959770 -3.544947 0.719174 +f 21 24 38 +f 6 10 12 +f 1 6 13 +f 6 5 13 +f 9 4 14 +f 4 10 14 +f 10 6 14 +f 6 11 14 +f 2 3 16 +f 5 7 17 +f 7 3 17 +f 16 3 18 +f 6 1 19 +f 11 6 19 +f 3 2 20 +f 5 8 22 +f 13 5 22 +f 5 17 23 +f 2 16 24 +f 13 22 24 +f 11 9 25 +f 9 14 25 +f 14 11 25 +f 17 3 26 +f 3 20 26 +f 20 15 26 +f 15 23 26 +f 23 17 26 +f 9 16 27 +f 16 18 27 +f 8 20 28 +f 22 8 28 +f 20 2 29 +f 2 24 29 +f 24 22 29 +f 28 20 29 +f 22 28 29 +f 12 10 30 +f 10 18 30 +f 7 5 31 +f 6 12 31 +f 12 7 31 +f 5 6 32 +f 31 5 32 +f 6 31 32 +f 8 5 33 +f 20 8 33 +f 15 20 33 +f 5 23 33 +f 23 15 33 +f 9 11 34 +f 19 1 34 +f 11 19 34 +f 21 9 34 +f 3 7 35 +f 7 12 35 +f 18 3 35 +f 12 30 35 +f 30 18 35 +f 1 13 36 +f 13 24 36 +f 24 21 36 +f 34 1 36 +f 21 34 36 +f 4 9 37 +f 10 4 37 +f 18 10 37 +f 9 27 37 +f 27 18 37 +f 16 9 38 +f 9 21 38 +f 24 16 38 +o convex_1 +v -3.069650 -1.185419 -0.532030 +v -2.211360 -0.005448 0.254610 +v -2.211360 -0.005448 0.182999 +v -1.103224 -1.042196 -0.532030 +v -1.425059 -1.078117 0.540513 +v -1.103224 -0.041253 -0.424613 +v -2.926441 -1.113807 0.540513 +v -3.069650 -0.112749 -0.460310 +v -1.103224 -0.041253 0.540513 +v -2.926441 -0.005448 0.576427 +v -1.103224 -1.042196 0.540513 +v -1.103224 -0.756328 -0.532030 +v -3.069650 -1.185419 -0.281607 +v -2.103953 -1.149613 -0.532030 +v -2.962051 -0.077059 -0.388807 +v -1.174828 -1.078117 -0.532030 +v -3.069650 -0.934894 -0.532030 +v -2.962051 -1.185419 -0.138493 +v -2.962051 -0.041253 0.433313 +v -2.604606 -1.185419 -0.460310 +v -1.711091 -0.041253 -0.424613 +v -1.103224 -0.220166 -0.460310 +v -2.890639 -0.005448 0.397616 +v -3.069650 -0.255972 -0.353110 +v -2.854836 -0.077059 0.576427 +f 43 49 63 +f 41 40 44 +f 44 40 47 +f 42 44 47 +f 40 41 48 +f 47 40 48 +f 42 47 49 +f 42 39 50 +f 44 42 50 +f 46 39 51 +f 39 42 52 +f 42 49 54 +f 49 43 54 +f 52 42 54 +f 43 52 54 +f 39 46 55 +f 50 39 55 +f 46 50 55 +f 43 45 56 +f 51 39 56 +f 45 51 56 +f 45 48 57 +f 48 46 57 +f 51 45 57 +f 39 52 58 +f 52 43 58 +f 43 56 58 +f 56 39 58 +f 41 44 59 +f 44 46 59 +f 46 53 59 +f 46 44 60 +f 44 50 60 +f 50 46 60 +f 48 41 61 +f 46 48 61 +f 53 46 61 +f 41 59 61 +f 59 53 61 +f 46 51 62 +f 57 46 62 +f 51 57 62 +f 45 43 63 +f 48 45 63 +f 47 48 63 +f 49 47 63 +o convex_2 +v -0.852699 2.461765 1.112778 +v -3.069545 0.423867 -1.104137 +v -3.069545 0.388212 0.182915 +v 0.255723 0.280606 -0.960915 +v -3.033683 2.461765 -1.032309 +v 0.255723 2.354372 -0.996720 +v 0.255723 0.280606 0.969555 +v -3.069545 2.425682 1.041166 +v -3.033683 0.388212 0.969555 +v 0.255723 2.461765 1.005144 +v -1.317914 0.280606 0.325920 +v -3.105406 2.068276 -0.603292 +v -0.924423 0.280606 -0.996720 +v -1.996655 2.461765 -0.996720 +v 0.255723 0.674094 -0.996720 +v -3.069545 2.461765 0.647738 +v -2.783309 0.709963 -1.104137 +v 0.148138 2.390241 -0.996720 +v -3.105406 2.032621 0.576126 +v -1.031679 0.280606 0.969555 +v -1.067212 2.354372 1.112778 +v 0.255723 2.461765 0.540321 +v -2.890565 0.388212 -0.960698 +v -3.069545 1.174762 1.005144 +v 0.184000 2.425682 1.041166 +v -2.711915 0.423867 -1.104137 +v -3.069545 0.388212 0.826549 +v -3.105406 1.674788 -0.496092 +v -3.069545 0.853011 -1.104137 +v -2.211167 2.461765 1.076972 +v -2.640520 0.817142 1.005144 +v -0.209492 0.280606 -0.996720 +v -3.069545 2.139800 1.041166 +v -3.069545 2.461765 -0.138469 +v -3.069545 1.496085 -1.068115 +v -0.852699 2.390241 1.112778 +v -2.926427 2.461765 -1.032309 +f 81 92 100 +f 67 69 70 +f 68 64 73 +f 70 69 73 +f 67 70 74 +f 67 74 76 +f 68 73 77 +f 69 67 78 +f 64 68 79 +f 71 79 82 +f 79 75 82 +f 74 70 83 +f 72 74 83 +f 83 70 84 +f 73 69 85 +f 77 73 85 +f 69 81 85 +f 81 77 85 +f 66 65 86 +f 74 66 86 +f 65 76 86 +f 76 74 86 +f 73 64 88 +f 70 73 88 +f 76 65 89 +f 69 78 89 +f 65 80 89 +f 80 69 89 +f 66 74 90 +f 74 72 90 +f 72 87 90 +f 87 82 90 +f 65 66 91 +f 75 65 91 +f 82 75 91 +f 66 90 91 +f 90 82 91 +f 65 75 92 +f 80 65 92 +f 69 80 92 +f 81 69 92 +f 64 79 93 +f 79 71 93 +f 84 64 93 +f 72 83 94 +f 83 84 94 +f 87 72 94 +f 84 87 94 +f 67 76 95 +f 78 67 95 +f 76 89 95 +f 89 78 95 +f 71 82 96 +f 82 87 96 +f 87 84 96 +f 93 71 96 +f 84 93 96 +f 68 75 97 +f 79 68 97 +f 75 79 97 +f 75 68 98 +f 92 75 98 +f 68 92 98 +f 64 84 99 +f 84 70 99 +f 88 64 99 +f 70 88 99 +f 68 77 100 +f 77 81 100 +f 92 68 100 +o convex_3 +v 0.649189 0.316412 1.005333 +v 1.185607 2.497521 0.862418 +v 1.185607 2.497521 0.755029 +v 2.972931 0.280606 0.969604 +v 2.579742 0.280606 -1.032624 +v 0.255723 2.354081 -0.996692 +v 3.008877 2.425910 -1.032624 +v 0.255723 0.280606 -0.960964 +v 2.937263 2.425693 1.041265 +v 0.255723 2.461715 1.005333 +v 0.255723 0.280606 0.969401 +v 2.972931 0.280606 -1.032624 +v 3.080492 1.889692 -0.424627 +v 0.291669 1.639269 -1.032624 +v 1.971709 1.389064 1.041265 +v 2.972931 0.423829 1.005333 +v 0.255723 2.389887 -0.782117 +v 2.472459 2.461715 -0.496085 +v 0.541905 2.497521 0.969401 +v 3.044546 2.354298 -0.960964 +v 0.541905 2.354081 -1.032624 +v 0.255723 0.674035 -0.996692 +v 2.937263 1.496264 1.041265 +v 2.436790 2.425693 -1.032624 +v 2.222222 2.390104 1.041265 +v 2.972931 2.175487 0.790961 +v 3.008877 0.852846 -1.032624 +v 3.080492 1.853887 -0.496085 +v 1.078324 0.280606 1.005333 +v 0.255723 2.068287 1.005333 +v 3.008877 2.425910 -0.317441 +v 0.255723 2.461715 0.540657 +v 2.401121 2.461715 -0.496085 +v 3.080492 1.961087 -0.460559 +v 0.684858 2.497521 1.005333 +v 2.579742 0.352217 1.005333 +f 115 129 136 +f 105 104 108 +f 106 108 110 +f 108 104 111 +f 110 108 111 +f 104 105 112 +f 105 107 112 +f 107 105 114 +f 104 113 116 +f 106 110 117 +f 103 102 118 +f 102 109 118 +f 102 103 119 +f 107 114 121 +f 114 106 121 +f 105 108 122 +f 108 106 122 +f 114 105 122 +f 106 114 122 +f 109 115 123 +f 116 109 123 +f 106 117 124 +f 121 106 124 +f 107 121 124 +f 115 109 125 +f 110 115 125 +f 116 113 126 +f 109 116 126 +f 112 107 127 +f 107 120 127 +f 127 120 128 +f 104 112 128 +f 113 104 128 +f 112 127 128 +f 101 111 129 +f 111 104 129 +f 115 101 129 +f 111 101 130 +f 110 111 130 +f 101 115 130 +f 115 110 130 +f 118 109 131 +f 107 118 131 +f 120 107 131 +f 117 110 132 +f 119 117 132 +f 110 119 132 +f 103 118 133 +f 118 107 133 +f 117 119 133 +f 119 103 133 +f 124 117 133 +f 107 124 133 +f 109 126 134 +f 126 113 134 +f 128 120 134 +f 113 128 134 +f 131 109 134 +f 120 131 134 +f 109 102 135 +f 102 119 135 +f 119 110 135 +f 125 109 135 +f 110 125 135 +f 104 116 136 +f 123 115 136 +f 116 123 136 +f 129 104 136 +o convex_4 +v 1.078127 0.280459 1.005508 +v -0.995639 -1.221028 -1.032624 +v -0.995639 -0.827726 -1.032624 +v -1.031294 0.280459 0.969597 +v -0.673888 -1.221028 0.969597 +v 1.042259 -1.221028 -0.960803 +v 1.006390 0.280459 -0.960803 +v 1.078127 -1.221028 0.969597 +v -0.924115 0.280459 -0.996713 +v -1.103031 -1.042161 0.540464 +v -1.103031 -0.041414 -0.424536 +v -0.995639 -1.221028 0.933686 +v 1.078127 0.065877 -0.531869 +v -1.103031 0.280459 0.647797 +v -1.103031 -1.042161 -0.531869 +v 0.577460 -1.042161 -0.996713 +v 1.078127 -1.185167 -0.424536 +v -0.173434 0.280459 -0.996713 +v -1.031294 -0.505999 0.969597 +v -1.067163 -1.221028 0.147242 +v 0.827687 -0.041414 1.005508 +v 1.042259 0.244597 -0.960803 +v 0.541591 -0.577429 -0.996713 +v -0.566495 -1.221028 -1.032624 +v -1.031294 0.280459 -0.281492 +v -0.959770 0.030162 -0.996713 +v -1.067163 0.244597 0.898175 +v 0.684639 0.280459 1.005508 +v 1.078127 -0.112844 1.005508 +f 157 141 165 +f 141 138 142 +f 140 137 143 +f 141 142 144 +f 140 143 145 +f 138 141 148 +f 137 144 149 +f 140 145 150 +f 147 146 150 +f 139 138 151 +f 147 139 151 +f 146 147 151 +f 144 142 153 +f 142 149 153 +f 149 144 153 +f 139 145 154 +f 145 143 154 +f 148 141 155 +f 146 148 155 +f 138 148 156 +f 148 146 156 +f 151 138 156 +f 146 151 156 +f 155 141 157 +f 143 137 158 +f 149 142 158 +f 137 149 158 +f 142 152 158 +f 154 143 158 +f 154 158 159 +f 158 152 159 +f 159 152 160 +f 138 139 160 +f 142 138 160 +f 152 142 160 +f 139 154 160 +f 154 159 160 +f 145 147 161 +f 150 145 161 +f 147 150 161 +f 145 139 162 +f 139 147 162 +f 147 145 162 +f 140 150 163 +f 150 146 163 +f 155 140 163 +f 146 155 163 +f 137 140 164 +f 140 155 164 +f 157 137 164 +f 155 157 164 +f 144 137 165 +f 141 144 165 +f 137 157 165 +o convex_5 +v 2.972886 -1.185356 0.147172 +v 1.435832 -0.005448 -0.388989 +v 1.435832 -0.005448 -0.460485 +v 1.078323 -1.185356 -0.388989 +v 1.078323 -0.005448 0.612184 +v 3.080492 -0.112788 -0.531981 +v 2.972886 -0.184427 0.576378 +v 1.078323 -1.113835 0.576378 +v 2.937214 -1.042196 -0.567787 +v 3.080492 -1.221175 0.540573 +v 1.078323 -0.005448 -0.460485 +v 1.435832 -1.149536 -0.496175 +v 2.043637 -0.076968 0.612184 +v 3.044623 -0.112788 -0.067085 +v 2.687114 -0.970794 -0.567787 +v 2.830000 -0.076968 -0.460485 +v 2.365082 -1.221175 0.254474 +v 3.080492 -1.221175 0.397581 +v 3.008951 -0.649131 0.576378 +v 1.078323 -1.149536 -0.460485 +v 1.185537 -0.434570 0.612184 +v 1.185537 -0.005448 0.612184 +v 2.972886 -0.148488 0.540573 +v 3.080492 -1.042315 0.540573 +v 2.794132 -1.078135 -0.496175 +v 1.507373 -1.149536 0.540573 +v 1.185537 -1.185356 -0.174271 +v 2.972886 -0.863454 -0.567787 +v 1.328619 -1.185356 -0.353068 +v 2.258064 -0.148488 0.612184 +v 2.937214 -0.756233 -0.567787 +v 2.758459 -1.221175 0.540573 +v 3.080492 -0.184427 -0.531981 +f 183 193 198 +f 167 168 170 +f 170 169 173 +f 169 170 176 +f 170 168 176 +f 168 171 176 +f 174 177 180 +f 177 176 180 +f 168 167 181 +f 171 168 181 +f 179 171 181 +f 175 182 183 +f 166 174 183 +f 171 175 183 +f 173 175 184 +f 169 176 185 +f 176 177 185 +f 177 169 185 +f 170 173 186 +f 178 170 186 +f 173 184 186 +f 167 170 187 +f 170 178 187 +f 181 167 187 +f 179 181 187 +f 178 172 188 +f 172 179 188 +f 187 178 188 +f 179 187 188 +f 175 171 189 +f 171 179 189 +f 179 172 189 +f 172 184 189 +f 184 175 189 +f 174 166 190 +f 177 174 190 +f 182 191 192 +f 173 169 192 +f 169 182 192 +f 191 173 192 +f 174 180 193 +f 183 174 193 +f 169 177 194 +f 182 169 194 +f 183 182 194 +f 166 183 194 +f 190 166 194 +f 177 190 194 +f 172 178 195 +f 184 172 195 +f 178 186 195 +f 186 184 195 +f 176 171 196 +f 180 176 196 +f 171 193 196 +f 193 180 196 +f 175 173 197 +f 182 175 197 +f 173 191 197 +f 191 182 197 +f 171 183 198 +f 193 171 198 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/344/344.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/344/344.urdf new file mode 100644 index 000000000..fedd08768 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/344/344.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/345/345.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/345/345.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/345/345.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/345/345.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/345/345.obj new file mode 100644 index 000000000..6fca0ac4d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/345/345.obj @@ -0,0 +1,495 @@ +o convex_0 +v 0.989784 -1.825626 1.053269 +v -0.225191 -3.213673 -0.995032 +v -0.225191 -3.005358 -0.995032 +v -1.058439 -1.582625 0.983495 +v 1.093833 -1.269856 -0.925258 +v 1.128730 -3.283243 1.018382 +v -0.954176 -1.269856 -0.960145 +v -0.954176 -3.248359 0.948809 +v 1.059150 -3.109614 -0.959944 +v -1.058439 -3.248359 -0.994831 +v 0.989784 -1.269856 1.053068 +v -1.058439 -1.269856 0.983495 +v 0.434214 -3.283243 1.018382 +v 1.024467 -1.339623 1.053068 +v -1.023542 -2.311039 -0.994831 +v 1.093833 -3.109614 -0.786513 +v -1.058439 -3.248359 -0.578194 +v 1.093833 -3.283243 0.810063 +v 0.677209 -1.339623 1.053269 +v -0.607132 -3.109811 0.983495 +v -0.016665 -3.283243 0.949009 +v -0.329454 -1.269856 -0.960145 +v -0.607132 -3.248359 -0.994831 +v -1.058439 -2.866612 -0.994831 +v 1.059150 -2.727669 -0.959944 +v -1.023542 -2.033942 0.983495 +v -0.988859 -3.248359 0.532372 +v 1.093833 -1.269856 -0.821199 +v 0.989784 -2.207374 1.053068 +v 1.093833 -2.519354 -0.925258 +v -1.058439 -1.269856 0.914122 +v 1.093833 -3.144300 -0.612880 +f 18 23 32 +f 2 3 9 +f 3 2 10 +f 5 7 11 +f 11 7 12 +f 10 4 12 +f 11 1 14 +f 4 10 17 +f 6 13 18 +f 1 11 19 +f 11 12 19 +f 12 4 19 +f 8 13 20 +f 13 8 21 +f 17 10 21 +f 10 18 21 +f 18 13 21 +f 7 5 22 +f 3 15 22 +f 15 7 22 +f 2 9 23 +f 10 2 23 +f 18 10 23 +f 3 10 24 +f 10 12 24 +f 15 3 24 +f 9 3 25 +f 5 9 25 +f 3 22 25 +f 22 5 25 +f 4 8 26 +f 19 4 26 +f 20 13 26 +f 8 20 26 +f 8 4 27 +f 4 17 27 +f 21 8 27 +f 17 21 27 +f 6 5 28 +f 5 11 28 +f 14 6 28 +f 11 14 28 +f 13 6 29 +f 14 1 29 +f 6 14 29 +f 1 19 29 +f 19 26 29 +f 26 13 29 +f 5 6 30 +f 9 5 30 +f 6 16 30 +f 16 9 30 +f 12 7 31 +f 7 15 31 +f 24 12 31 +f 15 24 31 +f 16 6 32 +f 9 16 32 +f 6 18 32 +f 23 9 32 +o convex_1 +v 1.128923 1.507603 -0.092350 +v 2.239506 2.201769 -0.231204 +v 2.378377 2.167021 0.046443 +v 3.107596 1.507603 -0.300693 +v 3.037870 1.472855 0.289469 +v 1.128923 2.132345 0.324213 +v 1.128923 2.201769 -0.300693 +v 3.072540 2.097598 0.220041 +v 1.163786 1.507603 0.220041 +v 3.037870 2.167021 -0.231204 +v 1.198456 1.507603 -0.265948 +v 1.823280 2.201769 -0.300693 +v 1.441529 2.132345 0.324213 +v 1.128923 2.028174 0.324213 +v 1.128923 1.924074 -0.300693 +v 3.107596 2.062922 0.220041 +v 3.107596 1.681127 -0.300693 +v 3.072540 1.472855 0.115870 +v 2.274175 1.507603 -0.300693 +v 1.128923 2.167021 0.115870 +v 3.037870 1.577027 0.289469 +v 3.003201 2.167021 -0.057667 +v 2.864330 1.472855 0.289469 +f 43 50 55 +f 33 38 39 +f 39 34 44 +f 36 39 44 +f 34 42 44 +f 40 35 45 +f 38 33 46 +f 33 41 46 +f 37 45 46 +f 45 38 46 +f 33 39 47 +f 39 36 47 +f 43 33 47 +f 42 40 48 +f 42 48 49 +f 36 44 49 +f 44 42 49 +f 48 36 49 +f 36 48 50 +f 48 37 50 +f 47 36 51 +f 43 47 51 +f 50 43 51 +f 36 50 51 +f 35 34 52 +f 39 38 52 +f 34 39 52 +f 45 35 52 +f 38 45 52 +f 45 37 53 +f 40 45 53 +f 37 48 53 +f 48 40 53 +f 34 35 54 +f 35 40 54 +f 42 34 54 +f 40 42 54 +f 41 33 55 +f 33 43 55 +f 46 41 55 +f 37 46 55 +f 50 37 55 +o convex_2 +v 0.503648 0.917231 -2.487610 +v 1.024484 -1.269856 -1.654484 +v 1.094013 -1.269856 -1.654484 +v -0.954145 0.952030 0.081194 +v -0.919381 -1.200259 -3.043333 +v -0.954145 -1.269856 0.081194 +v 0.989719 0.952030 0.081194 +v -1.058439 0.882433 -2.939039 +v 1.024484 0.639495 -2.973599 +v 0.989719 -1.269856 0.081194 +v 1.094013 -1.200259 -2.938733 +v 0.989719 0.882433 -2.973599 +v -1.023674 0.952030 -1.238533 +v 1.094013 -1.130879 -0.821665 +v -0.954145 -1.269856 -0.960825 +v -0.954145 -1.096081 -3.043333 +v 0.954955 0.952030 -1.064507 +v 1.059248 -1.234840 -2.834745 +v -0.537603 -1.200259 -3.043333 +v -1.023674 0.570116 -2.973294 +v 1.059248 -0.193277 -2.973599 +v 1.024484 -1.269856 -0.023406 +v -1.023674 0.917231 -2.522476 +v -0.988910 0.952030 -0.266553 +v -0.954145 -0.818128 -3.043333 +v -1.058439 0.778255 -2.904172 +v -0.016767 0.882433 -2.973294 +v 0.850872 -1.200259 -2.973599 +v -0.537603 0.952030 -1.446509 +v 1.094013 -1.026484 -2.904172 +f 66 76 85 +f 57 58 61 +f 59 61 62 +f 61 58 65 +f 62 61 65 +f 62 64 67 +f 59 62 68 +f 64 62 69 +f 58 66 69 +f 57 61 70 +f 60 70 71 +f 67 56 72 +f 62 67 72 +f 68 62 72 +f 58 57 73 +f 66 58 73 +f 57 70 73 +f 70 60 73 +f 67 64 74 +f 60 71 74 +f 73 60 74 +f 74 64 76 +f 65 58 77 +f 62 65 77 +f 69 62 77 +f 58 69 77 +f 56 67 78 +f 63 68 78 +f 61 59 79 +f 59 68 79 +f 68 61 79 +f 71 63 80 +f 67 74 80 +f 74 71 80 +f 63 75 80 +f 61 68 81 +f 68 63 81 +f 70 61 81 +f 63 71 81 +f 71 70 81 +f 75 63 82 +f 78 67 82 +f 63 78 82 +f 67 80 82 +f 80 75 82 +f 66 73 83 +f 73 74 83 +f 76 66 83 +f 74 76 83 +f 72 56 84 +f 68 72 84 +f 56 78 84 +f 78 68 84 +f 64 69 85 +f 69 66 85 +f 76 64 85 +o convex_3 +v -0.572322 -1.165460 3.031796 +v -0.954098 -1.269856 0.081194 +v -0.954098 0.952030 0.081194 +v 0.989757 -1.269856 0.081194 +v 0.989757 0.813053 2.997205 +v -0.954098 0.813053 2.997205 +v 0.989757 0.952030 0.081490 +v 1.059286 -1.235057 2.997205 +v -1.093156 -1.130879 3.101570 +v -1.058391 -1.269856 1.365800 +v 0.989757 0.952030 1.088183 +v -0.954098 0.952030 1.019001 +v -1.093156 -0.748966 2.997205 +v -1.058391 -0.853144 0.949227 +v 0.954993 -1.234840 3.032092 +v -0.815251 -0.853144 3.101570 +v -0.016935 -1.269856 2.025103 +v 1.059286 -0.818345 2.927727 +v -0.988863 0.708875 0.984409 +v 1.059286 -1.200041 2.511154 +v -0.988863 -1.269856 0.116377 +v 0.538452 0.431139 3.032092 +v -0.988863 0.604697 2.997205 +v -1.093156 -1.165460 1.781781 +v 0.538452 0.847852 2.615223 +v 0.989757 -1.269856 1.053592 +v 1.024521 0.153404 2.997205 +v -1.058391 -1.269856 0.914931 +v -1.058391 -0.297455 3.066683 +f 108 104 114 +f 87 88 89 +f 89 88 92 +f 87 89 95 +f 86 94 95 +f 92 88 96 +f 96 88 97 +f 94 86 100 +f 94 100 101 +f 95 89 102 +f 86 95 102 +f 93 100 102 +f 100 86 102 +f 97 88 104 +f 88 99 104 +f 89 92 105 +f 93 89 105 +f 92 103 105 +f 103 93 105 +f 88 87 106 +f 87 95 106 +f 99 88 106 +f 90 91 107 +f 100 90 107 +f 101 100 107 +f 91 97 108 +f 97 104 108 +f 95 94 109 +f 94 98 109 +f 98 104 109 +f 104 99 109 +f 91 90 110 +f 90 96 110 +f 97 91 110 +f 96 97 110 +f 89 93 111 +f 102 89 111 +f 93 102 111 +f 96 90 112 +f 92 96 112 +f 90 100 112 +f 100 93 112 +f 103 92 112 +f 93 103 112 +f 106 95 113 +f 99 106 113 +f 95 109 113 +f 109 99 113 +f 98 94 114 +f 94 101 114 +f 104 98 114 +f 107 91 114 +f 101 107 114 +f 91 108 114 +o convex_4 +v -2.898173 1.924023 0.324148 +v -1.128107 1.542303 -0.335345 +v -1.128107 1.577044 -0.335345 +v -1.024129 1.646464 0.324148 +v -1.024129 2.028184 -0.265884 +v -3.071672 1.646464 -0.231153 +v -3.106740 1.611723 0.324148 +v -2.932832 2.132406 0.289418 +v -3.037013 1.993443 -0.231153 +v -1.024129 2.028184 0.219957 +v -1.024129 1.507562 -0.265884 +v -2.099788 2.028184 -0.265884 +v -1.024129 1.750564 0.324148 +v -2.134447 1.611723 0.324148 +v -1.509970 2.062864 0.254687 +v -3.106740 1.611723 0.115829 +v -3.037013 2.028184 -0.196487 +v -1.024129 1.993443 -0.300614 +v -1.058789 1.507562 -0.335345 +v -2.828650 2.132406 0.254687 +f 126 131 134 +f 117 116 120 +f 118 115 121 +f 121 115 122 +f 117 120 123 +f 118 119 124 +f 119 118 125 +f 117 123 126 +f 115 118 127 +f 122 115 127 +f 118 124 127 +f 118 121 128 +f 125 118 128 +f 121 125 128 +f 124 119 129 +f 122 127 129 +f 127 124 129 +f 121 122 131 +f 123 120 131 +f 126 123 131 +f 120 130 131 +f 130 121 131 +f 119 125 132 +f 117 126 132 +f 126 119 132 +f 116 117 133 +f 120 116 133 +f 125 121 133 +f 130 120 133 +f 121 130 133 +f 117 132 133 +f 132 125 133 +f 119 126 134 +f 129 119 134 +f 122 129 134 +f 131 122 134 +o convex_5 +v 0.781506 1.160603 -1.064466 +v 1.128730 2.618145 0.879280 +v 1.128730 2.583700 0.879280 +v -0.988957 2.653161 1.087806 +v 0.989672 0.952220 1.087806 +v 1.059201 2.861163 -1.064466 +v -0.988957 0.952030 -1.029569 +v -0.988957 2.791702 -0.960203 +v -0.954193 0.952030 1.018440 +v 1.059201 2.861163 1.122703 +v 0.955118 0.952220 -1.064466 +v -0.988957 2.896179 1.087806 +v 1.128730 1.507528 -0.231004 +v -1.023722 1.646641 0.323924 +v -0.884664 2.826718 -0.994886 +v -1.023722 2.548874 -0.821257 +v 0.538365 2.861163 -1.064466 +v -1.023722 1.021491 -0.890837 +v 1.024436 0.952220 0.844811 +v 0.989672 1.021681 -1.064466 +v 1.093965 2.340491 1.122703 +v -0.988957 1.160413 1.018440 +v 1.093965 2.861163 -0.473999 +v 1.128730 1.542354 0.219661 +v 1.128730 2.201568 -0.300584 +v -0.988957 2.896179 0.844811 +v -0.606969 2.896179 1.087806 +v -0.294509 0.986855 1.053123 +v 1.059201 2.409952 -1.064466 +v 0.156587 2.861163 -1.029569 +v 0.816060 0.952220 1.087806 +v -0.988957 2.722432 -0.994886 +v 1.093965 2.861163 1.052909 +v 0.538365 2.826528 1.122703 +v -0.988957 1.611815 1.053123 +v -1.023722 2.028201 0.219875 +v -0.988957 1.160413 -1.029569 +f 152 166 171 +f 135 140 145 +f 141 135 145 +f 136 137 147 +f 138 146 148 +f 140 135 151 +f 135 141 151 +f 141 143 152 +f 148 150 152 +f 139 143 153 +f 143 141 153 +f 141 145 153 +f 147 153 154 +f 145 140 154 +f 153 145 154 +f 137 136 155 +f 139 153 155 +f 152 143 156 +f 148 152 156 +f 147 137 158 +f 153 147 158 +f 137 155 158 +f 155 153 158 +f 136 147 159 +f 157 136 159 +f 140 157 159 +f 149 142 160 +f 142 150 160 +f 150 146 160 +f 140 151 160 +f 146 144 161 +f 157 140 161 +f 160 146 161 +f 140 160 161 +f 147 154 163 +f 154 140 163 +f 159 147 163 +f 140 159 163 +f 151 149 164 +f 149 160 164 +f 160 151 164 +f 143 139 165 +f 139 155 165 +f 162 143 165 +f 142 149 166 +f 150 142 166 +f 149 151 166 +f 152 150 166 +f 155 136 167 +f 144 155 167 +f 136 157 167 +f 161 144 167 +f 157 161 167 +f 146 138 168 +f 144 146 168 +f 155 144 168 +f 138 165 168 +f 165 155 168 +f 138 148 169 +f 156 143 169 +f 148 156 169 +f 143 162 169 +f 165 138 169 +f 162 165 169 +f 148 146 170 +f 146 150 170 +f 150 148 170 +f 151 141 171 +f 141 152 171 +f 166 151 171 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/345/345.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/345/345.urdf new file mode 100644 index 000000000..83d4e86e8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/345/345.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/346/346.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/346/346.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/346/346.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/346/346.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/346/346.obj new file mode 100644 index 000000000..2d70dbb82 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/346/346.obj @@ -0,0 +1,519 @@ +o convex_0 +v 0.634541 -0.421450 -2.067216 +v 0.312618 -0.260131 0.509300 +v 0.215898 -0.260131 0.509300 +v -0.073648 -3.835046 -0.939612 +v -0.943310 -0.260131 -1.648305 +v -1.040030 -0.389256 0.154701 +v 0.699090 -2.900725 -0.167363 +v -0.750075 -2.965113 -0.199393 +v 0.699090 -2.965463 -1.841493 +v 1.053389 -0.260131 -0.939864 +v -0.846590 -1.902716 -1.777181 +v 0.924497 -0.260131 0.251547 +v -0.782246 -3.383633 -1.004176 +v -0.106024 -3.319245 -1.777181 +v 1.021012 -1.838329 -0.907330 +v 0.988840 -0.260131 -1.777181 +v -1.040030 -1.870522 -1.036458 +v -0.621183 -0.260131 -2.002652 +v -0.363604 -1.935260 -2.002652 +v 0.731261 -3.319245 -0.907330 +v -0.878967 -0.260131 0.380424 +v -0.073648 -3.351789 -0.199646 +v -1.007654 -1.774291 -0.167363 +v 0.956669 -1.677709 -1.777181 +v -0.556839 -0.292675 0.477018 +v 0.956669 -1.742097 -0.167363 +v -1.040030 -0.260131 -1.068488 +v 0.699090 -1.355421 -2.034934 +v -0.621183 -2.965113 -1.583993 +v 0.022663 -3.835046 -1.004176 +v 0.795605 -0.260131 -2.034934 +v -0.911138 -0.550225 -1.777181 +v 0.731261 -3.223013 -1.229647 +v -0.041476 -3.254858 -0.167363 +v 0.988840 -1.130064 -1.777181 +v 0.924497 -0.389256 0.251547 +v 0.022663 -3.770309 -0.843270 +v 0.312618 -0.292675 0.509300 +v 0.956669 -1.097870 0.026077 +v 1.021012 -1.806135 -1.068488 +v 0.731261 -2.900725 -1.841493 +v -0.106024 -3.512758 -1.519429 +v 0.795605 -0.808126 -2.034934 +v -0.814418 -3.254858 -1.004176 +v -0.878967 -0.324868 0.380424 +v -1.040030 -0.260131 0.154701 +v -0.202540 -3.287401 -1.744899 +v -0.009304 -3.383983 -0.231676 +v -0.782246 -3.319595 -0.843018 +v -1.040030 -1.838679 -0.778958 +v -0.041476 -3.351789 -1.744899 +v -0.717903 -2.997307 -0.199393 +v 0.988840 -1.709553 -0.392582 +v -0.878967 -1.838679 -1.712617 +v -0.073648 -3.802503 -1.068488 +v 0.763433 -3.190470 -0.907330 +v 0.376962 -2.578437 -1.905805 +v -0.685731 -1.838679 -1.873775 +v 0.215898 -3.158626 -0.167363 +v 0.666918 -1.419809 -2.034934 +v 1.021012 -0.292675 -1.519429 +v 0.892325 -0.324868 0.283829 +v -1.040030 -1.001289 -0.006205 +v 0.731261 -0.260131 -2.067216 +f 28 60 64 +f 3 2 5 +f 5 2 10 +f 10 2 12 +f 5 10 16 +f 5 16 18 +f 18 1 19 +f 3 5 21 +f 3 21 25 +f 5 17 27 +f 17 6 27 +f 21 5 27 +f 13 11 29 +f 18 16 31 +f 17 5 32 +f 5 18 32 +f 18 11 32 +f 30 9 33 +f 20 30 33 +f 31 16 35 +f 20 7 37 +f 4 30 37 +f 30 20 37 +f 2 3 38 +f 3 25 38 +f 25 34 38 +f 10 12 39 +f 7 26 39 +f 36 7 39 +f 12 36 39 +f 10 15 40 +f 24 35 40 +f 9 28 41 +f 33 9 41 +f 40 33 41 +f 24 40 41 +f 35 24 43 +f 31 35 43 +f 41 28 43 +f 24 41 43 +f 11 13 44 +f 21 6 45 +f 23 8 45 +f 6 23 45 +f 25 21 45 +f 8 25 45 +f 6 21 46 +f 27 6 46 +f 21 27 46 +f 19 14 47 +f 29 11 47 +f 13 29 47 +f 42 13 47 +f 14 42 47 +f 22 4 48 +f 37 7 48 +f 4 37 48 +f 13 4 49 +f 8 23 49 +f 44 13 49 +f 23 44 49 +f 6 17 50 +f 17 44 50 +f 44 23 50 +f 14 9 51 +f 9 30 51 +f 42 14 51 +f 30 42 51 +f 4 22 52 +f 25 8 52 +f 22 34 52 +f 34 25 52 +f 49 4 52 +f 8 49 52 +f 15 10 53 +f 10 39 53 +f 39 26 53 +f 17 32 54 +f 32 11 54 +f 11 44 54 +f 44 17 54 +f 4 13 55 +f 30 4 55 +f 13 42 55 +f 42 30 55 +f 7 20 56 +f 26 7 56 +f 20 33 56 +f 40 15 56 +f 33 40 56 +f 15 53 56 +f 53 26 56 +f 9 14 57 +f 14 19 57 +f 11 18 58 +f 18 19 58 +f 47 11 58 +f 19 47 58 +f 34 22 59 +f 7 38 59 +f 38 34 59 +f 22 48 59 +f 48 7 59 +f 19 1 60 +f 28 9 60 +f 9 57 60 +f 57 19 60 +f 16 10 61 +f 35 16 61 +f 10 40 61 +f 40 35 61 +f 12 2 62 +f 7 36 62 +f 36 12 62 +f 2 38 62 +f 38 7 62 +f 23 6 63 +f 6 50 63 +f 50 23 63 +f 1 18 64 +f 18 31 64 +f 43 28 64 +f 31 43 64 +f 60 1 64 +o convex_1 +v -0.492495 0.995958 -2.647162 +v 0.634705 1.221353 -2.164188 +v 0.634705 1.092540 -2.164188 +v 0.054989 1.156776 -3.967396 +v -0.041593 1.672256 -2.164188 +v -0.041593 0.512824 -2.164188 +v 0.086994 0.738332 -3.709492 +v -0.009361 1.511211 -3.741620 +v -0.428032 1.511211 -2.164188 +v -0.331450 1.156776 -3.709492 +v 0.409083 1.124658 -3.709492 +v 0.473547 0.641751 -2.196316 +v 0.505665 1.575447 -2.196316 +v -0.492495 0.738332 -2.196316 +v -0.363682 0.706214 -2.937017 +v -0.331450 1.511211 -2.969144 +v 0.312615 1.414516 -3.548501 +v -0.524727 1.285703 -2.164188 +v 0.312615 0.834914 -3.548501 +v -0.009361 0.738332 -3.709492 +v 0.054989 1.640024 -2.808153 +v 0.409083 1.478866 -3.065704 +v -0.266987 0.834914 -3.516373 +v 0.022871 0.609519 -2.969144 +v -0.460264 1.124658 -3.033576 +v 0.409083 0.738332 -2.904713 +v -0.266987 1.414516 -3.484069 +v -0.331450 1.092540 -3.709492 +v -0.009361 1.092540 -3.967396 +v 0.054989 1.511211 -3.709492 +v 0.151457 1.672256 -2.164188 +v 0.409083 0.609519 -2.164188 +v 0.505665 1.092540 -3.129783 +v -0.363682 1.575447 -2.196316 +v -0.460264 0.706214 -2.164188 +v 0.376852 1.060422 -3.741620 +v -0.041593 1.607793 -2.969144 +v -0.524727 1.189008 -2.453866 +v 0.312615 1.543329 -2.969144 +v 0.312615 1.156776 -3.806052 +v -0.460264 0.995958 -2.904713 +v 0.054989 1.028304 -3.934916 +v -0.363682 1.446748 -2.969144 +v 0.505665 1.156776 -3.129783 +v 0.022871 0.512824 -2.196316 +v 0.441315 0.641751 -2.357307 +v -0.138174 0.641751 -2.969144 +v -0.009361 1.156776 -3.967396 +f 93 74 112 +f 67 66 69 +f 67 69 70 +f 70 69 73 +f 70 73 82 +f 77 66 86 +f 75 81 86 +f 84 79 87 +f 84 71 88 +f 71 83 90 +f 72 74 91 +f 80 72 91 +f 87 79 92 +f 84 87 92 +f 89 74 92 +f 92 74 93 +f 84 92 93 +f 68 72 94 +f 72 85 94 +f 86 81 94 +f 69 66 95 +f 66 77 95 +f 85 69 95 +f 77 85 95 +f 67 70 96 +f 76 67 96 +f 66 67 97 +f 67 76 97 +f 90 75 97 +f 76 90 97 +f 73 69 98 +f 80 73 98 +f 79 70 99 +f 78 79 99 +f 70 82 99 +f 82 78 99 +f 83 71 100 +f 75 90 100 +f 90 83 100 +f 72 80 101 +f 69 85 101 +f 85 72 101 +f 98 69 101 +f 80 98 101 +f 65 78 102 +f 78 82 102 +f 89 65 102 +f 85 77 103 +f 77 86 103 +f 94 85 103 +f 86 94 103 +f 81 75 104 +f 68 94 104 +f 94 81 104 +f 100 68 104 +f 75 100 104 +f 78 65 105 +f 79 78 105 +f 65 89 105 +f 92 79 105 +f 89 92 105 +f 71 84 106 +f 93 68 106 +f 84 93 106 +f 68 100 106 +f 100 71 106 +f 73 80 107 +f 82 73 107 +f 74 89 107 +f 91 74 107 +f 80 91 107 +f 102 82 107 +f 89 102 107 +f 86 66 108 +f 75 86 108 +f 66 97 108 +f 97 75 108 +f 70 88 109 +f 96 70 109 +f 96 109 110 +f 88 71 110 +f 90 76 110 +f 71 90 110 +f 76 96 110 +f 109 88 110 +f 70 79 111 +f 79 84 111 +f 88 70 111 +f 84 88 111 +f 72 68 112 +f 74 72 112 +f 68 93 112 +o convex_2 +v 0.215904 2.187546 2.087359 +v 0.570201 -0.260131 -2.066592 +v 0.634544 -0.260131 -2.066592 +v 0.022670 0.416337 3.729490 +v -1.007638 1.124526 -1.486800 +v 0.763435 1.897386 -1.744893 +v 1.021012 1.188951 2.119162 +v -1.039810 -0.259885 0.187746 +v -0.782233 1.994270 2.118550 +v 0.988841 -0.259885 -0.295414 +v -0.846576 1.865173 -1.840914 +v -0.782233 1.253377 3.600444 +v -0.911124 -0.259885 -1.777308 +v 0.795607 1.253377 3.568029 +v -0.009296 1.994270 3.601055 +v 0.763435 1.994270 2.119162 +v -0.041468 2.219759 -1.035444 +v -1.039810 1.221164 2.119162 +v 0.988841 1.285589 -1.744893 +v -0.427936 1.575504 -2.163836 +v -0.685718 0.351911 3.246330 +v 0.376967 0.158635 2.763171 +v -0.041468 1.188705 4.084215 +v 1.021012 -0.259885 -1.519215 +v 0.538030 1.575504 -2.163224 +v 0.924498 -0.259885 0.284378 +v 0.859950 0.416337 2.280011 +v -0.492279 0.738710 -2.163836 +v -0.041468 2.251972 2.087359 +v 0.054842 2.123121 -1.744282 +v -1.007638 0.384124 1.893483 +v -0.556827 -0.260131 0.574274 +v 0.763435 1.994270 -1.036055 +v 1.021012 1.285589 -1.067858 +v -1.039810 -0.259885 -1.068470 +v 0.602373 0.609613 3.310548 +v -1.039810 1.221164 -1.068470 +v 1.053184 -0.259885 -0.939423 +v -0.621170 -0.259885 -2.002375 +v 0.859950 -0.259885 -1.969960 +v -0.588998 1.800748 3.213916 +v 0.538030 1.832960 3.213916 +v 0.666921 1.124526 -2.163224 +v -0.975467 0.931495 -1.777308 +v -0.621170 0.319699 3.246330 +v 0.119185 0.480762 3.794319 +v -0.750061 1.962057 -1.036055 +v 0.280248 -0.260131 0.574274 +v 0.666921 -0.259885 -2.099007 +v 0.054842 1.253377 4.084215 +v -0.556827 1.092313 -2.163836 +v 1.053184 0.287732 -1.004252 +v -0.041468 1.704355 -2.163836 +v 1.021012 1.253377 2.054333 +v -0.878952 1.800748 -1.776696 +v 0.022670 2.219759 -1.004252 +v -0.073639 2.219759 -1.004252 +v 0.538030 0.319699 -2.163224 +v 0.795607 1.188705 3.568029 +v 0.988841 -0.195459 -1.809111 +v 0.087013 1.994270 3.536227 +v -0.073639 1.994270 3.568641 +v -0.782233 1.188705 3.600444 +v 0.795607 1.929599 2.054333 +f 166 146 176 +f 124 121 130 +f 133 116 135 +f 118 131 137 +f 115 122 138 +f 134 138 139 +f 138 122 139 +f 118 137 142 +f 130 120 143 +f 120 133 143 +f 114 115 144 +f 125 114 144 +f 113 128 145 +f 131 118 145 +f 118 142 145 +f 131 145 146 +f 120 130 147 +f 125 144 147 +f 144 120 147 +f 134 139 148 +f 117 147 149 +f 147 130 149 +f 122 115 150 +f 115 136 150 +f 119 139 150 +f 139 122 150 +f 114 125 151 +f 136 115 152 +f 121 124 153 +f 126 128 154 +f 137 131 155 +f 147 117 156 +f 125 147 156 +f 116 133 157 +f 133 120 157 +f 134 116 157 +f 120 144 157 +f 144 134 157 +f 116 134 158 +f 135 116 158 +f 134 148 158 +f 123 121 159 +f 115 138 160 +f 138 134 160 +f 144 115 160 +f 134 144 160 +f 115 114 161 +f 114 151 161 +f 151 140 161 +f 152 115 161 +f 155 152 161 +f 127 135 162 +f 135 158 162 +f 123 132 163 +f 132 140 163 +f 151 125 163 +f 140 151 163 +f 156 123 163 +f 125 156 163 +f 136 131 164 +f 131 146 164 +f 150 136 164 +f 119 150 164 +f 132 123 165 +f 140 132 165 +f 123 142 165 +f 142 137 165 +f 137 155 165 +f 126 119 166 +f 119 164 166 +f 164 146 166 +f 121 123 167 +f 130 121 167 +f 117 149 167 +f 149 130 167 +f 156 117 167 +f 123 156 167 +f 141 113 168 +f 129 141 168 +f 142 129 168 +f 113 145 168 +f 145 142 168 +f 121 141 169 +f 141 129 169 +f 129 142 169 +f 142 123 169 +f 159 121 169 +f 123 159 169 +f 161 140 170 +f 155 161 170 +f 140 165 170 +f 165 155 170 +f 119 126 171 +f 139 119 171 +f 148 139 171 +f 158 148 171 +f 126 162 171 +f 162 158 171 +f 131 136 172 +f 136 152 172 +f 155 131 172 +f 152 155 172 +f 128 113 173 +f 113 141 173 +f 141 127 173 +f 126 154 173 +f 154 128 173 +f 162 126 173 +f 127 162 173 +f 124 135 174 +f 135 127 174 +f 127 141 174 +f 141 121 174 +f 121 153 174 +f 153 124 174 +f 124 130 175 +f 135 124 175 +f 133 135 175 +f 130 143 175 +f 143 133 175 +f 128 126 176 +f 145 128 176 +f 146 145 176 +f 126 166 176 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/346/346.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/346/346.urdf new file mode 100644 index 000000000..34d4c64fd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/346/346.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/347/347.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/347/347.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/347/347.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/347/347.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/347/347.obj new file mode 100644 index 000000000..2757acbea --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/347/347.obj @@ -0,0 +1,438 @@ +o convex_0 +v 0.679452 3.109723 -1.006388 +v -1.105123 0.372485 -2.870260 +v -1.105123 0.372485 -2.830491 +v 0.996739 -3.116868 -2.275145 +v -0.906766 -2.997407 -0.887285 +v 1.076167 3.109723 -2.949595 +v -1.025695 3.029879 -0.887285 +v 1.036453 -2.997407 -0.887285 +v -0.985980 -2.957181 -2.949595 +v -1.025695 3.029879 -2.949595 +v 0.957024 -3.116868 -2.909827 +v 1.036453 3.109723 -0.887285 +v -0.946480 -2.997407 -0.966620 +v 1.076167 0.650415 -2.830491 +v -1.105123 1.523210 -2.275145 +v 1.076167 3.109723 -1.918440 +v -0.192765 -3.037024 -2.949595 +v -0.787623 3.069497 -2.671821 +v 0.957024 -3.076642 -1.045955 +v 0.996739 -2.720088 -2.909827 +v -1.065409 2.593482 -2.949595 +v -1.025695 2.514247 -0.887285 +v 0.719167 -3.116868 -2.909827 +v -0.946480 -2.997407 -2.037342 +v -0.787623 3.069497 -1.521966 +v -0.232479 -3.037024 -0.887285 +v -1.105123 1.641452 -2.909827 +v -1.105123 0.927734 -2.394249 +v -0.946480 -2.798712 -0.887285 +v -0.985980 -2.957181 -2.671821 +v -0.073836 -3.037024 -2.949595 +v 0.996739 -3.116868 -2.592486 +v 1.076167 1.046586 -2.473382 +v -1.065409 2.157084 -1.521966 +f 28 29 34 +f 7 5 8 +f 3 2 9 +f 6 9 10 +f 6 1 12 +f 1 7 12 +f 7 8 12 +f 2 3 15 +f 6 12 16 +f 12 8 16 +f 14 6 16 +f 9 6 17 +f 1 6 18 +f 6 10 18 +f 10 7 18 +f 4 8 19 +f 11 6 20 +f 6 14 20 +f 10 9 21 +f 7 10 21 +f 15 7 21 +f 5 7 22 +f 11 4 23 +f 17 11 23 +f 17 23 24 +f 13 9 24 +f 9 17 24 +f 23 13 24 +f 7 1 25 +f 1 18 25 +f 18 7 25 +f 8 5 26 +f 5 13 26 +f 4 19 26 +f 19 8 26 +f 23 4 26 +f 13 23 26 +f 9 2 27 +f 2 15 27 +f 21 9 27 +f 15 21 27 +f 3 13 28 +f 15 3 28 +f 13 5 29 +f 5 22 29 +f 28 13 29 +f 3 9 30 +f 13 3 30 +f 9 13 30 +f 6 11 31 +f 17 6 31 +f 11 17 31 +f 8 4 32 +f 4 11 32 +f 14 8 32 +f 11 20 32 +f 20 14 32 +f 8 14 33 +f 16 8 33 +f 14 16 33 +f 7 15 34 +f 22 7 34 +f 15 28 34 +f 29 22 34 +o convex_1 +v 1.076113 3.029782 1.135087 +v -1.065448 -3.077209 0.778148 +v -1.025734 -3.077209 0.262757 +v -1.025734 3.030388 -0.887075 +v 1.036399 -2.957297 -0.887075 +v -1.065448 3.030388 1.254136 +v 0.956971 -3.076603 1.055860 +v 1.036399 3.109723 -0.887075 +v -0.906592 -2.997268 -0.887075 +v -1.065448 -3.077209 1.174700 +v 1.115827 0.492268 1.254136 +v 0.917471 -1.093224 1.254136 +v 1.115827 2.990417 1.214313 +v 1.076113 -0.935159 -0.847252 +v 0.956971 -3.076603 -0.609363 +v -0.946306 -1.053859 1.254136 +v -0.946306 -2.719292 -0.887075 +v 1.115827 0.412933 0.540259 +v 0.798329 3.109723 -0.530137 +v 0.996685 -3.076603 0.341983 +v -0.232524 3.029782 1.254136 +v -0.747950 -3.037238 -0.847252 +v -1.065448 3.030388 0.936811 +v 0.679401 -3.036633 1.095473 +v 0.560473 3.109723 -0.847252 +v -1.025734 2.672471 -0.887075 +v 0.996685 -3.036633 -0.887075 +v 1.036399 3.109723 -0.411087 +v -0.787664 -3.037238 1.174700 +v 0.996685 -1.053859 1.254136 +v 1.115827 1.007644 1.254136 +v 1.115827 2.950447 1.135087 +v 0.639901 -3.076603 -0.648976 +v -0.946306 -3.036633 -0.728412 +v -0.113382 -2.164551 1.214313 +v -1.065448 -2.640562 0.738535 +f 38 60 70 +f 39 38 42 +f 38 39 43 +f 36 37 44 +f 40 36 44 +f 45 40 46 +f 39 42 48 +f 40 44 50 +f 46 40 50 +f 37 36 51 +f 38 43 51 +f 45 39 52 +f 47 45 52 +f 39 48 52 +f 44 37 54 +f 41 44 54 +f 45 41 54 +f 39 45 54 +f 37 49 54 +f 40 45 55 +f 47 35 55 +f 36 40 57 +f 44 41 58 +f 42 38 59 +f 40 53 59 +f 53 42 59 +f 38 57 59 +f 57 40 59 +f 51 36 60 +f 38 51 60 +f 43 39 61 +f 39 54 61 +f 54 49 61 +f 56 43 61 +f 35 47 62 +f 47 42 62 +f 53 40 62 +f 42 53 62 +f 40 55 62 +f 55 35 62 +f 44 58 63 +f 63 58 64 +f 41 45 64 +f 45 46 64 +f 58 41 64 +f 45 47 65 +f 55 45 65 +f 47 55 65 +f 42 47 66 +f 48 42 66 +f 47 52 66 +f 52 48 66 +f 49 37 67 +f 37 56 67 +f 61 49 67 +f 56 61 67 +f 37 51 68 +f 51 43 68 +f 56 37 68 +f 43 56 68 +f 50 44 69 +f 46 50 69 +f 44 63 69 +f 63 64 69 +f 64 46 69 +f 36 57 70 +f 57 38 70 +f 60 36 70 +o convex_2 +v 1.512596 -0.618300 1.690712 +v 3.058968 0.611155 1.611470 +v 2.979652 0.531726 2.245744 +v 1.115827 0.571441 1.690712 +v 1.115827 -0.459563 2.721646 +v 3.058968 -0.618300 1.770067 +v 2.939899 -0.459563 2.681912 +v 1.115827 0.452418 2.721646 +v 1.115827 -0.618300 1.571737 +v 2.939899 0.492133 2.562937 +v 2.979652 -0.380255 1.611470 +v 1.115827 0.571441 1.571737 +v 3.058968 0.293802 1.571737 +v 2.503757 -0.380255 2.721646 +v 3.058968 -0.618300 1.651091 +v 2.939899 -0.221639 2.681912 +v 1.710980 -0.618300 1.571737 +v 1.115827 0.492133 2.444074 +v 3.058968 0.611155 1.571737 +v 2.939899 0.333517 2.602670 +v 2.979652 -0.300947 2.444074 +v 1.235086 0.452418 2.721646 +v 3.058968 0.571441 1.690712 +v 2.503757 -0.459563 2.721646 +f 77 84 94 +f 75 71 76 +f 74 75 78 +f 71 75 79 +f 75 74 79 +f 76 71 79 +f 73 72 80 +f 74 72 82 +f 79 74 82 +f 79 82 83 +f 72 76 83 +f 78 75 84 +f 76 79 85 +f 83 76 85 +f 81 83 85 +f 84 77 86 +f 79 83 87 +f 83 81 87 +f 85 79 87 +f 81 85 87 +f 72 74 88 +f 74 78 88 +f 80 72 88 +f 78 80 88 +f 82 72 89 +f 83 82 89 +f 72 83 89 +f 90 86 91 +f 77 76 91 +f 86 77 91 +f 80 78 92 +f 78 84 92 +f 84 86 92 +f 90 80 92 +f 86 90 92 +f 72 73 93 +f 76 72 93 +f 73 80 93 +f 80 90 93 +f 90 91 93 +f 91 76 93 +f 75 76 94 +f 76 77 94 +f 84 75 94 +o convex_3 +v -1.700241 -0.578527 1.651060 +v -2.294801 0.571382 1.651060 +v -2.294801 0.571382 1.611447 +v -3.008794 -0.499173 1.651060 +v -2.968921 0.452407 2.642334 +v -1.105309 -0.459552 2.563003 +v -1.105309 0.531649 1.809723 +v -3.008794 -0.459552 2.642334 +v -1.105309 0.492028 2.602616 +v -1.105309 -0.578527 1.571834 +v -2.968921 0.571382 1.571834 +v -1.105309 0.531649 1.690778 +v -2.889547 -0.499173 2.602616 +v -2.175740 -0.459552 2.642334 +v -2.730985 -0.538794 1.611447 +v -2.215427 0.492028 2.642334 +v -1.144996 -0.578527 1.849336 +v -2.968921 0.016238 1.571834 +v -2.532737 0.571382 1.571834 +v -3.008794 0.055859 2.166451 +v -2.968921 0.571382 1.770005 +v -2.968921 0.492028 2.563003 +v -1.422619 0.531649 1.651060 +v -1.422619 -0.459552 2.602616 +f 108 107 118 +f 97 96 101 +f 100 101 103 +f 101 96 103 +f 101 100 104 +f 96 97 105 +f 97 101 106 +f 101 104 106 +f 102 98 107 +f 99 102 108 +f 102 107 108 +f 104 95 109 +f 95 107 109 +f 107 98 109 +f 99 108 110 +f 108 103 110 +f 95 104 111 +f 104 100 111 +f 107 95 111 +f 100 107 111 +f 98 105 112 +f 105 104 112 +f 104 109 112 +f 109 98 112 +f 105 97 113 +f 104 105 113 +f 97 106 113 +f 98 102 114 +f 102 99 114 +f 105 98 114 +f 105 114 115 +f 103 96 115 +f 96 105 115 +f 110 103 115 +f 99 110 116 +f 114 99 116 +f 115 114 116 +f 110 115 116 +f 106 104 117 +f 104 113 117 +f 113 106 117 +f 100 103 118 +f 107 100 118 +f 103 108 118 +o convex_4 +v -1.065339 -1.054185 2.642400 +v 1.076043 1.047203 3.237336 +v 1.076043 1.047203 2.602414 +v 1.036476 -1.094008 3.157947 +v 0.996692 -1.014572 1.254539 +v -0.985988 1.047203 1.254539 +v -1.025555 1.007380 3.197350 +v 1.115827 1.007590 1.254539 +v -0.946204 -1.054185 1.254539 +v -1.065339 -1.094008 3.118349 +v -1.105123 0.531602 1.690891 +v 1.115827 -0.618020 1.571903 +v -1.105123 -0.578407 1.571709 +v -1.065339 0.491989 3.197350 +v 1.115827 -0.459567 2.721596 +v -1.105123 0.690265 2.840583 +v -0.351400 -1.094008 3.157753 +v 1.076043 0.491989 3.237336 +v 0.362104 1.047203 3.237336 +v 1.115827 1.007590 2.245841 +v 1.036476 -1.094008 2.959570 +v -1.105123 -0.459567 2.523219 +v -0.351400 -1.054185 1.254539 +v -1.065339 -0.776683 3.157753 +v -0.985988 -1.014572 1.294137 +v -1.065339 0.967767 3.157753 +v 0.957125 -0.538794 3.197544 +v 0.084703 0.967767 3.237336 +v 1.076043 -0.181855 1.254539 +v 1.115827 0.452376 2.721596 +v -0.985988 1.047203 1.571709 +v -1.025555 0.928154 1.373527 +v -0.708369 1.047203 1.254539 +f 126 124 151 +f 120 121 124 +f 121 120 126 +f 123 124 126 +f 124 123 127 +f 119 127 128 +f 119 128 131 +f 122 130 133 +f 130 126 133 +f 129 131 134 +f 128 122 135 +f 133 120 136 +f 122 133 136 +f 120 124 137 +f 136 120 137 +f 126 120 138 +f 133 126 138 +f 122 128 139 +f 128 127 139 +f 130 122 139 +f 123 130 139 +f 131 128 140 +f 128 134 140 +f 134 131 140 +f 127 123 141 +f 123 139 141 +f 139 127 141 +f 134 128 142 +f 132 134 142 +f 128 135 142 +f 135 136 142 +f 127 119 143 +f 124 127 143 +f 119 131 143 +f 131 124 143 +f 132 125 144 +f 129 134 144 +f 134 132 144 +f 135 122 145 +f 136 135 145 +f 122 136 145 +f 125 132 146 +f 137 125 146 +f 136 137 146 +f 132 142 146 +f 142 136 146 +f 123 126 147 +f 130 123 147 +f 126 130 147 +f 120 133 148 +f 138 120 148 +f 133 138 148 +f 137 124 149 +f 125 137 149 +f 124 144 149 +f 144 125 149 +f 124 131 150 +f 131 129 150 +f 144 124 150 +f 129 144 150 +f 124 121 151 +f 121 126 151 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/347/347.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/347/347.urdf new file mode 100644 index 000000000..cc1ec70a3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/347/347.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/348/348.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/348/348.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/348/348.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/348/348.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/348/348.obj new file mode 100644 index 000000000..047e63b0f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/348/348.obj @@ -0,0 +1,468 @@ +o convex_0 +v -0.628570 -2.236253 1.103788 +v 0.171670 -2.549722 -1.090229 +v -1.011792 -2.549933 -1.055430 +v 0.798706 -0.425616 -1.090229 +v 3.063036 -2.549933 0.999178 +v -3.067310 -0.460281 1.068990 +v 3.063036 -0.564701 1.034191 +v 3.098039 -2.514845 -0.985834 +v -2.962301 -2.549933 -0.916022 +v -3.032307 -0.495158 -0.950820 +v -2.822893 -2.445303 0.964380 +v 3.028033 -0.495158 -1.020417 +v 0.694301 -0.425616 1.068990 +v 0.554893 -2.584810 1.034191 +v 1.495748 -2.549722 -1.090229 +v -2.962301 -2.306007 0.964380 +v -1.186203 -2.514845 1.103788 +v 1.112526 -2.584810 -0.393617 +v -0.942389 -0.425405 -1.020632 +v 2.958630 -0.530035 -1.055430 +v -2.997304 -2.480180 -0.916022 +v 3.098039 -0.843293 0.755589 +v 1.042520 -0.425616 0.999393 +v -2.544680 -0.495158 -0.985834 +v -3.067310 -0.738873 1.068990 +v -0.976789 -0.425405 0.964380 +v -3.067310 -0.460281 0.267768 +v 3.063036 -1.400688 1.034191 +v -0.419759 -2.514845 1.103788 +v -2.997304 -1.644192 -0.950820 +v -2.962301 -2.549933 -0.707017 +v 3.098039 -1.818154 -0.951035 +v 3.098039 -2.514845 0.163372 +v 1.878366 -2.584810 0.929581 +v 3.028033 -0.495158 -0.637420 +v 3.063036 -2.549933 0.441974 +v 1.565150 -0.703997 -1.090229 +v -0.942389 -1.922784 -1.055430 +v -2.718488 -2.549933 -0.950820 +v 1.982772 -2.549722 -1.055430 +v -2.962301 -2.445303 0.581168 +v 1.843967 -1.818365 -1.090229 +v 0.938115 -0.425616 -1.090229 +v 3.063036 -0.530035 0.267982 +v -0.976789 -2.131834 1.103788 +v -3.032307 -0.913046 -0.950820 +v 3.063036 -1.609315 -1.020417 +v -1.673830 -2.480180 1.068990 +v -3.032307 -0.460281 0.024179 +v -1.499419 -0.460281 -1.020632 +f 38 24 50 +f 2 4 15 +f 3 2 18 +f 14 9 18 +f 2 15 18 +f 13 7 23 +f 10 19 24 +f 17 6 25 +f 21 16 25 +f 6 13 26 +f 13 23 26 +f 23 19 26 +f 25 6 27 +f 21 25 27 +f 6 26 27 +f 26 19 27 +f 5 22 28 +f 22 7 28 +f 13 1 29 +f 7 13 29 +f 14 5 29 +f 1 17 29 +f 17 14 29 +f 5 28 29 +f 28 7 29 +f 24 3 30 +f 9 14 31 +f 17 11 31 +f 14 17 31 +f 21 9 31 +f 22 8 32 +f 12 22 32 +f 5 8 33 +f 22 5 33 +f 8 22 33 +f 5 14 34 +f 14 18 34 +f 12 23 35 +f 8 5 36 +f 5 34 36 +f 34 18 36 +f 15 4 37 +f 2 3 38 +f 4 2 38 +f 3 24 38 +f 3 18 39 +f 18 9 39 +f 9 21 39 +f 30 3 39 +f 21 30 39 +f 15 8 40 +f 18 15 40 +f 8 36 40 +f 36 18 40 +f 11 16 41 +f 16 21 41 +f 31 11 41 +f 21 31 41 +f 15 37 42 +f 37 20 42 +f 4 19 43 +f 12 20 43 +f 23 12 43 +f 19 23 43 +f 37 4 43 +f 20 37 43 +f 7 22 44 +f 22 12 44 +f 23 7 44 +f 12 35 44 +f 35 23 44 +f 1 13 45 +f 13 6 45 +f 17 1 45 +f 6 17 45 +f 10 24 46 +f 27 10 46 +f 21 27 46 +f 30 21 46 +f 24 30 46 +f 8 15 47 +f 20 12 47 +f 32 8 47 +f 12 32 47 +f 15 42 47 +f 42 20 47 +f 16 11 48 +f 11 17 48 +f 25 16 48 +f 17 25 48 +f 19 10 49 +f 10 27 49 +f 27 19 49 +f 19 4 50 +f 24 19 50 +f 4 38 50 +o convex_1 +v 0.450657 1.420652 -1.090443 +v 0.659664 -0.285757 1.069170 +v 0.590062 -0.285757 1.069170 +v -1.012194 2.082742 0.999410 +v -0.942391 -0.425196 -1.020472 +v 1.042878 2.082742 0.964318 +v 0.938274 -0.425196 -1.090443 +v -0.942391 2.082742 -1.055563 +v -0.977192 -0.425196 0.964318 +v 0.973075 2.082742 -1.020472 +v 1.042878 -0.425196 0.999199 +v -1.012194 1.351178 -0.114854 +v -0.942391 0.341227 -1.055563 +v -1.012194 0.306368 0.894769 +v 1.042878 1.943303 0.372412 +v 0.311251 2.082742 0.999199 +v 0.415856 2.082742 -1.090443 +v -0.977192 0.027735 -0.741853 +v 0.973075 -0.425196 -0.567663 +v -1.012194 2.082742 -0.045305 +v -1.012194 1.316319 0.999410 +v 0.938274 2.082742 -1.055563 +v -0.977192 -0.425196 -0.323924 +v 0.415856 1.176880 1.034290 +v 0.694465 -0.425196 1.069170 +v 0.799070 -0.425196 -1.090443 +v 1.042878 0.828773 0.999199 +v 0.938274 0.341227 -1.090443 +v 1.042878 -0.425196 0.929650 +f 69 65 79 +f 54 56 58 +f 55 57 59 +f 58 56 60 +f 59 57 61 +f 54 62 64 +f 60 56 65 +f 56 61 65 +f 56 54 66 +f 57 51 67 +f 58 60 67 +f 51 63 67 +f 63 58 67 +f 62 58 68 +f 63 55 68 +f 58 63 68 +f 57 60 69 +f 61 57 69 +f 60 65 69 +f 54 58 70 +f 62 54 70 +f 58 62 70 +f 53 54 71 +f 59 53 71 +f 54 64 71 +f 64 59 71 +f 67 60 72 +f 55 59 73 +f 59 64 73 +f 64 62 73 +f 68 55 73 +f 62 68 73 +f 53 52 74 +f 54 53 74 +f 52 56 74 +f 66 54 74 +f 56 66 74 +f 52 53 75 +f 53 59 75 +f 59 61 75 +f 51 57 76 +f 57 55 76 +f 63 51 76 +f 55 63 76 +f 56 52 77 +f 61 56 77 +f 52 75 77 +f 75 61 77 +f 60 57 78 +f 57 67 78 +f 72 60 78 +f 67 72 78 +f 65 61 79 +f 61 69 79 +o convex_2 +v -0.907676 3.615371 -1.090014 +v 1.077755 2.674881 0.964434 +v 0.241653 2.814251 1.103573 +v -0.942410 2.082742 -1.055014 +v 0.973138 3.580266 -1.020230 +v -1.047027 3.615371 0.999004 +v 0.938196 2.082742 -1.055229 +v -1.011877 2.082742 0.999004 +v 1.007664 3.441045 0.929435 +v 1.042813 2.082742 0.964434 +v -0.245658 2.222263 1.103573 +v 0.485620 3.615371 -1.055229 +v -1.047027 2.640075 0.546373 +v 0.380795 2.082742 -1.090014 +v 0.973138 2.152503 -1.055229 +v 1.042813 3.510806 0.128526 +v -0.942410 3.615371 -1.020230 +v -1.047027 3.580266 1.033789 +v -0.942410 2.152503 -1.090014 +v 0.973138 3.580266 -0.637383 +v 0.241653 2.187458 1.103573 +v 1.077755 3.441045 0.685512 +v -1.047027 2.222263 0.999004 +v 1.042813 2.082742 0.337450 +v -0.176191 3.545611 0.999004 +v -1.047027 3.615371 0.615942 +v -1.011877 2.082742 -0.045397 +v -0.280599 3.615371 -1.090014 +v -0.315541 2.849057 1.103573 +v -0.942410 3.615371 0.999004 +v 1.007664 3.545611 -0.602598 +v 1.077755 3.406090 0.929435 +v 0.276386 2.709686 -1.090014 +v 1.077755 2.431244 0.894650 +v 0.624762 3.476000 0.964434 +v 0.590029 3.615371 -0.985445 +f 109 99 115 +f 83 86 87 +f 87 86 89 +f 80 85 91 +f 86 83 93 +f 91 84 94 +f 86 93 94 +f 85 80 96 +f 85 92 97 +f 80 93 98 +f 93 83 98 +f 96 80 98 +f 95 84 99 +f 81 82 100 +f 89 81 100 +f 87 89 100 +f 90 87 100 +f 82 90 100 +f 95 88 101 +f 87 90 102 +f 90 97 102 +f 97 92 102 +f 89 86 103 +f 86 94 103 +f 97 82 104 +f 92 85 105 +f 85 96 105 +f 105 96 106 +f 83 87 106 +f 98 83 106 +f 96 98 106 +f 87 102 106 +f 102 92 106 +f 92 105 106 +f 80 91 107 +f 93 80 107 +f 90 82 108 +f 82 97 108 +f 97 90 108 +f 91 85 109 +f 85 97 109 +f 95 99 109 +f 97 104 109 +f 94 84 110 +f 84 95 110 +f 101 94 110 +f 95 101 110 +f 82 81 111 +f 81 101 111 +f 101 88 111 +f 91 94 112 +f 94 93 112 +f 107 91 112 +f 93 107 112 +f 81 89 113 +f 101 81 113 +f 94 101 113 +f 89 103 113 +f 103 94 113 +f 88 95 114 +f 104 82 114 +f 95 109 114 +f 109 104 114 +f 82 111 114 +f 111 88 114 +f 84 91 115 +f 99 84 115 +f 91 109 115 +o convex_3 +v 0.311440 2.744532 2.357693 +v -0.350377 2.117575 2.914971 +v -0.315524 2.117575 2.914971 +v -0.002107 2.187267 1.104003 +v -0.211030 2.709618 1.243510 +v -0.350377 2.744532 2.984725 +v 0.276587 2.222181 3.019602 +v 0.241734 2.814224 1.104003 +v 0.241734 2.187267 1.104003 +v -0.280671 2.222181 1.104003 +v 0.311440 2.674772 2.984725 +v -0.315524 2.431190 1.522150 +v -0.002107 2.152421 3.019602 +v 0.276587 2.291737 1.382830 +v 0.102387 2.814224 1.104003 +v -0.350377 2.117575 3.019602 +v 0.311440 2.465899 2.253250 +v -0.350377 2.152421 2.392570 +v -0.141324 2.744532 1.139067 +v -0.350377 2.744532 2.775652 +v 0.067534 2.152421 1.626780 +v 0.241734 2.187267 3.019602 +v 0.102387 2.814224 1.452583 +v 0.276587 2.709618 2.949848 +v -0.245818 2.535455 1.104003 +v 0.276587 2.779378 1.452583 +f 132 129 141 +f 119 123 124 +f 119 117 125 +f 123 119 125 +f 121 122 126 +f 122 124 129 +f 124 123 129 +f 123 125 130 +f 117 118 131 +f 121 117 131 +f 122 121 131 +f 118 128 131 +f 128 122 131 +f 116 126 132 +f 126 122 132 +f 122 129 132 +f 117 121 133 +f 125 117 133 +f 127 125 133 +f 130 134 135 +f 120 127 135 +f 121 130 135 +f 133 121 135 +f 127 133 135 +f 134 120 135 +f 118 117 136 +f 117 119 136 +f 119 124 136 +f 128 118 136 +f 128 136 137 +f 124 122 137 +f 122 128 137 +f 136 124 137 +f 116 123 138 +f 130 121 138 +f 123 130 138 +f 126 116 139 +f 121 126 139 +f 116 138 139 +f 138 121 139 +f 127 120 140 +f 125 127 140 +f 130 125 140 +f 120 134 140 +f 134 130 140 +f 123 116 141 +f 129 123 141 +f 116 132 141 +o convex_4 +v -0.002086 2.152407 -2.100585 +v 0.276608 2.709611 -1.090444 +v 0.276608 2.674813 -1.090444 +v -0.315517 2.222188 -1.090444 +v -0.350377 2.779392 -3.110727 +v 0.206888 2.744532 -3.040919 +v -0.245859 2.187267 -3.110727 +v -0.315517 2.744532 -1.090444 +v 0.172090 2.152407 -1.090444 +v 0.172090 2.222188 -2.936306 +v 0.241748 2.744532 -1.090444 +v 0.206888 2.291785 -2.553251 +v -0.245859 2.187267 -1.090444 +v -0.280657 2.779392 -2.065780 +v -0.176201 2.779392 -3.110727 +v -0.280657 2.187267 -2.379027 +v 0.206888 2.222188 -1.090444 +v -0.350377 2.709611 -3.110727 +v -0.176201 2.187267 -3.110727 +v 0.206888 2.535496 -3.006114 +f 151 160 161 +f 144 143 145 +f 143 144 147 +f 145 143 149 +f 146 145 149 +f 144 145 150 +f 150 142 151 +f 143 147 152 +f 149 143 152 +f 150 145 154 +f 142 150 154 +f 146 149 155 +f 149 152 155 +f 155 152 156 +f 148 146 156 +f 152 147 156 +f 146 155 156 +f 148 142 157 +f 142 154 157 +f 154 145 157 +f 144 150 158 +f 150 151 158 +f 153 144 158 +f 151 153 158 +f 145 146 159 +f 146 148 159 +f 157 145 159 +f 148 157 159 +f 142 148 160 +f 151 142 160 +f 148 156 160 +f 156 147 160 +f 147 144 161 +f 144 153 161 +f 153 151 161 +f 160 147 161 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/348/348.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/348/348.urdf new file mode 100644 index 000000000..862552656 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/348/348.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/349/349.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/349/349.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/349/349.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/349/349.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/349/349.obj new file mode 100644 index 000000000..c89ba8f16 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/349/349.obj @@ -0,0 +1,555 @@ +o convex_0 +v -0.443918 -3.348605 -0.604730 +v 1.095365 -3.169746 1.113317 +v 1.059411 -2.883148 1.113317 +v 0.987924 -1.415850 -1.034563 +v -1.052609 -1.415658 1.112889 +v -0.945168 -1.415658 -1.034349 +v -0.945168 -3.348605 1.041500 +v 0.951971 -3.384647 -0.962960 +v 1.023668 -1.415850 1.005805 +v -1.016655 -3.241444 -1.070257 +v 0.629858 -3.276907 1.113317 +v -0.909215 -3.384647 1.041500 +v 1.023668 -3.348798 -0.497646 +v -1.052609 -1.415658 0.683484 +v -1.052609 -1.773761 1.077195 +v 0.987924 -3.384647 -0.676547 +v -0.336478 -3.384647 -0.389921 +v 1.095365 -3.241251 1.077195 +v 1.023668 -1.415850 0.146354 +v -0.980912 -2.525238 -1.070257 +v -1.016655 -2.990695 -1.070257 +v 0.987924 -3.312949 -0.962960 +v 0.916227 -1.702063 -1.034563 +v -0.766030 -3.384647 1.041500 +v -1.016655 -3.241444 -0.819540 +v -0.945168 -3.384647 0.862385 +v 0.701346 -3.384647 -0.962960 +v -0.909215 -3.205595 -1.070257 +v -0.980912 -2.525238 1.077195 +v 1.059411 -2.060359 1.041500 +v 1.059411 -2.346572 1.077195 +v -0.980912 -1.415658 1.112889 +v 0.558161 -3.276907 1.113317 +v 1.023668 -3.348798 -0.211020 +f 24 16 34 +f 2 3 11 +f 5 6 14 +f 14 10 15 +f 7 5 15 +f 5 14 15 +f 12 8 16 +f 10 1 17 +f 8 12 17 +f 4 2 18 +f 2 11 18 +f 13 4 18 +f 2 4 19 +f 4 6 19 +f 6 9 19 +f 6 4 20 +f 20 10 21 +f 14 6 21 +f 10 14 21 +f 6 20 21 +f 4 13 22 +f 16 8 22 +f 13 16 22 +f 4 22 23 +f 22 8 23 +f 11 12 24 +f 12 16 24 +f 15 10 25 +f 7 15 25 +f 12 7 26 +f 10 17 26 +f 17 12 26 +f 7 25 26 +f 25 10 26 +f 1 10 27 +f 10 8 27 +f 17 1 27 +f 8 17 27 +f 8 10 28 +f 20 4 28 +f 10 20 28 +f 4 23 28 +f 23 8 28 +f 5 7 29 +f 2 19 30 +f 19 9 30 +f 3 2 31 +f 2 30 31 +f 30 9 31 +f 5 3 32 +f 6 5 32 +f 9 6 32 +f 3 31 32 +f 31 9 32 +f 3 5 33 +f 11 3 33 +f 12 11 33 +f 7 12 33 +f 5 29 33 +f 29 7 33 +f 16 13 34 +f 18 11 34 +f 13 18 34 +f 11 24 34 +o convex_1 +v -1.732287 -1.272378 1.077191 +v 1.023524 0.839730 -0.783817 +v 1.023524 0.839730 -0.998647 +v 3.028512 -1.308143 -0.784031 +v -3.093114 -1.343687 -1.034559 +v 2.920653 0.624700 1.113317 +v -3.021208 0.731994 0.934185 +v 2.992559 -1.272157 1.113317 +v -3.021208 0.696229 -0.962949 +v 2.992559 0.767759 -0.962735 +v -3.093114 -1.343687 0.969883 +v 0.987571 -1.415658 -1.034346 +v -1.088126 0.839730 1.041493 +v -1.052173 -1.415658 1.113317 +v 0.307457 0.839730 -1.070258 +v 0.987571 0.839730 0.934185 +v 3.028512 -1.308143 -0.962735 +v 1.023524 -1.415658 1.005581 +v 1.309951 0.230846 -1.070471 +v -0.944912 0.839730 -0.998647 +v -1.517766 -1.415658 -1.034559 +v 2.992559 0.731994 0.003681 +v -0.837652 -1.308143 -1.070258 +v -3.057161 0.195081 0.969883 +v -3.093114 -0.842538 -1.034559 +v -1.088126 -1.021804 1.113317 +v 2.813393 0.803744 -0.712207 +v 2.956606 0.660465 1.041493 +v -2.877995 -1.379672 -1.034559 +v -3.057161 0.553170 -0.962949 +v 1.489117 0.732215 -1.070471 +v 2.813393 -1.308143 1.077191 +v -2.913948 0.731994 0.969883 +v -3.093114 -0.771009 0.969883 +v 0.987571 -0.484670 -1.070258 +v -3.057161 -0.592185 -1.034559 +v -3.021208 0.731994 0.253995 +v 3.028512 -0.448905 -0.962735 +v 2.491013 -1.343907 -0.354156 +v 2.419705 -1.308143 -0.998647 +v -3.057161 0.159316 -0.998647 +v -2.770734 -1.308143 1.005795 +v 2.992559 -1.308143 0.397002 +v 2.992559 -1.093333 1.113317 +v 0.987571 0.839730 -1.070258 +v 1.309951 -1.343907 -1.034346 +v -1.088126 -0.055272 1.077191 +v 0.773050 0.839730 0.969883 +v -1.195386 -1.236613 1.113317 +v -3.057161 0.266831 0.934185 +v 2.992559 0.767759 -0.425766 +v 0.128290 0.696450 -1.070258 +v 2.526966 0.767759 -0.998861 +v -1.231339 0.767980 1.041493 +f 60 81 88 +f 36 37 47 +f 42 40 48 +f 47 37 49 +f 36 47 50 +f 48 46 52 +f 49 43 54 +f 47 49 54 +f 46 48 55 +f 46 55 57 +f 39 45 59 +f 57 39 59 +f 48 40 60 +f 37 36 61 +f 36 50 61 +f 45 39 63 +f 48 45 63 +f 55 48 63 +f 39 57 63 +f 57 55 63 +f 53 57 65 +f 42 48 66 +f 48 52 66 +f 47 41 67 +f 41 58 67 +f 59 45 68 +f 64 59 68 +f 57 53 69 +f 57 59 70 +f 41 47 71 +f 54 43 71 +f 47 54 71 +f 64 41 71 +f 43 64 71 +f 38 51 72 +f 51 38 73 +f 46 51 73 +f 52 46 73 +f 51 46 74 +f 65 51 74 +f 53 65 74 +f 69 53 74 +f 43 49 75 +f 64 43 75 +f 59 64 75 +f 49 70 75 +f 70 59 75 +f 45 48 76 +f 48 35 76 +f 35 58 76 +f 68 45 76 +f 58 68 76 +f 38 42 77 +f 42 66 77 +f 66 52 77 +f 73 38 77 +f 52 73 77 +f 42 38 78 +f 40 42 78 +f 56 62 78 +f 62 40 78 +f 38 72 78 +f 72 56 78 +f 49 37 79 +f 37 61 79 +f 61 44 79 +f 65 49 79 +f 46 57 80 +f 57 69 80 +f 74 46 80 +f 69 74 80 +f 40 47 81 +f 60 40 81 +f 47 40 82 +f 50 47 82 +f 40 62 82 +f 62 50 82 +f 35 48 83 +f 58 35 83 +f 48 60 83 +f 67 58 83 +f 60 67 83 +f 58 41 84 +f 41 64 84 +f 68 58 84 +f 64 68 84 +f 44 61 85 +f 61 50 85 +f 62 56 85 +f 50 62 85 +f 56 72 85 +f 72 44 85 +f 49 65 86 +f 65 57 86 +f 70 49 86 +f 57 70 86 +f 51 65 87 +f 72 51 87 +f 44 72 87 +f 79 44 87 +f 65 79 87 +f 47 67 88 +f 67 60 88 +f 81 47 88 +o convex_2 +v -1.661357 2.199930 -0.497643 +v -2.233726 1.519996 -0.605074 +v -2.233726 1.555877 -0.605074 +v -3.057205 1.985208 0.576320 +v -1.088409 1.090329 0.433040 +v -1.088409 2.164162 0.468889 +v -3.021360 1.090329 -0.569225 +v -1.088409 1.162089 -0.533376 +v -2.985515 2.235810 -0.426061 +v -2.985515 1.126321 0.468889 +v -1.088409 2.164162 -0.605074 +v -3.057205 2.164162 0.576320 +v -3.021360 1.627413 -0.533376 +v -2.663292 2.092513 0.576320 +v -1.088409 1.090329 0.146712 +v -2.914017 2.199930 -0.461794 +v -1.876236 1.090329 0.433040 +v -1.661357 1.126321 -0.533376 +v -3.021360 1.126321 0.003432 +v -1.303481 2.128393 -0.605074 +v -1.124447 1.949328 -0.605074 +v -2.090537 1.126321 -0.569225 +v -2.914017 2.235810 -0.354363 +v -2.949669 1.949328 0.576320 +v -3.021360 1.376811 -0.569225 +v -3.057205 2.164162 0.433040 +v -1.554013 2.164162 0.504622 +f 111 100 115 +f 91 90 95 +f 94 93 96 +f 90 91 99 +f 89 94 99 +f 94 96 99 +f 97 89 99 +f 100 92 102 +f 93 95 103 +f 96 93 103 +f 97 99 104 +f 101 97 104 +f 95 93 105 +f 93 98 105 +f 98 95 105 +f 103 95 106 +f 96 103 106 +f 92 95 107 +f 98 92 107 +f 95 98 107 +f 99 91 108 +f 104 99 108 +f 90 99 109 +f 99 96 109 +f 95 90 110 +f 106 95 110 +f 96 106 110 +f 90 109 110 +f 109 96 110 +f 94 89 111 +f 89 97 111 +f 97 100 111 +f 92 98 112 +f 98 93 112 +f 102 92 112 +f 93 102 112 +f 91 95 113 +f 101 104 113 +f 108 91 113 +f 104 108 113 +f 95 92 114 +f 92 100 114 +f 100 97 114 +f 97 101 114 +f 113 95 114 +f 101 113 114 +f 93 94 115 +f 102 93 115 +f 100 102 115 +f 94 111 115 +o convex_3 +v -1.016585 0.947214 -0.819480 +v 1.095165 2.235691 0.504538 +v 1.023769 2.665246 0.504538 +v -1.088195 0.839919 1.041619 +v -1.016585 2.736776 1.113317 +v -1.016585 2.665246 -1.106271 +v 0.987857 0.839730 -1.070205 +v 0.987857 0.839730 0.934072 +v 1.095165 2.736776 -0.998724 +v 0.844637 2.629482 1.041402 +v -0.944975 0.839919 -1.034573 +v 1.095165 1.090462 -0.497492 +v -1.088195 2.235691 -0.676302 +v -0.443918 2.772730 -0.461643 +v -0.121566 2.772730 0.361360 +v 0.987857 2.629482 1.005553 +v -1.088195 1.090462 -0.568973 +v -1.052497 2.342985 1.113317 +v 0.987857 1.018932 0.969921 +v 1.095165 1.233710 0.468689 +v -0.694447 2.701200 -1.106271 +v 0.808725 2.772730 -0.819697 +v -1.016585 2.271456 -1.106271 +v 1.023769 1.376958 -1.070205 +v -1.088195 2.163972 0.468906 +v -1.016585 2.701200 -1.034573 +v -0.801755 0.839919 1.041619 +v 1.023769 0.839730 -0.998724 +v -0.658748 2.665246 1.113317 +v 0.343366 0.839919 -1.070422 +v 0.737114 2.665246 0.934072 +v -1.052497 2.557763 -0.998724 +v -1.052497 2.557763 1.041619 +v -0.730358 2.736776 1.113317 +v 1.059467 2.736776 -0.497492 +v -1.016585 0.875684 -0.783849 +v -1.016585 2.736776 0.433057 +v -1.088195 1.591547 -0.712151 +v 0.987857 1.877665 1.005553 +v 0.164447 2.736776 -1.034356 +v 1.023769 0.947403 -1.070205 +v -1.088195 0.839919 0.683565 +v 0.808725 0.839919 0.969921 +v -0.336610 2.772730 0.433057 +f 149 130 159 +f 119 122 123 +f 118 117 124 +f 124 117 127 +f 117 118 131 +f 119 128 132 +f 127 117 135 +f 123 127 135 +f 134 123 135 +f 129 130 137 +f 126 116 138 +f 121 136 138 +f 136 122 138 +f 136 124 139 +f 128 119 140 +f 136 121 141 +f 119 123 142 +f 133 119 142 +f 123 122 143 +f 127 123 143 +f 120 133 144 +f 133 142 144 +f 142 134 144 +f 122 126 145 +f 126 138 145 +f 138 122 145 +f 131 118 146 +f 121 138 147 +f 141 121 147 +f 119 133 148 +f 133 120 148 +f 140 119 148 +f 128 140 148 +f 120 147 148 +f 147 128 148 +f 125 131 149 +f 120 144 149 +f 144 125 149 +f 146 130 149 +f 131 146 149 +f 118 124 150 +f 124 137 150 +f 137 130 150 +f 130 146 150 +f 146 118 150 +f 116 126 151 +f 132 116 151 +f 120 129 152 +f 129 141 152 +f 147 120 152 +f 141 147 152 +f 116 132 153 +f 132 128 153 +f 138 116 153 +f 128 147 153 +f 147 138 153 +f 117 131 154 +f 131 125 154 +f 135 117 154 +f 134 135 154 +f 125 144 154 +f 144 134 154 +f 124 136 155 +f 129 137 155 +f 137 124 155 +f 141 129 155 +f 136 141 155 +f 124 127 156 +f 122 136 156 +f 139 124 156 +f 136 139 156 +f 143 122 156 +f 127 143 156 +f 122 119 157 +f 126 122 157 +f 119 132 157 +f 151 126 157 +f 132 151 157 +f 123 134 158 +f 142 123 158 +f 134 142 158 +f 129 120 159 +f 130 129 159 +f 120 149 159 +o convex_4 +v 2.777745 1.162089 0.218315 +v 2.062254 2.235810 -0.461836 +v 2.062254 2.235810 -0.497576 +v 1.095379 1.090329 -0.497576 +v 1.095379 2.235810 0.504671 +v 3.028540 2.128393 0.468822 +v 2.920805 1.233626 -0.569274 +v 1.095379 1.233626 0.468822 +v 1.095379 2.235810 -0.497576 +v 3.100168 1.197858 0.540520 +v 3.028540 2.164162 -0.533425 +v 3.028540 2.199930 -0.247069 +v 2.240636 1.162089 -0.569274 +v 2.383892 1.197858 0.540520 +v 2.062254 2.199930 0.504671 +v 1.417802 1.090329 -0.282809 +v 2.956913 1.197858 -0.425878 +v 3.100168 1.412692 0.540520 +v 2.920805 1.698838 -0.569274 +v 1.346174 1.233626 0.504671 +v 1.489429 2.235810 0.504671 +v 3.100168 1.197858 0.397125 +v 2.777745 1.162089 0.433082 +v 3.028540 1.949328 -0.533425 +v 1.095379 1.126321 -0.103782 +v 1.095379 1.663069 0.504671 +v 3.028540 2.199930 -0.497576 +v 1.560861 1.126321 -0.533425 +v 3.064256 1.484228 0.540520 +v 1.131291 1.197858 0.325644 +v 1.381890 1.090329 -0.425878 +f 172 176 190 +f 161 162 164 +f 164 163 167 +f 163 164 168 +f 164 162 168 +f 168 162 170 +f 162 161 171 +f 165 171 174 +f 172 166 176 +f 171 165 177 +f 173 169 177 +f 168 170 178 +f 170 166 178 +f 166 172 178 +f 172 168 178 +f 167 173 179 +f 161 164 180 +f 171 161 180 +f 174 171 180 +f 169 160 181 +f 160 176 181 +f 177 169 181 +f 170 177 181 +f 160 169 182 +f 169 173 182 +f 175 160 182 +f 166 170 183 +f 176 166 183 +f 181 176 183 +f 170 181 183 +f 167 163 184 +f 163 175 184 +f 175 182 184 +f 164 167 185 +f 173 164 185 +f 167 179 185 +f 179 173 185 +f 170 162 186 +f 162 171 186 +f 177 170 186 +f 171 177 186 +f 163 168 187 +f 172 163 187 +f 168 172 187 +f 164 173 188 +f 165 174 188 +f 177 165 188 +f 173 177 188 +f 180 164 188 +f 174 180 188 +f 173 167 189 +f 182 173 189 +f 167 184 189 +f 184 182 189 +f 163 172 190 +f 175 163 190 +f 160 175 190 +f 176 160 190 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/349/349.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/349/349.urdf new file mode 100644 index 000000000..b4bdccc86 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/349/349.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/350/350.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/350/350.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/350/350.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/350/350.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/350/350.obj new file mode 100644 index 000000000..77a8d21f0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/350/350.obj @@ -0,0 +1,1056 @@ +o convex_0 +v -0.198035 -0.302567 4.417670 +v 0.271226 -0.242404 4.437719 +v 0.271226 -0.242404 4.433702 +v 0.303342 -0.266473 4.445744 +v -0.194014 -0.290523 4.401620 +v -0.189993 -0.298544 4.429694 +f 2 5 6 +f 3 2 4 +f 4 1 5 +f 2 3 5 +f 3 4 5 +f 4 2 6 +f 1 4 6 +f 5 1 6 +o convex_1 +v 0.199049 -0.222333 -0.636183 +v 0.187019 -0.306578 -1.586991 +v 0.187018 -0.190246 -1.586991 +v 0.187019 -0.194251 0.342257 +v 0.191029 0.174770 0.342257 +v 0.191029 -0.001778 -1.586991 +v 0.187018 0.174770 -0.002941 +v 0.199050 -0.306578 -1.586991 +v 0.195037 -0.198256 0.326171 +v 0.199049 -0.218328 -1.314277 +v 0.187018 -0.001778 -1.586991 +v 0.191029 0.174770 -0.002941 +v 0.195038 -0.029812 0.342257 +v 0.187018 0.174770 0.342257 +v 0.199050 -0.234347 -0.295716 +f 19 15 21 +f 9 8 10 +f 8 9 12 +f 8 12 14 +f 10 8 15 +f 11 7 16 +f 14 12 16 +f 12 9 17 +f 9 13 17 +f 13 12 17 +f 13 11 18 +f 12 13 18 +f 11 16 18 +f 16 12 18 +f 7 11 19 +f 11 10 19 +f 10 15 19 +f 9 10 20 +f 10 11 20 +f 13 9 20 +f 11 13 20 +f 8 14 21 +f 15 8 21 +f 16 7 21 +f 14 16 21 +f 7 19 21 +o convex_2 +v -0.149898 0.319175 -1.567088 +v 0.018525 0.327195 -0.656628 +v -0.001519 0.331208 -0.656628 +v -0.182016 0.319175 -0.660727 +v -0.017558 0.315164 -1.567088 +v 0.018525 0.323184 -1.567088 +v -0.182016 0.327195 -0.676769 +v -0.182016 0.311151 -1.567088 +v 0.018525 0.323184 -0.656628 +v 0.014520 0.331208 -0.885312 +v -0.177992 0.311151 -1.458627 +v -0.182016 0.319175 -1.474669 +f 28 31 33 +f 26 22 27 +f 25 24 28 +f 22 26 29 +f 25 28 29 +f 23 24 30 +f 24 25 30 +f 27 23 30 +f 26 27 30 +f 24 23 31 +f 23 27 31 +f 27 22 31 +f 28 24 31 +f 29 26 32 +f 25 29 32 +f 30 25 32 +f 26 30 32 +f 22 29 33 +f 29 28 33 +f 31 22 33 +o convex_3 +v -0.318392 0.050422 2.416062 +v -0.262247 -0.186241 1.429482 +v -0.258230 -0.186241 1.429482 +v -0.282301 0.050398 1.429482 +v -0.286312 -0.150125 2.383900 +v -0.294327 0.034368 1.549726 +v -0.290322 -0.170187 2.291665 +v -0.310371 0.038352 2.412006 +v -0.258230 -0.178202 1.521620 +v -0.318392 0.030337 2.407949 +v -0.282301 0.050398 1.473523 +v -0.282301 -0.037864 1.437401 +v -0.286312 -0.166179 2.379844 +f 43 40 46 +f 36 35 37 +f 34 37 39 +f 35 36 40 +f 34 38 41 +f 36 37 42 +f 34 39 43 +f 37 34 44 +f 34 41 44 +f 41 38 44 +f 42 37 44 +f 38 42 44 +f 37 35 45 +f 39 37 45 +f 35 40 45 +f 43 39 45 +f 40 43 45 +f 38 34 46 +f 40 36 46 +f 36 42 46 +f 42 38 46 +f 34 43 46 +o convex_4 +v -0.282295 0.283026 1.505456 +v -0.230156 0.050422 0.418501 +v -0.230156 0.110614 0.418501 +v -0.298342 0.082551 1.613707 +v -0.290315 0.050422 1.641821 +v -0.222136 0.331208 0.450580 +v -0.298342 0.275028 1.637736 +v -0.222136 0.074498 0.422586 +v -0.230156 0.331208 0.446615 +v -0.298342 0.050422 1.617792 +v -0.290315 0.275028 1.645786 +v -0.226142 0.050422 0.486744 +f 54 51 58 +f 49 48 50 +f 47 51 52 +f 49 50 53 +f 48 49 54 +f 52 51 54 +f 49 52 54 +f 52 49 55 +f 47 52 55 +f 53 47 55 +f 49 53 55 +f 50 48 56 +f 48 51 56 +f 53 50 56 +f 51 53 56 +f 51 47 57 +f 47 53 57 +f 53 51 57 +f 51 48 58 +f 48 54 58 +o convex_5 +v -0.338451 0.234922 2.452084 +v -0.298345 0.050422 1.645906 +v -0.294331 0.050422 1.645906 +v -0.298345 0.275050 1.645906 +v -0.314389 0.066473 2.419964 +v -0.294331 0.271027 1.714173 +v -0.342461 0.222873 2.416018 +v -0.322408 0.062471 2.407968 +v -0.294331 0.050422 1.782361 +v -0.302355 0.066473 1.690102 +v -0.310379 0.050422 2.339780 +v -0.334437 0.238924 2.416018 +f 64 62 70 +f 61 60 62 +f 61 62 64 +f 59 62 65 +f 63 59 66 +f 59 65 66 +f 60 61 67 +f 61 64 67 +f 62 60 68 +f 65 62 68 +f 60 66 68 +f 66 65 68 +f 64 63 69 +f 66 60 69 +f 63 66 69 +f 60 67 69 +f 67 64 69 +f 62 59 70 +f 59 63 70 +f 63 64 70 +o convex_6 +v 0.247179 0.279062 1.196605 +v 0.187017 0.022368 0.342350 +v 0.187017 0.186762 0.342350 +v 0.239158 0.022368 0.988066 +v 0.251186 0.022368 1.292825 +v 0.187017 0.267000 0.422565 +v 0.191038 0.258983 0.358356 +v 0.247179 0.279062 1.280821 +v 0.259215 0.098559 1.288824 +v 0.195045 0.026364 0.362357 +v 0.255201 0.275016 1.272818 +v 0.187017 0.022368 0.370360 +v 0.259215 0.030384 1.276819 +f 79 75 83 +f 72 74 75 +f 73 72 76 +f 73 76 77 +f 76 71 77 +f 76 75 78 +f 71 76 78 +f 78 75 79 +f 72 73 80 +f 74 72 80 +f 73 77 80 +f 79 74 80 +f 77 79 80 +f 77 71 81 +f 71 78 81 +f 79 77 81 +f 78 79 81 +f 72 75 82 +f 76 72 82 +f 75 76 82 +f 75 74 83 +f 74 79 83 +o convex_7 +v 0.267236 0.050414 1.710195 +v 0.203064 -0.198263 1.718139 +v 0.199050 -0.194247 1.292918 +v 0.263221 0.050414 2.343723 +v 0.215100 -0.190230 2.323643 +v 0.255207 0.050414 1.292918 +v 0.207079 -0.186238 2.415991 +v 0.207079 -0.190230 1.309027 +v 0.271250 0.042382 2.375830 +v 0.259214 0.026340 1.305055 +v 0.199050 -0.182198 1.312999 +v 0.211086 -0.198263 2.420073 +f 88 92 95 +f 87 84 89 +f 86 85 90 +f 85 86 91 +f 84 87 92 +f 87 90 92 +f 89 84 93 +f 86 89 93 +f 91 86 93 +f 88 91 93 +f 84 92 93 +f 92 88 93 +f 89 86 94 +f 87 89 94 +f 90 87 94 +f 86 90 94 +f 90 85 95 +f 85 91 95 +f 91 88 95 +f 92 90 95 +o convex_8 +v 0.038570 -0.318607 -1.543033 +v 0.158856 -0.282521 -1.591155 +v 0.094718 -0.282521 -1.583121 +v 0.187016 -0.302581 -1.534999 +v -0.254219 -0.274488 -1.530986 +v -0.254219 -0.334656 -1.526974 +v 0.187016 -0.310580 -1.587134 +v -0.222128 -0.334656 -1.510930 +v 0.187016 -0.278505 -1.587134 +f 99 102 104 +f 97 98 100 +f 98 97 101 +f 100 98 101 +f 99 96 102 +f 101 97 102 +f 101 102 103 +f 96 99 103 +f 99 100 103 +f 100 101 103 +f 102 96 103 +f 100 99 104 +f 97 100 104 +f 102 97 104 +o convex_9 +v -0.282286 0.050422 1.328969 +v -0.230156 -0.206297 0.418471 +v -0.226146 -0.206297 0.418471 +v -0.258224 -0.186219 1.429300 +v -0.226152 0.050422 0.486743 +v -0.230162 0.050422 0.418471 +v -0.286303 0.006270 1.393185 +v -0.278276 0.050422 1.405157 +v -0.254219 -0.182198 1.393086 +v -0.262234 -0.186219 1.381014 +v -0.234167 -0.198256 0.454685 +v -0.226146 -0.202251 0.486743 +f 113 108 116 +f 106 107 108 +f 109 107 110 +f 107 106 110 +f 105 109 110 +f 111 108 112 +f 109 105 112 +f 105 111 112 +f 109 112 113 +f 112 108 113 +f 106 108 114 +f 108 111 114 +f 114 111 115 +f 110 106 115 +f 105 110 115 +f 111 105 115 +f 106 114 115 +f 108 107 116 +f 107 109 116 +f 109 113 116 +o convex_10 +v -0.153916 0.299090 -1.671370 +v -0.218118 -0.102005 -1.579124 +v -0.218118 -0.102005 -1.575110 +v 0.070691 -0.102005 -1.611220 +v 0.070691 0.307140 -1.607206 +v -0.218118 0.126597 -1.623245 +v 0.070691 -0.097920 -1.619230 +v -0.173988 0.275020 -1.671370 +v 0.070691 0.307140 -1.615225 +v -0.161916 0.307140 -1.663341 +v -0.218118 -0.081940 -1.587153 +v -0.206074 -0.102005 -1.575110 +f 121 119 128 +f 119 118 120 +f 119 121 122 +f 118 119 122 +f 120 118 123 +f 121 120 123 +f 117 123 124 +f 123 117 125 +f 121 123 125 +f 122 121 126 +f 124 122 126 +f 117 124 126 +f 125 117 126 +f 121 125 126 +f 118 122 127 +f 123 118 127 +f 122 124 127 +f 124 123 127 +f 119 120 128 +f 120 121 128 +o convex_11 +v 0.227118 -0.105976 1.292825 +v 0.187017 -0.194242 0.342257 +v 0.187017 0.022322 0.342257 +v 0.255199 0.022322 1.216612 +v 0.199058 -0.182199 1.292825 +v 0.199051 -0.190214 0.374362 +v 0.247176 0.018314 1.292918 +v 0.195040 0.022322 0.362357 +v 0.203069 -0.194242 1.292825 +v 0.187017 0.022322 0.366359 +v 0.255199 0.010300 1.288824 +v 0.203069 -0.194242 0.923858 +v 0.195040 -0.029837 0.342257 +f 136 132 141 +f 131 132 136 +f 133 130 137 +f 129 135 137 +f 135 133 137 +f 131 130 138 +f 132 131 138 +f 130 133 138 +f 135 132 138 +f 133 135 138 +f 134 132 139 +f 132 135 139 +f 135 129 139 +f 130 134 140 +f 137 130 140 +f 129 137 140 +f 134 139 140 +f 139 129 140 +f 130 131 141 +f 134 130 141 +f 132 134 141 +f 131 136 141 +o convex_12 +v -0.218114 0.315163 0.057301 +v -0.218114 0.142680 -1.566929 +v -0.218114 0.166773 -1.566929 +v -0.182018 0.307126 -1.534810 +v -0.190043 0.315146 -1.538944 +v -0.214103 0.303125 -0.015046 +v -0.214103 0.142680 -1.526700 +v -0.218114 0.315163 -0.179457 +v -0.182018 0.311144 -1.446562 +f 147 148 150 +f 144 143 142 +f 143 144 145 +f 145 144 146 +f 142 143 147 +f 143 145 148 +f 147 143 148 +f 144 142 149 +f 142 146 149 +f 146 144 149 +f 146 142 150 +f 145 146 150 +f 142 147 150 +f 148 145 150 +o convex_13 +v 0.275259 0.078501 1.754210 +v 0.255214 0.050422 1.292918 +v 0.251200 0.094556 1.292918 +v 0.287294 0.283073 1.730097 +v 0.251200 0.279042 1.337079 +v 0.259224 0.054452 1.714068 +v 0.287294 0.130652 1.698038 +v 0.259224 0.271003 1.329041 +v 0.279269 0.283073 1.734116 +v 0.263235 0.050422 1.337079 +v 0.267245 0.050422 1.754210 +f 160 151 161 +f 153 152 156 +f 155 153 156 +f 154 151 157 +f 152 153 158 +f 155 154 158 +f 153 155 158 +f 151 154 159 +f 154 155 159 +f 155 156 159 +f 157 151 160 +f 154 157 160 +f 158 154 160 +f 152 158 160 +f 156 152 161 +f 151 159 161 +f 159 156 161 +f 152 160 161 +o convex_14 +v 0.319381 0.279048 2.335783 +v 0.263234 0.050422 1.754210 +v 0.263234 0.066488 1.754210 +v 0.267248 0.050422 2.375950 +v 0.283292 0.283053 1.794377 +v 0.291314 0.146701 1.758287 +v 0.327403 0.279048 2.299693 +v 0.275270 0.058478 2.371933 +v 0.287300 0.283053 1.754210 +v 0.267248 0.066488 2.359883 +v 0.263234 0.054473 2.219480 +v 0.271256 0.062483 1.754210 +v 0.319381 0.291086 2.307726 +f 166 171 174 +f 165 163 169 +f 162 165 169 +f 168 162 169 +f 163 164 170 +f 164 166 170 +f 168 167 170 +f 165 162 171 +f 171 166 172 +f 164 163 172 +f 163 165 172 +f 166 164 172 +f 165 171 172 +f 167 168 173 +f 168 169 173 +f 169 163 173 +f 163 170 173 +f 170 167 173 +f 162 168 174 +f 170 166 174 +f 168 170 174 +f 171 162 174 +o convex_15 +v -0.210069 -0.106031 -1.583133 +v 0.187016 -0.102005 -1.583133 +v 0.187016 -0.218309 -1.583133 +v -0.214060 -0.278499 -1.534998 +v -0.270169 -0.102005 -1.534998 +v 0.118793 -0.186261 -1.607193 +v -0.298342 -0.254416 -1.539010 +v 0.150862 -0.278499 -1.591151 +v 0.042587 -0.102005 -1.615219 +v -0.266226 -0.102005 -1.575108 +v 0.187016 -0.278499 -1.587146 +f 182 180 185 +f 177 176 178 +f 178 176 179 +f 178 179 181 +f 175 180 182 +f 178 181 182 +f 181 175 182 +f 179 176 183 +f 176 180 183 +f 180 175 183 +f 175 181 184 +f 181 179 184 +f 183 175 184 +f 179 183 184 +f 176 177 185 +f 177 178 185 +f 180 176 185 +f 178 182 185 +o convex_16 +v -0.254219 -0.246425 -0.219315 +v -0.254219 -0.334647 -1.510930 +v -0.254219 -0.330629 -1.510930 +v -0.190039 -0.330629 -1.510930 +v -0.190039 -0.242407 -0.279496 +v -0.194060 -0.250435 -0.263439 +v -0.194060 -0.322611 -1.494874 +v -0.254219 -0.246425 -0.275576 +v -0.250198 -0.270490 -0.508335 +v -0.226131 -0.334647 -1.506885 +v -0.254219 -0.326620 -1.490701 +f 188 193 196 +f 188 187 186 +f 187 188 189 +f 190 186 191 +f 189 190 191 +f 189 188 192 +f 190 189 192 +f 190 192 193 +f 188 186 193 +f 186 190 193 +f 186 187 194 +f 191 186 194 +f 191 194 195 +f 187 189 195 +f 189 191 195 +f 194 187 195 +f 192 188 196 +f 193 192 196 +o convex_17 +v -0.190039 -0.314603 -1.246210 +v 0.138882 -0.306580 -1.530967 +v 0.138882 -0.310592 -1.530967 +v -0.190039 -0.310592 -1.534998 +v -0.145897 -0.330645 -1.534998 +v -0.190039 -0.306580 -1.186021 +v -0.190039 -0.330645 -1.534998 +f 200 201 203 +f 199 197 201 +f 198 199 201 +f 200 198 201 +f 197 199 202 +f 199 198 202 +f 198 200 202 +f 200 197 202 +f 197 200 203 +f 201 197 203 +o convex_18 +v -0.222135 -0.097922 -1.583148 +v -0.173994 0.315163 -1.567088 +v -0.186040 0.315163 -1.567088 +v -0.173994 0.315163 -1.675391 +v -0.266248 -0.081874 -1.571105 +v -0.173994 0.134632 -1.639261 +v -0.198060 0.258974 -1.663326 +v -0.218125 -0.102005 -1.575123 +f 204 209 211 +f 206 205 207 +f 205 206 208 +f 207 205 209 +f 207 209 210 +f 206 207 210 +f 204 208 210 +f 208 206 210 +f 209 204 210 +f 208 204 211 +f 205 208 211 +f 209 205 211 +o convex_19 +v -0.230158 0.190761 -0.764876 +v -0.286304 -0.202276 -1.534932 +v -0.282290 -0.202276 -1.534932 +v -0.218125 0.146662 -1.571099 +v -0.282290 -0.202276 -0.905340 +v -0.290310 -0.142106 -0.985605 +v -0.218125 0.202804 -0.768921 +v -0.218118 0.118548 -1.558964 +v -0.222139 0.146662 -1.571099 +v -0.278277 -0.057808 -0.760831 +v -0.290310 -0.198248 -1.514786 +v -0.274270 -0.101992 -0.760831 +v -0.294331 -0.202276 -1.049770 +v -0.222139 0.230917 -0.760831 +v -0.258224 -0.085921 -1.571099 +f 220 215 226 +f 213 214 216 +f 218 216 219 +f 215 218 219 +f 217 212 220 +f 212 217 221 +f 220 213 222 +f 217 220 222 +f 216 218 223 +f 221 216 223 +f 213 216 224 +f 221 217 224 +f 216 221 224 +f 222 213 224 +f 217 222 224 +f 218 215 225 +f 215 220 225 +f 220 212 225 +f 212 221 225 +f 223 218 225 +f 221 223 225 +f 214 213 226 +f 216 214 226 +f 219 216 226 +f 215 219 226 +f 213 220 226 +o convex_20 +v 0.182997 0.246952 -1.567092 +v 0.070691 -0.102005 -1.615222 +v 0.086746 -0.102005 -1.615222 +v 0.070691 0.323163 -1.611204 +v 0.070691 0.319172 -1.567092 +v 0.187017 -0.102005 -1.583139 +v 0.178978 0.327196 -1.587148 +v 0.182997 -0.005712 -1.567092 +v 0.182997 -0.102005 -1.591157 +v 0.082738 -0.102005 -1.607194 +v 0.074710 0.246952 -1.615222 +v 0.178978 0.327196 -1.567092 +f 233 230 238 +f 230 228 231 +f 228 229 232 +f 227 232 233 +f 227 231 234 +f 232 227 234 +f 232 229 235 +f 233 232 235 +f 231 228 236 +f 228 232 236 +f 234 231 236 +f 232 234 236 +f 229 228 237 +f 228 230 237 +f 230 233 237 +f 235 229 237 +f 233 235 237 +f 231 227 238 +f 230 231 238 +f 227 233 238 +o convex_21 +v 0.054668 0.331208 -1.009636 +v 0.174980 0.311154 -0.957411 +v 0.158933 0.311154 -0.869181 +v 0.018545 0.319174 -1.567088 +v 0.174980 0.327195 -1.566998 +v 0.018545 0.319174 -0.656628 +v 0.170969 0.307142 -1.117829 +v 0.090745 0.307145 -0.656628 +v 0.022572 0.331208 -0.785051 +v 0.018545 0.323183 -1.567088 +v 0.174980 0.319174 -1.514863 +v 0.118813 0.311152 -0.656628 +v 0.174980 0.327195 -1.490800 +f 239 247 251 +f 240 241 246 +f 244 242 246 +f 242 245 246 +f 245 240 246 +f 241 240 247 +f 239 243 248 +f 243 242 248 +f 242 244 248 +f 247 239 248 +f 244 247 248 +f 242 243 249 +f 243 240 249 +f 245 242 249 +f 240 245 249 +f 246 241 250 +f 244 246 250 +f 241 247 250 +f 247 244 250 +f 243 239 251 +f 240 243 251 +f 247 240 251 +o convex_22 +v -0.230156 -0.202276 0.418452 +v -0.286297 -0.202276 -0.905235 +v -0.286297 -0.114048 -0.905235 +v -0.226140 -0.106029 0.322182 +v -0.278282 -0.202276 -0.864939 +v -0.234167 -0.102005 0.330215 +v -0.278282 -0.102005 -0.905235 +v -0.226140 -0.202276 0.362219 +v -0.286297 -0.202276 -0.857035 +v -0.234167 -0.202276 0.366106 +f 260 252 261 +f 252 253 256 +f 252 255 257 +f 257 255 258 +f 253 254 258 +f 255 256 258 +f 256 253 258 +f 254 257 258 +f 255 252 259 +f 252 256 259 +f 256 255 259 +f 253 252 260 +f 254 253 260 +f 257 254 260 +f 257 260 261 +f 252 257 261 +o convex_23 +v -0.190039 -0.238384 -0.223274 +v 0.187017 -0.230380 -0.315633 +v 0.186980 -0.190258 0.366181 +v -0.185979 -0.306570 -1.125680 +v 0.182957 -0.298544 -1.526792 +v -0.185979 -0.206311 0.414459 +v 0.186980 -0.198285 0.330115 +v 0.187017 -0.306559 -1.518778 +v -0.190039 -0.198285 0.406254 +v -0.190039 -0.302551 -1.193805 +v 0.182957 -0.190258 0.322100 +v 0.130805 -0.306559 -1.534998 +v 0.114750 -0.198285 0.374195 +v -0.173984 -0.214327 0.125361 +f 270 266 275 +f 264 263 266 +f 263 264 268 +f 266 263 269 +f 268 265 269 +f 263 268 269 +f 267 264 270 +f 267 270 271 +f 262 266 271 +f 265 267 271 +f 270 262 271 +f 264 266 272 +f 266 270 272 +f 270 264 272 +f 269 265 273 +f 266 269 273 +f 271 266 273 +f 265 271 273 +f 264 267 274 +f 267 265 274 +f 265 268 274 +f 268 264 274 +f 266 262 275 +f 262 270 275 +o convex_24 +v -0.242185 0.166722 -0.215357 +v -0.278286 -0.102005 -0.760831 +v -0.278286 -0.057868 -0.760831 +v -0.242185 0.082487 -0.760831 +v -0.246199 -0.102005 -0.078922 +v -0.246199 0.178760 -0.078922 +v -0.254224 -0.102005 -0.143134 +v -0.246199 0.110547 -0.744744 +v -0.270261 -0.102005 -0.716643 +v -0.242185 -0.037778 -0.078922 +v -0.246199 -0.102005 -0.151144 +v -0.278286 -0.053828 -0.728724 +f 281 283 287 +f 277 278 279 +f 280 281 282 +f 277 280 282 +f 279 278 283 +f 276 279 283 +f 281 276 283 +f 277 279 284 +f 280 277 284 +f 279 276 285 +f 276 281 285 +f 281 280 285 +f 284 279 286 +f 280 284 286 +f 279 285 286 +f 285 280 286 +f 278 277 287 +f 282 281 287 +f 277 282 287 +f 283 278 287 +o convex_25 +v -0.218120 0.319141 0.053460 +v -0.242183 0.102567 -0.760831 +v -0.242183 0.126639 -0.760831 +v -0.218120 0.206846 -0.760831 +v -0.222131 0.190859 0.418470 +v -0.242183 0.210900 0.013288 +v -0.226142 0.335219 0.386264 +v -0.222131 0.234925 -0.740629 +v -0.218120 0.250981 0.370218 +v -0.238171 0.102567 -0.740629 +v -0.226142 0.190859 0.418470 +v -0.242183 0.170773 -0.095107 +v -0.218120 0.335219 0.382339 +f 292 296 300 +f 289 290 291 +f 290 289 293 +f 291 290 295 +f 288 291 295 +f 290 293 295 +f 293 294 295 +f 294 288 295 +f 291 288 296 +f 292 291 296 +f 289 291 297 +f 291 292 297 +f 297 292 298 +f 294 293 298 +f 292 294 298 +f 289 297 298 +f 293 289 299 +f 289 298 299 +f 298 293 299 +f 288 294 300 +f 294 292 300 +f 296 288 300 +o convex_26 +v -0.222129 0.042441 0.418422 +v -0.250202 -0.101976 -0.078873 +v -0.250202 -0.033766 -0.078873 +v -0.238173 0.174736 -0.078873 +v -0.226141 0.190814 0.418422 +v -0.226144 -0.101976 0.322118 +v -0.230154 -0.101976 0.418471 +v -0.246195 0.178749 -0.070840 +v -0.222129 0.190814 0.298115 +v -0.242183 -0.097964 -0.058814 +v -0.230154 0.078467 0.418471 +f 305 308 311 +f 302 303 304 +f 303 302 307 +f 302 306 307 +f 306 301 307 +f 304 303 308 +f 308 305 309 +f 305 301 309 +f 306 304 309 +f 301 306 309 +f 304 308 309 +f 302 304 310 +f 306 302 310 +f 304 306 310 +f 301 305 311 +f 303 307 311 +f 307 301 311 +f 308 303 311 +o convex_27 +v -0.250198 -0.210313 -0.002683 +v -0.190039 -0.202291 0.414413 +v -0.210105 -0.202291 0.418470 +v -0.250198 -0.250416 -0.207266 +v -0.190039 -0.238380 -0.215257 +v -0.250198 -0.202291 -0.203208 +v -0.230139 -0.206304 0.418470 +v -0.190039 -0.246402 -0.207266 +v -0.190039 -0.206304 0.414413 +f 319 313 320 +f 313 316 317 +f 314 313 317 +f 315 312 317 +f 316 315 317 +f 312 315 318 +f 317 312 318 +f 314 317 318 +f 315 316 319 +f 316 313 319 +f 313 314 320 +f 314 318 320 +f 318 315 320 +f 315 319 320 +o convex_28 +v 0.070691 0.319172 -1.567088 +v -0.173994 0.307140 -1.671379 +v -0.173994 0.315163 -1.671379 +v -0.173994 0.311153 -1.567088 +v 0.070691 0.307140 -1.615232 +v 0.006502 0.323185 -1.631259 +v -0.149923 0.319172 -1.567088 +f 326 323 327 +f 323 322 324 +f 321 324 325 +f 324 322 325 +f 325 322 326 +f 322 323 326 +f 321 325 326 +f 321 326 327 +f 323 324 327 +f 324 321 327 +o convex_29 +v 0.178996 0.279047 0.085473 +v 0.183004 -0.005703 -1.567088 +v 0.187015 -0.005703 -1.567088 +v 0.178996 0.327179 -1.567088 +v 0.187014 0.267022 0.366325 +v 0.174983 0.263014 0.342100 +v 0.174983 0.242973 -1.567088 +v 0.187015 0.170726 0.346074 +v 0.187015 0.126635 -1.550812 +v 0.187014 0.283055 -0.139171 +v 0.183004 0.170726 0.346074 +v 0.174983 0.327179 -1.510879 +v 0.183003 0.307105 -1.041531 +f 331 337 340 +f 330 329 331 +f 332 328 333 +f 331 329 334 +f 329 333 334 +f 329 330 335 +f 330 331 336 +f 335 330 336 +f 335 336 337 +f 328 332 337 +f 332 335 337 +f 332 333 338 +f 333 329 338 +f 329 335 338 +f 335 332 338 +f 333 328 339 +f 331 334 339 +f 334 333 339 +f 328 337 339 +f 337 331 339 +f 336 331 340 +f 337 336 340 +o convex_30 +v -0.198063 0.319175 -1.113531 +v -0.182016 0.327195 0.362313 +v -0.182016 0.323186 0.362313 +v -0.218118 0.327195 0.362313 +v -0.218118 0.315163 0.097551 +v -0.218118 0.335219 0.233863 +v -0.182016 0.319175 -1.462795 +v -0.182016 0.335219 0.137569 +v -0.182016 0.315163 -1.045465 +f 341 347 349 +f 343 342 344 +f 343 344 345 +f 344 342 346 +f 341 345 346 +f 345 344 346 +f 342 343 347 +f 341 346 347 +f 347 346 348 +f 346 342 348 +f 342 347 348 +f 345 341 349 +f 343 345 349 +f 347 343 349 +o convex_31 +v -0.290309 -0.202286 -1.125844 +v -0.310359 -0.338668 -1.518807 +v -0.278297 -0.338668 -1.518807 +v -0.258240 -0.246434 -0.179203 +v -0.254225 -0.270477 -1.534998 +v -0.282307 -0.202286 -1.534998 +v -0.254230 -0.202299 -0.295592 +v -0.254225 -0.334649 -1.478727 +v -0.298329 -0.202286 -1.141902 +v -0.314369 -0.318603 -1.470632 +v -0.254230 -0.250439 -0.203356 +v -0.290309 -0.202286 -1.534998 +v -0.258240 -0.202299 -0.195394 +v -0.314369 -0.338668 -1.482709 +f 357 360 363 +f 352 351 354 +f 354 355 356 +f 355 350 356 +f 352 354 357 +f 350 355 358 +f 354 356 360 +f 357 354 360 +f 354 351 361 +f 355 354 361 +f 358 355 361 +f 351 359 361 +f 359 358 361 +f 356 350 362 +f 350 358 362 +f 359 353 362 +f 358 359 362 +f 353 360 362 +f 360 356 362 +f 351 352 363 +f 352 357 363 +f 359 351 363 +f 353 359 363 +f 360 353 363 +o convex_32 +v -0.033584 0.307136 0.137644 +v 0.174983 0.271044 0.342226 +v 0.154912 0.275057 0.342226 +v 0.174983 0.307136 -0.985459 +v 0.150912 0.267032 0.322030 +v -0.037584 0.307136 0.342095 +v -0.069702 0.303124 0.338160 +v 0.170959 0.303124 -0.985459 +v 0.174983 0.307136 -0.824941 +v 0.174983 0.267032 0.213837 +f 368 371 373 +f 365 366 369 +f 367 364 369 +f 369 364 370 +f 368 365 370 +f 365 369 370 +f 364 367 371 +f 370 364 371 +f 368 370 371 +f 366 365 372 +f 365 367 372 +f 369 366 372 +f 367 369 372 +f 367 365 373 +f 365 368 373 +f 371 367 373 +o convex_33 +v -0.182016 0.331201 0.314143 +v 0.118826 0.311155 -0.648361 +v 0.118826 0.307143 -0.648361 +v -0.182016 0.323182 -0.656539 +v -0.093760 0.307140 0.354235 +v -0.001499 0.331206 -0.656539 +v -0.061662 0.311155 0.342168 +v -0.182016 0.335216 0.121563 +v -0.182016 0.323182 0.362313 +v -0.182016 0.327194 -0.656539 +v 0.086698 0.307143 -0.652350 +v -0.061662 0.331204 -0.648361 +v -0.173948 0.335216 0.161655 +f 379 381 386 +f 376 375 380 +f 378 376 380 +f 377 374 381 +f 374 377 382 +f 377 378 382 +f 380 374 382 +f 378 380 382 +f 379 377 383 +f 377 381 383 +f 375 376 384 +f 378 377 384 +f 376 378 384 +f 379 375 384 +f 377 379 384 +f 381 379 385 +f 379 383 385 +f 383 381 385 +f 375 379 386 +f 380 375 386 +f 374 380 386 +f 381 374 386 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/350/350.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/350/350.urdf new file mode 100644 index 000000000..c303cb5cc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/350/350.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/351/351.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/351/351.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/351/351.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/351/351.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/351/351.obj new file mode 100644 index 000000000..5c878fe28 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/351/351.obj @@ -0,0 +1,573 @@ +o convex_0 +v 0.274156 -5.382675 0.049699 +v -0.294146 -5.692970 -0.001949 +v -0.242440 -6.183859 -0.001949 +v 0.067448 -3.703825 -0.311953 +v -0.061556 -3.703825 0.204701 +v 0.041682 -6.390043 -0.234423 +v 0.041682 -6.467690 0.230525 +v -0.216558 -3.703825 -0.260247 +v 0.196684 -3.703825 0.153053 +v 0.248332 -3.704116 -0.234423 +v 0.248332 -6.390043 -0.053597 +v -0.216558 -4.789131 0.204701 +v -0.242440 -5.640915 -0.234423 +v 0.248332 -5.666797 -0.234423 +v -0.268264 -3.755590 -0.027773 +v 0.015800 -5.537677 0.282231 +v 0.196684 -5.744444 0.204701 +v -0.190792 -5.795918 0.230525 +v 0.015800 -6.674747 -0.001949 +v -0.009966 -5.821799 -0.286071 +v -0.216558 -6.416216 -0.001949 +v 0.274156 -3.704116 -0.002007 +v 0.300038 -5.744444 -0.027773 +v 0.248332 -6.442099 0.023875 +v -0.190792 -3.703825 0.153053 +v -0.294146 -4.789131 -0.027773 +v -0.035790 -3.807354 -0.311953 +v -0.009966 -6.390043 -0.234423 +v 0.015800 -3.988529 0.230525 +v -0.113262 -6.312979 0.204701 +v 0.274156 -3.704116 -0.156893 +v -0.035790 -5.589442 0.282231 +v 0.067448 -5.692970 -0.286071 +v -0.216558 -4.918251 -0.260247 +v -0.216558 -6.390043 0.049699 +v -0.164910 -6.183859 -0.182775 +v 0.196684 -6.235042 -0.182775 +v 0.196684 -6.260923 0.153053 +v -0.294146 -5.692970 0.023875 +v -0.242440 -4.401480 -0.234423 +v -0.087438 -5.434440 -0.286071 +v -0.268264 -3.729998 -0.079421 +v 0.041682 -6.235042 0.256349 +v 0.300038 -5.744444 -0.002007 +v -0.294146 -4.789131 -0.001949 +v -0.216558 -5.744444 0.204701 +v 0.067448 -6.648574 -0.027773 +v -0.035790 -4.014120 0.230525 +v 0.274156 -5.692679 -0.156893 +v -0.009966 -6.442099 0.230525 +v -0.009966 -6.648574 0.049699 +v 0.041682 -6.674747 0.023875 +v 0.067448 -3.703825 0.204701 +v 0.196684 -5.537677 0.204701 +v 0.144978 -3.703825 -0.286071 +v 0.300038 -5.512086 -0.053597 +v -0.009966 -6.235042 0.256349 +v -0.190792 -3.962356 0.178877 +f 12 48 58 +f 5 4 8 +f 4 5 9 +f 3 2 13 +f 3 13 21 +f 9 1 22 +f 11 23 24 +f 5 8 25 +f 15 12 25 +f 13 2 26 +f 8 4 27 +f 4 20 27 +f 20 6 28 +f 13 20 28 +f 19 21 28 +f 14 10 31 +f 9 22 31 +f 12 18 32 +f 4 14 33 +f 14 6 33 +f 20 4 33 +f 6 20 33 +f 13 8 34 +f 8 27 34 +f 3 21 35 +f 30 18 35 +f 21 13 36 +f 13 28 36 +f 28 21 36 +f 11 6 37 +f 6 14 37 +f 14 11 37 +f 7 24 38 +f 2 3 39 +f 26 2 39 +f 3 35 39 +f 8 13 40 +f 13 26 40 +f 20 13 41 +f 27 20 41 +f 13 34 41 +f 34 27 41 +f 25 8 42 +f 15 25 42 +f 8 40 42 +f 40 26 42 +f 17 16 43 +f 16 32 43 +f 7 38 43 +f 38 17 43 +f 22 1 44 +f 24 23 44 +f 17 38 44 +f 38 24 44 +f 12 15 45 +f 39 12 45 +f 26 39 45 +f 15 42 45 +f 42 26 45 +f 18 12 46 +f 35 18 46 +f 12 39 46 +f 39 35 46 +f 6 11 47 +f 11 24 47 +f 28 6 47 +f 19 28 47 +f 29 5 48 +f 16 29 48 +f 12 32 48 +f 32 16 48 +f 11 14 49 +f 23 11 49 +f 14 31 49 +f 30 35 50 +f 21 19 51 +f 35 21 51 +f 7 50 51 +f 50 35 51 +f 24 7 52 +f 19 47 52 +f 47 24 52 +f 7 51 52 +f 51 19 52 +f 9 5 53 +f 16 9 53 +f 5 29 53 +f 29 16 53 +f 1 9 54 +f 9 16 54 +f 16 17 54 +f 44 1 54 +f 17 44 54 +f 4 9 55 +f 14 4 55 +f 10 14 55 +f 9 31 55 +f 31 10 55 +f 31 22 56 +f 22 44 56 +f 44 23 56 +f 23 49 56 +f 49 31 56 +f 18 30 57 +f 32 18 57 +f 7 43 57 +f 43 32 57 +f 50 7 57 +f 30 50 57 +f 5 25 58 +f 25 12 58 +f 48 5 58 +o convex_1 +v 0.351663 -3.006305 0.049679 +v -0.319912 -3.109745 -0.079386 +v -0.319912 -3.109745 -0.053612 +v 0.274169 -3.703825 -0.002000 +v 0.093302 -3.006305 -0.389455 +v -0.216540 -3.703825 -0.260194 +v -0.061551 -3.703825 0.204648 +v -0.035674 -3.006305 0.282231 +v 0.248360 -3.703825 -0.234421 +v -0.242349 -3.006305 -0.337777 +v 0.248360 -3.057991 0.230553 +v 0.325855 -3.006305 -0.286099 +v -0.190731 -3.703825 0.153035 +v -0.242349 -3.006305 0.178875 +v -0.035674 -3.703825 -0.311872 +v 0.196674 -3.703825 0.153035 +v 0.377472 -3.057991 -0.053612 +v -0.268226 -3.626194 -0.053612 +v 0.041684 -3.574577 0.230553 +v 0.041684 -3.161362 -0.389455 +v 0.299909 -3.109745 -0.311872 +v 0.067493 -3.703825 -0.311872 +v 0.093302 -3.006305 0.282231 +v -0.319912 -3.006305 -0.105225 +v -0.216540 -3.161362 0.204648 +v 0.274169 -3.677948 -0.182742 +v 0.274169 -3.187171 0.178875 +v -0.009865 -3.187171 0.282231 +v -0.242349 -3.703825 0.023840 +v 0.299909 -3.626194 -0.027839 +v -0.268226 -3.057991 -0.286099 +v -0.268226 -3.032182 0.127196 +v -0.164854 -3.703825 -0.286099 +v -0.035674 -3.057991 -0.389455 +f 73 91 92 +f 64 62 65 +f 59 63 66 +f 62 64 67 +f 66 63 68 +f 63 59 70 +f 64 65 71 +f 66 68 72 +f 67 64 73 +f 65 62 74 +f 70 59 75 +f 61 60 76 +f 60 64 76 +f 65 74 77 +f 74 69 77 +f 63 70 79 +f 70 67 79 +f 78 63 79 +f 78 79 80 +f 67 73 80 +f 73 78 80 +f 79 67 80 +f 59 66 81 +f 69 59 81 +f 77 69 81 +f 60 61 82 +f 72 68 82 +f 71 65 83 +f 66 72 83 +f 62 67 84 +f 67 70 84 +f 70 75 84 +f 59 69 85 +f 74 62 85 +f 69 74 85 +f 65 77 86 +f 81 66 86 +f 77 81 86 +f 83 65 86 +f 66 83 86 +f 64 71 87 +f 61 76 87 +f 76 64 87 +f 75 59 88 +f 62 84 88 +f 84 75 88 +f 59 85 88 +f 85 62 88 +f 64 60 89 +f 68 64 89 +f 60 82 89 +f 82 68 89 +f 82 61 90 +f 72 82 90 +f 71 83 90 +f 83 72 90 +f 87 71 90 +f 61 87 90 +f 64 68 91 +f 73 64 91 +f 68 63 92 +f 63 78 92 +f 78 73 92 +f 91 68 92 +o convex_2 +v -0.113242 -1.972316 -0.906059 +v -0.035746 0.428409 1.057254 +v 0.196550 0.454405 0.979623 +v -0.474829 3.322408 -0.518517 +v 0.894215 2.651063 -0.105167 +v -0.965707 -1.920324 0.023878 +v 0.480834 -2.695653 0.463037 +v -0.681617 2.599071 0.721125 +v 0.764924 0.223691 -0.776810 +v 0.635828 2.676409 0.695521 +v -0.733216 -1.894328 0.721330 +v -0.681617 2.418399 -0.751001 +v 0.119053 2.598421 -0.957677 +v 0.868318 -1.998312 -0.001931 +v -0.242339 -3.006305 -0.337651 +v 0.661530 -1.868982 0.721330 +v 0.325841 3.633060 0.049481 +v -0.733216 -1.972316 -0.699384 +v -1.017501 0.557739 -0.001726 +v 0.506537 -2.644311 -0.518312 +v 0.739222 2.651063 -0.724988 +v 0.971712 0.171699 0.075290 +v -0.010043 -1.894978 0.953814 +v -0.061643 3.321758 0.669712 +v -0.061643 0.301029 -1.035308 +v -0.888210 2.599071 -0.027535 +v -0.474829 -2.669657 0.437023 +v -0.784816 0.507047 0.798756 +v -0.345733 3.633060 0.204539 +v -0.035746 2.598421 0.953814 +v -0.784816 0.249037 -0.776810 +v 0.713325 0.377067 0.798756 +v 0.480834 3.399746 -0.492504 +v 0.635828 -1.946320 -0.699384 +v 0.377441 -3.006305 -0.001931 +v -0.061643 -3.006305 0.282170 +v -0.655720 -2.643661 -0.079358 +v 0.506537 3.399746 0.307774 +v 0.894215 2.677059 0.049686 +v -0.035746 3.633060 -0.337651 +v -0.035746 -2.695653 -0.673575 +v 0.041556 0.145704 -1.035308 +v 0.971712 0.301029 -0.079358 +v -0.061643 -2.670307 0.617890 +v -0.010043 3.348404 -0.673575 +v -0.629822 3.296412 0.075495 +v -0.035746 2.598421 -0.957677 +v 0.661530 -2.643661 0.023673 +v -0.500726 3.296412 0.514655 +v -0.526623 -2.618315 -0.544326 +v 0.609931 3.399746 -0.053344 +v 0.325841 -3.006305 -0.311637 +v 0.041556 -1.972316 -0.906059 +v 0.403338 3.399746 0.488641 +v -0.113242 3.633060 0.359597 +v -0.087345 -1.894978 0.953814 +v -0.784816 0.120357 0.798756 +v 0.894215 -1.791644 -0.001931 +v -0.319836 -3.006305 -0.027740 +v -0.759114 0.145704 -0.802619 +v -1.017501 -0.112306 -0.027535 +v 0.687428 -1.972316 -0.621753 +v -0.888210 2.521733 0.075290 +v -0.655720 2.599071 -0.751001 +f 137 139 156 +f 101 105 113 +f 95 94 115 +f 99 108 115 +f 104 111 118 +f 103 98 119 +f 94 95 122 +f 116 100 122 +f 120 94 122 +f 100 120 122 +f 111 104 123 +f 108 114 124 +f 95 115 124 +f 115 108 124 +f 122 95 124 +f 102 122 124 +f 113 105 125 +f 127 99 128 +f 107 127 128 +f 98 110 129 +f 119 98 129 +f 102 124 131 +f 124 114 131 +f 130 102 131 +f 96 121 132 +f 121 109 132 +f 109 125 132 +f 105 101 134 +f 93 117 134 +f 117 105 134 +f 101 126 134 +f 113 97 135 +f 101 113 135 +f 97 131 135 +f 131 114 135 +f 99 115 136 +f 103 119 136 +f 128 99 136 +f 119 128 136 +f 125 105 137 +f 96 132 137 +f 132 125 137 +f 96 118 138 +f 121 96 138 +f 105 117 139 +f 117 104 139 +f 137 105 139 +f 108 99 140 +f 106 108 140 +f 112 106 140 +f 99 127 140 +f 100 116 141 +f 138 100 141 +f 121 138 141 +f 110 93 142 +f 129 110 142 +f 107 129 142 +f 93 133 142 +f 133 107 142 +f 97 113 143 +f 125 109 143 +f 113 125 143 +f 109 130 143 +f 130 131 143 +f 131 97 143 +f 127 107 144 +f 107 133 144 +f 133 112 144 +f 112 140 144 +f 140 127 144 +f 126 112 145 +f 133 93 145 +f 112 133 145 +f 93 134 145 +f 134 126 145 +f 122 102 146 +f 116 122 146 +f 102 130 146 +f 130 109 146 +f 109 121 147 +f 141 116 147 +f 121 141 147 +f 146 109 147 +f 116 146 147 +f 115 94 148 +f 103 136 148 +f 136 115 148 +f 98 103 149 +f 94 120 149 +f 120 111 149 +f 148 94 149 +f 103 148 149 +f 108 106 150 +f 114 108 150 +f 101 135 150 +f 135 114 150 +f 107 128 151 +f 128 119 151 +f 129 107 151 +f 119 129 151 +f 93 110 152 +f 117 93 152 +f 104 117 152 +f 110 123 152 +f 123 104 152 +f 110 98 153 +f 123 110 153 +f 111 123 153 +f 98 149 153 +f 149 111 153 +f 106 112 154 +f 126 101 154 +f 112 126 154 +f 150 106 154 +f 101 150 154 +f 118 111 155 +f 120 100 155 +f 111 120 155 +f 138 118 155 +f 100 138 155 +f 118 96 156 +f 104 118 156 +f 96 137 156 +f 139 104 156 +o convex_3 +v 0.300038 3.736570 0.049598 +v -0.371648 3.633229 -0.001883 +v -0.345809 3.633229 -0.079401 +v -0.035805 5.363774 -0.001883 +v -0.087418 3.633229 0.359733 +v 0.067486 3.633229 -0.311953 +v -0.061579 5.131172 0.204699 +v 0.170842 5.131172 -0.027722 +v 0.222455 3.633229 0.256311 +v -0.010032 5.079501 -0.156918 +v -0.216614 5.105421 0.075437 +v -0.319970 3.710819 0.282150 +v -0.268292 3.659149 -0.260275 +v 0.248360 3.633229 -0.208597 +v 0.170842 5.079501 0.049598 +v 0.145003 4.924489 -0.131079 +v -0.010032 5.105421 0.204699 +v -0.216614 5.053750 0.023890 +v -0.268292 4.253277 0.256311 +v -0.035805 3.788241 -0.311953 +v -0.035805 3.710819 0.359733 +v 0.300038 3.633229 -0.053562 +v 0.222455 3.710819 0.256311 +v -0.139030 4.924489 -0.105240 +v 0.041647 5.337854 0.049598 +v 0.041647 5.079501 -0.156918 +v 0.222455 3.788241 -0.234436 +v -0.371648 3.710819 0.049598 +v -0.294065 3.633229 0.308055 +v -0.216614 4.769646 0.204699 +v 0.196682 4.924489 -0.027722 +v 0.093325 4.976160 0.152954 +v -0.035805 5.337854 0.075437 +v -0.087418 3.684899 0.359733 +v 0.248360 3.710819 -0.208597 +v 0.119164 3.659149 0.308055 +v -0.139030 5.002079 0.204699 +v -0.087418 3.633229 -0.311953 +v 0.015807 5.363774 -0.001883 +f 189 181 195 +f 158 159 161 +f 161 159 162 +f 161 162 165 +f 165 162 170 +f 159 158 174 +f 160 166 174 +f 167 160 174 +f 169 159 174 +f 169 166 176 +f 173 163 177 +f 157 165 178 +f 165 170 178 +f 165 157 179 +f 157 171 179 +f 166 169 180 +f 174 166 180 +f 169 174 180 +f 171 164 181 +f 173 171 181 +f 166 160 182 +f 164 172 182 +f 162 176 182 +f 176 166 182 +f 170 162 183 +f 162 182 183 +f 182 172 183 +f 158 168 184 +f 174 158 184 +f 167 174 184 +f 175 167 184 +f 168 175 184 +f 158 161 185 +f 168 158 185 +f 175 168 185 +f 167 175 186 +f 164 171 187 +f 171 157 187 +f 172 164 187 +f 157 178 187 +f 171 173 188 +f 179 171 188 +f 173 179 188 +f 160 167 189 +f 167 163 189 +f 163 173 189 +f 173 181 189 +f 161 177 190 +f 177 163 190 +f 185 161 190 +f 175 185 190 +f 178 170 191 +f 170 183 191 +f 183 172 191 +f 172 187 191 +f 187 178 191 +f 161 165 192 +f 177 161 192 +f 173 177 192 +f 165 179 192 +f 179 173 192 +f 163 167 193 +f 167 186 193 +f 186 175 193 +f 190 163 193 +f 175 190 193 +f 162 159 194 +f 159 169 194 +f 176 162 194 +f 169 176 194 +f 181 164 195 +f 182 160 195 +f 164 182 195 +f 160 189 195 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/351/351.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/351/351.urdf new file mode 100644 index 000000000..61cc525f8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/351/351.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/352/352.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/352/352.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/352/352.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/352/352.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/352/352.obj new file mode 100644 index 000000000..630105c8d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/352/352.obj @@ -0,0 +1,1008 @@ +o convex_0 +v 0.355163 -3.064201 0.059085 +v -0.362940 -3.208088 -0.084381 +v -0.362940 -3.208088 -0.027093 +v 0.010381 -4.787478 -0.084381 +v 0.125238 -3.064201 -0.400484 +v -0.133085 -3.064201 0.317618 +v -0.075657 -4.528885 0.145262 +v -0.248012 -3.064201 -0.342985 +v 0.010381 -4.586407 -0.256737 +v -0.219263 -4.500209 -0.113131 +v 0.182737 -4.557561 -0.084381 +v 0.240165 -3.093215 0.288869 +v 0.326413 -3.121891 -0.285487 +v -0.334190 -3.064201 0.202691 +v 0.182737 -4.528885 0.001586 +v -0.219263 -4.241616 0.116513 +v 0.039060 -4.471533 0.145262 +v -0.046907 -3.265441 0.317618 +v -0.046907 -3.093215 -0.400484 +v -0.075657 -4.471533 -0.256737 +v 0.067809 -4.500209 -0.256737 +v -0.219263 -4.528885 -0.027093 +v 0.355163 -3.208088 -0.055702 +v -0.305441 -3.380315 0.202691 +v -0.046907 -4.787478 -0.027093 +v -0.362940 -3.064201 -0.113131 +v 0.125238 -4.385335 0.116513 +v 0.268915 -3.064201 0.260119 +v -0.075657 -4.385335 0.173942 +v 0.182737 -4.155587 -0.228058 +v 0.297664 -3.150567 -0.314236 +v -0.018228 -4.385335 -0.285487 +v -0.190584 -3.093215 -0.371735 +v -0.075657 -4.758633 -0.084381 +v 0.326413 -3.064201 -0.285487 +v -0.018228 -4.385335 0.173942 +v -0.161834 -4.270461 -0.228058 +f 20 10 37 +f 1 5 6 +f 6 5 8 +f 2 8 10 +f 4 9 11 +f 6 8 14 +f 4 11 15 +f 12 6 18 +f 8 5 19 +f 11 9 21 +f 3 2 22 +f 2 10 22 +f 7 16 22 +f 11 13 23 +f 1 15 23 +f 15 11 23 +f 14 3 24 +f 6 14 24 +f 3 22 24 +f 22 16 24 +f 4 15 25 +f 17 7 25 +f 15 17 25 +f 7 22 25 +f 2 3 26 +f 8 2 26 +f 3 14 26 +f 14 8 26 +f 12 17 27 +f 17 15 27 +f 1 6 28 +f 6 12 28 +f 15 1 28 +f 12 27 28 +f 27 15 28 +f 16 7 29 +f 18 6 29 +f 6 24 29 +f 24 16 29 +f 13 11 30 +f 11 21 30 +f 30 21 31 +f 21 5 31 +f 13 30 31 +f 19 5 32 +f 9 20 32 +f 5 21 32 +f 21 9 32 +f 8 19 33 +f 20 8 33 +f 19 32 33 +f 32 20 33 +f 9 4 34 +f 20 9 34 +f 10 20 34 +f 22 10 34 +f 4 25 34 +f 25 22 34 +f 5 1 35 +f 1 23 35 +f 23 13 35 +f 31 5 35 +f 13 31 35 +f 7 17 36 +f 17 12 36 +f 12 18 36 +f 29 7 36 +f 18 29 36 +f 10 8 37 +f 8 20 37 +o convex_1 +v 0.613629 -0.536727 1.208012 +v -0.075662 -3.063953 -0.428998 +v -0.104485 -3.006309 -0.486311 +v -0.908501 -0.622823 0.776883 +v 0.354980 -0.536727 -1.319656 +v 0.843456 -2.345741 0.863109 +v -0.908501 -0.536727 -0.802557 +v -0.793588 -2.288343 0.805796 +v -0.851233 -2.259645 -0.888527 +v 0.785999 -2.288343 -0.859870 +v 0.958181 -0.536727 -0.170576 +v 0.297712 -3.063953 0.288697 +v 0.125342 -0.536727 1.294238 +v -0.362757 -3.063953 0.087589 +v -0.046840 -2.546880 0.892022 +v -0.535127 -0.536727 -1.261831 +v -0.075662 -2.546880 -0.917184 +v 0.929547 -0.536727 0.805540 +v 0.843456 -0.536727 -0.831214 +v -0.650040 -0.536727 1.093130 +v 0.642263 -2.862814 -0.055438 +v -0.937324 -1.628271 0.001364 +v 0.929547 -2.001108 0.001619 +v -0.650040 -2.834116 -0.084350 +v 0.383803 -3.006309 -0.371428 +v -0.965958 -0.536727 -0.199233 +v 0.843456 -2.230946 0.920678 +v -0.908501 -2.115903 0.058677 +v -0.334123 -3.063953 0.231128 +v -0.190575 -0.565673 -1.319400 +v -0.420214 -2.920212 -0.486311 +v 0.584807 -0.680468 -1.175605 +v 0.872090 -0.938757 -0.773645 +v -0.046840 -2.862814 0.604688 +v 0.469893 -2.862814 0.518462 +v 0.900724 -2.173301 -0.141664 +v 0.039063 -2.546880 -0.917184 +v 0.527350 -0.565673 1.265325 +v -0.391580 -0.594372 1.179100 +v 0.785999 -2.345741 -0.831214 +v 0.039063 -2.834116 -0.687675 +v -0.736319 -0.536727 -1.060978 +v 0.958181 -0.565426 0.460893 +v 0.412437 -3.063953 0.030276 +v 0.096519 -2.546880 0.892022 +v -0.965958 -0.536727 0.116502 +v 0.125342 -0.565673 1.294238 +v 0.900724 -1.398433 0.834453 +v -0.535127 -2.776718 0.460893 +v -0.391580 -2.432085 0.863109 +v -0.449036 -2.403139 -0.917184 +v 0.757177 -0.536727 1.064217 +v 0.556172 -2.776718 -0.543880 +v 0.671086 -2.805417 0.145158 +v -0.305300 -3.063953 -0.313859 +v 0.354980 -0.565673 -1.319656 +v 0.010429 -2.460784 0.920678 +v 0.958181 -1.226240 0.001619 +v -0.908501 -0.536727 0.776883 +v 0.814633 -2.029807 -0.831214 +v 0.125342 -3.063953 -0.428742 +v -0.793588 -2.202247 -0.917439 +v 0.039063 -3.063953 0.346266 +v -0.736319 -2.230946 0.834453 +f 87 84 101 +f 38 42 44 +f 42 38 48 +f 38 44 50 +f 39 49 51 +f 44 42 53 +f 48 38 55 +f 42 48 56 +f 41 45 57 +f 50 44 57 +f 44 46 63 +f 57 44 63 +f 46 59 63 +f 45 41 65 +f 41 59 65 +f 59 46 65 +f 46 61 65 +f 61 45 65 +f 51 49 66 +f 61 51 66 +f 53 42 67 +f 40 39 68 +f 61 46 68 +f 42 56 69 +f 56 48 70 +f 60 43 73 +f 38 50 75 +f 64 38 75 +f 50 57 76 +f 73 58 77 +f 74 47 77 +f 74 77 78 +f 39 40 78 +f 40 68 78 +f 68 54 78 +f 54 74 78 +f 46 44 79 +f 44 53 79 +f 53 46 79 +f 48 55 80 +f 49 39 81 +f 62 58 81 +f 72 49 81 +f 43 64 82 +f 52 71 82 +f 72 43 82 +f 71 72 82 +f 59 41 83 +f 57 63 83 +f 63 59 83 +f 75 50 84 +f 64 75 84 +f 50 76 84 +f 43 60 85 +f 64 43 85 +f 55 64 85 +f 80 55 85 +f 60 80 85 +f 45 61 86 +f 61 66 86 +f 66 71 86 +f 86 71 87 +f 71 52 87 +f 45 86 87 +f 67 54 88 +f 68 46 88 +f 54 68 88 +f 55 38 89 +f 38 64 89 +f 64 55 89 +f 58 62 90 +f 77 58 90 +f 78 77 90 +f 43 72 91 +f 58 73 91 +f 73 43 91 +f 81 58 91 +f 72 81 91 +f 39 51 92 +f 51 61 92 +f 68 39 92 +f 61 68 92 +f 67 42 93 +f 54 67 93 +f 42 69 93 +f 69 47 93 +f 47 74 93 +f 74 54 93 +f 52 82 94 +f 82 64 94 +f 64 84 94 +f 87 52 94 +f 84 87 94 +f 70 48 95 +f 60 70 95 +f 48 80 95 +f 80 60 95 +f 41 57 96 +f 83 41 96 +f 57 83 96 +f 47 69 97 +f 69 56 97 +f 56 70 97 +f 70 60 97 +f 60 73 97 +f 77 47 97 +f 73 77 97 +f 39 78 98 +f 81 39 98 +f 62 81 98 +f 90 62 98 +f 78 90 98 +f 46 53 99 +f 53 67 99 +f 88 46 99 +f 67 88 99 +f 66 49 100 +f 71 66 100 +f 49 72 100 +f 72 71 100 +f 57 45 101 +f 76 57 101 +f 84 76 101 +f 45 87 101 +o convex_2 +v -0.736193 0.985898 1.035552 +v 0.240173 0.985898 -1.290707 +v -0.305412 0.986115 -1.377104 +v 0.010387 3.197654 0.087511 +v 0.900921 0.985898 0.777137 +v 0.757147 2.393143 -0.802329 +v -0.707582 2.479310 -0.802329 +v 0.785938 2.393143 0.834562 +v -0.822385 2.421937 0.891988 +v -0.879787 0.985898 -0.601339 +v 0.326365 1.014909 1.265255 +v 0.872130 0.985898 -0.716191 +v 0.038998 2.910359 -0.716191 +v 0.010387 2.852771 0.805591 +v -0.908578 0.985898 0.805591 +v 0.527361 1.014909 -1.261994 +v -0.190428 1.014692 1.265514 +v -0.592599 1.014909 -1.204568 +v 0.900921 1.158448 -0.371378 +v 0.613553 0.985898 1.150145 +v 0.211382 1.014692 -1.348132 +v -0.937368 1.043487 0.259788 +v -0.046835 3.197654 0.087511 +v -0.764984 2.106065 -0.802329 +v -0.563988 0.985898 1.179117 +v 0.326365 2.881348 -0.314211 +v -0.851176 0.985898 -0.802329 +v 0.728536 1.503331 -1.003578 +v -0.822385 2.364348 0.920701 +v -0.764984 2.479310 0.030085 +v 0.010387 2.967731 0.633314 +v 0.900921 1.273192 0.461037 +v 0.785938 2.249604 -0.744904 +v -0.506407 2.623065 0.863017 +v -0.305412 1.014692 -1.377104 +v -0.190428 2.795398 -0.745162 +v 0.757147 1.072281 1.006581 +v -0.707582 2.335771 -0.859755 +v -0.018224 3.168859 -0.084508 +v 0.556152 2.651643 0.575888 +v -0.420215 2.077703 1.006840 +v -0.736193 2.450732 -0.716191 +v 0.757147 2.421721 -0.429062 +v 0.699745 0.985898 -1.060745 +v -0.908578 1.014909 -0.313952 +v 0.096579 2.824193 -0.745162 +v 0.814728 2.163437 0.748424 +v -0.046835 2.910359 0.748165 +v -0.822385 2.421937 0.805591 +v 0.728536 2.421721 -0.802329 +v -0.678792 2.450732 -0.831301 +v -0.678792 1.531909 -1.032291 +v -0.563988 1.072281 -1.233281 +v -0.937368 0.985898 0.432324 +v 0.067789 3.111270 -0.170646 +v 0.757147 2.020115 -0.888468 +v 0.872130 1.416948 0.805591 +v -0.018224 2.421937 0.920701 +v 0.900921 0.985898 -0.457775 +v 0.211382 2.766604 0.805591 +v 0.297575 2.910143 0.374898 +v -0.764984 1.589281 1.006581 +v 0.613553 1.043703 1.150145 +v 0.326365 0.985898 1.265255 +f 126 121 165 +f 102 103 106 +f 103 102 111 +f 106 103 113 +f 111 102 116 +f 102 106 121 +f 103 104 122 +f 117 103 122 +f 102 121 126 +f 104 103 128 +f 103 111 128 +f 119 104 128 +f 111 125 128 +f 110 116 130 +f 126 118 130 +f 124 108 131 +f 105 124 132 +f 106 120 133 +f 133 120 134 +f 107 109 134 +f 120 113 134 +f 124 110 135 +f 110 130 135 +f 122 104 136 +f 114 136 137 +f 121 106 138 +f 125 108 139 +f 108 124 140 +f 124 105 140 +f 137 108 140 +f 114 137 140 +f 127 105 141 +f 118 112 142 +f 130 118 142 +f 135 130 142 +f 108 125 143 +f 131 108 143 +f 109 107 144 +f 107 127 144 +f 141 109 144 +f 127 141 144 +f 113 103 145 +f 103 117 145 +f 129 113 145 +f 117 129 145 +f 125 111 146 +f 123 143 146 +f 143 125 146 +f 136 114 147 +f 122 136 147 +f 133 134 148 +f 134 109 148 +f 115 132 149 +f 132 124 149 +f 135 115 149 +f 124 135 149 +f 123 110 150 +f 110 124 150 +f 124 131 150 +f 143 123 150 +f 131 143 150 +f 107 117 151 +f 117 122 151 +f 127 107 151 +f 147 114 151 +f 122 147 151 +f 108 137 152 +f 137 136 152 +f 139 108 152 +f 136 139 152 +f 119 128 153 +f 128 125 153 +f 125 139 153 +f 153 139 154 +f 104 119 154 +f 136 104 154 +f 139 136 154 +f 119 153 154 +f 116 110 155 +f 111 116 155 +f 110 123 155 +f 146 111 155 +f 123 146 155 +f 105 127 156 +f 140 105 156 +f 114 140 156 +f 127 151 156 +f 151 114 156 +f 117 107 157 +f 113 129 157 +f 129 117 157 +f 107 134 157 +f 134 113 157 +f 106 133 158 +f 138 106 158 +f 109 138 158 +f 148 109 158 +f 133 148 158 +f 112 115 159 +f 115 135 159 +f 142 112 159 +f 135 142 159 +f 106 113 160 +f 120 106 160 +f 113 120 160 +f 112 109 161 +f 115 112 161 +f 132 115 161 +f 105 132 162 +f 109 141 162 +f 141 105 162 +f 161 109 162 +f 132 161 162 +f 116 102 163 +f 102 126 163 +f 130 116 163 +f 126 130 163 +f 109 112 164 +f 112 121 164 +f 138 109 164 +f 121 138 164 +f 112 118 165 +f 121 112 165 +f 118 126 165 +o convex_3 +v 0.096607 0.698499 -2.813129 +v 0.297597 -0.479031 -1.520747 +v 0.355126 -0.479031 -1.520747 +v -0.334190 0.957174 -1.463591 +v -0.391616 -0.105500 -2.870600 +v 0.498691 0.727179 -1.463434 +v 0.355126 -0.220498 -2.841786 +v -0.449042 -0.306535 -1.463591 +v -0.449042 0.669680 -2.841786 +v 0.326309 0.439966 -3.014355 +v -0.046958 -0.220498 -3.042854 +v -0.535180 0.583502 -1.463591 +v 0.527403 -0.105500 -1.463434 +v -0.506468 0.239071 -2.870600 +v 0.469978 0.210392 -2.640717 +v -0.362799 0.554823 -3.071826 +v -0.104279 -0.277856 -2.927913 +v 0.441265 0.813497 -1.520904 +v 0.498691 -0.363893 -1.463434 +v 0.383839 0.583642 -2.698345 +v -0.506468 0.842176 -1.492090 +v -0.535180 0.124214 -1.463591 +v 0.355126 -0.306535 -2.727002 +v -0.391616 0.124214 -3.071826 +v 0.355126 0.095535 -3.014355 +v 0.010364 0.669680 -2.985541 +v 0.527403 0.210392 -1.750630 +v -0.247948 0.957174 -1.492090 +v 0.441265 0.124355 -2.841943 +v -0.104279 0.698499 -2.899414 +v -0.219131 -0.306535 -2.353521 +v -0.506468 0.669680 -2.181581 +v -0.190522 0.583502 -3.071826 +v 0.240171 -0.162999 -3.014355 +v 0.441265 -0.450071 -1.463434 +v -0.305373 -0.105500 -3.042854 +v -0.477755 -0.220498 -1.520747 +v 0.297597 0.526284 -3.014355 +v -0.334190 -0.162999 -2.870600 +v 0.096607 0.727179 -2.669688 +v 0.441265 0.296429 -2.784472 +v 0.498691 -0.363893 -1.520904 +v 0.355126 0.583502 -2.813129 +v 0.527403 0.439966 -1.492090 +v 0.268884 -0.479031 -1.492090 +v 0.067790 -0.191537 -3.042854 +v -0.535180 0.239071 -1.865571 +v -0.506468 0.353788 -2.813129 +v -0.506468 0.210392 -2.841786 +v -0.449042 0.899675 -1.492090 +v -0.420225 0.267610 -3.071826 +v 0.469978 0.153034 -2.640717 +v -0.276661 0.698499 -2.841786 +v 0.039077 0.698499 -2.899414 +v 0.441265 0.813497 -1.463434 +v -0.334190 0.957174 -1.492090 +v 0.441265 0.066856 -2.784472 +f 217 207 222 +f 168 167 182 +f 178 171 184 +f 183 171 185 +f 177 169 186 +f 168 182 188 +f 182 176 188 +f 170 179 189 +f 172 190 194 +f 190 175 194 +f 181 174 195 +f 191 181 195 +f 186 174 197 +f 177 186 197 +f 189 181 198 +f 175 190 198 +f 181 191 198 +f 172 188 199 +f 190 172 199 +f 184 171 200 +f 187 173 200 +f 177 187 200 +f 168 188 200 +f 176 182 201 +f 170 189 201 +f 189 176 201 +f 170 173 202 +f 173 187 202 +f 175 198 203 +f 198 191 203 +f 173 170 204 +f 196 173 204 +f 182 196 204 +f 170 201 204 +f 201 182 204 +f 183 166 205 +f 193 183 205 +f 171 180 206 +f 185 171 206 +f 180 194 206 +f 194 175 206 +f 178 184 207 +f 184 200 207 +f 200 188 207 +f 166 183 208 +f 183 185 208 +f 175 203 208 +f 206 175 208 +f 185 206 208 +f 171 178 209 +f 180 171 209 +f 178 192 209 +f 192 180 209 +f 167 168 210 +f 182 167 210 +f 173 196 210 +f 196 182 210 +f 168 200 210 +f 200 173 210 +f 188 176 211 +f 176 189 211 +f 189 198 211 +f 198 190 211 +f 199 188 211 +f 190 199 211 +f 187 177 212 +f 174 179 213 +f 197 174 213 +f 177 197 213 +f 212 177 213 +f 179 212 213 +f 179 170 214 +f 170 202 214 +f 202 187 214 +f 212 179 214 +f 187 212 214 +f 186 169 215 +f 174 186 215 +f 179 174 216 +f 174 181 216 +f 189 179 216 +f 181 189 216 +f 192 178 217 +f 180 192 217 +f 194 180 217 +f 178 207 217 +f 195 174 218 +f 191 195 219 +f 195 193 219 +f 203 191 219 +f 205 166 219 +f 193 205 219 +f 166 208 219 +f 208 203 219 +f 169 177 220 +f 171 183 220 +f 193 169 220 +f 183 193 220 +f 200 171 220 +f 177 200 220 +f 169 193 221 +f 193 195 221 +f 215 169 221 +f 174 215 221 +f 218 174 221 +f 195 218 221 +f 188 172 222 +f 172 194 222 +f 207 188 222 +f 194 217 222 +o convex_4 +v -0.965963 0.210403 -0.457575 +v 0.987093 0.181643 0.518341 +v 0.987093 0.124270 0.518341 +v 0.527493 -0.134277 -1.463276 +v 0.527493 0.985898 -1.262025 +v -0.563983 0.985898 1.179159 +v -0.650122 -0.536480 1.121539 +v 0.556206 0.784573 1.380410 +v 0.900760 -0.536480 0.863224 +v -0.535270 -0.536480 -1.262025 +v -0.420225 0.928377 -1.463276 +v 0.900760 -0.536480 -0.687498 +v 0.929473 0.985898 0.260027 +v -0.937250 0.985898 0.461000 +v -0.965963 -0.536480 0.116395 +v 0.125319 -0.450198 1.380410 +v -0.592696 0.353760 1.380410 +v 0.872048 0.957137 -0.744839 +v -0.851112 0.985898 -0.802180 +v -0.908537 -0.536480 -0.802180 +v 0.355216 -0.507719 -1.463276 +v -0.937250 -0.163038 0.776934 +v 0.872048 0.985898 0.834554 +v -0.535270 0.124270 -1.463276 +v 0.556206 -0.536480 1.265449 +v 0.498780 0.727350 -1.463276 +v -0.908537 0.985898 0.805605 +v 0.297597 0.957137 1.380410 +v -0.592696 -0.277932 1.380410 +v 0.987093 0.181643 -0.199261 +v 0.987093 -0.478958 0.001434 +v -0.994870 0.382520 0.116395 +v 0.584919 0.095510 1.380410 +v 0.958186 0.382520 0.776934 +v -0.448938 -0.306543 -1.463276 +v -0.908537 -0.536480 0.776934 +v -0.477651 0.784573 1.380410 +v 0.929473 0.210403 -0.687498 +v -0.535270 0.583547 -1.463276 +v -0.937250 0.238866 -0.744839 +v -0.247948 0.985898 -1.434327 +v -0.908537 0.985898 -0.342614 +v -0.994870 -0.191650 0.001712 +v -0.965963 0.210403 0.690644 +v 0.556206 0.210403 -1.434327 +v 0.843335 -0.536480 -0.831129 +v -0.391512 -0.450198 1.380410 +v 0.958186 -0.220410 0.776934 +v 0.900760 0.985898 -0.486246 +v 0.613632 0.985898 1.150488 +v 0.498780 -0.364065 -1.463276 +v 0.498780 -0.335155 1.380410 +v 0.987093 0.382520 -0.084300 +v 0.383929 -0.536480 -1.376986 +v 0.584919 0.640919 1.380410 +v 0.470068 0.813334 -1.463276 +v 0.125319 -0.536480 1.322791 +v -0.506363 0.842095 -1.463276 +v 0.958186 -0.536480 0.489671 +v 0.900760 0.957137 0.805883 +v -0.736260 -0.536480 -1.060773 +v -0.793686 0.985898 0.977907 +v 0.900760 -0.392825 -0.744839 +v -0.161809 0.985898 1.294120 +f 250 272 286 +f 231 229 232 +f 231 232 234 +f 227 228 235 +f 228 227 236 +f 232 229 237 +f 238 230 239 +f 236 227 241 +f 232 237 242 +f 233 226 243 +f 235 228 245 +f 233 243 246 +f 229 231 247 +f 226 233 248 +f 228 236 249 +f 244 239 249 +f 239 230 250 +f 238 239 251 +f 239 244 251 +f 224 225 252 +f 252 225 253 +f 230 238 255 +f 225 224 256 +f 224 235 256 +f 243 232 257 +f 246 243 257 +f 237 229 258 +f 244 237 258 +f 229 251 258 +f 251 244 258 +f 239 250 259 +f 233 246 261 +f 246 242 261 +f 242 223 262 +f 241 261 262 +f 261 242 262 +f 241 227 263 +f 233 241 263 +f 236 241 264 +f 223 254 264 +f 254 236 264 +f 262 223 264 +f 241 262 264 +f 223 242 265 +f 242 237 265 +f 254 223 265 +f 254 265 266 +f 237 244 266 +f 249 236 266 +f 244 249 266 +f 236 254 266 +f 265 237 266 +f 226 248 267 +f 248 240 267 +f 240 260 267 +f 234 232 268 +f 251 229 269 +f 238 251 269 +f 253 225 270 +f 255 231 270 +f 225 256 270 +f 256 255 270 +f 227 235 271 +f 240 227 271 +f 260 240 271 +f 245 228 272 +f 230 245 272 +f 250 230 272 +f 243 226 273 +f 226 268 273 +f 268 243 273 +f 247 231 274 +f 238 247 274 +f 255 238 274 +f 231 255 274 +f 235 224 275 +f 224 252 275 +f 252 260 275 +f 271 235 275 +f 260 271 275 +f 232 243 276 +f 268 232 276 +f 243 268 276 +f 230 255 277 +f 255 256 277 +f 227 240 278 +f 248 233 278 +f 240 248 278 +f 263 227 278 +f 233 263 278 +f 229 247 279 +f 247 238 279 +f 269 229 279 +f 238 269 279 +f 241 233 280 +f 233 261 280 +f 261 241 280 +f 231 234 281 +f 234 253 281 +f 253 270 281 +f 270 231 281 +f 245 230 282 +f 235 245 282 +f 256 235 282 +f 230 277 282 +f 277 256 282 +f 232 242 283 +f 242 246 283 +f 257 232 283 +f 246 257 283 +f 228 249 284 +f 249 239 284 +f 259 228 284 +f 239 259 284 +f 253 234 285 +f 252 253 285 +f 260 252 285 +f 226 267 285 +f 267 260 285 +f 234 268 285 +f 268 226 285 +f 228 259 286 +f 259 250 286 +f 272 228 286 +o convex_5 +v 0.096505 0.583575 2.988870 +v -0.420279 -0.421451 1.380410 +v 0.096505 -0.421451 1.380410 +v 0.326366 0.928450 1.380410 +v -0.477687 0.784686 1.380410 +v -0.334053 -0.048035 3.017569 +v 0.498704 0.153076 2.730249 +v 0.498704 -0.306493 1.380576 +v 0.067801 -0.162861 3.046268 +v -0.506506 0.325117 2.759114 +v 0.556111 0.784686 1.409275 +v -0.592733 -0.249014 1.466672 +v -0.362872 0.583575 2.902608 +v 0.470000 0.641186 2.615288 +v -0.075718 0.698533 2.816511 +v -0.420279 -0.162861 2.759114 +v 0.297546 -0.076708 3.017569 +v -0.592733 0.325117 1.380410 +v 0.584930 0.095597 1.380576 +v 0.355185 0.239229 3.017569 +v -0.391460 0.239229 3.046268 +v 0.067801 -0.220340 2.845044 +v -0.391460 0.813359 1.552935 +v 0.355069 -0.134187 2.787813 +v 0.527407 0.210423 2.586589 +v 0.470000 -0.335298 1.437974 +v 0.584930 0.612248 1.380576 +v -0.506506 0.239229 2.816511 +v -0.391460 0.612381 2.787813 +v -0.276645 0.554901 3.017569 +v 0.039097 0.009444 3.075132 +v 0.039097 0.698533 2.816511 +v 0.326366 0.928450 1.437974 +v 0.297546 0.497422 2.988870 +v -0.018195 -0.191667 2.988870 +v -0.592733 0.296444 1.552935 +v 0.498704 0.411270 2.701550 +v -0.391460 -0.421451 1.437974 +v -0.535094 -0.335166 1.380410 +v 0.584930 0.210423 1.696595 +v 0.556111 0.641186 1.811390 +v -0.449098 -0.105514 2.759114 +v -0.477687 0.784686 1.466672 +v 0.470000 0.870838 1.409275 +v 0.412592 -0.048035 2.787813 +v 0.383888 0.641186 2.730249 +v -0.219237 -0.105514 3.046268 +v 0.498704 -0.306493 1.437974 +v 0.268958 0.928450 1.409275 +v 0.096505 -0.421451 1.409275 +v 0.211435 0.210423 3.046268 +v -0.420279 0.181750 3.017569 +v -0.420279 0.296444 3.017569 +v 0.240139 -0.105514 3.046268 +v 0.383888 0.267770 2.988704 +v 0.470000 0.612248 2.672852 +f 320 341 342 +f 289 288 290 +f 290 288 291 +f 291 288 304 +f 289 290 305 +f 294 289 305 +f 289 294 312 +f 310 308 312 +f 290 297 313 +f 305 290 313 +f 296 299 315 +f 299 301 315 +f 301 309 315 +f 287 301 316 +f 301 299 316 +f 316 307 317 +f 301 287 318 +f 301 318 319 +f 308 295 321 +f 304 298 322 +f 314 296 322 +f 298 314 322 +f 293 311 323 +f 288 289 324 +f 302 288 324 +f 321 302 324 +f 308 321 324 +f 288 302 325 +f 302 298 325 +f 304 288 325 +f 298 304 325 +f 311 305 326 +f 305 313 326 +f 326 313 327 +f 297 300 327 +f 313 297 327 +f 323 311 327 +f 311 326 327 +f 302 292 328 +f 298 302 328 +f 314 298 328 +f 291 304 329 +f 309 291 329 +f 296 315 329 +f 315 309 329 +f 322 296 329 +f 304 322 329 +f 297 290 330 +f 300 297 330 +f 290 319 330 +f 319 300 330 +f 293 303 331 +f 303 310 331 +f 318 287 332 +f 319 318 332 +f 300 319 332 +f 287 320 332 +f 292 302 333 +f 307 292 333 +f 317 307 333 +f 295 317 333 +f 321 295 333 +f 302 321 333 +f 294 305 334 +f 311 293 334 +f 305 311 334 +f 312 294 334 +f 310 312 334 +f 293 331 334 +f 331 310 334 +f 290 291 335 +f 291 309 335 +f 309 301 335 +f 301 319 335 +f 319 290 335 +f 289 312 336 +f 312 308 336 +f 324 289 336 +f 308 324 336 +f 287 316 337 +f 316 317 337 +f 320 287 337 +f 306 320 337 +f 292 307 338 +f 328 292 338 +f 314 328 338 +f 299 296 339 +f 296 314 339 +f 316 299 339 +f 307 316 339 +f 338 307 339 +f 314 338 339 +f 303 306 340 +f 295 308 340 +f 310 303 340 +f 308 310 340 +f 317 295 340 +f 337 317 340 +f 306 337 340 +f 303 293 341 +f 306 303 341 +f 320 306 341 +f 293 323 341 +f 341 323 342 +f 327 300 342 +f 323 327 342 +f 300 332 342 +f 332 320 342 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/352/352.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/352/352.urdf new file mode 100644 index 000000000..6f04f9f39 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/352/352.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/353/353.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/353/353.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/353/353.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/353/353.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/353/353.obj new file mode 100644 index 000000000..85177f80e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/353/353.obj @@ -0,0 +1,471 @@ +o convex_0 +v 1.097714 3.439422 -0.889691 +v -1.087997 -1.201144 0.906536 +v -1.058044 -1.201144 -0.560285 +v 1.097714 -1.200675 -0.141194 +v -1.028091 3.529458 1.056152 +v 0.917996 3.498977 1.056360 +v -0.908279 3.529458 -0.949620 +v 1.007855 -1.200675 -1.039515 +v 0.977902 -1.200675 0.966465 +v -1.028091 -1.201144 -0.919655 +v -1.087997 -1.201144 1.086325 +v 1.097714 3.589481 -1.009342 +v 0.049574 0.775411 1.086325 +v -0.968185 2.780571 -0.859726 +v 0.738278 -1.080628 -1.039515 +v 0.588513 3.589481 -1.009550 +v 0.977902 0.386665 0.996430 +v -1.058044 1.582915 1.086325 +v -0.399293 -1.170663 1.086117 +v -0.818420 -1.201144 -0.949620 +v -1.058044 -0.392233 -0.320775 +v 0.947949 3.050208 0.936501 +v 1.097714 -1.200675 -0.320983 +v -1.087997 -0.003018 1.056152 +v -1.028091 3.529458 0.906536 +v 1.067761 3.589481 -0.680145 +v 1.007855 1.253723 -1.039515 +v -0.009904 3.528988 1.056360 +v -0.968185 3.529458 -0.500356 +v 1.097714 -0.901026 -0.141194 +v 0.977902 0.026993 0.996430 +v 1.037808 -0.152608 -1.039515 +v 0.917996 2.960641 1.056360 +v 1.007855 -1.200675 0.816641 +v 0.139433 -0.092585 -1.009550 +v -0.369340 3.559000 -0.949412 +v -1.028091 -0.631858 -0.919655 +v 1.097714 3.139774 -1.009342 +v -0.938232 3.529458 -0.919447 +v 0.947949 3.498977 0.846606 +v -1.058044 1.942587 1.026395 +v 0.708325 -1.140651 0.996430 +v 0.079527 0.985024 1.086325 +v 0.528821 3.468965 -1.009550 +v -0.908279 2.570957 -0.949620 +v 0.169386 -1.200675 -1.009550 +v 1.037808 -1.080628 -0.889691 +f 8 32 47 +f 2 3 10 +f 2 10 11 +f 1 4 12 +f 11 13 18 +f 11 9 19 +f 13 11 19 +f 11 10 20 +f 6 17 22 +f 12 4 23 +f 4 20 23 +f 20 8 23 +f 3 2 24 +f 2 11 24 +f 11 18 24 +f 21 3 24 +f 12 16 26 +f 16 5 26 +f 8 15 27 +f 16 12 27 +f 5 18 28 +f 18 6 28 +f 26 5 28 +f 6 26 28 +f 14 21 29 +f 21 25 29 +f 4 1 30 +f 1 22 30 +f 22 17 30 +f 17 6 31 +f 8 27 32 +f 27 12 32 +f 31 6 33 +f 13 31 33 +f 9 11 34 +f 20 4 34 +f 11 20 34 +f 4 30 34 +f 30 17 34 +f 31 9 34 +f 17 31 34 +f 7 15 35 +f 5 16 36 +f 16 7 36 +f 25 5 36 +f 29 25 36 +f 10 3 37 +f 7 10 37 +f 3 21 37 +f 21 14 37 +f 12 23 38 +f 32 12 38 +f 23 32 38 +f 14 29 39 +f 36 7 39 +f 29 36 39 +f 7 37 39 +f 37 14 39 +f 1 12 40 +f 22 1 40 +f 6 22 40 +f 26 6 40 +f 12 26 40 +f 18 5 41 +f 24 18 41 +f 21 24 41 +f 25 21 41 +f 5 25 41 +f 19 9 42 +f 13 19 42 +f 9 31 42 +f 31 13 42 +f 6 18 43 +f 18 13 43 +f 33 6 43 +f 13 33 43 +f 15 7 44 +f 7 16 44 +f 27 15 44 +f 16 27 44 +f 10 7 45 +f 20 10 45 +f 7 35 45 +f 35 20 45 +f 15 8 46 +f 8 20 46 +f 35 15 46 +f 20 35 46 +f 23 8 47 +f 32 23 47 +o convex_1 +v 0.169507 -2.638521 0.307731 +v -0.339474 -4.464516 0.158048 +v -0.249649 -4.494422 -0.111284 +v -0.309509 -2.638521 -0.350862 +v 0.379120 -4.584141 -0.261038 +v 0.289296 -2.728431 -0.201109 +v -0.249649 -2.638521 0.367731 +v 0.169507 -4.524329 0.247872 +v 0.319190 -2.638521 0.277907 +v -0.219614 -4.254982 -0.261038 +v -0.339474 -4.344701 0.247872 +v -0.129790 -3.027874 -0.350862 +v 0.259331 -3.626189 0.277907 +v 0.199472 -2.638521 -0.231073 +v 0.349155 -4.584141 -0.141249 +v -0.279474 -2.937965 0.337766 +v -0.189649 -4.494422 -0.231073 +v -0.159755 -4.494422 0.247872 +v 0.319190 -2.638521 0.128153 +v -0.309509 -2.788243 -0.350862 +v 0.319190 -2.908058 0.277907 +v -0.159755 -2.698524 -0.350862 +v -0.309509 -2.638521 -0.231073 +v 0.259331 -4.584141 -0.261038 +v 0.349155 -4.194979 -0.261038 +v 0.229366 -4.524329 0.158048 +v -0.339474 -4.194979 0.247872 +v -0.219614 -2.668618 0.367731 +f 58 65 75 +f 48 51 54 +f 51 48 56 +f 51 56 61 +f 58 54 63 +f 50 57 64 +f 49 50 65 +f 58 49 65 +f 62 55 65 +f 52 53 66 +f 56 52 66 +f 53 61 66 +f 61 56 66 +f 50 49 67 +f 49 51 67 +f 57 50 67 +f 51 59 67 +f 59 57 67 +f 56 48 68 +f 52 56 68 +f 48 60 68 +f 62 52 68 +f 60 62 68 +f 59 51 69 +f 51 61 69 +f 54 51 70 +f 63 54 70 +f 59 52 71 +f 57 59 71 +f 52 62 71 +f 50 64 71 +f 64 57 71 +f 65 50 71 +f 62 65 71 +f 53 52 72 +f 52 59 72 +f 61 53 72 +f 59 69 72 +f 69 61 72 +f 60 55 73 +f 55 62 73 +f 62 60 73 +f 51 49 74 +f 49 58 74 +f 58 63 74 +f 70 51 74 +f 63 70 74 +f 48 54 75 +f 54 58 75 +f 60 48 75 +f 55 60 75 +f 65 55 75 +o convex_2 +v 1.097907 -1.889731 0.218001 +v 1.996044 -1.231149 -0.231062 +v 1.996044 -1.231149 -0.261015 +v 3.073653 -1.889731 0.158094 +v 1.097907 -1.829842 -0.261015 +v 1.097907 -1.291038 0.247954 +v 2.953747 -1.261126 -0.320921 +v 2.953747 -1.321015 0.158094 +v 2.983723 -1.740042 -0.201109 +v 1.097907 -1.231149 -0.231062 +v 2.355182 -1.889731 0.247954 +v 3.073653 -1.769954 0.218001 +v 1.097907 -1.889731 0.277907 +v 1.277573 -1.261126 0.218001 +v 2.504872 -1.410815 -0.320921 +v 2.804057 -1.321015 0.188048 +v 2.923963 -1.261126 -0.171214 +v 3.043676 -1.650241 -0.201109 +v 1.247597 -1.829842 -0.261015 +v 1.487216 -1.231149 -0.261015 +v 2.953747 -1.350927 -0.320921 +v 1.097907 -1.590352 -0.261015 +v 1.307550 -1.829842 0.277907 +v 1.097907 -1.231149 -0.051402 +f 81 89 99 +f 79 76 80 +f 80 76 81 +f 78 77 82 +f 77 78 85 +f 80 81 85 +f 76 79 86 +f 82 83 87 +f 86 79 87 +f 81 76 88 +f 76 86 88 +f 81 87 91 +f 87 83 91 +f 83 89 91 +f 89 81 91 +f 82 77 92 +f 83 82 92 +f 77 89 92 +f 89 83 92 +f 79 84 93 +f 87 79 93 +f 82 87 93 +f 79 80 94 +f 84 79 94 +f 80 90 94 +f 78 82 95 +f 85 78 95 +f 82 90 95 +f 90 82 96 +f 93 84 96 +f 82 93 96 +f 84 94 96 +f 94 90 96 +f 80 85 97 +f 90 80 97 +f 85 95 97 +f 95 90 97 +f 87 81 98 +f 86 87 98 +f 81 88 98 +f 88 86 98 +f 77 85 99 +f 85 81 99 +f 89 77 99 +o convex_3 +v -1.956403 -1.859790 -0.021583 +v -1.117950 -1.201272 0.247933 +v -1.117950 -1.201272 0.098188 +v -3.034200 -1.231187 -0.350862 +v -3.004188 -1.740001 0.277907 +v -1.117950 -1.829810 -0.320889 +v -2.914153 -1.829810 -0.350862 +v -1.117950 -1.859790 0.277907 +v -3.034200 -1.320997 0.187986 +v -1.207798 -1.291082 -0.201117 +v -2.614786 -1.799895 0.277907 +v -2.225571 -1.500616 0.277907 +v -1.956403 -1.201272 0.008329 +v -2.884329 -1.231187 -0.350862 +v -1.117950 -1.859790 -0.171205 +v -2.076075 -1.829810 -0.350862 +v -1.117950 -1.291082 -0.171205 +v -2.973989 -1.799895 0.038302 +v -3.004188 -1.231187 -0.231091 +v -3.034200 -1.350912 -0.320889 +v -1.537176 -1.859790 0.277907 +v -1.117950 -1.799895 -0.320889 +v -3.034200 -1.410806 0.217960 +f 119 104 122 +f 102 101 105 +f 105 101 107 +f 107 104 110 +f 104 107 111 +f 107 101 111 +f 101 102 112 +f 108 101 112 +f 106 103 113 +f 102 109 113 +f 112 102 113 +f 103 112 113 +f 100 106 114 +f 107 100 114 +f 105 107 114 +f 106 113 115 +f 105 114 115 +f 114 106 115 +f 102 105 116 +f 109 102 116 +f 106 100 117 +f 110 104 117 +f 103 108 118 +f 112 103 118 +f 108 112 118 +f 103 106 119 +f 108 103 119 +f 117 104 119 +f 106 117 119 +f 100 107 120 +f 107 110 120 +f 117 100 120 +f 110 117 120 +f 113 109 121 +f 115 113 121 +f 105 115 121 +f 116 105 121 +f 109 116 121 +f 101 108 122 +f 104 111 122 +f 111 101 122 +f 108 119 122 +o convex_4 +v 0.319108 -1.201144 1.026187 +v 0.678481 -2.189043 -1.039515 +v 0.678481 -1.590508 -1.039515 +v -1.057874 -2.458559 -0.919447 +v 1.007708 -2.608228 0.936501 +v -1.087803 -1.201144 1.086325 +v -1.117950 -2.488380 1.086325 +v -1.027944 -1.201144 -0.919447 +v 1.097714 -1.201144 -0.290810 +v 0.977778 -2.578266 -1.039515 +v 0.977778 -1.201144 0.966257 +v -0.309415 -2.638190 -0.350531 +v 1.007708 -1.201144 -1.039515 +v -1.117950 -1.291170 -0.170950 +v 1.097714 -1.889986 0.277690 +v -0.249556 -2.638190 0.367585 +v -0.698718 -2.458559 1.086325 +v 1.097714 -1.919667 -0.380496 +v -0.818436 -1.201144 -0.949620 +v 0.259249 -2.638190 -0.200915 +v -1.117950 -1.830062 -0.320774 +v -0.429134 -1.201144 1.086325 +v 0.738341 -2.608228 0.966257 +v 1.097714 -1.291170 0.247933 +v 1.007708 -2.608228 0.008423 +v -0.788507 -2.458559 -0.949620 +v -1.117950 -1.201144 0.247725 +v 1.007708 -1.530584 0.936501 +v 1.007708 -2.488521 -0.949620 +v -1.117950 -2.488380 0.846606 +v -1.117950 -1.949488 1.086325 +v 0.887989 -2.578266 -1.039515 +v 0.319108 -2.638190 0.277690 +v 0.738341 -1.201144 -1.039515 +v -0.668788 -2.488380 -0.949620 +v 0.947848 -1.710355 0.966257 +v 0.618622 -2.608228 0.966257 +v 1.007708 -1.889986 -1.039515 +v 1.037637 -1.201144 -0.859726 +v 0.708411 -2.548445 -1.039515 +f 154 157 162 +f 128 123 130 +f 130 123 131 +f 124 125 132 +f 131 123 133 +f 130 131 135 +f 132 125 135 +f 129 134 138 +f 128 129 139 +f 137 127 140 +f 131 137 140 +f 125 124 141 +f 126 130 141 +f 130 135 141 +f 134 132 142 +f 138 134 142 +f 130 126 143 +f 129 136 143 +f 136 130 143 +f 123 128 144 +f 139 123 144 +f 128 139 144 +f 138 127 145 +f 139 129 145 +f 131 133 146 +f 137 131 146 +f 140 127 147 +f 142 132 147 +f 141 124 148 +f 126 141 148 +f 128 130 149 +f 136 129 149 +f 130 136 149 +f 133 127 150 +f 127 137 150 +f 146 133 150 +f 137 146 150 +f 140 147 151 +f 147 132 151 +f 134 129 152 +f 126 134 152 +f 143 126 152 +f 129 143 152 +f 129 128 153 +f 128 149 153 +f 149 129 153 +f 124 132 154 +f 132 134 154 +f 127 138 155 +f 138 142 155 +f 147 127 155 +f 142 147 155 +f 135 125 156 +f 125 141 156 +f 141 135 156 +f 134 126 157 +f 126 148 157 +f 154 134 157 +f 133 123 158 +f 127 133 158 +f 123 139 158 +f 145 127 158 +f 139 145 158 +f 129 138 159 +f 138 145 159 +f 145 129 159 +f 132 135 160 +f 151 132 160 +f 140 151 160 +f 135 131 161 +f 131 140 161 +f 160 135 161 +f 140 160 161 +f 148 124 162 +f 124 154 162 +f 157 148 162 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/353/353.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/353/353.urdf new file mode 100644 index 000000000..c9316a05a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/353/353.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/354/354.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/354/354.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/354/354.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/354/354.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/354/354.obj new file mode 100644 index 000000000..2c838dba7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/354/354.obj @@ -0,0 +1,516 @@ +o convex_0 +v 0.774755 -2.203942 -0.567607 +v -0.393382 -4.122491 1.643652 +v -0.435041 -4.122491 1.643652 +v 1.609198 -0.367644 1.518315 +v -0.393382 -0.367644 -0.526045 +v 1.609198 -4.247808 1.559877 +v -0.476909 -4.331223 -0.567824 +v -0.476909 -0.367644 1.518315 +v 1.651066 -4.164004 -0.400708 +v 1.484011 -0.367644 -0.567607 +v -0.476909 -4.289321 1.518315 +v 1.233844 -4.289321 1.601873 +v 1.651066 -3.830344 -0.442487 +v -0.476909 -0.367644 0.850499 +v 1.609198 -0.367644 1.017616 +v 1.651066 -4.205906 0.058213 +v 1.609198 -1.578134 1.559877 +v 0.441270 -0.367644 -0.567607 +v -0.476909 -1.202572 1.560094 +v -0.476909 -3.204536 -0.526045 +v -0.476909 -4.331223 1.101174 +v -0.184875 -4.331223 -0.526045 +v 1.400691 -4.289321 1.518315 +v 1.525879 -0.993840 -0.525828 +v 1.651066 -4.122491 0.350449 +v -0.268194 -4.289321 1.643652 +v 1.484011 -0.868911 -0.567607 +v 1.567538 -4.080977 -0.442487 +v -0.435041 -0.743595 -0.150466 +v -0.393382 -4.331223 -0.567824 +v 1.609198 -4.247808 0.808937 +v -0.476909 -3.913759 -0.567824 +f 10 30 32 +f 4 5 8 +f 5 4 10 +f 8 7 11 +f 8 5 14 +f 7 8 14 +f 10 4 15 +f 4 13 15 +f 9 13 16 +f 12 6 17 +f 5 10 18 +f 3 2 19 +f 4 8 19 +f 11 3 19 +f 8 11 19 +f 2 17 19 +f 17 4 19 +f 7 14 20 +f 11 7 21 +f 9 16 22 +f 21 7 22 +f 6 12 23 +f 12 21 23 +f 21 22 23 +f 13 10 24 +f 10 15 24 +f 15 13 24 +f 13 4 25 +f 6 16 25 +f 16 13 25 +f 4 17 25 +f 17 6 25 +f 2 3 26 +f 3 11 26 +f 17 2 26 +f 12 17 26 +f 11 21 26 +f 21 12 26 +f 10 13 27 +f 27 13 28 +f 13 9 28 +f 1 27 28 +f 14 5 29 +f 5 20 29 +f 20 14 29 +f 22 7 30 +f 9 22 30 +f 27 1 30 +f 10 27 30 +f 1 28 30 +f 28 9 30 +f 16 6 31 +f 22 16 31 +f 23 22 31 +f 6 23 31 +f 5 18 32 +f 18 10 32 +f 20 5 32 +f 7 20 32 +f 30 7 32 +o convex_1 +v 2.360746 1.217836 -2.069958 +v 1.860084 1.384846 -0.985296 +v 2.944330 1.301341 -0.985296 +v 1.651115 0.174793 -1.026919 +v 3.570256 0.341803 -1.944662 +v 1.651115 0.299992 -1.986392 +v 3.612010 0.299992 -0.985296 +v 3.653765 1.259648 -2.069958 +v 1.651115 1.342916 -2.028122 +v 3.612010 1.217836 -1.026919 +v 1.651115 1.384846 -0.985296 +v 1.818329 0.216605 -1.944662 +v 3.653765 0.341803 -0.985296 +v 1.651115 0.466883 -0.985296 +v 3.653765 1.092756 -2.069958 +v 2.193728 1.342916 -2.069958 +v 3.653765 1.259648 -1.485950 +v 3.236415 0.299992 -1.944662 +v 3.570256 0.425190 -1.986392 +v 3.653765 0.884053 -0.985296 +v 1.734820 0.174793 -1.068650 +v 3.612010 0.341803 -1.736012 +v 1.693066 1.384846 -1.485950 +v 1.901642 1.301341 -2.069958 +f 41 48 56 +f 35 34 39 +f 38 36 41 +f 39 34 43 +f 41 36 43 +f 36 38 44 +f 35 39 45 +f 36 39 46 +f 39 43 46 +f 43 36 46 +f 38 33 47 +f 33 40 47 +f 40 45 47 +f 40 33 48 +f 34 35 49 +f 40 34 49 +f 35 42 49 +f 45 40 49 +f 37 39 50 +f 44 38 50 +f 38 47 51 +f 47 37 51 +f 37 50 51 +f 50 38 51 +f 42 35 52 +f 35 45 52 +f 49 42 52 +f 45 49 52 +f 39 36 53 +f 36 44 53 +f 50 39 53 +f 44 50 53 +f 39 37 54 +f 45 39 54 +f 37 47 54 +f 47 45 54 +f 34 40 55 +f 43 34 55 +f 41 43 55 +f 40 48 55 +f 48 41 55 +f 33 38 56 +f 38 41 56 +f 48 33 56 +o convex_2 +v -0.602087 1.802000 -3.279084 +v -2.479683 -0.325918 -4.406158 +v -2.479683 -0.158802 -4.448150 +v -2.396178 1.760221 1.517678 +v -0.602087 -0.242360 1.517678 +v -2.563187 -0.283923 1.518286 +v -2.479683 1.843779 -4.573516 +v -0.602087 -0.200581 -4.447541 +v -0.602087 1.885558 1.643652 +v -0.602087 1.718441 -4.489533 +v -0.602087 -0.325918 -2.319975 +v -2.563187 1.384642 -2.277984 +v -2.396178 1.801783 1.309546 +v -0.602087 1.885558 -0.985986 +v -2.479683 -0.325918 -0.192409 +v -0.977760 1.885558 1.643652 +v -1.061264 -0.284139 1.517678 +v -2.521339 -0.325918 -3.070344 +v -2.020698 1.843779 -4.573516 +v -2.479683 1.050842 1.518286 +v -2.438027 1.843779 -2.111235 +v -1.520057 -0.284139 -4.447541 +v -0.602087 1.467983 1.643652 +v -2.563187 -0.283923 -0.067652 +v -2.563187 0.008098 1.518286 +v -0.602087 -0.325918 -2.778838 +v -2.479683 1.551542 -4.573516 +v -2.563187 1.342863 -2.486724 +v -2.438027 1.801783 -0.109034 +v -2.438027 1.551542 1.518286 +v -1.061264 1.760221 -4.531525 +v -0.727439 1.760221 -4.405550 +v -2.563187 1.301300 -1.860504 +v -2.062354 1.801783 1.559669 +v -2.020698 -0.325918 -4.406158 +v -1.061264 1.843779 -3.112944 +v -0.727439 1.885558 -1.152735 +v -0.769095 -0.242360 -4.238801 +f 82 91 94 +f 57 61 64 +f 61 57 65 +f 57 64 66 +f 64 61 67 +f 65 57 70 +f 58 67 71 +f 65 70 72 +f 67 61 73 +f 62 71 73 +f 71 67 73 +f 58 71 74 +f 71 62 74 +f 72 63 77 +f 69 72 77 +f 58 59 78 +f 61 65 79 +f 72 62 79 +f 65 72 79 +f 73 61 79 +f 62 73 79 +f 62 68 80 +f 74 62 80 +f 68 62 81 +f 67 58 82 +f 64 67 82 +f 63 75 83 +f 75 64 83 +f 78 59 83 +f 64 78 83 +f 59 58 84 +f 68 63 84 +f 58 74 84 +f 80 68 84 +f 74 80 84 +f 83 59 84 +f 63 83 84 +f 63 68 85 +f 77 63 85 +f 69 77 85 +f 60 69 86 +f 85 68 86 +f 69 85 86 +f 66 64 87 +f 64 75 87 +f 87 75 88 +f 57 66 88 +f 66 87 88 +f 68 81 89 +f 81 76 89 +f 86 68 89 +f 76 86 89 +f 69 60 90 +f 62 72 90 +f 72 69 90 +f 81 62 90 +f 76 81 90 +f 60 86 90 +f 86 76 90 +f 58 78 91 +f 82 58 91 +f 70 57 92 +f 75 70 92 +f 88 75 92 +f 57 88 92 +f 63 72 93 +f 72 70 93 +f 75 63 93 +f 70 75 93 +f 78 64 94 +f 64 82 94 +f 91 78 94 +o convex_3 +v -0.602087 1.843652 -2.193890 +v -0.435200 -0.367644 0.057682 +v -0.393457 -0.367644 0.057682 +v -0.560345 1.885558 3.562870 +v -0.393478 1.718376 -4.490064 +v -0.602087 -0.200463 -4.447852 +v -0.393478 1.885558 3.562074 +v -0.560345 -0.158777 3.604286 +v -0.435200 -0.200683 -4.447852 +v -0.393457 -0.325738 3.604286 +v -0.602087 -0.242148 1.518376 +v -0.602087 1.718376 -4.490064 +v -0.602087 1.885558 1.643419 +v -0.393457 -0.325738 -2.443976 +v -0.393478 1.885558 -0.608949 +v -0.602087 -0.325738 -2.737071 +v -0.518623 -0.325738 3.646498 +v -0.393457 0.466940 -4.447852 +v -0.476921 -0.367644 1.518376 +v -0.393457 0.258294 3.646498 +v -0.560345 1.676691 3.604286 +v -0.602087 1.885558 -0.900451 +f 107 109 116 +f 95 100 105 +f 95 99 106 +f 100 95 106 +f 99 103 106 +f 103 100 106 +f 98 101 107 +f 105 102 107 +f 95 105 107 +f 104 97 108 +f 99 95 109 +f 107 101 109 +f 97 96 110 +f 100 103 110 +f 105 100 110 +f 108 97 110 +f 103 108 110 +f 102 105 111 +f 105 110 111 +f 103 99 112 +f 108 103 112 +f 104 108 112 +f 99 109 112 +f 109 101 112 +f 96 97 113 +f 97 104 113 +f 110 96 113 +f 104 111 113 +f 111 110 113 +f 111 104 114 +f 112 101 114 +f 104 112 114 +f 101 98 115 +f 98 107 115 +f 107 102 115 +f 102 111 115 +f 114 101 115 +f 111 114 115 +f 95 107 116 +f 109 95 116 +o convex_4 +v 1.358912 1.885558 2.143775 +v 0.482927 -0.367644 -0.567685 +v 1.358912 -0.367644 -0.567685 +v -0.393457 1.801967 -2.445492 +v -0.393457 -0.284053 3.646498 +v -0.393457 1.885558 3.563013 +v 1.483995 -0.284053 3.520675 +v 1.651107 1.760282 -2.361411 +v -0.393457 -0.325738 -2.445492 +v 1.609279 -0.325738 -2.403750 +v 1.525823 1.801967 3.563013 +v 1.609279 -0.367644 1.517641 +v -0.351629 1.885558 -0.525943 +v -0.393457 -0.367644 1.518237 +v 1.609279 0.675807 2.310744 +v 1.400740 1.801967 -2.403750 +v 1.066717 1.384454 3.646498 +v 0.482927 -0.325738 3.604756 +v 1.651107 0.174924 -1.026254 +v 1.567451 1.885558 1.475899 +v 1.108545 0.258294 3.646498 +v 1.567451 1.551636 3.228479 +v 0.649639 1.801967 -2.445492 +v -0.017807 1.342769 3.646498 +v 1.651107 1.384675 -0.984512 +v 1.317084 1.843652 3.563013 +v 1.609279 -0.200683 2.018548 +v -0.393457 -0.367644 -0.525943 +v -0.393457 -0.325738 3.604756 +v 1.651107 0.216609 -1.943988 +v -0.393457 1.843652 -1.819358 +v 0.149105 -0.325738 -2.445492 +v 1.442367 -0.284053 3.563013 +v 1.525823 0.675807 3.520675 +v 1.609279 1.760282 -2.403750 +v 1.567451 1.885558 1.893322 +v 0.816550 -0.325738 3.563013 +v -0.393457 1.551636 3.604756 +v 1.525823 -0.284053 3.144994 +f 143 150 155 +f 120 121 122 +f 119 118 125 +f 121 120 125 +f 118 119 128 +f 119 126 128 +f 122 117 129 +f 121 125 130 +f 118 128 130 +f 130 128 134 +f 128 126 135 +f 129 117 136 +f 124 132 136 +f 132 129 136 +f 133 121 137 +f 127 133 137 +f 121 134 137 +f 125 120 139 +f 121 133 140 +f 133 122 140 +f 135 124 141 +f 131 135 141 +f 138 131 141 +f 124 138 141 +f 117 122 142 +f 122 133 142 +f 133 127 142 +f 128 135 143 +f 135 131 143 +f 131 138 143 +f 125 118 144 +f 118 130 144 +f 130 125 144 +f 121 130 145 +f 134 121 145 +f 130 134 145 +f 126 124 146 +f 124 135 146 +f 135 126 146 +f 120 122 147 +f 122 129 147 +f 129 132 147 +f 139 120 147 +f 132 139 147 +f 119 125 148 +f 126 119 148 +f 125 139 148 +f 139 126 148 +f 127 137 149 +f 137 134 149 +f 138 127 150 +f 143 138 150 +f 149 123 150 +f 127 149 150 +f 124 126 151 +f 132 124 151 +f 126 139 151 +f 139 132 151 +f 136 117 152 +f 124 136 152 +f 127 138 152 +f 138 124 152 +f 117 142 152 +f 142 127 152 +f 128 123 153 +f 134 128 153 +f 123 149 153 +f 149 134 153 +f 122 121 154 +f 121 140 154 +f 140 122 154 +f 123 128 155 +f 128 143 155 +f 150 123 155 +o convex_5 +v 0.983483 1.176135 5.523885 +v 0.065545 0.216519 5.106731 +v 0.023811 0.258262 4.272621 +v 1.066951 0.341746 3.646498 +v -0.017924 1.343104 3.646498 +v 1.066951 1.384846 3.646498 +v 0.065545 1.259619 5.648952 +v 1.066951 0.341746 5.607394 +v -0.017924 0.300004 3.646498 +v 0.107279 0.216519 5.565639 +v 1.025111 1.343104 4.939713 +v 1.025111 0.466973 5.648952 +v -0.017924 0.383488 4.064044 +v 0.983483 1.301362 5.482130 +v -0.017924 1.343104 3.938780 +v 0.065545 0.216519 5.482130 +v 0.274215 0.216519 5.440375 +v 0.524514 1.384846 3.688449 +v 0.858281 0.341746 5.648952 +v 0.065545 1.009165 5.648952 +v 0.232481 1.259619 5.648952 +v 1.025111 1.092764 5.523885 +v 0.399418 0.300004 3.646498 +f 164 159 178 +f 159 160 161 +f 159 161 163 +f 158 157 164 +f 160 159 164 +f 160 164 168 +f 166 162 169 +f 160 168 170 +f 168 162 170 +f 164 157 171 +f 157 165 171 +f 168 164 171 +f 157 159 172 +f 159 163 172 +f 165 157 172 +f 163 165 172 +f 161 160 173 +f 166 161 173 +f 162 166 173 +f 160 170 173 +f 170 162 173 +f 165 163 174 +f 167 162 174 +f 163 167 174 +f 162 168 175 +f 171 165 175 +f 168 171 175 +f 174 162 175 +f 165 174 175 +f 167 156 176 +f 162 167 176 +f 156 169 176 +f 169 162 176 +f 163 161 177 +f 161 166 177 +f 156 167 177 +f 167 163 177 +f 169 156 177 +f 166 169 177 +f 157 158 178 +f 159 157 178 +f 158 164 178 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/354/354.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/354/354.urdf new file mode 100644 index 000000000..fd25c2510 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/354/354.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/355/355.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/355/355.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/355/355.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/355/355.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/355/355.obj new file mode 100644 index 000000000..ab0479236 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/355/355.obj @@ -0,0 +1,3036 @@ +o convex_0 +v 1.013419 -0.039068 -1.301207 +v 0.995389 -0.579745 -0.634510 +v 0.995389 -0.525603 -0.706600 +v 1.013419 -0.075163 -1.102959 +v 1.247705 -0.075163 -0.616487 +v 1.211621 -0.039068 -0.598465 +v 0.995389 -0.507609 -0.598465 +v 1.013419 -0.579745 -0.634510 +v 1.013419 -0.075163 -1.283185 +v 0.995389 -0.039068 -1.211094 +f 9 3 10 +f 5 1 6 +f 3 2 7 +f 5 6 7 +f 6 4 7 +f 2 3 8 +f 7 2 8 +f 5 7 8 +f 1 5 9 +f 8 3 9 +f 5 8 9 +f 4 6 10 +f 6 1 10 +f 3 7 10 +f 7 4 10 +f 1 9 10 +o convex_1 +v 0.743074 0.717816 -1.319299 +v 0.977337 0.735902 -0.598396 +v 0.959328 0.735902 -0.598396 +v 0.977337 -0.057091 -1.265175 +v 1.265677 0.015098 -0.616531 +v 0.779193 0.735902 -1.319299 +v 1.211600 -0.039005 -0.616531 +v 1.013405 -0.002988 -1.301163 +v 0.959328 0.681799 -0.598396 +v 0.977337 0.735902 -0.670656 +v 0.995396 -0.057091 -1.319299 +v 0.761133 0.717816 -1.229115 +v 1.265677 -0.039005 -0.598467 +f 21 18 23 +f 13 12 16 +f 16 15 18 +f 12 13 19 +f 14 17 19 +f 12 15 20 +f 16 12 20 +f 15 16 20 +f 14 11 21 +f 11 16 21 +f 16 18 21 +f 11 14 22 +f 16 11 22 +f 13 16 22 +f 19 13 22 +f 14 19 22 +f 15 12 23 +f 17 14 23 +f 18 15 23 +f 12 19 23 +f 19 17 23 +f 14 21 23 +o convex_2 +v -0.662688 -0.705901 -2.184346 +v -0.933023 -0.057091 -1.986134 +v -0.951048 -0.057091 -1.986134 +v -0.644664 -0.057091 -2.310540 +v -0.644664 -0.868083 -1.986134 +v -0.806823 -0.850008 -2.058249 +v -0.933023 -0.147220 -2.094290 +v -0.806823 -0.868083 -1.986134 +v -0.644664 -0.057091 -2.274435 +v -0.662688 -0.129227 -2.310540 +v -0.644664 -0.885993 -2.076253 +f 28 31 34 +f 26 25 27 +f 25 26 28 +f 26 27 30 +f 30 29 31 +f 28 26 31 +f 26 30 31 +f 27 25 32 +f 28 27 32 +f 25 28 32 +f 27 24 33 +f 24 29 33 +f 30 27 33 +f 29 30 33 +f 24 27 34 +f 27 28 34 +f 29 24 34 +f 31 29 34 +o convex_3 +v 0.689006 -1.102400 -0.364092 +v 2.256815 -0.039068 -0.255978 +v 2.256815 -0.039068 -0.274000 +v 1.914279 -0.039068 -0.346069 +v 0.869482 -1.048275 -0.255978 +v 0.869482 -1.084289 -0.364092 +v 1.139736 -1.012262 -0.255978 +v 2.004517 -0.057179 -0.364092 +v 1.950344 -0.381508 -0.274000 +v 0.995631 -0.777967 -0.346069 +v 2.094602 -0.093192 -0.255978 +v 1.842304 -0.093192 -0.364092 +f 44 38 46 +f 36 37 38 +f 39 35 40 +f 36 39 41 +f 39 40 41 +f 38 37 42 +f 40 35 42 +f 40 42 43 +f 37 36 43 +f 36 41 43 +f 41 40 43 +f 42 37 43 +f 35 39 44 +f 39 38 44 +f 36 38 45 +f 38 39 45 +f 39 36 45 +f 38 42 46 +f 42 35 46 +f 35 44 46 +o convex_4 +v -0.770850 -0.958263 -1.643580 +v -0.644664 -1.066328 -0.598532 +v -0.860893 -0.850084 -0.598532 +v -0.644664 -0.886136 -1.986134 +v -0.842874 -1.012273 -0.598532 +v -0.824855 -0.850084 -1.913874 +v -0.662736 -1.084377 -1.103127 +v -0.914976 -0.868133 -1.085197 +v -0.734812 -1.084377 -0.940950 +v -0.770850 -0.904162 -1.949868 +v -0.644664 -0.976198 -1.697639 +v -0.662736 -0.868133 -1.967933 +v -0.644664 -0.886136 -1.895809 +f 50 58 59 +f 48 49 51 +f 47 51 54 +f 51 49 54 +f 49 52 54 +f 52 47 54 +f 51 47 55 +f 48 51 55 +f 53 48 55 +f 47 53 55 +f 52 50 56 +f 47 52 56 +f 53 47 56 +f 53 56 57 +f 50 48 57 +f 48 53 57 +f 56 50 57 +f 52 49 58 +f 50 52 58 +f 49 48 59 +f 48 50 59 +f 58 49 59 +o convex_5 +v -0.536508 0.591722 -2.166373 +v -0.013922 0.898105 -2.040201 +v 0.022171 0.880081 -2.040201 +v 0.022171 0.609746 -2.310540 +v -0.698672 0.591722 -2.040201 +v 0.022171 0.591722 -2.274472 +v -0.680662 0.645795 -2.094290 +v -0.049942 0.826008 -2.130358 +v 0.022171 0.844032 -2.040201 +v -0.067953 0.609746 -2.310540 +f 66 67 69 +f 62 61 64 +f 63 62 65 +f 64 60 65 +f 60 64 66 +f 64 61 66 +f 61 62 67 +f 62 63 67 +f 66 61 67 +f 62 64 68 +f 65 62 68 +f 64 65 68 +f 63 65 69 +f 65 60 69 +f 60 66 69 +f 67 63 69 +o convex_6 +v 0.022171 0.898068 -1.968065 +v 0.761096 0.753951 -1.391389 +v 0.761096 0.735902 -1.391389 +v 0.022171 0.952146 -1.391389 +v 0.022171 0.735902 -2.130175 +v 0.454705 0.753951 -2.058185 +v 0.094284 0.970195 -1.409443 +v 0.670973 0.735902 -1.391389 +v 0.112294 0.862016 -2.058185 +v 0.454705 0.735902 -2.058185 +v 0.040253 0.771954 -2.166359 +f 79 74 80 +f 72 71 73 +f 73 70 74 +f 71 72 75 +f 73 71 76 +f 70 73 76 +f 71 75 76 +f 72 73 77 +f 73 74 77 +f 74 72 77 +f 70 76 78 +f 76 75 78 +f 72 74 79 +f 75 72 79 +f 75 79 80 +f 74 70 80 +f 70 78 80 +f 78 75 80 +o convex_7 +v 0.706965 0.844069 -0.598396 +v 0.022171 0.952131 -1.391389 +v 0.022171 0.952131 -1.337208 +v 0.688919 0.735929 -1.355294 +v 0.058262 0.970150 -0.598396 +v 0.094353 0.988169 -1.283105 +v 0.941276 0.735929 -0.598396 +v 0.761008 0.771993 -1.301269 +v 0.076307 1.006241 -0.598396 +v 0.977367 0.771993 -0.616482 +v 0.761008 0.753974 -1.391389 +v 0.022171 0.988169 -1.391389 +f 86 91 92 +f 83 82 84 +f 83 84 85 +f 81 85 87 +f 85 84 87 +f 85 81 89 +f 81 86 89 +f 86 81 90 +f 81 87 90 +f 88 86 90 +f 88 90 91 +f 84 82 91 +f 87 84 91 +f 86 88 91 +f 90 87 91 +f 82 83 92 +f 83 85 92 +f 85 89 92 +f 89 86 92 +f 91 82 92 +o convex_8 +v 0.634781 -1.120408 -0.364133 +v -0.788656 -1.066383 -0.598373 +v -0.806867 -1.066383 -0.508250 +v 0.869231 -1.066372 -0.364133 +v -0.806703 -1.030309 -0.255978 +v 0.851020 -1.066372 -0.598373 +v 0.075972 -1.138424 -0.598373 +v -0.265942 -1.120398 -0.274009 +v -0.788656 -1.048357 -0.598373 +v 0.670875 -1.120408 -0.598373 +v 0.454472 -1.138445 -0.346135 +v -0.788656 -1.066383 -0.274009 +v -0.500228 -1.102371 -0.598373 +v -0.770609 -1.030309 -0.364099 +v 0.075972 -1.138445 -0.292041 +f 103 96 107 +f 94 98 99 +f 94 95 101 +f 95 97 101 +f 98 94 101 +f 96 93 102 +f 98 96 102 +f 99 98 102 +f 99 102 103 +f 93 96 103 +f 102 93 103 +f 97 95 104 +f 100 97 104 +f 100 104 105 +f 95 94 105 +f 94 99 105 +f 99 100 105 +f 104 95 105 +f 97 96 106 +f 96 98 106 +f 101 97 106 +f 98 101 106 +f 96 97 107 +f 97 100 107 +f 100 99 107 +f 99 103 107 +o convex_9 +v -0.860961 -0.723979 -0.562324 +v -1.023113 -0.669920 -0.382150 +v -1.023113 -0.669920 -0.364103 +v -0.824930 -1.048332 -0.364103 +v -0.860961 -0.994195 -0.598373 +v -0.770847 -1.030248 -0.364103 +v -0.770847 -1.048332 -0.598373 +v -0.932999 -0.651874 -0.598373 +v -0.951027 -0.651874 -0.364103 +f 115 109 116 +f 110 109 112 +f 111 110 112 +f 110 111 113 +f 111 112 114 +f 108 113 114 +f 113 111 114 +f 112 109 115 +f 108 114 115 +f 114 112 115 +f 109 110 116 +f 113 108 116 +f 110 113 116 +f 108 115 116 +o convex_10 +v 1.932563 -0.814039 -0.093665 +v 1.139647 -0.976242 -0.255967 +v 1.139647 -0.976242 -0.237846 +v 1.932563 -0.976242 0.320755 +v 1.319870 -0.814039 -0.237846 +v 1.914401 -0.868133 -0.111730 +v 1.373967 -0.976242 -0.219837 +v 1.914401 -0.958205 0.320755 +v 1.427987 -0.814039 -0.255967 +v 1.932563 -0.976242 0.230600 +f 120 123 126 +f 119 118 120 +f 118 119 121 +f 120 118 123 +f 119 120 124 +f 120 117 124 +f 117 121 124 +f 121 119 124 +f 121 117 125 +f 118 121 125 +f 117 122 125 +f 122 123 125 +f 123 118 125 +f 117 120 126 +f 122 117 126 +f 123 122 126 +o convex_11 +v 1.049415 -0.651917 -0.382150 +v 0.833186 -1.066355 -0.598373 +v 0.833186 -1.066355 -0.526276 +v 1.193567 -0.669930 -0.382150 +v 0.941353 -0.651917 -0.598373 +v 0.851249 -1.066355 -0.364103 +v 0.905333 -1.012232 -0.598373 +v 0.959381 -0.778053 -0.364103 +v 0.905333 -1.048260 -0.364103 +v 0.977409 -0.687944 -0.598373 +f 133 131 136 +f 127 130 131 +f 128 129 131 +f 129 128 132 +f 131 129 132 +f 128 131 133 +f 130 127 134 +f 127 131 134 +f 131 132 134 +f 134 132 135 +f 132 128 135 +f 133 130 135 +f 128 133 135 +f 130 134 135 +f 131 130 136 +f 130 133 136 +o convex_12 +v -1.293399 0.699857 -0.418199 +v 0.076161 1.006241 -0.490227 +v 0.148329 0.988216 -0.508251 +v 0.148329 0.952168 -0.364103 +v -0.896846 0.699857 -0.598373 +v -0.013938 1.006241 -0.598373 +v -1.347488 0.735906 -0.364103 +v 0.004141 1.006241 -0.364103 +v 0.148329 0.952168 -0.598373 +v -0.878767 0.753930 -0.598373 +v -1.293399 0.699857 -0.364103 +v -0.896846 0.699857 -0.544300 +f 140 147 148 +f 138 139 142 +f 142 143 144 +f 139 138 144 +f 140 139 144 +f 138 142 144 +f 143 140 144 +f 139 140 145 +f 140 141 145 +f 142 139 145 +f 141 142 145 +f 141 137 146 +f 142 141 146 +f 137 143 146 +f 143 142 146 +f 137 141 147 +f 140 143 147 +f 143 137 147 +f 141 140 148 +f 147 141 148 +o convex_13 +v 1.229619 0.663812 -0.526276 +v 0.238597 0.970195 -0.364103 +v 0.238597 0.970195 -0.382150 +v 1.481984 0.771958 -0.364103 +v 0.220571 0.970195 -0.598373 +v 0.166492 0.934147 -0.364103 +v 1.481984 0.663812 -0.364103 +v 0.977254 0.663812 -0.580349 +v 0.995280 0.771958 -0.598373 +v 0.148466 0.952171 -0.598373 +v 1.481984 0.771958 -0.382150 +f 149 157 159 +f 151 150 152 +f 150 151 153 +f 152 150 154 +f 152 154 155 +f 155 154 156 +f 149 155 156 +f 149 156 157 +f 150 153 158 +f 154 150 158 +f 156 154 158 +f 153 157 158 +f 157 156 158 +f 151 152 159 +f 153 151 159 +f 155 149 159 +f 152 155 159 +f 157 153 159 +o convex_14 +v 1.932563 -0.976254 0.284463 +v 0.887254 -1.066332 -0.255967 +v 0.923373 -1.084359 -0.129742 +v 1.013416 -1.030325 0.627047 +v 1.932563 -1.102400 0.699229 +v 1.121671 -0.976254 -0.255967 +v 0.977399 -1.102375 0.699229 +v 0.995407 -0.994269 0.302602 +v 1.013416 -1.066332 -0.255967 +v 1.932563 -1.066344 0.699229 +v 1.914452 -1.102400 0.590956 +v 1.301960 -0.994282 -0.237922 +v 1.914452 -0.976254 0.374690 +v 1.085552 -1.102400 0.320647 +v 0.977399 -1.066332 0.699229 +v 0.905365 -1.030325 -0.237922 +v 1.932563 -0.994282 0.284463 +f 171 160 176 +f 161 162 166 +f 162 161 168 +f 161 165 168 +f 164 160 169 +f 166 164 169 +f 162 168 170 +f 170 168 171 +f 165 160 171 +f 168 165 171 +f 160 165 172 +f 167 163 172 +f 165 167 172 +f 169 160 172 +f 163 169 172 +f 166 162 173 +f 164 166 173 +f 170 164 173 +f 162 170 173 +f 161 166 174 +f 163 167 174 +f 169 163 174 +f 166 169 174 +f 165 161 175 +f 167 165 175 +f 161 174 175 +f 174 167 175 +f 160 164 176 +f 164 170 176 +f 170 171 176 +o convex_15 +v -2.717152 -0.057019 -0.057719 +v -1.329522 0.717880 -0.346068 +v -1.329522 0.699751 -0.346068 +v -2.014508 0.663646 -0.057719 +v -1.780067 -0.039042 -0.346068 +v -1.419712 0.717880 -0.364092 +v -1.870257 -0.020989 -0.364092 +v -2.662956 -0.002861 -0.093796 +v -2.032437 0.681774 -0.111820 +v -2.645026 -0.057019 -0.057719 +v -1.509903 0.699751 -0.255950 +v -2.050503 0.681774 -0.057719 +v -1.797996 0.123204 -0.364092 +v -1.780067 -0.039042 -0.364092 +f 181 186 190 +f 178 179 182 +f 183 177 184 +f 182 184 185 +f 180 177 186 +f 181 180 186 +f 179 178 187 +f 180 181 187 +f 181 179 187 +f 177 180 188 +f 178 182 188 +f 184 177 188 +f 182 185 188 +f 185 184 188 +f 187 178 188 +f 180 187 188 +f 182 183 189 +f 184 182 189 +f 183 184 189 +f 179 181 190 +f 182 179 190 +f 177 183 190 +f 183 182 190 +f 186 177 190 +o convex_16 +v -1.671609 0.681834 -0.255950 +v 0.057859 1.006209 -0.328036 +v 0.057859 1.006209 -0.346064 +v 0.544372 0.898084 -0.310033 +v 0.022050 0.970167 -0.111801 +v -1.978087 0.681834 -0.111801 +v -1.383158 0.735944 -0.364067 +v -1.815834 0.735913 -0.129829 +v 0.544372 0.898084 -0.364067 +v 0.544372 0.916089 -0.255974 +v 0.003774 1.006209 -0.364067 +v -1.869671 0.681834 -0.111801 +v -0.104148 0.970167 -0.111801 +v -1.239180 0.717908 -0.364067 +v -0.068338 0.934126 -0.111801 +v -1.599496 0.681834 -0.237946 +v 0.472259 0.952131 -0.292005 +f 200 199 207 +f 191 196 197 +f 197 196 198 +f 194 199 200 +f 192 193 201 +f 197 198 201 +f 193 199 201 +f 199 197 201 +f 195 196 202 +f 196 191 202 +f 194 200 202 +f 195 192 203 +f 196 195 203 +f 198 196 203 +f 192 201 203 +f 201 198 203 +f 191 197 204 +f 199 194 204 +f 197 199 204 +f 200 195 205 +f 195 202 205 +f 202 200 205 +f 202 191 206 +f 194 202 206 +f 191 204 206 +f 204 194 206 +f 193 192 207 +f 192 195 207 +f 199 193 207 +f 195 200 207 +o convex_17 +v 1.482009 -0.020938 -0.544288 +v 1.752554 0.735902 -0.255985 +v 1.752554 0.735902 -0.274013 +v 2.671488 -0.021014 -0.111858 +v 2.112843 0.591543 -0.093829 +v 1.067743 0.645706 -0.598324 +v 1.283982 -0.020938 -0.562317 +v 0.995389 0.609598 -0.580345 +v 2.599135 -0.021014 -0.093829 +v 2.617346 0.033073 -0.129886 +v 2.130726 0.645706 -0.129886 +v 1.680529 0.717848 -0.255985 +v 2.058537 -0.039068 -0.346076 +v 1.319912 -0.020938 -0.598324 +v 1.644435 0.735902 -0.328048 +v 1.211957 0.033149 -0.580345 +v 0.995389 0.663685 -0.598324 +v 1.157815 0.663685 -0.562317 +v 2.130726 0.645706 -0.093829 +v 1.734179 0.159302 -0.436218 +f 225 217 227 +f 212 214 216 +f 210 209 218 +f 211 217 218 +f 211 216 220 +f 216 214 220 +f 217 211 220 +f 213 208 221 +f 208 220 221 +f 220 214 221 +f 209 210 222 +f 210 218 222 +f 218 217 222 +f 219 209 222 +f 214 212 223 +f 212 219 223 +f 219 215 223 +f 221 214 223 +f 221 223 224 +f 215 219 224 +f 213 221 224 +f 219 222 224 +f 223 215 224 +f 224 222 225 +f 222 217 225 +f 213 224 225 +f 216 211 226 +f 212 216 226 +f 218 209 226 +f 211 218 226 +f 209 219 226 +f 219 212 226 +f 208 213 227 +f 220 208 227 +f 217 220 227 +f 213 225 227 +o convex_18 +v 1.607948 0.735927 -0.255951 +v 0.544898 0.898070 -0.364092 +v 0.022171 0.970164 -0.255925 +v 1.571916 0.808021 -0.147864 +v 0.094572 0.934129 -0.093780 +v 1.463817 0.735927 -0.364092 +v 0.599030 0.934104 -0.292016 +v 0.130604 0.970164 -0.093780 +v 1.499682 0.771986 -0.093780 +v 1.517783 0.771986 -0.364092 +v 0.562998 0.880040 -0.364092 +v 1.644149 0.789991 -0.093780 +v 0.112504 0.988218 -0.255925 +f 230 235 240 +f 230 232 235 +f 232 233 236 +f 233 228 236 +f 235 232 236 +f 233 229 237 +f 228 233 237 +f 229 234 237 +f 234 231 237 +f 230 229 238 +f 232 230 238 +f 233 232 238 +f 229 233 238 +f 231 235 239 +f 236 228 239 +f 235 236 239 +f 228 237 239 +f 237 231 239 +f 229 230 240 +f 234 229 240 +f 231 234 240 +f 235 231 240 +o convex_19 +v -1.816131 -0.777937 1.618390 +v -1.005138 -0.039068 1.726515 +v -0.987146 -0.111162 1.726515 +v -1.816131 -0.129315 1.726515 +v -0.969070 -0.796016 1.708462 +v -1.635874 -0.777937 1.564312 +v -1.077357 -0.796016 1.618390 +v -1.816131 -0.111162 1.690458 +v -1.005138 -0.039068 1.708462 +v -1.816131 -0.796016 1.564312 +v -1.743995 -0.777937 1.636427 +v -0.987146 -0.363601 1.726515 +v -1.816131 -0.039068 1.726515 +v -0.969070 -0.759932 1.672437 +v -1.203471 -0.777937 1.600369 +f 249 247 255 +f 243 242 244 +f 241 244 248 +f 246 248 249 +f 242 243 249 +f 246 247 250 +f 247 245 250 +f 241 248 250 +f 248 246 250 +f 244 241 251 +f 245 244 251 +f 241 250 251 +f 250 245 251 +f 243 244 252 +f 244 245 252 +f 245 243 252 +f 244 242 253 +f 248 244 253 +f 249 248 253 +f 242 249 253 +f 243 245 254 +f 245 247 254 +f 249 243 254 +f 247 249 254 +f 247 246 255 +f 246 249 255 +o convex_20 +v -0.032130 0.862021 1.438126 +v -2.032402 0.681859 0.609116 +v -2.032402 0.681859 0.699405 +v -0.031929 0.934126 0.645316 +v -0.176127 0.898073 1.690470 +v -1.437509 0.681884 1.690470 +v 0.004071 0.898049 0.627322 +v -1.816004 0.699885 1.474115 +v -2.032402 0.699910 0.699405 +v -1.870103 0.681859 0.609116 +v 0.022171 0.880047 1.690470 +v -1.473508 0.717911 1.690470 +v 0.022171 0.916124 1.690470 +v 0.022171 0.934126 0.609116 +v -1.888204 0.717936 0.609116 +v -1.816004 0.681884 1.474115 +v 0.022171 0.880023 1.095704 +f 262 269 272 +f 257 258 264 +f 260 259 264 +f 258 263 264 +f 263 260 264 +f 258 257 265 +f 261 258 265 +f 262 261 265 +f 260 261 266 +f 261 256 266 +f 261 260 267 +f 260 263 267 +f 259 260 268 +f 260 266 268 +f 268 266 269 +f 265 257 269 +f 262 265 269 +f 259 268 269 +f 257 264 270 +f 264 259 270 +f 269 257 270 +f 259 269 270 +f 258 261 271 +f 263 258 271 +f 261 267 271 +f 267 263 271 +f 256 261 272 +f 261 262 272 +f 266 256 272 +f 269 266 272 +o convex_21 +v -1.419631 0.681861 1.726526 +v -0.013897 0.952173 1.780583 +v -0.013897 0.952173 1.744527 +v -0.788824 0.681861 1.762546 +v 0.022171 0.880044 1.690487 +v -1.545792 0.699906 1.690487 +v -1.365299 0.681861 1.690487 +v -0.032008 0.916082 1.690487 +v 0.022171 0.898063 1.762546 +f 277 275 281 +f 274 273 276 +f 273 274 278 +f 274 275 278 +f 278 277 279 +f 276 273 279 +f 277 276 279 +f 273 278 279 +f 275 277 280 +f 278 275 280 +f 277 278 280 +f 275 274 281 +f 274 276 281 +f 276 277 281 +o convex_22 +v -1.041161 -0.057091 -1.157095 +v -0.806899 -0.850084 -1.986134 +v -0.788845 -0.850084 -1.986134 +v -0.878993 -0.850084 -1.157095 +v -0.951012 -0.201314 -1.157095 +v -0.932983 -0.057091 -1.986134 +v -0.932983 -0.813912 -1.301301 +v -0.951012 -0.111194 -1.986134 +v -0.788845 -0.759886 -1.949940 +v -0.932983 -0.057091 -1.805897 +v -0.860963 -0.831998 -1.211223 +v -0.932983 -0.831998 -1.175273 +v -1.041161 -0.075177 -1.211223 +v -0.824929 -0.850084 -1.932006 +v -0.987072 -0.057091 -1.229239 +f 286 291 296 +f 283 284 285 +f 282 285 286 +f 284 283 287 +f 287 283 289 +f 284 287 290 +f 290 287 291 +f 287 282 291 +f 286 290 291 +f 285 284 292 +f 286 285 292 +f 284 290 292 +f 290 286 292 +f 285 282 293 +f 288 293 294 +f 282 287 294 +f 287 289 294 +f 289 288 294 +f 293 282 294 +f 283 285 295 +f 289 283 295 +f 288 289 295 +f 285 293 295 +f 293 288 295 +f 282 286 296 +f 291 282 296 +o convex_23 +v -0.860935 -0.795903 -0.706570 +v -1.167297 -0.057091 -0.598396 +v -1.113198 -0.147211 -0.616443 +v -1.041099 -0.057091 -1.157095 +v -0.915034 -0.850084 -1.157095 +v -0.951101 -0.201314 -1.120946 +v -1.203364 -0.075177 -0.634545 +v -0.878968 -0.850084 -0.598396 +v -0.878968 -0.651758 -0.616443 +v -0.878968 -0.831998 -1.157095 +v -1.077165 -0.075177 -1.084906 +v -0.915034 -0.850084 -0.958740 +v -0.933068 -0.795903 -1.157095 +v -1.041099 -0.057091 -1.030874 +v -0.860935 -0.723869 -0.598396 +f 306 302 311 +f 298 300 303 +f 298 303 304 +f 299 298 305 +f 301 300 306 +f 300 302 306 +f 304 301 306 +f 297 304 306 +f 303 300 307 +f 303 301 308 +f 301 304 308 +f 304 303 308 +f 300 301 309 +f 301 303 309 +f 307 300 309 +f 303 307 309 +f 298 299 310 +f 300 298 310 +f 302 300 310 +f 299 305 310 +f 305 302 310 +f 304 297 311 +f 298 304 311 +f 305 298 311 +f 302 305 311 +f 297 306 311 +o convex_24 +v 0.076200 -0.994264 -2.076278 +v 0.598893 -0.687881 -2.148347 +v 0.598893 -0.778002 -2.094308 +v -0.644664 -0.832105 -2.058224 +v -0.067924 -0.723929 -2.310540 +v -0.644664 -0.687881 -2.148347 +v 0.562740 -0.904143 -2.058224 +v -0.644664 -0.886118 -2.076278 +v 0.490678 -0.687881 -2.220416 +v -0.085940 -0.994264 -2.094308 +v -0.608511 -0.687881 -2.202362 +v 0.580756 -0.850040 -2.112313 +v -0.121971 -0.994264 -2.058224 +v -0.139986 -0.687881 -2.310540 +f 322 320 325 +f 314 313 315 +f 315 313 317 +f 314 315 318 +f 315 317 319 +f 317 313 320 +f 316 312 321 +f 319 316 321 +f 316 319 322 +f 319 317 322 +f 317 320 322 +f 313 314 323 +f 312 316 323 +f 314 318 323 +f 318 312 323 +f 320 313 323 +f 316 320 323 +f 318 315 324 +f 312 318 324 +f 315 319 324 +f 321 312 324 +f 319 321 324 +f 320 316 325 +f 316 322 325 +o convex_25 +v 0.454647 -1.138445 -0.598396 +v -0.644664 -1.066368 -1.157095 +v -0.644664 -1.048349 -1.157095 +v 0.598893 -1.102389 -1.157095 +v -0.482403 -1.066368 -0.598396 +v -0.518434 -1.102389 -1.157095 +v 0.598893 -1.102389 -0.598396 +v -0.500418 -1.102389 -0.598396 +v 0.598893 -1.120408 -1.157095 +v 0.094215 -1.138445 -0.616443 +v -0.067924 -1.120408 -1.157095 +v -0.644664 -1.084388 -0.598396 +f 331 333 337 +f 327 328 329 +f 327 329 331 +f 329 328 332 +f 330 326 332 +f 328 330 332 +f 326 330 333 +f 331 329 334 +f 329 332 334 +f 332 326 334 +f 326 333 335 +f 333 331 335 +f 334 326 335 +f 334 335 336 +f 331 334 336 +f 335 331 336 +f 328 327 337 +f 330 328 337 +f 327 331 337 +f 333 330 337 +o convex_26 +v 0.634966 -1.030269 -1.607386 +v 0.923299 -0.886129 -0.778874 +v 0.905262 -0.886129 -0.598539 +v 0.815174 -1.102373 -0.652697 +v 0.598893 -1.102373 -0.598539 +v 0.598893 -0.886175 -1.985918 +v 0.743091 -0.904178 -2.021928 +v 0.797138 -1.102373 -1.031229 +v 0.598893 -1.120399 -1.229426 +v 0.923299 -0.904201 -1.031229 +v 0.905262 -1.012266 -0.598539 +v 0.887226 -0.886129 -0.598539 +v 0.761096 -0.886175 -1.949908 +v 0.598893 -0.922204 -2.021928 +v 0.671008 -1.120399 -0.598539 +v 0.707018 -1.120399 -1.121253 +f 352 346 353 +f 342 343 346 +f 345 344 347 +f 345 347 348 +f 339 340 348 +f 340 342 348 +f 341 345 348 +f 347 339 348 +f 340 339 349 +f 342 340 349 +f 343 342 349 +f 339 343 349 +f 343 339 350 +f 344 343 350 +f 339 347 350 +f 347 344 350 +f 344 338 351 +f 343 344 351 +f 346 343 351 +f 338 346 351 +f 342 346 352 +f 341 348 352 +f 348 342 352 +f 338 344 353 +f 345 341 353 +f 344 345 353 +f 346 338 353 +f 341 352 353 +o convex_27 +v -2.627146 -0.796016 0.969619 +v -2.609046 -0.309407 1.384041 +v -2.609046 -0.309407 1.366016 +v -2.140537 -0.796016 1.366016 +v -2.482917 -0.633781 1.366016 +v -2.609046 -0.471689 1.149770 +v -2.609046 -0.777916 0.915500 +v -2.627146 -0.381522 1.384041 +v -2.194647 -0.796016 1.384041 +v -2.140537 -0.777916 1.366016 +v -2.627146 -0.705896 1.113813 +f 362 358 364 +f 357 354 360 +f 354 359 360 +f 355 356 361 +f 359 354 361 +f 356 359 361 +f 354 357 362 +f 355 361 362 +f 361 358 362 +f 356 355 363 +f 359 356 363 +f 357 360 363 +f 360 359 363 +f 355 362 363 +f 362 357 363 +f 361 354 364 +f 358 361 364 +f 354 362 364 +o convex_28 +v 0.833172 -0.057172 -2.112320 +v 0.598893 -0.886129 -2.076246 +v 0.598893 -0.886129 -2.040201 +v 0.598893 -0.057172 -2.256472 +v 0.851209 -0.057172 -2.004156 +v 0.743073 -0.867951 -2.058266 +v 0.616930 -0.093284 -2.292517 +v 0.598893 -0.741843 -2.166345 +v 0.761082 -0.832001 -2.004156 +v 0.869217 -0.111300 -2.076246 +f 369 373 374 +f 366 367 368 +f 365 368 369 +f 368 367 369 +f 367 366 370 +f 368 365 371 +f 368 371 372 +f 366 368 372 +f 370 366 372 +f 371 370 372 +f 369 367 373 +f 367 370 373 +f 373 370 374 +f 365 369 374 +f 371 365 374 +f 370 371 374 +o convex_29 +v -0.608619 0.537559 -2.184368 +v -0.951014 -0.056964 -2.058275 +v -0.951014 -0.056964 -2.040201 +v -0.608619 -0.056964 -2.292466 +v -0.698776 0.573625 -2.040201 +v -0.662747 -0.038994 -2.310540 +v -0.734805 0.555592 -2.094290 +v -0.896920 -0.020961 -2.040201 +v -0.932983 -0.002928 -2.094290 +v -0.608619 0.555592 -2.112337 +f 379 382 384 +f 377 376 378 +f 378 376 380 +f 375 378 380 +f 379 375 381 +f 377 379 381 +f 375 380 381 +f 377 378 382 +f 379 377 382 +f 376 377 383 +f 380 376 383 +f 377 381 383 +f 381 380 383 +f 378 375 384 +f 375 379 384 +f 382 378 384 +o convex_30 +v -0.464382 0.591658 -2.202424 +v -0.608619 -0.056964 -2.310506 +v -0.608619 -0.056964 -2.292493 +v 0.022171 -0.056964 -2.310506 +v -0.122066 0.591658 -2.310506 +v -0.572560 0.573625 -2.112292 +v 0.022171 0.591658 -2.292493 +v -0.500441 0.429423 -2.310506 +v -0.086007 -0.056964 -2.274458 +v 0.022171 0.393420 -2.328541 +v -0.608619 0.555592 -2.184410 +v 0.022171 -0.056964 -2.292493 +v -0.500441 -0.056964 -2.274458 +f 393 390 397 +f 387 386 388 +f 389 385 391 +f 385 390 391 +f 387 388 393 +f 388 386 394 +f 389 391 394 +f 391 388 394 +f 392 389 394 +f 386 392 394 +f 386 387 395 +f 385 389 395 +f 390 385 395 +f 387 390 395 +f 389 392 395 +f 392 386 395 +f 388 391 396 +f 391 390 396 +f 393 388 396 +f 390 393 396 +f 390 387 397 +f 387 393 397 +o convex_31 +v -0.752796 0.735944 -1.355005 +v 0.022171 1.006241 -0.598396 +v -0.013972 1.006241 -0.598396 +v -0.050024 0.898063 -2.040201 +v -0.644550 0.627767 -2.021995 +v -0.896910 0.681856 -0.598537 +v 0.022171 0.862053 -1.950018 +v -0.013972 1.006241 -1.319299 +v -0.878930 0.753949 -0.652732 +v 0.004099 0.970120 -0.598396 +v -0.680602 0.663814 -2.040201 +v 0.022171 0.880021 -2.040201 +v -0.914981 0.735944 -0.598537 +v -0.698673 0.627767 -2.040201 +v 0.022171 1.006241 -1.319299 +f 409 401 412 +f 400 399 405 +f 401 398 405 +f 405 398 406 +f 400 405 406 +f 399 400 407 +f 403 402 407 +f 400 403 407 +f 404 399 407 +f 402 404 407 +f 398 401 408 +f 399 404 409 +f 404 402 409 +f 408 401 409 +f 403 400 410 +f 406 398 410 +f 400 406 410 +f 398 408 410 +f 410 408 411 +f 402 403 411 +f 409 402 411 +f 408 409 411 +f 403 410 411 +f 405 399 412 +f 401 405 412 +f 399 409 412 +o convex_32 +v -2.609178 -0.723831 0.014371 +v -2.933466 -0.057163 0.663184 +v -2.915453 -0.057163 0.645147 +v -2.681274 -0.796016 0.663184 +v -2.717301 -0.057163 0.032408 +v -2.951480 -0.147287 0.645147 +v -2.555097 -0.759851 0.032408 +v -2.753329 -0.093256 0.014371 +v -2.663260 -0.777861 0.645147 +v -2.699288 -0.796016 0.573000 +v -2.627192 -0.796016 0.140565 +v -2.969535 -0.057163 0.663184 +f 420 418 424 +f 414 415 417 +f 417 419 420 +f 413 418 420 +f 419 413 420 +f 415 414 421 +f 414 416 421 +f 417 415 421 +f 416 419 421 +f 419 417 421 +f 416 418 422 +f 418 413 423 +f 413 419 423 +f 419 416 423 +f 416 422 423 +f 422 418 423 +f 416 414 424 +f 414 417 424 +f 418 416 424 +f 417 420 424 +o convex_33 +v -2.843343 -0.057163 1.131749 +v -2.699279 -0.796016 0.663184 +v -2.681246 -0.796016 0.663184 +v -2.933509 -0.057163 0.663184 +v -2.627146 -0.057163 1.456110 +v -2.735345 -0.796016 0.861435 +v -2.645213 -0.327579 1.402063 +v -2.969575 -0.111333 0.699296 +v -2.627146 -0.796016 0.951594 +v -2.735312 -0.075316 1.456110 +v -2.681246 -0.759782 0.663184 +f 429 433 435 +f 427 426 428 +f 428 425 429 +f 426 427 430 +f 428 426 432 +f 425 428 432 +f 426 430 432 +f 430 427 433 +f 431 430 433 +f 429 431 433 +f 429 425 434 +f 430 431 434 +f 431 429 434 +f 425 432 434 +f 432 430 434 +f 427 428 435 +f 428 429 435 +f 433 427 435 +o convex_34 +v 0.779104 0.321420 -2.040201 +v 0.580870 -0.057017 -2.310540 +v 0.580870 -0.057017 -2.274472 +v 0.580870 0.699857 -2.040201 +v 0.851195 -0.057017 -2.040201 +v 0.616915 0.645699 -2.112337 +v 0.869231 0.015070 -2.076269 +v 0.598907 0.015070 -2.310540 +f 442 437 443 +f 437 438 439 +f 436 439 440 +f 438 437 440 +f 439 438 440 +f 437 439 441 +f 439 436 441 +f 436 440 442 +f 440 437 442 +f 441 436 442 +f 441 442 443 +f 437 441 443 +o convex_35 +v 0.562878 0.735902 -1.950081 +v 0.706988 0.411528 -2.040201 +v 0.725051 0.411528 -2.040201 +v 0.706988 0.717835 -1.445457 +v 0.436718 0.717835 -2.004107 +v 0.670946 0.681797 -2.022096 +v 0.725051 0.735902 -1.607765 +v 0.436718 0.735902 -2.040201 +v 0.706988 0.429563 -1.968070 +f 448 445 452 +f 449 444 450 +f 447 446 450 +f 446 449 450 +f 446 445 451 +f 448 447 451 +f 445 448 451 +f 449 446 451 +f 444 449 451 +f 450 444 451 +f 447 450 451 +f 445 446 452 +f 446 447 452 +f 447 448 452 +o convex_36 +v -1.257551 -0.489631 -0.382150 +v -1.185491 -0.021046 -0.562324 +v -1.131423 -0.129223 -0.580349 +v -1.816131 -0.057105 -0.382150 +v -0.933145 -0.651836 -0.598373 +v -0.969220 -0.615776 -0.364103 +v -1.725898 -0.021046 -0.364103 +v -1.221476 -0.021046 -0.598373 +v -1.041281 -0.651836 -0.364103 +v -0.897070 -0.633806 -0.598373 +v -1.239469 -0.021046 -0.526276 +f 459 458 463 +f 453 456 457 +f 454 455 460 +f 457 456 460 +f 459 454 460 +f 456 459 460 +f 456 453 461 +f 453 457 461 +f 459 456 461 +f 458 459 461 +f 455 454 462 +f 454 458 462 +f 460 455 462 +f 457 460 462 +f 461 457 462 +f 458 461 462 +f 458 454 463 +f 454 459 463 +o convex_37 +v -1.798108 0.015081 -0.364103 +v -0.896980 0.699786 -0.562324 +v -0.896980 0.681723 -0.562324 +v -1.311556 0.681723 -0.364103 +v -1.185419 -0.020905 -0.544300 +v -0.933057 0.699786 -0.598373 +v -1.203413 0.033144 -0.598373 +v -1.401439 0.681723 -0.382150 +v -1.762031 0.105185 -0.382150 +v -1.707960 -0.002912 -0.364103 +v -0.933057 0.681723 -0.526276 +v -1.185419 -0.020905 -0.598373 +v -1.798108 -0.020905 -0.382150 +f 470 475 476 +f 465 466 469 +f 467 465 471 +f 464 467 471 +f 465 469 471 +f 471 469 472 +f 469 470 472 +f 464 471 472 +f 467 464 473 +f 468 467 473 +f 466 465 474 +f 465 467 474 +f 467 468 474 +f 468 466 474 +f 466 468 475 +f 469 466 475 +f 470 469 475 +f 464 472 476 +f 472 470 476 +f 473 464 476 +f 468 473 476 +f 475 468 476 +o convex_38 +v 1.067617 -0.363423 -0.598373 +v 1.950585 -0.021046 -0.364103 +v 1.950585 -0.021046 -0.382150 +v 1.229833 -0.651836 -0.382150 +v 1.229833 -0.021046 -0.580349 +v 1.013578 -0.633806 -0.400174 +v 0.977487 -0.651836 -0.598373 +v 1.319866 -0.039075 -0.598373 +v 1.878403 -0.021046 -0.364103 +v 1.950585 -0.057105 -0.382150 +v 1.121657 -0.651836 -0.364103 +f 485 482 487 +f 478 479 481 +f 481 477 482 +f 482 477 483 +f 477 481 484 +f 481 479 484 +f 483 477 484 +f 478 481 485 +f 481 482 485 +f 479 478 486 +f 478 480 486 +f 480 483 486 +f 484 479 486 +f 483 484 486 +f 480 478 487 +f 482 483 487 +f 483 480 487 +f 478 485 487 +o convex_39 +v -2.428762 -0.057019 1.546283 +v -1.708110 0.681834 1.546283 +v -1.527888 0.681762 1.690470 +v -1.960421 0.015088 1.672440 +v -1.798398 0.663681 1.438154 +v -2.735081 -0.038938 1.456209 +v -2.014547 0.663681 1.456209 +v -2.104481 -0.021002 1.690470 +v -2.662992 -0.057019 1.438154 +v -1.600095 0.663754 1.690470 +v -1.527888 0.645745 1.672440 +v -2.104481 -0.039010 1.636381 +v -2.014547 0.663681 1.438154 +f 496 493 500 +f 489 490 492 +f 490 489 494 +f 491 490 495 +f 493 488 495 +f 488 493 496 +f 494 493 497 +f 490 494 497 +f 495 490 497 +f 493 495 497 +f 490 491 498 +f 491 492 498 +f 492 490 498 +f 492 491 499 +f 491 495 499 +f 495 488 499 +f 488 496 499 +f 496 492 499 +f 489 492 500 +f 493 494 500 +f 494 489 500 +f 492 496 500 +o convex_40 +v -1.149528 -0.994194 -0.255978 +v -1.779892 -0.039068 -0.346069 +v -1.797907 -0.057147 -0.328047 +v -1.924136 -0.813897 -0.274000 +v -0.806867 -1.048332 -0.364092 +v -2.140437 -0.039068 -0.255978 +v -0.843026 -0.958134 -0.255978 +v -1.869963 -0.057147 -0.364092 +v -0.969125 -0.651779 -0.364092 +v -1.924136 -0.813897 -0.255978 +v -1.887977 -0.759858 -0.292023 +v -2.050235 -0.039068 -0.255978 +v -2.140437 -0.057147 -0.274000 +v -0.951111 -0.669858 -0.346069 +v -0.806867 -1.048332 -0.255978 +f 505 514 515 +f 501 504 505 +f 506 501 507 +f 506 502 508 +f 505 508 509 +f 508 502 509 +f 504 501 510 +f 501 506 510 +f 505 504 511 +f 508 505 511 +f 503 502 512 +f 502 506 512 +f 507 503 512 +f 506 507 512 +f 506 508 513 +f 504 510 513 +f 510 506 513 +f 511 504 513 +f 508 511 513 +f 502 503 514 +f 503 507 514 +f 509 502 514 +f 505 509 514 +f 501 505 515 +f 507 501 515 +f 514 507 515 +o convex_41 +v 2.040730 -0.814039 0.014467 +v 2.635443 -0.795991 0.609053 +v 2.617389 -0.795991 0.609053 +v 2.599394 -0.219294 -0.039569 +v 2.527297 -0.651788 0.104569 +v 2.275016 -0.795991 0.356779 +v 2.130822 -0.795991 -0.039569 +v 2.347054 -0.399534 -0.021600 +v 2.635443 -0.291483 -0.039569 +v 2.635443 -0.814039 0.536920 +v 2.617389 -0.453617 0.266740 +v 2.635443 -0.741850 0.392782 +v 2.022676 -0.814039 -0.039569 +f 522 525 528 +f 516 521 523 +f 522 519 524 +f 520 522 524 +f 517 518 525 +f 521 516 525 +f 518 521 525 +f 524 517 525 +f 518 517 526 +f 521 518 526 +f 519 523 526 +f 523 521 526 +f 517 524 526 +f 524 519 526 +f 522 520 527 +f 520 524 527 +f 525 522 527 +f 524 525 527 +f 519 522 528 +f 523 519 528 +f 516 523 528 +f 525 516 528 +o convex_42 +v -2.014183 -0.976250 1.258043 +v -2.140422 -0.994278 0.915500 +v -2.140422 -0.994278 1.041792 +v -0.987301 -1.066355 0.915500 +v -1.996182 -1.030299 1.221938 +v -0.969299 -0.976250 1.690394 +v -1.023304 -1.048318 1.438038 +v -1.329672 -1.012297 0.915500 +v -2.032185 -0.976250 0.915500 +v -1.005302 -1.012297 1.690394 +v -1.942178 -1.030299 0.915500 +v -1.005302 -1.066355 1.258043 +v -1.203547 -1.066355 0.933628 +v -0.987301 -1.048318 0.915500 +v -1.185546 -0.994278 1.221938 +f 534 542 543 +f 529 531 533 +f 531 530 533 +f 532 530 536 +f 531 529 537 +f 530 531 537 +f 529 534 537 +f 536 530 537 +f 529 533 538 +f 534 529 538 +f 533 535 538 +f 530 532 539 +f 533 530 539 +f 532 534 540 +f 535 533 540 +f 534 538 540 +f 538 535 540 +f 539 532 541 +f 533 539 541 +f 532 540 541 +f 540 533 541 +f 534 532 542 +f 532 536 542 +f 542 536 543 +f 537 534 543 +f 536 537 543 +o convex_43 +v -2.735176 -0.057022 -0.039605 +v -2.050509 0.645789 -0.021670 +v -2.050509 0.645789 -0.057719 +v -2.825257 0.069148 0.536994 +v -2.176656 0.627696 0.519000 +v -2.681161 -0.057022 -0.021670 +v -2.861323 -0.057022 0.536994 +v -2.104609 0.645789 -0.039605 +v -2.230756 0.645789 0.555048 +v -2.663128 0.033100 -0.057719 +v -2.050509 0.627696 -0.021670 +v -2.915423 -0.038998 0.519000 +v -2.230756 0.645789 0.500945 +f 552 551 556 +f 549 548 550 +f 544 549 550 +f 545 546 551 +f 548 545 552 +f 550 548 552 +f 547 550 552 +f 545 551 552 +f 549 544 553 +f 546 549 553 +f 551 546 553 +f 547 551 553 +f 546 545 554 +f 545 548 554 +f 549 546 554 +f 548 549 554 +f 544 550 555 +f 550 547 555 +f 553 544 555 +f 547 553 555 +f 551 547 556 +f 547 552 556 +o convex_44 +v 0.689006 -1.156467 1.708439 +v 0.923292 -1.030322 1.384123 +v 0.923292 -0.994264 1.384123 +v 0.364600 -1.048342 1.744483 +v 0.887219 -0.994264 1.672396 +v 0.995375 -1.156467 1.420167 +v 0.400673 -1.012317 1.762560 +v 0.436746 -1.120410 1.726480 +v 0.995375 -1.156467 1.492253 +f 557 562 565 +f 559 558 560 +f 558 559 562 +f 559 560 563 +f 557 561 563 +f 561 559 563 +f 560 558 564 +f 558 562 564 +f 562 557 564 +f 563 560 564 +f 557 563 564 +f 561 557 565 +f 559 561 565 +f 562 559 565 +o convex_45 +v 1.932408 -0.832061 1.474208 +v 0.905437 -0.976228 1.384086 +v 0.905437 -0.940170 1.384086 +v 0.779242 -0.976228 1.690470 +v 0.887409 -0.832061 1.690470 +v 1.986491 -0.868119 1.384086 +v 0.851353 -0.994264 1.690470 +v 1.932408 -0.832061 1.384086 +v 1.229815 -0.976228 1.384086 +v 1.049660 -0.850098 1.690470 +f 570 572 575 +f 568 567 569 +f 568 569 570 +f 567 568 571 +f 569 567 572 +f 570 569 572 +f 571 566 572 +f 570 566 573 +f 568 570 573 +f 566 571 573 +f 571 568 573 +f 567 571 574 +f 572 567 574 +f 571 572 574 +f 566 570 575 +f 572 566 575 +o convex_46 +v 2.022543 -0.255357 1.654432 +v 0.707296 0.609556 1.744529 +v 0.707296 0.609556 1.762553 +v 0.887330 -0.832061 1.672466 +v 2.058407 -0.111181 1.708482 +v 1.481870 0.627703 1.690479 +v 0.995493 -0.633587 1.708482 +v 1.031786 -0.813914 1.654432 +v 0.725300 0.627703 1.726516 +v 1.517734 0.627703 1.726516 +v 2.094700 -0.021160 1.654432 +v 1.464153 -0.525562 1.708482 +v 1.806217 0.014991 1.726516 +v 1.175813 -0.813914 1.672466 +v 0.815460 0.573548 1.762553 +v 0.887330 -0.832061 1.690469 +v 2.166713 -0.075316 1.672466 +v 1.571887 0.627703 1.690479 +f 585 592 593 +f 578 577 579 +f 581 583 584 +f 577 578 584 +f 579 577 584 +f 583 579 584 +f 581 584 585 +f 584 578 585 +f 576 583 586 +f 583 581 586 +f 580 585 588 +f 587 580 588 +f 576 580 589 +f 579 583 589 +f 583 576 589 +f 580 587 589 +f 578 582 590 +f 585 578 590 +f 582 587 590 +f 588 585 590 +f 587 588 590 +f 578 579 591 +f 582 578 591 +f 587 582 591 +f 579 589 591 +f 589 587 591 +f 580 576 592 +f 585 580 592 +f 576 586 592 +f 592 586 593 +f 581 585 593 +f 586 581 593 +o convex_47 +v 1.968671 -0.020982 1.672417 +v 2.094907 0.627703 1.456207 +v 2.473141 0.267358 1.456207 +v 1.608285 0.627703 1.690470 +v 2.040772 0.573604 1.438179 +v 2.743578 -0.020982 1.456207 +v 2.653393 -0.020982 1.438179 +v 1.536066 0.609670 1.672417 +v 2.022688 0.015084 1.690470 +v 2.004840 0.015084 1.636362 +f 601 598 603 +f 596 595 597 +f 595 596 598 +f 596 597 599 +f 598 596 600 +f 596 599 600 +f 599 594 600 +f 597 595 601 +f 595 598 601 +f 599 597 602 +f 594 599 602 +f 597 601 602 +f 601 594 602 +f 600 594 603 +f 598 600 603 +f 594 601 603 +o convex_48 +v -2.645148 -0.796016 0.284727 +v -2.464968 -0.850084 0.915500 +v -2.591114 -0.796016 0.915500 +v -2.717234 -0.814053 0.825263 +v -2.555083 -0.904151 0.014371 +v -2.537055 -0.796016 0.014371 +v -2.464968 -0.904151 0.554995 +v -2.464968 -0.886115 0.014371 +v -2.482996 -0.886115 0.915500 +f 608 610 612 +f 606 604 607 +f 607 604 608 +f 604 606 609 +f 606 605 609 +f 608 604 609 +f 609 605 611 +f 608 609 611 +f 605 610 611 +f 610 608 611 +f 605 606 612 +f 606 607 612 +f 607 608 612 +f 610 605 612 +o convex_49 +v 1.950444 0.627767 1.456201 +v 0.166369 0.898079 1.672447 +v 0.166369 0.898079 1.600327 +v 1.481851 0.627767 1.672447 +v 0.094370 0.862014 1.438200 +v 1.950444 0.681877 1.456201 +v 1.644149 0.645839 1.672447 +v 0.022171 0.880033 1.672447 +v 0.112471 0.898079 1.438200 +v 2.076743 0.627767 1.438200 +v 0.544864 0.843995 1.672447 +f 619 618 623 +f 613 616 617 +f 615 614 618 +f 614 616 619 +f 616 614 620 +f 617 616 620 +f 617 620 621 +f 614 615 621 +f 615 618 621 +f 620 614 621 +f 621 618 622 +f 616 613 622 +f 613 617 622 +f 619 616 622 +f 618 619 622 +f 617 621 622 +f 618 614 623 +f 614 619 623 +o convex_50 +v 0.563045 0.663812 1.744523 +v 0.076507 0.916128 1.762560 +v 0.292763 0.880083 1.690484 +v 1.608156 0.645803 1.690484 +v 0.022326 0.880083 1.672465 +v 1.445925 0.627767 1.672465 +v 1.499951 0.627767 1.726504 +v 0.743285 0.627767 1.762560 +v 0.671251 0.627767 1.726504 +v 0.076507 0.862046 1.762560 +f 624 631 633 +f 626 625 627 +f 625 626 628 +f 628 626 629 +f 626 627 629 +f 627 625 630 +f 629 627 630 +f 629 630 631 +f 630 625 631 +f 624 628 632 +f 628 629 632 +f 631 624 632 +f 629 631 632 +f 628 624 633 +f 625 628 633 +f 631 625 633 +o convex_51 +v -0.464438 -0.579703 -2.310525 +v 0.076239 -0.057091 -2.292491 +v 0.076239 -0.057091 -2.310525 +v -0.644664 -0.057091 -2.310525 +v -0.644664 -0.687881 -2.166373 +v 0.076239 -0.687881 -2.274470 +v -0.536416 -0.057091 -2.274470 +v 0.076239 -0.687881 -2.310525 +v -0.626599 -0.615700 -2.166373 +v -0.644664 -0.687881 -2.202415 +v -0.085993 -0.057091 -2.274470 +v -0.536416 -0.543644 -2.310525 +f 643 637 645 +f 635 636 637 +f 636 634 637 +f 636 635 639 +f 635 637 640 +f 634 636 641 +f 639 638 641 +f 636 639 641 +f 637 638 642 +f 639 635 642 +f 638 639 642 +f 640 637 642 +f 638 637 643 +f 634 641 643 +f 641 638 643 +f 635 640 644 +f 642 635 644 +f 640 642 644 +f 637 634 645 +f 634 643 645 +o convex_52 +v 0.598893 -0.183298 -2.292489 +v 0.076239 -0.687881 -2.310517 +v 0.130315 -0.633792 -2.328527 +v 0.076239 -0.057091 -2.292489 +v 0.598893 -0.687881 -2.148337 +v 0.436612 -0.525676 -2.328527 +v 0.598893 -0.075120 -2.256451 +v 0.562825 -0.057091 -2.328527 +v 0.094298 -0.687881 -2.256451 +v 0.112307 -0.057091 -2.328527 +v 0.580833 -0.687881 -2.202420 +v 0.580833 -0.633792 -2.148337 +f 654 650 657 +f 647 648 651 +f 650 646 652 +f 651 648 653 +f 646 651 653 +f 652 646 653 +f 649 652 653 +f 649 647 654 +f 647 650 654 +f 648 647 655 +f 647 649 655 +f 653 648 655 +f 649 653 655 +f 646 650 656 +f 650 647 656 +f 647 651 656 +f 651 646 656 +f 652 649 657 +f 650 652 657 +f 649 654 657 +o convex_53 +v -0.626567 -0.994264 -1.643648 +v 0.004085 -1.102393 -1.157095 +v -0.031982 -1.084338 -1.157095 +v 0.004085 -0.976259 -2.058224 +v -0.554498 -0.868106 -2.040053 +v -0.644601 -1.030299 -1.175178 +v -0.464396 -1.102393 -1.265238 +v -0.031982 -1.012244 -2.058224 +v -0.644601 -0.904190 -2.058224 +v 0.004085 -1.120422 -1.319309 +v -0.608534 -1.084338 -1.157095 +v -0.626567 -0.886136 -1.896010 +v 0.004085 -0.976259 -2.004153 +f 662 660 670 +f 665 664 666 +f 662 661 666 +f 658 663 666 +f 664 658 666 +f 661 665 666 +f 661 659 667 +f 659 664 667 +f 665 661 667 +f 664 665 667 +f 659 660 668 +f 660 663 668 +f 663 658 668 +f 658 664 668 +f 664 659 668 +f 660 662 669 +f 663 660 669 +f 662 666 669 +f 666 663 669 +f 660 659 670 +f 659 661 670 +f 661 662 670 +o convex_54 +v 0.598893 -0.922220 -2.040053 +v 0.598893 -1.102393 -1.157095 +v 0.598893 -1.120422 -1.157095 +v 0.004148 -1.048304 -1.805862 +v 0.004148 -1.102393 -1.157095 +v 0.544809 -0.868106 -2.040053 +v 0.004148 -0.976259 -2.058224 +v 0.562798 -1.120422 -1.301403 +v 0.112315 -0.994264 -2.058224 +v 0.004148 -1.120422 -1.337392 +v 0.004148 -0.976259 -1.985982 +v 0.598893 -0.922220 -1.823768 +f 676 675 682 +f 671 672 673 +f 673 672 675 +f 674 675 677 +f 671 673 678 +f 676 671 679 +f 677 676 679 +f 674 677 679 +f 671 678 679 +f 678 674 679 +f 675 674 680 +f 673 675 680 +f 678 673 680 +f 674 678 680 +f 675 676 681 +f 677 675 681 +f 676 677 681 +f 672 671 682 +f 675 672 682 +f 671 676 682 +o convex_55 +v 0.761142 -0.849936 -2.004091 +v 0.995389 -0.057172 -1.337321 +v 0.959298 -0.057172 -1.337321 +v 0.851237 -0.886129 -1.337321 +v 0.923260 -0.777874 -1.355466 +v 0.887222 -0.093284 -2.004091 +v 0.725077 -0.813986 -1.986012 +v 0.851237 -0.057172 -1.986012 +v 0.833218 -0.867951 -1.355466 +v 0.779161 -0.886129 -1.913957 +v 0.743123 -0.867951 -1.823823 +v 0.905241 -0.849936 -1.391493 +v 0.995389 -0.093284 -1.355466 +f 687 688 695 +f 684 685 686 +f 684 686 687 +f 688 683 689 +f 685 684 690 +f 684 688 690 +f 689 685 690 +f 688 689 690 +f 686 685 691 +f 683 688 692 +f 683 692 693 +f 685 689 693 +f 689 683 693 +f 691 685 693 +f 686 691 693 +f 692 686 693 +f 687 686 694 +f 688 687 694 +f 686 692 694 +f 692 688 694 +f 684 687 695 +f 688 684 695 +o convex_56 +v 0.851237 -0.886129 -1.337321 +v 0.995389 -0.561606 -0.598396 +v 0.995389 -0.507560 -0.652499 +v 0.887279 -0.849936 -0.598396 +v 0.959334 -0.075269 -1.319239 +v 0.923306 -0.849936 -1.301228 +v 0.995389 -0.129315 -1.337321 +v 0.923306 -0.886129 -0.652499 +v 0.905299 -0.651684 -0.670509 +v 0.995389 -0.633668 -0.616478 +v 0.977354 -0.057172 -1.229115 +v 0.941313 -0.759858 -1.283146 +v 0.851237 -0.867951 -1.265208 +f 704 700 708 +f 701 696 702 +f 698 697 702 +f 696 700 702 +f 699 696 703 +f 696 701 703 +f 697 698 704 +f 699 697 704 +f 697 699 705 +f 702 697 705 +f 699 703 705 +f 703 701 705 +f 698 702 706 +f 702 700 706 +f 704 698 706 +f 700 704 706 +f 701 702 707 +f 705 701 707 +f 702 705 707 +f 696 699 708 +f 700 696 708 +f 699 704 708 +o convex_57 +v -1.005086 -0.057019 -1.445529 +v -0.752830 0.681834 -1.319299 +v -0.734807 0.681834 -1.391481 +v -0.716784 0.645673 -2.040131 +v -0.914973 -0.057019 -1.986012 +v -0.969040 -0.038938 -1.337432 +v -0.698732 0.573567 -2.004075 +v -0.951018 -0.038938 -2.040131 +v -0.788875 0.663681 -1.355425 +v -0.698732 0.663681 -1.625737 +v -1.005086 -0.002921 -1.319299 +f 717 716 719 +f 710 711 712 +f 711 710 714 +f 709 713 714 +f 713 709 716 +f 712 715 716 +f 715 713 716 +f 710 712 717 +f 712 716 717 +f 712 711 718 +f 711 714 718 +f 714 713 718 +f 715 712 718 +f 713 715 718 +f 714 710 719 +f 709 714 719 +f 716 709 719 +f 710 717 719 +o convex_58 +v -1.167246 -0.057019 -0.796757 +v -0.897049 0.681834 -0.598396 +v -0.933078 0.681834 -0.598396 +v -0.752844 0.681834 -1.319299 +v -0.987056 -0.057019 -1.265175 +v -1.167246 -0.057019 -0.616461 +v -0.806910 0.645673 -1.283239 +v -1.185283 0.069185 -0.616461 +v -1.023085 -0.020929 -1.301234 +v -0.897049 0.627664 -0.634455 +v -0.752844 0.645673 -1.283239 +v -0.933078 0.681834 -0.634455 +v -1.203364 -0.002921 -0.652520 +f 728 720 732 +f 722 721 723 +f 721 722 725 +f 720 724 725 +f 725 722 727 +f 724 720 728 +f 723 724 728 +f 726 723 728 +f 721 725 729 +f 725 724 729 +f 723 721 730 +f 724 723 730 +f 721 729 730 +f 729 724 730 +f 722 723 731 +f 723 726 731 +f 727 722 731 +f 726 727 731 +f 720 725 732 +f 725 727 732 +f 727 726 732 +f 726 728 732 +o convex_59 +v 0.364543 0.339346 -2.328524 +v 0.022280 -0.057031 -2.310517 +v 0.112344 -0.057031 -2.328524 +v 0.580870 0.501519 -2.130314 +v 0.022280 0.555557 -2.310517 +v 0.580870 -0.057031 -2.292491 +v 0.472652 0.483526 -2.292491 +v 0.580870 -0.002933 -2.328524 +v 0.022280 -0.057031 -2.292491 +v 0.580870 0.555557 -2.166386 +v 0.022280 0.555557 -2.292491 +v 0.022280 0.411436 -2.328524 +v 0.220507 0.555557 -2.310517 +f 733 744 745 +f 734 735 738 +f 735 733 740 +f 738 735 740 +f 736 738 740 +f 733 739 740 +f 737 734 741 +f 734 738 741 +f 738 736 741 +f 736 740 742 +f 740 739 742 +f 741 736 743 +f 737 741 743 +f 736 742 743 +f 742 737 743 +f 733 735 744 +f 735 734 744 +f 734 737 744 +f 744 737 745 +f 739 733 745 +f 737 742 745 +f 742 739 745 +o convex_60 +v 0.580870 0.627788 -2.130358 +v 0.022280 0.555694 -2.310540 +v 0.022280 0.555694 -2.292466 +v 0.022280 0.735902 -2.184368 +v 0.382534 0.717857 -2.040201 +v 0.562770 0.555694 -2.112337 +v 0.292580 0.573722 -2.274472 +v 0.508688 0.735902 -2.058275 +v 0.022280 0.717857 -2.148352 +f 751 750 754 +f 747 748 749 +f 748 747 751 +f 746 751 752 +f 747 749 752 +f 751 747 752 +f 752 749 753 +f 749 750 753 +f 750 751 753 +f 751 746 753 +f 746 752 753 +f 749 748 754 +f 750 749 754 +f 748 751 754 +o convex_61 +v 0.761142 0.231277 -2.022068 +v 0.779161 0.735902 -1.319299 +v 0.779161 0.735902 -1.337432 +v 0.995389 -0.057091 -1.373488 +v 0.887222 -0.002988 -2.022068 +v 0.959298 -0.057091 -1.337432 +v 0.725077 0.699808 -1.409473 +v 0.743123 0.447534 -2.022068 +v 0.851237 -0.057091 -2.040131 +v 0.995389 0.015021 -1.337432 +v 0.725077 0.429448 -1.859852 +v 0.725077 0.735902 -1.535633 +v 0.743123 0.699808 -1.319299 +f 756 766 767 +f 757 759 762 +f 759 758 763 +f 760 755 763 +f 758 760 763 +f 755 762 763 +f 762 759 763 +f 757 756 764 +f 758 759 764 +f 759 757 764 +f 756 760 764 +f 760 758 764 +f 755 760 765 +f 760 761 765 +f 762 755 765 +f 762 765 766 +f 756 757 766 +f 757 762 766 +f 765 761 766 +f 766 761 767 +f 760 756 767 +f 761 760 767 +o convex_62 +v 2.635443 -0.255466 -0.039628 +v 2.977829 -0.021123 0.663184 +v 2.941805 -0.021123 0.663184 +v 2.671502 -0.814039 0.663184 +v 2.743585 -0.814039 0.645091 +v 2.761650 -0.075226 0.014445 +v 2.671502 -0.021123 -0.021603 +v 2.635443 -0.795952 0.627066 +v 2.995894 -0.075226 0.645091 +v 2.653508 -0.741927 0.410774 +v 2.887752 -0.021123 0.554969 +v 2.707597 -0.147338 -0.039628 +f 777 768 779 +f 769 770 771 +f 769 771 772 +f 770 769 774 +f 769 773 774 +f 771 770 775 +f 774 768 775 +f 769 772 776 +f 773 769 776 +f 772 773 776 +f 772 771 777 +f 771 775 777 +f 775 768 777 +f 770 774 778 +f 775 770 778 +f 774 775 778 +f 773 772 779 +f 768 774 779 +f 774 773 779 +f 772 777 779 +o convex_63 +v -2.248459 -0.958179 0.014345 +v -1.275627 -0.994262 -0.255967 +v -1.275627 -0.976233 -0.255967 +v -0.915072 -1.048300 -0.039739 +v -1.852139 -0.796016 -0.237895 +v -2.482726 -0.796016 0.014345 +v -1.636011 -1.048300 -0.165819 +v -1.960117 -0.814070 -0.255941 +v -0.824890 -1.030296 -0.255967 +v -2.518661 -0.904141 -0.003701 +v -0.915072 -1.012267 -0.057758 +v -1.725850 -1.048300 -0.039739 +v -2.573079 -0.796016 -0.003701 +v -1.023221 -1.048300 -0.255967 +f 788 783 793 +f 780 783 785 +f 782 781 787 +f 781 786 787 +f 781 782 788 +f 782 787 788 +f 787 784 788 +f 780 785 789 +f 786 780 789 +f 787 786 789 +f 785 783 790 +f 784 785 790 +f 783 788 790 +f 788 784 790 +f 783 780 791 +f 786 783 791 +f 780 786 791 +f 785 784 792 +f 784 787 792 +f 789 785 792 +f 787 789 792 +f 786 781 793 +f 783 786 793 +f 781 788 793 +o convex_64 +v -2.050303 -0.039068 1.690477 +v -0.806867 0.681834 1.762553 +v -0.806867 0.609716 1.762553 +v -0.987248 0.087104 1.708505 +v -1.401686 0.681834 1.690477 +v -1.996140 -0.039068 1.726519 +v -0.987248 0.051045 1.744532 +v -1.437592 0.681834 1.726519 +v -1.005262 -0.039068 1.708505 +v -1.095331 0.573657 1.762553 +v -0.861152 0.501609 1.726519 +v -1.581702 0.645775 1.708505 +f 799 801 805 +f 795 798 801 +f 794 798 802 +f 798 797 802 +f 799 794 802 +f 800 799 802 +f 796 800 802 +f 796 795 803 +f 799 800 803 +f 800 796 803 +f 795 801 803 +f 801 799 803 +f 795 796 804 +f 797 798 804 +f 798 795 804 +f 796 802 804 +f 802 797 804 +f 798 794 805 +f 794 799 805 +f 801 798 805 +o convex_65 +v -1.960379 -0.814063 1.564249 +v -2.645102 -0.814063 0.915500 +v -2.645102 -0.814063 0.933598 +v -1.960379 -0.976242 1.311950 +v -2.122594 -0.958194 0.915500 +v -1.960379 -0.796016 1.510144 +v -2.176688 -0.976242 1.131855 +v -2.572976 -0.796016 0.915500 +v -2.194653 -0.976242 0.915500 +v -2.050535 -0.814063 1.510144 +f 812 809 815 +f 806 809 811 +f 809 810 811 +f 807 808 813 +f 810 807 813 +f 808 811 813 +f 811 810 813 +f 808 807 814 +f 810 809 814 +f 807 810 814 +f 812 808 814 +f 809 812 814 +f 809 806 815 +f 806 811 815 +f 811 808 815 +f 808 812 815 +o convex_66 +v -1.059210 -0.958194 1.618337 +v -1.960312 -0.976242 1.257971 +v -1.960312 -0.958194 1.257971 +v -1.960312 -0.814063 1.564280 +v -1.149446 -0.796016 1.582271 +v -1.005165 -0.976242 1.690428 +v -0.969070 -0.796016 1.690428 +v -1.960312 -0.796016 1.510223 +v -1.960312 -0.958194 1.348094 +v -1.707941 -0.976242 1.312070 +f 816 821 825 +f 818 817 819 +f 816 820 822 +f 821 816 822 +f 819 821 822 +f 818 819 823 +f 820 818 823 +f 822 820 823 +f 819 822 823 +f 819 817 824 +f 817 821 824 +f 821 819 824 +f 817 818 825 +f 820 816 825 +f 818 820 825 +f 821 817 825 +o convex_67 +v -1.978461 -0.796016 -0.201857 +v -2.104557 -0.057163 -0.237895 +v -2.086543 -0.075246 -0.237895 +v -2.717105 -0.057163 0.014345 +v -2.681078 -0.093256 -0.093796 +v -2.572995 -0.796016 0.014345 +v -1.978461 -0.759851 -0.255941 +v -2.446818 -0.759851 -0.003701 +v -2.194707 -0.057163 -0.255941 +v -2.591009 -0.777861 -0.003701 +v -2.032502 -0.183379 -0.237895 +v -1.906325 -0.796016 -0.255941 +v -2.735281 -0.057163 -0.039739 +f 830 835 838 +f 828 827 829 +f 831 826 833 +f 829 831 833 +f 827 828 834 +f 829 827 834 +f 832 830 834 +f 831 829 835 +f 830 832 835 +f 828 829 836 +f 833 826 836 +f 829 833 836 +f 834 828 836 +f 834 836 837 +f 826 831 837 +f 832 834 837 +f 831 835 837 +f 835 832 837 +f 836 826 837 +f 829 834 838 +f 834 830 838 +f 835 829 838 +o convex_68 +v -2.212716 0.645789 0.879557 +v -2.915368 -0.057022 0.555048 +v -2.933414 -0.057022 0.573115 +v -2.699103 -0.057022 1.438154 +v -2.194764 0.627696 0.555048 +v -1.996357 0.609672 1.420087 +v -2.140721 0.591648 1.420087 +v -2.951459 -0.038998 0.753349 +v -2.879277 -0.057022 0.555048 +v -2.248807 0.645789 0.591182 +v -2.735193 -0.020973 1.402021 +v -1.996357 0.645789 1.438154 +v -2.194764 0.411404 1.420087 +v -2.699103 -0.057022 1.384041 +v -2.447027 0.465477 0.645209 +v -2.897323 -0.002949 0.555048 +v -2.122675 0.645789 1.275900 +f 845 850 855 +f 841 840 842 +f 841 842 846 +f 842 840 847 +f 840 843 847 +f 843 844 847 +f 842 845 849 +f 846 842 849 +f 845 846 849 +f 844 843 850 +f 842 844 850 +f 845 842 850 +f 843 848 850 +f 848 839 850 +f 844 842 851 +f 847 844 851 +f 847 851 852 +f 842 847 852 +f 851 842 852 +f 846 839 853 +f 839 848 853 +f 853 848 854 +f 840 841 854 +f 843 840 854 +f 841 846 854 +f 848 843 854 +f 846 853 854 +f 846 845 855 +f 839 846 855 +f 850 839 855 +o convex_69 +v -0.050068 0.934122 0.591051 +v -2.014217 0.681834 -0.111787 +v -2.032021 0.681834 -0.093722 +v -0.086085 0.970167 -0.111787 +v -2.032021 0.699899 0.609116 +v -0.014051 0.898077 0.573057 +v -0.050068 0.934122 -0.093722 +v -1.870149 0.681834 0.609116 +v -1.888158 0.681834 -0.075727 +v -1.942183 0.717908 -0.111787 +v -0.014051 0.970167 0.086574 +v 0.022171 0.916085 0.609116 +v 0.022171 0.952131 -0.111787 +v -2.050029 0.699899 0.536998 +f 859 865 869 +f 858 857 863 +f 861 863 864 +f 857 862 864 +f 862 861 864 +f 863 857 864 +f 857 858 865 +f 859 857 865 +f 860 856 866 +f 859 860 866 +f 856 860 867 +f 860 863 867 +f 863 861 867 +f 866 856 867 +f 857 859 868 +f 862 857 868 +f 861 862 868 +f 859 866 868 +f 866 867 868 +f 867 861 868 +f 860 859 869 +f 858 863 869 +f 863 860 869 +f 865 858 869 +o convex_70 +v 2.022767 -0.814065 1.384086 +v 1.950740 -1.084377 0.699363 +v 1.950740 -1.084377 0.753390 +v 2.743578 -0.832110 0.699363 +v 2.329113 -0.814065 0.933570 +v 2.058858 -0.850130 1.384086 +v 1.968747 -1.048286 0.699363 +v 2.653389 -0.814065 0.699363 +v 1.950740 -0.850130 1.329925 +v 1.986754 -1.066305 0.807484 +v 2.743578 -0.832110 0.717327 +v 1.950740 -0.886168 1.347957 +f 879 875 881 +f 872 871 873 +f 873 871 876 +f 876 874 877 +f 874 870 877 +f 873 876 877 +f 871 872 878 +f 870 874 878 +f 876 871 878 +f 874 876 878 +f 875 879 880 +f 872 873 880 +f 870 875 880 +f 877 870 880 +f 873 877 880 +f 879 872 880 +f 875 870 881 +f 878 872 881 +f 870 878 881 +f 872 879 881 +o convex_71 +v 1.932721 -0.814067 -0.075590 +v 2.743578 -0.814067 0.699149 +v 2.743578 -0.832102 0.699149 +v 1.932721 -1.066330 0.699149 +v 1.950740 -1.102400 0.626994 +v 1.986778 -0.850137 -0.093609 +v 2.275083 -0.814067 0.392746 +v 2.743578 -0.832102 0.663032 +v 2.671343 -0.814067 0.699149 +v 2.094893 -1.066330 0.663032 +v 2.004797 -0.814067 -0.093609 +f 889 887 892 +f 884 883 885 +f 885 882 886 +f 886 882 887 +f 883 882 888 +f 882 885 888 +f 883 884 889 +f 885 883 890 +f 883 888 890 +f 888 885 890 +f 884 885 891 +f 885 886 891 +f 886 887 891 +f 889 884 891 +f 887 889 891 +f 882 883 892 +f 887 882 892 +f 883 889 892 +o convex_72 +v 0.959397 -1.066340 0.807484 +v 1.283750 -0.940197 1.384086 +v 1.283750 -0.958242 1.384086 +v 1.283750 -1.084347 0.699363 +v 0.977400 -1.138406 1.384086 +v 0.905351 -0.958242 1.384086 +v 1.013444 -1.048314 0.699363 +v 0.977400 -1.102373 0.699363 +v 1.283750 -1.102373 0.735359 +v 1.013444 -1.138406 1.384086 +v 0.923354 -0.958242 1.275831 +v 0.977400 -1.138406 1.113683 +f 902 897 904 +f 894 895 896 +f 895 894 897 +f 897 894 898 +f 894 896 899 +f 899 896 900 +f 893 899 900 +f 896 895 901 +f 900 896 901 +f 895 897 902 +f 901 895 902 +f 898 894 903 +f 893 898 903 +f 894 899 903 +f 899 893 903 +f 898 893 904 +f 897 898 904 +f 893 900 904 +f 900 901 904 +f 901 902 904 +o convex_73 +v 1.968774 -0.417542 -0.255967 +v 2.707323 -0.021123 -0.039739 +v 2.725555 -0.039132 -0.039739 +v 2.004836 -0.814039 -0.039739 +v 1.355975 -0.795952 -0.237911 +v 2.220811 -0.021123 -0.237911 +v 2.671260 -0.075226 -0.129829 +v 1.986738 -0.814039 -0.111815 +v 2.653296 -0.237458 -0.057752 +v 1.464163 -0.814039 -0.255967 +v 2.671260 -0.021123 -0.039739 +v 2.310901 -0.021123 -0.255967 +v 2.256874 -0.453559 -0.039739 +v 2.112622 -0.795952 -0.039739 +v 1.410136 -0.741927 -0.255967 +f 916 914 919 +f 907 906 908 +f 906 907 911 +f 905 911 912 +f 912 911 913 +f 911 907 913 +f 908 909 914 +f 905 912 914 +f 912 908 914 +f 908 906 915 +f 906 910 915 +f 910 909 915 +f 910 906 916 +f 906 911 916 +f 911 905 916 +f 905 914 916 +f 909 908 917 +f 908 915 917 +f 915 909 917 +f 907 908 918 +f 908 912 918 +f 912 913 918 +f 913 907 918 +f 909 910 919 +f 914 909 919 +f 910 916 919 +o convex_74 +v 2.076812 -0.814039 1.329915 +v 2.689511 -0.237429 1.384021 +v 2.689511 -0.309512 1.384021 +v 2.689511 -0.795919 0.717317 +v 2.581333 -0.651753 1.239846 +v 2.293044 -0.795919 1.005667 +v 2.130901 -0.814039 1.384021 +v 2.671419 -0.435616 1.077657 +v 2.401098 -0.435616 1.365942 +v 2.689511 -0.814039 0.789437 +v 2.689511 -0.759906 0.915598 +f 929 922 930 +f 921 922 923 +f 922 921 926 +f 924 922 926 +f 921 923 927 +f 923 925 927 +f 927 925 928 +f 925 920 928 +f 926 921 928 +f 920 926 928 +f 921 927 928 +f 923 922 929 +f 920 925 929 +f 925 923 929 +f 926 920 929 +f 926 929 930 +f 922 924 930 +f 924 926 930 +o convex_75 +v 2.977870 -0.147338 0.663184 +v 2.779662 -0.021123 1.384086 +v 2.797657 -0.021123 1.365951 +v 2.725559 -0.814039 0.771432 +v 2.923797 -0.021123 0.681249 +v 2.689511 -0.417542 1.041559 +v 2.797657 -0.129329 1.384086 +v 2.707535 -0.795952 0.663184 +v 2.689511 -0.291483 1.384086 +v 2.743613 -0.021123 1.348027 +v 2.995894 -0.075226 0.717308 +v 2.761608 -0.795952 0.699243 +v 2.689511 -0.795952 0.825415 +v 2.833705 -0.093235 1.311897 +f 942 941 944 +f 932 933 935 +f 933 932 937 +f 935 931 938 +f 936 935 938 +f 934 937 939 +f 937 932 939 +f 932 935 940 +f 935 936 940 +f 936 939 940 +f 939 932 940 +f 931 935 941 +f 935 933 941 +f 937 934 942 +f 938 931 942 +f 934 938 942 +f 931 941 942 +f 938 934 943 +f 936 938 943 +f 939 936 943 +f 934 939 943 +f 933 937 944 +f 941 933 944 +f 937 942 944 +o convex_76 +v 1.103610 -0.832061 1.636367 +v 1.968523 -0.255339 1.654425 +v 1.968523 -0.255339 1.636367 +v 1.968523 -0.832061 1.438154 +v 1.247804 -0.813996 1.654425 +v 1.968523 -0.777979 1.492243 +v 1.932453 -0.795988 1.438154 +v 1.932453 -0.363503 1.654425 +v 1.121644 -0.795988 1.636367 +v 1.770224 -0.363503 1.636367 +f 953 946 954 +f 947 946 948 +f 945 948 949 +f 948 946 950 +f 949 948 950 +f 947 948 951 +f 948 945 951 +f 946 949 952 +f 950 946 952 +f 949 950 952 +f 945 949 953 +f 949 946 953 +f 951 945 953 +f 951 953 954 +f 946 947 954 +f 947 951 954 +o convex_77 +v 1.968608 -0.669795 1.528239 +v 2.779468 -0.021046 1.420177 +v 2.779468 -0.021046 1.384086 +v 2.058767 -0.021046 1.636353 +v 2.004801 -0.813961 1.384086 +v 2.743518 -0.093208 1.474234 +v 2.220987 -0.111229 1.654398 +v 2.184956 -0.777919 1.402158 +v 2.743518 -0.219354 1.384086 +v 1.968608 -0.237375 1.654398 +v 2.022736 -0.832061 1.456216 +v 2.743518 -0.021046 1.384086 +v 2.148925 -0.021046 1.654398 +v 1.986786 -0.327479 1.654398 +f 965 961 968 +f 956 957 958 +f 960 962 963 +f 957 956 963 +f 959 957 963 +f 956 960 963 +f 962 959 963 +f 959 955 964 +f 958 959 964 +f 955 959 965 +f 960 961 965 +f 959 962 965 +f 962 960 965 +f 958 957 966 +f 959 958 966 +f 957 959 966 +f 956 958 967 +f 960 956 967 +f 961 960 967 +f 958 964 967 +f 964 961 967 +f 964 955 968 +f 961 964 968 +f 955 965 968 +o convex_78 +v 0.923211 0.771961 1.438154 +v 0.923211 0.843995 -0.093764 +v 0.094413 0.934094 -0.093614 +v 0.112513 0.970195 -0.057625 +v 1.625943 0.771961 0.645353 +v 0.112513 0.898077 1.437854 +v 1.608001 0.681834 1.402015 +v 1.625943 0.753953 -0.075620 +v 0.022171 0.880068 1.095662 +v 1.644202 0.717908 1.438154 +v 1.644202 0.789970 -0.093764 +v 0.040271 0.898049 0.609215 +v 0.076313 0.862032 1.437854 +v 0.022171 0.970195 -0.093614 +v 0.022171 0.898077 1.437854 +v 1.644202 0.681834 1.438154 +v 1.517977 0.807978 -0.075620 +f 973 979 985 +f 973 972 974 +f 971 970 976 +f 974 969 978 +f 973 974 978 +f 976 970 979 +f 973 978 979 +f 971 976 980 +f 976 975 980 +f 975 977 980 +f 977 975 981 +f 970 971 982 +f 979 970 982 +f 972 979 982 +f 971 980 982 +f 980 977 982 +f 969 974 983 +f 974 972 983 +f 981 969 983 +f 977 981 983 +f 972 982 983 +f 982 977 983 +f 975 976 984 +f 978 969 984 +f 976 979 984 +f 979 978 984 +f 969 981 984 +f 981 975 984 +f 972 973 985 +f 979 972 985 +o convex_79 +v 2.941728 -0.021046 0.573072 +v 2.094766 0.627643 -0.093685 +v 2.094766 0.645789 -0.093685 +v 2.257096 0.627643 0.717156 +v 2.635358 -0.021046 -0.075664 +v 2.311121 0.645789 0.591092 +v 2.905654 -0.021046 0.717156 +v 2.166997 0.627643 -0.075664 +v 2.671347 0.015051 -0.093685 +v 2.959764 -0.002965 0.627133 +v 2.311121 0.645789 0.699136 +v 2.148961 0.555581 -0.075664 +v 2.941728 -0.002965 0.717156 +v 2.311121 0.537631 0.122561 +f 991 995 999 +f 988 987 989 +f 990 986 992 +f 989 990 992 +f 988 991 993 +f 987 988 994 +f 986 990 994 +f 990 987 994 +f 988 993 994 +f 994 993 995 +f 986 994 995 +f 988 989 996 +f 991 988 996 +f 995 991 996 +f 989 987 997 +f 990 989 997 +f 987 990 997 +f 989 992 998 +f 992 986 998 +f 986 995 998 +f 996 989 998 +f 995 996 998 +f 993 991 999 +f 995 993 999 +o convex_80 +v 1.283816 -1.048311 1.023727 +v 1.950520 -0.850084 1.384086 +v 1.842372 -0.850084 1.384086 +v 1.409977 -1.066316 0.699363 +v 1.950520 -1.084370 0.753390 +v 1.283816 -0.976242 1.365988 +v 1.283816 -0.940232 1.329925 +v 1.950520 -1.048311 0.735359 +v 1.950520 -0.886168 1.365988 +v 1.283816 -1.102400 0.699363 +v 1.283816 -1.066316 0.717327 +v 1.932441 -0.850084 1.329925 +v 1.896414 -1.084370 0.789453 +f 1009 1004 1012 +f 1001 1002 1005 +f 1000 1005 1006 +f 1005 1002 1006 +f 1001 1004 1007 +f 1004 1001 1008 +f 1001 1005 1008 +f 1000 1006 1009 +f 1003 1007 1009 +f 1007 1004 1009 +f 1006 1002 1010 +f 1009 1006 1010 +f 1003 1009 1010 +f 1002 1001 1011 +f 1001 1007 1011 +f 1007 1003 1011 +f 1010 1002 1011 +f 1003 1010 1011 +f 1005 1000 1012 +f 1004 1008 1012 +f 1008 1005 1012 +f 1000 1009 1012 +o convex_81 +v 2.779613 -0.021046 1.365965 +v 2.257071 0.627643 0.717251 +v 2.257071 0.609628 0.753311 +v 2.130935 0.645789 1.420089 +v 2.040698 0.627643 1.420089 +v 2.941827 -0.021046 0.717251 +v 2.707459 -0.021046 1.402095 +v 2.293060 0.645789 0.771376 +v 2.941827 -0.002965 0.771376 +v 2.887755 -0.021046 0.753311 +v 2.707459 0.051082 1.438154 +v 2.419197 0.249318 1.420089 +v 2.040698 0.645789 1.438154 +f 1017 1024 1025 +f 1014 1015 1017 +f 1018 1013 1019 +f 1018 1014 1020 +f 1018 1020 1021 +f 1013 1018 1021 +f 1020 1016 1021 +f 1015 1014 1022 +f 1017 1015 1022 +f 1014 1018 1022 +f 1018 1019 1022 +f 1019 1013 1023 +f 1013 1021 1023 +f 1021 1016 1023 +f 1017 1022 1024 +f 1022 1019 1024 +f 1019 1023 1024 +f 1024 1023 1025 +f 1014 1017 1025 +f 1016 1020 1025 +f 1020 1014 1025 +f 1023 1016 1025 +o convex_82 +v -2.302678 -0.723774 1.402153 +v -1.816193 -0.039068 1.726515 +v -1.816193 -0.129315 1.726515 +v -2.608984 -0.057221 1.510251 +v -1.978434 -0.741779 1.618383 +v -2.122578 -0.777789 1.384086 +v -2.608984 -0.273503 1.384086 +v -1.816193 -0.795942 1.564317 +v -1.996452 -0.057147 1.726515 +v -2.627002 -0.363527 1.402153 +v -1.816193 -0.039068 1.708482 +v -2.572948 -0.057221 1.474185 +v -2.032488 -0.777863 1.582350 +v -1.816193 -0.723848 1.636383 +v -2.410707 -0.651680 1.384086 +f 1038 1035 1040 +f 1027 1028 1033 +f 1028 1027 1034 +f 1027 1029 1034 +f 1029 1030 1034 +f 1029 1032 1035 +f 1029 1027 1036 +f 1031 1032 1036 +f 1027 1033 1036 +f 1033 1031 1036 +f 1032 1029 1037 +f 1029 1036 1037 +f 1036 1032 1037 +f 1030 1029 1038 +f 1026 1031 1038 +f 1031 1033 1038 +f 1029 1035 1038 +f 1033 1028 1039 +f 1028 1034 1039 +f 1034 1030 1039 +f 1030 1038 1039 +f 1038 1033 1039 +f 1031 1026 1040 +f 1032 1031 1040 +f 1035 1032 1040 +f 1026 1038 1040 +o convex_83 +v 1.644202 0.735888 -0.255967 +v 2.293014 0.663826 0.699166 +v 2.202894 0.681863 0.987530 +v 1.770458 0.663826 1.437902 +v 1.770458 0.645789 -0.255967 +v 1.716412 0.789970 -0.165594 +v 1.644202 0.717880 1.365935 +v 2.112774 0.645789 -0.129611 +v 2.094674 0.645789 1.437902 +v 1.986454 0.753925 -0.147686 +v 2.148784 0.717880 0.627199 +v 1.644202 0.681863 1.437902 +v 1.644202 0.771947 0.501009 +v 2.256877 0.699857 0.591050 +v 2.112774 0.663826 1.419993 +v 2.293014 0.645789 0.591050 +v 1.914688 0.645789 1.437902 +v 1.770458 0.753925 -0.255967 +v 2.076638 0.717880 -0.111702 +v 1.644202 0.789970 -0.201743 +v 1.788432 0.753911 0.663183 +f 1047 1055 1061 +f 1045 1048 1049 +f 1050 1046 1051 +f 1041 1045 1052 +f 1045 1044 1052 +f 1047 1041 1052 +f 1044 1049 1052 +f 1041 1047 1053 +f 1043 1042 1054 +f 1051 1043 1054 +f 1050 1051 1054 +f 1042 1043 1055 +f 1049 1042 1055 +f 1043 1051 1055 +f 1047 1052 1055 +f 1052 1049 1055 +f 1042 1049 1056 +f 1049 1048 1056 +f 1054 1042 1056 +f 1044 1045 1057 +f 1049 1044 1057 +f 1045 1049 1057 +f 1045 1041 1058 +f 1048 1045 1058 +f 1046 1050 1058 +f 1050 1048 1058 +f 1048 1050 1059 +f 1050 1054 1059 +f 1056 1048 1059 +f 1054 1056 1059 +f 1041 1053 1060 +f 1053 1046 1060 +f 1058 1041 1060 +f 1046 1058 1060 +f 1051 1046 1061 +f 1046 1053 1061 +f 1053 1047 1061 +f 1055 1051 1061 +o convex_84 +v -2.212571 0.645796 0.501037 +v -1.798151 0.681831 1.438154 +v -1.978390 0.681831 1.438154 +v -2.014379 0.681831 -0.057719 +v -2.032416 0.645796 -0.057719 +v -1.942359 0.645796 1.438154 +v -2.194534 0.681831 0.681139 +v -2.068362 0.645796 1.419997 +v -1.798151 0.663812 1.347957 +f 1067 1066 1070 +f 1064 1063 1065 +f 1062 1065 1066 +f 1063 1064 1067 +f 1062 1066 1067 +f 1064 1065 1068 +f 1065 1062 1068 +f 1062 1067 1069 +f 1067 1064 1069 +f 1068 1062 1069 +f 1064 1068 1069 +f 1065 1063 1070 +f 1066 1065 1070 +f 1063 1067 1070 +o convex_85 +v -2.356739 -0.940187 0.014440 +v -1.617883 -1.012285 0.915406 +v -1.636041 -0.994273 0.626959 +v -2.410800 -0.868106 0.915500 +v -1.942247 -1.030296 0.915406 +v -1.617883 -1.030296 -0.039696 +v -2.428792 -0.886153 0.014440 +v -1.798223 -1.048325 0.068483 +v -2.464943 -0.904182 0.681095 +v -2.158489 -0.994273 0.915406 +v -1.617883 -1.048325 0.464830 +v -2.464943 -0.922175 0.140665 +v -2.446785 -0.868106 0.536918 +v -1.726170 -1.048325 -0.039696 +v -2.464943 -0.886153 0.915500 +v -1.636041 -0.994273 0.554777 +f 1077 1083 1086 +f 1072 1073 1074 +f 1078 1075 1080 +f 1072 1075 1081 +f 1076 1072 1081 +f 1075 1078 1081 +f 1077 1071 1082 +f 1071 1078 1082 +f 1078 1080 1082 +f 1080 1079 1082 +f 1077 1082 1083 +f 1071 1077 1084 +f 1077 1076 1084 +f 1078 1071 1084 +f 1076 1081 1084 +f 1081 1078 1084 +f 1072 1074 1085 +f 1075 1072 1085 +f 1080 1075 1085 +f 1079 1080 1085 +f 1082 1079 1085 +f 1074 1083 1085 +f 1083 1082 1085 +f 1073 1072 1086 +f 1074 1073 1086 +f 1072 1076 1086 +f 1076 1077 1086 +f 1083 1074 1086 +o convex_86 +v -1.581765 -1.048325 0.753277 +v -0.915071 -1.030316 0.320840 +v -0.933096 -1.030316 0.518966 +v -1.617814 -1.012287 0.446878 +v -1.617814 -1.048325 -0.039696 +v -0.987169 -1.066349 0.915500 +v -1.347449 -1.012287 0.915500 +v -0.915071 -1.048325 -0.039696 +v -0.915071 -1.030316 -0.039696 +v -1.617814 -1.030316 0.915500 +v -1.617814 -1.030316 -0.039696 +v -0.951120 -1.066349 0.573009 +v -1.185436 -1.066349 0.915500 +f 1098 1092 1099 +f 1089 1088 1093 +f 1092 1089 1093 +f 1093 1088 1095 +f 1090 1093 1095 +f 1088 1094 1095 +f 1094 1091 1095 +f 1091 1087 1096 +f 1090 1091 1096 +f 1092 1093 1096 +f 1093 1090 1096 +f 1091 1090 1097 +f 1090 1095 1097 +f 1095 1091 1097 +f 1088 1089 1098 +f 1089 1092 1098 +f 1094 1088 1098 +f 1091 1094 1098 +f 1087 1091 1099 +f 1096 1087 1099 +f 1092 1096 1099 +f 1091 1098 1099 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/355/355.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/355/355.urdf new file mode 100644 index 000000000..3e62a3476 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/355/355.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/356/356.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/356/356.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/356/356.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/356/356.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/356/356.obj new file mode 100644 index 000000000..c6b983519 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/356/356.obj @@ -0,0 +1,483 @@ +o convex_0 +v 0.621406 -1.471569 -1.349890 +v -0.777948 2.969771 0.810264 +v -0.230300 2.999996 0.779827 +v 1.077922 -3.054178 0.779610 +v -1.021323 -3.023348 -0.710714 +v 0.986576 3.061052 -1.258362 +v -1.021323 3.121503 -1.380327 +v -1.021323 -3.023348 0.627642 +v 1.017025 2.999392 0.688299 +v 0.925679 -3.054178 -1.258362 +v -0.990874 -3.022743 -1.258362 +v -1.112669 2.969166 0.810264 +v 0.378031 -0.254689 -1.410764 +v -0.290983 -0.345366 0.810264 +v 1.077708 -1.684961 0.262399 +v -0.351880 -0.284915 -1.410764 +v 0.256236 0.322014 0.810264 +v -1.051771 -2.505887 0.658079 +v -1.112669 2.330803 0.566551 +v 0.956127 -2.871011 -1.167268 +v -1.021323 -2.475662 -1.075957 +v 1.017025 3.030826 0.475457 +v -0.625704 3.091277 -1.380327 +v 1.017025 2.361028 0.718736 +v 1.017025 1.935453 -0.893336 +v -1.021323 2.087185 -1.380327 +v -0.078056 -3.053574 -0.163501 +v 1.077708 -1.076219 0.749390 +v -0.717050 1.843567 -1.410764 +v 0.773435 3.061052 -1.289016 +v -1.112669 2.421479 0.810264 +v 1.077922 -3.054178 0.414584 +v -0.838845 3.121503 -1.197705 +v -1.112669 2.999996 0.688299 +v 0.864781 -2.658224 -1.289016 +v -0.808396 -3.022743 0.658079 +v 0.803884 3.030222 0.596988 +v 1.017025 3.030826 0.049558 +v -0.899528 -2.536113 -1.288799 +v -1.051771 2.938941 -0.832462 +v 0.986576 1.600554 -1.258362 +v 0.256236 0.231337 -1.410764 +v 0.560723 -3.054178 0.749390 +v 0.864781 2.999996 0.718736 +v 0.195553 -3.053574 -1.258579 +v 0.986576 3.061052 -0.893336 +v 1.047473 1.326711 0.688299 +v 1.077922 -2.779730 0.779610 +v -0.747499 -2.597168 -1.289016 +v -1.021323 0.961586 -1.349890 +v -1.051771 -2.536113 0.596988 +v 0.134656 -3.053574 0.688516 +v 0.956127 -2.018651 -1.258362 +v 0.195553 -0.284915 0.810264 +v -0.960425 -2.293099 -1.288799 +f 16 39 55 +f 2 3 12 +f 2 12 14 +f 13 1 16 +f 3 2 17 +f 2 14 17 +f 11 5 21 +f 5 19 21 +f 8 5 27 +f 5 11 27 +f 9 24 28 +f 15 25 28 +f 13 16 29 +f 7 23 29 +f 16 26 29 +f 26 7 29 +f 7 6 30 +f 6 13 30 +f 23 7 30 +f 14 12 31 +f 18 14 31 +f 12 19 31 +f 4 10 32 +f 10 20 32 +f 20 15 32 +f 15 28 32 +f 6 7 33 +f 12 3 34 +f 19 12 34 +f 33 7 34 +f 1 13 35 +f 13 6 35 +f 16 1 35 +f 18 8 36 +f 14 18 36 +f 9 22 37 +f 22 33 37 +f 33 34 37 +f 34 3 37 +f 6 22 38 +f 25 6 38 +f 21 19 40 +f 7 26 40 +f 34 7 40 +f 19 34 40 +f 15 20 41 +f 6 25 41 +f 25 15 41 +f 35 6 41 +f 13 29 42 +f 29 23 42 +f 30 13 42 +f 23 30 42 +f 10 4 43 +f 4 14 43 +f 27 10 43 +f 36 8 43 +f 14 36 43 +f 3 17 44 +f 24 9 44 +f 17 24 44 +f 37 3 44 +f 9 37 44 +f 10 27 45 +f 27 11 45 +f 35 10 45 +f 11 35 45 +f 22 6 46 +f 6 33 46 +f 33 22 46 +f 22 9 47 +f 9 28 47 +f 28 25 47 +f 38 22 47 +f 25 38 47 +f 17 4 48 +f 24 17 48 +f 28 24 48 +f 4 32 48 +f 32 28 48 +f 35 11 49 +f 16 35 49 +f 11 39 49 +f 39 16 49 +f 11 21 50 +f 26 11 50 +f 21 40 50 +f 40 26 50 +f 5 8 51 +f 8 18 51 +f 19 5 51 +f 18 31 51 +f 31 19 51 +f 8 27 52 +f 43 8 52 +f 27 43 52 +f 20 10 53 +f 10 35 53 +f 41 20 53 +f 35 41 53 +f 14 4 54 +f 4 17 54 +f 17 14 54 +f 11 26 55 +f 26 16 55 +f 39 11 55 +o convex_1 +v -0.139074 0.231705 2.635662 +v 0.226012 -0.346350 2.057762 +v -0.199930 -0.224629 2.057762 +v 0.226012 -0.346350 2.787820 +v 0.286868 0.231705 2.057762 +v 0.317296 0.353426 2.787820 +v -0.169502 0.201223 2.057762 +v -0.169502 -0.194147 2.635662 +v 0.317296 -0.346350 2.726928 +v -0.169502 0.201223 2.635662 +v 0.286868 -0.346350 2.270740 +v 0.317296 0.231705 2.270740 +v 0.165156 0.322944 2.757374 +f 56 65 68 +f 58 57 59 +f 57 58 60 +f 60 58 62 +f 61 60 62 +f 58 59 63 +f 59 57 64 +f 61 59 64 +f 56 62 65 +f 62 58 65 +f 58 63 65 +f 63 59 65 +f 57 60 66 +f 64 57 66 +f 64 66 67 +f 60 61 67 +f 61 64 67 +f 66 60 67 +f 59 61 68 +f 62 56 68 +f 61 62 68 +f 65 59 68 +o convex_2 +v -0.230197 -0.285455 -3.297026 +v 0.347721 -0.072495 -1.411059 +v 0.286826 0.262050 -1.867306 +v -0.352055 0.322876 -1.411059 +v 0.317239 0.353426 -3.327223 +v -0.321573 -0.285387 -1.411059 +v -0.352055 0.201223 -3.388391 +v 0.256413 -0.285455 -3.357807 +v 0.347721 -0.194147 -1.471840 +v -0.169371 -0.346350 -2.871168 +v 0.256413 0.231636 -1.411059 +v -0.321573 -0.315800 -1.593596 +v 0.195518 -0.315868 -3.357807 +v 0.195518 0.353426 -3.327223 +v 0.317239 0.140397 -3.357807 +v -0.352055 -0.194147 -1.411059 +v 0.317239 0.353426 -2.962341 +v -0.352055 0.109984 -3.388391 +v -0.352055 0.322876 -1.806525 +v -0.199852 0.322876 -1.411059 +v -0.199852 -0.346350 -3.297026 +v 0.347721 -0.194147 -1.867306 +v -0.321573 -0.315800 -1.836916 +v 0.013040 -0.254974 -1.411059 +v 0.256413 0.262050 -1.593596 +f 85 88 93 +f 70 72 74 +f 70 71 79 +f 72 70 79 +f 80 78 81 +f 76 77 81 +f 73 75 82 +f 75 73 83 +f 74 72 84 +f 72 75 84 +f 80 74 84 +f 71 70 85 +f 70 73 85 +f 82 72 85 +f 73 82 85 +f 76 81 86 +f 75 83 86 +f 83 76 86 +f 84 75 86 +f 75 72 87 +f 72 82 87 +f 82 75 87 +f 72 79 88 +f 85 72 88 +f 78 80 89 +f 81 78 89 +f 69 86 89 +f 86 81 89 +f 73 70 90 +f 70 77 90 +f 77 76 90 +f 83 73 90 +f 76 83 90 +f 80 84 91 +f 86 69 91 +f 84 86 91 +f 69 89 91 +f 89 80 91 +f 70 74 92 +f 77 70 92 +f 74 80 92 +f 80 81 92 +f 81 77 92 +f 79 71 93 +f 71 85 93 +f 88 79 93 +o convex_3 +v 2.933811 -0.315862 1.357935 +v 0.743369 0.322938 1.449217 +v 0.743369 0.322938 1.418783 +v 0.347721 -0.255021 1.570869 +v 2.994699 0.231645 1.570869 +v 2.933811 -0.285410 1.570869 +v 2.964126 0.201256 1.357935 +v 0.347721 0.231645 1.570869 +v 0.347721 -0.133339 1.449217 +v 0.347721 0.322938 1.418783 +v 2.477015 -0.315862 1.357935 +v 2.507848 0.231645 1.357935 +v 0.500332 -0.224569 1.449217 +v 2.933811 -0.315862 1.540435 +v 0.347721 0.170804 1.418783 +v 1.169590 0.262097 1.388369 +f 104 108 109 +f 96 95 98 +f 98 97 99 +f 98 94 100 +f 97 98 101 +f 98 95 101 +f 97 101 102 +f 102 101 103 +f 95 96 103 +f 101 95 103 +f 100 94 104 +f 96 98 105 +f 98 100 105 +f 103 96 105 +f 100 104 105 +f 97 102 106 +f 104 97 106 +f 94 98 107 +f 99 97 107 +f 98 99 107 +f 104 94 107 +f 97 104 107 +f 102 103 108 +f 106 102 108 +f 104 106 108 +f 103 105 109 +f 105 104 109 +f 108 103 109 +o convex_4 +v 0.104184 0.353426 1.388461 +v 0.165117 -0.346350 1.418864 +v 0.195518 -0.346350 1.418864 +v 0.286788 0.231705 2.057691 +v -0.230295 -0.224629 1.966360 +v -0.291098 -0.315868 0.810318 +v 0.256386 0.322944 0.810318 +v -0.230295 0.353426 1.418864 +v 0.347721 -0.346350 1.875029 +v 0.195518 -0.285455 0.810318 +v -0.199894 0.322944 0.840842 +v -0.230295 0.201223 1.996763 +v 0.195518 -0.346350 2.057691 +v -0.321630 -0.315868 1.357936 +v 0.347721 0.322944 1.418864 +v 0.347721 -0.224629 1.479669 +v -0.199828 -0.224629 2.057691 +v 0.347721 0.231705 1.966360 +v -0.169427 0.201223 2.057691 +v -0.291098 -0.194079 0.810318 +v -0.017421 0.353357 1.023382 +v 0.195518 -0.315868 0.901648 +f 125 118 131 +f 112 111 115 +f 113 110 117 +f 111 112 118 +f 115 116 119 +f 111 118 122 +f 118 113 122 +f 115 111 123 +f 114 121 123 +f 121 117 123 +f 111 122 123 +f 110 113 124 +f 116 110 124 +f 119 116 125 +f 116 124 125 +f 124 118 125 +f 121 114 126 +f 122 113 126 +f 114 123 126 +f 123 122 126 +f 113 118 127 +f 124 113 127 +f 118 124 127 +f 113 117 128 +f 117 121 128 +f 126 113 128 +f 121 126 128 +f 116 115 129 +f 120 116 129 +f 117 120 129 +f 115 123 129 +f 123 117 129 +f 110 116 130 +f 117 110 130 +f 116 120 130 +f 120 117 130 +f 112 115 131 +f 118 112 131 +f 115 119 131 +f 119 125 131 +o convex_5 +v -0.687186 -0.072495 1.357915 +v -0.230914 0.353426 1.418809 +v -0.230914 0.231705 1.996796 +v -3.059517 0.262118 1.601425 +v -3.090308 -0.194147 1.996796 +v -0.261146 -0.315868 1.357915 +v -3.059517 -0.346350 1.449223 +v -0.291657 -0.194147 1.935901 +v -2.968263 0.231705 2.057691 +v -2.968263 0.262118 1.479704 +v -0.352400 0.353426 1.357915 +v -1.781677 0.170810 2.057691 +v -2.815986 -0.255042 1.418809 +v -2.694500 -0.346350 1.510117 +v -0.230914 -0.285455 1.571012 +v -0.230914 0.079571 1.996796 +v -0.534909 0.353426 1.418809 +v -1.842700 0.231705 2.057691 +v -2.694500 0.079571 2.057691 +v -0.778440 -0.315868 1.357915 +v -3.059517 0.201223 1.479704 +v -3.090308 -0.255042 1.814180 +v -1.812189 -0.346350 1.449223 +f 137 146 154 +f 135 136 140 +f 133 137 142 +f 137 132 142 +f 141 142 144 +f 142 132 144 +f 133 134 146 +f 137 133 146 +f 134 143 147 +f 143 139 147 +f 139 146 147 +f 146 134 147 +f 140 133 148 +f 135 140 148 +f 141 135 148 +f 142 141 148 +f 133 142 148 +f 134 133 149 +f 133 140 149 +f 143 134 149 +f 140 143 149 +f 136 139 150 +f 140 136 150 +f 139 143 150 +f 143 140 150 +f 132 137 151 +f 137 138 151 +f 144 132 151 +f 138 144 151 +f 135 141 152 +f 144 138 152 +f 141 144 152 +f 136 135 153 +f 139 136 153 +f 138 145 153 +f 145 139 153 +f 135 152 153 +f 152 138 153 +f 138 137 154 +f 145 138 154 +f 139 145 154 +f 146 139 154 +o convex_6 +v 1.625608 -0.315850 1.905554 +v 2.994699 0.231726 1.875123 +v 2.994699 0.231726 1.570890 +v 0.347721 0.231726 1.570890 +v 2.964126 -0.285464 1.570890 +v 0.347721 0.231726 1.966416 +v 0.347721 -0.255021 1.570890 +v 2.994699 -0.255021 1.905554 +v 0.347721 -0.346350 1.875123 +v 0.347721 -0.346350 1.783791 +v 2.994699 -0.011704 1.905554 +v 0.682480 0.201226 1.966416 +v 2.751144 -0.285464 1.905554 +v 0.956350 -0.346350 1.875123 +f 159 167 168 +f 156 157 158 +f 158 157 159 +f 156 158 160 +f 160 158 161 +f 158 159 161 +f 157 156 162 +f 159 157 162 +f 155 160 163 +f 160 161 163 +f 163 161 164 +f 161 159 164 +f 162 156 165 +f 162 165 166 +f 156 160 166 +f 160 155 166 +f 165 156 166 +f 166 155 167 +f 159 162 167 +f 162 166 167 +f 155 163 168 +f 163 164 168 +f 164 159 168 +f 167 155 168 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/356/356.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/356/356.urdf new file mode 100644 index 000000000..8c6198cc2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/356/356.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/357/357.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/357/357.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/357/357.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/357/357.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/357/357.obj new file mode 100644 index 000000000..73e5e69c5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/357/357.obj @@ -0,0 +1,1431 @@ +o convex_0 +v -0.290611 0.288464 -1.322175 +v -0.310169 -0.184610 -2.303204 +v -0.310169 -0.176732 -2.307044 +v -0.243706 0.296247 -2.408957 +v -0.251527 0.300234 -2.389166 +v -0.310169 0.272850 -1.032977 +v -0.306259 0.272850 -0.907874 +v -0.306259 -0.172840 -2.260223 +v -0.310169 -0.145456 -2.303204 +v -0.243706 0.288464 -2.397141 +v -0.310169 0.280681 -0.900046 +f 2 7 11 +f 2 3 4 +f 1 4 5 +f 3 2 6 +f 4 1 7 +f 7 2 8 +f 4 3 9 +f 5 4 9 +f 3 6 9 +f 6 5 9 +f 2 4 10 +f 4 7 10 +f 7 8 10 +f 8 2 10 +f 1 5 11 +f 5 6 11 +f 6 2 11 +f 7 1 11 +o convex_1 +v 0.295876 0.202405 1.375779 +v 0.284155 -0.176790 0.069918 +v 0.284155 -0.172852 0.069918 +v 0.256787 -0.129798 1.536087 +v 0.264617 -0.176752 1.371760 +v 0.291965 0.206343 1.172415 +v 0.299791 -0.082919 0.085704 +v 0.291969 -0.055542 0.069918 +v 0.284155 0.202405 1.524319 +v 0.299791 0.206343 1.035787 +v 0.291969 -0.176790 0.089579 +v 0.260698 -0.176752 1.536087 +v 0.256787 -0.172815 1.352242 +v 0.291965 0.198505 1.536087 +v 0.299791 -0.063380 0.069918 +v 0.299791 0.202405 1.192077 +v 0.295876 0.206343 1.035787 +f 21 19 28 +f 13 14 19 +f 12 17 20 +f 17 19 20 +f 17 12 21 +f 12 16 22 +f 22 16 23 +f 13 22 23 +f 14 13 24 +f 19 14 24 +f 15 20 24 +f 20 19 24 +f 13 23 24 +f 23 15 24 +f 16 12 25 +f 20 15 25 +f 12 20 25 +f 15 23 25 +f 23 16 25 +f 13 19 26 +f 21 18 26 +f 19 21 26 +f 22 13 26 +f 18 22 26 +f 21 12 27 +f 18 21 27 +f 12 22 27 +f 22 18 27 +f 19 17 28 +f 17 21 28 +o convex_2 +v 0.209864 0.194639 -0.771201 +v 0.256774 -0.118108 -2.412796 +v 0.260695 -0.118108 -2.412796 +v 0.162955 0.178978 -2.416862 +v 0.198142 0.198547 -0.763231 +v 0.260695 0.003084 -1.232305 +v 0.159034 0.171163 -2.373598 +v 0.256774 -0.016485 -1.216691 +v 0.260695 -0.098571 -2.377501 +v 0.166865 0.178978 -2.377501 +v 0.233309 0.108614 -0.755424 +v 0.256774 -0.118108 -2.373598 +v 0.194231 0.206361 -0.962636 +v 0.233309 0.124243 -0.782749 +v 0.229408 0.104707 -0.778845 +v 0.260695 -0.016485 -1.216691 +v 0.205953 0.206361 -0.755587 +f 39 42 45 +f 31 30 32 +f 32 30 35 +f 33 35 36 +f 31 32 37 +f 34 31 37 +f 37 32 38 +f 29 37 38 +f 30 31 40 +f 35 30 40 +f 36 35 40 +f 32 35 41 +f 35 33 41 +f 38 32 41 +f 37 29 42 +f 34 37 42 +f 39 34 42 +f 33 36 43 +f 39 33 43 +f 36 39 43 +f 31 34 44 +f 34 39 44 +f 39 36 44 +f 40 31 44 +f 36 40 44 +f 29 38 45 +f 33 39 45 +f 41 33 45 +f 38 41 45 +f 42 29 45 +o convex_3 +v 0.213780 0.214192 -0.360186 +v 0.229411 0.108642 -0.755060 +v 0.198134 0.202465 -0.755060 +v 0.229411 0.108642 -0.360186 +v 0.233324 0.128202 -0.739406 +v 0.205957 0.206381 -0.755060 +v 0.205957 0.210287 -0.395437 +v 0.233324 0.128202 -0.360186 +f 49 50 53 +f 48 47 49 +f 49 47 50 +f 50 47 51 +f 47 48 51 +f 46 50 51 +f 51 48 52 +f 48 49 52 +f 49 46 52 +f 46 51 52 +f 46 49 53 +f 50 46 53 +o convex_4 +v 0.155124 -0.270621 1.606553 +v 0.260695 -0.176790 1.540094 +v 0.260695 -0.180712 1.540094 +v 0.252862 -0.235425 1.661300 +v 0.155124 -0.176790 1.637835 +v 0.155124 -0.266709 1.516629 +v 0.252862 -0.251067 1.516629 +v 0.256778 -0.176790 1.653455 +v 0.162947 -0.270621 1.649560 +v 0.256778 -0.176790 1.516629 +v 0.241143 -0.258893 1.661300 +f 57 62 64 +f 54 58 59 +f 54 59 60 +f 56 57 60 +f 56 55 61 +f 57 56 61 +f 58 57 61 +f 55 58 61 +f 58 54 62 +f 57 58 62 +f 55 56 63 +f 58 55 63 +f 59 58 63 +f 60 59 63 +f 56 60 63 +f 54 60 64 +f 60 57 64 +f 62 54 64 +o convex_5 +v -0.314081 0.280638 -0.723968 +v -0.314081 -0.188474 -2.303471 +v -0.310170 -0.188474 -2.303471 +v -0.317991 -0.165051 -0.485485 +v -0.329720 0.276734 -0.536385 +v -0.310170 -0.168909 -0.849260 +v -0.310172 0.280638 -0.911728 +v -0.314081 -0.055603 -0.485485 +v -0.329720 0.206372 -0.485307 +v -0.314081 0.280638 -0.911728 +v -0.321899 0.276734 -0.528376 +v -0.317991 -0.168909 -0.899982 +v -0.317991 -0.094688 -1.951442 +v -0.310172 0.280638 -0.806191 +v -0.314081 -0.168909 -2.279979 +v -0.329720 0.218083 -0.696738 +v -0.314081 -0.165051 -0.485485 +f 78 72 81 +f 66 67 68 +f 70 67 71 +f 69 65 74 +f 65 71 74 +f 65 69 75 +f 73 72 75 +f 69 73 75 +f 66 68 76 +f 68 73 76 +f 66 76 77 +f 71 65 78 +f 70 71 78 +f 65 75 78 +f 75 72 78 +f 67 66 79 +f 71 67 79 +f 69 74 79 +f 74 71 79 +f 77 69 79 +f 66 77 79 +f 73 69 80 +f 76 73 80 +f 77 76 80 +f 69 77 80 +f 68 67 81 +f 67 70 81 +f 73 68 81 +f 72 73 81 +f 70 78 81 +o convex_6 +v -0.247602 0.253293 1.626110 +v -0.263242 0.272850 1.579189 +v -0.263242 0.272850 1.583102 +v -0.231961 0.085182 1.598741 +v -0.188959 0.311964 1.579189 +v -0.188959 0.085182 1.614380 +v -0.188959 0.311964 1.622197 +v -0.228049 0.085182 1.579189 +v -0.263242 0.308035 1.626110 +v -0.231961 0.093018 1.618288 +f 82 90 91 +f 84 83 85 +f 87 86 88 +f 82 87 88 +f 85 83 89 +f 83 86 89 +f 87 85 89 +f 86 87 89 +f 83 84 90 +f 86 83 90 +f 88 86 90 +f 82 88 90 +f 84 85 91 +f 87 82 91 +f 85 87 91 +f 90 84 91 +o convex_7 +v 0.131633 -0.235446 0.312435 +v 0.155124 -0.243264 0.863654 +v 0.139479 -0.243264 0.863654 +v 0.014381 -0.270626 0.847952 +v -0.005187 -0.227625 0.398464 +v 0.155124 -0.227625 0.398464 +v -0.005187 -0.262805 0.863654 +v -0.005187 -0.231535 0.339778 +v 0.155124 -0.247174 0.777565 +v 0.155124 -0.231535 0.253808 +v 0.151201 -0.239357 0.804908 +f 97 96 102 +f 93 94 98 +f 95 93 98 +f 94 96 98 +f 98 96 99 +f 92 95 99 +f 95 98 99 +f 93 95 100 +f 97 93 100 +f 97 100 101 +f 95 92 101 +f 96 97 101 +f 99 96 101 +f 92 99 101 +f 100 95 101 +f 94 93 102 +f 96 94 102 +f 93 97 102 +o convex_8 +v 0.237239 0.112540 -0.782718 +v 0.303698 -0.235440 -1.216483 +v 0.299786 -0.219772 -1.216483 +v 0.291970 -0.188502 -0.360186 +v 0.233327 0.057802 -1.216483 +v 0.303698 -0.196303 -1.216483 +v 0.237239 0.112540 -0.360186 +v 0.299786 -0.184551 -0.360186 +v 0.233327 0.089072 -0.360186 +v 0.260696 0.006981 -1.189074 +v 0.237239 0.073437 -1.216483 +v 0.307610 -0.215855 -0.954464 +v 0.299786 -0.223689 -0.938790 +v 0.233327 0.112540 -0.782718 +f 113 107 116 +f 104 105 107 +f 104 107 108 +f 109 106 110 +f 107 106 111 +f 106 109 111 +f 103 109 112 +f 108 107 113 +f 103 112 113 +f 112 108 113 +f 104 108 114 +f 109 110 114 +f 108 112 114 +f 112 109 114 +f 105 104 115 +f 106 107 115 +f 107 105 115 +f 110 106 115 +f 104 114 115 +f 114 110 115 +f 109 103 116 +f 107 111 116 +f 111 109 116 +f 103 113 116 +o convex_9 +v 0.284149 0.343240 1.536179 +v 0.241153 0.265044 0.390540 +v 0.245059 0.265044 0.390540 +v 0.280238 0.265044 1.055092 +v 0.229414 0.335411 1.524404 +v 0.284149 0.323685 1.168467 +v 0.229414 0.265044 0.472740 +v 0.229414 0.343240 1.516554 +v 0.284149 0.265044 0.977041 +v 0.229414 0.268958 0.406240 +v 0.248970 0.268958 0.394465 +v 0.280238 0.347154 1.508704 +f 122 127 128 +f 118 119 120 +f 120 117 121 +f 118 120 123 +f 120 121 123 +f 123 121 124 +f 121 117 124 +f 120 119 125 +f 117 120 125 +f 122 117 125 +f 118 123 126 +f 123 124 126 +f 119 118 127 +f 125 119 127 +f 122 125 127 +f 118 126 127 +f 127 126 128 +f 117 122 128 +f 124 117 128 +f 126 124 128 +o convex_10 +v 0.299795 0.292328 1.536179 +v 0.256790 -0.168886 1.653457 +v 0.252880 -0.168886 1.653457 +v 0.260701 -0.176738 1.536179 +v 0.248974 0.343160 1.536179 +v 0.295880 0.351013 1.590932 +v 0.248974 0.347086 1.590932 +v 0.252880 -0.176738 1.536179 +v 0.248974 -0.176738 1.653457 +v 0.299795 0.307980 1.594824 +v 0.299795 0.347086 1.536179 +v 0.260701 -0.153233 1.645639 +f 129 138 140 +f 129 132 133 +f 131 130 134 +f 131 134 135 +f 134 133 135 +f 133 132 136 +f 133 136 137 +f 130 131 137 +f 132 130 137 +f 131 135 137 +f 135 133 137 +f 136 132 137 +f 134 130 138 +f 134 138 139 +f 129 133 139 +f 133 134 139 +f 138 129 139 +f 130 132 140 +f 132 129 140 +f 138 130 140 +o convex_11 +v -0.278893 -0.161150 0.277107 +v -0.243708 -0.239350 0.582115 +v -0.239805 -0.239350 0.582115 +v -0.317990 -0.165061 -0.485307 +v -0.239805 -0.161150 -0.344418 +v -0.247619 -0.165061 0.613412 +v -0.317990 -0.161150 -0.320972 +v -0.239805 -0.168973 -0.344418 +v -0.255442 -0.161150 0.613412 +v -0.247619 -0.235439 0.578136 +v -0.239805 -0.215889 0.613412 +f 150 142 151 +f 143 142 144 +f 141 145 147 +f 145 144 147 +f 143 144 148 +f 144 145 148 +f 145 143 148 +f 145 141 149 +f 146 145 149 +f 144 142 150 +f 141 147 150 +f 147 144 150 +f 149 141 150 +f 149 150 151 +f 142 143 151 +f 143 145 151 +f 145 146 151 +f 146 149 151 +o convex_12 +v -0.013016 -0.266723 0.808901 +v -0.005187 -0.286270 1.500989 +v -0.020828 -0.286270 1.500989 +v -0.169409 -0.227628 0.496221 +v -0.169409 -0.309731 1.469608 +v -0.005187 -0.227628 0.402304 +v -0.165470 -0.231543 0.433685 +v -0.169409 -0.301902 1.473459 +v -0.005187 -0.278441 1.004326 +v -0.005187 -0.231543 0.343620 +v -0.114658 -0.309731 1.500989 +v -0.016922 -0.294082 1.477425 +v -0.134205 -0.309731 1.446157 +f 160 162 164 +f 154 153 155 +f 155 153 157 +f 155 157 158 +f 156 155 158 +f 154 155 159 +f 155 156 159 +f 157 153 160 +f 157 160 161 +f 158 157 161 +f 152 158 161 +f 160 152 161 +f 153 154 162 +f 154 159 162 +f 159 156 162 +f 162 160 163 +f 160 153 163 +f 153 162 163 +f 158 152 164 +f 156 158 164 +f 152 160 164 +f 162 156 164 +o convex_13 +v 0.061282 -0.286274 1.626091 +v -0.181139 -0.270635 1.500989 +v -0.181139 -0.258901 1.500989 +v 0.155124 -0.262822 1.500989 +v -0.138086 -0.313630 1.504925 +v -0.173305 -0.258901 1.602628 +v -0.165471 -0.317551 1.598720 +v 0.155124 -0.258901 1.645646 +v 0.139456 -0.274545 1.645646 +v 0.139456 -0.270635 1.504925 +v -0.173305 -0.309720 1.500989 +f 171 166 175 +f 166 167 168 +f 167 166 170 +f 169 165 171 +f 170 166 171 +f 168 167 172 +f 167 170 172 +f 171 165 173 +f 170 171 173 +f 168 172 173 +f 172 170 173 +f 165 169 174 +f 169 168 174 +f 173 165 174 +f 168 173 174 +f 166 168 175 +f 168 169 175 +f 169 171 175 +o convex_14 +v -0.106872 0.069509 1.610463 +v -0.228055 0.065603 1.602651 +v -0.228055 0.065603 1.610467 +v -0.040411 -0.161150 1.594836 +v -0.188928 -0.161150 1.606551 +v -0.188928 -0.157219 1.579190 +v -0.040411 0.085158 1.598740 +v -0.228055 0.085182 1.618290 +v -0.040411 -0.161150 1.598740 +v -0.228055 0.085182 1.602651 +f 183 182 185 +f 178 177 180 +f 180 177 181 +f 179 180 181 +f 179 181 182 +f 177 178 183 +f 178 180 183 +f 176 182 183 +f 183 180 184 +f 180 179 184 +f 179 182 184 +f 182 176 184 +f 176 183 184 +f 181 177 185 +f 182 181 185 +f 177 183 185 +o convex_15 +v 0.248965 -0.032084 1.633930 +v -0.161589 -0.258901 1.598743 +v -0.153712 -0.258901 1.594836 +v 0.155087 0.288504 1.590922 +v 0.248965 0.245423 1.587009 +v -0.040344 0.085156 1.602662 +v 0.155087 -0.258901 1.645657 +v -0.102915 -0.254935 1.594836 +v 0.241128 -0.168935 1.641738 +v -0.161589 -0.161112 1.602656 +v 0.245026 -0.149377 1.649570 +v 0.155087 0.288504 1.594842 +v 0.139454 -0.254935 1.645657 +v 0.248965 0.288504 1.590922 +v -0.040344 0.085156 1.598749 +v 0.155087 0.178926 1.587009 +v 0.147251 -0.258901 1.637837 +f 190 194 202 +f 187 188 192 +f 190 186 194 +f 188 187 195 +f 192 194 196 +f 194 186 196 +f 189 191 197 +f 196 186 197 +f 191 196 197 +f 187 192 198 +f 195 187 198 +f 191 195 198 +f 196 191 198 +f 192 196 198 +f 186 190 199 +f 190 189 199 +f 197 186 199 +f 189 197 199 +f 189 188 200 +f 191 189 200 +f 188 195 200 +f 195 191 200 +f 188 189 201 +f 189 190 201 +f 193 188 201 +f 190 193 201 +f 192 188 202 +f 188 193 202 +f 193 190 202 +f 194 192 202 +o convex_16 +v -0.106812 0.093026 1.602651 +v 0.155124 0.304144 1.598745 +v 0.155124 0.085225 1.598745 +v -0.169357 0.300201 1.622200 +v 0.151183 0.292378 1.590922 +v 0.119927 0.093026 1.587009 +v -0.157669 0.085225 1.614377 +v -0.177171 0.304144 1.614377 +v -0.188959 0.085225 1.610464 +f 210 203 211 +f 205 204 206 +f 204 205 207 +f 203 207 208 +f 207 205 208 +f 205 206 209 +f 206 204 210 +f 207 203 210 +f 204 207 210 +f 203 208 211 +f 208 205 211 +f 205 209 211 +f 209 206 211 +f 206 210 211 +o convex_17 +v 0.178578 0.343228 1.598730 +v 0.155087 0.331501 1.536179 +v -0.188959 0.308065 1.579187 +v 0.248965 0.288521 1.590908 +v -0.188959 0.304145 1.622195 +v 0.248965 0.343228 1.536179 +v -0.177171 0.315883 1.614374 +v 0.248965 0.347154 1.590908 +v 0.166832 0.339319 1.536179 +f 212 219 220 +f 214 213 215 +f 215 212 216 +f 214 215 216 +f 215 213 217 +f 216 212 218 +f 214 216 218 +f 212 215 219 +f 215 217 219 +f 219 217 220 +f 213 214 220 +f 217 213 220 +f 218 212 220 +f 214 218 220 +o convex_18 +v 0.303704 -0.196320 -1.216594 +v 0.319336 -0.301904 -2.408848 +v 0.315424 -0.294059 -2.408848 +v 0.264607 -0.012569 -1.279239 +v 0.260707 -0.129906 -2.377584 +v 0.303704 -0.239341 -1.224439 +v 0.323249 -0.282333 -2.362010 +v 0.260695 -0.036076 -1.216594 +v 0.264620 -0.114272 -2.412829 +v 0.311523 -0.239341 -1.243994 +v 0.260695 -0.012569 -1.216594 +v 0.323249 -0.290150 -2.158617 +v 0.260707 -0.114272 -2.412829 +f 228 231 233 +f 223 222 226 +f 225 223 226 +f 224 221 227 +f 226 221 228 +f 225 226 228 +f 224 227 229 +f 227 222 229 +f 221 226 230 +f 227 221 230 +f 221 224 231 +f 228 221 231 +f 226 222 232 +f 222 227 232 +f 230 226 232 +f 227 230 232 +f 222 223 233 +f 223 225 233 +f 225 228 233 +f 229 222 233 +f 224 229 233 +f 231 224 233 +o convex_19 +v 0.276331 0.046055 0.069918 +v 0.291970 -0.176767 -0.360186 +v 0.288060 -0.168937 -0.360186 +v 0.288060 -0.176767 0.069918 +v 0.241145 0.049959 -0.360186 +v 0.299789 -0.063381 0.069918 +v 0.252885 0.038225 -0.360186 +v 0.264614 0.053862 0.058171 +v 0.299789 -0.172840 -0.321074 +v 0.291970 -0.176767 0.069918 +v 0.241145 0.057812 -0.328863 +f 237 241 244 +f 236 235 237 +f 235 236 238 +f 236 237 238 +f 234 237 239 +f 235 238 240 +f 234 239 240 +f 237 234 241 +f 235 240 242 +f 240 239 242 +f 237 235 243 +f 239 237 243 +f 235 242 243 +f 242 239 243 +f 238 237 244 +f 234 240 244 +f 240 238 244 +f 241 234 244 +o convex_20 +v 0.241138 -0.200254 -0.215467 +v 0.248965 -0.208067 0.152028 +v 0.233321 -0.208067 0.152028 +v 0.155124 -0.180704 -0.313237 +v 0.155124 -0.223706 0.144167 +v 0.248965 -0.184615 -0.313237 +v 0.162950 -0.188526 -0.324979 +v 0.155124 -0.215885 0.152028 +v 0.248965 -0.211974 0.065951 +v 0.248965 -0.188526 -0.356276 +f 253 245 254 +f 247 246 248 +f 248 246 250 +f 245 249 251 +f 249 248 251 +f 246 247 252 +f 247 248 252 +f 248 249 252 +f 249 246 252 +f 249 245 253 +f 246 249 253 +f 250 246 253 +f 250 253 254 +f 248 250 254 +f 251 248 254 +f 245 251 254 +o convex_21 +v -0.005187 -0.278446 1.024005 +v 0.248953 -0.247172 1.516629 +v 0.237212 -0.247172 1.516629 +v 0.248953 -0.208070 0.152028 +v -0.005187 -0.266719 0.914473 +v 0.241117 -0.254985 1.504741 +v 0.190319 -0.223727 0.160176 +v -0.005187 -0.286259 1.500867 +v 0.155118 -0.219805 0.202920 +v 0.010460 -0.290181 1.489112 +v -0.001257 -0.282352 1.473484 +v 0.248953 -0.215899 0.202920 +v -0.005187 -0.270618 0.863581 +v 0.245048 -0.208070 0.226697 +v 0.155118 -0.223727 0.152028 +v 0.245048 -0.243258 1.438354 +v 0.002649 -0.274532 0.910600 +f 267 269 271 +f 256 257 262 +f 259 255 262 +f 260 256 262 +f 261 260 264 +f 262 255 264 +f 260 262 264 +f 262 257 265 +f 259 262 265 +f 263 259 265 +f 258 256 266 +f 256 260 266 +f 261 258 266 +f 260 261 266 +f 255 259 267 +f 259 263 267 +f 256 258 268 +f 258 263 268 +f 258 261 269 +f 263 258 269 +f 267 263 269 +f 257 256 270 +f 265 257 270 +f 263 265 270 +f 256 268 270 +f 268 263 270 +f 261 264 271 +f 264 255 271 +f 255 267 271 +f 269 261 271 +o convex_22 +v 0.299795 -0.176790 -0.336487 +v 0.248970 -0.251073 1.434325 +v 0.248970 -0.235433 0.894943 +v 0.256791 -0.176790 1.516445 +v 0.248975 -0.184621 -0.356144 +v 0.295879 -0.196350 -0.219278 +v 0.256791 -0.247161 1.465557 +v 0.248975 -0.204159 -0.164531 +v 0.264608 -0.180709 1.356063 +v 0.252880 -0.180709 1.516445 +v 0.299795 -0.188526 -0.324913 +v 0.248970 -0.227602 1.516445 +v 0.291968 -0.176790 -0.360002 +f 282 276 284 +f 273 274 277 +f 273 277 278 +f 274 276 279 +f 277 274 279 +f 272 275 280 +f 275 278 280 +f 275 276 281 +f 278 277 282 +f 279 276 282 +f 277 279 282 +f 272 280 282 +f 280 278 282 +f 274 273 283 +f 276 274 283 +f 273 278 283 +f 278 275 283 +f 275 281 283 +f 281 276 283 +f 275 272 284 +f 276 275 284 +f 272 282 284 +o convex_23 +v 0.299792 0.206380 1.035695 +v 0.295879 0.077375 0.597815 +v 0.299792 0.077375 0.597815 +v 0.268518 0.206380 0.597815 +v 0.288060 0.077375 1.035695 +v 0.291970 0.206380 1.031709 +v 0.276337 0.198550 0.597815 +v 0.295879 0.112572 1.027808 +v 0.268518 0.190733 0.597815 +v 0.268518 0.206380 0.644749 +v 0.291970 0.081290 0.597815 +f 289 293 295 +f 287 286 288 +f 286 287 289 +f 285 288 290 +f 289 285 290 +f 285 287 291 +f 287 288 291 +f 288 285 291 +f 287 285 292 +f 285 289 292 +f 289 287 292 +f 288 286 293 +f 293 289 294 +f 290 288 294 +f 289 290 294 +f 288 293 294 +f 286 289 295 +f 293 286 295 +o convex_24 +v -0.216323 -0.247184 0.668234 +v -0.169416 -0.290171 1.500989 +v -0.177240 -0.239360 1.500989 +v -0.169416 -0.239360 0.613412 +v -0.243699 -0.235440 0.629224 +v -0.173328 -0.309724 1.500989 +v -0.188968 -0.235440 1.461719 +v -0.169416 -0.247184 0.644863 +v -0.169416 -0.309724 1.469538 +v -0.239780 -0.243272 0.633047 +v -0.196785 -0.235440 0.613412 +f 305 300 306 +f 298 297 299 +f 297 298 301 +f 298 299 302 +f 301 298 302 +f 300 301 302 +f 299 297 303 +f 297 301 304 +f 303 297 304 +f 296 303 304 +f 301 300 305 +f 299 303 305 +f 303 296 305 +f 296 304 305 +f 304 301 305 +f 302 299 306 +f 300 302 306 +f 299 305 306 +o convex_25 +v 0.288066 0.331490 1.274138 +v 0.284155 0.206407 0.832374 +v 0.288066 0.206407 0.832374 +v 0.288066 0.206407 1.536110 +v 0.299793 0.214232 1.039720 +v 0.299793 0.347140 1.536110 +v 0.284155 0.347140 1.536110 +v 0.299793 0.206407 1.207663 +v 0.295882 0.241607 1.528257 +f 310 314 315 +f 309 308 307 +f 308 309 310 +f 309 307 311 +f 311 307 312 +f 307 308 313 +f 308 310 313 +f 312 307 313 +f 310 312 313 +f 310 309 314 +f 309 311 314 +f 311 312 314 +f 314 312 315 +f 312 310 315 +o convex_26 +v -0.157639 -0.172891 -0.344426 +v 0.155124 -0.223703 0.265271 +v -0.231935 -0.231526 0.585905 +v -0.177238 -0.243260 0.593656 +v -0.235840 -0.165060 -0.289695 +v 0.155085 -0.188529 -0.317107 +v 0.127678 -0.176795 -0.344426 +v 0.151181 -0.227607 0.198819 +v -0.239782 -0.176795 -0.246591 +v -0.239782 -0.239349 0.581935 +v -0.177238 -0.235437 0.605378 +v -0.239782 -0.165060 -0.344426 +v 0.155085 -0.180714 -0.352366 +v 0.100349 -0.184625 -0.340550 +f 316 328 329 +f 318 317 320 +f 320 317 322 +f 317 319 323 +f 321 317 323 +f 318 320 325 +f 324 319 325 +f 325 319 326 +f 317 318 326 +f 319 317 326 +f 318 325 326 +f 320 322 327 +f 316 324 327 +f 325 320 327 +f 324 325 327 +f 317 321 328 +f 322 317 328 +f 316 327 328 +f 327 322 328 +f 323 319 329 +f 321 323 329 +f 319 324 329 +f 324 316 329 +f 328 321 329 +o convex_27 +v -0.192863 -0.161150 1.583081 +v -0.181135 -0.258901 1.500989 +v -0.177233 -0.258901 1.500989 +v -0.173323 -0.258901 1.602643 +v -0.161596 -0.161150 1.598727 +v -0.192863 -0.161150 1.500989 +f 330 334 335 +f 331 332 333 +f 330 331 333 +f 330 333 334 +f 333 332 334 +f 334 332 335 +f 331 330 335 +f 332 331 335 +o convex_28 +v -0.185013 0.284595 1.231237 +v -0.016938 0.323694 1.579101 +v -0.052132 0.323694 1.579101 +v -0.016938 0.296324 1.125626 +v -0.228059 0.296324 1.141341 +v -0.224112 0.300240 1.567381 +v -0.016938 0.288510 1.133528 +v -0.228059 0.308054 1.559568 +v -0.016938 0.315867 1.543941 +v -0.106875 0.280684 1.129621 +v -0.228059 0.288510 1.125626 +v -0.020865 0.323694 1.536128 +f 340 338 347 +f 337 338 341 +f 339 337 342 +f 338 340 343 +f 341 338 343 +f 337 341 344 +f 342 337 344 +f 342 344 345 +f 341 336 345 +f 339 342 345 +f 344 341 345 +f 340 339 346 +f 336 341 346 +f 343 340 346 +f 341 343 346 +f 345 336 346 +f 339 345 346 +f 338 337 347 +f 337 339 347 +f 339 340 347 +o convex_29 +v -0.282800 -0.000875 0.519410 +v -0.317985 -0.161150 -0.485185 +v -0.314082 -0.161150 -0.485185 +v -0.325802 0.085182 -0.485185 +v -0.290626 0.081252 0.695402 +v -0.282800 -0.161150 0.093546 +v -0.317985 0.077346 -0.485185 +v -0.317985 -0.161150 -0.309192 +v -0.282804 0.085182 0.683596 +v -0.286715 -0.161150 0.167668 +v -0.325802 0.081252 -0.406926 +v -0.314082 -0.055538 -0.485185 +v -0.286711 0.069533 0.730577 +f 355 357 360 +f 350 349 351 +f 349 350 353 +f 350 351 354 +f 349 353 355 +f 351 352 356 +f 348 353 356 +f 353 354 356 +f 354 351 356 +f 353 348 357 +f 355 353 357 +f 351 349 358 +f 352 351 358 +f 349 355 358 +f 355 352 358 +f 353 350 359 +f 354 353 359 +f 350 354 359 +f 352 355 360 +f 348 356 360 +f 356 352 360 +f 357 348 360 +o convex_30 +v 0.268510 0.265044 0.703294 +v 0.229414 0.206393 -0.066934 +v 0.229414 0.210308 -0.066934 +v 0.229414 0.265044 0.414051 +v 0.280238 0.206393 0.851774 +v 0.280238 0.265044 1.043515 +v 0.284149 0.210308 0.769707 +v 0.233331 0.245484 0.058285 +v 0.229414 0.206393 0.015241 +v 0.245059 0.265044 0.335898 +v 0.233331 0.210308 -0.066934 +f 368 361 371 +f 363 362 364 +f 361 364 366 +f 364 365 366 +f 366 365 367 +f 365 362 367 +f 361 366 367 +f 363 364 368 +f 364 362 369 +f 365 364 369 +f 362 365 369 +f 364 361 370 +f 368 364 370 +f 361 368 370 +f 362 363 371 +f 361 367 371 +f 367 362 371 +f 363 368 371 +o convex_31 +v -0.200693 -0.051654 1.602589 +v -0.243692 -0.235440 0.613493 +v -0.282800 -0.161122 0.152028 +v -0.274968 0.081228 0.937796 +v -0.278879 0.085182 0.742561 +v -0.188980 -0.223671 1.500925 +v -0.228058 -0.231517 0.742561 +v -0.231969 0.081228 1.590804 +v -0.282800 -0.161122 0.226572 +v -0.181139 -0.231517 1.457760 +v -0.224158 0.085182 1.575185 +v -0.278879 -0.157199 0.152028 +v -0.282800 0.085182 0.816963 +v -0.192881 -0.157199 1.602589 +v -0.204614 -0.235440 1.234979 +f 381 377 386 +f 374 373 380 +f 373 378 381 +f 381 378 382 +f 378 376 382 +f 379 372 382 +f 372 381 382 +f 373 374 383 +f 374 376 383 +f 378 373 383 +f 376 378 383 +f 376 374 384 +f 375 379 384 +f 374 380 384 +f 380 375 384 +f 382 376 384 +f 379 382 384 +f 372 379 385 +f 379 377 385 +f 381 372 385 +f 377 381 385 +f 379 375 386 +f 377 379 386 +f 380 373 386 +f 375 380 386 +f 373 381 386 +o convex_32 +v 0.299792 0.057812 0.597720 +v 0.291970 -0.055579 0.069918 +v 0.288060 -0.051661 0.069918 +v 0.284153 -0.055579 0.597720 +v 0.268518 0.057812 0.069918 +v 0.299792 -0.051661 0.105204 +v 0.291970 0.053894 0.597720 +v 0.291970 -0.055579 0.558610 +v 0.299792 0.057812 0.488243 +v 0.276337 0.049987 0.077822 +v 0.268518 0.042162 0.069918 +v 0.268518 0.057812 0.120807 +f 397 390 398 +f 389 388 390 +f 388 389 391 +f 390 387 393 +f 390 388 394 +f 387 390 394 +f 388 392 394 +f 392 387 394 +f 391 387 395 +f 387 392 395 +f 395 392 396 +f 388 391 396 +f 392 388 396 +f 391 395 396 +f 389 390 397 +f 391 389 397 +f 391 397 398 +f 387 391 398 +f 393 387 398 +f 390 393 398 +o convex_33 +v -0.278895 0.147755 0.976896 +v -0.325804 0.085216 -0.485307 +v -0.329720 0.202464 -0.477396 +v -0.321898 0.257207 -0.438288 +v -0.278895 0.085216 0.754043 +v -0.282800 0.257207 1.039587 +v -0.290622 0.085216 0.699263 +v -0.278895 0.257207 0.910473 +v -0.317988 0.085216 -0.410973 +v -0.329720 0.257207 -0.430377 +v -0.325804 0.085216 -0.403062 +v -0.321898 0.210277 -0.485307 +f 408 402 410 +f 403 399 405 +f 400 403 405 +f 399 404 405 +f 399 403 406 +f 404 399 406 +f 402 404 406 +f 403 400 407 +f 404 402 408 +f 405 404 408 +f 405 408 409 +f 401 400 409 +f 400 405 409 +f 408 401 409 +f 400 401 410 +f 406 403 410 +f 402 406 410 +f 407 400 410 +f 403 407 410 +f 401 408 410 +o convex_34 +v -0.235881 0.132099 1.579189 +v -0.278885 0.085199 0.812823 +v -0.278885 0.089106 0.812823 +v -0.271063 0.257223 1.407027 +v -0.274974 0.257223 1.031871 +v -0.228059 0.089106 1.528328 +v -0.251524 0.253300 1.571313 +v -0.235886 0.089106 1.551808 +v -0.278885 0.163406 1.078756 +v -0.274974 0.089106 0.812823 +v -0.259336 0.245486 1.575214 +v -0.278885 0.257223 1.160899 +v -0.278885 0.085199 0.887164 +v -0.228059 0.108658 1.575214 +f 411 418 424 +f 415 414 417 +f 413 412 419 +f 412 413 420 +f 413 415 420 +f 415 416 420 +f 416 412 420 +f 411 417 421 +f 417 414 421 +f 418 411 421 +f 414 419 421 +f 419 418 421 +f 414 415 422 +f 415 413 422 +f 413 419 422 +f 419 414 422 +f 412 416 423 +f 416 418 423 +f 419 412 423 +f 418 419 423 +f 416 415 424 +f 417 411 424 +f 415 417 424 +f 418 416 424 +o convex_35 +v -0.228059 0.300232 1.571368 +v -0.251518 0.261134 -0.465455 +v -0.255429 0.265051 -0.469466 +v -0.255429 0.300232 1.579189 +v -0.228059 0.308054 1.563546 +v -0.228059 0.261134 -0.317045 +v -0.228059 0.268955 -0.344321 +v -0.255429 0.272868 -0.285759 +v -0.255429 0.304136 1.387460 +v -0.231971 0.292411 1.352363 +f 430 425 434 +f 427 426 428 +f 428 425 429 +f 429 425 430 +f 426 427 431 +f 429 430 431 +f 430 426 431 +f 427 428 432 +f 431 427 432 +f 429 431 432 +f 428 429 433 +f 432 428 433 +f 429 432 433 +f 428 426 434 +f 425 428 434 +f 426 430 434 +o convex_36 +v -0.192852 0.257223 -0.453938 +v 0.010453 0.253315 0.500021 +v 0.006530 0.257223 0.500021 +v -0.228059 0.276766 0.500021 +v -0.001291 0.233763 -0.336623 +v -0.212393 0.265040 -0.457892 +v -0.001291 0.241589 -0.391326 +v -0.196751 0.280684 0.476483 +v -0.001291 0.249406 0.500021 +v -0.228059 0.261132 -0.293689 +v -0.228059 0.280684 0.304465 +v 0.010453 0.233763 -0.399141 +v -0.216316 0.257223 -0.457892 +f 446 439 447 +f 436 437 438 +f 441 440 442 +f 438 437 442 +f 437 441 442 +f 436 438 443 +f 439 443 444 +f 443 438 444 +f 440 444 445 +f 442 440 445 +f 438 442 445 +f 444 438 445 +f 437 436 446 +f 435 440 446 +f 441 437 446 +f 440 441 446 +f 436 443 446 +f 443 439 446 +f 440 435 447 +f 439 444 447 +f 444 440 447 +f 435 446 447 +o convex_37 +v 0.033932 0.229857 -0.324821 +v 0.155124 0.265039 0.500021 +v 0.108193 0.265039 0.500021 +v 0.147293 0.222041 -0.066789 +v 0.010453 0.249397 0.500021 +v 0.022192 0.237678 -0.395376 +v 0.155124 0.222041 -0.360055 +v 0.014375 0.257218 0.495989 +v 0.155124 0.257218 0.453042 +v 0.155124 0.265039 0.445154 +v 0.010453 0.241581 -0.293619 +v 0.131644 0.218123 -0.364086 +v 0.010453 0.233769 -0.395376 +v 0.135567 0.225949 -0.364086 +v 0.022192 0.245489 0.433497 +f 452 460 462 +f 449 450 452 +f 452 450 455 +f 449 452 456 +f 454 449 456 +f 451 454 456 +f 450 449 457 +f 449 454 457 +f 455 450 458 +f 452 455 458 +f 450 457 458 +f 457 453 458 +f 454 451 459 +f 453 454 459 +f 452 458 460 +f 458 453 460 +f 459 448 460 +f 453 459 460 +f 454 453 461 +f 453 457 461 +f 457 454 461 +f 451 456 462 +f 456 452 462 +f 448 459 462 +f 459 451 462 +f 460 448 462 +o convex_38 +v 0.018311 0.249420 0.508107 +v 0.229390 0.343244 1.536130 +v 0.217648 0.343244 1.536130 +v 0.225484 0.245509 0.058310 +v -0.016893 0.257233 0.500156 +v -0.016893 0.319775 1.579189 +v 0.225484 0.331499 1.477317 +v 0.229390 0.237675 0.066262 +v -0.016893 0.323686 1.528028 +v 0.155124 0.233763 0.046457 +v 0.002662 0.319775 1.579189 +v -0.016893 0.253321 0.601878 +v 0.217648 0.343244 1.528028 +v 0.155124 0.237675 0.046457 +v 0.162937 0.233763 0.093418 +f 472 470 477 +f 464 465 468 +f 466 464 470 +f 464 469 470 +f 468 465 471 +f 467 468 471 +f 466 470 472 +f 464 468 473 +f 463 469 473 +f 469 464 473 +f 468 467 474 +f 472 463 474 +f 467 472 474 +f 473 468 474 +f 463 473 474 +f 465 464 475 +f 464 466 475 +f 466 467 475 +f 471 465 475 +f 467 471 475 +f 467 466 476 +f 472 467 476 +f 466 472 476 +f 469 463 477 +f 470 469 477 +f 463 472 477 +o convex_39 +v 0.276335 0.194644 0.597718 +v 0.241150 0.057826 -0.360186 +v 0.237241 0.069561 -0.360186 +v 0.295878 0.057826 0.597718 +v 0.209864 0.202467 -0.320992 +v 0.245058 0.073473 -0.360186 +v 0.299795 0.061738 0.503860 +v 0.217690 0.202467 -0.360186 +v 0.264601 0.202467 0.578122 +v 0.272427 0.206379 0.562463 +v 0.241150 0.057826 -0.313116 +f 482 480 488 +f 479 480 483 +f 481 479 484 +f 478 481 484 +f 479 483 484 +f 480 482 485 +f 483 480 485 +f 484 483 485 +f 481 478 486 +f 482 481 486 +f 478 484 487 +f 485 482 487 +f 484 485 487 +f 486 478 487 +f 482 486 487 +f 480 479 488 +f 479 481 488 +f 481 482 488 +o convex_40 +v -0.329720 0.257228 -0.430542 +v -0.255429 0.288497 0.613225 +v -0.255437 0.308049 1.579189 +v -0.255437 0.257233 1.579189 +v -0.255429 0.265054 -0.469544 +v -0.329720 0.276771 -0.485307 +v -0.267166 0.308049 1.555546 +v -0.271079 0.257233 1.407013 +v -0.255429 0.272870 -0.309089 +v -0.317968 0.276771 -0.485307 +v -0.325793 0.257228 -0.485307 +f 494 498 499 +f 490 491 492 +f 490 492 493 +f 492 491 495 +f 494 489 495 +f 495 489 496 +f 489 492 496 +f 492 495 496 +f 491 490 497 +f 490 493 497 +f 495 491 498 +f 494 495 498 +f 491 497 498 +f 497 493 498 +f 492 489 499 +f 493 492 499 +f 489 494 499 +f 498 493 499 +o convex_41 +v 0.209855 0.206397 -0.305415 +v 0.229414 0.241576 0.046457 +v 0.190324 0.241576 0.046457 +v 0.225495 0.206397 -0.051303 +v 0.155131 0.222037 -0.356245 +v 0.155131 0.229849 0.038616 +v 0.213767 0.214219 -0.360186 +v 0.155131 0.218128 -0.195912 +f 503 505 507 +f 502 501 504 +f 502 504 505 +f 501 502 505 +f 503 501 505 +f 501 503 506 +f 503 500 506 +f 500 504 506 +f 504 501 506 +f 500 503 507 +f 504 500 507 +f 505 504 507 +o convex_42 +v -0.032563 0.253313 0.511839 +v -0.016918 0.292410 1.125565 +v -0.052135 0.292414 1.125565 +v -0.224132 0.284591 0.515758 +v -0.200674 0.284591 1.125565 +v -0.024751 0.261137 0.507920 +v -0.130301 0.276771 1.102052 +v -0.228059 0.276771 0.500021 +v -0.228059 0.292414 1.125565 +v -0.016918 0.257225 0.668225 +v -0.016918 0.292410 1.066905 +v -0.228059 0.292414 0.930052 +v -0.016918 0.288502 1.125565 +f 514 517 520 +f 509 510 512 +f 512 508 514 +f 508 512 515 +f 513 508 515 +f 511 513 515 +f 512 510 516 +f 515 512 516 +f 508 513 517 +f 514 508 517 +f 510 509 518 +f 513 511 518 +f 509 517 518 +f 517 513 518 +f 511 515 519 +f 516 510 519 +f 515 516 519 +f 510 518 519 +f 518 511 519 +f 509 512 520 +f 512 514 520 +f 517 509 520 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/357/357.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/357/357.urdf new file mode 100644 index 000000000..8269291fa --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/357/357.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/358/358.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/358/358.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/358/358.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/358/358.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/358/358.obj new file mode 100644 index 000000000..2daa9a2f9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/358/358.obj @@ -0,0 +1,1074 @@ +o convex_0 +v -0.054465 -0.080729 -2.326281 +v 0.081713 -0.080729 -1.064659 +v 0.013520 -0.080729 -1.064659 +v -0.020421 2.067505 -1.576297 +v 0.525119 0.873945 -1.678551 +v -0.532020 0.669558 -1.678551 +v -0.054465 1.794555 -2.053481 +v 0.388630 -0.149075 -2.155735 +v -0.463620 -0.149075 -2.189819 +v -0.020421 1.794555 -1.235328 +v 0.490971 -0.149075 -1.235328 +v -0.395428 -0.149075 -1.201244 +v -0.429576 1.794555 -1.644466 +v 0.388630 1.760491 -1.678551 +v 0.422675 0.908227 -1.235328 +v -0.429576 0.874379 -2.121650 +v 0.354482 0.976139 -2.053481 +v -0.361383 0.908227 -1.269413 +v 0.525119 -0.149075 -1.712512 +v -0.020421 0.874379 -2.223903 +v -0.497872 -0.149075 -1.576297 +v 0.388630 1.760491 -1.576297 +v 0.013520 0.976139 -1.133075 +v -0.361383 1.555887 -1.951104 +v 0.047668 1.794555 -1.235328 +v -0.293191 1.555887 -1.337582 +v -0.532020 0.908227 -1.678551 +v 0.047668 1.726426 -2.053481 +v 0.013520 2.067505 -1.678551 +v 0.013520 -0.149075 -2.326281 +v 0.320438 1.555887 -1.337582 +v -0.497872 -0.149075 -2.087565 +v 0.525119 0.805816 -1.576297 +v 0.115860 -0.149075 -1.064659 +v 0.286290 1.521822 -1.951104 +v 0.115860 0.874379 -1.133075 +v -0.088613 0.874379 -2.223903 +v 0.388630 -0.012600 -2.155735 +v -0.429576 1.760491 -1.712512 +v -0.122658 2.033224 -1.678551 +v -0.532020 0.874379 -1.746596 +v 0.456823 0.055746 -1.201244 +v -0.395428 0.805816 -1.303497 +f 13 27 43 +f 9 8 11 +f 9 11 12 +f 10 4 13 +f 1 9 16 +f 14 5 17 +f 11 8 19 +f 12 6 21 +f 9 12 21 +f 5 14 22 +f 3 2 23 +f 12 3 23 +f 10 18 23 +f 18 12 23 +f 7 16 24 +f 4 10 25 +f 22 4 25 +f 10 23 25 +f 10 13 26 +f 18 10 26 +f 13 18 26 +f 6 12 27 +f 20 7 28 +f 17 20 28 +f 4 22 29 +f 22 14 29 +f 28 7 29 +f 14 28 29 +f 9 1 30 +f 8 9 30 +f 1 20 30 +f 15 22 31 +f 22 25 31 +f 25 15 31 +f 16 9 32 +f 21 6 32 +f 9 21 32 +f 15 11 33 +f 19 5 33 +f 11 19 33 +f 5 22 33 +f 22 15 33 +f 2 3 34 +f 3 12 34 +f 12 11 34 +f 14 17 35 +f 28 14 35 +f 17 28 35 +f 23 2 36 +f 15 25 36 +f 25 23 36 +f 2 34 36 +f 34 15 36 +f 1 16 37 +f 16 7 37 +f 20 1 37 +f 7 20 37 +f 17 5 38 +f 5 19 38 +f 19 8 38 +f 20 17 38 +f 8 30 38 +f 30 20 38 +f 7 24 39 +f 24 16 39 +f 13 4 40 +f 4 29 40 +f 29 7 40 +f 7 39 40 +f 39 13 40 +f 6 27 41 +f 27 13 41 +f 16 32 41 +f 32 6 41 +f 39 16 41 +f 13 39 41 +f 11 15 42 +f 34 11 42 +f 15 34 42 +f 12 18 43 +f 18 13 43 +f 27 12 43 +o convex_1 +v -0.020501 -3.900211 -1.644309 +v 0.013467 -1.649856 -0.996456 +v -0.088650 -1.649856 -0.996456 +v -0.088650 -1.649856 -2.258078 +v 0.525119 -1.649636 -1.712479 +v -0.566121 -2.468047 -1.610348 +v 0.422681 -3.490675 -1.610348 +v -0.020501 -3.592894 -1.201210 +v 0.422681 -1.752075 -1.098957 +v 0.013467 -3.592894 -2.019363 +v -0.497758 -1.649856 -2.087532 +v 0.456863 -1.717929 -2.053447 +v -0.395535 -3.627040 -1.644309 +v -0.463684 -1.649856 -1.201210 +v -0.395535 -2.740997 -1.201210 +v -0.429609 -2.774923 -2.019363 +v 0.388607 -2.808629 -1.201210 +v 0.525119 -2.740777 -1.576264 +v 0.388607 -2.774923 -1.985278 +v 0.047541 -1.649856 -2.258078 +v 0.013467 -2.638558 -1.064872 +v -0.566121 -1.649856 -1.576264 +v 0.184053 -3.490675 -1.235295 +v 0.525119 -1.649636 -1.439926 +v -0.054469 -3.592894 -2.019363 +v -0.395535 -3.627040 -1.576264 +v 0.388607 -3.592894 -1.644309 +v 0.490937 -1.649636 -2.019486 +v -0.327385 -3.388456 -1.916986 +v -0.531939 -2.876922 -1.644309 +v 0.047541 -3.900211 -1.576264 +v -0.293204 -3.388456 -1.303464 +v 0.286276 -3.354310 -1.916986 +v -0.531939 -2.706851 -1.508095 +v 0.388607 -3.524821 -1.508095 +v -0.497758 -1.854294 -2.087532 +v -0.566121 -1.649856 -1.814732 +v -0.497758 -1.854294 -1.269379 +v 0.525119 -2.672705 -1.644433 +v 0.422681 -1.649856 -1.098957 +v -0.088650 -3.865844 -1.576264 +v 0.081723 -3.558968 -1.201210 +v -0.531939 -2.706851 -1.746563 +v -0.429609 -2.706851 -1.235295 +v 0.047541 -3.900211 -1.644309 +v -0.122618 -2.672705 -1.098957 +v -0.054469 -2.842775 -2.121616 +v 0.422681 -2.706851 -1.235295 +f 78 61 91 +f 46 57 58 +f 55 62 63 +f 62 53 63 +f 45 46 64 +f 52 45 64 +f 60 52 64 +f 46 45 67 +f 57 46 67 +f 52 61 67 +f 61 48 67 +f 65 57 67 +f 53 44 68 +f 44 56 68 +f 62 50 70 +f 47 54 71 +f 62 55 71 +f 55 63 71 +f 63 47 71 +f 67 48 71 +f 65 67 71 +f 56 59 72 +f 68 56 72 +f 59 68 72 +f 56 69 73 +f 51 58 75 +f 69 51 75 +f 53 62 76 +f 70 53 76 +f 62 70 76 +f 49 73 77 +f 73 69 77 +f 50 61 78 +f 60 66 78 +f 70 50 78 +f 74 70 78 +f 54 47 79 +f 47 59 79 +f 49 65 80 +f 71 54 80 +f 65 71 80 +f 54 79 80 +f 65 49 81 +f 57 65 81 +f 49 77 81 +f 48 61 82 +f 61 50 82 +f 50 62 82 +f 71 48 82 +f 62 71 82 +f 45 52 83 +f 67 45 83 +f 52 67 83 +f 56 44 84 +f 51 69 84 +f 69 56 84 +f 74 51 84 +f 44 74 84 +f 64 51 85 +f 60 64 85 +f 66 60 85 +f 51 74 85 +f 78 66 85 +f 74 78 85 +f 59 56 86 +f 73 49 86 +f 56 73 86 +f 79 59 86 +f 49 80 86 +f 80 79 86 +f 58 57 87 +f 75 58 87 +f 69 75 87 +f 77 69 87 +f 57 81 87 +f 81 77 87 +f 44 53 88 +f 53 70 88 +f 74 44 88 +f 70 74 88 +f 46 58 89 +f 58 51 89 +f 64 46 89 +f 51 64 89 +f 59 47 90 +f 47 63 90 +f 63 53 90 +f 53 68 90 +f 68 59 90 +f 52 60 91 +f 61 52 91 +f 60 78 91 +o convex_2 +v -0.020524 -0.285520 -0.825950 +v -0.088600 -1.649529 -2.292293 +v -0.054562 -1.376639 -2.633222 +v 0.525072 -1.649529 -1.439879 +v 0.388590 -0.149075 -2.155701 +v -0.497825 -0.149075 -2.053257 +v -0.497825 -1.649529 -1.269323 +v 0.525072 -1.001379 -0.825950 +v -0.497825 -0.558557 -0.825950 +v -0.531973 -0.831300 -2.462666 +v 0.388590 -1.001379 -2.633222 +v 0.525072 -0.149075 -1.644583 +v -0.020524 -0.524336 -2.667370 +v -0.088600 -1.444788 -0.825950 +v -0.566121 -1.649529 -1.814772 +v 0.490924 -1.649529 -2.019293 +v 0.525072 -0.421965 -0.825950 +v -0.395491 -0.149075 -1.201210 +v 0.422738 -1.649529 -1.098766 +v 0.490924 -0.933377 -2.462666 +v -0.463677 -1.308490 -0.825950 +v 0.559220 -1.001379 -1.644583 +v -0.497825 -1.581233 -2.155701 +v 0.456886 -0.149075 -1.201210 +v -0.361343 -0.899302 -2.667370 +v -0.463677 -0.149075 -2.189849 +v -0.566121 -0.967304 -1.780624 +v 0.013513 -0.149075 -2.360405 +v -0.088600 -1.649529 -0.996506 +v 0.388590 -1.376639 -2.428517 +v -0.566121 -1.649529 -1.576471 +v -0.395491 -0.524336 -2.530778 +v 0.320404 -0.626706 -2.564926 +v 0.047551 -1.035600 -2.701518 +v -0.497825 -0.149075 -1.576471 +v 0.354552 -1.308490 -0.825950 +v -0.429529 -1.342565 -2.428517 +v -0.463677 -0.421965 -0.825950 +v 0.081699 -0.149075 -1.030654 +v -0.566121 -0.899302 -2.189849 +v 0.559220 -0.865228 -1.303471 +v -0.531973 -1.001379 -2.462666 +v 0.013513 -1.649529 -2.292293 +v 0.525072 -0.149075 -1.712512 +v -0.497825 -1.001379 -0.825950 +v -0.463677 -1.649529 -2.121553 +v 0.525072 -1.649529 -1.712512 +v -0.327305 -1.205973 -2.599074 +f 128 133 139 +f 93 95 98 +f 99 92 100 +f 96 97 103 +f 99 100 105 +f 93 98 106 +f 95 93 107 +f 92 99 108 +f 103 97 109 +f 98 95 110 +f 95 99 110 +f 105 100 112 +f 108 103 115 +f 103 109 115 +f 97 96 117 +f 101 97 117 +f 117 96 119 +f 104 117 119 +f 98 110 120 +f 110 105 120 +f 112 98 120 +f 105 112 120 +f 94 102 121 +f 102 111 121 +f 111 107 121 +f 106 98 122 +f 98 112 122 +f 100 118 122 +f 118 106 122 +f 116 101 123 +f 104 116 123 +f 101 117 123 +f 117 104 123 +f 102 104 124 +f 96 111 124 +f 111 102 124 +f 119 96 124 +f 104 119 124 +f 102 94 125 +f 104 102 125 +f 94 116 125 +f 116 104 125 +f 109 97 126 +f 118 100 126 +f 99 105 127 +f 110 99 127 +f 105 110 127 +f 100 92 129 +f 92 109 129 +f 126 100 129 +f 109 126 129 +f 92 108 130 +f 109 92 130 +f 108 115 130 +f 115 109 130 +f 97 101 131 +f 106 118 131 +f 126 97 131 +f 118 126 131 +f 99 95 132 +f 108 99 132 +f 103 108 132 +f 95 113 132 +f 114 106 133 +f 101 116 133 +f 128 114 133 +f 131 101 133 +f 106 131 133 +f 93 94 134 +f 107 93 134 +f 94 121 134 +f 121 107 134 +f 96 103 135 +f 111 96 135 +f 113 111 135 +f 103 132 135 +f 132 113 135 +f 112 100 136 +f 122 112 136 +f 100 122 136 +f 94 93 137 +f 93 106 137 +f 106 114 137 +f 128 94 137 +f 114 128 137 +f 95 107 138 +f 107 111 138 +f 113 95 138 +f 111 113 138 +f 116 94 139 +f 94 128 139 +f 133 116 139 +o convex_3 +v -0.361510 -0.387924 1.459016 +v -0.088683 -1.615428 1.459016 +v 0.081632 -1.615428 1.459016 +v 0.047545 -0.899492 3.334401 +v 0.456723 -0.456133 1.459016 +v -0.634213 -1.137834 1.493161 +v 0.593321 -1.308357 1.493161 +v -0.190947 -0.524342 2.993138 +v -0.020631 -1.274252 3.095388 +v 0.388547 -0.865388 3.095388 +v -0.395598 -0.831283 3.061427 +v 0.047545 -0.456133 3.027283 +v -0.565914 -1.410671 1.459016 +v 0.490811 -1.547089 1.493161 +v 0.013457 -0.285610 1.493161 +v -0.668424 -0.899492 1.459016 +v -0.361510 -0.490238 2.345675 +v -0.327299 -1.171938 2.856743 +v 0.354459 -0.490238 2.379820 +v 0.286283 -1.206043 2.856743 +v 0.593321 -1.069625 1.459016 +v -0.020631 -0.456133 3.061427 +v -0.395598 -0.899492 3.061427 +v -0.531949 -1.444775 1.493161 +v -0.463774 -0.456133 1.493161 +v -0.020631 -0.797179 3.334401 +v 0.456723 -0.865388 2.583953 +v -0.088683 -0.285610 1.459016 +v 0.286283 -0.558447 2.856743 +v 0.388547 -0.899492 3.095388 +v 0.013457 -1.274252 3.095388 +v -0.429686 -1.274252 2.345675 +v 0.525022 -1.512984 1.459016 +v 0.013457 -0.490238 3.129533 +v -0.088683 -0.899492 3.300072 +v -0.361510 -0.831283 3.129533 +v -0.293211 -0.558447 2.890888 +v -0.395598 -0.524342 2.277386 +v 0.456723 -0.456133 1.527306 +f 166 160 178 +f 142 141 140 +f 142 140 144 +f 141 142 148 +f 140 141 152 +f 140 152 155 +f 152 145 155 +f 154 151 158 +f 142 144 160 +f 151 154 161 +f 156 147 161 +f 145 152 162 +f 150 155 162 +f 155 145 162 +f 157 148 162 +f 141 148 163 +f 152 141 163 +f 140 155 164 +f 156 140 164 +f 143 149 165 +f 146 160 166 +f 144 140 167 +f 154 144 167 +f 140 156 167 +f 161 154 167 +f 156 161 167 +f 149 158 168 +f 158 151 168 +f 149 143 169 +f 146 166 169 +f 166 149 169 +f 148 142 170 +f 143 148 170 +f 142 153 170 +f 153 159 170 +f 169 143 170 +f 159 169 170 +f 148 157 171 +f 162 152 171 +f 157 162 171 +f 163 148 171 +f 152 163 171 +f 153 142 172 +f 159 153 172 +f 142 160 172 +f 160 146 172 +f 146 169 172 +f 169 159 172 +f 161 147 173 +f 151 161 173 +f 165 149 173 +f 149 168 173 +f 168 151 173 +f 148 143 174 +f 162 148 174 +f 143 165 174 +f 174 165 175 +f 150 162 175 +f 173 147 175 +f 165 173 175 +f 162 174 175 +f 147 156 176 +f 175 147 176 +f 150 175 176 +f 155 150 177 +f 164 155 177 +f 156 164 177 +f 176 156 177 +f 150 176 177 +f 144 154 178 +f 158 149 178 +f 154 158 178 +f 160 144 178 +f 149 166 178 +o convex_4 +v 0.729432 0.430646 1.390630 +v -0.736347 0.567034 -0.689545 +v -0.907093 0.498852 -0.655337 +v -1.111313 0.669355 1.185993 +v 1.104706 0.669355 -0.518912 +v 1.070618 0.430646 -0.586921 +v -1.589158 0.430646 0.367240 +v 1.138794 0.669355 1.219997 +v -1.111313 0.669355 -0.518912 +v 1.548156 0.430646 0.401448 +v -1.077225 0.430646 1.219997 +v -1.111313 0.430646 -0.553120 +v 0.593081 0.669355 1.390630 +v 0.695344 0.669355 -0.689545 +v -1.316148 0.669355 0.231222 +v 1.309233 0.669355 0.299434 +v 1.172882 0.430646 1.185789 +v 0.627169 0.430646 -0.689545 +v -0.736347 0.669355 -0.689545 +v 1.548156 0.464784 0.299434 +v -0.974962 0.669355 1.254205 +v -1.589158 0.464784 0.299434 +v -0.702259 0.430646 -0.689545 +v 0.524905 0.430646 1.390630 +v -1.384323 0.635217 0.367240 +f 193 200 203 +f 184 179 185 +f 183 182 186 +f 182 183 187 +f 179 184 188 +f 182 185 189 +f 185 179 189 +f 184 185 190 +f 187 181 190 +f 179 186 191 +f 186 182 191 +f 183 184 192 +f 187 183 192 +f 182 187 193 +f 183 186 194 +f 186 179 195 +f 179 188 195 +f 188 186 195 +f 184 190 196 +f 180 192 196 +f 192 184 196 +f 180 181 197 +f 181 187 197 +f 192 180 197 +f 187 192 197 +f 184 183 198 +f 188 184 198 +f 186 188 198 +f 183 194 198 +f 194 186 198 +f 182 189 199 +f 191 182 199 +f 185 182 200 +f 190 185 200 +f 187 190 200 +f 193 187 200 +f 181 180 201 +f 190 181 201 +f 180 196 201 +f 196 190 201 +f 189 179 202 +f 179 191 202 +f 199 189 202 +f 191 199 202 +f 182 193 203 +f 200 182 203 +o convex_5 +v 0.013490 3.942829 0.912973 +v -1.316348 0.669698 0.265610 +v -0.600024 0.669354 -0.689291 +v 1.138737 0.669698 1.185743 +v 0.763740 3.192278 -0.484817 +v -0.736504 3.260698 -0.450669 +v -0.941094 1.658514 1.254039 +v 1.104553 0.669698 -0.518965 +v 0.729556 3.260698 1.117654 +v -0.804615 3.362811 1.117654 +v -1.077573 0.669698 1.219891 +v 0.013490 4.181782 0.265403 +v 0.695372 0.874269 1.390630 +v 1.309400 0.703736 0.333492 +v 0.797924 3.635801 0.367433 +v 0.047674 2.135731 -0.723646 +v -0.907167 1.522019 -0.689498 +v 0.013490 2.851557 1.322335 +v -0.804615 3.670183 0.231462 +v -0.020437 3.670183 -0.484817 +v 0.900219 1.249373 -0.689498 +v -1.111501 0.669698 -0.518758 +v -1.009205 2.102037 -0.416521 +v 1.002515 2.067655 -0.450462 +v -1.043389 2.102037 1.049358 +v 0.047674 3.840716 1.083506 +v 0.695372 0.669698 -0.689498 +v -0.634209 2.135731 -0.689291 +v 0.593077 0.669698 1.390630 +v 0.934147 2.135731 1.151802 +v 0.627261 2.136075 -0.689498 +v 0.524966 2.067655 1.356276 +v -1.316348 0.771812 0.367433 +v -0.054621 4.181782 0.265403 +v 0.729556 3.738259 0.367433 +v 0.763740 3.294736 -0.416521 +v 1.070626 2.135731 0.401374 +v -1.009205 2.578566 0.265610 +v 0.900219 1.522019 -0.689498 +v -0.975278 0.669698 1.254039 +v -0.054621 4.147057 0.435729 +v -1.111501 1.112877 1.117654 +v 0.695372 3.226660 1.151595 +v 1.104553 0.840231 1.219891 +v -0.838799 3.260698 1.117654 +v 0.115785 3.635801 -0.484817 +v -0.770688 3.703877 0.333492 +v 1.309400 0.703736 0.401374 +v -0.736504 3.192622 -0.484817 +v -0.907167 0.669698 -0.655143 +v -0.190844 3.771953 1.083506 +v 0.047674 4.181782 0.333492 +v 0.729556 3.738259 0.299551 +v 1.036442 2.033274 -0.246195 +v 0.218080 2.953670 1.288187 +v -1.043389 1.760971 -0.450669 +v 1.036442 1.829047 -0.450462 +v 0.797924 3.635801 0.299551 +v -0.600024 3.363155 -0.450462 +v -0.702320 3.294736 1.151802 +v -1.316348 0.737774 0.265610 +v 0.115785 4.113362 0.231462 +v 0.729556 3.396849 0.947121 +v -0.088548 3.738259 1.117654 +f 263 221 267 +f 207 206 211 +f 205 206 214 +f 207 211 217 +f 219 206 220 +f 206 205 225 +f 222 209 226 +f 211 206 230 +f 206 219 230 +f 224 211 230 +f 219 224 230 +f 219 220 231 +f 223 219 231 +f 206 207 232 +f 207 216 232 +f 221 210 232 +f 216 221 232 +f 218 212 233 +f 221 216 235 +f 205 214 236 +f 215 223 237 +f 204 229 238 +f 227 208 239 +f 218 233 240 +f 222 226 241 +f 211 224 242 +f 224 219 242 +f 208 227 242 +f 234 208 242 +f 219 234 242 +f 214 206 243 +f 210 214 243 +f 206 232 243 +f 232 210 243 +f 214 210 245 +f 210 228 245 +f 236 214 245 +f 228 236 245 +f 212 229 246 +f 233 212 246 +f 246 235 247 +f 216 207 247 +f 207 233 247 +f 235 216 247 +f 233 246 247 +f 210 213 248 +f 213 222 248 +f 228 210 248 +f 236 228 248 +f 222 241 248 +f 241 236 248 +f 223 215 249 +f 219 223 249 +f 208 234 249 +f 234 219 249 +f 239 208 249 +f 222 213 250 +f 237 222 250 +f 213 244 250 +f 244 237 250 +f 207 217 251 +f 233 207 251 +f 217 240 251 +f 240 233 251 +f 220 226 252 +f 226 209 252 +f 231 220 252 +f 223 231 252 +f 220 206 253 +f 206 225 253 +f 225 220 253 +f 229 204 254 +f 204 244 254 +f 244 213 254 +f 215 237 255 +f 204 238 255 +f 244 204 255 +f 237 244 255 +f 238 218 256 +f 255 238 256 +f 217 227 257 +f 240 217 257 +f 221 235 258 +f 246 229 258 +f 235 246 258 +f 220 225 259 +f 226 220 259 +f 217 211 260 +f 227 217 260 +f 211 242 260 +f 242 227 260 +f 227 239 261 +f 218 240 261 +f 256 218 261 +f 239 256 261 +f 257 227 261 +f 240 257 261 +f 209 222 262 +f 222 237 262 +f 237 223 262 +f 252 209 262 +f 223 252 262 +f 213 210 263 +f 210 221 263 +f 225 205 264 +f 205 236 264 +f 241 226 264 +f 236 241 264 +f 259 225 264 +f 226 259 264 +f 249 215 265 +f 239 249 265 +f 215 255 265 +f 256 239 265 +f 255 256 265 +f 212 218 266 +f 229 212 266 +f 218 238 266 +f 238 229 266 +f 254 213 267 +f 229 254 267 +f 221 258 267 +f 258 229 267 +f 213 263 267 +o convex_6 +v 0.627009 -1.171815 1.458833 +v -0.531588 -0.865415 -0.825950 +v -0.531588 -0.626703 -0.825950 +v -2.782017 -0.933303 1.015340 +v 1.548096 0.089433 1.185983 +v 2.059154 -1.887951 0.265450 +v -2.134480 -1.922196 0.265450 +v -2.066536 -0.080989 -0.348239 +v 2.059154 -0.149279 -0.450669 +v -1.452675 0.089433 1.151765 +v 2.775227 -0.899459 1.015340 +v 2.127689 -1.615194 -0.450669 +v -0.088473 -1.649239 1.458833 +v -2.100212 -1.683283 -0.450669 +v 0.763488 0.089433 -0.689525 +v -2.816285 -0.933303 -0.416451 +v 2.775227 -0.933303 -0.484664 +v 2.741550 -0.149279 0.299668 +v -2.748341 -0.149279 0.401651 +v 0.081683 -1.683283 -0.723296 +v 1.036446 -1.785617 1.287966 +v -0.497320 -0.387991 1.458833 +v 2.809494 -1.615194 0.333215 +v -2.066536 -1.683283 1.049334 +v -2.816285 -1.649239 0.333215 +v -1.418407 0.089433 -0.518882 +v 2.127689 -0.899459 -0.689525 +v 2.059154 -0.865415 1.356402 +v 0.047415 -1.887951 -0.450669 +v -0.054206 -1.921995 1.083329 +v -2.066536 -0.967348 1.288190 +v 0.627009 0.089433 1.424391 +v 2.025477 -1.683283 1.117770 +v 3.014509 -0.865415 0.265450 +v -2.100212 -0.933303 -0.655307 +v 2.093422 0.089433 0.265450 +v -3.021299 -0.831370 0.367210 +v -0.122741 -1.444571 -0.825950 +v 0.695544 -1.956040 0.299444 +v 0.115359 -0.285657 -0.825950 +v -2.168747 0.089433 0.299668 +v 2.570804 -0.319701 0.878915 +v -2.509650 -0.319701 0.912909 +v -0.600123 0.089433 -0.689525 +v -1.895789 -1.956040 0.265450 +v -1.008969 -1.785617 -0.587094 +v -2.611862 -0.319701 -0.212037 +v -0.565855 -1.444571 1.458833 +v 0.388318 -1.308193 -0.825950 +v 2.570804 -0.319701 -0.280250 +v 2.025477 -1.887951 0.435646 +v 0.524797 -1.581150 1.458833 +v 1.411616 0.089433 -0.518882 +v 2.605071 -1.410527 0.913133 +v 0.524797 -0.387991 -0.825950 +v -2.646129 -1.513061 -0.177819 +v 2.605071 -1.444772 -0.280250 +v -2.611862 -1.444571 0.878915 +v -2.714073 -0.899459 1.083552 +v 0.524797 -0.081190 1.458833 +v 2.639338 -0.831370 1.117547 +v -2.748341 -0.149279 0.265450 +v -1.930056 -0.694992 -0.655083 +v -0.429376 -1.342438 -0.825950 +f 305 313 331 +f 277 272 282 +f 280 268 289 +f 273 279 290 +f 281 274 292 +f 274 291 292 +f 277 282 293 +f 282 276 294 +f 276 284 294 +f 284 279 294 +f 279 273 296 +f 287 279 296 +f 288 280 297 +f 280 291 297 +f 289 277 298 +f 272 277 299 +f 277 289 299 +f 295 272 299 +f 285 278 301 +f 284 285 301 +f 290 284 301 +f 278 290 301 +f 270 269 302 +f 281 283 302 +f 282 272 303 +f 272 285 303 +f 271 286 304 +f 292 271 304 +f 283 292 304 +f 269 270 305 +f 296 273 306 +f 305 270 307 +f 286 277 308 +f 277 293 308 +f 293 275 308 +f 285 272 309 +f 278 285 309 +f 286 271 310 +f 277 286 310 +f 293 282 311 +f 307 270 311 +f 282 307 311 +f 274 281 312 +f 291 274 312 +f 297 291 312 +f 296 306 312 +f 306 297 312 +f 287 296 313 +f 305 287 313 +f 312 281 313 +f 296 312 313 +f 275 283 314 +f 280 289 315 +f 291 280 315 +f 289 298 315 +f 298 291 315 +f 279 287 316 +f 294 279 316 +f 287 305 316 +f 305 307 316 +f 284 276 317 +f 276 285 317 +f 285 284 317 +f 273 290 318 +f 288 297 318 +f 300 288 318 +f 290 300 318 +f 306 273 318 +f 297 306 318 +f 268 280 319 +f 280 288 319 +f 295 268 319 +f 288 300 319 +f 300 295 319 +f 276 282 320 +f 285 276 320 +f 282 303 320 +f 303 285 320 +f 290 278 321 +f 300 290 321 +f 282 294 322 +f 307 282 322 +f 294 316 322 +f 316 307 322 +f 283 281 323 +f 281 292 323 +f 292 283 323 +f 279 284 324 +f 290 279 324 +f 284 290 324 +f 271 292 325 +f 292 291 325 +f 298 277 326 +f 291 298 326 +f 310 271 326 +f 277 310 326 +f 271 325 326 +f 325 291 326 +f 289 268 327 +f 268 295 327 +f 299 289 327 +f 295 299 327 +f 272 295 328 +f 295 300 328 +f 309 272 328 +f 278 309 328 +f 321 278 328 +f 300 321 328 +f 304 286 329 +f 283 304 329 +f 286 308 329 +f 308 275 329 +f 275 314 329 +f 314 283 329 +f 283 275 330 +f 275 293 330 +f 270 302 330 +f 302 283 330 +f 293 311 330 +f 311 270 330 +f 302 269 331 +f 281 302 331 +f 269 305 331 +f 313 281 331 +o convex_7 +v 1.309232 0.089700 1.254199 +v -0.668267 0.260156 -0.689545 +v -0.668267 0.430646 -0.689545 +v -1.418491 0.123778 1.151755 +v 0.729641 0.430646 1.390584 +v 1.343279 0.089700 -0.518805 +v 1.616051 0.430646 0.333859 +v -1.657217 0.430646 0.367593 +v -1.554677 0.089700 -0.416568 +v 0.968367 0.430646 -0.621249 +v 2.025410 0.089700 0.299711 +v -1.077225 0.430646 1.219844 +v -2.066575 0.089700 0.401327 +v 0.456869 0.089700 1.424731 +v 0.729641 0.089700 -0.689338 +v 1.173046 0.430646 1.220051 +v -1.111672 0.430646 -0.552953 +v -0.838900 0.089700 -0.655190 +v -2.032128 0.123778 0.231415 +v -0.770807 0.089700 1.288140 +v 1.104553 0.430646 -0.552746 +v 1.547958 0.123778 1.117814 +v 2.025410 0.123778 0.299711 +v 0.559008 0.396501 1.424731 +v 0.627101 0.430646 -0.689338 +v -2.066575 0.123778 0.401327 +v -1.486584 0.123778 -0.484864 +v -1.418491 0.089700 1.151755 +v -1.657217 0.430646 0.299711 +v -0.804853 0.191967 1.288140 +v 1.991363 0.123778 0.401534 +v 0.627101 0.089700 1.424731 +v 1.411372 0.123778 -0.450509 +v -0.941039 0.430646 1.253992 +v -0.872546 0.430646 -0.655190 +f 349 358 366 +f 334 336 338 +f 336 334 339 +f 337 332 340 +f 334 338 341 +f 332 337 342 +f 336 339 343 +f 340 332 344 +f 344 332 345 +f 333 334 346 +f 337 340 346 +f 341 337 346 +f 336 332 347 +f 338 336 347 +f 339 334 348 +f 333 346 349 +f 346 340 349 +f 340 344 350 +f 344 345 351 +f 337 341 352 +f 341 338 352 +f 332 342 353 +f 347 332 353 +f 352 338 354 +f 334 341 356 +f 346 334 356 +f 341 346 356 +f 335 343 357 +f 343 339 357 +f 344 335 357 +f 350 344 357 +f 349 340 358 +f 340 350 358 +f 350 348 358 +f 335 344 359 +f 344 351 359 +f 339 348 360 +f 348 350 360 +f 357 339 360 +f 350 357 360 +f 351 345 361 +f 345 355 361 +f 335 359 361 +f 359 351 361 +f 338 347 362 +f 353 342 362 +f 347 353 362 +f 342 354 362 +f 354 338 362 +f 332 336 363 +f 345 332 363 +f 336 355 363 +f 355 345 363 +f 342 337 364 +f 337 352 364 +f 354 342 364 +f 352 354 364 +f 343 335 365 +f 336 343 365 +f 355 336 365 +f 335 361 365 +f 361 355 365 +f 334 333 366 +f 348 334 366 +f 333 349 366 +f 358 348 366 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/358/358.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/358/358.urdf new file mode 100644 index 000000000..c7ff72b33 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/358/358.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/359/359.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/359/359.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/359/359.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/359/359.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/359/359.obj new file mode 100644 index 000000000..0f94834b4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/359/359.obj @@ -0,0 +1,561 @@ +o convex_0 +v 1.043747 0.470275 -2.658097 +v -1.070081 -0.456882 -1.953785 +v -1.032836 -1.643189 -3.140314 +v 0.969465 -1.680241 -1.249278 +v 0.932220 -1.643189 -3.251655 +v -1.032836 0.432795 -3.251655 +v -1.070081 0.395957 -1.249278 +v -0.921517 -1.717721 -1.249278 +v 1.043747 0.395957 -1.249082 +v 1.006502 0.470275 -3.103070 +v -0.291259 0.470275 -3.140314 +v -0.958761 -1.680241 -1.323375 +v 0.969465 -1.680241 -1.916737 +v 1.043747 -0.234356 -1.249082 +v -0.291259 -0.049095 -3.251655 +v 0.376244 -1.680241 -2.620852 +v -1.032836 0.062275 -3.251655 +v -0.439616 0.432795 -1.731299 +v 0.598469 -1.643189 -3.251655 +v 0.969465 -0.938772 -3.214411 +v -1.070081 0.395957 -2.250369 +v -1.032836 0.432795 -2.213516 +v -0.995799 -1.680241 -2.546952 +v -1.032836 -1.643189 -2.732390 +v -1.070081 0.062275 -1.249278 +v 1.006502 -0.234356 -3.140314 +v -0.699085 -1.717721 -1.434520 +v 1.043747 0.433009 -1.731495 +v 0.450112 0.470061 -2.546952 +v -0.773160 0.432795 -3.251655 +v 0.709788 -1.124032 -3.251655 +v 1.006502 -1.124032 -1.286326 +v 0.969465 -1.049928 -3.214411 +v -1.032836 -1.124247 -3.177362 +f 21 17 34 +f 1 10 11 +f 8 4 14 +f 1 9 14 +f 9 7 14 +f 5 6 15 +f 5 13 16 +f 6 5 17 +f 5 16 19 +f 17 5 19 +f 3 2 21 +f 7 6 21 +f 2 7 21 +f 6 17 21 +f 6 7 22 +f 11 6 22 +f 7 18 22 +f 18 11 22 +f 8 12 23 +f 3 19 23 +f 19 16 23 +f 2 3 24 +f 3 23 24 +f 23 12 24 +f 7 2 25 +f 12 8 25 +f 8 14 25 +f 14 7 25 +f 2 24 25 +f 24 12 25 +f 10 1 26 +f 1 14 26 +f 20 10 26 +f 4 8 27 +f 13 4 27 +f 16 13 27 +f 8 23 27 +f 23 16 27 +f 9 1 28 +f 7 9 28 +f 18 7 28 +f 18 28 29 +f 1 11 29 +f 11 18 29 +f 28 1 29 +f 6 11 30 +f 11 10 30 +f 15 6 30 +f 10 15 30 +f 5 15 31 +f 15 10 31 +f 10 20 31 +f 20 5 31 +f 4 13 32 +f 14 4 32 +f 26 14 32 +f 13 26 32 +f 13 5 33 +f 5 20 33 +f 26 13 33 +f 20 26 33 +f 19 3 34 +f 17 19 34 +f 3 21 34 +o convex_1 +v 0.227703 -3.757379 -0.469999 +v -0.884593 0.469985 0.975999 +v -0.921648 0.469985 0.975999 +v 0.969444 0.989461 -1.211838 +v -1.070081 0.395641 -1.249082 +v 1.080821 -3.497641 0.827457 +v -1.070081 -3.683036 0.901728 +v 0.969444 0.989461 0.827457 +v -1.070081 -3.645399 -1.137784 +v 1.006499 -3.608227 -1.137784 +v -1.070081 0.989461 0.234160 +v 0.932388 -1.606061 0.975999 +v 1.043555 -0.271593 -1.249082 +v -1.070081 0.989461 -1.174811 +v -1.032815 0.989461 0.827457 +v -0.921648 -1.717111 -1.249082 +v 0.969444 0.358470 0.975999 +v 1.043555 -3.645864 0.753404 +v 1.043555 0.840774 -0.803892 +v 0.858277 -3.497177 -1.174811 +v -0.958704 -1.568889 0.975999 +v -0.439506 -3.757379 0.345458 +v 0.969444 -1.679940 -1.249082 +v 1.080821 -3.608692 0.419511 +v -0.550883 -3.683036 0.901728 +v 1.043555 0.618208 -1.249082 +v -0.995759 -3.683036 -1.063296 +v 0.969444 -3.645399 -1.137784 +v -0.995759 0.469520 0.975999 +v -0.773216 0.989461 -1.211838 +v -0.328340 -2.904286 0.938755 +v 0.561412 -3.720207 0.234160 +v 1.006499 0.989461 0.048592 +v 1.080821 -3.348954 0.827457 +v 1.043555 0.951825 -1.211620 +v -0.365395 -3.757379 -0.210377 +v -0.031475 -3.757379 0.271187 +v -0.847327 -3.720207 0.716377 +v 0.821222 -3.645399 0.827457 +v -1.070081 -3.683036 -0.618541 +f 56 72 74 +f 37 36 42 +f 41 39 43 +f 39 41 45 +f 42 38 45 +f 36 37 46 +f 45 38 48 +f 39 45 48 +f 37 42 49 +f 45 41 49 +f 42 45 49 +f 43 39 50 +f 39 47 50 +f 42 36 51 +f 36 46 51 +f 46 40 51 +f 43 50 54 +f 46 37 55 +f 47 44 57 +f 50 47 57 +f 44 54 57 +f 54 50 57 +f 44 47 58 +f 40 52 58 +f 40 46 59 +f 47 39 60 +f 58 47 60 +f 43 54 62 +f 54 44 62 +f 44 58 62 +f 58 52 62 +f 61 43 62 +f 35 61 62 +f 37 49 63 +f 49 41 63 +f 55 37 63 +f 41 55 63 +f 48 38 64 +f 39 48 64 +f 38 60 64 +f 60 39 64 +f 55 41 65 +f 46 55 65 +f 41 59 65 +f 59 46 65 +f 35 62 66 +f 62 52 66 +f 38 42 67 +f 53 67 68 +f 42 51 68 +f 51 40 68 +f 40 58 68 +f 67 42 68 +f 60 38 69 +f 58 60 69 +f 38 67 69 +f 67 53 69 +f 53 68 69 +f 68 58 69 +f 35 56 70 +f 61 35 70 +f 56 35 71 +f 35 66 71 +f 66 52 71 +f 59 41 72 +f 56 71 72 +f 71 59 72 +f 52 40 73 +f 40 59 73 +f 71 52 73 +f 59 71 73 +f 41 43 74 +f 43 61 74 +f 70 56 74 +f 61 70 74 +f 72 41 74 +o convex_2 +v -1.106955 1.546099 0.160107 +v -0.699132 4.438337 0.975999 +v 0.339058 4.401206 0.901728 +v -0.995788 4.363736 -1.249082 +v 1.006481 0.989795 -1.211838 +v 0.969425 0.989795 0.827457 +v 0.969425 4.363736 -1.137567 +v -1.069899 0.990133 -1.174811 +v -1.032843 0.990133 0.827457 +v 1.043536 4.401206 0.827457 +v -1.032843 4.141282 0.975999 +v -1.106955 2.731957 0.864702 +v -0.995788 4.438337 0.308431 +v 0.895314 4.363736 -1.174593 +v -1.032843 4.067018 -0.951998 +v -0.736188 0.990133 -1.211838 +v 1.006481 0.989795 0.048809 +v 1.043536 4.401206 0.493782 +v 1.006481 1.620025 -1.211838 +v -0.995788 4.400868 -0.989460 +v 0.116513 4.438337 0.827457 +v -0.662076 4.141282 -1.249082 +v -1.106955 2.621574 0.419729 +v -0.995788 4.438337 0.975999 +v 0.858258 4.215546 0.864484 +v -1.106955 1.991007 0.864702 +v 1.043536 4.067018 0.827457 +v 1.006481 4.401206 -0.062488 +v -1.069899 0.990133 0.271187 +v -1.069899 1.212587 -1.174811 +v -0.884621 4.104150 0.975999 +v -0.995788 4.029886 -1.249082 +v -1.106955 1.435041 -0.062488 +v 1.043536 3.955960 0.419511 +v -0.699132 4.363736 -1.249082 +v -1.032843 3.362525 -1.211838 +f 104 89 110 +f 79 80 82 +f 76 77 84 +f 86 85 89 +f 79 82 90 +f 80 79 91 +f 88 81 93 +f 81 92 93 +f 85 87 94 +f 78 89 94 +f 89 85 94 +f 76 84 95 +f 87 76 95 +f 84 92 95 +f 93 79 96 +f 75 86 97 +f 86 89 97 +f 85 76 98 +f 76 87 98 +f 87 85 98 +f 77 76 99 +f 76 80 99 +f 84 77 99 +f 83 85 100 +f 85 86 100 +f 86 75 100 +f 80 91 101 +f 92 84 101 +f 99 80 101 +f 84 99 101 +f 81 88 102 +f 92 81 102 +f 94 87 102 +f 88 94 102 +f 87 95 102 +f 95 92 102 +f 82 80 103 +f 80 83 103 +f 100 75 103 +f 83 100 103 +f 78 82 104 +f 97 89 104 +f 80 76 105 +f 83 80 105 +f 76 85 105 +f 85 83 105 +f 82 78 106 +f 79 90 106 +f 90 82 106 +f 78 96 106 +f 96 79 106 +f 75 97 107 +f 103 75 107 +f 82 103 107 +f 104 82 107 +f 97 104 107 +f 91 79 108 +f 79 93 108 +f 93 92 108 +f 101 91 108 +f 92 101 108 +f 88 93 109 +f 78 94 109 +f 94 88 109 +f 96 78 109 +f 93 96 109 +f 89 78 110 +f 78 104 110 +o convex_3 +v 0.190683 -3.571633 2.162644 +v -0.328322 -2.422581 1.495185 +v -0.328322 -2.422581 1.569471 +v 0.339072 -1.717721 2.162644 +v -0.328322 -1.717721 2.162644 +v 0.190683 -3.683018 1.532361 +v -0.217111 -3.683018 2.125534 +v 0.227796 -1.717721 1.643625 +v -0.291273 -3.683018 1.532361 +v -0.328322 -1.717721 1.495185 +v 0.227796 -3.571633 1.569471 +v -0.179997 -1.903363 1.495185 +v -0.254094 -3.163799 2.162644 +v 0.227796 -2.830030 1.569471 +v -0.254094 -3.200928 1.495185 +v 0.339072 -1.792170 2.088424 +v 0.227796 -3.274992 2.162644 +v -0.105835 -3.683018 2.162644 +v -0.328322 -1.903363 2.162644 +v 0.227796 -2.051683 1.606515 +v 0.190683 -3.683018 1.754825 +f 128 116 131 +f 111 114 115 +f 112 113 115 +f 115 114 118 +f 113 112 119 +f 116 117 119 +f 112 115 120 +f 115 118 120 +f 112 120 122 +f 120 118 122 +f 111 115 123 +f 119 117 123 +f 121 116 124 +f 116 122 124 +f 119 112 125 +f 116 119 125 +f 112 122 125 +f 122 116 125 +f 118 114 126 +f 121 124 126 +f 114 111 127 +f 111 121 127 +f 126 114 127 +f 121 126 127 +f 117 116 128 +f 111 123 128 +f 123 117 128 +f 115 113 129 +f 113 119 129 +f 123 115 129 +f 119 123 129 +f 122 118 130 +f 124 122 130 +f 118 126 130 +f 126 124 130 +f 121 111 131 +f 116 121 131 +f 111 128 131 +o convex_4 +v 0.190715 0.470275 2.199620 +v -1.032706 -1.643189 2.347763 +v -0.328360 -1.717721 1.495269 +v 1.006463 -1.569085 2.904356 +v 0.969528 0.358691 0.976192 +v -0.995772 0.470275 0.975999 +v -0.995772 0.395957 2.867224 +v 0.895261 -1.643189 0.976192 +v 0.932394 0.432795 2.792960 +v -0.958638 -1.569085 0.975999 +v -1.032706 -1.643189 2.941488 +v 0.487387 -1.717721 2.310823 +v -1.032706 0.321853 2.867224 +v 0.969528 0.099327 2.830092 +v 0.969528 -1.606137 1.569532 +v 0.227849 0.470275 1.495461 +v -0.995772 -1.569085 1.050263 +v -0.402628 -1.643189 2.941488 +v 1.006463 -1.606351 2.533422 +v -0.402628 -1.717721 2.273884 +v 0.598589 0.432795 2.830092 +v 0.969528 -0.420044 0.976192 +v -0.365494 0.470275 2.125549 +v -0.958638 -1.235403 2.941488 +v -0.884570 -1.606137 1.013131 +v 0.969528 0.395957 1.384258 +v -1.032706 -1.495195 2.088224 +v 0.487387 -1.717721 1.754999 +v 1.006463 -1.161084 2.867032 +v 0.895261 -1.606137 2.904356 +v 0.784059 0.395957 1.013324 +v 0.932394 -1.606137 0.976192 +v -0.847436 -1.680241 2.718889 +v 0.969528 0.395957 2.088224 +v -0.624832 0.321853 2.867224 +v 0.932394 0.432795 2.236559 +v 0.895261 -1.457715 2.904356 +v -0.995772 0.470275 1.198598 +v 0.227849 0.432795 2.830092 +v -0.995772 -1.086980 0.975999 +f 148 158 171 +f 137 136 141 +f 133 142 144 +f 137 132 147 +f 132 140 147 +f 143 139 150 +f 139 146 150 +f 134 143 151 +f 140 132 152 +f 145 140 152 +f 141 136 153 +f 136 150 153 +f 150 146 153 +f 132 137 154 +f 138 144 155 +f 144 142 155 +f 142 149 155 +f 134 133 156 +f 139 134 156 +f 141 139 156 +f 133 148 156 +f 148 141 156 +f 133 144 158 +f 144 137 158 +f 148 133 158 +f 134 139 159 +f 143 134 159 +f 139 143 159 +f 145 135 160 +f 135 150 160 +f 150 136 160 +f 136 157 160 +f 135 149 161 +f 149 143 161 +f 150 135 161 +f 143 150 161 +f 136 137 162 +f 137 147 162 +f 157 136 162 +f 147 157 162 +f 139 141 163 +f 146 139 163 +f 141 153 163 +f 153 146 163 +f 133 134 164 +f 142 133 164 +f 149 142 164 +f 143 149 164 +f 134 151 164 +f 151 143 164 +f 140 145 165 +f 157 140 165 +f 145 160 165 +f 160 157 165 +f 152 138 166 +f 138 155 166 +f 147 140 167 +f 140 157 167 +f 157 147 167 +f 135 145 168 +f 149 135 168 +f 145 152 168 +f 155 149 168 +f 152 166 168 +f 166 155 168 +f 137 144 169 +f 144 138 169 +f 154 137 169 +f 138 154 169 +f 152 132 170 +f 138 152 170 +f 132 154 170 +f 154 138 170 +f 137 141 171 +f 141 148 171 +f 158 137 171 +o convex_5 +v -0.365472 0.470275 2.014356 +v 0.190770 2.398679 2.199794 +v 0.227883 2.175939 1.828984 +v -0.365472 2.398679 1.680659 +v 0.227883 0.470275 1.532270 +v 0.190770 0.470275 2.199794 +v -0.217133 2.287309 2.125501 +v -0.291186 0.470275 1.643611 +v 0.227883 2.287309 1.606497 +v -0.365472 0.544459 2.125501 +v -0.328358 2.398679 1.643611 +v -0.031738 0.989563 2.199794 +v 0.079545 0.581646 1.532270 +v -0.142963 2.324495 2.162681 +v 0.190770 1.100744 1.532270 +v 0.227883 0.544459 1.866032 +v -0.328358 0.470275 1.680659 +v -0.254188 0.470275 2.162681 +v -0.365472 2.398679 1.717773 +v 0.190770 2.398679 2.014356 +v -0.365472 1.694027 1.680659 +v 0.079545 2.398679 2.199794 +f 190 185 193 +f 172 176 177 +f 176 172 179 +f 173 174 180 +f 174 176 180 +f 175 172 181 +f 175 173 182 +f 177 173 183 +f 176 179 184 +f 179 182 184 +f 178 181 185 +f 180 176 186 +f 182 180 186 +f 176 184 186 +f 184 182 186 +f 174 173 187 +f 176 174 187 +f 177 176 187 +f 173 177 187 +f 179 172 188 +f 172 177 189 +f 181 172 189 +f 177 183 189 +f 185 181 189 +f 183 185 189 +f 173 175 190 +f 175 181 190 +f 181 178 190 +f 178 185 190 +f 173 180 191 +f 182 173 191 +f 180 182 191 +f 172 175 192 +f 175 182 192 +f 182 179 192 +f 188 172 192 +f 179 188 192 +f 183 173 193 +f 185 183 193 +f 173 190 193 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/359/359.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/359/359.urdf new file mode 100644 index 000000000..336e3f1d0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/359/359.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/360/360.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/360/360.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/360/360.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/360/360.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/360/360.obj new file mode 100644 index 000000000..221c4be36 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/360/360.obj @@ -0,0 +1,3558 @@ +o convex_0 +v -1.016928 0.066839 -0.788875 +v -0.948110 0.066839 -0.972252 +v -0.948110 0.089768 -0.972252 +v -0.237501 0.066839 -0.834686 +v -0.718844 0.364855 -0.628387 +v -0.237501 0.364855 -0.926374 +v -0.718844 0.066839 -0.628387 +v -0.718844 0.364855 -0.765953 +f 5 6 8 +f 3 2 1 +f 1 2 4 +f 2 3 6 +f 4 2 6 +f 5 4 6 +f 1 4 7 +f 5 1 7 +f 4 5 7 +f 3 1 8 +f 1 5 8 +f 6 3 8 +o convex_1 +v 0.473171 1.235980 -2.026771 +v 0.794094 1.327695 -1.270268 +v 0.794094 1.235980 -1.270268 +v 0.243910 1.235980 -1.270268 +v 0.541890 1.511071 -1.293298 +v 0.702325 1.258949 -1.797509 +v 0.266852 1.258949 -1.659849 +v 0.679436 1.511071 -1.270268 +f 14 9 16 +f 11 10 12 +f 9 11 12 +f 11 9 14 +f 10 11 14 +f 9 12 15 +f 13 9 15 +f 12 13 15 +f 12 10 16 +f 9 13 16 +f 13 12 16 +f 10 14 16 +o convex_2 +v 1.435995 1.854829 0.724005 +v 1.504740 1.511071 -0.215749 +v 1.458903 2.084175 -0.055207 +v 1.596414 1.534059 -0.032301 +v 1.367251 1.511071 0.792921 +v 1.413088 2.107104 0.701098 +v 1.504740 2.107104 -0.055207 +v 1.367251 2.107104 0.655187 +v 1.458903 1.511071 0.724005 +f 21 18 25 +f 19 18 21 +f 17 20 22 +f 21 17 22 +f 18 19 23 +f 20 18 23 +f 22 20 23 +f 22 23 24 +f 19 21 24 +f 21 22 24 +f 23 19 24 +f 18 20 25 +f 20 17 25 +f 17 21 25 +o convex_3 +v -0.558450 0.364855 0.128098 +v -0.741827 0.066839 -0.628387 +v -0.741827 0.364855 -0.628387 +v -0.787684 0.066839 0.655375 +v -0.512592 0.066839 -0.055243 +v -0.787684 0.364855 0.609509 +v -0.512592 0.364855 -0.055243 +v -0.741827 0.273111 0.655375 +v -0.695942 0.364855 -0.605391 +f 32 30 34 +f 29 27 30 +f 26 28 31 +f 28 27 31 +f 27 29 31 +f 28 26 32 +f 26 30 32 +f 30 26 33 +f 29 30 33 +f 26 31 33 +f 31 29 33 +f 27 28 34 +f 30 27 34 +f 28 32 34 +o convex_4 +v -0.810539 0.181425 0.655375 +v 0.450229 0.364855 0.976298 +v 0.450229 0.089710 0.976298 +v -0.489751 0.364855 0.861638 +v -0.237393 -0.529193 0.884601 +v 0.427206 -0.529193 0.907502 +v -0.741726 0.364855 0.655375 +v -0.833434 0.066781 0.747103 +v -0.145812 -0.483336 0.792936 +v 0.450229 0.181425 0.930434 +v -0.283311 0.341927 0.907502 +v 0.404311 -0.529193 0.953334 +v -0.810539 0.066781 0.655375 +v 0.427206 -0.070967 0.907502 +f 41 44 48 +f 38 36 41 +f 38 41 42 +f 39 38 42 +f 41 35 42 +f 40 39 43 +f 41 40 43 +f 36 37 44 +f 37 40 44 +f 41 36 44 +f 37 36 45 +f 36 38 45 +f 38 39 45 +f 45 39 46 +f 40 37 46 +f 39 40 46 +f 37 45 46 +f 35 41 47 +f 42 35 47 +f 39 42 47 +f 43 39 47 +f 41 43 47 +f 40 41 48 +f 44 40 48 +o convex_5 +v 3.361618 -1.675178 -0.651257 +v 3.476190 -0.735512 -0.032355 +v 3.499092 -0.850280 -0.399256 +v 3.315814 -0.735512 -0.788817 +v 3.201148 -1.950501 -0.032431 +v 3.522088 -1.721204 -0.078284 +v 3.499092 -1.010716 -0.765852 +v 3.201148 -1.400331 -0.811781 +v 3.522088 -1.560768 -0.582516 +v 3.201148 -1.721204 -0.697034 +v 3.499092 -0.758585 -0.697034 +v 3.292850 -1.950501 -0.032431 +v 3.453257 -0.735512 -0.032355 +v 3.499155 -1.766992 -0.032431 +f 60 57 62 +f 51 50 54 +f 55 49 56 +f 53 52 56 +f 52 55 56 +f 51 54 57 +f 49 55 57 +f 56 49 58 +f 53 56 58 +f 50 51 59 +f 52 50 59 +f 55 52 59 +f 51 57 59 +f 57 55 59 +f 50 53 60 +f 49 57 60 +f 58 49 60 +f 53 58 60 +f 50 52 61 +f 52 53 61 +f 53 50 61 +f 54 50 62 +f 57 54 62 +f 50 60 62 +o convex_6 +v 3.430328 -1.812920 0.105221 +v 3.292879 -1.331530 0.815845 +v 3.247021 -1.331530 0.815845 +v 3.476186 -0.666869 -0.032188 +v 3.247021 -1.950405 -0.032355 +v 3.499139 -0.896054 0.746933 +v 3.315808 -0.666869 0.746933 +v 3.499090 -1.560714 0.540529 +v 3.499090 -1.767006 -0.032355 +v 3.269950 -1.744113 0.701186 +v 3.499139 -0.666869 0.678187 +v 3.453282 -0.666869 -0.032188 +f 66 71 74 +f 65 64 69 +f 67 65 69 +f 64 68 69 +f 68 64 70 +f 68 70 71 +f 63 67 71 +f 70 63 71 +f 64 65 72 +f 67 63 72 +f 65 67 72 +f 70 64 72 +f 63 70 72 +f 66 69 73 +f 69 68 73 +f 68 71 73 +f 71 66 73 +f 69 66 74 +f 67 69 74 +f 71 67 74 +o convex_7 +v 0.519006 1.029611 -2.920649 +v 0.496078 0.662928 -1.408018 +v 0.496078 0.731698 -2.026993 +v 0.794094 1.052498 -1.316294 +v 0.496078 1.235868 -1.958200 +v 0.794094 1.235868 -1.270432 +v 0.610722 0.960841 -2.783062 +v 0.679450 0.731698 -1.270432 +v 0.496078 1.190039 -2.760131 +v 0.496078 0.685870 -1.270432 +v 0.496078 0.823411 -2.645476 +v 0.610722 1.144211 -2.576683 +v 0.748236 1.235868 -1.270432 +v 0.587793 0.754641 -2.072855 +f 77 85 88 +f 77 76 79 +f 80 78 81 +f 81 78 82 +f 78 80 82 +f 77 79 83 +f 79 80 83 +f 79 76 84 +f 76 82 84 +f 82 80 84 +f 75 81 85 +f 83 75 85 +f 77 83 85 +f 81 75 86 +f 80 81 86 +f 75 83 86 +f 83 80 86 +f 80 79 87 +f 79 84 87 +f 84 80 87 +f 76 77 88 +f 81 82 88 +f 82 76 88 +f 85 81 88 +o convex_8 +v 1.642294 1.121284 -0.055234 +v 1.665250 0.387883 0.311510 +v 1.642294 0.387883 0.311510 +v 1.642294 0.364929 -0.330371 +v 1.940281 0.387883 -0.078167 +v 1.917354 0.364929 0.013377 +v 1.665250 1.098330 -0.009430 +v 1.665250 0.433716 -0.330371 +f 93 92 96 +f 91 89 92 +f 90 91 94 +f 91 92 94 +f 92 93 94 +f 94 93 95 +f 89 91 95 +f 91 90 95 +f 93 89 95 +f 90 94 95 +f 92 89 96 +f 89 93 96 +o convex_9 +v 0.404450 1.281873 1.984916 +v 0.771170 1.304782 1.389019 +v 0.771170 1.281873 1.389019 +v 0.198061 1.281873 1.274401 +v 0.450283 1.511071 1.274401 +v 0.725281 1.488118 1.274401 +v 0.656503 1.304782 1.824466 +v 0.198061 1.304782 1.526587 +v 0.771170 1.281873 1.274401 +v 0.404450 1.327713 1.916132 +f 101 104 106 +f 99 97 100 +f 100 101 102 +f 97 99 103 +f 99 98 103 +f 98 102 103 +f 100 97 104 +f 101 100 104 +f 98 99 105 +f 99 100 105 +f 102 98 105 +f 100 102 105 +f 102 101 106 +f 97 103 106 +f 103 102 106 +f 104 97 106 +o convex_10 +v 0.381400 0.846239 -2.874970 +v 0.496078 0.685827 -1.270268 +v 0.175169 0.869166 -1.270268 +v 0.198091 0.685827 -1.316135 +v 0.496078 0.869166 -2.622547 +v 0.450200 0.617048 -1.293201 +v 0.243935 0.869166 -2.599614 +v 0.358478 0.777484 -2.714437 +v 0.496078 0.800386 -2.599614 +f 112 114 115 +f 109 108 111 +f 108 109 112 +f 109 110 112 +f 110 109 113 +f 111 107 113 +f 109 111 113 +f 112 110 114 +f 110 113 114 +f 113 107 114 +f 107 111 115 +f 111 108 115 +f 108 112 115 +f 114 107 115 +o convex_11 +v 0.473102 1.235980 -2.255760 +v 0.381413 0.869190 -2.897704 +v 0.381413 0.892133 -2.943557 +v 0.129360 0.915039 -1.270268 +v 0.221049 1.029679 -2.828924 +v 0.243953 1.235980 -1.270268 +v 0.496078 0.869190 -2.668438 +v 0.450198 1.213001 -2.805998 +v 0.496078 1.213001 -1.981167 +v 0.175204 0.869190 -1.270268 +v 0.243953 0.869190 -2.645512 +v 0.496078 1.029679 -2.966484 +v 0.243953 1.235980 -1.637268 +v 0.404353 1.029679 -3.058190 +v 0.289797 1.144282 -2.668438 +f 128 123 130 +f 117 118 122 +f 116 121 124 +f 123 116 124 +f 121 119 125 +f 117 122 125 +f 122 124 125 +f 124 121 125 +f 118 117 126 +f 119 120 126 +f 120 118 126 +f 117 125 126 +f 125 119 126 +f 122 118 127 +f 124 122 127 +f 123 124 127 +f 120 119 128 +f 121 116 128 +f 119 121 128 +f 116 123 128 +f 118 120 129 +f 120 123 129 +f 127 118 129 +f 123 127 129 +f 123 120 130 +f 120 128 130 +o convex_12 +v 0.495992 3.505326 -0.834769 +v -0.374961 1.511072 -0.857700 +v -0.374961 1.511072 -0.811880 +v 0.427264 1.511072 -1.201410 +v 0.106221 2.382474 -1.040935 +v -0.352109 2.198945 -0.811837 +v 0.495992 3.482204 -0.788864 +v 0.220910 1.557109 -1.201410 +v 0.427264 1.511072 -1.155548 +v 0.335513 3.596987 -0.811837 +v -0.374961 2.107284 -0.766018 +v 0.495992 2.405389 -1.063866 +v -0.329086 1.534193 -0.811880 +f 141 133 143 +f 133 132 134 +f 134 132 138 +f 132 136 138 +f 136 135 138 +f 133 134 139 +f 135 136 140 +f 137 131 140 +f 137 140 141 +f 132 133 141 +f 136 132 141 +f 140 136 141 +f 131 137 142 +f 134 138 142 +f 138 135 142 +f 139 134 142 +f 137 139 142 +f 140 131 142 +f 135 140 142 +f 133 139 143 +f 139 137 143 +f 137 141 143 +o convex_13 +v 1.367153 2.107104 -0.788857 +v 1.138008 3.505487 -0.444992 +v 1.092110 3.505487 -0.444992 +v 1.092110 3.344788 -0.880519 +v 1.092110 2.107104 -0.949292 +v 1.390086 2.107104 -0.444992 +v 1.206776 3.299070 -0.857630 +v 1.344251 2.772075 -0.444992 +v 1.115075 2.198951 -0.995176 +v 1.229678 3.436636 -0.444992 +v 1.413051 2.221948 -0.490877 +f 150 151 154 +f 146 145 147 +f 146 147 148 +f 146 148 149 +f 145 146 149 +f 148 144 149 +f 147 145 150 +f 145 149 151 +f 144 148 152 +f 148 147 152 +f 150 144 152 +f 147 150 152 +f 150 145 153 +f 145 151 153 +f 151 150 153 +f 149 144 154 +f 144 150 154 +f 151 149 154 +o convex_14 +v 0.312620 3.551323 0.701262 +v -0.397886 2.107104 0.678376 +v -0.397886 2.107104 0.724186 +v 0.473068 2.107104 1.045051 +v 0.152172 2.175962 1.045051 +v 0.473068 3.574175 0.678376 +v 0.358402 3.459462 0.770035 +v 0.473068 2.565658 0.907505 +v -0.352019 2.221817 0.747111 +v 0.473068 2.153110 1.068013 +v -0.352019 2.130107 0.678376 +v 0.129239 2.359384 0.999202 +v 0.473068 3.551323 0.747111 +v -0.191571 2.657519 0.678376 +f 157 163 168 +f 157 156 158 +f 157 158 159 +f 160 158 162 +f 157 159 163 +f 161 155 163 +f 159 158 164 +f 158 160 164 +f 161 159 164 +f 158 156 165 +f 156 160 165 +f 162 158 165 +f 160 162 165 +f 159 161 166 +f 163 159 166 +f 161 163 166 +f 160 155 167 +f 155 161 167 +f 164 160 167 +f 161 164 167 +f 156 157 168 +f 160 156 168 +f 155 160 168 +f 163 155 168 +o convex_15 +v -1.933997 -1.904639 -1.843466 +v -1.567185 -1.950463 -1.660067 +v -2.277633 -1.767107 -1.660067 +v -1.567185 -1.767107 -2.531021 +v -2.254753 -1.790069 -2.003929 +v -1.590139 -1.973426 -2.026865 +v -1.842257 -1.950463 -1.660067 +v -1.658925 -1.767107 -2.301750 +v -2.323614 -1.812971 -1.660067 +v -1.590139 -1.790069 -2.531021 +f 174 173 178 +f 171 172 173 +f 172 170 174 +f 169 173 174 +f 170 171 175 +f 174 170 175 +f 169 174 175 +f 171 170 176 +f 172 171 176 +f 170 172 176 +f 173 169 177 +f 171 173 177 +f 175 171 177 +f 169 175 177 +f 173 172 178 +f 172 174 178 +o convex_16 +v -1.521227 -1.858831 -2.416325 +v -0.466744 -1.767151 -1.064099 +v -0.466744 -1.790060 -1.064099 +v -1.567111 -1.973396 -1.064099 +v -1.475342 -1.996350 -2.026667 +v -1.567111 -1.767151 -2.439175 +v -0.902432 -1.790060 -2.049518 +v -1.383573 -1.996350 -1.064099 +v -0.489686 -1.812991 -1.087100 +v -1.567111 -1.996350 -1.774713 +v -0.535571 -1.767151 -1.064099 +v -1.498285 -1.767151 -2.599879 +f 185 179 190 +f 181 180 182 +f 180 181 185 +f 183 179 185 +f 181 182 186 +f 186 183 187 +f 185 181 187 +f 183 185 187 +f 181 186 187 +f 179 183 188 +f 184 179 188 +f 182 184 188 +f 186 182 188 +f 183 186 188 +f 182 180 189 +f 180 184 189 +f 184 182 189 +f 184 180 190 +f 179 184 190 +f 180 185 190 +o convex_17 +v -2.552808 -1.033600 1.916213 +v -2.323643 -1.767107 1.916213 +v -2.346572 -1.744059 1.916213 +v -2.323643 -1.033600 2.741408 +v -2.300714 -1.262857 2.283092 +v -2.552808 -1.056576 2.053853 +v -2.323643 -1.767107 2.053853 +v -2.506975 -1.056576 1.916213 +v -2.300714 -1.033600 2.626789 +v -2.300714 -1.721155 1.916213 +f 195 199 200 +f 191 192 193 +f 191 193 196 +f 194 191 196 +f 194 196 197 +f 193 192 197 +f 196 193 197 +f 192 191 198 +f 195 198 199 +f 191 194 199 +f 194 197 199 +f 198 191 199 +f 199 197 200 +f 197 192 200 +f 192 198 200 +f 198 195 200 +o convex_18 +v -2.598706 -0.529139 0.471981 +v -2.300690 -0.093806 1.113862 +v -2.323618 -0.093806 1.113862 +v -2.506991 -1.033427 1.113862 +v -2.575777 -0.047971 1.067977 +v -2.529919 -1.033427 0.380283 +v -2.575777 -0.002035 0.380283 +v -2.300690 -0.231312 0.976208 +v -2.461133 -0.987491 0.884511 +v -2.529919 -1.033427 1.113862 +v -2.300690 -0.025053 0.999186 +v -2.598706 -0.025053 0.861604 +v -2.575777 -0.849986 0.380283 +f 206 210 213 +f 202 203 204 +f 203 202 205 +f 206 207 208 +f 202 204 208 +f 208 204 209 +f 204 206 209 +f 206 208 209 +f 204 203 210 +f 203 205 210 +f 206 204 210 +f 205 202 211 +f 208 207 211 +f 202 208 211 +f 207 201 212 +f 201 210 212 +f 210 205 212 +f 205 211 212 +f 211 207 212 +f 201 207 213 +f 207 206 213 +f 210 201 213 +o convex_19 +v -2.300714 -0.254252 1.778710 +v -2.529904 -1.033436 1.113862 +v -2.529904 -0.964625 1.113862 +v -2.323643 -1.033436 2.741488 +v -2.552808 -0.987532 2.053698 +v -2.300714 -0.208347 1.113862 +v -2.323643 -0.093631 1.113862 +v -2.300714 -1.033436 2.626777 +v -2.323643 -0.322971 2.030756 +v -2.484046 -0.987532 1.113862 +v -2.552808 -1.033436 2.053698 +v -2.552808 -1.010438 1.228573 +f 215 224 225 +f 215 216 219 +f 219 216 220 +f 214 219 220 +f 217 215 221 +f 219 214 221 +f 218 217 222 +f 214 220 222 +f 220 218 222 +f 217 221 222 +f 221 214 222 +f 215 219 223 +f 221 215 223 +f 219 221 223 +f 215 217 224 +f 217 218 224 +f 224 218 225 +f 216 215 225 +f 218 220 225 +f 220 216 225 +o convex_20 +v -0.191589 -1.744216 -1.018004 +v 0.519002 -1.950468 -0.032451 +v 0.450209 -1.950468 -0.032451 +v 0.519002 -1.698334 -0.788765 +v -0.237501 -1.950468 -0.078376 +v 0.106391 -1.927541 -0.468062 +v -0.214545 -1.698334 -0.972079 +v 0.519002 -1.767143 -0.765803 +v -0.237501 -1.858761 -0.811631 +v 0.519002 -1.996321 -0.078376 +v -0.237501 -1.996321 -0.101242 +f 231 235 236 +f 228 227 229 +f 228 229 230 +f 229 226 232 +f 230 229 232 +f 229 227 233 +f 226 229 233 +f 233 231 234 +f 232 226 234 +f 230 232 234 +f 226 233 234 +f 227 228 235 +f 233 227 235 +f 231 233 235 +f 228 230 236 +f 234 231 236 +f 230 234 236 +f 235 228 236 +o convex_21 +v 0.610699 -1.652427 -0.788924 +v -0.237501 -1.400376 -1.132722 +v -0.237501 -1.354502 -1.132722 +v -0.191587 -1.675346 -0.972216 +v 0.473124 -1.354502 -0.880604 +v 0.610699 -1.377456 -0.926443 +v -0.145756 -1.698300 -1.018055 +v 0.564786 -1.698300 -0.834764 +v 0.450209 -1.698300 -0.788924 +v -0.237501 -1.354502 -1.086815 +f 241 239 246 +f 239 241 242 +f 238 239 242 +f 241 237 242 +f 240 238 243 +f 238 242 243 +f 242 237 244 +f 243 242 244 +f 237 241 245 +f 241 240 245 +f 240 243 245 +f 243 244 245 +f 244 237 245 +f 239 238 246 +f 238 240 246 +f 240 241 246 +o convex_22 +v 1.619392 -1.583667 -0.857599 +v 3.201148 -1.354502 -0.788868 +v 3.201148 -1.377456 -0.765942 +v 0.610699 -1.354502 -0.880525 +v 2.994744 -1.698300 -0.674260 +v 2.421680 -1.377456 -0.903452 +v 0.610699 -1.698300 -0.788868 +v 2.673727 -1.698300 -0.765942 +v 0.610699 -1.377456 -0.926378 +v 3.155252 -1.629507 -0.674260 +v 0.610699 -1.675346 -0.834697 +v 3.177819 -1.675346 -0.720113 +v 0.610699 -1.652427 -0.788868 +v 3.086282 -1.354502 -0.834697 +f 258 252 260 +f 249 248 250 +f 251 253 254 +f 247 252 254 +f 250 252 255 +f 252 247 255 +f 253 250 255 +f 249 250 256 +f 254 253 257 +f 247 254 257 +f 255 247 257 +f 253 255 257 +f 248 249 258 +f 251 254 258 +f 254 252 258 +f 249 256 258 +f 256 251 258 +f 250 253 259 +f 253 251 259 +f 256 250 259 +f 251 256 259 +f 250 248 260 +f 252 250 260 +f 248 258 260 +o convex_23 +v -0.214536 -0.598058 -1.063987 +v -0.237501 -1.354390 -1.132700 +v -0.237501 -1.354390 -1.109760 +v 0.541926 -1.354390 -0.926455 +v -0.168683 -0.919014 -1.270232 +v 0.541926 -0.552118 -1.018143 +v -0.076976 -0.552118 -0.903515 +v 0.541926 -1.010503 -1.041083 +v 0.404367 -1.354390 -0.903515 +v 0.541926 -1.285597 -0.903515 +v -0.214536 -1.010503 -1.270232 +v -0.237501 -0.552118 -0.972299 +v 0.083548 -0.552118 -0.903515 +v -0.237501 -0.850221 -1.247292 +v -0.214536 -1.354390 -1.086891 +f 267 272 275 +f 263 262 264 +f 266 264 268 +f 265 266 268 +f 263 264 269 +f 267 269 270 +f 264 266 270 +f 269 264 270 +f 264 262 271 +f 268 264 271 +f 265 268 271 +f 262 263 272 +f 266 261 272 +f 267 266 272 +f 266 267 273 +f 267 270 273 +f 270 266 273 +f 261 266 274 +f 266 265 274 +f 271 262 274 +f 265 271 274 +f 262 272 274 +f 272 261 274 +f 263 269 275 +f 269 267 275 +f 272 263 275 +o convex_24 +v 0.060659 0.341877 -0.903508 +v -0.237501 -0.552118 -0.995160 +v 0.381402 -0.552118 -1.018100 +v -0.214536 -0.345763 -0.834724 +v 0.541926 0.364855 -0.995160 +v -0.237501 0.364855 -0.926412 +v 0.541926 -0.552118 -0.995160 +v 0.427255 0.364855 -1.018100 +v -0.191647 0.227256 -0.834724 +v 0.541926 0.364855 -0.972238 +v -0.099941 -0.529139 -0.880586 +f 282 279 286 +f 277 279 281 +f 277 278 282 +f 280 282 283 +f 278 277 283 +f 277 281 283 +f 281 280 283 +f 282 278 283 +f 281 279 284 +f 276 281 284 +f 281 276 285 +f 280 281 285 +f 279 282 285 +f 282 280 285 +f 276 284 285 +f 284 279 285 +f 279 277 286 +f 277 282 286 +o convex_25 +v 2.421528 -0.047756 -0.169941 +v 1.435975 0.250189 -0.788857 +v 1.435975 0.364855 -0.788857 +v 2.467469 -0.231159 -0.788857 +v 1.986051 0.364855 -0.055310 +v 1.550776 0.089719 -0.765901 +v 1.619536 0.341922 -0.307453 +v 2.421528 -0.277026 -0.765901 +v 2.444448 -0.001889 -0.032355 +v 2.444448 0.066722 -0.078266 +v 2.467469 -0.185293 -0.720064 +v 1.894574 0.341922 -0.032355 +v 1.482017 0.364855 -0.765901 +f 291 297 299 +f 288 289 290 +f 288 290 292 +f 289 288 293 +f 291 289 293 +f 288 292 293 +f 292 290 294 +f 287 292 294 +f 292 287 295 +f 287 294 295 +f 294 290 295 +f 291 295 296 +f 296 295 297 +f 295 290 297 +f 291 296 297 +f 291 293 298 +f 293 292 298 +f 295 291 298 +f 292 295 298 +f 290 289 299 +f 289 291 299 +f 297 290 299 +o convex_26 +v 2.719802 -0.368716 -0.788857 +v 3.201076 -0.001967 -0.032355 +v 2.948915 0.020948 -0.032355 +v 3.201076 -0.231121 -0.720064 +v 3.201076 -0.483345 -0.765901 +v 2.467569 -0.001967 -0.032355 +v 2.467569 -0.208309 -0.765901 +v 2.490617 0.043915 -0.055310 +v 3.201076 -0.047798 -0.055310 +v 2.490617 -0.299919 -0.765901 +v 3.155196 -0.001967 -0.101148 +v 3.132292 -0.483345 -0.765901 +f 305 309 311 +f 300 303 304 +f 303 301 304 +f 301 302 305 +f 303 300 306 +f 305 302 307 +f 306 305 307 +f 304 301 308 +f 301 305 308 +f 306 300 309 +f 305 306 309 +f 302 301 310 +f 301 303 310 +f 303 306 310 +f 306 307 310 +f 307 302 310 +f 300 304 311 +f 304 308 311 +f 308 305 311 +f 309 300 311 +o convex_27 +v -1.521151 -0.987772 -2.989549 +v -0.948211 -0.941887 -2.783235 +v -0.948211 -0.987772 -2.760387 +v -1.498264 -1.514827 -2.829102 +v -1.039924 -1.468999 -2.577006 +v -1.498264 -0.941887 -2.920749 +v -0.948211 -1.033600 -2.806168 +v -0.948211 -1.514827 -2.599939 +v -1.498264 -1.491941 -2.760387 +f 319 316 320 +f 313 312 317 +f 314 313 317 +f 316 314 317 +f 312 313 318 +f 313 314 318 +f 315 312 318 +f 314 316 319 +f 318 314 319 +f 315 318 319 +f 312 315 320 +f 317 312 320 +f 316 317 320 +f 315 319 320 +o convex_28 +v 3.338707 -0.277097 -0.628241 +v 3.292881 -0.735512 -0.788857 +v 3.361593 -0.735512 -0.788857 +v 3.453273 -0.735512 -0.032355 +v 3.201201 -0.001934 -0.032355 +v 3.476240 -0.162422 -0.055310 +v 3.476240 -0.689628 -0.697108 +v 3.201201 -0.254119 -0.742872 +v 3.201201 -0.529139 -0.765901 +v 3.476240 -0.368723 -0.582478 +v 3.247028 -0.024912 -0.146985 +v 3.476240 -0.735512 -0.032355 +f 327 326 332 +f 322 323 324 +f 323 322 328 +f 327 323 328 +f 322 324 329 +f 324 325 329 +f 328 322 329 +f 325 328 329 +f 321 326 330 +f 326 327 330 +f 328 321 330 +f 327 328 330 +f 326 321 331 +f 325 326 331 +f 321 328 331 +f 328 325 331 +f 324 323 332 +f 325 324 332 +f 326 325 332 +f 323 327 332 +o convex_29 +v 0.358453 -1.744245 0.746862 +v -1.567111 -2.019274 -0.055236 +v -1.567111 -2.019274 0.059394 +v 0.473084 -1.996287 -0.032141 +v -1.452281 -1.996316 1.022102 +v -0.604329 -1.744187 0.976228 +v -1.567111 -1.973387 -0.055236 +v 0.427151 -1.721258 0.632231 +v 0.473084 -1.927530 0.013732 +v -0.604329 -1.858860 1.022102 +v -1.475247 -1.950459 1.022102 +v -0.237470 -1.721258 0.861492 +v 0.450118 -1.767145 0.678104 +v 0.473084 -1.996287 -0.009257 +v -0.558597 -1.744187 1.022102 +f 344 338 347 +f 335 334 336 +f 334 335 339 +f 336 334 339 +f 339 340 341 +f 336 339 341 +f 335 337 343 +f 338 339 343 +f 339 335 343 +f 337 342 343 +f 339 338 344 +f 333 340 344 +f 340 339 344 +f 340 333 345 +f 341 340 345 +f 333 342 345 +f 345 342 346 +f 335 336 346 +f 337 335 346 +f 336 341 346 +f 342 337 346 +f 341 345 346 +f 342 333 347 +f 338 343 347 +f 343 342 347 +f 333 344 347 +o convex_30 +v -0.604247 -1.744113 0.999265 +v -0.237460 -1.033598 1.159649 +v -0.237460 -1.033598 1.113790 +v 0.519002 -1.721231 0.678300 +v -0.604247 -1.744113 1.182603 +v 0.519002 -1.377449 0.838832 +v 0.427219 -1.331547 0.792972 +v -0.581244 -1.721161 0.953406 +v -0.397908 -1.079500 1.136695 +v 0.519002 -1.721231 0.724208 +v 0.404331 -1.698280 0.678300 +f 355 354 358 +f 348 351 352 +f 349 352 353 +f 353 351 354 +f 350 349 354 +f 349 353 354 +f 351 348 355 +f 354 355 356 +f 349 350 356 +f 348 352 356 +f 352 349 356 +f 350 354 356 +f 355 348 356 +f 352 351 357 +f 353 352 357 +f 351 353 357 +f 354 351 358 +f 351 355 358 +o convex_31 +v 3.131742 -1.675378 0.678299 +v 1.963046 -0.987819 0.953391 +v 3.108746 -1.331598 0.838761 +v 0.519217 -1.721258 0.724184 +v 0.450229 -0.987819 0.907534 +v 2.604747 -1.675378 0.770015 +v 0.450229 -1.010723 0.953391 +v 0.519217 -1.698282 0.678299 +v 3.246996 -1.354502 0.770015 +v 3.246996 -1.721258 0.701242 +v 2.467044 -1.469096 0.838761 +v 1.963046 -1.056531 0.953391 +v 1.963046 -0.987819 0.930449 +f 360 367 371 +f 363 362 365 +f 360 363 365 +f 362 363 366 +f 366 363 367 +f 360 361 367 +f 359 366 367 +f 361 364 368 +f 364 362 368 +f 366 359 368 +f 362 366 368 +f 359 367 368 +f 367 361 368 +f 364 361 369 +f 362 364 369 +f 365 362 369 +f 365 369 370 +f 361 360 370 +f 360 365 370 +f 369 361 370 +f 363 360 371 +f 367 363 371 +o convex_32 +v 2.490395 -0.414572 0.769997 +v 1.894591 0.341891 -0.032198 +v 1.848684 0.341891 0.013586 +v 1.504925 0.364855 0.769997 +v 1.504925 0.089737 0.746987 +v 2.490395 -0.185230 0.678194 +v 2.421584 -0.001970 -0.032198 +v 2.009013 0.341891 -0.009345 +v 2.490395 0.020919 0.036517 +v 2.444488 -0.414572 0.746987 +v 1.642449 0.364855 0.219887 +v 2.444488 -0.208194 0.746987 +f 377 375 383 +f 372 375 376 +f 374 373 378 +f 376 374 378 +f 375 377 379 +f 378 373 379 +f 377 372 380 +f 372 378 380 +f 379 377 380 +f 378 379 380 +f 372 376 381 +f 378 372 381 +f 376 378 381 +f 373 374 382 +f 376 375 382 +f 374 376 382 +f 379 373 382 +f 375 379 382 +f 375 372 383 +f 372 377 383 +o convex_33 +v 2.490494 0.020937 -0.032198 +v 3.224072 -0.437442 0.769997 +v 3.178116 -0.276985 0.724056 +v 2.490494 -0.437442 0.769997 +v 2.490494 -0.208280 0.724056 +v 3.224072 -0.024939 -0.032198 +v 3.109325 -0.529139 0.746987 +v 3.224072 -0.002001 0.036517 +v 2.605241 -0.024939 -0.032198 +v 3.224072 -0.208280 0.655263 +v 2.559285 -0.460380 0.746987 +v 3.224072 -0.529139 0.769997 +f 390 389 395 +f 384 387 388 +f 385 386 388 +f 387 385 388 +f 384 388 391 +f 385 389 391 +f 389 384 391 +f 384 389 392 +f 389 390 392 +f 386 385 393 +f 388 386 393 +f 385 391 393 +f 391 388 393 +f 387 384 394 +f 390 387 394 +f 384 392 394 +f 392 390 394 +f 385 387 395 +f 389 385 395 +f 387 390 395 +o convex_34 +v -0.650089 1.442164 0.197002 +v -0.489718 0.617086 0.838684 +v -0.512682 0.617086 0.838684 +v -0.512644 0.365026 -0.032265 +v -0.375047 2.106933 0.609418 +v -0.764760 0.365026 0.701125 +v -0.512606 2.106933 -0.055279 +v -0.420938 2.061058 0.701212 +v -0.489718 0.365026 0.838684 +v -0.558497 0.365026 -0.032265 +v -0.558421 2.106933 -0.055279 +v -0.764722 0.365026 0.517712 +v -0.375047 2.015182 0.701212 +v -0.535533 2.106933 0.128222 +v -0.558535 1.373436 0.724051 +f 403 409 410 +f 400 399 402 +f 398 397 403 +f 397 398 404 +f 398 401 404 +f 401 399 404 +f 399 401 405 +f 402 399 405 +f 402 405 406 +f 400 402 406 +f 405 396 406 +f 401 396 407 +f 405 401 407 +f 396 405 407 +f 399 400 408 +f 400 403 408 +f 403 397 408 +f 397 404 408 +f 404 399 408 +f 396 401 409 +f 403 400 409 +f 400 406 409 +f 406 396 409 +f 401 398 410 +f 398 403 410 +f 409 401 410 +o convex_35 +v 3.315805 -0.299977 0.701125 +v 3.453284 -0.666739 -0.032198 +v 3.224072 -0.047812 -0.032198 +v 3.476197 -0.162409 0.082379 +v 3.224072 -0.552012 0.746987 +v 3.499110 -0.666739 0.678194 +v 3.224072 -0.208286 0.655263 +v 3.499110 -0.322883 0.563617 +v 3.292865 -0.666739 0.769997 +v 3.476197 -0.162409 -0.032198 +v 3.247039 -0.001934 0.036517 +v 3.476197 -0.666739 -0.032198 +f 420 418 422 +f 413 412 415 +f 415 411 417 +f 413 415 417 +f 411 416 418 +f 417 411 418 +f 411 415 419 +f 415 412 419 +f 412 416 419 +f 416 411 419 +f 412 413 420 +f 414 418 420 +f 413 417 421 +f 418 414 421 +f 417 418 421 +f 420 413 421 +f 414 420 421 +f 416 412 422 +f 418 416 422 +f 412 420 422 +o convex_36 +v -0.214545 -0.919021 1.159710 +v -0.237501 -1.331466 0.999204 +v -0.031168 -1.331466 0.930512 +v -0.122857 -0.529193 0.815913 +v 0.450229 -0.529193 0.953432 +v 0.450229 -1.331466 0.815913 +v 0.404318 -1.010510 0.976352 +v -0.237501 -0.529193 0.907592 +v -0.191589 -1.331466 1.045044 +v 0.427273 -0.529193 0.907592 +v -0.168701 -1.010510 1.159710 +v 0.450229 -1.308535 0.861752 +f 429 433 434 +f 425 424 426 +f 424 425 428 +f 425 426 428 +f 424 423 430 +f 426 424 430 +f 423 427 430 +f 427 426 430 +f 423 424 431 +f 424 428 431 +f 426 427 432 +f 428 426 432 +f 427 428 432 +f 427 423 433 +f 429 427 433 +f 423 431 433 +f 433 431 434 +f 428 427 434 +f 427 429 434 +f 431 428 434 +o convex_37 +v -1.773520 -1.744120 -2.233191 +v -2.254841 -1.262789 -2.645658 +v -2.231863 -1.698320 -2.210237 +v -1.544241 -1.767107 -2.645658 +v -2.231863 -1.194061 -2.576867 +v -2.254841 -1.767107 -1.935073 +v -2.117259 -1.560747 -2.553913 +v -1.521263 -1.744120 -2.531029 +v -2.231863 -1.331634 -2.370564 +v -1.979606 -1.354505 -2.645658 +f 439 442 444 +f 436 437 440 +f 437 438 440 +f 438 435 440 +f 437 436 441 +f 438 437 441 +f 436 438 441 +f 435 438 442 +f 439 435 442 +f 435 439 443 +f 439 436 443 +f 436 440 443 +f 440 435 443 +f 438 436 444 +f 436 439 444 +f 442 438 444 +o convex_38 +v 0.565199 -0.322874 0.953355 +v 1.504555 0.364855 0.815877 +v 1.504555 0.364855 0.770017 +v 2.375684 -0.322874 0.792957 +v 0.679791 0.364855 0.976316 +v 0.542205 -0.322874 0.907516 +v 1.985919 -0.299851 0.884596 +v 0.450229 0.364855 0.953355 +v 1.229948 0.364855 0.930436 +v 2.215104 -0.322874 0.770017 +v 1.481561 0.089723 0.770017 +v 0.496405 0.020990 0.976316 +v 0.450229 0.112679 0.930436 +f 445 456 457 +f 447 446 448 +f 446 447 449 +f 448 445 450 +f 445 448 451 +f 449 447 452 +f 448 446 453 +f 446 449 453 +f 451 448 453 +f 449 451 453 +f 447 448 454 +f 448 450 454 +f 454 450 455 +f 450 447 455 +f 447 454 455 +f 445 451 456 +f 451 449 456 +f 449 452 456 +f 456 452 457 +f 447 450 457 +f 450 445 457 +f 452 447 457 +o convex_39 +v 0.312683 0.823319 2.534882 +v 0.771170 0.892081 1.434928 +v 0.771170 0.869152 1.434928 +v 0.083474 0.937939 1.274491 +v 0.381480 0.685796 1.274491 +v 0.633577 0.892081 2.695638 +v 0.519005 0.754607 2.718261 +v 0.404367 0.937939 2.878857 +v 0.748148 0.777536 1.274332 +v 0.152337 0.754607 1.320376 +v 0.289729 0.914985 2.718261 +v 0.519005 0.685796 1.320376 +v 0.656464 0.823295 2.580767 +v 0.771170 0.892081 1.274332 +f 466 461 471 +f 464 463 465 +f 463 459 465 +f 462 461 466 +f 461 462 467 +f 464 458 467 +f 462 464 467 +f 458 464 468 +f 464 465 468 +f 465 461 468 +f 467 458 468 +f 461 467 468 +f 464 462 469 +f 462 466 469 +f 466 464 469 +f 460 459 470 +f 459 463 470 +f 463 464 470 +f 466 460 470 +f 464 466 470 +f 459 460 471 +f 465 459 471 +f 461 465 471 +f 460 466 471 +o convex_40 +v 0.427305 1.190073 2.764195 +v 0.083474 0.937963 1.274496 +v 0.106429 0.937963 1.274496 +v 0.221040 1.281828 1.274496 +v 0.198118 1.213028 2.053988 +v 0.427305 0.937963 2.810057 +v 0.266817 0.983841 2.810057 +v 0.427305 1.258839 1.916401 +v 0.198118 1.281828 1.641392 +v 0.427305 1.281828 2.122289 +v 0.266817 0.937963 2.718333 +v 0.358471 1.190073 2.695402 +f 481 480 483 +f 474 473 475 +f 473 474 477 +f 477 472 478 +f 476 473 478 +f 474 475 479 +f 477 474 479 +f 472 477 479 +f 475 473 480 +f 473 476 480 +f 479 475 481 +f 472 479 481 +f 475 480 481 +f 473 477 482 +f 477 478 482 +f 478 473 482 +f 478 472 483 +f 476 478 483 +f 480 476 483 +f 472 481 483 +o convex_41 +v -0.558410 1.327600 -0.743009 +v 0.587775 1.511071 -1.247252 +v 0.587775 1.511071 -1.270165 +v 0.220860 0.731721 -1.270165 +v -0.054084 0.731721 -0.972295 +v 0.243762 1.281752 -1.270165 +v -0.627115 0.731721 -0.788938 +v -0.512485 1.511071 -0.788938 +v 0.129131 0.938078 -1.270165 +v -0.466681 1.488033 -0.743009 +v -0.581312 0.754683 -0.743009 +v 0.220860 1.511071 -1.201426 +v 0.037403 0.731721 -1.018069 +f 485 488 496 +f 486 485 487 +f 486 487 489 +f 487 488 490 +f 485 486 491 +f 490 484 491 +f 490 491 492 +f 489 487 492 +f 487 490 492 +f 491 489 492 +f 488 485 493 +f 485 491 493 +f 491 484 493 +f 484 490 494 +f 490 488 494 +f 488 493 494 +f 493 484 494 +f 486 489 495 +f 491 486 495 +f 489 491 495 +f 487 485 496 +f 488 487 496 +o convex_42 +v 0.427305 0.937968 2.947525 +v 0.817018 1.144269 1.389254 +v 0.817018 1.121342 1.389254 +v 0.427305 1.258902 1.939312 +v 0.748239 0.892115 1.274502 +v 0.679459 1.006748 2.741210 +v 0.473158 1.213049 2.718362 +v 0.794092 1.281828 1.274502 +v 0.679459 0.892115 2.672496 +v 0.427305 0.892115 2.764229 +v 0.702385 1.281828 1.732998 +v 0.496084 0.983821 3.016410 +v 0.748239 1.281828 1.274502 +v 0.427305 1.281828 2.076741 +v 0.794092 0.937968 1.274502 +v 0.427305 1.190122 2.787077 +f 503 510 512 +f 499 498 502 +f 498 499 504 +f 502 498 504 +f 499 502 505 +f 497 500 506 +f 500 501 506 +f 505 497 506 +f 501 505 506 +f 503 502 507 +f 502 504 507 +f 502 503 508 +f 497 505 508 +f 505 502 508 +f 501 500 509 +f 504 501 509 +f 507 504 509 +f 507 509 510 +f 500 497 510 +f 503 507 510 +f 509 500 510 +f 504 499 511 +f 501 504 511 +f 505 501 511 +f 499 505 511 +f 497 508 512 +f 508 503 512 +f 510 497 512 +o convex_43 +v -0.466774 1.533915 -0.811694 +v -0.535560 1.511063 -0.032355 +v -0.512583 2.106933 -0.055288 +v -0.741811 0.410901 -0.720039 +v -0.512655 0.365026 -0.032355 +v -0.375047 1.511063 -0.834706 +v -0.420964 2.106933 -0.719961 +v -0.581298 1.946454 -0.055288 +v -0.375047 2.106933 -0.674173 +v -0.741811 0.365026 -0.559428 +v -0.695930 0.365026 -0.742972 +v -0.558465 0.365026 -0.032355 +v -0.558429 2.106933 -0.078300 +v -0.398023 2.106933 -0.788839 +f 519 521 526 +f 515 514 517 +f 514 515 520 +f 515 517 521 +f 517 518 521 +f 519 515 521 +f 520 516 522 +f 516 513 523 +f 513 518 523 +f 518 517 523 +f 522 516 523 +f 517 522 523 +f 517 514 524 +f 514 520 524 +f 522 517 524 +f 520 522 524 +f 515 519 525 +f 519 516 525 +f 520 515 525 +f 516 520 525 +f 513 516 526 +f 518 513 526 +f 516 519 526 +f 521 518 526 +o convex_44 +v -0.902429 -0.185364 1.984986 +v -1.567042 -0.254238 2.626741 +v -1.108712 -0.689623 2.649695 +v -1.567042 -0.024863 1.984986 +v -0.879478 -0.666694 2.305998 +v -0.971144 -0.483176 2.580902 +v -1.475306 -0.231222 2.672581 +v -0.856596 -0.895982 2.672581 +v -1.544091 -0.001934 2.076800 +v -0.856596 -0.208293 2.030960 +v -0.856596 -0.254238 1.984986 +v -0.856596 -0.804267 2.672581 +v -0.879478 -0.895982 2.649695 +v -1.154545 -0.368795 2.626741 +f 533 538 540 +f 529 528 530 +f 528 529 533 +f 533 529 534 +f 530 528 535 +f 527 530 535 +f 528 533 535 +f 535 533 536 +f 527 535 536 +f 536 534 537 +f 530 527 537 +f 531 530 537 +f 534 531 537 +f 527 536 537 +f 533 534 538 +f 536 532 538 +f 534 536 538 +f 529 530 539 +f 530 531 539 +f 534 529 539 +f 531 534 539 +f 536 533 540 +f 532 536 540 +f 538 532 540 +o convex_45 +v 0.473203 1.511071 -1.247285 +v 1.344228 2.107104 -0.788956 +v 1.367036 2.015330 -0.788956 +v 0.840104 1.534059 -1.247285 +v 1.344228 1.511071 -0.788956 +v 0.427305 2.107104 -1.086808 +v 1.000323 2.084175 -1.086808 +v 0.427305 1.511071 -1.155570 +v 1.390126 1.511071 -0.834764 +v 0.564999 1.534059 -1.293143 +v 0.610708 2.107104 -1.109762 +f 550 546 551 +f 543 542 545 +f 545 542 546 +f 542 543 547 +f 541 545 548 +f 546 541 548 +f 545 546 548 +f 541 544 549 +f 545 541 549 +f 543 545 549 +f 547 543 549 +f 544 547 549 +f 544 541 550 +f 541 546 550 +f 547 544 550 +f 547 550 551 +f 546 542 551 +f 542 547 551 +o convex_46 +v 1.642294 0.365026 -0.307505 +v 1.596441 1.511063 -0.032355 +v 1.504696 2.106933 -0.055353 +v 1.390140 1.946454 -0.788810 +v 1.252580 1.465016 -0.857556 +v 1.435993 0.365026 -0.880554 +v 1.458843 2.061058 -0.055353 +v 1.435993 0.365026 -0.720064 +v 1.642294 0.387878 -0.399166 +v 1.321398 2.106933 -0.765812 +v 1.642294 1.235980 -0.078268 +v 1.619367 1.006772 -0.055353 +v 1.435993 0.685984 -0.880554 +v 1.367251 2.106933 -0.788810 +f 564 556 565 +f 553 554 558 +f 558 556 559 +f 557 552 559 +f 556 557 559 +f 552 557 560 +f 558 554 561 +f 556 558 561 +f 554 553 562 +f 552 560 562 +f 560 555 562 +f 553 558 563 +f 558 559 563 +f 559 552 563 +f 562 553 563 +f 552 562 563 +f 557 556 564 +f 555 560 564 +f 560 557 564 +f 561 554 565 +f 556 561 565 +f 554 562 565 +f 562 555 565 +f 555 564 565 +o convex_47 +v 0.587775 0.479520 -0.995208 +v 0.175023 0.708669 -1.270165 +v -0.535494 0.364855 -0.857677 +v -0.650098 0.731573 -0.743009 +v 0.587775 0.708669 -1.224339 +v 0.587775 0.364855 -0.972295 +v -0.650098 0.364855 -0.743009 +v 0.381335 0.616980 -1.270165 +v 0.381335 0.364855 -1.018069 +v -0.718911 0.479520 -0.766025 +v -0.604180 0.731573 -0.743009 +f 572 571 576 +f 570 566 571 +f 568 571 572 +f 568 567 573 +f 567 570 573 +f 570 571 573 +f 573 571 574 +f 571 568 574 +f 568 573 574 +f 567 568 575 +f 569 567 575 +f 568 572 575 +f 572 569 575 +f 567 569 576 +f 566 570 576 +f 570 567 576 +f 571 566 576 +f 569 572 576 +o convex_48 +v 0.496078 1.556875 1.274220 +v -0.512592 1.511067 0.701336 +v -0.489489 1.419318 0.701336 +v 0.060363 0.869222 1.274220 +v -0.053971 0.754569 0.999191 +v 0.496078 2.015223 1.045010 +v -0.374957 2.107104 0.747212 +v 0.129181 2.107104 1.045010 +v -0.466582 0.754569 0.770093 +v 0.220905 0.754569 1.251282 +v 0.496078 1.694432 1.090830 +v -0.489489 0.892258 0.815969 +v -0.352050 2.107104 0.701336 +v 0.197900 1.327702 1.274220 +v 0.496078 2.107104 1.067948 +v -0.489587 1.556875 0.747212 +v 0.060363 0.960971 1.274220 +v -0.466582 1.419318 0.701336 +v -0.466582 0.754569 0.838850 +f 580 593 595 +f 578 579 585 +f 577 580 586 +f 585 581 586 +f 582 577 587 +f 581 585 587 +f 585 582 587 +f 577 586 587 +f 586 581 587 +f 578 585 588 +f 579 578 589 +f 578 583 589 +f 583 584 589 +f 580 577 590 +f 584 583 590 +f 577 584 590 +f 577 582 591 +f 584 577 591 +f 582 589 591 +f 589 584 591 +f 583 578 592 +f 578 588 592 +f 592 588 593 +f 580 590 593 +f 590 583 593 +f 583 592 593 +f 585 579 594 +f 582 585 594 +f 579 589 594 +f 589 582 594 +f 586 580 595 +f 585 586 595 +f 588 585 595 +f 593 588 595 +o convex_49 +v 1.367110 2.061111 0.770107 +v 0.496078 1.488093 1.251333 +v 0.748382 0.823342 1.228391 +v 1.023178 0.823342 0.953477 +v 0.496165 2.015245 1.045021 +v 0.977408 2.084108 1.045021 +v 1.344181 0.823342 0.907648 +v 0.817081 1.213145 1.274332 +v 1.344181 2.107104 0.701336 +v 1.390126 0.823342 0.838821 +v 0.496165 1.717426 1.090850 +v 0.496165 2.107104 1.067964 +v 0.725366 1.510964 1.274332 +v 1.344181 1.740297 0.724222 +v 0.794152 0.846338 1.274332 +v 1.160751 2.107104 0.930590 +v 0.496165 1.556956 1.274220 +f 610 608 612 +f 598 599 602 +f 602 599 605 +f 596 602 605 +f 604 596 605 +f 598 597 606 +f 599 598 606 +f 600 599 606 +f 597 600 606 +f 600 597 607 +f 604 600 607 +f 603 601 608 +f 599 600 609 +f 600 604 609 +f 605 599 609 +f 604 605 609 +f 597 598 610 +f 598 602 610 +f 602 603 610 +f 603 608 610 +f 602 596 611 +f 601 603 611 +f 603 602 611 +f 596 604 611 +f 607 601 611 +f 604 607 611 +f 607 597 612 +f 601 607 612 +f 608 601 612 +f 597 610 612 +o convex_50 +v -1.567013 -0.001920 -2.049695 +v -0.833533 0.066832 -0.857724 +v -0.971198 0.066832 -0.788981 +v -0.833533 -0.001920 -1.041247 +v -1.635806 0.020997 -0.972380 +v -1.498219 0.043908 -1.889005 +v -1.429505 0.066832 -0.926592 +v -0.833533 0.020997 -1.201690 +v -1.635806 0.043908 -1.659941 +v -1.635806 -0.001920 -1.614030 +v -1.200430 0.066832 -1.430507 +f 621 619 623 +f 614 615 616 +f 616 615 617 +f 615 614 619 +f 617 615 619 +f 614 616 620 +f 616 613 620 +f 613 618 620 +f 618 613 621 +f 617 619 621 +f 613 616 622 +f 616 617 622 +f 621 613 622 +f 617 621 622 +f 619 614 623 +f 614 620 623 +f 620 618 623 +f 618 621 623 +o convex_51 +v 0.152186 3.276244 -0.788790 +v -0.466744 2.107104 -0.490899 +v -0.466744 2.107104 -0.444992 +v -0.191544 3.276244 -0.513819 +v -0.397877 2.152995 -0.788790 +v 0.220986 3.230353 -0.765870 +v -0.168656 3.161573 -0.444992 +v -0.329077 2.107104 -0.788790 +v -0.420832 2.107104 -0.444992 +v -0.168656 3.207464 -0.605498 +f 628 627 633 +f 625 626 627 +f 625 627 628 +f 624 627 629 +f 627 626 630 +f 629 627 630 +f 626 625 631 +f 628 624 631 +f 625 628 631 +f 624 629 631 +f 631 629 632 +f 630 626 632 +f 629 630 632 +f 626 631 632 +f 627 624 633 +f 624 628 633 +o convex_52 +v -0.077008 3.299285 -0.628280 +v 0.473055 4.032554 -0.009430 +v 0.473055 4.055671 -0.032469 +v 0.496078 3.574251 -0.788790 +v 0.358478 3.665958 -0.765827 +v -0.168562 3.665958 -0.055356 +v 0.243901 3.276244 -0.765827 +v -0.145673 3.597216 -0.009430 +v 0.450099 3.963965 -0.009430 +v -0.145673 3.276244 -0.421997 +v 0.450099 4.055671 -0.055356 +v 0.152213 3.276244 -0.788790 +v -0.191652 3.299285 -0.490885 +f 634 645 646 +f 636 635 637 +f 635 636 639 +f 635 639 641 +f 637 635 642 +f 640 637 642 +f 635 641 642 +f 640 642 643 +f 642 641 643 +f 636 637 644 +f 637 638 644 +f 639 636 644 +f 638 639 644 +f 634 638 645 +f 638 637 645 +f 637 640 645 +f 640 643 645 +f 645 643 646 +f 638 634 646 +f 639 638 646 +f 641 639 646 +f 643 641 646 +o convex_53 +v 1.023272 3.436468 -0.834737 +v 0.496194 2.107243 -1.109798 +v 0.496194 2.107243 -1.086842 +v 1.092110 2.107243 -0.995136 +v 0.496194 3.367753 -0.811811 +v 1.000345 3.023902 -0.949370 +v 0.519063 3.528273 -0.834737 +v 1.069125 2.176097 -0.949370 +v 1.023272 2.153146 -1.063915 +v 1.092110 3.367753 -0.811811 +v 1.092110 3.344802 -0.880590 +v 0.679549 2.451094 -1.063915 +v 0.496194 2.130194 -1.063915 +f 654 651 659 +f 649 648 650 +f 648 649 651 +f 648 651 653 +f 650 648 655 +f 647 653 656 +f 653 651 656 +f 654 650 656 +f 651 654 656 +f 653 647 657 +f 652 653 657 +f 650 655 657 +f 655 652 657 +f 647 656 657 +f 656 650 657 +f 648 653 658 +f 653 652 658 +f 655 648 658 +f 652 655 658 +f 649 650 659 +f 651 649 659 +f 650 654 659 +o convex_54 +v 0.519101 3.597163 -0.811781 +v 1.206588 3.551419 -0.055353 +v 1.160713 3.597294 -0.055353 +v 1.092079 3.436829 -0.788752 +v 0.519173 4.032747 -0.078235 +v 0.496199 3.482639 -0.788752 +v 1.183614 3.505544 -0.055353 +v 0.473225 3.986872 -0.055353 +v 1.069105 3.367984 -0.811781 +v 1.183614 3.413794 -0.399171 +v 1.206588 3.482639 -0.399171 +f 661 669 670 +f 663 660 664 +f 661 662 666 +f 664 660 667 +f 662 664 667 +f 660 665 667 +f 665 666 667 +f 666 662 667 +f 660 663 668 +f 665 660 668 +f 666 665 669 +f 661 666 669 +f 665 668 669 +f 669 668 670 +f 662 661 670 +f 663 664 670 +f 664 662 670 +f 668 663 670 +o convex_55 +v 1.413024 2.107386 -0.444992 +v 1.229701 3.321915 0.701224 +v 1.229701 3.344815 0.678111 +v 1.481824 2.198985 0.082339 +v 1.367193 2.107386 0.701224 +v 1.206732 3.436555 -0.444992 +v 1.275532 3.459455 -0.078104 +v 1.206732 3.276116 -0.444992 +v 1.206732 3.230175 0.701224 +v 1.390108 2.542903 -0.399103 +v 1.413024 2.107386 0.678111 +v 1.367193 2.221884 -0.444992 +v 1.275532 3.138577 0.678111 +v 1.481824 2.130286 -0.192771 +v 1.206732 3.551336 -0.009327 +v 1.229701 3.436555 -0.444992 +f 685 677 686 +f 676 671 678 +f 676 678 679 +f 672 673 679 +f 675 672 679 +f 678 675 679 +f 675 671 681 +f 672 675 681 +f 671 675 682 +f 678 671 682 +f 675 678 682 +f 673 672 683 +f 677 673 683 +f 674 677 683 +f 672 681 683 +f 681 674 683 +f 677 674 684 +f 671 680 684 +f 680 677 684 +f 674 681 684 +f 681 671 684 +f 673 677 685 +f 676 679 685 +f 679 673 685 +f 671 676 686 +f 680 671 686 +f 677 680 686 +f 676 685 686 +o convex_56 +v 0.977396 3.436466 0.724200 +v 0.473205 2.107250 1.045037 +v 0.473205 2.107250 1.067977 +v 0.473205 3.597039 0.701224 +v 1.000413 2.198985 0.953349 +v 1.000413 2.955183 0.884600 +v 0.473205 3.551098 0.747104 +v 1.000413 2.176088 1.022133 +v 0.473205 2.657516 0.884600 +v 1.000413 3.367773 0.701224 +v 0.656613 2.405353 1.022133 +v 0.839866 3.459363 0.770044 +f 697 692 698 +f 688 689 690 +f 690 689 693 +f 689 688 694 +f 688 691 694 +f 691 692 694 +f 688 690 695 +f 691 688 695 +f 691 695 696 +f 690 687 696 +f 687 692 696 +f 692 691 696 +f 695 690 696 +f 693 689 697 +f 689 694 697 +f 694 692 697 +f 687 690 698 +f 692 687 698 +f 690 693 698 +f 693 697 698 +o convex_57 +v 1.206694 3.344977 0.724153 +v 1.000413 2.107104 0.953382 +v 1.344239 2.107104 0.701224 +v 1.000413 3.367744 0.701224 +v 1.229618 3.184327 0.815868 +v 1.023375 2.221835 0.999240 +v 1.390088 2.107104 0.724153 +v 1.000413 3.344977 0.792939 +v 1.160921 2.107104 0.930424 +v 1.252542 3.253140 0.701224 +f 705 701 708 +f 701 700 702 +f 700 701 705 +f 702 700 706 +f 699 702 706 +f 703 699 706 +f 700 704 706 +f 704 703 706 +f 704 700 707 +f 703 704 707 +f 705 703 707 +f 700 705 707 +f 701 702 708 +f 702 699 708 +f 699 703 708 +f 703 705 708 +o convex_58 +v -2.254817 -1.835907 -1.659981 +v -1.567165 -1.973416 0.380283 +v -1.636068 -1.950483 0.380283 +v -2.277723 -1.973416 0.036378 +v -2.483972 -1.767129 0.380283 +v -1.567165 -1.950483 -1.659981 +v -2.300721 -1.767129 -1.659981 +v -1.590164 -1.996350 -1.614048 +v -2.392347 -1.881706 -0.926037 +v -1.658883 -1.996350 0.380283 +v -2.346442 -1.904639 0.380283 +v -2.506879 -1.790085 -0.192892 +v -1.888039 -1.950483 -1.591080 +v -2.438159 -1.767129 0.380283 +v -1.910945 -1.996350 -0.032523 +v -2.346442 -1.767129 -1.659981 +f 717 720 724 +f 710 711 713 +f 711 710 714 +f 711 714 715 +f 714 709 715 +f 714 710 716 +f 709 714 716 +f 710 713 718 +f 716 710 718 +f 712 718 719 +f 718 713 719 +f 717 712 720 +f 712 719 720 +f 719 713 720 +f 716 712 721 +f 709 716 721 +f 712 717 721 +f 717 709 721 +f 713 711 722 +f 715 713 722 +f 711 715 722 +f 712 716 723 +f 718 712 723 +f 716 718 723 +f 715 709 724 +f 713 715 724 +f 709 717 724 +f 720 713 724 +o convex_59 +v -2.300618 -0.804150 2.374643 +v -1.567111 -0.231312 2.718493 +v -1.590159 -0.231312 2.718493 +v -1.567111 -0.002035 1.985058 +v -2.300618 -0.254229 2.008034 +v -2.277642 -1.033427 2.718493 +v -2.117170 -0.460488 2.603828 +v -2.277642 -0.345900 1.985058 +v -1.567111 -0.047971 2.008034 +v -2.300618 -0.941656 2.718493 +v -1.865224 -0.620810 2.695517 +v -1.635967 -0.002035 2.008034 +v -1.567111 -0.277147 2.672612 +v -1.773536 -0.322982 2.718493 +f 731 734 738 +f 726 727 730 +f 725 729 732 +f 729 728 732 +f 728 726 733 +f 730 725 733 +f 725 732 733 +f 732 728 733 +f 729 725 734 +f 730 727 734 +f 725 730 734 +f 731 729 734 +f 726 730 735 +f 730 733 735 +f 727 726 736 +f 726 728 736 +f 728 729 736 +f 729 727 736 +f 733 726 737 +f 726 735 737 +f 735 733 737 +f 727 729 738 +f 729 731 738 +f 734 727 738 +o convex_60 +v -0.237501 -1.767156 -0.926228 +v -1.567111 -1.996321 -1.063949 +v -1.543945 -2.019249 -0.284616 +v -0.237501 -1.996321 -0.101284 +v -1.567111 -1.973392 -0.055377 +v -0.512637 -1.767156 -1.063949 +v -0.237501 -1.858822 -0.811707 +v -0.237501 -1.950463 -0.078380 +v -1.383470 -1.996321 -1.063949 +v -1.567111 -1.973392 -1.063949 +v -0.237501 -1.790060 -1.017943 +v -1.567111 -2.019249 -0.055377 +v -1.360564 -1.950463 -0.101284 +f 743 746 751 +f 739 742 745 +f 742 739 746 +f 741 740 747 +f 742 741 747 +f 740 744 747 +f 745 742 747 +f 740 743 748 +f 744 740 748 +f 743 744 748 +f 744 739 749 +f 739 745 749 +f 747 744 749 +f 745 747 749 +f 740 741 750 +f 741 742 750 +f 743 740 750 +f 742 746 750 +f 746 743 750 +f 739 744 751 +f 744 743 751 +f 746 739 751 +o convex_61 +v 0.519166 0.387789 0.999276 +v 1.390012 0.823342 0.861748 +v 1.390012 0.823342 0.838812 +v 1.458899 0.364855 0.861748 +v 0.771250 0.823342 1.274332 +v 0.496172 0.433700 0.953447 +v 0.496172 0.731609 1.274332 +v 0.977536 0.823342 0.976383 +v 0.564965 0.685787 1.274332 +v 1.390012 0.364855 0.838812 +v 1.252426 0.364855 0.930512 +f 752 761 762 +f 754 753 755 +f 753 754 756 +f 755 753 756 +f 757 752 758 +f 757 758 759 +f 756 754 759 +f 754 757 759 +f 758 756 759 +f 758 752 760 +f 756 758 760 +f 754 755 761 +f 757 754 761 +f 752 757 761 +f 755 756 762 +f 760 752 762 +f 756 760 762 +f 761 755 762 +o convex_62 +v -2.506997 -1.675374 -0.696846 +v -2.575765 -0.002095 0.380283 +v -2.529938 -0.346050 -0.490736 +v -2.461188 -1.721150 0.380283 +v -2.415325 -1.721150 -0.788857 +v -2.598706 -0.529337 0.380283 +v -2.598706 0.066839 -0.788857 +v -2.529902 -1.767107 -0.078286 +v -2.552843 -1.354397 -0.788857 +v -2.529902 -1.698172 0.380283 +v -2.575765 0.066839 -0.788857 +v -2.598706 -0.208360 -0.788857 +v -2.598706 -0.002095 0.380283 +v -2.415325 -1.743949 -0.651069 +f 766 770 776 +f 766 764 768 +f 763 767 770 +f 767 763 771 +f 769 767 771 +f 770 768 771 +f 763 770 771 +f 766 768 772 +f 768 770 772 +f 770 766 772 +f 764 765 773 +f 765 767 773 +f 769 764 773 +f 767 769 773 +f 768 769 774 +f 769 771 774 +f 771 768 774 +f 768 764 775 +f 764 769 775 +f 769 768 775 +f 765 764 776 +f 764 766 776 +f 767 765 776 +f 770 767 776 +o convex_63 +v -2.254841 -0.941831 -2.714487 +v -1.567246 -0.254169 -2.714487 +v -1.888124 -0.254169 -2.301876 +v -1.567246 -0.941831 -2.943694 +v -2.254841 -0.277122 -2.026771 +v -2.185981 -0.414641 -2.530989 +v -1.613086 -0.254169 -2.760291 +v -2.231820 -0.918810 -2.760291 +v -1.590132 -0.918810 -2.989592 +v -2.254841 -0.254169 -2.118472 +v -2.254841 -0.643772 -2.622785 +v -2.117187 -0.941831 -2.737294 +f 780 781 788 +f 778 779 780 +f 780 779 781 +f 779 778 783 +f 784 783 785 +f 778 780 785 +f 780 777 785 +f 783 778 785 +f 777 784 785 +f 777 781 786 +f 781 779 786 +f 783 782 786 +f 779 783 786 +f 782 783 787 +f 784 777 787 +f 783 784 787 +f 777 786 787 +f 786 782 787 +f 777 780 788 +f 781 777 788 +o convex_64 +v -2.552857 -1.102342 1.228382 +v -2.346595 -1.904567 0.380283 +v -2.300712 -1.904567 0.380283 +v -2.346595 -1.767026 1.916213 +v -2.529903 -1.675360 0.380283 +v -2.506974 -1.056551 0.380283 +v -2.300712 -1.721236 1.916213 +v -2.552857 -1.033614 1.916213 +v -2.484045 -1.033614 0.861840 +v -2.552857 -1.033614 0.380283 +v -2.506974 -1.056551 1.916213 +v -2.529903 -1.194093 1.870358 +v -2.484045 -1.789964 0.449142 +v -2.529903 -1.652422 0.586708 +v -2.300712 -1.858777 0.449142 +f 797 795 803 +f 790 791 792 +f 791 790 793 +f 791 793 794 +f 792 791 795 +f 789 793 796 +f 792 795 796 +f 796 797 798 +f 793 789 798 +f 794 793 798 +f 789 796 798 +f 797 794 798 +f 796 795 799 +f 795 797 799 +f 797 796 799 +f 792 796 800 +f 790 792 801 +f 793 790 801 +f 793 801 802 +f 796 793 802 +f 792 800 802 +f 800 796 802 +f 801 792 802 +f 791 794 803 +f 795 791 803 +f 794 797 803 +o convex_65 +v -2.254841 0.020990 -1.178755 +v -2.552857 -0.873058 -1.957858 +v -2.552857 -0.872971 -2.003882 +v -2.254841 -0.872971 -2.714500 +v -2.506970 -0.873058 -1.109798 +v -2.369514 -0.254243 -2.026658 +v -2.392414 -0.047796 -1.109798 +v -2.254841 -0.323029 -2.255991 +v -2.254841 -0.024867 -1.132888 +v -2.323627 -0.849954 -2.668477 +v -2.552857 -0.850129 -1.270488 +v -2.552857 -0.758414 -1.774706 +v -2.438184 -0.437498 -2.003882 +v -2.254841 -0.872971 -2.668477 +f 812 808 817 +f 805 806 807 +f 805 807 808 +f 804 809 810 +f 804 807 811 +f 809 804 811 +f 807 804 812 +f 804 810 812 +f 810 808 812 +f 807 806 813 +f 811 807 813 +f 809 811 813 +f 806 805 814 +f 805 808 814 +f 808 810 814 +f 814 810 815 +f 806 814 815 +f 810 809 816 +f 813 806 816 +f 809 813 816 +f 815 810 816 +f 806 815 816 +f 808 807 817 +f 807 812 817 +o convex_66 +v -0.306327 0.066731 0.770055 +v -0.856457 -0.047969 1.113803 +v -0.856457 -0.047969 1.205507 +v -0.237501 -1.033528 1.113803 +v -0.856457 0.043791 0.701316 +v -0.237501 -0.437626 0.792968 +v -0.237501 0.066731 0.815933 +v -0.375094 -1.033528 1.205507 +v -0.237501 -0.964601 1.182543 +v -0.810593 -0.025029 1.205507 +v -0.856457 0.066731 0.884672 +v -0.787631 0.020851 0.678300 +v -0.741827 -0.345866 1.159629 +v -0.375094 -1.033528 1.159629 +f 830 822 831 +f 819 820 822 +f 823 818 824 +f 821 823 824 +f 821 824 826 +f 825 821 826 +f 825 826 827 +f 820 825 827 +f 826 824 827 +f 827 824 828 +f 818 822 828 +f 822 820 828 +f 824 818 828 +f 820 827 828 +f 822 818 829 +f 818 823 829 +f 823 821 829 +f 820 819 830 +f 819 822 830 +f 825 820 830 +f 825 830 831 +f 821 825 831 +f 822 829 831 +f 829 821 831 +o convex_67 +v 3.063257 -1.973381 -0.032355 +v 0.519195 -1.744259 -0.811781 +v 0.519195 -1.767158 -0.765928 +v 0.519195 -1.950418 -0.055396 +v 3.201078 -1.698334 -0.605404 +v 2.513281 -1.790058 -0.719999 +v 2.191959 -2.019243 -0.055396 +v 0.519195 -1.698334 -0.788817 +v 3.201078 -1.881657 -0.101172 +v 0.611076 -1.996280 -0.101249 +v 3.201078 -1.721296 -0.697110 +v 1.367653 -1.790058 -0.765928 +v 2.215061 -1.698334 -0.788817 +v 2.513281 -2.019243 -0.055396 +v 0.519195 -1.996280 -0.032431 +v 3.201078 -1.927519 -0.032355 +v 3.201078 -1.927519 -0.147102 +v 3.177977 -1.744259 -0.467845 +f 840 836 849 +f 833 834 835 +f 833 835 839 +f 836 840 842 +f 834 833 843 +f 841 834 843 +f 838 841 843 +f 833 839 844 +f 839 836 844 +f 842 837 844 +f 836 842 844 +f 843 833 844 +f 837 843 844 +f 843 837 845 +f 838 843 845 +f 835 834 846 +f 834 841 846 +f 841 838 846 +f 845 832 846 +f 838 845 846 +f 840 835 847 +f 842 840 847 +f 835 846 847 +f 846 832 847 +f 837 842 848 +f 832 845 848 +f 845 837 848 +f 847 832 848 +f 842 847 848 +f 839 835 849 +f 836 839 849 +f 835 840 849 +o convex_68 +v -1.291952 -1.514964 -2.737310 +v -0.948211 -1.744153 -2.026847 +v -0.971153 -1.744153 -2.026847 +v -1.498264 -1.767057 -2.668575 +v -0.948211 -1.537893 -2.576878 +v -1.498264 -1.514964 -2.760272 +v -1.291952 -1.744153 -2.256090 +v -0.948211 -1.767057 -2.118544 +v -0.994095 -1.514964 -2.508067 +v -1.406551 -1.698296 -2.737310 +v -1.521151 -1.767057 -2.553915 +f 857 856 860 +f 852 855 856 +f 851 852 857 +f 854 851 857 +f 852 856 857 +f 852 851 858 +f 854 850 858 +f 851 854 858 +f 855 852 858 +f 850 855 858 +f 850 854 859 +f 853 855 859 +f 855 850 859 +f 857 853 859 +f 854 857 859 +f 855 853 860 +f 856 855 860 +f 853 857 860 +o convex_69 +v 0.541926 -1.239798 -0.972241 +v 2.123705 -0.575042 -0.949339 +v 2.123705 -0.575042 -0.972241 +v 2.123705 -1.354469 -0.880554 +v 2.123705 -1.056309 -1.018091 +v 0.541926 -0.575042 -0.995174 +v 0.839981 -1.331504 -0.880554 +v 0.541926 -0.896014 -1.041025 +v 2.008973 -0.575042 -0.995174 +v 1.986058 -1.354469 -0.926405 +v 0.702489 -0.575042 -0.972241 +v 0.541926 -1.354469 -0.903503 +v 1.527596 -1.010456 -1.041025 +v 0.725559 -0.575042 -1.018091 +f 869 873 874 +f 863 862 864 +f 863 864 865 +f 862 863 866 +f 864 862 867 +f 861 866 868 +f 863 865 869 +f 866 863 869 +f 865 864 870 +f 862 866 871 +f 867 862 871 +f 867 871 872 +f 866 861 872 +f 864 867 872 +f 861 870 872 +f 870 864 872 +f 871 866 872 +f 861 868 873 +f 869 865 873 +f 870 861 873 +f 865 870 873 +f 868 866 874 +f 866 869 874 +f 873 868 874 +o convex_70 +v 3.155164 -1.102162 -0.926376 +v 3.269757 -0.575042 -0.788902 +v 3.292650 -0.598007 -0.788902 +v 2.123960 -1.354469 -0.880581 +v 2.123960 -0.620895 -0.995147 +v 3.269757 -1.354469 -0.788902 +v 2.444845 -0.575042 -0.857650 +v 2.123960 -1.056309 -1.018100 +v 3.246864 -0.964755 -0.949307 +v 2.536544 -1.354469 -0.903490 +v 3.063465 -1.331504 -0.788902 +v 2.536544 -1.033421 -1.018100 +v 3.246864 -0.575042 -0.834742 +v 3.430391 -0.918979 -0.811811 +v 2.146853 -0.575042 -0.926376 +f 887 879 889 +f 877 876 880 +f 878 879 882 +f 880 875 883 +f 875 880 884 +f 880 878 884 +f 878 882 884 +f 880 876 885 +f 878 880 885 +f 876 881 885 +f 881 878 885 +f 882 879 886 +f 879 883 886 +f 883 875 886 +f 875 884 886 +f 884 882 886 +f 876 877 887 +f 881 876 887 +f 883 879 887 +f 883 887 888 +f 877 880 888 +f 880 883 888 +f 887 877 888 +f 879 878 889 +f 878 881 889 +f 881 887 889 +o convex_71 +v 0.725393 -0.575042 -1.018100 +v 1.413122 0.364855 -0.903479 +v 2.375872 -0.552041 -0.903479 +v 0.954636 0.364855 -0.995167 +v 0.679616 -0.575042 -0.972234 +v 2.169428 -0.552041 -0.972234 +v 0.541926 0.364855 -0.972234 +v 1.298591 -0.024867 -0.903479 +v 1.390144 0.364855 -0.949345 +v 0.541926 -0.024867 -1.018100 +v 1.871429 -0.575042 -0.995167 +v 2.215384 -0.575042 -0.903479 +f 900 895 901 +f 891 893 896 +f 896 894 897 +f 892 891 897 +f 891 896 897 +f 891 892 898 +f 893 891 898 +f 892 895 898 +f 895 893 898 +f 890 894 899 +f 896 893 899 +f 894 896 899 +f 894 890 900 +f 893 895 900 +f 890 899 900 +f 899 893 900 +f 895 892 901 +f 897 894 901 +f 892 897 901 +f 894 900 901 +o convex_72 +v 2.467370 -0.529041 -0.834719 +v 1.459121 0.364855 -0.788880 +v 1.459121 0.364855 -0.834719 +v 3.223740 -0.460407 -0.788880 +v 1.390310 0.364855 -0.903479 +v 2.307301 -0.575042 -0.903479 +v 1.459121 0.135585 -0.788880 +v 3.223740 -0.552041 -0.834719 +v 1.413309 0.112677 -0.903479 +v 3.155113 -0.575042 -0.788880 +v 2.467370 -0.552041 -0.903479 +f 909 907 912 +f 904 903 905 +f 903 904 906 +f 904 905 906 +f 905 903 908 +f 903 906 908 +f 907 902 908 +f 906 905 909 +f 906 907 910 +f 908 906 910 +f 907 908 910 +f 902 907 911 +f 905 908 911 +f 908 902 911 +f 909 905 911 +f 907 909 911 +f 907 906 912 +f 906 909 912 +o convex_73 +v 2.902981 -1.858847 0.448989 +v 0.473153 -1.973363 -0.032355 +v 0.473153 -1.950436 -0.032355 +v 0.473153 -1.721258 0.701219 +v 3.246996 -1.927510 -0.032355 +v 2.260838 -2.019245 0.036463 +v 3.246996 -1.721258 0.609513 +v 2.421306 -1.790096 0.701219 +v 0.473153 -1.767170 0.655366 +v 0.473153 -1.721258 0.632401 +v 3.246996 -1.973363 0.036463 +v 3.246996 -1.744243 0.701219 +v 0.496233 -1.996289 -0.009390 +v 2.627932 -2.019245 -0.032355 +v 2.627932 -1.721258 0.747072 +v 0.473153 -1.927510 0.013499 +v 2.605124 -2.019245 0.036463 +f 926 923 929 +f 915 914 916 +f 914 915 917 +f 916 914 921 +f 920 916 921 +f 918 920 921 +f 915 916 922 +f 916 919 922 +f 919 917 922 +f 917 919 923 +f 923 919 924 +f 920 913 924 +f 913 923 924 +f 921 914 925 +f 918 921 925 +f 914 917 926 +f 917 923 926 +f 925 914 926 +f 918 925 926 +f 919 916 927 +f 916 920 927 +f 924 919 927 +f 920 924 927 +f 917 915 928 +f 915 922 928 +f 922 917 928 +f 920 918 929 +f 913 920 929 +f 923 913 929 +f 918 926 929 +o convex_74 +v -2.254841 -0.208244 -2.026672 +v -1.635884 0.043915 -0.972422 +v -1.750515 0.043915 -0.972422 +v -1.635884 0.020986 -1.980805 +v -1.635884 -0.254101 -2.599578 +v -2.254841 0.020986 -1.224603 +v -2.231818 -0.254101 -1.980805 +v -2.254841 -0.001943 -0.995441 +v -1.635884 0.020986 -0.972422 +v -1.658847 -0.231173 -2.714330 +v -1.819281 -0.254101 -2.324549 +v -1.727613 0.020986 -1.912091 +v -1.658847 0.043915 -1.637232 +f 941 935 942 +f 933 931 934 +f 935 930 937 +f 932 935 937 +f 930 936 937 +f 937 936 938 +f 931 932 938 +f 934 931 938 +f 932 937 938 +f 933 934 939 +f 936 930 939 +f 934 936 939 +f 936 934 940 +f 938 936 940 +f 934 938 940 +f 930 935 941 +f 939 930 941 +f 933 939 941 +f 932 931 942 +f 931 933 942 +f 935 932 942 +f 933 941 942 +o convex_75 +v -1.521263 -1.721173 -2.645727 +v -2.254841 -1.239935 -2.668683 +v -2.254841 -1.239935 -2.645727 +v -1.521263 -0.941831 -2.943681 +v -1.544241 -1.675311 -2.783293 +v -1.613032 -1.010703 -2.989592 +v -2.208885 -0.941831 -2.714561 +v -2.231863 -1.010703 -2.783293 +v -1.796355 -1.652380 -2.668683 +f 944 947 951 +f 946 943 947 +f 946 947 948 +f 946 948 949 +f 945 943 949 +f 943 946 949 +f 944 945 950 +f 947 944 950 +f 948 947 950 +f 949 948 950 +f 945 949 950 +f 943 945 951 +f 945 944 951 +f 947 943 951 +o convex_76 +v -0.375073 -0.918738 -1.728692 +v -0.833533 -0.941831 -2.760196 +v -0.833533 -0.895830 -2.760196 +v -0.833533 -0.024934 -1.201495 +v -0.787617 -0.185387 -2.026699 +v -0.260429 -0.918738 -1.224536 +v -0.237501 -0.827196 -1.224536 +v -0.649986 -0.391656 -1.201495 +v -0.764688 -0.001934 -1.224536 +v -0.741759 -0.918830 -2.691379 +v -0.833533 -0.185387 -2.026699 +v -0.833533 -0.941831 -2.714419 +v -0.283358 -0.941831 -1.270465 +f 963 953 964 +f 954 953 955 +f 952 956 958 +f 957 952 958 +f 957 958 959 +f 958 955 959 +f 958 956 960 +f 955 958 960 +f 952 953 961 +f 953 954 961 +f 956 952 961 +f 954 956 961 +f 954 955 962 +f 956 954 962 +f 955 960 962 +f 960 956 962 +f 955 953 963 +f 959 955 963 +f 959 963 964 +f 953 952 964 +f 952 957 964 +f 957 959 964 +o convex_77 +v 1.642294 0.754744 0.082397 +v 1.321353 1.511071 0.838684 +v 1.275505 1.511071 0.838684 +v 1.481806 0.364855 0.838684 +v 1.458899 1.487959 0.746951 +v 1.550525 1.511071 -0.032269 +v 1.413087 0.410744 0.815751 +v 1.642294 0.364855 0.357426 +v 1.642294 1.235962 -0.009336 +v 1.619316 0.364855 0.265693 +v 1.481806 1.396405 0.174045 +v 1.275505 1.396405 0.815751 +v 1.596445 1.511071 -0.009336 +f 973 970 977 +f 966 967 968 +f 966 968 969 +f 967 966 970 +f 968 967 971 +f 969 968 972 +f 965 970 973 +f 972 965 973 +f 969 972 973 +f 970 965 974 +f 968 971 974 +f 965 972 974 +f 972 968 974 +f 970 974 975 +f 974 971 975 +f 967 970 976 +f 971 967 976 +f 970 975 976 +f 975 971 976 +f 966 969 977 +f 970 966 977 +f 969 973 977 +o convex_78 +v -0.489630 2.107104 -0.376172 +v -0.168766 3.643034 -0.032395 +v -0.214614 3.643034 -0.032395 +v -0.512554 2.107104 -0.032395 +v -0.214614 2.932350 -0.444992 +v -0.329236 3.505467 -0.055335 +v -0.214614 3.299043 -0.444992 +v -0.558441 2.130107 -0.032395 +v -0.420857 2.107104 -0.444992 +v -0.466706 2.153110 -0.444992 +f 986 978 987 +f 979 980 981 +f 979 981 982 +f 980 979 984 +f 979 982 984 +f 983 980 984 +f 981 980 985 +f 978 981 985 +f 980 983 985 +f 983 978 985 +f 981 978 986 +f 982 981 986 +f 984 982 986 +f 984 986 987 +f 978 983 987 +f 983 984 987 +o convex_79 +v -0.168766 3.482465 0.196949 +v -0.168766 2.726227 0.678230 +v -0.191690 2.726227 0.678230 +v -0.512554 2.107104 -0.032285 +v -0.329236 3.505467 -0.009334 +v -0.420857 2.130107 0.632327 +v -0.168766 3.597028 -0.032285 +v -0.168766 2.588660 0.655279 +v -0.558441 2.130107 -0.009334 +v -0.191690 3.023911 0.563613 +v -0.352160 2.130107 0.678230 +v -0.352160 2.359384 0.678230 +f 993 998 999 +f 988 989 994 +f 992 988 994 +f 991 992 994 +f 994 989 995 +f 991 994 995 +f 992 991 996 +f 993 992 996 +f 991 993 996 +f 989 988 997 +f 990 989 997 +f 988 992 997 +f 989 990 998 +f 993 991 998 +f 995 989 998 +f 991 995 998 +f 992 993 999 +f 990 997 999 +f 997 992 999 +f 998 990 999 +o convex_80 +v -1.567013 -0.162386 -2.576862 +v -0.833533 -0.001958 -1.155646 +v -0.856543 -0.001958 -1.155646 +v -0.833533 -0.254101 -2.049500 +v -1.635806 -0.254101 -2.622693 +v -1.567013 -0.001958 -2.118401 +v -0.833533 -0.162386 -1.980909 +v -1.635806 -0.024887 -1.957993 +v -0.856543 -0.024887 -1.155646 +v -1.544082 -0.231148 -2.737425 +v -0.879474 -0.001958 -1.362194 +v -1.268988 -0.254101 -2.278808 +f 1008 1004 1011 +f 1002 1001 1005 +f 1000 1004 1005 +f 1000 1005 1006 +f 1001 1003 1006 +f 1002 1005 1007 +f 1005 1004 1007 +f 1001 1002 1008 +f 1003 1001 1008 +f 1002 1007 1008 +f 1007 1004 1008 +f 1004 1000 1009 +f 1003 1004 1009 +f 1000 1006 1009 +f 1006 1003 1009 +f 1005 1001 1010 +f 1006 1005 1010 +f 1001 1006 1010 +f 1004 1003 1011 +f 1003 1008 1011 +o convex_81 +v -0.145734 2.795062 0.678299 +v 0.473091 3.642771 0.678299 +v 0.381366 3.642771 0.678299 +v -0.145734 3.665904 -0.009430 +v 0.473091 3.986892 -0.009430 +v -0.145734 2.634363 0.655344 +v -0.168602 3.253479 0.471967 +v -0.168602 3.574056 -0.009430 +v 0.450160 4.032747 0.013526 +v 0.473091 3.597052 0.632388 +v 0.175050 3.459623 0.655344 +v 0.335504 3.872048 -0.009430 +v -0.145734 3.665904 0.013526 +f 1018 1022 1024 +f 1012 1013 1014 +f 1013 1012 1017 +f 1017 1012 1018 +f 1017 1018 1019 +f 1015 1016 1019 +f 1014 1013 1020 +f 1016 1015 1020 +f 1013 1016 1020 +f 1016 1013 1021 +f 1013 1017 1021 +f 1017 1016 1021 +f 1012 1014 1022 +f 1018 1012 1022 +f 1016 1017 1023 +f 1017 1019 1023 +f 1019 1016 1023 +f 1019 1018 1024 +f 1015 1019 1024 +f 1014 1020 1024 +f 1020 1015 1024 +f 1022 1014 1024 +o convex_82 +v -0.856596 -0.827149 2.695671 +v -1.567042 -1.033450 2.970703 +v -1.544091 -1.033450 2.947747 +v -1.567042 -0.231177 2.672715 +v -1.544091 -0.254187 2.787359 +v -0.902429 -1.033450 2.695671 +v -1.406592 -0.987588 2.970703 +v -0.856596 -0.964657 2.764471 +v -1.314856 -0.322980 2.672715 +f 1030 1028 1033 +f 1027 1026 1028 +f 1028 1026 1029 +f 1026 1027 1030 +f 1027 1028 1030 +f 1029 1026 1031 +f 1026 1030 1031 +f 1031 1030 1032 +f 1025 1029 1032 +f 1030 1025 1032 +f 1029 1031 1032 +f 1029 1025 1033 +f 1028 1029 1033 +f 1025 1030 1033 +o convex_83 +v 1.206660 3.299169 0.655238 +v 0.496201 3.620253 0.701224 +v 0.496201 3.666090 0.632431 +v 1.160780 3.528430 -0.055279 +v 0.496201 4.055671 -0.032323 +v 0.473225 3.574267 0.655238 +v 1.183684 3.367962 0.701224 +v 1.206660 3.574267 -0.032323 +v 0.519105 3.963848 -0.055279 +f 1038 1041 1042 +f 1034 1035 1039 +f 1035 1036 1039 +f 1037 1034 1039 +f 1036 1038 1039 +f 1035 1034 1040 +f 1036 1035 1040 +f 1038 1036 1040 +f 1038 1040 1041 +f 1034 1037 1041 +f 1040 1034 1041 +f 1041 1037 1042 +f 1037 1039 1042 +f 1039 1038 1042 +o convex_84 +v -2.598639 -0.987779 -1.797527 +v -2.300748 -1.767019 -2.026829 +v -2.254841 -1.767019 -2.026829 +v -2.277829 -0.941925 -2.760349 +v -2.529879 -0.873058 -1.797527 +v -2.461120 -1.033632 -2.416444 +v -2.277829 -1.744093 -1.820618 +v -2.254841 -0.873058 -2.668647 +v -2.598639 -0.987779 -2.003927 +v -2.346588 -1.033632 -2.737258 +v -2.346588 -1.744093 -1.797527 +v -2.346588 -0.873058 -2.645557 +v -2.254841 -1.171191 -2.691455 +v -2.552799 -1.171191 -2.003927 +f 1053 1043 1056 +f 1047 1049 1050 +f 1049 1045 1050 +f 1043 1047 1051 +f 1044 1045 1053 +f 1047 1043 1053 +f 1045 1049 1053 +f 1049 1047 1053 +f 1047 1050 1054 +f 1050 1046 1054 +f 1051 1047 1054 +f 1048 1051 1054 +f 1046 1052 1054 +f 1052 1048 1054 +f 1045 1044 1055 +f 1050 1045 1055 +f 1046 1050 1055 +f 1044 1052 1055 +f 1052 1046 1055 +f 1043 1051 1056 +f 1051 1048 1056 +f 1052 1044 1056 +f 1048 1052 1056 +f 1044 1053 1056 +o convex_85 +v -2.575777 -1.056558 -1.087035 +v -2.323618 -1.767019 -1.797527 +v -2.346576 -1.744093 -1.797527 +v -2.438262 -1.767019 -0.788857 +v -2.484033 -0.873058 -0.857675 +v -2.598706 -1.056558 -1.797527 +v -2.529919 -0.873058 -1.797527 +v -2.300690 -1.721166 -1.705803 +v -2.369476 -1.744093 -0.903488 +v -2.552819 -1.331414 -0.788857 +v -2.552819 -0.873058 -0.788857 +v -2.461133 -1.744093 -0.811961 +v -2.552819 -1.239971 -1.751517 +f 1068 1062 1069 +f 1058 1059 1062 +f 1058 1062 1063 +f 1058 1063 1064 +f 1063 1061 1064 +f 1064 1061 1065 +f 1060 1058 1065 +f 1061 1060 1065 +f 1058 1064 1065 +f 1057 1062 1066 +f 1060 1061 1067 +f 1062 1057 1067 +f 1063 1062 1067 +f 1061 1063 1067 +f 1057 1066 1067 +f 1066 1060 1067 +f 1059 1058 1068 +f 1058 1060 1068 +f 1060 1066 1068 +f 1066 1062 1068 +f 1062 1059 1069 +f 1059 1068 1069 +o convex_86 +v -2.575714 0.066655 -0.834751 +v -2.621594 -0.070875 -0.995143 +v -2.529870 -0.873058 -1.109766 +v -2.254877 0.020842 -1.109766 +v -2.529870 -0.873058 -0.788857 +v -2.254877 -0.002064 -0.995143 +v -2.461122 -0.849968 -0.926444 +v -2.621594 0.043749 -1.018074 +v -2.598654 0.066655 -0.788857 +v -2.506966 -0.391748 -0.788857 +v -2.552810 -0.873058 -0.788857 +v -2.392409 -0.047877 -1.109766 +f 1077 1073 1081 +f 1072 1073 1076 +f 1074 1072 1076 +f 1075 1074 1076 +f 1073 1075 1076 +f 1072 1071 1077 +f 1070 1073 1077 +f 1073 1070 1078 +f 1075 1073 1078 +f 1077 1071 1078 +f 1070 1077 1078 +f 1074 1075 1079 +f 1078 1074 1079 +f 1075 1078 1079 +f 1071 1072 1080 +f 1072 1074 1080 +f 1078 1071 1080 +f 1074 1078 1080 +f 1073 1072 1081 +f 1072 1077 1081 +o convex_87 +v -0.810571 -0.941912 -2.783096 +v -0.948116 -1.767107 -2.095380 +v -0.948116 -1.606526 -2.439238 +v -0.558441 -1.767107 -1.430913 +v -0.948116 -0.941912 -2.760142 +v -0.581404 -0.941912 -2.118333 +v -0.581404 -1.744086 -1.293340 +v -0.696025 -1.721146 -2.004010 +v -0.558441 -0.964852 -2.232953 +v -0.764722 -1.010732 -2.760142 +v -0.925192 -1.537787 -2.576811 +v -0.948116 -1.744086 -2.026963 +f 1088 1086 1093 +f 1084 1083 1086 +f 1082 1086 1087 +f 1083 1085 1088 +f 1087 1086 1088 +f 1085 1083 1089 +f 1082 1087 1090 +f 1088 1085 1090 +f 1087 1088 1090 +f 1085 1089 1090 +f 1090 1089 1091 +f 1082 1090 1091 +f 1083 1084 1092 +f 1086 1082 1092 +f 1084 1086 1092 +f 1089 1083 1092 +f 1091 1089 1092 +f 1082 1091 1092 +f 1086 1083 1093 +f 1083 1088 1093 +o convex_88 +v -0.329225 -1.239971 -1.155781 +v -0.558441 -1.767107 -1.362062 +v -0.558441 -1.537787 -1.613962 +v -0.237532 -1.767107 -1.018221 +v -0.535479 -0.941912 -2.164316 +v -0.237532 -0.941912 -1.316208 +v -0.512548 -1.744086 -1.064075 +v -0.558441 -0.964852 -2.026640 +v -0.283394 -0.941912 -1.270472 +v -0.535479 -1.125351 -2.049509 +v -0.237532 -1.652406 -0.995353 +f 1099 1102 1104 +f 1097 1098 1099 +f 1095 1097 1100 +f 1096 1095 1101 +f 1095 1100 1101 +f 1101 1100 1102 +f 1099 1098 1102 +f 1100 1094 1102 +f 1098 1101 1102 +f 1095 1096 1103 +f 1097 1095 1103 +f 1098 1097 1103 +f 1096 1101 1103 +f 1101 1098 1103 +f 1097 1099 1104 +f 1100 1097 1104 +f 1094 1100 1104 +f 1102 1094 1104 +o convex_89 +v -0.260429 -0.414536 -0.857684 +v -0.833533 -0.024894 -1.201495 +v -0.833533 -0.024894 -1.132695 +v -0.237501 0.066839 -0.857684 +v -0.237501 -0.850134 -1.201495 +v -0.764688 0.043861 -0.720084 +v -0.329216 -0.827156 -1.178546 +v -0.764688 -0.002006 -1.201495 +v -0.833533 0.066839 -0.834735 +v -0.237501 -0.781289 -1.201495 +v -0.237501 -0.368759 -0.834735 +v -0.673031 -0.345870 -1.201495 +f 1111 1113 1116 +f 1109 1105 1111 +f 1105 1110 1111 +f 1109 1106 1112 +f 1106 1107 1113 +f 1110 1108 1113 +f 1111 1110 1113 +f 1108 1112 1113 +f 1112 1106 1113 +f 1108 1109 1114 +f 1112 1108 1114 +f 1109 1112 1114 +f 1105 1109 1115 +f 1109 1108 1115 +f 1108 1110 1115 +f 1110 1105 1115 +f 1107 1106 1116 +f 1106 1109 1116 +f 1109 1111 1116 +f 1113 1107 1116 +o convex_90 +v -2.300616 -1.858838 0.471990 +v -1.544187 -1.973394 1.939137 +v -1.681834 -1.927532 1.939137 +v -1.544187 -1.973394 0.380283 +v -2.277662 -1.744182 1.939137 +v -2.300616 -1.904650 0.495031 +v -1.636001 -1.996350 1.939137 +v -2.300616 -1.790044 1.939137 +v -1.658880 -1.996350 0.380283 +v -2.208876 -1.813000 0.793038 +v -1.819333 -1.904650 0.380283 +f 1117 1126 1127 +f 1119 1118 1120 +f 1118 1119 1121 +f 1119 1120 1121 +f 1120 1118 1123 +f 1118 1121 1123 +f 1121 1117 1124 +f 1117 1122 1124 +f 1123 1121 1124 +f 1122 1123 1124 +f 1122 1117 1125 +f 1123 1122 1125 +f 1120 1123 1125 +f 1117 1121 1126 +f 1126 1121 1127 +f 1121 1120 1127 +f 1125 1117 1127 +f 1120 1125 1127 +o convex_91 +v -1.498417 -1.675275 2.718564 +v -2.300616 -1.789965 1.939137 +v -2.231829 -1.812960 1.939137 +v -2.277608 -1.033598 2.695600 +v -1.544196 -1.973355 1.939137 +v -1.910824 -1.652375 2.649670 +v -1.590211 -1.767065 2.718564 +v -2.277608 -1.331678 2.283074 +v -2.254679 -1.217083 2.718564 +v -1.636069 -1.996350 2.007955 +v -2.300537 -1.744070 2.099738 +v -2.140035 -1.583580 2.558040 +v -2.254679 -1.744165 1.939137 +v -2.300537 -1.033598 2.718564 +f 1138 1136 1141 +f 1131 1128 1132 +f 1130 1129 1132 +f 1132 1128 1134 +f 1131 1132 1135 +f 1134 1128 1136 +f 1133 1134 1136 +f 1129 1130 1137 +f 1130 1132 1137 +f 1132 1134 1137 +f 1137 1134 1138 +f 1134 1133 1138 +f 1129 1137 1138 +f 1136 1138 1139 +f 1133 1136 1139 +f 1138 1133 1139 +f 1132 1129 1140 +f 1129 1135 1140 +f 1135 1132 1140 +f 1128 1131 1141 +f 1135 1129 1141 +f 1131 1135 1141 +f 1136 1128 1141 +f 1129 1138 1141 +o convex_92 +v -1.567111 -0.529274 -2.851945 +v -0.833677 -0.254169 -2.095631 +v -0.833677 -0.300076 -2.095631 +v -0.833677 -0.895857 -2.760239 +v -1.567111 -0.941831 -2.943651 +v -1.085766 -0.368802 -2.599753 +v -1.498255 -0.254169 -2.599753 +v -0.856581 -0.620819 -2.347823 +v -1.223190 -0.277122 -2.301970 +v -1.521160 -0.254169 -2.737312 +v -0.902389 -0.941831 -2.737312 +v -0.879485 -0.300076 -2.301970 +v -1.544064 -0.918810 -2.989592 +f 1152 1146 1154 +f 1143 1144 1145 +f 1142 1146 1148 +f 1145 1144 1149 +f 1144 1146 1149 +f 1144 1143 1150 +f 1146 1144 1150 +f 1143 1148 1150 +f 1148 1146 1150 +f 1147 1145 1151 +f 1148 1143 1151 +f 1142 1148 1151 +f 1145 1149 1152 +f 1149 1146 1152 +f 1143 1145 1153 +f 1145 1147 1153 +f 1151 1143 1153 +f 1147 1151 1153 +f 1146 1142 1154 +f 1142 1151 1154 +f 1151 1145 1154 +f 1145 1152 1154 +o convex_93 +v -1.544187 -1.813000 2.558040 +v -0.581365 -1.744182 1.091128 +v -0.604362 -1.744182 1.182861 +v -1.475387 -1.996350 1.916072 +v -1.544187 -1.973394 1.022164 +v -0.627263 -1.858838 1.068031 +v -1.544187 -1.744182 2.580973 +v -0.856471 -1.767138 1.961938 +v -0.627263 -1.744182 1.045098 +v -1.452485 -1.996350 1.022164 +v -1.544187 -1.996350 2.007641 +v -0.719059 -1.881695 1.022164 +v -1.498195 -1.767138 2.672707 +v -0.856471 -1.744182 1.961938 +f 1167 1162 1168 +f 1156 1157 1160 +f 1157 1156 1161 +f 1159 1155 1161 +f 1160 1157 1162 +f 1158 1160 1162 +f 1156 1160 1163 +f 1161 1156 1163 +f 1159 1161 1163 +f 1155 1159 1165 +f 1158 1162 1165 +f 1164 1158 1165 +f 1159 1164 1165 +f 1160 1158 1166 +f 1163 1160 1166 +f 1159 1163 1166 +f 1158 1164 1166 +f 1164 1159 1166 +f 1161 1155 1167 +f 1155 1165 1167 +f 1165 1162 1167 +f 1157 1161 1168 +f 1162 1157 1168 +f 1161 1167 1168 +o convex_94 +v 0.450061 0.364893 0.999274 +v -0.489572 0.594060 0.792921 +v -0.489572 0.754569 0.792921 +v 0.152157 0.731606 1.274332 +v -0.489572 0.364893 0.861768 +v 0.495981 0.708682 1.228481 +v 0.495981 0.410742 0.953423 +v 0.427197 0.662833 1.274332 +v -0.466611 0.364893 0.815870 +f 1175 1169 1177 +f 1171 1170 1173 +f 1172 1171 1173 +f 1171 1172 1174 +f 1170 1171 1175 +f 1174 1169 1175 +f 1171 1174 1175 +f 1173 1169 1176 +f 1172 1173 1176 +f 1169 1174 1176 +f 1174 1172 1176 +f 1169 1173 1177 +f 1173 1170 1177 +f 1170 1175 1177 +o convex_95 +v -1.498417 -1.721158 2.718564 +v -2.300618 -1.033406 2.718564 +v -2.300618 -1.033406 2.787351 +v -1.567125 -0.231177 2.741493 +v -1.567125 -1.010452 3.016580 +v -1.613140 -1.744113 2.741551 +v -1.681849 -0.277234 2.718564 +v -1.590211 -0.254280 2.787351 +v -1.498417 -1.033554 2.970665 +v -1.888131 -1.033406 2.924865 +f 1185 1180 1187 +f 1179 1178 1183 +f 1180 1179 1183 +f 1178 1182 1183 +f 1178 1179 1184 +f 1179 1180 1184 +f 1181 1178 1184 +f 1181 1184 1185 +f 1184 1180 1185 +f 1178 1181 1186 +f 1182 1178 1186 +f 1181 1185 1186 +f 1185 1182 1186 +f 1180 1183 1187 +f 1183 1182 1187 +f 1182 1185 1187 +o convex_96 +v -0.994021 -1.056549 2.787203 +v -0.925293 -1.744113 1.962259 +v -0.902306 -1.744113 1.962259 +v -1.475351 -1.744113 2.695487 +v -1.498338 -1.033598 2.924726 +v -1.016950 -1.560711 2.557964 +v -1.314908 -1.721161 2.283114 +v -0.902306 -1.033598 2.695487 +v -0.902306 -1.652377 2.260210 +v -1.475351 -1.079500 2.970633 +v -1.498338 -1.744113 2.580868 +v -0.925293 -1.721161 1.962259 +v -1.475351 -1.698210 2.741394 +v -0.902306 -1.262832 2.649679 +f 1200 1193 1201 +f 1189 1190 1191 +f 1192 1188 1195 +f 1191 1190 1196 +f 1193 1191 1196 +f 1190 1195 1196 +f 1188 1192 1197 +f 1189 1191 1198 +f 1194 1189 1198 +f 1192 1194 1198 +f 1190 1189 1199 +f 1189 1194 1199 +f 1194 1192 1199 +f 1195 1190 1199 +f 1192 1195 1199 +f 1191 1193 1200 +f 1188 1197 1200 +f 1197 1192 1200 +f 1198 1191 1200 +f 1192 1198 1200 +f 1195 1188 1201 +f 1193 1196 1201 +f 1196 1195 1201 +f 1188 1200 1201 +o convex_97 +v -2.300620 -0.231159 1.916031 +v -1.590105 -0.001952 1.984885 +v -1.590105 -0.024858 1.984885 +v -1.590105 0.020990 0.953492 +v -2.300620 -0.024858 1.091099 +v -2.277669 -0.345799 1.916031 +v -2.300620 -0.116555 0.999428 +v -1.590105 -0.001952 0.953492 +v -2.048435 -0.001952 1.389027 +v -1.658890 -0.070707 1.984885 +f 1209 1204 1211 +f 1203 1204 1205 +f 1202 1206 1208 +f 1206 1205 1208 +f 1207 1202 1208 +f 1207 1208 1209 +f 1205 1204 1209 +f 1208 1205 1209 +f 1202 1203 1210 +f 1203 1205 1210 +f 1206 1202 1210 +f 1205 1206 1210 +f 1203 1202 1211 +f 1204 1203 1211 +f 1202 1207 1211 +f 1207 1209 1211 +o convex_98 +v -1.177474 0.066839 0.816079 +v -0.856457 -0.185290 1.984986 +v -0.925313 -0.162391 1.984986 +v -1.589892 -0.001947 0.953553 +v -1.544084 0.020982 1.961864 +v -0.856457 0.066839 0.701224 +v -0.925313 -0.231177 1.961864 +v -1.589892 -0.024876 1.984986 +v -0.879505 0.066839 0.953553 +v -0.856457 0.043910 0.701224 +v -1.498204 0.043910 0.930682 +v -0.856457 -0.208248 1.824516 +f 1215 1221 1223 +f 1215 1212 1217 +f 1213 1214 1219 +f 1216 1215 1219 +f 1214 1216 1219 +f 1218 1213 1219 +f 1215 1218 1219 +f 1214 1213 1220 +f 1212 1216 1220 +f 1216 1214 1220 +f 1213 1217 1220 +f 1217 1212 1220 +f 1217 1213 1221 +f 1215 1217 1221 +f 1212 1215 1222 +f 1216 1212 1222 +f 1215 1216 1222 +f 1213 1218 1223 +f 1218 1215 1223 +f 1221 1213 1223 +o convex_99 +v -0.856457 -0.139489 1.755790 +v -0.375127 -1.033528 1.205709 +v -0.352214 -1.033528 1.205709 +v -0.833493 -1.010424 2.741396 +v -0.856457 -0.070770 1.228560 +v -0.810528 -0.208405 1.962353 +v -0.329250 -0.941804 1.228560 +v -0.856406 -1.033430 2.626690 +v -0.787615 -0.047863 1.205709 +v -0.741789 -0.368750 1.205709 +v -0.810528 -0.941705 2.741396 +v -0.443867 -1.033528 1.343267 +v -0.856406 -0.872986 2.718395 +f 1234 1229 1236 +f 1226 1227 1231 +f 1224 1228 1231 +f 1226 1225 1232 +f 1228 1224 1232 +f 1224 1229 1232 +f 1229 1230 1232 +f 1230 1226 1232 +f 1231 1228 1233 +f 1232 1225 1233 +f 1228 1232 1233 +f 1227 1226 1234 +f 1230 1229 1234 +f 1226 1230 1234 +f 1225 1226 1235 +f 1226 1231 1235 +f 1233 1225 1235 +f 1231 1233 1235 +f 1229 1224 1236 +f 1231 1227 1236 +f 1224 1231 1236 +f 1227 1234 1236 +o convex_100 +v 1.367126 1.029517 -0.903556 +v 0.587858 0.364855 -0.995217 +v 0.587858 0.364855 -0.972292 +v 0.610770 1.511071 -1.247276 +v 0.702420 0.731855 -1.270239 +v 1.435863 0.364855 -0.903556 +v 1.229569 1.511071 -0.880554 +v 0.817064 1.442294 -1.270239 +v 0.587858 0.685966 -1.270239 +v 1.389955 0.364855 -0.949405 +v 1.389955 0.364855 -0.880554 +v 1.298306 1.487959 -0.903556 +v 0.817064 1.075406 -1.270239 +v 0.587858 0.433633 -0.972292 +f 1240 1245 1250 +f 1239 1238 1242 +f 1238 1239 1245 +f 1240 1244 1245 +f 1244 1241 1245 +f 1242 1238 1246 +f 1237 1242 1246 +f 1244 1237 1246 +f 1238 1245 1246 +f 1245 1241 1246 +f 1242 1237 1247 +f 1239 1242 1247 +f 1243 1239 1247 +f 1237 1243 1247 +f 1240 1243 1248 +f 1243 1237 1248 +f 1237 1244 1248 +f 1244 1240 1248 +f 1241 1244 1249 +f 1244 1246 1249 +f 1246 1241 1249 +f 1239 1243 1250 +f 1243 1240 1250 +f 1245 1239 1250 +o convex_101 +v -0.902306 -1.194048 2.672671 +v -0.650073 -1.744113 1.182635 +v -0.604355 -1.744113 1.182635 +v -0.352176 -1.033598 1.182635 +v -0.810546 -1.744113 1.984950 +v -0.902306 -1.285783 2.374511 +v -0.833486 -1.056549 2.718447 +v -0.398056 -1.033598 1.182635 +v -0.902306 -1.744113 1.939173 +v -0.352176 -1.056549 1.251452 +v -0.902306 -1.033598 2.695559 +v -0.604355 -1.560711 1.182635 +v -0.879312 -1.675328 2.191098 +f 1259 1255 1263 +f 1253 1252 1254 +f 1252 1253 1255 +f 1254 1252 1258 +f 1252 1255 1259 +f 1251 1256 1259 +f 1253 1254 1260 +f 1255 1253 1260 +f 1257 1255 1260 +f 1254 1257 1260 +f 1256 1251 1261 +f 1251 1257 1261 +f 1257 1254 1261 +f 1258 1256 1261 +f 1254 1258 1261 +f 1256 1258 1262 +f 1258 1252 1262 +f 1252 1259 1262 +f 1259 1256 1262 +f 1257 1251 1263 +f 1255 1257 1263 +f 1251 1259 1263 +o convex_102 +v 0.679490 -0.941802 0.907543 +v 1.963234 -0.322874 0.884627 +v 1.940130 -0.345846 0.907543 +v 0.450229 -0.322874 0.953391 +v 1.963234 -0.987680 0.953391 +v 0.954663 -0.322874 0.861694 +v 0.450229 -0.987680 0.953391 +v 1.963234 -0.391659 0.861694 +v 1.963234 -0.987680 0.930458 +v 0.496141 -0.941802 0.907543 +v 1.963234 -0.804233 0.953391 +f 1268 1265 1274 +f 1266 1265 1267 +f 1267 1265 1269 +f 1268 1267 1270 +f 1265 1268 1271 +f 1269 1265 1271 +f 1268 1270 1272 +f 1264 1271 1272 +f 1271 1268 1272 +f 1267 1269 1273 +f 1270 1267 1273 +f 1271 1264 1273 +f 1269 1271 1273 +f 1264 1272 1273 +f 1272 1270 1273 +f 1265 1266 1274 +f 1266 1267 1274 +f 1267 1268 1274 +o convex_103 +v 3.407229 -1.125152 0.770017 +v 2.399160 -0.322874 0.792939 +v 2.399160 -0.322874 0.769997 +v 1.963234 -1.331497 0.838803 +v 2.605237 -0.987622 0.976316 +v 1.963526 -0.368784 0.907509 +v 3.246655 -0.506314 0.792939 +v 3.269699 -1.010626 0.930431 +v 3.223758 -1.331497 0.838803 +v 1.963234 -1.056436 0.953353 +v 3.269699 -1.331497 0.770017 +v 1.963526 -0.322874 0.838783 +v 2.605237 -1.308493 0.884587 +v 2.261630 -0.345878 0.769997 +v 3.246801 -0.941811 0.930431 +v 3.453169 -0.918906 0.770017 +f 1281 1289 1290 +f 1277 1276 1281 +f 1276 1280 1281 +f 1275 1282 1283 +f 1279 1280 1284 +f 1277 1275 1285 +f 1275 1283 1285 +f 1283 1278 1285 +f 1276 1277 1286 +f 1280 1276 1286 +f 1278 1284 1286 +f 1284 1280 1286 +f 1282 1279 1287 +f 1283 1282 1287 +f 1278 1283 1287 +f 1284 1278 1287 +f 1279 1284 1287 +f 1277 1285 1288 +f 1285 1278 1288 +f 1286 1277 1288 +f 1278 1286 1288 +f 1280 1279 1289 +f 1281 1280 1289 +f 1279 1282 1289 +f 1289 1282 1290 +f 1275 1277 1290 +f 1277 1281 1290 +f 1282 1275 1290 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/360/360.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/360/360.urdf new file mode 100644 index 000000000..8a6e40f96 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/360/360.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/361/361.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/361/361.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/361/361.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/361/361.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/361/361.obj new file mode 100644 index 000000000..ebce716f4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/361/361.obj @@ -0,0 +1,1233 @@ +o convex_0 +v -0.936792 -1.110854 -0.033636 +v 1.032741 -0.111813 0.023068 +v 1.004372 0.145062 0.108871 +v 0.005220 -1.567686 1.250919 +v 0.347660 -1.567686 -1.289839 +v -0.936792 0.345020 -0.633012 +v -0.737002 0.345020 0.965159 +v 0.747441 0.345020 -1.004078 +v 0.633161 0.345020 1.050713 +v 0.890091 -1.567686 0.708248 +v -0.822511 -1.567686 -0.861322 +v -0.594151 0.345020 -1.089881 +v -0.793941 -1.567686 0.794050 +v 0.804381 -1.539041 -0.775768 +v -0.936792 0.230811 0.679895 +v 0.918662 0.345020 0.736848 +v 0.918662 0.345020 -0.832970 +v -0.280080 -1.453478 1.250919 +v 0.718871 -1.510582 0.965159 +v -1.022302 -0.368688 0.023068 +v 0.062159 -1.567686 -1.289590 +v -0.936792 -0.540187 0.765201 +v -0.936792 -0.454438 -0.775768 +v -0.222940 0.345020 1.050961 +v -0.622721 -1.567686 -1.032679 +v 0.918662 -0.454438 -0.804369 +v 0.890091 -1.567686 0.023068 +v 0.947232 -0.511729 0.736848 +v -0.480071 -1.567686 1.136516 +v -0.993933 0.345020 0.223026 +v -0.879652 -1.567686 -0.547209 +v 0.547450 -1.567686 -1.146834 +v 0.347660 0.316374 -1.061280 +v 0.319291 -1.424833 -1.289839 +v 1.032741 -0.226021 -0.033636 +v -0.851082 -1.567686 0.394383 +v 1.004372 0.287916 -0.233345 +v 0.947232 -0.397334 -0.718815 +v -0.908222 0.345020 0.822403 +v -0.651291 0.345020 -1.061280 +v -1.022302 -0.283125 -0.119190 +v -0.936792 0.030854 -0.775768 +v 0.918662 -1.481937 0.479937 +v 0.947232 0.059499 0.736848 +v 0.690301 0.345020 -1.032679 +v 0.832951 -1.567686 0.851004 +v -0.708432 -1.082208 0.965159 +v -0.708432 -0.682480 -1.004078 +v -0.679862 0.316374 0.993760 +v -1.022302 -0.054709 0.108623 +v -0.993933 0.259270 -0.176392 +v 0.747441 -0.226021 -1.004078 +v 0.975802 0.345020 0.251627 +v -0.879652 -1.567686 0.051669 +v -0.908222 0.345020 -0.775768 +v -0.822511 0.287916 0.907957 +v -0.222940 -1.424833 1.250919 +v 0.975802 -0.197563 0.622693 +v -0.822511 -1.424833 0.794050 +v -0.851082 -1.510582 -0.832970 +v 0.633161 0.173707 1.050713 +v -0.480071 0.345020 -1.089633 +v -0.651291 -1.196416 -1.032679 +v 0.804381 -1.567686 -0.747167 +f 38 27 64 +f 6 7 8 +f 8 7 9 +f 4 5 10 +f 5 4 11 +f 6 8 12 +f 11 4 13 +f 8 9 16 +f 8 16 17 +f 5 11 21 +f 9 7 24 +f 21 11 25 +f 10 5 27 +f 13 4 29 +f 4 18 29 +f 18 7 29 +f 7 6 30 +f 11 13 31 +f 1 20 31 +f 26 14 32 +f 27 5 32 +f 5 21 34 +f 21 12 34 +f 22 20 36 +f 31 13 36 +f 3 2 37 +f 2 35 37 +f 37 35 38 +f 14 26 38 +f 26 17 38 +f 35 27 38 +f 17 37 38 +f 15 22 39 +f 7 30 39 +f 30 15 39 +f 6 12 40 +f 31 20 41 +f 23 31 41 +f 40 23 42 +f 23 41 42 +f 10 27 43 +f 28 10 43 +f 27 35 43 +f 16 9 44 +f 9 19 44 +f 19 28 44 +f 8 5 45 +f 12 8 45 +f 34 33 45 +f 5 34 45 +f 4 10 46 +f 19 4 46 +f 10 28 46 +f 28 19 46 +f 11 23 48 +f 23 40 48 +f 7 18 49 +f 24 7 49 +f 18 24 49 +f 22 15 50 +f 20 22 50 +f 15 30 50 +f 41 20 50 +f 41 50 51 +f 30 6 51 +f 6 42 51 +f 42 41 51 +f 50 30 51 +f 5 8 52 +f 8 17 52 +f 17 26 52 +f 32 5 52 +f 26 32 52 +f 2 3 53 +f 17 16 53 +f 3 37 53 +f 37 17 53 +f 44 2 53 +f 16 44 53 +f 20 1 54 +f 1 31 54 +f 36 20 54 +f 31 36 54 +f 6 40 55 +f 42 6 55 +f 40 42 55 +f 29 7 56 +f 39 22 56 +f 7 39 56 +f 22 47 56 +f 47 29 56 +f 4 9 57 +f 18 4 57 +f 9 24 57 +f 24 18 57 +f 35 2 58 +f 28 43 58 +f 43 35 58 +f 2 44 58 +f 44 28 58 +f 13 29 59 +f 36 13 59 +f 22 36 59 +f 47 22 59 +f 29 47 59 +f 23 11 60 +f 11 31 60 +f 31 23 60 +f 9 4 61 +f 4 19 61 +f 19 9 61 +f 34 12 62 +f 33 34 62 +f 12 45 62 +f 45 33 62 +f 12 21 63 +f 25 11 63 +f 21 25 63 +f 40 12 63 +f 11 48 63 +f 48 40 63 +f 32 14 64 +f 27 32 64 +f 14 38 64 +o convex_1 +v -0.965407 0.716119 0.337145 +v 0.975838 0.373593 0.223015 +v 0.975838 0.345020 0.223015 +v -0.023098 1.030143 -1.346670 +v 0.461834 1.058716 1.164986 +v -0.651304 0.345020 -1.061079 +v -0.736813 0.345020 0.965125 +v 0.890139 1.058716 -0.889884 +v -0.879708 1.058716 0.879661 +v 0.747434 0.345020 -1.004014 +v -0.879708 1.058716 -0.804154 +v 0.633232 0.345020 1.050856 +v 0.861636 1.058716 0.765265 +v -0.023098 1.030143 1.364846 +v -0.965407 0.345020 -0.376034 +v -0.908211 0.345020 0.822330 +v 0.918642 0.345020 -0.804154 +v 0.947145 1.058716 -0.518829 +v -0.537102 1.058716 -1.146809 +v 0.918642 0.345020 0.736866 +v -0.223189 0.345020 1.079255 +v -0.908211 0.345020 -0.775754 +v 0.775937 1.058716 -1.004014 +v -0.394397 0.345020 -1.089745 +v -0.936714 1.058716 0.508340 +v -0.394397 1.058716 1.193385 +v 0.975838 0.345020 -0.404699 +v 0.718741 1.058716 0.965125 +v -0.936714 0.887418 -0.376034 +v -0.736813 1.058716 -1.004014 +v 0.690238 0.345020 -1.032680 +v -0.965407 0.345020 0.422610 +v 0.005215 1.058716 -1.346670 +v 0.918642 0.944424 0.365810 +v 0.490337 0.345020 1.079255 +v 0.775937 0.402166 -1.004014 +v 0.975838 0.687616 -0.318969 +v 0.005215 1.058716 1.364846 +v -0.765316 0.573464 0.965125 +v 0.890139 0.801768 0.765265 +v -0.537102 0.773126 -1.146809 +v -0.594108 0.345020 -1.089745 +v 0.290626 0.345020 -1.061079 +v -0.965407 0.573464 -0.290304 +f 93 75 108 +f 70 67 71 +f 69 72 73 +f 67 70 74 +f 73 72 75 +f 71 67 76 +f 72 69 77 +f 70 71 79 +f 79 71 80 +f 67 74 81 +f 72 77 82 +f 81 72 82 +f 75 72 83 +f 67 66 84 +f 76 67 84 +f 71 76 85 +f 78 71 85 +f 70 79 86 +f 79 75 86 +f 83 72 87 +f 74 70 88 +f 73 75 89 +f 80 73 89 +f 69 73 90 +f 71 78 90 +f 66 67 91 +f 67 81 91 +f 81 82 91 +f 69 76 92 +f 77 69 92 +f 76 84 92 +f 65 89 93 +f 89 75 93 +f 75 83 94 +f 70 86 94 +f 86 75 94 +f 74 88 95 +f 65 79 96 +f 79 80 96 +f 89 65 96 +f 80 89 96 +f 68 83 97 +f 83 87 97 +f 95 68 97 +f 82 77 98 +f 76 78 99 +f 85 76 99 +f 78 85 99 +f 72 81 100 +f 81 74 100 +f 87 72 100 +f 74 95 100 +f 97 87 100 +f 95 97 100 +f 66 91 101 +f 91 82 101 +f 98 66 101 +f 82 98 101 +f 76 69 102 +f 78 76 102 +f 69 90 102 +f 90 78 102 +f 73 80 103 +f 80 71 103 +f 71 90 103 +f 90 73 103 +f 84 66 104 +f 77 92 104 +f 92 84 104 +f 66 98 104 +f 98 77 104 +f 83 68 105 +f 70 94 105 +f 94 83 105 +f 68 88 106 +f 88 70 106 +f 105 68 106 +f 70 105 106 +f 88 68 107 +f 68 95 107 +f 95 88 107 +f 79 65 108 +f 75 79 108 +f 65 93 108 +o convex_2 +v -0.023335 2.400465 1.450922 +v -0.108943 1.058716 1.279468 +v -0.394303 1.201480 1.279468 +v 0.005098 1.372876 3.049113 +v 0.519056 1.857908 1.279644 +v -0.166015 2.229069 3.049113 +v 0.347736 2.229069 2.935044 +v -0.451478 2.229069 1.279468 +v -0.451478 1.743643 2.820800 +v 0.347736 1.430008 2.792459 +v 0.404808 1.287113 1.279644 +v 0.433344 2.286201 1.279644 +v -0.365870 1.401508 2.820800 +v 0.461880 1.800776 2.849493 +v -0.537189 1.772275 1.279468 +v 0.090809 1.058716 1.308337 +v 0.404808 1.772406 3.049289 +v -0.337334 2.057673 3.020596 +v -0.051871 2.314701 2.820800 +v -0.422839 2.286201 1.279468 +v -0.308695 1.515509 3.020596 +v 0.033634 1.315744 2.877834 +v -0.337334 2.172068 2.820800 +v -0.537189 1.972040 1.308337 +v -0.422839 1.230243 1.365371 +v 0.062170 2.400465 1.279468 +v 0.519056 2.000672 1.308161 +v 0.033634 2.200437 3.077806 +v 0.319200 1.487009 3.049289 +v -0.451478 1.858039 2.763766 +v 0.290664 2.257700 2.906527 +v -0.023335 1.058716 1.450922 +v 0.376272 2.171937 2.906527 +v 0.433344 1.372876 1.308161 +v -0.480014 1.743643 2.449725 +v -0.108943 1.315744 2.792283 +v 0.062170 2.314701 2.792283 +v 0.376272 2.314701 1.365371 +v -0.080407 2.086304 3.077806 +v 0.461880 1.886408 2.792459 +v 0.319200 2.086304 3.049289 +v -0.108943 1.058716 1.336854 +v -0.365870 1.686906 3.020596 +v 0.404808 1.287113 1.365371 +v 0.062170 2.400465 1.393888 +v 0.461880 1.772406 2.792459 +v -0.051871 2.257700 3.049113 +v -0.365870 2.143436 2.678038 +v 0.433344 2.286201 1.393888 +v -0.451478 1.686906 2.735249 +f 143 133 158 +f 110 111 116 +f 110 113 119 +f 116 111 123 +f 110 119 124 +f 110 116 128 +f 127 109 128 +f 121 112 129 +f 124 118 130 +f 126 114 131 +f 114 127 131 +f 127 128 131 +f 116 123 132 +f 111 121 133 +f 123 111 133 +f 113 110 134 +f 120 113 134 +f 110 128 134 +f 128 109 134 +f 113 120 135 +f 122 113 135 +f 118 122 137 +f 122 125 137 +f 112 130 137 +f 130 118 137 +f 125 136 137 +f 117 126 138 +f 126 131 138 +f 110 124 140 +f 124 130 140 +f 115 125 141 +f 125 122 141 +f 119 113 142 +f 132 123 143 +f 123 133 143 +f 117 138 143 +f 138 132 143 +f 112 121 144 +f 130 112 144 +f 140 130 144 +f 109 127 145 +f 120 134 146 +f 114 126 147 +f 129 112 147 +f 136 114 147 +f 112 137 147 +f 137 136 147 +f 122 135 148 +f 141 122 148 +f 135 141 148 +f 125 115 149 +f 136 125 149 +f 115 136 149 +f 111 110 150 +f 121 111 150 +f 110 140 150 +f 144 121 150 +f 140 144 150 +f 117 121 151 +f 126 117 151 +f 121 129 151 +f 147 126 151 +f 129 147 151 +f 118 124 152 +f 124 119 152 +f 119 142 152 +f 134 109 153 +f 109 145 153 +f 145 139 153 +f 146 134 153 +f 139 146 153 +f 122 118 154 +f 113 122 154 +f 142 113 154 +f 118 152 154 +f 152 142 154 +f 127 114 155 +f 136 115 155 +f 114 136 155 +f 115 139 155 +f 145 127 155 +f 139 145 155 +f 128 116 156 +f 131 128 156 +f 116 132 156 +f 138 131 156 +f 132 138 156 +f 135 120 157 +f 139 115 157 +f 115 141 157 +f 141 135 157 +f 120 146 157 +f 146 139 157 +f 121 117 158 +f 133 121 158 +f 117 143 158 +o convex_3 +v -0.137511 -1.653453 -1.289839 +v 0.033773 -2.566763 -1.461151 +v 0.062246 -2.566763 -1.461151 +v 0.033773 -2.224186 -3.031258 +v 0.319140 -1.596341 -1.289839 +v -0.251658 -2.509651 -1.289839 +v 0.319140 -2.452538 -1.289839 +v -0.166048 -2.252743 -2.774034 +v 0.204929 -2.252743 -2.774034 +v 0.062246 -2.452538 -2.774034 +v -0.023300 -2.024586 -2.802671 +v -0.280259 -2.167074 -1.347114 +v 0.376342 -2.053143 -1.432685 +v 0.062246 -1.567687 -1.347114 +v 0.233530 -2.452538 -2.174697 +v -0.166048 -1.710566 -1.432685 +v 0.005236 -2.452538 -2.774034 +v 0.290603 -1.567687 -1.347114 +v 0.033773 -2.024586 -2.774034 +v -0.166048 -2.195630 -2.745738 +v 0.376342 -1.881805 -1.318476 +v 0.204929 -2.224186 -2.774034 +v -0.280259 -2.281299 -1.489789 +v -0.108910 -2.395426 -2.631530 +v 0.090782 -2.566763 -1.289839 +v 0.319140 -2.452538 -1.432685 +v -0.194585 -1.767678 -1.347114 +v -0.023300 -2.281299 -3.002621 +v -0.280259 -2.167074 -1.289839 +v -0.108910 -2.053143 -2.631530 +f 178 174 188 +f 163 159 164 +f 163 164 165 +f 161 160 168 +f 162 167 168 +f 159 163 172 +f 169 159 172 +f 168 167 173 +f 161 168 173 +f 159 169 174 +f 160 164 175 +f 168 160 175 +f 172 163 176 +f 169 172 176 +f 162 169 177 +f 169 176 177 +f 163 165 179 +f 165 171 179 +f 179 171 180 +f 167 162 180 +f 171 167 180 +f 176 163 180 +f 162 177 180 +f 177 176 180 +f 163 179 180 +f 166 164 181 +f 178 166 181 +f 170 178 181 +f 164 166 182 +f 175 164 182 +f 166 175 182 +f 160 161 183 +f 164 160 183 +f 165 164 183 +f 161 173 183 +f 183 173 184 +f 171 165 184 +f 167 171 184 +f 173 167 184 +f 165 183 184 +f 159 174 185 +f 178 170 185 +f 174 178 185 +f 162 168 186 +f 169 162 186 +f 175 166 186 +f 168 175 186 +f 166 178 186 +f 178 169 186 +f 164 159 187 +f 181 164 187 +f 170 181 187 +f 159 185 187 +f 185 170 187 +f 174 169 188 +f 169 178 188 +o convex_4 +v -0.822591 -1.567687 0.651294 +v 0.890153 -1.567687 0.708247 +v 0.861567 -1.567687 0.794050 +v 0.033781 -3.194755 -0.118942 +v 0.347709 -1.567687 -1.289590 +v -0.737006 -2.652452 -0.918276 +v -0.251561 -2.481081 1.250919 +v 0.804394 -2.595275 0.851003 +v 0.633224 -2.423904 -0.861322 +v -0.822591 -1.567687 -0.861322 +v -0.023218 -2.595275 -1.289590 +v -0.708420 -2.481081 0.765449 +v 0.033781 -1.567687 1.250919 +v -0.023218 -3.109069 0.765449 +v 0.804394 -1.567687 -0.747167 +v 0.033781 -3.109069 -0.775520 +v 0.319123 -2.481081 1.250919 +v -0.308733 -2.253011 -1.289590 +v -0.480077 -1.567687 1.136515 +v 0.347709 -2.395395 -1.289590 +v -0.879764 -1.596354 0.023317 +v 0.718809 -2.423904 -0.633012 +v -0.165976 -1.653531 -1.289590 +v 0.890153 -1.596354 0.080270 +v 0.290536 -1.739217 1.250919 +v -0.422905 -2.766487 -1.089633 +v 0.033781 -3.109069 0.794050 +v 0.747395 -1.567687 0.936806 +v -0.765419 -2.481081 0.137472 +v -0.023218 -3.194755 0.080270 +v 0.461880 -2.737978 1.050713 +v 0.804394 -2.367046 0.023068 +v 0.547639 -1.625023 -1.146834 +v 0.090780 -2.595275 1.250919 +v -0.879764 -1.596354 -0.518609 +v -0.794005 -1.682040 0.794050 +v -0.337320 -2.024622 1.250919 +v 0.376295 -2.338696 1.250919 +v -0.708420 -1.567687 -0.975478 +v 0.804394 -2.595275 0.736848 +v -0.765419 -2.566766 -0.889675 +v -0.023218 -3.109069 -0.775520 +v -0.537076 -2.652452 0.765449 +v -0.280147 -2.538098 -1.289590 +v 0.090780 -3.166087 0.108871 +v -0.737006 -2.652452 -0.775520 +v 0.890153 -1.824743 0.537139 +v 0.290536 -2.481081 -1.289590 +v -0.280147 -1.567687 1.250919 +v -0.651248 -2.481081 0.851003 +v 0.147952 -3.051893 0.794050 +v -0.023218 -3.194755 -0.090341 +v -0.080391 -2.595275 1.250919 +v 0.718809 -2.338537 -0.747167 +v 0.005195 -1.567687 -1.289590 +v 0.832981 -2.452572 0.794050 +v 0.404881 -1.996114 -1.289839 +v 0.319123 -2.823663 -0.747167 +v -0.080391 -3.051893 0.794050 +v 0.090780 -2.595275 -1.289590 +v -0.765419 -2.566766 -0.404454 +v -0.851004 -1.567687 -0.775520 +v 0.204951 -3.080560 0.166073 +v 0.804394 -1.596354 -0.747167 +f 242 221 252 +f 191 190 189 +f 189 190 193 +f 189 193 198 +f 191 189 201 +f 193 190 203 +f 201 195 205 +f 201 189 207 +f 200 189 209 +f 203 190 212 +f 201 205 213 +f 196 191 216 +f 191 201 216 +f 201 213 216 +f 200 209 217 +f 215 202 218 +f 196 205 219 +f 193 203 221 +f 205 195 222 +f 219 205 222 +f 215 219 222 +f 189 200 224 +f 207 189 224 +f 207 224 225 +f 195 201 225 +f 205 196 226 +f 213 205 226 +f 196 216 226 +f 216 213 226 +f 198 193 227 +f 194 198 227 +f 206 194 227 +f 211 206 227 +f 210 220 228 +f 198 194 229 +f 209 223 229 +f 204 192 230 +f 199 204 230 +f 194 214 230 +f 214 199 230 +f 218 202 231 +f 194 206 232 +f 214 194 232 +f 199 214 232 +f 218 192 233 +f 215 218 233 +f 194 218 234 +f 229 194 234 +f 231 200 234 +f 218 231 234 +f 212 190 235 +f 220 212 235 +f 197 204 236 +f 208 197 236 +f 201 207 237 +f 207 225 237 +f 225 201 237 +f 224 200 238 +f 225 224 238 +f 195 225 238 +f 200 231 238 +f 196 219 239 +f 219 215 239 +f 233 196 239 +f 215 233 239 +f 218 194 240 +f 192 218 240 +f 230 192 240 +f 194 230 240 +f 222 195 241 +f 215 222 241 +f 210 197 242 +f 220 210 242 +f 197 221 242 +f 227 193 243 +f 211 227 243 +f 190 191 244 +f 191 196 244 +f 196 228 244 +f 228 220 244 +f 235 190 244 +f 220 235 244 +f 197 208 245 +f 206 211 245 +f 193 221 245 +f 221 197 245 +f 232 206 245 +f 199 232 245 +f 208 236 245 +f 243 193 245 +f 211 243 245 +f 204 197 246 +f 197 210 246 +f 228 204 246 +f 210 228 246 +f 202 215 247 +f 231 202 247 +f 195 238 247 +f 238 231 247 +f 241 195 247 +f 215 241 247 +f 204 199 248 +f 236 204 248 +f 199 245 248 +f 245 236 248 +f 200 217 249 +f 217 209 249 +f 209 229 249 +f 234 200 249 +f 229 234 249 +f 189 198 250 +f 209 189 250 +f 223 209 250 +f 198 229 250 +f 229 223 250 +f 192 204 251 +f 228 196 251 +f 204 228 251 +f 196 233 251 +f 233 192 251 +f 203 212 252 +f 212 220 252 +f 221 203 252 +f 220 242 252 +o convex_5 +v 0.062299 -2.566763 1.250920 +v 0.090835 -1.938918 1.993091 +v 0.005225 -1.938918 1.993091 +v 0.033762 -1.567687 1.250920 +v -0.308807 -2.224186 1.250920 +v 0.347794 -2.224186 1.250920 +v -0.051848 -2.481095 1.964540 +v 0.290656 -2.224186 1.993091 +v -0.223132 -2.138518 1.993091 +v -0.251669 -1.596341 1.279543 +v 0.262055 -1.710566 1.308094 +v -0.280206 -2.452538 1.308094 +v 0.262055 -2.509651 1.279543 +v 0.262055 -1.967474 1.964540 +v -0.194596 -2.423982 1.993091 +v 0.147909 -2.423982 1.993091 +v -0.308807 -2.024586 1.450847 +v -0.080385 -2.566763 1.250920 +v -0.223132 -1.567687 1.308094 +v -0.166059 -1.967474 1.935990 +v 0.290656 -1.767678 1.250920 +v -0.251669 -2.224186 1.907439 +v -0.308807 -1.853249 1.250920 +v 0.347794 -2.309855 1.308094 +v 0.033762 -1.567687 1.279543 +v 0.290656 -2.109962 1.935990 +v 0.005225 -2.481095 1.964540 +v 0.205046 -2.395426 1.964540 +f 260 268 280 +f 256 253 257 +f 253 256 258 +f 254 255 260 +f 260 255 261 +f 253 258 265 +f 254 260 266 +f 260 261 267 +f 267 259 268 +f 260 267 268 +f 261 262 269 +f 257 253 270 +f 253 259 270 +f 264 257 270 +f 259 267 270 +f 267 264 270 +f 255 254 271 +f 256 262 271 +f 271 262 272 +f 261 255 272 +f 262 261 272 +f 255 271 272 +f 258 256 273 +f 256 263 273 +f 263 266 273 +f 257 264 274 +f 267 261 274 +f 264 267 274 +f 269 257 274 +f 261 269 274 +f 256 257 275 +f 262 256 275 +f 257 269 275 +f 269 262 275 +f 265 258 276 +f 260 265 276 +f 263 256 277 +f 254 266 277 +f 266 263 277 +f 271 254 277 +f 256 271 277 +f 266 260 278 +f 258 273 278 +f 273 266 278 +f 276 258 278 +f 260 276 278 +f 259 253 279 +f 253 265 279 +f 268 259 279 +f 265 268 279 +f 265 260 280 +f 268 265 280 +o convex_6 +v -0.194548 -2.395527 1.993267 +v 0.290648 -2.195787 2.050438 +v 0.262083 -2.167239 2.421482 +v -0.108905 -1.995952 1.993267 +v 0.005253 -2.224240 3.049434 +v 0.147925 -2.424075 1.993267 +v 0.062282 -1.995952 2.706717 +v -0.165984 -2.167239 2.792423 +v 0.262083 -1.995952 1.993267 +v 0.005253 -2.395527 2.763785 +v 0.233519 -2.224240 2.820956 +v -0.223113 -2.167239 1.993267 +v -0.165984 -2.281335 2.678184 +v -0.080390 -2.452575 2.078972 +v 0.233519 -2.167239 2.820956 +v -0.137469 -2.024500 2.278813 +v 0.033768 -2.024500 2.820956 +v 0.033768 -1.967357 2.278813 +v 0.176440 -2.395527 2.164574 +v -0.108905 -2.366979 2.649650 +v 0.205004 -2.053048 2.621116 +v 0.062282 -2.167239 3.049434 +v -0.223113 -2.224240 2.221642 +v 0.262083 -2.281335 1.993267 +v -0.051826 -2.024500 2.678184 +v 0.119361 -2.366979 2.649650 +f 299 291 306 +f 281 284 286 +f 283 282 289 +f 286 284 289 +f 285 290 291 +f 284 281 292 +f 285 288 293 +f 281 286 294 +f 286 290 294 +f 282 283 295 +f 283 289 295 +f 291 282 295 +f 284 292 296 +f 292 288 296 +f 289 284 298 +f 287 289 298 +f 284 296 298 +f 290 285 300 +f 285 293 300 +f 293 281 300 +f 281 294 300 +f 294 290 300 +f 289 287 301 +f 295 289 301 +f 297 295 301 +f 287 297 301 +f 288 285 302 +f 285 291 302 +f 291 295 302 +f 297 288 302 +f 295 297 302 +f 292 281 303 +f 288 292 303 +f 293 288 303 +f 281 293 303 +f 289 282 304 +f 286 289 304 +f 282 291 304 +f 299 286 304 +f 291 299 304 +f 296 288 305 +f 288 297 305 +f 297 287 305 +f 287 298 305 +f 298 296 305 +f 290 286 306 +f 291 290 306 +f 286 299 306 +o convex_7 +v 0.204946 2.314579 -1.289839 +v -0.023297 1.058841 -1.432760 +v 0.005206 1.058841 -1.432760 +v 0.033708 2.171881 -3.031049 +v -0.565737 1.857947 -1.289839 +v -0.394387 1.401441 -2.802722 +v 0.433413 1.458520 -2.831133 +v 0.576149 1.943565 -1.289839 +v -0.365885 2.171881 -2.831133 +v -0.480006 1.201665 -1.289839 +v 0.461915 1.315697 -1.289839 +v 0.347794 2.143467 -2.831133 +v -0.394387 2.228960 -1.289839 +v -0.023297 1.372901 -3.031049 +v -0.508509 1.772328 -2.774137 +v -0.051911 2.286039 -2.831133 +v 0.404799 1.772328 -3.031049 +v -0.365885 1.915026 -3.031049 +v 0.433413 2.257625 -1.375765 +v 0.404799 1.372901 -2.831133 +v 0.519032 1.743915 -2.574222 +v -0.051911 1.287283 -2.831133 +v -0.023297 2.343244 -1.289839 +v -0.137418 1.058841 -1.289839 +v 0.319180 1.458520 -3.059633 +v 0.033708 2.286039 -2.831133 +v 0.490418 1.829407 -2.802722 +v -0.337271 1.515599 -3.002464 +v 0.119327 1.087507 -1.318597 +v -0.451392 2.171881 -1.347181 +v -0.508509 1.829407 -2.774137 +v 0.576149 1.829407 -1.375765 +v 0.347794 1.886486 -3.059633 +v -0.280154 2.114802 -3.031049 +v 0.062211 1.287283 -2.831133 +v -0.565737 1.772328 -1.461344 +v 0.461915 2.229086 -1.318597 +v -0.337271 2.200420 -2.831133 +v 0.461915 1.315697 -1.432760 +v -0.422890 1.429980 -2.774137 +v 0.262063 2.086263 -3.031049 +v -0.023297 2.343244 -1.461344 +v 0.490418 1.715249 -2.859717 +v -0.422890 1.743789 -2.973880 +v -0.137418 1.058841 -1.318597 +v 0.147830 1.429980 -3.059633 +v 0.576149 1.915026 -1.489928 +v 0.376296 2.114928 -2.774137 +v -0.480006 1.201665 -1.318597 +v 0.519032 1.601217 -1.803835 +f 338 345 356 +f 307 311 314 +f 314 311 316 +f 314 316 317 +f 311 307 319 +f 309 308 328 +f 312 320 328 +f 319 307 329 +f 308 309 330 +f 317 316 330 +f 313 326 331 +f 310 322 332 +f 307 325 332 +f 325 318 332 +f 320 312 334 +f 309 326 335 +f 330 309 335 +f 317 330 335 +f 311 319 336 +f 315 324 337 +f 311 336 337 +f 336 315 337 +f 314 317 338 +f 323 331 339 +f 333 323 339 +f 318 333 339 +f 322 310 340 +f 324 315 340 +f 310 339 340 +f 326 309 341 +f 309 328 341 +f 328 320 341 +f 320 331 341 +f 331 326 341 +f 316 311 342 +f 311 337 342 +f 337 321 342 +f 307 314 343 +f 325 307 343 +f 315 336 344 +f 336 319 344 +f 322 340 344 +f 340 315 344 +f 326 313 345 +f 335 326 345 +f 317 335 345 +f 338 317 345 +f 334 312 346 +f 310 332 347 +f 332 318 347 +f 339 310 347 +f 318 339 347 +f 329 307 348 +f 319 329 348 +f 332 322 348 +f 307 332 348 +f 344 319 348 +f 322 344 348 +f 327 313 349 +f 313 331 349 +f 331 323 349 +f 323 333 349 +f 333 327 349 +f 324 334 350 +f 321 337 350 +f 337 324 350 +f 346 321 350 +f 334 346 350 +f 328 308 351 +f 312 328 351 +f 308 330 351 +f 330 316 351 +f 331 320 352 +f 320 334 352 +f 334 324 352 +f 339 331 352 +f 324 340 352 +f 340 339 352 +f 327 333 353 +f 314 338 353 +f 338 327 353 +f 343 314 353 +f 343 353 354 +f 318 325 354 +f 333 318 354 +f 325 343 354 +f 353 333 354 +f 316 342 355 +f 342 321 355 +f 346 312 355 +f 321 346 355 +f 312 351 355 +f 351 316 355 +f 313 327 356 +f 327 338 356 +f 345 313 356 +o convex_8 +v -0.908273 1.058716 -0.547416 +v 0.947282 1.087353 -0.490326 +v 0.947282 1.058716 -0.490326 +v -0.565601 1.858003 1.279467 +v -0.051778 2.742860 -0.775777 +v 0.576024 2.457340 0.993514 +v 0.461861 1.058716 1.164784 +v 0.576024 2.000678 -1.289839 +v -0.793926 2.200457 -0.832867 +v -0.565601 2.457340 1.050855 +v -0.137353 1.058716 -1.289839 +v -0.879686 1.058716 0.879334 +v 0.861522 2.228923 -0.975466 +v -0.451438 2.229094 -1.289839 +v 0.861522 1.173094 0.765405 +v -0.851099 2.171990 0.936424 +v 0.433459 2.314665 1.279467 +v 0.005211 2.742860 0.765153 +v 0.804533 1.058716 -1.004137 +v 0.576024 2.485977 -1.032808 +v 0.775946 2.228923 0.793824 +v -0.165940 1.058716 1.279467 +v -0.736937 1.058716 -1.004137 +v 0.033614 2.800135 0.080072 +v 0.519035 1.858003 1.279467 +v -0.023191 2.428702 1.279467 +v -0.565601 1.715498 -1.289839 +v 0.147776 2.343302 -1.289839 +v 0.461861 1.315769 -1.289839 +v -0.565601 2.400406 -1.032808 +v -0.051778 2.800135 -0.176456 +v -0.936859 1.087523 0.508374 +v -0.822513 2.143353 -0.804447 +v 0.861522 1.058716 0.765405 +v -0.422852 1.201561 1.279467 +v -0.451438 2.286027 1.279467 +v -0.879686 1.087523 -0.804447 +v -0.480025 1.201561 -1.289839 +v 0.404872 1.287132 1.279467 +v 0.890109 1.230199 -0.918376 +v 0.547437 2.485977 0.993514 +v 0.461861 2.257561 -1.289839 +v -0.594188 1.886640 -1.261168 +v 0.033614 2.742860 -0.775777 +v 0.718773 1.058716 0.965346 +v 0.547437 2.000678 1.250797 +v 0.890109 1.201561 0.479954 +v -0.051778 2.771497 0.508374 +v -0.108767 2.343302 -1.289839 +v 0.090787 1.058716 -1.289839 +v -0.651361 2.343302 -0.947047 +v 0.804533 2.000678 0.736734 +v -0.908273 1.201561 -0.490326 +v 0.775946 2.200457 0.822244 +v 0.033614 2.800135 -0.147785 +v 0.747359 2.343132 -1.004137 +v 0.576024 1.829706 -1.289839 +v 0.861522 2.228923 -0.918376 +v 0.119189 1.058716 1.279467 +v -0.508612 2.485977 1.050855 +v 0.033614 2.714393 -0.832867 +v -0.879686 1.829536 0.736734 +v -0.051778 2.800135 0.165833 +v -0.736937 2.114715 -0.975718 +f 407 386 420 +f 357 359 363 +f 359 357 367 +f 357 363 368 +f 364 367 370 +f 368 360 372 +f 359 367 375 +f 368 363 378 +f 373 360 378 +f 367 357 379 +f 373 378 381 +f 360 373 382 +f 370 367 383 +f 364 370 384 +f 367 364 385 +f 361 386 387 +f 357 368 388 +f 368 372 388 +f 372 365 389 +f 363 359 390 +f 360 368 391 +f 378 360 391 +f 368 378 391 +f 372 360 392 +f 366 372 392 +f 360 382 392 +f 379 357 393 +f 367 379 394 +f 383 367 394 +f 379 383 394 +f 381 378 395 +f 358 359 396 +f 369 358 396 +f 359 375 396 +f 373 362 397 +f 380 374 397 +f 376 380 397 +f 382 373 397 +f 374 382 397 +f 369 364 398 +f 364 384 398 +f 384 376 398 +f 370 383 399 +f 383 379 399 +f 379 393 399 +f 361 387 400 +f 363 390 401 +f 395 363 401 +f 381 395 401 +f 373 381 402 +f 390 371 402 +f 401 390 402 +f 381 401 402 +f 359 358 403 +f 390 359 403 +f 371 390 403 +f 374 380 404 +f 384 370 405 +f 386 361 405 +f 370 386 405 +f 375 367 406 +f 367 385 406 +f 385 375 406 +f 365 372 407 +f 372 366 407 +f 366 387 407 +f 387 386 407 +f 403 358 408 +f 371 403 408 +f 357 388 409 +f 393 357 409 +f 389 393 409 +f 362 373 410 +f 377 362 410 +f 402 371 410 +f 373 402 410 +f 408 377 410 +f 371 408 410 +f 380 376 411 +f 387 380 411 +f 376 400 411 +f 400 387 411 +f 376 397 412 +f 369 398 412 +f 398 376 412 +f 364 369 413 +f 385 364 413 +f 375 385 413 +f 369 396 413 +f 396 375 413 +f 358 369 414 +f 362 377 414 +f 397 362 414 +f 408 358 414 +f 377 408 414 +f 369 412 414 +f 412 397 414 +f 378 363 415 +f 363 395 415 +f 395 378 415 +f 382 374 416 +f 366 392 416 +f 392 382 416 +f 404 366 416 +f 374 404 416 +f 376 384 417 +f 400 376 417 +f 361 400 417 +f 405 361 417 +f 384 405 417 +f 388 372 418 +f 372 389 418 +f 409 388 418 +f 389 409 418 +f 387 366 419 +f 380 387 419 +f 366 404 419 +f 404 380 419 +f 386 370 420 +f 389 365 420 +f 393 389 420 +f 370 399 420 +f 399 393 420 +f 365 407 420 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/361/361.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/361/361.urdf new file mode 100644 index 000000000..fc31e2fc0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/361/361.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/362/362.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/362/362.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/362/362.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/362/362.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/362/362.obj new file mode 100644 index 000000000..d67a13375 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/362/362.obj @@ -0,0 +1,1815 @@ +o convex_0 +v -1.954233 0.212897 0.545529 +v -3.343121 0.115403 -0.502381 +v -3.343121 0.115403 -0.453570 +v -1.368879 0.115403 -0.088067 +v -3.050347 0.164160 0.569987 +v -3.318192 0.212897 -0.307348 +v -1.368879 0.139777 -0.429217 +v -1.369072 0.139777 0.521176 +v -1.369072 0.212897 0.472471 +v -3.220794 0.212897 0.399307 +v -1.368879 0.115403 -0.429217 +f 7 4 11 +f 3 2 4 +f 2 3 6 +f 2 6 7 +f 3 4 8 +f 1 5 8 +f 5 3 8 +f 6 1 9 +f 7 6 9 +f 4 7 9 +f 8 4 9 +f 1 8 9 +f 5 1 10 +f 3 5 10 +f 6 3 10 +f 1 6 10 +f 4 2 11 +f 2 7 11 +o convex_1 +v 0.873506 1.041429 -0.478017 +v 0.971009 1.163355 -0.136857 +v 0.824786 1.163355 -0.136857 +v 0.824786 0.261734 -0.136857 +v 1.141577 0.261734 -0.429256 +v 0.824786 0.261734 -0.453637 +v 1.141577 1.138970 -0.136857 +v 1.141577 1.163355 -0.453637 +v 1.141577 0.261734 -0.136857 +v 0.824786 1.187831 -0.478017 +f 13 19 21 +f 13 14 15 +f 15 14 17 +f 12 16 17 +f 16 15 17 +f 13 15 18 +f 18 16 19 +f 16 12 19 +f 13 18 19 +f 15 16 20 +f 18 15 20 +f 16 18 20 +f 14 13 21 +f 12 17 21 +f 17 14 21 +f 19 12 21 +o convex_2 +v 1.044043 0.212949 0.448080 +v 1.141577 0.480977 0.545564 +v 1.068419 0.480977 0.569970 +v 0.824786 0.286050 -0.136824 +v 1.141577 0.261674 -0.136824 +v 0.824786 0.261674 0.594377 +v 0.824786 0.480977 0.545564 +v 1.141577 0.212949 0.545564 +f 24 27 29 +f 22 25 26 +f 25 23 26 +f 25 22 27 +f 25 27 28 +f 24 23 28 +f 23 25 28 +f 27 24 28 +f 23 24 29 +f 22 26 29 +f 26 23 29 +f 27 22 29 +o convex_3 +v 0.824786 1.138991 -0.136824 +v 1.092795 0.797903 0.570004 +v 1.141577 1.065850 0.545511 +v 1.141577 1.114587 -0.136824 +v 0.824786 0.481075 0.545511 +v 0.824786 1.163324 0.496803 +v 1.141577 0.481075 0.521226 +v 1.141577 1.212205 0.521226 +f 30 35 37 +f 30 33 34 +f 34 31 35 +f 31 32 35 +f 30 34 35 +f 32 31 36 +f 33 32 36 +f 34 33 36 +f 31 34 36 +f 32 33 37 +f 33 30 37 +f 35 32 37 +o convex_4 +v -3.391791 1.041450 -0.404997 +v -1.368879 1.285325 -0.380586 +v -1.368879 1.285325 -0.429280 +v -1.368879 0.139956 -0.429280 +v -3.318526 0.139843 -0.307437 +v -3.342882 0.139843 -0.502386 +v -3.245459 1.114444 -0.526776 +v -1.368879 1.260769 -0.307459 +v -3.367238 1.138888 -0.307437 +v -2.733790 0.139843 -0.307437 +v -1.466500 1.187663 -0.453649 +v -1.368879 0.139956 -0.404933 +v -1.807876 0.139956 -0.453649 +v -3.391791 1.114444 -0.526776 +v -3.050415 0.139843 -0.502386 +f 44 50 52 +f 40 39 41 +f 42 38 43 +f 41 39 45 +f 39 40 46 +f 38 42 46 +f 45 39 46 +f 45 46 47 +f 42 43 47 +f 46 42 47 +f 40 41 48 +f 44 40 48 +f 41 45 49 +f 45 47 49 +f 47 41 49 +f 48 41 50 +f 44 48 50 +f 43 38 51 +f 40 44 51 +f 44 43 51 +f 46 40 51 +f 38 46 51 +f 43 44 52 +f 41 47 52 +f 47 43 52 +f 50 41 52 +o convex_5 +v -0.369571 3.722661 0.959978 +v -1.173813 1.992491 1.033098 +v -1.173813 1.992491 1.057471 +v -0.369571 1.992491 1.033098 +v -1.173813 2.991298 0.959978 +v -0.856950 3.722661 0.984351 +v -0.369571 2.236053 1.057471 +v -0.369571 2.187442 1.008724 +v -1.173813 3.478760 0.959978 +v -0.369571 3.381200 1.008724 +v -0.589053 3.088688 0.959978 +v -1.173813 2.089882 1.008724 +v -1.173813 2.114272 1.057471 +f 59 62 65 +f 55 54 56 +f 54 55 57 +f 55 56 59 +f 56 53 59 +f 53 56 60 +f 53 57 61 +f 57 55 61 +f 58 53 61 +f 53 58 62 +f 59 53 62 +f 57 53 63 +f 53 60 63 +f 60 57 63 +f 56 54 64 +f 54 57 64 +f 60 56 64 +f 57 60 64 +f 55 59 65 +f 61 55 65 +f 58 61 65 +f 62 58 65 +o convex_6 +v 0.654132 -4.271413 -0.892111 +v 0.727230 -2.102573 0.911231 +v 0.727230 -2.102573 0.886668 +v 0.702842 -4.417815 0.911231 +v 0.727230 -3.516058 -0.989805 +v 0.654132 -4.393113 0.911231 +v 0.702842 -2.102573 0.886668 +v 0.702842 -3.029032 -0.989805 +v 0.654132 -3.686483 -0.551019 +v 0.727230 -3.540081 0.911231 +v 0.678498 -4.246937 -0.989805 +v 0.727230 -3.029032 -0.989805 +v 0.702842 -4.344614 0.082412 +v 0.654132 -3.905860 -0.989805 +f 73 76 79 +f 68 67 70 +f 69 67 71 +f 66 69 71 +f 67 68 72 +f 71 67 72 +f 72 68 73 +f 72 73 74 +f 66 71 74 +f 71 72 74 +f 67 69 75 +f 69 70 75 +f 70 67 75 +f 73 70 76 +f 68 70 77 +f 70 73 77 +f 73 68 77 +f 69 66 78 +f 70 69 78 +f 66 76 78 +f 76 70 78 +f 74 73 79 +f 66 74 79 +f 76 66 79 +o convex_7 +v -2.148879 1.260932 0.009457 +v -3.367494 1.065984 -0.307437 +v -3.367494 1.139116 -0.307437 +v -3.269872 1.114725 0.545631 +v -1.369074 1.065964 0.448015 +v -1.369074 1.236523 -0.307437 +v -3.269872 1.212171 0.521248 +v -1.369074 1.139116 0.448015 +v -3.245418 1.065984 0.545631 +v -1.880858 1.260932 -0.307437 +v -1.369074 1.260932 -0.234288 +v -2.928683 1.236542 0.374950 +v -1.369074 1.212171 -0.258588 +v -1.734522 1.163448 0.472398 +f 80 91 93 +f 82 81 83 +f 81 82 85 +f 82 83 86 +f 84 85 87 +f 83 81 88 +f 81 84 88 +f 85 82 89 +f 87 85 90 +f 89 80 90 +f 85 89 90 +f 82 86 91 +f 80 89 91 +f 89 82 91 +f 84 81 92 +f 81 85 92 +f 85 84 92 +f 86 83 93 +f 84 87 93 +f 83 88 93 +f 88 84 93 +f 87 90 93 +f 90 80 93 +f 91 86 93 +o convex_8 +v 0.410253 -4.125417 0.984351 +v -0.369571 -4.271502 0.984351 +v 0.044925 -4.369166 0.911231 +v -0.369571 -0.225824 0.984351 +v 0.727163 -1.274688 0.935604 +v 0.727163 -0.640281 1.008724 +v 0.702794 -4.417999 0.911231 +v -0.369571 -4.271502 1.008724 +v -0.369571 -0.225824 1.008724 +v 0.702687 -2.030560 0.911231 +v 0.702794 -4.417999 0.959978 +v 0.727163 -0.640281 0.959978 +v 0.727163 -1.128192 1.008724 +v -0.174508 -4.246471 1.008724 +v 0.044818 -0.225824 0.984351 +f 99 105 108 +f 96 95 97 +f 95 96 101 +f 97 95 101 +f 101 99 102 +f 97 101 102 +f 96 97 103 +f 97 98 103 +f 98 100 103 +f 100 96 103 +f 100 98 104 +f 96 100 104 +f 101 96 104 +f 98 97 105 +f 99 98 105 +f 98 99 106 +f 99 101 106 +f 94 104 106 +f 104 98 106 +f 104 94 107 +f 101 104 107 +f 94 106 107 +f 106 101 107 +f 102 99 108 +f 97 102 108 +f 105 97 108 +o convex_9 +v -1.344410 -4.271814 -0.502333 +v -0.369571 -4.271814 0.399390 +v -0.369571 -4.296163 0.399390 +v -0.369571 -4.296163 -1.038638 +v -1.319982 -4.320549 0.179942 +v -1.295649 -4.247428 0.399390 +v -0.369571 -4.247428 -1.038638 +v -1.344410 -4.320549 -1.038638 +v -1.344410 -4.247428 -1.038638 +v -0.369571 -4.247428 0.204294 +v -1.051939 -4.320549 -1.038638 +f 113 116 119 +f 110 111 112 +f 113 111 114 +f 111 110 114 +f 109 113 114 +f 110 112 115 +f 115 112 116 +f 113 109 116 +f 109 114 117 +f 114 115 117 +f 115 116 117 +f 116 109 117 +f 114 110 118 +f 115 114 118 +f 110 115 118 +f 112 111 119 +f 111 113 119 +f 116 112 119 +o convex_10 +v -1.295747 -3.637837 0.399390 +v -1.173892 -2.248813 1.057471 +v -1.173892 -2.248813 1.032993 +v -1.173892 -4.296175 1.032993 +v -1.173892 -4.271525 0.399390 +v -1.271366 -4.296175 1.032993 +v -1.198284 -2.248813 0.399390 +v -1.246998 -2.443809 0.959880 +v -1.295747 -4.296175 0.399390 +v -1.246998 -2.419560 0.399390 +v -1.271366 -3.564688 1.057471 +v -1.295747 -4.247075 0.862417 +v -1.222653 -2.248813 1.057471 +f 127 130 132 +f 122 121 123 +f 122 123 124 +f 121 122 126 +f 124 120 126 +f 122 124 126 +f 120 124 128 +f 124 123 128 +f 123 125 128 +f 126 120 129 +f 120 127 129 +f 123 121 130 +f 125 123 130 +f 127 120 131 +f 120 128 131 +f 128 125 131 +f 125 130 131 +f 130 127 131 +f 121 126 132 +f 126 129 132 +f 129 127 132 +f 130 121 132 +o convex_11 +v -0.369571 3.649557 -0.234317 +v -1.003214 3.673919 -0.965518 +v -1.198175 3.625177 -0.941040 +v -1.222555 3.722661 -0.234317 +v -1.222555 3.625177 -0.234317 +v -0.369571 3.673919 -0.965518 +v -0.369571 3.625177 -0.965518 +v -1.198175 3.722661 -0.941040 +v -0.588996 3.698271 -0.234317 +f 140 136 141 +f 133 136 137 +f 136 135 137 +f 135 134 139 +f 133 137 139 +f 137 135 139 +f 138 133 139 +f 134 138 139 +f 134 135 140 +f 135 136 140 +f 138 134 140 +f 138 140 141 +f 136 133 141 +f 133 138 141 +o convex_12 +v 0.751613 -3.101124 -1.014112 +v 0.751623 1.357891 1.057471 +v 0.727240 1.357891 1.057471 +v 0.727240 -2.125605 0.935490 +v 0.824724 -0.056283 0.643028 +v 0.727240 1.212109 -0.477898 +v 0.824724 1.187666 -0.477898 +v 0.800350 -2.248254 -1.087385 +v 0.727240 -0.591837 -1.062820 +v 0.751623 -2.125605 0.935490 +v 0.727230 -3.101124 -1.062611 +v 0.824724 1.163224 0.496693 +v 0.824724 -0.542952 0.082250 +v 0.751623 -0.591837 -1.062820 +v 0.824724 0.261469 -0.453544 +f 154 149 156 +f 143 144 145 +f 144 143 147 +f 147 143 148 +f 143 145 151 +f 145 142 151 +f 146 143 151 +f 142 149 151 +f 145 144 152 +f 142 145 152 +f 144 147 152 +f 149 142 152 +f 150 149 152 +f 147 150 152 +f 143 146 153 +f 146 148 153 +f 148 143 153 +f 148 146 154 +f 146 151 154 +f 151 149 154 +f 147 148 155 +f 148 149 155 +f 149 150 155 +f 150 147 155 +f 149 148 156 +f 148 154 156 +o convex_13 +v 0.727226 2.455475 -0.818982 +v 0.751591 1.821577 1.057471 +v 0.775967 1.846160 0.813706 +v 0.702849 3.551627 0.935490 +v 0.654132 1.626666 -0.965518 +v 0.654132 3.600794 -0.965518 +v 0.654132 3.502900 0.935490 +v 0.727226 1.358445 1.057471 +v 0.751591 1.602302 -0.672842 +v 0.702849 3.283845 -0.916408 +v 0.775967 2.138306 0.667170 +v 0.775967 1.699758 0.058056 +v 0.751591 1.358445 0.838063 +v 0.702849 1.626666 -0.940765 +v 0.678508 3.600794 -0.965518 +v 0.654132 3.600574 0.935490 +f 171 162 172 +f 158 159 160 +f 162 161 163 +f 163 161 164 +f 160 159 167 +f 166 160 167 +f 166 167 168 +f 165 157 168 +f 157 166 168 +f 167 159 168 +f 165 168 169 +f 159 158 169 +f 158 164 169 +f 164 161 169 +f 168 159 169 +f 169 161 170 +f 157 165 170 +f 166 157 170 +f 165 169 170 +f 166 170 171 +f 161 162 171 +f 160 166 171 +f 170 161 171 +f 158 160 172 +f 162 163 172 +f 164 158 172 +f 163 164 172 +f 160 171 172 +o convex_14 +v 1.409791 1.065837 -3.037254 +v 2.311394 1.163458 -2.964134 +v 2.311394 1.163458 -3.110374 +v 2.311499 0.091097 -2.964148 +v 1.288023 0.164260 -2.964148 +v 1.312482 0.139907 -3.012890 +v 1.239107 1.090294 -2.964134 +v 2.311499 0.115554 -3.012890 +v 2.262582 1.041484 -3.110374 +f 175 180 181 +f 176 177 178 +f 175 173 179 +f 174 175 179 +f 176 174 179 +f 177 176 179 +f 178 177 179 +f 173 178 179 +f 175 174 180 +f 174 176 180 +f 176 178 180 +f 180 178 181 +f 173 175 181 +f 178 173 181 +o convex_15 +v 0.702780 3.551563 1.008739 +v 0.044843 1.431789 1.033069 +v 0.702780 1.505117 0.935647 +v 0.044843 3.722661 0.935647 +v 0.727163 1.431789 1.081844 +v 0.044843 1.821748 1.081844 +v 0.678464 3.722661 0.935647 +v 0.654081 3.722661 1.033069 +v 0.044843 3.722661 1.008739 +v 0.727163 2.065501 1.081844 +v 0.727163 2.942293 0.935647 +f 191 186 192 +f 184 183 185 +f 183 184 186 +f 183 186 187 +f 185 183 187 +f 184 185 188 +f 188 185 189 +f 182 188 189 +f 187 189 190 +f 185 187 190 +f 189 185 190 +f 187 186 191 +f 182 189 191 +f 189 187 191 +f 186 184 192 +f 188 182 192 +f 184 188 192 +f 182 191 192 +o convex_16 +v 1.653504 1.090338 -2.963914 +v 2.116426 1.139070 -0.453677 +v 1.604721 1.139077 -0.453677 +v 2.116426 1.163436 -2.963914 +v 2.116426 1.090338 -0.527270 +v 1.239107 1.090345 -3.012723 +v 1.239107 1.139077 -0.453677 +v 1.239107 1.090345 -0.453677 +v 1.239107 1.114718 -3.012723 +v 2.116426 1.114725 -2.695339 +v 2.018946 1.163436 -2.963914 +f 201 199 203 +f 195 194 196 +f 196 194 197 +f 196 193 198 +f 194 195 199 +f 195 196 199 +f 193 197 200 +f 197 194 200 +f 198 193 200 +f 199 198 200 +f 194 199 200 +f 196 198 201 +f 198 199 201 +f 193 196 202 +f 197 193 202 +f 196 197 202 +f 199 196 203 +f 196 201 203 +o convex_17 +v -0.515997 2.453936 -0.916781 +v -1.319853 1.163685 -0.916781 +v -1.295573 0.237969 -0.916781 +v -0.467251 -2.248813 -0.989891 +v -0.978719 3.625167 -0.965518 +v -1.003186 -2.248813 -0.892398 +v -1.198079 3.625167 -0.892417 +v -0.369571 3.625167 -0.965518 +v -0.369664 -1.663485 -0.941145 +v -1.222453 -2.248813 -0.916771 +v -1.295573 2.332616 -0.941135 +v -1.246919 -1.565738 -0.892398 +v -0.369571 3.625167 -0.941135 +v -0.369664 -1.420269 -0.989891 +v -1.027466 -2.248813 -0.941145 +v -1.319853 2.015803 -0.892417 +v -0.442877 -2.248813 -0.941145 +v -0.954346 -1.907275 -0.892398 +v -1.222453 3.526846 -0.941135 +f 219 210 222 +f 208 210 211 +f 207 209 213 +f 206 205 214 +f 208 207 214 +f 213 206 214 +f 205 206 215 +f 206 213 215 +f 213 209 215 +f 210 204 216 +f 211 210 216 +f 204 212 216 +f 212 211 216 +f 207 208 217 +f 208 211 217 +f 212 207 217 +f 211 212 217 +f 207 213 218 +f 214 207 218 +f 213 214 218 +f 214 205 219 +f 205 215 219 +f 215 210 219 +f 209 207 220 +f 207 212 220 +f 220 212 221 +f 204 210 221 +f 212 204 221 +f 210 215 221 +f 215 209 221 +f 209 220 221 +f 210 208 222 +f 208 214 222 +f 214 219 222 +o convex_18 +v 1.214747 0.188528 0.277810 +v 1.434058 0.310390 2.958593 +v 1.434058 0.286012 2.958593 +v 1.409639 0.261620 -0.453677 +v 1.141635 0.310390 -0.429294 +v 1.239109 0.164150 2.934210 +v 1.434058 0.164150 0.887048 +v 1.239109 0.310390 2.934210 +v 1.434058 0.164150 2.934210 +v 1.141635 0.188528 0.545688 +v 1.263470 0.164150 0.496922 +v 1.263470 0.237270 -0.453677 +v 1.214747 0.310390 -0.453677 +v 1.141635 0.310390 0.545688 +f 232 230 236 +f 225 224 228 +f 224 225 229 +f 226 224 229 +f 224 227 230 +f 228 224 230 +f 225 228 231 +f 228 229 231 +f 229 225 231 +f 228 230 232 +f 229 228 233 +f 226 229 233 +f 232 223 233 +f 228 232 233 +f 223 232 234 +f 232 227 234 +f 233 223 234 +f 226 233 234 +f 224 226 235 +f 227 224 235 +f 226 234 235 +f 234 227 235 +f 230 227 236 +f 227 232 236 +o convex_19 +v 2.311499 0.602871 1.447817 +v 2.238379 0.164150 1.545265 +v 2.238379 0.188542 0.545984 +v 2.165258 1.041591 3.055836 +v 2.262742 1.041591 0.497134 +v 2.262742 1.041591 3.055586 +v 2.165258 0.237327 2.933838 +v 2.311499 0.188542 0.936027 +v 2.311499 1.041591 0.497134 +v 2.214015 0.237327 2.763242 +v 2.311499 0.212935 0.545984 +v 2.287121 0.992806 2.568345 +v 2.165258 0.237327 2.714643 +f 243 240 249 +f 239 240 241 +f 241 240 242 +f 242 240 243 +f 238 239 244 +f 239 241 245 +f 241 242 245 +f 237 244 245 +f 243 238 246 +f 242 243 246 +f 238 244 246 +f 244 239 247 +f 239 245 247 +f 245 244 247 +f 244 237 248 +f 237 245 248 +f 245 242 248 +f 242 246 248 +f 246 244 248 +f 239 238 249 +f 240 239 249 +f 238 243 249 +o convex_20 +v 1.872782 1.187793 3.080384 +v 1.190412 1.041608 2.300513 +v 1.190412 1.212188 2.300513 +v 2.262692 1.041608 2.544284 +v 1.166050 1.041608 3.007168 +v 2.262692 1.212188 2.568715 +v 2.262692 1.041608 3.056030 +v 1.141687 1.212188 3.031675 +v 2.262692 1.212188 3.080384 +v 1.653520 1.187793 2.300513 +f 255 253 259 +f 251 253 254 +f 253 255 256 +f 250 254 256 +f 254 253 256 +f 252 251 257 +f 254 250 257 +f 251 254 257 +f 255 252 257 +f 255 257 258 +f 256 255 258 +f 250 256 258 +f 257 250 258 +f 251 252 259 +f 253 251 259 +f 252 255 259 +o convex_21 +v -1.368879 0.407884 0.667364 +v -1.247031 3.405807 0.959744 +v -1.222653 3.405807 0.545480 +v -1.271409 0.407884 0.959744 +v -1.368879 1.236597 -0.234083 +v -1.247031 1.407094 -0.063470 +v -1.247031 3.405807 -0.234083 +v -1.295744 3.137590 0.862284 +v -1.222682 1.041744 0.448020 +v -1.222653 2.942444 -0.234083 +v -1.320108 0.407884 0.472444 +v -1.320108 1.870164 0.959744 +v -1.344501 2.114024 0.667364 +v -1.295759 1.260954 -0.234083 +v -1.222682 1.236597 0.569904 +v -1.271409 3.405807 0.472444 +v -1.320108 0.432534 0.911014 +v -1.368879 1.139464 0.448020 +f 272 264 277 +f 261 262 266 +f 266 262 269 +f 264 266 269 +f 262 268 269 +f 268 265 269 +f 263 260 270 +f 260 264 270 +f 268 263 270 +f 263 261 271 +f 261 267 271 +f 271 267 272 +f 267 264 272 +f 260 271 272 +f 265 268 273 +f 264 269 273 +f 269 265 273 +f 270 264 273 +f 268 270 273 +f 262 261 274 +f 261 263 274 +f 268 262 274 +f 263 268 274 +f 261 266 275 +f 266 264 275 +f 267 261 275 +f 264 267 275 +f 260 263 276 +f 263 271 276 +f 271 260 276 +f 264 260 277 +f 260 272 277 +o convex_22 +v -0.101505 3.502640 -0.941145 +v -0.369571 -4.247428 -1.038619 +v -0.369571 -4.247428 -1.014238 +v 0.044736 -4.247428 -1.038619 +v -0.198876 3.625167 -0.989894 +v -0.369571 -1.443934 -0.941157 +v 0.044736 -2.662275 -1.062987 +v 0.044736 2.916973 -0.941145 +v -0.369571 3.625167 -0.941145 +v -0.369571 -3.173963 -1.062987 +v 0.044736 -4.247428 -1.014238 +v 0.044736 3.625167 -0.989894 +v 0.044736 -0.493766 -0.965549 +v -0.369571 3.625167 -0.965525 +v 0.044736 -3.734199 -1.062987 +f 287 284 292 +f 280 279 281 +f 279 280 283 +f 281 284 285 +f 283 285 286 +f 279 283 286 +f 285 278 286 +f 279 286 287 +f 282 284 287 +f 280 281 288 +f 283 280 288 +f 281 285 288 +f 284 282 289 +f 285 284 289 +f 278 285 289 +f 286 278 289 +f 282 286 289 +f 285 283 290 +f 283 288 290 +f 288 285 290 +f 286 282 291 +f 287 286 291 +f 282 287 291 +f 281 279 292 +f 284 281 292 +f 279 287 292 +o convex_23 +v -3.343072 0.432329 -0.307437 +v -3.196883 0.675967 0.569987 +v -3.099444 1.065964 0.545595 +v -3.050663 0.164150 0.399329 +v -3.343072 1.065964 -0.307437 +v -3.221196 0.164150 0.545595 +v -3.269977 1.065964 0.521203 +v -3.294352 0.212966 -0.307437 +v -3.050663 1.065964 0.496811 +v -3.050663 0.164150 0.569987 +v -3.367447 0.992785 -0.234261 +v -3.294352 0.505420 -0.307437 +f 297 301 304 +f 294 295 299 +f 295 297 299 +f 298 294 299 +f 293 297 300 +f 296 298 300 +f 298 293 300 +f 297 295 301 +f 295 294 302 +f 294 298 302 +f 298 296 302 +f 301 295 302 +f 296 301 302 +f 297 293 303 +f 293 298 303 +f 299 297 303 +f 298 299 303 +f 300 297 304 +f 296 300 304 +f 301 296 304 +o convex_24 +v 0.288467 -4.223074 -0.989777 +v 0.654110 -4.393632 0.911040 +v 0.654110 -4.418041 0.911040 +v -0.369571 -4.320558 0.618636 +v -0.369571 -4.271816 -1.038447 +v -0.345121 -4.247445 0.179839 +v 0.654110 -4.223074 -0.989777 +v 0.654110 -4.271816 -0.892054 +v 0.629660 -4.369261 0.886609 +v 0.142270 -4.393632 0.886609 +v 0.629660 -4.223074 -0.818953 +v 0.044872 -4.344909 0.911040 +v -0.369571 -4.247445 -1.038447 +v 0.629660 -4.418041 0.813699 +v 0.044771 -4.271816 -1.038447 +f 318 309 319 +f 306 307 311 +f 311 307 312 +f 306 311 313 +f 308 309 314 +f 305 310 315 +f 311 305 315 +f 310 313 315 +f 313 311 315 +f 307 306 316 +f 310 308 316 +f 306 313 316 +f 313 310 316 +f 314 307 316 +f 308 314 316 +f 309 308 317 +f 310 305 317 +f 308 310 317 +f 305 311 317 +f 312 307 318 +f 307 314 318 +f 314 309 318 +f 311 312 319 +f 309 317 319 +f 317 311 319 +f 312 318 319 +o convex_25 +v -1.344477 -4.222783 -0.526711 +v -1.198265 -2.249008 0.399390 +v -1.198265 -2.249008 -0.892398 +v -1.271378 -4.247233 0.106791 +v -1.271378 -2.785141 0.399390 +v -1.295740 -4.027772 -0.892398 +v -1.344477 -4.003518 -0.892398 +v -1.295740 -4.247233 0.399390 +v -1.222655 -2.249008 -0.892398 +v -1.198265 -2.590326 -0.892398 +v -1.198265 -2.468469 0.399390 +v -1.222655 -2.249008 0.399390 +v -1.320115 -4.222783 0.155599 +v -1.271378 -4.247233 0.399390 +v -1.320115 -4.247233 -0.892398 +f 327 320 334 +f 320 324 326 +f 322 325 326 +f 321 324 327 +f 321 322 328 +f 326 324 328 +f 322 326 328 +f 322 321 329 +f 325 322 329 +f 323 325 329 +f 321 327 330 +f 329 321 330 +f 324 321 331 +f 321 328 331 +f 328 324 331 +f 324 320 332 +f 320 327 332 +f 327 324 332 +f 327 323 333 +f 323 329 333 +f 330 327 333 +f 329 330 333 +f 325 323 334 +f 320 326 334 +f 326 325 334 +f 323 327 334 +o convex_26 +v -0.198950 -4.271823 1.008720 +v -1.173813 -4.296183 0.399390 +v -0.759559 -4.344913 0.984342 +v 0.044736 -4.369283 0.691928 +v -0.369638 -4.271811 0.399390 +v -1.173813 -4.247429 1.033098 +v 0.044736 -4.369283 0.984279 +v 0.044736 -4.271823 0.959963 +v -1.173813 -4.320529 1.033098 +v -1.173813 -4.271811 0.399390 +v -0.369638 -4.247429 0.984342 +f 339 344 345 +f 337 336 338 +f 338 336 339 +f 337 338 341 +f 335 341 342 +f 338 339 342 +f 341 338 342 +f 336 337 343 +f 340 336 343 +f 335 340 343 +f 337 341 343 +f 341 335 343 +f 339 336 344 +f 336 340 344 +f 344 340 345 +f 340 335 345 +f 335 342 345 +f 342 339 345 +o convex_27 +v -1.051870 -3.320731 1.057471 +v -1.173813 -4.247233 1.008739 +v -1.173813 -4.247233 1.033083 +v -1.173813 1.992152 1.033083 +v -0.369571 -4.247233 0.984372 +v -0.369571 1.992152 1.057471 +v -0.394054 0.090288 0.984372 +v -1.173813 1.992152 1.057471 +v -0.369571 -4.247233 1.008739 +v -0.759726 -4.173944 0.984372 +v -0.954410 1.089469 1.008739 +v -0.442784 -3.028794 1.033083 +v -0.369571 1.992152 1.033083 +v -1.173813 -3.710998 1.057471 +v -0.369571 0.894641 1.057471 +v -0.735243 -4.247233 1.033083 +f 359 348 361 +f 347 348 349 +f 348 347 350 +f 349 348 353 +f 346 351 353 +f 351 349 353 +f 348 350 354 +f 350 351 354 +f 350 347 355 +f 352 350 355 +f 352 355 356 +f 347 349 356 +f 355 347 356 +f 349 351 358 +f 351 350 358 +f 350 352 358 +f 352 356 358 +f 356 349 358 +f 346 353 359 +f 353 348 359 +f 351 346 360 +f 354 351 360 +f 346 357 360 +f 357 354 360 +f 348 354 361 +f 357 346 361 +f 354 357 361 +f 346 359 361 +o convex_28 +v -1.173892 2.113711 1.057471 +v -1.320132 1.260942 0.959978 +v -1.295740 -0.079044 0.959978 +v -1.173892 3.478927 0.959978 +v -1.173892 -2.248813 1.057471 +v -1.295740 2.089042 1.057471 +v -1.198284 -2.248813 0.959978 +v -1.247012 -1.907368 1.057471 +v -1.271376 3.478927 0.984351 +f 367 362 370 +f 364 363 365 +f 365 362 366 +f 366 362 367 +f 364 365 368 +f 365 366 368 +f 368 366 369 +f 363 364 369 +f 366 367 369 +f 367 363 369 +f 364 368 369 +f 365 363 370 +f 362 365 370 +f 363 367 370 +o convex_29 +v 0.678407 2.234461 -1.038613 +v 0.044843 -4.271801 -1.038625 +v 0.434693 -3.784084 -1.062994 +v 0.727163 -0.639119 -0.965530 +v 0.044843 3.649541 -0.965518 +v 0.044843 -4.271801 -0.989899 +v 0.312936 -2.638839 -1.087375 +v 0.727163 -3.539837 -1.062994 +v 0.678407 -4.246989 -0.989899 +v 0.678407 3.624728 -0.965530 +v 0.044843 3.649541 -0.989899 +v 0.727163 -1.565705 -1.087339 +v 0.044843 -2.614027 -1.062994 +v 0.044843 -0.274687 -0.965530 +v 0.678407 3.599916 -1.014292 +v 0.678407 -4.246989 -1.038625 +v 0.727163 -2.711725 -1.087375 +v 0.044843 -3.735234 -1.062994 +v 0.727163 0.188994 -1.062982 +f 371 385 389 +f 375 372 376 +f 376 372 379 +f 374 376 379 +f 378 374 379 +f 375 374 380 +f 375 380 381 +f 372 375 381 +f 371 377 381 +f 377 371 382 +f 374 378 382 +f 372 381 383 +f 381 377 383 +f 374 375 384 +f 375 376 384 +f 376 374 384 +f 381 380 385 +f 371 381 385 +f 372 373 386 +f 373 378 386 +f 379 372 386 +f 378 379 386 +f 378 373 387 +f 377 382 387 +f 382 378 387 +f 373 372 388 +f 372 383 388 +f 383 377 388 +f 387 373 388 +f 377 387 388 +f 380 374 389 +f 382 371 389 +f 374 382 389 +f 385 380 389 +o convex_30 +v -0.369467 3.625175 -0.965241 +v 0.678421 3.722639 0.935361 +v 0.044608 3.722639 1.008724 +v 0.678421 3.600806 0.935361 +v -0.857038 3.673913 0.959620 +v 0.678421 3.600794 -0.965437 +v -0.369467 3.673913 -0.965241 +v -0.857038 3.698270 -0.233954 +v -0.857038 3.722639 0.959620 +v 0.678421 3.625175 -0.965437 +v 0.215349 3.600794 -0.526626 +v -0.174528 3.673913 -0.989891 +v 0.678421 3.722639 0.813480 +v -0.857038 3.673913 -0.233954 +v -0.613252 3.649556 0.326347 +f 400 393 404 +f 391 392 393 +f 393 392 394 +f 391 393 395 +f 396 390 397 +f 392 391 398 +f 394 392 398 +f 397 394 398 +f 391 395 399 +f 390 395 400 +f 395 393 400 +f 395 390 401 +f 390 396 401 +f 396 397 401 +f 399 395 401 +f 399 401 402 +f 398 391 402 +f 397 398 402 +f 391 399 402 +f 401 397 402 +f 390 394 403 +f 397 390 403 +f 394 397 403 +f 394 390 404 +f 393 394 404 +f 390 400 404 +o convex_31 +v -1.368860 1.212405 -0.502548 +v -1.198282 3.625167 -0.234317 +v -1.173892 3.625167 -0.672995 +v -1.271376 1.455996 -0.234317 +v -1.295728 1.187831 -0.892398 +v -1.222672 3.527588 -0.892398 +v -1.247024 3.430009 -0.234317 +v -1.344470 1.675489 -0.843634 +v -1.368860 1.212405 -0.234317 +v -1.173892 3.503253 -0.892398 +v -1.368860 1.431660 -0.575468 +f 405 413 415 +f 407 406 408 +f 406 407 410 +f 408 406 411 +f 406 410 411 +f 409 405 412 +f 410 409 412 +f 405 409 413 +f 409 408 413 +f 408 411 413 +f 407 408 414 +f 408 409 414 +f 410 407 414 +f 409 410 414 +f 411 410 415 +f 412 405 415 +f 410 412 415 +f 413 411 415 +o convex_32 +v 0.654129 1.041532 0.496719 +v 0.727230 1.699486 0.935502 +v 0.727230 1.699486 0.886562 +v 0.727230 -0.737664 -0.770317 +v 0.654110 1.626486 -0.965518 +v 0.727230 1.626486 -0.794694 +v 0.629737 1.138865 -0.502358 +v 0.702857 -0.664426 -0.965518 +v 0.678483 1.528914 0.862185 +v 0.727230 0.749055 0.545473 +v 0.702857 -0.737664 -0.672996 +v 0.727230 0.164339 -0.965518 +v 0.629737 1.357865 -0.697373 +v 0.702838 0.749055 0.545473 +v 0.629737 1.187532 -0.258590 +f 424 428 430 +f 418 417 419 +f 417 418 420 +f 420 418 421 +f 418 419 421 +f 417 420 424 +f 419 417 425 +f 422 423 426 +f 423 419 426 +f 419 425 426 +f 420 421 427 +f 421 419 427 +f 423 420 427 +f 419 423 427 +f 420 423 428 +f 423 422 428 +f 424 420 428 +f 417 424 429 +f 424 416 429 +f 425 417 429 +f 416 426 429 +f 426 425 429 +f 416 424 430 +f 426 416 430 +f 422 426 430 +f 428 422 430 +o convex_33 +v 1.312191 0.602807 -1.818259 +v 1.287784 0.139839 -2.964134 +v 1.263435 0.164215 -2.476590 +v 1.239071 1.090245 -2.964134 +v 1.165951 0.261721 -0.453677 +v 1.263420 1.090245 -0.453677 +v 1.312191 0.237345 -0.453677 +v 1.287813 0.870949 -2.964134 +v 1.214721 0.919702 -0.453677 +v 1.312191 0.139839 -2.964134 +v 1.287813 0.992739 -0.795007 +v 1.239071 0.846572 -2.964134 +v 1.263420 1.090245 -2.964134 +f 441 438 443 +f 433 432 435 +f 436 435 437 +f 435 432 437 +f 432 434 438 +f 434 435 439 +f 436 434 439 +f 435 436 439 +f 437 432 440 +f 431 437 440 +f 432 438 440 +f 438 431 440 +f 436 437 441 +f 437 431 441 +f 431 438 441 +f 432 433 442 +f 434 432 442 +f 435 434 442 +f 433 435 442 +f 434 436 443 +f 438 434 443 +f 436 441 443 +o convex_34 +v 1.872651 0.115427 -1.501749 +v 2.311401 0.188519 -2.866576 +v 2.311401 0.164155 -2.866576 +v 1.312329 0.188502 -2.964134 +v 1.312329 0.261627 -0.453677 +v 2.140830 0.188519 -0.551235 +v 1.409840 0.115427 -2.964134 +v 2.311401 0.091030 -2.964134 +v 1.970161 0.139791 -0.527153 +v 1.312329 0.212882 -0.819335 +v 2.238341 0.091030 -2.013374 +v 1.336683 0.261627 -0.916893 +v 1.482900 0.261627 -0.453677 +v 1.312329 0.139791 -2.476590 +v 2.165183 0.115410 -0.892811 +v 2.311401 0.188519 -2.964134 +v 1.897004 0.091047 -2.915232 +f 451 454 460 +f 446 445 449 +f 445 446 451 +f 450 447 451 +f 448 447 453 +f 452 448 453 +f 447 448 455 +f 455 448 456 +f 449 445 456 +f 448 452 456 +f 452 449 456 +f 450 444 457 +f 447 450 457 +f 444 452 457 +f 453 447 457 +f 452 453 457 +f 446 449 458 +f 451 446 458 +f 449 452 458 +f 452 444 458 +f 444 454 458 +f 454 451 458 +f 445 451 459 +f 451 447 459 +f 447 455 459 +f 455 456 459 +f 456 445 459 +f 444 450 460 +f 450 451 460 +f 454 444 460 +o convex_35 +v -1.198282 -1.541506 -0.892398 +v -1.271400 0.139483 -0.234317 +v -1.320123 1.187495 -0.429371 +v -1.368862 0.115267 -0.234317 +v -1.198282 -2.248476 -0.234317 +v -1.222660 -2.248476 -0.892398 +v -1.320123 1.187495 -0.892398 +v -1.271400 1.162942 -0.697344 +v -1.368862 0.115267 -0.429371 +v -1.247022 -2.028851 -0.234317 +v -1.368862 1.187495 -0.404957 +v -1.247022 0.139483 -0.356193 +v -1.271400 1.187495 -0.892398 +v -1.295744 -1.298001 -0.356193 +v -1.198282 -2.248476 -0.892398 +f 465 466 475 +f 462 464 465 +f 461 466 467 +f 467 466 469 +f 465 464 470 +f 466 465 470 +f 462 463 471 +f 464 462 471 +f 463 467 471 +f 469 464 471 +f 467 469 471 +f 463 462 472 +f 465 461 472 +f 462 465 472 +f 468 463 472 +f 461 468 472 +f 461 467 473 +f 467 463 473 +f 463 468 473 +f 468 461 473 +f 464 469 474 +f 469 466 474 +f 470 464 474 +f 466 470 474 +f 461 465 475 +f 466 461 475 +o convex_36 +v 2.189670 0.773427 -0.673047 +v 2.287125 0.188581 -2.964134 +v 2.311499 0.188581 -2.964134 +v 2.116512 0.188581 -0.551171 +v 2.262752 0.773427 -2.817457 +v 2.140885 0.773427 -0.721939 +v 2.311499 0.773427 -2.793365 +v 2.116512 0.188581 -0.868144 +v 2.165258 0.188581 -0.819724 +v 2.262752 0.188581 -2.890913 +v 2.287125 0.310462 -2.379080 +f 484 478 486 +f 477 478 479 +f 478 477 480 +f 479 476 481 +f 476 480 481 +f 480 476 482 +f 478 480 482 +f 477 479 483 +f 479 481 483 +f 481 480 483 +f 479 478 484 +f 476 479 484 +f 480 477 485 +f 477 483 485 +f 483 480 485 +f 482 476 486 +f 478 482 486 +f 476 484 486 +o convex_37 +v -1.271385 3.454589 0.545516 +v -0.857038 3.722630 0.959744 +v -0.857038 3.649502 0.959744 +v -0.857038 3.698254 -0.234083 +v -1.246969 3.722630 0.959744 +v -1.222634 3.722630 -0.234083 +v -1.198218 3.405869 -0.234083 +v -1.003333 3.478965 0.959744 +v -1.271385 3.405869 0.959744 +v -1.246969 3.405869 -0.234083 +v -0.857038 3.673878 -0.234083 +f 489 494 497 +f 488 489 490 +f 489 488 491 +f 491 488 492 +f 488 490 492 +f 487 491 492 +f 492 490 493 +f 489 491 494 +f 494 491 495 +f 491 487 495 +f 493 494 495 +f 493 495 496 +f 487 492 496 +f 492 493 496 +f 495 487 496 +f 490 489 497 +f 493 490 497 +f 494 493 497 +o convex_38 +v -1.295757 -1.322562 -0.087893 +v -1.271409 0.407464 0.959744 +v -1.295757 0.407464 0.959744 +v -1.198265 -2.248553 0.959744 +v -1.271409 0.139366 -0.234083 +v -1.368867 -0.201803 0.618634 +v -1.198265 -2.004898 -0.234083 +v -1.368867 0.139366 -0.234083 +v -1.247028 -2.077969 0.959744 +v -1.222663 -2.248553 -0.234083 +v -1.247028 -0.055662 0.935320 +v -1.368867 0.407464 0.472444 +v -1.271392 -1.663730 0.959744 +v -1.368867 -0.226246 0.253217 +v -1.344486 0.407464 0.789130 +v -1.247028 -2.029082 -0.234083 +v -1.198265 -2.053525 0.959744 +f 504 508 514 +f 499 500 501 +f 502 504 505 +f 501 500 506 +f 504 501 507 +f 505 504 507 +f 501 506 507 +f 502 499 508 +f 504 502 508 +f 500 499 509 +f 499 502 509 +f 502 505 509 +f 505 503 509 +f 506 500 510 +f 503 506 510 +f 503 505 511 +f 505 498 511 +f 506 503 511 +f 498 506 511 +f 500 509 512 +f 509 503 512 +f 510 500 512 +f 503 510 512 +f 498 505 513 +f 506 498 513 +f 505 507 513 +f 507 506 513 +f 499 501 514 +f 501 504 514 +f 508 499 514 +o convex_39 +v 0.727163 1.431565 1.057471 +v 0.044843 -0.640171 0.984351 +v 0.702785 -0.640171 0.959978 +v 0.727163 -0.274535 1.033098 +v 0.044843 1.431565 1.033098 +v 0.044843 0.773298 1.057471 +v 0.727163 1.017055 1.008724 +v 0.044843 -0.640171 1.008724 +v 0.044843 -0.054910 0.984351 +v 0.727163 0.578414 1.057471 +v 0.727163 -0.640171 1.008724 +f 518 522 525 +f 519 516 520 +f 515 519 520 +f 515 518 521 +f 519 515 521 +f 516 517 522 +f 520 516 522 +f 518 520 522 +f 517 516 523 +f 516 519 523 +f 521 517 523 +f 519 521 523 +f 518 515 524 +f 520 518 524 +f 515 520 524 +f 517 521 525 +f 521 518 525 +f 522 517 525 +o convex_40 +v 2.214005 1.163458 -2.062031 +v 2.287125 0.773484 -2.964134 +v 2.311499 0.773484 -2.964134 +v 2.140885 0.773484 -0.551235 +v 2.116512 1.139027 -2.964134 +v 2.189670 1.139027 -0.453677 +v 2.311499 1.163458 -2.964134 +v 2.116512 1.139027 -0.453677 +v 2.238340 0.773484 -1.355535 +v 2.311499 1.163458 -2.744690 +v 2.262752 0.773484 -2.817428 +f 530 527 536 +f 527 528 529 +f 528 527 530 +f 530 526 532 +f 528 530 532 +f 526 530 533 +f 530 529 533 +f 531 526 533 +f 529 531 533 +f 529 528 534 +f 531 529 534 +f 526 531 535 +f 532 526 535 +f 528 532 535 +f 534 528 535 +f 531 534 535 +f 527 529 536 +f 529 530 536 +o convex_41 +v 1.239119 0.310490 2.909847 +v 2.165258 1.041591 3.056087 +v 2.165258 1.041591 3.031709 +v 2.165258 0.237270 2.909847 +v 1.165951 1.041591 2.909847 +v 1.287930 1.017106 3.031709 +v 1.629216 0.261677 2.958632 +v 2.165258 0.895229 3.056087 +v 1.214762 0.359304 2.958603 +v 2.165258 0.261677 2.958632 +f 540 544 546 +f 539 538 540 +f 540 537 541 +f 538 539 541 +f 539 540 541 +f 538 541 542 +f 537 540 543 +f 540 538 544 +f 538 542 544 +f 541 537 545 +f 542 541 545 +f 537 543 545 +f 544 542 545 +f 543 544 545 +f 543 540 546 +f 544 543 546 +o convex_42 +v 1.750952 0.139796 2.787732 +v 2.238379 0.237270 2.300074 +v 2.238379 0.212890 2.300074 +v 1.434058 0.212890 0.496884 +v 1.434058 0.237270 2.934220 +v 2.238379 0.188528 0.545793 +v 2.189486 0.139796 2.934220 +v 1.434058 0.164167 0.984542 +v 1.434058 0.164167 2.934220 +v 2.189486 0.237270 2.934220 +v 2.238379 0.212890 0.545793 +v 2.213972 0.139796 2.519567 +v 2.213972 0.237270 1.788319 +f 557 550 559 +f 548 549 552 +f 549 548 553 +f 551 550 554 +f 550 552 554 +f 547 553 555 +f 553 551 555 +f 554 547 555 +f 551 554 555 +f 548 551 556 +f 553 548 556 +f 551 553 556 +f 548 552 557 +f 552 550 557 +f 552 549 558 +f 549 553 558 +f 553 547 558 +f 554 552 558 +f 547 554 558 +f 550 551 559 +f 551 548 559 +f 548 557 559 +o convex_43 +v 1.287817 1.163420 -0.307287 +v 1.336564 1.212185 2.300513 +v 1.336564 1.187831 2.300513 +v 1.141577 1.090338 0.545984 +v 1.312172 1.041591 0.497187 +v 1.190324 1.041591 2.300513 +v 1.190324 1.236578 2.251716 +v 1.165970 1.236578 0.472923 +v 1.141577 1.041591 -0.453677 +v 1.336564 1.236578 0.326802 +v 1.336564 1.114711 -0.453677 +v 1.141577 1.139084 -0.453677 +f 570 568 571 +f 564 562 565 +f 562 561 565 +f 563 565 566 +f 565 561 566 +f 563 566 567 +f 564 565 568 +f 565 563 568 +f 561 562 569 +f 566 561 569 +f 567 566 569 +f 562 564 570 +f 564 568 570 +f 569 562 570 +f 560 569 570 +f 563 567 571 +f 568 563 571 +f 569 560 571 +f 567 569 571 +f 560 570 571 +o convex_44 +v 1.653537 1.114711 -0.282594 +v 2.140806 1.187824 2.544246 +v 1.385378 1.212183 2.300386 +v 1.482926 1.236578 0.326910 +v 2.140806 1.139106 -0.453384 +v 1.848398 1.114711 1.447316 +v 1.336564 1.114723 -0.453677 +v 1.361050 1.163477 2.300386 +v 2.140806 1.114711 1.422666 +v 1.336564 1.236578 1.349889 +v 1.336564 1.163477 -0.307244 +v 1.653537 1.163453 2.544246 +v 2.140806 1.114711 -0.453384 +v 2.140806 1.187824 1.983456 +v 2.140806 1.163453 2.544246 +f 583 577 586 +f 572 577 578 +f 578 577 579 +f 576 573 580 +f 577 572 580 +f 574 573 581 +f 573 575 581 +f 579 574 581 +f 578 579 581 +f 575 576 582 +f 576 578 582 +f 581 575 582 +f 578 581 582 +f 573 574 583 +f 574 579 583 +f 579 577 583 +f 572 578 584 +f 578 576 584 +f 580 572 584 +f 576 580 584 +f 575 573 585 +f 576 575 585 +f 573 576 585 +f 580 573 586 +f 577 580 586 +f 573 583 586 +o convex_45 +v -0.101505 1.821109 1.081832 +v -0.369571 -0.225824 0.984370 +v 0.044736 -0.225824 0.984370 +v -0.369571 3.649541 0.959990 +v 0.044736 3.649541 0.984370 +v -0.345157 1.772174 1.081832 +v 0.044736 -0.079398 1.033083 +v 0.044736 3.649541 1.008739 +v 0.044736 1.627265 1.081832 +v -0.369571 0.042371 1.033083 +v -0.369571 3.405623 1.008739 +v -0.125878 3.600605 0.959990 +f 591 589 598 +f 588 589 593 +f 589 591 593 +f 591 590 594 +f 592 587 594 +f 593 591 594 +f 593 594 595 +f 587 592 595 +f 594 587 595 +f 595 592 596 +f 590 588 596 +f 588 593 596 +f 593 595 596 +f 594 590 597 +f 592 594 597 +f 596 592 597 +f 590 596 597 +f 589 588 598 +f 588 590 598 +f 590 591 598 +o convex_46 +v 2.140902 1.139065 2.007813 +v 2.311482 1.065981 0.521470 +v 2.311482 1.041620 0.521470 +v 2.140902 1.139065 -0.453677 +v 2.287101 1.187831 2.251379 +v 2.238357 1.041620 2.544246 +v 2.140902 1.187831 2.544246 +v 2.140902 1.090357 0.667903 +v 2.287101 1.041620 2.495239 +v 2.287101 1.114718 0.277610 +v 2.165282 1.090357 -0.453677 +f 602 608 609 +f 602 599 605 +f 603 602 605 +f 599 604 605 +f 599 602 606 +f 604 599 606 +f 601 600 607 +f 600 603 607 +f 604 601 607 +f 603 605 607 +f 605 604 607 +f 600 601 608 +f 602 603 608 +f 603 600 608 +f 601 604 609 +f 606 602 609 +f 604 606 609 +f 608 601 609 +o convex_47 +v 1.239071 0.602956 2.909847 +v 1.263435 0.310462 0.570462 +v 1.263435 0.651694 0.570462 +v 1.165951 0.919641 2.251429 +v 1.312191 1.041591 0.789629 +v 1.263435 0.310462 2.909847 +v 1.214707 0.334866 2.909847 +v 1.190343 1.041591 2.909847 +v 1.312191 0.554219 0.570462 +v 1.263435 1.041591 0.765353 +v 1.239071 0.310462 0.838409 +v 1.165951 1.041591 2.909847 +v 1.287798 0.310462 0.984749 +f 618 615 622 +f 614 610 615 +f 615 610 616 +f 610 614 617 +f 616 610 617 +f 611 612 618 +f 612 614 618 +f 614 615 618 +f 612 613 619 +f 614 612 619 +f 617 614 619 +f 612 611 620 +f 613 612 620 +f 611 615 620 +f 616 613 620 +f 615 616 620 +f 613 616 621 +f 616 617 621 +f 619 613 621 +f 617 619 621 +f 615 611 622 +f 611 618 622 +o convex_48 +v -3.050476 0.212897 0.545626 +v -1.369043 1.065964 0.448142 +v -1.369043 1.065964 0.423764 +v -3.050476 1.065964 0.521248 +v -1.369043 0.212897 0.521248 +v -1.466654 0.212897 0.472534 +v -3.025950 0.992816 0.545626 +v -2.660529 1.041581 0.472534 +v -2.611641 0.212897 0.570004 +v -1.564100 1.065964 0.472534 +v -1.515377 0.944050 0.423764 +v -2.952866 0.383577 0.521248 +f 633 628 634 +f 624 625 626 +f 625 624 627 +f 627 623 628 +f 625 627 628 +f 626 623 629 +f 626 625 630 +f 623 627 631 +f 629 623 631 +f 627 629 631 +f 624 626 632 +f 627 624 632 +f 626 629 632 +f 629 627 632 +f 625 628 633 +f 630 625 633 +f 630 633 634 +f 623 626 634 +f 628 623 634 +f 626 630 634 +o convex_49 +v -0.369652 -2.249008 -0.989858 +v -1.344477 -4.247233 -1.038632 +v -1.344477 -4.247233 -0.892443 +v -0.369652 -4.247233 -1.038599 +v -1.222624 -2.249008 -0.916789 +v -0.442840 -2.273654 -0.941167 +v -0.394080 -3.224062 -1.063011 +v -0.369652 -4.247233 -1.014237 +v -1.003155 -2.249008 -0.892443 +v -1.222624 -2.492723 -0.941167 +v -0.710974 -3.637947 -1.063011 +f 636 644 645 +f 637 636 638 +f 636 637 639 +f 635 638 641 +f 637 638 642 +f 638 635 642 +f 640 637 642 +f 635 640 642 +f 635 639 643 +f 639 637 643 +f 637 640 643 +f 640 635 643 +f 639 635 644 +f 636 639 644 +f 635 641 644 +f 644 641 645 +f 638 636 645 +f 641 638 645 +o convex_50 +v 1.287796 1.041591 0.570004 +v 1.190334 0.310462 -0.453677 +v 1.214712 0.310462 -0.453677 +v 1.263435 1.041591 -0.453677 +v 1.141594 1.041591 0.545554 +v 1.287796 0.310462 0.570004 +v 1.141594 0.310462 0.545554 +v 1.141594 1.041591 -0.453677 +v 1.312174 0.432340 0.496855 +v 1.141594 0.310462 -0.429228 +v 1.312174 1.041591 0.570004 +f 651 654 656 +f 648 647 649 +f 646 649 650 +f 647 648 651 +f 646 650 651 +f 647 651 652 +f 651 650 652 +f 649 647 653 +f 650 649 653 +f 652 650 653 +f 648 649 654 +f 651 648 654 +f 647 652 655 +f 653 647 655 +f 652 653 655 +f 649 646 656 +f 646 651 656 +f 654 649 656 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/362/362.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/362/362.urdf new file mode 100644 index 000000000..c23281a2f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/362/362.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/363/363.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/363/363.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/363/363.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/363/363.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/363/363.obj new file mode 100644 index 000000000..165028cca --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/363/363.obj @@ -0,0 +1,819 @@ +o convex_0 +v -0.136220 -3.311385 -0.019581 +v -1.351368 -1.623837 -1.066158 +v -1.351368 -1.590033 -1.066158 +v -1.452610 -1.590033 0.925576 +v 0.842942 -1.589858 -0.458250 +v 0.572719 -1.725072 1.026996 +v -1.216134 -3.075111 0.857962 +v -0.507440 -3.108739 -0.829715 +v 0.471477 -2.973701 0.790553 +v 0.471477 -2.602387 -0.863522 +v -1.216134 -2.872465 -0.829715 +v 0.538971 -1.589858 -1.032351 +v -1.655339 -1.623837 0.587712 +v 0.775203 -1.589858 0.857962 +v -0.372451 -2.433895 -1.066158 +v 0.369990 -2.940072 -0.795704 +v -0.473449 -3.378992 0.013816 +v -0.237462 -2.703623 0.993189 +v -1.587600 -1.590033 -0.829715 +v -1.182632 -3.142718 -0.120797 +v -0.912653 -1.860111 1.026996 +v -0.271209 -3.210150 0.723145 +v -1.216134 -2.299031 -1.066158 +v 0.808950 -1.657465 -0.863317 +v 0.369990 -3.108739 -0.188205 +v 0.336488 -2.366463 -1.032351 +v -1.452610 -2.197621 -0.795704 +v 0.640213 -2.298856 -0.728295 +v -1.249882 -3.041307 0.857962 +v -0.844914 -1.590033 1.026996 +v -0.372451 -3.378992 -0.120797 +v -1.182632 -2.163992 0.993189 +v 0.505224 -2.906269 0.790553 +v -0.001230 -2.703623 0.993189 +v -1.553852 -1.657465 -0.998545 +v -0.001230 -1.590033 -1.066158 +v -1.418863 -2.130364 0.925576 +v -0.338704 -3.108739 -0.829715 +v 0.437485 -2.332660 0.993189 +v 0.572719 -1.589858 1.026996 +v -0.271209 -2.298856 1.026996 +v 0.842942 -1.623837 -0.458250 +v 0.606466 -2.096385 -0.964738 +v -1.655339 -1.590033 0.655531 +v -1.249882 -3.041307 0.621724 +v -1.115137 -2.973876 -0.728295 +v -0.439701 -3.378992 -0.120797 +v 0.336488 -3.142543 -0.019581 +v 0.471477 -2.940072 0.824360 +v 0.505224 -2.906269 0.621724 +v 0.775203 -1.623837 0.857962 +v -0.338704 -3.142543 -0.795704 +v -1.081390 -3.142718 0.689133 +v -0.338704 -3.345189 0.182850 +v -1.249882 -1.725072 0.993189 +v -1.047642 -3.007679 0.891769 +v -1.418863 -2.028954 -1.032351 +v -0.540943 -3.210150 0.689133 +v 0.336488 -2.973701 -0.762307 +v -0.068725 -2.366463 -1.066158 +v -1.587600 -1.657465 -0.762307 +v -1.418863 -2.332660 -0.694693 +v -0.439701 -3.176346 -0.728295 +v -0.540943 -3.142543 0.790553 +f 34 56 64 +f 5 12 14 +f 2 3 15 +f 12 3 19 +f 8 11 23 +f 2 15 23 +f 15 8 23 +f 12 5 24 +f 10 16 26 +f 16 10 28 +f 10 24 28 +f 25 16 28 +f 20 7 29 +f 21 6 30 +f 25 1 31 +f 29 7 32 +f 3 2 35 +f 19 3 35 +f 3 12 36 +f 15 3 36 +f 29 32 37 +f 8 15 38 +f 26 16 38 +f 6 34 39 +f 6 14 40 +f 14 12 40 +f 4 30 40 +f 30 6 40 +f 6 21 41 +f 32 18 41 +f 21 32 41 +f 34 6 41 +f 18 34 41 +f 5 14 42 +f 24 5 42 +f 28 24 42 +f 12 24 43 +f 24 10 43 +f 26 12 43 +f 10 26 43 +f 12 19 44 +f 19 13 44 +f 13 29 44 +f 37 4 44 +f 29 37 44 +f 40 12 44 +f 4 40 44 +f 29 13 45 +f 20 29 45 +f 11 8 46 +f 20 11 46 +f 17 20 47 +f 31 17 47 +f 20 46 47 +f 9 1 48 +f 1 25 48 +f 25 9 48 +f 22 9 49 +f 9 33 49 +f 6 39 49 +f 39 34 49 +f 9 25 50 +f 25 28 50 +f 33 9 50 +f 28 42 50 +f 42 33 50 +f 14 6 51 +f 42 14 51 +f 33 42 51 +f 6 49 51 +f 49 33 51 +f 8 38 52 +f 38 16 52 +f 7 20 53 +f 20 17 53 +f 1 9 54 +f 9 22 54 +f 31 1 54 +f 17 31 54 +f 30 4 55 +f 21 30 55 +f 32 21 55 +f 4 37 55 +f 37 32 55 +f 32 7 56 +f 18 32 56 +f 34 18 56 +f 23 11 57 +f 2 23 57 +f 11 27 57 +f 35 2 57 +f 27 35 57 +f 22 7 58 +f 7 53 58 +f 53 17 58 +f 54 22 58 +f 17 54 58 +f 16 25 59 +f 25 31 59 +f 52 16 59 +f 31 52 59 +f 12 26 60 +f 36 12 60 +f 15 36 60 +f 38 15 60 +f 26 38 60 +f 13 19 61 +f 27 13 61 +f 19 35 61 +f 35 27 61 +f 11 20 62 +f 13 27 62 +f 27 11 62 +f 45 13 62 +f 20 45 62 +f 46 8 63 +f 31 47 63 +f 47 46 63 +f 52 31 63 +f 8 52 63 +f 7 22 64 +f 22 49 64 +f 49 34 64 +f 56 7 64 +o convex_1 +v -3.410644 -0.610604 0.047682 +v 0.876308 0.975944 -0.491958 +v 0.876308 0.975944 -0.593140 +v 2.260482 -1.218148 0.250464 +v -0.439460 0.942038 1.026821 +v -1.351336 -1.589858 -1.065950 +v -1.182404 -1.589858 0.993093 +v -1.486363 0.975944 -0.930832 +v 2.328292 0.300588 -0.762194 +v -2.971658 0.503019 0.756585 +v 2.328292 -0.306957 0.756793 +v 0.539039 -1.589858 -1.032223 +v -3.005563 -1.285709 -0.694531 +v 0.606255 -1.589858 1.026821 +v 1.956523 0.638140 0.351646 +v -3.173901 -0.340612 -0.728259 +v -0.406149 0.975944 -1.032223 +v -3.005563 -0.948156 0.621674 +v 2.361603 -0.407921 -0.829649 +v -2.499362 -0.374518 0.993093 +v 0.505133 0.975944 0.959158 +v -3.173901 0.401803 -0.120747 +v -1.384647 0.975944 0.959366 +v 1.518132 -1.116933 1.026821 +v 1.653158 -0.306957 -1.032223 +v -2.465456 -0.306957 -0.998495 +v 2.632252 -0.340612 -0.019565 +v -2.735510 -1.387176 0.351646 +v 2.361603 -1.150839 -0.221930 +v 2.294387 0.536925 -0.728259 +v 2.159360 -1.252054 0.756793 +v 1.247483 -0.407921 1.060549 +v 2.463319 0.368148 0.081410 +v -0.406149 -1.150587 1.060549 +v -3.207806 -0.273302 0.756585 +v 1.619253 -1.150839 -0.930832 +v 0.910214 -1.589858 -0.559621 +v -3.275617 -1.116933 0.115345 +v 1.653158 0.401803 0.857975 +v -2.465456 0.401803 -0.829649 +v -2.465456 -1.116933 0.857975 +v -2.363740 -1.150587 -0.998495 +v -3.444549 -0.306957 0.047682 +v 0.505133 0.975944 -0.930832 +v -1.688606 -1.589858 0.621674 +v 1.653158 -0.340863 1.026821 +v 1.551442 0.334242 -0.964768 +v -1.351336 -0.711819 -1.065950 +v -3.038874 0.503019 0.621674 +v -1.587485 -1.589858 -0.897313 +v -2.330430 0.401803 0.959366 +v -0.406149 -0.138181 1.060549 +v 0.842403 -1.589858 0.857975 +v -0.001663 -1.387176 -1.065950 +v 1.686469 -1.387176 -0.458230 +v -1.519674 0.975944 0.351646 +v -1.925349 -0.239647 1.026821 +v 0.775187 0.975944 0.554219 +v 2.193266 -0.982062 -0.660804 +v 2.159360 0.199121 0.621674 +v -3.005563 0.199372 -0.593349 +v -3.005563 -1.319615 -0.660804 +v -1.418553 -1.589858 0.959366 +v 2.632252 -0.441827 -0.019565 +f 75 95 128 +f 66 67 72 +f 71 70 76 +f 71 76 78 +f 77 65 80 +f 72 67 81 +f 66 72 85 +f 85 72 87 +f 69 85 87 +f 73 83 89 +f 72 81 90 +f 83 73 91 +f 67 66 94 +f 66 79 94 +f 91 73 94 +f 75 88 95 +f 88 78 95 +f 78 88 96 +f 75 91 97 +f 94 79 97 +f 91 94 97 +f 71 78 98 +f 84 71 98 +f 78 96 98 +f 84 74 99 +f 76 89 100 +f 89 83 100 +f 78 76 101 +f 92 82 102 +f 99 65 102 +f 82 99 102 +f 79 85 103 +f 86 72 104 +f 72 90 104 +f 90 80 104 +f 82 92 105 +f 99 82 105 +f 84 99 105 +f 70 77 106 +f 77 80 106 +f 90 70 106 +f 80 90 106 +f 80 65 107 +f 86 80 107 +f 65 99 107 +f 81 67 108 +f 67 94 108 +f 70 71 109 +f 85 69 110 +f 88 75 110 +f 69 96 110 +f 96 88 110 +f 103 85 110 +f 75 103 110 +f 89 81 111 +f 73 89 111 +f 94 73 111 +f 81 108 111 +f 108 94 111 +f 70 90 112 +f 90 81 112 +f 72 86 113 +f 74 87 113 +f 99 74 113 +f 86 107 113 +f 107 99 113 +f 70 109 114 +f 109 92 114 +f 74 84 115 +f 87 74 115 +f 69 87 115 +f 96 69 116 +f 98 96 116 +f 95 78 117 +f 78 101 117 +f 101 95 117 +f 76 70 118 +f 89 76 118 +f 81 89 118 +f 70 112 118 +f 112 81 118 +f 93 68 119 +f 68 95 119 +f 76 100 119 +f 100 93 119 +f 101 76 119 +f 95 101 119 +f 87 72 120 +f 72 113 120 +f 113 87 120 +f 84 98 121 +f 69 115 121 +f 115 84 121 +f 116 69 121 +f 98 116 121 +f 79 66 122 +f 66 85 122 +f 85 79 122 +f 83 93 123 +f 100 83 123 +f 93 100 123 +f 75 97 124 +f 97 79 124 +f 79 103 124 +f 103 75 124 +f 80 86 125 +f 86 104 125 +f 104 80 125 +f 77 70 126 +f 65 77 126 +f 102 65 126 +f 92 102 126 +f 70 114 126 +f 114 92 126 +f 71 84 127 +f 84 105 127 +f 105 92 127 +f 109 71 127 +f 92 109 127 +f 91 75 128 +f 83 91 128 +f 68 93 128 +f 93 83 128 +f 95 68 128 +o convex_2 +v 3.070914 1.111079 -0.390888 +v 1.281955 2.157564 -0.019776 +v 2.531109 2.123757 0.014031 +v 1.045506 1.144886 0.486781 +v 4.117597 1.617309 0.351663 +v 1.045506 1.482409 -0.593511 +v 3.813891 1.954832 -0.390888 +v 1.045506 2.022336 0.385361 +v 4.286440 1.178693 0.014031 +v 1.045506 2.123757 -0.458392 +v 1.045506 1.077272 -0.525897 +v 4.320068 1.550022 -0.390888 +v 4.117597 2.022336 0.014031 +v 3.779912 1.144886 0.351663 +v 3.374971 1.043465 -0.086953 +v 3.340992 1.482518 -0.525897 +v 1.281955 1.583829 0.520588 +v 4.624125 1.651007 0.014031 +v 1.147091 1.921025 -0.593511 +v 1.045506 1.077272 0.452865 +v 2.699951 1.954832 0.351663 +v 2.902072 1.583829 0.452865 +v 2.497130 1.178693 0.452865 +v 4.252461 1.178693 -0.086953 +v 2.024932 2.089950 -0.424695 +v 3.070914 1.178693 -0.458392 +v 3.645049 1.887327 0.284158 +v 1.045506 1.651007 0.520588 +v 2.733580 1.043465 -0.255879 +v 4.590146 1.516216 0.014031 +v 4.117597 2.022336 -0.053256 +v 4.286440 1.651007 -0.390888 +v 1.045506 2.157564 0.047729 +v 3.340992 1.415013 -0.525897 +v 3.678677 1.921134 -0.424585 +v 3.948755 1.583611 0.385470 +v 2.564737 2.123757 -0.087063 +v 3.914776 1.279895 -0.323274 +v 1.079484 2.157564 -0.323383 +v 3.307364 1.043465 -0.222072 +v 3.712656 1.111079 0.250351 +v 4.117597 1.516216 0.351663 +v 2.598716 1.988748 0.317856 +v 4.624125 1.583611 -0.053256 +v 1.450797 1.111079 -0.525897 +v 1.045506 1.988748 -0.559704 +v 3.543813 1.954832 -0.424585 +v 2.665973 2.056143 -0.390888 +v 1.315934 1.752318 -0.593511 +v 4.455282 1.347400 -0.053256 +v 1.281955 2.123757 -0.458392 +v 1.079484 2.056143 0.317856 +v 1.079484 1.954832 0.419167 +v 2.632344 1.651007 0.452865 +v 4.184854 1.988639 -0.053256 +v 4.590146 1.550022 0.047838 +v 2.699951 1.043465 -0.053256 +v 1.450797 1.077272 0.419167 +f 143 169 186 +f 134 132 136 +f 134 136 138 +f 132 134 139 +f 141 133 146 +f 132 139 148 +f 145 132 151 +f 132 148 151 +f 148 142 151 +f 150 145 151 +f 137 143 152 +f 133 141 155 +f 141 149 155 +f 136 132 156 +f 132 145 156 +f 145 150 156 +f 140 144 160 +f 131 130 161 +f 138 136 161 +f 144 140 162 +f 140 154 162 +f 144 147 163 +f 135 160 163 +f 160 144 163 +f 151 142 164 +f 150 151 164 +f 133 155 164 +f 155 149 164 +f 130 131 165 +f 131 141 165 +f 141 159 165 +f 152 129 166 +f 140 152 166 +f 129 154 166 +f 154 140 166 +f 161 130 167 +f 138 161 167 +f 130 165 167 +f 139 129 168 +f 129 152 168 +f 152 143 168 +f 157 139 168 +f 143 157 168 +f 137 142 169 +f 143 137 169 +f 133 164 170 +f 164 142 170 +f 141 131 171 +f 136 149 171 +f 149 141 171 +f 140 160 172 +f 160 146 172 +f 129 139 173 +f 139 134 173 +f 154 129 173 +f 134 162 173 +f 162 154 173 +f 134 138 174 +f 147 134 174 +f 153 135 175 +f 163 147 175 +f 135 163 175 +f 147 174 175 +f 135 153 176 +f 159 135 176 +f 153 165 176 +f 165 159 176 +f 134 147 177 +f 147 144 177 +f 162 134 177 +f 144 162 177 +f 152 140 178 +f 137 152 178 +f 158 137 178 +f 140 172 178 +f 172 158 178 +f 165 153 179 +f 138 167 179 +f 167 165 179 +f 174 138 179 +f 153 175 179 +f 175 174 179 +f 131 161 180 +f 161 136 180 +f 171 131 180 +f 136 171 180 +f 149 136 181 +f 136 156 181 +f 156 149 181 +f 149 156 182 +f 156 150 182 +f 164 149 182 +f 150 164 182 +f 141 146 183 +f 135 159 183 +f 159 141 183 +f 160 135 183 +f 146 160 183 +f 142 137 184 +f 146 133 184 +f 137 158 184 +f 170 142 184 +f 133 170 184 +f 172 146 184 +f 158 172 184 +f 148 139 185 +f 143 148 185 +f 139 157 185 +f 157 143 185 +f 142 148 186 +f 148 143 186 +f 169 142 186 +o convex_3 +v -2.566854 1.347370 0.014097 +v -1.520297 1.955000 0.047917 +v -1.520297 1.955000 -0.255902 +v -3.174468 1.819865 -0.019498 +v -1.520297 1.549953 0.284264 +v -1.520297 1.448661 -0.222082 +v -3.140661 1.583677 -0.222082 +v -3.140661 1.617461 0.149208 +v -1.554103 1.887373 0.216680 +v -1.520297 1.381153 0.182972 +v -3.140661 1.381153 -0.053319 +v -2.634286 1.414937 0.149208 +v -1.554103 1.651185 -0.289666 +v -2.533047 1.853649 -0.222082 +v -1.520297 1.347370 -0.053319 +v -3.377127 1.583677 -0.019498 +v -2.499240 1.414937 -0.188374 +v -1.520297 1.752357 0.284264 +v -1.554103 1.887373 -0.289666 +v -3.005616 1.853649 -0.019498 +v -2.836945 1.786141 0.115445 +v -3.073229 1.381153 0.047917 +v -3.140661 1.651185 -0.222082 +v -3.140661 1.819865 -0.087082 +v -3.107036 1.549953 0.149208 +v -1.925433 1.381153 0.182972 +v -2.398183 1.347370 -0.053319 +v -2.533047 1.617461 -0.255902 +f 209 205 214 +f 189 188 191 +f 189 191 192 +f 192 191 196 +f 189 192 199 +f 196 187 201 +f 192 196 201 +f 194 190 202 +f 193 197 202 +f 197 193 203 +f 199 192 203 +f 192 201 203 +f 191 188 204 +f 194 191 204 +f 188 195 204 +f 189 199 205 +f 200 189 205 +f 188 189 206 +f 195 188 206 +f 189 200 206 +f 190 194 207 +f 194 204 207 +f 204 195 207 +f 195 206 207 +f 206 190 207 +f 197 187 208 +f 202 197 208 +f 193 202 209 +f 200 205 209 +f 202 190 210 +f 190 206 210 +f 206 200 210 +f 200 209 210 +f 209 202 210 +f 191 194 211 +f 198 191 211 +f 194 202 211 +f 208 198 211 +f 202 208 211 +f 187 196 212 +f 196 191 212 +f 191 198 212 +f 208 187 212 +f 198 208 212 +f 187 197 213 +f 201 187 213 +f 197 203 213 +f 203 201 213 +f 203 193 214 +f 199 203 214 +f 205 199 214 +f 193 209 214 +o convex_4 +v 1.045459 1.144978 0.486546 +v -0.608558 1.550131 -1.032398 +v -0.608558 1.651254 -1.032398 +v -1.385087 1.043525 0.959465 +v -0.405887 2.461230 0.756872 +v 0.437697 2.427357 -0.897134 +v -1.317530 2.461230 -0.762274 +v -1.452644 0.975944 -0.931000 +v 0.572811 0.975944 -0.897134 +v 1.045459 2.191238 0.014031 +v 0.505254 0.975944 0.959264 +v -1.385087 2.258654 0.520413 +v 0.370140 2.258819 0.790537 +v -0.338581 2.663972 0.014031 +v -0.743672 1.921081 1.026996 +v 1.045459 1.786250 -0.627010 +v -1.520201 1.988496 0.014031 +v 0.977902 1.009817 -0.559479 +v -1.182667 2.596226 0.081562 +v 0.403793 2.562518 0.014031 +v -1.486297 0.975944 0.385351 +v 1.045459 1.921081 0.452882 +v -1.148763 2.360107 0.756872 +v -0.845133 2.056077 -0.998531 +v -0.405887 0.975944 -1.032398 +v -1.486297 2.056077 -0.694743 +v -0.979996 0.975944 0.993130 +v 1.045459 2.157365 -0.458283 +v -0.642462 2.528811 -0.762274 +v -1.249973 1.718835 0.959465 +v -1.418991 2.393650 -0.154494 +v 0.302583 1.414970 -0.964665 +v -1.486297 0.975944 -0.897336 +v -1.520201 1.685127 0.318021 +v -1.317530 1.786250 -0.931000 +v 0.809135 0.975944 0.419015 +v 0.370140 1.381097 0.959264 +v 1.045459 1.077398 -0.525814 +v 1.011555 1.617547 0.554077 +v -1.385087 0.975944 -0.964867 +v 0.403793 2.562518 -0.188159 +v 0.099912 0.975944 0.993130 +v -1.418991 0.975944 0.925599 +v -1.385087 2.089950 0.655475 +v 1.045459 1.077398 0.452882 +v -1.520201 1.414970 -0.289556 +v -1.182667 2.596226 -0.053299 +v 1.045459 2.056077 0.351484 +v -0.338581 2.528811 -0.762072 +v -0.574905 2.123658 -0.998330 +v 0.099912 2.191073 0.857866 +v -0.608558 2.427522 0.790537 +v 0.505254 1.043690 -0.931000 +v 0.268930 2.292361 -0.931000 +v -1.452644 2.292526 -0.559681 +v 1.045459 1.887373 -0.627010 +v -0.473444 1.583839 -1.032398 +v 0.370140 2.326069 0.655475 +v 0.910345 0.975944 -0.458283 +v 0.268930 2.596226 0.014031 +v -0.676366 1.921081 1.026996 +v 0.201373 2.427357 -0.897134 +v 0.606464 0.975944 0.891733 +v -1.047553 1.617547 -0.998531 +f 254 249 278 +f 222 223 225 +f 224 215 230 +f 219 228 233 +f 222 225 235 +f 215 224 236 +f 233 226 237 +f 216 217 239 +f 223 222 239 +f 229 218 241 +f 235 225 241 +f 224 230 242 +f 218 229 244 +f 229 237 244 +f 231 226 245 +f 226 233 245 +f 222 235 247 +f 226 231 248 +f 221 238 249 +f 240 221 249 +f 222 247 249 +f 247 240 249 +f 225 223 250 +f 230 215 252 +f 223 230 252 +f 232 223 252 +f 215 236 253 +f 236 227 253 +f 251 225 253 +f 227 251 253 +f 216 239 254 +f 239 222 254 +f 222 249 254 +f 234 224 255 +f 242 220 255 +f 224 242 255 +f 229 241 256 +f 241 225 256 +f 225 251 256 +f 241 218 257 +f 235 241 257 +f 248 235 257 +f 248 257 258 +f 237 226 258 +f 218 244 258 +f 244 237 258 +f 226 248 258 +f 257 218 258 +f 252 215 259 +f 232 252 259 +f 231 240 260 +f 247 235 260 +f 240 247 260 +f 248 231 260 +f 235 248 260 +f 233 228 261 +f 243 221 261 +f 228 243 261 +f 245 233 261 +f 221 245 261 +f 236 224 262 +f 227 236 262 +f 220 243 263 +f 243 228 263 +f 255 220 263 +f 228 255 263 +f 217 238 264 +f 238 221 264 +f 227 219 265 +f 251 227 265 +f 219 233 266 +f 237 229 266 +f 233 237 266 +f 265 219 266 +f 223 239 267 +f 246 220 267 +f 239 246 267 +f 220 246 268 +f 264 220 268 +f 221 240 269 +f 240 231 269 +f 231 245 269 +f 245 221 269 +f 230 223 270 +f 220 242 270 +f 242 230 270 +f 223 267 270 +f 267 220 270 +f 239 217 271 +f 246 239 271 +f 217 264 271 +f 268 246 271 +f 264 268 271 +f 219 227 272 +f 224 234 272 +f 262 224 272 +f 227 262 272 +f 223 232 273 +f 250 223 273 +f 259 250 273 +f 232 259 273 +f 228 219 274 +f 255 228 274 +f 234 255 274 +f 219 272 274 +f 272 234 274 +f 229 256 275 +f 256 251 275 +f 251 265 275 +f 266 229 275 +f 265 266 275 +f 243 220 276 +f 221 243 276 +f 220 264 276 +f 264 221 276 +f 225 250 277 +f 215 253 277 +f 253 225 277 +f 259 215 277 +f 250 259 277 +f 217 216 278 +f 238 217 278 +f 249 238 278 +f 216 254 278 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/363/363.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/363/363.urdf new file mode 100644 index 000000000..e62e706a1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/363/363.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/364/364.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/364/364.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/364/364.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/364/364.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/364/364.obj new file mode 100644 index 000000000..e7f813bc7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/364/364.obj @@ -0,0 +1,570 @@ +o convex_0 +v 0.895780 0.996304 1.290586 +v -0.762373 -1.120751 3.230634 +v -0.974165 -1.014561 0.620564 +v -1.044834 1.066807 4.219033 +v 1.107573 -0.944058 4.183443 +v 1.107573 -0.944058 0.302574 +v -1.009500 1.031556 0.302574 +v 1.001569 0.996304 4.219033 +v -1.080169 -1.120751 4.183443 +v 1.036904 0.960835 0.302574 +v 0.401739 -1.085282 0.302574 +v -0.938831 -0.979527 0.302574 +v 0.048822 1.066807 0.302574 +v -0.233211 1.066807 4.254623 +v 1.072238 0.643353 0.373367 +v -1.009500 1.102276 3.760230 +v 1.001569 0.572632 4.254623 +v 1.107573 -0.591324 4.183829 +v -1.080169 -1.085065 3.795433 +v -1.009500 0.431625 0.302574 +v -0.621249 1.066807 0.302574 +v 1.036904 0.960835 2.243782 +v -1.080169 -0.555855 4.148240 +v -0.938831 -1.120751 4.183443 +v 1.107573 -0.520821 0.302574 +v 0.648652 1.031556 0.867373 +v -0.656583 1.031556 4.254623 +v 0.225281 -1.085282 0.302574 +v 1.001569 -0.979527 0.302574 +v 0.754656 -0.979310 4.183443 +v -0.868376 1.102276 4.219033 +v 0.648652 1.031556 1.925792 +v 1.001569 0.960835 4.254623 +v 1.036904 0.537598 4.219033 +v 0.613318 1.031556 0.302574 +v -1.044834 0.008388 4.219033 +v -0.727252 -1.120751 3.372221 +v -0.974165 -0.697079 0.302574 +v -1.080169 -1.120751 3.866227 +v -1.009500 1.066807 1.643779 +v 0.401739 -1.085282 0.373367 +f 30 37 41 +f 6 7 10 +f 1 8 10 +f 7 6 11 +f 7 11 12 +f 10 7 13 +f 5 6 18 +f 17 5 18 +f 7 12 20 +f 19 7 20 +f 13 7 21 +f 16 13 21 +f 10 8 22 +f 15 10 22 +f 18 15 22 +f 4 7 23 +f 9 4 23 +f 7 19 23 +f 19 9 23 +f 9 2 24 +f 17 9 24 +f 6 10 25 +f 10 15 25 +f 18 6 25 +f 15 18 25 +f 8 1 26 +f 9 17 27 +f 17 14 27 +f 2 3 28 +f 11 2 28 +f 12 11 28 +f 3 12 28 +f 6 5 29 +f 11 6 29 +f 5 17 30 +f 17 24 30 +f 16 4 31 +f 13 16 31 +f 4 27 31 +f 27 14 31 +f 14 8 32 +f 8 26 32 +f 26 13 32 +f 13 31 32 +f 31 14 32 +f 8 14 33 +f 14 17 33 +f 17 18 33 +f 33 18 34 +f 22 8 34 +f 18 22 34 +f 8 33 34 +f 1 10 35 +f 10 13 35 +f 26 1 35 +f 13 26 35 +f 4 9 36 +f 27 4 36 +f 9 27 36 +f 2 11 37 +f 24 2 37 +f 30 24 37 +f 12 3 38 +f 3 19 38 +f 20 12 38 +f 19 20 38 +f 3 2 39 +f 2 9 39 +f 19 3 39 +f 9 19 39 +f 7 4 40 +f 4 16 40 +f 21 7 40 +f 16 21 40 +f 29 5 41 +f 11 29 41 +f 5 30 41 +f 37 11 41 +o convex_1 +v 0.295970 -1.579568 -2.696757 +v -0.339160 -2.990745 -3.014208 +v -0.339160 -2.990745 -2.943705 +v -0.303853 -0.344456 -2.978956 +v -0.303853 -2.814415 -2.520436 +v 0.331277 -2.955107 -2.978956 +v 0.260664 -0.344456 -3.084898 +v 0.225291 -0.344456 -2.449747 +v 0.190115 -2.990745 -2.590940 +v -0.233239 -0.485680 -2.555688 +v -0.162691 -3.061490 -2.520436 +v 0.331277 -2.672925 -3.014208 +v -0.303853 -0.344456 -2.837888 +v 0.154743 -0.450574 -3.084898 +v 0.225291 -2.355370 -2.555688 +v 0.154743 -0.344456 -2.449747 +v 0.295970 -2.990745 -2.802511 +v 0.260664 -0.732756 -3.084898 +v -0.303853 -3.061490 -2.520436 +v 0.260664 -0.344456 -2.767322 +v 0.331277 -2.425849 -2.873139 +v -0.092143 -2.990745 -3.014208 +v -0.339160 -2.496594 -3.014208 +v -0.197998 -0.344456 -2.555688 +v -0.339160 -2.390742 -2.943705 +v 0.295970 -1.156162 -3.049521 +v -0.021529 -0.344456 -3.049521 +f 55 64 68 +f 48 45 49 +f 49 45 54 +f 46 51 54 +f 42 49 56 +f 49 52 56 +f 52 50 56 +f 51 46 57 +f 52 49 57 +f 49 54 57 +f 50 52 58 +f 42 56 58 +f 56 50 58 +f 48 53 59 +f 43 55 59 +f 55 48 59 +f 44 43 60 +f 46 44 60 +f 43 52 60 +f 57 46 60 +f 52 57 60 +f 48 49 61 +f 49 42 61 +f 47 53 62 +f 58 47 62 +f 42 58 62 +f 61 42 62 +f 52 43 63 +f 53 47 63 +f 47 58 63 +f 58 52 63 +f 43 59 63 +f 59 53 63 +f 43 44 64 +f 55 43 64 +f 54 51 65 +f 51 57 65 +f 57 54 65 +f 44 46 66 +f 54 45 66 +f 46 54 66 +f 64 44 66 +f 45 64 66 +f 53 48 67 +f 48 61 67 +f 62 53 67 +f 61 62 67 +f 45 48 68 +f 48 55 68 +f 64 45 68 +o convex_2 +v 1.072086 -1.720927 0.267025 +v 0.542881 -3.025907 -1.885168 +v 0.542881 -2.955431 -1.885168 +v -0.974232 -3.061145 0.267025 +v -0.938763 -1.085662 -1.743830 +v -0.938763 -1.085662 0.302359 +v 0.966332 -1.085662 -1.814499 +v -1.115455 -3.096579 -1.743830 +v 1.036835 -2.920193 0.302574 +v 1.107555 -2.920193 -1.814499 +v 1.107555 -1.085662 0.231691 +v -0.974232 -1.085662 0.196570 +v 1.001584 -1.191572 -1.849619 +v -0.762507 -1.085662 -1.778950 +v 1.036835 -2.955431 0.055232 +v -1.115455 -2.849521 -1.496703 +v 1.072086 -2.990866 -1.885168 +v -1.044735 -3.096579 -1.778950 +v -0.938763 -2.673135 0.302359 +v 1.107555 -1.085662 -0.191681 +v -1.009483 -3.096579 -0.967541 +v 1.001584 -2.038264 -1.885168 +v -0.797758 -3.061145 0.231691 +v 1.072086 -2.990866 -1.391127 +v 1.107555 -1.297483 0.231691 +v -0.727038 -3.096579 -1.743830 +v 0.331155 -2.990866 0.302574 +v -1.115455 -2.849521 -1.673161 +v -0.797758 -1.085662 0.302359 +v 1.107555 -2.673135 -1.673375 +v -0.974232 -1.085662 -0.015223 +v -1.044735 -3.061145 -0.579718 +v 0.931081 -1.121097 -1.849619 +v 1.036835 -2.743611 0.302574 +v 0.613384 -3.025907 -1.814499 +v -1.009483 -2.602463 -1.778950 +v -0.974232 -2.038461 0.267025 +f 84 100 105 +f 73 74 75 +f 75 74 79 +f 74 73 80 +f 73 75 82 +f 78 77 83 +f 70 71 85 +f 81 78 85 +f 71 70 86 +f 74 72 87 +f 79 78 88 +f 75 79 88 +f 81 75 88 +f 72 76 89 +f 76 86 89 +f 71 82 90 +f 85 71 90 +f 81 85 90 +f 72 89 91 +f 78 83 92 +f 85 78 92 +f 83 91 92 +f 77 78 93 +f 79 77 93 +f 78 79 93 +f 86 70 94 +f 89 86 94 +f 83 77 95 +f 87 72 95 +f 74 87 95 +f 72 91 95 +f 91 83 95 +f 73 76 96 +f 76 84 96 +f 84 80 96 +f 69 79 97 +f 79 74 97 +f 78 81 98 +f 88 78 98 +f 81 88 98 +f 80 73 99 +f 73 96 99 +f 96 80 99 +f 76 72 100 +f 84 76 100 +f 75 81 101 +f 82 75 101 +f 90 82 101 +f 81 90 101 +f 77 79 102 +f 79 69 102 +f 74 95 102 +f 95 77 102 +f 69 97 102 +f 97 74 102 +f 70 85 103 +f 91 89 103 +f 92 91 103 +f 85 92 103 +f 94 70 103 +f 89 94 103 +f 76 73 104 +f 82 71 104 +f 73 82 104 +f 71 86 104 +f 86 76 104 +f 72 74 105 +f 74 80 105 +f 80 84 105 +f 100 72 105 +o convex_3 +v 0.507612 -0.484868 -1.885168 +v -0.938908 2.054947 0.302574 +v -0.974138 2.054947 0.302574 +v -0.621212 3.007729 -1.885168 +v 1.001667 2.971669 0.196570 +v -0.938908 -1.085465 0.302574 +v 1.107566 -0.944030 0.302359 +v 1.072128 2.866294 -1.743830 +v -0.938908 -1.085465 -1.743616 +v 0.966230 -1.085065 -1.814285 +v -0.938908 3.007729 0.267025 +v -0.974138 3.007729 -1.885168 +v -1.009576 0.431853 0.267025 +v 1.107566 -1.085465 -0.156347 +v 0.930999 2.971669 -1.779165 +v 1.036898 0.961132 0.302359 +v 1.072128 0.432254 -1.779165 +v -0.374392 -0.344235 -1.885168 +v 0.578073 3.007729 -1.708710 +v 0.930999 -1.014547 -1.849833 +v 1.107566 -1.085465 0.231691 +v -1.009576 1.454751 0.302574 +v 1.107566 -0.485269 0.302359 +v -1.009576 0.573689 -0.121226 +v 0.578073 1.525669 -1.849619 +v -0.656650 3.007729 0.267025 +v 1.001667 -1.085065 -1.708710 +v -0.974138 -0.697221 0.302574 +v -0.974138 2.654743 -1.885168 +v -0.974138 3.007729 -1.038211 +v -0.762341 -1.085465 -1.779165 +v 1.036898 2.971669 -0.756177 +v 1.001667 2.831036 -1.779165 +v 0.331253 2.972070 0.231691 +v -0.974138 2.301757 -1.849619 +v 1.036898 2.971669 -1.743830 +v 0.401714 -1.085465 0.302574 +v 1.036898 -0.238059 -1.814285 +v -0.444853 -0.979289 -1.814499 +f 136 123 144 +f 107 108 111 +f 108 107 116 +f 109 106 117 +f 116 109 117 +f 111 114 119 +f 113 119 122 +f 117 106 123 +f 109 116 124 +f 120 109 124 +f 123 106 125 +f 111 119 126 +f 119 112 126 +f 111 108 127 +f 108 116 127 +f 112 119 128 +f 119 113 128 +f 110 121 128 +f 114 118 129 +f 127 117 129 +f 118 127 129 +f 106 109 130 +f 125 106 130 +f 116 107 131 +f 107 121 131 +f 124 116 131 +f 110 124 131 +f 119 115 132 +f 114 111 133 +f 118 114 133 +f 111 127 133 +f 127 118 133 +f 117 123 134 +f 129 117 134 +f 116 117 135 +f 127 116 135 +f 117 127 135 +f 119 114 136 +f 115 119 136 +f 125 115 136 +f 114 134 136 +f 134 123 136 +f 124 110 137 +f 110 128 137 +f 128 113 137 +f 109 120 138 +f 130 109 138 +f 125 130 138 +f 121 110 139 +f 110 131 139 +f 131 121 139 +f 114 129 140 +f 134 114 140 +f 129 134 140 +f 120 124 141 +f 137 113 141 +f 124 137 141 +f 138 120 141 +f 113 138 141 +f 107 111 142 +f 121 107 142 +f 111 126 142 +f 126 112 142 +f 112 128 142 +f 128 121 142 +f 113 122 143 +f 122 119 143 +f 115 125 143 +f 132 115 143 +f 119 132 143 +f 138 113 143 +f 125 138 143 +f 123 125 144 +f 125 136 144 +o convex_4 +v 0.260684 0.361267 -3.049393 +v 0.154829 -0.344456 -3.084631 +v 0.260684 -0.344456 -3.084631 +v -0.233284 -0.344456 -1.885561 +v -0.303832 0.325898 -3.684461 +v 0.295991 0.325898 -1.885561 +v -0.339139 0.361267 -2.485195 +v -0.268460 -0.203256 -3.896479 +v 0.295991 0.008406 -3.790371 +v 0.260684 -0.238556 -1.885561 +v -0.339139 -0.344456 -1.885561 +v -0.197911 0.255367 -1.885561 +v 0.260684 0.290598 -3.790371 +v 0.295991 -0.273856 -3.755134 +v -0.374446 0.114167 -3.155303 +v -0.303832 -0.344456 -2.978918 +v -0.374446 0.361267 -3.119869 +v 0.225377 -0.344456 -2.449957 +v 0.295991 0.361267 -2.520629 +v -0.162605 0.325898 -3.755134 +v 0.295991 0.008406 -1.885561 +v -0.339139 -0.238556 -3.014155 +v -0.339139 -0.203256 -1.885561 +v 0.119522 -0.273856 -3.790371 +v -0.268460 -0.097425 -3.896479 +v 0.084215 0.325898 -1.885561 +v -0.162605 -0.203256 -3.896479 +f 169 157 171 +f 146 147 148 +f 150 148 154 +f 146 148 155 +f 148 150 155 +f 155 150 156 +f 153 150 158 +f 154 147 158 +f 149 152 159 +f 146 155 160 +f 151 145 161 +f 149 159 161 +f 159 155 161 +f 148 147 162 +f 147 154 162 +f 154 148 162 +f 145 151 163 +f 151 150 163 +f 150 153 163 +f 157 145 163 +f 153 157 163 +f 145 157 164 +f 161 145 164 +f 149 161 164 +f 150 154 165 +f 158 150 165 +f 154 158 165 +f 159 152 166 +f 155 159 166 +f 160 155 166 +f 152 160 166 +f 156 151 167 +f 155 156 167 +f 151 161 167 +f 161 155 167 +f 147 146 168 +f 158 147 168 +f 146 160 168 +f 160 152 168 +f 152 149 169 +f 149 164 169 +f 164 157 169 +f 150 151 170 +f 156 150 170 +f 151 156 170 +f 157 153 171 +f 153 158 171 +f 158 168 171 +f 168 152 171 +f 152 169 171 +o convex_5 +v 0.048947 3.078028 -2.732080 +v -0.374446 0.361537 -3.120183 +v -0.374446 0.361537 -2.978942 +v 0.295977 0.361537 -2.873135 +v -0.339146 0.361537 -2.485157 +v -0.374446 3.042739 -3.014252 +v 0.331277 3.113587 -2.978942 +v 0.295977 1.208487 -2.520405 +v -0.339146 3.007449 -2.555715 +v 0.225377 2.936870 -2.555715 +v 0.190077 0.361537 -3.084811 +v 0.295977 0.361537 -2.520405 +v -0.056815 1.279066 -2.485157 +v -0.233246 0.679143 -3.120183 +v 0.331277 2.442815 -3.014252 +v 0.331277 3.078028 -2.837825 +v 0.295977 0.714433 -3.049500 +v -0.374446 3.042739 -2.873135 +v -0.339146 2.442815 -2.520405 +v 0.190077 0.396826 -2.485157 +v 0.154846 2.372236 -2.520405 +v -0.021584 2.936870 -3.014252 +v 0.260677 2.972159 -2.590964 +v 0.331277 1.913471 -2.978942 +v -0.339146 1.314356 -2.485157 +f 184 190 196 +f 174 173 175 +f 174 175 176 +f 173 174 177 +f 175 173 182 +f 176 175 183 +f 173 177 185 +f 182 173 185 +f 182 185 186 +f 178 172 187 +f 179 183 187 +f 186 178 187 +f 175 182 188 +f 182 186 188 +f 174 176 189 +f 177 174 189 +f 172 178 189 +f 178 177 189 +f 180 172 189 +f 180 189 190 +f 181 180 190 +f 176 183 191 +f 183 179 191 +f 184 176 191 +f 184 191 192 +f 179 181 192 +f 181 190 192 +f 190 184 192 +f 191 179 192 +f 177 178 193 +f 185 177 193 +f 186 185 193 +f 178 186 193 +f 172 180 194 +f 180 181 194 +f 181 179 194 +f 187 172 194 +f 179 187 194 +f 183 175 195 +f 187 183 195 +f 186 187 195 +f 175 188 195 +f 188 186 195 +f 176 184 196 +f 189 176 196 +f 190 189 196 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/364/364.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/364/364.urdf new file mode 100644 index 000000000..be626595e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/364/364.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/365/365.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/365/365.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/365/365.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/365/365.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/365/365.obj new file mode 100644 index 000000000..be41b1442 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/365/365.obj @@ -0,0 +1,522 @@ +o convex_0 +v -0.455907 -2.428012 1.069893 +v 0.579745 -1.455232 1.321308 +v 0.579745 -1.518091 1.321308 +v -0.550140 -1.455346 3.046950 +v 0.516885 -2.522243 3.046950 +v -0.581513 -1.455346 1.069893 +v -0.487393 -2.584989 2.984241 +v 0.422652 -2.553502 1.069893 +v 0.454139 -1.423860 2.952887 +v 0.579745 -1.643582 1.069893 +v -0.424534 -2.584989 1.069893 +v -0.518767 -2.428012 3.015596 +v -0.110690 -1.423746 1.823362 +v 0.516885 -2.208290 3.046950 +v 0.454139 -2.553616 1.132989 +v 0.359906 -1.455346 1.069893 +v -0.581513 -1.486719 2.576250 +v 0.014575 -1.423746 3.015596 +v -0.487393 -2.584989 2.387931 +v 0.516885 -1.423860 2.199612 +v 0.516885 -2.522243 2.576250 +v -0.581513 -1.518091 1.069893 +v 0.454139 -2.553616 1.886264 +v -0.550140 -1.863304 3.046950 +v 0.077435 -2.522130 3.046950 +v 0.579745 -1.486605 1.069893 +v 0.454139 -1.486605 2.984241 +f 18 14 27 +f 3 2 5 +f 1 6 8 +f 2 3 10 +f 3 5 10 +f 8 6 10 +f 1 8 11 +f 6 4 13 +f 4 5 14 +f 5 2 14 +f 8 10 15 +f 11 8 15 +f 10 6 16 +f 6 13 16 +f 4 6 17 +f 13 4 18 +f 4 14 18 +f 1 11 19 +f 11 7 19 +f 7 12 19 +f 14 2 20 +f 9 14 20 +f 2 16 20 +f 16 13 20 +f 13 18 20 +f 18 9 20 +f 10 5 21 +f 5 15 21 +f 15 10 21 +f 6 1 22 +f 17 6 22 +f 12 17 22 +f 1 19 22 +f 19 12 22 +f 5 7 23 +f 7 11 23 +f 15 5 23 +f 11 15 23 +f 5 4 24 +f 4 17 24 +f 17 12 24 +f 7 5 25 +f 12 7 25 +f 5 24 25 +f 24 12 25 +f 2 10 26 +f 16 2 26 +f 10 16 26 +f 14 9 27 +f 9 18 27 +o convex_1 +v -1.052431 0.929991 -0.405189 +v 0.767929 0.742825 1.069893 +v 0.736639 0.742825 1.069893 +v 0.328638 -1.392358 -1.095879 +v 1.050565 2.970064 -0.938576 +v -1.052431 2.907675 0.975554 +v -0.958150 -1.392358 1.006930 +v -1.052431 2.970500 -0.970164 +v 0.987780 -1.392358 1.006930 +v 0.987780 2.970500 1.038305 +v -1.020935 -1.392358 -0.970164 +v 0.987780 -1.392358 -1.001540 +v -0.707009 3.064738 0.598833 +v 1.050565 0.397286 -0.091220 +v 0.736639 3.064738 -0.593443 +v -1.020935 -1.360509 0.096610 +v 0.611068 -1.392358 1.069893 +v -0.801290 2.876262 1.006930 +v 0.516788 -0.952582 -1.095879 +v 1.019069 2.970064 0.881427 +v 1.019069 -1.392358 0.787088 +v 1.019069 -0.952582 -0.970164 +v -1.020935 0.648587 1.006930 +v -0.550149 3.064738 -0.530692 +v 0.516788 3.064738 0.536082 +v -1.052431 0.145986 0.096610 +v -0.236223 2.970500 -0.970164 +v 0.265853 2.970500 1.038093 +v 1.050565 1.118467 -0.970164 +v 1.050565 2.970064 -0.059844 +v 0.956284 3.001913 1.038305 +v 0.987780 2.374098 -0.970164 +v 1.019069 -1.392358 -0.499316 +v -0.989646 -0.858344 1.006930 +v 0.579573 -1.392358 -1.095879 +v 0.516788 -1.266708 1.069893 +v 0.987780 0.522937 1.038305 +v 1.019069 3.001913 -0.876037 +v -1.052431 1.997147 0.944178 +v -0.832580 3.001913 -0.907413 +v -1.052431 2.028559 -0.970164 +v -1.020935 2.938651 0.944178 +v -0.204728 3.064738 0.692961 +v -1.020935 1.024229 1.006930 +v -1.052431 2.970500 -0.373602 +v -0.989646 -1.392358 0.755712 +v 0.736639 -1.298120 -1.064291 +v 1.019069 -1.109645 0.818675 +v 0.862209 -1.266708 1.038305 +v -0.707009 2.939088 1.006930 +f 58 70 77 +f 28 33 35 +f 34 31 36 +f 31 34 38 +f 36 31 39 +f 29 30 44 +f 34 36 44 +f 31 35 46 +f 36 39 48 +f 35 40 51 +f 40 42 51 +f 42 40 52 +f 33 28 53 +f 28 38 53 +f 38 43 53 +f 46 35 54 +f 45 30 55 +f 32 41 56 +f 49 39 56 +f 41 32 57 +f 47 41 57 +f 47 57 58 +f 30 29 58 +f 29 37 58 +f 37 47 58 +f 42 52 58 +f 55 30 58 +f 54 32 59 +f 46 54 59 +f 32 56 59 +f 48 39 60 +f 41 48 60 +f 39 49 60 +f 56 41 60 +f 49 56 60 +f 39 31 62 +f 31 46 62 +f 46 59 62 +f 44 30 63 +f 34 44 63 +f 61 34 63 +f 50 61 63 +f 37 29 64 +f 47 37 64 +f 32 54 65 +f 57 32 65 +f 58 57 65 +f 42 58 65 +f 50 33 66 +f 33 53 66 +f 53 43 66 +f 43 61 66 +f 61 50 66 +f 35 51 67 +f 51 42 67 +f 54 35 67 +f 42 65 67 +f 65 54 67 +f 28 35 68 +f 35 31 68 +f 38 28 68 +f 31 38 68 +f 52 40 70 +f 58 52 70 +f 45 33 71 +f 30 45 71 +f 33 50 71 +f 63 30 71 +f 50 63 71 +f 35 33 72 +f 40 35 72 +f 33 69 72 +f 69 40 72 +f 38 34 73 +f 43 38 73 +f 34 61 73 +f 61 43 73 +f 56 39 74 +f 59 56 74 +f 39 62 74 +f 62 59 74 +f 41 47 75 +f 36 48 75 +f 48 41 75 +f 64 36 75 +f 47 64 75 +f 29 44 76 +f 44 36 76 +f 64 29 76 +f 36 64 76 +f 33 45 77 +f 45 55 77 +f 55 58 77 +f 69 33 77 +f 40 69 77 +f 70 40 77 +o convex_2 +v 0.548225 4.853753 0.285009 +v -0.612999 3.064738 0.379345 +v -0.581485 3.064738 -0.311130 +v -0.550091 5.010457 -0.593671 +v 0.611133 3.064935 -0.468045 +v -0.456028 5.073374 0.599073 +v 0.516831 3.064935 0.536143 +v 0.422768 5.010653 -0.436639 +v -0.550091 3.064738 -0.530858 +v 0.548225 4.885015 0.473447 +v -0.612999 3.064738 0.536260 +v 0.422768 3.159114 0.567667 +v -0.581485 4.790836 -0.436639 +v -0.487303 5.073374 0.504854 +v 0.454162 5.010653 -0.342419 +v 0.611133 3.410194 -0.279723 +v -0.518697 3.692732 -0.562265 +v -0.173481 5.041915 0.567667 +v -0.487303 5.010457 -0.593671 +v 0.297072 5.010457 -0.468045 +v 0.548225 4.916474 0.410634 +v 0.548225 4.225956 0.473447 +v -0.456028 5.073374 0.316532 +v -0.330452 4.885015 0.599073 +v -0.612999 3.190573 0.504854 +v 0.611133 3.253294 -0.436639 +v 0.611133 3.159114 -0.279723 +v 0.454162 5.010653 -0.216910 +v -0.361726 3.064738 -0.530858 +v 0.516831 3.629814 0.536143 +v -0.518697 4.759377 -0.593671 +v -0.581485 4.665198 -0.468045 +v -0.330452 5.073374 0.567667 +v -0.393240 4.853557 0.599073 +v -0.550091 5.010457 -0.216910 +f 102 91 112 +f 79 80 86 +f 79 86 88 +f 88 84 89 +f 88 83 91 +f 86 81 94 +f 85 82 97 +f 82 96 97 +f 78 92 98 +f 93 78 98 +f 87 93 98 +f 95 87 98 +f 87 84 99 +f 93 87 99 +f 81 91 100 +f 91 83 100 +f 96 81 100 +f 85 97 100 +f 97 96 100 +f 87 95 101 +f 95 83 101 +f 79 88 102 +f 90 79 102 +f 88 91 102 +f 82 85 103 +f 92 78 103 +f 85 92 103 +f 93 82 103 +f 78 93 103 +f 84 82 104 +f 82 93 104 +f 99 84 104 +f 93 99 104 +f 98 92 105 +f 82 84 106 +f 84 88 106 +f 88 86 106 +f 94 82 106 +f 86 94 106 +f 84 87 107 +f 89 84 107 +f 87 101 107 +f 101 89 107 +f 94 81 108 +f 82 94 108 +f 96 82 108 +f 81 96 108 +f 80 79 109 +f 86 80 109 +f 81 86 109 +f 79 90 109 +f 90 81 109 +f 92 85 110 +f 83 95 110 +f 95 98 110 +f 100 83 110 +f 85 100 110 +f 105 92 110 +f 98 105 110 +f 83 88 111 +f 88 89 111 +f 101 83 111 +f 89 101 111 +f 81 90 112 +f 91 81 112 +f 90 102 112 +o convex_3 +v 0.014659 -1.455134 -1.095879 +v -0.455943 -2.616490 -2.978790 +v -0.487386 -2.114137 -2.978790 +v 0.485575 -2.176889 -2.978790 +v 0.485575 -2.459384 -1.095879 +v -0.581611 -2.490873 -1.095879 +v -0.487386 -1.549375 -2.947454 +v 0.422689 -1.517999 -2.947454 +v 0.454132 -1.455134 -1.095879 +v -0.455943 -1.486623 -1.095879 +v 0.485575 -2.585001 -2.978790 +v 0.422689 -2.490873 -1.127584 +v -0.487386 -2.616490 -2.602208 +v -0.487386 -1.517999 -2.508017 +v -0.581611 -2.522135 -1.315783 +v -0.581611 -2.333995 -1.095879 +v 0.359907 -1.486623 -2.445345 +v 0.485575 -1.957486 -1.095879 +v -0.016679 -2.616490 -2.916119 +v -0.487386 -2.616490 -2.853263 +v -0.455943 -1.486623 -1.723885 +v -0.079252 -1.517999 -2.947454 +v 0.454132 -1.455134 -1.378639 +v 0.454132 -1.894735 -2.978790 +v -0.581611 -2.459498 -1.409974 +v 0.454132 -1.706367 -2.853263 +v -0.487386 -1.925997 -2.978790 +v -0.487386 -1.517999 -2.225626 +v 0.485575 -2.490760 -1.158919 +f 125 131 141 +f 114 115 116 +f 117 113 118 +f 113 117 121 +f 118 113 122 +f 114 116 123 +f 116 117 123 +f 117 118 124 +f 124 118 127 +f 125 124 127 +f 118 122 128 +f 126 119 128 +f 127 118 128 +f 117 116 130 +f 121 117 130 +f 114 123 131 +f 125 114 131 +f 115 114 132 +f 114 125 132 +f 125 127 132 +f 122 113 133 +f 126 122 133 +f 113 129 133 +f 133 129 134 +f 119 126 134 +f 129 120 134 +f 126 133 134 +f 113 121 135 +f 129 113 135 +f 120 129 135 +f 130 116 135 +f 121 130 135 +f 116 115 136 +f 120 116 136 +f 134 120 136 +f 128 119 137 +f 127 128 137 +f 115 132 137 +f 132 127 137 +f 116 120 138 +f 135 116 138 +f 120 135 138 +f 119 134 139 +f 136 115 139 +f 134 136 139 +f 115 137 139 +f 137 119 139 +f 122 126 140 +f 128 122 140 +f 126 128 140 +f 123 117 141 +f 117 124 141 +f 124 125 141 +f 131 123 141 +o convex_4 +v -1.021043 -2.616189 -0.467729 +v 1.019177 -1.392358 0.787300 +v 0.987623 -1.392358 1.006930 +v 0.987623 -3.118360 0.975554 +v 0.956269 -3.087101 -1.032916 +v -1.021043 -1.392358 -0.969952 +v -0.958135 -1.392358 1.006930 +v 0.987623 -1.392358 -1.001540 +v -0.926781 -2.992986 1.006930 +v -1.021043 -2.961727 -0.969952 +v -0.456068 -1.486642 -1.095667 +v 0.548265 -2.647786 1.069893 +v 0.987623 -3.118360 -0.876037 +v -0.581485 -1.455214 1.069893 +v -0.581485 -2.490815 -1.095667 +v 0.579619 -1.392358 -1.095667 +v -0.832518 -3.024245 0.818675 +v 0.799498 -3.118360 -1.001540 +v 0.610973 -1.392358 1.069893 +v -1.021043 -1.423955 0.065446 +v 0.642327 -2.647617 -1.095879 +v -0.487422 -2.647786 1.069893 +v 1.019177 -2.302417 0.536082 +v 1.019177 -1.392358 -0.436565 +v 0.202969 -3.087270 1.006930 +v -0.958135 -2.333844 1.006930 +v -0.393160 -3.024245 -1.001328 +v -0.989489 -2.992986 0.034071 +v 0.956269 -2.992986 1.006930 +v -0.801164 -2.898871 1.038093 +v 0.705236 -3.118360 0.975554 +v 1.019177 -2.459387 0.787300 +v 0.987623 -3.024245 -1.001540 +v -0.989489 -1.392358 0.724336 +v -0.895426 -2.992986 -0.624819 +v -0.958135 -2.961727 0.724336 +v -0.832518 -3.024245 1.006930 +v 0.893561 -1.580926 -1.032916 +f 162 157 179 +f 144 143 147 +f 144 147 148 +f 147 143 149 +f 142 147 151 +f 151 147 156 +f 147 152 156 +f 147 149 157 +f 152 147 157 +f 154 145 159 +f 146 154 159 +f 144 148 160 +f 148 155 160 +f 155 153 160 +f 147 142 161 +f 146 156 162 +f 156 152 162 +f 152 157 162 +f 153 155 163 +f 149 143 165 +f 143 164 165 +f 161 142 167 +f 156 146 168 +f 151 156 168 +f 146 159 168 +f 142 151 169 +f 145 144 170 +f 144 160 170 +f 160 153 170 +f 166 145 170 +f 153 166 170 +f 155 148 171 +f 153 163 171 +f 163 155 171 +f 166 153 171 +f 167 150 171 +f 148 167 171 +f 159 145 172 +f 158 159 172 +f 145 166 172 +f 143 144 173 +f 144 145 173 +f 145 154 173 +f 164 143 173 +f 154 164 173 +f 146 149 174 +f 154 146 174 +f 164 154 174 +f 165 164 174 +f 149 165 174 +f 148 147 175 +f 147 161 175 +f 167 148 175 +f 161 167 175 +f 159 158 176 +f 151 168 176 +f 168 159 176 +f 169 151 176 +f 158 169 176 +f 167 142 177 +f 150 167 177 +f 142 169 177 +f 169 150 177 +f 150 169 178 +f 169 158 178 +f 166 171 178 +f 171 150 178 +f 158 172 178 +f 172 166 178 +f 149 146 179 +f 157 149 179 +f 146 162 179 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/365/365.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/365/365.urdf new file mode 100644 index 000000000..3de099db9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/365/365.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/366/366.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/366/366.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/366/366.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/366/366.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/366/366.obj new file mode 100644 index 000000000..d0c311051 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/366/366.obj @@ -0,0 +1,252 @@ +o convex_0 +v 3.109246 -1.063641 -0.698464 +v -3.063188 -3.047227 -1.102863 +v -3.063188 -3.083912 -0.845636 +v -3.063188 -1.063641 0.991426 +v 3.109246 -3.157498 1.028111 +v -3.100266 -3.194184 1.101697 +v -2.953172 -1.063641 -1.065962 +v 3.109246 -3.010542 -0.919006 +v 2.998622 -1.026956 0.991210 +v 0.977613 -0.989840 -1.102863 +v 3.109246 -1.504294 -1.029277 +v -1.372835 -0.990055 0.954525 +v 1.308269 -3.047227 -1.029061 +v -0.748601 -3.194399 0.697513 +v -1.703490 -0.990055 -1.065962 +v -3.100266 -1.945379 1.064796 +v 3.072169 -2.092119 1.028111 +v 3.109246 -1.063641 -1.029277 +v -0.637978 -2.679729 -1.102863 +v 0.977613 -0.989840 0.991426 +v 2.888606 -3.157498 0.697297 +v -3.026719 -2.753315 1.101697 +v 1.528908 -1.100327 -1.102863 +v -3.063188 -1.173697 1.027895 +v -3.063188 -1.063641 0.587242 +v 3.072169 -1.026956 0.109472 +v 0.720505 -3.083912 -0.698464 +v -3.100266 -3.157283 0.293329 +v 2.998622 -2.973857 -0.955691 +v 3.109246 -2.606143 1.028111 +v 0.353380 -0.989840 -1.102863 +v -3.063188 -2.826685 -1.065962 +v 3.035699 -1.100327 0.991210 +v -2.585440 -1.026740 -0.992592 +v 0.132741 -3.047012 -1.065962 +v 3.072169 -3.047227 -0.625094 +v -2.806079 -3.194184 1.101697 +v 1.713078 -3.047227 -0.992376 +v 2.631497 -1.100327 -1.065962 +v -0.785071 -3.194399 0.954525 +v -3.100266 -3.194184 0.881154 +v -3.063188 -2.936956 -1.102863 +v 3.072169 -1.026956 -0.073738 +v -3.100266 -1.908478 0.991426 +v 3.109246 -3.157498 0.770883 +v 1.124706 -2.349131 -1.065747 +v -1.189273 -3.194399 0.697297 +f 6 41 47 +f 1 5 8 +f 1 8 11 +f 1 11 18 +f 2 10 19 +f 12 4 20 +f 16 6 22 +f 9 16 22 +f 17 9 22 +f 19 10 23 +f 4 16 24 +f 16 9 24 +f 9 20 24 +f 20 4 24 +f 1 18 26 +f 20 9 26 +f 10 20 26 +f 3 13 27 +f 14 3 27 +f 21 14 27 +f 2 3 28 +f 6 16 28 +f 11 8 29 +f 8 13 29 +f 13 11 29 +f 5 1 30 +f 1 26 30 +f 10 2 31 +f 7 15 31 +f 15 12 31 +f 20 10 31 +f 12 20 31 +f 25 7 32 +f 9 17 33 +f 26 9 33 +f 17 30 33 +f 30 26 33 +f 4 12 34 +f 15 7 34 +f 12 15 34 +f 7 25 34 +f 25 4 34 +f 3 2 35 +f 13 3 35 +f 2 19 35 +f 22 6 37 +f 17 22 37 +f 5 30 37 +f 30 17 37 +f 13 8 38 +f 27 13 38 +f 21 27 38 +f 8 36 38 +f 36 21 38 +f 11 13 39 +f 10 18 39 +f 18 11 39 +f 23 10 39 +f 14 5 40 +f 37 6 40 +f 5 37 40 +f 6 28 41 +f 2 28 42 +f 31 2 42 +f 7 31 42 +f 32 7 42 +f 28 32 42 +f 18 10 43 +f 26 18 43 +f 10 26 43 +f 16 4 44 +f 4 25 44 +f 28 16 44 +f 25 32 44 +f 32 28 44 +f 8 5 45 +f 5 14 45 +f 14 21 45 +f 36 8 45 +f 21 36 45 +f 19 23 46 +f 13 35 46 +f 35 19 46 +f 39 13 46 +f 23 39 46 +f 3 14 47 +f 28 3 47 +f 40 6 47 +f 14 40 47 +f 41 28 47 +o convex_1 +v -0.014110 4.925349 -1.065747 +v -0.417959 4.962282 1.101697 +v 0.757501 4.999215 1.027895 +v 0.977991 -0.989254 0.991426 +v -1.042508 -0.989840 -1.029061 +v 0.977991 -0.989254 -1.102863 +v -0.932367 -0.989840 0.917840 +v -1.116143 4.924763 -0.992376 +v 1.014913 4.925349 -1.102863 +v -1.042508 4.962282 1.101481 +v 0.941278 4.999215 0.991426 +v -0.969080 3.381772 1.101697 +v -0.785304 -0.952320 -1.065962 +v 1.014913 -0.364319 -1.029061 +v -0.969080 -0.989840 0.844469 +v 0.977991 4.999215 0.550341 +v -1.042508 -0.989840 -0.698464 +v 1.014913 3.749346 -0.404551 +v 0.500506 -0.144478 1.027895 +v -0.932367 -0.768826 0.954525 +v -1.116143 4.851482 -0.588193 +v -0.895653 4.924763 -1.029061 +v 0.390157 -0.989254 -1.102648 +v -0.601736 4.962282 -0.477921 +v 0.830928 4.925349 -1.102648 +v 0.059526 4.999215 0.954525 +v -1.042508 4.814548 1.101481 +v 0.977991 4.962282 -0.588193 +v 0.316729 -0.989254 0.991210 +v -0.565022 1.803020 1.064580 +v -1.079221 4.962282 0.219527 +v 0.977991 -0.181411 0.991426 +v 1.014913 4.925349 -0.588408 +v 1.014913 2.868223 -0.404551 +v 0.390157 4.999215 0.476755 +v -1.116143 4.594707 -0.992376 +v 1.014913 -0.364319 -1.102863 +v -1.042508 0.149816 -1.029061 +v -0.711877 -0.989840 0.954525 +f 76 77 86 +f 49 50 57 +f 49 57 59 +f 51 53 61 +f 52 54 62 +f 50 58 63 +f 52 62 64 +f 61 56 65 +f 50 49 66 +f 51 50 66 +f 49 59 66 +f 62 54 67 +f 53 52 70 +f 56 53 70 +f 52 60 70 +f 69 55 71 +f 60 69 72 +f 69 48 72 +f 56 70 72 +f 70 60 72 +f 57 50 73 +f 50 63 73 +f 59 57 74 +f 64 62 74 +f 67 59 74 +f 62 67 74 +f 57 68 74 +f 68 64 74 +f 63 56 75 +f 48 69 75 +f 69 71 75 +f 72 48 75 +f 56 72 75 +f 51 66 76 +f 66 59 77 +f 59 67 77 +f 76 66 77 +f 55 68 78 +f 68 57 78 +f 71 55 78 +f 57 73 78 +f 73 71 78 +f 50 51 79 +f 58 50 79 +f 63 58 79 +f 51 65 79 +f 65 63 79 +f 56 63 80 +f 65 56 80 +f 63 65 80 +f 51 61 81 +f 65 51 81 +f 61 65 81 +f 73 63 82 +f 71 73 82 +f 63 75 82 +f 75 71 82 +f 55 52 83 +f 52 64 83 +f 68 55 83 +f 64 68 83 +f 53 56 84 +f 61 53 84 +f 56 61 84 +f 52 55 85 +f 60 52 85 +f 55 69 85 +f 69 60 85 +f 53 51 86 +f 52 53 86 +f 54 52 86 +f 67 54 86 +f 51 76 86 +f 77 67 86 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/366/366.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/366/366.urdf new file mode 100644 index 000000000..eb75e0f79 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/366/366.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/367/367.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/367/367.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/367/367.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/367/367.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/367/367.obj new file mode 100644 index 000000000..9a91cc288 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/367/367.obj @@ -0,0 +1,606 @@ +o convex_0 +v -0.297223 -2.412150 -0.599001 +v 2.142667 -1.743144 -1.071581 +v 2.142667 -1.703754 -1.071581 +v 2.969215 -2.057987 1.014551 +v -3.092534 -1.703754 1.014551 +v -3.092534 -1.703754 -1.071369 +v -3.092534 -2.372829 0.975134 +v 2.851137 -2.333508 -1.032164 +v 2.929460 -1.703754 1.014551 +v -3.092534 -2.294119 -1.032164 +v 2.339068 -2.333508 1.014551 +v 2.929460 -1.703754 -1.032164 +v -0.651458 -2.372829 1.093385 +v -1.478599 -2.412150 -0.953330 +v -2.108152 -1.703754 1.093173 +v 2.969215 -2.294188 1.014551 +v 1.355280 -2.372829 1.014339 +v 2.969215 -2.294188 -1.032164 +v 0.174497 -2.412150 -0.992535 +v -0.100821 -1.703754 1.093385 +v -1.124364 -2.412150 -0.087428 +v 2.575225 -1.979345 -1.071581 +v -2.777461 -2.333439 -1.032164 +v -2.973862 -2.372829 1.014551 +v -3.092534 -2.372829 0.384727 +v -1.439437 -2.372829 1.093173 +v 1.709515 -2.372829 -0.913913 +v 2.969215 -2.018735 -0.520379 +v -3.092534 -1.782604 -1.071369 +v -0.022498 -1.900635 1.093385 +v -2.855783 -1.743214 1.053968 +v 1.552275 -2.372829 0.345311 +f 19 27 32 +f 5 3 6 +f 3 2 6 +f 5 6 7 +f 3 5 9 +f 7 6 10 +f 3 9 12 +f 9 5 15 +f 11 8 16 +f 13 11 16 +f 11 13 17 +f 16 8 18 +f 4 16 18 +f 1 14 19 +f 17 1 19 +f 9 15 20 +f 15 13 20 +f 14 1 21 +f 7 14 21 +f 1 17 21 +f 17 13 21 +f 2 3 22 +f 3 12 22 +f 18 8 22 +f 12 18 22 +f 8 19 23 +f 19 14 23 +f 22 8 23 +f 5 7 24 +f 7 21 24 +f 7 10 25 +f 14 7 25 +f 10 23 25 +f 23 14 25 +f 13 15 26 +f 21 13 26 +f 24 21 26 +f 19 8 27 +f 9 4 28 +f 12 9 28 +f 18 12 28 +f 4 18 28 +f 6 2 29 +f 10 6 29 +f 2 22 29 +f 23 10 29 +f 22 23 29 +f 4 9 30 +f 16 4 30 +f 13 16 30 +f 9 20 30 +f 20 13 30 +f 15 5 31 +f 5 24 31 +f 26 15 31 +f 24 26 31 +f 8 11 32 +f 11 17 32 +f 17 19 32 +f 27 8 32 +o convex_1 +v -3.131896 -0.758587 -0.520376 +v 1.197984 1.760192 -0.992701 +v 1.197984 1.760192 -1.071458 +v 2.890520 -0.955857 0.148303 +v -2.816562 1.681231 0.975142 +v 2.969353 1.681231 1.014628 +v -2.934812 -0.955857 1.093385 +v 2.890520 -0.955857 -1.071242 +v -3.092480 1.760192 -1.110944 +v 2.851103 -0.955857 0.974926 +v -3.131896 -0.955857 -1.071458 +v 2.969353 1.641883 -0.992701 +v -3.092480 1.681231 0.935871 +v -1.557014 1.760192 1.014413 +v 2.890520 -0.876895 -1.110944 +v -3.092480 -0.129025 1.093385 +v -0.140397 -0.325763 1.093169 +v -3.131896 -0.483153 -1.110944 +v -1.124026 0.500537 1.093169 +v 2.851103 0.067979 -1.110944 +v 0.922066 1.760192 0.975142 +v -3.131896 1.287755 0.542303 +v -3.092480 -0.955857 1.053899 +v -1.202860 1.484493 1.053899 +v 2.969353 1.287755 1.014628 +v -0.533371 -0.955857 1.093169 +v 1.119151 -0.680157 1.053899 +v -3.131896 1.051404 -1.110944 +v 2.969353 1.681231 -0.284105 +v 1.512722 -0.955857 -1.110944 +v 2.969353 1.287755 -0.992701 +v -3.092480 1.760192 -0.717160 +v -2.462407 1.760192 -1.110944 +v 1.433888 1.720579 -1.071458 +v 2.614602 1.681231 -0.992701 +v 2.339281 1.681231 -1.031972 +v -1.871752 1.720579 1.014413 +v -3.013646 1.720579 0.306032 +v -3.092480 1.484493 0.975142 +f 54 48 71 +f 35 34 38 +f 36 39 40 +f 34 35 41 +f 39 36 42 +f 40 39 43 +f 34 41 46 +f 45 37 46 +f 48 39 49 +f 43 33 50 +f 41 47 50 +f 49 38 51 +f 48 49 51 +f 47 41 52 +f 44 47 52 +f 38 34 53 +f 34 46 53 +f 46 38 53 +f 50 33 54 +f 33 43 55 +f 43 39 55 +f 39 48 55 +f 54 33 55 +f 48 54 55 +f 38 46 56 +f 51 38 56 +f 48 51 56 +f 36 40 57 +f 42 36 57 +f 44 38 57 +f 38 49 57 +f 39 42 58 +f 49 39 58 +f 49 58 59 +f 42 57 59 +f 57 49 59 +f 58 42 59 +f 41 50 60 +f 54 41 60 +f 50 54 60 +f 35 38 61 +f 38 44 61 +f 40 43 62 +f 47 40 62 +f 43 50 62 +f 50 47 62 +f 40 47 63 +f 47 44 63 +f 57 40 63 +f 44 57 63 +f 46 41 64 +f 41 54 64 +f 54 45 64 +f 41 35 65 +f 52 41 65 +f 52 65 66 +f 65 35 66 +f 35 61 67 +f 61 44 67 +f 44 52 68 +f 52 66 68 +f 66 35 68 +f 35 67 68 +f 67 44 68 +f 46 37 69 +f 37 48 69 +f 56 46 69 +f 48 56 69 +f 45 46 70 +f 46 64 70 +f 64 45 70 +f 37 45 71 +f 48 37 71 +f 45 54 71 +o convex_2 +v 0.922495 3.374053 1.054022 +v -1.084927 1.760192 -1.071581 +v -1.124251 1.760192 -0.717245 +v -1.163576 3.649355 -1.032049 +v 0.804314 1.760192 -1.071581 +v -1.203108 1.760192 1.014490 +v 0.843638 3.728343 -0.914075 +v -1.124251 3.649355 0.975165 +v 0.922495 1.760192 0.975165 +v 0.882963 3.688849 1.054022 +v -0.651941 3.688657 -1.032049 +v -1.163576 3.059064 1.014490 +v 0.843638 3.058872 -0.992724 +v -1.203108 2.704967 -0.087429 +v 0.922495 1.760192 0.581504 +v -0.179631 2.665858 1.054022 +v 0.646808 3.728343 -0.520414 +v 0.882963 3.688849 -0.284259 +v 0.410653 3.688849 1.054022 +v 0.804314 2.114483 -1.071581 +v -1.163576 3.649355 0.109194 +v -1.163576 2.980269 -1.032049 +v -0.179631 1.760192 1.014490 +v -1.045394 3.649355 1.014490 +v 0.843638 1.760192 -0.756569 +v 0.646808 3.728343 -0.953400 +v -1.203108 1.760192 0.699686 +v -1.084927 2.035880 -1.071581 +v -0.730590 3.688657 -0.953400 +v -1.203108 2.075181 1.014490 +v 0.843638 2.547568 -0.992724 +v 0.410653 3.728343 -0.874751 +v 0.213822 3.688849 1.014490 +f 88 103 104 +f 74 73 76 +f 74 76 77 +f 77 76 80 +f 72 80 86 +f 80 76 86 +f 72 81 87 +f 81 78 88 +f 81 72 89 +f 78 81 89 +f 84 78 89 +f 72 86 89 +f 87 81 90 +f 81 88 90 +f 76 73 91 +f 84 76 91 +f 83 79 92 +f 75 85 92 +f 73 74 93 +f 75 73 93 +f 85 75 93 +f 80 72 94 +f 77 80 94 +f 72 87 94 +f 87 77 94 +f 79 83 95 +f 83 87 95 +f 87 90 95 +f 86 76 96 +f 78 84 97 +f 88 78 97 +f 91 82 97 +f 84 91 97 +f 74 77 98 +f 77 85 98 +f 93 74 98 +f 85 93 98 +f 73 75 99 +f 75 82 99 +f 91 73 99 +f 82 91 99 +f 82 75 100 +f 75 92 100 +f 92 79 100 +f 85 77 101 +f 77 87 101 +f 87 83 101 +f 83 92 101 +f 92 85 101 +f 76 84 102 +f 84 89 102 +f 89 86 102 +f 96 76 102 +f 86 96 102 +f 88 97 103 +f 97 82 103 +f 82 100 103 +f 100 79 103 +f 90 88 104 +f 79 95 104 +f 95 90 104 +f 103 79 104 +o convex_3 +v -1.124475 -0.995312 1.093385 +v -3.131896 -1.624916 -1.071369 +v -3.131896 -0.956003 -1.071369 +v -0.494574 -0.956003 -1.032168 +v -0.494574 -1.703754 1.093385 +v -3.092399 -1.703754 1.014347 +v -0.494574 -1.703754 -0.992543 +v -3.092399 -0.956003 1.053760 +v -0.494574 -0.956003 1.053760 +v -3.092399 -1.703754 -1.071369 +v -2.147547 -1.703754 1.093173 +v -2.895426 -0.956003 1.093173 +v -0.494574 -1.585534 -1.032168 +v -2.541235 -0.956003 -1.071369 +v -3.092399 -1.546225 1.053760 +v -0.534072 -0.956003 1.093385 +v -3.131896 -1.034694 -0.677662 +f 119 112 121 +f 108 109 111 +f 109 110 111 +f 108 107 112 +f 109 108 113 +f 108 112 113 +f 106 107 114 +f 110 106 114 +f 111 110 114 +f 110 109 115 +f 109 105 116 +f 113 112 116 +f 115 109 116 +f 108 111 117 +f 111 114 117 +f 117 114 118 +f 107 108 118 +f 114 107 118 +f 108 117 118 +f 110 115 119 +f 116 112 119 +f 115 116 119 +f 105 109 120 +f 109 113 120 +f 116 105 120 +f 113 116 120 +f 107 106 121 +f 106 110 121 +f 112 107 121 +f 110 119 121 +o convex_4 +v -0.179631 -0.956003 1.053036 +v -0.455111 -1.703754 -1.032110 +v -0.218956 -1.664299 -3.078787 +v 0.174567 -1.703754 2.981901 +v 0.135173 -1.034694 -2.999444 +v -0.494574 -0.956003 1.053036 +v -0.415786 -1.152768 -2.842563 +v -0.337068 -1.585534 2.981901 +v 0.056455 -1.074077 3.022173 +v 0.213961 -1.703754 -1.031509 +v 0.213961 -0.956003 0.974895 +v -0.376392 -0.995312 2.943432 +v -0.494574 -1.703754 1.092707 +v -0.494574 -0.956003 -1.032110 +v 0.056455 -1.664299 -2.960975 +v 0.213961 -0.956003 -0.992439 +v -0.494574 -1.703754 -0.992439 +v -0.337068 -1.624916 -3.118458 +v -0.297674 -1.113386 -3.078787 +v 0.213961 -1.703754 1.013966 +v -0.494574 -1.546225 1.407673 +v 0.135173 -1.192150 -2.999444 +v 0.174567 -1.034694 -2.448855 +v 0.174567 -1.585534 2.981901 +v -0.100982 -1.664299 2.981901 +v -0.494574 -1.152768 -1.425817 +v -0.022264 -1.034694 -3.000046 +v -0.376392 -1.388769 -3.118458 +v -0.376392 -1.546225 2.785348 +v 0.095779 -1.192150 3.022173 +v -0.179631 -1.388769 3.022173 +f 125 151 152 +f 123 124 131 +f 125 123 131 +f 127 122 132 +f 122 127 133 +f 132 122 133 +f 130 132 133 +f 123 125 134 +f 127 132 135 +f 134 127 135 +f 131 124 136 +f 132 131 137 +f 126 135 137 +f 135 132 137 +f 124 123 138 +f 123 134 138 +f 134 135 138 +f 124 138 139 +f 128 135 140 +f 125 131 141 +f 131 132 141 +f 133 127 142 +f 127 134 142 +f 136 124 143 +f 131 136 143 +f 124 139 143 +f 139 126 143 +f 126 137 144 +f 137 131 144 +f 143 126 144 +f 131 143 144 +f 125 141 145 +f 141 132 145 +f 134 125 146 +f 129 134 146 +f 135 128 147 +f 128 138 147 +f 138 135 147 +f 135 126 148 +f 140 135 148 +f 126 140 148 +f 138 128 149 +f 126 139 149 +f 139 138 149 +f 128 140 149 +f 140 126 149 +f 129 133 150 +f 134 129 150 +f 133 142 150 +f 142 134 150 +f 132 130 151 +f 125 145 151 +f 145 132 151 +f 133 129 152 +f 130 133 152 +f 129 146 152 +f 146 125 152 +f 151 130 152 +o convex_5 +v 2.929736 -1.506789 0.738686 +v 1.513226 -0.995381 -1.110944 +v 0.214226 -1.703681 -1.032110 +v 0.214226 -0.956076 0.975188 +v 0.214226 -1.703681 1.014605 +v 2.929736 -1.703681 -1.031898 +v 2.851041 -0.956076 0.974976 +v 2.890388 -0.956076 -1.071315 +v 0.214226 -0.956076 -0.992481 +v 2.929736 -1.703681 1.014605 +v 0.529006 -0.956076 1.054022 +v 1.828006 -1.624851 -1.110944 +v 2.929736 -1.428105 -1.071315 +v 2.890388 -0.956076 0.305947 +v 0.371616 -0.956076 -1.032110 +v 1.945517 -0.956076 -1.110944 +v 2.103173 -1.034760 1.014605 +f 163 162 169 +f 156 155 157 +f 157 155 158 +f 156 159 160 +f 155 156 161 +f 156 160 161 +f 157 158 162 +f 158 153 162 +f 153 159 162 +f 156 157 163 +f 159 156 163 +f 157 162 163 +f 155 154 164 +f 158 155 164 +f 153 158 165 +f 158 164 165 +f 159 153 166 +f 160 159 166 +f 165 160 166 +f 153 165 166 +f 154 155 167 +f 155 161 167 +f 161 160 167 +f 164 154 168 +f 160 165 168 +f 165 164 168 +f 154 167 168 +f 167 160 168 +f 162 159 169 +f 159 163 169 +o convex_6 +v 2.103286 -1.034671 -1.347323 +v 1.670493 -1.624966 -3.039732 +v 1.591782 -1.192108 -2.961003 +v 1.670493 -1.624966 -1.110944 +v 2.063930 -1.585576 -2.961003 +v 2.182112 -0.995281 -2.961003 +v 1.670493 -1.034671 -1.189674 +v 2.063930 -1.546186 -1.110944 +v 1.631137 -1.034671 -2.921354 +v 2.063930 -1.624966 -2.606624 +v 2.063930 -1.034671 -1.110944 +v 1.906509 -0.995281 -1.976973 +v 2.182112 -1.113389 -2.921354 +v 1.591782 -1.074061 -2.567164 +v 2.063930 -1.585576 -1.268404 +v 1.670493 -1.113389 -1.110944 +v 1.906509 -0.995281 -2.961003 +v 2.142641 -0.995281 -1.976973 +v 2.024575 -1.624966 -3.000273 +v 1.867269 -1.624966 -1.150404 +f 179 184 189 +f 172 171 173 +f 173 171 179 +f 177 170 180 +f 173 177 180 +f 178 176 181 +f 176 180 181 +f 174 175 182 +f 179 174 182 +f 172 173 183 +f 178 172 183 +f 176 178 183 +f 182 177 184 +f 179 182 184 +f 180 176 185 +f 173 180 185 +f 183 173 185 +f 176 183 185 +f 171 172 186 +f 175 171 186 +f 172 178 186 +f 181 175 186 +f 178 181 186 +f 170 177 187 +f 180 170 187 +f 175 181 187 +f 181 180 187 +f 182 175 187 +f 177 182 187 +f 171 175 188 +f 175 174 188 +f 179 171 188 +f 174 179 188 +f 177 173 189 +f 173 179 189 +f 184 177 189 +o convex_7 +v 1.591670 -1.546209 1.014659 +v 2.221475 -1.585665 3.100899 +v 2.103309 -1.231490 3.022073 +v 1.552304 -1.546209 3.100899 +v 2.103309 -1.034583 1.014659 +v 1.631037 -1.113309 2.982456 +v 2.063942 -1.664391 1.014659 +v 1.631037 -1.113309 1.014659 +v 2.024641 -1.074038 2.982456 +v 2.221475 -1.664391 2.785799 +v 1.591670 -1.585665 3.100899 +v 1.552304 -1.388757 1.014659 +v 2.024641 -1.664391 3.100899 +v 1.945841 -1.664391 1.014659 +v 1.906540 -1.034583 1.054072 +v 1.827937 -1.074038 3.022073 +v 2.103309 -1.034583 1.684070 +v 1.552304 -1.546209 1.172516 +v 2.103309 -1.270761 1.014659 +v 1.670470 -1.113309 3.061282 +v 1.552304 -1.428213 2.825008 +f 195 201 210 +f 190 194 196 +f 194 190 197 +f 194 191 199 +f 191 193 200 +f 197 190 201 +f 195 197 201 +f 199 191 202 +f 196 199 202 +f 191 200 202 +f 202 200 203 +f 190 196 203 +f 196 202 203 +f 194 197 204 +f 197 195 204 +f 192 198 205 +f 204 195 205 +f 204 205 206 +f 192 191 206 +f 191 194 206 +f 198 192 206 +f 194 204 206 +f 205 198 206 +f 200 193 207 +f 201 190 207 +f 193 201 207 +f 203 200 207 +f 190 203 207 +f 196 194 208 +f 194 199 208 +f 199 196 208 +f 191 192 209 +f 193 191 209 +f 195 193 209 +f 192 205 209 +f 205 195 209 +f 193 195 210 +f 201 193 210 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/367/367.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/367/367.urdf new file mode 100644 index 000000000..6d50309f5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/367/367.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/368/368.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/368/368.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/368/368.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/368/368.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/368/368.obj new file mode 100644 index 000000000..41b3ab414 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/368/368.obj @@ -0,0 +1,429 @@ +o convex_0 +v -1.027517 0.655240 3.778430 +v 0.835556 -1.104255 -0.016384 +v 1.077209 -1.104255 -0.016384 +v 0.663006 0.965902 -0.016384 +v 1.008105 1.069527 3.882622 +v 1.111761 -0.966160 3.882622 +v -0.992966 -1.000630 -0.016384 +v -0.992966 0.931219 -0.016384 +v -0.923862 -0.965947 3.813542 +v -1.027517 1.034843 3.813542 +v 0.973554 0.965902 -0.016384 +v -1.027517 1.034843 2.881918 +v 1.077209 -0.586556 -0.016384 +v 0.939211 1.000160 0.467175 +v -0.647867 -0.966160 3.847891 +v -0.613315 -1.035101 1.191560 +v 0.766452 -1.104255 0.363364 +v 1.111761 -1.000630 3.399063 +v 0.594112 1.069527 3.882622 +v -0.958414 -0.689969 3.744081 +v -0.613315 -1.000630 3.157474 +v 1.008105 0.655453 0.156507 +v 1.111761 -0.966160 2.398740 +v -0.061324 1.069527 3.813161 +v -1.027517 0.379262 2.364010 +v -0.751312 -1.035101 -0.016002 +v 1.008105 1.069527 3.537223 +v -0.958414 0.965689 0.674033 +v 0.490457 -0.966160 3.882622 +v -0.509869 1.034843 3.847891 +v 1.111761 -0.828064 3.778811 +v -0.958414 -0.965947 2.743376 +v -0.958414 -1.000630 1.536578 +v -1.027517 1.000160 2.294930 +v 1.077209 -1.104255 0.398095 +v -0.992966 -1.000630 0.156507 +v -0.820416 -1.000630 2.605598 +v -1.027517 0.310107 2.536519 +f 36 32 38 +f 3 2 4 +f 4 2 7 +f 4 7 8 +f 1 9 10 +f 3 4 11 +f 1 10 12 +f 3 11 13 +f 4 8 14 +f 11 4 14 +f 10 9 15 +f 2 3 17 +f 15 9 18 +f 6 5 19 +f 9 1 20 +f 16 17 21 +f 18 9 21 +f 17 18 21 +f 13 11 22 +f 3 13 23 +f 6 18 23 +f 18 3 23 +f 12 10 24 +f 14 12 24 +f 19 5 24 +f 10 19 24 +f 1 12 25 +f 7 2 26 +f 17 16 26 +f 2 17 26 +f 11 14 27 +f 22 11 27 +f 13 22 27 +f 23 13 27 +f 24 5 27 +f 14 24 27 +f 8 12 28 +f 14 8 28 +f 12 14 28 +f 18 6 29 +f 15 18 29 +f 6 19 29 +f 19 15 29 +f 10 15 30 +f 19 10 30 +f 15 19 30 +f 5 6 31 +f 6 23 31 +f 27 5 31 +f 23 27 31 +f 9 20 32 +f 26 16 33 +f 9 32 33 +f 8 7 34 +f 12 8 34 +f 7 25 34 +f 25 12 34 +f 17 3 35 +f 3 18 35 +f 18 17 35 +f 7 26 36 +f 26 33 36 +f 33 32 36 +f 21 9 37 +f 16 21 37 +f 9 33 37 +f 33 16 37 +f 20 1 38 +f 1 25 38 +f 25 7 38 +f 32 20 38 +f 7 36 38 +o convex_1 +v -0.130394 0.310428 -2.604369 +v -0.199396 -0.345157 -2.500713 +v -0.130394 -0.345157 -2.500713 +v -0.302869 -0.276107 -4.122417 +v 0.249149 -0.241583 -4.087866 +v -0.371932 0.275839 -4.087866 +v 0.180086 0.241379 -2.224671 +v 0.180086 0.275839 -4.053128 +v -0.337401 0.310428 -2.397244 +v 0.249149 -0.172597 -2.224671 +v -0.199396 -0.310632 -2.224671 +v -0.302869 0.103280 -2.224671 +v 0.249149 -0.034562 -4.087866 +v -0.095862 -0.345157 -2.224671 +v 0.249149 -0.034562 -2.224671 +v 0.180086 -0.276107 -3.742720 +v -0.302869 0.310428 -2.224671 +v 0.249149 -0.207122 -2.431796 +v -0.061392 -0.276107 -4.122417 +v 0.214617 0.172329 -2.984067 +v -0.337401 0.241379 -2.431796 +v -0.268398 0.068819 -4.122417 +v 0.180086 0.275839 -3.259552 +v 0.076613 0.275839 -4.087866 +f 57 60 62 +f 41 40 42 +f 39 44 47 +f 42 40 49 +f 48 45 49 +f 42 49 50 +f 49 45 50 +f 48 43 51 +f 40 41 52 +f 49 40 52 +f 48 49 52 +f 45 48 53 +f 48 51 53 +f 52 41 54 +f 45 39 55 +f 39 47 55 +f 47 50 55 +f 50 45 55 +f 43 48 56 +f 48 52 56 +f 54 43 56 +f 52 54 56 +f 41 42 57 +f 51 43 57 +f 54 41 57 +f 43 54 57 +f 51 46 58 +f 45 53 58 +f 53 51 58 +f 44 42 59 +f 47 44 59 +f 42 50 59 +f 50 47 59 +f 42 44 60 +f 57 42 60 +f 39 45 61 +f 46 39 61 +f 45 58 61 +f 58 46 61 +f 44 39 62 +f 39 46 62 +f 46 51 62 +f 51 57 62 +f 60 44 62 +o convex_2 +v 1.077256 -1.552510 -0.706730 +v -0.854866 0.931509 -0.016600 +v -0.992905 0.931509 -0.016600 +v -0.302920 0.931114 -2.155291 +v -1.027517 -2.967206 -2.224239 +v -1.027517 -3.001981 -0.085765 +v 0.973624 -2.932432 -2.086342 +v 0.973624 0.931114 -0.016600 +v 0.939218 -2.967206 -0.016600 +v 0.939218 0.896734 -2.051760 +v -0.958292 0.861960 -2.120924 +v 1.008237 -0.897718 -2.224239 +v 0.387065 -3.105515 -1.396212 +v 1.077256 -0.587117 -0.016600 +v -0.302920 0.309912 -2.224239 +v 0.559510 0.931114 -2.155291 +v -0.992905 -1.001252 -0.016600 +v -1.027517 -1.897490 -2.155291 +v 1.042644 -0.966082 -1.948446 +v -0.544384 -3.070740 -0.568618 +v 1.008237 -2.794914 -1.948230 +v 0.973624 -2.863278 -0.016600 +v -0.923886 0.931509 -2.120924 +v 0.352453 -2.967206 -0.016600 +v -0.682422 -2.863673 -2.224239 +v 1.008237 -2.069783 -2.155291 +v 1.077256 -1.448976 -0.154497 +v 0.973624 0.931114 -0.706730 +v -0.992905 0.931509 -0.465304 +v 0.904605 -2.967206 -2.017394 +v -0.475364 -3.070740 -1.189368 +v 0.283433 -3.105515 -1.086270 +v 1.077256 -0.931702 -0.810045 +v -0.613403 -2.966812 -0.051182 +v -0.992905 -0.172982 -2.086342 +v 0.180008 0.240757 -2.224239 +v -1.027517 -2.553072 -0.085765 +v 0.870199 0.931114 -2.086342 +v -1.027517 -2.656605 -2.224239 +v 1.008237 -1.069616 -2.224239 +v 0.042176 -3.070740 -0.603200 +v 0.214620 -2.932827 -2.155291 +v 1.008237 0.620908 -0.085548 +v -0.751441 0.793201 -2.155291 +v 1.008237 -0.483583 -2.189873 +v 0.973624 -2.932432 -0.292609 +v 1.077256 -0.621496 -0.223661 +v 1.008237 -2.518692 -2.120924 +v -0.820254 -2.966812 -2.224239 +v 0.939218 0.931114 -2.017394 +v 0.214620 -3.105515 -1.327264 +v 1.077256 -1.103995 -0.016600 +v 0.801180 -3.001586 -1.844916 +f 75 92 115 +f 64 65 70 +f 70 65 71 +f 70 71 76 +f 74 67 77 +f 77 66 78 +f 65 68 79 +f 71 65 79 +f 67 68 80 +f 68 67 82 +f 76 71 84 +f 65 64 85 +f 78 66 85 +f 68 71 86 +f 71 79 86 +f 67 74 87 +f 63 76 89 +f 83 63 89 +f 64 70 90 +f 80 65 91 +f 65 85 91 +f 85 73 91 +f 69 71 92 +f 82 67 93 +f 75 71 94 +f 76 63 95 +f 63 81 95 +f 79 68 96 +f 68 86 96 +f 86 79 96 +f 73 80 97 +f 80 91 97 +f 91 73 97 +f 74 77 98 +f 78 74 98 +f 77 78 98 +f 68 65 99 +f 65 80 99 +f 80 68 99 +f 78 85 100 +f 77 67 101 +f 67 80 101 +f 80 73 101 +f 74 81 102 +f 87 74 102 +f 81 88 102 +f 71 68 103 +f 68 82 103 +f 82 94 103 +f 94 71 103 +f 87 102 104 +f 102 88 104 +f 70 76 105 +f 90 70 105 +f 66 77 106 +f 73 85 106 +f 85 66 106 +f 101 73 106 +f 77 101 106 +f 74 78 107 +f 81 74 107 +f 100 72 107 +f 78 100 107 +f 71 69 108 +f 69 83 108 +f 84 71 108 +f 83 89 108 +f 89 84 108 +f 76 95 109 +f 105 76 109 +f 81 63 110 +f 63 83 110 +f 83 69 110 +f 88 81 110 +f 69 104 110 +f 104 88 110 +f 75 67 111 +f 67 87 111 +f 69 92 111 +f 92 75 111 +f 104 69 111 +f 87 104 111 +f 85 64 112 +f 64 90 112 +f 95 81 112 +f 72 100 112 +f 100 85 112 +f 90 105 112 +f 81 107 112 +f 107 72 112 +f 109 95 112 +f 105 109 112 +f 67 75 113 +f 93 67 113 +f 82 93 113 +f 94 82 113 +f 75 94 113 +f 76 84 114 +f 89 76 114 +f 84 89 114 +f 71 75 115 +f 92 71 115 +o convex_3 +v 0.386957 0.966162 -2.190166 +v 1.111761 2.932674 -0.120222 +v 1.111761 2.725566 -0.120222 +v -0.993013 3.001778 -0.051068 +v -0.544286 0.931509 -0.016384 +v -0.958400 3.001778 -2.190166 +v 1.008129 3.001778 -2.121012 +v 0.973722 0.931509 -0.016384 +v -0.958400 0.931509 -1.983129 +v 0.939110 0.931509 -2.052071 +v -0.993013 0.931509 -0.120009 +v -0.923788 0.931509 -2.121012 +v 0.697646 3.001778 -0.568554 +v -0.993013 2.932674 -1.051569 +v -0.268209 3.001778 -2.190166 +v -0.578898 3.001778 -0.051068 +v -0.958400 2.311553 -2.190166 +v 1.111761 2.967125 -0.396200 +v 0.524995 1.104167 -2.190166 +v -0.647917 1.587486 -0.016384 +v 1.008129 1.242171 -0.154480 +v 1.008129 2.829120 -2.121012 +v 1.008129 2.967125 -0.120222 +v -0.993013 1.276621 -0.085538 +v -0.993013 0.931509 -0.430458 +v 1.111761 2.794467 -0.327259 +v 0.870091 0.931509 -2.086541 +v -0.337434 0.931509 -2.155483 +v -0.993013 2.380657 -0.051068 +v 0.973722 0.966162 -0.016384 +v 0.524995 1.242171 -2.190166 +v 0.973722 0.931509 -0.672179 +f 125 141 147 +f 121 119 122 +f 118 117 123 +f 123 120 124 +f 123 124 125 +f 124 120 126 +f 125 124 127 +f 122 119 128 +f 119 121 129 +f 126 119 129 +f 116 121 130 +f 121 122 130 +f 128 119 131 +f 121 116 132 +f 127 124 132 +f 129 121 132 +f 124 129 132 +f 117 118 133 +f 122 128 133 +f 116 130 134 +f 120 123 135 +f 131 119 135 +f 118 123 136 +f 122 133 137 +f 134 122 137 +f 131 117 138 +f 128 131 138 +f 117 133 138 +f 133 128 138 +f 119 126 139 +f 126 120 139 +f 124 126 140 +f 129 124 140 +f 126 129 140 +f 133 118 141 +f 118 136 141 +f 137 133 141 +f 125 137 141 +f 125 127 142 +f 116 134 142 +f 137 125 142 +f 134 137 142 +f 132 116 143 +f 127 132 143 +f 116 142 143 +f 142 127 143 +f 120 135 144 +f 135 119 144 +f 119 139 144 +f 139 120 144 +f 123 117 145 +f 117 131 145 +f 135 123 145 +f 131 135 145 +f 130 122 146 +f 122 134 146 +f 134 130 146 +f 123 125 147 +f 136 123 147 +f 141 136 147 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/368/368.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/368/368.urdf new file mode 100644 index 000000000..1cacc1f74 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/368/368.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/369/369.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/369/369.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/369/369.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/369/369.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/369/369.obj new file mode 100644 index 000000000..9b81248d4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/369/369.obj @@ -0,0 +1,639 @@ +o convex_0 +v 1.084138 -1.201975 0.972079 +v -1.096027 -2.633957 -0.426883 +v -1.096027 -2.633957 0.093287 +v -0.998336 0.262328 -1.045389 +v 0.921465 -2.633957 -1.045389 +v -0.998336 0.262328 0.939368 +v 1.019156 0.262328 -1.045389 +v 1.084138 -2.633957 0.939368 +v 1.019156 0.262328 0.972079 +v -0.965628 -2.633957 0.939368 +v -0.998336 -2.633957 -1.012878 +v 1.116846 -2.633957 -0.329351 +v 0.205574 -2.047669 -1.078100 +v 0.953957 -1.169655 -1.078100 +v 0.368247 0.164235 0.972079 +v 1.051647 0.001787 0.939368 +v -0.965628 -2.113159 -1.045389 +v 0.953957 -2.633957 -1.012878 +v 1.116846 -2.308210 0.386285 +v 0.921465 -2.373416 -1.078100 +v -0.998336 -1.039526 0.939368 +v -1.030828 -2.633957 -0.947656 +v 1.019156 -1.527154 0.972079 +v -1.096027 -2.503262 0.093287 +v 1.019156 -0.031100 -1.045389 +v 0.140375 -2.633957 -1.045389 +v -1.063319 -2.633957 0.353574 +f 10 21 27 +f 3 2 5 +f 4 6 7 +f 3 5 8 +f 7 6 9 +f 3 8 10 +f 5 2 11 +f 8 5 12 +f 4 7 14 +f 13 4 14 +f 1 9 15 +f 9 6 15 +f 9 1 16 +f 7 9 16 +f 11 4 17 +f 4 13 17 +f 12 5 18 +f 1 8 19 +f 12 7 19 +f 8 12 19 +f 16 1 19 +f 7 16 19 +f 13 14 20 +f 18 5 20 +f 6 3 21 +f 15 6 21 +f 10 15 21 +f 2 4 22 +f 11 2 22 +f 4 11 22 +f 8 1 23 +f 10 8 23 +f 1 15 23 +f 15 10 23 +f 2 3 24 +f 4 2 24 +f 3 6 24 +f 6 4 24 +f 7 12 25 +f 14 7 25 +f 12 18 25 +f 20 14 25 +f 18 20 25 +f 5 11 26 +f 11 17 26 +f 17 13 26 +f 20 5 26 +f 13 20 26 +f 3 10 27 +f 21 3 27 +o convex_1 +v 1.116856 2.605148 -0.004413 +v -1.063484 1.921786 0.841667 +v -1.030830 0.425321 0.874178 +v -0.998390 0.262560 -1.045558 +v 1.019108 0.262560 0.971910 +v -1.063484 2.637932 -1.012846 +v 1.019108 0.262560 -1.045558 +v 0.498566 2.637932 1.004622 +v 1.051761 2.637932 -0.980336 +v -0.998390 2.637932 0.971910 +v 0.986454 2.637932 0.971910 +v -0.998390 0.262560 0.939400 +v -0.900642 2.181971 -1.045558 +v 1.084202 2.214755 -1.012846 +v 1.084202 2.605148 0.516360 +v 1.084202 1.596498 -1.012846 +v -1.063484 2.637932 0.646402 +v -1.030830 1.011026 -1.045558 +v 0.335724 0.262560 0.971910 +v -1.030830 2.312179 0.971910 +v 0.335724 2.637932 -1.012846 +v 1.116856 2.637932 0.190851 +v 0.238189 2.605148 1.004421 +v 1.051761 0.783394 -0.980336 +v 1.019108 0.555529 -1.045558 +v 1.019108 1.206338 0.971910 +v 1.116856 2.540044 0.028097 +v -1.063484 2.084314 0.939400 +v -1.063484 2.507492 -1.012846 +f 33 45 56 +f 32 31 34 +f 33 35 36 +f 35 33 37 +f 36 35 38 +f 30 31 39 +f 31 32 39 +f 34 31 40 +f 36 28 41 +f 41 28 43 +f 34 41 43 +f 33 29 44 +f 37 33 44 +f 30 29 45 +f 31 30 45 +f 40 31 45 +f 33 40 45 +f 39 32 46 +f 39 46 47 +f 33 36 48 +f 40 33 48 +f 36 41 48 +f 41 40 48 +f 28 36 49 +f 36 38 49 +f 42 32 49 +f 38 42 49 +f 32 35 50 +f 35 37 50 +f 46 32 50 +f 47 46 50 +f 37 47 50 +f 32 34 51 +f 34 43 51 +f 34 40 52 +f 41 34 52 +f 40 41 52 +f 35 32 53 +f 38 35 53 +f 32 42 53 +f 42 38 53 +f 43 28 54 +f 28 49 54 +f 49 32 54 +f 32 51 54 +f 51 43 54 +f 29 30 55 +f 30 39 55 +f 44 29 55 +f 37 44 55 +f 39 47 55 +f 47 37 55 +f 29 33 56 +f 45 29 56 +o convex_2 +v 1.019174 -4.065828 0.255952 +v 0.237860 -2.666677 -1.045558 +v 0.237860 -2.634161 -1.045558 +v -0.965627 -2.666677 0.972079 +v -1.095810 -3.968001 -0.915209 +v 1.084157 -2.634161 0.939492 +v -0.965627 -4.000517 0.971882 +v 0.953974 -4.065828 -0.979988 +v -0.998119 -2.634161 -1.012773 +v 1.116649 -4.033173 0.939294 +v 0.953758 -2.634161 -1.012773 +v 1.116865 -2.634161 -0.329431 +v -1.096027 -2.634161 0.125604 +v -0.705261 -4.000517 -0.947599 +v 0.205369 -4.033173 0.971882 +v 1.116865 -3.219722 -0.297041 +v -1.096027 -3.187207 0.223365 +v -0.509879 -4.033173 0.451080 +v -1.096027 -2.634161 -0.426995 +v -1.063102 -4.000517 -0.231670 +v 0.530934 -4.065828 -0.947599 +v -0.965627 -2.634161 0.939492 +v 1.116865 -2.959457 0.939492 +v 0.888775 -2.959457 -1.045558 +v 0.986466 -3.968001 -0.882622 +v -1.096027 -2.764364 0.288342 +v 1.116649 -4.033173 0.776556 +v -0.965627 -4.000517 -0.882622 +v -1.030610 -2.666677 -0.980186 +v -0.998119 -4.000517 0.776556 +v -1.063102 -3.837799 -0.947599 +v 0.433243 -4.065828 -0.459582 +v -0.119547 -4.033173 0.971882 +v 0.921266 -2.634161 -1.045558 +v 0.758808 -4.065828 -0.979988 +v 1.051666 -4.065828 -0.004350 +v -1.095810 -3.642705 -0.882622 +f 75 85 93 +f 59 58 65 +f 62 59 65 +f 59 62 67 +f 67 62 68 +f 62 65 69 +f 62 60 71 +f 57 66 71 +f 69 65 75 +f 61 73 75 +f 73 69 75 +f 73 61 76 +f 64 57 77 +f 60 62 78 +f 62 69 78 +f 68 62 79 +f 62 71 79 +f 71 66 79 +f 66 72 79 +f 72 68 79 +f 58 59 80 +f 70 58 80 +f 64 67 81 +f 67 68 81 +f 68 72 81 +f 63 60 82 +f 69 73 82 +f 60 78 82 +f 78 69 82 +f 72 66 83 +f 61 70 84 +f 76 61 84 +f 74 76 84 +f 77 74 84 +f 70 77 84 +f 65 61 85 +f 75 65 85 +f 74 63 86 +f 73 76 86 +f 76 74 86 +f 63 82 86 +f 82 73 86 +f 65 58 87 +f 61 65 87 +f 70 61 87 +f 58 70 87 +f 74 77 88 +f 77 57 88 +f 60 63 89 +f 71 60 89 +f 57 71 89 +f 63 74 89 +f 88 57 89 +f 74 88 89 +f 67 64 90 +f 59 67 90 +f 80 59 90 +f 64 80 90 +f 64 77 91 +f 77 70 91 +f 80 64 91 +f 70 80 91 +f 57 64 92 +f 66 57 92 +f 64 81 92 +f 81 72 92 +f 83 66 92 +f 72 83 92 +f 61 75 93 +f 85 61 93 +o convex_3 +v -1.161398 2.800747 0.288651 +v -3.080879 2.963444 -0.362165 +v -3.113663 2.735643 -0.329587 +v -3.048292 2.800747 0.321229 +v -1.388916 3.223605 -0.231988 +v -3.080879 3.223605 0.190985 +v -1.096027 2.800747 -0.297076 +v -1.096027 3.158501 0.223496 +v -3.015902 3.321261 -0.362165 +v -2.658036 2.670539 0.321229 +v -1.096027 2.768195 -0.231988 +v -2.690426 3.321261 -0.231988 +v -1.096027 3.191053 -0.199411 +v -1.096027 3.191053 0.190985 +v -3.048292 2.670539 0.158408 +v -1.096027 2.768195 0.256073 +v -2.560275 3.321261 -0.329587 +v -2.950925 3.321261 -0.166900 +v -2.072455 2.768195 -0.329587 +v -2.202409 2.768195 0.321229 +v -3.080879 3.256157 0.093319 +v -2.690426 2.670539 0.190985 +v -3.015902 2.670539 0.321229 +f 108 103 116 +f 96 97 99 +f 99 97 101 +f 100 101 104 +f 100 98 106 +f 101 100 106 +f 101 106 107 +f 99 101 107 +f 106 98 107 +f 97 96 108 +f 101 94 109 +f 94 103 109 +f 104 101 109 +f 103 104 109 +f 98 100 110 +f 100 102 110 +f 102 105 110 +f 107 98 110 +f 105 107 110 +f 105 102 111 +f 107 105 111 +f 96 95 112 +f 95 102 112 +f 102 100 112 +f 104 96 112 +f 100 104 112 +f 94 101 113 +f 101 97 113 +f 97 103 113 +f 103 94 113 +f 95 96 114 +f 96 99 114 +f 102 95 114 +f 99 107 114 +f 111 102 114 +f 107 111 114 +f 96 104 115 +f 104 103 115 +f 108 96 115 +f 103 108 115 +f 103 97 116 +f 97 108 116 +o convex_4 +v 2.808911 -3.252265 -0.134354 +v 1.279896 -2.633957 -0.264512 +v 2.190425 -2.666519 -0.231944 +v 1.116865 -2.731642 0.288686 +v 1.116865 -3.219704 -0.297080 +v 2.938877 -3.219704 0.256118 +v 3.069417 -2.699141 -0.297080 +v 1.116865 -3.252265 0.191039 +v 3.036734 -2.796705 0.256118 +v 2.938877 -3.187081 -0.231944 +v 1.116865 -2.633957 -0.297080 +v 1.214531 -2.699141 0.223550 +v 1.344879 -3.252265 0.223550 +v 3.069417 -2.796705 -0.297080 +v 1.116865 -3.252265 -0.199376 +v 2.971751 -2.699141 -0.199376 +v 1.377371 -2.861768 0.288686 +v 2.971751 -3.187081 0.256118 +v 2.450931 -3.252265 -0.199376 +v 1.995666 -3.252265 0.223550 +f 122 129 136 +f 118 119 123 +f 120 121 124 +f 122 117 126 +f 121 120 127 +f 118 123 127 +f 123 121 127 +f 119 118 128 +f 120 125 128 +f 118 127 128 +f 127 120 128 +f 124 117 129 +f 120 124 129 +f 121 123 130 +f 123 125 130 +f 126 121 130 +f 117 124 131 +f 124 121 131 +f 123 119 132 +f 125 123 132 +f 119 128 132 +f 128 125 132 +f 125 120 133 +f 129 122 133 +f 120 129 133 +f 122 126 134 +f 130 125 134 +f 126 130 134 +f 125 133 134 +f 133 122 134 +f 126 117 135 +f 121 126 135 +f 117 131 135 +f 131 121 135 +f 117 122 136 +f 129 117 136 +o convex_5 +v 1.019159 3.613969 0.776709 +v -1.063319 2.637932 -1.013015 +v -1.063319 2.637932 0.613971 +v -1.096027 4.037124 -0.915254 +v 1.051650 2.637932 -0.980428 +v 0.986667 4.102346 -0.947643 +v -0.933137 4.037124 1.004622 +v 0.986667 2.637932 0.972034 +v 0.953960 4.036981 0.939447 +v -0.998336 2.637932 0.972034 +v 1.116849 3.289006 0.255908 +v -1.096027 3.158705 0.223518 +v 1.116849 2.637932 0.288495 +v -0.542808 4.069663 -0.947841 +v 0.465940 2.637932 1.004622 +v 1.116849 3.321545 -0.329278 +v -0.184537 2.930930 -1.013015 +v 0.758795 4.036981 0.972034 +v 0.986667 4.102346 -0.557388 +v -1.096027 3.386337 -0.980428 +v -1.096027 4.037124 -0.622365 +v -0.965628 3.158705 1.004622 +v -0.087063 4.036981 1.004622 +v -1.096027 2.768233 -0.036586 +v 0.465940 4.102346 -0.882667 +v 1.019159 3.386194 -0.980428 +v 0.986667 3.971902 0.906663 +v -1.030827 2.670615 0.939447 +v 1.116849 2.703154 -0.329278 +v 0.270775 2.637932 -1.013015 +v 0.400741 3.646508 -0.980428 +v -0.965628 4.037124 0.776709 +v -1.063319 4.037124 -0.947841 +v 1.051650 2.996008 -0.980428 +v -0.965628 3.711730 1.004622 +v 0.953960 3.613969 0.972034 +v 1.116849 2.898390 0.321082 +f 149 147 173 +f 139 138 141 +f 139 141 144 +f 139 144 146 +f 144 141 149 +f 146 144 151 +f 147 149 152 +f 152 142 155 +f 147 152 155 +f 154 145 155 +f 148 140 156 +f 153 138 156 +f 140 148 157 +f 150 140 157 +f 151 143 158 +f 146 151 158 +f 143 151 159 +f 155 143 159 +f 154 155 159 +f 138 139 160 +f 139 148 160 +f 156 138 160 +f 148 156 160 +f 142 150 161 +f 150 143 161 +f 155 142 161 +f 143 155 161 +f 144 137 163 +f 137 147 163 +f 155 145 163 +f 147 155 163 +f 139 146 164 +f 148 139 164 +f 149 141 165 +f 141 152 165 +f 152 149 165 +f 141 138 166 +f 138 153 166 +f 153 162 166 +f 150 142 167 +f 142 162 167 +f 162 153 167 +f 143 150 168 +f 157 148 168 +f 150 157 168 +f 140 150 169 +f 156 140 169 +f 153 156 169 +f 150 167 169 +f 167 153 169 +f 152 141 170 +f 142 152 170 +f 162 142 170 +f 141 166 170 +f 166 162 170 +f 158 143 171 +f 146 158 171 +f 164 146 171 +f 148 164 171 +f 143 168 171 +f 168 148 171 +f 151 144 172 +f 145 154 172 +f 159 151 172 +f 154 159 172 +f 144 163 172 +f 163 145 172 +f 137 144 173 +f 147 137 173 +f 144 149 173 +o convex_6 +v 1.149548 2.670608 -0.004197 +v 3.069417 3.353868 -0.199401 +v 3.069417 3.288719 -0.004197 +v 1.116865 3.256145 0.191007 +v 3.004052 2.670608 0.321228 +v 1.116865 2.703116 -0.329622 +v 1.116865 3.321227 -0.329622 +v 3.004052 2.800705 -0.264448 +v 1.116865 2.703116 0.321228 +v 3.069417 3.125981 0.256118 +v 3.069417 3.353868 -0.297067 +v 1.214531 2.670608 -0.297067 +v 2.450931 3.125981 -0.329622 +v 1.670368 3.353868 -0.264448 +v 3.004052 2.670608 0.191007 +v 3.036734 2.930869 -0.297067 +v 2.515914 3.223637 0.223563 +v 1.116865 3.223637 0.223563 +v 1.833017 2.768198 0.321228 +v 1.735543 2.670608 0.321228 +v 2.320582 3.353868 -0.329622 +v 1.409863 2.703116 -0.329622 +v 1.116865 3.288719 0.060850 +v 3.004052 2.768198 0.321228 +f 183 192 197 +f 179 177 180 +f 177 179 182 +f 179 174 182 +f 175 176 183 +f 175 183 184 +f 178 174 185 +f 174 179 185 +f 179 180 186 +f 175 184 187 +f 183 178 188 +f 178 185 188 +f 185 181 188 +f 184 183 189 +f 186 184 189 +f 188 181 189 +f 183 188 189 +f 176 175 190 +f 175 177 190 +f 183 176 190 +f 183 190 191 +f 177 182 191 +f 190 177 191 +f 191 182 192 +f 182 178 192 +f 183 191 192 +f 174 178 193 +f 182 174 193 +f 178 182 193 +f 186 180 194 +f 184 186 194 +f 180 187 194 +f 187 184 194 +f 185 179 195 +f 181 185 195 +f 179 186 195 +f 189 181 195 +f 186 189 195 +f 177 175 196 +f 180 177 196 +f 175 187 196 +f 187 180 196 +f 178 183 197 +f 192 178 197 +o convex_7 +v -2.852998 -3.122019 0.353771 +v -1.226216 -3.219704 -0.362165 +v -1.226216 -3.154580 -0.362165 +v -1.096027 -2.894390 0.288667 +v -2.950932 -2.666519 -0.231956 +v -3.081121 -3.252265 -0.231956 +v -1.096027 -2.633957 -0.166782 +v -2.950932 -2.699141 0.321184 +v -1.128865 -3.219704 0.223563 +v -2.983382 -3.252265 0.353771 +v -1.226216 -2.731642 0.288667 +v -1.096027 -3.122019 -0.362165 +v -2.234891 -3.252265 -0.297060 +v -2.950932 -2.666519 0.223563 +v -1.454339 -2.633957 -0.199369 +v -2.169796 -2.699141 0.321184 +v -3.048282 -2.959332 0.060837 +v -1.096027 -2.633957 -0.101748 +v -2.202441 -2.633957 -0.166782 +v -1.096027 -3.219704 -0.362165 +v -1.714717 -2.731642 0.321184 +v -2.885643 -3.252265 0.353771 +v -2.137152 -3.252265 -0.134265 +v -2.983382 -2.699141 0.288667 +f 214 207 221 +f 198 205 207 +f 199 200 209 +f 200 202 209 +f 204 201 209 +f 200 199 210 +f 202 200 210 +f 203 202 210 +f 207 203 210 +f 209 202 212 +f 204 209 212 +f 205 198 213 +f 211 205 213 +f 202 203 214 +f 203 207 214 +f 201 204 215 +f 208 201 215 +f 204 212 215 +f 213 208 215 +f 211 213 215 +f 202 211 216 +f 212 202 216 +f 215 212 216 +f 211 215 216 +f 201 206 217 +f 199 209 217 +f 209 201 217 +f 210 199 217 +f 201 208 218 +f 213 198 218 +f 208 213 218 +f 206 201 219 +f 198 207 219 +f 207 210 219 +f 218 198 219 +f 201 218 219 +f 217 206 220 +f 210 217 220 +f 206 219 220 +f 219 210 220 +f 207 205 221 +f 211 202 221 +f 205 211 221 +f 202 214 221 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/369/369.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/369/369.urdf new file mode 100644 index 000000000..172d25a53 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/369/369.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/370/370.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/370/370.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/370/370.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/370/370.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/370/370.obj new file mode 100644 index 000000000..02cf4b932 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/370/370.obj @@ -0,0 +1,417 @@ +o convex_0 +v -0.530897 -0.537715 -4.247237 +v 0.561663 0.492142 -3.935037 +v 0.561663 0.461022 -3.935037 +v -0.562133 -0.475243 -0.626976 +v -0.624605 0.585965 -4.653255 +v 0.530427 -0.569067 -4.590578 +v 0.467955 0.585965 -0.626582 +v 0.436719 -0.600302 -0.626976 +v -0.468425 0.461022 -0.626976 +v 0.561663 0.523377 -4.621719 +v -0.562133 -0.506479 -4.621325 +v -0.530897 -0.600302 -2.094159 +v 0.030885 -0.600302 -3.747796 +v 0.561663 -0.131880 -4.621719 +v 0.249420 0.585965 -0.688864 +v 0.530427 0.461022 -2.343289 +v -0.437189 0.585965 -4.653255 +v -0.499661 0.461022 -1.063347 +v 0.561663 -0.256707 -4.559437 +v -0.562133 -0.506479 -0.751146 +v -0.530897 -0.600302 -3.154536 +v 0.218184 -0.600302 -0.626976 +v -0.530897 0.523494 -2.281400 +v -0.624605 0.492258 -4.653255 +v -0.624605 0.585965 -4.528296 +v 0.467955 0.585965 -1.032205 +v -0.187418 -0.537715 -4.621325 +v -0.250006 0.242487 -4.653255 +v 0.467955 0.242370 -0.626582 +v -0.530897 -0.069408 -0.626976 +v 0.530427 -0.537715 -3.997319 +v -0.031471 0.554613 -4.653255 +v -0.343598 0.492258 -0.720005 +v 0.499191 0.554613 -1.344406 +f 29 16 34 +f 2 3 10 +f 6 8 13 +f 8 12 13 +f 10 3 14 +f 7 5 15 +f 9 7 15 +f 3 2 16 +f 5 7 17 +f 14 3 19 +f 6 14 19 +f 3 16 19 +f 16 8 19 +f 11 12 20 +f 11 1 21 +f 12 11 21 +f 13 12 21 +f 12 8 22 +f 4 20 22 +f 20 12 22 +f 18 9 23 +f 5 17 24 +f 20 4 24 +f 11 20 24 +f 15 5 25 +f 23 15 25 +f 18 23 25 +f 24 4 25 +f 5 24 25 +f 7 10 26 +f 17 7 26 +f 10 17 26 +f 1 11 27 +f 6 13 27 +f 14 6 27 +f 21 1 27 +f 13 21 27 +f 11 24 28 +f 24 17 28 +f 27 11 28 +f 14 27 28 +f 7 4 29 +f 8 16 29 +f 4 22 29 +f 22 8 29 +f 4 7 30 +f 7 9 30 +f 9 18 30 +f 25 4 30 +f 18 25 30 +f 8 6 31 +f 6 19 31 +f 19 8 31 +f 10 14 32 +f 17 10 32 +f 14 28 32 +f 28 17 32 +f 9 15 33 +f 15 23 33 +f 23 9 33 +f 2 10 34 +f 10 7 34 +f 16 2 34 +f 7 29 34 +o convex_1 +v -0.499661 -0.444007 1.871515 +v 0.561663 0.554613 2.058644 +v 0.561663 0.523377 2.058644 +v -0.624605 0.367430 3.431911 +v 0.530427 -0.569067 3.400599 +v 0.467955 -0.600302 1.527826 +v -0.499661 0.461022 1.527826 +v 0.530427 0.523377 3.400599 +v -0.530897 -0.475243 3.338161 +v 0.561663 0.585965 1.527826 +v -0.624605 0.492258 3.431911 +v -0.405953 -0.475243 1.527826 +v -0.468425 -0.506479 3.275723 +v 0.343012 0.585965 1.809077 +v 0.530427 -0.569067 2.682653 +v -0.562133 -0.381651 3.369473 +v 0.499191 0.554613 3.025970 +v -0.499661 -0.319179 1.652888 +v -0.374718 0.492258 1.527826 +v 0.311776 -0.568950 3.369473 +v 0.093357 -0.568950 1.996392 +v -0.156182 0.086423 3.431911 +v -0.624605 0.492258 3.307035 +v 0.499191 -0.569067 1.902641 +v -0.343598 0.523494 2.963531 +v -0.468425 -0.444007 1.527826 +v -0.499661 -0.475243 2.089956 +v 0.436719 -0.600302 1.871515 +v -0.000351 0.523494 3.400599 +v 0.561663 0.523377 1.527826 +v 0.374248 0.585965 1.527826 +f 53 59 65 +f 37 36 39 +f 39 36 42 +f 36 37 44 +f 40 41 44 +f 42 36 44 +f 41 40 46 +f 37 39 49 +f 39 40 49 +f 38 35 50 +f 43 39 50 +f 42 44 51 +f 44 48 51 +f 35 38 52 +f 44 41 53 +f 39 43 54 +f 43 47 54 +f 46 40 55 +f 39 42 56 +f 42 45 56 +f 45 38 56 +f 38 50 56 +f 50 39 56 +f 38 45 57 +f 52 38 57 +f 41 52 57 +f 53 41 57 +f 49 40 58 +f 57 45 59 +f 53 57 59 +f 41 46 60 +f 35 52 60 +f 52 41 60 +f 47 43 61 +f 50 35 61 +f 43 50 61 +f 55 47 61 +f 46 55 61 +f 35 60 61 +f 60 46 61 +f 40 39 62 +f 39 54 62 +f 54 47 62 +f 47 55 62 +f 55 40 62 +f 45 42 63 +f 42 51 63 +f 51 48 63 +f 59 45 63 +f 48 59 63 +f 44 37 64 +f 40 44 64 +f 37 49 64 +f 58 40 64 +f 49 58 64 +f 48 44 65 +f 44 53 65 +f 59 48 65 +o convex_2 +v 1.029927 -1.848871 -0.469956 +v -0.999216 1.334430 -0.532519 +v -0.999216 1.334430 -0.501238 +v 0.998544 3.020411 0.247841 +v -0.967833 -3.003604 0.279122 +v -0.967833 3.020411 0.279122 +v 0.936176 3.052154 -0.563713 +v -0.936649 -2.972459 -0.626187 +v 0.998544 -3.034748 0.279122 +v 1.029927 -3.066491 -0.532431 +v -0.999216 3.020411 -0.501238 +v 0.468020 0.585770 -0.626187 +v -0.468493 0.460594 -0.626187 +v 0.748874 3.052154 0.279122 +v -0.530860 3.052154 -0.532519 +v -0.999216 3.020411 0.122979 +v 1.029927 -3.034748 0.185366 +v 0.436836 -0.600107 -0.626187 +v 0.155783 -3.066491 0.216647 +v -0.967833 2.645482 -0.532519 +v -0.967833 -3.003604 -0.095638 +v 0.686307 -3.034748 -0.563713 +v 0.998544 2.989267 0.279122 +v 0.967360 1.522493 -0.563713 +v -0.811715 3.052154 0.247841 +v 0.998544 3.020411 0.091698 +v -0.686979 -2.972459 -0.626187 +v -0.967833 -1.973448 -0.594906 +v -0.936649 -2.254345 -0.626187 +v 0.904992 -2.160913 -0.563713 +v 0.624138 3.052154 -0.563713 +v 1.029927 -1.817727 -0.532431 +v 0.842426 -3.066491 -0.532519 +v 0.624138 -3.066491 0.279122 +v -0.936649 3.052154 -0.407658 +v 0.249335 1.896823 -0.594906 +v -0.936649 -3.003604 -0.189129 +f 73 98 102 +f 68 67 70 +f 71 70 74 +f 67 68 76 +f 77 73 78 +f 69 72 79 +f 71 74 79 +f 79 72 80 +f 68 70 81 +f 70 71 81 +f 76 68 81 +f 75 66 82 +f 74 75 82 +f 73 77 83 +f 67 76 85 +f 76 80 85 +f 80 78 85 +f 70 67 86 +f 84 70 86 +f 66 69 88 +f 69 79 88 +f 79 74 88 +f 82 66 88 +f 74 82 88 +f 77 72 89 +f 71 79 90 +f 79 80 90 +f 81 71 90 +f 72 69 91 +f 89 72 91 +f 73 83 92 +f 87 75 92 +f 83 87 92 +f 86 67 93 +f 73 86 93 +f 78 73 94 +f 67 85 94 +f 85 78 94 +f 93 67 94 +f 73 93 94 +f 83 77 95 +f 75 87 95 +f 87 83 95 +f 89 75 95 +f 77 89 95 +f 80 72 96 +f 69 66 97 +f 66 75 97 +f 75 89 97 +f 91 69 97 +f 89 91 97 +f 75 84 98 +f 73 92 98 +f 92 75 98 +f 74 70 99 +f 75 74 99 +f 70 84 99 +f 84 75 99 +f 80 76 100 +f 76 81 100 +f 90 80 100 +f 81 90 100 +f 72 77 101 +f 77 78 101 +f 78 80 101 +f 96 72 101 +f 80 96 101 +f 86 73 102 +f 84 86 102 +f 98 84 102 +o convex_3 +v 0.499020 3.051910 0.903474 +v -0.967998 -3.097709 1.215405 +v 0.155761 -3.065642 0.279122 +v -0.967998 3.020447 0.279122 +v 0.967321 -3.003323 1.371615 +v -0.936738 2.989591 1.527825 +v 0.998581 2.989591 0.279122 +v 1.092362 2.926666 1.434075 +v 0.998581 -3.034179 0.279122 +v -0.967998 -3.034785 0.279122 +v -0.967998 -3.097709 1.496535 +v 0.467961 -0.600107 1.527825 +v 1.061102 2.708247 1.465366 +v -0.967998 0.866508 1.527825 +v 1.092362 2.958128 1.121899 +v 1.092362 1.677866 1.434075 +v -0.468438 3.083372 0.435210 +v 0.561541 0.585165 1.527825 +v 0.998581 -3.003323 1.121899 +v -0.749377 -3.097709 1.496535 +v 0.499020 3.082767 0.279122 +v 1.029841 2.989591 0.435333 +v -0.967998 2.988986 1.309278 +v -0.655798 2.989591 1.527825 +v -0.374858 3.082767 0.809846 +v 0.717641 -3.003323 1.402906 +v 1.029841 -1.161583 1.402906 +v 0.592801 -3.065642 0.310413 +v -0.468438 -0.444007 1.527825 +v 0.624062 2.958128 1.465366 +v 0.311861 3.082767 0.778677 +v -0.842957 3.020447 1.371493 +v 0.998581 -3.034179 0.653880 +v 0.998581 -1.692203 1.402906 +v -0.624538 -3.097709 1.433953 +v 0.967321 3.020447 0.341582 +v 0.967321 2.926666 1.465366 +v -0.780638 3.051910 0.279122 +v 1.029841 2.958128 1.340447 +v 0.998581 -2.597341 1.371615 +v -0.967998 1.990066 1.527825 +f 125 116 143 +f 105 106 109 +f 105 109 111 +f 105 104 112 +f 106 105 112 +f 104 106 112 +f 106 104 113 +f 106 113 116 +f 114 108 116 +f 111 117 118 +f 110 115 118 +f 117 110 118 +f 108 114 120 +f 114 115 120 +f 113 104 122 +f 114 113 122 +f 109 106 123 +f 111 109 124 +f 117 111 124 +f 106 116 125 +f 108 120 126 +f 107 114 128 +f 122 107 128 +f 114 122 128 +f 118 115 129 +f 121 118 129 +f 104 105 130 +f 105 111 130 +f 113 114 131 +f 116 113 131 +f 114 116 131 +f 126 132 133 +f 123 119 133 +f 119 127 133 +f 133 127 134 +f 106 125 134 +f 125 108 134 +f 108 126 134 +f 127 119 134 +f 126 133 134 +f 111 118 135 +f 121 107 135 +f 118 121 135 +f 130 111 135 +f 114 107 136 +f 115 114 136 +f 129 115 136 +f 122 104 137 +f 107 122 137 +f 104 130 137 +f 135 107 137 +f 130 135 137 +f 109 123 138 +f 124 109 138 +f 117 124 138 +f 133 103 138 +f 123 133 138 +f 115 110 139 +f 120 115 139 +f 126 120 139 +f 110 132 139 +f 132 126 139 +f 123 106 140 +f 119 123 140 +f 106 134 140 +f 134 119 140 +f 110 117 141 +f 132 110 141 +f 133 132 141 +f 103 133 141 +f 138 103 141 +f 117 138 141 +f 107 121 142 +f 121 129 142 +f 136 107 142 +f 129 136 142 +f 116 108 143 +f 108 125 143 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/370/370.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/370/370.urdf new file mode 100644 index 000000000..e77b05abb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/370/370.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/371/371.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/371/371.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/371/371.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/371/371.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/371/371.obj new file mode 100644 index 000000000..c5fef4c62 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/371/371.obj @@ -0,0 +1,366 @@ +o convex_0 +v 1.093662 -0.755415 0.578144 +v -1.106876 0.152467 0.927309 +v -1.106876 0.152467 0.997315 +v -1.071765 -3.759012 -1.098323 +v 0.464691 -3.794007 1.102215 +v 1.093662 0.187854 -0.923417 +v 0.988762 -3.829001 -1.063212 +v -0.967080 0.187461 -0.993207 +v -1.036870 -3.689024 1.067105 +v 1.093662 0.187854 1.067105 +v 0.953867 -3.794007 1.102215 +v -1.071765 0.187461 1.067105 +v 1.023657 -3.060309 -1.063212 +v -0.932185 -0.162087 -1.028317 +v -1.071765 -3.025315 -1.098323 +v 0.534696 -3.829001 -1.098323 +v 0.115526 -2.117040 1.102215 +v -1.071765 -3.759012 -0.504247 +v 1.023657 -3.444458 -0.993422 +v 1.093662 -0.266283 -0.958528 +v 0.988762 -3.829001 -0.050181 +v 0.988762 -3.095304 1.102215 +v 1.093662 -0.860397 -0.958528 +v -1.001975 0.012490 -0.713832 +v -0.233640 0.187461 -0.993207 +v -0.827285 -3.723625 1.067105 +v -0.547910 -3.793613 -1.063212 +v -1.001975 -2.745755 -1.098323 +v -1.071765 -3.654030 -0.189976 +v 1.093662 -0.440861 1.067105 +v 0.988762 -2.187029 1.102215 +v 0.918972 -3.829001 0.228763 +v 0.185531 -3.759012 1.102215 +v 0.534696 -3.759012 -1.098323 +v -1.071765 -1.768279 1.067105 +v 1.023657 -3.409464 -0.783622 +v 0.674276 0.187854 -0.958528 +v -1.106876 0.187461 0.927309 +v -1.001975 -0.685820 -1.028317 +v 0.988762 -3.165292 1.032209 +v -1.036870 -3.723625 0.717939 +f 26 9 41 +f 3 2 4 +f 1 6 10 +f 4 2 15 +f 13 7 16 +f 4 15 16 +f 5 11 17 +f 10 12 17 +f 3 4 18 +f 7 13 19 +f 6 1 20 +f 16 7 21 +f 7 19 21 +f 17 11 22 +f 1 19 23 +f 19 13 23 +f 13 20 23 +f 20 1 23 +f 14 8 25 +f 13 14 25 +f 4 16 27 +f 18 4 27 +f 5 18 27 +f 15 14 28 +f 16 15 28 +f 3 18 29 +f 18 9 29 +f 1 10 30 +f 10 22 30 +f 10 17 31 +f 22 10 31 +f 17 22 31 +f 11 5 32 +f 21 11 32 +f 16 21 32 +f 27 16 32 +f 5 27 32 +f 5 17 33 +f 17 9 33 +f 26 5 33 +f 9 26 33 +f 14 13 34 +f 13 16 34 +f 28 14 34 +f 16 28 34 +f 12 3 35 +f 9 17 35 +f 17 12 35 +f 3 29 35 +f 29 9 35 +f 19 1 36 +f 21 19 36 +f 10 6 37 +f 20 13 37 +f 6 20 37 +f 25 8 37 +f 13 25 37 +f 2 3 38 +f 3 12 38 +f 12 10 38 +f 15 2 38 +f 8 24 38 +f 24 15 38 +f 10 37 38 +f 37 8 38 +f 8 14 39 +f 14 15 39 +f 24 8 39 +f 15 24 39 +f 11 21 40 +f 22 11 40 +f 1 30 40 +f 30 22 40 +f 36 1 40 +f 21 36 40 +f 9 18 41 +f 18 5 41 +f 5 26 41 +o convex_1 +v 1.058569 2.353462 -2.215783 +v -1.036853 0.816935 -3.089286 +v -1.071864 1.200964 -2.181113 +v 1.093580 0.257712 -0.993740 +v -1.106876 2.248429 -0.993535 +v 0.953754 0.327666 -2.984252 +v -0.967050 0.362746 -0.993535 +v -1.036853 2.248429 -3.054001 +v 0.918962 2.283303 -0.993740 +v 1.128591 2.353462 -2.984252 +v -1.001842 0.257712 -3.089286 +v 0.814147 2.353462 -3.019126 +v 0.953754 2.318178 -1.063694 +v 1.058569 0.257712 -1.657381 +v 0.464691 0.257712 -0.993535 +v 1.093580 0.572198 -0.993740 +v -0.967050 0.327872 -1.098364 +v -0.652605 0.292997 -3.089286 +v -1.001842 1.899274 -3.089286 +v -1.071864 2.213554 -2.635097 +v -1.106876 1.864194 -1.238272 +v -1.036853 0.467369 -2.774595 +v 0.674321 0.327666 -3.019126 +v 0.639528 2.353462 -2.914503 +v 0.499702 0.292792 -2.984252 +v 1.093580 0.257712 -1.308226 +v -1.001842 0.257712 -2.879629 +v 0.988765 2.353462 -2.111159 +v -1.001842 0.711901 -0.993535 +v -0.757420 0.257712 -3.089286 +v -1.106876 2.178680 -1.552552 +v 0.988765 0.292792 -2.565143 +v 1.128591 2.318178 -2.984252 +v -0.163542 2.283303 -3.054206 +v -1.001842 0.292997 -2.110954 +v 1.093580 2.353462 -2.565143 +v -1.106876 1.969023 -0.993535 +v -0.093738 2.283303 -0.993535 +f 69 46 79 +f 42 51 53 +f 45 52 55 +f 46 48 56 +f 52 45 56 +f 45 51 57 +f 54 50 57 +f 56 45 57 +f 50 56 57 +f 56 48 58 +f 52 43 59 +f 53 59 60 +f 43 49 60 +f 59 43 60 +f 49 43 61 +f 46 49 61 +f 44 43 63 +f 43 52 63 +f 62 44 63 +f 59 53 64 +f 49 46 65 +f 42 53 65 +f 53 49 65 +f 45 55 67 +f 52 56 68 +f 56 58 68 +f 63 52 68 +f 54 42 69 +f 42 65 69 +f 65 46 69 +f 48 46 70 +f 55 52 71 +f 52 59 71 +f 64 47 71 +f 59 64 71 +f 47 66 71 +f 66 55 71 +f 43 44 72 +f 61 43 72 +f 46 61 72 +f 62 46 72 +f 44 62 72 +f 66 47 73 +f 55 66 73 +f 67 55 73 +f 67 73 74 +f 51 45 74 +f 53 51 74 +f 47 64 74 +f 64 53 74 +f 45 67 74 +f 73 47 74 +f 49 53 75 +f 53 60 75 +f 60 49 75 +f 58 48 76 +f 62 63 76 +f 68 58 76 +f 63 68 76 +f 48 70 76 +f 70 62 76 +f 51 42 77 +f 42 54 77 +f 57 51 77 +f 54 57 77 +f 46 62 78 +f 70 46 78 +f 62 70 78 +f 50 54 79 +f 46 56 79 +f 56 50 79 +f 54 69 79 +o convex_2 +v -0.792390 2.248596 2.988369 +v -0.967081 0.187854 -0.993535 +v -0.268536 0.187854 -0.993535 +v -0.093846 2.283491 -0.993535 +v 1.023654 0.292754 2.987969 +v 0.953864 2.283491 -0.958333 +v -1.036870 0.257859 3.093178 +v 1.093659 2.388392 3.022772 +v 1.093443 0.187854 -0.923530 +v -1.106876 2.248596 -0.993535 +v -1.071765 2.318386 1.346644 +v -1.106876 0.187854 0.997817 +v 1.093443 0.187854 1.486255 +v -0.967081 1.969006 3.023172 +v 1.093659 0.607025 -0.993535 +v -1.106876 2.318386 0.683393 +v 1.093659 2.318386 2.079900 +v -0.478121 0.222964 2.673545 +v 1.093659 1.794531 3.022772 +v -1.106876 1.969006 -0.993535 +v 0.883858 2.388392 3.022772 +v 1.093659 2.388392 2.743551 +v -1.036870 0.467445 3.093178 +v -0.757496 0.257859 3.093178 +v -0.967081 2.213486 2.883562 +v 0.918969 2.283491 -0.993535 +v 1.058548 0.257859 2.603540 +v 0.360004 0.187854 1.800279 +v 1.093443 0.257859 -0.993535 +v -1.001975 0.187854 -0.609106 +v 0.709384 0.537235 3.022772 +v 1.058548 2.073906 0.788201 +v -1.071765 0.327649 2.184708 +v 1.093659 1.480045 2.987969 +v -1.071765 2.283491 1.451452 +v 0.115524 2.318386 3.022772 +v -1.001975 0.572345 3.093178 +v -1.106876 2.318386 0.613388 +v 0.010839 0.257859 3.022772 +v -1.106876 0.187854 0.927812 +v -1.106876 0.642135 1.066622 +v -0.617700 0.222964 2.673545 +v -0.967081 2.248596 2.743551 +v 1.093659 1.096200 -0.189474 +v 1.093443 0.222964 1.695871 +v 1.058548 0.642135 2.987969 +f 106 113 125 +f 82 81 83 +f 81 82 88 +f 83 81 89 +f 81 88 91 +f 91 88 92 +f 82 83 94 +f 92 88 94 +f 89 91 95 +f 87 94 96 +f 94 87 98 +f 89 81 99 +f 91 89 99 +f 95 90 100 +f 96 85 101 +f 87 96 101 +f 100 87 101 +f 86 97 103 +f 98 87 103 +f 102 86 103 +f 93 80 104 +f 102 93 104 +f 94 83 105 +f 85 94 105 +f 83 101 105 +f 101 85 105 +f 91 92 107 +f 92 106 107 +f 88 82 108 +f 82 94 108 +f 94 88 108 +f 81 91 109 +f 99 81 109 +f 84 98 110 +f 103 84 110 +f 98 103 110 +f 85 96 111 +f 91 86 112 +f 86 102 112 +f 102 95 112 +f 94 98 113 +f 90 95 114 +f 95 102 114 +f 104 90 114 +f 102 104 114 +f 80 93 115 +f 100 80 115 +f 87 100 116 +f 93 102 116 +f 103 87 116 +f 102 103 116 +f 115 93 116 +f 100 115 116 +f 83 89 117 +f 89 95 117 +f 95 100 117 +f 100 101 117 +f 101 83 117 +f 84 103 118 +f 103 97 118 +f 106 84 118 +f 97 107 118 +f 107 106 118 +f 91 99 119 +f 109 91 119 +f 99 109 119 +f 95 91 120 +f 91 112 120 +f 112 95 120 +f 86 91 121 +f 97 86 121 +f 91 107 121 +f 107 97 121 +f 80 100 122 +f 100 90 122 +f 104 80 122 +f 90 104 122 +f 94 85 123 +f 96 94 123 +f 85 111 123 +f 111 96 123 +f 92 94 124 +f 106 92 124 +f 94 113 124 +f 113 106 124 +f 98 84 125 +f 84 106 125 +f 113 98 125 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/371/371.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/371/371.urdf new file mode 100644 index 000000000..3fb0c746b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/371/371.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/372/372.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/372/372.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/372/372.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/372/372.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/372/372.obj new file mode 100644 index 000000000..f50272150 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/372/372.obj @@ -0,0 +1,612 @@ +o convex_0 +v 0.007493 -0.894273 1.804693 +v 0.007493 -3.060626 -2.039089 +v -0.027222 -2.990348 -2.283505 +v -1.005693 -2.046961 2.084025 +v 0.776465 -2.815639 2.014192 +v 0.007493 -1.278721 -2.738012 +v 1.021083 -2.011931 -1.933748 +v -0.970777 -0.824214 -0.535901 +v 0.951048 -0.824214 0.196755 +v -1.040812 -2.081771 -1.969256 +v -0.761075 -2.780828 2.083434 +v 0.706430 -1.942310 2.747440 +v -0.586291 -1.488241 2.642691 +v 0.776465 -2.815639 -2.039089 +v -0.027222 -2.815639 2.748032 +v -0.761075 -2.815857 -1.969256 +v 0.007493 -2.116801 -3.017937 +v 0.811381 -0.824214 -0.920575 +v 0.985964 -2.046961 2.013601 +v -0.900944 -0.824214 0.930595 +v -0.796194 -2.011931 -2.738012 +v -0.097055 -3.025596 2.049109 +v 0.741346 -1.977121 -2.772337 +v 0.042409 -1.243473 2.782949 +v 0.007493 -2.850668 -2.772929 +v -0.656326 -2.012150 2.852782 +v 0.706430 -1.208662 2.014192 +v -1.040812 -0.824214 0.126922 +v -0.795992 -1.313532 -2.038497 +v -0.062138 -0.823995 -1.375082 +v 0.077326 -2.011931 3.027956 +v 0.741346 -1.243473 -1.968664 +v 0.846298 -2.780828 0.231672 +v 0.776465 -0.824214 1.000428 +v 0.147159 -3.025596 2.049109 +v -0.866027 -0.824214 -0.920575 +v 1.021083 -2.046961 1.000428 +v 0.776465 -2.850887 -1.444324 +v -1.040812 -2.046961 1.105178 +v -0.761075 -1.243473 2.083434 +v 0.496729 -2.641148 2.607774 +v -0.761075 -2.256700 -2.702504 +v -0.097055 -1.278721 -2.738012 +v -0.062138 -1.208443 2.748032 +v -0.761075 -2.012150 2.782949 +v 0.601680 -2.571089 -2.597754 +v 0.112243 -3.060626 -2.004173 +v -0.551374 -2.571089 2.642691 +v -0.062138 -0.823995 1.594602 +v 0.741346 -2.046961 2.747440 +v 0.985964 -1.068763 0.057089 +v 0.531645 -1.453212 -2.563430 +v -0.621409 -1.488241 -2.563430 +v 0.042409 -2.745799 2.817865 +v -0.551374 -2.675959 -2.563430 +v 0.531645 -1.418182 2.573449 +v 1.021083 -2.116801 -1.235416 +v 0.951048 -0.824214 -0.186735 +v 0.985964 -1.942310 1.978684 +v 0.741346 -2.081771 -2.772337 +v 0.811381 -2.780828 -2.004173 +v -0.970777 -1.837441 2.084025 +v -0.097055 -2.011931 -3.017937 +v 0.776465 -2.850887 -0.186735 +f 47 38 64 +f 3 2 16 +f 11 10 16 +f 15 11 22 +f 16 2 22 +f 11 16 22 +f 2 3 25 +f 3 16 25 +f 8 10 28 +f 10 8 29 +f 21 10 29 +f 18 6 30 +f 8 28 30 +f 12 24 31 +f 6 18 32 +f 18 7 32 +f 7 23 32 +f 1 24 34 +f 27 9 34 +f 24 27 34 +f 5 15 35 +f 15 22 35 +f 29 8 36 +f 8 30 36 +f 19 5 37 +f 5 33 37 +f 11 4 39 +f 10 11 39 +f 4 28 39 +f 28 10 39 +f 15 5 41 +f 16 10 42 +f 10 21 42 +f 30 6 43 +f 29 36 43 +f 36 30 43 +f 24 1 44 +f 13 26 44 +f 31 24 44 +f 26 31 44 +f 20 40 44 +f 40 13 44 +f 4 11 45 +f 26 13 45 +f 13 40 45 +f 14 25 46 +f 22 2 47 +f 2 25 47 +f 25 14 47 +f 35 22 47 +f 14 38 47 +f 11 15 48 +f 45 11 48 +f 26 45 48 +f 28 20 49 +f 9 30 49 +f 30 28 49 +f 1 34 49 +f 34 9 49 +f 44 1 49 +f 20 44 49 +f 5 19 50 +f 12 31 50 +f 41 5 50 +f 37 7 51 +f 23 6 52 +f 6 32 52 +f 32 23 52 +f 21 29 53 +f 43 21 53 +f 29 43 53 +f 31 26 54 +f 15 41 54 +f 48 15 54 +f 26 48 54 +f 50 31 54 +f 41 50 54 +f 25 16 55 +f 16 42 55 +f 42 25 55 +f 24 12 56 +f 12 27 56 +f 27 24 56 +f 7 37 57 +f 37 33 57 +f 7 18 58 +f 18 30 58 +f 30 9 58 +f 51 7 58 +f 9 51 58 +f 9 27 59 +f 27 12 59 +f 19 37 59 +f 50 19 59 +f 12 50 59 +f 51 9 59 +f 37 51 59 +f 23 7 60 +f 17 23 60 +f 25 17 60 +f 46 25 60 +f 46 60 61 +f 38 14 61 +f 33 38 61 +f 14 46 61 +f 7 57 61 +f 57 33 61 +f 60 7 61 +f 28 4 62 +f 20 28 62 +f 40 20 62 +f 4 45 62 +f 45 40 62 +f 6 23 63 +f 23 17 63 +f 17 25 63 +f 42 21 63 +f 25 42 63 +f 43 6 63 +f 21 43 63 +f 33 5 64 +f 5 35 64 +f 38 33 64 +f 35 47 64 +o convex_1 +v -0.970811 -0.823995 -0.536452 +v 0.951188 -0.474456 0.196855 +v 0.951188 -0.823995 0.196855 +v -0.062361 -0.823995 1.490003 +v -0.831004 -0.020284 0.721301 +v 0.042348 -0.020284 -0.990648 +v 0.706478 -0.020284 0.791281 +v 0.811381 -0.823995 -0.920668 +v 0.741381 -0.020284 -0.746122 +v -0.796101 -0.020284 -0.746122 +v -0.062361 -0.823995 -1.270299 +v -0.901005 -0.823995 0.895846 +v 0.776283 -0.823995 1.000681 +v -1.040812 -0.020284 0.092560 +v -0.132167 -0.020284 1.035537 +v 0.951188 -0.020284 -0.082256 +v -0.865907 -0.753977 -0.920668 +v -1.040812 -0.823995 0.127144 +v -0.796101 -0.020284 0.791011 +v 0.951188 -0.020284 0.127144 +v -1.040812 -0.055293 -0.082256 +v -0.865907 -0.719047 0.965826 +v -0.027653 -0.788907 1.490003 +v 0.951188 -0.823995 -0.186821 +v -0.027653 -0.788907 -1.270299 +v 0.251960 -0.020284 0.965826 +v -0.097264 -0.020284 -0.990648 +v 0.706478 -0.055293 0.825866 +v 0.811381 -0.788907 0.930971 +v -0.901005 -0.823995 -0.850958 +v 0.811381 -0.753977 -0.920668 +v -0.796101 -0.090223 -0.780977 +v -0.062361 -0.788907 1.490003 +v -0.062361 -0.788907 -1.270299 +v -1.040812 -0.823995 -0.082256 +v 0.881187 -0.788907 -0.641287 +v 0.671575 -0.020284 -0.780977 +v -0.831004 -0.195014 -0.780977 +v 0.007445 -0.020284 1.035537 +v -0.935908 -0.719047 0.756156 +v 0.776283 -0.788907 1.000681 +f 93 92 105 +f 65 67 68 +f 70 69 71 +f 67 65 72 +f 70 71 73 +f 69 70 74 +f 72 65 75 +f 65 68 76 +f 68 67 77 +f 69 74 78 +f 71 69 79 +f 66 67 80 +f 73 71 80 +f 65 76 82 +f 79 69 83 +f 66 80 84 +f 80 71 84 +f 78 74 85 +f 82 78 85 +f 76 68 86 +f 83 69 86 +f 68 77 87 +f 67 72 88 +f 80 67 88 +f 72 75 89 +f 71 79 90 +f 74 70 91 +f 70 89 91 +f 84 71 92 +f 71 90 92 +f 90 87 92 +f 67 66 93 +f 77 67 93 +f 66 84 93 +f 84 92 93 +f 75 65 94 +f 81 75 94 +f 65 85 94 +f 73 80 95 +f 72 89 95 +f 74 91 96 +f 79 83 97 +f 86 68 97 +f 83 86 97 +f 68 87 97 +f 87 79 97 +f 75 81 98 +f 89 75 98 +f 91 89 98 +f 81 96 98 +f 96 91 98 +f 65 82 99 +f 85 65 99 +f 82 85 99 +f 88 72 100 +f 80 88 100 +f 95 80 100 +f 72 95 100 +f 70 73 101 +f 89 70 101 +f 73 95 101 +f 95 89 101 +f 85 74 102 +f 81 94 102 +f 94 85 102 +f 74 96 102 +f 96 81 102 +f 79 87 103 +f 90 79 103 +f 87 90 103 +f 69 78 104 +f 82 76 104 +f 78 82 104 +f 76 86 104 +f 86 69 104 +f 87 77 105 +f 92 87 105 +f 77 93 105 +o convex_2 +v -1.005714 0.713689 -0.292036 +v 0.951188 0.713689 0.231867 +v 0.846284 0.713689 0.826068 +v 0.042543 -0.020205 1.035936 +v 0.706478 -0.020205 -0.781046 +v -0.831004 -0.020205 -0.711260 +v 0.007445 0.713689 -1.270569 +v -0.865907 0.713689 0.965895 +v -0.831004 -0.020205 0.721390 +v 0.951188 -0.020205 0.127189 +v 0.846284 0.713689 -0.885980 +v -0.062166 0.713689 1.350483 +v -0.865907 0.713689 -0.956022 +v 0.706478 0.014780 0.826068 +v -1.040812 -0.020205 -0.082167 +v -0.062166 -0.020205 -1.025807 +v 0.776283 0.643791 1.000787 +v -0.726101 -0.020205 0.826068 +v -1.040812 0.713689 0.057404 +v 0.951188 0.014780 -0.117060 +v -1.040812 -0.020205 0.092296 +v 0.811186 0.643791 -0.955765 +v 0.007445 0.678704 1.350483 +v -0.097264 0.014780 1.070829 +v -0.795906 0.119591 -0.816195 +v -0.062166 0.678704 -1.270569 +v 0.951188 0.713689 -0.186845 +v 0.007445 0.364127 -1.165634 +v 0.776283 0.014780 -0.711260 +v -0.831004 0.224474 0.861217 +v -0.935908 0.678704 -0.746153 +v 0.671575 -0.020205 0.826068 +v -0.062166 0.678704 1.350483 +v -0.900810 0.678704 0.861217 +v 0.776283 0.713689 1.000787 +v 0.881187 0.643791 -0.746153 +v 0.112349 0.678704 -1.235420 +v 0.916090 0.259387 0.406586 +v 0.007445 -0.020205 -1.025807 +f 121 133 144 +f 108 107 106 +f 110 109 111 +f 106 107 112 +f 108 106 113 +f 111 109 114 +f 109 110 115 +f 112 107 116 +f 108 113 117 +f 106 112 118 +f 111 114 120 +f 110 111 121 +f 114 109 123 +f 113 106 124 +f 106 120 124 +f 107 115 125 +f 115 110 125 +f 120 114 126 +f 124 120 126 +f 112 116 127 +f 119 122 128 +f 123 109 129 +f 109 128 129 +f 111 118 130 +f 121 111 130 +f 121 130 131 +f 118 112 131 +f 130 118 131 +f 116 107 132 +f 107 125 132 +f 121 131 133 +f 131 112 133 +f 125 110 134 +f 110 127 134 +f 114 123 135 +f 126 114 135 +f 106 118 136 +f 118 111 136 +f 120 106 136 +f 111 120 136 +f 109 115 137 +f 115 119 137 +f 128 109 137 +f 119 128 137 +f 117 113 138 +f 128 117 138 +f 123 129 138 +f 129 128 138 +f 113 135 138 +f 135 123 138 +f 113 124 139 +f 124 126 139 +f 135 113 139 +f 126 135 139 +f 108 117 140 +f 122 108 140 +f 117 128 140 +f 128 122 140 +f 127 116 141 +f 116 132 141 +f 132 125 141 +f 125 134 141 +f 134 127 141 +f 127 110 142 +f 112 127 142 +f 110 133 142 +f 133 112 142 +f 107 108 143 +f 115 107 143 +f 119 115 143 +f 108 122 143 +f 122 119 143 +f 110 121 144 +f 133 110 144 +o convex_3 +v 0.706430 2.740253 2.258608 +v -0.027222 0.713689 -1.375082 +v -0.062138 0.748814 -1.479832 +v -1.005693 2.006577 2.118942 +v -0.062138 2.810503 -2.738012 +v 0.951048 0.713689 0.231672 +v 0.985964 2.006577 -2.074006 +v -1.040812 0.713689 -0.047069 +v 0.112243 1.168224 2.748032 +v -0.795992 2.740485 -2.004173 +v -0.446624 2.950306 2.083434 +v -0.062138 1.203116 -2.772929 +v 1.021083 1.971685 2.118942 +v -1.040812 1.971452 -2.039089 +v 0.706430 2.810271 -2.039089 +v 0.042409 2.041237 3.027956 +v 0.007493 3.090110 0.476680 +v -0.866027 0.713689 0.965512 +v 0.776263 1.133331 -1.933748 +v 0.706430 1.936792 -2.807846 +v -0.795992 1.936559 -2.738012 +v -0.795992 2.810271 2.083434 +v -0.726159 1.971685 2.817865 +v -0.866027 0.713689 -0.955492 +v 0.811180 0.713689 0.965512 +v 0.846298 1.971452 2.748032 +v 0.077326 2.810503 2.748032 +v 0.811180 2.775378 2.013601 +v -0.131972 3.020092 -2.004173 +v -0.097257 2.006577 -3.017937 +v 0.042409 3.090110 2.049109 +v 0.846298 0.713689 -0.920575 +v -0.726159 1.203116 2.118350 +v 0.776263 1.203116 2.118350 +v 0.007493 0.713689 1.454935 +v -0.831110 1.238242 -2.003581 +v -1.040812 2.041470 0.860762 +v -0.761075 2.845396 0.895678 +v 0.741346 2.845396 0.511596 +v -1.040812 2.076595 -1.968664 +v -0.027222 1.203116 2.782949 +v 0.566562 1.378045 -2.597754 +v 0.566562 2.565790 -2.597754 +v -0.551576 2.635575 2.607774 +v 0.077326 3.020092 -2.004173 +v -0.795992 2.076362 -2.738012 +v -0.097257 3.090110 0.930595 +v 0.985964 2.216398 2.014192 +v 0.741346 2.810271 -1.584582 +v -0.621207 1.412937 -2.562838 +v -0.621207 2.600450 -2.527921 +v 0.636597 1.412937 2.607774 +v 0.951048 0.713689 -0.186735 +v 0.776263 1.971452 -2.738012 +v 0.042409 2.775378 -2.772929 +v -0.551576 1.447830 2.642691 +v -0.027222 1.133098 -2.633263 +v -0.027222 2.775378 2.782949 +v 0.741346 2.845396 2.013601 +v -0.691242 2.810271 -2.004173 +v 0.985964 2.041470 -2.039089 +v 0.985964 1.867007 -1.968664 +v 0.636597 2.565790 2.572857 +v -0.935860 0.713689 -0.745992 +f 180 168 208 +f 146 150 152 +f 148 152 162 +f 152 150 162 +f 166 148 167 +f 147 146 168 +f 146 152 168 +f 162 150 169 +f 160 153 170 +f 160 170 171 +f 145 170 172 +f 164 156 174 +f 156 165 174 +f 150 146 176 +f 148 162 177 +f 167 148 177 +f 150 157 178 +f 169 150 178 +f 153 169 178 +f 157 170 178 +f 169 153 179 +f 162 169 179 +f 158 165 180 +f 156 168 180 +f 152 148 181 +f 158 152 181 +f 148 166 181 +f 154 166 182 +f 166 155 182 +f 161 175 183 +f 166 154 184 +f 158 181 184 +f 181 166 184 +f 153 160 185 +f 160 167 185 +f 177 162 185 +f 179 153 185 +f 162 179 185 +f 156 164 186 +f 166 167 188 +f 149 173 189 +f 173 161 189 +f 165 158 190 +f 149 174 190 +f 174 165 190 +f 184 154 190 +f 158 184 190 +f 161 173 191 +f 155 175 191 +f 175 161 191 +f 182 155 191 +f 173 182 191 +f 170 157 192 +f 172 170 192 +f 161 183 193 +f 183 172 193 +f 159 189 193 +f 189 161 193 +f 165 156 194 +f 156 180 194 +f 180 165 194 +f 149 190 195 +f 190 154 195 +f 170 153 196 +f 153 178 196 +f 178 170 196 +f 157 150 197 +f 150 176 197 +f 163 186 198 +f 186 164 198 +f 187 159 198 +f 164 187 198 +f 164 174 199 +f 174 149 199 +f 159 187 199 +f 187 164 199 +f 149 189 199 +f 189 159 199 +f 167 177 200 +f 185 167 200 +f 177 185 200 +f 146 147 201 +f 147 168 201 +f 168 156 201 +f 176 146 201 +f 163 176 201 +f 156 186 201 +f 186 163 201 +f 155 166 202 +f 167 160 202 +f 160 171 202 +f 175 155 202 +f 171 175 202 +f 166 188 202 +f 188 167 202 +f 171 145 203 +f 145 172 203 +f 175 171 203 +f 172 183 203 +f 183 175 203 +f 173 149 204 +f 154 182 204 +f 182 173 204 +f 149 195 204 +f 195 154 204 +f 157 151 205 +f 192 157 205 +f 172 192 205 +f 159 193 205 +f 193 172 205 +f 151 198 205 +f 198 159 205 +f 151 157 206 +f 176 163 206 +f 157 197 206 +f 197 176 206 +f 198 151 206 +f 163 198 206 +f 170 145 207 +f 145 171 207 +f 171 170 207 +f 152 158 208 +f 168 152 208 +f 158 180 208 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/372/372.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/372/372.urdf new file mode 100644 index 000000000..6774e8923 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/372/372.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/373/373.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/373/373.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/373/373.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/373/373.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/373/373.obj new file mode 100644 index 000000000..68dbbabed --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/373/373.obj @@ -0,0 +1,573 @@ +o convex_0 +v -0.487662 -1.159431 -3.411475 +v 0.601091 -1.095557 -2.194897 +v 0.601091 -1.191480 -2.194897 +v -0.679884 -1.063508 -2.194897 +v -0.135444 -1.703933 -2.194897 +v 0.408870 -1.127494 -3.731609 +v -0.071370 -0.551055 -2.226962 +v 0.056652 -1.511749 -3.667651 +v -0.039396 -0.807338 -3.699717 +v 0.472944 -0.647204 -2.291092 +v -0.551736 -0.615154 -2.194897 +v 0.408870 -1.607785 -2.226962 +v -0.519762 -1.575735 -2.226962 +v -0.039396 -1.191480 -3.956065 +v -0.327540 -1.415601 -3.539563 +v -0.423588 -1.127494 -3.699717 +v 0.376896 -1.511749 -3.123234 +v 0.312822 -0.903374 -3.539563 +v -0.327540 -0.871324 -3.507498 +v -0.039396 -1.607785 -3.123234 +v 0.472944 -0.647204 -2.194897 +v 0.537018 -1.159431 -2.963425 +v -0.423588 -1.511749 -2.995491 +v -0.583710 -1.159431 -2.931533 +v 0.408870 -1.223417 -3.699717 +v -0.039396 -1.511749 -3.699717 +v 0.024552 -0.807338 -3.699717 +v 0.056652 -1.703933 -2.194897 +v 0.056652 -1.191480 -3.956065 +v -0.007422 -0.679253 -3.027556 +v -0.551736 -0.615154 -2.226962 +v 0.472944 -1.351615 -2.995491 +v 0.280848 -1.447650 -3.571628 +v -0.583710 -1.063508 -2.867402 +v -0.647784 -1.255579 -2.194897 +v -0.391614 -1.191480 -3.731609 +v -0.455688 -1.479700 -2.995491 +v 0.440970 -1.575735 -2.194897 +v 0.504918 -0.711190 -2.291092 +v 0.088626 -1.607785 -2.995491 +v -0.039396 -1.127494 -3.956065 +v -0.391614 -0.615154 -2.419180 +v -0.455688 -0.743239 -2.867402 +v 0.056652 -1.479700 -3.731609 +v 0.056652 -1.095557 -3.923828 +v -0.007422 -0.551055 -2.194897 +f 10 30 46 +f 3 2 4 +f 3 4 5 +f 4 2 11 +f 10 6 18 +f 9 16 19 +f 11 2 21 +f 2 3 22 +f 5 13 23 +f 20 5 23 +f 6 22 25 +f 8 20 26 +f 23 15 26 +f 20 23 26 +f 18 6 27 +f 10 18 27 +f 3 5 28 +f 5 20 28 +f 6 25 29 +f 27 9 30 +f 10 27 30 +f 4 11 31 +f 11 7 31 +f 22 3 32 +f 17 25 32 +f 25 22 32 +f 17 8 33 +f 25 17 33 +f 16 1 34 +f 24 4 34 +f 1 24 34 +f 4 31 34 +f 31 16 34 +f 5 4 35 +f 13 5 35 +f 4 24 35 +f 1 16 36 +f 14 26 36 +f 26 15 36 +f 23 13 37 +f 15 23 37 +f 24 1 37 +f 13 35 37 +f 35 24 37 +f 1 36 37 +f 36 15 37 +f 12 17 38 +f 3 28 38 +f 28 12 38 +f 32 3 38 +f 17 32 38 +f 6 10 39 +f 10 21 39 +f 21 2 39 +f 2 22 39 +f 22 6 39 +f 8 17 40 +f 17 12 40 +f 20 8 40 +f 12 28 40 +f 28 20 40 +f 16 9 41 +f 9 27 41 +f 29 14 41 +f 14 36 41 +f 36 16 41 +f 7 30 42 +f 30 9 42 +f 31 7 42 +f 9 31 42 +f 9 19 43 +f 19 16 43 +f 31 9 43 +f 16 31 43 +f 8 26 44 +f 26 14 44 +f 29 25 44 +f 14 29 44 +f 33 8 44 +f 25 33 44 +f 27 6 45 +f 6 29 45 +f 41 27 45 +f 29 41 45 +f 7 11 46 +f 21 10 46 +f 11 21 46 +f 30 7 46 +o convex_1 +v -0.327594 0.217530 0.942934 +v -0.039277 -2.152274 0.848798 +v -0.007491 -2.152274 0.848798 +v 0.024499 -1.223467 4.050029 +v 0.985215 0.217530 -1.746051 +v -0.999993 -1.159211 -1.745440 +v 0.697102 -1.831924 -1.713654 +v 0.793072 -1.127199 3.568958 +v -0.839839 -1.159443 3.472988 +v -1.031982 0.217298 -1.617684 +v 0.632918 -0.358915 3.120896 +v -0.775860 -1.863935 -1.649470 +v 0.793072 -1.895947 2.095793 +v -0.039277 -1.959971 3.472988 +v -0.839839 -1.863935 2.064007 +v -0.711880 -1.095188 -2.194724 +v -0.615706 -0.551218 3.184468 +v 1.017408 -1.191455 2.096404 +v -1.064176 -1.095419 2.128191 +v 0.921235 0.217530 0.015635 +v -0.968003 0.217298 0.175788 +v 0.665112 0.153274 -2.098144 +v 0.440775 -1.607609 -2.194724 +v 0.953225 -1.159211 -1.681867 +v -0.135247 -0.391391 3.537172 +v -0.007491 -2.088018 -1.713654 +v -0.743870 0.217530 -2.065746 +v -1.064176 -1.127199 -1.137835 +v -0.071267 -2.152274 2.128191 +v -0.551727 -1.575597 -2.194724 +v 0.729092 -1.895947 -1.073652 +v 0.568938 -1.767900 3.216866 +v -0.807849 -1.895947 -0.977071 +v 0.632918 -1.191455 -2.194724 +v -0.904023 -0.359147 1.999823 +v -1.064176 0.185286 -0.945285 +v 0.985215 -1.191455 -0.977071 +v 0.729092 -1.959971 2.095793 +v 0.408785 0.217530 0.688034 +v -0.583716 -1.735888 3.184468 +v 0.889245 -0.487195 1.903854 +v -0.231420 -0.551218 -2.194724 +v 0.056489 -1.927959 3.569569 +v -0.135247 -2.120030 -1.040643 +v 0.056489 -2.120030 -1.008857 +v 0.024499 -1.127431 4.050029 +v -0.743870 -1.191455 3.601356 +v 0.985215 0.217530 -0.657376 +v -0.968003 0.089251 -1.842021 +v 0.793072 -1.223235 3.537172 +v -1.064176 -1.191223 2.031610 +v -0.647696 0.217530 0.751606 +v -0.103257 -1.767900 -2.161716 +v 0.056489 -2.152274 2.064007 +v -0.039277 -0.359147 3.441202 +v -0.039277 -1.863935 3.633142 +v -0.807849 -1.095188 3.537172 +v 0.793072 0.217530 -2.033960 +v -0.839839 -1.831924 -1.009468 +v -0.711880 -1.927727 2.064007 +v 1.017408 -1.095188 2.032221 +v 0.472765 -0.647254 -2.194724 +v 0.889245 0.217530 0.175788 +v -0.999993 0.217298 -0.048549 +f 98 73 110 +f 51 47 66 +f 69 53 72 +f 47 51 73 +f 56 52 74 +f 52 58 74 +f 48 49 75 +f 58 52 76 +f 52 62 76 +f 62 69 76 +f 53 70 77 +f 72 53 77 +f 69 62 80 +f 53 69 80 +f 70 53 80 +f 51 70 80 +f 65 55 81 +f 63 67 81 +f 56 74 82 +f 74 65 82 +f 64 59 83 +f 70 51 83 +f 59 77 83 +f 77 70 83 +f 77 59 84 +f 59 78 84 +f 66 47 85 +f 55 61 86 +f 61 60 86 +f 57 54 87 +f 66 57 87 +f 62 73 88 +f 73 68 88 +f 80 62 88 +f 84 78 89 +f 49 48 90 +f 58 72 90 +f 48 75 90 +f 79 58 90 +f 75 79 90 +f 72 77 91 +f 77 84 91 +f 49 90 91 +f 90 72 91 +f 50 54 92 +f 54 57 92 +f 57 71 92 +f 55 86 93 +f 50 92 93 +f 51 66 94 +f 52 56 95 +f 62 52 95 +f 56 73 95 +f 73 62 95 +f 54 50 96 +f 64 54 96 +f 59 64 96 +f 78 59 96 +f 50 89 96 +f 89 78 96 +f 61 55 97 +f 55 65 97 +f 65 74 97 +f 67 63 98 +f 71 47 98 +f 63 71 98 +f 47 73 98 +f 72 58 99 +f 69 72 99 +f 58 76 99 +f 76 69 99 +f 75 49 100 +f 60 75 100 +f 89 60 100 +f 84 89 100 +f 49 91 100 +f 91 84 100 +f 47 71 101 +f 71 57 101 +f 85 47 101 +f 57 85 101 +f 86 60 102 +f 89 50 102 +f 60 89 102 +f 93 86 102 +f 50 93 102 +f 71 63 103 +f 81 55 103 +f 63 81 103 +f 92 71 103 +f 93 92 103 +f 55 93 103 +f 73 51 104 +f 68 73 104 +f 51 80 104 +f 80 68 104 +f 74 58 105 +f 58 79 105 +f 79 61 105 +f 61 97 105 +f 97 74 105 +f 60 61 106 +f 75 60 106 +f 61 79 106 +f 79 75 106 +f 54 64 107 +f 83 51 107 +f 64 83 107 +f 87 54 107 +f 66 87 107 +f 51 94 107 +f 94 66 107 +f 68 80 108 +f 88 68 108 +f 80 88 108 +f 57 66 109 +f 66 85 109 +f 85 57 109 +f 73 56 110 +f 65 81 110 +f 81 67 110 +f 56 82 110 +f 82 65 110 +f 67 98 110 +o convex_2 +v -0.743857 0.217530 -2.066627 +v -0.455563 0.890571 0.303177 +v -0.487662 0.890571 0.303177 +v 0.088526 3.900333 -0.977528 +v 0.985309 0.217530 -1.746044 +v 0.889210 0.217530 0.142886 +v 0.793112 2.939257 -1.746044 +v -0.711758 2.971341 -1.714265 +v -0.967952 0.217530 0.174898 +v -0.647759 3.035149 -0.081197 +v 0.633015 3.035149 -0.369535 +v -1.032152 1.691228 -0.977528 +v 1.017408 2.074793 -0.945749 +v 0.152725 3.291820 -0.145453 +v 0.633015 1.722951 -2.002371 +v -1.000052 0.217530 -1.778288 +v 0.825212 3.387711 -0.945749 +v -0.743857 3.355628 -0.945749 +v 0.024527 3.323183 -1.778288 +v 0.729114 0.217530 -2.066627 +v 0.665115 0.249974 0.303177 +v -0.615659 1.723312 -2.002371 +v -0.967952 1.755035 -1.746044 +v -0.935853 1.850927 -0.177232 +v 0.825212 2.010986 -0.177232 +v 0.985309 1.658784 -1.778288 +v -0.871854 0.217530 0.303177 +v 1.017408 0.473841 -0.945749 +v 0.472919 0.858488 0.270933 +v -1.032152 0.217530 -0.497583 +v 0.088526 2.010986 -2.002371 +v 0.152725 3.419435 -0.209476 +v -0.711758 2.971341 -0.081197 +v 0.024527 3.900333 -0.977528 +v -1.000052 2.042709 -0.945749 +v -1.032152 0.249974 -1.618229 +v 0.056627 3.451519 -1.682021 +v -0.839955 0.858127 -2.002371 +v -0.711758 2.875089 -1.778288 +v 1.017408 1.690868 -1.521962 +v 1.017408 1.626700 -0.753909 +v 0.825212 0.858127 -2.002371 +v -0.743857 0.762236 0.303177 +v -1.000052 1.466640 -1.746044 +v -0.967952 1.306581 -0.081197 +v 0.761213 3.355267 -1.169831 +v 0.953209 0.217530 -0.305512 +v -0.743857 3.355628 -1.009772 +v 0.312822 2.202408 0.046850 +v 0.729114 0.442117 -2.066627 +v -0.039271 3.836165 -0.881725 +v 0.889210 0.377949 0.142886 +v 0.761213 2.907173 -1.778288 +v 0.889210 1.914734 -0.337524 +v 0.376820 3.227292 -1.746044 +v 0.793112 3.419795 -0.913737 +v 0.056627 3.419435 -0.209476 +v -0.743857 0.345866 -2.066627 +v 0.825212 3.387711 -1.009772 +v -0.007372 3.419435 -1.714033 +v 0.088526 3.868249 -0.881725 +v -1.000052 0.282058 -0.049185 +v -0.711758 3.387711 -0.913737 +v -0.071370 2.010986 -2.002371 +f 160 168 174 +f 111 115 116 +f 111 116 119 +f 113 112 120 +f 120 112 124 +f 111 119 126 +f 115 111 130 +f 112 113 131 +f 121 124 135 +f 127 121 135 +f 119 116 137 +f 131 113 137 +f 116 131 137 +f 112 131 139 +f 131 135 139 +f 126 119 140 +f 129 125 141 +f 124 121 142 +f 119 137 143 +f 122 134 145 +f 143 128 145 +f 134 143 145 +f 140 122 146 +f 126 140 146 +f 144 114 147 +f 111 126 148 +f 148 133 149 +f 129 132 149 +f 133 118 149 +f 132 148 149 +f 115 136 150 +f 136 117 150 +f 138 115 150 +f 123 138 150 +f 138 123 151 +f 115 130 152 +f 136 115 152 +f 113 120 153 +f 137 113 153 +f 120 143 153 +f 143 137 153 +f 122 145 154 +f 145 133 154 +f 126 146 154 +f 146 122 154 +f 148 126 154 +f 133 148 154 +f 134 122 155 +f 119 143 155 +f 143 134 155 +f 116 115 157 +f 115 138 157 +f 151 116 157 +f 138 151 157 +f 118 133 158 +f 144 118 158 +f 133 145 158 +f 145 128 158 +f 124 112 159 +f 135 124 159 +f 112 139 159 +f 139 135 159 +f 130 111 160 +f 141 125 160 +f 125 152 160 +f 152 130 160 +f 131 116 162 +f 135 131 162 +f 116 151 162 +f 125 129 163 +f 117 136 163 +f 152 125 163 +f 136 152 163 +f 123 127 164 +f 127 135 164 +f 151 123 164 +f 135 162 164 +f 162 151 164 +f 147 114 165 +f 129 147 165 +f 114 156 165 +f 156 117 165 +f 117 163 165 +f 163 129 165 +f 121 127 166 +f 142 121 166 +f 120 124 167 +f 124 142 167 +f 161 120 167 +f 111 148 168 +f 148 132 168 +f 160 111 168 +f 127 123 169 +f 150 117 169 +f 123 150 169 +f 156 114 169 +f 117 156 169 +f 114 166 169 +f 166 127 169 +f 118 144 170 +f 147 129 170 +f 144 147 170 +f 149 118 170 +f 129 149 170 +f 114 144 171 +f 144 161 171 +f 166 114 171 +f 142 166 171 +f 167 142 171 +f 161 167 171 +f 140 119 172 +f 122 140 172 +f 155 122 172 +f 119 155 172 +f 143 120 173 +f 128 143 173 +f 144 158 173 +f 158 128 173 +f 120 161 173 +f 161 144 173 +f 132 129 174 +f 129 141 174 +f 141 160 174 +f 168 132 174 +o convex_3 +v -0.807875 0.217530 0.399316 +v -0.423792 0.793969 0.335274 +v -0.263686 0.249579 0.815567 +v -0.039396 0.217530 0.303227 +v -0.743848 0.697877 0.303227 +v -0.391818 0.217530 0.815567 +v -0.840006 0.217530 0.303227 +v -0.039396 0.249579 0.431362 +v -0.679821 0.249579 0.591343 +v -0.743848 0.697877 0.335274 +v -0.199659 0.249579 0.783471 +v -0.327713 0.697877 0.303227 +v -0.391818 0.249579 0.815567 +f 176 184 187 +f 175 178 180 +f 178 175 181 +f 179 178 181 +f 175 180 183 +f 176 179 184 +f 181 175 184 +f 179 181 184 +f 175 183 184 +f 176 177 185 +f 177 180 185 +f 180 178 185 +f 178 182 185 +f 185 182 186 +f 178 179 186 +f 179 176 186 +f 182 178 186 +f 176 185 186 +f 177 176 187 +f 180 177 187 +f 183 180 187 +f 184 183 187 +o convex_4 +v 0.472919 0.217530 0.591321 +v -0.039330 0.217530 0.303177 +v -0.039330 0.217530 0.367238 +v 0.120801 0.569798 0.303177 +v 0.633050 0.217530 0.303177 +v 0.248880 0.249564 0.687470 +v 0.504971 0.473697 0.335227 +v 0.152788 0.537730 0.399325 +v 0.344840 0.249564 0.687470 +f 195 193 196 +f 190 189 188 +f 189 190 191 +f 188 189 192 +f 189 191 192 +f 190 188 193 +f 188 192 194 +f 192 191 194 +f 191 190 195 +f 190 193 195 +f 194 191 195 +f 194 195 196 +f 193 188 196 +f 188 194 196 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/373/373.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/373/373.urdf new file mode 100644 index 000000000..1b77d2c7f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/373/373.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/374/374.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/374/374.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/374/374.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/374/374.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/374/374.obj new file mode 100644 index 000000000..3a84bc510 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/374/374.obj @@ -0,0 +1,492 @@ +o convex_0 +v -0.109077 -1.735169 3.059754 +v 0.218763 -2.390918 1.091945 +v 0.278399 -2.390918 1.091945 +v -0.228285 -1.705301 1.091945 +v -0.317772 -2.241848 2.970185 +v 0.338036 -1.794770 3.000041 +v 0.248549 -1.735169 1.091945 +v -0.258136 -2.301449 1.121994 +v 0.218763 -2.211980 2.940329 +v -0.317772 -1.705301 1.390314 +v -0.198499 -1.705301 3.059754 +v 0.338036 -1.764969 2.493258 +v -0.317772 -1.854371 1.091945 +v 0.338036 -1.914040 2.970185 +v -0.079291 -1.705301 3.029705 +v -0.079291 -2.241848 2.970185 +v 0.278399 -1.973641 1.091945 +v -0.317772 -2.152378 2.970185 +v 0.278399 -2.092777 2.970185 +v -0.258136 -2.301449 1.628778 +v -0.317772 -2.241848 2.582633 +v 0.278399 -1.735169 1.479882 +v 0.308186 -1.764969 3.000041 +v -0.228285 -2.301449 1.091945 +f 8 13 24 +f 3 2 4 +f 2 3 5 +f 3 4 7 +f 5 1 11 +f 4 10 11 +f 4 2 13 +f 10 4 13 +f 5 10 13 +f 3 12 14 +f 12 6 14 +f 4 11 15 +f 1 5 16 +f 5 3 16 +f 3 9 16 +f 3 7 17 +f 12 3 17 +f 10 5 18 +f 5 11 18 +f 11 10 18 +f 6 1 19 +f 9 3 19 +f 3 14 19 +f 14 6 19 +f 1 16 19 +f 16 9 19 +f 2 5 20 +f 8 2 20 +f 5 8 20 +f 8 5 21 +f 13 8 21 +f 5 13 21 +f 7 4 22 +f 4 15 22 +f 17 7 22 +f 12 17 22 +f 1 6 23 +f 11 1 23 +f 6 12 23 +f 15 11 23 +f 22 15 23 +f 12 22 23 +f 2 8 24 +f 13 2 24 +o convex_1 +v -0.764938 -1.615788 -0.965263 +v 0.636071 0.680135 1.091945 +v 0.606244 0.680135 1.091945 +v 1.053647 3.035081 -1.084571 +v -1.093034 3.034620 0.942597 +v 1.053647 -1.615327 1.062118 +v -1.063207 -1.615788 0.912770 +v -0.914072 3.095027 -0.905396 +v 0.964166 -1.615788 -1.084571 +v 0.964166 2.975136 1.062118 +v -0.973726 -1.615788 -0.935223 +v -0.347576 -1.615788 1.062118 +v 0.397669 3.095027 0.435965 +v 1.083473 -0.661267 0.107868 +v -0.943899 2.289909 -0.935223 +v 0.427496 -1.466384 -1.084571 +v 1.083473 -1.585354 0.912770 +v -1.093034 2.438390 0.674367 +v 0.993993 3.005109 0.763848 +v 1.053647 3.035081 -0.666993 +v -1.003553 -1.615788 -0.637167 +v 0.725551 -1.615788 1.091945 +v -0.496710 3.095027 -0.965050 +v -0.973726 3.095027 -0.517859 +v 1.053647 2.289448 -1.084571 +v -1.093034 1.186446 0.942597 +v 1.083473 -1.615327 0.376098 +v -0.675458 3.035081 0.972637 +v -1.063207 -1.495896 0.674367 +v 1.083473 0.650623 -0.189975 +v 0.993993 2.438390 1.062118 +v -1.063207 3.065054 0.614714 +v 0.487150 3.095027 -0.040840 +v 0.993993 3.035081 -1.084571 +v 0.278362 -1.615788 1.091945 +v -1.003553 -1.406439 0.942597 +v 0.934339 3.005109 1.032078 +v -1.033380 -0.780697 -0.219802 +v -0.884246 3.095027 -0.935223 +v 0.874686 2.975136 1.062118 +v 0.606244 3.065054 -1.024704 +v -1.093034 3.034620 0.733808 +v -0.973726 3.095027 -0.189975 +v 1.053647 -0.452840 1.062118 +v -0.973726 -1.227985 -0.935223 +v 0.427496 -1.615788 -1.084571 +v 0.844859 3.065054 -0.547686 +v -0.943899 2.945624 -0.875569 +v -1.093034 2.199991 0.674367 +v -0.198441 3.095027 -0.965050 +v -0.764938 -1.138527 -0.965263 +v -1.063207 -0.154494 0.942597 +v 0.516977 -0.691240 -1.084571 +v -0.198441 3.095027 0.286830 +f 67 56 78 +f 31 25 33 +f 27 26 34 +f 25 31 35 +f 31 33 36 +f 28 33 40 +f 35 31 45 +f 26 27 46 +f 33 30 46 +f 36 33 46 +f 32 37 47 +f 37 32 48 +f 33 28 49 +f 38 33 49 +f 36 29 50 +f 29 42 50 +f 30 33 51 +f 33 38 51 +f 41 30 51 +f 38 41 51 +f 36 27 52 +f 29 36 52 +f 37 29 52 +f 45 31 53 +f 31 50 53 +f 41 38 54 +f 28 44 54 +f 49 28 54 +f 38 49 54 +f 34 26 55 +f 43 34 55 +f 44 43 55 +f 26 46 55 +f 41 54 55 +f 54 44 55 +f 29 37 56 +f 47 37 57 +f 28 40 58 +f 47 28 58 +f 27 36 59 +f 46 27 59 +f 36 46 59 +f 31 36 60 +f 34 43 61 +f 37 52 61 +f 42 45 62 +f 45 53 62 +f 39 32 63 +f 40 39 63 +f 32 47 63 +f 47 58 63 +f 27 34 64 +f 52 27 64 +f 34 61 64 +f 61 52 64 +f 42 29 66 +f 29 56 66 +f 56 48 66 +f 37 48 67 +f 48 56 67 +f 30 41 68 +f 46 30 68 +f 41 55 68 +f 55 46 68 +f 25 35 69 +f 42 39 69 +f 35 45 69 +f 45 42 69 +f 33 25 70 +f 25 40 70 +f 40 33 70 +f 43 44 71 +f 44 28 71 +f 57 37 71 +f 37 61 71 +f 61 43 71 +f 28 65 71 +f 65 57 71 +f 32 39 72 +f 39 42 72 +f 48 32 72 +f 42 66 72 +f 66 48 72 +f 50 42 73 +f 53 50 73 +f 42 62 73 +f 62 53 73 +f 28 47 74 +f 47 57 74 +f 65 28 74 +f 57 65 74 +f 40 25 75 +f 39 40 75 +f 25 69 75 +f 69 39 75 +f 36 50 76 +f 50 31 76 +f 31 60 76 +f 60 36 76 +f 58 40 77 +f 40 63 77 +f 63 58 77 +f 56 37 78 +f 37 67 78 +o convex_2 +v 0.367915 4.913520 0.167662 +v -0.317836 4.138285 0.257082 +v -0.317836 4.138285 0.286929 +v 0.308241 3.095217 0.197387 +v -0.258162 3.691581 -0.279558 +v 0.367915 5.033021 -0.219925 +v -0.287965 4.973081 -0.160291 +v 0.248634 3.154967 -0.219925 +v -0.258162 3.095217 0.257082 +v -0.317836 5.002861 0.286929 +v 0.308241 3.095217 0.346563 +v -0.258162 3.095217 -0.249711 +v -0.258162 4.943301 -0.279558 +v 0.278437 5.033021 0.197387 +v -0.138813 4.555778 0.316715 +v -0.049469 4.883740 -0.279558 +v 0.159089 3.214528 0.346563 +v -0.317836 4.943301 0.048395 +v 0.308241 3.274278 0.346563 +v 0.367915 4.853770 -0.219925 +v 0.218830 3.095217 -0.219925 +v -0.287965 3.244308 0.257082 +v 0.338045 3.691581 0.286929 +v -0.198555 3.095217 0.286929 +v -0.049469 5.033021 0.197387 +v -0.198555 4.466248 0.316715 +v 0.367915 5.033021 0.167662 +v -0.168751 4.973081 0.286929 +v -0.019666 3.184747 -0.249711 +f 99 90 107 +f 80 81 88 +f 87 82 89 +f 85 83 90 +f 82 87 90 +f 83 85 91 +f 85 84 91 +f 83 91 94 +f 91 84 94 +f 80 88 96 +f 88 85 96 +f 85 90 96 +f 90 80 96 +f 95 89 97 +f 93 95 97 +f 84 79 98 +f 82 86 98 +f 86 94 98 +f 94 84 98 +f 86 82 99 +f 82 90 99 +f 81 80 100 +f 80 90 100 +f 90 87 100 +f 89 82 101 +f 97 89 101 +f 98 79 101 +f 82 98 101 +f 87 89 102 +f 89 95 102 +f 81 100 102 +f 100 87 102 +f 84 85 103 +f 85 88 103 +f 92 84 103 +f 88 92 103 +f 88 81 104 +f 93 88 104 +f 95 93 104 +f 81 102 104 +f 102 95 104 +f 79 84 105 +f 84 92 105 +f 92 97 105 +f 101 79 105 +f 97 101 105 +f 92 88 106 +f 88 93 106 +f 97 92 106 +f 93 97 106 +f 90 83 107 +f 83 94 107 +f 94 86 107 +f 86 99 107 +o convex_3 +v 0.159127 -1.645603 -2.575259 +v -0.198499 -2.361100 -3.052380 +v -0.228285 -2.301428 -3.052380 +v -0.228285 -2.331264 -1.084571 +v 0.338036 -2.361100 -1.084571 +v -0.287922 -1.705345 -1.084571 +v 0.308186 -2.361100 -2.992475 +v 0.308186 -1.675509 -1.084571 +v -0.287922 -1.824547 -3.022331 +v 0.308186 -1.645603 -2.962811 +v -0.317772 -1.854383 -1.084571 +v -0.198499 -2.361100 -1.084571 +v 0.338036 -2.331264 -2.515354 +v 0.338036 -2.062953 -1.084571 +v 0.278399 -1.705345 -2.992475 +v -0.317772 -1.735110 -1.532028 +v 0.039918 -1.705345 -2.962811 +v 0.129341 -1.675509 -1.084571 +v -0.049440 -2.331264 -3.052380 +v -0.287922 -1.884219 -2.962811 +v 0.308186 -1.645603 -2.276890 +f 125 115 128 +f 110 109 111 +f 111 112 113 +f 112 109 114 +f 113 112 115 +f 110 111 118 +f 111 113 118 +f 111 109 119 +f 112 111 119 +f 109 112 119 +f 112 114 120 +f 114 117 120 +f 120 117 121 +f 115 112 121 +f 112 120 121 +f 117 114 122 +f 116 117 122 +f 113 108 123 +f 118 113 123 +f 108 117 124 +f 117 116 124 +f 123 108 124 +f 116 123 124 +f 108 113 125 +f 113 115 125 +f 109 110 126 +f 114 109 126 +f 110 116 126 +f 122 114 126 +f 116 122 126 +f 116 110 127 +f 110 118 127 +f 123 116 127 +f 118 123 127 +f 117 108 128 +f 121 117 128 +f 115 121 128 +f 108 125 128 +o convex_4 +v -0.258013 -2.182377 -1.084571 +v 1.083436 -1.884353 1.061905 +v 1.053598 -1.615788 1.061905 +v -1.033380 -2.927438 0.912770 +v 0.934246 -3.076737 -1.054531 +v -1.063218 -1.615931 0.912770 +v 0.964084 -1.615788 -1.084571 +v 1.083436 -2.957470 1.061905 +v -0.973704 -2.987072 -0.935223 +v -0.973704 -1.615931 -0.935223 +v -0.317689 -1.884353 1.091945 +v 1.083436 -1.705310 0.405925 +v -0.914028 -2.957327 0.793675 +v 0.815104 -3.076737 -1.084571 +v 0.695752 -2.718793 1.091945 +v -0.317689 -1.735055 -1.084571 +v 0.665914 -3.076737 -0.845742 +v 0.278230 -1.615788 1.091945 +v -1.033380 -2.957327 0.227176 +v -1.003542 -1.794831 -0.666993 +v -0.228175 -2.301644 1.091945 +v 1.083436 -2.957470 0.763635 +v -1.003542 -2.867948 0.942597 +v -0.854352 -2.987072 -0.965050 +v 0.964084 -2.987215 0.703981 +v -1.063218 -2.510004 0.882943 +v -0.317689 -1.705310 1.091945 +v -1.033380 -1.615931 -0.040840 +v -0.973704 -2.987072 -0.637167 +v 0.725590 -1.615788 1.091945 +v -0.198547 -2.360992 -1.084571 +v -1.003542 -2.867948 -0.547686 +v 0.069785 -2.957470 1.002464 +v 1.083436 -1.615788 0.405925 +v -0.973704 -1.615931 0.942597 +v 0.427420 -1.615788 -1.084571 +v 0.874570 -3.076737 -0.786088 +v -0.943866 -2.927438 0.942597 +v -1.063218 -1.645819 0.704194 +v 0.039947 -3.046705 -1.024704 +v -0.347527 -1.615931 1.062118 +f 163 155 169 +f 133 135 140 +f 130 136 140 +f 129 135 142 +f 135 133 142 +f 135 129 144 +f 142 133 145 +f 131 135 146 +f 139 143 146 +f 141 132 147 +f 138 137 148 +f 143 139 149 +f 136 133 150 +f 133 140 150 +f 140 136 150 +f 134 132 151 +f 149 139 151 +f 137 138 152 +f 144 129 152 +f 138 144 152 +f 132 134 154 +f 147 132 154 +f 139 146 155 +f 151 139 155 +f 134 146 156 +f 146 138 156 +f 138 148 156 +f 145 141 157 +f 147 137 157 +f 141 147 157 +f 130 131 158 +f 136 130 158 +f 143 136 158 +f 131 146 158 +f 146 143 158 +f 129 142 159 +f 142 152 159 +f 152 129 159 +f 137 147 160 +f 148 137 160 +f 147 154 160 +f 156 148 160 +f 136 143 161 +f 153 136 161 +f 131 130 162 +f 135 131 162 +f 130 140 162 +f 140 135 162 +f 146 134 163 +f 134 151 163 +f 151 155 163 +f 135 144 164 +f 144 138 164 +f 146 135 164 +f 138 146 164 +f 133 136 165 +f 145 133 165 +f 141 145 165 +f 136 153 165 +f 161 141 165 +f 153 161 165 +f 132 141 166 +f 143 149 166 +f 151 132 166 +f 149 151 166 +f 141 161 166 +f 161 143 166 +f 154 134 167 +f 134 156 167 +f 160 154 167 +f 156 160 167 +f 142 145 168 +f 137 152 168 +f 152 142 168 +f 145 157 168 +f 157 137 168 +f 155 146 169 +f 146 163 169 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/374/374.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/374/374.urdf new file mode 100644 index 000000000..e72fedef8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/374/374.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/375/375.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/375/375.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/375/375.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/375/375.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/375/375.obj new file mode 100644 index 000000000..d81530153 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/375/375.obj @@ -0,0 +1,408 @@ +o convex_0 +v 1.074484 -3.243084 0.597488 +v -1.110573 1.030861 -1.048970 +v -1.110573 1.030861 -1.017142 +v -1.078893 -4.383935 0.787407 +v -0.920492 1.727454 1.104431 +v 1.011124 1.632436 -0.985523 +v 0.947764 -4.320380 -0.922077 +v 1.106164 1.759547 1.104431 +v -0.952172 -4.225361 -0.953905 +v 0.852723 -4.288287 0.977537 +v -1.078893 -4.383935 1.072602 +v -0.318788 2.044602 -0.193807 +v -1.110573 1.632436 -1.048970 +v -1.015532 1.727454 1.072602 +v 1.074484 -4.256824 0.945919 +v 0.251019 2.044602 0.249268 +v -0.603692 0.175695 -1.048970 +v 0.852723 -4.003232 -0.953905 +v 0.314379 2.044602 -0.225425 +v 1.042804 1.600343 -0.668921 +v -1.078893 -2.768620 1.072602 +v 0.821043 -4.351213 -0.827222 +v 0.630963 0.302176 1.104431 +v -0.952172 -4.288287 -0.922287 +v -1.110573 1.632436 -0.700328 +v 1.106164 1.537417 0.692553 +v -0.318788 1.632436 -1.048970 +v 1.011124 0.682250 -0.985523 +v -0.920492 -4.383935 1.072602 +v -1.047213 1.695991 0.660724 +v -0.287108 2.044602 0.217650 +v 1.106164 0.080676 1.072602 +v -1.078893 0.143603 -1.048970 +v 1.106164 1.759547 0.851065 +v 1.042804 -0.141453 -0.446962 +v 1.074484 -4.256824 0.787618 +v 0.029259 2.044602 0.280886 +v -0.508868 -4.383306 0.629317 +v -1.015532 -2.229972 -0.985523 +v 1.042804 -4.288917 0.756000 +v 1.106164 -0.805324 0.977748 +v 0.155979 1.758917 1.104431 +v 1.042804 1.663899 -0.637092 +v 1.042804 -3.876750 0.977537 +v -1.047213 0.017121 1.072602 +v 0.979444 -2.008472 -0.953905 +v -1.015532 1.727454 0.724171 +v -0.065564 -4.319750 -0.922287 +v -0.952172 -4.383935 0.660935 +v 0.726003 -4.066787 -0.953905 +v -0.983853 -4.288287 -0.542238 +v 0.947764 -3.528139 -0.953905 +v -0.730412 -4.383306 1.009366 +v -0.572012 0.239250 -1.048970 +v 1.106164 1.347380 1.104431 +v 0.535923 0.270084 1.104431 +f 29 23 56 +f 3 2 4 +f 3 4 11 +f 2 3 13 +f 2 13 17 +f 13 12 19 +f 16 8 19 +f 12 16 19 +f 11 5 21 +f 8 5 23 +f 3 11 25 +f 13 3 25 +f 11 21 25 +f 1 20 26 +f 17 13 27 +f 19 6 27 +f 13 19 27 +f 6 20 28 +f 27 6 28 +f 11 4 29 +f 13 25 30 +f 25 21 30 +f 12 14 31 +f 14 5 31 +f 16 12 31 +f 26 8 32 +f 2 17 33 +f 17 9 33 +f 19 8 34 +f 8 26 34 +f 20 1 35 +f 28 20 35 +f 35 1 36 +f 8 16 37 +f 31 5 37 +f 16 31 37 +f 4 2 39 +f 2 33 39 +f 33 9 39 +f 15 10 40 +f 22 7 40 +f 7 36 40 +f 36 15 40 +f 38 22 40 +f 1 26 41 +f 32 15 41 +f 26 32 41 +f 15 36 41 +f 36 1 41 +f 5 8 42 +f 37 5 42 +f 8 37 42 +f 6 19 43 +f 20 6 43 +f 26 20 43 +f 19 34 43 +f 34 26 43 +f 10 15 44 +f 29 10 44 +f 23 29 44 +f 15 32 44 +f 5 14 45 +f 21 5 45 +f 14 30 45 +f 30 21 45 +f 28 35 46 +f 36 7 46 +f 35 36 46 +f 12 13 47 +f 14 12 47 +f 13 30 47 +f 30 14 47 +f 9 7 48 +f 7 22 48 +f 24 9 48 +f 24 48 49 +f 4 24 49 +f 29 4 49 +f 22 38 49 +f 38 29 49 +f 48 22 49 +f 7 9 50 +f 9 17 50 +f 18 7 50 +f 17 18 50 +f 24 4 51 +f 9 24 51 +f 4 39 51 +f 39 9 51 +f 7 18 52 +f 46 7 52 +f 28 46 52 +f 10 29 53 +f 29 38 53 +f 40 10 53 +f 38 40 53 +f 18 17 54 +f 17 27 54 +f 27 28 54 +f 52 18 54 +f 28 52 54 +f 8 23 55 +f 32 8 55 +f 23 44 55 +f 44 32 55 +f 5 11 56 +f 23 5 56 +f 11 29 56 +o convex_1 +v 0.282786 3.691256 -0.035555 +v -0.350549 3.406399 -0.320614 +v -0.350549 3.501367 -0.320614 +v -0.287195 3.627926 0.217699 +v 0.346140 3.279691 0.281072 +v 0.282786 3.279691 -0.225555 +v -0.223841 3.279691 0.186013 +v 0.251075 3.786324 0.217699 +v -0.350549 3.691256 -0.288928 +v 0.282786 3.627926 -0.225555 +v -0.318838 3.279691 -0.320614 +v 0.124435 3.786324 0.091013 +v -0.128844 3.343020 -0.320614 +v -0.287195 3.501367 0.217699 +f 67 63 70 +f 62 61 63 +f 61 57 64 +f 60 61 64 +f 59 58 65 +f 57 61 66 +f 61 62 66 +f 64 57 66 +f 59 65 66 +f 58 59 67 +f 62 63 67 +f 60 64 68 +f 65 60 68 +f 64 66 68 +f 66 65 68 +f 66 62 69 +f 59 66 69 +f 67 59 69 +f 62 67 69 +f 61 60 70 +f 63 61 70 +f 65 58 70 +f 60 65 70 +f 58 67 70 +o convex_2 +v -0.192170 3.279641 0.185604 +v 0.251025 2.044602 -0.257694 +v 0.314386 2.044602 -0.257694 +v 0.440997 3.279641 -3.107369 +v -0.477182 2.234645 -2.948904 +v 0.536146 3.247967 0.344407 +v 0.472786 2.171297 -2.917143 +v -0.445502 2.139745 0.344407 +v -0.572222 3.121272 -3.107369 +v -0.508862 3.152946 0.344407 +v 0.504466 2.234645 0.344407 +v 0.536146 3.279641 -2.441746 +v -0.350462 2.044602 -0.194511 +v -0.318782 3.279641 -0.320877 +v -0.477182 2.171297 -0.447582 +v 0.219454 2.044602 0.312646 +v -0.572222 2.994455 -3.107369 +v 0.504466 3.216293 -3.107369 +v 0.536146 2.741185 0.312646 +v 0.346066 3.279641 0.280548 +v 0.472786 2.202971 -2.948904 +v -0.540542 3.152946 -0.764175 +v 0.504466 2.202971 -0.289455 +v -0.508862 2.361341 -2.980664 +v -0.160490 2.202971 -2.948904 +v 0.504466 2.677838 -2.948904 +v -0.287210 2.044602 0.217702 +v -0.508862 2.994455 0.344407 +v -0.572222 3.057803 -2.568451 +v -0.255530 3.247846 0.344407 +v 0.346066 2.171297 -2.917143 +v -0.192170 3.184499 -3.107369 +v -0.540542 3.089598 -0.764175 +v -0.477182 2.171297 -1.207473 +v 0.536146 3.216293 -2.441746 +v -0.382142 2.994455 -3.107369 +v -0.477182 2.456362 0.344407 +f 98 103 107 +f 73 72 77 +f 78 76 80 +f 76 78 81 +f 74 71 82 +f 72 73 83 +f 71 74 84 +f 83 78 85 +f 73 81 86 +f 81 78 86 +f 83 73 86 +f 79 74 87 +f 74 82 88 +f 87 74 88 +f 76 81 89 +f 82 76 89 +f 82 71 90 +f 76 82 90 +f 84 79 92 +f 80 84 92 +f 73 77 93 +f 81 73 93 +f 89 81 93 +f 85 87 94 +f 94 91 95 +f 83 75 95 +f 91 77 95 +f 75 94 95 +f 77 91 96 +f 91 88 96 +f 93 77 96 +f 78 83 97 +f 86 78 97 +f 83 86 97 +f 78 80 98 +f 80 92 98 +f 79 87 99 +f 87 85 99 +f 92 79 99 +f 80 76 100 +f 71 84 100 +f 84 80 100 +f 90 71 100 +f 76 90 100 +f 77 72 101 +f 72 83 101 +f 95 77 101 +f 83 95 101 +f 74 79 102 +f 84 74 102 +f 79 84 102 +f 98 92 103 +f 92 99 103 +f 99 85 103 +f 75 83 104 +f 83 85 104 +f 94 75 104 +f 85 94 104 +f 88 82 105 +f 82 89 105 +f 89 93 105 +f 96 88 105 +f 93 96 105 +f 87 88 106 +f 88 91 106 +f 94 87 106 +f 91 94 106 +f 85 78 107 +f 78 98 107 +f 103 85 107 +o convex_3 +v 0.567814 3.247973 0.407907 +v -0.445440 2.076270 2.086036 +v -0.413822 2.076270 2.086036 +v 0.251106 3.216203 2.941041 +v -0.508887 3.152893 0.344407 +v 0.472749 2.203005 0.344407 +v 0.536090 2.297971 3.036159 +v -0.445440 3.184433 2.972659 +v -0.445440 2.139810 0.344407 +v -0.445440 2.076270 2.972659 +v 0.567814 3.216203 2.941041 +v -0.255415 3.247973 0.344407 +v 0.314448 2.203005 3.036159 +v 0.504367 2.234661 0.344407 +v -0.477058 3.184433 2.719188 +v -0.287139 2.076270 2.972659 +v 0.536090 3.247973 0.344407 +v 0.567814 2.772800 2.782687 +v 0.061081 3.247973 1.358030 +v 0.314448 2.171465 0.344407 +v -0.508887 2.994502 0.376289 +v 0.504367 2.234661 2.814306 +v 0.536090 2.519788 3.036159 +v -0.382099 3.216089 2.180890 +v -0.508887 3.121238 0.978086 +v -0.413822 2.108154 0.978086 +v 0.187764 2.234661 3.036159 +v -0.477058 2.488132 0.344407 +v 0.567814 3.184548 0.407907 +v -0.477058 3.184433 1.168058 +v -0.002260 3.184433 2.972659 +v 0.314448 2.171465 0.661115 +v -0.255415 3.247973 0.978086 +f 119 131 140 +f 112 113 116 +f 109 110 117 +f 111 115 118 +f 113 112 119 +f 113 119 121 +f 117 115 122 +f 117 110 123 +f 120 117 123 +f 119 108 124 +f 121 119 124 +f 108 118 125 +f 118 114 125 +f 114 121 125 +f 118 108 126 +f 111 118 126 +f 108 119 126 +f 116 113 127 +f 123 110 127 +f 114 120 129 +f 121 114 129 +f 113 121 129 +f 120 123 129 +f 114 118 130 +f 120 114 130 +f 115 111 131 +f 122 115 131 +f 122 112 132 +f 117 122 132 +f 112 128 132 +f 128 117 132 +f 110 109 133 +f 109 116 133 +f 127 110 133 +f 116 127 133 +f 115 117 134 +f 117 120 134 +f 130 115 134 +f 120 130 134 +f 116 109 135 +f 112 116 135 +f 109 117 135 +f 128 112 135 +f 117 128 135 +f 124 108 136 +f 121 124 136 +f 108 125 136 +f 125 121 136 +f 119 112 137 +f 112 122 137 +f 131 119 137 +f 122 131 137 +f 118 115 138 +f 130 118 138 +f 115 130 138 +f 127 113 139 +f 123 127 139 +f 113 129 139 +f 129 123 139 +f 111 126 140 +f 126 119 140 +f 131 111 140 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/375/375.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/375/375.urdf new file mode 100644 index 000000000..5ee11c8f5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/375/375.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/376/376.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/376/376.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/376/376.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/376/376.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/376/376.obj new file mode 100644 index 000000000..ba8a26869 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/376/376.obj @@ -0,0 +1,1035 @@ +o convex_0 +v 0.400653 -1.088920 0.966004 +v 0.428265 -0.067027 -1.050109 +v 0.428265 -0.011779 -1.050109 +v -1.228949 -1.365294 -0.276293 +v -0.842133 -0.011779 0.828130 +v 0.925528 -1.365294 -0.911619 +v 0.953140 -0.011779 0.855664 +v -0.759298 -0.011779 -0.939564 +v 1.312344 -1.365294 0.275610 +v -0.814521 -1.365294 0.828130 +v 0.953140 -0.011779 -0.856552 +v -0.759298 -1.365294 -0.828813 +v -0.317258 -0.011779 1.049015 +v 0.842693 -1.365294 0.883197 +v -1.007805 -0.011779 -0.165954 +v 0.262593 -1.227107 -0.994631 +v -1.173477 -1.310046 0.275610 +v 1.091200 -0.094717 -0.304238 +v 0.538712 -0.011779 1.021482 +v -1.035417 -0.067027 0.330883 +v -0.262034 -0.094717 -1.049903 +v -0.566014 -1.337603 0.910936 +v 0.787469 -1.365294 -0.994631 +v -0.924969 -0.011779 -0.718474 +v 1.035976 -0.011779 0.551768 +v -1.118253 -1.365294 -0.497589 +v 0.649409 -0.011779 -1.050109 +v -0.786910 -0.370958 -0.939564 +v 0.925528 -0.232772 0.910936 +v 1.284484 -1.337603 0.109998 +v 0.234981 -1.365294 0.938470 +v -1.035417 -1.365294 0.524234 +v -1.228949 -1.282355 -0.027875 +v 0.621797 -0.453897 -1.050109 +v -0.455317 -1.365294 -0.884086 +v -0.151586 -0.149966 1.049015 +v 1.091200 -0.094717 0.137532 +v -0.842133 -1.116611 0.828130 +v -0.317258 -0.370958 -1.022164 +v 0.677021 -1.199549 0.938470 +v 0.179757 -0.122275 1.049015 +v 0.787469 -0.288020 -0.994631 +v -0.759298 -0.011779 0.883403 +v 1.146424 -1.365294 -0.304238 +v 1.063588 -0.011779 -0.359305 +v -1.035417 -0.094717 -0.083147 +v -0.980193 -0.094717 -0.524917 +v 1.312344 -1.337603 0.275610 +v -0.262034 -0.011779 -1.049903 +v -0.317258 -0.398516 1.021276 +v -1.228949 -1.337603 -0.276293 +v -0.786910 -0.122275 -0.939564 +f 49 28 52 +f 3 5 7 +f 5 3 8 +f 4 6 9 +f 4 9 10 +f 3 7 11 +f 6 4 12 +f 7 5 13 +f 10 9 14 +f 5 8 15 +f 7 13 19 +f 5 15 20 +f 17 5 20 +f 3 2 21 +f 13 10 22 +f 6 12 23 +f 15 8 24 +f 11 7 25 +f 12 4 26 +f 2 3 27 +f 3 11 27 +f 12 26 28 +f 14 9 29 +f 7 19 29 +f 11 18 30 +f 10 14 31 +f 22 10 31 +f 4 10 32 +f 5 17 32 +f 17 4 32 +f 4 17 33 +f 17 20 33 +f 21 2 34 +f 16 21 34 +f 23 16 34 +f 2 27 34 +f 27 23 34 +f 23 12 35 +f 16 23 35 +f 12 28 35 +f 31 1 36 +f 10 13 38 +f 5 32 38 +f 32 10 38 +f 21 16 39 +f 28 21 39 +f 16 35 39 +f 35 28 39 +f 14 29 40 +f 29 19 40 +f 1 31 40 +f 31 14 40 +f 19 13 41 +f 36 1 41 +f 13 36 41 +f 1 40 41 +f 40 19 41 +f 11 6 42 +f 6 23 42 +f 27 11 42 +f 23 27 42 +f 13 5 43 +f 5 38 43 +f 38 13 43 +f 9 6 44 +f 6 11 44 +f 30 9 44 +f 11 30 44 +f 18 11 45 +f 11 25 45 +f 37 18 45 +f 25 37 45 +f 20 15 46 +f 33 20 46 +f 15 24 47 +f 46 15 47 +f 25 7 48 +f 7 29 48 +f 29 9 48 +f 9 30 48 +f 30 18 48 +f 18 37 48 +f 37 25 48 +f 8 3 49 +f 3 21 49 +f 21 28 49 +f 13 22 50 +f 22 31 50 +f 36 13 50 +f 31 36 50 +f 26 4 51 +f 24 26 51 +f 4 33 51 +f 33 46 51 +f 47 24 51 +f 46 47 51 +f 24 8 52 +f 26 24 52 +f 28 26 52 +f 8 49 52 +o convex_1 +v -0.925026 0.430440 -0.663293 +v 1.063739 0.264557 0.220414 +v 1.063739 -0.011779 0.220414 +v 0.069255 1.341509 1.408317 +v 0.345456 1.369359 -1.298714 +v -0.814505 -0.011779 0.855569 +v -0.842085 1.369359 0.634576 +v 0.649236 -0.011779 -1.049898 +v 0.953016 1.369359 0.800454 +v 0.870277 -0.011779 0.938508 +v -0.759143 -0.011779 -0.939402 +v -0.842085 1.369359 -0.828905 +v 0.842698 1.341509 -0.801347 +v -1.007967 -0.011779 0.358468 +v 0.953016 -0.011779 -0.856463 +v -0.317263 -0.011779 1.049004 +v -0.759143 1.369359 0.855569 +v 1.063739 0.292272 -0.331804 +v 0.234935 1.369359 1.408317 +v 0.151994 1.341509 -1.298714 +v 0.980798 1.369359 0.165033 +v -0.897447 1.369359 -0.442300 +v -0.261901 -0.011779 -1.049898 +v -1.007967 -0.011779 -0.165926 +v 0.538918 -0.011779 1.021446 +v 0.925436 0.347431 0.910950 +v 0.953016 0.430440 -0.856463 +v 1.035957 -0.011779 0.551903 +v -0.925026 -0.011779 -0.718409 +v -1.007967 0.153969 0.358468 +v -0.786926 0.844402 -0.911844 +v 0.373035 1.065444 -1.270891 +v 0.538918 1.369359 -1.160394 +v 1.008378 1.175897 0.468964 +v -0.814505 0.458019 0.855569 +v 0.925436 1.369359 0.855569 +v 0.207356 -0.011779 1.049004 +v 0.594077 0.015936 -1.077456 +v 1.063739 -0.011779 -0.359361 +v -0.786926 1.369359 -0.884021 +v 0.897857 1.369359 -0.469593 +v 0.814916 -0.011779 -0.966959 +v 0.290094 1.369359 1.380494 +v 0.069255 1.369359 -1.270891 +v -0.897447 1.369359 -0.248865 +v -1.007967 0.153969 -0.138369 +v -0.869664 1.369359 -0.745966 +v 0.953016 -0.011779 0.855569 +v -0.897447 1.037864 0.524080 +v 0.234935 1.341509 1.408317 +v 0.980798 1.258771 0.717515 +v -0.786926 1.010150 0.855569 +v -0.980185 0.485463 0.247971 +v -0.842085 0.071095 0.828012 +f 87 82 106 +f 55 58 60 +f 57 59 61 +f 58 55 62 +f 60 58 63 +f 59 57 64 +f 63 58 66 +f 55 60 67 +f 56 58 68 +f 58 62 68 +f 61 59 69 +f 54 55 70 +f 69 56 71 +f 61 69 71 +f 57 61 73 +f 59 64 74 +f 60 63 75 +f 63 72 75 +f 63 66 76 +f 68 62 77 +f 55 54 80 +f 62 55 80 +f 76 53 81 +f 63 76 81 +f 76 66 82 +f 81 64 83 +f 63 81 83 +f 72 57 84 +f 75 72 84 +f 57 73 85 +f 65 79 85 +f 54 70 86 +f 70 73 86 +f 58 56 87 +f 61 71 88 +f 78 61 88 +f 56 68 89 +f 68 77 89 +f 60 75 90 +f 84 60 90 +f 75 84 90 +f 55 67 91 +f 70 55 91 +f 67 79 91 +f 79 70 91 +f 64 57 92 +f 83 64 92 +f 73 70 93 +f 79 65 93 +f 70 79 93 +f 85 73 93 +f 65 85 93 +f 67 60 94 +f 79 67 94 +f 60 84 94 +f 84 57 94 +f 57 85 94 +f 85 79 94 +f 62 78 95 +f 88 71 95 +f 78 88 95 +f 57 72 96 +f 72 63 96 +f 63 83 96 +f 92 57 96 +f 83 92 96 +f 59 74 97 +f 53 76 98 +f 76 82 98 +f 74 64 99 +f 81 53 99 +f 64 81 99 +f 53 98 99 +f 98 74 99 +f 61 78 100 +f 78 62 100 +f 62 80 100 +f 82 59 101 +f 59 97 101 +f 71 56 102 +f 77 62 102 +f 56 89 102 +f 89 77 102 +f 62 95 102 +f 95 71 102 +f 73 61 103 +f 80 54 103 +f 54 86 103 +f 86 73 103 +f 61 100 103 +f 100 80 103 +f 56 69 104 +f 69 59 104 +f 59 82 104 +f 87 56 104 +f 82 87 104 +f 97 74 105 +f 74 98 105 +f 98 82 105 +f 82 101 105 +f 101 97 105 +f 66 58 106 +f 82 66 106 +f 58 87 106 +o convex_2 +v 1.284722 -2.359519 -0.055636 +v 1.340043 -1.365391 0.275727 +v 1.340043 -1.365391 0.137586 +v 2.997332 -2.028110 0.027154 +v 1.284722 -2.083394 -0.331850 +v 1.284722 -2.110938 0.330942 +v 2.776215 -1.972924 -0.221350 +v 1.284722 -1.558786 -0.193709 +v 2.610419 -2.055752 0.220443 +v 2.721061 -2.193863 -0.055636 +v 1.312382 -2.331974 -0.276566 +v 2.748554 -1.807366 -0.027994 +v 2.196181 -2.193863 0.220443 +v 1.284722 -1.613972 0.358584 +v 2.721061 -1.972924 0.192869 +v 1.340043 -2.359519 0.054728 +v 2.748554 -2.193863 0.054728 +v 1.284722 -1.365391 0.054728 +v 2.555098 -1.835008 -0.166135 +v 1.478178 -1.835008 0.358584 +v 1.450518 -2.193863 0.303301 +v 2.637912 -2.138580 -0.166135 +v 1.312382 -1.365391 0.303301 +v 1.395364 -1.641613 -0.221350 +v 2.748554 -1.807366 -0.000420 +v 2.637912 -2.000469 0.220443 +v 2.610419 -2.221505 -0.000420 +v 2.776215 -2.000469 -0.221350 +v 2.997332 -1.972924 -0.000420 +v 1.947738 -1.972924 -0.276566 +v 1.312382 -2.138580 -0.331850 +f 134 117 137 +f 111 107 112 +f 111 112 114 +f 107 111 117 +f 109 108 118 +f 114 112 120 +f 115 110 121 +f 112 107 122 +f 119 122 123 +f 110 115 123 +f 116 110 123 +f 115 119 123 +f 108 109 124 +f 109 118 124 +f 114 120 124 +f 113 114 125 +f 118 113 125 +f 124 118 125 +f 114 124 125 +f 120 112 126 +f 119 115 127 +f 112 122 127 +f 122 119 127 +f 126 112 127 +f 115 126 127 +f 116 117 128 +f 108 124 129 +f 124 120 129 +f 111 114 130 +f 114 113 130 +f 118 108 131 +f 108 129 131 +f 129 121 131 +f 115 121 132 +f 126 115 132 +f 120 126 132 +f 129 120 132 +f 121 129 132 +f 107 117 133 +f 117 116 133 +f 122 107 133 +f 123 122 133 +f 116 123 133 +f 110 116 134 +f 116 128 134 +f 128 117 134 +f 113 118 135 +f 121 110 135 +f 118 131 135 +f 131 121 135 +f 110 134 135 +f 134 113 135 +f 113 111 136 +f 111 130 136 +f 130 113 136 +f 111 113 137 +f 117 111 137 +f 113 134 137 +o convex_3 +v -0.206821 2.280888 1.270203 +v -0.041084 1.369359 1.270203 +v 0.290259 1.369359 1.270203 +v 0.014075 1.921652 3.010436 +v 0.290259 2.225621 1.270203 +v -0.234465 1.921652 2.540798 +v 0.207391 1.976919 2.761734 +v -0.041084 2.142720 2.761734 +v -0.317398 1.976919 1.270203 +v -0.013440 1.756229 2.789330 +v -0.179241 1.479988 1.325565 +v 0.345548 1.783863 1.491309 +v 0.069299 2.336155 1.297969 +v 0.290259 1.369359 1.408352 +v -0.289689 2.225621 1.297969 +v 0.179811 2.142720 2.374883 +v -0.206821 1.976919 2.761734 +v 0.207391 1.921652 2.761734 +v -0.206821 1.894113 2.734138 +v 0.041654 1.369359 1.463714 +v 0.041654 1.756229 2.789330 +v 0.345548 1.562794 1.297969 +v -0.179241 2.114992 2.485436 +v -0.068729 2.336155 1.297969 +v 0.041654 2.142720 2.706372 +v -0.041084 1.756229 2.761734 +v -0.013440 1.976919 3.010436 +v -0.262045 1.866479 1.933352 +v 0.317903 2.087548 1.297969 +f 149 159 166 +f 140 139 138 +f 140 138 142 +f 138 139 146 +f 146 139 148 +f 142 138 150 +f 139 140 151 +f 138 146 152 +f 146 143 152 +f 144 142 153 +f 142 150 153 +f 152 143 154 +f 144 141 155 +f 149 144 155 +f 143 148 156 +f 154 143 156 +f 139 151 157 +f 157 151 158 +f 141 147 158 +f 155 141 158 +f 151 155 158 +f 147 157 158 +f 140 142 159 +f 151 140 159 +f 149 155 159 +f 155 151 159 +f 145 138 160 +f 138 152 160 +f 154 145 160 +f 152 154 160 +f 138 145 161 +f 150 138 161 +f 145 150 161 +f 150 145 162 +f 144 153 162 +f 153 150 162 +f 147 141 163 +f 148 139 163 +f 141 156 163 +f 156 148 163 +f 139 157 163 +f 157 147 163 +f 141 144 164 +f 145 154 164 +f 156 141 164 +f 154 156 164 +f 144 162 164 +f 162 145 164 +f 143 146 165 +f 146 148 165 +f 148 143 165 +f 142 144 166 +f 144 149 166 +f 159 142 166 +o convex_4 +v -2.803322 -2.193885 -0.000379 +v -1.284195 -1.420539 -0.000379 +v -1.284195 -1.420539 -0.249033 +v -1.284195 -2.359621 0.137551 +v -1.284195 -2.193885 -0.276661 +v -2.803322 -2.000479 0.248063 +v -1.284195 -2.055725 0.386275 +v -2.775726 -1.945234 -0.193776 +v -2.803322 -1.807350 0.054666 +v -1.339557 -1.641613 0.275692 +v -1.311961 -2.331953 0.330948 +v -1.505301 -1.807350 -0.331917 +v -2.167939 -2.193885 -0.193776 +v -1.311961 -2.359621 -0.028007 +v -3.024428 -1.972903 -0.000379 +v -2.720365 -2.000479 -0.221404 +v -2.609811 -2.166216 0.192877 +v -1.311961 -1.669282 -0.331917 +v -1.339557 -1.420539 -0.249033 +v -2.775726 -1.807350 -0.028007 +v -1.311961 -2.221462 0.386275 +v -2.692769 -2.221462 0.027179 +v -2.002706 -2.000479 0.330948 +v -2.775726 -2.055725 0.248063 +v -2.692769 -1.835019 0.137551 +v -1.449939 -2.193885 -0.276661 +v -1.284195 -1.945234 -0.331917 +v -1.311961 -1.448300 -0.276661 +v -1.284195 -1.558791 0.192877 +v -2.720365 -2.193885 -0.055635 +v -3.024428 -2.028148 -0.000379 +f 182 196 197 +f 169 168 170 +f 169 170 171 +f 170 168 173 +f 170 173 177 +f 171 170 180 +f 172 175 181 +f 178 182 184 +f 168 169 185 +f 175 168 185 +f 185 174 186 +f 174 181 186 +f 181 175 186 +f 175 185 186 +f 177 173 187 +f 170 177 188 +f 180 170 188 +f 183 167 188 +f 177 183 188 +f 176 172 189 +f 173 176 189 +f 187 173 189 +f 187 189 190 +f 167 183 190 +f 183 177 190 +f 177 187 190 +f 189 172 190 +f 168 175 191 +f 175 172 191 +f 172 176 191 +f 171 180 192 +f 180 179 192 +f 179 182 192 +f 192 182 193 +f 169 171 193 +f 182 178 193 +f 184 169 193 +f 178 184 193 +f 171 192 193 +f 182 174 194 +f 169 184 194 +f 184 182 194 +f 185 169 194 +f 174 185 194 +f 173 168 195 +f 176 173 195 +f 168 191 195 +f 191 176 195 +f 179 180 196 +f 182 179 196 +f 188 167 196 +f 180 188 196 +f 172 181 197 +f 181 174 197 +f 174 182 197 +f 167 190 197 +f 190 172 197 +f 196 167 197 +o convex_5 +v 1.229400 -2.414870 0.082362 +v 0.732264 -1.393158 -0.994674 +v 0.732264 -1.365561 -0.994674 +v -1.284195 -2.111307 0.413743 +v 0.842655 -1.365561 0.883279 +v -0.704076 -2.939684 -0.000531 +v -1.118231 -1.365561 -0.497318 +v 0.842655 -2.304324 -0.939412 +v 0.787333 -2.221534 0.855648 +v -0.814467 -1.365561 0.828017 +v -0.759146 -2.249131 -0.718555 +v -0.869789 -2.470063 0.772755 +v 0.787333 -2.884331 -0.000720 +v 1.284721 -1.365402 0.054731 +v -1.284195 -2.221534 -0.276461 +v -0.759146 -1.365561 -0.828889 +v 1.284721 -2.331921 -0.304281 +v -1.284195 -1.420755 -0.000531 +v 1.284721 -1.752073 0.386112 +v 0.096824 -2.995036 -0.000531 +v 0.925385 -1.365561 -0.911781 +v 0.290197 -1.393158 0.938730 +v -1.284195 -2.359677 0.358481 +v -0.759146 -2.911927 -0.055603 +v 0.925385 -2.304324 -0.939412 +v 0.096824 -2.967121 -0.110865 +v 1.063437 -2.552853 -0.497508 +v 1.284721 -2.193778 0.303220 +v 1.284721 -1.558738 -0.193757 +v -0.648755 -2.276727 -0.746186 +v 0.207215 -1.393158 -0.967232 +v -0.648755 -1.558738 0.883468 +v -1.062910 -2.608206 0.441374 +v -1.145892 -1.365561 0.330851 +v -1.284195 -2.387114 -0.027972 +v 1.284721 -1.365402 0.303220 +v -1.284195 -1.945409 -0.331722 +v 1.284721 -2.055795 -0.331722 +v -1.284195 -1.393158 -0.248830 +v 0.676942 -2.359677 0.717494 +v 0.759673 -2.884331 -0.083045 +v -1.284195 -1.641687 0.275589 +v 0.013842 -2.387114 -0.745996 +v 0.621621 -2.028358 0.883279 +v 1.284721 -2.387114 -0.055603 +v 0.511230 -1.365561 0.938351 +v -0.621095 -2.608206 0.579528 +v -0.869789 -1.807426 0.800386 +v -0.565773 -1.475948 -0.856709 +v -0.151367 -2.995036 -0.055603 +v 0.870064 -2.359677 -0.884151 +v -0.869789 -2.249131 -0.635473 +v -0.648755 -1.365561 0.883468 +v -0.759146 -2.911927 0.054731 +v -0.151367 -2.995036 -0.000531 +v 1.257061 -2.276727 0.248147 +v 0.787333 -2.359677 -0.884151 +v -0.869789 -1.365561 0.772755 +v -0.759146 -1.669284 -0.801258 +v 0.925385 -1.890375 -0.939412 +v -0.814467 -2.276727 0.800386 +v -1.007840 -2.580609 0.551898 +f 230 251 259 +f 211 200 213 +f 204 211 213 +f 212 201 215 +f 202 206 216 +f 214 211 216 +f 200 211 218 +f 209 201 220 +f 201 212 220 +f 199 200 222 +f 205 199 222 +f 222 214 224 +f 216 206 225 +f 214 216 225 +f 211 214 226 +f 218 211 226 +f 221 208 227 +f 200 199 228 +f 199 205 228 +f 213 200 228 +f 211 204 231 +f 220 212 232 +f 212 221 232 +f 230 220 232 +f 202 216 233 +f 216 211 233 +f 211 231 233 +f 204 213 234 +f 212 215 234 +f 214 222 235 +f 226 214 235 +f 218 226 235 +f 231 204 236 +f 215 231 236 +f 204 234 236 +f 234 215 236 +f 206 209 237 +f 210 206 237 +f 217 210 237 +f 210 217 238 +f 217 223 238 +f 224 210 238 +f 215 201 239 +f 231 215 239 +f 221 227 240 +f 209 206 241 +f 198 210 242 +f 210 224 242 +f 224 214 242 +f 214 225 242 +f 206 202 243 +f 202 233 243 +f 241 206 243 +f 219 241 243 +f 237 209 244 +f 217 237 244 +f 207 201 245 +f 201 209 245 +f 229 207 245 +f 205 227 246 +f 228 205 246 +f 213 228 246 +f 203 221 247 +f 223 217 247 +f 221 240 247 +f 205 222 248 +f 222 224 248 +f 238 223 248 +f 224 238 248 +f 221 212 249 +f 208 221 249 +f 212 234 249 +f 207 229 250 +f 229 219 250 +f 233 207 250 +f 219 243 250 +f 243 233 250 +f 221 203 251 +f 232 221 251 +f 230 232 251 +f 244 209 251 +f 244 251 252 +f 217 244 252 +f 203 247 252 +f 247 217 252 +f 251 203 252 +f 210 198 253 +f 206 210 253 +f 225 206 253 +f 198 242 253 +f 242 225 253 +f 227 205 254 +f 240 227 254 +f 223 247 254 +f 247 240 254 +f 205 248 254 +f 248 223 254 +f 201 207 255 +f 207 233 255 +f 233 231 255 +f 239 201 255 +f 231 239 255 +f 227 208 256 +f 234 213 256 +f 213 246 256 +f 246 227 256 +f 208 249 256 +f 249 234 256 +f 200 218 257 +f 222 200 257 +f 235 222 257 +f 218 235 257 +f 219 229 258 +f 209 241 258 +f 241 219 258 +f 245 209 258 +f 229 245 258 +f 209 220 259 +f 220 230 259 +f 251 209 259 +o convex_6 +v -0.206805 2.336155 -1.271091 +v 0.179763 1.369359 -1.326453 +v 0.317884 1.369359 -1.326453 +v 0.014153 2.059914 -3.011324 +v 0.317884 2.170259 -1.271091 +v -0.179193 1.590522 -1.271091 +v 0.235049 2.032186 -2.790218 +v -0.179193 2.004647 -2.735027 +v 0.014153 2.225621 -2.651899 +v 0.014153 1.839035 -2.790218 +v 0.373171 1.507622 -1.271091 +v -0.262153 2.032186 -1.630517 +v 0.096927 2.336155 -1.381644 +v -0.179193 2.142720 -2.651899 +v 0.373171 1.839035 -1.519793 +v 0.069315 1.369359 -1.298857 +v 0.235049 1.976919 -2.817814 +v 0.179763 2.142720 -2.596707 +v -0.262153 2.170259 -1.271091 +v -0.179193 1.590522 -1.354219 +v 0.317884 2.170259 -1.436836 +v 0.124539 1.839035 -2.735027 +v -0.206805 2.032186 -2.651899 +v -0.179193 2.225621 -2.320750 +v 0.345434 1.369359 -1.298857 +v 0.262661 2.004647 -2.651899 +v 0.014153 2.197893 -2.790218 +v -0.013459 2.004647 -3.011324 +v 0.373171 1.921652 -1.271091 +v -0.262153 1.976919 -1.271091 +v -0.123969 1.894113 -2.596707 +v 0.096927 2.336155 -1.271091 +f 264 272 291 +f 264 260 265 +f 262 261 269 +f 264 265 270 +f 268 260 272 +f 261 262 275 +f 269 261 275 +f 270 265 275 +f 263 266 276 +f 268 272 277 +f 265 260 278 +f 275 265 279 +f 272 264 280 +f 266 277 280 +f 277 272 280 +f 262 269 281 +f 273 267 282 +f 271 278 282 +f 278 273 282 +f 267 279 282 +f 279 271 282 +f 260 268 283 +f 278 260 283 +f 273 278 283 +f 275 262 284 +f 270 275 284 +f 276 270 284 +f 262 281 284 +f 281 276 284 +f 274 270 285 +f 276 266 285 +f 270 276 285 +f 280 274 285 +f 266 280 285 +f 266 263 286 +f 263 273 286 +f 277 266 286 +f 268 277 286 +f 283 268 286 +f 273 283 286 +f 269 267 287 +f 273 263 287 +f 267 273 287 +f 263 276 287 +f 281 269 287 +f 276 281 287 +f 264 270 288 +f 270 274 288 +f 280 264 288 +f 274 280 288 +f 265 278 289 +f 278 271 289 +f 279 265 289 +f 271 279 289 +f 267 269 290 +f 269 275 290 +f 279 267 290 +f 275 279 290 +f 260 264 291 +f 272 260 291 +o convex_7 +v -0.538332 2.556889 -0.607907 +v 0.980871 1.618064 0.607019 +v 0.953154 2.032359 0.745327 +v -0.759346 1.369519 0.855775 +v 0.373081 1.369519 -1.271091 +v 0.069277 2.999102 0.109755 +v -0.427824 2.529450 1.048810 +v -0.842136 1.369519 -0.828802 +v 0.704603 2.308343 -0.746215 +v 0.317828 1.369359 1.270203 +v -0.234527 2.363700 -1.271091 +v -0.814600 2.280745 -0.828802 +v 0.842647 1.369519 -0.773827 +v 0.290110 2.253147 1.270203 +v -0.704093 2.418897 0.855775 +v 0.069277 2.915987 -0.746215 +v 0.096813 2.888548 0.772690 +v -0.317317 1.949564 1.270203 +v 0.317828 2.170511 -1.271091 +v 0.925618 1.369519 0.855526 +v 0.925618 2.197950 0.800551 +v -0.842136 1.452314 0.634631 +v -0.179093 1.562867 -1.271091 +v 0.814929 2.336101 -0.083280 +v -0.179093 1.452473 1.270203 +v -0.068766 2.363700 1.270203 +v 0.014205 2.999102 0.054531 +v -0.400107 2.556889 -1.022335 +v 0.980871 1.397117 0.192840 +v -0.869853 1.673420 -0.607907 +v -0.289600 2.087716 -1.271091 +v 0.373081 1.839170 1.270203 +v 0.455871 1.618064 -1.243230 +v 0.014205 2.888548 0.772690 +v -0.759346 2.363540 -0.884026 +v 0.096813 2.363700 -1.271091 +v 0.014205 2.915987 -0.746215 +v 0.732139 2.197950 -0.773827 +v -0.317317 2.197790 1.270203 +v 0.152067 2.943586 -0.028056 +v 0.069277 1.369359 -1.271091 +v -0.869853 1.369519 -0.000444 +v -0.786882 1.369519 -0.884026 +v 0.870364 1.452314 -0.580295 +v -0.731629 2.280745 0.827914 +v -0.068766 1.369359 1.270203 +v 0.014205 2.418897 1.242342 +v 0.925618 2.059958 0.828163 +v -0.814600 2.253147 -0.856663 +v 0.787393 2.336101 0.689855 +v -0.869853 1.673420 -0.414623 +v 0.980871 1.369359 0.607019 +v -0.676375 2.446495 0.827914 +v -0.869853 1.369519 -0.745966 +v 0.814929 1.397117 -0.829051 +v 0.925618 2.197950 0.634631 +v -0.731629 2.170511 0.855775 +v 0.483589 2.529450 -0.746215 +v 0.483589 1.424715 1.187118 +v 0.538842 1.369519 -1.160146 +v 0.207320 2.805434 0.772690 +v 0.317828 2.225548 1.270203 +f 323 339 353 +f 301 305 309 +f 296 302 310 +f 302 296 314 +f 309 295 316 +f 301 309 316 +f 309 305 317 +f 297 307 318 +f 294 293 320 +f 302 314 322 +f 305 301 323 +f 296 310 324 +f 308 297 325 +f 297 318 325 +f 303 306 326 +f 319 302 326 +f 302 322 326 +f 302 307 327 +f 310 302 327 +f 307 310 327 +f 307 302 328 +f 292 318 328 +f 318 307 328 +f 302 319 328 +f 326 292 328 +f 319 326 328 +f 310 300 329 +f 300 315 329 +f 324 310 329 +f 298 306 330 +f 295 309 330 +f 317 298 330 +f 309 317 330 +f 307 297 331 +f 315 307 331 +f 314 296 332 +f 295 313 333 +f 322 314 334 +f 332 299 334 +f 314 332 334 +f 320 304 335 +f 315 320 335 +f 329 315 335 +f 304 329 335 +f 306 303 336 +f 316 295 337 +f 301 316 337 +f 332 301 337 +f 295 333 337 +f 305 308 338 +f 317 305 338 +f 298 317 338 +f 325 298 338 +f 308 325 338 +f 311 294 339 +f 294 312 339 +f 323 311 339 +f 321 303 340 +f 303 326 340 +f 326 322 340 +f 322 334 340 +f 334 299 340 +f 312 315 341 +f 331 297 341 +f 315 331 341 +f 303 321 342 +f 333 313 342 +f 321 333 342 +f 336 303 342 +f 313 336 342 +f 293 294 343 +f 294 311 343 +f 311 301 343 +f 320 293 343 +f 304 320 343 +f 301 332 343 +f 332 304 343 +f 306 298 344 +f 318 292 344 +f 298 325 344 +f 325 318 344 +f 292 326 344 +f 326 306 344 +f 299 332 345 +f 333 321 345 +f 332 337 345 +f 337 333 345 +f 340 299 345 +f 321 340 345 +f 329 304 346 +f 324 329 346 +f 312 294 347 +f 315 312 347 +f 294 320 347 +f 320 315 347 +f 313 295 348 +f 295 330 348 +f 330 306 348 +f 306 336 348 +f 336 313 348 +f 300 310 349 +f 310 307 349 +f 315 300 349 +f 307 315 349 +f 301 311 350 +f 323 301 350 +f 311 323 350 +f 296 324 351 +f 332 296 351 +f 304 332 351 +f 346 304 351 +f 324 346 351 +f 297 308 352 +f 308 305 352 +f 305 312 352 +f 341 297 352 +f 312 341 352 +f 312 305 353 +f 305 323 353 +f 339 312 353 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/376/376.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/376/376.urdf new file mode 100644 index 000000000..f3729e1eb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/376/376.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/377/377.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/377/377.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/377/377.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/377/377.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/377/377.obj new file mode 100644 index 000000000..3c0bdd7fa --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/377/377.obj @@ -0,0 +1,591 @@ +o convex_0 +v 0.944580 -3.180305 -1.049785 +v -0.979431 -0.412817 1.110660 +v -0.945705 -0.007214 1.110442 +v 1.012239 -4.327596 1.009246 +v -1.046881 -4.530840 -0.948371 +v 1.012239 -0.007214 -1.015981 +v -1.013156 -0.007214 -1.015981 +v 1.012239 -0.007214 0.975441 +v -1.046881 -4.462649 1.009246 +v 0.944580 -4.428996 -0.948371 +v -1.114540 -2.572344 1.110660 +v -0.641761 -0.108615 -1.117395 +v -1.114540 -1.999363 -0.948371 +v 1.012239 -2.437290 -1.083590 +v -1.013156 -0.074962 1.076637 +v 0.640844 -0.007214 1.043051 +v -1.013156 -4.496302 0.975441 +v -1.080607 -4.125237 -0.948371 +v 1.012239 -4.361691 0.840441 +v 1.012239 -0.244111 -1.049785 +v 0.573393 -4.463092 -0.914785 +v -1.080607 -3.990626 1.042833 +v -1.114540 -2.977504 -0.914567 +v 1.012239 -4.361691 0.199025 +v 0.944580 -2.605996 -1.083590 +v 0.978306 -3.753729 -1.015763 +v -1.114540 -2.336775 1.110660 +v -0.540585 -0.007214 -1.117395 +v -0.709211 -4.530840 -0.880762 +v -1.046881 -2.572344 1.110660 +v -1.046881 -0.514218 -0.813371 +v 1.012239 -1.830657 -1.083590 +v 0.944580 -4.428996 -0.576956 +v 0.944580 -4.294386 -0.982176 +v 0.978306 -1.932058 1.009246 +v 0.910855 -4.361691 1.009028 +v -1.114540 -1.999363 -0.678370 +v -1.114540 -2.775145 1.076637 +v -1.013156 -0.007214 0.705222 +v -1.080607 -4.057931 1.009246 +v -1.046881 -4.530840 -0.273150 +v -0.911772 -0.142267 -1.049785 +v 0.978306 -4.395344 -0.576956 +f 26 24 43 +f 3 6 7 +f 6 3 8 +f 4 6 8 +f 6 4 14 +f 2 3 15 +f 8 3 16 +f 12 5 18 +f 13 7 18 +f 14 4 19 +f 6 14 20 +f 5 10 21 +f 11 13 23 +f 13 18 23 +f 14 19 24 +f 19 10 24 +f 1 5 25 +f 5 12 25 +f 25 14 26 +f 5 1 26 +f 14 24 26 +f 1 25 26 +f 11 2 27 +f 13 11 27 +f 2 15 27 +f 7 6 28 +f 12 7 28 +f 6 20 28 +f 25 12 28 +f 14 25 28 +f 5 21 29 +f 21 17 29 +f 3 2 30 +f 2 11 30 +f 16 3 30 +f 4 16 30 +f 11 22 30 +f 7 13 31 +f 20 14 32 +f 28 20 32 +f 14 28 32 +f 10 19 33 +f 21 10 33 +f 17 21 33 +f 10 5 34 +f 5 26 34 +f 26 10 34 +f 4 8 35 +f 8 16 35 +f 16 4 35 +f 9 17 36 +f 19 4 36 +f 22 9 36 +f 4 30 36 +f 30 22 36 +f 33 19 36 +f 17 33 36 +f 13 27 37 +f 27 15 37 +f 31 13 37 +f 22 11 38 +f 11 23 38 +f 3 7 39 +f 15 3 39 +f 7 31 39 +f 37 15 39 +f 31 37 39 +f 9 22 40 +f 23 18 40 +f 22 38 40 +f 38 23 40 +f 17 9 41 +f 18 5 41 +f 5 29 41 +f 29 17 41 +f 9 40 41 +f 40 18 41 +f 7 12 42 +f 12 18 42 +f 18 7 42 +f 24 10 43 +f 10 26 43 +o convex_1 +v -0.371789 0.094243 -3.075382 +v 0.607138 1.005459 -1.117586 +v -0.337885 1.039155 -1.218974 +v -0.608164 0.094243 -1.117586 +v -0.472906 1.072953 -3.007727 +v 0.573235 0.026749 -3.007727 +v 0.573235 1.039155 -2.940263 +v 0.471880 0.127939 -1.117586 +v -0.608164 1.039155 -1.117586 +v -0.472906 0.127939 -3.075382 +v 0.607138 0.229230 -2.501364 +v 0.607138 1.039155 -1.927537 +v -0.506691 1.072953 -2.839067 +v -0.101629 1.072953 -3.007727 +v 0.573235 0.026749 -2.602751 +v 0.303313 0.026749 -3.007727 +v 0.607138 0.802875 -1.117586 +v 0.607138 1.039155 -2.703947 +v -0.540595 0.094243 -2.197393 +v 0.573235 0.229230 -3.007727 +v -0.236650 0.094243 -1.117586 +v -0.439359 0.937863 -3.041459 +v -0.608164 0.600394 -1.218974 +v -0.405574 1.072953 -2.636483 +v 0.505665 0.094243 -1.556293 +v -0.304101 0.161737 -3.075382 +f 65 63 69 +f 45 47 51 +f 45 46 52 +f 47 45 52 +f 46 45 55 +f 45 54 55 +f 48 53 56 +f 48 56 57 +f 49 54 58 +f 44 49 59 +f 58 47 59 +f 49 58 59 +f 45 51 60 +f 54 45 60 +f 54 49 61 +f 55 54 61 +f 50 57 61 +f 57 55 61 +f 53 44 62 +f 56 53 62 +f 44 59 62 +f 59 47 62 +f 57 50 63 +f 61 49 63 +f 50 61 63 +f 51 47 64 +f 47 58 64 +f 53 48 65 +f 48 57 65 +f 57 63 65 +f 47 52 66 +f 52 56 66 +f 62 47 66 +f 56 62 66 +f 52 46 67 +f 46 55 67 +f 56 52 67 +f 55 57 67 +f 57 56 67 +f 58 54 68 +f 60 51 68 +f 54 60 68 +f 51 64 68 +f 64 58 68 +f 49 44 69 +f 44 53 69 +f 63 49 69 +f 53 65 69 +o convex_2 +v 0.033229 2.220917 -1.927828 +v 0.168269 2.220917 -3.041459 +v -0.135537 2.254735 -3.075382 +v -0.135537 2.997208 -1.083636 +v 0.303309 2.794605 -3.075382 +v -0.236713 2.929648 -2.940078 +v -0.338097 2.254735 -1.083636 +v 0.201995 2.423520 -1.083636 +v 0.370830 2.220917 -2.906544 +v 0.235789 2.828423 -1.354051 +v -0.338097 2.963390 -1.083636 +v -0.270577 2.288476 -3.075382 +v 0.168269 2.322218 -1.083636 +v 0.201995 2.828423 -1.083636 +v -0.135537 2.929648 -2.974001 +v 0.370830 2.322218 -3.041459 +v -0.338097 2.254735 -1.455042 +v -0.270577 2.524746 -3.041459 +v 0.235789 2.693379 -1.218941 +v 0.303309 2.794605 -2.602596 +v -0.135537 2.254735 -1.083636 +v -0.304302 2.355960 -2.433953 +v -0.304302 2.254735 -2.197657 +v 0.235789 2.288476 -1.590346 +v -0.236713 2.997208 -1.117560 +f 84 75 94 +f 73 76 77 +f 70 71 78 +f 74 73 79 +f 76 73 80 +f 74 72 81 +f 77 76 82 +f 73 77 83 +f 79 73 83 +f 73 74 84 +f 71 72 85 +f 72 74 85 +f 78 71 85 +f 79 78 85 +f 70 76 86 +f 76 80 86 +f 80 75 87 +f 74 81 87 +f 84 74 87 +f 75 84 87 +f 77 78 88 +f 78 79 88 +f 83 77 88 +f 79 83 88 +f 74 79 89 +f 85 74 89 +f 79 85 89 +f 76 70 90 +f 82 76 90 +f 86 80 91 +f 81 86 91 +f 87 81 91 +f 80 87 91 +f 71 70 92 +f 72 71 92 +f 81 72 92 +f 70 86 92 +f 86 81 92 +f 70 78 93 +f 78 77 93 +f 77 82 93 +f 90 70 93 +f 82 90 93 +f 80 73 94 +f 75 80 94 +f 73 84 94 +o convex_3 +v -0.979316 0.499410 -1.049785 +v 1.045998 1.511914 0.941637 +v 1.045998 1.444255 0.941637 +v -0.979316 0.668185 1.110660 +v 1.011933 -0.007214 0.975441 +v 0.944611 1.511914 -1.015981 +v -0.945655 1.511914 -1.083590 +v 1.011933 -0.007214 -1.015981 +v -0.979316 -0.007214 1.110660 +v -0.911792 1.511914 1.110660 +v -1.013179 -0.007214 -1.015981 +v 0.674515 1.207970 1.110660 +v 0.471944 0.127955 -1.117395 +v 0.606991 0.060445 1.110660 +v 1.012135 1.511914 -0.982176 +v -0.641697 -0.007214 -1.117395 +v 0.606991 1.005290 -1.117395 +v -0.945655 1.511914 0.469244 +v -1.013179 0.060445 0.367830 +v -0.608036 1.039045 -1.117395 +v -1.013179 0.229220 -1.015981 +v 0.944611 1.444255 1.009246 +v -0.945655 1.410500 1.110660 +v 1.012135 1.342990 -1.015981 +v -0.979316 0.971684 -0.948371 +v -0.641697 1.511914 -1.083590 +v -1.013179 -0.007214 0.536635 +v 1.045998 1.511914 0.806636 +v -0.743083 1.511914 1.110660 +f 106 116 123 +f 97 96 99 +f 96 100 101 +f 97 99 102 +f 102 99 103 +f 98 103 104 +f 96 101 104 +f 101 95 105 +f 102 103 105 +f 104 103 106 +f 103 99 108 +f 99 106 108 +f 106 103 108 +f 100 96 109 +f 95 101 110 +f 105 95 110 +f 102 105 110 +f 107 102 110 +f 107 110 111 +f 102 107 111 +f 104 101 112 +f 110 101 114 +f 111 110 114 +f 101 105 115 +f 105 113 115 +f 99 96 116 +f 106 99 116 +f 98 104 117 +f 104 112 117 +f 113 98 117 +f 112 113 117 +f 100 109 118 +f 111 100 118 +f 102 111 118 +f 112 101 119 +f 113 112 119 +f 101 115 119 +f 115 113 119 +f 101 100 120 +f 100 111 120 +f 114 101 120 +f 111 114 120 +f 103 98 121 +f 105 103 121 +f 98 113 121 +f 113 105 121 +f 96 97 122 +f 97 102 122 +f 109 96 122 +f 102 118 122 +f 118 109 122 +f 96 104 123 +f 104 106 123 +f 116 96 123 +o convex_4 +v -0.608164 0.364297 2.258314 +v 0.607138 0.634163 3.000800 +v 0.607138 0.566778 3.000800 +v 0.607138 0.060521 1.110660 +v 0.471880 1.174221 1.110660 +v -0.574260 1.106619 3.068647 +v -0.540595 1.072926 1.110660 +v -0.608164 0.060521 3.000992 +v -0.574260 0.060521 1.110660 +v 0.573235 0.060521 3.068647 +v 0.607138 1.073035 2.933528 +v 0.607138 1.174221 1.110660 +v -0.574260 0.836644 1.110660 +v -0.608164 0.060521 1.617215 +v -0.371789 1.106619 1.212048 +v -0.608164 0.600579 3.034724 +v 0.607138 0.060521 2.393433 +v 0.539569 1.174221 1.313244 +v -0.574260 1.072926 1.752142 +v 0.235624 0.161707 3.068647 +v -0.337885 1.005432 3.068647 +v -0.574260 0.937830 3.068647 +v 0.573235 0.195508 3.068647 +f 144 133 146 +f 125 126 127 +f 128 127 130 +f 130 127 132 +f 127 131 132 +f 126 125 133 +f 131 127 133 +f 125 127 134 +f 127 128 135 +f 134 127 135 +f 130 132 136 +f 136 132 137 +f 131 124 137 +f 132 131 137 +f 124 136 137 +f 129 128 138 +f 128 130 138 +f 130 129 138 +f 124 131 139 +f 127 126 140 +f 126 133 140 +f 133 127 140 +f 128 129 141 +f 129 134 141 +f 134 135 141 +f 135 128 141 +f 129 130 142 +f 136 124 142 +f 130 136 142 +f 124 139 142 +f 139 129 142 +f 133 129 143 +f 131 133 143 +f 129 133 144 +f 125 134 144 +f 134 129 144 +f 139 131 145 +f 129 139 145 +f 143 129 145 +f 131 143 145 +f 133 125 146 +f 125 144 146 +o convex_5 +v -0.675631 3.672452 0.873961 +v 0.606973 1.511914 -1.015977 +v -0.945537 1.512126 -1.083636 +v -0.911874 1.512126 1.110660 +v 1.045796 1.511914 0.941620 +v 0.978269 3.570939 -1.049699 +v -1.013063 3.672452 -0.914811 +v 1.012134 3.537313 0.975342 +v -0.911874 3.672452 1.043001 +v 1.012134 1.511914 -0.982255 +v 0.235677 2.862039 1.110660 +v -0.473051 3.098268 -1.083636 +v 1.012134 3.570939 -0.408336 +v -1.013063 3.604776 -0.307170 +v 0.877080 3.604776 -0.813430 +v 0.168150 2.322327 -1.083636 +v -1.013063 2.963341 -0.982255 +v 0.201813 2.288490 1.110660 +v 0.978269 3.503475 1.009279 +v -0.945537 1.512126 0.232598 +v 0.944607 1.511914 -1.015977 +v -0.608105 3.672452 -0.948533 +v -0.945537 3.672452 0.873961 +v 0.944607 1.511914 0.975342 +v 1.012134 2.726899 -1.015977 +v -0.337998 2.760737 1.110660 +v 0.438257 3.267245 -1.083636 +v -0.878010 3.503475 -0.982255 +v 0.674500 3.570939 0.975342 +v 1.045796 1.782193 0.907898 +v 1.012134 1.680891 0.975342 +v -0.675631 1.512126 -1.083636 +v -0.945537 1.714518 -1.083636 +v -0.743158 3.672452 1.043001 +v 0.877080 3.604776 -1.015977 +v -0.911874 3.672452 -0.948533 +v 0.674500 3.537313 -1.049699 +f 158 182 183 +f 147 153 155 +f 151 148 156 +f 154 159 161 +f 149 158 162 +f 160 153 163 +f 157 150 164 +f 157 164 165 +f 151 154 165 +f 149 148 166 +f 148 150 166 +f 150 160 166 +f 163 149 166 +f 160 163 166 +f 148 149 167 +f 156 148 167 +f 153 147 168 +f 147 161 168 +f 150 155 169 +f 155 153 169 +f 160 150 169 +f 153 160 169 +f 150 148 170 +f 148 151 170 +f 164 150 170 +f 152 159 171 +f 156 167 171 +f 167 152 171 +f 155 150 172 +f 150 157 172 +f 157 155 172 +f 162 158 173 +f 152 167 173 +f 167 162 173 +f 163 153 174 +f 161 147 175 +f 154 161 175 +f 154 151 176 +f 151 156 176 +f 159 154 176 +f 156 171 176 +f 171 159 176 +f 165 164 177 +f 151 165 177 +f 170 151 177 +f 164 170 177 +f 149 162 178 +f 167 149 178 +f 162 167 178 +f 158 149 179 +f 149 163 179 +f 174 158 179 +f 163 174 179 +f 147 155 180 +f 155 157 180 +f 157 165 180 +f 165 154 180 +f 175 147 180 +f 154 175 180 +f 159 152 181 +f 161 159 181 +f 152 168 181 +f 168 161 181 +f 153 168 182 +f 168 152 182 +f 158 174 182 +f 174 153 182 +f 152 173 183 +f 173 158 183 +f 182 152 183 +o convex_6 +v -0.034354 2.727151 3.068647 +v -0.236756 2.220903 1.110660 +v -0.135471 2.220903 1.110660 +v 0.235796 2.862250 1.110660 +v 0.202034 2.288453 2.967260 +v -0.338097 2.760863 1.110660 +v -0.338097 2.288453 3.068647 +v 0.202034 2.862250 3.068647 +v 0.202034 2.288453 1.110660 +v -0.203050 2.828413 2.967260 +v -0.338097 2.254678 2.427165 +v 0.100749 2.862250 1.110660 +v -0.338097 2.423490 3.034724 +v 0.235796 2.794638 2.562093 +v 0.235796 2.592114 1.110660 +v -0.304335 2.794638 1.684679 +v -0.270517 2.220903 1.178316 +v -0.304335 2.254678 2.798408 +v 0.202034 2.625889 3.068647 +v -0.236756 2.828413 2.562093 +v 0.100749 2.862250 3.068647 +f 195 203 204 +f 186 185 187 +f 187 185 189 +f 184 190 191 +f 186 187 192 +f 188 186 192 +f 190 189 194 +f 187 189 195 +f 191 187 195 +f 190 184 196 +f 189 190 196 +f 184 193 196 +f 187 191 197 +f 192 187 198 +f 188 192 198 +f 187 197 198 +f 197 188 198 +f 195 189 199 +f 189 196 199 +f 185 186 200 +f 189 185 200 +f 194 189 200 +f 194 200 201 +f 186 188 201 +f 188 190 201 +f 190 194 201 +f 200 186 201 +f 190 188 202 +f 191 190 202 +f 197 191 202 +f 188 197 202 +f 196 193 203 +f 195 199 203 +f 199 196 203 +f 184 191 204 +f 193 184 204 +f 191 195 204 +f 203 193 204 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/377/377.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/377/377.urdf new file mode 100644 index 000000000..149f1ee1c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/377/377.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/378/378.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/378/378.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/378/378.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/378/378.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/378/378.obj new file mode 100644 index 000000000..410bff2f8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/378/378.obj @@ -0,0 +1,2751 @@ +o convex_0 +v 1.413330 -0.979823 -0.934631 +v 0.883518 -1.993263 -1.095900 +v 0.975680 -1.993263 -1.095900 +v 1.275114 -0.011770 -1.095900 +v 0.883518 -0.011770 -0.957695 +v 1.206005 -1.993263 -0.934631 +v 1.436384 -0.011770 -0.934631 +v 1.182951 -1.924019 -1.049821 +v 1.367222 -0.081014 -1.095900 +v 0.883518 -1.048291 -0.957695 +v 0.883518 -1.647433 -1.095900 +v 0.883518 -0.011770 -0.980726 +v 1.275114 -1.993263 -0.957695 +v 1.436384 -0.173145 -1.026773 +f 13 8 14 +f 3 2 4 +f 2 3 6 +f 4 5 7 +f 5 6 7 +f 6 1 7 +f 3 4 9 +f 4 7 9 +f 8 3 9 +f 5 2 10 +f 2 6 10 +f 6 5 10 +f 4 2 11 +f 2 5 11 +f 11 5 12 +f 5 4 12 +f 4 11 12 +f 1 6 13 +f 6 3 13 +f 3 8 13 +f 7 1 14 +f 9 7 14 +f 8 9 14 +f 1 13 14 +o convex_1 +v 1.505533 -0.011770 0.908649 +v 0.883464 -1.993263 1.115940 +v 0.883464 -1.993263 1.138997 +v 0.883464 -0.011770 0.977764 +v 1.275082 -1.993263 0.862564 +v 1.252077 -1.993263 1.023796 +v 0.975685 -0.104095 1.046825 +v 1.574682 -0.011770 0.862564 +v 1.044766 -1.301990 1.092911 +v 1.482393 -0.011770 0.862564 +v 1.298087 -1.647433 1.023796 +v 1.344231 -1.854969 0.885620 +v 1.574682 -0.173145 0.885620 +v 0.883464 -0.011770 1.023796 +v 0.883464 -1.854969 1.092911 +f 19 16 29 +f 16 17 18 +f 17 16 19 +f 17 19 20 +f 18 15 22 +f 15 21 23 +f 21 17 23 +f 19 18 24 +f 18 22 24 +f 22 19 24 +f 17 20 25 +f 15 23 25 +f 23 17 25 +f 20 19 26 +f 19 22 26 +f 22 15 27 +f 25 20 27 +f 15 25 27 +f 20 26 27 +f 26 22 27 +f 18 17 28 +f 15 18 28 +f 21 15 28 +f 17 21 28 +f 16 18 29 +f 18 19 29 +o convex_2 +v -0.729384 2.499657 -0.059169 +v -1.466679 2.453569 -1.003753 +v -0.775393 2.407503 -0.980672 +v 0.491773 2.430542 -0.888347 +v -1.167045 2.453569 -0.013007 +v 0.491773 2.430542 -0.220544 +v 0.491773 2.384454 -0.842379 +v -1.466679 2.499657 -0.519630 +v 0.491773 2.476596 -0.128316 +v -1.328268 2.476607 -1.003753 +v -1.466679 2.499657 -0.013007 +v 0.491773 2.384454 -1.003753 +v 0.491773 2.476596 -0.243625 +v -1.466679 2.453569 -0.473952 +f 40 31 43 +f 34 32 36 +f 35 34 36 +f 33 35 36 +f 30 34 38 +f 34 35 38 +f 35 33 38 +f 31 37 39 +f 34 30 40 +f 37 31 40 +f 30 37 40 +f 32 31 41 +f 36 32 41 +f 33 36 41 +f 31 39 41 +f 39 33 41 +f 37 30 42 +f 30 38 42 +f 38 33 42 +f 39 37 42 +f 33 39 42 +f 31 32 43 +f 32 34 43 +f 34 40 43 +o convex_3 +v -1.374381 2.453535 0.793397 +v -0.729451 2.269291 0.885577 +v -0.729451 2.246264 0.885577 +v -0.729451 2.476589 -0.013007 +v -1.443514 2.453535 -0.013007 +v -1.397473 2.522643 0.885577 +v -1.466679 2.522643 0.309625 +v -0.798584 2.246264 0.793397 +v -0.729451 2.430508 0.033083 +v -0.729451 2.453535 0.171354 +v -1.466679 2.499616 -0.013007 +v -1.466679 2.499616 0.885577 +f 54 48 55 +f 45 46 47 +f 46 45 49 +f 49 47 50 +f 44 48 51 +f 51 48 52 +f 47 46 52 +f 48 47 52 +f 46 51 52 +f 45 47 53 +f 49 45 53 +f 47 49 53 +f 47 48 54 +f 50 47 54 +f 50 54 55 +f 48 44 55 +f 46 49 55 +f 49 50 55 +f 44 51 55 +f 51 46 55 +o convex_4 +v 3.256647 1.531951 0.516975 +v 2.519453 2.292291 0.540038 +v 2.542451 2.223149 0.747369 +v 2.496307 1.531951 0.954654 +v 3.210503 1.578095 0.701291 +v 3.049221 2.015797 0.540038 +v 2.496307 2.246072 0.516975 +v 2.542451 1.555098 1.000733 +v 2.496307 2.200002 0.770338 +f 59 63 64 +f 59 56 60 +f 58 60 61 +f 57 58 61 +f 60 56 61 +f 61 56 62 +f 56 59 62 +f 57 61 62 +f 59 60 63 +f 60 58 63 +f 58 57 64 +f 57 62 64 +f 62 59 64 +f 63 58 64 +o convex_5 +v 0.030975 -3.283483 -0.888620 +v 0.860355 -2.868975 -1.049870 +v 0.860355 -2.868975 -1.095893 +v -0.314533 -2.984088 -0.865523 +v 0.169339 -2.868975 -1.234132 +v 0.560739 -3.444821 -0.842469 +v 0.860355 -3.168257 -0.842469 +v 0.491844 -2.891975 -1.280240 +v -0.061153 -3.122313 -1.049828 +v -0.291530 -3.145314 -0.957740 +v 0.445723 -3.421652 -0.888577 +v 0.860355 -3.237370 -0.865523 +f 70 72 76 +f 66 67 69 +f 68 66 69 +f 68 65 70 +f 67 66 71 +f 66 68 71 +f 68 70 71 +f 69 67 72 +f 69 72 73 +f 69 73 74 +f 65 68 74 +f 68 69 74 +f 70 65 75 +f 72 70 75 +f 73 72 75 +f 74 73 75 +f 65 74 75 +f 67 71 76 +f 71 70 76 +f 72 67 76 +o convex_6 +v 0.169205 -2.983815 -1.118927 +v -0.406811 -2.177701 -0.888606 +v -0.314623 -2.292902 -1.003807 +v 0.169205 -1.993263 -1.118927 +v 0.146144 -2.661292 -1.280200 +v -0.291562 -2.983815 -0.865550 +v -0.245497 -1.993263 -1.072895 +v -0.245497 -2.983815 -1.003807 +v -0.360689 -1.993263 -0.865550 +v 0.169205 -2.338962 -1.095870 +v 0.169205 -2.914773 -1.211071 +v 0.077017 -1.993263 -1.141943 +f 81 83 88 +f 79 78 83 +f 83 81 84 +f 78 79 84 +f 82 78 84 +f 77 82 84 +f 79 83 84 +f 78 82 85 +f 83 78 85 +f 80 83 85 +f 77 80 86 +f 82 77 86 +f 85 82 86 +f 80 85 86 +f 80 77 87 +f 81 80 87 +f 84 81 87 +f 77 84 87 +f 80 81 88 +f 83 80 88 +o convex_7 +v -0.429817 -2.039601 0.585927 +v -0.291646 -3.145068 -0.865455 +v -0.314666 -3.029842 -0.865455 +v -0.383752 -1.993376 -0.865455 +v -0.222535 -2.983730 0.701252 +v -0.475908 -2.131714 -0.036094 +v -0.314666 -3.053068 0.079231 +v -0.360682 -2.062601 0.701252 +v -0.268576 -3.006842 -0.865455 +v -0.452862 -1.993376 -0.727126 +v -0.268625 -3.029842 0.678095 +v -0.406772 -1.993488 0.701252 +v -0.475932 -2.016601 -0.473778 +f 89 100 101 +f 90 91 92 +f 91 90 95 +f 94 91 95 +f 93 92 96 +f 90 92 97 +f 92 93 97 +f 93 90 97 +f 92 91 98 +f 90 93 99 +f 89 94 99 +f 94 95 99 +f 95 90 99 +f 96 92 100 +f 93 96 100 +f 92 98 100 +f 99 93 100 +f 89 99 100 +f 91 94 101 +f 94 89 101 +f 98 91 101 +f 100 98 101 +o convex_8 +v -0.245423 -3.168416 -0.865455 +v 0.491742 -3.467803 0.447444 +v 0.169138 -3.260489 0.701252 +v 0.468693 -3.398748 -0.842145 +v 0.445644 -3.559975 0.032917 +v -0.245423 -3.053226 0.701252 +v -0.245423 -3.099262 -0.842298 +v -0.176356 -3.053226 0.608931 +v -0.314648 -3.099312 -0.104952 +v 0.123120 -3.306526 0.701252 +v 0.468693 -3.467803 -0.773134 +v -0.268551 -3.053226 -0.312446 +v 0.353449 -3.513889 -0.197274 +v 0.491742 -3.513889 0.447444 +f 106 112 115 +f 104 103 105 +f 105 102 108 +f 104 105 109 +f 107 104 109 +f 108 102 110 +f 104 107 111 +f 110 106 111 +f 107 110 111 +f 102 105 112 +f 105 108 113 +f 107 109 113 +f 109 105 113 +f 110 107 113 +f 108 110 113 +f 110 102 114 +f 106 110 114 +f 102 112 114 +f 112 106 114 +f 103 104 115 +f 105 103 115 +f 104 111 115 +f 111 106 115 +f 112 105 115 +o convex_9 +v 2.127923 0.748552 -0.980713 +v 3.118205 0.978976 -0.473918 +v 3.118205 0.909835 -0.473918 +v 1.620910 0.264774 -0.473918 +v 1.643923 0.679341 -0.842356 +v 2.496421 0.702481 -0.865424 +v 2.404223 0.978976 -0.980713 +v 1.989407 0.587269 -0.473918 +v 3.072033 0.840694 -0.543072 +v 1.620910 0.679341 -0.980713 +v 2.266146 0.978976 -0.957546 +v 3.026007 0.932835 -0.704297 +v 1.897209 0.679341 -0.980713 +v 1.643923 0.264774 -0.496986 +v 2.496421 0.587339 -0.496986 +v 1.620910 0.333915 -0.473918 +f 120 125 131 +f 118 117 119 +f 121 116 122 +f 119 117 123 +f 122 116 125 +f 122 125 126 +f 117 122 126 +f 123 117 126 +f 120 123 126 +f 125 120 126 +f 117 118 127 +f 122 117 127 +f 121 122 127 +f 118 124 127 +f 124 121 127 +f 116 121 128 +f 125 116 128 +f 125 128 129 +f 119 125 129 +f 128 121 129 +f 129 121 130 +f 118 119 130 +f 124 118 130 +f 121 124 130 +f 119 129 130 +f 119 123 131 +f 123 120 131 +f 125 119 131 +o convex_10 +v 3.302642 1.462590 0.563008 +v 2.887997 0.610597 -0.128142 +v 2.887997 0.748777 -0.450679 +v 3.256633 0.748777 -0.082065 +v 3.302642 1.531951 -0.473819 +v 2.887997 0.886958 0.563008 +v 3.464012 1.393500 -0.105104 +v 3.233572 1.531951 0.563008 +v 3.095376 0.817868 -0.473819 +v 3.256633 1.531951 -0.473819 +v 3.072371 0.886958 0.516830 +v 2.887997 0.817868 -0.473819 +v 3.440895 1.531951 -0.035887 +v 3.348764 1.416590 -0.450679 +v 2.911114 0.610597 -0.012849 +v 3.233572 0.702687 -0.059027 +v 3.302642 1.416590 0.563008 +v 3.464012 1.416590 -0.012849 +f 148 135 149 +f 134 133 137 +f 137 132 139 +f 133 134 140 +f 139 136 141 +f 137 139 141 +f 136 140 141 +f 134 137 143 +f 140 134 143 +f 137 141 143 +f 141 140 143 +f 136 139 144 +f 139 132 144 +f 138 135 145 +f 135 140 145 +f 140 136 145 +f 144 138 145 +f 136 144 145 +f 137 133 146 +f 142 137 146 +f 142 146 147 +f 133 140 147 +f 140 135 147 +f 146 133 147 +f 132 137 148 +f 137 142 148 +f 142 147 148 +f 147 135 148 +f 135 138 149 +f 144 132 149 +f 138 144 149 +f 132 148 149 +o convex_11 +v 1.044613 -3.214323 0.816526 +v -0.268567 -3.007061 0.701252 +v -0.268567 -2.891847 0.701252 +v 0.514846 -2.891847 1.300195 +v 1.252114 -2.891959 0.770499 +v 0.422706 -3.467637 0.747397 +v -0.061066 -2.984120 0.954726 +v 0.883405 -2.984120 1.138953 +v 0.169209 -3.306540 0.701252 +v 1.228893 -3.122276 0.770499 +v 0.422706 -3.467637 0.770499 +v -0.245495 -3.076224 0.747456 +v 1.182897 -2.891959 0.931741 +v 0.077069 -2.914957 1.092867 +v 0.514846 -2.915070 1.300195 +v 0.929550 -3.122276 1.000753 +f 164 160 165 +f 152 153 154 +f 151 152 158 +f 152 154 158 +f 155 158 159 +f 150 155 159 +f 158 154 159 +f 155 150 160 +f 152 151 161 +f 156 152 161 +f 151 158 161 +f 158 155 161 +f 155 160 161 +f 160 156 161 +f 154 153 162 +f 153 157 162 +f 157 159 162 +f 159 154 162 +f 153 152 163 +f 152 156 163 +f 156 160 163 +f 163 160 164 +f 157 153 164 +f 153 163 164 +f 157 164 165 +f 150 159 165 +f 159 157 165 +f 160 150 165 +o convex_12 +v 0.169205 -2.891847 1.138965 +v -0.406811 -2.085443 0.701304 +v -0.406811 -2.085443 0.724385 +v 0.169205 -1.993263 1.069825 +v -0.245497 -2.891847 0.701304 +v 0.077017 -2.361985 1.185024 +v -0.268501 -2.868802 0.770444 +v -0.130305 -1.993263 1.000737 +v -0.360689 -1.993263 0.701304 +v 0.169205 -2.891847 1.092855 +v 0.146144 -2.500080 1.231134 +v 0.169205 -2.039353 1.138965 +f 171 176 177 +f 168 167 172 +f 170 166 172 +f 167 170 172 +f 171 168 172 +f 168 171 173 +f 167 168 174 +f 169 170 174 +f 170 167 174 +f 168 173 174 +f 173 169 174 +f 169 166 175 +f 166 170 175 +f 170 169 175 +f 172 166 176 +f 171 172 176 +f 166 169 177 +f 169 173 177 +f 173 171 177 +f 176 166 177 +o convex_13 +v 1.205976 -2.315971 -0.980751 +v 0.860423 -3.214415 -0.865548 +v 0.860423 -3.214415 -0.842507 +v 0.860423 -1.993502 -1.072837 +v 0.883543 -2.431190 -1.234121 +v 1.367217 -1.993502 -0.842507 +v 1.228996 -2.983858 -0.865548 +v 0.860423 -2.822623 -1.141958 +v 1.136865 -2.016450 -1.072837 +v 1.321177 -1.993502 -0.842507 +f 183 181 187 +f 179 180 181 +f 180 179 184 +f 182 178 184 +f 178 183 184 +f 183 180 184 +f 179 181 185 +f 181 182 185 +f 184 179 185 +f 182 184 185 +f 178 182 186 +f 182 181 186 +f 183 178 186 +f 181 183 186 +f 181 180 187 +f 180 183 187 +o convex_14 +v -0.498937 -1.670320 -0.704108 +v -0.429829 -0.011770 -0.358616 +v -0.406833 -0.011770 -0.381666 +v -0.452865 -1.993263 -0.358616 +v -0.314668 -1.900938 -1.003753 +v -0.383797 -0.011770 -0.773257 +v -0.314668 -0.219307 -0.773257 +v -0.522014 -1.393927 -0.358616 +v -0.475901 -1.278715 -0.796370 +v -0.452865 -0.011770 -0.404715 +v -0.452865 -1.947100 -0.842469 +v -0.314668 -1.993263 -0.934604 +v -0.337725 -1.601464 -1.003753 +v -0.314668 -0.011770 -0.819356 +v -0.498937 -1.900938 -0.358616 +f 198 191 202 +f 190 189 191 +f 189 190 193 +f 190 191 194 +f 191 189 195 +f 188 195 196 +f 196 195 197 +f 189 193 197 +f 195 189 197 +f 193 196 197 +f 188 196 198 +f 194 191 199 +f 192 194 199 +f 191 198 199 +f 198 192 199 +f 196 193 200 +f 192 198 200 +f 198 196 200 +f 193 190 201 +f 190 194 201 +f 194 192 201 +f 192 200 201 +f 200 193 201 +f 191 195 202 +f 195 188 202 +f 188 198 202 +o convex_15 +v -0.498955 -1.947100 -0.312517 +v -0.521993 -0.011770 0.102196 +v -0.429851 -0.011770 -0.312517 +v -0.452912 -1.993263 0.102196 +v -0.545054 -1.555302 -0.266372 +v -0.545054 -1.624545 0.102196 +v -0.545054 -0.011770 -0.082156 +v -0.452912 -1.993263 -0.358616 +v -0.475950 -0.011770 -0.335521 +v -0.521993 -1.347959 -0.358616 +v -0.429851 -0.749205 -0.358616 +f 212 211 213 +f 205 204 206 +f 206 204 208 +f 203 206 208 +f 207 203 208 +f 204 205 209 +f 208 204 209 +f 207 208 209 +f 206 203 210 +f 209 205 211 +f 209 211 212 +f 203 207 212 +f 207 209 212 +f 210 203 212 +f 210 212 213 +f 205 206 213 +f 206 210 213 +f 211 205 213 +o convex_16 +v 0.146076 0.472083 -0.911556 +v -0.383770 -0.012009 -0.750367 +v -0.314637 -1.993263 -1.026771 +v 0.284408 -1.993263 -1.118934 +v -0.268526 -1.739633 -1.072831 +v 0.238232 0.425990 -0.980711 +v -0.337659 -0.012009 -0.727315 +v -0.291549 -1.993263 -0.957659 +v 0.261320 -0.426842 -0.957659 +v -0.360682 0.425990 -0.750367 +v 0.215209 -1.970096 -1.164995 +v 0.284408 0.448916 -0.934608 +v -0.245504 0.472083 -0.727315 +v 0.284408 -1.993263 -1.164995 +v -0.314637 -0.956543 -0.957659 +f 223 219 228 +f 217 220 221 +f 215 216 221 +f 216 217 221 +f 220 215 221 +f 220 217 222 +f 214 219 223 +f 215 220 223 +f 216 218 224 +f 218 219 224 +f 219 214 225 +f 222 217 225 +f 220 222 226 +f 214 223 226 +f 223 220 226 +f 225 214 226 +f 222 225 226 +f 217 216 227 +f 216 224 227 +f 224 219 227 +f 219 225 227 +f 225 217 227 +f 216 215 228 +f 218 216 228 +f 219 218 228 +f 215 223 228 +o convex_17 +v -0.498959 -1.900938 0.125257 +v -0.452912 -0.011770 0.678212 +v -0.452912 -0.011770 0.655151 +v -0.383786 -1.993263 0.678212 +v -0.475912 -1.371040 0.678212 +v -0.521991 -0.011770 0.102196 +v -0.429865 -1.970181 0.171323 +v -0.545054 -0.380488 0.309575 +v -0.545054 -1.532414 0.125257 +v -0.521991 -0.011770 0.562963 +v -0.429865 -1.993263 0.655151 +v -0.498959 -0.011770 0.148318 +v -0.383786 -1.970181 0.585968 +v -0.452912 -1.993263 0.102196 +v -0.545054 -0.011770 0.102196 +f 242 237 243 +f 232 230 233 +f 230 231 234 +f 237 233 238 +f 233 230 238 +f 230 234 238 +f 236 237 238 +f 232 233 239 +f 237 229 239 +f 233 237 239 +f 234 231 240 +f 235 240 241 +f 231 230 241 +f 230 232 241 +f 232 235 241 +f 240 231 241 +f 235 232 242 +f 229 237 242 +f 232 239 242 +f 239 229 242 +f 234 240 242 +f 240 235 242 +f 237 236 243 +f 238 234 243 +f 236 238 243 +f 234 242 243 +o convex_18 +v -0.130391 -0.587830 0.908582 +v -0.475932 -1.232747 0.678212 +v -0.452829 -1.808613 0.678212 +v -0.153427 -1.993263 0.977699 +v -0.222535 -0.011770 0.977699 +v -0.429793 -0.011770 0.678212 +v -0.383720 -1.993263 0.678212 +v -0.429793 -1.831888 0.747392 +v -0.475932 -0.011770 0.701293 +v -0.130391 -0.011770 1.000780 +v -0.130391 -1.993263 0.931600 +v -0.291644 -0.081014 0.770410 +f 249 253 255 +f 246 245 249 +f 246 249 250 +f 245 246 251 +f 247 248 251 +f 246 250 251 +f 250 247 251 +f 249 245 252 +f 248 249 252 +f 245 251 252 +f 251 248 252 +f 248 247 253 +f 249 248 253 +f 247 250 254 +f 250 244 254 +f 244 253 254 +f 253 247 254 +f 250 249 255 +f 244 250 255 +f 253 244 255 +o convex_19 +v -0.130323 -1.670694 0.977771 +v 0.883464 -1.670694 1.138983 +v 0.468561 -1.716821 1.162026 +v -0.107201 -1.993231 0.954757 +v 0.284480 -1.993231 1.254227 +v 0.883464 -1.993231 1.115940 +v 0.629918 -1.670694 1.046900 +v 0.169268 -1.670694 1.115940 +v 0.537728 -1.970184 1.254227 +f 260 261 264 +f 256 259 260 +f 260 259 261 +f 261 259 262 +f 256 257 262 +f 259 256 262 +f 257 261 262 +f 257 256 263 +f 258 257 263 +f 256 260 263 +f 260 258 263 +f 257 258 264 +f 258 260 264 +f 261 257 264 +o convex_20 +v 1.436481 -1.993263 -0.059149 +v 1.735930 -0.011770 -0.059149 +v 1.735930 -0.011770 -0.105251 +v 1.413417 -0.011770 -0.934582 +v 1.390354 -1.947100 -0.865428 +v 1.252114 -1.831888 -0.911530 +v 1.436481 -0.081014 -0.657967 +v 1.390448 -1.970181 -0.059149 +v 1.436434 -0.887498 -0.934582 +v 1.689850 -0.011770 -0.059149 +v 1.252114 -1.993263 -0.934582 +v 1.413417 -0.011770 -0.773309 +v 1.735930 -0.104095 -0.082286 +v 1.436434 -1.601464 -0.842377 +v 1.436434 -0.011770 -0.934582 +v 1.413465 -1.993263 -0.473814 +f 269 277 280 +f 266 267 268 +f 265 266 272 +f 266 268 274 +f 271 272 274 +f 272 266 274 +f 270 268 275 +f 272 270 275 +f 265 272 275 +f 268 273 275 +f 273 269 275 +f 268 270 276 +f 270 272 276 +f 272 271 276 +f 274 268 276 +f 271 274 276 +f 266 265 277 +f 267 266 277 +f 277 269 278 +f 273 267 278 +f 269 273 278 +f 267 277 278 +f 268 267 279 +f 267 273 279 +f 273 268 279 +f 265 275 280 +f 275 269 280 +f 277 265 280 +o convex_21 +v -4.508008 1.508973 -0.013007 +v -4.185503 1.624186 0.678212 +v -4.208550 1.624186 0.678212 +v -4.277661 2.223169 -0.013007 +v -4.185503 2.200023 -0.013007 +v -4.323755 1.508973 0.655139 +v -4.208550 1.462829 0.655139 +v -4.461914 1.462829 -0.013007 +v -4.208550 2.176950 0.194372 +f 284 286 289 +f 281 284 285 +f 284 281 286 +f 282 283 287 +f 285 282 287 +f 283 286 287 +f 287 286 288 +f 281 285 288 +f 286 281 288 +f 285 287 288 +f 283 282 289 +f 285 284 289 +f 282 285 289 +f 286 283 289 +o convex_22 +v 1.298249 -2.799485 0.309656 +v 1.597615 -0.011770 0.862536 +v 1.620695 -0.011770 0.724249 +v 1.390465 -1.970078 -0.059020 +v 1.735836 -0.081136 -0.059020 +v 1.252192 -2.983765 0.770254 +v 1.298249 -1.831645 0.839443 +v 1.574587 -0.011770 0.678063 +v 1.206032 -3.029612 0.332659 +v 1.689779 -0.034991 -0.059020 +v 1.459498 -1.440459 0.747162 +v 1.436521 -1.993001 -0.059020 +v 1.528530 -0.150203 0.839443 +v 1.252192 -3.053131 0.194552 +v 1.206032 -3.053131 0.770254 +v 1.597615 -0.150203 0.839443 +v 1.344357 -1.970078 0.862536 +v 1.229112 -2.914697 0.194552 +v 1.735836 -0.034991 0.010169 +v 1.344357 -1.463383 0.839443 +f 293 307 309 +f 290 294 295 +f 291 292 297 +f 294 293 299 +f 297 292 299 +f 293 297 299 +f 294 290 301 +f 293 294 301 +f 291 297 302 +f 297 293 302 +f 290 295 303 +f 301 290 303 +f 293 301 303 +f 296 298 304 +f 303 295 304 +f 298 303 304 +f 292 291 305 +f 295 300 305 +f 304 295 306 +f 296 304 306 +f 305 291 306 +f 295 305 306 +f 298 296 307 +f 293 303 307 +f 303 298 307 +f 295 294 308 +f 294 299 308 +f 299 292 308 +f 300 295 308 +f 292 305 308 +f 305 300 308 +f 291 302 309 +f 302 293 309 +f 306 291 309 +f 296 306 309 +f 307 296 309 +o convex_23 +v 0.560936 -2.638371 2.774625 +v 0.860423 -2.615328 1.392626 +v 0.837342 -2.569242 1.576881 +v 0.537855 -2.338901 1.945565 +v 0.676121 -2.523156 2.774625 +v 0.860423 -2.338901 1.208198 +v 0.837342 -2.638371 1.231468 +v 0.560936 -2.408030 2.659661 +v 0.537855 -2.638371 2.682585 +v 0.768225 -2.338901 1.784233 +v 0.814324 -2.338901 1.162177 +v 0.676121 -2.638371 2.567273 +v 0.537855 -2.523156 2.890110 +f 318 310 322 +f 311 312 314 +f 314 312 315 +f 312 311 315 +f 315 311 316 +f 313 316 318 +f 316 310 318 +f 314 315 319 +f 315 313 319 +f 313 317 319 +f 317 314 319 +f 313 315 320 +f 316 313 320 +f 315 316 320 +f 314 310 321 +f 311 314 321 +f 316 311 321 +f 310 316 321 +f 310 314 322 +f 317 313 322 +f 314 317 322 +f 313 318 322 +o convex_24 +v -4.208406 0.656369 -0.013007 +v -3.517311 0.725498 -0.773347 +v -3.517311 0.748570 -0.773347 +v -3.471212 0.495157 -0.013007 +v -4.231534 0.748570 -0.013007 +v -3.517311 0.449071 -0.059151 +v -4.231534 0.702455 -0.174363 +v -3.494262 0.656369 -0.704205 +v -3.471212 0.748570 -0.727203 +f 330 324 331 +f 323 326 327 +f 326 323 328 +f 325 324 329 +f 323 327 329 +f 327 325 329 +f 328 323 329 +f 328 329 330 +f 326 328 330 +f 329 324 330 +f 326 330 331 +f 324 325 331 +f 327 326 331 +f 325 327 331 +o convex_25 +v -2.434384 0.656369 -0.427711 +v -3.471212 0.702455 -0.773347 +v -3.471212 0.679412 -0.750275 +v -3.471212 0.495157 -0.013007 +v -2.710946 0.472114 -0.036079 +v -3.471212 0.748570 -0.750275 +v -2.434384 0.725498 -0.750275 +v -2.457626 0.541243 -0.036079 +v -3.447971 0.495157 -0.220433 +v -2.434384 0.748570 -0.658135 +v -3.171612 0.679412 -0.750275 +v -2.457626 0.495157 -0.059151 +f 336 342 343 +f 333 334 335 +f 333 335 337 +f 333 337 338 +f 335 336 339 +f 337 335 339 +f 335 334 340 +f 336 335 340 +f 332 338 341 +f 338 337 341 +f 339 332 341 +f 337 339 341 +f 334 333 342 +f 333 338 342 +f 340 334 342 +f 336 340 342 +f 338 332 343 +f 339 336 343 +f 332 339 343 +f 342 338 343 +o convex_26 +v -3.494253 0.472112 0.056140 +v -4.277634 0.725496 -0.013007 +v -4.277634 0.725496 0.010065 +v -3.494253 0.771581 0.655108 +v -3.563420 0.702453 0.632106 +v -3.540415 0.541241 0.010065 +v -4.231471 0.771581 -0.013007 +v -4.231471 0.679410 0.010065 +v -4.185386 0.771581 0.171361 +v -3.816853 0.748538 0.240508 +f 349 350 353 +f 344 347 348 +f 347 344 349 +f 345 346 350 +f 349 345 350 +f 346 345 351 +f 344 348 351 +f 345 349 351 +f 349 344 351 +f 348 347 352 +f 347 350 352 +f 350 346 352 +f 346 351 352 +f 351 348 352 +f 347 349 353 +f 350 347 353 +o convex_27 +v -2.480664 0.656367 0.401688 +v -3.494253 0.472112 -0.013007 +v -3.494253 0.472112 0.056133 +v -3.494253 0.771581 0.655081 +v -3.240731 0.725496 0.701198 +v -2.480664 0.518198 -0.013007 +v -2.480664 0.495155 0.056133 +v -2.503684 0.771581 0.632058 +v -2.503684 0.748538 0.724293 +v -2.987409 0.518198 -0.013007 +f 361 359 363 +f 355 356 357 +f 357 356 358 +f 356 355 360 +f 359 354 360 +f 355 359 360 +f 354 359 361 +f 357 358 362 +f 358 356 362 +f 356 360 362 +f 360 354 362 +f 354 361 362 +f 361 357 362 +f 355 357 363 +f 359 355 363 +f 357 361 363 +o convex_28 +v -2.180804 2.246264 -1.003658 +v -1.466828 2.499616 -0.036047 +v -1.973473 2.522643 -0.059253 +v -1.466828 2.476589 -1.003658 +v -2.227019 2.522643 -0.082268 +v -2.227019 2.476589 -0.036047 +v -2.203874 2.292318 -1.003658 +v -1.535888 2.453535 -0.105284 +v -2.227019 2.246264 -0.911500 +v -1.466828 2.453535 -0.496932 +v -1.558958 2.476589 -1.003658 +f 370 368 374 +f 366 365 367 +f 366 367 368 +f 366 368 369 +f 365 366 369 +f 367 364 370 +f 365 369 371 +f 371 369 372 +f 369 368 372 +f 370 364 372 +f 368 370 372 +f 364 371 372 +f 367 365 373 +f 364 367 373 +f 365 371 373 +f 371 364 373 +f 368 367 374 +f 367 370 374 +o convex_29 +v -1.904353 2.361431 0.378756 +v -1.466679 2.522697 0.885577 +v -1.535884 2.522697 0.885577 +v -2.203906 2.499627 -0.036047 +v -1.466679 2.476582 -0.036047 +v -2.203906 2.269275 0.885577 +v -1.466679 2.522697 0.171354 +v -2.180814 2.315365 0.885577 +v -1.512864 2.476582 0.885577 +v -2.134773 2.269275 0.770374 +v -2.203906 2.453537 0.033147 +v -2.203906 2.499627 0.056151 +f 380 382 386 +f 376 377 380 +f 377 376 381 +f 378 377 381 +f 379 378 381 +f 376 379 381 +f 380 377 382 +f 379 376 383 +f 376 380 383 +f 383 380 384 +f 375 379 384 +f 379 383 384 +f 379 375 385 +f 378 379 385 +f 380 378 385 +f 384 380 385 +f 375 384 385 +f 377 378 386 +f 378 380 386 +f 382 377 386 +o convex_30 +v -0.498937 0.633367 0.563008 +v -0.383790 -0.011770 -0.727266 +v -0.383790 0.149577 -0.727266 +v -0.545054 -0.011770 -0.082129 +v -0.475912 -0.011770 0.563008 +v -0.314693 0.472083 -0.727266 +v -0.545054 0.448970 -0.059268 +v -0.521984 -0.011770 0.563008 +v -0.360765 -0.011770 -0.542869 +v -0.360765 0.472083 -0.727266 +v -0.521984 0.633367 0.493796 +f 392 396 397 +f 389 388 390 +f 390 388 391 +f 388 389 392 +f 387 391 392 +f 389 390 393 +f 393 390 394 +f 391 387 394 +f 390 391 394 +f 391 388 395 +f 388 392 395 +f 392 391 395 +f 392 389 396 +f 389 393 396 +f 396 393 397 +f 387 392 397 +f 393 394 397 +f 394 387 397 +o convex_31 +v -0.222495 -0.011770 0.862527 +v -0.245544 1.070920 0.977740 +v -0.268626 1.070920 0.977740 +v -0.522014 0.656430 0.563008 +v -0.522014 1.485712 0.908604 +v -0.199445 1.531800 0.908604 +v -0.498932 -0.011770 0.678221 +v -0.222495 -0.011770 0.977740 +v -0.475914 -0.011770 0.563008 +v -0.522014 1.531800 0.862527 +v -0.268626 0.172582 0.977740 +v -0.498932 1.531800 0.931622 +f 402 408 409 +f 402 401 404 +f 399 400 405 +f 403 399 405 +f 398 403 405 +f 404 398 405 +f 403 398 406 +f 401 403 406 +f 398 404 406 +f 404 401 406 +f 401 402 407 +f 403 401 407 +f 402 404 408 +f 404 405 408 +f 405 400 408 +f 400 399 409 +f 399 403 409 +f 407 402 409 +f 403 407 409 +f 408 400 409 +o convex_32 +v 0.791301 1.531800 0.954681 +v -0.199445 -0.011770 0.954681 +v 0.077045 0.564254 0.908638 +v -0.199445 1.531800 0.931676 +v 0.791301 -0.011770 1.000780 +v -0.199445 0.587374 1.000780 +v -0.107217 1.531800 0.885577 +v 0.675992 0.034318 0.954681 +v 0.791301 1.278240 0.931676 +v 0.722155 1.393687 0.977719 +v -0.176364 -0.011770 1.000780 +v 0.353340 -0.011770 0.931676 +v 0.791301 0.564254 1.000780 +v 0.192257 0.449110 0.908638 +f 418 421 423 +f 413 411 415 +f 412 411 416 +f 411 413 416 +f 413 410 416 +f 410 414 418 +f 416 410 418 +f 414 417 418 +f 410 413 419 +f 413 415 419 +f 411 414 420 +f 415 411 420 +f 414 415 420 +f 414 411 421 +f 417 414 421 +f 418 417 421 +f 414 410 422 +f 415 414 422 +f 410 419 422 +f 419 415 422 +f 411 412 423 +f 412 416 423 +f 416 418 423 +f 421 411 423 +o convex_33 +v 2.035043 2.200147 0.816408 +v -0.728748 2.315298 0.516927 +v 0.446037 2.177088 0.747275 +v -0.728748 2.269282 0.885505 +v 2.495991 2.292259 0.516927 +v 0.515179 2.384454 0.632173 +v -0.706016 2.177088 0.885505 +v 2.495991 2.246244 0.516927 +v -0.728748 2.361395 0.516927 +v 0.584321 2.361395 0.724255 +v 2.495991 2.177088 0.724255 +v 2.472944 2.223205 0.770331 +v 0.653464 2.384454 0.516927 +v 1.505269 2.200147 0.862485 +f 435 433 437 +f 425 426 430 +f 427 425 430 +f 426 425 431 +f 425 428 431 +f 425 427 432 +f 428 425 432 +f 427 429 432 +f 428 429 433 +f 429 427 433 +f 430 426 434 +f 426 431 434 +f 431 428 434 +f 428 433 435 +f 424 434 435 +f 434 428 435 +f 429 428 436 +f 428 432 436 +f 432 429 436 +f 427 430 437 +f 433 427 437 +f 434 424 437 +f 430 434 437 +f 424 435 437 +o convex_34 +v 0.169232 -2.292791 -1.119134 +v 0.422611 -2.661441 -2.823720 +v 0.399584 -2.592265 -2.915826 +v 0.445665 -2.292791 -1.971606 +v 0.215313 -2.661441 -1.257383 +v 0.284421 -2.523197 -2.731614 +v 0.422611 -2.361967 -2.685472 +v 0.169232 -2.661441 -1.280543 +v 0.445665 -2.661441 -2.708454 +v 0.261394 -2.292791 -1.879499 +v 0.307448 -2.661441 -2.662490 +v 0.238367 -2.292791 -1.188258 +v 0.238367 -2.569206 -2.316870 +f 448 445 450 +f 440 443 444 +f 442 438 445 +f 439 442 445 +f 439 440 446 +f 441 442 446 +f 442 439 446 +f 440 444 446 +f 444 441 446 +f 438 441 447 +f 443 438 447 +f 444 443 447 +f 441 444 447 +f 440 439 448 +f 443 440 448 +f 439 445 448 +f 441 438 449 +f 438 442 449 +f 442 441 449 +f 438 443 450 +f 445 438 450 +f 443 448 450 +o convex_35 +v 0.491845 -2.292732 -2.086662 +v 0.860355 -1.993263 -1.095916 +v 0.837286 -1.993263 -1.095916 +v 0.192342 -2.292732 -1.118997 +v 0.169272 -1.993263 -1.142078 +v 0.860355 -2.292732 -1.165062 +v 0.768143 -2.269719 -1.810075 +v 0.791213 -1.993263 -1.280274 +v 0.261484 -2.292732 -1.833156 +v 0.491845 -2.269719 -2.086662 +f 451 459 460 +f 452 453 454 +f 453 452 455 +f 454 453 455 +f 452 454 456 +f 454 451 456 +f 452 456 457 +f 456 451 457 +f 455 452 458 +f 452 457 458 +f 451 454 459 +f 454 455 459 +f 459 455 460 +f 457 451 460 +f 455 458 460 +f 458 457 460 +o convex_36 +v 0.560852 -3.467828 0.586092 +v 0.169272 -3.352677 0.447806 +v 0.169272 -3.352677 0.493921 +v 0.860355 -3.260497 0.747275 +v 0.860355 -3.306612 0.447806 +v 0.169272 -3.260497 0.747275 +v 0.399701 -3.467828 0.747275 +v 0.445773 -3.513918 0.447806 +v 0.169272 -3.306612 0.447806 +f 466 465 469 +f 464 461 465 +f 462 463 466 +f 464 465 466 +f 464 466 467 +f 461 464 467 +f 466 463 467 +f 467 463 468 +f 463 462 468 +f 465 461 468 +f 462 465 468 +f 461 467 468 +f 465 462 469 +f 462 466 469 +o convex_37 +v 0.376541 -2.707561 2.659465 +v 0.860423 -2.638400 1.346475 +v 0.860423 -2.661470 1.346475 +v 0.169241 -2.868754 1.093112 +v 0.860423 -2.891799 1.185290 +v 0.169241 -2.661445 1.139285 +v 0.653055 -2.638400 2.636294 +v 0.491761 -2.730606 2.751474 +v 0.491761 -2.891824 1.438822 +v 0.307531 -2.661445 2.567287 +v 0.169241 -2.891824 1.162288 +v 0.860423 -2.845709 1.139116 +v 0.860423 -2.638400 1.254466 +v 0.537835 -2.638400 2.751812 +f 482 475 483 +f 471 472 474 +f 472 471 476 +f 474 472 476 +f 474 476 477 +f 474 477 478 +f 473 474 480 +f 475 473 480 +f 477 470 480 +f 474 478 480 +f 478 477 480 +f 470 479 480 +f 479 475 480 +f 474 473 481 +f 471 474 481 +f 473 475 481 +f 481 475 482 +f 476 471 482 +f 471 481 482 +f 476 482 483 +f 470 477 483 +f 477 476 483 +f 479 470 483 +f 475 479 483 +o convex_38 +v 0.169272 -2.085450 1.162195 +v 0.860355 -2.292727 1.185218 +v 0.860355 -2.338872 1.185218 +v 0.468776 -2.315766 2.037515 +v 0.860355 -1.993263 1.162195 +v 0.169272 -2.338872 1.185218 +v 0.284487 -1.993263 1.300423 +v 0.745141 -2.338872 1.830127 +v 0.284487 -2.338872 1.922310 +v 0.169272 -1.993263 1.092943 +v 0.860355 -2.338872 1.116150 +v 0.860355 -1.993263 1.116150 +f 488 494 495 +f 485 486 488 +f 487 488 490 +f 486 485 491 +f 488 487 491 +f 485 488 491 +f 489 486 491 +f 489 491 492 +f 484 489 492 +f 487 490 492 +f 491 487 492 +f 489 484 493 +f 490 488 493 +f 484 492 493 +f 492 490 493 +f 488 486 494 +f 486 489 494 +f 489 493 494 +f 494 493 495 +f 493 488 495 +o convex_39 +v 0.491886 -3.513876 -0.496646 +v 1.275154 -2.960968 0.078988 +v 1.252074 -2.960968 0.194210 +v 1.205990 -3.145330 0.770160 +v 0.514889 -3.444740 0.447539 +v 1.182910 -2.960968 -0.842311 +v 1.228994 -3.007118 -0.749976 +v 0.491886 -3.421754 -0.842153 +v 0.514889 -3.559966 -0.082164 +v 1.205990 -3.053208 0.770160 +v 0.560973 -3.444740 -0.842153 +v 0.906485 -3.283483 0.770160 +v 1.252074 -3.053208 -0.128253 +v 1.228994 -2.960968 0.194210 +v 0.883482 -3.237452 0.770160 +v 0.860478 -3.168316 -0.819109 +v 0.491886 -3.490831 0.447539 +f 507 510 512 +f 498 497 501 +f 501 497 502 +f 497 498 505 +f 499 497 505 +f 501 502 506 +f 496 503 506 +f 503 501 506 +f 504 496 506 +f 502 504 506 +f 504 499 507 +f 499 505 507 +f 497 499 508 +f 502 497 508 +f 499 504 508 +f 504 502 508 +f 498 501 509 +f 505 498 509 +f 505 509 510 +f 507 505 510 +f 509 500 510 +f 503 500 511 +f 501 503 511 +f 509 501 511 +f 500 509 511 +f 503 496 512 +f 500 503 512 +f 496 504 512 +f 504 507 512 +f 510 500 512 +o convex_40 +v 1.413398 -1.993263 0.194359 +v 1.206032 -2.960968 -0.842469 +v 1.206032 -2.845689 -0.842469 +v 1.229091 -2.960968 0.194359 +v 1.275188 -2.960968 -0.220433 +v 1.344242 -1.993263 -0.842469 +v 1.390339 -2.016376 -0.727176 +v 1.367280 -2.062506 0.194359 +v 1.413398 -2.131561 0.032989 +v 1.275188 -2.960968 0.194359 +v 1.252150 -2.891725 -0.819329 +v 1.321224 -2.062506 -0.819329 +v 1.229091 -2.914743 0.194359 +v 1.413398 -2.062506 -0.335524 +f 523 519 526 +f 515 514 516 +f 516 514 517 +f 514 515 518 +f 518 513 519 +f 516 513 520 +f 513 518 520 +f 513 516 522 +f 516 517 522 +f 521 513 522 +f 517 521 522 +f 517 514 523 +f 514 518 523 +f 518 519 523 +f 518 515 524 +f 520 518 524 +f 520 524 525 +f 515 516 525 +f 516 520 525 +f 524 515 525 +f 519 513 526 +f 513 521 526 +f 521 517 526 +f 517 523 526 +o convex_41 +v 0.491845 -2.523136 -2.984981 +v 0.860423 -2.546175 -1.142161 +v 0.860423 -2.684405 -1.142161 +v 0.445773 -2.292791 -1.971786 +v 0.814270 -2.292791 -1.672230 +v 0.722166 -2.569213 -2.777666 +v 0.445773 -2.684405 -2.731454 +v 0.537877 -2.361983 -2.754651 +v 0.745222 -2.684405 -1.211388 +v 0.837326 -2.292791 -1.188373 +v 0.676094 -2.684405 -2.616198 +v 0.445773 -2.361983 -2.731454 +v 0.860423 -2.361983 -1.326644 +v 0.514861 -2.684405 -2.892739 +v 0.514861 -2.292791 -2.294175 +v 0.676094 -2.408059 -2.593183 +f 532 534 542 +f 532 527 534 +f 529 528 535 +f 533 529 535 +f 530 533 535 +f 531 530 536 +f 535 528 536 +f 530 535 536 +f 532 529 537 +f 529 533 537 +f 533 530 538 +f 527 533 538 +f 534 527 538 +f 528 529 539 +f 532 531 539 +f 529 532 539 +f 531 536 539 +f 536 528 539 +f 527 532 540 +f 533 527 540 +f 532 537 540 +f 537 533 540 +f 530 531 541 +f 531 534 541 +f 538 530 541 +f 534 538 541 +f 531 532 542 +f 534 531 542 +o convex_42 +v 0.192297 -2.661378 1.139024 +v 0.537855 -2.523156 2.912815 +v 0.468685 -2.384998 2.774621 +v 0.537855 -2.338872 1.968730 +v 0.169241 -2.338872 1.185389 +v 0.261430 -2.569251 2.751529 +v 0.537855 -2.661378 2.682432 +v 0.284451 -2.661378 2.567330 +v 0.284451 -2.338872 1.945637 +v 0.238374 -2.661378 1.208482 +v 0.169241 -2.661378 1.208482 +v 0.445665 -2.592267 2.982093 +v 0.284451 -2.454109 2.590423 +v 0.215354 -2.338872 1.185389 +f 546 552 556 +f 545 544 546 +f 546 544 549 +f 543 549 550 +f 545 546 551 +f 546 547 551 +f 549 543 552 +f 546 549 552 +f 547 543 553 +f 548 547 553 +f 543 550 553 +f 550 548 553 +f 544 545 554 +f 545 548 554 +f 549 544 554 +f 548 550 554 +f 550 549 554 +f 548 545 555 +f 547 548 555 +f 545 551 555 +f 551 547 555 +f 543 547 556 +f 547 546 556 +f 552 543 556 +o convex_43 +v 2.449603 2.430545 -0.012962 +v -0.728757 2.453548 -0.128147 +v -0.728757 2.338418 0.424729 +v 0.492062 2.407451 0.493815 +v 2.449603 2.269250 0.424729 +v -0.728757 2.499645 -0.036011 +v 2.103953 2.384448 -0.128147 +v 2.449603 2.292321 0.516864 +v 1.689547 2.476597 0.010088 +v -0.728757 2.361467 0.516864 +v 2.403247 2.430545 -0.128147 +v 1.620168 2.269250 0.493815 +v 0.837400 2.407496 -0.128147 +v 2.426270 2.453548 -0.012962 +v 0.561130 2.476597 -0.128147 +v 2.449603 2.384448 -0.128147 +f 563 567 572 +f 558 559 562 +f 561 557 564 +f 562 560 565 +f 562 559 566 +f 560 562 566 +f 564 560 566 +f 563 558 567 +f 563 561 568 +f 561 564 568 +f 566 559 568 +f 564 566 568 +f 559 558 569 +f 558 563 569 +f 568 559 569 +f 563 568 569 +f 560 564 570 +f 564 557 570 +f 565 560 570 +f 557 567 570 +f 570 567 571 +f 558 562 571 +f 562 565 571 +f 567 558 571 +f 565 570 571 +f 557 561 572 +f 561 563 572 +f 567 557 572 +o convex_44 +v 1.344197 -2.062486 0.839584 +v 0.860423 -2.891847 1.115927 +v 0.906563 -2.891847 1.069837 +v 0.860423 -1.993263 1.115927 +v 0.883543 -2.684441 1.277218 +v 1.228996 -2.891847 0.770374 +v 1.252066 -1.993263 1.023796 +v 1.205976 -2.891847 0.908694 +v 1.321177 -1.993263 0.770374 +v 0.929633 -1.993263 1.138947 +f 577 579 582 +f 575 574 576 +f 576 574 577 +f 574 575 578 +f 575 576 578 +f 579 577 580 +f 577 574 580 +f 574 578 580 +f 578 573 580 +f 573 579 580 +f 578 576 581 +f 573 578 581 +f 579 573 581 +f 576 579 581 +f 576 577 582 +f 579 576 582 +o convex_45 +v 0.284466 -1.532523 -1.118965 +v 0.883464 -1.509410 -1.026800 +v 0.883464 -1.647708 -1.026800 +v 0.606891 -1.970150 -1.257200 +v 0.284466 -1.993263 -1.118965 +v 0.883464 -1.993263 -1.072895 +v 0.537938 -1.624642 -1.026800 +v 0.837319 -1.993263 -1.211105 +v 0.883464 -1.555493 -1.072895 +f 590 586 591 +f 583 586 587 +f 584 585 588 +f 584 583 589 +f 585 584 589 +f 583 587 589 +f 588 585 589 +f 587 588 589 +f 587 586 590 +f 588 587 590 +f 588 590 591 +f 583 584 591 +f 586 583 591 +f 584 588 591 +o convex_46 +v 0.860362 -1.094539 -0.957685 +v 0.284466 -1.509410 -1.095888 +v 0.445766 -1.509410 -1.095888 +v 0.284466 -0.011770 -0.980726 +v 0.883464 -0.011770 -0.980726 +v 0.883464 -1.509410 -1.049821 +v 0.676019 -1.417200 -0.980726 +v 0.284466 -0.173320 -0.957685 +v 0.768191 -0.127142 -1.003767 +v 0.883464 -0.011770 -0.957685 +v 0.284466 -1.348006 -1.049821 +v 0.284466 -1.301974 -1.095888 +f 595 600 603 +f 593 594 597 +f 597 592 598 +f 593 597 598 +f 595 593 599 +f 598 592 599 +f 595 596 600 +f 597 594 600 +f 596 597 600 +f 596 595 601 +f 597 596 601 +f 592 597 601 +f 595 599 601 +f 599 592 601 +f 593 598 602 +f 599 593 602 +f 598 599 602 +f 594 593 603 +f 593 595 603 +f 600 594 603 +o convex_47 +v 0.860243 -1.601518 1.139024 +v -0.130323 -1.670694 0.954729 +v -0.084179 -1.670694 0.954729 +v 0.353647 -0.011770 0.931712 +v -0.061156 -0.127063 1.023819 +v 0.883464 -0.011770 0.977786 +v 0.146245 -1.670694 1.115946 +v 0.883464 -1.670694 1.092909 +v 0.883464 -0.011770 1.023860 +v 0.445737 -1.324977 0.977786 +v -0.130323 -0.564853 0.931672 +v -0.130323 -0.011770 1.000803 +v -0.107201 -1.578460 0.931672 +v -0.107201 -1.670694 1.000803 +v 0.169367 -1.463329 1.115946 +v 0.883464 -1.209846 1.115946 +f 608 618 619 +f 605 606 610 +f 604 610 611 +f 610 606 611 +f 609 607 612 +f 611 609 612 +f 609 611 613 +f 610 608 615 +f 608 612 615 +f 612 607 615 +f 614 605 615 +f 607 614 615 +f 606 605 616 +f 607 609 616 +f 611 606 616 +f 609 613 616 +f 613 611 616 +f 605 614 616 +f 614 607 616 +f 605 610 617 +f 615 605 617 +f 610 615 617 +f 610 604 618 +f 608 610 618 +f 604 611 619 +f 612 608 619 +f 611 612 619 +f 618 604 619 +o convex_48 +v 0.422678 -2.684499 -2.777718 +v 0.860423 -2.845727 -1.072875 +v 0.860423 -2.868786 -1.072875 +v 0.169299 -2.868806 -1.188349 +v 0.169299 -2.661441 -1.234538 +v 0.860423 -2.684499 -1.142333 +v 0.514827 -2.776632 -2.754623 +v 0.676056 -2.684499 -2.547292 +v 0.307456 -2.661441 -2.547118 +v 0.491824 -2.868786 -1.510980 +v 0.330528 -2.730617 -2.547118 +v 0.445681 -2.661441 -2.777718 +f 620 628 631 +f 622 621 623 +f 623 621 624 +f 624 621 625 +f 621 622 625 +f 625 622 627 +f 622 626 627 +f 623 624 628 +f 622 623 629 +f 626 622 629 +f 623 626 629 +f 626 623 630 +f 620 626 630 +f 623 628 630 +f 628 620 630 +f 624 625 631 +f 626 620 631 +f 627 626 631 +f 625 627 631 +f 628 624 631 +o convex_49 +v -4.300606 0.771710 -0.013007 +v -4.231419 1.462759 -0.681153 +v -4.231419 1.462759 -0.704225 +v -3.609546 0.748640 -0.704225 +v -4.484895 1.462759 -0.013007 +v -4.070313 0.886920 -0.612004 +v -4.300606 1.393619 -0.681153 +v -3.609546 0.794780 -0.681153 +v -4.530990 1.416619 -0.082156 +v -4.300606 0.748640 -0.082156 +v -4.254512 0.817780 -0.013007 +v -3.816927 0.771710 -0.427697 +v -3.701735 0.748640 -0.704225 +v -4.185415 1.186270 -0.704225 +f 644 637 645 +f 633 634 636 +f 634 633 639 +f 635 634 639 +f 633 636 639 +f 632 636 640 +f 636 634 640 +f 634 638 640 +f 640 638 641 +f 632 640 641 +f 636 632 642 +f 635 639 643 +f 639 636 643 +f 632 641 643 +f 641 635 643 +f 642 632 643 +f 636 642 643 +f 634 635 644 +f 635 641 644 +f 641 637 644 +f 638 634 645 +f 641 638 645 +f 637 641 645 +f 634 644 645 +o convex_50 +v -4.116164 0.886893 0.470833 +v -4.508039 1.393619 -0.013007 +v -4.508039 1.393619 0.010065 +v -3.793817 1.186261 0.655139 +v -4.300593 1.462761 0.678212 +v -3.540334 0.771678 0.655139 +v -4.277480 0.771678 -0.013007 +v -4.461909 1.439692 -0.013007 +v -3.885983 0.794748 0.286526 +v -3.678632 0.771678 0.655139 +v -4.139277 1.439692 0.678212 +v -4.231539 0.771678 0.148296 +v -3.540334 0.817818 0.655139 +f 656 651 658 +f 648 647 652 +f 647 648 653 +f 648 650 653 +f 652 647 653 +f 651 652 654 +f 652 653 654 +f 650 646 655 +f 652 651 655 +f 649 653 656 +f 653 650 656 +f 650 655 656 +f 655 651 656 +f 646 650 657 +f 650 648 657 +f 648 652 657 +f 655 646 657 +f 652 655 657 +f 653 649 658 +f 651 654 658 +f 654 653 658 +f 649 656 658 +o convex_51 +v -3.586411 0.794748 0.701281 +v -2.503506 1.462761 0.908595 +v -2.503506 1.416622 0.908595 +v -2.503506 0.863890 0.701281 +v -4.231552 1.462761 0.678234 +v -3.563068 1.439692 0.908595 +v -2.549684 0.817818 0.747354 +v -2.503506 1.439692 0.862500 +v -2.688050 0.771678 0.678234 +v -4.116191 1.462761 0.678234 +v -3.563068 0.771678 0.678234 +v -4.231552 1.439692 0.701281 +v -3.540063 0.886893 0.747354 +v -3.448045 1.324477 0.885548 +f 671 665 672 +f 660 661 662 +f 660 663 664 +f 661 660 664 +f 662 661 665 +f 660 662 666 +f 662 665 667 +f 663 660 668 +f 660 666 668 +f 666 662 668 +f 667 663 668 +f 662 667 668 +f 665 659 669 +f 663 667 669 +f 667 665 669 +f 664 663 670 +f 669 659 670 +f 663 669 670 +f 659 665 671 +f 664 670 671 +f 670 659 671 +f 661 664 672 +f 665 661 672 +f 664 671 672 +o convex_52 +v -3.977950 1.462829 0.793437 +v -2.227019 2.223169 0.885543 +v -2.227019 2.223169 0.862498 +v -2.503619 1.462829 0.885543 +v -3.401867 2.200023 0.678212 +v -3.517284 1.555118 0.931609 +v -4.139334 1.462829 0.678212 +v -3.563251 2.223169 0.701282 +v -2.480536 1.508973 0.931609 +v -2.595953 2.084885 0.908588 +v -4.277634 1.508973 0.701282 +v -3.586334 1.462829 0.908588 +f 681 678 684 +f 675 676 677 +f 676 673 679 +f 677 676 679 +f 677 679 680 +f 674 675 680 +f 675 677 680 +f 675 674 681 +f 676 675 681 +f 678 681 682 +f 674 680 682 +f 680 678 682 +f 681 674 682 +f 673 678 683 +f 679 673 683 +f 680 679 683 +f 678 680 683 +f 673 676 684 +f 678 673 684 +f 676 681 684 +o convex_53 +v -3.494253 2.499544 -0.128282 +v -4.277634 2.223160 -0.059142 +v -4.162381 1.624113 -0.704135 +v -3.517411 2.246213 -0.773347 +v -3.517411 2.453523 -0.036047 +v -4.093137 1.992797 -0.611973 +v -3.494253 2.223160 -0.657946 +v -4.139300 1.624113 -0.681112 +v -4.185386 2.223160 -0.036047 +v -4.277634 2.246213 -0.059142 +v -3.954957 1.762434 -0.681112 +v -4.162381 1.716327 -0.704135 +f 694 690 696 +f 688 685 691 +f 685 689 691 +f 686 687 692 +f 692 689 693 +f 686 692 693 +f 687 686 694 +f 685 688 694 +f 689 685 694 +f 688 690 694 +f 686 693 694 +f 693 689 694 +f 687 688 695 +f 688 691 695 +f 691 689 695 +f 689 692 695 +f 692 687 695 +f 688 687 696 +f 690 688 696 +f 687 694 696 +o convex_54 +v -3.171614 2.522668 -0.059253 +v -2.411472 2.223198 -1.003658 +v -2.665018 2.223198 -0.957532 +v -2.227019 2.476582 -0.036047 +v -3.494253 2.223198 -0.704074 +v -2.411472 2.315370 -0.865374 +v -3.471056 2.246241 -0.796232 +v -3.494253 2.476582 -0.036047 +v -2.227019 2.522668 -0.082268 +v -2.227019 2.223198 -0.980548 +v -3.425036 2.499625 -0.151411 +v -2.227019 2.269284 -1.003658 +f 706 698 708 +f 699 698 701 +f 698 699 703 +f 699 701 703 +f 700 697 704 +f 701 700 704 +f 703 701 704 +f 697 700 705 +f 700 701 706 +f 701 698 706 +f 705 700 706 +f 702 703 707 +f 704 697 707 +f 703 704 707 +f 697 705 707 +f 705 702 707 +f 698 703 708 +f 703 702 708 +f 702 705 708 +f 705 706 708 +o convex_55 +v -3.494253 2.453500 0.171372 +v -4.277634 2.223136 -0.036047 +v -4.277634 2.223136 -0.012953 +v -4.162304 1.531951 0.655063 +v -3.540415 2.292283 0.678157 +v -3.494253 2.453500 -0.012953 +v -4.116219 2.038713 0.516855 +v -3.793925 1.808634 0.655063 +v -3.494253 2.223136 0.701252 +v -4.185386 1.624210 0.678157 +v -4.139377 2.223136 -0.036047 +v -4.277634 2.246248 -0.012953 +v -3.540415 2.499629 0.010070 +v -3.563420 2.430483 -0.036047 +f 721 714 722 +f 712 714 716 +f 716 714 717 +f 709 713 717 +f 714 709 717 +f 712 716 717 +f 712 717 718 +f 711 710 718 +f 710 712 718 +f 713 715 718 +f 717 713 718 +f 712 710 719 +f 710 711 720 +f 715 713 720 +f 711 718 720 +f 718 715 720 +f 713 709 721 +f 709 714 721 +f 710 720 721 +f 720 713 721 +f 714 712 722 +f 719 710 722 +f 712 719 722 +f 710 721 722 +o convex_56 +v -3.240668 2.269278 0.747279 +v -3.494253 2.476575 -0.036047 +v -3.494253 2.453548 -0.012953 +v -2.204104 2.476575 -0.036047 +v -2.227215 2.315359 0.816383 +v -3.355842 2.223197 0.678085 +v -2.227215 2.223197 0.862482 +v -3.471016 2.499629 0.033147 +v -2.204104 2.499629 0.056151 +v -3.494253 2.292332 0.678085 +v -2.319405 2.292332 0.885577 +v -3.494253 2.223197 0.701090 +f 729 733 734 +f 725 724 726 +f 725 726 728 +f 728 726 729 +f 726 724 730 +f 727 729 731 +f 729 726 731 +f 726 730 731 +f 730 727 731 +f 724 725 732 +f 730 724 732 +f 730 732 733 +f 729 727 733 +f 727 730 733 +f 732 723 733 +f 725 728 734 +f 728 729 734 +f 732 725 734 +f 723 732 734 +f 733 723 734 +o convex_57 +v 1.436578 0.633455 -1.095902 +v 2.680419 1.531775 -0.980740 +v 2.680419 1.531775 -1.003767 +v 1.413605 1.531775 -1.049834 +v 1.436578 0.633455 -0.980740 +v 2.450002 1.462734 -1.118943 +v 2.450002 1.048227 -1.003767 +v 1.436578 1.485777 -1.095902 +v 1.390495 0.633455 -1.118943 +v 1.966470 0.702584 -0.980740 +v 2.795697 1.416649 -0.980740 +v 2.450002 1.393606 -1.118943 +v 2.427029 1.531775 -1.095902 +f 740 742 747 +f 736 737 738 +f 736 738 739 +f 742 740 743 +f 735 739 743 +f 739 738 743 +f 738 742 743 +f 743 741 744 +f 739 735 744 +f 736 739 744 +f 735 743 744 +f 736 744 745 +f 737 736 745 +f 740 737 745 +f 744 741 745 +f 745 741 746 +f 743 740 746 +f 741 743 746 +f 740 745 746 +f 738 737 747 +f 737 740 747 +f 742 738 747 +o convex_58 +v 1.298109 -0.011721 -1.095888 +v 1.344276 0.495123 -1.003767 +v 1.344276 0.495123 -1.049821 +v 0.284408 0.449029 -0.980726 +v 1.205983 -0.011721 -0.957685 +v 0.284408 -0.011721 -0.980726 +v 1.275077 0.495123 -0.957685 +v 0.284408 0.449029 -0.957685 +v 1.321141 0.402934 -1.095888 +v 0.284408 -0.011721 -0.957685 +f 755 753 757 +f 750 749 748 +f 748 749 752 +f 751 748 753 +f 748 752 753 +f 749 750 754 +f 750 751 754 +f 752 749 754 +f 752 754 755 +f 751 753 755 +f 754 751 755 +f 750 748 756 +f 751 750 756 +f 748 751 756 +f 753 752 757 +f 752 755 757 +o convex_59 +v 1.482718 0.287891 0.885577 +v 2.864817 0.840733 0.586087 +v 2.864817 0.817617 0.586087 +v 1.597928 -0.011770 0.563040 +v 1.574858 -0.011770 0.885577 +v 2.150628 0.840733 0.885577 +v 1.643928 0.149534 0.563040 +v 2.496117 0.725491 0.563040 +v 2.519187 0.817617 0.793388 +v 1.597928 0.425997 0.862498 +v 1.643928 -0.011770 0.609135 +v 2.150628 0.840733 0.862498 +v 2.265698 0.817617 0.885577 +v 1.436439 0.126503 0.862498 +f 764 761 771 +f 758 762 763 +f 761 764 765 +f 759 760 765 +f 760 761 765 +f 760 759 766 +f 762 760 766 +f 759 763 766 +f 758 763 767 +f 764 758 767 +f 761 760 768 +f 762 761 768 +f 760 762 768 +f 763 759 769 +f 765 764 769 +f 759 765 769 +f 767 763 769 +f 764 767 769 +f 763 762 770 +f 762 766 770 +f 766 763 770 +f 762 758 771 +f 761 762 771 +f 758 764 771 +o convex_60 +v 3.118302 1.025157 0.563040 +v 3.256539 1.531883 0.632182 +v 3.256539 1.531883 0.563040 +v 2.173849 0.863870 0.862498 +v 2.887907 1.439671 0.885577 +v 2.726796 1.531883 0.862498 +v 2.542480 0.840800 0.793388 +v 2.818733 0.840800 0.563040 +v 3.233444 1.416669 0.747293 +v 2.289101 0.840800 0.885577 +v 2.956970 0.863870 0.586087 +v 3.233444 1.531883 0.563040 +f 779 775 783 +f 773 774 777 +f 776 773 777 +f 774 772 779 +f 772 774 780 +f 774 773 780 +f 773 776 780 +f 776 778 780 +f 777 775 781 +f 776 777 781 +f 778 776 781 +f 775 779 781 +f 779 778 781 +f 779 772 782 +f 778 779 782 +f 772 780 782 +f 780 778 782 +f 777 774 783 +f 775 777 783 +f 774 779 783 +o convex_61 +v 1.252204 0.725638 1.023807 +v 2.772587 1.531800 0.908643 +v 2.818623 1.485712 0.908643 +v 1.390312 -0.011619 0.885604 +v 0.837680 1.531649 0.908643 +v 2.449937 1.462744 1.023807 +v 0.883716 -0.011619 1.023807 +v 0.791445 1.531649 0.954706 +v 1.505601 -0.011619 0.908643 +v 2.818623 1.485712 0.885604 +v 0.791445 -0.011619 0.977717 +v 1.114095 1.531649 0.885604 +v 1.068059 -0.011619 1.023807 +v 1.621088 1.278240 1.023807 +v 2.588244 1.462744 1.000755 +v 0.791445 1.301511 0.977717 +v 2.542009 1.531800 1.000755 +f 789 798 800 +f 789 784 790 +f 790 787 792 +f 785 786 793 +f 786 792 793 +f 792 787 793 +f 788 787 794 +f 787 790 794 +f 791 788 794 +f 787 788 795 +f 788 785 795 +f 785 793 795 +f 793 787 795 +f 789 790 796 +f 790 792 796 +f 784 789 797 +f 789 791 797 +f 792 786 798 +f 789 796 798 +f 796 792 798 +f 790 784 799 +f 794 790 799 +f 791 794 799 +f 784 797 799 +f 797 791 799 +f 786 785 800 +f 785 788 800 +f 788 791 800 +f 791 789 800 +f 798 786 800 +o convex_62 +v 1.943264 1.670276 -1.095916 +v 2.426955 2.084872 -0.842469 +v 2.426955 2.038763 -0.842469 +v 1.252229 2.015709 -1.026773 +v 1.413574 1.532005 -1.049796 +v 2.426955 1.532005 -1.049796 +v 1.436574 2.084872 -1.049796 +v 2.380955 1.555059 -1.095916 +v 2.426955 2.061817 -0.888588 +v 1.597804 1.532005 -1.095916 +v 2.311840 2.084872 -0.842469 +v 2.426955 1.601167 -1.003751 +f 805 806 812 +f 802 803 806 +f 801 807 808 +f 808 807 809 +f 802 806 809 +f 807 802 809 +f 806 808 809 +f 805 804 810 +f 806 805 810 +f 807 801 810 +f 804 807 810 +f 801 808 810 +f 808 806 810 +f 803 802 811 +f 804 805 811 +f 805 803 811 +f 802 807 811 +f 807 804 811 +f 803 805 812 +f 806 803 812 +o convex_63 +v 2.634212 2.177074 -0.635103 +v 1.252386 2.084939 -1.049834 +v 1.229116 2.084939 -1.026776 +v 0.998667 2.223156 -1.026776 +v 1.067958 2.200115 -0.773374 +v 2.680580 2.084939 -0.635103 +v 2.450131 2.177074 -0.842469 +v 2.311896 2.223156 -0.635103 +v 2.473228 2.084939 -0.865487 +v 2.473228 2.223156 -0.727297 +f 820 813 822 +f 814 815 816 +f 816 815 817 +f 817 815 818 +f 815 814 818 +f 813 818 819 +f 814 816 819 +f 816 817 820 +f 817 818 820 +f 818 813 820 +f 818 814 821 +f 819 818 821 +f 814 819 821 +f 813 819 822 +f 819 816 822 +f 816 820 822 +o convex_64 +v 3.279516 1.531951 -0.519810 +v 3.095272 2.223169 -0.059144 +v 3.095272 2.223169 -0.082203 +v 2.450322 2.200029 -0.635103 +v 3.394717 1.531951 -0.059144 +v 3.026132 1.992718 -0.635103 +v 2.795925 2.200029 -0.197384 +v 3.233455 2.130948 -0.082203 +v 3.187394 1.531951 -0.635103 +v 2.542541 2.223169 -0.635103 +v 3.440875 1.555091 -0.082203 +v 2.980071 2.223169 -0.059144 +v 2.634663 2.200029 -0.358569 +v 3.233455 1.555091 -0.635103 +v 3.279516 1.531951 -0.312620 +f 826 831 837 +f 825 824 830 +f 824 827 830 +f 828 825 830 +f 823 827 831 +f 826 828 831 +f 824 825 832 +f 825 828 832 +f 828 826 832 +f 827 823 833 +f 830 827 833 +f 827 824 834 +f 829 827 834 +f 824 832 834 +f 834 832 835 +f 826 827 835 +f 827 829 835 +f 832 826 835 +f 829 834 835 +f 828 830 836 +f 823 831 836 +f 831 828 836 +f 833 823 836 +f 830 833 836 +f 827 826 837 +f 831 827 837 +o convex_65 +v 2.657672 2.292264 -0.128147 +v 2.542487 2.430535 -0.012910 +v 2.542487 2.430535 -0.059005 +v 3.210484 2.176950 -0.012910 +v 3.233408 1.531951 0.516927 +v 3.417931 1.531951 -0.059068 +v 2.450225 2.269219 0.516801 +v 3.049074 2.015635 0.516927 +v 2.450225 2.384356 -0.128147 +v 2.542487 2.292264 0.493817 +v 3.279539 1.555172 0.516927 +v 2.980020 2.246174 -0.128147 +v 3.325669 1.531951 0.102327 +v 3.233408 1.531951 0.447785 +v 3.417931 1.601174 -0.059068 +f 843 849 852 +f 840 839 841 +f 844 842 845 +f 839 840 846 +f 838 843 846 +f 844 839 846 +f 841 839 847 +f 839 844 847 +f 845 841 847 +f 844 845 847 +f 842 843 848 +f 841 845 848 +f 845 842 848 +f 840 841 849 +f 843 838 849 +f 838 846 849 +f 846 840 849 +f 843 842 850 +f 846 843 850 +f 846 850 851 +f 842 844 851 +f 844 846 851 +f 850 842 851 +f 841 848 852 +f 848 843 852 +f 849 841 852 +o convex_66 +v 2.519275 2.407476 -0.128210 +v 1.090829 2.223169 -0.796388 +v 1.090829 2.246228 -0.796388 +v 1.090829 2.407476 -0.128210 +v 2.934078 2.223169 -0.128210 +v 2.473086 2.246228 -0.658121 +v 1.574917 2.430535 -0.197343 +v 1.090829 2.223169 -0.704167 +v 2.473086 2.223169 -0.658121 +v 1.505633 2.246228 -0.796388 +v 2.403801 2.407476 -0.197343 +v 1.090829 2.407476 -0.289499 +v 2.818785 2.223169 -0.128210 +f 860 857 865 +f 855 854 856 +f 853 856 857 +f 853 857 858 +f 856 853 859 +f 856 854 860 +f 854 857 860 +f 857 854 861 +f 858 857 861 +f 858 861 862 +f 854 855 862 +f 861 854 862 +f 862 859 863 +f 853 858 863 +f 859 853 863 +f 858 862 863 +f 855 856 864 +f 856 859 864 +f 862 855 864 +f 859 862 864 +f 857 856 865 +f 856 860 865 +o convex_67 +v 2.450341 1.762384 -1.003713 +v 2.818837 2.084872 -0.635103 +v 2.818837 2.084872 -0.658157 +v 3.210413 1.532005 -0.635103 +v 3.141329 1.555059 -0.842548 +v 2.427185 1.532005 -1.026767 +v 2.496422 2.084872 -0.865430 +v 2.726828 2.061817 -0.635103 +v 3.026164 1.969655 -0.658157 +v 2.427185 2.015709 -0.842548 +v 2.473343 1.532005 -1.072875 +f 869 871 876 +f 867 868 872 +f 870 866 872 +f 869 867 873 +f 871 869 873 +f 867 872 873 +f 868 867 874 +f 867 869 874 +f 869 870 874 +f 872 868 874 +f 870 872 874 +f 866 871 875 +f 872 866 875 +f 871 873 875 +f 873 872 875 +f 866 870 876 +f 870 869 876 +f 871 866 876 +o convex_68 +v -0.567775 1.647262 0.908591 +v 2.496307 2.177088 0.770406 +v 2.496307 2.177088 0.747333 +v 2.496307 1.531951 0.954636 +v -0.521691 2.177088 0.908591 +v -0.521691 1.531951 0.862570 +v 2.473108 1.578113 1.000780 +v 0.307498 2.177088 0.770406 +v 1.620721 2.177088 0.862595 +v 1.413502 1.531951 0.885518 +v -0.498806 1.531951 0.931638 +v 2.496307 2.107939 0.747333 +v -0.706339 2.177088 0.862570 +v 0.399665 1.808483 0.954661 +v 2.173409 1.531951 1.000780 +f 883 890 891 +f 879 878 880 +f 878 879 881 +f 880 878 883 +f 881 879 884 +f 878 881 885 +f 883 878 885 +f 881 883 885 +f 880 882 886 +f 882 880 887 +f 877 882 887 +f 879 880 888 +f 884 879 888 +f 882 884 888 +f 880 886 888 +f 886 882 888 +f 882 877 889 +f 881 884 889 +f 884 882 889 +f 877 887 889 +f 887 881 889 +f 883 881 890 +f 881 887 890 +f 890 887 891 +f 880 883 891 +f 887 880 891 +o convex_69 +v 1.574923 0.011279 -0.358607 +v 2.887997 0.794651 -0.427702 +v 2.887997 0.794651 -0.473819 +v 1.989550 0.564155 -0.450760 +v 2.887997 0.633225 -0.059088 +v 1.759217 0.057379 -0.059088 +v 1.574923 -0.011770 -0.473819 +v 1.574923 0.264747 -0.473819 +v 2.864715 0.587284 -0.105205 +v 2.380896 0.518135 -0.105205 +v 1.782237 -0.011770 -0.059088 +v 2.887997 0.748552 -0.450760 +v 1.597944 0.287875 -0.427702 +f 897 901 904 +f 893 894 895 +f 894 893 896 +f 898 892 899 +f 895 894 899 +f 894 898 899 +f 893 895 901 +f 896 893 901 +f 897 896 901 +f 897 892 902 +f 896 897 902 +f 892 898 902 +f 900 896 902 +f 898 900 902 +f 894 896 903 +f 898 894 903 +f 896 900 903 +f 900 898 903 +f 892 897 904 +f 899 892 904 +f 895 899 904 +f 901 895 904 +o convex_70 +v 1.713043 0.011284 -0.059027 +v 2.887873 0.863773 0.563008 +v 2.887873 0.840633 0.563008 +v 1.620764 -0.011770 0.563008 +v 2.864803 0.587123 -0.035950 +v 2.450041 0.679426 0.493778 +v 2.450041 0.518047 -0.059027 +v 1.620764 0.126640 0.563008 +v 1.782253 -0.011770 -0.059027 +v 2.864803 0.817665 0.332546 +v 1.643957 -0.011770 0.563008 +v 2.887873 0.633317 -0.059027 +v 2.887873 0.817665 0.539871 +v 1.736113 0.057392 0.010142 +f 912 910 918 +f 907 906 908 +f 908 906 912 +f 905 908 912 +f 906 910 912 +f 908 905 913 +f 905 911 913 +f 910 906 914 +f 911 910 914 +f 907 908 915 +f 908 913 915 +f 913 909 915 +f 906 907 916 +f 909 913 916 +f 913 911 916 +f 914 906 916 +f 911 914 916 +f 907 915 917 +f 915 909 917 +f 916 907 917 +f 909 916 917 +f 911 905 918 +f 910 911 918 +f 905 912 918 +o convex_71 +v 3.049207 0.978976 -0.704270 +v 3.279591 1.531897 -0.473918 +v 3.279591 1.531897 -0.543029 +v 2.288941 1.002087 -0.957593 +v 2.864900 1.462728 -0.980713 +v 3.095182 0.978976 -0.473918 +v 2.634719 1.531897 -0.957593 +v 3.187437 1.393613 -0.865462 +v 2.450413 0.978976 -0.980713 +v 3.325769 1.393613 -0.496939 +v 3.164297 1.531897 -0.842392 +v 3.256552 1.531897 -0.473918 +f 925 922 930 +f 920 921 925 +f 919 924 927 +f 924 922 927 +f 922 925 927 +f 925 923 927 +f 926 919 927 +f 923 926 927 +f 921 920 928 +f 924 919 928 +f 920 924 928 +f 919 926 928 +f 926 921 928 +f 925 921 929 +f 923 925 929 +f 926 923 929 +f 921 926 929 +f 924 920 930 +f 922 924 930 +f 920 925 930 +o convex_72 +v -4.254496 1.347554 -0.727300 +v -3.448172 1.508910 -0.980679 +v -3.448172 1.508910 -1.003753 +v -3.448172 0.748570 -0.750345 +v -4.208384 1.508910 -0.704225 +v -4.162352 1.393698 -0.819451 +v -3.494366 0.771642 -0.796435 +v -3.494366 1.370552 -1.003753 +v -3.540478 0.771642 -0.704225 +v -3.517422 1.508910 -0.934588 +v -4.185327 1.209344 -0.704225 +f 937 939 941 +f 933 932 934 +f 932 933 935 +f 931 935 936 +f 935 933 936 +f 937 936 938 +f 933 934 938 +f 936 933 938 +f 934 937 938 +f 937 934 939 +f 934 932 940 +f 932 935 940 +f 939 934 940 +f 935 939 940 +f 935 931 941 +f 931 936 941 +f 936 937 941 +f 939 935 941 +o convex_73 +v -2.549685 0.771642 -0.773378 +v -2.434384 1.508910 -0.980670 +v -2.434384 1.508910 -1.003753 +v -3.447973 1.508910 -0.980670 +v -3.447973 1.370552 -1.003753 +v -3.447973 0.794714 -0.750349 +v -2.434384 0.817712 -0.727293 +v -3.447973 0.771642 -0.796435 +v -2.434384 1.393698 -0.980670 +v -2.641865 1.485838 -0.957640 +f 945 948 951 +f 943 944 945 +f 945 944 946 +f 945 946 947 +f 944 943 948 +f 947 942 948 +f 945 947 948 +f 946 942 949 +f 942 947 949 +f 947 946 949 +f 942 946 950 +f 946 944 950 +f 948 942 950 +f 944 948 950 +f 943 945 951 +f 948 943 951 +o convex_74 +v -4.231552 1.578183 -0.727329 +v -2.250168 2.223099 -0.980649 +v -2.250168 2.130829 -0.980649 +v -3.494158 1.508980 -1.003753 +v -2.434613 1.508980 -0.980649 +v -3.609363 2.223099 -0.704225 +v -3.540318 2.223099 -0.796464 +v -4.208472 1.508980 -0.704225 +v -2.434613 2.223099 -1.003753 +v -3.517237 2.199962 -0.704225 +v -2.434613 1.508980 -1.003753 +v -4.208472 1.532118 -0.773419 +v -3.908821 1.739447 -0.704225 +v -3.494158 1.624249 -0.980649 +f 955 963 965 +f 952 957 958 +f 957 953 958 +f 955 956 959 +f 957 952 959 +f 953 954 960 +f 958 953 960 +f 954 953 961 +f 956 954 961 +f 953 957 961 +f 957 959 961 +f 956 955 962 +f 954 956 962 +f 960 954 962 +f 955 960 962 +f 952 958 963 +f 959 952 963 +f 955 959 963 +f 959 956 964 +f 956 961 964 +f 961 959 964 +f 960 955 965 +f 958 960 965 +f 963 958 965 +o convex_75 +v 1.367335 -0.011770 -1.095897 +v 1.620736 0.310961 -0.473981 +v 1.574646 0.310961 -0.473981 +v 1.390366 0.633342 -1.118943 +v 1.620736 0.702489 -0.980669 +v 1.574646 -0.011770 -0.496964 +v 1.413425 0.057377 -0.773322 +v 1.344303 0.564196 -1.049806 +v 1.436456 -0.011770 -1.026760 +v 1.436456 0.656344 -0.957560 +v 1.528583 -0.011770 -0.473981 +f 973 972 976 +f 966 969 970 +f 968 967 970 +f 970 967 971 +f 969 966 973 +f 966 972 973 +f 966 970 974 +f 971 966 974 +f 970 971 974 +f 970 969 975 +f 968 970 975 +f 969 973 975 +f 973 968 975 +f 967 968 976 +f 966 971 976 +f 971 967 976 +f 972 966 976 +f 968 973 976 +o convex_76 +v -4.162466 1.693253 -0.704225 +v -4.208579 2.223169 -0.013007 +v -4.277676 2.223169 -0.013007 +v -4.484967 1.462829 -0.013007 +v -4.531080 1.485976 -0.082156 +v -4.208579 1.485976 -0.681153 +v -4.277676 1.485976 -0.704225 +v -4.254656 2.200023 -0.174309 +v -4.162466 2.200023 -0.082156 +f 977 984 985 +f 978 979 980 +f 980 979 981 +f 980 981 983 +f 977 982 983 +f 982 980 983 +f 979 978 984 +f 981 979 984 +f 977 983 984 +f 983 981 984 +f 978 980 985 +f 982 977 985 +f 980 982 985 +f 984 978 985 +o convex_77 +v 0.491832 2.384426 -1.003749 +v 1.090829 2.430521 -0.128210 +v 1.090829 2.407449 -0.128210 +v 0.491832 2.476616 -0.128210 +v 1.021642 2.223169 -0.704162 +v 1.044685 2.246242 -1.026794 +v 0.584003 2.407449 -0.128210 +v 0.537918 2.407449 -1.003749 +v 0.929471 2.223169 -0.980703 +v 1.090829 2.430521 -0.197345 +f 991 993 995 +f 988 987 989 +f 988 990 991 +f 988 989 992 +f 989 986 992 +f 990 988 992 +f 986 989 993 +f 991 986 993 +f 991 990 994 +f 986 991 994 +f 992 986 994 +f 990 992 994 +f 987 988 995 +f 989 987 995 +f 988 991 995 +f 993 989 995 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/378/378.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/378/378.urdf new file mode 100644 index 000000000..28a4468db --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/378/378.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/379/379.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/379/379.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/379/379.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/379/379.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/379/379.obj new file mode 100644 index 000000000..7c9e95778 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/379/379.obj @@ -0,0 +1,723 @@ +o convex_0 +v -0.163225 1.038576 -1.066402 +v 0.672979 2.990275 1.101944 +v 0.641985 2.990275 1.101944 +v 0.084303 0.356962 1.101944 +v -1.092836 3.052192 1.070950 +v 0.920932 2.959051 -1.004413 +v 1.075902 0.356962 -0.415729 +v -1.061841 0.357229 -1.035408 +v -1.061841 2.990275 -0.973419 +v -1.092836 0.357229 1.070950 +v 1.075902 0.356962 1.039955 +v 1.044908 2.959317 1.101944 +v 0.951926 0.356962 -1.004413 +v 0.270268 3.083417 -0.229974 +v -1.092836 3.021234 -0.570702 +v 0.858944 2.804260 -1.035620 +v -0.473166 3.083417 -0.446723 +v 1.044908 2.959317 0.730009 +v -0.008467 0.356962 -1.066190 +v 0.301262 3.083417 0.265303 +v 0.951926 2.680427 -0.942424 +v 1.075902 1.193633 1.070950 +v -0.751900 3.083417 0.513260 +v -0.596930 0.419145 -1.066402 +v 0.301262 0.388187 1.101944 +v 0.239274 1.224591 -1.066190 +v -0.658918 3.052192 1.071162 +v -0.968859 3.021234 -0.880435 +v 1.075902 1.472524 1.008960 +v 0.951926 2.959051 -0.787451 +v -0.875877 2.308662 -1.004413 +v 0.951926 1.627582 -1.004413 +f 21 7 32 +f 2 3 4 +f 4 3 5 +f 4 5 10 +f 4 7 11 +f 2 4 12 +f 7 4 13 +f 9 8 15 +f 10 5 15 +f 8 10 15 +f 9 6 16 +f 14 6 17 +f 4 10 19 +f 10 8 19 +f 13 4 19 +f 2 12 20 +f 14 17 20 +f 12 18 20 +f 11 7 22 +f 15 5 23 +f 17 15 23 +f 20 17 23 +f 1 19 24 +f 19 8 24 +f 4 11 25 +f 12 4 25 +f 11 22 25 +f 22 12 25 +f 1 16 26 +f 16 13 26 +f 19 1 26 +f 13 19 26 +f 3 2 27 +f 5 3 27 +f 2 20 27 +f 23 5 27 +f 20 23 27 +f 6 9 28 +f 9 15 28 +f 17 6 28 +f 15 17 28 +f 7 18 29 +f 18 12 29 +f 22 7 29 +f 12 22 29 +f 6 14 30 +f 18 7 30 +f 14 20 30 +f 20 18 30 +f 21 6 30 +f 7 21 30 +f 8 9 31 +f 16 1 31 +f 9 16 31 +f 1 24 31 +f 24 8 31 +f 7 13 32 +f 16 6 32 +f 13 16 32 +f 6 21 32 +o convex_1 +v 0.239382 4.973136 -0.168118 +v -0.349281 3.083805 -0.044182 +v -0.318265 3.083805 -0.292054 +v 0.301350 3.083805 0.265594 +v -0.194329 5.066293 0.358578 +v -0.318265 4.880174 -0.261038 +v 0.270335 3.083805 -0.230086 +v -0.349281 3.083805 0.327562 +v 0.270335 5.066293 0.327562 +v 0.208367 5.035047 -0.199070 +v -0.163377 3.579475 -0.292054 +v 0.301350 4.415361 0.234642 +v -0.349281 4.074952 0.048674 +v -0.163377 3.083805 0.327562 +v -0.318265 4.942084 -0.168118 +v -0.225345 4.818264 0.358578 +v 0.177414 5.066293 -0.137102 +v 0.270335 3.424408 -0.230086 +v 0.301350 3.083805 0.017850 +v -0.349281 3.393550 0.327562 +v -0.194329 4.415361 0.358578 +v 0.270335 5.066293 0.079690 +f 44 50 54 +f 34 35 36 +f 35 34 38 +f 36 35 39 +f 34 36 40 +f 35 38 43 +f 39 35 43 +f 38 42 43 +f 41 36 44 +f 38 34 45 +f 34 40 45 +f 40 36 46 +f 36 41 46 +f 42 38 47 +f 38 45 47 +f 47 45 48 +f 37 47 48 +f 37 41 49 +f 47 37 49 +f 42 47 49 +f 42 33 50 +f 39 43 50 +f 43 42 50 +f 50 44 51 +f 36 39 51 +f 44 36 51 +f 39 50 51 +f 45 40 52 +f 48 45 52 +f 40 48 52 +f 41 37 53 +f 40 46 53 +f 46 41 53 +f 37 48 53 +f 48 40 53 +f 33 42 54 +f 41 44 54 +f 49 41 54 +f 42 49 54 +f 50 33 54 +o convex_2 +v -2.176970 -2.028638 0.327595 +v -2.982580 -2.245473 -0.323036 +v -2.982580 -2.214524 -0.323036 +v -1.092860 -1.687943 -0.261068 +v -1.092860 -2.245473 -0.199100 +v -3.013438 -1.749905 0.079660 +v -1.092860 -1.811867 0.296580 +v -2.951528 -2.183511 0.327595 +v -3.075542 -1.749905 -0.292020 +v -1.124106 -2.183511 0.265627 +v -2.858565 -2.338447 -0.323036 +v -2.982580 -1.780918 0.234548 +v -1.929522 -1.718956 0.017692 +v -1.619777 -1.935791 -0.292020 +v -2.920475 -1.718956 -0.292020 +v -2.951528 -2.338447 -0.261068 +v -1.092860 -2.214524 -0.230052 +v -2.796655 -2.214524 0.265627 +v -1.464904 -2.276485 -0.199100 +v -1.092860 -1.687943 -0.168084 +v -2.208022 -1.780918 0.265627 +v -2.951528 -2.090600 0.327595 +f 75 66 76 +f 59 58 61 +f 62 60 63 +f 57 56 63 +f 56 62 63 +f 61 55 64 +f 59 61 64 +f 55 62 64 +f 56 57 65 +f 60 62 66 +f 60 66 67 +f 65 57 68 +f 63 60 69 +f 57 63 69 +f 60 67 69 +f 58 68 69 +f 68 57 69 +f 62 56 70 +f 56 65 70 +f 58 59 71 +f 59 65 71 +f 68 58 71 +f 65 68 71 +f 64 62 72 +f 62 70 72 +f 70 64 72 +f 59 64 73 +f 65 59 73 +f 64 70 73 +f 70 65 73 +f 61 58 74 +f 67 61 74 +f 58 69 74 +f 69 67 74 +f 61 67 75 +f 67 66 75 +f 55 61 76 +f 62 55 76 +f 66 62 76 +f 61 75 76 +o convex_3 +v 0.301274 0.294979 -1.996361 +v -0.225333 -0.324652 -1.190714 +v -0.194332 -0.324652 -1.190714 +v -0.194332 -0.262669 -3.111456 +v -0.256334 0.202037 -1.066615 +v 0.270331 -0.293627 -1.066615 +v -0.194332 0.263954 -3.080431 +v 0.270331 -0.200686 -3.018382 +v 0.332333 0.356962 -1.066615 +v 0.208330 0.232996 -3.080431 +v -0.256334 -0.262669 -1.066615 +v -0.225333 -0.293627 -2.584633 +v 0.332333 0.109096 -1.872262 +v 0.239331 0.356962 -1.345639 +v -0.256334 0.047046 -1.810212 +v -0.039444 -0.262669 -3.080431 +v 0.301274 -0.200686 -1.066615 +v 0.301274 -0.076786 -2.739558 +v -0.101388 0.294979 -2.739558 +v -0.194332 0.232996 -1.066615 +v 0.239331 0.171013 -3.080431 +v 0.208330 -0.293627 -1.500563 +v -0.225333 -0.169728 -2.801608 +v 0.239331 0.263954 -2.770583 +f 77 97 100 +f 78 79 82 +f 81 82 85 +f 80 83 86 +f 78 82 87 +f 82 81 87 +f 79 78 88 +f 78 87 88 +f 77 85 89 +f 81 83 91 +f 87 81 91 +f 88 87 91 +f 88 80 92 +f 82 84 93 +f 85 82 93 +f 89 85 93 +f 89 93 94 +f 77 89 94 +f 93 84 94 +f 86 83 95 +f 90 95 96 +f 83 81 96 +f 81 85 96 +f 85 90 96 +f 95 83 96 +f 80 86 97 +f 84 92 97 +f 92 80 97 +f 94 84 97 +f 77 94 97 +f 82 79 98 +f 84 82 98 +f 79 88 98 +f 92 84 98 +f 88 92 98 +f 83 80 99 +f 80 88 99 +f 91 83 99 +f 88 91 99 +f 85 77 100 +f 90 85 100 +f 86 95 100 +f 95 90 100 +f 97 86 100 +o convex_4 +v 2.965592 -2.152519 0.296567 +v 2.098444 -1.687949 -0.354018 +v 2.098444 -1.657018 -0.354018 +v 1.138067 -1.718941 0.358578 +v 1.138067 -2.214502 -0.199097 +v 2.965592 -2.276546 -0.354018 +v 3.089579 -1.657018 0.358578 +v 1.138067 -2.276546 0.172616 +v 1.138067 -1.657018 -0.322909 +v 3.027490 -1.657018 -0.354018 +v 3.058439 -2.245494 0.265597 +v 1.974648 -2.276546 0.234627 +v 1.138067 -1.811915 0.358578 +v 1.169207 -1.657018 -0.075146 +v 1.695724 -2.245494 -0.261038 +v 3.058439 -1.718941 -0.230067 +v 3.089579 -1.966752 0.327468 +v 2.562872 -1.657018 0.358578 +v 1.138067 -2.276546 0.048735 +v 1.169207 -1.718941 -0.322909 +v 3.058439 -2.245494 0.110676 +f 116 117 121 +f 102 103 106 +f 104 105 108 +f 103 102 109 +f 105 104 109 +f 107 103 109 +f 106 103 110 +f 103 107 110 +f 106 111 112 +f 108 106 112 +f 111 101 112 +f 108 112 113 +f 107 104 113 +f 104 108 113 +f 112 101 113 +f 109 104 114 +f 107 109 114 +f 106 110 116 +f 110 107 116 +f 101 111 117 +f 107 113 117 +f 113 101 117 +f 116 107 117 +f 104 107 118 +f 114 104 118 +f 107 114 118 +f 108 105 119 +f 106 108 119 +f 105 115 119 +f 115 106 119 +f 102 106 120 +f 109 102 120 +f 105 109 120 +f 115 105 120 +f 106 115 120 +f 111 106 121 +f 106 116 121 +f 117 111 121 +o convex_5 +v -0.101370 0.263996 2.743987 +v -0.194314 -0.355635 1.102347 +v -0.132371 -0.355635 1.102347 +v 0.177348 -0.324543 3.022719 +v 0.239291 0.263996 1.102347 +v 0.301350 -0.293585 1.102347 +v -0.225315 0.171055 1.102347 +v -0.287316 0.140030 3.022719 +v 0.177348 0.202013 2.991770 +v -0.194314 -0.231602 2.960821 +v 0.270292 -0.324543 2.805885 +v 0.146347 0.325979 1.164437 +v -0.256315 0.263996 2.960821 +v -0.256315 0.202013 1.567157 +v 0.208348 0.263996 2.155381 +v -0.287316 0.232971 3.053859 +v 0.239291 -0.138660 3.022719 +v 0.301350 -0.231602 1.474119 +v -0.225315 -0.231602 1.350322 +v -0.132371 -0.262627 2.991770 +f 137 131 141 +f 123 124 125 +f 124 123 126 +f 124 126 127 +f 126 123 128 +f 125 124 132 +f 124 127 132 +f 126 128 133 +f 130 122 134 +f 122 133 134 +f 134 133 135 +f 133 128 135 +f 122 130 136 +f 133 122 136 +f 126 133 136 +f 129 131 137 +f 130 134 137 +f 134 135 137 +f 135 129 137 +f 125 132 138 +f 136 130 138 +f 137 125 138 +f 130 137 138 +f 127 126 139 +f 132 127 139 +f 126 136 139 +f 138 132 139 +f 136 138 139 +f 128 123 140 +f 123 131 140 +f 131 129 140 +f 135 128 140 +f 129 135 140 +f 123 125 141 +f 131 123 141 +f 125 137 141 +o convex_6 +v -1.030786 -1.966691 -1.097597 +v -1.061823 -0.665656 1.102156 +v -1.092757 -0.665656 1.102156 +v -0.782902 -3.050843 1.071150 +v -0.039560 -0.355898 -1.035584 +v -0.039560 -3.050843 1.040143 +v -0.039560 -3.019973 -1.035584 +v -0.039560 -0.355898 0.947123 +v -1.061823 -0.355898 -1.035584 +v -1.061823 -3.019973 -1.097597 +v -1.092757 -3.019973 1.102156 +v -1.092757 -0.355898 1.071150 +v -0.442319 -0.572781 -1.097597 +v -1.092757 -1.688068 -0.261062 +v -0.163399 -3.019973 -1.066590 +v -0.751968 -3.019973 1.102156 +v -0.039560 -2.648211 1.040143 +v -1.092757 -0.355898 0.048574 +v -0.039560 -3.050843 0.358426 +v -0.689997 -3.019973 -1.097597 +v -0.875910 -0.355898 1.071150 +v -0.906947 -0.355898 -1.066590 +v -1.092757 -2.245315 -0.199049 +v -0.287444 -3.019973 1.071150 +v -1.092757 -3.019973 0.606264 +f 152 164 166 +f 146 147 148 +f 147 146 149 +f 149 146 150 +f 150 142 151 +f 143 144 152 +f 144 143 153 +f 149 150 153 +f 152 144 153 +f 151 142 154 +f 150 151 155 +f 152 153 155 +f 146 148 156 +f 154 146 156 +f 145 147 157 +f 143 152 157 +f 152 145 157 +f 147 149 158 +f 153 150 159 +f 150 155 159 +f 155 153 159 +f 147 145 160 +f 148 147 160 +f 145 151 160 +f 156 148 160 +f 156 160 161 +f 151 154 161 +f 154 156 161 +f 160 151 161 +f 153 143 162 +f 149 153 162 +f 143 158 162 +f 158 149 162 +f 142 150 163 +f 150 146 163 +f 146 154 163 +f 154 142 163 +f 155 151 164 +f 152 155 164 +f 143 157 165 +f 157 147 165 +f 158 143 165 +f 147 158 165 +f 151 145 166 +f 145 152 166 +f 164 151 166 +o convex_7 +v 0.920857 -3.019682 -1.004547 +v -0.008341 -2.709821 1.039985 +v -0.039457 -2.709821 1.039985 +v 0.239430 -0.355634 -1.066615 +v 1.075858 -0.355634 1.009054 +v 1.106858 -3.113072 0.977917 +v -0.039457 -3.019682 -1.035271 +v -0.039457 -0.355634 0.946986 +v 0.982857 -0.355634 -0.880411 +v -0.039457 -0.355634 -1.035271 +v 1.137858 -1.688198 -0.322830 +v -0.039457 -3.082032 1.039985 +v 0.982857 -3.019682 -0.973409 +v 0.951857 -0.355634 -1.004547 +v 1.106858 -0.355634 -0.260968 +v 1.137858 -1.719238 0.358268 +v 1.137858 -2.214530 -0.198900 +v 1.013857 -3.113072 0.637265 +v 1.075858 -1.688198 1.009054 +v 0.363430 -0.634725 -1.066615 +v 0.982857 -2.431270 -1.004547 +v 0.827972 -0.355634 1.009054 +v 0.394315 -3.019682 -1.035477 +v 0.177429 -3.082032 1.039985 +v 1.013857 -3.050992 -0.570689 +v 0.704086 -3.113072 0.947193 +f 184 172 192 +f 169 168 171 +f 171 170 174 +f 173 169 174 +f 170 171 175 +f 170 173 176 +f 174 170 176 +f 173 174 176 +f 168 169 178 +f 169 173 178 +f 170 175 180 +f 175 171 181 +f 177 175 181 +f 177 181 182 +f 171 172 182 +f 181 171 182 +f 182 172 183 +f 179 177 183 +f 177 182 183 +f 172 171 185 +f 173 170 186 +f 170 180 186 +f 186 180 187 +f 175 177 187 +f 179 167 187 +f 177 179 187 +f 180 175 187 +f 167 186 187 +f 169 171 188 +f 171 174 188 +f 174 169 188 +f 173 186 189 +f 186 167 189 +f 171 168 190 +f 168 178 190 +f 178 172 190 +f 185 171 190 +f 172 185 190 +f 167 179 191 +f 183 172 191 +f 179 183 191 +f 184 173 191 +f 172 184 191 +f 189 167 191 +f 173 189 191 +f 172 178 192 +f 178 173 192 +f 173 184 192 +o convex_8 +v 1.075699 -0.231683 1.040137 +v -0.999682 -0.076762 0.327671 +v -0.999682 0.356962 0.327671 +v -1.092648 0.356962 1.071071 +v 0.982734 0.356962 0.327671 +v -1.092648 -0.355634 1.071071 +v 1.013722 -0.355634 0.327671 +v 1.075699 0.356962 1.040137 +v -0.968693 -0.355634 0.327671 +v -0.132216 -0.355634 1.102156 +v 1.075699 -0.355634 1.009127 +v 0.270210 0.356962 1.102156 +v 1.075699 -0.293624 0.606455 +v 0.301199 -0.293624 1.102156 +v 1.044711 0.356962 0.544588 +v -0.225182 0.171000 1.102156 +f 202 204 208 +f 195 194 196 +f 194 195 197 +f 195 196 197 +f 196 194 198 +f 194 197 199 +f 197 196 200 +f 198 194 201 +f 194 199 201 +f 199 198 201 +f 198 199 202 +f 200 193 203 +f 202 199 203 +f 200 196 204 +f 200 203 205 +f 203 199 205 +f 193 200 206 +f 203 193 206 +f 202 203 206 +f 200 204 206 +f 204 202 206 +f 199 197 207 +f 197 200 207 +f 205 199 207 +f 200 205 207 +f 196 198 208 +f 198 202 208 +f 204 196 208 +o convex_9 +v -0.875691 -0.293624 -1.066615 +v 1.044723 0.356962 -0.385001 +v 1.044723 -0.355634 -0.385001 +v -1.030537 -0.355634 -0.385001 +v -1.061671 0.356962 -0.632867 +v 0.951733 0.356962 -1.004565 +v 0.951733 -0.355634 -1.004565 +v -1.061671 0.356962 -1.035523 +v -0.999609 0.356962 -0.385001 +v -1.061671 -0.355634 -1.035523 +v 0.332145 0.356962 -1.066615 +v 0.332145 -0.355634 -1.066615 +v -0.596928 0.356962 -1.066615 +v 1.044723 0.356962 -0.508967 +f 215 214 222 +f 211 210 212 +f 213 210 214 +f 211 212 215 +f 213 214 216 +f 212 210 217 +f 213 212 217 +f 210 213 217 +f 212 213 218 +f 215 212 218 +f 216 209 218 +f 213 216 218 +f 214 215 219 +f 216 214 219 +f 215 218 220 +f 218 209 220 +f 219 215 220 +f 209 219 220 +f 209 216 221 +f 219 209 221 +f 216 219 221 +f 210 211 222 +f 214 210 222 +f 211 215 222 +o convex_10 +v -2.610830 -0.324525 -0.137099 +v 1.075742 0.356962 -0.353891 +v 1.075742 0.356962 -0.385001 +v 2.965392 -0.324525 -0.230080 +v 0.982418 0.356962 0.327595 +v 0.982418 -0.355634 0.327595 +v -3.044754 0.294951 0.265585 +v -3.013250 0.233011 -0.353891 +v 2.996301 0.202040 0.296555 +v -0.999366 -0.355634 -0.385001 +v -3.044754 -0.200713 0.203644 +v 3.027806 0.202040 -0.291950 +v 2.934482 -0.169673 0.327595 +v -0.969051 -0.355634 0.327595 +v 1.075742 -0.355634 -0.385001 +v -2.920521 -0.324525 -0.322991 +v -0.999366 0.356962 -0.385001 +v -1.030871 0.356962 0.327595 +v -2.796288 0.263981 0.296485 +v -2.517506 0.325852 0.079693 +v -2.982340 -0.138703 -0.353891 +v 2.996301 -0.231614 -0.261050 +v -1.712072 -0.355634 0.110664 +v 2.965392 -0.293624 -0.044118 +v 2.934482 -0.200713 0.296485 +v -3.044754 0.109060 0.265585 +v 3.027806 0.202040 0.172604 +v -1.371471 0.356962 -0.260980 +v 2.965392 0.016079 0.327526 +v -3.044754 -0.200713 0.017753 +f 243 238 252 +f 224 225 227 +f 225 224 234 +f 227 228 235 +f 228 227 236 +f 232 228 236 +f 226 228 237 +f 232 225 237 +f 228 232 237 +f 225 234 237 +f 223 233 238 +f 227 225 239 +f 225 232 239 +f 232 230 239 +f 236 227 240 +f 227 239 240 +f 236 240 241 +f 240 229 241 +f 230 229 242 +f 229 240 242 +f 230 232 243 +f 232 238 243 +f 226 237 244 +f 237 234 244 +f 233 223 245 +f 232 236 245 +f 236 233 245 +f 238 232 245 +f 223 238 245 +f 228 226 246 +f 226 244 246 +f 235 228 247 +f 228 246 247 +f 229 233 248 +f 233 236 248 +f 241 229 248 +f 236 241 248 +f 224 227 249 +f 227 231 249 +f 234 224 249 +f 244 234 249 +f 246 244 249 +f 235 247 249 +f 247 246 249 +f 239 230 250 +f 240 239 250 +f 230 242 250 +f 242 240 250 +f 231 227 251 +f 227 235 251 +f 249 231 251 +f 235 249 251 +f 229 230 252 +f 233 229 252 +f 238 233 252 +f 230 243 252 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/379/379.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/379/379.urdf new file mode 100644 index 000000000..6f1e66baf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/379/379.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/380/380.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/380/380.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/380/380.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/380/380.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/380/380.obj new file mode 100644 index 000000000..ae00bac42 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/380/380.obj @@ -0,0 +1,435 @@ +o convex_0 +v 3.087632 1.067140 -2.369040 +v -3.077878 0.255696 -3.626373 +v -3.118580 -1.001526 -3.585634 +v -2.996473 1.067140 -1.476642 +v 3.087632 -1.001526 -1.435903 +v 2.965525 -0.920381 -3.585634 +v -2.996473 -0.920175 -1.517167 +v 3.087632 1.107816 -3.585634 +v 3.087632 1.026465 -1.435903 +v -3.077878 0.945527 -3.585634 +v -0.603533 -1.001526 -1.435903 +v 3.006227 -0.960850 -3.342272 +v -0.116319 1.026671 -3.626373 +v 1.424299 -0.027793 -3.626373 +v -1.009343 0.985789 -1.435903 +v -0.603533 -1.001526 -3.585634 +v -2.996473 1.067140 -1.841792 +v -3.118580 -1.001526 -3.220484 +v 3.087632 -1.001526 -2.044629 +v -3.037175 -0.960644 -1.963580 +v -3.118580 0.174758 -3.545110 +v -1.009343 -0.960644 -1.435903 +v -2.996473 0.945527 -3.626373 +v 3.087632 1.107816 -3.342272 +v 2.721918 1.107816 -3.585634 +v -3.037175 1.026465 -2.085154 +v -3.077878 -1.001526 -2.733761 +v 3.006227 -0.798562 -3.585634 +v 3.046930 -1.001526 -2.328516 +v -2.469163 1.067140 -1.476642 +v 1.180692 0.661418 -3.626373 +v -2.834270 -0.960644 -1.720004 +v 2.316716 -0.960850 -3.585634 +v -3.077878 0.945527 -2.977123 +f 21 26 34 +f 1 5 8 +f 5 1 9 +f 3 5 11 +f 5 9 11 +f 3 2 14 +f 2 13 14 +f 9 4 15 +f 11 9 15 +f 5 3 16 +f 3 14 16 +f 3 11 18 +f 8 5 19 +f 5 16 19 +f 7 4 20 +f 2 3 21 +f 10 2 21 +f 3 18 21 +f 4 7 22 +f 7 11 22 +f 15 4 22 +f 11 15 22 +f 2 10 23 +f 13 2 23 +f 10 17 23 +f 17 13 23 +f 1 8 24 +f 24 8 25 +f 8 13 25 +f 17 4 25 +f 13 17 25 +f 4 24 25 +f 4 17 26 +f 17 10 26 +f 20 4 26 +f 18 20 26 +f 21 18 26 +f 18 11 27 +f 20 18 27 +f 12 6 28 +f 6 14 28 +f 14 8 28 +f 8 19 28 +f 19 12 28 +f 12 19 29 +f 19 16 29 +f 9 1 30 +f 4 9 30 +f 1 24 30 +f 24 4 30 +f 13 8 31 +f 8 14 31 +f 14 13 31 +f 11 7 32 +f 7 20 32 +f 27 11 32 +f 20 27 32 +f 6 12 33 +f 14 6 33 +f 16 14 33 +f 12 29 33 +f 29 16 33 +f 10 21 34 +f 26 10 34 +o convex_1 +v 0.572660 -1.001526 -0.421797 +v 0.247944 1.026687 -0.624618 +v 0.247944 1.026687 -0.827280 +v -1.090486 -1.001526 -0.178475 +v -1.009044 -0.960827 -1.435903 +v -0.968639 1.026687 0.186667 +v 1.059420 0.296284 0.186667 +v 1.018804 -1.001526 -1.435903 +v -1.009044 0.985988 -1.435903 +v 1.018804 0.945289 -1.435903 +v 0.978188 -0.920326 0.186667 +v 1.059420 0.945289 0.186667 +v -1.090486 -1.001526 0.186667 +v 1.059420 -0.474024 -0.989601 +v -1.009044 1.026687 -0.624618 +v 0.978188 0.985988 -1.435903 +v -0.644132 -1.001526 -1.435903 +v 0.085691 1.026687 0.146008 +v 0.896956 -0.960827 0.186667 +v -1.090486 -0.717425 0.186667 +v 1.018804 -1.001526 -0.827280 +v 1.059420 0.945289 -0.340795 +v 0.775319 0.985988 0.105507 +v -0.116968 -1.001526 0.186667 +v -1.049660 -1.001526 -0.867940 +f 39 51 59 +f 36 37 40 +f 35 38 42 +f 42 39 43 +f 42 43 44 +f 41 40 45 +f 40 41 46 +f 38 35 47 +f 45 40 47 +f 42 44 48 +f 46 41 48 +f 40 37 49 +f 37 43 49 +f 37 36 50 +f 43 37 50 +f 44 43 50 +f 42 38 51 +f 39 42 51 +f 36 40 52 +f 40 46 52 +f 45 47 53 +f 43 38 54 +f 38 47 54 +f 47 40 54 +f 40 49 54 +f 49 43 54 +f 35 42 55 +f 41 45 55 +f 42 48 55 +f 48 41 55 +f 53 35 55 +f 45 53 55 +f 48 44 56 +f 46 48 56 +f 44 50 56 +f 50 46 56 +f 50 36 57 +f 46 50 57 +f 36 52 57 +f 52 46 57 +f 47 35 58 +f 35 53 58 +f 53 47 58 +f 38 43 59 +f 43 39 59 +f 51 38 59 +o convex_2 +v 1.059420 1.026552 3.350814 +v -1.090359 0.499090 4.405148 +v -1.090359 0.499090 4.445811 +v 0.978193 -1.082654 4.567607 +v -0.968729 -1.001391 2.579958 +v 1.059420 -1.001391 2.579958 +v -0.968729 1.067077 2.579958 +v 1.059420 1.107816 4.526749 +v -1.049746 -1.001391 4.486280 +v 1.018596 1.067077 2.579958 +v -1.090359 1.067077 4.445811 +v -1.009132 -1.001391 2.620622 +v 0.410446 1.107816 4.526749 +v -0.765872 -1.041915 2.783082 +v 0.491462 -1.082654 4.567607 +v 0.085748 1.107816 3.513274 +v 1.059420 -0.879817 3.310151 +v -1.009132 1.067077 2.904683 +v 1.018596 -0.352140 4.567607 +v 0.978193 -1.082654 4.161945 +v -1.049746 -0.433404 4.486280 +v 1.059420 0.539829 2.579958 +v -1.049746 -1.001391 3.715619 +v 0.978193 0.336991 4.567607 +v -0.563015 -1.041915 4.364484 +v -1.090359 0.945289 4.283546 +v 1.059420 1.107816 3.877884 +v 1.059420 0.620878 4.526749 +v -0.522402 1.026552 4.486280 +f 80 83 88 +f 65 64 66 +f 65 60 67 +f 62 61 68 +f 65 66 69 +f 61 62 70 +f 62 68 70 +f 66 64 71 +f 64 65 73 +f 71 64 73 +f 69 66 75 +f 72 67 75 +f 70 72 75 +f 63 65 76 +f 65 67 76 +f 66 71 77 +f 75 66 77 +f 70 75 77 +f 74 63 78 +f 63 76 78 +f 65 63 79 +f 73 65 79 +f 63 74 79 +f 74 73 79 +f 70 68 80 +f 68 74 80 +f 60 65 81 +f 69 60 81 +f 65 69 81 +f 68 61 82 +f 73 68 82 +f 71 73 82 +f 67 72 83 +f 78 67 83 +f 74 78 83 +f 80 74 83 +f 68 73 84 +f 74 68 84 +f 73 74 84 +f 61 70 85 +f 77 71 85 +f 70 77 85 +f 82 61 85 +f 71 82 85 +f 67 60 86 +f 60 69 86 +f 69 75 86 +f 75 67 86 +f 76 67 87 +f 67 78 87 +f 78 76 87 +f 72 70 88 +f 70 80 88 +f 83 72 88 +o convex_3 +v -0.928197 -2.988916 1.687394 +v 1.018797 1.066918 2.579958 +v 1.059201 1.107407 1.849508 +v -0.968602 1.107407 0.511598 +v 0.978182 -2.948428 0.552127 +v -0.968602 1.066509 2.579958 +v 0.978182 -3.070303 2.579958 +v 1.059201 0.945042 0.186667 +v -1.090236 -2.948019 0.349250 +v -0.928197 -2.988916 2.498667 +v -1.090236 -0.677373 0.186667 +v 0.978182 -0.921124 0.186667 +v -0.968602 1.066509 0.186667 +v 1.059201 -1.649923 2.538961 +v -1.009217 -1.122750 2.498667 +v 1.059201 1.107407 0.511598 +v -1.090236 -0.474520 0.998175 +v -0.968602 -1.204137 2.579958 +v -0.968602 1.107407 2.498667 +v 1.018797 -2.542721 0.957646 +v -1.090236 -2.907530 0.795532 +v 0.613068 -3.070303 2.173970 +v -0.968602 -2.988916 2.417610 +v 1.059201 0.295995 0.186667 +v 0.815932 -2.948428 0.511598 +v -1.090236 -1.000875 0.186667 +v 1.059201 0.499256 2.579958 +v 1.059201 -1.690820 1.768451 +v -1.009217 0.701701 2.133442 +v 0.978182 1.107816 2.498667 +v -0.238374 -3.029405 2.538961 +v -0.684718 -2.988507 0.836061 +v -1.090236 -0.880226 1.119760 +v -1.090236 -0.474520 0.470835 +v 0.978182 -3.070303 2.214499 +v -0.968602 -2.299379 2.538961 +f 98 119 124 +f 90 94 95 +f 99 96 100 +f 96 99 101 +f 96 91 102 +f 91 96 104 +f 101 92 104 +f 96 101 104 +f 99 97 105 +f 95 94 106 +f 94 103 106 +f 102 95 108 +f 105 97 109 +f 97 89 111 +f 109 97 111 +f 103 109 111 +f 93 100 112 +f 100 96 112 +f 96 102 112 +f 108 93 112 +f 97 100 113 +f 100 93 113 +f 97 99 114 +f 100 97 114 +f 99 100 114 +f 91 90 115 +f 90 95 115 +f 102 91 115 +f 95 102 115 +f 102 108 116 +f 112 102 116 +f 108 112 116 +f 103 94 117 +f 107 92 117 +f 94 107 117 +f 90 91 118 +f 94 90 118 +f 91 104 118 +f 104 92 118 +f 92 107 118 +f 107 94 118 +f 95 106 119 +f 110 95 119 +f 89 110 119 +f 98 111 119 +f 111 89 119 +f 89 97 120 +f 110 89 120 +f 97 113 120 +f 109 103 121 +f 105 109 121 +f 103 117 121 +f 117 105 121 +f 92 101 122 +f 101 99 122 +f 99 105 122 +f 117 92 122 +f 105 117 122 +f 93 108 123 +f 108 95 123 +f 95 110 123 +f 113 93 123 +f 110 120 123 +f 120 113 123 +f 106 103 124 +f 111 98 124 +f 103 111 124 +f 119 106 124 +o convex_4 +v 0.815883 3.054709 2.457988 +v 0.166847 2.162256 0.470617 +v -0.968698 1.108006 0.511320 +v 1.018720 1.108006 2.457988 +v -1.009223 2.973526 2.539394 +v -1.090486 3.054709 0.511320 +v -0.968698 1.108006 2.498691 +v 1.059245 3.054709 0.470617 +v 1.059245 1.108006 0.511320 +v 1.099984 3.054709 2.417487 +v 0.775359 1.108006 2.498691 +v -1.090486 2.527394 0.592322 +v -1.049747 3.014117 2.092874 +v 1.059245 1.189190 2.052373 +v 1.099984 2.405618 1.808964 +v -0.725122 3.014117 2.539394 +v 0.126322 3.054709 2.458190 +v -1.009223 2.405618 2.539394 +v -1.090486 2.973526 1.282049 +v 1.059245 2.567796 2.457988 +v -1.009223 1.473144 0.511320 +v 1.099984 3.054709 1.687259 +v 1.059245 1.473144 2.457988 +v -1.090486 3.054709 0.916935 +v 0.531997 3.054709 0.470617 +v -0.887435 3.014117 2.539394 +f 141 148 150 +f 127 128 131 +f 130 125 132 +f 127 126 133 +f 128 127 133 +f 126 132 133 +f 132 125 134 +f 131 128 135 +f 128 133 138 +f 138 133 139 +f 125 130 141 +f 140 125 141 +f 131 135 142 +f 129 137 142 +f 135 140 142 +f 140 129 142 +f 130 136 143 +f 136 131 143 +f 131 142 143 +f 142 137 143 +f 134 125 144 +f 125 140 144 +f 140 135 144 +f 126 127 145 +f 130 126 145 +f 127 131 145 +f 136 130 145 +f 131 136 145 +f 133 132 146 +f 132 134 146 +f 134 139 146 +f 139 133 146 +f 135 128 147 +f 128 138 147 +f 139 134 147 +f 138 139 147 +f 134 144 147 +f 144 135 147 +f 141 130 148 +f 130 143 148 +f 143 137 148 +f 126 130 149 +f 132 126 149 +f 130 132 149 +f 137 129 150 +f 129 140 150 +f 140 141 150 +f 148 137 150 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/380/380.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/380/380.urdf new file mode 100644 index 000000000..4dfc4fa65 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/380/380.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/381/381.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/381/381.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/381/381.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/381/381.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/381/381.obj new file mode 100644 index 000000000..db15f6a61 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/381/381.obj @@ -0,0 +1,1140 @@ +o convex_0 +v -2.935723 -0.522095 0.000871 +v -1.983168 -0.118056 -0.056860 +v -1.983168 -0.118056 -0.143429 +v -1.983168 -0.666438 -0.027969 +v -1.983168 -0.204693 0.260681 +v -2.935723 -0.175814 0.029659 +v -2.646982 -0.377861 -0.201159 +v -2.675867 -0.522095 0.202849 +v -1.983168 -0.637558 0.202849 +v -1.983168 -0.550975 -0.201159 +v -2.906838 -0.348981 0.202849 +v -2.762521 -0.608679 0.000871 +v -2.387448 -0.146935 0.202849 +v -2.243131 -0.175814 -0.201159 +v -3.080147 -0.348981 0.000871 +v -1.983168 -0.348981 -0.258940 +v -2.791299 -0.146935 -0.056860 +v -2.416333 -0.348981 0.260681 +v -2.820184 -0.320102 -0.172320 +v -2.618205 -0.522095 -0.143429 +v -2.214139 -0.637558 0.202849 +v -1.983168 -0.435512 0.260681 +v -1.983168 -0.146935 0.231791 +f 13 5 23 +f 3 2 4 +f 4 2 5 +f 4 5 9 +f 3 4 10 +f 1 8 11 +f 8 1 12 +f 10 4 12 +f 6 11 13 +f 11 6 15 +f 1 11 15 +f 3 10 16 +f 10 7 16 +f 14 3 16 +f 7 14 16 +f 2 3 17 +f 13 2 17 +f 6 13 17 +f 3 14 17 +f 15 6 17 +f 11 8 18 +f 5 13 18 +f 13 11 18 +f 14 7 19 +f 1 15 19 +f 17 14 19 +f 15 17 19 +f 7 10 20 +f 12 1 20 +f 10 12 20 +f 1 19 20 +f 19 7 20 +f 4 9 21 +f 8 12 21 +f 12 4 21 +f 18 8 21 +f 18 21 22 +f 9 5 22 +f 5 18 22 +f 21 9 22 +f 5 2 23 +f 2 13 23 +o convex_1 +v -1.261472 0.055205 0.029730 +v -1.983098 -0.695336 -0.027972 +v -1.925317 -0.724227 0.000879 +v -1.261472 -0.839687 -0.258844 +v -1.261472 -0.781906 0.347155 +v -1.983098 -0.175817 0.260602 +v -1.983098 -0.233496 -0.229993 +v -1.261472 -0.060357 -0.229993 +v -1.261472 -0.089145 0.260602 +v -1.319323 -0.984038 0.260602 +v -1.983098 -0.666446 0.202900 +v -1.983098 -0.118036 -0.143376 +v -1.983098 -0.406737 -0.258844 +v -1.261472 -0.406737 -0.316546 +v -1.261472 -0.984038 -0.056823 +v -1.983098 -0.579876 -0.201142 +v -1.290433 0.055205 0.087432 +v -1.983098 -0.435627 0.260602 +v -1.405924 -0.955147 -0.027972 +v -1.954207 -0.118036 0.145134 +v -1.290433 -0.666446 0.347155 +f 29 41 44 +f 27 24 28 +f 25 29 30 +f 24 27 31 +f 28 24 32 +f 25 26 34 +f 29 25 34 +f 26 33 34 +f 33 28 34 +f 30 29 35 +f 31 30 35 +f 24 31 35 +f 25 30 36 +f 31 27 37 +f 30 31 37 +f 27 36 37 +f 36 30 37 +f 27 28 38 +f 28 33 38 +f 25 36 39 +f 36 27 39 +f 32 24 40 +f 29 32 40 +f 24 35 40 +f 34 28 41 +f 29 34 41 +f 26 25 42 +f 33 26 42 +f 27 38 42 +f 38 33 42 +f 25 39 42 +f 39 27 42 +f 35 29 43 +f 29 40 43 +f 40 35 43 +f 28 32 44 +f 32 29 44 +f 41 28 44 +o convex_2 +v 1.250377 -1.041773 0.058521 +v 1.365682 0.084073 0.173993 +v 1.365682 0.084073 0.116291 +v 3.010972 -0.406777 -0.056814 +v 1.250377 -0.493066 -0.374344 +v 1.250377 -0.868532 0.318349 +v 2.808628 -0.406777 0.173993 +v 1.279160 -1.012900 -0.316574 +v 2.548891 -0.146915 -0.172286 +v 1.250377 -0.089168 -0.258872 +v 2.635413 -0.378013 -0.258872 +v 2.779845 -0.637544 -0.027997 +v 2.491152 -0.146915 0.202878 +v 1.250377 -0.146915 0.289464 +v 1.279160 -0.984026 0.289464 +v 2.722106 -0.118041 0.029704 +v 2.635413 -0.608561 -0.172286 +v 1.250377 0.084073 0.029704 +v 1.423420 -0.695291 0.318349 +v 1.279160 -1.041773 -0.287689 +v 1.250377 -0.002547 0.260580 +v 1.914112 -0.175788 -0.258872 +v 2.664368 -0.608561 0.087406 +v 2.779845 -0.406777 -0.229988 +v 1.279160 -0.608561 -0.374344 +v 2.779845 -0.637544 -0.085699 +v 3.010972 -0.349030 -0.056814 +v 1.307943 -1.041773 0.000820 +v 1.971850 -0.378013 -0.316574 +f 55 69 73 +f 49 45 50 +f 45 49 52 +f 49 50 54 +f 48 51 56 +f 54 50 58 +f 50 45 59 +f 51 50 59 +f 47 46 60 +f 46 57 60 +f 57 51 60 +f 46 47 62 +f 53 54 62 +f 54 58 62 +f 47 60 62 +f 60 53 62 +f 50 51 63 +f 51 57 63 +f 58 50 63 +f 57 58 63 +f 45 52 64 +f 57 46 65 +f 58 57 65 +f 46 62 65 +f 62 58 65 +f 54 53 66 +f 53 55 66 +f 56 51 67 +f 51 59 67 +f 59 56 67 +f 55 53 68 +f 52 55 68 +f 61 52 68 +f 52 49 69 +f 55 52 69 +f 48 56 70 +f 52 61 70 +f 64 52 70 +f 68 48 70 +f 61 68 70 +f 51 48 71 +f 60 51 71 +f 53 60 71 +f 48 68 71 +f 68 53 71 +f 59 45 72 +f 56 59 72 +f 45 64 72 +f 70 56 72 +f 64 70 72 +f 49 54 73 +f 54 66 73 +f 66 55 73 +f 69 49 73 +o convex_3 +v 0.008714 1.902664 -1.384787 +v 0.181848 1.036713 -1.442765 +v 0.268508 1.036713 -1.442765 +v -0.020069 1.671681 -3.030094 +v -0.308832 1.613957 -1.384787 +v 0.239539 1.642861 -2.770156 +v 0.326261 1.469688 -1.384787 +v -0.222110 1.613957 -2.770156 +v -0.193327 1.210055 -1.384787 +v -0.020069 1.469688 -2.799145 +v -0.251080 1.844855 -1.558240 +v -0.020069 1.816035 -2.741328 +v 0.239539 1.758310 -1.529412 +v 0.326261 1.065702 -1.384787 +v 0.095250 1.787130 -2.712499 +v 0.210755 1.585137 -2.799145 +v -0.222110 1.671681 -2.770156 +v 0.095250 1.036713 -1.413937 +v -0.222110 1.873759 -1.384787 +v -0.279925 1.613957 -2.077794 +v 0.326261 1.469688 -1.644886 +v -0.164419 1.498508 -2.597025 +v -0.222110 1.267780 -1.471594 +v -0.164419 1.787130 -2.510379 +v 0.181848 1.758310 -2.452723 +v 0.239539 1.758310 -1.384787 +v -0.308832 1.700586 -1.500422 +v 0.095250 1.469688 -2.712499 +v 0.037560 1.613957 -3.030094 +f 101 83 102 +f 74 78 80 +f 80 78 82 +f 76 75 83 +f 80 82 87 +f 79 77 88 +f 85 74 88 +f 77 85 88 +f 87 76 89 +f 79 87 89 +f 77 81 90 +f 85 77 90 +f 75 76 91 +f 83 75 91 +f 76 87 91 +f 87 82 91 +f 78 74 92 +f 74 85 92 +f 90 81 93 +f 86 80 94 +f 79 86 94 +f 87 79 94 +f 80 87 94 +f 82 81 95 +f 81 83 95 +f 83 91 95 +f 91 82 95 +f 82 78 96 +f 81 82 96 +f 78 93 96 +f 93 81 96 +f 90 84 97 +f 85 90 97 +f 84 92 97 +f 92 85 97 +f 74 86 98 +f 86 79 98 +f 79 88 98 +f 88 74 98 +f 74 80 99 +f 86 74 99 +f 80 86 99 +f 84 90 100 +f 78 92 100 +f 92 84 100 +f 93 78 100 +f 90 93 100 +f 76 83 101 +f 89 76 101 +f 89 101 102 +f 77 79 102 +f 81 77 102 +f 83 81 102 +f 79 89 102 +o convex_4 +v 0.268519 1.873753 -1.153867 +v -0.366568 1.729400 -1.182751 +v -0.366568 1.729400 -1.153867 +v 0.441673 0.921241 -1.153867 +v 0.326210 1.469894 -1.384764 +v -0.193332 1.210058 -1.384764 +v -0.222178 1.873753 -1.384764 +v -0.193332 1.123446 -1.153867 +v 0.297365 1.007964 -1.384764 +v 0.037675 2.046978 -1.182751 +v 0.239592 1.758271 -1.384764 +v 0.008748 0.921241 -1.182751 +v -0.308795 1.960366 -1.153867 +v 0.355055 1.787141 -1.182751 +v -0.308795 1.729400 -1.384764 +v 0.470600 1.094576 -1.182751 +v 0.008748 1.902624 -1.384764 +v 0.066357 1.036834 -1.384764 +f 111 114 120 +f 103 105 106 +f 107 108 109 +f 105 104 110 +f 106 105 110 +f 104 108 110 +f 108 107 111 +f 107 109 113 +f 106 110 114 +f 110 108 114 +f 111 106 114 +f 105 103 115 +f 104 105 115 +f 103 112 115 +f 112 109 115 +f 103 106 116 +f 112 103 116 +f 113 112 116 +f 107 113 116 +f 108 104 117 +f 109 108 117 +f 104 115 117 +f 115 109 117 +f 106 111 118 +f 111 107 118 +f 116 106 118 +f 107 116 118 +f 109 112 119 +f 113 109 119 +f 112 113 119 +f 108 111 120 +f 114 108 120 +o convex_5 +v 1.249770 0.112613 0.173852 +v -1.261226 -1.070853 -0.027630 +v -1.261226 -1.070853 0.202790 +v 0.095312 -3.408938 -0.027848 +v 0.528233 0.141809 -1.067023 +v -0.453154 0.141461 1.155585 +v 0.961155 -2.629344 0.808976 +v 0.932392 -2.542453 -0.865106 +v -0.914839 -2.773585 0.895574 +v -0.828304 -2.455909 -0.807229 +v -0.972611 0.141461 -0.836167 +v 0.903629 0.141461 0.924512 +v -0.972611 0.141461 0.953233 +v 1.249770 -0.724329 -0.374239 +v 0.961155 0.141461 -0.922765 +v -0.250829 -0.147019 -1.067240 +v -0.770532 -3.062413 -0.027630 +v -1.261226 0.083765 0.087254 +v 0.816848 -3.062413 -0.027848 +v 0.326154 0.112613 1.126646 +v 1.249770 -1.013157 0.289388 +v -1.261226 -0.637784 -0.316362 +v -0.077759 -2.715889 -0.778508 +v -0.828304 -0.002779 -0.980425 +v 1.249770 -1.186245 -0.172105 +v -1.261226 -0.811220 0.347047 +v -0.337610 -0.897765 -1.009146 +v 0.008531 -3.408938 -0.056786 +v 0.354917 -0.868917 1.039831 +v -0.943848 -2.744737 0.866635 +v 0.066303 -3.408938 0.029812 +v 1.249770 -0.089323 -0.287641 +v -0.828304 -2.311668 -0.835950 +v 0.874620 -0.378152 0.953451 +v -0.799541 -0.637784 -0.980425 +v 0.008531 -2.802085 0.780255 +v 1.249770 -0.493544 0.318327 +v -0.453154 -0.002779 1.155585 +v -1.261226 -0.031975 -0.229982 +v -0.279838 0.141461 -1.067240 +v 0.759076 -2.311668 -0.893827 +v -0.972611 -0.349304 0.953233 +v -0.568453 -3.177806 -0.056569 +v -0.683997 -2.455909 0.924512 +v 0.932392 -0.262759 -0.951486 +v -1.261226 -0.089323 0.260450 +v -0.741769 -2.917825 0.722378 +v 0.932392 0.141461 0.895574 +v -0.943848 -2.657845 0.895574 +v -1.174691 0.141461 -0.200826 +v 0.528233 0.026069 -1.067023 +v 1.249770 -1.099701 -0.345518 +v -0.106522 -0.984656 -1.009146 +v 0.961155 -0.407000 -0.922765 +v -0.914839 -2.831281 0.722378 +v -1.261226 -0.868917 -0.258703 +v 0.845857 -2.975522 0.202790 +v 1.221007 0.141461 0.116192 +v -0.077759 -3.379395 0.029812 +v -0.770532 -3.062413 0.116192 +v 1.249770 0.026069 0.260450 +v 0.095312 -2.773237 -0.720631 +v 0.932392 -0.695828 0.895574 +v 0.932392 -2.571648 -0.749570 +f 128 145 184 +f 125 126 132 +f 126 125 133 +f 122 130 137 +f 122 123 138 +f 124 128 139 +f 132 126 140 +f 134 121 141 +f 122 138 142 +f 130 128 143 +f 141 127 145 +f 134 141 145 +f 138 123 146 +f 128 124 148 +f 130 143 148 +f 127 140 149 +f 123 122 150 +f 146 123 150 +f 124 139 151 +f 148 124 151 +f 121 134 152 +f 134 135 152 +f 128 130 153 +f 130 142 153 +f 142 131 153 +f 140 127 154 +f 132 140 154 +f 131 144 155 +f 136 147 155 +f 153 131 155 +f 147 153 155 +f 127 129 156 +f 151 127 156 +f 127 141 157 +f 141 121 157 +f 126 133 158 +f 140 126 158 +f 149 140 158 +f 131 142 159 +f 142 138 159 +f 131 125 160 +f 125 136 160 +f 144 131 160 +f 155 144 160 +f 136 155 160 +f 128 153 161 +f 133 146 162 +f 158 133 162 +f 137 130 163 +f 130 148 163 +f 129 127 164 +f 127 149 164 +f 158 129 164 +f 149 158 164 +f 125 135 165 +f 133 138 166 +f 146 133 166 +f 138 146 166 +f 156 129 167 +f 151 156 167 +f 125 132 168 +f 150 129 169 +f 146 150 169 +f 129 158 169 +f 162 146 169 +f 158 162 169 +f 125 131 170 +f 133 125 170 +f 138 133 170 +f 131 159 170 +f 159 138 170 +f 136 125 171 +f 128 161 171 +f 125 165 171 +f 165 128 171 +f 128 134 172 +f 145 128 172 +f 134 145 172 +f 147 136 173 +f 153 147 173 +f 161 153 173 +f 136 171 173 +f 171 161 173 +f 134 128 174 +f 135 134 174 +f 128 165 174 +f 165 135 174 +f 122 137 175 +f 150 122 175 +f 129 150 175 +f 167 129 175 +f 130 122 176 +f 122 142 176 +f 142 130 176 +f 139 127 177 +f 127 151 177 +f 151 139 177 +f 135 125 178 +f 121 152 178 +f 152 135 178 +f 125 168 178 +f 168 121 178 +f 148 151 179 +f 163 148 179 +f 151 167 179 +f 179 167 180 +f 137 163 180 +f 175 137 180 +f 167 175 180 +f 163 179 180 +f 157 121 181 +f 121 168 181 +f 168 157 181 +f 143 128 182 +f 128 148 182 +f 148 143 182 +f 154 127 183 +f 132 154 183 +f 127 157 183 +f 168 132 183 +f 157 168 183 +f 127 139 184 +f 139 128 184 +f 145 127 184 +o convex_6 +v -1.174868 0.863415 0.260266 +v 1.192263 0.921241 0.289275 +v 1.192263 0.863415 0.289275 +v 0.383833 0.921241 -1.211334 +v 0.932286 0.141961 -0.951481 +v -0.395402 0.141961 1.184133 +v -0.972587 0.141961 -0.836182 +v -0.280011 0.921241 1.299678 +v 0.932286 0.141961 0.895517 +v -0.943855 0.921241 -0.836182 +v -0.972587 0.141961 0.953044 +v 0.903554 0.921241 0.924280 +v 0.932286 0.921241 -0.893708 +v 1.192263 0.141961 0.087440 +v -0.943855 0.921241 0.895517 +v -0.280011 0.141961 -1.067026 +v -1.145904 0.141961 -0.200930 +v 0.037429 0.892252 1.299678 +v -0.799501 0.488308 -0.980244 +v 0.326138 0.141961 1.126607 +v 0.499455 0.170798 -1.095789 +v 0.095356 0.921241 -1.211334 +v -1.145904 0.921241 0.577891 +v -1.116941 0.141961 0.462592 +v 1.018945 0.574742 -0.749400 +v -1.087977 0.921241 -0.374002 +v -0.799501 0.141961 -0.980244 +v -0.828233 0.921241 -0.951481 +v 1.163299 0.892252 0.433829 +v 1.105604 0.141961 0.491356 +v 1.192263 0.921241 0.173730 +v 0.845859 0.141961 0.953044 +v 1.018945 0.141961 -0.778163 +v 0.354869 0.776828 -1.211334 +v -0.280011 0.747915 1.299678 +v -1.001550 0.690242 -0.749400 +v -0.943855 0.805665 0.924280 +v 0.990213 0.921241 -0.778163 +v 0.932286 0.805665 -0.922717 +v -1.145904 0.141961 0.231503 +v 1.192263 0.141961 0.202739 +v 0.326138 0.921241 1.184133 +v -0.020034 0.805665 1.299678 +f 202 219 227 +f 189 190 191 +f 186 188 192 +f 190 189 193 +f 192 188 194 +f 191 190 195 +f 186 192 196 +f 188 186 197 +f 186 187 198 +f 193 189 198 +f 192 194 199 +f 189 191 200 +f 191 195 201 +f 190 193 204 +f 189 200 205 +f 194 188 206 +f 199 194 207 +f 201 195 208 +f 195 207 208 +f 201 185 210 +f 185 207 210 +f 207 194 210 +f 200 191 211 +f 191 203 211 +f 206 200 211 +f 203 206 211 +f 191 194 212 +f 203 191 212 +f 194 206 212 +f 206 203 212 +f 187 186 213 +f 186 196 213 +f 196 193 213 +f 193 198 214 +f 213 193 214 +f 197 186 215 +f 186 198 215 +f 198 209 215 +f 193 196 216 +f 204 193 216 +f 202 204 216 +f 198 189 217 +f 209 198 217 +f 188 189 218 +f 189 205 218 +f 205 200 218 +f 200 206 218 +f 206 188 218 +f 195 190 219 +f 192 195 219 +f 202 192 219 +f 194 191 220 +f 191 201 220 +f 210 194 220 +f 201 210 220 +f 195 192 221 +f 192 199 221 +f 199 207 221 +f 207 195 221 +f 197 215 222 +f 215 209 222 +f 189 188 223 +f 188 197 223 +f 217 189 223 +f 209 217 223 +f 197 222 223 +f 222 209 223 +f 185 201 224 +f 207 185 224 +f 201 208 224 +f 208 207 224 +f 198 187 225 +f 187 213 225 +f 214 198 225 +f 213 214 225 +f 196 192 226 +f 192 202 226 +f 216 196 226 +f 202 216 226 +f 190 204 227 +f 204 202 227 +f 219 190 227 +o convex_7 +v 1.221164 0.950205 0.145134 +v 1.278979 1.931616 0.000879 +v 1.278979 1.931616 -0.027972 +v 3.010972 1.556190 -0.027972 +v 1.221164 1.181148 -0.316546 +v 1.221164 1.238884 0.347155 +v 1.221164 1.787133 -0.287695 +v 2.722248 1.642842 -0.229993 +v 2.664258 1.758313 0.058581 +v 1.221164 1.787133 0.231751 +v 2.722248 1.354355 -0.085674 +v 2.722248 1.556190 0.145134 +v 2.722248 1.787133 -0.114525 +v 1.278979 0.950205 0.231751 +v 1.538796 1.642842 -0.316546 +v 2.751155 1.556190 -0.229993 +v 1.336794 1.152328 -0.287695 +v 1.394434 1.844869 -0.258844 +v 2.722248 1.354355 -0.027972 +v 2.808620 1.787133 -0.027972 +v 2.722248 1.585106 0.145134 +v 1.278979 1.787133 0.231751 +v 2.779888 1.527370 0.116283 +v 2.548803 1.412091 -0.201142 +v 1.250072 1.210064 0.347155 +v 1.221164 1.931616 -0.056823 +v 1.307887 0.950205 0.173984 +f 246 241 254 +f 232 228 233 +f 232 233 234 +f 234 233 237 +f 231 235 240 +f 233 228 241 +f 232 234 242 +f 242 235 243 +f 235 231 243 +f 231 238 243 +f 232 242 243 +f 232 243 244 +f 228 232 244 +f 240 235 245 +f 242 234 245 +f 235 242 245 +f 238 231 246 +f 230 229 247 +f 229 236 247 +f 240 230 247 +f 231 240 247 +f 247 236 248 +f 231 247 248 +f 236 229 249 +f 229 237 249 +f 237 233 249 +f 233 248 249 +f 248 236 249 +f 239 241 250 +f 246 231 250 +f 241 246 250 +f 248 239 250 +f 231 248 250 +f 243 238 251 +f 244 243 251 +f 238 244 251 +f 233 241 252 +f 241 239 252 +f 248 233 252 +f 239 248 252 +f 229 230 253 +f 237 229 253 +f 234 237 253 +f 230 240 253 +f 245 234 253 +f 240 245 253 +f 241 228 254 +f 228 244 254 +f 244 238 254 +f 238 246 254 +o convex_8 +v 0.008726 1.873728 1.877146 +v -0.395436 0.921346 1.213321 +v 0.153034 0.921346 1.213321 +v 0.008726 1.989352 1.213321 +v 0.297342 1.440922 2.021621 +v 0.441732 1.758313 1.213321 +v -0.222200 1.729459 2.021621 +v -0.279891 1.787167 1.213321 +v -0.135583 1.383214 2.021621 +v 0.239652 1.787167 2.021621 +v 0.297342 1.094573 1.300037 +v 0.355114 1.931435 1.242200 +v 0.095179 1.267800 1.906025 +v -0.251046 0.921346 1.328917 +v -0.395436 1.238946 1.242200 +v -0.193355 1.787167 2.021621 +v 0.326187 1.642794 1.992742 +v -0.251046 1.556232 1.963862 +v 0.441732 1.671647 1.213321 +v 0.066416 0.921346 1.300037 +v 0.239652 1.383214 2.021621 +v -0.193355 1.873728 1.242200 +f 262 270 276 +f 257 256 258 +f 257 258 260 +f 258 256 262 +f 259 261 263 +f 261 259 264 +f 258 255 266 +f 260 258 266 +f 255 264 266 +f 267 263 268 +f 256 257 268 +f 263 256 268 +f 262 256 269 +f 261 262 269 +f 255 258 270 +f 262 261 270 +f 264 255 270 +f 261 264 270 +f 264 259 271 +f 260 266 271 +f 266 264 271 +f 256 263 272 +f 263 261 272 +f 269 256 272 +f 261 269 272 +f 257 260 273 +f 265 257 273 +f 259 265 273 +f 271 259 273 +f 260 271 273 +f 267 268 274 +f 268 257 274 +f 259 263 275 +f 257 265 275 +f 265 259 275 +f 263 267 275 +f 274 257 275 +f 267 274 275 +f 258 262 276 +f 270 258 276 +o convex_9 +v -0.222229 1.556354 2.021621 +v 0.297393 1.614047 2.223860 +v 0.297393 1.585225 2.223860 +v -0.020148 1.585225 3.003128 +v -0.048988 1.845013 2.021621 +v 0.095261 1.354259 2.021621 +v -0.048988 1.787223 2.743244 +v -0.193338 1.585225 2.772067 +v 0.210772 1.585225 2.800889 +v 0.210772 1.787223 2.021621 +v -0.193338 1.787223 2.137200 +v 0.008743 1.440919 2.772067 +v 0.268502 1.412049 2.021621 +v -0.135608 1.412049 2.050539 +v 0.210772 1.642918 2.772067 +v 0.095261 1.440919 2.772067 +v 0.008743 1.787223 2.743244 +v -0.193338 1.700659 2.656680 +v 0.210772 1.787223 2.166118 +v -0.020148 1.642918 3.003128 +v 0.239561 1.440919 2.396988 +v -0.222229 1.729530 2.021621 +v 0.297393 1.671789 2.021621 +f 295 291 299 +f 277 281 282 +f 279 278 285 +f 282 281 286 +f 283 281 287 +f 280 284 288 +f 282 286 289 +f 277 282 290 +f 284 277 290 +f 282 288 290 +f 288 284 290 +f 285 278 291 +f 285 280 292 +f 288 282 292 +f 280 288 292 +f 281 283 293 +f 283 287 294 +f 286 281 295 +f 281 293 295 +f 293 291 295 +f 284 280 296 +f 280 285 296 +f 285 291 296 +f 293 283 296 +f 291 293 296 +f 283 294 296 +f 294 284 296 +f 279 285 297 +f 289 279 297 +f 282 289 297 +f 285 292 297 +f 292 282 297 +f 281 277 298 +f 277 284 298 +f 287 281 298 +f 284 294 298 +f 294 287 298 +f 278 279 299 +f 279 289 299 +f 289 286 299 +f 291 278 299 +f 286 295 299 +o convex_10 +v -1.232604 1.181063 -0.230016 +v -1.232604 1.989352 0.058459 +v -1.232604 1.931537 0.202934 +v -3.079966 1.613929 0.058459 +v -1.232604 1.238878 0.433888 +v -1.319402 1.931537 -0.316653 +v -2.704562 1.585021 -0.201137 +v -1.290650 1.036713 0.231734 +v -2.849046 1.613929 0.260534 +v -2.791180 1.816001 0.000938 +v -2.849046 1.412136 0.029738 +v -1.261718 1.873722 0.318293 +v -1.232604 1.700651 -0.374412 +v -1.290650 1.210064 -0.287774 +v -2.531508 1.787187 0.202934 +v -1.290650 1.036713 0.289414 +v -2.589193 1.758372 -0.172337 +v -1.261718 1.354321 0.433888 +v -2.791180 1.412136 0.116218 +v -1.232604 1.989352 -0.143457 +v -2.849046 1.585021 0.260534 +v -2.820113 1.585021 -0.172337 +v -1.406020 1.989352 0.029738 +v -1.232604 1.787187 0.347172 +v -2.820113 1.642836 0.260534 +v -1.232604 1.036713 0.289414 +v -2.762428 1.816001 0.058459 +v -2.041096 1.845001 0.231734 +v -1.925546 1.556207 -0.287774 +f 312 313 328 +f 300 301 302 +f 300 302 304 +f 301 300 312 +f 306 305 312 +f 300 307 313 +f 307 310 313 +f 312 300 313 +f 310 307 315 +f 305 306 316 +f 309 305 316 +f 303 310 318 +f 310 315 318 +f 305 309 319 +f 301 312 319 +f 312 305 319 +f 308 303 320 +f 315 304 320 +f 304 317 320 +f 317 308 320 +f 303 318 320 +f 318 315 320 +f 303 309 321 +f 310 303 321 +f 306 313 321 +f 313 310 321 +f 316 306 321 +f 309 316 321 +f 302 301 322 +f 301 319 322 +f 319 309 322 +f 304 302 323 +f 302 311 323 +f 317 304 323 +f 317 323 324 +f 303 308 324 +f 308 317 324 +f 323 311 324 +f 300 304 325 +f 307 300 325 +f 304 315 325 +f 315 307 325 +f 309 303 326 +f 322 309 326 +f 303 324 326 +f 324 314 326 +f 311 302 327 +f 302 322 327 +f 314 324 327 +f 324 311 327 +f 326 314 327 +f 322 326 327 +f 306 312 328 +f 313 306 328 +o convex_11 +v 0.123982 2.595413 0.058465 +v -0.366483 1.671964 -1.153612 +v -0.366483 1.902539 -1.153612 +v -1.232604 1.296684 0.462491 +v 1.221164 0.921405 0.231751 +v 0.383866 1.960388 1.213089 +v 0.903395 2.220134 -0.807040 +v 0.499397 0.921241 -1.153612 +v -0.424128 0.921405 1.213089 +v -0.943657 0.921405 -0.835998 +v -1.117073 2.162449 0.029738 +v -0.828366 2.133443 0.866517 +v 0.903395 2.162285 0.895475 +v -0.828366 2.248976 -0.893914 +v 0.903395 0.921241 0.924433 +v 1.221164 1.816012 -0.316602 +v -0.020131 2.479880 0.837790 +v -0.770721 2.508722 0.058465 +v 0.066337 2.508722 -0.778313 +v 0.788104 2.508722 0.058465 +v 0.932458 0.921241 -0.893683 +v -1.232604 1.787006 -0.374287 +v -0.943657 0.921405 0.895475 +v 0.037514 2.075758 -1.153612 +v -1.232604 1.008096 0.260478 +v -0.193307 1.902539 1.213089 +v 1.221164 1.960224 0.029738 +v 0.210690 0.921405 1.213089 +v -1.232604 1.873697 0.346889 +v -0.222130 0.921405 -1.124654 +v 1.221164 1.210157 0.376079 +v 1.221164 1.152308 -0.316602 +v 0.874572 2.220134 -0.864956 +v -1.232604 1.210157 -0.287644 +v -0.828366 0.921405 -0.951599 +v 0.383866 1.787006 -1.153612 +v 0.470575 1.700970 1.213089 +v -0.857189 2.191128 -0.922641 +v -0.857189 1.960388 0.895475 +v -1.232604 1.960388 -0.287644 +v -1.145896 0.921405 0.549134 +v -0.048954 2.508722 -0.778313 +v 0.816927 2.480044 -0.114358 +v 1.221164 1.787006 0.260478 +v -0.337661 1.729649 1.213089 +v 0.903395 2.133443 0.924433 +v 0.066337 2.479880 0.837790 +v 0.008692 2.018073 1.213089 +v -0.106599 2.595413 0.029738 +v -0.770721 2.508722 -0.027715 +v -0.452951 1.065781 1.213089 +v -1.088010 0.921405 -0.374287 +v 0.557043 2.162285 1.039803 +v -0.886011 2.104600 0.838022 +v -0.914834 1.152308 0.924433 +v 0.701396 2.306661 -0.835998 +v -0.020131 2.508722 0.751147 +v 1.221164 1.700642 -0.345329 +v 1.221164 1.960224 -0.085400 +v -0.048954 0.921405 -1.153612 +v 0.874572 2.422195 0.058465 +v 0.932458 0.921241 0.895475 +v -0.077776 2.075758 -1.153612 +v -0.914834 2.220134 -0.720628 +f 378 342 392 +f 330 331 336 +f 340 345 346 +f 347 329 348 +f 343 336 349 +f 343 337 351 +f 336 331 352 +f 332 350 353 +f 337 334 354 +f 333 344 355 +f 334 337 356 +f 337 343 356 +f 350 332 357 +f 333 355 359 +f 344 333 360 +f 333 349 360 +f 335 344 361 +f 349 336 361 +f 350 338 362 +f 353 350 362 +f 331 330 363 +f 336 338 363 +f 330 358 363 +f 358 336 363 +f 336 352 364 +f 361 336 364 +f 352 361 364 +f 334 356 365 +f 356 343 365 +f 338 350 366 +f 331 363 366 +f 363 338 366 +f 357 339 368 +f 350 357 368 +f 366 350 368 +f 336 343 369 +f 351 332 369 +f 343 351 369 +f 332 353 369 +f 347 352 370 +f 347 348 371 +f 335 361 371 +f 355 341 372 +f 359 355 372 +f 337 354 373 +f 354 340 373 +f 340 367 373 +f 334 365 374 +f 365 343 374 +f 372 341 374 +f 359 372 374 +f 341 348 375 +f 345 340 376 +f 354 334 376 +f 340 354 376 +f 375 345 376 +f 329 347 377 +f 347 370 377 +f 377 370 378 +f 339 346 378 +f 370 342 378 +f 346 377 378 +f 351 337 379 +f 337 373 379 +f 373 367 379 +f 338 336 380 +f 362 338 380 +f 353 362 380 +f 336 369 380 +f 369 353 380 +f 334 374 381 +f 374 341 381 +f 341 375 381 +f 376 334 381 +f 375 376 381 +f 346 339 382 +f 340 346 382 +f 357 332 382 +f 339 357 382 +f 367 340 382 +f 367 382 383 +f 332 351 383 +f 351 379 383 +f 379 367 383 +f 382 332 383 +f 352 347 384 +f 361 352 384 +f 347 371 384 +f 371 361 384 +f 346 345 385 +f 348 329 385 +f 345 375 385 +f 375 348 385 +f 329 377 385 +f 377 346 385 +f 344 360 386 +f 360 349 386 +f 361 344 386 +f 349 361 386 +f 344 335 387 +f 355 344 387 +f 335 371 387 +f 330 336 388 +f 358 330 388 +f 336 358 388 +f 348 341 389 +f 341 355 389 +f 371 348 389 +f 355 387 389 +f 387 371 389 +f 349 333 390 +f 343 349 390 +f 333 359 390 +f 374 343 390 +f 359 374 390 +f 352 331 391 +f 366 342 391 +f 331 366 391 +f 342 370 391 +f 370 352 391 +f 342 366 392 +f 368 339 392 +f 366 368 392 +f 339 378 392 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/381/381.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/381/381.urdf new file mode 100644 index 000000000..96a028d70 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/381/381.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/382/382.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/382/382.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/382/382.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/382/382.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/382/382.obj new file mode 100644 index 000000000..d959865fc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/382/382.obj @@ -0,0 +1,456 @@ +o convex_0 +v -0.471352 0.765104 -2.170686 +v 0.500837 1.834617 -2.494678 +v 0.500837 1.834617 -2.624313 +v 0.598161 0.635260 -2.203094 +v -0.471352 0.765104 -2.656769 +v -0.601196 1.704772 -2.170686 +v 0.533239 1.769695 -2.170686 +v -0.601196 1.672487 -2.559495 +v 0.500837 0.732584 -2.527086 +v -0.568676 0.926998 -2.170686 +v 0.468317 0.635260 -2.170686 +v 0.014684 1.315944 -2.656769 +v -0.276938 1.737292 -2.591904 +v 0.371110 0.732584 -2.559495 +v -0.503872 0.959518 -2.656769 +v -0.503872 0.765104 -2.624313 +v 0.500837 1.607683 -2.624313 +v -0.406547 1.737292 -2.170686 +v -0.244535 0.862194 -2.656769 +v 0.371110 1.834617 -2.624313 +f 13 18 20 +f 6 1 7 +f 3 2 7 +f 4 3 7 +f 1 6 10 +f 6 8 10 +f 5 4 11 +f 7 1 11 +f 4 7 11 +f 8 6 13 +f 4 5 14 +f 9 4 14 +f 12 5 15 +f 8 13 15 +f 13 12 15 +f 1 10 16 +f 10 8 16 +f 11 1 16 +f 5 11 16 +f 15 5 16 +f 8 15 16 +f 3 4 17 +f 4 9 17 +f 12 3 17 +f 9 14 17 +f 6 7 18 +f 7 2 18 +f 13 6 18 +f 5 12 19 +f 14 5 19 +f 12 17 19 +f 17 14 19 +f 2 3 20 +f 3 12 20 +f 12 13 20 +f 18 2 20 +o convex_1 +v 0.435959 0.667779 3.275063 +v 0.598161 1.704912 2.238073 +v 0.598161 1.672453 2.238073 +v -0.568781 1.704912 1.524916 +v -0.439019 1.639993 3.437075 +v -0.471460 0.764948 1.524916 +v 0.533280 0.797408 1.524916 +v -0.471460 0.764948 3.469629 +v 0.565721 1.672453 3.372156 +v 0.598161 1.737267 1.524726 +v 0.533280 0.862222 3.404710 +v -0.212050 1.672453 3.404710 +v -0.439019 0.732594 3.469629 +v 0.500840 0.667779 3.404710 +v -0.471460 1.639993 3.372346 +v 0.500840 0.764948 1.622009 +v 0.371078 1.672453 3.404710 +v 0.533280 1.704912 2.983213 +v 0.598161 1.542824 1.524726 +v -0.244491 0.797408 3.469629 +v -0.536226 1.283462 1.524916 +v 0.338752 0.700239 3.437075 +v -0.568781 1.639993 1.622009 +f 41 28 43 +f 23 22 29 +f 22 23 30 +f 29 22 30 +f 23 29 31 +f 26 21 33 +f 28 26 33 +f 27 31 34 +f 33 21 34 +f 28 25 35 +f 32 24 35 +f 25 32 35 +f 21 26 36 +f 26 27 36 +f 34 21 36 +f 27 34 36 +f 31 29 37 +f 32 25 37 +f 30 24 38 +f 29 30 38 +f 24 32 38 +f 37 29 38 +f 32 37 38 +f 27 26 39 +f 30 23 39 +f 24 30 39 +f 31 27 39 +f 23 31 39 +f 25 28 40 +f 28 33 40 +f 37 25 40 +f 26 28 41 +f 24 39 41 +f 39 26 41 +f 34 31 42 +f 33 34 42 +f 31 37 42 +f 40 33 42 +f 37 40 42 +f 28 35 43 +f 35 24 43 +f 24 41 43 +o convex_2 +v 1.926954 1.737248 -1.457504 +v -2.805345 0.765082 -2.170591 +v -2.966906 0.732543 -2.073149 +v 2.964443 0.700226 -1.036156 +v -2.966906 1.704820 -0.971234 +v 3.094054 1.672392 -2.170591 +v -2.934955 1.704820 -2.040746 +v -3.064566 0.635371 -1.101078 +v 2.704619 0.732654 -2.170591 +v 2.996393 1.704931 -1.036156 +v 0.824962 0.635260 -2.170591 +v -0.536252 0.635260 -0.971234 +v 0.371023 1.769787 -2.170591 +v 0.565740 1.769787 -0.971234 +v 2.964443 0.765082 -2.170591 +v 3.094054 1.542792 -1.036156 +v -0.503699 1.737248 -2.170591 +v -3.064566 0.635371 -1.295492 +v 0.468080 0.700115 -0.971234 +v -2.966906 1.315909 -2.105669 +v -3.064566 0.732543 -1.068558 +v 0.046694 1.769787 -0.971234 +v 2.964443 0.700226 -1.522426 +v 0.824962 1.769787 -2.040746 +v -2.966906 1.542792 -0.971234 +v 0.468080 0.635260 -2.170591 +v -2.966906 1.607648 -1.976059 +v 2.996393 0.797398 -1.133363 +v 3.094054 1.575109 -2.170591 +v -0.730367 0.635260 -0.971234 +v -3.032013 0.635371 -1.360297 +v 3.094054 1.672392 -1.036156 +v -2.934955 1.607648 -2.073149 +v -2.966906 1.056709 -2.137954 +v -2.999459 0.797398 -2.040746 +v -3.064566 0.797398 -1.262972 +v 0.792408 1.769787 -1.133363 +v 2.996393 0.894682 -2.170591 +f 72 71 81 +f 45 49 52 +f 45 52 54 +f 54 47 55 +f 49 45 56 +f 48 55 57 +f 52 49 58 +f 56 45 60 +f 50 56 60 +f 55 47 62 +f 57 55 62 +f 59 57 62 +f 47 59 62 +f 61 51 64 +f 50 48 65 +f 56 50 65 +f 48 57 65 +f 57 56 65 +f 47 54 66 +f 54 52 66 +f 52 58 66 +f 44 53 67 +f 53 49 67 +f 49 56 67 +f 56 57 67 +f 55 48 68 +f 48 64 68 +f 46 45 69 +f 45 54 69 +f 54 55 69 +f 48 50 70 +f 50 63 70 +f 59 47 71 +f 47 66 71 +f 58 49 72 +f 49 59 72 +f 59 71 72 +f 51 61 73 +f 64 51 73 +f 55 68 73 +f 68 64 73 +f 69 55 73 +f 69 73 74 +f 61 46 74 +f 46 69 74 +f 73 61 74 +f 49 53 75 +f 53 57 75 +f 59 49 75 +f 57 59 75 +f 50 60 76 +f 63 50 76 +f 63 76 77 +f 45 46 77 +f 60 45 77 +f 76 60 77 +f 46 61 78 +f 70 63 78 +f 63 77 78 +f 77 46 78 +f 64 48 79 +f 61 64 79 +f 48 70 79 +f 78 61 79 +f 70 78 79 +f 53 44 80 +f 57 53 80 +f 44 67 80 +f 67 57 80 +f 66 58 81 +f 71 66 81 +f 58 72 81 +o convex_3 +v -0.568781 0.667782 -0.971234 +v 0.565746 1.769679 -0.938793 +v 0.565746 1.769679 -0.971234 +v 0.500890 0.667782 -0.679498 +v -0.471387 1.769679 -0.679498 +v -0.536242 1.704849 -0.971234 +v 0.468463 0.700251 -0.971234 +v -0.471387 0.732613 -0.679498 +v 0.533318 1.769679 -0.679498 +v -0.568781 0.667782 -0.873941 +v -0.049937 1.769679 -0.971234 +f 87 86 92 +f 84 83 85 +f 83 84 86 +f 84 82 87 +f 82 84 88 +f 84 85 88 +f 85 82 88 +f 85 86 89 +f 85 83 90 +f 86 85 90 +f 83 86 90 +f 82 85 91 +f 87 82 91 +f 86 87 91 +f 85 89 91 +f 89 86 91 +f 86 84 92 +f 84 87 92 +o convex_4 +v 1.116802 -3.740462 -0.582189 +v -0.925210 -3.059724 1.524726 +v -0.957590 -3.059724 1.524726 +v -0.990177 -0.694065 -0.679498 +v 1.019455 -0.694065 1.394837 +v -0.957590 -3.772776 -0.679498 +v 0.922315 -3.837711 1.459782 +v 1.019455 -0.694065 -0.549609 +v -0.957590 -0.694065 1.492146 +v -0.957590 -3.837711 1.524726 +v 0.760002 -0.694065 1.492146 +v 0.954695 -3.837711 1.362473 +v 0.922315 -0.694065 -0.582189 +v -0.050121 -3.772776 -0.646918 +v 1.051835 -0.921183 -0.549609 +v -0.990177 -2.314051 -0.614338 +v 0.792588 -2.217726 1.492146 +v 0.954695 -3.837711 1.070763 +v 1.019455 -1.277555 1.394837 +v -0.990177 -0.694065 -0.160806 +v -0.957590 -3.805089 0.001231 +v 0.662861 -3.707841 -0.614554 +v -0.730723 -3.837711 1.524726 +v 1.084216 -3.772776 -0.354992 +v -0.925210 -0.694065 -0.679498 +v -0.763103 -3.643214 -0.679498 +v 0.987075 -0.694065 1.427202 +v 1.116802 -3.740462 -0.549609 +v 0.371233 -3.772776 -0.614554 +v 1.084216 -2.411299 -0.582189 +v -0.957590 -3.837711 1.362257 +f 113 110 123 +f 96 97 100 +f 95 94 101 +f 97 96 101 +f 94 95 102 +f 101 94 103 +f 97 101 103 +f 99 102 104 +f 96 100 105 +f 100 97 107 +f 105 100 107 +f 96 98 108 +f 104 102 110 +f 99 104 111 +f 95 101 112 +f 101 96 112 +f 102 95 112 +f 96 108 112 +f 108 102 112 +f 98 106 113 +f 108 98 113 +f 93 106 114 +f 94 102 115 +f 102 99 115 +f 103 94 115 +f 99 109 115 +f 109 103 115 +f 104 110 116 +f 98 96 117 +f 96 105 117 +f 105 114 117 +f 117 114 118 +f 106 98 118 +f 114 106 118 +f 98 117 118 +f 97 103 119 +f 109 99 119 +f 103 109 119 +f 111 97 119 +f 99 111 119 +f 93 107 120 +f 107 97 120 +f 97 111 120 +f 111 104 120 +f 116 93 120 +f 104 116 120 +f 106 93 121 +f 113 106 121 +f 110 113 121 +f 93 116 121 +f 116 110 121 +f 107 93 122 +f 105 107 122 +f 93 114 122 +f 114 105 122 +f 102 108 123 +f 110 102 123 +f 108 113 123 +o convex_5 +v 0.500762 0.667770 -0.679282 +v -0.665941 1.931624 1.524726 +v -0.795667 2.158545 1.492146 +v -0.990151 -0.693463 -0.679498 +v 0.987077 -0.693758 1.427202 +v 0.954697 2.255923 -0.517245 +v -0.990151 2.223464 -0.646918 +v -0.957565 -0.693463 1.492146 +v 1.116802 2.255923 1.362473 +v 1.019456 -0.693758 -0.549609 +v -0.957565 2.320842 1.459782 +v 0.598107 1.737162 1.524726 +v 0.630487 -0.628544 1.524726 +v 0.533141 1.769621 -0.679282 +v -0.990151 2.288383 0.714108 +v 1.051836 -0.110077 1.394837 +v 1.019456 0.441144 -0.549609 +v -0.763081 2.029002 -0.679282 +v 0.922317 -0.693758 -0.582190 +v 0.987077 2.255923 -0.387572 +v -0.892806 2.320842 1.070547 +v 0.565521 2.288088 1.395053 +v 0.371242 2.255628 -0.581974 +v -0.990151 -0.693463 -0.128226 +v -0.990151 2.255923 -0.355208 +v 1.019456 -0.693758 1.394837 +v -0.471456 0.765443 1.524726 +v -0.438870 2.320842 1.362257 +v 1.084216 1.056398 1.394837 +v -0.536216 2.223464 -0.646702 +v 1.116802 2.191004 1.330109 +v 0.987077 1.283319 -0.549609 +v 0.760006 -0.693463 1.491930 +v 1.084216 2.255923 0.876361 +v -0.860426 2.158545 1.492146 +f 134 131 158 +f 126 125 135 +f 135 125 136 +f 124 127 137 +f 130 127 138 +f 131 134 138 +f 127 130 141 +f 137 127 141 +f 127 124 142 +f 128 131 142 +f 133 128 142 +f 124 137 142 +f 140 133 142 +f 137 140 142 +f 134 126 145 +f 135 132 145 +f 126 135 145 +f 143 129 145 +f 129 137 146 +f 144 129 146 +f 138 127 147 +f 131 138 147 +f 127 142 147 +f 142 131 147 +f 130 138 148 +f 138 134 148 +f 134 144 148 +f 146 130 148 +f 144 146 148 +f 128 133 149 +f 139 128 149 +f 133 139 149 +f 125 131 150 +f 136 125 150 +f 131 136 150 +f 129 144 151 +f 144 134 151 +f 134 145 151 +f 145 129 151 +f 132 135 152 +f 128 139 152 +f 141 130 153 +f 137 141 153 +f 146 137 153 +f 130 146 153 +f 139 133 154 +f 133 140 154 +f 132 152 154 +f 152 139 154 +f 137 129 155 +f 140 137 155 +f 129 143 155 +f 143 140 155 +f 131 128 156 +f 135 136 156 +f 136 131 156 +f 152 135 156 +f 128 152 156 +f 140 143 157 +f 145 132 157 +f 143 145 157 +f 154 140 157 +f 132 154 157 +f 125 126 158 +f 131 125 158 +f 126 134 158 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/382/382.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/382/382.urdf new file mode 100644 index 000000000..13faacce3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/382/382.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/383/383.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/383/383.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/383/383.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/383/383.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/383/383.obj new file mode 100644 index 000000000..6541dedff --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/383/383.obj @@ -0,0 +1,543 @@ +o convex_0 +v -4.648740 -0.767010 -0.523288 +v -2.706819 -0.020185 0.522477 +v -2.706819 -0.729804 0.522477 +v -2.706819 -0.020185 -0.598052 +v -4.536550 -0.057626 0.447830 +v -4.573946 -1.178039 0.597242 +v -2.706819 -1.066068 -0.448641 +v -4.648740 -0.057626 -0.560495 +v -4.686330 -1.215479 -0.485964 +v -2.706819 -1.215479 0.485154 +v -2.893609 -0.356450 -0.598052 +v -3.267189 -0.020185 0.522477 +v -4.648740 -0.132273 -0.261788 +v -2.706819 -1.215479 0.260978 +v -3.528579 -0.020185 -0.598052 +v -4.686330 -1.215479 -0.261788 +v -4.573946 -0.767010 0.559801 +v -4.051166 -1.178039 -0.485964 +v -3.229793 -0.356450 0.559801 +v -2.706819 -0.991303 -0.485964 +v -3.640576 -0.020185 0.485154 +v -4.536550 -0.132273 0.485154 +v -3.192396 -0.356450 -0.598052 +v -3.005799 -1.178039 0.522477 +f 19 6 24 +f 2 3 4 +f 4 3 7 +f 8 1 9 +f 7 3 10 +f 2 4 12 +f 5 8 13 +f 7 10 14 +f 10 9 14 +f 4 11 15 +f 12 4 15 +f 8 9 16 +f 9 10 16 +f 10 6 16 +f 13 8 16 +f 13 16 17 +f 5 13 17 +f 16 6 17 +f 9 11 18 +f 7 14 18 +f 14 9 18 +f 3 2 19 +f 2 12 19 +f 17 6 19 +f 12 17 19 +f 4 7 20 +f 11 4 20 +f 7 18 20 +f 18 11 20 +f 8 5 21 +f 5 12 21 +f 15 8 21 +f 12 15 21 +f 12 5 22 +f 17 12 22 +f 5 17 22 +f 1 8 23 +f 9 1 23 +f 11 9 23 +f 8 15 23 +f 15 11 23 +f 10 3 24 +f 6 10 24 +f 3 19 24 +o convex_1 +v 3.419170 -0.020401 1.045364 +v 1.514258 -1.663715 0.671684 +v 1.514258 -1.551382 -0.971421 +v 1.514258 0.427889 0.933239 +v 3.456486 0.465403 -1.008935 +v 3.531119 -1.588895 1.120183 +v 3.344340 -1.514076 -1.008935 +v 1.514258 0.353278 -0.971421 +v 3.419170 0.390584 1.007850 +v 1.514258 -1.663715 0.970545 +v 1.888014 0.390375 -1.008726 +v 1.589088 0.427889 0.970545 +v 3.381854 -1.551382 -0.747172 +v 3.456486 -0.095220 -1.008935 +v 3.456486 0.427889 0.111478 +v 3.307023 -1.514076 1.120183 +v 2.224059 -1.514076 -1.008726 +v 1.962647 -1.663715 0.933239 +v 1.514258 0.427889 0.447644 +v 2.336008 0.427889 0.970545 +v 1.514258 -0.132526 0.970545 +v 3.456486 -1.327341 1.120183 +v 3.456486 -0.095220 1.045364 +v 2.037279 -1.551382 -0.971421 +f 31 37 48 +f 27 26 28 +f 27 28 32 +f 28 26 34 +f 29 31 35 +f 27 32 35 +f 29 28 36 +f 25 33 36 +f 37 31 38 +f 29 30 38 +f 31 29 38 +f 30 37 38 +f 30 29 39 +f 34 30 40 +f 31 27 41 +f 27 35 41 +f 35 31 41 +f 34 26 42 +f 30 34 42 +f 26 37 42 +f 37 30 42 +f 28 29 43 +f 32 28 43 +f 29 35 43 +f 35 32 43 +f 29 36 44 +f 36 33 44 +f 39 29 44 +f 33 39 44 +f 28 34 45 +f 36 28 45 +f 34 40 45 +f 40 36 45 +f 25 36 46 +f 40 30 46 +f 36 40 46 +f 33 25 47 +f 30 39 47 +f 39 33 47 +f 25 46 47 +f 46 30 47 +f 26 27 48 +f 27 31 48 +f 37 26 48 +o convex_2 +v -1.810081 -0.281656 -2.689528 +v -1.810081 -0.954009 -3.063109 +v -1.847438 -0.916627 -3.063109 +v -1.772786 -0.954009 -1.120994 +v -1.287213 -0.767230 -1.382771 +v -1.361988 -0.356420 -3.100506 +v -1.399345 -0.319038 -1.120994 +v -1.810081 -0.393737 -1.233378 +v -1.399345 -0.804546 -2.950919 +v -1.922213 -0.281656 -2.950919 +v -1.324569 -0.841928 -1.120994 +v -1.810081 -0.954009 -1.494768 +v -1.361988 -0.319038 -2.652132 +v -1.548771 -0.319038 -1.120994 +v -1.361988 -0.356420 -1.120994 +v -1.922213 -0.356420 -2.801525 +v -1.772786 -0.954009 -3.063109 +v -1.361988 -0.617832 -3.025712 +f 57 65 66 +f 50 51 54 +f 54 51 58 +f 55 52 59 +f 57 53 59 +f 51 50 60 +f 50 52 60 +f 52 56 60 +f 53 54 61 +f 49 55 61 +f 58 49 61 +f 54 58 61 +f 55 49 62 +f 52 55 62 +f 56 52 62 +f 49 58 62 +f 58 56 62 +f 55 59 63 +f 59 53 63 +f 53 61 63 +f 61 55 63 +f 58 51 64 +f 56 58 64 +f 51 60 64 +f 60 56 64 +f 52 50 65 +f 50 54 65 +f 59 52 65 +f 57 59 65 +f 54 53 66 +f 53 57 66 +f 65 54 66 +o convex_3 +v -0.502723 -1.551908 -1.120994 +v -0.390549 -1.327973 1.082830 +v -0.689537 -1.327973 1.082830 +v 1.402083 -3.718127 0.933334 +v 1.514258 0.353191 -0.971282 +v -0.540043 -3.605746 -1.083242 +v 1.439403 -3.680529 -1.083242 +v 1.514258 0.427973 0.933334 +v -0.689537 0.502756 -0.971498 +v -0.614682 -3.530963 1.045294 +v -0.689537 0.465158 0.933334 +v 1.514258 -1.887810 0.970438 +v -0.689537 -1.625865 -1.120994 +v 1.364764 0.502756 -0.971282 +v 1.402083 0.502756 0.933334 +v 1.476722 -3.605746 -1.008818 +v 1.289909 0.278408 -1.008818 +v 0.468232 -3.642931 1.007758 +v 1.289909 0.353191 0.970654 +v -0.652001 -3.082680 0.522382 +v -0.614682 0.502756 0.933334 +v 1.514258 -1.552321 -0.971282 +v -0.689537 -2.074147 1.082830 +v 1.439403 -3.718127 0.485062 +v -0.166416 -3.642931 -1.083458 +v -0.614682 -2.671996 -1.120994 +v -0.502723 -1.365158 -1.120994 +v -0.540043 -3.605746 -0.448370 +v 1.439403 -3.269431 -1.083242 +v -0.502723 0.277995 0.970654 +v 1.177950 -3.718127 0.933334 +v -0.577362 -2.559615 1.082830 +v -0.689537 0.203625 -1.008602 +v 1.514258 -2.260897 0.373102 +v 1.514258 -0.618158 0.970438 +v 1.177950 -3.605746 0.970654 +v 1.364764 -3.718127 0.148750 +v -0.614682 -3.530963 0.373102 +v -0.353229 -1.700647 1.082830 +v -0.315910 -3.568148 1.045294 +v 1.439403 -3.493779 0.933334 +v -0.689537 -1.327973 -1.120994 +v -0.652001 -3.157463 1.045294 +f 86 104 109 +f 75 69 77 +f 71 74 78 +f 69 75 79 +f 74 71 80 +f 74 80 81 +f 80 75 81 +f 80 71 83 +f 75 80 83 +f 69 68 85 +f 74 81 85 +f 75 77 87 +f 81 75 87 +f 85 81 87 +f 73 71 88 +f 71 78 88 +f 82 73 88 +f 68 69 89 +f 69 79 89 +f 79 86 89 +f 73 82 90 +f 67 73 92 +f 79 67 92 +f 73 91 92 +f 91 72 92 +f 73 67 93 +f 67 79 93 +f 76 72 94 +f 72 91 94 +f 71 73 95 +f 83 71 95 +f 73 93 95 +f 93 83 95 +f 77 69 96 +f 69 85 96 +f 87 77 96 +f 85 87 96 +f 70 84 97 +f 90 70 97 +f 94 91 97 +f 68 89 98 +f 89 76 98 +f 79 75 99 +f 75 83 99 +f 88 78 100 +f 82 88 100 +f 90 82 100 +f 78 74 101 +f 85 68 101 +f 74 85 101 +f 70 78 102 +f 84 70 102 +f 98 84 102 +f 73 90 103 +f 91 73 103 +f 90 97 103 +f 97 91 103 +f 72 76 104 +f 86 79 104 +f 79 92 104 +f 92 72 104 +f 68 98 105 +f 101 68 105 +f 78 101 105 +f 102 78 105 +f 98 102 105 +f 76 94 106 +f 97 84 106 +f 94 97 106 +f 98 76 106 +f 84 98 106 +f 78 70 107 +f 70 90 107 +f 100 78 107 +f 90 100 107 +f 93 79 108 +f 83 93 108 +f 79 99 108 +f 99 83 108 +f 76 89 109 +f 89 86 109 +f 104 76 109 +o convex_4 +v -0.091754 4.050784 -1.083641 +v -0.502736 3.266376 1.045477 +v -0.540041 3.266376 1.045477 +v 0.692488 0.502756 -0.971308 +v 1.364814 4.350072 0.970658 +v -0.614860 0.503147 0.933352 +v 1.402119 0.502756 0.933144 +v 1.514243 4.499520 -1.046127 +v -0.577346 0.503147 -0.971308 +v -0.577346 4.386847 -1.083641 +v 1.364814 0.577480 -1.008821 +v -0.540041 4.424796 0.933352 +v 0.169799 2.296136 1.045477 +v 1.514243 3.452991 -1.046127 +v -0.614860 1.212831 1.007963 +v 1.402119 0.839210 0.970658 +v 1.514243 4.499520 -0.784572 +v -0.614860 0.503147 -0.149547 +v 1.402119 0.502756 -0.074936 +v -0.540041 4.349681 1.007963 +v 0.319019 4.461963 -1.083641 +v -0.577346 3.789054 -1.083641 +v 1.402119 3.005037 0.970658 +v -0.577346 4.386847 -0.261463 +v 1.476730 2.258578 -0.934002 +v -0.577346 1.810624 1.045477 +v 1.514243 4.461963 -0.672656 +v 1.028651 2.370860 1.007755 +v -0.465223 4.424796 -1.083641 +v 1.364814 0.502756 -0.971308 +v -0.577346 3.154094 1.045477 +v -0.614860 0.652595 0.970658 +v 1.439425 1.175273 0.223508 +v 1.103261 4.499520 -1.008821 +v 1.402119 0.839210 -1.008821 +v -0.427917 4.424796 0.970658 +v 0.393630 4.387239 -1.083641 +f 130 117 146 +f 115 113 116 +f 113 118 120 +f 111 112 122 +f 114 111 122 +f 123 117 126 +f 113 115 127 +f 118 113 127 +f 115 124 127 +f 124 119 127 +f 116 113 128 +f 112 111 129 +f 111 114 129 +f 110 119 130 +f 119 110 131 +f 110 120 131 +f 120 118 131 +f 118 127 131 +f 127 119 131 +f 121 119 133 +f 119 124 133 +f 122 112 135 +f 125 122 135 +f 124 125 135 +f 125 116 136 +f 126 114 136 +f 123 126 136 +f 114 132 136 +f 132 125 136 +f 114 122 137 +f 122 125 137 +f 132 114 137 +f 125 132 137 +f 119 121 138 +f 130 119 138 +f 113 120 139 +f 128 113 139 +f 112 129 140 +f 129 121 140 +f 121 133 140 +f 133 124 140 +f 135 112 140 +f 124 135 140 +f 115 116 141 +f 124 115 141 +f 125 124 141 +f 116 125 141 +f 116 128 142 +f 134 123 142 +f 128 134 142 +f 136 116 142 +f 123 136 142 +f 121 126 143 +f 126 117 143 +f 117 130 143 +f 138 121 143 +f 130 138 143 +f 120 123 144 +f 123 134 144 +f 134 128 144 +f 139 120 144 +f 128 139 144 +f 114 126 145 +f 126 121 145 +f 129 114 145 +f 121 129 145 +f 120 110 146 +f 117 123 146 +f 123 120 146 +f 110 130 146 +o convex_5 +v -0.689566 0.502551 -0.112058 +v -2.519845 -1.589009 -1.083458 +v -2.669111 -1.252631 -1.083458 +v -2.594478 -1.551543 1.045294 +v -2.706625 0.465289 1.045294 +v -0.689566 -1.589009 1.082830 +v -0.689566 -1.514076 -1.120994 +v -2.706625 0.427823 -1.083458 +v -0.689566 0.465085 0.933334 +v -0.689566 0.502551 -0.971498 +v -2.706625 -1.215370 0.485062 +v -1.250101 -0.281989 1.082830 +v -1.399367 -0.319250 -1.120994 +v -2.669111 -1.589009 -0.448586 +v -1.698095 -1.589009 1.082830 +v -0.689566 -1.589009 0.186286 +v -1.175271 0.502551 -1.008602 +v -0.988492 -1.551338 -1.120994 +v -0.689566 0.390357 0.970654 +v -2.706625 -0.580286 -1.083458 +v -1.772728 -0.953720 -1.120994 +v -1.996824 -0.207261 1.082830 +v -2.669111 -1.589009 -1.045922 +v -2.258433 0.465289 -1.008818 +v -2.445015 -1.589009 1.045294 +v -1.436683 0.502551 -0.149594 +v -0.689566 0.240901 -1.008602 +v -2.706625 0.465289 0.335566 +v -2.333066 0.427823 -1.083458 +v -0.689566 -1.289893 -1.120994 +f 159 173 176 +f 147 152 153 +f 147 151 155 +f 152 147 155 +f 147 153 156 +f 150 151 157 +f 151 154 157 +f 148 152 160 +f 150 157 160 +f 152 158 161 +f 160 152 161 +f 152 148 162 +f 153 152 162 +f 147 156 163 +f 159 153 164 +f 162 148 164 +f 153 162 164 +f 155 151 165 +f 152 155 165 +f 151 158 165 +f 158 152 165 +f 157 154 166 +f 148 149 167 +f 154 159 167 +f 164 148 167 +f 159 164 167 +f 166 154 167 +f 149 166 167 +f 151 150 168 +f 158 151 168 +f 150 161 168 +f 161 158 168 +f 149 148 169 +f 148 160 169 +f 160 157 169 +f 157 166 169 +f 166 149 169 +f 163 154 170 +f 150 160 171 +f 161 150 171 +f 160 161 171 +f 151 147 172 +f 147 163 172 +f 156 153 173 +f 163 156 173 +f 159 163 173 +f 154 151 174 +f 170 154 174 +f 163 170 174 +f 151 172 174 +f 172 163 174 +f 159 154 175 +f 154 163 175 +f 163 159 175 +f 153 159 176 +f 173 153 176 +o convex_6 +v -1.884860 -0.319111 1.083020 +v -1.249860 -0.767149 2.240599 +v -1.287217 -0.319111 2.987541 +v -1.884860 -0.841950 2.950280 +v -1.249860 -0.804495 1.083020 +v -1.249860 -0.281711 1.083020 +v -1.884860 -0.841950 1.083020 +v -1.772790 -0.319111 3.024993 +v -1.287217 -0.841950 3.024993 +v -1.884860 -0.655112 2.950280 +v -1.474000 -0.841950 1.120472 +v -1.249860 -0.281711 1.531299 +f 177 184 188 +f 178 181 182 +f 181 177 182 +f 180 177 183 +f 177 181 183 +f 178 179 185 +f 181 178 185 +f 180 183 185 +f 179 184 185 +f 184 180 185 +f 177 180 186 +f 180 184 186 +f 184 177 186 +f 183 181 187 +f 181 185 187 +f 185 183 187 +f 179 178 188 +f 178 182 188 +f 182 177 188 +f 184 179 188 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/383/383.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/383/383.urdf new file mode 100644 index 000000000..5a6eeb442 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/383/383.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/384/384.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/384/384.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/384/384.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/384/384.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/384/384.obj new file mode 100644 index 000000000..4e5ff841f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/384/384.obj @@ -0,0 +1,1689 @@ +o convex_0 +v 1.009292 -3.929437 0.687172 +v -1.100656 -4.042868 -0.175635 +v -1.100656 -4.042868 0.006041 +v -1.009827 -3.884075 1.684856 +v -1.100656 -3.929455 -0.175635 +v 0.986950 -3.906747 -0.084695 +v 1.009292 -3.884075 1.821164 +v 1.009292 -3.861368 0.482608 +v -1.009827 -3.929437 1.707540 +v 0.646393 -3.974799 -0.107379 +v 0.056526 -3.861368 1.912104 +v 1.032469 -3.861368 1.798480 +v -0.941340 -4.042868 -0.016643 +v 0.215425 -3.906747 -0.130063 +v 0.986950 -3.952109 -0.084695 +f 10 6 15 +f 2 3 5 +f 3 4 5 +f 5 4 8 +f 4 3 9 +f 8 4 11 +f 4 9 11 +f 9 7 11 +f 7 1 12 +f 1 8 12 +f 8 11 12 +f 11 7 12 +f 3 2 13 +f 1 7 13 +f 9 3 13 +f 7 9 13 +f 10 1 13 +f 2 10 13 +f 2 5 14 +f 5 8 14 +f 8 6 14 +f 10 2 14 +f 6 10 14 +f 8 1 15 +f 6 8 15 +f 1 10 15 +o convex_1 +v 0.987087 -3.407078 -0.107545 +v 1.032454 -0.071650 0.482457 +v 1.055155 -0.071650 -0.016781 +v 0.987098 -0.071650 -0.175635 +v 0.964398 -3.906360 0.482457 +v 1.009776 -3.906736 0.482457 +v 0.941697 -3.906360 -0.084806 +v 1.009776 -0.071650 0.482457 +v 0.941697 -2.794426 -0.084806 +v 1.055155 -1.366029 0.482457 +v 1.055155 -0.162497 -0.175635 +v 0.987087 -3.906360 -0.084806 +f 26 21 27 +f 17 18 19 +f 17 20 21 +f 19 16 22 +f 21 20 22 +f 17 19 23 +f 20 17 23 +f 19 22 24 +f 22 20 24 +f 23 19 24 +f 20 23 24 +f 18 17 25 +f 17 21 25 +f 25 21 26 +f 19 18 26 +f 16 19 26 +f 18 25 26 +f 16 26 27 +f 22 16 27 +f 21 22 27 +o convex_2 +v 0.533191 2.016075 1.866718 +v -0.896330 2.016121 0.006090 +v -0.896330 2.038789 0.006090 +v 0.987083 1.948010 0.006090 +v 0.782629 1.948010 1.866718 +v -0.623847 2.106838 1.866718 +v 0.941546 1.993392 0.006090 +v -0.896330 2.084139 1.866718 +v -0.873469 1.993407 0.028856 +v -0.873469 2.106838 1.321789 +v 0.918870 1.970724 1.866718 +v 0.646572 2.016075 0.233022 +f 30 37 39 +f 29 30 31 +f 32 28 33 +f 31 30 34 +f 30 29 35 +f 32 33 35 +f 29 31 36 +f 31 32 36 +f 35 29 36 +f 32 35 36 +f 30 35 37 +f 35 33 37 +f 28 32 38 +f 32 31 38 +f 34 28 38 +f 31 34 38 +f 33 28 39 +f 28 34 39 +f 34 30 39 +f 37 33 39 +o convex_3 +v -1.100656 -3.929428 -0.175635 +v -1.077952 -0.071650 0.414378 +v -1.100656 -0.071650 0.414378 +v -1.055281 -3.929428 0.414378 +v -1.032577 -0.071650 -0.039451 +v -1.032577 -3.929428 -0.175635 +v -1.100656 -0.094685 -0.039451 +v -1.077952 -3.929428 0.414378 +v -1.055281 -0.344293 0.414378 +v -1.100656 -3.838422 0.074093 +f 47 42 49 +f 41 42 43 +f 42 41 44 +f 43 40 45 +f 40 44 45 +f 44 43 45 +f 40 42 46 +f 44 40 46 +f 42 44 46 +f 43 42 47 +f 40 43 47 +f 41 43 48 +f 43 44 48 +f 44 41 48 +f 42 40 49 +f 40 47 49 +o convex_4 +v -1.077954 -3.883748 0.414378 +v -1.009894 -2.612921 1.980182 +v -1.032586 -2.612921 1.980182 +v -1.077954 -0.071650 0.414531 +v -1.009885 -3.997112 0.414378 +v -1.009894 -0.071650 1.775874 +v -1.055270 -0.071650 1.798558 +v -1.032586 -3.883748 1.866609 +v -1.100656 -0.208071 0.459899 +v -1.055270 -0.071650 0.437215 +v -1.077954 -3.997112 0.641524 +v -1.009885 -3.906420 1.843925 +v -1.009894 -0.071650 1.934661 +f 61 55 62 +f 50 53 54 +f 55 53 56 +f 51 52 57 +f 52 56 57 +f 53 50 58 +f 56 53 58 +f 54 53 59 +f 55 54 59 +f 53 55 59 +f 50 54 60 +f 57 56 60 +f 56 58 60 +f 58 50 60 +f 54 55 61 +f 51 57 61 +f 60 54 61 +f 57 60 61 +f 52 51 62 +f 55 56 62 +f 56 52 62 +f 51 61 62 +o convex_5 +v -0.805649 -0.003572 -1.378354 +v -3.052051 -0.048957 -2.059139 +v -3.052051 -0.048957 -2.013691 +v -3.074931 0.041814 -1.582603 +v -0.805649 0.041814 -2.059139 +v -0.805649 -0.026265 -2.059139 +v -3.052051 0.041814 -2.059139 +v -1.713717 -0.026265 -1.378354 +v -3.074931 0.041814 -1.378354 +v -1.759032 0.041814 -1.378354 +v -3.074931 -0.003572 -1.446459 +v -0.805649 -0.026265 -1.378354 +v -1.668403 -0.048957 -2.059139 +f 74 65 75 +f 64 67 68 +f 67 63 68 +f 64 66 69 +f 66 67 69 +f 67 64 69 +f 67 66 71 +f 70 63 71 +f 63 67 72 +f 71 63 72 +f 67 71 72 +f 64 65 73 +f 66 64 73 +f 65 70 73 +f 71 66 73 +f 70 71 73 +f 68 63 74 +f 70 65 74 +f 63 70 74 +f 65 64 75 +f 64 68 75 +f 68 74 75 +o convex_6 +v -1.645710 1.426129 -2.104513 +v -0.487950 1.970703 -2.013771 +v -0.487950 1.925255 -2.013771 +v -3.074931 1.970703 -1.991060 +v -3.052140 1.289919 -1.991060 +v -2.620892 1.925255 -2.059125 +v -0.487950 1.652968 -2.104513 +v -1.191671 1.289919 -2.081814 +v -3.074931 1.289919 -2.036459 +v -1.894887 1.743730 -2.104513 +v -0.487950 1.947979 -2.059125 +v -2.961231 1.970703 -2.036459 +v -1.509220 1.289919 -2.104513 +f 83 84 88 +f 78 77 80 +f 77 79 80 +f 77 78 82 +f 78 80 83 +f 82 78 83 +f 80 79 84 +f 83 80 84 +f 82 76 85 +f 76 84 85 +f 84 81 85 +f 77 82 86 +f 85 81 86 +f 82 85 86 +f 79 77 87 +f 84 79 87 +f 81 84 87 +f 77 86 87 +f 86 81 87 +f 76 82 88 +f 82 83 88 +f 84 76 88 +o convex_7 +v -1.145544 0.450529 -2.104524 +v 1.395269 1.698389 -2.104524 +v 1.395269 1.675545 -2.104524 +v 0.033896 1.403251 -2.195295 +v -1.508842 1.652823 -2.104524 +v -0.147469 0.700101 -2.149910 +v -1.213769 0.450529 -2.127235 +v -1.508842 1.652823 -2.127235 +v -0.419516 1.357808 -2.195295 +v 1.395269 1.698389 -2.127235 +v 0.124578 0.745422 -2.104524 +v -0.192668 1.176279 -2.195295 +f 92 98 100 +f 91 90 89 +f 89 90 93 +f 89 93 95 +f 94 89 95 +f 95 93 96 +f 93 90 96 +f 96 92 97 +f 95 96 97 +f 90 91 98 +f 96 90 98 +f 92 96 98 +f 91 89 99 +f 89 94 99 +f 98 91 99 +f 94 98 99 +f 94 95 100 +f 97 92 100 +f 95 97 100 +f 98 94 100 +o convex_8 +v -1.055270 -0.071650 1.775947 +v -1.009871 0.541351 1.934797 +v -0.896452 2.106713 1.912079 +v -1.055270 2.129553 1.912079 +v -0.919136 2.129553 1.775947 +v -0.896452 -0.071650 1.889393 +v -1.055270 2.129553 1.775947 +v -1.032555 -0.071650 1.934797 +v -0.896452 2.084089 1.775947 +v -0.919136 -0.071650 1.934797 +v -1.009871 -0.071650 1.775947 +f 109 106 111 +f 102 103 104 +f 104 103 105 +f 101 104 107 +f 105 101 107 +f 104 105 107 +f 102 104 108 +f 104 101 108 +f 101 106 108 +f 101 105 109 +f 105 103 109 +f 103 106 109 +f 103 102 110 +f 106 103 110 +f 102 108 110 +f 108 106 110 +f 106 101 111 +f 101 109 111 +o convex_9 +v -0.306407 1.289919 3.931578 +v -0.283715 0.722654 2.025754 +v -0.306407 0.745364 2.025754 +v -0.192943 1.267152 2.025754 +v -0.124865 0.745364 3.931578 +v -0.124865 0.745364 2.025754 +v -0.261004 0.722654 3.931578 +v -0.238329 1.221787 2.025754 +v -0.283715 1.289919 3.931578 +v -0.306407 1.062924 3.931578 +v -0.306407 1.289919 3.613847 +v -0.192943 1.267152 2.275386 +f 120 116 123 +f 113 114 115 +f 113 115 117 +f 115 116 117 +f 114 113 118 +f 116 112 118 +f 113 117 118 +f 117 116 118 +f 115 114 119 +f 112 116 120 +f 112 114 121 +f 118 112 121 +f 114 118 121 +f 114 112 122 +f 119 114 122 +f 115 119 122 +f 112 120 122 +f 120 115 122 +f 116 115 123 +f 115 120 123 +o convex_10 +v 0.011296 0.858888 3.977159 +v -0.306407 1.062881 3.931764 +v -0.306407 1.062881 3.977150 +v 0.283606 1.380690 3.954466 +v -0.306407 1.289804 4.022535 +v -0.192921 0.722720 4.022535 +v 0.283606 1.380690 3.999834 +v -0.170224 0.722720 3.931764 +v -0.306407 1.289804 3.931764 +f 127 131 132 +f 125 126 128 +f 126 125 129 +f 128 126 129 +f 128 129 130 +f 124 127 130 +f 127 128 130 +f 129 124 130 +f 127 124 131 +f 129 125 131 +f 124 129 131 +f 128 127 132 +f 125 128 132 +f 131 125 132 +o convex_11 +v -0.487279 1.766508 -2.104524 +v 2.938330 1.970670 -2.013753 +v 2.938330 1.630344 -2.013753 +v -0.487279 1.970670 -2.013753 +v 2.302840 1.902571 -2.081814 +v -0.487279 1.653066 -2.104524 +v 1.395380 1.630344 -2.104524 +v 1.508729 1.630344 -2.013753 +v -0.260582 1.970670 -2.059139 +v 2.892722 1.630344 -2.059139 +v -0.487279 1.653066 -2.081814 +v 2.711297 1.970670 -2.059139 +v 1.849110 1.789196 -2.104524 +f 142 139 145 +f 135 134 136 +f 136 133 138 +f 138 133 139 +f 135 136 140 +f 139 135 140 +f 136 134 141 +f 133 136 141 +f 137 133 141 +f 134 135 142 +f 135 139 142 +f 136 138 143 +f 138 139 143 +f 139 140 143 +f 140 136 143 +f 141 134 144 +f 137 141 144 +f 134 142 144 +f 142 137 144 +f 133 137 145 +f 139 133 145 +f 137 142 145 +o convex_12 +v 0.056678 -0.888445 -0.016803 +v -1.032577 -3.929428 -0.175617 +v -0.760264 -3.929428 -0.175617 +v -0.011454 -0.071650 -0.062171 +v -1.032577 -0.071650 0.005890 +v 0.056678 -3.656786 -0.084864 +v -1.032577 -0.071650 -0.039496 +v 0.056678 -3.588436 -0.130232 +v -0.805578 -3.929428 -0.130232 +v -1.032577 -3.566157 -0.175617 +v 0.056678 -0.207972 -0.016803 +v -1.032577 -3.588436 -0.130232 +v 0.056678 -0.071650 -0.062171 +v 0.056678 -3.929428 -0.130232 +v -0.306479 -3.929428 -0.107539 +f 159 151 160 +f 146 150 151 +f 150 149 152 +f 147 150 152 +f 146 151 153 +f 147 148 154 +f 148 147 155 +f 147 152 155 +f 152 149 155 +f 150 146 156 +f 146 153 156 +f 150 147 157 +f 147 154 157 +f 154 150 157 +f 149 150 158 +f 153 148 158 +f 148 155 158 +f 155 149 158 +f 150 156 158 +f 156 153 158 +f 148 153 159 +f 153 151 159 +f 154 148 159 +f 154 159 160 +f 151 150 160 +f 150 154 160 +o convex_13 +v 1.872103 1.993401 -1.378221 +v 3.006632 2.016101 -1.446313 +v 3.006632 1.970712 -1.446313 +v 2.938549 2.084156 -0.289099 +v 2.620903 2.061456 -2.036268 +v 1.894982 2.038779 -0.289099 +v 1.917639 1.993401 -0.289099 +v 2.598246 1.970712 -2.059139 +v 3.006632 2.061456 -2.036268 +v 2.688875 2.038779 -0.289099 +v 2.666107 2.084156 -0.334667 +v 3.006632 1.970712 -2.036268 +v 1.872103 2.016090 -1.378221 +f 165 168 173 +f 163 162 164 +f 166 161 167 +f 164 166 167 +f 167 161 168 +f 163 167 168 +f 162 163 169 +f 164 162 169 +f 168 165 169 +f 163 164 170 +f 167 163 170 +f 164 167 170 +f 166 164 171 +f 165 166 171 +f 164 169 171 +f 169 165 171 +f 163 168 172 +f 169 163 172 +f 168 169 172 +f 161 166 173 +f 166 165 173 +f 168 161 173 +o convex_14 +v -1.009885 -3.906736 1.980147 +v 0.056678 -3.089794 1.912075 +v 0.056678 -3.089794 1.889402 +v -1.009885 -3.089794 1.934766 +v -1.009885 -3.906736 1.798640 +v 0.056678 -3.884025 1.934766 +v 0.056678 -3.884025 1.798640 +v -0.919056 -3.089794 1.980147 +v -0.692087 -3.906736 1.980147 +f 181 174 182 +f 175 176 177 +f 174 177 178 +f 177 176 178 +f 176 175 179 +f 178 176 180 +f 176 179 180 +f 175 177 181 +f 177 174 181 +f 179 175 181 +f 179 181 182 +f 174 178 182 +f 178 180 182 +f 180 179 182 +o convex_15 +v 0.056678 -0.071946 1.844048 +v -1.009885 -3.089499 1.957467 +v -1.009885 -3.089499 1.980167 +v 0.056678 -3.089499 1.889431 +v -0.465433 -0.094689 1.844048 +v -0.919056 -0.071946 1.934783 +v 0.056678 -2.658251 1.912084 +v -0.964470 -3.066755 1.934783 +v -0.941711 -0.071946 1.889431 +v 0.033918 -1.637434 1.844048 +v 0.056678 -0.412513 1.866732 +v -0.987125 -2.635507 1.980167 +v -0.238360 -3.089499 1.889431 +v 0.056678 -0.071946 1.821348 +v -1.009885 -0.071946 1.934783 +v -0.192946 -3.089499 1.934783 +v -1.009885 -1.274714 1.912084 +f 197 191 199 +f 185 184 186 +f 186 183 189 +f 188 183 191 +f 183 188 193 +f 189 183 193 +f 188 189 193 +f 189 188 194 +f 186 184 195 +f 184 190 195 +f 190 187 195 +f 192 186 195 +f 187 192 195 +f 183 186 196 +f 191 183 196 +f 187 191 196 +f 186 192 196 +f 192 187 196 +f 184 185 197 +f 188 191 197 +f 185 194 197 +f 194 188 197 +f 185 186 198 +f 186 189 198 +f 194 185 198 +f 189 194 198 +f 190 184 199 +f 187 190 199 +f 191 187 199 +f 184 197 199 +o convex_16 +v 0.328835 1.244084 1.844052 +v -0.896352 -0.071453 1.889391 +v -0.714716 -0.071453 1.866738 +v 0.442455 -0.071255 1.934774 +v -0.805403 1.879614 1.934774 +v -0.896352 1.902347 1.866738 +v 0.442455 -0.071255 1.821333 +v -0.193137 1.948010 1.934774 +v -0.351839 0.881941 1.821333 +v -0.896352 -0.071453 1.912077 +v 0.328835 1.221549 1.934774 +v 0.328835 1.221549 1.821333 +v -0.102188 -0.071255 1.821333 +v -0.714716 1.493947 1.844052 +v -0.193137 1.948010 1.912077 +v -0.896352 1.948010 1.912077 +f 214 205 215 +f 203 202 206 +f 200 203 206 +f 204 203 207 +f 201 202 209 +f 202 203 209 +f 203 204 209 +f 205 201 209 +f 203 200 210 +f 200 207 210 +f 207 203 210 +f 200 206 211 +f 206 208 211 +f 206 202 212 +f 202 208 212 +f 208 206 212 +f 202 201 213 +f 201 205 213 +f 208 202 213 +f 205 211 213 +f 211 208 213 +f 207 200 214 +f 200 211 214 +f 211 205 214 +f 204 207 215 +f 209 204 215 +f 205 209 215 +f 207 214 215 +o convex_17 +v 0.283687 -1.206795 -0.016816 +v 0.056678 -3.906518 -0.130241 +v 0.215575 -3.906518 -0.130241 +v 0.283687 -0.071650 -0.175635 +v 0.941676 -3.906518 -0.062195 +v 0.986932 -0.071650 -0.175635 +v 0.056769 -0.071650 -0.039514 +v 0.986932 -0.276231 -0.130241 +v 0.056678 -3.702312 -0.084877 +v 0.941676 -3.452685 -0.107543 +v 0.760105 -3.089694 -0.039498 +v 0.056769 -0.071650 -0.084908 +v 0.056769 -0.321652 -0.016816 +v 0.442675 -0.821281 -0.175635 +v 0.986932 -0.321652 -0.175635 +v 0.986932 -2.340814 -0.084877 +v 0.056769 -0.934646 -0.016816 +v 0.646555 -3.883620 -0.062195 +f 232 224 233 +f 217 218 220 +f 221 219 222 +f 221 222 223 +f 220 218 225 +f 219 217 227 +f 222 219 227 +f 217 224 227 +f 224 222 227 +f 216 223 228 +f 223 222 228 +f 222 224 228 +f 218 217 229 +f 217 219 229 +f 219 221 229 +f 229 221 230 +f 221 223 230 +f 225 218 230 +f 218 229 230 +f 225 230 231 +f 223 216 231 +f 220 225 231 +f 216 226 231 +f 226 220 231 +f 230 223 231 +f 226 216 232 +f 216 228 232 +f 228 224 232 +f 217 220 233 +f 224 217 233 +f 220 226 233 +f 226 232 233 +o convex_18 +v -2.597906 2.061456 -1.378354 +v 1.667547 1.970710 -2.059139 +v 1.667547 1.993407 -2.059139 +v 2.598273 2.016088 -1.378354 +v -3.051607 1.970719 -1.378354 +v -3.074931 2.061456 -1.900138 +v -2.983857 1.970719 -2.036415 +v 2.598273 2.038776 -2.036415 +v 2.370589 1.993407 -1.378354 +v 2.598273 2.038776 -1.378354 +v 2.598273 1.970710 -2.013691 +v -2.575138 2.038768 -2.036415 +v -3.051607 2.061456 -1.378354 +f 234 239 246 +f 237 234 238 +f 236 235 240 +f 235 238 240 +f 238 239 240 +f 235 236 241 +f 239 234 241 +f 237 238 242 +f 234 237 243 +f 237 241 243 +f 241 234 243 +f 238 235 244 +f 235 241 244 +f 241 237 244 +f 237 242 244 +f 242 238 244 +f 236 240 245 +f 240 239 245 +f 239 241 245 +f 241 236 245 +f 238 234 246 +f 239 238 246 +o convex_19 +v 1.055155 -1.705577 0.641311 +v 1.009785 -1.592069 1.798640 +v 0.987090 -1.592069 1.798640 +v 0.987090 -3.861350 1.798640 +v 0.987090 -3.861350 0.482457 +v 1.055155 -3.815814 1.798640 +v 1.009785 -1.592069 0.482457 +v 1.009785 -3.861350 0.482457 +v 0.987090 -2.613645 0.482457 +v 1.055155 -1.592069 0.754944 +v 0.987090 -1.592069 1.276469 +f 253 255 257 +f 248 249 250 +f 250 249 251 +f 248 250 252 +f 249 248 253 +f 251 253 254 +f 250 251 254 +f 247 252 254 +f 252 250 254 +f 253 247 254 +f 251 249 255 +f 253 251 255 +f 248 252 256 +f 252 247 256 +f 253 248 256 +f 247 253 256 +f 249 253 257 +f 255 249 257 +o convex_20 +v 1.055150 -1.569050 0.573439 +v 0.919027 1.948010 1.821333 +v 0.941728 1.948010 1.707613 +v 0.964397 1.948010 0.006085 +v 0.964412 -1.546527 1.775667 +v 1.009750 1.834355 0.028829 +v 1.009750 -1.478265 1.798589 +v 1.009750 -1.591920 0.482463 +v 0.896312 1.834355 1.707613 +v 1.032450 -0.071441 0.006085 +v 1.055150 -1.092601 0.505385 +v 0.964397 1.788963 0.006085 +v 1.009750 -0.071441 0.006085 +v 1.032450 0.858934 0.028829 +v 0.896312 1.948010 1.821333 +v 1.009750 -1.591920 1.798589 +f 272 262 273 +f 259 260 261 +f 261 260 263 +f 260 259 264 +f 265 262 266 +f 261 263 267 +f 258 265 267 +f 260 264 268 +f 264 258 268 +f 258 267 268 +f 266 261 269 +f 265 266 269 +f 261 267 269 +f 269 267 270 +f 267 265 270 +f 265 269 270 +f 263 260 271 +f 267 263 271 +f 260 268 271 +f 268 267 271 +f 259 261 272 +f 261 266 272 +f 266 262 272 +f 264 259 273 +f 258 264 273 +f 265 258 273 +f 262 265 273 +f 259 272 273 +o convex_21 +v 0.941708 1.697803 1.844057 +v 0.850926 -3.861350 1.821368 +v 0.850926 -3.861350 1.866745 +v 1.055161 -3.861350 1.866745 +v 0.896327 1.948010 2.002857 +v 1.055161 -3.702127 1.798660 +v 0.896327 1.948010 1.821348 +v 0.850926 -0.366977 1.957480 +v 0.941708 1.425418 1.980149 +v 0.964379 -0.071846 1.798660 +v 0.919018 -3.861350 1.798660 +v 1.032451 -3.316012 1.889394 +f 277 282 285 +f 276 275 277 +f 278 274 280 +f 275 276 281 +f 278 280 281 +f 280 275 281 +f 274 278 282 +f 279 274 282 +f 277 279 282 +f 274 279 283 +f 280 274 283 +f 280 283 284 +f 277 275 284 +f 279 277 284 +f 275 280 284 +f 283 279 284 +f 276 277 285 +f 281 276 285 +f 278 281 285 +f 282 278 285 +o convex_22 +v 0.873619 -0.003301 -0.289099 +v 1.009740 1.448667 0.005907 +v 1.009776 1.879810 0.005879 +v 1.055144 -0.003301 -0.289099 +v 1.032433 -0.071304 0.005907 +v 1.055161 1.947812 -0.107579 +v 0.873619 -0.071304 -0.152916 +v 0.964390 1.947812 0.005879 +v 0.987083 1.947812 -0.107579 +v 1.055144 -0.071304 -0.039487 +f 290 292 295 +f 288 287 290 +f 289 286 291 +f 286 289 292 +f 292 290 293 +f 287 288 293 +f 290 287 293 +f 288 291 293 +f 286 292 293 +f 286 293 294 +f 291 286 294 +f 293 291 294 +f 288 290 295 +f 291 288 295 +f 289 291 295 +f 292 289 295 +o convex_23 +v 2.961333 2.061236 -0.243696 +v 2.711766 -0.026058 -0.289099 +v 2.711766 -0.026058 -0.084873 +v 3.006685 -0.026058 -0.289099 +v 2.983995 -0.026058 -0.062171 +v 2.847909 2.084167 -0.084873 +v 2.847909 2.084167 -0.289099 +v 2.711766 1.312587 -0.084873 +v 2.961333 1.766239 -0.062171 +v 2.734485 -0.026058 -0.062171 +v 2.961333 2.084167 -0.289099 +f 299 302 306 +f 298 297 299 +f 298 299 300 +f 299 297 302 +f 297 298 303 +f 301 302 303 +f 302 297 303 +f 299 296 304 +f 300 299 304 +f 296 301 304 +f 301 303 304 +f 304 303 305 +f 298 300 305 +f 303 298 305 +f 300 304 305 +f 296 299 306 +f 301 296 306 +f 302 301 306 +o convex_24 +v -1.146057 0.109868 -0.289099 +v -3.006852 0.019139 -1.378354 +v -3.006852 0.041840 -1.378354 +v 0.737462 -0.003547 -1.378354 +v 0.646566 -0.003547 -0.289206 +v 0.237903 0.132585 -0.312023 +v -3.006852 0.109868 -0.289099 +v -1.622526 -0.026265 -1.332933 +v -0.283648 0.132585 -0.538916 +v -3.006852 0.087182 -0.334520 +v -3.006852 0.132570 -0.357231 +v -1.622526 0.064480 -1.287405 +v 0.737462 -0.026249 -1.378354 +v -0.782841 -0.026249 -0.969883 +v 0.714372 0.041840 -0.289206 +v -3.006852 0.019139 -1.174065 +v 0.737462 -0.026249 -1.037909 +f 310 321 323 +f 308 309 310 +f 309 308 313 +f 311 307 313 +f 307 312 313 +f 312 310 315 +f 313 308 316 +f 311 313 316 +f 309 313 317 +f 313 312 317 +f 312 315 317 +f 317 315 318 +f 310 309 318 +f 315 310 318 +f 309 317 318 +f 308 310 319 +f 314 308 319 +f 311 316 320 +f 307 311 321 +f 312 307 321 +f 310 312 321 +f 308 314 322 +f 316 308 322 +f 314 320 322 +f 320 316 322 +f 319 310 323 +f 314 319 323 +f 320 314 323 +f 311 320 323 +f 321 311 323 +o convex_25 +v -0.987192 1.267088 0.300972 +v -1.100656 -0.071379 0.005907 +v -1.100656 0.359737 0.005907 +v -1.055264 -0.071379 1.775947 +v -1.077943 1.312611 1.367396 +v -1.032584 1.312611 1.775947 +v -1.032584 -0.071379 1.775947 +v -0.987192 1.085537 0.005907 +v -1.009905 1.312611 0.005907 +v -1.055264 -0.071379 0.437155 +v -1.100656 0.790583 0.618733 +v -1.100656 -0.071379 0.482550 +v -1.032584 -0.071379 1.117726 +v -1.077943 1.312611 0.958672 +v -1.055264 1.312611 1.775947 +v -1.077943 -0.071379 0.005907 +f 331 333 339 +f 327 325 330 +f 324 329 330 +f 329 327 330 +f 325 326 331 +f 324 330 331 +f 329 324 332 +f 328 329 332 +f 324 331 332 +f 331 326 332 +f 330 325 333 +f 326 325 334 +f 325 327 335 +f 327 328 335 +f 334 325 335 +f 328 334 335 +f 331 330 336 +f 330 333 336 +f 333 331 336 +f 332 326 337 +f 328 332 337 +f 326 334 337 +f 334 328 337 +f 328 327 338 +f 327 329 338 +f 329 328 338 +f 325 331 339 +f 333 325 339 +o convex_26 +v -0.919129 2.129553 1.753250 +v -1.009856 1.312611 0.005907 +v -1.009856 1.358032 0.005907 +v -1.077945 1.607769 1.412791 +v -1.032546 1.312611 1.775947 +v -0.941837 2.038710 0.005907 +v -1.055237 2.129553 1.775947 +v -0.964528 1.335322 0.051302 +v -0.896421 2.084131 1.775947 +v -0.896421 2.016080 0.005907 +v -1.077945 1.312611 0.981370 +v -1.055237 1.312611 1.775947 +f 350 344 351 +f 341 342 345 +f 340 345 346 +f 345 342 346 +f 344 341 347 +f 340 346 348 +f 346 344 348 +f 344 347 348 +f 341 345 349 +f 345 340 349 +f 347 341 349 +f 348 347 349 +f 340 348 349 +f 342 341 350 +f 341 344 350 +f 346 342 350 +f 343 346 350 +f 346 343 351 +f 344 346 351 +f 343 350 351 +o convex_27 +v 0.919004 1.948026 1.866731 +v -0.624000 2.106844 1.912122 +v -0.624000 2.106844 1.866731 +v -0.896420 1.948026 1.912122 +v 0.919004 1.970725 2.002875 +f 353 355 356 +f 353 354 355 +f 354 352 355 +f 355 352 356 +f 352 354 356 +f 354 353 356 +o convex_28 +v -0.124865 0.767991 3.954079 +v 0.306299 0.836045 2.275504 +v 0.306299 0.813354 2.275504 +v -0.124865 0.745291 2.025945 +v -0.079453 0.836045 3.931427 +v 0.238180 0.790672 3.091950 +v -0.124865 0.790672 2.207357 +v 0.306299 0.767991 2.025945 +v -0.079453 0.745291 3.954079 +v 0.170104 0.836045 3.886121 +v 0.283592 0.836045 2.025945 +f 364 360 367 +f 359 358 362 +f 360 357 363 +f 357 361 363 +f 358 359 364 +f 359 362 364 +f 364 362 365 +f 357 360 365 +f 361 357 365 +f 360 364 365 +f 361 365 366 +f 358 361 366 +f 362 358 366 +f 365 362 366 +f 361 358 367 +f 360 363 367 +f 363 361 367 +f 358 364 367 +o convex_29 +v 0.215478 1.085748 3.954079 +v 0.283564 0.836116 2.025945 +v 0.283564 0.994968 2.025945 +v -0.056786 0.836116 3.931427 +v 0.260868 1.380690 3.795321 +v 0.306296 1.244493 2.025945 +v 0.192783 0.836116 3.817974 +v 0.306296 1.289856 3.750015 +v 0.306296 0.836116 2.343463 +v 0.328991 1.244493 2.025945 +v 0.283564 1.380690 3.954079 +v -0.056786 0.858824 3.931427 +v 0.283564 1.289856 2.525063 +v 0.328991 0.972312 2.071251 +f 377 375 381 +f 370 369 371 +f 369 370 373 +f 371 369 374 +f 368 371 374 +f 375 374 376 +f 374 369 376 +f 369 373 377 +f 368 374 378 +f 374 375 378 +f 377 372 378 +f 375 377 378 +f 370 371 379 +f 371 368 379 +f 373 370 379 +f 368 378 379 +f 378 372 379 +f 377 373 380 +f 372 377 380 +f 373 379 380 +f 379 372 380 +f 375 376 381 +f 376 369 381 +f 369 377 381 +o convex_30 +v 3.074822 -0.003572 -1.628042 +v -0.192583 -0.003572 -2.081831 +v -0.192583 0.019121 -2.081831 +v -0.805649 -0.026265 -1.378354 +v 3.074822 -0.026265 -2.081831 +v 3.052031 0.019121 -1.378354 +v 3.052031 -0.026265 -1.378354 +v 3.074822 0.019121 -2.081831 +v -0.805649 -0.026265 -2.059107 +v -0.805649 -0.003572 -1.378354 +v -0.805649 0.019121 -2.036383 +f 391 387 392 +f 383 384 386 +f 386 382 388 +f 385 386 388 +f 387 385 388 +f 382 387 388 +f 382 386 389 +f 386 384 389 +f 384 387 389 +f 387 382 389 +f 384 383 390 +f 386 385 390 +f 383 386 390 +f 385 387 391 +f 390 385 391 +f 390 391 392 +f 387 384 392 +f 384 390 392 +o convex_31 +v -3.029525 1.448768 -0.130249 +v -3.097579 0.155404 -0.289099 +v -3.097579 0.155404 -0.152951 +v -2.870696 0.155404 -0.152951 +v -3.006826 1.448768 -0.289099 +v -2.870696 1.448768 -0.130249 +v -2.870696 0.155404 -0.130249 +f 396 398 399 +f 393 394 395 +f 395 394 396 +f 394 393 397 +f 396 394 397 +f 397 393 398 +f 396 397 398 +f 393 395 399 +f 395 396 399 +f 398 393 399 +o convex_32 +v 0.464957 -0.094650 1.821333 +v 0.056755 -3.861350 1.889411 +v 0.056755 -3.861350 1.912095 +v 0.850926 -3.861350 1.844030 +v 0.850926 -0.071650 1.957489 +v 0.056755 -0.071650 1.821333 +v 0.419869 -0.071650 1.957489 +v 0.828149 -3.861350 1.889411 +v 0.714651 -1.682718 1.821333 +v 0.056755 -0.480445 1.866740 +v 0.850926 -0.321675 1.912082 +v 0.056755 -0.571330 1.821333 +v 0.442569 -3.861350 1.912095 +v 0.056755 -2.726592 1.912095 +v 0.850926 -0.344304 1.957489 +v 0.760050 -3.861350 1.844030 +v 0.850926 -2.545194 1.844030 +f 408 410 416 +f 402 401 403 +f 401 402 405 +f 404 400 405 +f 404 405 406 +f 402 403 407 +f 405 400 408 +f 405 402 409 +f 406 405 409 +f 400 404 410 +f 404 403 410 +f 408 400 410 +f 401 405 411 +f 405 408 411 +f 402 407 412 +f 402 406 413 +f 409 402 413 +f 406 409 413 +f 403 404 414 +f 406 402 414 +f 404 406 414 +f 407 403 414 +f 402 412 414 +f 412 407 414 +f 403 401 415 +f 408 403 415 +f 401 411 415 +f 411 408 415 +f 403 408 416 +f 410 403 416 +o convex_33 +v -0.283714 0.700034 -2.104513 +v 2.938487 1.630277 -2.013771 +v 2.938487 1.584847 -2.013771 +v 0.193072 1.221687 -1.991060 +v 2.961358 0.700034 -2.036470 +v 1.328022 1.630277 -2.104513 +v 2.961358 0.677273 -2.081814 +v -0.034045 1.289785 -2.104513 +v 1.236857 1.539417 -1.991060 +v 2.915617 1.630277 -2.059125 +v -0.283714 0.677273 -2.081814 +v 1.530998 0.677273 -2.104513 +v 1.101222 1.630277 -2.081814 +v 0.193072 1.176350 -1.991060 +f 427 421 430 +f 418 419 421 +f 418 421 423 +f 422 417 424 +f 419 418 425 +f 421 419 425 +f 422 418 426 +f 418 423 426 +f 423 422 426 +f 423 421 427 +f 424 417 427 +f 420 424 427 +f 417 422 428 +f 422 423 428 +f 427 417 428 +f 423 427 428 +f 418 422 429 +f 424 420 429 +f 422 424 429 +f 425 418 429 +f 420 425 429 +f 425 420 430 +f 421 425 430 +f 420 427 430 +o convex_34 +v -3.074924 0.042007 -1.537177 +v -2.984168 2.106860 -0.289099 +v -2.984168 2.106860 -0.788465 +v -3.074924 1.970361 -1.990794 +v -3.097623 0.314392 -0.289099 +v -3.006868 0.019325 -1.378319 +v -3.006868 0.110256 -0.289099 +v -3.029557 0.042007 -2.013753 +v -2.984168 2.061088 -1.378319 +v -3.029557 2.106860 -0.380093 +v -3.097623 0.064893 -0.629776 +v -3.074924 0.745344 -2.013753 +v -3.074924 1.970361 -1.537177 +v -3.052223 1.970361 -1.990794 +v -2.984168 1.629931 -0.538951 +v -3.029557 0.836071 -2.013753 +f 434 444 446 +f 432 435 437 +f 436 431 438 +f 436 438 439 +f 433 432 439 +f 434 433 439 +f 432 433 440 +f 433 434 440 +f 435 432 440 +f 435 434 441 +f 431 436 441 +f 436 437 441 +f 437 435 441 +f 438 431 442 +f 431 441 442 +f 441 434 442 +f 434 435 443 +f 440 434 443 +f 435 440 443 +f 434 439 444 +f 437 436 445 +f 432 437 445 +f 436 439 445 +f 439 432 445 +f 439 438 446 +f 442 434 446 +f 438 442 446 +f 444 439 446 +o convex_35 +v 0.896312 1.539215 2.002875 +v -0.555931 1.539215 1.934797 +v -0.555931 1.539215 1.957489 +v 0.419528 -0.071453 1.957489 +v -0.306167 0.745742 2.025568 +v 0.896312 0.609543 1.934797 +v 0.260742 1.948010 1.934797 +v 0.896312 1.948010 2.002875 +v 0.896312 -0.071453 1.957507 +v -0.306167 0.723009 1.934797 +v 0.306089 0.768475 2.025568 +v -0.215472 1.267015 2.025568 +v -0.215472 1.948010 1.957489 +v 0.419528 -0.071453 1.934797 +v 0.714639 1.948010 1.957507 +f 453 454 461 +f 452 448 453 +f 447 452 454 +f 451 450 455 +f 452 447 455 +f 449 448 456 +f 450 451 456 +f 451 449 456 +f 448 452 456 +f 447 454 457 +f 455 447 457 +f 451 455 457 +f 449 451 458 +f 457 454 458 +f 451 457 458 +f 448 449 459 +f 453 448 459 +f 454 453 459 +f 449 458 459 +f 458 454 459 +f 455 450 460 +f 452 455 460 +f 450 456 460 +f 456 452 460 +f 452 453 461 +f 454 452 461 +o convex_36 +v 0.646213 0.109890 -0.152916 +v -3.097623 0.109890 -0.289099 +v -0.987221 -0.071650 -0.039487 +v -1.236395 0.155269 0.005907 +v 0.873230 -0.003570 -0.289099 +v 0.169244 0.155269 -0.289099 +v -3.073911 0.155269 -0.130276 +v 0.010643 -0.071650 -0.016790 +v -1.100729 -0.071650 0.005907 +v 0.873230 -0.071650 -0.175613 +v -0.442613 0.132568 0.005907 +v -3.097623 0.155269 -0.289099 +v 0.283142 -0.071650 -0.175613 +v 0.873230 0.064488 -0.152916 +v -3.073911 0.109890 -0.130276 +v 0.259818 0.155269 -0.130276 +f 472 462 477 +f 466 463 467 +f 465 467 468 +f 463 464 470 +f 464 469 470 +f 469 464 471 +f 465 470 472 +f 470 469 472 +f 467 463 473 +f 463 468 473 +f 468 467 473 +f 464 463 474 +f 463 466 474 +f 471 464 474 +f 466 471 474 +f 466 467 475 +f 467 462 475 +f 471 466 475 +f 469 471 475 +f 462 472 475 +f 472 469 475 +f 468 463 476 +f 465 468 476 +f 463 470 476 +f 470 465 476 +f 467 465 477 +f 462 467 477 +f 465 472 477 +o convex_37 +v -1.146042 2.038795 -0.289099 +v -2.983799 2.038795 -1.378354 +v -2.983799 2.038795 -1.242091 +v -2.983799 2.106838 -0.742991 +v -1.146042 2.016107 -1.378354 +v -1.191738 1.993396 -0.289099 +v -2.983799 2.084150 -0.289099 +v -1.917846 1.993396 -1.378354 +v -2.575409 2.106838 -0.311916 +v -2.961131 2.084150 -1.287405 +v -1.146042 1.993396 -1.378354 +f 483 485 488 +f 479 480 481 +f 483 478 484 +f 481 480 484 +f 480 483 484 +f 480 479 485 +f 479 482 485 +f 483 480 485 +f 478 482 486 +f 482 481 486 +f 484 478 486 +f 481 484 486 +f 479 481 487 +f 481 482 487 +f 482 479 487 +f 482 478 488 +f 478 483 488 +f 485 482 488 +o convex_38 +v 2.984069 0.722592 -2.081831 +v 2.961374 2.084167 -0.289099 +v 2.984056 2.084167 -0.879072 +v 3.074811 0.019183 -1.650670 +v 2.938678 -0.026265 -0.289099 +v 2.938665 1.970547 -2.036381 +v 3.029420 1.947824 -2.036381 +v 2.961374 0.019183 -2.081831 +v 3.006738 -0.026265 -0.289099 +v 3.074811 0.019183 -2.081831 +v 2.938665 2.084167 -0.289099 +v 2.938678 -0.026265 -1.378321 +v 3.074811 0.564144 -2.013568 +v 3.029407 0.019183 -0.652348 +v 2.938665 1.289863 -2.059018 +f 496 500 503 +f 489 494 495 +f 494 491 495 +f 490 493 497 +f 489 495 498 +f 496 489 498 +f 492 497 498 +f 490 491 499 +f 493 490 499 +f 491 494 499 +f 497 493 500 +f 496 498 500 +f 498 497 500 +f 491 490 501 +f 490 492 501 +f 495 491 501 +f 498 495 501 +f 492 498 501 +f 492 490 502 +f 490 497 502 +f 497 492 502 +f 494 489 503 +f 489 496 503 +f 493 499 503 +f 499 494 503 +f 500 493 503 +o convex_39 +v -1.622866 0.314134 -2.104524 +v -1.168832 1.289919 -2.081814 +v -1.077981 1.199145 -2.081814 +v -3.052051 0.041814 -2.013753 +v -0.805649 0.041814 -2.036446 +v -3.074931 1.289919 -2.013753 +v -3.052051 0.041814 -2.059139 +v -1.509135 1.289919 -2.104524 +v -0.805649 0.087262 -2.081814 +v -2.620897 1.289919 -2.013753 +v -3.074931 1.289919 -2.036446 +v -0.805649 0.563853 -2.104524 +v -1.463821 1.289919 -2.059139 +v -1.849661 0.268809 -2.104524 +f 512 510 517 +f 507 509 510 +f 508 507 510 +f 505 506 511 +f 509 505 511 +f 508 510 512 +f 507 508 513 +f 505 509 513 +f 509 507 513 +f 510 509 514 +f 509 511 514 +f 511 510 514 +f 506 508 515 +f 504 511 515 +f 511 506 515 +f 508 512 515 +f 512 504 515 +f 506 505 516 +f 508 506 516 +f 513 508 516 +f 505 513 516 +f 511 504 517 +f 510 511 517 +f 504 512 517 +o convex_40 +v -3.006590 1.448768 -0.289099 +v -2.915926 2.129486 -0.130249 +v -2.915926 2.129486 -0.175637 +v -1.554657 1.448768 -0.130249 +v -1.554657 2.038666 -0.289099 +v -3.029401 1.448768 -0.130249 +v -1.554657 2.061388 -0.130249 +v -3.006590 2.106764 -0.289099 +v -1.554657 1.448768 -0.152951 +f 522 521 526 +f 521 519 523 +f 518 521 523 +f 520 519 524 +f 519 521 524 +f 521 522 524 +f 522 520 524 +f 519 520 525 +f 522 518 525 +f 520 522 525 +f 518 523 525 +f 523 519 525 +f 521 518 526 +f 518 522 526 +o convex_41 +v -1.191516 1.448768 -0.130276 +v -1.486347 2.061414 -0.130276 +v -1.486347 2.061414 -0.152916 +v -0.851035 2.038686 0.005907 +v -0.851035 2.016017 -0.289099 +v -0.964575 1.448768 0.005907 +v -1.554375 1.448768 -0.152916 +v -1.554375 2.038686 -0.289099 +v -1.509000 2.038686 -0.107579 +v -0.964575 1.448768 -0.107579 +v -1.531722 1.448768 -0.107579 +f 532 535 537 +f 529 528 530 +f 529 530 531 +f 531 530 532 +f 531 527 533 +f 527 532 533 +f 528 529 534 +f 529 531 534 +f 531 533 534 +f 534 533 535 +f 530 528 535 +f 532 530 535 +f 528 534 535 +f 527 531 536 +f 532 527 536 +f 531 532 536 +f 533 532 537 +f 535 533 537 +o convex_42 +v -0.805649 0.563644 -2.104524 +v 2.961358 0.677213 -2.059143 +v 2.961358 0.019121 -2.059143 +v -0.805649 0.109950 -2.036446 +v 2.415997 0.155300 -2.104524 +v -0.374228 0.019121 -2.081827 +v -0.782788 0.563644 -2.059143 +v 1.576754 0.677213 -2.104524 +v 2.961358 0.677213 -2.081827 +v -0.374228 0.677213 -2.081827 +v -0.169948 0.019121 -2.036446 +v 2.961358 0.019121 -2.081827 +f 542 546 549 +f 541 538 543 +f 538 542 543 +f 541 539 544 +f 538 541 544 +f 542 538 545 +f 539 540 546 +f 542 545 546 +f 545 539 546 +f 544 539 547 +f 538 544 547 +f 545 538 547 +f 539 545 547 +f 540 539 548 +f 539 541 548 +f 543 540 548 +f 541 543 548 +f 540 543 549 +f 543 542 549 +f 546 540 549 +o convex_43 +v 0.986863 1.970718 0.005772 +v -1.145746 1.993393 -1.378354 +v -0.601074 1.970705 -0.856139 +v 1.871807 1.993393 -1.378354 +v -0.850962 2.016088 0.005772 +v 1.871807 2.016075 -0.289210 +v -1.145746 2.016075 -1.378354 +v 0.986863 1.948017 0.005772 +v 1.871807 2.016075 -1.378354 +v -1.145746 1.993393 -0.289210 +v 1.735639 1.970705 -0.788390 +v 1.871807 1.993393 -0.289210 +v 0.102214 2.016088 0.005772 +v -0.850962 1.993380 0.005772 +v 0.782463 1.948017 -0.198426 +f 557 563 564 +f 552 551 553 +f 553 551 556 +f 550 554 557 +f 555 550 557 +f 555 553 558 +f 553 556 558 +f 556 554 558 +f 551 552 559 +f 556 551 559 +f 554 556 559 +f 552 553 560 +f 557 560 561 +f 553 555 561 +f 555 557 561 +f 560 553 561 +f 554 550 562 +f 550 555 562 +f 558 554 562 +f 555 558 562 +f 557 554 563 +f 554 559 563 +f 563 559 564 +f 559 552 564 +f 552 560 564 +f 560 557 564 +o convex_44 +v 2.234952 0.041814 -0.130318 +v 0.737462 -0.026265 -1.378354 +v 0.737462 -0.026265 -1.037762 +v 2.938665 -0.026265 -0.289219 +v 2.938665 -0.003567 -1.378354 +v 1.055275 0.041814 -0.152982 +v 0.737462 0.019117 -1.060426 +v 1.055275 -0.003561 -0.152982 +v 2.938665 -0.026265 -1.378354 +v 2.711564 0.041814 -0.084864 +v 2.598013 -0.026265 -0.084864 +v 2.076154 0.019117 -1.128418 +v 0.737462 -0.003567 -0.289219 +v 0.737462 -0.003567 -1.378354 +f 576 569 578 +f 567 566 568 +f 566 567 571 +f 568 566 573 +f 569 568 573 +f 566 569 573 +f 568 569 574 +f 565 570 574 +f 567 568 575 +f 570 572 575 +f 568 574 575 +f 574 570 575 +f 570 565 576 +f 571 570 576 +f 574 569 576 +f 565 574 576 +f 570 571 577 +f 571 567 577 +f 572 570 577 +f 567 575 577 +f 575 572 577 +f 569 566 578 +f 566 571 578 +f 571 576 578 +o convex_45 +v 2.847718 1.947886 -0.084868 +v 1.055161 0.041814 -0.175626 +v 1.055161 0.041814 -0.152928 +v 1.055161 1.947886 -0.107558 +v 2.711557 0.041814 -0.084877 +v 1.055161 1.380691 -0.084868 +v 2.393789 1.494130 -0.130247 +v 2.711557 0.041814 -0.107575 +v 2.212182 0.041814 -0.084877 +v 2.847718 1.947886 -0.107558 +v 1.055161 0.155439 -0.130247 +v 1.191674 0.200778 -0.175626 +v 1.055161 1.947886 -0.084868 +f 584 579 591 +f 580 581 582 +f 581 580 583 +f 582 581 584 +f 583 579 584 +f 579 583 586 +f 583 580 586 +f 581 583 587 +f 583 584 587 +f 582 579 588 +f 585 582 588 +f 579 586 588 +f 586 585 588 +f 584 581 589 +f 581 587 589 +f 587 584 589 +f 580 582 590 +f 582 585 590 +f 586 580 590 +f 585 586 590 +f 579 582 591 +f 582 584 591 +o convex_46 +v -1.826917 1.085421 -0.152942 +v -0.964586 1.448768 0.005876 +v -0.964586 1.448768 -0.107532 +v -1.078207 0.155404 0.005876 +v -2.870595 1.448768 -0.130229 +v -2.870595 0.155404 -0.152927 +v -1.168881 0.155404 -0.039503 +v -2.734212 0.155404 -0.107548 +v -2.870595 1.448768 -0.152927 +v -1.214404 0.178193 0.005876 +v -1.509187 1.425727 -0.152942 +v -2.688875 0.155404 -0.152927 +f 602 598 603 +f 594 593 595 +f 593 594 596 +f 594 595 598 +f 595 597 598 +f 597 595 599 +f 596 597 599 +f 596 594 600 +f 592 597 600 +f 597 596 600 +f 595 593 601 +f 593 596 601 +f 599 595 601 +f 596 599 601 +f 594 598 602 +f 592 600 602 +f 600 594 602 +f 597 592 603 +f 598 597 603 +f 592 602 603 +o convex_47 +v 2.847718 2.084167 -0.084864 +v 1.055161 1.970718 -0.289099 +v 1.055161 1.993413 -0.289099 +v 1.055161 1.993413 -0.084864 +v 2.847718 1.948023 -0.107574 +v 2.847718 2.084167 -0.289099 +v 1.055161 1.948023 -0.084864 +v 2.688746 2.038764 -0.289099 +f 609 608 611 +f 606 605 607 +f 604 606 607 +f 606 604 609 +f 605 606 609 +f 604 608 609 +f 607 605 610 +f 604 607 610 +f 608 604 610 +f 605 608 610 +f 608 605 611 +f 605 609 611 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/384/384.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/384/384.urdf new file mode 100644 index 000000000..fb937589c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/384/384.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/385/385.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/385/385.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/385/385.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/385/385.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/385/385.obj new file mode 100644 index 000000000..2fb16700d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/385/385.obj @@ -0,0 +1,393 @@ +o convex_0 +v 1.104355 3.002128 -0.827032 +v -0.560694 0.634167 1.097049 +v -0.671826 0.634167 1.097049 +v 0.179185 4.260329 0.948730 +v -1.078952 4.259934 -0.937950 +v -0.930848 0.374789 -0.975137 +v 1.067169 0.374789 0.985703 +v 1.104355 0.374789 -1.086269 +v -1.041765 4.259934 0.911757 +v 1.104355 4.259934 0.948730 +v 0.956251 4.407981 -1.086269 +v -0.930848 0.374789 1.097049 +v -1.078952 0.745103 -0.901191 +v 1.067169 2.816970 1.022889 +v -0.634853 2.890796 -1.011896 +v 0.623284 0.560341 -1.086269 +v 0.734202 4.407981 -1.086269 +v 1.030196 4.371265 -0.271799 +v -0.856902 4.074777 0.948944 +v -1.041765 0.412294 -0.382931 +v 1.067169 1.004482 1.022889 +v -1.078952 4.259934 -0.160881 +v -1.078952 1.152134 -0.975137 +v 0.993223 4.370871 -1.086269 +v 1.104355 4.296650 0.763866 +v -1.041765 3.889619 0.911757 +v -0.745771 4.297044 -0.974923 +v 0.549125 1.855258 1.059862 +v 1.104355 2.816970 -1.012110 +v -1.078952 3.038843 -0.975137 +v -0.967820 0.449010 0.726680 +v 0.845119 0.375184 1.022676 +v 1.104355 3.779078 0.948730 +v -1.041765 0.374789 -0.937950 +v 0.919278 4.407981 -0.789845 +v -0.634853 1.670495 -1.011896 +v 0.179185 4.370871 -0.974923 +v 1.104355 4.186108 0.541816 +v 0.660256 2.779860 1.022676 +v 1.104355 0.374789 -1.012110 +v 0.697229 4.259934 -1.086269 +v 0.956251 3.630636 0.985703 +v 0.660256 0.375184 -1.086269 +v -0.782743 4.297044 -0.901191 +f 37 27 44 +f 7 6 8 +f 8 1 10 +f 2 3 12 +f 6 7 12 +f 11 8 16 +f 11 16 17 +f 4 9 19 +f 12 3 19 +f 9 12 19 +f 10 14 21 +f 5 13 22 +f 13 5 23 +f 16 6 23 +f 8 11 24 +f 11 18 24 +f 24 18 25 +f 9 4 25 +f 4 10 25 +f 10 1 25 +f 12 9 26 +f 13 20 26 +f 9 22 26 +f 22 13 26 +f 3 2 28 +f 2 21 28 +f 21 14 28 +f 1 8 29 +f 24 1 29 +f 8 24 29 +f 17 15 30 +f 23 5 30 +f 15 23 30 +f 5 27 30 +f 27 17 30 +f 20 12 31 +f 12 26 31 +f 26 20 31 +f 2 12 32 +f 12 7 32 +f 21 2 32 +f 7 21 32 +f 8 10 33 +f 21 7 33 +f 10 21 33 +f 6 12 34 +f 12 20 34 +f 20 13 34 +f 13 23 34 +f 23 6 34 +f 17 9 35 +f 11 17 35 +f 18 11 35 +f 25 18 35 +f 9 25 35 +f 15 16 36 +f 23 15 36 +f 16 23 36 +f 9 17 37 +f 17 27 37 +f 1 24 38 +f 24 25 38 +f 25 1 38 +f 19 3 39 +f 3 28 39 +f 28 14 39 +f 7 8 40 +f 33 7 40 +f 8 33 40 +f 16 15 41 +f 15 17 41 +f 17 16 41 +f 10 4 42 +f 14 10 42 +f 4 19 42 +f 39 14 42 +f 19 39 42 +f 8 6 43 +f 6 16 43 +f 16 8 43 +f 22 9 44 +f 5 22 44 +f 27 5 44 +f 9 37 44 +o convex_1 +v -0.449777 -3.695532 -1.048945 +v 1.104138 -1.808529 -0.753148 +v 1.104138 -1.882656 -0.753148 +v -1.078738 -3.806429 1.022937 +v -1.078738 -1.808529 -1.048945 +v 0.956248 -1.808529 1.097049 +v 0.956248 -3.621601 0.985989 +v -1.004793 -1.808529 0.948824 +v 1.067165 -3.769463 -1.086110 +v -1.041765 -3.621601 -1.123274 +v 1.104138 -1.808529 -1.011997 +v 0.475177 -3.658566 -1.123274 +v -1.078738 -3.769463 0.282684 +v -0.856903 -3.806429 1.022937 +v -1.078738 -1.808529 -0.456917 +v 0.993220 -3.658566 0.541968 +v -0.264701 -1.808529 1.022937 +v -1.078738 -3.029566 -1.085892 +v 1.104138 -2.363795 -1.048945 +v 0.845116 -3.658566 0.911877 +v 0.993220 -1.882656 0.763870 +v -0.338860 -3.806429 0.208572 +v 1.067165 -3.769463 -0.975050 +v -1.041765 -2.548818 0.985772 +v 0.956248 -1.993748 1.097049 +v -0.523723 -1.808529 -1.048945 +v -1.078738 -2.511852 -1.085892 +v -0.967820 -3.658566 -1.123274 +v 0.771171 -1.808529 1.097049 +v -1.078738 -3.658566 1.022937 +v 1.067165 -3.732693 -0.827043 +v 1.067165 -3.066531 -1.086110 +v 0.882303 -3.769463 -1.086110 +v 0.956248 -3.140658 1.022937 +v -0.264701 -3.806429 0.282684 +v -1.004793 -2.289864 0.985772 +v 1.104138 -2.548818 -0.975050 +v -0.967820 -3.436578 -1.123274 +v -1.078738 -3.806429 0.726705 +f 66 48 83 +f 46 49 50 +f 50 49 52 +f 46 47 55 +f 49 46 55 +f 48 49 57 +f 49 48 59 +f 52 49 59 +f 50 52 61 +f 57 49 62 +f 54 57 62 +f 55 47 63 +f 51 58 64 +f 60 51 64 +f 47 46 65 +f 46 50 65 +f 60 47 65 +f 51 60 65 +f 58 48 66 +f 60 64 67 +f 52 59 68 +f 48 58 69 +f 65 50 69 +f 49 55 70 +f 55 63 70 +f 62 49 71 +f 54 62 71 +f 49 70 71 +f 70 56 71 +f 54 56 72 +f 56 53 72 +f 45 57 72 +f 57 54 72 +f 50 61 73 +f 48 69 73 +f 69 50 73 +f 59 48 74 +f 68 59 74 +f 48 73 74 +f 60 67 75 +f 53 56 76 +f 63 53 76 +f 56 70 76 +f 70 63 76 +f 66 45 77 +f 53 66 77 +f 45 72 77 +f 72 53 77 +f 58 51 78 +f 51 65 78 +f 69 58 78 +f 65 69 78 +f 64 58 79 +f 66 53 79 +f 58 66 79 +f 53 67 79 +f 67 64 79 +f 61 52 80 +f 52 68 80 +f 73 61 80 +f 68 74 80 +f 74 73 80 +f 47 60 81 +f 63 47 81 +f 53 63 81 +f 67 53 81 +f 60 75 81 +f 75 67 81 +f 56 54 82 +f 54 71 82 +f 71 56 82 +f 48 57 83 +f 57 45 83 +f 45 66 83 +o convex_2 +v 0.993228 0.374789 2.280406 +v -0.967806 -1.808529 -3.046689 +v -1.004779 -1.401187 -3.046689 +v -1.041751 -1.808529 3.057737 +v 1.104359 -1.808529 -1.011680 +v -1.078937 0.374789 -2.973344 +v 0.956255 0.337602 -3.010017 +v -1.004779 0.263657 2.983791 +v 0.993228 -1.623451 2.983791 +v 0.956255 -1.697183 -3.083962 +v 0.919283 0.337602 3.020463 +v 1.104359 0.374789 -1.085626 +v -1.078937 -1.808529 -1.048352 +v -0.930834 0.374789 1.096673 +v 0.956255 -1.808529 1.096673 +v 1.104359 -0.365522 0.282670 +v -1.078937 -0.254390 -0.937734 +v -1.041751 0.374789 -3.010017 +v 0.993228 -1.697183 -2.973344 +v 1.067173 0.374789 1.355784 +v 0.290111 0.337602 3.020463 +v 0.438214 -1.697183 3.020463 +v -1.041751 -0.883141 3.021065 +v 0.512159 -1.253296 -3.083962 +v 0.475187 0.374789 -3.010017 +v 0.993228 0.337602 -2.898798 +v 0.771180 -1.734370 -3.083962 +v 1.104359 -1.475133 -1.270790 +v -1.078937 0.300629 -1.641120 +v 0.956255 0.152738 3.020463 +v -0.782731 -1.808529 3.057737 +v -1.004779 0.004633 3.021065 +v 1.104359 -1.808529 -0.753171 +v -1.078937 0.115552 -3.010017 +v -1.078937 -1.808529 -0.493459 +v -0.560896 -1.290269 3.057737 +v 0.993228 -0.883141 2.983791 +v 0.919283 -0.994273 3.020463 +v -0.745758 -1.808529 -3.046689 +v -1.078937 -1.697183 -1.344736 +v -1.041751 0.374789 -0.420115 +v 0.068063 -1.697183 -3.083962 +v -0.597869 0.300629 2.947119 +v 0.993228 -1.660424 2.761353 +v 0.956255 -1.253296 -3.083962 +v 0.697235 -1.660424 3.020463 +v -1.004779 -1.142164 -3.046689 +v -1.004779 -1.771342 -2.676960 +v 1.104359 -0.439467 0.282670 +v -0.227717 0.300629 3.020463 +v -1.041751 -1.438160 3.057737 +f 133 115 134 +f 87 85 88 +f 89 84 95 +f 85 87 96 +f 84 89 97 +f 87 88 98 +f 88 95 99 +f 89 96 100 +f 89 95 101 +f 88 93 102 +f 95 84 103 +f 99 95 103 +f 94 84 104 +f 84 97 104 +f 107 101 108 +f 101 95 108 +f 108 95 109 +f 90 108 109 +f 93 88 110 +f 107 93 110 +f 95 88 111 +f 88 102 111 +f 109 95 111 +f 102 109 111 +f 89 100 112 +f 106 91 112 +f 100 106 112 +f 84 94 113 +f 103 84 113 +f 87 98 114 +f 98 105 114 +f 91 106 115 +f 98 88 116 +f 88 99 116 +f 96 89 117 +f 89 101 117 +f 96 87 118 +f 100 96 118 +f 106 100 118 +f 94 104 119 +f 113 94 119 +f 87 114 119 +f 92 103 120 +f 103 113 120 +f 113 92 120 +f 92 113 121 +f 113 119 121 +f 88 85 122 +f 85 110 122 +f 110 88 122 +f 117 86 123 +f 96 117 123 +f 97 89 124 +f 91 97 124 +f 89 112 124 +f 112 91 124 +f 85 86 125 +f 110 85 125 +f 107 110 125 +f 97 91 126 +f 91 104 126 +f 104 97 126 +f 105 98 127 +f 98 116 127 +f 116 92 127 +f 102 93 128 +f 93 107 128 +f 107 108 128 +f 108 90 128 +f 90 109 128 +f 109 102 128 +f 114 105 129 +f 119 114 129 +f 92 121 129 +f 121 119 129 +f 127 92 129 +f 105 127 129 +f 101 107 130 +f 86 117 130 +f 117 101 130 +f 125 86 130 +f 107 125 130 +f 86 85 131 +f 85 96 131 +f 123 86 131 +f 96 123 131 +f 103 92 132 +f 99 103 132 +f 92 116 132 +f 116 99 132 +f 104 91 133 +f 91 115 133 +f 119 104 133 +f 119 133 134 +f 115 106 134 +f 118 87 134 +f 106 118 134 +f 87 119 134 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/385/385.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/385/385.urdf new file mode 100644 index 000000000..97b6471ce --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/385/385.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/386/386.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/386/386.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/386/386.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/386/386.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/386/386.obj new file mode 100644 index 000000000..4249eae8c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/386/386.obj @@ -0,0 +1,468 @@ +o convex_0 +v 1.383107 -0.498970 0.504930 +v -0.759671 -3.905793 0.645189 +v -0.408283 -3.905793 0.223774 +v -0.724359 0.098955 -1.110813 +v 1.453515 -3.940988 -0.970341 +v -0.724359 0.098955 1.066817 +v 1.348011 -3.800207 0.996688 +v 1.348011 0.098955 -0.935170 +v -0.724359 -3.800207 -0.935170 +v 1.348011 0.098955 0.926345 +v -0.759671 -3.905793 0.926132 +v -0.759671 -1.342074 1.031646 +v 1.383107 -3.835007 0.785874 +v 1.453515 -3.167878 -0.619056 +v 1.172317 0.098955 -0.970341 +v -0.724359 -2.675936 -1.005299 +v 1.348011 -0.744546 0.961516 +v 1.383107 -0.252603 -0.935170 +v -0.513569 0.028169 -1.110813 +v -0.478474 0.098955 1.066817 +v 1.453515 -3.940988 -0.654227 +v -0.724359 -0.252998 -1.110813 +v -0.759671 -3.378259 0.961303 +v 0.961527 -3.940988 -0.759527 +v -0.759671 -2.921512 0.434588 +v -0.373187 -3.905793 0.926132 +v -0.478474 -3.835007 -0.935170 +v -0.724359 -0.322993 1.066817 +v -0.759671 -0.990517 0.996474 +v 1.383107 -0.533769 0.610231 +v 1.312916 -3.835007 0.961516 +v -0.724359 -3.449045 -0.970128 +v 0.505068 -3.940988 -0.092127 +v 1.102126 0.098955 0.961516 +v 1.242725 -3.800207 0.996688 +v 1.453515 -3.132683 -0.935170 +v 1.453515 -3.694621 -0.548713 +v -0.056894 -3.870202 0.961303 +v 1.383107 -3.273464 0.785874 +v 1.348011 -3.624626 0.996688 +v 1.383107 -3.940988 -0.970341 +v -0.759671 -3.870202 0.469546 +f 16 32 42 +f 4 6 8 +f 8 6 10 +f 2 11 12 +f 4 8 15 +f 10 1 18 +f 8 10 18 +f 1 14 18 +f 5 15 18 +f 15 8 18 +f 4 15 19 +f 15 5 19 +f 10 6 20 +f 5 14 21 +f 4 19 22 +f 19 5 22 +f 12 11 23 +f 2 3 24 +f 5 21 24 +f 2 12 25 +f 4 22 25 +f 3 2 27 +f 2 9 27 +f 24 3 27 +f 6 12 28 +f 20 6 28 +f 7 20 28 +f 6 4 29 +f 12 6 29 +f 25 12 29 +f 4 25 29 +f 1 10 30 +f 14 1 30 +f 13 7 31 +f 21 13 31 +f 11 2 33 +f 2 24 33 +f 24 21 33 +f 26 11 33 +f 21 31 33 +f 31 26 33 +f 17 10 34 +f 10 20 34 +f 20 17 34 +f 12 23 35 +f 7 28 35 +f 28 12 35 +f 14 5 36 +f 18 14 36 +f 5 18 36 +f 13 21 37 +f 21 14 37 +f 14 30 37 +f 23 11 38 +f 11 26 38 +f 31 7 38 +f 26 31 38 +f 7 35 38 +f 35 23 38 +f 7 13 39 +f 10 17 39 +f 30 10 39 +f 13 37 39 +f 37 30 39 +f 20 7 40 +f 17 20 40 +f 7 39 40 +f 39 17 40 +f 16 22 41 +f 22 5 41 +f 5 24 41 +f 27 9 41 +f 24 27 41 +f 9 32 41 +f 32 16 41 +f 9 2 42 +f 22 16 42 +f 2 25 42 +f 25 22 42 +f 32 9 42 +o convex_1 +v -3.078505 1.223009 0.575211 +v -4.693856 1.644538 -0.619207 +v -3.991477 0.731472 -0.548940 +v -2.691818 1.679599 -0.619207 +v -4.729155 1.609363 0.504944 +v -4.729155 0.731472 0.575211 +v -2.692017 0.590887 0.469752 +v -2.691818 1.750062 0.575211 +v -2.692017 0.696298 -0.548940 +v -4.588559 0.731472 -0.513748 +v -4.693856 1.750062 -0.619207 +v -2.691818 0.836883 -0.584015 +v -4.658757 1.750062 -0.338140 +v -4.623658 0.696298 0.575211 +v -3.850882 1.750062 -0.619207 +v -2.902811 0.590887 0.504944 +v -4.729155 1.574302 -0.443482 +v -3.254199 1.714773 0.575211 +v -2.691818 1.714773 -0.478673 +v -2.727316 0.626062 -0.021998 +v -4.729155 0.731472 0.399486 +v -2.691818 1.398656 0.575211 +v -3.429694 0.696298 -0.548940 +v -4.693856 0.907118 0.575211 +v -4.623658 0.942180 -0.548940 +v -2.691818 1.750062 0.223877 +v -2.762414 0.590887 0.329219 +v -4.412865 1.644538 0.504944 +v -2.867712 1.750062 0.575211 +v -2.691818 1.504066 -0.619207 +v -2.727316 0.626062 0.504944 +f 49 64 73 +f 48 43 50 +f 46 44 53 +f 45 44 54 +f 46 50 54 +f 49 51 54 +f 53 47 55 +f 50 53 55 +f 43 48 56 +f 46 53 57 +f 53 50 57 +f 56 52 58 +f 48 47 59 +f 53 44 59 +f 47 53 59 +f 48 50 60 +f 50 46 61 +f 46 57 61 +f 51 49 62 +f 56 48 63 +f 52 56 63 +f 48 59 63 +f 50 43 64 +f 49 54 64 +f 54 50 64 +f 52 45 65 +f 45 54 65 +f 54 51 65 +f 51 62 65 +f 47 48 66 +f 60 47 66 +f 48 60 66 +f 44 45 67 +f 45 52 67 +f 59 44 67 +f 52 63 67 +f 63 59 67 +f 57 50 68 +f 50 61 68 +f 61 57 68 +f 49 58 69 +f 58 52 69 +f 62 49 69 +f 52 65 69 +f 65 62 69 +f 55 47 70 +f 47 60 70 +f 70 60 71 +f 50 55 71 +f 60 50 71 +f 55 70 71 +f 44 46 72 +f 54 44 72 +f 46 54 72 +f 43 56 73 +f 58 49 73 +f 56 58 73 +f 64 43 73 +o convex_2 +v 0.188576 2.276798 1.031752 +v -1.532241 0.169524 -1.111026 +v -2.375497 0.204702 -1.075714 +v -0.724088 0.099168 1.066848 +v 1.382856 0.134346 -0.935115 +v -2.586112 2.136298 -0.935332 +v 1.382856 2.206655 -1.005523 +v -2.691419 2.241620 0.961344 +v 1.382856 0.204489 0.926466 +v -2.621214 0.204702 1.066848 +v 1.382856 2.206655 0.926466 +v -2.691419 0.239667 -1.075714 +v -0.268155 2.276798 1.102160 +v -0.724088 0.099168 -1.111026 +v 1.137139 0.099168 0.961344 +v -2.621214 1.784944 -1.005523 +v -1.988971 2.276798 1.031752 +v -2.586112 0.169311 1.066848 +v 1.137139 1.890478 -1.040402 +v -2.691419 0.450522 0.609956 +v 1.172241 0.099168 -0.970427 +v -1.848562 1.012519 1.102160 +v -2.691419 1.679623 -0.618822 +v -0.303257 0.520665 -1.111026 +v 1.207344 2.241833 0.961344 +v -0.619179 1.012519 1.102160 +v -1.426934 2.101120 -1.005306 +v -2.656317 2.241620 0.539765 +v -0.970203 2.276798 1.102160 +v 1.347753 0.099168 0.926466 +v -2.656317 1.328269 1.031752 +v 1.102036 2.206441 -1.005523 +v -1.426934 2.276798 0.855841 +v -0.759589 0.485487 -1.111026 +v -2.691419 0.485700 -1.075714 +v -2.656317 0.204702 -0.513535 +v -2.621214 2.136298 -0.829828 +v 1.382856 1.468981 -1.005523 +v -0.443667 0.134133 1.066848 +v 1.347753 2.241833 0.820962 +v -2.199985 2.276798 0.961344 +v -2.656317 0.274845 0.926466 +v -0.478769 0.099168 -1.111026 +v 1.172241 0.169311 0.961344 +v -0.584077 2.276798 0.820962 +v -2.586112 2.101120 -0.970211 +v -2.551009 2.206655 0.996657 +v 1.347753 0.099168 -0.935115 +v -2.621214 0.626199 1.066848 +v -0.408565 1.714801 -1.040618 +v -2.656317 0.204702 0.645268 +v -0.268155 2.136298 1.102160 +v -2.586112 1.820122 -1.005523 +f 119 100 126 +f 78 80 82 +f 82 80 84 +f 75 76 85 +f 76 75 87 +f 77 87 88 +f 86 74 90 +f 87 77 91 +f 81 85 93 +f 88 87 94 +f 83 91 95 +f 91 77 95 +f 85 81 96 +f 87 75 97 +f 82 84 98 +f 74 86 98 +f 95 77 99 +f 86 95 99 +f 86 90 102 +f 95 86 102 +f 78 82 103 +f 88 94 103 +f 95 102 104 +f 80 92 105 +f 92 100 105 +f 79 101 105 +f 90 74 106 +f 97 75 107 +f 92 97 107 +f 75 85 108 +f 85 96 108 +f 96 89 108 +f 107 75 108 +f 85 76 109 +f 76 87 109 +f 87 91 109 +f 96 81 110 +f 89 96 110 +f 101 79 110 +f 81 101 110 +f 80 78 111 +f 92 80 111 +f 78 94 111 +f 77 88 112 +f 99 77 112 +f 80 74 113 +f 84 80 113 +f 74 98 113 +f 98 84 113 +f 81 90 114 +f 101 81 114 +f 105 101 114 +f 106 105 114 +f 90 106 114 +f 81 93 115 +f 104 81 115 +f 83 104 115 +f 94 87 116 +f 87 97 116 +f 97 92 116 +f 92 111 116 +f 111 94 116 +f 82 98 117 +f 103 82 117 +f 88 103 117 +f 112 88 117 +f 99 112 117 +f 74 80 118 +f 80 105 118 +f 105 106 118 +f 106 74 118 +f 79 105 119 +f 105 100 119 +f 110 79 119 +f 89 110 119 +f 90 81 120 +f 102 90 120 +f 81 104 120 +f 104 102 120 +f 94 78 121 +f 78 103 121 +f 103 94 121 +f 83 95 122 +f 104 83 122 +f 95 104 122 +f 100 92 123 +f 92 107 123 +f 107 100 123 +f 91 83 124 +f 93 85 124 +f 85 109 124 +f 109 91 124 +f 83 115 124 +f 115 93 124 +f 98 86 125 +f 86 99 125 +f 117 98 125 +f 99 117 125 +f 100 107 126 +f 108 89 126 +f 107 108 126 +f 89 119 126 +o convex_3 +v 2.015700 2.206751 0.820869 +v 1.383536 0.134084 -0.935256 +v 1.699618 0.134084 -0.935256 +v 3.350425 0.134084 1.102160 +v 3.280230 2.171449 -1.040766 +v 1.383536 0.204485 0.926170 +v 1.383536 2.206751 -1.005316 +v 3.455921 0.239787 -0.935046 +v 3.280230 2.101048 0.961410 +v 1.383536 2.206751 0.926170 +v 3.350425 1.574157 -1.040766 +v 1.559025 0.169386 0.961410 +v 2.015700 2.206751 -1.040556 +v 1.523927 0.380183 -0.970286 +v 3.455921 0.485683 -0.970286 +v 3.280230 2.136147 0.785839 +v 3.350425 0.134084 0.680539 +v 3.315327 1.574157 0.996650 +v 2.823352 0.134084 1.066920 +v 3.455921 0.274886 -0.618935 +v 2.472172 2.206751 -0.162284 +v 3.315327 2.030850 -1.005526 +v 3.069238 0.204485 -0.935256 +v 1.383536 0.134084 -0.408125 +v 1.453732 0.239584 0.961410 +v 3.280230 0.204688 1.102160 +v 2.682961 1.574360 -1.040766 +v 1.383536 1.539261 -1.005316 +v 3.455921 0.380183 -0.970286 +v 3.280230 2.171449 -0.548665 +v 3.209831 2.136350 0.926170 +v 3.455921 0.485683 -0.900226 +v 2.261586 2.206751 -1.040766 +v 2.647863 0.134084 1.031680 +f 150 145 160 +f 128 129 130 +f 128 132 133 +f 127 133 136 +f 133 132 136 +f 133 127 139 +f 129 128 140 +f 130 129 143 +f 134 130 143 +f 135 130 144 +f 128 130 145 +f 130 134 146 +f 134 141 146 +f 144 130 146 +f 139 127 147 +f 137 131 148 +f 141 137 148 +f 143 129 149 +f 134 143 149 +f 132 128 150 +f 138 132 150 +f 128 145 150 +f 136 132 151 +f 132 138 151 +f 138 145 151 +f 151 145 152 +f 130 135 152 +f 135 136 152 +f 145 130 152 +f 136 151 152 +f 131 137 153 +f 137 140 153 +f 153 140 154 +f 128 133 154 +f 133 139 154 +f 140 128 154 +f 139 153 154 +f 140 137 155 +f 129 140 155 +f 141 134 155 +f 137 141 155 +f 149 129 155 +f 134 149 155 +f 127 142 156 +f 147 127 156 +f 131 147 156 +f 148 131 156 +f 142 148 156 +f 136 135 157 +f 127 136 157 +f 142 127 157 +f 135 142 157 +f 142 135 158 +f 135 144 158 +f 146 141 158 +f 144 146 158 +f 141 148 158 +f 148 142 158 +f 139 147 159 +f 147 131 159 +f 131 153 159 +f 153 139 159 +f 145 138 160 +f 138 150 160 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/386/386.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/386/386.urdf new file mode 100644 index 000000000..8d220aa99 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/386/386.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/387/387.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/387/387.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/387/387.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/387/387.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/387/387.obj new file mode 100644 index 000000000..740f38d81 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/387/387.obj @@ -0,0 +1,1206 @@ +o convex_0 +v -0.533173 0.970791 -0.930966 +v 0.456825 0.935594 1.261106 +v 0.350850 0.935594 1.261106 +v 0.279975 5.249352 -0.011480 +v 1.199548 0.864342 -0.824815 +v -0.639148 2.349906 0.695212 +v 1.022698 4.152671 0.872131 +v 0.951823 4.046651 -0.895583 +v -0.568498 4.471159 -0.082248 +v -0.922197 0.864342 0.058796 +v 1.234873 0.864342 0.766225 +v 0.138675 4.541553 0.765980 +v 0.103350 4.471159 -0.824815 +v 0.598349 0.864342 -1.249174 +v 1.376397 1.112436 -0.046864 +v -0.639148 2.279083 -0.789431 +v 1.022698 4.541553 -0.046864 +v -0.639148 0.864342 0.836747 +v -0.073274 2.279083 -1.072256 +v -0.144149 2.597142 0.978036 +v -0.391648 3.905005 0.553923 +v 0.563024 0.864342 1.261106 +v -0.426973 3.763788 -0.647896 +v -0.674473 0.864342 -0.789431 +v 0.987373 4.082277 -0.860199 +v -0.922197 1.147633 -0.046864 +v 0.350850 0.970791 -1.249174 +v -0.568498 4.471159 -0.011480 +v 0.209550 5.249352 -0.082248 +v 0.916499 4.223494 -0.824815 +v -0.002624 1.076810 1.154955 +v 0.138675 4.754022 0.589307 +v 1.376397 0.864342 0.058796 +v 0.138675 4.577179 -0.789431 +v 0.068026 0.864342 -1.178407 +v 1.058023 4.294316 -0.011480 +v 0.881174 3.940631 0.907515 +v -0.674473 1.147633 0.801363 +v 1.163998 1.041614 0.836747 +v -0.603823 2.279083 -0.824815 +v 1.199548 1.041614 -0.824815 +v 0.668999 1.041614 -1.213791 +v 1.199548 1.748984 0.766225 +v 0.174225 5.213727 0.023412 +v 0.068026 4.541553 0.730596 +v -0.603823 2.385532 0.730842 +v 0.421500 1.041614 -1.249174 +v -0.639148 3.905005 -0.082248 +v -0.922197 0.935594 -0.117631 +v 0.279975 0.899968 1.261106 +v -0.073274 2.632768 -1.036872 +v 0.350850 4.577179 0.730596 +v -0.851322 1.855004 -0.011480 +v 0.350850 5.107277 -0.188399 +v -0.462298 0.935594 0.942898 +v 0.951823 4.612376 0.023412 +v -0.356323 3.975828 -0.647896 +v 1.376397 1.076810 0.023412 +v -0.037949 3.091615 0.942898 +v -0.568498 4.435533 -0.117631 +v -0.851322 1.855004 -0.082248 +v 0.492150 4.294316 -0.860199 +v 0.987373 4.188297 0.872131 +v -0.639148 1.360102 -0.860199 +f 49 16 64 +f 10 5 11 +f 5 10 14 +f 10 11 18 +f 2 3 22 +f 18 11 22 +f 14 10 24 +f 6 21 28 +f 9 28 29 +f 25 8 30 +f 17 25 30 +f 11 5 33 +f 5 15 33 +f 9 29 34 +f 1 19 35 +f 24 1 35 +f 14 24 35 +f 27 14 35 +f 19 27 35 +f 17 7 36 +f 15 25 36 +f 25 17 36 +f 3 2 37 +f 2 22 37 +f 6 10 38 +f 10 18 38 +f 11 7 39 +f 7 22 39 +f 22 11 39 +f 23 13 40 +f 16 23 40 +f 15 5 41 +f 8 25 41 +f 25 15 41 +f 5 14 42 +f 14 8 42 +f 41 5 42 +f 8 41 42 +f 7 11 43 +f 4 29 44 +f 29 28 44 +f 32 4 44 +f 28 32 44 +f 28 21 45 +f 12 32 45 +f 32 28 45 +f 21 6 46 +f 6 38 46 +f 38 20 46 +f 20 45 46 +f 45 21 46 +f 8 14 47 +f 14 27 47 +f 28 9 48 +f 24 10 49 +f 10 26 49 +f 26 16 49 +f 22 3 50 +f 18 22 50 +f 20 31 50 +f 3 37 50 +f 37 12 50 +f 27 19 51 +f 40 13 51 +f 19 40 51 +f 13 47 51 +f 47 27 51 +f 4 32 52 +f 32 12 52 +f 10 6 53 +f 26 10 53 +f 6 28 53 +f 28 48 53 +f 4 17 54 +f 29 4 54 +f 17 30 54 +f 34 29 54 +f 30 34 54 +f 31 20 55 +f 38 18 55 +f 20 38 55 +f 18 50 55 +f 50 31 55 +f 17 4 56 +f 7 17 56 +f 13 23 57 +f 11 33 58 +f 33 15 58 +f 36 7 58 +f 15 36 58 +f 7 43 58 +f 43 11 58 +f 12 45 59 +f 45 20 59 +f 50 12 59 +f 20 50 59 +f 23 16 60 +f 34 13 60 +f 9 34 60 +f 48 9 60 +f 16 48 60 +f 13 57 60 +f 57 23 60 +f 16 26 61 +f 48 16 61 +f 26 53 61 +f 53 48 61 +f 30 8 62 +f 13 34 62 +f 34 30 62 +f 8 47 62 +f 47 13 62 +f 22 7 63 +f 12 37 63 +f 37 22 63 +f 4 52 63 +f 52 12 63 +f 56 4 63 +f 7 56 63 +f 19 1 64 +f 1 24 64 +f 16 40 64 +f 40 19 64 +f 24 49 64 +o convex_1 +v -2.265991 -1.823187 -1.744665 +v -0.993048 -1.752696 -1.284783 +v -0.993048 -2.282847 -1.284783 +v -1.735380 -1.823187 -3.088296 +v -1.806036 -1.222075 -1.284783 +v -2.089037 -2.282847 -1.284783 +v -1.735380 -1.363645 -2.840613 +v -1.770895 -2.212121 -2.805305 +v -1.382096 -1.788000 -2.840613 +v -2.124428 -1.752696 -2.840613 +v -2.159819 -1.363645 -1.284783 +v -1.346581 -1.363645 -1.921556 +v -1.558800 -2.424299 -1.461674 +v -2.089037 -2.247425 -2.098447 +v -2.124428 -1.399066 -2.169062 +v -1.276049 -1.363645 -1.284783 +v -2.265991 -1.893795 -1.284783 +v -1.452877 -1.469792 -2.628414 +v -1.523534 -2.105973 -2.699206 +v -2.124428 -1.858491 -2.840613 +v -1.735380 -1.257614 -2.133754 +v -0.993048 -2.282847 -1.355575 +v -1.382096 -2.424299 -1.284783 +v -1.770895 -2.353573 -2.098447 +v -1.806036 -1.363645 -2.840613 +v -0.993048 -1.788000 -1.390882 +v -1.382096 -1.717274 -2.840613 +v -1.700114 -2.212121 -2.769998 +v -1.770895 -1.717274 -3.088296 +v -1.700114 -1.222075 -1.426367 +v -2.018381 -1.328341 -2.027655 +v -2.053771 -1.469792 -2.628414 +v -2.265991 -1.681970 -1.355575 +v -1.982865 -2.141395 -2.663898 +v -2.159819 -1.399066 -1.956687 +v -2.230475 -1.823187 -2.169062 +v -1.700114 -2.141395 -2.876097 +f 83 92 101 +f 67 66 69 +f 67 69 70 +f 70 69 75 +f 69 66 80 +f 66 76 80 +f 70 75 81 +f 65 78 81 +f 78 70 81 +f 71 76 82 +f 68 72 84 +f 76 71 85 +f 66 67 86 +f 83 73 86 +f 67 70 87 +f 70 77 87 +f 86 67 87 +f 77 70 88 +f 78 72 88 +f 70 78 88 +f 87 77 88 +f 85 71 89 +f 76 66 90 +f 82 76 90 +f 66 86 90 +f 86 73 90 +f 73 68 91 +f 71 82 91 +f 90 73 91 +f 82 90 91 +f 83 86 92 +f 86 87 92 +f 88 72 92 +f 87 88 92 +f 68 84 93 +f 84 74 93 +f 89 71 93 +f 74 89 93 +f 91 68 93 +f 71 91 93 +f 69 80 94 +f 80 76 94 +f 76 85 94 +f 85 69 94 +f 75 69 95 +f 69 85 95 +f 89 79 95 +f 85 89 95 +f 74 79 96 +f 89 74 96 +f 79 89 96 +f 65 81 97 +f 81 75 97 +f 72 78 98 +f 84 72 98 +f 78 84 98 +f 79 74 99 +f 75 95 99 +f 95 79 99 +f 65 97 99 +f 97 75 99 +f 78 65 100 +f 74 84 100 +f 84 78 100 +f 65 99 100 +f 99 74 100 +f 72 68 101 +f 68 73 101 +f 73 83 101 +f 92 72 101 +o convex_2 +v 1.128725 -0.620904 0.872110 +v 0.244879 -0.231939 -1.355260 +v 0.244879 -0.196548 -1.355260 +v -0.992625 -0.585513 0.624624 +v 0.068050 -0.196548 1.190377 +v 2.047997 -0.620904 -0.082441 +v -0.603542 -0.620904 -0.966212 +v 1.659211 -0.196548 0.023481 +v -0.992625 -0.196548 -0.188115 +v 1.376404 -0.620904 -0.895679 +v 1.270128 -0.196548 0.836969 +v 1.234703 -0.196548 -0.895679 +v -0.745244 -0.620904 0.907501 +v -0.745244 -0.196548 0.836969 +v -0.638968 -0.196548 -0.930821 +v -0.992625 -0.620904 -0.541773 +v 1.376404 -0.620904 0.836969 +v 0.280304 -0.620904 0.978282 +v 2.047997 -0.585513 0.023481 +v 0.421707 -0.620904 -1.001602 +v 0.280304 -0.231939 1.190377 +v -0.992625 -0.196548 0.200435 +v 2.047997 -0.585513 -0.082441 +v -0.143907 -0.196548 1.155236 +v 0.315431 -0.231939 -1.355260 +v 1.659211 -0.196548 -0.047051 +v -0.674393 -0.302637 -0.930821 +f 108 117 128 +f 107 102 108 +f 104 103 108 +f 104 106 109 +f 106 104 110 +f 107 108 111 +f 109 106 112 +f 104 109 113 +f 108 102 114 +f 106 110 115 +f 105 114 115 +f 110 104 116 +f 110 116 117 +f 105 110 117 +f 114 105 117 +f 108 114 117 +f 102 107 118 +f 114 102 119 +f 109 112 120 +f 118 107 120 +f 112 118 120 +f 108 103 121 +f 111 108 121 +f 112 106 122 +f 106 114 122 +f 102 118 122 +f 118 112 122 +f 119 102 122 +f 114 119 122 +f 110 105 123 +f 105 115 123 +f 115 110 123 +f 107 111 124 +f 111 113 124 +f 120 107 124 +f 109 120 124 +f 114 106 125 +f 106 115 125 +f 115 114 125 +f 103 104 126 +f 104 113 126 +f 113 111 126 +f 121 103 126 +f 111 121 126 +f 113 109 127 +f 109 124 127 +f 124 113 127 +f 104 108 128 +f 116 104 128 +f 117 116 128 +o convex_3 +v 0.421538 0.864342 -1.249590 +v 0.244816 -0.196548 -1.532480 +v 0.315386 -0.196548 -1.532480 +v 0.315386 0.227870 -2.982207 +v -0.038122 0.051020 -1.249590 +v 0.633775 0.333897 -1.249590 +v 0.068029 0.227870 -2.769869 +v 0.492305 0.192459 -2.769869 +v 0.103347 0.616669 -1.320312 +v 0.527623 -0.090418 -1.249590 +v 0.598391 0.828930 -1.320312 +v 0.244816 0.015713 -2.734423 +v 0.068029 -0.196548 -1.285036 +v 0.209432 0.369204 -2.769869 +v 0.492305 -0.019699 -2.133367 +v 0.068029 0.121740 -2.699147 +v 0.068029 0.546054 -1.249590 +v 0.280266 0.369204 -2.805146 +v 0.386220 0.864342 -1.285036 +v 0.563007 0.121740 -1.956815 +v 0.350836 0.015713 -2.699147 +v -0.002739 -0.125725 -1.249590 +v 0.633775 0.404616 -1.391035 +v 0.492305 0.227870 -2.769869 +v 0.386220 -0.196548 -1.249590 +v 0.103347 0.333897 -2.592978 +v 0.032645 0.192459 -2.416257 +f 145 135 155 +f 129 133 134 +f 134 133 138 +f 129 134 139 +f 131 130 140 +f 130 131 141 +f 140 130 141 +f 132 135 142 +f 135 132 144 +f 132 140 144 +f 140 141 144 +f 133 129 145 +f 137 135 145 +f 132 142 146 +f 146 142 147 +f 129 139 147 +f 145 129 147 +f 137 145 147 +f 139 146 147 +f 134 138 148 +f 143 136 148 +f 138 143 148 +f 132 136 149 +f 131 140 149 +f 140 132 149 +f 136 143 149 +f 143 131 149 +f 138 133 150 +f 133 144 150 +f 144 141 150 +f 139 134 151 +f 134 148 151 +f 148 136 151 +f 136 132 152 +f 132 146 152 +f 146 139 152 +f 139 151 152 +f 151 136 152 +f 141 131 153 +f 131 143 153 +f 143 138 153 +f 138 150 153 +f 150 141 153 +f 135 137 154 +f 142 135 154 +f 147 142 154 +f 137 147 154 +f 135 144 155 +f 144 133 155 +f 133 145 155 +o convex_4 +v -2.336516 -2.636408 -0.294432 +v -1.629498 -1.222286 1.225498 +v -1.876998 -1.222286 1.225498 +v -1.063711 -0.762508 -0.895524 +v -0.993096 -2.707283 0.872117 +v -0.993096 -2.530225 -1.178376 +v -2.478093 -1.151671 -0.789362 +v -0.992923 -0.196548 0.164864 +v -2.654804 -1.858342 0.836730 +v -2.301208 -1.858342 -1.284292 +v -2.478093 -1.116363 0.765955 +v -2.089190 -2.318120 1.225498 +v -2.725592 -1.858342 -0.753975 +v -0.992923 -2.106015 1.190602 +v -2.159805 -2.671715 -0.789362 +v -1.700114 -1.222286 -1.284292 +v -0.993096 -2.848773 -0.506510 +v -2.053709 -2.671715 0.765955 +v -0.992923 -0.727201 0.907504 +v -1.169807 -0.196548 -0.046722 +v -0.992923 -1.752419 -1.284537 +v -2.089190 -2.282812 -1.284292 +v -2.407304 -1.787727 1.225498 +v -2.548708 -1.116363 -0.046722 +v -2.442612 -2.565793 0.058703 +v -2.761073 -1.858342 0.200251 +v -1.523402 -2.813205 0.164864 +v -1.240596 -2.459610 1.225498 +v -0.992923 -0.196548 -0.188271 +v -2.159805 -1.363776 -1.284292 +v -1.452614 -2.459610 -1.284292 +v -1.311211 -1.328209 1.225498 +v -1.063711 -2.742331 -0.895524 +v -0.993096 -2.813205 0.483103 +v -0.992923 -0.868691 -0.966298 +v -2.265901 -1.328209 1.190356 +v -2.124497 -2.636408 0.801343 +v -2.442612 -1.080796 -0.718588 +v -1.806210 -1.222286 -1.284292 +v -2.725592 -1.787727 -0.753975 +v -1.275903 -1.364036 -1.284292 +v -2.761073 -1.752419 0.058703 +v -2.513400 -1.080796 0.271026 +v -2.513400 -1.080796 -0.364961 +v -2.690284 -1.893650 0.730568 +v -2.265901 -2.141322 1.225498 +v -0.993096 -2.353687 -1.284292 +v -1.028404 -0.196548 0.164864 +v -2.690284 -1.787727 0.765955 +v -1.240596 -2.848773 -0.223658 +v -1.028404 -0.196548 -0.188271 +v -0.993096 -2.530225 1.119582 +v -2.761073 -1.893650 -0.082109 +v -2.442612 -1.116363 -0.789362 +v -2.407304 -2.600841 0.129477 +v -1.806210 -2.671715 0.836730 +v -1.063711 -0.727201 0.907504 +v -1.876998 -2.742590 -0.506510 +v -2.195286 -2.176630 -1.249150 +v -1.099019 -2.848773 -0.506510 +f 205 213 215 +f 157 158 167 +f 156 168 170 +f 158 157 174 +f 169 163 174 +f 163 169 176 +f 169 172 176 +f 172 161 176 +f 165 176 177 +f 167 158 178 +f 168 156 180 +f 173 156 182 +f 157 167 183 +f 175 163 184 +f 163 176 184 +f 176 165 185 +f 170 177 186 +f 177 176 186 +f 174 157 187 +f 169 174 187 +f 157 183 187 +f 183 169 187 +f 161 172 188 +f 186 161 188 +f 170 186 188 +f 169 160 189 +f 172 169 189 +f 173 182 189 +f 171 159 190 +f 159 184 190 +f 184 176 190 +f 178 158 191 +f 166 178 191 +f 159 171 194 +f 171 176 194 +f 176 185 194 +f 165 168 195 +f 162 185 195 +f 185 165 195 +f 176 171 196 +f 171 190 196 +f 190 176 196 +f 179 195 197 +f 166 175 198 +f 197 166 198 +f 179 197 198 +f 193 162 199 +f 175 193 199 +f 162 195 199 +f 195 179 199 +f 198 175 199 +f 179 198 199 +f 181 180 200 +f 178 164 201 +f 167 178 201 +f 192 167 201 +f 164 200 201 +f 200 192 201 +f 176 161 202 +f 161 186 202 +f 186 176 202 +f 174 163 203 +f 163 175 203 +f 175 166 203 +f 166 191 203 +f 178 166 204 +f 164 178 204 +f 166 197 204 +f 197 181 204 +f 200 164 204 +f 181 200 204 +f 172 189 205 +f 189 182 205 +f 184 159 206 +f 175 184 206 +f 193 175 206 +f 159 194 206 +f 160 169 207 +f 183 160 207 +f 169 183 207 +f 168 180 208 +f 180 181 208 +f 195 168 208 +f 181 197 208 +f 197 195 208 +f 185 162 209 +f 162 193 209 +f 194 185 209 +f 193 206 209 +f 206 194 209 +f 156 173 210 +f 180 156 210 +f 173 192 210 +f 200 180 210 +f 192 200 210 +f 183 167 211 +f 160 183 211 +f 189 160 211 +f 173 189 211 +f 167 192 211 +f 192 173 211 +f 158 174 212 +f 191 158 212 +f 174 203 212 +f 203 191 212 +f 156 170 213 +f 182 156 213 +f 205 182 213 +f 168 165 214 +f 170 168 214 +f 165 177 214 +f 177 170 214 +f 188 172 215 +f 170 188 215 +f 172 205 215 +f 213 170 215 +o convex_5 +v -2.301253 -1.823187 1.968788 +v -1.063649 -2.105973 1.296950 +v -1.275872 -1.434371 1.296950 +v -1.700318 -1.752696 3.029502 +v -2.124379 -2.282847 1.226342 +v -2.230555 -1.363645 1.226342 +v -1.770760 -2.176699 2.817147 +v -1.806109 -1.434371 2.746362 +v -1.346570 -1.752696 2.746362 +v -1.311221 -2.424299 1.226342 +v -2.159857 -1.823187 2.781667 +v -1.664969 -1.222075 1.226342 +v -1.346570 -1.399066 1.968788 +v -1.452746 -2.105973 2.604969 +v -2.159857 -2.176699 2.074877 +v -2.372080 -1.858491 1.226342 +v -2.159857 -1.434371 2.110182 +v -1.770760 -2.318151 2.039573 +v -1.806109 -1.292919 2.004092 +v -1.311221 -1.328341 1.226342 +v -1.063649 -2.176699 1.226342 +v -1.346570 -1.858491 2.746362 +v -1.700318 -1.434371 2.711058 +v -2.124379 -1.681970 2.746362 +v -1.700318 -2.176699 2.817147 +v -2.018332 -2.105973 2.640273 +v -1.841458 -1.222075 1.261646 +v -1.806109 -1.788000 3.029502 +v -2.301253 -1.752696 1.933484 +v -1.452746 -2.424299 1.296950 +v -1.452746 -1.505097 2.534184 +v -2.230555 -2.176699 1.261646 +v -1.700318 -1.292919 1.968788 +v -2.195078 -1.399066 1.792091 +v -2.372080 -1.752696 1.261646 +v -1.382047 -1.292919 1.296950 +v -1.700318 -1.929217 2.993845 +f 243 222 252 +f 220 221 225 +f 225 221 227 +f 217 218 228 +f 224 217 228 +f 226 216 230 +f 221 220 231 +f 230 216 231 +f 230 220 233 +f 222 230 233 +f 232 223 234 +f 218 217 235 +f 225 227 235 +f 228 218 235 +f 229 225 236 +f 235 217 236 +f 225 235 236 +f 217 224 237 +f 224 219 237 +f 236 217 237 +f 229 236 237 +f 223 219 238 +f 219 224 238 +f 234 223 238 +f 223 232 239 +f 225 229 240 +f 222 233 240 +f 229 237 240 +f 222 226 241 +f 230 222 241 +f 226 230 241 +f 227 221 242 +f 234 227 242 +f 219 223 243 +f 226 222 243 +f 223 239 243 +f 239 226 243 +f 216 226 244 +f 226 239 244 +f 239 232 244 +f 220 225 245 +f 233 220 245 +f 225 240 245 +f 240 233 245 +f 224 228 246 +f 238 224 246 +f 228 238 246 +f 220 230 247 +f 231 220 247 +f 230 231 247 +f 227 234 248 +f 238 228 248 +f 234 238 248 +f 232 234 249 +f 242 221 249 +f 234 242 249 +f 244 232 249 +f 244 249 250 +f 221 231 250 +f 231 216 250 +f 216 244 250 +f 249 221 250 +f 235 227 251 +f 228 235 251 +f 227 248 251 +f 248 228 251 +f 237 219 252 +f 222 240 252 +f 240 237 252 +f 219 243 252 +o convex_6 +v -0.992923 -0.691779 0.872235 +v 0.103184 -2.848773 -0.789507 +v 0.173952 -2.848773 -0.789507 +v 0.315355 -0.620904 -1.001768 +v 0.350871 -2.353303 1.048877 +v -0.992923 -2.565709 -1.143276 +v -0.992923 -2.707023 0.872235 +v 0.350739 -0.621122 0.942746 +v -0.992923 -0.762654 -0.895638 +v 0.350871 -2.601038 -1.037145 +v -0.992923 -2.105786 1.190626 +v 0.350871 -2.742569 0.907369 +v -0.992923 -1.787831 -1.284783 +v -0.992923 -2.848773 -0.188343 +v -0.992923 -0.620904 -0.577489 +v -0.780620 -0.620904 0.907612 +v -0.816004 -2.317975 -1.284783 +v -0.992923 -2.530381 1.119630 +v 0.350739 -0.621122 -1.001526 +v -0.603833 -0.620904 -0.966392 +v 0.280103 -0.620904 0.978365 +v 0.350871 -2.848773 -0.435739 +v -0.886772 -2.813008 0.518709 +v -0.992923 -2.742569 -0.895638 +v 0.350871 -2.777898 -0.966149 +v 0.138568 -2.777898 0.836616 +v -0.992923 -2.848773 -0.506735 +v 0.244719 -2.388631 -1.072280 +v -0.215006 -2.813008 -0.930772 +v -0.886772 -2.105786 1.190626 +v -0.215006 -2.742569 0.942989 +v 0.244719 -1.858488 1.048877 +v -0.992923 -0.620904 0.659974 +v 0.350871 -2.636584 0.978365 +v -0.992923 -2.317975 -1.284783 +v -0.992923 -0.868857 -0.966392 +v -0.886772 -2.212208 1.190626 +v 0.173952 -0.620904 0.978365 +v -0.992923 -0.868857 0.942989 +v -0.533197 -2.813008 0.518709 +f 278 275 292 +f 253 258 259 +f 258 253 261 +f 253 259 263 +f 262 257 264 +f 258 261 265 +f 254 255 266 +f 259 258 266 +f 261 253 267 +f 256 267 268 +f 263 259 270 +f 256 260 271 +f 260 257 271 +f 257 262 271 +f 265 256 271 +f 269 265 271 +f 256 265 272 +f 267 256 272 +f 261 267 272 +f 260 256 273 +f 257 260 273 +f 256 268 273 +f 262 264 274 +f 266 255 274 +f 259 266 275 +f 266 258 276 +f 258 269 277 +f 269 262 277 +f 274 255 277 +f 262 274 277 +f 274 264 278 +f 254 266 279 +f 266 276 279 +f 262 269 280 +f 271 262 280 +f 269 271 280 +f 255 254 281 +f 276 258 281 +f 277 255 281 +f 258 277 281 +f 254 279 281 +f 279 276 281 +f 273 263 282 +f 270 259 283 +f 259 275 283 +f 278 264 283 +f 275 278 283 +f 257 273 284 +f 282 257 284 +f 273 282 284 +f 267 253 285 +f 253 268 285 +f 268 267 285 +f 264 257 286 +f 270 283 286 +f 283 264 286 +f 258 265 287 +f 269 258 287 +f 265 269 287 +f 265 261 288 +f 272 265 288 +f 261 272 288 +f 263 270 289 +f 282 263 289 +f 257 282 289 +f 286 257 289 +f 270 286 289 +f 263 273 290 +f 273 268 290 +f 253 263 291 +f 268 253 291 +f 263 290 291 +f 290 268 291 +f 266 274 292 +f 275 266 292 +f 274 278 292 +o convex_7 +v 1.093694 -2.813008 0.518716 +v 2.083463 -0.620904 0.023419 +v 2.083463 -0.620904 -0.082185 +v 0.350871 -0.620904 0.942739 +v 0.350871 -2.601038 -1.037242 +v 3.108997 -1.752502 0.695191 +v 2.578490 -2.636366 -0.966371 +v 0.350871 -0.620904 -1.001706 +v 0.350871 -2.707023 0.942739 +v 2.613971 -1.469875 -1.037242 +v 2.507812 -2.565491 0.872269 +v 2.578490 -1.434547 1.013811 +v 3.002839 -1.009952 -0.047051 +v 3.250636 -1.822941 -0.047051 +v 0.350871 -2.848773 -0.718823 +v 1.694879 -0.691779 -0.860164 +v 1.482562 -0.620904 0.836934 +v 2.896681 -2.601038 -0.011715 +v 3.073516 -1.752502 -0.825030 +v 2.012786 -2.813008 -0.011715 +v 0.350871 -2.495053 1.013811 +v 2.826003 -1.151484 0.589185 +v 2.826003 -1.151484 -0.612817 +v 1.518043 -2.848773 -0.577482 +v 0.350871 -1.681846 1.013811 +v 2.260299 -0.903967 0.766063 +v 0.527990 -2.777898 -0.966371 +v 1.447366 -0.620904 -0.895700 +v 2.543293 -2.671913 -0.966371 +v 2.437135 -2.601038 0.872269 +v 3.073516 -1.646517 0.766063 +v 2.295780 -0.939514 -0.825030 +v 0.350871 -2.777898 0.730527 +v 0.457029 -1.787831 -1.037242 +v 2.543293 -1.858488 -1.037242 +v 1.482562 -2.813008 0.483180 +v 2.225102 -2.565709 0.907605 +v 2.331260 -1.293015 -1.037242 +v 2.578490 -1.540532 1.013811 +v 3.002839 -1.009952 0.023419 +v 3.073516 -1.682064 -0.825030 +v 2.896681 -2.565491 -0.153057 +v 3.002839 -1.858488 0.801398 +v 0.421832 -2.742569 0.907404 +v 0.350871 -2.848773 -0.435940 +v 1.023017 -2.530381 -1.037242 +v 3.215155 -1.646517 -0.011715 +v 0.740023 -2.424178 1.013811 +v 1.624201 -2.848773 -0.365068 +v 0.563187 -0.620904 0.942739 +v 2.295780 -0.903967 -0.754158 +v 1.447366 -0.656669 0.872269 +v 0.386351 -2.813008 -0.895700 +v 2.932161 -2.530381 0.023419 +f 335 303 346 +f 294 295 296 +f 296 295 300 +f 297 296 300 +f 296 297 301 +f 295 294 305 +f 301 297 307 +f 294 296 309 +f 299 302 311 +f 296 301 313 +f 304 296 317 +f 296 313 317 +f 313 304 317 +f 294 309 318 +f 309 304 318 +f 304 314 318 +f 300 295 320 +f 295 308 320 +f 310 312 321 +f 319 297 321 +f 310 303 322 +f 312 310 322 +f 314 304 323 +f 315 302 324 +f 320 308 324 +f 301 307 325 +f 297 300 326 +f 302 297 326 +f 302 299 327 +f 297 302 327 +f 299 321 327 +f 312 322 328 +f 313 301 329 +f 301 322 329 +f 322 303 329 +f 300 320 330 +f 324 302 330 +f 320 324 330 +f 326 300 330 +f 302 326 330 +f 304 313 331 +f 323 304 331 +f 329 303 331 +f 305 294 332 +f 294 318 332 +f 318 314 332 +f 314 323 332 +f 306 311 333 +f 311 302 333 +f 302 315 333 +f 315 305 333 +f 306 310 334 +f 311 306 334 +f 299 311 334 +f 321 299 334 +f 310 321 334 +f 298 323 335 +f 331 303 335 +f 323 331 335 +f 322 301 336 +f 325 293 336 +f 301 325 336 +f 293 328 336 +f 328 322 336 +f 307 316 337 +f 293 325 337 +f 325 307 337 +f 321 297 338 +f 297 327 338 +f 327 321 338 +f 298 306 339 +f 323 298 339 +f 305 332 339 +f 332 323 339 +f 333 305 339 +f 306 333 339 +f 313 329 340 +f 331 313 340 +f 329 331 340 +f 321 312 341 +f 316 321 341 +f 328 293 341 +f 312 328 341 +f 337 316 341 +f 293 337 341 +f 296 304 342 +f 309 296 342 +f 295 305 343 +f 308 295 343 +f 305 315 343 +f 324 308 343 +f 315 324 343 +f 304 309 344 +f 342 304 344 +f 309 342 344 +f 307 297 345 +f 316 307 345 +f 297 319 345 +f 321 316 345 +f 319 321 345 +f 306 298 346 +f 303 310 346 +f 310 306 346 +f 298 335 346 +o convex_8 +v 0.598266 0.864342 1.225989 +v -0.038088 -0.125725 -1.249420 +v -0.038088 0.121740 -1.249420 +v -1.134226 -0.196548 -0.011715 +v 1.270258 -0.196548 0.836602 +v 0.669002 0.864342 -1.214043 +v -0.922018 0.864342 -0.117604 +v 1.623938 -0.196548 -0.046608 +v -0.674442 -0.196548 0.907598 +v 1.376092 0.864342 0.094173 +v -0.674442 0.864342 0.801225 +v 1.234620 -0.196548 -0.895409 +v -0.603706 0.864342 -0.895409 +v -0.073456 -0.161137 1.225989 +v 1.199252 0.864342 -0.824656 +v -0.639074 -0.196548 -0.931029 +v 1.234620 0.864342 0.801225 +v -0.002720 0.687492 1.225989 +v 0.386058 -0.196548 -1.249420 +v 0.492432 -0.055006 1.225989 +v 0.315322 0.864342 -1.249420 +v 0.633634 0.333897 -1.249420 +v -0.144192 0.192459 1.225989 +v -0.709810 0.510642 0.836602 +v -0.674442 0.758107 -0.824656 +v 0.279954 -0.196548 1.225989 +v -0.957386 0.793519 -0.011715 +v 1.623938 -0.161137 0.023177 +v 1.376092 0.864342 -0.117604 +v -1.134226 -0.161137 -0.046608 +v 0.174120 0.864342 1.225989 +v 0.633634 0.510642 1.225989 +v 0.103384 0.652081 -1.249420 +v -0.745178 -0.125725 0.836602 +v -0.674442 0.051020 -0.895409 +v -0.709810 0.828930 0.766090 +v 1.234620 0.298589 -0.860033 +v -0.532970 0.864342 0.907598 +v 0.562898 -0.019699 -1.249420 +v 0.633634 0.828930 -1.249420 +v 1.270258 -0.019699 0.836602 +f 378 351 387 +f 347 352 353 +f 351 350 354 +f 350 351 355 +f 352 347 356 +f 347 353 357 +f 354 350 358 +f 353 352 359 +f 352 356 361 +f 349 348 362 +f 358 350 362 +f 359 349 362 +f 356 347 363 +f 360 347 364 +f 348 349 365 +f 362 348 365 +f 358 362 365 +f 347 360 366 +f 359 352 367 +f 365 349 367 +f 365 367 368 +f 355 360 369 +f 360 364 369 +f 355 369 370 +f 353 359 371 +f 355 351 372 +f 360 355 372 +f 351 366 372 +f 366 360 372 +f 357 353 373 +f 351 354 374 +f 356 363 374 +f 361 356 375 +f 354 361 375 +f 374 354 375 +f 356 374 375 +f 362 350 376 +f 353 371 376 +f 350 373 376 +f 373 353 376 +f 347 357 377 +f 364 347 377 +f 347 366 378 +f 366 351 378 +f 349 359 379 +f 367 349 379 +f 359 367 379 +f 350 355 380 +f 370 350 380 +f 355 370 380 +f 359 362 381 +f 371 359 381 +f 362 376 381 +f 376 371 381 +f 350 370 382 +f 370 357 382 +f 373 350 382 +f 357 373 382 +f 354 358 383 +f 361 354 383 +f 369 364 384 +f 357 370 384 +f 370 369 384 +f 377 357 384 +f 364 377 384 +f 358 365 385 +f 365 368 385 +f 368 358 385 +f 352 361 386 +f 367 352 386 +f 368 367 386 +f 358 368 386 +f 383 358 386 +f 361 383 386 +f 363 347 387 +f 351 374 387 +f 374 363 387 +f 347 378 387 +o convex_9 +v 0.244660 0.263240 3.029228 +v 0.068005 -0.161185 1.225989 +v 0.280110 -0.161185 1.225989 +v 0.563049 0.864342 1.225989 +v -0.002697 0.687464 1.225989 +v 0.421579 0.157134 2.675564 +v -0.108848 0.121798 1.403092 +v 0.492281 0.015692 1.225989 +v 0.209540 0.015692 2.781753 +v 0.068005 0.263240 2.781753 +v 0.280110 0.864342 1.332359 +v -0.073465 -0.090414 1.261626 +v 0.563049 0.333911 1.438368 +v 0.209540 0.404481 2.781753 +v 0.386196 0.015692 2.322079 +v 0.386196 0.263240 2.817029 +v -0.108848 0.263240 1.225989 +v 0.068005 0.192469 2.781753 +v 0.068005 0.758235 1.261626 +v 0.280110 0.015692 2.781753 +v 0.032621 0.263240 2.605011 +v 0.563049 0.864342 1.261626 +v 0.068005 0.369146 2.569555 +v 0.244660 0.192469 3.064505 +v 0.456897 -0.055079 1.261626 +f 393 402 412 +f 390 389 391 +f 391 389 392 +f 390 391 395 +f 389 390 396 +f 389 396 399 +f 395 391 400 +f 393 395 400 +f 397 388 401 +f 401 388 403 +f 392 389 404 +f 389 399 404 +f 399 394 404 +f 394 399 405 +f 399 396 405 +f 391 392 406 +f 398 391 406 +f 401 398 406 +f 396 390 407 +f 390 402 407 +f 402 393 407 +f 392 404 408 +f 404 394 408 +f 394 405 408 +f 405 397 408 +f 391 398 409 +f 400 391 409 +f 393 400 409 +f 398 401 409 +f 403 393 409 +f 401 403 409 +f 397 401 410 +f 406 392 410 +f 401 406 410 +f 392 408 410 +f 408 397 410 +f 388 397 411 +f 403 388 411 +f 393 403 411 +f 405 396 411 +f 397 405 411 +f 396 407 411 +f 407 393 411 +f 390 395 412 +f 395 393 412 +f 402 390 412 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/387/387.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/387/387.urdf new file mode 100644 index 000000000..af900dcc6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/387/387.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/388/388.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/388/388.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/388/388.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/388/388.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/388/388.obj new file mode 100644 index 000000000..41712a2bd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/388/388.obj @@ -0,0 +1,450 @@ +o convex_0 +v -0.994580 1.154857 -3.854875 +v 1.112480 1.330567 -1.186148 +v 1.112480 1.225309 -1.186148 +v -1.064914 0.839290 -1.186413 +v 0.936857 0.066415 -3.854875 +v 0.655944 2.173475 -3.819934 +v -1.029534 2.138249 -1.186413 +v -0.959412 0.101851 -1.397116 +v 1.006978 0.066415 -1.186413 +v -0.924245 0.066625 -3.890080 +v -1.029534 2.208491 -3.854875 +v 1.006978 2.138249 -1.186413 +v 0.936857 2.138249 -3.784464 +v -0.959412 0.136867 -1.186413 +v -0.397586 2.208491 -2.696274 +v 0.831354 0.101851 -3.890080 +v 0.971811 0.171884 -3.644172 +v -1.029534 2.173265 -1.467527 +v 1.112480 1.190083 -1.397116 +v 0.269529 2.173265 -1.326970 +v -0.924245 0.066625 -2.766420 +v -0.959412 0.172093 -3.468410 +v -0.959412 1.050017 -3.890080 +v -0.502875 2.208491 -3.854875 +v -1.029534 1.892296 -3.854875 +v -1.029534 2.208491 -2.731215 +v 0.936857 1.962748 -3.819934 +v 0.971811 2.138249 -2.836566 +v 1.006978 0.066415 -1.537673 +v -1.064914 0.839290 -1.292029 +v -0.221963 2.208491 -3.749523 +f 24 15 31 +f 3 2 4 +f 4 2 7 +f 7 2 12 +f 3 4 14 +f 4 8 14 +f 8 9 14 +f 9 3 14 +f 5 10 16 +f 4 7 18 +f 2 3 19 +f 3 9 19 +f 13 2 19 +f 12 6 20 +f 7 12 20 +f 18 7 20 +f 5 9 21 +f 9 8 21 +f 10 5 21 +f 8 10 21 +f 1 10 22 +f 10 8 22 +f 16 10 23 +f 16 23 24 +f 11 15 24 +f 23 11 24 +f 10 1 25 +f 23 10 25 +f 11 23 25 +f 11 4 26 +f 15 11 26 +f 4 18 26 +f 20 15 26 +f 18 20 26 +f 6 13 27 +f 5 16 27 +f 17 5 27 +f 13 19 27 +f 19 17 27 +f 16 24 27 +f 24 6 27 +f 12 2 28 +f 6 12 28 +f 2 13 28 +f 13 6 28 +f 9 5 29 +f 5 17 29 +f 19 9 29 +f 17 19 29 +f 8 4 30 +f 4 11 30 +f 1 22 30 +f 22 8 30 +f 25 1 30 +f 11 25 30 +f 20 6 31 +f 15 20 31 +f 6 24 31 +o convex_1 +v 0.831396 -2.883431 0.113271 +v 0.093889 1.470918 2.290676 +v 0.058869 1.470918 2.290676 +v 0.655879 -3.901933 2.220341 +v -1.064901 -3.901331 0.183819 +v 1.042142 2.102593 0.113271 +v -1.064901 2.172980 2.150006 +v -1.029671 2.102593 0.113271 +v -0.994652 -3.936826 2.150006 +v 1.007123 2.173582 2.150006 +v 1.077371 -3.972320 0.148652 +v 0.971893 -3.866439 2.220128 +v 1.042142 0.311643 2.150006 +v -0.221916 -0.637073 2.290676 +v -1.064901 2.172980 1.377172 +v 0.866625 -3.585494 2.255295 +v -0.994652 0.171471 0.113271 +v 1.042142 2.137486 0.183819 +v -0.256935 -3.936826 0.148439 +v -0.327184 1.084092 2.290676 +v -0.889174 -3.479613 2.184960 +v -1.029671 -3.936826 1.342217 +v 0.971893 -3.936826 1.833924 +v -1.064901 2.138088 0.815770 +v 0.269616 1.084092 2.290676 +v 1.077371 -3.515709 0.429566 +v 1.007123 2.173582 1.236928 +v -0.959423 -1.056987 2.184960 +v -1.029671 2.138088 0.359231 +v 0.409903 -1.548491 2.290676 +v 1.042142 2.137486 0.604977 +v 1.042142 -0.075183 2.150006 +v 0.480152 -3.972320 0.148439 +v 1.042142 -3.972320 0.745648 +v -1.064901 1.821648 2.150006 +v -0.573160 -3.936826 2.184960 +v -1.064901 -3.901331 0.359231 +v -0.678428 -3.936826 0.183606 +v -0.292165 1.470316 2.290676 +v -0.959423 0.627481 2.184960 +v 1.042142 0.100483 0.113271 +v 0.866625 -3.374935 2.255295 +v 0.199367 -3.901933 2.220341 +v -0.011170 -3.936826 2.185173 +f 35 74 75 +f 37 32 39 +f 34 33 41 +f 38 34 41 +f 41 43 44 +f 33 34 45 +f 36 38 46 +f 38 41 46 +f 35 43 47 +f 39 32 48 +f 36 39 48 +f 37 39 49 +f 48 32 50 +f 36 48 50 +f 45 34 51 +f 45 51 52 +f 43 35 54 +f 39 36 55 +f 36 46 55 +f 41 33 56 +f 33 45 56 +f 42 37 57 +f 43 42 57 +f 37 49 57 +f 46 41 58 +f 41 49 58 +f 49 46 58 +f 52 51 59 +f 40 52 59 +f 49 39 60 +f 46 49 60 +f 39 55 60 +f 55 46 60 +f 45 47 61 +f 56 45 61 +f 41 44 62 +f 49 41 62 +f 44 57 62 +f 57 49 62 +f 44 43 63 +f 43 57 63 +f 57 44 63 +f 32 42 64 +f 50 32 64 +f 40 53 64 +f 42 43 65 +f 43 54 65 +f 64 42 65 +f 40 64 65 +f 38 36 66 +f 53 40 66 +f 59 38 66 +f 40 59 66 +f 52 40 67 +f 40 65 67 +f 36 53 68 +f 66 36 68 +f 53 66 68 +f 36 50 69 +f 53 36 69 +f 50 64 69 +f 64 53 69 +f 34 38 70 +f 51 34 70 +f 38 51 70 +f 51 38 71 +f 38 59 71 +f 59 51 71 +f 32 37 72 +f 42 32 72 +f 37 42 72 +f 43 41 73 +f 47 43 73 +f 41 56 73 +f 61 47 73 +f 56 61 73 +f 35 47 74 +f 47 45 74 +f 45 52 74 +f 52 67 74 +f 74 67 75 +f 54 35 75 +f 65 54 75 +f 67 65 75 +o convex_2 +v 0.234450 1.471193 3.028366 +v 0.164218 0.768804 4.081588 +v -0.257116 0.839070 3.660186 +v 0.269566 0.839070 2.291054 +v -0.292232 1.471193 2.291054 +v -0.186884 1.436060 4.151728 +v 0.269566 1.471193 4.222056 +v -0.327348 0.874204 2.291054 +v -0.257116 0.839070 4.186892 +v 0.199334 1.436060 2.291054 +v 0.234450 0.768804 4.151728 +v -0.257116 1.084934 4.186892 +v 0.269566 0.803937 2.642128 +v 0.269566 1.119998 2.361193 +v -0.292232 1.471193 2.606964 +v -0.292232 0.909337 3.730325 +v -0.222000 1.365725 4.186892 +v 0.269566 0.803937 3.308923 +v 0.093986 1.471193 4.222056 +v -0.046420 1.049870 4.222056 +f 82 94 95 +f 76 80 82 +f 77 78 83 +f 80 79 83 +f 78 77 84 +f 83 78 84 +f 80 76 85 +f 79 80 85 +f 84 77 86 +f 79 82 88 +f 77 83 88 +f 83 79 88 +f 86 77 88 +f 82 79 89 +f 76 82 89 +f 85 76 89 +f 79 85 89 +f 82 80 90 +f 80 83 90 +f 87 90 91 +f 83 84 91 +f 84 87 91 +f 90 83 91 +f 81 90 92 +f 90 87 92 +f 82 86 93 +f 88 82 93 +f 86 88 93 +f 82 90 94 +f 90 81 94 +f 81 92 94 +f 94 92 95 +f 86 82 95 +f 84 86 95 +f 87 84 95 +f 92 87 95 +o convex_3 +v -1.170390 1.330605 -0.448640 +v -3.066351 1.436046 -1.151029 +v -3.101842 1.295520 -1.115827 +v -1.064914 0.909337 -1.045629 +v -2.996367 0.909337 -0.448640 +v -1.064914 1.365814 -1.080762 +v -2.855799 1.471193 -0.589173 +v -1.064914 0.839043 -0.518906 +v -3.101842 0.874190 -0.975363 +v -1.064914 1.365814 -0.483773 +v -2.539573 1.471193 -1.115827 +v -1.943010 0.839043 -0.483773 +v -3.066351 1.471193 -0.975363 +v -1.064914 0.839043 -0.729637 +v -2.504481 0.874190 -1.010496 +v -2.961275 1.225350 -0.518906 +v -2.855799 0.874190 -0.448640 +v -1.662275 1.365814 -1.115827 +f 106 101 113 +f 98 97 99 +f 99 101 103 +f 102 96 105 +f 96 103 105 +f 103 101 105 +f 102 105 106 +f 105 101 106 +f 103 96 107 +f 97 98 108 +f 98 104 108 +f 104 100 108 +f 106 97 108 +f 102 106 108 +f 99 103 109 +f 103 107 109 +f 107 104 109 +f 98 99 110 +f 104 98 110 +f 99 109 110 +f 109 104 110 +f 100 96 111 +f 96 102 111 +f 108 100 111 +f 102 108 111 +f 96 100 112 +f 100 104 112 +f 107 96 112 +f 104 107 112 +f 99 97 113 +f 101 99 113 +f 97 106 113 +o convex_4 +v -1.064914 0.839174 -0.553988 +v 1.006988 2.138462 -0.097576 +v 1.006988 2.138462 -1.186021 +v 1.006988 0.066415 -0.975301 +v -1.029747 2.138462 -1.186021 +v -0.994579 0.172086 0.113144 +v -1.029747 2.103171 0.113144 +v 1.042156 0.136795 0.113144 +v -0.959412 0.136998 -1.186021 +v 1.042156 2.103171 0.113144 +v 1.112491 1.225147 -1.186021 +v 1.006988 0.066415 -1.186021 +v -0.959412 0.136998 -0.027379 +v 1.112491 0.839174 -0.448692 +v -1.064914 0.874262 -1.186021 +v 0.796196 0.101707 0.113144 +v -1.029747 2.138462 -0.202873 +v 1.112491 1.576235 -0.764581 +v -1.064914 1.365501 -0.483790 +v 1.112491 0.874262 -1.045499 +v -1.029747 1.365501 0.113144 +v 0.690906 2.138462 0.007720 +v 1.077323 1.857348 -0.132675 +f 127 131 136 +f 115 116 118 +f 120 119 121 +f 118 116 122 +f 116 115 123 +f 120 121 123 +f 122 116 124 +f 122 124 125 +f 121 117 125 +f 117 122 125 +f 122 117 126 +f 119 122 126 +f 119 114 128 +f 118 122 128 +f 122 119 128 +f 121 119 129 +f 117 121 129 +f 119 126 129 +f 126 117 129 +f 115 118 130 +f 116 123 131 +f 124 116 131 +f 127 124 131 +f 128 114 132 +f 118 128 132 +f 130 118 132 +f 120 130 132 +f 125 124 133 +f 121 125 133 +f 127 121 133 +f 124 127 133 +f 114 119 134 +f 119 120 134 +f 132 114 134 +f 120 132 134 +f 123 115 135 +f 120 123 135 +f 115 130 135 +f 130 120 135 +f 123 121 136 +f 121 127 136 +f 131 123 136 +o convex_5 +v 3.078986 1.400895 -0.518906 +v 1.112683 0.909330 -1.151029 +v 1.112683 0.874214 -1.080762 +v 3.078986 0.874214 -1.115827 +v 3.043761 0.803982 -0.448640 +v 1.112683 0.979562 -0.448640 +v 1.112683 1.365780 -1.045629 +v 2.938468 1.400895 -1.080762 +v 1.182943 1.400895 -0.589173 +v 1.112683 0.839098 -0.448640 +v 2.692656 1.330663 -0.483773 +v 1.428755 1.049794 -1.151029 +v 3.078986 1.049794 -0.448640 +v 2.025864 1.400895 -1.080762 +v 3.078986 0.839098 -0.940298 +v 3.078986 1.014678 -1.115827 +v 1.112683 1.400895 -0.940298 +v 2.903242 0.803982 -0.518906 +v 2.552136 1.295547 -1.115827 +v 1.534240 0.874214 -1.151029 +f 151 154 156 +f 138 139 142 +f 138 142 143 +f 137 144 145 +f 142 139 146 +f 141 142 146 +f 137 145 147 +f 145 142 147 +f 138 143 148 +f 140 137 149 +f 142 141 149 +f 137 147 149 +f 147 142 149 +f 145 144 150 +f 148 143 150 +f 140 149 151 +f 149 141 151 +f 137 140 152 +f 144 137 152 +f 143 142 153 +f 142 145 153 +f 150 143 153 +f 145 150 153 +f 146 139 154 +f 141 146 154 +f 151 141 154 +f 150 144 155 +f 148 150 155 +f 144 152 155 +f 152 148 155 +f 139 138 156 +f 138 148 156 +f 140 151 156 +f 152 140 156 +f 148 152 156 +f 154 139 156 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/388/388.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/388/388.urdf new file mode 100644 index 000000000..478c3d83b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/388/388.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/389/389.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/389/389.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/389/389.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/389/389.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/389/389.obj new file mode 100644 index 000000000..45f35bfb9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/389/389.obj @@ -0,0 +1,888 @@ +o convex_0 +v 0.880061 -0.152656 -1.585538 +v 0.793307 -0.239071 -2.277741 +v 0.793307 -0.094939 -2.277741 +v 3.042747 -0.210266 -2.018165 +v 1.774244 0.106965 -1.931639 +v 0.793307 -0.441029 -1.931639 +v 2.725456 -0.412117 -1.989300 +v 0.793307 0.049248 -1.614402 +v 2.696611 -0.123851 -2.191148 +v 2.610077 -0.152656 -1.787453 +v 0.793307 0.049248 -2.220012 +v 2.725456 0.049248 -1.960436 +v 1.110818 -0.383311 -1.729792 +v 2.350476 -0.354453 -2.162283 +v 0.793307 -0.383311 -2.162283 +v 2.610077 -0.267930 -1.816385 +v 0.793307 0.106965 -1.989300 +v 2.090874 0.020389 -2.162283 +v 2.638922 -0.267930 -2.191148 +v 1.716555 0.049248 -1.729792 +v 2.004340 -0.441029 -2.018165 +v 0.793307 -0.239071 -1.614402 +v 2.725456 0.049248 -2.018165 +v 2.437010 -0.152656 -2.220012 +v 1.745399 0.106965 -1.989300 +v 2.437010 -0.354453 -1.845114 +v 0.880061 -0.354453 -2.220012 +v 2.465854 -0.008416 -1.816385 +v 2.696611 -0.412117 -2.046961 +v 0.793307 0.106965 -1.845114 +f 17 8 30 +f 3 2 6 +f 3 6 8 +f 8 1 10 +f 3 8 11 +f 10 4 12 +f 6 2 15 +f 7 4 16 +f 4 10 16 +f 10 1 16 +f 11 8 17 +f 9 4 19 +f 14 2 19 +f 5 8 20 +f 8 10 20 +f 12 5 20 +f 13 6 21 +f 7 13 21 +f 6 15 21 +f 1 8 22 +f 8 6 22 +f 6 13 22 +f 16 1 22 +f 4 9 23 +f 5 12 23 +f 12 4 23 +f 9 18 23 +f 2 3 24 +f 3 11 24 +f 11 18 24 +f 18 9 24 +f 19 2 24 +f 9 19 24 +f 17 5 25 +f 11 17 25 +f 18 11 25 +f 5 23 25 +f 23 18 25 +f 13 7 26 +f 7 16 26 +f 22 13 26 +f 16 22 26 +f 2 14 27 +f 15 2 27 +f 21 15 27 +f 10 12 28 +f 20 10 28 +f 12 20 28 +f 4 7 29 +f 19 4 29 +f 14 19 29 +f 7 21 29 +f 27 14 29 +f 21 27 29 +f 8 5 30 +f 5 17 30 +o convex_1 +v -0.822263 -0.066136 -1.643272 +v -0.995184 -0.152639 -2.306582 +v -0.995184 -0.123826 -2.306582 +v -3.013597 -0.181453 -1.902936 +v -0.822263 -0.498588 -1.845131 +v -0.822263 0.106869 -2.220052 +v -2.696289 0.049180 -1.960458 +v -2.754000 -0.181453 -2.133450 +v -0.822263 -0.383272 -2.248777 +v -2.609828 -0.383272 -1.902936 +v -0.851012 -0.469775 -1.643272 +v -2.552116 -0.152639 -1.729803 +v -0.822263 0.135683 -1.931662 +v -1.543125 0.020366 -1.729803 +v -1.773757 0.078056 -2.162317 +v -0.879761 -0.210266 -1.585538 +v -1.802721 -0.383272 -2.133450 +v -0.908724 -0.498588 -1.989184 +v -2.552116 -0.267956 -1.758670 +v -2.754000 -0.123826 -2.133450 +v -2.609828 0.049180 -1.902936 +v -1.831469 0.106869 -1.931662 +v -2.667325 -0.354458 -1.989184 +v -1.975213 -0.440961 -1.960458 +v -0.851012 -0.066136 -2.306582 +v -0.822263 0.020366 -1.700936 +v -2.436693 -0.008447 -1.787467 +v -0.822263 -0.267956 -1.585538 +v -3.013597 -0.123826 -1.931662 +v -2.436693 0.020366 -2.104583 +f 45 50 60 +f 31 35 36 +f 33 32 38 +f 36 35 39 +f 38 32 39 +f 31 36 43 +f 31 44 46 +f 44 42 46 +f 38 39 47 +f 39 35 48 +f 47 39 48 +f 34 40 49 +f 40 41 49 +f 42 34 49 +f 33 38 50 +f 51 44 52 +f 43 36 52 +f 44 43 52 +f 36 45 52 +f 45 37 52 +f 37 51 52 +f 34 38 53 +f 40 34 53 +f 38 47 53 +f 35 41 54 +f 41 40 54 +f 47 48 54 +f 48 35 54 +f 40 53 54 +f 53 47 54 +f 32 33 55 +f 39 32 55 +f 36 39 55 +f 45 36 55 +f 33 50 55 +f 50 45 55 +f 31 43 56 +f 43 44 56 +f 44 31 56 +f 42 44 57 +f 44 51 57 +f 35 31 58 +f 41 35 58 +f 31 46 58 +f 46 42 58 +f 49 41 58 +f 42 49 58 +f 38 34 59 +f 34 42 59 +f 37 50 59 +f 50 38 59 +f 51 37 59 +f 42 57 59 +f 57 51 59 +f 37 45 60 +f 50 37 60 +o convex_2 +v 0.014575 -2.949989 -0.518340 +v 0.043236 0.683544 1.298642 +v -0.042950 0.683544 1.298642 +v -0.042950 2.529411 -0.893120 +v 1.052877 -0.152089 -0.172273 +v -1.023727 -0.209676 -0.143307 +v 0.072101 -2.863607 0.750575 +v 0.850827 2.240860 0.779287 +v -0.792812 2.182660 0.836964 +v -0.014086 -0.988947 -1.297120 +v -0.706423 -2.084337 0.779287 +v 0.793098 -2.142537 0.750320 +v -0.821677 2.212066 -0.835442 +v 0.821963 2.212066 -0.749052 +v -0.735287 -2.170718 -0.748798 +v 0.735573 -2.142537 -0.691120 +v 0.043236 3.106512 0.375541 +v 0.533726 0.308000 -1.297120 +v 0.447133 -0.815571 1.298642 +v -0.446847 -0.873159 1.298642 +v -0.533237 -0.180882 -1.297120 +v 1.024013 -0.238470 0.750575 +v -0.937134 -0.209676 0.807998 +v -0.360254 3.106512 -0.258662 +v 0.072101 2.529411 0.923608 +v -0.965998 -0.353645 -0.777764 +v -0.014086 -3.152158 0.058439 +v 0.966284 -0.238470 -0.720086 +v 0.360540 3.106512 0.029473 +v -0.937134 2.125685 0.029473 +v 0.966284 2.154479 0.000761 +v 0.793098 -2.430475 -0.027697 +v -0.763948 -2.372887 0.029727 +v 0.591251 -0.123295 1.298642 +v -0.590965 -0.093888 1.298642 +v 0.043236 -2.834813 -0.720086 +v 0.504862 -0.728577 -1.297120 +v -0.417983 0.337406 -1.297120 +v -0.648694 2.846755 0.058439 +v -0.533237 -0.728577 -1.297120 +v 0.475998 2.875549 -0.402984 +v 0.677844 2.846755 0.087151 +v 0.475998 0.452581 1.298642 +v -0.475711 2.817961 0.519863 +v -0.446847 0.510169 1.298642 +v 0.562387 2.817961 0.490897 +v -0.965998 0.193437 -0.777764 +v 0.043236 -1.075328 1.298642 +v 0.995149 1.894722 0.000761 +v 0.100965 0.596550 -1.297120 +v -1.023727 -0.180882 0.115863 +v -0.014086 3.106512 -0.345306 +v -0.677558 -2.228306 0.721609 +v -0.965998 1.808341 0.000761 +v -0.504373 2.903730 -0.460662 +v 1.052877 -0.354258 0.058439 +v 0.216422 -3.007576 0.029473 +v 0.995149 -0.209676 -0.633442 +v 0.072101 2.500617 -0.893120 +v 0.793098 -2.257099 0.577287 +v -0.158407 -2.747819 -0.720086 +v -0.273661 3.106512 0.231473 +v 0.014575 -2.863607 0.750575 +v 0.706709 -2.228918 -0.691120 +f 117 96 124 +f 62 63 79 +f 67 72 79 +f 79 63 80 +f 78 70 81 +f 63 62 85 +f 78 74 88 +f 84 77 89 +f 71 83 93 +f 66 86 93 +f 86 75 93 +f 75 87 93 +f 62 79 94 +f 79 72 94 +f 82 68 94 +f 72 82 94 +f 80 63 95 +f 71 80 95 +f 69 83 95 +f 83 71 95 +f 70 78 97 +f 88 76 97 +f 78 88 97 +f 96 70 97 +f 73 64 98 +f 81 73 98 +f 78 81 98 +f 90 69 99 +f 73 90 99 +f 81 70 100 +f 75 86 100 +f 86 81 100 +f 68 91 102 +f 91 74 102 +f 74 101 102 +f 101 89 102 +f 85 62 103 +f 68 85 103 +f 62 94 103 +f 94 68 103 +f 69 85 104 +f 85 77 104 +f 99 69 104 +f 63 85 105 +f 85 69 105 +f 95 63 105 +f 69 95 105 +f 85 68 106 +f 77 85 106 +f 89 77 106 +f 68 102 106 +f 102 89 106 +f 73 81 107 +f 86 66 107 +f 81 86 107 +f 67 79 108 +f 79 80 108 +f 68 82 109 +f 91 68 109 +f 74 91 109 +f 98 64 110 +f 78 98 110 +f 66 93 111 +f 93 83 111 +f 84 89 112 +f 89 101 112 +f 71 93 113 +f 93 87 113 +f 83 69 114 +f 69 90 114 +f 90 73 114 +f 73 107 114 +f 107 66 114 +f 66 111 114 +f 111 83 114 +f 64 73 115 +f 73 99 115 +f 99 84 115 +f 112 64 115 +f 84 112 115 +f 92 65 116 +f 65 109 116 +f 109 82 116 +f 67 87 117 +f 87 61 117 +f 61 96 117 +f 88 74 118 +f 76 88 118 +f 92 76 118 +f 65 92 118 +f 109 65 118 +f 74 109 118 +f 74 78 119 +f 101 74 119 +f 110 64 119 +f 78 110 119 +f 64 112 119 +f 112 101 119 +f 72 67 120 +f 82 72 120 +f 116 82 120 +f 92 116 120 +f 67 117 120 +f 117 92 120 +f 61 87 121 +f 87 75 121 +f 96 61 121 +f 70 96 121 +f 100 70 121 +f 75 100 121 +f 77 84 122 +f 84 99 122 +f 104 77 122 +f 99 104 122 +f 80 71 123 +f 87 67 123 +f 67 108 123 +f 108 80 123 +f 71 113 123 +f 113 87 123 +f 76 92 124 +f 97 76 124 +f 96 97 124 +f 92 117 124 +o convex_3 +v 0.187527 4.433060 0.173761 +v -0.331456 3.106682 -0.258713 +v -0.331456 3.106682 0.087253 +v 0.360612 3.106682 0.029603 +v -0.071863 4.577199 -0.143346 +v 0.101019 3.106682 0.375637 +v -0.187230 4.548405 0.116044 +v -0.014213 3.135645 -0.316431 +v 0.187527 4.605992 -0.028047 +v -0.216089 3.222196 0.289061 +v 0.043369 4.605992 0.231411 +v 0.331753 3.193233 0.289061 +v 0.216386 3.106682 -0.201064 +v 0.014578 4.836851 0.058394 +v 0.129877 4.433060 -0.114555 +v -0.187230 4.461854 -0.056838 +v 0.216386 4.548405 0.029603 +v 0.101019 4.577199 0.231411 +v -0.331456 3.308577 0.000812 +v -0.129580 3.135645 -0.316431 +v 0.216386 4.490647 -0.028047 +v -0.129580 4.144614 0.231411 +v -0.187230 4.577199 0.029603 +f 143 131 147 +f 127 126 128 +f 127 128 130 +f 127 130 134 +f 131 127 134 +f 130 128 136 +f 128 126 137 +f 126 132 137 +f 133 129 138 +f 131 135 138 +f 132 129 139 +f 129 133 139 +f 137 132 139 +f 129 126 140 +f 136 128 141 +f 125 136 141 +f 133 138 141 +f 141 138 142 +f 135 130 142 +f 130 136 142 +f 136 125 142 +f 138 135 142 +f 125 141 142 +f 126 127 143 +f 127 131 143 +f 126 129 144 +f 132 126 144 +f 129 132 144 +f 128 137 145 +f 139 133 145 +f 137 139 145 +f 141 128 145 +f 133 141 145 +f 134 130 146 +f 131 134 146 +f 135 131 146 +f 130 135 146 +f 138 129 147 +f 131 138 147 +f 140 126 147 +f 129 140 147 +f 126 143 147 +o convex_4 +v 0.043403 0.078022 4.096534 +v -0.100738 -0.527554 3.317735 +v 0.072211 -0.527554 3.317735 +v 0.014544 -0.325566 4.903646 +v -0.216072 0.049194 3.317735 +v 0.245262 -0.152665 3.317735 +v -0.187264 -0.210255 4.730599 +v 0.216403 -0.152665 4.788226 +v -0.244930 -0.469769 3.346715 +v 0.216403 -0.412114 4.067554 +v -0.043072 -0.008461 4.759412 +v 0.129877 0.078022 3.317735 +v 0.014544 -0.412114 4.788226 +v -0.273789 -0.181492 3.577390 +v -0.187264 -0.440941 4.154161 +v 0.245262 -0.325566 3.317735 +v -0.014264 -0.181492 5.019068 +v 0.187544 0.020366 3.865692 +v -0.187264 0.049194 3.808065 +v -0.014264 0.135742 3.375528 +v 0.014544 -0.498597 4.067554 +v 0.072211 -0.008461 4.730599 +v 0.187544 -0.354393 4.586364 +v 0.245262 -0.181492 4.298062 +v 0.187544 -0.469769 3.317735 +v -0.158405 -0.267910 4.788226 +v -0.273789 -0.325566 3.317735 +v -0.244930 -0.267910 4.038740 +v -0.129597 -0.037354 4.615178 +f 166 154 176 +f 150 149 152 +f 150 152 153 +f 153 152 159 +f 156 149 162 +f 150 153 163 +f 151 155 164 +f 158 154 164 +f 159 148 165 +f 153 159 165 +f 152 161 166 +f 161 154 166 +f 158 148 167 +f 148 159 167 +f 159 152 167 +f 152 166 167 +f 166 158 167 +f 149 150 168 +f 150 157 168 +f 157 160 168 +f 162 149 168 +f 160 162 168 +f 148 158 169 +f 164 155 169 +f 158 164 169 +f 155 165 169 +f 165 148 169 +f 155 151 170 +f 157 155 170 +f 151 160 170 +f 160 157 170 +f 155 157 171 +f 163 153 171 +f 157 163 171 +f 153 165 171 +f 165 155 171 +f 157 150 172 +f 150 163 172 +f 163 157 172 +f 160 151 173 +f 154 162 173 +f 162 160 173 +f 151 164 173 +f 164 154 173 +f 152 149 174 +f 149 156 174 +f 161 152 174 +f 161 174 175 +f 154 161 175 +f 156 162 175 +f 162 154 175 +f 174 156 175 +f 154 158 176 +f 158 166 176 +o convex_5 +v 0.793298 -0.412077 -1.816385 +v -0.071816 -0.210184 -2.969944 +v -0.071816 -0.152721 -2.969944 +v -0.821834 -0.498602 -1.816385 +v -0.014268 0.366431 -1.816385 +v -0.821834 0.106855 -2.220215 +v 0.360583 0.164539 -2.623820 +v 0.418131 -0.585128 -2.652503 +v 0.043280 -0.758179 -1.816385 +v -0.417893 -0.527444 -2.623820 +v 0.793298 0.106855 -2.018187 +v -0.360345 0.222222 -2.652503 +v -0.821834 0.078013 -1.816385 +v 0.389357 -0.210184 -2.883328 +v 0.793298 -0.210184 -2.306605 +v -0.821834 -0.181563 -2.335515 +v -0.389119 -0.095037 -2.883328 +v 0.418131 0.308748 -1.816385 +v 0.447063 -0.700495 -1.845181 +v -0.014268 -0.585128 -2.710323 +v -0.446667 -0.671653 -1.931684 +v -0.360345 0.308748 -1.989503 +v -0.821834 -0.383235 -2.277808 +v 0.793298 0.020330 -2.248899 +v 0.072054 0.193381 -2.710323 +v 0.793298 0.106855 -1.816385 +v 0.793298 -0.440919 -2.018187 +v -0.821834 -0.498602 -2.018187 +v 0.072054 0.366431 -1.874091 +v -0.389119 -0.181563 -2.883328 +v 0.793298 -0.354393 -2.248899 +v -0.360345 0.308748 -1.816385 +v -0.821834 0.135697 -1.931684 +v 0.418131 0.308748 -1.902888 +v 0.072054 -0.267868 -2.941034 +v -0.043042 -0.758179 -1.845181 +v -0.389119 -0.498602 -2.681526 +v -0.475599 -0.671653 -1.816385 +f 197 212 214 +f 180 177 181 +f 177 180 185 +f 180 181 189 +f 182 180 189 +f 178 179 190 +f 187 177 191 +f 180 182 192 +f 179 178 193 +f 188 179 193 +f 182 188 193 +f 192 182 193 +f 181 177 194 +f 177 185 195 +f 185 184 195 +f 186 196 197 +f 188 182 198 +f 181 188 198 +f 180 192 199 +f 183 187 200 +f 190 183 200 +f 187 191 200 +f 191 190 200 +f 179 188 201 +f 190 179 201 +f 183 190 201 +f 177 187 202 +f 194 177 202 +f 187 194 202 +f 191 177 203 +f 177 195 203 +f 195 184 203 +f 186 197 204 +f 180 199 204 +f 199 186 204 +f 188 181 205 +f 181 194 205 +f 201 188 205 +f 193 178 206 +f 192 193 206 +f 199 192 206 +f 184 190 207 +f 190 191 207 +f 191 203 207 +f 203 184 207 +f 189 181 208 +f 181 198 208 +f 208 198 209 +f 182 189 209 +f 198 182 209 +f 189 208 209 +f 187 183 210 +f 194 187 210 +f 183 201 210 +f 205 194 210 +f 201 205 210 +f 178 190 211 +f 190 184 211 +f 196 178 211 +f 184 196 211 +f 184 185 212 +f 196 184 212 +f 197 196 212 +f 178 196 213 +f 196 186 213 +f 186 199 213 +f 206 178 213 +f 199 206 213 +f 185 180 214 +f 204 197 214 +f 180 204 214 +f 212 185 214 +o convex_6 +v -0.014264 -0.931215 -1.441391 +v 0.072216 0.597276 -1.297120 +v 0.072216 0.597276 -1.325984 +v -0.821834 0.049208 -1.758543 +v 0.793307 0.078022 -1.816272 +v 0.504776 -0.729368 -1.297120 +v -0.562235 -0.642775 -1.297120 +v -0.042880 -0.758181 -1.816272 +v 0.014510 0.395276 -1.816272 +v -0.821834 -0.498707 -1.816272 +v 0.504776 0.395276 -1.297120 +v 0.447069 -0.700554 -1.816272 +v -0.418049 0.337649 -1.297120 +v 0.793307 -0.239080 -1.585509 +v -0.821834 -0.181453 -1.585509 +v 0.793307 -0.383300 -1.816272 +v -0.389117 0.308835 -1.816272 +v -0.071654 -0.960181 -1.297120 +v 0.447069 0.308835 -1.816272 +v -0.475597 -0.671741 -1.816272 +v -0.504529 -0.758181 -1.325984 +v 0.793307 -0.095012 -1.556696 +v -0.821834 -0.469741 -1.614374 +v 0.562482 -0.123826 -1.297120 +v -0.821834 0.049208 -1.816272 +v 0.043284 -0.960181 -1.325984 +v 0.014510 0.597276 -1.325984 +v -0.562235 -0.181453 -1.325984 +v 0.793307 0.049208 -1.585509 +f 225 236 243 +f 220 216 221 +f 219 222 223 +f 223 222 224 +f 217 216 225 +f 216 220 225 +f 222 219 226 +f 215 222 226 +f 221 216 227 +f 218 224 229 +f 227 218 229 +f 220 226 230 +f 226 219 230 +f 219 228 230 +f 228 220 230 +f 223 224 231 +f 220 221 232 +f 223 217 233 +f 219 223 233 +f 217 225 233 +f 225 219 233 +f 222 215 234 +f 224 222 234 +f 215 232 234 +f 234 232 235 +f 232 221 235 +f 224 234 235 +f 228 219 236 +f 220 228 236 +f 229 224 237 +f 221 229 237 +f 235 221 237 +f 224 235 237 +f 225 220 238 +f 236 225 238 +f 220 236 238 +f 224 218 239 +f 218 227 239 +f 231 224 239 +f 215 226 240 +f 226 220 240 +f 232 215 240 +f 220 232 240 +f 216 217 241 +f 217 223 241 +f 227 216 241 +f 223 231 241 +f 239 227 241 +f 231 239 241 +f 221 227 242 +f 229 221 242 +f 227 229 242 +f 219 225 243 +f 236 219 243 +o convex_7 +v 0.591414 -0.181498 1.356411 +v -0.591100 -0.210295 1.298642 +v -0.446874 -0.815701 1.298642 +v -0.504518 -0.296515 2.048529 +v 0.072154 0.654959 1.298642 +v 0.360606 -0.642752 2.048529 +v 0.389428 0.222332 2.048529 +v 0.389428 -0.873633 1.298642 +v -0.389114 0.251129 2.019681 +v -0.043018 -0.787074 2.048529 +v -0.446874 0.481841 1.298642 +v 0.476010 0.453044 1.298642 +v 0.014510 -1.075549 1.327490 +v -0.389114 -0.642752 2.048529 +v 0.504832 -0.238922 2.019681 +v -0.014196 0.366485 2.048529 +v -0.504518 -0.094939 2.048529 +v -0.014196 0.654959 1.385258 +v 0.447188 -0.815701 1.298642 +v -0.475696 0.423909 1.356411 +v 0.043332 0.654959 1.385258 +v 0.591414 -0.238922 1.298642 +v -0.244888 -0.959854 1.298642 +v 0.504832 -0.181498 2.019681 +v -0.417936 -0.729311 1.760054 +v -0.043018 -1.046413 1.385258 +v -0.591100 -0.152701 1.356411 +f 260 263 270 +f 245 246 247 +f 246 245 248 +f 247 249 250 +f 246 248 251 +f 249 247 253 +f 248 245 254 +f 251 248 255 +f 251 249 256 +f 249 253 256 +f 253 247 257 +f 250 249 258 +f 247 250 259 +f 247 259 260 +f 259 252 260 +f 248 254 261 +f 254 252 261 +f 252 259 261 +f 249 251 262 +f 251 255 262 +f 258 249 262 +f 254 245 263 +f 252 254 263 +f 260 252 263 +f 250 255 264 +f 255 248 264 +f 259 250 264 +f 248 261 264 +f 261 259 264 +f 255 244 265 +f 244 258 265 +f 262 255 265 +f 258 262 265 +f 246 251 266 +f 251 256 266 +f 244 255 267 +f 255 250 267 +f 250 258 267 +f 258 244 267 +f 247 246 268 +f 257 247 268 +f 246 266 268 +f 268 266 269 +f 256 253 269 +f 253 257 269 +f 266 256 269 +f 257 268 269 +f 245 247 270 +f 247 260 270 +f 263 245 270 +o convex_8 +v -0.014264 0.164547 3.259693 +v -0.100750 -0.758289 2.048777 +v 0.043329 -0.758289 2.048777 +v 0.072222 0.337700 2.048777 +v -0.504574 -0.123826 2.048777 +v -0.273721 -0.498560 3.259693 +v 0.447154 -0.238939 2.740676 +v 0.158708 -0.498560 3.317320 +v 0.389465 0.222265 2.048777 +v -0.331411 0.193406 2.827116 +v 0.360668 -0.642747 2.048777 +v -0.389196 -0.585029 2.884868 +v -0.014264 -0.729323 2.856054 +v 0.331776 0.164547 2.856054 +v -0.302614 -0.152684 3.317320 +v -0.389196 0.222265 2.048777 +v -0.417993 -0.585029 2.048777 +v -0.475682 -0.181543 2.856054 +v 0.216397 -0.037249 3.317320 +v 0.302883 -0.613888 2.856054 +v 0.014533 0.308841 2.769489 +v 0.476047 -0.296656 2.048777 +v -0.216128 0.078078 3.317320 +v 0.245194 -0.325515 3.317320 +v -0.504574 -0.267797 2.221783 +v -0.043060 -0.556278 3.317320 +v -0.071857 0.337700 2.164032 +v 0.476047 -0.094967 2.077591 +v 0.418358 -0.238939 2.884868 +v 0.043329 0.135796 3.317320 +v 0.360668 0.193406 2.596608 +v -0.389196 0.222265 2.221783 +v 0.331776 -0.585029 2.827116 +v -0.071857 -0.729323 2.827116 +v -0.360303 -0.642747 2.164032 +f 304 282 305 +f 273 272 274 +f 274 272 275 +f 273 274 279 +f 273 279 281 +f 272 273 283 +f 274 275 286 +f 275 272 287 +f 282 276 288 +f 276 285 288 +f 285 278 289 +f 273 281 290 +f 283 273 290 +f 278 283 290 +f 279 274 291 +f 280 271 291 +f 281 279 292 +f 271 280 293 +f 288 285 293 +f 280 288 293 +f 285 289 293 +f 289 278 294 +f 275 287 295 +f 287 282 295 +f 282 288 295 +f 288 275 295 +f 283 278 296 +f 278 285 296 +f 285 276 296 +f 274 286 297 +f 291 274 297 +f 280 291 297 +f 277 292 298 +f 292 279 298 +f 277 284 299 +f 284 289 299 +f 289 294 299 +f 289 284 300 +f 291 271 300 +f 284 291 300 +f 271 293 300 +f 293 289 300 +f 284 277 301 +f 279 291 301 +f 291 284 301 +f 277 298 301 +f 298 279 301 +f 286 275 302 +f 288 280 302 +f 275 288 302 +f 297 286 302 +f 280 297 302 +f 278 290 303 +f 290 281 303 +f 292 277 303 +f 281 292 303 +f 294 278 303 +f 277 299 303 +f 299 294 303 +f 276 282 304 +f 272 283 304 +f 296 276 304 +f 283 296 304 +f 287 272 305 +f 282 287 305 +f 272 304 305 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/389/389.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/389/389.urdf new file mode 100644 index 000000000..5ca61778f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/389/389.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/390/390.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/390/390.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/390/390.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/390/390.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/390/390.obj new file mode 100644 index 000000000..8909d9e28 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/390/390.obj @@ -0,0 +1,696 @@ +o convex_0 +v -0.588230 -1.290534 -2.065519 +v 0.567266 -2.181662 -2.890398 +v 0.567266 -2.247705 -2.890398 +v 0.501212 -2.016667 -1.438184 +v -0.588230 -2.412812 -1.438184 +v -0.588230 -2.313748 -3.319606 +v 0.501212 -1.257626 -3.286456 +v 0.435044 -1.356577 -1.438184 +v -0.522063 -1.290534 -3.385519 +v -0.588230 -1.257626 -1.438184 +v 0.567266 -2.247705 -3.418669 +v 0.501212 -2.247705 -1.438184 +v 0.501212 -1.257626 -2.923354 +v 0.038945 -1.257626 -3.352563 +v -0.324013 -1.257626 -1.438184 +v -0.555090 -1.257626 -2.758379 +v 0.567266 -2.082710 -3.418669 +v -0.522063 -1.653657 -3.385519 +v -0.588230 -1.983646 -3.286456 +v 0.369103 -2.280726 -1.438184 +v -0.555090 -2.412812 -1.471335 +v 0.369103 -2.247705 -3.418669 +v 0.534239 -1.488550 -3.253500 +v 0.468185 -1.323556 -1.999412 +v 0.534239 -2.214683 -1.900349 +v -0.224932 -1.290534 -3.385519 +v -0.522063 -2.313748 -3.319606 +f 11 21 27 +f 5 1 6 +f 5 4 8 +f 1 5 10 +f 5 8 10 +f 2 3 11 +f 4 5 12 +f 7 10 13 +f 10 7 14 +f 10 8 15 +f 8 13 15 +f 13 10 15 +f 1 10 16 +f 10 14 16 +f 14 9 16 +f 2 11 17 +f 14 7 17 +f 6 9 18 +f 6 1 19 +f 9 6 19 +f 1 16 19 +f 16 9 19 +f 11 3 20 +f 3 12 20 +f 12 5 20 +f 5 6 21 +f 11 20 21 +f 20 5 21 +f 11 6 22 +f 17 11 22 +f 9 17 22 +f 6 18 22 +f 18 9 22 +f 7 13 23 +f 2 17 23 +f 17 7 23 +f 8 4 24 +f 13 8 24 +f 4 23 24 +f 23 13 24 +f 3 2 25 +f 12 3 25 +f 4 12 25 +f 2 23 25 +f 23 4 25 +f 9 14 26 +f 17 9 26 +f 14 17 26 +f 6 11 27 +f 21 6 27 +o convex_1 +v -0.225018 0.525266 -1.966456 +v -0.258059 -0.134922 -3.352563 +v -0.291099 -0.068889 -3.352563 +v 0.270122 0.393269 -3.418669 +v 0.237082 0.030193 -1.438184 +v -0.258059 -0.101872 -1.438184 +v 0.303162 0.525266 -1.438184 +v -0.291099 0.426319 -3.286456 +v 0.171059 -0.002857 -3.352563 +v -0.258059 0.558384 -1.438184 +v -0.158996 -0.134922 -3.055568 +v -0.291099 0.459301 -2.131432 +v 0.237082 0.063175 -3.220543 +v 0.303162 0.492351 -2.197538 +v 0.204099 -0.002857 -1.438184 +v 0.303162 0.393269 -2.230495 +v -0.059991 0.426319 -3.319606 +v -0.225018 -0.134922 -2.263451 +v 0.270122 0.162258 -1.438184 +v -0.059991 -0.101872 -3.352563 +v 0.270122 0.294255 -3.418669 +v 0.303162 0.525266 -1.735373 +f 41 44 49 +f 30 29 33 +f 33 32 34 +f 31 30 35 +f 33 34 37 +f 28 35 37 +f 30 33 39 +f 35 30 39 +f 33 37 39 +f 37 35 39 +f 32 36 40 +f 32 33 42 +f 36 32 42 +f 41 34 43 +f 31 41 43 +f 31 35 44 +f 35 28 44 +f 41 31 44 +f 33 29 45 +f 29 38 45 +f 42 33 45 +f 38 42 45 +f 34 32 46 +f 32 40 46 +f 43 34 46 +f 40 43 46 +f 38 29 47 +f 36 42 47 +f 42 38 47 +f 29 30 48 +f 30 31 48 +f 40 36 48 +f 31 43 48 +f 43 40 48 +f 47 29 48 +f 36 47 48 +f 28 37 49 +f 37 34 49 +f 34 41 49 +f 44 28 49 +o convex_2 +v -0.489013 -2.842114 -1.371871 +v -0.224963 0.986558 0.740969 +v -0.323929 0.986558 0.740969 +v -1.083232 3.199547 -1.371871 +v 0.963260 3.133311 -1.338811 +v 1.095499 -2.775878 0.575670 +v -1.083445 -2.742169 0.740969 +v 0.996320 3.133311 0.641790 +v -1.050385 3.199547 0.641790 +v 0.996320 -2.742760 -1.305752 +v -1.050385 -2.842114 -1.437991 +v 0.567186 -1.652825 -1.437991 +v 0.468221 -2.379645 0.740969 +v 0.104992 1.250910 -1.437991 +v -1.083445 -0.827241 -1.437991 +v 1.095499 -2.775878 0.047354 +v -1.083445 0.722797 0.707909 +v 1.029380 2.307728 0.641790 +v 0.831236 3.166429 -1.338811 +v 0.996320 1.052794 -1.338811 +v 0.600245 -1.257183 0.740969 +v 0.897355 2.967721 -1.371871 +v 1.095499 -1.289710 0.542610 +v -1.083445 -2.808996 -0.216698 +v -0.984266 3.001431 0.674850 +v 0.996320 3.133311 -0.513383 +v 0.765330 -2.808996 0.245712 +v 0.501067 -2.247174 -1.437991 +v -1.083232 3.165838 -0.018766 +v 1.029380 -2.742169 -1.140666 +v -0.522073 1.349673 -1.437991 +v 0.699211 3.166429 0.641790 +v 0.765330 2.571489 0.674850 +v -0.522073 3.199547 -1.371871 +v 0.699211 -2.775287 -1.338811 +v -0.356988 -2.842114 -0.678469 +v -0.026819 -2.775287 0.674850 +v -1.083445 -2.808996 -0.843554 +v 0.270077 0.392209 0.740969 +v -1.083445 -1.355946 0.740969 +v -0.621038 -2.842114 -1.437991 +v -0.654098 3.199547 0.641790 +v 0.930414 -2.577170 -1.338811 +v -1.017326 -2.775878 0.476491 +v 0.996320 -0.134130 -1.338811 +v -0.819182 2.373373 -1.404931 +v 1.029380 -2.775878 -0.612562 +v 0.303136 0.524681 -1.437991 +v -1.050385 -2.842114 -0.876614 +v -1.083445 1.152148 0.674850 +v -1.083445 -1.224065 -1.437991 +v 1.095499 -2.676524 0.047354 +v -0.786336 -2.742760 0.740969 +v 0.006027 0.920914 0.740969 +v 0.006027 3.166429 -1.371871 +v -1.083445 1.416500 -1.404931 +f 99 78 105 +f 51 52 56 +f 51 56 62 +f 61 60 63 +f 63 60 64 +f 64 56 66 +f 51 62 70 +f 62 55 70 +f 67 57 70 +f 55 67 70 +f 68 54 71 +f 54 69 71 +f 55 65 72 +f 67 55 72 +f 56 64 73 +f 52 51 74 +f 66 52 74 +f 58 66 74 +f 57 67 75 +f 54 68 75 +f 68 57 75 +f 69 54 75 +f 67 72 75 +f 72 69 75 +f 65 55 76 +f 60 61 77 +f 58 53 78 +f 63 64 80 +f 57 68 81 +f 74 57 81 +f 70 57 82 +f 74 51 82 +f 57 74 82 +f 53 58 83 +f 60 50 85 +f 50 76 85 +f 55 62 86 +f 76 55 86 +f 60 73 87 +f 73 64 87 +f 51 70 88 +f 70 82 88 +f 56 52 89 +f 52 66 89 +f 66 56 89 +f 50 60 90 +f 60 77 90 +f 84 50 90 +f 77 84 90 +f 58 74 91 +f 81 68 91 +f 74 81 91 +f 83 58 91 +f 68 83 91 +f 77 61 92 +f 59 84 92 +f 84 77 92 +f 56 73 93 +f 85 76 93 +f 86 56 93 +f 76 86 93 +f 61 71 94 +f 71 69 94 +f 79 59 94 +f 69 79 94 +f 59 92 94 +f 92 61 94 +f 63 80 95 +f 53 83 95 +f 76 50 96 +f 65 76 96 +f 59 79 96 +f 79 65 96 +f 50 84 96 +f 84 59 96 +f 61 63 97 +f 63 71 97 +f 71 61 97 +f 73 60 98 +f 60 85 98 +f 93 73 98 +f 85 93 98 +f 66 58 99 +f 64 66 99 +f 58 78 99 +f 64 60 100 +f 60 87 100 +f 87 64 100 +f 72 65 101 +f 69 72 101 +f 65 79 101 +f 79 69 101 +f 62 56 102 +f 56 86 102 +f 86 62 102 +f 82 51 103 +f 51 88 103 +f 88 82 103 +f 71 63 104 +f 68 71 104 +f 83 68 104 +f 63 95 104 +f 95 83 104 +f 78 53 105 +f 80 64 105 +f 53 95 105 +f 95 80 105 +f 64 99 105 +o convex_3 +v -0.059894 -1.356679 2.688827 +v -0.588117 -2.379885 2.226624 +v -0.555096 -2.412925 2.226624 +v 0.468103 -1.290482 2.226624 +v 0.567166 -2.346844 2.589700 +v -0.456033 -2.379885 2.688827 +v -0.456033 -1.224401 2.226624 +v 0.501124 -2.379885 2.226624 +v 0.501124 -1.224401 2.622772 +v -0.489054 -1.290482 2.688827 +v 0.435082 -1.224401 2.655800 +v -0.258020 -2.346844 2.688827 +v 0.567166 -1.950709 2.556762 +v 0.534145 -2.379885 2.292678 +v 0.501124 -1.257442 2.358688 +v 0.402061 -2.346844 2.622772 +v -0.522075 -1.587613 2.589700 +v -0.456033 -1.224401 2.358688 +v 0.534145 -1.356679 2.622772 +v -0.224999 -1.257442 2.688827 +f 116 123 125 +f 108 107 109 +f 107 108 111 +f 109 107 112 +f 108 109 113 +f 111 106 115 +f 114 112 116 +f 106 111 117 +f 116 106 117 +f 111 108 119 +f 110 111 119 +f 108 113 119 +f 113 109 119 +f 118 110 119 +f 118 119 120 +f 109 112 120 +f 112 114 120 +f 119 109 120 +f 111 110 121 +f 110 116 121 +f 117 111 121 +f 116 117 121 +f 107 111 122 +f 112 107 122 +f 115 112 122 +f 111 115 122 +f 112 115 123 +f 116 112 123 +f 116 110 124 +f 114 116 124 +f 110 118 124 +f 118 120 124 +f 120 114 124 +f 115 106 125 +f 106 116 125 +f 123 115 125 +o convex_4 +v 0.237127 0.558649 1.071228 +v -0.356970 3.265576 2.259638 +v -0.324018 3.265576 2.193563 +v 0.534229 3.166203 2.193563 +v 0.501170 0.558649 2.226485 +v 0.534229 3.199063 1.104148 +v -0.489098 0.558384 1.137186 +v -0.489098 3.232187 1.170223 +v -0.489098 0.558384 2.226485 +v 0.501170 0.558649 1.104148 +v -0.555216 3.265576 2.259638 +v -0.555216 2.043683 1.929382 +v 0.534229 1.747153 1.104148 +v -0.522050 1.284736 2.259638 +v 0.369149 2.043683 1.071228 +v -0.522050 0.558384 1.434405 +v 0.501170 3.166203 2.226485 +v -0.489098 1.879121 1.137186 +v -0.555216 3.265576 1.962419 +v -0.324018 0.987676 2.259638 +v 0.237127 3.232452 1.401367 +v -0.522050 0.558384 1.797349 +v 0.336090 3.199063 1.104148 +v -0.522050 2.637802 1.467326 +v -0.258007 3.232187 2.259638 +v 0.402101 0.690617 1.071228 +v 0.534229 3.199063 1.599475 +v -0.555216 2.506100 2.259638 +f 137 147 153 +f 128 127 129 +f 132 130 134 +f 132 126 135 +f 130 132 135 +f 127 128 136 +f 129 130 138 +f 131 129 138 +f 130 135 138 +f 127 136 139 +f 132 134 141 +f 129 127 142 +f 130 129 142 +f 126 132 143 +f 140 126 143 +f 133 140 143 +f 132 141 143 +f 136 128 144 +f 137 136 144 +f 134 130 145 +f 127 139 145 +f 139 134 145 +f 131 133 146 +f 144 128 146 +f 133 144 146 +f 134 139 147 +f 141 134 147 +f 137 141 147 +f 133 131 148 +f 131 140 148 +f 140 133 148 +f 141 137 149 +f 133 143 149 +f 143 141 149 +f 144 133 149 +f 137 144 149 +f 142 127 150 +f 130 142 150 +f 145 130 150 +f 127 145 150 +f 135 126 151 +f 131 138 151 +f 138 135 151 +f 126 140 151 +f 140 131 151 +f 128 129 152 +f 129 131 152 +f 146 128 152 +f 131 146 152 +f 136 137 153 +f 139 136 153 +f 147 139 153 +o convex_5 +v 0.501133 -1.224401 0.807050 +v -0.555216 -2.313694 0.840042 +v 0.303027 -2.379817 0.740969 +v 0.435098 -2.379817 1.071082 +v -0.489180 -1.290524 1.071082 +v -0.423144 -1.290524 0.740969 +v 0.501133 -1.224401 1.071082 +v -0.522143 -2.445940 1.071082 +v 0.567279 -1.455532 0.740969 +v -0.555216 -2.247810 0.740969 +v 0.468061 -2.379817 0.740969 +v -0.555216 -1.851671 0.840042 +v 0.567279 -1.257523 0.740969 +v 0.203919 -1.224401 1.038058 +v 0.567279 -1.323645 0.840042 +v 0.468061 -2.379817 0.939018 +v -0.456107 -1.356647 0.740969 +f 163 165 170 +f 158 157 160 +f 155 156 161 +f 157 158 161 +f 156 159 162 +f 156 155 163 +f 159 156 163 +f 161 156 164 +f 156 162 164 +f 155 161 165 +f 161 158 165 +f 163 155 165 +f 159 154 166 +f 154 160 166 +f 162 159 166 +f 159 158 167 +f 154 159 167 +f 160 154 167 +f 158 160 167 +f 160 157 168 +f 166 160 168 +f 162 166 168 +f 157 161 169 +f 161 164 169 +f 164 162 169 +f 168 157 169 +f 162 168 169 +f 158 159 170 +f 159 163 170 +f 165 158 170 +o convex_6 +v 0.302992 -2.908143 1.236333 +v 0.435124 -1.125358 2.226511 +v -0.455992 -1.125358 2.226511 +v -0.324073 -1.125358 1.071228 +v -0.455992 -2.776040 2.127448 +v -0.588230 -2.709726 1.137269 +v 0.468184 -1.224479 1.071228 +v 0.501243 -2.379730 2.226511 +v 0.435124 -2.379730 1.071228 +v -0.588230 -2.379730 2.226511 +v -0.489158 -1.125358 1.071228 +v 0.435124 -2.808847 2.127448 +v 0.468184 -2.908143 1.203312 +v -0.522111 -2.544815 1.071228 +v 0.468184 -1.125532 1.104249 +v -0.522111 -2.808847 1.170291 +v 0.468184 -1.125532 2.226511 +v -0.522111 -2.511658 2.226511 +v -0.588230 -2.776040 1.335396 +v 0.468184 -2.874987 1.665267 +v -0.489158 -1.125358 1.500388 +v -0.588230 -2.313591 2.226511 +v -0.092976 -2.808847 2.127448 +v 0.501243 -2.148679 2.193490 +v 0.336052 -2.842004 1.170291 +v 0.270039 -2.743058 2.160469 +v 0.468184 -1.917804 1.071228 +v -0.158882 -2.544815 1.071228 +f 195 184 198 +f 173 172 174 +f 172 173 178 +f 174 177 179 +f 178 173 180 +f 173 174 181 +f 174 179 181 +f 181 179 184 +f 176 181 184 +f 174 172 185 +f 177 174 185 +f 171 175 186 +f 183 171 186 +f 176 184 186 +f 172 178 187 +f 185 172 187 +f 180 175 188 +f 178 180 188 +f 180 176 189 +f 175 180 189 +f 186 175 189 +f 176 186 189 +f 178 182 190 +f 171 183 190 +f 183 178 190 +f 173 181 191 +f 191 181 192 +f 180 173 192 +f 176 180 192 +f 181 176 192 +f 173 191 192 +f 175 171 193 +f 188 175 193 +f 171 190 193 +f 190 182 193 +f 178 183 194 +f 177 185 194 +f 187 178 194 +f 185 187 194 +f 179 183 195 +f 183 186 195 +f 186 184 195 +f 182 178 196 +f 178 188 196 +f 188 193 196 +f 193 182 196 +f 179 177 197 +f 183 179 197 +f 177 194 197 +f 194 183 197 +f 184 179 198 +f 179 195 198 +o convex_7 +v 0.468235 -0.102107 2.226511 +v -0.489186 -1.125358 1.071228 +v -0.489186 -0.795093 1.071228 +v 0.468235 -1.125358 1.104249 +v -0.456104 -1.125358 2.226511 +v -0.489186 -0.102107 1.104249 +v 0.468235 -0.102107 1.104249 +v -0.489186 -0.102107 2.160469 +v 0.468235 -1.125358 2.226511 +v -0.456104 -0.102107 2.226511 +v 0.369175 -0.102107 1.071228 +v 0.335999 -0.729080 1.071228 +v -0.489186 -1.125358 1.533409 +v 0.039007 -0.102107 1.071228 +f 204 209 212 +f 200 202 203 +f 201 200 204 +f 204 199 205 +f 199 202 205 +f 204 200 206 +f 199 204 206 +f 202 199 207 +f 199 203 207 +f 203 202 207 +f 203 199 208 +f 199 206 208 +f 206 203 208 +f 200 201 209 +f 204 205 209 +f 205 202 209 +f 202 200 210 +f 200 209 210 +f 209 202 210 +f 200 203 211 +f 203 206 211 +f 206 200 211 +f 201 204 212 +f 209 201 212 +o convex_8 +v -0.522201 -0.002825 1.401632 +v 0.501250 0.558384 2.226268 +v -0.258023 0.558384 2.358400 +v -0.192004 0.525356 0.740969 +v 0.468090 -0.101907 2.226268 +v 0.468090 -0.101907 1.104381 +v -0.291083 -0.068880 2.589489 +v 0.501250 0.558384 1.104381 +v -0.522201 0.558384 1.797076 +v -0.489141 -0.101907 1.104381 +v 0.236972 0.426274 2.655460 +v 0.236972 -0.002825 0.740969 +v -0.258023 0.492329 2.688827 +v -0.489141 -0.101907 2.160297 +v -0.489141 0.558384 1.137367 +v -0.258023 -0.035852 0.740969 +v 0.303091 -0.035852 2.589489 +v 0.270032 0.393311 0.740969 +v -0.489141 0.558384 2.226268 +v 0.501250 0.063166 2.226268 +v 0.501250 0.096193 1.104381 +v -0.291083 0.162248 2.655460 +v 0.303091 0.096193 0.740969 +v -0.489141 0.525356 1.104381 +v -0.489141 -0.002825 2.226268 +v -0.158944 0.327256 2.688827 +v -0.026905 0.525356 0.740969 +v -0.522201 0.558384 1.434617 +v 0.170952 -0.068880 2.589489 +f 238 234 241 +f 215 214 220 +f 215 220 221 +f 218 217 222 +f 214 215 225 +f 223 214 225 +f 217 219 226 +f 221 213 226 +f 222 217 226 +f 213 222 226 +f 220 216 227 +f 221 220 227 +f 218 222 228 +f 216 224 228 +f 224 218 228 +f 214 223 229 +f 224 216 230 +f 215 221 231 +f 225 215 231 +f 217 218 232 +f 220 214 232 +f 214 229 232 +f 229 217 232 +f 232 218 233 +f 220 232 233 +f 225 231 234 +f 218 224 235 +f 230 220 235 +f 224 230 235 +f 233 218 235 +f 220 233 235 +f 222 213 236 +f 227 216 236 +f 228 222 236 +f 216 228 236 +f 226 219 237 +f 221 226 237 +f 231 221 237 +f 219 234 237 +f 234 231 237 +f 223 225 238 +f 229 223 238 +f 225 234 238 +f 216 220 239 +f 230 216 239 +f 220 230 239 +f 213 221 240 +f 221 227 240 +f 236 213 240 +f 227 236 240 +f 219 217 241 +f 217 229 241 +f 234 219 241 +f 229 238 241 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/390/390.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/390/390.urdf new file mode 100644 index 000000000..bd7101388 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/390/390.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/391/391.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/391/391.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/391/391.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/391/391.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/391/391.obj new file mode 100644 index 000000000..0a103fe46 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/391/391.obj @@ -0,0 +1,774 @@ +o convex_0 +v 0.359345 2.419478 -1.371002 +v 0.329814 -0.385722 0.785606 +v 0.211688 -0.385722 0.785606 +v 0.477471 -1.803657 -1.696024 +v -0.999296 0.146299 -1.282338 +v -0.763046 2.892516 0.519613 +v -0.408669 -1.596629 0.785606 +v 0.743452 2.626506 0.283256 +v 0.802515 -1.774166 0.371677 +v 0.861578 2.892516 -1.311731 +v -0.910702 -1.803657 -1.370759 +v -0.763046 2.597015 -1.252702 +v -0.024562 3.838003 -0.455209 +v -0.940234 0.589256 0.253620 +v 1.009434 0.677729 -0.809623 +v -0.467533 -0.474196 -1.696024 +v 0.004769 -2.187632 0.046898 +v 0.713921 -1.862640 -1.459666 +v 0.950172 0.589256 0.342284 +v 0.064032 3.276491 0.371920 +v -1.029027 1.002132 -0.425816 +v 0.566264 -0.119712 -1.696024 +v 0.507201 -1.567138 0.785606 +v 0.654858 1.268143 0.608277 +v -0.763046 3.129035 -0.484602 +v -0.083625 -2.128060 -1.282338 +v -0.703983 -1.419682 0.283013 +v -0.054094 3.305982 -1.193673 +v -0.556326 -1.774166 -1.696024 +v 0.772984 3.070053 -0.366787 +v 0.950172 0.234772 -1.252702 +v 0.566264 -1.951703 0.519613 +v -0.497064 -0.710715 0.785606 +v 1.009434 0.707221 -0.160066 +v 0.802515 -1.537647 -1.341366 +v -0.999296 0.766203 -1.252702 +v 0.772984 -0.415213 0.608277 +v -0.822108 0.146299 0.460341 +v -0.024562 -2.157551 0.253620 +v 0.595795 -1.951703 -1.489059 +v 0.034301 3.838003 -0.396180 +v 0.064032 1.829065 0.608277 +v -0.083625 -0.149203 -1.696024 +v 0.861578 2.833534 -1.341366 +v 0.004769 -1.773576 0.785606 +v -0.792577 3.040562 -0.484602 +v 0.713921 2.597605 0.371920 +v 0.743452 -1.094690 -1.518695 +v 0.536733 -0.444704 0.785606 +v -0.822108 -0.030648 -1.459424 +v 1.009434 0.471291 -0.396423 +v -1.029027 0.529684 -0.573266 +v -0.792577 -1.892131 -1.459424 +v -0.792577 2.804043 0.489977 +v 1.009434 1.090606 -0.514237 +v -0.054094 -2.187632 -0.779988 +v 0.802515 2.951499 -0.396423 +v -0.585858 3.158526 0.283256 +v -0.467533 -1.478665 0.785606 +v 0.772984 -1.360110 0.549006 +v 0.064032 -2.187632 -0.484359 +v -0.940234 -1.390191 -1.223066 +v 0.832046 -1.537647 0.283256 +v 0.979703 0.618747 -1.193673 +f 31 44 64 +f 2 3 7 +f 4 16 22 +f 2 7 23 +f 11 7 27 +f 1 12 28 +f 13 10 28 +f 25 13 28 +f 12 25 28 +f 16 4 29 +f 4 26 29 +f 18 9 32 +f 9 23 32 +f 3 6 33 +f 7 3 33 +f 8 19 34 +f 9 18 35 +f 31 15 35 +f 19 24 37 +f 14 27 38 +f 33 6 38 +f 7 11 39 +f 17 32 39 +f 4 18 40 +f 26 4 40 +f 18 32 40 +f 10 13 41 +f 30 10 41 +f 20 30 41 +f 3 2 42 +f 6 3 42 +f 20 6 42 +f 24 20 42 +f 12 1 43 +f 16 12 43 +f 22 16 43 +f 22 43 44 +f 1 28 44 +f 28 10 44 +f 43 1 44 +f 23 7 45 +f 32 23 45 +f 7 39 45 +f 39 32 45 +f 6 25 46 +f 25 12 46 +f 12 36 46 +f 36 21 46 +f 19 8 47 +f 24 19 47 +f 20 24 47 +f 8 30 47 +f 30 20 47 +f 18 4 48 +f 4 22 48 +f 35 18 48 +f 31 35 48 +f 22 44 48 +f 44 31 48 +f 2 23 49 +f 23 37 49 +f 37 24 49 +f 42 2 49 +f 24 42 49 +f 11 5 50 +f 12 16 50 +f 29 11 50 +f 16 29 50 +f 36 12 50 +f 5 36 50 +f 15 34 51 +f 35 15 51 +f 14 21 52 +f 36 5 52 +f 21 36 52 +f 11 29 53 +f 29 26 53 +f 39 11 53 +f 17 39 53 +f 21 14 54 +f 38 6 54 +f 14 38 54 +f 6 46 54 +f 46 21 54 +f 15 10 55 +f 34 15 55 +f 26 40 56 +f 17 53 56 +f 53 26 56 +f 10 30 57 +f 30 8 57 +f 8 34 57 +f 55 10 57 +f 34 55 57 +f 6 20 58 +f 25 6 58 +f 13 25 58 +f 41 13 58 +f 20 41 58 +f 27 7 59 +f 7 33 59 +f 38 27 59 +f 33 38 59 +f 9 19 60 +f 23 9 60 +f 19 37 60 +f 37 23 60 +f 32 17 61 +f 40 32 61 +f 56 40 61 +f 17 56 61 +f 5 11 62 +f 11 27 62 +f 27 14 62 +f 52 5 62 +f 14 52 62 +f 19 9 63 +f 34 19 63 +f 9 35 63 +f 51 34 63 +f 35 51 63 +f 10 15 64 +f 15 31 64 +f 44 10 64 +o convex_1 +v 0.536742 -1.095239 2.292391 +v -0.526813 -1.213398 2.174183 +v -0.526813 -1.213398 2.203747 +v -0.024393 -2.040506 2.174183 +v -0.260820 -1.538141 2.646828 +v 0.211721 -0.474869 2.174183 +v -0.349415 -0.829498 2.617218 +v 0.477610 -1.242975 2.587701 +v 0.448043 -0.740764 2.587701 +v -0.467576 -0.681761 2.174183 +v 0.418477 -1.744880 2.174183 +v 0.329882 -1.597144 2.587701 +v 0.536742 -0.563603 2.174183 +v -0.408444 -1.538141 2.528620 +v -0.497143 -1.124817 2.587701 +v -0.438010 -1.656300 2.174183 +v 0.093560 -1.597144 2.646828 +v -0.083526 -0.711339 2.587701 +v -0.083526 -2.040506 2.203747 +v -0.349415 -0.977081 2.646828 +v 0.034427 -1.715302 2.587701 +v 0.093560 -0.474869 2.203747 +v -0.408444 -0.799920 2.558138 +v 0.359448 -0.858922 2.617218 +v 0.536742 -0.829498 2.410506 +v -0.526813 -0.918078 2.351471 +v 0.359448 -1.833461 2.203747 +v 0.507176 -1.360827 2.174183 +v 0.418477 -0.504447 2.203747 +v -0.024393 -2.040506 2.203747 +v -0.526813 -1.124817 2.469540 +v 0.004965 -0.740764 2.617218 +v -0.349415 -1.567566 2.587701 +v 0.241287 -0.711339 2.587701 +v 0.507176 -1.301825 2.410506 +v 0.418477 -1.213398 2.617218 +v 0.389015 -1.538141 2.558138 +f 75 99 101 +f 68 66 70 +f 70 66 74 +f 68 70 75 +f 75 70 77 +f 67 66 80 +f 66 68 80 +f 78 80 83 +f 80 68 83 +f 79 69 84 +f 71 79 84 +f 69 81 84 +f 81 69 85 +f 76 81 85 +f 70 74 86 +f 82 86 87 +f 79 71 87 +f 71 82 87 +f 86 74 87 +f 84 81 88 +f 73 72 89 +f 65 77 89 +f 77 73 89 +f 66 67 90 +f 74 66 90 +f 79 87 90 +f 87 74 90 +f 68 75 91 +f 77 65 92 +f 75 77 92 +f 77 70 93 +f 73 77 93 +f 70 86 93 +f 83 68 94 +f 76 85 94 +f 85 83 94 +f 68 91 94 +f 91 76 94 +f 78 79 95 +f 80 78 95 +f 67 80 95 +f 90 67 95 +f 79 90 95 +f 82 71 96 +f 71 84 96 +f 88 73 96 +f 84 88 96 +f 69 79 97 +f 79 78 97 +f 78 83 97 +f 85 69 97 +f 83 85 97 +f 86 82 98 +f 73 93 98 +f 93 86 98 +f 96 73 98 +f 82 96 98 +f 65 89 99 +f 89 72 99 +f 92 65 99 +f 75 92 99 +f 72 73 100 +f 76 72 100 +f 81 76 100 +f 73 88 100 +f 88 81 100 +f 72 76 101 +f 91 75 101 +f 76 91 101 +f 99 72 101 +o convex_2 +v 0.005011 -1.774617 -2.464272 +v 0.241183 -0.592889 -2.345974 +v 0.182189 -0.592889 -2.345974 +v 0.005011 -0.799715 -3.498047 +v -0.467727 -0.799715 -2.345974 +v -0.408634 -1.656283 -3.173040 +v 0.477650 -1.419960 -3.202586 +v 0.477650 -1.567792 -2.345974 +v -0.467727 -1.715508 -2.345974 +v 0.447957 -0.799715 -3.173040 +v -0.378941 -1.154372 -3.498047 +v 0.034508 -1.597173 -3.438955 +v 0.507147 -0.770218 -2.345974 +v -0.349444 -0.799715 -3.173040 +v 0.507147 -1.154372 -3.320770 +v 0.388963 -1.626901 -3.113948 +v -0.467727 -1.183753 -3.320770 +v 0.359466 -0.858940 -3.468501 +v 0.063907 -1.715508 -3.202586 +v 0.388963 -1.715508 -2.345974 +v 0.300374 -1.479185 -3.409409 +v -0.231358 -1.538179 -3.468501 +v 0.536743 -1.065765 -2.936671 +v 0.093502 -0.740605 -3.320770 +v -0.290450 -0.917934 -3.498047 +v -0.438131 -1.744889 -2.375633 +v -0.290450 -0.711224 -2.375633 +v 0.359466 -1.036037 -3.468501 +v -0.378941 -1.272244 -3.498047 +v -0.083578 -1.715508 -3.173040 +v 0.507147 -1.360850 -2.345974 +v 0.123097 -1.774617 -2.345974 +v 0.477650 -0.711224 -2.405180 +v 0.447957 -1.597173 -2.966217 +v -0.378941 -0.858940 -3.232132 +v 0.418460 -1.213134 -3.438955 +v -0.024486 -0.740605 -3.261678 +v -0.467727 -1.715508 -2.523364 +v 0.182189 -0.888321 -3.498047 +v 0.507147 -1.272244 -3.261678 +v 0.536743 -1.036037 -2.641548 +v 0.418460 -0.799715 -3.261678 +f 119 125 143 +f 103 104 106 +f 103 106 109 +f 109 106 110 +f 103 109 114 +f 110 106 118 +f 113 117 120 +f 120 117 121 +f 109 110 121 +f 108 117 122 +f 117 113 122 +f 111 114 124 +f 116 111 124 +f 104 103 125 +f 119 105 125 +f 105 112 126 +f 115 105 126 +f 112 118 126 +f 106 104 128 +f 104 115 128 +f 115 106 128 +f 113 123 129 +f 112 105 130 +f 107 118 130 +f 118 112 130 +f 123 107 130 +f 120 102 131 +f 113 120 131 +f 107 123 131 +f 123 113 131 +f 127 107 131 +f 102 127 131 +f 114 109 132 +f 102 120 133 +f 120 121 133 +f 121 110 133 +f 110 127 133 +f 127 102 133 +f 111 103 134 +f 103 114 134 +f 114 111 134 +f 108 109 135 +f 117 108 135 +f 121 117 135 +f 109 121 135 +f 106 115 136 +f 118 106 136 +f 115 126 136 +f 126 118 136 +f 119 116 137 +f 108 122 137 +f 122 113 137 +f 129 119 137 +f 113 129 137 +f 115 104 138 +f 105 115 138 +f 104 125 138 +f 125 105 138 +f 118 107 139 +f 110 118 139 +f 107 127 139 +f 127 110 139 +f 105 119 140 +f 119 129 140 +f 129 123 140 +f 123 130 140 +f 130 105 140 +f 109 108 141 +f 116 124 141 +f 132 109 141 +f 124 132 141 +f 108 137 141 +f 137 116 141 +f 124 114 142 +f 114 132 142 +f 132 124 142 +f 103 111 143 +f 111 116 143 +f 116 119 143 +f 125 103 143 +o convex_3 +v 0.566286 -1.420050 -1.755185 +v -0.556356 -1.774577 -1.784766 +v -0.556356 -1.774577 -1.696087 +v -0.083497 -0.208868 -1.725668 +v -0.438004 -0.740738 -2.345911 +v 0.477604 -1.567809 -2.345911 +v 0.477604 -0.711154 -2.345911 +v 0.536725 -0.268035 -1.696087 +v -0.467675 -1.744993 -2.345911 +v 0.477604 -1.804160 -1.696087 +v -0.467675 -0.504546 -1.696087 +v 0.241229 -0.533811 -2.286813 +v 0.123097 -1.774577 -2.345911 +v 0.448043 -0.179284 -1.725668 +v -0.556356 -1.242707 -1.725668 +v 0.507165 -0.770163 -2.345911 +v -0.467675 -0.799746 -2.345911 +v 0.418483 -1.715409 -2.345911 +v -0.172179 -1.804160 -1.902899 +v 0.566286 -1.567809 -1.696087 +v 0.507165 -1.390466 -2.345911 +v -0.467675 -0.533811 -1.843801 +v -0.497235 -1.626817 -2.257232 +v 0.152658 -0.592979 -2.345911 +v -0.083497 -0.208868 -1.696087 +v 0.300351 -1.804160 -1.991514 +v -0.349432 -1.804160 -1.696087 +v -0.497235 -0.651987 -1.725668 +v -0.556356 -1.685985 -1.843801 +v 0.536725 -1.685985 -1.725668 +v -0.142618 -1.774577 -2.345911 +f 162 170 174 +f 149 148 150 +f 148 149 152 +f 151 146 153 +f 146 151 154 +f 152 149 156 +f 151 150 157 +f 155 147 157 +f 150 155 157 +f 145 146 158 +f 146 154 158 +f 149 150 159 +f 150 151 159 +f 151 144 159 +f 148 152 160 +f 156 149 161 +f 144 151 163 +f 151 153 163 +f 159 144 164 +f 149 159 164 +f 144 163 164 +f 163 149 164 +f 147 148 165 +f 154 147 165 +f 148 160 165 +f 152 145 166 +f 160 152 166 +f 148 147 167 +f 150 148 167 +f 147 155 167 +f 155 150 167 +f 147 154 168 +f 154 151 168 +f 157 147 168 +f 151 157 168 +f 161 153 169 +f 156 161 169 +f 153 162 169 +f 146 145 170 +f 145 152 170 +f 153 146 170 +f 162 153 170 +f 158 154 171 +f 160 158 171 +f 154 165 171 +f 165 160 171 +f 145 158 172 +f 158 160 172 +f 166 145 172 +f 160 166 172 +f 161 149 173 +f 153 161 173 +f 149 163 173 +f 163 153 173 +f 152 156 174 +f 156 169 174 +f 169 162 174 +f 170 152 174 +o convex_4 +v 0.566286 -0.799694 0.815181 +v -0.497270 -1.213447 0.962833 +v -0.497270 -1.213447 0.992408 +v 0.063970 -2.158679 0.992408 +v -0.408571 -1.626858 0.785606 +v -0.231277 -0.415630 0.992408 +v -0.497270 -0.740660 0.785606 +v 0.507153 -0.652108 0.992408 +v 0.507153 -1.597341 0.785606 +v 0.507153 -0.504352 0.785606 +v 0.477587 -1.863166 0.992408 +v -0.408571 -1.803961 0.992408 +v 0.063970 -1.803961 0.785606 +v -0.349542 -0.592903 0.785606 +v -0.467704 -0.740660 0.992408 +v 0.418558 -1.744756 0.785606 +v 0.270830 -0.474835 0.992408 +v -0.319976 -0.415630 0.962833 +v 0.034508 -2.158679 0.962833 +v -0.467704 -1.478931 0.785606 +v 0.211698 -0.474835 0.785606 +v 0.507153 -1.715409 0.992408 +v -0.319976 -1.715409 0.785606 +v 0.536719 -1.006656 0.992408 +v 0.566286 -1.006656 0.785606 +v -0.379004 -1.774444 0.874250 +f 197 193 200 +f 177 178 180 +f 176 177 181 +f 180 178 182 +f 179 181 183 +f 182 175 184 +f 183 181 184 +f 182 178 185 +f 178 177 186 +f 179 183 187 +f 184 181 188 +f 177 180 189 +f 181 177 189 +f 183 185 190 +f 187 183 190 +f 180 182 191 +f 184 180 191 +f 182 184 191 +f 188 181 192 +f 189 180 192 +f 181 189 192 +f 185 178 193 +f 178 186 193 +f 190 185 193 +f 187 190 193 +f 177 176 194 +f 176 181 194 +f 181 179 194 +f 186 177 194 +f 179 186 194 +f 180 184 195 +f 184 188 195 +f 192 180 195 +f 188 192 195 +f 182 185 196 +f 185 183 196 +f 179 187 197 +f 187 193 197 +f 175 182 198 +f 182 196 198 +f 198 196 199 +f 184 175 199 +f 183 184 199 +f 196 183 199 +f 175 198 199 +f 186 179 200 +f 193 186 200 +f 179 197 200 +o convex_5 +v -0.260820 -3.723584 1.258459 +v 0.418477 -0.445936 2.174137 +v 0.093560 -0.445936 2.174137 +v -0.113092 1.504020 1.199234 +v 0.507176 -1.715236 0.992409 +v -0.526813 -1.213296 2.174137 +v 0.300316 -3.694683 1.849092 +v -0.497247 -0.977367 0.992409 +v 0.359449 1.533511 1.612654 +v -0.319953 1.267501 1.937583 +v -0.408548 -3.871630 1.642267 +v 0.418477 -3.930612 1.524279 +v 0.536742 -1.125412 2.174137 +v -0.024602 -3.841549 1.996808 +v -0.438114 1.445038 1.553891 +v 0.507176 -0.622883 0.992409 +v 0.034427 -3.901121 1.140125 +v 0.063993 1.533511 1.967311 +v -0.526813 -3.074189 1.583273 +v 0.300316 1.238010 1.169737 +v 0.507176 0.736070 1.583273 +v -0.526813 0.706579 1.583273 +v -0.024602 -4.226114 1.524279 +v -0.054064 -2.424203 2.174137 +v 0.448043 0.617516 1.996808 +v -0.201791 0.588024 1.051518 +v -0.408548 -1.833200 0.992409 +v -0.408548 -3.074189 1.996808 +v -0.083630 1.799521 1.553891 +v -0.467680 0.588614 1.199234 +v 0.507176 -3.221645 1.524279 +v 0.448043 -3.074189 1.140125 +v -0.497247 -0.711357 2.174137 +v 0.063993 -3.044108 1.022021 +v 0.536742 -0.859402 1.435557 +v 0.388911 -1.833200 2.174137 +v -0.379085 -3.133171 1.199234 +v 0.536742 -0.563901 2.174137 +v 0.477610 0.499551 1.228962 +v 0.211721 0.647596 2.085299 +v -0.290386 -0.150434 0.992409 +v -0.467680 0.470060 1.937583 +v 0.152692 0.529632 1.051518 +v -0.083630 -3.044108 2.115027 +v 0.329882 -3.723584 1.228962 +v 0.063993 -3.871630 1.967311 +v 0.034427 1.799521 1.583273 +v -0.526813 0.558533 1.435557 +v 0.536742 0.086085 1.583273 +v 0.359449 -3.044108 1.967311 +v -0.497247 -1.271689 0.992409 +v -0.408548 -3.901121 1.583273 +v -0.319953 -3.635701 1.908086 +v -0.024602 -4.196033 1.642267 +v 0.329882 1.327073 1.849092 +v -0.379085 1.120045 1.258459 +v 0.063993 -2.601151 0.992409 +v 0.418477 -3.930612 1.553891 +v -0.438114 -1.685745 2.174137 +v -0.054064 -3.901121 1.169737 +v 0.388911 1.474529 1.583273 +v -0.526813 -1.655664 1.347066 +v -0.497247 -2.955634 1.789867 +v -0.024602 1.504020 1.967311 +f 233 240 264 +f 202 203 206 +f 202 206 213 +f 205 208 216 +f 219 206 222 +f 217 212 223 +f 213 206 224 +f 208 205 227 +f 204 215 229 +f 215 210 229 +f 205 231 232 +f 231 212 232 +f 206 203 233 +f 222 206 233 +f 217 227 234 +f 205 232 234 +f 232 217 234 +f 205 216 235 +f 231 205 235 +f 213 231 235 +f 213 224 236 +f 202 213 238 +f 221 225 238 +f 213 235 238 +f 216 220 239 +f 221 216 239 +f 203 202 240 +f 225 218 240 +f 233 203 240 +f 202 238 240 +f 238 225 240 +f 216 208 241 +f 208 230 241 +f 230 226 241 +f 210 215 242 +f 215 222 242 +f 233 210 242 +f 222 233 242 +f 204 220 243 +f 220 216 243 +f 226 204 243 +f 216 241 243 +f 241 226 243 +f 228 214 244 +f 214 236 244 +f 236 224 244 +f 212 217 245 +f 217 232 245 +f 232 212 245 +f 236 214 246 +f 218 209 247 +f 220 204 247 +f 209 220 247 +f 204 229 247 +f 229 218 247 +f 222 215 248 +f 219 222 248 +f 215 230 248 +f 230 208 248 +f 216 221 249 +f 235 216 249 +f 221 238 249 +f 238 235 249 +f 213 236 250 +f 246 207 250 +f 236 246 250 +f 208 227 251 +f 237 219 251 +f 227 237 251 +f 211 219 252 +f 237 201 252 +f 219 237 252 +f 211 214 253 +f 228 211 253 +f 214 228 253 +f 214 211 254 +f 246 214 254 +f 211 252 254 +f 252 223 254 +f 209 218 255 +f 218 225 255 +f 215 204 256 +f 204 226 256 +f 230 215 256 +f 226 230 256 +f 227 205 257 +f 205 234 257 +f 234 227 257 +f 223 212 258 +f 212 231 258 +f 231 213 258 +f 207 246 258 +f 250 207 258 +f 213 250 258 +f 254 223 258 +f 246 254 258 +f 224 206 259 +f 206 228 259 +f 244 224 259 +f 228 244 259 +f 217 223 260 +f 227 217 260 +f 201 237 260 +f 237 227 260 +f 252 201 260 +f 223 252 260 +f 220 209 261 +f 225 221 261 +f 239 220 261 +f 221 239 261 +f 209 255 261 +f 255 225 261 +f 248 208 262 +f 219 248 262 +f 208 251 262 +f 251 219 262 +f 206 219 263 +f 219 211 263 +f 211 228 263 +f 228 206 263 +f 229 210 264 +f 218 229 264 +f 210 233 264 +f 240 218 264 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/391/391.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/391/391.urdf new file mode 100644 index 000000000..5d0147ad8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/391/391.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/392/392.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/392/392.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/392/392.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/392/392.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/392/392.obj new file mode 100644 index 000000000..19f9590ed --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/392/392.obj @@ -0,0 +1,549 @@ +o convex_0 +v 0.328803 -0.516798 -3.549415 +v 0.218998 0.580804 -3.037325 +v 0.511761 0.544129 -3.037325 +v -0.988244 -0.590032 -3.037325 +v -0.549177 0.580804 -3.439617 +v 0.585067 -0.516798 -3.037325 +v 0.548414 0.544129 -3.512816 +v -0.549177 0.580804 -3.037325 +v -0.402719 -0.590032 -3.439617 +v 0.475262 -0.480123 -3.549415 +v -0.475871 0.507569 -3.476216 +v 0.182345 -0.590032 -3.037325 +v -0.475871 -0.443449 -3.439617 +v -0.988244 -0.553243 -3.073874 +v 0.511761 -0.077620 -3.549415 +v 0.548414 0.544129 -3.073874 +f 6 7 16 +f 3 2 4 +f 3 4 6 +f 5 2 7 +f 4 2 8 +f 2 5 8 +f 6 1 10 +f 5 7 11 +f 1 6 12 +f 6 4 12 +f 9 1 12 +f 4 9 12 +f 1 9 13 +f 11 1 13 +f 5 11 13 +f 4 8 14 +f 8 5 14 +f 9 4 14 +f 5 13 14 +f 13 9 14 +f 7 6 15 +f 10 1 15 +f 6 10 15 +f 1 11 15 +f 11 7 15 +f 2 3 16 +f 3 6 16 +f 7 2 16 +o convex_1 +v 0.877591 1.056277 4.426453 +v -0.988044 -1.065685 0.658613 +v -0.988044 0.873283 0.658613 +v 1.060504 0.141733 0.658613 +v -0.951541 -1.065685 4.536305 +v 0.950796 -0.955804 4.499946 +v -0.988044 0.946396 4.499559 +v 0.987499 -1.065685 0.658613 +v 1.060504 1.093044 0.658613 +v -0.658920 1.093044 0.658613 +v 0.914294 1.019720 4.609797 +v 0.950796 -0.919248 4.609797 +v 1.060504 1.093044 1.500294 +v -0.988044 -0.589818 4.536305 +v -0.988044 1.019509 0.914676 +v 0.987499 -1.028917 2.341589 +v 0.950796 1.056277 4.390094 +v -0.549012 0.983164 4.536305 +v -0.622217 -1.065685 4.536305 +v -0.256391 1.093044 1.646506 +v 0.511764 -0.955804 4.609797 +v -0.878336 0.946396 4.536305 +v 1.024001 -0.955804 0.695359 +v 0.987499 -0.992360 3.145751 +v -0.988044 -1.065685 3.511666 +v 1.024001 1.093044 2.341589 +v 0.950796 0.397839 4.609797 +v 0.987499 -1.065685 1.280978 +v 0.731380 0.946607 4.609797 +v -0.988044 0.982953 3.328709 +v 0.182641 1.019720 4.572664 +f 38 27 47 +f 18 19 20 +f 19 18 23 +f 18 20 24 +f 21 18 24 +f 20 19 25 +f 25 19 26 +f 20 25 29 +f 25 26 29 +f 23 18 30 +f 19 23 31 +f 26 19 31 +f 17 27 33 +f 21 24 35 +f 32 22 35 +f 29 26 36 +f 26 34 36 +f 28 27 37 +f 22 28 37 +f 30 21 37 +f 21 35 37 +f 35 22 37 +f 23 30 38 +f 34 23 38 +f 30 37 38 +f 24 20 39 +f 32 39 40 +f 28 22 40 +f 20 29 40 +f 29 28 40 +f 22 32 40 +f 39 20 40 +f 18 21 41 +f 30 18 41 +f 21 30 41 +f 17 33 42 +f 33 29 42 +f 36 17 42 +f 29 36 42 +f 27 28 43 +f 28 29 43 +f 33 27 43 +f 29 33 43 +f 35 24 44 +f 32 35 44 +f 24 39 44 +f 39 32 44 +f 37 27 45 +f 27 38 45 +f 38 37 45 +f 31 23 46 +f 26 31 46 +f 34 26 46 +f 23 34 46 +f 27 17 47 +f 17 36 47 +f 36 34 47 +f 34 38 47 +o convex_2 +v 0.548478 -0.260534 -1.646896 +v -0.549181 -0.516798 -1.793208 +v -0.512434 -0.516798 -1.866389 +v -0.512434 0.580804 -1.829761 +v 0.548478 0.544129 -1.866389 +v -0.549181 0.580804 -1.610268 +v 0.475200 -0.590032 -1.866389 +v -0.549181 -0.516798 -1.610268 +v 0.548478 0.471009 -1.610268 +v 0.511839 -0.553243 -1.610268 +v -0.475796 0.580804 -1.866389 +f 53 52 58 +f 50 49 51 +f 51 49 53 +f 49 50 54 +f 52 48 54 +f 50 52 54 +f 53 49 55 +f 49 54 55 +f 48 52 56 +f 52 53 56 +f 53 55 56 +f 56 55 57 +f 54 48 57 +f 55 54 57 +f 48 56 57 +f 50 51 58 +f 52 50 58 +f 51 53 58 +o convex_3 +v -0.219765 -2.858380 -1.500187 +v 0.987542 -1.248810 0.548360 +v 0.950706 -1.248628 0.584677 +v -1.024833 -1.248628 -1.500187 +v -1.024833 -2.968157 0.621638 +v 0.914264 -2.931443 -1.500402 +v 0.987542 -3.114647 0.475082 +v 0.950706 -1.248628 -1.463871 +v -0.987997 -1.248628 0.511614 +v -1.024833 -2.968157 -1.463656 +v 0.767906 -1.248628 -1.573680 +v 0.621548 -1.248628 0.621638 +v 0.987542 -3.077751 -0.110493 +v 0.767906 -3.114647 0.511614 +v -1.024833 -2.126841 0.584677 +v 0.292193 -1.395118 -1.573680 +v 0.914264 -2.748604 -1.536719 +v 0.950706 -3.004871 -0.988104 +v 0.987542 -1.248810 -0.512552 +v -0.805197 -3.004688 0.584677 +v -1.024833 -1.248628 -0.000469 +v 0.914264 -3.114647 0.255680 +v 0.950706 -1.614671 -1.500402 +v -1.024833 -1.870756 -1.500187 +v -0.878278 -2.968157 0.621638 +v -0.987997 -1.468181 0.548145 +v 0.694628 -3.114647 0.438551 +v 0.621548 -1.358404 0.621638 +v 0.475190 -1.248628 0.621638 +v 0.914264 -2.968157 -1.390593 +v 0.987542 -2.858380 0.511614 +v 0.950706 -2.968157 -1.134444 +f 76 88 90 +f 61 60 66 +f 62 61 66 +f 61 62 67 +f 63 62 68 +f 59 64 68 +f 62 66 69 +f 61 67 70 +f 60 65 71 +f 62 63 73 +f 59 68 74 +f 62 69 74 +f 74 69 75 +f 64 59 75 +f 59 74 75 +f 66 60 77 +f 60 71 77 +f 63 68 78 +f 72 63 78 +f 67 62 79 +f 62 73 79 +f 73 67 79 +f 71 65 80 +f 65 72 80 +f 68 76 80 +f 76 71 80 +f 69 66 81 +f 75 69 81 +f 64 75 81 +f 66 77 81 +f 77 71 81 +f 68 62 82 +f 74 68 82 +f 62 74 82 +f 70 63 83 +f 63 72 83 +f 67 73 84 +f 78 68 85 +f 72 78 85 +f 68 80 85 +f 80 72 85 +f 61 70 86 +f 70 83 86 +f 83 72 86 +f 63 70 87 +f 70 67 87 +f 73 63 87 +f 67 84 87 +f 84 73 87 +f 68 64 88 +f 76 68 88 +f 60 61 89 +f 65 60 89 +f 72 65 89 +f 61 86 89 +f 86 72 89 +f 71 76 90 +f 64 81 90 +f 81 71 90 +f 88 64 90 +o convex_4 +v -1.061404 0.361551 -1.573633 +v 1.060719 1.092908 0.658226 +v 1.060719 3.032112 0.475050 +v -1.061404 2.958806 0.511685 +v 0.950832 3.105418 -1.500363 +v 0.987392 -1.248628 0.548321 +v -0.988076 -1.065362 0.658226 +v 0.950832 -1.248628 -1.463728 +v -0.951517 2.958806 -1.463728 +v -1.061404 -1.248628 -1.500363 +v 1.060719 0.873842 -1.573633 +v -1.061404 3.068765 0.219048 +v 0.768034 -1.248628 -1.573633 +v -0.988076 -1.248628 0.511685 +v 1.023951 -0.992482 0.658226 +v -0.951517 1.019176 0.658226 +v -0.549153 0.581043 -1.610046 +v 0.987392 2.775967 -1.536776 +v -0.585712 -0.516418 -1.610046 +v -1.024636 1.824265 -1.536776 +v 0.548260 0.434857 -1.610046 +v -1.024636 -1.248628 -0.000541 +v 0.072777 3.068765 0.475050 +v 1.060719 0.032099 0.584956 +v -1.061404 2.922153 -0.183495 +v 0.987392 3.105418 -1.427092 +v 0.658147 -1.248628 0.621369 +v -1.061404 2.373209 0.475050 +v 0.987392 -1.248628 -0.512545 +v 1.060719 1.166214 -1.573633 +v -0.658832 1.202441 0.658004 +v -1.061404 1.019176 -1.573633 +v 0.511701 -0.553071 -1.610046 +v -1.061404 3.068765 0.475050 +v 1.060719 3.032112 0.182191 +v 1.023951 3.068765 -0.000541 +v 1.023951 -1.065362 0.511685 +v -0.988076 2.958806 -1.244139 +v 1.023951 1.788038 -1.573633 +v 0.402022 3.068765 -1.500141 +v -1.024636 1.239094 -1.573633 +v 0.109337 3.031686 -1.500141 +v 0.328902 -1.248628 -1.573411 +f 109 123 133 +f 92 93 94 +f 94 91 100 +f 98 96 100 +f 93 92 101 +f 91 94 102 +f 98 100 103 +f 101 98 103 +f 100 96 104 +f 92 97 105 +f 97 92 106 +f 94 97 106 +f 100 91 109 +f 109 107 111 +f 104 97 112 +f 100 104 112 +f 94 93 113 +f 101 92 114 +f 92 105 114 +f 91 102 115 +f 108 95 116 +f 104 96 117 +f 97 104 117 +f 105 97 117 +f 96 105 117 +f 97 94 118 +f 94 100 118 +f 112 97 118 +f 100 112 118 +f 96 98 119 +f 98 101 119 +f 93 101 120 +f 101 111 120 +f 108 116 120 +f 92 94 121 +f 106 92 121 +f 94 106 121 +f 109 91 122 +f 107 109 122 +f 91 115 122 +f 115 110 122 +f 101 103 123 +f 111 101 123 +f 109 111 123 +f 102 94 124 +f 95 102 124 +f 94 113 124 +f 116 95 124 +f 113 116 124 +f 116 93 125 +f 93 120 125 +f 120 116 125 +f 113 93 126 +f 93 116 126 +f 116 113 126 +f 105 96 127 +f 101 114 127 +f 114 105 127 +f 96 119 127 +f 119 101 127 +f 102 99 128 +f 99 110 128 +f 115 102 128 +f 110 115 128 +f 107 108 129 +f 111 107 129 +f 120 111 129 +f 108 120 129 +f 102 95 130 +f 99 102 130 +f 95 108 130 +f 108 107 131 +f 107 122 131 +f 122 110 131 +f 110 99 132 +f 99 130 132 +f 130 108 132 +f 108 131 132 +f 131 110 132 +f 103 100 133 +f 100 109 133 +f 123 103 133 +o convex_5 +v -3.037207 -0.077620 -2.671345 +v 3.036010 0.580804 -2.524984 +v 3.036010 0.361214 -2.524984 +v 3.073093 0.105065 -3.000622 +v -2.744133 0.580804 -2.927366 +v 0.840944 -0.590032 -3.037225 +v 2.999526 -0.516798 -2.524984 +v -3.000124 0.544129 -2.524984 +v -2.963640 -0.480123 -2.524984 +v -2.963640 -0.443449 -3.000622 +v 0.218908 0.580804 -3.037225 +v 3.036010 0.580804 -3.000622 +v 3.073093 -0.516798 -2.963969 +v -0.988079 -0.590032 -3.037225 +v -0.512581 0.580804 -3.037225 +v -2.963640 0.580804 -2.890863 +v -0.402529 -0.516798 -2.524984 +v -0.512581 0.580804 -2.524984 +v 1.279957 -0.553243 -3.037225 +v -1.975560 -0.516798 -3.037225 +v -2.890072 -0.480123 -3.000622 +v 0.401930 -0.590032 -2.963969 +v 2.304521 -0.553243 -3.000622 +v -3.000124 -0.443449 -2.963969 +v -3.037207 -0.187414 -2.524984 +v -2.963640 0.580804 -2.744551 +f 151 149 159 +f 136 135 140 +f 140 135 141 +f 140 141 142 +f 138 135 144 +f 135 137 145 +f 144 135 145 +f 135 136 146 +f 137 135 146 +f 136 140 146 +f 144 139 147 +f 144 147 148 +f 143 138 148 +f 138 144 148 +f 135 138 149 +f 134 141 149 +f 138 143 149 +f 140 142 150 +f 142 147 150 +f 141 135 151 +f 135 149 151 +f 139 144 152 +f 145 137 152 +f 144 145 152 +f 148 147 153 +f 143 148 153 +f 147 142 154 +f 143 153 154 +f 153 147 154 +f 139 140 155 +f 147 139 155 +f 140 150 155 +f 150 147 155 +f 140 139 156 +f 137 146 156 +f 146 140 156 +f 139 152 156 +f 152 137 156 +f 134 149 157 +f 149 143 157 +f 154 142 157 +f 143 154 157 +f 141 134 158 +f 142 141 158 +f 134 157 158 +f 157 142 158 +f 149 141 159 +f 141 151 159 +o convex_6 +v 0.145975 -0.590032 -1.976241 +v 1.645993 0.617392 -1.939688 +v 1.645993 0.617392 -2.012793 +v -3.110384 0.470955 -2.012793 +v 2.999801 -0.516755 -2.524984 +v -3.036376 0.507476 -2.524984 +v -2.963571 -0.480116 -2.524984 +v 3.036505 0.580753 -2.524920 +v 2.926395 -0.333797 -1.903071 +v -2.926868 -0.480116 -1.866389 +v 2.999801 0.580753 -1.903006 +v -0.476175 0.580635 -1.866389 +v 0.475100 -0.590032 -1.866389 +v 2.926395 -0.516755 -1.939688 +v -3.110384 0.434316 -1.939688 +v -0.512277 0.580635 -2.524984 +v -0.548980 -0.516755 -2.524984 +v -3.000274 -0.150840 -1.866389 +v -0.988215 0.580635 -1.939688 +v 1.316868 0.617392 -2.378579 +v 0.731421 -0.590032 -2.086028 +v 0.548507 0.580635 -1.866389 +v -3.073079 0.031881 -2.415197 +v 0.950437 -0.516755 -1.866389 +v 0.475100 0.617392 -1.939688 +v 2.999801 0.251359 -1.903071 +v 2.158034 -0.553275 -1.976241 +v -3.036376 0.507476 -2.268857 +v 2.999801 -0.516755 -2.341962 +v -2.963571 -0.443596 -1.939688 +v 2.670074 -0.516755 -1.903071 +f 183 172 190 +f 165 164 166 +f 162 161 167 +f 166 160 169 +f 167 161 170 +f 169 160 172 +f 171 169 172 +f 171 163 174 +f 164 165 175 +f 167 164 175 +f 166 164 176 +f 169 171 177 +f 171 174 177 +f 163 171 178 +f 175 165 178 +f 161 162 179 +f 162 167 179 +f 167 175 179 +f 160 166 180 +f 172 160 180 +f 176 164 180 +f 166 176 180 +f 170 161 181 +f 161 171 181 +f 171 172 181 +f 163 165 182 +f 165 166 182 +f 174 163 182 +f 170 181 183 +f 181 172 183 +f 171 161 184 +f 178 171 184 +f 175 178 184 +f 179 175 184 +f 161 179 184 +f 167 170 185 +f 168 173 185 +f 183 168 185 +f 170 183 185 +f 173 172 186 +f 172 180 186 +f 180 164 186 +f 165 163 187 +f 163 178 187 +f 178 165 187 +f 164 167 188 +f 167 185 188 +f 185 173 188 +f 186 164 188 +f 173 186 188 +f 166 169 189 +f 169 177 189 +f 177 174 189 +f 182 166 189 +f 174 182 189 +f 173 168 190 +f 172 173 190 +f 168 183 190 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/392/392.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/392/392.urdf new file mode 100644 index 000000000..8152b9823 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/392/392.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/393/393.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/393/393.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/393/393.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/393/393.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/393/393.obj new file mode 100644 index 000000000..28b341f2d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/393/393.obj @@ -0,0 +1,444 @@ +o convex_0 +v -0.253810 -3.375966 -1.026034 +v 1.109475 -1.934969 0.999477 +v 1.109475 -1.974054 0.999477 +v -1.071696 -2.012948 0.999477 +v 1.070610 -3.882546 1.155302 +v 0.992665 -1.934969 -0.986915 +v -0.916020 -3.804566 0.999477 +v -1.032831 -1.934969 -0.986915 +v 1.109475 -3.843461 -1.064936 +v -0.993965 -3.882546 -0.948013 +v -1.071696 -1.934969 0.999477 +v -0.877155 -1.934969 -1.026034 +v 1.109475 -3.415051 -1.064936 +v -0.955100 -3.843461 0.532001 +v -0.643321 -2.168716 1.038379 +v 1.109475 -3.843461 0.103427 +v -0.760131 -3.882546 -0.986915 +v 0.525210 -3.882546 1.116183 +v 1.031531 -2.129822 -0.986915 +v 1.070610 -3.882546 0.337274 +v 0.719965 -3.804566 -1.064936 +v -1.032831 -2.324675 -0.986915 +v -0.993965 -3.882546 -0.714383 +v 0.992665 -3.804566 1.155302 +v -0.487431 -3.843461 1.038379 +v -0.955100 -3.609713 0.999477 +v -0.993965 -3.415051 -0.986915 +v -0.409700 -3.882546 -0.986915 +v 1.031531 -2.558422 -1.025817 +v 0.953586 -2.324675 1.038379 +v -1.071696 -1.974054 0.726728 +v 0.486345 -3.220198 -1.064936 +v -0.643321 -1.934969 -1.026034 +f 13 32 33 +f 3 2 5 +f 2 6 8 +f 2 3 9 +f 2 8 11 +f 8 6 12 +f 2 9 13 +f 11 4 15 +f 2 11 15 +f 3 5 16 +f 9 3 16 +f 5 9 16 +f 5 10 17 +f 10 5 18 +f 6 2 19 +f 2 13 19 +f 9 5 20 +f 5 17 20 +f 1 12 21 +f 13 9 21 +f 9 17 21 +f 17 1 21 +f 8 12 22 +f 4 10 23 +f 14 4 23 +f 10 18 23 +f 18 14 23 +f 5 2 24 +f 18 5 24 +f 18 24 25 +f 7 14 25 +f 14 18 25 +f 24 15 25 +f 25 15 26 +f 4 14 26 +f 14 7 26 +f 15 4 26 +f 7 25 26 +f 12 1 27 +f 1 17 27 +f 17 10 27 +f 10 22 27 +f 22 12 27 +f 17 9 28 +f 9 20 28 +f 20 17 28 +f 6 19 29 +f 19 13 29 +f 2 15 30 +f 24 2 30 +f 15 24 30 +f 10 4 31 +f 4 11 31 +f 11 8 31 +f 8 22 31 +f 22 10 31 +f 21 12 32 +f 13 21 32 +f 12 6 33 +f 6 29 33 +f 29 13 33 +f 32 12 33 +o convex_1 +v -1.110983 -0.104006 1.232591 +v 1.109674 -1.895499 0.999408 +v 1.070547 -1.272278 1.544707 +v 1.070547 0.051945 -2.973740 +v -1.071857 -1.895499 -3.012303 +v -1.071857 -1.817718 3.063710 +v 0.953819 0.051945 3.103477 +v -1.032947 0.051945 -3.012303 +v 0.914692 -1.817718 -3.052070 +v -1.071857 0.051945 3.102875 +v 0.953819 -1.817718 3.103477 +v -1.071857 -1.934584 0.999408 +v 0.992728 -1.934584 -0.987166 +v 0.992728 -1.622876 -3.052070 +v 1.070547 -1.934584 1.271756 +v -1.071857 -0.415519 -3.012303 +v 1.070547 -0.415519 -3.012303 +v 0.992728 -0.104006 2.713032 +v -1.032947 -1.934584 -0.986564 +v 1.070547 0.051945 -2.077763 +v 0.992728 -1.817718 2.908254 +v -1.110983 0.051945 1.077136 +v 0.096727 -1.778633 -3.052070 +v 0.135637 -1.817718 3.103477 +v 1.070547 -0.493495 -0.285810 +v 1.109674 -1.934584 0.921078 +v 0.992728 -1.272278 -3.052070 +v -0.838183 -1.895499 -3.012303 +v -1.110983 -0.181787 1.427211 +v -1.071857 -0.454604 3.102875 +v 0.953819 -1.778633 -3.052070 +v 1.070547 -0.298653 -3.012303 +v 0.992728 0.051945 2.246063 +f 58 53 66 +f 40 37 41 +f 40 41 43 +f 39 45 48 +f 45 46 48 +f 35 36 51 +f 45 38 52 +f 38 46 52 +f 46 45 52 +f 35 37 53 +f 37 40 53 +f 40 44 54 +f 44 48 54 +f 35 51 54 +f 51 40 54 +f 38 34 55 +f 43 41 55 +f 49 38 55 +f 41 49 55 +f 42 38 56 +f 47 42 56 +f 38 49 56 +f 49 41 56 +f 40 43 57 +f 44 40 57 +f 48 44 57 +f 39 48 57 +f 36 35 58 +f 51 36 58 +f 35 53 58 +f 37 35 59 +f 48 46 59 +f 47 50 59 +f 35 54 59 +f 54 48 59 +f 50 47 60 +f 56 41 60 +f 47 56 60 +f 38 42 61 +f 42 46 61 +f 46 38 61 +f 34 38 62 +f 38 45 62 +f 45 39 62 +f 55 34 62 +f 43 55 62 +f 39 57 63 +f 57 43 63 +f 62 39 63 +f 43 62 63 +f 46 42 64 +f 42 47 64 +f 59 46 64 +f 47 59 64 +f 41 37 65 +f 37 59 65 +f 59 50 65 +f 60 41 65 +f 50 60 65 +f 40 51 66 +f 53 40 66 +f 51 58 66 +o convex_2 +v 3.057621 1.104262 0.531837 +v 1.187256 0.324853 -1.065153 +v -3.019876 0.324853 -0.987204 +v -3.019876 2.194798 -0.987204 +v -2.941944 0.324853 1.116560 +v -2.941944 2.194798 1.077265 +v 3.057621 2.233853 -0.987204 +v 2.979689 2.194611 0.960662 +v 3.018357 0.324853 0.960662 +v 3.018357 0.324853 -1.064940 +v -0.994242 0.753706 1.116560 +v 1.849379 2.233853 0.999530 +v -3.019876 2.155744 1.077265 +v 3.057621 2.038767 -1.026072 +v 0.057541 2.233853 -0.948123 +v 3.057621 0.948417 -1.064940 +v -0.097728 2.233853 0.999530 +v -2.980612 0.441830 1.116560 +v -0.994242 0.324853 1.116560 +v 3.057621 0.324853 -0.052032 +v 2.122438 2.194611 0.999530 +v -2.980612 1.182184 1.116560 +v -2.474353 2.194798 1.077265 +v 3.018357 1.961032 0.843632 +v -3.019876 1.571421 1.077265 +v 3.018357 2.233853 -0.090899 +v 3.057621 0.402776 -1.064940 +v 3.057621 2.233853 -0.675409 +v 3.057621 0.480698 0.570918 +v 1.616178 0.558620 -1.065153 +v -3.019876 2.194798 0.999530 +f 72 83 97 +f 68 69 70 +f 69 68 71 +f 71 68 75 +f 75 68 76 +f 70 69 79 +f 73 67 80 +f 70 73 80 +f 73 70 81 +f 78 73 81 +f 70 80 82 +f 80 67 82 +f 72 78 83 +f 81 70 83 +f 78 81 83 +f 69 71 84 +f 71 77 84 +f 71 75 85 +f 77 71 85 +f 75 76 86 +f 82 67 86 +f 75 74 87 +f 74 78 87 +f 85 75 87 +f 77 85 87 +f 72 79 88 +f 84 77 88 +f 79 84 88 +f 78 72 89 +f 77 87 89 +f 87 78 89 +f 72 88 89 +f 88 77 89 +f 74 75 90 +f 75 67 90 +f 79 69 91 +f 69 84 91 +f 84 79 91 +f 73 78 92 +f 78 74 92 +f 86 76 93 +f 82 86 93 +f 67 73 94 +f 90 67 94 +f 74 90 94 +f 73 92 94 +f 92 74 94 +f 67 75 95 +f 86 67 95 +f 75 86 95 +f 68 70 96 +f 76 68 96 +f 70 82 96 +f 93 76 96 +f 82 93 96 +f 70 79 97 +f 79 72 97 +f 83 70 97 +o convex_3 +v 0.914763 0.285894 2.479834 +v -1.110984 0.052139 1.155519 +v -1.110984 0.052139 1.389457 +v 0.992811 0.052139 2.129403 +v -1.071651 0.052139 3.103287 +v -0.955094 0.246927 1.155519 +v 0.992811 0.169017 1.155519 +v -1.071651 0.246927 3.103287 +v 0.953684 0.052139 3.103287 +v 0.953684 0.285894 3.103287 +v 0.992811 0.052139 1.155519 +v -0.136722 0.285894 1.779163 +v -0.448296 0.285894 3.103287 +v 0.602983 0.207961 1.155519 +v -1.110984 0.130073 1.155519 +v -0.214564 0.246927 1.155519 +v 0.992811 0.207961 1.428542 +f 104 111 114 +f 100 99 101 +f 100 101 102 +f 99 103 104 +f 100 102 105 +f 102 101 106 +f 105 102 106 +f 105 106 107 +f 106 101 107 +f 101 99 108 +f 99 104 108 +f 104 101 108 +f 107 98 109 +f 107 109 110 +f 103 105 110 +f 105 107 110 +f 109 103 110 +f 104 103 111 +f 99 100 112 +f 103 99 112 +f 100 105 112 +f 105 103 112 +f 109 98 113 +f 103 109 113 +f 98 111 113 +f 111 103 113 +f 101 104 114 +f 98 107 114 +f 107 101 114 +f 111 98 114 +o convex_4 +v -0.331678 0.285894 -1.610818 +v -1.033065 0.052139 -3.013112 +v -1.033065 0.052139 -1.065344 +v 1.070467 0.052139 -2.973836 +v 1.109689 0.091106 -1.065344 +v 1.070467 0.207961 -2.973836 +v -1.033065 0.285894 -1.065344 +v 1.070467 0.246927 -1.104429 +v -1.033065 0.169017 -2.896047 +v 1.031664 0.052139 -1.065344 +v 1.070467 0.246927 -2.194805 +v 0.524920 0.207961 -2.973836 +v -1.033065 0.285894 -1.377071 +v 1.109689 0.169017 -2.584321 +v 0.408092 0.246927 -2.428552 +v -1.033065 0.130073 -3.013112 +v 1.031664 0.246927 -1.065344 +f 122 115 131 +f 117 116 118 +f 118 116 120 +f 116 117 121 +f 117 119 121 +f 116 121 123 +f 117 118 124 +f 118 119 124 +f 119 117 124 +f 115 122 125 +f 121 115 127 +f 123 121 127 +f 119 118 128 +f 118 120 128 +f 122 119 128 +f 120 125 128 +f 125 122 128 +f 115 125 129 +f 125 120 129 +f 120 126 129 +f 126 123 129 +f 123 127 129 +f 127 115 129 +f 120 116 130 +f 116 123 130 +f 126 120 130 +f 123 126 130 +f 115 121 131 +f 121 119 131 +f 119 122 131 +o convex_5 +v -1.305444 0.207957 1.155302 +v 2.161114 0.091114 -1.065153 +v 2.161114 0.324853 -1.065153 +v -3.019983 0.130061 -0.986907 +v 3.018383 0.091114 0.960556 +v -2.942049 0.324853 1.116179 +v 3.018383 0.324853 0.960556 +v -1.110907 0.052139 1.155302 +v -3.019983 0.324853 -0.986907 +v -1.032974 0.052139 -1.064936 +v 3.018383 0.091114 -1.065153 +v 0.992110 0.052139 1.155302 +v 3.018383 0.324853 -1.065153 +v -2.980719 0.207957 0.765592 +v 1.031374 0.052139 -1.064936 +v 0.564367 0.207957 1.155302 +v -2.942049 0.130061 -0.363545 +v -1.032974 0.285852 -1.064936 +v -2.708249 0.207957 1.116179 +v 3.057648 0.130088 -0.870189 +v -0.994304 0.324853 1.116179 +v -2.201383 0.091114 -0.012958 +v 3.057648 0.324853 -0.246828 +f 151 144 154 +f 134 137 138 +f 132 137 139 +f 137 134 140 +f 134 133 141 +f 135 140 141 +f 133 134 142 +f 141 133 142 +f 136 138 143 +f 132 139 143 +f 139 141 143 +f 134 138 144 +f 142 134 144 +f 140 135 145 +f 137 140 145 +f 142 136 146 +f 141 142 146 +f 143 141 146 +f 136 143 146 +f 137 132 147 +f 132 143 147 +f 143 138 147 +f 145 135 148 +f 139 145 148 +f 140 134 149 +f 134 141 149 +f 141 140 149 +f 139 137 150 +f 145 139 150 +f 137 145 150 +f 136 142 151 +f 142 144 151 +f 138 137 152 +f 137 147 152 +f 147 138 152 +f 135 141 153 +f 141 139 153 +f 148 135 153 +f 139 148 153 +f 138 136 154 +f 144 138 154 +f 136 151 154 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/393/393.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/393/393.urdf new file mode 100644 index 000000000..555e6b997 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/393/393.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/394/394.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/394/394.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/394/394.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/394/394.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/394/394.obj new file mode 100644 index 000000000..0bd11fa04 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/394/394.obj @@ -0,0 +1,543 @@ +o convex_0 +v 0.945278 -0.891641 -0.997777 +v -0.123113 1.182769 1.107904 +v 0.976611 1.182769 1.107692 +v -0.531670 -1.866025 1.107904 +v -1.034636 1.182769 -1.060826 +v -1.003304 -1.866025 -0.997777 +v 0.976611 -1.866025 1.076273 +v -1.066175 1.182769 1.107904 +v 1.008149 1.182769 -0.997565 +v 0.976611 -1.866025 -0.966358 +v -1.034636 -1.866025 1.107904 +v 1.039688 0.239720 0.573364 +v 0.379441 -1.614446 -1.028983 +v 1.039688 -0.420116 -0.715010 +v -1.066175 -0.482488 1.076061 +v 0.945278 1.182769 -1.028983 +v 1.039688 1.182769 0.636201 +v 1.008149 -1.614446 0.856343 +v -1.034636 0.522635 -1.060826 +v 1.008149 -1.866025 -0.840684 +v 1.039688 1.182769 -0.777635 +v 1.008149 1.025495 1.013224 +v 0.976611 0.585306 1.107692 +v 0.725334 -1.866025 -0.997777 +v -1.003304 -0.891641 -1.029195 +v -0.814485 1.119800 -1.060826 +v -1.034636 0.302690 -1.029195 +v 1.008149 0.616940 -0.997777 +f 21 14 28 +f 2 3 5 +f 4 6 7 +f 4 2 8 +f 2 5 8 +f 5 3 9 +f 7 6 10 +f 6 4 11 +f 4 8 11 +f 8 5 15 +f 6 11 15 +f 11 8 15 +f 5 9 16 +f 1 13 16 +f 9 3 17 +f 12 14 17 +f 14 12 18 +f 12 17 18 +f 15 5 19 +f 7 10 20 +f 18 7 20 +f 14 18 20 +f 9 17 21 +f 17 14 21 +f 17 3 22 +f 7 18 22 +f 18 17 22 +f 3 2 23 +f 2 4 23 +f 4 7 23 +f 22 3 23 +f 7 22 23 +f 1 10 24 +f 10 6 24 +f 6 13 24 +f 13 1 24 +f 13 6 25 +f 6 19 25 +f 19 13 25 +f 5 16 26 +f 16 13 26 +f 13 19 26 +f 19 5 26 +f 6 15 27 +f 19 6 27 +f 15 19 27 +f 10 1 28 +f 1 16 28 +f 16 9 28 +f 20 10 28 +f 14 20 28 +f 9 21 28 +o convex_1 +v -2.983358 1.308637 0.133494 +v -1.097839 2.408573 -0.432160 +v -1.097839 2.408573 -0.526489 +v -1.097839 1.182769 -0.432160 +v -1.097839 1.654445 0.510705 +v -3.077557 2.408453 0.479262 +v -3.014758 2.282705 -0.557932 +v -3.014758 1.245763 -0.495046 +v -3.046157 1.371511 0.542148 +v -1.097839 2.251388 0.447711 +v -1.097839 1.245763 0.447711 +v -2.888966 1.434265 -0.526381 +v -1.663417 2.314142 0.479262 +v -2.951765 1.748636 0.542148 +v -1.757810 1.308637 0.542148 +v -3.077557 2.408453 0.322046 +v -1.192038 1.277080 -0.463495 +v -2.229189 2.345579 -0.557932 +v -1.129045 2.188514 -0.526489 +v -2.826167 2.408453 0.479262 +v -3.077557 2.219831 0.510705 +v -3.014758 1.937018 -0.557932 +v -1.097839 1.277080 0.510705 +v -3.077557 2.314142 0.196381 +v -1.192038 1.182769 -0.369273 +v -1.097839 2.188514 0.479154 +v -2.731775 1.340074 0.542148 +v -3.046157 2.314142 -0.337722 +v -1.097839 2.282705 0.384825 +v -2.983358 2.314142 -0.463603 +f 56 44 58 +f 31 30 32 +f 32 30 33 +f 30 31 34 +f 36 29 37 +f 33 30 38 +f 32 33 39 +f 29 36 39 +f 33 42 43 +f 42 37 43 +f 34 31 44 +f 32 36 45 +f 36 40 45 +f 44 31 46 +f 31 32 47 +f 32 45 47 +f 45 40 47 +f 46 31 47 +f 30 34 48 +f 41 30 48 +f 37 42 49 +f 34 44 49 +f 48 34 49 +f 41 48 49 +f 40 36 50 +f 35 46 50 +f 47 40 50 +f 46 47 50 +f 39 33 51 +f 33 43 51 +f 43 39 51 +f 36 37 52 +f 37 49 52 +f 49 44 52 +f 36 32 53 +f 32 39 53 +f 39 36 53 +f 33 38 54 +f 38 41 54 +f 42 33 54 +f 49 42 54 +f 41 49 54 +f 37 29 55 +f 29 39 55 +f 39 43 55 +f 43 37 55 +f 50 36 56 +f 35 50 56 +f 36 52 56 +f 52 44 56 +f 38 30 57 +f 30 41 57 +f 41 38 57 +f 46 35 58 +f 44 46 58 +f 35 56 58 +o convex_2 +v -0.311742 -2.274528 -2.883552 +v 0.316719 -1.991786 -1.029395 +v 0.253867 -1.960404 -1.029395 +v -0.217495 -2.494630 -1.029395 +v 0.191014 -2.494630 -3.009540 +v -0.343200 -1.928899 -2.914952 +v 0.285261 -1.960404 -3.009540 +v -0.248889 -1.897456 -1.029395 +v 0.191014 -2.526073 -1.029395 +v -0.248889 -2.526073 -2.946352 +v -0.343200 -2.054610 -2.475157 +v 0.285261 -2.117497 -3.009540 +v -0.060331 -1.928899 -2.977753 +v 0.253867 -2.306033 -1.186590 +v -0.154643 -1.897456 -1.092583 +v 0.033850 -2.526073 -2.852346 +v -0.280348 -1.897456 -1.343978 +v 0.316719 -1.960404 -2.223568 +v 0.065309 -1.928899 -2.977753 +v -0.248889 -2.526073 -2.537763 +f 59 68 78 +f 60 61 62 +f 62 61 66 +f 60 62 67 +f 59 64 68 +f 59 62 69 +f 64 59 69 +f 63 65 70 +f 65 63 71 +f 63 68 71 +f 68 64 71 +f 60 67 72 +f 67 63 72 +f 70 60 72 +f 63 70 72 +f 66 61 73 +f 63 67 74 +f 68 63 74 +f 67 68 74 +f 62 66 75 +f 69 62 75 +f 64 69 75 +f 71 64 75 +f 66 73 75 +f 61 60 76 +f 60 70 76 +f 70 65 76 +f 73 61 76 +f 73 76 77 +f 65 71 77 +f 71 75 77 +f 75 73 77 +f 76 65 77 +f 62 59 78 +f 67 62 78 +f 68 67 78 +o convex_3 +v -1.097606 2.565537 -0.777825 +v 1.071125 1.780202 0.447597 +v 1.071125 1.214335 0.447597 +v -1.065975 1.182769 1.107904 +v 0.976657 2.848470 1.107904 +v 0.976657 1.182769 -1.029155 +v 1.008075 2.817070 -1.029155 +v -1.065975 2.880036 1.107904 +v -1.034556 1.182769 -1.060814 +v -1.065975 2.880036 -1.092257 +v 0.976657 1.182769 1.107904 +v 1.071125 2.314170 -0.589166 +v -1.097606 1.214335 0.070279 +v -0.657533 2.880036 -1.092257 +v 1.071125 1.182769 -0.557723 +v 1.008075 2.817070 1.107904 +v -0.028950 2.880036 0.321824 +v 0.442329 2.848470 -1.060814 +v -1.003138 1.905802 -1.092257 +v -1.097606 2.188403 0.479040 +v 0.725308 2.785504 -1.060814 +v -1.097606 1.182769 -0.432166 +v 1.071125 2.345404 0.416154 +v 1.008075 1.340102 -1.029155 +v -0.311717 2.817070 -1.092257 +v 1.008075 1.182769 1.013359 +v 1.008075 2.848470 0.824915 +v -0.311717 2.880036 1.107904 +v -1.097606 1.277136 0.510484 +f 98 91 107 +f 82 83 86 +f 84 82 87 +f 79 86 88 +f 87 79 88 +f 83 82 89 +f 82 84 89 +f 80 81 90 +f 88 86 92 +f 89 84 93 +f 90 81 93 +f 81 80 94 +f 83 89 94 +f 92 86 95 +f 92 95 96 +f 84 87 97 +f 87 88 97 +f 88 92 97 +f 86 79 98 +f 79 91 98 +f 96 85 99 +f 79 87 100 +f 87 82 100 +f 91 79 100 +f 82 91 100 +f 80 90 101 +f 90 85 101 +f 94 80 101 +f 85 90 102 +f 93 84 102 +f 90 93 102 +f 84 99 102 +f 99 85 102 +f 92 96 103 +f 84 97 103 +f 97 92 103 +f 99 84 103 +f 96 99 103 +f 93 81 104 +f 89 93 104 +f 81 94 104 +f 94 89 104 +f 83 94 105 +f 95 83 105 +f 96 95 105 +f 85 96 105 +f 101 85 105 +f 94 101 105 +f 86 83 106 +f 83 95 106 +f 95 86 106 +f 82 86 107 +f 91 82 107 +f 86 98 107 +o convex_4 +v 2.611114 1.308659 0.573450 +v 2.014100 2.251253 -0.589246 +v 2.014100 2.282702 -0.589246 +v 1.071321 1.779956 0.447677 +v 1.071321 1.340108 -0.526360 +v 3.082503 1.308659 -0.526360 +v 3.082503 2.219804 0.447677 +v 1.071321 2.345490 0.416234 +v 3.019691 2.282813 -0.589246 +v 1.071321 1.214311 0.447677 +v 1.071321 2.251253 -0.557803 +v 2.956878 1.371447 0.604893 +v 1.071321 1.371447 -0.557803 +v 2.894066 1.497244 0.604893 +v 2.894066 1.905532 -0.589246 +v 1.071321 1.214311 0.259135 +v 1.385581 1.214311 0.479120 +v 3.019691 1.308659 0.070593 +v 2.642619 1.371447 0.604893 +v 3.019691 2.282813 -0.274931 +v 1.951287 1.308659 -0.526360 +v 1.071321 2.282702 -0.494917 +v 2.799749 2.251364 0.416234 +v 3.051196 1.497244 -0.557803 +v 1.228451 1.214311 0.479120 +v 3.082503 1.654380 -0.400587 +v 3.082503 1.308659 -0.369261 +v 3.082503 2.125566 0.447677 +v 2.139725 1.874193 -0.589246 +f 122 120 136 +f 112 111 115 +f 109 110 116 +f 110 115 116 +f 111 112 117 +f 110 109 118 +f 112 115 118 +f 118 109 120 +f 112 118 120 +f 114 115 121 +f 119 114 121 +f 109 116 122 +f 117 112 123 +f 117 123 124 +f 123 113 124 +f 119 108 125 +f 108 124 125 +f 115 111 126 +f 108 119 126 +f 121 115 126 +f 119 121 126 +f 114 116 127 +f 116 115 127 +f 112 120 128 +f 120 113 128 +f 123 112 128 +f 113 123 128 +f 115 110 129 +f 110 118 129 +f 118 115 129 +f 115 114 130 +f 114 127 130 +f 127 115 130 +f 116 113 131 +f 113 120 131 +f 122 116 131 +f 120 122 131 +f 111 117 132 +f 117 124 132 +f 124 108 132 +f 126 111 132 +f 108 126 132 +f 114 113 133 +f 116 114 133 +f 113 116 133 +f 113 114 134 +f 124 113 134 +f 119 125 134 +f 125 124 134 +f 114 119 135 +f 134 114 135 +f 119 134 135 +f 120 109 136 +f 109 122 136 +o convex_5 +v -0.374606 -3.311704 0.384803 +v 1.008263 -1.866167 -0.652053 +v 1.008263 -1.897582 -0.652053 +v -1.003147 -1.866167 -0.997602 +v -1.034744 -1.866167 1.107695 +v 0.976666 -3.154485 1.076319 +v 0.976666 -3.123069 -0.934851 +v -0.971750 -3.280147 -0.966226 +v 0.976666 -1.866167 1.076319 +v -1.034744 -3.248731 1.107695 +v 0.725290 -1.866167 -0.997602 +v 0.190940 -2.683111 -1.029186 +v -0.028839 -3.311704 0.227716 +v 0.442316 -2.745942 1.107695 +v 0.976666 -1.866167 -0.966435 +v 0.913872 -3.186042 1.044734 +v -1.034744 -3.248731 0.667601 +v -0.500394 -2.777358 -1.029186 +v -0.248818 -1.897724 -1.029186 +v -0.060236 -3.217316 -0.966226 +v -1.003147 -3.280147 -0.432006 +v 0.882475 -3.060380 -0.966435 +v 0.316528 -1.960555 1.107695 +v -0.468797 -3.311704 -0.306295 +v 0.976666 -3.154485 -0.054872 +v 1.008263 -2.023386 -0.840724 +v 0.788084 -3.154485 -0.871890 +v -0.814565 -3.248731 1.107695 +v -1.003147 -2.117632 -0.997602 +v 0.316528 -1.991970 -1.029186 +v -1.034744 -2.180463 0.730561 +v -0.154627 -3.217316 1.107695 +f 164 152 168 +f 138 140 141 +f 139 138 142 +f 138 141 145 +f 142 138 145 +f 140 138 147 +f 142 145 150 +f 141 146 150 +f 147 138 151 +f 137 149 152 +f 146 141 153 +f 148 154 155 +f 140 147 155 +f 154 140 155 +f 144 154 156 +f 154 148 156 +f 137 146 157 +f 146 153 157 +f 148 147 158 +f 151 143 158 +f 147 151 158 +f 143 156 158 +f 156 148 158 +f 145 141 159 +f 141 150 159 +f 150 145 159 +f 149 137 160 +f 144 156 160 +f 137 157 160 +f 157 144 160 +f 142 152 161 +f 152 149 161 +f 138 139 162 +f 139 142 162 +f 151 138 162 +f 143 151 162 +f 142 161 162 +f 161 143 162 +f 156 143 163 +f 149 160 163 +f 160 156 163 +f 143 161 163 +f 161 149 163 +f 146 137 164 +f 150 146 164 +f 137 152 164 +f 153 140 165 +f 140 154 165 +f 154 144 165 +f 144 157 165 +f 157 153 165 +f 147 148 166 +f 148 155 166 +f 155 147 166 +f 141 140 167 +f 140 153 167 +f 153 141 167 +f 142 150 168 +f 152 142 168 +f 150 164 168 +o convex_6 +v 0.253839 -1.928982 2.993572 +v -0.091744 -2.557440 1.107904 +v 0.191011 -2.557440 1.107904 +v -0.280344 -1.897521 1.107904 +v -0.248901 -2.494581 2.930630 +v 0.316725 -1.960379 1.107904 +v -0.280344 -1.897521 2.930630 +v 0.222396 -2.400261 2.993572 +v -0.248901 -2.525978 1.107904 +v 0.316725 -1.928982 2.836310 +v -0.280344 -2.400261 1.516748 +v 0.222396 -2.463120 2.427835 +v -0.060359 -1.897521 1.107904 +v 0.096740 -1.897521 2.962008 +v -0.091744 -2.525978 2.459213 +v -0.280344 -2.243146 2.930630 +v 0.316725 -1.928982 2.050738 +v 0.316725 -1.991841 1.107904 +v 0.253839 -2.306005 2.993572 +v 0.096740 -2.557440 1.579505 +f 180 183 188 +f 171 170 172 +f 171 172 174 +f 169 175 176 +f 172 170 177 +f 170 173 177 +f 175 172 179 +f 172 177 179 +f 177 173 179 +f 174 172 181 +f 172 175 181 +f 175 169 182 +f 169 178 182 +f 181 175 182 +f 173 170 183 +f 176 173 183 +f 180 176 183 +f 173 176 184 +f 176 175 184 +f 175 179 184 +f 179 173 184 +f 178 174 185 +f 174 181 185 +f 182 178 185 +f 181 182 185 +f 171 174 186 +f 174 178 186 +f 180 171 186 +f 180 186 187 +f 169 176 187 +f 178 169 187 +f 176 180 187 +f 186 178 187 +f 170 171 188 +f 171 180 188 +f 183 170 188 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/394/394.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/394/394.urdf new file mode 100644 index 000000000..a868bba5b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/394/394.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/395/395.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/395/395.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/395/395.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/395/395.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/395/395.obj new file mode 100644 index 000000000..00600ee95 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/395/395.obj @@ -0,0 +1,3681 @@ +o convex_0 +v 0.560995 -0.231132 -0.971762 +v 0.363212 0.318173 -1.213429 +v 0.363212 0.318173 -1.235402 +v -0.163994 0.296128 -1.235402 +v 0.582935 -0.494881 -1.147512 +v 0.033789 0.296128 -0.949818 +v 0.934512 -0.209245 -1.125540 +v 0.407092 0.208264 -0.949818 +v 0.780717 0.032458 -1.235402 +v 0.560995 -0.494881 -1.125540 +v -0.163994 0.296128 -1.147512 +v 0.780717 -0.055405 -1.235402 +v 0.494959 -0.187200 -0.949818 +v 0.099824 0.318173 -0.949818 +f 11 6 14 +f 1 7 8 +f 8 7 9 +f 3 2 9 +f 4 3 9 +f 2 8 9 +f 4 5 10 +f 7 1 10 +f 5 7 10 +f 4 10 11 +f 10 6 11 +f 5 4 12 +f 7 5 12 +f 9 7 12 +f 4 9 12 +f 8 6 13 +f 1 8 13 +f 10 1 13 +f 6 10 13 +f 2 3 14 +f 3 4 14 +f 8 2 14 +f 6 8 14 +f 4 11 14 +o convex_1 +v 0.033651 -0.670706 2.236396 +v -0.471743 -0.692687 1.555443 +v -0.471743 -0.670706 1.555443 +v 0.407234 -0.670706 1.555443 +v -0.010401 -0.978318 1.577396 +v -0.405751 -0.692687 1.862990 +v 0.363268 -0.692687 1.884943 +v -0.032255 -0.714668 2.214443 +v -0.405751 -0.824512 1.555443 +v 0.363268 -0.802561 1.555443 +v -0.076049 -0.978318 1.577396 +f 20 23 25 +f 16 17 18 +f 17 15 18 +f 15 17 20 +f 17 16 20 +f 18 15 21 +f 19 21 22 +f 15 20 22 +f 21 15 22 +f 16 18 23 +f 20 16 23 +f 18 21 24 +f 21 19 24 +f 23 18 24 +f 19 23 24 +f 19 22 25 +f 22 20 25 +f 23 19 25 +o convex_2 +v 1.637834 -0.450859 -1.213457 +v 0.846832 0.032506 -1.213457 +v 0.846832 0.032506 -1.235429 +v 2.560727 -0.187282 -1.235429 +v 1.813457 -0.187282 -1.147549 +v 0.780799 -0.538829 -1.235429 +v 0.780799 -0.319042 -1.147549 +v 1.791330 0.010527 -1.213457 +v 0.780799 -0.143324 -1.147549 +v 2.560727 -0.209260 -1.213457 +f 33 30 35 +f 28 29 31 +f 29 26 31 +f 31 26 32 +f 26 30 32 +f 28 27 33 +f 29 28 33 +f 30 33 34 +f 27 28 34 +f 28 31 34 +f 31 32 34 +f 32 30 34 +f 33 27 34 +f 26 29 35 +f 30 26 35 +f 29 33 35 +o convex_3 +v -0.098266 -0.714625 -1.235429 +v -0.757376 -0.209213 -1.147549 +v -0.757376 -0.209213 -1.169530 +v 0.780799 -0.253194 -1.147549 +v -0.076371 -0.714625 -1.147549 +v -1.790208 -0.209213 -1.235429 +v 0.780799 -0.450985 -1.235429 +v 0.517054 -0.648678 -1.147549 +v -0.559316 -0.626712 -1.147549 +v 0.780799 -0.297126 -1.191494 +v 0.517054 -0.670644 -1.235429 +v -1.746167 -0.253194 -1.213457 +v -0.625252 -0.626712 -1.235429 +v -1.416486 -0.209213 -1.235429 +v 0.780799 -0.560765 -1.213457 +f 43 46 50 +f 38 37 39 +f 39 37 40 +f 37 38 41 +f 36 41 42 +f 39 40 43 +f 40 37 44 +f 39 42 45 +f 40 36 46 +f 36 42 46 +f 43 40 46 +f 37 41 47 +f 44 37 47 +f 44 47 48 +f 36 40 48 +f 41 36 48 +f 40 44 48 +f 47 41 48 +f 38 39 49 +f 41 38 49 +f 42 41 49 +f 39 45 49 +f 45 42 49 +f 42 39 50 +f 39 43 50 +f 46 42 50 +o convex_4 +v -0.581598 -0.582658 -1.125523 +v -0.471717 -0.121315 -0.905836 +v -0.471717 -0.121315 -0.949765 +v -0.010280 -0.736599 -0.927780 +v -0.449726 -0.736599 -0.730078 +v -0.032272 -0.714616 -1.147549 +v -0.801359 -0.187264 -1.147549 +v -0.559606 -0.121315 -0.730078 +v -0.010280 -0.692633 -0.883851 +v -0.471640 -0.648607 -1.147549 +v -0.317853 -0.736599 -0.730078 +v -0.032272 -0.670590 -1.147549 +v -0.581598 -0.165281 -0.730078 +v -0.735385 -0.187264 -1.147549 +v -0.801359 -0.209247 -1.125523 +f 63 58 65 +f 54 55 56 +f 52 53 58 +f 53 57 58 +f 53 52 59 +f 52 58 59 +f 55 51 60 +f 56 55 60 +f 51 57 60 +f 57 56 60 +f 55 54 61 +f 58 55 61 +f 54 59 61 +f 59 58 61 +f 54 56 62 +f 56 57 62 +f 53 59 62 +f 59 54 62 +f 55 58 63 +f 57 53 64 +f 53 62 64 +f 62 57 64 +f 51 55 65 +f 57 51 65 +f 58 57 65 +f 55 63 65 +o convex_5 +v 0.407121 -0.670631 -1.147549 +v 0.561048 -0.187239 -0.949806 +v 0.583029 -0.187292 -0.730078 +v -0.032197 -0.670631 -0.949806 +v 0.473064 -0.736492 -0.730078 +v -0.032197 -0.714610 -1.147549 +v 0.561048 -0.429069 -1.147549 +v 0.011765 -0.736492 -0.861866 +v 0.494985 -0.187239 -0.971750 +v 0.561048 -0.560737 -1.147549 +v 0.539007 -0.209336 -0.730078 +f 74 69 76 +f 66 70 71 +f 67 68 72 +f 66 71 72 +f 69 71 73 +f 71 70 73 +f 68 67 74 +f 71 69 74 +f 67 72 74 +f 72 71 74 +f 70 66 75 +f 68 70 75 +f 72 68 75 +f 66 72 75 +f 70 68 76 +f 69 73 76 +f 73 70 76 +f 68 74 76 +o convex_6 +v -0.603555 -0.187239 -0.971750 +v -0.010388 0.625815 -0.730078 +v -0.010388 0.625815 -0.752063 +v 0.033669 0.296089 -0.949806 +v -0.361940 0.274123 -1.147549 +v -0.427738 0.427963 -0.730078 +v -0.537593 -0.121262 -0.730078 +v -0.801359 -0.187239 -1.147549 +v 0.033669 0.296089 -1.147549 +v -0.471631 -0.165193 -0.971750 +v -0.010388 0.515827 -0.752063 +v -0.559581 -0.055285 -0.730078 +v -0.713410 -0.187239 -1.147549 +f 86 77 89 +f 79 78 80 +f 79 81 82 +f 78 79 82 +f 78 82 83 +f 82 81 84 +f 77 83 84 +f 79 80 85 +f 81 79 85 +f 84 81 85 +f 83 77 86 +f 80 83 86 +f 85 80 86 +f 80 78 87 +f 78 83 87 +f 83 80 87 +f 83 82 88 +f 82 84 88 +f 84 83 88 +f 77 84 89 +f 84 85 89 +f 85 86 89 +o convex_7 +v 0.736736 0.977251 -0.576214 +v -0.032091 1.262931 -0.664112 +v -0.032091 1.262931 -0.642137 +v 0.714751 -0.209019 -0.664112 +v 0.560937 1.218995 -0.664112 +v 0.758721 -0.186955 -0.576214 +v 0.121642 1.768291 -0.576214 +v 0.648877 1.548418 -0.598188 +v 0.033783 1.768291 -0.642137 +v 0.758721 0.032725 -0.664112 +v -0.032091 1.724162 -0.598188 +v 0.473078 1.680226 -0.576214 +f 97 98 101 +f 92 91 93 +f 93 91 94 +f 92 93 95 +f 95 90 96 +f 94 91 98 +f 97 94 98 +f 93 94 99 +f 90 95 99 +f 95 93 99 +f 97 90 99 +f 94 97 99 +f 91 92 100 +f 92 95 100 +f 95 96 100 +f 96 98 100 +f 98 91 100 +f 96 90 101 +f 90 97 101 +f 98 96 101 +o convex_8 +v -0.010125 -0.934339 -0.774010 +v 0.473157 -0.736599 -0.730052 +v 0.473157 -0.824531 -0.730052 +v 0.033669 -0.758604 -0.905813 +v -0.405820 -0.736599 -0.730052 +v -0.032237 -0.956343 -0.730052 +f 104 106 107 +f 103 104 105 +f 104 102 105 +f 105 102 106 +f 104 103 106 +f 103 105 106 +f 102 104 107 +f 106 102 107 +o convex_9 +v -2.735109 -0.231183 -1.367263 +v 0.099592 0.318173 -1.235449 +v 0.099592 0.318173 -1.257430 +v -0.757533 -0.209204 -1.147549 +v -0.230328 0.318173 -1.147549 +v -0.296367 0.296194 -1.389244 +v -1.943468 0.164322 -1.389244 +v -2.690990 -0.165191 -1.323301 +v -2.625228 -0.253162 -1.389244 +v -1.811944 -0.209204 -1.213468 +v -0.757533 -0.187170 -1.191511 +v -0.537772 0.318173 -1.389244 +v -1.767825 0.186301 -1.345282 +v -2.603030 -0.055353 -1.389244 +v -0.955374 -0.187170 -1.147549 +v -1.877984 -0.253162 -1.235449 +v -0.428168 0.208280 -1.367263 +f 118 116 124 +f 110 109 111 +f 109 110 112 +f 111 109 112 +f 114 113 116 +f 112 115 117 +f 110 111 118 +f 113 110 118 +f 111 116 118 +f 112 110 119 +f 110 113 119 +f 113 114 119 +f 119 114 120 +f 115 112 120 +f 112 119 120 +f 108 115 121 +f 116 108 121 +f 114 116 121 +f 120 114 121 +f 115 120 121 +f 111 112 122 +f 112 117 122 +f 122 117 123 +f 115 108 123 +f 108 116 123 +f 116 111 123 +f 117 115 123 +f 111 122 123 +f 116 113 124 +f 113 118 124 +o convex_10 +v 0.626888 2.295833 1.181729 +v -0.010280 2.559354 1.159748 +v -0.010280 2.559354 1.181729 +v 0.736796 1.350971 1.137778 +v 0.670899 2.405722 1.071879 +v -0.010280 2.647372 1.071879 +v 0.802773 1.350971 1.071879 +v 0.780728 1.350971 1.181729 +v 0.758762 2.251690 1.159748 +v 0.011765 2.713385 1.093860 +v 0.758762 2.273828 1.071879 +f 133 131 135 +f 127 126 128 +f 126 127 130 +f 128 126 130 +f 130 129 131 +f 128 130 131 +f 128 131 132 +f 125 127 132 +f 127 128 132 +f 129 125 133 +f 132 131 133 +f 125 132 133 +f 127 125 134 +f 125 129 134 +f 130 127 134 +f 129 130 134 +f 131 129 135 +f 129 133 135 +o convex_11 +v 0.648953 0.581969 1.291612 +v 0.033527 1.636639 1.313597 +v 0.165270 1.394754 1.357535 +v -0.625564 0.581969 1.291612 +v -0.581525 0.581969 1.357535 +v 0.604913 0.581969 1.357535 +v 0.582956 1.328889 1.291612 +v -0.537610 1.109304 1.291612 +v -0.515653 0.999460 1.357535 +v 0.560999 1.131087 1.357535 +v -0.010263 1.636639 1.291612 +f 142 143 146 +f 139 136 140 +f 140 136 141 +f 138 140 141 +f 136 139 142 +f 142 139 143 +f 138 137 144 +f 139 140 144 +f 140 138 144 +f 143 139 144 +f 137 143 144 +f 137 138 145 +f 141 136 145 +f 138 141 145 +f 142 137 145 +f 136 142 145 +f 137 142 146 +f 143 137 146 +o convex_12 +v -0.361908 -0.143290 2.873556 +v -0.471741 -0.670676 1.555456 +v -0.427803 -0.670676 1.555456 +v -0.515655 -0.143290 1.555456 +v -0.317922 -0.648633 1.885169 +v -0.515655 -0.209316 1.994923 +v -0.339927 -0.231256 3.093515 +v -0.317922 -0.143290 2.807613 +v -0.317922 -0.538829 2.456069 +v -0.559641 -0.143290 1.577437 +v -0.427803 -0.670676 1.863188 +v -0.471741 -0.209316 2.368146 +f 157 153 158 +f 149 148 150 +f 149 150 151 +f 150 147 154 +f 151 150 154 +f 147 153 154 +f 154 153 155 +f 151 154 155 +f 150 148 156 +f 147 150 156 +f 148 152 156 +f 148 149 157 +f 149 151 157 +f 155 153 157 +f 151 155 157 +f 152 148 158 +f 153 147 158 +f 147 156 158 +f 156 152 158 +f 148 157 158 +o convex_13 +v -0.142178 -0.165281 3.225163 +v -0.317922 -0.670676 1.907034 +v -0.317922 -0.648633 1.907034 +v -0.010280 -0.670676 2.214680 +v -0.032263 -0.560718 2.983451 +v -0.317922 -0.319171 3.005475 +v -0.010280 -0.143290 3.225163 +v -0.317922 -0.143290 2.917517 +v -0.273956 -0.494794 2.785649 +v -0.010280 -0.209316 3.313121 +v -0.317922 -0.670676 2.017015 +v -0.208037 -0.648633 1.994992 +v -0.273956 -0.231256 3.137206 +v -0.010280 -0.538829 3.027361 +f 171 164 172 +f 161 160 164 +f 161 164 166 +f 159 165 166 +f 163 164 167 +f 165 159 168 +f 162 165 168 +f 160 162 169 +f 162 163 169 +f 164 160 169 +f 163 167 169 +f 167 164 169 +f 160 161 170 +f 162 160 170 +f 165 162 170 +f 161 166 170 +f 166 165 170 +f 159 166 171 +f 166 164 171 +f 168 159 171 +f 168 171 172 +f 163 162 172 +f 164 163 172 +f 162 168 172 +o convex_14 +v -0.317950 0.120507 2.587948 +v -0.537643 -0.143290 1.555305 +v -0.537643 -0.077341 1.555305 +v -0.295971 0.428028 1.555305 +v -0.295971 -0.143290 2.873754 +v -0.405841 0.406045 1.577538 +v -0.449751 -0.121307 2.368109 +v -0.493685 -0.143290 1.621418 +v -0.317950 -0.143290 3.049566 +v -0.295971 0.471994 1.577538 +f 176 178 182 +f 174 175 176 +f 176 175 178 +f 175 174 179 +f 173 178 179 +f 178 175 179 +f 174 176 180 +f 176 177 180 +f 177 174 180 +f 177 173 181 +f 174 177 181 +f 179 174 181 +f 173 179 181 +f 173 177 182 +f 177 176 182 +f 178 173 182 +o convex_15 +v -0.120174 0.581849 1.555305 +v -0.295948 -0.143290 2.983587 +v -0.273941 -0.143290 2.983587 +v -0.032259 0.186380 3.093313 +v -0.010280 -0.143290 3.203206 +v -0.295948 0.428043 1.555305 +v -0.010280 0.581849 1.555305 +v -0.295948 0.120431 2.675885 +v -0.295948 0.471934 1.599263 +v -0.295948 -0.099324 3.049355 +v -0.010280 0.625815 1.599263 +v -0.251990 0.406060 1.621241 +v -0.010280 0.142414 3.137438 +v -0.032259 -0.143290 3.269310 +v -0.186054 0.120431 2.961440 +f 190 192 197 +f 184 185 187 +f 185 184 188 +f 188 183 189 +f 188 184 190 +f 188 190 191 +f 186 183 191 +f 183 188 191 +f 190 184 192 +f 183 186 193 +f 187 189 193 +f 189 183 193 +f 187 185 194 +f 185 188 194 +f 189 187 194 +f 188 189 194 +f 186 192 195 +f 193 186 195 +f 187 193 195 +f 184 187 196 +f 192 184 196 +f 195 192 196 +f 187 195 196 +f 191 190 197 +f 186 191 197 +f 192 186 197 +o convex_16 +v 0.341311 -0.121369 3.071392 +v 0.385290 -0.670568 1.555454 +v 0.407260 -0.670568 1.555454 +v 0.539061 -0.121369 1.555454 +v 0.495101 -0.165352 2.280552 +v 0.495101 -0.165352 1.555454 +v 0.363319 -0.231274 3.005352 +v 0.341311 -0.648630 1.753275 +v 0.363319 -0.626639 2.082879 +v 0.341311 -0.121369 2.939462 +v 0.539061 -0.209282 1.577566 +f 202 200 208 +f 200 199 201 +f 201 198 202 +f 201 199 203 +f 202 198 204 +f 203 199 205 +f 199 200 206 +f 200 202 206 +f 204 198 206 +f 202 204 206 +f 205 199 206 +f 198 205 206 +f 198 201 207 +f 201 203 207 +f 203 205 207 +f 205 198 207 +f 200 201 208 +f 201 202 208 +o convex_17 +v 0.429230 0.252181 2.148709 +v 0.517072 -0.121315 1.555305 +v 0.539061 -0.121315 1.555305 +v 0.341311 -0.121315 3.049566 +v 0.341311 0.493908 1.555305 +v 0.451161 0.493908 1.599478 +v 0.495101 -0.099311 2.236762 +v 0.341311 0.230241 2.500188 +v 0.341311 -0.033362 2.653768 +v 0.363319 -0.055366 3.005394 +v 0.495101 -0.121315 1.621418 +f 217 213 219 +f 210 211 212 +f 211 210 213 +f 211 213 214 +f 212 211 215 +f 214 209 215 +f 211 214 215 +f 213 212 216 +f 214 213 216 +f 212 213 217 +f 209 214 218 +f 212 215 218 +f 215 209 218 +f 216 212 218 +f 214 216 218 +f 210 212 219 +f 213 210 219 +f 212 217 219 +o convex_18 +v -2.625237 -0.407011 -1.872705 +v -1.241104 -0.407011 -2.158317 +v -1.241104 -0.385008 -2.158317 +v -0.340120 -0.582750 -1.872705 +v -1.768094 -0.604731 -1.916686 +v -0.340120 -0.538810 -2.136368 +v -0.384185 -0.385008 -2.136368 +v -1.724029 -0.538810 -2.092415 +v -2.449200 -0.385008 -2.026485 +v -2.537107 -0.494870 -1.872705 +v -2.559027 -0.385008 -1.872705 +v -0.340120 -0.604731 -1.938663 +v -1.811936 -0.604731 -1.872705 +v -1.745950 -0.407011 -2.136368 +f 227 228 233 +f 221 222 225 +f 223 225 226 +f 225 222 226 +f 221 225 227 +f 225 224 227 +f 226 222 228 +f 228 227 229 +f 223 220 229 +f 227 224 229 +f 220 228 229 +f 220 223 230 +f 223 226 230 +f 228 220 230 +f 226 228 230 +f 224 225 231 +f 225 223 231 +f 223 229 232 +f 229 224 232 +f 231 223 232 +f 224 231 232 +f 222 221 233 +f 221 227 233 +f 228 222 233 +o convex_19 +v 2.318512 -0.472923 -1.916710 +v -0.339767 -0.538858 -2.136372 +v -0.339767 -0.516886 -2.136372 +v -0.339767 -0.604724 -1.872705 +v 0.055747 -0.626697 -2.114383 +v 1.835429 -0.582769 -1.872731 +v 1.791248 -0.516868 -2.026502 +v 0.341470 -0.472923 -2.070430 +v 0.055747 -0.648686 -1.872705 +v 2.165068 -0.472923 -1.872731 +v 0.693332 -0.472923 -2.114383 +v -0.339767 -0.560813 -1.916684 +v -0.010128 -0.648686 -2.026476 +f 239 242 246 +f 236 235 237 +f 239 238 240 +f 234 239 240 +f 242 239 243 +f 239 234 243 +f 234 241 243 +f 237 242 243 +f 235 236 244 +f 238 235 244 +f 240 238 244 +f 234 240 244 +f 236 241 244 +f 241 234 244 +f 236 237 245 +f 241 236 245 +f 237 243 245 +f 243 241 245 +f 237 235 246 +f 235 238 246 +f 238 239 246 +f 242 237 246 +o convex_20 +v -0.449769 0.274224 -1.938673 +v -1.636129 0.076474 -2.136372 +v -1.636129 0.098463 -2.136372 +v -2.603262 0.120433 -1.872705 +v -0.471902 0.076474 -2.092419 +v -1.790011 0.208275 -2.092419 +v -0.449769 0.208275 -2.114383 +v -1.790011 0.274224 -1.872705 +v -0.449769 0.252215 -1.872705 +v -2.537283 0.076474 -1.872705 +v -2.493227 0.076474 -2.004539 +v -2.559206 0.142404 -1.916684 +v -0.471902 0.076474 -2.136372 +f 253 251 259 +f 249 252 253 +f 252 247 253 +f 247 252 254 +f 253 247 255 +f 251 253 255 +f 247 254 255 +f 254 250 255 +f 248 251 256 +f 255 250 256 +f 251 255 256 +f 249 248 257 +f 252 249 257 +f 248 256 257 +f 256 250 257 +f 250 254 258 +f 254 252 258 +f 252 257 258 +f 257 250 258 +f 248 249 259 +f 251 248 259 +f 249 253 259 +o convex_21 +v -0.076257 2.603496 1.181729 +v -0.823334 1.350971 1.071879 +v -0.823334 1.350971 1.093860 +v -0.779323 2.207814 1.071879 +v -0.010280 2.669376 1.071879 +v -0.669494 1.350971 1.181729 +v -0.691459 1.724648 1.181729 +v -0.339927 2.405722 1.181729 +v -0.010280 2.559354 1.181729 +v -0.779323 2.207814 1.093860 +v -0.098223 2.691247 1.093860 +v -0.779323 1.350971 1.071879 +v -0.361892 1.878413 1.159748 +f 271 264 272 +f 261 262 263 +f 261 263 264 +f 262 261 265 +f 265 260 266 +f 262 265 266 +f 266 260 267 +f 264 260 268 +f 260 265 268 +f 263 262 269 +f 262 266 269 +f 266 267 269 +f 267 260 269 +f 260 264 270 +f 264 263 270 +f 263 269 270 +f 269 260 270 +f 261 264 271 +f 265 261 271 +f 265 271 272 +f 264 268 272 +f 268 265 272 +o convex_22 +v 1.747379 -0.428949 -2.070438 +v 2.824420 -0.187239 -1.872705 +v 2.824420 -0.187239 -1.894710 +v 0.495327 -0.187239 -2.136368 +v 1.813276 -0.187239 -2.158317 +v 0.385259 -0.472906 -2.092415 +v 2.494694 -0.472906 -1.872705 +v 2.648455 -0.209217 -2.048462 +v 0.671054 -0.450899 -2.136368 +v 2.297002 -0.450899 -1.872705 +v 1.901379 -0.472906 -2.026485 +v 0.473361 -0.297160 -2.158317 +v 2.516660 -0.428949 -1.938663 +v 0.473361 -0.275154 -2.114392 +v 1.747379 -0.231196 -2.158317 +f 281 284 287 +f 274 275 276 +f 276 275 277 +f 275 274 279 +f 277 275 280 +f 279 274 282 +f 278 279 282 +f 279 278 283 +f 273 280 283 +f 281 273 283 +f 278 281 283 +f 276 277 284 +f 278 276 284 +f 281 278 284 +f 275 279 285 +f 280 275 285 +f 279 283 285 +f 283 280 285 +f 274 276 286 +f 276 278 286 +f 282 274 286 +f 278 282 286 +f 280 273 287 +f 277 280 287 +f 273 281 287 +f 284 277 287 +o convex_23 +v 2.362957 -0.187239 -2.092466 +v 0.758859 0.252250 -2.070496 +v 0.758859 0.252250 -2.092466 +v 0.517106 -0.187239 -2.136385 +v 1.110648 -0.121247 -2.180346 +v 1.791459 0.186258 -2.092466 +v 2.142886 -0.187239 -2.070496 +v 1.901495 -0.187239 -2.158355 +v 0.561193 0.230267 -2.114436 +v 0.561193 0.208241 -2.070496 +v 0.539330 -0.143230 -2.180346 +v 1.791459 0.186258 -2.070496 +v 1.791459 -0.077366 -2.158355 +f 296 293 300 +f 290 289 293 +f 291 288 294 +f 288 291 295 +f 289 290 296 +f 290 293 296 +f 294 289 297 +f 291 294 297 +f 289 296 297 +f 296 291 297 +f 295 291 298 +f 292 295 298 +f 291 296 298 +f 296 292 298 +f 293 289 299 +f 288 293 299 +f 294 288 299 +f 289 294 299 +f 293 288 300 +f 288 295 300 +f 295 292 300 +f 292 296 300 +o convex_24 +v 0.736701 -1.417066 -0.488329 +v -0.032169 -2.450499 -0.532265 +v -0.031992 -2.560476 -0.510293 +v 0.275556 1.965967 -0.532274 +v 0.824698 -0.295919 -0.576210 +v 0.802655 0.801185 -0.488329 +v 0.209602 1.855544 -0.576210 +v 0.033873 -2.251916 -0.576210 +v -0.031992 -2.428236 -0.488329 +v 0.670836 1.657852 -0.576210 +v 0.626838 -1.789743 -0.576210 +v 0.407287 1.988229 -0.510301 +v 0.648881 -1.988771 -0.488329 +v 0.714658 1.899179 -0.532265 +v 0.868609 -0.033665 -0.488329 +v 0.780612 0.778922 -0.576210 +v 0.714658 1.899179 -0.510301 +f 314 312 317 +f 303 302 308 +f 307 305 308 +f 302 307 308 +f 302 303 309 +f 301 306 309 +f 307 302 309 +f 304 307 309 +f 305 307 310 +f 305 301 311 +f 303 308 311 +f 308 305 311 +f 309 306 312 +f 304 309 312 +f 301 309 313 +f 309 303 313 +f 311 301 313 +f 303 311 313 +f 307 304 314 +f 310 307 314 +f 304 312 314 +f 301 305 315 +f 306 301 315 +f 314 306 315 +f 314 315 316 +f 305 310 316 +f 310 314 316 +f 315 305 316 +f 312 306 317 +f 306 314 317 +o convex_25 +v 2.626513 -0.011413 -1.367280 +v 0.583158 0.318173 -1.345304 +v 0.846946 0.296158 -1.345304 +v 2.340854 -0.187239 -1.235447 +v 1.835150 0.186230 -1.279413 +v 0.627168 0.010553 -1.257436 +v 0.099592 0.318173 -1.235447 +v 2.758007 -0.187239 -1.367280 +v 0.429260 0.296158 -1.367280 +v 2.736135 -0.165223 -1.235447 +v 2.450743 0.098367 -1.367280 +v 0.385518 0.318173 -1.235447 +v 0.627168 0.010553 -1.235447 +v 1.813279 0.208295 -1.367280 +f 329 322 331 +f 321 323 325 +f 325 323 326 +f 323 324 326 +f 324 319 326 +f 318 325 326 +f 324 321 327 +f 325 318 327 +f 321 325 327 +f 318 326 328 +f 327 318 328 +f 322 327 328 +f 320 319 329 +f 319 324 329 +f 327 322 329 +f 324 327 329 +f 323 321 330 +f 321 324 330 +f 324 323 330 +f 319 320 331 +f 326 319 331 +f 322 328 331 +f 328 326 331 +f 320 329 331 +o convex_26 +v -0.471687 1.416722 1.269638 +v -0.779385 -0.252966 1.247663 +v -0.779385 -0.252966 1.269638 +v 0.011617 1.570363 1.269638 +v -0.713339 -0.252966 1.291612 +v -0.559568 1.175008 1.291612 +v -0.603469 1.218849 1.247663 +v 0.011617 1.746511 1.291612 +v -0.032362 1.746511 1.247663 +f 332 339 340 +f 334 333 336 +f 333 335 336 +f 334 336 337 +f 333 334 338 +f 337 332 338 +f 334 337 338 +f 336 335 339 +f 332 337 339 +f 337 336 339 +f 335 333 340 +f 333 338 340 +f 338 332 340 +f 339 335 340 +o convex_27 +v -0.669549 1.350672 1.181729 +v -0.911232 -0.209133 1.071879 +v -0.911232 -0.209133 1.093860 +v -0.625564 -1.703175 1.181729 +v -0.691528 -1.703175 1.071879 +v -0.779359 1.350672 1.071879 +v -0.845267 -0.055485 1.181729 +v -0.823317 1.328551 1.115830 +v -0.757436 -1.571348 1.093860 +v -0.669549 1.350672 1.159748 +v -0.691528 -1.549227 1.181729 +v -0.779359 1.174902 1.181729 +v -0.647543 -1.659232 1.115830 +f 345 350 353 +f 345 342 346 +f 344 341 347 +f 342 343 348 +f 341 346 348 +f 346 342 348 +f 343 347 348 +f 343 342 349 +f 345 344 349 +f 342 345 349 +f 341 344 350 +f 346 341 350 +f 345 346 350 +f 347 343 351 +f 344 347 351 +f 343 349 351 +f 349 344 351 +f 347 341 352 +f 341 348 352 +f 348 347 352 +f 344 345 353 +f 350 344 353 +o convex_28 +v -0.977140 -0.165126 -0.158708 +v -0.823393 2.229779 0.170916 +v -0.735460 2.383769 -0.026871 +v -0.779439 2.141712 -0.444367 +v -0.889284 2.097679 0.104967 +v -0.955150 -0.186514 0.126890 +v -0.801403 0.955834 -0.444367 +v -0.999129 -0.032775 0.170916 +v -0.867294 0.912052 -0.444367 +v -0.933160 -0.165126 -0.290486 +v -0.735460 1.921798 -0.444367 +v -0.735460 2.295451 -0.026871 +v -0.955150 0.010755 -0.290486 +v -0.933186 0.208779 0.170916 +v -0.911222 1.812092 0.170916 +f 358 366 368 +f 355 356 358 +f 356 357 358 +f 354 359 361 +f 358 357 362 +f 357 360 362 +f 362 360 363 +f 359 354 363 +f 360 359 363 +f 357 356 364 +f 360 357 364 +f 360 364 365 +f 356 355 365 +f 359 360 365 +f 364 356 365 +f 358 362 366 +f 362 363 366 +f 363 354 366 +f 355 361 367 +f 361 359 367 +f 365 355 367 +f 359 365 367 +f 355 358 368 +f 354 361 368 +f 361 355 368 +f 366 354 368 +o convex_29 +v 0.341257 0.449929 -0.774018 +v -0.010280 0.296169 -0.949779 +v 0.495043 -0.187239 -0.949779 +v 0.539065 -0.187239 -0.730078 +v -0.010280 0.559838 -0.730078 +v 0.407174 0.208305 -0.949779 +v 0.429127 0.428043 -0.730078 +v 0.033684 0.625815 -0.752037 +v 0.583029 -0.099296 -0.752037 +f 374 375 377 +f 370 371 372 +f 370 372 373 +f 371 370 374 +f 373 372 375 +f 374 369 375 +f 370 373 376 +f 374 370 376 +f 369 374 376 +f 375 369 376 +f 373 375 376 +f 372 371 377 +f 371 374 377 +f 375 372 377 +o convex_30 +v 0.714691 0.010465 -0.664112 +v -0.669375 -0.186996 -0.686090 +v -0.669375 -0.186996 -0.664112 +v 0.121480 -1.659525 -0.664112 +v 0.495024 -1.021555 -0.730028 +v 0.033669 1.307022 -0.686090 +v -0.471730 -0.736109 -0.730028 +v 0.451118 0.625495 -0.730028 +v -0.427549 0.471592 -0.730028 +v -0.449571 0.911231 -0.664112 +v 0.538930 1.065134 -0.664112 +v 0.560814 -1.417636 -0.664112 +v -0.515361 -1.088052 -0.664112 +v 0.648763 -0.165507 -0.730028 +v 0.077575 -1.659525 -0.686090 +v 0.538930 1.065134 -0.686090 +v -0.515361 0.801466 -0.686090 +v -0.581426 -0.121660 -0.730028 +v -0.009962 0.779107 -0.730028 +v 0.560814 -1.417636 -0.686090 +v 0.736713 -0.297051 -0.686090 +v -0.515361 -1.088052 -0.686090 +v -0.031984 1.307022 -0.664112 +v 0.011922 -1.043624 -0.730028 +f 392 384 401 +f 378 380 381 +f 382 384 385 +f 385 384 386 +f 380 378 387 +f 387 378 388 +f 378 381 389 +f 380 379 390 +f 381 380 390 +f 382 385 391 +f 381 390 392 +f 385 383 393 +f 383 388 393 +f 388 378 393 +f 391 385 393 +f 379 380 394 +f 383 386 394 +f 380 387 394 +f 386 384 395 +f 379 394 395 +f 394 386 395 +f 383 385 396 +f 386 383 396 +f 385 386 396 +f 389 381 397 +f 382 391 397 +f 392 382 397 +f 381 392 397 +f 378 389 398 +f 393 378 398 +f 391 393 398 +f 389 397 398 +f 397 391 398 +f 390 379 399 +f 384 392 399 +f 392 390 399 +f 379 395 399 +f 395 384 399 +f 388 383 400 +f 387 388 400 +f 383 394 400 +f 394 387 400 +f 384 382 401 +f 382 392 401 +o convex_31 +v 0.011694 3.438640 -0.004875 +v -0.230024 3.130899 0.039066 +v -0.230024 3.130899 0.061036 +v 0.253413 3.130899 0.061036 +v -0.032220 3.790132 0.061036 +v 0.055609 3.130899 -0.026845 +f 402 405 407 +f 404 403 405 +f 405 402 406 +f 402 403 406 +f 403 404 406 +f 404 405 406 +f 403 402 407 +f 405 403 407 +o convex_32 +v -0.164303 -1.307792 1.467407 +v -0.757411 -0.429336 1.247663 +v -0.691393 -0.978593 1.247663 +v 0.011544 -1.878878 1.247663 +v -0.537451 0.581866 1.335574 +v -0.515546 -1.065906 1.467407 +v -0.537526 0.207742 1.467407 +v -0.603469 -1.571253 1.269646 +v -0.054399 -1.241800 1.467407 +v -0.625375 0.581866 1.291629 +v -0.669336 -0.209531 1.423420 +v -0.076380 -2.011116 1.269646 +v -0.471584 0.230077 1.467407 +v -0.603469 -1.571253 1.247663 +v -0.757411 -0.253188 1.247663 +v -0.581488 0.581866 1.291629 +v -0.625450 -0.099629 1.467407 +v -0.735354 -0.143539 1.335574 +f 424 417 425 +f 410 409 411 +f 413 408 414 +f 411 412 416 +f 414 408 416 +f 414 412 417 +f 410 415 418 +f 415 413 418 +f 408 413 419 +f 413 415 419 +f 416 408 419 +f 411 416 419 +f 412 414 420 +f 416 412 420 +f 414 416 420 +f 410 411 421 +f 415 410 421 +f 411 419 421 +f 419 415 421 +f 411 409 422 +f 412 411 423 +f 417 412 423 +f 411 422 423 +f 422 417 423 +f 413 414 424 +f 414 417 424 +f 418 413 424 +f 418 424 425 +f 409 410 425 +f 410 418 425 +f 422 409 425 +f 417 422 425 +o convex_33 +v 0.582939 -1.307329 1.247663 +v -0.054229 -1.637373 1.357535 +v -0.032184 -1.856903 1.291629 +v 0.604746 0.581378 1.291629 +v 0.429099 -1.043644 1.467407 +v 0.560973 0.230130 1.467407 +v -0.054229 -1.241720 1.467407 +v 0.758825 -0.231632 1.247663 +v 0.011748 -1.967167 1.247663 +v 0.604905 -0.209429 1.467407 +v 0.538928 -1.549311 1.269668 +v 0.560894 0.581378 1.357535 +v 0.033793 -1.768592 1.335552 +v 0.670802 0.581378 1.313591 +v -0.032184 -1.746639 1.291629 +v -0.054229 -1.307828 1.423420 +v -0.032184 -1.351734 1.467407 +v 0.758825 -0.231632 1.269668 +v 0.516962 0.230130 1.467407 +v 0.011748 -1.856653 1.247663 +f 434 440 445 +f 430 431 432 +f 433 426 434 +f 431 430 435 +f 434 426 436 +f 435 430 436 +f 428 434 438 +f 434 436 438 +f 436 430 438 +f 433 429 439 +f 431 435 439 +f 429 437 439 +f 437 431 439 +f 428 427 440 +f 434 428 440 +f 427 432 441 +f 437 429 441 +f 432 437 441 +f 440 427 441 +f 429 440 441 +f 427 428 442 +f 432 427 442 +f 430 432 442 +f 428 438 442 +f 438 430 442 +f 426 433 443 +f 435 436 443 +f 436 426 443 +f 433 439 443 +f 439 435 443 +f 432 431 444 +f 431 437 444 +f 437 432 444 +f 429 433 445 +f 433 434 445 +f 440 429 445 +o convex_34 +v 0.605004 -0.165139 1.489380 +v -0.625564 -0.187082 1.467410 +v -0.625564 -0.187082 1.489380 +v 0.011643 0.955431 1.467410 +v 0.231352 -1.132115 1.467410 +v -0.097971 -1.263985 1.489380 +v -0.273956 0.801402 1.489380 +v 0.494908 0.713416 1.467410 +v -0.493666 -1.022187 1.467410 +v 0.451183 0.757300 1.489380 +v 0.605004 -0.165139 1.467410 +v 0.407217 -1.000028 1.489380 +v -0.449700 0.625430 1.467410 +v -0.493666 -1.022187 1.489380 +f 454 451 459 +f 447 449 450 +f 446 448 451 +f 448 446 452 +f 450 449 453 +f 448 447 454 +f 447 450 454 +f 450 451 454 +f 452 446 455 +f 449 452 455 +f 453 449 455 +f 446 453 455 +f 453 446 456 +f 450 453 456 +f 451 450 457 +f 446 451 457 +f 456 446 457 +f 450 456 457 +f 447 448 458 +f 449 447 458 +f 448 452 458 +f 452 449 458 +f 451 448 459 +f 448 454 459 +o convex_35 +v 0.297327 -0.143307 3.137377 +v 0.319319 -0.670631 1.863199 +v 0.319319 -0.648585 1.863199 +v -0.010280 -0.648585 2.214815 +v 0.055660 -0.560778 3.027569 +v -0.010280 -0.121315 3.225281 +v 0.297327 -0.472864 2.763712 +v 0.341311 -0.121315 3.027569 +v -0.010280 -0.275205 3.269233 +v 0.341311 -0.670631 1.973007 +v -0.010280 -0.670631 2.368576 +v 0.341311 -0.187345 3.093425 +v 0.033703 -0.209283 3.335233 +v -0.010280 -0.560778 3.027569 +f 472 468 473 +f 462 461 463 +f 462 463 465 +f 465 460 467 +f 462 465 467 +f 465 463 468 +f 461 462 469 +f 466 464 469 +f 462 467 469 +f 463 461 470 +f 468 463 470 +f 461 469 470 +f 469 464 470 +f 464 466 471 +f 467 460 471 +f 466 469 471 +f 469 467 471 +f 460 465 472 +f 465 468 472 +f 464 471 472 +f 471 460 472 +f 470 464 473 +f 468 470 473 +f 464 472 473 +o convex_36 +v 0.670918 1.372633 1.269638 +v 0.011694 1.592595 1.269638 +v 0.011694 1.592595 1.291612 +v 0.692858 -0.209213 1.269638 +v 0.385259 1.746511 1.247663 +v 0.714872 -0.209213 1.247663 +v 0.736812 0.274358 1.291612 +v 0.604879 1.482710 1.291612 +v 0.099601 1.746511 1.247663 +v 0.648832 1.592595 1.247663 +v 0.692858 -0.209213 1.291612 +v 0.121614 1.746511 1.291612 +f 478 482 485 +f 476 475 477 +f 477 475 479 +f 480 474 481 +f 476 480 481 +f 475 476 482 +f 479 475 482 +f 478 479 482 +f 479 478 483 +f 474 480 483 +f 480 479 483 +f 481 474 483 +f 478 481 483 +f 476 477 484 +f 477 479 484 +f 479 480 484 +f 480 476 484 +f 481 478 485 +f 476 481 485 +f 482 476 485 +o convex_37 +v 0.143558 0.625687 1.577396 +v 0.319319 -0.121240 3.005467 +v 0.319319 -0.011407 2.741909 +v 0.297327 0.142390 2.895694 +v -0.010280 -0.121240 3.291115 +v 0.011711 0.208335 3.115240 +v -0.010280 0.581799 1.577396 +v 0.341311 0.493872 1.555305 +v 0.341311 -0.099258 3.071398 +v 0.341311 0.537836 1.599317 +v -0.010280 0.647744 1.577396 +v -0.010280 -0.121240 3.225183 +v 0.033703 0.208335 3.115240 +v -0.010280 0.208335 3.093319 +v 0.319319 0.449909 1.643328 +v 0.341311 0.208335 2.610045 +f 495 489 501 +f 487 488 493 +f 490 487 494 +f 487 493 494 +f 494 493 495 +f 493 486 495 +f 492 490 496 +f 486 493 496 +f 493 492 496 +f 488 487 497 +f 487 490 497 +f 490 492 497 +f 491 490 498 +f 490 494 498 +f 494 489 498 +f 489 495 498 +f 495 486 498 +f 496 491 498 +f 486 496 498 +f 490 491 499 +f 496 490 499 +f 491 496 499 +f 493 488 500 +f 492 493 500 +f 488 497 500 +f 497 492 500 +f 489 494 501 +f 494 495 501 +o convex_38 +v 0.780707 -0.297472 -0.642137 +v -0.032091 -2.186718 -0.598188 +v 0.011797 -2.186718 -0.598188 +v 0.758721 -0.209407 -0.576214 +v 0.626892 -1.703229 -0.576214 +v -0.032091 -1.571421 -0.664112 +v 0.582922 -1.549550 -0.664112 +v -0.032091 -2.054716 -0.576214 +v 0.714751 -0.209407 -0.664112 +v 0.011797 -1.922908 -0.664112 +v -0.032091 -1.571421 -0.642137 +f 510 507 512 +f 502 505 506 +f 502 506 508 +f 506 504 508 +f 503 504 509 +f 506 505 509 +f 504 506 509 +f 507 503 509 +f 505 502 510 +f 502 508 510 +f 508 507 510 +f 504 503 511 +f 503 507 511 +f 508 504 511 +f 507 508 511 +f 509 505 512 +f 507 509 512 +f 505 510 512 +o convex_39 +v -1.767903 -0.209204 -2.202321 +v -0.472064 0.076454 -2.114441 +v -0.472064 -0.011448 -2.114441 +v -2.602832 -0.143301 -2.092471 +v -0.406035 -0.385008 -2.136411 +v -1.921898 -0.385008 -2.092471 +v -1.790056 0.076454 -2.136411 +v -0.472064 -0.077442 -2.180329 +v -0.911466 -0.363010 -2.180329 +v -1.614123 0.076454 -2.092471 +v -1.790056 -0.121393 -2.202321 +v -1.790056 -0.385008 -2.136411 +v -0.955342 0.054456 -2.158359 +v -2.602832 -0.165253 -2.114441 +v -0.428188 -0.297106 -2.180329 +v -0.955342 -0.143301 -2.202321 +f 520 527 528 +f 514 515 517 +f 517 515 518 +f 515 514 522 +f 518 515 522 +f 516 518 522 +f 514 519 522 +f 519 516 522 +f 517 518 524 +f 521 517 524 +f 513 521 524 +f 519 514 525 +f 514 520 525 +f 523 519 525 +f 518 516 526 +f 516 519 526 +f 523 513 526 +f 519 523 526 +f 513 524 526 +f 524 518 526 +f 514 517 527 +f 520 514 527 +f 517 521 527 +f 527 521 528 +f 521 513 528 +f 513 523 528 +f 525 520 528 +f 523 525 528 +o convex_40 +v -2.888930 -0.187206 -1.894707 +v -1.856132 0.076454 -2.070447 +v -1.856132 -0.385008 -2.070447 +v -2.713124 -0.187206 -2.092428 +v -2.559154 0.076454 -1.872705 +v -2.581092 -0.385008 -1.872705 +v -2.537216 0.054456 -2.026507 +v -2.515177 -0.385008 -2.026507 +v -2.031938 0.076454 -2.092428 +v -1.856132 -0.385008 -2.092428 +f 532 537 538 +f 531 530 533 +f 533 529 534 +f 531 533 534 +f 532 529 535 +f 529 533 535 +f 529 532 536 +f 531 534 536 +f 534 529 536 +f 533 530 537 +f 532 535 537 +f 535 533 537 +f 530 531 538 +f 531 536 538 +f 536 532 538 +f 537 530 538 +o convex_41 +v 2.297155 -0.187239 -2.070455 +v 2.362861 0.142378 -1.872705 +v 2.362861 0.142378 -1.894714 +v 1.791623 0.142378 -2.048466 +v 2.648530 -0.165234 -2.048466 +v 2.758310 -0.187239 -1.872705 +v 2.187274 0.120373 -1.872705 +v 2.011485 -0.077313 -2.048466 +v 1.945577 0.142378 -2.070455 +v 2.494677 0.098401 -1.938654 +v 2.824319 -0.165234 -1.872705 +f 543 548 549 +f 540 541 542 +f 539 543 544 +f 540 542 545 +f 544 540 545 +f 545 542 546 +f 539 544 546 +f 544 545 546 +f 542 541 547 +f 543 539 547 +f 546 542 547 +f 539 546 547 +f 541 540 548 +f 547 541 548 +f 543 547 548 +f 544 543 549 +f 540 544 549 +f 548 540 549 +o convex_42 +v 2.165267 0.252195 -1.630941 +v 0.561317 0.230237 -2.070455 +v 0.429209 0.296164 -1.389435 +v 2.296916 0.076502 -1.367342 +v 2.560443 0.076502 -1.872653 +v 1.659617 0.318122 -1.718830 +v 1.791265 0.208304 -2.070455 +v 0.561317 0.340107 -1.762740 +v 2.648363 0.186346 -1.674920 +v 1.681712 0.230263 -1.367342 +v 0.671101 0.318122 -1.367342 +v 2.494619 0.098486 -1.367342 +v 2.780472 0.076502 -1.630941 +v 0.627372 0.274205 -2.026476 +v 1.769401 0.142403 -2.070455 +v 0.737156 0.208304 -2.048431 +v 0.561317 0.274180 -1.367342 +v 1.659617 0.318122 -1.652965 +v 2.472294 0.076502 -1.872653 +v 2.670227 0.164387 -1.587100 +f 561 562 569 +f 551 552 557 +f 555 550 558 +f 554 556 558 +f 556 555 558 +f 557 552 560 +f 553 559 560 +f 559 553 561 +f 553 554 562 +f 554 558 562 +f 561 553 562 +f 556 551 563 +f 555 556 563 +f 557 555 563 +f 551 557 563 +f 556 554 564 +f 551 556 564 +f 551 564 565 +f 552 551 566 +f 560 552 566 +f 553 560 566 +f 551 565 566 +f 565 553 566 +f 550 555 567 +f 555 557 567 +f 559 550 567 +f 557 560 567 +f 560 559 567 +f 554 553 568 +f 564 554 568 +f 553 565 568 +f 565 564 568 +f 558 550 569 +f 550 559 569 +f 559 561 569 +f 562 558 569 +o convex_43 +v -1.394495 -0.582778 -1.301505 +v -1.855835 -0.604770 -1.872705 +v -1.855835 -0.582778 -1.872705 +v 0.099538 -0.604770 -1.872705 +v -0.098247 -0.714625 -1.235447 +v -1.811830 -0.670654 -1.718817 +v 0.011528 -0.670654 -1.850685 +v -0.604065 -0.582778 -1.235447 +v 0.099538 -0.670654 -1.235447 +v -2.295173 -0.604770 -1.674903 +v -0.142252 -0.582778 -1.872705 +v -1.723821 -0.604770 -1.389334 +v -0.010474 -0.714625 -1.433249 +v -2.317412 -0.582778 -1.696860 +v 0.099538 -0.692633 -1.674903 +v -1.723821 -0.670654 -1.630926 +v 0.099538 -0.604770 -1.762732 +f 580 577 586 +f 571 572 573 +f 571 573 576 +f 575 571 576 +f 572 570 577 +f 570 574 577 +f 577 574 578 +f 571 575 579 +f 573 572 580 +f 572 577 580 +f 574 570 581 +f 574 575 582 +f 578 574 582 +f 570 572 583 +f 572 571 583 +f 571 579 583 +f 581 570 583 +f 579 581 583 +f 575 576 584 +f 576 573 584 +f 573 578 584 +f 582 575 584 +f 578 582 584 +f 575 574 585 +f 579 575 585 +f 574 581 585 +f 581 579 585 +f 577 578 586 +f 578 573 586 +f 573 580 586 +o convex_44 +v -0.845308 2.252036 0.170964 +v -0.537696 2.823163 0.654354 +v -0.537696 2.867125 0.478524 +v -0.537696 2.779201 0.170964 +v -0.823297 2.120151 0.654354 +v -0.669552 2.757220 0.368749 +v -0.845308 2.208075 0.654354 +v -0.823297 2.142132 0.170964 +v -0.603639 2.801182 0.170964 +v -0.537696 2.757220 0.654354 +v -0.713423 2.559468 0.654354 +f 593 588 597 +f 589 588 590 +f 588 589 592 +f 592 587 593 +f 591 588 593 +f 587 590 594 +f 593 587 594 +f 591 593 594 +f 589 590 595 +f 590 587 595 +f 592 589 595 +f 587 592 595 +f 590 588 596 +f 588 591 596 +f 594 590 596 +f 591 594 596 +f 588 592 597 +f 592 593 597 +o convex_45 +v -2.449349 -0.472863 -1.411242 +v -2.800982 -0.275196 -1.872660 +v -2.800982 -0.253194 -1.872660 +v -1.790342 -0.560744 -1.872660 +v -2.646989 -0.560744 -1.718824 +v -1.702311 -0.560744 -1.411242 +v -2.646989 -0.253194 -1.411242 +v -2.954853 -0.275196 -1.696873 +v -2.581273 -0.494833 -1.872660 +v -1.900319 -0.582746 -1.411242 +v -1.988105 -0.582746 -1.872660 +v -2.735020 -0.253194 -1.872660 +v -2.713074 -0.275196 -1.411242 +v -2.713074 -0.538773 -1.696873 +f 598 610 611 +f 599 600 601 +f 598 603 604 +f 603 601 604 +f 600 599 605 +f 604 600 605 +f 599 601 606 +f 603 598 607 +f 603 607 608 +f 601 603 608 +f 606 601 608 +f 602 606 608 +f 607 602 608 +f 601 600 609 +f 600 604 609 +f 604 601 609 +f 598 604 610 +f 604 605 610 +f 610 605 611 +f 605 599 611 +f 599 606 611 +f 606 602 611 +f 607 598 611 +f 602 607 611 +o convex_46 +v -2.471196 -0.428923 -1.411242 +v -1.570720 -0.253194 -1.235481 +v -0.867564 -0.472863 -1.235481 +v -1.680096 -0.582746 -1.301398 +v -1.614592 -0.560744 -1.411242 +v -2.690958 -0.253194 -1.389252 +v -2.515068 -0.275196 -1.323353 +v -0.955509 -0.582746 -1.235481 +v -1.768041 -0.319137 -1.235481 +v -2.624847 -0.253194 -1.411242 +v -0.669840 -0.538773 -1.257453 +v -1.570720 -0.253194 -1.257453 +v -1.855986 -0.582746 -1.411242 +f 616 619 624 +f 612 615 618 +f 613 617 618 +f 617 612 618 +f 614 613 619 +f 613 618 620 +f 618 615 620 +f 619 613 620 +f 615 619 620 +f 616 612 621 +f 617 613 621 +f 612 617 621 +f 614 619 622 +f 619 616 622 +f 613 614 623 +f 616 621 623 +f 621 613 623 +f 614 622 623 +f 622 616 623 +f 615 612 624 +f 612 616 624 +f 619 615 624 +o convex_47 +v -2.295786 0.120403 -1.411272 +v -2.910794 -0.187232 -1.872705 +v -2.954666 -0.209209 -1.806739 +v -2.778978 0.120403 -1.696858 +v -2.735006 -0.231185 -1.389268 +v -1.987978 0.098427 -1.411272 +v -2.559217 0.120403 -1.872705 +v -2.756941 -0.253162 -1.872705 +v -2.647061 -0.253162 -1.389268 +v -3.020675 -0.165256 -1.696858 +v -2.735006 -0.143279 -1.389268 +v -2.976703 -0.253162 -1.696858 +v -2.515244 0.054474 -1.411272 +v -1.987978 0.120403 -1.389268 +f 625 637 638 +f 626 628 631 +f 628 625 631 +f 631 630 632 +f 627 626 632 +f 626 631 632 +f 632 630 633 +f 626 627 634 +f 628 626 634 +f 634 629 635 +f 629 633 635 +f 628 634 635 +f 627 632 636 +f 633 629 636 +f 632 633 636 +f 634 627 636 +f 629 634 636 +f 625 628 637 +f 628 635 637 +f 637 635 638 +f 631 625 638 +f 630 631 638 +f 633 630 638 +f 635 633 638 +o convex_48 +v 1.769648 -0.626727 -1.565063 +v 0.099592 -0.626727 -1.872645 +v 0.099592 -0.582795 -1.872645 +v 0.099592 -0.648680 -1.565063 +v 1.769648 -0.670659 -1.674967 +v 1.769648 -0.560804 -1.872645 +v 0.099592 -0.692650 -1.652987 +v 0.275491 -0.560804 -1.850694 +v 1.769648 -0.670659 -1.565063 +v 1.769648 -0.604774 -1.850694 +f 644 643 648 +f 641 640 642 +f 640 641 644 +f 639 643 644 +f 642 640 645 +f 640 643 645 +f 641 642 646 +f 642 639 646 +f 644 641 646 +f 639 644 646 +f 639 642 647 +f 643 639 647 +f 642 645 647 +f 645 643 647 +f 643 640 648 +f 640 644 648 +o convex_49 +v 1.769648 -0.560778 -1.257481 +v 0.099592 -0.670672 -1.565031 +v 0.099592 -0.692650 -1.543028 +v 1.703604 -0.670672 -1.565031 +v 1.615819 -0.406983 -1.257481 +v 0.099592 -0.692650 -1.235479 +v 0.627124 -0.538855 -1.235479 +v 1.769648 -0.626686 -1.565031 +v 0.099592 -0.648665 -1.565031 +v 1.769648 -0.406983 -1.235479 +v 0.319629 -0.692650 -1.235479 +v 1.769648 -0.604735 -1.323392 +f 649 659 660 +f 651 650 652 +f 650 651 654 +f 652 650 656 +f 653 656 657 +f 650 654 657 +f 654 655 657 +f 655 653 657 +f 656 650 657 +f 655 654 658 +f 653 655 658 +f 649 656 658 +f 656 653 658 +f 651 652 659 +f 654 651 659 +f 649 658 659 +f 658 654 659 +f 652 656 660 +f 656 649 660 +f 659 652 660 +o convex_50 +v 1.769762 -0.538795 -1.257438 +v 2.934292 -0.187239 -1.477148 +v 2.934292 -0.187239 -1.499140 +v 2.626517 -0.516812 -1.477148 +v 1.769762 -0.604744 -1.499140 +v 2.450743 -0.187239 -1.235447 +v 2.714404 -0.231248 -1.235447 +v 1.857763 -0.341077 -1.257438 +v 1.835763 -0.582718 -1.279430 +v 2.516630 -0.450906 -1.323387 +v 2.868178 -0.187239 -1.499140 +v 1.879649 -0.626727 -1.499140 +v 1.769762 -0.385043 -1.235447 +f 666 668 673 +f 663 662 664 +f 662 663 666 +f 664 662 667 +f 662 666 667 +f 661 665 669 +f 667 661 669 +f 667 669 670 +f 664 667 670 +f 669 664 670 +f 663 665 671 +f 666 663 671 +f 665 668 671 +f 668 666 671 +f 663 664 672 +f 665 663 672 +f 669 665 672 +f 664 669 672 +f 665 661 673 +f 661 667 673 +f 667 666 673 +f 668 665 673 +o convex_51 +v 3.022132 -0.187239 -1.609042 +v 2.516858 0.054437 -1.872705 +v 2.516858 0.076454 -1.872705 +v 2.428939 0.054437 -1.367342 +v 2.802392 0.076454 -1.630956 +v 2.758433 -0.187239 -1.872705 +v 2.846352 -0.187239 -1.367342 +v 2.824343 -0.165247 -1.872705 +v 2.516858 0.076454 -1.367342 +v 2.758433 -0.187239 -1.367342 +f 680 677 683 +f 676 675 677 +f 675 676 679 +f 677 675 679 +f 679 674 680 +f 674 678 680 +f 678 674 681 +f 676 678 681 +f 679 676 681 +f 674 679 681 +f 676 677 682 +f 678 676 682 +f 680 678 682 +f 677 680 682 +f 677 679 683 +f 679 680 683 +o convex_52 +v 0.692936 2.295583 -0.246520 +v 0.846718 2.185629 0.170916 +v 0.846718 2.185629 0.148873 +v 0.912603 -0.209213 -0.290486 +v 0.912603 -0.032867 0.170916 +v 0.780833 2.009546 -0.444367 +v 0.692936 2.471667 -0.026871 +v 0.956551 -0.164864 -0.026871 +v 0.802769 0.889801 -0.444367 +v 0.934616 -0.121040 -0.290486 +v 0.868680 2.119762 0.148873 +v 0.736910 2.251234 -0.444367 +v 0.890641 -0.164864 -0.268503 +v 0.956551 -0.186907 0.170916 +v 0.802821 2.141542 0.170916 +v 0.846692 1.022060 -0.444367 +v 0.692936 2.383231 -0.026871 +v 0.714897 2.185629 -0.444367 +f 695 692 701 +f 685 686 690 +f 691 687 693 +f 686 685 694 +f 691 693 694 +f 690 686 695 +f 684 690 695 +f 689 692 695 +f 686 694 695 +f 694 689 695 +f 684 692 696 +f 692 687 696 +f 685 688 697 +f 687 691 697 +f 694 685 697 +f 691 694 697 +f 696 687 697 +f 688 696 697 +f 688 685 698 +f 685 690 698 +f 687 692 699 +f 692 689 699 +f 693 687 699 +f 689 694 699 +f 694 693 699 +f 690 684 700 +f 696 688 700 +f 684 696 700 +f 688 698 700 +f 698 690 700 +f 692 684 701 +f 684 695 701 +o convex_53 +v 0.890671 -0.164550 -0.488312 +v 0.011694 2.536863 -0.488312 +v 0.011694 2.536863 -0.466342 +v 0.363509 -2.164937 -0.488312 +v 0.802653 -1.109880 -0.444367 +v 0.758687 2.207217 -0.444367 +v 0.011694 2.558902 -0.444367 +v 0.758687 2.141100 -0.488312 +v 0.363509 -2.164937 -0.466342 +v 0.670841 -2.054742 -0.488312 +v 0.890671 0.098980 -0.444367 +v 0.670841 -2.054742 -0.466342 +f 710 711 713 +f 704 703 705 +f 703 702 705 +f 703 704 708 +f 706 707 708 +f 707 703 708 +f 702 703 709 +f 703 707 709 +f 704 705 710 +f 708 704 710 +f 706 708 710 +f 705 702 711 +f 702 706 711 +f 710 705 711 +f 706 702 712 +f 707 706 712 +f 702 709 712 +f 709 707 712 +f 706 710 713 +f 711 706 713 +o convex_54 +v -0.076359 2.602980 -0.444367 +v -0.911141 -0.252706 -0.466338 +v -0.911141 -0.252706 -0.444367 +v -0.383972 -2.164937 -0.466342 +v 0.011518 2.603449 -0.488312 +v -0.735298 1.987296 -0.488312 +v -0.691314 -2.010664 -0.488312 +v -0.757244 2.097960 -0.444367 +v -0.757244 -1.131919 -0.444367 +v -0.383972 -2.164937 -0.488312 +v 0.011428 2.580941 -0.444367 +v -0.889104 0.054902 -0.488312 +v -0.691314 -2.010664 -0.466342 +v -0.669368 2.229255 -0.466338 +f 719 721 727 +f 719 718 720 +f 716 715 720 +f 716 714 721 +f 715 716 721 +f 714 716 722 +f 720 718 723 +f 717 720 723 +f 718 714 724 +f 714 722 724 +f 722 717 724 +f 717 723 724 +f 723 718 724 +f 719 720 725 +f 720 715 725 +f 715 721 725 +f 721 719 725 +f 716 720 726 +f 720 717 726 +f 722 716 726 +f 717 722 726 +f 714 718 727 +f 718 719 727 +f 721 714 727 +o convex_55 +v -0.054296 -2.999805 0.654297 +v -0.757411 -2.275011 0.654363 +v -0.757411 -2.275011 0.676300 +v -0.142254 -3.087664 0.280845 +v -0.427739 -2.648552 0.171030 +v -0.054365 -2.867923 0.808118 +v -0.054296 -3.043827 0.171030 +v -0.735387 -2.450730 0.236973 +v -0.713363 -2.208978 0.676300 +v -0.647428 -2.362778 0.830054 +v -0.713431 -2.362871 0.171030 +v -0.076389 -2.933864 0.830054 +v -0.713363 -2.208978 0.852124 +v -0.076320 -3.109675 0.171030 +v -0.735387 -2.450730 0.324852 +v -0.076320 -3.131594 0.368791 +f 742 731 743 +f 732 733 734 +f 733 728 734 +f 730 729 735 +f 729 730 736 +f 733 732 736 +f 732 734 738 +f 735 729 738 +f 729 736 738 +f 736 732 738 +f 728 733 739 +f 737 739 740 +f 736 730 740 +f 733 736 740 +f 730 737 740 +f 739 733 740 +f 731 735 741 +f 738 734 741 +f 735 738 741 +f 730 735 742 +f 735 731 742 +f 737 730 742 +f 737 742 743 +f 734 728 743 +f 728 739 743 +f 739 737 743 +f 731 741 743 +f 741 734 743 +o convex_56 +v -0.713462 -2.164713 0.742273 +v -0.977155 -0.297448 0.654392 +v -0.977155 -0.297448 0.676363 +v -0.845308 1.109252 0.852124 +v -0.867248 1.109252 0.654392 +v -0.955163 -0.363382 0.852124 +v -0.735453 -2.208886 0.852124 +v -0.757445 -2.208886 0.654392 +v -0.889240 1.109252 0.852124 +v -0.911232 1.087166 0.654392 +v -0.977155 -0.143819 0.830115 +v -0.713462 -2.098779 0.852124 +v -0.735453 -2.032845 0.654392 +v -0.757445 -2.208886 0.764204 +f 751 750 757 +f 747 744 748 +f 747 749 750 +f 746 745 751 +f 745 748 751 +f 744 750 751 +f 747 748 752 +f 749 747 752 +f 748 745 753 +f 752 748 753 +f 752 753 754 +f 745 746 754 +f 746 749 754 +f 749 752 754 +f 753 745 754 +f 744 747 755 +f 747 750 755 +f 750 744 755 +f 748 744 756 +f 744 751 756 +f 751 748 756 +f 749 746 757 +f 750 749 757 +f 746 751 757 +o convex_57 +v 0.670927 -2.318849 0.764178 +v -0.054229 -3.175589 0.258909 +v -0.054229 -3.175589 0.302848 +v -0.054229 -2.889871 0.808118 +v 0.648922 -2.406794 0.171030 +v 0.648922 -2.121076 0.830054 +v -0.054229 -3.065658 0.171030 +v 0.670927 -2.494739 0.346788 +v -0.010220 -2.955830 0.830054 +v 0.055652 -3.109630 0.346788 +v 0.670927 -2.472752 0.171030 +v 0.670927 -2.274980 0.852124 +v 0.055652 -3.087747 0.171030 +v -0.054229 -2.889871 0.852124 +f 769 763 771 +f 759 760 761 +f 763 762 764 +f 759 761 764 +f 761 763 764 +f 760 759 767 +f 765 758 767 +f 766 760 767 +f 758 766 767 +f 762 763 768 +f 764 762 768 +f 758 765 768 +f 766 758 769 +f 758 768 769 +f 768 763 769 +f 759 764 770 +f 767 759 770 +f 765 767 770 +f 764 768 770 +f 768 765 770 +f 761 760 771 +f 763 761 771 +f 760 766 771 +f 766 769 771 +o convex_58 +v 0.934620 0.076420 0.698333 +v 0.670927 -2.318758 0.654392 +v 0.692919 -2.318758 0.654392 +v 0.670927 -2.186885 0.852124 +v 0.824713 1.109252 0.720303 +v 0.934620 -0.165514 0.852124 +v 0.824713 1.109252 0.852124 +v 0.868697 1.109252 0.654392 +v 0.934620 -0.297386 0.654392 +v 0.670927 -1.944616 0.830115 +v 0.692919 -2.186885 0.852124 +v 0.868697 0.933422 0.852124 +v 0.670927 -2.120781 0.654392 +f 781 776 784 +f 773 774 775 +f 775 777 778 +f 774 773 779 +f 776 778 779 +f 772 777 780 +f 777 774 780 +f 779 772 780 +f 774 779 780 +f 773 775 781 +f 778 776 781 +f 775 778 781 +f 775 774 782 +f 774 777 782 +f 777 775 782 +f 777 772 783 +f 778 777 783 +f 779 778 783 +f 772 779 783 +f 779 773 784 +f 776 779 784 +f 773 781 784 +o convex_59 +v -0.955180 0.120844 0.852159 +v -0.735445 2.251569 1.071868 +v -0.691487 2.449422 0.852159 +v -0.867214 2.141621 0.654433 +v -0.867291 -0.099051 1.071868 +v -0.691487 2.449422 0.654433 +v -0.801342 2.163663 1.071868 +v -0.867214 1.109584 0.654433 +v -0.955180 -0.077009 1.027861 +v -0.933189 -0.143135 0.852159 +v -0.713531 2.537590 0.698400 +f 788 791 795 +f 787 786 789 +f 787 789 790 +f 789 786 791 +f 785 788 792 +f 788 790 792 +f 788 785 793 +f 791 788 793 +f 789 791 793 +f 790 789 794 +f 785 792 794 +f 792 790 794 +f 793 785 794 +f 789 793 794 +f 786 787 795 +f 787 790 795 +f 790 788 795 +f 791 786 795 +o convex_60 +v 0.033593 3.020909 0.764237 +v -0.735367 2.208115 1.049842 +v -0.713311 2.208115 1.049842 +v -0.669424 2.515843 0.654433 +v -0.515632 2.823176 0.808167 +v -0.032350 2.669460 1.071868 +v -0.054406 3.218544 0.676378 +v 0.033593 3.042869 0.654433 +v -0.076312 2.735239 1.071868 +v -0.735367 2.273993 1.071868 +v -0.581575 2.779356 0.654433 +v -0.032350 2.669460 1.049842 +v -0.735367 2.405947 0.896108 +f 806 799 808 +f 798 797 799 +f 802 796 803 +f 801 796 804 +f 796 802 804 +f 802 800 804 +f 797 798 805 +f 798 801 805 +f 804 800 805 +f 801 804 805 +f 800 802 806 +f 803 799 806 +f 802 803 806 +f 798 799 807 +f 801 798 807 +f 796 801 807 +f 799 803 807 +f 803 796 807 +f 799 797 808 +f 797 805 808 +f 805 800 808 +f 800 806 808 +o convex_61 +v 0.187578 3.130899 0.610393 +v 0.670826 2.339897 1.027775 +v 0.692901 2.339897 1.027775 +v 0.517078 2.867232 0.170964 +v -0.032184 2.691376 1.049821 +v 0.451064 2.867077 0.830151 +v 0.275383 3.130899 0.170964 +v 0.517078 2.955044 0.368764 +v -0.032255 3.130899 0.654309 +v 0.692901 2.405872 1.071868 +v 0.011825 2.735282 1.071868 +v 0.670897 2.625556 0.698314 +v 0.275383 3.086916 0.170964 +v 0.341255 3.130899 0.346806 +v 0.495073 2.867232 0.170964 +v 0.648821 2.537745 0.654397 +v -0.010179 2.669462 1.049821 +f 824 810 825 +f 812 815 816 +f 809 815 817 +f 810 811 818 +f 814 809 819 +f 809 817 819 +f 817 813 819 +f 818 814 819 +f 812 816 820 +f 816 814 820 +f 818 811 820 +f 814 818 820 +f 815 812 821 +f 813 817 821 +f 817 815 821 +f 809 814 822 +f 815 809 822 +f 814 816 822 +f 816 815 822 +f 821 812 823 +f 813 821 823 +f 811 810 824 +f 820 811 824 +f 812 820 824 +f 823 812 824 +f 823 824 825 +f 810 818 825 +f 819 813 825 +f 818 819 825 +f 813 823 825 +o convex_62 +v 0.868636 1.438800 0.654433 +v 0.714912 2.361657 1.071868 +v 0.692931 2.361657 1.071868 +v 0.868660 -0.165264 1.071868 +v 0.670927 2.471279 0.654433 +v 0.824698 2.163483 0.786210 +v 0.890641 -0.165264 0.852159 +v 0.912646 -0.099117 1.071868 +v 0.780784 2.185621 1.049803 +v 0.846656 2.075731 0.654433 +v 0.846656 1.109399 0.654433 +v 0.692955 2.559564 0.742325 +v 0.670927 2.427537 0.852159 +v 0.912646 -0.165264 0.852159 +f 832 836 839 +f 827 828 829 +f 829 830 832 +f 827 829 833 +f 827 833 834 +f 833 831 834 +f 826 830 835 +f 831 833 835 +f 833 826 835 +f 830 826 836 +f 832 830 836 +f 828 827 837 +f 827 834 837 +f 834 831 837 +f 835 830 837 +f 831 835 837 +f 829 828 838 +f 830 829 838 +f 828 837 838 +f 837 830 838 +f 829 832 839 +f 833 829 839 +f 826 833 839 +f 836 826 839 +o convex_63 +v -0.054057 1.746511 1.291612 +v -0.010186 2.603361 1.203723 +v -0.010186 2.603361 1.181740 +v 0.714768 1.900434 1.181740 +v -0.383738 1.900434 1.181740 +v -0.010186 2.471583 1.247657 +v 0.714768 2.032295 1.203723 +v 0.363152 1.746511 1.269629 +v -0.229865 2.449606 1.203723 +v -0.142015 1.746511 1.247657 +v 0.385195 2.405568 1.181740 +f 845 846 850 +f 842 843 844 +f 846 845 847 +f 845 840 847 +f 843 846 847 +f 841 842 848 +f 844 840 848 +f 842 844 848 +f 845 841 848 +f 840 845 848 +f 840 844 849 +f 844 843 849 +f 847 840 849 +f 843 847 849 +f 842 841 850 +f 843 842 850 +f 841 845 850 +f 846 843 850 +o convex_64 +v -0.010125 2.581539 -0.488320 +v -0.801202 0.801610 -0.510291 +v -0.801202 0.801610 -0.488320 +v 0.802617 0.801610 -0.510291 +v -0.405585 2.339708 -0.510291 +v 0.802617 0.801610 -0.488320 +v 0.736680 2.031845 -0.510291 +v -0.713288 1.878349 -0.488320 +v 0.736680 2.031845 -0.488320 +v 0.011539 2.581539 -0.510291 +v -0.713288 1.878349 -0.510291 +f 858 855 861 +f 853 852 854 +f 854 852 855 +f 851 853 856 +f 853 854 856 +f 856 854 857 +f 854 855 857 +f 853 851 858 +f 852 853 858 +f 851 855 858 +f 851 856 859 +f 856 857 859 +f 859 857 860 +f 855 851 860 +f 857 855 860 +f 851 859 860 +f 855 852 861 +f 852 858 861 +o convex_65 +v 0.011557 -2.736115 -0.444367 +v -0.801359 -1.286319 -0.466338 +v -0.779368 -1.505971 -0.466338 +v 0.473071 -2.164926 -0.488312 +v 0.780799 -1.132139 -0.444367 +v -0.801359 -1.132139 -0.444367 +v -0.493631 -2.186907 -0.488312 +v 0.780799 -1.132139 -0.466338 +v 0.670841 -2.120650 -0.444367 +v -0.713393 -2.076846 -0.444367 +v -0.032117 -2.648191 -0.488312 +v -0.801359 -1.132139 -0.466338 +v 0.670841 -2.120650 -0.466338 +f 862 872 874 +f 862 866 867 +f 864 863 868 +f 867 866 869 +f 866 862 870 +f 869 866 870 +f 863 864 871 +f 867 863 871 +f 862 867 871 +f 864 868 871 +f 871 868 872 +f 868 865 872 +f 862 871 872 +f 863 867 873 +f 868 863 873 +f 865 868 873 +f 869 865 873 +f 867 869 873 +f 865 869 874 +f 870 862 874 +f 869 870 874 +f 872 865 874 +o convex_66 +v -0.010347 0.691464 1.555299 +v -0.603590 -0.230917 1.489365 +v -0.603590 -0.230917 1.511356 +v -0.515606 0.911170 1.379546 +v 0.011634 1.240827 1.357535 +v -0.471584 -0.626583 1.489365 +v -0.603590 0.230563 1.357535 +v -0.405762 0.449883 1.555299 +v -0.449603 -0.626583 1.555299 +v -0.120251 1.306836 1.379546 +v 0.011634 0.647522 1.511356 +v -0.559568 -0.099093 1.555299 +v -0.515606 0.911170 1.357535 +f 878 884 887 +f 877 876 880 +f 879 880 881 +f 876 877 881 +f 877 878 881 +f 880 876 881 +f 877 880 883 +f 875 882 883 +f 875 879 884 +f 878 882 884 +f 882 875 884 +f 879 875 885 +f 880 879 885 +f 875 883 885 +f 883 880 885 +f 878 877 886 +f 882 878 886 +f 877 883 886 +f 883 882 886 +f 879 881 887 +f 881 878 887 +f 884 879 887 +o convex_67 +v 0.517063 1.087082 1.379529 +v 0.011694 0.911381 1.445414 +v 0.583012 0.230387 1.357535 +v 0.561029 0.230387 1.467407 +v 0.011694 1.372945 1.357535 +v 0.297474 0.933302 1.467407 +v 0.561029 0.999288 1.357535 +v 0.495080 0.801666 1.467407 +v 0.011694 1.021208 1.467407 +v 0.099626 1.350801 1.379529 +f 892 896 897 +f 889 890 891 +f 890 889 892 +f 891 890 894 +f 892 888 894 +f 890 892 894 +f 893 891 895 +f 888 893 895 +f 891 894 895 +f 894 888 895 +f 889 891 896 +f 892 889 896 +f 891 893 896 +f 896 893 897 +f 888 892 897 +f 893 888 897 +o convex_68 +v -0.141946 -1.022232 1.555299 +v 0.451183 -0.626727 1.511365 +v 0.451183 -0.626727 1.489382 +v -0.515692 -0.626727 1.489382 +v -0.010297 -1.198062 1.489382 +v -0.493640 -0.626727 1.555299 +v 0.385216 -0.802557 1.555299 +v -0.493640 -0.956240 1.511365 +v 0.407174 -0.934317 1.489382 +v 0.407174 -0.626727 1.555299 +f 903 904 907 +f 899 900 901 +f 901 900 902 +f 899 901 903 +f 898 902 904 +f 903 898 904 +f 902 898 905 +f 901 902 905 +f 898 903 905 +f 903 901 905 +f 900 899 906 +f 902 900 906 +f 899 904 906 +f 904 902 906 +f 899 903 907 +f 904 899 907 +o convex_69 +v -1.219198 0.318173 -1.543110 +v -2.602921 0.120414 -1.872705 +v -2.712928 0.120414 -1.784687 +v -0.516099 0.274212 -1.389268 +v -0.450095 0.296183 -1.872705 +v -1.922060 0.120414 -1.389268 +v -1.789815 0.318173 -1.740725 +v -0.450095 0.252260 -1.872705 +v -2.712928 0.186327 -1.674901 +v -1.746285 0.208298 -1.389268 +v -0.340088 0.318173 -1.389268 +v -1.811816 0.274212 -1.872705 +v -0.450095 0.318173 -1.806739 +v -2.559155 0.120414 -1.543110 +v -2.427146 0.120414 -1.872705 +v -2.690927 0.186327 -1.762824 +v -1.767814 0.318173 -1.696810 +f 917 908 924 +f 910 909 913 +f 909 912 915 +f 911 913 915 +f 913 911 917 +f 914 908 918 +f 911 915 918 +f 915 912 918 +f 908 917 918 +f 917 911 918 +f 912 909 919 +f 914 918 920 +f 918 912 920 +f 912 919 920 +f 919 914 920 +f 910 913 921 +f 916 910 921 +f 917 916 921 +f 913 917 921 +f 913 909 922 +f 909 915 922 +f 915 913 922 +f 909 910 923 +f 910 916 923 +f 916 914 923 +f 919 909 923 +f 914 919 923 +f 908 914 924 +f 914 916 924 +f 916 917 924 +o convex_70 +v -0.032354 2.889014 -0.246520 +v -0.823334 2.142091 -0.026871 +v -0.735402 2.076226 -0.444367 +v -0.274085 3.130899 0.061062 +v -0.010289 2.581573 -0.422324 +v -0.801187 2.208163 0.170916 +v 0.011531 3.064827 -0.004887 +v -0.735402 2.252039 -0.422324 +v -0.669371 2.691314 0.170916 +v -0.274085 3.020848 0.170916 +v -0.471687 2.801159 -0.158708 +v -0.032354 2.647335 -0.444367 +v -0.801187 2.142091 0.039079 +v -0.823334 2.296122 0.148873 +v 0.011531 3.130899 -0.026871 +v -0.296068 3.130899 0.170916 +v -0.713419 2.076226 -0.422324 +v -0.559456 2.801159 0.039079 +f 933 940 942 +f 930 929 931 +f 927 926 932 +f 930 931 934 +f 933 930 934 +f 928 925 935 +f 929 927 936 +f 927 932 936 +f 935 925 936 +f 932 935 936 +f 926 927 937 +f 930 926 937 +f 929 930 937 +f 926 930 938 +f 932 926 938 +f 930 933 938 +f 933 932 938 +f 925 928 939 +f 931 929 939 +f 929 936 939 +f 936 925 939 +f 934 931 940 +f 933 934 940 +f 939 928 940 +f 931 939 940 +f 927 929 941 +f 937 927 941 +f 929 937 941 +f 932 933 942 +f 928 935 942 +f 935 932 942 +f 940 928 942 +o convex_71 +v 1.769786 -0.648653 -1.740845 +v 3.022068 -0.187277 -1.587046 +v 3.022068 -0.187277 -1.652976 +v 2.736427 -0.560740 -1.587046 +v 1.769786 -0.604696 -1.499140 +v 2.780315 -0.187277 -1.872705 +v 2.538686 -0.472875 -1.872705 +v 1.769786 -0.560787 -1.872705 +v 2.890281 -0.187277 -1.499140 +v 2.604640 -0.538738 -1.499140 +v 1.813796 -0.670654 -1.587046 +v 2.846270 -0.209232 -1.872705 +v 2.736427 -0.560740 -1.630999 +v 1.813796 -0.538833 -1.850728 +v 1.879751 -0.582742 -1.872705 +f 955 943 957 +f 945 944 946 +f 944 945 948 +f 943 947 950 +f 948 949 950 +f 946 944 951 +f 944 948 951 +f 946 951 952 +f 951 947 952 +f 947 943 953 +f 946 952 953 +f 952 947 953 +f 948 945 954 +f 949 948 954 +f 949 954 955 +f 945 946 955 +f 953 943 955 +f 946 953 955 +f 954 945 955 +f 950 947 956 +f 948 950 956 +f 947 951 956 +f 951 948 956 +f 943 950 957 +f 950 949 957 +f 949 955 957 +o convex_72 +v 0.912646 -0.165264 1.049863 +v 0.648952 -2.252834 0.852124 +v 0.670944 -2.252834 0.852124 +v 0.890654 -0.165264 0.852124 +v 0.648952 -1.681286 1.071868 +v 0.670944 -2.120829 1.049863 +v 0.846722 -0.231267 1.071868 +v 0.890654 -0.517143 0.852124 +v 0.648952 -2.098760 0.852124 +v 0.890654 -0.363068 1.071868 +v 0.692936 -2.142693 0.874128 +f 967 963 968 +f 960 959 961 +f 962 959 963 +f 959 960 963 +f 958 961 964 +f 961 962 964 +f 960 961 965 +f 961 958 965 +f 961 959 966 +f 962 961 966 +f 959 962 966 +f 962 963 967 +f 958 964 967 +f 964 962 967 +f 965 958 967 +f 965 967 968 +f 963 960 968 +f 960 965 968 +o convex_73 +v -0.625495 -1.637267 -0.576214 +v -0.801359 -0.297380 -0.598188 +v -0.779376 -0.319447 -0.620163 +v -0.032255 -1.549386 -0.642137 +v -0.581604 -1.351752 -0.664112 +v -0.032255 -2.164550 -0.576214 +v -0.757393 -0.187239 -0.576214 +v -0.625495 -0.187239 -0.664112 +v -0.054238 -1.879035 -0.664112 +v -0.625495 -1.637267 -0.598188 +v -0.032255 -2.032729 -0.576214 +f 975 974 979 +f 970 969 975 +f 969 974 975 +f 971 970 976 +f 973 971 976 +f 970 975 976 +f 975 972 976 +f 972 974 977 +f 976 972 977 +f 973 976 977 +f 969 970 978 +f 970 971 978 +f 971 973 978 +f 974 969 978 +f 973 977 978 +f 977 974 978 +f 974 972 979 +f 972 975 979 +o convex_74 +v -0.603587 1.438830 -0.576214 +v -0.801359 -0.187239 -0.598188 +v -0.801359 -0.187239 -0.576214 +v -0.032255 1.241075 -0.664112 +v -0.559546 0.955068 -0.664112 +v -0.120187 1.768485 -0.576214 +v -0.625495 -0.187239 -0.664112 +v -0.054238 1.746470 -0.642137 +v -0.032255 1.241075 -0.642137 +v -0.625495 1.416815 -0.598188 +v -0.779376 -0.121193 -0.642137 +v -0.757393 -0.187239 -0.576214 +v -0.032255 1.680424 -0.598188 +f 985 991 992 +f 980 982 985 +f 982 981 986 +f 984 983 986 +f 983 984 987 +f 986 983 988 +f 982 980 989 +f 981 982 989 +f 980 985 989 +f 987 984 989 +f 985 987 989 +f 986 981 990 +f 984 986 990 +f 981 989 990 +f 989 984 990 +f 985 982 991 +f 982 986 991 +f 986 988 991 +f 991 988 992 +f 983 987 992 +f 987 985 992 +f 988 983 992 +o convex_75 +v -0.449769 1.988375 -0.532272 +v 0.033677 2.537534 -0.510295 +v 0.165472 2.471589 -0.510295 +v 0.011810 1.812523 -0.642131 +v 0.561055 1.988375 -0.510295 +v 0.011810 2.493495 -0.576213 +v -0.229913 1.768560 -0.576213 +v -0.449769 1.988375 -0.510295 +v 0.297267 1.768560 -0.598190 +v 0.385229 2.317719 -0.532272 +v -0.295909 2.361607 -0.532272 +f 993 1000 1003 +f 995 994 997 +f 994 995 998 +f 993 996 999 +f 999 997 1000 +f 997 994 1000 +f 993 999 1000 +f 999 996 1001 +f 997 999 1001 +f 995 997 1002 +f 998 995 1002 +f 996 998 1002 +f 997 1001 1002 +f 1001 996 1002 +f 996 993 1003 +f 994 998 1003 +f 998 996 1003 +f 1000 994 1003 +o convex_76 +v -0.098204 4.756981 0.346712 +v -0.361871 3.130899 0.302754 +v -0.317894 3.130899 0.170938 +v -0.032255 3.636363 0.083023 +v -0.186125 4.405183 0.192945 +v -0.317894 3.174874 0.346712 +v -0.251945 4.427253 0.346712 +v -0.032255 4.734748 0.346712 +v -0.054259 4.580919 0.126981 +v -0.273950 3.130899 0.061044 +v -0.186125 3.152968 0.083023 +v -0.032255 3.900047 0.061044 +v -0.230005 4.537107 0.302754 +f 1008 1013 1016 +f 1005 1009 1010 +f 1009 1004 1010 +f 1004 1009 1011 +f 1009 1007 1011 +f 1004 1011 1012 +f 1005 1006 1013 +f 1008 1012 1013 +f 1009 1005 1014 +f 1007 1009 1014 +f 1005 1013 1014 +f 1013 1007 1014 +f 1011 1007 1015 +f 1012 1011 1015 +f 1007 1013 1015 +f 1013 1012 1015 +f 1006 1005 1016 +f 1005 1010 1016 +f 1010 1004 1016 +f 1004 1012 1016 +f 1012 1008 1016 +f 1013 1006 1016 +o convex_77 +v -0.054259 4.537043 0.522469 +v -0.361871 3.131061 0.346712 +v -0.317894 3.131061 0.346712 +v -0.054259 3.131061 0.654294 +v -0.295922 3.175093 0.610362 +v -0.032255 4.690916 0.346712 +v -0.230005 4.581076 0.368723 +v -0.032255 3.175093 0.632343 +v -0.186125 4.339299 0.500518 +v -0.032255 3.394773 0.654294 +v -0.251945 4.449139 0.346712 +f 1023 1022 1027 +f 1018 1019 1020 +f 1018 1020 1021 +f 1019 1018 1022 +f 1017 1022 1023 +f 1020 1019 1024 +f 1019 1022 1024 +f 1021 1017 1025 +f 1017 1023 1025 +f 1023 1021 1025 +f 1017 1021 1026 +f 1021 1020 1026 +f 1022 1017 1026 +f 1020 1024 1026 +f 1024 1022 1026 +f 1018 1021 1027 +f 1022 1018 1027 +f 1021 1023 1027 +o convex_78 +v 0.165494 4.383351 0.148985 +v -0.032220 3.702514 0.061044 +v -0.032220 3.702514 0.083036 +v 0.319302 3.130899 0.324737 +v -0.032220 4.822758 0.324737 +v 0.253374 3.130899 0.061044 +v 0.231421 4.537202 0.324737 +v 0.011754 4.603138 0.127019 +v 0.253374 3.350687 0.061044 +v 0.231421 4.559181 0.280780 +v 0.297314 3.130899 0.324737 +v -0.032220 4.009545 0.061044 +v 0.319302 3.174857 0.236797 +v -0.032220 4.734843 0.324737 +f 1030 1038 1041 +f 1029 1030 1032 +f 1030 1029 1033 +f 1032 1031 1034 +f 1035 1028 1036 +f 1033 1029 1036 +f 1034 1031 1037 +f 1032 1034 1037 +f 1035 1032 1037 +f 1028 1035 1037 +f 1036 1028 1037 +f 1031 1032 1038 +f 1030 1033 1038 +f 1033 1031 1038 +f 1029 1032 1039 +f 1032 1035 1039 +f 1035 1036 1039 +f 1036 1029 1039 +f 1031 1033 1040 +f 1033 1036 1040 +f 1037 1031 1040 +f 1036 1037 1040 +f 1032 1030 1041 +f 1038 1032 1041 +o convex_79 +v 0.187447 4.229500 0.478593 +v -0.032220 3.130899 0.632319 +v 0.275361 3.153046 0.324770 +v -0.032220 4.844904 0.324770 +v 0.231421 3.130899 0.588379 +v -0.010233 4.471266 0.544439 +v 0.209434 4.603138 0.324770 +v 0.319302 3.130899 0.368742 +v -0.032220 3.394812 0.654322 +v 0.055695 4.559181 0.522469 +v -0.032220 4.756989 0.324770 +f 1043 1045 1052 +f 1044 1045 1048 +f 1043 1044 1049 +f 1042 1046 1049 +f 1046 1043 1049 +f 1048 1042 1049 +f 1044 1048 1049 +f 1045 1043 1050 +f 1043 1046 1050 +f 1047 1045 1050 +f 1047 1050 1051 +f 1046 1042 1051 +f 1045 1047 1051 +f 1042 1048 1051 +f 1048 1045 1051 +f 1050 1046 1051 +f 1044 1043 1052 +f 1045 1044 1052 +o convex_80 +v -0.054291 -2.692156 1.071839 +v -0.735436 -1.747568 1.071872 +v -0.735436 -1.747568 1.093843 +v -0.054358 -2.186917 1.159726 +v -0.054291 -2.845940 0.852124 +v -0.691431 -2.231041 1.027864 +v -0.669362 -2.231041 0.852124 +v -0.647426 -1.791574 1.181697 +v -0.691364 -1.703562 1.071872 +v -0.076361 -2.845940 1.027864 +v -0.691431 -2.296932 0.852124 +v -0.076361 -2.318579 1.181697 +v -0.076361 -2.911949 0.874160 +v -0.603488 -1.703562 1.181697 +f 1060 1064 1066 +f 1056 1053 1057 +f 1055 1058 1060 +f 1054 1055 1061 +f 1056 1057 1061 +f 1059 1054 1061 +f 1057 1059 1061 +f 1057 1053 1062 +f 1060 1058 1062 +f 1055 1054 1063 +f 1058 1055 1063 +f 1054 1059 1063 +f 1059 1057 1063 +f 1053 1056 1064 +f 1062 1053 1064 +f 1060 1062 1064 +f 1057 1062 1065 +f 1062 1058 1065 +f 1058 1063 1065 +f 1063 1057 1065 +f 1055 1060 1066 +f 1061 1055 1066 +f 1056 1061 1066 +f 1064 1056 1066 +o convex_81 +v -0.032205 -2.406466 1.159726 +v -0.054229 -2.933826 0.852124 +v -0.010181 -2.933826 0.852124 +v 0.626791 -1.835343 1.049835 +v 0.648884 -2.187162 1.049835 +v 0.648884 -2.231047 0.852124 +v -0.010250 -2.164852 1.159726 +v -0.010181 -2.845933 1.027864 +v 0.560995 -1.835589 1.181697 +v -0.054229 -2.867998 0.852124 +v 0.539040 -1.681499 1.159726 +v 0.648884 -2.275055 0.918103 +v -0.054229 -2.208859 1.181697 +v 0.626791 -2.231047 0.852124 +v 0.055753 -2.802048 1.027864 +f 1078 1071 1081 +f 1069 1068 1072 +f 1070 1071 1072 +f 1068 1069 1074 +f 1071 1070 1075 +f 1072 1068 1076 +f 1075 1070 1077 +f 1069 1072 1078 +f 1072 1071 1078 +f 1068 1074 1079 +f 1074 1067 1079 +f 1067 1075 1079 +f 1076 1068 1079 +f 1073 1076 1079 +f 1077 1073 1079 +f 1075 1077 1079 +f 1070 1072 1080 +f 1072 1076 1080 +f 1076 1073 1080 +f 1077 1070 1080 +f 1073 1077 1080 +f 1067 1074 1081 +f 1074 1069 1081 +f 1071 1075 1081 +f 1075 1067 1081 +f 1069 1078 1081 +o convex_82 +v 0.517106 2.911043 0.192966 +v 0.539111 2.823137 0.654354 +v 0.539111 2.845150 0.632304 +v 0.802746 2.208086 0.170964 +v 0.648993 2.779257 0.368749 +v 0.802746 2.273979 0.654354 +v 0.517106 2.757317 0.654354 +v 0.780769 2.185999 0.654354 +v 0.780769 2.208086 0.170964 +v 0.802746 2.317932 0.192966 +v 0.517106 2.845150 0.170964 +v 0.627017 2.779257 0.170964 +v 0.670886 2.647398 0.632304 +f 1087 1086 1094 +f 1082 1084 1086 +f 1084 1082 1088 +f 1083 1084 1088 +f 1087 1083 1088 +f 1087 1088 1089 +f 1085 1087 1089 +f 1085 1089 1090 +f 1089 1088 1090 +f 1087 1085 1091 +f 1086 1087 1091 +f 1088 1082 1092 +f 1085 1090 1092 +f 1090 1088 1092 +f 1082 1086 1093 +f 1091 1085 1093 +f 1086 1091 1093 +f 1092 1082 1093 +f 1085 1092 1093 +f 1084 1083 1094 +f 1086 1084 1094 +f 1083 1087 1094 +o convex_83 +v 0.868636 -0.165320 1.137778 +v 0.561119 -2.099014 1.071879 +v 0.583089 -2.099014 1.071879 +v 0.780756 1.350971 1.071879 +v 0.561119 -1.549569 1.181729 +v 0.736816 1.350971 1.181729 +v 0.890671 -0.253461 1.071879 +v 0.692940 -1.198019 1.181729 +v 0.649000 -1.988922 1.093860 +v 0.780756 1.350971 1.181729 +v 0.824696 -0.231510 1.181729 +v 0.846666 0.911280 1.115830 +v 0.583089 -1.813316 1.181729 +f 1103 1102 1107 +f 1097 1096 1098 +f 1096 1099 1100 +f 1098 1096 1100 +f 1097 1098 1101 +f 1100 1099 1102 +f 1101 1095 1103 +f 1097 1101 1103 +f 1095 1102 1103 +f 1098 1100 1104 +f 1100 1102 1104 +f 1104 1102 1105 +f 1102 1095 1105 +f 1095 1104 1105 +f 1095 1101 1106 +f 1101 1098 1106 +f 1098 1104 1106 +f 1104 1095 1106 +f 1096 1097 1107 +f 1099 1096 1107 +f 1102 1099 1107 +f 1097 1103 1107 +o convex_84 +v -0.691487 -1.878994 -0.422371 +v -0.955180 -0.253446 -0.312542 +v -0.955180 -0.253446 -0.290561 +v -0.823334 0.889508 -0.444367 +v -0.845274 0.889508 -0.290561 +v -0.691487 -2.164580 -0.290561 +v -0.933189 -0.209463 -0.444367 +v -0.735471 -2.076919 -0.444367 +v -0.735471 -2.208563 -0.290561 +v -0.889257 0.779244 -0.378425 +f 1114 1109 1117 +f 1108 1111 1113 +f 1111 1112 1113 +f 1112 1110 1113 +f 1111 1108 1115 +f 1108 1113 1115 +f 1114 1111 1115 +f 1109 1114 1115 +f 1110 1109 1116 +f 1113 1110 1116 +f 1109 1115 1116 +f 1115 1113 1116 +f 1109 1110 1117 +f 1112 1111 1117 +f 1110 1112 1117 +f 1111 1114 1117 +o convex_85 +v -0.032332 -2.802030 -0.444367 +v -0.735436 -2.406882 0.148873 +v -0.735436 -2.406882 0.170916 +v -0.625444 -2.077172 -0.422324 +v 0.011694 -3.043754 0.148873 +v -0.691410 -2.208993 -0.422324 +v -0.054272 -3.109612 0.126890 +v -0.032332 -2.670208 -0.422324 +v -0.713423 -2.340919 0.170916 +v -0.054345 -2.867993 -0.400401 +v -0.691410 -2.055149 -0.444367 +v -0.010319 -3.131635 0.170916 +f 1124 1127 1129 +f 1120 1119 1124 +f 1119 1123 1124 +f 1122 1118 1125 +f 1121 1122 1125 +f 1122 1121 1126 +f 1123 1118 1127 +f 1124 1123 1127 +f 1119 1120 1128 +f 1123 1119 1128 +f 1118 1123 1128 +f 1125 1118 1128 +f 1121 1125 1128 +f 1126 1121 1128 +f 1120 1126 1128 +f 1118 1122 1129 +f 1120 1124 1129 +f 1122 1126 1129 +f 1126 1120 1129 +f 1127 1118 1129 +o convex_86 +v 0.934620 -0.143428 -0.290561 +v 0.648952 -2.099014 -0.444367 +v 0.648952 -2.099014 -0.422371 +v 0.802748 0.889508 -0.444367 +v 0.912641 -0.297300 -0.444367 +v 0.824726 0.889508 -0.290561 +v 0.714917 -2.099014 -0.290561 +v 0.868656 0.735635 -0.422371 +v 0.714917 -2.076781 -0.422371 +v 0.692938 -1.923201 -0.290561 +v 0.934620 -0.231188 -0.356489 +f 1136 1138 1140 +f 1131 1132 1133 +f 1131 1133 1134 +f 1133 1132 1135 +f 1132 1131 1136 +f 1130 1135 1136 +f 1134 1133 1137 +f 1135 1130 1137 +f 1133 1135 1137 +f 1131 1134 1138 +f 1136 1131 1138 +f 1135 1132 1139 +f 1132 1136 1139 +f 1136 1135 1139 +f 1130 1136 1140 +f 1137 1130 1140 +f 1134 1137 1140 +f 1138 1134 1140 +o convex_87 +v 0.495058 0.559642 1.489382 +v 0.011694 0.625755 1.533322 +v 0.011694 0.625755 1.555299 +v 0.385221 -0.626727 1.555299 +v 0.407199 -0.626727 1.489382 +v 0.539016 -0.011383 1.555299 +v 0.011694 0.867534 1.489382 +v 0.451157 0.537848 1.555299 +v 0.583029 -0.187196 1.489382 +f 1146 1144 1149 +f 1143 1142 1144 +f 1144 1142 1145 +f 1143 1144 1146 +f 1142 1143 1147 +f 1141 1145 1147 +f 1145 1142 1147 +f 1146 1141 1148 +f 1143 1146 1148 +f 1141 1147 1148 +f 1147 1143 1148 +f 1145 1141 1149 +f 1144 1145 1149 +f 1141 1146 1149 +o convex_88 +v -0.735438 -2.428630 0.236844 +v -0.955120 -0.143290 0.654354 +v -0.933144 -0.165884 -0.114719 +v -0.999129 -0.363189 0.280778 +v -0.713518 -2.010531 -0.290546 +v -0.735438 -2.055048 0.654354 +v -0.757471 -2.054600 -0.290546 +v -0.779447 -2.384561 0.302791 +v -0.955120 -0.275721 -0.290546 +v -0.757443 -2.296646 0.654354 +v -0.911195 -0.231652 -0.268441 +v -0.999129 -0.187359 0.566301 +v -0.845349 -1.044362 0.654354 +v -0.779447 -2.384561 0.258857 +v -0.999129 -0.143290 0.170990 +v -0.713518 -2.252353 -0.224507 +v -0.977125 -0.319120 0.654354 +f 1161 1157 1166 +f 1154 1156 1158 +f 1155 1151 1159 +f 1150 1155 1159 +f 1157 1150 1159 +f 1152 1151 1160 +f 1158 1152 1160 +f 1154 1158 1160 +f 1153 1157 1161 +f 1151 1155 1162 +f 1155 1154 1162 +f 1160 1151 1162 +f 1154 1160 1162 +f 1157 1153 1163 +f 1150 1157 1163 +f 1158 1156 1163 +f 1153 1158 1163 +f 1151 1152 1164 +f 1152 1158 1164 +f 1158 1153 1164 +f 1161 1151 1164 +f 1153 1161 1164 +f 1155 1150 1165 +f 1154 1155 1165 +f 1156 1154 1165 +f 1150 1163 1165 +f 1163 1156 1165 +f 1159 1151 1166 +f 1157 1159 1166 +f 1151 1161 1166 +o convex_89 +v -0.537621 2.889221 0.478524 +v -0.076249 3.130899 0.654354 +v -0.076249 3.064931 0.654354 +v -0.274012 3.130899 0.170964 +v -0.515627 2.801332 0.170964 +v -0.515627 2.779377 0.654354 +v -0.317909 3.130899 0.588347 +v -0.361852 3.130899 0.280834 +v -0.295961 2.999031 0.170964 +v -0.537621 2.867266 0.170964 +v -0.537621 2.845277 0.654354 +f 1167 1176 1177 +f 1168 1169 1170 +f 1171 1169 1172 +f 1169 1168 1172 +f 1168 1170 1173 +f 1173 1170 1174 +f 1167 1173 1174 +f 1170 1169 1175 +f 1171 1170 1175 +f 1169 1171 1175 +f 1170 1171 1176 +f 1174 1170 1176 +f 1167 1174 1176 +f 1171 1172 1177 +f 1172 1168 1177 +f 1173 1167 1177 +f 1168 1173 1177 +f 1176 1171 1177 +o convex_90 +v -0.164256 1.854413 -0.576210 +v -0.867283 -0.340715 -0.510293 +v -0.867283 -0.340715 -0.488329 +v -0.032272 -2.538502 -0.488329 +v -0.647366 -1.702811 -0.576210 +v 0.011522 -2.273084 -0.576210 +v -0.318180 1.988229 -0.510301 +v -0.647366 1.525631 -0.576210 +v -0.691418 -1.900878 -0.488329 +v -0.823145 0.779004 -0.488329 +v -0.823317 -0.012377 -0.576210 +v -0.691418 1.745409 -0.532265 +v -0.164256 1.854413 -0.554237 +v 0.011694 -2.230103 -0.532274 +v -0.054384 -2.538502 -0.510293 +v -0.691418 1.745409 -0.510301 +v -0.471588 1.988229 -0.532265 +f 1193 1184 1194 +f 1182 1178 1183 +f 1178 1182 1185 +f 1180 1179 1186 +f 1181 1180 1186 +f 1179 1182 1186 +f 1179 1180 1187 +f 1180 1181 1187 +f 1181 1184 1187 +f 1182 1179 1188 +f 1185 1182 1188 +f 1179 1187 1188 +f 1185 1188 1189 +f 1188 1187 1189 +f 1178 1184 1190 +f 1184 1181 1190 +f 1183 1178 1191 +f 1181 1183 1191 +f 1178 1190 1191 +f 1190 1181 1191 +f 1183 1181 1192 +f 1182 1183 1192 +f 1181 1186 1192 +f 1186 1182 1192 +f 1187 1184 1193 +f 1189 1187 1193 +f 1189 1193 1194 +f 1184 1178 1194 +f 1178 1185 1194 +f 1185 1189 1194 +o convex_91 +v -0.691487 -1.725446 1.071868 +v -0.955180 -0.341085 0.852124 +v -0.889257 -0.934681 0.852124 +v -0.955180 -0.231338 1.027880 +v -0.735471 -2.186761 1.027880 +v -0.691487 -2.208877 0.852124 +v -0.867266 -0.187314 1.049863 +v -0.933189 -0.143290 0.852124 +v -0.757411 -2.120620 0.852124 +v -0.911197 -0.363202 1.071868 +v -0.691487 -2.077013 1.071868 +f 1204 1199 1205 +f 1196 1197 1198 +f 1197 1196 1200 +f 1195 1200 1201 +f 1198 1201 1202 +f 1196 1198 1202 +f 1200 1196 1202 +f 1201 1200 1202 +f 1198 1197 1203 +f 1199 1198 1203 +f 1197 1200 1203 +f 1200 1199 1203 +f 1198 1199 1204 +f 1195 1201 1204 +f 1201 1198 1204 +f 1199 1200 1205 +f 1200 1195 1205 +f 1195 1204 1205 +o convex_92 +v 0.714876 -2.099014 -0.356435 +v -0.032255 -2.911988 -0.334452 +v -0.032255 -2.911988 -0.290546 +v 0.670849 -2.450861 0.104967 +v -0.032255 -2.692168 -0.422324 +v 0.692863 -2.231041 -0.422324 +v 0.033858 -3.087766 0.170916 +v 0.648763 -2.384847 0.148873 +v 0.582943 -2.121083 -0.422324 +v 0.011845 -3.021752 0.148873 +v 0.033712 -2.845974 -0.422324 +v 0.209597 -2.889919 0.039018 +v 0.692863 -2.099014 -0.444367 +f 1211 1216 1218 +f 1207 1208 1210 +f 1206 1209 1211 +f 1208 1207 1212 +f 1209 1206 1213 +f 1212 1209 1213 +f 1213 1206 1214 +f 1210 1213 1214 +f 1210 1208 1215 +f 1208 1212 1215 +f 1213 1210 1215 +f 1212 1213 1215 +f 1207 1210 1216 +f 1212 1207 1216 +f 1212 1216 1217 +f 1211 1209 1217 +f 1209 1212 1217 +f 1216 1211 1217 +f 1206 1211 1218 +f 1214 1206 1218 +f 1210 1214 1218 +f 1216 1210 1218 +o convex_93 +v 0.670927 -2.296525 -0.268441 +v 0.934616 -0.231308 0.654354 +v 0.912581 -0.231308 0.654354 +v 0.912581 -0.209609 -0.290546 +v 0.736919 -2.340595 0.258857 +v 0.670927 -2.142395 0.654354 +v 0.956594 -0.407362 0.302791 +v 0.868680 -0.407362 -0.290546 +v 0.890602 -0.648960 -0.290546 +v 0.692906 -2.340595 0.654354 +v 0.670927 -2.120695 -0.290546 +v 0.890602 -0.275377 0.654354 +v 0.714940 -2.164541 -0.290546 +v 0.956594 -0.253455 0.522367 +v 0.670927 -2.472579 0.346725 +v 0.956594 -0.187239 -0.026759 +v 0.758842 -2.142395 0.346725 +v 0.780821 -1.176449 0.654354 +f 1230 1226 1236 +f 1220 1221 1224 +f 1225 1223 1227 +f 1226 1222 1227 +f 1220 1224 1228 +f 1219 1224 1229 +f 1226 1227 1229 +f 1221 1222 1230 +f 1224 1221 1230 +f 1222 1226 1230 +f 1223 1219 1231 +f 1227 1223 1231 +f 1219 1229 1231 +f 1229 1227 1231 +f 1220 1228 1232 +f 1219 1223 1233 +f 1224 1219 1233 +f 1223 1228 1233 +f 1228 1224 1233 +f 1221 1220 1234 +f 1222 1221 1234 +f 1227 1222 1234 +f 1225 1227 1234 +f 1220 1232 1234 +f 1232 1225 1234 +f 1223 1225 1235 +f 1228 1223 1235 +f 1225 1232 1235 +f 1232 1228 1235 +f 1229 1224 1236 +f 1226 1229 1236 +f 1224 1230 1236 +o convex_94 +v -0.098288 1.877810 1.225683 +v -0.823334 -0.274582 1.181740 +v -0.757314 -0.867857 1.181740 +v -0.801355 -0.186134 1.247661 +v 0.011606 -2.054405 1.247661 +v -0.054330 -2.230051 1.181740 +v -0.405906 1.899505 1.181740 +v -0.625441 1.350455 1.247661 +v -0.625441 -1.614665 1.247661 +v -0.098288 1.877810 1.247661 +v -0.691294 1.481877 1.181740 +v -0.647336 -1.724809 1.181740 +v -0.274117 1.899505 1.181740 +v 0.033669 -2.010598 1.203718 +v -0.142161 2.032178 1.203718 +v -0.779293 0.910715 1.203718 +v -0.274034 2.009649 1.225683 +v -0.669315 1.613715 1.203718 +v -0.076309 -2.230051 1.203718 +f 1245 1248 1255 +f 1238 1239 1240 +f 1239 1238 1242 +f 1242 1238 1243 +f 1240 1241 1244 +f 1240 1239 1245 +f 1241 1240 1245 +f 1244 1241 1246 +f 1243 1238 1247 +f 1239 1242 1248 +f 1245 1239 1248 +f 1242 1243 1249 +f 1241 1242 1250 +f 1237 1246 1250 +f 1246 1241 1250 +f 1246 1237 1251 +f 1242 1249 1251 +f 1249 1243 1251 +f 1250 1242 1251 +f 1237 1250 1251 +f 1238 1240 1252 +f 1240 1244 1252 +f 1247 1238 1252 +f 1244 1246 1253 +f 1246 1251 1253 +f 1251 1243 1253 +f 1243 1247 1254 +f 1252 1244 1254 +f 1247 1252 1254 +f 1244 1253 1254 +f 1253 1243 1254 +f 1242 1241 1255 +f 1241 1245 1255 +f 1248 1242 1255 +o convex_95 +v 0.692873 2.603653 0.170916 +v 0.011694 3.064867 -0.026834 +v 0.011694 3.064867 -0.004844 +v 0.780737 2.186091 0.126938 +v 0.692873 2.537712 -0.026834 +v 0.297489 3.130899 0.170916 +v 0.780737 2.186091 -0.026834 +v 0.319375 3.042856 -0.026834 +v 0.780737 2.208102 0.170916 +v 0.560999 2.867137 0.126938 +v 0.253557 3.108796 0.170916 +v 0.824748 2.230114 0.104967 +f 1256 1264 1267 +f 1258 1257 1259 +f 1257 1258 1261 +f 1259 1257 1262 +f 1257 1260 1262 +f 1260 1257 1263 +f 1257 1261 1263 +f 1258 1259 1264 +f 1256 1261 1264 +f 1256 1260 1265 +f 1261 1256 1265 +f 1260 1263 1265 +f 1263 1261 1265 +f 1261 1258 1266 +f 1258 1264 1266 +f 1264 1261 1266 +f 1260 1256 1267 +f 1259 1262 1267 +f 1262 1260 1267 +f 1264 1259 1267 +o convex_96 +v 0.978569 -0.187157 0.280834 +v 0.824780 2.207810 0.654354 +v 0.824780 2.229825 0.632304 +v 0.890680 0.362483 0.170964 +v 0.912635 -0.231187 0.654354 +v 0.802808 2.251593 0.170964 +v 0.890680 2.119996 0.390704 +v 0.956579 -0.165141 0.610349 +v 0.846752 0.801800 0.654354 +v 0.868725 2.119996 0.170964 +v 0.934607 -0.231187 0.170964 +v 0.802808 2.053703 0.654354 +v 0.846752 2.163779 0.654354 +v 0.956579 0.032749 0.170964 +v 0.912635 1.680433 0.324791 +f 1281 1277 1282 +f 1273 1270 1274 +f 1272 1268 1275 +f 1271 1272 1276 +f 1272 1269 1276 +f 1273 1271 1276 +f 1271 1273 1277 +f 1273 1274 1277 +f 1268 1272 1278 +f 1272 1271 1278 +f 1271 1277 1278 +f 1269 1270 1279 +f 1270 1273 1279 +f 1276 1269 1279 +f 1273 1276 1279 +f 1270 1269 1280 +f 1269 1272 1280 +f 1274 1270 1280 +f 1272 1275 1280 +f 1275 1274 1280 +f 1268 1278 1281 +f 1278 1277 1281 +f 1275 1268 1282 +f 1274 1275 1282 +f 1277 1274 1282 +f 1268 1281 1282 +o convex_97 +v 0.736753 -0.516419 1.247661 +v -0.054229 -2.252415 1.181740 +v -0.032250 -2.252415 1.181740 +v 0.626944 1.900137 1.181740 +v 0.187705 1.877913 1.247661 +v 0.011707 -2.032690 1.247661 +v 0.582986 -1.703102 1.181740 +v 0.670817 1.745826 1.247661 +v 0.253557 2.030546 1.203718 +v 0.802773 0.318033 1.181740 +v 0.538945 -1.636849 1.247661 +v 0.736837 1.855689 1.203718 +v 0.802773 -0.142803 1.225683 +v -0.054229 -2.252415 1.203718 +v 0.451030 2.030546 1.225683 +f 1294 1286 1297 +f 1285 1284 1286 +f 1283 1287 1288 +f 1285 1286 1289 +f 1287 1283 1290 +f 1286 1284 1291 +f 1284 1287 1291 +f 1289 1286 1292 +f 1283 1288 1293 +f 1289 1283 1293 +f 1292 1286 1294 +f 1292 1294 1295 +f 1283 1289 1295 +f 1290 1283 1295 +f 1289 1292 1295 +f 1294 1290 1295 +f 1284 1285 1296 +f 1287 1284 1296 +f 1288 1287 1296 +f 1285 1289 1296 +f 1293 1288 1296 +f 1289 1293 1296 +f 1287 1290 1297 +f 1291 1287 1297 +f 1286 1291 1297 +f 1290 1294 1297 +o convex_98 +v -0.911251 1.922143 0.170964 +v -0.845308 2.141904 0.654354 +v -0.845308 2.163741 0.610349 +v -0.955168 -0.055246 0.170964 +v -0.999099 -0.121221 0.544437 +v -0.933187 0.010729 0.654354 +v -0.845308 2.097766 0.170964 +v -0.933187 1.966048 0.324791 +v -0.999099 -0.011340 0.170964 +v -0.867304 1.064934 0.632304 +v -0.977133 0.076472 0.654354 +v -0.867304 2.141904 0.654354 +v -0.999099 0.362208 0.302836 +v -0.933187 0.230491 0.170964 +v -0.867304 2.229948 0.280834 +v -0.845308 1.614337 0.654354 +f 1307 1304 1313 +f 1302 1301 1303 +f 1300 1299 1304 +f 1301 1298 1304 +f 1298 1301 1306 +f 1301 1302 1306 +f 1305 1298 1306 +f 1303 1299 1308 +f 1302 1303 1308 +f 1305 1302 1308 +f 1305 1308 1309 +f 1299 1300 1309 +f 1308 1299 1309 +f 1302 1305 1310 +f 1306 1302 1310 +f 1305 1306 1310 +f 1303 1301 1311 +f 1301 1304 1311 +f 1307 1303 1311 +f 1304 1307 1311 +f 1304 1298 1312 +f 1300 1304 1312 +f 1298 1305 1312 +f 1305 1309 1312 +f 1309 1300 1312 +f 1299 1303 1313 +f 1304 1299 1313 +f 1303 1307 1313 +o convex_99 +v 0.626929 2.647441 -0.070869 +v -0.010280 2.779276 -0.290538 +v -0.010280 2.779276 -0.268510 +v 0.692871 2.186061 -0.422339 +v 0.451105 2.867108 -0.158736 +v 0.670867 2.449820 -0.026853 +v -0.010280 3.086863 -0.026853 +v -0.010209 2.603525 -0.444367 +v 0.714876 2.274069 -0.444367 +v 0.011795 2.691268 -0.422339 +v 0.341366 3.020901 -0.048881 +v 0.011795 2.581479 -0.422339 +v -0.010280 3.042947 -0.026853 +v 0.517048 2.845150 -0.026853 +f 1318 1324 1327 +f 1315 1316 1320 +f 1316 1315 1321 +f 1315 1320 1321 +f 1318 1314 1322 +f 1314 1319 1322 +f 1319 1317 1322 +f 1317 1321 1322 +f 1322 1321 1323 +f 1321 1320 1323 +f 1318 1322 1323 +f 1323 1320 1324 +f 1318 1323 1324 +f 1317 1319 1325 +f 1316 1321 1325 +f 1321 1317 1325 +f 1320 1316 1326 +f 1319 1320 1326 +f 1316 1325 1326 +f 1325 1319 1326 +f 1314 1318 1327 +f 1319 1314 1327 +f 1320 1319 1327 +f 1324 1320 1327 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/395/395.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/395/395.urdf new file mode 100644 index 000000000..960f6b967 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/395/395.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/396/396.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/396/396.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/396/396.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/396/396.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/396/396.obj new file mode 100644 index 000000000..1dc4af52f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/396/396.obj @@ -0,0 +1,564 @@ +o convex_0 +v -0.643330 -0.194955 -2.090968 +v -0.025466 0.334783 -2.090968 +v 0.209960 0.305340 -2.090968 +v 0.003962 0.128684 -2.473573 +v 0.415958 -0.165512 -2.090968 +v -0.819899 0.069799 -2.120404 +v -0.113751 -0.136070 -2.414661 +v 0.033391 0.275840 -2.385262 +v 0.474944 0.069799 -2.120404 +v 0.033391 -0.253840 -2.149879 +v 0.180532 0.011086 -2.414661 +v -0.496189 0.246455 -2.090968 +v -0.201906 0.099241 -2.444136 +v -0.849457 -0.018357 -2.120404 +v 0.033391 -0.136070 -2.414661 +v 0.180532 0.216954 -2.355788 +v -0.113751 0.246455 -2.385262 +v 0.327673 0.275840 -2.090968 +f 9 16 18 +f 3 2 1 +f 3 1 5 +f 2 3 8 +f 5 1 10 +f 1 7 10 +f 9 5 11 +f 1 2 12 +f 2 8 12 +f 4 7 13 +f 7 1 14 +f 1 12 14 +f 12 6 14 +f 13 7 14 +f 6 13 14 +f 7 4 15 +f 5 10 15 +f 10 7 15 +f 4 11 15 +f 11 5 15 +f 4 8 16 +f 11 4 16 +f 9 11 16 +f 8 4 17 +f 6 12 17 +f 12 8 17 +f 4 13 17 +f 13 6 17 +f 3 5 18 +f 8 3 18 +f 5 9 18 +f 16 8 18 +o convex_1 +v 1.269680 0.452398 -1.031553 +v -1.025647 -0.194955 -2.090968 +v -1.025647 0.187540 -2.090968 +v -2.703162 0.069902 -1.061068 +v 2.034193 -0.312593 -1.061068 +v 2.711640 0.099287 -1.855392 +v -0.113241 -0.342076 -0.707839 +v -0.054799 0.540749 -1.767118 +v -0.054799 -0.430427 -1.914150 +v -2.320905 -0.341978 -1.531678 +v -1.997091 0.423013 -1.061068 +v -2.703162 0.069902 -1.914150 +v 0.091901 0.246408 -0.707839 +v 2.681823 0.099287 -1.060932 +v 2.034193 0.423013 -1.855392 +v 1.975751 -0.312593 -1.884771 +v -2.085350 0.393530 -1.884771 +v 0.239198 0.305277 -2.090968 +v 2.299566 0.452496 -1.414025 +v -0.113241 0.540749 -1.061068 +v -1.938053 -0.341978 -1.061068 +v 0.150939 -0.430427 -1.031553 +v 3.035454 0.040615 -1.472784 +v -3.056794 0.069902 -1.443540 +v 1.239863 -0.253725 -2.031938 +v -2.085350 -0.312593 -1.914150 +v -2.320905 0.423013 -1.502163 +v 2.299566 -0.312593 -1.502163 +v 1.916713 0.452398 -1.090447 +v -0.024982 0.570232 -1.355267 +v -0.289759 0.187540 -0.707839 +v 0.209381 -0.253823 -0.707839 +v -0.143058 0.452496 -1.973044 +v 0.091901 -0.283208 -2.090968 +v -3.056794 0.011132 -1.443540 +v -0.613573 -0.430427 -1.443405 +v -1.202761 0.305277 -2.061317 +v 0.474754 -0.430427 -1.502163 +v -2.114571 -0.312593 -1.061068 +v 1.592899 0.099287 -2.002559 +v -1.732314 -0.018253 -2.061317 +v -2.703162 -0.018253 -1.914150 +v 1.975751 0.481881 -1.472919 +v 2.976416 0.128672 -1.502299 +v -1.172944 -0.283110 -2.061317 +v -2.055532 0.452398 -1.502163 +v 2.681823 0.040615 -1.060932 +v 2.004972 -0.342076 -1.414161 +v -0.231317 -0.430427 -1.031553 +v 2.152269 -0.253725 -1.884771 +v 0.268419 0.040615 -0.707839 +v -0.260538 -0.253823 -0.707839 +v -3.056794 0.069902 -1.531678 +v -2.644720 -0.018253 -1.061068 +v 0.033460 -0.342076 -2.061317 +v -0.054799 0.570232 -1.531678 +v 0.533792 0.011132 -2.090832 +v -1.879611 -0.341978 -1.914150 +v 0.327457 0.540749 -1.090447 +v -0.231317 0.511364 -1.884771 +v 2.064010 0.423013 -1.090447 +v 2.711640 0.040615 -1.855392 +v -2.232647 -0.341978 -1.296508 +v 1.651937 0.452398 -1.855392 +f 51 78 82 +f 20 21 36 +f 31 19 38 +f 29 31 38 +f 23 25 40 +f 22 29 42 +f 42 29 45 +f 41 23 46 +f 19 31 47 +f 29 38 48 +f 29 22 49 +f 25 31 49 +f 31 29 49 +f 25 23 50 +f 31 25 50 +f 20 36 52 +f 22 42 53 +f 27 40 54 +f 30 35 55 +f 36 21 55 +f 35 51 55 +f 51 36 55 +f 27 34 56 +f 40 27 56 +f 39 25 57 +f 33 24 58 +f 36 33 58 +f 21 20 59 +f 55 21 59 +f 30 55 59 +f 44 28 60 +f 28 53 60 +f 59 44 60 +f 30 59 60 +f 37 33 61 +f 47 37 61 +f 24 33 62 +f 37 32 62 +f 33 37 62 +f 32 41 62 +f 41 24 62 +f 20 52 63 +f 59 20 63 +f 44 59 63 +f 26 35 64 +f 35 45 64 +f 45 29 64 +f 29 48 64 +f 23 41 65 +f 41 32 65 +f 50 23 65 +f 23 40 66 +f 34 46 66 +f 46 23 66 +f 56 34 66 +f 40 56 66 +f 25 39 67 +f 40 25 67 +f 54 40 67 +f 34 43 68 +f 46 34 68 +f 41 46 68 +f 32 31 69 +f 31 50 69 +f 65 32 69 +f 50 65 69 +f 49 22 70 +f 25 49 70 +f 35 30 71 +f 45 35 71 +f 42 45 71 +f 53 42 71 +f 60 53 71 +f 30 60 71 +f 22 53 72 +f 57 25 72 +f 53 57 72 +f 70 22 72 +f 25 70 72 +f 34 27 73 +f 43 34 73 +f 52 43 73 +f 63 52 73 +f 48 61 74 +f 26 64 74 +f 64 48 74 +f 52 36 75 +f 43 52 75 +f 36 58 75 +f 58 43 75 +f 28 44 76 +f 27 54 76 +f 54 28 76 +f 44 63 76 +f 73 27 76 +f 63 73 76 +f 38 19 77 +f 19 47 77 +f 48 38 77 +f 47 61 77 +f 61 48 77 +f 35 26 78 +f 51 35 78 +f 31 32 79 +f 32 37 79 +f 47 31 79 +f 37 47 79 +f 24 41 80 +f 58 24 80 +f 43 58 80 +f 41 68 80 +f 68 43 80 +f 53 28 81 +f 28 54 81 +f 39 57 81 +f 57 53 81 +f 67 39 81 +f 54 67 81 +f 33 36 82 +f 36 51 82 +f 61 33 82 +f 26 74 82 +f 74 61 82 +f 78 26 82 +o convex_2 +v -0.231279 -0.341569 -0.707459 +v -0.025385 0.599121 1.793944 +v -0.319605 0.599121 1.793944 +v -0.084068 -3.019242 1.293223 +v 0.945803 2.276786 0.440405 +v -0.996574 2.246828 0.528551 +v 0.857477 -2.843087 0.469787 +v -0.967132 -2.313425 0.528551 +v 0.798592 2.630294 -0.354383 +v 0.769150 2.423582 1.352232 +v 0.798592 -2.460220 -0.295374 +v 0.739708 -2.460220 1.322850 +v -0.819921 2.276786 -0.295374 +v -0.613825 3.041921 1.116930 +v -0.790479 -2.372742 -0.265992 +v -0.908247 -1.166022 1.381614 +v -0.054827 -3.019242 -0.206982 +v -0.849363 2.246828 1.410996 +v -0.172394 2.894526 -0.354138 +v 0.769150 3.041921 0.793236 +v 1.004688 -0.223534 0.528551 +v 0.268835 -0.518323 1.793944 +v -0.790479 -2.401502 1.410996 +v -0.761036 -2.990482 0.528551 +v 0.268835 0.098818 -0.707459 +v 0.003855 2.688414 1.499388 +v -0.967132 -0.076738 -0.177845 +v 0.886919 -0.223534 1.293468 +v -1.055458 0.010740 0.704845 +v 0.062740 -2.666333 -0.413147 +v 0.916361 -0.282252 -0.265992 +v -0.702152 2.982604 0.204858 +v -0.025385 -2.666333 1.499388 +v -0.466816 -0.047379 1.793944 +v 0.798592 -3.049799 0.587071 +v 0.945803 -2.372143 0.528551 +v -0.319605 0.098818 -0.707459 +v 0.504372 3.011963 -0.030444 +v -0.113510 2.659054 -0.442529 +v -0.967132 0.393008 1.352232 +v 0.563055 3.041322 1.175694 +v 0.621939 -3.049201 -0.060071 +v -0.672710 -0.076738 -0.501539 +v 0.327719 -0.018020 1.793944 +v 0.592497 -3.049201 1.087547 +v -0.466816 -3.019841 1.175694 +v -0.319605 -0.547682 1.793944 +v 0.945803 2.247427 0.645835 +v -0.584383 -2.990482 -0.030444 +v -0.790479 2.983203 0.587071 +v 0.710266 -0.224133 -0.442774 +v 0.239393 -0.253492 -0.707459 +v -0.231279 3.071280 0.792991 +v -1.055458 -0.047379 0.469787 +v 0.828035 3.012562 0.646080 +v -0.054827 3.041322 1.322605 +v -0.643268 2.953844 -0.059827 +v 0.209951 0.393008 1.793944 +v 0.886919 0.363649 1.293468 +v 0.798592 -2.372143 -0.325001 +v -0.967132 -2.254107 0.704845 +v -0.996574 -0.076738 1.263840 +v -0.054827 -3.049201 0.116711 +v 0.916361 0.187494 -0.265992 +f 113 133 146 +f 84 85 104 +f 90 97 106 +f 85 84 108 +f 100 85 108 +f 88 95 109 +f 97 90 109 +f 97 83 112 +f 99 97 112 +f 94 104 115 +f 105 86 115 +f 85 100 116 +f 104 85 116 +f 98 105 116 +f 89 93 118 +f 110 94 118 +f 103 110 118 +f 113 103 118 +f 117 89 118 +f 94 117 118 +f 83 97 119 +f 107 83 119 +f 91 101 120 +f 101 91 121 +f 95 101 121 +f 91 107 121 +f 119 95 121 +f 107 119 121 +f 100 88 122 +f 116 100 122 +f 98 116 122 +f 92 102 123 +f 108 92 123 +f 93 89 124 +f 112 93 124 +f 99 112 124 +f 89 117 124 +f 109 95 125 +f 97 109 125 +f 119 97 125 +f 95 119 125 +f 84 104 126 +f 104 94 126 +f 94 110 126 +f 115 86 127 +f 94 115 127 +f 117 94 127 +f 86 105 128 +f 105 106 128 +f 127 86 128 +f 115 104 129 +f 105 115 129 +f 116 105 129 +f 104 116 129 +f 103 87 130 +f 97 99 131 +f 106 97 131 +f 95 88 132 +f 88 100 132 +f 100 96 132 +f 114 95 132 +f 96 114 132 +f 107 91 133 +f 83 107 134 +f 112 83 134 +f 114 96 135 +f 102 120 135 +f 120 114 135 +f 123 102 135 +f 88 109 136 +f 109 90 136 +f 90 111 136 +f 111 88 136 +f 87 91 137 +f 102 92 137 +f 91 120 137 +f 120 102 137 +f 130 87 137 +f 92 130 137 +f 96 100 138 +f 100 108 138 +f 108 123 138 +f 135 96 138 +f 123 135 138 +f 101 95 139 +f 95 114 139 +f 120 101 139 +f 114 120 139 +f 108 84 140 +f 92 108 140 +f 84 126 140 +f 126 92 140 +f 110 103 141 +f 92 126 141 +f 126 110 141 +f 130 92 141 +f 103 130 141 +f 93 112 142 +f 118 93 142 +f 113 118 142 +f 107 133 142 +f 133 113 142 +f 134 107 142 +f 112 134 142 +f 105 98 143 +f 90 106 143 +f 106 105 143 +f 111 90 143 +f 111 143 144 +f 88 111 144 +f 122 88 144 +f 98 122 144 +f 143 98 144 +f 99 124 145 +f 124 117 145 +f 117 127 145 +f 127 128 145 +f 128 106 145 +f 131 99 145 +f 106 131 145 +f 91 87 146 +f 87 103 146 +f 103 113 146 +f 133 91 146 +o convex_3 +v 0.327789 -0.047822 1.882306 +v -0.407990 -0.135978 1.794088 +v -0.349076 -0.371404 1.794088 +v -0.319691 -0.106477 2.529723 +v -0.113635 0.540801 1.794088 +v 0.210032 -0.283133 2.529723 +v 0.033434 -0.636445 1.794088 +v 0.151190 0.158104 2.529723 +v -0.290234 0.187604 2.500196 +v 0.210032 0.393530 1.794088 +v -0.378533 0.393530 1.823470 +v 0.268874 -0.518559 1.794088 +v -0.172478 -0.283133 2.529723 +v -0.290234 -0.489174 1.852924 +v 0.239489 -0.018437 2.529723 +v -0.054721 0.246374 2.500196 +v -0.025480 -0.636445 1.852924 +v -0.349076 -0.018437 2.470742 +v -0.054721 0.511300 1.911761 +v -0.349076 0.452415 1.794088 +v 0.327789 -0.165363 1.794088 +v -0.260777 -0.283133 2.441360 +v -0.407990 -0.047822 2.000051 +v -0.084178 -0.312634 2.529723 +f 159 163 170 +f 149 148 151 +f 149 151 153 +f 150 152 154 +f 150 154 155 +f 153 151 156 +f 152 153 158 +f 153 156 158 +f 152 150 159 +f 150 149 160 +f 149 153 160 +f 154 152 161 +f 147 156 161 +f 156 154 161 +f 155 154 162 +f 153 152 163 +f 160 153 163 +f 150 155 164 +f 155 157 164 +f 151 155 165 +f 156 151 165 +f 154 156 165 +f 162 154 165 +f 155 162 165 +f 151 148 166 +f 155 151 166 +f 148 157 166 +f 157 155 166 +f 156 147 167 +f 152 158 167 +f 158 156 167 +f 147 161 167 +f 161 152 167 +f 159 150 168 +f 150 160 168 +f 163 159 168 +f 160 163 168 +f 148 149 169 +f 149 150 169 +f 157 148 169 +f 150 164 169 +f 164 157 169 +f 152 159 170 +f 163 152 170 +o convex_4 +v -0.319697 -0.106679 2.588683 +v 0.239495 -0.047822 2.618163 +v 0.239495 -0.106679 2.618163 +v -0.084219 -0.018472 3.530382 +v -0.113667 0.217058 2.529820 +v 0.062805 -0.312703 2.529820 +v -0.054770 -0.253742 3.265354 +v 0.180598 -0.047822 3.294835 +v -0.084219 0.158098 3.324217 +v 0.121701 0.158098 2.529820 +v -0.290193 -0.018472 3.147630 +v -0.290193 0.158098 2.529820 +v -0.231351 -0.253742 2.529820 +v 0.180598 -0.253742 2.794750 +v -0.260800 -0.106679 3.235972 +v -0.025486 0.158098 3.294835 +v 0.209992 -0.253742 2.529820 +v 0.003962 -0.253742 3.265354 +v 0.121701 0.099241 3.059385 +v -0.231351 0.099241 3.147630 +v -0.025486 -0.106679 3.500803 +v -0.054770 -0.312703 2.677025 +v -0.231351 -0.224392 2.882994 +f 192 177 193 +f 173 172 178 +f 176 175 180 +f 175 176 182 +f 179 175 182 +f 171 181 182 +f 171 182 183 +f 182 176 183 +f 181 171 185 +f 174 181 185 +f 174 178 186 +f 179 174 186 +f 175 179 186 +f 180 175 186 +f 172 173 187 +f 173 178 187 +f 180 172 187 +f 176 180 187 +f 184 176 187 +f 178 184 187 +f 176 184 188 +f 184 178 188 +f 178 172 189 +f 172 180 189 +f 186 178 189 +f 180 186 189 +f 174 179 190 +f 181 174 190 +f 179 182 190 +f 182 181 190 +f 178 174 191 +f 174 185 191 +f 185 177 191 +f 177 188 191 +f 188 178 191 +f 183 176 192 +f 176 188 192 +f 188 177 192 +f 171 183 193 +f 177 185 193 +f 185 171 193 +f 183 192 193 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/396/396.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/396/396.urdf new file mode 100644 index 000000000..1681e1d04 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/396/396.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/397/397.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/397/397.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/397/397.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/397/397.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/397/397.obj new file mode 100644 index 000000000..4e64a3e73 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/397/397.obj @@ -0,0 +1,189 @@ +o convex_0 +v 0.012192 -0.950209 -1.019593 +v 0.012192 -2.760846 0.992489 +v -0.016563 -2.760846 0.992489 +v 0.040947 5.313670 0.388628 +v -1.051155 2.526333 -0.042111 +v 0.960913 -3.594783 -0.013552 +v -0.821114 -3.594783 -0.732040 +v 0.673362 3.158431 -0.674333 +v 0.759627 2.526333 0.733691 +v -0.763604 -3.594783 0.762249 +v -0.763604 3.071788 -0.703285 +v -0.763604 2.929024 0.704936 +v 0.702117 -3.536693 -0.760796 +v 0.587097 -4.025043 0.618670 +v 0.932158 3.216521 -0.013552 +v -0.045121 -4.542930 -0.042111 +v 0.012192 5.256565 -0.387174 +v 0.012192 2.870934 0.934781 +v -1.022400 -3.623335 0.015006 +v -0.418740 5.170907 0.043761 +v -0.073679 2.670081 -0.962082 +v 0.759627 -3.536693 0.762446 +v -0.159945 -3.565245 -0.990838 +v 0.472273 5.228012 0.043761 +v -0.792359 1.434437 -0.818109 +v -0.016563 -4.283987 0.791202 +v -0.792359 -4.313524 0.043761 +v -0.016563 -4.312539 -0.732040 +v 0.730872 -4.283987 -0.013552 +v 0.702117 0.313988 -0.760796 +v 0.730872 3.215536 0.676181 +v 0.960913 2.584423 0.101272 +v -0.821114 1.319241 0.704936 +v 0.960913 2.526333 -0.070866 +v 0.069702 -3.565245 0.992489 +v -0.964890 3.245074 0.043761 +v -0.131189 2.526333 0.934781 +v -1.051155 0.600500 -0.128376 +v -0.045121 1.204046 -1.019593 +v -0.016563 5.256565 0.446138 +v -0.734849 3.245074 0.676181 +v -0.016563 3.129878 -0.904572 +v -0.016563 5.515508 0.014809 +v -0.821114 -3.565245 -0.760796 +v -0.016563 3.215536 0.906223 +v -1.051155 -1.927894 -0.013552 +v 0.357253 5.027158 -0.300711 +v 0.702117 -2.502887 -0.789354 +v 0.012192 -3.565245 -0.990838 +v 0.702117 2.698633 -0.703285 +v -0.591074 -4.141223 -0.559509 +v 0.357253 5.084264 0.331314 +v 0.932158 -3.536693 0.187538 +v -0.303720 5.055711 -0.272153 +v 0.932158 -3.536693 -0.157132 +v -0.073679 -3.565245 0.992489 +v 0.098457 2.554885 0.934781 +v -0.821114 1.261151 -0.789551 +v -0.131189 -0.547517 -1.019593 +v 0.529586 -4.083133 -0.559509 +v -0.504809 -4.140238 0.618670 +v -0.792359 2.641528 -0.760796 +v -0.303720 5.055711 0.331117 +v -0.763604 3.245074 -0.645774 +f 20 54 64 +f 3 2 18 +f 15 8 24 +f 14 22 26 +f 19 7 27 +f 10 19 27 +f 16 26 27 +f 16 27 28 +f 22 14 29 +f 14 26 29 +f 26 16 29 +f 16 28 29 +f 18 9 31 +f 15 24 31 +f 9 22 32 +f 31 9 32 +f 15 31 32 +f 12 5 33 +f 32 6 34 +f 15 32 34 +f 2 3 35 +f 22 9 35 +f 26 22 35 +f 5 12 36 +f 3 18 37 +f 33 10 37 +f 12 33 37 +f 25 21 39 +f 36 12 41 +f 20 36 41 +f 11 17 42 +f 17 8 42 +f 8 21 42 +f 21 11 42 +f 4 24 43 +f 24 17 43 +f 40 4 43 +f 20 40 43 +f 7 19 44 +f 25 23 44 +f 23 28 44 +f 18 31 45 +f 37 18 45 +f 12 37 45 +f 31 40 45 +f 41 12 45 +f 40 41 45 +f 19 10 46 +f 10 33 46 +f 33 5 46 +f 5 38 46 +f 44 19 46 +f 38 44 46 +f 8 17 47 +f 24 8 47 +f 17 24 47 +f 30 34 48 +f 1 39 48 +f 39 30 48 +f 23 1 49 +f 13 28 49 +f 28 23 49 +f 1 48 49 +f 48 13 49 +f 8 15 50 +f 21 8 50 +f 15 34 50 +f 34 30 50 +f 39 21 50 +f 30 39 50 +f 27 7 51 +f 28 27 51 +f 7 44 51 +f 44 28 51 +f 24 4 52 +f 31 24 52 +f 4 40 52 +f 40 31 52 +f 29 6 53 +f 22 29 53 +f 6 32 53 +f 32 22 53 +f 43 17 54 +f 20 43 54 +f 6 29 55 +f 29 13 55 +f 34 6 55 +f 13 48 55 +f 48 34 55 +f 10 26 56 +f 35 3 56 +f 26 35 56 +f 3 37 56 +f 37 10 56 +f 18 2 57 +f 9 18 57 +f 2 35 57 +f 35 9 57 +f 38 5 58 +f 25 44 58 +f 44 38 58 +f 1 23 59 +f 23 25 59 +f 39 1 59 +f 25 39 59 +f 28 13 60 +f 13 29 60 +f 29 28 60 +f 26 10 61 +f 10 27 61 +f 27 26 61 +f 5 11 62 +f 11 21 62 +f 21 25 62 +f 58 5 62 +f 25 58 62 +f 40 20 63 +f 20 41 63 +f 41 40 63 +f 11 5 64 +f 17 11 64 +f 5 36 64 +f 36 20 64 +f 54 17 64 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/397/397.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/397/397.urdf new file mode 100644 index 000000000..b4e66b6d2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/397/397.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/398/398.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/398/398.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/398/398.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/398/398.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/398/398.obj new file mode 100644 index 000000000..f31ae7f7c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/398/398.obj @@ -0,0 +1,483 @@ +o convex_0 +v -0.493255 -0.327762 -3.397109 +v 0.589577 0.590980 -1.559819 +v 0.523895 0.590980 -1.559626 +v 0.523895 -0.557560 -1.559626 +v 0.589577 -0.426134 -3.462830 +v -0.558937 -0.459075 -1.559626 +v -0.558937 0.492495 -3.495594 +v -0.460414 0.492495 -1.559626 +v 0.425371 0.525323 -3.462830 +v -0.493255 -0.426247 -3.364345 +v -0.591778 0.361182 -3.528551 +v 0.228556 0.590980 -2.019286 +v -0.558937 0.492495 -2.642380 +v 0.589577 -0.459075 -3.429873 +v 0.359689 -0.557560 -1.756788 +v -0.493255 -0.491903 -1.592582 +v 0.556736 -0.426134 -1.658303 +v 0.491053 0.558151 -2.871921 +v 0.589577 -0.294934 -3.429873 +v -0.493255 0.492495 -1.625346 +v 0.589577 0.229981 -1.559819 +v -0.329049 -0.459075 -3.036127 +v -0.361890 0.492495 -3.528551 +v -0.591778 0.459667 -3.167568 +v -0.591778 0.262809 -3.495594 +v 0.359689 -0.426247 -3.462830 +v 0.228556 0.590980 -1.658110 +v 0.589577 -0.459075 -2.937642 +v 0.556736 0.590980 -2.052050 +v 0.458212 0.459667 -3.462830 +v -0.526096 -0.459075 -2.544088 +f 25 10 31 +f 2 3 4 +f 4 3 6 +f 6 3 8 +f 1 10 11 +f 3 2 12 +f 12 7 13 +f 5 2 14 +f 14 4 15 +f 4 6 16 +f 15 4 16 +f 9 7 18 +f 7 12 18 +f 2 5 19 +f 6 8 20 +f 13 6 20 +f 2 4 21 +f 14 2 21 +f 4 17 21 +f 10 14 22 +f 14 15 22 +f 7 9 23 +f 5 11 23 +f 11 7 23 +f 7 11 24 +f 6 13 24 +f 13 7 24 +f 11 10 25 +f 6 24 25 +f 24 11 25 +f 10 1 26 +f 1 11 26 +f 11 5 26 +f 5 14 26 +f 14 10 26 +f 8 3 27 +f 3 12 27 +f 12 13 27 +f 20 8 27 +f 13 20 27 +f 4 14 28 +f 17 4 28 +f 14 21 28 +f 21 17 28 +f 12 2 29 +f 18 12 29 +f 2 19 29 +f 29 19 30 +f 9 18 30 +f 19 5 30 +f 5 23 30 +f 23 9 30 +f 18 29 30 +f 16 6 31 +f 15 16 31 +f 10 22 31 +f 22 15 31 +f 6 25 31 +o convex_1 +v -0.558876 -0.393081 -1.559626 +v -0.493156 0.492068 0.704638 +v -0.558876 0.492068 0.704638 +v -0.952560 3.117766 -1.493799 +v 0.950352 2.788719 -1.460996 +v 0.983212 -3.018173 0.474577 +v 0.950352 2.953243 0.638811 +v -0.985420 -3.050956 -1.559404 +v 1.081792 -3.084347 -1.395391 +v -1.051140 -2.952606 0.572984 +v -1.084000 2.986026 0.507601 +v 0.425440 -0.589781 0.704638 +v 0.589528 0.261977 -1.559626 +v 0.917704 3.051593 -1.460996 +v 0.950352 -3.018173 0.573206 +v -1.018280 -2.558600 -1.427972 +v -1.084000 3.018809 0.310785 +v 1.048932 -2.952606 -1.428194 +v -1.018280 -3.050956 -1.099946 +v 1.081792 -2.624774 -1.362589 +v -1.084000 1.082167 0.540403 +v -0.493156 -0.622564 0.704638 +v -0.985420 0.787117 -1.526602 +v 0.523808 -0.556998 -1.559626 +v 0.556668 2.953243 0.638811 +v -0.558876 3.117766 -1.493799 +v 1.081792 -3.084347 -1.198576 +v -1.051140 -2.985390 0.310785 +v 0.950352 3.018809 -0.476476 +v 0.523808 0.458677 0.704638 +v 0.589528 0.623201 -1.559626 +v -0.460508 0.492068 -1.559626 +v -1.018280 2.756543 0.540403 +v 0.031544 -3.084347 -1.493799 +v 0.950352 0.984424 0.638811 +v -0.985420 3.084376 -1.231378 +v 0.851984 -2.493033 0.606009 +v -1.051140 -2.985390 0.080946 +v -1.084000 2.165837 0.212156 +v -0.854192 3.117766 -1.296762 +v -1.051140 -0.556998 0.572984 +v -0.164980 3.084376 -1.493799 +v 1.016072 -3.084347 -0.968736 +v 0.523808 3.084376 -1.428194 +v 0.786264 1.902963 0.671614 +v -1.018280 3.018809 0.376391 +v -0.394788 2.986026 0.573206 +v -0.887052 -3.050956 -1.559404 +v -1.084000 1.837397 0.540403 +v 0.786264 2.986026 0.212156 +v -1.018280 -2.985390 -1.362589 +v 0.523808 0.032494 0.704638 +v -0.952560 1.345040 -1.526602 +v -0.985420 -2.460250 -1.559404 +v 0.950352 -1.541711 0.606009 +v -0.526016 -2.985390 0.573206 +v 0.950352 3.018809 -0.739118 +v -0.066612 -3.084347 -1.428194 +f 65 74 89 +f 33 34 43 +f 36 40 49 +f 44 36 49 +f 40 36 51 +f 42 48 52 +f 34 41 53 +f 43 34 53 +f 47 48 54 +f 39 32 55 +f 32 44 55 +f 44 49 55 +f 38 37 58 +f 51 38 58 +f 40 51 58 +f 41 52 59 +f 38 51 60 +f 33 43 61 +f 44 32 62 +f 36 44 62 +f 45 36 62 +f 35 57 62 +f 62 32 63 +f 35 62 63 +f 49 40 65 +f 40 58 65 +f 37 38 66 +f 48 35 67 +f 35 54 67 +f 54 48 67 +f 53 41 68 +f 43 53 68 +f 50 59 69 +f 59 52 69 +f 48 47 70 +f 52 48 70 +f 69 52 70 +f 35 48 71 +f 57 35 71 +f 41 34 72 +f 52 41 72 +f 57 45 73 +f 45 62 73 +f 62 57 73 +f 37 46 74 +f 58 37 74 +f 65 58 74 +f 45 57 75 +f 60 45 75 +f 57 71 75 +f 34 33 76 +f 56 34 76 +f 38 56 76 +f 33 61 76 +f 66 38 76 +f 48 42 77 +f 71 48 77 +f 34 56 78 +f 56 38 78 +f 64 34 78 +f 42 64 78 +f 38 77 78 +f 77 42 78 +f 39 55 79 +f 55 49 79 +f 49 65 79 +f 65 39 79 +f 42 52 80 +f 34 64 80 +f 64 42 80 +f 72 34 80 +f 52 72 80 +f 38 60 81 +f 60 75 81 +f 75 71 81 +f 77 38 81 +f 71 77 81 +f 47 39 82 +f 39 50 82 +f 50 69 82 +f 70 47 82 +f 69 70 82 +f 61 43 83 +f 43 68 83 +f 76 61 83 +f 66 76 83 +f 54 35 84 +f 35 63 84 +f 84 63 85 +f 32 39 85 +f 39 47 85 +f 47 54 85 +f 63 32 85 +f 54 84 85 +f 46 37 86 +f 37 66 86 +f 68 46 86 +f 83 68 86 +f 66 83 86 +f 50 46 87 +f 41 59 87 +f 59 50 87 +f 68 41 87 +f 46 68 87 +f 36 45 88 +f 51 36 88 +f 45 60 88 +f 60 51 88 +f 50 39 89 +f 46 50 89 +f 39 65 89 +f 74 46 89 +o convex_2 +v 0.359692 0.295519 2.640747 +v -0.493280 -0.623191 0.704638 +v -0.526109 -0.590269 0.704638 +v 0.523834 0.426848 0.704638 +v -0.624593 0.590980 2.181168 +v 0.523834 -0.590269 2.607771 +v -0.591765 -0.557467 2.509412 +v 0.458290 -0.557467 0.704638 +v -0.558937 0.492453 0.704638 +v 0.523834 0.590980 2.181168 +v -0.525996 0.459532 2.640747 +v -0.624593 -0.524664 1.065858 +v 0.458290 0.590980 2.607771 +v 0.458290 0.558058 1.033072 +v -0.624593 0.558058 1.000285 +v 0.523946 -0.623191 1.951283 +v 0.294148 -0.426256 2.640747 +v 0.523946 -0.459059 1.000285 +v 0.523834 0.590980 1.754375 +v -0.624593 -0.491862 2.016856 +v -0.525996 0.229914 2.640747 +v 0.261320 0.590980 2.640747 +v 0.458290 -0.623191 2.082429 +v 0.458290 0.492453 0.737804 +v -0.493280 0.558058 0.901926 +v 0.490893 0.426848 2.607771 +v -0.624593 0.590980 1.885710 +f 108 114 116 +f 91 92 93 +f 91 93 97 +f 93 92 98 +f 94 96 100 +f 92 91 101 +f 91 96 101 +f 98 92 101 +f 99 94 102 +f 101 94 104 +f 98 101 104 +f 91 97 105 +f 99 95 105 +f 95 90 106 +f 96 95 106 +f 90 100 106 +f 97 93 107 +f 105 97 107 +f 99 105 107 +f 94 99 108 +f 93 103 108 +f 107 93 108 +f 99 107 108 +f 96 94 109 +f 101 96 109 +f 94 101 109 +f 100 96 110 +f 96 106 110 +f 106 100 110 +f 100 90 111 +f 94 100 111 +f 90 102 111 +f 102 94 111 +f 95 96 112 +f 96 91 112 +f 105 95 112 +f 91 105 112 +f 93 98 113 +f 103 93 113 +f 103 113 114 +f 98 104 114 +f 108 103 114 +f 113 98 114 +f 90 95 115 +f 95 99 115 +f 102 90 115 +f 99 102 115 +f 104 94 116 +f 94 108 116 +f 114 104 116 +o convex_3 +v 3.116364 0.590980 2.181332 +v 2.853721 -0.491743 0.967161 +v 2.853721 -0.426256 0.967161 +v 0.523946 0.590980 2.181213 +v 2.230232 -0.590269 2.115608 +v 0.523946 0.558058 1.065688 +v 0.523946 -0.623191 1.951476 +v 3.083375 0.590980 1.000083 +v 0.523946 -0.426256 1.131293 +v 3.017651 -0.557467 2.148410 +v 3.017651 -0.524664 1.000083 +v 0.523946 -0.623191 2.017081 +v 3.050640 -0.458940 0.967161 +v 1.246148 -0.459059 1.065688 +v 3.116364 0.394045 2.181332 +v 2.689538 -0.590269 2.082805 +v 2.689538 0.590980 1.000083 +v 0.556935 0.590980 1.721739 +v 0.523946 0.394045 1.065688 +v 0.523946 0.558058 2.181213 +v 3.116364 0.361124 1.885990 +v 3.050640 -0.360532 2.115608 +v 3.050640 0.262716 2.181332 +v 2.984916 -0.196401 0.967161 +f 133 124 140 +f 119 118 122 +f 120 122 123 +f 120 117 124 +f 123 122 125 +f 120 123 128 +f 118 119 129 +f 127 118 129 +f 126 127 129 +f 123 125 130 +f 127 123 130 +f 118 127 130 +f 126 121 132 +f 123 127 132 +f 127 126 132 +f 121 128 132 +f 128 123 132 +f 120 124 133 +f 122 120 134 +f 133 122 134 +f 120 133 134 +f 122 118 135 +f 125 122 135 +f 118 130 135 +f 130 125 135 +f 121 126 136 +f 120 128 136 +f 128 121 136 +f 124 117 137 +f 129 124 137 +f 117 131 137 +f 137 131 138 +f 126 129 138 +f 131 126 138 +f 129 137 138 +f 117 120 139 +f 131 117 139 +f 126 131 139 +f 136 126 139 +f 120 136 139 +f 119 122 140 +f 129 119 140 +f 124 129 140 +f 122 133 140 +o convex_4 +v -1.773420 -0.524744 2.082808 +v -1.248270 0.492469 0.999977 +v -1.248270 0.557997 0.999977 +v -3.085573 0.065772 1.065659 +v -3.085573 0.557997 2.148490 +v -0.624593 0.590980 2.181332 +v -0.624593 -0.524744 1.065659 +v -3.085573 -0.524744 2.181216 +v -3.052811 -0.491762 1.098500 +v -0.624593 -0.491762 2.017242 +v -3.085573 0.557997 1.131341 +v -0.624593 0.557997 0.999977 +v -2.822998 -0.393470 1.065659 +v -2.330609 0.590980 2.115649 +v -3.085573 0.229920 2.181216 +v -3.085573 -0.524744 1.590654 +v -3.085573 0.525342 1.065659 +v -0.985695 0.262793 0.999977 +v -1.936987 -0.524744 2.115649 +v -0.657596 0.590980 1.885877 +v -0.920171 -0.491762 2.049967 +v -2.921524 -0.524744 2.181216 +v -0.624593 0.557997 2.181332 +v -1.445081 0.590980 2.181216 +v -0.985695 -0.524744 1.065659 +v -2.298089 0.557997 1.032818 +f 151 160 166 +f 145 144 148 +f 147 141 148 +f 141 147 150 +f 147 146 150 +f 144 145 151 +f 142 143 152 +f 146 147 152 +f 144 142 153 +f 149 144 153 +f 151 145 154 +f 145 148 155 +f 148 146 155 +f 148 144 156 +f 147 148 156 +f 144 149 156 +f 144 151 157 +f 142 152 158 +f 152 147 158 +f 153 142 158 +f 148 141 159 +f 141 150 159 +f 152 143 160 +f 146 152 160 +f 154 146 160 +f 151 154 160 +f 159 150 161 +f 148 159 162 +f 162 159 163 +f 146 148 163 +f 150 146 163 +f 161 150 163 +f 159 161 163 +f 148 162 163 +f 154 145 164 +f 146 154 164 +f 145 155 164 +f 155 146 164 +f 149 153 165 +f 147 156 165 +f 156 149 165 +f 158 147 165 +f 153 158 165 +f 143 142 166 +f 142 144 166 +f 144 157 166 +f 157 151 166 +f 160 143 166 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/398/398.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/398/398.urdf new file mode 100644 index 000000000..ba410fa4e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/398/398.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/399/399.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/399/399.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/399/399.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/399/399.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/399/399.obj new file mode 100644 index 000000000..9d1b748fd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/399/399.obj @@ -0,0 +1,555 @@ +o convex_0 +v 3.352965 0.181003 -0.800591 +v 4.432724 -0.898919 -1.803391 +v 4.432724 -0.860331 -1.803391 +v 0.653351 0.065240 -1.803278 +v 0.653351 -0.783156 -0.723575 +v 4.972820 -0.783156 -0.684840 +v 4.934614 0.103828 -1.610397 +v 0.691992 -0.898919 -1.648905 +v 0.653351 0.103828 -0.646445 +v 5.088741 0.142521 -0.723461 +v 5.088741 -0.705981 -1.803391 +v 0.653351 0.142521 -1.726035 +v 0.653351 -0.898919 -1.340386 +v 5.088741 -0.898919 -1.610397 +v 0.653351 -0.628912 -1.764656 +v 5.050100 0.181003 -1.032094 +v 0.846119 -0.783156 -0.684953 +v 4.972820 -0.821744 -0.800591 +v 1.926311 0.181003 -1.417516 +v 4.780052 0.103828 -1.648905 +v 1.733544 0.103828 -0.646445 +v 0.653351 -0.243354 -0.646445 +v 0.653351 -0.821744 -0.800704 +v 0.653351 -0.243354 -1.803278 +v 0.691992 0.142521 -1.147732 +v 4.972820 0.181003 -0.723461 +v 0.962040 0.065240 -1.803278 +v 4.972820 -0.551737 -0.684840 +v 5.088741 -0.898919 -1.803391 +v 5.088741 -0.050522 -0.723461 +v 5.088741 0.181003 -0.954851 +v 4.972820 0.026653 -1.648905 +f 31 11 32 +f 3 2 4 +f 4 5 9 +f 2 3 11 +f 3 4 11 +f 4 9 12 +f 5 4 13 +f 8 2 13 +f 11 10 14 +f 13 2 14 +f 2 8 15 +f 13 4 15 +f 8 13 15 +f 14 6 18 +f 13 14 18 +f 1 16 19 +f 19 16 20 +f 16 7 20 +f 12 19 20 +f 9 5 22 +f 5 17 22 +f 17 6 22 +f 6 21 22 +f 21 9 22 +f 5 13 23 +f 17 5 23 +f 6 17 23 +f 13 18 23 +f 18 6 23 +f 4 2 24 +f 2 15 24 +f 15 4 24 +f 9 1 25 +f 12 9 25 +f 1 19 25 +f 19 12 25 +f 1 9 26 +f 16 1 26 +f 9 21 26 +f 21 10 26 +f 11 4 27 +f 4 12 27 +f 20 11 27 +f 12 20 27 +f 6 10 28 +f 21 6 28 +f 10 21 28 +f 2 11 29 +f 11 14 29 +f 14 2 29 +f 10 6 30 +f 6 14 30 +f 14 10 30 +f 10 11 31 +f 7 16 31 +f 16 26 31 +f 26 10 31 +f 20 7 32 +f 11 20 32 +f 7 31 32 +o convex_1 +v -0.426895 1.954835 3.905126 +v -1.082645 -3.444094 1.861188 +v -0.928338 -3.444698 1.861188 +v 1.077218 2.649562 1.860988 +v 1.000172 -3.289442 3.712419 +v -0.928338 2.610295 1.861188 +v -1.005384 -3.366768 3.750640 +v 1.038695 -3.289442 1.861188 +v 1.115956 2.726888 3.828083 +v -1.005384 2.649562 3.905126 +v -1.082645 -1.361124 1.861188 +v 0.884388 -3.174057 3.750840 +v 1.115956 2.687621 2.169760 +v -1.043907 -3.366768 3.519511 +v -0.658248 -0.128135 3.866705 +v 1.115956 2.148150 3.828083 +v -1.043907 1.376098 3.210740 +v -0.928338 2.648957 2.362668 +v -1.082645 -3.444094 2.362668 +v 0.768605 -3.328709 3.596554 +v -1.005384 1.414761 3.905126 +v -0.426895 2.688225 3.905126 +v 1.115956 1.877509 3.712419 +v -0.349850 -3.366768 3.750640 +v 1.038695 -3.289442 2.169760 +v 1.038695 2.687621 1.976853 +v -0.774032 -3.444698 2.131339 +v -0.889600 -2.517994 3.789262 +v 0.922911 2.726888 3.635176 +v -1.005384 2.649562 3.480690 +v 1.000172 -2.942683 3.750840 +v 1.115956 1.800183 3.326404 +v 1.077218 0.065180 1.860988 +v -1.043907 -0.128135 1.938431 +v -0.426895 2.648957 1.861188 +v 0.653036 -3.328709 1.861188 +v -0.311112 -1.361124 3.827883 +v 0.228639 2.688225 2.555575 +v -0.233851 2.688225 3.905126 +v -0.966861 -3.405431 3.365026 +v -1.043907 1.376098 3.249561 +f 51 46 73 +f 36 34 43 +f 38 36 43 +f 44 33 47 +f 45 41 48 +f 34 35 51 +f 43 34 51 +f 39 46 51 +f 33 42 53 +f 46 39 53 +f 42 46 53 +f 47 33 53 +f 42 33 54 +f 48 37 55 +f 45 48 55 +f 37 44 56 +f 52 37 56 +f 37 52 57 +f 52 40 57 +f 55 37 57 +f 45 36 58 +f 41 45 58 +f 51 35 59 +f 52 56 59 +f 53 39 60 +f 47 53 60 +f 56 44 60 +f 39 56 60 +f 54 41 61 +f 50 54 61 +f 41 58 61 +f 49 42 62 +f 50 38 62 +f 42 54 62 +f 54 50 62 +f 33 44 63 +f 44 37 63 +f 37 48 63 +f 48 33 63 +f 40 45 64 +f 45 55 64 +f 57 40 64 +f 55 57 64 +f 35 34 65 +f 34 36 65 +f 36 45 65 +f 45 40 65 +f 38 43 66 +f 43 49 66 +f 62 38 66 +f 49 62 66 +f 36 38 67 +f 38 50 67 +f 58 36 67 +f 40 52 68 +f 59 35 68 +f 52 59 68 +f 35 65 68 +f 65 40 68 +f 44 47 69 +f 60 44 69 +f 47 60 69 +f 50 61 70 +f 61 58 70 +f 67 50 70 +f 58 67 70 +f 33 48 71 +f 48 41 71 +f 54 33 71 +f 41 54 71 +f 39 51 72 +f 56 39 72 +f 51 59 72 +f 59 56 72 +f 46 42 73 +f 42 49 73 +f 49 43 73 +f 43 51 73 +o convex_2 +v -3.049657 -0.667454 -1.340458 +v -1.044284 -0.011753 -1.340458 +v -1.044284 -0.011753 -1.456175 +v -1.044284 -0.667454 -1.417603 +v -1.044284 -0.590317 -0.877717 +v -2.972504 -0.088959 -0.954862 +v -2.972504 -0.050356 -1.533320 +v -3.049657 -0.628784 -0.954862 +v -2.895352 -0.706057 -1.533320 +v -1.044284 -0.127493 -0.993434 +v -1.391568 -0.127493 -1.494748 +v -2.239655 -0.706057 -1.417603 +v -2.548265 -0.628784 -0.916290 +v -1.121436 -0.590317 -1.456175 +v -2.200981 -0.011753 -1.456175 +v -1.044284 -0.474577 -0.877717 +v -3.010983 -0.088959 -1.533320 +v -1.044284 -0.667454 -1.263313 +v -2.316808 -0.050356 -1.070579 +v -2.432438 -0.050356 -1.533320 +f 84 82 93 +f 76 75 77 +f 77 75 78 +f 81 74 82 +f 78 75 83 +f 82 77 85 +f 81 82 85 +f 79 81 86 +f 81 85 86 +f 76 77 87 +f 77 82 87 +f 84 76 87 +f 82 84 87 +f 75 76 88 +f 76 80 88 +f 80 79 88 +f 78 83 89 +f 83 79 89 +f 86 78 89 +f 79 86 89 +f 79 80 90 +f 81 79 90 +f 74 81 90 +f 80 82 90 +f 82 74 90 +f 77 78 91 +f 85 77 91 +f 78 86 91 +f 86 85 91 +f 83 75 92 +f 79 83 92 +f 75 88 92 +f 88 79 92 +f 80 76 93 +f 82 80 93 +f 76 84 93 +o convex_3 +v 1.077395 3.343299 1.243554 +v -1.082660 -1.361422 0.163874 +v -1.082660 -1.361422 1.745271 +v -1.005485 4.693756 1.745271 +v -0.966792 4.654859 -0.106046 +v 1.077395 -1.399711 -0.144577 +v 1.038702 -1.476897 1.745271 +v 1.000009 4.732045 -0.144577 +v 0.961527 4.654859 1.745271 +v -0.465471 -0.937201 -0.337435 +v -1.082660 -1.322525 -0.183312 +v 0.575863 0.181697 -0.337435 +v -0.542646 0.219987 -0.337435 +v -1.005485 4.615962 -0.106046 +v 1.077395 0.027325 1.745271 +v 0.460206 -0.936593 -0.337435 +v 1.077395 0.104511 -0.144577 +v 1.077395 3.150637 1.745271 +v 1.077395 -1.438000 -0.067515 +v 0.575863 4.732045 -0.144577 +v 1.000009 4.732045 0.356936 +v -1.082660 -0.937201 -0.144577 +v -1.005485 3.768127 -0.144577 +v -0.773960 -1.399711 1.706332 +v 1.038702 4.154059 0.356936 +v 0.884352 -1.476897 1.629271 +v 1.077395 -1.438000 0.857837 +v -1.005485 4.693756 1.243554 +v -0.928310 -1.361422 -0.144577 +v 1.000009 4.346113 1.667801 +v -0.465471 4.693148 1.745271 +v 1.077395 3.343299 1.050900 +v 1.038702 2.841891 -0.144577 +f 125 110 126 +f 97 96 100 +f 97 100 102 +f 95 96 104 +f 105 103 106 +f 103 104 106 +f 101 105 106 +f 98 106 107 +f 99 94 108 +f 102 100 108 +f 99 104 109 +f 104 103 109 +f 105 99 109 +f 103 105 109 +f 94 99 110 +f 99 105 110 +f 108 94 111 +f 102 108 111 +f 99 108 112 +f 106 98 113 +f 101 106 113 +f 113 97 114 +f 101 113 114 +f 96 97 115 +f 104 96 115 +f 107 104 115 +f 106 104 116 +f 104 107 116 +f 107 106 116 +f 96 95 117 +f 100 96 117 +f 114 94 118 +f 101 114 118 +f 112 100 119 +f 117 95 119 +f 100 117 119 +f 108 100 120 +f 100 112 120 +f 112 108 120 +f 98 107 121 +f 97 113 121 +f 113 98 121 +f 115 97 121 +f 107 115 121 +f 95 104 122 +f 104 99 122 +f 99 112 122 +f 119 95 122 +f 112 119 122 +f 111 94 123 +f 102 111 123 +f 94 114 123 +f 114 102 123 +f 97 102 124 +f 114 97 124 +f 102 114 124 +f 94 110 125 +f 118 94 125 +f 118 125 126 +f 105 101 126 +f 110 105 126 +f 101 118 126 +o convex_4 +v 1.077395 2.649207 1.860977 +v -1.082660 -3.058838 1.822401 +v -1.082660 -3.058838 1.860977 +v -1.005274 4.616377 1.783859 +v 1.038702 -1.477014 1.745271 +v 1.038702 -3.289570 1.860977 +v 0.961527 4.655229 1.745271 +v -1.082660 -1.361252 1.745271 +v 0.383031 4.655229 1.860977 +v -0.928310 3.266871 1.860977 +v 0.653038 -3.328422 1.783859 +v -0.928310 4.694081 1.745271 +v 0.961527 4.655229 1.860977 +v 1.077395 3.150316 1.745271 +v -0.735478 -3.406126 1.822401 +v 1.038702 -3.289570 1.783859 +v -1.082660 -1.245489 1.860977 +v 0.267163 -3.327629 1.783859 +v -0.735478 -3.406126 1.860977 +v 1.077395 0.066751 1.745271 +v -1.005274 4.616377 1.745271 +f 143 130 147 +f 127 129 132 +f 133 131 134 +f 128 129 134 +f 129 127 135 +f 129 135 136 +f 135 130 136 +f 133 134 138 +f 130 135 138 +f 138 135 139 +f 135 127 139 +f 133 138 139 +f 133 139 140 +f 131 133 140 +f 139 127 140 +f 129 128 141 +f 128 134 141 +f 137 131 142 +f 132 137 142 +f 134 129 143 +f 129 136 143 +f 136 130 143 +f 134 131 144 +f 131 137 144 +f 141 134 144 +f 137 141 144 +f 132 129 145 +f 137 132 145 +f 129 141 145 +f 141 137 145 +f 127 132 146 +f 131 140 146 +f 140 127 146 +f 132 142 146 +f 142 131 146 +f 138 134 147 +f 130 138 147 +f 134 143 147 +o convex_5 +v -0.581102 -0.050409 -1.842016 +v 0.575791 0.258253 -2.034897 +v 0.614409 0.142491 -1.842016 +v 0.575791 -0.898919 -2.150478 +v -0.426748 0.258253 -2.266207 +v -0.465366 -0.821668 -1.803440 +v -0.542484 -0.860180 -2.304832 +v 0.537174 -0.898919 -1.803440 +v -0.542484 0.103866 -1.803440 +v 0.575791 0.258253 -2.150478 +v 0.537174 0.181003 -1.803440 +v -0.388247 -0.628769 -2.304832 +v -0.581102 -0.705906 -1.803440 +v -0.581102 -0.744531 -2.266207 +v -0.079657 -0.898919 -1.880592 +v 0.614409 -0.898919 -2.111902 +v 0.382937 0.181003 -2.189054 +v -0.465366 0.219515 -2.073326 +f 156 158 165 +f 152 148 156 +f 153 155 156 +f 149 150 157 +f 152 149 157 +f 150 149 158 +f 155 150 158 +f 156 155 158 +f 154 152 159 +f 151 154 159 +f 154 153 160 +f 156 148 160 +f 153 156 160 +f 148 152 161 +f 152 154 161 +f 160 148 161 +f 154 160 161 +f 154 151 162 +f 153 154 162 +f 155 153 162 +f 151 155 162 +f 150 155 163 +f 155 151 163 +f 157 150 163 +f 151 157 163 +f 157 151 164 +f 152 157 164 +f 159 152 164 +f 151 159 164 +f 149 152 165 +f 152 156 165 +f 158 149 165 +o convex_6 +v 0.653098 0.103945 -0.646256 +v -0.889753 -0.783183 -1.803391 +v -0.966837 -0.821725 -1.764796 +v 0.653098 -0.898919 -1.340394 +v -0.465456 -0.898919 -0.337639 +v -0.928295 0.142487 -1.687606 +v 0.653098 0.065184 -1.803391 +v -1.005379 0.065184 -0.607805 +v 0.537306 0.181029 -0.337639 +v 0.498764 -0.898919 -0.337639 +v 0.537306 -0.898919 -1.803391 +v -0.542541 0.219681 -0.337639 +v -0.928295 -0.860267 -0.684851 +v 0.537306 0.181029 -1.803391 +v -1.044088 -0.667447 -1.417584 +v -0.542541 0.103945 -1.803391 +v -1.044088 -0.011791 -1.456035 +v 0.653098 -0.705879 -0.684851 +v 0.035759 -0.898919 -1.803391 +v -1.044088 -0.628795 -0.839232 +v -0.234037 0.219681 -0.993612 +v 0.267344 0.219681 -0.337639 +v 0.653098 -0.628795 -1.764796 +v 0.575848 0.026751 -0.337639 +v -0.928295 -0.860267 -1.032207 +v -0.619791 0.219681 -0.607805 +v 0.653098 0.142487 -1.726201 +f 179 174 192 +f 167 168 171 +f 166 169 172 +f 170 169 175 +f 174 170 175 +f 169 170 176 +f 167 172 176 +f 173 170 177 +f 170 174 177 +f 170 173 178 +f 172 167 179 +f 168 178 180 +f 167 171 181 +f 179 167 181 +f 171 179 181 +f 171 168 182 +f 173 171 182 +f 168 180 182 +f 169 166 183 +f 175 169 183 +f 168 167 184 +f 167 176 184 +f 176 170 184 +f 178 173 185 +f 180 178 185 +f 173 182 185 +f 182 180 185 +f 179 171 186 +f 179 186 187 +f 177 174 187 +f 174 179 187 +f 186 177 187 +f 172 169 188 +f 169 176 188 +f 176 172 188 +f 166 174 189 +f 174 175 189 +f 183 166 189 +f 175 183 189 +f 178 168 190 +f 170 178 190 +f 168 184 190 +f 184 170 190 +f 171 173 191 +f 173 177 191 +f 186 171 191 +f 177 186 191 +f 166 172 192 +f 174 166 192 +f 172 179 192 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/399/399.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/399/399.urdf new file mode 100644 index 000000000..7cba059d2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/399/399.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/400/400.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/400/400.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/400/400.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/400/400.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/400/400.obj new file mode 100644 index 000000000..1169d2dff --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/400/400.obj @@ -0,0 +1,1188 @@ +o convex_0 +v -0.082402 -1.088172 -1.676085 +v 0.008205 -2.024481 -1.766790 +v 0.038359 -2.024481 -1.766790 +v 0.038359 -1.662000 -3.457918 +v 0.430942 -1.088172 -1.676085 +v -0.324072 -1.813041 -1.676085 +v 0.340335 -1.813041 -1.676085 +v 0.249727 -1.752643 -3.095446 +v -0.173010 -1.722398 -3.246331 +v 0.008205 -1.903593 -3.185977 +v -0.022022 -1.480989 -3.216154 +v -0.173010 -1.148753 -1.736613 +v -0.263617 -1.963991 -1.676085 +v 0.249727 -1.873440 -2.642269 +v 0.310108 -1.088172 -1.917849 +v 0.430942 -1.420591 -1.706436 +v 0.219500 -1.662000 -3.216154 +v -0.173010 -1.601602 -3.155800 +v 0.068512 -1.088172 -1.917849 +v -0.263617 -1.662000 -2.340675 +v 0.098665 -1.903593 -3.155800 +v 0.279880 -1.903593 -1.676085 +v 0.038359 -1.511142 -3.276682 +v 0.310108 -1.752643 -2.461382 +v 0.249727 -1.722398 -3.155800 +v -0.142856 -1.843195 -2.944387 +v -0.203237 -1.269550 -1.887672 +f 18 20 27 +f 5 1 6 +f 5 6 7 +f 3 2 10 +f 9 4 10 +f 6 1 12 +f 1 11 12 +f 2 3 13 +f 7 6 13 +f 6 9 13 +f 10 2 13 +f 1 5 15 +f 5 7 16 +f 15 5 17 +f 4 9 18 +f 11 4 18 +f 12 11 18 +f 11 1 19 +f 1 15 19 +f 15 11 19 +f 9 6 20 +f 18 9 20 +f 3 10 21 +f 10 4 21 +f 14 3 21 +f 8 14 21 +f 13 3 22 +f 7 13 22 +f 3 14 22 +f 14 7 22 +f 4 11 23 +f 11 15 23 +f 17 4 23 +f 15 17 23 +f 7 14 24 +f 14 8 24 +f 16 7 24 +f 16 24 25 +f 5 16 25 +f 4 17 25 +f 17 5 25 +f 21 4 25 +f 8 21 25 +f 24 8 25 +f 9 10 26 +f 13 9 26 +f 10 13 26 +f 6 12 27 +f 12 18 27 +f 20 6 27 +o convex_1 +v -0.082313 -2.719298 -0.739060 +v 0.853907 -1.088337 -0.044867 +v 0.491385 -1.088172 0.619770 +v -0.837525 -1.088337 -1.252937 +v -0.746853 -2.175534 0.468264 +v 0.461048 -1.088172 -1.675910 +v 0.702730 -2.024525 0.317504 +v -0.837525 -1.088337 0.438211 +v -0.746853 -2.175534 -1.282741 +v 0.672562 -1.994224 -1.192335 +v 0.279871 -1.964089 0.861433 +v 0.038359 -2.688997 0.347805 +v -0.052145 -2.024525 -1.675910 +v -0.354331 -1.692538 0.861433 +v 0.008022 -2.658861 -1.192583 +v 0.793402 -1.088337 -1.131981 +v -0.323995 -1.692538 -1.675910 +v 0.732898 -2.054661 -0.467841 +v 0.340376 -1.873682 -1.675910 +v -0.867862 -1.329918 -0.980972 +v 0.038359 -2.779569 -0.377186 +v 0.068527 -1.178910 0.770530 +v -0.172986 -1.118473 -1.675910 +v 0.823570 -1.088337 0.317504 +v -0.475172 -2.296242 0.589469 +v 0.400712 -1.692372 0.861433 +v -0.052145 -2.779569 -0.377186 +v -0.626012 -1.088337 0.619770 +v -0.656349 -1.088337 -1.464300 +v 0.853907 -1.269647 -0.467841 +v -0.444835 -2.266106 -1.434247 +v -0.867862 -1.269482 0.136442 +v -0.777189 -2.114932 -1.252937 +v -0.142818 -1.964089 0.861433 +v 0.732898 -2.024525 0.105893 +v -0.626012 -2.296242 0.347805 +v -0.323995 -1.873516 -1.675910 +v -0.172986 -1.481093 0.861433 +v -0.595844 -2.326377 -1.071627 +v 0.763234 -1.994224 -0.497894 +v 0.461048 -1.329918 -1.675910 +v 0.310040 -1.118473 0.740229 +v -0.082313 -2.658861 0.317504 +v -0.867862 -1.088337 -1.131981 +v -0.203154 -2.568289 -1.192583 +v 0.340376 -1.933953 0.861433 +v 0.763234 -1.299783 -1.192335 +v 0.249703 -1.450791 0.861433 +v 0.098695 -2.688997 -0.618353 +v 0.098695 -2.658861 0.257150 +v -0.777189 -1.994224 0.407910 +v 0.612225 -1.088337 0.559167 +v 0.008022 -2.417115 0.559167 +v -0.293827 -1.873516 0.861433 +v -0.626012 -1.601800 -1.464300 +v 0.732898 -1.964089 0.287203 +v -0.867862 -1.088337 0.257150 +v 0.068527 -2.024525 -1.675910 +v -0.837525 -1.360219 -1.252937 +v 0.008022 -2.688997 -1.101928 +f 76 48 87 +f 30 29 33 +f 35 32 41 +f 33 29 43 +f 33 40 44 +f 40 33 46 +f 37 42 46 +f 33 44 50 +f 29 30 51 +f 41 38 53 +f 48 39 54 +f 30 35 55 +f 35 41 55 +f 31 33 56 +f 33 50 56 +f 50 44 56 +f 43 29 57 +f 40 42 58 +f 59 47 60 +f 36 32 60 +f 38 41 61 +f 48 45 62 +f 44 40 64 +f 56 44 64 +f 58 36 64 +f 40 58 64 +f 41 53 65 +f 55 41 65 +f 49 55 65 +f 32 36 66 +f 28 54 66 +f 63 32 66 +f 54 63 66 +f 45 37 67 +f 62 45 67 +f 46 33 68 +f 37 46 68 +f 30 55 69 +f 55 49 69 +f 52 32 70 +f 39 52 70 +f 54 39 70 +f 32 63 70 +f 63 54 70 +f 33 31 71 +f 47 59 71 +f 36 58 72 +f 58 42 72 +f 66 36 72 +f 28 66 72 +f 39 34 73 +f 38 39 73 +f 34 53 73 +f 53 38 73 +f 33 43 74 +f 43 57 74 +f 67 37 74 +f 57 67 74 +f 68 33 74 +f 37 68 74 +f 65 53 75 +f 49 65 75 +f 53 69 75 +f 69 49 75 +f 37 45 76 +f 45 48 76 +f 34 39 77 +f 39 48 77 +f 62 34 77 +f 48 62 77 +f 32 35 78 +f 59 60 78 +f 60 32 78 +f 51 30 79 +f 53 51 79 +f 30 69 79 +f 69 53 79 +f 39 38 80 +f 52 39 80 +f 38 61 80 +f 61 52 80 +f 41 32 81 +f 32 52 81 +f 61 41 81 +f 52 61 81 +f 64 36 82 +f 56 64 82 +f 29 51 83 +f 53 34 83 +f 51 53 83 +f 57 29 83 +f 34 62 83 +f 67 57 83 +f 62 67 83 +f 30 33 84 +f 35 30 84 +f 33 71 84 +f 71 59 84 +f 78 35 84 +f 59 78 84 +f 42 40 85 +f 40 46 85 +f 46 42 85 +f 31 56 86 +f 60 47 86 +f 36 60 86 +f 71 31 86 +f 47 71 86 +f 82 36 86 +f 56 82 86 +f 42 37 87 +f 54 28 87 +f 48 54 87 +f 28 72 87 +f 72 42 87 +f 37 76 87 +o convex_2 +v 0.460976 -1.541420 2.160311 +v -0.414557 -1.722357 0.861433 +v -0.414557 -1.692201 0.861433 +v -2.921710 -1.722458 1.676919 +v 0.037919 -2.175504 1.797704 +v 2.031404 -1.269511 1.103129 +v 2.303243 -2.024422 1.465737 +v -2.014993 -1.269511 1.556135 +v -2.045589 -2.084835 1.133389 +v 2.031404 -1.329924 1.979008 +v -1.894960 -1.329924 1.103256 +v 1.729557 -2.054678 1.072997 +v 0.159129 -2.024422 2.160311 +v -1.984985 -1.329924 2.009267 +v -2.014993 -2.054678 1.948748 +v 2.726299 -1.692201 1.948748 +v 0.128532 -1.148585 1.586267 +v 2.666283 -1.662045 1.103129 +v 2.031404 -2.024422 1.948748 +v -2.649872 -1.692201 1.133389 +v 0.219145 -2.175504 1.103256 +v -0.052105 -1.178942 1.103256 +v 0.339766 -1.964009 0.861433 +v 0.098524 -1.420594 0.861433 +v 3.028734 -1.631989 1.556008 +v -2.498654 -1.722458 2.009267 +v -1.018839 -1.450750 2.160311 +v 0.128532 -1.209098 1.979008 +v 2.333839 -1.269511 1.556008 +v -2.287420 -2.084835 1.586267 +v -2.982315 -1.662145 1.556135 +v 1.578928 -1.752614 2.099792 +v -1.471904 -1.752614 2.129925 +v -0.625791 -2.175504 1.556008 +v 2.182621 -2.054678 1.556008 +v 0.128532 -1.360181 2.130052 +v 0.098524 -2.145248 1.979008 +v -2.256824 -1.299667 1.556135 +v 0.008500 -1.994266 0.861433 +v -2.891114 -1.782871 1.526002 +v -1.351283 -2.024422 2.069532 +v 1.276492 -1.994266 2.099792 +v 2.515065 -1.631989 1.072997 +v -1.773751 -1.752614 1.012605 +v -2.649872 -1.662145 1.978880 +v 1.940791 -2.024422 1.072997 +v -0.323944 -2.175504 1.103256 +v 2.998138 -1.692201 1.495870 +v 1.276492 -1.450750 2.099792 +v -1.984985 -2.115092 1.556135 +v -2.014993 -1.299667 1.254301 +v 0.309758 -1.481007 0.861433 +v 2.907525 -1.601732 1.375085 +v 1.971388 -1.239254 1.556008 +v 0.400371 -2.175504 1.525875 +v -0.022097 -1.148585 1.586267 +v 2.696291 -1.631989 1.948748 +v -0.263339 -1.511163 0.861433 +v 0.339766 -1.178942 1.133389 +v 2.092009 -2.024422 1.163649 +v -0.323944 -1.903596 0.861433 +v -0.353952 -1.994266 2.160311 +v -1.622533 -2.084835 1.948748 +v 2.273234 -2.024422 1.616400 +f 135 103 151 +f 89 90 110 +f 109 93 111 +f 98 109 111 +f 110 90 111 +f 100 88 114 +f 102 91 117 +f 88 100 119 +f 114 113 120 +f 108 92 121 +f 106 92 122 +f 108 99 122 +f 114 88 123 +f 101 114 123 +f 97 115 123 +f 115 101 123 +f 92 106 124 +f 101 95 125 +f 118 101 125 +f 99 108 126 +f 89 110 126 +f 110 99 126 +f 107 96 127 +f 117 91 127 +f 96 117 127 +f 91 118 127 +f 118 107 127 +f 113 102 128 +f 120 113 128 +f 124 100 128 +f 106 103 129 +f 119 100 129 +f 103 119 129 +f 100 124 129 +f 124 106 129 +f 93 105 130 +f 90 89 131 +f 96 107 131 +f 91 102 132 +f 102 113 132 +f 114 101 132 +f 113 114 132 +f 118 91 132 +f 101 118 132 +f 99 110 133 +f 130 105 133 +f 110 130 133 +f 108 121 134 +f 96 126 134 +f 126 108 134 +f 112 103 135 +f 88 119 136 +f 123 88 136 +f 97 123 136 +f 117 96 137 +f 102 117 137 +f 134 121 137 +f 96 134 137 +f 98 107 138 +f 109 98 138 +f 95 109 138 +f 107 118 138 +f 125 95 138 +f 118 125 138 +f 111 93 139 +f 110 111 139 +f 93 130 139 +f 130 110 139 +f 105 93 140 +f 93 116 140 +f 116 112 140 +f 112 135 140 +f 135 105 140 +f 115 97 141 +f 104 115 141 +f 116 93 141 +f 97 116 141 +f 92 108 142 +f 122 92 142 +f 108 122 142 +f 95 101 143 +f 109 95 143 +f 104 109 143 +f 115 104 143 +f 101 115 143 +f 103 112 144 +f 112 116 144 +f 116 97 144 +f 119 103 144 +f 97 136 144 +f 136 119 144 +f 107 98 145 +f 111 90 145 +f 98 111 145 +f 90 131 145 +f 131 107 145 +f 93 109 146 +f 109 104 146 +f 141 93 146 +f 104 141 146 +f 94 122 147 +f 122 99 147 +f 133 105 147 +f 99 133 147 +f 135 94 147 +f 105 135 147 +f 89 126 148 +f 126 96 148 +f 131 89 148 +f 96 131 148 +f 100 114 149 +f 114 120 149 +f 128 100 149 +f 120 128 149 +f 121 92 150 +f 92 124 150 +f 128 102 150 +f 124 128 150 +f 102 137 150 +f 137 121 150 +f 103 106 151 +f 122 94 151 +f 106 122 151 +f 94 135 151 +o convex_3 +v -0.052080 -2.024572 2.190571 +v 0.159152 -1.480856 2.190571 +v 0.159152 -1.480856 2.160347 +v -0.596004 -1.511139 2.160347 +v -0.172977 -1.722590 2.522754 +v 0.461169 -1.964112 2.160347 +v 0.038255 -1.541316 2.492529 +v -0.384434 -1.964112 2.160347 +v 0.038255 -1.873528 2.492529 +v 0.551842 -1.722590 2.190571 +v -0.565780 -1.782838 2.190571 +v 0.219488 -1.752714 2.462341 +v -0.142753 -1.903705 2.432152 +v 0.400721 -1.541316 2.160347 +v -0.596004 -1.511139 2.190571 +v 0.068479 -1.994289 2.311362 +f 160 164 167 +f 153 154 155 +f 155 154 157 +f 155 157 159 +f 157 152 159 +f 158 156 160 +f 155 159 162 +f 160 157 163 +f 158 160 163 +f 157 161 163 +f 161 158 163 +f 159 152 164 +f 160 156 164 +f 156 162 164 +f 162 159 164 +f 154 153 165 +f 157 154 165 +f 153 158 165 +f 161 157 165 +f 158 161 165 +f 153 155 166 +f 158 153 166 +f 156 158 166 +f 155 162 166 +f 162 156 166 +f 152 157 167 +f 157 160 167 +f 164 152 167 +o convex_4 +v -0.988585 -0.302857 -0.468068 +v 1.004913 0.150294 -0.075245 +v 1.004913 0.119987 -0.075245 +v 0.340281 -1.088172 -1.857149 +v 0.309972 -1.088172 0.710401 +v -0.716789 0.150294 -1.494485 +v -0.716789 0.150294 0.619672 +v -0.897854 -1.088172 -0.890297 +v 0.702808 0.150294 -1.433916 +v -0.837433 -1.088172 0.438466 +v 0.853761 -1.088172 -0.648772 +v 0.642386 0.150294 0.589513 +v 0.823650 -1.088172 0.317326 +v -0.656170 -1.088172 -1.464326 +v 0.914182 -0.121742 -1.192391 +v -0.958275 0.150294 -1.192391 +v -0.958275 0.150294 0.377896 +v 0.793340 -1.057865 -1.192391 +v -0.626059 -1.088172 0.619672 +v 0.581966 0.150294 -1.524393 +v 0.098597 -1.057865 -1.857149 +v 0.944492 0.150294 0.317326 +v 0.702808 -0.695393 0.559102 +v 1.004913 0.150294 -0.618613 +v -0.867743 -0.906693 -1.252709 +v -1.018894 0.119987 -0.165723 +v -0.897854 -1.027679 0.045643 +v 0.884071 -1.027679 -0.467817 +v 0.461123 0.119987 0.619672 +v -0.475105 0.150294 -1.524644 +v 0.884071 0.150294 -1.252709 +v 0.068486 -1.057865 0.710401 +v -1.018894 0.150294 -0.648521 +v 0.944492 -0.212299 0.287167 +v 0.642386 -1.088172 0.559102 +v 1.004913 -0.031064 -0.467817 +v 0.551656 -1.057865 -1.585214 +v -0.686480 -0.393657 -1.494485 +v 0.763229 0.150294 0.528943 +v -0.867743 -1.057865 -1.192391 +v 0.853761 -0.997372 0.226849 +v -0.716789 -0.091435 0.619672 +v -0.897854 -0.574529 0.408055 +v 0.551656 0.059494 -1.554804 +v 0.944492 -0.151807 0.317326 +f 206 190 212 +f 169 173 174 +f 171 172 175 +f 173 169 176 +f 175 172 177 +f 172 171 178 +f 169 174 179 +f 172 178 180 +f 171 175 181 +f 174 173 183 +f 174 183 184 +f 178 171 185 +f 177 172 186 +f 176 171 187 +f 173 176 187 +f 171 181 188 +f 170 169 189 +f 169 179 189 +f 179 172 190 +f 169 170 191 +f 176 169 191 +f 183 173 192 +f 168 175 194 +f 175 177 194 +f 193 168 194 +f 180 178 195 +f 178 185 195 +f 185 182 195 +f 172 179 196 +f 179 174 196 +f 173 187 197 +f 188 173 197 +f 171 176 198 +f 182 171 198 +f 176 191 198 +f 191 182 198 +f 186 172 199 +f 172 196 199 +f 196 174 199 +f 175 168 200 +f 184 183 200 +f 168 193 200 +f 193 184 200 +f 172 180 202 +f 180 190 202 +f 190 172 202 +f 191 170 203 +f 182 191 203 +f 170 195 203 +f 195 182 203 +f 171 182 204 +f 185 171 204 +f 182 185 204 +f 188 181 205 +f 173 188 205 +f 192 173 205 +f 181 192 205 +f 189 179 206 +f 179 190 206 +f 181 175 207 +f 192 181 207 +f 183 192 207 +f 175 200 207 +f 200 183 207 +f 195 170 208 +f 180 195 208 +f 170 201 208 +f 201 180 208 +f 174 184 209 +f 177 186 209 +f 186 199 209 +f 199 174 209 +f 184 193 210 +f 193 194 210 +f 194 177 210 +f 177 209 210 +f 209 184 210 +f 187 171 211 +f 171 188 211 +f 197 187 211 +f 188 197 211 +f 170 189 212 +f 190 180 212 +f 201 170 212 +f 180 201 212 +f 189 206 212 +o convex_5 +v -1.018702 0.573243 -0.588312 +v 1.035146 0.392016 -0.347039 +v 1.035146 0.271155 -0.347039 +v -0.505393 1.479378 0.770610 +v -0.052066 1.479378 -1.766530 +v 0.944358 1.479378 0.347627 +v -0.716756 0.150294 0.619563 +v -0.716756 0.150294 -1.494595 +v 0.883968 0.150294 -1.252819 +v 0.642411 0.150294 0.589403 +v -0.897924 1.479378 -1.252819 +v 0.883968 1.479378 -1.282978 +v -0.897924 1.479378 0.438356 +v 0.582022 0.150294 -1.524754 +v -0.958313 0.150294 0.377787 +v 0.068509 1.479378 0.801020 +v -0.958313 0.150294 -1.192500 +v 0.974552 0.150294 0.257150 +v -0.686561 1.479378 -1.554913 +v 0.793384 1.479378 0.529085 +v 0.974552 1.328204 -0.829836 +v -1.049101 0.210789 -0.377198 +v -0.958313 1.328204 0.015374 +v 0.763190 1.479378 -1.403866 +v 0.974552 0.150294 -0.920565 +v -0.686561 0.240972 0.649722 +v -0.474995 0.150294 -1.524754 +v -0.686561 1.479378 0.679881 +v 0.974552 1.479378 0.045533 +v -0.535588 1.328204 -1.645391 +v 0.914163 0.240972 0.378038 +v -0.928118 1.479378 -1.011294 +v -0.958313 0.361833 -1.222660 +v 0.038314 1.388570 0.801020 +v -0.958313 0.452382 0.377787 +v 0.763190 0.452382 -1.403866 +v -0.082260 1.449065 -1.766530 +v 0.914163 1.388570 -1.222660 +v 1.035146 0.422199 -0.497583 +v 0.763190 0.150294 0.529085 +v 0.944358 0.996063 0.378038 +v 0.914163 0.210789 -1.222660 +v -0.958313 1.298021 -0.829836 +v 0.944358 1.479378 -1.011043 +v -0.746951 1.479378 -1.494595 +v -0.716756 0.633609 0.649722 +v -1.049101 0.271155 -0.437516 +f 235 255 259 +f 217 216 218 +f 219 220 221 +f 219 221 222 +f 216 217 223 +f 217 218 224 +f 216 223 225 +f 221 220 226 +f 220 219 227 +f 218 216 228 +f 220 227 229 +f 215 214 230 +f 214 218 230 +f 222 221 230 +f 223 217 231 +f 218 228 232 +f 228 222 232 +f 229 227 234 +f 217 224 236 +f 226 217 236 +f 215 230 237 +f 230 221 237 +f 219 222 238 +f 226 220 239 +f 216 225 240 +f 218 214 241 +f 224 218 241 +f 220 231 242 +f 225 223 244 +f 235 225 244 +f 220 229 245 +f 244 223 245 +f 228 216 246 +f 222 228 246 +f 238 222 246 +f 216 238 246 +f 234 227 247 +f 225 235 247 +f 235 234 247 +f 240 225 247 +f 221 226 248 +f 236 224 248 +f 226 236 248 +f 217 226 249 +f 231 217 249 +f 239 220 249 +f 226 239 249 +f 220 242 249 +f 242 231 249 +f 233 237 250 +f 214 215 251 +f 215 237 251 +f 237 233 251 +f 241 214 251 +f 233 241 251 +f 222 230 252 +f 232 222 252 +f 230 243 252 +f 252 243 253 +f 230 218 253 +f 218 232 253 +f 243 230 253 +f 232 252 253 +f 237 221 254 +f 221 248 254 +f 248 224 254 +f 224 250 254 +f 250 237 254 +f 235 244 255 +f 245 213 255 +f 244 245 255 +f 224 241 256 +f 241 233 256 +f 250 224 256 +f 233 250 256 +f 231 220 257 +f 223 231 257 +f 220 245 257 +f 245 223 257 +f 227 219 258 +f 219 238 258 +f 238 216 258 +f 216 240 258 +f 247 227 258 +f 240 247 258 +f 229 234 259 +f 234 235 259 +f 245 229 259 +f 213 245 259 +f 255 213 259 +o convex_6 +v 0.098681 2.808339 1.042743 +v -0.052149 1.539916 0.861433 +v -0.293775 1.660735 0.861433 +v -0.022026 2.294761 2.552996 +v 0.582040 2.174189 0.861599 +v -0.444925 2.596873 0.861433 +v 0.400767 2.294761 2.311084 +v -0.414695 2.325059 2.281114 +v -0.082379 2.687519 2.281114 +v 0.038328 1.902375 2.311084 +v 0.491350 1.751382 0.891734 +v 0.461120 2.717693 0.861433 +v -0.444925 1.751382 0.921870 +v 0.370537 2.657221 1.737350 +v -0.384465 2.657221 1.556206 +v -0.293775 1.993021 2.129940 +v -0.505384 2.325059 1.586507 +v 0.551810 2.294885 1.526070 +v 0.430890 1.872201 1.586507 +v -0.052149 2.808339 0.861433 +v 0.098681 1.539916 0.891734 +v -0.505384 2.144015 0.861433 +v 0.038328 2.687519 2.250813 +v -0.414695 2.264587 2.281114 +v 0.340307 2.023196 2.129940 +v -0.022026 1.902375 2.311084 +v -0.022026 2.778041 1.646943 +v -0.354235 2.717693 0.982306 +v 0.582040 2.415705 0.922035 +v -0.324112 2.566699 2.099638 +v 0.279954 2.596873 2.129940 +v 0.400767 2.687519 1.495769 +v -0.505384 2.445879 0.921870 +v -0.505384 2.204239 1.526070 +v 0.521580 2.144015 1.586507 +v 0.400767 2.355233 2.281114 +v 0.461120 1.721207 0.861433 +v 0.038328 2.355233 2.522695 +v 0.068345 2.778041 1.586507 +f 282 291 298 +f 261 262 265 +f 267 263 268 +f 266 263 269 +f 261 265 271 +f 262 261 272 +f 267 274 276 +f 271 265 279 +f 260 271 279 +f 278 269 280 +f 265 262 281 +f 262 272 281 +f 263 267 283 +f 272 275 283 +f 267 276 283 +f 266 269 284 +f 269 278 284 +f 278 266 284 +f 269 263 285 +f 272 261 285 +f 275 272 285 +f 261 280 285 +f 280 269 285 +f 263 283 285 +f 283 275 285 +f 274 268 286 +f 260 279 286 +f 268 282 286 +f 265 274 287 +f 279 265 287 +f 274 286 287 +f 286 279 287 +f 264 271 288 +f 277 264 288 +f 267 268 289 +f 274 267 289 +f 268 274 289 +f 273 282 290 +f 282 273 291 +f 288 271 291 +f 277 288 291 +f 274 265 292 +f 276 274 292 +f 265 281 292 +f 281 276 292 +f 281 272 293 +f 276 281 293 +f 272 283 293 +f 283 276 293 +f 270 264 294 +f 264 277 294 +f 277 266 294 +f 266 278 294 +f 278 270 294 +f 266 277 295 +f 273 290 295 +f 290 282 295 +f 291 273 295 +f 277 291 295 +f 264 270 296 +f 261 271 296 +f 271 264 296 +f 270 278 296 +f 280 261 296 +f 278 280 296 +f 263 266 297 +f 268 263 297 +f 282 268 297 +f 266 295 297 +f 295 282 297 +f 271 260 298 +f 260 286 298 +f 286 282 298 +f 291 271 298 +o convex_7 +v 0.279837 2.747843 -1.736489 +v -0.082466 1.479508 -1.827218 +v -0.022224 1.479508 -1.827218 +v 0.008003 2.325065 -3.427720 +v -0.595906 2.415605 -1.736489 +v 0.491429 2.204345 -2.612154 +v -0.414648 2.325065 -3.185997 +v -0.022224 2.717663 -3.095434 +v 0.038231 1.842057 -3.216296 +v -0.505330 1.660848 -1.736489 +v 0.400640 1.751387 -1.736489 +v -0.475103 2.717663 -1.766787 +v 0.430974 2.294885 -3.186163 +v 0.491429 2.415605 -1.736489 +v 0.370519 2.657304 -2.521922 +v 0.340292 1.902417 -2.823579 +v -0.444876 2.687484 -2.491624 +v -0.323966 1.932597 -2.944440 +v -0.565679 2.234395 -2.491624 +v -0.022224 2.808463 -2.370763 +v -0.172935 2.808463 -1.736489 +v 0.038231 2.687484 -3.185997 +v -0.323966 2.596814 -3.004871 +v -0.384421 2.204215 -3.185997 +v -0.505330 1.660848 -1.796919 +v 0.008003 1.479508 -1.736489 +v 0.400747 2.687484 -1.736489 +v 0.491429 2.355245 -2.431193 +v -0.022224 1.842057 -3.185997 +v -0.595906 2.143986 -1.827218 +v 0.491429 2.174036 -1.766621 +v 0.310065 2.596814 -2.944440 +v 0.430974 2.234525 -3.186163 +v 0.370519 1.842057 -2.491624 +v -0.022224 2.234395 -3.427720 +v -0.052239 2.687484 -3.185997 +v -0.414648 1.842057 -2.521922 +v -0.565679 2.294755 -2.491624 +v 0.068458 2.808463 -1.736489 +v 0.068458 2.294755 -3.427720 +v -0.142814 1.479508 -1.766787 +v 0.310065 1.932597 -3.004871 +v 0.370519 1.721207 -1.857350 +f 324 332 341 +f 301 300 307 +f 299 303 308 +f 299 308 309 +f 299 309 312 +f 301 307 314 +f 303 310 315 +f 299 313 318 +f 306 315 318 +f 318 315 319 +f 303 299 319 +f 310 303 319 +f 315 310 319 +f 318 313 320 +f 306 318 320 +f 305 315 321 +f 317 305 322 +f 300 301 324 +f 309 308 324 +f 299 312 325 +f 313 299 325 +f 313 325 326 +f 304 311 326 +f 312 304 326 +f 311 313 326 +f 325 312 326 +f 307 300 327 +f 316 322 327 +f 308 303 328 +f 317 323 328 +f 323 308 328 +f 309 304 329 +f 312 309 329 +f 304 312 329 +f 313 311 330 +f 311 320 330 +f 320 313 330 +f 311 304 331 +f 314 331 332 +f 304 309 332 +f 301 314 332 +f 324 301 332 +f 331 304 332 +f 305 302 333 +f 322 305 333 +f 307 327 333 +f 327 322 333 +f 302 305 334 +f 315 306 334 +f 320 302 334 +f 306 320 334 +f 305 321 334 +f 321 315 334 +f 322 316 335 +f 317 322 335 +f 323 317 335 +f 316 327 335 +f 327 323 335 +f 303 315 336 +f 315 305 336 +f 305 317 336 +f 328 303 336 +f 317 328 336 +f 299 318 337 +f 318 319 337 +f 319 299 337 +f 302 320 338 +f 320 311 338 +f 331 307 338 +f 311 331 338 +f 333 302 338 +f 307 333 338 +f 308 323 339 +f 300 324 339 +f 324 308 339 +f 327 300 339 +f 323 327 339 +f 314 307 340 +f 307 331 340 +f 331 314 340 +f 309 324 341 +f 332 309 341 +o convex_8 +v -0.595958 2.808298 -1.585279 +v 0.974724 1.570101 0.045693 +v 0.974724 1.479378 0.045693 +v -0.746842 2.144199 0.649870 +v 0.642407 2.929141 0.589350 +v -0.746842 1.479559 -1.524760 +v 0.853831 2.777997 -1.343202 +v -0.505242 1.479559 0.770654 +v 0.763114 1.479559 -1.403975 +v -0.022041 3.291672 0.075953 +v -0.837559 2.687454 0.468566 +v 0.400807 2.747876 -1.736323 +v 0.491337 1.751367 0.861433 +v -0.354171 2.747695 0.861433 +v -0.928275 1.479559 -1.011362 +v 0.008136 3.261371 -1.192412 +v 0.914184 2.657333 0.468566 +v -0.172925 1.479739 -1.736323 +v -0.837559 2.657333 -1.313196 +v -0.897912 1.479559 0.438306 +v -0.626135 2.385525 -1.736323 +v 0.914184 1.479559 0.408301 +v 0.612230 2.325284 0.861433 +v 0.944361 1.479378 -1.011108 +v -0.022041 3.321973 -0.588235 +v 0.400807 1.751367 -1.736323 +v -0.022041 3.261371 0.347781 +v -0.595958 2.899021 -1.494500 +v -0.595958 2.899021 0.619610 +v 0.098666 2.838599 0.861433 +v 0.068490 1.509679 0.861433 +v -0.142748 2.838599 -1.736323 +v -0.535418 2.445947 0.861433 +v 0.521514 2.325284 -1.736323 +v -0.928275 1.690945 0.136472 +v 0.038127 3.321973 -0.527970 +v 0.884007 2.627213 -1.313196 +v 0.521514 2.959442 -1.494500 +v -0.505242 1.660644 -1.736323 +v 0.884007 1.721246 -1.313196 +v 0.491337 2.687454 0.861433 +v -0.897912 1.479559 -1.252931 +v -0.444888 1.721246 0.861433 +v 0.884007 2.747876 0.468566 +v -0.686488 1.479559 0.680129 +v -0.082394 3.291672 -0.286655 +v 0.038127 3.261371 0.347781 +v 0.793291 1.479559 0.529085 +v -0.505242 2.717755 -1.736323 +v -0.535418 2.899021 0.680129 +v 0.008136 1.479739 -1.736323 +v -0.777205 2.264862 -1.494500 +v -0.928275 1.630523 -0.950843 +v 0.944361 1.751367 -0.980848 +v -0.867735 2.415466 0.378041 +v -0.022041 2.898840 -1.675804 +v 0.914184 2.687634 0.408046 +v 0.823654 1.509860 -1.373716 +v 0.551877 2.959442 -1.464240 +v -0.022041 3.231070 -1.252931 +v -0.716665 2.808298 0.529085 +v 0.944361 1.479378 0.347781 +v 0.038127 3.321973 -0.316661 +v 0.008136 2.898840 0.800914 +f 391 355 405 +f 345 352 361 +f 353 359 362 +f 360 342 362 +f 363 358 364 +f 355 354 364 +f 343 344 365 +f 347 350 365 +f 359 353 367 +f 342 360 369 +f 360 352 369 +f 366 357 369 +f 368 351 370 +f 355 364 371 +f 354 355 372 +f 353 362 373 +f 352 345 374 +f 372 355 374 +f 353 348 375 +f 367 353 375 +f 356 361 376 +f 346 348 377 +f 357 366 377 +f 375 348 378 +f 348 353 379 +f 359 347 380 +f 347 362 380 +f 362 359 380 +f 378 365 381 +f 375 378 381 +f 371 364 382 +f 346 371 382 +f 356 360 383 +f 347 365 383 +f 365 356 383 +f 349 372 384 +f 372 374 384 +f 348 346 385 +f 364 358 385 +f 346 382 385 +f 382 364 385 +f 345 361 386 +f 374 345 386 +f 349 384 386 +f 384 374 386 +f 351 366 387 +f 366 369 387 +f 370 351 387 +f 351 368 388 +f 371 346 388 +f 363 364 389 +f 364 354 389 +f 372 349 389 +f 354 372 389 +f 362 342 390 +f 342 369 390 +f 373 362 390 +f 369 373 390 +f 370 352 391 +f 368 370 391 +f 352 374 391 +f 374 355 391 +f 350 347 392 +f 347 359 392 +f 367 350 392 +f 359 367 392 +f 362 347 393 +f 360 362 393 +f 383 360 393 +f 347 383 393 +f 360 356 394 +f 356 376 394 +f 343 365 395 +f 365 378 395 +f 352 360 396 +f 361 352 396 +f 376 361 396 +f 360 394 396 +f 394 376 396 +f 353 373 397 +f 379 353 397 +f 358 343 398 +f 378 348 398 +f 348 385 398 +f 385 358 398 +f 343 395 398 +f 395 378 398 +f 365 350 399 +f 350 367 399 +f 367 375 399 +f 381 365 399 +f 375 381 399 +f 377 348 400 +f 357 377 400 +f 348 379 400 +f 379 357 400 +f 369 357 401 +f 373 369 401 +f 357 379 401 +f 397 373 401 +f 379 397 401 +f 369 352 402 +f 352 370 402 +f 387 369 402 +f 370 387 402 +f 344 343 403 +f 343 358 403 +f 361 356 403 +f 358 363 403 +f 365 344 403 +f 356 365 403 +f 349 386 403 +f 386 361 403 +f 389 349 403 +f 363 389 403 +f 366 351 404 +f 346 377 404 +f 377 366 404 +f 351 388 404 +f 388 346 404 +f 355 371 405 +f 388 368 405 +f 371 388 405 +f 368 391 405 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/400/400.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/400/400.urdf new file mode 100644 index 000000000..0ed86c97a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/400/400.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/401/401.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/401/401.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/401/401.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/401/401.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/401/401.obj new file mode 100644 index 000000000..822ff63fc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/401/401.obj @@ -0,0 +1,621 @@ +o convex_0 +v -4.473887 -0.351770 -0.238846 +v -4.683795 0.347878 -0.203843 +v -4.683795 0.347878 -0.238846 +v -3.075029 0.312882 0.285767 +v -5.103611 -0.351770 0.250764 +v -3.075029 -0.211717 -0.238846 +v -3.075029 -0.351770 0.285767 +v -5.033509 0.207894 0.285767 +v -3.075029 0.207894 -0.343793 +v -4.963606 -0.246713 -0.273787 +v -5.033509 0.347878 -0.238846 +v -3.774657 -0.036805 -0.343793 +v -5.033509 0.347878 -0.098957 +v -4.928655 -0.351770 -0.273787 +v -3.110179 -0.351770 0.110876 +v -3.075029 0.312882 0.145817 +v -3.424942 0.242890 -0.343793 +v -3.494845 0.312882 0.285767 +v -5.068461 0.032982 0.285767 +v -4.194076 -0.316774 -0.273787 +v -3.110179 0.032982 -0.343793 +v -5.103611 -0.351770 0.145817 +v -4.543790 -0.176789 -0.308790 +v -4.718746 0.242890 0.285767 +f 18 13 24 +f 3 2 4 +f 5 1 7 +f 6 4 7 +f 7 4 8 +f 4 6 9 +f 2 3 11 +f 4 2 13 +f 2 11 13 +f 1 5 14 +f 7 1 15 +f 6 7 15 +f 3 4 16 +f 4 9 16 +f 16 9 17 +f 11 3 17 +f 9 12 17 +f 3 16 17 +f 8 4 18 +f 4 13 18 +f 5 7 19 +f 7 8 19 +f 8 13 19 +f 13 11 19 +f 1 14 20 +f 14 12 20 +f 15 1 20 +f 6 15 20 +f 9 6 21 +f 12 9 21 +f 6 20 21 +f 20 12 21 +f 11 10 22 +f 14 5 22 +f 10 14 22 +f 5 19 22 +f 19 11 22 +f 10 11 23 +f 14 10 23 +f 12 14 23 +f 11 17 23 +f 17 12 23 +f 13 8 24 +f 8 18 24 +o convex_1 +v -1.920501 0.627539 -1.078485 +v -3.039805 -1.086400 0.530425 +v -2.969700 -1.086400 0.530425 +v -1.710781 1.012448 1.090242 +v -1.045872 -1.051370 -1.008157 +v -1.045872 -0.946279 1.090242 +v -3.039805 1.012235 -0.973209 +v -1.045872 1.082509 -1.078485 +v -2.934746 -0.981309 -1.078485 +v -3.004852 0.977417 1.020346 +v -1.045872 1.012448 1.090242 +v -2.864840 -1.086400 1.055294 +v -3.074759 -0.946279 0.810225 +v -3.074759 0.312690 -0.588563 +v -1.815443 1.082509 -0.973209 +v -1.081024 0.662569 1.125406 +v -2.270036 -1.016127 -1.078485 +v -3.074759 0.312690 0.285572 +v -1.081024 1.082509 -0.238651 +v -3.074759 -0.351612 -0.308547 +v -3.039805 -1.086400 1.020346 +v -2.689874 1.047478 -1.008373 +v -2.969700 -0.421461 -1.078485 +v -1.045872 0.347721 -1.078485 +v -2.689874 -1.086400 1.055294 +v -1.045872 -1.051370 -0.728356 +v -1.815443 -0.981309 1.090242 +v -3.039805 1.012235 -0.308547 +v -2.899793 -0.841188 1.055294 +v -2.969700 -1.016339 -0.693408 +v -1.395803 -1.051370 -1.008373 +v -3.039805 0.032872 1.020346 +v -3.004852 1.012235 0.005987 +v -1.955455 1.012448 1.055294 +v -1.045872 1.047266 0.670433 +v -1.430757 1.082509 -1.078485 +v -2.969700 -0.841188 -0.973209 +v -3.004852 0.172781 -1.043321 +v -1.255989 -0.736309 -1.043321 +v -1.081024 0.942387 1.125406 +v -1.430757 -0.981309 1.090242 +f 51 49 65 +f 30 29 32 +f 25 32 33 +f 30 32 35 +f 26 27 36 +f 30 35 40 +f 33 32 41 +f 31 38 42 +f 38 37 42 +f 32 39 43 +f 37 38 44 +f 26 36 45 +f 37 26 45 +f 25 33 47 +f 32 29 48 +f 41 32 48 +f 27 29 49 +f 36 27 49 +f 29 30 50 +f 49 29 50 +f 40 36 51 +f 36 49 51 +f 31 42 52 +f 42 34 52 +f 46 31 52 +f 28 34 53 +f 36 40 53 +f 45 36 53 +f 26 37 54 +f 33 41 54 +f 37 44 54 +f 27 26 55 +f 29 27 55 +f 41 29 55 +f 26 54 55 +f 54 41 55 +f 34 42 56 +f 42 37 56 +f 37 45 56 +f 53 34 56 +f 45 53 56 +f 39 46 57 +f 52 34 57 +f 46 52 57 +f 34 28 58 +f 43 39 58 +f 57 34 58 +f 39 57 58 +f 28 35 59 +f 35 32 59 +f 32 43 59 +f 58 28 59 +f 43 58 59 +f 32 25 60 +f 39 32 60 +f 25 46 60 +f 46 39 60 +f 44 38 61 +f 47 33 61 +f 33 54 61 +f 54 44 61 +f 38 31 62 +f 46 25 62 +f 31 46 62 +f 25 47 62 +f 61 38 62 +f 47 61 62 +f 29 41 63 +f 48 29 63 +f 41 48 63 +f 35 28 64 +f 40 35 64 +f 28 53 64 +f 53 40 64 +f 30 40 65 +f 50 30 65 +f 49 50 65 +f 40 51 65 +o convex_2 +v -1.010759 -1.820839 -1.008273 +v 0.003775 1.956109 1.125406 +v -0.031317 1.956109 1.125406 +v 0.143516 -3.079822 1.020431 +v 1.088075 0.732082 -0.973209 +v -1.010759 3.040920 -0.973209 +v -1.045851 -1.610506 1.090122 +v 0.983008 2.936055 1.090341 +v 0.983008 -2.940002 -1.113467 +v 1.052983 -3.114777 0.985367 +v -0.940784 2.936055 0.950302 +v 0.913033 2.936055 -0.938363 +v -0.905901 -2.940002 -1.043119 +v -1.010759 -3.044264 1.020212 +v -1.045851 1.082234 -1.078403 +v -1.045851 1.011722 1.125406 +v 1.088075 1.011722 0.985367 +v 1.088075 -0.840893 -1.078403 +v -0.626001 1.431784 -1.078403 +v -1.045851 -1.260354 -1.008273 +v 1.088075 -1.540596 0.950302 +v 0.738200 2.760677 -0.973428 +v 1.088075 1.011722 -0.938363 +v 0.528275 -2.940002 -1.113248 +v 1.052983 -3.114777 0.810263 +v -1.010759 -3.044264 0.705508 +v 0.843058 2.970407 -0.938363 +v 0.948125 2.865542 -0.938363 +v -1.010759 3.040920 -0.693569 +v -0.940784 -2.869489 -1.043119 +v 0.983008 -2.170389 -1.113467 +v 0.598250 2.936055 1.090341 +v -0.940784 2.971010 0.705508 +v -0.905901 0.242109 1.125406 +v -0.765951 3.041523 -0.693569 +v 0.983008 2.446082 1.090341 +v -1.045851 0.381929 -1.078403 +v -0.590909 -3.079822 0.985367 +v 1.052983 -3.079822 0.565469 +v 0.913033 -2.974957 -0.833389 +v 0.003775 1.851244 1.125406 +v -1.045851 -1.925704 1.020212 +v -0.975876 1.466739 -1.078403 +v -0.276125 -2.940002 -1.078403 +v -0.975667 2.971010 0.285609 +v -0.626001 2.936055 0.985367 +v 1.088075 -0.945758 -1.043338 +v -1.010759 -2.555497 1.055277 +v 0.598250 -3.115379 0.950302 +v 0.983008 2.936055 0.880392 +v -0.975876 -3.009912 0.040815 +v 0.423207 2.971010 0.530623 +v 0.948125 2.936055 -0.728414 +f 92 115 118 +f 68 67 73 +f 67 68 81 +f 80 72 81 +f 70 82 83 +f 72 80 85 +f 82 75 86 +f 83 82 86 +f 84 71 87 +f 83 84 87 +f 82 70 88 +f 73 82 88 +f 86 75 90 +f 85 66 91 +f 87 71 92 +f 77 87 92 +f 70 83 93 +f 87 77 93 +f 83 87 93 +f 88 70 93 +f 71 80 94 +f 80 81 94 +f 66 85 95 +f 91 66 95 +f 83 74 96 +f 84 83 96 +f 74 89 96 +f 68 73 97 +f 81 68 97 +f 97 73 98 +f 72 69 99 +f 67 81 99 +f 81 72 99 +f 92 71 100 +f 71 94 100 +f 94 98 100 +f 73 67 101 +f 82 73 101 +f 75 82 101 +f 85 80 102 +f 80 89 102 +f 95 85 102 +f 75 69 103 +f 69 79 103 +f 79 91 103 +f 90 74 104 +f 86 90 104 +f 89 74 105 +f 90 78 105 +f 74 90 105 +f 69 75 106 +f 67 99 106 +f 99 69 106 +f 101 67 106 +f 75 101 106 +f 79 72 107 +f 72 85 107 +f 91 79 107 +f 85 91 107 +f 80 71 108 +f 71 84 108 +f 89 80 108 +f 84 96 108 +f 96 89 108 +f 78 95 109 +f 102 89 109 +f 95 102 109 +f 89 105 109 +f 105 78 109 +f 81 76 110 +f 94 81 110 +f 98 94 110 +f 76 98 110 +f 76 81 111 +f 81 97 111 +f 98 76 111 +f 97 98 111 +f 74 83 112 +f 83 86 112 +f 104 74 112 +f 86 104 112 +f 69 72 113 +f 79 69 113 +f 72 79 113 +f 90 75 114 +f 78 90 114 +f 75 103 114 +f 73 88 115 +f 92 73 115 +f 95 78 116 +f 91 95 116 +f 103 91 116 +f 78 114 116 +f 114 103 116 +f 73 92 117 +f 98 73 117 +f 92 100 117 +f 100 98 117 +f 77 92 118 +f 93 77 118 +f 88 93 118 +f 115 88 118 +o convex_3 +v 2.242439 -1.121773 0.215802 +v 1.682776 -1.191642 -0.203863 +v 1.682776 -1.191642 -0.168860 +v 2.312459 -3.080054 0.250744 +v 2.207429 -1.261511 -0.308810 +v 1.752857 -3.115379 0.285746 +v 1.787743 -3.010185 -0.238805 +v 1.822753 -1.121773 0.320749 +v 2.312459 -3.010185 -0.203863 +v 1.927659 -1.121773 -0.308810 +v 1.962731 -1.156707 0.320749 +v 1.717785 -1.121773 -0.273807 +v 2.067575 -1.821243 -0.308810 +v 1.822753 -2.345455 0.320749 +v 2.277387 -1.821243 0.250744 +v 2.137533 -3.080054 0.285746 +v 2.207429 -1.121773 -0.238805 +v 2.277387 -3.045120 -0.203863 +v 1.787743 -1.751374 0.320749 +v 1.752857 -3.115379 0.180799 +v 2.242439 -1.121773 0.075914 +v 1.892711 -2.520517 -0.273807 +v 1.717785 -2.240651 0.110855 +v 2.312459 -2.905187 -0.203863 +f 135 139 142 +f 126 119 128 +f 119 126 129 +f 120 121 130 +f 125 120 130 +f 121 126 130 +f 126 128 130 +f 123 127 131 +f 128 123 131 +f 129 126 132 +f 119 129 133 +f 129 122 133 +f 124 122 134 +f 122 129 134 +f 132 124 134 +f 129 132 134 +f 128 119 135 +f 123 128 135 +f 127 122 136 +f 126 121 137 +f 124 132 137 +f 132 126 137 +f 122 124 138 +f 120 125 138 +f 136 122 138 +f 125 136 138 +f 119 133 139 +f 135 119 139 +f 125 130 140 +f 130 128 140 +f 131 127 140 +f 128 131 140 +f 136 125 140 +f 127 136 140 +f 121 120 141 +f 137 121 141 +f 124 137 141 +f 120 138 141 +f 138 124 141 +f 122 127 142 +f 127 123 142 +f 133 122 142 +f 123 135 142 +f 139 133 142 +o convex_4 +v 2.697128 0.417631 -1.008202 +v 3.011997 -0.806418 1.090424 +v 3.047089 -0.141756 0.215631 +v 1.088075 1.012396 0.985357 +v 1.088075 -0.946426 -1.043294 +v 1.088075 -1.051271 0.950265 +v 2.942005 -0.946426 -0.903344 +v 1.088075 1.012396 -0.938435 +v 2.977097 0.977448 0.915382 +v 3.047089 0.942284 -0.973527 +v 2.242467 -1.121383 0.215840 +v 3.011997 -1.051271 1.090424 +v 2.382259 1.082508 -0.063643 +v 1.717813 -1.121383 -0.273568 +v 2.977097 -0.911262 -0.938227 +v 1.507836 1.082508 -0.553677 +v 1.927790 -0.071859 -1.043503 +v 2.172475 -1.121383 -0.343543 +v 3.011997 0.977448 -0.973527 +v 2.417351 1.082508 0.320698 +v 1.158067 -1.086219 0.845407 +v 2.977097 0.907336 0.950265 +v 2.872013 -0.911478 -0.973319 +v 2.767120 -1.051271 1.090424 +v 1.123167 0.767544 -0.973319 +v 1.647821 -0.946426 -1.043294 +v 3.011997 -1.016107 0.320489 +v 3.047089 0.557639 -0.973527 +v 1.088075 -1.016322 -0.483493 +v 1.088075 -0.281764 -1.043294 +v 1.752905 1.082508 0.285606 +v 2.697128 0.697647 -1.008202 +v 3.047089 0.942284 -0.518585 +v 1.123167 1.047345 -0.833368 +v 1.682913 -1.121383 0.425556 +v 2.837112 1.012396 0.810524 +v 3.011997 -0.106807 1.020240 +v 1.857797 -1.051271 1.020449 +v 1.857797 0.977448 -0.973319 +v 2.627136 -1.086219 0.845407 +v 1.997782 1.082508 -0.448401 +v 3.011997 -1.051271 0.810315 +v 2.032874 1.012396 0.950474 +v 3.011997 0.977448 0.285606 +v 1.088075 -0.981374 -0.903344 +v 1.193159 1.012396 0.985357 +v 2.242467 -0.946426 -1.008202 +f 168 165 189 +f 146 147 148 +f 147 146 150 +f 145 144 154 +f 153 156 160 +f 155 158 162 +f 161 155 162 +f 157 149 165 +f 159 143 165 +f 144 146 166 +f 154 144 166 +f 163 154 166 +f 147 159 168 +f 160 147 168 +f 159 165 168 +f 149 157 169 +f 143 152 170 +f 152 145 170 +f 165 143 170 +f 157 165 170 +f 145 169 170 +f 169 157 170 +f 148 147 171 +f 163 148 171 +f 156 163 171 +f 147 150 172 +f 159 147 172 +f 150 167 172 +f 158 146 173 +f 146 162 173 +f 162 158 173 +f 152 143 174 +f 143 159 174 +f 161 152 174 +f 159 172 174 +f 145 152 175 +f 152 161 175 +f 150 146 176 +f 146 158 176 +f 161 150 176 +f 158 161 176 +f 156 153 177 +f 163 156 177 +f 161 162 178 +f 144 145 179 +f 164 144 179 +f 151 164 179 +f 145 175 179 +f 146 148 180 +f 148 163 180 +f 166 146 180 +f 163 166 180 +f 150 161 181 +f 167 150 181 +f 172 167 181 +f 161 174 181 +f 174 172 181 +f 153 154 182 +f 154 163 182 +f 177 153 182 +f 163 177 182 +f 158 155 183 +f 155 161 183 +f 161 158 183 +f 154 153 184 +f 145 154 184 +f 160 149 184 +f 153 160 184 +f 169 145 184 +f 149 169 184 +f 164 151 185 +f 151 178 185 +f 178 162 185 +f 175 161 186 +f 178 151 186 +f 161 178 186 +f 151 179 186 +f 179 175 186 +f 147 160 187 +f 160 156 187 +f 171 147 187 +f 156 171 187 +f 146 144 188 +f 162 146 188 +f 144 164 188 +f 185 162 188 +f 164 185 188 +f 149 160 189 +f 165 149 189 +f 160 168 189 +o convex_5 +v 2.312459 2.516578 -0.133898 +v 1.647793 2.866313 -0.238846 +v 1.682796 2.166843 -0.273787 +v 1.752867 1.082899 0.285767 +v 2.032500 3.076505 0.285767 +v 2.207385 1.082899 -0.308790 +v 2.242388 1.257766 0.215761 +v 1.682796 3.041180 0.285767 +v 1.752867 1.082899 -0.343793 +v 2.312459 3.006246 -0.203843 +v 2.277456 3.076505 0.285767 +v 1.647793 3.041180 -0.238846 +v 2.242388 1.082899 0.180820 +v 2.242388 2.796444 -0.238846 +v 2.277456 2.446514 0.285767 +v 1.717864 1.537437 0.285767 +v 2.242388 1.082899 -0.273787 +v 1.822808 1.292701 -0.343793 +v 2.277456 1.537437 0.215761 +v 2.312459 3.006246 0.180820 +v 1.927752 3.041180 -0.238846 +v 1.892684 1.152768 0.285767 +v 2.312459 2.481643 -0.238846 +v 1.682796 2.481643 0.285767 +f 205 197 213 +f 193 194 197 +f 192 191 198 +f 195 193 198 +f 194 193 200 +f 191 197 201 +f 197 194 201 +f 198 191 201 +f 194 200 201 +f 193 195 202 +f 200 193 204 +f 191 192 205 +f 193 197 205 +f 192 198 205 +f 198 193 205 +f 202 195 206 +f 195 198 207 +f 198 201 207 +f 203 195 207 +f 196 202 208 +f 204 196 208 +f 202 206 208 +f 190 199 209 +f 199 200 209 +f 200 204 209 +f 204 208 209 +f 208 190 209 +f 200 199 210 +f 201 200 210 +f 199 203 210 +f 207 201 210 +f 203 207 210 +f 193 202 211 +f 202 196 211 +f 204 193 211 +f 196 204 211 +f 199 190 212 +f 195 203 212 +f 203 199 212 +f 206 195 212 +f 190 208 212 +f 208 206 212 +f 197 191 213 +f 191 205 213 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/401/401.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/401/401.urdf new file mode 100644 index 000000000..538612509 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/401/401.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/402/402.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/402/402.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/402/402.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/402/402.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/402/402.obj new file mode 100644 index 000000000..fbb32e402 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/402/402.obj @@ -0,0 +1,606 @@ +o convex_0 +v -0.494151 3.997883 0.446973 +v -2.527953 2.042449 -1.078228 +v -2.567019 2.042449 -0.530527 +v -0.533435 2.042449 0.916547 +v -2.645367 3.880733 0.955712 +v -0.415802 3.919783 -0.999695 +v -2.567019 3.958833 -0.960733 +v -0.572500 2.042449 -1.039063 +v -2.606084 2.042449 0.994877 +v -0.533435 4.037128 0.955509 +v -0.533435 3.763192 0.994674 +v -0.572500 2.042449 0.994674 +v -1.941317 3.958833 -0.999898 +v -2.645367 2.316581 0.994877 +v -1.002656 4.037128 0.525303 +v -0.415802 3.958833 -0.843238 +v -0.533435 2.199236 -1.039063 +v -2.488669 3.919783 0.955712 +v -2.645367 3.802437 0.525303 +v -0.415802 3.685092 -0.765111 +v -2.645367 3.059314 0.994877 +v -2.567019 3.919783 -0.999898 +v -0.533435 2.707668 -1.039063 +v -0.885242 4.037128 0.955509 +v -0.533435 4.037128 0.564265 +v -0.533435 2.042449 0.290516 +v -2.567019 3.958833 -0.804276 +f 18 24 27 +f 3 2 4 +f 4 2 8 +f 3 4 9 +f 4 1 11 +f 1 10 11 +f 9 4 12 +f 4 11 12 +f 11 9 12 +f 6 2 13 +f 3 9 14 +f 13 7 15 +f 10 1 16 +f 6 13 16 +f 8 2 17 +f 5 11 18 +f 5 7 19 +f 3 14 19 +f 14 5 19 +f 1 4 20 +f 16 1 20 +f 6 16 20 +f 17 6 20 +f 9 11 21 +f 11 5 21 +f 5 14 21 +f 14 9 21 +f 2 3 22 +f 13 2 22 +f 7 13 22 +f 3 19 22 +f 19 7 22 +f 2 6 23 +f 17 2 23 +f 6 17 23 +f 11 10 24 +f 10 15 24 +f 18 11 24 +f 15 10 25 +f 13 15 25 +f 16 13 25 +f 10 16 25 +f 4 8 26 +f 8 17 26 +f 20 4 26 +f 17 20 26 +f 7 5 27 +f 15 7 27 +f 5 18 27 +f 24 15 27 +o convex_1 +v -0.493836 -2.534223 -1.039113 +v 1.500842 -3.746337 1.112222 +v 1.500842 -4.137424 1.112222 +v -0.571985 -3.824633 1.033885 +v -0.180823 -2.181991 1.112222 +v 1.461560 -2.181991 -0.999734 +v 1.461560 -4.020274 -0.999734 +v -0.493836 -4.059324 -0.960565 +v 1.461560 -2.181991 1.072843 +v -0.611267 -2.181991 -0.921396 +v -0.571985 -4.176670 1.033885 +v -0.493836 -2.181991 1.072843 +v -0.571985 -4.176670 0.642828 +v 1.344336 -3.550892 -1.039113 +v 1.305054 -2.181991 -1.039113 +v 1.500842 -2.886259 0.447195 +v 0.679443 -4.059324 -0.921396 +v 1.500842 -4.137424 0.799293 +v -0.571985 -2.181991 -1.039113 +v 1.070398 -2.181991 1.112222 +v 1.187830 -4.098374 1.112222 +v 0.522937 -4.020274 -0.999734 +v -0.415686 -4.098374 -0.686804 +v 1.500842 -4.098374 0.290731 +v 0.366431 -4.176670 0.994716 +v -0.532910 -3.120950 1.072843 +v -0.611267 -2.221431 -0.764931 +v -0.532910 -3.628992 -0.843269 +v 1.422485 -4.059324 -0.608467 +f 45 52 56 +f 30 29 32 +f 33 32 36 +f 32 33 37 +f 32 37 39 +f 33 34 41 +f 37 33 42 +f 41 28 42 +f 33 41 42 +f 29 30 43 +f 36 29 43 +f 33 36 43 +f 35 34 44 +f 43 30 45 +f 28 35 46 +f 35 37 46 +f 42 28 46 +f 37 42 46 +f 32 29 47 +f 29 36 47 +f 36 32 47 +f 30 32 48 +f 38 30 48 +f 35 28 49 +f 34 35 49 +f 28 41 49 +f 41 34 49 +f 40 35 50 +f 35 44 50 +f 34 33 51 +f 33 43 51 +f 43 45 51 +f 45 34 51 +f 30 38 52 +f 38 40 52 +f 45 30 52 +f 40 50 52 +f 50 44 52 +f 31 38 53 +f 39 31 53 +f 32 39 53 +f 48 32 53 +f 38 48 53 +f 38 31 54 +f 31 39 54 +f 39 37 54 +f 37 40 54 +f 40 38 54 +f 37 35 55 +f 35 40 55 +f 40 37 55 +f 44 34 56 +f 34 45 56 +f 52 44 56 +o convex_2 +v 0.953229 -1.673524 1.112222 +v 0.757316 -1.438817 -1.078228 +v 0.757316 -1.399687 -1.078228 +v -2.488386 -2.142860 1.112222 +v 1.461727 -2.181990 -0.999967 +v -2.606252 -1.399687 -0.999753 +v -2.488386 -1.399687 1.072984 +v -2.606252 -1.986338 -0.960729 +v 1.461727 -2.181990 1.072770 +v 1.422305 -1.399687 1.033961 +v -0.572263 -2.181990 -1.038990 +v 1.461727 -1.399687 -0.999967 +v -0.220257 -2.181990 1.112222 +v -2.606252 -2.025392 -0.804207 +v 0.092726 -1.399687 1.112222 +v -2.488386 -2.142860 0.759941 +v 1.305235 -2.181990 -1.038776 +v -2.606252 -1.399687 -0.530401 +v -2.488386 -1.673524 1.112222 +v 1.461727 -1.399687 0.603419 +v -1.080760 -1.986338 -1.038990 +v -2.606252 -2.025392 -0.491378 +v 1.031276 -2.181990 1.112222 +v -0.494216 -2.181990 1.033961 +v 0.874784 -1.399687 1.112222 +v -1.315298 -1.399687 -1.038990 +v -2.606252 -1.634470 -0.999753 +f 62 82 83 +f 59 62 63 +f 59 63 66 +f 61 65 67 +f 65 61 68 +f 59 66 68 +f 57 60 69 +f 67 65 69 +f 62 64 70 +f 64 67 70 +f 60 57 71 +f 66 63 71 +f 67 60 72 +f 60 70 72 +f 70 67 72 +f 58 59 73 +f 67 58 73 +f 61 67 73 +f 59 68 73 +f 68 61 73 +f 63 62 74 +f 62 70 74 +f 60 71 75 +f 71 63 75 +f 63 74 75 +f 66 65 76 +f 65 68 76 +f 68 66 76 +f 58 67 77 +f 67 64 77 +f 70 60 78 +f 74 70 78 +f 60 75 78 +f 75 74 78 +f 65 57 79 +f 57 69 79 +f 69 65 79 +f 60 67 80 +f 69 60 80 +f 67 69 80 +f 57 65 81 +f 65 66 81 +f 71 57 81 +f 66 71 81 +f 59 58 82 +f 62 59 82 +f 58 77 82 +f 82 77 83 +f 64 62 83 +f 77 64 83 +o convex_3 +v -2.488689 -1.399618 1.073107 +v -0.728930 -0.734824 -1.078228 +v -0.728930 -0.695682 -1.078228 +v 0.092695 -1.399618 1.073107 +v 0.092695 -0.695682 1.073107 +v 0.092695 -1.399618 -1.039059 +v -2.606252 -0.695682 -1.038849 +v -2.606252 -1.399618 -0.999890 +v -2.488689 -0.695682 1.073107 +v 0.092695 -0.695682 -0.960722 +v -2.606252 -1.164904 -0.569666 +v -2.606252 -1.125831 -1.038849 +v -1.315428 -1.399618 -1.038849 +v -2.606252 -0.695682 -0.647793 +v -0.611631 -0.930397 -1.078228 +v 0.053331 -0.695682 -0.999680 +f 93 89 99 +f 84 87 88 +f 87 84 89 +f 88 87 89 +f 86 85 90 +f 88 86 90 +f 89 84 91 +f 84 88 92 +f 88 90 92 +f 86 88 93 +f 88 89 93 +f 91 84 94 +f 90 91 94 +f 84 92 94 +f 90 85 95 +f 91 90 95 +f 91 95 96 +f 89 91 96 +f 92 90 97 +f 90 94 97 +f 94 92 97 +f 85 86 98 +f 86 89 98 +f 95 85 98 +f 96 95 98 +f 89 96 98 +f 89 86 99 +f 86 93 99 +o convex_4 +v -2.606180 -0.695614 -1.038849 +v 1.461650 2.042449 0.955601 +v 1.461650 0.008735 1.033938 +v -2.606180 2.042449 0.994559 +v 1.461650 1.885927 -1.078228 +v -2.527738 2.042449 -1.078228 +v -2.488716 -0.695614 1.033938 +v 1.461650 -0.695614 -0.999680 +v 1.422230 -0.695614 1.033938 +v 0.757664 -0.695614 -1.078228 +v -0.572265 2.042449 -1.038849 +v 0.053280 -0.499961 1.073107 +v -2.606180 0.360910 -1.078228 +v -1.080744 1.338368 1.033938 +v -2.566760 0.907933 1.033938 +v 0.444295 1.964188 0.994769 +v -2.606180 -0.617085 -1.078228 +v -2.606180 -0.695614 -0.647582 +v -2.606180 2.042449 0.251615 +v -2.606180 1.455492 0.994559 +v 1.461650 1.103585 -1.078228 +v -0.063786 -0.695614 1.073107 +v 1.461650 -0.695614 0.094940 +v -2.566760 1.142716 1.033938 +v 1.305165 -0.695614 -1.038849 +v 1.461650 2.003319 0.368701 +f 104 110 125 +f 101 102 104 +f 103 101 105 +f 104 102 107 +f 106 100 107 +f 106 107 108 +f 105 104 109 +f 107 100 109 +f 105 101 110 +f 104 105 110 +f 108 102 111 +f 100 103 112 +f 105 109 112 +f 102 101 115 +f 101 103 115 +f 111 102 115 +f 103 113 115 +f 113 111 115 +f 109 100 116 +f 100 112 116 +f 112 109 116 +f 103 100 117 +f 100 106 117 +f 103 105 118 +f 112 103 118 +f 105 112 118 +f 114 103 119 +f 106 114 119 +f 103 117 119 +f 117 106 119 +f 104 107 120 +f 109 104 120 +f 106 108 121 +f 108 111 121 +f 114 106 121 +f 107 102 122 +f 108 107 122 +f 102 108 122 +f 113 103 123 +f 111 113 123 +f 103 114 123 +f 121 111 123 +f 114 121 123 +f 107 109 124 +f 120 107 124 +f 109 120 124 +f 101 104 125 +f 110 101 125 +o convex_5 +v 1.501095 1.064505 -1.078228 +v 3.417336 -0.030636 1.112222 +v 3.456501 0.125844 0.603633 +v 3.417336 1.925035 0.994723 +v 1.461727 -0.147833 1.033747 +v 3.534628 -0.186898 -0.999967 +v 1.461727 2.042449 0.955486 +v 3.456501 1.885751 -1.038776 +v 1.461727 0.008647 -0.999753 +v 1.461727 1.885751 -1.078228 +v 3.417336 -0.186898 1.112222 +v 3.534628 -0.108767 -1.038990 +v 3.456501 1.925035 -0.608448 +v 2.791509 1.885751 -1.078228 +v 1.461727 -0.147833 0.642656 +v 3.534628 0.165127 -0.686923 +v 3.339210 1.729271 1.033961 +v 3.495667 1.651140 -1.038990 +v 3.221715 1.964100 0.994723 +v 1.618387 -0.030418 -0.999753 +v 2.791509 -0.186898 1.033961 +v 1.461727 0.282542 -1.038990 +v 1.579222 2.042449 0.877439 +v 3.378171 -0.186898 -0.960729 +v 2.400468 0.908243 -1.078228 +v 1.461727 0.047931 1.033747 +v 3.456501 1.416312 0.486349 +v 3.300045 -0.069483 1.112222 +v 3.534628 -0.186898 -0.647900 +v 3.378171 -0.147833 -1.038776 +v 3.456501 1.925035 -0.022026 +v 1.931300 1.572791 0.994723 +f 151 153 157 +f 127 128 129 +f 130 132 134 +f 134 132 135 +f 128 127 136 +f 126 135 139 +f 135 138 139 +f 138 133 139 +f 130 134 140 +f 131 137 141 +f 127 129 142 +f 133 138 143 +f 139 133 143 +f 137 139 143 +f 141 137 143 +f 142 129 144 +f 132 142 144 +f 140 134 145 +f 136 130 146 +f 131 136 146 +f 130 140 146 +f 134 135 147 +f 135 126 147 +f 145 134 147 +f 135 132 148 +f 138 135 148 +f 144 138 148 +f 132 144 148 +f 145 131 149 +f 140 145 149 +f 131 146 149 +f 146 140 149 +f 126 139 150 +f 139 137 150 +f 132 130 151 +f 129 128 152 +f 136 127 153 +f 130 136 153 +f 127 142 153 +f 151 130 153 +f 128 136 154 +f 136 131 154 +f 131 141 154 +f 152 128 154 +f 141 152 154 +f 137 131 155 +f 131 145 155 +f 147 126 155 +f 145 147 155 +f 126 150 155 +f 150 137 155 +f 143 138 156 +f 141 143 156 +f 144 129 156 +f 138 144 156 +f 129 152 156 +f 152 141 156 +f 142 132 157 +f 132 151 157 +f 153 142 157 +o convex_6 +v 1.461727 -1.204046 0.486364 +v 0.836006 -1.399618 -1.039113 +v 0.836006 -0.695682 -1.039113 +v 0.836006 -1.399618 1.112222 +v 1.422523 -0.695682 1.033885 +v 1.461727 -0.695682 -0.999734 +v 1.461727 -1.399618 -0.999734 +v 0.836006 -0.695682 0.994716 +v 1.422523 -1.399618 1.033885 +v 1.305220 -0.695682 -1.039113 +v 1.461727 -0.695682 0.134266 +v 1.461727 -1.399618 0.564491 +f 166 164 169 +f 160 159 161 +f 160 162 163 +f 163 158 164 +f 161 159 164 +f 160 161 165 +f 161 162 165 +f 162 160 165 +f 162 161 166 +f 161 164 166 +f 159 160 167 +f 160 163 167 +f 163 164 167 +f 164 159 167 +f 162 158 168 +f 163 162 168 +f 158 163 168 +f 158 162 169 +f 164 158 169 +f 162 166 169 +o convex_7 +v 0.210041 -1.243134 -1.391483 +v 0.835884 -0.852174 -2.838174 +v 0.835884 -0.891281 -2.838174 +v 0.210041 -1.321349 -3.033765 +v 0.249187 -0.773901 -3.111858 +v 0.757531 -1.321349 -1.273804 +v 0.718446 -0.852174 -1.273804 +v 0.679362 -1.360514 -2.916446 +v 0.288332 -0.852174 -1.273804 +v 0.249187 -1.321349 -1.273804 +v 0.796738 -0.813066 -2.994539 +v 0.327417 -0.773901 -2.486218 +v 0.444793 -1.360514 -2.095395 +v 0.718446 -1.282242 -2.955493 +v 0.288332 -1.360514 -2.994539 +v 0.366563 -0.852174 -3.111858 +v 0.288332 -0.813066 -1.508801 +v 0.718446 -1.360514 -1.899804 +f 177 183 187 +f 173 170 174 +f 172 171 175 +f 175 171 176 +f 175 176 178 +f 170 173 179 +f 178 170 179 +f 175 178 179 +f 171 172 180 +f 176 171 180 +f 180 174 181 +f 176 180 181 +f 172 175 183 +f 177 173 183 +f 180 172 183 +f 173 177 184 +f 179 173 184 +f 177 182 184 +f 182 179 184 +f 173 174 185 +f 174 180 185 +f 183 173 185 +f 180 183 185 +f 174 170 186 +f 170 178 186 +f 178 176 186 +f 181 174 186 +f 176 181 186 +f 175 179 187 +f 182 177 187 +f 179 182 187 +f 183 175 187 +o convex_8 +v 0.131906 -0.695682 -0.999783 +v 0.835884 -1.008612 1.112192 +v 0.796673 -1.204046 1.659804 +v 0.170972 -0.813040 3.067644 +v 0.092695 -1.399618 -1.038807 +v 0.835884 -0.695682 -1.038807 +v 0.835884 -1.399618 -1.077830 +v 0.131906 -1.282261 2.989598 +v 0.679404 -0.891255 2.911122 +v 0.640193 -1.321334 2.871670 +v 0.835884 -0.695682 0.994264 +v 0.092695 -0.695682 1.072311 +v 0.092695 -1.399618 1.112192 +v 0.288386 -0.852181 -1.273804 +v 0.835884 -1.399618 1.112192 +v 0.679404 -1.282261 3.107096 +v 0.757607 -1.321334 -1.273804 +v 0.170972 -1.282261 -1.273804 +v 0.092695 -0.695682 -0.960760 +v 0.718397 -0.852181 -1.273804 +v 0.327451 -0.813040 3.067644 +v 0.210183 -1.399618 1.385783 +v 0.131906 -1.008612 3.028192 +v 0.679404 -1.047685 3.067644 +f 208 203 211 +f 193 189 194 +f 189 193 198 +f 193 188 198 +f 198 188 199 +f 192 194 200 +f 199 192 200 +f 188 193 201 +f 189 190 202 +f 194 189 202 +f 200 194 202 +f 191 195 203 +f 195 197 203 +f 202 190 203 +f 197 202 203 +f 194 192 204 +f 193 194 204 +f 201 204 205 +f 204 192 205 +f 205 192 206 +f 199 188 206 +f 192 199 206 +f 188 201 206 +f 201 205 206 +f 201 193 207 +f 193 204 207 +f 204 201 207 +f 196 198 208 +f 199 191 208 +f 198 199 208 +f 191 203 208 +f 197 195 209 +f 195 200 209 +f 202 197 209 +f 200 202 209 +f 195 191 210 +f 191 199 210 +f 200 195 210 +f 199 200 210 +f 190 189 211 +f 189 198 211 +f 198 196 211 +f 203 190 211 +f 196 208 211 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/402/402.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/402/402.urdf new file mode 100644 index 000000000..2591e4f2b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/402/402.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/403/403.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/403/403.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/403/403.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/403/403.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/403/403.obj new file mode 100644 index 000000000..270f23cb4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/403/403.obj @@ -0,0 +1,618 @@ +o convex_0 +v 0.277464 -2.539484 -1.310027 +v 0.606038 -0.421440 -0.981000 +v 0.606038 -0.421440 -1.054186 +v -1.475220 -0.494626 -2.112794 +v 0.715849 -0.458137 -3.025858 +v -1.328949 -2.429601 -3.062347 +v -1.365624 -2.502787 -0.981000 +v 0.715849 -2.429601 -2.952879 +v -1.438545 -0.531116 -0.981000 +v -1.475220 -0.494626 -3.099044 +v 0.533117 -2.539484 -0.981000 +v 0.715849 -0.750259 -0.981207 +v -1.328949 -2.466298 -2.952879 +v 0.387060 -0.458344 -3.062347 +v -1.475220 -0.786749 -3.099044 +v 0.715849 -2.173968 -2.989368 +v -0.744721 -2.539484 -1.090676 +v 0.715849 -0.421647 -0.981207 +v -1.256027 -0.494626 -0.981000 +v 0.569578 -2.539484 -1.273330 +v -1.146431 -2.429601 -3.062347 +v -0.817856 -0.531116 -3.099044 +v -1.365624 -2.502787 -1.419288 +v 0.715849 -2.393319 -2.806714 +v 0.642714 -2.466298 -2.514592 +v 0.058271 -0.458344 -3.062347 +v 0.715849 -1.225036 -3.025858 +v -1.438545 -0.786749 -0.981000 +v -1.438545 -1.225036 -3.099044 +v -1.475220 -0.567605 -2.112794 +v 0.496657 -2.429809 -2.989368 +v -1.365624 -2.100989 -3.062347 +v 0.569578 -2.539484 -1.346516 +f 13 25 33 +f 2 3 4 +f 7 2 9 +f 4 3 10 +f 2 7 11 +f 8 5 12 +f 2 11 12 +f 3 5 14 +f 4 10 15 +f 5 8 16 +f 11 7 17 +f 1 11 17 +f 13 1 17 +f 3 2 18 +f 5 3 18 +f 2 12 18 +f 12 5 18 +f 2 4 19 +f 9 2 19 +f 4 9 19 +f 11 1 20 +f 12 11 20 +f 13 6 21 +f 10 14 22 +f 15 10 22 +f 14 21 22 +f 7 15 23 +f 17 7 23 +f 13 17 23 +f 8 12 24 +f 20 8 24 +f 12 20 24 +f 13 8 25 +f 10 3 26 +f 3 14 26 +f 14 10 26 +f 14 5 27 +f 5 16 27 +f 21 14 27 +f 9 4 28 +f 7 9 28 +f 21 6 29 +f 15 22 29 +f 22 21 29 +f 23 15 29 +f 4 15 30 +f 15 7 30 +f 28 4 30 +f 7 28 30 +f 8 13 31 +f 16 8 31 +f 13 21 31 +f 27 16 31 +f 21 27 31 +f 6 13 32 +f 13 23 32 +f 29 6 32 +f 23 29 32 +f 1 13 33 +f 20 1 33 +f 8 20 33 +f 25 8 33 +o convex_1 +v 0.715835 -0.713856 -0.688617 +v -1.511738 -0.786985 1.027379 +v -1.475106 -1.225286 0.443020 +v 0.533111 -2.502684 1.100526 +v -1.365646 -2.502919 -0.981000 +v -1.438692 -0.129296 -0.944121 +v 0.606157 -0.129296 0.954232 +v 0.533111 -2.539248 -0.981000 +v -1.438692 -2.393226 1.100526 +v 0.569743 -0.129296 -0.981000 +v -1.511738 -0.129296 1.100526 +v 0.606157 -0.531269 1.100526 +v 0.715835 -0.129296 -0.944121 +v -1.438692 -0.786985 -0.981000 +v 0.569743 -2.429554 0.917557 +v -0.014624 -2.502684 1.100526 +v -1.438692 -2.429554 0.662256 +v 0.460065 -2.539248 0.515963 +v 0.642789 -0.567834 0.844818 +v -0.671601 -2.539248 -0.944121 +v -1.365646 -2.502919 -0.542730 +v -1.475106 -0.202661 -0.578998 +v 0.679203 -1.115593 -0.981000 +v 0.569743 -2.283533 -0.981000 +v 0.496697 -0.129296 0.990908 +v 0.715835 -0.129296 -0.688617 +v -1.182922 -2.429554 1.100526 +v 0.606157 -1.225050 1.100526 +v -1.438692 -0.531033 -0.981000 +v -1.402060 -2.393226 -0.360169 +f 38 50 63 +f 39 40 43 +f 41 38 43 +f 40 39 44 +f 35 42 44 +f 42 37 44 +f 44 37 45 +f 43 40 46 +f 43 38 47 +f 37 41 48 +f 37 42 49 +f 35 36 50 +f 42 35 50 +f 36 47 50 +f 41 37 51 +f 37 49 51 +f 40 45 52 +f 38 41 53 +f 41 51 53 +f 53 51 54 +f 50 38 54 +f 51 49 54 +f 38 53 54 +f 36 35 55 +f 35 44 55 +f 44 39 55 +f 47 36 55 +f 41 43 56 +f 46 34 56 +f 43 46 56 +f 34 48 56 +f 56 48 57 +f 48 41 57 +f 41 56 57 +f 40 44 58 +f 45 40 58 +f 44 45 58 +f 34 46 59 +f 46 40 59 +f 40 52 59 +f 52 34 59 +f 49 42 60 +f 42 50 60 +f 54 49 60 +f 50 54 60 +f 45 37 61 +f 48 34 61 +f 37 48 61 +f 52 45 61 +f 34 52 61 +f 39 43 62 +f 43 47 62 +f 55 39 62 +f 47 55 62 +f 47 38 63 +f 50 47 63 +o convex_2 +v -1.475041 -1.772227 1.100526 +v 0.533156 -0.384922 2.962669 +v 0.642824 -2.246965 2.926297 +v -1.511738 -1.955078 2.999230 +v 0.533156 -2.502787 1.100715 +v -1.511738 -0.421830 1.100526 +v 0.606127 -0.531287 1.100715 +v -1.511738 -0.531287 3.035601 +v -1.475041 -2.393330 2.962669 +v -1.438555 -2.393330 1.100526 +v 0.642824 -2.539484 2.926297 +v -0.087525 -2.502787 2.962669 +v -0.014554 -2.502787 1.100715 +v -0.379623 -0.384922 2.086344 +v -1.402070 -0.494590 3.035601 +v 0.569641 -2.502787 1.137276 +v 0.606127 -0.494801 1.246770 +v -1.255915 -2.429816 2.451385 +v -1.146458 -0.567773 3.035601 +v 0.569641 -0.421619 2.488135 +v 0.094904 -2.502787 2.962669 +v -1.438555 -2.283661 2.999230 +v -1.475041 -2.393330 1.794615 +v 0.606127 -1.188454 1.100715 +v 0.642824 -2.539484 2.670561 +v -1.109761 -0.421830 1.100526 +v 0.533156 -0.384922 2.634189 +v -1.511738 -0.786899 1.100526 +v -1.182944 -2.429816 1.100526 +v 0.204361 -0.384922 2.962669 +v -1.511738 -0.421830 1.356452 +v 0.606127 -0.494801 1.648371 +v 0.533156 -2.539484 2.122715 +v 0.533156 -0.859660 2.962669 +v -1.475041 -1.042511 3.035601 +v -1.255915 -2.429816 2.962669 +f 75 85 99 +f 69 67 71 +f 64 69 73 +f 66 65 74 +f 66 70 80 +f 78 71 82 +f 65 78 82 +f 65 66 83 +f 75 74 84 +f 67 72 85 +f 75 84 85 +f 72 67 86 +f 64 73 86 +f 81 72 86 +f 73 81 86 +f 79 68 87 +f 79 87 88 +f 70 66 88 +f 66 74 88 +f 87 70 88 +f 73 69 89 +f 69 77 89 +f 80 70 89 +f 70 87 89 +f 77 65 90 +f 65 83 90 +f 83 80 90 +f 89 77 90 +f 80 89 90 +f 67 69 91 +f 69 64 91 +f 86 67 91 +f 64 86 91 +f 68 76 92 +f 81 73 92 +f 76 81 92 +f 87 68 92 +f 73 89 92 +f 89 87 92 +f 65 77 93 +f 78 65 93 +f 78 93 94 +f 69 71 94 +f 77 69 94 +f 71 78 94 +f 93 77 94 +f 66 80 95 +f 83 66 95 +f 80 83 95 +f 74 75 96 +f 76 68 96 +f 68 79 96 +f 75 81 96 +f 81 76 96 +f 79 88 96 +f 88 74 96 +f 74 65 97 +f 65 82 97 +f 84 74 97 +f 82 84 97 +f 71 67 98 +f 82 71 98 +f 84 82 98 +f 85 84 98 +f 67 85 98 +f 72 81 99 +f 81 75 99 +f 85 72 99 +o convex_3 +v -1.511738 0.345499 0.260605 +v -3.373877 0.564485 -0.287158 +v -3.373877 0.820111 -0.287158 +v -3.410553 0.345499 0.333648 +v -1.511738 0.783593 0.333648 +v -1.511738 0.199366 -0.177533 +v -1.511738 0.747075 -0.250576 +v -3.447035 0.783593 0.224083 +v -3.337588 0.272463 -0.250576 +v -1.840464 0.710557 -0.287158 +v -2.899415 0.235945 -0.250576 +v -2.534206 0.345499 0.333648 +v -3.483710 0.674039 0.114518 +v -3.373877 0.491571 0.333648 +v -1.548413 0.783593 -0.031446 +v -1.657860 0.199366 -0.141011 +v -1.657860 0.345499 0.297126 +v -1.584896 0.491571 -0.250576 +v -3.373877 0.308981 0.187562 +v -3.191273 0.418535 -0.287158 +f 117 110 119 +f 104 100 105 +f 104 105 106 +f 104 102 107 +f 101 102 109 +f 102 106 109 +f 104 103 111 +f 102 101 112 +f 107 102 112 +f 103 107 112 +f 101 108 112 +f 108 103 112 +f 103 104 113 +f 107 103 113 +f 104 107 113 +f 102 104 114 +f 106 102 114 +f 104 106 114 +f 110 105 115 +f 111 103 115 +f 111 115 116 +f 100 104 116 +f 105 100 116 +f 104 111 116 +f 115 105 116 +f 106 105 117 +f 109 106 117 +f 105 110 117 +f 103 108 118 +f 108 110 118 +f 115 103 118 +f 110 115 118 +f 108 101 119 +f 101 109 119 +f 110 108 119 +f 109 117 119 +o convex_4 +v 0.752378 0.747347 -0.250454 +v -1.511706 -0.129296 0.990929 +v -1.475138 -0.129296 -0.542784 +v -1.402003 3.632058 0.041232 +v 0.606108 3.485889 0.990929 +v 0.606108 3.449071 -1.053879 +v 0.606108 -0.128928 0.954254 +v 0.679243 -0.092478 -0.980957 +v -1.365436 3.632058 -1.090554 +v -1.402003 3.632058 1.027390 +v -1.438571 -0.129296 -0.944282 +v -1.292522 -0.129296 1.100526 +v -1.511706 0.747347 -0.250240 +v 0.752378 0.309209 0.260426 +v 0.715810 -0.128928 -0.944282 +v -1.146474 2.974116 -1.090554 +v -0.306751 3.558790 -1.090554 +v 0.606108 0.783797 0.990929 +v -1.438571 3.229634 1.027390 +v 0.460059 3.521971 0.917793 +v 0.204530 2.718597 1.027390 +v 0.642675 3.083834 0.881118 +v -1.511706 0.053322 1.100526 +v -1.073339 3.632058 -1.090554 +v -1.402003 0.382478 -0.980957 +v -1.183041 3.632058 1.027175 +v 0.606108 2.572797 -1.053879 +v 0.606108 3.485889 -0.579030 +v 0.496627 -0.128928 0.990715 +v 0.715810 0.163041 -0.980957 +v -1.511706 0.784165 0.333348 +v 0.386924 -0.128928 -0.980743 +v -0.817809 3.594872 1.027175 +v 0.752378 0.820247 0.260426 +v -1.511706 0.199859 -0.177318 +v 0.752378 0.199491 0.114368 +v -0.817809 3.047384 -1.090554 +v -1.365436 3.047384 -1.090554 +f 135 144 157 +f 128 123 129 +f 121 122 130 +f 121 130 131 +f 123 128 132 +f 130 122 132 +f 128 130 132 +f 126 131 134 +f 131 130 134 +f 135 128 136 +f 126 133 137 +f 129 123 138 +f 123 132 138 +f 137 124 140 +f 131 137 140 +f 120 125 141 +f 124 137 141 +f 137 133 141 +f 121 131 142 +f 132 121 142 +f 129 138 142 +f 128 129 143 +f 136 128 143 +f 124 139 145 +f 129 142 145 +f 143 129 145 +f 139 143 145 +f 136 125 146 +f 125 136 147 +f 139 124 147 +f 141 125 147 +f 124 141 147 +f 136 143 147 +f 143 139 147 +f 131 126 148 +f 137 131 148 +f 126 137 148 +f 125 120 149 +f 120 134 149 +f 134 127 149 +f 146 125 149 +f 127 146 149 +f 138 132 150 +f 132 142 150 +f 142 138 150 +f 127 134 151 +f 134 130 151 +f 135 127 151 +f 130 144 151 +f 144 135 151 +f 140 124 152 +f 131 140 152 +f 142 131 152 +f 124 145 152 +f 145 142 152 +f 133 120 153 +f 120 141 153 +f 141 133 153 +f 122 121 154 +f 132 122 154 +f 121 132 154 +f 120 133 155 +f 133 126 155 +f 134 120 155 +f 126 134 155 +f 127 135 156 +f 135 136 156 +f 146 127 156 +f 136 146 156 +f 130 128 157 +f 128 135 157 +f 144 130 157 +o convex_5 +v 2.213098 0.235884 0.187547 +v 2.578271 0.820172 0.297130 +v 2.614703 0.820172 0.260583 +v 2.213098 0.747136 -0.177575 +v 2.724350 0.272431 -0.287158 +v 2.578271 0.345467 0.260583 +v 2.213098 0.235884 -0.214122 +v 2.687768 0.747136 -0.177575 +v 2.213098 0.783625 0.260583 +v 2.724350 0.272431 -0.177575 +f 162 165 167 +f 159 160 161 +f 160 159 163 +f 158 161 164 +f 162 158 164 +f 161 162 164 +f 161 160 165 +f 162 161 165 +f 159 161 166 +f 161 158 166 +f 163 159 166 +f 158 163 166 +f 158 162 167 +f 160 163 167 +f 163 158 167 +f 165 160 167 +o convex_6 +v 0.861964 0.820111 0.333626 +v 0.971450 0.199366 -0.214058 +v 1.007979 0.199366 -0.214058 +v 0.752378 0.710557 -0.287137 +v 0.752378 0.235945 0.187537 +v 1.007979 0.820111 0.370166 +v 1.007979 0.674039 -0.287137 +v 0.752378 0.272463 -0.323676 +v 1.007979 0.308981 0.187537 +v 0.752378 0.820111 0.260548 +v 0.752378 0.418535 0.297087 +v 0.971450 0.747075 -0.214058 +f 177 173 179 +f 169 170 172 +f 173 170 174 +f 170 169 175 +f 172 171 175 +f 169 172 175 +f 174 170 175 +f 171 174 175 +f 172 170 176 +f 170 173 176 +f 171 172 177 +f 168 173 177 +f 173 168 178 +f 172 176 178 +f 176 173 178 +f 168 177 178 +f 177 172 178 +f 174 171 179 +f 173 174 179 +f 171 177 179 +o convex_7 +v 1.957365 1.039208 3.035487 +v 1.044607 -0.092778 -3.061975 +v 1.044607 0.235977 -3.061975 +v 2.213098 0.089891 -3.025515 +v 1.081174 0.016848 3.035487 +v 1.154190 1.002748 -3.099044 +v 2.103515 0.089891 3.109016 +v 2.103515 1.148834 -2.952593 +v 1.117623 1.002748 2.962565 +v 2.066948 1.148834 2.999026 +v 2.213098 0.783497 0.259604 +v 1.008040 0.856540 0.734202 +v 1.957365 1.148834 -2.989054 +v 1.044607 -0.019613 1.903379 +v 2.213098 0.235977 0.187290 +v 1.008040 0.016848 -2.368005 +v 2.103515 0.053430 -2.659691 +v 1.008040 0.783497 -0.688377 +v 1.117623 -0.019613 2.633810 +v 1.008040 0.235977 1.027104 +v 1.044607 0.089891 2.669663 +v 1.081174 -0.092778 -2.879672 +v 2.213098 0.199516 -3.025515 +v 2.103515 0.528028 3.071948 +v 2.103515 1.148834 0.150221 +v 1.993932 1.148834 1.575231 +v 1.811333 0.126351 3.109016 +v 1.811333 0.053430 3.071948 +v 1.117623 0.966165 -2.696760 +v 1.592403 -0.019735 -3.061975 +v 2.139964 0.893122 -2.989054 +v 2.103515 1.002626 2.633810 +v 1.081174 0.235977 3.035487 +v 1.263655 0.966165 -3.099044 +v 1.008040 0.126473 -2.550309 +f 197 208 214 +f 181 182 185 +f 188 180 189 +f 185 188 192 +f 189 187 192 +f 186 183 194 +f 183 190 194 +f 190 186 194 +f 181 193 195 +f 183 186 196 +f 195 191 197 +f 193 181 198 +f 184 193 198 +f 191 195 199 +f 195 193 199 +f 188 191 200 +f 193 184 200 +f 191 199 200 +f 199 193 200 +f 196 186 201 +f 198 181 201 +f 190 183 202 +f 180 186 203 +f 189 180 203 +f 186 190 203 +f 187 189 204 +f 190 187 204 +f 189 190 204 +f 188 189 205 +f 192 188 205 +f 189 192 205 +f 186 180 206 +f 184 186 206 +f 186 184 207 +f 184 198 207 +f 201 186 207 +f 198 201 207 +f 185 182 208 +f 188 185 208 +f 191 188 208 +f 197 191 208 +f 183 196 209 +f 201 181 209 +f 196 201 209 +f 187 190 210 +f 192 187 210 +f 190 202 210 +f 190 189 211 +f 189 203 211 +f 203 190 211 +f 180 188 212 +f 200 184 212 +f 188 200 212 +f 206 180 212 +f 184 206 212 +f 181 185 213 +f 185 192 213 +f 202 183 213 +f 209 181 213 +f 183 209 213 +f 192 210 213 +f 210 202 213 +f 182 181 214 +f 181 195 214 +f 195 197 214 +f 208 182 214 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/403/403.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/403/403.urdf new file mode 100644 index 000000000..08eada0b9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/403/403.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/404/404.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/404/404.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/404/404.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/404/404.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/404/404.obj new file mode 100644 index 000000000..42fc51ae1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/404/404.obj @@ -0,0 +1,600 @@ +o convex_0 +v -1.285381 1.421572 -2.658355 +v 0.444553 1.775232 -0.889012 +v 0.405178 1.775232 -0.889012 +v -0.302291 4.291225 -3.051683 +v 0.877248 -0.191401 -2.972721 +v -1.285381 -0.191401 -0.928388 +v -1.246006 4.173192 -1.046513 +v 0.759125 4.251296 -0.928388 +v 0.837873 -0.191401 -0.928388 +v 0.877248 4.251734 -3.051683 +v -1.167258 -0.191401 -3.051683 +v -1.206632 4.291225 -3.051683 +v -1.285381 -0.191401 -3.012096 +v 0.877248 -0.112420 -1.164639 +v -0.027305 -0.191401 -3.051683 +v -1.246006 4.015229 -1.007138 +v 0.444553 4.291225 -1.203590 +v -0.616863 -0.151472 -0.889012 +v -1.285381 2.678252 -1.557543 +v -1.246006 3.543974 -3.051683 +v -1.246006 4.251296 -2.029199 +v 0.641213 -0.191401 -0.889012 +v 0.877248 4.251734 -2.855019 +v -1.246006 0.674321 -0.928388 +v -0.970597 4.211805 -1.007138 +v 0.601839 -0.191401 -3.012096 +v 0.641213 4.211805 -0.928388 +v 0.837873 0.988930 -0.928388 +v -1.285381 0.949439 -3.051683 +v -1.246006 4.251296 -2.461690 +v -1.206632 4.291225 -2.736893 +v -1.285381 0.477746 -0.928388 +f 18 24 32 +f 3 2 8 +f 6 5 9 +f 5 6 11 +f 4 10 11 +f 4 11 12 +f 6 1 13 +f 11 6 13 +f 9 5 14 +f 5 10 14 +f 5 11 15 +f 11 10 15 +f 10 4 17 +f 4 12 17 +f 2 3 18 +f 1 6 19 +f 12 11 20 +f 19 7 21 +f 8 2 22 +f 6 9 22 +f 2 18 22 +f 18 6 22 +f 14 10 23 +f 17 8 23 +f 10 17 23 +f 18 3 24 +f 7 16 25 +f 8 17 25 +f 21 7 25 +f 10 5 26 +f 5 15 26 +f 15 10 26 +f 3 8 27 +f 24 3 27 +f 16 24 27 +f 25 16 27 +f 8 25 27 +f 9 14 28 +f 8 22 28 +f 22 9 28 +f 23 8 28 +f 14 23 28 +f 11 13 29 +f 13 1 29 +f 20 11 29 +f 1 20 29 +f 1 19 30 +f 12 20 30 +f 20 1 30 +f 19 21 30 +f 21 12 30 +f 17 12 31 +f 12 21 31 +f 25 17 31 +f 21 25 31 +f 16 7 32 +f 6 18 32 +f 19 6 32 +f 7 19 32 +f 24 16 32 +o convex_1 +v 0.523082 -1.882009 2.688977 +v -0.813705 -1.292143 0.841343 +v -0.813705 -0.309450 0.841343 +v -3.251045 -1.292143 3.082253 +v 1.152031 0.240925 3.003687 +v -3.133359 0.201642 1.077264 +v -3.251045 -1.803443 0.998698 +v 1.152031 -1.803443 0.959192 +v 1.152031 0.240925 0.959192 +v -3.172588 0.201642 3.042747 +v 1.152031 -1.803443 3.003687 +v -3.251045 -1.842726 3.082253 +v 0.404965 -0.859825 3.121536 +v -0.027411 -1.882009 1.391750 +v 0.365737 -1.253068 0.841567 +v -0.696019 0.240925 1.234618 +v -3.172588 -0.073753 1.037981 +v 1.152031 -1.370917 3.082253 +v 1.152031 -1.882009 1.391750 +v -3.251045 -1.842726 1.903097 +v -1.127964 -1.882217 2.807049 +v 0.326508 -0.309450 0.841567 +v -1.678456 -1.842726 3.082253 +v -0.027411 0.240925 0.959415 +v 1.152031 -0.466997 3.082253 +v -3.211816 -0.742184 3.082253 +v -3.211816 -0.388223 2.335208 +v -2.228948 -1.842726 1.116547 +v 1.152031 -1.842726 2.964181 +v -3.251045 -1.567331 0.998698 +v -1.285309 0.201642 3.042747 +v 0.287280 -1.174295 3.121536 +v -2.779441 0.201642 1.037981 +v 0.483853 0.240925 3.003464 +v -3.172588 0.201642 1.549105 +v 0.719655 -1.803443 3.042747 +v -3.211816 -1.174295 0.998698 +v -2.739781 -1.685387 0.959192 +v 1.152031 -1.882009 2.610412 +v 1.152031 -1.842726 1.077264 +v -0.184325 -1.016956 3.121536 +v -2.425522 -1.724670 0.959192 +v -3.211816 -0.309450 3.042747 +f 67 59 75 +f 37 40 41 +f 40 37 43 +f 36 39 44 +f 34 35 47 +f 40 34 47 +f 41 40 47 +f 37 41 48 +f 43 37 50 +f 40 43 51 +f 44 39 52 +f 52 46 53 +f 46 51 53 +f 44 52 53 +f 35 41 54 +f 47 35 54 +f 41 47 54 +f 44 53 55 +f 41 35 56 +f 38 48 56 +f 48 41 56 +f 50 37 57 +f 45 50 57 +f 45 42 58 +f 52 39 60 +f 46 52 60 +f 51 43 61 +f 53 33 61 +f 55 53 61 +f 39 36 62 +f 36 59 62 +f 37 42 63 +f 42 45 63 +f 57 37 63 +f 45 57 63 +f 50 45 64 +f 44 55 64 +f 35 49 65 +f 49 38 65 +f 56 35 65 +f 38 56 65 +f 42 37 66 +f 37 48 66 +f 48 42 66 +f 48 38 67 +f 42 48 67 +f 38 49 67 +f 49 62 67 +f 62 59 67 +f 43 50 68 +f 61 43 68 +f 55 61 68 +f 50 64 68 +f 64 55 68 +f 49 35 69 +f 62 49 69 +f 62 69 70 +f 35 34 70 +f 39 62 70 +f 69 35 70 +f 33 53 71 +f 53 51 71 +f 61 33 71 +f 51 61 71 +f 39 40 72 +f 40 51 72 +f 51 46 72 +f 60 39 72 +f 46 60 72 +f 36 44 73 +f 58 36 73 +f 45 58 73 +f 44 64 73 +f 64 45 73 +f 34 40 74 +f 40 39 74 +f 70 34 74 +f 39 70 74 +f 36 58 75 +f 58 42 75 +f 59 36 75 +f 42 67 75 +o convex_2 +v -0.656252 -1.213655 -5.017612 +v 0.366082 -0.230723 -3.051683 +v 0.130116 -0.230723 -3.051683 +v 0.366082 -1.371040 -3.051683 +v 0.326680 -0.230723 -4.978157 +v -0.695542 -0.348706 -3.051683 +v -0.695542 -0.270125 -5.057068 +v -0.774235 -1.213655 -3.051683 +v 0.248099 -1.292347 -4.978157 +v -0.616850 -1.331638 -4.939093 +v 0.366082 -1.371040 -3.484521 +v 0.051312 -1.371040 -3.051683 +v -0.774235 -1.253057 -3.484521 +v 0.287390 -1.331638 -4.703142 +v -0.223721 -0.230723 -4.034746 +v 0.366082 -0.230723 -4.113069 +v -0.774235 -0.977800 -3.051683 +v -0.695542 -1.292347 -4.742402 +v -0.380995 -0.309415 -5.057068 +v 0.326680 -0.466689 -4.978157 +v -0.695542 -0.270125 -4.506451 +v -0.341593 -0.230723 -5.017612 +v -0.105962 -1.371040 -3.877707 +v -0.695542 -0.623963 -5.057068 +f 94 84 99 +f 77 78 79 +f 78 77 80 +f 79 78 81 +f 79 81 83 +f 76 84 85 +f 77 79 86 +f 79 83 87 +f 86 79 87 +f 87 83 88 +f 85 87 88 +f 85 84 89 +f 78 80 90 +f 80 77 91 +f 77 86 91 +f 83 81 92 +f 82 88 92 +f 88 83 92 +f 76 85 93 +f 85 88 93 +f 84 94 95 +f 89 84 95 +f 86 89 95 +f 80 91 95 +f 91 86 95 +f 94 80 95 +f 81 78 96 +f 78 90 96 +f 92 81 96 +f 82 92 96 +f 90 80 97 +f 94 82 97 +f 80 94 97 +f 96 90 97 +f 82 96 97 +f 87 85 98 +f 86 87 98 +f 85 89 98 +f 89 86 98 +f 84 76 99 +f 88 82 99 +f 76 93 99 +f 93 88 99 +f 82 94 99 +o convex_3 +v 2.371468 -3.494374 2.099309 +v 1.231151 -2.118156 2.413779 +v 1.231151 -2.118156 2.453166 +v 1.270553 -3.769542 1.509755 +v 2.331954 -1.882217 1.470265 +v 2.253485 -1.882217 2.531939 +v 1.349134 -3.730313 2.453166 +v 1.309955 -1.882217 1.588321 +v 2.371468 -3.808960 1.470265 +v 2.331954 -3.730313 2.531939 +v 1.427826 -1.882217 2.492449 +v 1.978228 -1.882217 1.470265 +v 1.309955 -3.769542 2.177979 +v 2.292664 -2.078927 2.531939 +v 1.231151 -1.882217 2.256648 +v 2.371468 -2.432742 1.509755 +v 1.781776 -3.808960 1.470265 +v 1.309955 -2.000281 1.549038 +v 2.371468 -3.808960 1.784943 +v 1.270553 -1.882217 1.706273 +v 2.135502 -3.258435 2.531939 +v 2.331954 -1.882217 1.863508 +v 1.270553 -3.376310 1.509755 +f 119 117 122 +f 102 101 103 +f 105 104 107 +f 102 106 110 +f 105 107 110 +f 107 104 111 +f 104 108 111 +f 102 103 112 +f 106 102 112 +f 109 106 112 +f 109 100 113 +f 105 109 113 +f 101 102 114 +f 103 101 114 +f 102 110 114 +f 110 107 114 +f 100 108 115 +f 108 104 115 +f 111 108 116 +f 112 103 116 +f 107 111 117 +f 108 100 118 +f 100 109 118 +f 109 112 118 +f 116 108 118 +f 112 116 118 +f 114 107 119 +f 107 117 119 +f 106 109 120 +f 109 105 120 +f 110 106 120 +f 105 110 120 +f 104 105 121 +f 113 100 121 +f 105 113 121 +f 100 115 121 +f 115 104 121 +f 103 114 122 +f 116 103 122 +f 111 116 122 +f 117 111 122 +f 114 119 122 +o convex_4 +v 0.405219 -1.803436 -0.889012 +v -1.167386 -0.388023 -3.051683 +v -1.167386 -0.191401 -3.051683 +v 0.877259 -0.191567 -2.972933 +v -1.285288 -0.191401 -0.928388 +v -1.324733 -1.842826 -3.012096 +v 0.877259 -1.764045 -2.933558 +v 0.837815 -0.191567 -0.928388 +v -1.285288 -1.882217 -0.889012 +v 0.877259 -1.803436 -0.928388 +v 0.365990 -1.370967 -3.051683 +v -1.285288 -0.191401 -3.012096 +v -0.734790 -1.882217 -1.400466 +v 0.641239 -0.191567 -0.889012 +v 0.365990 -0.230958 -3.051683 +v 0.877259 -0.191567 -1.125052 +v 0.562566 -1.803436 -2.658355 +v -0.813248 -0.270183 -0.889012 +v -0.970595 -1.842826 -3.012096 +v -1.049268 -1.213570 -3.051683 +v -0.616888 -1.882217 -0.889012 +v -1.285288 -1.882217 -1.950872 +v 0.798370 -1.567589 -0.889012 +v -1.324733 -1.606814 -2.894182 +v 0.877259 -1.803436 -1.557543 +f 143 135 147 +f 125 124 128 +f 129 126 132 +f 124 125 133 +f 126 129 133 +f 127 125 134 +f 125 128 134 +f 130 127 136 +f 131 123 136 +f 125 126 137 +f 133 125 137 +f 126 133 137 +f 126 125 138 +f 125 127 138 +f 127 130 138 +f 132 126 138 +f 130 132 138 +f 127 131 140 +f 136 127 140 +f 131 136 140 +f 128 133 141 +f 133 129 141 +f 129 139 141 +f 139 135 141 +f 128 124 142 +f 124 133 142 +f 133 128 142 +f 123 131 143 +f 132 123 143 +f 131 135 143 +f 131 128 144 +f 135 131 144 +f 128 141 144 +f 141 135 144 +f 132 130 145 +f 123 132 145 +f 130 136 145 +f 136 123 145 +f 131 127 146 +f 128 131 146 +f 127 134 146 +f 134 128 146 +f 129 132 147 +f 139 129 147 +f 135 139 147 +f 132 143 147 +o convex_5 +v -0.813556 -0.270044 -0.889012 +v 0.366082 -0.899108 0.841124 +v 0.366082 -1.252968 0.841124 +v -0.813556 -1.292397 0.841124 +v 0.366082 -1.292397 -0.889012 +v 0.287332 -0.309373 0.841124 +v -0.695546 -1.292397 -0.889012 +v -0.813556 -0.309373 0.841124 +v 0.208697 -0.309373 -0.889012 +v 0.326707 -0.348702 0.723083 +v -0.774181 -0.270044 0.408590 +v -0.145102 -0.270044 -0.889012 +v -0.734806 -1.292397 -0.731681 +v 0.366082 -1.134982 -0.810262 +v 0.287332 -1.292397 0.054637 +v -0.813556 -0.506018 -0.889012 +v 0.248072 -0.309373 -0.534890 +v -0.813556 -1.292397 0.526461 +f 163 160 165 +f 150 149 151 +f 149 150 152 +f 151 149 153 +f 148 152 154 +f 152 151 154 +f 148 151 155 +f 151 153 155 +f 152 148 156 +f 153 149 157 +f 148 155 158 +f 155 153 158 +f 156 148 159 +f 148 158 159 +f 158 153 159 +f 154 151 160 +f 149 152 161 +f 152 156 161 +f 157 149 161 +f 150 151 162 +f 151 152 162 +f 152 150 162 +f 151 148 163 +f 148 154 163 +f 154 160 163 +f 153 157 164 +f 156 159 164 +f 159 153 164 +f 161 156 164 +f 157 161 164 +f 160 151 165 +f 151 163 165 +o convex_6 +v 2.017410 -0.466928 3.042993 +v 1.152508 -1.881801 1.391715 +v 1.152508 -1.842522 1.077237 +v 2.843254 -1.803243 0.959334 +v 1.152508 0.240925 0.959334 +v 2.803865 0.240925 0.880445 +v 2.803865 -1.803243 3.003764 +v 1.152508 0.240925 3.003548 +v 2.764476 0.240925 3.003764 +v 1.152508 -1.803243 3.003548 +v 1.152508 -1.803243 0.959334 +v 2.253413 -1.881801 2.531724 +v 1.152508 -1.370759 3.082437 +v 2.843254 -1.685406 2.453050 +v 1.152508 -1.881801 2.610397 +v 2.332025 -1.881801 1.470388 +v 1.191897 -0.466928 3.082437 +v 1.349288 0.240925 0.919890 +v 2.843254 -0.742088 0.998563 +v 2.803865 0.240925 1.745852 +v 2.803865 -0.742088 3.003764 +v 1.702960 -1.842522 2.925091 +v 2.607251 -1.842522 1.077237 +f 172 181 188 +f 168 167 170 +f 170 167 173 +f 171 170 173 +f 171 173 174 +f 173 167 175 +f 169 168 176 +f 168 170 176 +f 171 169 176 +f 175 172 178 +f 173 175 178 +f 172 169 179 +f 175 167 180 +f 167 177 180 +f 177 167 181 +f 172 177 181 +f 172 166 182 +f 166 174 182 +f 174 173 182 +f 178 172 182 +f 173 178 182 +f 170 171 183 +f 176 170 183 +f 171 176 183 +f 169 171 184 +f 179 169 184 +f 179 184 185 +f 171 174 185 +f 184 171 185 +f 185 174 186 +f 166 172 186 +f 174 166 186 +f 172 179 186 +f 179 185 186 +f 172 175 187 +f 177 172 187 +f 175 180 187 +f 180 177 187 +f 167 168 188 +f 168 169 188 +f 169 172 188 +f 181 167 188 +o convex_7 +v 1.270695 0.241133 1.588259 +v 1.427965 2.325161 2.610582 +v 2.371468 2.325161 2.453201 +v 2.371468 0.241133 2.571087 +v 2.332093 2.246214 1.391622 +v 1.270695 2.167675 1.430997 +v 1.191829 0.241133 2.571087 +v 2.292602 0.241133 1.430997 +v 1.191829 2.325161 2.610582 +v 1.309839 0.241133 1.430997 +v 1.191829 2.089137 2.217308 +v 2.371468 0.241133 2.217308 +v 1.231205 0.831295 2.610582 +v 1.938918 2.285789 1.745521 +v 2.371468 0.674013 2.571087 +v 1.191829 0.516732 2.295938 +v 2.371468 2.325161 2.217308 +v 1.191829 2.325161 2.492456 +v 2.135332 2.246214 1.391622 +v 2.332093 2.010190 1.391622 +f 207 193 208 +f 189 192 195 +f 192 189 196 +f 190 191 197 +f 189 194 198 +f 196 189 198 +f 195 197 199 +f 191 192 200 +f 192 196 200 +f 192 190 201 +f 195 192 201 +f 190 197 201 +f 197 195 201 +f 191 190 203 +f 192 191 203 +f 190 192 203 +f 194 189 204 +f 189 195 204 +f 199 194 204 +f 195 199 204 +f 197 191 205 +f 191 200 205 +f 200 193 205 +f 193 202 205 +f 205 202 206 +f 194 199 206 +f 199 197 206 +f 202 194 206 +f 197 205 206 +f 198 194 207 +f 202 193 207 +f 194 202 207 +f 196 198 208 +f 193 200 208 +f 200 196 208 +f 198 207 208 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/404/404.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/404/404.urdf new file mode 100644 index 000000000..3336a7f5d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/404/404.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/405/405.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/405/405.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/405/405.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/405/405.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/405/405.obj new file mode 100644 index 000000000..c798e9a1f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/405/405.obj @@ -0,0 +1,360 @@ +o convex_0 +v -0.805465 -4.425629 0.199866 +v 1.019664 -1.967641 1.094215 +v 0.945046 -1.967641 1.094215 +v -0.954493 -0.403538 -1.103683 +v 1.094282 -4.425629 -1.066248 +v -1.029111 -0.403538 1.056780 +v 0.945046 -0.403538 -1.066248 +v 1.019664 -4.425629 0.982125 +v -1.029111 -4.350810 -1.028814 +v -0.991698 -4.313794 0.982125 +v 1.019664 -0.403538 0.982125 +v 1.056869 -2.711889 1.094215 +v 1.094282 -3.196241 -1.028814 +v -1.029111 -2.303143 1.056780 +v -0.991698 -2.488615 -1.103683 +v -1.029111 -0.403538 0.088207 +v -0.991698 -4.425629 0.944906 +v 1.094282 -3.456924 0.088207 +v -0.209559 -0.403538 -1.103683 +v -0.991698 -0.850481 -1.103683 +v -0.172146 -4.388219 -1.066248 +v 1.056869 -2.079475 -0.954374 +v 1.056869 -4.425629 0.758592 +v 0.274731 -2.340159 1.094215 +v -0.283970 -0.403538 1.056780 +v -1.029111 -3.382500 0.982125 +v -1.029111 -2.861132 -1.066248 +v 1.019664 -0.552388 1.019345 +v -1.029111 -4.388219 -0.619182 +v 0.982459 -0.514979 -0.581962 +v 0.460964 -4.425629 -1.028814 +v 1.094282 -4.425629 -0.172115 +v 1.056869 -2.042459 1.094215 +v -1.029111 -3.792033 -1.066248 +v -0.507408 -4.425629 0.982125 +v 1.094282 -3.270666 -0.023237 +v -1.029111 -4.388219 -0.134896 +v 1.019664 -0.403538 0.795812 +v -0.544613 -1.818791 -1.103683 +v 0.945046 -3.941277 1.019345 +v -0.991698 -0.440554 -0.917154 +v -0.619231 -4.388219 -1.028814 +v 0.982251 -0.775663 -1.028814 +v 1.056869 -3.233650 1.056780 +f 23 18 44 +f 3 2 6 +f 4 6 7 +f 1 5 8 +f 7 6 11 +f 2 3 12 +f 5 7 13 +f 6 9 14 +f 6 4 16 +f 9 6 16 +f 1 8 17 +f 5 13 18 +f 4 7 19 +f 7 5 19 +f 15 4 19 +f 4 15 20 +f 15 5 21 +f 8 5 23 +f 3 6 24 +f 12 3 24 +f 10 12 24 +f 6 14 24 +f 14 10 24 +f 6 2 25 +f 11 6 25 +f 14 9 26 +f 10 14 26 +f 17 10 26 +f 9 16 27 +f 20 15 27 +f 25 2 28 +f 11 25 28 +f 1 17 29 +f 26 9 29 +f 5 1 31 +f 21 5 31 +f 5 18 32 +f 23 5 32 +f 18 23 32 +f 2 12 33 +f 12 18 33 +f 28 2 33 +f 11 28 33 +f 21 9 34 +f 15 21 34 +f 9 27 34 +f 27 15 34 +f 12 10 35 +f 17 8 35 +f 10 17 35 +f 13 11 36 +f 18 13 36 +f 11 33 36 +f 33 18 36 +f 17 26 37 +f 29 17 37 +f 26 29 37 +f 7 11 38 +f 11 13 38 +f 13 22 38 +f 30 7 38 +f 22 30 38 +f 5 15 39 +f 19 5 39 +f 15 19 39 +f 8 12 40 +f 35 8 40 +f 12 35 40 +f 16 4 41 +f 4 20 41 +f 27 16 41 +f 20 27 41 +f 9 21 42 +f 1 29 42 +f 29 9 42 +f 31 1 42 +f 21 31 42 +f 13 7 43 +f 22 13 43 +f 7 30 43 +f 30 22 43 +f 12 8 44 +f 18 12 44 +f 8 23 44 +o convex_1 +v -2.369807 -0.365316 -1.066248 +v 1.093930 1.795147 1.094215 +v 2.993870 1.720277 1.094215 +v -3.077412 -0.365316 1.056780 +v -3.040266 1.720277 -0.991809 +v 3.068163 -0.402751 -0.917370 +v 3.105918 1.757712 -0.954589 +v 3.068163 -0.402751 1.094215 +v -3.115168 1.795147 0.945121 +v -2.928827 -0.365316 -1.028814 +v -0.209234 -0.402751 -1.103683 +v 0.162838 1.795147 -0.991809 +v -1.364422 1.683273 1.094215 +v -0.916840 0.081535 -1.103683 +v -1.028887 -0.402751 1.056780 +v -3.077412 1.087112 -0.507523 +v 1.093930 -0.290877 -1.066248 +v -1.066034 0.342503 1.094215 +v -3.115168 -0.104563 0.982340 +v -0.991741 1.795147 -0.991809 +v 2.621190 1.310645 -0.991594 +v 2.918969 -0.402751 -0.954374 +v 3.068163 1.757712 -0.060456 +v -0.916840 1.459524 -1.029029 +v -3.077412 1.757712 -0.433083 +v -0.953986 -0.402751 -1.103683 +v 1.093930 1.795147 -0.954374 +v -3.077412 0.007311 1.056780 +v -3.115168 1.757712 0.348960 +v -3.077412 -0.365316 0.609713 +v -2.816780 1.795147 0.982340 +v 3.105918 1.236206 -0.954589 +v -1.885687 0.826359 1.094215 +v -2.965974 0.081750 -1.028814 +v 3.068163 -0.104348 1.094215 +v -1.438714 -0.290877 -1.103683 +v -1.028887 1.795147 1.094215 +v 3.105918 1.757712 -0.730841 +v -0.172087 -0.253657 -1.103683 +v -3.077412 1.683057 -0.730841 +v -3.115168 1.795147 0.721372 +v -3.040266 1.235991 -0.991809 +v 3.068163 0.268064 -0.954589 +v -2.965974 0.379723 -1.028814 +v 3.031016 1.720277 0.609713 +v -3.115168 1.385085 0.982340 +f 57 75 90 +f 47 46 52 +f 50 52 55 +f 53 46 56 +f 52 46 57 +f 52 48 59 +f 55 52 59 +f 48 52 62 +f 52 57 62 +f 53 56 64 +f 56 51 65 +f 50 55 66 +f 55 61 66 +f 46 47 67 +f 58 49 68 +f 49 64 68 +f 64 56 68 +f 56 65 68 +f 65 58 68 +f 64 49 69 +f 54 45 70 +f 58 55 70 +f 55 59 70 +f 46 51 71 +f 56 46 71 +f 51 56 71 +f 63 48 72 +f 63 53 73 +f 59 48 74 +f 48 63 74 +f 63 60 74 +f 54 70 74 +f 70 59 74 +f 46 53 75 +f 52 50 76 +f 65 51 76 +f 48 62 77 +f 62 57 77 +f 72 48 77 +f 57 72 77 +f 45 54 78 +f 54 74 78 +f 74 60 78 +f 47 52 79 +f 49 58 80 +f 70 45 80 +f 58 70 80 +f 57 46 81 +f 46 75 81 +f 75 57 81 +f 51 46 82 +f 46 67 82 +f 52 76 82 +f 76 51 82 +f 79 52 82 +f 67 79 82 +f 55 58 83 +f 61 55 83 +f 58 65 83 +f 65 61 83 +f 60 63 84 +f 69 49 84 +f 63 73 84 +f 73 69 84 +f 53 64 85 +f 64 69 85 +f 73 53 85 +f 69 73 85 +f 49 78 86 +f 78 60 86 +f 60 84 86 +f 84 49 86 +f 61 65 87 +f 66 61 87 +f 50 66 87 +f 76 50 87 +f 65 76 87 +f 45 78 88 +f 78 49 88 +f 80 45 88 +f 49 80 88 +f 67 47 89 +f 47 79 89 +f 79 67 89 +f 53 63 90 +f 72 57 90 +f 63 72 90 +f 75 53 90 +o convex_2 +v -1.029111 2.465823 0.982391 +v 1.094275 2.018837 1.094215 +v 0.907834 2.056250 1.094215 +v 0.982452 3.806782 0.982391 +v 1.019657 2.167898 -0.991558 +v -1.029111 3.806782 -1.029178 +v -0.991698 1.795147 -0.991558 +v 1.056862 3.732153 -1.029178 +v -0.954493 3.694937 0.982391 +v -1.029111 1.795147 1.094215 +v 1.094275 1.795344 -0.954352 +v 1.094275 1.795344 1.094215 +v 1.019657 3.583092 1.019597 +v -0.134944 2.503236 -1.029178 +v -1.029111 3.806782 -0.656296 +v 1.094275 2.837984 -0.060391 +v -0.917288 2.093466 1.094215 +v -1.029111 1.795147 -0.097596 +v -0.507618 3.806782 -1.029178 +v -0.842670 3.732153 0.870568 +v 1.056862 3.732153 -0.283829 +v 0.237521 1.795147 -0.991558 +v 1.056862 3.098890 -1.029178 +v -1.029111 3.359599 -1.029178 +v 1.019657 3.769369 -0.283829 +v -0.433000 3.806782 0.014227 +v -0.991698 3.173322 1.019597 +v -0.879875 3.285167 1.019597 +v 1.094275 2.205114 -0.954352 +v 0.833424 3.806782 0.982391 +v 0.684397 3.583092 1.019597 +v -1.029111 2.987045 -0.991558 +v 0.982452 3.806782 0.833363 +f 115 109 123 +f 92 93 100 +f 91 96 100 +f 92 100 102 +f 101 92 102 +f 93 92 103 +f 96 98 104 +f 96 91 105 +f 94 96 105 +f 92 101 106 +f 103 92 106 +f 100 93 107 +f 93 103 107 +f 100 96 108 +f 97 100 108 +f 96 94 109 +f 98 96 109 +f 105 99 110 +f 98 94 111 +f 94 103 111 +f 106 98 111 +f 103 106 111 +f 100 97 112 +f 95 101 112 +f 102 100 112 +f 101 102 112 +f 104 95 112 +f 97 104 112 +f 101 95 113 +f 98 101 113 +f 95 104 113 +f 104 98 113 +f 104 97 114 +f 96 104 114 +f 108 96 114 +f 98 109 115 +f 94 105 116 +f 105 110 116 +f 91 100 117 +f 105 91 117 +f 99 105 117 +f 100 107 117 +f 117 107 118 +f 99 117 118 +f 101 98 119 +f 106 101 119 +f 98 106 119 +f 103 94 120 +f 110 99 120 +f 94 116 120 +f 116 110 120 +f 107 103 121 +f 118 107 121 +f 99 118 121 +f 103 120 121 +f 120 99 121 +f 97 108 122 +f 114 97 122 +f 108 114 122 +f 94 98 123 +f 109 94 123 +f 98 115 123 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/405/405.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/405/405.urdf new file mode 100644 index 000000000..fc08179c6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/405/405.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/406/406.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/406/406.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/406/406.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/406/406.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/406/406.obj new file mode 100644 index 000000000..644103639 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/406/406.obj @@ -0,0 +1,480 @@ +o convex_0 +v -2.732877 -1.406307 -1.086786 +v -1.227317 -1.549718 -2.270040 +v -1.227317 -1.513893 -2.270040 +v -2.983804 -1.657416 -2.198113 +v -2.947902 -0.546067 -2.198113 +v -1.083902 -0.546067 -1.194502 +v -1.083902 -1.549718 -1.230407 +v -3.019705 -0.510242 -1.194502 +v -1.083902 -0.581892 -2.198113 +v -3.055607 -1.585542 -1.086786 +v -1.083902 -1.549718 -2.270040 +v -2.983804 -0.510242 -1.875545 +v -3.055607 -1.012124 -1.122807 +v -1.872777 -0.510242 -1.266196 +v -2.768779 -1.657416 -2.162324 +v -2.983804 -0.581892 -2.162324 +v -3.055607 -1.585542 -1.373797 +v -1.980290 -0.546067 -2.198113 +v -1.335022 -1.513893 -1.194502 +v -1.083902 -0.546067 -1.660692 +v -2.768779 -0.653653 -1.158712 +v -1.478436 -1.585542 -2.234019 +v -2.947902 -1.657416 -2.018819 +v -2.266732 -1.621367 -2.234019 +v -1.083902 -1.442132 -2.270040 +f 18 9 25 +f 6 7 9 +f 2 3 11 +f 9 7 11 +f 10 1 13 +f 8 6 14 +f 12 8 14 +f 5 4 16 +f 12 5 16 +f 8 12 16 +f 13 8 16 +f 13 16 17 +f 4 10 17 +f 10 13 17 +f 16 4 17 +f 5 12 18 +f 12 14 18 +f 6 1 19 +f 7 6 19 +f 1 10 19 +f 10 7 19 +f 6 9 20 +f 14 6 20 +f 9 18 20 +f 18 14 20 +f 1 6 21 +f 6 8 21 +f 13 1 21 +f 8 13 21 +f 11 7 22 +f 7 15 22 +f 7 10 23 +f 10 4 23 +f 15 7 23 +f 4 15 23 +f 3 2 24 +f 4 5 24 +f 5 3 24 +f 2 11 24 +f 15 4 24 +f 11 22 24 +f 22 15 24 +f 3 5 25 +f 11 3 25 +f 9 11 25 +f 5 18 25 +o convex_1 +v -0.581650 0.027825 -0.727662 +v 1.103515 -0.151596 2.283206 +v 1.067547 -0.151596 3.395239 +v -1.011987 -2.123547 1.386762 +v 1.031578 -2.087536 -0.799936 +v -1.047741 -0.079786 3.287239 +v 0.960070 -2.051526 3.287650 +v -1.011987 -2.051736 -0.799936 +v 0.995824 0.027825 -0.799936 +v -1.083709 -2.015936 3.287239 +v -0.976018 -0.151596 -0.799936 +v 1.103515 0.027614 1.387173 +v -1.047741 -0.008186 2.247069 +v 1.067547 -2.015726 1.673394 +v -0.438204 -1.442083 3.359102 +v -1.011987 0.027825 1.924710 +v 1.103301 -1.477883 1.279994 +v 1.103515 0.027614 0.742045 +v -1.011987 -1.012061 -0.799936 +v -0.940264 -0.043986 3.143512 +v -0.940264 0.027825 -0.656209 +v -1.083709 -0.761039 3.215375 +v -1.011987 -0.079786 3.323376 +v -0.976018 -2.087536 -0.584346 +v 0.852378 -2.015726 3.323376 +v 1.031578 0.027825 -0.763799 +v -1.083709 -2.015936 2.677427 +v 0.673178 -0.115796 3.359102 +v 0.135364 -2.051736 3.287650 +v -0.940264 -2.123547 1.530489 +v 0.601456 -0.151596 3.395239 +v 1.031578 -0.546029 3.395239 +v -0.976018 -2.123547 0.957225 +v 1.067547 -0.259207 3.395239 +v -0.796604 -2.123547 1.387173 +v 1.067547 -2.015726 0.455413 +v -1.011987 0.027825 0.813909 +v -0.832572 -1.764915 3.322965 +v -0.940264 -0.079786 -0.799936 +v 0.995824 -2.051526 2.785428 +f 39 59 65 +f 30 33 34 +f 34 33 36 +f 28 27 37 +f 34 26 41 +f 38 31 41 +f 37 27 43 +f 27 42 43 +f 42 30 43 +f 36 33 44 +f 41 31 45 +f 37 41 45 +f 41 26 46 +f 35 31 47 +f 31 38 47 +f 38 44 47 +f 31 35 48 +f 45 31 48 +f 33 30 49 +f 29 33 49 +f 30 34 51 +f 34 41 51 +f 41 37 51 +f 43 30 51 +f 37 43 51 +f 33 29 52 +f 29 35 52 +f 44 33 52 +f 35 47 52 +f 47 44 52 +f 28 37 53 +f 37 45 53 +f 48 28 53 +f 45 48 53 +f 32 50 54 +f 50 35 54 +f 35 29 55 +f 32 54 55 +f 54 35 55 +f 28 48 56 +f 48 40 56 +f 50 32 57 +f 40 50 57 +f 28 56 57 +f 56 40 57 +f 29 49 58 +f 49 30 58 +f 55 29 58 +f 27 28 59 +f 42 27 59 +f 39 42 59 +f 28 57 59 +f 57 32 59 +f 30 32 60 +f 32 55 60 +f 58 30 60 +f 55 58 60 +f 39 30 61 +f 30 42 61 +f 42 39 61 +f 38 41 62 +f 36 44 62 +f 44 38 62 +f 46 36 62 +f 41 46 62 +f 48 35 63 +f 40 48 63 +f 35 50 63 +f 50 40 63 +f 26 34 64 +f 34 36 64 +f 46 26 64 +f 36 46 64 +f 32 30 65 +f 30 39 65 +f 59 32 65 +o convex_2 +v 1.103519 1.211543 0.132515 +v -0.975944 0.745159 1.423148 +v -1.011850 0.745159 1.423148 +v -1.047755 3.972007 1.351338 +v -1.011850 2.465527 -0.728125 +v 0.959897 3.864291 1.351120 +v 1.103301 3.828385 -0.799718 +v 0.888304 0.028211 -0.799936 +v 1.103519 0.028211 1.387243 +v -0.940256 0.028211 -0.656315 +v -1.047755 3.864291 -0.728125 +v -1.011850 0.028211 1.423148 +v 1.031708 0.028211 -0.799936 +v -1.119565 3.864291 1.315432 +v 0.099475 0.315068 -0.799936 +v -1.011850 0.063730 0.741600 +v 1.067613 3.864291 -0.728125 +v 1.031708 2.178670 1.387243 +v -0.725042 3.863904 -0.764031 +v 1.103301 3.828385 -0.512911 +v -1.083660 2.895619 1.387025 +v -0.975944 0.745159 -0.692002 +v -0.294831 0.027825 -0.764031 +v 1.103519 0.530113 1.387243 +v -0.832540 2.931524 -0.764031 +v 0.601279 3.720669 -0.799936 +v 1.103519 0.028211 0.741600 +v 1.103519 3.111051 -0.799936 +v -1.047755 0.709254 1.387025 +v -1.047755 3.649245 -0.692002 +v -1.119565 3.972007 1.279310 +v -0.975944 0.028211 -0.261791 +v 0.995803 3.756575 0.992502 +v -0.796635 0.027825 1.422931 +f 97 75 99 +f 67 68 77 +f 78 73 80 +f 69 71 82 +f 82 72 84 +f 82 71 85 +f 72 82 85 +f 68 67 86 +f 71 69 86 +f 77 68 86 +f 69 79 86 +f 67 83 86 +f 83 71 86 +f 76 70 87 +f 73 78 88 +f 80 73 88 +f 75 87 88 +f 74 66 89 +f 70 76 90 +f 76 84 90 +f 84 80 90 +f 87 70 90 +f 80 88 90 +f 88 87 90 +f 78 80 91 +f 80 84 91 +f 84 72 91 +f 66 74 92 +f 78 66 92 +f 74 88 92 +f 88 78 92 +f 66 78 93 +f 72 85 93 +f 89 66 93 +f 85 89 93 +f 91 72 93 +f 78 91 93 +f 81 77 94 +f 79 81 94 +f 77 86 94 +f 86 79 94 +f 81 79 95 +f 76 87 95 +f 79 69 96 +f 69 82 96 +f 84 76 96 +f 82 84 96 +f 76 95 96 +f 95 79 96 +f 77 81 97 +f 87 75 97 +f 81 95 97 +f 95 87 97 +f 71 83 98 +f 85 71 98 +f 83 89 98 +f 89 85 98 +f 67 77 99 +f 83 67 99 +f 88 74 99 +f 75 88 99 +f 74 89 99 +f 89 83 99 +f 77 97 99 +o convex_3 +v 1.103505 -0.474450 -2.162219 +v -1.083709 -1.693097 -1.732366 +v -1.083709 -1.693097 -1.051126 +v 1.103505 -2.159403 -2.628433 +v -0.976019 -0.079867 -2.664206 +v 0.995814 -0.115621 -0.800133 +v 1.031782 -2.087466 -0.800133 +v -0.940050 -0.079867 -0.799936 +v -1.011773 -2.051712 -2.700174 +v 0.959846 -0.115621 -2.771914 +v -1.011773 -2.051712 -0.799936 +v 0.493757 0.027825 -0.799936 +v 0.063636 -1.513897 -2.807883 +v -1.083709 -0.581927 -2.198187 +v 1.103505 -0.617895 -1.087095 +v -1.083709 -0.545959 -1.194607 +v -0.115349 -2.123435 -2.700174 +v 0.207081 -0.689618 -2.807883 +v -0.940050 -2.051712 -2.735946 +v 1.103505 -1.657129 -1.158638 +v 1.103505 -2.087466 -2.664402 +v 1.031782 -2.159403 -2.233959 +v -0.689129 -0.079867 -2.700174 +v 0.314772 -1.477928 -2.807883 +v -1.011773 -0.725373 -0.799936 +v -0.868542 -2.087680 -2.700174 +v -1.083709 -1.549651 -2.269928 +v 1.103505 -0.474450 -2.305700 +v -0.976019 -0.653650 -2.700174 +v 0.457788 0.027825 -0.907645 +v 0.672956 -2.159403 -2.592662 +v -0.976019 -0.079867 -1.589081 +v 1.031782 -0.331004 -0.800133 +v 0.493757 -0.510204 -2.807883 +v 1.067536 -2.159403 -2.664402 +v -0.976019 -0.151590 -0.799936 +v -1.011773 -1.585620 -2.700174 +f 128 118 136 +f 102 101 108 +f 102 108 110 +f 105 109 111 +f 110 106 111 +f 107 110 111 +f 101 102 113 +f 103 100 114 +f 100 105 114 +f 113 102 115 +f 104 113 115 +f 117 112 118 +f 106 103 119 +f 103 114 119 +f 114 106 119 +f 100 103 120 +f 103 106 121 +f 106 110 121 +f 112 117 123 +f 109 120 123 +f 110 107 124 +f 102 110 124 +f 115 102 124 +f 110 108 125 +f 108 118 125 +f 118 116 125 +f 108 101 126 +f 101 113 126 +f 105 100 127 +f 109 105 127 +f 100 120 127 +f 120 109 127 +f 117 118 128 +f 104 122 128 +f 122 117 128 +f 107 111 129 +f 111 109 129 +f 122 104 129 +f 109 122 129 +f 103 121 130 +f 121 110 130 +f 110 125 130 +f 125 116 130 +f 104 115 131 +f 129 104 131 +f 107 129 131 +f 105 111 132 +f 111 106 132 +f 114 105 132 +f 106 114 132 +f 122 109 133 +f 117 122 133 +f 109 123 133 +f 123 117 133 +f 118 112 134 +f 116 118 134 +f 120 103 134 +f 112 123 134 +f 123 120 134 +f 103 130 134 +f 130 116 134 +f 124 107 135 +f 115 124 135 +f 107 131 135 +f 131 115 135 +f 113 104 136 +f 118 108 136 +f 108 126 136 +f 126 113 136 +f 104 128 136 +o convex_4 +v 2.358271 -0.510183 -1.158505 +v 2.716937 -1.549700 -2.305896 +v 1.103519 -1.657416 -1.409702 +v 1.103519 -0.510183 -2.234177 +v 2.967887 -1.621395 -1.194544 +v 2.967887 -0.545973 -2.162457 +v 1.103519 -0.617783 -1.086786 +v 1.103519 -1.549700 -2.126419 +v 3.075603 -0.474162 -1.230224 +v 1.103519 -1.657416 -1.158505 +v 2.931982 -1.549700 -2.305896 +v 1.713328 -0.474162 -1.875580 +v 1.784946 -0.510183 -2.234177 +v 3.075603 -0.474162 -1.409583 +v 3.039504 -1.083510 -1.194544 +v 1.103519 -0.761173 -2.234177 +v 1.354662 -0.653573 -1.086786 +v 2.071801 -1.657416 -1.230224 +v 2.967887 -0.904447 -2.234177 +v 1.247140 -1.549700 -2.162457 +v 2.931982 -1.585490 -1.982980 +v 1.103519 -0.510183 -1.947299 +v 2.931982 -1.406311 -2.305896 +v 1.139617 -0.832868 -1.086786 +v 2.860364 -0.474162 -1.194544 +v 2.967887 -1.585490 -1.732141 +v 3.003599 -1.119415 -1.875580 +v 3.003599 -0.653573 -2.090738 +v 3.003599 -0.474162 -1.517102 +f 150 142 165 +f 140 139 143 +f 139 140 144 +f 143 139 146 +f 139 138 147 +f 140 148 149 +f 148 145 150 +f 150 145 151 +f 140 138 152 +f 144 140 152 +f 137 143 153 +f 151 137 153 +f 141 151 153 +f 146 139 154 +f 141 146 154 +f 149 142 155 +f 138 139 156 +f 139 144 156 +f 152 138 156 +f 144 152 156 +f 139 147 157 +f 154 139 157 +f 141 154 157 +f 140 143 158 +f 143 137 158 +f 148 140 158 +f 137 148 158 +f 138 140 159 +f 147 138 159 +f 140 149 159 +f 155 147 159 +f 149 155 159 +f 146 141 160 +f 143 146 160 +f 153 143 160 +f 141 153 160 +f 148 137 161 +f 145 148 161 +f 137 151 161 +f 151 145 161 +f 151 141 162 +f 157 147 162 +f 141 157 162 +f 150 151 163 +f 162 147 163 +f 151 162 163 +f 142 150 164 +f 147 155 164 +f 155 142 164 +f 150 163 164 +f 163 147 164 +f 142 149 165 +f 149 148 165 +f 148 150 165 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/406/406.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/406/406.urdf new file mode 100644 index 000000000..78638a1ef --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/406/406.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/407/407.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/407/407.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/407/407.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/407/407.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/407/407.obj new file mode 100644 index 000000000..2ec228124 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/407/407.obj @@ -0,0 +1,411 @@ +o convex_0 +v 1.101948 -2.364445 -2.642912 +v -1.073589 -3.064145 -1.633067 +v -1.034783 -3.064145 -1.633067 +v -1.073589 -0.771606 1.046954 +v 0.985529 -2.947229 1.047761 +v -0.918364 -0.927120 -3.070635 +v 1.024335 -0.771606 1.008254 +v -0.957170 -2.986051 1.046954 +v 1.063142 -1.043811 -2.993234 +v 0.480397 -2.986276 -3.031935 +v -1.034783 -2.986051 -3.070635 +v 1.101948 -2.947453 -2.993234 +v 0.985529 -0.771606 -0.973140 +v -1.073589 -0.771606 -0.623624 +v -1.112395 -3.064145 -0.856635 +v 1.024335 -2.208931 1.047357 +v -0.646286 -3.064145 -0.895335 +v -0.452038 -0.927120 -3.070635 +v -1.112395 -1.859978 0.231418 +v -1.034783 -2.481136 -2.953727 +v -0.918364 -3.025098 0.775244 +v 0.713451 -1.004989 -3.031935 +v 1.024335 -0.888522 1.047357 +v -1.112395 -2.947453 -1.244448 +v -1.034783 -0.771606 -0.973140 +v -0.957170 -0.927120 -2.798521 +v -0.335402 -2.364445 -3.070635 +v -1.073589 -1.432259 1.046954 +v 1.101948 -2.947453 -2.604212 +v 0.907700 -1.315792 -3.031935 +v 1.101948 -2.053642 -2.993234 +v 0.596816 -2.986276 -2.992831 +v -0.957170 -3.064145 -0.273706 +v -1.073589 -3.025098 -2.409902 +v 0.052877 -2.986051 1.046954 +v -0.490844 -2.986051 -3.070635 +v 1.101948 -2.480912 -2.526810 +v -0.957170 -1.238147 -3.070635 +f 20 26 38 +f 4 7 13 +f 7 9 13 +f 4 13 14 +f 2 3 15 +f 15 3 17 +f 11 6 18 +f 6 13 18 +f 4 14 19 +f 15 8 19 +f 8 15 21 +f 13 9 22 +f 18 13 22 +f 4 5 23 +f 7 4 23 +f 5 16 23 +f 19 14 24 +f 15 19 24 +f 13 6 25 +f 14 13 25 +f 14 25 26 +f 20 14 26 +f 25 6 26 +f 11 18 27 +f 5 4 28 +f 8 5 28 +f 4 19 28 +f 19 8 28 +f 12 1 29 +f 16 5 29 +f 12 10 30 +f 22 9 30 +f 18 22 30 +f 27 18 30 +f 7 1 31 +f 9 7 31 +f 1 12 31 +f 30 9 31 +f 12 30 31 +f 3 10 32 +f 10 12 32 +f 5 17 32 +f 17 3 32 +f 12 29 32 +f 29 5 32 +f 17 5 33 +f 15 17 33 +f 21 15 33 +f 3 2 34 +f 10 3 34 +f 2 15 34 +f 20 11 34 +f 14 20 34 +f 15 24 34 +f 24 14 34 +f 5 8 35 +f 8 21 35 +f 33 5 35 +f 21 33 35 +f 11 27 36 +f 30 10 36 +f 27 30 36 +f 10 34 36 +f 34 11 36 +f 1 7 37 +f 7 23 37 +f 23 16 37 +f 29 1 37 +f 16 29 37 +f 6 11 38 +f 11 20 38 +f 26 6 38 +o convex_1 +v 1.024467 -1.393319 1.047962 +v -1.073790 -2.014884 3.029154 +v -1.073790 -2.014884 3.068056 +v 1.024467 -3.063761 2.990252 +v -0.957128 -3.025170 1.047962 +v -1.073790 -0.927200 3.068056 +v 1.024261 -1.043621 3.106958 +v -1.073790 -0.966224 1.047962 +v 0.985443 -2.947556 1.047962 +v -1.034766 -3.103001 3.106958 +v 1.024261 -0.888176 1.047962 +v 0.635870 -3.103001 2.951349 +v -1.073790 -1.432343 1.047962 +v 1.024467 -2.986363 1.475483 +v -1.034766 -3.103001 2.679437 +v 0.325116 -0.888176 1.708494 +v 1.024261 -1.432126 3.106958 +v 0.480391 -1.004814 3.106958 +v -1.073790 -0.927200 1.941706 +v -0.762830 -3.103001 3.106958 +v -0.646169 -0.927200 3.068056 +v -1.034766 -2.481220 3.106958 +v 1.024467 -3.063761 2.485127 +v -0.413258 -0.927200 1.047962 +v 0.519209 -3.103001 3.029154 +v 1.024261 -0.888176 1.125767 +v 0.208455 -1.004814 3.106958 +v 1.024467 -2.209136 1.047962 +v -0.879286 -3.025170 1.047962 +f 52 61 67 +f 40 41 44 +f 42 39 45 +f 39 43 46 +f 40 44 46 +f 43 39 47 +f 41 40 48 +f 44 41 48 +f 39 46 49 +f 46 43 51 +f 40 46 51 +f 39 42 52 +f 48 40 53 +f 50 48 53 +f 51 43 53 +f 40 51 53 +f 42 45 55 +f 45 48 55 +f 48 45 56 +f 46 44 57 +f 44 54 57 +f 48 50 58 +f 55 48 58 +f 54 44 59 +f 44 56 59 +f 44 48 60 +f 48 56 60 +f 42 50 61 +f 52 42 61 +f 49 46 62 +f 54 49 62 +f 46 57 62 +f 57 54 62 +f 50 42 63 +f 42 55 63 +f 58 50 63 +f 55 58 63 +f 45 39 64 +f 39 49 64 +f 49 54 64 +f 56 45 64 +f 54 59 64 +f 59 56 64 +f 56 44 65 +f 44 60 65 +f 60 56 65 +f 47 39 66 +f 39 52 66 +f 52 47 66 +f 43 47 67 +f 47 52 67 +f 53 43 67 +f 50 53 67 +f 61 50 67 +o convex_2 +v 1.063323 0.355095 -0.855992 +v -1.073668 0.510631 -1.050496 +v -1.112646 0.666004 0.969918 +v -1.073668 -0.771606 1.047760 +v 1.063323 0.899228 1.008531 +v 0.985366 -0.771606 -0.972653 +v 1.024345 -0.771606 1.008531 +v -1.034690 -0.771606 -0.972653 +v 1.063323 0.899228 -1.050290 +v -1.073668 0.899228 -1.050496 +v -1.112646 0.899228 1.047760 +v -1.073668 -0.771606 -0.622875 +v 0.052869 0.899228 1.047760 +v 1.024345 -0.344085 -1.011472 +v -0.646184 -0.577308 -1.011472 +v 1.063323 0.471706 -1.050290 +v 1.024345 -0.771606 0.192725 +v 1.063323 0.627079 1.008531 +v 1.024345 -0.499458 -0.972653 +v -1.073668 -0.033175 -1.011472 +v -1.034690 -0.538383 -1.011472 +f 75 87 88 +f 71 73 74 +f 73 71 75 +f 72 68 76 +f 69 70 77 +f 76 69 77 +f 72 76 77 +f 70 71 78 +f 77 70 78 +f 72 77 78 +f 71 70 79 +f 75 71 79 +f 71 74 80 +f 78 71 80 +f 72 78 80 +f 73 75 82 +f 81 73 82 +f 81 82 83 +f 69 76 83 +f 76 68 83 +f 82 69 83 +f 68 74 84 +f 74 73 84 +f 68 72 85 +f 74 68 85 +f 72 80 85 +f 80 74 85 +f 73 81 86 +f 81 83 86 +f 83 68 86 +f 68 84 86 +f 84 73 86 +f 70 69 87 +f 79 70 87 +f 75 79 87 +f 69 82 88 +f 82 75 88 +f 87 69 88 +o convex_3 +v -2.744415 1.016072 0.775392 +v 2.966846 3.113844 -0.622852 +v 3.044740 3.075040 0.192581 +v 3.122026 1.015855 -0.972623 +v -3.093724 3.074824 -0.972623 +v -3.016438 0.938465 -1.088934 +v -3.055385 2.919610 1.047342 +v 3.083688 1.054875 0.969732 +v 3.122026 3.036020 0.931031 +v 2.927898 3.113844 -1.089143 +v 0.130385 0.899228 1.047551 +v -2.977490 1.054875 0.931031 +v 1.063295 0.899228 -1.050233 +v 0.363460 3.036020 1.008641 +v -1.112278 0.899228 1.047551 +v 1.218476 0.899228 0.931031 +v -1.268068 3.075040 -1.050442 +v -0.257263 2.997433 1.047551 +v -3.055385 1.016072 -1.011533 +v 0.324513 3.075040 0.348011 +v -1.578429 2.997433 1.047551 +v 2.306567 2.336690 -1.089143 +v -1.073331 0.899228 -1.050442 +v 2.189725 1.093895 1.008851 +v 3.083688 2.026046 0.969732 +v 3.083688 1.676598 -1.011533 +v -1.539482 0.938248 1.047551 +v -3.055385 2.725376 1.047342 +v -3.093724 3.036237 -0.350693 +v -2.899596 1.171502 -1.088934 +v 1.606732 3.075040 0.503441 +v 3.122026 3.036020 0.736691 +v 2.422800 3.113844 -0.506332 +v 1.684627 1.016072 -1.050233 +v -1.462196 3.036020 0.542351 +v 3.122026 1.326716 -0.001550 +v 2.966846 3.113844 -0.895012 +v 3.083688 1.443343 -1.011533 +v -3.055385 2.958413 0.814301 +v -3.093724 2.336690 -0.933922 +v -3.016438 0.938465 -0.933922 +v -3.093724 3.074824 -0.895012 +v 2.694823 1.015855 0.969732 +v 0.441355 1.016072 1.047551 +v -3.016438 1.016072 0.114970 +v 3.122026 2.375494 0.931031 +v 2.694823 3.113844 -1.089143 +v -3.016438 2.025829 1.008851 +v -0.141029 3.036020 1.008641 +v 3.122026 1.365736 -0.895012 +v 3.122026 1.015855 -0.778283 +v -2.588626 1.016072 0.969941 +v -3.093724 2.414514 -1.011533 +f 107 128 141 +f 101 99 103 +f 101 92 104 +f 99 101 104 +f 97 102 106 +f 103 99 106 +f 106 102 109 +f 103 106 109 +f 94 101 111 +f 103 94 111 +f 101 103 111 +f 99 96 112 +f 106 112 113 +f 96 97 113 +f 97 106 113 +f 112 96 113 +f 103 109 115 +f 115 109 116 +f 109 95 116 +f 116 95 117 +f 91 90 119 +f 97 91 119 +f 102 97 119 +f 91 97 120 +f 97 92 120 +f 90 98 121 +f 119 90 121 +f 108 119 121 +f 92 101 122 +f 101 94 122 +f 94 110 122 +f 92 97 124 +f 90 91 125 +f 98 90 125 +f 114 98 125 +f 91 120 125 +f 110 98 126 +f 114 92 126 +f 98 114 126 +f 92 122 126 +f 122 110 126 +f 95 109 127 +f 117 95 127 +f 107 116 128 +f 117 93 128 +f 116 117 128 +f 89 100 129 +f 103 89 129 +f 94 103 129 +f 107 94 129 +f 93 117 130 +f 121 93 130 +f 108 121 130 +f 123 108 130 +f 109 123 130 +f 127 109 130 +f 117 127 130 +f 96 99 131 +f 99 104 131 +f 106 99 132 +f 99 112 132 +f 112 106 132 +f 116 107 133 +f 100 116 133 +f 129 100 133 +f 107 129 133 +f 97 96 134 +f 96 124 134 +f 124 97 134 +f 105 93 135 +f 98 110 135 +f 110 94 135 +f 94 118 135 +f 118 105 135 +f 121 98 135 +f 93 121 135 +f 115 116 136 +f 116 100 136 +f 109 102 137 +f 102 119 137 +f 119 108 137 +f 108 123 137 +f 123 109 137 +f 92 114 138 +f 120 92 138 +f 114 125 138 +f 125 120 138 +f 104 92 139 +f 92 124 139 +f 124 96 139 +f 96 131 139 +f 131 104 139 +f 100 89 140 +f 89 103 140 +f 103 115 140 +f 136 100 140 +f 115 136 140 +f 93 105 141 +f 94 107 141 +f 118 94 141 +f 105 118 141 +f 128 93 141 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/407/407.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/407/407.urdf new file mode 100644 index 000000000..76b8d5468 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/407/407.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/408/408.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/408/408.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/408/408.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/408/408.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/408/408.obj new file mode 100644 index 000000000..5f186cf84 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/408/408.obj @@ -0,0 +1,453 @@ +o convex_0 +v 3.102523 1.217230 1.839420 +v 0.047571 1.530219 -0.275201 +v 0.047571 1.569702 -0.275201 +v -3.045537 0.199107 1.800091 +v 3.063155 -0.270663 -0.275201 +v -3.084904 -0.270854 -0.118320 +v -2.966801 1.647901 1.800091 +v 3.102523 -0.270663 1.917642 +v 2.985024 1.687192 -0.118320 +v -3.006169 1.569702 -0.079209 +v 3.063155 1.687192 1.839420 +v -1.087436 -0.270663 1.956972 +v -1.048068 1.687192 1.917642 +v -3.045537 -0.270854 1.800091 +v -1.048068 1.687192 -0.235872 +v -2.732410 -0.074781 -0.157650 +v 0.321936 -0.270663 -0.235872 +v -3.045537 1.138648 -0.118320 +v 0.478196 1.687192 -0.275201 +v -2.771172 1.647901 1.839420 +v 3.023787 1.021349 -0.196761 +v 3.102523 0.042517 1.917642 +v 3.102523 -0.231563 0.469221 +v -1.361195 1.295429 -0.235872 +v 3.063155 1.687192 1.095217 +v -2.966801 1.647901 1.251880 +v -3.045537 1.334721 -0.039879 +v 3.063155 0.355889 -0.235872 +v -3.084904 -0.231563 0.704106 +v 2.985024 1.608801 -0.157431 +v -2.928038 1.569702 -0.118320 +v 3.023787 1.687192 0.195006 +v -3.006169 1.608610 0.899443 +v -1.009306 -0.153364 1.956972 +v -3.084904 0.199107 -0.118320 +v -0.969938 1.687192 1.917642 +v 3.102523 0.903858 1.878313 +f 36 22 37 +f 2 3 5 +f 11 9 13 +f 6 5 14 +f 5 8 14 +f 8 12 14 +f 7 13 15 +f 13 9 15 +f 2 5 17 +f 5 6 17 +f 6 16 17 +f 5 3 19 +f 3 15 19 +f 15 9 19 +f 7 4 20 +f 13 7 20 +f 12 13 20 +f 4 14 20 +f 14 12 20 +f 5 19 21 +f 8 1 22 +f 1 8 23 +f 8 5 23 +f 3 2 24 +f 15 3 24 +f 2 17 24 +f 17 16 24 +f 16 18 24 +f 11 1 25 +f 9 11 25 +f 7 15 26 +f 15 10 26 +f 10 18 27 +f 5 21 28 +f 1 23 28 +f 23 5 28 +f 25 1 28 +f 6 14 29 +f 14 4 29 +f 4 27 29 +f 19 9 30 +f 9 21 30 +f 21 19 30 +f 10 15 31 +f 18 10 31 +f 15 24 31 +f 24 18 31 +f 21 9 32 +f 9 25 32 +f 28 21 32 +f 25 28 32 +f 4 7 33 +f 7 26 33 +f 26 10 33 +f 27 4 33 +f 10 27 33 +f 12 8 34 +f 13 12 34 +f 8 22 34 +f 16 6 35 +f 18 16 35 +f 27 18 35 +f 6 29 35 +f 29 27 35 +f 11 13 36 +f 13 34 36 +f 34 22 36 +f 1 11 37 +f 22 1 37 +f 11 36 37 +o convex_1 +v -1.048536 3.292610 0.429891 +v 1.066154 2.078917 0.351450 +v 1.066154 1.922342 0.351450 +v -0.774264 3.527568 1.956972 +v -1.048536 1.687384 1.917642 +v 0.987702 3.605951 1.839420 +v -1.048536 1.687384 -0.235872 +v 0.870127 3.566664 -0.235872 +v 0.948579 1.687384 1.839420 +v -1.048536 3.566664 -0.157650 +v 1.066154 1.687384 -0.196761 +v -0.970084 3.645047 1.956972 +v 0.987702 3.449377 -0.235872 +v 0.478694 1.687384 -0.275201 +v -0.656896 3.645047 1.447654 +v 0.752759 3.605951 1.878313 +v -1.048536 2.000725 -0.235872 +v -1.009207 3.605760 0.351669 +v -1.048536 2.079108 1.917642 +v 0.987702 1.726480 1.486765 +v 0.987702 3.605951 1.565205 +v 0.752759 3.566664 -0.235872 +v -0.226134 3.645047 1.878531 +v 0.948579 3.566664 -0.196761 +v 0.478694 1.922342 -0.275201 +v 1.066154 2.039821 -0.196761 +v -0.930961 3.175131 1.956972 +f 41 49 64 +f 40 39 43 +f 42 38 44 +f 42 44 46 +f 44 38 47 +f 39 40 48 +f 46 44 48 +f 47 38 49 +f 50 48 51 +f 48 44 51 +f 41 46 53 +f 46 43 53 +f 49 41 53 +f 44 47 54 +f 51 44 54 +f 47 49 55 +f 52 45 55 +f 49 52 55 +f 38 42 56 +f 49 38 56 +f 42 49 56 +f 40 43 57 +f 43 46 57 +f 48 40 57 +f 46 48 57 +f 43 39 58 +f 54 47 59 +f 55 45 59 +f 47 55 59 +f 52 49 60 +f 53 43 60 +f 49 53 60 +f 43 58 60 +f 60 58 61 +f 50 45 61 +f 45 52 61 +f 58 50 61 +f 52 60 61 +f 45 50 62 +f 50 51 62 +f 51 54 62 +f 59 45 62 +f 54 59 62 +f 39 48 63 +f 48 50 63 +f 58 39 63 +f 50 58 63 +f 46 41 64 +f 42 46 64 +f 49 42 64 +o convex_2 +v -1.126620 -2.346238 -0.315221 +v 1.105081 -2.150545 1.956363 +v 0.948639 -1.954656 1.956972 +v 0.948639 -0.505820 -4.190991 +v -1.048399 -0.505820 1.878347 +v -1.087510 -2.424633 -4.073359 +v 0.948639 -2.385338 -4.151374 +v -1.048399 -0.505820 -4.269616 +v 1.105081 -0.505820 1.760715 +v -0.930849 -2.503027 1.799723 +v 0.909310 -2.385338 1.917355 +v 1.105081 -0.819203 -0.940561 +v 0.596208 -2.424633 -4.151374 +v 0.987750 -2.346238 -4.033742 +v 0.870200 -0.662609 1.917355 +v -0.304426 -1.798062 1.956972 +v 1.105081 -2.346238 1.525450 +v -1.087510 -0.780299 -0.001941 +v -0.617528 -2.503027 1.760715 +v 0.987750 -0.505820 -3.760079 +v -1.126620 -2.385338 -0.040339 +v -1.009289 -0.505820 1.917355 +v 0.752650 -0.545115 -4.229999 +v -1.087510 -2.346238 -4.112367 +v 1.105081 -0.505820 -0.901554 +v -0.030216 -1.054192 1.956972 +v -0.970178 -2.503027 1.486443 +v -0.735078 -0.701709 -4.269616 +v 1.065971 -0.505820 1.878347 +v 1.105081 -2.346238 1.956363 +v 0.556879 -1.954656 -4.190991 +v -1.087510 -1.249885 1.055531 +v -1.087510 -2.189449 -4.112367 +v -1.009289 -1.210786 1.878347 +v 0.948639 -1.563073 -4.190991 +v -0.930849 -2.424633 -4.112367 +f 88 92 100 +f 69 68 72 +f 68 69 73 +f 73 66 76 +f 71 75 77 +f 67 66 79 +f 76 66 81 +f 71 78 81 +f 78 76 81 +f 72 65 82 +f 69 72 82 +f 75 74 83 +f 77 75 83 +f 68 73 84 +f 78 68 84 +f 65 70 85 +f 82 65 85 +f 73 69 86 +f 72 68 87 +f 70 65 88 +f 73 76 89 +f 76 78 89 +f 84 73 89 +f 78 84 89 +f 67 79 90 +f 80 67 90 +f 79 86 90 +f 86 80 90 +f 83 74 91 +f 77 83 91 +f 85 70 91 +f 72 87 92 +f 88 72 92 +f 66 73 93 +f 79 66 93 +f 73 86 93 +f 86 79 93 +f 66 67 94 +f 75 71 94 +f 74 75 94 +f 67 80 94 +f 80 74 94 +f 71 81 94 +f 81 66 94 +f 71 77 95 +f 77 92 95 +f 92 87 95 +f 69 82 96 +f 82 85 96 +f 85 91 96 +f 65 72 97 +f 88 65 97 +f 72 88 97 +f 74 80 98 +f 86 69 98 +f 80 86 98 +f 91 74 98 +f 69 96 98 +f 96 91 98 +f 68 78 99 +f 78 71 99 +f 87 68 99 +f 71 95 99 +f 95 87 99 +f 70 88 100 +f 91 70 100 +f 77 91 100 +f 92 77 100 +o convex_3 +v -0.304448 -1.719778 2.466390 +v 0.361257 -1.484836 3.954179 +v 0.361257 -1.602203 3.954179 +v 0.282874 -1.132525 1.957363 +v -0.343639 -1.054073 3.875597 +v -0.343639 -1.680518 3.954179 +v 0.204560 -1.719778 1.957363 +v -0.186942 -1.054073 1.957363 +v 0.204560 -1.054073 3.875597 +v -0.265256 -1.758970 1.957363 +v -0.108628 -1.680518 3.954179 +v 0.282874 -1.093265 2.309616 +v -0.226134 -1.132525 2.035554 +v 0.282874 -1.680518 2.740451 +v -0.343639 -1.054073 3.640631 +v -0.343639 -1.719778 3.288183 +v 0.204560 -1.719778 2.309616 +v 0.282874 -1.289154 1.957363 +v 0.008809 -1.054073 2.035554 +v -0.265256 -1.563150 1.957363 +v 0.361257 -1.602203 3.640631 +v 0.322066 -1.641464 3.679727 +f 114 121 122 +f 102 105 106 +f 103 102 106 +f 104 107 108 +f 105 102 109 +f 108 105 109 +f 108 107 110 +f 103 106 111 +f 102 104 112 +f 109 102 112 +f 106 105 115 +f 105 108 115 +f 108 113 115 +f 101 110 116 +f 111 106 116 +f 106 115 116 +f 115 101 116 +f 110 107 117 +f 107 114 117 +f 116 110 117 +f 111 116 117 +f 107 104 118 +f 114 107 118 +f 104 108 119 +f 108 109 119 +f 112 104 119 +f 109 112 119 +f 110 101 120 +f 108 110 120 +f 113 108 120 +f 101 115 120 +f 115 113 120 +f 102 103 121 +f 104 102 121 +f 118 104 121 +f 114 118 121 +f 103 111 122 +f 111 117 122 +f 117 114 122 +f 121 103 122 +o convex_4 +v -0.421735 -0.427467 -4.269616 +v 1.105315 -0.388349 -0.314749 +v 1.105315 -0.505820 -0.314749 +v -1.048536 -0.349192 -0.314362 +v -1.048536 -0.505820 -0.314362 +v -1.048536 -0.310015 -4.269616 +v 0.948457 -0.505820 -4.190635 +v -1.048536 -0.505820 -4.269616 +v 0.596158 -0.427487 -4.190635 +v 0.556943 -0.349192 -0.432060 +v 1.105315 -0.388349 -0.784378 +v -0.930892 -0.310015 -4.151532 +v 0.948457 -0.466644 -4.190635 +v 0.556943 -0.349192 -0.314749 +f 134 126 136 +f 125 124 126 +f 125 126 127 +f 127 126 128 +f 125 127 129 +f 128 123 130 +f 127 128 130 +f 123 129 130 +f 129 127 130 +f 124 125 133 +f 125 129 133 +f 132 124 133 +f 132 133 134 +f 128 126 134 +f 131 128 134 +f 133 131 134 +f 123 128 135 +f 129 123 135 +f 128 131 135 +f 133 129 135 +f 131 133 135 +f 126 124 136 +f 124 132 136 +f 132 134 136 +o convex_5 +v 1.809438 -0.505774 1.839359 +v -1.048068 -0.505774 -0.314362 +v -2.144919 -0.505774 1.800006 +v 2.358166 -0.270854 0.155646 +v -3.045537 -0.270877 1.800006 +v -3.084904 -0.270877 -0.118488 +v 3.102523 -0.270854 1.917619 +v 3.063155 -0.466655 -0.275010 +v 3.063155 -0.270854 -0.275010 +v -3.084904 -0.427468 -0.118488 +v 3.102523 -0.427468 1.917619 +v -3.045537 -0.466632 1.800006 +v -1.126804 -0.505774 1.956972 +v 1.105054 -0.505774 -0.314362 +v -1.087436 -0.270877 1.956972 +v -1.048068 -0.349207 -0.314362 +v -3.084904 -0.466632 0.821305 +v 2.123170 -0.505774 0.625654 +v 3.102523 -0.427468 0.194998 +v 3.023787 -0.466655 0.194998 +v 0.360698 -0.270877 -0.235879 +f 145 152 157 +f 139 138 137 +f 141 140 142 +f 140 141 143 +f 142 140 145 +f 140 143 145 +f 142 138 146 +f 139 137 149 +f 137 147 149 +f 148 139 149 +f 141 148 149 +f 137 138 150 +f 145 144 150 +f 143 141 151 +f 147 143 151 +f 141 149 151 +f 149 147 151 +f 138 142 152 +f 150 138 152 +f 145 150 152 +f 138 139 153 +f 141 142 153 +f 146 138 153 +f 142 146 153 +f 139 148 153 +f 148 141 153 +f 137 150 154 +f 150 144 154 +f 145 143 155 +f 144 145 155 +f 143 147 155 +f 147 144 155 +f 147 137 156 +f 144 147 156 +f 137 154 156 +f 154 144 156 +f 142 145 157 +f 152 142 157 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/408/408.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/408/408.urdf new file mode 100644 index 000000000..bdf1ebdbf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/408/408.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/409/409.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/409/409.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/409/409.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/409/409.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/409/409.obj new file mode 100644 index 000000000..750e0e194 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/409/409.obj @@ -0,0 +1,483 @@ +o convex_0 +v 1.065370 -0.562620 -0.988506 +v -1.090768 -4.143448 0.692065 +v -1.054044 -4.216245 -0.330918 +v -1.090768 -0.233656 -0.988710 +v 1.065370 -0.233656 0.947964 +v 0.955621 -4.179649 -1.025208 +v 0.919108 -4.179649 1.021165 +v -1.054044 -0.233656 0.947760 +v -1.017532 -4.252840 -1.061911 +v 1.065370 -0.233656 -1.061707 +v -1.090768 -4.143448 0.984462 +v -0.725221 -0.891584 0.984462 +v 1.065370 -0.964381 0.874966 +v -1.090768 -1.257143 -1.025208 +v 0.955621 -4.070257 1.021165 +v 0.115200 -0.233656 -1.061707 +v 0.480536 -4.216245 0.728768 +v -1.090768 -0.233656 0.180472 +v 0.992133 -2.498628 -1.061707 +v 0.553561 -3.448925 1.021165 +v 0.992133 -3.302937 -0.623111 +v -1.090768 -2.864187 0.984462 +v -0.688708 -4.252840 -1.061911 +v -1.017532 -4.252840 -0.696313 +v -0.396186 -4.179649 0.947760 +v 0.297763 -4.216245 -1.025208 +v -0.761733 -0.233656 -1.025208 +v 0.444024 -4.179649 1.021165 +v 1.065370 -1.001370 0.363169 +v -1.017532 -3.814090 -1.061911 +v -1.054044 -3.083759 -1.025208 +v 0.955621 -3.668496 1.021165 +v 0.955621 -4.179649 0.399871 +f 21 13 33 +f 5 4 8 +f 5 1 10 +f 4 5 10 +f 1 6 10 +f 2 3 11 +f 4 2 11 +f 5 8 12 +f 1 5 13 +f 2 4 14 +f 13 5 15 +f 4 10 16 +f 8 4 18 +f 4 11 18 +f 10 6 19 +f 7 15 20 +f 6 1 21 +f 12 8 22 +f 8 18 22 +f 18 11 22 +f 20 12 22 +f 19 6 23 +f 10 19 23 +f 3 9 24 +f 11 3 24 +f 9 23 24 +f 23 17 24 +f 11 24 25 +f 24 17 25 +f 6 17 26 +f 23 6 26 +f 17 23 26 +f 14 4 27 +f 4 16 27 +f 16 14 27 +f 17 7 28 +f 7 20 28 +f 22 11 28 +f 20 22 28 +f 11 25 28 +f 25 17 28 +f 1 13 29 +f 21 1 29 +f 13 21 29 +f 9 14 30 +f 16 10 30 +f 14 16 30 +f 23 9 30 +f 10 23 30 +f 3 2 31 +f 9 3 31 +f 2 14 31 +f 14 9 31 +f 5 12 32 +f 15 5 32 +f 12 20 32 +f 20 15 32 +f 15 7 33 +f 13 15 33 +f 17 6 33 +f 7 17 33 +f 6 21 33 +o convex_1 +v 0.517192 2.324929 -0.440560 +v -0.469414 2.361632 0.619168 +v -0.506074 2.361632 0.619168 +v 0.517192 3.932889 0.290164 +v -0.469414 3.823167 -0.586824 +v -0.432854 1.959449 -0.440560 +v 0.444073 1.959449 0.582572 +v -0.469414 3.786465 0.545977 +v 0.444073 3.823167 -0.440560 +v 0.517192 1.959449 -0.477156 +v 0.517192 3.859677 0.509500 +v -0.506074 1.959449 0.619168 +v -0.213598 3.384668 -0.586824 +v -0.103919 3.859677 0.545977 +v 0.517192 3.238437 0.509500 +v -0.506074 1.959449 0.326760 +v -0.396295 3.530706 0.582572 +v -0.469414 3.457687 -0.586824 +v 0.151697 3.823167 -0.513633 +v -0.286616 2.105873 -0.477156 +v 0.370954 3.932889 0.509500 +v 0.517192 1.959449 -0.257820 +v 0.444073 2.178891 0.582572 +v 0.444073 3.859677 -0.404083 +v -0.469414 3.823167 0.180615 +v -0.506074 2.690603 0.545977 +v 0.517192 3.896186 0.144019 +f 42 57 60 +f 34 37 43 +f 40 39 43 +f 42 34 43 +f 43 37 44 +f 35 36 45 +f 39 40 45 +f 40 35 45 +f 44 40 48 +f 43 44 48 +f 45 36 49 +f 39 45 49 +f 36 35 50 +f 41 36 50 +f 47 41 50 +f 44 47 50 +f 38 46 51 +f 49 38 51 +f 39 49 51 +f 42 43 52 +f 46 38 52 +f 43 46 52 +f 43 39 53 +f 46 43 53 +f 39 51 53 +f 51 46 53 +f 37 38 54 +f 44 37 54 +f 47 44 54 +f 40 43 55 +f 48 40 55 +f 43 48 55 +f 35 40 56 +f 40 44 56 +f 50 35 56 +f 44 50 56 +f 38 37 57 +f 52 38 57 +f 42 52 57 +f 41 47 58 +f 54 38 58 +f 47 54 58 +f 36 41 59 +f 49 36 59 +f 38 49 59 +f 58 38 59 +f 41 58 59 +f 37 34 60 +f 34 42 60 +f 57 37 60 +o convex_2 +v 1.284856 0.241825 0.070818 +v 3.038431 1.447816 0.472844 +v 3.002032 1.265076 0.509475 +v 2.928856 0.241825 -0.440643 +v 1.101915 1.374625 -0.586823 +v 1.101915 1.338148 0.545877 +v 3.002032 0.388088 0.582623 +v 2.965444 1.301553 -0.477159 +v 1.101915 0.351492 -0.550192 +v 1.101915 0.241825 0.545877 +v 2.965444 0.753568 -0.477159 +v 1.321444 0.278420 -0.513676 +v 2.892268 0.241825 -0.184798 +v 1.467607 1.374625 0.545877 +v 3.002032 1.374625 -0.184798 +v 1.321444 1.374625 -0.586823 +v 2.636530 0.241825 -0.477159 +v 2.599942 1.447816 0.472844 +v 2.673118 0.351492 0.582623 +v 3.002032 1.447816 0.290147 +v 2.965444 0.278420 -0.257831 +v 2.563544 1.338148 -0.513676 +v 1.833108 1.374625 0.545877 +v 1.101915 0.278420 -0.367495 +v 1.284856 0.241825 0.545877 +v 3.038431 1.301553 0.399696 +v 1.101915 1.374625 -0.257831 +v 1.284856 1.228480 -0.586823 +f 76 82 88 +f 62 63 67 +f 66 65 69 +f 66 69 70 +f 61 64 70 +f 70 64 73 +f 66 67 74 +f 71 68 75 +f 64 61 77 +f 71 64 77 +f 61 72 77 +f 72 69 77 +f 74 62 78 +f 67 66 79 +f 66 70 79 +f 73 67 79 +f 62 75 80 +f 76 65 80 +f 75 76 80 +f 78 62 80 +f 65 78 80 +f 64 71 81 +f 73 64 81 +f 67 73 81 +f 68 71 82 +f 75 68 82 +f 76 75 82 +f 63 62 83 +f 67 63 83 +f 62 74 83 +f 74 67 83 +f 70 69 84 +f 61 70 84 +f 72 61 84 +f 69 72 84 +f 70 73 85 +f 79 70 85 +f 73 79 85 +f 62 67 86 +f 75 62 86 +f 71 75 86 +f 67 81 86 +f 81 71 86 +f 65 66 87 +f 66 74 87 +f 78 65 87 +f 74 78 87 +f 69 65 88 +f 65 76 88 +f 71 77 88 +f 77 69 88 +f 82 71 88 +o convex_3 +v -2.735087 0.241825 -0.367495 +v -2.661936 1.447816 0.472844 +v -2.661936 1.447816 0.399696 +v -1.164069 0.241825 -0.550192 +v -1.164069 0.278420 0.472844 +v -1.164069 1.265076 -0.586823 +v -2.917874 1.374625 -0.477159 +v -3.027509 0.351492 0.509475 +v -1.164069 1.338148 0.582623 +v -2.954358 0.278420 -0.440643 +v -3.027509 1.447816 0.436442 +v -1.200736 0.351492 -0.586823 +v -1.310372 1.301553 -0.586823 +v -1.748914 0.936072 0.582623 +v -2.954358 1.411103 -0.440643 +v -3.027509 1.447816 0.180482 +v -2.479331 0.315015 0.509475 +v -1.237221 0.241825 0.070818 +v -1.164069 0.972550 0.582623 +v -3.027509 0.643900 0.509475 +v -1.420007 1.338148 0.582623 +v -3.027509 0.351492 0.326663 +v -2.990843 1.228480 -0.257831 +v -1.529643 0.278420 0.472844 +v -1.346856 0.388088 0.509475 +v -2.588967 0.534233 0.545877 +v -2.077638 0.241825 -0.513676 +v -1.420007 1.155408 -0.586823 +v -3.027509 1.191885 0.472844 +f 109 90 117 +f 93 92 94 +f 91 90 97 +f 93 94 97 +f 89 96 98 +f 90 91 99 +f 94 92 100 +f 91 97 101 +f 97 94 101 +f 94 100 101 +f 95 98 103 +f 91 101 103 +f 101 95 103 +f 96 99 104 +f 99 91 104 +f 91 103 104 +f 96 89 105 +f 89 92 106 +f 92 93 106 +f 93 97 107 +f 97 102 107 +f 99 96 108 +f 108 102 109 +f 97 90 109 +f 102 97 109 +f 98 96 110 +f 96 104 110 +f 110 104 111 +f 103 98 111 +f 104 103 111 +f 98 110 111 +f 105 89 112 +f 93 105 112 +f 89 106 112 +f 106 93 112 +f 105 93 113 +f 93 107 113 +f 113 107 114 +f 96 105 114 +f 107 102 114 +f 108 96 114 +f 102 108 114 +f 105 113 114 +f 92 89 115 +f 89 98 115 +f 98 95 115 +f 100 92 115 +f 95 100 115 +f 100 95 116 +f 95 101 116 +f 101 100 116 +f 90 99 117 +f 99 108 117 +f 108 109 117 +o convex_4 +v 1.065319 0.424593 -2.815837 +v 1.101915 1.776579 2.957666 +v 1.065319 1.776579 2.994544 +v -1.090696 1.813067 -3.108442 +v -0.944537 -0.123584 3.067695 +v -1.127292 1.959448 2.957666 +v -1.090696 -0.196560 -3.034686 +v 1.028724 -0.123584 2.957666 +v 0.955534 1.813067 -3.071564 +v 1.065319 -0.196560 -2.924657 +v 1.101915 1.959448 0.728066 +v -1.090696 -0.233263 0.216613 +v 1.065319 -0.233263 0.947520 +v -1.163887 0.278427 0.472339 +v -1.017506 1.922746 -1.500324 +v -1.163887 1.264675 -0.586237 +v 1.101915 1.045747 -1.792325 +v 0.517056 1.959448 -0.476208 +v 1.101915 0.242154 0.545491 +v -0.981132 -0.086882 -3.071564 +v 1.065319 -0.233263 -1.061417 +v 1.101915 1.849555 -1.170842 +v -1.054101 -0.233263 0.947520 +v 1.101915 1.959448 1.093218 +v -0.981132 0.132261 3.067695 +v -0.432869 1.959448 -0.440539 +v -0.469464 -0.123584 3.067695 +v -1.090696 1.849770 -2.888988 +v -1.090696 -0.233263 -0.988266 +v -1.163887 0.241939 -0.586237 +v 1.065319 0.022582 -2.961535 +v -0.981132 -0.160072 2.555637 +v 0.261333 1.849770 2.993940 +v 1.065319 0.753629 2.994544 +v 1.065319 -0.123584 2.007305 +v 0.992129 1.776579 -2.888988 +v -1.090696 1.155426 -3.108442 +v -0.981132 0.351618 3.067695 +v -1.163887 1.338080 0.581764 +v 0.809374 1.557437 -3.071564 +v -1.127292 1.886258 2.957666 +v 1.101915 0.315130 -0.549964 +v -0.359678 1.776579 -3.108442 +v -0.432869 -0.196560 -3.035290 +v 0.736406 -0.123584 2.994544 +v -0.944537 1.959448 2.884515 +v -1.054101 -0.196560 1.349549 +v 1.028724 1.849770 -2.157476 +v -1.090696 1.520735 2.993940 +f 158 142 166 +f 128 119 134 +f 123 128 135 +f 134 119 136 +f 130 129 138 +f 127 136 138 +f 136 130 138 +f 128 134 139 +f 129 130 140 +f 120 119 141 +f 119 128 141 +f 128 123 141 +f 132 123 143 +f 123 135 143 +f 135 132 143 +f 142 122 144 +f 126 121 145 +f 123 132 145 +f 121 133 145 +f 133 123 145 +f 135 126 145 +f 132 135 145 +f 124 138 146 +f 138 129 146 +f 129 131 147 +f 133 121 147 +f 131 133 147 +f 124 146 147 +f 146 129 147 +f 118 134 148 +f 134 127 148 +f 130 125 149 +f 140 130 149 +f 122 142 149 +f 142 131 149 +f 144 122 149 +f 120 141 150 +f 119 120 151 +f 120 144 151 +f 125 130 152 +f 136 119 152 +f 130 136 152 +f 119 151 152 +f 151 125 152 +f 134 118 153 +f 139 134 153 +f 118 148 153 +f 148 126 153 +f 137 124 154 +f 147 121 154 +f 124 147 154 +f 144 120 155 +f 142 144 155 +f 120 150 155 +f 123 133 156 +f 133 131 156 +f 126 148 157 +f 131 142 158 +f 123 156 158 +f 156 131 158 +f 127 134 159 +f 136 127 159 +f 134 136 159 +f 121 126 160 +f 154 121 160 +f 137 154 160 +f 126 157 160 +f 157 137 160 +f 124 137 161 +f 138 124 161 +f 127 138 161 +f 148 127 161 +f 157 148 161 +f 137 157 161 +f 149 125 162 +f 144 149 162 +f 125 151 162 +f 151 144 162 +f 141 123 163 +f 150 141 163 +f 123 150 163 +f 131 129 164 +f 129 140 164 +f 140 149 164 +f 149 131 164 +f 135 128 165 +f 126 135 165 +f 128 139 165 +f 153 126 165 +f 139 153 165 +f 150 123 166 +f 142 155 166 +f 155 150 166 +f 123 158 166 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/409/409.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/409/409.urdf new file mode 100644 index 000000000..b11e7f47b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/409/409.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/410/410.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/410/410.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/410/410.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/410/410.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/410/410.obj new file mode 100644 index 000000000..ac412ea98 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/410/410.obj @@ -0,0 +1,630 @@ +o convex_0 +v 1.905451 -1.667691 0.702914 +v -0.269731 -1.667939 0.630666 +v -0.233362 -2.465535 0.775778 +v 0.165392 -3.806617 -1.073216 +v 1.832931 -1.269018 -1.036578 +v 1.869083 -3.770352 0.956911 +v 1.941820 -3.661306 -0.964330 +v -0.124473 -1.269266 -1.000351 +v -0.160842 -3.697572 1.029570 +v 1.832931 -1.269018 1.029364 +v -0.233362 -1.269266 0.956911 +v -0.124473 -3.806617 -1.073216 +v 1.905451 -1.269018 -0.529200 +v 1.941820 -1.885285 0.159310 +v 1.470328 -3.770352 -0.528994 +v 1.869083 -3.298899 0.993137 +v -0.196994 -1.740471 0.993137 +v -0.269731 -1.269266 0.485554 +v 1.869083 -1.994082 -1.036578 +v 1.941820 -3.661306 -0.202750 +v 0.310433 -3.770103 0.376875 +v -0.124473 -3.262385 -1.073216 +v -0.160842 -2.247941 -0.855445 +v 1.941820 -2.573835 -0.819218 +v 1.905451 -1.269018 0.630666 +v -0.160842 -3.733838 0.123083 +v 1.905451 -2.718649 0.775572 +v 1.832931 -1.885285 1.029364 +v 0.020351 -3.806617 -0.565427 +v -0.124473 -1.994082 -1.036578 +v 1.542849 -1.269018 1.029364 +v 1.869083 -1.377815 -1.036578 +v 1.433960 -3.770352 0.956911 +v 1.470328 -3.697572 -1.000557 +v 1.470328 -1.269018 -1.036783 +v 1.869083 -3.770352 0.630666 +v 1.397808 -3.733838 0.993137 +v -0.196994 -3.226119 0.956911 +v 1.905451 -3.733838 0.558213 +v -0.160842 -3.479978 1.029570 +v -0.160842 -1.414080 -0.746559 +v -0.015801 -3.697572 1.029570 +v 1.869083 -2.356489 0.993137 +v 1.832931 -3.697572 -0.819218 +v 1.941820 -1.776488 0.123083 +v 1.941820 -2.936243 -0.964330 +f 32 24 46 +f 5 10 13 +f 2 11 18 +f 12 2 18 +f 7 14 20 +f 5 4 22 +f 4 12 22 +f 12 18 23 +f 22 12 23 +f 14 7 24 +f 10 1 25 +f 13 10 25 +f 1 14 25 +f 3 2 26 +f 2 12 26 +f 12 9 26 +f 14 1 27 +f 16 6 27 +f 20 14 27 +f 16 10 28 +f 4 6 29 +f 12 4 29 +f 9 12 29 +f 21 9 29 +f 23 8 30 +f 22 23 30 +f 10 5 31 +f 11 17 31 +f 18 11 31 +f 4 5 32 +f 5 13 32 +f 19 4 32 +f 7 19 32 +f 13 24 32 +f 6 9 33 +f 9 21 33 +f 29 6 33 +f 21 29 33 +f 7 4 34 +f 4 19 34 +f 19 7 34 +f 8 18 35 +f 5 22 35 +f 30 8 35 +f 22 30 35 +f 31 5 35 +f 18 31 35 +f 6 4 36 +f 4 15 36 +f 6 16 37 +f 2 3 38 +f 9 11 38 +f 11 2 38 +f 3 26 38 +f 26 9 38 +f 7 20 39 +f 27 6 39 +f 20 27 39 +f 6 36 39 +f 36 7 39 +f 11 9 40 +f 17 11 40 +f 10 31 40 +f 31 17 40 +f 18 8 41 +f 8 23 41 +f 23 18 41 +f 9 6 42 +f 28 10 42 +f 16 28 42 +f 6 37 42 +f 37 16 42 +f 40 9 42 +f 10 40 42 +f 1 10 43 +f 10 16 43 +f 27 1 43 +f 16 27 43 +f 4 7 44 +f 15 4 44 +f 7 36 44 +f 36 15 44 +f 24 13 45 +f 14 24 45 +f 13 25 45 +f 25 14 45 +f 24 7 46 +f 7 32 46 +o convex_1 +v 3.935840 -1.051123 -0.275522 +v 1.905962 -1.159806 -0.601902 +v 1.905962 -0.978631 -0.601902 +v 1.905962 -1.087314 0.558256 +v 3.790579 -0.181328 0.485689 +v 1.905962 -0.108725 -0.529335 +v 3.826745 -0.253820 -0.529335 +v 3.899276 -1.196107 0.449349 +v 1.978294 -0.217519 0.485689 +v 3.790579 -1.232518 -0.493108 +v 1.905962 -1.159806 0.558256 +v 3.754214 -0.253820 0.521802 +v 3.863110 -0.326312 0.449349 +v 2.377116 -0.108725 -0.203069 +v 1.905962 -0.217519 0.449349 +v 3.935840 -1.232518 -0.456882 +v 3.536819 -1.232518 -0.456882 +v 3.101831 -0.580089 -0.565561 +v 2.159722 -0.108725 -0.529335 +v 2.558345 -1.196107 -0.565561 +v 3.863110 -1.232518 -0.203069 +v 1.905962 -0.108725 -0.275522 +v 3.500454 -1.087314 0.485689 +v 3.863110 -0.434995 -0.493108 +v 3.935840 -1.159806 0.014290 +v 2.159722 -1.051123 -0.601902 +v 3.790579 -0.543788 -0.529335 +v 3.790579 -0.181328 0.413123 +v 2.014659 -1.159806 0.558256 +f 69 58 75 +f 49 48 50 +f 49 50 52 +f 50 48 57 +f 55 50 58 +f 51 55 58 +f 51 58 59 +f 58 54 59 +f 55 51 60 +f 52 50 61 +f 50 55 61 +f 56 62 63 +f 49 52 65 +f 52 60 65 +f 64 49 65 +f 53 64 65 +f 57 48 66 +f 56 63 66 +f 63 57 66 +f 54 57 67 +f 62 54 67 +f 63 62 67 +f 57 63 67 +f 60 52 68 +f 55 60 68 +f 61 55 68 +f 52 61 68 +f 54 58 69 +f 53 59 70 +f 59 47 70 +f 47 62 70 +f 62 53 70 +f 47 59 71 +f 59 54 71 +f 62 47 71 +f 54 62 71 +f 48 49 72 +f 49 64 72 +f 66 48 72 +f 56 66 72 +f 53 62 73 +f 62 56 73 +f 64 53 73 +f 72 64 73 +f 56 72 73 +f 51 59 74 +f 59 53 74 +f 60 51 74 +f 53 65 74 +f 65 60 74 +f 57 54 75 +f 50 57 75 +f 58 50 75 +f 54 69 75 +o convex_2 +v -4.185262 0.544243 0.992974 +v 0.890228 2.392974 0.485547 +v 1.433967 2.356389 0.558068 +v 1.760091 0.181424 -1.109470 +v -4.112525 2.211348 -1.036950 +v 1.796459 0.181424 1.065711 +v -4.112525 0.181424 -1.036950 +v -4.185262 2.284085 0.992974 +v 1.796459 2.211348 -1.072886 +v 1.796459 2.247717 1.065711 +v -4.148893 0.290313 1.029343 +v -0.342723 2.284085 1.102080 +v 1.905565 0.761804 -0.601827 +v -0.741584 2.284085 -1.036734 +v -4.148893 2.247717 -0.819389 +v -3.713664 0.507874 1.065711 +v 1.905565 1.740073 0.485547 +v -0.233618 0.181424 0.920454 +v 1.869196 0.181424 0.739261 +v 1.289089 0.797956 -1.109470 +v 0.346490 2.392974 0.340506 +v 1.905565 1.957635 -0.637979 +v 0.418630 1.740290 1.102080 +v -3.641523 2.284085 1.029343 +v 1.760091 2.247717 -0.927845 +v -4.185262 2.284085 0.594436 +v 0.164647 2.284085 -1.036734 +v -3.713664 2.247717 -1.036950 +v -4.112525 0.181424 -0.891693 +v 0.310121 2.392974 0.558068 +v -4.148893 2.175196 -1.000365 +v 1.687950 1.051886 -1.109470 +v -4.185262 1.740073 1.029343 +v 1.905565 0.761804 0.521916 +v 1.832828 0.362833 1.029343 +v 0.672614 2.247933 1.102080 +v 1.433967 2.356389 0.159313 +v 1.869196 0.181424 0.159313 +v 1.796459 0.362833 -1.072886 +v 1.324861 2.211348 -1.073102 +v -4.148893 0.254161 -0.057815 +v -4.185262 2.211348 0.304354 +v -4.112525 0.254161 0.449179 +v 1.905565 1.957635 0.050424 +v 0.853860 2.356389 0.703109 +v 1.506108 0.181424 1.065711 +v -0.559742 2.030372 1.102080 +v 1.832828 2.175196 0.848150 +v 1.470335 2.356389 0.340723 +v 0.890228 2.392974 0.413027 +v -3.713664 0.580395 1.065711 +v 1.578845 0.181424 -1.109470 +f 82 95 127 +f 79 81 82 +f 82 81 93 +f 81 79 94 +f 82 80 95 +f 92 88 97 +f 85 84 100 +f 76 83 101 +f 96 90 101 +f 89 96 102 +f 100 84 102 +f 80 90 103 +f 96 89 103 +f 90 96 103 +f 82 93 104 +f 77 96 105 +f 83 99 105 +f 99 87 105 +f 101 83 105 +f 96 101 105 +f 80 82 106 +f 90 80 106 +f 84 79 107 +f 79 95 107 +f 95 80 107 +f 83 76 108 +f 76 86 108 +f 86 91 108 +f 99 83 108 +f 88 92 109 +f 94 88 109 +f 94 109 110 +f 85 81 110 +f 92 85 110 +f 81 94 110 +f 109 92 110 +f 81 85 111 +f 85 87 111 +f 98 81 111 +f 87 98 111 +f 100 102 112 +f 94 79 113 +f 88 94 113 +f 79 84 114 +f 84 97 114 +f 97 88 114 +f 113 79 114 +f 88 113 114 +f 102 84 115 +f 89 102 115 +f 80 103 115 +f 103 89 115 +f 84 107 115 +f 107 80 115 +f 86 76 116 +f 82 104 116 +f 104 86 116 +f 76 106 116 +f 106 82 116 +f 76 101 117 +f 101 90 117 +f 106 76 117 +f 90 106 117 +f 93 86 118 +f 86 104 118 +f 104 93 118 +f 92 97 119 +f 78 77 120 +f 85 78 120 +f 87 85 120 +f 77 105 120 +f 105 87 120 +f 91 86 121 +f 93 81 121 +f 86 93 121 +f 81 98 121 +f 98 91 121 +f 98 87 122 +f 91 98 122 +f 84 85 123 +f 85 92 123 +f 97 84 123 +f 92 119 123 +f 119 97 123 +f 77 78 124 +f 78 85 124 +f 85 100 124 +f 100 112 124 +f 124 112 125 +f 96 77 125 +f 102 96 125 +f 112 102 125 +f 77 124 125 +f 87 99 126 +f 108 91 126 +f 99 108 126 +f 122 87 126 +f 91 122 126 +f 79 82 127 +f 95 79 127 +o convex_3 +v 3.790572 0.652858 0.340613 +v 1.941926 1.885405 -0.311816 +v 1.941926 1.885405 -0.493105 +v 3.863103 1.848969 0.594511 +v 1.905958 0.761684 0.521785 +v 3.935833 0.689053 -0.492988 +v 1.905958 0.761684 -0.601902 +v 3.863103 1.848969 -0.529175 +v 1.905958 1.740265 0.485714 +v 3.863103 0.725368 0.485714 +v 3.500448 1.667755 -0.565597 +v 3.174357 1.486420 0.594511 +v 1.905958 0.725368 -0.130410 +v 3.391751 1.848969 0.594511 +v 3.464481 0.689174 -0.529175 +v 2.558340 0.689174 0.485714 +v 3.935833 0.979213 -0.203019 +v 1.905958 1.885405 -0.493105 +v 3.899468 1.776580 -0.529292 +v 2.413278 1.087918 -0.601902 +v 3.863103 1.558930 0.594511 +v 3.899468 0.689174 0.268121 +v 1.905958 0.725368 0.485714 +v 3.863103 0.652858 0.449410 +v 1.978291 1.160427 0.521785 +v 3.863103 1.196743 -0.529175 +v 2.340747 0.725368 -0.565597 +v 2.340747 1.776460 0.521785 +v 1.905958 0.942898 -0.601902 +v 2.304581 0.870388 -0.601902 +f 138 153 157 +f 130 129 131 +f 130 131 135 +f 134 132 136 +f 132 134 140 +f 131 129 141 +f 139 131 141 +f 133 128 142 +f 128 140 142 +f 137 132 143 +f 140 128 143 +f 129 130 145 +f 130 135 145 +f 136 129 145 +f 134 136 145 +f 135 138 145 +f 135 131 146 +f 138 135 146 +f 144 133 146 +f 131 144 146 +f 145 138 147 +f 132 137 148 +f 131 139 148 +f 139 132 148 +f 133 144 149 +f 144 131 149 +f 148 137 149 +f 131 148 149 +f 132 140 150 +f 143 132 150 +f 140 143 150 +f 128 133 151 +f 143 128 151 +f 137 143 151 +f 133 149 151 +f 149 137 151 +f 136 132 152 +f 132 139 152 +f 133 142 153 +f 146 133 153 +f 138 146 153 +f 140 134 154 +f 134 142 154 +f 142 140 154 +f 129 136 155 +f 141 129 155 +f 139 141 155 +f 136 152 155 +f 152 139 155 +f 134 145 156 +f 147 134 156 +f 145 147 156 +f 142 134 157 +f 134 147 157 +f 147 138 157 +f 153 142 157 +o convex_4 +v -0.269731 -1.232319 0.594511 +v -2.227496 -0.290089 -0.601902 +v -2.227496 -0.108729 -0.601902 +v -0.269731 -0.108729 -0.529292 +v -2.082427 -0.217409 0.558206 +v -2.118646 -1.268773 -0.565597 +v -0.269731 -1.232319 -0.493105 +v -2.154674 -1.232319 0.485714 +v -0.342361 -0.181182 0.521785 +v -0.269731 -0.144956 0.413105 +v -0.269731 -1.268773 0.195629 +v -2.227496 -0.108729 -0.348004 +v -0.559869 -1.232319 -0.529175 +v -2.154674 -0.507562 0.558206 +v -1.647411 -0.217409 -0.601902 +v -2.191085 -1.123753 0.413222 +v -0.269731 -1.268773 -0.420613 +v -2.154674 -1.268773 -0.348004 +v -2.191085 -0.217409 0.413222 +v -2.009797 -1.232319 0.521785 +v -2.191085 -0.724807 -0.601902 +v -0.269731 -1.051073 0.594511 +v -0.559869 -1.232319 0.594511 +v -1.574588 -0.217409 0.558206 +v -0.269731 -0.580128 -0.529175 +v -1.719849 -1.268773 -0.565597 +f 178 170 183 +f 161 158 164 +f 162 166 167 +f 158 161 167 +f 164 158 168 +f 160 159 169 +f 161 160 169 +f 162 167 169 +f 167 161 169 +f 159 160 172 +f 160 161 172 +f 169 159 173 +f 165 171 173 +f 164 168 174 +f 168 163 174 +f 170 164 174 +f 163 168 175 +f 168 165 175 +f 173 159 175 +f 165 173 175 +f 162 169 176 +f 171 162 176 +f 169 173 176 +f 173 171 176 +f 165 168 177 +f 171 165 177 +f 159 172 178 +f 172 170 178 +f 175 159 178 +f 163 175 178 +f 167 166 179 +f 158 167 179 +f 168 158 180 +f 162 171 180 +f 177 168 180 +f 171 177 180 +f 179 162 180 +f 158 179 180 +f 166 162 181 +f 162 179 181 +f 179 166 181 +f 161 164 182 +f 164 170 182 +f 172 161 182 +f 170 172 182 +f 174 163 183 +f 170 174 183 +f 163 178 183 +o convex_5 +v -0.197008 0.181424 0.050361 +v 1.905565 -0.978620 0.630383 +v 1.905565 -1.268773 0.630383 +v 1.796550 0.145084 -1.109470 +v -0.124616 -1.268773 -1.000450 +v -0.233417 -1.268773 0.956805 +v 1.796550 0.181424 1.065825 +v 1.832959 -1.268773 -1.036861 +v -0.124616 0.181424 -0.964252 +v -0.233417 0.181424 0.920606 +v 1.832959 -1.268773 1.029414 +v -0.269614 -1.232291 -0.492825 +v 1.905565 -0.108729 -0.529236 +v -0.269614 -0.144927 -0.529023 +v 1.615356 0.181424 -1.109470 +v 1.869156 0.181424 0.739403 +v -0.269614 0.036347 0.884408 +v -0.233417 0.000149 0.956805 +v 1.905565 -1.159895 -0.601632 +v 1.832959 -1.087356 -1.073059 +v 1.506555 0.145084 1.065825 +v -0.269614 -1.268773 0.702992 +v 1.832959 -0.507618 1.065825 +v -0.124616 -0.724807 -1.000450 +v 1.905565 -0.290004 0.557986 +v 1.869156 0.181424 0.086559 +v 1.760354 -0.144927 -1.109470 +v 1.542964 -1.268773 1.029414 +v 1.832959 0.072546 1.065825 +v -0.124616 0.181424 0.956805 +v 1.832959 -0.615929 -1.073059 +v 1.760354 -0.507618 1.065825 +v 1.905565 -1.268773 -0.456626 +f 191 202 216 +f 188 186 189 +f 186 188 191 +f 184 190 192 +f 190 184 193 +f 189 186 194 +f 185 186 196 +f 184 192 197 +f 193 184 197 +f 188 195 197 +f 192 190 198 +f 198 190 199 +f 193 197 200 +f 197 195 200 +f 200 189 201 +f 193 200 201 +f 196 186 202 +f 191 188 203 +f 202 191 203 +f 201 189 204 +f 188 189 205 +f 195 188 205 +f 189 200 205 +f 200 195 205 +f 186 185 206 +f 194 186 206 +f 190 204 206 +f 197 192 207 +f 188 197 207 +f 198 188 207 +f 192 198 207 +f 185 196 208 +f 196 199 208 +f 196 187 209 +f 187 198 209 +f 199 196 209 +f 198 199 209 +f 198 187 210 +f 188 198 210 +f 203 188 210 +f 187 203 210 +f 189 194 211 +f 194 206 211 +f 199 190 212 +f 206 185 212 +f 190 206 212 +f 185 208 212 +f 208 199 212 +f 190 193 213 +f 193 201 213 +f 204 190 213 +f 201 204 213 +f 187 196 214 +f 196 202 214 +f 202 203 214 +f 203 187 214 +f 204 189 215 +f 206 204 215 +f 189 211 215 +f 211 206 215 +f 186 191 216 +f 202 186 216 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/410/410.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/410/410.urdf new file mode 100644 index 000000000..bc42489f3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/410/410.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/411/411.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/411/411.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/411/411.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/411/411.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/411/411.obj new file mode 100644 index 000000000..7c9d36ff2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/411/411.obj @@ -0,0 +1,699 @@ +o convex_0 +v -0.027216 -3.313515 -0.329897 +v 0.078979 -3.313515 0.387695 +v -0.106965 -3.313515 0.387695 +v 0.025814 -5.041051 -0.010928 +v 0.344806 -3.313515 -0.037409 +v -0.346209 -3.446428 -0.010928 +v -0.213295 -4.775224 -0.037409 +v 0.211892 -4.828322 -0.037409 +v 0.052396 -4.695239 -0.223550 +v -0.053799 -4.695239 0.201624 +v 0.291640 -3.393330 0.307900 +v -0.293043 -3.313515 0.307900 +v 0.265058 -3.446428 -0.223550 +v -0.239878 -3.313515 -0.250102 +v 0.132144 -4.642141 0.148451 +v -0.213295 -4.376484 0.175073 +v -0.027216 -4.748675 -0.196999 +v 0.344806 -3.313515 0.148451 +v 0.185310 -4.615593 -0.170377 +v -0.293043 -3.446428 0.307900 +v 0.105562 -3.313515 -0.303275 +v -0.239878 -3.419879 -0.250102 +v 0.211892 -4.801773 0.015623 +v -0.000701 -4.801773 0.175073 +v -0.213295 -4.721788 0.042175 +v -0.346209 -3.313515 0.121900 +v 0.025814 -3.446428 0.387695 +v 0.052396 -4.828322 -0.196999 +v -0.053799 -5.014164 -0.037409 +v -0.133547 -4.535777 -0.170377 +v 0.265058 -3.340233 0.334522 +v -0.080382 -4.775224 0.175073 +v 0.344806 -3.499695 0.068726 +v 0.238475 -3.366781 -0.250102 +v -0.293043 -3.340233 -0.170377 +v -0.346209 -3.473146 0.068726 +v 0.025814 -3.393330 -0.329897 +v 0.238475 -3.978082 -0.196999 +f 19 34 38 +f 3 2 1 +f 1 2 5 +f 3 1 12 +f 12 1 14 +f 1 9 17 +f 5 2 18 +f 10 3 20 +f 3 12 20 +f 1 5 21 +f 14 1 22 +f 1 17 22 +f 4 8 23 +f 11 15 23 +f 18 11 23 +f 4 23 24 +f 23 15 24 +f 16 20 25 +f 12 14 26 +f 20 12 26 +f 2 3 27 +f 3 10 27 +f 10 24 27 +f 8 4 28 +f 17 9 28 +f 19 8 28 +f 9 19 28 +f 7 17 29 +f 25 7 29 +f 28 4 29 +f 17 28 29 +f 17 7 30 +f 7 22 30 +f 22 17 30 +f 15 11 31 +f 18 2 31 +f 11 18 31 +f 24 15 31 +f 2 27 31 +f 27 24 31 +f 10 20 32 +f 20 16 32 +f 4 24 32 +f 24 10 32 +f 16 25 32 +f 29 4 32 +f 25 29 32 +f 8 5 33 +f 5 18 33 +f 23 8 33 +f 18 23 33 +f 5 13 34 +f 19 9 34 +f 21 5 34 +f 7 6 35 +f 22 7 35 +f 14 22 35 +f 6 26 35 +f 26 14 35 +f 6 7 36 +f 7 25 36 +f 25 20 36 +f 26 6 36 +f 20 26 36 +f 9 1 37 +f 1 21 37 +f 34 9 37 +f 21 34 37 +f 5 8 38 +f 13 5 38 +f 8 19 38 +f 34 13 38 +o convex_1 +v 1.062329 0.460029 -0.329657 +v -1.276379 1.204147 0.307882 +v -1.276379 1.204147 0.360868 +v -0.346135 -3.313062 -0.037381 +v 0.823095 0.220590 0.892436 +v -0.531986 1.310061 -0.808239 +v -0.851047 -2.249843 0.865848 +v 0.929366 -2.303253 0.759686 +v 0.636997 -2.356211 -0.675300 +v -0.718084 -2.276548 -0.648712 +v 1.248427 1.310514 0.334280 +v -0.771220 1.310514 0.786274 +v 0.796404 1.310514 -0.754874 +v -0.027074 -2.276548 -0.861415 +v 0.265048 -3.313062 0.334470 +v 0.929366 -2.436325 -0.063969 +v -0.930874 -2.356211 -0.010793 +v 0.025814 -0.417160 0.998977 +v -0.824355 1.310514 -0.728286 +v 0.078950 -2.329505 0.945801 +v 0.078950 -3.313062 -0.329657 +v 0.690132 1.310514 0.786274 +v -0.080210 -0.098059 -0.941179 +v -0.771220 0.379915 0.919023 +v -1.276379 1.310514 0.121767 +v -0.080210 -3.046918 0.679922 +v 0.769959 -0.231131 -0.781462 +v -0.771220 -0.098059 -0.781651 +v 0.636997 -3.074076 -0.010793 +v -0.505542 -3.020666 -0.436009 +v -0.478851 -3.073623 0.520395 +v 1.248427 1.284261 0.042193 +v 0.052258 0.752426 0.919213 +v -0.638504 -3.047371 0.121767 +v -0.053766 -3.046918 -0.595346 +v 0.477590 -3.046918 -0.436009 +v 1.035637 -0.390455 -0.303070 +v 1.168600 1.310514 0.493807 +v 0.956058 -2.223591 0.759686 +v 0.052258 0.114223 -0.941179 +v 0.530726 -3.046918 0.520395 +v -1.143416 1.230852 -0.196908 +v -1.090281 1.124485 0.600159 +v 1.009193 1.310514 -0.489185 +v 0.371319 1.177442 -0.834827 +v 0.690132 -2.276548 -0.648522 +v 0.052258 0.087971 0.998977 +v -0.266308 -3.313062 0.334470 +v 0.078950 -3.020666 0.706510 +v -0.160037 1.310061 0.839450 +v -0.691640 0.221043 0.945611 +v -0.744776 -2.196886 -0.622124 +v 0.291492 -3.313062 -0.223496 +v 0.902675 -2.276548 0.786274 +v 1.248427 1.151190 0.281294 +v 0.956058 -2.170181 -0.090556 +v -0.106901 -2.196886 0.945801 +v 0.132085 -2.302801 0.945801 +v 0.823095 1.177894 0.786274 +v 0.663688 -3.046918 0.095179 +v 0.690132 -0.177721 -0.808239 +v -0.797911 -0.098059 -0.755064 +v -0.213173 -3.313062 -0.276672 +v -0.053766 -2.276548 -0.861415 +f 73 48 102 +f 50 49 51 +f 41 40 55 +f 45 41 55 +f 50 51 57 +f 51 44 57 +f 53 42 59 +f 49 50 60 +f 40 41 63 +f 41 50 63 +f 55 40 63 +f 50 57 63 +f 58 45 64 +f 57 44 66 +f 44 61 66 +f 55 48 68 +f 64 45 69 +f 45 55 72 +f 68 42 72 +f 55 68 72 +f 69 45 72 +f 52 47 73 +f 68 48 73 +f 54 67 74 +f 73 47 74 +f 59 73 74 +f 65 39 75 +f 39 70 75 +f 49 60 76 +f 46 54 77 +f 76 43 77 +f 49 76 77 +f 61 44 78 +f 52 61 78 +f 63 57 80 +f 41 45 81 +f 50 41 81 +f 45 62 81 +f 62 50 81 +f 51 49 82 +f 39 65 82 +f 65 51 82 +f 49 70 82 +f 70 39 82 +f 44 51 83 +f 78 44 83 +f 51 78 83 +f 47 65 84 +f 74 47 84 +f 54 74 84 +f 65 75 84 +f 56 43 85 +f 60 71 85 +f 42 53 86 +f 53 64 86 +f 64 69 86 +f 72 42 86 +f 69 72 86 +f 64 53 87 +f 58 64 87 +f 53 79 87 +f 60 50 88 +f 50 62 88 +f 71 60 88 +f 71 88 89 +f 62 45 89 +f 56 85 89 +f 85 71 89 +f 88 62 89 +f 48 55 90 +f 55 63 90 +f 63 80 90 +f 53 59 91 +f 67 53 91 +f 74 67 91 +f 59 74 91 +f 46 77 92 +f 77 43 92 +f 79 46 92 +f 87 79 92 +f 70 49 93 +f 49 77 93 +f 93 77 94 +f 75 70 94 +f 77 54 94 +f 54 84 94 +f 84 75 94 +f 70 93 94 +f 45 58 95 +f 58 56 95 +f 89 45 95 +f 56 89 95 +f 43 56 96 +f 56 58 96 +f 58 87 96 +f 92 43 96 +f 87 92 96 +f 43 76 97 +f 76 60 97 +f 85 43 97 +f 60 85 97 +f 54 46 98 +f 53 67 98 +f 67 54 98 +f 79 53 98 +f 46 79 98 +f 47 52 99 +f 65 47 99 +f 51 65 99 +f 78 51 99 +f 52 78 99 +f 66 48 100 +f 57 66 100 +f 80 57 100 +f 48 90 100 +f 90 80 100 +f 59 42 101 +f 42 68 101 +f 73 59 101 +f 68 73 101 +f 61 52 102 +f 48 66 102 +f 66 61 102 +f 52 73 102 +o convex_2 +v -1.329882 1.390714 0.015610 +v -1.303167 2.347488 -0.010863 +v -1.303167 2.347488 -0.063997 +v -3.030534 2.055079 -0.010863 +v -1.303167 1.816037 0.334540 +v -1.303167 2.028496 -0.303319 +v -2.738018 2.001913 -0.250060 +v -1.303167 1.310966 0.334540 +v -2.764564 2.028496 0.175075 +v -2.791110 1.842417 -0.037461 +v -1.303167 1.550210 -0.170328 +v -1.329882 2.294221 -0.276659 +v -2.738018 2.214575 -0.090595 +v -1.436067 2.161409 0.228209 +v -2.605117 2.161409 0.095343 +v -1.329882 1.310966 0.175075 +v -2.738018 2.108142 -0.223462 +v -2.764564 1.975229 0.175075 +v -2.605117 1.868898 -0.170328 +v -1.462783 1.789556 0.334540 +v -2.791110 1.842417 0.015610 +v -1.967669 2.001913 0.254808 +v -1.303167 2.161409 0.228209 +v -2.047307 1.975229 -0.276659 +v -1.329882 1.310966 0.334540 +v -2.738018 2.214575 -0.037461 +v -3.030534 2.001913 -0.063997 +v -1.356429 1.550210 -0.170328 +v -2.658210 2.187992 -0.170328 +v -2.738018 2.055079 -0.250060 +v -1.409521 1.390714 0.334540 +v -1.329882 1.337650 0.095343 +v -1.356429 2.108142 -0.303319 +v -1.967669 2.187992 0.148477 +v -2.977103 2.055079 -0.117194 +f 132 109 137 +f 105 104 107 +f 105 107 108 +f 108 107 110 +f 108 110 113 +f 105 108 114 +f 104 105 115 +f 105 114 115 +f 111 106 120 +f 112 109 121 +f 110 107 122 +f 111 120 122 +f 112 118 123 +f 107 116 124 +f 116 111 124 +f 122 107 124 +f 111 122 124 +f 107 104 125 +f 104 116 125 +f 116 107 125 +f 118 110 127 +f 110 122 127 +f 123 118 127 +f 120 123 127 +f 106 111 128 +f 104 115 128 +f 115 106 128 +f 111 117 128 +f 117 104 128 +f 109 112 129 +f 120 106 129 +f 112 123 129 +f 123 120 129 +f 113 103 130 +f 108 113 130 +f 121 109 130 +f 103 121 130 +f 126 108 130 +f 109 126 130 +f 115 114 131 +f 114 119 131 +f 119 115 131 +f 119 114 132 +f 122 120 133 +f 127 122 133 +f 120 127 133 +f 103 113 134 +f 113 110 134 +f 110 118 134 +f 118 112 134 +f 112 121 134 +f 121 103 134 +f 114 108 135 +f 108 126 135 +f 126 109 135 +f 132 114 135 +f 109 132 135 +f 116 104 136 +f 111 116 136 +f 117 111 136 +f 104 117 136 +f 106 115 137 +f 115 119 137 +f 109 129 137 +f 129 106 137 +f 119 132 137 +o convex_3 +v 0.344590 1.311133 -0.808291 +v 0.158609 3.011758 0.015610 +v 0.158609 3.011758 -0.010842 +v -1.302998 1.311133 0.334332 +v 0.902787 1.311133 0.706604 +v -0.877789 2.426903 -0.675222 +v 1.088768 2.533452 -0.436019 +v -0.744801 2.240941 0.679829 +v 0.849541 2.294049 0.626762 +v -0.824544 1.311133 -0.728450 +v -1.302998 2.373961 -0.090684 +v 1.275002 1.337770 0.042063 +v -0.771298 1.311133 0.786123 +v 0.876290 2.373961 -0.701836 +v 1.275002 2.320687 0.254652 +v -0.744801 2.932179 0.015610 +v 0.849541 1.311133 -0.728450 +v 0.796548 2.932013 0.015610 +v 0.078866 2.267578 0.733057 +v -1.302998 2.028675 -0.303272 +v 1.275002 1.975400 -0.329725 +v -1.302998 2.187833 0.228038 +v 0.052370 1.417515 0.839512 +v -0.532071 1.444153 -0.808291 +v 1.275002 1.656585 0.387560 +v -1.302998 1.497261 -0.143750 +v -1.063518 2.559923 -0.436181 +v -1.276249 1.656752 0.387560 +v 1.275002 2.427069 -0.064070 +v 0.663560 1.311133 0.786123 +v -0.053869 3.011758 -0.037456 +v -0.797795 2.214470 -0.728450 +v 1.275002 1.311133 0.281265 +v 1.035522 2.586560 -0.462633 +v -0.000876 2.453540 0.573696 +v 1.275002 1.497094 -0.196978 +v 0.796548 2.294049 0.653376 +v 0.637063 1.683223 -0.781516 +v -0.877789 2.240941 0.600148 +v -0.771298 2.905375 -0.063909 +v 1.275002 2.267745 -0.329725 +v -1.302998 2.267578 -0.303272 +v -0.638562 2.586394 -0.515861 +v -1.302998 1.311133 0.121743 +v -0.771298 1.417349 0.786123 +v -0.930783 2.772688 0.015610 +v 1.275002 2.161362 0.334332 +v -0.159856 2.905375 0.121905 +v -0.053869 2.267578 0.733057 +v 0.823044 2.214470 -0.728450 +v 0.796548 1.683223 0.733057 +v 0.796548 2.932013 -0.037456 +v -0.665059 2.294216 0.653376 +v 1.168510 1.311133 0.493854 +v -0.851040 2.400432 -0.701836 +v -1.010525 1.337770 0.626762 +v -0.532071 1.311133 -0.808291 +v 0.663560 2.427069 0.547082 +v 0.078866 3.011758 -0.037456 +v -0.106863 1.311133 0.839512 +v 0.929283 2.453540 -0.621994 +v 1.035522 1.311133 -0.462633 +v 0.530824 1.417349 -0.808130 +v 1.248253 1.736331 0.414174 +f 191 162 201 +f 141 138 142 +f 138 141 147 +f 141 142 150 +f 142 138 154 +f 140 139 155 +f 146 152 155 +f 141 148 157 +f 152 149 158 +f 148 141 159 +f 149 152 162 +f 141 157 163 +f 157 147 163 +f 159 141 165 +f 155 152 166 +f 152 158 166 +f 150 142 167 +f 139 140 168 +f 153 139 168 +f 161 147 169 +f 142 154 170 +f 149 162 170 +f 166 144 171 +f 158 149 173 +f 154 158 173 +f 146 155 174 +f 145 153 176 +f 159 165 176 +f 143 164 177 +f 153 168 177 +f 151 144 178 +f 154 151 178 +f 158 154 178 +f 144 166 178 +f 166 158 178 +f 147 157 179 +f 157 148 179 +f 164 143 179 +f 148 164 179 +f 143 177 180 +f 177 168 180 +f 147 141 181 +f 141 163 181 +f 163 147 181 +f 145 176 182 +f 148 159 183 +f 164 148 183 +f 176 153 183 +f 159 176 183 +f 153 177 183 +f 177 164 183 +f 152 146 184 +f 162 152 184 +f 139 153 185 +f 172 139 185 +f 160 156 186 +f 156 172 186 +f 145 182 186 +f 182 160 186 +f 151 154 187 +f 161 169 187 +f 154 175 187 +f 142 146 188 +f 156 160 188 +f 167 142 188 +f 160 167 188 +f 146 174 188 +f 174 156 188 +f 140 155 189 +f 155 166 189 +f 166 171 189 +f 153 145 190 +f 185 153 190 +f 172 185 190 +f 145 186 190 +f 186 172 190 +f 142 170 191 +f 170 162 191 +f 169 147 192 +f 179 143 192 +f 147 179 192 +f 143 180 192 +f 180 151 192 +f 151 187 192 +f 187 169 192 +f 141 150 193 +f 165 141 193 +f 176 165 193 +f 150 182 193 +f 182 176 193 +f 138 147 194 +f 161 138 194 +f 147 161 194 +f 155 139 195 +f 139 172 195 +f 172 156 195 +f 174 155 195 +f 156 174 195 +f 168 140 196 +f 180 168 196 +f 140 189 196 +f 189 171 196 +f 150 167 197 +f 167 160 197 +f 182 150 197 +f 160 182 197 +f 144 151 198 +f 171 144 198 +f 151 180 198 +f 196 171 198 +f 180 196 198 +f 170 154 199 +f 149 170 199 +f 173 149 199 +f 154 173 199 +f 154 138 200 +f 138 161 200 +f 175 154 200 +f 161 187 200 +f 187 175 200 +f 146 142 201 +f 184 146 201 +f 162 184 201 +f 142 191 201 +o convex_4 +v 2.656744 1.815959 -0.090585 +v 1.301800 2.427220 -0.010837 +v 1.301800 2.427220 -0.037420 +v 1.275361 1.364121 0.175039 +v 2.816241 2.081526 0.228204 +v 1.275361 1.975382 -0.329897 +v 1.275361 2.214517 0.307952 +v 2.497420 2.187877 -0.170333 +v 1.301800 1.497009 -0.196983 +v 1.301800 1.762887 0.361118 +v 1.275361 2.347405 -0.303246 +v 2.683356 1.975382 -0.196983 +v 2.789629 2.241053 0.042125 +v 2.816241 1.815959 0.042125 +v 1.301800 1.390865 0.281370 +v 2.019447 2.267693 0.254787 +v 3.029131 2.028350 -0.010837 +v 1.301800 1.364121 0.015610 +v 1.514519 2.028350 -0.329897 +v 2.709967 2.241053 -0.037420 +v 1.275361 1.869135 0.361118 +v 2.816241 2.054990 0.228204 +v 1.275361 2.294333 0.254787 +v 1.673843 2.294333 -0.276731 +v 1.939613 1.948743 -0.276731 +v 2.656744 2.241053 0.121873 +v 2.816241 1.815959 -0.010837 +v 2.763190 2.028350 -0.170333 +v 2.019447 2.134806 0.281370 +v 1.328412 1.364121 0.121873 +v 3.029131 2.054990 0.042125 +v 1.275361 1.497009 -0.196983 +v 2.603693 1.842599 -0.143818 +v 1.355023 1.576928 -0.223498 +v 1.381634 2.187877 -0.329897 +v 1.328412 2.347405 -0.303246 +v 2.656744 2.187877 0.201622 +f 227 217 238 +f 207 205 208 +f 203 204 212 +f 207 208 212 +f 204 203 214 +f 210 202 219 +f 204 214 221 +f 214 218 221 +f 208 205 222 +f 211 206 222 +f 205 216 222 +f 216 211 222 +f 206 211 223 +f 216 215 223 +f 211 216 223 +f 203 212 224 +f 212 208 224 +f 217 203 224 +f 208 217 224 +f 221 209 225 +f 220 213 226 +f 214 203 227 +f 203 217 227 +f 213 218 228 +f 218 215 228 +f 219 202 228 +f 218 213 229 +f 209 221 229 +f 221 218 229 +f 225 209 229 +f 213 225 229 +f 217 208 230 +f 206 217 230 +f 208 222 230 +f 222 206 230 +f 215 216 231 +f 216 205 231 +f 205 219 231 +f 228 215 231 +f 219 228 231 +f 214 206 232 +f 218 214 232 +f 215 218 232 +f 206 223 232 +f 223 215 232 +f 205 207 233 +f 210 219 233 +f 219 205 233 +f 202 210 234 +f 210 213 234 +f 228 202 234 +f 213 228 234 +f 213 210 235 +f 207 220 235 +f 226 213 235 +f 220 226 235 +f 233 207 235 +f 210 233 235 +f 207 212 236 +f 220 207 236 +f 213 220 236 +f 225 213 236 +f 225 236 237 +f 212 204 237 +f 204 221 237 +f 221 225 237 +f 236 212 237 +f 206 214 238 +f 217 206 238 +f 214 227 238 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/411/411.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/411/411.urdf new file mode 100644 index 000000000..65d1ee640 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/411/411.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/412/412.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/412/412.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/412/412.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/412/412.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/412/412.obj new file mode 100644 index 000000000..287e78265 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/412/412.obj @@ -0,0 +1,366 @@ +o convex_0 +v -2.258222 -0.395044 -0.999185 +v -1.804925 1.035430 1.024776 +v -1.072081 1.000567 0.989728 +v -2.956197 -1.093173 0.989523 +v -3.061002 1.070293 -0.964138 +v -1.072081 -1.023231 -0.999185 +v -1.072081 1.105372 -1.069076 +v -1.072081 -0.988367 1.024776 +v -3.095871 -1.093173 -0.929295 +v -2.991066 1.035430 1.024776 +v -3.095871 0.372380 0.396374 +v -1.072081 -1.093173 -0.022150 +v -2.258222 1.105372 -1.034028 +v -1.560644 1.105372 -0.370989 +v -2.956197 -0.604440 1.024776 +v -3.095871 -0.325102 -0.964138 +v -1.072081 -1.093173 -0.650142 +v -1.351231 0.686581 -1.069076 +v -3.025935 1.070293 0.291846 +v -3.095871 0.826035 -0.475518 +v -3.095871 -1.093173 -0.684985 +v -2.642178 1.070293 0.640684 +v -2.991066 1.000567 -0.999185 +v -1.072081 -1.058094 0.501313 +v -3.025935 0.930625 0.884994 +v -1.386100 -1.023231 -0.999185 +v -1.490906 1.035430 0.989728 +v -2.781654 -0.883562 -0.964138 +v -1.072081 1.105372 -0.824561 +v -2.746785 -1.093173 0.989523 +v -1.072081 0.512049 -1.069076 +v -3.095871 0.302438 -0.964138 +v -2.537571 -1.093173 -0.929295 +v -3.061002 1.070293 -0.301098 +v -2.327960 1.105372 -0.964343 +v -1.525774 1.035430 -1.069076 +v -2.991066 0.407244 1.024776 +v -3.095871 0.476970 0.396374 +f 25 20 38 +f 3 6 7 +f 3 2 8 +f 6 3 8 +f 8 2 10 +f 6 8 12 +f 4 9 12 +f 7 13 14 +f 4 8 15 +f 8 10 15 +f 9 11 16 +f 6 12 17 +f 12 9 17 +f 16 11 20 +f 9 4 21 +f 11 9 21 +f 4 11 21 +f 10 2 22 +f 19 10 22 +f 5 13 23 +f 12 8 24 +f 10 19 25 +f 6 9 26 +f 1 18 26 +f 2 3 27 +f 22 2 27 +f 14 22 27 +f 9 16 28 +f 18 1 28 +f 16 18 28 +f 1 26 28 +f 26 9 28 +f 3 7 29 +f 7 14 29 +f 27 3 29 +f 14 27 29 +f 8 4 30 +f 4 12 30 +f 24 8 30 +f 12 24 30 +f 7 6 31 +f 18 7 31 +f 6 26 31 +f 26 18 31 +f 20 5 32 +f 16 20 32 +f 5 23 32 +f 23 16 32 +f 9 6 33 +f 6 17 33 +f 17 9 33 +f 5 20 34 +f 25 19 34 +f 20 25 34 +f 13 5 35 +f 14 13 35 +f 22 14 35 +f 19 22 35 +f 5 34 35 +f 34 19 35 +f 13 7 36 +f 7 18 36 +f 18 16 36 +f 23 13 36 +f 16 23 36 +f 11 4 37 +f 4 15 37 +f 15 10 37 +f 10 25 37 +f 25 11 37 +f 20 11 38 +f 11 25 38 +o convex_1 +v -0.443689 2.605296 -1.034015 +v 1.091583 -0.848384 1.129468 +v 1.056720 -0.848384 1.129468 +v 0.917052 -2.942482 -1.103974 +v -1.001931 -3.082332 1.094489 +v 1.056720 2.954313 0.920028 +v -0.932205 2.954921 1.024530 +v -1.036794 -2.942482 -1.068994 +v 0.986993 3.094162 -1.068994 +v 0.986993 -3.012407 1.094270 +v -0.967068 3.129429 -0.929295 +v 1.126446 -1.092817 -1.068994 +v -1.071873 1.349081 0.989550 +v -1.071873 1.104648 -1.068994 +v 1.126662 0.965406 -0.999035 +v 1.126662 1.035331 1.059509 +v -1.071873 -1.720925 1.024530 +v 1.126446 -1.022892 1.129468 +v -0.548279 -2.941874 -1.103974 +v 0.986993 -2.942482 -1.068994 +v 1.091583 2.919046 0.884830 +v -1.071873 -1.825508 -0.789595 +v -0.757674 -3.082332 0.815090 +v -0.408611 2.954313 1.024530 +v 1.021857 -2.767974 1.094270 +v -1.036794 -2.907216 1.094489 +v -0.967068 3.059504 0.047289 +v 0.917052 3.094162 -0.719855 +v 0.463400 3.094162 -1.068776 +v 1.021857 -1.860167 -1.103974 +v -0.932205 2.989579 0.989550 +v -1.001931 2.744538 -0.859554 +v 1.056720 1.313815 1.059290 +v 0.882189 2.954313 0.954789 +v -1.036794 -2.977140 -0.754834 +v -0.967068 1.523589 -1.068994 +v -0.967068 3.024238 -0.964056 +v 1.091583 0.476540 1.094270 +v 0.882189 -1.127476 1.129468 +v -1.036794 -3.047065 0.291709 +v 1.056720 2.988971 0.571108 +v -0.757674 3.129429 -0.894534 +v -1.001931 2.186355 1.024530 +v -1.071873 -1.022892 -0.999035 +v 1.021857 2.570030 -1.068994 +v 0.986993 -3.012407 0.989769 +v -0.583142 -3.082332 1.094489 +v 1.021857 3.059504 -0.440893 +v 1.056720 2.779804 0.954789 +v 1.126662 1.139914 0.500930 +v -0.897342 -3.082332 0.780329 +v 1.091583 -1.197400 1.129468 +f 85 48 90 +f 51 52 55 +f 40 41 56 +f 50 53 56 +f 53 54 56 +f 46 52 57 +f 55 52 60 +f 42 58 61 +f 56 48 63 +f 50 56 63 +f 58 50 63 +f 51 55 64 +f 49 47 67 +f 57 67 68 +f 42 57 68 +f 58 42 68 +f 50 58 68 +f 67 47 68 +f 45 62 69 +f 49 52 70 +f 52 51 70 +f 65 49 70 +f 51 65 70 +f 62 71 72 +f 69 62 72 +f 44 69 72 +f 57 42 73 +f 46 57 73 +f 60 46 73 +f 57 52 74 +f 39 67 74 +f 67 57 74 +f 52 49 75 +f 67 39 75 +f 49 67 75 +f 39 74 75 +f 74 52 75 +f 41 40 76 +f 45 41 76 +f 40 56 76 +f 56 54 76 +f 62 45 76 +f 54 71 76 +f 71 62 76 +f 41 45 77 +f 56 41 77 +f 64 43 77 +f 45 64 77 +f 55 60 78 +f 43 64 78 +f 64 55 78 +f 60 73 78 +f 44 59 79 +f 69 44 79 +f 66 69 79 +f 47 49 80 +f 49 65 80 +f 66 47 80 +f 65 69 80 +f 69 66 80 +f 64 45 81 +f 51 64 81 +f 65 51 81 +f 45 69 81 +f 69 65 81 +f 52 46 82 +f 46 60 82 +f 60 52 82 +f 53 50 83 +f 68 47 83 +f 50 68 83 +f 61 58 84 +f 63 48 84 +f 58 63 84 +f 43 61 85 +f 84 48 85 +f 61 84 85 +f 59 53 86 +f 47 66 86 +f 79 59 86 +f 66 79 86 +f 53 83 86 +f 83 47 86 +f 59 44 87 +f 54 59 87 +f 71 54 87 +f 72 71 87 +f 44 72 87 +f 54 53 88 +f 53 59 88 +f 59 54 88 +f 61 43 89 +f 42 61 89 +f 73 42 89 +f 43 78 89 +f 78 73 89 +f 48 56 90 +f 77 43 90 +f 56 77 90 +f 43 85 90 +o convex_2 +v 1.161710 -0.464805 -1.069076 +v 1.161710 -0.918459 1.129468 +v 1.685090 -0.150820 1.094390 +v 3.045919 -1.092992 -1.033998 +v 3.080773 1.070474 -1.068861 +v 1.126662 1.035396 1.059526 +v 2.976213 1.035396 1.024663 +v 2.976213 -0.988186 0.989584 +v 1.126662 0.930591 -0.998919 +v 1.126662 -1.092992 -1.069076 +v 1.126662 -1.023265 1.094390 +v 3.115626 -0.360000 -0.196416 +v 3.011066 -1.128070 -1.068861 +v 1.964305 1.070474 0.047412 +v 3.115626 0.721410 -0.824602 +v 1.126662 0.965669 -0.789524 +v 3.045919 1.070474 -0.022099 +v 2.871264 1.070474 -1.068861 +v 1.440924 -1.092992 -0.545265 +v 3.011066 -1.057913 0.082276 +v 1.161710 0.407209 1.094390 +v 3.115626 -0.499669 -0.475538 +v 3.115626 0.058361 -0.231279 +v 3.080773 0.093224 -1.068861 +v 1.126662 1.035396 0.780404 +v 1.789844 1.035396 1.059526 +v 2.731852 1.070474 -1.033998 +v 3.011066 -1.023050 0.431340 +v 2.836606 -1.128070 -1.033998 +v 1.126662 -1.092992 -0.789524 +v 2.976213 -1.023050 0.605657 +v 2.034206 1.070474 0.117354 +v 1.301317 0.965669 -0.998919 +v 1.440924 1.000533 -0.614992 +v 1.615384 -0.988186 1.094390 +f 101 98 125 +f 93 92 97 +f 96 99 100 +f 99 91 100 +f 92 96 101 +f 96 100 101 +f 97 98 102 +f 99 96 106 +f 95 104 107 +f 105 95 107 +f 95 91 108 +f 91 99 108 +f 104 95 108 +f 103 94 110 +f 101 103 110 +f 92 93 111 +f 96 92 111 +f 105 102 112 +f 97 102 113 +f 102 105 113 +f 107 97 113 +f 105 107 113 +f 91 95 114 +f 100 91 114 +f 94 103 114 +f 103 100 114 +f 95 105 114 +f 112 94 114 +f 105 112 114 +f 96 104 115 +f 106 96 115 +f 93 97 116 +f 111 93 116 +f 96 111 116 +f 104 108 117 +f 102 98 118 +f 98 110 118 +f 110 94 118 +f 112 102 118 +f 94 112 118 +f 100 103 119 +f 103 101 119 +f 101 109 119 +f 119 109 120 +f 101 100 120 +f 109 101 120 +f 100 119 120 +f 98 101 121 +f 110 98 121 +f 101 110 121 +f 104 96 122 +f 107 104 122 +f 97 107 122 +f 116 97 122 +f 96 116 122 +f 99 106 123 +f 108 99 123 +f 117 108 123 +f 117 123 124 +f 115 104 124 +f 106 115 124 +f 104 117 124 +f 123 106 124 +f 97 92 125 +f 98 97 125 +f 92 101 125 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/412/412.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/412/412.urdf new file mode 100644 index 000000000..e1d638255 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/412/412.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/413/413.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/413/413.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/413/413.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/413/413.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/413/413.obj new file mode 100644 index 000000000..4fcdd72b7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/413/413.obj @@ -0,0 +1,621 @@ +o convex_0 +v 0.950191 1.057203 -0.667376 +v -1.271949 0.917983 0.165787 +v -1.271949 0.917983 0.193358 +v 0.589176 -3.304579 0.526825 +v -0.660793 -2.637270 -0.723121 +v 0.811414 1.057203 0.888063 +v -0.883277 -2.554340 0.860291 +v -0.799815 1.057203 -0.834210 +v 0.783512 -2.581841 -0.750893 +v 0.894631 -2.581841 0.776975 +v -0.827472 1.057203 0.832318 +v 1.227989 0.917983 0.387964 +v 0.144454 -0.304484 -1.028816 +v -0.744255 -3.332509 -0.000845 +v 0.061237 -3.304579 -0.750893 +v 0.005677 -0.749213 1.027125 +v 0.978093 -2.693130 -0.111934 +v 0.839072 1.057203 -0.889754 +v -0.077540 -3.304579 0.776975 +v 0.033580 -2.637700 -0.945298 +v -0.938836 -2.470980 -0.083960 +v 1.144772 0.834623 -0.306338 +v 0.088895 -2.582270 0.971380 +v -1.216389 1.056773 -0.167277 +v 0.589176 -3.276219 -0.584059 +v 0.783512 -0.249054 0.943608 +v -0.021980 0.862124 0.999152 +v -0.771913 -0.026905 0.943608 +v -1.271949 1.056773 0.360192 +v 0.005677 0.890054 -1.028816 +v -0.549674 -3.332509 -0.556287 +v -0.716353 -0.693783 -0.834210 +v -0.577576 -3.332509 0.582369 +v 1.144772 1.056773 0.582570 +v 0.811414 -0.693354 -0.861982 +v 0.755855 -3.276649 0.082270 +v -0.021980 -0.359914 -1.028816 +v 1.227989 1.056773 0.026927 +v -0.133099 -2.554340 0.971380 +v 0.116797 -2.609770 -0.945298 +v -1.077613 0.890054 0.610141 +v 0.978093 -2.637270 0.082270 +v 0.894631 -2.359691 0.804747 +v 0.255818 1.056773 -1.000641 +v 1.005751 -2.109611 -0.195049 +v -0.910934 -2.609770 0.387964 +v -0.105197 1.056773 0.971380 +v 0.088895 -3.276219 0.776975 +v 0.616833 -0.082335 0.971380 +v -0.910934 -2.665630 -0.111732 +v 0.783512 -0.415774 -0.889754 +v -0.216316 -3.332509 -0.667577 +v -0.688695 -2.554340 -0.695148 +v -0.021980 0.001025 1.027125 +v 0.533616 -3.304579 -0.584059 +v -0.744255 -0.332414 -0.834210 +v -0.827472 -0.943863 0.915835 +v 1.033653 -0.748784 -0.389655 +v 0.033580 -2.192971 -0.973070 +v 0.589176 -3.248719 0.610141 +v -0.382995 1.057203 -0.945298 +v 0.922534 -2.581841 0.610141 +v 0.839072 0.528684 -0.889754 +v -0.799815 0.723334 -0.834210 +f 61 37 64 +f 6 1 8 +f 6 8 11 +f 8 1 18 +f 3 2 21 +f 18 1 22 +f 21 2 24 +f 15 9 25 +f 9 17 25 +f 2 3 29 +f 3 7 29 +f 11 8 29 +f 24 2 29 +f 8 24 29 +f 20 5 32 +f 7 14 33 +f 4 19 33 +f 19 7 33 +f 14 31 33 +f 6 26 34 +f 22 9 35 +f 10 4 36 +f 25 17 36 +f 30 13 37 +f 1 6 38 +f 12 17 38 +f 22 1 38 +f 6 34 38 +f 34 12 38 +f 7 19 39 +f 23 16 39 +f 19 23 39 +f 16 28 39 +f 9 15 40 +f 15 20 40 +f 28 11 41 +f 29 7 41 +f 11 29 41 +f 17 12 42 +f 36 17 42 +f 10 12 43 +f 23 10 43 +f 26 23 43 +f 12 34 43 +f 34 26 43 +f 18 13 44 +f 13 30 44 +f 17 9 45 +f 38 17 45 +f 22 38 45 +f 7 3 46 +f 14 7 46 +f 3 21 46 +f 6 11 47 +f 27 6 47 +f 11 28 47 +f 28 27 47 +f 19 4 48 +f 10 23 48 +f 23 19 48 +f 16 23 49 +f 26 6 49 +f 23 26 49 +f 6 27 49 +f 21 24 50 +f 31 14 50 +f 5 31 50 +f 14 46 50 +f 46 21 50 +f 35 9 51 +f 9 40 51 +f 40 13 51 +f 5 20 52 +f 20 15 52 +f 31 5 52 +f 4 33 52 +f 33 31 52 +f 5 50 53 +f 50 24 53 +f 28 16 54 +f 27 28 54 +f 16 49 54 +f 49 27 54 +f 15 25 55 +f 36 4 55 +f 25 36 55 +f 52 15 55 +f 4 52 55 +f 32 5 56 +f 37 32 56 +f 5 53 56 +f 53 24 56 +f 7 39 57 +f 39 28 57 +f 41 7 57 +f 28 41 57 +f 9 22 58 +f 45 9 58 +f 22 45 58 +f 20 32 59 +f 37 13 59 +f 32 37 59 +f 13 40 59 +f 40 20 59 +f 4 10 60 +f 48 4 60 +f 10 48 60 +f 8 18 61 +f 30 37 61 +f 18 44 61 +f 44 30 61 +f 12 10 62 +f 10 36 62 +f 42 12 62 +f 36 42 62 +f 13 18 63 +f 18 22 63 +f 22 35 63 +f 51 13 63 +f 35 51 63 +f 24 8 64 +f 56 24 64 +f 37 56 64 +f 8 61 64 +o convex_1 +v 1.311583 1.223966 -0.139749 +v 1.450675 2.140739 0.054579 +v 1.450675 2.140739 -0.000780 +v 3.033959 1.723962 -0.000780 +v 1.311583 1.446208 0.415900 +v 1.311583 1.918399 -0.362024 +v 2.783931 1.807278 -0.223055 +v 2.645008 1.918399 0.193625 +v 1.339570 1.140552 0.332442 +v 1.311583 1.974008 0.332442 +v 2.811581 1.723962 0.221343 +v 2.839399 1.557329 -0.028574 +v 1.367388 1.335087 -0.278642 +v 2.783931 1.974008 -0.028574 +v 1.311583 2.112836 -0.250849 +v 1.367388 1.140552 0.026938 +v 2.006367 1.779473 0.332442 +v 2.645008 1.751766 -0.250849 +v 2.200421 1.974008 0.249060 +v 1.534130 1.807278 -0.362024 +v 2.700476 1.585134 -0.139749 +v 1.450675 2.085129 -0.278642 +v 1.450675 1.585134 0.415900 +v 2.756113 1.974008 0.054579 +v 1.311583 2.140739 0.082373 +v 2.811581 1.557329 0.026938 +v 1.534130 1.974008 0.332442 +v 2.561553 1.946204 -0.167543 +v 2.783931 1.807278 0.221343 +v 3.033959 1.779473 0.026938 +v 2.756113 1.723962 -0.223055 +v 1.367388 1.223966 0.360312 +v 1.311583 1.751766 -0.362024 +v 1.311583 1.140552 0.332442 +v 2.756113 1.557329 -0.084162 +v 1.395206 1.307282 -0.250849 +v 1.395206 1.474013 0.415900 +v 1.534130 1.862887 -0.362024 +v 1.367388 1.140552 0.304724 +v 2.617190 1.612938 -0.195261 +v 3.033959 1.779473 -0.028574 +v 1.339570 1.640645 0.415900 +f 91 74 106 +f 65 69 70 +f 70 69 74 +f 67 66 78 +f 70 74 79 +f 67 78 79 +f 82 77 84 +f 70 79 86 +f 79 78 86 +f 75 81 87 +f 78 66 88 +f 66 83 88 +f 83 72 88 +f 66 67 89 +f 67 79 89 +f 79 74 89 +f 83 66 89 +f 68 75 90 +f 75 73 90 +f 76 68 90 +f 81 83 91 +f 89 74 91 +f 83 89 91 +f 78 71 92 +f 71 86 92 +f 86 78 92 +f 81 75 93 +f 72 83 93 +f 83 81 93 +f 88 72 93 +f 88 93 94 +f 75 68 94 +f 78 88 94 +f 93 75 94 +f 68 76 95 +f 82 71 95 +f 77 82 95 +f 73 75 96 +f 65 70 97 +f 77 65 97 +f 70 84 97 +f 84 77 97 +f 69 65 98 +f 65 80 98 +f 80 73 98 +f 96 69 98 +f 73 96 98 +f 76 80 99 +f 95 76 99 +f 85 95 99 +f 65 77 100 +f 80 65 100 +f 99 80 100 +f 85 99 100 +f 87 69 101 +f 75 87 101 +f 69 96 101 +f 96 75 101 +f 71 82 102 +f 84 70 102 +f 82 84 102 +f 70 86 102 +f 86 71 102 +f 73 80 103 +f 80 76 103 +f 90 73 103 +f 76 90 103 +f 77 95 104 +f 95 85 104 +f 100 77 104 +f 85 100 104 +f 71 78 105 +f 94 68 105 +f 78 94 105 +f 68 95 105 +f 95 71 105 +f 74 69 106 +f 69 87 106 +f 87 81 106 +f 81 91 106 +o convex_2 +v -1.300105 1.168462 -0.028596 +v -1.272235 2.140739 0.026938 +v -1.272235 2.029585 0.193538 +v -2.966996 1.779490 -0.028596 +v -1.272235 1.057203 0.332469 +v -1.272235 1.946114 -0.306393 +v -2.744700 1.723807 -0.250794 +v -2.605516 1.779490 0.193538 +v -2.605516 2.001691 -0.084129 +v -2.772404 1.529606 -0.000796 +v -1.383383 1.557394 0.360268 +v -1.272235 1.307405 -0.167462 +v -1.300105 2.085162 -0.250794 +v -1.939290 1.974008 0.193538 +v -1.300105 1.057203 0.110205 +v -2.577978 1.585289 -0.195261 +v -2.716830 1.696124 0.165804 +v -2.605516 1.890537 -0.223060 +v -1.272235 1.918326 0.276870 +v -2.605516 1.974008 0.026938 +v -1.300105 1.835066 -0.306393 +v -1.300105 1.168462 0.360268 +v -2.772404 1.529606 -0.056395 +v -1.828142 1.779490 0.276870 +v -1.300105 1.057203 0.332469 +v -2.939126 1.779490 -0.111928 +v -2.105846 1.751595 -0.278593 +v -1.300105 2.140739 -0.056395 +v -2.744700 1.779490 0.165804 +v -1.383383 1.307405 -0.167462 +v -1.966994 2.001691 0.165804 +v -2.772404 1.946114 -0.056395 +v -2.577978 1.557394 0.138004 +v -1.272235 1.557394 0.360268 +v -2.744700 1.779490 -0.250794 +v -2.550108 1.946114 -0.195261 +v -2.577978 1.890537 0.138004 +v -2.605516 2.001691 -0.028596 +v -2.966996 1.723807 -0.084129 +v -1.438957 1.974008 0.249136 +v -1.272235 2.112951 -0.195261 +f 115 134 147 +f 108 109 111 +f 108 111 112 +f 112 111 118 +f 107 118 121 +f 118 111 121 +f 107 121 122 +f 110 116 123 +f 119 112 124 +f 111 109 125 +f 112 118 127 +f 117 114 128 +f 114 123 128 +f 121 116 129 +f 113 122 129 +f 122 121 129 +f 114 117 130 +f 117 125 130 +f 116 121 131 +f 121 111 131 +f 128 123 131 +f 111 128 131 +f 112 127 133 +f 110 123 135 +f 123 114 135 +f 118 107 136 +f 122 113 136 +f 107 122 136 +f 127 118 136 +f 113 133 136 +f 133 127 136 +f 109 108 137 +f 132 110 138 +f 110 135 138 +f 135 126 138 +f 123 116 139 +f 116 131 139 +f 131 123 139 +f 111 125 140 +f 125 117 140 +f 117 128 140 +f 128 111 140 +f 124 112 141 +f 113 132 141 +f 112 133 141 +f 133 113 141 +f 138 124 141 +f 132 138 141 +f 115 119 142 +f 119 124 142 +f 138 115 142 +f 124 138 142 +f 114 120 143 +f 135 114 143 +f 126 135 143 +f 120 137 143 +f 137 126 143 +f 108 134 144 +f 134 115 144 +f 137 108 144 +f 126 137 144 +f 115 138 144 +f 138 126 144 +f 116 110 145 +f 113 129 145 +f 129 116 145 +f 110 132 145 +f 132 113 145 +f 120 114 146 +f 125 109 146 +f 114 130 146 +f 130 125 146 +f 109 137 146 +f 137 120 146 +f 108 112 147 +f 112 119 147 +f 119 115 147 +f 134 108 147 +o convex_3 +v 0.477963 2.140706 0.888145 +v -0.133089 1.057203 -1.001033 +v -0.382972 1.057203 -0.945230 +v -0.188478 2.751848 -0.889621 +v -1.271982 1.057203 0.360241 +v 1.311330 1.112885 0.332436 +v 0.894773 2.501703 -0.889814 +v -0.605288 2.779603 0.554681 +v -1.271982 2.112779 -0.278496 +v 0.866952 2.751848 0.221217 +v -0.105268 1.057203 0.971559 +v 0.866952 1.057203 -0.862009 +v -0.855425 2.251729 0.749121 +v 1.311330 2.112779 -0.278496 +v -0.799783 1.057203 -0.834204 +v 0.839131 2.279485 0.804731 +v 0.811310 1.057203 0.888145 +v -0.855425 2.307241 -0.834204 +v -0.021805 2.696165 0.804731 +v -0.938635 2.668409 -0.056251 +v 1.311330 1.974000 0.360241 +v -0.827604 1.057203 0.832342 +v -1.271982 2.001756 0.249022 +v 1.311330 1.335274 -0.278496 +v 0.561426 2.779603 -0.583961 +v -0.105268 2.029341 0.943754 +v -1.216593 1.057203 -0.167277 +v -0.077447 2.057096 -1.001033 +v 0.616815 2.751848 0.665707 +v -0.633109 2.751848 -0.639571 +v 0.477963 1.057203 -0.973228 +v 0.228079 2.807530 -0.417519 +v -1.271982 1.890904 -0.333912 +v 0.977983 2.668409 -0.001027 +v 1.144657 1.057203 0.582486 +v 1.311330 1.724198 -0.361910 +v -0.410794 2.807530 0.388046 +v 0.005764 1.724198 0.971559 +v 1.144657 1.057203 -0.306300 +v -1.216593 1.335103 0.443462 +v 0.116795 2.057096 -1.001033 +v 1.311330 2.168462 0.054582 +v 1.311330 1.640931 0.415657 +v -0.716572 2.779603 -0.084055 +v -1.271982 2.168291 0.026777 +v 0.339110 2.807530 -0.111667 +v 0.061153 2.779603 0.721317 +v 0.839131 2.168462 0.832535 +v -0.438615 2.807530 -0.167277 +v 0.783489 2.446191 -0.917618 +v -0.827604 1.251836 0.832342 +v -1.271982 1.307347 -0.167277 +v -0.855425 1.779710 -0.834204 +v 0.866952 1.474053 -0.889814 +v 0.894773 2.529630 -0.862009 +v 0.144616 1.057203 0.971559 +v -1.271982 1.585248 0.360241 +v 0.728099 2.307241 0.832535 +v -0.966456 2.612897 0.054582 +v -0.744140 2.501874 0.665707 +v -0.077447 2.751848 0.776926 +v 1.311330 1.112885 0.054582 +v 0.227826 1.057203 -1.001033 +v 0.061153 2.057096 0.943754 +f 205 166 211 +f 150 149 152 +f 152 149 158 +f 158 149 159 +f 150 152 162 +f 158 159 164 +f 149 150 165 +f 153 161 168 +f 152 158 169 +f 156 152 170 +f 161 153 171 +f 166 160 173 +f 162 152 174 +f 149 165 175 +f 165 151 175 +f 168 157 176 +f 163 168 176 +f 151 165 177 +f 165 156 177 +f 156 167 177 +f 159 149 178 +f 172 151 179 +f 152 156 180 +f 156 165 180 +f 172 157 181 +f 164 159 182 +f 154 161 183 +f 171 159 183 +f 161 171 183 +f 164 148 185 +f 173 158 185 +f 159 171 186 +f 153 182 186 +f 182 159 186 +f 152 169 187 +f 149 175 188 +f 175 151 188 +f 168 161 189 +f 157 168 189 +f 161 181 189 +f 181 157 189 +f 153 168 190 +f 182 153 190 +f 164 182 190 +f 167 155 191 +f 177 167 191 +f 155 184 191 +f 167 156 192 +f 156 170 192 +f 157 172 193 +f 176 157 193 +f 172 179 193 +f 179 184 193 +f 193 184 194 +f 184 155 194 +f 176 193 194 +f 148 164 195 +f 168 163 195 +f 164 190 195 +f 190 168 195 +f 151 177 196 +f 179 151 196 +f 184 179 196 +f 177 191 196 +f 191 184 196 +f 151 154 197 +f 188 151 197 +f 178 188 197 +f 169 158 198 +f 158 173 198 +f 173 160 198 +f 187 169 198 +f 160 187 198 +f 174 152 199 +f 162 174 199 +f 152 180 199 +f 180 162 199 +f 150 162 200 +f 165 150 200 +f 180 165 200 +f 162 180 200 +f 159 178 201 +f 154 183 201 +f 183 159 201 +f 197 154 201 +f 178 197 201 +f 154 151 202 +f 161 154 202 +f 151 172 202 +f 181 161 202 +f 172 181 202 +f 158 164 203 +f 164 185 203 +f 185 158 203 +f 170 152 204 +f 160 170 204 +f 152 187 204 +f 187 160 204 +f 176 166 205 +f 163 176 205 +f 148 195 205 +f 195 163 205 +f 155 167 206 +f 167 192 206 +f 206 192 207 +f 170 160 207 +f 192 170 207 +f 155 206 207 +f 160 166 208 +f 166 176 208 +f 194 155 208 +f 176 194 208 +f 155 207 208 +f 207 160 208 +f 171 153 209 +f 186 171 209 +f 153 186 209 +f 178 149 210 +f 149 188 210 +f 188 178 210 +f 166 173 211 +f 185 148 211 +f 173 185 211 +f 148 205 211 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/413/413.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/413/413.urdf new file mode 100644 index 000000000..59f64d2f9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/413/413.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/414/414.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/414/414.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/414/414.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/414/414.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/414/414.obj new file mode 100644 index 000000000..987807360 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/414/414.obj @@ -0,0 +1,501 @@ +o convex_0 +v -1.104077 -2.299328 0.577079 +v 1.022814 -0.341466 1.117585 +v 1.022814 0.063368 1.083558 +v 1.124240 -4.190009 -1.076939 +v -1.036460 0.199040 -1.042912 +v 1.022814 0.199040 -1.009104 +v 0.989005 -4.155982 1.049749 +v -1.002651 -4.257627 -1.110530 +v -1.070268 0.199040 1.015940 +v -0.935252 -4.190009 0.914950 +v 1.090431 0.199040 -0.097790 +v 1.056623 -2.467718 1.117585 +v -0.496394 0.199040 1.083776 +v 0.989005 -0.240258 -1.042912 +v -1.036460 -3.244668 0.948540 +v 0.989005 0.199040 1.083558 +v 1.090431 -2.602954 0.678506 +v 1.090431 0.199040 -0.671669 +v -1.002651 -4.257627 -0.671451 +v -1.104077 -1.016771 0.982349 +v 0.853989 -2.298892 -1.076939 +v -0.766209 -4.121955 0.948540 +v -1.104077 -2.534900 0.948540 +v 1.090431 -4.190009 -0.401416 +v 0.516339 -1.286806 1.117585 +v -0.732618 -3.953565 -1.110748 +v 1.056623 -1.253216 1.117585 +v -0.968843 0.165013 1.049749 +v 1.124240 -3.852356 -0.705260 +v -1.036460 -0.813918 -1.042912 +v -0.529984 -4.257627 -1.042912 +v -0.428777 0.199040 -1.042912 +v 1.056623 0.199040 0.678287 +v 0.853989 -4.155982 1.049749 +v 0.853989 -2.163656 1.117585 +v 1.022814 -3.581885 1.049749 +v -1.002651 -4.223599 -0.435225 +v -1.104077 -1.928085 0.982349 +v -1.104077 -2.265301 0.543270 +v 1.124240 -4.054337 -1.076939 +v -0.968843 -3.953565 0.914732 +v 1.056623 0.199040 -0.874086 +v -1.002651 -3.514703 0.948540 +v 1.022814 -2.940607 -1.076939 +v 1.056623 -4.190009 -0.232590 +v -0.665001 -4.257627 -1.110748 +f 44 40 46 +f 6 5 9 +f 6 9 11 +f 11 9 13 +f 2 3 16 +f 13 2 16 +f 11 13 16 +f 6 11 18 +f 7 10 19 +f 9 5 20 +f 1 8 23 +f 8 19 23 +f 20 1 23 +f 12 2 25 +f 2 13 25 +f 8 5 26 +f 3 2 27 +f 2 12 27 +f 17 11 27 +f 12 17 27 +f 13 9 28 +f 25 13 28 +f 11 17 29 +f 18 11 29 +f 24 4 29 +f 17 24 29 +f 5 8 30 +f 7 19 31 +f 19 8 31 +f 4 24 31 +f 5 6 32 +f 6 14 32 +f 14 21 32 +f 26 5 32 +f 21 26 32 +f 16 3 33 +f 11 16 33 +f 3 27 33 +f 27 11 33 +f 10 7 34 +f 7 12 34 +f 22 10 34 +f 22 34 35 +f 12 25 35 +f 34 12 35 +f 12 7 36 +f 17 12 36 +f 24 17 36 +f 7 24 36 +f 19 10 37 +f 23 19 37 +f 15 23 37 +f 9 20 38 +f 23 15 38 +f 20 23 38 +f 28 9 38 +f 8 1 39 +f 1 20 39 +f 20 5 39 +f 5 30 39 +f 30 8 39 +f 14 6 40 +f 29 4 40 +f 18 29 40 +f 37 10 41 +f 15 37 41 +f 6 18 42 +f 40 6 42 +f 18 40 42 +f 10 22 43 +f 25 28 43 +f 22 35 43 +f 35 25 43 +f 38 15 43 +f 28 38 43 +f 41 10 43 +f 15 41 43 +f 21 14 44 +f 26 21 44 +f 14 40 44 +f 24 7 45 +f 7 31 45 +f 31 24 45 +f 8 26 46 +f 4 31 46 +f 31 8 46 +f 40 4 46 +f 26 44 46 +o convex_1 +v 1.056536 2.393961 -0.705389 +v -1.104094 1.414494 -0.030219 +v -1.104094 1.414494 0.611010 +v -1.002700 3.912928 0.914976 +v 0.955357 1.414494 1.083607 +v -0.968974 3.811436 -0.975628 +v 1.090477 3.878934 0.914976 +v 1.022810 1.414494 -1.009140 +v 0.955357 3.878934 -1.042866 +v -1.070152 1.414494 -1.110748 +v -1.036426 1.549736 1.083822 +v 1.090477 1.414494 -0.604210 +v -1.104094 1.853481 -1.110748 +v 0.989083 2.056222 1.083607 +v -0.935247 3.844940 0.948702 +v 1.090477 3.845185 0.948488 +v -0.968974 1.414494 1.083822 +v -1.036426 1.921224 1.083822 +v 0.989083 1.414494 1.016155 +v -0.631281 2.258718 -1.110748 +v -1.002700 3.912928 0.543557 +v 0.989083 3.507446 -1.042866 +v -0.800127 3.844940 -0.975628 +v -0.124743 3.912928 0.914761 +v -1.002700 3.473942 -1.009140 +v 1.090477 3.811436 0.644736 +v 0.685332 3.878934 -1.042866 +v 1.056536 1.853726 -1.009140 +v 1.090477 3.608939 0.948488 +v -1.104094 1.515987 0.611010 +v -0.732675 1.786227 -1.110748 +v 0.347640 3.878934 -1.009140 +v -1.036426 2.090216 -1.110748 +v 0.989083 3.878934 -0.806567 +v -1.036426 2.393716 1.049881 +v -0.327315 3.844940 -1.009140 +v 0.279972 3.135958 -1.076807 +v 1.090477 1.448488 -0.671662 +v -0.968974 3.844940 -0.874235 +v 0.145067 2.022473 1.083822 +f 61 64 86 +f 49 48 51 +f 51 48 54 +f 54 48 56 +f 51 54 58 +f 48 49 59 +f 56 48 59 +f 61 60 62 +f 58 53 62 +f 50 61 62 +f 49 51 63 +f 57 49 63 +f 49 57 64 +f 57 63 64 +f 51 58 65 +f 60 51 65 +f 56 59 66 +f 59 50 67 +f 50 62 70 +f 62 53 70 +f 67 50 70 +f 55 67 70 +f 59 67 71 +f 53 58 72 +f 47 68 72 +f 67 55 73 +f 68 47 74 +f 54 68 74 +f 47 72 74 +f 62 60 75 +f 58 62 75 +f 65 58 75 +f 60 65 75 +f 59 49 76 +f 50 59 76 +f 49 64 76 +f 54 56 77 +f 56 66 77 +f 67 73 78 +f 73 69 78 +f 66 59 79 +f 59 71 79 +f 73 66 79 +f 68 55 80 +f 70 53 80 +f 55 70 80 +f 53 72 80 +f 72 68 80 +f 61 50 81 +f 64 61 81 +f 50 76 81 +f 76 64 81 +f 52 69 82 +f 71 52 82 +f 69 73 82 +f 79 71 82 +f 73 79 82 +f 55 68 83 +f 68 54 83 +f 73 55 83 +f 66 73 83 +f 54 77 83 +f 77 66 83 +f 58 54 84 +f 72 58 84 +f 54 74 84 +f 74 72 84 +f 69 52 85 +f 52 71 85 +f 71 67 85 +f 67 78 85 +f 78 69 85 +f 51 60 86 +f 60 61 86 +f 63 51 86 +f 64 63 86 +o convex_2 +v 1.124405 0.300470 -0.502955 +v 2.035973 1.414494 0.442266 +v 2.035973 1.414494 0.408557 +v 3.082472 0.232803 -0.401601 +v 3.014811 1.380718 -0.604309 +v 2.980883 0.368022 0.543620 +v 1.090477 0.334130 0.543620 +v 1.090477 1.279391 -0.502955 +v 2.980883 1.380603 0.476088 +v 1.090477 1.414494 0.442266 +v 3.082472 0.300354 -0.469133 +v 1.158138 0.368022 -0.536777 +v 2.440767 1.144288 0.509798 +v 1.090477 1.414494 0.239671 +v 3.014811 1.279275 0.408557 +v 2.103048 1.346943 -0.570487 +v 1.191871 0.570561 0.543620 +v 1.090477 0.334130 -0.502955 +v 2.035973 0.334130 0.543620 +v 2.980883 0.671773 0.543620 +v 3.082472 0.469233 -0.266537 +v 1.293264 1.279391 -0.536777 +v 3.014811 1.313167 -0.604309 +v 3.014811 0.367906 0.408557 +v 2.035973 1.380603 0.476088 +v 2.069510 0.300470 -0.502955 +v 1.462124 1.313051 -0.536777 +v 3.014811 0.232803 -0.435423 +f 112 97 114 +f 89 88 91 +f 91 88 95 +f 88 89 96 +f 94 93 96 +f 95 88 96 +f 89 91 100 +f 96 89 100 +f 94 96 100 +f 91 95 101 +f 91 98 102 +f 100 91 102 +f 93 92 103 +f 96 93 103 +f 87 93 104 +f 93 94 104 +f 98 87 104 +f 94 98 104 +f 90 92 105 +f 93 90 105 +f 92 93 105 +f 95 99 106 +f 92 101 106 +f 101 95 106 +f 103 92 106 +f 99 103 106 +f 90 97 107 +f 97 91 107 +f 91 101 107 +f 98 94 108 +f 102 98 108 +f 91 97 109 +f 98 91 109 +f 92 90 110 +f 101 92 110 +f 90 107 110 +f 107 101 110 +f 95 96 111 +f 99 95 111 +f 96 103 111 +f 103 99 111 +f 87 98 112 +f 109 97 112 +f 98 109 112 +f 94 100 113 +f 100 102 113 +f 108 94 113 +f 102 108 113 +f 90 93 114 +f 93 87 114 +f 97 90 114 +f 87 112 114 +o convex_3 +v -3.096088 0.570445 0.475966 +v -1.104288 1.414494 -0.064051 +v -1.104288 1.414494 -0.536784 +v -1.104093 0.232803 0.509663 +v -3.062160 0.266578 -0.469063 +v -3.028232 1.313167 0.509663 +v -1.104093 0.300354 -0.502869 +v -2.994500 1.313167 -0.435367 +v -1.104288 1.346827 0.442161 +v -3.096088 0.266578 0.577274 +v -3.062160 1.144288 0.543468 +v -2.116665 1.380718 -0.502869 +v -3.096088 0.300354 -0.401561 +v -1.779531 0.232803 0.543468 +v -1.644599 1.346943 0.475966 +v -1.408274 1.178063 -0.536675 +v -1.104093 0.232803 0.273351 +v -1.543011 1.414494 -0.266557 +v -3.028232 0.941633 -0.469063 +v -2.049784 0.266578 -0.469063 +v -1.948390 0.300354 -0.502869 +v -1.138021 0.469233 0.509663 +v -1.138021 1.380603 0.408464 +v -2.184325 0.232803 0.509663 +v -3.028232 1.313167 0.003560 +v -2.690904 1.346943 -0.469063 +v -1.104288 0.907972 -0.536784 +v -3.028232 0.469233 0.577274 +v -2.927034 1.110627 0.543468 +v -2.319452 0.637997 -0.502869 +f 130 135 144 +f 117 116 121 +f 116 118 121 +f 118 116 123 +f 115 124 125 +f 124 115 127 +f 119 124 127 +f 115 125 127 +f 120 125 129 +f 126 117 130 +f 121 118 131 +f 118 128 131 +f 116 117 132 +f 120 116 132 +f 117 126 132 +f 119 127 133 +f 126 130 133 +f 119 121 134 +f 121 131 134 +f 131 119 134 +f 121 119 135 +f 118 123 136 +f 128 118 136 +f 123 129 136 +f 116 120 137 +f 123 116 137 +f 120 129 137 +f 129 123 137 +f 124 119 138 +f 128 124 138 +f 119 131 138 +f 131 128 138 +f 125 120 139 +f 127 125 139 +f 122 133 139 +f 133 127 139 +f 120 132 140 +f 132 126 140 +f 133 122 140 +f 126 133 140 +f 139 120 140 +f 122 139 140 +f 117 121 141 +f 130 117 141 +f 121 135 141 +f 135 130 141 +f 125 124 142 +f 124 128 142 +f 128 136 142 +f 142 136 143 +f 129 125 143 +f 136 129 143 +f 125 142 143 +f 119 133 144 +f 133 130 144 +f 135 119 144 +o convex_4 +v -1.070152 0.199159 0.881035 +v 1.090474 0.840556 0.509831 +v 1.090474 0.739308 0.509831 +v -1.070152 1.414256 -1.110748 +v 1.022807 0.199159 -1.009140 +v -0.968759 1.414256 1.083822 +v 1.056533 1.414256 -0.975414 +v -1.036426 0.199159 -1.043081 +v 0.989080 0.199159 1.083607 +v 0.955139 1.414256 1.083607 +v -1.070152 0.401774 1.049881 +v -1.104093 1.414256 0.577284 +v -1.104093 0.300407 -0.502816 +v 1.090259 0.199159 -0.671662 +v 1.090474 1.414375 0.442164 +v -0.496377 0.199159 1.083822 +v -1.036426 0.232829 -1.076807 +v 1.022807 1.414256 -1.009140 +v -1.104093 0.232829 0.509831 +v 1.090259 0.334315 0.543343 +v 1.090474 1.414375 -0.705389 +v -1.104093 1.414256 -0.536757 +v 0.989080 1.313008 1.083607 +v -1.036426 1.414256 1.049881 +v 1.022807 0.199159 1.016155 +v -0.968759 1.380705 -1.110748 +v -1.070152 0.401774 -1.076807 +v -1.070152 0.199159 1.016155 +f 155 163 172 +f 149 145 152 +f 145 149 153 +f 149 151 158 +f 153 149 158 +f 146 147 159 +f 150 154 159 +f 145 153 160 +f 154 150 160 +f 150 155 160 +f 149 152 161 +f 151 149 162 +f 152 145 163 +f 155 156 163 +f 157 152 163 +f 156 157 163 +f 147 146 164 +f 158 147 164 +f 147 158 165 +f 158 151 165 +f 159 147 165 +f 156 159 165 +f 162 148 165 +f 151 162 165 +f 148 157 166 +f 157 156 166 +f 165 148 166 +f 156 165 166 +f 159 154 167 +f 160 153 167 +f 154 160 167 +f 155 150 168 +f 156 155 168 +f 150 159 168 +f 159 156 168 +f 153 158 169 +f 146 159 169 +f 164 146 169 +f 158 164 169 +f 159 167 169 +f 167 153 169 +f 161 148 170 +f 149 161 170 +f 148 162 170 +f 162 149 170 +f 152 157 171 +f 157 148 171 +f 148 161 171 +f 161 152 171 +f 145 160 172 +f 160 155 172 +f 163 145 172 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/414/414.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/414/414.urdf new file mode 100644 index 000000000..35c227835 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/414/414.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/415/415.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/415/415.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/415/415.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/415/415.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/415/415.obj new file mode 100644 index 000000000..31752dfc2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/415/415.obj @@ -0,0 +1,708 @@ +o convex_0 +v -1.696862 -1.248166 -0.139155 +v -2.845170 -3.123502 -0.445483 +v -2.845170 -3.123502 -0.407150 +v -1.811636 -3.812554 -0.445483 +v -2.730171 -3.812554 0.588051 +v -2.768504 -1.133234 0.549718 +v -1.849969 -3.812554 0.511385 +v -2.806725 -1.133234 -0.522037 +v -1.811636 -1.132965 0.549718 +v -1.773415 -1.132965 -0.522037 +v -2.806725 -3.889176 -0.522037 +v -2.117852 -1.209586 -0.560370 +v -2.845170 -1.133234 -0.139267 +v -2.768504 -2.473299 0.588051 +v -1.696862 -1.898909 -0.330596 +v -2.347401 -3.812554 0.588051 +v -2.615396 -1.133234 -0.560370 +v -2.768504 -1.592423 0.588051 +v -1.811636 -2.051882 0.549718 +v -1.773415 -3.468028 -0.445483 +v -2.806725 -3.889176 -0.215821 +v -2.194518 -3.850865 -0.483704 +v -1.696862 -1.132965 -0.407150 +v -2.079631 -3.850865 0.281611 +v -2.768504 -3.812554 0.358165 +v -1.773415 -2.817286 -0.483704 +v -2.423955 -1.936949 -0.560370 +v -1.811636 -3.812554 -0.024380 +v -2.845170 -1.133234 -0.330596 +v -2.003077 -3.812554 0.549718 +v -2.538842 -3.889176 -0.445483 +v -2.845170 -3.085191 -0.368929 +f 21 25 32 +f 3 2 11 +f 2 8 11 +f 2 3 13 +f 6 9 13 +f 1 7 15 +f 14 5 16 +f 8 10 17 +f 11 8 17 +f 10 12 17 +f 9 6 18 +f 6 13 18 +f 13 14 18 +f 16 9 18 +f 14 16 18 +f 7 1 19 +f 1 9 19 +f 9 16 19 +f 3 11 21 +f 9 1 23 +f 10 9 23 +f 1 15 23 +f 15 20 23 +f 16 5 24 +f 5 21 24 +f 5 14 25 +f 21 5 25 +f 12 10 26 +f 20 4 26 +f 4 22 26 +f 22 12 26 +f 10 23 26 +f 23 20 26 +f 11 17 27 +f 17 12 27 +f 12 22 27 +f 22 11 27 +f 15 7 28 +f 4 20 28 +f 20 15 28 +f 24 4 28 +f 7 24 28 +f 8 2 29 +f 9 10 29 +f 10 8 29 +f 2 13 29 +f 13 9 29 +f 7 19 30 +f 19 16 30 +f 24 7 30 +f 16 24 30 +f 21 11 31 +f 22 4 31 +f 11 22 31 +f 4 24 31 +f 24 21 31 +f 13 3 32 +f 14 13 32 +f 3 21 32 +f 25 14 32 +o convex_1 +v -0.701413 -0.673042 -1.019686 +v 0.638375 2.885754 1.047420 +v 0.638375 4.149774 1.009087 +v -1.313826 4.149774 0.932420 +v -1.352212 -1.860096 0.932420 +v -1.275441 4.149774 -0.943020 +v 0.638375 -1.898579 -0.981353 +v 0.638375 4.149774 -1.019686 +v 0.638375 -1.821613 1.047420 +v -1.237250 -1.821021 -0.981353 +v -1.352212 1.469577 -0.521973 +v -1.275441 4.149774 0.970754 +v 0.293685 2.541774 -1.058019 +v 0.063957 -1.821613 1.047420 +v -1.352212 -1.093987 -0.483640 +v 0.638375 1.087706 -1.058019 +v -1.352212 1.584434 0.932420 +v -1.084098 -1.860096 0.970754 +v -1.313826 -1.860096 -0.100927 +v -0.892756 3.689754 -0.981353 +v 0.599989 3.613379 -1.058019 +v 0.025767 -1.898579 -0.215720 +v 0.638375 -1.017613 -1.019686 +v -1.313826 4.149774 0.281581 +v -1.237250 0.590387 -0.981353 +v -1.275636 -1.477042 -0.904687 +v -0.930946 -1.860096 -0.981353 +v -0.165576 4.149774 1.008881 +v 0.485223 2.465400 1.047420 +v -0.012619 4.149774 -1.019686 +v 0.178919 1.201380 -1.058019 +v 0.638375 -1.898579 -0.521973 +v -0.663223 -1.860096 0.970754 +v -1.313826 2.885754 -0.751560 +v -1.275441 3.498522 0.970754 +v -1.352212 -1.860096 0.473041 +v -0.089000 -1.898579 -0.254053 +v -1.275636 -1.706164 -0.866560 +v 0.293685 -1.898579 -0.981353 +v -1.275636 1.239863 -0.943020 +v -1.352212 0.130958 -0.521973 +v 0.063957 -1.554008 1.047420 +f 46 61 74 +f 36 35 38 +f 35 34 39 +f 38 35 40 +f 35 39 40 +f 39 34 41 +f 35 36 44 +f 41 34 46 +f 37 43 47 +f 40 39 48 +f 43 37 49 +f 44 36 49 +f 37 44 49 +f 41 46 50 +f 40 48 53 +f 48 45 53 +f 50 37 54 +f 42 33 55 +f 48 39 55 +f 36 38 56 +f 49 36 56 +f 43 49 56 +f 33 42 57 +f 45 33 57 +f 38 52 57 +f 52 45 57 +f 51 42 59 +f 42 55 59 +f 34 35 60 +f 35 44 60 +f 60 44 61 +f 46 34 61 +f 34 60 61 +f 38 40 62 +f 52 38 62 +f 45 52 62 +f 53 45 62 +f 40 53 62 +f 33 45 63 +f 45 48 63 +f 55 33 63 +f 48 55 63 +f 39 41 64 +f 54 39 64 +f 54 64 65 +f 41 50 65 +f 50 54 65 +f 64 41 65 +f 56 38 66 +f 43 56 66 +f 44 37 67 +f 46 44 67 +f 37 50 67 +f 50 46 67 +f 37 47 68 +f 39 54 69 +f 54 37 69 +f 51 59 69 +f 37 68 69 +f 68 51 69 +f 42 51 70 +f 58 42 70 +f 47 58 70 +f 68 47 70 +f 51 68 70 +f 55 39 71 +f 59 55 71 +f 39 69 71 +f 69 59 71 +f 57 42 72 +f 38 57 72 +f 42 58 72 +f 66 38 72 +f 66 72 73 +f 47 43 73 +f 58 47 73 +f 43 66 73 +f 72 58 73 +f 44 46 74 +f 61 44 74 +o convex_2 +v 0.638374 -1.055556 -1.019619 +v 0.676670 -1.706321 1.085701 +v 0.829778 2.158922 1.047300 +v 0.829778 -3.735731 -1.058019 +v 0.638374 4.149774 -1.019619 +v 0.791482 4.111216 -1.058019 +v 0.638374 4.149774 1.008899 +v 0.829778 -3.889176 1.008899 +v 0.638374 -3.084966 1.047300 +v 0.676670 -3.735731 -1.058019 +v 0.791482 4.149774 0.511370 +v 0.829778 2.196693 -1.058019 +v 0.676670 -3.889176 1.008899 +v 0.791482 3.805113 1.008899 +v 0.638374 -1.897537 -0.981428 +v 0.638374 3.766555 -1.058019 +v 0.638374 3.000903 1.047300 +v 0.829778 -3.084966 1.047300 +v 0.753187 4.149774 1.008899 +v 0.829778 -3.774289 -0.942818 +v 0.791482 3.307006 1.047300 +v 0.829778 2.311580 -0.521879 +v 0.676670 -3.889176 0.741144 +v 0.791482 4.149774 -1.019619 +v 0.638374 -1.821208 1.085701 +f 83 92 99 +f 79 75 81 +f 78 77 82 +f 81 75 83 +f 80 78 84 +f 79 81 85 +f 77 78 86 +f 78 80 86 +f 82 83 87 +f 77 85 88 +f 83 75 89 +f 75 84 89 +f 84 83 89 +f 75 79 90 +f 79 80 90 +f 84 75 90 +f 80 84 90 +f 81 83 91 +f 77 76 92 +f 82 77 92 +f 83 82 92 +f 85 81 93 +f 88 85 93 +f 78 82 94 +f 84 78 94 +f 76 77 95 +f 77 88 95 +f 91 76 95 +f 81 91 95 +f 93 81 95 +f 88 93 95 +f 85 77 96 +f 77 86 96 +f 83 84 97 +f 82 87 97 +f 87 83 97 +f 94 82 97 +f 84 94 97 +f 80 79 98 +f 79 85 98 +f 86 80 98 +f 85 96 98 +f 96 86 98 +f 76 91 99 +f 91 83 99 +f 92 76 99 +o convex_3 +v 2.820375 -0.329519 -0.253847 +v 1.021317 2.158720 1.047420 +v 2.667027 0.282373 0.970754 +v 0.829973 -3.888569 1.009087 +v 0.829973 2.196963 -1.058019 +v 2.628837 -3.850326 -1.019686 +v 2.705413 2.312300 -1.019686 +v 0.829973 -3.735596 -1.058019 +v 2.705413 -3.850326 1.009087 +v 2.667222 2.196963 0.932420 +v 0.829973 2.312300 0.434914 +v 0.829973 2.158720 1.047420 +v 1.978034 2.273449 -1.058019 +v 0.868164 -3.084247 1.047420 +v 2.820375 0.895479 -0.253847 +v 2.705413 1.584464 0.894087 +v 0.829973 2.312300 -0.521973 +v 1.633928 -3.889176 -0.062593 +v 2.820375 -0.674316 -0.100720 +v 1.710309 -2.854788 1.047420 +v 2.667027 -3.390800 -0.904687 +v 0.906549 -3.773840 -1.058019 +v 2.705413 2.273449 -0.100720 +v 1.289237 -3.773840 -1.058019 +v 2.743799 1.966897 -0.866354 +v 2.322726 2.196963 0.970754 +v 2.705413 -3.850326 0.817627 +v 0.829973 -3.888569 0.626167 +v 2.705413 0.895479 -1.019686 +v 2.169378 -3.850326 -1.019686 +v 1.404004 -3.889176 1.009087 +v 2.667222 2.235206 0.587834 +v 2.705413 -0.940804 0.970754 +v 2.705413 1.852167 0.855754 +v 0.982931 2.235206 -1.058019 +v 1.404004 2.196963 1.009087 +v 2.705413 2.235206 0.243248 +v 2.820375 -0.674316 -0.177387 +v 2.705413 2.312300 -0.789893 +v 2.667027 -3.850326 -0.330513 +v 2.667027 -2.089316 -1.019686 +v 2.820375 0.588926 -0.330513 +v 2.705413 -3.735596 1.009087 +v 2.437493 2.312300 -1.019686 +v 1.710309 -3.889176 0.013661 +v 0.906549 2.312300 0.434914 +f 122 138 145 +f 103 104 107 +f 104 103 110 +f 110 103 111 +f 107 104 112 +f 101 111 113 +f 111 103 113 +f 104 110 116 +f 110 106 116 +f 100 114 118 +f 114 115 118 +f 101 113 119 +f 113 108 119 +f 107 112 121 +f 112 105 123 +f 105 121 123 +f 121 112 123 +f 101 102 125 +f 102 109 125 +f 118 108 126 +f 103 107 127 +f 107 121 127 +f 121 117 127 +f 112 106 128 +f 106 124 128 +f 105 117 129 +f 121 105 129 +f 117 121 129 +f 108 113 130 +f 113 103 130 +f 103 127 130 +f 127 117 130 +f 109 122 131 +f 109 102 132 +f 115 109 132 +f 118 115 132 +f 109 115 133 +f 115 114 133 +f 112 104 134 +f 104 116 134 +f 110 111 135 +f 111 101 135 +f 101 125 135 +f 122 109 136 +f 114 124 136 +f 124 122 136 +f 109 133 136 +f 133 114 136 +f 100 118 137 +f 120 100 137 +f 118 126 137 +f 106 110 138 +f 124 106 138 +f 122 124 138 +f 105 120 139 +f 120 137 139 +f 137 126 139 +f 105 112 140 +f 120 105 140 +f 100 120 140 +f 112 128 140 +f 140 128 141 +f 114 100 141 +f 124 114 141 +f 128 124 141 +f 100 140 141 +f 102 101 142 +f 108 118 142 +f 101 119 142 +f 119 108 142 +f 132 102 142 +f 118 132 142 +f 106 112 143 +f 116 106 143 +f 112 134 143 +f 134 116 143 +f 117 105 144 +f 126 108 144 +f 108 130 144 +f 130 117 144 +f 105 139 144 +f 139 126 144 +f 125 109 145 +f 109 131 145 +f 131 122 145 +f 110 135 145 +f 135 125 145 +f 138 110 145 +o convex_4 +v -3.074877 -1.094560 -0.139245 +v -2.845260 -0.176040 0.243525 +v -2.883523 -0.176040 0.243525 +v -2.960091 -1.132965 0.243525 +v -3.266187 -0.864883 0.243525 +v -3.304539 -0.597177 -0.292353 +v -2.845260 -0.520556 -0.254076 +v -2.845260 -1.056250 -0.254076 +v -3.266187 -0.979722 -0.330686 +v -3.227925 -0.444028 0.205192 +v -3.266187 -1.132965 0.243525 +v -2.845260 -1.132965 0.205192 +f 149 156 157 +f 147 148 149 +f 149 148 150 +f 148 147 152 +f 151 148 152 +f 152 147 153 +f 152 153 154 +f 151 152 154 +f 153 146 154 +f 150 148 155 +f 148 151 155 +f 151 150 155 +f 149 150 156 +f 150 151 156 +f 154 146 156 +f 151 154 156 +f 147 149 157 +f 153 147 157 +f 146 153 157 +f 156 146 157 +o convex_5 +v -2.845260 1.316941 -0.368966 +v -3.189663 0.972602 0.281806 +v -3.266187 0.972602 0.281806 +v -3.189663 1.584824 0.166952 +v -2.845260 1.508296 0.205237 +v -2.845260 0.857633 0.243521 +v -3.227925 1.010831 -0.215829 +v -3.266187 1.508296 -0.215829 +v -2.845260 0.857633 -0.177544 +v -3.304539 0.857633 0.281806 +v -2.845260 1.431768 -0.368966 +v -3.266187 1.546596 0.205237 +v -3.304539 0.896003 0.090383 +v -2.883523 0.972602 -0.292334 +v -3.304539 1.278642 0.205237 +f 165 170 172 +f 158 162 163 +f 162 159 163 +f 158 164 165 +f 158 163 166 +f 159 160 167 +f 163 159 167 +f 166 163 167 +f 162 158 168 +f 161 162 168 +f 165 161 168 +f 158 165 168 +f 160 159 169 +f 162 161 169 +f 159 162 169 +f 161 165 169 +f 167 160 169 +f 165 164 170 +f 164 166 170 +f 166 167 170 +f 164 158 171 +f 158 166 171 +f 166 164 171 +f 169 165 172 +f 167 169 172 +f 170 167 172 +o convex_6 +v -2.079706 0.168407 -0.598651 +v -1.773520 0.474825 0.549771 +v -1.696862 -0.443799 0.319996 +v -2.768399 -1.132965 0.549771 +v -2.845058 0.474825 0.319996 +v -2.806729 -1.132965 -0.521984 +v -1.696862 -1.132965 -0.407210 +v -2.806729 0.474825 -0.560318 +v -1.696862 0.474825 -0.483764 +v -1.811738 -1.132965 0.549771 +v -2.806729 0.474825 0.549771 +v -1.773520 -1.132965 -0.521984 +v -2.845058 -1.132965 0.205222 +v -2.615306 -1.132965 -0.560318 +v -2.845058 -0.979834 -0.330656 +v -1.735191 0.474825 -0.560318 +v -1.696862 -1.094407 0.281776 +v -2.117923 -1.132965 -0.560318 +v -1.735191 -0.252583 -0.560318 +v -1.773520 -0.903190 0.549771 +v -1.964830 0.474825 -0.598651 +v -2.806729 -0.329070 0.549771 +v -2.845058 -0.482043 -0.292323 +f 180 187 195 +f 176 178 179 +f 177 174 180 +f 174 175 181 +f 175 179 181 +f 180 174 181 +f 174 176 182 +f 176 179 182 +f 176 174 183 +f 174 177 183 +f 179 178 184 +f 178 176 185 +f 180 173 186 +f 178 180 186 +f 184 178 186 +f 180 178 187 +f 178 185 187 +f 185 177 187 +f 180 181 188 +f 179 175 189 +f 182 179 189 +f 186 173 190 +f 184 186 190 +f 181 179 191 +f 179 184 191 +f 188 181 191 +f 190 173 191 +f 184 190 191 +f 175 174 192 +f 174 182 192 +f 189 175 192 +f 182 189 192 +f 173 180 193 +f 180 188 193 +f 191 173 193 +f 188 191 193 +f 176 183 194 +f 183 177 194 +f 185 176 194 +f 177 185 194 +f 177 180 195 +f 187 177 195 +o convex_7 +v -1.428837 -1.132965 -0.215814 +v -1.620135 -0.443979 0.281806 +v -1.696716 -0.443979 0.281806 +v -1.390564 0.015457 -0.292375 +v -1.696716 -0.864857 -0.330686 +v -1.352223 -1.094631 0.205244 +v -1.696716 -1.094631 0.281806 +v -1.352223 -0.520533 0.243495 +v -1.352223 -1.094631 -0.330686 +v -1.696716 -0.558754 -0.330686 +v -1.696716 -1.132965 -0.292375 +v -1.352223 0.015457 -0.254064 +v -1.428837 -0.482200 0.281806 +v -1.696716 -1.132965 0.128623 +f 202 206 209 +f 197 198 202 +f 198 200 202 +f 201 196 204 +f 203 201 204 +f 198 199 205 +f 200 198 205 +f 204 200 205 +f 199 204 205 +f 202 200 206 +f 204 196 206 +f 200 204 206 +f 198 197 207 +f 199 198 207 +f 204 199 207 +f 203 204 207 +f 202 201 208 +f 197 202 208 +f 201 203 208 +f 207 197 208 +f 203 207 208 +f 196 201 209 +f 201 202 209 +f 206 196 209 +o convex_8 +v -2.845058 1.431836 -0.407217 +v -1.696862 2.159016 0.588051 +v -1.735191 2.197409 0.358169 +v -1.696862 0.474825 -0.483767 +v -2.806729 0.474825 0.549718 +v -2.845058 2.235450 0.511385 +v -1.735191 2.274019 -0.598651 +v -1.773520 0.474825 0.549718 +v -2.806729 0.474825 -0.560318 +v -2.806729 2.159016 -0.560318 +v -1.926613 0.474825 -0.598651 +v -2.423997 2.235450 -0.598651 +v -2.845058 0.474825 0.319952 +v -1.696862 2.005795 -0.598651 +v -1.696862 1.010920 0.319952 +v -2.079706 2.274019 -0.139233 +v -2.653636 2.235450 -0.560318 +v -1.735191 0.628046 0.549718 +v -1.735191 0.972527 -0.598651 +v -2.423997 2.197409 0.549718 +v -2.845058 1.814358 -0.445434 +v -2.194470 0.551436 -0.598651 +v -2.156253 2.274019 -0.521984 +v -2.845058 0.934310 -0.292334 +f 218 222 233 +f 211 212 215 +f 212 211 216 +f 214 213 217 +f 211 214 217 +f 213 214 218 +f 213 218 220 +f 218 219 221 +f 216 220 221 +f 214 215 222 +f 215 210 222 +f 218 214 222 +f 211 213 223 +f 216 211 223 +f 220 216 223 +f 213 211 224 +f 215 212 225 +f 212 216 225 +f 219 215 226 +f 216 221 226 +f 221 219 226 +f 211 217 227 +f 217 213 227 +f 224 211 227 +f 213 224 227 +f 213 220 228 +f 223 213 228 +f 220 223 228 +f 214 211 229 +f 211 215 229 +f 215 214 229 +f 210 215 230 +f 218 210 230 +f 219 218 230 +f 215 219 230 +f 220 218 231 +f 218 221 231 +f 221 220 231 +f 215 225 232 +f 225 216 232 +f 226 215 232 +f 216 226 232 +f 210 218 233 +f 222 210 233 +o convex_9 +v -1.352223 1.470027 -0.177484 +v -1.696716 0.972531 0.090380 +v -1.352223 0.972531 0.090380 +v -1.696716 1.508300 0.320086 +v -1.696716 1.125680 -0.330686 +v -1.352223 1.546629 0.243517 +v -1.467110 1.010860 0.320086 +v -1.696716 1.431753 -0.330686 +v -1.352223 1.049134 -0.254053 +v -1.352223 1.431753 -0.330686 +v -1.696716 1.010860 0.320086 +v -1.352223 0.972531 0.281802 +v -1.658409 1.010860 -0.215769 +f 238 242 246 +f 235 237 238 +f 236 234 239 +f 239 237 240 +f 238 237 241 +f 239 234 241 +f 237 239 241 +f 234 236 242 +f 241 234 243 +f 238 241 243 +f 234 242 243 +f 242 238 243 +f 237 235 244 +f 240 237 244 +f 240 244 245 +f 235 236 245 +f 236 239 245 +f 239 240 245 +f 244 235 245 +f 236 235 246 +f 235 238 246 +f 242 236 246 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/415/415.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/415/415.urdf new file mode 100644 index 000000000..9a67bd3be --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/415/415.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/416/416.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/416/416.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/416/416.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/416/416.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/416/416.obj new file mode 100644 index 000000000..5b68e94ce --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/416/416.obj @@ -0,0 +1,507 @@ +o convex_0 +v 0.593443 -3.905549 0.051916 +v -0.624905 -4.478903 -0.413590 +v -0.624905 -4.478903 0.517770 +v -0.553231 -2.579916 0.481890 +v 0.557546 -2.579916 -0.556991 +v 0.557546 -2.616101 0.589413 +v 0.593443 -4.622242 -0.521112 +v -0.553231 -2.579916 -0.521112 +v 0.521769 -4.550473 0.625292 +v -0.624905 -4.192226 -0.449469 +v -0.445659 -2.795224 0.517770 +v 0.593324 -3.153471 -0.557107 +v 0.450094 -4.622242 -0.521112 +v 0.593324 -2.938363 0.374484 +v 0.414197 -4.299580 0.625292 +v -0.517334 -4.514688 0.410247 +v 0.557546 -2.579916 0.553533 +v -0.589008 -3.261025 0.481890 +v 0.593443 -4.622242 -0.270304 +v 0.342523 -4.586257 -0.521112 +v 0.521769 -3.332594 -0.556991 +v -0.624905 -4.263795 0.517770 +v -0.589008 -3.225240 -0.485233 +f 10 18 23 +f 4 5 8 +f 2 3 10 +f 6 4 11 +f 1 7 12 +f 9 1 14 +f 6 9 14 +f 1 12 14 +f 12 5 14 +f 9 6 15 +f 3 9 15 +f 6 11 15 +f 3 2 16 +f 9 3 16 +f 2 13 16 +f 5 4 17 +f 4 6 17 +f 14 5 17 +f 6 14 17 +f 7 1 19 +f 1 9 19 +f 13 7 19 +f 9 16 19 +f 16 13 19 +f 2 10 20 +f 10 8 20 +f 13 2 20 +f 13 20 21 +f 8 5 21 +f 5 12 21 +f 12 7 21 +f 7 13 21 +f 20 8 21 +f 10 3 22 +f 11 4 22 +f 3 15 22 +f 15 11 22 +f 4 18 22 +f 18 10 22 +f 4 8 23 +f 8 10 23 +f 18 4 23 +o convex_1 +v -3.025769 0.931563 -0.843434 +v 1.058883 1.576803 -0.628571 +v 1.058883 1.576803 -0.986965 +v 3.029832 -0.573126 -1.058514 +v -2.953793 -0.465477 1.127081 +v 3.065820 1.576585 1.019215 +v -3.025769 1.540920 1.055315 +v 2.993844 -0.537026 0.983549 +v -2.953793 -0.429595 -1.058514 +v 3.101808 1.433271 -1.094396 +v -3.025769 1.433271 -1.094614 +v -0.946855 -0.644892 -1.094614 +v 1.022894 -0.644892 1.019432 +v 1.452953 1.540920 1.091198 +v -1.341525 1.576803 -1.094614 +v -0.982843 -0.644892 0.947884 +v -0.875479 1.576803 1.091198 +v 3.029832 0.071896 1.019215 +v 0.987506 -0.644892 -0.951082 +v 3.101808 0.644935 -0.986965 +v -2.953793 -0.465477 -0.664454 +v -2.989781 -0.142966 0.804570 +v 3.101808 1.505037 -0.341726 +v 2.385045 -0.501360 1.019432 +v 3.029832 -0.573126 -0.306060 +v 3.029832 -0.286280 0.983549 +v 3.101808 1.469154 0.159330 +v -2.022300 -0.465695 -1.094614 +v -2.667087 -0.501360 1.090980 +v -1.842959 1.576803 -0.306060 +v -2.738464 -0.142966 1.127081 +v 1.022894 1.075095 1.091198 +v -3.025769 1.110760 1.055315 +v 3.065820 1.576585 0.804352 +v 3.101808 1.469154 -0.915199 +v -1.448889 1.576803 1.055098 +v 3.065820 -0.178849 -1.058514 +v -0.660150 -0.644892 -1.094614 +v -3.025769 1.540920 0.875901 +v -2.846428 -0.465477 1.127081 +v -3.025769 1.038994 -1.094614 +v 3.065820 1.074877 1.019215 +v 3.029832 -0.537026 0.445958 +v 2.420433 1.504820 1.055098 +v -2.846428 -0.465477 -1.022848 +f 35 44 68 +f 26 25 29 +f 24 30 34 +f 25 26 38 +f 26 33 38 +f 35 34 38 +f 35 36 39 +f 29 25 40 +f 37 29 40 +f 25 38 40 +f 27 36 42 +f 36 35 42 +f 24 32 45 +f 44 28 45 +f 32 44 45 +f 43 33 46 +f 36 31 47 +f 31 41 47 +f 36 27 48 +f 31 36 48 +f 41 31 49 +f 46 29 50 +f 43 46 50 +f 49 43 50 +f 34 35 51 +f 35 32 51 +f 36 28 52 +f 35 39 52 +f 39 36 52 +f 28 44 52 +f 44 35 52 +f 40 38 53 +f 30 28 54 +f 40 30 54 +f 37 40 54 +f 41 37 55 +f 47 41 55 +f 28 30 56 +f 30 24 56 +f 45 28 56 +f 24 45 56 +f 26 29 57 +f 46 26 57 +f 29 46 57 +f 33 26 58 +f 26 46 58 +f 46 33 58 +f 30 40 59 +f 53 30 59 +f 40 53 59 +f 27 33 60 +f 33 43 60 +f 48 27 60 +f 33 27 61 +f 38 33 61 +f 35 38 61 +f 27 42 61 +f 42 35 61 +f 34 30 62 +f 38 34 62 +f 30 53 62 +f 53 38 62 +f 28 36 63 +f 36 47 63 +f 54 28 63 +f 37 54 63 +f 55 37 63 +f 47 55 63 +f 32 24 64 +f 24 34 64 +f 51 32 64 +f 34 51 64 +f 41 49 65 +f 50 29 65 +f 49 50 65 +f 31 48 66 +f 43 49 66 +f 49 31 66 +f 60 43 66 +f 48 60 66 +f 29 37 67 +f 37 41 67 +f 65 29 67 +f 41 65 67 +f 32 35 68 +f 44 32 68 +o convex_2 +v -1.090660 1.576803 -0.951044 +v 1.095102 3.511603 -0.700277 +v 0.808189 3.547549 -0.736009 +v -0.768017 1.612945 1.091033 +v -1.018986 3.583495 0.947677 +v 1.023427 1.576803 1.091247 +v 1.059158 1.576803 -0.986990 +v -1.018986 3.511799 -1.058454 +v 0.987483 3.404158 1.055087 +v 1.095102 3.511603 -1.058668 +v -1.090660 1.576803 -1.094614 +v -0.983041 1.576803 1.055087 +v 0.772458 3.475853 1.019355 +v 0.020193 2.472900 -1.094614 +v -1.018986 2.795039 1.019355 +v -1.054716 3.475853 -1.058454 +v 1.023427 1.720194 -1.022722 +v -0.373912 3.583495 0.409984 +v -1.018986 3.547352 -0.664331 +v 1.095102 2.830789 -1.058668 +v -1.018986 1.612945 0.875999 +v -1.054716 2.866539 0.195164 +v 1.023427 3.475657 0.553554 +v -0.803961 3.547352 0.983409 +v 0.987483 2.114618 1.091033 +v -0.732286 1.576803 -1.094614 +v -1.054716 2.257813 -1.094614 +v 1.095102 2.687398 -0.986990 +v -0.696342 3.583495 0.947677 +v -1.018986 3.583495 0.374252 +v 0.808189 3.368408 1.055087 +v 1.059158 1.576803 -0.664545 +f 75 96 100 +f 74 69 75 +f 71 70 78 +f 76 71 78 +f 75 69 79 +f 69 74 80 +f 74 72 80 +f 76 78 82 +f 80 72 83 +f 79 69 84 +f 81 71 86 +f 71 76 87 +f 76 84 87 +f 78 70 88 +f 82 78 88 +f 75 85 88 +f 85 82 88 +f 69 80 89 +f 80 83 89 +f 89 83 90 +f 83 73 90 +f 84 69 90 +f 73 84 90 +f 69 89 90 +f 70 71 91 +f 74 70 91 +f 77 74 91 +f 71 81 91 +f 81 77 91 +f 77 81 92 +f 73 83 92 +f 72 74 93 +f 74 77 93 +f 75 79 94 +f 79 82 94 +f 85 75 94 +f 82 85 94 +f 76 82 95 +f 82 79 95 +f 84 76 95 +f 79 84 95 +f 70 74 96 +f 88 70 96 +f 75 88 96 +f 86 73 97 +f 81 86 97 +f 73 92 97 +f 92 81 97 +f 84 73 98 +f 86 71 98 +f 73 86 98 +f 71 87 98 +f 87 84 98 +f 83 72 99 +f 77 92 99 +f 92 83 99 +f 72 93 99 +f 93 77 99 +f 74 75 100 +f 96 74 100 +o convex_3 +v 0.235042 -1.182399 1.557146 +v 0.163396 -1.863240 2.631896 +v 0.199188 -1.863240 2.631896 +v -0.302338 -1.827386 1.091247 +v -0.194837 -1.289963 3.062105 +v 0.342544 -1.791531 1.127130 +v -0.230628 -1.289963 1.091247 +v -0.302338 -1.791531 3.026029 +v 0.306689 -1.683966 2.990340 +v 0.199188 -1.254108 2.954457 +v 0.306689 -1.182399 1.091247 +v 0.306689 -1.863240 2.990340 +v -0.302338 -1.612323 1.342234 +v 0.342544 -1.791531 2.596206 +v 0.342544 -1.325818 1.091247 +v 0.306689 -1.182399 1.485766 +v -0.230628 -1.827386 3.026029 +v -0.123190 -1.254108 2.739545 +v -0.302338 -1.719821 3.026029 +v -0.230628 -1.289963 1.772250 +v -0.087335 -1.827386 1.091247 +v 0.199188 -1.182399 1.091247 +f 107 118 122 +f 103 102 104 +f 105 109 110 +f 104 107 111 +f 102 103 112 +f 103 106 112 +f 109 105 112 +f 107 104 113 +f 104 108 113 +f 112 106 114 +f 109 112 114 +f 104 111 115 +f 114 106 115 +f 114 115 116 +f 101 110 116 +f 110 109 116 +f 111 101 116 +f 109 114 116 +f 115 111 116 +f 104 102 117 +f 105 108 117 +f 108 104 117 +f 102 112 117 +f 112 105 117 +f 110 101 118 +f 105 110 118 +f 108 105 119 +f 113 108 119 +f 113 119 120 +f 107 113 120 +f 118 107 120 +f 105 118 120 +f 119 105 120 +f 103 104 121 +f 106 103 121 +f 104 115 121 +f 115 106 121 +f 111 107 122 +f 101 111 122 +f 118 101 122 +o convex_4 +v -0.015643 -1.755666 -2.527937 +v 0.306773 -1.289900 -1.094614 +v -0.087318 -1.289900 -1.094614 +v 0.163424 -1.289900 -3.101306 +v 0.270936 -1.755666 -1.094614 +v -0.302401 -1.361617 -2.957915 +v -0.194889 -1.863184 -1.094614 +v 0.235098 -1.684005 -3.029610 +v -0.194889 -1.684005 -3.029610 +v -0.194889 -1.325814 -1.094614 +v 0.270936 -1.289900 -3.101306 +v -0.087318 -1.863184 -1.381397 +v -0.266564 -1.325814 -2.957915 +v 0.270936 -1.755666 -1.596287 +v 0.270936 -1.397475 -3.101306 +v -0.194889 -1.827326 -1.775624 +v 0.199261 -1.719807 -2.850273 +f 136 134 139 +f 125 124 126 +f 124 125 127 +f 127 125 129 +f 128 126 131 +f 129 125 132 +f 128 129 132 +f 126 124 133 +f 127 129 134 +f 125 126 135 +f 126 128 135 +f 132 125 135 +f 128 132 135 +f 124 127 136 +f 127 134 136 +f 131 126 137 +f 130 131 137 +f 133 124 137 +f 126 133 137 +f 124 136 137 +f 136 130 137 +f 129 128 138 +f 128 131 138 +f 131 123 138 +f 134 129 138 +f 123 134 138 +f 123 131 139 +f 131 130 139 +f 134 123 139 +f 130 136 139 +o convex_5 +v 0.306731 -1.182441 1.091247 +v -1.054862 -2.221361 -1.094614 +v -1.090745 -2.508129 -1.058668 +v 1.095067 -2.508129 -0.986776 +v 0.987419 -0.644892 -0.951044 +v 1.130950 -2.508129 1.019569 +v -1.018979 -0.716679 0.947891 +v -1.054862 -2.508129 0.983623 +v -0.947213 -0.644892 -1.094614 +v 1.023301 -0.644892 1.019569 +v -0.553154 -2.579916 -0.521189 +v 0.306731 -1.290026 -1.094614 +v -0.911330 -0.644892 0.983623 +v -0.553154 -2.042367 1.091247 +v 0.664907 -2.579916 0.661178 +v 1.023301 -0.931660 -0.986776 +v -0.696468 -2.579916 0.625232 +v 1.023301 -2.508129 -1.022936 +v 0.557476 -2.579916 -0.556921 +v 0.987419 -2.436532 1.055301 +v -1.090745 -2.292958 -1.058668 +v -0.338074 -1.218239 1.091247 +v -1.018979 -2.543928 -0.915312 +v -1.018979 -2.472141 1.019569 +v 1.130950 -2.400544 0.947677 +v 0.270848 -1.755409 -1.094614 +v -0.983096 -2.543928 0.911945 +v -0.983096 -0.931660 -1.094614 +v -1.090745 -2.472141 -0.413565 +v -0.624919 -0.644892 -1.094614 +v 0.342614 -2.113965 1.091247 +v 1.023301 -0.716679 -0.126853 +v 0.987419 -2.543928 0.911945 +v -0.087328 -2.508129 -1.058668 +v 1.095067 -2.400544 -0.986776 +v -1.054862 -2.257349 0.983623 +f 146 168 175 +f 144 148 149 +f 141 148 151 +f 148 146 152 +f 149 148 152 +f 150 154 156 +f 151 155 157 +f 154 150 158 +f 157 143 158 +f 149 140 159 +f 145 149 159 +f 141 142 160 +f 140 149 161 +f 149 152 161 +f 153 140 161 +f 152 153 161 +f 147 142 162 +f 150 156 162 +f 158 150 162 +f 157 158 162 +f 147 145 163 +f 152 146 163 +f 153 152 163 +f 145 159 163 +f 159 153 163 +f 145 143 164 +f 149 145 164 +f 141 151 165 +f 151 157 165 +f 145 147 166 +f 156 154 166 +f 147 162 166 +f 162 156 166 +f 148 141 167 +f 146 148 167 +f 141 160 167 +f 160 146 167 +f 142 147 168 +f 160 142 168 +f 146 160 168 +f 148 144 169 +f 151 148 169 +f 144 155 169 +f 155 151 169 +f 140 153 170 +f 159 140 170 +f 153 159 170 +f 144 149 171 +f 155 144 171 +f 149 164 171 +f 164 155 171 +f 143 145 172 +f 158 143 172 +f 154 158 172 +f 145 166 172 +f 166 154 172 +f 142 141 173 +f 162 142 173 +f 157 162 173 +f 141 165 173 +f 165 157 173 +f 143 157 174 +f 157 155 174 +f 164 143 174 +f 155 164 174 +f 147 163 175 +f 163 146 175 +f 168 147 175 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/416/416.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/416/416.urdf new file mode 100644 index 000000000..984974441 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/416/416.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/417/417.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/417/417.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/417/417.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/417/417.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/417/417.obj new file mode 100644 index 000000000..26dcb6db5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/417/417.obj @@ -0,0 +1,630 @@ +o convex_0 +v 4.469727 0.434952 0.228666 +v 2.533705 0.513943 -1.114623 +v 2.533705 0.553415 -1.114623 +v 0.597684 0.592956 1.018898 +v 0.597684 0.395411 -1.074845 +v 0.597684 0.395411 1.018898 +v 4.429930 0.592956 1.058463 +v 0.597684 0.632475 -0.837882 +v 4.469727 0.395411 -1.114623 +v 4.469727 0.553415 -1.114623 +v 4.429930 0.395411 1.058463 +v 2.494288 0.632475 0.860852 +v 0.597684 0.632475 0.860852 +v 0.597684 0.592956 -1.074845 +v 1.387936 0.632475 -0.719400 +f 8 12 15 +f 3 2 5 +f 4 5 6 +f 4 6 7 +f 5 4 8 +f 2 3 9 +f 5 2 9 +f 6 5 9 +f 7 1 10 +f 9 3 10 +f 1 9 10 +f 1 7 11 +f 7 6 11 +f 9 1 11 +f 6 9 11 +f 4 7 13 +f 8 4 13 +f 7 12 13 +f 12 8 13 +f 3 5 14 +f 5 8 14 +f 10 3 14 +f 8 10 14 +f 7 10 15 +f 10 8 15 +f 12 7 15 +o convex_1 +v -2.642127 -3.515714 -0.284829 +v -2.484270 -1.066483 0.347271 +v -2.839649 -1.066483 0.347271 +v -2.247083 -1.066483 -0.284895 +v -2.247083 -3.397269 0.307757 +v -2.839649 -1.066483 -0.284895 +v -2.879253 -3.476153 0.228728 +v -2.247083 -3.436831 -0.324410 +v -2.247083 -1.066483 0.307691 +v -2.839711 -3.515714 -0.245381 +v -2.839649 -1.540745 0.347271 +v -2.879253 -2.606993 0.031155 +v -2.247083 -1.896560 -0.324410 +v -2.523688 -3.476153 -0.324410 +v -2.839711 -2.409904 -0.284829 +v -2.800232 -3.515714 0.189147 +v -2.286624 -3.476153 -0.245381 +f 20 31 32 +f 18 17 19 +f 18 19 21 +f 19 20 23 +f 19 17 24 +f 20 19 24 +f 17 20 24 +f 17 18 26 +f 20 17 26 +f 22 20 26 +f 18 22 26 +f 18 21 27 +f 22 18 27 +f 25 22 27 +f 21 19 28 +f 19 23 28 +f 28 23 29 +f 23 16 29 +f 16 25 29 +f 21 28 29 +f 21 29 30 +f 27 21 30 +f 25 27 30 +f 29 25 30 +f 20 22 31 +f 25 16 31 +f 22 25 31 +f 16 23 32 +f 23 20 32 +f 31 16 32 +o convex_2 +v -0.864117 -2.765310 -1.075112 +v -1.654207 -3.516143 -1.075112 +v -1.654207 -3.516143 -0.956279 +v 0.518539 -3.436929 0.346923 +v -1.535736 -1.580311 1.058463 +v 0.557957 -1.580311 -0.995750 +v -1.575154 -1.580311 -0.956279 +v -1.535736 -3.437118 0.979101 +v 0.518539 -1.580311 0.939629 +v 0.518539 -3.397321 -0.917015 +v 0.518539 -3.436929 0.939629 +v -1.614789 -1.817197 -0.995750 +v 0.439487 -3.397321 -0.956487 +v 0.557957 -2.725702 -0.956487 +v -1.298796 -1.698754 1.058463 +v -1.535736 -2.962967 1.018573 +v -1.614789 -1.777779 -0.640085 +v -1.496102 -3.516143 -1.075112 +v 0.005024 -1.975437 -1.035222 +v 0.083860 -1.580311 0.979101 +v -0.587543 -3.437118 0.979101 +v -1.535736 -3.476346 0.228507 +v -1.614789 -2.962967 -1.075112 +v -1.140475 -3.476346 -1.075112 +v -0.824699 -1.580311 -0.995750 +v 0.557957 -1.580311 -0.758710 +v -1.614789 -1.619729 -0.917015 +v -1.575154 -3.437118 0.426285 +f 40 48 60 +f 37 38 39 +f 38 37 41 +f 42 45 46 +f 36 42 46 +f 43 36 46 +f 45 38 46 +f 47 37 48 +f 35 37 49 +f 34 33 50 +f 35 34 50 +f 42 36 50 +f 43 35 50 +f 36 43 50 +f 45 42 50 +f 38 45 51 +f 41 37 52 +f 43 41 52 +f 37 47 52 +f 47 43 52 +f 43 47 53 +f 47 48 53 +f 48 40 53 +f 40 35 54 +f 35 43 54 +f 53 40 54 +f 43 53 54 +f 33 34 55 +f 34 44 55 +f 50 33 56 +f 45 50 56 +f 33 51 56 +f 51 45 56 +f 39 38 57 +f 44 39 57 +f 51 33 57 +f 38 51 57 +f 33 55 57 +f 55 44 57 +f 38 41 58 +f 41 43 58 +f 46 38 58 +f 43 46 58 +f 34 35 59 +f 37 39 59 +f 44 34 59 +f 39 44 59 +f 35 49 59 +f 49 37 59 +f 37 35 60 +f 35 40 60 +f 48 37 60 +o convex_3 +v -1.614912 -0.236930 1.058463 +v 3.521248 0.355769 -1.114623 +v 3.521248 0.395411 -1.114623 +v 4.429866 0.395411 1.058463 +v 4.429866 -1.580122 0.939768 +v -1.575093 -1.580122 -0.956364 +v -1.575093 0.395411 -0.995928 +v 4.548722 -1.421940 -0.995928 +v -1.535273 -1.580122 1.058463 +v -1.614912 0.395411 1.018898 +v 4.469686 0.395411 -1.114623 +v 0.558288 -1.580122 -0.995928 +v 4.429866 -1.580122 1.018898 +v -0.073400 0.118689 -1.075058 +v -1.614912 -1.263758 -0.758752 +v 4.548722 -1.026872 -0.640271 +v -0.666475 -1.580122 -0.995928 +v -1.377803 0.395411 -1.035493 +v 4.508902 0.276871 -1.035280 +v -1.575093 -1.461582 1.058463 +v -1.614912 0.039792 -0.521789 +v 4.469686 0.158331 0.623676 +v 4.469686 -1.540479 0.663240 +v 3.086850 -0.355470 -1.074845 +v -1.535273 -0.908332 -0.995928 +v 4.508902 -1.461582 -0.600706 +v 4.429866 0.237229 1.058463 +v -0.271293 0.395411 -1.075058 +v -1.614912 -0.947588 0.505194 +v -1.219730 -1.580122 1.058463 +v 4.548722 -1.421940 -0.600706 +v 4.469686 0.316320 -1.114623 +f 68 84 92 +f 64 63 67 +f 64 61 69 +f 66 65 69 +f 61 64 70 +f 64 67 70 +f 62 63 71 +f 63 64 71 +f 65 66 72 +f 69 65 73 +f 67 66 75 +f 61 70 75 +f 72 66 77 +f 74 62 77 +f 67 63 78 +f 71 64 79 +f 68 71 79 +f 76 68 79 +f 69 61 80 +f 66 69 80 +f 75 66 80 +f 70 67 81 +f 67 75 81 +f 75 70 81 +f 79 64 82 +f 76 79 82 +f 65 68 83 +f 73 65 83 +f 82 64 83 +f 68 72 84 +f 77 62 84 +f 72 77 84 +f 66 67 85 +f 77 66 85 +f 74 77 85 +f 78 74 85 +f 67 78 85 +f 68 65 86 +f 65 72 86 +f 72 68 86 +f 64 69 87 +f 83 64 87 +f 73 83 87 +f 63 62 88 +f 62 74 88 +f 74 78 88 +f 78 63 88 +f 61 75 89 +f 80 61 89 +f 75 80 89 +f 69 73 90 +f 87 69 90 +f 73 87 90 +f 68 76 91 +f 76 82 91 +f 83 68 91 +f 82 83 91 +f 62 71 92 +f 71 68 92 +f 84 62 92 +o convex_4 +v -2.879253 0.395411 -0.087323 +v -2.286667 2.489235 0.347202 +v -2.207572 2.568376 -0.087323 +v -2.879253 2.528916 0.070674 +v -2.760644 2.647517 -0.363851 +v -2.247152 0.395411 -0.245319 +v -2.760644 0.395411 0.228670 +v -2.326181 0.474552 0.228670 +v -2.879253 0.395411 -0.324317 +v -2.207572 2.607837 -0.284783 +v -2.839673 2.489235 0.228670 +v -2.760644 1.462384 -0.363851 +v -2.444659 1.975809 0.347202 +v -2.247152 0.474552 -0.047789 +v -2.879253 1.738386 0.189136 +v -2.405144 2.528916 0.307668 +v -2.800158 0.553473 0.228670 +v -2.642166 0.474552 -0.324317 +v -2.207572 2.094191 -0.284783 +v -2.642166 2.647517 -0.363851 +v -2.405144 0.395411 0.228670 +v -2.207572 1.462384 -0.166321 +f 98 111 114 +f 93 98 99 +f 93 96 101 +f 96 97 101 +f 98 93 101 +f 101 97 104 +f 100 94 105 +f 94 103 105 +f 100 98 106 +f 94 100 106 +f 96 93 107 +f 103 96 107 +f 94 95 108 +f 97 96 108 +f 95 102 108 +f 103 94 108 +f 96 103 108 +f 93 99 109 +f 99 105 109 +f 105 103 109 +f 107 93 109 +f 103 107 109 +f 98 101 110 +f 101 104 110 +f 110 104 111 +f 102 95 111 +f 98 110 111 +f 104 97 112 +f 97 108 112 +f 108 102 112 +f 111 104 112 +f 102 111 112 +f 99 98 113 +f 98 100 113 +f 105 99 113 +f 100 105 113 +f 95 94 114 +f 94 106 114 +f 106 98 114 +f 111 95 114 +o convex_5 +v 0.123507 2.449775 2.993912 +v -1.417182 0.395411 -1.035315 +v -0.271751 0.395411 -1.035315 +v -1.456642 2.647517 -1.075112 +v -1.654381 0.435092 2.954521 +v 0.558004 0.553693 3.033709 +v 0.399945 2.607837 -1.075112 +v -1.535781 2.528916 3.033709 +v 0.597463 0.395631 -1.075112 +v 0.518544 2.607837 1.018689 +v -1.575241 0.869596 -1.075112 +v -1.575241 2.489235 0.781939 +v 0.399945 2.489235 2.835943 +v 0.597463 0.395631 1.018689 +v -1.654381 0.395411 0.940314 +v -1.535781 2.331394 3.073506 +v -0.547968 2.647517 0.031484 +v -1.654381 0.790676 2.993912 +v 0.479085 0.514233 3.033709 +v 0.518544 1.185720 3.033709 +v -1.575241 0.395411 -0.995518 +v -1.219663 0.435092 2.993912 +v 0.597463 0.593153 -1.075112 +v -1.496322 2.528916 -1.075112 +v -0.469269 1.462384 3.073506 +v 0.202426 2.607837 1.334628 +v -1.575241 2.291492 3.033709 +v 0.439625 2.607837 -0.640189 +v 0.597463 0.593153 1.018689 +v 0.439625 2.094191 2.993912 +v -1.654381 0.593153 0.940314 +v -0.429809 2.647517 -1.035315 +v -1.456642 2.647517 -0.640189 +v -0.469269 0.553473 3.033709 +v 0.558004 0.711755 3.033709 +v -1.377722 2.489235 3.073506 +v -1.575241 0.553473 -1.075112 +v -1.575241 2.489235 2.045691 +v 0.518544 2.607837 0.861532 +v 0.479085 1.344003 3.033709 +f 150 139 154 +f 117 116 123 +f 118 121 123 +f 118 123 125 +f 122 115 127 +f 117 123 128 +f 116 117 129 +f 117 128 129 +f 129 119 132 +f 128 120 133 +f 116 129 135 +f 119 129 136 +f 129 128 136 +f 132 119 136 +f 128 133 136 +f 123 121 137 +f 128 123 137 +f 118 125 138 +f 126 118 138 +f 125 126 138 +f 133 120 139 +f 122 127 140 +f 127 124 140 +f 131 122 140 +f 124 131 140 +f 130 122 141 +f 132 130 141 +f 137 121 142 +f 120 128 143 +f 137 124 143 +f 128 137 143 +f 127 115 144 +f 124 127 144 +f 134 124 144 +f 126 125 145 +f 125 129 145 +f 132 126 145 +f 129 132 145 +f 121 118 146 +f 118 131 146 +f 131 124 146 +f 142 121 146 +f 118 126 147 +f 131 118 147 +f 122 131 147 +f 130 132 148 +f 132 136 148 +f 136 133 148 +f 139 130 148 +f 133 139 148 +f 124 134 149 +f 139 120 149 +f 134 139 149 +f 120 143 149 +f 143 124 149 +f 115 122 150 +f 122 130 150 +f 130 139 150 +f 123 116 151 +f 125 123 151 +f 129 125 151 +f 116 135 151 +f 135 129 151 +f 126 132 152 +f 141 122 152 +f 132 141 152 +f 147 126 152 +f 122 147 152 +f 124 137 153 +f 137 142 153 +f 146 124 153 +f 142 146 153 +f 139 134 154 +f 144 115 154 +f 134 144 154 +f 115 150 154 +o convex_6 +v -3.629758 -0.987222 0.031085 +v -2.247411 0.395268 -0.087253 +v -2.247411 0.395268 -0.245327 +v -1.615307 -0.987222 -0.521847 +v -1.615307 -0.868760 0.544716 +v -3.550671 0.158200 0.465679 +v -3.550671 -0.276305 -0.482329 +v -1.615307 0.039738 0.544716 +v -3.590116 -1.066340 0.505198 +v -1.615307 0.000107 -0.561365 +v -3.629758 -1.026710 -0.521847 +v -2.879122 0.395268 -0.324255 +v -2.247411 -1.066340 0.307606 +v -2.760590 0.395268 0.228677 +v -3.511226 0.000107 -0.442810 +v -2.247411 -1.066340 -0.284737 +v -2.168324 0.079225 0.544716 +v -1.773283 -0.987222 0.505198 +v -2.484278 -0.434255 -0.561365 +v -3.550671 0.079225 -0.126771 +v -2.326301 0.395268 0.189159 +v -3.629758 -0.789785 -0.521847 +v -3.590116 -0.078868 0.307606 +v -3.195075 0.000107 -0.482329 +v -1.615307 0.039738 -0.521847 +v -3.590116 -1.066340 0.070604 +v -2.444833 -0.473742 0.544716 +v -3.076543 0.118712 0.505198 +v -1.615307 -0.473742 -0.561365 +v -1.891815 0.000107 -0.561365 +v -1.812728 -1.026710 -0.442810 +v -1.615307 -0.987222 0.031085 +v -1.654752 0.079225 0.465679 +f 162 179 187 +f 159 158 162 +f 162 158 164 +f 163 155 165 +f 156 157 166 +f 156 166 168 +f 166 160 168 +f 167 163 170 +f 159 162 171 +f 162 168 171 +f 159 163 172 +f 163 167 172 +f 160 166 174 +f 166 169 174 +f 156 168 175 +f 168 162 175 +f 165 155 176 +f 169 161 176 +f 173 165 176 +f 174 169 176 +f 174 176 177 +f 163 160 177 +f 155 163 177 +f 160 174 177 +f 176 155 177 +f 161 169 178 +f 169 166 178 +f 176 161 178 +f 162 164 179 +f 166 157 179 +f 164 166 179 +f 163 165 180 +f 170 163 180 +f 165 170 180 +f 163 159 181 +f 159 171 181 +f 181 171 182 +f 160 163 182 +f 168 160 182 +f 171 168 182 +f 163 181 182 +f 164 158 183 +f 158 165 183 +f 173 164 183 +f 165 173 183 +f 166 164 184 +f 164 173 184 +f 173 176 184 +f 178 166 184 +f 176 178 184 +f 165 158 185 +f 170 165 185 +f 167 170 185 +f 158 159 186 +f 159 172 186 +f 172 167 186 +f 185 158 186 +f 167 185 186 +f 157 156 187 +f 156 175 187 +f 175 162 187 +f 179 157 187 +o convex_7 +v -0.311046 1.857111 -3.050644 +v -0.587558 2.647517 -1.075305 +v -0.587558 2.647517 -1.114944 +v -1.575402 0.553828 -1.075305 +v 0.400077 0.553828 -1.075305 +v -1.456777 0.514151 -3.010813 +v -1.575402 2.568164 -3.010813 +v 0.439548 2.489227 -3.050644 +v 0.558173 0.553828 -2.971368 +v 0.400077 2.607841 -1.075305 +v -1.496249 2.568164 -1.075305 +v 0.360396 2.568372 -2.655229 +v -1.496249 2.647517 -1.509973 +v 0.558173 0.790637 -2.773757 +v -0.627030 2.568164 -3.050644 +v -0.785127 0.514151 -2.260200 +v -1.496249 0.790846 -3.010813 +v 0.439548 2.291678 -1.352000 +v -1.575402 2.568164 -2.576339 +v 0.518492 1.067331 -3.010813 +v -1.575402 2.173065 -3.010813 +v 0.439548 0.553828 -1.352000 +v -1.496249 0.514151 -2.023530 +v -1.575402 0.909250 -1.075305 +v -1.456777 2.647517 -1.075305 +v -1.496249 2.607632 -2.536700 +v 0.400077 2.607841 -1.628501 +v -1.575402 0.553828 -1.233472 +v -1.180264 0.514151 -3.010813 +v 0.360396 1.975515 -3.050644 +v 0.400077 2.528904 -3.050644 +f 199 214 218 +f 189 191 192 +f 190 189 197 +f 189 192 197 +f 191 189 198 +f 189 190 200 +f 196 195 201 +f 188 193 202 +f 195 188 202 +f 202 193 204 +f 195 197 205 +f 197 192 205 +f 201 195 205 +f 194 191 206 +f 198 200 206 +f 200 194 206 +f 195 196 207 +f 191 194 208 +f 194 202 208 +f 202 204 208 +f 196 201 209 +f 192 203 209 +f 203 196 209 +f 205 192 209 +f 201 205 209 +f 192 191 210 +f 203 192 210 +f 193 203 210 +f 191 198 211 +f 206 191 211 +f 198 206 211 +f 198 189 212 +f 189 200 212 +f 200 198 212 +f 190 199 213 +f 200 190 213 +f 194 200 213 +f 202 194 213 +f 199 202 213 +f 197 195 214 +f 190 197 214 +f 199 190 214 +f 204 193 215 +f 191 208 215 +f 208 204 215 +f 210 191 215 +f 193 210 215 +f 193 188 216 +f 203 193 216 +f 196 203 216 +f 207 196 216 +f 207 216 217 +f 188 195 217 +f 195 207 217 +f 216 188 217 +f 195 202 218 +f 202 199 218 +f 214 195 218 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/417/417.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/417/417.urdf new file mode 100644 index 000000000..b729f3afb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/417/417.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/418/418.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/418/418.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/418/418.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/418/418.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/418/418.obj new file mode 100644 index 000000000..d19fed64e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/418/418.obj @@ -0,0 +1,591 @@ +o convex_0 +v -1.813909 2.481968 0.268920 +v -3.096094 1.840797 -0.372384 +v -3.096094 1.840797 -0.194236 +v -1.136854 1.805157 -0.265384 +v -2.953587 2.481968 -0.301097 +v -3.024745 1.912077 0.340207 +v -1.136854 2.517678 -0.229740 +v -1.136854 1.840797 0.233276 +v -3.024745 2.410688 0.304493 +v -1.136854 2.481968 0.233276 +v -1.386386 2.481968 0.268920 +v -2.917912 1.912077 -0.372384 +v -2.989069 2.481968 -0.087306 +v -1.457544 1.805157 -0.301097 +v -3.024745 2.303838 0.340207 +v -1.457544 1.840797 0.233276 +v -1.136854 2.161417 -0.265384 +v -1.706885 2.481968 -0.265384 +v -3.096094 1.947717 -0.372384 +f 9 13 19 +f 4 7 8 +f 8 7 10 +f 8 10 11 +f 7 1 11 +f 6 8 11 +f 1 9 11 +f 10 7 11 +f 1 7 13 +f 7 5 13 +f 9 1 13 +f 3 2 14 +f 2 12 14 +f 3 6 15 +f 9 3 15 +f 6 11 15 +f 11 9 15 +f 6 3 16 +f 4 8 16 +f 8 6 16 +f 3 14 16 +f 14 4 16 +f 7 4 17 +f 4 14 17 +f 14 12 17 +f 5 7 18 +f 12 5 18 +f 7 17 18 +f 17 12 18 +f 2 3 19 +f 3 9 19 +f 12 2 19 +f 5 12 19 +f 13 5 19 +o convex_1 +v -0.530737 -3.432842 -0.407999 +v 0.609073 -2.933639 0.589613 +v 0.609073 -2.933639 -0.229838 +v 0.537765 -4.857409 0.518142 +v -0.530737 -2.933639 0.482693 +v -0.530737 -4.928892 -0.514804 +v 0.502167 -4.821864 -0.514804 +v -0.495139 -4.928892 0.482693 +v 0.466569 -2.933639 -0.586161 +v -0.495139 -2.969380 -0.479241 +v -0.388233 -4.750381 0.518142 +v 0.573363 -3.361360 -0.586161 +v 0.395261 -3.290269 0.589613 +v 0.324065 -4.892955 0.233175 +v -0.530737 -2.933639 -0.229838 +v 0.502167 -4.572262 -0.550482 +v 0.609073 -3.361360 0.589613 +v -0.530737 -3.646508 0.482693 +v -0.317037 -4.928892 -0.514804 +v -0.530737 -4.323050 -0.514804 +v 0.537765 -4.287505 -0.514804 +v 0.573363 -2.933639 -0.586161 +v -0.281438 -2.969380 0.518142 +v 0.324065 -4.892955 0.518142 +v -0.530737 -4.928892 -0.229838 +f 27 37 44 +f 21 22 24 +f 24 20 25 +f 24 22 28 +f 25 28 31 +f 26 23 33 +f 20 24 34 +f 24 28 34 +f 29 20 34 +f 28 29 34 +f 31 26 35 +f 25 31 35 +f 22 21 36 +f 23 22 36 +f 21 32 36 +f 32 30 36 +f 24 25 37 +f 30 24 37 +f 27 30 37 +f 27 25 38 +f 26 33 38 +f 25 35 38 +f 35 26 38 +f 25 20 39 +f 28 25 39 +f 20 29 39 +f 29 28 39 +f 22 23 40 +f 23 26 40 +f 31 22 40 +f 26 31 40 +f 28 22 41 +f 22 31 41 +f 31 28 41 +f 21 24 42 +f 24 30 42 +f 32 21 42 +f 30 32 42 +f 30 27 43 +f 33 23 43 +f 23 36 43 +f 36 30 43 +f 27 38 43 +f 38 33 43 +f 25 27 44 +f 37 25 44 +o convex_2 +v 1.000939 -1.045490 -0.799896 +v -1.100816 -2.790904 -1.084974 +v -1.100816 -2.790904 -1.049020 +v -1.100816 -0.902756 0.660810 +v 0.965478 -2.826687 1.088427 +v 1.000939 -2.933639 -0.977964 +v -0.993999 -2.755320 1.088427 +v 1.107757 -0.902756 0.945675 +v -0.993999 -0.902756 -0.977751 +v 0.965478 -0.902756 -1.049233 +v -1.100816 -1.152442 0.981416 +v -0.530834 -2.933639 0.482529 +v 1.000939 -2.399081 1.088427 +v 0.680270 -2.933639 0.660810 +v -0.495372 -2.933639 -0.443336 +v -1.100816 -0.902756 0.945888 +v -1.029677 -1.152442 -1.013705 +v -0.103347 -1.864920 -1.084974 +v -1.029677 -2.541616 1.088427 +v -0.958321 -2.790904 1.052685 +v -0.637868 -2.826687 -1.084974 +v 1.000939 -2.933639 -0.443336 +v 1.107757 -1.081074 0.909934 +v 1.107757 -0.902756 0.767607 +v 1.072295 -1.152442 0.981416 +v 0.323923 -0.902756 -1.049020 +v -1.065138 -2.327912 -1.084974 +v 0.965478 -2.185377 -1.013492 +v -1.029677 -0.974322 -0.977751 +v 1.000939 -2.505833 1.088427 +v 0.609131 -2.933639 -0.977751 +v 0.751626 -2.862072 1.017157 +v 1.000939 -2.185377 -0.977964 +v -1.065138 -2.790904 -0.122730 +v -1.029677 -2.470249 1.088427 +f 63 57 79 +f 46 47 48 +f 48 52 53 +f 53 52 54 +f 48 47 55 +f 47 46 56 +f 51 49 57 +f 56 50 58 +f 56 46 59 +f 50 56 59 +f 52 48 60 +f 48 55 60 +f 51 57 63 +f 49 51 64 +f 59 46 65 +f 46 62 65 +f 49 58 66 +f 58 50 66 +f 66 50 67 +f 54 52 68 +f 45 54 68 +f 67 50 68 +f 52 67 68 +f 57 52 69 +f 55 57 69 +f 52 60 69 +f 60 55 69 +f 53 54 70 +f 61 53 70 +f 54 62 70 +f 70 62 71 +f 46 61 71 +f 62 46 71 +f 61 70 71 +f 54 50 72 +f 62 54 72 +f 50 65 72 +f 65 62 72 +f 46 48 73 +f 48 53 73 +f 61 46 73 +f 53 61 73 +f 57 49 74 +f 52 57 74 +f 49 66 74 +f 67 52 74 +f 66 67 74 +f 50 59 75 +f 59 65 75 +f 65 50 75 +f 58 49 76 +f 56 58 76 +f 49 64 76 +f 64 56 76 +f 50 54 77 +f 54 45 77 +f 45 68 77 +f 68 50 77 +f 55 47 78 +f 47 56 78 +f 51 63 78 +f 63 55 78 +f 64 51 78 +f 56 64 78 +f 57 55 79 +f 55 63 79 +o convex_3 +v -1.029773 1.270645 -0.693119 +v 0.537772 -0.902756 -1.049756 +v 0.965284 -0.902756 -1.049756 +v 0.395268 1.234691 -3.008947 +v -0.993990 -0.866802 -3.115857 +v 0.965284 1.270645 -0.336754 +v -1.029773 -0.902756 -0.337026 +v 1.072215 -0.866802 -3.044584 +v -0.958417 1.163422 -3.008947 +v 1.001067 -0.902756 -0.336754 +v 0.929711 1.234691 -3.008675 +v 1.107998 1.270432 -1.156394 +v -0.993990 1.270645 -0.337026 +v -1.029773 -0.581937 -2.866401 +v 1.001067 0.450939 -3.044584 +v 1.107998 0.985567 -0.906938 +v -0.993990 0.700276 -3.044312 +v -1.029773 1.270645 -0.978211 +v -0.815913 -0.581937 -3.115857 +v -1.029773 1.128106 -1.797035 +v 1.001067 1.270645 -1.726306 +v 0.537772 -0.866802 -3.080220 +v -0.566478 1.199375 -3.008947 +v 0.965284 1.234691 -2.901766 +v -0.993990 -0.902756 -0.978211 +v 1.107998 1.270432 -0.871302 +v 1.107998 0.593478 -1.548123 +v -0.993990 1.163422 -2.794857 +v -0.459548 -0.831486 -3.115857 +v 1.072215 -0.760217 -3.044584 +v -0.993990 -0.510667 -3.115857 +v 0.965284 0.593265 -3.044584 +v -1.029773 0.095017 -0.337026 +f 85 92 112 +f 82 81 84 +f 81 82 86 +f 86 82 89 +f 85 86 89 +f 82 87 89 +f 85 80 92 +f 86 80 93 +f 84 86 93 +f 83 90 96 +f 80 85 97 +f 93 80 97 +f 93 97 99 +f 90 83 100 +f 97 85 100 +f 83 97 100 +f 82 84 101 +f 87 82 101 +f 96 88 102 +f 83 96 102 +f 97 83 102 +f 88 97 102 +f 94 90 103 +f 91 94 103 +f 90 100 103 +f 100 91 103 +f 84 81 104 +f 81 86 104 +f 86 84 104 +f 85 89 105 +f 89 95 105 +f 95 91 105 +f 91 100 105 +f 100 85 105 +f 89 87 106 +f 95 89 106 +f 91 95 106 +f 88 96 107 +f 96 93 107 +f 97 88 107 +f 93 99 107 +f 99 97 107 +f 84 98 108 +f 101 84 108 +f 94 91 109 +f 87 101 109 +f 101 94 109 +f 106 87 109 +f 91 106 109 +f 84 93 110 +f 96 90 110 +f 93 96 110 +f 98 84 110 +f 98 110 111 +f 90 94 111 +f 94 101 111 +f 108 98 111 +f 101 108 111 +f 110 90 111 +f 80 86 112 +f 86 85 112 +f 92 80 112 +o convex_4 +v -1.101032 -0.902756 0.625707 +v 1.107998 -0.617465 1.195402 +v 1.072319 -0.011994 1.729577 +v 0.929822 1.270645 -0.336754 +v -1.029676 1.270645 3.083449 +v -0.993998 1.270645 -0.336416 +v -1.101032 -0.795745 3.083449 +v 1.000962 1.163422 3.119309 +v 1.000962 -0.902756 -0.336754 +v 0.965284 -0.760217 2.941025 +v -1.029676 -0.902756 -0.336416 +v -1.101032 0.842815 0.910555 +v 1.107998 -0.902756 0.946076 +v 0.965284 1.270645 0.946076 +v -1.065354 1.270645 0.269478 +v 0.822787 1.199375 3.119309 +v -0.352652 -0.795745 3.047590 +v -1.101032 -0.154533 3.083449 +v 1.107998 -0.688947 0.803652 +v -1.101032 -0.902756 0.946414 +v 0.965284 1.270645 0.376042 +v 1.036641 -0.795745 -0.158470 +v 0.929822 -0.653206 2.976547 +v 0.573471 0.736017 3.119309 +v -1.065354 1.199375 2.121327 +v 0.965284 -0.795745 2.691699 +v -1.029676 0.308400 -0.336416 +v -0.887179 1.270645 3.083449 +v -1.065354 -0.831486 2.442034 +v 1.107998 -0.831486 1.159881 +v 0.466652 1.199375 3.119309 +v -1.065354 -0.688947 0.055335 +v 0.929822 1.270645 1.088500 +v 0.038945 -0.795745 3.012068 +f 125 138 146 +f 117 116 118 +f 114 115 120 +f 116 121 123 +f 121 113 123 +f 113 119 124 +f 113 121 125 +f 116 117 126 +f 117 118 127 +f 113 124 127 +f 120 126 128 +f 124 119 130 +f 114 125 131 +f 119 113 132 +f 113 125 132 +f 115 114 133 +f 120 115 133 +f 116 126 133 +f 126 120 133 +f 114 131 133 +f 131 116 133 +f 121 116 134 +f 125 121 134 +f 116 131 134 +f 131 125 134 +f 122 120 135 +f 129 122 135 +f 129 135 136 +f 120 128 136 +f 119 129 136 +f 135 120 136 +f 117 127 137 +f 127 124 137 +f 130 117 137 +f 124 130 137 +f 125 122 138 +f 118 116 139 +f 116 123 139 +f 127 118 139 +f 126 117 140 +f 117 128 140 +f 129 119 141 +f 125 129 141 +f 119 132 141 +f 132 125 141 +f 114 120 142 +f 120 122 142 +f 125 114 142 +f 122 125 142 +f 128 117 143 +f 117 130 143 +f 130 119 143 +f 136 128 143 +f 119 136 143 +f 123 113 144 +f 113 127 144 +f 139 123 144 +f 127 139 144 +f 128 126 145 +f 126 140 145 +f 140 128 145 +f 122 129 146 +f 129 125 146 +f 138 122 146 +o convex_5 +v 0.110399 3.123129 1.088427 +v 0.787165 3.158870 -1.049345 +v 0.787165 3.194416 -1.049345 +v -1.100949 2.410455 -0.942205 +v 0.929794 1.270645 1.088427 +v 1.107914 1.270645 -0.977988 +v -1.065236 1.270645 0.945713 +v -1.065236 3.194611 1.052644 +v 0.929794 3.230157 1.088427 +v -1.029522 1.270645 -0.977988 +v -1.100949 3.265898 -0.906631 +v 1.107914 3.194416 -1.049345 +v 1.143404 2.375104 0.304549 +v -1.136439 1.840745 0.197410 +v 0.395212 1.270645 1.088427 +v 1.143404 1.912227 0.268557 +v 1.107914 1.591534 -1.013352 +v -1.029522 3.265898 -0.942205 +v -1.100949 3.265898 -0.407762 +v 1.000997 3.230157 0.411270 +v -1.065236 1.341932 -0.977988 +v -1.065236 1.413219 0.981287 +v -0.530877 3.265898 -0.942205 +v -1.136439 2.481742 0.232983 +v -1.136439 1.805199 -0.265258 +v 1.143404 1.876486 -0.265467 +v 0.217315 3.230157 1.088427 +v -1.065236 1.912032 -0.977988 +v 1.072201 2.660057 -1.049345 +v -0.067498 2.054801 1.088427 +v 0.965284 1.270645 0.945713 +v 1.107914 3.194416 -0.728553 +v 0.537842 3.230157 -1.013352 +v -1.065236 3.230157 0.553775 +v -1.100949 3.230157 0.268557 +v -1.065236 2.980750 1.052644 +v 1.143404 2.517483 -0.265467 +v -1.136439 2.517287 -0.229684 +f 181 165 184 +f 152 151 153 +f 147 151 155 +f 152 153 156 +f 148 149 158 +f 155 151 159 +f 151 147 161 +f 153 151 161 +f 152 156 163 +f 150 157 164 +f 164 157 165 +f 155 159 166 +f 149 148 167 +f 148 156 167 +f 156 153 167 +f 160 153 168 +f 153 161 168 +f 165 155 169 +f 164 165 169 +f 155 166 169 +f 160 168 170 +f 157 150 171 +f 153 160 171 +f 167 153 171 +f 150 167 171 +f 160 170 171 +f 162 152 172 +f 159 162 172 +f 152 163 172 +f 163 158 172 +f 154 147 173 +f 147 155 173 +f 155 165 173 +f 164 149 174 +f 150 164 174 +f 149 167 174 +f 167 150 174 +f 156 148 175 +f 148 158 175 +f 163 156 175 +f 158 163 175 +f 147 154 176 +f 161 147 176 +f 168 161 176 +f 151 152 177 +f 159 151 177 +f 152 162 177 +f 162 159 177 +f 158 166 178 +f 166 159 178 +f 158 149 179 +f 149 164 179 +f 166 158 179 +f 164 169 179 +f 169 166 179 +f 154 173 180 +f 173 165 180 +f 170 154 181 +f 154 180 181 +f 180 165 181 +f 154 170 182 +f 170 168 182 +f 176 154 182 +f 168 176 182 +f 172 158 183 +f 159 172 183 +f 158 178 183 +f 178 159 183 +f 165 157 184 +f 157 171 184 +f 171 170 184 +f 170 181 184 +o convex_6 +v 1.250826 1.876437 0.055136 +v 1.500156 2.517678 -0.229789 +v 1.500156 2.517678 -0.265439 +v 2.960464 1.840797 -0.265439 +v 3.031807 2.410688 0.233276 +v 1.143627 2.375048 0.304521 +v 1.143627 1.840797 -0.265439 +v 2.817964 1.983357 0.197626 +v 2.889122 2.410688 -0.229789 +v 1.143627 1.947717 0.268871 +v 1.143627 2.517678 -0.158544 +v 2.924793 1.805157 -0.229789 +v 2.746621 2.410688 0.268871 +v 2.996135 1.947717 0.126381 +v 1.428998 1.912077 0.233276 +v 2.960464 2.196918 -0.265439 +v 1.143627 2.517678 -0.265439 +v 2.996135 2.410688 -0.122893 +v 3.031807 2.232558 0.233276 +v 1.606985 2.303838 0.304521 +f 203 197 204 +f 187 186 189 +f 187 188 191 +f 191 185 194 +f 190 191 194 +f 186 187 195 +f 189 186 195 +f 191 190 195 +f 191 188 196 +f 185 191 196 +f 189 195 197 +f 195 190 197 +f 196 188 198 +f 196 198 199 +f 194 185 199 +f 192 194 199 +f 185 196 199 +f 198 192 199 +f 188 187 200 +f 187 193 200 +f 187 191 201 +f 195 187 201 +f 191 195 201 +f 187 189 202 +f 193 187 202 +f 188 200 202 +f 200 193 202 +f 194 192 203 +f 189 197 203 +f 198 188 203 +f 192 198 203 +f 188 202 203 +f 202 189 203 +f 190 194 204 +f 197 190 204 +f 194 203 204 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/418/418.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/418/418.urdf new file mode 100644 index 000000000..bf69e9c90 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/418/418.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/419/419.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/419/419.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/419/419.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/419/419.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/419/419.obj new file mode 100644 index 000000000..0e48d8166 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/419/419.obj @@ -0,0 +1,255 @@ +o convex_0 +v 0.236820 -2.789274 -0.022764 +v -0.349515 -4.724129 -0.345371 +v -0.290827 -4.753436 -0.169313 +v 0.354197 -4.694822 -0.315995 +v 0.266095 -4.812248 0.329020 +v -0.202863 -2.789274 0.182405 +v -0.173587 -2.789274 -0.315995 +v 0.266095 -2.789274 0.329020 +v -0.202863 -4.782743 0.211715 +v 0.236820 -2.877591 -0.227999 +v -0.320171 -3.991256 -0.140004 +v 0.148856 -4.343138 0.329020 +v -0.290827 -3.786305 -0.345371 +v 0.354197 -4.694822 -0.140004 +v -0.056279 -2.818977 -0.315995 +v -0.232207 -2.877591 0.123719 +v 0.354197 -4.401752 -0.286685 +v -0.202863 -3.815414 0.211715 +v 0.207475 -2.936205 0.329020 +v -0.026935 -4.606901 -0.345371 +v -0.202863 -2.818977 -0.315995 +v -0.056279 -4.812248 0.270334 +v 0.236820 -4.812248 0.211715 +v 0.148856 -2.789274 -0.257309 +v -0.320171 -4.724129 -0.140004 +v 0.354197 -4.548287 -0.315995 +v 0.295508 -4.782743 0.211715 +v 0.266095 -2.789274 0.211715 +v -0.202863 -3.669078 -0.345371 +v -0.349515 -4.372445 -0.286685 +v 0.354197 -4.724129 -0.227999 +v -0.144243 -2.789274 0.211715 +v -0.144243 -4.401752 0.241024 +v 0.148856 -4.812248 0.329020 +v -0.173587 -4.724129 -0.345371 +v 0.266095 -3.258582 -0.257309 +f 28 17 36 +f 6 1 7 +f 1 6 8 +f 2 3 9 +f 5 8 12 +f 14 4 17 +f 8 14 17 +f 11 9 18 +f 6 16 18 +f 16 11 18 +f 12 8 19 +f 2 13 20 +f 6 7 21 +f 16 6 21 +f 9 3 22 +f 22 3 23 +f 5 22 23 +f 7 1 24 +f 1 10 24 +f 15 7 24 +f 2 9 25 +f 9 11 25 +f 17 4 26 +f 4 20 26 +f 8 5 27 +f 14 8 27 +f 1 8 28 +f 10 1 28 +f 8 17 28 +f 7 15 29 +f 20 13 29 +f 21 7 29 +f 13 21 29 +f 26 20 29 +f 15 26 29 +f 13 2 30 +f 11 16 30 +f 21 13 30 +f 16 21 30 +f 2 25 30 +f 25 11 30 +f 4 14 31 +f 5 23 31 +f 27 5 31 +f 14 27 31 +f 8 6 32 +f 6 18 32 +f 19 8 32 +f 18 19 32 +f 18 9 33 +f 12 19 33 +f 19 18 33 +f 9 22 33 +f 22 12 33 +f 5 12 34 +f 22 5 34 +f 12 22 34 +f 3 2 35 +f 2 20 35 +f 20 4 35 +f 23 3 35 +f 4 31 35 +f 31 23 35 +f 24 10 36 +f 15 24 36 +f 17 26 36 +f 26 15 36 +f 10 28 36 +o convex_1 +v 0.266089 -1.264370 -1.078404 +v -0.232152 3.279603 1.091375 +v 0.647361 3.309137 1.061852 +v 0.940600 -2.789274 1.003233 +v -1.053181 -2.759740 0.973923 +v -1.111870 3.221138 -1.078404 +v 0.940600 3.308534 -0.931642 +v -1.023837 -2.642208 -0.931642 +v 0.940600 -2.671139 -1.078404 +v -1.053181 3.250672 1.091375 +v 0.969945 3.309137 1.032543 +v -0.173464 -2.789274 -0.315923 +v 0.266089 3.368204 -0.550402 +v 0.969945 -1.205303 1.032543 +v -1.053181 2.077159 1.091375 +v 0.969945 3.309137 -0.227781 +v -1.053181 -2.554210 -0.931642 +v 0.940600 2.986677 -0.960952 +v -1.082525 3.250672 0.504753 +v -1.111870 2.048228 -1.048882 +v 0.529984 3.368204 0.651302 +v 0.852567 -1.703759 -1.078404 +v 0.060883 -2.759740 1.003233 +v -0.671909 3.308534 0.563373 +v -1.111870 3.162071 -0.521092 +v -0.906460 3.103606 -1.078404 +v -1.111870 2.869144 -1.078404 +v 0.735190 -2.671139 -1.078404 +v 0.969945 -1.615761 0.973923 +v 0.207401 -2.789274 -0.227781 +v -1.053181 -2.671139 -0.667641 +v -0.935804 3.250672 -0.990262 +v 0.559328 3.368204 -0.579711 +v -0.202808 -2.789274 0.182132 +v -0.935804 3.279603 0.973710 +v 0.823223 3.279603 -0.960952 +v 0.354122 3.368204 0.592682 +v -1.053181 -2.759740 0.797851 +v 0.823223 3.338670 0.885993 +v 0.940600 -1.967755 -1.078404 +v 0.588673 3.309137 -0.931642 +v -0.613424 3.279603 1.091375 +v 0.940600 -2.789274 0.915303 +v -1.082525 3.250672 0.006485 +v 0.706050 -2.789274 1.003233 +v -0.232152 3.191604 1.091375 +v -0.730598 3.250672 -1.048882 +v -0.202808 3.338670 0.563373 +v -0.613424 -1.791758 -0.990262 +v -1.111870 2.048228 -0.990262 +v 0.881912 3.162071 -0.960952 +f 62 72 87 +f 37 42 45 +f 47 39 50 +f 38 46 51 +f 47 50 52 +f 43 52 54 +f 41 51 55 +f 51 46 55 +f 45 42 58 +f 51 41 59 +f 41 55 61 +f 55 42 61 +f 42 56 61 +f 58 42 62 +f 42 37 63 +f 56 42 63 +f 53 56 63 +f 37 45 64 +f 48 44 64 +f 45 48 64 +f 50 40 65 +f 45 52 65 +f 52 50 65 +f 40 48 66 +f 48 45 66 +f 44 48 67 +f 53 44 67 +f 56 53 67 +f 60 49 68 +f 52 43 69 +f 49 57 69 +f 48 40 70 +f 55 46 71 +f 62 42 72 +f 57 49 73 +f 41 56 74 +f 67 48 74 +f 56 67 74 +f 70 41 74 +f 48 70 74 +f 39 47 75 +f 47 52 75 +f 57 39 75 +f 52 69 75 +f 69 57 75 +f 52 45 76 +f 54 52 76 +f 45 58 76 +f 58 54 76 +f 69 43 77 +f 49 69 77 +f 38 39 78 +f 46 38 78 +f 39 57 78 +f 71 46 78 +f 57 73 78 +f 73 71 78 +f 65 40 79 +f 45 65 79 +f 40 66 79 +f 66 45 79 +f 42 55 80 +f 68 42 80 +f 60 68 80 +f 55 71 80 +f 71 60 80 +f 40 50 81 +f 50 51 81 +f 59 41 81 +f 51 59 81 +f 70 40 81 +f 41 70 81 +f 39 38 82 +f 50 39 82 +f 38 51 82 +f 51 50 82 +f 42 68 83 +f 68 49 83 +f 72 42 83 +f 43 72 83 +f 77 43 83 +f 49 77 83 +f 49 60 84 +f 60 71 84 +f 73 49 84 +f 71 73 84 +f 44 53 85 +f 63 37 85 +f 53 63 85 +f 37 64 85 +f 64 44 85 +f 56 41 86 +f 41 61 86 +f 61 56 86 +f 43 54 87 +f 54 58 87 +f 58 62 87 +f 72 43 87 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/419/419.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/419/419.urdf new file mode 100644 index 000000000..9e74eef5d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/419/419.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/420/420.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/420/420.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/420/420.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/420/420.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/420/420.obj new file mode 100644 index 000000000..088a39108 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/420/420.obj @@ -0,0 +1,720 @@ +o convex_0 +v 1.448601 0.268494 -1.983121 +v 1.742593 2.215307 -1.321905 +v 1.632308 2.215307 -1.321905 +v 1.632308 0.194925 -1.321905 +v 2.073143 0.194925 -1.946358 +v 2.036341 2.178324 -1.909595 +v 2.036341 0.194925 -1.395496 +v 1.448601 2.031384 -1.946358 +v 2.073143 2.104755 -1.432194 +v 1.522084 0.341865 -1.579117 +v 1.779151 0.746100 -1.983121 +v 1.448601 2.068168 -1.872897 +v 1.485342 0.194925 -1.983121 +v 1.815893 2.068168 -1.321905 +v 2.073143 0.893040 -1.946358 +v 1.595628 0.856256 -1.358733 +v 1.926117 1.737503 -1.946358 +f 15 11 17 +f 2 3 4 +f 3 2 6 +f 4 5 7 +f 6 2 9 +f 7 5 9 +f 1 4 10 +f 1 8 11 +f 3 6 12 +f 8 1 12 +f 6 8 12 +f 1 10 12 +f 4 1 13 +f 5 4 13 +f 1 11 13 +f 11 5 13 +f 2 4 14 +f 4 7 14 +f 9 2 14 +f 7 9 14 +f 6 9 15 +f 9 5 15 +f 5 11 15 +f 4 3 16 +f 10 4 16 +f 3 12 16 +f 12 10 16 +f 8 6 17 +f 11 8 17 +f 6 15 17 +o convex_1 +v -0.682073 4.199148 -0.145997 +v -1.269997 2.472104 0.514913 +v -1.269997 2.472104 0.588324 +v 0.897534 0.194727 -0.586887 +v 0.750500 4.125456 1.322857 +v -0.608662 0.194727 1.396692 +v -1.233079 0.194727 -0.623805 +v 0.897534 4.162302 -0.770838 +v -1.269997 4.125456 1.396692 +v 0.823911 0.194727 1.359775 +v -1.159668 4.199148 -0.586887 +v -1.233079 0.194727 1.249658 +v 0.530055 0.489101 -0.697003 +v 0.897534 2.839385 -0.035881 +v 0.236199 4.199148 -0.733709 +v 0.823911 1.334200 1.359775 +v -1.233079 1.443953 -0.623805 +v -1.269997 4.162302 1.176035 +v 0.640171 3.720938 -0.770838 +v 0.787205 4.051765 1.176035 +v -0.865813 0.194727 1.396692 +v 0.860616 0.268811 0.955590 +v -1.049552 4.125456 1.396692 +v 0.897534 4.162302 -0.366442 +v -1.196374 4.199148 -0.219408 +v -0.975929 4.199148 -0.623592 +v 0.677089 0.194727 -0.660298 +v 0.089165 4.125456 1.359775 +v 0.897534 3.574339 -0.770838 +v 0.897534 0.194727 -0.145997 +v -1.233079 0.415410 1.286151 +v 0.787205 4.162302 0.331173 +v -1.196374 2.508950 -0.623805 +v 0.897534 0.268811 -0.623592 +v -1.269997 3.316811 1.359775 +v -1.196374 4.162302 1.249658 +v 0.750500 3.390502 -0.770838 +v 0.860616 0.966527 0.955590 +v -1.196374 3.316811 -0.586887 +f 50 34 56 +f 21 23 24 +f 20 19 24 +f 19 20 26 +f 23 21 27 +f 24 23 29 +f 20 24 29 +f 21 25 31 +f 28 18 32 +f 23 27 33 +f 24 19 34 +f 19 26 35 +f 34 19 35 +f 32 25 36 +f 24 34 36 +f 22 33 37 +f 23 26 38 +f 29 23 38 +f 33 27 39 +f 26 23 40 +f 23 33 40 +f 31 25 41 +f 25 32 41 +f 22 37 41 +f 18 28 42 +f 28 32 43 +f 21 24 44 +f 24 30 44 +f 33 22 45 +f 40 33 45 +f 25 21 46 +f 36 25 46 +f 44 30 46 +f 27 21 47 +f 21 31 47 +f 39 27 47 +f 31 39 47 +f 38 26 48 +f 29 38 48 +f 32 18 49 +f 22 41 49 +f 41 32 49 +f 32 36 50 +f 36 34 50 +f 28 43 50 +f 43 32 50 +f 21 44 51 +f 46 21 51 +f 44 46 51 +f 26 20 52 +f 20 29 52 +f 48 26 52 +f 29 48 52 +f 35 26 53 +f 26 40 53 +f 18 42 53 +f 42 35 53 +f 45 22 53 +f 40 45 53 +f 49 18 53 +f 22 49 53 +f 30 24 54 +f 24 36 54 +f 46 30 54 +f 36 46 54 +f 37 33 55 +f 39 31 55 +f 33 39 55 +f 31 41 55 +f 41 37 55 +f 34 35 56 +f 42 28 56 +f 35 42 56 +f 28 50 56 +o convex_2 +v -0.792405 -0.429866 3.049577 +v 0.419942 -1.348167 1.948018 +v 0.419942 -1.384847 1.948018 +v -0.755617 -1.348167 1.433628 +v -0.645371 -1.495212 3.454009 +v 0.162663 -0.429866 1.433628 +v 0.236239 -0.466654 3.270086 +v 0.309696 -1.458423 3.380242 +v -0.645371 -0.429866 1.433628 +v -0.792405 -0.393078 3.417027 +v 0.419942 -1.348167 1.433628 +v 0.309696 -0.503442 1.433628 +v 0.089205 -1.421635 2.094958 +v 0.272908 -0.613699 3.306871 +v -0.571914 -0.393078 3.417027 +v -0.682160 -0.393078 1.727509 +v 0.052535 -1.495212 3.417027 +v 0.419942 -1.127762 1.727509 +v -0.792405 -0.797208 2.682325 +v -0.645371 -1.495212 3.159930 +v -0.351422 -0.393078 3.123146 +v 0.089205 -1.201122 3.417027 +v 0.272908 -0.466654 3.012990 +v -0.755617 -1.090973 1.507197 +v -0.718829 -1.384847 1.654137 +v 0.419942 -1.384847 1.617353 +v -0.755617 -1.348167 1.727509 +v -0.792405 -0.540122 3.417027 +v 0.015747 -0.429866 3.306871 +f 63 79 85 +f 59 58 64 +f 62 60 65 +f 58 59 67 +f 60 62 67 +f 67 62 68 +f 64 58 70 +f 66 61 71 +f 62 65 72 +f 57 66 72 +f 66 71 72 +f 58 67 74 +f 67 68 74 +f 70 58 74 +f 66 57 75 +f 61 60 76 +f 73 61 76 +f 69 73 76 +f 62 72 77 +f 72 71 77 +f 64 70 78 +f 71 61 78 +f 70 71 78 +f 73 64 78 +f 61 73 78 +f 68 62 79 +f 63 70 79 +f 74 68 79 +f 70 74 79 +f 65 60 80 +f 57 72 80 +f 72 65 80 +f 75 57 80 +f 60 75 80 +f 76 60 81 +f 69 76 81 +f 59 64 82 +f 67 59 82 +f 60 67 82 +f 64 73 82 +f 73 69 82 +f 81 60 82 +f 69 81 82 +f 60 61 83 +f 75 60 83 +f 61 75 83 +f 61 66 84 +f 75 61 84 +f 66 75 84 +f 70 63 85 +f 71 70 85 +f 62 77 85 +f 77 71 85 +f 79 62 85 +o convex_3 +v -1.270299 -0.650303 -1.468911 +v -3.143312 -1.164510 -2.019852 +v -3.143312 -1.054297 -2.019852 +v -3.180132 -1.201309 -1.285168 +v -0.829373 -1.201309 -1.909606 +v -3.180132 -0.613565 -1.872857 +v -0.829373 -0.576828 -1.946355 +v -0.829373 -1.127772 -1.432234 +v -3.143312 -0.613565 -1.468911 +v -0.829373 -0.723779 -1.358737 +v -2.628975 -1.201309 -2.019852 +v -1.343710 -0.833992 -1.321988 +v -1.013246 -0.576828 -1.725935 +v -0.903014 -1.201309 -1.689186 +v -2.078049 -0.576828 -1.909606 +v -3.143312 -0.650303 -1.432234 +v -3.033081 -0.613565 -1.909606 +v -2.482154 -1.201309 -1.321988 +v -1.490762 -0.760517 -1.983103 +v -3.069901 -1.127772 -1.285168 +v -0.866194 -0.907346 -1.358737 +v -0.939605 -0.944083 -1.946355 +f 96 104 107 +f 88 87 91 +f 87 89 91 +f 90 92 93 +f 91 89 94 +f 93 92 95 +f 86 94 95 +f 87 88 96 +f 89 87 96 +f 90 89 96 +f 94 86 98 +f 86 95 98 +f 95 92 98 +f 89 90 99 +f 90 93 99 +f 91 94 100 +f 98 92 100 +f 94 98 100 +f 94 89 101 +f 95 94 101 +f 97 95 101 +f 88 91 102 +f 91 100 102 +f 100 92 102 +f 89 99 103 +f 99 93 103 +f 96 88 104 +f 88 102 104 +f 102 92 104 +f 89 97 105 +f 101 89 105 +f 97 101 105 +f 93 95 106 +f 97 89 106 +f 95 97 106 +f 89 103 106 +f 103 93 106 +f 92 90 107 +f 90 96 107 +f 104 92 107 +o convex_4 +v 2.183289 -3.589036 -1.542354 +v 1.485339 -3.883169 -1.432191 +v 1.485339 -3.883169 -1.321905 +v 1.632362 -1.274785 -1.872965 +v 1.962822 -1.274785 -1.358647 +v 2.073021 -3.846147 -1.946448 +v 2.109777 -1.385085 -1.872965 +v 1.632362 -3.846147 -1.872965 +v 1.632362 -1.274785 -1.358647 +v 2.183289 -3.883169 -1.468932 +v 2.073021 -1.715984 -1.395388 +v 2.109777 -1.274785 -1.726000 +v 1.558919 -2.193694 -1.321905 +v 1.632362 -3.699336 -1.321905 +v 1.889379 -3.662570 -1.946448 +v 2.073021 -3.074815 -1.946448 +v 2.183289 -3.883169 -1.579156 +v 1.485339 -3.515759 -1.358647 +f 120 111 125 +f 109 111 115 +f 112 111 116 +f 110 109 117 +f 117 108 118 +f 111 112 119 +f 108 114 119 +f 114 111 119 +f 118 108 119 +f 112 118 119 +f 116 111 120 +f 112 116 120 +f 110 117 121 +f 118 112 121 +f 117 118 121 +f 120 110 121 +f 112 120 121 +f 115 111 122 +f 113 115 122 +f 111 114 123 +f 114 113 123 +f 122 111 123 +f 113 122 123 +f 114 108 124 +f 113 114 124 +f 109 115 124 +f 115 113 124 +f 117 109 124 +f 108 117 124 +f 109 110 125 +f 111 109 125 +f 110 120 125 +o convex_5 +v -0.461607 -1.384736 -2.644041 +v 0.419942 -0.466704 -0.770838 +v 0.419942 -0.613745 -0.770838 +v -0.792341 -0.393128 -0.770838 +v 0.272854 -0.393128 -2.644041 +v 0.346337 -1.421635 -0.770838 +v -0.718736 -1.495212 -0.770838 +v -0.792341 -0.356340 -2.607450 +v 0.346337 -1.458423 -2.717604 +v -0.829143 -1.201241 -1.909739 +v -0.718858 -1.384736 -2.607450 +v 0.383140 -0.613634 -2.019703 +v -0.388124 -0.393128 -0.770838 +v -0.829143 -0.870816 -1.358966 +v -0.718858 -0.356340 -1.652839 +v 0.309535 -0.393128 -2.570668 +v 0.383140 -1.237806 -1.873148 +v -0.829143 -0.577069 -1.946521 +v 0.346337 -1.201241 -2.717604 +v 0.383140 -0.429916 -1.175057 +v 0.236052 -1.458423 -2.717604 +v 0.346337 -1.458423 -2.240013 +v -0.829143 -1.127665 -1.432529 +f 139 135 148 +f 128 127 129 +f 128 129 131 +f 131 129 132 +f 135 133 136 +f 133 126 136 +f 132 135 136 +f 127 128 137 +f 129 127 138 +f 133 129 140 +f 129 138 140 +f 140 138 141 +f 130 133 141 +f 127 137 141 +f 133 140 141 +f 128 131 142 +f 137 128 142 +f 134 137 142 +f 129 133 143 +f 133 135 143 +f 139 129 143 +f 135 139 143 +f 133 130 144 +f 137 134 144 +f 130 141 144 +f 141 137 144 +f 138 127 145 +f 141 138 145 +f 127 141 145 +f 126 133 146 +f 134 132 146 +f 136 126 146 +f 132 136 146 +f 133 144 146 +f 144 134 146 +f 131 132 147 +f 132 134 147 +f 142 131 147 +f 134 142 147 +f 132 129 148 +f 135 132 148 +f 129 139 148 +o convex_6 +v 2.844577 -0.576936 -0.476749 +v -3.290490 -1.825769 -0.770838 +v -3.290490 -1.862475 0.221255 +v -3.143418 0.157598 1.433430 +v 2.844577 -1.899180 1.286277 +v -3.143418 0.121104 -0.660582 +v 2.918113 0.047693 1.433430 +v 2.881041 -1.862262 -0.660582 +v -3.290490 -1.862475 1.359638 +v 2.771041 0.194515 -0.587005 +v 1.154471 -1.972803 1.433430 +v -0.645027 -1.972803 -0.770838 +v 0.419722 -0.466819 -0.770838 +v 0.823864 0.194727 1.359638 +v -1.857455 0.194727 -0.623686 +v -1.747455 -1.972803 -0.145979 +v -3.290490 -1.531701 -0.770838 +v -0.828562 -0.356703 -0.770838 +v -2.371597 0.194727 1.359854 +v -0.387956 -1.972803 1.323173 +v -3.253418 -1.568619 1.396534 +v 0.640329 0.194727 -0.660582 +v 2.918113 -0.319785 1.433430 +v 2.807505 -0.172964 -0.623686 +v 1.411542 -1.972803 1.322958 +v -1.636848 -1.972803 -0.770838 +v -3.179882 -0.503525 1.433430 +v 1.228007 -1.862475 -0.733942 +v -3.179882 -0.172751 -0.697046 +v -2.996347 -1.898968 1.065980 +v -3.290490 -1.605112 1.359638 +v -3.143418 0.157598 0.331296 +v 2.918113 -0.062635 1.029084 +v 2.881041 -1.494996 1.322958 +v -3.179882 -0.099340 -0.366708 +v 2.881041 -1.568407 -0.660582 +v 0.640329 -1.972803 1.433430 +v -1.820383 -1.935886 1.322958 +v 2.918113 -0.760675 0.551593 +v 2.844577 -1.678735 1.322958 +v 2.366899 -1.935886 1.286277 +v 0.346186 -1.421585 -0.770838 +v -2.702812 0.157598 -0.660582 +v 2.807505 0.157810 -0.476749 +v 2.881041 0.084399 1.029084 +v 2.660434 0.047693 -0.623686 +v -3.069883 -1.862475 -0.733942 +v 2.881041 -1.862262 0.257935 +v -2.408669 0.194727 0.588273 +v -0.608563 0.194727 1.396534 +v -3.253418 -1.421585 -0.770838 +v 2.771041 0.194515 -0.513645 +v -1.159777 -1.972803 0.771890 +f 168 186 201 +f 150 151 157 +f 155 152 159 +f 160 150 161 +f 160 159 164 +f 150 157 165 +f 161 150 165 +f 161 165 166 +f 162 163 167 +f 164 159 168 +f 162 158 170 +f 163 162 170 +f 161 166 170 +f 155 159 171 +f 159 160 173 +f 160 156 173 +f 150 160 174 +f 160 164 174 +f 159 152 175 +f 156 160 176 +f 161 156 176 +f 154 166 177 +f 157 151 178 +f 151 174 178 +f 174 164 178 +f 165 157 179 +f 157 169 179 +f 175 152 179 +f 169 175 179 +f 155 171 181 +f 154 177 183 +f 177 165 183 +f 165 179 183 +f 179 152 183 +f 180 154 183 +f 152 180 183 +f 156 161 184 +f 161 172 184 +f 149 181 184 +f 168 159 185 +f 169 157 185 +f 159 175 185 +f 175 169 185 +f 157 178 186 +f 178 164 186 +f 185 157 186 +f 168 185 186 +f 181 171 187 +f 171 182 187 +f 156 184 187 +f 184 181 187 +f 159 153 188 +f 171 159 188 +f 153 182 188 +f 182 171 188 +f 156 153 189 +f 153 159 189 +f 173 156 189 +f 159 173 189 +f 160 161 190 +f 176 160 190 +f 161 176 190 +f 166 154 191 +f 163 170 191 +f 170 166 191 +f 154 180 191 +f 158 155 192 +f 172 158 192 +f 181 149 192 +f 155 181 192 +f 149 184 192 +f 184 172 192 +f 162 155 193 +f 170 158 194 +f 161 170 194 +f 158 172 194 +f 172 161 194 +f 151 150 195 +f 174 151 195 +f 150 174 195 +f 153 156 196 +f 182 153 196 +f 156 187 196 +f 187 182 196 +f 152 167 197 +f 167 163 197 +f 180 152 197 +f 163 191 197 +f 191 180 197 +f 152 155 198 +f 155 162 198 +f 167 152 198 +f 162 167 198 +f 166 165 199 +f 165 177 199 +f 177 166 199 +f 155 158 200 +f 158 162 200 +f 193 155 200 +f 162 193 200 +f 164 168 201 +f 186 164 201 +o convex_7 +v 2.918113 -0.760517 -1.395385 +v 2.734319 -1.238047 -1.983186 +v 2.660847 -1.238047 -1.946445 +v 2.146770 -0.687041 -1.946445 +v 2.146770 -1.091035 -1.395385 +v 2.844565 -0.687041 -1.872900 +v 2.146770 -0.687041 -1.395385 +v 2.918113 -1.091035 -1.358643 +v 2.146770 -1.091035 -1.872900 +v 2.881263 -0.613565 -1.432187 +v 2.844565 -1.164510 -1.983186 +v 2.881263 -1.201248 -1.689193 +f 212 202 213 +f 205 206 208 +f 208 206 209 +f 202 208 209 +f 203 204 210 +f 205 203 210 +f 206 205 210 +f 204 206 210 +f 202 207 211 +f 207 205 211 +f 205 208 211 +f 208 202 211 +f 203 205 212 +f 207 202 212 +f 205 207 212 +f 204 203 213 +f 206 204 213 +f 209 206 213 +f 202 209 213 +f 203 212 213 +o convex_8 +v 1.411683 -1.164467 -1.321905 +v 0.383204 -0.723808 -2.019924 +v 0.383204 -0.870762 -1.983164 +v 0.383204 -0.540097 -1.321905 +v 1.448601 -0.687052 -2.019924 +v 0.383204 -1.238047 -1.872954 +v 1.448601 -0.687052 -1.358665 +v 0.383204 -1.127711 -1.321905 +v 1.448601 -1.164467 -1.872954 +v 0.383204 -0.613609 -2.019924 +v 1.448601 -1.201223 -1.358665 +v 1.448601 -0.797251 -2.019924 +v 1.338369 -0.650364 -1.946405 +v 0.824234 -1.238047 -1.615844 +v 0.493436 -0.540097 -1.468875 +v 1.375078 -0.650364 -1.358665 +f 228 217 229 +f 215 216 217 +f 217 216 219 +f 217 214 220 +f 214 217 221 +f 217 219 221 +f 218 220 222 +f 215 217 223 +f 218 215 223 +f 220 214 224 +f 214 221 224 +f 222 220 224 +f 216 215 225 +f 215 218 225 +f 219 216 225 +f 222 219 225 +f 218 222 225 +f 218 223 226 +f 221 219 227 +f 219 222 227 +f 224 221 227 +f 222 224 227 +f 223 217 228 +f 226 223 228 +f 226 228 229 +f 217 220 229 +f 220 218 229 +f 218 226 229 +o convex_9 +v 1.595570 -0.209540 -2.019924 +v 1.448601 -1.201151 -1.579084 +v 1.448601 -1.201151 -1.358665 +v 2.146619 -1.090844 -1.836195 +v 2.036341 0.194583 -1.395424 +v 1.595570 0.194583 -1.358665 +v 2.073100 0.194583 -1.946405 +v 2.146619 -1.090844 -1.395424 +v 1.485360 0.194583 -1.983164 +v 1.448601 -0.797028 -2.019924 +v 1.962891 -1.274641 -1.872954 +v 2.146619 -0.797028 -1.946405 +v 1.962891 -1.274641 -1.358665 +v 1.632329 -1.274641 -1.872954 +v 1.448601 -0.686865 -1.358665 +v 1.669089 0.194583 -1.321905 +v 2.146619 -0.686865 -1.395424 +v 2.109860 -1.274641 -1.836195 +v 1.485360 0.194583 -1.799436 +v 1.448601 -1.164334 -1.836195 +v 1.962891 -0.760355 -1.983164 +f 236 241 250 +f 235 234 236 +f 236 230 238 +f 235 236 238 +f 231 232 239 +f 238 230 239 +f 237 233 241 +f 240 242 243 +f 232 231 243 +f 239 240 243 +f 242 232 243 +f 239 232 244 +f 238 239 244 +f 234 235 245 +f 232 242 245 +f 244 232 245 +f 235 244 245 +f 236 234 246 +f 241 236 246 +f 237 241 246 +f 242 237 246 +f 234 245 246 +f 245 242 246 +f 233 237 247 +f 240 241 247 +f 241 233 247 +f 237 242 247 +f 242 240 247 +f 235 238 248 +f 244 235 248 +f 238 244 248 +f 231 239 249 +f 243 231 249 +f 239 243 249 +f 230 236 250 +f 239 230 250 +f 240 239 250 +f 241 240 250 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/420/420.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/420/420.urdf new file mode 100644 index 000000000..d02b52b70 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/420/420.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/421/421.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/421/421.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/421/421.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/421/421.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/421/421.obj new file mode 100644 index 000000000..8f697ceca --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/421/421.obj @@ -0,0 +1,651 @@ +o convex_0 +v -0.548057 -3.977788 -2.298654 +v 1.015640 -1.482959 -0.176369 +v 1.090263 -1.482959 -1.554089 +v -1.069360 -1.483203 -2.224239 +v -0.957531 -3.940424 -0.288202 +v 1.015640 -3.828577 -0.213787 +v 0.941229 -3.903060 -2.336072 +v -0.994737 -1.483203 -0.288202 +v 0.941229 -1.557686 -2.298654 +v -1.031942 -3.977788 -2.261235 +v 0.866606 -3.903060 -0.213787 +v -0.994737 -3.419040 -0.288202 +v 1.052846 -2.525727 -2.000785 +v -1.031942 -2.265157 -2.261235 +v 0.419715 -3.940424 -2.336072 +v 0.978435 -3.009259 -0.176369 +v 0.978435 -1.482959 -2.187032 +v 0.978435 -3.791457 -2.298654 +v -1.031942 -3.977788 -1.777331 +v -0.957531 -3.977788 -1.144811 +v 1.090263 -1.892740 -1.814538 +v 0.904023 -3.083987 -2.336072 +v 0.904023 -1.482959 -0.176369 +v 0.978435 -3.903305 -0.511656 +v 0.531543 -3.903060 -0.213787 +v -0.249988 -3.940424 -0.288202 +v -0.994737 -3.940424 -0.549074 +v -1.069360 -1.631926 -2.187032 +f 19 12 28 +f 3 2 6 +f 4 9 14 +f 1 10 14 +f 10 4 14 +f 1 14 15 +f 6 2 16 +f 11 6 16 +f 12 5 16 +f 2 3 17 +f 9 4 17 +f 17 13 18 +f 6 7 18 +f 7 9 18 +f 13 6 18 +f 9 17 18 +f 10 1 19 +f 19 1 20 +f 3 6 21 +f 6 13 21 +f 17 3 21 +f 13 17 21 +f 9 7 22 +f 14 9 22 +f 7 15 22 +f 15 14 22 +f 4 8 23 +f 8 12 23 +f 16 2 23 +f 12 16 23 +f 2 17 23 +f 17 4 23 +f 7 6 24 +f 6 11 24 +f 15 7 24 +f 1 15 24 +f 20 1 24 +f 11 20 24 +f 5 11 25 +f 16 5 25 +f 11 16 25 +f 11 5 26 +f 20 11 26 +f 5 20 26 +f 5 12 27 +f 12 19 27 +f 20 5 27 +f 19 20 27 +f 8 4 28 +f 4 10 28 +f 12 8 28 +f 10 19 28 +o convex_1 +v 2.207133 -1.445723 -0.772251 +v 3.100825 -0.328635 -1.554081 +v 3.100825 -0.328635 -1.703012 +v 1.090460 -0.328635 -1.814764 +v 1.090460 -0.365922 -0.697677 +v 1.090460 -1.408435 -1.703012 +v 3.063432 -1.371148 -1.777368 +v 2.989039 -0.589318 -0.697677 +v 1.090460 -1.408435 -0.697677 +v 2.989039 -1.445723 -0.697677 +v 2.989039 -0.403209 -0.809429 +v 3.026236 -1.445723 -1.032825 +v 3.100825 -0.477675 -1.740190 +v 1.648993 -1.408435 -1.740190 +v 1.090460 -0.328635 -1.293289 +v 2.579488 -0.403209 -0.697677 +v 3.026236 -1.333970 -0.809429 +v 3.100825 -1.036000 -1.703012 +v 3.063432 -1.073178 -1.777368 +v 1.090460 -0.440387 -1.814764 +f 35 42 48 +f 30 31 32 +f 33 32 34 +f 34 29 37 +f 33 34 37 +f 36 33 37 +f 36 37 38 +f 37 29 38 +f 36 30 39 +f 29 34 40 +f 38 29 40 +f 31 30 41 +f 32 31 41 +f 40 34 42 +f 35 40 42 +f 30 32 43 +f 32 33 43 +f 33 30 43 +f 30 33 44 +f 33 36 44 +f 39 30 44 +f 36 39 44 +f 30 36 45 +f 36 38 45 +f 38 40 45 +f 45 40 46 +f 40 35 46 +f 41 30 46 +f 35 41 46 +f 30 45 46 +f 35 32 47 +f 32 41 47 +f 41 35 47 +f 34 32 48 +f 32 35 48 +f 42 34 48 +o convex_2 +v -0.510845 1.160772 -4.197703 +v 0.568956 1.160772 -2.336254 +v 0.568956 0.639555 -2.336254 +v -0.548132 0.565035 -2.336254 +v 0.568956 0.639555 -4.197703 +v -0.510845 1.570367 -2.336254 +v 0.457094 1.607469 -4.197703 +v -0.510845 0.602348 -4.160350 +v 0.531559 1.644887 -2.336254 +v -0.548132 1.607469 -4.197703 +v 0.121946 0.602348 -4.197703 +v 0.568956 0.900217 -4.123179 +v -0.548132 0.565035 -3.118114 +v 0.494381 1.644887 -3.341320 +v 0.233698 0.602348 -2.336254 +v 0.308163 1.644887 -2.336254 +v -0.548132 1.049151 -2.336254 +v -0.548132 1.607469 -3.862620 +f 65 54 66 +f 51 50 52 +f 50 51 53 +f 52 50 54 +f 53 49 55 +f 54 50 57 +f 55 49 58 +f 49 56 58 +f 49 53 59 +f 56 49 59 +f 50 53 60 +f 53 55 60 +f 57 50 60 +f 52 58 61 +f 58 56 61 +f 56 59 61 +f 55 58 62 +f 60 55 62 +f 57 60 62 +f 51 52 63 +f 53 51 63 +f 59 53 63 +f 52 61 63 +f 61 59 63 +f 54 57 64 +f 62 58 64 +f 57 62 64 +f 52 54 65 +f 58 52 65 +f 58 65 66 +f 54 64 66 +f 64 58 66 +o convex_3 +v 1.090256 2.128809 -1.702735 +v -1.069258 0.006492 -2.224101 +v -1.069258 1.533124 -2.261279 +v -1.032054 1.979995 2.132279 +v 0.978431 0.043910 2.132279 +v 0.941228 0.006492 -2.224101 +v 1.015634 2.091390 2.132279 +v -0.957648 0.118317 2.132279 +v -1.032054 2.203431 -2.261279 +v 1.015634 2.166012 -2.224101 +v -0.994851 2.203431 2.132279 +v -1.106676 0.527985 2.132279 +v 1.052838 0.006492 -0.138637 +v 0.568764 0.639811 -2.336072 +v -1.106676 2.054402 -0.138637 +v 1.052838 0.565189 2.132279 +v -1.032054 0.006492 -0.250171 +v -0.622388 1.719141 -2.336072 +v 1.090256 1.756344 -2.186485 +v 1.015634 2.166012 -0.585647 +v -0.212936 2.203431 -2.224101 +v -0.547981 0.565189 -2.336072 +v 0.531561 1.644734 -2.336072 +v 1.015634 2.128594 1.461327 +v 0.531561 0.043910 2.132279 +v 0.978431 0.006492 -1.889062 +v -1.069258 2.165797 -2.186485 +v 1.052838 0.900450 2.132279 +v -1.106676 0.825828 2.094664 +v 0.904024 0.155736 -2.261279 +v 1.052838 0.043910 0.605359 +v -0.920444 2.203431 2.132279 +v -1.069258 0.006492 -0.920686 +v -0.994851 0.155520 2.132279 +v -1.069258 2.165797 0.642100 +v 1.090256 2.166012 -2.186485 +v -1.069258 1.868170 1.536120 +v 1.052838 0.006492 -0.324964 +v -1.106676 0.527985 1.796803 +v 1.015634 0.043910 1.796803 +f 97 82 106 +f 70 71 73 +f 71 70 74 +f 70 73 77 +f 74 70 78 +f 68 72 79 +f 69 68 81 +f 73 71 82 +f 68 79 83 +f 69 75 84 +f 67 82 85 +f 76 75 87 +f 75 77 87 +f 68 69 88 +f 69 84 88 +f 84 80 88 +f 75 76 89 +f 76 80 89 +f 84 75 89 +f 80 84 89 +f 71 74 91 +f 79 71 91 +f 74 83 91 +f 83 79 91 +f 79 72 92 +f 72 85 92 +f 75 69 93 +f 69 81 93 +f 67 73 94 +f 82 67 94 +f 73 82 94 +f 78 70 95 +f 81 78 95 +f 72 68 96 +f 80 76 96 +f 76 85 96 +f 85 72 96 +f 68 88 96 +f 88 80 96 +f 79 85 97 +f 85 82 97 +f 77 73 98 +f 87 77 98 +f 86 87 98 +f 73 90 98 +f 90 86 98 +f 78 68 99 +f 68 83 99 +f 99 83 100 +f 74 78 100 +f 83 74 100 +f 78 99 100 +f 70 77 101 +f 77 75 101 +f 75 93 101 +f 93 81 101 +f 73 67 102 +f 67 85 102 +f 85 76 102 +f 87 86 102 +f 76 87 102 +f 90 73 102 +f 86 90 102 +f 95 70 103 +f 81 95 103 +f 70 101 103 +f 101 81 103 +f 85 79 104 +f 79 92 104 +f 92 85 104 +f 68 78 105 +f 81 68 105 +f 78 81 105 +f 71 79 106 +f 82 71 106 +f 79 97 106 +o convex_4 +v -2.037612 0.565036 2.281326 +v -2.633203 1.719360 2.355788 +v -2.633203 1.719360 2.318614 +v -1.106676 1.607498 2.392962 +v -3.005725 0.639610 3.361076 +v -1.106676 1.570323 3.361076 +v -1.106676 0.676784 3.361076 +v -2.930998 1.644785 3.249214 +v -2.968362 0.602323 2.206752 +v -1.106676 0.565036 2.244039 +v -3.005725 1.682072 2.281326 +v -1.106676 1.607498 2.318614 +v -1.553741 0.639610 2.206752 +v -3.005725 0.974744 3.361076 +v -2.670566 0.602323 3.137465 +v -3.005725 1.719360 2.579286 +v -2.856456 0.974744 2.206752 +v -2.930998 1.607498 3.286501 +v -3.005725 0.602323 2.914193 +v -1.218396 0.565036 2.392962 +v -1.516377 1.570323 3.361076 +f 124 120 127 +f 109 108 110 +f 110 108 112 +f 112 111 113 +f 110 112 113 +f 110 113 116 +f 107 115 116 +f 109 110 118 +f 110 116 118 +f 117 109 118 +f 116 115 119 +f 118 116 119 +f 111 112 120 +f 117 111 120 +f 113 111 121 +f 108 109 122 +f 112 108 122 +f 114 112 122 +f 109 117 122 +f 120 114 122 +f 117 120 122 +f 115 117 123 +f 117 118 123 +f 118 119 123 +f 119 115 123 +f 114 120 124 +f 115 107 125 +f 117 115 125 +f 111 117 125 +f 121 111 125 +f 107 121 125 +f 107 116 126 +f 116 113 126 +f 113 121 126 +f 121 107 126 +f 112 114 127 +f 120 112 127 +f 114 124 127 +o convex_5 +v -1.963453 -1.445723 -1.032825 +v -2.298054 -0.291399 -1.665615 +v -1.106676 -0.328686 -1.665615 +v -2.745042 -0.291399 -0.734964 +v -3.080037 -1.408435 -1.814764 +v -1.106676 -1.445723 -0.734964 +v -1.106676 -1.445723 -1.703012 +v -3.117434 -1.333861 -0.734964 +v -1.106676 -0.440435 -0.697677 +v -3.117434 -0.291399 -1.740190 +v -3.080037 -0.291399 -0.772251 +v -1.106676 -0.365973 -1.740190 +v -2.000456 -1.445723 -1.777368 +v -3.117434 -1.408435 -1.405042 +v -2.707646 -1.147763 -1.814764 +v -2.893842 -1.371148 -0.734964 +v -1.144073 -0.812743 -0.697677 +v -2.558846 -1.445723 -1.554081 +v -3.117434 -0.998840 -0.734964 +v -1.292872 -1.445723 -1.740190 +f 140 139 147 +f 130 129 131 +f 130 133 134 +f 133 128 134 +f 130 131 136 +f 133 130 136 +f 129 130 137 +f 131 129 137 +f 131 137 138 +f 130 134 139 +f 137 130 139 +f 134 128 140 +f 137 132 141 +f 135 137 141 +f 132 137 142 +f 137 139 142 +f 140 132 142 +f 139 140 142 +f 128 133 143 +f 141 128 143 +f 135 141 143 +f 133 136 144 +f 143 133 144 +f 135 143 144 +f 140 128 145 +f 132 140 145 +f 128 141 145 +f 141 132 145 +f 136 131 146 +f 137 135 146 +f 138 137 146 +f 131 138 146 +f 144 136 146 +f 135 144 146 +f 139 134 147 +f 134 140 147 +o convex_6 +v 1.052845 -1.445493 -0.176529 +v 0.419956 -1.482959 -2.261600 +v 0.419956 -1.445493 -2.261600 +v -1.032054 -0.626638 -0.251115 +v 0.941235 0.006346 -2.224203 +v -1.069257 -1.482959 -2.224203 +v 1.052845 0.006346 -0.139133 +v -1.069257 0.006346 -2.224203 +v -0.994851 -1.482959 -0.288304 +v -1.032054 0.006346 -0.251115 +v 1.090263 -1.482959 -1.814710 +v -1.106676 -1.445493 -0.734986 +v 0.941235 -1.482959 -2.261600 +v 1.090263 -0.328806 -1.814710 +v -1.106676 -0.105469 -1.963465 +v 0.904031 -1.482959 -0.176529 +v 0.941235 -0.068149 -2.261600 +v -1.106676 -0.328806 -0.623419 +v 1.090263 -1.408319 -0.697797 +v 1.015641 -1.073167 -0.139133 +v -0.994851 -1.259330 -0.251115 +v -1.106676 -1.445493 -1.702935 +v 1.090263 -0.366126 -0.697797 +v -1.069257 0.006346 -0.586022 +v 0.941235 0.006346 -0.139133 +f 151 168 172 +f 150 149 153 +f 154 152 155 +f 150 153 155 +f 153 149 156 +f 154 155 157 +f 156 149 158 +f 156 151 159 +f 153 156 159 +f 149 150 160 +f 158 149 160 +f 158 160 161 +f 152 154 161 +f 155 153 162 +f 158 148 163 +f 156 158 163 +f 155 152 164 +f 150 155 164 +f 160 150 164 +f 161 160 164 +f 152 161 164 +f 151 157 165 +f 159 151 165 +f 162 159 165 +f 154 148 166 +f 148 158 166 +f 158 161 166 +f 148 154 167 +f 163 148 167 +f 163 167 168 +f 151 156 168 +f 156 163 168 +f 153 159 169 +f 162 153 169 +f 159 162 169 +f 161 154 170 +f 154 166 170 +f 166 161 170 +f 157 155 171 +f 155 162 171 +f 165 157 171 +f 162 165 171 +f 157 151 172 +f 154 157 172 +f 167 154 172 +f 168 167 172 +o convex_7 +v -0.994851 0.192768 2.132447 +v -0.473572 2.203431 3.807594 +v -0.473572 2.203431 3.695940 +v 0.978438 0.043728 2.951579 +v 1.015641 2.091598 2.132447 +v -0.920444 0.081146 3.844979 +v 1.090263 2.054391 3.807761 +v -0.994851 2.203431 2.132447 +v 0.978438 0.043728 2.132447 +v 0.941019 0.043728 3.844979 +v -1.106676 1.570276 3.360810 +v -0.920444 2.203431 3.770376 +v 1.090263 0.639676 2.281487 +v -1.106676 0.565050 2.132447 +v 1.090263 0.527843 3.211937 +v -0.957432 0.118565 2.132447 +v -1.106676 0.676883 3.360810 +v 1.090263 1.719316 2.206883 +v 1.015641 1.086584 3.844979 +v -1.106676 1.570276 2.318705 +v 1.090263 2.091598 3.621671 +v 0.531566 0.043728 2.132447 +v -0.920444 2.054391 3.807594 +v 0.271142 0.043728 3.844979 +v 1.052845 2.091598 2.169833 +v -0.920444 0.453640 3.844979 +v -0.957432 0.155561 3.770376 +v -0.957432 2.203431 3.472631 +v 1.090263 0.676883 2.169833 +v -0.883025 2.203431 2.169833 +v -0.957432 1.719316 3.770376 +f 183 199 203 +f 174 175 180 +f 177 173 180 +f 173 177 181 +f 181 176 182 +f 174 180 184 +f 180 173 186 +f 176 181 187 +f 182 176 187 +f 185 179 187 +f 181 185 187 +f 178 173 188 +f 173 181 188 +f 183 186 189 +f 179 185 190 +f 179 174 191 +f 178 182 191 +f 182 187 191 +f 187 179 191 +f 183 180 192 +f 180 186 192 +f 186 183 192 +f 175 174 193 +f 174 179 193 +f 179 190 193 +f 181 182 194 +f 178 188 194 +f 188 181 194 +f 184 183 195 +f 174 184 195 +f 182 178 196 +f 178 194 196 +f 194 182 196 +f 175 193 197 +f 193 190 197 +f 191 174 198 +f 178 191 198 +f 174 195 198 +f 173 178 199 +f 186 173 199 +f 183 189 199 +f 189 186 199 +f 178 198 199 +f 180 183 200 +f 184 180 200 +f 183 184 200 +f 181 177 201 +f 185 181 201 +f 190 185 201 +f 177 197 201 +f 197 190 201 +f 180 175 202 +f 177 180 202 +f 175 197 202 +f 197 177 202 +f 195 183 203 +f 198 195 203 +f 199 198 203 +o convex_8 +v 1.090263 0.676846 2.169515 +v 1.909538 1.719243 2.690881 +v 1.909538 1.719243 2.653594 +v 2.951741 0.565236 2.393020 +v 1.165024 0.527799 3.249316 +v 2.989025 1.681923 3.211919 +v 1.090263 1.644719 3.211919 +v 3.063785 1.607516 2.318555 +v 2.989025 0.676846 3.286603 +v 1.090263 1.719243 2.206803 +v 2.914457 0.565236 2.169515 +v 1.090263 0.527799 3.100385 +v 2.914457 0.788573 2.169515 +v 1.090263 1.421265 2.169515 +v 1.574371 1.681923 2.206803 +v 1.239591 0.639643 2.169515 +v 2.877560 0.825777 3.286603 +v 2.467826 0.565236 2.169515 +v 2.653858 0.639643 3.286603 +v 2.802993 1.607516 2.281268 +v 2.169944 1.681923 3.211919 +v 1.090263 1.719243 2.467486 +v 2.914457 1.681923 2.914058 +f 209 211 226 +f 206 205 209 +f 211 209 212 +f 207 211 212 +f 205 206 213 +f 204 210 213 +f 206 211 213 +f 207 208 214 +f 211 207 214 +f 210 204 215 +f 208 210 215 +f 214 208 215 +f 211 214 216 +f 214 204 216 +f 204 213 217 +f 216 204 217 +f 216 217 218 +f 213 211 218 +f 217 213 218 +f 204 214 219 +f 215 204 219 +f 212 209 220 +f 214 215 221 +f 219 214 221 +f 215 219 221 +f 208 207 222 +f 210 208 222 +f 207 212 222 +f 220 210 222 +f 212 220 222 +f 211 216 223 +f 216 218 223 +f 218 211 223 +f 209 205 224 +f 210 220 224 +f 220 209 224 +f 205 213 225 +f 213 210 225 +f 224 205 225 +f 210 224 225 +f 206 209 226 +f 211 206 226 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/421/421.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/421/421.urdf new file mode 100644 index 000000000..9790d1ca1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/421/421.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/422/422.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/422/422.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/422/422.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/422/422.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/422/422.obj new file mode 100644 index 000000000..9f798ad8b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/422/422.obj @@ -0,0 +1,588 @@ +o convex_0 +v 0.122189 -3.900108 -0.384282 +v 0.122189 -3.771382 0.322466 +v -0.038411 -3.771382 0.322466 +v 0.090029 -5.570377 0.033292 +v -0.295423 -3.771382 -0.127276 +v 0.379201 -3.771382 -0.095107 +v -0.134757 -5.377553 0.001192 +v 0.090029 -5.345327 -0.191476 +v -0.231170 -3.771382 -0.320013 +v 0.250695 -5.281228 0.001192 +v 0.057936 -5.345327 0.193929 +v -0.231170 -3.835834 0.225959 +v 0.282788 -3.835834 0.258197 +v 0.314948 -4.157032 -0.287775 +v -0.038411 -5.249002 0.193929 +v 0.314948 -3.771382 -0.320013 +v -0.102664 -5.120452 -0.159307 +v 0.379201 -3.771382 0.033292 +v -0.295423 -3.900108 0.001192 +v 0.025842 -3.964207 -0.384282 +v -0.134757 -5.249002 0.097491 +v 0.186442 -5.088403 0.161829 +v 0.218535 -5.152502 -0.159307 +v 0.025842 -5.313101 -0.191476 +v 0.057936 -5.120452 0.225959 +v -0.038411 -3.900108 0.322466 +v 0.250695 -3.803784 0.290297 +v 0.025842 -5.570377 -0.030908 +v -0.166917 -5.120452 -0.030908 +v -0.038411 -3.771382 -0.384282 +v 0.090029 -5.184728 -0.223645 +v -0.006251 -5.506103 0.065461 +f 7 28 32 +f 3 2 5 +f 5 2 6 +f 5 6 9 +f 4 8 10 +f 4 10 11 +f 3 5 12 +f 6 10 14 +f 9 6 16 +f 14 1 16 +f 6 14 16 +f 6 2 18 +f 10 6 18 +f 13 10 18 +f 12 5 19 +f 15 12 21 +f 19 7 21 +f 12 19 21 +f 11 10 22 +f 10 13 22 +f 10 8 23 +f 14 10 23 +f 7 17 24 +f 17 9 24 +f 9 20 24 +f 15 11 25 +f 11 22 25 +f 2 3 26 +f 3 12 26 +f 12 15 26 +f 25 2 26 +f 15 25 26 +f 18 2 27 +f 13 18 27 +f 22 13 27 +f 2 25 27 +f 25 22 27 +f 8 4 28 +f 7 24 28 +f 24 8 28 +f 5 9 29 +f 17 7 29 +f 9 17 29 +f 19 5 29 +f 7 19 29 +f 16 1 30 +f 9 16 30 +f 1 20 30 +f 20 9 30 +f 1 14 31 +f 20 1 31 +f 23 8 31 +f 14 23 31 +f 8 24 31 +f 24 20 31 +f 4 11 32 +f 11 15 32 +f 21 7 32 +f 15 21 32 +f 28 4 32 +o convex_1 +v 1.342914 -0.045257 0.001343 +v -1.259170 -0.141556 0.001343 +v -1.259170 -0.141556 0.033342 +v 0.379103 -3.771382 0.033342 +v 0.057918 -0.045257 1.061339 +v -0.102547 -0.045257 -0.994454 +v -0.905637 -3.096558 0.033342 +v 0.026080 -2.968159 -0.930255 +v 0.026080 -3.064093 0.932739 +v -0.937730 -0.045257 0.900539 +v -0.969823 -0.045257 -0.865854 +v 0.700289 -2.967794 0.739939 +v 0.764475 -2.967794 -0.641055 +v 0.957288 -0.045257 -0.801654 +v 0.989381 -0.045257 0.868338 +v -0.712824 -3.096558 -0.705456 +v -0.648638 -3.128658 0.675740 +v 0.957288 -2.967794 0.065341 +v -0.231174 -3.771382 -0.319856 +v -0.231174 -3.771382 0.258141 +v 0.539569 -3.513855 -0.480657 +v 0.057918 -1.908137 1.029139 +v 0.475383 -3.513855 0.482738 +v 0.026080 -1.843938 -0.994655 +v -0.006268 -3.513855 -0.673255 +v -0.648638 -3.513855 0.001343 +v 1.342914 -0.077356 0.065341 +v -0.937730 -0.174021 0.900539 +v -0.006268 -3.578419 0.579138 +v 1.021474 -0.077356 -0.737656 +v 0.668196 -2.999894 -0.705456 +v -0.905637 -3.096558 -0.095057 +v 0.282570 -3.771382 -0.352056 +v -0.455825 -3.578419 -0.512656 +v -0.712824 -0.270320 0.964738 +v 0.668196 -3.481755 0.065341 +v -1.034264 -0.045257 -0.737455 +v -0.038361 -3.031993 0.932739 +v 0.090011 -0.334154 -0.994655 +v -0.455825 -3.064093 -0.801856 +v -0.648638 -0.430819 -0.930255 +v -1.194729 -0.045257 0.257940 +v -0.648638 -3.064093 0.707739 +v 0.925195 -2.999894 -0.095057 +v -0.455825 -3.545954 0.450739 +v 0.250477 -3.771382 0.290140 +v 0.732382 -0.334519 -0.865854 +v -0.777265 -3.064093 -0.544655 +v 0.732382 -0.366619 0.932538 +v -0.841451 -3.096558 0.225940 +v -0.199081 -1.201942 1.028938 +v 0.057918 -3.096193 -0.898256 +v -0.969823 -0.077356 0.868338 +v -1.259170 -0.109456 -0.030858 +v 0.732382 -2.967794 0.675538 +v 1.021474 -0.109456 0.804340 +v -0.134640 -1.394176 -0.994454 +v -0.520266 -3.642254 -0.030858 +v -0.038361 -2.871860 -0.930255 +v -1.226822 -0.109456 0.161741 +v 0.186290 -1.362441 1.029139 +v -1.001916 -0.077356 -0.833855 +v 1.342914 -0.077356 0.001343 +v 0.090011 -3.031993 0.932739 +f 81 54 96 +f 37 33 38 +f 35 34 39 +f 37 38 42 +f 42 38 43 +f 38 33 46 +f 33 37 47 +f 51 36 52 +f 33 47 59 +f 41 49 61 +f 55 41 61 +f 46 33 62 +f 45 46 62 +f 46 45 63 +f 45 53 63 +f 39 34 64 +f 58 39 64 +f 36 51 65 +f 53 36 65 +f 51 57 65 +f 57 53 65 +f 57 51 66 +f 64 48 66 +f 58 64 66 +f 37 42 67 +f 42 60 67 +f 36 53 68 +f 55 36 68 +f 42 43 69 +f 49 41 70 +f 41 54 70 +f 67 60 70 +f 38 46 71 +f 56 38 71 +f 48 43 72 +f 66 48 72 +f 57 66 72 +f 43 38 73 +f 72 43 73 +f 42 69 74 +f 49 70 75 +f 70 60 75 +f 53 45 76 +f 50 68 76 +f 68 53 76 +f 49 58 77 +f 61 49 77 +f 52 61 77 +f 52 36 78 +f 36 55 78 +f 61 52 78 +f 55 61 78 +f 40 56 79 +f 63 40 79 +f 46 63 79 +f 71 46 79 +f 56 71 79 +f 48 64 80 +f 47 37 81 +f 44 47 81 +f 39 58 82 +f 58 49 82 +f 49 75 82 +f 54 37 83 +f 37 67 83 +f 70 54 83 +f 67 70 83 +f 53 57 84 +f 40 63 84 +f 63 53 84 +f 72 40 84 +f 57 72 84 +f 60 42 85 +f 42 74 85 +f 75 60 85 +f 82 75 85 +f 34 35 86 +f 64 34 86 +f 35 74 86 +f 74 69 86 +f 80 64 86 +f 44 55 87 +f 50 59 87 +f 68 50 87 +f 55 68 87 +f 47 44 88 +f 59 47 88 +f 44 87 88 +f 87 59 88 +f 38 56 89 +f 73 38 89 +f 51 52 90 +f 66 51 90 +f 58 66 90 +f 77 58 90 +f 52 77 90 +f 56 40 91 +f 40 72 91 +f 72 73 91 +f 89 56 91 +f 73 89 91 +f 35 39 92 +f 74 35 92 +f 39 82 92 +f 85 74 92 +f 82 85 92 +f 37 54 93 +f 81 37 93 +f 54 81 93 +f 43 48 94 +f 69 43 94 +f 48 80 94 +f 86 69 94 +f 80 86 94 +f 33 59 95 +f 59 50 95 +f 62 33 95 +f 45 62 95 +f 76 45 95 +f 50 76 95 +f 54 41 96 +f 41 55 96 +f 55 44 96 +f 44 81 96 +o convex_2 +v 0.411075 -0.044892 0.996938 +v -0.102592 -0.044892 -0.994655 +v -0.102592 0.404857 -0.994655 +v -1.869544 0.404857 0.097340 +v 2.049514 0.404857 0.065140 +v 0.058145 0.404857 1.061339 +v -0.969956 -0.044892 0.868539 +v 1.021413 -0.044892 -0.737455 +v -1.001796 -0.044892 -0.833855 +v 1.406951 0.404857 -0.769655 +v 1.021413 -0.044892 0.836339 +v -1.162533 0.404857 -0.866055 +v 1.374727 0.404857 0.836339 +v -1.226597 0.404857 0.900539 +v 1.406951 -0.044892 0.001544 +v -1.258821 -0.044892 0.097340 +v -0.006303 -0.044892 1.061339 +v -1.869544 0.372719 0.001343 +v 2.049514 0.372719 0.001544 +v 0.411075 -0.044892 -0.930255 +v -0.745155 -0.044892 0.964939 +v -1.869544 0.372719 0.097340 +v 2.049514 0.372719 0.065140 +v 0.058145 0.404857 -0.994655 +v -1.130309 0.404857 0.932739 +v -1.258821 -0.044892 -0.062857 +v -0.873284 -0.044892 -0.898256 +v 0.893284 -0.044892 -0.833855 +v 1.535464 0.372719 0.675740 +v 1.278439 0.372719 0.868539 +v 1.439175 0.372719 -0.737455 +v -1.258821 0.372719 -0.769655 +v 1.406951 -0.044892 0.065140 +v -1.226597 0.372719 0.900539 +v 0.058145 -0.044892 -0.994655 +v 0.893284 -0.044892 0.900539 +v 0.058145 -0.044892 1.061339 +v -0.038527 0.404857 1.061339 +v -1.001796 -0.012754 -0.866055 +v 1.985066 0.372719 -0.095057 +f 104 127 136 +f 99 100 101 +f 101 100 102 +f 98 97 103 +f 97 98 104 +f 98 103 105 +f 99 101 106 +f 97 104 107 +f 99 98 108 +f 100 99 108 +f 101 102 109 +f 102 100 110 +f 107 104 111 +f 105 103 112 +f 103 97 113 +f 100 108 114 +f 111 104 115 +f 104 98 116 +f 103 113 117 +f 110 100 118 +f 112 103 118 +f 100 114 118 +f 114 112 118 +f 115 101 119 +f 111 115 119 +f 98 99 120 +f 99 106 120 +f 102 110 121 +f 117 113 121 +f 105 112 122 +f 114 105 122 +f 112 114 122 +f 98 105 123 +f 108 98 123 +f 104 116 124 +f 116 106 124 +f 101 109 125 +f 109 107 125 +f 119 101 125 +f 107 119 125 +f 109 102 126 +f 104 124 127 +f 124 106 127 +f 114 108 128 +f 107 111 129 +f 119 107 129 +f 111 119 129 +f 103 117 130 +f 110 118 130 +f 118 103 130 +f 121 110 130 +f 117 121 130 +f 116 98 131 +f 106 116 131 +f 98 120 131 +f 120 106 131 +f 97 107 132 +f 107 109 132 +f 126 97 132 +f 109 126 132 +f 113 97 133 +f 102 113 133 +f 97 126 133 +f 126 102 133 +f 113 102 134 +f 102 121 134 +f 121 113 134 +f 105 114 135 +f 123 105 135 +f 108 123 135 +f 128 108 135 +f 114 128 135 +f 106 101 136 +f 101 115 136 +f 115 104 136 +f 127 106 136 +o convex_3 +v -2.961259 0.662001 0.001343 +v 2.242043 2.525101 0.065341 +v 2.242043 2.525101 0.033342 +v 2.820320 0.469195 0.065341 +v -2.222515 1.496941 1.061138 +v -2.768698 2.235789 -0.673255 +v 0.057904 0.404857 -0.994655 +v 2.820320 1.529109 -0.898256 +v 0.057904 0.404857 1.061339 +v 2.724039 1.593447 0.932739 +v -2.704511 2.203619 0.739939 +v -2.768698 1.496941 -0.898054 +v 2.884507 2.203827 -0.641256 +v 2.724039 2.235789 0.739738 +v -2.800792 0.758300 0.804139 +v 3.045568 0.822638 -0.576855 +v -2.800792 2.428595 0.065140 +v -1.259117 0.404857 -0.833855 +v 3.012881 0.886976 0.579340 +v -0.937588 1.496941 -0.994655 +v -1.291210 0.404857 0.900539 +v 2.242043 2.267957 -0.705456 +v -3.026041 1.496941 0.772139 +v -3.026041 0.919145 -0.544655 +v 1.439112 0.404857 0.836339 +v 2.980787 2.299919 0.097541 +v -2.126235 2.235789 0.804139 +v -3.026041 2.139489 -0.512455 +v 1.471205 0.404857 -0.769655 +v 0.122091 1.496941 1.061339 +v -2.768698 0.533533 0.065140 +v -2.094141 2.492932 0.033342 +v 2.081576 2.235789 0.804139 +v 2.788226 0.726339 0.707739 +v 2.820320 0.694170 -0.673255 +v 3.045568 2.010813 -0.609056 +v 2.306230 1.464979 0.996938 +v -2.736605 0.790677 -0.673255 +v -2.768698 1.433018 0.996938 +v -2.222515 2.267750 -0.673255 +v -2.993353 2.075151 0.547139 +v 2.980787 1.464979 0.739939 +v -1.162242 2.139282 0.868539 +v 1.407019 1.464979 -0.962455 +v -1.933674 0.404857 0.033342 +v 1.921108 2.525101 -0.030656 +v 2.756133 2.492725 0.033342 +v -3.026041 0.886976 0.643539 +v -2.094141 1.561278 -0.962254 +v 1.889015 2.460556 0.290140 +v 2.756133 1.401056 0.932739 +v -2.158328 2.171658 -0.737455 +v 2.338323 0.404857 0.033342 +v 3.045568 0.662001 0.033342 +v -3.026041 1.561071 -0.737455 +v 2.788226 1.401056 -0.898054 +v -1.226429 0.533533 -0.898256 +v 2.081576 2.299919 0.707739 +v -3.026041 2.267957 0.033342 +v 1.727953 1.464979 1.029139 +v 2.820320 0.469195 -0.062857 +v -0.680840 1.561071 1.061339 +v 2.948694 2.107320 0.579340 +v 3.045568 1.400849 -0.769655 +f 171 192 200 +f 143 145 154 +f 154 145 157 +f 149 144 158 +f 145 143 161 +f 147 141 163 +f 153 147 163 +f 153 142 164 +f 160 159 164 +f 161 143 165 +f 151 137 167 +f 157 151 167 +f 142 153 168 +f 153 163 168 +f 146 150 169 +f 161 140 170 +f 165 143 171 +f 144 149 172 +f 149 162 172 +f 146 169 173 +f 160 148 174 +f 137 160 174 +f 167 137 174 +f 154 167 174 +f 145 141 175 +f 141 147 175 +f 157 145 175 +f 151 157 175 +f 147 159 175 +f 142 168 176 +f 147 153 177 +f 159 147 177 +f 155 172 178 +f 172 162 178 +f 163 141 179 +f 169 163 179 +f 143 156 180 +f 158 144 180 +f 156 158 180 +f 154 157 181 +f 157 167 181 +f 167 154 181 +f 138 139 182 +f 168 138 182 +f 158 176 182 +f 176 168 182 +f 139 138 183 +f 138 150 183 +f 149 158 183 +f 162 149 183 +f 150 162 183 +f 182 139 183 +f 158 182 183 +f 137 151 184 +f 159 160 184 +f 160 137 184 +f 151 175 184 +f 175 159 184 +f 148 142 185 +f 143 148 185 +f 156 143 185 +f 138 168 186 +f 168 163 186 +f 145 161 187 +f 170 155 187 +f 161 170 187 +f 173 145 187 +f 146 173 187 +f 178 146 187 +f 155 178 187 +f 158 156 188 +f 142 176 188 +f 176 158 188 +f 185 142 188 +f 156 185 188 +f 140 161 189 +f 161 165 189 +f 170 140 190 +f 155 170 190 +f 152 172 190 +f 172 155 190 +f 142 148 191 +f 148 160 191 +f 164 142 191 +f 160 164 191 +f 171 143 192 +f 143 180 192 +f 180 144 192 +f 148 143 193 +f 143 154 193 +f 174 148 193 +f 154 174 193 +f 150 138 194 +f 169 150 194 +f 163 169 194 +f 138 186 194 +f 186 163 194 +f 153 164 195 +f 164 159 195 +f 177 153 195 +f 159 177 195 +f 166 145 196 +f 169 166 196 +f 145 173 196 +f 173 169 196 +f 171 152 197 +f 165 171 197 +f 140 189 197 +f 189 165 197 +f 190 140 197 +f 152 190 197 +f 141 145 198 +f 145 166 198 +f 166 169 198 +f 179 141 198 +f 169 179 198 +f 150 146 199 +f 162 150 199 +f 146 178 199 +f 178 162 199 +f 152 171 200 +f 144 172 200 +f 172 152 200 +f 192 144 200 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/422/422.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/422/422.urdf new file mode 100644 index 000000000..c3ab8fc9b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/422/422.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/423/423.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/423/423.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/423/423.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/423/423.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/423/423.obj new file mode 100644 index 000000000..83d56b2cd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/423/423.obj @@ -0,0 +1,537 @@ +o convex_0 +v 1.726103 0.544941 0.234170 +v 1.023825 0.271880 -1.053390 +v 1.023825 0.467099 -1.053390 +v -0.420091 -0.001356 0.936739 +v -0.380945 1.559518 -0.975213 +v 1.648025 1.559518 0.975725 +v 1.765249 1.559518 -1.014198 +v -0.380945 1.559518 0.936739 +v 1.648025 -0.235584 1.053902 +v -0.302867 -0.235584 -0.975213 +v 1.765249 -0.235584 -1.053390 +v -0.420091 -0.235584 0.936739 +v 1.023825 0.232872 1.053902 +v -0.146710 1.520157 -1.013992 +v 1.765249 1.481149 -0.506971 +v 1.648025 1.286105 1.014504 +v 1.686957 -0.235584 0.897547 +v -0.341799 -0.196399 -0.740885 +v 1.765249 1.012869 -1.053390 +v -0.068631 1.325290 0.975725 +v -0.420091 0.115670 0.390320 +v 1.765249 -0.235584 -0.702106 +v 1.023825 -0.196399 1.053902 +v -0.380945 1.169255 -0.975213 +v 1.179768 -0.235584 -1.053390 +v 0.438558 1.559518 0.975725 +v 1.648025 0.467099 1.053902 +f 17 16 27 +f 5 6 7 +f 6 5 8 +f 9 10 11 +f 2 3 11 +f 10 9 12 +f 3 2 14 +f 5 7 14 +f 6 1 15 +f 7 6 15 +f 11 7 15 +f 1 6 17 +f 9 11 17 +f 6 16 17 +f 10 12 18 +f 11 3 19 +f 7 11 19 +f 3 14 19 +f 14 7 19 +f 8 4 20 +f 4 12 20 +f 4 8 21 +f 8 5 21 +f 12 4 21 +f 18 12 21 +f 15 1 22 +f 11 15 22 +f 1 17 22 +f 17 11 22 +f 12 9 23 +f 9 13 23 +f 20 12 23 +f 13 20 23 +f 5 14 24 +f 14 10 24 +f 10 18 24 +f 21 5 24 +f 18 21 24 +f 11 10 25 +f 2 11 25 +f 14 2 25 +f 10 14 25 +f 6 8 26 +f 16 6 26 +f 13 16 26 +f 8 20 26 +f 20 13 26 +f 13 9 27 +f 16 13 27 +f 9 17 27 +o convex_1 +v -0.224758 3.783882 -2.535689 +v -0.068658 1.559518 -1.013595 +v 1.765249 1.559518 -1.013595 +v -0.341990 3.705716 3.044123 +v 1.765249 3.666741 -3.082635 +v 1.648017 1.715850 3.044123 +v 1.608940 3.705498 2.965559 +v -0.381067 1.676876 -3.004071 +v -0.341990 1.715632 3.044123 +v 1.608940 1.754825 -3.004071 +v -0.302912 3.783882 -3.043053 +v -0.381067 1.559518 1.053646 +v 1.648017 3.744690 1.833884 +v -0.381067 3.666741 0.311791 +v 1.648017 1.559518 0.975683 +v -0.341990 3.744690 3.004541 +v 1.765249 2.418258 -0.975212 +v -0.381067 3.705716 2.380231 +v 1.648017 2.418258 3.044123 +v 0.633685 3.744690 -3.082635 +v -0.341990 3.354512 -3.043053 +v 1.687094 2.418258 -3.043053 +v 1.648017 3.744690 0.624246 +v 0.867519 3.744690 3.004541 +v 1.452840 1.715850 -3.004071 +v 1.765249 1.559518 -0.545812 +v -0.381067 2.301335 -3.004071 +v -0.146813 1.676658 2.692086 +v -0.381067 1.559518 -0.975212 +v 1.609150 3.159205 -3.082635 +v 0.048154 3.783882 -3.043053 +v 1.765249 3.666741 -2.614252 +v -0.381067 1.637684 1.872866 +v 1.765249 1.715850 -1.404014 +v -0.341990 2.691078 -3.043053 +v 1.765249 3.432460 -3.082635 +v 1.648017 2.223169 -3.043053 +v 1.648017 1.871965 -3.004071 +v 1.257873 1.676876 2.653704 +v 1.140851 3.744690 2.965559 +v -0.107735 1.676658 -3.004071 +v 0.360563 3.705498 -3.082635 +f 57 62 69 +f 33 31 36 +f 29 30 39 +f 35 39 41 +f 39 30 42 +f 28 38 43 +f 30 32 44 +f 36 31 45 +f 38 41 45 +f 41 39 45 +f 31 43 45 +f 43 38 45 +f 31 33 46 +f 40 34 46 +f 44 40 46 +f 41 38 48 +f 40 32 50 +f 32 47 50 +f 43 31 51 +f 28 43 51 +f 31 46 51 +f 46 34 51 +f 37 30 52 +f 42 30 53 +f 33 42 53 +f 30 44 53 +f 46 33 53 +f 44 46 53 +f 35 41 54 +f 41 48 54 +f 48 35 54 +f 33 36 55 +f 36 39 55 +f 35 29 56 +f 29 39 56 +f 39 35 56 +f 47 32 57 +f 38 28 58 +f 47 38 58 +f 40 50 58 +f 50 47 58 +f 32 40 59 +f 44 32 59 +f 40 44 59 +f 39 36 60 +f 36 45 60 +f 45 39 60 +f 32 30 61 +f 35 48 62 +f 57 35 62 +f 57 32 63 +f 32 61 63 +f 37 52 64 +f 35 57 64 +f 57 63 64 +f 63 49 64 +f 30 37 65 +f 61 30 65 +f 49 63 65 +f 63 61 65 +f 37 64 65 +f 64 49 65 +f 42 33 66 +f 39 42 66 +f 33 55 66 +f 55 39 66 +f 34 40 67 +f 28 51 67 +f 51 34 67 +f 58 28 67 +f 40 58 67 +f 30 29 68 +f 29 35 68 +f 52 30 68 +f 35 64 68 +f 64 52 68 +f 38 47 69 +f 48 38 69 +f 47 57 69 +f 62 48 69 +o convex_2 +v -2.410243 -0.313738 0.975702 +v -1.786024 -2.381900 -1.053268 +v -1.161664 -2.342613 -1.092414 +v -0.966499 -2.381900 1.092926 +v -0.966499 -0.235584 -1.092414 +v -2.332092 -2.381900 1.092926 +v -2.293087 -0.391683 -1.092414 +v -0.966499 -0.352816 0.936555 +v -2.371097 -2.381900 -1.014122 +v -0.966499 -2.381900 -1.014122 +v -1.005504 -1.016081 1.092926 +v -2.293087 -0.274661 -1.014122 +v -2.410243 -1.483960 -0.233765 +v -2.371097 -2.303745 1.092926 +v -1.629864 -1.016081 1.092926 +v -2.293087 -0.274661 0.390434 +v -1.864034 -0.235584 -1.092414 +v -2.410243 -0.313738 0.624456 +v -1.786024 -0.313738 0.936769 +v -2.410243 -0.859982 1.014634 +v -2.371097 -1.796159 -1.014122 +v -0.966499 -2.342613 -1.092414 +v -2.293087 -0.665015 -1.092414 +v -2.371097 -1.991546 1.092926 +v -2.410243 -1.601402 -0.194833 +v -0.966499 -0.235584 -1.014122 +f 85 88 95 +f 71 73 75 +f 74 72 76 +f 73 74 77 +f 71 75 78 +f 73 71 79 +f 74 73 79 +f 75 73 80 +f 77 70 80 +f 73 77 80 +f 78 75 83 +f 75 80 83 +f 83 80 84 +f 80 70 84 +f 81 70 85 +f 81 85 86 +f 74 76 86 +f 76 81 86 +f 70 81 87 +f 81 82 87 +f 82 70 87 +f 70 77 88 +f 85 70 88 +f 70 82 89 +f 84 70 89 +f 76 78 90 +f 81 76 90 +f 82 81 90 +f 78 82 90 +f 71 72 91 +f 72 74 91 +f 79 71 91 +f 74 79 91 +f 72 71 92 +f 76 72 92 +f 71 78 92 +f 78 76 92 +f 83 84 93 +f 89 83 93 +f 84 89 93 +f 82 78 94 +f 78 83 94 +f 89 82 94 +f 83 89 94 +f 77 74 95 +f 86 85 95 +f 74 86 95 +f 88 77 95 +o convex_3 +v 3.755470 -1.406485 0.117045 +v -0.537037 -2.342815 -1.131438 +v -0.537037 -2.303699 -1.131438 +v -0.966426 -2.381808 1.092926 +v -0.966426 -1.172158 -0.975323 +v 3.677357 -2.420924 -1.053272 +v -0.966426 -1.172158 1.053517 +v 3.755470 -2.420924 0.975568 +v 3.677357 -1.172158 -0.975105 +v 3.716182 -1.172158 0.975568 +v -0.966426 -2.381808 -1.014297 +v 2.662815 -1.172158 1.053734 +v 0.829244 -2.420924 -1.014080 +v 3.677357 -1.328254 -1.014080 +v 3.677357 -2.303822 1.014542 +v -0.966426 -1.523465 1.092926 +v 0.126229 -2.342815 1.092926 +v 3.716182 -2.420924 -0.741042 +v 2.896691 -2.420924 0.975568 +v 3.716182 -1.172158 -0.858183 +v 3.677357 -2.069495 -1.053272 +v -0.966426 -2.303699 -1.092246 +v 3.755470 -2.420924 0.156019 +v 3.755470 -1.484349 0.975568 +v -0.224586 -2.303699 -1.131438 +v 2.701640 -1.406485 1.053734 +f 112 110 121 +f 100 99 102 +f 100 102 104 +f 104 102 105 +f 99 100 106 +f 105 102 107 +f 97 101 108 +f 101 103 108 +f 106 97 108 +f 99 106 108 +f 98 100 109 +f 100 104 109 +f 105 107 110 +f 102 99 111 +f 107 102 111 +f 107 111 112 +f 99 103 112 +f 103 110 112 +f 111 99 112 +f 103 101 113 +f 103 99 114 +f 99 108 114 +f 108 103 114 +f 104 105 115 +f 105 96 115 +f 109 104 115 +f 113 101 115 +f 115 101 116 +f 109 115 116 +f 98 97 117 +f 100 98 117 +f 97 106 117 +f 106 100 117 +f 96 103 118 +f 103 113 118 +f 115 96 118 +f 113 115 118 +f 103 96 119 +f 96 105 119 +f 110 103 119 +f 105 110 119 +f 97 98 120 +f 101 97 120 +f 98 109 120 +f 116 101 120 +f 109 116 120 +f 110 107 121 +f 107 112 121 +o convex_4 +v 2.545270 -0.742834 1.053780 +v -0.966426 -0.313693 -1.092414 +v -0.966426 -0.235584 -1.092414 +v 3.677025 -1.172158 -0.975190 +v -0.966426 -1.172158 1.014848 +v 3.677025 -0.274730 0.975702 +v -0.419572 -0.235584 0.936555 +v -0.966426 -1.172158 -0.975190 +v 3.716446 -0.352747 -0.936257 +v 3.716446 -1.172158 0.975702 +v 2.077257 -0.235584 -1.053268 +v -0.966426 -0.352747 0.936555 +v 1.063307 -0.235584 1.053780 +v -0.927005 -1.054995 -1.053054 +v 2.662617 -1.172158 1.053780 +v 1.648208 -0.313693 1.092926 +v 3.716446 -1.172158 -0.858179 +v 1.648208 -0.235584 1.053780 +v 3.716446 -0.508873 0.975702 +v -0.224758 -0.274638 -1.092414 +v 1.491898 -1.172158 1.053780 +v 3.286939 -0.313784 -0.975190 +v -0.771154 -0.898868 1.014848 +v 3.677025 -0.274730 0.702534 +v 1.608787 -0.508873 1.092926 +v 3.677025 -0.625945 -0.975190 +v 2.155183 -0.313693 -1.053268 +f 132 147 148 +f 124 123 126 +f 125 126 129 +f 126 123 129 +f 126 125 131 +f 124 128 132 +f 124 126 133 +f 128 124 133 +f 128 133 134 +f 132 128 134 +f 129 123 135 +f 125 129 135 +f 127 122 136 +f 126 131 136 +f 122 127 137 +f 136 122 137 +f 125 130 138 +f 130 131 138 +f 131 125 138 +f 127 132 139 +f 132 134 139 +f 137 127 139 +f 134 137 139 +f 130 127 140 +f 131 130 140 +f 127 136 140 +f 136 131 140 +f 123 124 141 +f 124 132 141 +f 135 123 141 +f 125 135 141 +f 126 136 142 +f 133 126 144 +f 134 133 144 +f 126 137 144 +f 137 134 144 +f 127 130 145 +f 132 127 145 +f 130 143 145 +f 143 132 145 +f 137 126 146 +f 136 137 146 +f 126 142 146 +f 142 136 146 +f 130 125 147 +f 143 130 147 +f 132 143 147 +f 141 132 148 +f 125 141 148 +f 147 125 148 +o convex_5 +v -1.512708 -1.133199 -1.092609 +v -0.966426 -1.523309 -2.418968 +v -0.966426 -1.562333 -2.418968 +v -1.668788 -1.484285 -3.082635 +v -1.551762 -1.601357 -1.092609 +v -1.083521 -0.977103 -1.092609 +v -1.083521 -1.133199 -2.926215 +v -1.668788 -1.133199 -2.926215 +v -1.044535 -1.640316 -1.092609 +v -1.005481 -1.562333 -2.965368 +v -1.668788 -1.445261 -1.092609 +v -1.668788 -1.562333 -2.223979 +v -0.966426 -1.445261 -2.926215 +v -1.278725 -1.562333 -3.004327 +v -1.083521 -1.640316 -1.521937 +v -1.044535 -1.094175 -1.248834 +v -1.551762 -1.133199 -1.248834 +v -1.083521 -1.094175 -2.653112 +v -1.122576 -0.977103 -1.170722 +v -1.668788 -1.562333 -1.092609 +v -1.044535 -1.172223 -2.926215 +f 166 154 169 +f 149 153 154 +f 155 152 156 +f 151 150 157 +f 154 153 157 +f 151 157 158 +f 153 149 159 +f 156 152 159 +f 159 152 160 +f 150 151 161 +f 151 158 161 +f 152 158 162 +f 160 152 162 +f 160 162 163 +f 157 153 163 +f 158 157 163 +f 153 160 163 +f 162 158 163 +f 157 150 164 +f 154 157 164 +f 150 161 164 +f 159 149 165 +f 156 159 165 +f 155 156 166 +f 149 154 167 +f 165 149 167 +f 156 165 167 +f 166 156 167 +f 154 166 167 +f 153 159 168 +f 160 153 168 +f 159 160 168 +f 152 155 169 +f 158 152 169 +f 161 158 169 +f 154 164 169 +f 164 161 169 +f 155 166 169 +o convex_6 +v -1.005450 -1.016192 3.083147 +v -1.629833 -1.679404 2.965880 +v -1.590718 -1.679404 2.965880 +v -1.005450 -1.016192 1.093121 +v -1.629833 -1.016192 1.951583 +v -1.083498 -1.562332 1.249347 +v -1.590718 -1.562332 1.093121 +v -1.044566 -1.601356 3.083147 +v -1.590718 -1.055151 3.004839 +v -1.629833 -1.016192 1.093121 +v -1.629833 -1.328319 3.043798 +v -1.083498 -1.523308 1.093121 +v -1.161546 -1.640380 3.083147 +v -1.629833 -1.640380 2.263450 +v -1.005450 -1.094175 1.093121 +v -1.473737 -1.523308 3.083147 +v -1.044566 -1.601356 2.497593 +f 175 184 186 +f 170 173 174 +f 170 174 178 +f 174 173 179 +f 171 174 179 +f 173 176 179 +f 174 171 180 +f 170 178 180 +f 178 174 180 +f 176 173 181 +f 175 176 181 +f 171 172 182 +f 172 175 182 +f 177 170 182 +f 172 171 183 +f 175 172 183 +f 176 175 183 +f 171 179 183 +f 179 176 183 +f 173 170 184 +f 170 177 184 +f 181 173 184 +f 175 181 184 +f 180 171 185 +f 170 180 185 +f 171 182 185 +f 182 170 185 +f 182 175 186 +f 177 182 186 +f 184 177 186 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/423/423.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/423/423.urdf new file mode 100644 index 000000000..6301e6420 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/423/423.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/424/424.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/424/424.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/424/424.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/424/424.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/424/424.obj new file mode 100644 index 000000000..be1bcb407 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/424/424.obj @@ -0,0 +1,432 @@ +o convex_0 +v 0.540217 -3.164704 -1.261596 +v -0.856301 0.012272 0.938491 +v 0.924367 -0.092391 0.798724 +v 0.121200 -3.932879 0.903387 +v -0.926240 0.012272 -1.261596 +v -1.030840 -3.827829 -1.156502 +v 1.064039 0.012659 -1.226493 +v 0.994306 -3.897733 0.868284 +v -0.961107 -3.932879 0.903387 +v 0.994306 -3.932879 -1.261380 +v -0.995974 0.012272 0.938491 +v 0.959439 0.012272 0.519191 +v -0.961107 -0.092391 -0.946959 +v 1.064039 -1.139797 -1.191605 +v 1.064039 0.012659 -0.842296 +v -0.995974 -0.965229 0.938491 +v -0.995974 0.012272 0.344752 +v 0.645022 -3.932879 -1.226493 +v 0.959439 -3.234222 0.868284 +v 0.994306 -3.932879 0.728733 +v -1.030840 -3.199463 -0.807408 +v 0.854633 0.012272 0.798724 +v -0.542090 -0.127150 -1.261596 +v -0.926240 -1.873212 0.938491 +v -0.961107 -3.932879 0.658957 +v -0.472151 -3.862974 -1.191605 +v -0.961107 -0.476285 -1.226493 +v -0.995974 -3.862974 -0.702744 +v -0.926240 -0.127150 -1.261596 +v 1.029172 -2.675760 -1.226493 +v 0.959439 -1.279605 0.798724 +v -1.030840 -3.583357 -1.156502 +v -1.030840 -3.827829 -0.981847 +v 0.924367 -3.548598 -1.261380 +v -0.995974 -2.780423 -1.191605 +f 32 27 35 +f 2 4 8 +f 4 9 10 +f 11 2 15 +f 7 11 15 +f 14 7 15 +f 8 14 15 +f 2 11 16 +f 7 5 17 +f 11 7 17 +f 5 13 17 +f 10 9 18 +f 3 2 19 +f 8 3 19 +f 2 8 19 +f 8 4 20 +f 4 10 20 +f 14 8 20 +f 16 11 21 +f 11 17 21 +f 2 3 22 +f 3 12 22 +f 15 2 22 +f 12 15 22 +f 1 5 23 +f 5 7 23 +f 4 2 24 +f 9 4 24 +f 2 16 24 +f 16 9 24 +f 9 6 25 +f 18 9 25 +f 1 10 26 +f 10 18 26 +f 13 5 27 +f 25 6 28 +f 18 25 28 +f 26 18 28 +f 6 26 28 +f 5 1 29 +f 10 7 30 +f 7 14 30 +f 20 10 30 +f 14 20 30 +f 3 8 31 +f 12 3 31 +f 15 12 31 +f 8 15 31 +f 17 13 32 +f 6 21 32 +f 21 17 32 +f 13 27 32 +f 6 9 33 +f 9 16 33 +f 21 6 33 +f 16 21 33 +f 10 1 34 +f 7 10 34 +f 1 23 34 +f 23 7 34 +f 1 26 35 +f 26 6 35 +f 27 5 35 +f 29 1 35 +f 5 29 35 +f 6 32 35 +o convex_1 +v 0.959297 2.177977 -0.842849 +v -0.926108 0.012922 -1.261216 +v -0.646773 0.012922 -1.261216 +v -0.961078 2.247746 -3.251740 +v -1.031018 2.107986 0.938491 +v 1.099177 0.187788 -3.216876 +v 0.924539 0.048028 0.938491 +v -0.961078 0.083135 -3.216466 +v -0.996048 0.012922 0.938491 +v 0.924539 2.177977 -3.216876 +v 1.029237 2.108208 0.938491 +v -1.065988 2.247746 -0.947851 +v 1.064207 0.012922 -1.226352 +v -0.192801 2.282852 -0.424072 +v 1.064207 1.863573 0.938491 +v -1.065988 2.038217 -1.400672 +v 0.959297 2.037995 -3.216876 +v -1.065988 1.793582 0.938491 +v 0.959297 0.012922 0.518893 +v -0.157831 1.444293 -3.251740 +v 0.994267 0.536854 0.938491 +v -0.996048 2.247746 -3.007282 +v 1.064207 0.012922 -0.842849 +v -0.542076 0.082913 -3.216466 +v 1.099177 0.187788 -2.239046 +v 1.099177 0.292664 -3.216876 +v -1.031018 0.711499 0.902807 +v -0.681743 2.247523 -3.251740 +v -0.961078 1.130556 -3.251740 +v -0.996048 0.676614 -2.657823 +v -0.996048 0.012922 0.344164 +v 1.029237 2.108208 0.204708 +v -0.122861 2.212861 -3.251740 +v 0.225990 2.212861 -3.216466 +v 0.854600 0.012922 0.798215 +v -0.262741 2.282852 -0.424072 +v 1.064207 1.793804 0.938491 +v -1.065988 2.177755 -0.004885 +v 0.959297 0.152904 0.903217 +f 58 56 74 +f 37 38 44 +f 42 40 44 +f 40 42 46 +f 44 38 48 +f 36 45 49 +f 46 36 49 +f 46 42 50 +f 44 40 53 +f 47 51 53 +f 44 48 54 +f 50 42 56 +f 51 47 57 +f 48 41 58 +f 54 48 58 +f 38 37 59 +f 37 43 59 +f 48 38 59 +f 41 48 59 +f 58 41 60 +f 60 41 61 +f 50 60 61 +f 44 53 62 +f 53 51 62 +f 39 49 63 +f 55 39 63 +f 39 55 64 +f 55 41 64 +f 57 39 64 +f 43 57 64 +f 59 43 64 +f 41 59 64 +f 57 43 65 +f 51 57 65 +f 43 37 66 +f 37 44 66 +f 44 62 66 +f 62 51 66 +f 65 43 66 +f 51 65 66 +f 45 36 67 +f 36 46 67 +f 46 50 67 +f 52 45 67 +f 50 61 67 +f 61 52 67 +f 45 52 68 +f 41 55 68 +f 52 61 68 +f 61 41 68 +f 63 45 68 +f 55 63 68 +f 49 45 69 +f 45 63 69 +f 63 49 69 +f 42 44 70 +f 54 42 70 +f 44 54 70 +f 40 46 71 +f 49 39 71 +f 46 49 71 +f 39 57 71 +f 57 47 71 +f 50 56 72 +f 56 58 72 +f 60 50 72 +f 58 60 72 +f 53 40 73 +f 47 53 73 +f 40 71 73 +f 71 47 73 +f 42 54 74 +f 56 42 74 +f 54 58 74 +o convex_2 +v 1.099375 0.816128 1.602050 +v 3.019583 1.514568 2.195683 +v 3.054474 1.095545 2.160676 +v 3.124653 0.885999 1.567107 +v 1.099375 1.409761 1.532165 +v 1.099375 1.444697 2.090791 +v 3.019583 1.374757 1.636992 +v 2.600491 0.920935 2.160676 +v 1.099375 0.955939 2.021035 +v 3.089365 0.851064 1.846518 +v 2.460926 1.514568 2.021035 +v 1.378901 0.816128 1.776633 +v 2.949800 0.816128 1.567107 +v 2.914909 0.885999 2.125798 +v 1.099375 1.235151 1.532165 +v 2.984691 1.060609 2.195683 +v 2.880018 1.514568 2.021035 +v 1.239138 0.955939 2.055913 +v 2.740254 1.514568 2.195683 +v 1.274029 1.409761 1.532165 +v 1.099375 1.339958 2.090791 +v 3.054474 0.920935 2.160676 +f 90 82 96 +f 76 77 78 +f 79 75 80 +f 76 78 81 +f 80 75 83 +f 79 80 85 +f 83 75 86 +f 84 86 87 +f 78 84 87 +f 86 75 87 +f 82 86 88 +f 86 84 88 +f 75 79 89 +f 87 75 89 +f 78 87 89 +f 76 81 91 +f 85 76 91 +f 79 85 91 +f 86 82 92 +f 83 86 92 +f 76 85 93 +f 85 80 93 +f 90 76 93 +f 81 78 94 +f 89 79 94 +f 78 89 94 +f 91 81 94 +f 79 91 94 +f 80 83 95 +f 82 90 95 +f 92 82 95 +f 83 92 95 +f 93 80 95 +f 90 93 95 +f 77 76 96 +f 78 77 96 +f 84 78 96 +f 82 88 96 +f 88 84 96 +f 76 90 96 +o convex_3 +v -2.777132 0.955836 2.055886 +v -1.065988 1.479646 2.055886 +v -1.065988 1.479646 1.986055 +v -1.065988 0.851050 2.090832 +v -1.065988 0.886061 1.497304 +v -3.056542 1.479646 1.637026 +v -2.986592 1.444697 2.090832 +v -2.986592 0.990847 1.637026 +v -1.065988 1.409686 1.637026 +v -3.021275 0.990847 2.125839 +v -1.450226 0.886061 1.497304 +v -1.799586 1.479646 2.090832 +v -1.065988 1.025735 1.497304 +v -2.357822 1.479646 1.637026 +v -2.986592 1.479646 2.055886 +v -1.101060 1.130522 2.090832 +v -2.637427 0.955836 1.602080 +v -1.171010 0.851050 2.021001 +f 97 113 114 +f 99 98 100 +f 99 100 101 +f 98 99 102 +f 99 101 105 +f 97 100 106 +f 103 102 106 +f 104 97 106 +f 102 104 106 +f 98 102 108 +f 103 106 108 +f 105 101 109 +f 101 107 109 +f 107 102 109 +f 102 99 110 +f 99 105 110 +f 105 109 110 +f 109 102 110 +f 102 103 111 +f 108 102 111 +f 103 108 111 +f 100 98 112 +f 106 100 112 +f 98 108 112 +f 108 106 112 +f 97 104 113 +f 104 102 113 +f 102 107 113 +f 113 107 114 +f 100 97 114 +f 101 100 114 +f 107 101 114 +o convex_4 +v 1.099156 1.060773 1.427505 +v -1.065988 0.641819 1.287813 +v -1.065988 0.641819 1.357565 +v -1.030806 2.282852 2.789261 +v 0.994248 0.082848 2.859201 +v 1.029217 2.108051 0.938491 +v 1.064187 2.212844 2.754291 +v -0.926110 0.082848 2.859201 +v 0.924308 0.047844 0.938491 +v -1.030806 2.108051 0.938491 +v -0.996049 0.152856 0.938491 +v -0.786443 2.282852 2.859201 +v -1.065988 0.851187 2.090804 +v 0.784642 2.247848 2.789261 +v -1.065988 1.898464 0.938491 +v 1.099156 0.746393 1.602166 +v 1.029217 2.143055 1.148122 +v -0.996049 0.118071 1.113152 +v -0.961079 2.282852 2.614600 +v 1.064187 1.863679 0.938491 +v 0.994248 0.571811 2.859201 +v -1.030806 2.143055 1.113152 +v 1.099156 0.956199 2.021052 +v 0.994248 0.292435 1.008430 +v 0.959490 0.047844 1.532414 +v -0.996049 1.444505 2.859201 +v -0.926110 0.082848 2.265277 +v 1.064187 2.003257 2.789261 +v 1.099156 1.409720 1.532414 +v 1.064187 2.177840 1.741857 +v -1.065988 1.479509 2.055646 +v -0.472142 2.282852 2.754291 +v 0.819612 0.047844 0.938491 +v -0.996049 2.282852 2.859201 +v 1.099156 1.444505 2.090804 +f 143 144 149 +f 120 123 124 +f 124 123 125 +f 122 119 126 +f 116 117 127 +f 117 122 127 +f 125 116 129 +f 124 125 129 +f 116 127 129 +f 117 116 132 +f 122 117 132 +f 116 125 132 +f 118 126 133 +f 123 120 134 +f 126 119 135 +f 120 124 136 +f 129 118 136 +f 124 129 136 +f 131 120 136 +f 118 133 136 +f 133 131 136 +f 130 115 137 +f 119 130 137 +f 115 130 138 +f 134 115 138 +f 123 134 138 +f 119 122 139 +f 130 119 139 +f 123 138 139 +f 138 130 139 +f 122 126 140 +f 127 122 140 +f 118 127 140 +f 122 132 141 +f 121 128 142 +f 128 126 142 +f 135 119 142 +f 126 135 142 +f 119 137 142 +f 115 134 143 +f 137 115 143 +f 128 121 144 +f 120 131 144 +f 134 120 144 +f 143 134 144 +f 127 118 145 +f 118 129 145 +f 129 127 145 +f 126 128 146 +f 133 126 146 +f 131 133 146 +f 128 144 146 +f 144 131 146 +f 125 123 147 +f 132 125 147 +f 139 122 147 +f 123 139 147 +f 122 141 147 +f 141 132 147 +f 126 118 148 +f 118 140 148 +f 140 126 148 +f 121 142 149 +f 142 137 149 +f 137 143 149 +f 144 121 149 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/424/424.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/424/424.urdf new file mode 100644 index 000000000..c3190eb6f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/424/424.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/425/425.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/425/425.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/425/425.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/425/425.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/425/425.obj new file mode 100644 index 000000000..2d53a7f25 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/425/425.obj @@ -0,0 +1,1017 @@ +o convex_0 +v -0.025439 -2.632968 -1.048704 +v 0.035856 -2.816251 1.096313 +v 0.005108 -2.816251 1.096313 +v -0.117282 -1.039479 1.065658 +v 1.016378 -1.039165 -0.006640 +v -0.913918 -1.039165 -0.833908 +v -1.005961 -3.337127 0.054250 +v 0.740449 -4.011053 -0.006640 +v 0.801744 -1.039165 -0.925873 +v -0.852623 -1.039165 0.942828 +v 0.863039 -1.100889 0.942828 +v -0.025439 -3.980506 -0.834118 +v -0.086735 -3.980506 0.820207 +v 0.771197 -3.275718 0.820417 +v 0.771197 -3.214623 -0.772808 +v -0.791529 -3.245171 -0.803253 +v -0.760781 -3.275718 0.820417 +v -0.760781 -4.011053 -0.037296 +v 1.016378 -3.245171 -0.006640 +v -1.036710 -1.039165 0.084905 +v -0.055987 -4.256375 0.054250 +v -0.576895 -1.039479 -0.987184 +v 0.005108 -3.275718 -1.048704 +v -0.025439 -3.245171 1.096313 +v -1.036710 -3.153214 0.023805 +v 0.740449 -1.039165 1.004348 +v 0.863039 -1.437852 -0.833908 +v 0.066403 -3.980506 0.820207 +v -0.668938 -1.100889 1.034793 +v 0.127698 -1.039479 -1.018049 +v 0.556563 -3.827141 -0.588877 +v -0.883371 -1.866771 -0.864773 +v -0.576895 -3.827141 -0.619532 +v -0.822076 -2.173502 0.912382 +v -0.576895 -3.796593 0.636487 +v 0.893787 -1.345895 0.881517 +v 0.587311 -3.827141 0.574966 +v 0.035856 -4.041600 -0.772808 +v -0.086735 -3.214309 -1.048704 +v 1.016378 -3.184076 0.084905 +v 0.832291 -2.112093 0.912382 +v -0.883371 -1.345895 0.881517 +v -0.760781 -4.011053 0.054250 +v 0.035856 -3.245171 1.096313 +v 0.832291 -1.928180 -0.864773 +v 0.066403 -4.256375 0.023805 +v 0.556563 -1.039479 -0.987393 +v -0.760781 -1.070341 -0.956738 +v 0.740449 -3.980506 0.115560 +v -1.036710 -1.591217 -0.067951 +v -1.005961 -3.275718 -0.098606 +v 0.066403 -3.183762 -1.048704 +v 0.740449 -3.214623 -0.803253 +v 0.893787 -1.039165 -0.711288 +v -0.791529 -2.999849 0.850862 +v 1.016378 -1.039165 0.084905 +v 0.127698 -1.039479 1.065658 +v 0.801744 -2.938755 0.850862 +v -0.086735 -4.041600 -0.711498 +v -1.036710 -2.112093 0.115560 +v -1.005961 -3.214623 0.146215 +v 0.066403 -4.011053 -0.803463 +v -0.025439 -4.256375 -0.067951 +v 1.016378 -2.326238 -0.067951 +f 27 54 64 +f 3 2 4 +f 6 5 9 +f 5 6 10 +f 8 15 19 +f 10 6 20 +f 6 9 22 +f 2 3 24 +f 17 13 24 +f 10 4 26 +f 5 10 26 +f 13 21 28 +f 24 13 28 +f 3 4 29 +f 4 10 29 +f 24 3 29 +f 1 22 30 +f 22 9 30 +f 15 8 31 +f 25 6 32 +f 16 12 33 +f 18 16 33 +f 29 10 34 +f 24 29 34 +f 13 17 35 +f 14 28 37 +f 12 16 39 +f 22 1 39 +f 1 23 39 +f 23 12 39 +f 16 32 39 +f 19 5 40 +f 11 26 41 +f 36 11 41 +f 10 20 42 +f 34 10 42 +f 17 7 43 +f 7 18 43 +f 21 13 43 +f 18 21 43 +f 13 35 43 +f 35 17 43 +f 2 24 44 +f 26 2 44 +f 28 14 44 +f 24 28 44 +f 41 26 44 +f 19 15 45 +f 9 27 45 +f 27 19 45 +f 28 21 46 +f 38 8 46 +f 1 30 47 +f 30 9 47 +f 6 22 48 +f 32 6 48 +f 22 39 48 +f 39 32 48 +f 8 19 49 +f 14 37 49 +f 37 28 49 +f 40 14 49 +f 19 40 49 +f 46 8 49 +f 28 46 49 +f 20 6 50 +f 6 25 50 +f 25 20 50 +f 18 7 51 +f 16 18 51 +f 7 25 51 +f 32 16 51 +f 25 32 51 +f 23 1 52 +f 9 45 52 +f 1 47 52 +f 47 9 52 +f 15 31 53 +f 45 15 53 +f 23 52 53 +f 52 45 53 +f 9 5 54 +f 27 9 54 +f 17 24 55 +f 24 34 55 +f 34 42 55 +f 5 26 56 +f 26 11 56 +f 11 36 56 +f 40 5 56 +f 36 40 56 +f 4 2 57 +f 2 26 57 +f 26 4 57 +f 14 40 58 +f 40 36 58 +f 36 41 58 +f 44 14 58 +f 41 44 58 +f 33 12 59 +f 18 33 59 +f 12 38 59 +f 20 25 60 +f 42 20 60 +f 25 42 60 +f 7 17 61 +f 25 7 61 +f 42 25 61 +f 17 55 61 +f 55 42 61 +f 12 23 62 +f 31 8 62 +f 38 12 62 +f 8 38 62 +f 23 53 62 +f 53 31 62 +f 21 18 63 +f 46 21 63 +f 38 46 63 +f 18 59 63 +f 59 38 63 +f 5 19 64 +f 19 27 64 +f 54 5 64 +o convex_1 +v -1.005961 -0.181170 -0.435608 +v 1.016378 -0.824567 0.085019 +v 1.016378 -1.039165 0.085019 +v -0.454305 -0.027942 1.280012 +v -0.852623 -1.039165 0.942956 +v 0.801744 -0.027942 -0.956489 +v -0.760781 -1.039165 -0.956489 +v 0.770996 -0.027942 1.065592 +v 0.832291 -1.039165 0.973551 +v 0.801744 -1.039165 -0.925639 +v -0.362463 -0.027942 -1.232100 +v -0.975213 -0.027942 0.789471 +v -1.036710 -1.039165 -0.037107 +v 0.955082 -0.027942 0.820321 +v -0.975213 -0.027942 -0.772664 +v 0.035856 -0.058627 1.341457 +v 0.955082 -0.027942 -0.650283 +v 0.250288 -0.058627 -1.262950 +v -0.209325 -1.039165 1.065337 +v -0.209325 -1.039165 -1.017935 +v -0.913918 -1.039165 -0.833854 +v -1.036710 -0.027942 0.084764 +v 0.893787 -0.947208 -0.803259 +v 0.495268 -0.027942 1.249417 +v -0.760781 -0.027942 -1.017935 +v -0.668938 -1.039165 1.034742 +v 0.433973 -0.027942 -1.232355 +v 0.924334 -0.855252 0.850916 +v 0.587311 -1.039165 -0.987085 +v -0.760781 -0.027942 1.065337 +v 0.985630 -0.027942 -0.221187 +v -0.086735 -0.119899 -1.262950 +v 0.526016 -1.039165 1.034997 +v -0.913918 -0.947208 0.850916 +v -1.036710 -1.039165 0.084764 +v -0.975213 -0.119899 0.820321 +v 1.016378 -0.457039 0.024084 +v -0.485053 -0.089313 -1.201505 +v 1.016378 -1.039165 -0.006766 +v -0.822076 -0.763296 -0.956489 +v 0.158245 -1.039165 -1.017935 +v 0.955082 -0.119899 0.850916 +v -0.638190 -1.039165 -0.987339 +v 0.158245 -1.039165 1.065592 +v 0.924334 -0.457039 -0.772664 +v -0.944666 -0.763296 -0.803259 +v 0.985630 -0.119899 0.513860 +v 0.770996 -1.008479 1.004147 +v 0.832291 -0.702025 1.004147 +v -0.791328 -0.947208 1.004147 +v 0.893787 -1.039165 0.881766 +v -0.791328 -0.426354 1.034742 +v 0.893787 -0.027942 -0.833854 +v -1.036710 -0.181170 -0.067702 +v 0.066403 -0.242540 -1.232355 +v -0.454305 -0.058627 1.280012 +v -0.975213 -0.211855 -0.772664 +f 104 110 121 +f 67 69 71 +f 70 68 72 +f 69 67 73 +f 67 71 74 +f 68 70 75 +f 68 75 76 +f 71 69 77 +f 70 72 78 +f 76 75 79 +f 70 78 81 +f 69 73 83 +f 74 71 84 +f 71 77 85 +f 76 79 86 +f 72 68 88 +f 68 80 88 +f 79 75 89 +f 69 83 90 +f 83 80 90 +f 70 74 91 +f 75 70 91 +f 82 75 91 +f 74 84 93 +f 91 74 93 +f 82 91 93 +f 68 76 94 +f 81 78 95 +f 75 82 96 +f 83 73 97 +f 77 69 99 +f 86 77 99 +f 69 98 99 +f 99 98 100 +f 76 86 100 +f 94 76 100 +f 98 69 100 +f 86 99 100 +f 66 67 101 +f 81 95 101 +f 89 75 102 +f 75 96 102 +f 67 74 103 +f 74 87 103 +f 101 67 103 +f 81 101 103 +f 71 85 104 +f 79 89 104 +f 102 71 104 +f 89 102 104 +f 93 84 105 +f 78 72 106 +f 92 67 106 +f 84 71 107 +f 96 84 107 +f 71 102 107 +f 102 96 107 +f 80 83 108 +f 97 80 108 +f 83 97 108 +f 103 87 109 +f 81 103 109 +f 85 77 110 +f 104 85 110 +f 67 66 111 +f 95 78 111 +f 66 101 111 +f 101 95 111 +f 106 67 111 +f 78 106 111 +f 73 88 112 +f 88 80 112 +f 97 73 112 +f 80 97 112 +f 72 88 113 +f 88 73 113 +f 106 72 113 +f 92 106 113 +f 69 90 114 +f 73 67 115 +f 67 92 115 +f 113 73 115 +f 92 113 115 +f 100 69 116 +f 94 100 116 +f 69 114 116 +f 74 70 117 +f 70 81 117 +f 87 74 117 +f 81 109 117 +f 109 87 117 +f 65 77 118 +f 79 65 118 +f 77 86 118 +f 86 79 118 +f 82 93 119 +f 96 82 119 +f 84 96 119 +f 105 84 119 +f 93 105 119 +f 80 68 120 +f 90 80 120 +f 68 94 120 +f 114 90 120 +f 94 116 120 +f 116 114 120 +f 77 65 121 +f 65 79 121 +f 79 104 121 +f 110 77 121 +o convex_2 +v -0.086566 3.097395 -0.926119 +v 0.096894 1.473731 1.188242 +v -0.025348 1.473731 1.188242 +v -0.055957 1.442926 -1.140633 +v 0.954922 2.882944 -0.037290 +v -0.791353 3.587670 0.084899 +v -1.006007 1.443163 -0.098612 +v 0.801682 1.442926 -0.834022 +v 0.005067 3.618475 0.759215 +v 0.801682 1.442926 0.942953 +v -0.852766 1.565672 0.912178 +v -0.791353 2.699062 -0.772700 +v 0.556614 3.465160 -0.496864 +v 0.709854 2.821571 0.789534 +v -0.791353 2.791003 0.789534 +v 0.709854 3.618475 0.023805 +v -0.086566 3.618475 -0.742153 +v 0.709854 2.882944 -0.772700 +v -0.822157 1.443163 -0.895344 +v -1.006007 2.944081 0.023805 +v -0.086566 3.863730 0.023805 +v 0.985726 1.443163 0.054352 +v -0.025348 2.852139 1.034823 +v -0.760744 1.443163 0.973501 +v -0.638308 3.373219 -0.558186 +v 0.096894 1.473731 -1.140633 +v -0.055957 2.944318 -0.987213 +v -0.546286 3.434592 0.605795 +v 0.954922 2.852376 0.084899 +v 0.556614 3.373219 0.575248 +v -0.791353 2.882944 -0.741925 +v -0.791353 3.587670 -0.037290 +v -1.006007 1.443163 0.176768 +v -1.006007 2.791003 -0.098612 +v -1.006007 2.852376 0.146221 +v 0.005067 3.618475 -0.742153 +v 0.709854 3.618475 -0.067837 +v 0.035676 3.863730 -0.006742 +v 0.679245 1.473968 -0.925891 +v -0.760744 2.791003 0.820309 +v -0.055957 3.618475 0.759215 +v -0.178588 2.729867 -0.987213 +v 0.679245 1.473968 1.004276 +v 0.035676 2.821571 1.034823 +v -0.852766 1.473968 -0.834022 +v -0.178588 2.821571 1.004276 +v 0.954922 2.760435 -0.098612 +v 0.832291 1.841496 0.789534 +v 0.035676 2.882707 -0.987213 +v -0.760744 1.473968 -0.925891 +v 0.771072 2.178693 -0.803475 +v 0.740463 2.791003 0.758987 +v -0.055957 3.863730 -0.068065 +v 0.096894 1.442926 1.188242 +v -0.852766 2.852376 -0.588733 +v -0.760744 2.882944 0.789534 +v -0.699526 3.648806 0.054124 +v 0.740463 2.882944 -0.711378 +v 0.464787 3.465160 -0.588733 +v -0.699526 3.648806 -0.006514 +v 0.954922 1.443163 -0.129387 +v -0.852766 1.443163 0.912178 +v -0.975398 2.484848 0.329960 +v 0.801682 1.627046 -0.834022 +f 168 182 185 +f 125 129 131 +f 125 128 140 +f 131 129 143 +f 124 123 144 +f 129 125 147 +f 122 138 148 +f 147 125 148 +f 126 137 150 +f 143 126 150 +f 130 135 151 +f 137 130 151 +f 138 122 152 +f 146 138 152 +f 122 148 152 +f 141 127 153 +f 138 146 153 +f 146 152 153 +f 128 125 154 +f 141 128 154 +f 128 141 155 +f 136 127 156 +f 127 141 156 +f 141 154 156 +f 148 138 157 +f 137 126 158 +f 139 134 158 +f 158 157 159 +f 130 137 159 +f 142 130 159 +f 137 158 159 +f 129 147 160 +f 147 139 160 +f 136 132 161 +f 132 145 161 +f 130 142 162 +f 144 130 162 +f 127 149 162 +f 148 125 163 +f 133 152 163 +f 152 148 163 +f 131 135 164 +f 135 130 165 +f 144 123 165 +f 130 144 165 +f 123 164 165 +f 164 135 165 +f 140 128 166 +f 133 140 166 +f 152 133 166 +f 128 155 166 +f 124 144 167 +f 145 124 167 +f 161 145 167 +f 144 162 167 +f 126 143 168 +f 131 143 169 +f 143 150 169 +f 139 147 170 +f 147 148 170 +f 157 139 170 +f 148 157 170 +f 125 140 171 +f 140 133 171 +f 163 125 171 +f 133 163 171 +f 160 139 172 +f 135 131 173 +f 150 137 173 +f 151 135 173 +f 137 151 173 +f 131 169 173 +f 169 150 173 +f 157 138 174 +f 159 157 174 +f 142 159 174 +f 123 124 175 +f 125 131 175 +f 124 145 175 +f 154 125 175 +f 164 123 175 +f 131 164 175 +f 141 153 176 +f 153 152 176 +f 155 141 176 +f 152 166 176 +f 166 155 176 +f 127 136 177 +f 149 127 177 +f 136 161 177 +f 162 149 177 +f 161 167 177 +f 167 162 177 +f 153 127 178 +f 127 162 178 +f 162 142 178 +f 158 126 179 +f 139 158 179 +f 126 168 179 +f 172 139 179 +f 168 172 179 +f 134 139 180 +f 139 157 180 +f 158 134 180 +f 157 158 180 +f 138 153 181 +f 142 174 181 +f 174 138 181 +f 153 178 181 +f 178 142 181 +f 143 129 182 +f 168 143 182 +f 145 132 183 +f 175 145 183 +f 154 175 183 +f 132 136 184 +f 136 156 184 +f 156 154 184 +f 183 132 184 +f 154 183 184 +f 129 160 185 +f 160 172 185 +f 172 168 185 +f 182 129 185 +o convex_3 +v 0.127575 1.350871 -1.906815 +v -0.055990 -0.027942 -1.324677 +v 0.035682 -0.027942 -1.324677 +v 0.066313 0.799373 -2.978883 +v -0.546309 0.768604 -1.263205 +v 0.587263 0.738111 -1.263373 +v -0.331780 0.799373 -2.703266 +v 0.403366 0.799373 -2.764402 +v -0.423674 1.197715 -1.263205 +v 0.464739 1.258977 -1.263373 +v 0.005162 1.258839 -2.733834 +v 0.005162 0.401307 -2.733834 +v 0.434108 0.155982 -1.263205 +v -0.423674 0.155982 -1.263205 +v 0.434108 1.228208 -1.998856 +v -0.362412 1.197715 -1.998856 +v -0.025470 1.381640 -1.263205 +v 0.311473 0.493062 -2.580657 +v -0.485047 0.829866 -1.968120 +v 0.526001 0.768742 -2.029256 +v -0.270518 0.523831 -2.519353 +v 0.342104 1.105684 -2.580657 +v -0.331780 0.921897 -2.672530 +v 0.403366 0.155982 -1.447286 +v -0.423674 0.155982 -1.324677 +v -0.546309 0.554324 -1.294109 +v -0.025470 1.350871 -1.968120 +v 0.066313 1.258839 -2.733834 +v 0.005162 0.891128 -2.978883 +v 0.403366 0.860635 -2.764402 +v 0.127575 0.431800 -2.703266 +v -0.209256 1.167084 -2.580657 +v -0.362412 0.799373 -2.611226 +v 0.127575 1.381640 -1.324677 +v 0.403366 1.258839 -1.998856 +v -0.331780 1.228208 -1.968120 +v 0.587263 0.646356 -1.293941 +v 0.066313 -0.027942 -1.263205 +v 0.495370 1.197715 -1.355246 +v 0.526001 0.830004 -2.029256 +v 0.403366 0.247875 -1.692335 +v 0.005162 0.738111 -2.948315 +v -0.423674 0.247875 -1.508590 +v 0.311473 0.064089 -1.294109 +v 0.066313 1.350871 -2.090728 +v -0.485047 0.860635 -1.937551 +v 0.066313 0.401307 -2.703266 +v -0.546309 0.676849 -1.477854 +v 0.127575 0.860635 -2.948315 +f 215 193 234 +f 188 187 197 +f 194 190 198 +f 191 195 198 +f 198 190 199 +f 194 198 202 +f 198 195 202 +f 192 197 206 +f 197 187 210 +f 187 199 210 +f 206 197 210 +f 199 190 211 +f 210 199 211 +f 192 208 214 +f 208 196 214 +f 196 213 214 +f 205 193 215 +f 207 200 215 +f 213 207 215 +f 189 193 216 +f 197 189 216 +f 193 203 216 +f 203 209 216 +f 196 208 217 +f 208 201 217 +f 192 206 218 +f 208 192 218 +f 204 208 218 +f 202 195 219 +f 195 200 220 +f 200 207 220 +f 207 213 220 +f 186 219 220 +f 219 195 220 +f 201 194 221 +f 194 202 221 +f 212 196 221 +f 202 212 221 +f 196 217 221 +f 217 201 221 +f 191 198 222 +f 198 205 222 +f 187 188 223 +f 199 187 223 +f 198 199 223 +f 195 191 224 +f 200 195 224 +f 205 215 225 +f 215 200 225 +f 191 222 225 +f 222 205 225 +f 224 191 225 +f 200 224 225 +f 203 193 226 +f 193 205 226 +f 205 198 226 +f 198 209 226 +f 209 203 226 +f 197 192 227 +f 189 197 227 +f 214 189 227 +f 192 214 227 +f 206 210 228 +f 210 211 228 +f 218 206 228 +f 209 198 229 +f 223 188 229 +f 198 223 229 +f 196 212 230 +f 212 202 230 +f 213 196 230 +f 219 186 230 +f 202 219 230 +f 186 220 230 +f 220 213 230 +f 190 194 231 +f 194 201 231 +f 201 208 231 +f 208 204 231 +f 188 197 232 +f 197 216 232 +f 216 209 232 +f 209 229 232 +f 229 188 232 +f 211 190 233 +f 204 218 233 +f 228 211 233 +f 218 228 233 +f 190 231 233 +f 231 204 233 +f 193 189 234 +f 189 214 234 +f 214 213 234 +f 213 215 234 +o convex_4 +v -0.883428 -0.027942 -0.895344 +v 0.985687 0.002725 0.299449 +v 0.985687 -0.027942 0.299449 +v -0.576989 0.707492 1.310815 +v 0.740417 1.442926 -0.895344 +v -0.852744 1.442926 -0.834118 +v 0.801784 1.442926 0.942954 +v 0.403296 0.002725 -1.263205 +v 0.158225 -0.027942 1.310815 +v -0.852744 1.442926 0.912214 +v -0.975280 -0.027942 0.759023 +v -0.423572 1.197733 -1.263205 +v 0.924320 -0.027942 -0.772892 +v 0.985687 1.442926 0.023805 +v 0.495346 1.228400 1.310815 +v 0.893636 -0.027942 0.942954 +v -1.005963 1.442926 -0.098648 +v 0.495346 1.228400 -1.263205 +v -0.423770 -0.027942 -1.232466 +v -0.975280 -0.027942 -0.772892 +v -0.025480 1.381448 1.310815 +v -0.485137 -0.027942 1.280076 +v 0.005005 1.442926 -1.201727 +v 0.617882 0.584967 1.310815 +v -0.576989 0.676969 -1.263205 +v -1.036647 -0.027942 0.085031 +v 0.587396 0.646446 -1.263205 +v 0.955003 0.033392 0.820501 +v 0.801784 1.381448 -0.864605 +v -1.005963 1.442926 0.176996 +v -0.423572 1.197733 1.310815 +v -0.914111 0.002725 0.912214 +v 0.525831 -0.027942 1.249336 +v 0.985687 -0.027942 -0.159874 +v 0.035689 1.442926 1.249336 +v 0.924320 0.247917 -0.772892 +v 0.771101 -0.027942 -0.987309 +v 0.832468 1.381448 0.912214 +v -0.822061 1.442926 -0.895344 +v -1.036647 0.676969 0.023805 +v -0.454454 0.125393 -1.263205 +v -0.944596 0.339775 0.850988 +v 0.955003 0.002725 -0.619700 +v 0.127541 1.381448 -1.263205 +v 0.617882 0.768538 1.310815 +v -0.791377 0.094726 -1.018049 +v -0.454454 0.064059 1.310815 +v 0.832468 0.309252 1.034919 +v 0.832468 1.289591 -0.803379 +v 0.801784 0.002725 1.065658 +v 0.495346 0.125393 1.310815 +v -0.760694 -0.027942 1.065658 +v 0.495346 -0.027942 -1.201727 +v -0.791377 0.339775 -1.018049 +v 0.985687 1.442926 0.054292 +v -0.883428 1.105588 -0.834118 +v -0.638356 0.554444 1.249336 +v 0.403296 1.289591 1.310815 +v -0.852744 1.136399 0.942954 +v 0.587396 0.738015 -1.263205 +v -0.822061 1.442926 0.942954 +v -0.975280 0.033392 -0.772892 +v -0.178501 1.320258 -1.263205 +v 0.679248 0.584967 1.249336 +f 258 284 298 +f 239 240 241 +f 235 237 243 +f 241 240 244 +f 235 243 245 +f 237 235 247 +f 236 237 248 +f 239 241 248 +f 238 243 249 +f 243 237 250 +f 244 240 251 +f 242 246 252 +f 247 235 253 +f 235 245 254 +f 238 249 255 +f 245 243 256 +f 240 239 257 +f 249 243 258 +f 246 242 259 +f 254 245 260 +f 242 252 261 +f 237 236 262 +f 250 237 262 +f 239 248 263 +f 252 239 263 +f 244 251 264 +f 238 255 265 +f 243 250 267 +f 237 247 268 +f 248 237 268 +f 241 244 269 +f 247 261 270 +f 247 253 271 +f 261 247 271 +f 240 257 273 +f 246 259 273 +f 260 245 274 +f 254 260 274 +f 245 264 274 +f 264 251 274 +f 242 253 275 +f 259 242 275 +f 244 264 276 +f 264 245 276 +f 245 266 276 +f 268 247 277 +f 248 268 277 +f 247 270 277 +f 270 248 277 +f 239 252 278 +f 252 246 278 +f 257 239 278 +f 241 249 279 +f 249 258 279 +f 272 241 279 +f 253 235 280 +f 275 253 280 +f 259 275 280 +f 243 238 281 +f 238 256 281 +f 256 243 281 +f 250 262 282 +f 262 272 282 +f 263 248 283 +f 248 270 283 +f 270 263 283 +f 267 250 284 +f 258 243 285 +f 243 267 285 +f 267 284 285 +f 284 258 285 +f 245 256 286 +f 266 245 286 +f 253 242 287 +f 242 261 287 +f 271 253 287 +f 261 271 287 +f 273 259 288 +f 280 235 288 +f 259 280 288 +f 236 248 289 +f 248 241 289 +f 262 236 289 +f 241 272 289 +f 272 262 289 +f 251 240 290 +f 240 273 290 +f 273 288 290 +f 256 238 291 +f 286 256 291 +f 266 286 291 +f 249 241 292 +f 255 249 292 +f 241 269 292 +f 269 255 292 +f 238 244 293 +f 244 276 293 +f 276 266 293 +f 291 238 293 +f 266 291 293 +f 261 252 294 +f 252 263 294 +f 270 261 294 +f 263 270 294 +f 244 238 295 +f 238 265 295 +f 265 255 295 +f 269 244 295 +f 255 269 295 +f 235 254 296 +f 274 251 296 +f 254 274 296 +f 288 235 296 +f 251 290 296 +f 290 288 296 +f 273 257 297 +f 246 273 297 +f 278 246 297 +f 257 278 297 +f 279 258 298 +f 272 279 298 +f 250 282 298 +f 282 272 298 +f 284 250 298 +o convex_5 +v 0.005145 1.381640 1.494817 +v -0.086684 -0.027942 1.310815 +v 0.127623 -0.027942 1.310815 +v -0.025503 0.738111 2.965542 +v 0.618003 0.768742 1.310815 +v -0.577063 0.707342 1.310815 +v 0.403462 0.829866 2.750926 +v -0.423703 0.799373 2.659087 +v -0.025503 1.167084 2.720151 +v 0.464759 1.258839 1.310815 +v -0.423703 1.197715 1.310815 +v 0.495408 0.125489 1.341590 +v 0.005145 0.401307 2.689700 +v -0.454351 0.125489 1.372203 +v 0.434110 1.197715 2.046339 +v -0.393054 1.167084 1.985275 +v -0.301225 0.493062 2.567086 +v 0.556705 0.830004 2.015564 +v 0.280750 0.493062 2.567086 +v -0.546298 0.768604 1.862660 +v 0.280750 1.105684 2.597537 +v 0.096974 1.381640 1.310815 +v 0.005145 1.320240 1.985275 +v -0.423703 0.738111 2.659087 +v -0.301225 1.044560 2.567086 +v -0.025503 0.829866 2.965542 +v 0.403462 0.768604 2.720151 +v 0.618003 0.615725 1.372203 +v 0.035677 1.167084 2.720151 +v -0.577063 0.646356 1.494817 +v 0.372813 1.228208 2.046339 +v -0.025503 0.401307 2.689700 +v -0.454351 0.125489 1.310815 +v -0.331757 0.799373 2.781377 +v 0.556705 0.737973 1.954338 +v -0.055918 -0.027942 1.372203 +v 0.495408 1.167084 1.494817 +v 0.311398 0.768604 2.812152 +v 0.127623 -0.027942 1.341590 +v -0.362405 0.738111 2.750926 +v 0.495408 0.125489 1.310815 +v -0.515649 0.860635 1.954499 +v -0.515649 0.738111 2.107565 +v -0.025503 1.381640 1.433429 +v 0.035677 0.462569 2.750926 +v -0.055918 0.462569 2.750926 +v -0.055918 1.136453 2.750926 +f 332 324 345 +f 301 300 303 +f 303 300 304 +f 303 304 308 +f 308 304 309 +f 313 305 316 +f 311 310 317 +f 305 313 319 +f 308 309 320 +f 314 307 321 +f 312 315 322 +f 314 306 323 +f 307 314 323 +f 316 305 325 +f 317 310 325 +f 303 316 326 +f 305 319 327 +f 321 307 327 +f 324 305 327 +f 318 304 328 +f 313 308 329 +f 319 313 329 +f 320 299 329 +f 308 320 329 +f 299 321 329 +f 327 319 329 +f 321 327 329 +f 315 312 330 +f 304 300 331 +f 300 312 331 +f 328 304 331 +f 312 328 331 +f 323 306 332 +f 302 324 332 +f 325 310 333 +f 316 325 333 +f 310 326 333 +f 326 316 333 +f 300 301 334 +f 312 300 334 +f 311 330 334 +f 330 312 334 +f 303 308 335 +f 308 313 335 +f 316 303 335 +f 313 316 335 +f 324 302 336 +f 305 324 336 +f 325 305 336 +f 317 325 336 +f 301 310 337 +f 310 311 337 +f 334 301 337 +f 311 334 337 +f 306 322 338 +f 322 315 338 +f 302 332 338 +f 332 306 338 +f 301 303 339 +f 310 301 339 +f 303 326 339 +f 326 310 339 +f 309 304 340 +f 306 314 340 +f 314 309 340 +f 304 318 340 +f 318 306 340 +f 306 318 341 +f 322 306 341 +f 312 322 341 +f 328 312 341 +f 318 328 341 +f 309 314 342 +f 299 320 342 +f 320 309 342 +f 321 299 342 +f 314 321 342 +f 311 317 343 +f 330 311 343 +f 336 302 343 +f 317 336 343 +f 315 330 344 +f 338 315 344 +f 302 338 344 +f 330 343 344 +f 343 302 344 +f 307 323 345 +f 327 307 345 +f 324 327 345 +f 323 332 345 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/425/425.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/425/425.urdf new file mode 100644 index 000000000..7a9dcdc97 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/425/425.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/426/426.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/426/426.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/426/426.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/426/426.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/426/426.obj new file mode 100644 index 000000000..417c8c395 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/426/426.obj @@ -0,0 +1,486 @@ +o convex_0 +v -0.386583 -4.038002 -0.239837 +v 0.612437 -3.311396 -0.239837 +v 0.612437 -3.372065 -0.239837 +v -0.447110 -4.007703 0.607804 +v -0.507746 -3.311396 -0.572930 +v 0.581955 -3.977333 -0.482087 +v 0.460901 -3.311396 0.486679 +v -0.447110 -3.311396 0.577523 +v 0.491274 -3.916877 0.486679 +v -0.507746 -4.038002 -0.572930 +v 0.491274 -3.311396 -0.512368 +v -0.477373 -3.674699 0.607804 +v 0.521428 -3.311396 0.456398 +v -0.507746 -4.007703 0.002412 +v 0.581955 -3.977333 -0.330681 +v 0.491274 -3.977333 -0.512368 +v 0.521428 -3.765382 0.456398 +v -0.477373 -3.372065 0.577523 +v -0.326056 -3.916877 0.607804 +v 0.370111 -3.947034 0.456398 +v -0.416846 -4.038002 -0.572930 +v 0.612437 -3.674699 -0.391243 +v 0.551801 -3.311396 -0.482087 +v -0.477373 -4.007703 0.607804 +f 12 14 24 +f 2 5 7 +f 7 5 8 +f 5 2 11 +f 7 8 12 +f 3 2 13 +f 2 7 13 +f 7 9 13 +f 5 10 14 +f 4 1 15 +f 1 6 15 +f 11 6 16 +f 3 13 17 +f 13 9 17 +f 9 15 17 +f 8 5 18 +f 12 8 18 +f 5 14 18 +f 14 12 18 +f 4 9 19 +f 9 7 19 +f 12 4 19 +f 7 12 19 +f 9 4 20 +f 4 15 20 +f 15 9 20 +f 6 1 21 +f 1 10 21 +f 10 5 21 +f 5 11 21 +f 16 6 21 +f 11 16 21 +f 2 3 22 +f 15 6 22 +f 3 17 22 +f 17 15 22 +f 6 11 23 +f 11 2 23 +f 2 22 23 +f 22 6 23 +f 1 4 24 +f 10 1 24 +f 4 12 24 +f 14 10 24 +o convex_1 +v 0.582156 -2.615066 0.456286 +v -0.507734 -2.615066 -0.572823 +v -0.507734 -2.524181 -0.572823 +v -0.447172 -2.615066 0.516872 +v 0.612437 -2.100387 0.425992 +v -0.477453 -2.100387 0.456286 +v 0.430750 -2.100387 -0.512237 +v 0.491313 -2.615066 -0.481944 +v -0.538015 -2.100387 -0.542530 +v -0.568296 -2.615066 0.214155 +v 0.461032 -2.100387 0.486579 +v -0.447172 -2.130665 0.516872 +v 0.521594 -2.554459 -0.391172 +v 0.461032 -2.615066 -0.512237 +v 0.461032 -2.615066 0.486579 +v -0.568296 -2.463624 -0.088455 +v -0.023236 -2.100387 -0.542530 +v -0.204923 -2.615066 0.516872 +f 39 35 42 +f 26 25 28 +f 30 29 31 +f 25 26 32 +f 27 26 33 +f 30 31 33 +f 26 28 34 +f 28 30 34 +f 25 29 35 +f 29 30 35 +f 35 30 36 +f 30 28 36 +f 29 25 37 +f 31 29 37 +f 25 32 37 +f 32 31 37 +f 32 26 38 +f 31 32 38 +f 28 25 39 +f 25 35 39 +f 33 26 40 +f 30 33 40 +f 26 34 40 +f 34 30 40 +f 26 27 41 +f 27 33 41 +f 33 31 41 +f 38 26 41 +f 31 38 41 +f 35 36 42 +f 36 28 42 +f 28 39 42 +o convex_2 +v 1.036285 3.863027 -0.451799 +v -1.113251 -2.039635 0.880002 +v -1.082952 -2.039635 0.547052 +v -1.052653 4.014299 -0.996760 +v 0.915089 -2.009259 -1.057334 +v 0.915089 3.923779 0.970864 +v 1.005986 -1.978276 1.031645 +v -0.992055 4.106035 0.940784 +v -0.931458 -1.978883 -0.996760 +v 1.036285 4.014907 -0.996552 +v -1.113251 -1.888363 1.061932 +v 0.430729 -2.100387 -0.512166 +v 1.036285 -0.616216 0.577339 +v 0.642610 3.045913 1.001151 +v -1.022354 3.438978 0.970864 +v 0.400430 -0.464944 -1.057334 +v 0.945388 -1.827003 -1.057334 +v 0.612311 -2.100387 0.456191 +v -0.598591 -2.100387 -0.663602 +v 1.036285 4.044675 -0.724176 +v 1.036285 2.561719 -0.996552 +v 0.945388 3.530106 0.970864 +v -0.568292 -1.978883 -1.027047 +v -0.477396 4.075659 0.970864 +v -0.537993 2.500968 -1.027047 +v -1.052653 4.044675 -0.663602 +v -0.931458 -2.039635 1.061932 +v 1.005986 -1.040265 1.031645 +v -1.113251 -1.282058 1.031438 +v -1.052653 3.621234 -0.996760 +v -0.416798 -2.100387 0.486478 +v -0.416798 4.045283 -0.996552 +v 1.005986 -1.978276 0.456191 +v 0.945388 3.954155 0.789141 +v -0.992055 4.106035 0.577339 +v -0.931458 3.923779 0.970864 +v -0.961756 -2.008652 -0.723968 +v 0.975687 4.045283 -0.996552 +v 0.945388 -0.767489 -1.057334 +v 0.400430 -1.978276 -1.057334 +v 0.945388 2.621864 1.001151 +v -0.901159 -2.008652 -0.996760 +v 1.005986 -0.283296 0.970864 +v 0.582012 -2.009259 1.031645 +v -0.810472 4.106035 0.940577 +v -1.022354 4.075659 0.456191 +v -1.052653 4.044675 -0.845117 +v 0.945388 -2.009259 0.819428 +v -1.113251 -2.039635 1.061932 +v 0.521625 3.015537 1.001151 +v -0.961756 -1.918131 1.061932 +v 1.036285 0.019857 0.214101 +v -0.144318 -2.100387 -0.663602 +v -0.961756 -0.737720 -0.996760 +f 79 72 96 +f 52 43 55 +f 47 58 59 +f 54 47 60 +f 54 60 61 +f 44 45 61 +f 43 52 62 +f 52 55 63 +f 59 52 63 +f 56 48 66 +f 65 46 67 +f 58 65 67 +f 49 55 70 +f 69 49 70 +f 46 44 71 +f 44 53 71 +f 53 57 71 +f 57 68 71 +f 45 44 72 +f 44 46 72 +f 46 65 72 +f 61 60 73 +f 60 69 73 +f 67 46 74 +f 55 49 75 +f 47 59 75 +f 43 62 76 +f 64 43 76 +f 48 64 76 +f 66 48 76 +f 62 66 76 +f 57 53 78 +f 50 57 78 +f 66 50 78 +f 61 45 79 +f 45 72 79 +f 62 52 80 +f 52 67 80 +f 67 74 80 +f 74 77 80 +f 52 59 81 +f 59 58 81 +f 67 52 81 +f 58 67 81 +f 58 47 82 +f 65 58 82 +f 47 65 82 +f 48 56 83 +f 64 48 83 +f 56 70 83 +f 70 64 83 +f 47 61 84 +f 51 65 84 +f 65 47 84 +f 61 79 84 +f 79 51 84 +f 55 43 85 +f 43 64 85 +f 70 55 85 +f 64 70 85 +f 60 49 86 +f 49 69 86 +f 69 60 86 +f 50 66 87 +f 66 62 87 +f 77 50 87 +f 62 80 87 +f 80 77 87 +f 57 50 88 +f 68 57 88 +f 50 77 88 +f 88 77 89 +f 46 71 89 +f 71 68 89 +f 74 46 89 +f 77 74 89 +f 68 88 89 +f 60 47 90 +f 49 60 90 +f 47 75 90 +f 75 49 90 +f 53 44 91 +f 44 61 91 +f 69 53 91 +f 61 73 91 +f 73 69 91 +f 53 56 92 +f 56 66 92 +f 78 53 92 +f 66 78 92 +f 56 53 93 +f 53 69 93 +f 70 56 93 +f 69 70 93 +f 63 55 94 +f 59 63 94 +f 55 75 94 +f 75 59 94 +f 47 54 95 +f 54 61 95 +f 61 47 95 +f 65 51 96 +f 72 65 96 +f 51 79 96 +o convex_3 +v -0.780617 -2.948141 0.304986 +v -0.689765 -3.281121 -0.360938 +v -0.689765 -3.250834 -0.360938 +v -3.111167 -2.736190 -0.330627 +v -3.020314 -3.220547 0.244430 +v -0.568794 -2.675616 -0.330627 +v -2.959580 -2.736190 0.244430 +v -3.020314 -3.281121 -0.239825 +v -0.568794 -3.220547 0.153628 +v -0.568794 -2.766537 0.304986 +v -3.020314 -3.190200 0.304986 +v -0.568794 -3.281121 -0.239825 +v -1.113659 -2.675616 -0.149024 +v -2.989947 -2.705903 -0.330627 +v -0.568794 -3.190200 0.214119 +v -2.626787 -3.281121 -0.088467 +v -3.111167 -2.857339 -0.330627 +v -3.020314 -3.069111 0.304986 +v -0.568794 -3.129685 -0.360938 +v -1.446453 -2.766537 0.304986 +v -2.475200 -3.190200 0.304986 +v -0.568794 -2.705903 0.002270 +v -3.050433 -3.159913 0.244430 +v -3.111167 -2.766537 -0.209580 +v -1.476820 -2.675616 -0.330627 +f 115 110 121 +f 99 98 100 +f 105 102 106 +f 97 106 107 +f 104 98 108 +f 102 105 108 +f 100 103 110 +f 103 109 110 +f 105 106 111 +f 106 97 111 +f 101 104 112 +f 105 101 112 +f 104 108 112 +f 108 105 112 +f 100 98 113 +f 98 104 113 +f 107 106 114 +f 98 99 115 +f 99 100 115 +f 108 98 115 +f 102 108 115 +f 100 110 115 +f 106 103 116 +f 103 114 116 +f 114 106 116 +f 101 105 117 +f 97 107 117 +f 107 101 117 +f 105 111 117 +f 111 97 117 +f 106 102 118 +f 103 106 118 +f 102 109 118 +f 109 103 118 +f 104 101 119 +f 101 107 119 +f 113 104 119 +f 107 114 119 +f 119 114 120 +f 103 100 120 +f 100 113 120 +f 114 103 120 +f 113 119 120 +f 109 102 121 +f 110 109 121 +f 102 115 121 +o convex_4 +v 0.642713 -2.766505 0.123359 +v -0.507722 -3.311260 -0.572930 +v -0.507722 -2.615066 -0.572930 +v -0.447030 -3.311260 0.577529 +v 0.551792 -3.311260 -0.482051 +v -0.447030 -2.615066 0.516943 +v 0.521446 -3.311260 0.456357 +v 0.460990 -2.615066 -0.512344 +v 0.582138 -2.615066 0.456357 +v -0.568296 -2.645463 0.335297 +v -0.568296 -3.281000 -0.360992 +v 0.642713 -3.311260 0.244418 +v 0.642713 -2.705984 -0.360992 +v -0.568296 -3.190218 0.214125 +v 0.460990 -2.615066 0.486650 +v -0.568296 -2.675723 -0.330699 +v 0.642713 -3.220479 -0.270113 +v -0.447030 -2.645463 0.547236 +v 0.491218 -3.311260 -0.512344 +v 0.460990 -3.311260 0.486650 +v 0.642713 -2.887614 0.365590 +v -0.356346 -3.281000 0.577529 +f 141 136 143 +f 125 123 126 +f 125 126 128 +f 124 127 129 +f 129 127 130 +f 127 124 131 +f 124 123 132 +f 123 125 132 +f 128 126 133 +f 126 129 134 +f 129 130 134 +f 130 122 134 +f 122 133 134 +f 125 131 135 +f 132 125 135 +f 131 132 135 +f 130 127 136 +f 131 124 137 +f 124 132 137 +f 132 131 137 +f 133 126 138 +f 126 134 138 +f 134 133 138 +f 131 125 139 +f 127 131 139 +f 136 127 139 +f 123 124 140 +f 126 123 140 +f 124 129 140 +f 129 126 140 +f 125 128 141 +f 128 130 141 +f 130 136 141 +f 130 128 142 +f 122 130 142 +f 133 122 142 +f 128 133 142 +f 139 125 143 +f 136 139 143 +f 125 141 143 +o convex_5 +v 3.094668 -2.766522 -0.209580 +v 0.642956 -2.766522 -0.361003 +v 0.642956 -3.220490 -0.270178 +v 0.733823 -2.796762 0.365602 +v 3.003801 -3.281032 0.274776 +v 2.973674 -3.190251 -0.330704 +v 2.943304 -2.675678 0.274776 +v 0.642956 -3.311334 0.244477 +v 0.642956 -2.705980 -0.361003 +v 2.882807 -2.766522 -0.361003 +v 2.549708 -3.220490 -0.330704 +v 0.642956 -2.887605 0.365602 +v 3.064298 -2.978386 -0.361003 +v 0.673326 -3.311334 0.153652 +v 2.216853 -2.675678 0.093125 +v 0.642956 -2.705980 -0.239879 +v 2.882807 -2.675678 0.153652 +v 2.973674 -3.220490 -0.300406 +v 3.125038 -2.827064 -0.361003 +v 2.368217 -2.705980 0.305004 +v 3.003801 -3.281032 0.214178 +v 0.642956 -3.250792 -0.179352 +v 3.003801 -3.038866 0.274776 +v 2.701073 -2.675678 0.274776 +v 0.855060 -2.827064 0.365602 +f 148 163 168 +f 145 146 151 +f 145 151 152 +f 145 152 153 +f 146 145 154 +f 151 148 155 +f 152 151 155 +f 145 153 156 +f 154 145 156 +f 149 154 156 +f 148 151 157 +f 155 147 159 +f 152 155 159 +f 158 152 159 +f 150 144 160 +f 144 153 160 +f 153 152 160 +f 158 150 160 +f 152 158 160 +f 154 149 161 +f 149 156 161 +f 157 154 161 +f 153 144 162 +f 156 153 162 +f 161 156 162 +f 148 157 164 +f 157 161 164 +f 162 148 164 +f 161 162 164 +f 151 146 165 +f 146 154 165 +f 157 151 165 +f 154 157 165 +f 144 150 166 +f 162 144 166 +f 148 162 166 +f 163 148 166 +f 150 163 166 +f 150 158 167 +f 159 147 167 +f 158 159 167 +f 147 163 167 +f 163 150 167 +f 147 155 168 +f 155 148 168 +f 163 147 168 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/426/426.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/426/426.urdf new file mode 100644 index 000000000..84c65c22e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/426/426.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/427/427.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/427/427.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/427/427.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/427/427.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/427/427.obj new file mode 100644 index 000000000..55fd66b6a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/427/427.obj @@ -0,0 +1,642 @@ +o convex_0 +v 0.264177 -4.860695 0.011734 +v -0.349497 -2.923071 0.237826 +v -0.349497 -2.923071 0.302433 +v 0.361146 -2.826149 0.302433 +v 0.199623 -2.826149 -0.311301 +v -0.252528 -4.763773 -0.278965 +v -0.220252 -4.893272 0.367040 +v -0.252528 -2.826149 -0.246694 +v 0.199623 -4.893272 -0.311301 +v 0.328799 -4.828321 0.173219 +v 0.361146 -2.826149 0.205489 +v -0.349497 -2.826149 0.302433 +v -0.317151 -3.052367 0.334703 +v -0.123352 -4.699226 0.367040 +v -0.252528 -4.699226 0.367040 +v 0.070377 -2.826149 -0.311301 +v -0.284875 -2.826149 -0.182087 +v 0.296523 -4.828321 0.205489 +v 0.038101 -4.860695 -0.311301 +v -0.252528 -4.828321 -0.020536 +v 0.296523 -4.828321 0.011734 +f 11 10 21 +f 4 5 8 +f 1 7 9 +f 7 1 10 +f 1 9 10 +f 5 4 11 +f 9 5 11 +f 4 10 11 +f 2 3 12 +f 4 8 12 +f 12 3 13 +f 4 12 13 +f 4 13 14 +f 14 13 15 +f 13 3 15 +f 7 14 15 +f 8 5 16 +f 6 8 16 +f 5 9 16 +f 6 2 17 +f 8 6 17 +f 2 12 17 +f 12 8 17 +f 10 4 18 +f 7 10 18 +f 4 14 18 +f 14 7 18 +f 9 7 19 +f 6 16 19 +f 16 9 19 +f 3 2 20 +f 2 6 20 +f 15 3 20 +f 7 15 20 +f 6 19 20 +f 19 7 20 +f 10 9 21 +f 9 11 21 +o convex_1 +v 0.877948 -0.726589 1.013070 +v -1.092443 -1.631095 -0.634043 +v -1.060030 -2.664156 -0.989522 +v 1.007175 -0.468093 -1.021723 +v 1.007175 -2.761092 0.948456 +v -0.995417 -0.468324 1.045270 +v 1.007175 -2.825947 -1.086548 +v -0.963216 -2.728780 1.045270 +v -1.060030 -0.468324 -0.989522 +v 1.007175 -0.468093 0.948456 +v -1.060030 -2.825947 -0.440203 +v 1.071789 -0.855837 -0.601842 +v 0.651696 -0.468324 1.077683 +v -1.060030 -0.468324 0.690003 +v 0.361041 -2.825947 0.302110 +v -0.801576 -0.468324 -1.021935 +v -1.027617 -2.825947 -0.989522 +v -0.963216 -2.761092 1.012858 +v 0.974763 -0.823525 -1.054136 +v 0.651696 -0.888149 1.077683 +v 1.071789 -0.468093 -0.472615 +v -1.092443 -0.468324 -0.214162 +v -0.995417 -2.244100 0.980445 +v 1.007175 -2.793404 0.721991 +v 0.199402 -0.500405 1.077683 +v -0.349283 -2.825947 0.302322 +v 1.039376 -2.050458 -0.892708 +v 0.910149 -2.761092 -1.086548 +v 0.684108 -2.793404 0.819017 +v 1.007175 -2.825947 -0.214373 +v -0.995417 -2.761092 0.754404 +v -1.060030 -0.629653 0.657590 +v -0.284669 -2.761092 1.012858 +f 39 50 54 +f 24 23 30 +f 22 26 31 +f 23 24 32 +f 22 31 34 +f 31 27 34 +f 27 31 35 +f 32 28 36 +f 24 30 37 +f 30 25 37 +f 32 24 38 +f 28 32 38 +f 25 28 40 +f 37 25 40 +f 26 22 41 +f 22 34 41 +f 31 26 42 +f 25 31 42 +f 33 25 42 +f 26 33 42 +f 30 23 43 +f 25 30 43 +f 31 25 43 +f 35 31 43 +f 29 27 44 +f 27 35 44 +f 27 29 46 +f 34 27 46 +f 29 41 46 +f 41 34 46 +f 32 36 47 +f 39 32 47 +f 28 25 48 +f 25 33 48 +f 33 26 48 +f 26 45 48 +f 24 37 49 +f 38 24 49 +f 28 38 49 +f 40 28 49 +f 37 40 49 +f 45 26 50 +f 36 45 50 +f 47 36 50 +f 39 47 50 +f 36 28 51 +f 45 36 51 +f 28 48 51 +f 48 45 51 +f 39 29 52 +f 32 39 52 +f 29 44 52 +f 52 44 53 +f 23 32 53 +f 43 23 53 +f 35 43 53 +f 44 35 53 +f 32 52 53 +f 29 39 54 +f 26 41 54 +f 41 29 54 +f 50 26 54 +o convex_2 +v 1.071789 1.761125 0.237503 +v -1.092443 0.824175 0.399045 +v -1.092443 0.824175 0.592853 +v -1.027617 3.182082 -1.021945 +v -0.963216 3.149831 1.077683 +v 0.974763 0.824175 -1.021945 +v 0.974763 3.214333 -0.957205 +v 1.007175 0.824175 0.980470 +v 1.007175 3.246822 0.980676 +v -1.060030 0.824175 -1.021945 +v -0.995417 0.824175 1.077683 +v 0.684108 0.824175 1.077683 +v -1.060030 2.762103 0.980470 +v 1.071789 0.824175 -0.408046 +v -1.060030 2.955848 -1.021945 +v 0.716309 3.214333 -0.989472 +v 0.522681 3.246822 0.592853 +v -0.575535 3.149593 1.077683 +v 1.039376 2.923597 0.818929 +v 1.071789 1.373397 -0.504848 +v -1.027617 3.117579 1.077683 +v 0.942350 2.762103 1.012738 +v -0.284669 3.149593 -1.021945 +v -1.092443 1.502639 0.625120 +v -0.413896 3.214333 -0.440313 +v 1.007175 3.246822 0.205236 +v 1.007175 0.824175 -0.957205 +v -1.027617 1.147400 1.077683 +v 1.007175 2.729614 -0.827930 +v -1.027617 3.182082 -0.440313 +v 1.071789 0.824175 -0.052696 +v 0.974763 2.762103 -0.989472 +v 0.684108 3.246822 0.980470 +v 0.684108 0.953418 1.077683 +f 76 72 88 +f 57 56 60 +f 57 60 62 +f 60 56 64 +f 58 60 64 +f 57 62 65 +f 65 62 66 +f 59 65 66 +f 62 60 68 +f 64 56 69 +f 58 64 69 +f 63 59 72 +f 59 66 72 +f 62 55 73 +f 63 62 73 +f 55 68 74 +f 73 55 74 +f 65 59 75 +f 69 67 75 +f 62 63 76 +f 66 62 76 +f 63 72 76 +f 60 58 77 +f 58 70 77 +f 56 57 78 +f 57 67 78 +f 69 56 78 +f 67 69 78 +f 70 58 79 +f 79 71 80 +f 61 70 80 +f 71 63 80 +f 63 73 80 +f 70 79 80 +f 68 60 81 +f 74 68 81 +f 57 65 82 +f 67 57 82 +f 65 75 82 +f 75 67 82 +f 73 74 83 +f 61 80 83 +f 80 73 83 +f 74 81 83 +f 58 69 84 +f 59 71 84 +f 75 59 84 +f 69 75 84 +f 79 58 84 +f 71 79 84 +f 55 62 85 +f 68 55 85 +f 62 68 85 +f 70 61 86 +f 60 77 86 +f 77 70 86 +f 81 60 86 +f 61 83 86 +f 83 81 86 +f 59 63 87 +f 71 59 87 +f 63 71 87 +f 72 66 88 +f 66 76 88 +o convex_3 +v -0.349396 0.727165 -2.313694 +v 0.296453 -0.435602 -3.024318 +v 0.458026 -0.435602 -3.024318 +v -0.543173 -0.306327 -1.022147 +v 0.522655 0.598007 -1.022147 +v -0.607913 -0.338617 -3.089067 +v 0.425601 0.598007 -2.959771 +v 0.522655 -0.273921 -1.022147 +v -0.446340 0.630297 -1.022147 +v -0.446340 0.759571 -2.927397 +v 0.490341 -0.435485 -2.798302 +v -0.607913 -0.209459 -3.089067 +v -0.575488 -0.273921 -1.119069 +v 0.425601 0.630297 -1.119069 +v -0.478544 0.694875 -2.798302 +v 0.490341 -0.403195 -3.024318 +v 0.522655 -0.306327 -1.183615 +v 0.361082 0.630297 -2.927397 +v -0.478544 0.468850 -1.022147 +v -0.317082 -0.306327 -3.089067 +v -0.607913 -0.338617 -2.669006 +v -0.381600 0.759571 -2.798302 +v 0.458026 0.565601 -2.539912 +v -0.478544 0.662586 -2.959771 +v 0.038047 -0.306327 -1.022147 +v 0.522655 -0.306327 -1.538928 +f 105 99 114 +f 91 90 94 +f 93 92 96 +f 92 93 97 +f 90 91 99 +f 92 90 99 +f 89 97 102 +f 97 93 102 +f 97 98 103 +f 99 91 104 +f 93 96 105 +f 93 95 106 +f 95 98 106 +f 102 93 106 +f 92 97 107 +f 101 92 107 +f 100 101 107 +f 97 103 107 +f 103 100 107 +f 91 94 108 +f 94 100 108 +f 100 95 108 +f 104 91 108 +f 95 104 108 +f 90 92 109 +f 94 90 109 +f 100 94 109 +f 92 101 109 +f 101 100 109 +f 97 89 110 +f 98 97 110 +f 89 102 110 +f 106 98 110 +f 102 106 110 +f 95 93 111 +f 93 104 111 +f 104 95 111 +f 98 95 112 +f 95 100 112 +f 103 98 112 +f 100 103 112 +f 96 92 113 +f 92 99 113 +f 105 96 113 +f 99 105 113 +f 104 93 114 +f 99 104 114 +f 93 105 114 +o convex_4 +v 0.361107 -0.306213 1.109985 +v 0.587130 0.694809 3.015800 +v 0.425685 0.727133 2.918793 +v -0.543218 -0.273889 2.918793 +v -0.510929 0.727133 1.109985 +v 0.457974 0.759343 1.109985 +v -0.607796 -0.403072 1.109985 +v 0.457974 -0.370862 2.918793 +v -0.446234 0.759343 2.951067 +v 0.554841 -0.144821 1.368733 +v -0.543218 0.694809 1.174718 +v 0.522552 -0.274003 1.109985 +v 0.587130 0.274937 2.175757 +v -0.543218 -0.112496 2.918793 +v 0.490263 0.759457 1.303999 +v -0.381656 -0.403072 1.109985 +v 0.490263 -0.209355 2.951067 +v -0.575507 -0.403072 1.401006 +v 0.587130 0.533302 3.015800 +v -0.478640 0.759343 2.369398 +v 0.587130 0.694809 2.530952 +v -0.123228 0.759343 2.951067 +v 0.522552 -0.306327 1.465553 +v -0.575507 -0.273889 2.305037 +v 0.070272 0.759343 1.109985 +v 0.522552 0.113658 1.109985 +v 0.587130 0.436444 2.983154 +v 0.425685 0.662485 3.015800 +f 118 133 142 +f 115 119 120 +f 119 115 121 +f 119 121 125 +f 115 120 126 +f 118 123 128 +f 117 116 129 +f 121 115 130 +f 118 122 131 +f 118 121 132 +f 122 118 132 +f 121 130 132 +f 130 122 132 +f 127 116 133 +f 118 131 133 +f 119 125 134 +f 128 123 134 +f 125 128 134 +f 123 129 134 +f 116 127 135 +f 129 116 135 +f 116 117 136 +f 123 116 136 +f 117 129 136 +f 129 123 136 +f 115 126 137 +f 126 124 137 +f 130 115 137 +f 122 130 137 +f 131 122 137 +f 124 131 137 +f 121 118 138 +f 125 121 138 +f 118 128 138 +f 128 125 138 +f 120 119 139 +f 129 120 139 +f 119 134 139 +f 134 129 139 +f 126 120 140 +f 124 126 140 +f 127 124 140 +f 120 129 140 +f 135 127 140 +f 129 135 140 +f 124 127 141 +f 131 124 141 +f 127 133 141 +f 133 131 141 +f 116 123 142 +f 123 118 142 +f 133 116 142 +o convex_5 +v 1.911754 -0.338639 -0.505100 +v 3.106585 0.791873 -0.472675 +v 3.009744 0.759552 -0.214269 +v 1.104091 0.727231 -0.505100 +v 1.104091 -0.273877 0.593154 +v 2.945248 -0.273997 0.496210 +v 1.104091 0.727231 0.560839 +v 3.074435 -0.435601 -0.537415 +v 3.009744 0.662589 0.431580 +v 1.104091 -0.241676 -0.472675 +v 3.106585 0.597827 -0.537415 +v 1.136436 0.630148 0.593154 +v 3.074435 0.404142 0.173174 +v 2.751370 -0.273877 0.528414 +v 1.265819 0.759432 -0.505100 +v 1.685726 0.759432 0.270118 +v 2.589838 -0.403160 -0.537415 +v 1.556539 -0.273877 0.593154 +v 3.074435 -0.435601 -0.472675 +v 2.977398 -0.015670 0.496210 +v 1.104091 -0.273877 -0.052807 +v 1.104091 0.274978 -0.505100 +v 1.459698 0.727231 0.560839 +v 3.106585 0.468664 -0.214269 +v 3.009744 0.791873 -0.504990 +v 2.977398 -0.273997 0.399266 +v 3.042089 0.597827 0.399266 +f 155 166 169 +f 146 147 149 +f 144 145 151 +f 147 146 152 +f 149 147 154 +f 146 149 157 +f 153 146 157 +f 145 144 158 +f 151 145 158 +f 157 149 158 +f 143 152 159 +f 146 153 159 +f 153 150 159 +f 154 147 160 +f 156 154 160 +f 156 160 161 +f 148 156 161 +f 147 159 161 +f 159 150 161 +f 160 147 161 +f 156 148 162 +f 154 156 162 +f 152 143 163 +f 147 152 163 +f 143 159 163 +f 159 147 163 +f 152 146 164 +f 159 152 164 +f 146 159 164 +f 149 154 165 +f 151 158 165 +f 158 149 165 +f 162 151 165 +f 154 162 165 +f 153 144 166 +f 150 153 166 +f 161 150 166 +f 155 161 166 +f 144 153 167 +f 153 157 167 +f 158 144 167 +f 157 158 167 +f 148 161 168 +f 161 155 168 +f 155 162 168 +f 162 148 168 +f 144 151 169 +f 151 162 169 +f 162 155 169 +f 166 144 169 +o convex_6 +v -2.610559 -0.144685 0.560852 +v -3.095164 0.533369 -0.602019 +v -3.095164 0.630313 -0.602019 +v -1.092443 -0.177110 -0.601905 +v -1.092443 0.759571 0.431543 +v -2.998125 -0.370998 -0.569692 +v -1.092443 -0.370998 0.496197 +v -3.095164 0.694831 0.496197 +v -1.092443 0.727256 -0.472710 +v -2.933433 -0.370998 0.560852 +v -1.157135 -0.306258 -0.601905 +v -3.095164 -0.112370 -0.278860 +v -1.706433 0.727256 -0.504923 +v -1.512552 0.759571 0.463870 +v -1.318670 0.727256 -0.505037 +v -2.481370 -0.370998 -0.569692 +v -3.095164 0.662627 -0.375728 +v -1.770929 0.759571 0.367002 +v -1.092443 0.533369 0.463870 +v -3.095164 0.339592 0.334675 +v -1.092443 -0.370998 0.302347 +v -2.868741 0.630313 -0.602019 +v -3.095164 0.694831 0.302347 +v -3.062622 0.307277 -0.602019 +f 191 180 193 +f 173 174 176 +f 172 171 177 +f 174 173 178 +f 175 176 179 +f 176 170 179 +f 170 177 179 +f 171 175 181 +f 177 171 181 +f 175 179 181 +f 177 170 183 +f 178 173 184 +f 174 178 184 +f 172 182 184 +f 176 175 185 +f 175 180 185 +f 172 177 186 +f 182 172 186 +f 183 174 187 +f 177 183 187 +f 174 184 187 +f 184 182 187 +f 170 176 188 +f 176 174 188 +f 183 170 188 +f 174 183 188 +f 179 177 189 +f 177 181 189 +f 181 179 189 +f 173 176 190 +f 180 173 190 +f 176 185 190 +f 185 180 190 +f 171 172 191 +f 173 180 191 +f 172 184 191 +f 184 173 191 +f 186 177 192 +f 182 186 192 +f 187 182 192 +f 177 187 192 +f 175 171 193 +f 180 175 193 +f 171 191 193 +o convex_7 +v 0.877887 -0.467777 1.012946 +v -1.059976 0.791677 -1.021945 +v -1.092443 -0.273927 -0.601861 +v 1.007107 -0.467777 -1.021945 +v 1.007107 0.824049 0.980600 +v -0.995259 0.824049 1.077639 +v 0.974855 0.824049 -1.021945 +v -0.995259 -0.467777 1.045292 +v -1.059976 -0.467777 -0.989598 +v 1.104075 -0.273927 0.592863 +v 1.104075 0.727060 -0.504822 +v 0.554946 -0.403160 1.109985 +v -1.092443 0.824049 0.560725 +v 0.457977 0.759432 1.109985 +v -1.092443 -0.370789 0.496241 +v -0.607816 -0.403160 1.109985 +v 1.071609 -0.467777 -0.569515 +v 1.104075 0.727060 0.592863 +v -1.059976 0.824049 -1.021945 +v 1.007107 -0.467777 0.948254 +v -0.834004 -0.467777 -1.021945 +v 1.104075 -0.241682 -0.472476 +v -0.543313 0.727060 1.109985 +v -1.092443 0.759432 -0.472685 +v -1.027725 0.791677 1.045292 +v 0.683950 0.824049 1.077639 +v 1.071609 0.824049 -0.407992 +v -1.092443 -0.467777 -0.181986 +v 1.007107 0.824049 -0.957252 +f 220 204 222 +f 197 195 200 +f 199 198 200 +f 197 194 201 +f 196 195 202 +f 197 201 202 +f 201 194 205 +f 199 200 206 +f 206 196 208 +f 199 201 209 +f 201 205 209 +f 205 207 209 +f 194 197 210 +f 198 203 211 +f 203 204 211 +f 195 196 212 +f 200 195 212 +f 206 200 212 +f 198 194 213 +f 203 198 213 +f 194 210 213 +f 210 203 213 +f 195 197 214 +f 202 195 214 +f 197 202 214 +f 197 204 215 +f 204 203 215 +f 210 197 215 +f 203 210 215 +f 207 199 216 +f 199 209 216 +f 209 207 216 +f 196 206 217 +f 212 196 217 +f 206 212 217 +f 201 199 218 +f 199 206 218 +f 208 201 218 +f 206 208 218 +f 194 198 219 +f 198 199 219 +f 205 194 219 +f 199 207 219 +f 207 205 219 +f 200 198 220 +f 198 211 220 +f 211 204 220 +f 196 202 221 +f 202 201 221 +f 208 196 221 +f 201 208 221 +f 197 200 222 +f 204 197 222 +f 200 220 222 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/427/427.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/427/427.urdf new file mode 100644 index 000000000..2d58be138 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/427/427.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/428/428.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/428/428.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/428/428.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/428/428.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/428/428.obj new file mode 100644 index 000000000..f697f579a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/428/428.obj @@ -0,0 +1,693 @@ +o convex_0 +v 0.817007 -1.822385 -1.068186 +v -1.070291 -3.426255 -0.910752 +v -1.007190 -3.331664 -0.941984 +v -1.038634 -0.909723 1.007777 +v 1.100218 -3.362948 1.102323 +v 1.100218 -0.909970 1.102323 +v -1.038634 -0.909723 -0.941984 +v -1.038634 -3.300379 1.007777 +v 1.100218 -3.331664 -1.068186 +v 1.037117 -0.909970 -1.036529 +v -0.724191 -0.909723 1.070666 +v -0.503868 -1.224782 -1.036529 +v 0.722674 -3.362948 1.102323 +v 1.005673 -3.362948 -1.068186 +v 0.156463 -0.909723 -1.068186 +v 1.100218 -2.387964 -1.036529 +v -1.070291 -1.696509 -0.941984 +v -0.535312 -3.426255 -0.438662 +v -1.070291 -3.426255 -0.627753 +v -0.566756 -3.331664 1.039222 +v 1.068561 -1.287351 -1.036529 +v 0.502563 -2.262088 1.102323 +v -0.503868 -1.413473 -1.036529 +v -1.070291 -3.362948 -0.438875 +v -0.912857 -2.451025 1.039222 +v -0.944301 -0.909723 -0.973641 +v 0.408018 -3.394725 0.473011 +v 1.100218 -3.362948 -0.879308 +v -0.598201 -3.426255 -0.942196 +v -1.007190 -3.331664 0.850343 +v 0.565452 -0.909723 -1.068186 +v 0.596896 -2.576655 -1.068186 +v -1.070291 -2.891468 -0.941984 +v -0.724191 -1.129944 1.070666 +f 25 13 34 +f 6 5 9 +f 9 1 10 +f 7 4 11 +f 5 6 13 +f 2 3 14 +f 1 9 14 +f 7 11 15 +f 1 14 15 +f 6 9 16 +f 4 7 17 +f 17 2 19 +f 2 18 19 +f 19 13 20 +f 10 6 21 +f 9 10 21 +f 6 16 21 +f 16 9 21 +f 6 11 22 +f 13 6 22 +f 12 15 23 +f 8 4 24 +f 4 17 24 +f 19 8 24 +f 17 19 24 +f 4 8 25 +f 11 4 25 +f 8 20 25 +f 20 13 25 +f 15 12 26 +f 7 15 26 +f 17 7 26 +f 12 23 26 +f 5 13 27 +f 13 19 27 +f 19 18 27 +f 9 5 28 +f 14 9 28 +f 5 27 28 +f 27 18 28 +f 2 14 29 +f 18 2 29 +f 14 28 29 +f 28 18 29 +f 8 19 30 +f 20 8 30 +f 19 20 30 +f 6 10 31 +f 10 1 31 +f 11 6 31 +f 1 15 31 +f 15 11 31 +f 14 3 32 +f 15 14 32 +f 3 23 32 +f 23 15 32 +f 3 2 33 +f 2 17 33 +f 23 3 33 +f 17 26 33 +f 26 23 33 +f 22 11 34 +f 13 22 34 +f 11 25 34 +o convex_1 +v -0.157980 1.921375 -2.326138 +v -0.189461 1.292242 -2.923913 +v -0.220943 1.355242 -3.081412 +v 0.250889 1.764030 -2.986753 +v 0.219352 1.292242 -1.036930 +v -0.189461 1.826907 -1.036930 +v 0.219352 1.858376 -1.068549 +v -0.220943 1.292242 -1.036930 +v -0.315331 1.921375 -3.081412 +v 0.219352 1.355242 -3.049592 +v -0.252368 1.323711 -1.131389 +v 0.219352 1.826907 -2.955333 +v 0.250889 1.386711 -1.288687 +v 0.156500 1.323711 -3.081412 +v -0.315331 1.764030 -2.640735 +v -0.189461 1.921375 -3.081412 +v -0.252368 1.889906 -1.886262 +v 0.219352 1.292242 -1.886262 +v -0.063592 1.858376 -1.036930 +f 51 40 53 +f 36 39 42 +f 39 40 42 +f 37 36 45 +f 36 42 45 +f 42 40 45 +f 41 38 46 +f 38 41 47 +f 41 39 47 +f 44 38 47 +f 36 37 48 +f 37 43 48 +f 38 44 48 +f 43 37 49 +f 37 45 49 +f 35 41 50 +f 43 35 50 +f 41 46 50 +f 46 38 50 +f 48 43 50 +f 38 48 50 +f 35 43 51 +f 45 40 51 +f 43 49 51 +f 49 45 51 +f 39 36 52 +f 47 39 52 +f 44 47 52 +f 36 48 52 +f 48 44 52 +f 40 39 53 +f 41 35 53 +f 39 41 53 +f 35 51 53 +o convex_2 +v -0.881425 1.134799 -1.005236 +v 1.068752 1.260785 1.070854 +v 0.659655 1.260785 1.102323 +v 1.068752 0.222919 1.070854 +v -1.038834 0.222919 1.007700 +v 1.005830 0.222919 -1.005020 +v 0.974266 1.260785 -1.005020 +v -1.038834 1.260785 1.007700 +v -1.038834 0.222919 -0.973767 +v -1.038834 1.260785 -0.973767 +v 0.313685 0.222919 -1.099643 +v -0.724016 0.222919 1.070854 +v 0.628297 1.103404 -1.068174 +v 0.502452 0.222919 1.102323 +v 0.093560 1.260785 1.102323 +v 1.005830 0.914627 -1.005020 +v 1.068752 1.229187 0.787633 +v 0.502452 0.537378 -1.099643 +v 1.068752 0.222919 0.724695 +v -0.881425 1.260785 -1.005236 +v -0.881425 1.260785 1.039169 +f 68 61 74 +f 55 56 57 +f 57 58 59 +f 56 55 60 +f 56 60 61 +f 59 58 62 +f 58 61 62 +f 62 61 63 +f 61 60 63 +f 54 62 63 +f 62 54 64 +f 59 62 64 +f 58 57 65 +f 61 58 65 +f 57 56 67 +f 65 57 67 +f 65 67 68 +f 56 61 68 +f 67 56 68 +f 55 57 70 +f 60 55 70 +f 69 60 70 +f 59 64 71 +f 66 60 71 +f 69 59 71 +f 60 69 71 +f 57 59 72 +f 59 69 72 +f 70 57 72 +f 69 70 72 +f 54 63 73 +f 63 60 73 +f 64 54 73 +f 60 66 73 +f 71 64 73 +f 66 71 73 +f 61 65 74 +f 65 68 74 +o convex_3 +v -0.283862 1.638327 1.951791 +v 0.313802 1.858397 1.574446 +v 0.313802 1.826919 1.574446 +v 0.219395 1.921298 3.115548 +v 0.250864 1.449624 2.989438 +v -0.315331 1.952776 3.052296 +v 0.219395 1.418146 1.102717 +v -0.189455 1.952776 1.102717 +v -0.220924 1.449624 3.052296 +v -0.220924 1.386723 1.102717 +v 0.313802 1.858397 1.102717 +v 0.093581 1.952776 3.052296 +v 0.313802 1.732595 1.102717 +v -0.252393 1.481047 3.052296 +v 0.250864 1.921298 2.517709 +v -0.095110 1.952776 1.102717 +v -0.252393 1.449624 1.228432 +v -0.220924 1.952776 1.322818 +v -0.315331 1.889820 2.706282 +f 80 92 93 +f 77 76 79 +f 76 78 79 +f 79 78 83 +f 81 79 84 +f 82 81 84 +f 79 83 84 +f 76 77 85 +f 81 82 85 +f 80 78 86 +f 82 80 86 +f 77 79 87 +f 79 81 87 +f 85 77 87 +f 81 85 87 +f 78 80 88 +f 83 78 88 +f 84 83 88 +f 78 76 89 +f 76 85 89 +f 86 78 89 +f 86 89 90 +f 85 82 90 +f 82 86 90 +f 89 85 90 +f 82 84 91 +f 88 75 91 +f 84 88 91 +f 80 82 92 +f 82 91 92 +f 92 91 93 +f 75 88 93 +f 88 80 93 +f 91 75 93 +o convex_4 +v -0.535438 0.033939 -1.288610 +v 0.565455 -0.720836 -2.703602 +v 0.565455 -0.815279 -2.703602 +v -0.598441 0.065420 -3.112868 +v 0.439564 0.222716 -1.100037 +v -0.472436 -0.878242 -1.100037 +v 0.439564 0.222716 -3.112868 +v -0.441105 -0.846650 -3.049616 +v 0.471008 -0.878242 -1.100037 +v -0.315214 0.159643 -1.100037 +v 0.533897 -0.815279 -3.049616 +v -0.535438 0.159643 -3.112868 +v -0.126548 -0.909723 -1.508909 +v 0.156337 0.222716 -1.288610 +v -0.503994 0.096791 -1.100037 +v -0.472436 -0.878242 -1.949111 +v 0.125007 0.222716 -3.112868 +v 0.565455 -0.657873 -3.049616 +v -0.503994 -0.626613 -1.100037 +v 0.502453 -0.783798 -1.445854 +v 0.030560 -0.846650 -3.049616 +v -0.315214 -0.091986 -3.112868 +v -0.378103 -0.909723 -1.100037 +v -0.598441 0.128272 -2.923901 +v 0.471008 0.033828 -1.445854 +v -0.535438 0.159643 -2.735130 +v -0.441105 -0.878242 -2.420643 +f 116 109 120 +f 98 99 102 +f 99 98 103 +f 96 102 104 +f 100 97 105 +f 104 102 106 +f 98 100 107 +f 103 98 107 +f 99 103 108 +f 99 97 109 +f 97 101 109 +f 100 105 110 +f 107 100 110 +f 95 96 111 +f 96 104 111 +f 104 100 111 +f 97 99 112 +f 108 94 112 +f 99 108 112 +f 96 95 113 +f 102 96 113 +f 98 102 113 +f 104 106 114 +f 97 100 115 +f 101 97 115 +f 100 104 115 +f 114 101 115 +f 104 114 115 +f 102 99 116 +f 106 102 116 +f 99 109 116 +f 105 97 117 +f 94 108 117 +f 112 94 117 +f 97 112 117 +f 100 98 118 +f 95 111 118 +f 111 100 118 +f 113 95 118 +f 98 113 118 +f 103 107 119 +f 108 103 119 +f 110 105 119 +f 107 110 119 +f 105 117 119 +f 117 108 119 +f 109 101 120 +f 101 114 120 +f 114 106 120 +f 106 116 120 +o convex_5 +v -2.957625 1.889918 0.347363 +v -1.070457 1.449559 -0.313227 +v -1.070457 1.481093 -0.313227 +v -1.038834 1.858385 0.347363 +v -2.957625 1.292242 0.252956 +v -3.083516 1.889918 -0.218820 +v -1.038834 1.889918 -0.281736 +v -3.051893 1.449559 -0.250310 +v -1.038834 1.449559 0.221466 +v -2.548728 1.292242 0.095698 +v -1.038834 1.418084 -0.281736 +v -1.038834 1.764076 0.347363 +v -1.825404 1.889918 -0.281736 +v -1.133303 1.418084 0.221466 +v -1.668290 1.889918 0.347363 +v -2.957625 1.795493 0.347363 +v -3.083516 1.764076 -0.124477 +v -3.020470 1.386667 -0.124477 +v -2.737465 1.292242 0.252956 +f 134 132 139 +f 126 121 127 +f 122 123 127 +f 123 122 128 +f 127 124 129 +f 122 127 131 +f 128 122 131 +f 127 129 131 +f 124 121 132 +f 129 124 132 +f 126 127 133 +f 127 123 133 +f 123 128 133 +f 128 126 133 +f 131 129 134 +f 130 131 134 +f 129 132 134 +f 121 124 135 +f 127 121 135 +f 124 127 135 +f 132 121 136 +f 125 132 136 +f 121 126 137 +f 128 125 137 +f 126 128 137 +f 125 136 137 +f 136 121 137 +f 125 128 138 +f 130 125 138 +f 131 130 138 +f 128 131 138 +f 125 130 139 +f 132 125 139 +f 130 134 139 +o convex_6 +v -0.504071 0.065420 -1.099643 +v 1.100218 -0.532059 1.102323 +v 1.100218 -0.909723 1.102323 +v -1.038834 -0.909723 1.007700 +v 1.037194 -0.909723 -1.036705 +v 1.068601 0.222716 1.070638 +v -1.038834 0.222716 1.007700 +v -1.038834 -0.909723 -0.942298 +v 1.005787 0.222716 -1.005021 +v -1.038834 0.222716 -0.973552 +v -0.598293 -0.123356 1.102107 +v -0.472664 -0.878242 -1.099643 +v 0.471024 0.222716 -1.099643 +v -0.504071 -0.878242 1.102107 +v 1.037194 -0.186430 -1.005021 +v 0.376592 0.222716 1.102107 +v 0.471024 -0.878242 -1.099643 +v 1.100218 -0.091986 1.039169 +v -0.724132 0.222716 1.070638 +v -1.038834 -0.500688 -0.973552 +v -0.409639 -0.909723 -1.099643 +v 1.068601 0.222716 0.724695 +f 157 154 161 +f 142 143 144 +f 144 143 147 +f 143 146 147 +f 146 145 148 +f 146 148 149 +f 147 146 149 +f 142 141 150 +f 146 143 150 +f 148 144 152 +f 149 148 152 +f 140 149 152 +f 151 140 152 +f 143 142 153 +f 142 150 153 +f 150 143 153 +f 144 148 154 +f 141 145 155 +f 145 146 155 +f 150 141 155 +f 152 144 156 +f 151 152 156 +f 141 142 157 +f 142 144 157 +f 145 141 157 +f 144 154 157 +f 146 150 158 +f 155 146 158 +f 150 155 158 +f 149 140 159 +f 147 149 159 +f 140 151 159 +f 151 147 159 +f 144 147 160 +f 147 151 160 +f 156 144 160 +f 151 156 160 +f 148 145 161 +f 154 148 161 +f 145 157 161 +o convex_7 +v -0.598441 -0.123356 1.102510 +v 0.565455 0.191124 1.417092 +v 0.565455 0.159753 1.417092 +v -0.503994 -0.595132 3.021178 +v 0.439564 -0.846761 1.102510 +v 0.439564 0.096791 2.926522 +v 0.471008 -0.846761 3.021178 +v -0.441105 0.159753 3.021178 +v -0.503994 -0.878242 1.102510 +v -0.441105 0.128272 1.102510 +v -0.503994 -0.878242 3.021178 +v 0.565455 0.222716 1.102510 +v -0.126548 -0.909723 1.102510 +v -0.441105 -0.909723 2.769325 +v 0.471008 0.128272 2.769325 +v 0.565455 0.033939 1.102510 +v 0.471008 -0.249281 2.989438 +v 0.408120 0.222716 1.102510 +v 0.565455 0.222716 1.385728 +v -0.472436 0.128272 2.800689 +v 0.471008 -0.846761 2.234630 +v -0.503994 0.096791 1.102510 +v 0.313673 0.128272 2.958074 +v -0.598441 -0.186319 1.165427 +v -0.378103 -0.909723 1.102510 +v 0.062118 -0.878242 3.021178 +v 0.250784 -0.878242 1.102510 +v 0.471008 -0.532170 3.021178 +v -0.441105 0.159753 2.674856 +v -0.220881 0.159753 2.989438 +f 184 180 191 +f 164 163 168 +f 165 168 169 +f 162 166 170 +f 166 162 171 +f 168 165 172 +f 163 164 173 +f 166 171 173 +f 170 166 174 +f 172 170 175 +f 164 168 177 +f 173 164 177 +f 166 173 177 +f 176 167 178 +f 163 176 178 +f 173 171 179 +f 173 179 180 +f 163 173 180 +f 176 163 180 +f 179 169 180 +f 165 169 181 +f 177 168 182 +f 166 177 182 +f 171 162 183 +f 162 181 183 +f 181 169 183 +f 167 176 184 +f 178 167 184 +f 169 178 184 +f 176 180 184 +f 162 170 185 +f 172 165 185 +f 170 172 185 +f 181 162 185 +f 165 181 185 +f 170 174 186 +f 175 170 186 +f 174 175 186 +f 168 172 187 +f 174 168 187 +f 172 175 187 +f 175 174 187 +f 174 166 188 +f 168 174 188 +f 166 182 188 +f 182 168 188 +f 168 163 189 +f 169 168 189 +f 163 178 189 +f 178 169 189 +f 169 179 190 +f 179 171 190 +f 171 183 190 +f 183 169 190 +f 180 169 191 +f 169 184 191 +o convex_8 +v -0.912928 1.323951 -1.005113 +v 1.100218 1.512599 0.347080 +v 1.100218 1.449716 0.347080 +v -1.038763 2.581743 1.007682 +v 0.942768 2.644767 -0.973705 +v -1.038763 1.260786 1.007682 +v 1.068602 2.613184 1.070706 +v -1.038763 2.707650 -1.005113 +v 0.974174 1.260927 -1.005113 +v 1.068602 1.260927 1.070706 +v -1.038763 1.260786 -0.973496 +v -0.220733 1.386834 1.102323 +v 1.100218 1.795712 -0.250289 +v 0.722714 1.669947 -1.036730 +v -0.975741 2.707650 -0.595979 +v -0.189326 1.952918 1.102323 +v -0.378183 2.707650 -0.942089 +v 1.100218 1.323810 -0.344511 +v -0.220733 1.292510 -1.036730 +v 0.659692 1.260927 1.102323 +v -1.038763 2.613184 0.787621 +v 0.974174 2.644767 -0.690620 +v 0.659692 2.613184 1.070497 +v 0.691098 2.109983 1.102323 +v -0.881522 1.260786 1.039299 +v -0.535424 2.707650 -1.005113 +v -0.189326 1.827153 -1.036730 +v 0.974174 2.015659 -0.973705 +v 1.068602 2.613184 0.850436 +v 0.062134 2.613184 1.039089 +v 0.722714 1.260927 -1.036730 +v 0.974174 2.644767 -0.312894 +f 213 208 223 +f 194 193 198 +f 197 195 199 +f 194 198 201 +f 199 192 202 +f 197 199 202 +f 193 194 204 +f 198 193 204 +f 196 200 205 +f 206 198 208 +f 199 206 208 +f 194 201 209 +f 201 200 209 +f 204 194 209 +f 192 199 210 +f 202 192 210 +f 207 203 211 +f 199 195 212 +f 206 199 212 +f 204 196 213 +f 196 208 213 +f 198 206 214 +f 195 207 214 +f 201 198 215 +f 211 201 215 +f 207 211 215 +f 198 214 215 +f 214 207 215 +f 195 197 216 +f 200 201 216 +f 202 200 216 +f 197 202 216 +f 207 195 216 +f 203 207 216 +f 201 211 216 +f 211 203 216 +f 196 205 217 +f 208 196 217 +f 199 208 217 +f 210 199 218 +f 205 210 218 +f 217 205 218 +f 199 217 218 +f 200 196 219 +f 196 204 219 +f 209 200 219 +f 204 209 219 +f 198 204 220 +f 213 198 220 +f 204 213 220 +f 212 195 221 +f 206 212 221 +f 214 206 221 +f 195 214 221 +f 200 202 222 +f 205 200 222 +f 202 210 222 +f 210 205 222 +f 208 198 223 +f 198 213 223 +o convex_9 +v 1.729570 1.575451 0.347363 +v 1.100406 1.323699 -0.344683 +v 1.100406 1.449575 -0.344683 +v 2.955970 1.952832 -0.187388 +v 3.019074 1.355168 0.190067 +v 1.100406 1.826956 0.221500 +v 2.987334 1.826956 0.315863 +v 2.955970 1.323699 -0.187388 +v 1.100406 1.449575 0.347363 +v 1.163322 1.858425 -0.218820 +v 2.830137 1.952832 -0.093024 +v 1.226239 1.323699 -0.218820 +v 2.798585 1.386698 -0.218820 +v 1.100406 1.418106 0.284431 +v 1.100406 1.795487 -0.250252 +v 1.131958 1.543920 0.347363 +v 2.672752 1.826956 0.315863 +v 2.924417 1.732611 0.315863 +f 228 230 241 +f 226 225 229 +f 228 227 230 +f 227 228 231 +f 228 224 232 +f 229 225 232 +f 233 229 234 +f 230 227 234 +f 227 233 234 +f 225 231 235 +f 231 228 235 +f 225 226 236 +f 226 227 236 +f 231 225 236 +f 227 231 236 +f 228 232 237 +f 232 225 237 +f 225 235 237 +f 235 228 237 +f 227 226 238 +f 226 229 238 +f 233 227 238 +f 229 233 238 +f 232 224 239 +f 229 232 239 +f 224 230 240 +f 234 229 240 +f 230 234 240 +f 229 239 240 +f 239 224 240 +f 224 228 241 +f 230 224 241 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/428/428.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/428/428.urdf new file mode 100644 index 000000000..65edcceb4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/428/428.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/429/429.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/429/429.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/429/429.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/429/429.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/429/429.obj new file mode 100644 index 000000000..c9a8dbe11 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/429/429.obj @@ -0,0 +1,3180 @@ +o convex_0 +v 0.023908 -0.896388 -1.701812 +v -0.958568 -0.762453 -1.969786 +v -0.958568 -0.851769 -1.724126 +v 0.001579 -0.896388 -1.299886 +v -0.936042 -0.985756 -1.255189 +v 0.046335 -0.941085 -1.969786 +v -0.757410 -0.717782 -1.925089 +v 0.046335 -0.941085 -1.255189 +v -0.802068 -0.941085 -1.255189 +v -0.936042 -0.717782 -1.925089 +v -0.936042 -0.985756 -1.344583 +v 0.023908 -0.896388 -1.969786 +v -0.199382 -0.963408 -1.299886 +f 11 6 13 +f 3 2 6 +f 4 1 7 +f 1 4 8 +f 6 1 8 +f 8 4 9 +f 5 8 9 +f 2 3 10 +f 3 5 10 +f 4 7 10 +f 7 2 10 +f 5 9 10 +f 9 4 10 +f 5 3 11 +f 3 6 11 +f 6 2 12 +f 1 6 12 +f 7 1 12 +f 2 7 12 +f 8 5 13 +f 6 8 13 +f 5 11 13 +o convex_1 +v 1.051237 -0.628488 -1.947333 +v 0.046335 -0.941094 -1.969786 +v 0.046335 -0.941094 -1.255189 +v 1.051237 -0.896388 -1.255189 +v 0.068762 -0.896388 -1.299886 +v 1.051237 -0.695501 -1.925089 +v 1.006481 -0.851743 -1.277642 +v 0.068762 -0.896388 -1.969786 +v 0.894738 -0.918726 -1.277642 +v 1.051237 -0.851743 -1.456222 +v 0.091091 -0.941094 -1.969786 +v 0.850080 -0.673164 -1.969786 +f 24 21 25 +f 15 16 18 +f 14 17 19 +f 16 17 20 +f 17 14 20 +f 14 18 20 +f 18 16 20 +f 15 18 21 +f 17 16 22 +f 19 17 23 +f 19 23 24 +f 16 15 24 +f 15 21 24 +f 22 16 24 +f 17 22 24 +f 23 17 24 +f 18 14 25 +f 14 19 25 +f 21 18 25 +f 19 24 25 +o convex_2 +v 0.515289 -1.008127 -0.518315 +v 0.023899 -1.030454 -1.076539 +v 0.001603 -1.075107 -0.942502 +v -0.601269 -1.008127 -0.518315 +v 0.090897 -1.209068 -0.518315 +v 0.023899 -1.008127 -1.076539 +v -0.042990 -1.209068 -0.540663 +v -0.511866 -1.030454 -0.630003 +v 0.515289 -1.030454 -0.540663 +f 31 26 34 +f 26 29 30 +f 29 26 31 +f 28 27 32 +f 30 29 32 +f 27 30 32 +f 27 28 33 +f 31 27 33 +f 29 31 33 +f 28 32 33 +f 32 29 33 +f 26 30 34 +f 30 27 34 +f 27 31 34 +o convex_3 +v -0.333466 1.091042 -1.210526 +v -0.980816 0.778406 -1.925124 +v -0.980816 0.800776 -1.925124 +v 0.001673 1.068672 -1.925124 +v -1.025561 1.046332 -1.255224 +v -0.043073 1.046332 -1.232910 +v -1.025561 1.001713 -1.232910 +v -0.869204 0.778406 -1.880427 +v -0.087718 1.068672 -1.925124 +v -0.199330 0.979373 -1.925124 +v 0.001673 1.091042 -1.791102 +v -1.003138 0.845456 -1.835659 +v 0.001673 1.091042 -1.210526 +f 38 45 47 +f 36 37 38 +f 35 39 41 +f 40 41 42 +f 41 36 42 +f 38 37 43 +f 36 38 44 +f 38 40 44 +f 40 42 44 +f 42 36 44 +f 39 35 45 +f 38 43 45 +f 43 39 45 +f 37 36 46 +f 41 39 46 +f 36 41 46 +f 43 37 46 +f 39 43 46 +f 40 38 47 +f 35 41 47 +f 41 40 47 +f 45 35 47 +o convex_4 +v 0.716130 0.934770 -1.634696 +v 0.001771 1.046345 -1.925124 +v 0.001771 1.068665 -1.925124 +v 0.001771 1.068665 -1.210526 +v 1.006575 1.135705 -1.277537 +v 0.984052 0.867757 -1.925124 +v 1.006575 1.091012 -1.255224 +v 0.158157 1.113332 -1.210526 +v 0.850091 0.867757 -1.858113 +v 0.984052 0.934770 -1.835659 +v 0.135830 1.024025 -1.322235 +v 0.091176 1.068665 -1.925124 +v 0.001771 1.091012 -1.701707 +f 51 55 60 +f 50 49 51 +f 49 50 53 +f 53 52 54 +f 54 52 55 +f 51 54 55 +f 49 53 56 +f 54 48 56 +f 53 54 56 +f 52 53 57 +f 51 49 58 +f 48 54 58 +f 54 51 58 +f 49 56 58 +f 56 48 58 +f 50 52 59 +f 53 50 59 +f 52 57 59 +f 57 53 59 +f 50 51 60 +f 52 50 60 +f 55 52 60 +o convex_5 +v -0.065513 1.269683 -0.518328 +v -1.025369 1.024049 -1.210526 +v -1.047892 1.024049 -1.121088 +v -0.043088 1.068720 -1.121088 +v -0.668140 1.046384 -0.518328 +v -1.047892 1.068720 -0.518328 +v -0.065513 1.314354 -0.585339 +v -0.043088 1.135726 -1.121088 +v -1.025369 1.046384 -1.210526 +v -1.025369 1.024049 -0.607699 +v -0.311108 1.046384 -1.210526 +v -0.110167 1.314354 -0.518328 +v -0.846754 1.068720 -1.210526 +f 71 69 73 +f 64 61 65 +f 65 61 66 +f 61 64 68 +f 67 61 68 +f 62 63 69 +f 63 66 69 +f 63 62 70 +f 66 63 70 +f 65 66 70 +f 64 65 71 +f 68 64 71 +f 62 69 71 +f 70 62 71 +f 65 70 71 +f 66 61 72 +f 61 67 72 +f 67 69 72 +f 69 66 72 +f 67 68 73 +f 69 67 73 +f 68 71 73 +o convex_6 +v 0.068754 1.336685 -0.540688 +v -0.042990 1.068737 -1.210526 +v -0.042990 1.068737 -1.143448 +v 1.028906 1.113404 -0.518328 +v 1.006558 1.135750 -1.210526 +v 0.671433 1.113404 -0.518328 +v -0.042990 1.291992 -0.518328 +v -0.020641 1.113404 -1.210526 +v 0.693781 1.091084 -1.210526 +v 1.028906 1.135750 -0.518328 +v -0.020641 1.336685 -0.563047 +v 0.693781 1.091084 -0.607699 +f 82 77 85 +f 79 77 80 +f 75 76 80 +f 76 79 80 +f 78 75 81 +f 76 75 82 +f 78 77 82 +f 75 78 82 +f 78 74 83 +f 77 78 83 +f 80 77 83 +f 74 80 83 +f 74 78 84 +f 75 80 84 +f 80 74 84 +f 78 81 84 +f 81 75 84 +f 79 76 85 +f 77 79 85 +f 76 82 85 +o convex_7 +v -0.020737 -1.454634 1.938195 +v -0.936175 -0.673295 2.027493 +v -0.936175 -0.673295 1.871175 +v -0.020737 -1.164288 2.027493 +v -0.936175 -0.851909 2.027493 +v -0.043051 -1.566367 1.871175 +v -0.958489 -0.896585 1.871175 +v 0.001673 -1.275932 1.938195 +v 0.001673 -1.476928 1.871175 +f 93 86 94 +f 88 87 89 +f 86 89 90 +f 89 87 90 +f 86 90 91 +f 91 90 92 +f 87 88 92 +f 90 87 92 +f 88 91 92 +f 88 89 93 +f 89 86 93 +f 91 88 94 +f 86 91 94 +f 88 93 94 +o convex_8 +v 0.001673 -1.566367 1.871175 +v 0.961913 -0.673295 2.005162 +v 0.961913 -0.673295 1.871175 +v 0.001673 -1.186669 2.005162 +v 0.917172 -0.851909 2.005162 +v 0.939542 -0.851909 1.871175 +v 0.046414 -1.164288 1.960491 +v 0.068690 -1.543898 1.893510 +v 0.180449 -1.298314 1.871175 +v 0.024043 -1.253639 2.005162 +v 0.917172 -0.673295 1.871175 +f 103 101 105 +f 96 98 99 +f 96 99 100 +f 95 97 100 +f 97 96 100 +f 95 98 101 +f 100 99 102 +f 95 100 102 +f 97 95 103 +f 95 101 103 +f 98 95 104 +f 99 98 104 +f 95 102 104 +f 102 99 104 +f 96 97 105 +f 98 96 105 +f 101 98 105 +f 97 103 105 +o convex_9 +v -0.668262 -0.449719 -4.113578 +v -0.869206 0.063808 -3.979591 +v -0.668262 0.063808 -4.202894 +v -0.735300 0.041447 -4.247565 +v -0.913905 -0.047856 -4.001966 +v -0.668262 -0.606107 -3.979591 +v -0.735300 -0.628397 -4.001966 +f 106 111 112 +f 107 108 109 +f 108 106 109 +f 107 109 110 +f 107 110 111 +f 106 108 111 +f 108 107 111 +f 109 106 112 +f 110 109 112 +f 111 110 112 +o convex_10 +v -0.400218 -0.605897 -4.180515 +v 0.716139 0.063809 -4.202855 +v 0.716139 -0.673009 -3.934929 +v -0.668262 0.063809 -4.202886 +v -0.668262 -0.673103 -3.979609 +v 0.068793 -0.717656 -4.202886 +v 0.649060 -0.360479 -4.225225 +v -0.668262 0.041438 -4.247565 +v -0.043005 -0.896432 -3.979609 +v 0.693779 -0.650638 -4.068968 +v -0.601184 -0.360573 -4.225164 +v 0.135736 -0.896338 -3.934929 +v 0.716139 0.063809 -4.225225 +v -0.668262 -0.628268 -3.979609 +v 0.604476 -0.561250 -4.202855 +v -0.645767 -0.605897 -4.091278 +v 0.158096 -0.873967 -4.002010 +v 0.716139 -0.717656 -3.957299 +f 124 129 130 +f 115 114 116 +f 117 116 120 +f 113 118 121 +f 118 113 123 +f 119 118 123 +f 120 119 123 +f 117 121 124 +f 114 115 125 +f 116 114 125 +f 119 120 125 +f 120 116 125 +f 122 119 125 +f 115 116 126 +f 116 117 126 +f 124 115 126 +f 117 124 126 +f 118 119 127 +f 119 122 127 +f 117 120 128 +f 113 121 128 +f 121 117 128 +f 123 113 128 +f 120 123 128 +f 121 118 129 +f 124 121 129 +f 118 127 129 +f 127 122 129 +f 115 124 130 +f 125 115 130 +f 122 125 130 +f 129 122 130 +o convex_11 +v 0.961856 0.063808 -3.890197 +v 0.716270 -0.695303 -4.001909 +v 0.716270 -0.516671 -4.068877 +v 0.783320 -0.628353 -3.198000 +v 0.716270 0.063734 -4.180489 +v 1.028906 0.063808 -3.198000 +v 0.850279 -0.606061 -3.220423 +v 0.961887 -0.003290 -3.979587 +v 0.984196 0.063808 -3.198000 +v 0.760980 -0.672936 -3.979587 +v 0.760980 -0.003290 -4.225234 +v 1.028906 0.019076 -3.220423 +f 137 138 142 +f 133 132 135 +f 132 134 135 +f 134 132 137 +f 136 134 137 +f 131 136 138 +f 131 135 139 +f 135 134 139 +f 136 131 139 +f 134 136 139 +f 132 133 140 +f 137 132 140 +f 138 137 140 +f 138 140 141 +f 135 131 141 +f 133 135 141 +f 131 138 141 +f 140 133 141 +f 136 137 142 +f 138 136 142 +o convex_12 +v -0.043101 -0.963425 -1.009426 +v -0.936237 -0.985756 -1.255189 +v -0.936237 -0.985756 -0.518260 +v -0.221766 -0.918763 -1.255189 +v 0.023910 -1.008088 -1.121162 +v -0.601182 -0.941094 -0.652359 +v -0.556539 -1.008088 -0.518260 +v -0.802121 -0.941094 -1.255189 +v 0.023910 -0.918763 -1.255189 +v -0.936237 -0.963425 -0.518260 +f 148 150 152 +f 145 144 149 +f 147 143 149 +f 144 147 149 +f 143 148 149 +f 146 144 150 +f 148 146 150 +f 144 146 151 +f 143 147 151 +f 147 144 151 +f 148 143 151 +f 146 148 151 +f 144 145 152 +f 145 149 152 +f 149 148 152 +f 150 144 152 +o convex_13 +v 1.028815 -0.896436 -0.518260 +v 0.024004 -0.963416 -1.255189 +v 0.024004 -0.918772 -1.255189 +v 1.051237 -0.896436 -1.255189 +v 0.559842 -1.008088 -0.518260 +v 0.850235 -0.874101 -0.518260 +v 0.068749 -1.008088 -1.143524 +v 0.381364 -0.985752 -0.607635 +v 0.872558 -0.874101 -1.255189 +v 0.961847 -0.918772 -1.255189 +v 0.314396 -0.896436 -0.942412 +v 0.024004 -1.008088 -1.031787 +v 0.671555 -0.896436 -0.518260 +v 1.051237 -0.874101 -0.987208 +f 161 158 166 +f 154 155 156 +f 157 153 158 +f 156 155 161 +f 154 156 162 +f 156 153 162 +f 153 157 162 +f 159 154 162 +f 157 159 162 +f 155 160 163 +f 161 155 163 +f 158 161 163 +f 155 154 164 +f 154 159 164 +f 159 157 164 +f 157 160 164 +f 160 155 164 +f 157 158 165 +f 160 157 165 +f 163 160 165 +f 158 163 165 +f 153 156 166 +f 158 153 166 +f 156 161 166 +o convex_14 +v -0.400121 0.354247 -4.269896 +v 0.068672 0.845399 -4.180581 +v 0.135706 0.822911 -4.180581 +v -0.757587 0.063962 -4.180581 +v 0.760862 0.063962 -4.180581 +v 0.559760 0.599632 -4.247559 +v -0.556336 0.644303 -4.269896 +v 0.738419 0.063962 -4.225238 +v -0.735143 0.063962 -4.247559 +v -0.556336 0.688898 -4.180581 +v 0.023933 0.822911 -4.269896 +v 0.582055 0.644303 -4.180581 +v 0.180296 0.465619 -4.269896 +f 167 177 179 +f 169 168 170 +f 169 170 171 +f 171 170 174 +f 173 167 175 +f 170 173 175 +f 167 174 175 +f 174 170 175 +f 170 168 176 +f 173 170 176 +f 173 176 177 +f 168 169 177 +f 167 173 177 +f 176 168 177 +f 169 171 178 +f 171 174 178 +f 174 172 178 +f 177 169 178 +f 172 177 178 +f 174 167 179 +f 172 174 179 +f 177 172 179 +o convex_15 +v -0.869164 0.108611 -4.068938 +v 0.023964 0.979297 -3.979611 +v 0.023964 0.979297 -4.001957 +v -0.668112 0.756003 -4.024284 +v 0.046335 0.867650 -4.180552 +v -0.578912 0.688978 -4.180552 +v -0.735129 0.063988 -4.180552 +v -0.869164 0.063988 -3.979611 +v 0.046335 0.912273 -3.979611 +v -0.690482 0.733691 -3.979611 +v 0.046335 0.822937 -4.135879 +f 184 188 190 +f 181 182 183 +f 182 184 185 +f 183 182 185 +f 180 183 185 +f 180 185 186 +f 185 184 186 +f 180 186 187 +f 187 186 188 +f 182 181 188 +f 184 182 188 +f 181 187 188 +f 181 183 189 +f 183 180 189 +f 187 181 189 +f 180 187 189 +f 186 184 190 +f 188 186 190 +o convex_16 +v 1.006575 2.051378 0.777020 +v 0.738605 2.006703 1.513804 +v 0.850312 2.029041 1.312784 +v 0.716270 2.765880 0.888673 +v 0.738605 2.609439 1.268137 +v 0.716270 1.984442 1.446797 +v 0.961904 2.006703 0.777020 +v 0.827976 2.721128 0.777020 +v 0.894869 2.497827 0.866386 +v 0.760941 2.721128 0.777020 +v 0.917233 2.006703 1.156484 +v 0.716270 2.564840 1.312784 +f 194 196 202 +f 192 193 195 +f 194 195 198 +f 191 197 198 +f 191 198 199 +f 198 195 199 +f 196 194 200 +f 197 196 200 +f 194 198 200 +f 198 197 200 +f 193 192 201 +f 195 193 201 +f 192 196 201 +f 196 197 201 +f 197 191 201 +f 191 199 201 +f 199 195 201 +f 195 194 202 +f 192 195 202 +f 196 192 202 +o convex_17 +v 0.894832 0.130872 -4.024284 +v 0.046420 0.800720 -4.180552 +v 0.046420 0.800720 -4.158206 +v 0.693832 0.733656 -4.001957 +v 0.046420 0.912375 -3.979611 +v 0.738498 0.063809 -4.180552 +v 0.604498 0.621913 -4.180552 +v 0.872499 0.063809 -3.979611 +v 0.091087 0.867608 -4.158206 +v 0.693832 0.733656 -3.979611 +v 0.738498 0.063809 -4.135879 +v 0.091087 0.957055 -4.001957 +f 207 212 214 +f 204 205 207 +f 205 204 208 +f 206 203 209 +f 208 204 209 +f 203 208 209 +f 208 203 210 +f 209 204 211 +f 206 209 211 +f 203 206 212 +f 210 203 212 +f 207 210 212 +f 207 205 213 +f 205 208 213 +f 210 207 213 +f 208 210 213 +f 204 207 214 +f 206 211 214 +f 211 204 214 +f 212 206 214 +o convex_18 +v 0.939582 0.130896 1.692530 +v 1.006575 1.024044 2.742090 +v 1.006558 1.202698 1.536238 +v 1.028906 -0.025516 1.714892 +v 1.006575 -0.025516 2.742090 +v 0.939582 1.023804 1.513996 +v 0.984244 1.024044 2.742090 +v 1.028906 0.510445 2.742090 +v 1.028906 0.666737 1.759495 +v 0.984244 0.488203 2.742090 +v 1.028906 -0.025516 2.742090 +v 0.961913 -0.025516 1.714892 +v 0.939582 0.108775 1.759495 +f 226 219 227 +f 217 218 220 +f 216 217 221 +f 219 216 221 +f 217 220 221 +f 216 219 222 +f 217 216 223 +f 218 217 223 +f 216 222 223 +f 222 218 223 +f 219 221 224 +f 219 218 225 +f 218 222 225 +f 222 219 225 +f 218 219 226 +f 215 220 226 +f 220 218 226 +f 220 215 227 +f 221 220 227 +f 219 224 227 +f 224 221 227 +f 215 226 227 +o convex_19 +v -0.377949 -1.075081 2.050117 +v 0.001439 -0.673120 3.568344 +v -0.020834 -0.673120 3.568344 +v -0.958450 -0.673120 2.027644 +v -0.779892 -0.717870 2.786757 +v 0.001439 -1.164371 2.027493 +v -0.020834 -1.097377 2.429749 +v -0.913810 -0.851752 2.027644 +v 0.001439 -0.673120 3.478601 +v -0.020834 -0.717817 3.545720 +v -0.757619 -0.673120 2.853574 +v -0.936177 -0.673120 2.027644 +v -0.043107 -1.209068 2.050117 +v -0.913810 -0.851752 2.094611 +f 240 232 241 +f 230 229 231 +f 233 229 234 +f 231 233 235 +f 231 229 236 +f 229 233 236 +f 229 230 237 +f 234 229 237 +f 232 234 237 +f 230 231 238 +f 231 232 238 +f 237 230 238 +f 232 237 238 +f 233 231 239 +f 231 236 239 +f 236 233 239 +f 234 232 240 +f 233 234 240 +f 228 235 240 +f 235 233 240 +f 232 231 241 +f 235 228 241 +f 231 235 241 +f 228 240 241 +o convex_20 +v -0.467142 1.850394 1.692495 +v -0.065391 2.855205 1.402251 +v -0.065391 2.855205 1.379889 +v 0.291978 1.850394 1.647837 +v -0.779918 2.564758 1.379889 +v -0.065391 2.788027 1.536225 +v -0.043042 2.118415 1.714857 +v 0.291978 2.207723 1.513896 +v -0.757465 2.363914 1.513896 +v -0.534188 1.850394 1.647837 +v -0.757465 2.676491 1.402251 +v 0.269524 2.363815 1.536225 +v -0.511839 2.029108 1.670166 +v 0.291978 1.962127 1.670166 +v 0.291978 1.872819 1.625508 +v 0.113293 1.850394 1.714857 +v -0.779918 2.252279 1.491534 +f 256 251 258 +f 246 244 249 +f 245 242 251 +f 243 244 252 +f 244 246 252 +f 247 243 252 +f 250 247 252 +f 244 243 253 +f 243 247 253 +f 249 244 253 +f 242 248 254 +f 248 247 254 +f 247 250 254 +f 251 242 254 +f 250 251 254 +f 247 248 255 +f 245 249 255 +f 253 247 255 +f 249 253 255 +f 249 245 256 +f 246 249 256 +f 245 251 256 +f 242 245 257 +f 248 242 257 +f 245 255 257 +f 255 248 257 +f 251 250 258 +f 252 246 258 +f 250 252 258 +f 246 256 258 +o convex_21 +v -0.556495 1.091042 3.568385 +v -0.757587 0.086140 3.456723 +v -0.757587 0.086140 3.546039 +v 0.001598 0.086140 3.769259 +v -0.065432 1.046286 3.791605 +v -0.757587 1.091042 3.546039 +v -0.043064 1.046286 3.746947 +v -0.020770 0.086140 3.813951 +v -0.735145 0.287297 3.456723 +v -0.735145 0.108567 3.568385 +v -0.735145 0.800667 3.479069 +v -0.020770 0.733680 3.813951 +v -0.712851 1.091042 3.568385 +f 270 263 271 +f 261 260 262 +f 260 261 264 +f 259 263 265 +f 261 262 266 +f 262 260 267 +f 265 262 267 +f 264 261 268 +f 261 266 268 +f 260 264 269 +f 264 259 269 +f 259 265 269 +f 267 260 269 +f 265 267 269 +f 262 265 270 +f 265 263 270 +f 266 262 270 +f 268 266 270 +f 268 270 271 +f 263 259 271 +f 259 264 271 +f 264 268 271 +o convex_22 +v 0.001673 -1.186719 2.005162 +v 0.693939 -0.673120 2.987659 +v 0.693939 -0.695469 2.987659 +v 0.001673 -0.673120 3.568344 +v 0.671577 -0.874205 2.027502 +v 0.068690 -1.209068 2.027502 +v 0.068690 -0.740166 3.523664 +v 0.693939 -0.784863 2.764566 +v 0.671577 -0.941094 2.027502 +v 0.001673 -0.673120 3.523664 +v 0.403575 -0.673120 3.076866 +v 0.046396 -1.142075 2.027502 +v 0.024034 -1.186719 2.161541 +v 0.001673 -0.851804 3.188565 +v 0.649148 -0.673120 2.898146 +f 282 273 286 +f 274 273 278 +f 273 275 278 +f 273 274 279 +f 276 273 279 +f 274 278 279 +f 276 279 280 +f 272 276 280 +f 277 272 280 +f 279 277 280 +f 275 273 281 +f 272 275 281 +f 276 281 282 +f 281 273 282 +f 276 272 283 +f 272 281 283 +f 281 276 283 +f 272 277 284 +f 277 279 284 +f 279 278 284 +f 275 272 285 +f 278 275 285 +f 272 284 285 +f 284 278 285 +f 273 276 286 +f 276 282 286 +o convex_23 +v 0.693939 -0.762447 2.808903 +v 0.961913 -0.673120 2.072179 +v 0.961913 -0.695458 2.072179 +v 0.693939 -0.874063 2.005162 +v 0.917242 -0.851726 2.027626 +v 0.693939 -0.673120 2.875920 +v 0.805630 -0.695458 2.831367 +v 0.917242 -0.673120 2.005162 +v 0.716287 -0.918763 2.049903 +v 0.827926 -0.762447 2.652685 +f 287 295 296 +f 290 287 292 +f 289 288 293 +f 292 287 293 +f 288 292 293 +f 288 289 294 +f 291 290 294 +f 289 291 294 +f 292 288 294 +f 290 292 294 +f 287 290 295 +f 290 291 295 +f 295 291 296 +f 291 289 296 +f 289 293 296 +f 293 287 296 +o convex_24 +v 0.247364 0.666698 3.746973 +v 0.001673 0.019146 3.769293 +v 0.046396 0.845378 3.746973 +v 0.716239 0.019146 3.546039 +v 0.738601 1.001635 3.546039 +v 0.738601 0.019146 3.590705 +v 0.068686 0.019146 3.813986 +v 0.068686 1.046380 3.791614 +v 0.716239 0.934567 3.590705 +v 0.671588 1.001635 3.546039 +v 0.001673 1.046380 3.769293 +f 301 306 307 +f 298 300 302 +f 300 301 302 +f 298 302 303 +f 303 297 304 +f 302 301 305 +f 297 303 305 +f 303 302 305 +f 304 297 305 +f 301 304 305 +f 298 299 306 +f 300 298 306 +f 301 300 306 +f 299 298 307 +f 298 303 307 +f 304 301 307 +f 303 304 307 +f 306 299 307 +o convex_25 +v -0.668094 -0.695494 -3.979591 +v 0.046335 -0.941018 -3.153124 +v 0.046236 -0.918712 -1.969983 +v -0.958568 -0.740107 -1.969786 +v -0.936140 -0.650819 -2.059299 +v -0.623633 -0.650819 -3.957164 +v 0.001578 -0.963355 -3.398841 +v 0.046335 -0.874068 -3.979591 +v 0.023809 -0.896375 -1.969983 +v 0.001578 -0.941018 -1.969983 +v -0.043079 -0.918712 -3.912506 +v -0.735180 -0.650819 -3.890079 +v -0.020849 -0.963355 -3.108269 +v -0.712752 -0.740107 -3.287295 +v -0.735180 -0.650819 -3.175158 +v -0.958568 -0.650819 -2.215503 +v 0.046335 -0.918712 -3.979591 +v -0.735180 -0.695494 -3.756105 +f 318 321 325 +f 310 309 315 +f 308 313 315 +f 311 310 316 +f 312 311 316 +f 310 315 316 +f 315 313 316 +f 309 310 317 +f 310 311 317 +f 314 309 317 +f 314 311 318 +f 312 313 319 +f 313 308 319 +f 311 314 320 +f 317 311 320 +f 314 317 320 +f 318 311 321 +f 313 312 322 +f 312 316 322 +f 316 313 322 +f 311 312 323 +f 319 311 323 +f 312 319 323 +f 309 314 324 +f 315 309 324 +f 308 315 324 +f 318 308 324 +f 314 318 324 +f 308 318 325 +f 319 308 325 +f 311 319 325 +f 321 311 325 +o convex_26 +v -0.958509 -0.070213 -2.215682 +v -0.735317 -0.650789 -3.979412 +v -0.936204 0.019111 -3.979412 +v -0.958509 -0.650789 -2.238048 +v -0.735317 -0.606092 -3.242645 +v -0.891537 0.063809 -3.890135 +v -0.936204 0.063809 -2.260415 +v -0.690594 -0.606092 -3.979412 +v -0.980870 0.063809 -3.376654 +v -0.936204 -0.650789 -2.059495 +v -0.980842 0.063809 -2.572789 +v -0.735317 -0.650789 -3.198101 +v -0.980842 -0.293490 -2.773708 +v -0.958509 -0.650789 -2.059495 +f 338 329 339 +f 328 327 329 +f 332 330 333 +f 327 328 333 +f 328 331 333 +f 331 332 333 +f 331 328 334 +f 332 331 334 +f 329 327 335 +f 332 326 335 +f 326 332 336 +f 332 334 336 +f 330 332 337 +f 333 330 337 +f 327 333 337 +f 335 327 337 +f 332 335 337 +f 328 329 338 +f 334 328 338 +f 336 334 338 +f 336 338 339 +f 329 335 339 +f 335 326 339 +f 326 336 339 +o convex_27 +v 0.783263 -0.918804 -0.339661 +v 0.113328 -1.164379 -0.518260 +v 0.113328 -1.164379 -0.495925 +v 0.783263 -1.164379 -0.227955 +v 0.783263 -0.918804 -0.518260 +v 0.693816 -0.963445 -0.294962 +v 0.693816 -0.896432 -0.495925 +v 0.269664 -1.142033 -0.518260 +f 341 344 347 +f 342 341 343 +f 340 343 344 +f 342 343 345 +f 343 340 345 +f 341 342 346 +f 340 344 346 +f 344 341 346 +f 345 340 346 +f 342 345 346 +f 343 341 347 +f 344 343 347 +o convex_28 +v 0.917198 2.297039 0.107144 +v 0.760961 2.855060 0.776816 +v 0.716270 2.855060 0.776816 +v 0.984218 1.984468 0.776816 +v 0.716270 2.408697 0.107144 +v 1.051237 2.408697 0.419688 +v 1.028876 1.984468 0.107144 +v 0.738632 2.832747 0.508921 +v 0.917198 2.497772 0.776816 +v 0.961856 2.006782 0.107144 +v 1.028876 2.051409 0.687518 +v 0.783290 2.899777 0.687518 +v 1.028876 2.431011 0.352682 +v 0.738632 2.475459 0.107144 +v 0.716270 2.810433 0.776816 +v 1.051237 1.984468 0.241091 +f 353 358 363 +f 349 350 351 +f 352 348 354 +f 352 350 355 +f 349 351 356 +f 351 352 357 +f 354 351 357 +f 352 354 357 +f 356 351 358 +f 353 356 358 +f 350 349 359 +f 355 350 359 +f 349 356 359 +f 356 353 359 +f 353 354 360 +f 354 348 360 +f 355 359 360 +f 359 353 360 +f 348 352 361 +f 352 355 361 +f 360 348 361 +f 355 360 361 +f 351 350 362 +f 352 351 362 +f 350 352 362 +f 351 354 363 +f 354 353 363 +f 358 351 363 +o convex_29 +v -0.936204 2.185379 0.196363 +v -0.735287 2.899758 0.799279 +v -0.735287 2.922124 0.776917 +v -1.047892 2.230037 0.799279 +v -0.735287 2.274695 0.151706 +v -1.047892 2.430960 0.486542 +v -1.003186 2.185379 0.799279 +v -0.757624 2.386302 0.151706 +v -0.779962 2.922124 0.732259 +v -1.047892 2.163013 0.352699 +v -0.824607 2.163013 0.129344 +v -0.958541 2.542568 0.799279 +f 365 372 375 +f 366 365 368 +f 365 367 370 +f 368 365 370 +f 366 368 371 +f 364 369 371 +f 371 369 372 +f 365 366 372 +f 366 371 372 +f 367 369 373 +f 369 364 373 +f 370 367 373 +f 370 373 374 +f 368 370 374 +f 364 371 374 +f 371 368 374 +f 373 364 374 +f 367 365 375 +f 369 367 375 +f 372 369 375 +o convex_30 +v 0.693875 -0.740149 -3.688901 +v 1.051203 -0.650789 -1.969786 +v 1.051203 -0.673159 -1.969786 +v 0.046497 -0.918745 -1.969786 +v 0.716301 -0.650789 -3.934929 +v 0.068823 -0.963395 -3.331882 +v 0.046497 -0.874035 -3.934929 +v 0.850261 -0.673159 -1.969786 +v 0.091150 -0.941055 -1.969786 +v 0.068823 -0.896375 -1.969786 +v 0.716301 -0.717778 -3.934929 +v 0.068823 -0.918745 -3.934929 +v 0.760954 -0.740118 -3.242435 +v 0.783281 -0.650789 -3.175494 +v 0.158130 -0.941055 -3.152796 +v 0.760954 -0.650789 -3.934929 +f 386 380 391 +f 378 377 379 +f 381 379 382 +f 379 377 383 +f 378 379 384 +f 379 381 384 +f 380 382 385 +f 382 379 385 +f 379 383 385 +f 376 381 386 +f 382 380 386 +f 382 386 387 +f 381 382 387 +f 386 381 387 +f 381 376 388 +f 376 386 388 +f 386 378 388 +f 377 380 389 +f 383 377 389 +f 380 385 389 +f 385 383 389 +f 378 384 390 +f 384 381 390 +f 381 388 390 +f 388 378 390 +f 377 378 391 +f 380 377 391 +f 378 386 391 +o convex_31 +v 0.247361 2.297017 1.513817 +v 0.716270 2.765880 0.978033 +v 0.716270 2.765880 0.910994 +v -0.065321 2.765880 1.491451 +v 0.716270 2.073716 1.513817 +v 0.693930 2.609439 1.312817 +v 0.693930 1.984442 1.469144 +v 0.448268 2.743465 1.045013 +v 0.046379 2.765880 1.513817 +v 0.247361 2.297017 1.491451 +v 0.671590 2.743465 0.910994 +f 398 401 402 +f 393 394 395 +f 394 393 396 +f 396 393 397 +f 396 392 398 +f 394 396 398 +f 395 394 399 +f 393 395 400 +f 395 392 400 +f 392 396 400 +f 397 393 400 +f 396 397 400 +f 392 395 401 +f 398 392 401 +f 395 399 401 +f 401 399 402 +f 394 398 402 +f 399 394 402 +o convex_32 +v 0.180350 -2.727640 0.151675 +v 0.582283 -2.839215 0.776948 +v 0.582283 -2.861522 0.776948 +v 0.024004 -2.950829 0.776948 +v 0.046355 -2.883868 0.307993 +v 0.582283 -2.593679 0.174015 +v 0.559932 -2.660640 0.151675 +v 0.091002 -2.995561 0.732207 +v 0.559932 -2.682986 0.442094 +v 0.024004 -2.794600 0.151675 +v 0.537581 -2.883868 0.754608 +f 410 407 413 +f 405 404 406 +f 404 405 408 +f 403 406 408 +f 403 408 409 +f 408 405 409 +f 405 406 410 +f 406 407 410 +f 406 404 411 +f 404 408 411 +f 408 406 411 +f 406 403 412 +f 407 406 412 +f 403 409 412 +f 409 407 412 +f 407 409 413 +f 409 405 413 +f 405 410 413 +o convex_33 +v 1.051237 -0.360431 -2.036871 +v 0.805619 -0.650789 -3.198000 +v 0.827954 -0.650789 -3.198000 +v 0.984207 0.063809 -3.198000 +v 0.984207 0.063809 -2.170802 +v 1.051237 -0.650789 -1.969786 +v 1.028878 0.019111 -3.198000 +v 1.006542 -0.650789 -1.969786 +v 1.051237 -0.650789 -2.103837 +v 0.805619 -0.628405 -3.086312 +v 1.028878 0.041425 -2.170802 +v 0.827954 -0.494453 -3.198000 +v 0.850290 -0.650789 -3.153277 +f 420 422 426 +f 416 415 417 +f 415 416 419 +f 416 417 420 +f 414 418 421 +f 415 419 421 +f 419 414 421 +f 419 416 422 +f 414 419 422 +f 420 414 422 +f 421 418 423 +f 415 421 423 +f 418 414 424 +f 417 418 424 +f 414 420 424 +f 420 417 424 +f 417 415 425 +f 418 417 425 +f 415 423 425 +f 423 418 425 +f 416 420 426 +f 422 416 426 +o convex_34 +v -0.712951 0.733744 -3.175750 +v -0.913879 0.063874 -3.979412 +v -0.891517 0.063874 -3.979412 +v -0.980899 0.063874 -3.064193 +v -0.802300 0.688959 -3.086504 +v -0.690622 0.733744 -3.979412 +v -0.645931 0.711318 -3.912478 +v -0.913879 0.108593 -3.242774 +v -0.936208 0.086234 -3.912478 +v -0.980899 0.175541 -3.108816 +v -0.869188 0.086234 -3.979412 +v -0.735313 0.711318 -3.064193 +f 430 434 438 +f 428 429 430 +f 429 428 432 +f 431 427 432 +f 432 427 433 +f 433 427 434 +f 430 429 434 +f 428 430 435 +f 432 428 435 +f 431 432 435 +f 430 431 436 +f 435 430 436 +f 431 435 436 +f 429 432 437 +f 432 433 437 +f 433 434 437 +f 434 429 437 +f 427 431 438 +f 431 430 438 +f 434 427 438 +o convex_35 +v -0.958537 0.711318 -1.969786 +v -0.980899 0.063874 -3.064013 +v -0.980899 0.197900 -3.064013 +v -0.757587 0.666665 -3.064013 +v -0.936219 0.063874 -2.237880 +v -0.980899 0.733744 -2.148444 +v -0.802267 0.733744 -3.019349 +v -0.980899 0.242554 -2.170830 +v -0.757587 0.733744 -2.952299 +v -0.958537 0.063874 -3.064013 +f 443 440 448 +f 440 441 442 +f 441 440 444 +f 442 441 445 +f 441 444 445 +f 443 439 446 +f 440 443 446 +f 444 440 446 +f 439 444 446 +f 439 443 447 +f 443 442 447 +f 444 439 447 +f 445 444 447 +f 442 445 447 +f 440 442 448 +f 442 443 448 +o convex_36 +v -0.065378 1.001660 -3.599581 +v 0.046335 1.068672 -1.925325 +v -0.087700 1.068672 -1.925325 +v -0.958375 0.733744 -1.970363 +v 0.046335 0.934746 -3.867398 +v -0.645861 0.778429 -3.979390 +v -0.980899 0.800788 -1.970363 +v -0.601317 0.733744 -3.956670 +v -0.043055 1.046313 -3.175337 +v 0.046335 1.023986 -2.238180 +v -0.712829 0.733744 -3.130701 +v 0.046335 0.979334 -3.979390 +v -0.690506 0.733744 -3.934352 +v 0.046335 1.046313 -1.925325 +v 0.023912 1.068672 -2.640106 +f 460 457 463 +f 452 451 455 +f 449 454 457 +f 455 451 457 +f 454 455 457 +f 453 450 458 +f 453 458 459 +f 452 456 459 +f 456 453 459 +f 458 452 459 +f 450 453 460 +f 454 449 460 +f 453 456 460 +f 456 454 460 +f 449 457 460 +f 452 455 461 +f 455 454 461 +f 456 452 461 +f 454 456 461 +f 450 451 462 +f 451 452 462 +f 458 450 462 +f 452 458 462 +f 451 450 463 +f 457 451 463 +f 450 460 463 +o convex_37 +v 0.113361 2.810542 0.107013 +v -0.065321 1.448341 -0.428916 +v -0.042950 1.448341 -0.451267 +v 0.894919 1.471009 -0.205626 +v 0.827714 2.185178 -0.094036 +v 0.872361 2.207579 0.107013 +v -0.065321 2.654001 0.084662 +v 0.068714 2.743472 0.017664 +v -0.065321 1.515411 -0.361918 +v 0.046344 1.493143 -0.451267 +v 0.894919 1.515544 -0.250273 +v 0.671402 2.519994 0.084607 +v -0.065321 2.765740 0.062311 +v 0.738326 1.448474 -0.227922 +v 0.894919 2.296783 0.107013 +v 0.760696 2.162910 -0.116332 +f 474 473 479 +f 469 464 470 +f 470 465 472 +f 469 470 472 +f 466 471 473 +f 466 473 474 +f 471 464 475 +f 468 471 475 +f 466 465 476 +f 470 464 476 +f 465 470 476 +f 464 471 476 +f 471 466 476 +f 465 466 477 +f 467 469 477 +f 472 465 477 +f 469 472 477 +f 466 474 477 +f 474 467 477 +f 464 469 478 +f 469 467 478 +f 467 474 478 +f 474 468 478 +f 475 464 478 +f 468 475 478 +f 471 468 479 +f 473 471 479 +f 468 474 479 +o convex_38 +v 0.783318 0.711412 -3.153338 +v 0.894865 0.063809 -3.979591 +v 0.939555 0.063809 -3.979591 +v 0.716298 0.711412 -3.979591 +v 1.006575 0.153190 -3.175741 +v 0.738627 0.689035 -3.175741 +v 0.984213 0.063809 -3.153338 +v 0.671608 0.666658 -3.957188 +v 0.872536 0.086186 -3.957188 +v 0.805647 0.689035 -3.175741 +f 484 483 489 +f 482 481 483 +f 482 483 484 +f 480 483 485 +f 481 482 486 +f 484 480 486 +f 482 484 486 +f 480 485 486 +f 483 481 487 +f 485 483 487 +f 485 487 488 +f 481 486 488 +f 486 485 488 +f 487 481 488 +f 483 480 489 +f 480 484 489 +o convex_39 +v 1.006575 0.488085 -2.572682 +v 0.984215 0.063809 -3.153222 +v 0.939544 0.175504 -3.153222 +v 0.984215 0.063809 -2.170867 +v 0.760956 0.711412 -3.063801 +v 0.961880 0.711412 -1.969902 +v 0.805627 0.711412 -3.130867 +v 1.006575 0.153190 -3.153222 +v 1.006575 0.063809 -2.170867 +v 0.984215 0.711412 -2.282527 +v 0.760956 0.666658 -3.153222 +v 1.006575 0.488085 -2.059323 +f 490 499 501 +f 492 491 493 +f 494 493 495 +f 494 495 496 +f 491 492 497 +f 496 490 497 +f 497 490 498 +f 493 491 498 +f 495 493 498 +f 491 497 498 +f 496 495 499 +f 490 496 499 +f 492 493 500 +f 493 494 500 +f 494 496 500 +f 497 492 500 +f 496 497 500 +f 498 490 501 +f 495 498 501 +f 499 495 501 +o convex_40 +v 0.314440 0.845386 -3.979390 +v 0.984113 0.845386 -1.925325 +v 0.961821 0.845386 -1.925325 +v 0.984113 0.711412 -1.970166 +v 0.716218 0.733759 -3.934549 +v 0.604627 0.711412 -3.956869 +v 0.850165 0.845386 -2.662295 +v 0.381381 0.823053 -3.644386 +v 0.403738 0.845386 -3.979390 +v 0.984113 0.711412 -2.238009 +v 0.961821 0.711412 -1.970166 +v 0.359089 0.800720 -3.956869 +f 507 512 513 +f 504 503 502 +f 503 504 505 +f 502 503 508 +f 503 506 508 +f 504 502 509 +f 507 502 510 +f 506 507 510 +f 502 508 510 +f 508 506 510 +f 503 505 511 +f 506 503 511 +f 505 507 511 +f 507 506 511 +f 505 504 512 +f 507 505 512 +f 504 509 512 +f 512 509 513 +f 502 507 513 +f 509 502 513 +o convex_41 +v 0.180440 0.867761 -3.979390 +v 0.984152 0.890079 -1.925325 +v 0.984152 0.845399 -1.925325 +v 0.046427 1.068711 -1.925325 +v 0.068823 1.046349 -3.175459 +v 0.068823 1.024009 -1.925325 +v 0.359063 0.867761 -3.934549 +v 0.336758 0.845399 -3.577425 +v 0.068823 0.979373 -3.889908 +v 0.046427 0.934737 -3.778307 +v 0.939451 0.845399 -1.925325 +v 0.091128 1.068711 -2.081768 +v 0.336758 0.845399 -3.979390 +v 0.917146 0.845399 -2.304970 +f 526 520 527 +f 516 515 517 +f 516 517 519 +f 519 514 521 +f 518 515 522 +f 515 520 522 +f 517 518 523 +f 514 519 523 +f 519 517 523 +f 518 522 523 +f 522 514 523 +f 516 519 524 +f 519 521 524 +f 521 516 524 +f 517 515 525 +f 518 517 525 +f 515 518 525 +f 521 514 526 +f 516 521 526 +f 514 522 526 +f 522 520 526 +f 515 516 527 +f 520 515 527 +f 516 526 527 +o convex_42 +v -1.003219 -1.968192 0.665281 +v -0.936250 -0.941094 0.754616 +v -0.913923 -0.941094 0.508912 +v -0.891574 -2.280833 0.754616 +v -0.936250 -0.985944 -0.518260 +v -0.891574 -0.963650 -0.518260 +v -0.958555 -0.941094 0.754616 +v -0.913923 -2.280833 0.687584 +v -0.958555 -1.052958 -0.205523 +v -1.003219 -1.834166 0.754616 +v -0.891574 -0.963650 -0.294859 +f 531 533 538 +f 530 529 531 +f 533 532 534 +f 529 530 534 +f 531 529 534 +f 530 533 534 +f 531 528 535 +f 528 532 535 +f 533 531 535 +f 532 533 535 +f 532 528 536 +f 534 532 536 +f 534 536 537 +f 528 531 537 +f 531 534 537 +f 536 528 537 +f 530 531 538 +f 533 530 538 +o convex_43 +v -0.802249 -1.990482 0.107089 +v -0.869243 -2.236037 0.754616 +v -0.891574 -2.236037 0.754616 +v -0.869243 -0.963744 -0.317162 +v -0.891574 -0.985922 -0.518260 +v -0.802249 -0.985922 -0.317162 +v -0.802249 -2.481752 0.754616 +v -0.869243 -2.437077 0.687584 +v -0.802249 -0.985922 -0.518260 +v -0.824581 -1.700570 -0.138615 +v -0.891574 -1.923469 0.263208 +v -0.824581 -2.593601 0.709886 +v -0.891574 -0.985922 -0.294859 +f 543 541 551 +f 542 540 544 +f 540 541 545 +f 544 540 545 +f 539 544 545 +f 543 542 547 +f 544 539 547 +f 542 544 547 +f 547 539 548 +f 543 547 548 +f 541 543 549 +f 546 541 549 +f 548 546 549 +f 543 548 549 +f 539 545 550 +f 545 541 550 +f 541 546 550 +f 548 539 550 +f 546 548 550 +f 541 540 551 +f 540 542 551 +f 542 543 551 +o convex_44 +v -0.869272 -1.655630 1.759497 +v -1.003210 -0.025516 1.871175 +v -1.025526 -0.025516 1.871175 +v -0.980873 -0.896445 1.580870 +v -1.047864 -1.298367 1.737162 +v -0.846912 -1.923578 1.580870 +v -0.846912 -0.919069 1.871175 +v -1.025526 -0.025516 1.714883 +v -1.025526 -1.588348 1.580870 +v -0.980873 -0.896445 1.871175 +v -1.070202 -0.427831 1.714883 +v -0.891609 -1.990467 1.603205 +v -1.025526 -1.454374 1.737162 +f 563 552 564 +f 553 554 558 +f 552 557 558 +f 558 557 559 +f 554 553 559 +f 557 555 559 +f 553 558 559 +f 555 557 560 +f 554 556 561 +f 558 554 561 +f 552 558 561 +f 556 554 562 +f 554 559 562 +f 559 555 562 +f 560 556 562 +f 555 560 562 +f 557 552 563 +f 560 557 563 +f 560 563 564 +f 556 560 564 +f 552 561 564 +f 561 556 564 +o convex_45 +v 0.894919 -2.459493 0.486524 +v 1.051237 -1.387833 0.776856 +v 1.051237 -1.387833 0.218773 +v 0.894919 -1.387833 -0.071558 +v 1.073569 -2.012968 0.754459 +v 0.894919 -2.504088 0.776856 +v 0.917268 -2.213818 0.285688 +v 1.028889 -1.387833 0.776856 +v 0.917268 -1.432544 -0.160870 +v 0.984244 -2.414783 0.776856 +v 1.073569 -1.499494 0.776856 +f 574 569 575 +f 566 567 568 +f 568 565 570 +f 567 569 571 +f 566 568 572 +f 570 566 572 +f 568 570 572 +f 568 567 573 +f 565 568 573 +f 567 571 573 +f 571 565 573 +f 566 570 574 +f 570 565 574 +f 565 571 574 +f 571 569 574 +f 567 566 575 +f 569 567 575 +f 566 574 575 +o convex_46 +v 1.051237 -0.918841 0.776948 +v 0.894919 -1.387717 -0.160861 +v 0.917274 -1.387717 -0.160861 +v 1.028882 -0.874151 -0.518260 +v 0.894919 -0.874151 -0.317183 +v 1.051237 -1.387717 0.196158 +v 1.028882 -1.387717 0.776948 +v 1.006573 -0.874151 0.776948 +v 0.894919 -0.896521 -0.518260 +v 0.894919 -1.387717 -0.093920 +v 1.051237 -1.387717 0.776948 +f 582 581 586 +f 577 578 581 +f 578 579 581 +f 579 576 581 +f 577 581 582 +f 576 579 583 +f 579 580 583 +f 582 576 583 +f 578 577 584 +f 579 578 584 +f 580 579 584 +f 577 580 584 +f 580 577 585 +f 577 582 585 +f 583 580 585 +f 582 583 585 +f 581 576 586 +f 576 582 586 +o convex_47 +v 1.006555 -2.124432 1.580870 +v 1.006555 -0.025516 1.871175 +v 0.961926 -0.025516 1.871175 +v 1.028893 -0.539426 1.580870 +v 1.073569 -1.744679 1.737162 +v 0.917281 -2.236085 1.603205 +v 0.917281 -0.874387 1.871175 +v 0.961926 -0.025516 1.714883 +v 1.051216 -0.115099 1.714883 +v 1.073569 -1.990274 1.580870 +v 0.917281 -1.789471 1.759497 +v 0.917281 -0.561713 1.781833 +v 0.917281 -2.124432 1.580870 +v 1.051216 -1.655530 1.781833 +f 593 597 600 +f 587 591 592 +f 588 589 593 +f 589 588 594 +f 588 591 595 +f 594 588 595 +f 590 594 595 +f 587 590 596 +f 591 587 596 +f 590 595 596 +f 595 591 596 +f 593 592 597 +f 592 593 598 +f 593 589 598 +f 589 594 598 +f 598 594 599 +f 590 587 599 +f 587 592 599 +f 594 590 599 +f 592 598 599 +f 591 588 600 +f 592 591 600 +f 588 593 600 +f 597 592 600 +o convex_48 +v -1.070224 1.046435 -0.518260 +v -0.869243 2.118276 0.129344 +v -0.869243 2.118276 0.106967 +v -0.869243 1.046435 -0.518260 +v -1.047875 1.024049 0.129344 +v -1.070224 1.626966 0.129344 +v -0.869243 1.113378 -0.205552 +v -1.025546 1.805624 0.106967 +v -1.070224 1.024049 0.129344 +v -0.869243 2.006561 0.129344 +v -0.891592 2.095890 0.084653 +f 608 602 611 +f 603 602 604 +f 601 604 605 +f 605 602 606 +f 604 602 607 +f 605 604 607 +f 606 602 608 +f 601 606 608 +f 601 605 609 +f 605 606 609 +f 606 601 609 +f 602 605 610 +f 607 602 610 +f 605 607 610 +f 602 603 611 +f 603 604 611 +f 604 601 611 +f 601 608 611 +o convex_49 +v 1.028882 1.113601 0.107013 +v 0.917274 2.274481 0.107013 +v 0.917274 2.274481 0.084673 +v 0.894919 1.113601 -0.518260 +v 1.051237 1.135877 -0.495920 +v 1.051237 1.894870 0.107013 +v 0.894919 1.135877 -0.294922 +v 0.894919 2.140481 0.107013 +v 1.051237 1.113601 0.107013 +v 1.006573 1.135877 0.107013 +f 612 619 621 +f 615 614 616 +f 616 614 617 +f 613 612 617 +f 614 613 617 +f 615 612 618 +f 615 618 619 +f 612 613 619 +f 613 614 619 +f 614 615 619 +f 612 615 620 +f 615 616 620 +f 616 617 620 +f 617 612 620 +f 618 612 621 +f 619 618 621 +o convex_50 +v -1.070197 0.063819 1.714839 +v -1.003224 0.867715 1.871175 +v -1.025544 0.867715 1.871175 +v -1.047877 1.247360 1.513876 +v -0.936237 0.175582 1.714839 +v -0.936237 1.135473 1.513876 +v -1.003224 -0.025516 1.871175 +v -1.047877 0.867715 1.513876 +v -0.936237 0.465892 1.759467 +v -1.047877 0.577530 1.871175 +v -1.025544 -0.025516 1.714839 +f 629 626 632 +f 624 623 625 +f 625 623 627 +f 623 624 628 +f 622 625 629 +f 627 626 629 +f 625 627 629 +f 627 623 630 +f 626 627 630 +f 623 628 630 +f 628 626 630 +f 624 625 631 +f 625 622 631 +f 622 628 631 +f 628 624 631 +f 628 622 632 +f 626 628 632 +f 622 629 632 +o convex_51 +v 0.113317 1.850215 1.714857 +v -0.534275 0.979524 1.670199 +v -0.534275 0.979524 1.692521 +v 0.291978 0.957143 1.670199 +v -0.534275 1.850215 1.647863 +v 0.291978 1.850215 1.647863 +v -0.288486 1.827833 1.714857 +v 0.202607 1.470604 1.714857 +v -0.534275 1.336753 1.647863 +v 0.291978 0.957143 1.692521 +v -0.489550 1.783158 1.692521 +v -0.333293 1.425929 1.714857 +v 0.291978 1.515192 1.647863 +f 641 638 645 +f 635 634 636 +f 634 635 637 +f 637 633 638 +f 633 637 639 +f 638 633 640 +f 633 639 640 +f 636 634 641 +f 634 637 641 +f 637 638 641 +f 635 636 642 +f 636 638 642 +f 638 640 642 +f 637 635 643 +f 639 637 643 +f 639 643 644 +f 640 639 644 +f 635 642 644 +f 642 640 644 +f 643 635 644 +f 638 636 645 +f 636 641 645 +o convex_52 +v 0.872549 -2.347958 0.241035 +v 0.582283 -2.861575 0.732207 +v 0.604653 -2.861575 0.732207 +v 0.626963 -2.638250 0.151675 +v 0.827869 -2.794557 0.732207 +v 0.872549 -2.548960 0.776948 +v 0.582283 -2.571282 0.174015 +v 0.827869 -2.593605 0.218695 +v 0.872549 -2.347958 0.442094 +v 0.582283 -2.816880 0.776948 +v 0.894919 -2.638250 0.776948 +v 0.783250 -2.347958 0.151675 +f 652 654 657 +f 648 647 649 +f 648 649 650 +f 649 647 652 +f 650 649 653 +f 654 652 655 +f 647 648 655 +f 648 650 655 +f 652 647 655 +f 651 654 655 +f 651 655 656 +f 653 646 656 +f 650 653 656 +f 654 651 656 +f 646 654 656 +f 655 650 656 +f 649 652 657 +f 646 653 657 +f 653 649 657 +f 654 646 657 +o convex_53 +v 0.716191 2.006498 1.536238 +v 0.291978 0.957055 1.670168 +v 0.894891 0.198040 1.692464 +v 0.582373 1.113391 1.513876 +v 0.292041 1.894859 1.670146 +v 0.292041 2.296925 1.513898 +v 0.939582 0.309679 1.737188 +v 0.939582 0.957055 1.513876 +v 0.716191 1.894859 1.580896 +v 0.291978 0.957055 1.692464 +v 0.939582 0.822963 1.647806 +v 0.760882 0.398863 1.737188 +v 0.738505 1.939347 1.513898 +v 0.403736 1.939347 1.647828 +v 0.292041 1.537701 1.692486 +f 667 669 672 +f 660 659 661 +f 661 659 663 +f 660 661 665 +f 661 663 665 +f 664 660 665 +f 659 660 667 +f 663 659 667 +f 662 663 667 +f 664 665 668 +f 666 664 668 +f 658 666 668 +f 660 664 669 +f 667 660 669 +f 663 658 670 +f 665 663 670 +f 658 668 670 +f 668 665 670 +f 663 662 671 +f 658 663 671 +f 662 664 671 +f 664 666 671 +f 666 658 671 +f 664 662 672 +f 662 667 672 +f 669 664 672 +o convex_54 +v 0.783189 -1.164406 -0.250179 +v 0.024004 -2.347842 -0.160988 +v 0.024004 -2.347842 -0.116360 +v 0.783189 -2.347842 0.106967 +v 0.158065 -1.186879 -0.518260 +v 0.671496 -1.186879 -0.227865 +v 0.783189 -1.878916 -0.093983 +v 0.024004 -1.186879 -0.495883 +v 0.760821 -2.280770 0.129344 +v 0.046446 -2.280770 -0.116360 +v 0.068740 -2.347842 -0.160988 +v 0.046446 -1.365507 -0.495883 +v 0.783189 -1.164406 -0.205552 +v 0.314420 -2.325484 -0.004665 +f 682 675 686 +f 675 674 676 +f 673 676 679 +f 677 673 679 +f 674 675 680 +f 673 677 680 +f 680 675 682 +f 678 680 682 +f 676 674 683 +f 679 676 683 +f 679 683 684 +f 677 679 684 +f 674 680 684 +f 680 677 684 +f 683 674 684 +f 676 673 685 +f 673 680 685 +f 680 678 685 +f 681 676 685 +f 678 681 685 +f 675 676 686 +f 676 681 686 +f 681 678 686 +f 678 682 686 +o convex_55 +v -0.824581 0.085991 3.367123 +v -0.980864 -0.673120 1.871249 +v -0.958542 -0.673120 1.871249 +v -1.003186 -0.003251 1.871249 +v -1.025561 0.019041 2.809062 +v -0.757587 -0.673046 2.809062 +v -0.757587 0.041407 3.322585 +v -0.757587 -0.650680 2.697482 +v -0.958542 -0.673120 2.183959 +v -0.802258 -0.650680 2.786715 +v -1.025535 -0.204249 1.893754 +v -1.025561 0.085991 2.630596 +v -0.757587 0.085991 3.479019 +v -0.757587 -0.226615 3.010033 +v -0.958542 -0.405024 1.871249 +v -0.779936 0.063699 3.479019 +f 699 687 702 +f 689 688 690 +f 692 689 694 +f 693 692 694 +f 688 689 695 +f 691 688 695 +f 689 692 695 +f 695 692 696 +f 691 695 696 +f 690 688 697 +f 688 691 697 +f 697 691 698 +f 691 687 698 +f 690 697 698 +f 690 698 699 +f 692 693 699 +f 693 690 699 +f 698 687 699 +f 690 693 700 +f 694 690 700 +f 693 694 700 +f 689 690 701 +f 690 694 701 +f 694 689 701 +f 687 691 702 +f 696 692 702 +f 691 696 702 +f 692 699 702 +o convex_56 +v -1.047892 -0.003084 1.982931 +v -1.003239 1.023948 2.630286 +v -1.003239 1.023948 2.563336 +v -1.003239 -0.003084 2.630286 +v -1.003239 -0.003084 1.871249 +v -1.025563 0.867606 1.871249 +v -1.025563 1.023948 2.630286 +v -1.025563 -0.003084 2.630286 +v -1.003239 0.867606 1.871249 +v -1.047892 0.555022 1.871249 +v -1.047892 0.108617 2.273097 +f 712 703 713 +f 705 704 706 +f 706 703 707 +f 705 706 707 +f 704 705 709 +f 706 704 709 +f 705 708 709 +f 706 709 710 +f 703 706 710 +f 705 707 711 +f 708 705 711 +f 707 708 711 +f 707 703 712 +f 708 707 712 +f 709 708 712 +f 709 712 713 +f 710 709 713 +f 703 710 713 +o convex_57 +v -0.065321 2.788211 0.129285 +v -0.869243 1.336827 -0.183325 +v -0.846894 1.336827 -0.205633 +v -0.065321 1.336827 -0.428833 +v -0.779770 2.162617 -0.026991 +v -0.846894 2.073673 0.129285 +v -0.087670 1.381441 -0.473508 +v -0.623487 1.403891 -0.183325 +v -0.087670 2.743313 0.062301 +v -0.668105 2.430729 0.129285 +v -0.355775 2.453036 0.129285 +v -0.869243 1.805845 -0.093974 +v -0.087670 2.095838 -0.205633 +v -0.869243 2.184924 0.106977 +v -0.065321 2.453036 0.017626 +v -0.802197 1.336827 -0.161017 +f 721 719 729 +f 715 716 717 +f 717 716 720 +f 719 714 723 +f 714 722 723 +f 722 718 723 +f 714 719 724 +f 719 721 724 +f 716 715 725 +f 720 716 725 +f 718 720 725 +f 714 717 726 +f 717 720 726 +f 720 718 726 +f 722 714 726 +f 718 722 726 +f 715 719 727 +f 719 723 727 +f 723 718 727 +f 725 715 727 +f 718 725 727 +f 717 714 728 +f 721 717 728 +f 714 724 728 +f 724 721 728 +f 715 717 729 +f 719 715 729 +f 717 721 729 +o convex_58 +v -0.824581 0.086140 3.367273 +v -0.757587 1.091042 3.523681 +v -0.757587 1.091042 3.434243 +v -1.025561 1.068615 2.809224 +v -1.003213 0.086140 2.630522 +v -1.003213 1.023957 2.630522 +v -0.757587 0.086140 3.389567 +v -1.025561 0.086140 2.809224 +v -0.779936 0.778240 3.523681 +v -1.025561 1.023957 2.630522 +v -0.757587 0.086140 3.478918 +f 738 730 740 +f 731 732 733 +f 733 732 735 +f 732 731 736 +f 730 734 736 +f 735 732 736 +f 734 735 736 +f 734 730 737 +f 731 733 738 +f 737 730 738 +f 733 737 738 +f 735 734 739 +f 733 735 739 +f 737 733 739 +f 734 737 739 +f 736 731 740 +f 730 736 740 +f 731 738 740 +o convex_59 +v -0.355685 -0.315782 3.478884 +v -0.757587 -0.673046 2.786753 +v -0.735225 -0.673046 2.786753 +v -0.735225 0.085991 3.434232 +v -0.556535 -0.516706 3.367289 +v -0.288668 -0.650680 3.121808 +v -0.154700 -0.673046 3.478884 +v -0.757587 -0.003251 3.478884 +v -0.735225 -0.226540 3.054797 +v -0.735225 -0.673046 2.898483 +v -0.087683 -0.650680 3.411940 +f 747 746 751 +f 742 743 747 +f 743 746 747 +f 745 747 748 +f 741 744 748 +f 747 741 748 +f 743 742 749 +f 746 743 749 +f 744 746 749 +f 742 748 749 +f 748 744 749 +f 742 747 750 +f 747 745 750 +f 745 748 750 +f 748 742 750 +f 744 741 751 +f 746 744 751 +f 741 747 751 +o convex_60 +v -0.199419 -0.628388 3.479019 +v 0.001598 0.085991 3.813987 +v 0.001598 0.085991 3.769263 +v -0.757587 0.085991 3.479019 +v -0.735145 0.063699 3.568400 +v -0.043064 -0.650680 3.479019 +v -0.020770 -0.628388 3.590697 +v -0.020770 0.019041 3.813987 +v -0.311038 -0.315782 3.479019 +v -0.690482 -0.114933 3.501381 +f 758 756 761 +f 753 754 755 +f 753 755 756 +f 752 755 757 +f 754 753 758 +f 752 757 758 +f 757 754 758 +f 753 756 759 +f 758 753 759 +f 756 758 759 +f 755 754 760 +f 754 757 760 +f 757 755 760 +f 755 752 761 +f 756 755 761 +f 752 758 761 +o convex_61 +v 0.470610 -0.360501 3.456579 +v 0.716250 -0.673120 2.898409 +v 0.716250 -0.650771 2.898409 +v 0.180322 -0.673120 3.434285 +v 0.604551 -0.561377 3.367294 +v 0.716250 -0.315909 3.144135 +v 0.738601 -0.226567 3.456579 +v 0.738601 -0.673120 2.987804 +v 0.336669 -0.650771 3.210962 +v 0.381316 -0.628423 3.456579 +v 0.716250 -0.137172 3.411936 +f 767 770 772 +f 768 766 769 +f 763 764 769 +f 765 763 769 +f 764 767 769 +f 767 768 769 +f 764 763 770 +f 763 765 770 +f 765 762 770 +f 767 764 770 +f 762 765 771 +f 768 762 771 +f 766 768 771 +f 769 766 771 +f 765 769 771 +f 762 768 772 +f 768 767 772 +f 770 762 772 +o convex_62 +v 0.001673 -0.204246 3.679943 +v 0.738601 0.019078 3.590697 +v 0.738601 -0.025641 3.590697 +v 0.158061 -0.650693 3.456723 +v 0.046396 -0.673120 3.590697 +v 0.046396 -0.003281 3.813951 +v 0.716239 -0.114944 3.456723 +v 0.314377 -0.650693 3.479069 +v 0.001673 -0.003281 3.746947 +v 0.425825 -0.338065 3.456723 +v 0.716239 -0.248898 3.456723 +v 0.001673 -0.673120 3.546039 +f 778 781 784 +f 777 775 778 +f 775 774 778 +f 774 775 779 +f 775 777 780 +f 776 773 781 +f 778 774 781 +f 774 779 781 +f 781 779 782 +f 779 776 782 +f 776 781 782 +f 779 775 783 +f 776 779 783 +f 780 776 783 +f 775 780 783 +f 773 776 784 +f 777 778 784 +f 776 780 784 +f 780 777 784 +f 781 773 784 +o convex_63 +v 0.850292 -0.628429 2.742090 +v 0.939555 -0.673120 1.871345 +v 0.939555 -0.360412 1.871345 +v 1.028885 -0.025516 2.742090 +v 0.961893 -0.047893 1.871345 +v 0.805595 -0.606052 2.697338 +v 0.961893 -0.673120 2.094593 +v 1.006547 -0.092521 1.871345 +v 0.984209 -0.025516 2.742090 +v 1.028885 -0.114898 2.675005 +v 0.805595 -0.673120 2.630338 +v 0.984209 -0.449793 1.893593 +f 792 794 796 +f 786 787 789 +f 789 788 792 +f 786 789 792 +f 785 788 793 +f 788 789 793 +f 790 785 793 +f 789 790 793 +f 788 785 794 +f 785 791 794 +f 792 788 794 +f 787 786 795 +f 789 787 795 +f 785 790 795 +f 790 789 795 +f 786 791 795 +f 791 785 795 +f 791 786 796 +f 786 792 796 +f 794 791 796 +o convex_64 +v -1.025570 1.693984 0.218695 +v -1.047894 0.957055 1.044878 +v -1.025570 0.957055 1.044878 +v -1.070224 1.693984 1.111915 +v -1.070224 1.024068 0.129344 +v -1.070224 1.693984 0.174067 +v -1.025570 1.425931 1.111915 +v -1.047894 1.024068 0.129344 +v -1.070224 1.024068 0.709884 +v -1.025570 1.604609 0.129344 +f 804 801 806 +f 799 798 801 +f 800 797 802 +f 801 800 802 +f 799 797 803 +f 798 799 803 +f 800 798 803 +f 797 800 803 +f 799 801 804 +f 798 800 805 +f 800 801 805 +f 801 798 805 +f 797 799 806 +f 802 797 806 +f 801 802 806 +f 799 804 806 +o convex_65 +v 0.738601 0.041477 3.568263 +v 0.783301 -0.673120 2.742172 +v 0.783301 -0.650736 2.742172 +v 1.028906 -0.003220 2.831533 +v 1.006571 0.041477 2.742172 +v 0.805636 -0.003220 3.545862 +v 0.827943 -0.673120 2.786893 +v 0.738601 -0.360449 3.054816 +v 0.738601 -0.673120 2.943134 +f 814 809 815 +f 808 809 811 +f 811 807 812 +f 810 811 812 +f 811 810 813 +f 808 811 813 +f 810 812 813 +f 807 811 814 +f 811 809 814 +f 809 808 815 +f 812 807 815 +f 808 813 815 +f 813 812 815 +f 807 814 815 +o convex_66 +v 1.028906 0.041477 2.831533 +v 0.760937 1.001624 3.568263 +v 0.738601 1.001624 3.568263 +v 1.006571 1.046380 2.742172 +v 0.738601 0.041477 3.545862 +v 0.984207 0.465826 2.742172 +v 0.805636 0.041477 3.523541 +v 0.738601 1.001624 3.478901 +v 1.006571 0.979295 2.831533 +v 1.006571 0.041477 2.742172 +v 0.961871 1.046380 2.786893 +v 0.783301 0.510583 3.568263 +f 816 824 827 +f 820 816 822 +f 820 818 823 +f 821 820 823 +f 819 817 824 +f 816 819 824 +f 819 816 825 +f 816 820 825 +f 820 821 825 +f 821 819 825 +f 818 817 826 +f 817 819 826 +f 819 821 826 +f 823 818 826 +f 821 823 826 +f 817 818 827 +f 818 820 827 +f 822 816 827 +f 820 822 827 +f 824 817 827 +o convex_67 +v -1.070224 1.403847 1.111915 +v -0.802300 2.162938 1.513876 +v -0.802300 2.162938 1.491528 +v -0.735287 1.203017 1.491528 +v -1.047864 0.890186 1.513876 +v -0.980883 2.162938 1.111915 +v -1.025537 0.957088 1.111915 +v -1.047864 1.269794 1.513876 +v -0.936229 2.162938 1.134303 +v -0.936196 2.140264 1.357554 +v -1.070224 1.783081 1.134303 +v -0.735287 1.203017 1.513876 +v -0.846954 2.162938 1.513876 +f 837 835 840 +f 830 829 831 +f 829 830 833 +f 828 833 834 +f 832 828 834 +f 831 832 834 +f 832 829 835 +f 830 831 836 +f 833 830 836 +f 834 833 836 +f 831 834 836 +f 835 837 838 +f 828 832 838 +f 833 828 838 +f 832 835 838 +f 837 833 838 +f 831 829 839 +f 832 831 839 +f 829 832 839 +f 829 833 840 +f 835 829 840 +f 833 837 840 +o convex_68 +v 0.604509 2.899893 0.799379 +v -0.065321 3.011514 0.777020 +v -0.065321 2.765880 1.491444 +v 0.760919 2.765880 0.777020 +v -0.020632 2.832886 1.491444 +v 0.024056 3.056185 0.866386 +v 0.738575 2.788215 0.933393 +v 0.381232 2.765880 1.044974 +v 0.091006 2.765880 1.491444 +v -0.065321 3.056185 0.777020 +f 845 846 850 +f 845 841 846 +f 844 841 847 +f 841 845 847 +f 843 842 848 +f 844 843 848 +f 842 844 848 +f 843 844 849 +f 845 843 849 +f 844 847 849 +f 847 845 849 +f 842 843 850 +f 844 842 850 +f 841 844 850 +f 843 845 850 +f 846 841 850 +o convex_69 +v -0.444811 -1.075070 -0.384295 +v -0.802249 -0.985785 -0.518236 +v -0.712890 -1.186715 -0.339648 +v -0.020659 -1.186715 -0.518236 +v -0.779910 -0.963447 -0.384295 +v -0.802249 -1.186715 -0.272641 +v -0.578927 -0.985785 -0.518236 +v -0.042999 -1.164377 -0.473565 +f 854 857 858 +f 853 852 854 +f 855 852 856 +f 852 853 856 +f 853 854 856 +f 851 855 856 +f 854 852 857 +f 852 855 857 +f 857 855 858 +f 855 851 858 +f 856 854 858 +f 851 856 858 +o convex_70 +v 0.023925 -2.995562 0.754616 +v -0.177114 -2.705265 0.017688 +v -0.177114 -2.682925 0.017688 +v -0.779918 -2.727636 0.754616 +v -0.333382 -2.682925 0.375043 +v 0.001579 -2.816965 0.062411 +v -0.065461 -2.682925 0.040050 +v -0.757493 -2.682925 0.754616 +v -0.757493 -2.727636 0.642952 +v 0.023925 -2.950851 0.732183 +v -0.020768 -2.995562 0.709821 +v 0.023925 -2.749945 0.017688 +f 865 868 870 +f 861 863 865 +f 862 859 866 +f 863 861 866 +f 861 860 867 +f 860 864 867 +f 866 861 867 +f 862 866 867 +f 865 863 868 +f 866 859 868 +f 863 866 868 +f 859 862 869 +f 864 859 869 +f 862 867 869 +f 867 864 869 +f 860 861 870 +f 859 864 870 +f 864 860 870 +f 861 865 870 +f 868 859 870 +o convex_71 +v -0.355696 -2.660500 0.084701 +v -0.779866 -2.548790 0.754616 +v -0.779866 -2.214074 0.508925 +v -0.087652 -2.660500 0.040050 +v -0.802249 -1.968477 0.017688 +v -0.779866 -2.682759 0.665169 +v -0.779866 -1.834341 0.040050 +v -0.578903 -2.571132 0.151714 +v -0.690541 -2.214074 0.017688 +v -0.087652 -2.682759 0.017688 +v -0.757482 -2.682759 0.754616 +v -0.288685 -2.392561 0.040050 +v -0.802249 -2.548790 0.754616 +v -0.802249 -1.834341 0.017688 +f 875 883 884 +f 873 872 874 +f 871 876 878 +f 878 876 879 +f 876 875 879 +f 871 878 879 +f 879 875 880 +f 876 871 880 +f 871 879 880 +f 874 872 881 +f 880 874 881 +f 876 880 881 +f 873 874 882 +f 877 873 882 +f 874 880 882 +f 872 873 883 +f 875 876 883 +f 881 872 883 +f 876 881 883 +f 873 877 884 +f 880 875 884 +f 877 882 884 +f 882 880 884 +f 883 873 884 +o convex_72 +v -1.003204 -1.901457 1.134384 +v -0.958533 -1.700454 1.580789 +v -0.980855 -1.700454 1.580789 +v -0.735256 -2.504162 1.424385 +v -0.958533 -1.700454 0.754616 +v -0.779953 -2.727587 0.754697 +v -0.735256 -2.682842 0.754697 +v -1.003204 -1.968424 0.754616 +v -0.735256 -2.414973 1.402065 +v -0.869243 -2.191648 1.491427 +v -0.846947 -1.968424 1.580789 +v -1.003204 -1.812167 1.469107 +v -1.003204 -1.700454 1.111983 +v -0.757605 -2.481739 1.469107 +f 895 894 898 +f 887 886 889 +f 888 890 891 +f 890 885 892 +f 889 891 892 +f 891 890 892 +f 891 889 893 +f 888 891 893 +f 886 887 895 +f 889 886 895 +f 888 893 895 +f 893 889 895 +f 887 894 895 +f 885 890 896 +f 892 885 896 +f 894 887 896 +f 890 894 896 +f 887 889 897 +f 889 892 897 +f 896 887 897 +f 892 896 897 +f 890 888 898 +f 894 890 898 +f 888 895 898 +o convex_73 +v -0.936237 -0.896432 1.335104 +v -0.980894 -1.700275 0.754616 +v -0.958572 -1.700275 0.754616 +v -0.958572 -1.700275 1.580789 +v -1.003230 -0.896432 1.580789 +v -0.958572 -0.941203 0.754616 +v -1.003230 -1.700275 1.580789 +v -0.936237 -1.365314 0.754616 +v -0.958572 -0.896432 1.558388 +v -1.003230 -1.677929 1.201183 +v -0.980894 -1.342968 0.754616 +f 908 903 909 +f 900 901 902 +f 901 900 904 +f 903 899 904 +f 900 902 905 +f 902 903 905 +f 902 901 906 +f 899 902 906 +f 904 899 906 +f 901 904 906 +f 902 899 907 +f 899 903 907 +f 903 902 907 +f 900 905 908 +f 905 903 908 +f 904 900 909 +f 903 904 909 +f 900 908 909 +o convex_74 +v 0.716270 2.832847 0.776816 +v 0.225021 2.721270 0.107013 +v 0.225021 2.743549 0.107013 +v -0.065321 3.033845 0.776816 +v 0.693854 2.430912 0.129436 +v 0.716270 2.899867 0.642869 +v -0.065321 2.765827 0.174085 +v 0.046379 2.855248 0.151793 +v 0.626834 2.676590 0.174085 +v -0.065321 2.989165 0.754525 +v 0.068718 3.056185 0.754525 +v 0.716270 2.497932 0.107013 +v -0.065321 2.788229 0.107144 +v 0.649250 2.832847 0.776816 +f 919 914 923 +f 912 917 918 +f 917 915 918 +f 913 916 919 +f 916 914 919 +f 913 910 920 +f 910 915 920 +f 915 917 920 +f 917 913 920 +f 911 912 921 +f 910 914 921 +f 915 910 921 +f 912 918 921 +f 918 915 921 +f 912 911 922 +f 916 913 922 +f 914 916 922 +f 917 912 922 +f 913 917 922 +f 911 921 922 +f 921 914 922 +f 910 913 923 +f 914 910 923 +f 913 919 923 +o convex_75 +v 0.023929 -2.727561 1.469144 +v -0.735256 -2.727561 0.754686 +v -0.735256 -2.705320 0.754686 +v 0.023929 -2.950816 0.754686 +v -0.645857 -2.459614 1.446763 +v -0.735256 -2.504359 1.446763 +v -0.020733 -2.995509 0.777068 +v 0.023929 -2.682973 1.424451 +v -0.712813 -2.638333 0.888695 +v -0.735256 -2.727561 0.821691 +f 925 930 933 +f 925 926 927 +f 926 925 929 +f 924 928 929 +f 924 929 930 +f 925 927 930 +f 927 924 930 +f 924 927 931 +f 928 924 931 +f 928 931 932 +f 927 926 932 +f 926 929 932 +f 929 928 932 +f 931 927 932 +f 929 925 933 +f 930 929 933 +o convex_76 +v -0.846827 -1.611046 1.781845 +v -0.846827 -2.236182 1.469253 +v -0.779748 -2.437099 1.469253 +v 0.023918 -1.521691 1.848810 +v -0.824410 -0.918763 1.848810 +v 0.023918 -2.660400 1.469253 +v -0.043160 -2.682607 1.513909 +v -0.020829 -1.633254 1.871157 +v -0.779748 -1.878762 1.737189 +v -0.824410 -2.147002 1.469253 +v -0.846827 -1.053058 1.871157 +v -0.757417 -2.481689 1.491601 +v 0.023918 -1.901144 1.714881 +v 0.023918 -1.633254 1.871157 +f 944 941 947 +f 936 935 939 +f 940 941 942 +f 941 934 942 +f 935 938 943 +f 939 935 943 +f 938 939 943 +f 935 934 944 +f 938 935 944 +f 934 941 944 +f 934 935 945 +f 935 936 945 +f 936 939 945 +f 939 940 945 +f 940 942 945 +f 942 934 945 +f 938 937 946 +f 939 938 946 +f 937 939 946 +f 937 938 947 +f 939 937 947 +f 940 939 947 +f 941 940 947 +f 938 944 947 +o convex_77 +v -0.065321 2.810455 0.151706 +v -0.735256 2.297000 0.129344 +v -0.735256 2.297000 0.151706 +v -0.735256 2.922137 0.799279 +v -0.065321 3.011453 0.799279 +v -0.578920 2.676555 0.241021 +v -0.378058 2.497998 0.151706 +v -0.712894 2.922137 0.709832 +v -0.087683 3.056111 0.776917 +v -0.668171 2.877479 0.799279 +v -0.735256 2.386316 0.129344 +v -0.266315 2.743505 0.129344 +v -0.065321 2.765797 0.196363 +v -0.735256 2.877479 0.642943 +f 959 953 961 +f 949 950 951 +f 950 949 954 +f 952 950 954 +f 952 948 956 +f 951 952 956 +f 955 951 956 +f 948 955 956 +f 951 950 957 +f 952 951 957 +f 950 952 957 +f 949 951 958 +f 954 949 959 +f 948 954 959 +f 955 948 959 +f 949 958 959 +f 958 953 959 +f 948 952 960 +f 954 948 960 +f 952 954 960 +f 951 955 961 +f 958 951 961 +f 953 958 961 +f 955 959 961 +o convex_78 +v 0.024004 -2.638243 -0.071632 +v 0.827926 -2.348003 0.151675 +v 0.827926 -2.370354 0.151675 +v 0.024004 -2.816866 0.151675 +v 0.046352 -2.348003 -0.093942 +v 0.515281 -2.660548 0.106964 +v 0.046352 -2.370354 -0.160961 +v 0.046352 -2.772211 -0.026953 +v 0.805577 -2.370354 0.106964 +v 0.537551 -2.348003 0.084625 +f 963 966 971 +f 964 963 965 +f 962 965 966 +f 964 965 967 +f 962 966 968 +f 966 963 968 +f 965 962 969 +f 967 965 969 +f 962 968 969 +f 963 964 970 +f 964 967 970 +f 968 963 970 +f 967 969 970 +f 969 968 970 +f 965 963 971 +f 966 965 971 +o convex_79 +v 0.783263 -0.896462 -0.518168 +v 0.894919 -2.303234 0.419557 +v 0.894919 -1.744767 0.173927 +v 0.894919 -0.896462 -0.518168 +v 0.783263 -2.347958 0.106921 +v 0.783263 -0.941186 -0.272539 +v 0.894919 -2.303234 0.263239 +v 0.894919 -0.896462 -0.272539 +v 0.872568 -2.303234 0.419557 +v 0.827943 -2.347958 0.129226 +v 0.783263 -2.280872 0.151622 +f 980 977 982 +f 974 973 975 +f 972 975 976 +f 972 976 977 +f 975 973 978 +f 974 975 979 +f 975 972 979 +f 977 974 979 +f 972 977 979 +f 973 974 980 +f 974 977 980 +f 976 975 981 +f 978 973 981 +f 975 978 981 +f 973 980 981 +f 980 976 981 +f 977 976 982 +f 976 980 982 +o convex_80 +v 0.783189 -2.571331 1.469094 +v 0.024004 -2.973230 0.776948 +v 0.024004 -2.973230 0.844022 +v 0.024004 -2.660646 1.469094 +v 0.693864 -2.794511 0.776948 +v 0.783189 -2.839191 0.888715 +v 0.046446 -2.727666 1.469094 +v 0.738527 -2.526607 1.446782 +v 0.024004 -2.928507 0.799399 +v 0.783189 -2.794511 0.776948 +f 987 990 992 +f 984 985 986 +f 985 984 988 +f 985 988 989 +f 986 985 989 +f 983 986 989 +f 988 983 989 +f 986 983 990 +f 987 986 990 +f 984 986 991 +f 986 987 991 +f 987 984 991 +f 984 987 992 +f 988 984 992 +f 983 988 992 +f 990 983 992 +o convex_81 +v 0.783277 -2.839106 0.888770 +v 1.073569 -1.968328 1.580870 +v 1.073569 -1.968328 0.777105 +v 1.073569 -2.325590 1.067402 +v 0.783277 -2.504263 1.491396 +v 1.028871 -1.990747 0.777105 +v 0.850280 -2.504263 1.491396 +v 0.783277 -2.772103 0.776948 +v 0.961924 -2.481844 0.777105 +v 1.028871 -1.968328 1.580870 +v 1.073569 -2.325590 1.178909 +v 0.827946 -2.816772 0.911040 +v 0.917284 -2.191670 1.580870 +f 1002 998 1005 +f 995 994 996 +f 997 993 999 +f 993 997 1000 +f 997 998 1000 +f 998 995 1000 +f 995 996 1001 +f 1000 995 1001 +f 994 995 1002 +f 995 998 1002 +f 996 994 1003 +f 994 999 1003 +f 1003 999 1004 +f 999 993 1004 +f 993 1000 1004 +f 1001 996 1004 +f 1000 1001 1004 +f 996 1003 1004 +f 998 997 1005 +f 999 994 1005 +f 997 999 1005 +f 994 1002 1005 +o convex_82 +v 0.180339 -2.682853 1.513883 +v 0.917251 -1.945997 1.692488 +v 0.917251 -1.945997 1.670175 +v 0.024004 -1.945997 1.737188 +v 0.894779 -2.281030 1.491545 +v 0.805507 -2.504193 1.558558 +v 0.024004 -2.593487 1.491545 +v 0.671468 -1.968428 1.737188 +v 0.024004 -1.990788 1.692488 +v 0.805507 -2.548840 1.491545 +v 0.024004 -2.013076 1.737188 +f 1011 1013 1016 +f 1007 1008 1009 +f 1008 1007 1010 +f 1010 1007 1011 +f 1007 1009 1013 +f 1011 1007 1013 +f 1009 1008 1014 +f 1008 1010 1014 +f 1012 1009 1014 +f 1010 1012 1014 +f 1011 1006 1015 +f 1010 1011 1015 +f 1006 1012 1015 +f 1012 1010 1015 +f 1006 1011 1016 +f 1012 1006 1016 +f 1009 1012 1016 +f 1013 1009 1016 +o convex_83 +v 0.693851 -0.918942 1.871175 +v 0.024004 -1.945887 1.714872 +v 0.872483 -1.945887 1.670194 +v 0.046387 -1.610931 1.871175 +v 0.850100 -1.856493 1.759530 +v 0.917251 -0.874245 1.804168 +v 0.917251 -0.874245 1.871175 +v 0.024004 -1.566233 1.826497 +v 0.291995 -1.923484 1.759530 +v 0.917251 -1.945887 1.714872 +v 0.024004 -1.901190 1.714872 +f 1024 1022 1027 +f 1017 1020 1023 +f 1020 1021 1023 +f 1022 1017 1023 +f 1018 1020 1024 +f 1020 1017 1024 +f 1017 1022 1024 +f 1020 1018 1025 +f 1021 1020 1025 +f 1021 1025 1026 +f 1018 1019 1026 +f 1019 1022 1026 +f 1023 1021 1026 +f 1022 1023 1026 +f 1025 1018 1026 +f 1019 1018 1027 +f 1022 1019 1027 +f 1018 1024 1027 +o convex_84 +v -1.070202 2.095886 0.866272 +v -1.047864 1.694030 0.129344 +v -1.047864 1.783341 0.129344 +v -0.846912 2.162847 0.174067 +v -1.047864 1.694030 1.111915 +v -0.958557 2.162847 1.111915 +v -1.047864 2.162847 0.330359 +v -0.846912 2.095886 0.151754 +v -1.070202 1.694030 0.196381 +v -1.003210 1.716381 0.129344 +v -1.070202 1.805692 1.111915 +v -0.958557 2.073581 1.111915 +v -0.891609 2.162847 0.129344 +f 1035 1037 1040 +f 1028 1033 1034 +f 1033 1031 1034 +f 1030 1029 1036 +f 1029 1032 1036 +f 1028 1034 1036 +f 1034 1030 1036 +f 1029 1030 1037 +f 1032 1029 1037 +f 1035 1032 1037 +f 1033 1028 1038 +f 1032 1033 1038 +f 1028 1036 1038 +f 1036 1032 1038 +f 1031 1033 1039 +f 1033 1032 1039 +f 1035 1031 1039 +f 1032 1035 1039 +f 1030 1034 1040 +f 1034 1031 1040 +f 1031 1035 1040 +f 1037 1030 1040 +o convex_85 +v 1.073569 -1.476893 0.777105 +v 1.051233 -0.628458 1.580870 +v 1.051233 -0.628458 1.558444 +v 1.006575 -0.941129 0.821719 +v 1.051233 -1.968328 1.580870 +v 1.051233 -1.968328 0.777105 +v 1.073569 -1.968328 1.580870 +v 1.028911 -1.610933 1.580870 +v 1.051233 -0.918833 0.777105 +v 1.028911 -0.628458 1.580870 +v 1.073569 -1.142319 1.290444 +v 1.073569 -1.968328 0.777105 +v 1.006575 -0.874241 0.777105 +f 1044 1050 1053 +f 1045 1046 1047 +f 1042 1045 1047 +f 1045 1042 1048 +f 1044 1046 1048 +f 1046 1045 1048 +f 1041 1046 1049 +f 1042 1043 1050 +f 1048 1042 1050 +f 1044 1048 1050 +f 1043 1042 1051 +f 1042 1047 1051 +f 1047 1041 1051 +f 1041 1049 1051 +f 1049 1043 1051 +f 1046 1041 1052 +f 1047 1046 1052 +f 1041 1047 1052 +f 1046 1044 1053 +f 1043 1049 1053 +f 1049 1046 1053 +f 1050 1043 1053 +o convex_86 +v -0.132367 1.336685 -0.406563 +v -0.869243 1.046380 -0.518225 +v -0.869243 1.046380 -0.339628 +v -0.869243 1.336685 -0.205689 +v -0.132367 1.314350 -0.518225 +v -0.846894 1.135722 -0.205689 +v -0.087670 1.269678 -0.495879 +v -0.735230 1.336685 -0.183343 +v -0.690454 1.046380 -0.518225 +v -0.802197 1.091051 -0.250347 +f 1056 1062 1063 +f 1055 1056 1057 +f 1057 1054 1058 +f 1055 1057 1058 +f 1057 1056 1059 +f 1058 1054 1060 +f 1054 1057 1061 +f 1059 1054 1061 +f 1057 1059 1061 +f 1056 1055 1062 +f 1055 1058 1062 +f 1058 1060 1062 +f 1062 1060 1063 +f 1054 1059 1063 +f 1059 1056 1063 +f 1060 1054 1063 +o convex_87 +v 0.783161 1.158064 -0.317326 +v 0.894919 1.448341 -0.227955 +v 0.894919 1.448341 -0.250291 +v -0.065321 1.448341 -0.406554 +v 0.894919 1.135735 -0.518260 +v -0.065321 1.291973 -0.518260 +v 0.024067 1.448341 -0.473561 +v 0.894919 1.113373 -0.361968 +v 0.872549 1.269742 -0.250291 +v 0.693773 1.113373 -0.518260 +v -0.065321 1.291973 -0.473561 +f 1069 1073 1074 +f 1065 1066 1067 +f 1066 1065 1068 +f 1068 1069 1070 +f 1067 1066 1070 +f 1066 1068 1070 +f 1069 1067 1070 +f 1068 1065 1071 +f 1065 1067 1072 +f 1067 1064 1072 +f 1071 1065 1072 +f 1064 1071 1072 +f 1069 1068 1073 +f 1068 1071 1073 +f 1073 1071 1074 +f 1064 1067 1074 +f 1067 1069 1074 +f 1071 1064 1074 +o convex_88 +v 0.939610 1.984101 1.089525 +v 1.006562 1.024049 1.089525 +v 1.006562 1.113522 0.218727 +v 1.051237 1.984101 0.241006 +v 0.872606 1.939458 1.134189 +v 0.984233 1.984101 0.107013 +v 1.028891 1.135797 1.201240 +v 1.051237 1.113522 0.107013 +v 1.006562 1.894816 0.933253 +v 1.006562 1.135797 0.107013 +v 0.872606 1.894816 1.201240 +v 0.984233 1.649234 1.201240 +v 0.984233 1.113522 1.201240 +v 1.051237 1.939458 0.107013 +f 1078 1082 1088 +f 1075 1078 1080 +f 1079 1075 1080 +f 1076 1077 1082 +f 1081 1076 1082 +f 1078 1081 1082 +f 1078 1075 1083 +f 1081 1078 1083 +f 1079 1080 1084 +f 1082 1077 1084 +f 1080 1082 1084 +f 1075 1079 1085 +f 1084 1077 1085 +f 1079 1084 1085 +f 1083 1075 1086 +f 1081 1083 1086 +f 1075 1085 1086 +f 1085 1081 1086 +f 1077 1076 1087 +f 1076 1081 1087 +f 1085 1077 1087 +f 1081 1085 1087 +f 1080 1078 1088 +f 1082 1080 1088 +o convex_89 +v 1.028906 1.024217 1.424547 +v 0.604697 1.158139 1.491506 +v 0.626998 1.135818 1.491506 +v 0.738667 1.984189 1.513876 +v 0.850211 1.984189 1.201240 +v 1.006523 1.001897 1.201240 +v 1.006523 1.225200 1.513876 +v 0.939538 1.827846 1.223610 +v 0.984181 0.957156 1.513876 +v 0.693982 1.984189 1.491506 +v 1.006523 1.492942 1.201240 +v 0.604697 1.158139 1.513876 +v 0.894854 1.984189 1.245950 +f 1095 1096 1101 +f 1090 1093 1094 +f 1091 1090 1094 +f 1094 1089 1097 +f 1091 1094 1097 +f 1089 1095 1097 +f 1095 1092 1097 +f 1092 1093 1098 +f 1093 1090 1098 +f 1094 1093 1099 +f 1089 1094 1099 +f 1095 1089 1099 +f 1093 1096 1099 +f 1096 1095 1099 +f 1090 1091 1100 +f 1091 1097 1100 +f 1097 1092 1100 +f 1098 1090 1100 +f 1092 1098 1100 +f 1093 1092 1101 +f 1092 1095 1101 +f 1096 1093 1101 +o convex_90 +v -0.534315 2.386250 1.536238 +v -0.936237 0.220437 1.714826 +v -0.936237 0.220437 1.737188 +v -0.891539 1.894781 1.536238 +v -0.712986 1.180264 1.513876 +v -0.534315 0.957004 1.692464 +v -0.646019 1.961780 1.670146 +v -0.936237 1.068740 1.513876 +v -0.824533 2.006517 1.625510 +v -0.936237 0.599958 1.737188 +v -0.824533 2.252039 1.513898 +v -0.534315 2.006517 1.670146 +v -0.534315 0.979267 1.647806 +v -0.534315 2.296776 1.513898 +v -0.779875 0.666957 1.737188 +f 1113 1108 1116 +f 1104 1103 1107 +f 1103 1104 1109 +f 1106 1103 1109 +f 1108 1102 1110 +f 1108 1110 1111 +f 1109 1104 1111 +f 1105 1109 1111 +f 1110 1105 1111 +f 1109 1105 1112 +f 1106 1109 1112 +f 1105 1110 1112 +f 1110 1102 1112 +f 1107 1102 1113 +f 1102 1108 1113 +f 1103 1106 1114 +f 1107 1103 1114 +f 1102 1107 1114 +f 1112 1102 1115 +f 1106 1112 1115 +f 1102 1114 1115 +f 1114 1106 1115 +f 1104 1107 1116 +f 1108 1111 1116 +f 1111 1104 1116 +f 1107 1113 1116 +o convex_91 +v -0.779918 2.408690 1.491423 +v -1.047866 2.163074 0.799279 +v -1.047866 2.207725 0.799279 +v -0.779918 2.788126 0.799279 +v -0.824611 2.654171 1.379854 +v -0.802291 2.163074 1.469179 +v -0.913892 2.207725 1.379854 +v -0.913892 2.631812 0.821662 +v -1.003199 2.163074 0.821662 +v -0.779918 2.855205 0.843976 +v -0.846932 2.163074 1.513876 +f 1121 1123 1127 +f 1118 1119 1120 +f 1120 1117 1122 +f 1119 1118 1123 +f 1121 1119 1123 +f 1120 1119 1124 +f 1119 1121 1124 +f 1118 1120 1125 +f 1122 1118 1125 +f 1120 1122 1125 +f 1117 1120 1126 +f 1121 1117 1126 +f 1120 1124 1126 +f 1124 1121 1126 +f 1117 1121 1127 +f 1118 1122 1127 +f 1122 1117 1127 +f 1123 1118 1127 +o convex_92 +v 0.001522 -2.705035 0.017600 +v -0.802249 -1.946177 -0.004693 +v -0.779768 -1.946177 -0.071678 +v 0.023923 -1.186846 -0.495827 +v -0.779768 -1.812251 0.017600 +v -0.020798 -2.771919 -0.027039 +v -0.690406 -1.209351 -0.339617 +v 0.001522 -1.276392 -0.518173 +v -0.802249 -1.186846 -0.250339 +v -0.288722 -2.325449 0.017600 +v -0.712807 -2.169333 0.017600 +v -0.757366 -1.990714 -0.071678 +v -0.020798 -1.186846 -0.473534 +v 0.023923 -2.794581 -0.004693 +v -0.802249 -1.320929 -0.272632 +v 0.001522 -1.633632 -0.406549 +f 1142 1135 1143 +f 1134 1131 1135 +f 1129 1132 1136 +f 1131 1134 1136 +f 1132 1128 1137 +f 1129 1130 1138 +f 1128 1132 1138 +f 1132 1129 1138 +f 1133 1138 1139 +f 1138 1130 1139 +f 1128 1131 1140 +f 1131 1136 1140 +f 1136 1132 1140 +f 1137 1128 1140 +f 1132 1137 1140 +f 1131 1128 1141 +f 1135 1131 1141 +f 1128 1138 1141 +f 1138 1133 1141 +f 1130 1129 1142 +f 1134 1135 1142 +f 1129 1136 1142 +f 1136 1134 1142 +f 1139 1130 1142 +f 1139 1142 1143 +f 1133 1139 1143 +f 1135 1141 1143 +f 1141 1133 1143 +o convex_93 +v -0.087705 2.810564 1.379889 +v -0.779918 2.832950 0.799335 +v -0.779918 2.899858 0.799335 +v -0.065321 3.011497 0.799335 +v -0.757535 2.631893 1.335166 +v -0.132332 2.855128 1.379889 +v -0.779918 2.676581 1.379889 +v -0.087705 3.056185 0.821669 +v -0.065321 2.966808 0.888669 +v -0.757535 2.810564 0.821669 +v -0.757535 2.899858 0.844002 +f 1149 1151 1154 +f 1145 1146 1147 +f 1146 1145 1150 +f 1148 1144 1150 +f 1145 1148 1150 +f 1144 1149 1150 +f 1147 1146 1151 +f 1144 1147 1151 +f 1149 1144 1151 +f 1147 1144 1152 +f 1144 1148 1152 +f 1152 1148 1153 +f 1145 1147 1153 +f 1148 1145 1153 +f 1147 1152 1153 +f 1146 1150 1154 +f 1150 1149 1154 +f 1151 1146 1154 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/429/429.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/429/429.urdf new file mode 100644 index 000000000..43f2ed527 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/429/429.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/430/430.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/430/430.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/430/430.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/430/430.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/430/430.obj new file mode 100644 index 000000000..0f1f20578 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/430/430.obj @@ -0,0 +1,810 @@ +o convex_0 +v -3.040763 -2.465921 0.037593 +v -1.098567 -1.399347 -0.495653 +v -1.098567 -1.399347 -0.724156 +v -1.098567 -2.542217 -0.343173 +v -2.926539 -2.542217 -0.686090 +v -3.117241 -1.475643 0.228139 +v -1.098567 -2.542217 0.304270 +v -3.040763 -1.437607 -0.762330 +v -1.098567 -1.551939 0.228139 +v -1.136510 -2.542217 -0.762330 +v -3.040763 -2.427885 0.342444 +v -2.812118 -1.399347 -0.762330 +v -2.888399 -2.237258 0.342444 +v -3.040763 -1.666158 -0.762330 +v -2.964482 -2.542217 -0.343173 +v -3.117241 -1.513679 0.266205 +v -2.088834 -2.503957 0.342444 +v -1.098567 -1.932858 -0.762330 +v -1.708023 -1.399347 -0.343173 +v -1.174650 -2.199334 0.304270 +v -1.669882 -1.399347 -0.762330 +v -2.659754 -1.475643 0.228139 +v -3.117241 -1.704306 0.228139 +v -3.040763 -2.465921 0.266205 +v -1.403295 -2.542217 -0.762330 +v -3.078903 -1.437607 -0.571784 +v -3.040763 -1.437607 -0.152844 +v -2.964482 -2.542217 -0.571784 +f 5 15 28 +f 3 2 4 +f 4 2 7 +f 5 4 7 +f 7 2 9 +f 4 5 10 +f 2 3 12 +f 10 8 12 +f 8 10 14 +f 5 7 15 +f 11 13 16 +f 13 11 17 +f 15 7 17 +f 3 4 18 +f 4 10 18 +f 10 12 18 +f 9 2 19 +f 2 12 19 +f 7 9 20 +f 9 16 20 +f 16 13 20 +f 17 7 20 +f 13 17 20 +f 12 3 21 +f 3 18 21 +f 18 12 21 +f 6 16 22 +f 16 9 22 +f 9 19 22 +f 19 6 22 +f 16 6 23 +f 11 16 23 +f 1 15 24 +f 17 11 24 +f 15 17 24 +f 23 1 24 +f 11 23 24 +f 10 5 25 +f 5 14 25 +f 14 10 25 +f 12 8 26 +f 14 1 26 +f 8 14 26 +f 1 23 26 +f 23 6 26 +f 6 19 27 +f 19 12 27 +f 26 6 27 +f 12 26 27 +f 1 14 28 +f 14 5 28 +f 15 1 28 +o convex_1 +v 1.035022 -1.171061 0.570705 +v -0.983758 -1.285284 -1.295669 +v -1.059890 -2.770586 -1.219168 +v -0.983758 -1.209201 0.723091 +v 0.996956 -3.113454 0.761239 +v 0.996956 -2.960893 -1.181226 +v 0.996956 -1.094582 -1.219168 +v -1.098172 -2.922950 0.685149 +v -1.059890 -3.113454 -1.181226 +v 0.958890 -1.094582 0.799592 +v -0.983758 -1.094582 -1.295669 +v 1.111369 -2.618222 -0.800362 +v -0.831279 -1.094582 0.761444 +v -1.098172 -1.399705 -0.724066 +v 0.958890 -3.075314 -1.181226 +v 1.111369 -1.399508 0.380376 +v -0.526754 -2.999033 0.723091 +v 1.111369 -1.399508 -0.685919 +v -1.098172 -1.552069 0.227990 +v 0.996956 -2.465858 -1.219168 +v 1.111369 -2.465858 0.304080 +v -1.059890 -3.113454 -0.952543 +v 0.996956 -3.113454 0.075603 +v 1.035022 -1.094582 -1.181226 +v -1.098172 -2.503801 -0.762214 +v -1.059890 -2.656165 0.723091 +v 0.539735 -1.171061 0.799592 +v -0.260077 -3.113454 -1.181226 +v 0.311341 -1.132920 -1.257521 +v -0.945693 -1.094582 0.723091 +v -1.098172 -2.999033 0.189842 +v 0.806411 -3.113454 0.723091 +v 1.073087 -1.132722 -0.571680 +v 1.035022 -2.618222 0.685149 +v -0.679016 -1.132920 -1.295669 +v 0.996956 -3.075314 -0.876453 +f 51 43 64 +f 30 31 39 +f 38 35 39 +f 38 39 41 +f 39 31 42 +f 29 38 44 +f 44 40 46 +f 36 32 47 +f 32 42 47 +f 42 36 47 +f 31 30 48 +f 40 34 48 +f 43 31 48 +f 34 43 48 +f 33 40 49 +f 40 44 49 +f 37 33 50 +f 33 37 51 +f 40 33 51 +f 35 38 52 +f 46 40 52 +f 48 35 52 +f 40 48 52 +f 31 37 53 +f 36 42 53 +f 42 31 53 +f 32 36 54 +f 41 32 54 +f 45 33 54 +f 36 45 54 +f 33 38 55 +f 38 41 55 +f 41 54 55 +f 54 33 55 +f 37 31 56 +f 31 43 56 +f 51 37 56 +f 43 51 56 +f 39 35 57 +f 35 48 57 +f 32 41 58 +f 41 39 58 +f 42 32 58 +f 39 42 58 +f 45 36 59 +f 37 50 59 +f 50 45 59 +f 53 37 59 +f 36 53 59 +f 33 45 60 +f 50 33 60 +f 45 50 60 +f 38 29 61 +f 29 44 61 +f 44 46 61 +f 52 38 61 +f 46 52 61 +f 38 33 62 +f 44 38 62 +f 33 49 62 +f 49 44 62 +f 30 39 63 +f 48 30 63 +f 39 57 63 +f 57 48 63 +f 34 40 64 +f 43 34 64 +f 40 51 64 +o convex_2 +v 1.835362 -2.313434 -0.800425 +v 3.091963 -1.399347 0.342444 +v 3.091963 -1.513772 0.342444 +v 1.111377 -1.475710 0.304296 +v 1.721161 -2.503983 0.304296 +v 1.111377 -1.399347 -0.686094 +v 2.977762 -2.313434 -0.724130 +v 1.111377 -2.618170 -0.800425 +v 3.053961 -1.475710 -0.762278 +v 2.977762 -2.542046 0.266149 +v 1.111377 -2.465802 0.304296 +v 2.825365 -2.465802 -0.724130 +v 2.482567 -1.437648 -0.762278 +v 1.111377 -2.313434 -0.800425 +v 2.672967 -1.399347 0.342444 +v 1.454562 -2.618170 -0.571762 +v 3.091963 -1.399347 0.075745 +v 2.292167 -1.818508 0.342444 +v 1.187770 -1.513772 -0.724130 +v 3.053961 -1.628078 -0.762278 +v 2.977762 -2.542046 0.151817 +v 1.111377 -2.618170 -0.609910 +v 3.015958 -2.199248 0.304296 +v 2.101767 -1.970875 -0.800425 +v 1.111377 -1.437648 -0.038699 +v 2.368366 -2.503983 -0.762278 +f 84 71 90 +f 68 70 72 +f 68 72 75 +f 65 72 78 +f 72 70 78 +f 67 66 79 +f 66 70 79 +f 66 67 81 +f 70 66 81 +f 77 70 81 +f 73 77 81 +f 68 75 82 +f 75 69 82 +f 67 79 82 +f 79 68 82 +f 70 77 83 +f 78 70 83 +f 77 78 83 +f 81 67 84 +f 73 81 84 +f 76 71 85 +f 74 80 85 +f 80 76 85 +f 71 84 85 +f 84 67 85 +f 74 69 86 +f 69 75 86 +f 75 72 86 +f 80 74 86 +f 72 80 86 +f 69 74 87 +f 67 82 87 +f 82 69 87 +f 85 67 87 +f 74 85 87 +f 77 73 88 +f 65 78 88 +f 78 77 88 +f 84 65 88 +f 73 84 88 +f 70 68 89 +f 79 70 89 +f 68 79 89 +f 72 65 90 +f 71 76 90 +f 80 72 90 +f 76 80 90 +f 65 84 90 +o convex_3 +v -0.945692 -1.094366 0.723110 +v 1.111377 1.076674 -1.067349 +v 1.111377 0.962488 -1.067349 +v -1.021824 -0.979964 -3.275831 +v -1.098172 1.114735 0.799234 +v 0.958897 -0.941902 1.142013 +v 1.111377 1.076674 -3.352395 +v 0.920831 -1.056087 -3.200146 +v -1.021824 1.114735 -3.161864 +v 1.073094 1.000550 1.142013 +v -1.059890 -0.675253 1.142013 +v 1.035029 -1.094366 -0.115136 +v -1.021824 -1.094366 -3.275831 +v -1.098172 1.038612 1.142013 +v 1.073094 1.114735 0.837516 +v 1.035029 -1.094366 -1.218717 +v 0.425543 1.114735 -3.314113 +v -0.945692 -1.018026 1.142013 +v 0.958897 -1.094366 0.798794 +v 1.073094 0.390911 1.142013 +v -1.098172 0.695623 0.418173 +v 0.996963 -0.332480 -3.276271 +v 1.111160 0.581437 -1.180875 +v 0.653938 0.619499 -3.352395 +v 1.111377 1.114952 -1.219597 +v 0.768351 -1.056087 -3.237988 +v -1.098172 1.114735 0.227643 +v -0.831278 1.076674 -3.200146 +v 0.996963 -1.094366 0.685268 +v 1.111377 1.000550 -3.352395 +v 0.235214 -1.018026 1.142013 +v -0.983758 -1.094366 -0.610603 +v 0.653938 1.114735 -3.314113 +v 0.958897 -0.789438 -3.237988 +f 112 120 124 +f 92 93 97 +f 93 92 100 +f 96 100 101 +f 102 91 103 +f 101 100 104 +f 100 92 105 +f 95 104 105 +f 104 100 105 +f 103 98 106 +f 102 103 106 +f 96 101 108 +f 101 91 108 +f 91 102 109 +f 108 91 109 +f 93 100 110 +f 100 96 110 +f 103 101 111 +f 104 95 111 +f 101 104 111 +f 102 106 113 +f 93 110 113 +f 110 102 113 +f 103 94 114 +f 94 107 114 +f 107 97 114 +f 92 97 115 +f 105 92 115 +f 95 105 115 +f 107 99 115 +f 98 103 116 +f 103 114 116 +f 114 112 116 +f 99 94 117 +f 94 103 117 +f 111 95 117 +f 103 111 117 +f 95 115 117 +f 115 99 117 +f 94 99 118 +f 107 94 118 +f 99 107 118 +f 109 102 119 +f 96 109 119 +f 110 96 119 +f 102 110 119 +f 97 93 120 +f 93 113 120 +f 113 106 120 +f 114 97 120 +f 112 114 120 +f 96 108 121 +f 109 96 121 +f 108 109 121 +f 91 101 122 +f 103 91 122 +f 101 103 122 +f 97 107 123 +f 115 97 123 +f 107 115 123 +f 106 98 124 +f 98 116 124 +f 116 112 124 +f 120 106 124 +o convex_4 +v -1.822250 2.562434 -0.076608 +v -3.117048 2.219681 -0.838521 +v -3.078851 1.762600 -0.762270 +v -1.136461 1.534060 -0.800336 +v -2.926454 1.419732 0.380540 +v -1.136461 1.534060 0.380540 +v -3.078851 2.562434 0.266223 +v -1.136461 2.524402 -0.800336 +v -1.136461 2.448221 0.228157 +v -3.040849 1.457995 -0.685900 +v -3.117048 2.448221 -0.838521 +v -3.040849 2.600697 0.037590 +v -1.555651 2.524402 -0.838521 +v -2.964650 1.610240 0.380540 +v -1.136461 1.648503 0.380540 +v -2.736054 1.419732 0.228157 +v -2.697857 2.600697 0.228157 +v -1.327055 2.562434 -0.647953 +v -1.212660 2.486369 0.228157 +v -1.517455 1.496028 -0.457386 +v -3.078851 2.410189 0.266223 +v -3.040849 1.457995 -0.533756 +v -2.774056 1.457995 -0.685900 +v -1.365057 1.534060 -0.800336 +f 128 134 148 +f 130 128 132 +f 130 132 133 +f 126 131 135 +f 135 131 136 +f 128 126 137 +f 132 128 137 +f 126 135 137 +f 135 136 137 +f 129 130 138 +f 130 133 139 +f 138 130 139 +f 131 138 139 +f 130 129 140 +f 129 134 140 +f 136 131 141 +f 136 141 142 +f 132 137 142 +f 137 136 142 +f 141 125 142 +f 133 132 143 +f 139 133 143 +f 131 139 143 +f 125 141 143 +f 141 131 143 +f 142 125 143 +f 132 142 143 +f 128 130 144 +f 130 140 144 +f 126 127 145 +f 131 126 145 +f 138 131 145 +f 138 145 146 +f 127 134 146 +f 134 129 146 +f 129 138 146 +f 145 127 146 +f 134 128 147 +f 140 134 147 +f 128 144 147 +f 144 140 147 +f 127 126 148 +f 126 128 148 +f 134 127 148 +o convex_5 +v 1.187821 -0.561153 2.132743 +v 3.016160 0.619723 1.447237 +v 3.016160 0.619723 1.256845 +v 3.016160 -0.599338 2.209038 +v 1.302116 0.467221 2.361514 +v 1.111377 -0.485021 1.180549 +v 1.111377 0.581418 1.218812 +v 3.016160 -0.485021 1.294877 +v 3.016160 0.581418 2.285219 +v 1.111377 -0.561153 2.285219 +v 1.111377 0.162456 2.361514 +v 2.977751 0.505406 2.323251 +v 3.016160 -0.446956 2.247186 +v 1.530518 -0.142190 1.180549 +v 1.111377 0.429036 2.361514 +v 3.016160 -0.523087 1.371057 +v 2.939901 -0.599338 2.094710 +v 1.111377 0.581418 1.333025 +v 1.187821 0.124271 1.180549 +v 1.111377 -0.523087 1.523417 +v 1.949847 0.581418 1.218812 +v 3.016160 0.352904 1.256845 +f 156 162 170 +f 151 150 152 +f 150 151 155 +f 151 152 156 +f 152 150 157 +f 155 154 158 +f 155 158 159 +f 157 153 160 +f 153 159 160 +f 160 159 161 +f 152 157 161 +f 158 152 161 +f 159 158 161 +f 157 160 161 +f 156 154 162 +f 155 159 163 +f 159 153 163 +f 156 152 164 +f 154 156 164 +f 158 149 165 +f 152 158 165 +f 164 152 165 +f 150 155 166 +f 157 150 166 +f 153 157 166 +f 163 153 166 +f 155 163 166 +f 154 155 167 +f 162 154 167 +f 149 158 168 +f 158 154 168 +f 154 164 168 +f 165 149 168 +f 164 165 168 +f 155 151 169 +f 151 162 169 +f 167 155 169 +f 162 167 169 +f 151 156 170 +f 162 151 170 +o convex_6 +v 1.035141 3.019742 0.875567 +v -1.021712 1.115160 -1.333549 +v -1.059972 1.115160 -0.685997 +v 1.111212 1.114966 0.646956 +v 0.996881 2.981546 -1.219351 +v -1.098007 2.943349 0.799219 +v -0.945640 3.095747 -1.181285 +v 1.111212 1.114966 -1.219351 +v -1.098007 1.115160 0.799219 +v -1.136267 2.524353 -0.800194 +v 1.149472 2.600552 -0.800194 +v 1.073176 1.115160 0.837502 +v 1.149472 2.524159 0.342213 +v 0.539778 3.019548 0.875567 +v -1.136267 1.534351 -0.800194 +v -0.412241 3.095747 -0.609649 +v -1.136267 1.534351 0.380279 +v 1.149472 1.496154 -0.228991 +v 1.073176 3.019742 0.875567 +v -0.945640 2.943349 0.837502 +v -0.069470 1.115160 0.837502 +v -1.021712 3.057551 -0.419320 +v 1.073176 3.019742 0.228016 +v 1.073176 2.257560 0.875567 +v -1.136267 2.486157 0.189950 +v 0.616073 3.057551 0.342429 +v -0.602868 3.095747 -1.143003 +v -0.983676 3.057551 -1.143003 +v -0.945640 1.153357 -1.333549 +v 1.149472 1.572159 -0.800194 +v -1.021712 2.981352 0.532759 +v 1.149472 1.496154 0.228016 +v 0.730181 2.981546 -1.219351 +f 199 177 203 +f 173 172 178 +f 173 178 179 +f 178 174 179 +f 178 175 181 +f 172 173 185 +f 173 179 185 +f 180 172 185 +f 179 176 187 +f 185 179 187 +f 180 185 187 +f 174 178 188 +f 181 183 188 +f 174 183 189 +f 183 181 189 +f 171 184 189 +f 176 179 190 +f 184 176 190 +f 184 190 191 +f 179 174 191 +f 174 182 191 +f 190 179 191 +f 180 176 192 +f 186 177 192 +f 184 186 192 +f 181 175 193 +f 189 181 193 +f 182 174 194 +f 174 189 194 +f 189 184 194 +f 184 191 194 +f 191 182 194 +f 176 180 195 +f 187 176 195 +f 180 187 195 +f 184 171 196 +f 186 184 196 +f 171 189 196 +f 193 175 196 +f 189 193 196 +f 175 177 197 +f 177 186 197 +f 196 175 197 +f 186 196 197 +f 177 172 198 +f 172 180 198 +f 180 192 198 +f 192 177 198 +f 172 177 199 +f 178 172 199 +f 175 178 199 +f 178 181 200 +f 188 178 200 +f 181 188 200 +f 176 184 201 +f 192 176 201 +f 184 192 201 +f 183 174 202 +f 174 188 202 +f 188 183 202 +f 177 175 203 +f 175 199 203 +o convex_7 +v 2.825398 1.381636 0.189853 +v 2.978064 2.600697 -0.495578 +v 2.978064 2.562512 -0.267027 +v 1.149830 2.524327 0.342444 +v 1.149830 1.572204 -0.800425 +v 1.149830 2.600697 -0.800425 +v 2.978064 1.495953 -0.800425 +v 1.187773 1.458006 0.228001 +v 2.978064 2.448315 0.342444 +v 2.978064 2.600697 -0.724130 +v 2.978064 1.458006 0.266149 +v 1.149830 2.295932 0.342444 +v 1.378382 1.534019 -0.762278 +v 2.978064 1.839023 -0.800425 +v 2.978064 2.143549 0.342444 +v 1.149830 2.562512 -0.000551 +v 1.149830 1.495953 0.228001 +v 2.978064 1.458006 -0.609910 +v 1.530690 2.524327 0.342444 +v 1.416325 2.600697 -0.800425 +v 2.978064 1.381636 0.228001 +f 221 214 224 +f 208 207 209 +f 205 206 210 +f 208 209 210 +f 210 206 212 +f 209 205 213 +f 205 210 213 +f 210 212 214 +f 207 208 215 +f 212 207 215 +f 211 214 215 +f 208 210 216 +f 204 211 216 +f 211 208 216 +f 210 209 217 +f 213 210 217 +f 214 212 218 +f 212 215 218 +f 215 214 218 +f 205 209 219 +f 209 207 219 +f 208 211 220 +f 215 208 220 +f 211 215 220 +f 210 214 221 +f 204 216 221 +f 216 210 221 +f 206 205 222 +f 212 206 222 +f 207 212 222 +f 205 219 222 +f 219 207 222 +f 209 213 223 +f 217 209 223 +f 213 217 223 +f 211 204 224 +f 214 211 224 +f 204 221 224 +o convex_8 +v -2.393167 -0.599338 2.018583 +v -1.669882 0.581627 1.218749 +v -1.288873 0.543479 1.714093 +v -3.117241 0.505332 2.285155 +v -3.040763 -0.523043 1.180717 +v -1.098567 -0.599338 2.323419 +v -1.098567 -0.485010 1.180717 +v -3.078903 0.581627 1.180717 +v -1.098567 0.467299 2.323419 +v -3.078903 -0.599338 2.323419 +v -1.098567 0.543479 1.142453 +v -3.117241 0.581627 1.409141 +v -2.393167 -0.180174 1.142453 +v -3.117241 0.467299 2.323419 +v -3.117241 -0.446862 2.285155 +v -1.136510 -0.523043 1.332961 +v -1.098567 0.505332 2.247007 +v -3.078903 -0.561190 1.561733 +v -1.860387 0.581627 1.142453 +v -3.117241 0.543479 1.218749 +v -1.288873 -0.599338 2.094647 +f 242 240 245 +f 230 231 233 +f 225 230 234 +f 230 233 234 +f 226 227 235 +f 233 231 235 +f 226 232 236 +f 231 229 237 +f 229 232 237 +f 235 231 237 +f 233 228 238 +f 234 233 238 +f 228 236 238 +f 238 236 239 +f 234 238 239 +f 231 230 240 +f 229 231 240 +f 227 226 241 +f 228 233 241 +f 235 227 241 +f 233 235 241 +f 226 236 241 +f 236 228 241 +f 225 234 242 +f 234 239 242 +f 229 240 242 +f 232 226 243 +f 226 235 243 +f 237 232 243 +f 235 237 243 +f 232 229 244 +f 236 232 244 +f 239 236 244 +f 229 242 244 +f 242 239 244 +f 230 225 245 +f 240 230 245 +f 225 242 245 +o convex_9 +v -0.755147 -1.094582 2.056525 +v 0.996963 1.076871 2.704301 +v 0.920831 1.038611 2.742367 +v -1.097955 1.038611 1.142453 +v 0.958897 -0.941968 1.142453 +v -1.059890 1.000351 2.742367 +v 0.920831 -1.018062 2.818662 +v 1.073095 1.000564 1.142453 +v -0.945692 -1.018275 1.142453 +v -0.945692 -1.094582 2.742367 +v 1.111161 -0.561071 2.285084 +v -1.097955 -0.599118 2.323314 +v -1.097955 -0.560858 1.142453 +v 1.111161 -0.484764 1.180683 +v 1.111161 0.429006 2.361216 +v 0.387477 -1.018062 1.180683 +v -0.564601 0.505313 2.780432 +v -0.183727 -1.094582 2.780432 +v 0.311345 1.076871 2.742367 +v 0.996963 1.076871 2.209117 +v 0.920831 -1.018062 1.980558 +v -1.097955 1.038611 1.676031 +v -0.945692 -1.056322 1.218913 +v 0.539957 -0.637165 2.818662 +v 1.111161 0.581407 1.218749 +v 1.035029 1.038611 1.447472 +v -0.450404 -0.980015 2.780432 +v 0.958897 -0.789779 2.780432 +v -1.097955 0.467053 2.323314 +v -0.679015 1.038611 2.742367 +v 0.920831 -0.980228 1.142453 +v 0.996963 1.000564 2.742367 +v -1.059890 0.657502 2.742367 +v 0.616088 -1.056322 2.742367 +v -0.450404 -1.094582 2.247019 +f 279 263 280 +f 250 249 253 +f 249 250 254 +f 252 250 256 +f 249 254 258 +f 257 249 258 +f 250 253 259 +f 256 250 259 +f 256 259 260 +f 253 247 260 +f 255 246 263 +f 248 247 264 +f 262 248 264 +f 247 253 265 +f 264 247 265 +f 249 264 265 +f 250 252 266 +f 249 257 267 +f 264 249 267 +f 246 255 268 +f 255 257 268 +f 257 258 268 +f 258 254 268 +f 261 246 268 +f 254 261 268 +f 248 262 269 +f 259 253 270 +f 260 259 270 +f 253 260 270 +f 253 249 271 +f 265 253 271 +f 249 265 271 +f 262 255 272 +f 255 263 272 +f 263 252 272 +f 252 269 272 +f 269 262 272 +f 252 256 273 +f 256 260 273 +f 257 251 274 +f 267 257 274 +f 251 267 274 +f 251 262 275 +f 262 264 275 +f 267 251 275 +f 264 267 275 +f 254 250 276 +f 261 254 276 +f 250 266 276 +f 266 261 276 +f 247 248 277 +f 260 247 277 +f 248 269 277 +f 269 252 277 +f 252 273 277 +f 273 260 277 +f 251 257 278 +f 257 255 278 +f 262 251 278 +f 255 262 278 +f 252 263 279 +f 266 252 279 +f 266 279 280 +f 246 261 280 +f 263 246 280 +f 261 266 280 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/430/430.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/430/430.urdf new file mode 100644 index 000000000..f207a23cf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/430/430.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/431/431.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/431/431.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/431/431.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/431/431.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/431/431.obj new file mode 100644 index 000000000..6cf29de4c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/431/431.obj @@ -0,0 +1,393 @@ +o convex_0 +v -1.135300 0.072005 1.035824 +v -2.404459 -1.059916 -1.056756 +v -2.301423 -1.059916 -1.056756 +v -2.747459 0.964212 -1.091145 +v -3.090654 -1.025429 0.967261 +v -3.090654 1.101524 0.967261 +v -1.100825 1.032762 -0.919414 +v -1.100825 -1.059704 -0.988193 +v -1.100825 1.067037 1.104603 +v -1.100825 -0.922392 0.932872 +v -2.953337 -1.059916 -0.953804 +v -2.953337 0.929937 -1.091145 +v -3.056373 -1.059916 0.280982 +v -2.541776 -1.025429 0.967261 +v -3.056373 1.101524 0.589840 +v -2.953337 -0.236258 -1.091145 +v -2.267142 1.101524 1.035824 +v -2.987617 0.964212 -0.816462 +v -1.100825 -0.339083 -0.988193 +v -2.781740 -0.716743 1.001650 +v -1.375459 -1.059916 -1.022367 +v -1.272617 -0.956667 0.898697 +v -3.090654 -0.647981 0.726967 +v -1.203861 0.998487 -0.953804 +v -2.919056 -1.059916 -1.056541 +v -1.238142 0.826901 1.104603 +v -1.100825 -1.059704 -0.850851 +v -3.021898 -1.059916 0.589840 +v -3.090654 1.101524 0.829919 +v -2.919056 0.964212 -1.091145 +v -2.164300 1.101524 0.967046 +v -2.781740 1.101524 1.001650 +v -1.306898 -0.716743 0.967046 +v -2.644618 -0.716743 1.001650 +v -1.100825 0.826901 1.104603 +v -2.884776 -0.201983 -1.091145 +v -2.027178 0.998487 -1.022367 +f 30 15 37 +f 8 7 9 +f 8 9 10 +f 2 3 11 +f 11 3 13 +f 3 2 16 +f 12 4 16 +f 11 13 16 +f 15 6 17 +f 12 16 18 +f 16 13 18 +f 7 8 19 +f 6 5 20 +f 5 14 20 +f 13 3 21 +f 4 19 21 +f 19 8 21 +f 10 14 22 +f 5 6 23 +f 13 5 23 +f 18 13 23 +f 19 4 24 +f 7 19 24 +f 2 11 25 +f 16 2 25 +f 11 16 25 +f 9 17 26 +f 8 10 27 +f 21 8 27 +f 10 22 27 +f 22 14 27 +f 5 13 28 +f 14 5 28 +f 13 21 28 +f 27 14 28 +f 21 27 28 +f 6 15 29 +f 15 18 29 +f 23 6 29 +f 18 23 29 +f 4 12 30 +f 12 18 30 +f 18 15 30 +f 9 7 31 +f 7 15 31 +f 17 9 31 +f 15 17 31 +f 17 6 32 +f 6 20 32 +f 26 17 32 +f 20 26 32 +f 10 1 33 +f 14 10 33 +f 20 14 34 +f 26 20 34 +f 33 1 34 +f 14 33 34 +f 1 10 35 +f 10 9 35 +f 9 26 35 +f 34 1 35 +f 26 34 35 +f 3 16 36 +f 16 4 36 +f 21 3 36 +f 4 21 36 +f 15 7 37 +f 24 4 37 +f 7 24 37 +f 4 30 37 +o convex_1 +v 3.016202 0.072012 -0.610594 +v 2.981786 0.655351 1.001677 +v 2.981786 1.067215 0.967002 +v 1.094923 -0.991097 -0.987853 +v 1.094923 0.929793 -1.022528 +v 1.094923 -0.991097 1.001479 +v 3.016202 -0.956842 1.001677 +v 1.094923 0.998303 0.932724 +v 2.947370 -0.956842 -0.987853 +v 2.981786 0.929793 -0.988052 +v 1.403915 1.032759 0.967002 +v 3.016202 0.964048 -0.782183 +v 2.124207 -0.991298 -0.164777 +v 1.163567 -0.510723 -1.022528 +v 2.021335 0.929793 -1.022528 +v 3.016202 -0.030350 1.001677 +v 3.016202 -0.956842 0.281039 +v 2.981786 -0.510723 -0.987853 +v 2.089790 -0.991298 1.001479 +v 2.913142 1.067215 0.898446 +v 1.094923 0.964048 -0.439202 +v 1.094923 -0.716655 1.001479 +v 3.016202 0.552385 -0.988052 +v 1.094923 0.792371 0.967002 +v 3.016202 0.964048 -0.404725 +v 1.369499 1.032759 0.898446 +v 2.981786 -0.956842 -0.610594 +v 1.369499 -0.991097 -0.987853 +f 51 46 65 +f 42 41 43 +f 39 43 44 +f 42 43 45 +f 39 40 48 +f 44 38 49 +f 41 42 51 +f 42 49 52 +f 49 47 52 +f 51 42 52 +f 46 51 52 +f 40 39 53 +f 39 44 53 +f 44 49 53 +f 38 44 54 +f 44 50 54 +f 46 52 55 +f 43 41 56 +f 44 43 56 +f 41 50 56 +f 50 44 56 +f 48 40 57 +f 40 49 57 +f 49 42 57 +f 42 45 58 +f 57 42 58 +f 43 39 59 +f 45 43 59 +f 39 48 59 +f 49 38 60 +f 47 49 60 +f 52 47 60 +f 38 55 60 +f 55 52 60 +f 48 45 61 +f 45 59 61 +f 59 48 61 +f 49 40 62 +f 40 53 62 +f 53 49 62 +f 45 48 63 +f 48 57 63 +f 58 45 63 +f 57 58 63 +f 50 46 64 +f 38 54 64 +f 54 50 64 +f 55 38 64 +f 46 55 64 +f 50 41 65 +f 46 50 65 +f 41 51 65 +o convex_2 +v -0.105581 -1.059916 0.967261 +v -1.100825 -3.049446 -1.091145 +v -1.100825 -3.049446 -0.885264 +v 1.060615 -3.084120 -1.091145 +v 1.026128 -3.084120 0.967261 +v 1.060615 -1.059916 -0.987897 +v -1.100825 -1.059916 -0.988102 +v -0.997788 -2.946611 0.933050 +v 1.060615 -1.059916 1.001677 +v -0.997788 -1.094392 0.933050 +v 0.923303 -1.094392 -1.022313 +v -1.100825 -1.059916 -0.576339 +v -1.100825 -2.637908 -1.091145 +v -1.032063 -2.946611 0.727168 +v 0.271232 -3.049644 0.967261 +v -1.066338 -1.231704 -1.022313 +v -0.277379 -2.294926 0.967261 +v 0.408544 -3.084120 -1.091145 +v -0.997788 -1.059916 0.898429 +v 1.060615 -1.849110 0.830006 +v 0.717442 -3.084120 0.932845 +v 1.060615 -2.843776 -1.091145 +v -1.032063 -2.980889 0.486870 +v 1.060615 -1.437373 1.001677 +v 1.060615 -3.084120 -0.679177 +v -1.100825 -3.015167 -0.782220 +v 0.889028 -1.059916 1.001677 +v 0.065582 -3.015366 0.967261 +v -0.448966 -2.637908 -1.091145 +v 1.060615 -1.128670 -1.022313 +f 87 76 95 +f 67 68 72 +f 66 71 72 +f 71 66 74 +f 69 71 74 +f 72 71 76 +f 66 72 77 +f 72 68 77 +f 69 67 78 +f 67 72 78 +f 73 75 79 +f 75 77 79 +f 72 76 81 +f 78 72 81 +f 76 78 81 +f 66 75 82 +f 75 73 82 +f 68 67 83 +f 67 69 83 +f 69 70 83 +f 75 66 84 +f 66 77 84 +f 77 75 84 +f 69 74 85 +f 70 80 86 +f 68 83 86 +f 83 70 86 +f 71 69 87 +f 69 78 87 +f 79 68 88 +f 73 79 88 +f 80 73 88 +f 68 86 88 +f 86 80 88 +f 80 70 89 +f 70 85 89 +f 85 74 89 +f 70 69 90 +f 69 85 90 +f 85 70 90 +f 77 68 91 +f 68 79 91 +f 79 77 91 +f 74 66 92 +f 66 82 92 +f 89 74 92 +f 82 89 92 +f 73 80 93 +f 82 73 93 +f 80 89 93 +f 89 82 93 +f 78 76 94 +f 76 87 94 +f 87 78 94 +f 76 71 95 +f 71 87 95 +o convex_3 +v -0.894920 1.341244 1.104603 +v -1.100825 -1.059916 -0.988075 +v 0.580160 -1.059916 -0.988075 +v -0.448935 3.091420 -1.022350 +v 1.094923 3.022746 1.104603 +v 1.060534 -1.059509 1.001566 +v 0.957581 3.022340 -1.022350 +v -0.997872 2.954072 0.933016 +v -1.100825 -0.922567 0.933016 +v 1.094923 -0.613330 -1.022350 +v -1.066436 3.091420 -1.022350 +v -1.100825 0.861743 1.104603 +v 1.060534 0.930417 -1.056837 +v -0.963483 -1.059916 0.933016 +v 1.060534 -1.059509 -0.987864 +v 1.094923 -0.990835 1.001566 +v 1.094923 0.930417 -1.022350 +v -0.620451 -0.613736 -1.022350 +v 0.477208 3.022340 1.070116 +v -1.100825 1.032413 -0.919314 +v -1.032047 2.988206 0.555357 +v 1.094923 3.022746 0.761430 +v -1.066436 3.091420 -0.782214 +v -0.997872 2.885397 0.967080 +v 0.683113 3.056880 -1.022350 +v -1.100825 1.066547 1.104603 +v 0.786065 0.758935 -1.056837 +v -0.311594 1.478592 1.104603 +v 0.923192 1.307110 -1.056837 +v 1.094923 -0.990835 -0.987864 +v 0.889018 -1.059916 1.001566 +v 1.094923 2.884991 1.104603 +v -1.066436 3.056880 -0.507802 +v -1.066436 2.644835 -1.022350 +v 1.026145 -0.682004 -1.022350 +v 0.683113 2.816723 1.104603 +v 0.991970 3.022340 -0.610416 +v -0.997872 -1.059916 0.898530 +v -0.105689 -1.059916 0.967080 +v -0.929094 0.896284 1.104603 +f 123 107 135 +f 100 96 107 +f 97 104 107 +f 97 98 109 +f 107 104 109 +f 105 100 111 +f 101 110 111 +f 100 105 112 +f 108 102 112 +f 105 108 112 +f 106 97 115 +f 97 107 115 +f 103 114 116 +f 100 112 117 +f 100 99 118 +f 99 106 118 +f 114 100 118 +f 116 114 118 +f 114 103 119 +f 99 100 120 +f 100 117 120 +f 107 96 121 +f 106 115 121 +f 115 107 121 +f 103 116 121 +f 118 106 121 +f 96 119 121 +f 119 103 121 +f 100 107 123 +f 106 99 124 +f 102 108 124 +f 99 120 124 +f 120 102 124 +f 108 122 124 +f 122 106 124 +f 110 105 125 +f 105 111 125 +f 111 110 125 +f 101 107 126 +f 109 98 126 +f 98 110 126 +f 110 101 126 +f 111 100 127 +f 101 111 127 +f 100 123 127 +f 123 101 127 +f 116 118 128 +f 121 116 128 +f 118 121 128 +f 97 106 129 +f 113 97 129 +f 106 122 129 +f 122 113 129 +f 98 97 130 +f 108 105 130 +f 110 98 130 +f 105 110 130 +f 97 113 130 +f 122 108 130 +f 113 122 130 +f 96 100 131 +f 100 114 131 +f 119 96 131 +f 114 119 131 +f 112 102 132 +f 117 112 132 +f 102 120 132 +f 120 117 132 +f 104 97 133 +f 97 109 133 +f 109 104 133 +f 107 109 134 +f 126 107 134 +f 109 126 134 +f 107 101 135 +f 101 123 135 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/431/431.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/431/431.urdf new file mode 100644 index 000000000..d4d834384 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/431/431.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/432/432.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/432/432.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/432/432.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/432/432.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/432/432.obj new file mode 100644 index 000000000..8a15df637 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/432/432.obj @@ -0,0 +1,822 @@ +o convex_0 +v -1.854418 0.158826 -1.740722 +v -1.461422 -0.484538 -1.311644 +v -1.425718 -0.484538 -1.311644 +v -1.640131 -0.412997 -3.277369 +v -1.354247 0.123056 -3.205856 +v -1.925889 -0.448768 -1.275790 +v -1.961656 0.158826 -3.169806 +v -1.461422 0.158826 -1.275790 +v -1.354247 -0.412997 -3.241515 +v -1.997486 0.123056 -1.275790 +v -1.890185 -0.305812 -3.277369 +v -1.925889 -0.448768 -1.955261 +v -1.389951 -0.412997 -1.561842 +v -1.425718 0.158826 -1.347303 +v -1.389951 0.158826 -3.205856 +v -1.997486 0.087286 -2.419214 +v -1.354247 -0.448768 -2.776974 +v -1.961656 -0.377227 -1.275790 +v -1.961656 0.015808 -3.205856 +v -1.890185 -0.412997 -2.848095 +v -1.354247 -0.234271 -2.562435 +v -1.425718 -0.484538 -1.275790 +f 17 13 22 +f 7 1 8 +f 4 5 9 +f 1 7 10 +f 8 1 10 +f 6 8 10 +f 2 6 12 +f 7 8 14 +f 5 4 15 +f 4 11 15 +f 14 5 15 +f 7 14 15 +f 10 7 16 +f 3 2 17 +f 4 9 17 +f 9 5 17 +f 2 12 17 +f 12 4 17 +f 6 10 18 +f 12 6 18 +f 10 16 18 +f 18 16 19 +f 15 11 19 +f 7 15 19 +f 16 7 19 +f 12 18 19 +f 11 4 20 +f 4 12 20 +f 19 11 20 +f 12 19 20 +f 5 14 21 +f 14 13 21 +f 17 5 21 +f 13 17 21 +f 2 3 22 +f 6 2 22 +f 8 6 22 +f 14 8 22 +f 13 14 22 +f 3 17 22 +o convex_1 +v -1.640152 0.123073 2.834481 +v -1.890185 -0.377311 2.191232 +v -1.997486 0.158819 2.191232 +v -1.425663 0.194565 2.191232 +v -1.461429 -0.305759 2.906043 +v -1.997486 -0.305759 2.798774 +v -1.461429 -0.305759 2.191232 +v -1.961663 0.123073 2.906043 +v -1.997486 0.230311 2.227013 +v -1.461429 0.158819 2.620016 +v -1.961663 0.051581 2.941824 +f 30 28 33 +f 24 25 26 +f 24 27 28 +f 25 24 28 +f 24 26 29 +f 26 27 29 +f 27 24 29 +f 28 30 31 +f 26 25 31 +f 25 28 31 +f 23 27 32 +f 27 26 32 +f 30 23 32 +f 31 30 32 +f 26 31 32 +f 27 23 33 +f 28 27 33 +f 23 30 33 +o convex_2 +v 3.292311 -1.127823 -0.882608 +v 1.398225 0.944976 0.868760 +v 1.362308 0.944976 0.868760 +v 3.328026 0.980904 -1.132624 +v 1.362308 -1.163530 -1.275790 +v 3.328026 -1.270873 0.832863 +v 1.362308 -1.199238 0.868760 +v 3.435372 0.944976 0.796967 +v 1.362308 0.802146 -1.239893 +v 3.256597 -1.163310 -1.275790 +v 3.399455 -0.341376 0.832863 +v 1.433940 0.837633 -1.239893 +v 3.256597 -0.734599 -1.275790 +v 1.862717 -1.234945 0.868760 +v 3.435372 0.694803 0.546741 +v 1.791288 -1.199238 -0.811025 +v 1.362308 -0.020008 -1.275790 +v 2.398840 -1.199238 0.868760 +v 1.362308 0.944976 0.618534 +v 2.934760 0.909268 0.832863 +v 3.363740 -1.163310 0.796967 +v 3.149250 0.980904 -1.132624 +v 3.292311 -1.199238 -0.811025 +v 3.292311 -0.484426 -1.239893 +v 1.648430 0.837633 -1.239893 +v 3.328026 0.980904 -0.667859 +v 1.362308 -1.199238 -0.310365 +v 3.220882 -1.270873 0.725594 +v 3.399455 -0.020008 0.832863 +f 41 53 62 +f 35 36 40 +f 36 38 40 +f 38 36 42 +f 43 38 46 +f 35 40 47 +f 37 41 48 +f 41 44 48 +f 38 42 50 +f 42 45 50 +f 46 38 50 +f 39 44 51 +f 47 39 51 +f 35 47 51 +f 42 36 52 +f 45 42 52 +f 41 35 53 +f 44 39 54 +f 48 44 54 +f 37 45 55 +f 52 36 55 +f 45 52 55 +f 38 43 56 +f 43 34 56 +f 34 48 56 +f 49 38 56 +f 54 39 56 +f 48 54 56 +f 34 43 57 +f 43 46 57 +f 46 37 57 +f 48 34 57 +f 37 48 57 +f 45 37 58 +f 37 46 58 +f 50 45 58 +f 46 50 58 +f 36 35 59 +f 35 41 59 +f 41 37 59 +f 55 36 59 +f 37 55 59 +f 40 38 60 +f 47 40 60 +f 38 49 60 +f 60 49 61 +f 39 47 61 +f 49 56 61 +f 56 39 61 +f 47 60 61 +f 44 41 62 +f 51 44 62 +f 35 51 62 +f 53 35 62 +o convex_3 +v 0.004093 1.981634 -2.776680 +v 0.683200 2.160347 -2.812384 +v 0.611673 2.088861 -1.526284 +v 0.611673 1.624328 -3.205884 +v 0.075620 1.624328 -1.276167 +v 0.611673 1.588526 -1.276167 +v 0.004093 2.017377 -1.276167 +v 0.111384 1.588526 -3.134098 +v 0.039857 2.053119 -3.205884 +v 0.611673 2.196089 -3.134098 +v 0.575910 2.053119 -1.276167 +v 0.075620 2.053119 -1.347575 +v 0.683200 2.053119 -3.134098 +v 0.004093 2.053119 -1.776401 +v 0.004093 1.874526 -1.418983 +v 0.432989 1.588526 -3.098394 +v 0.361396 1.588526 -1.311871 +f 70 68 79 +f 64 65 68 +f 67 68 69 +f 70 63 71 +f 66 70 71 +f 65 64 72 +f 66 71 72 +f 68 65 73 +f 69 68 73 +f 69 73 74 +f 65 72 74 +f 73 65 74 +f 64 68 75 +f 68 66 75 +f 72 64 75 +f 66 72 75 +f 63 69 76 +f 71 63 76 +f 72 71 76 +f 69 74 76 +f 74 72 76 +f 69 63 77 +f 67 69 77 +f 63 70 77 +f 70 67 77 +f 66 68 78 +f 70 66 78 +f 68 70 78 +f 68 67 79 +f 67 70 79 +o convex_4 +v -1.139723 0.873368 0.797152 +v -2.783821 -1.199388 -1.132585 +v -2.319109 -1.199388 -1.132585 +v -2.783821 0.909265 -1.168440 +v -2.748030 -1.127805 0.904502 +v -0.818177 -1.127595 -1.132585 +v -0.818177 -1.163492 0.868648 +v -0.818177 0.801995 -1.168440 +v -2.748030 0.945161 0.832793 +v -0.818177 0.837892 0.797152 +v -1.675825 -0.591458 -1.275790 +v -1.425669 0.122692 0.904502 +v -2.783821 -0.984849 0.868434 +v -1.997371 0.122692 -1.275790 +v -0.961150 0.837682 -1.168440 +v -1.282696 -0.198486 -1.275790 +v -2.569265 0.945161 0.439675 +v -2.783821 0.909265 -0.060793 +v -0.925359 -0.913266 -1.204294 +v -2.676447 -1.127805 -1.168440 +v -2.748030 -0.448712 0.904502 +v -2.783821 -1.199388 -0.739467 +v -2.676447 0.801995 -1.204081 +v -1.497060 -1.127595 0.904502 +v -1.247097 -1.163282 -1.132799 +v -1.461461 0.158798 -1.275790 +v -2.462083 0.909265 -1.168440 +v -2.783821 -1.163492 0.261043 +v -1.997371 0.194485 0.904502 +v -1.961579 -0.413025 -1.275790 +v -0.818177 0.837892 -0.739467 +v -2.497682 0.945161 0.832793 +v -0.818177 -0.770310 0.868648 +v -0.889567 0.516083 -1.204294 +v -2.783821 -0.555771 -1.168440 +v -0.818177 -1.056222 -1.168440 +f 98 113 115 +f 86 85 87 +f 86 87 89 +f 83 81 92 +f 90 93 95 +f 83 88 96 +f 88 83 97 +f 83 92 97 +f 92 88 97 +f 90 95 98 +f 82 81 99 +f 90 98 99 +f 84 91 100 +f 92 84 100 +f 88 92 100 +f 81 82 101 +f 82 86 101 +f 92 81 101 +f 84 86 103 +f 91 84 103 +f 86 91 103 +f 86 82 104 +f 85 86 104 +f 82 99 104 +f 94 87 105 +f 95 93 105 +f 102 94 105 +f 93 102 105 +f 83 96 106 +f 96 94 106 +f 102 83 106 +f 94 102 106 +f 86 84 107 +f 84 92 107 +f 101 86 107 +f 92 101 107 +f 100 91 108 +f 88 100 108 +f 93 90 109 +f 90 99 109 +f 102 93 109 +f 89 87 110 +f 80 89 110 +f 87 94 110 +f 96 80 110 +f 94 96 110 +f 89 80 111 +f 91 89 111 +f 80 96 111 +f 96 88 111 +f 88 108 111 +f 108 91 111 +f 86 89 112 +f 91 86 112 +f 89 91 112 +f 98 95 113 +f 105 87 113 +f 95 105 113 +f 81 83 114 +f 99 81 114 +f 83 102 114 +f 109 99 114 +f 102 109 114 +f 87 85 115 +f 99 98 115 +f 85 104 115 +f 104 99 115 +f 113 87 115 +o convex_5 +v -1.354247 -0.162734 1.333328 +v -1.997486 -0.198497 0.904502 +v -1.997486 -0.198497 0.940343 +v -1.997486 0.194569 0.904502 +v -1.961656 0.194569 1.440587 +v -1.425718 0.123042 0.904502 +v -1.747243 -0.484538 1.083285 +v -1.354247 -0.448775 0.904502 +v -1.854418 -0.377248 1.440587 +v -1.354247 0.194569 1.440587 +v -1.425718 -0.412945 1.440587 +v -1.961656 -0.484538 0.904502 +v -1.961656 -0.091406 1.440587 +f 118 127 128 +f 117 118 119 +f 119 118 120 +f 117 119 121 +f 117 121 123 +f 120 124 125 +f 119 120 125 +f 121 119 125 +f 123 121 125 +f 116 123 125 +f 116 125 126 +f 123 116 126 +f 122 123 126 +f 124 122 126 +f 125 124 126 +f 118 117 127 +f 117 123 127 +f 123 122 127 +f 122 124 127 +f 127 124 128 +f 120 118 128 +f 124 120 128 +o convex_6 +v -1.497137 -2.986240 1.476508 +v -1.568668 -2.021193 2.119747 +v -1.604354 -2.021193 2.119747 +v -1.854475 -0.449341 1.476508 +v -1.961744 -3.093467 2.012446 +v -1.425607 -0.484811 2.012446 +v -1.854475 -0.449341 2.083917 +v -1.425607 -3.093467 2.119747 +v -1.890213 -3.236437 1.512212 +v -1.461451 -0.449341 1.619450 +v -1.461451 -3.200695 1.512212 +v -1.711466 -0.449341 1.476508 +v -1.425607 -3.129210 1.798096 +v -1.961744 -2.771785 1.940975 +v -1.925900 -3.129210 1.619450 +v -1.425607 -0.449341 1.869504 +v -1.890213 -0.949463 2.048150 +v -1.854475 -1.949708 1.476508 +v -1.461451 -2.450103 1.512212 +v -1.532876 -3.093467 2.119747 +v -1.711466 -3.236437 1.619450 +v -1.711466 -0.520553 2.083917 +v -1.925900 -2.092678 2.048150 +f 133 148 151 +f 131 130 135 +f 130 131 136 +f 134 130 136 +f 132 135 138 +f 137 129 139 +f 129 132 140 +f 132 138 140 +f 134 136 141 +f 136 139 141 +f 132 137 143 +f 137 133 143 +f 142 132 143 +f 133 142 143 +f 135 134 144 +f 138 135 144 +f 134 141 144 +f 135 132 145 +f 132 142 145 +f 132 129 146 +f 129 137 146 +f 137 132 146 +f 139 129 147 +f 129 140 147 +f 140 138 147 +f 141 139 147 +f 138 144 147 +f 144 141 147 +f 136 131 148 +f 133 137 149 +f 139 136 149 +f 137 139 149 +f 148 133 149 +f 136 148 149 +f 130 134 150 +f 134 135 150 +f 135 130 150 +f 131 135 151 +f 142 133 151 +f 135 145 151 +f 145 142 151 +f 148 131 151 +o convex_7 +v -1.354202 1.373504 1.512128 +v -1.711452 0.230332 2.191232 +v -1.997406 0.230332 2.191232 +v -1.318519 2.910998 2.155451 +v -1.890147 2.910998 1.512128 +v -1.854464 -0.448796 1.440640 +v -1.425708 -0.448796 1.976767 +v -2.033159 2.875151 2.083889 +v -1.354202 -0.019613 1.440640 +v -1.961653 -0.055460 1.440640 +v -1.389955 2.875151 1.619398 +v -1.890147 -0.377101 2.191232 +v -1.425708 -0.055460 2.191232 +v -1.425708 -0.412948 1.440640 +v -1.318519 1.659626 1.869424 +v -1.532897 2.910998 2.155451 +v -2.033159 2.875151 2.012474 +v -1.354202 0.373393 1.440640 +v -1.997406 0.158967 1.976767 +v -1.354202 0.230332 1.726594 +v -1.461461 -0.305735 2.191232 +v -1.961653 0.194814 1.440640 +v -1.354202 2.839303 1.726594 +v -1.818711 2.910998 1.512128 +v -1.854464 -0.448796 2.083889 +f 172 163 176 +f 154 153 155 +f 160 157 161 +f 153 154 163 +f 161 157 163 +f 155 153 164 +f 153 163 164 +f 158 157 165 +f 157 160 165 +f 160 158 165 +f 155 164 166 +f 154 155 167 +f 155 156 167 +f 159 154 167 +f 156 159 167 +f 159 156 168 +f 160 161 169 +f 152 166 169 +f 166 160 169 +f 154 159 170 +f 163 154 170 +f 161 163 170 +f 159 168 170 +f 168 161 170 +f 158 160 171 +f 164 158 171 +f 160 166 171 +f 166 164 171 +f 158 164 172 +f 164 163 172 +f 168 156 173 +f 161 168 173 +f 156 169 173 +f 169 161 173 +f 152 162 174 +f 162 155 174 +f 166 152 174 +f 155 166 174 +f 156 155 175 +f 162 152 175 +f 155 162 175 +f 152 169 175 +f 169 156 175 +f 157 158 176 +f 163 157 176 +f 158 172 176 +o convex_8 +v -0.746499 -2.879257 -1.203997 +v 1.362308 -1.199584 0.868760 +v -0.138793 -1.199388 0.832653 +v 1.004785 -3.200772 0.868760 +v 1.290679 -1.199584 -1.275790 +v 1.326391 -3.129259 -1.239893 +v -0.710582 -3.057746 0.832653 +v -0.674871 -1.199388 -1.132624 +v -0.746499 -1.199388 0.868550 +v -0.746499 -3.165113 -1.239683 +v 1.362308 -3.200772 0.868760 +v 1.362308 -3.165113 -0.525113 +v 1.326391 -1.950177 -1.275790 +v -0.746499 -3.129259 -0.238992 +v -0.674871 -1.378269 -1.168310 +v -0.746499 -1.950177 0.868550 +v -0.746499 -1.199388 0.296726 +v -0.710582 -2.736232 -1.239683 +v 1.362308 -3.200772 0.261039 +v 1.362308 -1.199584 0.439682 +v -0.603449 -3.093601 0.832653 +v 1.290679 -2.449984 -1.275790 +v -0.067371 -3.165113 -1.239683 +v 0.290152 -3.129259 0.868760 +v -0.746499 -3.165113 -0.953771 +v 1.183340 -1.199584 -1.275790 +v -0.710582 -1.235243 -0.667859 +v -0.746499 -2.557351 0.832653 +v 1.326391 -1.199584 -0.775339 +f 196 189 205 +f 179 181 184 +f 178 179 185 +f 179 184 185 +f 185 177 186 +f 178 180 187 +f 178 187 188 +f 188 182 189 +f 185 186 190 +f 177 184 191 +f 186 177 191 +f 185 190 192 +f 177 185 193 +f 185 184 193 +f 186 191 194 +f 180 186 195 +f 187 180 195 +f 188 187 195 +f 179 178 196 +f 178 188 196 +f 188 189 196 +f 183 190 197 +f 189 182 198 +f 181 189 198 +f 182 188 199 +f 195 186 199 +f 188 195 199 +f 186 198 199 +f 198 182 199 +f 180 178 200 +f 178 185 200 +f 192 183 200 +f 185 192 200 +f 197 180 200 +f 183 197 200 +f 186 180 201 +f 190 186 201 +f 180 197 201 +f 197 190 201 +f 184 181 202 +f 191 184 202 +f 186 194 202 +f 194 191 202 +f 181 198 202 +f 198 186 202 +f 184 177 203 +f 177 193 203 +f 193 184 203 +f 190 183 204 +f 183 192 204 +f 192 190 204 +f 181 179 205 +f 189 181 205 +f 179 196 205 +o convex_9 +v 0.825985 0.837934 -1.275790 +v -0.817984 -1.163492 0.546812 +v -0.817984 -1.163492 0.868435 +v 1.362308 -1.199388 -0.239212 +v 1.326453 1.517041 0.868435 +v -0.782130 1.517041 -1.204294 +v -0.817984 -1.127861 -1.132585 +v -0.639139 1.517041 0.797153 +v 1.362308 -1.199388 0.868435 +v 1.362308 1.517041 -1.239722 +v 1.290812 -1.199388 -1.275790 +v -0.817984 0.837934 0.797153 +v 0.397225 1.517041 0.904289 +v -0.674993 -1.199388 -1.132585 +v 1.362308 -1.163492 -1.275790 +v -0.817984 -1.056334 -1.168226 +v -0.353157 -0.305700 0.904502 +v 1.362308 0.945091 0.868435 +v -0.746489 -1.199388 0.868435 +v -0.817984 0.802037 -1.168226 +v 1.111967 1.445514 0.904289 +v 0.647353 0.730510 -1.275790 +v -0.746489 1.517041 -0.381989 +v 1.183462 -1.199388 -1.275790 +v 1.362308 0.087565 -1.275790 +v -0.817984 -0.734596 0.868435 +v 0.004321 0.802037 0.904289 +v 1.362308 1.517041 -0.453485 +v -0.281875 -0.377227 0.904502 +v -0.674993 1.517041 0.582666 +f 228 217 235 +f 207 208 212 +f 210 211 213 +f 211 210 215 +f 206 211 215 +f 214 209 215 +f 209 214 216 +f 212 208 217 +f 210 213 218 +f 207 212 219 +f 216 214 219 +f 215 209 220 +f 216 206 220 +f 209 216 220 +f 212 217 221 +f 219 212 221 +f 214 215 223 +f 208 207 224 +f 207 219 224 +f 219 214 224 +f 217 211 225 +f 211 221 225 +f 221 217 225 +f 210 218 226 +f 218 222 226 +f 223 210 226 +f 214 223 226 +f 211 206 227 +f 206 216 227 +f 221 211 227 +f 213 211 228 +f 211 217 228 +f 216 219 229 +f 219 221 229 +f 227 216 229 +f 221 227 229 +f 206 215 230 +f 220 206 230 +f 215 220 230 +f 217 208 231 +f 213 217 231 +f 208 222 231 +f 231 222 232 +f 218 213 232 +f 222 218 232 +f 213 231 232 +f 215 210 233 +f 210 223 233 +f 223 215 233 +f 222 208 234 +f 208 224 234 +f 224 214 234 +f 214 226 234 +f 226 222 234 +f 217 213 235 +f 213 228 235 +o convex_10 +v -0.674892 2.767766 -1.275790 +v 1.398043 2.910911 -0.560828 +v 1.362189 2.803623 0.940245 +v 1.362189 1.517324 -1.239781 +v -0.639038 1.517181 0.832870 +v -0.674892 2.875196 0.832870 +v -0.782242 1.517181 -1.204207 +v 1.326335 1.517324 0.868662 +v 1.326335 2.982340 -1.204207 +v -0.746387 2.946625 -1.239781 +v 0.004206 1.695897 0.940245 +v 0.611596 1.588754 -1.275790 +v 1.398043 2.982340 -1.025466 +v -0.746387 2.946625 -0.739568 +v -0.567542 2.875196 0.868662 +v 0.647450 1.588754 0.940245 +v -0.746387 1.517181 -0.346296 +v -0.710533 2.910911 0.296866 +v -0.031648 2.875196 0.868662 +v 1.398043 2.267618 -1.204207 +v 0.432964 2.338903 -1.275790 +v 0.075701 1.624468 -1.275790 +v -0.674892 2.910911 0.475389 +v -0.031648 2.053330 0.940245 +v 1.362189 1.517324 -0.417662 +v 1.362189 2.839338 0.689921 +v -0.674892 2.267474 0.832870 +v 0.683091 2.982340 -1.168415 +v -0.710533 2.910911 -1.275790 +v 1.147703 1.517324 0.904236 +v 1.362189 2.624907 0.904236 +f 260 255 266 +f 239 240 242 +f 239 242 247 +f 238 237 248 +f 245 242 249 +f 240 246 250 +f 238 246 251 +f 246 240 251 +f 242 240 252 +f 249 242 253 +f 242 252 253 +f 250 238 254 +f 239 244 255 +f 248 237 255 +f 244 248 255 +f 244 239 256 +f 247 236 256 +f 239 247 256 +f 242 236 257 +f 236 247 257 +f 247 242 257 +f 241 250 258 +f 249 253 258 +f 253 241 258 +f 254 248 258 +f 250 254 258 +f 246 238 259 +f 238 250 259 +f 250 246 259 +f 240 239 260 +f 243 240 260 +f 239 255 260 +f 238 248 261 +f 254 238 261 +f 248 254 261 +f 240 250 262 +f 250 241 262 +f 252 240 262 +f 241 253 262 +f 253 252 262 +f 244 245 263 +f 248 244 263 +f 245 249 263 +f 258 248 263 +f 249 258 263 +f 236 242 264 +f 245 244 264 +f 242 245 264 +f 244 256 264 +f 256 236 264 +f 243 238 265 +f 240 243 265 +f 238 251 265 +f 251 240 265 +f 237 238 266 +f 238 243 266 +f 255 237 266 +f 243 260 266 +o convex_11 +v -0.031649 1.945892 0.976264 +v 0.683200 1.945892 1.548018 +v 0.683200 1.910149 1.548018 +v 0.039864 2.088861 2.798854 +v 0.111377 1.660071 2.798854 +v 0.647374 1.588526 0.940609 +v 0.611617 1.660071 2.762836 +v 0.683200 2.124604 0.940609 +v 0.504418 2.196089 2.727180 +v 0.039864 1.660071 0.940609 +v -0.031649 2.053119 0.940609 +v 0.004107 2.017377 2.762836 +v 0.218576 1.624328 2.405375 +v 0.004107 1.695813 0.976264 +v 0.111377 2.088861 0.976264 +v 0.611617 1.624328 2.548360 +v 0.575861 1.945892 2.762836 +v 0.504418 1.588526 1.333723 +v 0.647374 1.695813 2.369720 +v 0.468661 2.196089 2.655689 +f 281 277 286 +f 268 269 274 +f 269 272 274 +f 268 274 275 +f 274 272 276 +f 274 276 277 +f 271 270 278 +f 277 267 278 +f 270 277 278 +f 271 276 279 +f 276 271 280 +f 277 276 280 +f 267 277 280 +f 271 278 280 +f 278 267 280 +f 274 277 281 +f 273 271 282 +f 271 279 282 +f 270 271 283 +f 271 273 283 +f 268 275 283 +f 275 270 283 +f 276 272 284 +f 279 276 284 +f 272 282 284 +f 282 279 284 +f 269 268 285 +f 272 269 285 +f 282 272 285 +f 273 282 285 +f 283 273 285 +f 268 283 285 +f 270 275 286 +f 275 274 286 +f 277 270 286 +f 274 281 286 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/432/432.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/432/432.urdf new file mode 100644 index 000000000..3a927ac2e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/432/432.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/433/433.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/433/433.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/433/433.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/433/433.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/433/433.obj new file mode 100644 index 000000000..8b433294a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/433/433.obj @@ -0,0 +1,3057 @@ +o convex_0 +v -0.999982 -0.177797 -0.461480 +v -0.980064 -0.814679 0.275262 +v -0.980064 -0.695231 0.235382 +v -1.179164 -0.973943 -0.222486 +v -0.980064 -0.994027 -0.322078 +v -0.980064 -0.994027 0.275262 +v -0.980064 -0.098077 -0.421599 +v -1.179164 -0.994027 -0.302102 +v -0.999982 -0.098077 -0.421599 +v -0.999982 -0.695231 0.235382 +v -1.019900 -0.894311 -0.361887 +v -1.139309 -0.994027 -0.063252 +f 10 4 12 +f 3 2 5 +f 5 2 6 +f 5 1 7 +f 3 5 7 +f 5 6 8 +f 3 7 9 +f 7 1 9 +f 1 8 9 +f 8 4 9 +f 2 3 10 +f 6 2 10 +f 3 9 10 +f 9 4 10 +f 1 5 11 +f 8 1 11 +f 5 8 11 +f 4 8 12 +f 8 6 12 +f 6 10 12 +o convex_1 +v -4.683666 -1.730747 -0.142888 +v -1.896431 -1.432191 -0.142888 +v -1.000045 -1.651244 -0.162808 +v -3.986317 -1.671056 -0.242448 +v -1.000045 -1.949749 -0.162808 +v -3.966485 -1.909871 -0.222528 +v -1.000045 -1.571537 -0.202618 +v -3.866606 -1.949800 -0.142888 +v -1.716865 -1.929785 -0.202618 +v -3.946653 -1.511796 -0.162808 +v -2.154963 -1.452155 -0.202618 +v -4.623450 -1.671056 -0.202618 +v -2.533204 -1.929785 -0.142888 +v -4.464077 -1.889957 -0.162808 +v -4.484269 -1.591451 -0.142888 +v -3.826943 -1.750661 -0.242448 +v -1.000045 -1.949749 -0.182708 +v -1.000045 -1.671107 -0.202618 +v -4.563956 -1.770575 -0.202618 +f 18 26 31 +f 15 14 17 +f 14 15 19 +f 15 17 19 +f 14 13 20 +f 16 22 23 +f 14 19 23 +f 19 16 23 +f 22 14 23 +f 22 16 24 +f 17 14 25 +f 14 20 25 +f 20 17 25 +f 20 13 26 +f 18 20 26 +f 13 14 27 +f 14 22 27 +f 24 13 27 +f 22 24 27 +f 18 16 28 +f 16 19 28 +f 21 18 28 +f 19 17 29 +f 17 20 29 +f 20 18 29 +f 18 21 29 +f 29 21 30 +f 28 19 30 +f 21 28 30 +f 19 29 30 +f 16 18 31 +f 13 24 31 +f 24 16 31 +f 26 13 31 +o convex_2 +v 0.453608 0.041230 0.992064 +v 0.015597 -0.993933 0.872650 +v 0.015597 -0.993933 0.892540 +v 0.971325 -1.929888 0.773076 +v 0.911546 0.021350 0.892540 +v 0.174916 -1.790333 0.753161 +v 0.015597 0.041230 0.972149 +v 0.971325 -1.670854 0.753161 +v 0.075470 -0.018607 1.012004 +v 0.911546 -0.018607 0.932344 +v 0.174916 -1.929888 0.773076 +v 0.871599 -1.630897 0.812906 +v 0.035617 -0.974053 0.852735 +v 0.254529 0.001469 1.012004 +v 0.971325 -1.929888 0.753161 +v 0.692447 -1.810214 0.792991 +v 0.015597 0.061306 1.012004 +v 0.911546 0.061306 0.932344 +v 0.971325 -0.993933 0.832795 +f 49 41 50 +f 33 34 38 +f 37 36 39 +f 34 33 42 +f 33 37 42 +f 41 32 43 +f 35 41 43 +f 37 33 44 +f 36 37 44 +f 33 38 44 +f 38 36 44 +f 40 43 45 +f 43 32 45 +f 39 35 46 +f 37 39 46 +f 35 42 46 +f 42 37 46 +f 40 34 47 +f 34 42 47 +f 42 35 47 +f 43 40 47 +f 35 43 47 +f 38 34 48 +f 34 40 48 +f 45 32 48 +f 40 45 48 +f 36 38 49 +f 32 41 49 +f 48 32 49 +f 38 48 49 +f 35 39 50 +f 39 36 50 +f 41 35 50 +f 36 49 50 +o convex_3 +v -1.895907 -1.571360 -0.182740 +v -1.000045 -0.994027 -0.302153 +v -1.000045 -1.033929 -0.282245 +v -1.000045 -1.551466 -0.222556 +v -1.119581 -0.994027 -0.142906 +v -1.875911 -1.451937 -0.222556 +v -1.000045 -1.571360 -0.182740 +v -1.895907 -1.451937 -0.142906 +v -1.099673 -0.994027 -0.322096 +v -1.219121 -0.994027 -0.282245 +v -1.020040 -1.073774 -0.322096 +v -1.457842 -1.153408 -0.142906 +v -1.856003 -1.571360 -0.202648 +f 56 61 63 +f 52 53 54 +f 53 52 55 +f 54 53 57 +f 53 55 57 +f 57 55 58 +f 56 51 58 +f 51 57 58 +f 55 52 59 +f 55 59 60 +f 56 58 60 +f 59 56 60 +f 52 54 61 +f 56 59 61 +f 59 52 61 +f 58 55 62 +f 55 60 62 +f 60 58 62 +f 51 56 63 +f 54 57 63 +f 57 51 63 +f 61 54 63 +o convex_4 +v -1.875911 -1.471849 -0.023395 +v -1.000045 -0.994076 0.195581 +v -1.000045 -0.994076 0.135851 +v -1.378385 -1.113543 -0.122945 +v -1.875911 -1.451922 0.195581 +v -1.020040 -1.073737 0.175671 +v -1.139489 -1.053809 -0.142855 +v -1.836095 -1.451922 -0.142855 +v -1.836095 -1.491825 0.195581 +v -1.895907 -1.432043 -0.142855 +v -1.139489 -0.994076 -0.063215 +f 70 67 74 +f 66 65 69 +f 66 69 70 +f 70 69 71 +f 71 69 72 +f 68 64 72 +f 65 68 72 +f 69 65 72 +f 64 71 72 +f 64 68 73 +f 68 67 73 +f 67 70 73 +f 70 71 73 +f 71 64 73 +f 65 66 74 +f 67 68 74 +f 68 65 74 +f 66 70 74 +o convex_5 +v -1.895907 -1.511656 0.215527 +v -1.000045 -1.014005 0.215527 +v -1.000045 -1.014005 0.195615 +v -1.000045 -1.690879 0.255350 +v -1.895907 -1.491779 0.275262 +v -1.000045 -1.631116 0.215527 +v -1.020040 -1.173285 0.255350 +v -1.895907 -1.471836 0.195615 +v -1.298753 -1.471836 0.275262 +v -1.219121 -1.133465 0.255350 +f 79 83 84 +f 77 76 78 +f 75 78 79 +f 77 78 80 +f 78 75 80 +f 78 76 81 +f 76 77 82 +f 75 79 82 +f 80 75 82 +f 77 80 82 +f 79 78 83 +f 78 81 83 +f 83 81 84 +f 81 76 84 +f 76 82 84 +f 82 79 84 +o convex_6 +v 1.986768 -1.272749 0.135879 +v 1.449212 -1.412178 -0.242448 +v 1.449212 -1.412178 -0.222524 +v 1.449212 -1.033851 0.135879 +v 1.887175 -1.392217 -0.182677 +v 2.066385 -1.412178 0.135879 +v 1.509069 -1.252863 -0.202601 +v 2.185954 -1.392217 0.016374 +v 1.568781 -1.073698 0.096032 +v 1.449212 -1.073698 0.135879 +v 1.887175 -1.412178 -0.182677 +f 92 90 95 +f 86 87 88 +f 87 86 90 +f 85 88 90 +f 86 88 91 +f 89 86 91 +f 85 90 92 +f 88 85 93 +f 91 88 93 +f 89 91 93 +f 92 89 93 +f 85 92 93 +f 88 87 94 +f 87 90 94 +f 90 88 94 +f 86 89 95 +f 90 86 95 +f 89 92 95 +o convex_7 +v 1.927032 -1.232984 0.155816 +v 1.449212 -1.870152 0.275268 +v 1.628519 -1.870152 0.255331 +v 1.528926 -1.014049 0.334973 +v 1.449278 -1.014049 0.135900 +v 2.026625 -1.870152 0.275268 +v 2.126152 -1.412215 0.135900 +v 1.449212 -1.611340 0.354910 +v 2.066383 -1.392233 0.235479 +v 1.449278 -0.994154 0.334973 +v 2.026625 -1.571464 0.275268 +v 1.469223 -1.073735 0.135900 +v 1.489168 -1.432110 0.354910 +v 2.026625 -1.870152 0.255331 +f 98 102 109 +f 99 96 100 +f 97 98 101 +f 100 96 102 +f 100 97 103 +f 97 101 103 +f 96 99 104 +f 101 102 104 +f 102 96 104 +f 99 100 105 +f 100 103 105 +f 104 99 106 +f 101 104 106 +f 98 97 107 +f 97 100 107 +f 100 102 107 +f 102 98 107 +f 103 101 108 +f 99 105 108 +f 105 103 108 +f 106 99 108 +f 101 106 108 +f 101 98 109 +f 102 101 109 +o convex_8 +v 0.991204 2.251542 0.255393 +v 0.851887 2.291331 0.733237 +v 0.831942 2.291331 0.733237 +v 0.991204 1.773819 0.036376 +v 0.831942 2.649773 -0.003505 +v 1.011149 2.191944 0.733237 +v 0.931474 2.570109 -0.003505 +v 1.011149 1.953040 -0.003505 +v 0.831942 2.231647 0.733237 +v 0.851887 2.430763 0.554028 +v 1.011149 2.132261 0.733237 +v 0.831942 2.590004 -0.003505 +v 1.011149 2.251542 0.633572 +v 0.991204 1.773819 -0.003505 +f 118 121 123 +f 111 112 115 +f 114 116 117 +f 116 110 117 +f 112 114 118 +f 115 112 118 +f 112 111 119 +f 114 112 119 +f 111 115 119 +f 116 114 119 +f 113 117 120 +f 117 115 120 +f 118 113 120 +f 115 118 120 +f 114 117 121 +f 118 114 121 +f 110 116 122 +f 115 117 122 +f 117 110 122 +f 119 115 122 +f 116 119 122 +f 117 113 123 +f 113 118 123 +f 121 117 123 +o convex_9 +v 1.349606 -0.516134 0.494259 +v 1.130621 0.538955 0.434593 +v 1.130621 0.538955 0.454532 +v 1.210269 -0.994027 0.593828 +v 1.409357 -0.994027 0.334998 +v 1.210300 0.538955 0.593828 +v 1.130621 0.618840 0.334998 +v 1.449212 -0.854464 0.334998 +v 1.170507 0.081113 0.334998 +v 1.170507 0.618840 0.334998 +v 1.150548 0.618840 0.573889 +v 1.270083 -0.695166 0.593828 +v 1.230196 -0.994027 0.514147 +v 1.429285 -0.934034 0.394791 +v 1.250093 0.280195 0.593828 +f 137 131 138 +f 126 125 127 +f 125 126 130 +f 127 125 130 +f 128 130 131 +f 127 130 132 +f 130 128 132 +f 129 131 133 +f 131 130 133 +f 126 127 134 +f 127 129 134 +f 130 126 134 +f 129 133 134 +f 133 130 134 +f 129 127 135 +f 128 127 136 +f 127 132 136 +f 132 128 136 +f 127 128 137 +f 128 131 137 +f 135 127 137 +f 124 135 137 +f 131 129 138 +f 129 135 138 +f 135 124 138 +f 124 137 138 +o convex_10 +v -4.524102 -1.790489 0.135892 +v -2.612824 -1.631209 0.275262 +v -2.612824 -1.651166 0.275262 +v -2.792260 -1.909918 0.135892 +v -4.285241 -1.631209 0.135892 +v -3.827198 -1.790489 0.235427 +v -3.568849 -1.949769 0.155810 +v -2.792260 -1.870098 0.215509 +v -3.787452 -1.631209 0.235427 +v -4.504229 -1.770626 0.175714 +v -2.612824 -1.631209 0.255331 +v -2.752514 -1.730806 0.275262 +v -4.464290 -1.631209 0.155810 +v -2.792260 -1.949769 0.135892 +v -3.130679 -1.651166 0.275262 +f 144 150 153 +f 142 139 143 +f 144 145 146 +f 140 143 147 +f 144 147 148 +f 139 145 148 +f 145 144 148 +f 140 141 149 +f 142 143 149 +f 143 140 149 +f 141 140 150 +f 146 141 150 +f 144 146 150 +f 143 139 151 +f 147 143 151 +f 148 147 151 +f 139 148 151 +f 139 142 152 +f 145 139 152 +f 146 145 152 +f 141 146 152 +f 149 141 152 +f 142 149 152 +f 140 147 153 +f 147 144 153 +f 150 140 153 +o convex_11 +v -2.712779 -1.591354 0.295174 +v -4.524371 -1.631209 0.096094 +v -4.524371 -1.631209 0.115992 +v -2.135242 -1.452002 0.096094 +v -3.946575 -1.491857 0.115992 +v -2.593156 -1.631209 0.255319 +v -1.896509 -1.491857 0.275237 +v -1.995809 -1.491857 0.096094 +v -3.906701 -1.551534 0.215503 +v -3.767526 -1.631209 0.235421 +v -4.484239 -1.551534 0.096094 +v -1.995809 -1.551534 0.275237 +v -2.135242 -1.491857 0.275237 +v -1.896509 -1.452002 0.155808 +f 166 160 167 +f 156 155 159 +f 155 157 161 +f 159 155 161 +f 159 154 163 +f 156 159 163 +f 154 162 163 +f 162 156 163 +f 155 156 164 +f 157 155 164 +f 158 157 164 +f 156 162 164 +f 162 158 164 +f 154 159 165 +f 160 154 165 +f 159 161 165 +f 161 160 165 +f 154 160 166 +f 162 154 166 +f 158 162 166 +f 157 158 167 +f 161 157 167 +f 160 161 167 +f 158 166 167 +o convex_12 +v 2.643666 -1.870172 0.195595 +v 1.449212 -2.069272 0.076164 +v 1.449212 -2.029417 0.076164 +v 1.449212 -1.870172 0.295153 +v 1.469239 -1.989601 0.275237 +v 2.862939 -1.870172 0.076164 +v 2.882819 -1.929906 0.096080 +v 2.305400 -1.969722 0.195595 +v 2.066539 -1.890090 0.275237 +v 1.449212 -1.870172 0.275237 +v 2.225731 -2.009518 0.076164 +f 174 175 178 +f 170 169 171 +f 171 169 172 +f 169 170 173 +f 171 168 173 +f 173 168 174 +f 172 169 175 +f 174 168 175 +f 168 171 176 +f 171 172 176 +f 175 168 176 +f 172 175 176 +f 170 171 177 +f 173 170 177 +f 171 173 177 +f 169 173 178 +f 173 174 178 +f 175 169 178 +o convex_13 +v -0.840632 1.972853 -0.541158 +v -0.601743 2.928447 0.036319 +v -0.601743 2.928447 0.016321 +v -0.661466 1.972853 -0.839721 +v -0.800800 2.052649 0.036319 +v -0.780910 2.371087 -0.760081 +v -0.840657 2.072575 0.036319 +v -0.661466 2.351161 -0.819811 +v -0.661466 2.888595 0.036319 +v -0.800826 1.972853 -0.819811 +v -0.601743 2.848837 -0.003589 +v -0.601743 2.769134 -0.242421 +v -0.860573 1.972853 -0.282329 +v -0.800826 2.271645 -0.819811 +f 179 191 192 +f 183 180 185 +f 180 181 187 +f 181 184 187 +f 184 185 187 +f 185 180 187 +f 182 179 188 +f 181 180 189 +f 183 182 189 +f 180 183 189 +f 184 181 190 +f 182 186 190 +f 186 184 190 +f 181 189 190 +f 189 182 190 +f 179 182 191 +f 182 183 191 +f 183 185 191 +f 191 185 192 +f 185 184 192 +f 186 182 192 +f 184 186 192 +f 188 179 192 +f 182 188 192 +o convex_14 +v -4.384638 -1.870152 0.096012 +v -4.504106 -1.890078 -0.142888 +v -4.524179 -1.909992 -0.122969 +v -2.652843 -1.929882 -0.142888 +v -3.827252 -1.989612 -0.003505 +v -2.792385 -1.949785 0.135879 +v -2.652843 -1.909992 -0.122969 +v -3.648148 -1.989612 -0.083102 +v -3.847131 -1.949785 0.135879 +v -3.906962 -1.870152 0.135879 +v -4.544058 -1.949785 -0.043290 +v -4.205534 -1.870152 -0.142888 +v -2.832142 -1.969698 -0.023370 +v -3.946720 -1.949785 -0.142888 +v -2.792385 -1.929882 0.135879 +v -4.643452 -1.870152 -0.043290 +f 193 204 208 +f 198 196 199 +f 197 198 201 +f 201 198 202 +f 193 201 202 +f 200 197 203 +f 201 193 203 +f 197 201 203 +f 196 194 204 +f 199 196 204 +f 193 202 204 +f 202 199 204 +f 196 198 205 +f 198 197 205 +f 200 196 205 +f 197 200 205 +f 195 194 206 +f 194 196 206 +f 196 200 206 +f 203 195 206 +f 200 203 206 +f 198 199 207 +f 202 198 207 +f 199 202 207 +f 194 195 208 +f 203 193 208 +f 195 203 208 +f 204 194 208 +o convex_15 +v -4.424661 -1.631233 0.135879 +v -4.723447 -1.730790 -0.142888 +v -4.683637 -1.870152 -0.063237 +v -3.986748 -1.870152 0.115959 +v -4.623880 -1.750692 0.135879 +v -4.524229 -1.631233 -0.142888 +v -4.444608 -1.870152 -0.142888 +v -4.763258 -1.631233 -0.003505 +v -4.405049 -1.870152 0.115959 +v -4.842962 -1.750692 -0.023370 +v -3.986748 -1.850203 0.135879 +f 213 217 219 +f 214 212 215 +f 211 210 215 +f 212 211 215 +f 210 214 215 +f 213 209 216 +f 214 210 216 +f 209 214 216 +f 211 212 217 +f 213 211 217 +f 210 211 218 +f 211 213 218 +f 216 210 218 +f 213 216 218 +f 209 213 219 +f 214 209 219 +f 212 214 219 +f 217 212 219 +o convex_16 +v -3.827453 -1.452002 0.056200 +v -4.564103 -1.631209 -0.142888 +v -4.743312 -1.631209 -0.023417 +v -4.623810 -1.511767 -0.003513 +v -4.484405 -1.631209 0.096055 +v -3.827453 -1.531677 -0.142888 +v -3.986850 -1.491857 -0.142888 +v -3.827453 -1.511767 0.096055 +v -4.464502 -1.531677 0.096055 +v -4.265570 -1.611282 -0.122961 +v -4.484405 -1.531677 -0.103033 +f 223 226 230 +f 221 222 223 +f 222 221 224 +f 223 220 226 +f 225 221 226 +f 220 225 226 +f 225 220 227 +f 223 222 228 +f 220 223 228 +f 222 224 228 +f 227 220 228 +f 224 227 228 +f 224 221 229 +f 221 225 229 +f 227 224 229 +f 225 227 229 +f 221 223 230 +f 226 221 230 +o convex_17 +v -1.896183 -1.452017 0.096055 +v -3.827264 -1.531649 -0.142888 +v -3.827264 -1.491814 -0.142888 +v -1.896183 -1.432109 -0.142888 +v -3.827264 -1.471925 0.096055 +v -2.692624 -1.511722 0.096055 +v -2.832138 -1.531649 -0.142888 +v -3.827264 -1.511722 0.096055 +v -1.896183 -1.471925 -0.023417 +v -3.827264 -1.471925 -0.083153 +v -1.936072 -1.432109 -0.003513 +v -2.115285 -1.491814 0.096055 +v -2.194872 -1.432109 -0.142888 +f 241 234 243 +f 232 233 234 +f 233 232 235 +f 231 235 236 +f 232 234 237 +f 236 232 237 +f 235 232 238 +f 232 236 238 +f 236 235 238 +f 234 231 239 +f 237 234 239 +f 233 235 240 +f 231 234 241 +f 235 231 241 +f 231 236 242 +f 236 237 242 +f 239 231 242 +f 237 239 242 +f 234 233 243 +f 233 240 243 +f 240 235 243 +f 235 241 243 +o convex_18 +v 0.851807 0.220602 -0.839784 +v 0.632823 -1.969712 -0.760181 +v 0.632823 -1.969712 -0.740273 +v 0.991167 -1.969712 -0.740273 +v 0.911543 0.220602 -0.740257 +v 0.632858 -0.396657 -0.879617 +v 0.632858 0.220602 -0.859693 +v 0.851807 -1.730656 -0.799967 +v 0.991167 -1.412271 -0.720348 +v 0.931467 0.220602 -0.799998 +v 0.632823 -1.173215 -0.859708 +v 0.931467 -0.914219 -0.799998 +v 0.692593 0.041148 -0.879617 +v 0.632823 -1.830137 -0.740273 +v 0.951320 -1.969712 -0.720348 +v 0.951320 -0.994191 -0.720348 +v 0.951355 0.220602 -0.740257 +f 248 259 260 +f 246 245 247 +f 248 244 250 +f 247 245 251 +f 244 248 253 +f 252 247 253 +f 245 246 254 +f 250 249 254 +f 251 245 254 +f 247 251 255 +f 244 253 255 +f 253 247 255 +f 250 244 256 +f 249 250 256 +f 254 249 256 +f 251 254 256 +f 244 255 256 +f 255 251 256 +f 248 250 257 +f 254 246 257 +f 250 254 257 +f 246 247 258 +f 247 252 258 +f 257 246 258 +f 257 258 259 +f 248 257 259 +f 258 252 259 +f 259 252 260 +f 253 248 260 +f 252 253 260 +o convex_19 +v -0.581806 -2.188824 0.753149 +v -0.601745 -2.626761 0.096055 +v -0.661487 -2.567010 0.096055 +v -0.820722 -2.168832 0.096055 +v -0.840636 -2.308282 0.454382 +v -0.701315 -2.208726 0.753149 +v -0.581806 -2.567010 0.115994 +v -0.840636 -2.348086 0.115994 +v -0.840636 -2.168832 0.474257 +v -0.581806 -2.168832 0.713206 +v -0.601745 -2.606814 0.175748 +f 267 261 271 +f 262 263 264 +f 263 262 265 +f 262 264 267 +f 264 263 268 +f 263 265 268 +f 268 265 269 +f 265 266 269 +f 264 268 269 +f 269 266 270 +f 266 261 270 +f 261 267 270 +f 267 264 270 +f 264 269 270 +f 265 262 271 +f 261 266 271 +f 266 265 271 +f 262 267 271 +o convex_20 +v 0.055306 -0.994027 0.892533 +v -0.581806 -2.188744 0.733253 +v -0.521961 -2.188744 0.733253 +v -0.581806 -1.014025 0.832787 +v 0.174848 -1.949707 0.733253 +v -0.581806 -1.969704 0.792998 +v 0.135000 -1.989585 0.773088 +v 0.174848 -0.994027 0.852697 +v -0.581806 -1.053786 0.872607 +v -0.223255 -1.073901 0.892533 +v -0.561808 -2.088989 0.733253 +v 0.174848 -1.153424 0.872607 +v -0.541885 -2.128984 0.773088 +v -0.382644 -0.994027 0.892533 +f 281 272 285 +f 274 273 276 +f 275 273 277 +f 274 276 278 +f 276 275 279 +f 275 277 280 +f 273 275 282 +f 275 276 282 +f 276 273 282 +f 278 276 283 +f 279 272 283 +f 276 279 283 +f 272 281 283 +f 281 278 283 +f 273 274 284 +f 277 273 284 +f 274 278 284 +f 281 277 284 +f 278 281 284 +f 272 279 285 +f 279 275 285 +f 275 280 285 +f 280 277 285 +f 277 281 285 +o convex_21 +v -0.143860 1.833136 -0.859751 +v -0.541982 0.220773 -0.939366 +v -0.422464 0.220773 -0.959246 +v 0.154936 1.793518 -0.800016 +v 0.154936 0.220773 -0.999102 +v -0.541982 1.833136 -0.879631 +v -0.482223 1.952679 -0.819914 +v -0.382624 0.220773 -0.919467 +v 0.154936 1.972745 -0.819914 +v -0.541982 0.419896 -0.899549 +v 0.135016 0.379934 -0.999102 +v 0.075257 0.240668 -0.959246 +v -0.123941 1.952679 -0.800016 +v -0.541982 1.972745 -0.839833 +v -0.541982 1.474853 -0.899549 +v 0.075257 0.360211 -0.999102 +v 0.154936 1.673975 -0.859751 +v -0.422464 1.972745 -0.859751 +f 299 294 303 +f 287 288 290 +f 287 290 293 +f 289 290 294 +f 291 287 295 +f 293 289 295 +f 287 293 295 +f 290 289 297 +f 289 293 297 +f 293 290 297 +f 289 294 298 +f 295 289 298 +f 292 295 298 +f 291 295 299 +f 295 292 299 +f 298 294 299 +f 292 298 299 +f 288 287 300 +f 287 291 300 +f 290 288 301 +f 296 290 301 +f 291 296 301 +f 288 300 301 +f 300 291 301 +f 286 294 302 +f 294 290 302 +f 290 296 302 +f 296 286 302 +f 294 286 303 +f 296 291 303 +f 286 296 303 +f 291 299 303 +o convex_22 +v 2.962192 -1.929921 0.056215 +v 1.449350 -1.989583 -0.282272 +v 1.449350 -2.029415 -0.202597 +v 1.449506 -2.029415 0.076108 +v 1.449350 -1.870152 -0.262344 +v 2.882527 -1.870152 0.076108 +v 2.783064 -1.890111 -0.142885 +v 1.608835 -2.089162 -0.003532 +v 2.285279 -1.989583 -0.182704 +v 2.384743 -1.870152 -0.222524 +v 2.882527 -1.969753 -0.003532 +v 2.265324 -2.009521 0.076108 +v 1.449506 -2.089162 0.056215 +v 3.042012 -1.870152 -0.003532 +f 314 310 317 +f 305 306 308 +f 306 307 308 +f 308 307 309 +f 306 305 312 +f 311 306 312 +f 305 308 313 +f 308 309 313 +f 312 305 313 +f 310 312 313 +f 312 310 314 +f 311 312 314 +f 304 309 315 +f 309 307 315 +f 314 304 315 +f 311 314 315 +f 307 306 316 +f 306 311 316 +f 315 307 316 +f 311 315 316 +f 309 304 317 +f 313 309 317 +f 310 313 317 +f 304 314 317 +o convex_23 +v 1.070885 1.455058 -0.063264 +v 0.831942 2.112099 -0.282272 +v 0.831942 2.112099 -0.262325 +v 0.931486 2.570000 -0.003505 +v 1.130574 0.858040 -0.282272 +v 1.130574 0.618952 -0.043344 +v 0.831942 2.609747 -0.003505 +v 0.851901 2.350986 -0.262325 +v 1.110678 0.678774 -0.282272 +v 0.931486 2.550126 -0.063291 +v 1.150533 0.798418 -0.043344 +v 1.011134 1.753767 -0.003505 +v 1.150533 0.718722 -0.282272 +v 0.831942 2.629822 -0.083156 +f 327 325 331 +f 319 320 324 +f 320 323 324 +f 322 319 325 +f 320 319 326 +f 319 322 326 +f 323 320 326 +f 321 318 327 +f 322 325 327 +f 318 321 328 +f 321 324 329 +f 324 323 329 +f 328 321 329 +f 323 328 329 +f 326 322 330 +f 323 326 330 +f 327 318 330 +f 322 327 330 +f 318 328 330 +f 328 323 330 +f 319 324 331 +f 324 321 331 +f 325 319 331 +f 321 327 331 +o convex_24 +v 2.783081 -1.810395 -0.182732 +v 1.947110 -1.412178 -0.162814 +v 2.464489 -1.531737 -0.162814 +v 1.489235 -1.531737 -0.302184 +v 1.489235 -1.870152 -0.242431 +v 2.484501 -1.870152 -0.162814 +v 2.205667 -1.870152 -0.242431 +v 1.449345 -1.412178 -0.222554 +v 1.449345 -1.790491 -0.302184 +v 1.767936 -1.432127 -0.162814 +v 2.524258 -1.551641 -0.182732 +v 1.469356 -1.412178 -0.262348 +v 2.524258 -1.810395 -0.222554 +f 335 342 344 +f 332 334 337 +f 334 333 337 +f 337 336 338 +f 332 337 338 +f 336 339 340 +f 338 336 340 +f 337 333 341 +f 336 337 341 +f 333 339 341 +f 339 336 341 +f 334 332 342 +f 333 334 342 +f 342 335 343 +f 339 333 343 +f 340 339 343 +f 335 340 343 +f 333 342 343 +f 332 338 344 +f 340 335 344 +f 338 340 344 +f 342 332 344 +o convex_25 +v -0.183546 2.072412 0.773080 +v 0.154948 2.609982 0.753153 +v 0.154948 2.609982 0.733237 +v 0.851712 2.132195 0.753153 +v 0.154948 2.172033 0.852709 +v -0.601576 2.132248 0.733249 +v 0.115250 2.550252 0.812865 +v 0.851712 2.271600 0.733237 +v -0.083947 2.072412 0.832793 +v 0.732193 2.311490 0.773080 +v -0.521897 2.092410 0.773080 +v -0.482057 2.072412 0.733249 +v 0.851712 2.132195 0.773080 +f 352 354 357 +f 346 347 350 +f 346 350 351 +f 347 346 352 +f 345 348 353 +f 349 351 353 +f 346 351 354 +f 351 349 354 +f 352 346 354 +f 351 350 355 +f 353 351 355 +f 353 355 356 +f 348 345 356 +f 350 347 356 +f 347 352 356 +f 352 348 356 +f 345 353 356 +f 355 350 356 +f 348 352 357 +f 353 348 357 +f 349 353 357 +f 354 349 357 +o convex_26 +v -0.780943 -0.774516 -0.740266 +v -0.800820 1.972562 -0.640708 +v -0.721190 1.972562 -0.819865 +v -0.721190 -0.993737 -0.680540 +v -0.860560 -0.177249 -0.660624 +v -0.800820 1.972562 -0.819865 +v -0.741121 0.061425 -0.839781 +v -0.840642 -0.535842 -0.740266 +v -0.820738 -0.993737 -0.640708 +v -0.860560 1.235924 -0.640708 +v -0.721190 -0.356400 -0.819865 +v -0.721190 1.972562 -0.859697 +v -0.761025 -0.993737 -0.640708 +v -0.860560 1.255668 -0.680540 +v -0.761025 1.753342 -0.859697 +f 369 364 372 +f 360 359 361 +f 359 360 363 +f 358 361 366 +f 365 358 366 +f 362 365 366 +f 366 359 367 +f 362 366 367 +f 360 361 368 +f 361 358 368 +f 358 365 368 +f 365 364 368 +f 363 360 369 +f 360 368 369 +f 368 364 369 +f 361 359 370 +f 359 366 370 +f 366 361 370 +f 359 363 371 +f 365 362 371 +f 363 365 371 +f 367 359 371 +f 362 367 371 +f 365 363 372 +f 364 365 372 +f 363 369 372 +o convex_27 +v -0.661454 2.092391 -0.859718 +v 0.154776 2.410872 -0.740266 +v 0.154776 2.331209 -0.740266 +v -0.661454 2.410872 -0.720348 +v 0.154776 1.972853 -0.780088 +v -0.183622 2.410872 -0.799965 +v 0.154776 2.032665 -0.819883 +v -0.661454 1.972853 -0.839787 +v -0.661454 2.351104 -0.819883 +v 0.154776 2.410872 -0.780088 +v -0.462251 1.972853 -0.859718 +f 377 380 383 +f 375 374 376 +f 374 375 377 +f 375 376 377 +f 376 374 378 +f 374 377 379 +f 373 378 379 +f 376 373 380 +f 377 376 380 +f 373 376 381 +f 376 378 381 +f 378 373 381 +f 378 374 382 +f 374 379 382 +f 379 378 382 +f 373 379 383 +f 379 377 383 +f 380 373 383 +o convex_28 +v 0.374024 0.220602 -0.959266 +v 0.155029 -0.994027 -0.859732 +v 0.155029 -0.994027 -0.839806 +v 0.632776 -0.994027 -0.859732 +v 0.632776 0.220602 -0.859732 +v 0.155029 0.220602 -0.999086 +v 0.155029 0.180772 -0.959266 +v 0.592925 -0.974053 -0.879642 +v 0.632776 -0.994027 -0.839806 +v 0.612850 0.220602 -0.899552 +v 0.155029 -0.834708 -0.839806 +v 0.194834 0.140942 -0.999086 +v 0.632776 -0.376844 -0.839806 +v 0.592925 0.220602 -0.859732 +f 396 388 397 +f 386 385 387 +f 385 386 389 +f 388 384 389 +f 389 386 390 +f 387 385 391 +f 386 387 392 +f 387 388 392 +f 384 388 393 +f 388 387 393 +f 387 391 393 +f 391 384 393 +f 390 386 394 +f 386 392 394 +f 385 389 395 +f 389 384 395 +f 391 385 395 +f 384 391 395 +f 392 388 396 +f 394 392 396 +f 394 396 397 +f 388 389 397 +f 389 390 397 +f 390 394 397 +o convex_29 +v 0.851784 1.992591 0.793016 +v 0.135024 0.399809 0.992050 +v 0.652668 0.399809 0.912452 +v 0.155020 2.112139 0.812936 +v 0.174945 0.419819 1.031916 +v 0.135024 2.132148 0.852720 +v 0.831858 1.952742 0.753149 +v 0.811932 0.439828 0.932345 +v 0.831858 0.539366 0.872667 +v 0.851784 2.132148 0.753149 +v 0.194871 2.132148 0.852720 +v 0.851784 1.813354 0.812936 +v 0.851784 0.399809 0.912452 +v 0.135024 1.733825 0.852720 +v 0.135024 0.399809 1.031916 +f 410 402 412 +f 401 404 406 +f 401 403 407 +f 404 401 407 +f 406 404 407 +f 403 402 408 +f 407 403 408 +f 398 407 408 +f 402 405 409 +f 407 398 409 +f 398 408 409 +f 408 402 409 +f 399 400 410 +f 405 402 410 +f 400 406 410 +f 406 407 410 +f 409 405 410 +f 407 409 410 +f 400 399 411 +f 399 403 411 +f 403 401 411 +f 406 400 411 +f 401 406 411 +f 403 399 412 +f 402 403 412 +f 399 410 412 +o convex_30 +v 0.493406 1.315788 -0.760163 +v 0.154936 0.220826 -0.999102 +v 0.214705 0.220826 -0.999102 +v 0.174881 2.510251 -0.760163 +v 0.433670 1.196341 -0.740247 +v 0.493406 0.360217 -0.919439 +v 0.154936 2.251413 -0.740247 +v 0.154936 0.280661 -0.959245 +v 0.493406 0.220826 -0.899497 +v 0.174881 0.917783 -0.939354 +v 0.493406 1.315788 -0.740247 +v 0.433670 0.220826 -0.899497 +f 421 417 424 +f 416 413 418 +f 416 414 419 +f 417 419 420 +f 419 414 420 +f 414 415 421 +f 415 418 421 +f 418 413 421 +f 415 414 422 +f 414 416 422 +f 418 415 422 +f 416 418 422 +f 413 416 423 +f 416 419 423 +f 419 417 423 +f 421 413 423 +f 417 421 423 +f 417 420 424 +f 420 414 424 +f 414 421 424 +o convex_31 +v 0.851803 0.817816 -0.740264 +v 0.493439 0.220804 -0.919437 +v 0.533292 0.220804 -0.919437 +v 0.911560 0.220804 -0.740264 +v 0.493439 1.096610 -0.740264 +v 0.911560 0.399979 -0.819914 +v 0.513388 1.256023 -0.760190 +v 0.513388 0.220804 -0.879603 +v 0.533292 0.320323 -0.919437 +v 0.911560 0.220804 -0.819914 +v 0.831899 0.857643 -0.760190 +f 433 431 435 +f 426 427 428 +f 428 425 429 +f 425 428 430 +f 429 425 431 +f 426 429 431 +f 426 428 432 +f 428 429 432 +f 429 426 432 +f 427 426 433 +f 430 427 433 +f 426 431 433 +f 428 427 434 +f 427 430 434 +f 430 428 434 +f 425 430 435 +f 431 425 435 +f 430 433 435 +o convex_32 +v 0.772066 2.191989 -0.401755 +v 0.155074 3.267024 0.016378 +v 0.135160 3.267024 0.016378 +v 0.154938 2.530477 -0.740202 +v 0.214816 2.211882 -0.720206 +v 0.831807 2.669934 -0.063309 +v 0.811893 2.211882 -0.262378 +v 0.135160 3.207241 0.016378 +v 0.811893 2.610257 0.016378 +v 0.433801 2.251667 -0.680437 +v 0.194902 3.247131 -0.003618 +v 0.572926 2.211882 -0.421677 +v 0.174988 2.530477 -0.740202 +v 0.831807 2.351445 -0.282299 +v 0.831807 2.669934 0.016378 +v 0.294472 2.191989 -0.740202 +v 0.672496 2.828969 -0.043387 +v 0.154938 2.450907 -0.720206 +v 0.254644 2.928536 -0.103152 +f 447 442 454 +f 438 437 439 +f 437 438 443 +f 438 439 443 +f 437 443 444 +f 436 442 447 +f 439 437 448 +f 437 446 448 +f 442 436 449 +f 436 445 449 +f 445 448 449 +f 448 441 449 +f 437 444 450 +f 444 442 450 +f 446 437 450 +f 442 449 450 +f 449 441 450 +f 440 439 451 +f 445 436 451 +f 436 447 451 +f 447 440 451 +f 439 448 451 +f 448 445 451 +f 441 448 452 +f 448 446 452 +f 446 450 452 +f 450 441 452 +f 439 440 453 +f 443 439 453 +f 440 443 453 +f 443 440 454 +f 442 444 454 +f 444 443 454 +f 440 447 454 +o convex_33 +v 0.951414 -0.993931 -0.740155 +v 1.230118 -0.994163 -0.262360 +v 1.210222 -0.994163 -0.262360 +v 1.170429 0.399577 -0.282286 +v 1.230118 -1.850030 -0.421719 +v 0.971403 0.320021 -0.720230 +v 0.971372 -1.909639 -0.680425 +v 1.130605 0.379862 -0.282286 +v 0.911590 0.399577 -0.720230 +v 1.031093 -1.969480 -0.700304 +v 1.090782 -1.969480 -0.481449 +v 1.170429 0.399577 -0.322184 +v 1.210222 -1.432070 -0.262360 +v 1.230118 -1.969480 -0.381914 +v 1.090782 0.100836 -0.361988 +v 1.230181 -0.715369 -0.302305 +v 0.971403 -0.237800 -0.740155 +v 0.971372 -1.969480 -0.720276 +f 464 465 472 +f 457 456 458 +f 457 458 462 +f 462 458 463 +f 459 460 466 +f 460 463 466 +f 463 458 466 +f 456 457 467 +f 457 462 467 +f 462 465 467 +f 467 465 468 +f 464 459 468 +f 465 464 468 +f 456 467 468 +f 463 461 469 +f 462 463 469 +f 461 465 469 +f 465 462 469 +f 458 456 470 +f 466 458 470 +f 459 466 470 +f 456 468 470 +f 468 459 470 +f 460 459 471 +f 455 463 471 +f 463 460 471 +f 464 455 471 +f 459 464 471 +f 461 463 472 +f 463 455 472 +f 455 464 472 +f 465 461 472 +o convex_34 +v 0.891711 0.439797 -0.740202 +v 0.851887 2.231708 -0.282272 +v 0.831975 2.231708 -0.282272 +v 1.130588 0.399809 -0.282272 +v 1.150500 0.579126 -0.342068 +v 0.851887 0.917676 -0.740202 +v 0.831975 1.653950 -0.401820 +v 0.951447 0.399809 -0.740202 +v 0.831975 0.738359 -0.720255 +v 0.851887 2.231708 -0.302264 +v 1.150500 0.698730 -0.282272 +v 0.831975 2.032308 -0.282272 +v 1.170412 0.399809 -0.302264 +v 1.011116 0.479605 -0.620699 +f 478 482 486 +f 474 475 476 +f 476 473 480 +f 473 478 480 +f 473 476 481 +f 478 473 481 +f 475 478 481 +f 479 475 481 +f 476 479 481 +f 475 474 482 +f 478 475 482 +f 474 476 483 +f 482 474 483 +f 477 482 483 +f 476 475 484 +f 475 479 484 +f 479 476 484 +f 476 480 485 +f 480 477 485 +f 483 476 485 +f 477 483 485 +f 477 480 486 +f 480 478 486 +f 482 477 486 +o convex_35 +v -0.780908 -0.734969 0.733237 +v -0.601736 0.141024 0.952268 +v -0.621661 0.141024 0.952268 +v -0.641569 2.112236 0.733259 +v -0.601736 -0.994027 0.832805 +v -0.601718 1.912774 0.733259 +v -0.780908 -0.117730 0.753155 +v -0.721149 -0.994027 0.733237 +v -0.661477 -0.973959 0.872619 +v -0.661477 1.932538 0.753176 +v -0.681385 -0.018303 0.892515 +v -0.601718 1.972369 0.773094 +v -0.780908 -0.734969 0.753155 +f 495 497 499 +f 490 487 493 +f 487 490 494 +f 492 491 494 +f 490 492 494 +f 488 489 495 +f 491 488 495 +f 494 491 495 +f 490 493 496 +f 496 493 497 +f 495 489 497 +f 489 496 497 +f 489 488 498 +f 488 491 498 +f 491 492 498 +f 492 490 498 +f 496 489 498 +f 490 496 498 +f 493 487 499 +f 487 494 499 +f 494 495 499 +f 497 493 499 +o convex_36 +v -0.143825 0.180653 1.012004 +v -0.601718 -0.994027 0.852724 +v -0.362712 -0.994027 0.852724 +v -0.601718 0.300249 0.912454 +v 0.015492 -0.814759 0.872634 +v 0.015492 0.300249 0.992079 +v 0.015492 -0.854413 0.912454 +v -0.601718 -0.078177 0.952259 +v -0.402526 -0.994027 0.892544 +v -0.004445 0.021402 1.012004 +v -0.482155 0.300249 0.912454 +v -0.581720 -0.754834 0.852724 +v -0.502092 0.300249 0.952259 +v 0.015492 -0.994027 0.872634 +v -0.064197 0.300249 0.972169 +v -0.601718 -0.994027 0.872634 +f 508 507 515 +f 504 505 506 +f 503 501 507 +f 501 502 508 +f 507 508 509 +f 505 500 509 +f 506 505 509 +f 500 507 509 +f 508 506 509 +f 503 505 510 +f 502 501 511 +f 501 503 511 +f 504 502 511 +f 503 510 511 +f 510 504 511 +f 500 505 512 +f 505 503 512 +f 503 507 512 +f 507 500 512 +f 502 504 513 +f 504 506 513 +f 508 502 513 +f 506 508 513 +f 505 504 514 +f 504 510 514 +f 510 505 514 +f 507 501 515 +f 501 508 515 +o convex_37 +v 1.150506 1.056989 0.673501 +v 1.011167 1.713908 0.713325 +v 1.011167 1.713908 0.733237 +v 1.070909 0.618840 0.733237 +v 1.011167 1.913066 0.573942 +v 1.170414 0.618840 0.573942 +v 1.031093 2.171972 0.733237 +v 1.051001 1.932982 0.573942 +v 1.190339 0.758251 0.633677 +v 1.110690 0.618840 0.733237 +v 1.051001 0.758251 0.713325 +v 1.070909 1.236384 0.573942 +f 526 520 527 +f 517 518 520 +f 518 519 522 +f 520 518 522 +f 520 522 523 +f 521 520 523 +f 521 523 524 +f 522 516 524 +f 523 522 524 +f 519 521 525 +f 522 519 525 +f 516 522 525 +f 521 524 525 +f 524 516 525 +f 518 517 526 +f 519 518 526 +f 517 520 526 +f 521 519 526 +f 521 526 527 +f 520 521 527 +o convex_38 +v 1.230129 0.041328 0.633691 +v 0.911623 -0.994027 0.812899 +v 1.050979 -0.994027 0.733251 +v 0.951448 0.041328 0.932337 +v 1.170424 0.618840 0.593867 +v 1.230129 -0.993869 0.593867 +v 0.911623 0.399708 0.892480 +v 1.031034 -0.994027 0.812899 +v 1.230129 -0.675274 0.653636 +v 1.170424 0.618840 0.673515 +v 1.170424 -0.993869 0.613812 +v 0.911623 -0.994027 0.852656 +v 1.230129 0.399708 0.593867 +v 0.951448 0.399708 0.912392 +v 1.130631 0.618840 0.633691 +v 1.250075 -0.476034 0.633691 +f 540 528 543 +f 529 530 535 +f 530 533 535 +f 535 533 536 +f 531 535 536 +f 531 528 537 +f 530 529 538 +f 529 532 538 +f 532 533 538 +f 533 530 538 +f 534 529 539 +f 531 534 539 +f 529 535 539 +f 535 531 539 +f 533 532 540 +f 537 528 540 +f 532 537 540 +f 534 531 541 +f 531 537 541 +f 537 534 541 +f 532 529 542 +f 529 534 542 +f 537 532 542 +f 534 537 542 +f 528 531 543 +f 536 533 543 +f 531 536 543 +f 533 540 543 +o convex_39 +v 1.011118 2.191621 0.733237 +v 0.851901 0.399809 0.892499 +v 0.851901 0.399809 0.912445 +v 1.090797 0.399809 0.733237 +v 0.851901 2.131984 0.733237 +v 0.951435 0.419748 0.912445 +v 0.851901 2.171863 0.773092 +v 1.031044 2.171863 0.753182 +v 1.050946 0.399809 0.733237 +v 1.090797 0.778292 0.753182 +v 0.871803 1.057079 0.872589 +v 0.851901 0.499505 0.872589 +f 548 552 555 +f 546 545 547 +f 544 547 548 +f 545 546 548 +f 546 547 549 +f 544 548 550 +f 548 546 550 +f 547 544 551 +f 544 550 551 +f 547 545 552 +f 548 547 552 +f 549 547 553 +f 551 549 553 +f 547 551 553 +f 546 549 554 +f 550 546 554 +f 549 551 554 +f 551 550 554 +f 545 548 555 +f 552 545 555 +o convex_40 +v -0.800841 -1.989573 -0.401677 +v -0.820779 -1.949718 0.096002 +v -0.840716 -1.949718 0.096002 +v -0.820779 -0.994027 -0.441515 +v -0.999957 -1.949718 -0.182650 +v -0.999935 -0.994027 -0.322055 +v -0.800841 -2.407775 0.056217 +v -0.820779 -0.994027 -0.302110 +v -0.820779 -1.929791 -0.441515 +v -0.780968 -1.869870 -0.441515 +v -0.999935 -1.014093 -0.282270 +v -0.999935 -1.651082 -0.162863 +v -0.840716 -2.328065 0.096002 +v -0.820779 -2.407775 0.016380 +v -0.800841 -2.288210 0.096002 +f 568 562 570 +f 559 561 563 +f 560 561 564 +f 561 559 564 +f 562 556 565 +f 559 563 565 +f 556 564 565 +f 564 559 565 +f 558 557 566 +f 561 560 566 +f 557 563 566 +f 563 561 566 +f 558 566 567 +f 566 560 567 +f 557 558 568 +f 558 567 568 +f 567 560 568 +f 556 562 569 +f 564 556 569 +f 560 564 569 +f 562 568 569 +f 568 560 569 +f 563 557 570 +f 562 565 570 +f 565 563 570 +f 557 568 570 +o convex_41 +v -0.621663 -2.606848 -0.023549 +v -0.780898 -2.347988 0.095981 +v -0.800812 -2.347988 0.095981 +v -0.541982 -1.929888 -0.660599 +v -0.800812 -1.949886 -0.461382 +v -0.541982 -2.626771 0.095981 +v -0.561921 -2.009583 -0.660599 +v -0.800812 -2.427609 0.016294 +v -0.780898 -1.929888 -0.381769 +v -0.541982 -1.929888 -0.620682 +v -0.541982 -2.686542 0.016294 +v -0.601749 -2.646621 0.095981 +f 571 581 582 +f 572 573 576 +f 571 575 577 +f 575 574 577 +f 575 571 578 +f 573 575 578 +f 573 572 579 +f 574 575 579 +f 575 573 579 +f 572 576 580 +f 576 574 580 +f 579 572 580 +f 574 579 580 +f 574 576 581 +f 577 574 581 +f 571 577 581 +f 576 573 582 +f 578 571 582 +f 573 578 582 +f 581 576 582 +o convex_42 +v -0.621673 -1.551550 -0.700390 +v -0.820695 -0.994027 -0.441603 +v -0.542011 -0.994027 -0.760096 +v -0.820695 -0.994027 -0.660574 +v -0.760971 -1.929888 -0.441603 +v -0.542011 -1.909918 -0.620793 +v -0.820695 -1.889947 -0.461528 +v -0.581857 -1.929888 -0.660574 +v -0.561949 -1.013997 -0.799948 +v -0.840661 -1.332608 -0.441603 +v -0.741063 -1.033968 -0.720280 +v -0.800787 -1.929888 -0.481454 +f 586 593 594 +f 584 585 586 +f 584 587 588 +f 585 584 588 +f 588 587 590 +f 586 585 591 +f 585 588 591 +f 590 583 591 +f 588 590 591 +f 584 586 592 +f 587 584 592 +f 586 589 592 +f 589 587 592 +f 583 590 593 +f 586 591 593 +f 591 583 593 +f 589 586 594 +f 587 589 594 +f 590 587 594 +f 593 590 594 +o convex_43 +v 0.632707 -2.666525 -0.023502 +v 0.453463 -2.069373 -0.740247 +v 0.453463 -2.049360 -0.740247 +v -0.541867 -2.606816 -0.003526 +v -0.422409 -2.049360 -0.560970 +v -0.521862 -2.666525 -0.023502 +v 0.632707 -2.606816 -0.023502 +v 0.632707 -2.407677 -0.421645 +v -0.541867 -2.069373 -0.600778 +v 0.592811 -2.049360 -0.700295 +v 0.194656 -2.726366 -0.043406 +v 0.572921 -2.089320 -0.740247 +v 0.314114 -2.726366 -0.003526 +v 0.632707 -2.049360 -0.740247 +v -0.541867 -2.049360 -0.560970 +v -0.442300 -2.069373 -0.620681 +f 609 597 610 +f 599 598 601 +f 601 595 602 +f 600 598 603 +f 597 599 604 +f 599 601 604 +f 600 602 605 +f 602 595 605 +f 596 597 606 +f 602 600 606 +f 598 600 607 +f 595 601 607 +f 601 598 607 +f 605 595 607 +f 600 605 607 +f 601 602 608 +f 597 604 608 +f 604 601 608 +f 606 597 608 +f 602 606 608 +f 598 599 609 +f 599 597 609 +f 603 598 609 +f 603 609 610 +f 597 596 610 +f 600 603 610 +f 596 606 610 +f 606 600 610 +o convex_44 +v 0.174778 -0.993996 -0.859688 +v -0.541982 -0.993996 -0.800014 +v -0.541912 -1.869895 -0.680561 +v 0.154922 0.200604 -0.959249 +v -0.482135 -1.850108 -0.640743 +v -0.541982 0.220391 -0.939323 +v 0.174778 -1.850108 -0.720379 +v -0.482205 0.081039 -0.959249 +v 0.154852 -1.889893 -0.760161 +v 0.134997 0.160609 -0.999102 +v -0.402503 0.220391 -0.919432 +v -0.541912 -1.929678 -0.640743 +v -0.541982 0.220391 -0.919432 +v -0.541982 -0.038527 -0.939323 +v 0.154922 0.220391 -0.999102 +v 0.075220 -1.909891 -0.700487 +v -0.143821 -1.929678 -0.720379 +f 619 626 627 +f 611 614 617 +f 611 617 619 +f 619 618 620 +f 611 619 620 +f 615 614 621 +f 612 613 622 +f 616 612 623 +f 615 621 623 +f 621 616 623 +f 612 622 623 +f 622 615 623 +f 613 612 624 +f 612 616 624 +f 616 618 624 +f 618 619 624 +f 614 611 625 +f 618 616 625 +f 620 618 625 +f 611 620 625 +f 621 614 625 +f 616 621 625 +f 614 615 626 +f 617 614 626 +f 619 617 626 +f 615 622 626 +f 626 622 627 +f 622 613 627 +f 613 624 627 +f 624 619 627 +o convex_45 +v 0.573026 -1.113666 -0.819883 +v 0.174848 -1.929888 -0.740266 +v 0.174848 -1.929888 -0.720348 +v 0.632778 -1.929888 -0.740266 +v 0.174848 -1.053938 -0.859718 +v 0.632778 -1.511609 -0.819883 +v 0.174848 -1.013997 -0.819883 +v 0.632778 -0.994027 -0.859718 +v 0.274448 -1.929888 -0.760170 +v 0.632778 -1.810249 -0.740266 +v 0.632778 -1.850190 -0.780088 +f 636 633 638 +f 630 629 631 +f 629 630 632 +f 632 630 634 +f 632 634 635 +f 633 632 635 +f 631 633 635 +f 634 628 635 +f 631 629 636 +f 629 632 636 +f 632 633 636 +f 630 631 637 +f 628 634 637 +f 634 630 637 +f 635 628 637 +f 631 635 637 +f 633 631 638 +f 631 636 638 +o convex_46 +v 0.752357 -2.308114 -0.541026 +v 1.449107 -1.969712 -0.242549 +v 1.449107 -1.969712 -0.282373 +v 0.632902 -1.969765 -0.740145 +v 0.632902 -2.467396 -0.242549 +v 1.130615 -2.248390 -0.501354 +v 0.991345 -2.069375 -0.760159 +v 0.931658 -2.467448 -0.242549 +v 0.971449 -1.969712 -0.760159 +v 0.632902 -2.089266 -0.740145 +v 1.409315 -1.969712 -0.242549 +v 0.991345 -2.129100 -0.740145 +v 1.170407 -2.288224 -0.302285 +v 0.632902 -2.507230 -0.262461 +v 0.931658 -2.467448 -0.262461 +f 646 652 653 +f 640 643 646 +f 640 641 647 +f 641 645 647 +f 647 645 648 +f 643 642 648 +f 642 647 648 +f 642 643 649 +f 643 640 649 +f 640 647 649 +f 647 642 649 +f 641 644 650 +f 645 641 650 +f 648 645 650 +f 639 648 650 +f 641 640 651 +f 644 641 651 +f 640 646 651 +f 646 643 652 +f 648 639 652 +f 643 648 652 +f 650 644 653 +f 639 650 653 +f 644 651 653 +f 651 646 653 +f 652 639 653 +o convex_47 +v 0.135188 0.160909 1.031916 +v 0.911590 0.399776 0.912466 +v 0.911590 0.399776 0.892533 +v 0.911590 0.061339 0.932358 +v 0.015552 0.061339 0.992090 +v 0.015552 0.399776 0.992090 +v 0.194918 0.399776 1.031916 +v 0.891592 0.180823 0.892533 +v 0.792042 0.399776 0.892533 +v 0.831862 0.160909 0.952292 +v 0.294468 0.061339 1.011983 +f 657 663 664 +f 656 655 657 +f 655 656 659 +f 658 654 659 +f 659 654 660 +f 655 659 660 +f 656 657 661 +f 657 658 661 +f 659 656 662 +f 658 659 662 +f 656 661 662 +f 661 658 662 +f 657 655 663 +f 655 660 663 +f 663 660 664 +f 654 658 664 +f 658 657 664 +f 660 654 664 +o convex_48 +v 0.632902 -2.666630 -0.023438 +v 1.449107 -1.969774 -0.222505 +v 1.449107 -1.969774 -0.242415 +v 0.911602 -2.626726 -0.003528 +v 1.409315 -2.029528 0.096022 +v 0.632902 -2.487437 -0.242415 +v 0.632902 -2.586958 0.096022 +v 0.951474 -2.467382 -0.242415 +v 1.449107 -2.089282 -0.043381 +v 0.931658 -2.566972 0.096022 +v 1.170407 -2.308175 -0.222505 +v 1.449107 -2.069432 0.096022 +v 0.652798 -2.467450 -0.222505 +v 1.389340 -1.989761 -0.222505 +f 670 677 678 +f 670 665 671 +f 668 665 672 +f 670 667 672 +f 665 670 672 +f 667 666 673 +f 665 668 674 +f 669 671 674 +f 671 665 674 +f 672 667 675 +f 668 672 675 +f 667 673 675 +f 673 668 675 +f 666 669 676 +f 673 666 676 +f 668 673 676 +f 674 668 676 +f 669 674 676 +f 671 669 677 +f 670 671 677 +f 666 667 678 +f 669 666 678 +f 667 670 678 +f 677 669 678 +o convex_49 +v 1.130598 0.618840 -0.043329 +v 1.031093 2.092324 0.573942 +v 1.011167 2.092324 0.573942 +v 1.190339 0.618840 0.573942 +v 1.110690 0.778218 0.494185 +v 1.031093 1.773714 -0.043329 +v 1.011167 1.594432 -0.043329 +v 1.150506 0.798122 -0.043329 +v 1.011167 1.893139 0.573942 +v 1.150506 0.618840 0.573942 +v 1.190339 0.658793 0.553942 +v 1.170414 0.618840 0.016489 +v 1.110690 1.216253 0.076246 +f 689 686 691 +f 680 681 682 +f 681 680 684 +f 684 679 685 +f 679 683 685 +f 681 684 685 +f 679 684 686 +f 682 681 687 +f 685 683 687 +f 681 685 687 +f 679 682 688 +f 683 679 688 +f 682 687 688 +f 687 683 688 +f 680 682 689 +f 686 689 690 +f 682 679 690 +f 679 686 690 +f 689 682 690 +f 684 680 691 +f 686 684 691 +f 680 689 691 +o convex_50 +v -0.980045 -0.117847 0.195619 +v -0.860573 0.857634 0.534118 +v -0.860573 0.857634 0.474358 +v -0.880489 -0.675286 0.534118 +v -0.920309 0.339958 0.115967 +v -0.900417 0.797763 0.534118 +v -0.940202 0.857634 0.115967 +v -0.960129 -0.675286 0.115967 +v -0.980045 -0.675286 0.334988 +v -0.880489 -0.675286 0.474358 +v -0.900417 0.797763 0.175726 +v -0.900417 -0.675286 0.534118 +v -0.980045 -0.675286 0.115967 +v -0.940202 0.857634 0.195619 +f 693 698 705 +f 694 693 695 +f 695 693 697 +f 693 694 698 +f 698 696 699 +f 699 695 700 +f 697 692 700 +f 694 695 701 +f 699 696 701 +f 695 699 701 +f 698 694 702 +f 696 698 702 +f 694 701 702 +f 701 696 702 +f 695 697 703 +f 700 695 703 +f 697 700 703 +f 692 698 704 +f 698 699 704 +f 699 700 704 +f 700 692 704 +f 697 693 705 +f 692 697 705 +f 698 692 705 +o convex_51 +v 1.449212 -1.830192 -0.302145 +v 1.429273 -0.994218 0.096055 +v 1.429273 -0.994218 0.076125 +v 1.230181 -1.969712 -0.381765 +v 1.230181 -0.994218 -0.282264 +v 1.449212 -1.511616 -0.302145 +v 1.250120 -1.014081 -0.083164 +v 1.389437 -1.969712 -0.262335 +v 1.389437 -1.053903 0.096055 +v 1.449212 -1.233054 -0.202595 +v 1.250120 -1.830192 -0.401744 +v 1.449212 -1.093725 0.096055 +v 1.449212 -1.969712 -0.262335 +v 1.250120 -0.994218 -0.282264 +f 711 716 719 +f 707 708 710 +f 710 709 712 +f 707 710 712 +f 709 713 714 +f 707 712 714 +f 712 709 714 +f 706 711 715 +f 706 709 716 +f 709 710 716 +f 711 706 716 +f 708 707 717 +f 714 713 717 +f 707 714 717 +f 706 715 717 +f 715 708 717 +f 709 706 718 +f 713 709 718 +f 706 717 718 +f 717 713 718 +f 710 708 719 +f 708 715 719 +f 715 711 719 +f 716 710 719 +o convex_52 +v -0.840636 -1.571541 0.593881 +v -0.581806 -0.994257 0.872588 +v -0.621659 -0.994257 0.872588 +v -0.681401 -2.148711 0.773038 +v -0.760980 -2.168717 0.534151 +v -0.820722 -0.994257 0.534151 +v -0.581806 -2.108930 0.733218 +v -0.820722 -0.994257 0.693431 +v -0.581806 -0.994257 0.832767 +v -0.701315 -2.128821 0.773038 +v -0.800808 -2.168717 0.534151 +v -0.681401 -1.392412 0.832767 +v -0.581806 -2.128821 0.773038 +f 724 726 732 +f 721 722 723 +f 722 721 725 +f 724 725 726 +f 725 720 727 +f 722 725 727 +f 725 721 728 +f 721 726 728 +f 726 725 728 +f 723 722 729 +f 727 720 729 +f 724 723 730 +f 725 724 730 +f 720 725 730 +f 723 729 730 +f 729 720 730 +f 722 727 731 +f 729 722 731 +f 727 729 731 +f 721 723 732 +f 723 724 732 +f 726 721 732 +o convex_53 +v -0.581806 -2.626730 0.155803 +v 0.174848 -1.969817 0.733204 +v 0.174848 -1.969817 0.713246 +v 0.174848 -2.666581 0.116013 +v -0.581806 -2.208644 0.733204 +v -0.581806 -2.586949 0.116013 +v 0.174848 -2.567023 0.135970 +v -0.541885 -2.149007 0.713246 +v 0.174848 -2.029524 0.733204 +v -0.501963 -2.308201 0.633603 +v 0.035456 -2.646656 0.175823 +v 0.135000 -1.969817 0.713246 +v -0.044312 -2.686507 0.096055 +f 736 743 745 +f 735 734 736 +f 733 737 738 +f 735 736 739 +f 738 735 739 +f 737 734 740 +f 738 737 740 +f 736 734 741 +f 734 737 741 +f 741 737 742 +f 737 733 742 +f 736 741 743 +f 741 742 743 +f 742 733 743 +f 734 735 744 +f 735 738 744 +f 740 734 744 +f 738 740 744 +f 733 738 745 +f 739 736 745 +f 738 739 745 +f 743 733 745 +o convex_54 +v 0.672553 2.809234 0.016407 +v 0.234732 2.590065 0.733237 +v 0.194760 2.590065 0.733237 +v 0.214839 3.227134 0.056262 +v 0.831817 2.430965 0.593744 +v 0.811862 2.610215 0.016407 +v 0.791970 2.251715 0.713239 +v 0.214839 2.530474 0.713239 +v 0.194760 3.187311 0.016407 +v 0.831817 2.650038 0.076190 +v 0.831817 2.291538 0.733237 +v 0.214839 3.207270 0.096117 +v 0.393996 2.988197 0.016407 +f 753 754 758 +f 751 752 753 +f 752 748 753 +f 749 746 754 +f 746 751 754 +f 753 748 754 +f 746 749 755 +f 749 750 755 +f 751 746 755 +f 751 755 756 +f 747 748 756 +f 750 747 756 +f 752 751 756 +f 748 752 756 +f 755 750 756 +f 748 747 757 +f 750 749 757 +f 747 750 757 +f 754 748 757 +f 749 754 757 +f 751 753 758 +f 754 751 758 +o convex_55 +v 0.672568 -2.606846 0.116002 +v 0.931502 -1.929888 0.773061 +v 0.931502 -1.969769 0.773061 +v 0.174848 -1.929888 0.773061 +v 0.931502 -2.507325 0.096055 +v 0.931502 -2.208691 0.633631 +v 0.174848 -2.666558 0.116002 +v 0.174848 -2.546989 0.155830 +v 0.314239 -2.029553 0.753114 +v 0.174848 -1.929888 0.753114 +v 0.792110 -2.089194 0.753114 +v 0.931502 -1.929888 0.753114 +v 0.314239 -2.626678 0.175777 +v 0.911578 -2.546989 0.135949 +v 0.174848 -2.009577 0.753114 +v 0.752115 -2.328188 0.514081 +f 772 764 774 +f 761 760 762 +f 760 761 763 +f 763 761 764 +f 763 759 765 +f 763 765 766 +f 765 762 766 +f 762 760 768 +f 766 762 768 +f 763 766 768 +f 761 762 769 +f 764 761 769 +f 762 767 769 +f 760 763 770 +f 768 760 770 +f 763 768 770 +f 765 759 771 +f 769 767 771 +f 759 763 772 +f 763 764 772 +f 762 765 773 +f 767 762 773 +f 765 771 773 +f 771 767 773 +f 764 769 774 +f 771 759 774 +f 769 771 774 +f 759 772 774 +o convex_56 +v -0.780926 -2.168717 0.494282 +v -0.880514 -0.675467 0.534118 +v -0.900389 -0.675467 0.534118 +v -0.960100 -0.675467 0.115994 +v -0.999957 -1.690748 0.255440 +v -0.820761 -1.949611 0.096055 +v -0.780926 -1.471935 0.295190 +v -0.820761 -0.795032 0.534118 +v -0.840679 -2.168717 0.096055 +v -0.820761 -2.168717 0.514136 +v -0.980018 -0.675467 0.334983 +v -0.980018 -0.874694 0.115994 +v -0.780926 -1.949611 0.534118 +v -0.999957 -1.650990 0.215605 +v -0.800843 -1.491814 0.215605 +v -0.999957 -0.994113 0.175726 +v -0.840679 -2.168717 0.474300 +v -0.820761 -2.168717 0.096055 +f 783 780 792 +f 777 776 778 +f 776 777 782 +f 778 776 782 +f 781 778 782 +f 777 779 784 +f 783 775 784 +f 777 778 785 +f 779 777 785 +f 778 780 786 +f 780 783 786 +f 775 781 787 +f 782 777 787 +f 781 782 787 +f 777 784 787 +f 784 775 787 +f 783 779 788 +f 786 783 788 +f 780 778 789 +f 778 781 789 +f 781 780 789 +f 785 778 790 +f 779 785 790 +f 778 786 790 +f 788 779 790 +f 786 788 790 +f 779 783 791 +f 784 779 791 +f 783 784 791 +f 781 775 792 +f 780 781 792 +f 775 783 792 +o convex_57 +v 1.150527 -1.929947 0.633636 +v 0.931593 -2.527188 0.096148 +v 0.931593 -2.487313 0.096148 +v 1.449111 -2.049453 0.096148 +v 1.190352 -2.248358 0.474398 +v 0.931543 -1.929947 0.753048 +v 0.951506 -2.109148 0.753048 +v 1.449111 -1.930005 0.315093 +v 1.409286 -2.029516 0.096148 +v 1.031155 -2.109148 0.753048 +v 0.951506 -2.527188 0.135975 +v 1.110804 -2.288233 0.096148 +v 1.429198 -2.009637 0.334973 +v 0.931543 -2.168785 0.693342 +v 1.289812 -1.929947 0.374865 +v 1.190352 -2.308170 0.195681 +f 797 803 808 +f 794 795 796 +f 796 795 801 +f 800 796 801 +f 793 798 802 +f 798 799 802 +f 794 796 803 +f 797 802 803 +f 795 798 804 +f 798 801 804 +f 801 795 804 +f 797 796 805 +f 800 793 805 +f 796 800 805 +f 802 797 805 +f 793 802 805 +f 795 794 806 +f 798 795 806 +f 799 798 806 +f 802 799 806 +f 794 803 806 +f 803 802 806 +f 798 793 807 +f 793 800 807 +f 801 798 807 +f 800 801 807 +f 796 797 808 +f 803 796 808 +o convex_58 +v -0.920282 1.236263 0.235516 +v -0.681391 2.052383 0.554030 +v -0.681391 2.052383 0.494212 +v -0.840626 0.858018 0.534047 +v -0.900368 0.957519 0.115967 +v -0.820712 2.052383 0.115967 +v -0.741133 1.972642 0.534047 +v -0.880454 0.897771 0.554030 +v -0.900368 1.733769 0.155802 +v -0.780961 2.032390 0.135906 +v -0.940221 0.858018 0.115967 +v -0.900368 0.858018 0.155802 +v -0.900368 0.858018 0.494212 +f 809 819 821 +f 811 810 812 +f 810 811 814 +f 810 814 815 +f 812 810 816 +f 810 815 816 +f 816 815 817 +f 815 814 817 +f 811 813 818 +f 814 811 818 +f 813 814 818 +f 814 813 819 +f 809 817 819 +f 817 814 819 +f 811 812 820 +f 813 811 820 +f 812 819 820 +f 819 813 820 +f 812 816 821 +f 816 817 821 +f 817 809 821 +f 819 812 821 +o convex_59 +v 1.250093 -0.993990 -0.242448 +v 1.270020 -0.137981 0.334998 +v 1.270020 -0.137981 0.295149 +v 1.489036 -0.993990 0.295149 +v 1.429253 -0.993990 0.334998 +v 1.250093 -0.973932 -0.063211 +v 1.270020 -0.834622 -0.222495 +v 1.250093 -0.237540 0.334998 +v 1.449204 -1.013866 0.096016 +v 1.429277 -1.073675 0.115969 +f 822 830 831 +f 824 823 825 +f 825 823 826 +f 822 824 828 +f 824 822 829 +f 823 824 829 +f 826 823 829 +f 827 826 829 +f 822 827 829 +f 824 825 830 +f 822 828 830 +f 828 824 830 +f 825 826 831 +f 826 827 831 +f 827 822 831 +f 830 825 831 +o convex_60 +v 2.823261 -1.870123 -0.142873 +v 3.062025 -1.571502 0.036288 +v 3.081876 -1.591438 0.056215 +v 2.504545 -1.571502 -0.142873 +v 2.922655 -1.870123 0.076143 +v 3.022185 -1.730751 -0.142873 +v 2.584292 -1.870123 -0.162800 +v 3.201463 -1.730751 -0.003520 +v 2.723662 -1.571502 -0.162800 +v 2.962494 -1.571502 0.076143 +v 3.062025 -1.870123 -0.003520 +v 3.161555 -1.730751 0.076143 +f 836 842 843 +f 837 832 838 +f 832 836 838 +f 836 835 838 +f 833 834 839 +f 837 833 839 +f 835 833 840 +f 833 837 840 +f 837 838 840 +f 838 835 840 +f 834 833 841 +f 833 835 841 +f 835 836 841 +f 836 832 842 +f 832 837 842 +f 837 839 842 +f 842 839 843 +f 839 834 843 +f 834 841 843 +f 841 836 843 +o convex_61 +v 3.021932 -1.571473 -0.003497 +v 1.867708 -1.432105 -0.162800 +v 1.867708 -1.432105 -0.142867 +v 2.822912 -1.452002 0.016436 +v 2.026832 -1.531634 0.255350 +v 2.444992 -1.571473 -0.162800 +v 2.086618 -1.412193 0.235376 +v 2.723344 -1.511722 0.215484 +v 2.743235 -1.531649 -0.142867 +v 1.967160 -1.412178 -0.162800 +v 3.002041 -1.571473 0.076114 +v 2.007056 -1.491825 -0.162800 +v 2.922479 -1.471929 0.076114 +v 2.345425 -1.412178 0.016436 +f 847 853 857 +f 846 845 848 +f 846 848 850 +f 850 848 851 +f 847 844 852 +f 844 849 852 +f 852 849 853 +f 845 846 853 +f 849 845 853 +f 846 850 853 +f 847 852 853 +f 849 844 854 +f 848 849 854 +f 851 848 854 +f 848 845 855 +f 845 849 855 +f 849 848 855 +f 844 847 856 +f 847 850 856 +f 850 851 856 +f 854 844 856 +f 851 854 856 +f 850 847 857 +f 853 850 857 +o convex_62 +v 2.604001 -1.870152 0.215509 +v 2.942440 -1.531715 0.096080 +v 2.982275 -1.551594 0.096080 +v 2.882741 -1.870152 0.076182 +v 2.026876 -1.531715 0.235407 +v 3.022111 -1.690978 0.195591 +v 2.026876 -1.870152 0.275262 +v 2.524548 -1.531715 0.235407 +v 2.046740 -1.870152 0.235407 +v 2.325480 -1.710824 0.275262 +v 2.882741 -1.531715 0.076182 +v 3.141727 -1.730735 0.076182 +v 2.026876 -1.571506 0.275262 +v 2.604001 -1.790471 0.255325 +v 2.982275 -1.790471 0.175712 +v 2.743371 -1.531715 0.215509 +f 867 871 873 +f 861 858 864 +f 859 862 865 +f 862 861 866 +f 861 864 866 +f 864 862 866 +f 859 860 868 +f 861 862 868 +f 862 859 868 +f 860 863 869 +f 868 860 869 +f 861 868 869 +f 862 864 870 +f 865 862 870 +f 864 867 870 +f 867 865 870 +f 864 858 871 +f 867 864 871 +f 858 861 872 +f 869 863 872 +f 861 869 872 +f 871 858 872 +f 863 871 872 +f 860 859 873 +f 863 860 873 +f 859 865 873 +f 865 867 873 +f 871 863 873 +o convex_63 +v 1.409334 -1.929888 0.275290 +v 0.991278 -0.994027 0.832797 +v 1.031129 -0.994027 0.812823 +v 1.011203 -1.929888 0.772986 +v 1.289923 -1.651035 0.335046 +v 1.449138 -0.994027 0.354965 +v 1.449138 -1.611278 0.354965 +v 0.971353 -1.929888 0.733203 +v 0.971353 -0.994027 0.792905 +v 1.389409 -1.013997 0.335046 +v 1.230147 -1.013997 0.633664 +v 1.110736 -1.929888 0.693365 +v 1.449138 -1.929888 0.315127 +v 1.230194 -1.929888 0.414666 +v 1.449138 -0.994027 0.315127 +v 1.329680 -1.710763 0.295208 +v 1.349605 -1.193181 0.335046 +f 883 889 890 +f 876 875 877 +f 875 876 879 +f 877 875 881 +f 874 877 881 +f 878 881 882 +f 875 879 882 +f 881 875 882 +f 879 876 884 +f 880 879 884 +f 880 884 885 +f 876 877 885 +f 877 874 885 +f 884 876 885 +f 885 874 886 +f 879 880 886 +f 880 885 886 +f 874 881 887 +f 881 878 887 +f 882 879 888 +f 883 882 888 +f 886 874 888 +f 879 886 888 +f 874 887 889 +f 887 878 889 +f 883 888 889 +f 888 874 889 +f 878 882 890 +f 882 883 890 +f 889 878 890 +o convex_64 +v -0.980027 -0.874536 -0.361974 +v -0.900378 0.160866 -0.282307 +v -0.880505 0.160866 -0.342049 +v -0.820781 -0.994027 -0.322158 +v -0.860597 0.160866 -0.640687 +v -0.800855 -0.994027 -0.640687 +v -0.980027 0.021478 -0.481352 +v -0.980027 -0.994027 -0.302233 +v -0.840689 0.160866 -0.501278 +v -0.980027 -0.137919 -0.282307 +v -0.840689 -0.814621 -0.640687 +v -0.820781 -0.157928 -0.620726 +v -0.960102 0.140856 -0.481352 +v -0.840689 -0.994027 -0.302233 +f 900 898 904 +f 893 892 894 +f 892 893 895 +f 897 891 898 +f 891 896 898 +f 896 894 898 +f 893 894 899 +f 895 893 899 +f 897 898 900 +f 896 891 901 +f 895 896 901 +f 897 895 901 +f 891 897 901 +f 894 896 902 +f 896 895 902 +f 899 894 902 +f 895 899 902 +f 892 895 903 +f 895 897 903 +f 900 892 903 +f 897 900 903 +f 894 892 904 +f 898 894 904 +f 892 900 904 +o convex_65 +v -0.920290 0.340344 -0.560985 +v -0.840673 1.972852 -0.282307 +v -0.820769 1.972852 -0.322158 +v -0.900386 0.161043 -0.282307 +v -0.820769 0.380071 -0.640687 +v -0.820769 1.972852 -0.640687 +v -0.900386 1.255826 -0.282307 +v -0.820769 0.181084 -0.521169 +v -0.940207 0.161043 -0.521169 +v -0.800838 1.952634 -0.521169 +v -0.860591 1.952634 -0.361974 +v -0.860591 0.161043 -0.640687 +v -0.840673 1.793374 -0.640687 +v -0.800838 0.837989 -0.640687 +v -0.920290 0.639002 -0.282307 +v -0.940207 0.260714 -0.521169 +v -0.880468 0.917796 -0.640687 +v -0.840673 1.594210 -0.282307 +f 908 912 922 +f 906 907 910 +f 908 906 911 +f 910 907 914 +f 906 910 915 +f 911 906 915 +f 910 909 916 +f 912 908 916 +f 909 912 916 +f 913 905 916 +f 908 913 916 +f 915 910 917 +f 910 916 917 +f 909 910 918 +f 907 912 918 +f 912 909 918 +f 914 907 918 +f 910 914 918 +f 908 911 919 +f 913 908 919 +f 913 919 920 +f 911 915 920 +f 915 917 920 +f 919 911 920 +f 920 917 921 +f 905 913 921 +f 916 905 921 +f 917 916 921 +f 913 920 921 +f 907 906 922 +f 906 908 922 +f 912 907 922 +o convex_66 +v -0.661430 0.021453 -0.899511 +v -0.701247 -0.874538 -0.700423 +v -0.721172 -0.874538 -0.700423 +v -0.542000 -0.994027 -0.800014 +v -0.681338 0.220602 -0.819894 +v -0.542000 0.220602 -0.939366 +v -0.542000 -0.974053 -0.760159 +v -0.721172 -0.297185 -0.839775 +v -0.581833 -0.038351 -0.939366 +v -0.721172 -0.954197 -0.740278 +v -0.721172 0.220602 -0.839775 +v -0.542000 0.220602 -0.919415 +f 929 928 934 +f 925 924 927 +f 927 924 929 +f 926 928 929 +f 923 928 931 +f 928 926 931 +f 930 923 931 +f 930 931 932 +f 924 925 932 +f 929 924 932 +f 926 929 932 +f 925 930 932 +f 931 926 932 +f 925 927 933 +f 928 923 933 +f 927 928 933 +f 930 925 933 +f 923 930 933 +f 928 927 934 +f 927 929 934 +o convex_67 +v 1.250093 -0.994027 -0.282272 +v 1.170460 0.618840 0.334998 +v 1.170460 0.618840 -0.043243 +v 1.190363 -0.735109 -0.262272 +v 1.250093 -0.157755 0.334998 +v 1.130633 0.618840 -0.282272 +v 1.170460 0.081113 0.334998 +v 1.230167 -0.297002 -0.262272 +v 1.230167 -0.814679 -0.003425 +v 1.130633 0.598790 0.036272 +v 1.250093 -0.058292 0.314999 +v 1.170460 0.499328 -0.282272 +v 1.150547 0.359923 0.334998 +v 1.210253 -0.994027 -0.282272 +v 1.250093 -0.575654 -0.242394 +f 942 945 949 +f 936 937 940 +f 939 936 941 +f 935 939 943 +f 939 941 943 +f 936 940 944 +f 940 938 944 +f 937 936 945 +f 939 935 945 +f 936 939 945 +f 945 942 946 +f 935 940 946 +f 940 937 946 +f 942 935 946 +f 937 945 946 +f 938 941 947 +f 941 936 947 +f 936 944 947 +f 944 938 947 +f 940 935 948 +f 938 940 948 +f 941 938 948 +f 935 943 948 +f 943 941 948 +f 935 942 949 +f 945 935 949 +o convex_68 +v -0.542000 1.415123 -0.899523 +v -0.721172 0.220602 -0.839810 +v -0.721172 0.220602 -0.819894 +v -0.721172 1.972681 -0.839810 +v -0.601741 0.220602 -0.939366 +v -0.542000 1.813354 -0.839810 +v -0.542000 0.360206 -0.899523 +v -0.721172 1.574450 -0.879630 +v -0.681338 0.220602 -0.819894 +v -0.542000 1.853143 -0.879630 +v -0.701247 1.057024 -0.819894 +v -0.542000 0.220602 -0.939366 +f 956 958 961 +f 951 952 953 +f 952 951 954 +f 950 955 956 +f 951 953 957 +f 950 954 957 +f 954 951 957 +f 952 954 958 +f 956 955 958 +f 953 955 959 +f 955 950 959 +f 957 953 959 +f 950 957 959 +f 953 952 960 +f 955 953 960 +f 952 958 960 +f 958 955 960 +f 954 950 961 +f 950 956 961 +f 958 954 961 +o convex_69 +v -0.283104 2.410915 -0.799983 +v 0.134960 3.267096 0.016298 +v 0.095087 3.267096 0.016298 +v -0.541836 2.888871 0.016298 +v 0.154776 2.410999 -0.740130 +v -0.661454 2.430945 -0.740130 +v 0.154776 2.530509 -0.760028 +v -0.601685 2.928680 -0.003600 +v -0.661454 2.430945 -0.640562 +v 0.035398 3.207257 -0.063292 +v 0.134960 3.227204 0.016298 +v -0.661454 2.630073 -0.322201 +v -0.661454 2.490700 -0.660460 +v 0.114903 2.650019 -0.640562 +f 967 971 975 +f 963 964 965 +f 966 962 968 +f 963 966 968 +f 962 967 968 +f 965 964 969 +f 962 966 970 +f 967 962 970 +f 964 963 971 +f 969 964 971 +f 963 965 972 +f 965 966 972 +f 966 963 972 +f 966 965 973 +f 965 969 973 +f 967 970 973 +f 970 966 973 +f 971 967 974 +f 969 971 974 +f 973 969 974 +f 967 973 974 +f 963 968 975 +f 968 967 975 +f 971 963 975 +o convex_70 +v 0.035532 -2.746278 -0.003505 +v 0.632707 -2.586982 0.096055 +v 0.632707 -2.586982 0.056215 +v -0.541867 -2.626837 0.096055 +v -0.541867 -2.626837 -0.003505 +v 0.115094 -2.706438 0.096055 +v 0.632707 -2.666630 -0.003505 +v -0.541867 -2.686542 0.056215 +v 0.214547 -2.746278 0.036335 +f 983 976 984 +f 977 978 979 +f 979 978 980 +f 977 979 981 +f 978 977 982 +f 976 980 982 +f 980 978 982 +f 980 976 983 +f 979 980 983 +f 981 979 983 +f 981 983 984 +f 977 981 984 +f 982 977 984 +f 976 982 984 +o convex_71 +v 0.772130 1.594428 -0.620775 +v 0.234584 2.132125 -0.740247 +v 0.254579 2.052446 -0.740247 +v 0.831883 0.977326 -0.740247 +v 0.473597 1.236146 -0.720331 +v 0.811946 1.116764 -0.620775 +v 0.453660 2.171828 -0.620775 +v 0.453660 2.191884 -0.680511 +v 0.811946 0.798048 -0.740247 +v 0.314333 2.191884 -0.740247 +v 0.573050 2.092285 -0.640691 +v 0.234584 2.132125 -0.720331 +v 0.473597 1.236146 -0.740247 +f 993 989 997 +f 987 986 988 +f 988 985 990 +f 989 990 991 +f 990 985 991 +f 987 988 993 +f 988 990 993 +f 990 989 993 +f 988 986 994 +f 991 992 994 +f 992 988 994 +f 985 988 995 +f 991 985 995 +f 992 991 995 +f 988 992 995 +f 986 987 996 +f 987 989 996 +f 989 991 996 +f 994 986 996 +f 991 994 996 +f 989 987 997 +f 987 993 997 +o convex_72 +v 0.752240 1.733831 -0.620742 +v 0.473527 2.171804 -0.620742 +v 0.473527 2.171804 -0.600830 +v 0.831872 2.191884 -0.342041 +v 0.811981 1.176375 -0.600830 +v 0.811981 2.132043 -0.282272 +v 0.593045 2.171804 -0.441601 +v 0.632861 2.052421 -0.620742 +v 0.831872 1.355600 -0.620742 +v 0.831872 1.176375 -0.620742 +f 1006 1001 1007 +f 999 1000 1001 +f 1000 999 1002 +f 1003 1001 1004 +f 1001 1000 1004 +f 1000 1002 1004 +f 1002 1003 1004 +f 998 999 1005 +f 999 1001 1005 +f 1001 998 1005 +f 999 998 1006 +f 998 1001 1006 +f 1002 999 1007 +f 1003 1002 1007 +f 1001 1003 1007 +f 999 1006 1007 +o convex_73 +v -0.980045 -0.794781 0.056208 +v -0.900413 1.216199 0.115967 +v -0.880495 1.216199 -0.063272 +v -0.980045 -0.177253 -0.282272 +v -0.900413 -0.137504 -0.242433 +v -0.900413 1.216199 -0.282272 +v -0.940209 0.977098 0.115967 +v -0.960117 -0.834731 0.115967 +v -0.980045 -0.257154 0.115967 +v -0.880495 0.618747 -0.282272 +v -0.900413 0.917473 0.115967 +v -0.920321 1.216199 -0.083153 +v -0.960117 -0.276829 -0.282272 +f 1017 1012 1020 +f 1009 1010 1013 +f 1009 1014 1015 +f 1011 1008 1016 +f 1014 1011 1016 +f 1008 1015 1016 +f 1015 1014 1016 +f 1010 1012 1017 +f 1013 1010 1017 +f 1011 1013 1017 +f 1010 1009 1018 +f 1012 1010 1018 +f 1009 1015 1018 +f 1015 1012 1018 +f 1009 1013 1019 +f 1013 1011 1019 +f 1011 1014 1019 +f 1014 1009 1019 +f 1008 1011 1020 +f 1015 1008 1020 +f 1012 1015 1020 +f 1011 1017 1020 +o convex_74 +v -0.920309 1.475185 0.036288 +v -0.800837 2.052418 0.115967 +v -0.820753 2.052418 0.115967 +v -0.820753 2.052418 -0.282272 +v -0.860573 1.236253 -0.282272 +v -0.900393 1.216281 0.115967 +v -0.860573 1.992665 -0.282272 +v -0.900393 1.216281 -0.282272 +v -0.900393 1.793514 0.115967 +v -0.800837 1.992665 0.115967 +f 1026 1025 1030 +f 1023 1022 1024 +f 1022 1023 1026 +f 1023 1024 1027 +f 1024 1025 1027 +f 1027 1025 1028 +f 1025 1026 1028 +f 1026 1021 1028 +f 1021 1027 1028 +f 1021 1026 1029 +f 1026 1023 1029 +f 1027 1021 1029 +f 1023 1027 1029 +f 1024 1022 1030 +f 1025 1024 1030 +f 1022 1026 1030 +o convex_75 +v -0.103816 -2.049360 -0.620802 +v 0.353895 -1.949804 -0.760141 +v 0.353895 -1.929888 -0.760141 +v -0.541867 -1.929888 -0.660618 +v 0.015642 -2.029444 -0.720308 +v 0.632707 -1.929888 -0.740216 +v 0.632707 -2.049360 -0.740216 +v -0.541867 -2.029444 -0.580969 +v -0.541867 -2.049360 -0.620802 +v -0.402404 -1.929888 -0.640710 +f 1038 1036 1040 +f 1033 1032 1034 +f 1034 1032 1035 +f 1032 1033 1036 +f 1033 1034 1036 +f 1036 1031 1037 +f 1035 1032 1037 +f 1032 1036 1037 +f 1031 1036 1038 +f 1034 1035 1039 +f 1037 1031 1039 +f 1035 1037 1039 +f 1031 1038 1039 +f 1038 1034 1039 +f 1036 1034 1040 +f 1034 1038 1040 +o convex_76 +v -0.741070 2.530307 0.036319 +v -0.601718 2.132205 0.733237 +v -0.641573 2.132205 0.733237 +v -0.800806 2.052500 0.036319 +v -0.601718 2.868736 0.036319 +v -0.661454 2.888683 0.056239 +v -0.840661 2.072531 0.096078 +v -0.601718 2.092478 0.713317 +v -0.661454 2.072531 0.733237 +v -0.601718 2.829010 0.135918 +f 1046 1043 1050 +f 1044 1041 1045 +f 1045 1041 1046 +f 1041 1044 1047 +f 1046 1041 1047 +f 1044 1045 1048 +f 1045 1042 1048 +f 1042 1043 1049 +f 1043 1046 1049 +f 1046 1047 1049 +f 1047 1044 1049 +f 1048 1042 1049 +f 1044 1048 1049 +f 1043 1042 1050 +f 1042 1045 1050 +f 1045 1046 1050 +o convex_77 +v -0.721229 0.857496 0.733237 +v -0.900397 -0.715210 0.534118 +v -0.840638 -0.994027 0.534118 +v -0.681389 2.052383 0.554057 +v -0.741148 -0.994027 0.733237 +v -0.900397 0.618638 0.554076 +v -0.621630 2.052383 0.733218 +v -0.840638 -0.476054 0.693359 +v -0.701336 1.813227 0.713278 +v -0.661497 2.032106 0.573977 +v -0.820718 -0.994027 0.534118 +v -0.880450 0.857496 0.534118 +v -0.800826 -0.237195 0.733237 +v -0.820718 -0.994027 0.693359 +v -0.721229 2.012424 0.573977 +v -0.741148 -0.994027 0.713278 +v -0.621630 1.912826 0.713278 +v -0.661497 2.052383 0.733218 +f 1065 1059 1068 +f 1051 1055 1057 +f 1056 1052 1058 +f 1054 1057 1060 +f 1053 1052 1061 +f 1055 1053 1061 +f 1054 1060 1061 +f 1052 1056 1062 +f 1056 1059 1062 +f 1061 1052 1062 +f 1054 1061 1062 +f 1055 1051 1063 +f 1056 1058 1063 +f 1059 1056 1063 +f 1052 1053 1064 +f 1053 1055 1064 +f 1058 1052 1064 +f 1055 1063 1064 +f 1063 1058 1064 +f 1062 1059 1065 +f 1054 1062 1065 +f 1055 1061 1066 +f 1061 1060 1066 +f 1057 1055 1067 +f 1060 1057 1067 +f 1055 1066 1067 +f 1066 1060 1067 +f 1051 1057 1068 +f 1057 1054 1068 +f 1063 1051 1068 +f 1059 1063 1068 +f 1054 1065 1068 +o convex_78 +v 0.134945 3.087765 0.255397 +v -0.601718 2.092441 0.713239 +v -0.581682 2.092441 0.713239 +v -0.581682 2.888607 0.016407 +v 0.194742 3.207284 0.016407 +v 0.134945 2.630040 0.733237 +v -0.601718 2.928369 0.056332 +v 0.194742 2.550400 0.713239 +v -0.601718 2.152200 0.733237 +v 0.115065 3.286924 0.036335 +v 0.194742 3.107646 0.215612 +v -0.064248 2.510639 0.733237 +v -0.581682 2.152200 0.653457 +v 0.115065 3.047887 0.295252 +v 0.194742 2.550400 0.733237 +f 1076 1079 1083 +f 1072 1070 1075 +f 1071 1073 1076 +f 1070 1071 1077 +f 1075 1070 1077 +f 1073 1072 1078 +f 1072 1075 1078 +f 1069 1074 1079 +f 1076 1073 1079 +f 1078 1069 1079 +f 1073 1078 1079 +f 1074 1075 1080 +f 1077 1074 1080 +f 1075 1077 1080 +f 1071 1070 1081 +f 1070 1072 1081 +f 1072 1073 1081 +f 1073 1071 1081 +f 1074 1069 1082 +f 1075 1074 1082 +f 1069 1078 1082 +f 1078 1075 1082 +f 1071 1076 1083 +f 1074 1077 1083 +f 1077 1071 1083 +f 1079 1074 1083 +o convex_79 +v 0.135000 1.773515 0.892529 +v -0.601718 0.300249 0.912393 +v -0.601718 0.300249 0.932311 +v -0.601718 2.072256 0.733237 +v 0.115097 0.519374 0.972148 +v 0.115097 2.072256 0.812910 +v -0.581670 0.320333 0.892475 +v -0.561767 2.052352 0.773101 +v -0.084082 0.320333 1.011958 +v -0.541863 1.992460 0.733237 +v 0.095121 2.132148 0.852747 +v 0.115097 0.599170 1.011985 +v 0.135000 0.399949 0.992067 +v -0.601718 0.380045 0.932311 +v 0.135000 2.132148 0.812910 +v -0.044275 0.300249 0.972121 +f 1096 1092 1099 +f 1085 1086 1087 +f 1085 1087 1090 +f 1089 1088 1090 +f 1090 1087 1093 +f 1089 1090 1093 +f 1087 1091 1094 +f 1091 1092 1095 +f 1084 1094 1095 +f 1094 1091 1095 +f 1084 1095 1096 +f 1095 1092 1096 +f 1087 1086 1097 +f 1091 1087 1097 +f 1086 1092 1097 +f 1092 1091 1097 +f 1088 1089 1098 +f 1093 1087 1098 +f 1089 1093 1098 +f 1087 1094 1098 +f 1094 1084 1098 +f 1096 1088 1098 +f 1084 1096 1098 +f 1086 1085 1099 +f 1085 1090 1099 +f 1090 1088 1099 +f 1092 1086 1099 +f 1088 1096 1099 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/433/433.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/433/433.urdf new file mode 100644 index 000000000..ac409306b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/433/433.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/434/434.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/434/434.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/434/434.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/434/434.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/434/434.obj new file mode 100644 index 000000000..a66580a20 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/434/434.obj @@ -0,0 +1,594 @@ +o convex_0 +v 1.065894 -1.743681 -0.232101 +v -0.446048 -0.461328 1.246968 +v -0.610380 -0.461328 1.246968 +v 0.079693 -3.518123 0.753778 +v -0.873354 -0.461676 -1.185351 +v -0.807662 -3.189368 -0.889437 +v 0.967254 -0.461328 0.885295 +v 0.605640 -0.461328 -1.185351 +v 0.835664 -3.518123 -0.035076 +v -0.939251 -1.875391 0.819286 +v 0.112642 -3.551138 -0.757919 +v -0.709021 -3.123687 0.885044 +v -0.018742 -4.011603 -0.002698 +v -1.037892 -0.461676 0.161949 +v 0.999997 -0.560372 -0.889688 +v -1.037892 -1.973740 -0.330739 +v 0.901356 -2.006754 -0.758170 +v 0.868613 -1.973740 0.753778 +v -0.774919 -3.518123 0.030432 +v 0.539742 -0.494343 1.148079 +v -0.478997 -0.494343 -1.317120 +v -0.971994 -0.461676 0.983682 +v -1.004943 -0.593039 -1.053834 +v 0.342666 -2.039769 0.983682 +v 1.065894 -2.137770 0.030432 +v 1.065894 -0.461328 0.096191 +v 0.671331 -3.123687 0.556502 +v 0.178334 -0.494343 -1.284240 +v 0.638588 -3.156702 -0.593774 +v -1.037892 -2.039074 0.030432 +v 0.145385 -3.452442 -0.790799 +v -1.004943 -1.973740 -0.856558 +v -0.610380 -3.255050 -0.889688 +v 0.145385 -3.518123 0.753778 +v 0.145385 -3.978589 -0.002447 +v -0.807662 -0.724749 1.148079 +v -0.446048 -2.926295 0.917924 +v -1.037892 -0.461676 -0.626402 +v 1.032945 -0.461328 -0.692412 +v -0.807662 -0.757764 -1.218230 +v 0.901356 -2.006754 0.687768 +v -0.511740 -0.560024 1.246968 +v 0.835664 -3.485456 0.030432 +v 1.065894 -1.710666 0.194829 +v -0.347407 -3.682848 -0.396498 +v 0.309717 -2.138465 -0.988326 +v -0.807662 -3.058006 -0.922316 +v 0.145385 -0.691735 1.181209 +v 0.934305 -1.973740 -0.692412 +v -0.676278 -3.156702 0.885044 +v 0.934305 -0.658720 0.918175 +v 0.244026 -2.138465 0.983682 +v 0.079693 -3.945574 -0.166342 +v 0.178334 -3.354094 0.786406 +v 1.032945 -2.367829 -0.035076 +v -0.117383 -3.879893 0.161698 +v -0.709021 -2.959310 0.918175 +v -0.774919 -3.518123 -0.035076 +v -0.906302 -0.494343 1.082320 +v 0.079693 -3.518123 -0.790799 +v -1.004943 -0.954808 0.622260 +v 0.967254 -0.658720 -0.922567 +v 0.999997 -0.691735 0.720899 +v -0.281715 -3.419775 -0.823929 +f 33 60 64 +f 3 2 7 +f 5 3 8 +f 3 7 8 +f 7 2 20 +f 5 8 21 +f 3 14 22 +f 18 20 24 +f 8 7 26 +f 25 1 26 +f 21 8 28 +f 9 11 29 +f 17 9 29 +f 12 10 30 +f 16 6 30 +f 14 16 30 +f 19 12 30 +f 29 11 31 +f 17 29 31 +f 6 16 32 +f 21 28 33 +f 4 13 34 +f 34 13 35 +f 3 5 38 +f 14 3 38 +f 16 14 38 +f 5 23 38 +f 32 16 38 +f 23 32 38 +f 1 15 39 +f 15 8 39 +f 8 26 39 +f 26 1 39 +f 5 21 40 +f 23 5 40 +f 18 27 41 +f 2 3 42 +f 27 34 43 +f 35 9 43 +f 34 35 43 +f 25 41 43 +f 41 27 43 +f 25 26 44 +f 41 25 44 +f 8 17 46 +f 28 8 46 +f 17 31 46 +f 6 32 47 +f 32 23 47 +f 33 6 47 +f 21 33 47 +f 40 21 47 +f 23 40 47 +f 20 2 48 +f 24 20 48 +f 2 42 48 +f 15 1 49 +f 9 17 49 +f 17 15 49 +f 12 19 50 +f 4 34 50 +f 7 20 51 +f 20 18 51 +f 41 7 51 +f 18 41 51 +f 42 37 52 +f 24 48 52 +f 48 42 52 +f 11 9 53 +f 9 35 53 +f 35 13 53 +f 13 45 53 +f 18 24 54 +f 27 18 54 +f 34 27 54 +f 50 34 54 +f 37 50 54 +f 24 52 54 +f 52 37 54 +f 1 25 55 +f 43 9 55 +f 25 43 55 +f 49 1 55 +f 9 49 55 +f 13 4 56 +f 19 13 56 +f 4 50 56 +f 50 19 56 +f 10 12 57 +f 3 36 57 +f 42 3 57 +f 37 42 57 +f 12 50 57 +f 50 37 57 +f 13 19 58 +f 30 6 58 +f 19 30 58 +f 45 13 58 +f 6 45 58 +f 3 22 59 +f 22 10 59 +f 36 3 59 +f 10 57 59 +f 57 36 59 +f 31 11 60 +f 33 28 60 +f 28 46 60 +f 46 31 60 +f 10 22 61 +f 22 14 61 +f 30 10 61 +f 14 30 61 +f 8 15 62 +f 17 8 62 +f 15 17 62 +f 26 7 63 +f 7 41 63 +f 44 26 63 +f 41 44 63 +f 6 33 64 +f 45 6 64 +f 11 53 64 +f 53 45 64 +f 60 11 64 +o convex_1 +v -0.216027 2.037014 0.622025 +v 0.079700 -0.461328 -1.349578 +v 0.145395 -0.461328 -1.349578 +v 0.112445 0.327841 3.021643 +v 1.032989 1.116276 -1.974038 +v -0.906333 1.017722 -2.598498 +v -0.972027 0.196272 2.067987 +v 0.967295 0.919167 2.758524 +v 1.000039 -0.461084 0.688103 +v -0.643350 1.642307 2.824601 +v -1.004977 -0.461328 0.654766 +v 0.770006 1.642307 -2.763393 +v 0.737056 0.163257 -2.762798 +v 0.770006 1.642307 2.758524 +v -0.840639 1.872431 -1.086459 +v -0.676300 0.196272 -2.730057 +v 0.704106 2.037014 -0.166140 +v -0.051688 1.872431 -2.762798 +v -1.004977 1.017722 2.067987 +v -1.004977 -0.461328 -1.053718 +v -0.840639 0.163257 2.758524 +v 1.032989 -0.461084 -0.691781 +v 0.967295 1.740862 0.030306 +v -1.037722 1.050492 -1.415060 +v -0.479011 1.445199 -2.960434 +v 0.112445 1.872431 2.758524 +v 0.770006 0.196517 2.725783 +v -0.380366 -0.461328 1.246486 +v -0.709044 2.037014 0.030306 +v 1.032989 1.017722 2.232882 +v 0.474072 0.492180 -3.026512 +v -0.939283 1.773876 0.161270 +v -0.446061 1.445199 3.054979 +v 0.934345 0.886397 -2.796134 +v -0.018738 0.064703 2.791265 +v -0.643350 1.675322 -2.762798 +v 0.046750 2.004000 -2.040115 +v 0.638411 0.984707 3.021643 +v -0.084433 0.064703 -2.762798 +v 0.507023 1.477968 -3.026512 +v 0.539767 -0.461328 1.180408 +v 1.065734 -0.461084 0.095788 +v -0.906333 1.017722 2.824601 +v -0.511755 0.524950 3.054979 +v -1.037722 -0.461328 0.161270 +v -0.446061 0.459165 -2.960434 +v -0.774738 -0.461328 1.213149 +v 0.309734 1.543753 3.021643 +v 1.000039 -0.461084 -0.922159 +v 0.572717 2.037014 0.457725 +v -1.004977 1.050492 -2.039520 +v -0.873383 0.952182 -2.730057 +v -1.037722 1.050492 0.030902 +v -0.774738 -0.461328 -1.250759 +v 1.065734 0.294826 -0.001839 +v 0.014006 1.938215 2.232287 +v 1.032989 0.951937 -2.237156 +v 0.835700 1.740862 1.838205 +v 0.802956 1.740862 -2.105597 +v -0.939283 0.229042 -2.039520 +v 0.507023 0.459165 3.021643 +v -0.314672 1.510983 -2.993176 +v 0.967295 -0.461328 0.884549 +v -0.741994 1.773876 -2.072856 +f 100 115 128 +f 66 67 75 +f 66 75 84 +f 71 75 85 +f 75 67 92 +f 65 81 93 +f 78 72 94 +f 69 87 94 +f 93 79 96 +f 74 93 96 +f 90 74 97 +f 77 95 98 +f 68 85 99 +f 91 68 99 +f 76 82 101 +f 93 81 101 +f 79 93 101 +f 72 78 102 +f 67 66 103 +f 77 67 103 +f 95 77 103 +f 82 76 104 +f 76 98 104 +f 98 95 104 +f 92 67 105 +f 91 99 105 +f 99 92 105 +f 72 73 106 +f 94 72 106 +f 83 71 107 +f 71 85 107 +f 74 96 107 +f 96 83 107 +f 97 74 107 +f 97 107 108 +f 85 68 108 +f 102 97 108 +f 107 85 108 +f 75 71 109 +f 71 83 109 +f 84 75 109 +f 88 84 109 +f 103 80 110 +f 95 103 110 +f 85 75 111 +f 75 92 111 +f 99 85 111 +f 92 99 111 +f 78 90 112 +f 90 97 112 +f 102 78 112 +f 97 102 112 +f 67 77 113 +f 77 98 113 +f 81 65 114 +f 90 78 114 +f 84 88 115 +f 96 79 115 +f 88 96 115 +f 100 70 115 +f 70 100 116 +f 100 89 116 +f 110 80 116 +f 89 110 116 +f 83 96 117 +f 96 88 117 +f 109 83 117 +f 88 109 117 +f 66 84 118 +f 84 80 118 +f 103 66 118 +f 80 103 118 +f 69 94 119 +f 94 106 119 +f 74 90 120 +f 65 93 120 +f 93 74 120 +f 114 65 120 +f 90 114 120 +f 76 69 121 +f 98 76 121 +f 106 86 121 +f 86 113 121 +f 113 98 121 +f 69 119 121 +f 119 106 121 +f 87 81 122 +f 78 94 122 +f 94 87 122 +f 114 78 122 +f 81 114 122 +f 69 76 123 +f 87 69 123 +f 81 87 123 +f 76 101 123 +f 101 81 123 +f 80 84 124 +f 115 70 124 +f 84 115 124 +f 116 80 124 +f 70 116 124 +f 68 91 125 +f 91 72 125 +f 72 102 125 +f 108 68 125 +f 102 108 125 +f 100 82 126 +f 89 100 126 +f 82 104 126 +f 104 95 126 +f 110 89 126 +f 95 110 126 +f 73 72 127 +f 72 91 127 +f 105 67 127 +f 91 105 127 +f 106 73 127 +f 86 106 127 +f 67 113 127 +f 113 86 127 +f 82 100 128 +f 101 82 128 +f 79 101 128 +f 115 79 128 +o convex_2 +v 0.079552 2.267124 0.523700 +v -0.084516 2.037036 -0.725407 +v -0.183174 2.037036 -0.692425 +v 0.309843 2.037036 0.556550 +v -0.610509 2.037036 0.227782 +v 0.342684 2.267124 -0.495190 +v -0.413329 2.267124 -0.429490 +v 0.704337 2.037036 -0.067739 +v 0.441341 2.267124 0.392166 +v -0.347512 2.267124 0.425016 +v -0.479011 2.037036 0.523700 +v 0.506887 2.037036 -0.593874 +v -0.544827 2.037036 -0.528041 +v -0.544827 2.234219 -0.002303 +v 0.539863 2.267124 -0.100722 +v 0.014006 2.234219 -0.626724 +v 0.539863 2.037036 0.457999 +v -0.676325 2.069919 -0.067739 +v -0.084516 2.069919 0.622383 +v 0.474182 2.168477 -0.528041 +v 0.704337 2.069919 -0.035285 +v -0.413329 2.267124 0.359316 +v -0.018700 2.102779 -0.725407 +v -0.511851 2.069919 -0.561023 +v -0.051540 2.267124 -0.593874 +f 152 135 153 +f 131 130 132 +f 131 132 133 +f 129 134 135 +f 132 130 136 +f 129 132 137 +f 134 129 137 +f 129 135 138 +f 133 132 139 +f 136 130 140 +f 131 133 141 +f 134 137 143 +f 132 136 145 +f 137 132 145 +f 141 133 146 +f 142 135 146 +f 133 142 146 +f 132 129 147 +f 129 138 147 +f 139 132 147 +f 138 139 147 +f 134 143 148 +f 144 134 148 +f 136 140 149 +f 143 137 149 +f 145 136 149 +f 137 145 149 +f 140 148 149 +f 148 143 149 +f 138 135 150 +f 133 139 150 +f 139 138 150 +f 135 142 150 +f 142 133 150 +f 130 131 151 +f 140 130 151 +f 148 140 151 +f 144 148 151 +f 131 141 152 +f 141 146 152 +f 146 135 152 +f 151 131 152 +f 151 152 153 +f 135 134 153 +f 134 144 153 +f 144 151 153 +o convex_3 +v -0.281767 2.267124 -0.495113 +v 0.046847 2.859120 0.523658 +v 0.145369 2.957675 0.490746 +v -0.413233 3.713482 -0.034989 +v 0.309779 3.549001 -0.330768 +v 0.539870 2.267124 -0.100706 +v -0.413233 2.267124 0.359313 +v 0.408301 3.713482 0.063427 +v 0.441245 2.267124 0.392118 +v 0.014006 3.713482 0.425029 +v -0.018835 3.779240 -0.429396 +v 0.408301 2.267124 -0.462308 +v -0.511858 2.267124 -0.100706 +v -0.380289 3.154449 -0.396591 +v -0.051676 3.976516 0.030622 +v -0.347448 3.023433 0.392118 +v 0.014006 2.859120 -0.560936 +v 0.408301 2.957675 0.392118 +v -0.018835 2.267124 0.523658 +v 0.375460 3.056396 -0.429396 +v 0.506926 3.121820 -0.034989 +v -0.511858 2.793361 -0.002290 +v 0.408301 3.746277 -0.034989 +v -0.413233 3.713482 0.030622 +v 0.112528 2.267124 -0.560936 +v -0.413233 2.267124 -0.429396 +v 0.309779 3.516206 0.326401 +v -0.281767 3.483410 0.326401 +v 0.046847 3.976516 0.030622 +v -0.314607 3.549001 -0.330768 +v 0.539870 2.497364 0.030622 +v -0.380289 2.990638 -0.429396 +v -0.347448 2.464401 0.425029 +v -0.478914 2.990638 -0.133617 +v 0.408301 2.990638 -0.396591 +v 0.079687 3.680519 0.425029 +v 0.014006 3.779240 -0.429396 +v -0.084516 2.497364 -0.560936 +v -0.051676 3.154449 -0.528025 +v -0.380289 2.957675 0.359313 +v -0.084516 2.957675 0.490746 +v 0.079687 2.267124 0.523658 +v -0.511858 2.267124 0.063427 +v 0.506926 2.990638 0.063427 +v 0.046847 3.976516 -0.034989 +v -0.478914 2.924879 0.096339 +v 0.112528 2.957675 -0.528025 +v -0.413233 3.023433 -0.363679 +v 0.539870 2.431605 -0.100706 +f 188 174 202 +f 154 159 160 +f 160 159 162 +f 159 154 165 +f 154 160 166 +f 164 157 168 +f 156 162 171 +f 160 162 172 +f 161 174 176 +f 168 157 177 +f 163 168 177 +f 157 175 177 +f 165 154 178 +f 154 166 179 +f 171 161 180 +f 169 163 181 +f 163 177 181 +f 177 169 181 +f 168 163 182 +f 161 176 182 +f 157 164 183 +f 164 167 183 +f 167 157 183 +f 162 159 184 +f 167 164 185 +f 154 179 185 +f 160 172 186 +f 166 175 187 +f 175 157 187 +f 173 158 188 +f 165 173 188 +f 158 176 188 +f 176 174 188 +f 155 156 189 +f 163 155 189 +f 156 171 189 +f 180 161 189 +f 171 180 189 +f 161 182 189 +f 182 163 189 +f 158 173 190 +f 176 158 190 +f 178 154 191 +f 170 178 191 +f 154 185 191 +f 191 185 192 +f 185 164 192 +f 164 190 192 +f 190 170 192 +f 170 191 192 +f 169 177 193 +f 186 169 193 +f 160 186 193 +f 155 163 194 +f 163 169 194 +f 172 155 194 +f 169 186 194 +f 186 172 194 +f 156 155 195 +f 162 156 195 +f 155 172 195 +f 172 162 195 +f 166 160 196 +f 175 166 196 +f 161 171 197 +f 171 162 197 +f 174 161 197 +f 162 184 197 +f 184 174 197 +f 164 168 198 +f 168 182 198 +f 182 176 198 +f 190 164 198 +f 176 190 198 +f 177 175 199 +f 160 193 199 +f 193 177 199 +f 196 160 199 +f 175 196 199 +f 173 165 200 +f 165 178 200 +f 178 170 200 +f 170 190 200 +f 190 173 200 +f 157 167 201 +f 179 166 201 +f 167 185 201 +f 185 179 201 +f 187 157 201 +f 166 187 201 +f 159 165 202 +f 184 159 202 +f 174 184 202 +f 165 188 202 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/434/434.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/434/434.urdf new file mode 100644 index 000000000..4d8d0bcb5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/434/434.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/435/435.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/435/435.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/435/435.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/435/435.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/435/435.obj new file mode 100644 index 000000000..6bb55565d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/435/435.obj @@ -0,0 +1,789 @@ +o convex_0 +v -2.091522 -0.198622 -2.704874 +v -1.460314 0.299695 -4.265679 +v -1.460314 0.233245 -4.265679 +v -2.058220 0.299695 -4.664723 +v -2.025040 0.332919 -2.239599 +v -1.593278 -0.198622 -2.239599 +v -1.526858 -0.231846 -4.564547 +v -1.991738 -0.231846 -4.664723 +v -1.560037 0.200020 -2.372535 +v -1.460314 0.299695 -4.631015 +v -2.091522 -0.165341 -2.239599 +v -2.058220 0.332919 -4.631015 +v -2.024979 -0.231846 -4.431612 +v -2.091522 0.000838 -2.239599 +v -1.958620 0.332919 -2.239599 +v -1.526858 -0.231846 -4.033279 +v -1.593278 0.200020 -2.239599 +v -2.058220 0.100346 -4.664723 +v -1.991738 -0.198622 -2.239599 +v -2.058220 0.332919 -3.203145 +v -1.892076 0.332919 -4.631015 +v -1.593278 -0.231846 -3.601951 +f 19 13 22 +f 3 2 9 +f 6 3 9 +f 2 3 10 +f 3 7 10 +f 8 4 10 +f 7 8 10 +f 6 5 11 +f 4 1 12 +f 8 7 13 +f 1 11 14 +f 11 5 14 +f 12 1 14 +f 5 6 15 +f 9 2 15 +f 12 5 15 +f 3 6 16 +f 7 3 16 +f 13 7 16 +f 6 9 17 +f 15 6 17 +f 9 15 17 +f 1 4 18 +f 4 8 18 +f 13 1 18 +f 8 13 18 +f 11 1 19 +f 6 11 19 +f 1 13 19 +f 5 12 20 +f 14 5 20 +f 12 14 20 +f 2 10 21 +f 10 4 21 +f 4 12 21 +f 15 2 21 +f 12 15 21 +f 16 6 22 +f 13 16 22 +f 6 19 22 +o convex_1 +v 3.223665 0.332799 -1.243081 +v 0.765527 0.166786 -2.206218 +v 1.264032 -0.497589 -2.172987 +v 0.765527 -0.530641 -1.176618 +v 3.257078 -0.464322 -2.206218 +v 0.765527 0.465760 -1.143387 +v 3.157328 0.432493 -2.206218 +v 3.190497 -0.564016 -1.076925 +v 3.190497 0.499027 -1.043580 +v 0.765527 0.499027 -2.206218 +v 0.765527 -0.530641 -2.139756 +v 1.728881 0.499027 -1.076925 +v 0.765527 -0.597283 -1.243081 +v 3.190497 -0.564016 -1.342661 +v 0.965027 -0.497589 -1.143387 +v 3.157328 -0.098814 -1.043580 +v 1.563038 0.499027 -2.206218 +v 1.396951 -0.530641 -2.139756 +v 3.190497 0.499027 -1.375892 +v 0.765527 0.499027 -1.309543 +v 2.492736 0.432493 -1.043580 +v 0.965027 0.432493 -1.110156 +v 3.257078 -0.231775 -1.940368 +v 3.223665 -0.497482 -2.006831 +v 2.858323 0.465652 -2.073293 +v 2.924904 -0.564016 -1.076925 +f 30 38 48 +f 25 24 27 +f 24 26 28 +f 27 24 29 +f 30 23 31 +f 24 28 32 +f 29 24 32 +f 24 25 33 +f 26 24 33 +f 31 32 34 +f 26 33 35 +f 27 30 36 +f 30 35 36 +f 30 31 38 +f 29 32 39 +f 32 31 39 +f 25 27 40 +f 33 25 40 +f 35 33 40 +f 36 35 40 +f 23 29 41 +f 31 23 41 +f 39 31 41 +f 32 28 42 +f 28 34 42 +f 34 32 42 +f 31 34 43 +f 37 38 43 +f 38 31 43 +f 28 26 44 +f 34 28 44 +f 26 37 44 +f 43 34 44 +f 37 43 44 +f 29 23 45 +f 27 29 45 +f 23 30 45 +f 30 27 45 +f 27 36 46 +f 40 27 46 +f 36 40 46 +f 29 39 47 +f 41 29 47 +f 39 41 47 +f 26 35 48 +f 35 30 48 +f 37 26 48 +f 38 37 48 +o convex_2 +v -1.892131 -0.265068 0.020039 +v -1.526812 0.266424 -0.744566 +v -1.526812 0.199988 -0.744566 +v -1.526877 0.299672 1.414620 +v -2.191122 0.233177 1.215359 +v -1.560106 -0.265068 1.448033 +v -2.024980 0.299672 -1.043580 +v -2.091437 -0.231820 -1.043580 +v -1.626498 -0.198573 -1.043580 +v -2.091437 -0.198573 1.314868 +v -1.726183 0.332919 1.381451 +v -1.526812 0.266424 -1.043580 +v -2.124665 0.266307 1.348037 +v -1.526877 0.332919 0.351490 +v -1.626498 -0.231820 -0.877488 +v -2.058208 0.299672 -0.744566 +v -1.560106 -0.265068 0.882933 +v -1.526877 0.033926 1.414620 +v -2.124665 -0.132136 1.314868 +v -1.659791 -0.265068 1.448033 +v -1.825869 0.332919 -0.079714 +v -1.692955 0.299672 -1.010166 +v -1.526812 0.199988 -1.043580 +v -2.191122 0.199929 1.348037 +v -2.091437 -0.132136 -1.043580 +f 64 55 73 +f 51 50 52 +f 56 55 57 +f 56 49 58 +f 50 51 60 +f 57 55 60 +f 52 59 61 +f 52 50 62 +f 59 52 62 +f 50 60 62 +f 49 56 63 +f 56 57 63 +f 53 61 64 +f 54 49 65 +f 49 63 65 +f 51 52 66 +f 52 54 66 +f 54 65 66 +f 56 58 67 +f 49 54 68 +f 54 52 68 +f 58 49 68 +f 67 58 68 +f 61 59 69 +f 59 62 69 +f 55 64 69 +f 64 61 69 +f 60 55 70 +f 62 60 70 +f 55 69 70 +f 69 62 70 +f 60 51 71 +f 57 60 71 +f 63 57 71 +f 65 63 71 +f 51 66 71 +f 66 65 71 +f 53 56 72 +f 52 61 72 +f 61 53 72 +f 56 67 72 +f 67 68 72 +f 68 52 72 +f 56 53 73 +f 55 56 73 +f 53 64 73 +o convex_3 +v 0.200703 3.023861 2.245411 +v -0.164610 2.093633 2.378180 +v -0.164610 2.093633 2.411373 +v 0.466462 0.631913 2.610734 +v -0.098154 0.631913 2.145731 +v 0.499690 2.890871 2.079242 +v 0.433234 2.923884 2.610734 +v -0.098154 0.631913 2.544245 +v 0.400006 0.631913 2.178975 +v -0.031698 3.023861 2.079242 +v -0.164610 2.923884 2.544245 +v 0.233931 0.897893 2.610734 +v 0.466462 2.957132 2.577490 +v -0.131382 0.631913 2.178975 +v 0.499690 3.023861 2.178975 +v 0.433234 1.063897 2.145731 +v 0.267159 2.923884 2.610734 +v -0.031698 2.525383 2.079242 +v 0.466462 0.631913 2.477809 +v -0.164610 2.957132 2.444617 +v -0.131382 1.163639 2.544245 +f 87 81 94 +f 78 77 81 +f 77 78 82 +f 75 76 84 +f 77 80 85 +f 81 77 85 +f 80 77 86 +f 76 75 87 +f 78 81 87 +f 75 83 87 +f 77 79 88 +f 83 74 88 +f 79 83 88 +f 74 86 88 +f 86 77 88 +f 78 79 89 +f 82 78 89 +f 85 80 90 +f 84 85 90 +f 80 86 90 +f 86 84 90 +f 79 78 91 +f 83 79 91 +f 78 87 91 +f 87 83 91 +f 79 77 92 +f 77 82 92 +f 89 79 92 +f 82 89 92 +f 83 75 93 +f 74 83 93 +f 75 84 93 +f 86 74 93 +f 84 86 93 +f 84 76 94 +f 81 85 94 +f 85 84 94 +f 76 87 94 +o convex_4 +v 0.466409 -0.464273 -2.704655 +v 0.765517 -0.231755 -0.744586 +v 0.732270 0.532248 -0.744586 +v -0.363953 -0.497443 -0.744586 +v -0.297458 0.498968 -2.604694 +v 0.699023 0.465799 -2.571502 +v -0.430447 0.532248 -1.077084 +v -0.297458 -0.564003 -2.604694 +v 0.765517 -0.597283 -1.209853 +v -0.430447 -0.564003 -2.106619 +v 0.665775 -0.530723 -2.704655 +v -0.264211 0.432519 -0.744586 +v 0.765517 0.498968 -2.206004 +v -0.430447 0.532248 -2.073427 +v 0.765517 -0.530833 -0.744586 +v 0.765517 -0.530833 -2.139811 +v -0.297458 0.465688 -2.637887 +v -0.430447 -0.430993 -1.176661 +v 0.699023 0.532248 -1.740929 +v 0.665775 -0.331374 -2.704655 +v 0.765517 0.465799 -1.143468 +v 0.167535 -0.564003 -2.637887 +v 0.068027 0.465688 -2.637887 +v 0.699023 0.498968 -2.438541 +v -0.363953 0.033822 -0.744586 +v -0.297458 -0.065687 -2.637887 +v 0.300290 0.532248 -0.744586 +v -0.430447 0.498968 -2.139619 +f 111 120 122 +f 96 97 98 +f 103 98 104 +f 102 103 104 +f 102 95 105 +f 98 97 106 +f 96 103 107 +f 105 100 107 +f 101 97 108 +f 104 101 108 +f 96 98 109 +f 98 103 109 +f 103 96 109 +f 103 105 110 +f 107 103 110 +f 105 107 110 +f 98 101 112 +f 104 98 112 +f 101 104 112 +f 97 107 113 +f 108 97 113 +f 105 95 114 +f 100 105 114 +f 95 111 114 +f 97 96 115 +f 107 97 115 +f 96 107 115 +f 103 102 116 +f 102 105 116 +f 105 103 116 +f 99 100 117 +f 111 99 117 +f 100 114 117 +f 114 111 117 +f 100 99 118 +f 107 100 118 +f 99 108 118 +f 113 107 118 +f 108 113 118 +f 101 98 119 +f 98 106 119 +f 106 101 119 +f 95 102 120 +f 102 104 120 +f 111 95 120 +f 97 101 121 +f 106 97 121 +f 101 106 121 +f 104 108 122 +f 108 99 122 +f 99 111 122 +f 120 104 122 +o convex_5 +v 1.163942 -0.663726 -0.677987 +v -0.928770 -2.989205 1.248392 +v -0.828982 -3.022453 -0.080052 +v 1.297065 -2.922710 1.348291 +v -0.862099 -0.663726 1.314991 +v 1.163942 -2.989205 -0.744586 +v -0.795647 -0.663726 -0.611596 +v 1.297065 -0.663726 1.314991 +v -0.762529 -3.022453 -0.578296 +v -0.496719 -1.361462 1.381590 +v -0.563172 -0.663726 -0.677987 +v -0.862099 -2.989205 1.314991 +v 0.433181 -0.663726 1.381590 +v 1.197277 -2.889462 -0.611596 +v 0.831897 -0.663726 -0.711286 +v 0.134471 -3.022453 -0.544997 +v 0.732327 -2.025489 1.381590 +v 1.297065 -0.697204 1.348291 +v 0.831897 -2.955957 1.182209 +v -0.530054 -1.195686 -0.677987 +v 1.297065 -0.663726 1.215301 +v -0.530054 -0.663726 1.381590 +v -0.795647 -2.723456 -0.578296 +v -0.795647 -3.022453 0.451284 +v 1.263729 -2.955957 0.584066 +v -0.895435 -1.560716 1.314991 +v -0.064886 -3.022453 -0.644687 +v 0.599204 -2.922479 1.348291 +v 1.163942 -0.929706 -0.711286 +v -0.795647 -1.627211 -0.611596 +v -0.795647 -0.796716 1.348291 +v 1.297065 -2.922710 1.182209 +v -0.563172 -2.989205 1.314991 +v -0.862099 -0.663726 1.115610 +f 148 127 156 +f 127 123 129 +f 123 127 130 +f 129 123 133 +f 130 127 135 +f 133 123 137 +f 128 133 137 +f 125 131 138 +f 135 132 139 +f 135 139 140 +f 126 130 140 +f 130 135 140 +f 139 126 140 +f 133 128 142 +f 123 130 143 +f 130 126 143 +f 136 123 143 +f 135 127 144 +f 132 135 144 +f 125 124 145 +f 131 125 145 +f 124 125 146 +f 134 124 146 +f 125 138 146 +f 138 141 146 +f 128 136 147 +f 138 128 147 +f 126 141 147 +f 141 138 147 +f 129 124 148 +f 124 134 148 +f 128 138 149 +f 138 131 149 +f 142 128 149 +f 131 142 149 +f 134 126 150 +f 132 134 150 +f 126 139 150 +f 139 132 150 +f 123 136 151 +f 136 128 151 +f 137 123 151 +f 128 137 151 +f 124 129 152 +f 129 133 152 +f 142 131 152 +f 133 142 152 +f 145 124 152 +f 131 145 152 +f 134 132 153 +f 144 127 153 +f 132 144 153 +f 127 148 153 +f 148 134 153 +f 143 126 154 +f 136 143 154 +f 147 136 154 +f 126 147 154 +f 126 134 155 +f 141 126 155 +f 134 146 155 +f 146 141 155 +f 127 129 156 +f 129 148 156 +o convex_6 +v -0.563218 -0.663726 -0.678133 +v -0.264339 0.631958 1.481255 +v -0.430265 1.462431 1.447919 +v 1.130921 2.990354 -0.578345 +v 1.297058 -0.663726 1.315014 +v -0.828911 2.990354 -0.678133 +v 1.297058 3.056865 1.315014 +v 1.164106 -0.663726 -0.677915 +v -0.862307 -0.663726 1.315014 +v -0.762540 3.090304 1.381467 +v -0.795726 -0.663726 -0.611463 +v 0.732064 -0.530703 1.481255 +v 0.732064 0.532375 -0.744586 +v -0.363895 -0.530703 -0.744586 +v 1.064339 2.990354 -0.644580 +v -0.795726 3.090304 0.982750 +v 0.732064 0.465864 1.481255 +v -0.264339 -0.563775 1.481255 +v 1.297058 3.056865 1.148991 +v -0.828911 0.399720 -0.644798 +v -0.330710 1.130242 -0.744586 +v -0.828911 3.023426 0.119300 +v 0.765460 -0.530703 -0.744586 +v 1.263661 -0.663726 1.348131 +v -0.862307 -0.198147 1.315014 +v 1.297058 -0.663726 1.215226 +v -0.297524 2.990354 -0.678133 +v 0.200888 3.090304 1.281897 +v -0.828911 -0.265026 1.348131 +v 1.064339 -0.663726 -0.711251 +v 0.466370 3.056865 1.348349 +v -0.862307 -0.663726 1.148773 +v -0.330710 0.532375 1.481255 +v 1.130921 2.525142 -0.644580 +v -0.795726 2.558581 1.348131 +v -0.662773 2.259464 -0.711251 +v -0.828911 2.026858 -0.678133 +v 1.164106 -0.430753 -0.677915 +v 1.130921 1.064466 -0.677915 +v -0.530032 -0.663726 1.381467 +f 180 174 196 +f 161 157 164 +f 157 161 165 +f 157 165 167 +f 157 167 170 +f 159 158 173 +f 166 159 173 +f 158 168 173 +f 168 158 174 +f 163 161 175 +f 160 171 175 +f 170 167 176 +f 169 170 177 +f 172 162 178 +f 170 169 179 +f 161 163 180 +f 165 161 180 +f 163 173 180 +f 173 168 180 +f 168 174 180 +f 178 162 181 +f 161 164 182 +f 175 161 182 +f 164 175 182 +f 171 169 183 +f 162 172 183 +f 172 171 183 +f 169 177 183 +f 166 163 184 +f 172 166 184 +f 171 172 184 +f 163 175 184 +f 175 171 184 +f 165 174 185 +f 181 165 185 +f 166 181 185 +f 164 157 186 +f 157 170 186 +f 179 169 186 +f 170 179 186 +f 163 166 187 +f 166 173 187 +f 173 163 187 +f 167 165 188 +f 176 167 188 +f 181 162 188 +f 165 181 188 +f 158 159 189 +f 159 166 189 +f 174 158 189 +f 185 174 189 +f 166 185 189 +f 171 160 190 +f 160 175 190 +f 166 172 191 +f 172 178 191 +f 181 166 191 +f 178 181 191 +f 177 170 192 +f 162 183 192 +f 183 177 192 +f 170 176 193 +f 188 162 193 +f 176 188 193 +f 162 192 193 +f 192 170 193 +f 175 164 194 +f 164 186 194 +f 190 175 194 +f 190 194 195 +f 169 171 195 +f 186 169 195 +f 171 190 195 +f 194 186 195 +f 174 165 196 +f 165 180 196 +o convex_7 +v 0.233950 -3.088655 2.012900 +v 0.499755 -0.630504 2.677161 +v 0.499755 -0.630504 2.544281 +v -0.131454 -0.630504 2.643907 +v 0.466514 -2.988799 2.610721 +v -0.064972 -0.630504 2.145779 +v 0.001449 -3.055209 2.577467 +v 0.400032 -0.929833 2.112525 +v -0.031731 -3.088655 2.112525 +v 0.400032 -3.088655 1.979578 +v -0.031731 -0.664191 2.677161 +v 0.400032 -0.630504 2.145779 +v -0.131454 -1.029449 2.511027 +v 0.499755 -1.428152 2.677161 +v 0.499755 -1.328537 2.511027 +v -0.031731 -2.424069 2.610721 +v 0.134351 -3.088655 2.444587 +v -0.031731 -2.689952 2.577467 +v 0.333612 -3.022004 1.979578 +f 204 206 215 +f 198 199 200 +f 200 199 202 +f 202 197 205 +f 204 199 206 +f 205 197 206 +f 198 200 207 +f 202 199 208 +f 199 204 208 +f 204 202 208 +f 200 202 209 +f 202 205 209 +f 199 198 210 +f 198 207 210 +f 206 199 211 +f 201 206 211 +f 199 210 211 +f 210 201 211 +f 203 201 212 +f 207 200 212 +f 201 210 212 +f 210 207 212 +f 201 203 213 +f 203 205 213 +f 205 206 213 +f 206 201 213 +f 205 203 214 +f 200 209 214 +f 209 205 214 +f 203 212 214 +f 212 200 214 +f 197 202 215 +f 202 204 215 +f 206 197 215 +o convex_8 +v 0.067988 0.631913 2.577451 +v -0.064864 -0.630504 2.145994 +v 0.400010 -0.630504 2.145994 +v -0.330783 -0.564022 3.441132 +v 0.765514 0.598672 3.341373 +v 0.732247 0.498949 1.481447 +v -0.297409 0.465584 1.481255 +v 0.665821 -0.597263 3.308184 +v 0.732247 -0.530781 1.481447 +v -0.264142 0.565431 3.441132 +v -0.264142 -0.564022 1.481255 +v 0.566129 -0.497540 3.441132 +v -0.098131 0.631913 2.145994 +v 0.765514 -0.298094 1.813720 +v 0.400010 0.631913 2.179183 +v -0.330783 -0.597263 2.610640 +v -0.330783 -0.165377 3.441132 +v 0.765514 0.299626 3.341373 +v -0.330783 -0.597263 3.407751 +v 0.765514 0.565431 2.411506 +v -0.297409 -0.564022 1.548017 +v 0.499703 -0.630504 2.710207 +v -0.297409 0.498825 1.548017 +v 0.732247 -0.564022 1.713962 +v -0.064864 0.565431 3.441132 +v 0.632555 -0.597263 3.407751 +v 0.200732 0.598672 3.374562 +v -0.297409 0.498825 2.245561 +v -0.131290 -0.630504 2.643829 +f 237 234 244 +f 218 217 226 +f 222 221 226 +f 221 224 226 +f 225 219 227 +f 225 216 228 +f 224 221 229 +f 216 220 230 +f 228 216 230 +f 221 228 230 +f 219 225 232 +f 231 219 232 +f 222 231 232 +f 220 227 233 +f 229 220 233 +f 223 229 233 +f 219 231 234 +f 220 229 235 +f 229 221 235 +f 230 220 235 +f 221 230 235 +f 226 217 236 +f 222 226 236 +f 217 231 236 +f 231 222 236 +f 217 218 237 +f 221 222 238 +f 228 221 238 +f 225 228 238 +f 222 232 238 +f 218 226 239 +f 226 224 239 +f 229 223 239 +f 224 229 239 +f 237 218 239 +f 223 237 239 +f 227 220 240 +f 225 227 240 +f 227 219 241 +f 223 233 241 +f 233 227 241 +f 219 234 241 +f 237 223 241 +f 234 237 241 +f 220 216 242 +f 216 225 242 +f 240 220 242 +f 225 240 242 +f 232 225 243 +f 225 238 243 +f 238 232 243 +f 231 217 244 +f 234 231 244 +f 217 237 244 +o convex_9 +v -0.696338 0.266359 -1.043690 +v -2.456748 0.332714 -2.239554 +v -2.456748 0.365949 -2.239554 +v -2.888670 0.332714 -1.110179 +v -2.722398 -0.597283 -2.073331 +v -0.430447 -0.564048 -2.106576 +v -2.822258 -0.530814 -1.076934 +v -0.430447 0.532122 -2.040204 +v -0.430447 -0.431110 -1.176551 +v -2.888670 0.565470 -1.143423 +v -0.497100 0.565470 -1.076934 +v -2.888670 0.432532 -2.206192 +v -1.593387 -0.198582 -2.239554 +v -0.430447 0.499001 -2.139820 +v -2.025068 0.299480 -1.043807 +v -1.394150 -0.231817 -1.043807 +v -2.888670 0.565470 -1.375900 +v -0.430447 0.532122 -1.076934 +v -0.596719 -0.464231 -1.176551 +v -2.091239 -0.165348 -2.239554 +v -2.456748 0.465766 -2.206192 +v -1.593387 0.199890 -2.239554 +v -2.755845 -0.564048 -2.073331 +v -2.822258 0.565470 -1.110179 +v -2.888670 0.365949 -2.206192 +v -1.394150 0.498887 -2.172948 +v -0.430447 -0.564048 -2.073331 +v -2.855464 0.233239 -2.206192 +v -2.091239 -0.231817 -1.043807 +f 260 245 273 +f 250 252 253 +f 247 246 256 +f 248 254 256 +f 246 247 257 +f 250 249 257 +f 252 250 258 +f 250 257 258 +f 245 255 259 +f 253 245 260 +f 255 252 261 +f 254 255 261 +f 256 254 261 +f 253 252 262 +f 245 253 262 +f 252 255 262 +f 255 245 262 +f 260 251 263 +f 253 260 263 +f 246 257 264 +f 257 249 264 +f 247 256 265 +f 256 261 265 +f 257 247 266 +f 247 258 266 +f 258 257 266 +f 249 251 267 +f 248 251 268 +f 254 248 268 +f 255 254 268 +f 251 259 268 +f 259 255 268 +f 251 248 269 +f 256 246 269 +f 248 256 269 +f 267 251 269 +f 252 258 270 +f 258 247 270 +f 261 252 270 +f 247 265 270 +f 265 261 270 +f 249 250 271 +f 251 249 271 +f 250 253 271 +f 263 251 271 +f 253 263 271 +f 246 264 272 +f 264 249 272 +f 249 267 272 +f 269 246 272 +f 267 269 272 +f 245 259 273 +f 259 251 273 +f 251 260 273 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/435/435.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/435/435.urdf new file mode 100644 index 000000000..35a83f1a8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/435/435.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/436/436.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/436/436.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/436/436.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/436/436.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/436/436.obj new file mode 100644 index 000000000..2e8ef516a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/436/436.obj @@ -0,0 +1,477 @@ +o convex_0 +v -0.978139 -3.230520 -1.094028 +v 1.076572 -1.640845 1.038371 +v 0.184886 -1.640845 1.077266 +v 0.960167 -3.501696 1.077266 +v 1.076572 -1.640845 -1.094028 +v -0.939405 -1.640845 1.077266 +v 0.999106 -3.501696 -1.055134 +v -0.978139 -3.579500 0.960795 +v -0.939405 -1.640845 -0.977557 +v -1.017077 -3.462984 -1.094028 +v -0.978139 -2.145055 1.077266 +v -1.017077 -3.501886 -0.822404 +v 1.076572 -1.912401 1.038371 +v -0.551662 -3.579500 0.999689 +v 1.037839 -2.997866 -0.977557 +v 0.999106 -3.501696 -0.008381 +v -0.978139 -3.579500 0.573124 +v -0.551662 -1.640845 -1.016452 +v -0.978139 -3.462984 0.999689 +v -0.978139 -2.261572 -1.016452 +v -0.396729 -3.462984 -1.094028 +v -0.319262 -3.501886 -1.055134 +v 1.076572 -1.834976 -1.094028 +v 0.805029 -1.679747 -1.094028 +v 0.999106 -3.114003 1.038371 +f 4 16 25 +f 2 3 4 +f 3 2 5 +f 4 3 6 +f 3 5 6 +f 6 5 9 +f 1 5 10 +f 4 6 11 +f 6 9 11 +f 11 10 12 +f 2 4 13 +f 5 2 13 +f 15 13 16 +f 4 14 16 +f 14 7 16 +f 7 15 16 +f 8 12 17 +f 7 14 17 +f 14 8 17 +f 1 9 18 +f 9 5 18 +f 4 11 19 +f 12 8 19 +f 11 12 19 +f 14 4 19 +f 8 14 19 +f 9 1 20 +f 1 10 20 +f 10 11 20 +f 11 9 20 +f 10 5 21 +f 10 21 22 +f 12 10 22 +f 7 17 22 +f 17 12 22 +f 21 7 22 +f 5 13 23 +f 15 7 23 +f 13 15 23 +f 21 5 23 +f 7 21 23 +f 5 1 24 +f 1 18 24 +f 18 5 24 +f 13 4 25 +f 16 13 25 +o convex_1 +v -0.706983 0.336390 1.116039 +v 0.921100 -1.640652 -1.094028 +v 0.921100 -1.601746 -1.094028 +v -3.072052 0.336390 -1.055088 +v 3.054099 0.336390 -1.055088 +v 0.262071 -1.640652 1.077099 +v -2.994096 -1.524321 0.960711 +v 3.054099 -1.485609 0.960711 +v 2.976143 0.336390 1.038375 +v -2.955117 -1.485609 -1.016148 +v -2.994096 0.336390 0.999435 +v 2.976143 -1.446896 -1.055088 +v -1.133343 -1.640652 1.077099 +v -0.939053 -1.640652 -0.977641 +v 1.309082 -1.640652 -1.094028 +v 1.076413 -1.640652 1.038159 +v -1.559703 -1.601746 1.077099 +v 2.161802 0.297484 1.077099 +v 1.580729 -1.059192 -1.094028 +v -2.645092 -1.563227 0.999435 +v 2.976143 -1.136616 0.999435 +v -3.033073 0.258965 0.766876 +v -3.072052 0.103922 -1.055088 +v -2.567735 0.181347 1.038375 +v 2.859808 -1.485609 -1.055088 +v 3.015121 -0.090221 0.999435 +v -2.994096 -1.136616 0.999435 +v -1.017009 0.103728 1.116039 +v -2.955117 -1.524321 -0.008248 +v -2.994096 -1.175522 -0.977424 +v -3.072052 -0.012602 -0.589754 +v 1.697063 -1.485609 1.038159 +v 3.054099 -1.446896 0.650705 +v 3.054099 -1.097710 0.960711 +v -2.567735 -1.524321 -1.016148 +v 2.976143 -0.051315 1.038375 +v 1.153769 -0.865243 1.077099 +v -2.994096 -1.524321 0.495377 +v 3.015121 -0.671294 -1.055088 +v -2.994096 -0.051315 -1.055088 +v 2.200780 -1.563227 0.107706 +v -2.606114 -1.563227 0.573041 +v -3.072052 0.336390 -0.434859 +f 56 47 68 +f 28 27 29 +f 29 26 30 +f 30 26 34 +f 26 29 36 +f 27 31 38 +f 27 38 39 +f 27 28 40 +f 31 27 40 +f 31 40 41 +f 34 26 43 +f 28 29 44 +f 29 30 44 +f 40 28 44 +f 37 40 44 +f 38 42 45 +f 29 27 48 +f 26 36 49 +f 37 33 50 +f 40 37 50 +f 30 34 51 +f 32 45 52 +f 45 42 52 +f 47 32 52 +f 36 47 52 +f 49 36 52 +f 42 49 52 +f 31 26 53 +f 38 31 53 +f 42 38 53 +f 26 49 53 +f 49 42 53 +f 48 35 55 +f 48 55 56 +f 32 47 56 +f 29 48 56 +f 31 41 57 +f 41 33 57 +f 33 46 57 +f 30 33 58 +f 33 37 58 +f 33 30 59 +f 34 33 59 +f 30 51 59 +f 51 34 59 +f 35 27 60 +f 27 39 60 +f 54 35 60 +f 39 54 60 +f 33 34 61 +f 34 43 61 +f 46 33 61 +f 57 46 61 +f 57 61 62 +f 26 31 62 +f 43 26 62 +f 31 57 62 +f 61 43 62 +f 45 32 63 +f 35 54 63 +f 54 45 63 +f 55 35 63 +f 56 55 63 +f 32 56 63 +f 44 30 64 +f 37 44 64 +f 30 58 64 +f 58 37 64 +f 27 35 65 +f 48 27 65 +f 35 48 65 +f 33 41 66 +f 41 40 66 +f 50 33 66 +f 40 50 66 +f 39 38 67 +f 38 45 67 +f 54 39 67 +f 45 54 67 +f 36 29 68 +f 47 36 68 +f 29 56 68 +o convex_2 +v -0.900575 2.585423 0.573033 +v 1.076671 0.646901 1.076886 +v 1.076671 0.607995 1.076886 +v 1.037776 2.081195 -2.955122 +v -1.055729 0.607995 -2.916046 +v -1.094623 0.607995 2.938360 +v 0.921518 2.430187 3.015921 +v -0.978152 2.546518 -3.032684 +v 0.921518 0.607995 -2.916046 +v -0.978152 2.469093 3.015921 +v 0.998882 0.607995 2.976844 +v 1.037776 2.546518 -2.721846 +v 1.037776 2.430187 1.425616 +v -1.017047 2.585423 1.348647 +v 0.494953 2.585423 -0.434081 +v 1.076671 0.607995 -1.132133 +v -1.055729 1.228554 -2.955122 +v -1.094623 1.034799 2.976844 +v 0.688788 2.546518 -2.993607 +v 0.688788 0.724326 -2.954530 +v 1.076671 1.499928 0.068588 +v 1.037776 0.646901 2.705675 +v 0.960200 2.546518 -0.279550 +v 0.611211 2.468899 2.705083 +v -0.590482 2.158619 -3.032684 +v -1.055729 0.763232 -2.955122 +v 0.960200 2.042289 3.015921 +v -1.017047 0.646901 2.976844 +v -0.939470 2.507612 2.821722 +v -1.017047 2.585423 0.689079 +v 0.960200 0.763232 -2.916046 +v 1.037776 2.507612 -2.955122 +v -0.784317 2.585423 1.271086 +v -1.017047 2.197526 2.976844 +v 0.882623 1.887246 3.015921 +v -1.094623 0.607995 2.356353 +v -0.978152 2.158619 3.015921 +v -1.017047 1.964864 -2.993607 +v 1.037776 2.468899 1.076886 +v 0.960200 1.150936 -2.954530 +v 0.998882 1.305979 2.976844 +v 0.029706 2.469093 3.015921 +v -0.978152 2.158619 -3.032684 +f 94 76 111 +f 73 71 74 +f 71 73 77 +f 74 71 79 +f 76 69 83 +f 69 82 83 +f 70 71 84 +f 71 77 84 +f 76 83 87 +f 83 80 87 +f 77 73 88 +f 81 70 89 +f 70 84 89 +f 71 70 90 +f 79 71 90 +f 70 81 90 +f 80 83 91 +f 91 83 92 +f 75 91 92 +f 76 87 93 +f 85 76 94 +f 88 73 94 +f 75 78 95 +f 81 75 95 +f 74 79 96 +f 86 74 96 +f 82 78 97 +f 69 76 98 +f 82 69 98 +f 86 82 98 +f 85 86 98 +f 84 77 99 +f 72 84 99 +f 84 72 100 +f 72 87 100 +f 87 80 100 +f 80 89 100 +f 89 84 100 +f 83 82 101 +f 92 83 101 +f 82 97 101 +f 97 92 101 +f 78 82 102 +f 82 86 102 +f 86 78 102 +f 95 78 103 +f 79 95 103 +f 96 79 103 +f 73 74 104 +f 86 85 104 +f 74 86 104 +f 94 73 104 +f 85 94 104 +f 78 86 105 +f 86 96 105 +f 103 78 105 +f 96 103 105 +f 76 85 106 +f 98 76 106 +f 85 98 106 +f 75 81 107 +f 81 89 107 +f 89 80 107 +f 91 75 107 +f 80 91 107 +f 87 72 108 +f 77 88 108 +f 93 87 108 +f 88 93 108 +f 72 99 108 +f 99 77 108 +f 79 90 109 +f 90 81 109 +f 81 95 109 +f 95 79 109 +f 78 75 110 +f 75 92 110 +f 97 78 110 +f 92 97 110 +f 76 93 111 +f 93 88 111 +f 88 94 111 +o convex_3 +v 2.085003 0.375372 -1.055255 +v 3.054099 0.491661 -0.744854 +v 3.054099 0.452891 -0.744854 +v 1.154217 0.452891 1.077266 +v 2.976363 0.336583 1.038439 +v 1.154217 0.336583 -1.016429 +v 1.542153 0.491661 -1.016429 +v 1.154217 0.336583 1.077266 +v 3.054099 0.336583 -1.055255 +v 2.976363 0.452891 0.650594 +v 3.054099 0.530449 -1.055255 +v 1.154217 0.452891 -1.016429 +v 2.200863 0.452891 1.077266 +v 2.937495 0.530449 -0.861333 +v 2.976363 0.414141 1.038439 +v 2.704845 0.530449 -1.055255 +f 125 122 127 +f 114 113 116 +f 115 117 119 +f 117 116 119 +f 113 114 120 +f 114 116 120 +f 117 112 120 +f 116 117 120 +f 113 120 122 +f 120 112 122 +f 112 117 123 +f 117 115 123 +f 115 118 123 +f 115 119 124 +f 119 116 124 +f 121 122 125 +f 115 124 125 +f 124 121 125 +f 116 113 126 +f 113 122 126 +f 122 121 126 +f 124 116 126 +f 121 124 126 +f 118 115 127 +f 122 112 127 +f 112 123 127 +f 123 118 127 +f 115 125 127 +o convex_4 +v -3.072052 0.491638 -0.395835 +v -1.094623 0.491638 1.077266 +v -1.094623 0.336583 1.077266 +v -1.094623 0.336583 -1.055255 +v -2.994240 0.336583 0.999613 +v -1.094623 0.569222 -1.055255 +v -2.994240 0.569222 0.999613 +v -3.072052 0.336583 -1.055255 +v -3.072052 0.452903 -1.055255 +v -1.094623 0.569222 -0.473279 +v -1.288572 0.569222 -1.055255 +v -1.831320 0.375364 1.077266 +v -3.033146 0.336583 0.767073 +v -2.994240 0.530441 0.146688 +v -1.753895 0.530441 0.922169 +f 137 134 142 +f 129 130 131 +f 131 130 132 +f 129 131 133 +f 131 132 135 +f 133 131 135 +f 133 135 136 +f 135 128 136 +f 129 133 137 +f 133 134 137 +f 134 133 138 +f 133 136 138 +f 130 129 139 +f 132 130 139 +f 134 132 139 +f 129 134 139 +f 134 128 140 +f 132 134 140 +f 128 135 140 +f 135 132 140 +f 128 134 141 +f 136 128 141 +f 134 138 141 +f 138 136 141 +f 134 129 142 +f 129 137 142 +o convex_5 +v -1.094623 0.607995 2.279110 +v 1.154217 0.491657 1.076871 +v 1.154217 0.336583 1.076871 +v -1.055660 0.607995 -2.916364 +v -1.094623 0.336583 -1.054739 +v 0.921541 0.607995 -2.916364 +v 0.921541 0.414133 -2.916364 +v -1.094623 0.414133 2.937919 +v 0.999026 0.607995 2.977148 +v 1.037769 0.375372 2.977148 +v -1.094623 0.336583 1.076871 +v 1.154217 0.336583 -1.016087 +v -0.861947 0.452922 -2.916364 +v -1.094623 0.607995 2.937919 +v 1.076512 0.607995 -1.171271 +v 0.029797 0.375372 2.977148 +v 0.960283 0.375372 -2.256979 +v 0.262474 0.414133 -2.916364 +v -1.055660 0.491657 -2.916364 +v 1.154217 0.452922 -1.016087 +v -1.094623 0.569180 -1.054739 +v 1.037769 0.607995 2.821964 +v -0.745498 0.607995 2.977148 +f 150 158 165 +f 146 143 148 +f 146 148 149 +f 143 147 150 +f 148 143 151 +f 145 144 152 +f 147 145 153 +f 150 147 153 +f 145 152 153 +f 144 145 154 +f 145 147 154 +f 149 148 154 +f 146 149 155 +f 143 150 156 +f 151 143 156 +f 148 151 157 +f 152 151 158 +f 150 153 158 +f 153 152 158 +f 154 147 159 +f 149 154 159 +f 147 155 160 +f 155 149 160 +f 159 147 160 +f 149 159 160 +f 147 146 161 +f 146 155 161 +f 155 147 161 +f 144 154 162 +f 154 148 162 +f 157 144 162 +f 148 157 162 +f 143 146 163 +f 147 143 163 +f 146 147 163 +f 151 152 164 +f 152 144 164 +f 144 157 164 +f 157 151 164 +f 156 150 165 +f 151 156 165 +f 158 151 165 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/436/436.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/436/436.urdf new file mode 100644 index 000000000..b54a62ef2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/436/436.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/437/437.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/437/437.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/437/437.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/437/437.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/437/437.obj new file mode 100644 index 000000000..98872f51f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/437/437.obj @@ -0,0 +1,477 @@ +o convex_0 +v 0.302456 1.273327 -1.253747 +v 0.369306 0.168514 -3.262103 +v 0.503312 0.168514 -3.262103 +v -0.467544 1.239787 -3.295686 +v -0.467544 0.369420 -1.253747 +v 0.570366 1.206358 -3.128373 +v 0.436360 0.235483 -1.253747 +v -0.467544 0.335991 -3.195138 +v -0.433916 1.306867 -1.253747 +v 0.503312 1.239898 -1.253747 +v 0.570366 1.239898 -2.592651 +v 0.469785 0.202054 -1.689121 +v 0.335881 1.239787 -3.195138 +v -0.433916 0.335991 -1.454642 +v -0.367065 1.306867 -1.990364 +v -0.400490 0.302451 -3.228720 +v 0.570366 0.837976 -3.195138 +v -0.467544 1.273327 -2.994242 +v 0.469785 0.302451 -1.354295 +v 0.269030 0.235483 -1.287329 +v 0.503312 0.168514 -2.692999 +v -0.467544 0.704262 -1.253747 +v -0.099155 1.306867 -1.354295 +v -0.333437 1.239787 -3.295686 +v -0.467544 1.038993 -3.295686 +v -0.433916 0.302451 -3.094790 +v 0.503312 0.335991 -3.262103 +v 0.570366 1.239898 -2.826929 +v 0.369306 0.168514 -3.128173 +v -0.467544 1.273327 -2.492103 +v 0.536839 0.369420 -3.161755 +v 0.570366 1.139390 -2.626034 +f 19 17 32 +f 1 5 7 +f 5 4 8 +f 5 1 9 +f 1 7 10 +f 1 10 11 +f 6 11 17 +f 13 6 17 +f 4 5 18 +f 9 15 18 +f 15 13 18 +f 10 7 19 +f 7 12 19 +f 7 5 20 +f 12 7 20 +f 5 14 20 +f 2 3 21 +f 19 12 21 +f 5 9 22 +f 18 5 22 +f 9 1 23 +f 15 9 23 +f 4 18 24 +f 18 13 24 +f 3 2 25 +f 8 4 25 +f 2 16 25 +f 16 8 25 +f 24 3 25 +f 4 24 25 +f 5 8 26 +f 14 5 26 +f 16 2 26 +f 8 16 26 +f 17 3 27 +f 13 17 27 +f 3 24 27 +f 24 13 27 +f 11 6 28 +f 1 11 28 +f 6 13 28 +f 13 15 28 +f 23 1 28 +f 15 23 28 +f 12 20 29 +f 20 14 29 +f 2 21 29 +f 21 12 29 +f 14 26 29 +f 26 2 29 +f 9 18 30 +f 22 9 30 +f 18 22 30 +f 3 17 31 +f 17 19 31 +f 21 3 31 +f 19 21 31 +f 11 10 32 +f 17 11 32 +f 10 19 32 +o convex_1 +v -0.500884 0.201995 1.525609 +v 0.603846 0.436480 2.831091 +v 0.302400 1.105899 2.931573 +v 0.536858 1.206276 0.922912 +v -0.433896 1.239905 2.897948 +v -0.534378 1.239905 0.922715 +v 0.469870 0.269049 0.922715 +v -0.567987 0.201995 2.864520 +v -0.467505 0.235522 0.922715 +v 0.436376 1.239905 2.763841 +v 0.603846 0.269049 2.831091 +v -0.132564 0.201995 2.864520 +v -0.300035 0.469905 2.931573 +v 0.268906 0.235522 1.123876 +v 0.603846 0.269049 2.496019 +v -0.534378 1.239905 1.324841 +v 0.302400 0.536959 2.931573 +v 0.469870 1.239905 2.462591 +v 0.101435 1.239905 0.956341 +v -0.534378 0.570486 2.897948 +v -0.534378 1.005522 0.922715 +v -0.367023 1.172851 2.931573 +v -0.567987 0.201995 2.596698 +v 0.536858 1.038947 0.922912 +v 0.302400 0.235522 2.864520 +v 0.536858 1.206276 1.190734 +v -0.132564 0.201995 2.060858 +v -0.567987 0.336001 2.864520 +v 0.503364 0.269049 1.224359 +v -0.467505 1.072474 2.897948 +v 0.135044 0.235522 0.922715 +f 46 59 63 +f 38 36 39 +f 38 39 41 +f 35 34 42 +f 37 35 42 +f 38 37 42 +f 34 35 43 +f 40 33 44 +f 40 44 45 +f 36 34 47 +f 34 43 47 +f 37 38 48 +f 43 35 49 +f 35 45 49 +f 42 34 50 +f 38 42 50 +f 36 38 51 +f 50 36 51 +f 38 50 51 +f 40 45 52 +f 38 41 53 +f 35 37 54 +f 45 35 54 +f 52 45 54 +f 33 40 55 +f 41 33 55 +f 38 53 55 +f 53 41 55 +f 39 36 56 +f 36 47 56 +f 45 44 57 +f 47 43 57 +f 46 47 57 +f 43 49 57 +f 49 45 57 +f 34 36 58 +f 50 34 58 +f 36 50 58 +f 44 33 59 +f 57 44 59 +f 46 57 59 +f 48 38 60 +f 40 52 60 +f 55 40 60 +f 38 55 60 +f 46 39 61 +f 47 46 61 +f 39 56 61 +f 56 47 61 +f 37 48 62 +f 54 37 62 +f 52 54 62 +f 48 60 62 +f 60 52 62 +f 33 41 63 +f 41 39 63 +f 39 46 63 +f 59 33 63 +o convex_2 +v 0.302518 0.704291 3.166291 +v -0.300113 0.436362 3.132649 +v -0.367101 1.038911 2.931573 +v 0.101553 1.105945 4.906756 +v -0.300113 0.436362 4.839667 +v 0.201970 0.469879 4.873115 +v 0.302518 1.105945 2.931573 +v -0.333607 1.105945 4.772770 +v 0.269024 0.503396 2.931573 +v 0.235464 1.105945 4.638784 +v -0.367101 1.139462 2.931573 +v -0.300113 0.469879 2.931573 +v 0.034565 0.436362 4.873115 +v -0.367101 1.139462 3.701848 +v -0.032292 1.139462 2.998857 +v 0.201970 1.105945 4.906756 +v -0.333607 0.737808 4.806219 +v 0.302518 0.536913 3.132649 +v -0.300113 1.139462 4.170123 +v -0.266619 0.536913 4.873115 +v 0.235464 0.469879 4.103227 +v -0.233125 0.436362 3.166291 +f 84 76 85 +f 66 65 68 +f 66 70 72 +f 64 70 73 +f 70 66 74 +f 65 66 75 +f 66 72 75 +f 72 65 75 +f 68 65 76 +f 74 66 77 +f 74 77 78 +f 73 70 78 +f 70 74 78 +f 73 78 79 +f 69 73 79 +f 67 76 79 +f 76 69 79 +f 66 68 80 +f 77 66 80 +f 71 77 80 +f 70 64 81 +f 72 70 81 +f 64 73 81 +f 73 69 81 +f 71 67 82 +f 77 71 82 +f 78 77 82 +f 79 78 82 +f 67 79 82 +f 67 71 83 +f 76 67 83 +f 68 76 83 +f 80 68 83 +f 71 80 83 +f 69 76 84 +f 81 69 84 +f 72 81 84 +f 65 72 85 +f 76 65 85 +f 72 84 85 +o convex_3 +v 1.105851 -2.309388 -0.550244 +v -1.036511 -2.744490 0.688165 +v -1.036511 -2.744490 0.855613 +v 1.038942 -4.250809 0.453821 +v -0.936251 -4.284453 -1.186585 +v -0.969601 -1.371610 -1.119482 +v 1.038942 -1.371610 0.855613 +v 1.105851 -4.183519 -1.119276 +v 1.072501 -1.371610 -1.152930 +v -0.936251 -4.217164 0.889061 +v -1.003161 -1.371610 0.855613 +v 1.038942 -4.250809 0.922509 +v 0.938472 -4.217164 -1.152930 +v 1.072501 -1.472260 0.855613 +v -0.969601 -4.083440 -0.985483 +v 0.168489 -4.250809 0.922716 +v 1.105851 -4.217449 -0.617140 +v 1.038942 -3.681413 0.922509 +v -0.969601 -4.183804 0.889061 +v -1.036511 -1.405255 0.855613 +v -0.500815 -4.284453 -1.186585 +v -0.936251 -3.681698 -1.186585 +v 1.105851 -1.840642 -1.152930 +v -0.936251 -4.284453 -0.483141 +v -1.036511 -2.644126 0.386925 +v 1.072501 -2.510402 0.855613 +v -0.065799 -4.217164 -1.186585 +v -0.936251 -4.250809 0.855613 +v -0.132708 -4.284453 -0.315900 +v 1.105851 -3.715057 -1.152930 +v 0.838003 -1.371610 -1.152930 +v -0.969601 -3.714772 0.889061 +v 1.105851 -4.217449 -1.018931 +v 1.072501 -1.371610 0.821958 +f 108 94 119 +f 91 92 94 +f 92 91 96 +f 91 90 100 +f 93 86 102 +f 97 89 102 +f 92 96 103 +f 99 92 103 +f 97 99 103 +f 96 101 103 +f 101 97 103 +f 88 87 104 +f 87 100 104 +f 100 90 104 +f 95 101 104 +f 87 88 105 +f 96 91 105 +f 101 96 105 +f 88 104 105 +f 90 91 107 +f 106 90 107 +f 86 93 108 +f 104 90 109 +f 90 106 109 +f 100 87 110 +f 91 100 110 +f 87 105 110 +f 105 91 110 +f 86 99 111 +f 99 97 111 +f 102 86 111 +f 97 102 111 +f 98 106 112 +f 107 94 112 +f 106 107 112 +f 94 108 112 +f 101 95 113 +f 95 104 113 +f 104 109 113 +f 113 109 114 +f 89 97 114 +f 97 101 114 +f 106 89 114 +f 109 106 114 +f 101 113 114 +f 93 98 115 +f 108 93 115 +f 98 112 115 +f 112 108 115 +f 91 94 116 +f 107 91 116 +f 94 107 116 +f 104 101 117 +f 101 105 117 +f 105 104 117 +f 98 93 118 +f 93 102 118 +f 102 89 118 +f 89 106 118 +f 106 98 118 +f 94 92 119 +f 99 86 119 +f 92 99 119 +f 86 108 119 +o convex_4 +v 0.335940 3.750377 -1.152796 +v -1.103469 1.407054 -1.219892 +v -0.467377 0.369754 -1.253334 +v -0.969690 -1.304048 0.889061 +v 1.072367 -1.371102 0.822177 +v -0.936245 3.817430 0.821964 +v 1.038922 3.750377 0.822177 +v 1.072367 -1.371102 -1.152796 +v -0.969690 -1.371102 -1.119354 +v -1.070024 3.783904 -1.253547 +v 1.038922 3.717358 -1.119354 +v 0.536822 1.206909 0.922502 +v 0.972032 1.942467 -1.219892 +v -1.003135 -1.371102 0.855619 +v 1.072367 3.248490 -0.650746 +v -0.936245 2.545443 0.889061 +v -1.103469 2.076067 -0.985375 +v 0.436275 0.236154 -1.253334 +v 1.038922 -1.371102 0.855619 +v -1.003135 -0.032060 0.889061 +v 1.072367 2.779623 0.788523 +v -0.701917 3.784412 -1.253547 +v -0.467377 0.236154 0.922502 +v -1.003135 -1.002815 -1.153009 +v 1.072367 -1.069869 -1.186451 +v 0.570267 3.783904 0.755081 +v 0.469720 0.269681 0.922502 +v -0.969690 3.717358 0.487335 +v -0.768807 -1.270522 -1.153009 +v -1.070024 3.783904 -0.951933 +v 0.503164 1.239420 -1.253334 +v -0.534480 1.239420 0.922502 +v -1.103469 2.779114 -1.253547 +v 1.038922 3.282017 -1.152796 +v -0.869142 3.449143 0.855619 +v -1.003135 -1.371102 0.286259 +v 1.038922 3.750377 -0.048370 +v -0.500822 3.783904 -1.219679 +v -0.902587 3.817430 0.420239 +v 1.005477 1.272439 -1.219892 +v -1.103469 1.774833 -0.951933 +v -0.099270 2.846676 -1.253334 +v 0.804595 3.649796 -1.153009 +v 1.072367 -0.701581 -1.186451 +v -1.003135 -1.304048 0.889061 +f 139 160 164 +f 127 124 128 +f 128 124 133 +f 124 127 134 +f 124 126 138 +f 126 131 138 +f 123 133 138 +f 133 124 138 +f 135 125 139 +f 126 124 140 +f 124 134 140 +f 134 126 140 +f 121 122 143 +f 134 127 144 +f 122 137 144 +f 125 126 145 +f 123 138 146 +f 138 131 146 +f 131 142 146 +f 142 123 146 +f 139 125 147 +f 136 139 147 +f 127 128 148 +f 143 122 148 +f 128 143 148 +f 144 127 148 +f 122 144 148 +f 125 129 149 +f 147 125 149 +f 136 147 149 +f 137 141 150 +f 131 135 151 +f 135 139 151 +f 142 131 151 +f 122 121 152 +f 121 136 152 +f 137 122 152 +f 129 141 152 +f 141 137 152 +f 149 129 152 +f 136 149 152 +f 126 125 154 +f 131 126 154 +f 125 135 154 +f 135 131 154 +f 133 121 155 +f 128 133 155 +f 121 143 155 +f 143 128 155 +f 130 120 156 +f 126 134 156 +f 134 130 156 +f 145 126 156 +f 145 156 157 +f 120 130 157 +f 130 141 157 +f 156 120 157 +f 157 141 158 +f 129 125 158 +f 141 129 158 +f 125 145 158 +f 145 157 158 +f 144 137 159 +f 150 132 159 +f 137 150 159 +f 132 153 159 +f 121 133 160 +f 136 121 160 +f 139 136 160 +f 141 132 161 +f 132 150 161 +f 150 141 161 +f 141 130 162 +f 132 141 162 +f 130 153 162 +f 153 132 162 +f 130 134 163 +f 134 144 163 +f 153 130 163 +f 144 159 163 +f 159 153 163 +f 133 123 164 +f 123 142 164 +f 151 139 164 +f 142 151 164 +f 160 133 164 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/437/437.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/437/437.urdf new file mode 100644 index 000000000..9e83a1f3f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/437/437.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/438/438.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/438/438.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/438/438.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/438/438.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/438/438.obj new file mode 100644 index 000000000..470ec6ac1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/438/438.obj @@ -0,0 +1,447 @@ +o convex_0 +v -2.159241 1.454481 -1.077777 +v -0.763812 2.420789 1.068909 +v -0.763812 2.420789 0.997339 +v 3.064333 0.274103 -0.648354 +v -3.053992 0.345887 1.068909 +v 2.992465 2.313113 -1.077777 +v 2.956532 0.596277 0.997125 +v -3.053992 2.349005 -0.934422 +v -2.946190 0.381566 -1.041885 +v 2.956532 2.384897 1.068909 +v -3.018058 2.420576 0.925554 +v 3.064333 0.274103 -1.041885 +v 0.953224 0.238211 1.033017 +v -0.799746 2.384897 -1.113669 +v -1.014151 0.238211 -0.970528 +v 2.956532 0.309995 0.961446 +v -1.014151 0.238211 1.068909 +v 2.956532 2.384897 0.352991 +v -1.443560 1.883904 -1.113669 +v 1.919243 2.277435 -1.113669 +v -3.053992 2.277435 0.961446 +v -2.767120 2.349005 -1.006207 +v 1.024492 0.238211 -1.006207 +v -1.372291 2.420789 1.068909 +v -2.982124 0.524707 -1.041885 +v 2.956532 1.919796 1.068909 +v -3.053992 0.345887 0.639273 +v 3.028399 1.132949 -1.077777 +v 3.064333 0.810988 -1.006207 +v -3.053992 0.775096 1.068909 +v -1.193221 2.384684 -1.113669 +v -3.053992 2.062723 -0.970314 +v -3.053992 2.420576 0.818306 +v -2.302377 1.061378 -1.077777 +v -1.014151 2.420789 0.782627 +v 2.956532 2.349005 -0.469321 +v 2.992465 0.309995 0.567916 +v 2.992465 2.313113 -0.576784 +v 3.028399 0.274103 -0.290502 +v 1.060426 0.238211 0.997125 +v -0.656610 0.238211 -1.006207 +v -3.018058 0.345887 0.388883 +v -3.018058 1.776442 -1.006207 +f 34 25 43 +f 3 2 10 +f 2 5 10 +f 7 13 16 +f 10 5 17 +f 5 15 17 +f 15 13 17 +f 3 10 18 +f 10 6 18 +f 19 14 20 +f 14 6 20 +f 8 5 21 +f 19 1 22 +f 13 15 23 +f 2 3 24 +f 5 2 24 +f 11 21 24 +f 13 7 26 +f 10 17 26 +f 17 13 26 +f 5 8 27 +f 15 5 27 +f 25 9 27 +f 12 19 28 +f 19 20 28 +f 20 6 28 +f 10 4 29 +f 4 12 29 +f 28 6 29 +f 12 28 29 +f 21 5 30 +f 5 24 30 +f 24 21 30 +f 14 19 31 +f 22 8 31 +f 19 22 31 +f 8 22 32 +f 27 8 32 +f 25 27 32 +f 8 21 33 +f 21 11 33 +f 11 24 33 +f 31 8 33 +f 14 31 33 +f 12 9 34 +f 1 19 34 +f 19 12 34 +f 9 25 34 +f 3 18 35 +f 18 14 35 +f 24 3 35 +f 14 33 35 +f 33 24 35 +f 6 14 36 +f 18 6 36 +f 14 18 36 +f 4 10 37 +f 16 4 37 +f 7 16 37 +f 26 7 37 +f 10 26 37 +f 6 10 38 +f 29 6 38 +f 10 29 38 +f 4 16 39 +f 39 16 40 +f 12 4 40 +f 16 13 40 +f 23 12 40 +f 13 23 40 +f 4 39 40 +f 9 12 41 +f 15 9 41 +f 12 23 41 +f 23 15 41 +f 9 15 42 +f 15 27 42 +f 27 9 42 +f 22 1 43 +f 32 22 43 +f 25 32 43 +f 1 34 43 +o convex_1 +v -0.048356 -2.302603 -1.077889 +v 0.988969 -3.232188 1.104689 +v 0.845975 -3.232188 1.104689 +v -1.050139 -1.229243 1.068797 +v -1.086094 -3.697585 0.603696 +v 1.024924 -1.229002 -1.041997 +v 0.988969 -3.590055 -1.077889 +v -0.978642 -1.229243 -0.970213 +v 1.024924 -1.229002 1.033118 +v -0.942894 -3.661339 -0.970213 +v -1.086094 -3.697585 1.032905 +v 0.738523 -3.625818 1.104689 +v -0.370298 -1.300527 -1.077889 +v -1.050139 -1.229243 -0.290401 +v 0.488077 -3.625818 -1.077889 +v 1.024924 -2.480691 -1.006319 +v 0.953220 -3.590055 1.104689 +v -0.907145 -3.554051 -1.006105 +v 0.881724 -1.229002 -1.077889 +v 1.024924 -1.837449 1.068797 +v -1.086094 -2.123549 1.032905 +v -0.907145 -3.697585 -0.219044 +v -0.620951 -3.661339 1.068797 +v 0.988969 -3.482768 0.961548 +v -0.692448 -3.697585 0.961334 +v -1.086094 -2.338124 0.317200 +v -0.656699 -1.229243 -1.041997 +v -0.978642 -1.837207 -0.970213 +v -0.298802 -3.661581 -1.006319 +v 1.024924 -2.051782 1.033118 +v 0.595529 -3.625818 -0.612574 +v 0.988969 -3.590055 0.210165 +v 0.631278 -3.625818 1.104689 +f 66 54 76 +f 46 45 47 +f 45 46 55 +f 50 44 56 +f 44 50 58 +f 50 49 59 +f 49 52 59 +f 45 55 60 +f 56 44 61 +f 44 58 61 +f 58 53 61 +f 49 50 62 +f 47 52 62 +f 52 49 62 +f 50 56 62 +f 57 47 62 +f 51 57 62 +f 47 45 63 +f 52 47 63 +f 59 52 63 +f 54 47 64 +f 48 54 64 +f 47 57 64 +f 48 53 65 +f 54 48 65 +f 47 54 66 +f 45 60 67 +f 55 54 68 +f 54 65 68 +f 48 64 69 +f 64 57 69 +f 61 51 70 +f 56 61 70 +f 62 56 70 +f 51 62 70 +f 53 48 71 +f 57 51 71 +f 51 61 71 +f 61 53 71 +f 48 69 71 +f 69 57 71 +f 53 58 72 +f 65 53 72 +f 58 65 72 +f 63 45 73 +f 59 63 73 +f 67 59 73 +f 45 67 73 +f 50 55 74 +f 58 50 74 +f 65 58 74 +f 55 68 74 +f 68 65 74 +f 55 50 75 +f 50 59 75 +f 60 55 75 +f 59 67 75 +f 67 60 75 +f 46 47 76 +f 55 46 76 +f 54 55 76 +f 47 66 76 +o convex_2 +v 0.488056 -0.227086 3.072282 +v -0.442055 -1.192987 2.821847 +v -0.585174 -0.227086 1.104885 +v 0.452417 -1.121221 1.104885 +v 0.559785 -0.084015 1.104885 +v -0.513558 -0.084015 2.965009 +v 0.488056 -1.085511 3.000701 +v -0.442055 -1.085511 1.104885 +v -0.442055 -1.192987 3.108171 +v -0.585174 -0.012364 1.104885 +v 0.559785 -0.084015 1.570063 +v 0.380689 -0.155550 3.072282 +v -0.477807 -0.048190 2.750266 +v 0.488056 -1.121221 1.856387 +v 0.452417 -0.048190 1.140774 +v -0.585174 -0.012364 1.677336 +v -0.298823 -1.192987 3.108171 +v -0.477807 -0.906615 3.072282 +v 0.559785 -0.262911 1.104885 +v -0.442055 -1.121221 1.391209 +v 0.452417 -1.121221 3.000701 +v -0.155703 -0.763544 3.108171 +v 0.058697 -1.121221 1.104885 +f 96 84 99 +f 80 79 81 +f 79 80 84 +f 79 78 85 +f 81 79 86 +f 77 83 87 +f 77 87 88 +f 88 87 89 +f 82 88 89 +f 81 86 91 +f 87 81 91 +f 89 87 91 +f 89 91 92 +f 86 79 92 +f 82 89 92 +f 91 86 92 +f 78 80 93 +f 83 77 93 +f 85 78 93 +f 80 90 93 +f 79 85 94 +f 92 79 94 +f 82 92 94 +f 80 81 95 +f 87 83 95 +f 81 87 95 +f 90 80 95 +f 83 90 95 +f 78 79 96 +f 79 84 96 +f 90 83 97 +f 83 93 97 +f 93 90 97 +f 88 82 98 +f 77 88 98 +f 93 77 98 +f 85 93 98 +f 94 85 98 +f 82 94 98 +f 80 78 99 +f 84 80 99 +f 78 96 99 +o convex_3 +v 0.380759 -0.119718 -1.471682 +v -0.477680 -1.157207 -1.793699 +v -0.441935 -1.157207 -1.793699 +v -0.549282 -0.155466 -3.081371 +v 0.523850 -1.049738 -2.973902 +v -0.441935 -0.012360 -1.077889 +v 0.559595 -1.049738 -1.077889 +v 0.488105 -0.191327 -2.973902 +v -0.477680 -1.121235 -2.938209 +v -0.477680 -1.157207 -1.077889 +v 0.595452 -0.155466 -1.077889 +v 0.559595 -0.942380 -2.723466 +v -0.298844 -0.012360 -1.185555 +v -0.549282 -0.334433 -3.081371 +v 0.273412 -1.085486 -2.973902 +v 0.523850 -0.334433 -2.973902 +v -0.549282 -0.155466 -2.759355 +v 0.345014 -1.085486 -1.077889 +v 0.380759 -0.155466 -2.723466 +v 0.416504 -0.942380 -3.009790 +v 0.595452 -0.405930 -1.578956 +v -0.477680 -0.727778 -1.077889 +v -0.334589 -0.227075 -3.081371 +v -0.513425 -0.870884 -2.973902 +v 0.595452 -0.155466 -1.400101 +v -0.084150 -1.121235 -2.830936 +f 114 117 125 +f 102 101 108 +f 101 102 109 +f 106 105 109 +f 105 106 110 +f 106 104 111 +f 103 105 112 +f 110 100 112 +f 105 110 112 +f 111 104 115 +f 105 103 116 +f 103 113 116 +f 113 109 116 +f 104 106 117 +f 109 102 117 +f 106 109 117 +f 114 104 117 +f 107 103 118 +f 103 112 118 +f 112 100 118 +f 108 113 119 +f 104 114 119 +f 114 108 119 +f 115 104 119 +f 107 115 119 +f 110 106 120 +f 106 111 120 +f 109 105 121 +f 105 116 121 +f 116 109 121 +f 103 107 122 +f 113 103 122 +f 107 119 122 +f 119 113 122 +f 108 101 123 +f 101 109 123 +f 113 108 123 +f 109 113 123 +f 100 110 124 +f 115 107 124 +f 111 115 124 +f 107 118 124 +f 118 100 124 +f 110 120 124 +f 120 111 124 +f 102 108 125 +f 108 114 125 +f 117 102 125 +o convex_4 +v -1.014380 -1.013804 -0.755715 +v 1.096484 0.238211 -0.505325 +v 1.060550 0.238211 0.997226 +v 1.024826 -1.228767 1.033118 +v -1.014380 0.238211 1.068797 +v 1.024826 -1.228767 -1.041997 +v -1.014380 0.238211 -0.970426 +v -1.050314 -1.228767 1.068797 +v 1.060550 0.238211 -1.006319 +v -0.656720 -1.228767 -1.041997 +v 0.666956 0.059147 1.104689 +v -0.441956 -0.012364 -1.077889 +v -0.978656 -1.228767 -0.970426 +v 0.058809 -1.121357 1.104689 +v 0.845786 -1.228767 -1.077889 +v 1.060550 -1.192868 -1.006319 +v 1.060550 -0.620350 1.033118 +v 0.738614 -0.012364 -1.077889 +v -1.050314 -0.870782 -0.362185 +v -0.585062 -0.012364 1.104689 +v -1.050314 -0.548696 1.068797 +v -0.477891 -1.156969 -1.077889 +v -1.050314 -1.228767 -0.290614 +v 0.452403 -1.121357 1.104689 +v 0.845786 0.238211 1.068797 +v 1.096484 0.059290 -0.970426 +v -0.441956 -1.085458 1.104689 +v -0.835340 0.238211 -1.006319 +v -0.084297 0.166557 -1.041997 +f 137 153 154 +f 128 127 130 +f 130 127 132 +f 131 129 133 +f 132 127 134 +f 131 133 135 +f 126 132 138 +f 132 135 138 +f 135 133 138 +f 131 135 140 +f 129 131 141 +f 131 134 141 +f 127 128 142 +f 136 129 142 +f 129 141 142 +f 134 131 143 +f 131 140 143 +f 140 137 143 +f 132 126 144 +f 136 130 145 +f 139 136 145 +f 130 132 146 +f 132 144 146 +f 144 133 146 +f 145 130 146 +f 133 145 146 +f 135 132 147 +f 140 135 147 +f 137 140 147 +f 126 138 148 +f 138 133 148 +f 144 126 148 +f 133 144 148 +f 133 129 149 +f 129 136 149 +f 139 133 149 +f 136 139 149 +f 128 130 150 +f 130 136 150 +f 142 128 150 +f 136 142 150 +f 134 127 151 +f 141 134 151 +f 127 142 151 +f 142 141 151 +f 133 139 152 +f 145 133 152 +f 139 145 152 +f 132 134 153 +f 147 132 153 +f 137 147 153 +f 134 143 154 +f 143 137 154 +f 153 134 154 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/438/438.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/438/438.urdf new file mode 100644 index 000000000..016316e7a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/438/438.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/439/439.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/439/439.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/439/439.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/439/439.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/439/439.obj new file mode 100644 index 000000000..307a72075 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/439/439.obj @@ -0,0 +1,3003 @@ +o convex_0 +v 1.084629 -0.062144 0.951549 +v 2.147948 -0.110407 1.144388 +v 2.147948 -0.134538 1.144388 +v 1.592191 -0.110407 4.069119 +v 1.568041 -0.593795 0.541327 +v 1.616340 0.252134 -1.198903 +v 1.640490 0.276266 3.222964 +v 1.616340 -0.424590 -1.368952 +v 1.568041 -0.472948 3.246922 +v 1.181332 -0.134538 -1.150985 +v 1.181332 -0.497079 1.119845 +v 1.229632 0.276266 1.119845 +v 1.205482 -0.110407 3.222964 +v 2.027199 -0.182801 -1.174944 +v 2.027199 0.252040 0.951549 +v 2.002945 -0.472853 1.240808 +v 2.002945 -0.110407 3.246922 +v 1.664640 0.372981 0.975508 +v 1.592191 -0.110407 -1.900722 +v 1.592191 -0.521211 -1.150401 +v 2.027199 -0.086370 -1.127027 +v 1.302185 0.179550 -0.546755 +v 1.930496 -0.424590 -0.570714 +v 1.930496 0.155419 2.836116 +v 1.326335 0.179550 2.763655 +v 1.592191 -0.593795 1.434232 +v 1.278035 -0.424495 -0.474294 +v 1.302185 -0.400364 2.763655 +v 1.882196 -0.376232 2.787614 +v 1.930496 0.155419 -0.619216 +v 1.616340 0.252134 3.391844 +v 1.084629 -0.182801 1.168347 +v 1.181332 -0.086370 -1.126442 +v 2.027199 0.252040 1.216265 +v 1.978795 -0.496985 0.976092 +v 1.568041 0.372981 1.048553 +v 1.978795 -0.062238 3.367885 +v 1.640490 -0.521211 -1.150985 +v 1.181332 0.203682 1.095886 +v 1.229632 -0.158670 3.294840 +v 1.229632 -0.086370 3.343342 +v 1.616340 -0.448722 3.318799 +v 1.640490 -0.158670 -1.900722 +v 1.664640 0.252134 -1.127027 +v 1.592191 0.252134 -1.198903 +v 2.002945 -0.472853 0.855129 +v 1.761239 -0.569569 1.095886 +v 1.568041 -0.158670 -1.875594 +v 1.640490 -0.110407 4.044577 +v 1.640490 -0.110407 -1.900722 +v 2.002945 -0.062238 3.222964 +v 1.084629 -0.086370 1.361187 +v 1.688790 0.252134 3.294840 +v 2.051349 -0.158670 -1.078524 +v 2.147948 -0.086275 1.048553 +v 1.616340 -0.472948 3.173877 +v 1.495487 -0.593795 1.120429 +v 1.181332 -0.497079 1.024594 +v 1.084629 -0.134538 0.661705 +v 1.978795 -0.110407 3.367885 +v 1.568041 -0.062238 4.020617 +v 1.543891 -0.448722 3.318799 +v 1.592191 0.276266 3.125959 +v 1.640490 0.372981 1.337228 +f 63 7 64 +f 3 2 17 +f 16 3 17 +f 10 20 27 +f 11 9 28 +f 16 17 29 +f 15 21 30 +f 11 13 32 +f 19 10 33 +f 15 18 34 +f 20 8 38 +f 5 20 38 +f 14 23 38 +f 23 35 38 +f 12 22 39 +f 25 12 39 +f 33 1 39 +f 22 33 39 +f 13 11 40 +f 11 28 40 +f 31 25 41 +f 39 13 41 +f 25 39 41 +f 40 4 41 +f 13 40 41 +f 38 8 43 +f 14 38 43 +f 6 18 44 +f 18 15 44 +f 15 30 44 +f 30 21 44 +f 18 6 45 +f 6 19 45 +f 22 12 45 +f 19 33 45 +f 33 22 45 +f 12 36 45 +f 36 18 45 +f 3 16 46 +f 16 35 46 +f 35 23 46 +f 26 5 47 +f 35 16 47 +f 5 38 47 +f 38 35 47 +f 10 19 48 +f 8 20 48 +f 20 10 48 +f 19 43 48 +f 43 8 48 +f 4 42 49 +f 19 6 50 +f 21 14 50 +f 43 19 50 +f 14 43 50 +f 6 44 50 +f 44 21 50 +f 17 2 51 +f 34 24 51 +f 37 17 51 +f 24 37 51 +f 1 32 52 +f 32 13 52 +f 39 1 52 +f 13 39 52 +f 7 31 53 +f 34 7 53 +f 24 34 53 +f 37 24 53 +f 31 49 53 +f 49 37 53 +f 14 21 54 +f 23 14 54 +f 3 46 54 +f 46 23 54 +f 2 3 55 +f 21 15 55 +f 15 34 55 +f 51 2 55 +f 34 51 55 +f 3 54 55 +f 54 21 55 +f 9 26 56 +f 16 29 56 +f 42 9 56 +f 29 42 56 +f 47 16 56 +f 26 47 56 +f 9 11 57 +f 5 26 57 +f 26 9 57 +f 20 5 58 +f 10 27 58 +f 27 20 58 +f 11 32 58 +f 5 57 58 +f 57 11 58 +f 32 1 59 +f 1 33 59 +f 33 10 59 +f 10 58 59 +f 58 32 59 +f 29 17 60 +f 17 37 60 +f 42 29 60 +f 37 49 60 +f 49 42 60 +f 41 4 61 +f 31 41 61 +f 4 49 61 +f 49 31 61 +f 28 9 62 +f 4 40 62 +f 40 28 62 +f 42 4 62 +f 9 42 62 +f 12 25 63 +f 31 7 63 +f 25 31 63 +f 36 12 63 +f 36 63 64 +f 7 34 64 +f 34 18 64 +f 18 36 64 +o convex_1 +v -1.453184 -0.110407 2.135544 +v -0.414023 0.953047 2.087208 +v -0.365717 0.928792 2.087208 +v 0.431916 -0.110407 1.990568 +v 0.166038 -0.110407 2.063081 +v -1.114651 0.759635 2.087208 +v -1.283918 0.397274 2.159721 +v 0.311151 0.687183 2.014745 +v -1.428835 -0.110407 2.111384 +v -1.138804 -0.062002 2.159721 +v -0.389870 0.928792 2.038905 +v 0.480221 0.155457 2.038905 +v -1.235612 0.711334 2.135544 +v 0.069427 0.735380 2.063081 +f 74 76 78 +f 65 68 69 +f 66 67 72 +f 68 65 73 +f 65 69 74 +f 71 65 74 +f 70 66 75 +f 66 72 75 +f 72 68 75 +f 68 73 75 +f 73 70 75 +f 69 68 76 +f 68 72 76 +f 74 69 76 +f 67 66 77 +f 66 70 77 +f 71 67 77 +f 65 71 77 +f 73 65 77 +f 70 73 77 +f 67 71 78 +f 72 67 78 +f 71 74 78 +f 76 72 78 +o convex_2 +v -1.259829 0.904708 -2.239300 +v -0.414065 1.412265 -2.190911 +v -0.414065 1.363924 -2.190911 +v -0.414065 0.904708 -2.940005 +v -1.090444 1.388070 -1.949161 +v -1.211315 1.049781 -1.924917 +v -0.414065 0.904708 -2.843127 +v -1.187141 0.928903 -2.384270 +v -0.438239 0.928903 -2.940005 +v -0.993913 1.363874 -1.924917 +v -0.438239 1.388070 -2.263445 +v -1.211315 0.904708 -2.166567 +v -0.558944 1.315533 -2.118276 +f 88 84 91 +f 80 81 82 +f 83 79 84 +f 82 81 85 +f 79 82 85 +f 82 79 86 +f 79 83 86 +f 86 83 87 +f 82 86 87 +f 80 83 88 +f 83 84 88 +f 80 82 89 +f 83 80 89 +f 87 83 89 +f 82 87 89 +f 84 79 90 +f 79 85 90 +f 85 84 90 +f 81 80 91 +f 85 81 91 +f 84 85 91 +f 80 88 91 +o convex_3 +v -0.413900 1.194705 -2.408377 +v 0.432029 0.953049 -2.190844 +v 0.407850 1.363825 -1.924917 +v -0.389721 0.928903 -2.915694 +v 0.335148 1.049781 -1.973311 +v -0.413900 1.412265 -2.190844 +v -0.268827 0.904708 -2.698162 +v 0.335314 0.928903 -2.384228 +v 0.383506 1.388070 -1.949162 +v -0.413817 1.363825 -2.166598 +v -0.389721 1.388070 -2.263387 +v 0.383671 0.904708 -2.190844 +v 0.286956 1.388070 -1.924917 +v -0.413900 0.904708 -2.915694 +f 99 103 105 +f 93 94 96 +f 94 93 99 +f 94 99 100 +f 99 95 100 +f 97 92 101 +f 92 98 101 +f 98 96 101 +f 97 100 102 +f 100 95 102 +f 93 96 103 +f 96 98 103 +f 99 93 103 +f 96 94 104 +f 94 100 104 +f 100 97 104 +f 101 96 104 +f 97 101 104 +f 92 97 105 +f 98 92 105 +f 95 99 105 +f 102 95 105 +f 97 102 105 +f 103 98 105 +o convex_4 +v -0.800650 -2.647928 1.096284 +v -0.631464 -1.343046 1.652180 +v -0.655634 -1.343046 1.652180 +v -0.993925 -1.343046 1.096284 +v -0.897247 -1.367272 1.555486 +v -0.631464 -2.889736 1.096284 +v -0.679803 -2.624005 1.386258 +v -1.042304 -1.367272 1.144713 +v -0.631464 -1.343046 1.603751 +v -0.776481 -2.140542 1.482952 +v -0.631464 -2.140542 1.531326 +v -0.921417 -2.116467 1.120553 +v -0.631464 -2.817360 1.096284 +v -0.752311 -2.768908 1.168818 +f 115 117 119 +f 108 107 109 +f 108 109 110 +f 106 109 111 +f 110 109 113 +f 109 107 114 +f 107 111 114 +f 108 110 115 +f 107 108 116 +f 111 107 116 +f 112 111 116 +f 108 115 116 +f 115 112 116 +f 109 106 117 +f 113 109 117 +f 110 113 117 +f 115 110 117 +f 111 109 118 +f 109 114 118 +f 114 111 118 +f 106 111 119 +f 111 112 119 +f 112 115 119 +f 117 106 119 +o convex_5 +v -0.389730 -1.318867 1.748798 +v -1.453184 -1.077268 1.144682 +v -1.428929 -1.101352 1.168868 +v -1.453184 -0.859658 1.748798 +v -0.897307 -1.343046 1.603801 +v -1.187112 -1.077268 1.144682 +v -0.993908 -1.343046 1.144682 +v -0.389730 -1.246331 1.724612 +v -1.332327 -0.859658 1.724612 +v -1.453184 -0.908016 1.724612 +v -1.042105 -1.101352 1.748798 +v -0.389730 -1.343046 1.676300 +v -1.453184 -1.077268 1.265552 +v -1.042105 -1.343046 1.193054 +f 124 132 133 +f 121 125 126 +f 123 120 127 +f 126 125 127 +f 121 123 128 +f 125 121 128 +f 123 127 128 +f 127 125 128 +f 123 121 129 +f 129 124 130 +f 120 123 130 +f 124 120 130 +f 123 129 130 +f 120 124 131 +f 124 126 131 +f 127 120 131 +f 126 127 131 +f 121 122 132 +f 129 121 132 +f 124 129 132 +f 122 121 133 +f 121 126 133 +f 126 124 133 +f 132 122 133 +o convex_6 +v 0.673723 -0.908040 0.516275 +v -0.389730 -1.246302 0.443710 +v -0.389730 -1.173830 0.443710 +v 0.141996 -1.318817 1.096284 +v 0.359351 -1.077213 1.072074 +v 0.021244 -1.343004 0.637068 +v 0.649469 -1.149644 1.096284 +v 0.673723 -0.956411 0.467920 +v -0.389730 -1.343004 0.564567 +v -0.220469 -1.101399 0.467920 +v 0.190193 -1.343004 1.096284 +v 0.577017 -0.908040 0.443710 +v 0.649469 -1.149644 1.023719 +v -0.341325 -1.343004 0.516275 +f 139 142 147 +f 136 137 138 +f 134 138 140 +f 138 137 140 +f 134 140 141 +f 136 135 142 +f 137 136 142 +f 136 138 143 +f 140 137 144 +f 137 142 144 +f 142 139 144 +f 135 136 145 +f 138 134 145 +f 134 141 145 +f 141 135 145 +f 143 138 145 +f 136 143 145 +f 139 141 146 +f 141 140 146 +f 140 144 146 +f 144 139 146 +f 135 141 147 +f 141 139 147 +f 142 135 147 +o convex_7 +v 0.456163 -0.980552 1.386388 +v 0.141916 -1.343001 1.096348 +v 0.141916 -1.318820 1.096348 +v -0.389730 -1.222140 1.748857 +v 0.069687 -1.318820 1.579598 +v 0.601130 -0.908054 1.748857 +v 0.649554 -1.149641 1.144698 +v 0.335307 -1.101414 1.096348 +v -0.389730 -1.343001 1.724586 +v -0.123704 -1.077232 1.724586 +v 0.528697 -0.883872 1.676236 +v 0.649554 -1.125460 1.096348 +v 0.069687 -1.343001 1.531248 +f 152 156 160 +f 149 150 155 +f 150 151 155 +f 150 149 156 +f 151 150 156 +f 152 153 156 +f 153 151 156 +f 151 153 157 +f 155 151 157 +f 148 155 157 +f 148 157 158 +f 157 153 158 +f 154 149 159 +f 153 154 159 +f 149 155 159 +f 155 148 159 +f 148 158 159 +f 158 153 159 +f 153 152 160 +f 149 154 160 +f 154 153 160 +f 156 149 160 +o convex_8 +v -1.163137 -1.028867 1.773060 +v -0.438069 -0.787244 2.063060 +v -0.438069 -0.787244 2.014686 +v -0.438069 -1.270538 1.748888 +v -1.380647 -0.835550 1.748888 +v -1.428839 -0.835550 1.942170 +v -0.462314 -1.004738 1.966342 +v -0.486460 -1.173784 1.748888 +v -1.428839 -0.787244 1.893919 +v -0.486460 -1.270538 1.773060 +f 167 166 170 +f 163 162 164 +f 164 161 165 +f 165 161 166 +f 164 162 167 +f 162 166 167 +f 163 164 168 +f 164 165 168 +f 165 163 168 +f 162 163 169 +f 163 165 169 +f 165 166 169 +f 166 162 169 +f 161 164 170 +f 166 161 170 +f 164 167 170 +o convex_9 +v 0.552791 -0.158847 1.966313 +v -0.438069 -1.270538 1.748888 +v -0.438069 -1.270538 1.773065 +v -0.389645 -0.110473 2.038876 +v -0.413857 -0.835514 2.063053 +v 0.601215 -0.908074 1.748888 +v 0.552791 -0.183034 2.014633 +v 0.577003 -0.908074 1.797242 +v -0.293001 -0.110473 2.087229 +v 0.045458 -1.004709 1.748888 +v 0.552588 -0.859701 1.748888 +v 0.456147 -0.110473 2.038876 +v -0.341323 -1.101229 1.893948 +v -0.413857 -1.197863 1.748888 +v -0.317111 -0.859701 2.038843 +f 183 178 185 +f 172 173 174 +f 174 173 175 +f 173 172 176 +f 176 171 177 +f 173 176 178 +f 176 177 178 +f 174 175 179 +f 176 172 180 +f 176 180 181 +f 174 171 181 +f 171 176 181 +f 180 174 181 +f 171 174 182 +f 177 171 182 +f 175 177 182 +f 174 179 182 +f 179 175 182 +f 175 173 183 +f 173 178 183 +f 172 174 184 +f 180 172 184 +f 174 180 184 +f 177 175 185 +f 178 177 185 +f 175 183 185 +o convex_10 +v -1.453184 -0.762907 1.942222 +v -0.389730 -0.110473 2.087224 +v -0.389730 -0.303819 2.087224 +v -1.453184 -0.134650 2.159737 +v -0.413985 -0.787150 2.063022 +v -0.558992 -0.158826 2.038890 +v -0.389730 -0.787150 2.014759 +v -1.453184 -0.110473 2.111380 +v -1.356374 -0.738731 1.918043 +v -1.428929 -0.787150 1.966401 +v -0.389730 -0.183003 2.038890 +f 192 194 196 +f 188 187 189 +f 188 189 190 +f 187 188 192 +f 188 190 192 +f 189 187 193 +f 186 189 193 +f 187 191 193 +f 193 191 194 +f 186 193 194 +f 194 192 195 +f 189 186 195 +f 190 189 195 +f 192 190 195 +f 186 194 195 +f 191 187 196 +f 187 192 196 +f 194 191 196 +o convex_11 +v 0.625384 2.716715 -1.054792 +v 0.287013 3.877392 -1.175639 +v 0.287013 3.877392 -1.151461 +v 0.552848 0.155457 -1.127282 +v 0.601206 2.596561 -1.175639 +v 0.287013 4.288424 -1.054792 +v 0.601206 0.155457 -1.054792 +v 0.601206 0.397382 -1.175639 +v 0.311192 4.095045 -1.175639 +v 0.552848 0.155457 -1.175639 +v 0.335371 4.215199 -1.078971 +v 0.287013 4.118914 -1.054792 +v 0.625384 0.928972 -1.103150 +f 204 201 209 +f 199 198 200 +f 198 199 202 +f 197 202 203 +f 198 201 204 +f 201 198 205 +f 198 202 205 +f 200 198 206 +f 203 200 206 +f 204 203 206 +f 198 204 206 +f 197 201 207 +f 202 197 207 +f 201 205 207 +f 205 202 207 +f 199 200 208 +f 202 199 208 +f 203 202 208 +f 200 203 208 +f 201 197 209 +f 197 203 209 +f 203 204 209 +o convex_12 +v -1.042285 -0.352115 -3.616789 +v -0.413900 -0.134576 -3.882565 +v -0.413900 -0.134576 -3.930918 +v -0.413900 -0.859658 -3.640965 +v -1.114746 -0.134576 -3.592579 +v -0.413900 -0.811182 -3.592579 +v -1.114746 -0.158779 -3.689285 +v -0.462305 -0.835456 -3.665142 +v -0.728239 -0.400449 -3.616789 +v -0.462305 -0.207113 -3.906741 +f 217 216 219 +f 212 211 213 +f 211 212 214 +f 213 211 215 +f 210 213 215 +f 214 210 215 +f 210 214 216 +f 214 212 216 +f 212 213 217 +f 213 210 217 +f 210 216 217 +f 211 214 218 +f 215 211 218 +f 214 215 218 +f 216 212 219 +f 212 217 219 +o convex_13 +v -1.284007 1.001175 -1.924917 +v -1.187339 -0.134456 -3.568256 +v -1.187339 -0.110324 -3.592416 +v -1.380676 -0.134456 -2.939945 +v -1.356487 -0.134456 -1.924917 +v -1.163151 0.880396 -2.335956 +v -1.187339 0.662851 -2.939945 +v -1.163151 -0.134456 -3.423299 +v -1.380676 0.083090 -2.794987 +v -1.380676 0.083090 -1.924917 +v -1.235673 1.097942 -1.924917 +v -1.259840 1.049559 -2.070037 +v -1.163151 0.662851 -2.939945 +v -1.380676 -0.037809 -2.939945 +f 228 226 233 +f 222 221 223 +f 223 221 224 +f 221 222 227 +f 224 221 227 +f 225 224 227 +f 224 220 229 +f 223 224 229 +f 228 223 229 +f 220 228 229 +f 220 224 230 +f 224 225 230 +f 228 220 231 +f 226 228 231 +f 220 230 231 +f 222 226 232 +f 227 222 232 +f 225 227 232 +f 230 225 232 +f 226 231 232 +f 231 230 232 +f 222 223 233 +f 226 222 233 +f 223 228 233 +o convex_14 +v -0.365523 -1.101347 -2.964069 +v 0.359521 -0.811319 -2.190755 +v 0.311144 -0.811319 -2.190755 +v -0.413900 -0.811319 -3.664799 +v -0.413900 -1.077142 -2.190755 +v 0.335295 -0.859668 -2.939826 +v -0.220545 -1.077142 -2.190755 +v -0.365523 -0.883873 -3.592359 +v 0.311144 -0.811319 -3.012410 +v 0.359521 -0.859668 -2.311824 +v 0.238617 -0.908016 -2.916016 +v -0.413900 -1.101347 -2.939826 +v -0.365523 -1.125522 -2.529287 +v -0.413900 -0.811319 -3.616602 +f 238 236 247 +f 236 235 237 +f 235 236 238 +f 235 238 240 +f 239 241 242 +f 237 235 242 +f 235 239 242 +f 241 237 242 +f 239 235 243 +f 235 240 243 +f 243 240 244 +f 234 241 244 +f 241 239 244 +f 239 243 244 +f 238 237 245 +f 241 234 245 +f 237 241 245 +f 240 238 246 +f 244 240 246 +f 234 244 246 +f 238 245 246 +f 245 234 246 +f 236 237 247 +f 237 238 247 +o convex_15 +v 0.432067 1.315588 -1.925077 +v 0.311182 -0.086237 -3.568409 +v 0.311182 -0.061813 -3.568409 +v 0.576998 -0.086237 -2.939873 +v 0.577027 -0.086237 -1.925077 +v 0.311182 0.880330 -2.335951 +v 0.335371 0.662976 -2.939873 +v 0.601187 0.034652 -2.021602 +v 0.311182 -0.086237 -3.447432 +v 0.407907 1.097959 -1.925077 +v 0.576998 -0.037799 -2.915581 +v 0.359530 -0.061813 -3.519986 +v 0.552838 0.010502 -1.925077 +v 0.311182 0.662976 -2.939873 +v 0.456227 1.194698 -1.925077 +f 255 258 262 +f 249 251 252 +f 250 249 253 +f 252 251 255 +f 249 252 256 +f 253 249 256 +f 252 248 257 +f 248 253 257 +f 254 248 258 +f 255 251 258 +f 249 250 259 +f 251 249 259 +f 250 254 259 +f 258 251 259 +f 254 258 259 +f 256 252 260 +f 253 256 260 +f 252 257 260 +f 257 253 260 +f 253 248 261 +f 250 253 261 +f 254 250 261 +f 248 254 261 +f 248 252 262 +f 252 255 262 +f 258 248 262 +o convex_16 +v -1.066476 3.853026 -1.489842 +v -1.235659 1.074445 -1.924740 +v -1.187254 1.074445 -1.924740 +v -0.438069 1.485342 -2.190728 +v -1.211457 2.934648 -1.707394 +v -1.211457 2.958654 -1.489842 +v -0.438147 3.925882 -1.755761 +v -0.438069 1.412765 -2.142360 +v -0.462350 3.852747 -1.707394 +v -0.462350 3.876753 -1.779842 +v -1.163130 1.098451 -1.900659 +v -0.486474 1.436771 -2.190728 +v -0.873012 3.901039 -1.514128 +v -1.235659 1.412765 -1.900659 +v -1.042117 3.925882 -1.514128 +v -1.235659 3.103808 -1.514128 +v -0.462350 2.500024 -2.021544 +f 266 274 279 +f 266 269 270 +f 268 270 271 +f 270 269 271 +f 269 266 272 +f 264 265 273 +f 268 264 273 +f 265 270 273 +f 270 268 273 +f 265 264 274 +f 266 270 274 +f 270 265 274 +f 263 268 275 +f 268 271 275 +f 271 269 275 +f 274 264 276 +f 267 274 276 +f 272 267 277 +f 269 272 277 +f 263 275 277 +f 275 269 277 +f 264 268 278 +f 268 263 278 +f 276 264 278 +f 267 276 278 +f 263 277 278 +f 277 267 278 +f 267 272 279 +f 272 266 279 +f 274 267 279 +o convex_17 +v 0.335347 3.079196 -1.659071 +v -0.438069 1.388209 -2.190728 +v 0.359478 1.339757 -1.924872 +v -0.147847 3.563114 -1.634858 +v -0.413857 4.409214 -1.683284 +v 0.359478 2.548340 -1.634858 +v 0.383690 1.412435 -1.949086 +v -0.438069 1.460888 -2.142356 +v -0.389726 1.509340 -2.190728 +v -0.438069 4.312006 -1.634858 +v 0.359478 1.339757 -1.900714 +v 0.383690 2.379060 -1.779920 +v -0.365514 2.717621 -1.973244 +v 0.335347 3.079196 -1.634858 +v -0.365514 4.384987 -1.634858 +f 289 293 294 +f 282 281 286 +f 285 283 287 +f 281 284 288 +f 286 281 288 +f 284 281 289 +f 283 285 289 +f 281 287 289 +f 287 283 289 +f 281 282 290 +f 282 286 290 +f 286 285 290 +f 287 281 290 +f 285 287 290 +f 284 280 291 +f 285 286 291 +f 288 284 292 +f 286 288 292 +f 284 291 292 +f 291 286 292 +f 289 285 293 +f 291 280 293 +f 285 291 293 +f 280 284 294 +f 284 289 294 +f 293 280 294 +o convex_18 +v -1.042280 2.523960 -0.063828 +v -1.235659 1.146402 -0.088017 +v -1.211386 1.146402 -0.088017 +v -0.365589 2.523960 0.105339 +v -0.317222 1.146402 0.032830 +v -0.848902 2.862429 -0.088017 +v -1.066464 1.219135 0.008661 +v -0.317222 2.862429 0.057000 +v -0.414046 2.862429 0.105339 +v -0.510601 1.146402 0.057000 +v -1.187292 1.194946 -0.015489 +v -0.969730 2.838241 -0.088017 +v -0.317222 1.533247 0.081169 +v -1.211386 1.775130 -0.063828 +f 295 306 308 +f 296 297 299 +f 297 296 300 +f 299 297 300 +f 299 300 302 +f 302 300 303 +f 301 298 303 +f 298 302 303 +f 296 299 304 +f 298 301 304 +f 304 301 305 +f 303 295 305 +f 301 303 305 +f 296 304 305 +f 300 296 306 +f 303 300 306 +f 295 303 306 +f 302 298 307 +f 299 302 307 +f 298 304 307 +f 304 299 307 +f 296 305 308 +f 305 295 308 +f 306 296 308 +o convex_19 +v -0.341498 3.587213 0.008639 +v -1.018073 2.499888 -0.112190 +v -0.993858 2.499888 -0.112190 +v -0.438152 4.457609 -0.257186 +v -1.018073 3.611167 -0.232984 +v -0.317284 2.935086 0.032805 +v -0.486513 2.886986 0.081137 +v -0.438152 4.360835 -0.112190 +v -1.018073 2.910940 -0.087989 +v -0.389791 4.409126 -0.257186 +v -0.993858 3.418576 -0.257186 +v -0.776336 4.143332 -0.257186 +v -0.317284 2.862649 0.105339 +v -0.317284 3.973928 -0.063858 +f 321 314 322 +f 315 309 316 +f 315 316 317 +f 313 310 317 +f 310 315 317 +f 316 313 317 +f 314 311 318 +f 312 316 318 +f 311 310 319 +f 310 313 319 +f 312 318 319 +f 318 311 319 +f 316 312 320 +f 313 316 320 +f 312 319 320 +f 319 313 320 +f 310 311 321 +f 311 314 321 +f 315 310 321 +f 309 315 321 +f 316 309 322 +f 314 318 322 +f 318 316 322 +f 309 321 322 +o convex_20 +v -0.002949 2.378908 0.032812 +v -0.317222 1.146402 0.032812 +v 0.359507 1.146402 -0.088017 +v 0.117709 2.693092 -0.088017 +v -0.075504 1.146402 0.081169 +v -0.317222 2.693092 0.081169 +v 0.504537 1.194854 -0.063838 +v 0.214476 2.693092 -0.063838 +v -0.196323 2.644791 0.081169 +v -0.317222 2.693092 0.056974 +v -0.317222 1.460736 0.081169 +v 0.504537 1.146402 -0.088017 +f 330 329 334 +f 325 324 326 +f 324 325 327 +f 326 328 330 +f 323 329 330 +f 328 327 331 +f 329 323 331 +f 327 329 331 +f 330 328 331 +f 323 330 331 +f 326 324 332 +f 324 328 332 +f 328 326 332 +f 324 327 333 +f 328 324 333 +f 327 328 333 +f 325 326 334 +f 327 325 334 +f 329 327 334 +f 326 330 334 +o convex_21 +v 0.190316 3.974221 -0.353880 +v -0.365561 3.949896 -0.112210 +v -0.365561 3.949896 -0.088021 +v 0.214505 2.693244 -0.088021 +v -0.317184 2.693244 0.056938 +v 0.166128 2.910919 -0.063876 +v -0.292996 3.901495 -0.063876 +v -0.244563 2.886845 0.081127 +v 0.190316 3.974221 -0.305503 +v 0.166071 2.693369 -0.112210 +v 0.093620 3.804820 -0.305503 +f 335 344 345 +f 335 336 337 +f 337 336 339 +f 340 341 342 +f 339 338 342 +f 337 339 342 +f 338 340 342 +f 341 337 342 +f 335 337 343 +f 338 335 343 +f 340 338 343 +f 337 341 343 +f 341 340 343 +f 335 338 344 +f 338 339 344 +f 344 339 345 +f 336 335 345 +f 339 336 345 +o convex_22 +v -0.728177 -2.672176 0.854623 +v -0.993908 -1.343046 1.096284 +v -0.969758 -1.343046 1.072081 +v -0.897231 -1.488238 0.661263 +v -0.631462 -1.343198 0.612962 +v -0.631500 -2.841289 1.096284 +v -0.945570 -2.019950 1.072081 +v -0.631462 -2.116391 0.637113 +v -0.824779 -2.116391 0.685414 +v -0.776516 -2.792992 1.096284 +v -0.631500 -2.672176 0.782120 +v -0.873080 -1.343198 0.637113 +v -1.018135 -1.367422 1.023728 +v -0.655650 -1.367422 0.564557 +f 354 357 359 +f 348 347 351 +f 350 348 351 +f 350 351 353 +f 351 347 355 +f 347 352 355 +f 352 354 355 +f 354 346 355 +f 353 351 356 +f 346 354 356 +f 354 353 356 +f 351 355 356 +f 355 346 356 +f 347 348 357 +f 348 350 357 +f 354 349 357 +f 352 347 358 +f 349 354 358 +f 354 352 358 +f 347 357 358 +f 357 349 358 +f 350 353 359 +f 353 354 359 +f 357 350 359 +o convex_23 +v -1.380657 1.581172 -0.668021 +v -1.187320 1.750462 -0.088054 +v -1.187320 1.750462 -0.160617 +v -1.283998 0.372981 -0.547261 +v -1.259829 0.759779 -0.088054 +v -1.356468 2.524057 -0.692209 +v -1.380657 2.403196 -0.619706 +v -1.356468 0.372981 -0.692209 +v -1.283998 2.524057 -0.547261 +v -1.308167 0.372981 -0.692209 +v -1.211509 0.808208 -0.088054 +v -1.235697 1.677819 -0.112242 +v -1.308167 2.524057 -0.474699 +f 366 371 372 +f 365 360 366 +f 360 364 366 +f 364 360 367 +f 363 364 367 +f 360 365 367 +f 361 362 368 +f 362 363 369 +f 363 367 369 +f 367 365 369 +f 368 362 369 +f 365 368 369 +f 362 361 370 +f 363 362 370 +f 364 363 370 +f 361 364 370 +f 364 361 371 +f 366 364 371 +f 365 366 372 +f 361 368 372 +f 368 365 372 +f 371 361 372 +o convex_24 +v -0.099698 -2.357962 0.782153 +v 0.166166 -1.343195 1.096239 +v 0.166166 -1.343195 1.047876 +v -0.099698 -1.343195 0.661292 +v -0.099698 -2.792990 1.096239 +v 0.021159 -1.415774 0.661292 +v -0.003018 -2.623837 1.072058 +v 0.117813 -1.391631 1.096239 +v -0.027168 -2.116379 0.757972 +v 0.093610 -2.092385 1.072058 +f 381 378 382 +f 374 375 376 +f 376 373 377 +f 376 375 378 +f 373 376 378 +f 377 373 379 +f 374 377 379 +f 374 376 380 +f 376 377 380 +f 377 374 380 +f 373 378 381 +f 379 373 381 +f 379 381 382 +f 375 374 382 +f 378 375 382 +f 374 379 382 +o convex_25 +v 0.069474 -2.285444 1.096284 +v -0.027170 -1.343046 1.579672 +v -0.075528 -1.343046 1.579672 +v 0.141987 -1.343046 1.096284 +v -0.075528 -2.720607 1.096284 +v -0.002992 -2.116467 1.507135 +v 0.166166 -1.367272 1.192999 +v -0.075528 -2.793134 1.241310 +v 0.045319 -1.343046 1.555493 +v -0.075528 -2.116467 1.531314 +v -0.027170 -2.841435 1.144642 +v 0.093653 -2.140542 1.168821 +v -0.075528 -1.391498 1.531314 +f 387 385 395 +f 385 384 386 +f 386 383 387 +f 383 386 389 +f 385 387 390 +f 386 384 391 +f 384 388 391 +f 388 389 391 +f 389 386 391 +f 384 385 392 +f 388 384 392 +f 385 390 392 +f 390 388 392 +f 387 383 393 +f 390 387 393 +f 388 390 393 +f 383 389 394 +f 389 388 394 +f 393 383 394 +f 388 393 394 +f 385 386 395 +f 386 387 395 +o convex_26 +v -0.389730 -1.246289 0.516299 +v -1.453184 -0.859779 0.443779 +v -1.453184 -0.883920 0.492148 +v -1.211367 -1.053109 1.120404 +v -0.921457 -1.343004 0.661270 +v -1.042313 -1.343004 1.144623 +v -1.453080 -1.077250 1.120404 +v -0.583142 -1.101292 0.443779 +v -0.462286 -1.342954 0.492148 +v -1.404779 -0.835588 0.516299 +v -0.993908 -1.318812 1.144623 +v -1.453080 -1.028918 1.144623 +v -0.389730 -1.342954 0.564600 +f 406 401 408 +f 398 397 400 +f 398 400 402 +f 400 401 402 +f 399 396 403 +f 400 397 404 +f 397 403 404 +f 403 396 404 +f 403 397 405 +f 399 403 405 +f 396 399 406 +f 397 398 407 +f 398 402 407 +f 402 401 407 +f 405 397 407 +f 399 405 407 +f 406 399 407 +f 401 406 407 +f 401 400 408 +f 400 404 408 +f 404 396 408 +f 396 406 408 +o convex_27 +v -0.220422 4.530210 -0.692287 +v -0.389681 4.892592 -0.861459 +v -0.123751 4.723357 -0.885585 +v -0.317161 4.626717 -1.054721 +v 0.287013 4.264335 -1.054721 +v 0.287013 4.288511 -0.692287 +v 0.287013 4.433504 -0.933910 +v -0.413900 4.795887 -1.054721 +v -0.413900 4.771710 -0.692287 +v 0.262794 4.215916 -0.716485 +v 0.238643 4.481857 -0.861459 +f 417 414 419 +f 414 413 415 +f 410 411 416 +f 413 412 416 +f 411 415 416 +f 415 413 416 +f 412 409 417 +f 409 414 417 +f 410 416 417 +f 416 412 417 +f 409 412 418 +f 412 413 418 +f 413 414 418 +f 414 409 418 +f 411 410 419 +f 415 411 419 +f 414 415 419 +f 410 417 419 +o convex_28 +v -0.655705 0.590548 -3.616588 +v -0.413900 0.904708 -2.891823 +v -0.413900 0.880496 -2.891823 +v -1.163151 0.904708 -2.360072 +v -1.138875 0.566336 -2.940176 +v -0.413900 0.566336 -3.664941 +v -0.462305 0.663052 -3.664941 +v -1.163151 0.904708 -2.456778 +v -1.163151 0.638906 -3.012639 +v -0.510710 0.904708 -2.940176 +v -1.114746 0.880496 -2.360072 +v -1.090617 0.566336 -3.181543 +f 424 428 431 +f 422 424 425 +f 421 422 425 +f 425 420 426 +f 421 425 426 +f 423 421 427 +f 427 426 428 +f 424 423 428 +f 426 420 428 +f 423 427 428 +f 421 426 429 +f 427 421 429 +f 426 427 429 +f 422 421 430 +f 421 423 430 +f 423 424 430 +f 424 422 430 +f 425 424 431 +f 420 425 431 +f 428 420 431 +o convex_29 +v 0.577015 -0.086379 -2.190755 +v 0.287044 -0.811248 -3.036508 +v 0.311213 -0.811248 -3.036508 +v 0.311213 -0.086379 -3.664799 +v 0.577015 -0.134704 -2.964069 +v 0.335382 -0.811248 -2.190755 +v 0.287044 -0.086379 -3.544018 +v 0.383721 -0.787051 -2.432605 +v 0.601184 -0.134704 -2.190755 +v 0.359552 -0.811248 -2.939826 +v 0.480337 -0.303805 -2.215142 +v 0.311213 -0.158831 -3.664799 +v 0.335382 -0.762853 -2.190755 +v 0.577015 -0.086379 -2.964069 +f 440 436 445 +f 433 434 437 +f 432 435 438 +f 437 439 440 +f 432 437 440 +f 439 436 440 +f 437 434 441 +f 436 439 441 +f 439 437 441 +f 432 438 442 +f 434 433 443 +f 435 436 443 +f 433 438 443 +f 438 435 443 +f 441 434 443 +f 436 441 443 +f 433 437 444 +f 437 432 444 +f 438 433 444 +f 432 442 444 +f 442 438 444 +f 435 432 445 +f 436 435 445 +f 432 440 445 +o convex_30 +v -0.413829 0.783813 -3.084837 +v 0.311111 0.904708 -2.360072 +v 0.311111 0.880496 -2.360072 +v 0.238589 0.590548 -3.157433 +v -0.389631 0.638906 -3.689051 +v -0.075486 0.566336 -3.254007 +v -0.389631 0.904708 -2.964286 +v 0.311111 0.904708 -2.456778 +v 0.286913 0.566336 -2.964286 +v -0.365433 0.880496 -2.819360 +v -0.413829 0.566336 -3.713294 +v 0.311111 0.638906 -3.012639 +f 448 454 457 +f 450 452 453 +f 447 448 453 +f 452 447 453 +f 451 454 455 +f 448 447 455 +f 446 451 455 +f 452 446 455 +f 447 452 455 +f 454 448 455 +f 450 449 456 +f 451 446 456 +f 446 452 456 +f 452 450 456 +f 449 454 456 +f 454 451 456 +f 449 450 457 +f 450 453 457 +f 453 448 457 +f 454 449 457 +o convex_31 +v -0.510592 -1.101352 -1.924917 +v -1.380676 -0.183029 -2.190728 +v -1.380676 -0.183029 -1.924917 +v -1.138842 -0.883790 -2.190728 +v -0.438069 -1.077126 -2.190728 +v -1.138842 -0.883790 -1.924917 +v -1.356501 -0.134576 -1.924917 +v -0.438069 -1.077126 -1.924917 +v -1.356501 -0.134576 -2.190728 +v -0.897470 -0.980505 -2.190728 +f 463 461 467 +f 460 459 461 +f 461 459 462 +f 458 460 463 +f 460 461 463 +f 460 458 464 +f 459 460 464 +f 462 464 465 +f 458 462 465 +f 464 458 465 +f 462 459 466 +f 459 464 466 +f 464 462 466 +f 462 458 467 +f 461 462 467 +f 458 463 467 +o convex_32 +v 0.407824 -0.738740 -1.924917 +v -0.438069 -1.101310 -2.190728 +v -0.438069 -1.101310 -1.924917 +v 0.577003 -0.086237 -2.190728 +v 0.335290 -0.859495 -2.190728 +v 0.577003 -0.086237 -1.924917 +v -0.341323 -1.125522 -1.924917 +v 0.335290 -0.859495 -1.924917 +v 0.601215 -0.134661 -2.190728 +v -0.438069 -1.077098 -1.924917 +v -0.341323 -1.125522 -2.166556 +f 472 474 478 +f 469 471 472 +f 470 468 473 +f 468 470 474 +f 470 469 474 +f 474 472 475 +f 472 468 475 +f 468 474 475 +f 468 472 476 +f 472 471 476 +f 473 468 476 +f 471 473 476 +f 469 470 477 +f 471 469 477 +f 470 473 477 +f 473 471 477 +f 469 472 478 +f 474 469 478 +o convex_33 +v -0.414103 -1.222199 0.443710 +v -1.187183 -0.859713 -0.088017 +v -1.187183 -0.835527 -0.088017 +v -1.453184 -0.835527 0.443710 +v -1.163075 -1.004715 -0.015409 +v -0.414103 -1.052973 -0.039664 +v -0.534846 -1.052973 0.395357 +v -0.486528 -1.101307 -0.088017 +v -0.752427 -1.149641 0.105343 +v -1.428872 -0.883898 0.395357 +v -1.138866 -0.835527 -0.039664 +v -1.259710 -0.859713 0.443710 +v -0.486528 -1.222199 0.443710 +v -1.259710 -0.980567 0.105343 +v -1.114656 -1.004715 -0.088017 +f 483 492 493 +f 481 480 482 +f 479 484 485 +f 480 481 486 +f 481 484 486 +f 484 479 486 +f 486 479 487 +f 482 480 488 +f 481 482 489 +f 484 481 489 +f 485 484 489 +f 485 489 490 +f 482 479 490 +f 479 485 490 +f 489 482 490 +f 479 482 491 +f 487 479 491 +f 482 488 491 +f 491 488 492 +f 483 487 492 +f 488 480 492 +f 487 491 492 +f 480 486 493 +f 487 483 493 +f 486 487 493 +f 492 480 493 +o convex_34 +v -1.187356 -0.835411 -0.088017 +v -1.428981 -0.762895 0.443710 +v -1.453153 -0.762895 0.443710 +v -1.356466 -0.037977 -0.088017 +v -1.404810 -0.327960 -0.088017 +v -1.404810 -0.037977 0.226096 +v -1.138982 -0.811213 -0.063814 +v -1.453153 -0.037977 0.153748 +v -1.453153 -0.835411 0.395357 +v -1.332294 -0.037977 0.081245 +f 499 500 503 +f 497 494 498 +f 496 495 499 +f 494 497 500 +f 499 495 500 +f 497 498 501 +f 496 499 501 +f 499 497 501 +f 495 496 502 +f 498 494 502 +f 500 495 502 +f 494 500 502 +f 501 498 502 +f 496 501 502 +f 497 499 503 +f 500 497 503 +o convex_35 +v 0.673723 -0.883894 0.443710 +v -0.413900 -1.101312 -0.088017 +v -0.413900 -1.149641 0.081245 +v -0.365353 -1.077126 0.395357 +v 0.359445 -0.787193 -0.088017 +v 0.021320 -1.125455 0.105343 +v -0.365353 -1.222157 0.443710 +v 0.649450 -0.787193 0.371103 +v 0.673723 -0.932223 0.395357 +v 0.456113 -0.811378 -0.088017 +v -0.220351 -1.125455 -0.088017 +v -0.413900 -1.052983 0.081245 +v 0.480280 -0.956366 0.129598 +v -0.413900 -1.149641 0.443710 +v 0.359445 -0.787193 -0.015409 +v 0.552782 -0.980552 0.443710 +f 512 504 519 +f 511 504 512 +f 505 508 513 +f 508 511 513 +f 511 512 513 +f 506 505 514 +f 509 510 514 +f 510 506 514 +f 505 513 514 +f 505 506 515 +f 508 505 515 +f 512 509 516 +f 513 512 516 +f 509 514 516 +f 514 513 516 +f 510 504 517 +f 506 510 517 +f 504 511 517 +f 511 507 517 +f 515 506 517 +f 507 515 517 +f 507 511 518 +f 511 508 518 +f 515 507 518 +f 508 515 518 +f 504 510 519 +f 510 509 519 +f 509 512 519 +o convex_36 +v 0.673723 -0.352165 0.177816 +v 0.673723 -0.714542 0.371157 +v 0.649544 -0.714542 0.371157 +v 0.456208 -0.787150 -0.087972 +v 0.528745 -0.037899 0.177816 +v 0.601210 -0.037899 -0.087972 +v 0.456208 -0.787150 0.105369 +v 0.673723 -0.062101 0.177816 +v 0.673723 -0.762874 0.298620 +v 0.432029 -0.714542 -0.087972 +v 0.577008 -0.303833 -0.087972 +f 528 523 530 +f 522 521 524 +f 522 524 526 +f 521 520 527 +f 524 521 527 +f 520 525 527 +f 525 524 527 +f 520 521 528 +f 521 522 528 +f 522 526 528 +f 526 523 528 +f 525 523 529 +f 524 525 529 +f 523 526 529 +f 526 524 529 +f 525 520 530 +f 523 525 530 +f 520 528 530 +o convex_37 +v -1.235680 0.614533 -0.088017 +v -1.404812 0.058784 0.202016 +v -1.428969 0.058784 0.202016 +v -1.163179 1.146402 -0.015508 +v -1.163179 0.662990 0.153640 +v -1.332311 -0.037899 -0.088017 +v -1.235680 1.146402 -0.088017 +v -1.428969 0.276377 0.105320 +v -1.259866 0.711331 0.129508 +v -1.332311 -0.037899 0.081131 +v -1.356468 0.083012 -0.088017 +f 533 538 541 +f 531 534 535 +f 533 532 535 +f 531 535 536 +f 534 531 537 +f 531 536 537 +f 535 534 539 +f 533 535 539 +f 534 537 539 +f 537 538 539 +f 538 533 539 +f 532 533 540 +f 535 532 540 +f 533 536 540 +f 536 535 540 +f 536 533 541 +f 537 536 541 +f 538 537 541 +o convex_38 +v -1.163151 0.687231 0.129468 +v 0.383690 1.146402 -0.039664 +v 0.383690 1.146402 -0.088017 +v 0.383690 0.638894 0.177847 +v -0.244828 1.146402 0.081141 +v -1.163151 0.904769 -0.039664 +v -1.163151 1.146402 -0.015487 +v -0.583086 0.953006 0.153670 +v 0.383690 1.001293 -0.063840 +v 0.383690 0.663087 0.129494 +v -1.138773 0.759760 0.153670 +v 0.335238 0.735617 0.177847 +v -0.051472 1.146402 0.081141 +v -1.163151 1.146402 -0.039664 +f 547 548 555 +f 544 543 545 +f 543 544 546 +f 546 544 548 +f 547 542 548 +f 546 548 549 +f 544 545 550 +f 547 544 550 +f 547 550 551 +f 545 542 551 +f 542 547 551 +f 550 545 551 +f 542 545 552 +f 548 542 552 +f 549 548 552 +f 549 552 553 +f 545 543 553 +f 552 545 553 +f 543 546 554 +f 546 549 554 +f 549 553 554 +f 553 543 554 +f 544 547 555 +f 548 544 555 +o convex_39 +v -1.380650 3.369986 -0.885585 +v -1.114838 4.240085 -0.692287 +v -1.114838 4.240085 -0.740647 +v -1.356478 2.499888 -0.740647 +v -1.139010 4.167349 -1.054721 +v -1.380650 2.911089 -1.054721 +v -1.235671 4.240085 -0.958072 +v -1.380650 2.862542 -0.692287 +v -1.235671 4.191708 -0.837296 +v -1.139010 3.901618 -0.692287 +v -1.308134 3.128444 -1.054721 +v -1.187353 4.240085 -1.054721 +f 562 558 567 +f 557 558 562 +f 561 556 562 +f 556 561 563 +f 561 559 563 +f 557 562 564 +f 562 556 564 +f 563 557 564 +f 556 563 564 +f 558 557 565 +f 559 560 565 +f 560 558 565 +f 557 563 565 +f 563 559 565 +f 560 559 566 +f 559 561 566 +f 561 560 566 +f 558 560 567 +f 560 561 567 +f 561 562 567 +o convex_40 +v 0.480387 0.107125 0.177847 +v 0.407890 0.687103 0.177847 +v 0.456239 0.735444 0.153670 +v 0.383742 1.073716 -0.088017 +v 0.625354 0.276377 -0.088017 +v 0.625354 0.397172 0.129494 +v 0.504561 1.146402 -0.063840 +v 0.577005 -0.037899 -0.088017 +v 0.649554 -0.037899 0.177847 +v 0.383742 0.542311 0.153670 +v 0.552857 0.977034 -0.088017 +f 571 574 578 +f 569 570 574 +f 571 569 574 +f 570 573 574 +f 571 572 575 +f 569 568 576 +f 570 569 576 +f 573 570 576 +f 572 573 576 +f 568 575 576 +f 575 572 576 +f 568 569 577 +f 569 571 577 +f 575 568 577 +f 571 575 577 +f 572 571 578 +f 573 572 578 +f 574 573 578 +o convex_41 +v -0.341462 -1.947376 0.588783 +v -0.631424 -2.696268 0.782034 +v -0.631424 -2.696268 0.806251 +v -0.631424 -1.343195 0.612915 +v -0.099698 -2.261389 0.806251 +v -0.099698 -1.343195 0.612915 +v -0.413810 -2.792990 0.709555 +v -0.486365 -1.415774 0.516218 +v -0.631424 -2.140523 0.637103 +v -0.099698 -2.140523 0.709555 +v -0.148051 -1.343195 0.661235 +v -0.244756 -2.720560 0.806251 +v -0.631424 -2.575551 0.806251 +v -0.413810 -2.140523 0.588783 +v -0.389659 -1.343195 0.516218 +f 592 586 593 +f 580 581 582 +f 581 580 585 +f 580 582 587 +f 585 580 587 +f 582 586 587 +f 579 584 588 +f 584 583 588 +f 584 582 589 +f 583 584 589 +f 583 581 590 +f 581 585 590 +f 588 583 590 +f 585 588 590 +f 582 581 591 +f 581 583 591 +f 589 582 591 +f 583 589 591 +f 585 587 592 +f 587 586 592 +f 579 588 592 +f 588 585 592 +f 584 579 593 +f 582 584 593 +f 586 582 593 +f 579 592 593 +o convex_42 +v -0.123900 -2.624128 0.830465 +v -0.631424 -2.914045 1.047912 +v -0.607222 -2.938174 1.047912 +v -0.099698 -2.817235 1.096284 +v -0.123900 -2.333991 0.830465 +v -0.438012 -2.889843 0.806308 +v -0.631424 -2.648257 0.806308 +v -0.631424 -2.865713 1.096284 +v -0.389659 -3.083243 1.072070 +v -0.099698 -2.889843 1.072070 +v -0.099698 -2.333991 0.806308 +f 597 603 604 +f 596 595 599 +f 599 595 600 +f 595 596 601 +f 597 598 601 +f 600 595 601 +f 598 600 601 +f 596 599 602 +f 601 596 602 +f 597 601 602 +f 599 594 603 +f 597 602 603 +f 602 599 603 +f 598 597 604 +f 594 599 604 +f 600 598 604 +f 599 600 604 +f 603 594 604 +o convex_43 +v -0.099742 -2.648250 1.410443 +v -0.631424 -2.914000 1.096284 +v -0.631424 -2.914000 1.120496 +v -0.631424 -2.358232 1.410443 +v -0.413876 -2.889802 1.434655 +v -0.075528 -2.817351 1.096284 +v -0.075528 -2.358232 1.434655 +v -0.365502 -3.083172 1.120496 +v -0.075528 -2.889802 1.168854 +v -0.631424 -2.503277 1.434655 +v -0.631424 -2.841478 1.096284 +v -0.075528 -2.479079 1.313761 +v -0.607210 -2.696575 1.410443 +f 609 614 617 +f 606 607 608 +f 609 605 611 +f 607 606 612 +f 609 607 612 +f 606 610 612 +f 612 610 613 +f 605 609 613 +f 611 605 613 +f 610 611 613 +f 609 612 613 +f 608 607 614 +f 609 611 614 +f 611 608 614 +f 606 608 615 +f 610 606 615 +f 610 615 616 +f 608 611 616 +f 611 610 616 +f 615 608 616 +f 607 609 617 +f 614 607 617 +o convex_44 +v -0.365502 -1.439918 1.700493 +v -0.631424 -2.430541 1.434681 +v -0.631424 -2.430541 1.458853 +v -0.075528 -2.454685 1.434681 +v -0.075528 -1.343195 1.555514 +v -0.631424 -1.343195 1.603832 +v -0.365502 -2.841277 1.483025 +v -0.075528 -2.140523 1.531343 +v -0.413876 -2.116379 1.627977 +v -0.583050 -1.343195 1.676321 +v -0.631424 -2.285532 1.434681 +v -0.075528 -1.343195 1.603832 +v -0.631424 -2.068242 1.555514 +v -0.413876 -2.865569 1.434681 +v -0.075528 -2.285532 1.434681 +f 628 622 632 +f 619 620 623 +f 624 621 625 +f 621 622 625 +f 624 625 626 +f 625 618 626 +f 622 623 627 +f 626 618 627 +f 621 619 628 +f 619 623 628 +f 623 622 628 +f 618 625 629 +f 625 622 629 +f 627 618 629 +f 622 627 629 +f 623 620 630 +f 620 624 630 +f 624 626 630 +f 627 623 630 +f 626 627 630 +f 620 619 631 +f 619 621 631 +f 624 620 631 +f 621 624 631 +f 622 621 632 +f 621 628 632 +o convex_45 +v -1.066341 -0.787226 -3.109249 +v -0.413900 -1.077107 -2.190754 +v -0.462305 -1.052928 -2.190754 +v -0.534839 -0.762981 -3.592508 +v -1.138875 -0.762981 -2.190754 +v -0.462378 -1.101352 -2.891631 +v -1.090617 -0.908054 -2.190754 +v -1.090470 -0.883908 -2.915918 +v -0.414046 -0.883908 -3.568222 +v -0.486434 -1.101352 -2.190754 +v -1.138875 -0.762981 -2.940067 +v -0.631502 -0.787226 -3.592508 +v -0.438176 -0.811405 -3.544072 +v -0.414046 -1.101352 -2.915918 +v -0.897217 -0.980425 -2.239190 +v -1.138875 -0.883908 -2.215041 +f 643 640 648 +f 634 635 637 +f 634 637 639 +f 638 640 641 +f 634 639 642 +f 637 636 643 +f 633 640 643 +f 640 633 644 +f 636 641 644 +f 641 640 644 +f 633 643 644 +f 643 636 644 +f 635 634 645 +f 636 637 645 +f 637 635 645 +f 634 641 645 +f 641 636 645 +f 641 634 646 +f 638 641 646 +f 634 642 646 +f 642 638 646 +f 640 638 647 +f 639 640 647 +f 638 642 647 +f 642 639 647 +f 639 637 648 +f 640 639 648 +f 637 643 648 +o convex_46 +v -1.332304 2.427675 -1.441467 +v -1.090671 4.240085 -1.175639 +v -1.090671 4.240085 -1.199842 +v -1.356461 3.007646 -1.175639 +v -1.356461 2.379405 -1.175639 +v -1.090671 3.514756 -1.489811 +v -1.235673 3.152639 -1.489811 +v -1.259803 2.427675 -1.489811 +v -1.090671 3.732246 -1.296529 +v -1.114857 4.191450 -1.248186 +v -1.114857 3.683975 -1.489811 +v -1.356461 2.935150 -1.248186 +f 658 655 660 +f 650 652 653 +f 651 650 654 +f 653 649 656 +f 649 655 656 +f 655 654 656 +f 650 653 657 +f 654 650 657 +f 653 656 657 +f 656 654 657 +f 650 651 658 +f 652 650 658 +f 655 658 659 +f 651 654 659 +f 654 655 659 +f 658 651 659 +f 649 653 660 +f 653 652 660 +f 655 649 660 +f 652 658 660 +o convex_47 +v -1.259696 -0.279621 -2.915836 +v -1.163042 -0.158812 -3.592513 +v -1.114793 -0.303795 -3.544160 +v -0.558916 -0.738745 -3.568336 +v -1.138918 -0.762981 -2.964255 +v -0.897439 -0.690397 -3.495807 +v -1.332226 -0.134576 -2.915836 +v -1.114793 -0.134576 -3.544160 +v -1.090591 -0.738745 -2.915836 +v -1.356506 -0.207160 -2.940079 +v -0.655726 -0.762981 -3.592513 +v -0.704053 -0.545413 -3.568336 +v -1.018061 -0.738745 -3.278285 +f 666 671 673 +f 662 663 665 +f 663 662 666 +f 661 664 667 +f 662 667 668 +f 664 661 669 +f 665 664 669 +f 661 667 669 +f 669 667 670 +f 662 665 670 +f 667 662 670 +f 665 669 670 +f 664 665 671 +f 666 662 671 +f 667 664 672 +f 662 668 672 +f 668 667 672 +f 671 662 672 +f 664 671 672 +f 665 663 673 +f 663 666 673 +f 671 665 673 +o convex_48 +v -1.356478 -0.134576 -2.190755 +v -1.163182 -0.762981 -2.915694 +v -1.114838 -0.762981 -2.915694 +v -1.380650 -0.134576 -2.915694 +v -1.187353 -0.738745 -2.190755 +v -1.139010 -0.714571 -2.190755 +v -1.308134 -0.182925 -2.915694 +v -1.380650 -0.182925 -2.190755 +v -1.332306 -0.303795 -2.915694 +f 681 677 682 +f 676 675 677 +f 675 676 678 +f 674 678 679 +f 678 676 679 +f 676 677 680 +f 677 674 680 +f 674 679 680 +f 679 676 680 +f 674 677 681 +f 678 674 681 +f 678 681 682 +f 677 675 682 +f 675 678 682 +o convex_49 +v -1.163151 -0.013687 -3.616789 +v -0.413900 0.566336 -3.689285 +v -0.413900 0.493816 -3.689285 +v -0.462305 -0.134576 -3.930918 +v -1.114746 -0.134576 -3.592579 +v -1.114746 -0.062056 -3.713462 +v -0.510710 0.566336 -3.713462 +v -0.413900 -0.134576 -3.882565 +v -0.704037 0.566336 -3.592579 +v -0.776497 0.276188 -3.592579 +v -0.462305 -0.062056 -3.930918 +f 690 686 693 +f 687 683 688 +f 686 687 688 +f 684 685 690 +f 687 686 690 +f 685 684 691 +f 683 687 691 +f 688 683 691 +f 684 689 691 +f 689 688 691 +f 690 685 692 +f 687 690 692 +f 685 691 692 +f 691 687 692 +f 686 688 693 +f 689 684 693 +f 688 689 693 +f 684 690 693 +o convex_50 +v -0.631476 0.542117 -3.592518 +v -1.138899 0.566336 -2.964175 +v -1.163151 0.566336 -2.964175 +v -1.138899 -0.134576 -3.495831 +v -0.993906 0.445378 -3.520003 +v -1.163151 -0.013687 -3.592518 +v -1.138899 0.203873 -3.157610 +v -1.066402 0.566336 -3.254297 +v -0.655676 0.542117 -3.520003 +v -0.728173 0.566336 -3.592518 +v -1.163151 -0.134576 -3.592518 +f 697 700 704 +f 695 696 700 +f 696 695 701 +f 699 696 701 +f 698 699 701 +f 697 694 702 +f 695 700 702 +f 700 697 702 +f 699 698 703 +f 694 699 703 +f 701 695 703 +f 698 701 703 +f 695 702 703 +f 702 694 703 +f 694 697 704 +f 696 699 704 +f 699 694 704 +f 700 696 704 +o convex_51 +v -0.244641 -0.086450 -3.809995 +v -0.293010 -0.811319 -3.568268 +v -0.196340 -0.811319 -3.568268 +v 0.287013 -0.787051 -2.988401 +v 0.287013 -0.134775 -3.689224 +v -0.413900 -0.086450 -3.930951 +v 0.166123 -0.690401 -3.423325 +v -0.075519 -0.787051 -3.230128 +v -0.413900 -0.811248 -3.689224 +v 0.262794 -0.086450 -3.616798 +v -0.413900 -0.086450 -3.882513 +v 0.262725 -0.473047 -3.205955 +v 0.287013 -0.811319 -3.085092 +v -0.413900 -0.762853 -3.640971 +v -0.389681 -0.134775 -3.930951 +v -0.027218 -0.738726 -3.544096 +f 711 717 720 +f 707 706 713 +f 706 712 713 +f 708 709 714 +f 709 710 714 +f 710 705 714 +f 705 710 715 +f 712 708 715 +f 710 713 715 +f 714 705 716 +f 708 714 716 +f 705 715 716 +f 715 708 716 +f 706 707 717 +f 709 708 717 +f 711 709 717 +f 712 706 717 +f 708 712 717 +f 713 712 718 +f 712 715 718 +f 715 713 718 +f 710 709 719 +f 713 710 719 +f 709 713 719 +f 709 711 720 +f 707 713 720 +f 713 709 720 +f 717 707 720 +o convex_52 +v 0.576979 2.717680 -1.175639 +v 0.238710 3.466489 -1.489811 +v 0.238710 3.466489 -1.465639 +v 0.287074 4.143204 -1.199842 +v 0.456156 2.814405 -1.489811 +v 0.552815 2.403414 -1.175639 +v 0.238710 4.046479 -1.175639 +v 0.456156 2.354872 -1.489811 +v 0.262910 3.611396 -1.489811 +v 0.576979 2.354872 -1.296529 +v 0.552815 2.910950 -1.199842 +v 0.238710 3.635668 -1.344780 +v 0.456156 2.354872 -1.441467 +f 732 723 733 +f 726 721 727 +f 722 723 727 +f 721 724 727 +f 723 722 728 +f 722 725 728 +f 724 725 729 +f 725 722 729 +f 722 727 729 +f 727 724 729 +f 721 726 730 +f 728 725 730 +f 724 721 731 +f 725 724 731 +f 721 730 731 +f 730 725 731 +f 726 727 732 +f 727 723 732 +f 723 728 733 +f 730 726 733 +f 728 730 733 +f 726 732 733 +o convex_53 +v -0.389629 -0.062028 -3.930918 +v 0.311182 0.566336 -2.988403 +v 0.286911 0.566336 -2.988403 +v -0.413829 0.566336 -3.713372 +v 0.286911 -0.037882 -3.665121 +v 0.286911 0.107120 -3.278465 +v 0.141852 0.469626 -3.471562 +v -0.413829 -0.062028 -3.858310 +v 0.311182 -0.086237 -3.519998 +v -0.075452 0.542063 -3.302544 +v -0.268770 0.566336 -3.665121 +v 0.286911 0.469626 -3.012667 +v 0.238582 0.566336 -3.205949 +v -0.413829 0.517981 -3.665121 +f 741 743 747 +f 736 735 737 +f 737 734 741 +f 739 741 742 +f 734 738 742 +f 738 735 742 +f 735 739 742 +f 741 734 742 +f 736 737 743 +f 737 735 744 +f 734 737 744 +f 738 734 744 +f 740 738 744 +f 735 736 745 +f 739 735 745 +f 741 739 745 +f 736 743 745 +f 743 741 745 +f 735 738 746 +f 738 740 746 +f 744 735 746 +f 740 744 746 +f 737 741 747 +f 743 737 747 +o convex_54 +v -1.114812 4.143407 -1.103150 +v -1.404845 1.581844 -1.078971 +v -1.404845 1.581844 -1.054792 +v -1.332337 0.155457 -1.175639 +v -1.380657 2.910640 -1.175639 +v -1.332337 0.155457 -1.054792 +v -1.114812 3.998192 -1.175639 +v -1.211509 4.046206 -1.054792 +v -1.404845 2.934843 -1.054792 +v -1.139000 4.095002 -1.054792 +v -1.404845 2.257953 -1.175639 +v -1.380657 0.203862 -1.078971 +v -1.163189 4.070799 -1.175639 +f 755 748 760 +f 753 751 754 +f 751 752 754 +f 748 753 754 +f 750 753 755 +f 749 750 756 +f 755 752 756 +f 750 755 756 +f 753 748 757 +f 748 755 757 +f 755 753 757 +f 752 751 758 +f 749 756 758 +f 756 752 758 +f 750 749 759 +f 753 750 759 +f 751 753 759 +f 749 758 759 +f 758 751 759 +f 748 754 760 +f 754 752 760 +f 752 755 760 +o convex_55 +v 0.601206 2.935188 -1.054721 +v 0.311192 3.828940 -0.474784 +v 0.311192 4.215385 -0.619726 +v 0.287013 4.191718 -1.054721 +v 0.504523 2.451744 -0.474784 +v 0.625384 3.056243 -0.885537 +v 0.601206 2.500049 -1.054721 +v 0.383695 4.384940 -0.909723 +v 0.528702 2.886883 -0.474784 +v 0.287013 3.635523 -0.498969 +v 0.625384 2.500049 -0.716524 +v 0.287013 4.433246 -0.861409 +v 0.383695 4.384940 -0.861409 +v 0.335371 4.288135 -1.054721 +f 764 772 774 +f 761 766 767 +f 764 761 767 +f 766 761 768 +f 763 762 769 +f 762 765 769 +f 762 763 770 +f 765 762 770 +f 764 767 770 +f 767 765 770 +f 767 766 771 +f 765 767 771 +f 766 769 771 +f 769 765 771 +f 770 763 772 +f 764 770 772 +f 766 768 773 +f 769 766 773 +f 763 769 773 +f 772 763 773 +f 768 772 773 +f 761 764 774 +f 768 761 774 +f 772 768 774 +o convex_56 +v 0.528723 3.031615 -0.668021 +v 0.504557 1.581546 -0.088054 +v 0.480368 1.581546 -0.088054 +v 0.577030 0.372981 -0.692209 +v 0.601196 2.112960 -0.523074 +v 0.552853 0.759701 -0.088054 +v 0.480368 2.959007 -0.474699 +v 0.480368 1.050131 -0.112242 +v 0.601196 2.716722 -0.668021 +v 0.552877 0.372981 -0.643834 +v 0.601196 0.372981 -0.619706 +v 0.504557 2.837995 -0.378067 +v 0.528723 2.886400 -0.692209 +v 0.480368 2.668577 -0.474699 +v 0.552877 0.372981 -0.474699 +f 784 785 789 +f 779 776 780 +f 776 777 780 +f 780 777 782 +f 777 781 782 +f 779 780 785 +f 778 783 785 +f 783 779 785 +f 784 778 785 +f 777 776 786 +f 776 779 786 +f 781 777 786 +f 775 781 786 +f 783 775 786 +f 779 783 786 +f 781 775 787 +f 775 783 787 +f 783 778 787 +f 778 784 787 +f 787 784 788 +f 782 781 788 +f 784 782 788 +f 781 787 788 +f 780 782 789 +f 782 784 789 +f 785 780 789 +o convex_57 +v 0.528638 -0.400591 -1.054792 +v -0.413900 -1.125522 -1.175639 +v -0.413900 -1.125522 -1.054792 +v 0.552850 0.155331 -1.175639 +v 0.359459 -0.835274 -1.175639 +v 0.576960 0.155331 -1.054792 +v 0.359459 -0.835274 -1.054792 +v 0.625384 -0.110594 -1.175639 +v -0.413900 -1.077001 -1.054792 +f 795 793 798 +f 792 791 794 +f 791 793 794 +f 792 790 795 +f 790 792 796 +f 794 790 796 +f 792 794 796 +f 790 794 797 +f 794 793 797 +f 795 790 797 +f 793 795 797 +f 791 792 798 +f 793 791 798 +f 792 795 798 +o convex_58 +v 0.480368 2.910735 -0.474727 +v 0.214524 2.958936 -0.088054 +v 0.190335 2.958936 -0.088054 +v 0.456180 1.170571 -0.088054 +v 0.432020 2.910735 -0.160574 +v 0.190335 4.046502 -0.474727 +v 0.214524 3.998301 -0.329687 +v 0.190335 2.572746 -0.112240 +v 0.480368 1.702520 -0.088054 +v 0.262843 4.046502 -0.450503 +v 0.456180 1.170571 -0.112240 +v 0.480368 2.983181 -0.378021 +v 0.456180 2.910735 -0.474727 +f 809 804 811 +f 800 801 802 +f 801 800 805 +f 800 803 805 +f 804 801 805 +f 802 801 806 +f 801 804 806 +f 800 802 807 +f 803 800 807 +f 799 804 808 +f 804 805 808 +f 805 803 808 +f 802 806 809 +f 806 804 809 +f 807 802 809 +f 799 807 809 +f 807 799 810 +f 803 807 810 +f 799 808 810 +f 808 803 810 +f 804 799 811 +f 799 809 811 +o convex_59 +v 0.577065 -0.303445 -0.788998 +v 0.601206 2.499666 -0.692287 +v 0.649544 2.910527 -0.885602 +v 0.552876 -0.158566 -1.054721 +v 0.625375 -0.110062 -0.692287 +v 0.625375 -0.110062 -1.054721 +v 0.601206 2.499666 -1.054721 +v 0.577065 2.499666 -0.692287 +v 0.552876 -0.303445 -0.692287 +v 0.649544 0.977325 -0.982277 +v 0.625375 2.475255 -0.692287 +v 0.649544 2.837928 -0.982277 +f 821 817 823 +f 812 815 817 +f 816 812 817 +f 817 815 818 +f 813 814 819 +f 816 813 819 +f 814 818 819 +f 818 815 819 +f 815 812 820 +f 812 816 820 +f 819 815 820 +f 816 819 820 +f 814 816 821 +f 816 817 821 +f 814 813 822 +f 813 816 822 +f 816 814 822 +f 818 814 823 +f 817 818 823 +f 814 821 823 +o convex_60 +v -1.211525 -0.690302 -1.924806 +v -1.332306 0.517938 -1.175639 +v -1.308108 0.517938 -1.248239 +v -1.114838 -0.883809 -1.175639 +v -1.259817 0.808030 -1.924806 +v -1.380650 -0.182683 -1.924806 +v -1.380650 -0.182851 -1.175639 +v -1.114838 -0.787055 -1.924806 +v -1.259817 0.808030 -1.610722 +v -1.308108 0.783842 -1.924806 +v -1.356452 0.517938 -1.175639 +v -1.380650 0.082884 -1.924806 +v -1.139036 -0.907997 -1.489870 +v -1.114838 -0.811076 -1.175639 +v -1.283962 0.808030 -1.489870 +f 826 837 838 +f 828 824 829 +f 827 825 830 +f 824 828 831 +f 831 828 832 +f 828 829 833 +f 830 825 834 +f 829 830 835 +f 833 829 835 +f 834 833 835 +f 830 834 835 +f 829 824 836 +f 827 830 836 +f 830 829 836 +f 824 831 836 +f 831 827 836 +f 826 825 837 +f 825 827 837 +f 827 831 837 +f 831 832 837 +f 837 832 838 +f 825 826 838 +f 832 828 838 +f 828 833 838 +f 833 834 838 +f 834 825 838 +o convex_61 +v -0.752210 -1.028785 -1.924806 +v -0.341392 -1.077104 -0.692334 +v -1.042094 -0.883908 -0.885610 +v -1.114701 -1.004665 -0.088054 +v -1.114701 -0.859684 -1.924806 +v -0.389797 -1.125474 -1.924806 +v -0.413999 -1.101302 -0.088054 +v -1.090498 -0.908002 -0.233146 +v -0.389797 -1.077130 -1.924806 +v -1.066296 -0.932201 -1.924806 +v -0.462404 -1.052958 -0.088054 +v -0.413999 -1.125500 -0.547422 +v -1.090498 -0.859684 -1.924806 +v -1.017969 -1.028811 -0.209054 +v -1.114701 -0.932201 -0.088054 +v -1.138982 -0.908055 -1.489710 +f 853 843 854 +f 839 843 844 +f 841 843 846 +f 840 844 847 +f 844 843 847 +f 843 839 848 +f 840 841 849 +f 845 840 849 +f 842 845 849 +f 841 846 849 +f 844 840 850 +f 840 845 850 +f 841 840 851 +f 843 841 851 +f 840 847 851 +f 847 843 851 +f 839 844 852 +f 845 842 852 +f 848 839 852 +f 842 848 852 +f 844 850 852 +f 850 845 852 +f 846 843 853 +f 842 849 853 +f 849 846 853 +f 848 842 854 +f 843 848 854 +f 842 853 854 +o convex_62 +v 0.359521 -0.787179 -1.489870 +v -0.389730 -1.125488 -1.924806 +v -0.389730 -1.125488 -1.489870 +v 0.286987 -0.883864 -1.924806 +v 0.335245 -0.859701 -1.199913 +v -0.317049 -1.052930 -1.175639 +v 0.335319 -0.787179 -1.924806 +v 0.335245 -0.763016 -1.175639 +v -0.317196 -1.052930 -1.924806 +v -0.341252 -1.125417 -1.296565 +v -0.268864 -1.101290 -1.900606 +f 858 864 865 +f 858 855 859 +f 858 856 861 +f 855 858 861 +f 859 855 862 +f 860 859 862 +f 855 861 862 +f 862 861 863 +f 856 857 863 +f 857 860 863 +f 861 856 863 +f 860 862 863 +f 857 856 864 +f 858 859 864 +f 860 857 864 +f 859 860 864 +f 856 858 865 +f 864 856 865 +o convex_63 +v 0.383745 -0.811319 -1.924806 +v 0.577010 0.517955 -1.175639 +v 0.552835 0.517955 -1.175639 +v 0.456242 0.808030 -1.924806 +v 0.601210 -0.134477 -1.924806 +v 0.359571 -0.787067 -1.175639 +v 0.625384 -0.110542 -1.175639 +v 0.456242 0.808030 -1.683175 +v 0.359545 -0.714628 -1.924806 +v 0.528661 0.808030 -1.586522 +v 0.601210 0.034496 -1.924806 +v 0.407919 -0.738563 -1.175639 +v 0.359571 -0.714628 -1.175639 +v 0.504487 0.735432 -1.924806 +v 0.480390 0.808030 -1.562396 +f 873 878 880 +f 866 869 870 +f 867 868 871 +f 866 870 872 +f 867 871 872 +f 869 866 874 +f 866 871 874 +f 873 869 874 +f 869 873 875 +f 870 869 876 +f 872 870 876 +f 867 872 876 +f 875 867 876 +f 871 866 877 +f 866 872 877 +f 872 871 877 +f 871 868 878 +f 874 871 878 +f 873 874 878 +f 869 875 879 +f 876 869 879 +f 875 876 879 +f 868 867 880 +f 867 875 880 +f 875 873 880 +f 878 868 880 +o convex_64 +v -1.235659 1.654283 -1.852280 +v -1.356487 2.378991 -1.175639 +v -1.235659 3.007445 -1.489870 +v -1.308167 0.517998 -1.248239 +v -1.284007 1.001949 -1.924806 +v -1.380676 2.257882 -1.320765 +v -1.356487 0.517998 -1.272365 +v -1.235659 0.977580 -1.803953 +v -1.259847 2.934585 -1.562396 +v -1.284007 0.808466 -1.924806 +v -1.380676 1.243437 -1.175639 +v -1.284007 0.517998 -1.417344 +v -1.332327 1.436676 -1.175639 +v -1.380676 2.378991 -1.175639 +f 886 891 894 +f 881 883 888 +f 883 881 889 +f 881 885 889 +f 885 886 889 +f 885 881 890 +f 886 885 890 +f 881 888 890 +f 887 884 891 +f 886 890 891 +f 890 887 891 +f 883 884 892 +f 884 887 892 +f 888 883 892 +f 887 890 892 +f 890 888 892 +f 883 882 893 +f 884 883 893 +f 882 891 893 +f 891 884 893 +f 882 883 894 +f 883 889 894 +f 889 886 894 +f 891 882 894 +o convex_65 +v 0.383719 1.291929 -1.924806 +v 0.601165 2.354867 -1.175639 +v 0.601165 2.354867 -1.224039 +v 0.577026 0.517998 -1.175639 +v 0.383719 3.007445 -1.489870 +v 0.480362 0.905207 -1.924806 +v 0.504544 0.517998 -1.393144 +v 0.407880 2.741345 -1.634848 +v 0.601165 0.639107 -1.199913 +v 0.552844 0.517998 -1.175639 +v 0.456222 1.291929 -1.924806 +v 0.552844 2.354867 -1.199913 +v 0.383719 2.837843 -1.489870 +v 0.432062 0.880839 -1.924806 +v 0.528683 0.517998 -1.489870 +v 0.383719 2.040274 -1.828080 +f 902 905 910 +f 896 897 899 +f 899 897 902 +f 897 896 903 +f 896 898 903 +f 900 897 903 +f 898 896 904 +f 901 898 904 +f 897 900 905 +f 900 895 905 +f 902 897 905 +f 896 899 906 +f 904 896 906 +f 899 904 906 +f 899 895 907 +f 895 901 907 +f 904 899 907 +f 901 904 907 +f 895 900 908 +f 901 895 908 +f 901 908 909 +f 898 901 909 +f 903 898 909 +f 900 903 909 +f 908 900 909 +f 895 899 910 +f 899 902 910 +f 905 895 910 +o convex_66 +v -1.356451 -0.424529 -0.112278 +v -1.235693 0.759691 -0.088054 +v -1.235693 0.759691 -0.281464 +v -1.114857 -0.956336 -0.088054 +v -1.114857 -0.883771 -1.054721 +v -1.356451 0.372846 -0.692127 +v -1.308158 -0.400340 -1.054721 +v -1.380624 -0.086396 -0.088054 +v -1.308106 0.759691 -0.474778 +v -1.380624 -0.207002 -0.692127 +v -1.163202 -0.859582 -0.933888 +v -1.114857 -0.811206 -1.054721 +v -1.283960 -0.303755 -1.054721 +v -1.283960 0.759691 -0.474778 +v -1.114857 -0.835394 -0.184854 +v -1.139055 -0.956336 -0.088054 +v -1.283960 0.638750 -0.088054 +f 912 919 927 +f 914 912 918 +f 916 918 919 +f 912 913 919 +f 916 917 920 +f 917 911 920 +f 911 918 920 +f 918 916 920 +f 917 915 921 +f 911 917 921 +f 913 912 922 +f 914 915 922 +f 915 917 922 +f 917 916 923 +f 922 917 923 +f 916 919 924 +f 919 913 924 +f 913 922 924 +f 922 923 924 +f 923 916 924 +f 912 914 925 +f 922 912 925 +f 914 922 925 +f 915 914 926 +f 918 911 926 +f 914 918 926 +f 911 921 926 +f 921 915 926 +f 918 912 927 +f 919 918 927 +o convex_67 +v -0.220504 -1.077164 -0.716485 +v 0.552876 -0.231254 -0.861459 +v 0.552876 -0.231254 -1.054721 +v 0.383669 -0.835451 -0.813134 +v -0.341392 -1.077164 -1.054721 +v 0.359422 -0.835451 -1.054721 +v 0.528629 -0.279631 -0.692287 +v -0.341392 -1.077164 -0.692287 +v 0.383669 -0.835451 -0.692287 +v 0.528629 -0.231254 -0.861459 +v 0.552876 -0.376299 -0.764809 +v -0.292984 -1.101352 -1.054721 +f 935 932 939 +f 932 930 933 +f 934 935 936 +f 928 931 936 +f 935 928 936 +f 929 930 937 +f 930 932 937 +f 934 929 937 +f 932 935 937 +f 935 934 937 +f 930 929 938 +f 933 930 938 +f 931 933 938 +f 929 934 938 +f 934 936 938 +f 936 931 938 +f 931 928 939 +f 932 933 939 +f 933 931 939 +f 928 935 939 +o convex_68 +v -1.380640 2.572774 -0.643834 +v -1.018170 2.862736 -0.088054 +v -1.042373 2.862736 -0.088054 +v -1.018170 4.119006 -0.474699 +v -1.308103 1.751332 -0.474699 +v -1.163208 2.935053 -0.136429 +v -1.211435 1.751332 -0.088054 +v -1.018170 2.379467 -0.112242 +v -1.139041 3.828812 -0.692209 +v -1.187410 3.925466 -0.668021 +v -1.332271 2.548669 -0.692209 +v -1.356438 2.983264 -0.668021 +v -1.042373 3.683715 -0.257248 +v -1.332306 1.872091 -0.402137 +v -1.163208 1.751332 -0.112242 +v -1.018170 3.877023 -0.474699 +f 947 948 955 +f 941 942 946 +f 942 945 946 +f 943 941 947 +f 941 946 947 +f 947 944 948 +f 943 948 949 +f 944 940 950 +f 948 944 950 +f 940 945 951 +f 945 949 951 +f 949 948 951 +f 948 950 951 +f 950 940 951 +f 942 941 952 +f 941 943 952 +f 945 942 952 +f 943 949 952 +f 949 945 952 +f 940 944 953 +f 945 940 953 +f 944 946 953 +f 946 945 953 +f 946 944 954 +f 944 947 954 +f 947 946 954 +f 943 947 955 +f 948 943 955 +o convex_69 +v -1.429010 2.620184 -1.054757 +v -1.356504 2.499852 -0.692322 +v -1.356504 2.499852 -0.740652 +v -1.332351 -0.327931 -0.692322 +v -1.308174 -0.230901 -1.054686 +v -1.380668 -0.206905 -0.692322 +v -1.380668 -0.182560 -1.054686 +v -1.380668 2.982916 -1.054757 +v -1.429010 2.813548 -0.813146 +v -1.308174 -0.230901 -0.692322 +v -1.429010 1.847421 -0.909698 +v -1.404833 3.224970 -0.885604 +v -1.404833 2.620184 -0.716452 +v -1.332351 1.605019 -0.716487 +f 965 960 969 +f 959 957 961 +f 956 960 962 +f 960 959 962 +f 959 961 962 +f 957 958 963 +f 960 956 963 +f 957 959 965 +f 959 960 965 +f 956 962 966 +f 962 961 966 +f 961 964 966 +f 964 956 966 +f 957 963 967 +f 963 956 967 +f 956 964 967 +f 967 964 968 +f 961 957 968 +f 964 961 968 +f 957 967 968 +f 958 957 969 +f 963 958 969 +f 960 963 969 +f 957 965 969 +o convex_70 +v -0.438133 4.481630 -1.586482 +v -1.090643 3.611787 -1.489790 +v -1.066433 3.611787 -1.489790 +v -0.438069 4.699197 -1.175639 +v -1.090643 4.264062 -1.199883 +v -0.438133 3.925897 -1.707304 +v -1.042160 3.950166 -1.514034 +v -1.066433 3.732811 -1.368967 +v -0.462343 4.409249 -1.683117 +v -0.486552 3.925897 -1.755679 +v -0.558926 4.529848 -1.175639 +v -1.090643 4.191576 -1.175639 +v -0.462279 4.699197 -1.224014 +f 978 974 982 +f 970 973 975 +f 971 974 976 +f 971 972 977 +f 972 975 977 +f 970 975 978 +f 976 974 978 +f 976 978 979 +f 972 971 979 +f 975 972 979 +f 971 976 979 +f 978 975 979 +f 975 973 980 +f 977 975 980 +f 977 980 981 +f 973 974 981 +f 974 971 981 +f 971 977 981 +f 980 973 981 +f 973 970 982 +f 974 973 982 +f 970 978 982 +o convex_71 +v 0.166022 3.974428 -1.489811 +v -0.437866 4.457428 -1.489811 +v -0.437866 4.457428 -1.465624 +v 0.238617 4.336796 -1.078979 +v 0.214419 3.563453 -1.465624 +v -0.413880 4.723290 -1.054792 +v -0.413810 4.554051 -1.465624 +v 0.286942 3.998436 -1.151496 +v -0.389611 4.771543 -1.078979 +v 0.286942 4.215928 -1.175640 +v 0.238475 3.563453 -1.489811 +v -0.244636 4.554169 -1.054792 +v 0.286942 4.240172 -1.054792 +f 988 994 995 +f 985 984 987 +f 985 987 988 +f 984 985 988 +f 983 984 989 +f 984 988 989 +f 986 989 991 +f 989 988 991 +f 989 986 992 +f 983 989 992 +f 992 990 993 +f 984 983 993 +f 987 984 993 +f 990 987 993 +f 983 992 993 +f 988 987 994 +f 987 990 994 +f 994 990 995 +f 986 991 995 +f 991 988 995 +f 992 986 995 +f 990 992 995 +o convex_72 +v -0.389730 4.505776 -0.281451 +v -1.163151 3.974383 -0.692209 +v -1.138925 3.974383 -0.692209 +v -1.018021 3.539380 -0.257224 +v -0.389730 4.699150 -0.692209 +v -1.138925 4.264266 -0.668024 +v -0.969720 4.022756 -0.305593 +v -0.462257 4.747523 -0.668024 +v -0.993871 3.539380 -0.281451 +v -0.389730 4.433276 -0.305593 +v -0.486484 4.433276 -0.257224 +v -1.018021 3.708627 -0.257224 +f 1006 1002 1007 +f 998 997 1000 +f 1000 997 1001 +f 996 1000 1003 +f 1000 1001 1003 +f 997 998 1004 +f 999 997 1004 +f 998 1000 1004 +f 1004 1000 1005 +f 996 999 1005 +f 1000 996 1005 +f 999 1004 1005 +f 999 996 1006 +f 1001 1002 1006 +f 996 1003 1006 +f 1003 1001 1006 +f 997 999 1007 +f 1001 997 1007 +f 1002 1001 1007 +f 999 1006 1007 +o convex_73 +v 0.287013 4.264131 -0.692209 +v -0.389730 4.554277 -0.498887 +v -0.389730 4.554277 -0.474699 +v -0.365419 3.974283 -0.112242 +v -0.365419 4.384959 -0.112242 +v 0.287013 3.732527 -0.498887 +v 0.190297 3.998528 -0.305505 +v -0.389730 4.675106 -0.692209 +v -0.365551 4.747642 -0.668021 +v -0.220478 3.974283 -0.112242 +v 0.287013 4.167647 -0.547261 +v 0.262834 3.732527 -0.498887 +v 0.190297 4.240085 -0.692209 +v 0.262834 4.288376 -0.668021 +f 1012 1018 1021 +f 1010 1009 1011 +f 1010 1011 1012 +f 1009 1010 1015 +f 1011 1009 1015 +f 1010 1012 1016 +f 1015 1010 1016 +f 1008 1015 1016 +f 1012 1011 1017 +f 1011 1013 1017 +f 1014 1012 1017 +f 1013 1014 1017 +f 1013 1008 1018 +f 1012 1014 1018 +f 1014 1013 1018 +f 1013 1011 1019 +f 1011 1015 1019 +f 1019 1015 1020 +f 1008 1013 1020 +f 1015 1008 1020 +f 1013 1019 1020 +f 1008 1016 1021 +f 1016 1012 1021 +f 1018 1008 1021 +o convex_74 +v 0.432029 -0.763037 -0.112242 +v -0.389638 -1.125436 -0.692209 +v -0.389721 -1.125522 -0.474699 +v 0.407850 -0.690472 -0.378067 +v 0.383506 -0.835560 -0.692209 +v -0.244565 -1.125522 -0.088054 +v -0.413900 -1.077102 -0.088054 +v -0.317101 -1.052957 -0.692209 +v 0.432029 -0.811371 -0.088054 +v 0.359327 -0.763037 -0.692209 +v -0.413900 -1.077102 -0.474699 +v -0.341198 -1.125436 -0.692209 +f 1027 1024 1033 +f 1025 1022 1026 +f 1022 1025 1028 +f 1024 1027 1028 +f 1026 1023 1029 +f 1026 1022 1030 +f 1027 1026 1030 +f 1022 1028 1030 +f 1028 1027 1030 +f 1025 1026 1031 +f 1029 1025 1031 +f 1026 1029 1031 +f 1023 1024 1032 +f 1024 1028 1032 +f 1028 1025 1032 +f 1025 1029 1032 +f 1029 1023 1032 +f 1024 1023 1033 +f 1023 1026 1033 +f 1026 1027 1033 +o convex_75 +v 0.576984 -0.327683 -0.692209 +v 0.552855 0.759691 -0.088054 +v 0.528702 0.759691 -0.088054 +v 0.432043 -0.811319 -0.088054 +v 0.383738 -0.690295 -0.692209 +v 0.625361 -0.061952 -0.088054 +v 0.601161 0.372936 -0.692209 +v 0.528702 0.759691 -0.426324 +v 0.456220 -0.811319 -0.136429 +v 0.625337 -0.110393 -0.692209 +v 0.625361 0.251912 -0.088054 +v 0.383738 -0.738735 -0.474699 +v 0.577008 0.759691 -0.474699 +v 0.432091 -0.738735 -0.668021 +f 1045 1038 1047 +f 1035 1036 1037 +f 1035 1037 1039 +f 1034 1038 1040 +f 1036 1035 1041 +f 1038 1036 1041 +f 1040 1038 1041 +f 1034 1039 1042 +f 1039 1037 1042 +f 1039 1034 1043 +f 1034 1040 1043 +f 1043 1040 1044 +f 1035 1039 1044 +f 1039 1043 1044 +f 1037 1036 1045 +f 1036 1038 1045 +f 1041 1035 1046 +f 1040 1041 1046 +f 1044 1040 1046 +f 1035 1044 1046 +f 1038 1034 1047 +f 1034 1042 1047 +f 1042 1037 1047 +f 1037 1045 1047 +o convex_76 +v -1.235659 4.240144 -0.933916 +v -0.414056 4.892658 -0.861479 +v -0.414056 4.892658 -0.909786 +v -0.631541 4.481802 -1.175639 +v -0.583283 4.554263 -0.692287 +v -1.163030 4.457673 -0.909786 +v -1.090562 4.143407 -1.175639 +v -1.138901 4.240144 -0.692287 +v -0.462395 4.723314 -1.175639 +v -0.414056 4.771792 -0.692287 +v -1.138820 4.240144 -1.175639 +v -0.413975 4.675056 -1.175639 +v -1.211369 4.409415 -0.861479 +v -1.066352 4.240144 -0.692287 +f 1055 1054 1061 +f 1049 1050 1053 +f 1051 1052 1054 +f 1048 1054 1055 +f 1053 1050 1056 +f 1051 1054 1056 +f 1055 1052 1057 +f 1054 1048 1058 +f 1053 1056 1058 +f 1056 1054 1058 +f 1050 1049 1059 +f 1052 1051 1059 +f 1056 1050 1059 +f 1051 1056 1059 +f 1049 1057 1059 +f 1057 1052 1059 +f 1049 1053 1060 +f 1048 1055 1060 +f 1057 1049 1060 +f 1055 1057 1060 +f 1058 1048 1060 +f 1053 1058 1060 +f 1054 1052 1061 +f 1052 1055 1061 +o convex_77 +v -0.413900 -1.076996 -1.054792 +v -1.380676 -0.183071 -1.175639 +v -1.138982 -0.907855 -1.175639 +v -1.380676 -0.183071 -1.054792 +v -1.332318 0.155334 -1.175639 +v -0.413900 -1.076996 -1.175639 +v -1.138982 -0.907855 -1.054792 +v -1.332318 0.155334 -1.054792 +v -0.510615 -1.101352 -1.175639 +f 1068 1064 1070 +f 1063 1064 1065 +f 1064 1063 1066 +f 1063 1065 1066 +f 1066 1062 1067 +f 1064 1066 1067 +f 1065 1064 1068 +f 1062 1065 1068 +f 1065 1062 1069 +f 1062 1066 1069 +f 1066 1065 1069 +f 1067 1062 1070 +f 1064 1067 1070 +f 1062 1068 1070 +o convex_78 +v 0.286923 3.491103 -1.489856 +v -0.438069 4.384905 -1.634844 +v -0.438069 4.384905 -1.586500 +v 0.359478 2.620735 -1.634844 +v 0.311135 3.201042 -1.634844 +v -0.438069 4.457420 -1.489856 +v 0.069417 4.070672 -1.514028 +v 0.359478 2.935153 -1.489856 +v -0.293039 4.336561 -1.634844 +v -0.365514 4.481592 -1.489856 +f 1079 1072 1080 +f 1073 1072 1074 +f 1074 1072 1075 +f 1072 1073 1076 +f 1073 1074 1076 +f 1071 1075 1077 +f 1075 1071 1078 +f 1074 1075 1078 +f 1071 1076 1078 +f 1076 1074 1078 +f 1075 1072 1079 +f 1077 1075 1079 +f 1077 1079 1080 +f 1072 1076 1080 +f 1076 1071 1080 +f 1071 1077 1080 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/439/439.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/439/439.urdf new file mode 100644 index 000000000..27e9c0069 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/439/439.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/440/440.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/440/440.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/440/440.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/440/440.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/440/440.obj new file mode 100644 index 000000000..16b08ab86 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/440/440.obj @@ -0,0 +1,534 @@ +o convex_0 +v 0.633162 1.017629 -1.379574 +v -1.044480 -1.079278 -3.126813 +v -0.625019 -1.044064 -3.161914 +v 0.912736 -0.974273 -1.274856 +v 1.017702 0.947838 -3.161719 +v -1.044480 1.087844 -1.274856 +v -1.009357 -1.079278 -1.274856 +v -0.974436 0.947838 -3.126813 +v 0.982579 -1.044064 -3.266827 +v 0.982579 0.982628 -1.274856 +v 0.947657 -1.079278 -3.161719 +v 1.017702 0.912837 -1.624304 +v -0.799626 0.807832 -3.161914 +v 0.947657 -0.974273 -1.309762 +v -0.659941 1.087844 -1.554298 +v 1.017702 -0.065508 -3.231531 +v -0.415289 -1.079278 -1.274856 +v -1.044480 -0.450099 -1.274856 +v -1.009357 1.017841 -2.462823 +v 0.703005 -0.764476 -3.266827 +v 0.737927 0.982840 -2.882083 +v 0.982579 -1.044064 -2.812271 +v 0.947657 -1.009275 -1.694116 +v -1.044480 -1.079278 -2.008658 +v 0.842893 0.563458 -3.196625 +v 1.017702 0.982628 -2.043759 +v -1.044480 -0.904482 -3.126813 +v -0.974436 0.982840 -2.917184 +v 0.982579 0.074074 -1.274856 +v -0.555176 1.087844 -1.274856 +v 0.703005 -1.044064 -3.266827 +v -1.044480 1.087844 -1.414479 +v -1.009357 0.283871 -3.126813 +v -0.205558 0.947838 -3.161719 +f 8 28 34 +f 4 6 7 +f 6 4 10 +f 7 2 11 +f 3 2 13 +f 5 12 16 +f 4 7 17 +f 7 11 17 +f 6 2 18 +f 7 6 18 +f 16 9 20 +f 11 9 22 +f 16 12 22 +f 9 16 22 +f 14 4 23 +f 4 17 23 +f 17 11 23 +f 11 22 23 +f 22 14 23 +f 2 7 24 +f 18 2 24 +f 7 18 24 +f 5 16 25 +f 20 13 25 +f 16 20 25 +f 1 10 26 +f 12 5 26 +f 10 12 26 +f 5 21 26 +f 21 1 26 +f 2 6 27 +f 13 2 27 +f 8 19 28 +f 19 15 28 +f 21 5 28 +f 15 21 28 +f 10 4 29 +f 12 10 29 +f 4 14 29 +f 14 22 29 +f 22 12 29 +f 10 1 30 +f 6 10 30 +f 15 6 30 +f 1 21 30 +f 21 15 30 +f 2 3 31 +f 11 2 31 +f 9 11 31 +f 3 13 31 +f 20 9 31 +f 13 20 31 +f 6 15 32 +f 15 19 32 +f 27 6 32 +f 27 32 33 +f 8 13 33 +f 19 8 33 +f 13 27 33 +f 32 19 33 +f 13 8 34 +f 5 25 34 +f 25 13 34 +f 28 5 34 +o convex_1 +v -2.756983 -0.310234 2.046048 +v -2.617306 0.353754 1.661696 +v -2.617306 0.353754 1.591819 +v -1.079512 -0.275325 1.836484 +v -1.079512 0.248897 2.185866 +v -2.931915 0.283806 2.115925 +v -3.036913 -0.170402 1.626790 +v -1.079512 0.213988 1.521813 +v -2.966787 -0.310234 2.150895 +v -1.079512 -0.205312 2.115925 +v -1.079512 -0.275325 1.661696 +v -3.001850 0.353754 1.626790 +v -1.079512 0.283806 2.150895 +v -1.533991 0.074156 1.521813 +v -2.162827 -0.240286 1.626790 +v -2.966787 0.004403 2.150895 +v -2.931915 -0.135428 1.591819 +v -1.184510 0.248897 1.521813 +v -2.197890 -0.275325 2.150895 +v -2.966787 0.353754 1.766543 +v -1.079512 -0.240286 1.626790 +v -3.036913 -0.205312 1.696666 +f 50 46 56 +f 39 38 42 +f 35 38 43 +f 38 39 44 +f 38 35 45 +f 42 38 45 +f 36 37 46 +f 37 36 47 +f 40 39 47 +f 39 42 47 +f 45 35 49 +f 39 40 50 +f 43 39 50 +f 40 46 50 +f 46 37 51 +f 41 46 51 +f 37 48 51 +f 48 49 51 +f 49 41 51 +f 37 47 52 +f 47 42 52 +f 48 37 52 +f 42 48 52 +f 43 38 53 +f 39 43 53 +f 38 44 53 +f 44 39 53 +f 36 46 54 +f 46 40 54 +f 47 36 54 +f 40 47 54 +f 42 45 55 +f 48 42 55 +f 45 49 55 +f 49 48 55 +f 35 43 56 +f 46 41 56 +f 49 35 56 +f 41 49 56 +f 43 50 56 +o convex_2 +v -1.079512 -2.162678 -0.121382 +v 1.087609 -2.686916 0.892601 +v -0.450334 -3.001420 0.927602 +v 0.947603 -3.001420 -1.099514 +v 0.947603 -1.079476 0.822598 +v -1.009510 -1.079476 -1.239520 +v -1.079512 -1.079476 0.822598 +v -1.044511 -3.106387 -1.169517 +v 0.912814 -1.079476 -1.099514 +v -0.939507 -3.071265 0.927602 +v 1.087609 -3.036343 0.892601 +v -1.044511 -1.464023 -1.239520 +v -1.009510 -3.106387 0.053414 +v -0.694921 -3.106387 -1.169517 +v 1.087609 -2.966696 0.473007 +v 0.947603 -1.079476 -0.680132 +v 0.947603 -1.708681 -1.099514 +v -1.079512 -2.861729 -0.959508 +v -0.799713 -1.289211 -1.239520 +v 0.982605 -1.114399 0.822598 +v -1.079512 -1.079476 -0.016377 +v 0.703017 -3.036343 -1.099514 +v -0.974508 -2.861729 0.892388 +v 0.598013 -2.686916 -1.134303 +v 1.087609 -2.547027 0.822598 +v -0.939507 -2.896652 0.927602 +v -0.065743 -3.071464 0.892601 +v -1.044511 -1.079476 -1.169517 +v -1.079512 -1.254288 0.822598 +v -0.939507 -3.106387 0.193207 +v 0.982605 -3.001420 -0.784925 +v 0.528222 -1.079476 -1.134303 +f 80 75 88 +f 59 58 61 +f 61 62 63 +f 62 61 65 +f 58 59 67 +f 59 66 67 +f 64 68 70 +f 69 64 70 +f 58 67 71 +f 65 61 72 +f 72 71 73 +f 65 72 73 +f 57 63 74 +f 68 64 74 +f 69 57 74 +f 64 69 74 +f 68 62 75 +f 70 68 75 +f 61 58 76 +f 72 61 76 +f 63 62 77 +f 74 63 77 +f 60 67 78 +f 67 70 78 +f 70 60 78 +f 57 69 79 +f 69 66 79 +f 60 70 80 +f 73 60 80 +f 70 75 80 +f 58 71 81 +f 71 72 81 +f 76 58 81 +f 72 76 81 +f 59 61 82 +f 61 63 82 +f 66 59 82 +f 63 66 82 +f 67 66 83 +f 62 68 84 +f 68 74 84 +f 77 62 84 +f 74 77 84 +f 63 57 85 +f 66 63 85 +f 57 79 85 +f 79 66 85 +f 66 69 86 +f 70 67 86 +f 69 70 86 +f 83 66 86 +f 67 83 86 +f 67 60 87 +f 71 67 87 +f 73 71 87 +f 60 73 87 +f 62 65 88 +f 65 73 88 +f 75 62 88 +f 73 80 88 +o convex_3 +v -1.079495 1.996055 -1.204419 +v 1.017593 1.087786 0.927602 +v 0.982739 1.087786 0.927602 +v -0.450244 -1.078870 -1.274473 +v -1.079495 -0.974242 0.927602 +v -1.079495 3.010174 0.787709 +v 1.052655 3.009767 -1.274473 +v 0.912822 -1.078870 -1.099661 +v 0.912822 3.079384 0.892467 +v 0.947676 -1.078870 0.822628 +v -1.079495 3.010174 -1.134580 +v -1.009579 -1.078870 -1.274473 +v 0.947676 -0.903812 -1.274473 +v 1.017593 -0.135182 0.927602 +v -1.009579 1.052367 0.927602 +v -1.079495 -1.078870 0.018405 +v -1.044433 1.087379 -1.274473 +v 1.052655 0.983158 0.927602 +v 0.982739 -0.868800 0.927602 +v -1.079495 -1.078870 0.822628 +v 1.052655 2.310754 -1.239338 +v 0.947676 3.079384 0.822628 +v -1.079495 2.974756 -1.169500 +v -0.485307 3.045186 -0.610143 +v -1.044433 -1.078870 -1.134580 +v 1.052655 3.009767 -0.855010 +v 0.633154 3.079384 0.892467 +v 1.017593 3.045186 -0.784956 +v -0.834682 3.009767 0.822628 +v 1.052655 0.808506 0.892467 +v -0.555015 3.045186 0.822628 +v 0.877759 3.079384 0.333111 +v 0.912822 3.009767 -1.274473 +v 0.947676 -1.078870 -0.680197 +v 0.982739 0.109493 -1.274473 +v 0.912822 -0.973835 -1.274473 +v 0.423404 3.079384 0.822628 +v 0.947676 -0.938823 0.927602 +v -1.044433 -0.414462 -1.274473 +f 100 113 127 +f 90 91 93 +f 89 93 94 +f 91 90 97 +f 92 96 98 +f 89 94 99 +f 95 92 100 +f 92 98 100 +f 92 95 101 +f 90 93 102 +f 93 91 103 +f 94 93 103 +f 93 89 104 +f 100 98 104 +f 95 100 105 +f 97 90 106 +f 90 102 106 +f 101 102 107 +f 102 93 107 +f 98 93 108 +f 93 104 108 +f 104 98 108 +f 95 106 109 +f 97 106 110 +f 89 99 111 +f 105 89 111 +f 104 89 113 +f 100 104 113 +f 106 95 114 +f 110 106 114 +f 91 97 115 +f 103 91 115 +f 97 110 115 +f 99 112 116 +f 114 95 116 +f 110 114 116 +f 94 103 117 +f 103 115 117 +f 102 101 118 +f 106 102 118 +f 109 106 118 +f 99 94 119 +f 112 99 119 +f 94 117 119 +f 117 115 119 +f 115 110 120 +f 116 112 120 +f 110 116 120 +f 95 105 121 +f 111 99 121 +f 105 111 121 +f 116 95 121 +f 99 116 121 +f 98 96 122 +f 96 101 122 +f 107 98 122 +f 101 107 122 +f 101 95 123 +f 95 109 123 +f 118 101 123 +f 109 118 123 +f 96 92 124 +f 92 101 124 +f 101 96 124 +f 112 119 125 +f 119 115 125 +f 115 120 125 +f 120 112 125 +f 93 98 126 +f 107 93 126 +f 98 107 126 +f 89 105 127 +f 105 100 127 +f 113 89 127 +o convex_4 +v 1.087609 0.912823 2.745020 +v -1.079512 -0.974102 0.927602 +v -0.345330 -0.974321 0.927602 +v -1.009510 -1.113793 2.919956 +v -1.009510 1.052514 0.927602 +v -1.044511 1.122360 2.919956 +v 0.982605 -0.869224 0.927602 +v 1.017606 1.087765 0.927602 +v 0.982605 -1.114012 2.779929 +v 1.052608 1.087765 2.815033 +v 1.087609 -0.345054 1.452018 +v 0.947603 -0.974321 1.102538 +v -1.079512 0.283775 2.185890 +v 1.087609 -0.519777 2.255708 +v 0.912814 -1.114012 2.815033 +v 0.947603 -1.114012 2.570280 +v 1.052608 0.912823 0.927602 +v -0.729922 0.842977 2.919956 +v -1.044511 1.087546 1.661863 +v -1.009510 -1.113793 2.675007 +v -1.079512 -0.414900 0.927602 +v 0.178844 1.087765 0.927602 +v -1.079512 -0.205144 2.115876 +v 1.087609 0.283775 1.277278 +v -1.044511 -0.135298 2.919956 +v 1.017606 -1.009134 2.675202 +v 1.052608 1.087765 1.102538 +v -0.590128 -1.009134 1.277278 +v -1.079512 -0.974102 1.347096 +v 1.052608 0.458498 2.815033 +v -0.869716 1.122360 2.919956 +v 0.947603 -0.939289 0.927602 +v -0.904505 -0.869224 2.919956 +v -1.079512 0.213710 1.521837 +v 1.017606 -0.275209 0.927602 +f 144 151 162 +f 130 129 132 +f 130 132 134 +f 134 132 135 +f 134 136 139 +f 134 138 141 +f 138 128 141 +f 130 139 143 +f 139 136 143 +f 136 142 143 +f 134 135 144 +f 133 131 145 +f 140 133 146 +f 131 129 147 +f 142 131 147 +f 143 142 147 +f 132 129 148 +f 129 140 148 +f 135 132 149 +f 133 135 149 +f 132 146 149 +f 146 133 149 +f 140 129 150 +f 128 138 151 +f 131 133 152 +f 133 140 152 +f 150 131 152 +f 140 150 152 +f 136 134 153 +f 141 128 153 +f 134 141 153 +f 137 128 154 +f 144 135 154 +f 128 151 154 +f 151 144 154 +f 129 130 155 +f 130 143 155 +f 147 129 155 +f 143 147 155 +f 129 131 156 +f 150 129 156 +f 131 150 156 +f 128 137 157 +f 142 136 157 +f 137 145 157 +f 145 142 157 +f 153 128 157 +f 136 153 157 +f 135 133 158 +f 133 145 158 +f 145 137 158 +f 154 135 158 +f 137 154 158 +f 130 134 159 +f 139 130 159 +f 134 139 159 +f 131 142 160 +f 145 131 160 +f 142 145 160 +f 146 132 161 +f 140 146 161 +f 132 148 161 +f 148 140 161 +f 138 134 162 +f 134 144 162 +f 151 138 162 +o convex_5 +v 1.088006 0.004403 1.556866 +v 2.974828 0.353754 2.011095 +v 3.114916 -0.240286 2.046000 +v 1.088006 0.248897 2.150912 +v 3.079597 0.283806 1.486859 +v 1.088006 -0.310234 2.011095 +v 3.079597 -0.240286 1.556866 +v 1.088006 0.318845 1.626742 +v 1.192774 -0.170402 1.521895 +v 2.939906 0.353754 2.150912 +v 3.114916 -0.310234 2.046000 +v 1.262619 0.353754 1.766560 +v 1.088006 0.144039 2.150912 +v 1.088006 -0.240286 1.626742 +v 2.974828 0.179014 2.150912 +v 2.205932 0.109130 1.486859 +v 3.079597 0.074156 1.486859 +v 2.380744 0.353754 2.150912 +v 1.088006 -0.310234 1.941153 +v 1.856902 0.318845 1.556866 +v 3.114916 -0.310234 1.941153 +v 2.870060 0.353754 1.906247 +f 182 174 184 +f 164 165 167 +f 166 163 168 +f 163 166 170 +f 165 164 172 +f 170 166 174 +f 172 164 174 +f 166 168 175 +f 172 166 175 +f 168 173 175 +f 168 163 176 +f 163 171 176 +f 171 169 176 +f 165 172 177 +f 173 165 177 +f 172 175 177 +f 175 173 177 +f 171 163 178 +f 171 178 179 +f 169 171 179 +f 178 167 179 +f 166 172 180 +f 174 166 180 +f 172 174 180 +f 173 168 181 +f 168 176 181 +f 176 169 181 +f 163 170 182 +f 170 174 182 +f 167 178 182 +f 178 163 182 +f 167 165 183 +f 165 173 183 +f 169 179 183 +f 179 167 183 +f 173 181 183 +f 181 169 183 +f 164 167 184 +f 174 164 184 +f 167 182 184 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/440/440.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/440/440.urdf new file mode 100644 index 000000000..0e36844ca --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/440/440.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/441/441.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/441/441.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/441/441.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/441/441.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/441/441.obj new file mode 100644 index 000000000..b1162b1f7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/441/441.obj @@ -0,0 +1,498 @@ +o convex_0 +v 1.036989 -0.156381 0.789973 +v -1.330323 -0.187530 -0.039987 +v -1.330323 -0.187530 0.021312 +v -0.008271 -3.692166 -0.039786 +v 0.944640 -0.156381 -0.900597 +v -0.776739 -1.724918 0.789771 +v -0.807437 -1.755029 -0.808447 +v 0.760197 -3.138402 0.051962 +v -0.008271 -3.199662 -0.808648 +v -0.838391 -3.200008 -0.070637 +v -0.008271 -3.199662 0.759323 +v -0.715344 -0.156381 0.912975 +v -0.838391 -0.156381 -0.931650 +v 1.283083 -0.217987 -0.070637 +v 0.022427 -1.755375 1.005327 +v -0.038713 -1.755375 -1.054652 +v 0.760197 -1.724572 -0.808447 +v 0.790895 -1.694115 0.728472 +v 0.114520 -0.156381 1.005327 +v 0.114520 -0.156381 -1.054652 +v 0.760197 -3.138402 -0.101287 +v -0.622995 -2.831063 0.574619 +v -0.961182 -0.156381 0.820623 +v -0.592297 -2.861866 -0.623944 +v -1.022833 -0.156381 -0.839298 +v -0.838391 -3.200008 0.021312 +v 0.545057 -2.831063 -0.623944 +v 0.575755 -2.800259 0.543969 +v -0.069667 -3.199662 0.759323 +v 0.975594 -2.062368 -0.009539 +v 0.053125 -1.663312 -1.054652 +v 0.883244 -0.279593 0.851474 +v -0.192714 -3.630214 -0.039987 +v -0.161760 -0.156381 -1.054450 +v -0.838391 -1.632509 -0.808447 +v 0.760197 -0.248790 -0.962300 +v 1.283083 -0.156381 -0.009338 +v -0.069667 -1.632855 1.005327 +v -0.100364 -1.693769 -1.054652 +v -0.069667 -3.168859 -0.808648 +v 0.975594 -2.062368 -0.070637 +v -0.930484 -0.341200 0.851474 +v 0.790895 -1.601706 -0.808447 +v -0.008271 -3.692166 0.021312 +v 0.760197 -3.199662 -0.039987 +v 1.067687 -0.556476 0.513118 +v -0.131062 -3.661363 0.021312 +v -0.991880 -0.341200 -0.869947 +v -0.038713 -0.156381 1.005327 +v 1.283083 -0.187530 -0.101287 +v -0.807437 -1.724918 0.728472 +v -1.330323 -0.156381 0.021312 +v -0.069667 -3.077142 0.789973 +v -0.038713 -3.230811 -0.777595 +v -0.869089 -3.046339 0.021312 +v 0.883244 -1.140697 0.759323 +v 0.698802 -1.694115 -0.839298 +v 0.760197 -3.199662 -0.009539 +v -0.776739 -3.261268 0.021312 +v 0.145474 -1.693769 0.974476 +v -0.746042 -1.724918 -0.839298 +v -0.008271 -3.630560 -0.162989 +v 0.944640 -0.218333 -0.900597 +v 0.083822 -1.509642 1.005327 +f 60 32 64 +f 1 5 12 +f 12 5 13 +f 1 12 19 +f 13 5 20 +f 12 13 23 +f 10 7 24 +f 23 13 25 +f 22 6 26 +f 9 17 27 +f 21 9 27 +f 17 21 27 +f 11 8 28 +f 8 18 28 +f 18 11 28 +f 6 22 29 +f 22 26 29 +f 9 16 31 +f 16 20 31 +f 1 19 32 +f 13 20 34 +f 10 2 35 +f 7 10 35 +f 20 5 36 +f 31 20 36 +f 5 1 37 +f 30 14 37 +f 15 19 38 +f 20 16 39 +f 13 34 39 +f 34 20 39 +f 16 9 40 +f 24 7 40 +f 39 16 40 +f 14 30 41 +f 23 3 42 +f 12 23 42 +f 6 38 42 +f 38 12 42 +f 21 17 43 +f 41 21 43 +f 11 29 44 +f 9 21 45 +f 21 41 45 +f 41 30 45 +f 44 4 45 +f 37 1 46 +f 30 37 46 +f 33 4 47 +f 4 44 47 +f 44 29 47 +f 2 25 48 +f 25 13 48 +f 35 2 48 +f 13 39 48 +f 19 12 49 +f 12 38 49 +f 38 19 49 +f 5 37 50 +f 37 14 50 +f 14 41 50 +f 41 43 50 +f 26 6 51 +f 42 3 51 +f 6 42 51 +f 2 3 52 +f 3 23 52 +f 25 2 52 +f 23 25 52 +f 11 15 53 +f 29 11 53 +f 6 29 53 +f 38 6 53 +f 15 38 53 +f 10 24 54 +f 33 10 54 +f 40 9 54 +f 24 40 54 +f 3 2 55 +f 2 10 55 +f 10 26 55 +f 51 3 55 +f 26 51 55 +f 18 8 56 +f 8 30 56 +f 1 32 56 +f 46 1 56 +f 30 46 56 +f 17 9 57 +f 9 31 57 +f 31 36 57 +f 8 11 58 +f 30 8 58 +f 11 44 58 +f 45 30 58 +f 44 45 58 +f 26 10 59 +f 29 26 59 +f 10 33 59 +f 47 29 59 +f 33 47 59 +f 15 11 60 +f 11 18 60 +f 18 56 60 +f 56 32 60 +f 7 35 61 +f 40 7 61 +f 39 40 61 +f 35 48 61 +f 48 39 61 +f 4 33 62 +f 45 4 62 +f 9 45 62 +f 54 9 62 +f 33 54 62 +f 36 5 63 +f 43 17 63 +f 5 50 63 +f 50 43 63 +f 17 57 63 +f 57 36 63 +f 19 15 64 +f 32 19 64 +f 15 60 64 +o convex_1 +v 0.145441 0.212571 1.005327 +v -0.192482 0.089563 -1.054652 +v -0.192482 0.212571 -1.054652 +v 1.836511 0.181801 -0.101488 +v -0.930231 -0.156381 0.851474 +v -1.883552 0.212571 0.021312 +v 0.145077 -0.156381 -1.054652 +v 1.036857 -0.156381 0.789973 +v -1.022359 -0.156381 -0.839298 +v 0.944730 -0.156381 -0.900799 +v 1.006270 0.212571 -0.931650 +v -1.176390 0.212571 0.851474 +v 1.221477 0.212571 0.789973 +v -1.206978 0.212571 -0.870149 +v -1.360646 -0.156381 0.021312 +v 1.344192 -0.156381 -0.070637 +v 0.114489 -0.156381 1.005327 +v 1.836511 0.212571 -0.009338 +v -1.852600 0.151067 -0.039786 +v -0.684800 -0.156381 -0.962300 +v -1.083899 0.181801 0.882325 +v 1.836511 0.181801 -0.009338 +v 0.145441 0.212571 -1.054652 +v -0.038814 -0.156381 1.005327 +v 1.159937 0.181801 0.820824 +v -1.883552 0.181801 0.021312 +v 1.067809 0.181801 -0.900799 +v -0.069766 0.212571 1.005327 +v 0.914142 -0.156381 0.851474 +v -1.268518 0.181801 0.759323 +v -1.268518 0.181801 -0.808648 +v -1.422185 -0.125611 -0.039786 +v 0.760475 -0.156381 -0.962300 +v -0.715388 -0.156381 0.912975 +v -0.161894 -0.156381 -1.054652 +v -1.114851 0.181801 -0.900799 +v -1.791060 0.181801 -0.162989 +v 1.252065 0.181801 0.759323 +v -0.961183 -0.156381 -0.900799 +v -0.961183 -0.156381 0.820824 +v -1.422185 -0.125611 0.021312 +f 104 90 105 +f 65 67 70 +f 66 67 71 +f 69 71 72 +f 71 69 73 +f 72 71 74 +f 67 65 75 +f 65 70 76 +f 75 65 77 +f 70 67 78 +f 73 69 79 +f 74 68 80 +f 72 74 80 +f 69 72 81 +f 68 75 82 +f 75 77 82 +f 71 73 84 +f 76 69 85 +f 80 68 86 +f 72 80 86 +f 68 82 86 +f 71 67 87 +f 67 75 87 +f 75 71 87 +f 69 81 88 +f 81 65 88 +f 77 65 89 +f 65 81 89 +f 68 74 91 +f 75 68 91 +f 74 75 91 +f 65 76 92 +f 76 85 92 +f 88 65 92 +f 85 88 92 +f 81 72 93 +f 72 89 93 +f 89 81 93 +f 69 76 94 +f 76 70 94 +f 70 90 94 +f 73 79 96 +f 83 73 96 +f 74 71 97 +f 71 75 97 +f 75 74 97 +f 85 69 98 +f 69 88 98 +f 88 85 98 +f 66 71 99 +f 71 84 99 +f 99 84 100 +f 67 66 100 +f 78 67 100 +f 66 99 100 +f 70 78 101 +f 73 83 101 +f 90 70 101 +f 83 90 101 +f 78 95 101 +f 95 73 101 +f 82 77 102 +f 72 86 102 +f 86 82 102 +f 77 89 102 +f 89 72 102 +f 84 73 103 +f 95 78 103 +f 73 95 103 +f 100 84 103 +f 78 100 103 +f 79 69 104 +f 69 94 104 +f 94 90 104 +f 90 83 105 +f 96 79 105 +f 83 96 105 +f 79 104 105 +o convex_2 +v 2.604618 1.811108 0.636325 +v -0.869012 1.257933 -1.085398 +v -0.869012 1.288426 -1.085398 +v -2.651896 1.227440 0.820728 +v 1.313524 0.212571 0.789994 +v 1.067629 0.212571 -0.931521 +v 1.989588 2.057304 -0.777851 +v -2.067969 2.241491 0.021231 +v -2.713516 0.489465 -0.101290 +v 2.758375 0.520163 -0.070556 +v 2.020691 2.057304 0.820728 +v -1.114907 0.212571 0.882196 +v -2.775137 1.196742 -0.777643 +v -1.175941 0.212571 -0.900787 +v 2.112828 1.257933 1.036073 +v -2.036866 1.995499 -0.777643 +v -2.006349 2.026402 0.789994 +v 2.697342 1.319329 -0.808585 +v -1.975832 1.319329 1.036073 +v 2.082312 2.272393 0.021439 +v -2.744033 2.026402 0.051965 +v 1.928554 1.319329 -1.085398 +v 2.789479 1.257933 0.820728 +v 2.758375 2.026402 0.021231 +v 0.145083 0.212571 1.005132 +v -0.192362 0.212571 -1.054456 +v -2.036866 1.227235 -1.054456 +v -2.990515 1.196742 0.051965 +v 3.004857 1.288631 -0.039822 +v 0.514219 2.057304 -0.839319 +v 0.452599 2.303296 0.021439 +v 1.989588 0.550860 -0.839319 +v -2.559759 0.643159 0.513181 +v -1.944728 0.212775 -0.009295 +v 1.897450 0.212571 -0.070763 +v 2.604618 0.704759 0.574649 +v -2.098486 0.520163 -0.777643 +v -1.975832 0.489465 0.789994 +v -2.590863 1.841805 -0.531772 +v 2.051208 1.380520 1.036073 +v 0.360461 2.057304 0.820728 +v -2.006349 2.241491 -0.070556 +v -2.559759 1.811108 0.605383 +v -1.944728 1.165840 1.036073 +v 1.006009 2.272393 -0.162965 +v -2.744033 0.489465 0.021231 +v 2.543584 0.735457 -0.623974 +v 2.543584 1.842010 -0.593240 +v 2.051208 0.520163 0.759260 +v -2.713516 1.288426 0.789787 +v -0.038604 0.520163 -1.085398 +v -2.775137 1.288426 -0.777643 +v -1.022770 1.995499 -0.839319 +v -2.590863 0.674061 -0.562506 +v 0.790631 1.380520 -1.085398 +v -1.268665 0.212775 0.851462 +v 2.697342 1.227235 -0.808585 +v 1.559418 2.303296 0.052172 +v 0.145083 0.212571 -1.054456 +v -2.006349 2.210998 0.205634 +v 2.758375 0.520163 -0.009295 +v -2.990515 1.319124 0.021231 +v 2.020691 1.811312 0.912930 +v 0.052946 0.858248 1.036073 +f 149 130 169 +f 111 110 117 +f 111 117 119 +f 107 108 127 +f 112 123 127 +f 106 116 128 +f 116 106 129 +f 112 125 129 +f 125 116 129 +f 106 128 129 +f 117 110 130 +f 110 120 130 +f 111 119 131 +f 108 107 132 +f 131 119 132 +f 118 114 133 +f 123 129 134 +f 129 128 134 +f 112 127 135 +f 115 111 137 +f 111 127 137 +f 114 119 139 +f 119 117 139 +f 110 111 140 +f 111 115 140 +f 119 114 142 +f 118 132 142 +f 132 119 142 +f 109 138 143 +f 126 121 144 +f 124 120 145 +f 120 128 145 +f 122 124 146 +f 126 113 147 +f 121 126 147 +f 135 121 147 +f 113 136 147 +f 122 126 148 +f 124 109 149 +f 120 124 149 +f 117 130 149 +f 109 143 149 +f 125 112 150 +f 112 135 150 +f 135 147 150 +f 147 136 150 +f 133 114 151 +f 114 139 151 +f 143 138 151 +f 115 137 152 +f 123 112 153 +f 112 129 153 +f 129 123 153 +f 120 110 154 +f 128 120 154 +f 141 128 154 +f 109 124 155 +f 124 122 155 +f 138 109 155 +f 122 148 155 +f 148 126 155 +f 133 151 155 +f 151 138 155 +f 107 127 156 +f 132 107 156 +f 131 132 156 +f 132 118 157 +f 121 132 157 +f 144 121 157 +f 126 144 157 +f 108 132 158 +f 132 121 158 +f 121 135 158 +f 114 118 159 +f 142 114 159 +f 118 142 159 +f 127 108 160 +f 135 127 160 +f 108 158 160 +f 158 135 160 +f 139 117 161 +f 117 149 161 +f 149 143 161 +f 151 139 161 +f 143 151 161 +f 127 123 162 +f 134 115 162 +f 123 134 162 +f 137 127 162 +f 115 152 162 +f 152 137 162 +f 116 125 163 +f 136 146 163 +f 146 116 163 +f 125 150 163 +f 150 136 163 +f 127 111 164 +f 111 131 164 +f 156 127 164 +f 131 156 164 +f 113 126 165 +f 126 122 165 +f 136 113 165 +f 122 146 165 +f 146 136 165 +f 115 134 166 +f 134 128 166 +f 110 140 166 +f 140 115 166 +f 128 141 166 +f 154 110 166 +f 141 154 166 +f 118 133 167 +f 155 126 167 +f 133 155 167 +f 157 118 167 +f 126 157 167 +f 128 116 168 +f 124 145 168 +f 145 128 168 +f 146 124 168 +f 116 146 168 +f 130 120 169 +f 120 149 169 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/441/441.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/441/441.urdf new file mode 100644 index 000000000..66bbf2955 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/441/441.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/442/442.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/442/442.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/442/442.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/442/442.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/442/442.obj new file mode 100644 index 000000000..2ff464ddb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/442/442.obj @@ -0,0 +1,636 @@ +o convex_0 +v -0.337963 -1.381863 1.565801 +v 0.331724 -1.522853 3.081249 +v -0.161691 -1.029617 3.116647 +v 0.225922 -0.994353 1.107587 +v 0.331724 -1.593381 1.107587 +v 0.331724 -0.994353 2.975644 +v -0.232161 -0.923826 1.107587 +v -0.337963 -1.452391 3.010845 +v -0.302695 -1.452391 1.107587 +v -0.267428 -1.029617 3.046047 +v 0.190720 -1.558117 2.975644 +v 0.331724 -0.994353 2.376426 +v -0.091222 -1.522853 1.107587 +v -0.055955 -0.923826 1.424994 +v -0.337963 -1.311401 3.010845 +v 0.261189 -0.994353 1.248591 +v 0.261189 -1.593381 1.601199 +v 0.331724 -1.558117 3.081249 +v 0.331724 -1.452391 1.107587 +v -0.267428 -1.135344 3.116647 +v -0.337963 -1.452391 1.354590 +f 13 8 21 +f 2 5 6 +f 3 2 6 +f 4 5 7 +f 7 5 9 +f 3 6 10 +f 6 5 12 +f 9 5 13 +f 4 7 14 +f 10 6 14 +f 7 10 14 +f 6 12 14 +f 7 1 15 +f 1 8 15 +f 10 7 15 +f 4 14 16 +f 14 12 16 +f 11 8 17 +f 13 5 17 +f 8 13 17 +f 2 3 18 +f 5 2 18 +f 8 11 18 +f 17 5 18 +f 11 17 18 +f 5 4 19 +f 12 5 19 +f 4 16 19 +f 16 12 19 +f 3 10 20 +f 15 8 20 +f 10 15 20 +f 18 3 20 +f 8 18 20 +f 1 7 21 +f 8 1 21 +f 7 9 21 +f 9 13 21 +o convex_1 +v -0.760743 1.155794 -1.042318 +v 1.036506 3.693541 1.107373 +v 0.719368 3.693541 1.107373 +v 1.001314 3.728801 -1.077310 +v 1.001314 1.155794 1.072164 +v -1.007498 3.693541 1.001747 +v -0.937115 1.155794 1.001747 +v -0.972306 3.693541 -0.936475 +v 1.036506 1.155794 -1.007110 +v -1.042896 1.155794 -0.407908 +v -0.690361 1.155794 1.072164 +v 0.402024 1.155794 -1.112953 +v 1.071904 1.261575 -0.161012 +v -0.972306 1.155794 -1.006892 +v -0.514196 3.728801 0.508172 +v -0.831333 3.693541 -0.971684 +v -0.972306 1.226315 1.001747 +v 0.930724 2.001793 1.107373 +v 1.001314 3.728801 0.472963 +v 1.036506 2.529945 -1.042318 +v -1.007498 3.693541 0.120441 +v 0.825150 3.728801 -1.077310 +v -0.901716 3.023592 1.036738 +v -0.126262 3.728801 -1.006892 +v -1.007498 2.812281 1.001747 +v 0.366833 1.332096 -1.112953 +v -1.007498 2.706247 -0.725005 +v -0.690361 1.860752 1.072164 +v 1.036506 3.693541 0.825268 +v -0.972306 2.001793 -1.006892 +v 1.071904 1.155794 -0.337274 +v 1.036506 3.305676 1.107373 +v 0.648778 2.213608 1.107373 +v -0.619771 3.693541 1.036738 +v 1.036506 2.213608 -1.042318 +v -1.042896 1.155794 -0.337274 +f 38 46 57 +f 22 26 28 +f 26 22 30 +f 22 28 31 +f 28 26 32 +f 30 22 33 +f 22 31 35 +f 24 23 36 +f 28 32 38 +f 23 24 39 +f 32 26 39 +f 23 25 40 +f 36 23 40 +f 25 36 40 +f 31 27 42 +f 27 36 42 +f 36 29 42 +f 36 25 43 +f 38 32 44 +f 29 36 45 +f 37 29 45 +f 36 43 45 +f 43 37 45 +f 44 27 46 +f 38 44 46 +f 33 22 47 +f 25 33 47 +f 43 25 47 +f 37 43 47 +f 35 31 48 +f 31 42 48 +f 42 29 48 +f 24 44 49 +f 44 32 49 +f 25 23 50 +f 23 34 50 +f 41 25 50 +f 22 35 51 +f 29 37 51 +f 47 22 51 +f 37 47 51 +f 48 29 51 +f 35 48 51 +f 26 30 52 +f 34 26 52 +f 50 34 52 +f 41 50 52 +f 34 23 53 +f 26 34 53 +f 23 39 53 +f 39 26 53 +f 39 24 54 +f 32 39 54 +f 24 49 54 +f 49 32 54 +f 24 36 55 +f 36 27 55 +f 44 24 55 +f 27 44 55 +f 33 25 56 +f 30 33 56 +f 25 41 56 +f 52 30 56 +f 41 52 56 +f 31 28 57 +f 27 31 57 +f 28 38 57 +f 46 27 57 +o convex_2 +v 0.049695 -1.558121 -3.016060 +v 0.366971 -0.888513 -1.113340 +v -0.302702 -0.888513 -1.113340 +v -0.267442 -1.558121 -1.113340 +v -0.196921 -1.029611 -3.086767 +v 0.331710 -0.959096 -3.016060 +v 0.225929 -1.558121 -1.113340 +v -0.337963 -1.452350 -2.945546 +v 0.296450 -1.593309 -3.051220 +v 0.366971 -0.923839 -2.557815 +v -0.302702 -1.522864 -1.113340 +v -0.161729 -0.888513 -1.536231 +v 0.014504 -1.593309 -2.205438 +v -0.337963 -1.487607 -2.628329 +v 0.366971 -0.959096 -1.113340 +v -0.337963 -1.276134 -2.452141 +v 0.190737 -0.959096 -3.016060 +v 0.261189 -1.558121 -1.677066 +v 0.366971 -0.994354 -2.804518 +f 67 72 76 +f 59 60 61 +f 59 61 64 +f 62 58 65 +f 58 62 66 +f 62 63 66 +f 61 60 68 +f 60 59 69 +f 62 60 69 +f 59 67 69 +f 64 61 70 +f 58 66 70 +f 66 64 70 +f 65 58 71 +f 61 68 71 +f 70 61 71 +f 58 70 71 +f 59 64 72 +f 67 59 72 +f 60 62 73 +f 62 65 73 +f 68 60 73 +f 65 71 73 +f 71 68 73 +f 63 62 74 +f 67 63 74 +f 62 69 74 +f 69 67 74 +f 64 66 75 +f 72 64 75 +f 66 72 75 +f 66 63 76 +f 63 67 76 +f 72 66 76 +o convex_3 +v -1.325146 0.979478 0.332160 +v -3.051805 0.944276 -0.372773 +v -2.346982 0.556662 -0.231732 +v -3.051805 0.450860 0.332160 +v -1.078143 0.521395 -0.231732 +v -3.087204 1.120547 0.191049 +v -1.078143 0.979478 -0.372773 +v -1.078143 0.556662 0.296831 +v -1.113542 1.014680 0.332160 +v -3.016603 0.556662 -0.196471 +v -2.699394 1.120547 0.050076 +v -3.051805 1.014680 -0.372773 +v -1.325146 0.556662 -0.266992 +v -2.805196 1.120547 0.226310 +v -1.078143 0.662399 0.332160 +v -1.289747 0.521395 0.296831 +v -3.051805 0.450860 0.226310 +v -3.051805 0.521395 0.332160 +v -3.087204 0.979478 -0.266992 +v -2.769797 0.450860 0.332160 +v -1.360151 1.014680 -0.266992 +v -1.078143 0.662399 -0.302252 +f 81 89 98 +f 81 83 84 +f 77 80 85 +f 78 79 86 +f 79 81 86 +f 83 78 88 +f 82 87 88 +f 79 78 89 +f 81 79 89 +f 77 85 90 +f 87 82 90 +f 85 87 90 +f 84 83 91 +f 83 85 91 +f 85 80 91 +f 81 84 92 +f 84 91 92 +f 86 81 93 +f 80 77 94 +f 82 80 94 +f 77 90 94 +f 90 82 94 +f 80 82 95 +f 78 86 95 +f 88 78 95 +f 82 88 95 +f 93 80 95 +f 86 93 95 +f 91 80 96 +f 81 92 96 +f 92 91 96 +f 80 93 96 +f 93 81 96 +f 85 83 97 +f 87 85 97 +f 83 88 97 +f 88 87 97 +f 83 81 98 +f 78 83 98 +f 89 78 98 +o convex_4 +v 0.261063 -1.064881 1.107587 +v -0.302860 -1.557986 -1.112954 +v -0.302860 -0.888727 -1.112954 +v -3.016710 -2.192309 1.072157 +v -3.016710 -0.219047 -1.077524 +v -2.946068 -0.148543 1.036945 +v 1.071625 -0.148333 -0.971887 +v 1.106744 -2.298380 0.966521 +v -3.016710 -2.227877 -1.077524 +v 1.000983 -0.148333 1.071940 +v 1.106744 -2.157373 -0.971887 +v 0.120183 -0.148333 -1.112954 +v 1.107148 -0.289551 1.072157 +v -0.479262 -0.148333 1.107587 +v 0.331704 -1.593133 1.107587 +v 1.106744 -2.298380 0.543540 +v -2.981187 -0.148543 0.261625 +v 0.366823 -0.959020 -1.112954 +v 1.106744 -2.192520 -0.866034 +v 0.507703 -2.298380 0.966521 +v -0.972139 -2.227666 1.071940 +v 1.107148 -0.360055 -0.971887 +v -0.972139 -0.148333 -1.042312 +v 0.930745 -2.122016 -1.007100 +v -1.536061 -2.227877 -1.007100 +v -2.981187 -1.346475 1.072157 +v -3.016710 -2.227877 -0.548689 +v 0.190421 -1.557986 -1.112954 +v -0.479262 -1.628490 1.107587 +v 1.107148 -0.536209 1.072157 +v -3.016710 -0.219047 -0.795609 +v -2.981187 -0.853581 1.036945 +v 0.543225 -2.298380 0.543540 +v -0.091338 -0.148333 1.107587 +v -0.725902 -2.227666 -0.866034 +v -0.232622 -0.148333 -1.112954 +f 121 110 134 +f 101 100 103 +f 102 103 107 +f 103 100 107 +f 100 101 110 +f 108 105 110 +f 105 108 111 +f 108 110 112 +f 111 99 113 +f 99 112 113 +f 100 110 116 +f 110 105 116 +f 114 106 118 +f 106 113 119 +f 102 118 119 +f 118 106 119 +f 105 111 120 +f 116 105 120 +f 117 109 120 +f 104 112 121 +f 112 110 121 +f 103 115 121 +f 115 104 121 +f 109 107 122 +f 120 109 122 +f 116 120 122 +f 107 109 123 +f 114 107 123 +f 109 117 123 +f 102 112 124 +f 112 104 124 +f 102 107 125 +f 118 102 125 +f 107 118 125 +f 107 100 126 +f 100 116 126 +f 122 107 126 +f 116 122 126 +f 112 102 127 +f 113 112 127 +f 102 119 127 +f 119 113 127 +f 113 106 128 +f 111 113 128 +f 106 114 128 +f 114 117 128 +f 120 111 128 +f 117 120 128 +f 103 102 129 +f 115 103 129 +f 115 129 130 +f 104 115 130 +f 102 124 130 +f 124 104 130 +f 129 102 130 +f 107 114 131 +f 118 107 131 +f 114 118 131 +f 99 111 132 +f 111 108 132 +f 112 99 132 +f 108 112 132 +f 117 114 133 +f 114 123 133 +f 123 117 133 +f 101 103 134 +f 110 101 134 +f 103 121 134 +o convex_5 +v 2.234935 -2.262982 -0.725033 +v 1.283428 -0.289568 1.072340 +v 1.107230 -0.289568 1.072340 +v 1.107230 -0.218978 -0.936548 +v 2.939919 -0.289361 -0.936548 +v 3.080761 -2.227583 1.001702 +v 1.107230 -2.298380 0.966483 +v 2.975081 -0.183580 0.966483 +v 1.107230 -2.157201 -0.971967 +v 3.045599 -2.262982 -0.971767 +v 1.213104 -0.395143 -0.971967 +v 2.975081 -0.395143 -0.936548 +v 3.080761 -1.910446 1.001702 +v 1.953250 -2.298380 -0.055471 +v 2.975081 -0.183580 0.578873 +v 1.142586 -2.192392 -0.936548 +v 2.587330 -0.183580 0.966483 +v 3.045599 -1.875255 -0.971767 +v 2.199772 -2.227583 1.001502 +v 2.481650 -0.747679 -0.971767 +v 1.107230 -0.501131 1.072340 +v 1.107230 -2.298380 0.543454 +v 3.045599 -1.311570 1.001702 +v 1.389301 -0.218978 -0.936548 +v 1.107230 -0.218978 -0.654395 +v 3.080761 -2.192392 0.085206 +v 3.045599 -2.262982 -0.231766 +v 1.389301 -2.298380 0.966483 +v 1.494981 -0.254377 1.036921 +v 2.622686 -2.262982 -0.971767 +v 2.516812 -0.218978 1.001502 +f 157 142 165 +f 137 138 141 +f 137 136 142 +f 141 138 143 +f 144 143 145 +f 143 138 145 +f 136 140 147 +f 146 139 149 +f 135 148 150 +f 137 142 151 +f 149 138 151 +f 142 149 151 +f 144 145 152 +f 139 146 152 +f 141 140 153 +f 145 139 154 +f 152 145 154 +f 139 152 154 +f 136 137 155 +f 140 136 155 +f 137 141 155 +f 153 140 155 +f 141 153 155 +f 141 143 156 +f 148 141 156 +f 143 150 156 +f 150 148 156 +f 147 146 157 +f 136 147 157 +f 149 142 157 +f 146 149 157 +f 145 138 158 +f 139 145 158 +f 138 149 158 +f 149 139 158 +f 138 137 159 +f 151 138 159 +f 140 144 160 +f 146 147 160 +f 147 140 160 +f 144 152 160 +f 152 146 160 +f 144 140 161 +f 148 144 161 +f 148 161 162 +f 140 141 162 +f 141 148 162 +f 161 140 162 +f 137 151 163 +f 159 137 163 +f 151 159 163 +f 143 144 164 +f 148 135 164 +f 144 148 164 +f 150 143 164 +f 135 150 164 +f 142 136 165 +f 136 157 165 +o convex_6 +v -1.078143 0.662199 -0.302204 +v 1.071904 0.662199 0.331832 +v 1.071904 0.556511 0.331832 +v 1.036547 0.944162 -1.006882 +v 0.120209 -0.148078 -1.112736 +v -0.866421 -0.148078 1.036945 +v -0.866421 1.155666 1.036945 +v 1.001190 -0.148078 1.072157 +v -0.972282 1.155666 -1.007100 +v 1.001190 1.155666 1.072157 +v -0.972282 -0.148078 -1.042312 +v 1.071904 -0.148078 -0.971670 +v 1.036547 1.155666 -1.006882 +v 0.296364 1.155666 -1.112736 +v -0.478967 0.662199 1.107587 +v -1.078143 0.979391 0.332050 +v -0.972282 -0.042390 0.860667 +v -0.126448 -0.148078 1.107587 +v 1.071904 1.155666 -0.407841 +v -0.936925 1.155666 1.001733 +v -1.078143 0.415721 0.120559 +v -1.007429 -0.148078 -0.936675 +v -0.760771 -0.112848 -1.077307 +v -1.042786 1.155666 -0.407841 +v -0.972282 0.697428 -1.042312 +v -0.690267 1.155666 1.071940 +v -1.078143 0.979391 -0.372628 +v -0.936925 -0.148078 1.001733 +v 0.402224 1.120309 -1.112736 +v -0.478967 -0.148078 1.107587 +v 1.071904 1.120309 0.190984 +v 1.071904 0.803117 -0.971670 +v -1.078143 0.486179 0.367262 +v -0.196952 -0.042390 -1.112954 +v 1.071904 -0.148078 -0.654543 +f 173 177 200 +f 168 167 173 +f 171 170 173 +f 174 172 175 +f 173 167 175 +f 170 171 176 +f 167 168 177 +f 173 170 177 +f 174 175 178 +f 177 169 178 +f 174 178 179 +f 171 173 183 +f 173 175 183 +f 175 180 183 +f 167 177 184 +f 178 175 184 +f 171 172 185 +f 172 174 185 +f 181 166 186 +f 182 186 187 +f 176 171 187 +f 186 166 187 +f 170 176 188 +f 185 174 189 +f 181 185 189 +f 174 179 190 +f 187 174 190 +f 176 187 190 +f 188 176 190 +f 172 171 191 +f 175 172 191 +f 180 175 191 +f 166 181 192 +f 187 166 192 +f 174 187 192 +f 189 174 192 +f 181 189 192 +f 171 185 193 +f 185 182 193 +f 182 187 193 +f 187 171 193 +f 169 177 194 +f 177 170 194 +f 178 169 194 +f 179 178 194 +f 171 183 195 +f 183 180 195 +f 191 171 195 +f 180 191 195 +f 175 167 196 +f 167 184 196 +f 184 175 196 +f 177 178 197 +f 184 177 197 +f 178 184 197 +f 185 181 198 +f 182 185 198 +f 181 186 198 +f 186 182 198 +f 170 188 199 +f 190 179 199 +f 188 190 199 +f 194 170 199 +f 179 194 199 +f 168 173 200 +f 177 168 200 +o convex_7 +v 2.481550 1.049995 0.261549 +v 1.071904 0.521412 -0.302280 +v 1.071904 0.521412 -0.020272 +v 2.975163 0.521412 0.014940 +v 2.939764 1.049995 -0.231669 +v 1.071904 1.085242 -0.267006 +v 1.071904 0.556659 0.332160 +v 1.071904 1.120547 0.191125 +v 2.939764 0.521412 0.296886 +v 2.975163 0.556659 -0.267006 +v 3.080965 1.014748 0.296886 +v 2.622751 0.944255 0.332160 +v 1.847524 0.627152 -0.302280 +v 1.107303 0.697646 0.332160 +v 2.234941 1.085242 -0.231669 +v 3.010364 1.049995 -0.020272 +v 3.010364 0.662399 -0.267006 +v 1.071904 1.085242 0.226337 +v 1.847524 0.521412 0.296886 +v 1.142504 0.803386 -0.302280 +f 205 213 220 +f 203 202 204 +f 202 203 206 +f 206 203 207 +f 206 207 208 +f 203 204 209 +f 204 202 210 +f 201 208 211 +f 209 204 211 +f 207 209 212 +f 209 211 212 +f 210 202 213 +f 207 212 214 +f 205 206 215 +f 206 208 215 +f 215 208 216 +f 208 201 216 +f 201 211 216 +f 205 215 216 +f 216 211 217 +f 204 210 217 +f 211 204 217 +f 213 205 217 +f 210 213 217 +f 205 216 217 +f 208 207 218 +f 211 208 218 +f 212 211 218 +f 207 214 218 +f 214 212 218 +f 207 203 219 +f 203 209 219 +f 209 207 219 +f 202 206 220 +f 206 205 220 +f 213 202 220 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/442/442.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/442/442.urdf new file mode 100644 index 000000000..26fc4a737 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/442/442.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/443/443.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/443/443.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/443/443.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/443/443.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/443/443.obj new file mode 100644 index 000000000..de44c536f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/443/443.obj @@ -0,0 +1,375 @@ +o convex_0 +v -0.637680 -3.914380 -1.058060 +v -1.044423 -2.546288 1.123338 +v -1.007505 -1.364648 1.085986 +v 1.100044 -4.765067 1.012151 +v 1.025991 0.928129 -1.058060 +v 0.915022 0.928129 0.938316 +v -0.970371 0.928129 -0.984225 +v 1.062909 -5.024352 -0.984008 +v -1.081340 -5.024352 -0.910172 +v -0.970371 -4.949771 0.975233 +v -1.044423 0.928129 1.012368 +v 0.951940 -2.768283 1.123121 +v -1.044423 -2.250296 -1.095195 +v -1.118475 -3.026985 1.123338 +v 1.100044 -4.913064 0.975233 +v 0.951940 0.594846 0.975233 +v -0.674597 -3.248979 -1.095195 +v -1.081340 -2.804990 -0.799202 +v 1.062909 -0.846661 -1.021142 +v 1.025991 0.890838 -0.466292 +v -1.081340 -5.024352 -0.984225 +v 1.100044 -4.987062 -0.096681 +v 0.656166 -4.617071 -1.020925 +v -1.007505 -4.653779 1.012368 +v 0.989074 -3.174981 1.123121 +v -1.044423 0.854131 0.679241 +v 1.062909 -5.024352 -0.651314 +v -0.970371 0.188147 -1.021142 +v -1.081340 -3.877090 -1.058060 +v -1.081340 -3.174981 1.123338 +v 0.951940 0.928129 0.901398 +v 0.767135 0.928129 -1.058060 +v -1.007505 -4.875773 0.938316 +v 1.025991 0.484140 -1.058060 +v -1.044423 -1.697349 -1.058060 +v -1.118475 -2.952987 1.012368 +v 1.100044 -4.691069 1.012151 +v -0.933454 0.928129 1.012368 +v 1.100044 -4.284370 0.383682 +v -1.081340 -4.912481 -0.614397 +v -1.081340 -0.772663 1.012368 +v -1.044423 -3.248979 -1.095195 +v 1.100044 -4.913064 -0.170734 +v -0.785567 -4.543073 -1.021142 +v 0.323475 0.928129 0.975233 +f 38 16 45 +f 6 5 7 +f 2 3 11 +f 6 7 11 +f 3 2 12 +f 2 11 14 +f 4 10 15 +f 13 5 17 +f 19 5 20 +f 8 9 21 +f 9 14 21 +f 4 15 22 +f 15 10 22 +f 8 21 23 +f 10 4 24 +f 12 2 25 +f 16 12 25 +f 11 7 26 +f 9 8 27 +f 10 9 27 +f 8 22 27 +f 22 10 27 +f 13 7 28 +f 2 14 30 +f 24 4 30 +f 14 24 30 +f 25 2 30 +f 4 25 30 +f 5 6 31 +f 6 16 31 +f 20 5 31 +f 7 5 32 +f 5 13 32 +f 28 7 32 +f 13 28 32 +f 9 10 33 +f 10 24 33 +f 24 14 33 +f 17 5 34 +f 5 19 34 +f 19 8 34 +f 8 23 34 +f 23 17 34 +f 7 13 35 +f 26 7 35 +f 18 26 35 +f 13 29 35 +f 29 18 35 +f 21 14 36 +f 18 29 36 +f 29 21 36 +f 19 20 37 +f 4 22 37 +f 25 4 37 +f 16 25 37 +f 31 16 37 +f 20 31 37 +f 11 3 38 +f 6 11 38 +f 3 12 38 +f 12 16 38 +f 19 37 39 +f 37 22 39 +f 14 9 40 +f 9 33 40 +f 33 14 40 +f 14 11 41 +f 11 26 41 +f 26 18 41 +f 36 14 41 +f 18 36 41 +f 13 17 42 +f 23 1 42 +f 17 23 42 +f 29 13 42 +f 8 19 43 +f 22 8 43 +f 19 39 43 +f 39 22 43 +f 1 23 44 +f 23 21 44 +f 21 29 44 +f 42 1 44 +f 29 42 44 +f 16 6 45 +f 6 38 45 +o convex_1 +v -1.044542 3.184010 0.457612 +v -3.041102 1.039638 0.124882 +v -2.967125 1.039638 0.124882 +v -1.414425 3.109907 -1.058038 +v -1.044744 1.150688 -0.984145 +v -2.967125 2.999067 -1.058038 +v -3.077989 3.073170 1.049387 +v -1.118721 1.039848 1.012230 +v -3.004215 1.076795 -1.095195 +v -3.077989 1.039638 1.049387 +v -1.044542 3.184010 0.938337 +v -1.044542 3.110116 -1.057828 +v -3.115078 3.036223 0.753394 +v -1.044744 1.039848 0.531505 +v -3.041102 3.036223 -0.392580 +v -1.451312 1.113741 -1.021092 +v -3.041102 1.076795 -0.651416 +v -2.745195 3.073170 1.049387 +v -3.115078 2.074982 1.049387 +v -1.044744 1.039848 0.975284 +v -2.597444 1.446470 -1.095195 +v -3.004215 2.555498 -1.058038 +v -2.523468 1.039638 1.049387 +v -1.303562 3.184010 0.864444 +v -2.745195 3.036223 -1.021092 +v -1.081632 2.740231 -1.058038 +v -1.044542 2.259715 0.975074 +v -2.819172 1.076795 -1.095195 +v -3.077989 1.039638 0.531715 +v -1.044744 1.113741 -0.762256 +v -1.488402 3.146853 0.975284 +v -3.115078 3.036223 1.049387 +v -2.967125 1.483627 -1.095195 +v -1.044744 1.742253 -1.021092 +f 73 71 79 +f 48 47 54 +f 47 48 55 +f 49 46 57 +f 46 56 57 +f 58 52 60 +f 52 55 63 +f 56 52 63 +f 55 52 64 +f 58 62 64 +f 51 54 67 +f 60 51 67 +f 58 60 67 +f 54 62 67 +f 62 58 67 +f 55 48 68 +f 48 59 68 +f 63 55 68 +f 53 63 68 +f 65 53 68 +f 59 65 68 +f 46 49 69 +f 56 46 69 +f 52 56 69 +f 60 52 69 +f 60 69 70 +f 49 51 70 +f 51 60 70 +f 69 49 70 +f 66 57 71 +f 50 57 72 +f 57 56 72 +f 63 53 72 +f 53 65 72 +f 65 59 72 +f 48 54 73 +f 59 48 73 +f 61 59 73 +f 54 66 73 +f 66 71 73 +f 54 47 74 +f 47 55 74 +f 62 54 74 +f 55 64 74 +f 64 62 74 +f 61 50 75 +f 59 61 75 +f 50 72 75 +f 72 59 75 +f 56 63 76 +f 72 56 76 +f 63 72 76 +f 52 58 77 +f 64 52 77 +f 58 64 77 +f 51 49 78 +f 54 51 78 +f 49 57 78 +f 66 54 78 +f 57 66 78 +f 57 50 79 +f 50 61 79 +f 71 57 79 +f 61 73 79 +o convex_2 +v 2.948763 0.966020 -0.651387 +v -0.194072 3.184220 0.235541 +v -0.194072 3.184220 0.161648 +v -1.044538 0.928932 1.012259 +v 3.096723 3.036089 0.938366 +v -1.044538 3.110044 -1.058219 +v -0.933467 0.928932 -0.984116 +v 3.059429 2.999222 -0.910223 +v 3.022540 1.113708 1.086153 +v -1.044538 3.184220 0.938366 +v 2.948763 0.966020 -0.984116 +v 0.915426 3.110044 1.086363 +v 1.026092 0.928932 -1.058219 +v 1.136758 3.146911 -0.947169 +v 0.915426 0.928932 0.938366 +v 3.059429 2.740271 -0.947169 +v -1.044538 1.150796 -0.984116 +v 1.284719 1.076841 -1.058219 +v 3.059429 1.853256 1.049206 +v 3.022540 1.076841 0.827527 +v 1.173647 3.110044 1.086363 +v 2.874580 3.036089 -0.910223 +v 2.579065 1.113708 1.086153 +v -1.007244 3.146911 -0.577284 +v 3.096723 2.962135 0.124702 +v -0.859284 3.110044 -1.058219 +v -0.711324 2.444452 -1.058219 +v 3.059429 2.592582 -0.947169 +v -0.600658 3.184220 0.975313 +v 0.841244 2.851092 1.086363 +v 0.249809 3.146911 -0.984116 +v 0.767466 0.928932 -1.058219 +v 1.839265 3.110044 -0.170661 +v 2.948763 2.888180 -0.947169 +v 2.948763 1.483703 -0.984116 +v 1.321607 3.110044 1.049206 +v 3.022540 1.483703 1.086153 +v 2.985651 1.002887 -0.244554 +v -1.044538 1.816388 -1.021063 +v -1.044538 3.184220 0.420694 +v -0.970355 0.928932 -0.946960 +v -1.044538 2.222588 0.975313 +v 3.096723 3.036089 0.457431 +v 2.098296 3.072956 -0.947169 +v 3.059429 1.779522 0.975103 +v 1.173647 3.146911 -0.725280 +v 3.096723 2.740271 0.938366 +v 2.283145 0.965799 -1.021063 +v 2.985651 1.002887 -0.133715 +f 117 99 128 +f 81 82 89 +f 85 83 89 +f 83 86 92 +f 90 80 92 +f 88 83 94 +f 92 80 94 +f 83 92 94 +f 83 85 96 +f 92 85 97 +f 88 94 99 +f 83 88 102 +f 95 87 104 +f 97 85 105 +f 85 92 106 +f 90 95 107 +f 95 104 107 +f 81 89 108 +f 91 100 108 +f 91 83 109 +f 88 100 109 +f 100 91 109 +f 83 102 109 +f 102 88 109 +f 82 93 110 +f 85 103 110 +f 105 85 110 +f 93 105 110 +f 92 86 111 +f 106 92 111 +f 87 95 113 +f 95 97 113 +f 97 105 113 +f 95 90 114 +f 97 95 114 +f 100 84 115 +f 81 108 115 +f 108 100 115 +f 84 112 115 +f 98 84 116 +f 88 98 116 +f 84 100 116 +f 100 88 116 +f 80 90 117 +f 90 107 117 +f 107 99 117 +f 96 85 118 +f 86 96 118 +f 85 106 118 +f 111 86 118 +f 106 111 118 +f 89 82 119 +f 85 89 119 +f 103 85 119 +f 82 110 119 +f 110 103 119 +f 86 83 120 +f 83 96 120 +f 96 86 120 +f 89 83 121 +f 83 91 121 +f 108 89 121 +f 91 108 121 +f 87 101 122 +f 84 104 122 +f 104 87 122 +f 112 84 122 +f 101 87 123 +f 93 101 123 +f 105 93 123 +f 87 113 123 +f 113 105 123 +f 98 88 124 +f 88 99 124 +f 99 107 124 +f 107 104 124 +f 82 81 125 +f 93 82 125 +f 101 93 125 +f 81 115 125 +f 115 112 125 +f 122 101 125 +f 112 122 125 +f 84 98 126 +f 104 84 126 +f 98 124 126 +f 124 104 126 +f 90 92 127 +f 92 97 127 +f 114 90 127 +f 97 114 127 +f 94 80 128 +f 99 94 128 +f 80 117 128 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/443/443.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/443/443.urdf new file mode 100644 index 000000000..5fb74bb06 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/443/443.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/444/444.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/444/444.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/444/444.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/444/444.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/444/444.obj new file mode 100644 index 000000000..ab5b9949d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/444/444.obj @@ -0,0 +1,2118 @@ +o convex_0 +v -0.173863 -3.059904 -0.341414 +v 0.000162 -4.227900 0.727665 +v -0.024709 -4.227900 0.727665 +v -0.099269 -4.699857 -0.291602 +v 0.000162 -2.786173 0.578333 +v -0.173863 -4.699857 -0.167385 +v -0.099269 -2.786548 -0.341414 +v -0.049579 -2.786173 0.603240 +v -0.049579 -4.650581 0.727665 +v -0.173863 -2.786548 -0.217093 +v 0.000162 -4.650581 0.702759 +v -0.173863 -4.377038 -0.316508 +f 7 4 12 +f 5 4 7 +f 5 7 8 +f 3 2 8 +f 2 5 8 +f 2 3 9 +f 3 8 9 +f 1 6 10 +f 7 1 10 +f 8 7 10 +f 6 9 10 +f 9 8 10 +f 4 5 11 +f 5 2 11 +f 6 4 11 +f 9 6 11 +f 2 9 11 +f 6 1 12 +f 4 6 12 +f 1 7 12 +o convex_1 +v 0.099770 -2.786548 -0.341414 +v -0.099129 -4.699857 -0.291655 +v 0.447635 -4.699857 -0.291655 +v -0.099129 -4.675313 -0.142532 +v 0.845433 -2.786173 -0.291694 +v 0.447635 -4.699857 -0.142532 +v 0.845433 -4.675500 -0.291694 +v -0.099129 -2.935498 -0.291655 +v 0.845433 -3.383098 -0.316554 +v -0.099129 -4.302468 -0.316535 +v 0.050022 -2.786548 -0.291655 +v 0.845433 -4.675500 -0.266833 +v -0.099129 -2.786548 -0.341414 +v 0.845433 -3.333261 -0.266833 +v 0.845433 -2.786173 -0.316554 +f 25 17 27 +f 14 15 18 +f 16 14 18 +f 17 16 18 +f 18 15 19 +f 14 16 20 +f 17 19 21 +f 21 19 22 +f 15 14 22 +f 19 15 22 +f 14 20 22 +f 13 21 22 +f 16 17 23 +f 20 16 23 +f 19 17 24 +f 18 19 24 +f 22 20 25 +f 13 22 25 +f 23 17 25 +f 20 23 25 +f 17 18 26 +f 24 17 26 +f 18 24 26 +f 21 13 27 +f 17 21 27 +f 13 25 27 +o convex_2 +v 0.447608 -4.774974 0.677875 +v 0.447711 -4.700429 -0.291684 +v 0.447711 -4.675561 -0.291684 +v -0.149000 -4.650694 -0.142513 +v 0.895193 -4.675561 0.603240 +v -0.049446 -4.650694 0.727665 +v -0.149000 -4.725282 -0.043033 +v 0.895193 -4.799870 0.454070 +v 0.895193 -4.675561 -0.291684 +v 0.074945 -4.774974 0.727665 +v 0.422669 -4.650694 0.677875 +v 0.895193 -4.725282 -0.217049 +f 36 35 39 +f 30 29 31 +f 31 29 34 +f 33 31 34 +f 32 28 35 +f 29 30 36 +f 30 31 36 +f 32 35 36 +f 33 34 37 +f 35 28 37 +f 34 35 37 +f 28 32 38 +f 31 33 38 +f 36 31 38 +f 32 36 38 +f 37 28 38 +f 33 37 38 +f 34 29 39 +f 35 34 39 +f 29 36 39 +o convex_3 +v -0.546836 1.241784 2.194307 +v -0.546836 0.247273 0.752528 +v -0.521957 0.247273 0.752528 +v -0.646219 0.247273 2.219289 +v -0.497096 1.241784 0.752528 +v -0.671080 0.446351 2.169468 +v -0.472216 0.744529 0.777654 +v -0.596499 1.241784 2.219289 +v -0.621359 0.272194 1.299692 +v -0.472216 1.241784 1.200195 +v -0.621359 0.297018 2.094953 +v -0.571658 0.247273 0.777654 +f 48 44 51 +f 41 42 43 +f 42 41 44 +f 42 44 46 +f 43 40 47 +f 40 44 47 +f 44 45 47 +f 45 43 47 +f 45 44 48 +f 43 45 48 +f 44 40 49 +f 40 46 49 +f 46 44 49 +f 43 42 50 +f 40 43 50 +f 42 46 50 +f 46 40 50 +f 41 43 51 +f 44 41 51 +f 43 48 51 +o convex_4 +v 0.969825 1.291510 3.139255 +v -0.372765 1.316372 2.592430 +v -0.372765 1.291510 2.617336 +v -0.372765 1.316372 3.164162 +v -0.372765 1.241784 3.164162 +v 0.969825 1.341235 2.592430 +v 0.969825 1.241784 3.089554 +v 0.969825 1.341235 3.014946 +v -0.372765 1.341235 2.667037 +v 0.969825 1.316372 2.592430 +f 57 58 61 +f 53 54 55 +f 52 55 56 +f 55 54 56 +f 52 56 58 +f 56 54 58 +f 57 52 58 +f 55 52 59 +f 52 57 59 +f 59 57 60 +f 53 55 60 +f 57 53 60 +f 55 59 60 +f 54 53 61 +f 53 57 61 +f 58 54 61 +o convex_5 +v 1.392492 -2.313408 -0.788983 +v 0.746060 -2.661672 -0.788983 +v 0.746060 -2.661672 -0.764101 +v 0.746060 -0.796963 -0.838675 +v 1.367624 -0.796963 -0.764101 +v 1.367624 -0.971095 -0.888391 +v 0.746060 -1.692264 -0.764101 +v 1.392492 -2.636665 -0.764101 +v 1.392492 -2.462716 -0.813841 +v 0.795795 -0.796963 -0.863533 +v 0.746060 -0.796963 -0.813841 +v 1.367624 -0.796963 -0.888391 +f 67 71 73 +f 63 64 65 +f 65 64 68 +f 64 66 68 +f 64 63 69 +f 62 66 69 +f 66 64 69 +f 63 67 70 +f 69 63 70 +f 62 69 70 +f 63 65 71 +f 65 66 71 +f 67 63 71 +f 66 65 72 +f 65 68 72 +f 68 66 72 +f 66 62 73 +f 70 67 73 +f 62 70 73 +f 71 66 73 +o convex_6 +v 1.268178 -2.238766 1.249784 +v 0.746060 -2.736260 1.125470 +v 0.746060 -2.736260 1.200051 +v 0.746060 -0.797153 1.150355 +v 1.442217 -0.797153 1.125470 +v 1.392404 -2.711205 1.125470 +v 1.442217 -0.797153 1.200051 +v 0.746060 -2.363092 1.249784 +v 1.392404 -2.711205 1.249784 +v 0.746060 -0.996075 1.200051 +v 0.746060 -2.711205 1.249784 +f 82 81 84 +f 75 76 77 +f 75 77 78 +f 75 78 79 +f 76 75 79 +f 78 77 80 +f 79 78 80 +f 77 76 81 +f 74 80 81 +f 76 79 82 +f 80 74 82 +f 79 80 82 +f 74 81 82 +f 80 77 83 +f 77 81 83 +f 81 80 83 +f 81 76 84 +f 76 82 84 +o convex_7 +v 1.168719 3.305390 0.106096 +v 1.367522 3.230806 -0.863552 +v 1.367522 3.280568 -0.863552 +v -0.248451 3.230806 -0.763987 +v -0.198538 3.404845 -0.390972 +v 0.944704 3.230806 0.106001 +v -0.223409 3.330245 0.106001 +v 1.417265 3.355118 0.106096 +v 1.392393 3.330228 -0.838684 +v 1.417265 3.230806 0.106096 +v -0.248451 3.305407 -0.763987 +v -0.248451 3.379956 0.106001 +v 1.491880 3.230806 -0.863552 +v 0.099922 3.404845 -0.390972 +v 1.442137 3.355118 -0.142580 +v -0.173666 3.404845 -0.142580 +f 92 98 100 +f 87 86 88 +f 88 86 90 +f 88 90 91 +f 90 86 94 +f 85 91 94 +f 91 90 94 +f 92 85 94 +f 87 88 95 +f 93 87 95 +f 89 93 95 +f 91 85 96 +f 88 91 96 +f 85 92 96 +f 95 88 96 +f 89 95 96 +f 86 87 97 +f 87 93 97 +f 94 86 97 +f 93 89 98 +f 92 94 99 +f 97 93 99 +f 94 97 99 +f 93 98 99 +f 98 92 99 +f 89 96 100 +f 96 92 100 +f 98 89 100 +o convex_8 +v -0.447317 3.355115 -0.589718 +v 0.074624 3.330233 1.200058 +v -0.049651 3.330233 1.200058 +v -0.248519 3.230806 -0.764101 +v -0.646256 3.255674 1.175064 +v 0.074624 3.255674 1.200058 +v 0.049712 3.355086 0.106274 +v -0.621344 3.230806 -0.739107 +v -0.571521 3.330233 0.926276 +v -0.322901 3.379983 0.205674 +v -0.621344 3.305394 -0.739107 +v -0.248519 3.379983 -0.490511 +v 0.074624 3.280556 0.304882 +v -0.596433 3.230806 0.106274 +v -0.248519 3.305394 -0.764101 +v -0.646256 3.305409 1.175064 +f 109 111 116 +f 102 103 106 +f 103 105 106 +f 103 102 110 +f 102 107 110 +f 109 103 110 +f 101 109 110 +f 104 108 111 +f 108 105 111 +f 109 101 111 +f 101 110 112 +f 110 107 112 +f 102 106 113 +f 106 104 113 +f 107 102 113 +f 104 107 113 +f 104 106 114 +f 106 105 114 +f 108 104 114 +f 105 108 114 +f 107 104 115 +f 111 101 115 +f 104 111 115 +f 112 107 115 +f 101 112 115 +f 105 103 116 +f 103 109 116 +f 111 105 116 +o convex_9 +v -0.596506 0.247185 3.039680 +v -0.671080 -0.647699 1.349235 +v -0.695959 -0.597945 1.349235 +v -0.596506 0.247185 1.349235 +v -0.472238 -0.647699 3.114319 +v -0.671080 0.247185 1.946178 +v -0.521976 -0.647699 3.089440 +v -0.521976 0.073131 3.114319 +v -0.621364 -0.647699 1.548446 +v -0.671080 0.172553 2.244044 +v -0.596506 -0.026290 1.349235 +v -0.546834 0.247185 3.114319 +v -0.621364 0.247185 1.349235 +f 122 120 129 +f 118 119 120 +f 117 120 122 +f 119 118 123 +f 118 121 123 +f 121 120 124 +f 121 118 125 +f 117 122 126 +f 122 119 126 +f 123 117 126 +f 119 123 126 +f 118 120 127 +f 120 121 127 +f 125 118 127 +f 121 125 127 +f 120 117 128 +f 117 123 128 +f 123 121 128 +f 121 124 128 +f 124 120 128 +f 120 119 129 +f 119 122 129 +o convex_10 +v 0.870226 -2.785985 0.578513 +v 0.000264 -4.650586 0.702785 +v 0.050021 -4.650586 0.677919 +v 0.000264 -2.785985 0.628231 +v 0.870226 -2.785985 0.677919 +v 0.895193 -4.675556 0.578513 +v 0.074812 -4.650586 0.727665 +v 0.000264 -2.985189 0.677919 +v 0.596912 -4.227764 0.578513 +v 0.895193 -4.352243 0.628231 +v 0.000264 -4.327088 0.727665 +v 0.870226 -3.183838 0.677919 +v 0.223996 -3.357888 0.603365 +v 0.298544 -2.785985 0.677919 +f 137 140 143 +f 132 131 133 +f 130 133 134 +f 131 132 135 +f 131 135 136 +f 133 131 137 +f 135 132 138 +f 130 135 138 +f 130 134 139 +f 135 130 139 +f 136 135 139 +f 131 136 140 +f 136 134 140 +f 137 131 140 +f 134 136 141 +f 139 134 141 +f 136 139 141 +f 132 133 142 +f 133 130 142 +f 138 132 142 +f 130 138 142 +f 134 133 143 +f 133 137 143 +f 140 134 143 +o convex_11 +v -0.521971 1.241784 -0.689501 +v -0.695959 -0.647699 -0.764082 +v -0.472238 -0.647699 -0.764082 +v -0.472238 -0.647699 -0.565218 +v -0.695938 1.241784 -0.739221 +v -0.521993 0.247290 -0.565218 +v -0.497094 1.241784 -0.739221 +v -0.472238 0.247290 -0.565218 +v -0.695938 0.272259 -0.714380 +v -0.497094 0.495867 -0.764082 +f 148 150 153 +f 145 146 147 +f 144 148 149 +f 148 144 150 +f 147 146 151 +f 149 147 151 +f 144 149 151 +f 150 144 151 +f 146 150 151 +f 145 147 152 +f 148 145 152 +f 149 148 152 +f 147 149 152 +f 146 145 153 +f 145 148 153 +f 150 146 153 +o convex_12 +v 0.895224 -4.675556 -0.291689 +v 0.870378 -2.785985 0.578401 +v 0.895231 -2.785985 0.354636 +v 0.845511 -2.785985 -0.316483 +v 0.870378 -4.675556 0.578401 +v 0.920099 -2.785985 -0.316483 +v 0.845511 -4.675556 -0.266719 +v 0.895231 -4.675556 0.578401 +v 0.845511 -2.785985 0.578401 +v 0.920099 -3.904265 -0.291689 +v 0.845511 -3.755371 0.578401 +v 0.920099 -2.785985 -0.067924 +v 0.895231 -3.730771 0.578401 +f 161 165 166 +f 155 156 157 +f 157 156 159 +f 154 157 159 +f 157 154 160 +f 154 158 160 +f 158 154 161 +f 155 158 161 +f 155 157 162 +f 158 155 162 +f 157 160 162 +f 154 159 163 +f 161 154 163 +f 160 158 164 +f 158 162 164 +f 162 160 164 +f 159 156 165 +f 163 159 165 +f 161 163 165 +f 156 155 166 +f 155 161 166 +f 165 156 166 +o convex_13 +v -0.471973 -0.747238 3.189073 +v 1.317904 0.247185 3.164225 +v 1.317904 0.172526 3.189073 +v -0.571667 0.247185 3.189073 +v -0.496943 -0.647659 3.114492 +v 1.317719 -0.722319 3.238806 +v 1.317719 -0.722319 3.139364 +v 0.497412 0.247185 3.114492 +v -0.571667 0.247185 3.114492 +v 1.317904 0.247185 3.139364 +v 0.174469 -0.747238 3.213933 +f 173 172 177 +f 169 168 170 +f 167 170 171 +f 169 170 172 +f 167 171 173 +f 169 172 173 +f 173 171 174 +f 170 168 174 +f 170 174 175 +f 171 170 175 +f 174 171 175 +f 168 169 176 +f 169 173 176 +f 173 174 176 +f 174 168 176 +f 170 167 177 +f 172 170 177 +f 167 173 177 +o convex_14 +v -0.671080 0.247273 2.294123 +v -0.546836 1.241784 3.188985 +v -0.472216 1.241784 3.164120 +v -0.596499 1.241784 2.219527 +v -0.472216 0.247273 3.164120 +v -0.646219 1.241784 3.188985 +v -0.571658 0.247273 3.188985 +v -0.571658 0.992962 2.219527 +v -0.621359 0.247273 2.244392 +v -0.671080 0.943411 2.816007 +v -0.671080 0.471077 2.219527 +v -0.596499 0.346860 3.139255 +f 183 187 189 +f 179 180 181 +f 180 179 182 +f 179 181 183 +f 178 182 184 +f 182 179 184 +f 179 183 184 +f 181 180 185 +f 180 182 185 +f 185 182 186 +f 182 178 186 +f 183 181 187 +f 181 185 188 +f 185 186 188 +f 186 178 188 +f 178 187 188 +f 187 181 188 +f 178 184 189 +f 184 183 189 +f 187 178 189 +o convex_15 +v -0.422484 -2.736240 -0.689449 +v -0.049549 -2.736240 0.329861 +v -0.074439 -2.711417 0.329861 +v -0.571667 -2.736240 0.329861 +v -0.521939 -2.661672 -0.813827 +v -0.049549 -2.785985 -0.391101 +v -0.049549 -2.661672 -0.813827 +v -0.571667 -2.661672 0.329861 +v -0.049549 -2.785985 0.329861 +v -0.223623 -2.785985 -0.415954 +f 198 193 199 +f 191 192 193 +f 190 193 194 +f 195 190 196 +f 192 191 196 +f 190 194 196 +f 191 195 196 +f 196 194 197 +f 193 192 197 +f 194 193 197 +f 192 196 197 +f 191 193 198 +f 195 191 198 +f 195 198 199 +f 193 190 199 +f 190 195 199 +o convex_16 +v 0.895229 -2.736258 -0.117669 +v -0.049471 -2.686563 -0.813827 +v -0.049471 -2.636819 -0.813827 +v 1.392492 -2.611946 -0.764082 +v 1.367509 -2.611946 -0.117669 +v 0.920071 -2.785985 -0.316649 +v -0.049471 -2.761113 -0.316649 +v 1.367509 -2.661674 -0.764082 +v 1.342667 -2.686547 -0.117669 +v -0.049471 -2.785985 -0.391266 +v 0.920071 -2.785985 -0.117669 +v -0.049471 -2.736223 -0.341521 +v 0.373124 -2.686563 -0.813827 +f 205 209 212 +f 203 202 204 +f 202 201 206 +f 200 204 206 +f 205 207 208 +f 204 200 208 +f 203 204 208 +f 207 203 208 +f 206 201 209 +f 206 209 210 +f 200 206 210 +f 205 208 210 +f 208 200 210 +f 209 205 210 +f 204 202 211 +f 202 206 211 +f 206 204 211 +f 201 202 212 +f 202 203 212 +f 203 207 212 +f 207 205 212 +f 209 201 212 +o convex_17 +v 0.273719 -1.095580 -0.764109 +v -0.472056 -2.661672 -0.813811 +v -0.049442 -2.661672 -0.813811 +v 0.745940 -0.797329 -0.838682 +v 0.745940 -2.636665 -0.764109 +v -0.472056 -0.796963 -0.739238 +v -0.447252 -0.796963 -0.788960 +v -0.447252 -2.164282 -0.764119 +v 0.571839 -2.636665 -0.813811 +v 0.745940 -1.667441 -0.764109 +v 0.373053 -0.797329 -0.838682 +v 0.745940 -1.244705 -0.838682 +v 0.745940 -0.797329 -0.813811 +v -0.472056 -2.661672 -0.788960 +v -0.472056 -2.114452 -0.813811 +f 219 223 227 +f 217 218 220 +f 217 215 221 +f 217 216 222 +f 213 218 222 +f 218 217 222 +f 219 216 223 +f 215 214 224 +f 216 217 224 +f 221 215 224 +f 217 221 224 +f 214 223 224 +f 223 216 224 +f 218 213 225 +f 216 219 225 +f 219 218 225 +f 213 222 225 +f 222 216 225 +f 214 215 226 +f 215 217 226 +f 218 214 226 +f 217 220 226 +f 220 218 226 +f 214 218 227 +f 218 219 227 +f 223 214 227 +o convex_18 +v -0.646246 -1.468599 0.454306 +v -0.546805 -2.611571 1.249784 +v -0.546805 -2.014904 1.224841 +v -0.695981 -0.871931 1.175135 +v -0.571687 -0.797540 0.329861 +v -0.571687 -2.735749 0.329861 +v -0.546805 -0.797540 1.150282 +v -0.621393 -2.661165 1.224841 +v -0.546805 -2.735749 0.329861 +v -0.621393 -0.797540 0.329861 +v -0.596540 -2.462404 0.329861 +v -0.695981 -0.797540 1.075722 +v -0.546805 -2.761123 1.249784 +f 236 229 240 +f 229 230 231 +f 230 229 234 +f 231 230 234 +f 229 231 235 +f 233 232 236 +f 234 229 236 +f 232 234 236 +f 232 233 237 +f 234 232 237 +f 235 228 238 +f 233 235 238 +f 228 237 238 +f 237 233 238 +f 231 234 239 +f 235 231 239 +f 228 235 239 +f 237 228 239 +f 234 237 239 +f 229 235 240 +f 235 233 240 +f 233 236 240 +o convex_19 +v 0.795678 1.415823 -0.813912 +v -0.695981 1.316385 -1.435250 +v -0.695981 1.241784 -0.739375 +v 0.969825 1.316385 -1.435250 +v -0.521672 1.415823 -0.689513 +v 0.969825 1.291512 -0.838806 +v -0.695981 1.341223 -1.435250 +v 0.969825 1.341223 -1.435250 +v -0.496887 1.241784 -0.689513 +v 0.969825 1.415823 -0.863628 +v 0.969825 1.291512 -1.161849 +f 246 249 251 +f 243 242 244 +f 242 243 247 +f 244 242 247 +f 243 245 247 +f 246 244 248 +f 244 247 248 +f 241 245 249 +f 245 243 249 +f 246 241 249 +f 245 241 250 +f 241 246 250 +f 247 245 250 +f 246 248 250 +f 248 247 250 +f 243 244 251 +f 244 246 251 +f 249 243 251 +o convex_20 +v 0.721129 -2.736260 1.224753 +v -0.546805 -2.736260 0.329861 +v -0.546805 -2.711397 0.329861 +v -0.546805 -2.761123 1.249694 +v 0.746060 -2.785985 0.653189 +v 0.746060 -2.686534 1.249694 +v -0.546805 -2.686534 1.249694 +v 0.746060 -2.711397 0.653189 +v -0.074383 -2.785985 0.329861 +v -0.074383 -2.711397 0.329861 +f 260 254 261 +f 254 253 255 +f 252 255 256 +f 255 252 257 +f 252 256 257 +f 254 255 258 +f 257 254 258 +f 255 257 258 +f 257 256 259 +f 253 254 260 +f 255 253 260 +f 256 255 260 +f 259 256 260 +f 259 260 261 +f 254 257 261 +f 257 259 261 +o convex_21 +v 0.174479 -0.722443 1.150355 +v -0.546805 -2.686534 1.224887 +v -0.546805 -2.686534 1.249784 +v 0.745921 -2.686534 1.224887 +v 1.317728 -0.697522 1.200051 +v -0.471975 -0.772091 1.200051 +v -0.546805 -0.871775 1.125470 +v 1.317728 -0.797012 1.150355 +v 0.745921 -2.363145 1.249784 +v -0.471975 -2.636497 1.200051 +v 0.745921 -2.387676 1.200051 +v 0.745921 -2.686534 1.249784 +f 266 270 273 +f 264 263 265 +f 266 262 267 +f 267 262 268 +f 263 264 268 +f 264 267 268 +f 262 266 269 +f 268 262 269 +f 267 264 270 +f 266 267 270 +f 265 263 271 +f 263 268 271 +f 269 265 272 +f 268 269 272 +f 265 271 272 +f 271 268 272 +f 264 265 273 +f 265 269 273 +f 269 266 273 +f 270 264 273 +o convex_22 +v 0.745972 1.415823 1.199993 +v -0.521942 1.341223 0.926665 +v -0.521942 1.415823 0.926665 +v -0.521942 1.241784 1.423823 +v 0.969825 1.241784 1.150398 +v -0.496972 1.241784 0.926665 +v -0.521942 1.415823 1.249733 +v 0.969825 1.291512 1.423823 +v 0.969825 1.415823 1.150398 +v -0.521942 1.341223 1.423823 +v 0.969825 1.241784 1.423823 +f 278 281 284 +f 276 275 277 +f 275 276 279 +f 277 275 279 +f 278 277 279 +f 274 276 280 +f 276 277 280 +f 281 278 282 +f 276 274 282 +f 279 276 282 +f 278 279 282 +f 274 281 282 +f 274 280 283 +f 280 277 283 +f 277 281 283 +f 281 274 283 +f 277 278 284 +f 281 277 284 +o convex_23 +v 1.442217 -0.996306 0.801971 +v 1.367629 -2.636809 -0.117659 +v 1.342766 -2.338061 -0.764101 +v 1.367629 -2.387942 1.125470 +v 1.342766 -0.797141 -0.316493 +v 1.392492 -2.611598 -0.764101 +v 1.367629 -0.797141 -0.764101 +v 1.417335 -2.412793 1.125470 +v 1.417335 -0.797501 1.125470 +v 1.367629 -2.636809 1.125470 +v 1.392502 -0.797501 0.901666 +v 1.392492 -0.797141 -0.366248 +v 1.442217 -0.797501 1.125470 +v 1.342766 -0.797141 -0.764101 +v 1.392502 -2.636809 1.125470 +v 1.392492 -2.238658 -0.764101 +f 291 296 300 +f 286 287 290 +f 290 287 291 +f 290 285 292 +f 288 292 293 +f 287 286 294 +f 288 289 294 +f 289 287 294 +f 292 288 294 +f 289 288 295 +f 288 293 295 +f 293 289 295 +f 291 289 296 +f 292 285 297 +f 289 293 297 +f 293 292 297 +f 285 296 297 +f 296 289 297 +f 287 289 298 +f 289 291 298 +f 291 287 298 +f 286 290 299 +f 290 292 299 +f 294 286 299 +f 292 294 299 +f 285 290 300 +f 290 291 300 +f 296 285 300 +o convex_24 +v 0.895266 -2.736236 -0.117669 +v 1.392492 -2.636809 1.125470 +v 1.367624 -2.636809 1.125470 +v 0.870398 -2.785985 0.677911 +v 0.746060 -2.711397 1.125470 +v 1.392492 -2.636809 -0.117669 +v 1.392492 -2.711397 1.125470 +v 0.920196 -2.785985 -0.117669 +v 1.367624 -2.686559 0.006694 +v 0.820726 -2.686559 1.100524 +v 0.746060 -2.711397 0.652965 +v 1.317826 -2.636809 -0.117669 +v 0.746060 -2.785985 0.652965 +f 311 301 313 +f 302 303 305 +f 303 302 306 +f 305 304 307 +f 302 305 307 +f 306 302 307 +f 301 306 308 +f 307 304 308 +f 306 307 309 +f 308 306 309 +f 307 308 309 +f 305 303 310 +f 305 310 311 +f 303 306 312 +f 306 301 312 +f 310 303 312 +f 311 310 312 +f 301 311 312 +f 304 305 313 +f 301 308 313 +f 308 304 313 +f 305 311 313 +o convex_25 +v 1.467080 0.247293 3.064766 +v 1.417355 -0.672650 1.125849 +v 1.392492 -0.274738 1.125849 +v 1.417374 1.192059 1.473738 +v 1.392492 1.167052 3.064577 +v 1.491943 -0.672650 3.064766 +v 1.491943 -0.647643 2.368229 +v 1.467080 -0.672650 3.064766 +v 1.442208 1.192059 3.064577 +v 1.442217 -0.175443 1.125849 +v 1.392492 1.192059 1.473738 +v 1.491943 -0.075965 3.014661 +v 1.417355 -0.672650 1.672830 +v 1.442217 -0.672650 1.125849 +v 1.392492 0.247293 1.125849 +f 324 317 328 +f 314 318 321 +f 315 319 321 +f 319 314 321 +f 318 314 322 +f 314 319 322 +f 315 316 323 +f 317 320 323 +f 316 318 324 +f 318 322 324 +f 322 317 324 +f 319 320 325 +f 320 317 325 +f 317 322 325 +f 322 319 325 +f 316 315 326 +f 318 316 326 +f 315 321 326 +f 321 318 326 +f 319 315 327 +f 320 319 327 +f 315 323 327 +f 323 320 327 +f 323 316 328 +f 317 323 328 +f 316 324 328 +o convex_26 +v -2.336754 -0.772023 -2.927162 +v -0.695981 -0.200257 -2.852574 +v -0.695981 -0.772023 -2.827711 +v -2.660141 -0.200257 -2.827711 +v -2.660141 -0.747141 -2.827711 +v -0.695981 -0.225198 -2.902300 +v -2.660141 -0.200257 -2.902300 +v -0.695981 -0.796964 -2.927162 +v -0.695981 -0.597964 -2.927162 +v -2.660141 -0.747141 -2.902300 +f 333 335 338 +f 331 330 332 +f 331 332 333 +f 330 331 334 +f 332 330 335 +f 333 332 335 +f 330 334 335 +f 333 329 336 +f 331 333 336 +f 334 331 336 +f 334 336 337 +f 329 335 337 +f 335 334 337 +f 336 329 337 +f 329 333 338 +f 335 329 338 +o convex_27 +v -1.317760 1.266503 -0.764084 +v -2.610415 -0.722213 -0.788957 +v -2.386477 -0.746957 -0.788957 +v -2.610415 -0.722213 -0.714375 +v -0.695981 -0.772101 -0.739248 +v -0.695981 1.266503 -0.714375 +v -0.695981 -0.746957 -0.788957 +v -0.994690 1.266503 -0.788957 +v -2.585491 0.048649 -0.788957 +v -1.218253 -0.299566 -0.714375 +v -2.610415 -0.523262 -0.714375 +v -0.695981 1.266503 -0.764084 +v -2.585491 0.048649 -0.764084 +v -0.695981 0.247401 -0.714375 +v -1.665191 -0.746957 -0.714375 +f 343 348 353 +f 340 341 342 +f 344 343 345 +f 341 340 345 +f 343 341 345 +f 339 344 346 +f 345 340 346 +f 346 340 347 +f 339 346 347 +f 344 342 348 +f 340 342 349 +f 344 339 349 +f 342 344 349 +f 347 340 349 +f 344 345 350 +f 346 344 350 +f 345 346 350 +f 339 347 351 +f 349 339 351 +f 347 349 351 +f 343 344 352 +f 348 343 352 +f 344 348 352 +f 342 341 353 +f 341 343 353 +f 348 342 353 +o convex_28 +v -2.585552 1.390961 -0.888592 +v -2.660141 -0.200257 -2.902300 +v -2.685003 -0.150259 -2.902300 +v -2.610415 -0.199945 -0.764279 +v -2.585552 -0.200257 -2.902300 +v -2.685003 1.291276 -2.902300 +v -2.585552 1.291276 -2.902300 +v -2.660141 1.366040 -1.336245 +v -2.585552 -0.199945 -0.764279 +v -2.635278 0.471213 -0.814088 +v -2.635278 1.366040 -0.888592 +v -2.685003 1.316353 -2.354819 +v -2.635278 -0.199945 -1.212141 +f 357 363 366 +f 355 356 358 +f 357 355 358 +f 358 356 359 +f 358 359 360 +f 354 358 360 +f 359 354 360 +f 354 359 361 +f 358 354 362 +f 357 358 362 +f 361 356 363 +f 362 354 363 +f 357 362 363 +f 354 361 364 +f 361 363 364 +f 363 354 364 +f 359 356 365 +f 356 361 365 +f 361 359 365 +f 356 355 366 +f 355 357 366 +f 363 356 366 +o convex_29 +v 0.024969 -0.722382 -2.852523 +v -0.695981 -0.796963 -2.927123 +v -0.695981 -0.722382 -2.927123 +v -0.695981 -0.796963 -2.529397 +v -0.521866 -0.747248 -2.529397 +v -0.223606 -0.772091 -2.529397 +f 371 370 372 +f 367 368 369 +f 369 368 370 +f 367 369 371 +f 369 370 371 +f 368 367 372 +f 370 368 372 +f 367 371 372 +o convex_30 +v 0.025331 -0.722375 -2.827711 +v 1.491943 0.943431 -2.753162 +v 1.491943 0.744499 -2.753162 +v -0.447334 0.943431 -2.753162 +v -0.596394 -0.573014 -2.927162 +v 1.342455 -0.622746 -2.728260 +v -0.621237 0.868750 -2.827692 +v 1.491943 0.943431 -2.778025 +v 1.143280 -0.647694 -2.777986 +v -0.695981 -0.622746 -2.877437 +v 0.174391 0.495998 -2.728260 +v -0.496807 -0.722375 -2.927162 +v 1.417199 0.073350 -2.777986 +v 1.118651 -0.647694 -2.728260 +v -0.695981 0.943431 -2.802829 +v 1.417199 0.098135 -2.728260 +v -0.695981 0.843802 -2.778025 +v -0.695981 -0.722375 -2.927162 +f 382 387 390 +f 377 379 380 +f 374 375 380 +f 376 374 380 +f 374 376 383 +f 377 380 384 +f 381 373 384 +f 375 378 385 +f 380 375 385 +f 378 381 385 +f 384 380 385 +f 381 384 385 +f 381 378 386 +f 373 381 386 +f 382 373 386 +f 378 383 386 +f 383 382 386 +f 380 379 387 +f 376 380 387 +f 375 374 388 +f 378 375 388 +f 374 383 388 +f 383 378 388 +f 383 376 389 +f 382 383 389 +f 376 387 389 +f 387 382 389 +f 379 377 390 +f 373 382 390 +f 377 384 390 +f 384 373 390 +f 387 379 390 +o convex_31 +v -0.571648 1.838792 -0.291864 +v -0.596513 3.230806 0.106096 +v -0.472216 3.230806 -0.739228 +v -0.621364 3.230806 -0.739228 +v -0.472216 1.416001 -0.739228 +v -0.497096 1.416001 0.106096 +v -0.546797 1.440871 -0.739228 +v -0.621364 2.807837 0.106096 +v -0.546797 1.540351 0.106096 +v -0.621364 3.006798 -0.739228 +v -0.497096 1.565221 0.106096 +f 392 396 401 +f 392 393 394 +f 394 393 395 +f 395 393 396 +f 394 395 397 +f 395 396 397 +f 392 394 398 +f 396 392 398 +f 391 397 399 +f 397 396 399 +f 396 398 399 +f 398 391 399 +f 397 391 400 +f 394 397 400 +f 398 394 400 +f 391 398 400 +f 393 392 401 +f 396 393 401 +o convex_32 +v 1.143830 1.863662 -0.888381 +v -0.472216 1.416001 -0.739263 +v -0.397526 1.590091 -0.764116 +v 0.920080 3.230806 -0.788986 +v -0.472216 3.230806 -0.764116 +v -0.347893 1.416001 -0.714375 +v 1.068979 1.416001 -0.838675 +v 1.168727 3.230806 -0.838675 +v -0.472216 2.609054 -0.714375 +v 1.044403 1.416001 -0.888381 +v 1.168727 2.758274 -0.813805 +v 0.870125 3.230806 -0.838675 +v -0.049452 3.230806 -0.739263 +v -0.223569 2.932187 -0.788986 +f 406 413 415 +f 404 403 406 +f 407 403 408 +f 406 405 409 +f 406 403 410 +f 403 407 410 +f 403 404 411 +f 402 408 411 +f 408 403 411 +f 405 407 412 +f 407 408 412 +f 408 402 412 +f 402 409 412 +f 409 405 412 +f 409 402 413 +f 406 409 413 +f 405 406 414 +f 407 405 414 +f 406 410 414 +f 410 407 414 +f 404 406 415 +f 411 404 415 +f 402 411 415 +f 413 402 415 +o convex_33 +v 1.417342 -0.796963 1.125849 +v 1.491943 -0.672674 3.064766 +v 1.491943 -0.697532 3.064766 +v 1.317904 -0.697532 3.064766 +v 1.392504 -0.672674 1.150525 +v 1.317904 -0.796963 1.175390 +v 1.317904 -0.697532 1.150525 +v 1.467053 -0.672674 1.598099 +v 1.417342 -0.722390 3.064766 +f 419 421 424 +f 418 417 419 +f 419 417 420 +f 420 416 422 +f 419 420 422 +f 416 421 422 +f 421 419 422 +f 418 416 423 +f 417 418 423 +f 416 420 423 +f 420 417 423 +f 416 418 424 +f 418 419 424 +f 421 416 424 +o convex_34 +v 1.442171 3.230806 -0.788964 +v 1.168727 1.416001 -0.888415 +v 1.367590 1.416001 -0.888415 +v 1.367590 1.416001 -0.788964 +v 1.168727 3.230806 -0.838689 +v 1.467051 3.230806 -0.863552 +v 1.168727 2.807837 -0.813827 +f 429 426 431 +f 426 427 428 +f 426 429 430 +f 427 426 430 +f 428 427 430 +f 425 428 430 +f 429 425 430 +f 426 428 431 +f 428 425 431 +f 425 429 431 +o convex_35 +v 1.342766 1.689572 -0.788876 +v 1.417347 3.230806 0.106009 +v 1.392499 3.230806 0.106009 +v 1.367651 1.416001 0.106009 +v 1.467080 2.882447 -0.788876 +v 1.442195 3.230806 -0.788876 +v 1.342766 2.658794 0.081131 +v 1.392499 1.639832 -0.788876 +v 1.467080 3.205758 -0.465645 +v 1.342766 1.416001 0.106009 +v 1.342766 1.416001 -0.788876 +v 1.417347 3.230806 -0.515400 +f 432 438 443 +f 433 434 435 +f 434 433 437 +f 436 432 437 +f 432 436 439 +f 436 435 439 +f 433 435 440 +f 435 436 440 +f 437 433 440 +f 436 437 440 +f 435 434 441 +f 434 438 441 +f 438 432 441 +f 432 439 442 +f 439 435 442 +f 435 441 442 +f 441 432 442 +f 437 432 443 +f 434 437 443 +f 438 434 443 +o convex_36 +v -0.546824 1.540437 0.106096 +v -0.621376 3.255489 1.150333 +v -0.646227 3.255489 1.150333 +v -0.497079 1.416004 1.150333 +v -0.596511 3.255489 0.106096 +v -0.497079 1.565287 0.106096 +v -0.497079 1.764092 1.150333 +v -0.621376 2.782967 0.106096 +v -0.546824 1.714391 1.150333 +v -0.646227 3.106205 1.125392 +v -0.596511 3.155906 1.150333 +v -0.646227 3.255489 0.429405 +f 453 446 455 +f 445 446 447 +f 446 445 448 +f 447 444 449 +f 444 448 449 +f 449 448 450 +f 445 447 450 +f 447 449 450 +f 448 444 451 +f 447 446 452 +f 444 447 452 +f 451 444 453 +f 444 452 453 +f 452 446 453 +f 448 445 454 +f 450 448 454 +f 445 450 454 +f 446 448 455 +f 448 451 455 +f 451 453 455 +o convex_37 +v -0.173880 1.639839 1.249784 +v -0.646256 3.131056 1.150333 +v -0.646256 3.131056 1.175195 +v 0.074694 3.255489 1.175195 +v -0.497055 1.416004 1.150333 +v 0.074694 1.416004 1.200058 +v -0.521827 1.416004 1.249784 +v 0.074694 2.658714 1.224921 +v -0.074436 3.255489 1.150333 +v -0.149037 3.255489 1.200058 +v 0.074694 1.416004 1.224921 +v -0.621271 2.857699 1.200058 +f 462 465 467 +f 460 461 462 +f 458 457 462 +f 457 460 462 +f 461 459 463 +f 462 456 463 +f 460 457 464 +f 459 461 464 +f 461 460 464 +f 457 458 465 +f 463 459 465 +f 462 463 465 +f 464 457 465 +f 459 464 465 +f 462 461 466 +f 456 462 466 +f 463 456 466 +f 461 463 466 +f 458 462 467 +f 465 458 467 +o convex_38 +v 0.944816 3.205943 0.429500 +v 0.074765 3.305394 0.106206 +v 0.074765 3.330238 0.106206 +v 0.074765 3.330277 1.199951 +v 1.367629 3.404845 1.125370 +v 1.317894 3.330238 0.106206 +v 1.342698 3.280532 1.224812 +v 0.074765 3.280532 1.199951 +v 1.094022 3.230845 0.106206 +v 0.671588 3.205943 0.603522 +v 0.074765 3.255688 0.504081 +v 0.199166 3.355081 1.199951 +v 1.218297 3.404845 1.224812 +v 1.292836 3.355081 0.329949 +f 472 473 481 +f 470 469 471 +f 469 470 473 +f 473 472 474 +f 471 469 475 +f 469 473 476 +f 474 468 476 +f 473 474 476 +f 468 474 477 +f 474 475 477 +f 475 469 478 +f 469 476 478 +f 476 468 478 +f 468 477 478 +f 477 475 478 +f 470 471 479 +f 472 470 480 +f 474 472 480 +f 471 475 480 +f 475 474 480 +f 470 479 480 +f 479 471 480 +f 470 472 481 +f 473 470 481 +o convex_39 +v 1.317904 2.832688 0.652902 +v 1.367629 3.404456 1.125470 +v 1.392492 3.379732 0.777230 +v 1.392492 1.415824 1.125470 +v 1.392492 1.415824 0.106096 +v 1.417355 3.354814 0.106096 +v 1.317904 3.329895 0.106096 +v 1.342766 1.415824 0.106096 +v 1.317904 3.131129 1.125470 +v 1.367629 1.415824 1.125470 +v 1.317904 3.404456 1.125470 +v 1.417355 3.329895 0.379699 +v 1.392492 2.137105 1.125470 +f 485 493 494 +f 483 484 487 +f 487 486 488 +f 482 488 489 +f 486 485 489 +f 488 486 489 +f 485 483 490 +f 488 482 490 +f 482 489 490 +f 490 489 491 +f 489 485 491 +f 485 490 491 +f 483 487 492 +f 487 488 492 +f 490 483 492 +f 488 490 492 +f 485 486 493 +f 487 484 493 +f 486 487 493 +f 484 483 494 +f 483 485 494 +f 493 484 494 +o convex_40 +v 0.919885 2.410140 1.224921 +v 0.074765 1.416188 1.200058 +v 0.174342 1.416188 1.175195 +v 0.074765 3.280531 1.175195 +v 1.392492 1.416188 1.125470 +v 1.342703 3.280531 1.125470 +v 1.367597 3.230524 1.224921 +v 0.074765 2.683540 1.224921 +v 1.342703 1.465831 1.175195 +v 0.199108 1.416188 1.224921 +v 0.795542 3.280531 1.224921 +v 1.268149 1.416188 1.125470 +v 0.074765 3.280531 1.200058 +f 502 505 507 +f 497 496 498 +f 496 497 499 +f 499 500 501 +f 498 496 502 +f 495 501 502 +f 499 501 503 +f 501 495 503 +f 496 499 504 +f 502 496 504 +f 495 502 504 +f 503 495 504 +f 499 503 504 +f 500 498 505 +f 501 500 505 +f 502 501 505 +f 497 498 506 +f 499 497 506 +f 498 500 506 +f 500 499 506 +f 498 502 507 +f 505 498 507 +o convex_41 +v -0.472224 0.595573 0.652790 +v -0.521927 0.247273 -0.689371 +v -0.521935 1.241730 -0.689213 +v -0.546783 0.247273 0.752273 +v -0.521935 1.415823 0.926409 +v -0.472224 0.247273 -0.589730 +v -0.472216 1.366066 0.926409 +v -0.497079 1.415823 -0.689213 +v -0.472224 0.247273 0.329665 +v -0.521935 1.415823 -0.689213 +v -0.546783 0.495945 0.727442 +f 512 517 518 +f 511 509 513 +f 511 508 514 +f 512 511 514 +f 514 513 515 +f 513 509 515 +f 512 514 515 +f 508 511 516 +f 511 513 516 +f 514 508 516 +f 513 514 516 +f 509 510 517 +f 515 509 517 +f 512 515 517 +f 510 509 518 +f 509 511 518 +f 511 512 518 +f 517 510 518 +o convex_42 +v -0.571648 -2.338414 -0.465660 +v -0.571648 -0.796963 0.329861 +v -0.546797 -0.796963 0.105960 +v -0.546797 -2.661672 0.329861 +v -0.472216 -2.661672 -0.813827 +v -0.472216 -0.796963 -0.763897 +v -0.621364 -0.896441 0.304896 +v -0.521961 -1.443478 -0.788862 +v -0.621364 -1.890855 0.329861 +v -0.546797 -2.661672 -0.763897 +v -0.472216 -0.796963 -0.614890 +v -0.521961 -0.796963 -0.664596 +v -0.596513 -2.462716 0.329861 +f 527 528 531 +f 521 520 522 +f 520 521 524 +f 524 523 526 +f 519 525 526 +f 522 520 527 +f 520 525 527 +f 525 519 527 +f 523 522 528 +f 519 526 528 +f 526 523 528 +f 527 519 528 +f 521 522 529 +f 522 523 529 +f 524 521 529 +f 523 524 529 +f 520 524 530 +f 525 520 530 +f 524 526 530 +f 526 525 530 +f 522 527 531 +f 528 522 531 +o convex_43 +v -0.546785 1.241784 1.498636 +v -0.372792 1.316372 3.164028 +v -0.571626 1.316372 3.188908 +v -0.521918 1.341235 1.423823 +v -0.646229 1.241784 3.188908 +v -0.372792 1.241784 3.139148 +v -0.372792 1.316372 1.423823 +v -0.596494 1.341235 2.244512 +v -0.372792 1.341235 2.641897 +f 535 539 540 +f 533 534 536 +f 536 532 537 +f 533 536 537 +f 532 535 538 +f 533 537 538 +f 537 532 538 +f 535 532 539 +f 532 536 539 +f 536 534 539 +f 534 533 540 +f 533 538 540 +f 538 535 540 +f 539 534 540 +o convex_44 +v -2.560689 -0.697498 -0.788964 +v -2.660141 -0.747238 -2.827711 +v -2.585552 -0.747238 -2.827711 +v -2.660141 -0.200257 -2.827711 +v -2.585562 -0.200257 -0.788964 +v -2.635278 -0.747238 -1.385860 +v -2.660141 -0.200257 -2.056994 +v -2.635268 -0.200257 -2.827711 +v -2.610415 -0.200257 -0.788964 +v -2.560689 -0.722341 -2.032049 +v -2.610415 -0.722341 -0.788964 +v -2.585562 -0.200257 -1.261731 +f 550 548 552 +f 543 542 544 +f 542 543 546 +f 542 546 547 +f 544 542 547 +f 545 544 547 +f 543 544 548 +f 544 545 548 +f 541 545 549 +f 547 546 549 +f 545 547 549 +f 541 546 550 +f 546 543 550 +f 543 548 550 +f 546 541 551 +f 541 549 551 +f 549 546 551 +f 545 541 552 +f 548 545 552 +f 541 550 552 +o convex_45 +v -2.162729 -0.722385 -2.628746 +v -0.695981 -0.747228 -0.788964 +v -1.442118 -0.722395 -0.788964 +v -2.560582 -0.747228 -1.112457 +v -0.695981 -0.796963 -2.827711 +v -0.745736 -0.747238 -2.752875 +v -2.386533 -0.772091 -2.827711 +v -1.466902 -0.772101 -0.788964 +v -2.560582 -0.697512 -0.788964 +v -2.585552 -0.722385 -2.827711 +v -0.695981 -0.796963 -2.106686 +v -2.361563 -0.697512 -0.963183 +v -0.695981 -0.772101 -0.788964 +v -2.386533 -0.747228 -0.788964 +f 560 561 566 +f 554 557 558 +f 555 554 558 +f 554 555 560 +f 556 559 560 +f 560 555 561 +f 558 557 562 +f 553 558 562 +f 559 556 562 +f 557 559 562 +f 556 561 562 +f 557 554 563 +f 559 557 563 +f 560 559 563 +f 558 553 564 +f 555 558 564 +f 561 555 564 +f 553 562 564 +f 562 561 564 +f 554 560 565 +f 563 554 565 +f 560 563 565 +f 556 560 566 +f 561 556 566 +o convex_46 +v 0.920016 1.341235 2.443002 +v -0.372765 1.316360 1.423938 +v -0.372765 1.341235 1.423938 +v -0.372765 1.316360 2.592374 +v 0.969825 1.266647 1.423938 +v 0.969825 1.291522 2.567326 +v -0.372765 1.341235 2.592374 +v 0.497369 1.266647 1.448871 +v 0.546914 1.316360 1.423938 +v 0.944855 1.266647 1.995803 +v 0.969825 1.341235 2.592374 +v 0.969825 1.291522 1.423938 +v 0.074852 1.341235 1.423938 +f 575 569 579 +f 569 568 570 +f 568 569 571 +f 567 569 573 +f 569 570 573 +f 570 568 574 +f 568 571 574 +f 571 569 575 +f 572 570 576 +f 571 572 576 +f 570 574 576 +f 574 571 576 +f 570 572 577 +f 572 571 577 +f 567 573 577 +f 573 570 577 +f 575 567 578 +f 571 575 578 +f 567 577 578 +f 577 571 578 +f 569 567 579 +f 567 575 579 +o convex_47 +v -0.695959 -0.622822 1.349235 +v -0.497118 -0.647699 -0.565199 +v -0.472238 -0.647699 -0.565199 +v -0.497118 0.247185 -0.565199 +v -0.571692 0.247185 1.324311 +v -0.472238 0.247185 0.305254 +v -0.646222 -0.647699 1.349235 +v -0.621364 0.247185 1.274464 +v -0.521976 -0.647699 -0.540275 +v -0.695959 -0.622822 1.224804 +v -0.472238 0.247185 -0.565199 +v -0.472238 -0.448768 -0.291601 +f 585 586 591 +f 582 581 583 +f 583 584 585 +f 581 582 586 +f 584 580 586 +f 585 584 586 +f 580 584 587 +f 584 583 587 +f 583 581 588 +f 581 586 588 +f 588 586 589 +f 586 580 589 +f 580 587 589 +f 587 583 589 +f 583 588 589 +f 582 583 590 +f 585 582 590 +f 583 585 590 +f 582 585 591 +f 586 582 591 +o convex_48 +v -2.336778 -0.200257 -2.902300 +v -0.695981 1.266503 -2.753123 +v -0.695981 1.266503 -2.777991 +v -2.585552 1.266503 -2.852550 +v -0.695981 0.148056 -2.877432 +v -2.361563 -0.200257 -2.852550 +v -2.560582 1.216683 -2.902300 +v -0.695981 -0.200257 -2.852550 +v -0.695981 1.216683 -2.802873 +v -0.870030 1.191844 -2.753123 +v -2.585552 -0.200257 -2.902300 +v -1.814631 -0.001119 -2.827711 +v -0.695981 -0.200257 -2.877432 +f 596 599 604 +f 593 594 595 +f 594 593 596 +f 595 594 598 +f 596 592 598 +f 596 593 599 +f 597 592 599 +f 594 596 600 +f 598 594 600 +f 596 598 600 +f 593 595 601 +f 595 597 601 +f 599 593 601 +f 597 595 602 +f 592 597 602 +f 595 598 602 +f 598 592 602 +f 597 599 603 +f 601 597 603 +f 599 601 603 +f 592 596 604 +f 599 592 604 +o convex_49 +v -1.441933 1.415823 -2.032210 +v -2.585552 1.266647 -2.877437 +v -2.585552 1.266647 -2.753074 +v -0.695981 1.266647 -2.753074 +v -2.585552 1.316397 -1.709135 +v -0.695981 1.341235 -1.634298 +v -0.695981 1.415823 -2.777898 +v -2.535613 1.316397 -2.877437 +v -2.585552 1.366088 -1.634298 +v -1.218314 1.390927 -1.634298 +v -0.695981 1.390927 -2.007386 +v -2.212299 1.390927 -1.684067 +v -0.944755 1.415823 -2.678481 +v -0.845246 1.266647 -2.802844 +f 612 611 618 +f 607 606 608 +f 606 607 609 +f 607 608 609 +f 609 608 610 +f 610 608 611 +f 606 609 613 +f 609 610 613 +f 612 606 613 +f 613 610 614 +f 611 605 615 +f 610 611 615 +f 605 614 615 +f 614 610 615 +f 612 613 616 +f 614 605 616 +f 613 614 616 +f 605 611 617 +f 611 612 617 +f 616 605 617 +f 612 616 617 +f 608 606 618 +f 611 608 618 +f 606 612 618 +o convex_50 +v 1.367551 1.241784 1.100607 +v 1.417311 1.341223 3.114295 +v 1.317835 1.341223 3.114295 +v 1.392431 1.415823 1.100607 +v 0.969868 1.415823 1.150674 +v 0.969868 1.241784 3.114295 +v 0.969868 1.241784 1.150674 +v 1.417311 1.241784 3.114295 +v 0.969868 1.341223 3.014754 +v 1.417311 1.241784 1.399231 +f 626 619 628 +f 622 619 623 +f 621 620 623 +f 620 622 623 +f 620 621 624 +f 624 623 625 +f 623 619 625 +f 619 624 625 +f 620 624 626 +f 624 619 626 +f 621 623 627 +f 624 621 627 +f 623 624 627 +f 622 620 628 +f 619 622 628 +f 620 626 628 +o convex_51 +v -0.695959 -0.772069 1.249536 +v -0.447378 -0.747204 -0.739267 +v -0.447378 -0.796963 -0.739267 +v -0.695911 -0.772069 -2.529358 +v -0.472248 -0.647801 3.189080 +v -0.695911 -0.647801 -0.763896 +v -0.472248 -0.647801 -0.763896 +v -0.472248 -0.772069 2.815725 +v -0.447378 -0.747204 -2.529358 +v -0.695959 -0.647801 1.324543 +v -0.671065 -0.796963 1.473437 +v -0.695911 -0.796963 -2.529358 +v -0.521989 -0.747204 3.014437 +v -0.497119 -0.796963 -2.529358 +v -0.472248 -0.796963 1.498626 +f 636 639 643 +f 631 630 633 +f 633 630 635 +f 634 633 635 +f 631 633 636 +f 630 631 637 +f 632 634 637 +f 635 630 637 +f 634 635 637 +f 632 629 638 +f 633 634 638 +f 634 632 638 +f 629 632 640 +f 632 637 640 +f 631 639 640 +f 639 629 640 +f 636 633 641 +f 638 629 641 +f 633 638 641 +f 629 639 641 +f 639 636 641 +f 637 631 642 +f 631 640 642 +f 640 637 642 +f 631 636 643 +f 639 631 643 +o convex_52 +v 1.442217 -0.249866 1.125431 +v 1.317904 -0.796963 -0.888045 +v 1.367636 -0.796963 -0.888045 +v 1.367648 1.192059 -0.888278 +v 1.367648 1.192059 1.348787 +v 1.392485 -0.796963 0.901374 +v 1.417345 1.192059 1.473549 +v 1.342776 1.192059 -0.888278 +v 1.442217 -0.796963 0.876609 +v 1.392472 0.247195 1.473549 +v 1.342776 1.192059 -0.042749 +v 1.392472 1.192059 -0.067749 +v 1.442217 -0.796963 1.125431 +f 650 653 656 +f 646 645 647 +f 645 646 649 +f 647 648 650 +f 647 645 651 +f 648 647 651 +f 646 647 652 +f 649 646 652 +f 648 645 653 +f 645 649 653 +f 650 648 653 +f 645 648 654 +f 651 645 654 +f 648 651 654 +f 650 644 655 +f 647 650 655 +f 652 647 655 +f 644 652 655 +f 644 650 656 +f 652 644 656 +f 649 652 656 +f 653 649 656 +o convex_53 +v -0.472041 -0.796954 1.200438 +v 1.317728 -0.697522 3.139355 +v 0.298632 -0.697522 3.139355 +v 1.317728 -0.697522 1.200438 +v -0.422286 -0.747243 1.200438 +v -0.472041 -0.747243 3.139355 +v 1.317728 -0.722392 3.139355 +v 1.317728 -0.722392 1.200438 +v -0.447164 -0.772084 2.766187 +v -0.472041 -0.722392 2.716456 +v 0.795654 -0.697522 1.200438 +v -0.397409 -0.796954 1.424035 +v 0.820531 -0.747243 1.200438 +f 668 657 669 +f 659 658 660 +f 660 657 661 +f 658 659 662 +f 660 658 663 +f 658 662 663 +f 660 663 664 +f 657 660 664 +f 662 657 665 +f 663 662 665 +f 661 657 666 +f 662 659 666 +f 657 662 666 +f 659 660 667 +f 660 661 667 +f 666 659 667 +f 661 666 667 +f 665 657 668 +f 663 665 668 +f 664 663 669 +f 657 664 669 +f 663 668 669 +o convex_54 +v 1.491520 0.943477 -2.777986 +v -0.471954 1.415777 -2.703398 +v 0.696144 1.341152 -2.703398 +v 1.441809 1.291449 -2.802849 +v -0.695762 0.943477 -2.802849 +v -0.695762 1.415777 -2.777986 +v -0.471954 0.943477 -2.753123 +v 1.516484 1.241745 -2.703398 +v 1.516484 0.993227 -2.802849 +v -0.695762 1.390902 -2.703398 +v -0.695762 1.241745 -2.802849 +v 1.491520 0.943477 -2.753123 +f 678 677 681 +f 671 672 673 +f 671 673 675 +f 674 670 676 +f 672 671 677 +f 673 672 677 +f 670 674 678 +f 674 673 678 +f 673 677 678 +f 671 675 679 +f 675 674 679 +f 674 676 679 +f 677 671 679 +f 676 677 679 +f 673 674 680 +f 674 675 680 +f 675 673 680 +f 676 670 681 +f 677 676 681 +f 670 678 681 +o convex_55 +v 1.417170 1.291512 -1.435396 +v -0.695981 1.390951 -2.703398 +v -0.695981 1.415823 -2.703398 +v 1.516806 1.241784 -2.703398 +v -0.695981 1.316385 -1.435396 +v 0.571779 1.366096 -1.609783 +v 1.491680 1.291512 -2.653626 +v -0.695981 1.366096 -1.510240 +v 1.367568 1.266657 -1.435396 +v -0.695981 1.366096 -2.578906 +v -0.447324 1.415823 -2.578906 +v 1.019492 1.341223 -1.435396 +v 1.442079 1.241784 -2.703398 +v -0.695981 1.316385 -1.560012 +v 1.392261 1.316385 -1.534940 +f 692 693 696 +f 683 684 685 +f 684 683 686 +f 685 684 688 +f 682 685 688 +f 684 686 689 +f 685 682 690 +f 682 686 690 +f 686 683 691 +f 688 684 692 +f 684 689 692 +f 689 687 692 +f 686 682 693 +f 689 686 693 +f 687 689 693 +f 692 687 693 +f 683 685 694 +f 685 690 694 +f 690 686 694 +f 691 683 694 +f 691 694 695 +f 686 691 695 +f 694 686 695 +f 682 688 696 +f 688 692 696 +f 693 682 696 +o convex_56 +v -0.447354 -0.796963 -0.789003 +v 1.317904 -0.672674 -0.863825 +v 1.143728 -0.672674 -0.838767 +v -0.447354 -0.747223 -2.529358 +v 1.317904 -0.796963 -0.888532 +v -0.447354 -0.747223 -0.764296 +v -0.198704 -0.772081 -2.529358 +v 1.044372 -0.672674 -1.236708 +v -0.024528 -0.722390 -2.305593 +v 1.218374 -0.796963 -0.838767 +v 0.994607 -0.672674 -0.838767 +v -0.447354 -0.772081 -2.529358 +f 703 701 708 +f 700 697 702 +f 701 703 704 +f 699 698 704 +f 698 701 704 +f 700 702 705 +f 703 700 705 +f 704 703 705 +f 698 699 706 +f 697 701 706 +f 701 698 706 +f 699 702 706 +f 702 697 706 +f 702 699 707 +f 699 704 707 +f 705 702 707 +f 704 705 707 +f 697 700 708 +f 701 697 708 +f 700 703 708 +o convex_57 +v 1.516806 -0.573169 3.189078 +v 1.317904 -0.722375 3.064766 +v 1.317904 -0.722375 3.238806 +v 1.317904 0.247273 3.139367 +v 1.467080 0.247273 3.064766 +v 1.467080 0.222405 3.189078 +v 1.491943 -0.697508 3.064766 +v 1.516806 -0.697508 3.238806 +f 710 715 716 +f 710 711 712 +f 710 712 713 +f 712 711 714 +f 709 713 714 +f 713 712 714 +f 713 709 715 +f 710 713 715 +f 711 710 716 +f 709 714 716 +f 714 711 716 +f 715 709 716 +o convex_58 +v -0.472075 0.247273 3.164208 +v 1.442024 1.241784 3.114499 +v 1.442024 1.067628 3.139347 +v 1.467080 0.247273 3.064766 +v -0.472075 1.241784 3.139347 +v 1.467080 0.247273 3.164208 +v -0.447209 0.769352 3.189080 +v 1.392293 1.241784 3.064766 +v 0.199302 1.241784 3.164208 +v -0.397478 0.247273 3.139347 +v 1.467080 0.645136 3.164208 +v -0.372422 0.247273 3.189080 +f 727 723 728 +f 717 720 722 +f 721 717 723 +f 718 720 724 +f 721 718 724 +f 719 718 725 +f 718 721 725 +f 721 723 725 +f 720 717 726 +f 717 721 726 +f 724 720 726 +f 721 724 726 +f 718 719 727 +f 720 718 727 +f 722 720 727 +f 719 725 727 +f 725 723 727 +f 717 722 728 +f 723 717 728 +f 722 727 728 +o convex_59 +v -2.585552 1.092384 -0.913278 +v -1.267825 1.266647 -0.788964 +v -1.267825 1.241699 -0.788964 +v -2.585552 0.321976 -0.788964 +v -2.560658 -0.001355 -0.813836 +v -2.461209 1.266647 -0.863545 +v -1.267825 1.241699 -0.813836 +v -1.640854 1.241699 -0.788964 +v -2.585552 1.266647 -0.913278 +v -2.585552 -0.001355 -0.788964 +f 733 731 738 +f 731 730 732 +f 730 731 735 +f 733 729 735 +f 731 733 735 +f 732 730 736 +f 730 734 736 +f 734 732 736 +f 729 732 737 +f 734 730 737 +f 732 734 737 +f 730 735 737 +f 735 729 737 +f 731 732 738 +f 732 729 738 +f 729 733 738 +o convex_60 +v 1.367607 1.192059 -0.888415 +v 1.442169 1.216921 3.064766 +v 1.442169 1.192059 3.064766 +v 1.193590 1.241784 1.150089 +v 1.367607 1.241784 -0.888415 +v 1.193590 1.216921 1.124937 +v 1.392453 1.241784 3.064766 +f 742 744 745 +f 739 740 741 +f 740 739 743 +f 739 741 744 +f 743 739 744 +f 742 743 744 +f 741 740 745 +f 743 742 745 +f 740 743 745 +f 744 741 745 +o convex_61 +v 0.969868 1.291512 -1.161837 +v 1.417311 1.316385 -1.335852 +v 1.417311 1.291512 -1.335852 +v 1.392431 1.241784 1.100607 +v 1.367551 1.415823 1.100607 +v 0.969868 1.415823 -0.838631 +v 1.367551 1.415823 -0.888279 +v 1.342715 1.241784 -0.888279 +v 0.969868 1.341223 -1.435396 +v 0.969868 1.291512 -0.838631 +v 1.417311 1.266674 -1.435396 +v 1.392431 1.415823 1.100607 +v 1.367551 1.241784 1.100607 +f 755 753 758 +f 748 747 749 +f 751 750 752 +f 746 751 754 +f 752 747 754 +f 751 752 754 +f 750 751 755 +f 751 746 755 +f 746 753 755 +f 747 748 756 +f 748 749 756 +f 753 746 756 +f 749 753 756 +f 746 754 756 +f 754 747 756 +f 749 747 757 +f 750 749 757 +f 747 752 757 +f 752 750 757 +f 749 750 758 +f 753 749 758 +f 750 755 758 +o convex_62 +v -0.720951 1.291532 -0.714376 +v -2.585552 1.341228 -1.634118 +v -2.585552 1.266647 -0.913360 +v -2.585552 1.390961 -0.888510 +v -0.695981 1.366076 -1.634118 +v -0.695981 1.316380 -1.534716 +v -2.237454 1.390961 -1.634118 +v -0.994510 1.341228 -0.764257 +v -0.695981 1.266647 -0.764257 +v -1.292853 1.390961 -1.584417 +v -0.695981 1.341228 -0.988002 +f 763 768 769 +f 760 761 762 +f 761 759 762 +f 760 763 764 +f 761 760 764 +f 760 762 765 +f 763 760 765 +f 762 759 766 +f 759 761 767 +f 764 763 767 +f 761 764 767 +f 765 762 768 +f 763 765 768 +f 762 766 768 +f 768 766 769 +f 766 759 769 +f 759 767 769 +f 767 763 769 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/444/444.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/444/444.urdf new file mode 100644 index 000000000..b2e257d74 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/444/444.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/445/445.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/445/445.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/445/445.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/445/445.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/445/445.obj new file mode 100644 index 000000000..2ffc1833e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/445/445.obj @@ -0,0 +1,624 @@ +o convex_0 +v -1.602285 1.762532 1.353962 +v -3.466048 -0.250456 0.757231 +v -3.428722 -0.250456 0.757231 +v -3.577831 1.799722 -0.621551 +v -1.602285 -0.175667 -0.696221 +v -3.503373 1.837117 1.428631 +v -1.602285 -0.212857 1.428631 +v -1.602285 1.725137 -0.584321 +v -3.428722 -0.213061 -0.696221 +v -3.503373 -0.250456 1.353962 +v -2.832480 1.837117 1.428631 +v -1.639804 -0.212857 -0.509651 +v -2.869613 1.799722 -0.621551 +v -1.714262 1.799518 1.279500 +v -3.577831 1.315224 -0.211598 +v -1.602285 0.234451 -0.696221 +v -3.540699 1.837117 1.018470 +v -3.503373 1.166053 1.428631 +v -3.503373 1.837117 0.012202 +v -3.466048 0.010695 -0.621551 +v -2.869613 -0.250456 1.353962 +v -1.602285 1.762532 -0.099490 +v -1.975154 1.799518 1.391192 +v -3.503373 1.016882 -0.658782 +v -3.503373 -0.250456 1.055492 +v -1.602285 1.389605 -0.621551 +v -2.795155 -0.213061 1.391192 +v -2.198720 -0.212857 -0.696221 +v -1.602285 0.010695 1.428631 +v -3.577831 1.501585 -0.621551 +v -3.540699 0.458003 0.682978 +f 15 25 31 +f 5 1 7 +f 1 5 8 +f 3 2 9 +f 2 3 10 +f 6 7 11 +f 5 7 12 +f 8 5 16 +f 5 9 16 +f 4 13 16 +f 6 11 17 +f 4 15 17 +f 7 6 18 +f 6 17 18 +f 17 10 18 +f 13 4 19 +f 11 14 19 +f 14 13 19 +f 17 11 19 +f 4 17 19 +f 10 3 21 +f 7 10 21 +f 3 12 21 +f 12 7 21 +f 1 8 22 +f 8 13 22 +f 13 14 22 +f 14 1 22 +f 14 11 23 +f 1 14 23 +f 9 4 24 +f 4 16 24 +f 16 9 24 +f 9 2 25 +f 2 10 25 +f 20 9 25 +f 15 20 25 +f 13 8 26 +f 8 16 26 +f 16 13 26 +f 10 7 27 +f 7 18 27 +f 18 10 27 +f 3 9 28 +f 9 5 28 +f 12 3 28 +f 5 12 28 +f 7 1 29 +f 11 7 29 +f 1 23 29 +f 23 11 29 +f 4 9 30 +f 15 4 30 +f 9 20 30 +f 20 15 30 +f 10 17 31 +f 17 15 31 +f 25 10 31 +o convex_1 +v -1.565007 0.420550 -1.441892 +v 0.634186 1.315224 -1.851721 +v 0.559695 1.277858 -1.479108 +v 0.634401 0.122325 -1.181040 +v 0.634401 0.271437 -2.112686 +v -1.565007 1.315224 -2.150015 +v -1.565007 1.240609 -1.181040 +v -1.527546 0.271437 -2.075470 +v -1.527546 0.122325 -1.031723 +v 0.634186 1.203360 -1.143711 +v 0.634186 1.315224 -2.187345 +v 0.634401 0.122325 -1.031723 +v -1.527546 0.308803 -2.112686 +v -1.527546 0.308803 -1.031723 +v 0.485205 0.383301 -2.150015 +v -1.565007 0.905019 -2.150015 +v 0.373254 0.346052 -1.031723 +v -1.527546 0.122325 -1.143598 +v -0.297807 1.277858 -2.187345 +v -0.297807 1.203360 -1.143598 +v -1.565007 1.315224 -1.963483 +v -1.565007 1.091497 -1.143598 +f 45 51 53 +f 34 33 38 +f 37 32 38 +f 36 35 39 +f 33 34 41 +f 34 38 41 +f 33 36 42 +f 37 33 42 +f 35 36 43 +f 36 33 43 +f 40 35 43 +f 33 41 43 +f 36 39 44 +f 40 43 45 +f 42 36 46 +f 36 44 46 +f 46 44 47 +f 32 37 47 +f 39 32 47 +f 44 39 47 +f 43 41 48 +f 45 43 48 +f 32 39 49 +f 39 35 49 +f 35 40 49 +f 40 32 49 +f 37 42 50 +f 42 46 50 +f 46 47 50 +f 47 37 50 +f 41 38 51 +f 48 41 51 +f 45 48 51 +f 33 37 52 +f 38 33 52 +f 37 38 52 +f 38 32 53 +f 32 40 53 +f 40 45 53 +f 51 38 53 +o convex_2 +v 1.640822 0.979659 -2.709172 +v 1.193689 0.383395 -2.336552 +v 1.193689 0.383395 -2.224622 +v 1.789905 0.457890 -2.373742 +v 1.752664 0.979659 -2.224622 +v 1.268231 0.979659 -2.224622 +v 1.305472 0.867825 -2.746516 +v 1.789905 0.495168 -2.634587 +v 1.305472 0.383395 -2.597396 +v 1.789905 1.016999 -2.671880 +v 1.678122 0.420612 -2.224622 +v 1.305472 0.979659 -2.746516 +f 63 54 65 +f 56 58 59 +f 55 56 59 +f 60 54 61 +f 60 61 62 +f 56 55 62 +f 55 60 62 +f 61 57 62 +f 58 57 63 +f 59 58 63 +f 57 61 63 +f 61 54 63 +f 57 58 64 +f 58 56 64 +f 56 62 64 +f 62 57 64 +f 55 59 65 +f 54 60 65 +f 60 55 65 +f 59 63 65 +o convex_3 +v 1.231223 0.569793 -0.994566 +v 4.473709 1.352502 -2.112646 +v 4.473709 1.352502 -2.224622 +v 4.548360 0.122325 -1.069217 +v 0.634401 0.271521 -2.112646 +v 0.634401 1.203306 -1.143747 +v 4.585879 0.271521 -2.149851 +v 4.511228 1.166097 -1.106422 +v 0.634401 1.315173 -2.187177 +v 0.634401 0.122325 -1.031891 +v 1.193704 0.383388 -2.224622 +v 1.641223 0.979692 -0.994566 +v 4.361926 0.122325 -1.218278 +v 0.634401 1.277844 -1.516521 +v 2.423706 1.352502 -2.224622 +v 3.877274 1.203306 -1.180953 +v 4.511228 1.016780 -2.224622 +v 4.511228 0.942363 -1.069217 +v 0.634401 0.122325 -1.180953 +v 4.585879 0.234192 -2.000790 +v 1.193704 0.942363 -0.994566 +v 1.715488 0.495135 -0.994566 +v 4.585879 0.495135 -1.851728 +v 2.163007 0.420597 -2.224622 +v 0.634401 1.315173 -1.851728 +v 4.324407 1.352502 -2.075320 +v 2.498357 0.122325 -1.031891 +v 1.343006 1.240635 -1.292809 +v 1.268355 0.979692 -2.224622 +v 4.511228 1.203306 -2.224622 +v 3.840142 0.234192 -2.000790 +v 4.511228 1.240635 -1.441870 +v 0.634401 0.383388 -2.149851 +f 74 76 98 +f 70 71 74 +f 71 70 75 +f 72 70 76 +f 73 71 77 +f 69 75 78 +f 74 71 79 +f 67 68 80 +f 68 76 80 +f 71 73 81 +f 76 68 82 +f 69 73 83 +f 73 77 83 +f 75 70 84 +f 78 75 84 +f 69 78 85 +f 75 66 86 +f 71 75 86 +f 66 77 86 +f 77 71 86 +f 66 75 87 +f 77 66 87 +f 69 83 87 +f 83 77 87 +f 73 69 88 +f 85 72 88 +f 69 85 88 +f 72 76 89 +f 82 72 89 +f 76 82 89 +f 74 79 90 +f 80 74 90 +f 80 90 91 +f 67 80 91 +f 90 79 91 +f 75 69 92 +f 87 75 92 +f 69 87 92 +f 79 71 93 +f 71 81 93 +f 81 91 93 +f 91 79 93 +f 76 74 94 +f 74 80 94 +f 80 76 94 +f 82 68 95 +f 72 82 95 +f 88 72 95 +f 70 72 96 +f 84 70 96 +f 78 84 96 +f 85 78 96 +f 72 85 96 +f 68 67 97 +f 81 73 97 +f 73 88 97 +f 67 91 97 +f 91 81 97 +f 95 68 97 +f 88 95 97 +f 70 74 98 +f 76 70 98 +o convex_4 +v 2.274586 1.837117 -0.323002 +v 2.386342 -0.325012 0.757618 +v 2.535476 -0.325012 0.757618 +v 0.634485 1.762196 1.428580 +v 0.634485 -0.213054 -0.546736 +v 0.634485 -0.325012 1.316592 +v 2.572855 1.799657 1.316592 +v 0.634485 1.762196 -0.733382 +v 2.498098 -0.213054 -0.696053 +v 2.535476 -0.287552 1.391251 +v 2.535476 1.725159 -0.658724 +v 1.268212 0.420812 -0.994445 +v 1.715426 0.942297 -0.994445 +v 1.752804 0.532559 1.465909 +v 2.572855 -0.325012 0.906453 +v 1.081888 0.420812 1.465909 +v 2.460909 1.837117 -0.658724 +v 1.119077 1.799657 1.391251 +v 1.678047 1.091504 1.465909 +v 2.572855 1.799657 0.310149 +v 1.193645 0.942085 -0.994445 +v 2.423720 -0.250303 -0.509648 +v 0.746431 -0.325012 0.981111 +v 2.572855 -0.325012 1.353922 +v 1.715426 0.495310 -0.994445 +v 2.535476 1.165790 -0.658724 +v 0.709052 -0.213054 -0.584065 +v 2.535476 1.837117 0.235732 +v 0.671863 -0.175805 1.353922 +v 2.088073 -0.213054 -0.696053 +v 0.634485 -0.063847 -0.584065 +v 0.671863 -0.250303 -0.173926 +v 2.200018 1.837117 -0.658724 +v 2.572855 1.054255 1.353922 +v 0.932754 0.905048 1.465909 +v 1.640859 0.979546 -0.994445 +v 2.162640 1.799657 1.353922 +v 0.634485 1.575952 -0.733382 +v 2.498098 0.644306 -0.696053 +f 107 111 137 +f 100 101 104 +f 102 103 104 +f 103 102 106 +f 104 101 113 +f 101 107 113 +f 108 112 114 +f 109 111 115 +f 106 102 116 +f 112 108 117 +f 114 112 117 +f 105 113 118 +f 109 115 118 +f 111 110 119 +f 101 100 120 +f 107 101 120 +f 100 104 121 +f 120 100 121 +f 108 104 122 +f 104 113 122 +f 113 105 122 +f 107 110 123 +f 110 111 123 +f 111 107 123 +f 107 109 124 +f 113 107 124 +f 118 113 124 +f 109 118 124 +f 115 99 126 +f 99 116 126 +f 105 118 126 +f 118 115 126 +f 102 104 127 +f 104 108 127 +f 108 114 127 +f 110 107 128 +f 107 120 128 +f 125 110 128 +f 120 125 128 +f 103 106 129 +f 110 125 129 +f 125 103 129 +f 104 103 130 +f 121 104 130 +f 120 121 130 +f 103 125 130 +f 125 120 130 +f 99 115 131 +f 115 106 131 +f 116 99 131 +f 106 116 131 +f 105 117 132 +f 117 108 132 +f 108 122 132 +f 122 105 132 +f 117 102 133 +f 114 117 133 +f 102 127 133 +f 127 114 133 +f 106 115 134 +f 115 111 134 +f 119 106 134 +f 111 119 134 +f 116 102 135 +f 102 117 135 +f 117 105 135 +f 105 126 135 +f 126 116 135 +f 106 119 136 +f 119 110 136 +f 129 106 136 +f 110 129 136 +f 109 107 137 +f 111 109 137 +o convex_5 +v 1.156411 0.867803 3.217848 +v 1.678136 0.457828 2.845184 +v 1.715382 0.457828 2.845184 +v 1.454548 1.091555 1.465909 +v 1.156411 0.532391 1.465909 +v 1.678136 1.091555 3.404370 +v 1.752744 0.532391 1.465909 +v 1.342754 0.495109 3.329799 +v 1.156411 1.054274 2.248997 +v 1.678136 1.091555 1.465909 +v 1.230901 1.091555 3.366990 +v 1.715382 0.457828 3.292229 +v 1.193656 1.054274 1.465909 +v 1.268205 0.532391 3.329799 +v 1.715382 0.942366 2.882185 +v 1.752744 0.495109 1.727192 +v 1.715382 0.979648 1.465909 +v 1.156411 1.054274 3.329799 +v 1.566284 0.457828 3.329799 +f 149 143 156 +f 142 141 144 +f 142 138 146 +f 141 143 147 +f 144 141 147 +f 143 141 148 +f 139 140 149 +f 141 142 150 +f 142 146 150 +f 148 141 150 +f 146 148 150 +f 138 142 151 +f 142 145 151 +f 145 143 151 +f 143 148 151 +f 143 149 152 +f 152 149 153 +f 140 139 153 +f 139 142 153 +f 142 144 153 +f 149 140 153 +f 144 152 153 +f 147 143 154 +f 144 147 154 +f 143 152 154 +f 152 144 154 +f 146 138 155 +f 148 146 155 +f 138 151 155 +f 151 148 155 +f 142 139 156 +f 145 142 156 +f 143 145 156 +f 139 149 156 +o convex_6 +v -0.782138 0.792674 1.428631 +v -1.602285 -4.313769 -0.621540 +v -0.931235 -4.276068 -0.658789 +v -1.266651 1.725035 -0.621540 +v 0.634401 1.762138 -0.733499 +v 0.634401 -4.201263 1.428631 +v -1.490407 -4.238965 1.353922 +v 0.634401 1.762138 1.428631 +v -1.602285 1.762138 1.353922 +v 0.596962 -4.126459 -0.696038 +v -1.602285 0.233736 -0.696038 +v -1.602285 -0.213893 1.428631 +v -1.602285 1.725035 -0.584291 +v 0.112449 -4.276068 -0.696038 +v -0.968455 -4.238965 1.428631 +v -0.968455 1.799839 -0.099632 +v -1.602285 -4.313769 -0.174130 +v -0.483942 0.792674 -0.733499 +v -1.527627 -1.443078 -0.696038 +v 0.224108 1.799839 1.279424 +v 0.596962 -4.238965 1.018470 +v 0.634401 -0.660924 -0.584291 +v -1.452968 1.799839 1.241963 +v -1.490407 -3.232398 1.428631 +v 0.596962 -4.238965 -0.621540 +v -1.415748 -4.276068 1.130216 +v 0.186889 1.799839 -0.286089 +v -1.527627 1.276808 1.391170 +v 0.261547 -4.238965 1.428631 +v -1.005675 -4.313769 -0.584291 +v 0.373425 1.762138 -0.733499 +v 0.634401 -4.201263 1.092968 +v -1.602285 1.762138 -0.062383 +v -0.968455 1.762138 1.391170 +v -1.527627 -4.313769 0.012326 +v 0.000571 -4.276068 -0.696038 +v -1.452968 -4.238965 1.391170 +f 182 171 193 +f 157 162 164 +f 162 161 164 +f 158 165 167 +f 162 157 168 +f 165 158 168 +f 160 167 169 +f 167 165 169 +f 162 168 171 +f 168 158 173 +f 163 168 173 +f 161 166 174 +f 166 170 174 +f 159 158 175 +f 158 167 175 +f 167 174 175 +f 164 161 176 +f 161 162 178 +f 166 161 178 +f 164 176 179 +f 176 172 179 +f 168 163 180 +f 171 168 180 +f 170 166 181 +f 162 177 181 +f 177 170 181 +f 163 173 182 +f 176 161 183 +f 172 176 183 +f 168 157 184 +f 165 168 184 +f 162 171 185 +f 177 162 185 +f 171 182 185 +f 158 170 186 +f 173 158 186 +f 170 177 186 +f 177 185 186 +f 167 160 187 +f 160 169 187 +f 169 172 187 +f 161 174 187 +f 174 167 187 +f 183 161 187 +f 172 183 187 +f 178 162 188 +f 166 178 188 +f 162 181 188 +f 181 166 188 +f 169 165 189 +f 172 169 189 +f 165 179 189 +f 179 172 189 +f 157 164 190 +f 164 179 190 +f 179 165 190 +f 184 157 190 +f 165 184 190 +f 182 173 191 +f 185 182 191 +f 173 186 191 +f 186 185 191 +f 158 159 192 +f 170 158 192 +f 174 170 192 +f 175 174 192 +f 159 175 192 +f 180 163 193 +f 171 180 193 +f 163 182 193 +o convex_7 +v -0.595598 3.626159 -0.174218 +v -0.782160 3.775476 0.943906 +v -1.005759 3.775476 0.943906 +v -0.036652 1.799839 0.906581 +v -0.968510 1.799839 -0.099567 +v 0.000597 3.626159 -0.099567 +v 0.037951 1.799839 -0.099567 +v -0.968510 1.799839 0.869255 +v 0.000597 3.812805 0.832039 +v -0.931261 3.850135 -0.174218 +v -1.043113 3.216141 0.943906 +v -0.073901 3.812805 -0.136892 +v 0.037951 1.799839 0.496547 +v -1.043113 3.775476 0.757498 +v -0.968510 2.098071 -0.136892 +v -1.005759 2.098071 0.906581 +v -0.334855 3.850135 0.459331 +v 0.037951 2.620279 0.235816 +v 0.000597 1.799839 0.869255 +v -0.893906 3.067024 -0.174218 +v -0.558349 2.843250 0.943906 +v -0.968510 2.806724 -0.136892 +v -0.521100 3.850135 -0.174218 +f 210 205 216 +f 197 198 200 +f 198 197 201 +f 196 195 202 +f 195 197 202 +f 195 196 204 +f 199 200 205 +f 202 199 205 +f 197 200 206 +f 196 203 207 +f 204 196 207 +f 198 204 207 +f 200 198 208 +f 198 207 208 +f 201 197 209 +f 198 201 209 +f 204 198 209 +f 196 202 210 +f 203 196 210 +f 202 205 210 +f 200 199 211 +f 199 202 211 +f 206 200 211 +f 202 206 211 +f 202 197 212 +f 197 206 212 +f 206 202 212 +f 194 200 213 +f 203 194 213 +f 200 208 213 +f 208 203 213 +f 197 195 214 +f 195 204 214 +f 209 197 214 +f 204 209 214 +f 207 203 215 +f 203 208 215 +f 208 207 215 +f 200 194 216 +f 194 203 216 +f 205 200 216 +f 203 210 216 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/445/445.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/445/445.urdf new file mode 100644 index 000000000..9c9b682e1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/445/445.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/446/446.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/446/446.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/446/446.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/446/446.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/446/446.obj new file mode 100644 index 000000000..1dec841d4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/446/446.obj @@ -0,0 +1,501 @@ +o convex_0 +v 0.947145 3.293931 1.044981 +v -1.080756 2.441399 -0.924222 +v -1.051162 1.324176 -0.953626 +v 0.947145 3.529160 -1.100434 +v 1.005906 -1.173579 -1.012223 +v -0.933640 -1.173579 0.927156 +v -0.992401 3.440777 1.015577 +v 1.005906 -1.173579 1.015367 +v -0.963021 -1.173579 -0.953626 +v -1.080756 3.529160 -0.924222 +v 1.094260 3.410855 1.044770 +v -1.051162 -1.173579 -0.071727 +v -1.051162 3.499699 0.162872 +v 0.506223 -1.173579 1.015577 +v 1.035286 -1.173119 -0.277343 +v 1.005906 -0.673199 -1.041627 +v 0.741480 3.381854 -1.100644 +v 1.064667 1.148790 1.044770 +v -0.933640 -1.055734 0.956770 +v 1.094260 3.410855 0.838945 +v -1.051162 -0.115278 0.133678 +v -0.992401 3.529160 -0.953626 +v 1.005906 0.178873 -1.041837 +v -1.080756 3.470238 -0.365764 +v -0.933640 3.470238 0.868349 +v 1.035286 -0.879427 1.015367 +v 0.947145 3.529160 -0.924012 +v -0.963021 -0.056356 0.956770 +v 1.094260 2.676628 1.044770 +v 0.917764 2.646706 -1.100434 +v -1.021782 2.088785 0.692137 +v -0.992401 -0.879427 -0.953626 +v -1.051162 -1.173579 -0.218745 +v -1.080756 3.529160 -0.541975 +v -1.021782 3.470238 0.721331 +v 1.035286 -1.173119 0.309890 +v -0.992401 3.352393 1.015577 +v 0.006752 3.440777 1.015577 +v -0.963021 -1.144118 0.750734 +v -0.992401 2.235631 0.986173 +v 0.976525 -0.673199 -1.041627 +v -0.316434 3.529160 -1.012433 +v 0.741480 -1.173579 -1.012223 +v 1.035286 1.148790 1.044770 +f 37 14 44 +f 6 5 8 +f 5 6 9 +f 3 2 10 +f 7 1 11 +f 9 6 12 +f 6 8 14 +f 8 5 15 +f 14 8 18 +f 6 14 19 +f 4 11 20 +f 15 5 20 +f 5 16 20 +f 3 10 22 +f 10 4 22 +f 16 4 23 +f 4 20 23 +f 20 16 23 +f 10 2 24 +f 2 12 24 +f 12 21 24 +f 18 8 26 +f 4 10 27 +f 11 4 27 +f 11 1 29 +f 1 18 29 +f 20 11 29 +f 15 20 29 +f 18 26 29 +f 4 16 30 +f 9 17 30 +f 17 4 30 +f 3 17 32 +f 17 9 32 +f 2 3 33 +f 12 2 33 +f 9 12 33 +f 3 32 33 +f 32 9 33 +f 10 24 34 +f 24 13 34 +f 13 25 34 +f 27 10 34 +f 25 27 34 +f 13 24 35 +f 24 21 35 +f 7 25 35 +f 25 13 35 +f 21 31 35 +f 8 15 36 +f 26 8 36 +f 15 29 36 +f 29 26 36 +f 1 7 37 +f 19 14 37 +f 28 19 37 +f 7 35 37 +f 35 31 37 +f 7 11 38 +f 25 7 38 +f 11 27 38 +f 27 25 38 +f 12 6 39 +f 6 19 39 +f 21 12 39 +f 19 28 39 +f 28 21 39 +f 21 28 40 +f 31 21 40 +f 28 37 40 +f 37 31 40 +f 16 5 41 +f 30 16 41 +f 9 30 41 +f 17 3 42 +f 4 17 42 +f 3 22 42 +f 22 4 42 +f 5 9 43 +f 41 5 43 +f 9 41 43 +f 18 1 44 +f 14 18 44 +f 1 37 44 +o convex_1 +v 0.359458 -3.495694 -0.013113 +v -0.287169 -4.053690 0.104364 +v -0.287169 -4.053690 0.133733 +v -0.287169 -2.643185 0.074931 +v 0.212422 -4.582774 -0.307057 +v 0.300593 -4.612264 0.339570 +v -0.287169 -2.643185 -0.218823 +v 0.359458 -2.643185 0.221903 +v 0.359458 -2.643185 -0.218823 +v -0.198935 -4.494689 -0.218823 +v -0.257736 -4.553476 0.251272 +v -0.257736 -2.643185 0.192534 +v 0.329962 -4.612264 -0.307057 +v 0.182990 -4.288838 0.339570 +v 0.359458 -3.525184 -0.277625 +v 0.329962 -4.612264 0.192534 +v -0.198935 -4.582774 0.133733 +v -0.287169 -3.025590 -0.218823 +v 0.300593 -4.141967 -0.307057 +v 0.153621 -2.643185 0.221903 +v 0.329962 -3.789244 0.310074 +v 0.359458 -3.936308 -0.248255 +v 0.182990 -4.612264 -0.248255 +v -0.257736 -4.523987 0.074931 +v 0.182990 -4.612264 0.339570 +v 0.329962 -2.937313 -0.248255 +f 59 63 70 +f 46 47 48 +f 46 48 51 +f 51 48 52 +f 51 52 53 +f 52 45 53 +f 47 46 55 +f 48 47 56 +f 52 48 56 +f 47 55 56 +f 56 55 58 +f 53 45 59 +f 45 52 60 +f 50 57 60 +f 46 51 62 +f 51 49 62 +f 49 54 62 +f 49 51 63 +f 57 49 63 +f 59 57 63 +f 52 56 64 +f 56 58 64 +f 64 58 65 +f 58 50 65 +f 50 60 65 +f 60 52 65 +f 52 64 65 +f 59 45 66 +f 57 59 66 +f 60 57 66 +f 45 60 66 +f 54 49 67 +f 57 50 67 +f 49 57 67 +f 61 54 67 +f 55 46 68 +f 54 61 68 +f 61 55 68 +f 46 62 68 +f 62 54 68 +f 50 58 69 +f 58 55 69 +f 55 61 69 +f 67 50 69 +f 61 67 69 +f 51 53 70 +f 53 59 70 +f 63 51 70 +o convex_2 +v -0.992467 -2.055451 -0.600742 +v 1.035476 -2.496195 -0.189215 +v 1.005899 -1.878989 1.015588 +v -0.904330 -2.466722 0.927248 +v 1.035476 -1.878989 -1.012468 +v -0.933709 -2.613712 -0.953508 +v -0.933709 -1.878989 0.927248 +v 0.917762 -2.525593 0.956629 +v 1.035476 -2.554916 -0.982889 +v -0.963088 -1.878989 -0.953508 +v 0.212468 -2.643184 0.221915 +v 1.005899 -2.496195 1.015588 +v -0.257794 -2.643184 0.192534 +v 0.359363 -2.643184 -0.218596 +v 0.506456 -2.496195 1.015588 +v -0.933709 -2.496195 0.603863 +v -0.375310 -2.584389 -0.982889 +v 0.506456 -1.878989 1.015588 +v 1.005899 -2.525593 0.897867 +v -0.963088 -1.878989 0.603863 +v -0.492628 -2.613712 -0.953508 +v 0.359363 -2.643184 0.221915 +v 1.035476 -2.319733 -1.012468 +v -0.933709 -2.613712 -0.747844 +v -0.580963 -2.466722 0.956629 +v -0.933709 -2.437399 0.897867 +v 0.035995 -2.496195 0.986009 +v -0.228415 -1.878989 -0.982889 +v -0.992467 -1.878989 -0.483220 +v -0.287173 -2.643184 -0.218596 +v -0.963088 -2.407927 -0.835986 +v -0.580963 -1.878989 0.956629 +v -0.963088 -2.143570 0.515721 +f 90 99 103 +f 73 72 75 +f 73 75 77 +f 75 72 79 +f 77 75 80 +f 72 73 82 +f 81 78 83 +f 81 83 84 +f 82 73 85 +f 78 82 85 +f 83 74 86 +f 76 80 87 +f 73 77 88 +f 85 73 88 +f 79 72 89 +f 72 82 89 +f 82 78 89 +f 77 80 90 +f 84 76 91 +f 79 84 91 +f 76 87 91 +f 87 79 91 +f 78 81 92 +f 81 84 92 +f 84 79 92 +f 79 89 92 +f 89 78 92 +f 75 79 93 +f 79 87 93 +f 87 75 93 +f 83 86 94 +f 77 74 95 +f 85 88 95 +f 74 77 96 +f 71 86 96 +f 86 74 96 +f 77 90 96 +f 74 83 97 +f 83 78 97 +f 78 85 97 +f 95 74 97 +f 85 95 97 +f 80 75 98 +f 75 87 98 +f 87 80 98 +f 80 71 99 +f 90 80 99 +f 84 83 100 +f 76 84 100 +f 94 76 100 +f 83 94 100 +f 80 76 101 +f 71 80 101 +f 86 71 101 +f 76 94 101 +f 94 86 101 +f 88 77 102 +f 77 95 102 +f 95 88 102 +f 71 96 103 +f 96 90 103 +f 99 71 103 +o convex_3 +v 3.063486 -1.849597 -0.101301 +v 1.241382 -1.173579 -0.189454 +v 1.241382 -1.173579 -0.248261 +v 1.035476 -1.820151 0.045545 +v 3.122317 -1.320548 0.310178 +v 1.035476 -1.173579 0.221909 +v 1.035476 -1.820151 0.280774 +v 2.945826 -1.291233 -0.248261 +v 1.035476 -1.790770 -0.248261 +v 2.945826 -1.820151 0.280774 +v 3.092901 -1.849597 -0.277665 +v 1.035476 -1.173579 -0.248261 +v 1.535329 -1.643801 0.310178 +v 2.035182 -1.232406 0.280774 +v 3.004656 -1.467517 -0.277665 +v 2.357728 -1.820151 -0.277665 +v 3.034071 -1.614354 0.310178 +v 1.035476 -1.261787 0.251313 +v 3.004656 -1.291233 0.074949 +v 2.475388 -1.291233 0.310178 +v 2.769539 -1.849597 -0.277665 +v 2.651879 -1.261787 -0.248261 +v 1.182552 -1.173579 0.221909 +v 3.004656 -1.849597 -0.013090 +v 1.652786 -1.702628 0.310178 +f 120 116 128 +f 105 106 109 +f 109 107 110 +f 107 109 112 +f 108 104 114 +f 109 106 115 +f 112 109 115 +f 111 108 118 +f 108 114 118 +f 115 106 118 +f 115 118 119 +f 112 115 119 +f 118 114 119 +f 104 108 120 +f 113 104 120 +f 108 116 120 +f 109 110 121 +f 110 116 121 +f 117 109 121 +f 108 111 122 +f 117 108 122 +f 116 108 123 +f 108 117 123 +f 121 116 123 +f 117 121 123 +f 110 107 124 +f 107 112 124 +f 114 104 124 +f 112 119 124 +f 119 114 124 +f 106 105 125 +f 118 106 125 +f 111 118 125 +f 122 111 125 +f 122 125 126 +f 105 109 126 +f 109 117 126 +f 117 122 126 +f 125 105 126 +f 104 113 127 +f 113 110 127 +f 110 124 127 +f 124 104 127 +f 110 113 128 +f 116 110 128 +f 113 120 128 +o convex_4 +v -3.108611 -1.702507 0.192517 +v -1.051364 -1.202971 -0.101289 +v -1.051364 -1.202971 -0.189442 +v -1.051364 -1.878989 0.280785 +v -2.961607 -1.820162 -0.248250 +v -3.079210 -1.202971 0.280785 +v -3.049809 -1.261798 -0.307057 +v -1.051364 -1.761335 -0.218846 +v -1.051364 -1.291179 0.280785 +v -2.932206 -1.732020 0.280785 +v -2.961607 -1.849476 -0.218846 +v -1.169168 -1.202971 -0.218846 +v -2.814603 -1.232484 -0.248250 +v -1.374974 -1.790781 -0.218846 +v -2.932206 -1.320626 -0.307057 +v -1.051364 -1.878989 0.221921 +v -3.108611 -1.702507 0.280785 +v -2.991008 -1.820162 -0.071885 +v -1.639379 -1.202971 -0.218846 +v -1.139768 -1.878989 0.280785 +v -1.051364 -1.320626 -0.218846 +f 143 140 149 +f 131 130 132 +f 130 131 134 +f 129 134 135 +f 133 129 135 +f 131 132 136 +f 132 130 137 +f 130 134 137 +f 134 132 137 +f 132 134 138 +f 129 133 139 +f 134 131 140 +f 135 134 141 +f 133 136 142 +f 139 133 142 +f 133 135 143 +f 136 133 143 +f 135 140 143 +f 136 132 144 +f 142 136 144 +f 139 142 144 +f 134 129 145 +f 138 134 145 +f 129 139 146 +f 145 129 146 +f 138 145 146 +f 134 140 147 +f 140 135 147 +f 141 134 147 +f 135 141 147 +f 132 138 148 +f 144 132 148 +f 139 144 148 +f 138 146 148 +f 146 139 148 +f 131 136 149 +f 140 131 149 +f 136 143 149 +o convex_5 +v -0.580926 -1.878920 0.956629 +v 0.741325 -1.232472 -1.012468 +v 0.741325 -1.173648 -1.012468 +v -0.962914 -1.878920 -0.953508 +v -0.933703 -1.173648 0.927248 +v 1.005857 -1.878920 1.015588 +v 1.005857 -1.173648 1.015588 +v 1.035476 -1.878920 -1.012468 +v -0.962914 -1.173648 -0.953508 +v -1.051364 -1.878920 0.280676 +v 1.005857 -1.173648 -1.012468 +v -1.051364 -1.173648 -0.248175 +v -0.933703 -1.878920 0.927248 +v 1.035476 -1.173648 0.339437 +v 0.506412 -1.173648 1.015588 +v -1.051364 -1.291228 0.280676 +v 1.035476 -1.702585 0.545300 +v -1.051364 -1.761340 -0.218596 +v -0.786628 -1.173648 0.956629 +v 0.506412 -1.878920 1.015588 +v 1.035476 -1.496975 -1.012468 +v -0.228353 -1.878920 -0.982889 +v -1.051364 -1.408808 -0.306936 +v 1.035476 -1.173648 -0.277357 +f 163 170 173 +f 150 153 155 +f 152 154 156 +f 151 152 157 +f 155 153 157 +f 154 152 158 +f 153 150 159 +f 152 156 160 +f 157 152 160 +f 154 158 161 +f 154 159 162 +f 159 150 162 +f 160 156 163 +f 155 156 164 +f 156 154 164 +f 159 154 165 +f 154 161 165 +f 161 159 165 +f 156 155 166 +f 155 157 166 +f 163 156 166 +f 157 163 166 +f 153 159 167 +f 159 161 167 +f 162 150 168 +f 154 162 168 +f 164 154 168 +f 164 168 169 +f 150 155 169 +f 155 164 169 +f 168 150 169 +f 157 160 170 +f 163 157 170 +f 152 151 171 +f 151 157 171 +f 157 153 171 +f 158 152 171 +f 153 158 171 +f 158 153 172 +f 161 158 172 +f 153 167 172 +f 167 161 172 +f 160 163 173 +f 170 160 173 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/446/446.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/446/446.urdf new file mode 100644 index 000000000..f2a20ed6a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/446/446.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/447/447.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/447/447.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/447/447.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/447/447.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/447/447.obj new file mode 100644 index 000000000..26281cabc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/447/447.obj @@ -0,0 +1,984 @@ +o convex_0 +v -1.408925 -2.465373 0.301386 +v -0.610541 -1.195640 -0.097607 +v -0.610541 -1.195640 -0.279047 +v -2.424663 -1.993655 -0.061385 +v -0.610541 -2.392801 -0.533042 +v -0.610541 -1.957369 0.555381 +v -2.170551 -2.029941 -0.424156 +v -2.134148 -1.993655 0.337608 +v -2.170551 -2.429087 -0.061385 +v -0.610541 -2.610517 0.011059 +v -2.170551 -1.667496 -0.097607 +v -0.719396 -1.558638 0.446495 +v -0.646944 -1.812640 -0.569375 +v -0.610541 -2.465373 0.446495 +v -1.916617 -1.740068 0.265054 +v -1.481377 -2.392801 -0.424156 +v -1.553828 -1.667496 -0.424156 +v -1.372522 -2.029941 -0.569375 +v -2.134148 -2.138799 0.337608 +v -1.481377 -2.102513 0.482717 +v -0.719396 -1.195640 -0.061385 +v -1.445329 -2.429087 0.373941 +v -1.989068 -1.740068 -0.351602 +v -1.082540 -2.574231 -0.061385 +v -2.097922 -1.667496 0.047392 +v -2.170551 -2.429087 0.011059 +v -1.408925 -1.667496 0.373941 +v -1.372522 -1.957369 0.482717 +v -0.610541 -1.558638 0.446495 +v -0.792024 -2.102513 0.555381 +v -1.989068 -2.320229 -0.315380 +v -1.372522 -1.667496 -0.460488 +v -2.424663 -1.993655 0.011059 +v -1.989068 -2.356515 0.265054 +v -0.610541 -2.211371 -0.569375 +v -2.424663 -2.066227 -0.097607 +v -0.683170 -2.610517 -0.061385 +v -1.445329 -2.537945 0.011059 +v -0.646944 -1.195640 -0.279047 +v -2.134148 -1.957369 -0.424156 +v -0.755799 -2.392801 -0.533042 +v -2.388260 -2.138799 0.011059 +f 33 36 42 +f 3 2 5 +f 5 2 6 +f 5 6 10 +f 1 10 14 +f 10 6 14 +f 16 7 18 +f 8 19 20 +f 2 3 21 +f 1 14 22 +f 20 19 22 +f 9 16 24 +f 8 15 25 +f 21 11 25 +f 15 21 25 +f 1 22 26 +f 15 8 27 +f 12 21 27 +f 21 15 27 +f 6 12 28 +f 8 20 28 +f 27 8 28 +f 12 27 28 +f 6 2 29 +f 12 6 29 +f 2 21 29 +f 21 12 29 +f 14 6 30 +f 22 14 30 +f 20 22 30 +f 6 28 30 +f 28 20 30 +f 9 7 31 +f 7 16 31 +f 16 9 31 +f 13 18 32 +f 11 4 33 +f 19 8 33 +f 8 25 33 +f 25 11 33 +f 22 19 34 +f 19 26 34 +f 26 22 34 +f 3 5 35 +f 13 3 35 +f 18 13 35 +f 4 7 36 +f 7 9 36 +f 33 4 36 +f 5 10 37 +f 24 16 37 +f 24 37 38 +f 10 1 38 +f 9 24 38 +f 26 9 38 +f 1 26 38 +f 37 10 38 +f 3 13 39 +f 21 3 39 +f 11 21 39 +f 23 11 39 +f 17 23 39 +f 13 32 39 +f 32 17 39 +f 7 4 40 +f 4 11 40 +f 18 7 40 +f 11 23 40 +f 23 17 40 +f 17 32 40 +f 32 18 40 +f 16 18 41 +f 35 5 41 +f 18 35 41 +f 5 37 41 +f 37 16 41 +f 9 26 42 +f 26 19 42 +f 19 33 42 +f 36 9 42 +o convex_1 +v -0.247717 -1.195640 1.135723 +v -0.284049 -2.900748 -0.133882 +v -0.356607 -2.864362 -0.061381 +v -0.465390 -1.195640 -0.895771 +v -0.574209 -1.232192 1.172183 +v -0.610541 -2.392687 -0.533056 +v -0.247717 -1.558660 -0.968481 +v -0.247717 -2.682936 0.845509 +v -0.610541 -2.501676 0.446126 +v -0.247717 -2.682936 -0.823270 +v -0.610541 -1.195640 -0.351595 +v -0.247717 -1.195640 -0.932021 +v -0.610541 -2.610499 -0.097632 +v -0.284049 -2.682936 -0.823270 +v -0.284049 -2.755540 0.772799 +v -0.610541 -1.558660 0.446126 +v -0.610541 -1.776304 -0.569307 +v -0.284049 -1.921512 -0.968481 +v -0.574209 -1.195640 1.172183 +v -0.247717 -2.900748 0.119662 +v -0.284049 -2.682936 0.845509 +v -0.320310 -2.719321 -0.714309 +v -0.610541 -2.610499 0.083830 +v -0.392868 -1.993949 -0.859520 +f 60 56 66 +f 49 43 50 +f 43 47 50 +f 49 50 52 +f 43 46 53 +f 48 51 53 +f 46 43 54 +f 49 46 54 +f 43 49 54 +f 51 48 55 +f 51 47 58 +f 53 51 58 +f 46 48 59 +f 53 46 59 +f 48 53 59 +f 46 49 60 +f 49 52 60 +f 52 56 60 +f 47 43 61 +f 43 53 61 +f 58 47 61 +f 53 58 61 +f 45 44 62 +f 44 52 62 +f 52 50 62 +f 57 45 62 +f 50 57 62 +f 50 47 63 +f 47 51 63 +f 57 50 63 +f 51 57 63 +f 44 45 64 +f 52 44 64 +f 45 55 64 +f 55 48 64 +f 48 56 64 +f 56 52 64 +f 55 45 65 +f 51 55 65 +f 45 57 65 +f 57 51 65 +f 48 46 66 +f 56 48 66 +f 46 60 66 +o convex_2 +v -2.279420 0.545697 1.861180 +v -0.284177 -1.195640 -0.968041 +v -0.247926 -1.195640 -0.968041 +v -1.227527 0.727017 -2.854970 +v -0.247926 1.235284 1.135709 +v -2.097958 -0.941506 2.296580 +v -2.206919 -0.687373 -2.019916 +v -0.646891 -0.106769 2.768312 +v -2.097958 0.836000 -2.310573 +v -0.247926 1.235284 -1.113370 +v -0.247926 -1.195640 1.135123 +v -0.610640 -0.070600 -2.781719 +v -2.025457 0.799831 2.332326 +v -1.300028 0.763424 2.840976 +v -2.388171 -0.542222 -1.366523 +v -1.481071 -0.723780 -2.528566 +v -2.170668 0.908575 -0.024577 +v -1.227527 -0.796355 2.731980 +v -2.170668 -0.034431 -2.672723 +v -2.170668 -0.941506 -0.387312 +v -2.388171 0.545697 -1.366523 +v -2.388171 -0.070600 1.752183 +v -2.097958 -0.070600 2.695648 +v -0.792102 1.235284 0.336987 +v -1.444821 -0.070600 -3.000298 +v -0.755852 -1.195640 0.046916 +v -1.408570 -0.107007 2.986305 +v -2.351921 -0.759949 0.336987 +v -0.356678 -0.034193 -2.056834 +v -2.388171 0.727017 0.155326 +v -1.191277 1.017319 2.332912 +v -1.408570 -1.050251 -1.003787 +v -0.392928 -0.070600 2.078587 +v -0.828353 -0.615035 -2.455316 +v -0.719601 0.654680 2.477655 +v -1.046065 0.981151 -2.419569 +v -0.683141 1.235284 -0.822712 +v -0.538140 0.727255 -2.201576 +v -2.134208 0.799831 2.223916 +v -0.646891 -1.195640 1.316783 +v -0.719601 -0.650966 2.477655 +v -1.444821 -0.796355 -2.419569 +v -0.646891 0.074075 2.768312 +v -2.351921 -0.615035 1.388862 +v -2.388171 0.582104 1.352530 +v -2.388171 0.001738 -1.802509 +v -0.247926 -0.324495 -1.439187 +v -2.170668 0.001738 2.622397 +v -1.046065 1.017319 2.369244 +v -1.989206 -0.977675 2.078587 +v -1.336069 0.727017 -2.854970 +v -2.170668 -0.723780 -2.019916 +v -0.755852 0.545697 -2.636976 +v -2.388171 -0.687373 -0.423645 +v -1.408570 1.017319 1.752183 +v -0.538140 1.235284 1.171455 +v -0.973564 -1.014082 2.079173 +v -1.372320 0.763424 2.840976 +v -1.191277 -0.723780 -2.492234 +v -0.247926 -0.034193 1.280451 +v -2.170668 0.037669 -2.672723 +v -1.408570 0.110244 2.986305 +v -1.191277 0.981151 -2.383237 +v -2.170668 0.908575 0.155326 +f 105 121 130 +f 71 69 76 +f 68 69 77 +f 69 71 77 +f 87 81 88 +f 71 76 90 +f 70 78 91 +f 82 85 91 +f 68 77 92 +f 72 84 93 +f 84 74 93 +f 89 72 93 +f 86 72 94 +f 69 78 95 +f 83 75 96 +f 75 87 96 +f 87 88 96 +f 68 92 98 +f 92 86 98 +f 74 77 99 +f 78 69 100 +f 75 83 103 +f 90 76 103 +f 83 90 103 +f 76 95 104 +f 95 78 104 +f 102 76 104 +f 79 97 105 +f 92 77 106 +f 77 74 107 +f 84 77 107 +f 74 84 107 +f 69 68 108 +f 68 98 108 +f 93 74 109 +f 99 71 109 +f 74 99 109 +f 71 101 109 +f 101 80 109 +f 72 88 110 +f 94 72 110 +f 88 67 111 +f 96 88 111 +f 67 105 111 +f 105 96 111 +f 73 81 112 +f 85 73 112 +f 81 87 112 +f 76 69 113 +f 69 95 113 +f 95 76 113 +f 67 88 114 +f 88 72 114 +f 72 89 114 +f 105 67 114 +f 79 105 114 +f 101 71 115 +f 80 101 115 +f 72 86 116 +f 86 92 116 +f 106 72 116 +f 92 106 116 +f 70 91 117 +f 102 70 117 +f 73 85 118 +f 85 82 118 +f 86 73 118 +f 98 86 118 +f 82 108 118 +f 108 98 118 +f 78 70 119 +f 70 102 119 +f 104 78 119 +f 102 104 119 +f 81 73 120 +f 73 86 120 +f 88 81 120 +f 86 94 120 +f 110 88 120 +f 94 110 120 +f 105 97 121 +f 71 90 122 +f 115 71 122 +f 97 115 122 +f 90 121 122 +f 121 97 122 +f 84 72 123 +f 77 84 123 +f 72 106 123 +f 106 77 123 +f 97 79 124 +f 79 114 124 +f 114 89 124 +f 115 97 124 +f 80 115 124 +f 91 78 125 +f 82 91 125 +f 100 69 125 +f 78 100 125 +f 69 108 125 +f 108 82 125 +f 77 71 126 +f 71 99 126 +f 99 77 126 +f 87 75 127 +f 91 85 127 +f 85 112 127 +f 112 87 127 +f 75 117 127 +f 117 91 127 +f 89 93 128 +f 93 109 128 +f 109 80 128 +f 80 124 128 +f 124 89 128 +f 76 102 129 +f 75 103 129 +f 103 76 129 +f 117 75 129 +f 102 117 129 +f 90 83 130 +f 83 96 130 +f 96 105 130 +f 121 90 130 +o convex_3 +v -0.247717 2.904007 0.155926 +v -0.356564 1.235284 -1.113611 +v -0.247717 1.235284 -1.113611 +v -0.356564 1.235284 1.172183 +v -0.683106 1.271837 0.083433 +v -0.284028 2.722580 -0.859435 +v -0.247717 1.235284 1.135712 +v -0.320338 2.577539 0.773019 +v -0.646795 1.235284 -0.786941 +v -0.392875 2.795184 -0.170072 +v -0.683106 1.271837 0.773019 +v -0.537948 1.235284 1.135712 +v -0.247717 2.686362 0.773019 +v -0.247717 2.722580 -0.859435 +v -0.392875 2.795184 0.047186 +v -0.465411 1.308055 -1.040893 +v -0.646795 1.271837 -0.786941 +v -0.284028 2.940392 -0.097578 +v -0.501680 1.308055 1.172183 +v -0.320338 2.686362 0.663831 +v -0.683106 1.235284 0.773019 +f 142 141 151 +f 132 133 134 +f 133 132 136 +f 133 131 137 +f 134 133 137 +f 132 134 139 +f 140 135 141 +f 139 134 142 +f 138 141 142 +f 137 131 143 +f 134 137 143 +f 131 133 144 +f 133 136 144 +f 140 141 145 +f 136 132 146 +f 132 139 146 +f 146 139 147 +f 139 135 147 +f 140 136 147 +f 135 140 147 +f 136 146 147 +f 136 140 148 +f 131 144 148 +f 144 136 148 +f 145 131 148 +f 140 145 148 +f 142 134 149 +f 138 142 149 +f 143 138 149 +f 134 143 149 +f 141 138 150 +f 138 143 150 +f 143 131 150 +f 131 145 150 +f 145 141 150 +f 135 139 151 +f 141 135 151 +f 139 142 151 +o convex_4 +v -0.247717 -2.646220 -0.859478 +v -0.211257 0.545577 1.281030 +v 1.421063 1.161689 0.918064 +v -0.247717 2.759132 -0.859478 +v 1.892947 -2.500998 -0.496511 +v 1.384812 -2.465156 0.845470 +v 1.493773 2.504530 -0.786884 +v 0.550632 3.267101 0.591394 +v -0.247717 -2.755600 0.809174 +v -0.211257 -0.505584 -1.258741 +v 1.892947 0.798943 0.446207 +v 1.493773 -2.319934 -0.859478 +v 1.457523 2.359308 0.845470 +v -0.247717 2.686213 0.772628 +v 1.094599 -3.008966 0.011145 +v 1.892947 -2.500998 0.446207 +v 1.058348 3.266483 -0.424167 +v 1.892947 0.146370 -0.641698 +v 1.602525 2.758515 0.047193 +v 1.457523 0.653721 -0.932071 +v 0.659383 2.613910 -0.968368 +v 0.006456 3.267101 -0.097497 +v 1.384812 -0.324520 0.990657 +v -0.247717 -0.868949 1.208437 +v 0.550632 2.649752 0.918064 +v -0.175006 -3.009584 -0.097497 +v 1.094599 3.266483 0.446456 +v 1.892947 0.110528 0.591394 +v -0.247717 0.980625 -1.186148 +v 0.623133 3.267101 -0.641698 +v 1.892947 0.835403 -0.460463 +v -0.066255 -2.755600 -0.786884 +v 1.421063 -2.936046 0.119786 +v 1.457523 -2.065332 0.881767 +v 1.457523 -0.360980 -0.932071 +v 1.892947 -2.065950 0.555097 +v 0.151458 3.267101 0.446207 +v -0.247717 2.976657 0.047193 +v 1.675025 -2.537458 -0.605401 +v 1.856487 -1.957188 -0.641698 +v -0.247717 1.162307 1.172140 +v 0.151458 3.267101 -0.532808 +v 0.659383 -3.046044 0.083489 +v -0.175006 -2.030107 0.990657 +v 0.659383 3.085419 -0.786884 +v 1.312311 3.157721 -0.024903 +v 1.856487 -2.682680 0.047193 +v 0.659383 3.048959 0.736580 +v 1.239810 3.012499 -0.605401 +v 1.602525 2.686213 -0.206387 +v 1.384812 -2.972507 0.011145 +v -0.211257 -0.288678 -1.258741 +v 1.892947 1.017085 -0.061200 +v 0.042706 -0.904791 1.171892 +v 1.820237 0.038226 -0.714291 +v 0.695634 -3.046044 -0.024903 +v 0.405421 2.649752 0.918064 +v -0.175006 -3.009584 0.083489 +v 1.820237 0.038226 0.663987 +v 0.405421 -2.682680 -0.786884 +v 1.239810 2.976039 0.591394 +v -0.247717 -2.936664 -0.133793 +v 0.695634 2.577450 -0.968368 +v 1.312311 0.472657 -0.968368 +f 214 171 215 +f 155 152 160 +f 152 161 163 +f 153 154 164 +f 155 160 165 +f 156 162 167 +f 162 156 169 +f 164 162 170 +f 154 153 174 +f 165 160 175 +f 153 164 176 +f 162 164 179 +f 167 162 179 +f 152 155 180 +f 161 152 180 +f 155 172 180 +f 173 159 181 +f 159 178 181 +f 178 168 181 +f 162 169 182 +f 169 158 182 +f 177 152 183 +f 157 160 184 +f 167 157 184 +f 163 161 186 +f 157 167 187 +f 167 179 187 +f 185 157 187 +f 174 185 187 +f 165 159 188 +f 159 173 188 +f 188 173 189 +f 155 165 189 +f 173 155 189 +f 165 188 189 +f 163 156 190 +f 156 163 191 +f 169 156 191 +f 163 186 191 +f 175 153 192 +f 165 175 192 +f 155 173 193 +f 181 155 193 +f 173 181 193 +f 184 160 194 +f 160 157 195 +f 157 175 195 +f 175 160 195 +f 172 155 196 +f 158 172 196 +f 155 181 196 +f 168 178 197 +f 178 170 197 +f 156 167 198 +f 167 184 198 +f 176 164 199 +f 178 159 199 +f 181 168 200 +f 158 196 200 +f 196 181 200 +f 168 197 200 +f 200 197 201 +f 182 158 201 +f 197 170 201 +f 158 200 201 +f 190 156 202 +f 194 166 202 +f 184 194 202 +f 156 198 202 +f 198 184 202 +f 161 180 203 +f 170 162 204 +f 162 182 204 +f 182 201 204 +f 201 170 204 +f 174 153 205 +f 175 157 205 +f 153 175 205 +f 157 185 205 +f 185 174 205 +f 158 169 206 +f 171 158 206 +f 186 171 206 +f 169 191 206 +f 191 186 206 +f 177 183 207 +f 194 177 207 +f 166 194 207 +f 202 166 207 +f 183 202 207 +f 159 165 208 +f 153 176 208 +f 192 153 208 +f 165 192 208 +f 199 159 208 +f 176 199 208 +f 194 160 209 +f 177 194 209 +f 164 154 210 +f 154 174 210 +f 179 164 210 +f 187 179 210 +f 174 187 210 +f 152 163 211 +f 183 152 211 +f 163 190 211 +f 202 183 211 +f 190 202 211 +f 164 170 212 +f 170 178 212 +f 199 164 212 +f 178 199 212 +f 160 152 213 +f 152 177 213 +f 209 160 213 +f 177 209 213 +f 158 171 214 +f 172 158 214 +f 180 172 214 +f 203 180 214 +f 203 214 215 +f 186 161 215 +f 171 186 215 +f 161 203 215 +o convex_5 +v 0.550533 3.884091 -0.569208 +v 0.659309 3.412486 0.591664 +v 0.622867 3.412486 0.591664 +v 0.622867 4.935930 0.047384 +v 1.167299 3.267264 -0.097475 +v 0.042543 3.267264 -0.133808 +v 1.022080 4.681914 0.083599 +v 0.260316 4.718179 0.011052 +v 1.022080 3.267264 -0.460328 +v 0.659309 4.681914 -0.424113 +v 0.187761 3.267264 0.446452 +v 0.622867 4.718179 0.410237 +v 1.094524 3.267264 0.410237 +v 0.151429 3.448751 -0.496660 +v 1.022080 4.101679 0.410237 +v 0.260316 4.065414 0.410237 +v 0.477978 3.267264 -0.605657 +v 0.985858 3.992885 -0.387781 +v 0.296538 4.355369 -0.387781 +v 0.115207 4.029150 -0.024928 +v 1.130856 3.992885 0.011052 +v 0.622867 3.956620 0.555332 +v 1.022080 4.645649 -0.024928 +v 0.042543 3.376222 0.047384 +v 0.731863 4.681914 0.410237 +v 0.622867 3.920355 -0.569208 +v 0.695421 3.267264 0.591664 +v 0.223984 3.992885 -0.460328 +v 0.260316 4.718179 -0.061260 +v 0.586975 4.681914 -0.424113 +v 0.695421 4.935930 -0.024928 +v 0.332870 4.573120 0.265026 +v 0.151429 3.267264 -0.496660 +v 0.659309 3.267264 -0.605657 +v 0.876972 4.536855 -0.315234 +v 1.167299 3.376222 0.119932 +v 1.058412 3.884091 0.410237 +v 0.949526 4.500427 0.337573 +v 0.695421 3.920355 0.555332 +v 1.058412 3.521280 0.446452 +v 0.187761 3.412486 0.446452 +v 0.586975 4.935930 -0.024928 +f 246 245 257 +f 220 221 224 +f 221 220 226 +f 219 223 227 +f 226 220 228 +f 224 221 232 +f 229 216 232 +f 220 224 233 +f 229 221 235 +f 231 223 235 +f 220 233 236 +f 218 217 237 +f 227 231 237 +f 222 236 238 +f 236 233 238 +f 221 226 239 +f 235 221 239 +f 231 235 239 +f 219 227 240 +f 227 237 240 +f 232 216 241 +f 233 224 241 +f 225 233 241 +f 217 218 242 +f 218 226 242 +f 226 228 242 +f 216 229 243 +f 229 235 243 +f 243 235 244 +f 235 223 244 +f 234 243 244 +f 234 244 245 +f 241 216 245 +f 225 241 245 +f 216 243 245 +f 243 234 245 +f 222 238 246 +f 238 225 246 +f 219 240 246 +f 240 222 246 +f 225 245 246 +f 227 223 247 +f 223 231 247 +f 231 227 247 +f 221 229 248 +f 232 221 248 +f 229 232 248 +f 224 232 249 +f 232 241 249 +f 241 224 249 +f 233 225 250 +f 225 238 250 +f 238 233 250 +f 228 220 251 +f 220 236 251 +f 251 236 252 +f 222 230 252 +f 236 222 252 +f 228 251 252 +f 230 222 253 +f 222 240 253 +f 240 230 253 +f 237 217 254 +f 230 240 254 +f 240 237 254 +f 217 242 254 +f 242 228 255 +f 252 230 255 +f 228 252 255 +f 230 254 255 +f 254 242 255 +f 226 218 256 +f 218 237 256 +f 237 231 256 +f 239 226 256 +f 231 239 256 +f 223 219 257 +f 244 223 257 +f 245 244 257 +f 219 246 257 +o convex_6 +v 1.892948 -2.211378 -0.569176 +v 1.929489 -1.341025 0.083511 +v 1.929489 -1.341025 -0.133786 +v 3.670613 -2.029969 0.011116 +v 1.892948 -2.501580 0.446505 +v 3.380368 -1.957738 0.446505 +v 3.271439 -2.465401 0.011116 +v 3.235245 -1.667535 -0.279030 +v 1.892948 -1.522306 0.410251 +v 3.416562 -1.558613 0.047370 +v 2.727664 -2.429094 -0.424046 +v 1.892948 -2.646937 -0.061392 +v 1.892948 -1.449819 -0.424046 +v 3.380368 -1.993917 -0.387905 +v 1.892948 -1.957738 0.555381 +v 2.763858 -2.429094 0.410251 +v 2.691296 -1.957738 -0.533035 +v 2.618735 -1.594920 0.410251 +v 1.892948 -2.501580 -0.460527 +v 3.416562 -2.429094 0.083511 +v 2.872439 -2.029969 0.518900 +v 1.892948 -1.921430 -0.605657 +v 2.691296 -2.574195 0.011116 +v 2.763858 -1.594920 -0.387905 +v 3.198878 -2.356479 -0.279030 +v 3.416562 -1.558613 -0.025138 +v 3.452929 -2.029969 0.410251 +v 3.198878 -1.667535 0.337630 +v 2.691296 -2.066276 -0.533035 +v 2.691296 -2.465401 -0.387905 +v 3.235245 -2.320299 0.337630 +v 3.670613 -1.957738 0.083511 +v 3.452929 -2.392786 0.011116 +v 2.727664 -1.921430 0.518900 +v 3.380368 -2.102583 -0.351538 +v 2.002051 -2.465401 -0.496781 +v 1.929489 -1.449819 0.337630 +v 2.691296 -1.558613 0.337630 +v 3.489123 -1.957738 0.373770 +v 2.727664 -2.102583 0.518900 +v 1.929489 -1.413512 -0.351538 +v 1.929489 -2.646937 0.011116 +f 269 280 299 +f 258 262 266 +f 260 259 267 +f 262 258 269 +f 259 260 270 +f 258 266 270 +f 266 259 270 +f 266 262 272 +f 269 258 276 +f 258 270 279 +f 273 262 280 +f 264 277 280 +f 277 273 280 +f 265 271 281 +f 271 274 281 +f 279 270 281 +f 274 279 281 +f 260 267 283 +f 261 271 283 +f 271 265 283 +f 265 281 283 +f 263 278 284 +f 278 273 284 +f 275 263 285 +f 271 268 286 +f 274 271 286 +f 258 279 286 +f 279 274 286 +f 269 276 287 +f 264 280 287 +f 280 269 287 +f 282 264 287 +f 268 282 287 +f 273 277 288 +f 277 284 288 +f 284 273 288 +f 277 261 289 +f 283 267 289 +f 261 283 289 +f 284 277 289 +f 261 277 290 +f 277 264 290 +f 264 282 290 +f 266 272 291 +f 275 266 291 +f 263 275 291 +f 272 278 291 +f 278 263 291 +f 271 261 292 +f 268 271 292 +f 282 268 292 +f 261 290 292 +f 290 282 292 +f 276 258 293 +f 258 286 293 +f 286 268 293 +f 268 287 293 +f 287 276 293 +f 259 266 294 +f 266 275 294 +f 294 275 295 +f 267 259 295 +f 285 267 295 +f 275 285 295 +f 259 294 295 +f 263 284 296 +f 285 263 296 +f 267 285 296 +f 289 267 296 +f 284 289 296 +f 272 262 297 +f 262 273 297 +f 278 272 297 +f 273 278 297 +f 270 260 298 +f 281 270 298 +f 260 283 298 +f 283 281 298 +f 262 269 299 +f 280 262 299 +o convex_7 +v 1.892948 -0.578572 0.446505 +v 1.929429 0.872300 0.011116 +v 1.929429 0.872300 -0.097646 +v 3.634505 -0.070767 -0.061392 +v 1.892948 -0.687387 -0.496781 +v 3.344018 0.038049 0.373770 +v 1.892948 0.690781 -0.496781 +v 1.892948 0.654509 0.446505 +v 3.344018 0.038049 -0.424046 +v 3.416640 0.364335 -0.025138 +v 3.380499 -0.397213 0.047370 +v 2.110813 0.038049 -0.605657 +v 2.038191 0.038049 0.555381 +v 1.929429 -0.760091 0.011116 +v 3.199116 -0.324669 -0.279030 +v 2.001880 -0.651115 0.410251 +v 3.380499 0.364335 -0.133786 +v 3.380499 -0.034495 0.373770 +v 3.126494 0.328063 0.265122 +v 3.235256 -0.324669 0.265122 +v 1.965569 -0.687387 -0.496781 +v 1.892948 -0.179582 -0.605657 +v 2.763726 -0.034495 -0.533035 +v 3.199116 0.291791 -0.351538 +v 2.727586 -0.034495 0.482760 +v 3.344018 -0.107039 -0.387905 +v 3.380499 -0.397213 -0.025138 +v 1.892948 -0.107039 0.555381 +v 3.452780 0.001777 0.337630 +v 1.929429 0.690781 0.410251 +v 3.634505 0.038049 -0.061392 +v 1.929429 0.690781 -0.496781 +v 2.727586 0.038049 0.482760 +v 2.655135 0.110432 -0.533035 +v 1.929429 0.182976 -0.605657 +v 1.929429 -0.760091 -0.097646 +v 2.655135 0.400607 -0.460527 +f 333 331 336 +f 301 302 306 +f 304 300 306 +f 301 306 307 +f 306 300 307 +f 302 301 309 +f 300 304 313 +f 300 313 315 +f 313 310 315 +f 302 309 316 +f 307 305 318 +f 315 310 319 +f 317 315 319 +f 304 306 321 +f 320 304 321 +f 320 321 322 +f 321 311 322 +f 316 308 323 +f 300 315 324 +f 315 317 324 +f 308 303 325 +f 314 320 325 +f 320 322 325 +f 322 308 325 +f 303 310 326 +f 310 313 326 +f 320 314 326 +f 325 303 326 +f 314 325 326 +f 307 300 327 +f 312 307 327 +f 300 324 327 +f 324 312 327 +f 310 303 328 +f 305 317 328 +f 318 305 328 +f 309 318 328 +f 319 310 328 +f 317 319 328 +f 301 307 329 +f 309 301 329 +f 307 318 329 +f 318 309 329 +f 303 308 330 +f 308 316 330 +f 316 309 330 +f 328 303 330 +f 309 328 330 +f 306 302 331 +f 302 316 331 +f 316 323 331 +f 305 307 332 +f 307 312 332 +f 317 305 332 +f 312 324 332 +f 324 317 332 +f 308 322 333 +f 322 311 333 +f 331 333 334 +f 321 306 334 +f 311 321 334 +f 306 331 334 +f 333 311 334 +f 313 304 335 +f 304 320 335 +f 326 313 335 +f 320 326 335 +f 323 308 336 +f 331 323 336 +f 308 333 336 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/447/447.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/447/447.urdf new file mode 100644 index 000000000..9fd00cdad --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/447/447.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/448/448.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/448/448.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/448/448.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/448/448.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/448/448.obj new file mode 100644 index 000000000..dffca43a9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/448/448.obj @@ -0,0 +1,333 @@ +o convex_0 +v 1.065701 -1.665167 0.839434 +v -1.095763 0.195554 -1.021627 +v -1.095763 0.195554 -0.991375 +v -1.035675 -3.196285 -0.631263 +v -1.065719 1.366813 1.049742 +v 1.035657 1.366813 -1.051671 +v 1.065489 -3.225624 -1.051671 +v -0.915500 -3.195827 1.049742 +v 0.975569 1.366813 1.079787 +v 1.065489 -3.316391 1.079787 +v -1.095763 1.366813 -1.021627 +v -1.035675 -3.196285 -1.021627 +v 1.065701 1.366813 -0.210855 +v 0.225108 -3.286135 1.079787 +v 0.015013 1.336558 -1.051671 +v -0.885456 -3.226082 -0.841363 +v -0.945544 -2.865307 1.049742 +v 1.065701 0.796082 -1.051671 +v 0.315028 1.366813 1.079787 +v -1.065719 -2.355545 -0.961331 +v -1.065719 1.096346 1.049742 +v 0.795306 -3.316391 0.749511 +v 1.035657 1.366813 0.509367 +v 0.675343 -3.225624 -1.051671 +v 1.065489 -3.255879 -0.751440 +v -0.825580 -3.226082 1.049742 +v 0.104933 -3.255879 1.079787 +v 1.005613 0.375712 1.079787 +v -0.975587 -3.195827 0.388982 +v -0.375134 -3.225624 -1.021627 +v -1.095763 1.366813 -0.781275 +v 1.065489 -2.715862 1.079787 +v 1.065489 -3.316391 0.689423 +v 0.765474 -3.316391 1.079787 +v 1.005613 1.336558 0.869478 +f 28 32 35 +f 6 5 9 +f 2 3 11 +f 5 6 11 +f 6 9 13 +f 10 9 14 +f 6 7 15 +f 2 11 15 +f 11 6 15 +f 12 2 15 +f 4 12 16 +f 1 7 18 +f 7 6 18 +f 13 1 18 +f 6 13 18 +f 9 5 19 +f 14 9 19 +f 3 2 20 +f 2 12 20 +f 12 4 20 +f 3 20 21 +f 20 4 21 +f 1 13 23 +f 13 9 23 +f 15 7 24 +f 12 15 24 +f 7 1 25 +f 24 7 25 +f 4 16 26 +f 16 14 26 +f 17 8 27 +f 19 5 27 +f 14 19 27 +f 5 21 27 +f 21 17 27 +f 8 26 27 +f 26 14 27 +f 9 10 28 +f 8 17 29 +f 21 4 29 +f 17 21 29 +f 4 26 29 +f 26 8 29 +f 16 12 30 +f 22 16 30 +f 12 24 30 +f 25 22 30 +f 24 25 30 +f 11 3 31 +f 5 11 31 +f 3 21 31 +f 21 5 31 +f 10 1 32 +f 1 23 32 +f 28 10 32 +f 1 10 33 +f 10 22 33 +f 25 1 33 +f 22 25 33 +f 10 14 34 +f 14 16 34 +f 22 10 34 +f 16 22 34 +f 23 9 35 +f 9 28 35 +f 32 23 35 +o convex_1 +v 2.836578 2.027174 0.299141 +v 1.876370 1.667069 -0.331178 +v 1.966346 1.426854 -0.301102 +v 1.095721 1.546992 0.359294 +v 1.095721 2.057224 -0.241085 +v 2.986998 1.426854 0.179106 +v 2.986998 1.937148 -0.331178 +v 1.095721 1.456966 -0.301102 +v 1.095721 2.027174 0.209115 +v 3.076777 1.426854 -0.301102 +v 3.107097 2.057224 0.269200 +v 1.395971 2.057224 -0.271093 +v 2.926751 1.426854 0.209115 +v 3.047048 1.997186 0.299141 +v 1.125845 1.456966 -0.150991 +v 1.095721 1.637080 0.359294 +v 2.836578 1.967136 -0.331178 +v 1.095721 2.057224 0.028994 +v 3.107097 2.057224 0.209115 +v 3.107097 1.577042 -0.150991 +v 1.335921 2.027174 0.239124 +v 1.125845 1.997186 -0.271093 +v 2.776725 1.426854 0.209115 +v 3.016924 1.667069 -0.331178 +v 2.416622 1.967136 -0.331178 +v 3.107097 1.937148 0.269200 +v 1.395971 1.517004 0.329217 +v 2.506402 2.057224 0.269200 +v 1.125845 1.667069 -0.301102 +v 1.155771 1.546992 0.359294 +f 62 48 65 +f 37 38 43 +f 39 40 43 +f 40 39 44 +f 38 37 45 +f 41 38 45 +f 40 46 47 +f 38 41 48 +f 46 36 49 +f 43 38 50 +f 39 43 50 +f 44 39 51 +f 49 36 51 +f 42 37 52 +f 40 44 53 +f 46 40 53 +f 47 46 54 +f 42 52 54 +f 52 47 54 +f 41 45 55 +f 45 42 55 +f 42 54 55 +f 54 46 55 +f 51 36 56 +f 44 51 56 +f 43 40 57 +f 40 47 57 +f 38 48 58 +f 50 38 58 +f 37 42 59 +f 45 37 59 +f 42 45 59 +f 52 37 60 +f 47 52 60 +f 57 47 60 +f 48 41 61 +f 46 49 61 +f 49 48 61 +f 41 55 61 +f 55 46 61 +f 39 50 62 +f 58 48 62 +f 50 58 62 +f 36 46 63 +f 53 44 63 +f 46 53 63 +f 56 36 63 +f 44 56 63 +f 37 43 64 +f 43 57 64 +f 60 37 64 +f 57 60 64 +f 48 49 65 +f 51 39 65 +f 49 51 65 +f 39 62 65 +o convex_2 +v -3.107153 1.396834 -0.301158 +v -1.095778 2.087306 0.269168 +v -1.095778 1.997144 0.299159 +v -3.077030 1.937195 0.299159 +v -2.987054 2.027221 -0.301158 +v -1.095778 1.456986 -0.271105 +v -1.095778 1.456986 0.329273 +v -1.095778 2.057230 -0.241114 +v -3.016980 1.456986 0.269168 +v -2.326505 1.396834 -0.301158 +v -2.206405 2.027221 -0.301158 +v -1.456077 2.087306 0.269168 +v -3.077030 1.396834 -0.121026 +v -1.756326 1.456986 0.329273 +v -1.125901 1.757074 0.329273 +v -2.987054 2.027221 -0.151017 +v -1.185951 1.426978 -0.271105 +v -1.125901 2.087306 0.028992 +v -2.806904 1.967203 0.299159 +v -3.107153 1.486995 -0.301158 +v -1.456077 2.027221 -0.271105 +v -3.046907 1.426978 0.119027 +f 79 74 87 +f 67 68 71 +f 71 68 72 +f 67 71 73 +f 66 70 75 +f 70 73 76 +f 75 70 76 +f 71 75 76 +f 68 67 77 +f 66 75 78 +f 75 72 78 +f 69 74 79 +f 72 68 80 +f 69 79 80 +f 79 72 80 +f 70 69 81 +f 77 70 81 +f 71 72 82 +f 75 71 82 +f 72 75 82 +f 67 73 83 +f 73 70 83 +f 77 67 83 +f 70 77 83 +f 68 77 84 +f 80 68 84 +f 69 80 84 +f 81 69 84 +f 77 81 84 +f 66 69 85 +f 70 66 85 +f 69 70 85 +f 73 71 86 +f 76 73 86 +f 71 76 86 +f 69 66 87 +f 74 69 87 +f 66 78 87 +f 78 72 87 +f 72 79 87 +o convex_3 +v 1.095672 1.967339 0.239179 +v -0.525392 2.657561 -1.051671 +v -1.095778 1.366957 -1.021627 +v -1.095778 2.717599 1.049742 +v -1.065531 1.366957 1.049742 +v 1.035608 1.366957 -1.051671 +v 0.945514 2.837676 1.079787 +v 0.975545 1.366957 1.079787 +v 1.035608 2.687508 -1.051671 +v -1.095778 2.687508 -1.021627 +v 1.095672 1.457086 -0.300779 +v 0.855419 2.837676 0.839434 +v 0.255001 2.807729 1.079787 +v 1.035608 2.717599 -0.841363 +v 1.095672 2.207203 -0.420955 +v -1.095778 1.457086 0.329103 +v 1.095672 1.547072 0.359147 +v 0.014963 1.366813 -1.051671 +v -1.095778 2.717599 0.299059 +v 0.645412 2.837676 1.019699 +v 0.315064 1.366813 1.079787 +v 0.975545 2.717599 0.959610 +v 1.005577 2.777637 -0.030591 +v 1.065640 2.537485 -0.871407 +v -1.095778 2.087415 1.049742 +v 1.035608 1.366957 0.509367 +v 0.975545 1.937392 1.079787 +v -0.735398 2.747690 1.049742 +f 107 106 115 +f 93 89 96 +f 89 90 97 +f 90 91 97 +f 96 89 97 +f 95 94 100 +f 96 97 101 +f 88 98 102 +f 91 90 103 +f 90 92 103 +f 98 88 104 +f 90 89 105 +f 92 90 105 +f 89 93 105 +f 97 91 106 +f 94 99 107 +f 99 97 107 +f 100 94 107 +f 97 106 107 +f 95 100 108 +f 92 105 108 +f 105 93 108 +f 88 102 109 +f 104 88 109 +f 99 94 110 +f 97 99 110 +f 101 97 110 +f 94 109 110 +f 109 102 110 +f 93 96 111 +f 98 93 111 +f 96 101 111 +f 102 98 111 +f 101 110 111 +f 110 102 111 +f 100 91 112 +f 91 103 112 +f 103 92 112 +f 92 108 112 +f 108 100 112 +f 93 98 113 +f 104 95 113 +f 98 104 113 +f 108 93 113 +f 95 108 113 +f 94 95 114 +f 95 104 114 +f 109 94 114 +f 104 109 114 +f 91 100 115 +f 106 91 115 +f 100 107 115 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/448/448.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/448/448.urdf new file mode 100644 index 000000000..210f0e508 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/448/448.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/449/449.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/449/449.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/449/449.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/449/449.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/449/449.obj new file mode 100644 index 000000000..718270eea --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/449/449.obj @@ -0,0 +1,711 @@ +o convex_0 +v 1.022442 0.254226 0.744120 +v -1.314052 0.522601 0.126204 +v -1.314052 0.522601 0.287493 +v -0.024851 -3.452196 0.045657 +v 0.861525 0.603589 -0.813510 +v -0.776862 -0.524694 -0.840359 +v -0.884141 -2.350512 0.797818 +v 0.753981 -2.216325 -0.679265 +v 0.780800 -2.243321 0.744120 +v -0.803682 0.603192 0.878365 +v 1.398714 0.603589 0.019003 +v -0.749777 -2.780069 -0.115047 +v 0.002234 -2.672878 -0.732963 +v -0.830502 0.603192 -0.813510 +v 0.189972 -0.471496 1.012805 +v 0.189972 -0.390904 -0.974799 +v 0.753981 -2.887657 0.019003 +v 0.002234 -2.699477 0.824472 +v 0.834439 0.603589 0.824667 +v -0.776862 -0.336911 0.985761 +v -1.287232 0.603589 0.583026 +v -1.206507 0.549597 -0.383732 +v 1.237530 0.576593 -0.491128 +v 0.807620 -0.309915 -0.894057 +v 0.807620 -0.309915 0.932063 +v -1.045324 -0.927652 -0.356883 +v -0.562040 -2.108737 -0.598524 +v -0.857321 -2.565687 0.475436 +v -0.427676 0.603192 -0.894057 +v -0.051670 -0.471496 -0.974799 +v 1.398714 0.576593 -0.088198 +v 0.082428 -3.425200 0.045657 +v 1.237530 0.496001 0.421738 +v -1.018505 0.361417 0.851516 +v 0.055608 0.522601 0.905019 +v -0.884141 -2.431103 0.770969 +v -0.078490 -0.659278 1.012805 +v 0.780800 -2.807065 -0.007652 +v 0.807620 -1.974550 -0.679265 +v -0.776862 -2.807065 -0.034500 +v 0.029054 -3.237020 0.314147 +v 1.022442 0.415410 -0.759812 +v 0.539158 -2.350512 -0.706114 +v -0.910961 -2.350512 0.770969 +v 0.780800 -2.538691 0.421738 +v 0.807620 0.066047 -0.894057 +v -0.776862 -0.175728 0.985761 +v 1.022442 0.603589 0.744120 +v 0.673256 -0.309915 0.958912 +v -1.098963 0.603589 -0.544826 +v -1.072144 -1.088439 0.179902 +v 0.029054 -2.753470 0.797818 +v 0.055608 -2.672878 -0.732963 +v -0.158949 0.603192 -0.894057 +v -1.314052 0.603589 0.529134 +v 0.780800 -2.081740 0.770775 +v -0.051670 -3.425200 0.099355 +v -0.051670 -2.753470 0.797818 +v -1.072144 -0.712873 0.744120 +v 0.109247 -3.398203 0.019003 +v 1.398714 0.576593 0.019003 +v -0.615679 -2.323912 -0.464279 +v 0.055608 -0.336911 1.012805 +v -0.481315 -3.075836 -0.034500 +f 57 40 64 +f 11 5 19 +f 19 5 21 +f 10 19 21 +f 5 11 23 +f 2 22 26 +f 22 6 26 +f 6 13 27 +f 6 14 29 +f 29 16 30 +f 13 6 30 +f 6 29 30 +f 23 11 31 +f 7 20 34 +f 10 21 34 +f 19 10 35 +f 7 18 37 +f 18 15 37 +f 20 7 37 +f 17 8 38 +f 31 38 39 +f 8 24 39 +f 23 31 39 +f 38 8 39 +f 26 12 40 +f 5 23 42 +f 39 24 42 +f 23 39 42 +f 16 24 43 +f 24 8 43 +f 3 2 44 +f 36 7 44 +f 28 36 44 +f 32 17 45 +f 17 38 45 +f 9 41 45 +f 41 32 45 +f 24 16 46 +f 5 42 46 +f 42 24 46 +f 34 20 47 +f 10 34 47 +f 35 10 47 +f 20 37 47 +f 11 19 48 +f 25 1 48 +f 19 25 48 +f 1 33 48 +f 33 11 48 +f 15 18 49 +f 25 19 49 +f 19 35 49 +f 14 6 50 +f 21 5 50 +f 6 22 50 +f 29 14 50 +f 5 29 50 +f 2 26 51 +f 26 40 51 +f 40 28 51 +f 44 2 51 +f 28 44 51 +f 9 18 52 +f 41 9 52 +f 4 13 53 +f 30 16 53 +f 13 30 53 +f 16 43 53 +f 29 5 54 +f 16 29 54 +f 46 16 54 +f 5 46 54 +f 2 3 55 +f 22 2 55 +f 3 44 55 +f 44 21 55 +f 21 50 55 +f 50 22 55 +f 18 9 56 +f 1 25 56 +f 33 1 56 +f 9 33 56 +f 49 18 56 +f 25 49 56 +f 4 32 57 +f 36 28 57 +f 28 40 57 +f 32 41 57 +f 18 7 58 +f 7 36 58 +f 52 18 58 +f 41 52 58 +f 36 57 58 +f 57 41 58 +f 7 34 59 +f 34 21 59 +f 21 44 59 +f 44 7 59 +f 8 17 60 +f 32 4 60 +f 17 32 60 +f 43 8 60 +f 4 53 60 +f 53 43 60 +f 31 11 61 +f 33 9 61 +f 11 33 61 +f 38 31 61 +f 9 45 61 +f 45 38 61 +f 13 12 62 +f 26 6 62 +f 12 26 62 +f 6 27 62 +f 27 13 62 +f 37 15 63 +f 35 47 63 +f 47 37 63 +f 15 49 63 +f 49 35 63 +f 13 4 64 +f 12 13 64 +f 40 12 64 +f 4 57 64 +o convex_1 +v -1.340982 0.872284 -0.276341 +v -1.340982 2.107721 0.099476 +v -1.340982 2.107721 -0.088259 +v -3.059795 1.597299 -0.061423 +v -1.367904 0.764849 0.529197 +v -2.066367 1.919466 0.448689 +v -1.824572 1.624053 -0.545047 +v -2.818169 1.516757 0.394902 +v -2.791247 1.194730 -0.034587 +v -2.818169 1.946499 -0.007751 +v -1.340982 1.382567 0.636656 +v -2.791247 1.543511 -0.410636 +v -1.340982 2.027040 -0.437472 +v -1.340982 0.684168 0.099476 +v -1.340982 1.919605 0.502361 +v -2.012522 1.973253 -0.410636 +v -1.367904 0.952826 -0.383685 +v -1.340982 1.543651 -0.544931 +v -2.093289 1.570405 0.556033 +v -2.522698 1.275271 -0.330129 +v -2.791247 1.624053 -0.410636 +v -2.146797 2.053795 0.045805 +v -2.764324 1.677840 0.368066 +v -2.630050 1.275271 0.287558 +v -2.146797 1.543511 -0.518095 +v -2.630050 1.865957 -0.303177 +v -1.448502 1.302026 0.636656 +v -1.367904 0.684168 0.206935 +v -3.033041 1.570405 0.072640 +v -2.791247 1.919466 0.099361 +v -1.421580 0.925932 -0.356849 +v -2.039444 1.221484 -0.410636 +v -2.791247 1.194730 -0.007751 +v -1.367904 1.731628 -0.544931 +v -2.066367 2.053795 -0.061423 +v -2.630050 1.838924 0.314279 +v -1.340982 0.737955 0.475409 +v -3.059795 1.543511 -0.061423 +v -1.367904 0.684168 0.099476 +v -1.905170 1.462970 0.582984 +v -1.985768 1.624053 0.556033 +v -2.764324 1.194730 -0.061423 +v -1.609699 2.107721 0.045805 +v -1.985768 1.489863 -0.518095 +v -2.066367 1.946499 0.394902 +v -1.367904 0.737955 0.475409 +v -2.039444 1.650947 -0.518095 +v -2.844923 1.919466 -0.034587 +v -2.979197 1.731628 0.019200 +v -2.818169 1.570405 0.394902 +v -3.059795 1.543511 0.019200 +v -2.630050 1.275271 -0.276341 +v -1.475256 1.382567 0.636656 +v -1.421580 1.919605 0.502361 +v -2.871677 1.570405 0.341230 +f 115 72 119 +f 67 66 65 +f 65 66 75 +f 67 65 77 +f 65 75 78 +f 75 66 79 +f 77 65 82 +f 65 81 82 +f 76 68 85 +f 69 72 88 +f 76 85 89 +f 74 80 90 +f 80 85 90 +f 69 75 91 +f 86 74 94 +f 81 65 95 +f 95 84 96 +f 84 76 96 +f 76 89 96 +f 81 95 96 +f 69 88 97 +f 88 72 97 +f 73 92 97 +f 71 80 98 +f 80 77 98 +f 77 82 98 +f 82 71 98 +f 67 77 99 +f 80 74 99 +f 77 80 99 +f 74 86 99 +f 87 70 100 +f 94 87 100 +f 70 94 100 +f 75 69 101 +f 78 75 101 +f 92 78 101 +f 76 73 102 +f 68 76 102 +f 73 97 102 +f 65 78 103 +f 92 73 103 +f 78 92 103 +f 95 65 103 +f 72 69 104 +f 83 72 104 +f 69 91 104 +f 70 83 105 +f 73 76 106 +f 103 73 106 +f 95 103 106 +f 66 67 107 +f 67 99 107 +f 99 86 107 +f 71 82 108 +f 82 81 108 +f 89 71 108 +f 96 89 108 +f 81 96 108 +f 94 70 109 +f 86 94 109 +f 66 107 109 +f 107 86 109 +f 69 97 110 +f 97 92 110 +f 101 69 110 +f 92 101 110 +f 80 71 111 +f 85 80 111 +f 71 89 111 +f 89 85 111 +f 85 68 112 +f 74 90 112 +f 90 85 112 +f 68 93 113 +f 94 74 113 +f 112 68 113 +f 74 112 113 +f 72 83 114 +f 83 70 114 +f 70 87 114 +f 93 68 115 +f 97 72 115 +f 68 102 115 +f 102 97 115 +f 76 84 116 +f 84 95 116 +f 106 76 116 +f 95 106 116 +f 75 79 117 +f 91 75 117 +f 83 104 117 +f 104 91 117 +f 105 83 117 +f 105 117 118 +f 79 66 118 +f 70 105 118 +f 66 109 118 +f 109 70 118 +f 117 79 118 +f 87 94 119 +f 113 93 119 +f 94 113 119 +f 72 114 119 +f 114 87 119 +f 93 115 119 +o convex_2 +v -1.233459 0.630659 -0.330092 +v 0.270457 2.537473 0.018866 +v 0.270457 2.537473 -0.034579 +v 1.291276 0.603589 0.260586 +v -0.911136 0.630659 0.851437 +v 0.861511 0.603589 -0.813531 +v -1.072169 2.188216 -0.598534 +v 1.291276 1.919600 0.421790 +v -1.340900 1.919410 0.502306 +v 1.264222 1.973361 -0.464226 +v 0.780866 1.785197 0.690233 +v 0.834458 0.603589 0.824541 +v -0.830491 0.603779 -0.813358 +v -0.696254 1.946480 -0.786635 +v -1.313847 0.603779 0.529202 +v -1.340900 1.731436 -0.544915 +v -0.749846 1.812078 0.717303 +v -0.803438 2.483712 0.018693 +v 1.291276 0.711111 -0.491123 +v 0.807662 1.865649 -0.679050 +v 0.834458 2.483523 -0.034579 +v 0.055575 0.737992 0.878507 +v -0.320340 0.711111 -0.894220 +v -1.340900 2.107574 -0.088372 +v 1.237426 1.167702 0.582821 +v 1.291276 1.355866 -0.598534 +v -1.340900 0.899275 -0.356815 +v -1.340900 1.409437 0.636614 +v -0.911136 1.973171 -0.786635 +v 1.291276 2.188026 -0.061476 +v 0.082371 1.785197 0.744025 +v -0.776642 0.603589 0.878507 +v 1.076136 0.603589 0.717303 +v 0.834458 2.483523 0.018866 +v 0.807662 1.006608 -0.786635 +v 1.103189 0.603589 -0.679223 +v -1.098965 0.630659 0.797818 +v 0.807662 1.946480 0.555925 +v -1.340900 0.630659 0.126278 +v -0.427523 0.603589 -0.894220 +v -1.340900 2.027122 -0.437503 +v -0.212641 2.537473 -0.034579 +v -0.776642 1.677675 0.744199 +v 1.291276 0.764872 0.421790 +v -0.964728 2.134455 -0.652327 +v -1.340900 1.543840 -0.544915 +v -0.266490 2.322429 0.233690 +v -1.098965 0.603779 -0.544915 +v -1.340900 2.107574 0.099382 +v 0.807662 0.737992 0.824541 +v -1.072169 2.214907 -0.571811 +v -0.024812 1.812078 -0.759912 +v -1.126018 1.892530 -0.679223 +v 1.156781 2.295549 0.018866 +v 1.291276 0.603589 -0.303022 +v 1.291276 1.382746 0.529202 +v -0.803438 2.483712 -0.034579 +v 1.291276 2.026933 -0.383711 +v 0.834458 1.704556 0.690233 +v -0.857287 0.979727 -0.813358 +v -1.340900 1.087250 0.609891 +v 1.264222 2.000241 0.367998 +v 0.834458 1.677675 -0.705946 +v 1.076136 0.657350 -0.733016 +f 138 155 183 +f 125 123 131 +f 128 136 137 +f 127 123 138 +f 122 121 140 +f 129 139 140 +f 135 128 143 +f 127 138 145 +f 139 129 145 +f 128 135 146 +f 136 128 147 +f 128 146 147 +f 133 142 148 +f 127 145 149 +f 125 131 151 +f 131 141 151 +f 131 123 152 +f 140 121 153 +f 125 142 154 +f 123 125 155 +f 124 147 156 +f 151 124 156 +f 134 151 156 +f 121 150 157 +f 150 130 157 +f 153 121 157 +f 146 120 158 +f 147 146 158 +f 142 125 159 +f 148 142 159 +f 125 151 159 +f 151 134 159 +f 135 143 160 +f 121 122 161 +f 137 121 161 +f 147 124 162 +f 136 147 162 +f 150 136 162 +f 141 150 162 +f 151 141 162 +f 124 151 162 +f 123 127 163 +f 152 123 163 +f 144 152 163 +f 139 133 164 +f 140 139 164 +f 148 126 164 +f 133 148 164 +f 146 135 165 +f 121 137 166 +f 137 136 166 +f 150 121 166 +f 136 150 166 +f 120 146 167 +f 158 120 167 +f 134 158 167 +f 132 159 167 +f 159 134 167 +f 165 132 167 +f 146 165 167 +f 128 137 168 +f 143 128 168 +f 137 143 168 +f 141 131 169 +f 130 150 169 +f 150 141 169 +f 131 152 169 +f 152 144 169 +f 122 140 170 +f 126 160 170 +f 160 143 170 +f 161 122 170 +f 164 126 170 +f 140 164 170 +f 133 139 171 +f 142 133 171 +f 154 142 171 +f 126 148 172 +f 160 126 172 +f 135 160 172 +f 165 135 172 +f 149 140 173 +f 140 153 173 +f 138 123 174 +f 123 155 174 +f 155 138 174 +f 163 127 175 +f 144 163 175 +f 143 137 176 +f 137 161 176 +f 170 143 176 +f 161 170 176 +f 129 140 177 +f 145 129 177 +f 140 149 177 +f 149 145 177 +f 127 130 178 +f 130 169 178 +f 169 144 178 +f 175 127 178 +f 144 175 178 +f 159 132 179 +f 148 159 179 +f 132 165 179 +f 172 148 179 +f 165 172 179 +f 156 147 180 +f 134 156 180 +f 158 134 180 +f 147 158 180 +f 130 127 181 +f 127 149 181 +f 157 130 181 +f 153 157 181 +f 149 173 181 +f 173 153 181 +f 145 125 182 +f 139 145 182 +f 125 154 182 +f 171 139 182 +f 154 171 182 +f 125 145 183 +f 145 138 183 +f 155 125 183 +o convex_3 +v 1.291533 0.603742 0.207004 +v 1.452556 2.161440 -0.007883 +v 1.452556 2.161440 -0.034716 +v 3.010116 1.516770 -0.034716 +v 1.291533 1.328919 -0.598766 +v 1.291533 1.382591 0.529333 +v 2.768498 1.597278 0.368113 +v 2.768498 1.489934 -0.383769 +v 1.318286 0.684402 -0.437546 +v 1.291533 1.973284 -0.437546 +v 2.768498 1.919613 -0.034716 +v 2.768498 1.194588 0.018840 +v 1.291533 1.946296 0.394947 +v 1.318286 0.684402 0.394947 +v 1.989634 1.946296 -0.410712 +v 2.016555 1.946296 0.368113 +v 1.452556 0.603742 -0.061549 +v 2.123903 1.570289 0.475557 +v 1.909038 1.516618 -0.544989 +v 2.580554 1.275248 0.287503 +v 1.291533 0.738073 -0.491322 +v 2.741576 1.597278 -0.383769 +v 2.687902 1.194588 -0.115216 +v 1.291533 2.161440 0.045784 +v 2.043476 2.080628 -0.034716 +v 2.607307 1.838953 0.260560 +v 2.714655 1.489934 0.368113 +v 2.580554 1.838953 -0.303159 +v 1.371960 1.275248 0.529333 +v 2.553633 1.248412 -0.303159 +v 2.768498 1.919613 0.018840 +v 1.318286 0.603742 -0.276436 +v 2.983363 1.516770 0.072617 +v 2.687902 1.543606 0.394947 +v 2.016555 1.624114 -0.518156 +v 2.043476 1.973284 -0.356936 +v 2.768498 1.194588 -0.034716 +v 1.721095 1.758293 0.448723 +v 2.553633 1.516770 -0.437546 +v 1.318286 0.738073 -0.491322 +v 2.983363 1.624114 -0.007993 +v 1.318286 0.603742 0.207004 +v 2.043476 2.000120 0.233837 +v 1.291533 0.764909 0.421890 +v 1.452556 1.973284 -0.437546 +v 1.882285 1.462946 -0.544989 +v 1.371960 2.161440 -0.061549 +v 1.452556 1.462946 -0.571822 +v 1.452556 0.603742 -0.007883 +v 2.204499 1.919613 0.341170 +v 2.848925 1.570442 -0.276325 +v 2.016555 1.624114 0.475557 +v 2.660981 1.597278 0.394947 +v 1.318286 0.764909 0.421890 +v 1.345039 1.973284 0.368113 +v 2.822172 1.543606 0.314336 +v 2.150824 2.053792 0.018950 +v 2.983363 1.570442 0.072617 +f 239 216 241 +f 188 184 189 +f 188 189 193 +f 193 189 196 +f 197 195 203 +f 184 188 204 +f 185 186 207 +f 193 196 207 +f 186 185 208 +f 197 203 210 +f 194 205 211 +f 205 198 211 +f 201 189 212 +f 191 206 213 +f 206 192 213 +f 194 208 214 +f 209 190 214 +f 200 184 215 +f 184 204 215 +f 204 192 215 +f 192 206 215 +f 195 187 216 +f 210 190 217 +f 197 210 217 +f 201 212 217 +f 198 205 218 +f 186 208 219 +f 208 194 219 +f 194 211 219 +f 211 198 219 +f 191 187 220 +f 187 195 220 +f 195 200 220 +f 206 191 220 +f 200 215 220 +f 215 206 220 +f 196 189 221 +f 199 196 221 +f 205 191 222 +f 202 218 222 +f 218 205 222 +f 204 188 223 +f 192 204 223 +f 191 213 223 +f 213 192 223 +f 222 191 223 +f 194 214 224 +f 197 184 225 +f 195 197 225 +f 184 200 225 +f 185 207 226 +f 207 199 226 +f 189 184 227 +f 184 197 227 +f 212 189 227 +f 198 218 228 +f 219 198 228 +f 188 202 229 +f 202 222 229 +f 223 188 229 +f 222 223 229 +f 207 186 230 +f 193 207 230 +f 186 219 230 +f 228 193 230 +f 219 228 230 +f 188 193 231 +f 202 188 231 +f 218 202 231 +f 193 228 231 +f 228 218 231 +f 200 195 232 +f 195 225 232 +f 225 200 232 +f 190 209 233 +f 209 214 233 +f 226 199 233 +f 214 226 233 +f 187 191 234 +f 191 205 234 +f 205 194 234 +f 224 187 234 +f 194 224 234 +f 189 201 235 +f 221 189 235 +f 199 221 235 +f 217 190 236 +f 201 217 236 +f 190 233 236 +f 233 199 236 +f 199 235 236 +f 235 201 236 +f 197 217 237 +f 217 212 237 +f 227 197 237 +f 212 227 237 +f 196 199 238 +f 207 196 238 +f 199 207 238 +f 203 195 239 +f 190 210 239 +f 210 203 239 +f 195 216 239 +f 208 185 240 +f 214 208 240 +f 185 226 240 +f 226 214 240 +f 214 190 241 +f 216 187 241 +f 187 224 241 +f 224 214 241 +f 190 239 241 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/449/449.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/449/449.urdf new file mode 100644 index 000000000..76e881355 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/449/449.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/450/450.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/450/450.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/450/450.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/450/450.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/450/450.obj new file mode 100644 index 000000000..19a9f1720 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/450/450.obj @@ -0,0 +1,429 @@ +o convex_0 +v -2.937657 -1.021607 -0.410637 +v -3.379302 1.112334 0.987146 +v -3.379302 1.112334 0.913411 +v -0.252065 1.112118 0.986933 +v -4.262591 1.075382 -1.109954 +v -0.252065 -1.021607 -1.072980 +v -0.252065 -1.095295 1.060881 +v -4.188787 -0.947918 0.913411 +v -0.252065 0.964741 -1.036006 +v -4.188787 -0.984870 -1.036219 +v -4.225689 1.112334 0.950172 +v -0.252065 1.075166 -0.668180 +v -4.262591 0.339577 -1.109954 +v -3.747535 -0.984870 0.950172 +v -2.680522 1.038429 -1.109742 +v -1.135354 -0.984654 1.060881 +v -0.252065 -0.322538 1.060881 +v -4.225689 -0.690333 -1.072980 +v -0.473084 0.964741 -1.072980 +v -4.188787 -0.579908 0.950172 +v -0.436182 -1.095295 0.876649 +v -0.877827 -1.021390 -1.072980 +v -4.262591 1.038429 -0.263379 +v -4.225689 -0.947918 -0.704941 +v -3.121774 -0.984654 -1.072768 +v -0.252065 1.112118 0.839888 +v -4.225689 0.596947 0.950172 +v -0.252065 0.523258 -1.072980 +v -3.453105 1.112334 0.987146 +v -4.225689 -0.322322 0.140784 +v -0.252065 0.486522 1.023907 +v -3.636829 1.075382 -1.109954 +v -0.988140 1.001693 -1.072980 +v -4.041572 1.112334 0.840100 +f 26 32 34 +f 3 2 4 +f 6 4 7 +f 4 6 9 +f 2 3 11 +f 4 9 12 +f 8 10 14 +f 6 13 15 +f 14 7 16 +f 7 4 17 +f 16 7 17 +f 8 14 20 +f 14 16 20 +f 6 7 21 +f 10 1 21 +f 7 14 21 +f 14 10 21 +f 1 10 22 +f 13 6 22 +f 21 1 22 +f 6 21 22 +f 11 5 23 +f 5 13 23 +f 10 8 24 +f 18 10 24 +f 13 18 24 +f 10 18 25 +f 18 13 25 +f 22 10 25 +f 13 22 25 +f 3 4 26 +f 4 12 26 +f 8 20 27 +f 11 23 27 +f 9 6 28 +f 6 15 28 +f 19 9 28 +f 15 19 28 +f 2 11 29 +f 16 17 29 +f 20 16 29 +f 11 27 29 +f 27 20 29 +f 23 13 30 +f 13 24 30 +f 24 8 30 +f 8 27 30 +f 27 23 30 +f 4 2 31 +f 17 4 31 +f 2 29 31 +f 29 17 31 +f 13 5 32 +f 15 13 32 +f 26 12 32 +f 12 9 33 +f 9 19 33 +f 19 15 33 +f 15 32 33 +f 32 12 33 +f 11 3 34 +f 5 11 34 +f 3 26 34 +f 32 5 34 +o convex_1 +v 3.831731 0.486810 0.545724 +v 3.831731 -0.433006 -0.631508 +v 3.831731 -0.359361 -0.631508 +v 1.918770 0.560340 -0.447467 +v 1.918770 -0.580182 0.545724 +v 1.918770 0.597220 0.656023 +v 1.918770 -0.543301 -0.484275 +v 3.795168 -0.469771 0.508916 +v 3.905636 0.486810 -0.558018 +v 3.868489 -0.469771 -0.116445 +v 3.574427 0.523575 -0.558018 +v 2.470720 -0.580182 0.545724 +v 3.721458 0.523575 0.508916 +v 3.758216 -0.138656 0.545724 +v 2.139900 0.450045 -0.484275 +v 3.905636 -0.396126 -0.373977 +v 2.728414 -0.506536 -0.558018 +v 1.955917 -0.580182 -0.079637 +v 3.868489 0.192460 0.251385 +v 3.684505 -0.506536 0.508916 +v 3.905636 -0.433006 -0.631508 +v 1.955917 0.523575 0.656023 +v 1.918770 0.045169 -0.484275 +v 3.905636 0.486810 -0.263678 +v 3.831731 0.045169 0.545724 +f 56 48 59 +f 38 39 40 +f 39 38 41 +f 38 40 45 +f 43 37 45 +f 40 35 47 +f 45 40 47 +f 43 45 47 +f 46 42 48 +f 45 37 49 +f 38 45 49 +f 42 44 50 +f 37 36 51 +f 39 41 52 +f 46 39 52 +f 44 46 52 +f 51 44 52 +f 41 51 52 +f 44 42 54 +f 42 46 54 +f 46 44 54 +f 36 37 55 +f 37 43 55 +f 43 50 55 +f 50 44 55 +f 51 36 55 +f 44 51 55 +f 35 40 56 +f 40 39 56 +f 39 46 56 +f 46 48 56 +f 41 38 57 +f 49 37 57 +f 38 49 57 +f 37 51 57 +f 51 41 57 +f 47 35 58 +f 43 47 58 +f 50 43 58 +f 35 53 58 +f 53 50 58 +f 48 42 59 +f 42 50 59 +f 53 35 59 +f 50 53 59 +f 35 56 59 +o convex_2 +v 0.336694 -0.616975 -3.096820 +v 1.440450 0.523633 -1.109954 +v 1.440450 0.413100 -1.109954 +v 0.263048 0.449833 -1.109954 +v 1.329925 0.486789 -3.096820 +v 1.293160 -0.469710 -1.109954 +v 0.263048 0.523633 -3.022915 +v 0.263048 -0.616975 -1.109954 +v 1.366805 -0.432978 -2.949400 +v 1.403570 0.339523 -3.096820 +v 0.447104 -0.616975 -3.096820 +v 0.263048 0.523633 -2.103387 +v 0.263048 0.339523 -3.059673 +v 1.329925 -0.469710 -2.949400 +v 1.329925 -0.432978 -1.109954 +v 0.815100 0.523633 -3.059673 +v 0.336694 0.486789 -1.109954 +v 1.440450 0.486789 -2.029871 +v 0.373459 -0.616975 -1.109954 +v 1.403570 -0.064982 -2.912642 +v 1.366805 -0.432978 -2.324128 +v 0.336694 -0.212135 -3.096820 +v 1.403570 0.486789 -2.949400 +f 77 69 82 +f 62 61 63 +f 62 63 65 +f 65 63 67 +f 63 66 67 +f 60 64 69 +f 69 68 70 +f 67 60 70 +f 60 69 70 +f 61 66 71 +f 66 63 71 +f 60 67 72 +f 67 66 72 +f 70 68 73 +f 65 70 73 +f 62 65 74 +f 66 61 75 +f 64 72 75 +f 72 66 75 +f 63 61 76 +f 61 71 76 +f 71 63 76 +f 61 62 77 +f 65 67 78 +f 70 65 78 +f 67 70 78 +f 68 69 79 +f 77 62 79 +f 69 77 79 +f 65 73 80 +f 73 68 80 +f 62 74 80 +f 74 65 80 +f 79 62 80 +f 68 79 80 +f 64 60 81 +f 60 72 81 +f 72 64 81 +f 69 64 82 +f 75 61 82 +f 64 75 82 +f 61 77 82 +o convex_3 +v 0.557542 -3.044651 -0.889105 +v 1.550733 1.074845 1.097675 +v 1.881796 -0.395323 1.060507 +v 1.918770 3.098595 -1.036049 +v -0.252054 3.024784 1.060507 +v -0.215081 3.099200 -0.925841 +v -0.104797 -2.933934 0.950298 +v 1.918770 -2.933934 -1.109738 +v -0.252054 -3.045256 -1.036049 +v 1.918770 -3.081556 1.023770 +v 1.808274 3.024784 0.950298 +v -0.215081 -1.094712 1.097459 +v 0.263240 0.449267 -1.109954 +v 1.918770 1.258767 1.023770 +v -0.252054 0.559984 -1.072786 +v 1.624255 1.589706 -1.109954 +v -0.252054 -1.094712 1.060507 +v 1.661016 -1.499462 1.097675 +v -0.252054 3.061689 0.876826 +v -0.178319 -3.007745 0.177758 +v -0.215081 -1.940512 -1.072786 +v 1.734751 3.024784 0.987250 +v 1.550733 3.098595 -1.036265 +v 1.587494 -3.081556 1.023986 +v -0.068036 -3.081556 -0.815416 +v -0.252054 2.473622 -0.815200 +v 1.918770 3.098595 -0.778464 +v 0.189505 -2.970840 0.987250 +v 0.336763 3.024784 1.060723 +v -0.215081 2.730750 -0.962577 +v 1.918770 -3.081556 0.729449 +v 1.845035 -2.676806 1.060723 +v 1.587494 -2.933934 -1.109954 +v -0.215081 3.099200 -0.079396 +v 0.336763 0.486173 1.097675 +v 0.263240 -0.616151 -1.109954 +v 1.918770 3.061689 -0.484358 +v 1.845035 2.583128 -1.073002 +v 1.219457 -3.044651 1.023986 +v -0.178319 1.479595 -1.036265 +v -0.141558 -2.970840 0.692929 +v -0.252054 -3.045256 -0.889105 +v -0.252054 3.061689 -0.116348 +v 1.513972 -2.970840 -1.073002 +v 1.845035 2.509923 0.987250 +f 96 119 127 +f 90 86 92 +f 84 85 96 +f 85 92 96 +f 92 86 96 +f 91 87 97 +f 87 91 99 +f 94 87 99 +f 89 94 99 +f 85 84 100 +f 97 87 101 +f 91 97 103 +f 84 96 104 +f 88 86 105 +f 106 102 107 +f 91 83 107 +f 92 106 107 +f 88 97 108 +f 97 101 108 +f 86 88 109 +f 96 86 109 +f 104 93 109 +f 101 104 109 +f 94 89 110 +f 87 84 111 +f 101 87 111 +f 84 104 111 +f 104 101 111 +f 97 88 112 +f 88 105 112 +f 90 92 113 +f 107 83 113 +f 92 107 113 +f 92 85 114 +f 85 100 114 +f 100 94 114 +f 106 92 114 +f 90 91 115 +f 98 90 115 +f 95 98 115 +f 91 103 115 +f 88 101 116 +f 109 88 116 +f 101 109 116 +f 84 87 117 +f 87 94 117 +f 100 84 117 +f 94 100 117 +f 97 95 118 +f 103 97 118 +f 95 115 118 +f 115 103 118 +f 96 109 119 +f 109 93 119 +f 86 90 120 +f 90 98 120 +f 98 95 120 +f 105 86 120 +f 95 105 120 +f 94 110 121 +f 110 106 121 +f 114 94 121 +f 106 114 121 +f 95 97 122 +f 105 95 122 +f 97 112 122 +f 112 105 122 +f 89 99 123 +f 99 102 123 +f 102 106 123 +f 110 89 123 +f 106 110 123 +f 99 91 124 +f 102 99 124 +f 107 102 124 +f 91 107 124 +f 101 88 125 +f 88 108 125 +f 108 101 125 +f 83 91 126 +f 91 90 126 +f 113 83 126 +f 90 113 126 +f 93 104 127 +f 104 96 127 +f 119 93 127 +o convex_4 +v 0.741490 0.523633 2.421928 +v 1.440450 -0.543337 1.613062 +v 1.440450 -0.580182 1.613062 +v 0.336636 -0.580182 1.097675 +v 0.336636 -0.469649 3.084541 +v 0.336636 0.486789 1.097675 +v 1.330026 0.486789 3.047394 +v 1.293181 0.486789 1.097675 +v 1.366762 -0.580182 3.084541 +v 0.336636 0.523633 2.937121 +v 1.440450 -0.580182 1.097675 +v 1.440450 -0.359224 1.134822 +v 1.366762 0.302783 2.642669 +v 1.403606 -0.543337 2.826653 +v 0.336636 0.523633 1.760288 +v 1.182757 -0.580182 3.084541 +v 1.330026 0.413208 1.318805 +v 0.336636 -0.322488 3.084541 +v 1.366762 -0.212063 3.084541 +v 0.336636 -0.580182 1.281853 +v 0.594329 0.523633 2.974073 +f 137 145 148 +f 131 132 133 +f 131 133 135 +f 128 134 135 +f 131 130 136 +f 133 132 137 +f 129 130 138 +f 130 131 138 +f 131 135 138 +f 138 135 139 +f 129 138 139 +f 129 139 140 +f 130 129 141 +f 136 130 141 +f 140 134 141 +f 129 140 141 +f 128 135 142 +f 135 133 142 +f 137 128 142 +f 133 137 142 +f 131 136 143 +f 136 132 143 +f 135 134 144 +f 139 135 144 +f 134 140 144 +f 140 139 144 +f 132 136 145 +f 137 132 145 +f 136 141 146 +f 141 134 146 +f 145 136 146 +f 134 145 146 +f 132 131 147 +f 131 143 147 +f 143 132 147 +f 134 128 148 +f 128 137 148 +f 145 134 148 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/450/450.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/450/450.urdf new file mode 100644 index 000000000..bc8c14a0e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/450/450.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/451/451.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/451/451.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/451/451.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/451/451.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/451/451.obj new file mode 100644 index 000000000..36728fdd8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/451/451.obj @@ -0,0 +1,453 @@ +o convex_0 +v 0.286397 -1.835082 2.482735 +v -0.228635 -2.350046 2.634382 +v -0.168037 -2.350046 2.634382 +v -0.228635 -2.228794 1.119628 +v -0.198286 -1.713830 3.058573 +v 0.225799 -2.350046 3.028206 +v 0.195500 -1.804753 1.119628 +v -0.228635 -1.713830 1.119628 +v 0.195500 -2.198528 1.119628 +v 0.286397 -1.744158 3.028206 +v -0.228635 -2.350046 2.997649 +v 0.225799 -2.289389 2.059113 +v -0.228635 -1.774487 3.028206 +v -0.137688 -1.713830 1.119628 +v 0.286397 -1.744158 2.543470 +v 0.225799 -2.137933 1.301451 +v 0.286397 -1.986601 3.028206 +v 0.044005 -1.713830 3.028206 +v -0.077090 -2.228794 1.119628 +v 0.225799 -2.350046 2.785838 +f 3 19 20 +f 3 2 4 +f 2 3 6 +f 7 4 8 +f 4 2 8 +f 4 7 9 +f 2 6 11 +f 6 5 11 +f 8 2 11 +f 5 8 13 +f 11 5 13 +f 8 11 13 +f 7 8 14 +f 8 5 14 +f 10 1 15 +f 7 14 15 +f 7 15 16 +f 9 7 16 +f 12 9 16 +f 15 1 16 +f 12 16 17 +f 5 6 17 +f 10 5 17 +f 1 10 17 +f 16 1 17 +f 5 10 18 +f 14 5 18 +f 10 15 18 +f 15 14 18 +f 3 4 19 +f 4 9 19 +f 9 12 19 +f 19 12 20 +f 6 3 20 +f 12 17 20 +f 17 6 20 +o convex_1 +v -0.046688 -1.652612 -1.122278 +v -1.046604 2.951441 1.119628 +v -1.046604 2.981894 1.058840 +v 1.073874 2.951441 1.028556 +v 1.073874 -1.683534 1.089124 +v 0.983126 2.951441 -0.970638 +v -1.076714 -1.683065 0.998272 +v -1.016285 3.102770 -1.061490 +v 0.952807 -1.683534 -1.061490 +v -1.046604 -1.683065 -1.000922 +v -0.319354 -1.683065 1.119628 +v 0.195448 3.102770 0.271013 +v -1.076714 3.011878 0.543790 +v 0.983126 2.617861 -1.000922 +v -1.076714 -1.653081 -0.667577 +v -0.925326 2.557424 -1.091775 +v 1.013446 2.800112 -0.667796 +v 0.892167 -1.652612 -1.091775 +v 0.346835 3.102770 -0.334232 +v -1.046604 -1.531736 -1.031206 +v -1.076714 2.618330 1.119628 +v 1.073874 -1.470830 0.937703 +v -1.046604 1.133620 -1.031206 +v 1.073874 2.951441 0.695430 +v -0.289035 -1.622159 -1.122278 +v -0.440633 3.072317 -1.061490 +v -0.228606 3.102770 0.301297 +v -1.046604 -1.561721 1.028556 +v -0.925326 2.950972 1.119628 +v 1.073874 -1.259063 1.089124 +v 1.043766 -1.501283 0.331801 +v 0.983126 1.042729 -1.000922 +v 0.922487 2.981894 -0.909850 +v -1.046604 3.072317 -0.516156 +v -0.167967 -1.622159 1.119628 +v -1.016285 3.102770 -0.788714 +v -0.289035 -0.925484 -1.122278 +v 0.801208 2.981425 -1.000922 +v 0.983126 -1.652612 -0.637293 +v -0.864687 2.526970 -1.091775 +v 1.013446 1.830295 -0.607009 +v 0.437794 2.950972 1.058840 +v -1.076714 2.981894 1.058840 +v 0.952807 -0.259262 -1.061490 +v -0.258926 -1.683065 -1.122278 +v -0.773938 3.102770 -1.061490 +v -1.016285 0.739603 -1.061490 +v 1.073874 2.466532 0.695430 +f 44 42 68 +f 25 27 29 +f 29 27 30 +f 27 25 31 +f 23 24 32 +f 30 27 35 +f 27 33 35 +f 34 26 37 +f 32 24 39 +f 28 32 39 +f 30 35 40 +f 31 22 41 +f 33 27 41 +f 24 25 42 +f 35 33 43 +f 40 35 43 +f 28 40 43 +f 37 26 44 +f 39 24 44 +f 24 42 44 +f 23 32 47 +f 32 28 47 +f 27 31 48 +f 31 41 48 +f 41 27 48 +f 23 22 49 +f 22 31 49 +f 25 24 50 +f 42 25 51 +f 29 34 52 +f 34 37 52 +f 44 26 53 +f 39 44 53 +f 28 43 54 +f 43 33 54 +f 31 25 55 +f 49 31 55 +f 50 49 55 +f 25 50 55 +f 47 28 56 +f 28 54 56 +f 54 33 56 +f 38 21 57 +f 21 45 57 +f 45 36 57 +f 26 34 58 +f 34 46 58 +f 53 26 58 +f 39 53 58 +f 25 29 59 +f 51 25 59 +f 29 52 59 +f 52 51 59 +f 36 46 60 +f 46 38 60 +f 38 57 60 +f 57 36 60 +f 37 42 61 +f 42 51 61 +f 52 37 61 +f 51 52 61 +f 24 23 62 +f 23 49 62 +f 49 50 62 +f 50 24 62 +f 22 23 63 +f 41 22 63 +f 33 41 63 +f 23 47 63 +f 56 33 63 +f 47 56 63 +f 34 29 64 +f 29 38 64 +f 46 34 64 +f 38 46 64 +f 29 30 65 +f 21 38 65 +f 38 29 65 +f 30 40 65 +f 45 21 65 +f 40 45 65 +f 36 28 66 +f 28 39 66 +f 46 36 66 +f 58 46 66 +f 39 58 66 +f 28 36 67 +f 40 28 67 +f 36 45 67 +f 45 40 67 +f 42 37 68 +f 37 44 68 +o convex_2 +v -0.198241 3.103624 -0.334582 +v -0.077051 4.951053 0.331931 +v -0.167975 4.951053 0.331931 +v -0.107380 5.041834 -0.273972 +v 0.346989 3.103624 -0.243634 +v -0.228570 3.103624 0.301528 +v 0.346989 5.011574 -0.273972 +v 0.195470 3.103624 0.271256 +v -0.289227 5.072480 -0.243634 +v 0.195470 5.072480 0.210646 +v 0.346989 3.830645 -0.334582 +v -0.258836 3.103624 -0.304244 +v 0.346989 3.103624 -0.334582 +v 0.346989 5.011574 -0.213362 +v -0.198241 4.951053 0.301528 +v -0.258836 3.103624 0.089492 +v -0.289227 4.860079 -0.273972 +v -0.167975 4.012401 0.331931 +v -0.289227 5.041834 -0.183090 +v -0.289227 3.951687 -0.243634 +v -0.228570 3.739671 0.301528 +v 0.195470 4.436047 0.240918 +v 0.134875 3.709411 -0.334582 +v 0.286332 4.617803 -0.304244 +v 0.225799 5.072480 0.059154 +v 0.316660 3.103624 -0.122480 +v 0.104609 5.072480 0.210646 +f 77 83 95 +f 69 73 74 +f 74 73 76 +f 75 72 77 +f 71 70 78 +f 75 73 79 +f 69 74 80 +f 73 69 81 +f 69 79 81 +f 79 73 81 +f 73 75 82 +f 80 74 84 +f 77 72 85 +f 69 80 85 +f 70 71 86 +f 71 74 86 +f 76 70 86 +f 74 76 86 +f 83 77 87 +f 77 85 87 +f 87 85 88 +f 80 84 88 +f 85 80 88 +f 84 87 88 +f 74 71 89 +f 71 83 89 +f 84 74 89 +f 83 87 89 +f 87 84 89 +f 70 76 90 +f 78 70 90 +f 76 82 90 +f 82 78 90 +f 79 69 91 +f 85 72 91 +f 69 85 91 +f 72 75 92 +f 75 79 92 +f 79 91 92 +f 91 72 92 +f 75 77 93 +f 77 78 93 +f 82 75 93 +f 78 82 93 +f 76 73 94 +f 73 82 94 +f 82 76 94 +f 78 77 95 +f 71 78 95 +f 83 71 95 +o convex_3 +v -0.228576 -2.107631 -3.060990 +v 0.346989 -2.228773 -1.122513 +v 0.316586 -2.137900 -1.091982 +v -0.258914 -2.198504 -1.091982 +v -0.258914 -1.683599 -1.091982 +v 0.225704 -1.713934 -2.969986 +v 0.346989 -2.349981 -2.969986 +v -0.319523 -1.683599 -2.969986 +v 0.165094 -1.744203 -1.091982 +v -0.168031 -2.259043 -3.091324 +v -0.258914 -2.228773 -1.486136 +v 0.286314 -2.289377 -1.455801 +v -0.046812 -1.683599 -1.091982 +v 0.316586 -2.077296 -2.969986 +v 0.256042 -2.349981 -2.939847 +v -0.168031 -2.228773 -1.091982 +v -0.319523 -1.744203 -3.000321 +v 0.195432 -1.744203 -1.395132 +v -0.077149 -2.198504 -3.091324 +v -0.137694 -1.683599 -2.969986 +v 0.225704 -1.713934 -2.667032 +v 0.316586 -2.259043 -1.091982 +v 0.346989 -2.228773 -2.939847 +v -0.319523 -1.713934 -2.788370 +v -0.258914 -2.228773 -1.667752 +f 106 112 120 +f 99 98 100 +f 100 98 104 +f 103 100 108 +f 100 104 108 +f 105 102 110 +f 106 105 110 +f 102 107 110 +f 110 107 111 +f 98 99 111 +f 99 106 111 +f 106 110 111 +f 105 96 112 +f 106 99 112 +f 104 98 113 +f 102 105 114 +f 101 109 114 +f 109 102 114 +f 112 101 114 +f 105 112 114 +f 103 108 115 +f 108 101 115 +f 112 103 115 +f 101 112 115 +f 98 97 116 +f 101 108 116 +f 108 104 116 +f 97 109 116 +f 109 101 116 +f 113 98 116 +f 104 113 116 +f 97 98 117 +f 102 97 117 +f 107 102 117 +f 111 107 117 +f 98 111 117 +f 97 102 118 +f 109 97 118 +f 102 109 118 +f 99 100 119 +f 100 103 119 +f 112 99 119 +f 103 112 119 +f 96 105 120 +f 105 106 120 +f 112 96 120 +o convex_4 +v -0.682978 -2.501479 -1.061458 +v 1.074094 -1.683673 1.089320 +v -0.167963 -1.683673 1.119628 +v 1.074094 -3.107168 1.089320 +v 0.952815 -1.714055 -1.091982 +v -1.076924 -3.077065 0.967872 +v 0.922495 -2.986058 -1.091982 +v -1.046394 -1.683673 -1.000842 +v -1.076924 -2.986058 -0.879611 +v -1.076924 -1.683673 0.998180 +v -0.501270 -1.683673 -1.091982 +v -1.046394 -2.955816 -1.000842 +v 0.104493 -3.107168 1.059012 +v -0.228392 -2.229017 1.119628 +v 0.952815 -1.683673 -1.061458 +v 0.922495 -3.107168 0.816549 +v -1.076924 -1.683673 -0.667672 +v 0.437800 -2.986058 -1.091766 +v 0.952815 -2.986058 -0.940226 +v 1.043774 -1.714055 0.361930 +v -1.016285 -2.986058 0.998180 +v -1.016285 -3.077065 0.695317 +v -1.016285 -1.714055 1.028488 +v -1.016285 -1.835165 -1.031150 +v 0.195453 -2.198774 1.119628 +v -0.410311 -2.289502 -1.091982 +v -0.107324 -2.986058 -1.061458 +v 0.589188 -3.107168 1.089320 +v 0.952815 -3.016301 -0.697980 +v 1.074094 -2.955816 1.028488 +v -0.895006 -2.804324 -1.031150 +v -1.076924 -2.713456 -0.940226 +v -0.289032 -1.683673 1.119628 +v -1.016285 -2.986058 -0.909918 +v 0.952815 -1.956415 -1.091982 +v 1.074094 -1.683673 0.967872 +f 150 140 156 +f 123 122 128 +f 123 128 130 +f 129 126 130 +f 125 127 131 +f 128 122 131 +f 131 122 135 +f 125 131 135 +f 124 133 136 +f 130 128 137 +f 129 130 137 +f 125 135 140 +f 126 133 141 +f 133 134 141 +f 126 129 142 +f 133 126 142 +f 136 133 142 +f 130 126 143 +f 126 141 143 +f 141 134 143 +f 131 121 144 +f 128 131 144 +f 132 128 144 +f 122 123 145 +f 124 122 145 +f 123 134 145 +f 134 124 145 +f 121 131 146 +f 131 127 146 +f 127 138 146 +f 133 124 148 +f 124 134 148 +f 134 133 148 +f 124 136 149 +f 138 127 149 +f 139 124 149 +f 127 139 149 +f 147 138 149 +f 136 147 149 +f 122 124 150 +f 124 139 150 +f 144 121 151 +f 132 144 151 +f 121 146 151 +f 146 138 151 +f 138 147 151 +f 147 132 151 +f 128 132 152 +f 132 129 152 +f 137 128 152 +f 129 137 152 +f 123 130 153 +f 134 123 153 +f 130 143 153 +f 143 134 153 +f 129 132 154 +f 142 129 154 +f 136 142 154 +f 132 147 154 +f 147 136 154 +f 127 125 155 +f 139 127 155 +f 125 140 155 +f 150 139 155 +f 140 150 155 +f 135 122 156 +f 140 135 156 +f 122 150 156 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/451/451.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/451/451.urdf new file mode 100644 index 000000000..b8242dc1a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/451/451.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/452/452.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/452/452.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/452/452.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/452/452.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/452/452.obj new file mode 100644 index 000000000..2a6c3c284 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/452/452.obj @@ -0,0 +1,1134 @@ +o convex_0 +v -1.227043 1.018280 -0.524512 +v 1.038329 0.716259 -0.185187 +v 1.038329 0.565138 -0.185187 +v -0.396130 0.602973 1.061132 +v -1.037977 0.565138 -1.582140 +v 0.962947 1.018280 -1.544082 +v 0.585304 1.018280 0.607901 +v 0.925134 0.565138 -1.619931 +v -0.811342 1.018280 -1.619931 +v -1.453434 0.565138 -0.486720 +v -0.773773 1.018280 0.683484 +v 0.622873 0.565138 0.758801 +v 1.000760 1.018280 0.192461 +v -1.075790 0.565138 0.456735 +v -1.037977 1.018280 -1.506291 +v -1.037977 1.018280 0.418944 +v 0.962947 0.565138 0.418944 +v -0.471756 1.018280 0.796592 +v -0.811342 0.565138 -1.657723 +v 1.038329 0.942697 -0.826843 +v -0.735960 0.565138 0.834384 +v -1.453434 0.602973 -0.600095 +v 0.925134 1.018280 0.381152 +v 1.038329 0.565138 -0.864635 +v -0.245365 0.602973 1.061132 +v -0.698147 0.829412 -1.657723 +v 0.925134 0.980444 -1.581874 +v 0.245473 1.018280 0.721276 +v 0.283287 0.602973 0.909967 +v -0.245365 0.565138 1.061132 +v -1.075790 0.716259 -1.544082 +v 1.038329 1.018280 -0.222979 +v -1.075790 0.716259 0.456735 +v -1.453434 0.602973 -0.486720 +v 0.962947 0.565138 -1.581874 +f 6 24 35 +f 6 1 7 +f 3 5 8 +f 1 6 9 +f 5 3 10 +f 7 1 11 +f 10 3 12 +f 3 2 13 +f 6 7 13 +f 10 12 14 +f 1 9 15 +f 11 1 16 +f 12 3 17 +f 3 13 17 +f 7 11 18 +f 11 4 18 +f 8 5 19 +f 5 9 19 +f 2 3 20 +f 4 11 21 +f 14 12 21 +f 5 10 22 +f 1 15 22 +f 7 12 23 +f 13 7 23 +f 12 17 23 +f 17 13 23 +f 3 8 24 +f 20 3 24 +f 6 20 24 +f 18 4 25 +f 8 19 26 +f 19 9 26 +f 6 8 27 +f 9 6 27 +f 8 26 27 +f 26 9 27 +f 7 18 28 +f 18 25 28 +f 28 25 29 +f 12 7 29 +f 7 28 29 +f 12 29 30 +f 4 21 30 +f 21 12 30 +f 25 4 30 +f 29 25 30 +f 9 5 31 +f 15 9 31 +f 5 22 31 +f 22 15 31 +f 13 2 32 +f 6 13 32 +f 2 20 32 +f 20 6 32 +f 10 14 33 +f 11 16 33 +f 21 11 33 +f 14 21 33 +f 16 1 34 +f 1 22 34 +f 22 10 34 +f 10 33 34 +f 33 16 34 +f 8 6 35 +f 24 8 35 +o convex_1 +v -0.094124 3.736690 -1.242013 +v -0.471847 1.131652 0.759037 +v -0.547304 1.131652 0.759037 +v -0.811622 1.018868 -1.619961 +v 1.000660 1.094267 -1.468596 +v 0.623156 3.359380 0.003608 +v -0.811622 3.397080 0.267915 +v 0.925203 1.018554 0.381323 +v -1.189345 1.018868 -0.374107 +v -0.736165 3.359380 -1.279971 +v 0.774070 3.698990 -0.524774 +v 0.056790 3.698990 0.267915 +v -0.056614 4.228040 -0.487049 +v 0.774070 3.283667 -1.279971 +v 1.038607 2.264523 -0.487049 +v -1.038212 1.018868 0.419047 +v 0.094519 2.302537 -1.544278 +v -0.811622 3.737004 -0.562499 +v -1.038212 1.358478 -1.431104 +v 0.358837 1.018868 0.683355 +v 0.962931 1.018554 -1.544278 +v 0.849745 2.151425 0.267915 +v 1.038607 1.962613 -1.279971 +v 1.038607 1.018554 -0.222975 +v -1.189345 1.282765 -0.600224 +v 0.698613 2.038012 -1.544278 +v 0.056790 3.736690 -1.279971 +v -0.962537 2.227138 -1.317463 +v -0.585032 2.113725 -1.544278 +v -0.849351 3.208268 0.305873 +v 0.321109 2.076025 0.532222 +v -0.773894 1.018868 0.683355 +v -1.038212 1.018868 -1.506553 +v -0.698436 3.434779 0.305873 +v 0.774070 3.698990 -0.449324 +v -1.000483 2.189438 0.230190 +v 0.019062 4.189713 -0.600224 +v -0.849351 1.736101 -1.544278 +v 0.623156 1.283079 -1.582003 +v 1.000660 1.094267 0.154507 +v 0.547480 1.131966 0.607672 +v -0.131853 4.152013 -0.600224 +v -0.736165 3.283667 -1.317463 +v 0.056790 3.396766 -1.355421 +v -0.811622 3.737004 -0.486816 +v 0.094519 4.152013 -0.449091 +v 0.660884 3.057156 0.117015 +v -0.056614 3.698990 0.267915 +v 0.132247 3.283667 0.343598 +v 1.038607 1.018554 -0.788849 +v -0.811622 3.208268 0.343598 +v 0.925203 1.547290 -1.506553 +v -1.189345 1.018868 -0.751356 +v 0.283162 1.207366 0.683355 +v -1.038212 1.622689 0.305873 +v -1.038212 2.302537 -0.562499 +v -0.471847 3.510178 0.305873 +v -0.773894 1.131652 -1.619961 +v 0.207705 3.585577 0.229957 +v -1.000483 1.924913 -1.355421 +v -0.924808 1.169666 0.532455 +v 0.887474 2.151425 0.154507 +v 0.660884 1.018554 -1.582003 +v -1.189345 1.282765 -0.524774 +f 65 91 99 +f 44 43 51 +f 37 38 55 +f 49 46 58 +f 46 50 58 +f 40 56 58 +f 43 56 59 +f 58 50 59 +f 45 36 62 +f 53 45 63 +f 51 43 67 +f 55 38 67 +f 43 55 67 +f 48 42 69 +f 50 46 70 +f 46 49 72 +f 62 36 72 +f 49 62 72 +f 39 68 73 +f 61 56 74 +f 57 43 75 +f 43 59 75 +f 59 50 75 +f 55 43 76 +f 43 57 76 +f 57 66 76 +f 36 45 77 +f 45 53 77 +f 53 48 77 +f 72 36 77 +f 48 72 77 +f 45 62 78 +f 63 45 78 +f 64 73 78 +f 61 52 79 +f 49 61 79 +f 62 49 79 +f 52 64 79 +f 78 62 79 +f 64 78 79 +f 42 48 80 +f 48 53 80 +f 65 42 80 +f 48 47 81 +f 47 70 81 +f 70 46 81 +f 72 48 81 +f 46 72 81 +f 70 41 82 +f 57 70 82 +f 47 48 83 +f 48 69 83 +f 47 37 84 +f 66 57 84 +f 56 40 85 +f 40 58 85 +f 59 56 85 +f 58 59 85 +f 42 65 86 +f 67 38 86 +f 69 42 86 +f 49 58 87 +f 58 56 87 +f 61 49 87 +f 56 61 87 +f 44 60 88 +f 54 68 88 +f 37 55 89 +f 55 76 89 +f 76 66 89 +f 84 37 89 +f 66 84 89 +f 44 51 90 +f 51 65 90 +f 65 71 90 +f 53 63 91 +f 63 60 91 +f 80 53 91 +f 65 80 91 +f 38 37 92 +f 37 47 92 +f 47 83 92 +f 83 69 92 +f 86 38 92 +f 69 86 92 +f 52 61 93 +f 64 52 93 +f 39 73 93 +f 73 64 93 +f 61 74 93 +f 41 70 94 +f 70 47 94 +f 82 41 94 +f 57 82 94 +f 47 84 94 +f 84 57 94 +f 60 63 95 +f 68 54 95 +f 73 68 95 +f 63 78 95 +f 78 73 95 +f 88 60 95 +f 54 88 95 +f 65 51 96 +f 51 67 96 +f 86 65 96 +f 67 86 96 +f 50 70 97 +f 70 57 97 +f 57 75 97 +f 75 50 97 +f 43 44 98 +f 56 43 98 +f 68 39 98 +f 74 56 98 +f 44 88 98 +f 88 68 98 +f 39 93 98 +f 93 74 98 +f 60 44 99 +f 71 65 99 +f 44 90 99 +f 90 71 99 +f 91 60 99 +o convex_2 +v -0.207513 -1.813743 -1.808770 +v -0.585206 0.451852 -1.808770 +v -0.585206 0.451852 -1.846643 +v 1.113931 -0.152653 -1.922215 +v -0.585206 -1.435843 -3.583579 +v 0.736478 -0.681171 -3.583579 +v 0.925084 -1.662673 -1.808770 +v 0.018814 0.149712 -3.394736 +v -1.302630 -0.793910 -1.846643 +v -0.811534 0.036297 -3.243419 +v 0.811921 -1.549258 -3.281465 +v 0.887363 0.376317 -1.808770 +v -0.962418 -1.662448 -1.808770 +v 0.018814 -1.813743 -3.356863 +v 0.736478 -0.076892 -3.394736 +v -1.000380 -0.869444 -3.281465 +v -0.660408 -0.227962 -3.545706 +v -1.038101 0.225247 -1.808770 +v 0.963046 -0.681171 -3.243419 +v 1.151892 -1.096049 -1.808770 +v -0.736091 -1.586913 -3.356863 +v 0.547632 -1.436069 -3.545706 +v -0.094350 -0.039237 -3.583579 +v -0.056629 -1.851623 -2.941305 +v 0.811921 0.376317 -1.959914 +v 0.018814 -1.851623 -2.035486 +v 0.585353 -0.190307 -3.583579 +v -0.811534 -0.944979 -3.545706 +v -0.773812 0.074178 -3.243419 +v 0.736478 -1.700328 -2.375472 +v 0.887363 0.111607 -2.564141 +v -1.302630 -0.831790 -1.808770 +v 0.094497 -1.625018 -3.545706 +v -0.660408 0.451852 -1.846643 +v -0.736091 -1.738208 -1.884342 +v -0.471802 -1.700328 -3.318991 +v 0.094497 0.149712 -3.394736 +v 0.925084 -0.605636 -3.356863 +v 0.094497 -1.851398 -2.564141 +v -0.962418 -0.681171 -3.318991 +v 0.887363 -1.133929 -3.318991 +v 0.660796 -1.738208 -1.808770 +v 0.963046 0.300557 -1.808770 +v 0.094497 -1.813517 -3.318991 +v 0.774199 -0.907325 -3.545706 +v 1.151892 -1.058394 -1.884342 +v -0.962418 -1.662448 -1.884342 +v -1.075822 0.111832 -1.846643 +v -1.302630 -0.831790 -1.846643 +v 0.660796 -1.625018 -3.281465 +v -0.131831 -1.851623 -2.375472 +v 1.113931 -0.152653 -1.808770 +v -0.924937 -1.096049 -3.318991 +v 0.736478 -0.039237 -3.318991 +v 1.000527 -0.265842 -2.639713 +v 0.925084 0.300557 -2.035486 +v -0.131831 -1.624793 -3.545706 +v 0.774199 -0.114772 -3.356863 +v -0.131831 -1.813743 -3.243419 +f 134 135 158 +f 101 100 106 +f 102 101 111 +f 101 106 111 +f 100 101 112 +f 112 101 117 +f 106 110 119 +f 111 106 119 +f 104 105 121 +f 105 104 122 +f 104 116 122 +f 102 111 124 +f 114 105 126 +f 105 122 126 +f 116 104 127 +f 104 120 127 +f 116 109 128 +f 109 117 128 +f 107 122 128 +f 122 116 128 +f 110 106 129 +f 117 108 131 +f 112 117 131 +f 104 121 132 +f 101 102 133 +f 102 107 133 +f 117 101 133 +f 107 128 133 +f 128 117 133 +f 100 112 134 +f 107 102 136 +f 122 107 136 +f 102 124 136 +f 114 126 136 +f 126 122 136 +f 105 114 137 +f 125 123 138 +f 108 109 139 +f 115 108 139 +f 109 116 139 +f 116 127 139 +f 127 115 139 +f 137 118 140 +f 106 100 141 +f 100 125 141 +f 129 106 141 +f 125 138 141 +f 138 129 141 +f 111 119 142 +f 123 113 143 +f 138 123 143 +f 129 138 143 +f 121 105 144 +f 110 121 144 +f 105 137 144 +f 140 110 144 +f 137 140 144 +f 118 103 145 +f 119 110 145 +f 110 140 145 +f 140 118 145 +f 112 131 146 +f 134 112 146 +f 120 135 146 +f 135 134 146 +f 109 108 147 +f 117 109 147 +f 108 117 147 +f 108 115 148 +f 131 108 148 +f 146 131 148 +f 120 146 148 +f 121 110 149 +f 110 129 149 +f 113 132 149 +f 132 121 149 +f 143 113 149 +f 129 143 149 +f 125 100 150 +f 123 125 150 +f 100 134 150 +f 134 123 150 +f 103 142 151 +f 142 119 151 +f 145 103 151 +f 119 145 151 +f 115 127 152 +f 127 120 152 +f 148 115 152 +f 120 148 152 +f 130 114 153 +f 136 124 153 +f 114 136 153 +f 103 118 154 +f 130 103 154 +f 118 137 154 +f 124 111 155 +f 103 130 155 +f 142 103 155 +f 111 142 155 +f 153 124 155 +f 130 153 155 +f 120 104 156 +f 104 132 156 +f 132 113 156 +f 113 135 156 +f 135 120 156 +f 114 130 157 +f 137 114 157 +f 130 154 157 +f 154 137 157 +f 113 123 158 +f 123 134 158 +f 135 113 158 +o convex_3 +v -0.736006 -1.700243 1.967296 +v 0.661017 0.565137 0.759208 +v 0.661017 0.565137 0.721398 +v 1.076087 -1.662429 0.721398 +v -1.075789 -1.587260 0.721398 +v 1.038444 -0.341244 1.967296 +v -0.924719 -0.001380 1.967296 +v -1.038145 0.300671 0.721398 +v 1.076087 -1.587260 1.967296 +v 1.302940 -0.605481 0.721398 +v 0.094382 0.300671 1.929486 +v -1.075789 -1.398421 1.967296 +v -0.698115 0.565137 0.910203 +v 0.925265 0.111832 1.967296 +v -1.227106 -0.265846 0.759208 +v 0.283343 -1.776099 0.721398 +v 0.661017 -1.776099 1.967296 +v 1.151622 0.074019 0.759208 +v -0.169618 -1.776099 0.721398 +v -0.358579 0.565137 1.174507 +v -1.075789 -0.756277 1.967296 +v -0.358579 -1.776099 1.967296 +v -0.811541 0.565137 0.721398 +v -0.358579 0.225273 1.967296 +v 1.302940 -0.869489 0.759208 +v 1.000553 0.338485 0.721398 +v -1.000254 -0.152405 1.967296 +v -1.227106 -0.492269 0.721398 +v 1.076087 -0.718463 1.967296 +v 0.320987 0.527095 1.136819 +v 0.887374 -1.738056 1.363069 +v -1.000254 -1.624616 0.721398 +v 1.302940 -0.718463 0.834705 +v -1.075789 -1.436006 1.929486 +v -1.038145 0.300671 0.797018 +v 0.962909 0.111832 1.853988 +v -0.887076 0.036434 1.967296 +v 1.000553 -1.700243 0.797018 +v 1.076087 -1.662429 1.061321 +v 0.849483 -1.738056 1.853988 +v 1.000553 0.338485 0.797018 +f 194 176 199 +f 161 162 163 +f 159 164 165 +f 161 163 166 +f 164 159 167 +f 162 161 168 +f 159 165 170 +f 160 161 171 +f 165 164 172 +f 163 162 174 +f 167 159 175 +f 163 174 177 +f 174 175 177 +f 160 171 178 +f 170 165 179 +f 173 170 179 +f 175 159 180 +f 177 175 180 +f 161 166 181 +f 171 161 181 +f 165 172 182 +f 172 169 182 +f 169 178 182 +f 178 171 182 +f 162 168 183 +f 161 160 184 +f 168 161 184 +f 176 168 184 +f 179 165 185 +f 173 179 185 +f 166 163 186 +f 173 166 186 +f 170 173 186 +f 164 167 187 +f 172 160 188 +f 169 172 188 +f 160 178 188 +f 178 169 188 +f 175 174 189 +f 159 163 190 +f 163 177 190 +f 180 159 190 +f 177 180 190 +f 168 164 191 +f 167 183 191 +f 183 168 191 +f 164 187 191 +f 187 167 191 +f 163 159 192 +f 159 170 192 +f 186 163 192 +f 170 186 192 +f 166 173 193 +f 181 166 193 +f 165 181 193 +f 185 165 193 +f 173 185 193 +f 164 168 194 +f 172 164 194 +f 168 176 194 +f 181 165 195 +f 171 181 195 +f 165 182 195 +f 182 171 195 +f 174 162 196 +f 189 174 196 +f 189 196 197 +f 162 183 197 +f 183 167 197 +f 196 162 197 +f 197 167 198 +f 167 175 198 +f 175 189 198 +f 189 197 198 +f 160 172 199 +f 184 160 199 +f 176 184 199 +f 172 194 199 +o convex_4 +v -0.924862 -1.586979 2.949371 +v 1.076354 -0.719095 2.685123 +v 1.076354 -0.756706 2.685123 +v 0.019043 -0.794113 4.497464 +v -0.887131 0.036364 1.967418 +v 0.811812 -1.738234 1.967418 +v 0.925218 0.111788 1.967418 +v -0.887131 0.036364 3.704224 +v 0.774081 -0.001653 3.968720 +v 0.736351 -1.511759 3.930829 +v -1.075998 -1.398114 1.967418 +v -0.849401 -1.436131 4.044007 +v -0.056203 -1.813658 3.553402 +v -1.113728 -0.492417 3.855294 +v -0.094148 0.262839 2.005309 +v -0.585073 -1.738030 1.967418 +v -0.169609 -0.077077 4.346394 +v 1.076354 -1.587183 1.967418 +v 1.038409 -0.756706 3.779759 +v -0.811456 -0.756706 4.384037 +v -0.131879 -1.587183 4.232968 +v 0.736351 -0.869740 4.308503 +v -0.434151 0.149602 3.855294 +v 0.774081 -1.738234 3.251015 +v 1.038409 -0.152501 3.175728 +v -1.000323 -0.152501 1.967418 +v -0.811456 -1.700420 3.288906 +v 1.038409 -1.247266 3.288906 +v 0.169965 0.262839 1.967418 +v 0.019043 -1.813658 2.231914 +v 1.038409 -0.341366 1.967418 +v -1.075998 -1.285080 2.798549 +v 0.849542 0.073974 3.213866 +v -1.075998 -0.794113 1.967418 +v 0.019043 -1.587183 4.232968 +v -0.207554 0.149602 3.855294 +v 0.698620 -1.776047 1.967418 +v -0.698264 -0.228128 4.157433 +v -0.471882 0.187212 1.967418 +v -0.056203 -0.077077 4.346394 +v -0.962592 -0.039263 3.704224 +v -0.509612 -1.775844 2.609588 +v -0.018687 -0.907554 4.497464 +v -0.735995 -1.700420 1.967418 +v 0.207910 -1.813658 3.402332 +v -0.849401 -0.869740 4.346147 +v 0.736351 -0.794113 4.308503 +v 1.038409 -1.549369 2.609588 +v -1.113728 -0.681282 3.666580 +v 1.076354 -0.719095 1.967418 +v 0.774081 -0.114890 4.044007 +v 1.038409 -0.341366 3.515263 +v 1.000679 -0.869740 3.855294 +v -0.849401 -0.681282 4.346147 +v 0.660890 -1.511759 4.006363 +v -0.094148 -1.624996 4.195324 +v -0.169609 -0.869740 4.497464 +v -0.207554 -1.813861 3.402085 +v 0.585215 -1.776047 3.288658 +v 1.076354 -1.549369 2.269805 +v -0.358476 -1.775844 1.967418 +v -0.849401 -1.511555 3.855294 +v 0.811812 -1.738234 3.100688 +v -0.471882 0.149602 3.817402 +f 214 238 263 +f 205 204 206 +f 204 205 210 +f 210 205 215 +f 201 202 217 +f 205 206 217 +f 202 201 218 +f 207 216 222 +f 204 210 225 +f 206 204 228 +f 217 206 230 +f 206 224 230 +f 210 200 231 +f 224 206 232 +f 208 224 232 +f 206 228 232 +f 225 210 233 +f 213 225 233 +f 214 222 235 +f 222 216 235 +f 228 214 235 +f 208 232 235 +f 232 228 235 +f 215 205 236 +f 216 207 237 +f 204 207 238 +f 228 204 238 +f 214 228 238 +f 216 203 239 +f 208 235 239 +f 235 216 239 +f 207 204 240 +f 204 225 240 +f 225 213 240 +f 237 207 240 +f 221 203 242 +f 220 234 242 +f 234 221 242 +f 200 210 243 +f 210 215 243 +f 226 200 243 +f 215 241 243 +f 241 226 243 +f 229 236 244 +f 213 211 245 +f 211 220 245 +f 203 221 246 +f 239 203 246 +f 227 209 247 +f 211 213 248 +f 210 231 248 +f 231 211 248 +f 233 210 248 +f 213 233 248 +f 201 217 249 +f 224 201 249 +f 217 230 249 +f 230 224 249 +f 208 239 250 +f 246 218 250 +f 239 246 250 +f 218 201 251 +f 201 224 251 +f 224 208 251 +f 208 250 251 +f 250 218 251 +f 221 209 252 +f 209 227 252 +f 227 218 252 +f 218 246 252 +f 246 221 252 +f 219 216 253 +f 216 237 253 +f 240 213 253 +f 237 240 253 +f 213 245 253 +f 245 219 253 +f 209 221 254 +f 223 209 254 +f 221 234 254 +f 220 211 255 +f 226 212 255 +f 234 220 255 +f 212 244 255 +f 203 216 256 +f 216 219 256 +f 242 203 256 +f 220 242 256 +f 219 245 256 +f 245 220 256 +f 212 226 257 +f 226 241 257 +f 241 229 257 +f 244 212 257 +f 229 244 257 +f 244 236 258 +f 223 254 258 +f 254 234 258 +f 234 255 258 +f 255 244 258 +f 217 202 259 +f 202 218 259 +f 218 227 259 +f 247 217 259 +f 227 247 259 +f 215 236 260 +f 236 229 260 +f 241 215 260 +f 229 241 260 +f 200 226 261 +f 231 200 261 +f 211 231 261 +f 255 211 261 +f 226 255 261 +f 205 217 262 +f 209 223 262 +f 236 205 262 +f 247 209 262 +f 217 247 262 +f 223 258 262 +f 258 236 262 +f 207 222 263 +f 222 214 263 +f 238 207 263 +o convex_5 +v 1.227416 -1.511596 0.607602 +v -1.377751 -0.831849 -1.808770 +v -1.604611 -0.831849 -1.733235 +v 0.698351 0.565138 0.721028 +v -2.586155 -1.285014 0.192532 +v 0.925212 -1.662728 -1.808770 +v -0.736498 0.564905 -1.695344 +v 0.962884 0.565138 -1.619809 +v -2.737257 -0.001668 -0.525173 +v -2.133262 -1.775903 -0.562569 +v -0.849928 0.564905 0.721028 +v -0.169762 -1.775903 0.721028 +v -2.774929 -0.831849 -1.317422 +v -0.207848 -1.813861 -1.808770 +v 1.227416 -1.813861 -0.562569 +v 1.227416 0.036290 0.456780 +v 1.113986 -0.114610 -1.808770 +v -2.699585 -0.605499 0.230175 +v -1.075961 -1.587046 0.721028 +v -2.774929 -1.549321 -0.600213 +v -1.528853 0.564905 -0.600213 +v -0.962531 -1.662496 -1.808770 +v 1.227416 -0.982981 -1.733235 +v -3.001789 -0.794124 -0.487282 +v -1.000203 0.262640 -1.808770 +v 1.075900 -1.662728 0.721028 +v -2.548483 -0.190292 -1.166600 +v -1.944488 -1.625004 0.267819 +v 1.000556 0.376280 0.721028 +v 1.227416 0.187423 -0.562569 +v -1.264735 -0.303467 0.721028 +v -1.075961 0.564905 -1.544274 +v -2.095590 -1.549321 -1.279779 +v 0.925212 0.376280 -1.808770 +v 1.000556 0.565138 0.305462 +v -2.510811 -0.114610 0.041462 +v 1.227416 -1.662728 -1.393205 +v 1.227416 -0.114842 -1.544274 +v 1.227416 -0.265742 0.721276 +v -0.019073 -1.813861 -0.562569 +v -2.737257 -0.001668 -0.637856 +v -2.774929 -0.718441 -1.317422 +v -1.075961 0.564905 0.456532 +v -2.586155 -1.360463 -1.128709 +v 0.169701 -1.813861 -1.808770 +v -2.737257 -1.511596 -0.336460 +v -2.019832 -1.775903 -0.336460 +v 0.283131 -1.775903 0.721028 +v -0.660740 0.489455 -1.808770 +v -3.001789 -0.756166 -0.637856 +v -2.510811 -1.360463 0.230175 +v 1.227416 -1.700453 0.418889 +v 1.038228 0.565138 -0.826817 +v -2.170934 -0.341425 0.418889 +v -2.813015 -0.643224 0.041462 +v -0.887187 -1.700453 -1.808770 +v 1.189330 -1.020706 -1.808770 +v -2.699585 -0.718441 0.230175 +v -2.170934 -0.756166 -1.544274 +v 0.660679 -1.738178 -1.808770 +v -1.038289 0.338322 0.721028 +v -1.264735 -0.492325 0.721028 +v 1.227416 -1.813861 -0.449638 +v -1.528853 0.564905 -0.525173 +f 272 306 327 +f 265 269 277 +f 264 278 279 +f 269 265 280 +f 267 271 284 +f 266 265 285 +f 276 266 285 +f 265 277 285 +f 279 278 286 +f 280 265 288 +f 275 282 291 +f 279 286 293 +f 271 270 295 +f 284 271 295 +f 288 290 295 +f 273 283 296 +f 271 280 297 +f 280 288 297 +f 271 267 298 +f 267 292 298 +f 292 279 298 +f 279 293 298 +f 272 281 299 +f 286 278 300 +f 280 271 301 +f 286 280 301 +f 271 293 301 +f 293 286 301 +f 267 274 302 +f 264 279 302 +f 282 275 302 +f 289 264 302 +f 292 267 302 +f 279 292 302 +f 273 277 303 +f 277 278 303 +f 272 284 304 +f 284 295 304 +f 295 290 304 +f 290 288 305 +f 304 290 305 +f 274 267 306 +f 272 299 306 +f 299 274 306 +f 283 276 307 +f 276 285 307 +f 296 283 307 +f 285 296 307 +f 277 269 308 +f 278 277 308 +f 268 287 309 +f 287 283 309 +f 291 309 310 +f 283 273 310 +f 275 291 310 +f 273 303 310 +f 303 275 310 +f 309 283 310 +f 302 275 311 +f 289 302 311 +f 270 271 312 +f 295 270 312 +f 288 295 312 +f 271 297 312 +f 297 288 312 +f 276 283 313 +f 287 272 313 +f 283 287 313 +f 272 304 313 +f 305 276 313 +f 304 305 313 +f 291 282 314 +f 268 309 314 +f 309 291 314 +f 278 264 315 +f 264 289 315 +f 289 311 315 +f 293 271 316 +f 271 298 316 +f 298 293 316 +f 274 299 317 +f 299 281 317 +f 281 272 318 +f 272 287 318 +f 287 268 318 +f 277 273 319 +f 285 277 319 +f 273 296 319 +f 296 285 319 +f 269 280 320 +f 280 286 320 +f 300 269 320 +f 286 300 320 +f 268 314 321 +f 314 282 321 +f 317 281 321 +f 281 318 321 +f 318 268 321 +f 265 266 322 +f 266 276 322 +f 288 265 322 +f 276 305 322 +f 305 288 322 +f 269 300 323 +f 300 278 323 +f 308 269 323 +f 278 308 323 +f 302 274 324 +f 294 302 324 +f 274 317 324 +f 317 294 324 +f 282 302 325 +f 302 294 325 +f 294 317 325 +f 321 282 325 +f 317 321 325 +f 275 303 326 +f 303 278 326 +f 311 275 326 +f 278 315 326 +f 315 311 326 +f 267 284 327 +f 284 272 327 +f 306 267 327 +o convex_6 +v 1.227416 0.111699 -0.034154 +v 1.793915 -1.813861 -0.637986 +v 1.944877 -1.813861 -0.637986 +v 1.265287 -0.152590 -1.544315 +v 2.813299 -0.152590 -0.562536 +v 1.227416 -1.587245 0.570143 +v 2.737731 -0.869725 0.267878 +v 2.737731 -0.869725 -1.317733 +v 1.227416 -1.624726 -1.431141 +v 2.775602 -1.587053 -0.487086 +v 1.265287 -0.416878 0.721276 +v 2.096013 -0.076859 0.230153 +v 2.096013 0.149565 -0.562536 +v 2.020445 -0.077051 -1.317733 +v 3.001959 -0.945264 -0.562536 +v 1.227416 -1.020610 -1.657723 +v 2.020445 -1.549380 -1.279775 +v 2.096013 -1.587245 0.230153 +v 1.227416 0.149565 -0.675478 +v 1.227416 -1.813861 -0.449361 +v 1.227416 0.036161 0.419010 +v 2.020445 -0.794379 -1.544315 +v 1.265287 -1.020610 0.721276 +v 2.020445 -1.813861 -0.411636 +v 2.586596 -0.265801 -1.128875 +v 2.775602 -0.076859 -0.487086 +v 1.303158 -1.662592 0.532418 +v 2.775602 -0.756706 0.230153 +v 2.586596 -1.436168 -1.015701 +v 2.624467 -1.360438 0.079021 +v 3.001959 -0.719033 -0.562536 +v 1.227416 -0.077051 -1.468866 +v 2.624467 -0.228128 -0.034154 +v 2.775602 -0.945264 0.230153 +v 2.775602 -1.587053 -0.562536 +v 2.775602 -0.794379 -1.280008 +v 2.020445 0.149565 -0.411636 +v 1.265287 -1.700265 -1.279775 +v 1.303158 -0.718840 -1.657723 +v 1.491817 -0.794379 0.683318 +v 1.944877 0.111699 -0.788885 +v 1.944877 -0.907398 -1.544315 +v 2.775602 -0.076859 -0.562536 +v 3.001959 -0.869725 -0.411869 +v 1.227416 -1.700265 0.419010 +v 1.265287 -1.360630 -1.544315 +v 1.227416 -0.416878 0.721276 +v 2.737731 -0.794379 -1.317733 +v 1.303158 0.036161 0.419010 +v 2.624467 -1.247226 -1.166600 +v 2.775602 -0.869725 -1.280008 +v 1.982748 -1.587245 -1.242283 +v 2.058142 -1.624726 0.192428 +v 2.700035 -1.624726 -0.562536 +v 2.964262 -0.794379 -0.298462 +v 1.378552 -1.473649 0.570143 +v 1.227416 0.149565 -0.298462 +v 2.737731 -0.794379 0.267878 +f 338 367 385 +f 333 328 336 +f 336 328 343 +f 343 328 346 +f 329 330 347 +f 333 336 347 +f 328 333 348 +f 331 341 349 +f 347 330 351 +f 345 337 357 +f 332 353 358 +f 341 331 359 +f 331 343 359 +f 343 346 359 +f 353 339 360 +f 339 355 360 +f 355 353 360 +f 354 345 361 +f 355 334 361 +f 357 337 361 +f 345 357 361 +f 342 337 362 +f 332 358 363 +f 358 342 363 +f 340 346 364 +f 339 353 364 +f 353 340 364 +f 330 329 365 +f 329 347 365 +f 347 336 365 +f 343 331 366 +f 331 349 366 +f 349 343 366 +f 350 334 367 +f 338 350 367 +f 340 341 368 +f 346 340 368 +f 341 359 368 +f 359 346 368 +f 335 344 369 +f 349 335 369 +f 343 349 369 +f 341 340 370 +f 352 341 370 +f 340 353 370 +f 353 332 370 +f 332 363 370 +f 363 352 370 +f 337 342 371 +f 342 358 371 +f 361 337 371 +f 333 347 372 +f 347 351 372 +f 354 333 372 +f 351 354 372 +f 336 343 373 +f 344 336 373 +f 343 369 373 +f 369 344 373 +f 348 333 374 +f 338 348 374 +f 333 350 374 +f 350 338 374 +f 349 341 375 +f 335 349 375 +f 341 352 375 +f 363 335 375 +f 352 363 375 +f 338 339 376 +f 328 348 376 +f 348 338 376 +f 364 328 376 +f 339 364 376 +f 344 335 377 +f 356 344 377 +f 362 356 377 +f 362 377 378 +f 342 362 378 +f 335 363 378 +f 363 342 378 +f 377 335 378 +f 336 344 379 +f 344 356 379 +f 330 365 379 +f 365 336 379 +f 337 345 380 +f 351 337 380 +f 345 354 380 +f 354 351 380 +f 351 330 381 +f 337 351 381 +f 362 337 381 +f 356 362 381 +f 379 356 381 +f 330 379 381 +f 353 355 382 +f 358 353 382 +f 355 361 382 +f 371 358 382 +f 361 371 382 +f 350 333 383 +f 334 350 383 +f 333 354 383 +f 361 334 383 +f 354 361 383 +f 346 328 384 +f 328 364 384 +f 364 346 384 +f 339 338 385 +f 334 355 385 +f 355 339 385 +f 367 334 385 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/452/452.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/452/452.urdf new file mode 100644 index 000000000..dcc1883e7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/452/452.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/453/453.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/453/453.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/453/453.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/453/453.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/453/453.obj new file mode 100644 index 000000000..1fcaf90f3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/453/453.obj @@ -0,0 +1,462 @@ +o convex_0 +v -3.753481 0.715844 -0.025146 +v -1.686375 1.241003 -0.156352 +v -1.686375 1.241003 -0.582918 +v -1.686375 0.059800 0.532511 +v -3.621960 0.125474 -0.582803 +v -3.621960 1.240888 0.532396 +v -3.753481 0.191148 0.598057 +v -3.720499 1.208166 -0.550088 +v -1.686375 0.125474 -0.484542 +v -1.686375 1.208166 0.532511 +v -1.752135 1.142493 0.565226 +v -2.670961 1.240888 -0.582803 +v -2.900213 0.617796 0.598057 +v -1.686375 0.945703 -0.582918 +v -3.654739 0.125474 -0.287559 +v -1.686375 0.092637 -0.287675 +v -3.687720 1.240888 0.040284 +v -2.113110 0.092753 0.565226 +v -3.720499 0.552122 0.598057 +v -3.261187 0.125474 -0.582803 +v -2.834655 1.240888 0.532396 +v -3.654739 0.355217 -0.582803 +v -3.753481 0.191148 0.434020 +v -3.523623 1.011145 0.565226 +v -3.031531 0.158311 0.598057 +v -3.753481 0.387938 0.598057 +f 19 6 26 +f 3 2 4 +f 3 4 9 +f 4 2 10 +f 4 10 11 +f 3 9 14 +f 5 4 15 +f 4 7 15 +f 4 5 16 +f 9 4 16 +f 2 3 17 +f 6 2 17 +f 8 1 17 +f 3 12 17 +f 12 8 17 +f 7 4 18 +f 4 11 18 +f 7 13 19 +f 5 14 20 +f 14 9 20 +f 16 5 20 +f 9 16 20 +f 2 6 21 +f 10 2 21 +f 6 11 21 +f 11 10 21 +f 1 8 22 +f 12 3 22 +f 8 12 22 +f 3 14 22 +f 14 5 22 +f 7 1 23 +f 5 15 23 +f 15 7 23 +f 1 22 23 +f 22 5 23 +f 11 6 24 +f 13 11 24 +f 6 19 24 +f 19 13 24 +f 13 7 25 +f 11 13 25 +f 7 18 25 +f 18 11 25 +f 1 7 26 +f 6 17 26 +f 17 1 26 +f 7 19 26 +o convex_1 +v -0.078760 -4.238053 -1.075087 +v -1.358105 -4.171888 1.090340 +v 0.315074 -2.794559 1.090125 +v -1.620593 1.601480 -0.943823 +v 0.413532 1.732597 1.057417 +v 0.380644 1.601480 -0.943823 +v -1.620593 1.634259 1.057417 +v -1.686369 -4.270832 -1.108010 +v 0.413532 -4.435335 -0.910899 +v -1.686369 -4.435335 1.090340 +v 0.282186 -4.303004 1.090125 +v -1.686369 1.339247 0.696333 +v -0.406819 1.765983 -0.320210 +v 0.413532 -3.024013 -1.042378 +v -1.686369 1.240303 -0.582739 +v 0.216615 1.076408 -0.976531 +v 0.315074 -4.336390 0.926153 +v 0.413532 1.503143 -0.812558 +v 0.249298 -4.435335 -1.042378 +v 0.347756 1.765983 1.024493 +v -1.522134 1.666431 1.057417 +v -1.062935 -4.401949 -0.386058 +v -1.686369 -2.892290 -1.075087 +v 0.413532 1.273082 1.057417 +v -1.620593 1.634259 -0.812558 +v -1.390993 -4.435335 1.090340 +v -1.620593 -4.073551 -1.108010 +v -0.242789 1.765983 -0.353134 +v -1.686369 -4.435335 0.827597 +v -1.653481 1.568701 0.959076 +v -1.620593 0.649673 -0.976746 +v -0.373930 1.765983 0.269832 +v 0.413532 -4.435335 -1.042378 +v 0.315074 -3.876876 1.090125 +v -1.686369 -2.597278 1.057417 +v 0.413532 1.732597 0.597993 +v -1.555022 1.634259 -0.878190 +v 0.151045 1.667038 -0.746926 +v -1.686369 -4.204667 1.090340 +v -0.439707 -4.435335 -0.550030 +v 0.380644 0.846954 -0.976531 +v -1.522134 -4.303611 -0.976746 +v -0.013190 -4.401949 -1.075087 +v 0.183727 -4.336390 1.090125 +f 37 52 70 +f 34 36 38 +f 31 35 40 +f 34 38 41 +f 30 32 42 +f 40 27 42 +f 31 40 44 +f 40 32 44 +f 35 36 45 +f 29 31 47 +f 33 29 47 +f 31 46 47 +f 41 30 49 +f 34 41 49 +f 31 29 50 +f 35 31 50 +f 30 41 51 +f 47 39 51 +f 33 47 51 +f 36 35 52 +f 28 36 52 +f 37 28 52 +f 42 27 53 +f 34 49 53 +f 49 42 53 +f 39 46 54 +f 36 34 55 +f 45 36 55 +f 41 38 56 +f 33 51 56 +f 51 41 56 +f 30 42 57 +f 49 30 57 +f 42 49 57 +f 46 39 58 +f 39 47 58 +f 47 46 58 +f 40 35 59 +f 35 45 59 +f 29 28 60 +f 28 37 60 +f 43 35 60 +f 37 43 60 +f 50 29 60 +f 35 50 60 +f 38 36 61 +f 33 56 61 +f 56 38 61 +f 31 44 62 +f 44 32 62 +f 46 31 62 +f 54 46 62 +f 32 30 63 +f 30 51 63 +f 51 39 63 +f 39 54 63 +f 63 54 64 +f 62 32 64 +f 54 62 64 +f 32 63 64 +f 28 29 65 +f 29 33 65 +f 36 28 65 +f 33 61 65 +f 61 36 65 +f 45 55 66 +f 55 48 66 +f 32 40 67 +f 42 32 67 +f 40 42 67 +f 34 45 68 +f 55 34 68 +f 48 55 68 +f 45 66 68 +f 66 48 68 +f 27 40 69 +f 45 34 69 +f 53 27 69 +f 34 53 69 +f 40 59 69 +f 59 45 69 +f 35 43 70 +f 43 37 70 +f 52 35 70 +o convex_2 +v 1.266685 1.240888 -2.682646 +v 1.758764 0.059800 -3.109493 +v 1.660371 0.092637 -3.109493 +v 0.774490 0.223985 -0.583031 +v 1.824320 1.208166 -0.583031 +v 1.922828 0.191148 -0.583031 +v 0.741770 1.175330 -3.076602 +v 1.922828 1.241003 -2.945283 +v 0.905835 1.208166 -0.583031 +v 0.741770 0.191148 -2.977927 +v 1.857156 0.158311 -3.109493 +v 0.807326 0.191148 -0.616170 +v 0.905835 1.240888 -3.076602 +v 1.922828 0.158311 -1.370696 +v 1.922828 0.453612 -0.583031 +v 1.922828 1.241003 -2.551575 +v 0.741770 0.191148 -2.059191 +v 0.840162 1.208166 -1.403587 +v 1.824320 0.059800 -2.977927 +v 1.922828 1.109656 -2.977927 +v 0.741770 0.945587 -3.076602 +v 1.857156 1.241003 -2.157619 +v 0.938671 0.158311 -3.010819 +v 1.004227 1.240888 -3.076602 +v 1.922828 0.158311 -1.108306 +v 0.774490 0.256822 -0.583031 +v 1.922828 1.011261 -2.977927 +v 0.774490 1.208166 -2.518683 +f 96 88 98 +f 75 74 76 +f 74 75 79 +f 72 73 81 +f 76 74 82 +f 73 77 83 +f 79 71 83 +f 81 73 83 +f 78 76 84 +f 75 76 85 +f 76 78 85 +f 85 78 86 +f 75 85 86 +f 77 80 87 +f 82 74 87 +f 79 83 88 +f 72 81 89 +f 82 72 89 +f 81 84 89 +f 78 84 90 +f 77 73 91 +f 80 77 91 +f 71 79 92 +f 79 75 92 +f 83 71 92 +f 78 83 92 +f 86 78 92 +f 75 86 92 +f 73 72 93 +f 72 82 93 +f 87 80 93 +f 82 87 93 +f 91 73 93 +f 80 91 93 +f 83 78 94 +f 81 83 94 +f 78 90 94 +f 90 81 94 +f 76 82 95 +f 84 76 95 +f 82 89 95 +f 89 84 95 +f 74 79 96 +f 87 74 96 +f 77 87 96 +f 79 88 96 +f 84 81 97 +f 81 90 97 +f 90 84 97 +f 83 77 98 +f 88 83 98 +f 77 96 98 +o convex_3 +v 0.676266 0.879951 0.565249 +v 0.807530 1.240891 -0.517277 +v 1.824141 1.208173 -0.550098 +v 0.413542 0.125468 -0.517277 +v 2.382112 0.059800 0.466899 +v 2.283566 1.175339 0.499607 +v 2.415025 0.223969 -0.583031 +v 0.413542 0.092750 0.532428 +v 0.413542 1.142505 0.368324 +v 2.316479 1.109671 -0.517389 +v 0.413542 1.240891 -0.451635 +v 1.922687 0.125468 0.565249 +v 0.840444 1.208173 -0.582806 +v 1.627441 1.175339 0.565249 +v 0.774812 0.191135 -0.582806 +v 0.413542 1.109671 0.499607 +v 2.415025 0.420856 -0.386106 +v 1.824141 1.208173 -0.582806 +v 0.413542 0.092750 -0.025077 +v 0.413542 1.240891 -0.287643 +v 1.955405 0.191135 -0.582806 +v 2.382112 0.059800 0.401257 +v 0.905880 0.158301 0.565249 +v 1.922687 1.175339 0.565249 +v 2.316479 1.142505 -0.451748 +v 0.643352 1.109671 0.565249 +v 2.316479 0.912784 0.499607 +v 2.349198 0.945618 -0.550098 +v 0.413542 1.109671 -0.484456 +f 109 111 127 +f 101 100 104 +f 102 106 107 +f 102 107 109 +f 106 103 110 +f 109 100 111 +f 99 110 112 +f 111 105 113 +f 102 111 113 +f 107 106 114 +f 103 105 115 +f 100 101 116 +f 101 104 116 +f 111 100 116 +f 105 111 116 +f 106 102 117 +f 103 106 117 +f 104 100 118 +f 100 109 118 +f 109 107 118 +f 107 112 118 +f 102 113 119 +f 113 105 119 +f 105 103 120 +f 117 102 120 +f 103 117 120 +f 102 119 120 +f 119 105 120 +f 99 106 121 +f 110 99 121 +f 106 110 121 +f 112 110 122 +f 104 118 122 +f 118 112 122 +f 116 104 123 +f 108 116 123 +f 106 99 124 +f 99 112 124 +f 112 107 124 +f 114 106 124 +f 107 114 124 +f 110 103 125 +f 103 115 125 +f 115 104 125 +f 104 122 125 +f 122 110 125 +f 104 115 126 +f 115 105 126 +f 116 108 126 +f 105 116 126 +f 123 104 126 +f 108 123 126 +f 102 109 127 +f 111 102 127 +o convex_4 +v 1.135521 1.273815 2.500766 +v 0.873047 0.092611 2.271515 +v 0.873047 0.125448 1.123280 +v 1.922828 0.125564 0.565361 +v 1.890005 0.223959 3.026041 +v 1.824359 1.175304 0.565361 +v 0.774578 1.076909 0.565361 +v 1.922828 1.208025 2.993149 +v 0.905758 1.273815 3.091824 +v 0.873047 0.092611 3.091824 +v 0.873047 0.158285 0.565361 +v 0.807401 1.175304 1.484345 +v 1.922828 0.125564 1.287490 +v 1.890005 1.208025 1.746982 +v 1.594709 0.158285 3.058932 +v 0.774578 0.880003 0.991961 +v 1.791536 1.240978 3.026041 +v 0.873047 1.273815 2.829186 +v 0.840112 0.256680 2.599441 +v 1.922828 0.683213 3.026041 +v 1.627419 1.175304 0.565361 +v 1.201055 1.011235 3.091824 +v 1.069874 0.092611 3.058932 +v 1.922828 0.256680 0.565361 +v 1.299412 0.125448 0.565361 +v 0.774578 1.109746 0.664036 +v 1.922828 1.208025 2.501013 +v 1.857182 0.191122 3.026041 +v 1.890005 1.240978 2.927614 +v 1.660355 1.208141 1.024853 +v 1.857182 0.978398 0.565361 +v 0.873047 0.683213 3.091824 +f 146 137 159 +f 133 131 134 +f 134 131 138 +f 131 135 140 +f 134 138 143 +f 136 128 145 +f 128 139 145 +f 139 143 145 +f 130 129 146 +f 129 137 146 +f 138 130 146 +f 143 138 146 +f 132 140 147 +f 140 135 147 +f 142 132 147 +f 135 144 147 +f 133 134 148 +f 139 128 148 +f 136 137 149 +f 137 142 149 +f 144 136 149 +f 142 147 149 +f 147 144 149 +f 129 131 150 +f 137 129 150 +f 131 140 150 +f 142 137 150 +f 140 142 150 +f 131 133 151 +f 135 131 151 +f 129 130 152 +f 131 129 152 +f 130 138 152 +f 138 131 152 +f 134 143 153 +f 143 139 153 +f 148 134 153 +f 139 148 153 +f 135 151 154 +f 151 141 154 +f 140 132 155 +f 132 142 155 +f 142 140 155 +f 128 136 156 +f 144 135 156 +f 136 144 156 +f 135 154 156 +f 154 141 156 +f 141 133 157 +f 148 128 157 +f 133 148 157 +f 128 156 157 +f 156 141 157 +f 133 141 158 +f 151 133 158 +f 141 151 158 +f 137 136 159 +f 136 145 159 +f 145 143 159 +f 143 146 159 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/453/453.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/453/453.urdf new file mode 100644 index 000000000..cd35d2464 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/453/453.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/454/454.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/454/454.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/454/454.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/454/454.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/454/454.obj new file mode 100644 index 000000000..ee8d76701 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/454/454.obj @@ -0,0 +1,1422 @@ +o convex_0 +v 0.861813 -1.569279 -1.080855 +v 0.888452 2.387281 -0.960970 +v 0.888452 2.387281 -0.987628 +v 0.915104 -0.117245 -1.067552 +v 0.875142 -1.382722 -0.960970 +v 0.848484 0.295512 -1.094210 +v 0.848484 -1.369119 -0.960970 +v 0.915104 -0.063998 -0.960970 +v 0.861813 2.387281 -0.974325 +v 0.915104 0.362362 -1.094210 +v 0.915104 1.055343 -0.960970 +v 0.861813 2.347249 -1.000971 +v 0.848484 -1.569279 -1.080855 +v 0.915104 1.135407 -1.054222 +v 0.875142 -1.435968 -1.080855 +f 10 4 15 +f 5 2 7 +f 5 4 8 +f 2 5 8 +f 2 3 9 +f 6 7 9 +f 7 2 9 +f 1 6 10 +f 8 4 10 +f 8 10 11 +f 2 8 11 +f 9 3 12 +f 6 9 12 +f 10 6 12 +f 1 5 13 +f 6 1 13 +f 7 6 13 +f 5 7 13 +f 3 2 14 +f 11 10 14 +f 2 11 14 +f 12 3 14 +f 10 12 14 +f 5 1 15 +f 4 5 15 +f 1 10 15 +o convex_1 +v 0.848294 -1.582892 -0.960970 +v -0.150636 -1.569567 -1.080886 +v -0.150636 -1.556242 -1.080886 +v -1.096630 -1.636178 -0.960970 +v -1.096630 -1.556242 -0.960970 +v -1.096630 -1.636178 -1.067552 +v 0.834964 -1.582892 -1.080886 +v -1.096630 -1.556242 -1.067552 +v 0.848294 -1.556242 -1.054229 +v -0.790058 -1.636178 -0.974316 +v 0.848294 -1.569567 -0.960970 +f 24 20 26 +f 19 16 20 +f 18 17 21 +f 19 20 21 +f 17 18 22 +f 21 17 22 +f 20 18 23 +f 18 21 23 +f 21 20 23 +f 18 20 24 +f 16 22 24 +f 22 18 24 +f 16 19 25 +f 19 21 25 +f 22 16 25 +f 21 22 25 +f 20 16 26 +f 16 24 26 +o convex_2 +v 0.222242 -1.649502 1.050950 +v 0.808512 -0.557187 0.997678 +v 0.808512 -0.570447 1.010980 +v -0.803692 -1.303041 1.037627 +v 0.808512 -1.489531 1.077587 +v -0.057401 -0.597073 0.971010 +v -0.803692 -1.649502 1.037627 +v 0.808512 -1.329667 1.037627 +v -0.084071 -0.557187 0.997678 +v -0.643513 -1.636135 1.064263 +v 0.808512 -0.583706 0.984344 +v 0.808512 -1.649502 1.077587 +v -0.803692 -1.502791 1.024304 +v -0.803692 -1.303041 1.024304 +v 0.808512 -1.649502 1.064263 +v -0.057401 -0.557187 0.971010 +v 0.155487 -1.636135 1.077587 +f 36 38 43 +f 28 29 31 +f 28 31 34 +f 27 32 34 +f 29 28 35 +f 31 29 35 +f 30 33 36 +f 35 30 36 +f 28 34 37 +f 34 32 37 +f 33 27 38 +f 34 31 38 +f 36 33 38 +f 32 27 39 +f 33 30 39 +f 27 33 39 +f 30 35 40 +f 32 39 40 +f 39 30 40 +f 27 34 41 +f 38 27 41 +f 34 38 41 +f 35 28 42 +f 28 37 42 +f 37 32 42 +f 40 35 42 +f 32 40 42 +f 31 35 43 +f 35 36 43 +f 38 31 43 +o convex_3 +v 0.861816 -0.676490 1.010911 +v 0.848494 -1.609530 -0.694218 +v 0.848494 -1.596010 -0.880674 +v 0.915104 -0.050698 -0.960970 +v 0.848488 0.282478 0.930809 +v 0.888454 -0.037363 -0.960970 +v 0.888454 0.282478 0.877535 +v 0.861823 -1.609530 -0.521080 +v 0.915104 0.282293 -0.960970 +v 0.848494 -1.356176 -0.960970 +v 0.848488 -0.703344 0.984082 +v 0.875132 -1.382845 -0.960970 +v 0.861816 -1.129676 0.438031 +v 0.915104 0.255624 -0.481125 +v 0.901769 0.282293 -0.960970 +v 0.848488 -1.129676 0.438031 +v 0.875132 0.188952 0.957445 +v 0.915104 0.029124 -0.774128 +f 57 56 61 +f 45 46 51 +f 47 49 52 +f 48 49 53 +f 49 47 53 +f 44 48 54 +f 51 46 55 +f 46 53 55 +f 53 47 55 +f 44 54 56 +f 50 44 57 +f 47 52 57 +f 52 50 57 +f 44 56 57 +f 49 48 58 +f 48 50 58 +f 52 49 58 +f 50 52 58 +f 46 45 59 +f 45 51 59 +f 53 46 59 +f 48 53 59 +f 54 48 59 +f 51 56 59 +f 56 54 59 +f 48 44 60 +f 44 50 60 +f 50 48 60 +f 51 55 61 +f 55 47 61 +f 56 51 61 +f 47 57 61 +o convex_4 +v -0.683694 -1.303078 1.010990 +v -0.084196 -0.730146 0.997668 +v -0.084196 -0.730146 0.984340 +v -0.803622 -0.730146 1.024298 +v -0.084196 -1.303078 1.037619 +v -0.803622 -0.730146 1.050954 +v -0.803622 -1.303078 1.037619 +v -0.084196 -1.143133 1.037619 +v -0.084196 -1.303078 1.024298 +v -0.270813 -0.823466 0.984340 +v -0.084196 -0.770188 1.010990 +f 67 69 72 +f 63 64 65 +f 64 63 66 +f 63 65 67 +f 65 62 68 +f 62 66 68 +f 66 67 68 +f 67 65 68 +f 66 63 69 +f 67 66 69 +f 66 62 70 +f 64 66 70 +f 65 64 71 +f 62 65 71 +f 70 62 71 +f 64 70 71 +f 63 67 72 +f 69 63 72 +o convex_5 +v 0.848489 0.349244 0.917731 +v 0.901780 2.440966 1.024289 +v 0.848489 2.440966 1.024289 +v 0.901780 2.440966 0.851111 +v 0.888452 0.322622 0.944345 +v 0.888452 0.282478 0.851111 +v 0.875135 1.841339 0.851111 +v 0.848489 0.282478 0.944345 +v 0.901780 1.947827 1.010965 +v 0.861817 0.282478 0.864435 +f 78 80 82 +f 75 74 76 +f 73 75 79 +f 75 76 79 +f 76 78 79 +f 75 73 80 +f 78 77 80 +f 74 75 81 +f 76 74 81 +f 77 78 81 +f 78 76 81 +f 75 80 81 +f 80 77 81 +f 73 79 82 +f 79 78 82 +f 80 73 82 +o convex_6 +v -1.030209 -1.329383 -1.067562 +v -1.030209 0.348763 -0.960970 +v -1.043534 0.348763 -0.960970 +v -1.083487 -1.556234 -0.960970 +v -1.096812 -1.409332 -1.067562 +v -1.056844 0.455493 -0.987618 +v -1.016876 -1.556234 -1.054228 +v -1.096812 -1.316189 -0.960970 +v -1.016876 0.455493 -0.987618 +v -1.016876 0.188864 -0.974304 +f 91 84 92 +f 84 85 86 +f 85 84 88 +f 83 87 88 +f 87 83 89 +f 86 87 89 +f 86 85 90 +f 87 86 90 +f 85 88 90 +f 88 87 90 +f 88 84 91 +f 83 88 91 +f 89 83 91 +f 89 91 92 +f 84 86 92 +f 86 89 92 +o convex_7 +v -0.710373 1.641583 -1.014266 +v 0.315524 2.387670 -1.014266 +v 0.315524 2.387670 -1.027599 +v -1.190088 2.360982 -1.080877 +v -1.123326 1.721500 -1.067552 +v -0.417533 1.628202 -1.027599 +v -1.043300 2.334368 -1.094202 +v 0.022389 2.374214 -1.014266 +v -1.150001 1.734807 -1.040924 +v -1.056711 2.360982 -1.067552 +v -1.136737 1.628202 -1.054234 +v -0.417533 1.628202 -1.014266 +v -1.190088 2.360982 -1.094202 +v 0.315524 2.360982 -1.027599 +f 104 98 106 +f 94 95 96 +f 93 94 100 +f 94 96 102 +f 100 94 102 +f 93 100 102 +f 96 101 102 +f 101 93 102 +f 97 98 103 +f 93 101 103 +f 94 93 104 +f 103 98 104 +f 93 103 104 +f 96 95 105 +f 95 99 105 +f 99 97 105 +f 101 96 105 +f 97 103 105 +f 103 101 105 +f 95 94 106 +f 98 97 106 +f 99 95 106 +f 97 99 106 +f 94 104 106 +o convex_8 +v -0.310634 1.481694 -1.014262 +v 0.861808 2.387670 -0.974303 +v 0.861808 2.387670 -1.000933 +v 0.462005 1.201834 -1.014262 +v -0.310634 1.201834 -0.974303 +v 0.301981 2.387670 -1.014262 +v 0.462005 1.201834 -1.027590 +v -0.443944 1.641647 -1.000933 +v 0.861808 1.814717 -1.014262 +v 0.421999 1.228648 -1.000944 +v -0.443944 1.641647 -1.014262 +v -0.310634 1.215299 -1.000944 +v -0.124152 1.201834 -0.974303 +v 0.301981 2.387670 -1.000933 +v 0.861808 2.014601 -0.987631 +v 0.581894 2.387670 -1.014262 +v 0.448584 1.308624 -1.027590 +f 112 122 123 +f 108 109 112 +f 110 111 113 +f 111 108 114 +f 109 108 115 +f 110 113 115 +f 110 115 116 +f 113 107 117 +f 111 114 117 +f 114 112 117 +f 107 113 118 +f 113 111 118 +f 117 107 118 +f 111 117 118 +f 111 110 119 +f 108 111 119 +f 110 116 119 +f 108 112 120 +f 114 108 120 +f 112 114 120 +f 115 108 121 +f 116 115 121 +f 108 119 121 +f 119 116 121 +f 112 109 122 +f 109 115 122 +f 122 115 123 +f 115 113 123 +f 113 117 123 +f 117 112 123 +o convex_9 +v 0.675188 1.814738 -0.987626 +v -0.310589 0.455956 -1.014270 +v -0.297161 0.455956 -1.027581 +v 0.861693 0.455823 -1.067546 +v 0.848380 1.761265 -1.027591 +v -0.297161 1.001996 -0.974305 +v -0.310589 1.201657 -0.987637 +v 0.755070 0.495861 -1.080868 +v 0.768498 0.455823 -1.054224 +v 0.861693 1.721226 -1.000958 +v -0.270534 0.455956 -1.000958 +v 0.462057 1.814738 -1.000958 +v -0.310589 1.041902 -1.000958 +v -0.310589 1.201657 -0.974305 +v 0.861693 0.589107 -1.080868 +f 133 127 138 +f 127 126 131 +f 125 126 132 +f 126 127 132 +f 129 132 133 +f 128 124 133 +f 124 129 133 +f 132 127 133 +f 129 125 134 +f 125 132 134 +f 132 129 134 +f 124 128 135 +f 130 135 136 +f 126 125 136 +f 125 130 136 +f 131 126 136 +f 128 131 136 +f 135 128 136 +f 125 129 137 +f 129 124 137 +f 130 125 137 +f 124 135 137 +f 135 130 137 +f 127 131 138 +f 131 128 138 +f 128 133 138 +o convex_10 +v -0.270813 0.322317 1.024298 +v -0.803622 -0.730146 1.024298 +v -0.443909 -0.730146 0.997668 +v -0.110956 0.362422 0.984340 +v -0.084196 -0.730146 0.997668 +v -0.803622 0.362422 1.050954 +v -0.790242 -0.730146 1.050954 +v -0.803622 0.362422 1.037619 +v -0.097646 0.362422 1.010990 +v -0.084196 -0.730146 0.984340 +v -0.630385 0.362422 1.050954 +v -0.257503 -0.636782 0.984340 +f 142 148 150 +f 140 141 143 +f 143 139 145 +f 140 143 145 +f 144 140 145 +f 142 140 146 +f 140 144 146 +f 144 142 146 +f 139 143 147 +f 142 144 147 +f 143 141 148 +f 147 143 148 +f 142 147 148 +f 145 139 149 +f 144 145 149 +f 139 147 149 +f 147 144 149 +f 141 140 150 +f 140 142 150 +f 148 141 150 +o convex_11 +v 0.848481 -1.569451 -0.960786 +v 0.821836 -1.716026 0.797469 +v 0.835159 -1.716026 0.797469 +v 0.835159 -0.730339 0.917530 +v 0.821836 -1.569451 -0.960786 +v 0.848481 -1.276399 0.917530 +v 0.848481 -0.730339 0.904108 +v 0.821836 -1.249766 0.917530 +v 0.848481 -1.662664 0.251404 +v 0.835159 -1.716026 0.917530 +f 153 159 160 +f 153 152 151 +f 151 152 155 +f 154 156 157 +f 151 155 157 +f 155 154 157 +f 156 151 157 +f 154 155 158 +f 155 152 158 +f 156 154 158 +f 153 151 159 +f 151 156 159 +f 159 156 160 +f 152 153 160 +f 158 152 160 +f 156 158 160 +o convex_12 +v 0.915104 0.349162 -0.374568 +v 0.901777 0.282478 -0.960970 +v 0.888459 1.001951 -0.960970 +v 0.875132 0.282478 0.851094 +v 0.888459 1.041946 0.851094 +v 0.915104 1.028565 -0.960970 +v 0.875132 1.041946 -0.214753 +v 0.875132 0.282478 0.184873 +v 0.888459 0.282478 0.851094 +v 0.875132 1.041946 0.851094 +v 0.915104 0.282478 -0.960970 +v 0.901777 0.389083 0.357991 +f 165 169 172 +f 162 163 166 +f 165 161 166 +f 166 163 167 +f 165 166 167 +f 163 162 168 +f 162 164 168 +f 167 163 168 +f 164 167 168 +f 164 162 169 +f 165 164 169 +f 164 165 170 +f 167 164 170 +f 165 167 170 +f 162 166 171 +f 166 161 171 +f 169 162 171 +f 161 169 171 +f 161 165 172 +f 169 161 172 +o convex_13 +v 0.875133 2.001239 0.664495 +v 0.888457 1.041946 -0.960970 +v 0.901780 1.041946 -0.960970 +v 0.888457 2.387558 -0.960970 +v 0.901780 2.440966 0.851094 +v 0.888457 1.041946 0.851094 +v 0.875136 2.387558 -0.960970 +v 0.875133 1.041946 -0.228056 +v 0.901780 1.921126 -0.960970 +v 0.875133 1.041946 0.851094 +v 0.901780 1.827868 0.851094 +v 0.888457 2.440966 0.851094 +v 0.901780 1.041946 -0.201450 +v 0.875136 2.414262 0.118180 +v 0.875133 1.894559 -0.960970 +v 0.901780 2.414262 0.091574 +v 0.875133 1.854709 0.851094 +f 182 184 189 +f 175 174 176 +f 174 175 178 +f 176 174 179 +f 177 176 179 +f 174 178 180 +f 175 176 181 +f 177 175 181 +f 178 177 182 +f 180 178 182 +f 173 180 182 +f 175 177 183 +f 177 178 183 +f 177 179 184 +f 182 177 184 +f 178 175 185 +f 175 183 185 +f 183 178 185 +f 179 173 186 +f 173 184 186 +f 184 179 186 +f 179 174 187 +f 173 179 187 +f 174 180 187 +f 180 173 187 +f 176 177 188 +f 181 176 188 +f 177 181 188 +f 173 182 189 +f 184 173 189 +o convex_14 +v -0.404155 0.882068 -0.974302 +v -1.136711 1.494837 -1.054222 +v -1.136711 1.494837 -1.040898 +v -1.056673 0.455805 -0.987634 +v -0.310858 0.455805 -1.014258 +v -0.310939 1.628202 -1.014258 +v -0.324198 1.228451 -0.974302 +v -1.056673 0.482432 -0.974302 +v -0.990055 1.628202 -1.027574 +v -0.963375 1.628202 -1.054222 +v -1.056673 0.469118 -1.000950 +v -0.310858 0.455805 -1.000950 +v -0.430754 1.628202 -1.027574 +v -0.457434 1.628202 -1.000958 +v -0.790281 0.455805 -0.974302 +v -0.550650 0.455805 -1.014258 +v -1.136711 1.628202 -1.040898 +f 199 191 206 +f 192 191 193 +f 192 193 197 +f 190 196 197 +f 197 196 198 +f 198 195 199 +f 194 191 199 +f 193 191 200 +f 193 194 201 +f 194 195 201 +f 195 196 201 +f 196 190 201 +f 195 194 202 +f 199 195 202 +f 194 199 202 +f 196 195 203 +f 198 196 203 +f 195 198 203 +f 197 193 204 +f 190 197 204 +f 193 201 204 +f 201 190 204 +f 194 193 205 +f 191 194 205 +f 200 191 205 +f 193 200 205 +f 191 192 206 +f 192 197 206 +f 197 198 206 +f 198 199 206 +o convex_15 +v -0.790222 -0.423694 -1.040922 +v -1.016876 -1.556138 -1.067551 +v -0.164177 -1.556138 -1.080886 +v -1.003549 -0.730305 -1.014272 +v 0.022396 -0.423694 -1.080886 +v -0.137523 -1.556138 -1.054243 +v 0.009069 -0.423694 -1.054230 +v -0.763670 -0.423694 -1.014272 +v -0.603548 -1.129919 -1.080886 +v 0.022396 -1.556138 -1.080886 +v -1.016876 -1.556138 -1.054243 +v -1.016876 -0.423694 -1.027607 +v -1.016876 -1.316369 -1.067551 +v 0.022396 -1.556138 -1.067551 +v -1.016876 -1.342973 -1.040922 +f 218 217 221 +f 208 209 212 +f 211 207 213 +f 210 212 214 +f 212 213 214 +f 213 207 214 +f 209 208 215 +f 207 211 215 +f 211 209 215 +f 209 211 216 +f 212 209 216 +f 208 212 217 +f 214 207 218 +f 210 214 218 +f 208 217 218 +f 215 208 219 +f 207 215 219 +f 218 207 219 +f 208 218 219 +f 213 212 220 +f 211 213 220 +f 216 211 220 +f 212 216 220 +f 212 210 221 +f 217 212 221 +f 210 218 221 +o convex_16 +v 0.808512 0.362422 0.917714 +v -0.084196 -0.556934 0.984331 +v -0.057544 -0.556934 0.970997 +v 0.808512 -0.556934 0.997658 +v -0.084196 0.362422 0.997658 +v 0.808512 0.362422 0.944375 +v -0.084196 0.362422 0.984331 +v -0.084196 -0.556934 0.997658 +v 0.808512 -0.556934 0.984331 +v 0.089085 0.362422 0.997658 +v 0.808512 -0.383700 0.997658 +v 0.142389 -0.556934 0.970997 +f 230 224 233 +f 223 224 225 +f 225 222 227 +f 222 226 227 +f 222 224 228 +f 224 223 228 +f 226 222 228 +f 223 226 228 +f 223 225 229 +f 225 226 229 +f 226 223 229 +f 225 224 230 +f 222 225 230 +f 226 225 231 +f 227 226 231 +f 227 231 232 +f 225 227 232 +f 231 225 232 +f 224 222 233 +f 222 230 233 +o convex_17 +v -1.043533 -1.129775 -0.201609 +v -1.056845 -0.250585 0.091626 +v -1.043533 -0.250585 -0.081780 +v -1.083491 -0.796769 -0.960970 +v -1.043533 -0.250585 -0.960970 +v -1.070168 -1.303078 -0.001826 +v -1.070168 -1.303078 -0.960970 +v -1.030200 -0.903306 0.091626 +v -1.070168 -0.250585 0.091626 +v -1.070168 -0.277168 -0.960970 +v -1.083491 -1.303078 -0.494432 +v -1.043533 -1.303078 0.091626 +v -1.030200 -0.263876 -0.521221 +v -1.030200 -0.623568 0.091626 +v -1.083491 -1.303078 -0.960970 +f 240 244 248 +f 235 236 238 +f 237 238 240 +f 235 238 242 +f 241 235 242 +f 238 237 243 +f 237 242 243 +f 242 238 243 +f 240 239 244 +f 239 242 244 +f 242 237 244 +f 239 240 245 +f 240 234 245 +f 234 241 245 +f 242 239 245 +f 241 242 245 +f 238 236 246 +f 234 240 246 +f 240 238 246 +f 241 234 246 +f 241 246 247 +f 236 235 247 +f 235 241 247 +f 246 236 247 +f 237 240 248 +f 244 237 248 +o convex_18 +v -1.096812 -1.609530 -0.680951 +v -1.016876 -1.662816 0.917530 +v -1.016876 -1.676144 0.917530 +v -1.016876 -1.622865 -0.960786 +v -1.030209 -1.609530 0.917530 +v -1.056844 -1.676144 0.810891 +v -1.096812 -1.636186 -0.960786 +v -1.016876 -1.649494 -0.574312 +v -1.056844 -1.609530 0.770994 +f 254 253 257 +f 250 251 252 +f 252 249 253 +f 251 250 253 +f 250 252 253 +f 251 253 254 +f 249 252 255 +f 254 249 255 +f 254 255 256 +f 252 251 256 +f 251 254 256 +f 255 252 256 +f 253 249 257 +f 249 254 257 +o convex_19 +v -1.030206 -1.303078 0.464498 +v -1.096820 -1.609530 -0.960786 +v -1.096820 -1.329776 -0.960786 +v -1.056856 -1.449675 0.917530 +v -1.030206 -1.609530 0.744334 +v -1.070164 -1.356413 -0.960786 +v -1.056856 -1.303078 0.917530 +v -1.070164 -1.609530 -0.720849 +v -1.056856 -1.609530 0.757572 +v -1.096820 -1.609530 -0.694189 +v -1.070164 -1.303078 -0.960786 +v -1.030206 -1.423037 0.917530 +f 264 261 269 +f 259 260 263 +f 258 262 263 +f 262 259 265 +f 259 263 265 +f 263 262 265 +f 262 261 266 +f 259 262 266 +f 260 259 267 +f 264 260 267 +f 261 264 267 +f 259 266 267 +f 266 261 267 +f 258 263 268 +f 263 260 268 +f 264 258 268 +f 260 264 268 +f 262 258 269 +f 261 262 269 +f 258 264 269 +o convex_20 +v -1.056856 -1.569392 1.050949 +v -1.030200 0.362422 1.077602 +v -1.030200 0.362422 1.064268 +v -1.176764 0.362422 1.077602 +v -1.163422 0.349052 0.917714 +v -1.030200 -1.676150 0.917714 +v -1.030200 -1.222979 1.064268 +v -1.136766 0.269034 0.917714 +v -1.043542 -1.676150 0.917714 +v -1.030200 -1.436295 0.917714 +v -1.136766 -0.317235 1.077602 +v -1.163422 0.242494 0.917714 +v -1.030200 -1.676150 1.050949 +f 278 275 282 +f 271 272 273 +f 273 272 274 +f 272 271 275 +f 275 271 276 +f 274 272 277 +f 275 274 277 +f 274 275 278 +f 272 275 279 +f 277 272 279 +f 275 277 279 +f 271 273 280 +f 270 276 280 +f 276 271 280 +f 278 270 280 +f 278 280 281 +f 273 274 281 +f 274 278 281 +f 280 273 281 +f 276 270 282 +f 275 276 282 +f 270 278 282 +o convex_21 +v -0.550687 1.535040 1.064278 +v -1.136792 1.228482 1.050949 +v -1.136792 1.228482 1.064278 +v -1.083366 2.387505 1.037635 +v -0.124168 1.228482 1.037635 +v -0.124168 2.414318 1.037635 +v -0.590633 2.374272 1.024310 +v -1.096747 1.921110 1.064278 +v -0.230922 1.268528 1.064278 +v -0.577252 2.400853 1.050949 +v -0.124168 2.414318 1.024310 +v -0.124168 2.067714 1.050949 +v -1.096747 1.894644 1.037635 +v -1.083366 2.387505 1.050949 +v -0.270769 1.228482 1.037635 +v -0.124168 2.054365 1.024310 +f 297 289 298 +f 284 285 286 +f 285 284 287 +f 285 283 290 +f 283 285 291 +f 285 287 291 +f 290 283 292 +f 286 288 293 +f 288 287 293 +f 289 286 293 +f 287 288 294 +f 283 291 294 +f 291 287 294 +f 288 292 294 +f 292 283 294 +f 284 286 295 +f 286 289 295 +f 286 285 296 +f 288 286 296 +f 285 290 296 +f 292 288 296 +f 290 292 296 +f 287 284 297 +f 284 295 297 +f 295 289 297 +f 293 287 298 +f 289 293 298 +f 287 297 298 +o convex_22 +v -0.124168 1.641526 1.037619 +v 0.848484 2.440966 1.024298 +v 0.848484 2.147749 1.024298 +v 0.688533 1.668211 0.984340 +v -0.124168 2.414281 1.024298 +v 0.182309 1.641526 1.050954 +v -0.124168 2.067852 1.050954 +v 0.848484 1.641526 0.997668 +v 0.848484 2.174356 0.997668 +v 0.581995 2.414281 1.037619 +v -0.124168 2.041246 1.024298 +v 0.528678 2.427506 1.010990 +v 0.835155 1.894833 0.984340 +v -0.124168 2.414281 1.037619 +v 0.741850 2.294318 1.037619 +f 308 305 313 +f 299 304 305 +f 303 299 305 +f 300 301 306 +f 299 302 306 +f 301 304 306 +f 304 299 306 +f 300 306 307 +f 302 299 309 +f 299 303 309 +f 303 302 309 +f 303 300 310 +f 300 307 310 +f 310 307 311 +f 302 303 311 +f 306 302 311 +f 307 306 311 +f 303 310 311 +f 300 303 312 +f 303 305 312 +f 308 300 312 +f 305 308 312 +f 301 300 313 +f 304 301 313 +f 305 304 313 +f 300 308 313 +o convex_23 +v 0.848484 -0.423694 -1.067562 +v 0.022396 -1.556234 -1.080886 +v 0.022396 -1.556234 -1.067562 +v 0.022396 -0.423694 -1.080886 +v 0.848484 -1.556234 -1.080886 +v 0.848484 -1.556234 -1.067562 +v 0.022396 -0.423694 -1.067562 +v 0.848484 -0.423694 -1.080886 +f 318 317 321 +f 315 316 317 +f 316 315 318 +f 315 317 318 +f 314 316 319 +f 318 314 319 +f 316 318 319 +f 316 314 320 +f 317 316 320 +f 314 317 320 +f 317 314 321 +f 314 318 321 +o convex_24 +v -0.776887 -0.410352 -1.040908 +v 0.288748 0.455690 -1.040908 +v 0.288748 0.455690 -1.054220 +v -1.016748 0.455690 -0.974304 +v 0.288748 -0.423694 -1.067542 +v -1.003330 -0.410352 -1.000950 +v -0.537155 0.442348 -0.987627 +v -0.004401 -0.423694 -1.080876 +v -1.003330 0.255814 -1.000950 +v 0.275330 -0.077226 -1.080876 +v 0.235460 0.442348 -1.027585 +v -1.016748 -0.423694 -1.027585 +v -0.830176 0.455690 -1.000950 +v -0.990040 0.215788 -0.974304 +v 0.208752 0.455690 -1.054220 +f 330 334 336 +f 323 324 325 +f 324 323 326 +f 323 325 328 +f 324 326 331 +f 329 322 331 +f 326 329 331 +f 322 330 331 +f 326 323 332 +f 323 328 332 +f 328 326 332 +f 326 327 333 +f 327 325 333 +f 322 329 333 +f 329 326 333 +f 325 330 333 +f 330 322 333 +f 325 324 334 +f 330 325 334 +f 327 326 335 +f 325 327 335 +f 328 325 335 +f 326 328 335 +f 324 331 336 +f 331 330 336 +f 334 324 336 +o convex_25 +v 0.661911 0.389065 -1.080877 +v 0.288876 -0.423694 -1.080877 +v 0.288876 -0.423694 -1.067559 +v 0.848484 -0.423694 -1.080877 +v 0.488759 0.455690 -1.040914 +v 0.288876 0.455690 -1.054242 +v 0.848484 0.282413 -1.094205 +v 0.848484 -0.423694 -1.067559 +v 0.848484 0.455690 -1.067559 +v 0.288876 0.215788 -1.040914 +v 0.288876 -0.063883 -1.080877 +v 0.835118 0.002742 -1.094205 +v 0.755198 0.442348 -1.054242 +f 344 345 349 +f 339 338 340 +f 338 339 342 +f 339 340 344 +f 340 343 344 +f 342 341 345 +f 337 342 345 +f 343 337 345 +f 344 343 345 +f 342 339 346 +f 341 342 346 +f 344 341 346 +f 339 344 346 +f 338 342 347 +f 342 337 347 +f 337 343 347 +f 347 343 348 +f 340 338 348 +f 343 340 348 +f 338 347 348 +f 341 344 349 +f 345 341 349 +o convex_26 +v -1.043533 -0.050583 -0.281563 +v -1.056858 -0.250482 -0.960970 +v -1.056858 0.242458 -0.960970 +v -1.110136 0.202490 0.091626 +v -1.030200 0.349098 -0.920993 +v -1.070168 -0.250482 0.091626 +v -1.096811 0.349098 0.091626 +v -1.030200 -0.250482 -0.321541 +v -1.110136 0.349098 -0.055094 +v -1.043533 -0.250482 -0.960970 +v -1.083486 -0.223778 0.078129 +v -1.056858 -0.197133 0.091626 +v -1.056858 0.349098 -0.947576 +v -1.083486 0.242458 0.078129 +v -1.030200 0.215812 -0.960970 +f 362 354 364 +f 353 355 356 +f 354 350 357 +f 355 351 357 +f 352 351 358 +f 351 353 358 +f 353 356 358 +f 356 354 358 +f 351 352 359 +f 357 351 359 +f 353 351 360 +f 351 355 360 +f 355 353 360 +f 356 355 361 +f 357 350 361 +f 355 357 361 +f 352 358 362 +f 358 354 362 +f 350 354 363 +f 354 356 363 +f 361 350 363 +f 356 361 363 +f 354 357 364 +f 359 352 364 +f 357 359 364 +f 352 362 364 +o convex_27 +v -1.043528 -1.050006 0.757769 +v -1.056845 -1.303078 0.091626 +v -1.083491 -0.876728 0.757769 +v -1.030200 -0.863386 0.091626 +v -1.030200 -1.303078 0.784453 +v -1.070168 -1.236410 0.917714 +v -1.056845 -0.890071 0.091626 +v -1.070168 -0.863386 0.917714 +v -1.043528 -1.303078 0.091626 +v -1.030200 -0.863386 0.331463 +v -1.043528 -1.303078 0.917714 +v -1.083491 -1.023321 0.917714 +v -1.030200 -1.303078 0.451463 +f 369 373 377 +f 366 367 371 +f 367 368 371 +f 368 366 371 +f 368 367 372 +f 369 365 372 +f 366 368 373 +f 369 366 373 +f 365 369 374 +f 369 368 374 +f 368 372 374 +f 372 365 374 +f 366 369 375 +f 370 366 375 +f 369 372 375 +f 372 370 375 +f 367 366 376 +f 366 370 376 +f 372 367 376 +f 370 372 376 +f 368 369 377 +f 373 368 377 +o convex_28 +v -1.056858 -0.663441 0.091626 +v -1.150098 0.348979 0.917714 +v -1.136782 0.348979 0.851084 +v -1.070175 -0.863267 0.917714 +v -1.083517 0.215722 0.104968 +v -1.163440 0.322280 0.837741 +v -1.096820 -0.809870 0.904372 +v -1.030200 -0.849859 0.318202 +v -1.123465 0.322280 0.171599 +v -1.030200 -0.863267 0.091626 +v -1.070175 -0.783289 0.917714 +v -1.096820 0.348979 0.091626 +v -1.030200 -0.636742 0.104968 +v -1.056858 -0.863267 0.291517 +v -1.163440 0.348979 0.917714 +f 389 386 392 +f 385 381 387 +f 380 379 388 +f 379 381 388 +f 381 385 388 +f 379 380 389 +f 380 382 389 +f 378 386 389 +f 387 378 389 +f 387 389 390 +f 382 380 390 +f 385 387 390 +f 380 388 390 +f 388 385 390 +f 389 382 390 +f 384 383 391 +f 381 384 391 +f 386 378 391 +f 383 386 391 +f 378 387 391 +f 387 381 391 +f 381 379 392 +f 383 384 392 +f 384 381 392 +f 386 383 392 +f 379 389 392 +o convex_29 +v -0.670462 -1.662816 -0.441316 +v -0.337352 -1.662816 0.131598 +v -0.563904 -1.649494 0.131598 +v -0.337352 -1.609530 -0.960970 +v -1.016876 -1.622865 -0.561096 +v -1.016876 -1.662816 0.131598 +v -1.016876 -1.636186 -0.960970 +v -0.337352 -1.676144 -0.228171 +v -1.016876 -1.636186 0.104861 +v -0.337352 -1.609530 -0.774348 +v -0.803560 -1.609530 -0.960970 +v -0.337352 -1.622865 -0.960970 +v -0.870275 -1.649494 -0.800978 +v -0.590511 -1.676144 0.131598 +f 393 400 406 +f 394 395 398 +f 398 397 399 +f 396 394 400 +f 398 395 401 +f 397 398 401 +f 395 394 402 +f 394 396 402 +f 401 395 402 +f 401 402 403 +f 396 399 403 +f 399 397 403 +f 397 401 403 +f 402 396 403 +f 399 396 404 +f 396 400 404 +f 404 400 405 +f 393 398 405 +f 398 399 405 +f 400 393 405 +f 399 404 405 +f 394 398 406 +f 398 393 406 +f 400 394 406 +o convex_30 +v 0.062157 -1.689465 0.917714 +v -1.016770 -1.662830 0.131598 +v -1.016770 -1.649502 0.131598 +v -1.016770 -1.676147 0.917714 +v 0.062157 -1.702793 0.518038 +v 0.062157 -1.676147 0.131598 +v -1.003356 -1.649502 0.771048 +v -0.124266 -1.662830 0.158299 +v -0.217530 -1.702793 0.917714 +v -0.137574 -1.689465 0.131598 +v -0.190913 -1.676147 0.917714 +v -0.577067 -1.649502 0.131598 +v -1.003356 -1.676147 0.717799 +v 0.062157 -1.676147 0.544586 +f 414 417 420 +f 409 408 410 +f 408 409 412 +f 407 411 412 +f 409 410 413 +f 407 410 415 +f 411 407 415 +f 411 415 416 +f 408 412 416 +f 412 411 416 +f 410 407 417 +f 413 410 417 +f 414 413 417 +f 412 409 418 +f 409 413 418 +f 413 414 418 +f 414 412 418 +f 410 408 419 +f 415 410 419 +f 416 415 419 +f 408 416 419 +f 407 412 420 +f 412 414 420 +f 417 407 420 +o convex_31 +v 0.075749 -1.662836 0.131598 +v 0.821836 -1.702788 0.917714 +v 0.821836 -1.716122 0.917714 +v 0.062368 -1.689466 0.917714 +v 0.821836 -1.649508 0.251562 +v 0.062368 -1.689466 0.131598 +v 0.821836 -1.676158 0.224938 +v 0.235583 -1.716122 0.904248 +v 0.448718 -1.716122 0.637849 +v 0.821836 -1.649508 0.131598 +v 0.062368 -1.702788 0.491491 +v 0.821836 -1.689466 0.810985 +v 0.541942 -1.649508 0.144987 +v 0.821836 -1.716122 0.784361 +f 429 427 434 +f 423 422 424 +f 422 423 425 +f 424 421 426 +f 425 423 427 +f 423 424 428 +f 426 427 429 +f 423 428 429 +f 426 421 430 +f 425 427 430 +f 427 426 430 +f 424 426 431 +f 428 424 431 +f 426 429 431 +f 429 428 431 +f 424 422 432 +f 425 424 432 +f 422 425 432 +f 421 424 433 +f 424 425 433 +f 430 421 433 +f 425 430 433 +f 427 423 434 +f 423 429 434 +o convex_32 +v 0.808512 -1.676162 1.090909 +v -1.030178 -1.676153 0.917714 +v -1.030178 -1.676153 1.050950 +v 0.581735 -1.729438 1.077584 +v 0.808512 -1.716110 0.917731 +v 0.808512 -1.649506 1.064258 +v -1.030178 -1.636178 1.050950 +v -0.657076 -1.662843 0.917731 +v 0.675146 -1.729438 0.931056 +v 0.808512 -1.729438 1.090909 +v -0.763445 -1.689463 1.064258 +v 0.808512 -1.702782 0.917731 +f 436 442 446 +f 435 439 440 +f 436 437 441 +f 435 440 441 +f 441 440 442 +f 436 441 442 +f 436 439 443 +f 443 439 444 +f 439 435 444 +f 438 443 444 +f 438 444 445 +f 437 436 445 +f 435 441 445 +f 441 437 445 +f 436 443 445 +f 443 438 445 +f 444 435 445 +f 439 436 446 +f 440 439 446 +f 442 440 446 +o convex_33 +v -0.803692 0.362422 1.037634 +v -1.030178 -1.636178 1.037634 +v -1.030178 -1.636178 1.050951 +v -0.803692 -1.636178 1.037634 +v -0.976882 0.362422 1.077597 +v -1.030178 0.242498 1.050951 +v -0.803692 -1.636178 1.050951 +v -0.803692 0.362422 1.064269 +v -0.910306 -1.436044 1.024306 +v -1.030178 -1.129681 1.064269 +v -0.803692 -1.516254 1.024306 +v -1.030178 0.362422 1.077597 +f 456 451 458 +f 449 448 450 +f 448 449 452 +f 449 450 453 +f 450 447 453 +f 451 453 454 +f 447 451 454 +f 453 447 454 +f 448 452 455 +f 452 447 455 +f 452 449 456 +f 449 453 456 +f 453 451 456 +f 450 448 457 +f 447 450 457 +f 448 455 457 +f 455 447 457 +f 451 447 458 +f 447 452 458 +f 452 456 458 +o convex_34 +v 0.835151 -1.302923 0.917714 +v 0.821837 -1.676003 1.090909 +v 0.835159 -1.489463 1.077584 +v 0.808512 0.362422 0.944382 +v 0.848480 0.362422 0.944382 +v 0.808512 -1.715932 0.917731 +v 0.808512 -1.729446 1.090909 +v 0.848480 -1.262789 0.917714 +v 0.808512 0.362422 0.917714 +v 0.835159 -1.715932 0.917731 +v 0.848480 -1.169621 1.050950 +f 461 468 469 +f 460 461 462 +f 462 461 463 +f 462 464 465 +f 460 462 465 +f 462 463 467 +f 459 464 467 +f 464 462 467 +f 466 459 467 +f 463 466 467 +f 461 460 468 +f 464 459 468 +f 465 464 468 +f 460 465 468 +f 459 466 468 +f 468 466 469 +f 463 461 469 +f 466 463 469 +o convex_35 +v 0.701863 1.641526 1.010979 +v -0.124168 0.362422 0.997663 +v -0.110839 0.362422 0.984334 +v 0.848484 0.362422 0.931043 +v 0.834964 1.614857 0.971031 +v -0.124168 1.641526 1.037612 +v -0.110839 1.175134 1.050941 +v 0.808496 0.469097 0.917714 +v 0.808496 0.362422 0.944372 +v -0.097414 0.362422 1.010979 +v 0.169075 1.614857 1.050954 +v 0.848484 1.588063 0.997637 +v -0.124168 1.641526 1.050941 +v 0.848484 0.362422 0.917714 +f 481 473 483 +f 471 472 473 +f 472 471 475 +f 470 474 475 +f 472 475 477 +f 475 474 477 +f 471 473 478 +f 478 476 479 +f 476 471 479 +f 471 478 479 +f 476 478 480 +f 480 478 481 +f 474 470 481 +f 478 473 481 +f 470 480 481 +f 475 471 482 +f 470 475 482 +f 471 476 482 +f 480 470 482 +f 476 480 482 +f 473 472 483 +f 472 477 483 +f 477 474 483 +f 474 481 483 +o convex_36 +v -1.163390 0.362422 1.077602 +v -0.124322 1.228482 1.050943 +v -0.124322 1.228482 1.037625 +v -0.124322 0.362422 1.010998 +v -1.136638 1.228482 1.050959 +v -0.284124 0.402436 0.997672 +v -0.723757 0.762305 1.077602 +v -1.136638 1.081906 1.077602 +v -0.124322 1.188384 1.024315 +v -1.163390 0.362422 1.064269 +v -0.257575 1.228482 1.064276 +v -0.137647 0.629039 0.997672 +v -0.963511 0.375816 1.077602 +f 494 490 496 +f 486 485 487 +f 485 486 488 +f 488 484 491 +f 484 490 491 +f 486 487 492 +f 488 486 492 +f 487 484 493 +f 484 488 493 +f 488 489 493 +f 489 487 493 +f 487 485 494 +f 485 488 494 +f 488 491 494 +f 491 490 494 +f 489 488 495 +f 487 489 495 +f 492 487 495 +f 488 492 495 +f 484 487 496 +f 490 484 496 +f 487 494 496 +o convex_37 +v 0.555186 -1.676136 0.131598 +v -0.337352 -1.622864 -0.960970 +v -0.337352 -1.609555 -0.960970 +v 0.821836 -1.582913 -0.960970 +v -0.337352 -1.662815 0.131598 +v 0.781782 -1.569568 -0.880867 +v 0.821836 -1.636173 0.064970 +v -0.337352 -1.676148 -0.228278 +v -0.323963 -1.596234 -0.947388 +v 0.821836 -1.596234 -0.894235 +v 0.821836 -1.662815 0.038233 +v -0.137422 -1.689469 0.131598 +v 0.821836 -1.649506 0.131598 +v 0.022568 -1.689469 0.091600 +v -0.244081 -1.622864 -0.947388 +v 0.821836 -1.569568 -0.960970 +f 505 502 512 +f 498 499 500 +f 499 498 501 +f 502 501 503 +f 501 498 504 +f 499 501 505 +f 501 502 505 +f 500 503 506 +f 506 503 507 +f 497 501 508 +f 501 504 508 +f 501 497 509 +f 503 501 509 +f 497 507 509 +f 507 503 509 +f 506 507 510 +f 507 497 510 +f 497 508 510 +f 508 504 510 +f 498 500 511 +f 504 498 511 +f 500 506 511 +f 510 504 511 +f 506 510 511 +f 500 499 512 +f 503 500 512 +f 502 503 512 +f 499 505 512 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/454/454.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/454/454.urdf new file mode 100644 index 000000000..8bad4db17 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/454/454.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/455/455.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/455/455.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/455/455.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/455/455.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/455/455.obj new file mode 100644 index 000000000..34902872e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/455/455.obj @@ -0,0 +1,669 @@ +o convex_0 +v 0.936259 2.960309 -1.103337 +v -1.005491 1.018746 -2.886798 +v -1.005491 1.018746 -2.371585 +v 1.015543 0.939590 -1.103337 +v 1.055084 3.119048 -3.005709 +v -0.926207 3.079363 -1.103337 +v 1.015543 0.979061 -2.965943 +v -0.926207 2.999994 -3.005515 +v -0.965950 0.939377 -1.103337 +v -1.005491 1.058218 -3.085047 +v 0.262447 0.939590 -2.292053 +v -0.965950 2.603574 -1.420496 +v 1.015543 2.999781 -1.698083 +v 1.055084 2.365679 -3.005709 +v -0.965950 2.405364 -3.045281 +v -0.648814 1.058218 -3.085047 +v -0.490246 3.079363 -1.143103 +v -0.965950 2.722628 -3.005515 +v -0.926207 0.939377 -1.697889 +v 0.619123 0.979061 -3.005709 +v -0.807382 3.079363 -1.579172 +v 1.055084 3.079150 -2.569639 +v 0.975800 2.920625 -1.103337 +v -0.926207 1.533794 -3.085047 +v -0.965950 2.484733 -1.103337 +v 1.015543 3.119048 -2.847032 +v 1.015543 0.939590 -2.133570 +v 0.896718 3.119048 -2.965943 +v 1.015543 1.414953 -1.103337 +v -0.411164 3.039465 -3.005515 +v -1.005491 1.216956 -2.807460 +f 25 12 31 +f 4 1 6 +f 3 2 9 +f 4 6 9 +f 2 3 10 +f 5 14 16 +f 6 1 17 +f 6 8 18 +f 12 6 18 +f 8 15 18 +f 15 10 18 +f 9 2 19 +f 4 9 19 +f 2 11 19 +f 2 10 20 +f 11 2 20 +f 7 11 20 +f 14 7 20 +f 10 16 20 +f 16 14 20 +f 8 6 21 +f 1 13 22 +f 4 14 22 +f 14 5 22 +f 1 4 23 +f 13 1 23 +f 15 5 24 +f 10 15 24 +f 16 10 24 +f 5 16 24 +f 3 9 25 +f 9 6 25 +f 6 12 25 +f 17 1 26 +f 6 17 26 +f 1 22 26 +f 22 5 26 +f 11 7 27 +f 14 4 27 +f 7 14 27 +f 4 19 27 +f 19 11 27 +f 21 6 28 +f 26 5 28 +f 6 26 28 +f 22 13 29 +f 4 22 29 +f 23 4 29 +f 13 23 29 +f 5 15 30 +f 15 8 30 +f 8 21 30 +f 28 5 30 +f 21 28 30 +f 10 3 31 +f 18 10 31 +f 12 18 31 +f 3 25 31 +o convex_1 +v 0.975965 -1.161663 -1.935896 +v -1.124386 -1.042605 -3.005779 +v -1.084792 -1.676783 -3.005779 +v -1.084792 -2.984246 -1.182606 +v 1.015349 -2.984463 -3.005779 +v -0.965801 -0.963305 -1.182606 +v 0.975965 -2.944705 -1.182606 +v 0.975965 -0.963523 -2.965981 +v -0.965801 -3.103521 -2.926363 +v 0.936162 -1.042822 -1.182606 +v -1.124386 -0.884006 -2.886566 +v 0.698390 -1.003064 -1.182606 +v -0.648843 -0.884006 -3.005779 +v -1.005605 -3.103521 -2.649032 +v 1.015349 -2.072846 -3.005779 +v 0.619203 -3.024222 -3.005779 +v -1.084792 -2.469343 -1.182606 +v -1.084792 -3.024222 -1.737802 +v 0.975965 -2.984463 -1.896099 +v -1.005605 -0.963305 -1.380877 +v -1.005605 -2.746782 -2.965981 +v -1.045198 -0.884006 -2.569795 +v -0.609039 -3.103521 -2.886566 +v 1.015349 -2.905164 -2.450582 +v 0.064263 -0.923764 -3.005779 +v 0.975965 -2.429585 -1.182606 +v 0.936162 -1.003064 -1.420496 +v -1.005605 -3.103521 -2.807507 +v -0.648843 -0.963305 -1.182606 +v 0.975965 -0.963523 -2.767888 +v 0.421025 -3.024222 -3.005779 +f 40 52 62 +f 34 33 36 +f 37 35 38 +f 37 38 41 +f 33 35 42 +f 37 41 43 +f 36 33 44 +f 33 42 44 +f 38 35 45 +f 36 44 46 +f 34 36 47 +f 35 37 48 +f 42 35 48 +f 33 34 49 +f 35 33 49 +f 45 35 49 +f 36 38 50 +f 47 36 50 +f 37 42 51 +f 48 37 51 +f 42 48 51 +f 42 37 53 +f 44 42 53 +f 38 45 54 +f 45 40 54 +f 40 47 54 +f 50 38 54 +f 47 50 54 +f 38 36 55 +f 46 32 55 +f 36 46 55 +f 44 39 56 +f 39 46 56 +f 46 44 56 +f 41 38 57 +f 32 41 57 +f 55 32 57 +f 38 55 57 +f 43 41 58 +f 53 43 58 +f 44 53 58 +f 40 45 59 +f 49 34 59 +f 45 49 59 +f 34 52 59 +f 52 40 59 +f 37 43 60 +f 53 37 60 +f 43 53 60 +f 41 32 61 +f 39 44 61 +f 32 46 61 +f 46 39 61 +f 58 41 61 +f 44 58 61 +f 34 47 62 +f 47 40 62 +f 52 34 62 +o convex_2 +v -1.124595 -2.746592 -0.984419 +v 1.094920 -0.923694 -0.270445 +v 1.094920 -1.003072 -0.270445 +v -0.926238 -2.667428 3.097888 +v 1.055162 -3.063887 1.432786 +v -1.005537 -0.884006 3.018278 +v 1.055162 -1.003072 3.097888 +v -0.965996 -0.884006 -1.023805 +v 0.975862 -2.944821 -1.182606 +v 1.015620 -3.063887 3.097888 +v -0.965996 -3.024199 2.423719 +v 0.936321 -1.042760 -1.182606 +v -1.124595 -2.944821 -1.182606 +v 1.094920 -0.884006 -0.627013 +v -1.084837 -0.923908 1.512396 +v -0.965996 -0.963596 -1.182606 +v -0.331818 -3.063887 3.097888 +v 0.975862 -0.884006 1.353595 +v -0.807397 -2.984296 -0.786233 +v -1.005537 -1.597759 3.058083 +v -1.084837 -0.884006 0.760293 +v 1.094920 -1.399317 -0.706623 +v -0.926238 -3.024199 3.097888 +v 1.055162 -3.063887 2.264918 +v 0.777722 -0.963383 3.097888 +v -1.124595 -2.944821 -0.865424 +v 1.055162 -3.024199 0.561687 +v 0.936321 -0.884006 -0.944614 +v 0.896563 -2.984510 -0.746428 +v -1.045296 -0.963596 2.701515 +v 1.055162 -1.676923 3.097888 +v -0.965996 -2.588052 3.018278 +v -1.084837 -2.984296 -0.429246 +v -0.490200 -0.923694 3.058083 +v 0.183302 -3.024199 0.205119 +v -0.847156 -0.884006 3.018278 +v -0.965996 -3.024199 1.710582 +f 95 79 99 +f 65 64 69 +f 69 66 72 +f 74 71 75 +f 64 65 76 +f 69 64 76 +f 70 68 76 +f 74 75 78 +f 75 63 78 +f 72 66 79 +f 67 72 79 +f 76 68 80 +f 69 76 80 +f 75 71 81 +f 68 70 83 +f 63 77 83 +f 77 68 83 +f 70 78 83 +f 78 63 83 +f 71 74 84 +f 76 65 84 +f 74 76 84 +f 79 66 85 +f 73 79 85 +f 66 82 85 +f 72 67 86 +f 84 65 86 +f 67 84 86 +f 66 69 87 +f 69 80 87 +f 63 75 88 +f 77 63 88 +f 84 67 89 +f 71 84 89 +f 70 76 90 +f 76 74 90 +f 78 70 90 +f 74 78 90 +f 81 71 91 +f 89 67 91 +f 71 89 91 +f 68 77 92 +f 82 68 92 +f 77 88 92 +f 88 82 92 +f 65 69 93 +f 69 72 93 +f 86 65 93 +f 72 86 93 +f 73 85 94 +f 85 82 94 +f 88 73 94 +f 82 88 94 +f 75 81 95 +f 81 79 95 +f 88 75 95 +f 73 88 95 +f 82 66 96 +f 68 82 96 +f 66 87 96 +f 67 79 97 +f 79 81 97 +f 91 67 97 +f 81 91 97 +f 80 68 98 +f 87 80 98 +f 68 96 98 +f 96 87 98 +f 79 73 99 +f 73 95 99 +o convex_3 +v -2.471766 0.027674 0.561113 +v -1.441704 0.463495 -0.548346 +v -1.441704 0.503036 -0.548346 +v -3.106305 0.225705 -0.508638 +v -1.084961 -0.448014 -0.469042 +v -1.203875 0.542794 0.521518 +v -3.026963 -0.487664 0.600821 +v -3.106305 0.622094 0.442214 +v -1.084961 -0.408365 0.481922 +v -3.026963 -0.448014 -0.469042 +v -1.084961 0.503036 -0.548346 +v -3.106305 0.503036 -0.508638 +v -1.084961 0.503036 0.521518 +v -2.947621 -0.368715 -0.508638 +v -1.164303 -0.448014 0.481922 +v -2.987391 0.622094 0.283720 +v -1.798644 0.106756 0.561113 +v -3.066337 0.463495 0.481922 +v -2.709594 0.622094 0.402619 +v -1.124731 -0.130925 -0.508638 +v -3.066337 -0.170575 0.521518 +v -3.066337 -0.249766 -0.508638 +v -3.106305 0.542794 -0.310548 +f 115 110 122 +f 102 101 103 +f 104 106 109 +f 101 102 110 +f 108 104 110 +f 102 103 111 +f 103 107 111 +f 110 105 112 +f 108 110 112 +f 104 109 113 +f 101 110 113 +f 106 104 114 +f 104 108 114 +f 108 106 114 +f 105 100 116 +f 100 106 116 +f 106 108 116 +f 112 105 116 +f 108 112 116 +f 100 105 117 +f 106 100 117 +f 107 106 117 +f 105 107 117 +f 107 105 118 +f 105 110 118 +f 115 107 118 +f 110 115 118 +f 110 104 119 +f 104 113 119 +f 113 110 119 +f 107 103 120 +f 106 107 120 +f 103 101 121 +f 109 106 121 +f 101 113 121 +f 113 109 121 +f 120 103 121 +f 106 120 121 +f 110 102 122 +f 102 111 122 +f 111 107 122 +f 107 115 122 +o convex_4 +v 0.975886 2.920660 -1.103337 +v -1.084961 2.326294 0.917906 +v -1.084961 2.326294 0.957591 +v 1.055286 0.622094 -0.865435 +v -0.965965 0.939361 -1.103337 +v 0.975886 0.622094 0.997276 +v 0.975886 2.960348 0.997276 +v -0.926370 3.079414 -1.103337 +v -1.045156 0.622094 0.917906 +v -1.084961 2.999796 0.997276 +v -1.005561 0.622094 -0.786066 +v 1.015481 0.780848 -1.103337 +v -1.005561 0.978809 0.997276 +v -1.084961 3.039725 0.640525 +v 1.055286 0.741159 0.085351 +v -0.965965 0.622094 -0.984283 +v 0.619108 2.999796 0.997276 +v 0.896695 2.960348 -1.103337 +v -0.965965 2.484808 -1.103337 +v -0.609188 3.079414 -1.063652 +v -1.045156 0.622094 -0.112455 +v 0.460517 0.622094 -1.063652 +v -1.005561 0.899673 -0.905120 +v -1.045156 3.039725 0.917906 +v 1.055286 0.820536 -0.905120 +v -0.926370 3.079414 -0.469000 +v -1.084961 2.643321 0.521266 +v -0.846970 0.622094 0.957591 +v -0.965965 3.079414 -0.865435 +v 1.015481 0.622094 -1.063652 +f 144 134 152 +f 123 127 130 +f 125 124 131 +f 126 128 131 +f 124 125 132 +f 128 129 132 +f 125 131 132 +f 126 131 133 +f 127 123 134 +f 128 132 135 +f 132 131 135 +f 124 132 136 +f 128 126 137 +f 129 128 137 +f 126 133 138 +f 132 129 139 +f 129 123 140 +f 123 130 140 +f 139 129 140 +f 130 127 141 +f 140 130 142 +f 139 140 142 +f 131 124 143 +f 133 131 143 +f 127 134 144 +f 126 138 144 +f 138 127 144 +f 138 133 145 +f 127 138 145 +f 141 127 145 +f 133 143 145 +f 136 132 146 +f 132 139 146 +f 123 129 147 +f 134 123 147 +f 126 134 147 +f 137 126 147 +f 129 137 147 +f 142 130 148 +f 139 142 148 +f 136 146 148 +f 146 139 148 +f 124 136 149 +f 136 141 149 +f 143 124 149 +f 141 145 149 +f 145 143 149 +f 131 128 150 +f 128 135 150 +f 135 131 150 +f 130 141 151 +f 141 136 151 +f 148 130 151 +f 136 148 151 +f 134 126 152 +f 126 144 152 +o convex_5 +v -1.045272 1.494341 0.997675 +v 1.094920 3.039780 3.018519 +v 1.094920 2.643345 3.018519 +v -0.926207 1.058221 3.058052 +v 0.975854 0.939167 0.997473 +v -1.084961 3.039574 1.037208 +v 0.975854 2.960410 0.997473 +v -0.926207 3.039574 3.058052 +v 0.936166 1.018537 3.018519 +v -0.965895 0.979057 0.997675 +v 0.857002 0.978852 2.899515 +v 1.094920 3.039780 2.503172 +v -1.084961 2.960410 1.314547 +v -1.084961 2.999889 0.997675 +v -0.094028 2.960410 3.058052 +v 1.015543 2.999889 1.354081 +v 0.975854 1.137385 2.899515 +v -0.965895 1.058221 2.582441 +v -0.965895 3.039574 2.859780 +v 0.103987 0.939167 1.037208 +v -0.252569 1.058221 3.058052 +v 0.698462 2.999889 0.997473 +v 1.094920 2.563975 2.542907 +v -1.005584 1.018742 1.591887 +v 0.936166 0.939167 1.829692 +v -1.084961 2.445127 1.037208 +v -0.807355 0.979057 1.235279 +f 172 163 179 +f 153 157 162 +f 161 156 163 +f 154 155 164 +f 158 154 164 +f 165 158 166 +f 155 154 167 +f 154 160 167 +f 160 156 167 +f 157 159 168 +f 155 161 169 +f 161 157 169 +f 165 170 171 +f 154 158 171 +f 160 154 171 +f 156 160 171 +f 158 165 171 +f 170 156 171 +f 162 157 172 +f 161 155 173 +f 156 161 173 +f 155 167 173 +f 167 156 173 +f 157 153 174 +f 159 157 174 +f 158 164 174 +f 153 166 174 +f 166 158 174 +f 168 159 174 +f 164 168 174 +f 164 155 175 +f 157 168 175 +f 168 164 175 +f 155 169 175 +f 169 157 175 +f 153 162 176 +f 162 156 176 +f 156 170 176 +f 157 161 177 +f 161 163 177 +f 172 157 177 +f 163 172 177 +f 166 153 178 +f 165 166 178 +f 170 165 178 +f 153 176 178 +f 176 170 178 +f 156 162 179 +f 163 156 179 +f 162 172 179 +o convex_6 +v 1.134554 -0.368754 0.561179 +v 0.500376 0.582436 -1.063703 +v 0.500376 0.622094 -1.063703 +v -1.084961 -0.884006 0.957424 +v -0.847063 0.622094 0.957424 +v -0.965903 -0.884006 -1.024014 +v 0.936197 -0.884006 -0.944637 +v 0.975955 0.622094 1.036801 +v -0.965903 0.622094 -0.984326 +v 0.975955 -0.884006 1.116178 +v 1.015496 0.622094 -1.024014 +v -1.084961 0.503121 -0.548179 +v -1.044985 0.622094 0.917735 +v 1.094796 -0.884006 -0.627556 +v 1.134554 0.542779 -0.588081 +v 1.134554 0.582436 0.600868 +v 0.975955 0.225519 -1.063703 +v -1.084961 -0.447921 -0.469015 +v 0.936197 -0.844348 -0.984326 +v -0.847063 -0.844348 0.997113 +v -0.965903 0.146204 -1.024014 +v 1.134554 -0.527236 -0.588081 +v 0.856898 -0.765033 1.116178 +v -1.084961 0.503121 0.521490 +v 1.134554 -0.566894 0.521277 +v -0.252643 -0.884006 -1.024014 +v -1.044985 0.304834 0.957424 +v 1.094796 0.622094 -0.667031 +f 195 194 207 +f 182 181 185 +f 183 185 186 +f 182 184 187 +f 184 182 188 +f 183 186 189 +f 182 187 190 +f 188 191 192 +f 184 188 192 +f 189 186 193 +f 189 180 195 +f 187 189 195 +f 180 194 195 +f 181 182 196 +f 185 181 196 +f 182 190 196 +f 185 183 197 +f 183 191 197 +f 191 185 197 +f 193 186 198 +f 196 193 198 +f 183 189 199 +f 182 185 200 +f 188 182 200 +f 185 191 200 +f 191 188 200 +f 190 194 201 +f 194 180 201 +f 196 190 201 +f 193 196 201 +f 187 184 202 +f 189 187 202 +f 199 189 202 +f 191 183 203 +f 192 191 203 +f 183 192 203 +f 180 189 204 +f 189 193 204 +f 201 180 204 +f 193 201 204 +f 186 185 205 +f 185 196 205 +f 198 186 205 +f 196 198 205 +f 192 183 206 +f 184 192 206 +f 183 199 206 +f 202 184 206 +f 199 202 206 +f 190 187 207 +f 194 190 207 +f 187 195 207 +o convex_7 +v 3.116264 -0.051680 0.600933 +v 2.402802 -0.487555 -0.627727 +v 1.134554 -0.527244 -0.587918 +v 1.134554 0.542600 -0.587918 +v 1.134554 -0.566932 0.561245 +v 1.134554 0.582405 0.600933 +v 2.997354 0.582405 -0.469093 +v 3.116264 0.622094 0.561245 +v 3.116264 -0.487555 0.600933 +v 2.997354 -0.487555 -0.627727 +v 2.204359 0.582405 -0.548350 +v 2.759339 -0.527244 -0.469093 +v 3.036732 -0.487555 -0.587918 +v 2.680195 -0.527244 0.600933 +v 3.116264 0.622094 0.363043 +v 2.402802 0.622094 0.521556 +v 1.372375 -0.566932 0.244218 +v 1.134554 0.582405 0.244218 +v 2.997354 0.503028 -0.508781 +v 1.134554 0.185986 0.600933 +v 2.046459 0.582405 0.600933 +v 2.997354 -0.408295 -0.627727 +v 1.570623 0.542600 -0.587918 +v 3.116264 -0.487555 0.442300 +f 220 222 231 +f 209 210 211 +f 211 210 212 +f 211 212 213 +f 208 213 216 +f 215 208 216 +f 210 209 217 +f 210 217 219 +f 219 217 220 +f 216 213 221 +f 219 216 221 +f 215 216 222 +f 214 218 222 +f 213 215 223 +f 215 222 223 +f 222 218 223 +f 212 210 224 +f 210 219 224 +f 221 212 224 +f 219 221 224 +f 211 213 225 +f 218 211 225 +f 213 223 225 +f 223 218 225 +f 218 214 226 +f 214 222 226 +f 222 220 226 +f 213 212 227 +f 212 221 227 +f 221 213 227 +f 213 208 228 +f 208 215 228 +f 215 213 228 +f 209 211 229 +f 217 209 229 +f 220 217 229 +f 218 226 229 +f 226 220 229 +f 211 218 230 +f 229 211 230 +f 218 229 230 +f 216 219 231 +f 219 220 231 +f 222 216 231 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/455/455.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/455/455.urdf new file mode 100644 index 000000000..c23134a75 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/455/455.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/456/456.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/456/456.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/456/456.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/456/456.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/456/456.obj new file mode 100644 index 000000000..10aa3ff7d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/456/456.obj @@ -0,0 +1,591 @@ +o convex_0 +v -0.974809 -4.377235 -1.061039 +v 0.329653 0.017287 1.101607 +v 0.157804 0.017287 1.101607 +v -0.116424 -4.582907 1.101607 +v 1.050602 -4.582907 -1.095667 +v -0.974809 0.017287 -0.958015 +v -1.112246 -0.669657 1.066979 +v 0.981992 0.017287 -1.061254 +v 1.050602 -4.582907 1.101607 +v -1.077833 -4.617186 1.066979 +v 1.085015 0.017287 1.032781 +v -1.112246 -2.728661 -0.992428 +v -1.077833 0.017287 1.101392 +v -0.940397 -4.651921 -1.061039 +v -1.077833 0.017287 0.037168 +v -0.459907 -0.051728 -1.026626 +v -0.082226 -4.582907 -1.095667 +v 1.085015 0.017287 0.586487 +v 1.084800 -2.351139 1.067194 +v -1.112246 -3.449883 1.066979 +v 0.638723 -4.617186 0.620900 +v -1.043420 -0.875786 -0.992428 +v 1.050602 -3.278033 -1.061254 +v -0.391296 -4.651921 -0.477523 +v -1.112246 -1.493716 -0.477523 +v 0.672921 -4.617186 -1.095667 +v -1.009222 -3.862141 -1.061039 +v 1.085015 -1.219030 1.067194 +v 1.016189 -1.013358 -1.026841 +v -1.077833 -4.617186 0.895559 +v 0.707119 -1.287587 1.101607 +v -0.906199 -0.017449 -0.992428 +v -1.009007 -0.051728 -0.923817 +v -0.974809 -4.651921 -0.271474 +v 1.050602 -4.136371 -1.095667 +v 0.878753 0.017287 -1.061254 +v -1.112246 -2.317317 -0.992428 +v -0.562931 -4.617186 1.066979 +v -1.077833 -0.395428 1.101392 +v -0.356884 -4.651921 -1.061039 +f 26 21 40 +f 2 3 4 +f 3 2 6 +f 6 2 8 +f 2 4 9 +f 9 4 10 +f 8 2 11 +f 4 3 13 +f 3 6 13 +f 13 6 15 +f 7 13 15 +f 14 1 17 +f 8 11 18 +f 9 5 19 +f 5 18 19 +f 7 12 20 +f 13 7 20 +f 12 7 25 +f 7 15 25 +f 5 9 26 +f 17 5 26 +f 14 17 26 +f 9 21 26 +f 1 12 27 +f 16 17 27 +f 17 1 27 +f 11 2 28 +f 18 11 28 +f 19 18 28 +f 9 19 28 +f 8 18 29 +f 23 8 29 +f 18 23 29 +f 12 1 30 +f 1 14 30 +f 20 12 30 +f 10 20 30 +f 2 9 31 +f 28 2 31 +f 9 28 31 +f 22 6 32 +f 16 27 32 +f 27 22 32 +f 15 6 33 +f 6 22 33 +f 25 15 33 +f 22 25 33 +f 14 24 34 +f 30 14 34 +f 10 30 34 +f 5 17 35 +f 18 5 35 +f 8 23 35 +f 23 18 35 +f 6 8 36 +f 17 16 36 +f 32 6 36 +f 16 32 36 +f 8 35 36 +f 35 17 36 +f 12 25 37 +f 25 22 37 +f 27 12 37 +f 22 27 37 +f 9 10 38 +f 21 9 38 +f 24 21 38 +f 10 34 38 +f 34 24 38 +f 10 4 39 +f 4 13 39 +f 20 10 39 +f 13 20 39 +f 24 14 40 +f 21 24 40 +f 14 26 40 +o convex_1 +v 0.020710 1.836821 1.101395 +v 0.501203 1.424845 -1.061123 +v 0.501203 1.836821 -1.061123 +v -1.043299 1.802462 -0.649114 +v -1.077927 0.978679 1.101395 +v 1.119348 0.978679 1.032798 +v -0.940490 0.978679 -0.958227 +v 0.981911 0.978679 -1.061123 +v 1.119348 1.836821 1.032798 +v -1.077927 1.836821 1.101395 +v 0.981911 1.802462 -1.061123 +v -0.940490 1.836821 -0.958227 +v -1.077927 0.978679 0.689386 +v 1.119348 1.459121 0.826793 +v 0.947497 1.836821 -1.061123 +v -0.253949 1.390654 1.101395 +v 0.844473 1.768102 1.067097 +v -0.974688 0.978679 -0.683413 +f 47 53 58 +f 43 42 47 +f 46 45 47 +f 46 47 48 +f 42 43 48 +f 47 42 48 +f 43 41 49 +f 41 43 50 +f 45 41 50 +f 48 43 51 +f 43 47 52 +f 47 44 52 +f 50 43 52 +f 44 50 52 +f 47 45 53 +f 50 44 53 +f 45 50 53 +f 46 48 54 +f 49 46 54 +f 48 51 54 +f 51 49 54 +f 43 49 55 +f 51 43 55 +f 49 51 55 +f 41 45 56 +f 45 46 56 +f 56 46 57 +f 49 41 57 +f 46 49 57 +f 41 56 57 +f 44 47 58 +f 53 44 58 +o convex_2 +v -0.047897 0.772536 3.058555 +v -0.219563 0.120284 1.101799 +v -0.253845 0.463521 1.101799 +v 0.295306 0.703838 1.101799 +v 0.260960 0.120284 3.058555 +v -0.253845 0.120284 2.989601 +v -0.356882 0.772536 2.852268 +v 0.295306 0.772536 3.058555 +v 0.226614 0.223396 1.170561 +v -0.253845 0.703838 1.101799 +v -0.356882 0.600854 3.023886 +v 0.295306 0.738187 1.273609 +v 0.295306 0.189047 2.989601 +v 0.260960 0.189047 1.685416 +v -0.288191 0.738187 1.479512 +v -0.356882 0.635203 2.646364 +v -0.150871 0.120284 1.101799 +v 0.260960 0.360665 1.101799 +v 0.295306 0.772536 2.543317 +f 70 73 77 +f 60 61 62 +f 60 63 64 +f 59 63 66 +f 65 59 66 +f 62 61 68 +f 63 59 69 +f 60 64 69 +f 64 63 69 +f 59 65 69 +f 66 62 70 +f 62 68 70 +f 66 63 71 +f 62 66 71 +f 71 63 72 +f 62 71 72 +f 68 61 73 +f 70 68 73 +f 61 60 74 +f 60 69 74 +f 69 65 74 +f 73 61 74 +f 65 73 74 +f 60 62 75 +f 63 60 75 +f 72 63 75 +f 67 72 75 +f 72 67 76 +f 62 72 76 +f 75 62 76 +f 67 75 76 +f 65 66 77 +f 66 70 77 +f 73 65 77 +o convex_3 +v 2.801293 1.905677 0.483466 +v 1.119348 2.798072 -0.615013 +v 1.119348 2.969690 -0.615013 +v 1.119348 1.905677 0.586621 +v 3.041822 3.004100 0.449238 +v 3.110433 2.008691 -0.477630 +v 1.119348 2.935388 0.449238 +v 1.119348 1.974389 -0.511976 +v 3.007516 2.866676 -0.580667 +v 3.007516 1.905677 0.449238 +v 1.565904 2.249022 0.586621 +v 2.046572 1.974389 -0.511976 +v 2.973211 2.969690 0.483466 +v 2.183404 3.004100 -0.031251 +v 1.119348 1.940087 -0.237327 +v 3.041822 2.969798 0.037205 +v 3.076127 1.974282 -0.443284 +v 3.007516 2.763769 -0.580667 +v 3.041627 2.283324 0.449238 +v 2.938710 1.905677 0.346082 +v 2.526849 3.004100 0.449238 +v 1.119348 2.969690 -0.202981 +v 2.629766 2.901086 -0.580667 +v 1.119348 2.180417 0.586621 +v 1.119348 1.905677 0.346082 +v 3.076127 2.695165 0.174471 +v 1.497098 1.905677 0.586621 +v 1.188154 2.146008 -0.546322 +f 95 89 105 +f 80 79 81 +f 80 81 84 +f 81 79 85 +f 79 80 86 +f 78 81 87 +f 78 87 90 +f 88 78 90 +f 84 88 90 +f 81 85 92 +f 85 89 92 +f 83 86 93 +f 91 82 93 +f 83 87 94 +f 89 83 94 +f 92 89 94 +f 79 86 95 +f 86 83 95 +f 83 89 95 +f 87 83 96 +f 82 90 96 +f 90 87 96 +f 87 81 97 +f 94 87 97 +f 92 94 97 +f 90 82 98 +f 84 90 98 +f 82 91 98 +f 98 91 99 +f 80 84 99 +f 91 80 99 +f 84 98 99 +f 86 80 100 +f 80 91 100 +f 93 86 100 +f 91 93 100 +f 84 81 101 +f 81 88 101 +f 88 84 101 +f 81 92 102 +f 97 81 102 +f 92 97 102 +f 93 82 103 +f 83 93 103 +f 82 96 103 +f 96 83 103 +f 81 78 104 +f 78 88 104 +f 88 81 104 +f 85 79 105 +f 89 85 105 +f 79 95 105 +o convex_4 +v 0.329621 0.772459 -2.503216 +v -0.185230 0.051761 -3.086947 +v -0.219576 0.154707 -3.086947 +v -0.219576 0.051761 -1.061335 +v 0.364035 0.086053 -3.086947 +v -0.322614 0.738167 -3.052447 +v 0.295276 0.703875 -1.061335 +v -0.185230 0.703875 -1.061335 +v 0.295276 0.188999 -1.267545 +v 0.364035 0.772459 -2.983644 +v 0.260930 0.223362 -1.061335 +v -0.253922 0.738167 -1.885578 +v 0.364035 0.086053 -2.846436 +v -0.150952 0.051761 -1.061335 +v 0.364035 0.772459 -2.571622 +v 0.054922 0.051761 -3.086947 +v -0.322614 0.669512 -2.915238 +v 0.020710 0.772459 -3.018145 +v -0.219576 0.051761 -2.262704 +v -0.219576 0.360672 -1.061335 +v 0.364035 0.223362 -3.086947 +f 123 115 126 +f 107 108 110 +f 112 106 113 +f 109 112 113 +f 112 109 116 +f 114 112 116 +f 113 106 117 +f 112 114 118 +f 110 115 118 +f 109 107 119 +f 116 109 119 +f 114 116 119 +f 118 114 119 +f 106 112 120 +f 115 106 120 +f 112 118 120 +f 118 115 120 +f 107 110 121 +f 110 118 121 +f 119 107 121 +f 118 119 121 +f 111 108 122 +f 117 111 122 +f 106 115 123 +f 111 117 123 +f 117 106 123 +f 108 107 124 +f 107 109 124 +f 122 108 124 +f 109 122 124 +f 109 113 125 +f 113 117 125 +f 122 109 125 +f 117 122 125 +f 110 108 126 +f 108 111 126 +f 115 110 126 +f 111 123 126 +o convex_5 +v -0.803156 0.978595 1.101395 +v -0.219458 0.051633 -1.061123 +v -0.425494 0.017287 -1.026619 +v 1.084937 0.017287 1.032599 +v 0.981919 0.978595 -1.061123 +v -1.077584 0.017287 1.101395 +v -0.940370 0.978595 -0.958035 +v 1.119133 0.978595 1.032599 +v 0.981919 0.017287 -1.061123 +v -1.009192 0.017287 -0.855159 +v -1.077584 0.978595 1.101395 +v 0.329614 0.017287 1.101395 +v -1.077584 0.944249 0.620671 +v -0.185262 0.703922 -1.061123 +v -0.871763 0.017287 -0.992327 +v -1.077584 0.017287 0.071574 +v 0.295418 0.703922 1.101395 +v 1.119133 0.497941 0.964015 +v -0.974781 0.600790 -0.958035 +v 1.084937 0.017287 0.586379 +v 1.119133 0.978595 0.895431 +f 144 135 147 +f 129 130 132 +f 127 131 133 +f 131 127 134 +f 129 128 135 +f 130 129 135 +f 128 131 135 +f 129 132 136 +f 132 127 137 +f 127 133 137 +f 127 132 138 +f 132 130 138 +f 130 134 138 +f 137 133 139 +f 132 137 139 +f 131 128 140 +f 133 131 140 +f 133 140 141 +f 128 129 141 +f 129 136 141 +f 140 128 141 +f 136 132 142 +f 132 139 142 +f 139 136 142 +f 134 127 143 +f 127 138 143 +f 138 134 143 +f 134 130 144 +f 136 139 145 +f 139 133 145 +f 133 141 145 +f 141 136 145 +f 130 135 146 +f 144 130 146 +f 135 144 146 +f 131 134 147 +f 135 131 147 +f 134 144 147 +o convex_6 +v -2.966122 1.836905 0.483617 +v -2.691483 3.004207 -0.511835 +v -2.691483 3.004207 -0.546342 +v -1.112259 1.940084 -0.408885 +v -1.112454 2.866750 0.449224 +v -2.931622 1.974362 -0.615013 +v -2.966122 2.901028 0.483617 +v -1.146955 2.935421 -0.580506 +v -1.112259 1.974362 0.552289 +v -3.000428 2.866750 -0.580506 +v -3.103539 1.836905 0.552289 +v -3.000428 2.832471 0.517896 +v -1.112454 2.695128 -0.580621 +v -3.000428 3.004207 -0.408885 +v -1.181260 1.940084 0.552289 +v -1.112259 2.180377 0.552289 +v -3.103539 2.077312 0.346274 +v -1.421594 1.974362 -0.477556 +v -3.034733 2.386392 0.552289 +v -2.244926 2.901028 0.483617 +v -2.966122 2.008641 -0.546342 +v -3.034733 2.832471 -0.408885 +v -1.696233 2.866750 0.483617 +v -1.112454 2.901143 0.037195 +v -2.760094 2.969814 -0.580506 +f 157 161 172 +f 151 148 153 +f 150 149 155 +f 153 148 158 +f 153 155 160 +f 149 150 161 +f 159 154 161 +f 148 151 162 +f 151 156 162 +f 158 148 162 +f 156 158 162 +f 156 151 163 +f 158 156 163 +f 158 159 164 +f 151 153 165 +f 160 151 165 +f 153 160 165 +f 159 158 166 +f 158 163 166 +f 163 159 166 +f 152 149 167 +f 154 159 167 +f 149 161 167 +f 161 154 167 +f 157 153 168 +f 153 158 168 +f 158 164 168 +f 168 164 169 +f 161 157 169 +f 159 161 169 +f 164 159 169 +f 157 168 169 +f 159 163 170 +f 163 152 170 +f 152 167 170 +f 167 159 170 +f 149 152 171 +f 155 149 171 +f 151 160 171 +f 160 155 171 +f 163 151 171 +f 152 163 171 +f 150 155 172 +f 155 153 172 +f 153 157 172 +f 161 150 172 +o convex_7 +v -0.288238 3.004099 1.067110 +v 0.501181 1.836905 -1.061123 +v 0.501181 1.905573 -1.061123 +v -1.043362 3.004099 -0.923954 +v 0.947659 3.484777 -1.026619 +v 1.119348 1.836905 1.032606 +v -1.077656 1.836905 1.101402 +v 1.084835 3.519193 1.101191 +v -1.077656 3.347276 0.964234 +v -0.974774 1.836905 -0.923954 +v -0.940480 3.484777 -0.958035 +v 1.119348 1.974241 -0.511813 +v 0.947659 1.836905 -1.061123 +v -1.112169 1.974406 -0.443228 +v 1.119348 2.969683 -0.614689 +v -1.043362 3.484777 -0.752070 +v 0.054921 1.836905 1.101191 +v -1.112169 2.901015 -0.580609 +v 0.947659 3.313024 -1.061123 +v -0.837379 3.381692 0.998314 +v -1.112169 2.180411 0.552092 +v -0.974774 1.974406 -0.958035 +v 1.016247 3.519193 0.037074 +v 0.913365 3.519193 1.101191 +v 1.119348 2.935266 0.449004 +v 1.084835 2.111742 1.066898 +v -1.077656 3.278607 0.998314 +v -1.112169 2.866598 0.449004 +v -1.077656 1.836905 -0.511813 +v -1.043362 3.484777 -0.923954 +v -1.077656 3.381692 0.689472 +v 0.844558 3.519193 1.066898 +v 0.329711 3.484777 -1.026619 +f 183 195 205 +f 174 178 179 +f 174 179 182 +f 174 175 185 +f 178 174 185 +f 184 178 185 +f 178 184 187 +f 184 185 187 +f 179 178 189 +f 180 179 189 +f 176 186 190 +f 185 175 191 +f 177 187 191 +f 187 185 191 +f 186 179 193 +f 190 186 193 +f 175 174 194 +f 174 182 194 +f 183 175 194 +f 186 176 194 +f 182 186 194 +f 180 187 195 +f 187 177 195 +f 173 179 196 +f 179 180 196 +f 180 195 196 +f 180 178 197 +f 178 187 197 +f 187 180 197 +f 178 180 198 +f 189 178 198 +f 180 189 198 +f 179 173 199 +f 192 181 199 +f 193 179 199 +f 173 196 199 +f 196 192 199 +f 190 193 200 +f 199 181 200 +f 193 199 200 +f 182 179 201 +f 179 186 201 +f 186 182 201 +f 176 190 202 +f 183 194 202 +f 194 176 202 +f 195 183 202 +f 181 192 203 +f 192 188 203 +f 200 181 203 +f 190 200 203 +f 188 202 203 +f 202 190 203 +f 188 192 204 +f 196 195 204 +f 192 196 204 +f 202 188 204 +f 195 202 204 +f 175 183 205 +f 191 175 205 +f 177 191 205 +f 195 177 205 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/456/456.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/456/456.urdf new file mode 100644 index 000000000..450e6dbba --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/456/456.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/457/457.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/457/457.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/457/457.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/457/457.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/457/457.obj new file mode 100644 index 000000000..8e2ae656d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/457/457.obj @@ -0,0 +1,480 @@ +o convex_0 +v 1.065848 -0.279084 0.427557 +v -1.052736 -5.309954 -0.631354 +v -1.052736 -5.309954 0.919637 +v -1.052736 0.590693 -1.161114 +v 0.914461 -5.195999 -1.085347 +v -1.014785 0.590693 0.843870 +v 0.952204 -5.348327 0.919637 +v 0.914461 0.590693 -1.123027 +v 1.065848 0.590693 0.919434 +v -1.052736 -5.272163 -1.123027 +v 0.952204 -3.493655 -1.161114 +v 1.065848 -3.418073 0.805986 +v -1.052736 -2.926788 0.919637 +v -0.523090 -4.704715 -1.161114 +v 0.952204 -5.233790 -0.782685 +v 0.952204 0.552902 -1.009579 +v -0.031187 0.590693 -1.161114 +v -0.182366 -5.271582 -1.123027 +v 0.573945 0.552320 0.919637 +v 0.990154 -5.196581 0.919434 +v -1.052736 0.590693 -0.290808 +v 0.952204 -2.019220 -1.161114 +v 0.952204 -4.401804 -1.123027 +v 0.952204 -5.348327 0.616772 +v 0.044299 -5.348327 0.919637 +v -1.052736 -1.413981 0.881550 +v 1.065848 0.590693 0.465440 +v 0.990154 -2.472713 -0.706917 +v 0.914461 -5.233790 -1.009783 +v 1.065848 -3.418073 0.919434 +v -1.052736 -0.619786 -1.161114 +v 0.233429 -5.120417 -1.123027 +v 0.952204 -5.082626 -1.009783 +f 5 23 33 +f 2 3 4 +f 4 6 8 +f 8 6 9 +f 2 4 10 +f 1 9 12 +f 4 3 13 +f 3 7 13 +f 4 11 14 +f 4 8 17 +f 11 4 17 +f 2 10 18 +f 10 14 18 +f 9 6 19 +f 7 9 19 +f 6 13 19 +f 13 7 19 +f 15 12 20 +f 6 4 21 +f 4 13 21 +f 8 16 22 +f 17 8 22 +f 11 17 22 +f 2 18 24 +f 20 7 24 +f 15 20 24 +f 3 2 25 +f 7 3 25 +f 2 24 25 +f 24 7 25 +f 13 6 26 +f 6 21 26 +f 21 13 26 +f 8 9 27 +f 9 1 27 +f 16 8 27 +f 1 12 28 +f 11 22 28 +f 22 16 28 +f 23 11 28 +f 12 23 28 +f 27 1 28 +f 16 27 28 +f 5 15 29 +f 18 5 29 +f 24 18 29 +f 15 24 29 +f 9 7 30 +f 12 9 30 +f 7 20 30 +f 20 12 30 +f 10 4 31 +f 4 14 31 +f 14 10 31 +f 14 11 32 +f 5 18 32 +f 18 14 32 +f 11 23 32 +f 23 5 32 +f 15 5 33 +f 12 15 33 +f 23 12 33 +o convex_1 +v 1.103679 1.234627 -0.517825 +v 3.070935 2.331424 -0.593481 +v 3.070935 2.331424 -0.631254 +v 3.070935 1.196746 0.162971 +v 1.103679 2.255664 0.427823 +v 1.103679 2.331424 -0.707132 +v 2.957321 2.331424 0.314172 +v 2.957321 1.158752 -0.593481 +v 1.103679 1.196746 0.351945 +v 3.070935 1.234627 0.389829 +v 1.217294 1.234627 -0.669137 +v 1.671172 2.255664 -0.707132 +v 2.768029 2.331424 0.351945 +v 2.313958 1.196746 0.389829 +v 1.141808 2.331424 -0.290856 +v 3.070935 1.461562 0.389829 +v 1.103679 1.688498 -0.707132 +v 1.103679 1.196746 -0.063998 +v 2.995064 1.158752 -0.252972 +v 2.540993 1.158752 -0.593481 +v 3.033000 1.953084 -0.631254 +v 1.520200 1.234627 -0.669137 +v 1.103679 2.104374 0.427823 +v 2.995064 2.142254 0.351945 +v 2.995064 1.348037 -0.593481 +f 41 54 58 +f 36 35 37 +f 35 36 39 +f 34 38 39 +f 35 39 40 +f 38 34 42 +f 37 35 43 +f 39 36 45 +f 40 39 46 +f 37 43 47 +f 39 38 48 +f 38 46 48 +f 46 39 48 +f 43 35 49 +f 38 43 49 +f 46 38 49 +f 34 39 50 +f 44 34 50 +f 39 45 50 +f 42 34 51 +f 34 44 51 +f 41 37 52 +f 37 47 52 +f 47 42 52 +f 44 41 53 +f 42 51 53 +f 51 44 53 +f 41 52 53 +f 52 42 53 +f 45 36 54 +f 41 44 55 +f 44 50 55 +f 50 45 55 +f 54 41 55 +f 45 54 55 +f 38 42 56 +f 43 38 56 +f 42 47 56 +f 47 43 56 +f 35 40 57 +f 40 46 57 +f 49 35 57 +f 46 49 57 +f 36 37 58 +f 37 41 58 +f 54 36 58 +o convex_2 +v -2.982160 2.028795 0.352141 +v -2.982160 1.499408 -0.631468 +v -2.982160 1.272351 -0.593559 +v -1.090753 1.310194 -0.631468 +v -1.090753 2.293592 -0.593559 +v -1.090753 1.310194 0.427746 +v -1.090753 2.331539 0.465655 +v -2.982160 2.293592 -0.631468 +v -2.982160 1.310194 0.352141 +v -2.906251 2.255749 0.465655 +v -2.944021 2.066638 0.465655 +v -2.792760 1.272351 0.011599 +v -1.885195 1.272351 -0.593559 +v -1.090753 2.331539 -0.215107 +v -1.658212 2.331539 0.465655 +v -1.998687 2.293592 -0.631468 +v -1.582674 1.310194 0.427746 +v -2.982160 2.293592 -0.366531 +f 68 73 76 +f 59 60 61 +f 61 60 62 +f 62 63 64 +f 64 63 65 +f 60 59 66 +f 62 60 66 +f 59 61 67 +f 64 65 69 +f 59 67 69 +f 65 68 69 +f 68 59 69 +f 67 61 70 +f 61 62 71 +f 62 64 71 +f 70 61 71 +f 64 70 71 +f 65 63 72 +f 72 66 73 +f 68 65 73 +f 65 72 73 +f 63 62 74 +f 62 66 74 +f 72 63 74 +f 66 72 74 +f 64 69 75 +f 69 67 75 +f 70 64 75 +f 67 70 75 +f 66 59 76 +f 59 68 76 +f 73 66 76 +o convex_3 +v -0.296036 1.877512 4.740346 +v 0.346980 1.537115 4.172909 +v 0.346980 1.499342 4.172909 +v -0.220380 1.423575 2.962557 +v 0.233495 1.991052 2.962557 +v -0.296036 1.499342 4.929620 +v 0.233495 1.915285 4.929620 +v -0.220380 1.953169 3.076353 +v 0.346980 1.537115 2.962557 +v 0.309152 1.461458 4.891688 +v -0.258208 1.953169 4.816017 +v -0.296036 1.461458 4.172909 +v 0.006589 1.423575 2.962557 +v 0.346980 1.688427 3.492447 +v -0.220380 1.877512 2.962557 +v 0.006589 1.423575 3.908542 +v 0.271323 1.877512 4.740346 +v 0.006589 1.953169 4.853949 +f 87 83 94 +f 78 79 85 +f 80 81 85 +f 79 78 86 +f 83 82 86 +f 85 79 86 +f 77 82 87 +f 82 83 87 +f 84 77 87 +f 81 84 87 +f 82 77 88 +f 80 85 89 +f 85 86 89 +f 78 85 90 +f 85 81 90 +f 81 80 91 +f 77 84 91 +f 84 81 91 +f 88 77 91 +f 80 88 91 +f 86 82 92 +f 82 88 92 +f 88 80 92 +f 80 89 92 +f 89 86 92 +f 81 83 93 +f 86 78 93 +f 83 86 93 +f 78 90 93 +f 90 81 93 +f 83 81 94 +f 81 87 94 +o convex_4 +v 0.990147 2.823353 -2.863281 +v -1.052736 0.667123 -1.426278 +v 0.952197 0.629106 -3.204034 +v 0.952197 0.780529 -1.161114 +v -1.014786 2.709731 -3.090250 +v -0.939092 2.709731 -1.161114 +v 1.065840 2.709731 -1.161314 +v -1.052736 0.818332 -3.090250 +v 0.990147 2.823353 -3.204034 +v -1.052736 0.667123 -1.161114 +v 1.027890 0.629106 -3.128244 +v 0.914454 0.704925 -1.161114 +v -0.749964 2.709731 -3.128244 +v 1.027890 2.823353 -2.939070 +v -1.052736 1.083377 -1.161114 +v 1.065840 1.953043 -1.842221 +v 0.687375 0.667123 -3.204034 +v 0.763068 2.823353 -3.204034 +v -0.258270 0.667123 -1.161114 +v -1.052736 1.537433 -3.090250 +v -0.825449 0.780744 -3.090250 +v 1.065840 2.747534 -1.577457 +v -1.014786 2.709731 -2.787691 +v 1.027890 1.423597 -3.204034 +v 1.065840 2.369297 -1.161314 +v 0.952197 0.667123 -1.880216 +v 0.687375 2.823353 -3.128244 +f 99 117 121 +f 100 98 101 +f 96 97 104 +f 98 100 104 +f 102 96 104 +f 104 97 105 +f 98 104 106 +f 103 95 108 +f 104 100 109 +f 102 104 109 +f 103 97 111 +f 102 107 111 +f 111 107 112 +f 95 103 112 +f 107 99 112 +f 103 111 112 +f 104 105 113 +f 106 104 113 +f 107 102 114 +f 99 107 114 +f 102 109 114 +f 97 96 115 +f 96 102 115 +f 111 97 115 +f 102 111 115 +f 95 100 116 +f 100 101 116 +f 108 95 116 +f 101 110 116 +f 110 108 116 +f 109 100 117 +f 99 114 117 +f 114 109 117 +f 97 103 118 +f 105 97 118 +f 103 108 118 +f 110 105 118 +f 108 110 118 +f 101 98 119 +f 98 105 119 +f 110 101 119 +f 105 110 119 +f 105 98 120 +f 98 106 120 +f 113 105 120 +f 106 113 120 +f 100 95 121 +f 112 99 121 +f 95 112 121 +f 117 100 121 +o convex_5 +v 0.990042 2.823353 1.902577 +v -1.052522 0.591485 -1.161114 +v -1.052522 1.083256 -1.161114 +v -1.090538 0.818473 2.962557 +v 1.065645 0.591704 0.503532 +v -0.939118 2.709531 -1.161114 +v 1.065645 2.709531 -1.161114 +v -1.014720 2.747545 2.924614 +v 0.952241 0.705088 2.811189 +v 0.914439 0.591704 -1.123171 +v 0.990042 2.785121 2.811189 +v -1.090538 2.747545 0.692843 +v -1.014720 0.591485 0.844211 +v 0.309187 2.066362 2.962557 +v 1.103661 1.272449 -0.669067 +v 0.649615 2.823353 0.541474 +v 1.103661 2.255555 0.428453 +v -1.090538 2.369158 -0.669067 +v 1.065645 0.705088 1.372990 +v -0.749896 2.785121 2.659821 +v 0.952241 0.818473 -1.161114 +v -1.090538 1.310244 -0.631124 +v 0.346989 1.537232 2.962557 +v -0.712095 2.785121 0.768325 +v 0.498194 0.705088 2.848325 +v 1.065645 0.591704 0.919289 +v -1.052522 2.747545 2.470510 +v 1.065645 2.747326 -0.782492 +v 1.027843 2.066362 2.281199 +v 1.027843 2.823353 1.600244 +v -0.787697 0.780678 2.924614 +v 1.103661 2.331363 -0.706606 +v 1.103661 1.196859 0.352567 +v -0.560889 2.747326 -0.707010 +v 0.876423 0.818473 2.848325 +v 0.422592 2.823353 1.486415 +v -0.258263 2.785121 2.886268 +v 1.027843 2.823353 0.503532 +v 0.990042 1.083256 2.583935 +v 0.952241 0.591704 -0.971803 +v -0.296064 2.028785 2.962557 +v 1.065645 2.255555 -1.161114 +v 1.065645 1.272449 1.524358 +v -1.052522 2.369158 2.924614 +v -1.014720 2.747545 -0.177423 +f 145 155 166 +f 123 124 127 +f 123 127 128 +f 125 123 134 +f 123 126 134 +f 124 123 139 +f 127 124 139 +f 125 133 139 +f 123 128 142 +f 131 123 142 +f 123 125 143 +f 139 123 143 +f 125 139 143 +f 135 125 144 +f 132 135 144 +f 133 141 145 +f 134 126 147 +f 140 130 147 +f 146 134 147 +f 130 146 147 +f 129 141 148 +f 141 133 148 +f 128 127 149 +f 138 132 150 +f 122 132 151 +f 137 122 151 +f 132 138 151 +f 138 149 151 +f 125 134 152 +f 146 125 152 +f 134 146 152 +f 138 136 153 +f 128 149 153 +f 149 138 153 +f 126 136 154 +f 136 138 154 +f 147 126 154 +f 140 147 154 +f 145 137 155 +f 149 127 155 +f 130 132 156 +f 144 125 156 +f 132 144 156 +f 125 146 156 +f 146 130 156 +f 122 137 157 +f 141 122 157 +f 137 145 157 +f 145 141 157 +f 132 122 158 +f 129 135 158 +f 135 132 158 +f 122 141 158 +f 141 129 158 +f 137 151 159 +f 151 149 159 +f 155 137 159 +f 149 155 159 +f 132 130 160 +f 130 140 160 +f 150 132 160 +f 126 123 161 +f 123 131 161 +f 136 126 161 +f 131 142 161 +f 142 136 161 +f 129 125 162 +f 125 135 162 +f 135 129 162 +f 142 128 163 +f 136 142 163 +f 128 153 163 +f 153 136 163 +f 138 150 164 +f 154 138 164 +f 140 154 164 +f 160 140 164 +f 150 160 164 +f 125 129 165 +f 133 125 165 +f 129 148 165 +f 148 133 165 +f 127 139 166 +f 139 133 166 +f 133 145 166 +f 155 127 166 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/457/457.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/457/457.urdf new file mode 100644 index 000000000..80485c321 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/457/457.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/458/458.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/458/458.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/458/458.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/458/458.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/458/458.obj new file mode 100644 index 000000000..277101aac --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/458/458.obj @@ -0,0 +1,408 @@ +o convex_0 +v 1.105631 -0.335396 -0.118058 +v 3.016087 0.281910 -0.176852 +v 3.074982 -0.247175 0.234584 +v 1.164525 0.193629 0.205218 +v 3.045437 -0.335396 -0.265013 +v 1.076086 0.281910 -0.235646 +v 1.076086 -0.276602 0.322866 +v 2.957388 0.223056 0.293439 +v 3.074982 -0.335396 0.234584 +v 1.076086 -0.335396 -0.235646 +v 3.016087 0.281910 -0.294440 +v 2.281176 0.046674 -0.294440 +v 1.458607 0.281910 -0.059265 +v 1.076086 -0.159014 0.322866 +v 2.516363 0.252483 0.205218 +v 2.957388 -0.159014 -0.294440 +v 2.369224 -0.335396 0.234584 +v 1.076086 0.193629 0.175790 +v 1.575810 -0.159014 0.322866 +v 1.487761 -0.159014 -0.265013 +v 2.340070 0.281910 -0.294440 +v 2.751355 0.223056 0.293439 +v 2.046184 -0.335396 -0.265013 +f 20 12 23 +f 3 2 8 +f 1 5 9 +f 5 3 9 +f 3 8 9 +f 5 1 10 +f 1 7 10 +f 7 6 10 +f 2 3 11 +f 3 5 11 +f 6 2 11 +f 2 6 13 +f 6 7 14 +f 8 2 15 +f 2 13 15 +f 13 4 15 +f 11 5 16 +f 12 11 16 +f 7 1 17 +f 9 7 17 +f 1 9 17 +f 13 6 18 +f 4 13 18 +f 14 4 18 +f 6 14 18 +f 7 9 19 +f 9 8 19 +f 14 7 19 +f 8 14 19 +f 10 6 20 +f 6 11 21 +f 11 12 21 +f 20 6 21 +f 12 20 21 +f 4 14 22 +f 14 8 22 +f 8 15 22 +f 15 4 22 +f 5 10 23 +f 16 5 23 +f 12 16 23 +f 10 20 23 +o convex_1 +v -1.128580 0.340598 -0.147399 +v -3.068305 0.223108 -0.323836 +v -3.068305 0.311225 -0.323836 +v -3.009629 -0.276541 0.234659 +v -1.128580 -0.247106 -0.265002 +v -1.128580 -0.158925 0.352261 +v -3.039062 0.252480 0.175825 +v -2.921520 -0.247106 -0.206234 +v -1.128580 0.370034 -0.294386 +v -1.128580 0.223108 0.146441 +v -1.481585 -0.247106 0.322811 +v -2.862654 0.281853 0.146441 +v -3.009629 0.340598 -0.294386 +v -1.393476 0.223108 0.175825 +v -2.098537 0.311225 -0.323836 +v -1.128580 -0.247106 0.175825 +v -1.393476 -0.188297 0.352261 +v -1.687236 -0.247106 -0.265002 +v -2.480596 -0.276541 0.087673 +v -1.305177 0.370034 -0.235618 +v -3.039062 0.046746 0.205275 +v -3.039062 0.193672 -0.323836 +v -3.009629 -0.276541 0.146441 +v -3.068305 0.311225 -0.088631 +f 44 30 47 +f 28 24 29 +f 24 28 32 +f 29 24 33 +f 32 26 36 +f 30 29 37 +f 33 24 37 +f 29 33 37 +f 35 30 37 +f 24 35 37 +f 25 26 38 +f 26 32 38 +f 32 28 38 +f 28 29 39 +f 29 34 39 +f 29 30 40 +f 27 34 40 +f 34 29 40 +f 31 41 42 +f 34 27 42 +f 28 39 42 +f 39 34 42 +f 41 28 42 +f 24 32 43 +f 35 24 43 +f 32 36 43 +f 25 27 44 +f 27 40 44 +f 40 30 44 +f 31 25 45 +f 25 38 45 +f 38 28 45 +f 28 41 45 +f 41 31 45 +f 27 25 46 +f 25 31 46 +f 31 42 46 +f 42 27 46 +f 26 25 47 +f 30 35 47 +f 36 26 47 +f 35 43 47 +f 43 36 47 +f 25 44 47 +o convex_2 +v 0.899621 -2.510458 -1.088120 +v 0.929040 -2.422151 1.116545 +v 0.899621 -2.422151 1.116545 +v -1.099161 -0.394187 -1.029205 +v -1.099161 -3.039785 -0.823543 +v -1.010906 -0.394187 0.998932 +v 1.017294 -0.394187 -1.029205 +v -0.981488 -2.921696 0.969366 +v 0.987876 -0.394187 1.057631 +v 0.987669 -2.921955 -0.441352 +v 0.929040 -2.921955 1.116545 +v -1.099161 -3.039785 -1.088120 +v 0.987669 -2.921955 -1.088120 +v -1.040325 -2.921696 0.851753 +v -1.099161 -0.482494 -1.058554 +v 0.987876 -1.129392 1.086980 +v 1.017294 -2.187009 -1.029205 +v -0.805186 -3.039785 -1.058554 +v -1.010906 -1.570411 0.998932 +v 0.781948 -2.921955 1.116545 +v -1.099161 -2.157746 -1.088120 +v 0.252835 -0.688372 -1.058339 +v 0.693901 -2.951219 -1.088120 +v -1.040325 -2.951478 0.675440 +v -1.099161 -2.892692 -0.705713 +v 0.929040 -1.041084 1.086980 +v 1.017294 -0.394187 -0.823327 +v 0.958458 -2.921955 0.469562 +v -1.099161 -0.394187 -0.999855 +v 1.017294 -1.364533 -1.058554 +v 0.781948 -0.394187 1.057631 +v -1.040325 -2.833648 0.851753 +f 76 72 79 +f 51 53 54 +f 54 53 56 +f 49 50 58 +f 52 51 59 +f 59 48 60 +f 51 54 62 +f 59 51 62 +f 49 58 63 +f 57 60 64 +f 63 57 64 +f 58 52 65 +f 52 59 65 +f 53 61 66 +f 61 55 66 +f 50 53 67 +f 58 50 67 +f 53 66 67 +f 66 55 67 +f 48 59 68 +f 59 62 68 +f 68 62 69 +f 62 54 69 +f 48 68 69 +f 60 57 70 +f 59 60 70 +f 58 65 70 +f 65 59 70 +f 52 58 71 +f 61 52 71 +f 55 61 71 +f 67 55 71 +f 58 67 71 +f 51 52 72 +f 52 61 72 +f 50 49 73 +f 53 50 73 +f 49 63 73 +f 63 56 73 +f 54 56 74 +f 56 63 74 +f 64 54 74 +f 63 64 74 +f 57 63 75 +f 63 58 75 +f 70 57 75 +f 58 70 75 +f 53 51 76 +f 51 72 76 +f 60 48 77 +f 64 60 77 +f 54 64 77 +f 48 69 77 +f 69 54 77 +f 56 53 78 +f 53 73 78 +f 73 56 78 +f 61 53 79 +f 72 61 79 +f 53 76 79 +o convex_3 +v 1.076085 0.223209 0.087555 +v -1.098946 -0.394060 -1.029329 +v -1.098946 -0.394060 -0.999910 +v -1.069598 0.899217 -1.029329 +v -1.010900 0.899217 1.057754 +v 1.046521 0.899217 -0.999910 +v -1.010900 -0.394060 0.998917 +v 1.017172 -0.394060 -1.029329 +v 1.017172 0.899217 1.028336 +v 0.987824 -0.394060 1.057754 +v -1.128511 -0.158850 0.352117 +v 1.076085 -0.276455 0.322699 +v -1.128511 0.369930 -0.235641 +v -1.010900 -0.364564 1.028336 +v 1.076085 -0.335194 -0.235641 +v 1.017172 0.340560 1.057754 +v -1.098946 0.840224 -0.382529 +v -0.128933 0.899217 -1.029124 +v -1.128511 0.223209 0.146392 +v 1.046521 0.105730 -0.999910 +v -1.128511 -0.247086 0.146392 +v 1.017172 -0.100111 -1.029329 +v 1.017172 -0.070615 1.057754 +v 0.781952 -0.394060 1.057754 +v -1.128511 -0.247086 -0.264855 +v 1.076085 0.281821 -0.235641 +v -1.128511 0.369930 -0.294273 +v -1.010900 0.810854 1.057754 +f 93 103 107 +f 83 84 85 +f 82 81 86 +f 81 83 87 +f 86 81 87 +f 80 85 88 +f 85 84 88 +f 86 87 89 +f 80 88 91 +f 90 86 93 +f 89 87 94 +f 80 91 94 +f 91 89 94 +f 88 84 95 +f 84 89 95 +f 91 88 95 +f 84 83 96 +f 83 85 97 +f 90 84 98 +f 92 90 98 +f 84 96 98 +f 96 92 98 +f 87 85 99 +f 85 94 99 +f 94 87 99 +f 81 82 100 +f 82 86 100 +f 86 90 100 +f 90 92 100 +f 87 83 101 +f 85 87 101 +f 83 97 101 +f 97 85 101 +f 89 91 102 +f 95 89 102 +f 91 95 102 +f 89 84 103 +f 86 89 103 +f 93 86 103 +f 81 100 104 +f 100 92 104 +f 85 80 105 +f 80 94 105 +f 94 85 105 +f 83 81 106 +f 96 83 106 +f 92 96 106 +f 81 104 106 +f 104 92 106 +f 84 90 107 +f 90 93 107 +f 103 84 107 +o convex_4 +v -0.746311 2.427543 1.087150 +v -0.334823 3.045090 -0.941073 +v -0.334823 3.045090 -0.970492 +v 1.046678 0.899217 -0.882029 +v -1.069789 0.899217 -1.029329 +v 1.046678 0.958241 1.028313 +v 1.076085 2.927462 0.998687 +v -1.010975 0.899217 1.057524 +v 1.076085 2.986276 -0.940866 +v -1.069789 3.045090 -0.588258 +v -1.010975 2.956869 1.087150 +v -1.069789 2.897845 -0.999703 +v 1.046678 0.899217 -0.999910 +v 1.017271 0.899217 1.028313 +v -1.069789 0.899217 -0.323698 +v 1.076085 1.986647 0.998687 +v -0.540462 2.956869 1.087150 +v -0.246601 1.016845 -1.029329 +v 0.929050 2.515764 -0.970284 +v 1.076085 2.986276 -0.411746 +v 0.752608 2.956659 0.646079 +v -1.069789 3.045090 -0.970492 +v 1.046678 1.722404 1.028313 +v 1.076085 2.427752 -0.940866 +v -1.010975 1.986437 1.087150 +v 0.341119 3.015683 -0.970284 +v -0.716904 3.045090 -0.646888 +v 1.046678 1.134683 -0.999910 +v 0.664387 3.015683 -0.940866 +v -1.069789 1.222904 -1.029329 +v 0.605573 2.927252 1.028313 +v -0.893346 2.839031 -0.999703 +v -1.040382 2.986276 0.293470 +v -0.922753 2.986276 0.616660 +f 124 134 141 +f 112 111 115 +f 109 110 117 +f 112 117 119 +f 111 112 120 +f 113 108 121 +f 111 113 121 +f 115 111 121 +f 112 115 122 +f 117 112 122 +f 113 111 123 +f 114 113 123 +f 116 114 123 +f 111 120 123 +f 108 113 124 +f 118 108 124 +f 120 112 125 +f 114 116 127 +f 124 114 128 +f 114 127 128 +f 117 110 129 +f 110 119 129 +f 119 117 129 +f 113 114 130 +f 124 113 130 +f 120 116 131 +f 116 123 131 +f 123 120 131 +f 108 118 132 +f 121 108 132 +f 115 121 132 +f 122 115 132 +f 118 122 132 +f 119 110 133 +f 116 126 133 +f 109 117 134 +f 127 109 134 +f 124 128 134 +f 128 127 134 +f 116 120 135 +f 120 125 135 +f 125 126 135 +f 126 116 135 +f 110 109 136 +f 109 127 136 +f 127 116 136 +f 133 110 136 +f 116 133 136 +f 112 119 137 +f 125 112 137 +f 119 125 137 +f 114 124 138 +f 130 114 138 +f 124 130 138 +f 125 119 139 +f 126 125 139 +f 119 133 139 +f 133 126 139 +f 118 117 140 +f 117 122 140 +f 122 118 140 +f 117 118 141 +f 118 124 141 +f 134 117 141 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/458/458.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/458/458.urdf new file mode 100644 index 000000000..c46ac8914 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/458/458.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/459/459.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/459/459.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/459/459.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/459/459.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/459/459.obj new file mode 100644 index 000000000..0b191ba1f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/459/459.obj @@ -0,0 +1,633 @@ +o convex_0 +v -3.620684 -1.879542 -0.141367 +v -3.333696 -1.182650 0.186522 +v -3.333696 -1.182650 0.145528 +v -1.776066 -1.879542 0.104535 +v -1.776066 -1.264645 -0.223354 +v -3.743568 -1.879542 0.309563 +v -1.776066 -1.387638 0.227515 +v -3.579658 -1.346641 -0.223354 +v -1.858310 -1.756481 -0.264348 +v -3.579658 -1.838476 -0.305402 +v -1.899336 -1.879542 0.268509 +v -3.661710 -1.182650 0.104535 +v -1.899336 -1.223648 0.186522 +v -3.743568 -1.715483 0.309563 +v -2.104272 -1.387638 -0.264348 +v -3.128760 -1.838476 -0.305402 +v -3.456774 -1.305643 -0.223354 +v -1.940362 -1.305643 0.227515 +v -3.579658 -1.715483 -0.305402 +v -3.128760 -1.756481 0.309563 +v -3.743568 -1.797478 0.186522 +v -1.776066 -1.715483 -0.264348 +v -3.661710 -1.182650 0.186522 +f 14 18 23 +f 1 4 6 +f 4 5 7 +f 6 4 11 +f 4 7 11 +f 2 3 12 +f 3 5 12 +f 3 2 13 +f 5 3 13 +f 7 5 13 +f 4 1 16 +f 9 4 16 +f 1 10 16 +f 12 5 17 +f 8 12 17 +f 5 15 17 +f 13 2 18 +f 7 13 18 +f 16 10 19 +f 15 16 19 +f 8 17 19 +f 17 15 19 +f 6 11 20 +f 11 7 20 +f 14 6 20 +f 7 18 20 +f 18 14 20 +f 1 6 21 +f 10 1 21 +f 12 8 21 +f 6 14 21 +f 14 12 21 +f 8 19 21 +f 19 10 21 +f 5 4 22 +f 4 9 22 +f 15 5 22 +f 16 15 22 +f 9 16 22 +f 2 12 23 +f 12 14 23 +f 18 2 23 +o convex_1 +v -0.874054 0.498418 -3.051446 +v 0.396810 1.523199 3.014405 +v -0.546217 1.564229 3.055604 +v -1.693959 -0.362629 2.932614 +v 0.396810 -0.362629 -1.616774 +v -1.653057 1.482170 -2.969656 +v 0.396810 1.400110 -3.092645 +v -1.735069 -0.362629 -2.969656 +v 0.273688 -0.362629 3.014405 +v -1.735069 1.564229 3.096802 +v 0.314798 -0.362629 -2.969656 +v 0.396810 1.605066 -1.042421 +v -1.693959 1.605259 -0.673453 +v 0.355700 -0.362629 1.866910 +v 0.314798 1.605259 0.964787 +v -1.571046 1.441140 -3.051446 +v -1.735069 -0.362629 0.186259 +v -0.382194 0.047476 3.055604 +v -1.693959 1.031227 -3.010248 +v -1.611947 1.605259 0.964787 +v -1.447924 -0.362629 -3.010248 +v -1.735069 0.908138 3.055604 +v 0.396810 1.113287 -3.092645 +v 0.396810 0.785242 2.400065 +v 0.314798 -0.321599 3.014405 +v -1.611947 1.605259 -1.042421 +v 0.355700 -0.280569 -2.969656 +v -0.218380 1.441140 -3.051446 +v -1.447924 -0.362629 2.973813 +v 0.396810 -0.362629 -0.345684 +v -1.735069 -0.157480 -2.969656 +v -1.735069 1.564229 2.727834 +v 0.314798 -0.034583 -3.010248 +v -0.054357 1.072257 -3.092039 +v -0.341293 1.523007 3.055604 +v 0.396810 0.703182 -3.051446 +v -1.693959 -0.075613 -3.010248 +v -1.529936 1.359273 3.096802 +v 0.396810 1.236184 3.014405 +f 58 41 62 +f 25 28 30 +f 28 27 31 +f 27 28 32 +f 28 31 34 +f 25 30 35 +f 32 28 37 +f 26 25 38 +f 33 26 38 +f 25 35 38 +f 31 27 40 +f 33 31 40 +f 36 29 42 +f 29 39 42 +f 36 33 43 +f 33 38 43 +f 38 36 43 +f 34 31 44 +f 40 27 45 +f 33 40 45 +f 30 28 46 +f 28 25 47 +f 37 47 48 +f 32 37 48 +f 41 32 48 +f 35 29 49 +f 29 36 49 +f 38 35 49 +f 36 38 49 +f 28 34 50 +f 29 35 51 +f 35 30 51 +f 30 39 51 +f 39 29 51 +f 27 32 52 +f 32 41 52 +f 45 27 52 +f 41 45 52 +f 37 28 53 +f 28 47 53 +f 47 37 53 +f 31 33 54 +f 42 31 54 +f 42 54 55 +f 33 36 55 +f 36 42 55 +f 54 33 55 +f 34 44 56 +f 44 46 56 +f 50 34 56 +f 46 50 56 +f 24 39 57 +f 39 30 57 +f 44 24 57 +f 30 46 57 +f 46 44 57 +f 25 26 58 +f 26 33 58 +f 46 28 59 +f 28 50 59 +f 50 46 59 +f 39 24 60 +f 31 42 60 +f 42 39 60 +f 24 44 60 +f 44 31 60 +f 33 45 61 +f 45 41 61 +f 58 33 61 +f 41 58 61 +f 47 25 62 +f 48 47 62 +f 41 48 62 +f 25 58 62 +o convex_2 +v -1.611887 2.752940 1.047521 +v 0.396605 1.646549 -0.838115 +v 0.396605 1.605456 -0.838115 +v -1.611887 2.998914 -1.084358 +v 0.314743 3.531956 0.924399 +v -1.611887 1.605456 0.965301 +v 0.273607 3.572854 -1.043247 +v 0.314743 1.605456 0.965301 +v -1.693954 3.572854 0.965301 +v -1.611887 1.605456 -1.043247 +v -1.611887 3.572854 -1.084358 +v 0.396605 1.605456 -1.043247 +v -0.177250 3.613947 0.555244 +v -1.119895 3.531956 1.047521 +v -1.652819 1.605456 -0.838323 +v 0.191745 1.605456 1.006411 +v -1.119895 3.613947 -0.428266 +v -1.693954 2.958017 1.047521 +v 0.314743 3.326880 -1.043247 +v -1.693954 3.572854 0.514343 +v -1.038032 3.572854 -1.084358 +v -1.652819 2.589351 -0.879225 +v -0.218181 3.613947 -0.510069 +v 0.314743 2.794034 0.965301 +v -1.652819 2.097403 1.006411 +v -0.751105 2.670949 1.047521 +v 0.396605 1.810532 -1.043247 +v -1.119895 3.613947 0.432331 +v -1.693954 3.531956 1.047521 +v 0.314743 3.531956 -0.059320 +v 0.027611 3.531956 0.965301 +v -1.529820 2.834932 -1.084358 +v 0.273607 3.572854 -0.100221 +f 69 75 95 +f 65 64 70 +f 68 65 70 +f 65 68 72 +f 64 65 74 +f 65 72 74 +f 72 68 77 +f 68 70 78 +f 63 76 80 +f 79 73 82 +f 71 79 82 +f 80 71 82 +f 77 80 82 +f 66 73 83 +f 69 81 83 +f 66 72 84 +f 73 66 84 +f 72 77 84 +f 82 73 84 +f 77 82 84 +f 75 69 85 +f 73 79 85 +f 79 75 85 +f 83 73 85 +f 69 83 85 +f 64 67 86 +f 70 64 86 +f 78 70 86 +f 77 68 87 +f 78 63 87 +f 68 78 87 +f 63 80 87 +f 80 77 87 +f 76 63 88 +f 63 78 88 +f 78 86 88 +f 67 64 89 +f 64 74 89 +f 74 83 89 +f 83 81 89 +f 71 75 90 +f 79 71 90 +f 75 79 90 +f 76 71 91 +f 80 76 91 +f 71 80 91 +f 69 67 92 +f 81 69 92 +f 67 89 92 +f 89 81 92 +f 67 75 93 +f 75 71 93 +f 71 76 93 +f 86 67 93 +f 76 88 93 +f 88 86 93 +f 72 66 94 +f 74 72 94 +f 66 83 94 +f 83 74 94 +f 67 69 95 +f 75 67 95 +o convex_3 +v -0.914923 3.983376 -0.469280 +v -0.218187 5.458762 0.555549 +v -0.177158 5.417736 0.514543 +v -0.177158 3.614336 0.555549 +v -1.161101 5.499788 0.473538 +v -0.177158 5.582032 -0.428275 +v -1.119975 3.614336 0.432532 +v -0.218187 3.614336 -0.510390 +v -1.079042 5.458762 -0.428275 +v -1.119975 3.614336 -0.428275 +v -0.997079 5.335877 -0.469280 +v -0.956049 5.499788 0.514543 +v -0.177158 3.819465 -0.469280 +v -0.177158 5.376710 -0.469280 +v -1.079042 5.540813 0.432532 +v -1.119975 4.188312 0.473538 +v -0.341180 3.778440 0.555549 +v -1.119975 5.499788 -0.100229 +v -0.382210 5.582032 -0.428275 +v -0.218187 5.582032 -0.223246 +v -0.464173 5.458762 0.555549 +v -0.382210 3.696388 -0.510390 +f 106 109 117 +f 98 97 99 +f 97 98 101 +f 98 99 101 +f 99 102 103 +f 102 100 105 +f 103 102 105 +f 105 104 106 +f 96 105 106 +f 101 99 108 +f 99 103 108 +f 108 103 109 +f 101 108 109 +f 107 97 110 +f 100 107 110 +f 100 102 111 +f 107 100 111 +f 107 111 112 +f 99 97 112 +f 102 99 112 +f 111 102 112 +f 105 100 113 +f 104 105 113 +f 100 110 113 +f 113 110 114 +f 106 104 114 +f 101 109 114 +f 109 106 114 +f 104 113 114 +f 97 101 115 +f 110 97 115 +f 114 110 115 +f 101 114 115 +f 97 107 116 +f 107 112 116 +f 112 97 116 +f 105 96 117 +f 103 105 117 +f 96 106 117 +f 109 103 117 +o convex_4 +v -1.776066 -1.100896 0.145436 +v 0.232819 -0.649612 1.006206 +v -0.300275 -0.649612 1.047469 +v -0.956073 -2.617115 1.047469 +v 0.232819 -2.453204 -1.084358 +v 0.232819 -0.649612 -0.961208 +v -1.693870 -2.494230 -1.084358 +v -1.652969 -0.649612 -1.002258 +v 0.232819 -2.576282 1.006206 +v -1.611871 -0.649612 1.088518 +v -1.570970 -2.617115 1.047469 +v -1.776066 -1.879229 0.227535 +v 0.068624 -2.576282 1.047469 +v -1.693870 -2.535256 -0.838059 +v -1.693870 -1.756344 -1.084358 +v 0.232819 -2.576282 0.678233 +v -0.669370 -0.649612 -1.002258 +v -1.734968 -0.649612 0.309422 +v -1.776066 -1.264806 -0.223162 +v -1.611871 -1.223780 1.088518 +v -0.546273 -2.494230 -1.084358 +v 0.232819 -2.248461 -1.084358 +v -1.611871 -0.936793 -1.043095 +v -1.652969 -2.576282 0.063549 +v -1.365873 -0.649612 1.088518 +v -1.529872 -2.617115 0.760332 +v -1.611871 -2.453204 0.965369 +v -1.776066 -1.715319 -0.263999 +v 0.232819 -2.494423 -0.715122 +v -1.652969 -0.690831 0.924319 +v -1.693870 -1.223780 -1.043095 +f 145 136 148 +f 119 122 123 +f 120 119 123 +f 120 123 125 +f 122 119 126 +f 120 125 127 +f 119 120 130 +f 126 119 130 +f 121 126 130 +f 129 124 131 +f 122 124 132 +f 126 121 133 +f 122 126 133 +f 125 123 134 +f 127 125 135 +f 129 118 136 +f 118 135 136 +f 135 125 136 +f 128 121 137 +f 121 130 137 +f 124 122 138 +f 131 124 138 +f 133 131 138 +f 123 122 139 +f 122 132 139 +f 134 123 139 +f 134 139 140 +f 125 134 140 +f 139 132 140 +f 129 131 141 +f 120 127 142 +f 130 120 142 +f 127 137 142 +f 137 130 142 +f 121 128 143 +f 133 121 143 +f 131 133 143 +f 128 141 143 +f 141 131 143 +f 128 137 144 +f 137 129 144 +f 141 128 144 +f 129 141 144 +f 124 129 145 +f 132 124 145 +f 129 136 145 +f 122 133 146 +f 138 122 146 +f 133 138 146 +f 118 129 147 +f 135 118 147 +f 127 135 147 +f 137 127 147 +f 129 137 147 +f 136 125 148 +f 125 140 148 +f 140 132 148 +f 132 145 148 +o convex_5 +v -1.037948 -0.649612 -1.493756 +v 0.232819 -0.362629 3.015409 +v -0.546169 -0.362629 3.015409 +v 0.232819 -0.362629 -2.970250 +v -1.735069 -0.362629 -2.970250 +v -1.693846 -0.608571 2.932795 +v 0.232819 -0.649612 1.006323 +v -1.735069 -0.608571 -2.970250 +v -1.693846 -0.362629 2.932795 +v 0.232819 -0.526599 -2.806195 +v 0.232819 -0.608571 3.015409 +v 0.232819 -0.649612 -1.207246 +v -1.735069 -0.649612 0.309090 +v -1.324964 -0.608571 -2.970250 +v -1.611979 -0.649612 1.088350 +v -1.693846 -0.649612 -1.493756 +v -1.735069 -0.362629 0.186048 +v 0.027670 -0.526599 -2.970250 +f 160 162 166 +f 151 150 152 +f 151 152 153 +f 152 150 155 +f 153 152 156 +f 151 153 157 +f 154 151 157 +f 152 155 158 +f 150 151 159 +f 151 154 159 +f 155 150 159 +f 155 149 160 +f 158 155 160 +f 149 155 161 +f 153 156 161 +f 154 157 161 +f 149 156 162 +f 156 152 162 +f 160 149 162 +f 159 154 163 +f 155 159 163 +f 161 155 163 +f 154 161 163 +f 156 149 164 +f 149 161 164 +f 161 156 164 +f 157 153 165 +f 153 161 165 +f 161 157 165 +f 152 158 166 +f 158 160 166 +f 162 152 166 +o convex_6 +v 0.355856 -0.362629 1.825725 +v 0.355856 -2.576502 -3.092645 +v 0.314875 -1.961272 -3.051394 +v 1.175673 -0.444760 -2.969491 +v 1.175673 -2.576502 2.973564 +v 0.355856 -2.453413 2.932313 +v 1.175673 -0.485935 3.014814 +v 1.175673 -2.535328 -3.051394 +v 0.232911 -0.362629 -2.969491 +v 0.232911 -0.362629 3.014217 +v 0.232911 -2.576502 1.006097 +v 0.232911 -2.453413 -1.083927 +v 0.560857 -2.576502 2.973564 +v 1.175765 -0.444760 1.908226 +v 1.134691 -2.576502 -3.051394 +v 0.232911 -0.854769 3.014217 +v 0.396838 -2.207234 -3.092645 +v 0.396838 -0.362629 -1.616596 +v 0.806746 -2.494154 -3.092645 +v 0.396838 -2.576502 2.686604 +v 1.175673 -1.059774 3.014814 +v 0.232911 -0.485718 -2.969491 +v 0.273893 -1.182646 3.014217 +f 187 182 189 +f 167 175 176 +f 176 175 177 +f 168 171 177 +f 169 168 178 +f 177 175 178 +f 168 177 178 +f 177 171 179 +f 174 170 180 +f 171 174 180 +f 167 176 180 +f 176 173 180 +f 171 168 181 +f 174 171 181 +f 173 176 182 +f 176 177 182 +f 177 172 182 +f 168 175 183 +f 175 170 183 +f 170 175 184 +f 175 167 184 +f 167 180 184 +f 180 170 184 +f 170 174 185 +f 181 168 185 +f 174 181 185 +f 168 183 185 +f 183 170 185 +f 172 177 186 +f 179 172 186 +f 177 179 186 +f 171 180 187 +f 180 173 187 +f 173 182 187 +f 168 169 188 +f 175 168 188 +f 169 178 188 +f 178 175 188 +f 179 171 189 +f 172 179 189 +f 182 172 189 +f 171 187 189 +o convex_7 +v 2.446692 -0.526716 -1.452448 +v 2.364586 -2.617500 1.621013 +v 2.405639 -2.617500 1.621013 +v 2.323657 -0.403626 3.014562 +v 1.175781 -2.535368 -3.051651 +v 1.175781 -0.485758 3.014562 +v 1.175781 -2.576326 2.973311 +v 1.175781 -0.444801 -2.969151 +v 2.282604 -2.535151 -3.010401 +v 2.446692 -0.403626 -3.010401 +v 2.446692 -2.617500 3.055812 +v 2.446692 -1.592261 -0.878528 +v 1.954550 -0.403626 2.727602 +v 1.585817 -2.617500 2.194933 +v 2.446692 -1.059814 0.678230 +v 2.323657 -2.371105 -2.805344 +v 1.175781 -0.444801 2.031126 +v 1.790710 -0.403626 -2.969151 +v 2.446692 -2.617500 2.399990 +v 2.446692 -0.731720 -3.010401 +v 2.446692 -2.330364 3.055812 +v 1.421852 -2.576326 3.014562 +v 2.364586 -0.567673 2.399990 +v 2.282604 -2.576326 -1.165488 +v 1.667923 -2.535151 -3.051651 +v 1.175781 -2.166317 -3.051651 +v 1.175781 -2.576326 1.210899 +v 2.241675 -2.617500 3.055812 +v 2.446692 -0.403626 -1.985715 +v 1.749781 -2.617500 3.014562 +f 217 211 219 +f 195 194 196 +f 194 195 197 +f 191 192 200 +f 199 190 200 +f 199 200 201 +f 195 193 202 +f 193 199 202 +f 191 200 203 +f 200 190 204 +f 197 195 206 +f 195 202 206 +f 206 202 207 +f 199 197 207 +f 202 199 207 +f 197 206 207 +f 192 198 208 +f 200 192 208 +f 201 200 208 +f 198 205 208 +f 205 201 208 +f 199 201 209 +f 205 198 209 +f 201 205 209 +f 193 195 210 +f 200 204 210 +f 195 196 211 +f 204 190 212 +f 193 210 212 +f 210 204 212 +f 192 191 213 +f 198 192 213 +f 191 203 213 +f 203 194 213 +f 209 198 214 +f 199 209 214 +f 198 213 214 +f 213 194 214 +f 194 197 215 +f 197 199 215 +f 214 194 215 +f 199 214 215 +f 196 194 216 +f 194 203 216 +f 203 196 216 +f 203 200 217 +f 210 195 217 +f 200 210 217 +f 195 211 217 +f 190 199 218 +f 199 193 218 +f 212 190 218 +f 193 212 218 +f 196 203 219 +f 211 196 219 +f 203 217 219 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/459/459.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/459/459.urdf new file mode 100644 index 000000000..992c450db --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/459/459.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/460/460.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/460/460.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/460/460.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/460/460.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/460/460.obj new file mode 100644 index 000000000..ff183d743 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/460/460.obj @@ -0,0 +1,282 @@ +o convex_0 +v 1.106138 -2.907067 0.844220 +v -1.017127 0.800315 0.365616 +v -1.017127 0.800315 0.425467 +v 1.076210 2.415209 -1.009720 +v -0.957270 -3.475114 -1.039438 +v 0.986424 2.445360 0.963715 +v -0.927341 -3.595115 1.053284 +v -0.987198 2.444757 -1.069156 +v 0.956496 -3.504662 -1.009720 +v -1.017127 2.505059 0.963715 +v 1.106138 -3.625267 0.993848 +v 0.597561 2.535210 -0.620894 +v 0.687347 1.428664 0.993640 +v -0.987198 -2.578420 -0.740389 +v -0.568406 1.218812 -1.069156 +v 0.986424 -3.535416 -0.770315 +v -1.017127 1.727160 0.993848 +v 1.016353 2.414606 0.754443 +v -0.568406 -3.625267 0.993640 +v 0.448126 2.535210 0.575096 +v -0.508757 2.535210 -0.560834 +v 1.076210 1.697612 -1.009720 +v 0.597561 -3.535416 1.023774 +v 0.507983 2.445360 -1.039646 +v 1.076210 2.415209 -0.650819 +v -1.017127 2.474908 -0.112572 +v 1.046281 -0.007132 0.993848 +v 1.106138 -2.518117 0.575096 +v -0.987198 0.351666 -1.069364 +v -0.957270 2.474305 -1.069156 +v -0.807627 -3.355716 1.053284 +v -0.957270 -3.534813 -0.232067 +v 1.076210 -3.625267 0.724517 +v -0.987198 -1.561121 -1.039438 +v 0.717275 -3.535416 -0.770315 +v -0.478828 2.535210 0.485319 +v -0.957270 -2.099620 0.963715 +v 0.986424 -2.727366 -1.009720 +v -0.777698 -3.444963 -1.039438 +v 1.016353 2.445360 -0.979587 +v -0.478828 2.445360 -1.069156 +v -0.957270 -3.475114 -0.022587 +v -0.897413 -3.595115 0.604814 +v 1.106138 -3.564361 0.874145 +v 0.029542 2.535210 -0.710463 +v -1.017127 2.505059 0.395542 +v 0.089399 -3.505265 -1.009512 +v 1.016353 1.906861 0.963715 +v -0.628263 2.505059 0.963715 +v -1.017127 1.577611 0.993848 +v -0.987198 -2.578420 -0.680745 +v 0.986424 -3.176015 -0.890017 +v 1.106138 -3.295413 0.993848 +v -0.060036 -0.962923 1.023774 +v -0.777698 -3.505265 -0.740389 +v 1.106138 -2.279321 0.544962 +v 0.597561 -3.625267 1.023774 +v 0.507983 2.295810 -1.039646 +v 0.926567 -3.625267 0.724517 +v 0.208905 -1.082321 -1.039646 +v 0.896639 2.474908 -0.800240 +f 40 12 61 +f 2 3 10 +f 3 2 14 +f 10 3 17 +f 13 6 17 +f 6 12 20 +f 20 12 21 +f 4 22 24 +f 18 1 25 +f 6 18 25 +f 2 10 26 +f 6 13 27 +f 1 11 28 +f 26 8 29 +f 8 26 30 +f 29 8 30 +f 17 7 31 +f 14 5 32 +f 16 11 33 +f 11 19 33 +f 14 2 34 +f 5 14 34 +f 2 26 34 +f 29 5 34 +f 26 29 34 +f 16 33 35 +f 10 20 36 +f 20 21 36 +f 21 10 36 +f 9 5 39 +f 5 29 39 +f 29 15 39 +f 4 24 40 +f 25 4 40 +f 6 25 40 +f 15 29 41 +f 30 24 41 +f 29 30 41 +f 32 7 42 +f 7 37 42 +f 19 7 43 +f 7 32 43 +f 35 19 43 +f 11 16 44 +f 28 11 44 +f 21 12 45 +f 30 21 45 +f 24 30 45 +f 12 40 45 +f 40 24 45 +f 10 21 46 +f 26 10 46 +f 21 30 46 +f 30 26 46 +f 5 9 47 +f 9 16 47 +f 16 35 47 +f 1 18 48 +f 18 6 48 +f 6 27 48 +f 10 17 49 +f 17 6 49 +f 6 20 49 +f 20 10 49 +f 17 3 50 +f 7 17 50 +f 37 7 50 +f 3 14 51 +f 14 32 51 +f 32 42 51 +f 42 37 51 +f 50 3 51 +f 37 50 51 +f 16 9 52 +f 22 28 52 +f 9 38 52 +f 38 22 52 +f 44 16 52 +f 28 44 52 +f 11 1 53 +f 23 11 53 +f 27 23 53 +f 1 48 53 +f 48 27 53 +f 13 17 54 +f 27 13 54 +f 23 27 54 +f 17 31 54 +f 31 23 54 +f 32 5 55 +f 43 32 55 +f 35 43 55 +f 5 47 55 +f 47 35 55 +f 22 4 56 +f 25 1 56 +f 4 25 56 +f 1 28 56 +f 28 22 56 +f 7 19 57 +f 19 11 57 +f 11 23 57 +f 31 7 57 +f 23 31 57 +f 24 22 58 +f 38 9 58 +f 22 38 58 +f 15 41 58 +f 41 24 58 +f 33 19 59 +f 19 35 59 +f 35 33 59 +f 9 39 60 +f 39 15 60 +f 58 9 60 +f 15 58 60 +f 12 6 61 +f 6 40 61 +o convex_1 +v -0.538649 2.655174 -0.561177 +v 0.388401 2.654981 0.575216 +v 0.328556 2.654981 0.575216 +v -0.389035 4.508955 0.395749 +v 0.597750 4.448875 -0.441418 +v 0.448136 2.535400 -0.531266 +v -0.538649 4.418932 -0.591088 +v -0.478692 2.535594 0.485483 +v 0.507981 4.418932 0.425546 +v -0.538649 4.478819 0.455572 +v 0.448136 2.535400 0.575216 +v -0.508615 2.535594 -0.561177 +v -0.269455 4.508955 -0.351685 +v -0.329301 4.418932 -0.591088 +v 0.597750 4.119885 -0.411507 +v 0.567827 4.448875 0.036816 +v -0.448881 2.595287 0.515394 +v -0.478692 3.312961 -0.591088 +v 0.507981 4.239659 0.455457 +v -0.060107 4.508955 0.335813 +v 0.507981 4.479012 -0.411507 +v 0.478059 2.714867 -0.501241 +v 0.478059 4.448875 -0.471329 +v -0.508615 2.535594 0.066728 +v 0.597750 4.389182 -0.202130 +v 0.448136 4.448875 0.425546 +v -0.299267 4.478819 0.455572 +v 0.537904 4.389182 0.306016 +v -0.508615 3.283018 0.485483 +v -0.538649 4.478819 0.186372 +v -0.060107 4.508955 -0.351685 +v -0.329301 4.060192 0.485483 +v -0.359112 2.535594 -0.561177 +v 0.567827 3.970555 -0.471329 +v 0.478059 3.193188 0.515280 +f 86 89 96 +f 68 62 71 +f 63 64 72 +f 67 72 73 +f 68 74 75 +f 72 64 78 +f 69 72 78 +f 62 68 79 +f 73 62 79 +f 75 67 79 +f 68 75 79 +f 63 72 80 +f 74 65 81 +f 77 66 82 +f 72 67 83 +f 76 72 83 +f 67 75 84 +f 82 66 84 +f 75 82 84 +f 72 69 85 +f 62 73 85 +f 73 72 85 +f 76 66 86 +f 72 76 86 +f 66 77 86 +f 70 77 87 +f 80 70 87 +f 81 65 87 +f 77 82 87 +f 82 81 87 +f 65 71 88 +f 63 80 88 +f 87 65 88 +f 80 87 88 +f 77 70 89 +f 70 80 89 +f 86 77 89 +f 71 62 90 +f 78 71 90 +f 69 78 90 +f 62 85 90 +f 85 69 90 +f 68 71 91 +f 71 65 91 +f 65 74 91 +f 74 68 91 +f 75 74 92 +f 74 81 92 +f 81 82 92 +f 82 75 92 +f 64 63 93 +f 78 64 93 +f 71 78 93 +f 63 88 93 +f 88 71 93 +f 67 73 94 +f 73 79 94 +f 79 67 94 +f 66 76 95 +f 83 67 95 +f 76 83 95 +f 84 66 95 +f 67 84 95 +f 80 72 96 +f 72 86 96 +f 89 80 96 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/460/460.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/460/460.urdf new file mode 100644 index 000000000..2e4846dbb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/460/460.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/461/461.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/461/461.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/461/461.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/461/461.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/461/461.obj new file mode 100644 index 000000000..fd556c11c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/461/461.obj @@ -0,0 +1,861 @@ +o convex_0 +v 0.903856 -0.716810 -1.243823 +v 0.066665 -0.362383 0.784768 +v -0.029842 -0.362383 0.784768 +v 0.034297 -3.936735 -0.310538 +v -0.867033 -0.362383 -1.243823 +v 0.903856 -0.362383 0.623484 +v -0.738357 -1.940332 0.430238 +v -0.545144 -3.066939 -0.953954 +v 0.613937 -3.066939 0.204784 +v 0.066665 -0.362383 -1.726938 +v 0.453091 -3.163855 -0.986162 +v -0.834864 -0.362383 0.655692 +v 0.002327 -3.388826 0.430238 +v -0.738357 -3.453554 -0.342500 +v 0.807150 -3.324449 -0.374462 +v -0.963540 -2.101276 -0.406670 +v 0.002327 -3.453554 -1.114992 +v 1.032532 -0.362383 -0.567462 +v 1.032532 -2.004710 -0.310292 +v -0.738357 -1.972521 -1.146954 +v -0.995710 -0.362383 -0.310292 +v 0.807150 -1.972171 -1.114747 +v 0.002327 -2.101626 0.655938 +v 0.807150 -1.747200 0.462446 +v 0.903856 -0.362383 -1.340200 +v -0.545144 -3.099127 0.205030 +v -0.029842 -0.394922 -1.726938 +v 0.742812 -0.427111 0.720353 +v 0.710643 -3.485742 -0.310292 +v 0.098834 -3.421365 -1.114992 +v -0.963540 -2.004710 -0.278085 +v 0.098834 -3.421365 0.398030 +v -0.834864 -0.523677 -1.307993 +v 1.032532 -0.362383 -0.149254 +v -0.738357 -3.453554 -0.406670 +v 1.032532 -1.972171 -0.406670 +v 0.034297 -3.936735 -0.407161 +v 0.807150 -3.324449 -0.310292 +v 0.613937 -3.066939 -0.889539 +v 0.002327 -3.485392 0.365823 +v 0.710643 -3.485742 -0.374462 +v 0.002327 -3.356987 -1.147200 +v 0.195341 -1.650633 0.687899 +v -0.512776 -0.877753 0.687899 +v -0.867033 -0.394922 0.559069 +v 0.807150 -1.843766 -1.146954 +v -0.963540 -1.747200 -0.535254 +v 0.968194 -0.910292 0.269200 +v 0.066665 -0.394922 -1.726938 +v 0.839518 -0.459299 -1.372654 +v 0.807150 -1.940332 0.398276 +v 0.066665 -3.002561 0.494653 +v 0.968194 -0.878103 -0.985916 +v -0.480607 -3.646686 -0.342746 +v -0.995710 -0.684621 -0.374462 +v -0.158717 -3.839469 -0.407161 +v -0.963540 -1.715011 -0.181462 +v 0.871687 -0.555866 0.655692 +v 0.710643 -2.358436 0.366069 +v 1.032532 -1.779738 -0.213669 +v 0.066665 -3.485392 0.365823 +v 0.002327 -1.779388 0.687899 +v -0.802695 -0.362383 -1.340200 +v -0.673820 -3.517581 -0.406670 +f 56 54 64 +f 3 2 5 +f 5 2 6 +f 5 6 10 +f 3 5 12 +f 10 6 18 +f 12 5 21 +f 7 13 23 +f 10 18 25 +f 1 22 25 +f 13 7 26 +f 7 14 26 +f 6 2 28 +f 22 11 30 +f 14 7 31 +f 16 14 31 +f 29 9 32 +f 27 20 33 +f 18 6 34 +f 19 18 34 +f 14 16 35 +f 8 17 35 +f 20 8 35 +f 16 20 35 +f 19 15 36 +f 18 19 36 +f 22 1 36 +f 15 22 36 +f 29 4 37 +f 17 30 37 +f 15 19 38 +f 9 29 38 +f 29 15 38 +f 11 22 39 +f 22 15 39 +f 13 26 40 +f 26 14 40 +f 15 29 41 +f 30 11 41 +f 29 37 41 +f 37 30 41 +f 11 39 41 +f 39 15 41 +f 17 8 42 +f 8 20 42 +f 20 27 42 +f 30 17 42 +f 28 2 43 +f 3 12 44 +f 12 7 44 +f 7 23 44 +f 7 12 45 +f 12 21 45 +f 31 7 45 +f 25 22 46 +f 22 30 46 +f 20 16 47 +f 5 33 47 +f 33 20 47 +f 34 6 48 +f 27 10 49 +f 42 27 49 +f 30 42 49 +f 46 30 49 +f 46 49 50 +f 10 25 50 +f 25 46 50 +f 49 10 50 +f 38 19 51 +f 9 38 51 +f 48 24 51 +f 23 13 52 +f 13 32 52 +f 32 24 52 +f 43 23 52 +f 25 18 53 +f 1 25 53 +f 18 36 53 +f 36 1 53 +f 4 40 54 +f 40 14 54 +f 21 5 55 +f 16 31 55 +f 47 16 55 +f 5 47 55 +f 37 4 56 +f 17 37 56 +f 4 54 56 +f 45 21 57 +f 31 45 57 +f 21 55 57 +f 55 31 57 +f 6 28 58 +f 28 43 58 +f 48 6 58 +f 24 48 58 +f 52 24 58 +f 43 52 58 +f 32 9 59 +f 24 32 59 +f 9 51 59 +f 51 24 59 +f 19 34 60 +f 34 48 60 +f 51 19 60 +f 48 51 60 +f 4 29 61 +f 32 13 61 +f 29 32 61 +f 40 4 61 +f 13 40 61 +f 2 3 62 +f 43 2 62 +f 23 43 62 +f 3 44 62 +f 44 23 62 +f 5 10 63 +f 10 27 63 +f 33 5 63 +f 27 33 63 +f 14 35 64 +f 35 17 64 +f 54 14 64 +f 17 56 64 +o convex_1 +v 0.002404 2.117122 -0.310614 +v 0.002404 -0.362383 -1.790783 +v 0.034365 -0.362383 -1.790783 +v -0.029763 -0.330103 0.816544 +v 1.064926 1.054304 0.140662 +v -0.802581 1.086341 -2.982350 +v 0.742850 1.118621 -3.046759 +v -0.867119 1.955964 0.945775 +v -0.995785 -0.362383 -0.310614 +v 1.032554 -0.362383 -0.567837 +v 0.871721 1.955964 0.945775 +v -0.029763 2.084842 -2.306055 +v 0.903888 -0.008029 0.945775 +v -0.867119 -0.040310 0.945775 +v 0.775017 1.827086 -2.370464 +v -0.094301 0.314044 -3.014555 +v -1.028157 1.118621 -2.273851 +v -0.770414 1.827086 -2.306468 +v 1.032554 1.086584 -2.338673 +v -0.834952 -0.362383 -1.340333 +v 0.903888 -0.362383 -1.340333 +v -0.029763 1.795048 -3.078964 +v -0.995785 1.215219 0.945775 +v -0.061929 1.022266 -3.272191 +v 0.871721 -0.362383 0.687726 +v 0.549646 0.474960 -2.821740 +v -0.641543 2.052562 0.945362 +v 1.032554 0.893145 0.945362 +v -0.834952 -0.362383 0.655522 +v -0.609376 0.475202 -2.821740 +v 0.775017 2.020281 0.848749 +v 0.034365 0.314044 -3.014555 +v 0.034365 2.117122 0.816544 +v 1.064926 1.086584 -1.533560 +v -1.028157 1.086584 -0.052978 +v 1.032554 -0.362383 -0.149178 +v -1.028157 0.957706 -2.242059 +v 0.549646 1.666170 -2.885736 +v -0.609376 1.601853 -2.853532 +v -0.802581 2.020281 0.913158 +v 0.807183 0.378362 -2.338260 +v 1.064926 0.056531 -0.342818 +v -0.770414 0.314044 -2.370464 +v 0.034365 2.084842 -2.306055 +v -0.995785 0.861108 0.945775 +v -0.061929 1.859366 -3.014555 +v -0.770414 0.989743 -3.014555 +v -0.802581 1.827086 -2.048419 +v -0.738247 1.859123 -2.273851 +v 0.613979 2.052562 0.945362 +v -0.061929 1.150901 -3.272191 +v 1.032554 1.183182 0.945362 +v 0.871721 1.955964 0.752135 +v 0.678312 1.054304 -3.078964 +v 1.064926 1.118621 -0.214000 +v -0.867119 -0.362383 -1.243306 +v -0.899285 1.827086 0.945775 +v 1.032554 1.054304 -2.338673 +v 0.807183 1.794806 -2.112828 +v -0.867119 1.955964 0.720344 +v 0.710684 1.859366 -2.338260 +v 0.002404 1.859366 -3.014555 +v -0.706081 1.086341 -3.046759 +v 0.936055 -0.362383 0.494499 +f 100 92 128 +f 66 67 73 +f 73 67 74 +f 75 72 77 +f 68 77 78 +f 77 72 78 +f 67 66 80 +f 70 81 82 +f 71 79 83 +f 66 73 84 +f 80 66 84 +f 74 67 85 +f 78 72 87 +f 73 74 89 +f 77 68 89 +f 72 75 91 +f 65 76 91 +f 78 73 93 +f 68 78 93 +f 89 68 93 +f 73 89 93 +f 80 84 94 +f 67 80 96 +f 85 67 96 +f 80 88 96 +f 90 85 96 +f 65 91 97 +f 89 74 100 +f 81 70 101 +f 73 99 101 +f 99 81 101 +f 79 71 102 +f 71 86 102 +f 70 82 103 +f 72 91 104 +f 91 76 104 +f 90 71 105 +f 85 90 105 +f 69 92 106 +f 98 69 106 +f 100 74 106 +f 92 100 106 +f 94 84 107 +f 76 65 108 +f 73 78 109 +f 78 87 109 +f 99 73 109 +f 87 99 109 +f 103 82 110 +f 86 103 110 +f 76 108 110 +f 88 80 111 +f 80 94 111 +f 101 70 111 +f 94 107 111 +f 107 101 111 +f 82 81 112 +f 112 104 113 +f 104 76 113 +f 76 110 113 +f 110 82 113 +f 82 112 113 +f 91 75 114 +f 75 95 114 +f 65 97 114 +f 97 91 114 +f 108 65 114 +f 95 108 114 +f 86 71 115 +f 75 77 116 +f 92 69 116 +f 77 92 116 +f 95 75 117 +f 79 95 117 +f 98 83 117 +f 71 90 118 +f 96 88 118 +f 90 96 118 +f 115 71 118 +f 88 115 118 +f 69 98 119 +f 116 69 119 +f 75 116 119 +f 117 75 119 +f 98 117 119 +f 84 73 120 +f 73 101 120 +f 107 84 120 +f 101 107 120 +f 87 72 121 +f 81 99 121 +f 99 87 121 +f 71 83 122 +f 74 85 122 +f 83 98 122 +f 105 71 122 +f 85 105 122 +f 106 74 122 +f 98 106 122 +f 83 79 123 +f 79 117 123 +f 117 83 123 +f 72 104 124 +f 112 81 124 +f 104 112 124 +f 121 72 124 +f 81 121 124 +f 95 79 125 +f 108 95 125 +f 79 102 126 +f 102 86 126 +f 86 110 126 +f 110 108 126 +f 125 79 126 +f 108 125 126 +f 70 103 127 +f 103 86 127 +f 111 70 127 +f 88 111 127 +f 86 115 127 +f 115 88 127 +f 77 89 128 +f 92 77 128 +f 89 100 128 +o convex_2 +v 0.453005 2.342532 2.072716 +v -0.577338 2.342532 1.686514 +v -0.577338 2.342532 1.750702 +v 0.002287 4.113607 1.654366 +v 0.388666 2.342532 1.267950 +v -0.351865 3.147802 2.104864 +v 0.453005 3.855990 1.718554 +v 0.002287 3.887888 1.332352 +v -0.448431 2.342532 1.300097 +v -0.384092 3.887888 1.686514 +v 0.034400 3.855990 2.072716 +v -0.062053 2.342532 2.265924 +v 0.581912 2.342532 1.686514 +v 0.453005 3.115383 1.332352 +v 0.034400 2.471340 1.171185 +v 0.388666 3.115383 2.072716 +v -0.416318 2.342532 2.137119 +v -0.384092 3.051239 1.332352 +v -0.512884 3.179874 1.750702 +v 0.549685 3.115383 1.718554 +v -0.351865 3.791325 1.879508 +v 0.324212 3.694936 1.396755 +v 0.066627 2.374777 2.265924 +v 0.002287 3.115383 2.201521 +v -0.287525 3.694936 1.428903 +v 0.002287 4.113607 1.750702 +v -0.416318 3.147802 2.040461 +v 0.002287 3.212120 1.235695 +v 0.453005 3.855990 1.654366 +v 0.324212 3.662690 1.976058 +v 0.485232 2.342532 1.332352 +v -0.512884 3.179874 1.686514 +v -0.062053 3.823744 2.072716 +v -0.029826 2.342532 1.171185 +v 0.066627 3.887888 1.332352 +v 0.420892 2.439268 2.137119 +v -0.287525 3.694936 2.008313 +v 0.098853 3.147802 1.235695 +v 0.549685 3.051239 1.654366 +v 0.581912 2.471340 1.750702 +v 0.066627 4.113607 1.654366 +v -0.416318 3.791325 1.750702 +v -0.351865 3.920307 1.750702 +v -0.448431 2.439268 1.300097 +v -0.448431 2.374777 2.104864 +v 0.517458 3.083485 1.815105 +v 0.066627 4.081188 1.782850 +v -0.416318 3.083485 1.396755 +v -0.029826 2.439268 1.171185 +v 0.324212 3.083485 2.104864 +f 151 164 178 +f 131 130 129 +f 129 130 133 +f 133 130 137 +f 132 136 138 +f 131 129 140 +f 129 133 141 +f 142 133 143 +f 131 140 145 +f 140 134 145 +f 130 131 147 +f 140 129 151 +f 134 140 152 +f 140 151 152 +f 138 136 153 +f 136 146 153 +f 147 131 155 +f 146 136 156 +f 135 148 157 +f 142 150 157 +f 135 139 158 +f 144 135 158 +f 139 144 158 +f 141 133 159 +f 133 142 159 +f 130 147 160 +f 134 152 161 +f 152 139 161 +f 139 154 161 +f 133 137 162 +f 143 133 162 +f 136 132 163 +f 150 142 163 +f 156 136 163 +f 157 150 163 +f 151 129 164 +f 155 134 165 +f 149 155 165 +f 134 161 165 +f 161 149 165 +f 142 143 166 +f 143 156 166 +f 163 142 166 +f 156 163 166 +f 157 148 167 +f 142 157 167 +f 141 159 167 +f 159 142 167 +f 129 141 168 +f 164 129 168 +f 141 167 168 +f 167 148 168 +f 132 154 169 +f 135 157 169 +f 163 132 169 +f 157 163 169 +f 147 155 170 +f 155 149 170 +f 138 160 170 +f 160 147 170 +f 132 138 171 +f 154 132 171 +f 149 161 171 +f 161 154 171 +f 138 170 171 +f 170 149 171 +f 137 130 172 +f 130 160 172 +f 162 137 172 +f 131 145 173 +f 145 134 173 +f 155 131 173 +f 134 155 173 +f 135 144 174 +f 148 135 174 +f 144 164 174 +f 164 168 174 +f 168 148 174 +f 139 135 175 +f 154 139 175 +f 169 154 175 +f 135 169 175 +f 138 153 176 +f 153 146 176 +f 160 138 176 +f 172 160 176 +f 146 172 176 +f 156 143 177 +f 146 156 177 +f 143 162 177 +f 172 146 177 +f 162 172 177 +f 144 139 178 +f 152 151 178 +f 139 152 178 +f 164 144 178 +o convex_3 +v 0.614113 -0.233745 1.686530 +v -0.609539 -0.426994 1.718485 +v -0.609539 -0.426994 1.750674 +v 0.098708 -1.940083 1.718485 +v -0.062034 -0.233745 1.106782 +v -0.126474 -0.233745 2.298233 +v 0.034268 -1.714598 1.300148 +v 0.066608 -1.714598 2.104867 +v -0.351777 -1.618057 1.589963 +v 0.420672 -1.070879 1.300148 +v 0.420672 -1.006574 2.104867 +v 0.420672 -1.746834 1.750674 +v -0.480658 -0.233745 1.267959 +v -0.383997 -0.974338 2.137172 +v 0.453012 -0.233745 1.203465 +v 0.420672 -0.233745 2.169361 +v -0.480658 -0.233745 2.169361 +v -0.416097 -0.974338 1.300148 +v -0.351777 -1.682362 1.718485 +v 0.034268 -0.877797 2.265927 +v 0.034268 -1.038643 1.171276 +v 0.549672 -1.038643 1.718485 +v 0.420672 -1.682362 1.622152 +v 0.002287 -1.714598 2.104867 +v -0.512758 -1.038643 1.750674 +v 0.002287 -1.940083 1.654341 +v -0.609539 -0.233745 1.654341 +v -0.287456 -1.521516 1.975995 +v -0.062034 -1.650293 1.300148 +v 0.324130 -1.553585 2.008417 +v 0.324130 -1.553585 1.396597 +v 0.485232 -0.330453 1.235654 +v 0.066608 -0.362689 2.298233 +v 0.549672 -0.942102 1.622152 +v -0.029694 -0.459230 1.106782 +v 0.485232 -0.298217 2.072795 +v -0.448438 -0.555771 2.169361 +v -0.094134 -0.974338 2.233738 +v -0.029694 -1.038643 1.171276 +v -0.512758 -0.974338 1.622152 +v -0.287456 -1.489280 1.396597 +v 0.098708 -0.298217 1.106782 +v 0.195369 -0.974338 1.203465 +v 0.356351 -1.779070 1.654341 +v -0.029694 -1.907847 1.750674 +v -0.351777 -0.974338 1.267959 +v -0.448438 -0.942102 2.008417 +v -0.351777 -1.682362 1.654341 +v -0.609539 -0.298217 1.815051 +v 0.581893 -0.265981 1.525469 +f 212 210 228 +f 179 183 184 +f 186 182 190 +f 184 183 191 +f 183 179 193 +f 179 184 194 +f 184 191 195 +f 186 189 198 +f 189 190 200 +f 200 190 201 +f 182 186 202 +f 186 198 202 +f 181 180 203 +f 185 182 204 +f 180 181 205 +f 195 191 205 +f 196 180 205 +f 191 196 205 +f 192 197 206 +f 197 202 206 +f 202 192 206 +f 185 204 207 +f 189 186 208 +f 186 190 208 +f 190 189 208 +f 185 188 209 +f 188 201 209 +f 188 193 210 +f 194 184 211 +f 189 194 211 +f 198 189 211 +f 184 198 211 +f 179 200 212 +f 200 201 212 +f 201 188 212 +f 188 210 212 +f 191 183 213 +f 179 194 214 +f 194 189 214 +f 200 179 214 +f 189 200 214 +f 184 195 215 +f 198 184 216 +f 192 202 216 +f 202 198 216 +f 184 215 216 +f 215 192 216 +f 199 185 217 +f 185 207 217 +f 213 199 217 +f 180 196 218 +f 196 187 218 +f 203 180 218 +f 187 196 219 +f 207 187 219 +f 196 207 219 +f 183 193 220 +f 213 183 220 +f 199 213 220 +f 188 185 221 +f 193 188 221 +f 185 199 221 +f 220 193 221 +f 199 220 221 +f 182 185 222 +f 190 182 222 +f 201 190 222 +f 185 209 222 +f 209 201 222 +f 182 202 223 +f 202 197 223 +f 204 182 223 +f 197 204 223 +f 196 191 224 +f 207 196 224 +f 191 213 224 +f 217 207 224 +f 213 217 224 +f 197 192 225 +f 181 203 225 +f 203 197 225 +f 192 215 225 +f 197 203 226 +f 204 197 226 +f 187 207 226 +f 207 204 226 +f 218 187 226 +f 203 218 226 +f 205 181 227 +f 195 205 227 +f 215 195 227 +f 181 225 227 +f 225 215 227 +f 193 179 228 +f 210 193 228 +f 179 212 228 +o convex_4 +v 0.807145 1.923476 2.169194 +v -0.995955 0.732621 1.622130 +v -0.963587 0.378617 1.622130 +v 1.032731 1.182942 0.945942 +v 0.452879 -0.233325 2.169194 +v -0.802539 2.020297 0.945775 +v -0.673860 1.859180 2.426773 +v -0.834908 -0.072208 0.945775 +v 0.903853 -0.007913 0.945942 +v 0.485248 2.342532 1.300239 +v -0.029867 0.314069 2.620041 +v -0.480642 -0.233325 2.201433 +v 0.807145 1.022581 2.426940 +v -0.029867 2.342532 2.297984 +v 0.098812 1.859180 2.620041 +v -0.738199 0.346343 2.394701 +v 0.871683 1.955750 0.945942 +v 0.968192 0.314069 1.718681 +v -0.577350 2.342532 1.622130 +v -0.963587 1.859180 1.718681 +v 0.130982 -0.233325 1.106971 +v 1.000362 1.859180 1.718681 +v -0.995955 1.247490 0.945775 +v 0.710635 0.282048 2.394701 +v 0.452879 2.342532 2.136955 +v 0.774975 1.859180 2.394701 +v -0.770369 1.344059 2.426773 +v -0.062037 2.342532 1.171450 +v -0.641690 -0.233325 1.782992 +v -0.480642 2.342532 2.104883 +v 1.032731 0.990308 1.750753 +v -0.094207 1.215216 2.652113 +v 0.614126 -0.233325 1.718681 +v 0.130982 1.022581 2.652113 +v 0.002501 -0.233325 2.330223 +v 0.581956 2.342532 1.815064 +v -0.995955 0.990308 1.750920 +v -0.995955 0.861464 0.945775 +v 0.710635 2.052319 0.945942 +v -0.448472 -0.233325 1.235761 +v -0.899247 1.923476 0.978181 +v -0.931417 0.282048 1.750920 +v 1.032731 0.893738 0.945942 +v -0.738199 1.891454 2.362462 +v 0.485248 -0.233325 1.235761 +v -0.448472 2.342532 1.300072 +v -0.770369 0.893738 2.426773 +v 0.002501 1.891454 2.620041 +v -0.029867 2.116867 0.945775 +v -0.963587 1.891454 1.686608 +v -0.995955 1.601494 1.686608 +v 1.032731 1.408355 1.718681 +v 0.774975 0.282048 2.265912 +v -0.899247 0.088909 1.074732 +v 0.936023 1.923476 1.235761 +v 0.034473 0.314069 2.620041 +v 0.871683 -0.039934 0.945942 +v 0.098812 2.277732 2.330223 +v 0.968192 0.282048 1.686608 +v -0.029867 0.668325 2.652113 +v 0.581956 2.342532 1.589891 +v 0.807145 1.150920 2.426940 +v -0.706030 2.213436 1.718681 +v -0.480642 2.277732 2.201433 +f 276 242 292 +f 240 239 244 +f 242 238 247 +f 233 240 249 +f 234 236 251 +f 238 242 253 +f 250 229 254 +f 247 238 256 +f 240 244 257 +f 249 240 257 +f 242 247 258 +f 241 246 259 +f 235 255 260 +f 233 249 261 +f 252 241 262 +f 243 260 262 +f 240 233 263 +f 239 240 263 +f 233 252 263 +f 229 250 264 +f 238 253 264 +f 254 229 264 +f 253 254 264 +f 251 230 265 +f 231 230 266 +f 230 251 266 +f 251 236 266 +f 238 245 267 +f 256 238 267 +f 236 249 268 +f 257 236 268 +f 249 257 268 +f 247 234 269 +f 234 251 269 +f 230 231 270 +f 236 257 270 +f 257 244 270 +f 265 230 270 +f 244 265 270 +f 232 259 271 +f 255 235 272 +f 248 255 272 +f 261 249 273 +f 234 247 274 +f 256 234 274 +f 247 256 274 +f 260 255 275 +f 265 244 275 +f 255 265 275 +f 235 260 276 +f 260 243 276 +f 236 234 277 +f 237 236 277 +f 245 232 277 +f 234 256 277 +f 267 245 277 +f 256 267 277 +f 232 271 277 +f 271 237 277 +f 269 251 278 +f 248 272 278 +f 272 258 278 +f 255 248 279 +f 251 265 279 +f 265 255 279 +f 278 251 279 +f 248 278 279 +f 232 250 280 +f 250 254 280 +f 259 232 280 +f 246 241 281 +f 252 233 281 +f 241 252 281 +f 233 261 281 +f 231 266 282 +f 266 236 282 +f 270 231 282 +f 236 270 282 +f 232 245 283 +f 250 232 283 +f 252 262 284 +f 239 263 284 +f 263 252 284 +f 236 237 285 +f 249 236 285 +f 237 261 285 +f 273 249 285 +f 261 273 285 +f 253 242 286 +f 243 254 286 +f 254 253 286 +f 242 276 286 +f 276 243 286 +f 259 246 287 +f 261 237 287 +f 237 271 287 +f 271 259 287 +f 246 281 287 +f 281 261 287 +f 244 239 288 +f 262 260 288 +f 275 244 288 +f 260 275 288 +f 239 284 288 +f 284 262 288 +f 245 238 289 +f 238 264 289 +f 264 250 289 +f 283 245 289 +f 250 283 289 +f 254 243 290 +f 241 259 290 +f 262 241 290 +f 243 262 290 +f 280 254 290 +f 259 280 290 +f 258 247 291 +f 247 269 291 +f 278 258 291 +f 269 278 291 +f 242 258 292 +f 272 235 292 +f 258 272 292 +f 235 276 292 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/461/461.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/461/461.urdf new file mode 100644 index 000000000..039687324 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/461/461.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/462/462.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/462/462.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/462/462.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/462/462.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/462/462.obj new file mode 100644 index 000000000..b38c0bbea --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/462/462.obj @@ -0,0 +1,549 @@ +o convex_0 +v 0.423563 1.765383 -1.021526 +v 1.348137 -3.088143 1.097404 +v 1.309669 -3.088143 1.097404 +v 1.348137 -4.205282 -1.098699 +v -0.578138 -4.243659 1.020231 +v 1.271009 1.843337 1.020231 +v -0.578138 1.727605 -1.060005 +v -0.578138 -4.243659 -0.982832 +v -0.578138 1.727605 0.943058 +v 1.386797 1.803760 -0.944568 +v 1.386797 -4.282636 1.097404 +v 1.386797 1.418788 0.635010 +v -0.346946 1.765982 0.981537 +v 0.308160 -4.243659 -1.060005 +v -0.462350 1.765982 -1.060005 +v 0.770158 1.843337 1.020231 +v -0.231158 -4.282636 -0.481959 +v 1.386797 1.843337 -0.828915 +v 1.348137 -3.510893 -1.098699 +v -0.000159 -4.166904 1.058710 +v 1.386797 -0.238031 -0.983047 +v 1.386797 -4.282636 0.673489 +v -0.385414 -4.243659 -1.021526 +v 0.962882 -4.205282 -1.098699 +v -0.578138 0.609867 -1.060005 +v -0.077287 1.765982 -1.060005 +v 1.309669 -4.243659 -0.790436 +v 0.962882 -4.282636 1.097404 +v 1.309669 -0.045545 1.058710 +v 0.500499 -4.282636 1.058710 +v -0.578138 -3.819710 1.020231 +v 0.731690 1.843337 0.943058 +v 1.386797 -3.897064 1.097404 +v 1.309669 -4.282636 0.403706 +v 0.847286 -4.243659 -1.060005 +v 1.309669 1.843337 0.596531 +v -0.385414 1.765982 0.943058 +v 1.309669 1.843337 -0.790436 +f 32 18 38 +f 5 7 8 +f 7 5 9 +f 2 3 11 +f 11 10 12 +f 7 9 15 +f 13 3 16 +f 5 8 17 +f 12 10 18 +f 16 6 18 +f 1 10 19 +f 7 15 19 +f 10 11 21 +f 4 19 21 +f 19 10 21 +f 11 17 22 +f 4 21 22 +f 21 11 22 +f 17 8 23 +f 14 17 23 +f 4 14 24 +f 19 4 24 +f 7 19 24 +f 14 23 24 +f 24 23 25 +f 8 7 25 +f 23 8 25 +f 7 24 25 +f 10 1 26 +f 18 10 26 +f 15 18 26 +f 1 19 26 +f 19 15 26 +f 4 22 27 +f 11 3 28 +f 3 13 28 +f 17 11 28 +f 20 5 28 +f 13 20 28 +f 3 2 29 +f 12 6 29 +f 16 3 29 +f 6 16 29 +f 5 17 30 +f 28 5 30 +f 17 28 30 +f 9 5 31 +f 13 9 31 +f 5 20 31 +f 20 13 31 +f 16 18 32 +f 2 11 33 +f 11 12 33 +f 29 2 33 +f 12 29 33 +f 22 17 34 +f 27 22 34 +f 27 34 35 +f 14 4 35 +f 17 14 35 +f 4 27 35 +f 34 17 35 +f 6 12 36 +f 12 18 36 +f 18 6 36 +f 9 13 37 +f 15 9 37 +f 13 16 37 +f 32 15 37 +f 16 32 37 +f 18 15 38 +f 15 32 38 +o convex_1 +v 2.927809 2.575556 -0.019866 +v 1.772304 2.921690 0.442219 +v 1.810768 1.380999 0.018632 +v 1.887809 3.769377 -0.482170 +v 2.889231 3.808109 0.596539 +v 2.927809 1.380999 0.480826 +v 2.773613 1.380999 -0.482170 +v 2.889231 3.808109 -0.443672 +v 1.772304 3.885327 0.519433 +v 1.849345 1.380999 -0.520777 +v 1.810768 1.380999 0.480826 +v 2.850654 2.305904 -0.482170 +v 1.772304 3.885327 0.326725 +v 2.812190 3.461484 0.596539 +v 1.849345 2.267172 -0.520777 +v 2.465448 3.731135 -0.482170 +v 2.388407 1.419731 -0.520777 +v 2.927809 1.380999 0.288118 +v 2.619531 3.769377 0.596539 +v 2.080469 3.885327 0.519433 +v 2.812190 1.419731 -0.482170 +v 2.850654 2.999154 -0.482170 +v 1.849345 3.769377 -0.328069 +v 2.889231 3.037395 -0.443672 +v 2.927809 1.920547 0.480826 +v 1.772304 3.653672 0.519433 +f 49 57 64 +f 44 41 45 +f 43 39 46 +f 45 41 48 +f 40 41 49 +f 41 44 49 +f 41 40 51 +f 46 42 51 +f 40 47 51 +f 48 41 51 +f 44 43 52 +f 49 44 52 +f 48 51 53 +f 42 46 54 +f 53 42 54 +f 53 54 55 +f 45 48 55 +f 48 53 55 +f 39 44 56 +f 44 45 56 +f 43 47 57 +f 52 43 57 +f 49 52 57 +f 43 46 58 +f 47 43 58 +f 46 51 58 +f 51 47 58 +f 45 55 59 +f 55 50 59 +f 56 45 59 +f 46 50 60 +f 54 46 60 +f 55 54 60 +f 50 55 60 +f 51 42 61 +f 42 53 61 +f 53 51 61 +f 46 39 62 +f 50 46 62 +f 39 56 62 +f 59 50 62 +f 56 59 62 +f 39 43 63 +f 43 44 63 +f 44 39 63 +f 47 40 64 +f 40 49 64 +f 57 47 64 +o convex_2 +v -2.157814 -2.047111 -1.021613 +v -2.465933 3.846799 1.058876 +v -2.003565 3.846799 1.020016 +v -0.848023 -2.201220 0.942930 +v -0.848023 3.769445 -1.060050 +v -2.774241 3.807223 -1.021613 +v -2.735585 -2.162842 0.981579 +v -0.848023 -2.279173 -0.944526 +v -0.848023 3.769445 0.943141 +v -2.658460 -2.201819 -1.021613 +v -2.697117 2.806416 1.058876 +v -0.848023 1.265328 -1.098699 +v -2.774241 -0.506023 0.403536 +v -1.156143 -2.279173 0.866054 +v -2.696928 3.846799 0.788968 +v -0.924959 1.881163 0.981790 +v -2.697117 -1.777870 1.020016 +v -2.774241 2.883170 -1.021613 +v -2.774241 3.807223 -0.597532 +v -2.003565 3.152411 -1.060050 +v -0.848023 -2.047111 -0.982964 +v -2.658460 3.846799 -0.366484 +v -1.618510 -2.086088 0.981579 +v -2.697117 -2.201819 -0.366484 +v -1.002083 3.730468 0.981790 +v -2.735585 0.148789 1.020016 +v -1.002083 2.073649 -1.098699 +v -2.157814 -2.240197 -0.713267 +v -2.658460 3.846799 1.058876 +v -2.427465 3.615336 1.058876 +v -1.811038 3.769445 -1.060050 +v -0.848023 -2.279173 0.866054 +v -2.735585 -2.124465 0.326661 +v -1.887973 -0.660732 -1.060050 +v -2.042222 3.846799 0.365098 +v -0.848023 2.536575 -1.098699 +v -1.965097 3.807822 -1.021401 +v -1.310391 3.807822 0.981579 +v -1.271734 -2.279173 -0.173662 +v -2.697117 -0.775864 -0.982753 +v -2.774241 -0.351915 0.442396 +v -2.003565 2.151003 -1.060050 +v -1.079018 -2.239597 -0.982964 +v -2.273406 -2.201819 0.943141 +v -2.619993 2.767438 1.058876 +v -2.735585 -1.777870 1.020016 +f 81 109 110 +f 69 68 72 +f 68 69 73 +f 69 72 76 +f 66 67 79 +f 68 73 80 +f 77 70 82 +f 70 77 83 +f 79 70 83 +f 75 79 83 +f 82 70 84 +f 65 76 85 +f 76 72 85 +f 79 67 86 +f 70 79 86 +f 71 68 87 +f 68 80 87 +f 81 71 87 +f 80 73 89 +f 74 72 92 +f 78 88 92 +f 88 74 92 +f 75 66 93 +f 66 79 93 +f 79 75 93 +f 66 75 94 +f 87 80 94 +f 89 66 94 +f 80 89 94 +f 84 70 95 +f 91 84 95 +f 72 68 96 +f 78 72 96 +f 71 77 97 +f 77 82 97 +f 88 71 97 +f 65 74 98 +f 76 65 98 +f 91 76 98 +f 86 67 99 +f 69 76 100 +f 76 91 100 +f 95 69 100 +f 91 95 100 +f 70 86 101 +f 69 95 101 +f 95 70 101 +f 99 69 101 +f 86 99 101 +f 67 66 102 +f 73 69 102 +f 66 89 102 +f 89 73 102 +f 99 67 102 +f 69 99 102 +f 72 78 103 +f 92 72 103 +f 78 92 103 +f 82 74 104 +f 74 88 104 +f 97 82 104 +f 88 97 104 +f 77 71 105 +f 83 77 105 +f 75 83 105 +f 90 75 105 +f 74 82 106 +f 82 84 106 +f 84 91 106 +f 98 74 106 +f 91 98 106 +f 74 65 107 +f 72 74 107 +f 65 85 107 +f 85 72 107 +f 68 71 108 +f 71 88 108 +f 88 78 108 +f 96 68 108 +f 78 96 108 +f 81 87 109 +f 94 75 109 +f 87 94 109 +f 71 81 110 +f 75 90 110 +f 105 71 110 +f 90 105 110 +f 109 75 110 +o convex_3 +v -0.732231 3.769742 -1.021537 +v -0.578138 -3.818941 1.020348 +v -0.616681 -3.818941 1.020348 +v -0.578138 -4.244108 -0.982956 +v -0.847808 -2.279083 -0.944583 +v -0.847808 3.769742 0.942979 +v -0.578138 3.730520 -0.906002 +v -0.809291 -4.244108 1.020348 +v -0.578138 1.727058 0.942979 +v -0.847808 3.769742 -1.060118 +v -0.770748 -4.244108 -0.982956 +v -0.655224 3.769742 0.942979 +v -0.847808 -2.200639 0.942979 +v -0.578138 1.650183 -1.098699 +v -0.578138 -4.244108 1.020348 +v -0.847808 1.303460 -1.098699 +v -0.616681 3.383797 -1.098699 +v -0.616681 3.729736 0.365095 +v -0.578138 3.730520 -1.060118 +v -0.847808 2.690351 -1.098699 +v -0.809291 -4.244108 0.866024 +f 115 121 131 +f 113 112 116 +f 112 114 117 +f 112 113 118 +f 113 116 118 +f 112 117 119 +f 115 116 120 +f 116 111 120 +f 114 118 121 +f 116 112 122 +f 111 116 122 +f 112 119 122 +f 116 115 123 +f 115 118 123 +f 118 116 123 +f 117 114 124 +f 114 112 125 +f 112 118 125 +f 118 114 125 +f 115 120 126 +f 114 121 126 +f 121 115 126 +f 124 114 126 +f 124 126 127 +f 119 117 128 +f 117 122 128 +f 122 119 128 +f 120 111 129 +f 111 122 129 +f 122 117 129 +f 117 124 129 +f 124 127 129 +f 127 120 129 +f 126 120 130 +f 127 126 130 +f 120 127 130 +f 118 115 131 +f 121 118 131 +o convex_4 +v 2.311523 -2.240212 -0.096832 +v 1.887854 0.147861 0.596312 +v 1.733659 0.147861 0.596312 +v 2.812232 0.148099 -0.559192 +v 1.733659 -1.932081 -0.559079 +v 2.735192 -2.240212 0.519271 +v 1.772236 -2.278936 0.596312 +v 1.810700 0.147861 -0.482038 +v 2.773655 -2.163239 -0.559079 +v 2.773655 0.147861 0.442230 +v 2.889273 -0.160270 -0.443687 +v 1.733659 -2.240212 -0.520615 +v 2.773655 -0.198994 0.480807 +v 1.733659 0.109137 0.172642 +v 1.733659 -2.240212 0.134065 +v 2.889273 0.148099 -0.328069 +v 1.964782 -2.278936 0.596312 +v 2.773655 -2.201725 -0.366533 +v 1.772236 -0.198994 -0.482038 +v 2.889273 -0.275967 -0.559192 +v 1.733659 -1.123149 0.596312 +v 1.964782 -0.160507 0.596312 +v 2.773655 -0.969440 0.480807 +v 2.196018 -2.278936 0.519271 +v 1.733659 -1.354306 -0.520615 +v 2.735192 0.147861 -0.559079 +v 1.733659 -2.201725 -0.559079 +v 2.735192 0.109137 0.480807 +v 2.735192 -1.932081 0.519271 +f 144 159 160 +f 133 134 138 +f 134 135 139 +f 134 136 143 +f 136 134 145 +f 134 139 145 +f 134 143 146 +f 143 138 146 +f 134 133 147 +f 135 134 147 +f 133 141 147 +f 137 142 147 +f 141 144 147 +f 133 138 148 +f 132 143 149 +f 143 140 149 +f 139 136 150 +f 145 139 150 +f 142 137 151 +f 135 147 151 +f 147 142 151 +f 137 149 151 +f 149 140 151 +f 138 134 152 +f 134 146 152 +f 146 138 152 +f 133 148 153 +f 148 137 153 +f 144 137 154 +f 137 147 154 +f 147 144 154 +f 143 132 155 +f 138 143 155 +f 137 148 155 +f 148 138 155 +f 132 149 155 +f 149 137 155 +f 136 145 156 +f 150 136 156 +f 145 150 156 +f 135 136 157 +f 139 135 157 +f 136 139 157 +f 136 135 158 +f 143 136 158 +f 140 143 158 +f 135 151 158 +f 151 140 158 +f 141 133 159 +f 144 141 159 +f 133 153 159 +f 159 153 160 +f 137 144 160 +f 153 137 160 +o convex_5 +v 1.849375 0.148099 -0.482091 +v 2.927680 1.380999 0.442332 +v 3.390063 1.303882 0.442332 +v 1.733878 0.148099 0.596539 +v 1.387189 1.265264 -0.559253 +v 3.390063 0.225215 -0.597833 +v 1.387189 1.342380 0.557958 +v 3.274370 1.265264 -0.559253 +v 3.274370 0.302211 0.442332 +v 1.387189 0.225215 -0.482091 +v 1.387189 0.186717 0.519377 +v 1.772312 1.380999 -0.520555 +v 2.773553 0.148099 0.442332 +v 2.850617 1.380999 -0.520555 +v 2.735119 0.148099 -0.559253 +v 1.926439 0.379328 0.596539 +v 3.313000 1.034034 -0.597833 +v 1.810942 1.380999 0.480913 +v 3.390063 1.303882 0.172616 +v 3.390063 1.072774 0.442332 +v 1.387189 1.072774 -0.559253 +v 3.197306 0.225215 -0.597833 +v 1.387189 0.186717 -0.173794 +v 1.502687 1.342380 0.557958 +v 3.274370 1.342380 0.172616 +v 1.387189 1.342380 0.134152 +v 3.390063 0.225215 -0.520555 +v 2.889247 0.148099 -0.559253 +v 1.887809 0.148099 0.596539 +f 169 176 189 +f 167 165 170 +f 167 170 171 +f 164 167 171 +f 168 165 172 +f 164 161 173 +f 172 162 174 +f 168 172 174 +f 161 170 175 +f 173 161 175 +f 167 164 176 +f 165 168 177 +f 162 172 178 +f 172 167 178 +f 163 166 179 +f 166 177 179 +f 177 168 179 +f 166 163 180 +f 163 176 180 +f 176 169 180 +f 170 165 181 +f 166 175 182 +f 175 170 182 +f 177 166 182 +f 165 177 182 +f 181 165 182 +f 170 181 182 +f 161 164 183 +f 170 161 183 +f 171 170 183 +f 164 171 183 +f 163 162 184 +f 176 163 184 +f 167 176 184 +f 162 178 184 +f 178 167 184 +f 162 163 185 +f 174 162 185 +f 168 174 185 +f 163 179 185 +f 179 168 185 +f 165 167 186 +f 167 172 186 +f 172 165 186 +f 169 173 187 +f 166 180 187 +f 180 169 187 +f 175 166 188 +f 173 175 188 +f 166 187 188 +f 187 173 188 +f 164 173 189 +f 173 169 189 +f 176 164 189 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/462/462.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/462/462.urdf new file mode 100644 index 000000000..0885f1177 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/462/462.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/463/463.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/463/463.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/463/463.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/463/463.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/463/463.obj new file mode 100644 index 000000000..ee969553c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/463/463.obj @@ -0,0 +1,426 @@ +o convex_0 +v 0.662483 -2.084397 -1.337198 +v -1.116369 3.126807 -1.305789 +v -1.116369 3.126807 -1.274591 +v 1.005846 3.657303 0.285736 +v -0.928962 -2.302765 0.816315 +v 1.099550 -2.459434 0.753708 +v -0.928962 3.657303 0.784906 +v 0.974611 3.657303 -1.212195 +v -1.022666 -2.334220 -1.337198 +v 1.005846 3.657303 0.816315 +v 1.099550 -2.459434 -1.274591 +v -1.116369 3.720213 -1.305789 +v -0.960196 -2.302765 0.691312 +v 0.537544 -1.865424 0.816315 +v -0.866710 2.221878 -1.337198 +v 1.005846 2.564856 -1.243393 +v -0.960196 3.657303 0.660114 +v 1.099550 -1.429291 0.753708 +v -0.024027 3.657303 0.816315 +v -0.554581 3.657303 -1.305789 +v -0.804240 -2.365675 -1.243393 +v 0.506527 -0.804431 -1.337198 +v 0.849673 -2.459434 0.753708 +v -0.991431 -2.334220 -0.151248 +v -1.116369 3.720213 -1.180997 +v 0.787204 -2.459434 -1.305789 +v 0.475292 3.688758 -1.243393 +v 1.037080 2.190423 0.816315 +v -0.928962 0.069043 0.816315 +v -1.053900 -0.991950 -1.337198 +v 0.724952 3.657303 -1.243393 +v 1.037080 -2.365070 -1.305789 +v -0.804240 -2.334220 0.816315 +v 1.099550 -2.334220 -1.243393 +v 1.068315 -1.304077 0.784906 +v -1.085135 1.628473 -1.337198 +v 0.662483 -2.427375 0.784906 +v 0.724952 -1.990638 -1.337198 +v -1.022666 -2.334220 -1.025006 +v 0.069460 3.688758 -0.120050 +v 1.005846 2.690070 -1.180997 +v -0.960196 -2.334220 0.191931 +f 23 33 42 +f 2 3 12 +f 10 5 14 +f 1 9 15 +f 6 11 18 +f 5 10 19 +f 15 12 20 +f 1 15 22 +f 15 20 22 +f 11 6 23 +f 13 3 24 +f 12 3 25 +f 3 13 25 +f 17 7 25 +f 13 17 25 +f 9 1 26 +f 21 9 26 +f 11 23 26 +f 23 21 26 +f 4 8 27 +f 10 4 27 +f 20 12 27 +f 12 25 27 +f 4 10 28 +f 10 14 28 +f 6 18 28 +f 13 5 29 +f 7 17 29 +f 17 13 29 +f 5 19 29 +f 19 7 29 +f 3 2 30 +f 15 9 30 +f 8 16 31 +f 16 22 31 +f 22 20 31 +f 27 8 31 +f 20 27 31 +f 16 11 32 +f 26 1 32 +f 11 26 32 +f 5 13 33 +f 14 5 33 +f 11 16 34 +f 18 11 34 +f 4 28 34 +f 28 18 34 +f 14 6 35 +f 6 28 35 +f 28 14 35 +f 2 12 36 +f 12 15 36 +f 30 2 36 +f 15 30 36 +f 6 14 37 +f 23 6 37 +f 14 33 37 +f 33 23 37 +f 1 22 38 +f 22 16 38 +f 16 32 38 +f 32 1 38 +f 9 21 39 +f 21 24 39 +f 24 3 39 +f 3 30 39 +f 30 9 39 +f 7 19 40 +f 19 10 40 +f 25 7 40 +f 10 27 40 +f 27 25 40 +f 8 4 41 +f 16 8 41 +f 4 34 41 +f 34 16 41 +f 21 23 42 +f 24 21 42 +f 13 24 42 +f 33 13 42 +o convex_1 +v 1.412066 -1.054969 1.971009 +v 0.568974 -1.585545 1.440580 +v 0.568974 -1.179874 1.440580 +v 3.097011 -1.554279 1.534257 +v 0.568974 -1.554279 1.971009 +v 2.909685 -1.054969 1.471806 +v 3.065584 -1.554279 2.002235 +v 2.940865 -1.086234 2.033519 +v 0.568974 -1.054969 1.939784 +v 3.097011 -1.585545 1.721495 +v 0.568974 -1.585545 1.814997 +v 1.349458 -1.398264 2.002235 +v 1.661504 -1.117448 1.440580 +v 0.881267 -1.054969 1.971009 +v 0.568974 -1.054969 1.877391 +v 3.034404 -1.585545 1.534257 +v 2.940865 -1.054969 1.565425 +v 2.909685 -1.117448 1.471806 +v 2.066593 -1.554279 2.002235 +v 3.097011 -1.491853 1.596650 +f 59 50 62 +f 45 44 47 +f 45 47 51 +f 43 48 51 +f 47 44 53 +f 44 52 53 +f 52 49 53 +f 44 45 55 +f 50 43 56 +f 51 47 56 +f 43 51 56 +f 47 54 56 +f 54 50 56 +f 45 51 57 +f 51 48 57 +f 55 45 57 +f 48 55 57 +f 52 44 58 +f 46 52 58 +f 48 43 59 +f 43 50 59 +f 48 46 60 +f 44 55 60 +f 55 48 60 +f 58 44 60 +f 46 58 60 +f 49 50 61 +f 47 53 61 +f 53 49 61 +f 54 47 61 +f 50 54 61 +f 46 48 62 +f 50 49 62 +f 52 46 62 +f 49 52 62 +f 48 59 62 +o convex_2 +v -0.367251 -0.774076 -2.741651 +v 0.287888 -1.897648 -3.272239 +v 0.475331 -1.897648 -3.272239 +v -0.429696 -1.897648 -1.992615 +v 0.506553 -0.805311 -1.992615 +v 0.506553 -1.866413 -1.992615 +v 0.506553 -0.805311 -3.178547 +v -0.585809 -0.805311 -3.240800 +v -0.492141 -0.836655 -1.992615 +v -0.429696 -1.803944 -3.178547 +v 0.131882 -0.774076 -3.209736 +v -0.523364 -0.805311 -2.148685 +v 0.506553 -1.897648 -2.679023 +v -0.336028 -1.835069 -3.209736 +v -0.429696 -1.897648 -2.335944 +v -0.585809 -0.774076 -3.240800 +v 0.475331 -1.710349 -3.272239 +v 0.506553 -1.897648 -2.086307 +v 0.319111 -0.774076 -3.147358 +v -0.460919 -1.647880 -3.209736 +v 0.506553 -1.335862 -3.209736 +v -0.429696 -0.805311 -1.992615 +f 74 71 84 +f 64 65 66 +f 67 66 68 +f 67 68 69 +f 66 67 71 +f 70 66 74 +f 66 71 74 +f 66 65 75 +f 69 68 75 +f 72 76 77 +f 64 66 77 +f 66 70 77 +f 76 64 77 +f 64 70 78 +f 63 73 78 +f 74 63 78 +f 70 74 78 +f 65 64 79 +f 73 69 79 +f 64 78 79 +f 78 73 79 +f 68 66 80 +f 66 75 80 +f 75 68 80 +f 63 67 81 +f 67 69 81 +f 73 63 81 +f 69 73 81 +f 70 64 82 +f 64 76 82 +f 76 72 82 +f 72 77 82 +f 77 70 82 +f 75 65 83 +f 69 75 83 +f 65 79 83 +f 79 69 83 +f 67 63 84 +f 71 67 84 +f 63 74 84 +o convex_3 +v 0.537763 -1.429316 -1.337198 +v -0.523388 -2.022490 -1.368503 +v -0.523388 -2.022490 -1.337198 +v -0.492123 -0.836619 -1.992551 +v 0.506394 -1.866303 -1.992551 +v 0.506394 -0.805405 -1.337198 +v -0.460961 -0.836619 -1.337198 +v 0.506394 -0.805405 -1.992551 +v -0.429696 -1.897517 -1.992551 +v 0.537763 -1.866303 -1.337198 +v -0.429696 -0.805405 -1.961310 +v 0.537763 -1.866303 -1.930133 +v -0.398534 -1.928730 -1.961310 +v -0.492123 -0.836619 -1.618174 +v -0.429696 -2.022490 -1.368503 +v 0.007188 -0.805405 -1.337198 +f 90 95 100 +f 86 87 88 +f 87 85 90 +f 87 90 91 +f 89 88 92 +f 90 85 92 +f 86 88 93 +f 88 89 93 +f 85 87 94 +f 92 88 95 +f 90 92 95 +f 92 85 96 +f 89 92 96 +f 85 94 96 +f 86 93 97 +f 93 89 97 +f 88 87 98 +f 87 91 98 +f 95 88 98 +f 91 95 98 +f 87 86 99 +f 94 87 99 +f 89 96 99 +f 96 94 99 +f 86 97 99 +f 97 89 99 +f 91 90 100 +f 95 91 100 +o convex_4 +v -3.019904 -1.585484 1.596626 +v -0.554598 -0.992612 2.064677 +v -0.554598 -0.992612 2.002256 +v -0.554598 -1.585484 1.939836 +v -0.554598 -1.148689 1.534153 +v -2.957526 -1.023853 1.971046 +v -3.082282 -1.616660 1.971046 +v -3.113846 -1.055030 1.565416 +v -0.554598 -1.554243 1.565416 +v -2.988840 -1.647965 1.565416 +v -0.835675 -1.117448 2.064677 +v -2.052420 -1.616660 1.971046 +v -1.678403 -0.992612 2.033467 +v -2.583008 -1.055030 1.565416 +v -3.051218 -1.023853 1.690257 +v -0.554598 -1.585484 1.721467 +v -2.551944 -1.491825 2.002256 +v -0.835675 -1.273524 1.534153 +v -0.554598 -1.523066 1.971046 +f 112 104 119 +f 103 102 104 +f 103 104 105 +f 101 107 108 +f 107 106 108 +f 105 104 109 +f 107 101 110 +f 101 108 110 +f 107 110 112 +f 110 104 112 +f 102 103 113 +f 111 102 113 +f 103 105 114 +f 105 108 114 +f 114 108 115 +f 108 106 115 +f 113 103 115 +f 106 113 115 +f 103 114 115 +f 109 104 116 +f 110 109 116 +f 104 110 116 +f 106 107 117 +f 107 112 117 +f 112 111 117 +f 113 106 117 +f 111 113 117 +f 108 105 118 +f 105 109 118 +f 109 110 118 +f 110 108 118 +f 104 102 119 +f 102 111 119 +f 111 112 119 +o convex_5 +v -0.554598 -0.992588 2.064503 +v 0.444131 -1.960069 2.376600 +v 0.506490 -1.960069 2.376600 +v 0.350428 -1.866248 0.816517 +v 0.475255 -0.805286 1.565510 +v -0.523254 -1.803965 0.816517 +v -0.492020 -1.928758 2.719948 +v 0.475255 -0.805286 2.719948 +v -0.336068 -0.899107 0.816517 +v -0.460895 -0.930192 2.750996 +v 0.506490 -1.960069 2.876198 +v 0.444131 -0.805286 0.816517 +v 0.537724 -1.866248 0.816517 +v 0.568959 -1.023899 2.033253 +v -0.460895 -0.992588 0.816517 +v -0.554598 -1.647748 1.222364 +v 0.568959 -1.554154 1.970954 +v 0.568959 -1.180003 1.440711 +v 0.350428 -0.805286 2.719948 +v -0.367192 -1.023899 2.782246 +v -0.492020 -1.928758 2.532649 +v -0.554598 -1.585352 1.939704 +v 0.007180 -1.960069 2.813496 +v 0.506490 -0.836597 2.657447 +v 0.319194 -0.805286 0.816517 +v -0.554598 -1.148692 1.534462 +v -0.398427 -1.835163 0.972566 +v 0.506490 -1.647748 2.844746 +v -0.429551 -0.930192 0.816517 +f 128 134 148 +f 122 121 123 +f 123 125 128 +f 120 126 129 +f 121 122 130 +f 127 124 131 +f 123 128 131 +f 122 123 132 +f 130 122 132 +f 123 131 132 +f 131 124 133 +f 128 125 134 +f 125 126 135 +f 130 132 136 +f 133 130 136 +f 133 136 137 +f 132 131 137 +f 131 133 137 +f 136 132 137 +f 128 129 138 +f 127 131 138 +f 129 126 139 +f 127 138 139 +f 138 129 139 +f 123 121 140 +f 126 125 140 +f 126 120 141 +f 120 135 141 +f 135 126 141 +f 121 130 142 +f 139 126 142 +f 130 139 142 +f 140 121 142 +f 126 140 142 +f 124 127 143 +f 133 124 143 +f 131 128 144 +f 128 138 144 +f 138 131 144 +f 120 134 145 +f 134 125 145 +f 135 120 145 +f 125 135 145 +f 125 123 146 +f 123 140 146 +f 140 125 146 +f 130 133 147 +f 139 130 147 +f 127 139 147 +f 143 127 147 +f 133 143 147 +f 129 128 148 +f 120 129 148 +f 134 120 148 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/463/463.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/463/463.urdf new file mode 100644 index 000000000..ef5ab18b6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/463/463.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/464/464.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/464/464.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/464/464.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/464/464.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/464/464.obj new file mode 100644 index 000000000..7c0066278 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/464/464.obj @@ -0,0 +1,525 @@ +o convex_0 +v -0.466413 -3.647284 -0.025892 +v 0.949733 0.822086 1.484862 +v 0.981199 0.381099 1.201250 +v -1.064464 0.822086 -0.561013 +v 1.075807 0.821649 -0.592478 +v -1.032999 -3.616222 1.358789 +v 0.981199 -3.521725 1.390254 +v -1.064464 0.822086 1.453184 +v 1.012664 -3.553224 -0.498083 +v -1.064464 -3.553224 -0.687087 +v -0.592486 0.822086 -0.687087 +v 0.760942 -3.553224 1.421719 +v -1.096142 0.790150 1.232928 +v 1.075807 -0.153948 -0.592478 +v 1.075807 0.821649 -0.151753 +v 1.044129 -2.702749 -0.529548 +v -1.064464 0.318101 1.453184 +v -0.025900 -3.647284 0.226042 +v 0.949733 -2.199638 1.453184 +v -0.970068 -3.553224 -0.687087 +v -1.096142 0.822086 0.666342 +v 0.886803 -3.553224 -0.529548 +v 0.540473 -3.553224 1.421719 +v -1.064464 -1.695653 1.390254 +v 0.918268 0.003110 1.484862 +v 0.855338 -3.584285 -0.372009 +v -1.001534 -3.584285 -0.623944 +v -1.032999 -2.639750 1.390254 +v -0.403482 -3.647284 0.729060 +v 1.012664 -3.553224 0.257507 +v -0.561021 0.538157 -0.687087 +v -1.032999 0.381099 -0.592478 +v 1.044129 -0.028389 0.383155 +v 0.981199 -3.553224 0.855133 +v -0.623951 -3.616222 1.358789 +v -1.032999 -3.616222 0.666342 +v -1.064464 -3.521287 -0.529335 +v 1.044129 -1.695653 -0.561013 +v 1.075807 -0.091387 -0.498083 +v -1.096142 0.349600 0.792203 +v 0.981199 -2.986240 1.390254 +v -0.623951 0.727152 -0.687087 +v -0.403482 -3.584285 1.390254 +v -1.064464 -3.395291 -0.687087 +v 0.949733 -3.521725 1.421719 +v 0.981199 0.822086 1.169998 +f 33 15 46 +f 2 4 8 +f 4 2 11 +f 14 5 15 +f 8 13 17 +f 7 2 19 +f 10 11 20 +f 8 4 21 +f 13 8 21 +f 16 9 22 +f 6 12 23 +f 12 19 23 +f 19 17 23 +f 17 13 24 +f 2 8 25 +f 8 17 25 +f 19 2 25 +f 17 19 25 +f 18 1 26 +f 22 9 26 +f 22 26 27 +f 10 20 27 +f 20 22 27 +f 26 1 27 +f 23 17 28 +f 24 6 28 +f 17 24 28 +f 6 1 29 +f 1 18 29 +f 18 12 29 +f 9 16 30 +f 26 9 30 +f 11 5 31 +f 5 14 31 +f 20 11 31 +f 14 20 31 +f 7 15 33 +f 7 12 34 +f 12 18 34 +f 18 26 34 +f 30 7 34 +f 26 30 34 +f 12 6 35 +f 6 29 35 +f 29 12 35 +f 1 6 36 +f 6 10 36 +f 27 1 36 +f 10 27 36 +f 10 6 37 +f 6 24 37 +f 14 16 38 +f 20 14 38 +f 16 22 38 +f 22 20 38 +f 15 7 39 +f 14 15 39 +f 16 14 39 +f 7 30 39 +f 30 16 39 +f 21 10 40 +f 13 21 40 +f 24 13 40 +f 10 37 40 +f 37 24 40 +f 3 2 41 +f 2 7 41 +f 33 3 41 +f 7 33 41 +f 4 11 42 +f 11 10 42 +f 32 4 42 +f 6 23 43 +f 28 6 43 +f 23 28 43 +f 21 4 44 +f 10 21 44 +f 4 32 44 +f 42 10 44 +f 32 42 44 +f 12 7 45 +f 7 19 45 +f 19 12 45 +f 2 3 46 +f 11 2 46 +f 5 11 46 +f 15 5 46 +f 3 33 46 +o convex_1 +v -0.592502 0.885091 -4.684731 +v 0.540689 1.860770 -4.149305 +v 0.540689 1.797766 -4.149305 +v -0.592502 1.860770 -2.764978 +v 0.477685 0.885201 -2.764978 +v -0.592502 0.822086 -2.764978 +v -0.497995 1.923774 -4.527054 +v 0.509187 0.916593 -4.621585 +v 0.446182 1.955277 -2.764978 +v 0.477685 1.860770 -4.684731 +v 0.509187 0.885201 -4.180878 +v -0.592502 1.892161 -3.142539 +v 0.540689 1.199890 -4.652970 +v 0.477685 1.955277 -3.016623 +v -0.592502 1.136997 -4.652970 +v 0.162774 1.955277 -2.764978 +v 0.036987 0.885091 -4.652970 +v -0.246089 1.923774 -4.558627 +v 0.540689 1.577473 -4.684731 +v 0.509187 0.885201 -3.520288 +v -0.529386 0.822086 -2.922279 +v -0.529386 1.923774 -3.866087 +v -0.592502 1.892161 -2.796363 +v 0.477685 1.955277 -3.174112 +v 0.477685 1.451575 -2.764978 +v 0.540689 1.860770 -4.558627 +v 0.383178 1.829268 -4.684731 +f 47 61 73 +f 49 48 51 +f 50 47 52 +f 51 50 52 +f 50 51 55 +f 47 50 58 +f 48 49 59 +f 57 54 59 +f 47 58 61 +f 58 53 61 +f 50 55 62 +f 55 60 62 +f 54 57 63 +f 59 54 63 +f 56 53 64 +f 47 56 65 +f 48 59 65 +f 63 47 65 +f 59 63 65 +f 49 51 66 +f 59 49 66 +f 57 59 66 +f 52 47 67 +f 51 52 67 +f 47 63 67 +f 63 57 67 +f 66 51 67 +f 57 66 67 +f 53 58 68 +f 62 53 68 +f 62 68 69 +f 58 50 69 +f 50 62 69 +f 68 58 69 +f 60 48 70 +f 53 62 70 +f 62 60 70 +f 64 53 70 +f 56 64 70 +f 51 48 71 +f 55 51 71 +f 48 60 71 +f 60 55 71 +f 65 56 72 +f 48 65 72 +f 70 48 72 +f 56 70 72 +f 53 56 73 +f 56 47 73 +f 61 53 73 +o convex_2 +v 0.351809 1.955246 -1.128172 +v -0.592391 0.822203 -2.764602 +v -0.497912 0.822203 -2.764602 +v -0.309072 0.916682 -0.687087 +v -0.529405 2.018232 -0.687087 +v 0.572142 0.948058 -0.687087 +v 0.446171 1.955246 -2.764602 +v -0.592391 1.860650 -2.764602 +v 0.477663 0.885072 -2.764602 +v 0.509156 1.892260 -0.687087 +v -0.560898 0.979668 -0.687087 +v -0.623883 1.860650 -2.449803 +v 0.446171 1.986739 -2.701358 +v 0.540649 0.916565 -0.844486 +v -0.592391 1.042536 -1.064928 +v 0.572142 1.074029 -0.813169 +v -0.592391 1.892143 -2.575682 +v -0.560898 1.671810 -0.687087 +v 0.477663 1.420217 -2.764602 +v -0.309072 2.018232 -0.750128 +v -0.560898 0.822203 -2.512437 +v 0.477663 0.885072 -1.725845 +v 0.509156 1.923753 -1.033407 +v -0.623883 1.608941 -2.575682 +v -0.246204 2.018232 -1.222327 +v 0.477663 1.923753 -0.687087 +v 0.446171 1.986739 -2.355241 +v 0.383302 1.986739 -2.701358 +v 0.131359 0.916682 -0.687087 +v 0.509156 0.885072 -2.166320 +v -0.560898 0.948175 -0.876007 +v -0.560898 1.986622 -1.190807 +f 98 90 105 +f 78 77 79 +f 76 75 80 +f 80 75 81 +f 76 80 82 +f 78 79 83 +f 77 78 84 +f 83 79 89 +f 81 85 90 +f 84 78 91 +f 88 84 91 +f 85 88 91 +f 82 80 92 +f 80 89 92 +f 75 76 94 +f 87 94 95 +f 94 76 95 +f 80 86 96 +f 89 80 96 +f 83 89 96 +f 81 75 97 +f 85 81 97 +f 75 88 97 +f 88 85 97 +f 78 93 98 +f 78 83 99 +f 74 93 99 +f 93 78 99 +f 83 96 99 +f 99 96 100 +f 93 74 100 +f 96 86 100 +f 86 98 100 +f 98 93 100 +f 74 99 100 +f 80 81 101 +f 86 80 101 +f 81 90 101 +f 90 98 101 +f 98 86 101 +f 79 77 102 +f 87 79 102 +f 77 94 102 +f 94 87 102 +f 76 82 103 +f 79 87 103 +f 89 79 103 +f 82 92 103 +f 92 89 103 +f 87 95 103 +f 95 76 103 +f 77 84 104 +f 88 75 104 +f 84 88 104 +f 75 94 104 +f 94 77 104 +f 90 85 105 +f 91 78 105 +f 85 91 105 +f 78 98 105 +o convex_3 +v -0.844213 2.395789 -0.340698 +v 1.075758 1.451920 -0.120485 +v 1.075758 0.822086 -0.120485 +v -1.096142 2.364386 1.484850 +v -1.064465 0.822246 -0.561127 +v 0.949687 0.822086 1.484634 +v 0.949687 2.458917 1.484634 +v 1.075758 2.364225 -0.623891 +v -1.064465 0.822246 1.453360 +v 1.075758 0.822086 -0.592401 +v -1.064465 2.332982 -0.529637 +v -0.592498 0.822246 -0.687086 +v -0.403498 2.458917 0.005474 +v -0.529569 2.017985 -0.687086 +v -0.434963 0.948181 1.516339 +v 0.572113 0.948021 -0.687086 +v 0.792365 2.458917 1.516339 +v -1.096142 0.822246 0.666330 +v -0.434963 2.458917 0.886758 +v 1.075758 2.395950 -0.309208 +v 1.012616 2.301258 -0.655597 +v -1.096142 2.364386 0.445685 +v 0.477507 0.853650 1.516339 +v -0.025712 2.458917 -0.026016 +v -0.592498 1.892211 1.516339 +v -1.096142 0.979585 1.453360 +v -0.970071 2.395789 1.358890 +v 0.477507 1.923774 -0.687086 +v 0.949687 2.207047 1.516339 +v 0.697971 2.395950 -0.529422 +v -0.498104 2.364386 -0.561127 +v 0.981152 0.822086 1.169951 +v 1.075758 1.073956 -0.623891 +v 1.075758 2.395950 -0.183249 +v -1.096142 1.797680 1.484850 +v -0.970071 0.948181 -0.592617 +v 0.572113 2.364225 -0.623891 +v -1.033000 2.364386 -0.498147 +v 0.949687 2.458917 1.358675 +f 125 129 144 +f 107 108 113 +f 108 111 115 +f 111 110 115 +f 113 108 115 +f 115 110 117 +f 115 117 121 +f 117 119 121 +f 112 118 122 +f 110 111 123 +f 111 114 123 +f 122 118 124 +f 107 113 125 +f 116 110 127 +f 110 123 127 +f 123 109 127 +f 114 111 128 +f 120 114 128 +f 122 120 128 +f 118 112 129 +f 122 109 130 +f 120 122 130 +f 109 123 131 +f 123 114 131 +f 118 106 132 +f 109 122 132 +f 124 118 132 +f 122 124 132 +f 127 109 132 +f 121 119 133 +f 119 126 133 +f 126 121 133 +f 112 122 134 +f 128 111 134 +f 122 128 134 +f 106 118 135 +f 125 113 135 +f 118 129 135 +f 129 125 135 +f 119 116 136 +f 108 107 137 +f 111 108 137 +f 107 134 137 +f 134 111 137 +f 113 115 138 +f 115 121 138 +f 126 113 138 +f 121 126 138 +f 107 125 139 +f 125 112 139 +f 134 107 139 +f 112 134 139 +f 114 120 140 +f 130 109 140 +f 120 130 140 +f 109 131 140 +f 131 114 140 +f 110 116 141 +f 117 110 141 +f 116 119 141 +f 119 117 141 +f 113 126 142 +f 126 119 142 +f 135 113 142 +f 119 136 142 +f 136 135 142 +f 116 127 143 +f 132 106 143 +f 127 132 143 +f 106 135 143 +f 136 116 143 +f 135 136 143 +f 112 125 144 +f 129 112 144 +o convex_4 +v -0.340543 1.923645 1.579427 +v 0.603629 1.420214 3.436335 +v 0.603629 0.948172 3.436335 +v -0.529445 1.545989 3.404889 +v -0.434937 0.948172 1.516340 +v 0.477656 1.986643 1.516340 +v 0.477656 0.853675 1.516340 +v -0.466516 0.885174 3.373442 +v 0.572050 1.923645 3.373442 +v -0.561024 1.860647 2.806819 +v -0.561024 1.797760 1.516340 +v -0.497981 1.829259 3.436335 +v 0.068385 1.703373 3.499423 +v 0.603629 0.916673 2.995693 +v 0.509120 1.923645 1.579427 +v 0.477656 1.986643 2.083157 +v 0.036921 0.853675 2.240390 +v 0.603629 1.766261 3.404889 +v 0.509120 0.853675 1.642320 +v -0.561024 1.892146 1.516340 +v 0.225823 1.388826 3.499423 +v 0.383261 1.734762 3.499423 +v -0.309078 1.860647 3.373442 +v 0.225823 1.986643 1.579427 +v -0.340543 0.916673 1.705214 +v -0.277613 1.608876 3.467782 +v 0.320332 0.916673 3.404889 +v -0.561024 1.797760 2.995499 +v 0.572050 1.892146 3.436335 +v -0.466516 0.885174 3.184567 +v 0.288753 1.074057 3.467782 +v 0.603629 1.199943 2.995693 +v 0.288753 0.853675 1.547980 +v 0.572050 1.923645 2.838072 +v 0.509120 0.853675 1.799942 +v -0.309078 0.885174 3.373442 +f 161 179 180 +f 149 150 151 +f 150 149 155 +f 148 152 156 +f 146 147 158 +f 151 150 159 +f 153 150 160 +f 146 158 162 +f 151 159 163 +f 159 158 163 +f 161 151 163 +f 154 145 164 +f 150 155 164 +f 155 154 164 +f 157 165 166 +f 147 146 166 +f 156 157 166 +f 165 147 166 +f 156 153 167 +f 154 156 167 +f 153 160 167 +f 167 160 168 +f 145 154 168 +f 160 150 168 +f 164 145 168 +f 150 164 168 +f 154 167 168 +f 156 152 170 +f 157 156 170 +f 152 165 170 +f 165 157 170 +f 147 152 171 +f 158 147 171 +f 152 148 172 +f 155 152 172 +f 154 155 172 +f 148 156 172 +f 156 154 172 +f 153 156 173 +f 146 162 173 +f 162 153 173 +f 166 146 173 +f 156 166 173 +f 155 149 174 +f 152 155 174 +f 161 152 174 +f 149 169 174 +f 169 161 174 +f 152 147 175 +f 147 165 175 +f 165 152 175 +f 158 159 176 +f 162 158 176 +f 149 151 177 +f 151 161 177 +f 169 149 177 +f 161 169 177 +f 150 153 178 +f 159 150 178 +f 153 162 178 +f 176 159 178 +f 162 176 178 +f 163 158 179 +f 161 163 179 +f 158 171 179 +f 179 171 180 +f 152 161 180 +f 171 152 180 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/464/464.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/464/464.urdf new file mode 100644 index 000000000..0d4192c21 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/464/464.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/465/465.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/465/465.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/465/465.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/465/465.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/465/465.obj new file mode 100644 index 000000000..c4762fc0d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/465/465.obj @@ -0,0 +1,639 @@ +o convex_0 +v 0.021320 -0.753190 -1.812783 +v 0.021320 0.389939 0.721367 +v -0.060393 0.389939 0.721367 +v 0.021320 2.896721 -0.777145 +v 1.029506 0.009668 -0.505027 +v -0.768768 -2.197295 -0.450454 +v 0.729695 -2.034073 0.121565 +v -0.741531 2.134442 -0.559351 +v 0.702457 1.998424 0.285282 +v 0.729695 -1.979666 -1.349413 +v 0.675220 1.916234 -1.294840 +v -0.632580 1.861827 -1.349413 +v -0.659818 1.997845 0.203424 +v -0.714293 -1.870273 0.230710 +v -0.687055 -1.951884 -1.294840 +v 0.048557 -2.933528 -0.505027 +v -0.986866 0.090700 -0.640962 +v -0.005918 2.651888 0.257996 +v -0.005918 -2.633710 0.203424 +v 0.266458 0.499333 -1.812783 +v 0.947596 -0.044739 0.257996 +v -0.005918 -2.606506 -1.322127 +v -0.904956 0.172311 0.203424 +v 0.920358 0.090700 -1.322127 +v -0.360007 0.063496 -1.812783 +v -0.033155 2.651888 -1.294840 +v 0.266458 -0.207961 0.721367 +v -0.877719 0.199514 -1.294840 +v 0.756933 2.216052 -0.532313 +v 0.811408 -2.197295 -0.532313 +v -0.251056 0.009668 0.721367 +v 0.402646 -0.071943 -1.812783 +v -0.005918 2.978910 -0.450454 +v 0.729695 -1.951884 0.230710 +v -0.714293 2.298242 -0.559351 +v -0.278294 0.472129 -1.812783 +v 0.538834 1.234987 0.503077 +v -0.441720 1.289973 0.476038 +v -0.659818 2.025627 -1.294840 +v -0.033155 -2.933528 -0.586390 +v -0.169344 -0.235743 0.721367 +v -0.251056 -0.562765 -1.812783 +v -0.904956 -0.126929 0.203424 +v 0.702457 -0.017536 0.476038 +v 0.348171 -0.589390 -1.812783 +v 0.756933 -1.897477 -1.349413 +v 0.048557 1.779637 0.476038 +v -0.768768 -2.170091 -0.668000 +v -0.877719 -0.154132 -1.294840 +v 0.348171 2.324867 -1.294840 +v -0.986866 0.036293 -0.396130 +v 0.048557 2.979489 -0.450454 +v 0.075795 -2.605927 -1.322127 +v 0.729695 -2.306109 -0.586390 +v -0.741531 -2.006870 0.039954 +v -0.632580 -0.044739 0.448752 +v 0.075795 2.651888 0.257996 +v -0.005918 -2.442127 0.257996 +v 0.920358 -0.126350 -1.322127 +v 0.293696 0.117325 0.721367 +v 0.566269 -1.325623 0.421218 +v -0.060393 0.608147 -1.812783 +v 1.029506 -0.017536 -0.559103 +v -0.714293 2.270459 -0.450702 +f 51 23 64 +f 16 7 19 +f 5 9 21 +f 20 1 25 +f 2 3 27 +f 12 25 28 +f 9 5 29 +f 24 11 29 +f 5 21 30 +f 27 3 31 +f 1 20 32 +f 20 11 32 +f 11 24 32 +f 19 7 34 +f 7 30 34 +f 30 21 34 +f 4 26 35 +f 33 4 35 +f 25 12 36 +f 20 25 36 +f 12 26 36 +f 18 13 38 +f 13 23 38 +f 31 3 38 +f 17 8 39 +f 26 12 39 +f 12 28 39 +f 28 17 39 +f 8 35 39 +f 35 26 39 +f 19 6 40 +f 16 19 40 +f 15 22 40 +f 31 14 41 +f 27 31 41 +f 1 22 42 +f 22 15 42 +f 25 1 42 +f 15 25 42 +f 21 9 44 +f 34 21 44 +f 9 37 44 +f 1 32 45 +f 45 32 46 +f 30 10 46 +f 10 45 46 +f 3 2 47 +f 2 37 47 +f 37 9 47 +f 38 3 47 +f 18 38 47 +f 40 6 48 +f 15 40 48 +f 25 15 49 +f 17 28 49 +f 28 25 49 +f 48 17 49 +f 15 48 49 +f 11 20 50 +f 20 26 50 +f 26 4 50 +f 4 29 50 +f 29 11 50 +f 8 17 51 +f 43 23 51 +f 48 6 51 +f 17 48 51 +f 9 29 52 +f 29 4 52 +f 4 33 52 +f 33 18 52 +f 22 1 53 +f 16 40 53 +f 40 22 53 +f 1 45 53 +f 45 10 53 +f 7 16 54 +f 10 30 54 +f 30 7 54 +f 53 10 54 +f 16 53 54 +f 19 14 55 +f 6 19 55 +f 14 43 55 +f 51 6 55 +f 43 51 55 +f 14 31 56 +f 38 23 56 +f 31 38 56 +f 43 14 56 +f 23 43 56 +f 47 9 57 +f 18 47 57 +f 9 52 57 +f 52 18 57 +f 14 19 58 +f 19 34 58 +f 41 14 58 +f 27 41 58 +f 32 24 59 +f 46 32 59 +f 2 27 60 +f 37 2 60 +f 27 44 60 +f 44 37 60 +f 44 27 61 +f 34 44 61 +f 58 34 61 +f 27 58 61 +f 26 20 62 +f 20 36 62 +f 36 26 62 +f 29 5 63 +f 24 29 63 +f 5 30 63 +f 30 46 63 +f 59 24 63 +f 46 59 63 +f 13 18 64 +f 23 13 64 +f 18 33 64 +f 35 8 64 +f 33 35 64 +f 8 51 64 +o convex_1 +v -0.387329 -0.399159 0.966660 +v 0.348296 0.117560 2.056564 +v 0.402741 0.063547 2.001938 +v -0.033103 3.061236 1.375440 +v 0.293756 -0.099090 0.721497 +v -0.332884 -2.087947 1.892948 +v 0.048515 -3.069773 1.456986 +v -0.387329 1.970785 1.811270 +v -0.414599 1.970785 1.021286 +v 0.402741 -2.060941 1.838453 +v 0.293756 2.079410 1.021286 +v 0.321026 2.025398 1.811140 +v -0.278344 -2.115553 1.075781 +v 0.348296 -2.006928 1.048468 +v 0.484455 0.008935 1.565977 +v -0.496314 -0.262928 1.484299 +v -0.251073 0.226185 0.721497 +v -0.305614 0.036541 2.056433 +v -0.060374 2.678948 1.811140 +v 0.048515 -2.688085 1.892948 +v -0.033103 2.733561 1.021286 +v -0.005929 -2.715091 1.075781 +v -0.360155 -2.306397 1.456986 +v -0.469140 0.281397 1.865635 +v 0.430011 0.117560 1.048468 +v -0.414599 2.324867 1.456986 +v -0.469140 -0.044478 1.048468 +v 0.321026 2.297860 1.375440 +v -0.033103 1.589098 1.974625 +v 0.048515 -1.734466 2.001938 +v 0.402741 -2.170166 1.457117 +v -0.169359 -0.262928 0.721497 +v 0.484455 0.035941 1.811270 +v 0.212041 0.335410 0.721497 +v 0.266485 0.690091 2.056433 +v -0.496314 0.444635 1.456986 +v -0.005929 -3.069773 1.511482 +v -0.251073 -1.161934 2.029120 +v 0.348296 -1.352778 1.974625 +v -0.142088 2.651942 1.021286 +v -0.332884 -1.924710 1.075781 +v -0.414599 -1.052709 1.892948 +v -0.305614 1.370647 1.947443 +v 0.375470 -2.361010 1.429935 +v -0.087644 3.061236 1.429673 +v -0.223899 0.390022 0.721497 +v 0.048515 -2.715091 1.075781 +v 0.103056 -0.344547 0.721497 +v 0.266485 -0.453172 2.056433 +v 0.348296 2.053004 1.402491 +v -0.005929 2.678948 1.811140 +v 0.457281 -0.017471 1.211954 +v -0.251073 0.417028 2.056433 +v -0.414599 2.134023 1.102964 +v -0.360155 2.107017 1.811270 +v 0.293756 1.262623 1.974625 +v -0.360155 -2.251785 1.620472 +v -0.005929 3.006623 1.456986 +v -0.251073 -0.017471 0.721497 +v 0.430011 -1.597634 1.838453 +v 0.075786 -2.986953 1.565977 +v 0.293756 0.145166 0.721497 +v 0.266485 -0.235321 0.721497 +v -0.196629 -0.698628 2.056433 +f 94 113 128 +f 68 75 85 +f 77 86 87 +f 78 69 89 +f 88 72 90 +f 73 81 91 +f 87 80 91 +f 75 68 92 +f 81 69 96 +f 86 77 96 +f 76 67 97 +f 69 81 98 +f 85 75 98 +f 80 88 100 +f 88 90 100 +f 73 91 100 +f 91 80 100 +f 84 70 101 +f 86 71 101 +f 87 86 101 +f 70 84 102 +f 84 94 102 +f 67 66 103 +f 84 74 103 +f 94 84 103 +f 68 85 104 +f 77 87 105 +f 91 65 105 +f 87 91 105 +f 88 80 106 +f 82 88 106 +f 102 82 106 +f 70 102 106 +f 72 88 107 +f 88 82 107 +f 93 83 107 +f 95 74 108 +f 78 95 108 +f 68 104 109 +f 81 73 110 +f 98 81 110 +f 85 98 110 +f 73 104 110 +f 104 85 110 +f 71 86 111 +f 108 71 111 +f 78 108 111 +f 96 69 112 +f 86 96 112 +f 111 86 112 +f 103 66 113 +f 94 103 113 +f 89 75 114 +f 75 92 114 +f 92 76 114 +f 76 97 114 +f 97 79 114 +f 83 93 115 +f 109 83 115 +f 78 89 116 +f 95 78 116 +f 79 95 116 +f 89 114 116 +f 114 79 116 +f 82 66 117 +f 66 99 117 +f 99 93 117 +f 107 82 117 +f 93 107 117 +f 73 100 118 +f 100 90 118 +f 104 73 118 +f 90 109 118 +f 109 104 118 +f 90 72 119 +f 72 107 119 +f 107 83 119 +f 83 109 119 +f 109 90 119 +f 66 67 120 +f 67 76 120 +f 99 66 120 +f 93 99 120 +f 76 115 120 +f 115 93 120 +f 80 87 121 +f 101 70 121 +f 87 101 121 +f 70 106 121 +f 106 80 121 +f 92 68 122 +f 76 92 122 +f 68 109 122 +f 115 76 122 +f 109 115 122 +f 65 91 123 +f 91 81 123 +f 81 96 123 +f 96 77 123 +f 105 65 123 +f 77 105 123 +f 74 95 124 +f 95 79 124 +f 97 67 124 +f 79 97 124 +f 67 103 124 +f 103 74 124 +f 74 84 125 +f 84 101 125 +f 101 71 125 +f 71 108 125 +f 108 74 125 +f 89 69 126 +f 75 89 126 +f 69 98 126 +f 98 75 126 +f 69 78 127 +f 78 111 127 +f 112 69 127 +f 111 112 127 +f 66 82 128 +f 82 102 128 +f 102 94 128 +f 113 66 128 +o convex_2 +v 0.266520 0.336247 2.165589 +v -0.305667 -0.072199 2.083890 +v -0.305667 -0.072199 2.247328 +v 0.075791 -0.562871 2.056564 +v 0.075791 -0.017754 2.465298 +v -0.033162 0.581583 2.056564 +v 0.293758 -0.344757 2.056564 +v -0.251130 -0.044977 2.437972 +v -0.223891 -0.453758 2.056564 +v 0.021314 0.200024 2.437972 +v -0.251130 0.390803 2.056564 +v 0.212044 -0.017754 2.410765 +v 0.266520 0.472582 2.056564 +v -0.087639 -0.208422 2.410765 +v 0.321058 0.063800 2.165589 +v -0.196653 0.145579 2.383519 +v 0.266520 -0.426424 2.083890 +v -0.005924 -0.208422 2.410765 +v -0.033162 0.581583 2.083890 +v -0.005924 -0.562871 2.083890 +v 0.239282 0.499804 2.083890 +v 0.157506 0.145579 2.410765 +v -0.060400 0.200024 2.437972 +v -0.278368 -0.017754 2.410765 +v -0.223891 -0.453758 2.083890 +v 0.321058 0.172801 2.056564 +f 141 143 154 +f 132 134 135 +f 131 130 137 +f 134 132 137 +f 130 131 139 +f 137 130 139 +f 134 137 139 +f 135 134 141 +f 133 136 142 +f 129 140 143 +f 140 135 143 +f 141 129 143 +f 132 135 145 +f 135 140 145 +f 140 133 146 +f 133 142 146 +f 132 145 146 +f 145 140 146 +f 134 139 147 +f 139 144 147 +f 137 132 148 +f 146 142 148 +f 132 146 148 +f 129 141 149 +f 141 134 149 +f 134 147 149 +f 147 138 149 +f 138 133 150 +f 133 140 150 +f 140 129 150 +f 129 149 150 +f 149 138 150 +f 136 133 151 +f 133 138 151 +f 138 147 151 +f 147 144 151 +f 139 131 152 +f 144 139 152 +f 136 151 152 +f 151 144 152 +f 131 137 153 +f 142 136 153 +f 137 148 153 +f 148 142 153 +f 152 131 153 +f 136 152 153 +f 135 141 154 +f 143 135 154 +o convex_3 +v -0.142174 0.227262 -2.548600 +v -0.005929 -0.317631 -2.739359 +v 0.021224 -0.317631 -2.739359 +v -0.033135 -0.017906 -3.529369 +v 0.266560 0.036594 -2.548600 +v -0.251159 -0.181296 -2.548600 +v 0.211988 -0.045129 -3.311346 +v -0.060395 0.172817 -3.311346 +v -0.251159 -0.045129 -3.175117 +v -0.033135 -0.263131 -3.284177 +v 0.239300 -0.235852 -2.548600 +v 0.184728 0.200096 -2.575865 +v -0.251159 0.145595 -2.603130 +v 0.130209 -0.235852 -3.175117 +v -0.196640 -0.263131 -2.548600 +v -0.196640 0.145595 -3.093419 +v -0.005929 0.172817 -3.311346 +v -0.005929 0.254596 -2.630395 +v -0.223899 -0.099629 -3.229647 +v -0.223899 0.009316 -3.284177 +v 0.021224 -0.072351 -3.529369 +v -0.278418 0.036594 -2.548600 +v -0.196640 -0.263131 -2.712094 +v 0.048483 -0.317631 -2.548600 +v 0.157468 0.118261 -3.066154 +v -0.087655 -0.072351 -3.474839 +v 0.266560 -0.045129 -2.739359 +v 0.211988 -0.099629 -3.256912 +v 0.048483 -0.263131 -3.256912 +f 182 168 183 +f 159 155 160 +f 157 156 164 +f 159 160 165 +f 155 159 166 +f 159 161 166 +f 165 157 168 +f 165 160 169 +f 155 162 170 +f 167 155 170 +f 161 158 171 +f 158 162 171 +f 166 171 172 +f 162 155 172 +f 155 166 172 +f 171 162 172 +f 160 163 173 +f 162 158 174 +f 163 167 174 +f 170 162 174 +f 167 170 174 +f 173 163 174 +f 158 161 175 +f 160 155 176 +f 163 160 176 +f 155 167 176 +f 167 163 176 +f 164 156 177 +f 156 169 177 +f 169 160 177 +f 160 173 177 +f 173 164 177 +f 156 157 178 +f 157 165 178 +f 169 156 178 +f 165 169 178 +f 166 161 179 +f 161 171 179 +f 171 166 179 +f 164 173 180 +f 174 158 180 +f 173 174 180 +f 158 175 180 +f 175 164 180 +f 161 159 181 +f 159 165 181 +f 181 165 182 +f 165 168 182 +f 175 161 182 +f 161 181 182 +f 175 182 183 +f 157 164 183 +f 168 157 183 +f 164 175 183 +o convex_4 +v 0.266523 0.309001 -2.112631 +v -0.360165 -0.099453 -1.867366 +v -0.360165 -0.099453 -1.812927 +v 0.293745 -0.535393 -1.840147 +v -0.223910 -0.262931 -2.548504 +v -0.060288 0.581583 -1.812927 +v 0.266523 0.036538 -2.548504 +v -0.223910 0.200016 -2.548504 +v -0.223910 -0.535393 -1.812927 +v 0.375556 0.063784 -1.812927 +v 0.048529 -0.344669 -2.521140 +v -0.305577 0.390739 -1.840147 +v 0.130267 0.227262 -2.548504 +v -0.005844 -0.644618 -1.812927 +v 0.239300 -0.235684 -2.548504 +v 0.239300 0.472478 -1.867366 +v -0.305577 -0.017954 -2.439410 +v 0.348261 -0.317423 -1.812927 +v -0.005844 0.445232 -2.167070 +v -0.278282 -0.453654 -1.840147 +v 0.293745 -0.044961 -2.466629 +v 0.075751 -0.644618 -1.840147 +v 0.266523 0.445232 -1.812927 +v -0.033066 0.281754 -2.521140 +v 0.321039 -0.508147 -1.812927 +v -0.278282 -0.126699 -2.521140 +v -0.060288 0.554217 -1.921877 +v -0.278282 0.336247 -2.112631 +v 0.212006 0.172769 -2.548504 +v -0.005844 -0.644618 -1.840147 +v 0.021306 0.581583 -1.840147 +v 0.239300 -0.262931 -2.521140 +v -0.360165 0.009292 -1.812927 +v -0.060288 -0.317423 -2.548504 +v -0.251132 -0.480901 -1.949097 +f 213 192 218 +f 190 188 191 +f 189 186 192 +f 189 192 193 +f 190 184 193 +f 190 191 196 +f 193 192 197 +f 188 190 198 +f 193 197 201 +f 186 185 203 +f 192 186 203 +f 190 193 204 +f 198 190 204 +f 193 201 204 +f 189 193 206 +f 193 184 206 +f 184 199 206 +f 196 191 207 +f 202 196 207 +f 201 197 208 +f 204 201 208 +f 205 187 208 +f 197 205 208 +f 191 188 209 +f 185 200 209 +f 200 191 209 +f 203 185 209 +f 195 189 210 +f 207 191 210 +f 202 207 210 +f 191 200 211 +f 200 195 211 +f 195 210 211 +f 210 191 211 +f 184 190 212 +f 190 196 212 +f 199 184 212 +f 196 199 212 +f 197 192 213 +f 194 205 213 +f 205 197 213 +f 199 196 214 +f 196 202 214 +f 189 206 214 +f 206 199 214 +f 210 189 214 +f 202 210 214 +f 194 198 215 +f 198 204 215 +f 187 205 215 +f 205 194 215 +f 208 187 215 +f 204 208 215 +f 185 186 216 +f 186 189 216 +f 189 195 216 +f 200 185 216 +f 195 200 216 +f 188 198 217 +f 198 194 217 +f 213 188 217 +f 194 213 217 +f 192 203 218 +f 209 188 218 +f 203 209 218 +f 188 213 218 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/465/465.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/465/465.urdf new file mode 100644 index 000000000..0d64ab863 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/465/465.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/466/466.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/466/466.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/466/466.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/466/466.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/466/466.obj new file mode 100644 index 000000000..1a68b90e5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/466/466.obj @@ -0,0 +1,657 @@ +o convex_0 +v -0.048719 2.796542 -3.038355 +v 0.688183 0.586038 -1.122677 +v -1.043779 0.622781 -2.116986 +v -1.006812 2.796322 -0.385634 +v 0.946139 2.796542 -0.385371 +v 1.019870 0.770192 -3.001753 +v -1.043779 0.586038 -0.385634 +v -0.969846 2.833284 -3.075483 +v 1.019870 2.722836 -3.001753 +v 0.946139 0.586038 -0.385371 +v -1.043779 0.659524 -2.964888 +v -1.043779 2.796322 -1.233009 +v 0.982903 2.796542 -1.527931 +v 0.946139 0.733229 -3.001753 +v -0.969846 2.833284 -1.306740 +v -0.638362 2.464757 -3.075483 +v -1.006812 2.501500 -2.891157 +v -0.601597 0.659524 -2.964888 +v -0.933082 1.065014 -3.001490 +v -1.043779 0.586038 -1.048946 +v -0.748856 2.833284 -3.075483 +v -1.043779 2.796322 -0.790889 +v 0.946139 0.586038 -0.975215 +v 0.982903 0.696266 -1.527931 +v 0.982903 2.759579 -2.522504 +v 0.466991 0.733229 -3.001490 +v 1.019870 1.396358 -2.890894 +v -1.006812 2.833284 -2.596235 +v -1.006812 1.801408 -3.038355 +v 0.245799 2.759579 -3.038355 +v -1.043779 1.212425 -0.385634 +v -1.043779 0.770192 -2.964888 +f 29 11 32 +f 7 2 10 +f 5 7 10 +f 3 7 11 +f 11 7 12 +f 5 10 13 +f 4 5 15 +f 6 14 16 +f 2 3 18 +f 3 11 18 +f 11 14 18 +f 3 2 20 +f 7 3 20 +f 2 7 20 +f 1 9 21 +f 5 13 21 +f 15 5 21 +f 8 15 21 +f 16 8 21 +f 12 7 22 +f 4 15 22 +f 10 2 23 +f 6 10 23 +f 14 6 23 +f 2 18 23 +f 18 14 23 +f 10 6 24 +f 13 10 24 +f 9 1 25 +f 13 9 25 +f 1 21 25 +f 21 13 25 +f 14 11 26 +f 16 14 26 +f 11 19 26 +f 6 9 27 +f 9 13 27 +f 24 6 27 +f 13 24 27 +f 15 8 28 +f 8 17 28 +f 17 12 28 +f 12 22 28 +f 22 15 28 +f 8 16 29 +f 17 8 29 +f 19 11 29 +f 16 26 29 +f 26 19 29 +f 9 6 30 +f 6 16 30 +f 21 9 30 +f 16 21 30 +f 5 4 31 +f 7 5 31 +f 4 22 31 +f 22 7 31 +f 11 12 32 +f 12 17 32 +f 17 29 32 +o convex_1 +v 0.982871 1.027942 3.078271 +v -1.043631 0.585818 -0.384696 +v 0.946052 0.585818 -0.384696 +v 0.946052 2.796654 -0.384696 +v -0.969994 2.796654 3.041655 +v -1.117268 0.770199 2.930789 +v -1.006813 2.796654 -0.384696 +v 1.056508 2.685852 3.004360 +v 1.056508 0.696403 3.078271 +v -1.117268 0.585818 1.052161 +v 0.946052 2.796654 1.125733 +v 0.946052 0.585818 0.941633 +v -1.006813 2.538477 3.041655 +v -1.117268 1.028158 0.941633 +v 1.056508 1.617657 2.672778 +v 0.614261 2.722641 3.041316 +v -1.080449 0.696403 -0.348419 +v 0.872416 0.696403 3.078271 +v -1.117268 0.954363 2.599206 +v 1.019689 0.659614 2.562251 +v -1.006813 2.796654 0.609712 +v -1.043631 1.727809 3.004699 +v 0.540837 0.696403 3.041316 +v 1.056508 2.649063 2.672778 +v 1.056508 0.696403 2.709733 +v -0.748871 2.796654 3.041655 +v 1.019689 2.722641 2.709733 +v 1.056508 2.391103 3.041316 +v -1.117268 0.770199 0.573095 +v -0.748871 0.770199 2.967744 +v -1.006813 2.317307 3.041655 +v 0.651292 0.585818 1.052161 +v -1.043631 2.022558 3.004699 +f 54 45 65 +f 35 34 36 +f 36 34 39 +f 37 36 39 +f 34 35 42 +f 36 37 43 +f 40 36 43 +f 35 41 44 +f 42 35 44 +f 42 38 46 +f 35 36 47 +f 40 41 47 +f 39 34 49 +f 34 42 49 +f 33 37 50 +f 41 33 50 +f 37 45 50 +f 46 38 51 +f 44 41 52 +f 41 50 52 +f 37 39 53 +f 45 37 53 +f 39 46 53 +f 46 51 53 +f 38 42 55 +f 50 38 55 +f 42 52 55 +f 52 50 55 +f 36 40 56 +f 47 36 56 +f 40 47 56 +f 41 35 57 +f 35 47 57 +f 47 41 57 +f 37 33 58 +f 43 37 58 +f 33 48 58 +f 58 48 59 +f 40 43 59 +f 48 40 59 +f 43 58 59 +f 33 41 60 +f 41 40 60 +f 48 33 60 +f 40 48 60 +f 46 39 61 +f 42 46 61 +f 39 49 61 +f 49 42 61 +f 38 50 62 +f 54 38 62 +f 50 54 62 +f 50 45 63 +f 45 54 63 +f 54 50 63 +f 42 44 64 +f 44 52 64 +f 52 42 64 +f 51 38 65 +f 45 53 65 +f 53 51 65 +f 38 54 65 +o convex_2 +v 1.019745 -3.246668 -0.937888 +v -1.117445 0.253670 0.940943 +v -1.080436 -0.741354 0.977758 +v -0.933051 -3.320388 -1.085360 +v 0.724976 0.585602 -1.122175 +v 1.093546 -3.357440 1.014786 +v 0.946161 0.585602 0.941156 +v -1.043644 0.585602 -1.048333 +v -0.969843 -3.320388 0.977758 +v -1.117445 0.585602 1.051813 +v 0.946161 0.585602 -0.974916 +v 0.982953 -3.320388 -1.048546 +v 0.614383 0.585602 1.051388 +v -0.527688 -2.915122 1.051388 +v -0.564480 -2.767683 -1.122175 +v 0.466998 -2.767683 -1.122175 +v -0.417095 0.327390 -1.122175 +v 1.093546 -2.841016 1.014786 +v -0.122326 -3.357440 -0.237769 +v 0.982953 -0.593914 -1.011518 +v 0.614383 -2.877683 1.051388 +v 1.093546 -3.357440 0.572370 +v -0.969843 -2.693577 -0.753602 +v -0.269927 -3.357440 0.977758 +v -1.043644 0.290337 -1.048333 +v -0.969843 -3.320388 0.351481 +v 0.982953 -0.077876 0.904128 +v -1.006852 -2.362031 1.014573 +v -1.117445 0.548163 0.646212 +v -1.080436 -0.372755 1.051813 +v -0.785666 -3.209615 1.014573 +v 0.982953 -0.409422 0.977971 +v -1.006852 -2.656910 0.977758 +v -0.490896 -0.372755 -1.122175 +v 1.019745 -3.357440 0.241036 +v 0.982953 -2.325364 -1.048546 +v 0.282821 -3.357440 1.014573 +v 1.093546 -2.841016 0.941156 +f 92 83 103 +f 72 70 73 +f 67 68 75 +f 72 73 75 +f 70 72 76 +f 72 75 78 +f 77 69 81 +f 70 77 81 +f 80 70 81 +f 69 80 81 +f 73 70 82 +f 70 80 82 +f 78 71 83 +f 69 77 84 +f 70 76 85 +f 71 78 86 +f 79 71 86 +f 77 66 87 +f 83 71 87 +f 71 84 87 +f 66 85 87 +f 69 84 89 +f 84 71 89 +f 73 69 90 +f 69 88 90 +f 68 67 91 +f 67 88 91 +f 88 69 91 +f 69 89 91 +f 89 74 91 +f 76 72 92 +f 72 83 92 +f 67 75 94 +f 75 73 94 +f 88 67 94 +f 73 90 94 +f 90 88 94 +f 78 75 95 +f 86 78 95 +f 79 86 95 +f 93 79 95 +f 93 74 96 +f 79 93 96 +f 72 78 97 +f 83 72 97 +f 78 83 97 +f 75 68 98 +f 68 91 98 +f 91 74 98 +f 74 93 98 +f 95 75 98 +f 93 95 98 +f 69 73 99 +f 80 69 99 +f 73 82 99 +f 82 80 99 +f 84 77 100 +f 77 87 100 +f 87 84 100 +f 77 70 101 +f 66 77 101 +f 70 85 101 +f 85 66 101 +f 71 79 102 +f 74 89 102 +f 89 71 102 +f 96 74 102 +f 79 96 102 +f 85 76 103 +f 83 87 103 +f 87 85 103 +f 76 92 103 +o convex_3 +v 0.061704 -1.736215 1.051813 +v 0.614510 -2.657112 3.041731 +v 0.614510 -2.804465 3.041731 +v -0.601568 -1.809892 3.078495 +v -0.490864 -2.841362 1.051813 +v 0.614510 -2.878260 1.051813 +v 0.614510 -1.736096 2.931034 +v -0.453963 -2.841362 3.115461 +v -0.453963 -1.699317 1.051813 +v 0.467024 -1.846670 1.051813 +v -0.380279 -1.662420 1.088779 +v -0.601568 -1.772994 2.857505 +v -0.601568 -2.030921 3.078495 +v 0.614510 -1.736096 2.673078 +v -0.122327 -2.878260 1.088779 +v -0.159228 -2.841362 3.115461 +v 0.577609 -1.736215 2.968000 +v 0.614510 -2.878260 1.494399 +v -0.380279 -1.809892 3.078495 +v -0.601568 -1.772994 2.672876 +v 0.614510 -2.730788 1.051813 +v -0.490864 -2.730788 3.115461 +v 0.245973 -1.736215 2.968000 +v 0.503925 -1.809892 1.383500 +v -0.490864 -1.699317 1.346937 +v 0.614510 -2.841362 2.599549 +v 0.393340 -2.767686 3.078495 +v 0.282755 -1.699317 2.193930 +v -0.490864 -2.252069 3.115461 +v 0.614510 -2.546656 3.041529 +v -0.306596 -1.662420 1.051813 +v 0.098486 -2.841362 3.078495 +f 121 129 135 +f 105 106 109 +f 108 104 109 +f 105 109 110 +f 104 108 112 +f 109 104 113 +f 107 115 116 +f 110 109 117 +f 108 109 118 +f 111 108 118 +f 109 106 121 +f 118 109 121 +f 111 118 121 +f 119 111 121 +f 120 107 122 +f 108 116 123 +f 116 115 123 +f 109 113 124 +f 117 109 124 +f 108 111 125 +f 107 116 125 +f 116 108 125 +f 111 119 125 +f 114 115 126 +f 115 107 126 +f 107 120 126 +f 113 104 127 +f 104 117 127 +f 124 113 127 +f 117 124 127 +f 112 108 128 +f 114 112 128 +f 115 114 128 +f 108 123 128 +f 123 115 128 +f 121 106 129 +f 106 105 130 +f 119 106 130 +f 110 117 131 +f 117 104 131 +f 120 110 131 +f 114 126 131 +f 126 120 131 +f 122 107 132 +f 107 125 132 +f 125 119 132 +f 119 130 132 +f 130 122 132 +f 105 110 133 +f 110 120 133 +f 120 122 133 +f 130 105 133 +f 122 130 133 +f 104 112 134 +f 112 114 134 +f 131 104 134 +f 114 131 134 +f 106 119 135 +f 119 121 135 +f 129 106 135 +o convex_4 +v -0.601568 -0.851531 2.673092 +v 0.614510 0.180159 1.199419 +v 0.614510 0.143377 1.199419 +v 0.540707 0.290744 3.078610 +v -0.601568 0.217061 1.051813 +v 0.577609 -0.704164 1.051813 +v -0.601568 0.327646 2.967906 +v 0.430241 -0.740827 2.967906 +v -0.527766 -0.888433 1.051813 +v -0.601568 -0.814630 3.041511 +v 0.614510 0.180159 1.052011 +v 0.540707 -0.704164 2.415179 +v 0.577609 0.253843 1.862651 +v -0.564548 0.327646 2.673092 +v -0.048762 0.327646 3.041511 +v -0.454082 -0.888433 1.273023 +v 0.540707 0.106476 3.078610 +v -0.601568 -0.151477 1.051813 +v 0.577609 0.217061 1.199419 +v -0.306715 -0.814630 3.041511 +v 0.467024 -0.740827 2.931203 +v -0.601568 -0.372409 3.041511 +v -0.601568 0.253843 1.420430 +v 0.503806 -0.667263 2.967906 +v 0.540707 0.290744 2.562587 +v 0.319656 0.290744 3.078610 +v -0.601568 -0.851531 2.488982 +v 0.577609 -0.704164 1.309924 +f 147 156 163 +f 138 137 139 +f 140 136 142 +f 140 141 144 +f 142 136 145 +f 137 138 146 +f 141 140 146 +f 138 141 146 +f 139 137 148 +f 137 146 148 +f 149 142 150 +f 136 144 151 +f 144 141 151 +f 138 139 152 +f 147 138 152 +f 136 140 153 +f 140 144 153 +f 146 140 154 +f 148 146 154 +f 149 148 154 +f 145 136 155 +f 136 151 155 +f 152 145 155 +f 143 152 155 +f 151 141 156 +f 143 155 156 +f 155 151 156 +f 142 145 157 +f 150 142 157 +f 140 142 158 +f 142 149 158 +f 154 140 158 +f 149 154 158 +f 152 143 159 +f 147 152 159 +f 156 147 159 +f 143 156 159 +f 139 148 160 +f 148 149 160 +f 149 150 160 +f 150 139 160 +f 139 150 161 +f 152 139 161 +f 145 152 161 +f 157 145 161 +f 150 157 161 +f 144 136 162 +f 136 153 162 +f 153 144 162 +f 141 138 163 +f 138 147 163 +f 156 141 163 +o convex_5 +v -0.306617 -2.399253 -3.038398 +v 0.614510 -1.736002 -2.817224 +v 0.540751 -1.736002 -2.007082 +v 0.503929 -2.804519 -1.785909 +v -0.527780 -1.736002 -1.122770 +v -0.564718 -2.767726 -1.122770 +v 0.540751 -2.841528 -3.075483 +v -0.490958 -1.846707 -3.075483 +v 0.430054 -1.772904 -1.122770 +v -0.490958 -2.730824 -2.964610 +v 0.467107 -2.767726 -1.122770 +v 0.577573 -1.736002 -3.001504 +v -0.564718 -2.767726 -1.859697 +v -0.380261 -1.809805 -3.038398 +v -0.269911 -2.804519 -1.564926 +v -0.564718 -2.215179 -1.196367 +v -0.527780 -2.730824 -2.817224 +v 0.467107 -1.772904 -1.196367 +v 0.282650 -1.736002 -2.780330 +v 0.614510 -1.920293 -2.927716 +v 0.098540 -2.804519 -3.038398 +v 0.098540 -1.736002 -1.122770 +v 0.540751 -2.583544 -3.075483 +v -0.527780 -1.772904 -1.896400 +v -0.564718 -2.657238 -1.896400 +v 0.467107 -2.804519 -1.564926 +v 0.540751 -2.841528 -2.927716 +v 0.467107 -2.841528 -3.075483 +f 170 190 191 +f 166 165 168 +f 168 169 172 +f 171 164 173 +f 165 166 174 +f 172 169 174 +f 168 165 175 +f 175 171 177 +f 174 169 178 +f 169 176 178 +f 169 168 179 +f 176 169 179 +f 171 173 180 +f 173 176 180 +f 174 166 181 +f 172 174 181 +f 168 175 182 +f 177 168 182 +f 175 177 182 +f 165 174 183 +f 174 167 183 +f 175 165 183 +f 173 164 184 +f 176 173 184 +f 166 168 185 +f 168 172 185 +f 181 166 185 +f 172 181 185 +f 170 171 186 +f 171 175 186 +f 183 170 186 +f 175 183 186 +f 168 177 187 +f 177 171 187 +f 179 168 187 +f 179 187 188 +f 176 179 188 +f 171 180 188 +f 180 176 188 +f 187 171 188 +f 167 174 189 +f 174 178 189 +f 189 178 190 +f 183 167 190 +f 170 183 190 +f 167 189 190 +f 164 171 191 +f 171 170 191 +f 178 176 191 +f 184 164 191 +f 176 184 191 +f 190 178 191 +o convex_6 +v 0.614510 0.217064 -1.122582 +v -0.306725 -0.851582 -2.596199 +v -0.233031 -0.851582 -2.596199 +v 0.356417 0.327646 -3.112334 +v -0.417213 0.327646 -1.122582 +v 0.540599 -0.851582 -1.122582 +v 0.577609 -0.741000 -2.927889 +v -0.454114 0.327646 -3.001511 +v -0.491016 -0.741000 -1.122582 +v -0.491016 -0.814644 -3.038322 +v 0.503914 0.290708 -3.112334 +v 0.614510 -0.446078 -2.301320 +v -0.491016 -0.004214 -2.964700 +v 0.430111 -0.777822 -2.964700 +v -0.454114 0.180242 -1.122582 +v 0.172127 -0.851582 -1.122582 +v 0.577609 0.253886 -1.343839 +v 0.540599 0.106483 -3.075133 +v 0.577609 -0.814644 -2.227697 +v 0.467013 0.106483 -3.112334 +v -0.491016 -0.372319 -1.122582 +v 0.614510 -0.040921 -1.122582 +v -0.343519 0.290708 -3.038322 +v -0.454114 0.327646 -1.601712 +v 0.614510 0.217064 -1.380650 +v 0.577609 -0.335612 -3.001511 +v 0.503914 -0.851582 -1.712146 +v -0.491016 -0.814644 -2.375137 +v 0.540599 0.290708 -2.264508 +v -0.343519 -0.814644 -3.038322 +v -0.343519 0.327646 -1.122582 +v 0.245821 0.032839 -3.112334 +v 0.540599 -0.741000 -2.964700 +v 0.540599 0.290708 -2.780449 +v -0.491016 -0.409256 -3.038322 +f 223 201 226 +f 193 194 197 +f 192 196 197 +f 196 195 199 +f 197 196 200 +f 194 193 201 +f 201 200 204 +f 200 196 206 +f 193 197 207 +f 197 200 207 +f 203 197 210 +f 198 203 210 +f 194 205 210 +f 205 198 210 +f 195 202 211 +f 202 209 211 +f 204 200 212 +f 200 206 212 +f 192 197 213 +f 203 192 213 +f 197 203 213 +f 199 195 214 +f 196 199 215 +f 199 204 215 +f 206 196 215 +f 204 212 215 +f 212 206 215 +f 192 203 216 +f 208 192 216 +f 209 216 217 +f 203 198 217 +f 211 209 217 +f 216 203 217 +f 197 194 218 +f 194 210 218 +f 210 197 218 +f 201 193 219 +f 200 201 219 +f 193 207 219 +f 207 200 219 +f 194 201 221 +f 205 194 221 +f 196 192 222 +f 195 196 222 +f 192 208 222 +f 220 195 222 +f 208 220 222 +f 195 211 223 +f 214 195 223 +f 221 201 223 +f 211 221 223 +f 198 205 224 +f 217 198 224 +f 211 217 224 +f 205 221 224 +f 221 211 224 +f 202 195 225 +f 209 202 225 +f 208 216 225 +f 216 209 225 +f 195 220 225 +f 220 208 225 +f 204 199 226 +f 201 204 226 +f 199 214 226 +f 214 223 226 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/466/466.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/466/466.urdf new file mode 100644 index 000000000..8d8d81256 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/466/466.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/467/467.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/467/467.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/467/467.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/467/467.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/467/467.obj new file mode 100644 index 000000000..05eb6edbe --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/467/467.obj @@ -0,0 +1,477 @@ +o convex_0 +v 1.075676 -0.612116 0.042067 +v -1.108772 -0.551058 0.011396 +v -1.108772 -0.551058 0.103813 +v 0.060215 5.079151 -0.049744 +v 0.029424 -3.196280 -1.003569 +v -0.001366 -3.074163 0.965222 +v 0.029424 3.171557 0.996094 +v -0.031730 3.140043 -1.065315 +v -0.831867 4.462654 -0.019275 +v -0.770285 -2.981590 -0.818938 +v 0.767980 -4.488363 0.011396 +v 0.767980 3.047470 -0.818938 +v 0.829348 3.016941 0.719047 +v -0.801076 -4.457833 -0.019275 +v -0.801076 -0.180766 0.934349 +v -0.831867 3.077999 -0.818938 +v 0.890930 -1.595950 -0.788267 +v 0.860139 -1.350730 0.780591 +v -0.801076 3.078984 0.780591 +v 1.044885 3.140043 -0.049744 +v 0.029424 -4.489347 -0.788066 +v 0.029424 4.586741 -0.818938 +v 0.060215 4.555227 0.749920 +v 0.798557 4.555227 -0.080617 +v -0.062521 -4.457833 0.719047 +v -0.770285 -3.103708 0.719047 +v -0.831867 0.155057 -0.942227 +v -1.077981 3.047470 -0.049744 +v -1.108772 -0.119707 0.565087 +v -1.108772 -0.057663 -0.511422 +v -0.062521 -4.981757 -0.019275 +v 1.075676 -0.058648 0.565087 +v 0.767980 -3.012120 0.719047 +v 1.075676 -0.028119 -0.572764 +v 1.014094 -3.165751 0.011396 +v 0.798557 -3.041664 -0.757395 +v 0.798557 -0.242809 -0.911355 +v -1.016399 -3.135222 -0.080617 +v 0.798557 0.185587 0.873007 +v -0.616331 4.185920 -0.634509 +v -0.801076 4.586741 0.011396 +v -0.554749 -4.120040 -0.634307 +v 0.029424 -1.534891 0.996094 +v 0.614025 4.185920 0.534214 +v -0.585540 4.185920 0.565087 +v 0.583234 -4.150570 -0.572764 +v -0.770285 -0.088193 -0.972898 +v 0.552657 -4.119056 0.534214 +v 0.583234 4.185920 -0.634307 +v -0.031730 1.171390 -1.065315 +v -0.585540 -4.120040 0.534416 +v -0.062521 4.586741 -0.818938 +v -0.093312 3.048455 0.996094 +v -0.893236 1.386081 0.842134 +v 0.706398 -0.088193 0.903678 +v -0.770285 -4.457833 -0.141958 +v -0.677913 -0.027134 0.965222 +v 0.121797 2.925352 0.996094 +v 0.706398 0.003395 -0.942026 +v -0.093312 -3.042649 -1.003569 +v -0.893236 1.354567 -0.880482 +v -0.985608 -3.042649 0.134484 +v 0.121797 -2.981590 -1.003569 +v -0.124103 2.985426 -1.065315 +f 47 61 64 +f 12 8 22 +f 7 13 23 +f 20 12 24 +f 13 20 24 +f 22 4 24 +f 4 23 24 +f 6 15 26 +f 25 6 26 +f 9 16 28 +f 19 9 28 +f 19 28 29 +f 2 3 29 +f 26 15 29 +f 27 10 30 +f 28 16 30 +f 29 28 30 +f 2 29 30 +f 21 11 31 +f 11 25 31 +f 25 14 31 +f 20 13 32 +f 6 25 33 +f 32 18 33 +f 12 20 34 +f 32 1 34 +f 20 32 34 +f 1 32 35 +f 33 11 35 +f 32 33 35 +f 34 1 35 +f 34 35 36 +f 21 5 36 +f 17 34 36 +f 35 11 36 +f 34 17 37 +f 12 34 37 +f 17 36 37 +f 3 2 38 +f 29 3 38 +f 2 30 38 +f 30 10 38 +f 18 32 39 +f 32 13 39 +f 16 9 40 +f 9 19 41 +f 23 4 41 +f 40 9 41 +f 10 21 42 +f 23 13 44 +f 13 24 44 +f 24 23 44 +f 19 23 45 +f 41 19 45 +f 23 41 45 +f 11 21 46 +f 21 36 46 +f 36 11 46 +f 10 27 47 +f 25 11 48 +f 11 33 48 +f 33 25 48 +f 12 22 49 +f 24 12 49 +f 22 24 49 +f 14 25 51 +f 26 14 51 +f 25 26 51 +f 4 22 52 +f 22 8 52 +f 16 40 52 +f 40 41 52 +f 41 4 52 +f 7 23 53 +f 23 19 53 +f 43 7 53 +f 19 29 54 +f 29 15 54 +f 53 19 54 +f 6 33 55 +f 33 18 55 +f 18 39 55 +f 43 6 55 +f 31 14 56 +f 21 31 56 +f 38 10 56 +f 14 38 56 +f 10 42 56 +f 42 21 56 +f 15 6 57 +f 6 43 57 +f 43 53 57 +f 54 15 57 +f 53 54 57 +f 13 7 58 +f 39 13 58 +f 7 43 58 +f 55 39 58 +f 43 55 58 +f 8 12 59 +f 12 37 59 +f 50 8 59 +f 5 21 60 +f 21 10 60 +f 10 47 60 +f 50 5 60 +f 47 50 60 +f 27 30 61 +f 30 16 61 +f 47 27 61 +f 14 26 62 +f 26 29 62 +f 38 14 62 +f 29 38 62 +f 36 5 63 +f 37 36 63 +f 5 50 63 +f 59 37 63 +f 50 59 63 +f 8 50 64 +f 50 47 64 +f 52 8 64 +f 16 52 64 +f 61 16 64 +o convex_1 +v 1.075688 -0.212693 -0.480585 +v 1.106482 0.033226 0.534380 +v 1.075688 0.033226 0.534380 +v 1.106482 0.525590 -0.111414 +v 1.229524 -0.397263 -0.019172 +v 1.229524 0.310135 -0.296000 +v 1.229524 0.310135 0.288368 +v 1.075688 -0.551265 0.103783 +v 1.229524 -0.243472 0.349897 +v 1.075688 0.402473 -0.419057 +v 1.075688 0.433252 0.380610 +v 1.229524 -0.304925 -0.296000 +v 1.106482 -0.428043 0.411425 +v 1.106482 -0.458822 -0.388344 +v 1.229524 0.033226 -0.388344 +v 1.106482 0.125564 -0.511299 +v 1.198730 0.433252 -0.019172 +v 1.106482 -0.120355 -0.511299 +v 1.198730 0.033226 0.442138 +v 1.106482 0.433252 0.380610 +f 83 71 84 +f 69 70 71 +f 67 65 72 +f 69 71 73 +f 65 67 74 +f 68 70 74 +f 67 66 75 +f 74 67 75 +f 68 74 75 +f 70 69 76 +f 66 67 77 +f 67 72 77 +f 72 69 77 +f 69 73 77 +f 73 66 77 +f 72 65 78 +f 69 72 78 +f 76 69 78 +f 70 76 79 +f 70 79 80 +f 65 74 80 +f 74 70 80 +f 70 68 81 +f 71 70 81 +f 78 65 82 +f 76 78 82 +f 79 76 82 +f 80 79 82 +f 65 80 82 +f 66 73 83 +f 73 71 83 +f 75 66 84 +f 68 75 84 +f 81 68 84 +f 71 81 84 +f 66 83 84 +o convex_2 +v 1.260617 0.064045 0.380748 +v 1.229702 -0.028167 -0.388434 +v 1.229702 0.033259 -0.388434 +v 3.044618 -0.028167 0.011517 +v 1.229702 -0.366589 0.073030 +v 1.229702 0.371681 -0.111510 +v 2.767628 0.033259 0.257646 +v 2.736890 -0.028167 -0.203818 +v 1.352829 -0.305019 -0.265332 +v 2.767628 -0.212735 0.073030 +v 1.383566 -0.243520 0.319160 +v 2.644679 0.217827 0.042236 +v 1.229702 0.310111 0.226852 +v 1.291354 0.279325 -0.326845 +v 2.706153 0.187041 -0.049922 +v 2.583027 -0.181949 -0.142229 +v 1.475955 0.279325 0.257646 +v 2.767628 -0.028167 0.257646 +v 1.229702 -0.028167 0.380748 +v 1.260617 0.371681 0.042236 +v 2.798365 0.187041 0.073030 +v 2.736890 0.064045 -0.173024 +v 1.229702 -0.366589 -0.049922 +v 2.767628 -0.212735 0.011517 +v 2.613764 0.156328 0.196133 +v 2.490815 -0.151236 0.226852 +v 1.229702 -0.274233 -0.296126 +v 1.229702 -0.274233 0.288440 +v 3.044618 -0.028167 0.073030 +v 1.322091 -0.366589 0.073030 +v 2.952229 0.094758 0.011517 +f 105 113 115 +f 87 86 89 +f 87 89 90 +f 86 87 92 +f 90 89 97 +f 87 90 98 +f 92 87 98 +f 90 96 99 +f 98 90 99 +f 93 92 100 +f 85 91 101 +f 97 85 101 +f 91 85 102 +f 95 102 103 +f 85 97 103 +f 97 89 103 +f 102 85 103 +f 96 90 104 +f 90 97 104 +f 101 96 104 +f 97 101 104 +f 99 96 105 +f 96 101 105 +f 88 92 106 +f 92 98 106 +f 98 99 106 +f 89 86 107 +f 92 88 108 +f 88 94 108 +f 100 92 108 +f 93 100 108 +f 107 93 108 +f 101 91 109 +f 91 105 109 +f 105 101 109 +f 95 94 110 +f 94 102 110 +f 102 95 110 +f 86 92 111 +f 92 93 111 +f 107 86 111 +f 93 107 111 +f 95 103 112 +f 103 89 112 +f 94 88 113 +f 91 102 113 +f 102 94 113 +f 105 91 113 +f 94 95 114 +f 89 107 114 +f 108 94 114 +f 107 108 114 +f 112 89 114 +f 95 112 114 +f 99 105 115 +f 88 106 115 +f 106 99 115 +f 113 88 115 +o convex_3 +v -1.262964 0.156304 0.319111 +v -1.355209 -0.028221 -0.326830 +v -2.308516 -0.151194 -0.203764 +v -1.262964 -0.335786 0.226864 +v -2.770077 0.217791 0.042299 +v -2.739216 -0.058898 0.196045 +v -1.262964 0.217791 -0.265263 +v -2.739216 0.064008 -0.203764 +v -2.739216 -0.212747 -0.080698 +v -1.262964 -0.274233 -0.203764 +v -1.262964 0.310153 0.073048 +v -1.293656 -0.058898 0.380679 +v -2.985427 -0.028221 -0.049949 +v -1.324348 -0.366595 0.011550 +v -1.539698 -0.305109 0.257613 +v -1.416761 0.217791 0.288362 +v -2.554727 0.187114 -0.142196 +v -2.585419 -0.212747 0.103798 +v -1.355209 0.310153 -0.019199 +v -2.339377 0.156304 0.196045 +v -2.708524 -0.028221 -0.203764 +v -2.770077 0.217791 -0.019199 +v -2.585419 -0.243556 -0.019199 +v -1.416761 -0.243556 -0.234513 +v -2.985427 -0.028221 0.011550 +v -1.262964 0.033199 -0.326830 +v -1.385901 -0.305109 0.288362 +v -2.708524 0.002456 0.196045 +v -1.355209 0.248666 0.257613 +v -1.385901 0.248666 -0.203764 +v -1.293656 -0.028221 0.380679 +f 135 143 146 +f 116 119 122 +f 122 119 125 +f 116 122 126 +f 119 116 127 +f 125 119 129 +f 124 125 129 +f 129 119 130 +f 122 123 132 +f 130 121 133 +f 120 126 134 +f 126 122 134 +f 131 120 135 +f 117 118 136 +f 123 117 136 +f 118 124 136 +f 128 123 136 +f 124 128 136 +f 128 120 137 +f 123 128 137 +f 132 123 137 +f 120 134 137 +f 124 129 138 +f 129 130 138 +f 133 124 138 +f 130 133 138 +f 118 117 139 +f 124 118 139 +f 117 125 139 +f 125 124 139 +f 120 128 140 +f 128 124 140 +f 133 121 140 +f 124 133 140 +f 123 122 141 +f 117 123 141 +f 125 117 141 +f 122 125 141 +f 119 127 142 +f 127 121 142 +f 121 130 142 +f 130 119 142 +f 135 120 143 +f 120 140 143 +f 140 121 143 +f 116 126 144 +f 126 120 144 +f 120 131 144 +f 131 116 144 +f 122 132 145 +f 134 122 145 +f 132 137 145 +f 137 134 145 +f 127 116 146 +f 121 127 146 +f 116 131 146 +f 131 135 146 +f 143 121 146 +o convex_4 +v -1.108790 0.464056 0.042130 +v -1.139585 -0.489731 -0.019190 +v -1.262627 -0.366586 -0.019190 +v -1.139585 -0.089675 0.534585 +v -1.262627 0.248669 -0.234558 +v -1.108790 -0.028149 -0.480736 +v -1.262627 0.187144 0.319117 +v -1.108790 -0.428112 0.411446 +v -1.262627 -0.305061 0.319117 +v -1.108790 0.340911 0.411446 +v -1.108790 0.340911 -0.388407 +v -1.262627 -0.243535 -0.234558 +v -1.108790 -0.366586 -0.296078 +v -1.262627 0.310195 0.072940 +v -1.262627 0.033283 -0.326887 +v -1.139585 0.464056 -0.019190 +v -1.139585 0.340911 0.411446 +v -1.139585 -0.489731 0.226888 +f 154 155 164 +f 151 149 153 +f 152 147 154 +f 153 149 155 +f 150 153 155 +f 154 150 155 +f 150 154 156 +f 154 147 156 +f 147 152 157 +f 149 151 158 +f 158 152 159 +f 148 149 159 +f 154 148 159 +f 152 154 159 +f 149 158 159 +f 151 153 160 +f 151 157 161 +f 157 152 161 +f 158 151 161 +f 152 158 161 +f 147 157 162 +f 157 151 162 +f 151 160 162 +f 162 160 163 +f 153 150 163 +f 150 156 163 +f 156 147 163 +f 160 153 163 +f 147 162 163 +f 149 148 164 +f 148 154 164 +f 155 149 164 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/467/467.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/467/467.urdf new file mode 100644 index 000000000..938ab3341 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/467/467.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/468/468.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/468/468.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/468/468.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/468/468.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/468/468.obj new file mode 100644 index 000000000..4397ab062 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/468/468.obj @@ -0,0 +1,822 @@ +o convex_0 +v 0.841486 0.425233 -1.206716 +v -0.054526 -1.778038 -2.999529 +v -0.054526 -1.740512 -3.222893 +v -0.913474 0.387707 -1.169058 +v 0.019983 -0.060453 -4.492187 +v 0.729532 -1.516432 -1.169058 +v 0.766787 -0.769571 -4.380321 +v -0.801330 -0.806882 -4.380321 +v -0.801330 -1.516432 -1.169058 +v -0.017272 -1.516432 -4.454898 +v -0.801330 -1.553743 -2.961502 +v 0.766787 -1.404284 -2.961502 +v 0.953630 -0.844193 -1.169058 +v -0.614677 -0.023142 -4.044353 +v 0.243891 0.425233 -2.326855 +v -0.988173 -0.919030 -2.961502 +v -0.054526 -0.732261 -4.940759 +v -0.129226 -1.778038 -1.169058 +v 0.804232 -0.022927 -3.073368 +v 0.953630 -0.732261 -3.147946 +v -0.988173 -0.881719 -1.169058 +v 0.131937 -0.023142 -4.454898 +v 0.916186 0.312870 -1.169058 +v 0.692088 -1.516432 -2.998791 +v -0.988173 -0.583234 -2.850005 +v -0.577422 -1.366974 -4.081272 +v 0.542879 -1.329879 -4.044353 +v -0.876029 0.425233 -1.206716 +v 0.729532 -0.732261 -4.492187 +v 0.467989 0.425233 -2.214989 +v 0.617388 -0.172385 -4.006695 +v 0.057238 -1.778038 -1.169058 +v -0.876029 -0.060453 -2.700850 +v -0.017272 0.425233 -2.214989 +v -0.054526 -0.881719 -4.902732 +v -0.764075 -0.806882 -4.454898 +v 0.953630 -0.209696 -2.103122 +v -0.988173 -0.433775 -1.206716 +v 0.953630 -0.844193 -2.998791 +v 0.019983 -1.778038 -2.924582 +v 0.692088 -1.553743 -1.580342 +v -0.091781 -1.516432 -4.417609 +v 0.019983 0.014384 -4.305374 +v -0.726631 -1.591269 -2.924582 +v -0.689376 -1.591269 -1.169058 +v -0.577422 0.014384 -3.932117 +v 0.094682 -0.769571 -4.902732 +v 0.841486 -0.022927 -2.887294 +v -0.652121 -0.023142 -3.932117 +v 0.766787 -1.441811 -2.140411 +v -0.801330 -0.732261 -4.343032 +v 0.729532 -0.769571 -4.492187 +v -0.764075 -0.694734 -4.417609 +v 0.953630 -0.247222 -1.169058 +v -0.988173 -0.396465 -2.401802 +v 0.766787 -0.694950 -4.343032 +v 0.916186 -0.993651 -1.169058 +v -0.129226 -0.620760 -4.828524 +v 0.729532 -1.516432 -2.775058 +v -0.988173 -0.769571 -3.147946 +v -0.801330 -1.553743 -2.103122 +v 0.878741 0.275775 -1.729497 +v -0.353324 -1.703201 -2.961871 +v 0.505434 -1.628580 -1.169058 +f 41 6 64 +f 6 4 9 +f 4 6 13 +f 8 11 16 +f 6 9 18 +f 9 4 21 +f 17 5 22 +f 1 4 23 +f 4 13 23 +f 16 21 25 +f 11 8 26 +f 7 12 27 +f 24 10 27 +f 12 24 27 +f 4 1 28 +f 1 15 28 +f 15 1 30 +f 22 15 30 +f 22 30 31 +f 29 22 31 +f 30 19 31 +f 18 2 32 +f 6 18 32 +f 28 15 34 +f 26 8 36 +f 17 35 36 +f 13 20 37 +f 21 4 38 +f 25 21 38 +f 12 7 39 +f 7 20 39 +f 20 13 39 +f 2 3 40 +f 3 10 40 +f 10 24 40 +f 32 2 40 +f 10 3 42 +f 11 26 42 +f 35 10 42 +f 26 36 42 +f 36 35 42 +f 5 14 43 +f 22 5 43 +f 15 22 43 +f 34 15 43 +f 11 42 44 +f 18 9 45 +f 44 18 45 +f 14 28 46 +f 28 34 46 +f 43 14 46 +f 34 43 46 +f 17 22 47 +f 22 29 47 +f 10 35 47 +f 35 17 47 +f 37 20 48 +f 4 28 49 +f 28 14 49 +f 33 4 49 +f 12 39 50 +f 25 33 51 +f 33 49 51 +f 7 27 52 +f 27 10 52 +f 29 7 52 +f 10 47 52 +f 47 29 52 +f 36 8 53 +f 17 36 53 +f 49 14 53 +f 8 51 53 +f 51 49 53 +f 23 13 54 +f 13 37 54 +f 37 23 54 +f 4 33 55 +f 33 25 55 +f 38 4 55 +f 25 38 55 +f 20 7 56 +f 7 29 56 +f 31 19 56 +f 29 31 56 +f 19 48 56 +f 48 20 56 +f 13 6 57 +f 39 13 57 +f 6 50 57 +f 50 39 57 +f 14 5 58 +f 5 17 58 +f 53 14 58 +f 17 53 58 +f 24 12 59 +f 40 24 59 +f 41 40 59 +f 6 41 59 +f 50 6 59 +f 12 50 59 +f 8 16 60 +f 16 25 60 +f 51 8 60 +f 25 51 60 +f 16 11 61 +f 9 21 61 +f 21 16 61 +f 11 44 61 +f 45 9 61 +f 44 45 61 +f 1 23 62 +f 30 1 62 +f 19 30 62 +f 23 37 62 +f 48 19 62 +f 37 48 62 +f 3 2 63 +f 2 18 63 +f 42 3 63 +f 18 44 63 +f 44 42 63 +f 6 32 64 +f 32 40 64 +f 40 41 64 +o convex_1 +v 0.318698 -0.135495 3.200141 +v -1.062923 -0.844021 1.071736 +v -0.950826 -1.591039 1.071736 +v 0.916269 1.955157 1.071944 +v 1.065661 -3.122140 1.743842 +v -0.801434 3.449905 1.109029 +v -0.801434 -2.935386 2.789085 +v -0.876026 1.731337 2.789085 +v 0.804172 1.731337 2.789085 +v 0.878764 -2.935386 2.826378 +v 0.057209 -3.532715 1.370496 +v 0.916269 -1.926769 1.071944 +v -1.025418 -3.121428 1.781343 +v 0.132010 3.524750 1.071944 +v 0.057209 -3.757248 2.154272 +v -0.428056 -2.001614 3.125138 +v -1.062923 0.910188 2.005309 +v 0.953565 -0.657267 2.863879 +v -0.129271 1.881026 2.863671 +v 0.990861 1.582361 1.818636 +v -0.539945 0.536679 3.125138 +v -0.913530 -0.769177 2.863879 +v 0.019913 -3.383739 2.863671 +v 0.542683 -2.075745 3.125138 +v -0.764138 -3.607559 2.080103 +v 0.804172 -3.606846 2.042602 +v 1.028157 -0.246692 1.071944 +v -0.913530 2.851864 1.071736 +v 0.505387 0.424769 3.162431 +v -0.054471 -2.636009 1.071944 +v -0.801434 -2.897607 1.333203 +v 0.878764 2.104846 1.968016 +v 1.065661 -0.918866 2.117188 +v 0.766876 -2.972452 1.295910 +v -0.091767 0.985032 3.125138 +v -1.025418 -2.375123 2.117188 +v 1.065661 -2.524098 2.154481 +v -1.062923 0.610810 1.071736 +v -0.988122 2.030001 1.930723 +v 0.692075 -0.656554 3.125138 +v -0.614745 -0.992997 3.125138 +v -0.689337 3.524750 1.109029 +v -0.129271 -0.955218 3.200141 +v -0.017175 -2.411475 3.125138 +v -0.577449 -3.383026 1.519876 +v 0.132010 3.524750 1.109237 +v -1.062923 -0.732111 2.042394 +v 0.878764 2.179690 1.071944 +v 0.878764 -3.047296 2.789085 +v 0.990861 1.282984 1.071944 +v 0.617483 -3.383026 1.519876 +v 0.355994 3.225372 1.109237 +v -1.025418 1.694271 1.557169 +v 0.468091 1.806181 2.826378 +v 0.318698 -1.067841 3.200141 +v -0.054471 0.089038 3.200141 +v 1.028157 -0.993710 1.071944 +v 0.990861 0.984319 2.117188 +v 0.094505 -3.383739 2.863671 +v -0.764138 -2.935386 2.826586 +v -0.054471 -3.532715 1.370496 +v -0.913530 -1.814859 1.071736 +v -0.950826 -0.433447 2.714499 +v -0.614745 -0.283758 3.125138 +f 107 120 128 +f 66 67 77 +f 71 77 89 +f 79 87 89 +f 79 75 90 +f 67 66 92 +f 73 84 96 +f 69 91 97 +f 76 69 98 +f 75 94 98 +f 94 76 98 +f 83 72 99 +f 72 85 99 +f 93 73 99 +f 77 71 100 +f 71 86 100 +f 82 74 101 +f 69 97 101 +f 97 82 101 +f 66 81 102 +f 92 66 102 +f 72 70 103 +f 81 72 103 +f 70 92 103 +f 82 73 104 +f 74 82 104 +f 88 74 104 +f 73 93 104 +f 93 65 104 +f 70 72 106 +f 72 83 106 +f 92 70 106 +f 78 92 106 +f 105 80 107 +f 107 80 108 +f 89 77 109 +f 77 95 109 +f 73 96 110 +f 106 83 110 +f 78 106 110 +f 66 77 111 +f 81 66 111 +f 77 100 111 +f 84 68 112 +f 68 92 112 +f 92 78 112 +f 96 84 112 +f 90 69 113 +f 69 101 113 +f 101 74 113 +f 68 84 114 +f 92 68 114 +f 91 92 114 +f 84 97 114 +f 97 91 114 +f 69 90 115 +f 90 75 115 +f 98 69 115 +f 75 98 115 +f 78 110 116 +f 110 96 116 +f 112 78 116 +f 96 112 116 +f 102 81 117 +f 92 102 117 +f 103 92 117 +f 81 103 117 +f 83 99 118 +f 99 73 118 +f 73 110 118 +f 110 83 118 +f 104 65 119 +f 88 104 119 +f 65 107 119 +f 108 88 119 +f 107 108 119 +f 65 93 120 +f 99 85 120 +f 93 99 120 +f 107 65 120 +f 69 76 121 +f 91 69 121 +f 92 91 121 +f 73 82 122 +f 84 73 122 +f 82 97 122 +f 97 84 122 +f 87 79 123 +f 74 88 123 +f 79 90 123 +f 108 87 123 +f 88 108 123 +f 113 74 123 +f 90 113 123 +f 86 71 124 +f 71 89 124 +f 89 87 124 +f 80 105 124 +f 105 86 124 +f 108 80 124 +f 87 108 124 +f 75 79 125 +f 79 89 125 +f 94 75 125 +f 95 94 125 +f 89 109 125 +f 109 95 125 +f 77 67 126 +f 67 92 126 +f 76 94 126 +f 95 77 126 +f 94 95 126 +f 121 76 126 +f 92 121 126 +f 72 81 127 +f 86 72 127 +f 100 86 127 +f 81 111 127 +f 111 100 127 +f 85 72 128 +f 72 86 128 +f 86 105 128 +f 105 107 128 +f 120 85 128 +o convex_2 +v 0.692225 0.499964 -1.393119 +v 0.206525 0.425291 -2.177258 +v 0.094670 0.425291 -2.139877 +v -0.241269 0.723952 -1.430576 +v -0.577456 0.425291 -1.393119 +v 0.692225 0.425291 -1.393119 +v 0.505303 0.499964 -1.915827 +v 0.430733 0.649251 -1.393119 +v -0.465352 0.499964 -1.579943 +v 0.356038 0.462598 -2.177258 +v 0.020099 0.462598 -2.102574 +v 0.318753 0.649251 -1.542563 +v 0.505303 0.425291 -2.027891 +v -0.315963 0.686616 -1.393119 +v 0.580122 0.611914 -1.430576 +f 135 140 143 +f 131 130 133 +f 129 133 134 +f 133 130 134 +f 133 129 136 +f 130 131 139 +f 131 133 139 +f 137 132 139 +f 133 137 139 +f 138 130 139 +f 132 138 139 +f 132 136 140 +f 138 132 140 +f 135 138 140 +f 134 130 141 +f 129 134 141 +f 135 129 141 +f 130 138 141 +f 138 135 141 +f 133 136 142 +f 136 132 142 +f 132 137 142 +f 137 133 142 +f 129 135 143 +f 136 129 143 +f 140 136 143 +o convex_3 +v -0.652099 0.574666 -1.206409 +v 0.430572 1.172104 -1.169058 +v 0.430572 1.172104 -1.206409 +v 0.804256 0.425233 -1.169058 +v 0.729488 0.425233 -1.393119 +v -0.614792 0.425233 -1.393119 +v -0.203955 0.761384 -1.393119 +v -0.764174 0.425233 -1.169058 +v 0.579953 0.649309 -1.393119 +v 0.654874 1.022672 -1.206409 +v -0.390643 0.798669 -1.169058 +v -0.427950 0.649309 -1.393119 +f 154 150 155 +f 148 147 149 +f 148 149 150 +f 147 145 151 +f 144 149 151 +f 149 147 151 +f 150 146 152 +f 148 150 152 +f 146 145 153 +f 145 147 153 +f 147 148 153 +f 152 146 153 +f 148 152 153 +f 145 146 154 +f 146 150 154 +f 151 145 154 +f 144 151 154 +f 149 144 155 +f 150 149 155 +f 144 154 155 +o convex_4 +v 0.990762 -0.171592 0.137712 +v -1.025382 -0.843616 0.063138 +v -1.025382 -0.843616 0.137712 +v -0.129230 4.308965 0.137712 +v 0.953455 -0.843616 -1.168802 +v -0.913462 0.388328 -1.168802 +v 0.729417 3.487070 -0.758198 +v -0.838651 3.859950 0.063138 +v -0.129230 -1.777015 -1.168802 +v 0.729417 -1.590575 0.137712 +v 0.953455 2.963718 0.137712 +v -0.203844 3.748446 -0.683496 +v 0.468073 1.283360 -1.168802 +v -0.801344 -1.516238 -1.168802 +v -0.764037 -1.553407 0.137712 +v -1.025382 2.777278 0.137712 +v 0.692111 -1.553407 -1.168802 +v -0.988075 -0.880784 -1.168802 +v 0.729417 3.934886 0.137712 +v -0.838651 2.440967 -0.720847 +v 0.019997 -1.815382 0.137712 +v 0.916149 0.351160 -1.168802 +v 0.953455 2.440967 -0.422296 +v 0.990762 -0.881383 0.137712 +v -0.315961 2.143023 -0.982175 +v 0.019997 4.308965 0.063138 +v -0.652117 3.486470 -0.496998 +v -0.129230 3.823381 -0.683496 +v 0.990762 -0.732111 -0.683496 +v -1.025382 -0.731512 -0.720847 +v 0.766724 -1.553407 -0.534093 +v -1.025382 2.777278 0.063138 +v 0.057304 -1.777015 -1.168802 +v 0.916149 2.366631 -0.683496 +v -0.129230 3.711277 -0.720847 +v -0.764037 3.972054 0.137712 +v -0.427882 0.948847 -1.168802 +v 0.692111 1.098119 -1.168802 +v -0.988075 -0.470735 -1.168802 +v 0.766724 3.374966 -0.758198 +v 0.729417 3.934886 0.025787 +v 0.953455 -0.246528 -1.168802 +v -0.764037 3.972054 0.063138 +v 0.654804 3.374966 -0.795549 +v -0.838651 -1.441303 0.137712 +v -0.689424 -1.590575 -1.168802 +v 0.841535 -1.404135 0.100489 +v -0.017310 3.823381 -0.683496 +v -0.988075 2.702942 -0.123617 +v -0.091923 4.271197 -0.011564 +v 0.766724 -1.479070 -1.131579 +v -0.017310 -1.815382 0.137712 +v 0.953455 2.926550 -0.011564 +v 0.766724 3.859950 0.063138 +v -0.876155 2.478734 -0.608794 +v 0.692111 3.561406 -0.683496 +v 0.953455 -0.881383 -1.094228 +v 0.393459 1.283360 -1.168802 +v 0.094610 -1.777015 -0.944825 +v -0.166537 3.674109 -0.720847 +v -0.726730 3.711277 -0.235541 +v 0.766724 3.524238 -0.571444 +v -0.950768 0.015448 -1.168802 +f 204 210 218 +f 158 156 159 +f 161 160 164 +f 156 158 165 +f 159 156 166 +f 160 161 168 +f 161 164 169 +f 165 158 170 +f 157 158 171 +f 158 159 171 +f 164 160 172 +f 169 157 173 +f 161 169 173 +f 159 166 174 +f 165 170 176 +f 160 168 177 +f 156 165 179 +f 159 174 181 +f 167 175 182 +f 156 179 184 +f 157 171 185 +f 173 157 185 +f 171 163 187 +f 185 171 187 +f 164 172 188 +f 176 164 188 +f 171 159 191 +f 163 171 191 +f 168 161 192 +f 161 180 192 +f 177 168 193 +f 161 173 194 +f 173 185 194 +f 185 187 194 +f 189 177 195 +f 178 189 195 +f 193 162 195 +f 177 193 195 +f 181 174 196 +f 160 177 197 +f 184 160 197 +f 178 184 197 +f 177 189 197 +f 189 178 197 +f 191 159 198 +f 163 191 198 +f 162 193 199 +f 193 168 199 +f 158 157 200 +f 157 169 200 +f 170 158 200 +f 169 170 200 +f 169 164 201 +f 170 169 201 +f 179 165 202 +f 165 186 202 +f 190 183 203 +f 162 199 203 +f 199 190 203 +f 187 163 204 +f 194 187 204 +f 159 181 205 +f 198 159 205 +f 183 198 205 +f 181 203 205 +f 203 183 205 +f 172 160 206 +f 186 172 206 +f 202 186 206 +f 176 170 207 +f 164 176 207 +f 201 164 207 +f 170 201 207 +f 166 156 208 +f 156 184 208 +f 184 178 208 +f 178 195 208 +f 174 166 209 +f 196 174 209 +f 166 208 209 +f 175 161 210 +f 163 175 210 +f 204 163 210 +f 196 162 211 +f 181 196 211 +f 162 203 211 +f 203 181 211 +f 160 184 212 +f 184 179 212 +f 179 202 212 +f 206 160 212 +f 202 206 212 +f 180 190 213 +f 168 192 213 +f 192 180 213 +f 190 199 213 +f 199 168 213 +f 165 176 214 +f 172 186 214 +f 186 165 214 +f 188 172 214 +f 176 188 214 +f 161 175 215 +f 175 167 215 +f 180 161 215 +f 167 183 215 +f 190 180 215 +f 183 190 215 +f 175 163 216 +f 167 182 216 +f 182 175 216 +f 183 167 216 +f 163 198 216 +f 198 183 216 +f 195 162 217 +f 162 196 217 +f 208 195 217 +f 196 209 217 +f 209 208 217 +f 161 194 218 +f 194 204 218 +f 210 161 218 +o convex_5 +v 0.878871 2.403828 0.996804 +v -1.062923 -0.843868 1.034089 +v -1.062923 -0.843868 1.071557 +v 0.916127 -1.889418 0.996804 +v -0.838775 3.860107 0.137967 +v 0.804155 -1.553611 0.137967 +v -0.801315 -1.553611 0.137967 +v 0.953587 2.926269 0.137967 +v -0.801315 3.785855 1.034089 +v -0.054565 -2.524910 1.071557 +v 0.691979 3.935028 0.287382 +v 0.169377 3.561760 1.071557 +v 1.028303 -0.956249 1.071557 +v -0.988002 3.001859 0.137967 +v 0.019946 4.308965 0.137967 +v -1.025462 -0.881328 0.137967 +v 0.990843 -0.918789 0.137967 +v -0.913491 -1.777706 1.071557 +v 0.019946 4.084870 0.922051 +v -0.950746 2.590462 1.071557 +v -0.054565 -1.814497 0.137967 +v 0.766695 3.225285 0.884675 +v 0.990843 1.283356 1.071557 +v -0.988002 3.038651 0.810104 +v -1.062923 0.575620 1.071557 +v 0.057201 -2.524910 1.034089 +v -0.764059 3.897568 0.959519 +v 0.729439 3.935028 0.137967 +v 1.028303 -0.806407 0.548926 +v -1.062923 -0.619773 0.511549 +v -0.129281 4.308965 0.175344 +v 0.580008 3.785186 0.735351 +v 0.841411 2.403828 1.071557 +v 0.916127 -1.889418 1.071557 +v -0.838775 3.822646 0.996804 +v -0.764059 3.971820 0.137967 +v -0.726804 3.673473 1.071557 +v 1.028303 -0.283966 1.034089 +v -0.054565 -2.524910 1.034089 +v 0.206633 -1.777706 0.137967 +v -0.876031 -1.740245 0.772637 +v 0.953587 2.814556 0.324850 +v 0.766695 -1.590403 0.137967 +v 0.804155 3.673473 0.175344 +v 0.729439 3.225285 0.922051 +v -1.025462 0.314065 0.137967 +v 0.990843 -0.134124 0.137967 +v 0.430781 3.225285 1.071557 +v 0.841411 3.076111 0.697975 +v 0.019946 4.271504 0.324850 +v -0.913491 -1.777706 0.996804 +v -1.062923 0.089970 0.735351 +v -0.950746 3.150363 0.959519 +v 0.804155 -1.627864 0.250097 +v 0.169377 4.009949 0.884675 +v 0.094662 3.636682 1.071557 +v -0.801315 3.934359 0.436888 +v 0.729439 3.935028 0.212720 +v -0.278508 4.009949 0.959519 +v 0.953587 -1.590403 0.847481 +v -0.876031 3.337666 1.071557 +v -0.838775 -1.478690 0.137967 +f 259 269 280 +f 223 224 225 +f 224 223 226 +f 221 228 230 +f 230 228 231 +f 223 225 232 +f 226 223 233 +f 232 225 234 +f 222 224 235 +f 224 226 235 +f 221 220 236 +f 228 221 236 +f 221 230 238 +f 225 224 239 +f 230 231 241 +f 223 232 242 +f 220 221 243 +f 221 238 243 +f 242 232 243 +f 226 233 246 +f 234 220 248 +f 220 243 248 +f 219 240 251 +f 241 219 251 +f 230 241 251 +f 231 228 252 +f 244 222 252 +f 228 244 252 +f 223 242 253 +f 227 245 253 +f 233 223 254 +f 249 233 254 +f 238 230 255 +f 226 241 256 +f 241 231 256 +f 231 247 256 +f 247 226 256 +f 228 236 257 +f 225 239 257 +f 244 228 257 +f 239 244 257 +f 239 224 258 +f 244 239 258 +f 225 257 259 +f 219 241 260 +f 241 226 260 +f 258 224 261 +f 244 258 261 +f 226 246 262 +f 260 226 262 +f 240 250 263 +f 251 240 263 +f 232 234 264 +f 234 248 264 +f 248 232 264 +f 235 226 265 +f 247 235 265 +f 226 247 265 +f 230 251 266 +f 263 230 266 +f 251 263 266 +f 240 219 267 +f 219 260 267 +f 262 240 267 +f 260 262 267 +f 237 229 268 +f 233 249 268 +f 249 237 268 +f 220 234 269 +f 236 220 269 +f 257 236 269 +f 259 257 269 +f 243 232 270 +f 232 248 270 +f 248 243 270 +f 243 238 271 +f 242 243 271 +f 253 242 271 +f 224 222 272 +f 222 244 272 +f 261 224 272 +f 244 261 272 +f 229 237 273 +f 237 230 273 +f 250 229 273 +f 230 263 273 +f 263 250 273 +f 230 237 274 +f 255 230 274 +f 245 249 275 +f 223 253 275 +f 253 245 275 +f 254 223 275 +f 249 254 275 +f 246 233 276 +f 229 250 276 +f 250 240 276 +f 240 262 276 +f 262 246 276 +f 268 229 276 +f 233 268 276 +f 245 227 277 +f 237 249 277 +f 249 245 277 +f 227 255 277 +f 274 237 277 +f 255 274 277 +f 222 235 278 +f 247 231 278 +f 235 247 278 +f 231 252 278 +f 252 222 278 +f 227 253 279 +f 255 227 279 +f 238 255 279 +f 271 238 279 +f 253 271 279 +f 234 225 280 +f 225 259 280 +f 269 234 280 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/468/468.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/468/468.urdf new file mode 100644 index 000000000..851888cc9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/468/468.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/469/469.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/469/469.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/469/469.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/469/469.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/469/469.obj new file mode 100644 index 000000000..d222eb4bc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/469/469.obj @@ -0,0 +1,189 @@ +o convex_0 +v 0.932109 -0.767149 0.500900 +v -0.974639 -1.085043 0.024244 +v -0.974639 -1.085043 0.050649 +v -0.047717 4.476507 -0.002160 +v 0.031739 -2.727491 -0.955668 +v 0.031739 -2.779682 0.977753 +v 0.852653 2.092308 -0.743843 +v -0.709918 1.641564 -0.690641 +v -0.656814 1.800511 0.765731 +v 0.773197 1.747528 0.739130 +v 0.852653 -3.469242 -0.028564 +v -0.603910 -3.602093 -0.558225 +v -0.551006 -3.521433 0.580310 +v 0.773197 -2.806569 -0.717242 +v 1.038117 1.721433 0.024244 +v 0.084643 1.748319 0.977753 +v -0.047717 1.695337 -0.929067 +v -0.921735 1.800511 0.077053 +v 0.773197 -2.727491 0.739130 +v 0.428820 4.184710 -0.001963 +v -0.047717 4.237692 -0.399406 +v -0.444998 4.263788 0.050452 +v 0.031739 4.237692 0.394889 +v -0.683366 -1.826794 0.792135 +v 1.038117 -2.197669 -0.028564 +v -0.736271 -1.905872 -0.717242 +v -0.921735 -2.859551 0.050649 +v 0.587733 -3.522224 0.606714 +v 0.587733 -3.575206 -0.611231 +v 0.137548 -0.316405 1.030759 +v -0.021165 -0.210441 -0.982270 +v 0.852653 -0.423161 0.765731 +v -0.683366 -0.079172 0.818736 +v -0.656814 -2.806569 0.765731 +v 1.064470 -0.714167 -0.081570 +v -0.762823 -0.291100 -0.717242 +v 0.005387 -3.602093 -0.770247 +v -0.709918 -2.886438 -0.690641 +v -0.762823 -3.575206 0.024244 +v 0.031739 -3.496129 0.792332 +v -0.656814 2.277350 -0.584827 +v 0.084643 -0.343292 -0.982270 +v 0.005387 -0.422370 1.030759 +v 0.879205 2.436297 0.209468 +v -0.180077 2.436297 -0.796652 +v 0.826101 -0.555221 -0.743843 +v 1.011565 -2.807360 0.024244 +v -0.921735 1.721433 -0.028564 +v -0.312637 4.077954 0.315479 +v 1.064470 -0.582107 0.103654 +v 0.296460 4.025764 -0.319799 +v 0.640836 2.357219 0.659720 +v 0.799749 2.092308 -0.770247 +v -0.974639 -0.397065 0.103457 +v -0.338990 4.077954 -0.266990 +v 0.746645 -3.549111 0.262474 +v 0.110996 -2.779682 0.977753 +v 1.011565 1.721433 0.156660 +v 0.323012 3.998877 0.288878 +v -0.683366 1.774415 0.739130 +v -0.021165 4.158614 0.421490 +v 0.799749 -2.753587 0.712725 +v -0.736271 -0.503029 -0.743843 +v -0.074269 -2.833456 -0.929067 +f 63 31 64 +f 15 7 20 +f 4 20 21 +f 4 21 22 +f 20 4 23 +f 4 22 23 +f 3 2 27 +f 24 3 27 +f 2 26 27 +f 5 14 29 +f 14 11 29 +f 10 16 30 +f 10 30 32 +f 30 19 32 +f 6 24 34 +f 24 27 34 +f 7 15 35 +f 25 14 35 +f 26 2 36 +f 5 29 37 +f 12 27 38 +f 27 26 38 +f 27 12 39 +f 28 13 39 +f 13 34 39 +f 34 27 39 +f 13 28 40 +f 6 34 40 +f 34 13 40 +f 5 31 42 +f 31 17 42 +f 16 9 43 +f 24 6 43 +f 30 16 43 +f 9 33 43 +f 33 24 43 +f 15 20 44 +f 17 8 45 +f 8 41 45 +f 41 21 45 +f 14 5 46 +f 7 35 46 +f 35 14 46 +f 5 42 46 +f 11 14 47 +f 14 25 47 +f 18 22 48 +f 8 36 48 +f 36 2 48 +f 41 8 48 +f 22 41 48 +f 23 22 49 +f 32 1 50 +f 35 15 50 +f 25 35 50 +f 47 25 50 +f 20 7 51 +f 21 20 51 +f 16 10 52 +f 23 16 52 +f 10 44 52 +f 42 17 53 +f 17 45 53 +f 45 21 53 +f 7 46 53 +f 46 42 53 +f 51 7 53 +f 21 51 53 +f 2 3 54 +f 3 24 54 +f 24 33 54 +f 48 2 54 +f 18 48 54 +f 22 21 55 +f 21 41 55 +f 41 22 55 +f 29 11 56 +f 12 37 56 +f 37 29 56 +f 39 12 56 +f 28 39 56 +f 11 47 56 +f 28 19 57 +f 19 30 57 +f 40 28 57 +f 6 40 57 +f 43 6 57 +f 30 43 57 +f 10 32 58 +f 44 10 58 +f 15 44 58 +f 32 50 58 +f 50 15 58 +f 20 23 59 +f 44 20 59 +f 23 52 59 +f 52 44 59 +f 22 18 60 +f 33 9 60 +f 9 49 60 +f 49 22 60 +f 18 54 60 +f 54 33 60 +f 9 16 61 +f 16 23 61 +f 49 9 61 +f 23 49 61 +f 19 28 62 +f 1 32 62 +f 32 19 62 +f 50 1 62 +f 47 50 62 +f 28 56 62 +f 56 47 62 +f 8 17 63 +f 17 31 63 +f 36 8 63 +f 26 36 63 +f 31 5 64 +f 5 37 64 +f 37 12 64 +f 38 26 64 +f 12 38 64 +f 26 63 64 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/469/469.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/469/469.urdf new file mode 100644 index 000000000..c0f985546 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/469/469.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/470/470.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/470/470.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/470/470.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/470/470.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/470/470.obj new file mode 100644 index 000000000..4d2efedb9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/470/470.obj @@ -0,0 +1,840 @@ +o convex_0 +v 0.002717 -1.335828 -1.567877 +v -0.081172 -2.259371 -1.764090 +v -0.025224 -2.259371 -1.764090 +v -0.025224 -1.923453 -3.275295 +v 0.310596 -1.783533 -1.567877 +v -0.361044 -2.007293 -1.567877 +v 0.198634 -2.007293 -2.995183 +v 0.254582 -1.307695 -1.595955 +v -0.221075 -1.895413 -3.023261 +v 0.226641 -2.147398 -1.567877 +v -0.053165 -2.147398 -3.023261 +v -0.221075 -1.531641 -1.652111 +v -0.333037 -2.175345 -1.567877 +v 0.030724 -1.783533 -3.051339 +v 0.142686 -2.147398 -2.519525 +v -0.193134 -2.063372 -2.883204 +v -0.165127 -2.259371 -1.567877 +v 0.310596 -1.615667 -1.595955 +v -0.025224 -1.783533 -3.051339 +v 0.198634 -1.951399 -2.967104 +v 0.058731 -1.307695 -1.595955 +v -0.305030 -2.203385 -1.679855 +v -0.137120 -1.783533 -2.883204 +v -0.277089 -1.895413 -2.463369 +v -0.221075 -1.951399 -3.023261 +v 0.030724 -1.979439 -3.275295 +v 0.282589 -1.391721 -1.567877 +v -0.221075 -1.531641 -1.567877 +v 0.086672 -1.783533 -2.967104 +v 0.254582 -1.979439 -2.100024 +v 0.002717 -2.147398 -2.967104 +v 0.002717 -2.259371 -1.567877 +f 10 17 32 +f 5 1 6 +f 5 6 10 +f 3 2 11 +f 10 6 13 +f 7 10 15 +f 2 3 17 +f 11 2 17 +f 10 13 17 +f 5 7 18 +f 4 9 19 +f 14 4 19 +f 8 14 19 +f 18 7 20 +f 1 8 21 +f 8 19 21 +f 16 11 22 +f 13 16 22 +f 11 17 22 +f 17 13 22 +f 12 1 23 +f 9 12 23 +f 19 9 23 +f 1 21 23 +f 21 19 23 +f 6 12 24 +f 12 9 24 +f 9 4 25 +f 4 11 25 +f 13 6 25 +f 11 16 25 +f 16 13 25 +f 6 24 25 +f 24 9 25 +f 11 4 26 +f 4 14 26 +f 20 7 26 +f 1 5 27 +f 8 1 27 +f 5 18 27 +f 20 8 27 +f 18 20 27 +f 6 1 28 +f 1 12 28 +f 12 6 28 +f 14 8 29 +f 8 20 29 +f 26 14 29 +f 20 26 29 +f 7 5 30 +f 5 10 30 +f 10 7 30 +f 3 11 31 +f 15 3 31 +f 7 15 31 +f 26 7 31 +f 11 26 31 +f 3 15 32 +f 15 10 32 +f 17 3 32 +o convex_1 +v 0.058771 3.226174 -0.895930 +v -0.389054 -2.091149 0.839303 +v -0.417055 -2.091149 0.839303 +v -0.193047 -2.259026 -1.567641 +v 0.898418 -2.202459 -0.196654 +v 0.786414 2.246891 0.587205 +v -0.892881 2.274263 -0.224691 +v 0.758413 2.218912 -1.119756 +v -0.808878 -2.538821 -1.203866 +v -0.528867 3.030318 0.307306 +v -0.808878 -2.510842 0.615243 +v 0.674410 -2.510842 0.531131 +v 0.730412 -2.482862 -1.035880 +v -0.668872 2.386181 -0.952004 +v 0.002769 -2.931143 -0.979806 +v 0.618408 3.282742 -0.280529 +v 0.954421 1.966488 -0.280529 +v 0.282587 -1.195196 -1.567641 +v -0.081042 2.386789 0.643044 +v -0.109043 2.386789 -1.175594 +v 0.310589 -1.671456 0.839068 +v -0.976884 0.091861 -0.364169 +v -0.696873 2.246891 0.419219 +v 0.926420 -0.243285 0.447256 +v 0.478403 -2.931143 0.167357 +v 0.898418 -0.215914 -0.952004 +v -0.584869 3.282742 -0.336368 +v -0.640871 -2.931143 -0.252728 +v 0.058771 3.282742 0.307071 +v -0.361053 -1.979231 -1.567641 +v 0.002769 -2.846596 0.643044 +v -0.808878 0.399027 -1.035880 +v -0.920882 -2.231046 -0.196418 +v 0.982422 -0.383182 -0.280529 +v -0.808878 0.399027 0.475057 +v 0.618408 -2.931143 -0.280529 +v 0.310589 -1.811354 -1.567641 +v 0.674410 -0.943381 0.699118 +v 0.786414 3.030318 -0.308331 +v -0.556868 3.058297 -0.811819 +v 0.422593 3.282742 -0.755981 +v 0.618408 3.058297 0.251232 +v 0.758413 -2.454883 0.503094 +v 0.002769 -2.874575 -1.175594 +v -0.976884 0.035902 -0.196418 +v 0.282587 -2.147108 0.839068 +v 0.226585 -2.147108 -1.567641 +v -0.305051 0.567513 0.726920 +v -0.445056 -2.931143 0.223195 +v -0.501058 -2.931143 -0.783782 +v -0.724874 3.058297 -0.224691 +v 0.086580 3.002338 0.475057 +v 0.786414 1.995076 0.615243 +v -0.445056 -2.454883 0.811031 +v 0.226585 -1.391661 0.839068 +v 0.870417 -0.467121 -1.007843 +v -0.892881 2.274263 -0.308331 +v -0.556868 -1.559538 0.755192 +v 0.030770 3.058297 -1.007843 +v 0.478403 -2.931143 -0.699907 +v 0.926420 2.274871 -0.112542 +v -0.193047 -1.475600 -1.567641 +v -0.445056 3.282742 0.195158 +v 0.590407 3.002338 -0.867893 +f 91 73 96 +f 40 50 52 +f 51 42 55 +f 37 45 58 +f 40 49 58 +f 43 41 60 +f 47 57 60 +f 48 59 61 +f 36 41 62 +f 50 36 62 +f 46 52 62 +f 57 44 63 +f 41 54 64 +f 62 41 64 +f 46 62 64 +f 41 43 65 +f 54 41 65 +f 56 37 66 +f 49 56 66 +f 37 58 66 +f 58 49 66 +f 55 39 67 +f 45 37 68 +f 57 47 68 +f 36 50 69 +f 50 40 69 +f 49 40 71 +f 52 46 72 +f 59 33 72 +f 33 59 73 +f 59 48 73 +f 48 61 74 +f 71 48 74 +f 38 71 74 +f 37 56 75 +f 44 57 75 +f 68 37 75 +f 57 68 75 +f 56 70 75 +f 41 36 76 +f 39 54 77 +f 65 43 77 +f 54 65 77 +f 43 67 77 +f 67 39 77 +f 34 35 78 +f 53 34 78 +f 63 44 78 +f 70 53 78 +f 44 75 78 +f 75 70 78 +f 36 69 79 +f 69 45 79 +f 76 36 79 +f 45 76 79 +f 51 55 80 +f 43 60 81 +f 60 57 81 +f 63 43 81 +f 57 63 81 +f 60 41 82 +f 47 60 82 +f 41 76 82 +f 76 47 82 +f 39 55 83 +f 55 42 83 +f 59 72 83 +f 51 38 84 +f 42 51 84 +f 38 74 84 +f 74 61 84 +f 38 51 85 +f 56 38 85 +f 53 70 85 +f 70 56 85 +f 35 43 86 +f 43 63 86 +f 78 35 86 +f 63 78 86 +f 35 34 87 +f 34 53 87 +f 80 35 87 +f 51 80 87 +f 85 51 87 +f 53 85 87 +f 58 45 88 +f 40 58 88 +f 45 69 88 +f 69 40 88 +f 54 39 89 +f 46 64 89 +f 64 54 89 +f 72 46 89 +f 39 83 89 +f 83 72 89 +f 43 35 90 +f 67 43 90 +f 55 67 90 +f 35 80 90 +f 80 55 90 +f 40 52 91 +f 72 33 91 +f 52 72 91 +f 33 73 91 +f 45 68 92 +f 68 47 92 +f 47 76 92 +f 76 45 92 +f 56 49 93 +f 38 56 93 +f 71 38 93 +f 49 71 93 +f 52 50 94 +f 50 62 94 +f 62 52 94 +f 61 59 95 +f 83 42 95 +f 59 83 95 +f 42 84 95 +f 84 61 95 +f 71 40 96 +f 48 71 96 +f 73 48 96 +f 40 91 96 +o convex_2 +v 0.562466 3.310771 -0.140473 +v -0.585034 3.282742 -0.280315 +v -0.472953 3.282742 -0.616004 +v -0.081248 5.018150 -0.280315 +v -0.025207 3.282742 0.279494 +v 0.394576 3.282742 -0.756066 +v -0.053285 4.794090 0.111376 +v 0.366613 4.766061 -0.280315 +v -0.025207 4.794090 -0.644060 +v -0.416913 4.766061 -0.280315 +v -0.416913 3.842638 0.139542 +v 0.394576 4.066529 0.083429 +v -0.053285 3.310940 -0.840125 +v -0.388951 4.094728 -0.644060 +v 0.394576 4.038500 -0.672006 +v 0.450501 3.282742 0.139542 +v 0.590544 3.450745 -0.336209 +v -0.444991 3.282742 0.139542 +v 0.002755 4.066529 -0.784122 +v 0.002755 4.094728 0.223491 +v -0.528993 4.066529 -0.280315 +v -0.333026 4.570199 0.027426 +v 0.282611 4.598058 -0.000411 +v 0.506541 4.094558 -0.280315 +v 0.282611 4.598058 -0.560220 +v -0.305063 4.598058 -0.560220 +v 0.534504 3.282742 -0.532164 +v -0.416913 3.282742 -0.700063 +v 0.086643 3.310940 0.279494 +v 0.002755 5.018150 -0.252478 +v -0.416913 4.038500 0.111376 +v -0.585034 3.310940 -0.224422 +v 0.002755 4.766061 0.111376 +v -0.388951 4.794090 -0.224422 +v -0.528993 4.066529 -0.224422 +v 0.058680 3.282742 -0.840125 +v 0.002755 4.794090 -0.644060 +v 0.366613 4.766061 -0.252478 +v 0.506541 4.038500 -0.364155 +v -0.053285 4.066529 0.223491 +v -0.360988 3.310940 0.195435 +v 0.478579 3.394857 0.111485 +v 0.422539 3.534831 -0.728119 +v -0.053285 4.010811 -0.784122 +v -0.360988 4.066529 0.139542 +v -0.416913 4.038500 -0.616004 +v 0.366613 3.982783 0.111376 +v -0.416913 4.738202 -0.224422 +v 0.338536 4.038500 -0.700063 +v -0.388951 4.794090 -0.308152 +v 0.590544 3.282742 -0.392211 +v -0.081248 4.738202 -0.644060 +v -0.360988 3.310940 -0.728009 +v 0.002755 4.962093 -0.392102 +f 104 133 150 +f 98 99 101 +f 101 99 102 +f 101 102 112 +f 98 101 114 +f 99 98 117 +f 97 113 120 +f 104 111 121 +f 110 106 122 +f 112 102 123 +f 102 99 124 +f 101 112 125 +f 116 101 125 +f 100 103 126 +f 98 114 128 +f 114 107 128 +f 117 98 128 +f 107 127 128 +f 103 116 129 +f 108 119 129 +f 126 103 129 +f 103 100 130 +f 118 103 130 +f 106 117 131 +f 117 128 131 +f 128 127 131 +f 109 115 132 +f 102 124 132 +f 124 109 132 +f 115 105 133 +f 104 121 133 +f 121 111 133 +f 119 108 134 +f 108 120 134 +f 120 104 134 +f 104 126 134 +f 129 119 134 +f 126 129 134 +f 111 104 135 +f 113 111 135 +f 104 120 135 +f 120 113 135 +f 101 116 136 +f 116 103 136 +f 114 101 137 +f 107 114 137 +f 101 136 137 +f 112 97 138 +f 97 120 138 +f 120 108 138 +f 123 102 139 +f 111 123 139 +f 102 132 139 +f 132 115 139 +f 115 109 140 +f 105 115 140 +f 103 118 141 +f 127 107 141 +f 118 127 141 +f 136 103 141 +f 107 137 141 +f 137 136 141 +f 106 110 142 +f 99 117 142 +f 117 106 142 +f 124 99 142 +f 110 124 142 +f 125 112 143 +f 116 125 143 +f 129 116 143 +f 108 129 143 +f 112 138 143 +f 138 108 143 +f 127 118 144 +f 130 106 144 +f 118 130 144 +f 106 131 144 +f 131 127 144 +f 115 133 145 +f 133 111 145 +f 111 139 145 +f 139 115 145 +f 100 105 146 +f 122 106 146 +f 130 100 146 +f 106 130 146 +f 97 112 147 +f 113 97 147 +f 111 113 147 +f 123 111 147 +f 112 123 147 +f 110 122 148 +f 105 140 148 +f 140 110 148 +f 146 105 148 +f 122 146 148 +f 109 124 149 +f 124 110 149 +f 110 140 149 +f 140 109 149 +f 105 100 150 +f 100 126 150 +f 126 104 150 +f 133 105 150 +o convex_3 +v -0.081126 -1.475759 0.839328 +v -0.361110 -2.315264 0.839328 +v 0.002750 -2.315264 0.839328 +v -0.277045 -2.231287 1.091218 +v 0.254628 -1.895468 1.091218 +v -0.277045 -1.755652 1.091218 +v 0.254628 -1.475759 0.839328 +v 0.282671 -2.147310 0.867338 +v 0.198669 -2.147310 1.091218 +v 0.170690 -1.699638 1.091218 +v -0.305088 -1.755652 0.839328 +v 0.002750 -1.419745 0.867338 +v -0.333004 -2.035371 1.091218 +v -0.025230 -2.259250 1.035198 +v -0.361110 -1.979444 0.867338 +v 0.282671 -2.147310 0.839328 +v -0.249066 -1.615662 0.895323 +v 0.282671 -2.091384 1.007213 +v 0.282671 -1.643712 0.867338 +f 155 168 169 +f 153 152 151 +f 154 155 156 +f 153 151 157 +f 155 154 159 +f 153 158 159 +f 156 155 160 +f 155 157 160 +f 151 152 161 +f 157 151 162 +f 156 160 162 +f 160 157 162 +f 152 154 163 +f 154 156 163 +f 152 153 164 +f 154 152 164 +f 153 159 164 +f 159 154 164 +f 161 152 165 +f 156 161 165 +f 152 163 165 +f 163 156 165 +f 153 157 166 +f 158 153 166 +f 151 161 167 +f 161 156 167 +f 162 151 167 +f 156 162 167 +f 155 159 168 +f 159 158 168 +f 158 166 168 +f 168 166 169 +f 157 155 169 +f 166 157 169 +o convex_4 +v 0.170619 -1.503776 1.343132 +v -0.333119 -2.175200 1.091218 +v -0.277136 -2.231255 1.091218 +v -0.305099 -2.371111 1.343132 +v 0.254680 -2.063427 1.091218 +v 0.030688 -2.483109 1.343132 +v -0.249115 -1.755743 1.091218 +v -0.221152 -1.643745 1.343132 +v 0.170619 -1.671716 1.091218 +v -0.053201 -1.391779 1.315119 +v 0.226660 -2.203171 1.343132 +v -0.025296 -2.539163 1.315119 +v 0.254680 -1.839656 1.343132 +v 0.002668 -2.231255 1.091218 +v -0.305099 -1.979401 1.343132 +v 0.226660 -1.727771 1.091218 +v -0.053201 -1.615661 1.119230 +v -0.277136 -1.783714 1.091218 +f 184 177 187 +f 171 172 173 +f 172 171 174 +f 170 173 175 +f 174 171 176 +f 173 170 177 +f 174 176 178 +f 177 170 179 +f 170 178 179 +f 175 174 180 +f 170 175 180 +f 173 172 181 +f 174 175 181 +f 175 173 181 +f 170 180 182 +f 180 174 182 +f 172 174 183 +f 181 172 183 +f 174 181 183 +f 171 173 184 +f 173 177 184 +f 178 170 185 +f 174 178 185 +f 170 182 185 +f 182 174 185 +f 178 176 186 +f 176 179 186 +f 179 178 186 +f 176 171 187 +f 179 176 187 +f 177 179 187 +f 171 184 187 +o convex_5 +v 0.198667 -2.315050 1.343132 +v 0.030715 -0.720591 2.042893 +v 0.002752 -0.720591 2.042893 +v 0.002695 -4.637530 1.930901 +v -0.305129 -2.174865 1.343132 +v 0.002695 0.706589 1.511086 +v 0.282671 -1.728393 2.042893 +v -0.221067 -1.867989 2.042893 +v -0.221067 0.762545 1.762948 +v -0.221067 -4.637530 1.706986 +v 0.198667 0.679494 1.706986 +v 0.142683 -4.413705 1.567184 +v 0.254650 -1.840306 1.343132 +v -0.053174 -4.637530 1.511086 +v 0.254650 -3.742230 1.706986 +v 0.002695 0.734861 1.902818 +v -0.277108 -3.769914 1.762948 +v 0.170646 -4.469662 1.818841 +v -0.053174 -1.140558 1.343132 +v 0.282671 -2.286778 2.042893 +v -0.249088 0.370851 1.762948 +v 0.002695 -4.974446 1.706986 +v -0.165141 -4.413705 1.874940 +v -0.193104 0.231255 1.902818 +v -0.165141 0.482764 1.567184 +v 0.254650 -0.161028 1.679039 +v -0.025211 1.042915 1.679039 +v 0.170646 0.511036 1.567184 +v 0.282671 -1.978724 1.623078 +v 0.002695 -2.818657 2.042893 +v -0.305129 -2.398690 1.343132 +v -0.221067 -2.202549 2.042893 +v 0.170646 0.203571 1.874940 +v -0.025211 -2.650788 1.343132 +v 0.170646 -1.336110 1.343132 +v -0.249088 -1.700120 1.343132 +v -0.221067 0.678905 1.679039 +v 0.198667 -4.441978 1.679039 +v 0.226630 -3.574361 1.930901 +v 0.282671 -2.846930 1.679039 +v -0.221067 -4.665803 1.762948 +v -0.193104 -4.441978 1.595062 +v -0.277108 -3.042482 1.762948 +v -0.053174 0.650632 1.511086 +v 0.002695 -4.609847 1.511086 +v 0.254650 -2.006407 1.343132 +v 0.198667 0.679494 1.651093 +v -0.053174 -4.581574 1.930901 +v -0.053174 0.734861 1.902818 +v -0.053174 -4.974446 1.762948 +v 0.170646 -3.742230 1.483207 +v 0.002695 1.042915 1.734933 +v 0.170646 -4.637530 1.679039 +v 0.114720 0.427396 1.511086 +v 0.002695 -4.974446 1.762948 +v 0.114720 -4.413705 1.902818 +v -0.165141 -1.420339 2.042893 +v -0.053174 -4.945584 1.679039 +v -0.249088 -0.188712 1.818841 +v 0.254650 -3.630317 1.651093 +v -0.277108 -3.825870 1.706986 +v -0.305129 -2.174865 1.371215 +v 0.198667 -4.469662 1.734933 +f 240 225 250 +f 189 190 194 +f 194 190 195 +f 188 192 200 +f 190 189 203 +f 189 194 203 +f 200 192 206 +f 194 195 207 +f 196 208 211 +f 198 194 213 +f 194 207 216 +f 213 194 216 +f 200 213 216 +f 191 207 217 +f 207 195 217 +f 192 188 218 +f 195 204 219 +f 217 195 219 +f 194 198 220 +f 203 194 220 +f 198 203 220 +f 218 188 221 +f 201 218 221 +f 206 193 222 +f 200 206 222 +f 206 192 223 +f 192 212 223 +f 192 208 224 +f 208 196 224 +f 212 192 224 +f 196 214 224 +f 202 207 226 +f 207 202 227 +f 216 207 227 +f 219 204 228 +f 210 219 228 +f 201 197 229 +f 218 201 229 +f 197 218 229 +f 204 195 230 +f 193 206 231 +f 214 193 231 +f 206 223 231 +f 223 212 231 +f 212 224 231 +f 224 214 231 +f 209 201 232 +f 221 188 232 +f 201 221 232 +f 188 200 233 +f 200 216 233 +f 216 227 233 +f 198 213 234 +f 213 200 234 +f 193 214 234 +f 215 193 234 +f 200 215 234 +f 191 217 235 +f 219 210 235 +f 217 219 235 +f 210 228 235 +f 190 203 236 +f 211 190 236 +f 196 211 236 +f 191 235 237 +f 235 228 237 +f 225 199 238 +f 232 188 238 +f 199 232 238 +f 188 233 238 +f 203 198 239 +f 214 196 239 +f 198 234 239 +f 234 214 239 +f 236 203 239 +f 196 236 239 +f 199 225 240 +f 232 199 240 +f 209 232 240 +f 193 215 241 +f 215 200 241 +f 222 193 241 +f 200 222 241 +f 205 191 242 +f 191 237 242 +f 237 209 242 +f 240 205 242 +f 209 240 242 +f 191 205 243 +f 207 191 243 +f 205 226 243 +f 226 207 243 +f 195 190 244 +f 190 211 244 +f 211 195 244 +f 197 201 245 +f 201 209 245 +f 228 197 245 +f 209 237 245 +f 237 228 245 +f 195 211 246 +f 211 208 246 +f 230 195 246 +f 202 225 247 +f 227 202 247 +f 233 227 247 +f 225 238 247 +f 238 233 247 +f 218 197 248 +f 204 218 248 +f 197 228 248 +f 228 204 248 +f 208 192 249 +f 192 218 249 +f 218 204 249 +f 204 230 249 +f 246 208 249 +f 230 246 249 +f 225 202 250 +f 226 205 250 +f 202 226 250 +f 205 240 250 +o convex_6 +v 0.282671 -1.755762 2.042918 +v -0.221158 -2.203171 2.042918 +v -0.193145 -2.259174 2.042918 +v -0.193145 -2.175246 2.294783 +v 0.002794 -0.999800 2.042918 +v 0.282671 -1.979466 2.294783 +v 0.058720 -2.567266 2.042918 +v -0.165133 -1.615678 2.294783 +v 0.198683 -1.643603 2.294783 +v 0.254658 -2.371180 2.042918 +v 0.226646 -2.203171 2.294783 +v -0.193145 -1.559675 2.070928 +v 0.058720 -0.999800 2.070928 +v -0.221158 -1.783533 2.294783 +v 0.002794 -2.287252 2.294783 +v 0.058720 -1.531904 2.294783 +v 0.254658 -1.615678 2.126898 +v 0.030757 -2.567266 2.070928 +v -0.221158 -1.839383 2.042918 +v 0.282671 -2.259174 2.070928 +f 256 261 270 +f 253 252 251 +f 252 253 254 +f 251 252 255 +f 253 251 257 +f 254 256 258 +f 258 256 259 +f 257 251 260 +f 257 260 261 +f 256 254 261 +f 258 255 262 +f 251 255 263 +f 255 258 263 +f 252 254 264 +f 254 258 264 +f 258 262 264 +f 261 254 265 +f 258 259 266 +f 263 258 266 +f 259 263 266 +f 256 251 267 +f 259 256 267 +f 251 263 267 +f 263 259 267 +f 254 253 268 +f 253 257 268 +f 257 261 268 +f 265 254 268 +f 261 265 268 +f 255 252 269 +f 262 255 269 +f 252 264 269 +f 264 262 269 +f 251 256 270 +f 260 251 270 +f 261 260 270 +o convex_7 +v 0.282671 -1.895495 2.322836 +v -0.221158 -2.063372 2.294808 +v -0.193145 -2.147344 2.294808 +v -0.053182 -1.923376 2.714665 +v 0.002794 -1.559609 2.294808 +v 0.226646 -2.175356 2.294808 +v 0.198683 -1.867614 2.602632 +v 0.030757 -2.147344 2.602632 +v -0.193145 -1.895495 2.630661 +v -0.025219 -1.671593 2.630661 +v -0.165133 -1.643581 2.294808 +v 0.226646 -1.699606 2.294808 +v -0.165133 -2.091319 2.546656 +v -0.025219 -2.231381 2.322836 +v 0.170671 -2.007413 2.602632 +v 0.170671 -1.699606 2.462816 +v -0.221158 -1.811589 2.322836 +v 0.030757 -1.923376 2.714665 +f 278 285 288 +f 273 272 275 +f 273 275 276 +f 279 274 280 +f 275 272 281 +f 280 275 281 +f 279 280 281 +f 271 276 282 +f 276 275 282 +f 277 271 282 +f 272 273 283 +f 278 274 283 +f 274 279 283 +f 279 272 283 +f 273 276 284 +f 276 278 284 +f 283 273 284 +f 278 283 284 +f 276 271 285 +f 271 277 285 +f 278 276 285 +f 275 280 286 +f 280 277 286 +f 282 275 286 +f 277 282 286 +f 272 279 287 +f 281 272 287 +f 279 281 287 +f 274 278 288 +f 277 280 288 +f 280 274 288 +f 285 277 288 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/470/470.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/470/470.urdf new file mode 100644 index 000000000..00e62bc88 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/470/470.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/471/471.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/471/471.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/471/471.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/471/471.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/471/471.obj new file mode 100644 index 000000000..5f4d96510 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/471/471.obj @@ -0,0 +1,657 @@ +o convex_0 +v 0.569884 0.217707 -1.913072 +v -0.038386 -0.825048 -1.710173 +v 0.048442 -0.825048 -1.710173 +v -0.009443 -0.071883 -3.477359 +v -0.414996 0.623067 -1.681163 +v -0.472881 -0.593178 -1.739184 +v 0.453995 0.681117 -1.681163 +v 0.425053 -0.042776 -3.187605 +v 0.077385 0.391362 -3.216615 +v -0.386054 -0.071883 -3.187605 +v 0.511880 -0.593343 -1.681163 +v 0.019499 -0.448465 -3.216615 +v -0.588890 0.072830 -1.681163 +v 0.019499 0.854936 -1.710173 +v 0.627889 -0.100826 -1.681163 +v -0.154156 0.333477 -3.100573 +v 0.367167 0.362420 -2.839829 +v 0.482938 -0.622285 -1.855227 +v -0.270045 -0.361473 -3.042552 +v 0.338106 -0.361638 -2.926685 +v -0.530766 0.014944 -2.318693 +v 0.540942 0.014944 -2.579261 +v -0.414996 0.623067 -1.768195 +v -0.009443 0.391362 -3.216615 +v -0.386054 -0.013998 -3.187605 +v -0.472881 -0.593178 -1.681163 +v 0.396110 0.043723 -3.245450 +v -0.038386 -0.448465 -3.216615 +v 0.482938 0.652174 -1.710349 +v -0.009443 0.014944 -3.477359 +v -0.270045 0.275592 -3.013541 +v 0.540942 -0.216596 -2.260672 +v -0.443939 -0.361473 -2.405725 +v 0.396110 0.710059 -1.710349 +v 0.367167 -0.042776 -3.274461 +v 0.425053 0.420469 -2.521416 +v 0.627889 0.043723 -1.739184 +v -0.588890 -0.013998 -1.739184 +v -0.501943 -0.100826 -2.434560 +v -0.356992 -0.361473 -2.810994 +v 0.135270 -0.795941 -1.681163 +v 0.338106 0.304534 -3.042727 +v 0.048442 0.854936 -1.681163 +v 0.048442 0.014944 -3.477359 +v -0.472881 0.362420 -1.999928 +v 0.367167 -0.709277 -1.710349 +f 11 41 46 +f 7 5 11 +f 3 2 12 +f 11 5 13 +f 7 11 15 +f 8 18 20 +f 18 12 20 +f 13 5 23 +f 5 14 23 +f 14 9 24 +f 23 14 24 +f 16 23 24 +f 4 10 25 +f 10 21 25 +f 16 24 25 +f 6 2 26 +f 11 13 26 +f 22 8 27 +f 2 6 28 +f 10 4 28 +f 12 2 28 +f 4 12 28 +f 6 19 28 +f 19 10 28 +f 7 15 29 +f 17 7 29 +f 1 22 29 +f 24 9 30 +f 4 25 30 +f 25 24 30 +f 23 16 31 +f 16 25 31 +f 25 23 31 +f 15 11 32 +f 11 18 32 +f 18 8 32 +f 22 15 32 +f 8 22 32 +f 7 17 34 +f 17 9 34 +f 12 4 35 +f 8 20 35 +f 20 12 35 +f 27 8 35 +f 27 17 36 +f 22 27 36 +f 17 29 36 +f 29 22 36 +f 22 1 37 +f 15 22 37 +f 1 29 37 +f 29 15 37 +f 13 21 38 +f 6 26 38 +f 26 13 38 +f 21 10 39 +f 33 6 39 +f 10 33 39 +f 6 38 39 +f 38 21 39 +f 19 6 40 +f 10 19 40 +f 6 33 40 +f 33 10 40 +f 2 3 41 +f 26 2 41 +f 11 26 41 +f 9 17 42 +f 27 9 42 +f 17 27 42 +f 5 7 43 +f 14 5 43 +f 9 14 43 +f 7 34 43 +f 34 9 43 +f 9 27 44 +f 30 9 44 +f 4 30 44 +f 35 4 44 +f 27 35 44 +f 21 13 45 +f 13 23 45 +f 25 21 45 +f 23 25 45 +f 3 12 46 +f 18 11 46 +f 12 18 46 +f 41 3 46 +o convex_1 +v -0.617725 -2.128483 -1.188521 +v 0.193279 0.506616 0.810336 +v -0.125242 0.506616 0.810336 +v 0.019318 2.709053 -1.217543 +v 0.772743 -1.925191 -1.159499 +v -0.733699 -2.012909 0.375494 +v -0.820476 2.274018 -0.348835 +v 0.743749 2.071318 0.172828 +v 0.743749 -2.041358 0.288672 +v -0.588731 0.072175 -1.681163 +v 0.975494 0.217384 -1.188521 +v 0.019318 -3.027001 -0.377613 +v -1.023431 0.043726 -1.159499 +v -0.762693 2.071318 0.317694 +v 0.627775 -0.129340 -1.681163 +v 0.019318 2.709053 0.317694 +v 0.975494 -0.071849 0.288672 +v -0.994437 0.072175 0.346716 +v 0.772743 1.984785 -1.188521 +v -0.762693 2.071318 -1.246321 +v 0.019318 -2.737176 -1.159255 +v 0.598782 -0.013765 0.810336 +v -0.472961 -0.592824 0.810336 +v 0.048311 -2.650051 0.346716 +v -0.791482 -2.273100 -0.464435 +v -0.009472 3.027920 -0.492970 +v 0.048311 0.941058 -1.681163 +v 0.801533 -2.244058 -0.464435 +v 0.077305 -0.825158 -1.681163 +v 0.801533 2.216527 -0.435413 +v 1.033481 -0.071849 -0.782945 +v -0.588731 1.318009 0.607426 +v -1.052424 -0.013765 -0.174704 +v -0.762693 -2.041358 -1.159255 +v 0.309050 -0.621865 0.810336 +v 0.714756 2.013235 0.317694 +v 0.483011 0.738358 -1.681163 +v -0.472961 -0.592824 -1.681163 +v 0.512005 -0.621865 -1.681163 +v -0.791482 0.043133 0.607426 +v 1.033481 -0.013765 -0.203969 +v 0.019318 1.782085 0.578404 +v -0.038465 -3.027001 -0.377613 +v 0.743749 -2.070400 -1.159255 +v -0.820476 2.274018 -0.608814 +v 1.004488 -0.100298 -1.159499 +v -0.414974 0.651233 -1.681163 +v -1.052424 0.274875 -0.435413 +v -0.994437 -0.013765 -1.246565 +v -0.067255 2.709053 0.317694 +v 0.454018 0.391042 0.810336 +v -0.501954 0.043133 0.810336 +v -1.052424 -0.216465 -0.464192 +v -0.791482 -2.215609 -0.203969 +v -0.212223 -2.534476 0.346716 +v -0.067255 -0.796116 0.810336 +v -0.125242 2.592293 -1.246565 +v 0.338043 -2.737176 -0.463948 +v -0.038465 3.027920 -0.492970 +v -0.820476 1.752451 -1.246321 +v 1.033481 0.188342 -0.493214 +v 0.483011 2.563843 -0.435413 +v 0.975494 0.043726 0.288672 +v 0.743749 2.042276 -1.188521 +f 108 76 110 +f 60 53 64 +f 57 61 65 +f 48 49 68 +f 55 63 68 +f 68 49 69 +f 58 55 70 +f 61 56 73 +f 63 55 74 +f 56 61 75 +f 47 67 80 +f 55 68 81 +f 68 69 81 +f 70 55 81 +f 54 62 82 +f 65 61 83 +f 61 73 83 +f 73 50 83 +f 67 47 84 +f 56 75 84 +f 75 67 84 +f 47 80 84 +f 80 56 84 +f 75 61 85 +f 67 75 85 +f 64 52 86 +f 60 64 86 +f 52 69 86 +f 78 60 86 +f 63 74 87 +f 74 77 87 +f 49 48 88 +f 78 49 88 +f 82 62 88 +f 67 58 89 +f 58 70 89 +f 80 67 89 +f 71 80 89 +f 61 51 90 +f 51 74 90 +f 85 61 90 +f 67 85 90 +f 51 61 92 +f 61 57 92 +f 74 51 92 +f 57 77 92 +f 77 74 92 +f 56 66 93 +f 73 56 93 +f 64 53 94 +f 79 64 94 +f 91 59 94 +f 53 91 94 +f 56 80 95 +f 80 59 95 +f 53 60 96 +f 62 72 96 +f 60 78 96 +f 78 88 96 +f 88 62 96 +f 48 68 97 +f 68 82 97 +f 88 48 97 +f 82 88 97 +f 69 49 98 +f 49 78 98 +f 86 69 98 +f 78 86 98 +f 59 80 99 +f 80 71 99 +f 94 59 99 +f 79 94 99 +f 52 64 100 +f 64 79 100 +f 71 89 100 +f 99 71 100 +f 79 99 100 +f 69 52 101 +f 89 70 101 +f 52 100 101 +f 100 89 101 +f 81 69 102 +f 70 81 102 +f 69 101 102 +f 101 70 102 +f 50 73 103 +f 93 66 103 +f 73 93 103 +f 55 58 104 +f 58 67 104 +f 74 55 104 +f 67 90 104 +f 90 74 104 +f 72 50 105 +f 66 91 105 +f 91 53 105 +f 53 96 105 +f 96 72 105 +f 50 103 105 +f 103 66 105 +f 66 56 106 +f 59 91 106 +f 91 66 106 +f 56 95 106 +f 95 59 106 +f 57 65 107 +f 65 76 107 +f 77 57 107 +f 76 87 107 +f 87 77 107 +f 62 54 108 +f 72 62 108 +f 54 76 108 +f 68 63 109 +f 76 54 109 +f 54 82 109 +f 82 68 109 +f 63 87 109 +f 87 76 109 +f 50 72 110 +f 76 65 110 +f 83 50 110 +f 65 83 110 +f 72 108 110 +o convex_2 +v 0.164331 -0.506532 2.143043 +v -0.183286 0.594363 2.229970 +v -0.183286 0.594363 2.172034 +v -0.936541 0.362459 2.172034 +v -0.125094 -0.013845 2.606487 +v 0.801714 0.043915 2.143043 +v 0.048459 0.420327 2.548551 +v -0.385935 -0.448556 2.345842 +v 0.367150 -0.390473 2.374788 +v 0.396076 0.507399 2.143043 +v -0.588754 -0.332497 2.143043 +v 0.367150 -0.042833 2.519560 +v -0.385935 0.015035 2.548551 +v -0.617849 0.594363 2.143043 +v 0.396076 0.420327 2.374788 +v 0.048459 -0.390473 2.490615 +v 0.598895 -0.390473 2.172034 +v -0.241137 0.333579 2.519560 +v 0.048459 0.565267 2.374788 +v -0.936541 0.449423 2.172034 +v -0.415030 -0.477436 2.143043 +v 0.338055 0.159759 2.519560 +v 0.077385 -0.013845 2.606487 +v -0.762647 -0.071929 2.172034 +v -0.385935 -0.042833 2.548551 +v 0.801714 -0.013845 2.172034 +v -0.936541 0.362459 2.143043 +v -0.617849 0.594363 2.172034 +v -0.096169 -0.419568 2.461624 +v -0.009562 0.420327 2.548551 +v -0.328083 0.159759 2.548551 +f 140 128 141 +f 116 111 120 +f 120 111 121 +f 112 113 124 +f 113 120 124 +f 120 121 124 +f 116 120 125 +f 111 119 126 +f 119 122 126 +f 111 116 127 +f 119 111 127 +f 113 112 129 +f 120 113 129 +f 117 125 129 +f 125 120 129 +f 114 123 130 +f 111 118 131 +f 121 111 131 +f 118 121 131 +f 125 117 132 +f 117 115 133 +f 115 126 133 +f 126 122 133 +f 132 117 133 +f 122 132 133 +f 121 118 134 +f 123 114 135 +f 115 123 135 +f 134 118 135 +f 114 134 135 +f 122 119 136 +f 116 125 136 +f 127 116 136 +f 119 127 136 +f 132 122 136 +f 125 132 136 +f 124 121 137 +f 114 130 137 +f 130 124 137 +f 121 134 137 +f 134 114 137 +f 112 124 138 +f 129 112 138 +f 124 130 138 +f 118 111 139 +f 111 126 139 +f 126 115 139 +f 115 135 139 +f 135 118 139 +f 115 117 140 +f 117 129 140 +f 130 128 140 +f 129 138 140 +f 138 130 140 +f 123 115 141 +f 130 123 141 +f 128 130 141 +f 115 140 141 +o convex_3 +v -0.530735 -0.072053 0.810356 +v 0.453768 0.507322 0.984133 +v 0.540735 0.478232 1.013132 +v -1.429046 0.362383 1.013132 +v 0.048096 -0.680136 1.013132 +v 0.453768 0.449270 0.810356 +v 0.019193 -0.796114 0.810356 +v 1.207307 -0.014129 0.984133 +v -1.429046 0.043796 0.984133 +v -0.154224 0.507322 0.810356 +v 0.656604 -0.014129 0.810356 +v -0.472930 -0.622212 1.013132 +v -0.472930 -0.622212 0.810356 +v -1.081180 0.507322 1.013132 +v 1.207307 0.043796 1.013132 +v -0.444027 0.391345 0.810356 +v -1.429046 0.362383 0.984133 +v 0.366802 -0.535324 0.810356 +v -1.429046 0.043796 1.013132 +f 150 153 160 +f 144 145 146 +f 143 144 147 +f 142 147 148 +f 146 148 149 +f 143 147 151 +f 147 142 151 +f 148 147 152 +f 147 149 152 +f 146 145 153 +f 148 146 153 +f 153 150 154 +f 142 148 154 +f 150 142 154 +f 148 153 154 +f 144 143 155 +f 145 144 155 +f 143 151 155 +f 144 146 156 +f 147 144 156 +f 146 149 156 +f 149 147 156 +f 151 142 157 +f 142 150 158 +f 150 145 158 +f 145 155 158 +f 155 151 158 +f 157 142 158 +f 151 157 158 +f 149 148 159 +f 148 152 159 +f 152 149 159 +f 145 150 160 +f 153 145 160 +o convex_4 +v -2.413717 -0.332633 1.215946 +v -0.501410 0.594363 2.142998 +v -0.501410 0.594363 2.113913 +v 2.713295 -0.361533 1.621358 +v 0.830481 0.478397 1.013350 +v -0.443604 -0.477499 2.142998 +v 0.048334 -0.651387 1.013350 +v -2.413717 0.420475 1.621358 +v 2.191864 0.449375 1.882233 +v -1.341952 0.478397 1.013240 +v 2.713295 0.014777 1.186972 +v -2.703335 -0.042779 1.911207 +v 2.684392 -0.014001 1.940181 +v -2.616627 -0.448477 1.534769 +v -2.732238 0.014777 1.129135 +v 2.221357 0.507419 1.331952 +v 0.221751 -0.506399 2.142998 +v -2.124099 0.478397 1.998018 +v 0.627571 0.478397 2.142998 +v 2.829497 0.333531 1.505795 +v -1.110139 0.536319 1.100161 +v -1.776674 -0.564443 1.534769 +v -3.022446 0.014777 1.563632 +v 1.844440 -0.506521 1.621358 +v 1.496426 -0.014001 1.013350 +v -2.327008 0.391453 1.158109 +v -1.225751 0.391453 2.142998 +v 2.481483 -0.303611 1.302868 +v -1.776674 -0.042779 1.013240 +v -1.950092 -0.419577 1.882123 +v 3.003504 -0.042901 1.592495 +v 1.815537 -0.390555 1.940181 +v 1.931149 0.391453 1.100161 +v 1.612628 0.014899 2.084939 +v -0.472507 -0.593343 1.013350 +v -1.051744 0.594363 2.113913 +v -2.732238 -0.419577 1.476821 +v -1.602667 0.014777 2.084939 +v 2.713295 -0.042901 1.186972 +v 0.627571 -0.390555 2.142998 +v 1.323009 0.536319 1.389899 +v 2.626587 0.101721 1.940181 +v 2.626587 -0.390555 1.563632 +v 2.800594 0.362431 1.447847 +v 0.019431 -0.651387 1.071187 +v -2.181904 0.478397 1.882123 +v 0.337953 0.507297 1.013350 +v -3.022446 0.014777 1.476821 +v 0.309050 0.565341 2.055966 +v -2.703335 -0.042779 1.129135 +v 1.438620 0.420353 2.055966 +v -1.631570 0.391453 1.013240 +v 2.481483 -0.245689 1.882233 +v -2.529328 -0.361533 1.737364 +v -1.515959 0.449375 2.114024 +v 1.902246 -0.390555 1.216057 +v 1.757142 -0.042901 1.042214 +v 2.510975 0.304509 1.244920 +v 0.917189 0.043799 2.142998 +v 2.713295 0.391453 1.563632 +v 3.003504 0.043799 1.592495 +v -0.096180 -0.506399 2.142998 +v -2.181904 0.478397 1.969044 +v -2.616627 -0.448477 1.476821 +f 197 161 224 +f 162 166 177 +f 162 177 179 +f 170 165 185 +f 181 170 186 +f 166 162 187 +f 170 185 189 +f 185 167 189 +f 166 172 190 +f 182 166 190 +f 174 182 190 +f 173 164 191 +f 184 164 192 +f 177 184 192 +f 165 176 193 +f 185 165 193 +f 167 182 195 +f 189 167 195 +f 162 163 196 +f 163 181 196 +f 187 162 196 +f 172 183 197 +f 172 166 198 +f 166 187 198 +f 191 164 199 +f 171 191 199 +f 179 177 200 +f 192 173 200 +f 177 192 200 +f 173 194 200 +f 163 162 201 +f 162 176 201 +f 181 163 201 +f 194 173 202 +f 164 184 203 +f 184 167 203 +f 199 164 203 +f 188 199 203 +f 182 167 205 +f 167 184 205 +f 184 177 205 +f 181 186 206 +f 186 168 206 +f 196 181 206 +f 165 170 207 +f 176 165 207 +f 170 181 207 +f 201 176 207 +f 181 201 207 +f 183 168 208 +f 186 175 208 +f 168 186 208 +f 197 183 208 +f 176 162 209 +f 169 176 209 +f 162 179 209 +f 179 169 209 +f 175 189 210 +f 195 161 210 +f 189 195 210 +f 161 197 210 +f 208 175 210 +f 197 208 210 +f 169 179 211 +f 179 194 211 +f 202 169 211 +f 194 202 211 +f 186 170 212 +f 175 186 212 +f 189 175 212 +f 170 189 212 +f 164 173 213 +f 192 164 213 +f 173 192 213 +f 190 172 214 +f 174 190 214 +f 172 197 214 +f 197 174 214 +f 178 172 215 +f 196 178 215 +f 187 196 215 +f 172 198 215 +f 198 187 215 +f 167 199 216 +f 199 188 216 +f 203 167 216 +f 188 203 216 +f 167 185 217 +f 193 171 217 +f 185 193 217 +f 199 167 217 +f 171 199 217 +f 193 176 218 +f 171 193 218 +f 176 204 218 +f 204 171 218 +f 194 179 219 +f 179 200 219 +f 200 194 219 +f 176 169 220 +f 169 202 220 +f 202 180 220 +f 204 176 220 +f 180 204 220 +f 191 171 221 +f 173 191 221 +f 180 202 221 +f 202 173 221 +f 204 180 221 +f 171 204 221 +f 177 166 222 +f 166 182 222 +f 182 205 222 +f 205 177 222 +f 172 178 223 +f 183 172 223 +f 168 183 223 +f 178 196 223 +f 206 168 223 +f 196 206 223 +f 182 174 224 +f 161 195 224 +f 195 182 224 +f 174 197 224 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/471/471.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/471/471.urdf new file mode 100644 index 000000000..9600725b0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/471/471.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/472/472.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/472/472.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/472/472.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/472/472.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/472/472.obj new file mode 100644 index 000000000..a92506ddf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/472/472.obj @@ -0,0 +1,504 @@ +o convex_0 +v -0.982022 -3.210155 -1.116324 +v 0.468128 -1.016857 1.077207 +v 0.998890 -1.052323 1.076992 +v -0.911383 -3.634682 1.077207 +v 1.069744 -3.741080 -1.010040 +v -1.017449 -1.016857 -1.010040 +v 1.069744 -1.016857 -1.045468 +v 1.069744 -3.634682 1.041564 +v -0.982022 -1.016857 1.006136 +v -1.017449 -3.705614 -1.116324 +v -1.088303 -1.689113 -0.550120 +v 1.105172 -1.016857 -0.231697 +v -0.946810 -3.670148 0.793998 +v 0.680476 -1.016857 -1.080681 +v -1.052876 -1.229387 0.440147 +v 1.105172 -2.714696 -0.762473 +v 0.680476 -3.741080 -0.585548 +v -0.982022 -1.512315 1.041779 +v -0.628395 -3.705614 -1.116324 +v -1.088303 -1.016857 -0.585548 +v 0.079074 -1.016857 -1.080896 +v 1.069744 -2.785362 1.041564 +v -0.097633 -1.016857 1.077207 +v -0.946810 -3.493084 1.041779 +v 1.069744 -2.219771 -1.045253 +v 1.069744 -3.670148 0.687714 +v -1.017449 -3.705614 -0.903970 +v 0.043646 -3.741080 -1.010040 +v -0.345193 -2.396568 -1.116324 +v -0.628395 -3.670148 0.900282 +v 0.680476 -3.741080 -1.045253 +v 0.998890 -1.016857 1.041564 +v 1.105172 -1.016857 -0.620761 +v -0.699035 -3.634682 1.077207 +v -0.982022 -3.705614 -0.444050 +v 1.069744 -3.741080 -0.620761 +v -1.052876 -2.820828 -0.903970 +v -1.088303 -1.016857 -0.373194 +v -0.805316 -1.016857 1.041779 +v 0.998890 -1.193920 1.076992 +v -0.911383 -3.351486 1.077207 +v -1.052876 -1.300319 0.440147 +f 38 11 42 +f 6 2 7 +f 2 6 9 +f 6 1 10 +f 7 2 12 +f 6 7 14 +f 12 8 16 +f 9 15 18 +f 10 1 19 +f 9 6 20 +f 1 6 21 +f 6 14 21 +f 3 8 22 +f 12 3 22 +f 8 12 22 +f 4 2 23 +f 2 9 23 +f 13 4 24 +f 4 18 24 +f 14 7 25 +f 16 5 25 +f 7 16 25 +f 19 14 25 +f 16 8 26 +f 24 11 27 +f 13 24 27 +f 5 17 28 +f 27 10 28 +f 19 1 29 +f 14 19 29 +f 1 21 29 +f 21 14 29 +f 4 13 30 +f 13 17 30 +f 26 8 30 +f 10 19 31 +f 25 5 31 +f 19 25 31 +f 5 28 31 +f 28 10 31 +f 2 3 32 +f 3 12 32 +f 12 2 32 +f 7 12 33 +f 16 7 33 +f 12 16 33 +f 2 4 34 +f 4 30 34 +f 30 8 34 +f 17 13 35 +f 13 27 35 +f 28 17 35 +f 27 28 35 +f 5 16 36 +f 17 5 36 +f 16 26 36 +f 30 17 36 +f 26 30 36 +f 6 10 37 +f 20 6 37 +f 11 20 37 +f 10 27 37 +f 27 11 37 +f 15 9 38 +f 9 20 38 +f 20 11 38 +f 9 18 39 +f 23 9 39 +f 18 23 39 +f 3 2 40 +f 8 3 40 +f 2 34 40 +f 34 8 40 +f 18 4 41 +f 4 23 41 +f 23 18 41 +f 18 15 42 +f 11 24 42 +f 24 18 42 +f 15 38 42 +o convex_1 +v -1.300115 2.061107 1.076996 +v 1.352535 2.450337 -1.010175 +v 1.352535 2.450337 -1.080733 +v 2.979761 0.292335 0.793918 +v -3.034005 0.256990 -1.080733 +v 3.085819 0.363243 -1.045454 +v 3.050668 2.273176 1.076996 +v -3.104306 0.221645 1.006226 +v -3.034005 2.308521 -0.974685 +v -2.998249 2.273176 1.006226 +v 3.015518 2.308521 -1.045454 +v 0.927699 0.221427 1.076996 +v -1.052850 2.450337 1.076996 +v 1.069513 0.221427 -1.045454 +v 2.979761 0.292335 1.006226 +v -2.538867 0.221645 -0.903704 +v 2.873703 2.308521 0.899966 +v 0.963456 2.450337 -1.080733 +v 1.069513 1.176830 -1.080733 +v -3.069156 1.636531 1.006226 +v -3.034005 1.954854 -1.009964 +v -3.069156 1.777911 -0.549857 +v 3.085819 1.176830 -0.089961 +v 3.050668 0.327898 -0.868425 +v 3.050668 1.884164 1.076996 +v 3.050668 2.308521 0.050944 +v -0.804978 2.450337 1.076996 +v 0.362261 0.221427 1.076996 +v -3.069156 0.256990 -0.656116 +v -3.104306 0.787818 0.475561 +v -2.467961 2.308521 1.041717 +v 0.750735 2.450337 -1.045454 +v -3.034005 2.273176 0.864687 +v 3.015518 0.716910 1.006226 +v 1.494349 0.363243 1.076996 +v 1.281628 2.450337 -0.797655 +v 2.802796 2.344084 -0.868425 +v -2.326147 1.070795 1.041717 +v -3.034005 0.363024 -1.080733 +v -1.017093 2.450337 0.935457 +v 3.085819 0.575530 -1.045454 +v -3.104306 0.221645 0.475561 +v 3.050668 0.327898 -0.125663 +v 2.378566 0.327898 1.041505 +v 1.104664 0.221427 -0.408318 +v 3.050668 1.565624 1.041505 +v -3.104306 0.717128 1.006226 +v -3.069156 1.813256 -0.266990 +v -3.034005 2.308521 -0.868425 +v 2.095544 2.379429 0.050944 +f 59 79 92 +f 49 43 54 +f 44 45 55 +f 43 49 55 +f 47 48 56 +f 47 56 58 +f 45 47 60 +f 55 45 60 +f 47 45 61 +f 45 48 61 +f 48 47 61 +f 51 60 63 +f 51 63 64 +f 56 48 66 +f 46 56 66 +f 57 46 66 +f 49 54 67 +f 65 49 67 +f 59 49 68 +f 49 65 68 +f 44 55 69 +f 55 49 69 +f 49 59 69 +f 54 43 70 +f 56 54 70 +f 64 63 71 +f 64 71 72 +f 43 55 73 +f 55 52 73 +f 52 62 73 +f 60 51 74 +f 55 60 74 +f 52 55 75 +f 62 52 75 +f 67 57 76 +f 67 54 77 +f 44 69 78 +f 45 44 79 +f 53 45 79 +f 68 53 79 +f 59 68 79 +f 70 43 80 +f 50 70 80 +f 43 73 80 +f 73 50 80 +f 60 47 81 +f 63 60 81 +f 47 71 81 +f 71 63 81 +f 51 55 82 +f 74 51 82 +f 55 74 82 +f 48 45 83 +f 45 53 83 +f 65 48 83 +f 53 68 83 +f 68 65 83 +f 47 58 84 +f 58 56 84 +f 70 50 84 +f 56 70 84 +f 71 47 84 +f 72 71 84 +f 50 72 84 +f 48 65 85 +f 66 48 85 +f 57 66 85 +f 76 57 85 +f 65 76 85 +f 54 57 86 +f 57 67 86 +f 77 54 86 +f 67 77 86 +f 56 46 87 +f 54 56 87 +f 57 54 87 +f 46 57 87 +f 65 67 88 +f 76 65 88 +f 67 76 88 +f 72 50 89 +f 50 73 89 +f 73 62 89 +f 51 64 90 +f 64 72 90 +f 62 75 90 +f 72 89 90 +f 89 62 90 +f 55 51 91 +f 75 55 91 +f 51 90 91 +f 90 75 91 +f 69 59 92 +f 44 78 92 +f 78 69 92 +f 79 44 92 +o convex_2 +v 3.086425 -0.769096 0.334216 +v 2.449344 -0.946070 -0.302595 +v 2.449344 -0.910600 -0.302595 +v 1.105172 -0.450867 0.298816 +v 3.015638 -0.344708 -0.196394 +v 1.105172 -0.344708 -0.231794 +v 1.105172 -0.910600 0.192681 +v 3.086425 -0.981477 0.369616 +v 1.105172 -0.910600 -0.196394 +v 3.050934 -0.450867 0.228081 +v 2.944851 -0.981477 -0.302595 +v 2.661510 -0.344708 -0.019524 +v 2.944851 -0.804566 -0.302595 +v 1.105172 -0.415522 0.263415 +v 1.813039 -0.946070 0.263415 +v 1.105172 -0.344708 -0.054924 +v 3.086425 -0.486212 0.263415 +v 3.086425 -0.839910 0.192681 +v 1.105172 -0.663061 -0.231794 +v 1.105172 -0.521557 0.298816 +v 1.883632 -0.344708 -0.231794 +v 2.767982 -0.981477 -0.302595 +v 1.494402 -0.450867 0.298816 +f 109 102 115 +f 95 94 98 +f 96 98 99 +f 99 98 101 +f 94 95 103 +f 97 98 104 +f 102 97 104 +f 95 98 105 +f 103 95 105 +f 97 103 105 +f 98 96 106 +f 102 104 106 +f 99 101 107 +f 104 98 108 +f 98 106 108 +f 106 104 108 +f 93 100 109 +f 97 102 109 +f 103 97 110 +f 100 103 110 +f 109 100 110 +f 97 109 110 +f 98 94 111 +f 94 101 111 +f 101 98 111 +f 96 99 112 +f 100 96 112 +f 99 107 112 +f 107 100 112 +f 98 97 113 +f 105 98 113 +f 97 105 113 +f 101 94 114 +f 94 103 114 +f 103 100 114 +f 100 107 114 +f 107 101 114 +f 100 93 115 +f 96 100 115 +f 106 96 115 +f 102 106 115 +f 93 109 115 +o convex_3 +v -3.069501 -0.946056 -0.054838 +v -1.123739 -0.344646 -0.125572 +v -1.123739 -0.344646 -0.267174 +v -1.123739 -0.981456 -0.196373 +v -1.123739 -0.910590 0.334237 +v -2.998714 -0.450847 0.298836 +v -2.927928 -0.415446 -0.231708 +v -2.963418 -1.016857 0.298836 +v -1.512969 -0.981456 -0.337974 +v -1.123739 -0.450847 0.228036 +v -3.034205 -0.910590 -0.267174 +v -1.123739 -0.698320 -0.337974 +v -3.104992 -1.016857 0.228036 +v -1.760819 -0.344646 -0.267174 +v -1.371395 -0.946056 0.334237 +v -2.432615 -0.450847 0.298836 +v -1.123739 -0.981456 -0.337974 +v -1.725523 -0.910590 -0.337974 +v -2.644781 -1.016857 0.298836 +v -2.963418 -0.415446 -0.090238 +v -3.069501 -1.016857 0.157301 +v -1.123739 -0.839921 0.334237 +v -3.034205 -0.839921 -0.267174 +f 121 135 138 +f 118 117 119 +f 119 117 120 +f 120 117 125 +f 118 119 127 +f 123 121 128 +f 116 126 128 +f 117 118 129 +f 121 117 129 +f 118 127 129 +f 127 122 129 +f 119 120 130 +f 121 123 130 +f 117 121 131 +f 125 117 131 +f 124 127 132 +f 127 119 132 +f 124 126 133 +f 127 124 133 +f 122 127 133 +f 123 128 134 +f 119 130 134 +f 130 123 134 +f 132 119 134 +f 121 129 135 +f 129 122 135 +f 126 124 136 +f 128 126 136 +f 124 132 136 +f 134 128 136 +f 132 134 136 +f 120 125 137 +f 130 120 137 +f 121 130 137 +f 131 121 137 +f 125 131 137 +f 126 116 138 +f 116 128 138 +f 128 121 138 +f 122 133 138 +f 133 126 138 +f 135 122 138 +o convex_4 +v 0.114424 -0.415169 1.076996 +v 0.079079 -1.016857 -1.080733 +v -0.486876 -1.016857 -1.045250 +v -0.734508 0.221427 -0.974494 +v 1.069609 0.221427 -1.045250 +v -1.017486 0.221427 1.006240 +v 0.963356 -1.016857 1.076996 +v -0.982141 -1.016857 1.006240 +v 0.928011 0.221427 1.076996 +v 1.069609 -1.016857 -1.045250 +v -1.052830 -1.016857 -0.832983 +v -1.017486 0.221427 -0.939222 +v 1.105172 -0.450563 0.298684 +v -1.123738 -0.839768 0.334168 +v -1.123738 0.221427 0.192656 +v 1.105172 0.221427 -0.408449 +v -1.017486 -1.016857 -1.009977 +v 1.105172 -1.016857 -0.231666 +v 0.892666 0.115247 -1.080733 +v -1.123738 -0.981463 -0.337905 +v -0.769853 -1.016857 1.041512 +v -1.123738 -0.273959 -0.337905 +v 0.998919 -1.016857 0.970757 +v 1.105172 0.186033 -0.726955 +v 0.362274 0.221427 1.076996 +v 0.680378 -1.016857 -1.080733 +v -1.052830 0.221427 -0.797711 +v -0.062301 -1.016857 1.076996 +v 0.963356 -0.167779 1.076996 +v 1.105172 -0.910555 0.192656 +v 1.105172 -1.016857 -0.620716 +v -1.123738 -0.910555 0.334168 +v -1.123738 0.221427 0.263412 +v -1.017486 -0.061720 1.006240 +v -1.017486 -0.167779 -0.974494 +f 155 165 173 +f 143 142 144 +f 141 140 145 +f 141 145 146 +f 143 144 147 +f 139 145 147 +f 145 140 148 +f 141 146 149 +f 144 142 150 +f 144 150 153 +f 143 147 154 +f 147 151 154 +f 141 149 155 +f 145 148 156 +f 154 151 156 +f 142 143 157 +f 143 148 157 +f 149 146 158 +f 152 153 158 +f 139 144 159 +f 146 145 159 +f 149 158 160 +f 158 153 160 +f 145 156 161 +f 148 143 162 +f 143 154 162 +f 154 156 162 +f 144 139 163 +f 139 147 163 +f 147 144 163 +f 148 140 164 +f 140 157 164 +f 157 148 164 +f 153 150 165 +f 155 149 165 +f 149 160 165 +f 160 153 165 +f 145 139 166 +f 139 159 166 +f 159 145 166 +f 147 145 167 +f 151 147 167 +f 145 161 167 +f 161 151 167 +f 156 151 168 +f 151 161 168 +f 161 156 168 +f 156 148 169 +f 148 162 169 +f 162 156 169 +f 144 152 170 +f 158 146 170 +f 152 158 170 +f 152 144 171 +f 144 153 171 +f 153 152 171 +f 159 144 172 +f 146 159 172 +f 144 170 172 +f 170 146 172 +f 140 141 173 +f 150 142 173 +f 141 155 173 +f 157 140 173 +f 142 157 173 +f 165 150 173 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/472/472.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/472/472.urdf new file mode 100644 index 000000000..16cded808 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/472/472.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/473/473.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/473/473.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/473/473.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/473/473.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/473/473.obj new file mode 100644 index 000000000..a97c2c09d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/473/473.obj @@ -0,0 +1,489 @@ +o convex_0 +v -2.718077 -4.005361 0.057200 +v 1.055690 -1.703050 1.076252 +v 1.432831 -1.892027 1.076252 +v 2.980406 -1.891798 -0.923707 +v 2.942574 -4.043157 1.000832 +v -2.945070 -1.891798 -1.112695 +v 3.056071 -3.929770 -1.036838 +v -2.982903 -1.967389 1.114181 +v -2.945070 -3.967337 -0.999346 +v -2.945070 -4.005361 1.076252 +v 2.980406 -1.967389 0.925411 +v 0.527221 -1.703050 -1.074766 +v -1.095428 -1.703050 1.038324 +v -1.057595 -1.703050 -1.074548 +v 1.734898 -2.684585 1.076252 +v 2.942574 -4.043157 0.661002 +v -2.945070 -3.703227 -1.037056 +v -1.171092 -4.005361 1.076252 +v 2.904742 -1.929822 0.962903 +v -2.907238 -3.137213 1.114181 +v -2.793741 -2.269523 -1.112695 +v 1.017858 -1.703050 -1.036838 +v 1.017858 -1.892027 -1.074766 +v 3.018239 -2.307318 -0.961417 +v 1.659233 -4.043157 1.038324 +v -1.548233 -4.005361 -0.395325 +v -2.945070 -1.891798 -0.282194 +v 0.149490 -4.043157 1.000832 +v -1.774635 -2.005184 -1.112695 +v 3.056071 -3.854180 -0.697444 +v -0.944690 -3.967337 -0.999128 +v 2.564843 -3.552275 1.038542 +v 3.018239 -2.042750 -0.885996 +v 1.206428 -3.929770 -1.036838 +v 2.980406 -2.533632 0.962903 +v 2.980406 -1.891798 -0.470746 +v -2.491674 -1.967389 1.114181 +v 3.056071 -3.288165 -0.923707 +v 3.018239 -3.967337 -0.546385 +v 3.018239 -3.703227 -1.036838 +v 2.980406 -1.929593 0.887482 +v -2.945070 -1.929822 0.661220 +v -2.982903 -2.080775 1.000832 +v 1.130764 -2.194161 -1.074766 +v -2.945070 -4.005361 0.170549 +v 2.942574 -3.250370 1.000832 +v 2.716172 -1.929822 -0.961417 +v -0.076321 -1.703050 1.076252 +v 1.545736 -2.080775 1.076252 +f 32 46 49 +f 2 12 13 +f 13 12 14 +f 12 6 14 +f 6 13 14 +f 7 5 16 +f 2 3 19 +f 8 10 20 +f 10 18 20 +f 18 15 20 +f 17 6 21 +f 2 4 22 +f 12 2 22 +f 16 5 25 +f 18 10 25 +f 15 18 25 +f 1 9 26 +f 6 8 27 +f 13 6 27 +f 25 10 28 +f 16 25 28 +f 1 26 28 +f 26 16 28 +f 6 12 29 +f 21 6 29 +f 7 21 29 +f 12 23 29 +f 5 7 30 +f 9 7 31 +f 26 9 31 +f 16 26 31 +f 25 5 32 +f 15 25 32 +f 24 4 33 +f 7 9 34 +f 9 17 34 +f 21 7 34 +f 17 21 34 +f 11 19 35 +f 5 30 35 +f 30 11 35 +f 4 2 36 +f 33 4 36 +f 3 2 37 +f 2 8 37 +f 8 20 37 +f 20 15 37 +f 7 24 38 +f 30 7 38 +f 11 30 38 +f 24 33 38 +f 7 16 39 +f 31 7 39 +f 16 31 39 +f 24 7 40 +f 23 24 40 +f 2 19 41 +f 19 11 41 +f 36 2 41 +f 33 36 41 +f 11 38 41 +f 38 33 41 +f 8 13 42 +f 27 8 42 +f 13 27 42 +f 8 6 43 +f 10 8 43 +f 6 17 43 +f 17 9 43 +f 7 29 44 +f 29 23 44 +f 40 7 44 +f 23 40 44 +f 9 1 45 +f 1 28 45 +f 28 10 45 +f 10 43 45 +f 43 9 45 +f 32 5 46 +f 35 19 46 +f 5 35 46 +f 22 4 47 +f 12 22 47 +f 23 12 47 +f 4 24 47 +f 24 23 47 +f 8 2 48 +f 2 13 48 +f 13 8 48 +f 19 3 49 +f 15 32 49 +f 3 37 49 +f 37 15 49 +f 46 19 49 +o convex_1 +v 0.602689 4.675058 -0.282290 +v -1.095720 -1.703050 0.094877 +v -1.095720 -1.703050 1.038531 +v 1.055668 -1.703050 1.076437 +v 1.017762 -1.703050 -1.037045 +v -0.982423 3.920739 -0.923747 +v -1.020118 4.071478 1.038531 +v 0.980066 3.996109 1.000835 +v -1.020118 -1.703050 -1.074951 +v 1.017762 3.957796 -0.961654 +v -0.491748 4.713371 0.585552 +v -0.529443 4.713371 -0.546159 +v 0.489391 4.713371 0.547856 +v 1.055458 1.542845 -0.131086 +v -0.303059 3.996109 -0.961654 +v 1.017762 0.448737 -1.037045 +v 0.376305 4.033165 1.038531 +v 0.527298 4.713371 -0.546370 +v -1.095720 0.222630 1.000625 +v 1.055668 -0.268525 1.076437 +v -0.076464 -1.664738 1.076437 +v -1.020118 -1.023472 -1.074951 +v -1.057814 -1.627053 -1.037045 +v 0.451696 -1.664738 -1.074951 +v 1.017762 2.750006 -0.999139 +v 1.017762 3.996109 -0.168993 +v 1.055668 -1.664738 -0.093391 +v -1.020118 4.071478 0.585552 +v -0.982423 3.618007 -0.961443 +v 1.017762 0.411052 1.076437 +v -0.567139 4.713371 0.434559 +v -0.378450 4.713371 -0.584276 +v -0.982423 3.996109 -0.886052 +v 0.980066 3.278218 1.038531 +v 1.017762 2.108741 1.038531 +v -0.944727 3.996109 -0.923747 +v 0.527298 4.713371 0.510160 +v 0.112014 4.713371 -0.584276 +v -1.095720 -1.438002 0.170479 +v -1.057814 2.485586 1.038531 +v -0.567139 4.713371 -0.018000 +v -0.189762 4.713371 0.585762 +v 0.451696 3.996109 -0.961654 +f 64 87 92 +f 52 51 53 +f 53 51 54 +f 54 51 58 +f 61 60 62 +f 63 54 65 +f 57 62 66 +f 50 59 67 +f 61 62 67 +f 51 52 68 +f 52 53 70 +f 53 69 70 +f 58 51 72 +f 71 58 72 +f 54 58 73 +f 65 54 73 +f 58 71 73 +f 71 65 73 +f 59 63 74 +f 63 65 74 +f 71 64 74 +f 65 71 74 +f 50 57 75 +f 59 50 75 +f 63 59 75 +f 69 63 75 +f 53 54 76 +f 54 63 76 +f 69 53 76 +f 63 69 76 +f 64 71 78 +f 72 55 78 +f 71 72 78 +f 66 56 79 +f 56 70 79 +f 70 69 79 +f 56 60 80 +f 60 61 80 +f 77 56 80 +f 61 67 81 +f 55 68 82 +f 68 77 82 +f 57 66 83 +f 66 79 83 +f 79 69 83 +f 75 57 84 +f 69 75 84 +f 57 83 84 +f 83 69 84 +f 78 55 85 +f 64 78 85 +f 61 81 85 +f 81 64 85 +f 55 82 85 +f 82 61 85 +f 57 50 86 +f 62 57 86 +f 50 67 86 +f 67 62 86 +f 67 59 87 +f 64 81 87 +f 81 67 87 +f 51 68 88 +f 68 55 88 +f 72 51 88 +f 55 72 88 +f 68 52 89 +f 52 70 89 +f 70 56 89 +f 56 77 89 +f 77 68 89 +f 80 61 90 +f 77 80 90 +f 61 82 90 +f 82 77 90 +f 60 56 91 +f 62 60 91 +f 56 66 91 +f 66 62 91 +f 59 74 92 +f 74 64 92 +f 87 59 92 +o convex_2 +v -0.114285 5.430500 -0.584284 +v -0.416305 5.015497 0.585770 +v -0.491781 5.015497 0.585770 +v -0.303033 6.071958 0.510179 +v 0.527205 4.713511 0.510179 +v 0.451615 5.996426 -0.584284 +v -0.529462 4.713511 -0.546374 +v -0.529462 6.147630 -0.470898 +v 0.565001 4.713511 -0.546374 +v 0.451615 5.958800 0.547974 +v -0.567257 4.713511 0.434588 +v -0.491666 6.034192 0.510179 +v 0.565001 5.279577 0.208159 +v -0.605053 5.317343 -0.093402 +v -0.227557 4.713511 0.585770 +v 0.413819 5.996426 0.547974 +v -0.378509 6.147630 -0.508578 +v -0.605053 4.751277 -0.282150 +v 0.149710 4.713511 -0.584169 +v -0.605053 5.241811 0.245955 +v 0.489295 5.845503 -0.546374 +v 0.489410 4.713511 0.547860 +v -0.189762 6.034192 0.547974 +v 0.489295 5.807737 0.547974 +v -0.378509 4.751277 -0.584169 +v -0.529462 6.147630 -0.244354 +v 0.565001 5.317343 -0.168878 +v -0.529462 5.958800 -0.508578 +v 0.111800 5.996426 -0.584284 +v -0.605053 4.789042 0.359112 +v 0.565001 4.713511 0.094888 +v -0.491781 4.713511 0.585770 +v -0.605053 5.317343 -0.282150 +f 120 99 125 +f 97 99 101 +f 99 97 103 +f 94 95 107 +f 102 94 107 +f 103 97 107 +f 94 102 108 +f 102 98 108 +f 108 98 109 +f 99 103 110 +f 93 98 111 +f 98 101 111 +f 101 99 111 +f 106 110 112 +f 101 98 113 +f 98 102 113 +f 107 97 114 +f 95 94 115 +f 96 104 115 +f 104 95 115 +f 94 108 115 +f 108 96 115 +f 97 105 116 +f 102 107 116 +f 113 102 116 +f 114 97 116 +f 107 114 116 +f 93 111 117 +f 111 99 117 +f 104 96 118 +f 100 106 118 +f 96 108 118 +f 109 100 118 +f 108 109 118 +f 112 104 118 +f 106 112 118 +f 105 101 119 +f 101 113 119 +f 116 105 119 +f 113 116 119 +f 100 109 120 +f 117 99 120 +f 93 117 120 +f 98 93 121 +f 109 98 121 +f 93 120 121 +f 120 109 121 +f 95 104 122 +f 110 103 122 +f 104 112 122 +f 112 110 122 +f 97 101 123 +f 101 105 123 +f 105 97 123 +f 107 95 124 +f 103 107 124 +f 95 122 124 +f 122 103 124 +f 106 100 125 +f 99 110 125 +f 110 106 125 +f 100 120 125 +o convex_3 +v 0.753959 4.713434 -0.206847 +v 3.018046 5.354950 0.246069 +v 2.980255 5.203976 0.283820 +v 0.565488 5.279463 0.208318 +v 2.942463 5.241719 -0.169096 +v 2.980255 4.864408 0.283820 +v 0.565488 5.317206 -0.169096 +v 0.565488 4.826665 0.170567 +v 3.056082 4.864408 -0.169096 +v 2.602825 5.166232 -0.206847 +v 1.622192 4.826665 0.246069 +v 0.565488 5.279463 -0.206847 +v 0.565488 4.713434 -0.131345 +v 1.357894 5.317206 0.246069 +v 2.187604 4.788921 -0.206847 +v 1.923550 5.354950 0.019659 +v 2.715957 4.826665 0.246069 +v 2.338771 4.864408 0.283820 +v 3.018046 5.354950 0.132816 +v 0.565488 4.977639 0.208318 +v 2.036682 5.354950 0.246069 +v 2.904671 4.826665 -0.131345 +v 0.905125 5.317206 0.208318 +f 139 146 148 +f 127 128 131 +f 129 132 133 +f 127 131 134 +f 130 134 135 +f 132 130 137 +f 133 132 137 +f 135 126 137 +f 130 135 137 +f 136 133 138 +f 137 126 138 +f 133 137 138 +f 126 135 140 +f 135 134 140 +f 130 132 141 +f 131 136 142 +f 138 126 142 +f 136 138 142 +f 131 128 143 +f 136 131 143 +f 128 139 143 +f 134 130 144 +f 127 134 144 +f 141 127 144 +f 130 141 144 +f 129 133 145 +f 133 136 145 +f 139 129 145 +f 136 143 145 +f 143 139 145 +f 128 127 146 +f 139 128 146 +f 127 141 146 +f 141 132 146 +f 134 131 147 +f 126 140 147 +f 140 134 147 +f 131 142 147 +f 142 126 147 +f 132 129 148 +f 129 139 148 +f 146 132 148 +o convex_4 +v -1.925811 5.355013 0.132824 +v -1.284815 4.788942 -0.282334 +v -1.284815 4.826712 -0.282334 +v -3.096134 5.203994 -0.244587 +v -2.944723 4.751173 0.283813 +v -0.605540 4.788942 0.359308 +v -0.605540 5.317184 -0.282334 +v -3.020307 5.355013 0.246003 +v -0.643088 5.279474 0.246003 +v -3.020307 4.788942 -0.206840 +v -0.605540 4.751173 -0.282334 +v -2.944723 5.279474 -0.244587 +v -3.020307 5.355013 0.057266 +v -3.020307 4.751173 0.057266 +v -0.680879 4.864422 0.359308 +v -2.001394 4.751173 0.283813 +v -1.511077 5.355013 -0.093598 +v -3.020307 4.751173 0.246003 +v -1.133892 5.317184 -0.282334 +v -0.605540 5.166224 0.283813 +f 156 163 168 +f 151 150 152 +f 150 151 155 +f 149 156 157 +f 152 150 158 +f 150 155 159 +f 155 154 159 +f 158 150 159 +f 152 156 161 +f 156 149 161 +f 160 152 161 +f 152 158 162 +f 159 153 162 +f 158 159 162 +f 153 154 163 +f 156 153 163 +f 154 153 164 +f 153 159 164 +f 159 154 164 +f 149 157 165 +f 157 155 165 +f 161 149 165 +f 156 152 166 +f 153 156 166 +f 152 162 166 +f 162 153 166 +f 151 152 167 +f 155 151 167 +f 152 160 167 +f 160 161 167 +f 165 155 167 +f 161 165 167 +f 154 155 168 +f 155 157 168 +f 157 156 168 +f 163 154 168 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/473/473.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/473/473.urdf new file mode 100644 index 000000000..21199c23e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/473/473.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/474/474.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/474/474.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/474/474.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/474/474.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/474/474.obj new file mode 100644 index 000000000..a22142dc7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/474/474.obj @@ -0,0 +1,669 @@ +o convex_0 +v 0.658060 2.402203 2.598415 +v -0.085206 -1.388605 -1.005599 +v 0.100611 -1.388605 -1.005599 +v 0.063282 2.662455 -2.827297 +v -1.014288 1.881699 2.078100 +v 0.955449 -1.388605 1.074466 +v 1.029693 1.882117 -2.121411 +v -0.828471 -0.199061 -2.753307 +v -0.531082 -0.756385 2.635410 +v 0.769633 -0.235881 -2.753307 +v -1.014288 -1.388186 0.070832 +v -1.051617 1.956176 -2.046825 +v -0.791350 2.625634 2.040509 +v 0.992571 -0.161822 2.189085 +v 0.843876 2.625216 1.891933 +v 0.026160 1.882117 3.044740 +v 1.067022 -1.388605 -0.039556 +v -0.010755 -0.979398 -2.715716 +v 0.063282 -0.941741 2.821577 +v 0.063282 2.885886 -2.157809 +v 1.029693 1.882117 2.152090 +v 0.769633 -0.273120 2.783986 +v -0.754228 2.662455 -2.121411 +v -0.716899 -0.199061 2.821577 +v 0.843876 2.625216 -2.084416 +v -0.010755 2.885886 2.041106 +v -0.085206 1.882117 -3.051056 +v 0.769633 1.919356 -2.827893 +v -0.791350 1.919356 -2.790302 +v -0.754228 1.844879 2.783986 +v -0.865593 -1.388186 0.999880 +v -1.051617 -0.161404 -2.046825 +v -0.902922 -1.388186 -0.931609 +v 0.955449 -1.388605 -0.932206 +v -0.977166 -0.235881 2.078100 +v 0.026160 -0.272701 -3.013464 +v -0.010755 2.625634 2.783986 +v 1.029693 -0.199061 -1.972239 +v 0.806755 1.956176 2.783986 +v 0.100611 -0.235881 3.044740 +v -1.051617 1.881699 1.445608 +v 1.029693 2.253666 -0.448886 +v 0.806755 2.699275 -0.039556 +v -0.605533 -0.756385 -2.567139 +v 0.620938 -0.793624 -2.493150 +v -0.754228 2.699693 -1.601097 +v -0.010755 -1.201993 2.115095 +v 0.695182 -0.867682 2.375252 +v 1.029693 -0.235881 2.040509 +v -0.754228 -0.161404 -2.827893 +v -0.828471 2.625216 0.367984 +v -0.085206 2.885886 -2.084416 +v -0.716899 -0.942160 2.115095 +v 0.100611 1.882117 -3.051056 +v 0.063282 2.885886 2.041106 +v 0.806755 2.625216 2.114498 +v -0.010755 -1.164755 -2.084416 +v 0.918327 2.550739 0.962885 +v 0.137733 2.885886 -2.084416 +v 0.806755 -0.050107 2.783986 +v -0.010755 0.210145 -3.051056 +v -0.531082 2.476680 -2.641726 +v 0.658060 2.364964 -2.679317 +v 0.806755 -0.942160 -2.009830 +f 18 45 64 +f 2 3 6 +f 6 3 17 +f 9 19 24 +f 7 10 28 +f 25 7 28 +f 8 12 29 +f 12 23 29 +f 4 27 29 +f 13 5 30 +f 5 24 30 +f 24 16 30 +f 2 6 31 +f 11 2 31 +f 12 8 32 +f 2 11 33 +f 32 8 33 +f 11 32 33 +f 17 3 34 +f 24 5 35 +f 11 31 35 +f 10 18 36 +f 26 13 37 +f 13 30 37 +f 30 16 37 +f 10 7 38 +f 7 17 38 +f 17 34 38 +f 1 37 39 +f 37 16 39 +f 19 22 40 +f 16 24 40 +f 24 19 40 +f 39 16 40 +f 5 13 41 +f 32 11 41 +f 12 32 41 +f 35 5 41 +f 11 35 41 +f 17 7 42 +f 21 17 42 +f 7 25 42 +f 18 33 44 +f 33 8 44 +f 18 10 45 +f 23 12 46 +f 13 26 46 +f 6 19 47 +f 31 6 47 +f 19 31 47 +f 19 6 48 +f 6 22 48 +f 22 19 48 +f 6 17 49 +f 21 14 49 +f 17 21 49 +f 22 6 49 +f 14 22 49 +f 8 29 50 +f 29 27 50 +f 36 18 50 +f 44 8 50 +f 18 44 50 +f 41 13 51 +f 12 41 51 +f 46 12 51 +f 13 46 51 +f 20 4 52 +f 4 23 52 +f 26 20 52 +f 23 46 52 +f 46 26 52 +f 19 9 53 +f 9 24 53 +f 31 19 53 +f 24 35 53 +f 35 31 53 +f 27 4 54 +f 4 28 54 +f 20 26 55 +f 26 37 55 +f 15 43 55 +f 21 15 56 +f 37 1 56 +f 1 39 56 +f 39 21 56 +f 15 55 56 +f 55 37 56 +f 3 2 57 +f 2 33 57 +f 33 18 57 +f 34 3 57 +f 18 34 57 +f 15 21 58 +f 21 42 58 +f 42 25 58 +f 43 15 58 +f 25 43 58 +f 4 20 59 +f 25 4 59 +f 43 25 59 +f 20 55 59 +f 55 43 59 +f 14 21 60 +f 22 14 60 +f 21 39 60 +f 40 22 60 +f 39 40 60 +f 28 10 61 +f 10 36 61 +f 50 27 61 +f 36 50 61 +f 27 54 61 +f 54 28 61 +f 23 4 62 +f 4 29 62 +f 29 23 62 +f 4 25 63 +f 28 4 63 +f 25 28 63 +f 34 18 64 +f 10 38 64 +f 38 34 64 +f 45 10 64 +o convex_1 +v -0.568221 -2.317733 1.223610 +v 0.583830 -2.094861 1.483800 +v 0.546573 -2.057866 1.855575 +v -0.010882 -1.574452 1.223610 +v -0.308005 -2.132082 2.858616 +v 0.026258 -2.726706 1.223610 +v 0.026258 -2.503609 2.784401 +v 0.100539 -1.723221 2.747206 +v -0.419543 -1.723221 1.372390 +v 0.509316 -1.723221 1.223610 +v 0.472292 -2.503609 1.223610 +v 0.435035 -2.132082 2.672816 +v -0.494056 -2.577937 1.260805 +v 0.100539 -2.094861 3.007396 +v -0.345262 -1.760441 2.152436 +v 0.435035 -1.723221 2.041375 +v 0.397895 -2.503609 1.966985 +v -0.605594 -2.132082 1.223610 +v -0.382402 -2.503609 2.078570 +v -0.382402 -2.094861 2.710011 +v -0.010882 -1.611785 2.004180 +v -0.010882 -1.723221 2.747206 +v -0.308005 -2.354953 2.635621 +v 0.397895 -1.983425 2.672816 +v 0.397895 -1.648893 1.260805 +v 0.323614 -2.392061 2.561406 +v 0.583830 -2.206297 1.260805 +v -0.047906 -2.726706 1.260805 +v -0.494056 -2.169076 2.078570 +v 0.100539 -1.611785 1.966985 +v -0.419543 -1.723221 1.223610 +v -0.270865 -1.834656 2.598426 +v -0.010882 -2.057866 3.007396 +v -0.010882 -2.503609 2.784401 +v -0.494056 -2.094861 2.078570 +v 0.323614 -2.615158 1.260805 +v 0.360754 -1.797549 2.487016 +v 0.546573 -2.132082 1.892770 +v 0.063399 -2.615158 2.041375 +v -0.010882 -2.169076 3.007396 +v -0.382402 -1.760441 1.966985 +v -0.345262 -2.206297 2.784401 +v 0.360754 -2.132082 2.784401 +v 0.583830 -1.983425 1.223610 +v -0.419543 -2.615158 1.223610 +v 0.100539 -1.574452 1.335195 +v -0.308005 -2.094861 2.858616 +v -0.568221 -2.020646 1.260805 +v -0.345262 -1.723221 1.929790 +v -0.159327 -2.577937 2.078570 +f 109 92 114 +f 65 68 70 +f 70 68 74 +f 70 74 75 +f 76 67 80 +f 68 65 82 +f 72 85 86 +f 72 78 88 +f 76 80 88 +f 74 68 89 +f 80 74 89 +f 71 81 90 +f 81 76 90 +f 81 75 91 +f 65 77 93 +f 82 65 93 +f 77 83 93 +f 72 80 94 +f 85 72 94 +f 80 89 94 +f 73 68 95 +f 68 82 95 +f 79 84 96 +f 86 79 96 +f 78 72 97 +f 72 86 97 +f 87 83 98 +f 82 93 99 +f 93 84 99 +f 70 75 100 +f 75 81 100 +f 80 72 101 +f 72 88 101 +f 88 80 101 +f 66 67 102 +f 67 76 102 +f 76 81 102 +f 91 66 102 +f 81 91 102 +f 81 71 103 +f 92 70 103 +f 71 98 103 +f 98 92 103 +f 70 100 103 +f 100 81 103 +f 71 78 104 +f 97 69 104 +f 78 97 104 +f 98 71 104 +f 69 98 104 +f 84 79 105 +f 99 84 105 +f 83 87 106 +f 93 83 106 +f 84 93 106 +f 98 69 106 +f 87 98 106 +f 78 71 107 +f 88 78 107 +f 76 88 107 +f 71 90 107 +f 90 76 107 +f 67 66 108 +f 75 74 108 +f 80 67 108 +f 74 80 108 +f 66 91 108 +f 91 75 108 +f 65 70 109 +f 77 65 109 +f 83 77 109 +f 70 92 109 +f 68 85 110 +f 89 68 110 +f 85 94 110 +f 94 89 110 +f 96 84 111 +f 86 96 111 +f 69 97 111 +f 97 86 111 +f 106 69 111 +f 84 106 111 +f 73 95 112 +f 95 82 112 +f 82 99 112 +f 105 73 112 +f 99 105 112 +f 68 73 113 +f 85 68 113 +f 79 86 113 +f 86 85 113 +f 73 105 113 +f 105 79 113 +f 98 83 114 +f 92 98 114 +f 83 109 114 +o convex_2 +v -0.456781 -2.206268 -2.567721 +v 0.583830 -2.094846 -1.230100 +v 0.583830 -2.243481 -1.230100 +v -0.642763 -2.094846 -1.230100 +v -0.122158 -2.726597 -1.230100 +v 0.435068 -2.094846 -2.827737 +v -0.047837 -1.611731 -1.564505 +v 0.026244 -2.540750 -2.679132 +v -0.085057 -1.797578 -2.716326 +v 0.472288 -1.723261 -1.230100 +v 0.435068 -2.615067 -1.267120 +v -0.493882 -1.723261 -1.230100 +v -0.493882 -2.577853 -1.564505 +v -0.047837 -2.169164 -3.013886 +v 0.397968 -1.760474 -2.084886 +v -0.419561 -1.797578 -2.047691 +v 0.397968 -2.540750 -2.010496 +v -0.345240 -2.429219 -2.567721 +v 0.063344 -1.797578 -2.790716 +v -0.419561 -2.132060 -2.716326 +v -0.531102 -2.540750 -1.230100 +v -0.047837 -2.652171 -2.047691 +v 0.435068 -2.169164 -2.827737 +v 0.137785 -1.611731 -1.230100 +v 0.546609 -2.132060 -2.047691 +v -0.568323 -2.132060 -2.010496 +v -0.456781 -2.540750 -2.010496 +v -0.047837 -2.503536 -2.790716 +v 0.323527 -2.429219 -2.604742 +v 0.026244 -2.726597 -1.378705 +v -0.568323 -2.243481 -1.973301 +v -0.047837 -1.648944 -1.936106 +v 0.286426 -1.834791 -2.641937 +v 0.100564 -2.169164 -3.013886 +v -0.308020 -1.871895 -2.567721 +v -0.010977 -2.020530 -2.976516 +v 0.546609 -2.206268 -1.936106 +v -0.642763 -2.206268 -1.304315 +v -0.419561 -2.206268 -2.716326 +v 0.360747 -2.652171 -1.230100 +v 0.026244 -1.648944 -1.936106 +v -0.159378 -1.611731 -1.230100 +v 0.435068 -1.797578 -2.047691 +v 0.026244 -2.466432 -2.827737 +v 0.026244 -2.652171 -2.010496 +v -0.493882 -1.723261 -1.304315 +v -0.085057 -2.726597 -1.452921 +v 0.026244 -1.760474 -2.679132 +v -0.456781 -2.615067 -1.230100 +f 127 161 163 +f 117 116 118 +f 117 118 119 +f 118 116 124 +f 118 124 126 +f 119 118 135 +f 126 124 138 +f 124 129 138 +f 116 117 139 +f 124 116 139 +f 137 120 139 +f 134 115 140 +f 130 134 140 +f 122 136 142 +f 141 132 142 +f 136 141 142 +f 131 122 143 +f 137 131 143 +f 140 115 145 +f 141 127 145 +f 115 141 145 +f 123 130 146 +f 129 120 147 +f 120 133 147 +f 120 137 148 +f 130 123 149 +f 123 134 149 +f 134 130 149 +f 123 133 150 +f 133 120 150 +f 134 123 150 +f 128 134 150 +f 120 148 150 +f 148 128 150 +f 117 125 151 +f 125 131 151 +f 131 137 151 +f 139 117 151 +f 137 139 151 +f 135 118 152 +f 127 135 152 +f 118 140 152 +f 145 127 152 +f 140 145 152 +f 115 134 153 +f 134 128 153 +f 141 115 153 +f 132 141 153 +f 128 142 153 +f 142 132 153 +f 117 119 154 +f 125 117 154 +f 131 125 154 +f 119 144 154 +f 121 138 155 +f 138 129 155 +f 146 121 155 +f 138 121 156 +f 126 138 156 +f 121 146 156 +f 120 129 157 +f 129 124 157 +f 124 139 157 +f 139 120 157 +f 142 128 158 +f 122 142 158 +f 143 122 158 +f 137 143 158 +f 128 148 158 +f 148 137 158 +f 122 131 159 +f 136 122 159 +f 131 154 159 +f 154 144 159 +f 118 126 160 +f 140 118 160 +f 130 140 160 +f 146 130 160 +f 126 156 160 +f 156 146 160 +f 127 141 161 +f 141 136 161 +f 144 119 161 +f 136 159 161 +f 159 144 161 +f 133 123 162 +f 123 146 162 +f 129 147 162 +f 147 133 162 +f 155 129 162 +f 146 155 162 +f 119 135 163 +f 135 127 163 +f 161 119 163 +o convex_3 +v -0.605410 -2.577774 -1.118090 +v 1.104202 -2.391968 0.405546 +v 1.104202 -2.503556 0.405546 +v -0.828340 -1.388892 1.037573 +v 0.918186 -1.388892 -0.969448 +v -0.716979 -2.912366 0.777270 +v 0.955306 -1.388892 1.074553 +v -0.902788 -1.388892 -0.931988 +v 0.843945 -2.875170 -0.783586 +v 0.100500 -2.726559 1.223435 +v 0.137828 -3.172740 0.033822 +v -1.014357 -2.206511 -0.040138 +v 0.769497 -2.912366 0.777270 +v 0.620808 -2.132118 -1.229751 +v -0.716979 -2.837974 -0.783586 +v -0.456928 -1.686112 -1.229751 +v 0.026466 -2.763581 -1.229751 +v -0.605410 -2.057900 1.223435 +v -0.010861 -3.098172 -0.820807 +v 0.100500 -3.098172 0.777270 +v 0.843945 -3.023780 -0.040138 +v 0.620808 -2.206511 1.223435 +v -0.939908 -2.243707 0.814491 +v -1.014357 -1.388892 0.071043 +v 1.066875 -1.388892 -0.040138 +v 1.029754 -1.946311 -0.746366 +v 0.026466 -1.537502 1.223435 +v -0.977236 -2.132118 -0.672165 +v 1.029754 -2.243707 0.888691 +v -0.530962 -2.652167 1.186215 +v -0.716979 -2.949562 -0.077359 +v 0.063379 -1.574698 -1.229751 +v -0.642530 -2.243707 -1.229751 +v -0.047982 -3.172740 0.071043 +v 0.918186 -2.800777 -0.746366 +v 0.435206 -2.652167 -1.229751 +v 0.472326 -2.577774 1.223435 +v -0.791219 -2.875170 -0.114579 +v -0.494049 -2.614971 -1.229751 +v 0.100500 -3.098172 -0.820807 +v -0.085102 -3.098172 0.777270 +v -0.754099 -2.912366 0.702829 +v 1.104202 -2.540753 0.256905 +v 0.843945 -3.023780 0.145484 +v 0.435206 -1.686112 -1.229751 +v 0.509446 -1.686112 1.223435 +v -0.902788 -2.169314 -0.858027 +v -0.902788 -1.611720 0.925672 +v -0.977236 -2.206511 0.628629 +v 0.992634 -1.388892 -0.820807 +v -0.419808 -1.686112 1.223435 +v 1.066875 -1.425913 0.219684 +v -0.865668 -1.388892 -0.969448 +v 1.104202 -2.057725 0.108263 +v -0.605410 -2.280728 1.223435 +v 0.843945 -2.206511 -0.969448 +v 0.881065 -2.949562 -0.411862 +v -0.159550 -2.726559 1.223435 +v -0.010861 -3.135369 -0.597724 +v -0.568290 -2.912366 -0.783586 +v 0.026466 -1.388892 1.111774 +v 0.806824 -2.875170 0.777270 +v 0.992634 -1.648916 1.000353 +v -0.939908 -1.611720 -0.858027 +f 196 210 227 +f 168 167 170 +f 167 168 171 +f 179 177 180 +f 176 173 183 +f 181 173 185 +f 167 171 187 +f 168 170 188 +f 181 185 190 +f 175 187 191 +f 166 165 192 +f 170 185 192 +f 186 169 193 +f 177 179 195 +f 179 180 196 +f 174 183 197 +f 180 177 199 +f 198 172 199 +f 177 198 199 +f 173 176 200 +f 185 173 200 +f 192 185 200 +f 191 178 201 +f 175 191 201 +f 178 194 201 +f 178 164 202 +f 180 182 202 +f 164 196 202 +f 196 180 202 +f 182 180 203 +f 184 174 203 +f 180 199 203 +f 199 172 203 +f 183 173 204 +f 193 169 204 +f 197 183 204 +f 197 204 205 +f 169 186 205 +f 194 197 205 +f 175 201 205 +f 201 194 205 +f 204 169 205 +f 165 166 206 +f 198 189 206 +f 183 174 207 +f 176 183 207 +f 174 184 207 +f 206 166 207 +f 184 206 207 +f 168 177 208 +f 195 168 208 +f 177 195 208 +f 185 170 209 +f 170 190 209 +f 190 185 209 +f 164 178 210 +f 178 191 210 +f 196 164 210 +f 167 187 211 +f 211 187 212 +f 187 175 212 +f 205 186 212 +f 175 205 212 +f 186 211 212 +f 168 188 213 +f 189 168 213 +f 188 189 213 +f 167 181 214 +f 190 167 214 +f 181 190 214 +f 188 170 215 +f 171 168 216 +f 168 195 216 +f 195 179 216 +f 196 171 216 +f 179 196 216 +f 189 188 217 +f 165 206 217 +f 206 189 217 +f 215 165 217 +f 188 215 217 +f 181 167 218 +f 173 181 218 +f 186 193 218 +f 167 211 218 +f 211 186 218 +f 177 168 219 +f 168 189 219 +f 198 177 219 +f 189 198 219 +f 172 198 220 +f 203 172 220 +f 184 203 220 +f 206 184 220 +f 198 206 220 +f 204 173 221 +f 193 204 221 +f 173 218 221 +f 218 193 221 +f 174 197 222 +f 197 194 222 +f 203 174 222 +f 182 203 222 +f 194 178 223 +f 178 202 223 +f 202 182 223 +f 182 222 223 +f 222 194 223 +f 170 167 224 +f 167 190 224 +f 190 170 224 +f 166 192 225 +f 200 176 225 +f 192 200 225 +f 207 166 225 +f 176 207 225 +f 192 165 226 +f 170 192 226 +f 165 215 226 +f 215 170 226 +f 187 171 227 +f 191 187 227 +f 171 196 227 +f 210 191 227 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/474/474.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/474/474.urdf new file mode 100644 index 000000000..6d916e13c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/474/474.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/475/475.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/475/475.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/475/475.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/475/475.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/475/475.obj new file mode 100644 index 000000000..53df5d203 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/475/475.obj @@ -0,0 +1,618 @@ +o convex_0 +v -0.571145 -1.463356 2.550360 +v 0.233179 -3.172276 -0.297895 +v 0.635340 -3.172276 -0.297895 +v -0.001465 -1.295871 -2.677838 +v 1.004038 -0.927052 0.070022 +v -0.772325 -2.837086 -1.973304 +v -1.006968 -0.927052 -0.029192 +v -0.001465 -2.837086 2.818472 +v 0.769394 -2.166706 -2.677248 +v -0.772325 -2.870495 1.979882 +v 1.004038 -2.099668 2.014134 +v 0.099125 -1.295871 2.784811 +v -0.738664 -2.099668 -2.710910 +v 0.065463 -2.870495 -2.744571 +v -1.006968 -2.099668 2.047205 +v 1.004038 -2.133296 -1.973895 +v 0.869984 -0.927052 -1.001839 +v -0.772325 -3.138647 0.103093 +v -0.973307 -2.166706 -1.973304 +v -0.034929 -0.926832 1.846416 +v 0.836323 -2.971162 0.908022 +v -0.805789 -0.926832 -1.102233 +v 0.769394 -2.033069 2.784811 +v 0.769394 -2.870495 -1.973304 +v 0.031999 -3.105238 2.047796 +v -0.738664 -2.133296 2.817882 +v 0.802859 -1.061128 1.477318 +v -0.034929 -3.105238 -2.040037 +v 0.735733 -2.837086 2.080867 +v -0.939843 -2.870715 -0.196910 +v -0.839253 -0.926832 1.108811 +v 0.065463 -2.033069 -2.979613 +v 0.065463 -2.033069 3.053514 +v 0.635340 -1.597432 -2.576853 +v 0.903448 -2.937753 -0.130177 +v 0.065463 -0.926832 -1.772515 +v -0.571145 -1.496985 -2.442797 +v 0.735733 -3.172276 0.103093 +v 0.769394 -1.295871 2.047205 +v 0.769394 -1.295871 -1.973304 +v -1.006968 -2.099668 -0.398290 +v -0.437091 -3.172276 0.472191 +v -0.034929 -1.295871 2.784811 +v -0.504217 -2.703010 -2.576853 +v -0.772325 -1.295871 1.979882 +v -0.571145 -2.669381 2.617093 +v 0.802859 -0.926832 1.142473 +v 0.568215 -2.669381 2.583431 +v 0.769394 -1.966031 -2.710910 +v -0.705199 -2.904124 -1.973304 +v -0.973307 -2.033069 -1.973304 +v -0.738664 -1.329280 -1.940233 +v 1.004038 -1.966031 -1.906571 +v -0.738664 -1.966031 2.784811 +v 0.601679 -2.635972 -2.543191 +v 0.601679 -1.463356 2.550360 +v 0.099125 -1.329280 -2.710910 +v -0.705199 -2.200335 -2.743981 +v -0.101858 -3.105238 1.980473 +v 0.936913 -2.803457 0.070022 +v -0.939843 -2.870715 0.170416 +v 0.132589 -3.105238 -1.939643 +v -0.068394 -2.033069 3.053514 +v -0.671735 -3.138647 -0.364628 +f 50 28 64 +f 5 11 16 +f 9 16 24 +f 15 10 26 +f 11 5 27 +f 3 2 28 +f 21 11 29 +f 11 23 29 +f 8 25 29 +f 6 18 30 +f 19 6 30 +f 7 15 31 +f 22 7 31 +f 20 22 31 +f 13 4 32 +f 9 14 32 +f 23 12 33 +f 8 23 33 +f 24 16 35 +f 4 22 36 +f 22 20 36 +f 4 13 37 +f 22 4 37 +f 2 3 38 +f 3 24 38 +f 21 29 38 +f 29 25 38 +f 35 21 38 +f 24 35 38 +f 23 11 39 +f 11 27 39 +f 27 12 39 +f 15 7 41 +f 30 15 41 +f 19 30 41 +f 2 38 42 +f 38 25 42 +f 12 20 43 +f 20 31 43 +f 33 12 43 +f 31 15 45 +f 1 43 45 +f 43 31 45 +f 10 8 46 +f 8 26 46 +f 26 10 46 +f 5 17 47 +f 20 12 47 +f 27 5 47 +f 12 27 47 +f 17 36 47 +f 36 20 47 +f 23 8 48 +f 29 23 48 +f 8 29 48 +f 16 9 49 +f 9 32 49 +f 34 40 49 +f 18 6 50 +f 14 28 50 +f 6 44 50 +f 44 14 50 +f 13 19 51 +f 7 22 51 +f 41 7 51 +f 19 41 51 +f 37 13 52 +f 22 37 52 +f 13 51 52 +f 51 22 52 +f 5 16 53 +f 17 5 53 +f 40 17 53 +f 16 49 53 +f 49 40 53 +f 15 26 54 +f 43 1 54 +f 1 45 54 +f 45 15 54 +f 14 9 55 +f 24 14 55 +f 9 24 55 +f 12 23 56 +f 23 39 56 +f 39 12 56 +f 32 4 57 +f 4 36 57 +f 36 17 57 +f 17 40 57 +f 40 34 57 +f 49 32 57 +f 34 49 57 +f 19 13 58 +f 6 19 58 +f 13 32 58 +f 32 14 58 +f 44 6 58 +f 14 44 58 +f 8 10 59 +f 10 18 59 +f 25 8 59 +f 18 42 59 +f 42 25 59 +f 16 11 60 +f 11 21 60 +f 35 16 60 +f 21 35 60 +f 10 15 61 +f 18 10 61 +f 15 30 61 +f 30 18 61 +f 24 3 62 +f 14 24 62 +f 3 28 62 +f 28 14 62 +f 26 8 63 +f 8 33 63 +f 33 43 63 +f 54 26 63 +f 43 54 63 +f 28 2 64 +f 42 18 64 +f 2 42 64 +f 18 50 64 +o convex_1 +v -0.839270 -0.926796 -0.901221 +v 1.004054 -0.558177 0.137076 +v 0.869801 -0.558177 0.874632 +v -1.006988 -0.558177 -0.063418 +v -0.034932 -0.926796 1.813371 +v 0.869801 -0.926796 -0.968052 +v 0.098928 -0.558177 -1.202995 +v -0.839270 -0.558177 0.974879 +v 0.836336 -0.926796 1.008640 +v -0.872735 -0.926796 0.941464 +v -0.034932 -0.926796 -1.705952 +v -0.839270 -0.558177 -0.867805 +v 0.869801 -0.558177 -0.901221 +v 0.031998 -0.558177 1.276654 +v 1.004054 -0.926796 0.003758 +v -1.006988 -0.926796 -0.030002 +v 0.065463 -0.893275 -1.705952 +v 0.031998 -0.893275 1.813371 +v 0.802871 -0.558177 1.008640 +v -0.805805 -0.893275 -1.035572 +v -0.973326 -0.558177 0.338259 +v -0.772143 -0.558177 -0.934981 +v 0.970392 -0.558177 -0.331432 +v -0.034932 -0.893275 -1.705952 +v -0.001467 -0.591697 -1.270171 +v 0.769406 -0.926796 1.109231 +v -0.034932 -0.591697 1.343485 +v -0.839270 -0.792749 1.008640 +v -0.034932 -0.893275 1.813371 +v -1.006988 -0.926796 0.069901 +v 0.869801 -0.826234 -0.968052 +v 0.836336 -0.558177 -0.934636 +v -0.906396 -0.558177 0.773696 +f 85 94 97 +f 67 66 68 +f 69 65 70 +f 68 66 71 +f 67 68 72 +f 66 67 73 +f 69 70 73 +f 65 69 74 +f 70 65 75 +f 65 68 76 +f 68 71 76 +f 71 66 77 +f 67 72 78 +f 66 73 79 +f 73 70 79 +f 68 65 80 +f 65 74 80 +f 70 75 81 +f 78 82 83 +f 73 67 83 +f 67 78 83 +f 75 65 84 +f 65 76 84 +f 72 68 85 +f 76 71 86 +f 84 76 86 +f 77 66 87 +f 66 79 87 +f 79 70 87 +f 81 75 88 +f 75 84 88 +f 84 86 88 +f 88 86 89 +f 71 81 89 +f 86 71 89 +f 81 88 89 +f 69 73 90 +f 82 69 90 +f 83 82 90 +f 73 83 90 +f 78 72 91 +f 82 78 91 +f 74 69 92 +f 72 74 92 +f 69 82 93 +f 91 72 93 +f 82 91 93 +f 92 69 93 +f 72 92 93 +f 68 80 94 +f 80 74 94 +f 85 68 94 +f 70 81 95 +f 77 87 95 +f 87 70 95 +f 71 77 96 +f 81 71 96 +f 95 81 96 +f 77 95 96 +f 74 72 97 +f 72 85 97 +f 94 74 97 +o convex_2 +v -1.006849 -0.558141 0.103717 +v 1.037559 0.950141 0.103717 +v 1.037559 0.547824 0.103717 +v 0.065494 -0.490817 -1.203192 +v -0.772121 0.950141 -0.700143 +v 0.031932 -0.558141 1.277094 +v -0.805683 0.950141 0.774044 +v 0.936874 -0.558141 -0.566126 +v 0.802831 0.950141 -0.733890 +v 0.702350 0.950141 0.841053 +v 0.802831 -0.558141 1.008574 +v -0.839244 -0.558141 -0.867664 +v -0.872806 -0.558141 0.908304 +v -1.040410 0.950141 0.003689 +v -0.001426 0.950141 -0.968419 +v -0.068346 0.950141 1.042078 +v 0.836393 -0.558141 -0.934915 +v 1.003997 -0.558141 0.137221 +v -0.135469 -0.490817 1.243347 +v -0.303073 -0.558141 -1.102436 +v 1.037559 0.782423 -0.063319 +v 0.802831 0.882965 0.774044 +v -1.040410 0.950141 0.103717 +v -0.839244 -0.289733 0.941808 +v 0.869751 -0.390275 0.841053 +v -1.006849 -0.558141 -0.063319 +v -0.772121 0.849451 -0.733647 +v 0.903312 -0.423937 -0.767394 +v 0.031932 0.950141 1.042078 +v -0.034784 -0.323247 -1.169445 +v -0.805683 -0.423937 -0.901168 +v -0.805683 0.815937 0.807549 +v -0.973287 0.346740 -0.331353 +v 1.003997 -0.490817 -0.096823 +v 0.166179 0.950141 -0.934915 +v 0.802831 0.011894 0.941566 +v -0.939929 -0.356909 0.606523 +v -0.839244 0.950141 -0.566126 +v 0.031932 -0.524479 1.277094 +v -0.001426 -0.558141 -1.203192 +v 0.836393 0.179465 -0.834402 +v 0.903312 -0.490817 0.707036 +v -0.738763 -0.558141 1.008574 +v -1.040410 0.413768 0.070212 +v -0.839244 0.950141 0.707036 +v -0.872806 -0.558141 -0.767151 +v 1.037559 0.950141 -0.029815 +v -1.040410 0.681881 -0.029815 +v -0.068346 -0.323247 1.243104 +f 136 113 146 +f 99 102 104 +f 103 98 105 +f 102 99 106 +f 99 104 107 +f 103 105 108 +f 105 98 109 +f 98 103 110 +f 104 102 111 +f 102 106 112 +f 107 104 113 +f 105 109 114 +f 108 105 115 +f 114 109 117 +f 99 100 118 +f 99 107 119 +f 104 111 120 +f 99 119 122 +f 109 98 123 +f 102 112 124 +f 105 114 125 +f 118 105 125 +f 107 113 126 +f 112 101 127 +f 124 112 127 +f 124 127 128 +f 117 109 128 +f 109 124 128 +f 127 117 128 +f 113 104 129 +f 121 116 129 +f 100 115 131 +f 115 105 131 +f 118 100 131 +f 105 118 131 +f 106 101 132 +f 101 112 132 +f 112 106 132 +f 119 107 133 +f 108 122 133 +f 122 119 133 +f 98 110 134 +f 110 120 134 +f 111 102 135 +f 102 124 135 +f 124 109 135 +f 109 130 135 +f 130 111 135 +f 103 108 136 +f 116 103 136 +f 107 126 136 +f 126 113 136 +f 133 107 136 +f 108 133 136 +f 101 114 137 +f 114 117 137 +f 127 101 137 +f 117 127 137 +f 101 106 138 +f 114 101 138 +f 125 114 138 +f 100 99 139 +f 115 100 139 +f 108 115 139 +f 99 122 139 +f 122 108 139 +f 110 103 140 +f 103 116 140 +f 121 110 140 +f 116 121 140 +f 120 111 141 +f 123 98 141 +f 98 134 141 +f 134 120 141 +f 120 110 142 +f 104 120 142 +f 110 121 142 +f 129 104 142 +f 121 129 142 +f 109 123 143 +f 130 109 143 +f 106 99 144 +f 99 118 144 +f 118 125 144 +f 138 106 144 +f 125 138 144 +f 111 130 145 +f 141 111 145 +f 123 141 145 +f 143 123 145 +f 130 143 145 +f 113 129 146 +f 129 116 146 +f 116 136 146 +o convex_3 +v 0.836330 4.770465 -0.096909 +v -1.073809 1.888962 0.036951 +v -1.073809 1.888962 0.070219 +v 1.037431 0.950141 -0.029979 +v 0.031926 3.899007 1.042472 +v -0.738783 4.703489 -0.700261 +v 0.031926 0.950141 -0.968570 +v -0.068305 0.950141 1.042472 +v -0.738783 4.636514 0.673571 +v 0.836330 3.932688 -0.733922 +v 0.836330 3.866100 0.807824 +v -0.772265 0.950141 -0.700261 +v -0.805746 0.950141 0.774162 +v 0.769367 0.950141 0.807824 +v 0.065407 4.669808 -0.901444 +v 0.233027 4.905191 0.572979 +v 0.802848 0.950141 -0.733922 +v 1.104393 3.899394 0.070416 +v -1.073809 4.033345 0.003683 +v -0.805746 4.033345 0.774162 +v 0.769367 4.636901 0.707036 +v -0.571164 4.905191 -0.465810 +v -0.805746 4.134003 -0.733922 +v 0.501090 4.905191 -0.499275 +v -0.001342 4.167684 -0.968570 +v -1.040328 0.984210 -0.029979 +v -0.068305 4.636901 0.908219 +v -0.973366 4.670195 0.003683 +v 0.769367 4.636901 -0.666796 +v -0.504201 4.871510 0.505853 +v 1.003949 4.636901 0.003683 +v -0.805746 2.927666 0.807824 +v 1.037431 1.285407 0.137345 +v 0.065407 1.855281 1.042472 +v 1.070912 3.899394 -0.097106 +v -0.839227 3.832031 -0.700261 +v 0.099102 3.966370 -0.968570 +v 0.635229 4.905191 0.204472 +v -0.537682 3.798737 -0.834317 +v -0.973366 2.760420 0.405458 +v 0.836330 3.061617 0.807824 +v -0.034823 4.905191 -0.666796 +v -0.034823 3.765443 1.042472 +v -0.671607 4.905191 0.036951 +v -0.101999 3.932688 -0.968570 +v -1.040328 0.950141 0.103684 +v -0.235924 1.386064 -0.901444 +v -1.073809 3.966370 0.070219 +v -1.073809 2.525812 -0.029979 +v -0.805746 1.755011 -0.700261 +v 0.233027 4.636901 0.874754 +v 0.601747 0.950141 0.874754 +v -0.839227 3.094912 0.774162 +v 0.735886 1.989232 -0.767387 +v 0.802848 1.017504 0.774162 +v 0.534572 2.894759 0.908219 +v -0.805746 3.061230 -0.733922 +v 0.836330 1.185137 -0.666796 +v 1.070912 1.821986 0.003486 +v -0.772265 1.319088 0.807824 +v -0.839227 0.950141 0.707036 +v -0.068305 4.669808 -0.901444 +v -1.040328 4.000051 -0.130570 +v 0.534572 4.905191 0.472585 +f 167 184 210 +f 153 150 154 +f 153 154 158 +f 158 154 159 +f 154 150 160 +f 150 153 163 +f 148 149 165 +f 157 164 167 +f 168 162 170 +f 155 166 173 +f 168 152 174 +f 156 161 175 +f 170 147 175 +f 161 170 175 +f 155 173 176 +f 173 162 176 +f 167 164 177 +f 175 147 177 +f 151 154 180 +f 156 175 181 +f 177 164 181 +f 175 177 181 +f 161 156 183 +f 153 171 183 +f 171 161 183 +f 147 170 184 +f 170 162 184 +f 177 147 184 +f 167 177 184 +f 164 157 187 +f 179 164 187 +f 152 168 188 +f 170 161 188 +f 168 170 188 +f 154 151 189 +f 151 173 189 +f 173 166 189 +f 178 154 189 +f 166 178 189 +f 162 168 190 +f 174 155 190 +f 168 174 190 +f 176 162 190 +f 155 176 190 +f 169 152 191 +f 171 153 191 +f 185 169 191 +f 149 148 192 +f 158 159 192 +f 148 172 192 +f 172 158 192 +f 153 158 193 +f 191 153 193 +f 185 191 193 +f 165 149 194 +f 166 155 194 +f 174 165 194 +f 155 174 194 +f 149 186 194 +f 148 165 195 +f 172 148 195 +f 195 182 196 +f 158 172 196 +f 172 195 196 +f 151 157 197 +f 157 167 197 +f 167 162 197 +f 162 173 197 +f 173 151 197 +f 154 160 198 +f 180 154 198 +f 160 187 198 +f 159 178 199 +f 178 166 199 +f 166 194 199 +f 194 186 199 +f 163 153 200 +f 156 163 200 +f 183 156 200 +f 153 183 200 +f 160 150 201 +f 150 179 201 +f 187 160 201 +f 179 187 201 +f 157 151 202 +f 151 180 202 +f 187 157 202 +f 180 198 202 +f 198 187 202 +f 182 169 203 +f 169 185 203 +f 193 158 203 +f 185 193 203 +f 196 182 203 +f 158 196 203 +f 150 163 204 +f 163 156 204 +f 156 181 204 +f 204 181 205 +f 179 150 205 +f 164 179 205 +f 181 164 205 +f 150 204 205 +f 159 154 206 +f 154 178 206 +f 178 159 206 +f 186 149 207 +f 149 192 207 +f 192 159 207 +f 159 199 207 +f 199 186 207 +f 161 171 208 +f 152 188 208 +f 188 161 208 +f 191 152 208 +f 171 191 208 +f 152 169 209 +f 174 152 209 +f 165 174 209 +f 169 182 209 +f 195 165 209 +f 182 195 209 +f 162 167 210 +f 184 162 210 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/475/475.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/475/475.urdf new file mode 100644 index 000000000..21066477b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/475/475.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/476/476.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/476/476.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/476/476.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/476/476.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/476/476.obj new file mode 100644 index 000000000..7a99cfb96 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/476/476.obj @@ -0,0 +1,555 @@ +o convex_0 +v 0.499520 -2.828109 -0.275633 +v -0.590705 -4.634322 -0.088903 +v -0.559453 -4.634322 -0.462693 +v 0.561912 -4.665544 0.534081 +v -0.465921 -2.703414 0.502904 +v 0.530659 -4.572072 -0.462693 +v -0.434894 -2.671997 -0.431516 +v 0.561912 -2.671997 0.534081 +v -0.590705 -4.572072 0.596434 +v 0.437240 -2.671997 -0.525046 +v -0.528313 -3.233024 0.534081 +v -0.465921 -2.671997 -0.369273 +v 0.468380 -4.665544 0.565257 +v 0.561912 -3.575689 -0.026440 +v 0.156758 -3.139552 -0.525046 +v -0.590705 -4.260434 0.596434 +v 0.499520 -4.260434 -0.493870 +v -0.061106 -4.634322 -0.462693 +v -0.465921 -2.671997 0.471727 +v -0.590705 -4.198184 0.347131 +v -0.559453 -4.353906 -0.462693 +v 0.561912 -4.665544 0.315954 +v -0.216804 -4.540850 0.596434 +v 0.561912 -2.671997 0.253711 +v -0.528313 -4.603099 0.596434 +v -0.310223 -2.734637 -0.462693 +v 0.468380 -2.890358 -0.525046 +v -0.497174 -2.796886 0.378307 +v 0.530659 -4.603099 -0.400340 +v 0.312569 -4.665544 0.565257 +v 0.219150 -2.671997 -0.525046 +v 0.561912 -4.634322 0.066651 +v 0.530659 -4.260434 -0.462693 +v -0.247944 -4.011240 -0.493870 +v 0.437240 -2.671997 0.534081 +f 8 19 35 +f 7 8 10 +f 8 7 12 +f 4 8 13 +f 8 4 14 +f 2 9 16 +f 3 17 18 +f 17 6 18 +f 8 12 19 +f 2 16 20 +f 16 11 20 +f 3 2 21 +f 12 7 21 +f 2 20 21 +f 20 12 21 +f 4 13 22 +f 14 4 22 +f 3 18 22 +f 13 8 23 +f 16 9 23 +f 8 16 23 +f 1 10 24 +f 10 8 24 +f 14 1 24 +f 8 14 24 +f 9 2 25 +f 13 23 25 +f 23 9 25 +f 21 7 26 +f 10 1 27 +f 15 10 27 +f 6 17 27 +f 17 15 27 +f 11 5 28 +f 5 19 28 +f 19 12 28 +f 12 20 28 +f 20 11 28 +f 18 6 29 +f 22 18 29 +f 2 3 30 +f 3 22 30 +f 22 13 30 +f 25 2 30 +f 13 25 30 +f 7 10 31 +f 10 15 31 +f 26 7 31 +f 6 14 32 +f 14 22 32 +f 29 6 32 +f 22 29 32 +f 1 14 33 +f 14 6 33 +f 27 1 33 +f 6 27 33 +f 17 3 34 +f 15 17 34 +f 3 21 34 +f 21 26 34 +f 31 15 34 +f 26 31 34 +f 5 11 35 +f 11 16 35 +f 16 8 35 +f 19 5 35 +o convex_1 +v 1.060150 -0.772066 -0.711700 +v -1.057952 -2.640531 0.128900 +v -1.026603 -2.671997 -0.929928 +v -1.026603 -0.180304 -0.992165 +v -0.684071 -0.180304 1.001413 +v 1.091500 -2.640774 1.001215 +v 1.060150 -0.180060 1.001215 +v 1.029011 -2.515885 -0.929729 +v -1.057952 -2.640531 1.001413 +v 0.997871 -0.180060 -0.992165 +v -1.026603 -0.180304 0.970096 +v -0.808628 -2.671997 -1.023482 +v 0.437154 -2.671997 -0.524790 +v -1.057952 -1.021113 0.938977 +v -1.026603 -0.958912 -1.023482 +v -0.279049 -2.671997 0.502721 +v 1.060150 -0.180060 -0.680582 +v -0.497024 -2.640531 -1.023482 +v 0.748757 -2.547107 -0.961046 +v 1.091500 -2.640774 0.720948 +v 1.091500 -1.706054 1.001215 +v 0.561711 -2.671997 0.533840 +v -0.995463 -2.671997 -1.023482 +v -1.057952 -1.456763 1.001413 +v 0.997871 -0.398129 -0.992165 +v -1.026603 -2.671997 -0.369197 +v 1.060150 -2.547351 -0.213405 +v 1.029011 -0.180060 -0.898809 +v -1.026603 -2.235615 -1.023482 +v 0.997871 -1.924123 -0.961046 +v 1.091500 -2.609308 0.658711 +v 1.060150 -0.958668 -0.711700 +f 36 66 67 +f 37 38 44 +f 41 40 44 +f 40 42 46 +f 45 39 46 +f 42 45 46 +f 38 47 48 +f 39 37 49 +f 37 44 49 +f 46 39 49 +f 37 39 50 +f 39 45 50 +f 38 48 51 +f 45 42 52 +f 50 45 53 +f 47 50 53 +f 43 48 54 +f 48 47 54 +f 47 53 54 +f 48 43 55 +f 40 41 56 +f 42 40 56 +f 52 42 56 +f 41 55 56 +f 41 44 57 +f 44 51 57 +f 51 48 57 +f 55 41 57 +f 48 55 57 +f 47 38 58 +f 50 47 58 +f 44 40 59 +f 40 46 59 +f 49 44 59 +f 46 49 59 +f 45 43 60 +f 53 45 60 +f 44 38 61 +f 38 51 61 +f 51 44 61 +f 55 43 62 +f 36 43 63 +f 43 45 63 +f 52 36 63 +f 45 52 63 +f 38 37 64 +f 37 50 64 +f 58 38 64 +f 50 58 64 +f 43 54 65 +f 54 53 65 +f 60 43 65 +f 53 60 65 +f 36 52 66 +f 52 56 66 +f 56 55 66 +f 55 62 66 +f 66 62 67 +f 43 36 67 +f 62 43 67 +o convex_2 +v 0.156863 2.810392 1.001312 +v -1.089141 0.972813 -0.587067 +v -1.089141 0.972813 -0.275560 +v 1.029210 0.972813 -0.836273 +v -1.026727 3.371446 -0.960876 +v 0.966796 3.433839 -1.054430 +v 1.029210 0.972813 1.001108 +v -0.964520 3.433839 0.907758 +v 0.997900 3.371446 1.032361 +v -0.933209 0.972813 0.970059 +v -1.026727 0.972813 -0.992128 +v 0.997900 1.128675 -1.023177 +v 1.029210 2.934937 1.032361 +v -0.995623 2.841709 0.938807 +v -1.057830 3.371446 -0.929827 +v -0.995623 0.972813 0.938807 +v -0.341207 0.972813 1.001312 +v 0.997900 2.966495 -0.992128 +v 0.655140 3.340370 -1.054430 +v -0.995623 3.433839 0.689601 +v -1.089141 1.378006 -0.244512 +v -0.528242 3.433839 0.938807 +v 0.997900 0.972813 -0.992128 +v 0.935693 2.623695 -1.054430 +v 1.029210 1.689729 -0.836273 +v 0.997900 3.402281 -0.431416 +v -1.089141 2.094440 -0.742923 +v 0.655140 2.405682 1.032361 +v -0.839899 3.433839 0.938807 +v -0.995623 3.433839 0.502697 +v 0.779968 3.433839 -1.054430 +v 0.966796 3.433839 -0.867526 +v -1.057830 3.340370 -0.742923 +v -1.026727 1.159751 -0.992128 +v 1.029210 2.343289 1.032361 +v -1.057830 3.309053 -0.960876 +v 0.904382 3.340370 1.032361 +v 0.997900 3.402281 0.129093 +v -0.341207 1.066282 1.001312 +f 95 104 106 +f 70 69 71 +f 70 71 74 +f 70 74 77 +f 71 69 78 +f 74 71 80 +f 70 77 83 +f 77 81 83 +f 77 74 84 +f 79 73 85 +f 75 73 87 +f 81 75 87 +f 69 70 88 +f 70 83 88 +f 83 81 88 +f 81 87 88 +f 73 75 89 +f 71 78 90 +f 78 79 90 +f 79 71 90 +f 73 79 91 +f 79 78 91 +f 86 73 91 +f 78 86 91 +f 71 79 92 +f 80 71 92 +f 79 85 92 +f 92 85 93 +f 85 73 93 +f 80 92 93 +f 78 69 94 +f 69 88 94 +f 80 76 95 +f 75 81 96 +f 81 77 96 +f 89 75 96 +f 76 89 96 +f 72 82 97 +f 87 73 97 +f 82 87 97 +f 86 72 98 +f 73 86 98 +f 72 97 98 +f 97 73 98 +f 73 89 99 +f 93 73 99 +f 87 82 100 +f 88 87 100 +f 82 94 100 +f 94 88 100 +f 86 78 101 +f 74 80 102 +f 84 74 102 +f 80 95 102 +f 95 84 102 +f 82 72 103 +f 72 86 103 +f 78 94 103 +f 94 82 103 +f 101 78 103 +f 86 101 103 +f 95 76 104 +f 96 68 104 +f 76 96 104 +f 76 80 105 +f 89 76 105 +f 80 93 105 +f 99 89 105 +f 93 99 105 +f 77 84 106 +f 84 95 106 +f 68 96 106 +f 96 77 106 +f 104 68 106 +o convex_3 +v -2.646634 -0.023954 0.502901 +v -1.587640 0.848140 -0.556198 +v -1.587640 0.879314 -0.556198 +v -1.089166 -0.055127 0.596434 +v -3.051368 0.941661 0.534041 +v -2.989323 -0.055127 -0.431413 +v -1.089166 -0.179712 -0.493693 +v -1.089166 0.910488 0.440621 +v -3.020442 0.879314 -0.493806 +v -1.089166 0.879314 -0.556198 +v -2.926894 -0.023954 0.409481 +v -1.432047 -0.117475 0.565181 +v -3.020442 0.069567 -0.462666 +v -1.400928 0.910488 -0.369245 +v -1.276069 0.910488 0.471761 +v -2.521967 0.941661 0.222528 +v -1.182714 -0.117475 0.596434 +v -3.051368 0.816967 0.534041 +v -3.051368 0.910488 -0.120012 +v -3.020442 -0.023954 -0.337993 +v -2.739990 0.941661 0.534041 +v -1.120476 0.598970 -0.556198 +v -1.120476 -0.179712 -0.369133 +v -2.926894 0.007220 0.471648 +v -1.432047 -0.148648 -0.493806 +v -1.089166 -0.148648 0.347201 +v -3.020442 0.661208 -0.493806 +v -2.958013 0.910488 -0.213433 +v -1.089166 0.910488 0.004660 +v -2.802227 -0.055127 -0.462666 +v -2.958013 -0.055127 -0.306853 +v -3.020442 0.723446 0.534041 +v -2.366182 0.941661 0.502901 +f 135 122 139 +f 110 113 114 +f 109 108 115 +f 108 109 116 +f 114 113 116 +f 107 117 118 +f 109 115 120 +f 116 109 120 +f 110 114 121 +f 110 111 123 +f 107 118 123 +f 123 111 124 +f 124 111 125 +f 124 125 126 +f 112 117 126 +f 119 112 126 +f 125 119 126 +f 111 110 127 +f 110 121 127 +f 122 111 127 +f 108 116 128 +f 116 113 128 +f 112 113 129 +f 117 107 130 +f 124 126 130 +f 126 117 130 +f 128 113 131 +f 113 110 132 +f 110 123 132 +f 123 118 132 +f 129 113 132 +f 118 129 132 +f 115 108 133 +f 108 119 133 +f 125 115 133 +f 119 125 133 +f 120 115 134 +f 111 122 134 +f 122 120 134 +f 115 125 134 +f 125 111 134 +f 114 116 135 +f 116 120 135 +f 120 122 135 +f 113 112 136 +f 112 119 136 +f 119 108 136 +f 108 128 136 +f 131 113 136 +f 128 131 136 +f 117 112 137 +f 118 117 137 +f 112 129 137 +f 129 118 137 +f 107 123 138 +f 123 124 138 +f 130 107 138 +f 124 130 138 +f 121 114 139 +f 127 121 139 +f 122 127 139 +f 114 135 139 +o convex_4 +v 1.060363 0.941451 0.534007 +v -1.026651 -0.179706 -0.992330 +v -1.089141 -0.179706 -0.493504 +v -1.089141 0.972813 -0.587180 +v 0.997872 -0.179706 -0.992330 +v -1.026651 -0.179706 0.970187 +v 1.060363 -0.179706 1.001413 +v -0.933230 0.972813 0.970187 +v 0.997872 0.972813 -0.992330 +v 1.029012 0.972813 1.001413 +v -1.026651 0.972813 -0.992330 +v -1.089141 0.910314 0.440526 +v 1.060363 -0.179706 -0.680661 +v -0.683900 -0.148456 1.001413 +v 1.060363 0.972813 -0.493699 +v -1.089141 -0.117319 0.596263 +v -1.026651 0.910314 0.938962 +v -0.341360 0.972813 1.001413 +v 1.060363 0.598831 1.001413 +v 1.029012 0.879177 -0.867623 +v -1.026651 0.723492 0.970187 +v -0.995511 0.972813 0.938962 +f 156 147 161 +f 141 142 143 +f 142 141 144 +f 142 144 145 +f 145 144 146 +f 144 141 148 +f 143 147 148 +f 148 147 149 +f 141 143 150 +f 148 141 150 +f 143 148 150 +f 143 142 151 +f 146 144 152 +f 140 146 152 +f 145 146 153 +f 146 149 153 +f 148 149 154 +f 149 140 154 +f 140 152 154 +f 142 145 155 +f 151 142 155 +f 149 147 157 +f 153 149 157 +f 146 140 158 +f 149 146 158 +f 140 149 158 +f 144 148 159 +f 152 144 159 +f 148 154 159 +f 154 152 159 +f 145 153 160 +f 155 145 160 +f 151 155 160 +f 156 151 160 +f 147 156 160 +f 157 147 160 +f 153 157 160 +f 147 143 161 +f 143 151 161 +f 151 156 161 +o convex_5 +v 2.960436 0.941564 0.222516 +v 1.060710 -0.179706 -0.587351 +v 1.060710 -0.179706 0.565282 +v 1.060710 0.972813 -0.493818 +v 3.022882 -0.117432 -0.524958 +v 3.054105 -0.055158 0.565282 +v 1.060710 0.941451 0.534029 +v 2.991659 0.910427 -0.524958 +v 2.929408 0.941564 0.502889 +v 1.621163 0.972813 -0.524845 +v 2.742460 -0.148569 -0.493818 +v 2.991659 0.318711 0.565282 +v 2.555512 0.661105 -0.556098 +v 1.309714 -0.179706 0.565282 +v 1.808111 0.972813 -0.057745 +v 1.434216 -0.179706 -0.587351 +v 3.022882 0.661218 -0.524958 +v 1.060710 0.038366 -0.587351 +v 3.022882 -0.117432 -0.151165 +v 2.399787 0.941451 0.534029 +v 1.060710 0.163026 0.565282 +v 2.648986 0.941564 -0.524958 +v 1.122766 0.941451 -0.524845 +v 2.991659 0.910427 -0.119912 +v 2.960436 0.785766 0.534029 +v 1.714637 -0.179706 -0.524845 +v 1.060710 0.972813 -0.057745 +v 2.711432 -0.086295 0.565282 +v 2.368564 -0.148456 -0.556098 +v 3.054105 0.007229 0.565282 +f 185 186 191 +f 163 164 165 +f 165 164 168 +f 164 167 173 +f 164 163 175 +f 167 164 175 +f 170 162 176 +f 171 165 176 +f 162 171 176 +f 175 163 177 +f 167 166 178 +f 166 174 178 +f 174 169 178 +f 163 165 179 +f 177 163 179 +f 174 177 179 +f 166 167 180 +f 172 166 180 +f 175 172 180 +f 168 173 181 +f 176 168 181 +f 170 176 181 +f 168 164 182 +f 164 173 182 +f 173 168 182 +f 162 169 183 +f 171 162 183 +f 169 174 183 +f 174 171 183 +f 165 171 184 +f 171 174 184 +f 179 165 184 +f 174 179 184 +f 169 162 185 +f 178 169 185 +f 162 170 186 +f 181 173 186 +f 170 181 186 +f 185 162 186 +f 172 175 187 +f 177 172 187 +f 175 177 187 +f 165 168 188 +f 176 165 188 +f 168 176 188 +f 167 175 189 +f 180 167 189 +f 175 180 189 +f 166 172 190 +f 174 166 190 +f 172 177 190 +f 177 174 190 +f 173 167 191 +f 167 178 191 +f 178 185 191 +f 186 173 191 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/476/476.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/476/476.urdf new file mode 100644 index 000000000..3766ae2ba --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/476/476.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/477/477.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/477/477.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/477/477.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/477/477.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/477/477.obj new file mode 100644 index 000000000..63acb8315 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/477/477.obj @@ -0,0 +1,873 @@ +o convex_0 +v 0.977505 -0.825538 -0.103444 +v -1.066042 -3.830256 -0.073289 +v -1.066042 -3.830256 -0.013569 +v 0.737064 -4.551731 -0.043133 +v -0.074274 -0.825538 0.978411 +v -0.825601 -0.825538 -0.824616 +v 0.045747 -3.770457 -1.004761 +v 0.706859 -3.830645 0.767716 +v -0.825601 -3.800357 0.707799 +v -0.855607 -0.825538 0.647685 +v 0.737064 -0.825538 -0.764502 +v -0.645171 -4.341269 -0.583963 +v -0.074274 -4.551731 0.737955 +v 0.737064 -3.800357 -0.734346 +v 0.737064 -0.825538 0.737758 +v 0.977505 -3.800357 0.016587 +v -0.825601 -3.770069 -0.794460 +v -0.104279 -0.825538 -1.035113 +v -0.074274 -3.860156 0.978411 +v -1.066042 -0.825538 -0.133403 +v -0.044269 -4.551731 -0.764305 +v -0.795596 -4.551731 0.016587 +v -0.074274 -4.792481 -0.073092 +v -0.164289 -3.770457 -1.004761 +v -0.765391 -0.825538 0.737955 +v 0.977505 -0.825538 0.076701 +v 0.526629 -4.371168 0.557613 +v 0.737064 -3.830645 0.737758 +v 0.015742 -0.825538 -1.035113 +v 0.676854 -3.770457 -0.794460 +v 0.496623 -4.341657 -0.614315 +v -1.066042 -0.825538 0.016587 +v 0.015742 -2.659511 0.978411 +v -0.645171 -4.310980 0.557613 +v -0.735386 -2.689411 -0.854574 +v 0.646849 -2.388861 0.797872 +v -0.825601 -4.521442 -0.073289 +v -0.194494 -3.800357 0.948255 +v -0.044269 -4.792481 0.046742 +v -0.855607 -3.770069 -0.734543 +v -0.885612 -3.800357 0.557416 +v -0.164289 -4.521831 -0.764305 +v -0.014263 -0.825538 0.978411 +v -0.014263 -4.551731 0.737955 +v 0.015742 -3.800357 0.978411 +v -0.014263 -3.018695 -1.035113 +v -0.855607 -4.491543 0.016587 +v 0.977505 -3.800357 -0.013372 +v 0.857285 -0.976201 0.437385 +v 0.526629 -0.825538 -0.854574 +v -0.615166 -3.800357 0.797872 +v 0.706859 -4.551731 0.046545 +v 0.857285 -0.886114 -0.463932 +v 0.977505 -3.349533 0.046742 +v -0.044269 -4.521831 -0.794657 +v -1.066042 -3.800357 -0.103247 +v -0.104279 -1.907749 0.978411 +v -1.066042 -3.800357 0.016587 +v 0.706859 -4.551731 -0.103247 +v 0.706859 -1.366838 0.767716 +v 0.015742 -4.792481 -0.043133 +v -0.434935 -4.431744 0.617530 +v -1.005832 -1.487213 -0.313745 +v 0.526629 -3.830645 0.828027 +f 45 44 64 +f 5 1 6 +f 5 6 10 +f 6 1 11 +f 1 5 15 +f 6 11 18 +f 2 3 20 +f 10 6 20 +f 5 10 25 +f 10 9 25 +f 1 15 26 +f 16 1 26 +f 15 8 28 +f 4 16 28 +f 8 27 28 +f 18 11 29 +f 11 14 30 +f 30 14 31 +f 20 3 32 +f 10 20 32 +f 5 19 33 +f 17 6 35 +f 6 18 35 +f 24 17 35 +f 18 24 35 +f 17 12 37 +f 23 22 37 +f 13 22 39 +f 22 23 39 +f 6 17 40 +f 17 37 40 +f 9 10 41 +f 12 17 42 +f 21 23 42 +f 17 24 42 +f 37 12 42 +f 23 37 42 +f 15 5 43 +f 5 33 43 +f 33 36 43 +f 19 13 44 +f 27 8 44 +f 13 39 44 +f 33 19 45 +f 36 33 45 +f 19 44 45 +f 24 18 46 +f 7 24 46 +f 18 29 46 +f 30 7 46 +f 29 30 46 +f 3 2 47 +f 34 9 47 +f 22 34 47 +f 2 37 47 +f 37 22 47 +f 9 41 47 +f 4 14 48 +f 16 4 48 +f 1 16 48 +f 26 15 49 +f 15 28 49 +f 29 11 50 +f 11 30 50 +f 30 29 50 +f 9 13 51 +f 13 19 51 +f 25 9 51 +f 19 38 51 +f 4 28 52 +f 28 27 52 +f 27 44 52 +f 44 39 52 +f 11 1 53 +f 14 11 53 +f 1 48 53 +f 48 14 53 +f 16 26 54 +f 28 16 54 +f 26 49 54 +f 49 28 54 +f 24 7 55 +f 7 30 55 +f 31 21 55 +f 30 31 55 +f 21 42 55 +f 42 24 55 +f 2 20 56 +f 37 2 56 +f 40 37 56 +f 19 5 57 +f 5 25 57 +f 38 19 57 +f 25 51 57 +f 51 38 57 +f 32 3 58 +f 10 32 58 +f 41 10 58 +f 3 47 58 +f 47 41 58 +f 14 4 59 +f 31 14 59 +f 21 31 59 +f 8 15 60 +f 36 8 60 +f 15 43 60 +f 43 36 60 +f 23 21 61 +f 39 23 61 +f 4 52 61 +f 52 39 61 +f 59 4 61 +f 21 59 61 +f 13 9 62 +f 22 13 62 +f 9 34 62 +f 34 22 62 +f 20 6 63 +f 6 40 63 +f 56 20 63 +f 40 56 63 +f 8 36 64 +f 44 8 64 +f 36 45 64 +o convex_1 +v 1.037611 1.668828 -0.163558 +v -1.066028 -0.825538 -0.133403 +v -0.975837 -0.825538 -0.403817 +v -0.975837 1.668828 -0.764502 +v -0.765390 1.668828 0.858183 +v 0.736973 -0.825538 0.737758 +v 0.676846 -0.825538 -0.794460 +v 0.827164 1.668828 0.828027 +v -0.074336 -0.825538 0.978411 +v 0.797101 1.668828 -0.884730 +v -0.104400 -0.825538 -1.035113 +v 1.007341 -0.645102 -0.013372 +v -0.825518 -0.825538 0.707799 +v -1.005900 1.668828 0.557416 +v -0.044272 1.638552 -1.035113 +v -0.825518 -0.825538 -0.824616 +v 0.075777 1.668828 0.978411 +v 0.977483 1.638552 -0.674232 +v 0.947419 1.608520 0.707799 +v -0.855582 1.668828 -0.884533 +v -1.066028 1.668828 -0.073289 +v 0.827164 -0.825538 -0.554004 +v 0.045713 -0.705166 -1.035113 +v -0.915709 0.796923 0.767913 +v -1.066028 -0.705166 0.046545 +v 0.827164 0.917296 -0.854574 +v 0.977483 -0.825538 0.076701 +v 1.007341 1.668828 0.407229 +v -0.014209 -0.825538 0.978411 +v -0.074336 1.668828 0.978411 +v 0.767037 -0.615070 -0.764502 +v -0.915709 1.067456 -0.854574 +v 0.045713 1.217616 -1.035113 +v 1.007341 1.638552 -0.584160 +v -0.855582 -0.344293 0.737758 +v -0.855582 1.428328 0.827830 +v -1.005900 1.668828 -0.644274 +v 0.977483 -0.825538 -0.103247 +v 0.767037 -0.585037 0.737758 +v 0.676846 -0.825538 0.767716 +v -0.104400 1.217616 -1.035113 +v -0.975837 1.548456 0.677841 +v -1.066028 0.917296 0.076701 +v 1.037611 1.638552 0.046545 +v 0.917356 1.488392 -0.794657 +v -1.066028 0.887264 -0.163361 +v -0.855582 -0.765230 0.677841 +v 0.857228 -0.825538 0.437385 +v 1.007341 -0.645102 0.016587 +v -1.066028 -0.705166 -0.163361 +v -0.945773 1.668828 0.737758 +v 0.135904 1.668828 -1.004958 +v 0.887292 1.247648 0.767913 +v 0.526527 -0.825538 -0.854574 +v 0.827164 1.608520 0.828027 +v -0.645341 -0.735198 -0.884533 +v 0.977483 1.578488 0.587571 +v -0.855582 1.458360 -0.884533 +v -1.066028 -0.825538 0.016587 +v 1.037611 1.187828 -0.073092 +v 0.977483 -0.615070 0.136815 +f 113 121 125 +f 65 68 69 +f 66 67 70 +f 70 67 71 +f 65 69 72 +f 66 70 73 +f 68 65 74 +f 71 67 75 +f 66 73 77 +f 69 68 78 +f 75 67 80 +f 72 69 81 +f 74 65 82 +f 68 74 84 +f 78 68 85 +f 70 71 86 +f 75 79 87 +f 85 66 89 +f 87 74 90 +f 70 86 91 +f 65 72 92 +f 72 83 92 +f 73 70 93 +f 81 73 93 +f 69 73 94 +f 81 69 94 +f 73 81 94 +f 86 71 95 +f 82 86 95 +f 71 90 95 +f 80 67 96 +f 68 84 96 +f 74 87 97 +f 87 79 97 +f 82 65 98 +f 77 73 99 +f 73 69 100 +f 99 73 100 +f 88 99 100 +f 85 68 101 +f 86 82 102 +f 76 91 102 +f 91 86 102 +f 98 76 102 +f 82 98 102 +f 93 70 104 +f 70 103 104 +f 79 75 105 +f 84 79 105 +f 75 84 105 +f 78 89 106 +f 89 88 106 +f 78 85 107 +f 89 78 107 +f 85 89 107 +f 65 92 108 +f 74 82 109 +f 90 74 109 +f 82 95 109 +f 95 90 109 +f 66 85 110 +f 85 101 110 +f 88 89 111 +f 77 99 111 +f 99 88 111 +f 70 91 112 +f 103 70 112 +f 83 103 112 +f 91 76 113 +f 108 92 113 +f 67 66 114 +f 96 67 114 +f 68 96 114 +f 101 68 114 +f 66 110 114 +f 110 101 114 +f 69 78 115 +f 100 69 115 +f 88 100 115 +f 78 106 115 +f 106 88 115 +f 84 74 116 +f 79 84 116 +f 74 97 116 +f 97 79 116 +f 83 72 117 +f 103 83 117 +f 71 75 118 +f 75 87 118 +f 90 71 118 +f 87 90 118 +f 72 81 119 +f 81 93 119 +f 93 104 119 +f 104 103 119 +f 117 72 119 +f 103 117 119 +f 75 80 120 +f 80 96 120 +f 92 83 121 +f 113 92 121 +f 84 75 122 +f 96 84 122 +f 75 120 122 +f 120 96 122 +f 66 77 123 +f 89 66 123 +f 111 89 123 +f 77 111 123 +f 98 65 124 +f 76 98 124 +f 65 108 124 +f 113 76 124 +f 108 113 124 +f 112 91 125 +f 83 112 125 +f 91 113 125 +f 121 83 125 +o convex_2 +v 0.015751 3.442238 -0.614377 +v 0.045875 3.442238 0.647832 +v -0.014254 3.442238 0.647832 +v 0.015751 5.274955 0.046751 +v 0.646809 3.382012 -0.103365 +v -0.555060 3.381827 -0.043319 +v -0.014254 5.034423 -0.403968 +v -0.374791 4.974382 0.106797 +v 0.376288 5.034423 0.016728 +v 0.526669 3.382012 0.497469 +v 0.015751 5.004403 0.407400 +v -0.434802 3.381827 0.497469 +v 0.466540 3.382012 -0.524184 +v -0.434802 3.381827 -0.433991 +v 0.376288 4.313566 -0.433991 +v -0.374791 4.974382 -0.043319 +v -0.374791 4.253526 0.437423 +v 0.316277 4.764055 0.287184 +v 0.376288 5.004403 -0.103365 +v -0.284539 4.794075 -0.283751 +v -0.555060 3.412218 0.136820 +v 0.646809 3.412032 0.076651 +v 0.015751 4.313566 -0.524184 +v -0.314663 4.734035 0.347230 +v 0.286272 4.824096 -0.343798 +v -0.464926 4.433462 0.016728 +v -0.404797 3.412218 -0.464014 +v -0.044260 5.274955 -0.043319 +v -0.074148 3.381827 0.647832 +v 0.135891 3.381827 -0.614377 +v 0.556675 3.412032 0.437423 +v -0.404797 4.193485 0.407400 +v 0.586798 3.412032 -0.283628 +v 0.105886 3.412218 0.647832 +v -0.044260 4.974382 0.407400 +v 0.406412 4.914342 -0.073342 +v 0.466540 3.412032 0.527616 +v 0.346283 4.223505 -0.464014 +v 0.075880 5.244750 -0.043319 +v -0.044260 5.064443 0.347230 +v 0.015751 5.034423 -0.403968 +v -0.374791 5.034423 0.046751 +v -0.404797 3.412218 0.527616 +v -0.404797 4.944362 0.046751 +v -0.014254 4.283546 -0.524184 +v -0.314663 4.283546 -0.373944 +v 0.376288 4.403442 0.347230 +v -0.104271 3.412218 -0.584230 +f 152 170 173 +f 128 127 136 +f 134 129 136 +f 137 131 139 +f 134 136 143 +f 141 132 145 +f 139 141 145 +f 131 137 146 +f 135 130 147 +f 144 140 150 +f 139 131 151 +f 141 139 151 +f 131 146 151 +f 132 141 153 +f 127 128 154 +f 130 135 154 +f 137 139 154 +f 138 130 155 +f 126 148 155 +f 130 154 155 +f 154 139 155 +f 147 134 156 +f 135 147 156 +f 137 142 157 +f 146 137 157 +f 149 133 157 +f 142 149 157 +f 130 138 158 +f 138 140 158 +f 136 127 159 +f 127 154 159 +f 154 135 159 +f 128 136 160 +f 149 142 160 +f 154 128 160 +f 142 154 160 +f 144 134 161 +f 140 144 161 +f 147 130 161 +f 134 147 161 +f 130 158 161 +f 158 140 161 +f 159 135 162 +f 136 159 162 +f 140 138 163 +f 138 155 163 +f 155 148 163 +f 129 134 164 +f 134 144 164 +f 153 129 164 +f 136 129 165 +f 133 149 165 +f 160 136 165 +f 149 160 165 +f 148 132 166 +f 150 140 166 +f 144 150 166 +f 132 153 166 +f 140 163 166 +f 163 148 166 +f 164 144 166 +f 153 164 166 +f 129 153 167 +f 153 141 167 +f 165 129 167 +f 133 165 167 +f 142 137 168 +f 137 154 168 +f 154 142 168 +f 141 151 169 +f 151 146 169 +f 146 157 169 +f 157 133 169 +f 133 167 169 +f 167 141 169 +f 148 126 170 +f 132 148 170 +f 170 152 171 +f 145 132 171 +f 139 145 171 +f 152 139 171 +f 132 170 171 +f 134 143 172 +f 143 136 172 +f 156 134 172 +f 135 156 172 +f 162 135 172 +f 136 162 172 +f 139 152 173 +f 126 155 173 +f 155 139 173 +f 170 126 173 +o convex_3 +v 1.458353 2.269880 0.347306 +v 1.247978 2.179864 -0.404009 +v 1.247978 2.329962 -0.404009 +v 2.991030 2.239945 -0.013422 +v 1.247978 2.630512 0.136826 +v 1.247978 1.909249 -0.013422 +v 2.720256 1.969401 -0.013422 +v 2.750285 2.480201 0.076742 +v 1.308378 2.540354 -0.313845 +v 2.720256 2.239945 -0.193602 +v 2.690227 2.149717 0.196911 +v 1.247978 2.029554 0.257069 +v 1.278349 1.969401 -0.343850 +v 1.308378 2.540354 0.317227 +v 2.600310 2.390044 0.196911 +v 2.600310 2.420120 -0.133518 +v 1.398294 2.630512 -0.043354 +v 2.600310 2.059559 -0.163523 +v 2.750285 2.480201 0.016584 +v 2.780655 2.209799 0.196911 +v 1.247978 2.420120 0.347306 +v 1.428324 2.570359 0.287075 +v 2.419795 2.029554 0.136826 +v 2.720256 1.969401 -0.043354 +v 2.991030 2.179864 0.046663 +v 1.247978 2.570359 -0.253613 +v 2.720256 2.209799 -0.193602 +v 1.278349 1.909249 -0.073359 +v 1.428324 1.999548 0.196911 +f 196 185 202 +f 176 175 178 +f 178 175 179 +f 175 176 183 +f 176 182 183 +f 178 179 185 +f 184 174 185 +f 179 175 186 +f 177 183 189 +f 183 182 189 +f 178 181 190 +f 181 177 192 +f 177 189 192 +f 189 182 192 +f 190 181 192 +f 182 190 192 +f 174 184 193 +f 181 188 193 +f 188 174 193 +f 185 174 194 +f 178 185 194 +f 187 178 194 +f 174 188 194 +f 188 187 194 +f 181 178 195 +f 178 187 195 +f 188 181 195 +f 187 188 195 +f 180 184 196 +f 184 185 196 +f 186 191 197 +f 177 181 198 +f 184 180 198 +f 181 193 198 +f 193 184 198 +f 197 177 198 +f 180 197 198 +f 176 178 199 +f 182 176 199 +f 178 190 199 +f 190 182 199 +f 175 183 200 +f 183 177 200 +f 186 175 200 +f 191 186 200 +f 177 197 200 +f 197 191 200 +f 180 179 201 +f 179 186 201 +f 197 180 201 +f 186 197 201 +f 179 180 202 +f 185 179 202 +f 180 196 202 +o convex_4 +v -1.246387 2.239845 0.377359 +v -1.276757 2.209805 -0.404009 +v -1.276757 2.299859 -0.404009 +v -2.989438 2.179831 0.016657 +v -1.276757 2.630512 0.136891 +v -1.246387 1.939302 -0.013325 +v -2.748694 2.420090 0.046716 +v -2.688636 2.149723 -0.223581 +v -1.246387 2.570295 -0.253640 +v -2.628578 2.209805 0.257125 +v -1.246387 2.570295 0.347300 +v -2.748694 2.029492 0.016657 +v -1.246387 1.999451 -0.313833 +v -1.426732 2.029492 0.257125 +v -2.688636 2.269954 -0.223581 +v -2.658607 2.329968 0.227067 +v -2.718665 2.029492 -0.073289 +v -1.276757 2.630512 -0.043230 +v -2.718665 2.420090 -0.013325 +v -1.456761 2.329968 0.377359 +v -1.967938 2.480172 0.287184 +v -1.276757 2.510281 -0.313833 +v -1.577219 2.029492 -0.313833 +v -2.568690 2.089641 0.166950 +v -2.478262 2.389982 -0.163464 +v -1.306787 1.939302 -0.103347 +v -2.779064 2.209805 0.227067 +v -2.989438 2.239845 -0.013325 +v -1.246387 2.029492 0.257125 +v -2.598719 2.239845 -0.253640 +v -2.358316 2.059533 -0.223581 +f 225 215 233 +f 203 208 211 +f 203 211 213 +f 211 207 213 +f 204 205 215 +f 205 211 215 +f 211 208 215 +f 203 212 216 +f 214 208 216 +f 206 210 219 +f 214 206 219 +f 209 207 220 +f 207 211 220 +f 220 211 221 +f 209 220 221 +f 212 203 222 +f 203 213 222 +f 207 209 223 +f 213 207 223 +f 209 218 223 +f 218 212 223 +f 212 222 223 +f 222 213 223 +f 211 205 224 +f 210 204 225 +f 204 215 225 +f 216 212 226 +f 214 216 226 +f 221 211 227 +f 217 221 227 +f 211 224 227 +f 224 217 227 +f 208 214 228 +f 215 208 228 +f 214 219 228 +f 219 215 228 +f 206 214 229 +f 218 209 229 +f 212 218 229 +f 226 212 229 +f 214 226 229 +f 210 206 230 +f 217 210 230 +f 209 221 230 +f 221 217 230 +f 206 229 230 +f 229 209 230 +f 208 203 231 +f 203 216 231 +f 216 208 231 +f 205 204 232 +f 204 210 232 +f 210 217 232 +f 224 205 232 +f 217 224 232 +f 219 210 233 +f 215 219 233 +f 210 225 233 +o convex_5 +v -0.014098 3.111194 0.888130 +v -0.164258 1.668828 -1.005061 +v -0.855483 1.668828 -0.884685 +v 0.075754 1.668828 0.978411 +v 0.827286 3.021151 -0.764504 +v 1.247979 1.999657 0.256937 +v -1.246387 2.660476 0.136756 +v -0.795663 3.081180 -0.764504 +v -0.945823 1.668828 0.737661 +v 0.857318 3.081180 0.827942 +v 0.947170 1.668828 -0.764504 +v -0.464823 3.381827 0.497299 +v 0.496446 3.381827 -0.524143 +v 0.857318 1.668828 0.827942 +v -0.765387 2.930941 0.798042 +v 1.247979 2.570097 -0.313680 +v -1.246387 1.999657 -0.343580 +v 0.045722 2.900759 -0.944873 +v 0.676882 3.381827 0.046669 +v 0.676882 2.239939 -0.944873 +v -0.585195 3.381827 -0.043224 +v -0.705323 2.239939 0.918029 +v -1.246387 2.269954 0.407212 +v 0.977446 3.171391 0.016575 +v 1.247979 2.570097 0.317124 +v -0.014098 3.381827 -0.644323 +v 0.105786 3.381827 0.677861 +v -0.795663 2.360332 -0.914585 +v 0.015690 2.780701 0.978411 +v -1.246387 2.390179 -0.403962 +v 0.797010 2.330318 0.918029 +v 1.247979 1.879264 -0.103218 +v -0.915547 3.141376 0.076568 +v -1.095983 1.699178 0.016575 +v 1.247979 2.149896 -0.433861 +v 0.556754 3.381827 0.527393 +v -0.014098 2.390179 -1.005061 +v -0.765387 3.021151 0.767949 +v 1.247979 2.269954 0.377118 +v 1.007478 1.668828 0.497299 +v 0.797010 1.668828 -0.884685 +v -0.825451 1.699178 0.858036 +v -1.246387 1.999657 0.227037 +v -1.246387 2.600280 -0.253493 +v 0.857318 2.239939 -0.854592 +v -0.975855 1.668828 -0.764504 +v -0.464823 3.381827 -0.433861 +v -0.074162 3.021151 -0.914779 +v 0.135818 1.668828 -1.005061 +v -1.246387 2.600280 0.317124 +v -0.795663 2.119714 0.887935 +v -0.014098 3.021151 0.948317 +v 1.067542 1.668828 -0.103218 +v -0.885515 3.141376 -0.223593 +v -0.074162 1.668828 0.978411 +v 0.165850 3.021151 0.948317 +v 1.247979 2.330318 -0.433861 +v -0.044130 3.381827 0.677861 +v 0.286222 2.269954 0.978411 +v 1.247979 1.939461 -0.373674 +v -1.065951 2.300136 -0.644323 +v -0.675291 2.269954 -0.944873 +v 1.247979 2.660476 0.046669 +v 0.887106 3.111194 0.677667 +f 257 269 297 +f 236 235 237 +f 236 237 242 +f 237 235 244 +f 237 244 247 +f 246 245 252 +f 251 238 253 +f 245 246 254 +f 240 250 256 +f 238 246 257 +f 249 238 257 +f 246 252 257 +f 239 249 258 +f 246 238 259 +f 254 246 259 +f 252 245 260 +f 250 240 263 +f 237 247 264 +f 249 239 265 +f 245 254 266 +f 249 265 268 +f 257 252 269 +f 260 243 269 +f 252 260 269 +f 251 253 270 +f 245 266 271 +f 247 239 272 +f 258 243 272 +f 239 258 272 +f 264 247 272 +f 243 264 272 +f 239 247 273 +f 247 244 273 +f 265 239 273 +f 244 235 274 +f 256 250 276 +f 242 256 276 +f 267 242 276 +f 250 267 276 +f 263 240 277 +f 241 263 277 +f 253 238 278 +f 244 274 278 +f 274 253 278 +f 236 242 279 +f 261 236 279 +f 250 263 279 +f 242 267 279 +f 267 250 279 +f 259 241 280 +f 254 259 280 +f 238 251 281 +f 259 238 281 +f 241 259 281 +f 261 241 281 +f 235 270 282 +f 270 253 282 +f 274 235 282 +f 253 274 282 +f 256 248 283 +f 240 256 283 +f 266 240 283 +f 248 271 283 +f 271 266 283 +f 255 248 284 +f 248 256 284 +f 256 242 284 +f 242 275 284 +f 275 255 284 +f 248 255 285 +f 255 262 285 +f 234 271 285 +f 271 248 285 +f 244 265 286 +f 273 244 286 +f 265 273 286 +f 240 266 287 +f 266 254 287 +f 277 240 287 +f 241 277 287 +f 280 241 287 +f 254 280 287 +f 242 237 288 +f 237 262 288 +f 262 255 288 +f 275 242 288 +f 255 275 288 +f 260 234 289 +f 243 260 289 +f 264 243 289 +f 234 285 289 +f 285 262 289 +f 238 249 290 +f 268 244 290 +f 249 268 290 +f 278 238 290 +f 244 278 290 +f 234 260 291 +f 260 245 291 +f 271 234 291 +f 245 271 291 +f 262 237 292 +f 237 264 292 +f 264 289 292 +f 289 262 292 +f 265 244 293 +f 244 268 293 +f 268 265 293 +f 241 261 294 +f 263 241 294 +f 261 279 294 +f 279 263 294 +f 235 236 295 +f 236 261 295 +f 270 235 295 +f 251 270 295 +f 281 251 295 +f 261 281 295 +f 249 257 296 +f 258 249 296 +f 257 258 296 +f 243 258 297 +f 258 257 297 +f 269 243 297 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/477/477.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/477/477.urdf new file mode 100644 index 000000000..f7fba35c2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/477/477.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/478/478.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/478/478.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/478/478.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/478/478.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/478/478.obj new file mode 100644 index 000000000..46ece5974 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/478/478.obj @@ -0,0 +1,528 @@ +o convex_0 +v -2.754491 0.603992 -0.436346 +v 1.995857 2.779587 0.070831 +v 2.322506 2.707112 0.288308 +v 2.430994 0.894344 -0.799078 +v 1.270826 0.459270 0.977559 +v -2.500167 2.235688 0.759880 +v -2.028867 2.416987 -0.726653 +v -2.500167 0.459043 0.941144 +v 2.358669 1.764264 1.049984 +v -1.557567 0.459043 -1.016757 +v 2.322506 2.416987 -0.762865 +v 3.156618 1.002942 0.034821 +v 1.379313 0.459270 -0.871705 +v 2.358669 1.727913 -0.980342 +v -2.500167 2.561936 0.107044 +v 2.322506 2.525813 0.832304 +v 3.084293 2.453338 0.034821 +v -2.464005 1.691789 -0.907917 +v -1.811299 1.727913 1.013569 +v 2.829969 0.857993 0.759880 +v 3.084293 1.727913 -0.726653 +v 3.047538 1.800387 0.832507 +v -1.775136 2.707112 0.070831 +v -1.738380 1.800387 -0.980545 +v -1.847461 2.416987 0.796092 +v -2.573085 0.459043 -0.871705 +v 2.648563 0.676694 -0.291294 +v -2.717736 2.126636 0.288511 +v -2.573085 2.308162 -0.690440 +v -1.484649 0.459043 1.013569 +v 0.509039 2.525813 -0.726653 +v -2.717736 0.459043 0.759880 +v 3.301862 1.800387 0.070831 +v -2.754491 1.401892 -0.690440 +v 2.213426 1.220592 1.049984 +v 0.038332 0.459043 -1.016757 +v -0.651130 1.474366 -1.016757 +v 2.358669 2.489462 -0.726653 +v -2.500167 1.582964 0.941144 +v -1.702218 2.489462 -0.726653 +v 1.017094 2.779359 -0.001392 +v -2.717736 1.727913 0.687455 +v 2.939050 1.147891 -0.581600 +v 2.286344 2.743236 -0.073817 +v 2.866132 2.344286 0.614625 +v 2.068775 1.836738 1.049984 +v -0.795780 2.416760 0.832304 +v 2.250181 0.930467 1.013772 +v -1.738380 2.489462 0.687455 +v 1.017094 2.743463 0.179468 +v 2.902887 2.308162 -0.472761 +v -2.717736 0.459043 -0.762865 +v -2.391679 0.459043 -0.944332 +v -1.775136 2.707112 -0.001392 +v 0.581364 0.459043 1.013569 +v 3.120456 0.930467 -0.073817 +v 1.306988 1.691562 1.049984 +v 3.011375 1.546841 0.832304 +v 1.488394 2.561936 -0.654228 +v 3.301862 1.619315 0.070831 +v 1.778288 2.453111 -0.762865 +v 2.975212 2.525813 0.107044 +v 2.322506 1.619315 -0.980342 +v 0.436714 1.800387 -0.980545 +f 24 61 64 +f 16 9 22 +f 15 6 25 +f 6 19 25 +f 10 8 26 +f 5 13 27 +f 13 4 27 +f 20 5 27 +f 6 15 28 +f 7 24 29 +f 24 18 29 +f 28 15 29 +f 8 10 30 +f 19 8 30 +f 26 8 32 +f 21 17 33 +f 17 22 33 +f 29 18 34 +f 28 29 34 +f 30 10 36 +f 10 24 37 +f 14 36 37 +f 36 10 37 +f 14 11 38 +f 21 14 38 +f 8 19 39 +f 19 6 39 +f 32 8 39 +f 24 7 40 +f 7 29 40 +f 31 40 41 +f 6 28 42 +f 1 32 42 +f 34 1 42 +f 28 34 42 +f 39 6 42 +f 32 39 42 +f 4 21 43 +f 27 4 43 +f 2 3 44 +f 41 2 44 +f 16 22 45 +f 22 17 45 +f 9 16 46 +f 35 9 46 +f 25 19 47 +f 16 25 47 +f 46 16 47 +f 19 46 47 +f 5 20 48 +f 23 15 49 +f 15 25 49 +f 25 16 49 +f 3 2 50 +f 16 3 50 +f 2 41 50 +f 41 23 50 +f 23 49 50 +f 49 16 50 +f 17 21 51 +f 38 17 51 +f 21 38 51 +f 18 26 52 +f 32 1 52 +f 26 32 52 +f 1 34 52 +f 34 18 52 +f 24 10 53 +f 18 24 53 +f 10 26 53 +f 26 18 53 +f 15 23 54 +f 29 15 54 +f 40 29 54 +f 41 40 54 +f 23 41 54 +f 13 5 55 +f 35 30 55 +f 36 13 55 +f 30 36 55 +f 5 48 55 +f 48 35 55 +f 12 20 56 +f 20 27 56 +f 43 21 56 +f 27 43 56 +f 19 30 57 +f 30 35 57 +f 46 19 57 +f 35 46 57 +f 20 12 58 +f 22 9 58 +f 9 35 58 +f 48 20 58 +f 35 48 58 +f 38 31 59 +f 31 41 59 +f 44 38 59 +f 41 44 59 +f 21 33 60 +f 33 22 60 +f 12 56 60 +f 56 21 60 +f 58 12 60 +f 22 58 60 +f 11 14 61 +f 38 11 61 +f 31 38 61 +f 24 40 61 +f 40 31 61 +f 3 16 62 +f 17 38 62 +f 44 3 62 +f 38 44 62 +f 16 45 62 +f 45 17 62 +f 4 13 63 +f 21 4 63 +f 14 21 63 +f 13 36 63 +f 36 14 63 +f 37 24 64 +f 14 37 64 +f 61 14 64 +o convex_1 +v -2.790757 -1.861805 -0.400418 +v 1.379616 0.458816 0.687366 +v 1.561085 0.168422 0.469730 +v 0.291656 -2.732265 0.796085 +v 1.017105 -2.514650 -0.762947 +v -1.557536 0.458816 -1.016757 +v -2.464028 0.458816 0.941375 +v 1.379616 0.458816 -0.871865 +v -2.500236 -2.913308 0.107201 +v -1.847630 -2.732265 -0.762947 +v -2.717914 0.458816 -0.762947 +v -2.464028 -2.442232 0.723739 +v 1.017105 -1.173838 0.977548 +v 0.980470 -2.949879 0.034457 +v 0.291656 -1.426576 -1.016757 +v 0.291656 -3.240274 -0.037691 +v -2.464028 -1.137267 -0.944410 +v 1.561085 -1.282102 0.034656 +v -1.847630 -1.426576 0.977350 +v 0.581750 0.458816 1.013722 +v -2.717914 0.458816 0.759912 +v -1.811422 -3.240274 0.034656 +v 1.017105 -2.441870 0.759713 +v -2.536445 -2.514650 -0.690402 +v -1.775213 -2.768111 0.759713 +v 0.291656 -2.768111 -0.799121 +v 1.561085 -0.629258 -0.581683 +v -2.754122 -1.789026 0.469929 +v -1.702796 -1.282102 -1.016757 +v 1.561085 -0.629258 0.578449 +v 1.270565 0.458816 0.977548 +v 0.255448 -1.426576 1.013523 +v 0.255448 0.277410 -1.016757 +v 0.980470 -1.209685 -0.980385 +v -1.448910 0.458816 1.013523 +v -2.500236 -1.318311 0.905003 +v -2.790757 -1.318311 -0.654228 +v -2.391611 0.458816 -0.944410 +v -1.775213 -3.203703 -0.110236 +v 0.255448 -3.022659 0.397185 +v 1.561085 0.168422 -0.472765 +v -1.158390 -1.318311 1.013523 +v 1.524451 -1.173114 -0.509137 +v -2.790757 -0.955861 -0.110236 +v 1.561085 -1.136905 0.397185 +v 1.017105 -2.913308 -0.073864 +v -2.536445 -2.877462 -0.073864 +v -2.717914 -0.992070 0.723739 +v 1.089522 -1.173838 -0.944212 +v -2.065308 -1.246256 0.977350 +v 1.017105 -2.514650 0.723739 +v -2.754122 0.059433 -0.726774 +v -2.754122 -2.152200 -0.001518 +v 0.581750 0.458816 -0.980385 +v -2.500236 -2.623638 0.542275 +v 0.291656 -3.240274 0.034656 +v 1.561085 0.277410 -0.001518 +v -2.609288 -1.028641 -0.871865 +v -1.629953 -2.768111 -0.762947 +v -2.536445 -2.442232 -0.726774 +v 0.690376 -0.593411 1.013722 +v 1.017105 -2.913308 0.034457 +v -2.355402 -3.022297 -0.037691 +v -1.775213 -2.587429 -0.799121 +f 124 81 128 +f 66 70 71 +f 70 66 72 +f 71 70 75 +f 66 71 84 +f 71 75 85 +f 77 68 87 +f 83 76 89 +f 69 80 90 +f 67 82 91 +f 70 79 93 +f 79 90 93 +f 82 67 94 +f 77 87 94 +f 67 66 95 +f 66 84 95 +f 94 67 95 +f 77 94 95 +f 68 77 96 +f 79 70 97 +f 79 97 98 +f 69 90 98 +f 90 79 98 +f 84 71 99 +f 71 85 100 +f 75 70 102 +f 70 93 102 +f 93 81 102 +f 80 86 103 +f 88 74 103 +f 90 80 103 +f 68 89 104 +f 89 86 104 +f 67 91 105 +f 91 72 105 +f 83 89 106 +f 89 68 106 +f 68 96 106 +f 69 91 107 +f 91 82 107 +f 65 92 108 +f 92 85 108 +f 101 65 108 +f 82 94 109 +f 94 87 109 +f 80 69 110 +f 78 80 110 +f 69 107 110 +f 107 82 110 +f 65 88 111 +f 92 76 112 +f 85 92 112 +f 76 100 112 +f 100 85 112 +f 72 91 113 +f 91 69 113 +f 69 98 113 +f 98 72 113 +f 76 83 114 +f 99 71 114 +f 71 100 114 +f 100 76 114 +f 83 106 114 +f 106 99 114 +f 87 68 115 +f 68 104 115 +f 109 87 115 +f 85 75 116 +f 108 85 116 +f 101 108 116 +f 92 65 117 +f 111 73 117 +f 65 111 117 +f 70 72 118 +f 97 70 118 +f 98 97 118 +f 72 98 118 +f 73 86 119 +f 89 76 119 +f 86 89 119 +f 76 92 119 +f 92 117 119 +f 117 73 119 +f 80 78 120 +f 86 80 120 +f 104 86 120 +f 78 115 120 +f 115 104 120 +f 66 67 121 +f 72 66 121 +f 67 105 121 +f 105 72 121 +f 75 102 122 +f 102 81 122 +f 116 75 122 +f 101 116 122 +f 103 74 123 +f 90 103 123 +f 88 65 124 +f 74 88 124 +f 65 101 124 +f 122 81 124 +f 101 122 124 +f 77 95 125 +f 95 84 125 +f 96 77 125 +f 84 99 125 +f 106 96 125 +f 99 106 125 +f 82 109 126 +f 78 110 126 +f 110 82 126 +f 115 78 126 +f 109 115 126 +f 86 73 127 +f 103 86 127 +f 88 103 127 +f 73 111 127 +f 111 88 127 +f 81 93 128 +f 93 90 128 +f 123 74 128 +f 90 123 128 +f 74 124 128 +o convex_2 +v 1.561114 -1.173135 -0.073980 +v 1.996301 0.241223 -0.001519 +v 1.996301 0.241223 -0.037749 +v 3.301862 -0.339140 0.034711 +v 1.561114 -0.483816 0.578616 +v 1.561114 -0.266595 -0.581655 +v 3.084268 -0.339140 -0.364047 +v 1.561114 0.132404 0.469813 +v 3.011680 -0.302868 0.397239 +v 3.047974 0.096132 -0.037749 +v 1.561114 0.168677 -0.472851 +v 1.597408 -1.027906 0.397239 +v 3.047974 -0.701452 0.034711 +v 1.633702 -0.955361 -0.472851 +v 2.431488 0.096132 0.361009 +v 2.250359 0.059859 -0.436508 +v 2.177771 -0.375413 -0.545311 +v 2.902798 -0.628907 -0.255244 +v 2.902798 -0.592634 0.288435 +v 2.322947 -0.266595 0.506043 +v 1.561114 0.241223 0.143515 +v 2.866675 0.023586 0.288435 +v 2.794087 -0.012686 -0.327817 +v 1.561114 -0.556500 -0.581655 +v 1.597408 -1.173135 0.034711 +v 1.561114 -0.991772 0.433469 +v 3.265568 -0.194050 0.034711 +v 1.597408 0.132404 -0.509081 +v 1.706290 0.168677 0.433469 +v 3.047974 0.096132 0.034711 +v 3.084268 -0.665318 -0.037749 +v 2.975386 -0.339140 -0.400278 +v 1.597408 -1.173135 -0.073980 +v 3.120392 -0.230322 0.288435 +v 2.286653 0.204950 0.070941 +v 2.322947 -0.230322 -0.509081 +v 2.322947 0.204950 -0.073980 +v 1.633702 0.241223 -0.182783 +v 1.561114 -0.955361 -0.472851 +v 2.975386 -0.230322 0.397239 +v 2.286653 0.096132 0.397239 +v 3.301862 -0.266595 -0.037749 +v 2.322947 -0.339140 0.506043 +v 1.597408 -0.991772 0.433469 +v 2.975386 -0.194050 -0.364047 +v 2.939092 -0.520089 -0.327817 +v 3.084268 -0.339140 0.324779 +v 1.597408 -0.411686 0.578616 +v 2.214065 0.096132 -0.400278 +v 1.851295 -0.375413 -0.581655 +v 3.156686 -0.266595 -0.255244 +f 173 138 179 +f 129 133 134 +f 134 133 136 +f 134 136 139 +f 140 141 147 +f 130 131 149 +f 139 136 149 +f 129 134 152 +f 145 142 152 +f 141 140 153 +f 133 129 154 +f 129 153 154 +f 153 140 154 +f 134 139 156 +f 139 144 156 +f 149 136 157 +f 143 150 158 +f 155 138 158 +f 135 132 159 +f 132 141 159 +f 146 135 159 +f 142 145 160 +f 129 142 161 +f 142 146 161 +f 153 129 161 +f 141 153 161 +f 159 141 161 +f 146 159 161 +f 132 155 162 +f 158 150 162 +f 155 158 162 +f 130 149 163 +f 157 143 163 +f 149 157 163 +f 143 158 163 +f 156 144 164 +f 160 145 164 +f 131 130 165 +f 158 138 165 +f 130 163 165 +f 163 158 165 +f 149 131 166 +f 139 149 166 +f 131 165 166 +f 165 139 166 +f 142 129 167 +f 129 152 167 +f 152 142 167 +f 148 137 168 +f 150 143 168 +f 137 162 168 +f 162 150 168 +f 136 148 169 +f 143 157 169 +f 157 136 169 +f 148 168 169 +f 168 143 169 +f 132 135 170 +f 155 132 170 +f 138 155 170 +f 137 148 171 +f 147 137 172 +f 140 147 172 +f 133 154 172 +f 154 140 172 +f 171 133 172 +f 137 171 172 +f 151 138 173 +f 144 151 173 +f 135 160 173 +f 164 144 173 +f 160 164 173 +f 135 146 174 +f 146 142 174 +f 142 160 174 +f 160 135 174 +f 141 132 175 +f 137 147 175 +f 147 141 175 +f 132 162 175 +f 162 137 175 +f 136 133 176 +f 148 136 176 +f 133 171 176 +f 171 148 176 +f 144 139 177 +f 138 151 177 +f 151 144 177 +f 139 165 177 +f 165 138 177 +f 152 134 178 +f 145 152 178 +f 134 156 178 +f 164 145 178 +f 156 164 178 +f 170 135 179 +f 138 170 179 +f 135 173 179 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/478/478.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/478/478.urdf new file mode 100644 index 000000000..dbd4433bd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/478/478.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/479/479.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/479/479.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/479/479.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/479/479.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/479/479.obj new file mode 100644 index 000000000..7d0be09de --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/479/479.obj @@ -0,0 +1,2454 @@ +o convex_0 +v -0.346931 -0.298664 -4.056772 +v -0.061069 -0.449501 -3.794723 +v -0.061069 -0.457460 -3.794723 +v -0.061069 -0.306592 -4.509307 +v -0.402515 -0.298664 -3.794723 +v -0.402515 -0.354239 -3.802698 +v -0.084926 -0.298664 -4.413959 +v -0.061069 -0.409798 -3.921830 +v -0.084926 -0.457460 -3.802698 +v -0.069045 -0.314536 -4.493357 +f 3 9 10 +f 2 3 4 +f 3 2 5 +f 5 1 6 +f 3 5 6 +f 4 1 7 +f 1 5 7 +f 7 5 8 +f 2 4 8 +f 5 2 8 +f 4 7 8 +f 3 6 9 +f 9 6 10 +f 4 3 10 +f 1 4 10 +f 6 1 10 +o convex_1 +v 0.328079 -0.171611 -4.421975 +v 0.320116 -0.377984 -3.778891 +v 0.328079 -0.377984 -3.778891 +v 0.510669 0.018983 -3.818517 +v 0.336001 0.018983 -4.564948 +v 0.391617 -0.346231 -3.778891 +v 0.399559 0.011055 -4.556888 +v 0.320116 -0.362088 -3.731206 +v 0.526573 0.011055 -3.826577 +v 0.470998 -0.139858 -3.731206 +v 0.328079 -0.282687 -4.183715 +v 0.320116 -0.131891 -4.445817 +v 0.502747 0.011055 -3.818517 +f 18 20 23 +f 11 15 17 +f 15 14 17 +f 12 13 18 +f 13 16 18 +f 17 14 19 +f 16 17 19 +f 18 16 20 +f 16 19 20 +f 19 14 20 +f 13 12 21 +f 16 13 21 +f 17 16 21 +f 11 17 21 +f 15 11 22 +f 12 18 22 +f 18 15 22 +f 21 12 22 +f 11 21 22 +f 14 15 23 +f 15 18 23 +f 20 14 23 +o convex_2 +v -0.092860 0.376384 -4.525132 +v 0.026286 0.519310 -3.794731 +v 0.018319 0.527255 -3.794731 +v -0.418431 0.376384 -3.794731 +v 0.026286 0.376384 -4.541066 +v -0.410465 0.408165 -3.842378 +v -0.021381 0.416110 -4.564850 +v -0.005492 0.527255 -3.834449 +v 0.026286 0.495489 -3.866240 +v -0.378687 0.384344 -4.001252 +v -0.402542 0.376384 -3.794731 +v 0.026286 0.408165 -4.541066 +f 31 26 35 +f 25 26 27 +f 27 24 28 +f 27 26 29 +f 28 24 30 +f 30 29 31 +f 29 26 31 +f 28 25 32 +f 24 27 33 +f 27 29 33 +f 30 24 33 +f 29 30 33 +f 25 27 34 +f 27 28 34 +f 32 25 34 +f 28 32 34 +f 26 25 35 +f 25 28 35 +f 28 30 35 +f 30 31 35 +o convex_3 +v 0.026286 0.392297 -4.548987 +v 0.423354 0.360506 -3.818478 +v 0.423354 0.344618 -3.818478 +v 0.026286 0.503424 -3.818478 +v 0.026286 0.344618 -4.556897 +v 0.407458 0.400216 -3.826536 +v 0.185175 0.352587 -4.445716 +v 0.034254 0.519328 -3.842430 +v 0.034254 0.408168 -4.517200 +v 0.351838 0.344618 -4.120307 +v 0.407458 0.344618 -3.818478 +f 40 38 46 +f 38 37 39 +f 39 36 40 +f 39 37 41 +f 40 36 42 +f 36 39 43 +f 39 41 43 +f 43 41 44 +f 42 36 44 +f 41 42 44 +f 36 43 44 +f 37 38 45 +f 38 40 45 +f 41 37 45 +f 40 42 45 +f 42 41 45 +f 38 39 46 +f 39 40 46 +o convex_4 +v -0.299311 0.328673 4.345356 +v -0.466063 0.003176 4.130836 +v -0.466063 0.027031 4.130836 +v -0.307276 0.011140 4.901149 +v -0.299311 0.368383 4.130836 +v -0.331091 0.368383 4.194400 +v -0.299311 0.090523 4.654884 +v -0.450181 0.011140 4.130836 +v -0.466063 0.019067 4.178566 +v -0.299311 0.003176 4.861337 +v -0.315209 0.011140 4.885164 +f 56 50 57 +f 48 49 51 +f 47 51 52 +f 51 49 52 +f 51 47 53 +f 51 53 54 +f 48 51 54 +f 49 48 55 +f 52 49 55 +f 47 50 56 +f 53 47 56 +f 54 53 56 +f 48 54 56 +f 50 47 57 +f 47 52 57 +f 55 48 57 +f 52 55 57 +f 48 56 57 +o convex_5 +v 0.510715 0.201557 1.343588 +v 0.550415 0.098375 2.209024 +v 0.542473 0.352536 2.208836 +v 0.566297 -0.298610 1.454766 +v 0.550415 -0.457460 2.209024 +v 0.502768 0.431914 1.716814 +v 0.534532 0.074666 1.256207 +v 0.526591 0.511387 2.208836 +v 0.550415 -0.306481 1.454766 +v 0.566297 -0.457460 2.192940 +v 0.534532 0.503421 2.129450 +v 0.510715 0.423948 1.510355 +v 0.518656 0.058828 1.256207 +v 0.502768 0.304834 1.470662 +v 0.518656 0.487488 2.137445 +v 0.566297 -0.274711 1.613537 +f 67 61 73 +f 59 60 65 +f 62 59 65 +f 59 62 67 +f 62 66 67 +f 66 61 67 +f 60 61 68 +f 61 64 68 +f 65 60 68 +f 65 68 69 +f 64 58 69 +f 63 65 69 +f 68 64 69 +f 64 61 70 +f 58 64 70 +f 66 62 70 +f 61 66 70 +f 62 63 71 +f 69 58 71 +f 63 69 71 +f 58 70 71 +f 70 62 71 +f 63 62 72 +f 65 63 72 +f 62 65 72 +f 60 59 73 +f 61 60 73 +f 59 67 73 +o convex_6 +v 0.026286 0.519328 -3.818386 +v 0.343941 0.408160 -1.841281 +v 0.343941 0.400208 -1.841281 +v 0.026286 0.495483 -1.841281 +v 0.320092 0.408160 -3.818386 +v 0.328052 0.431993 -3.000527 +v 0.065993 0.503435 -1.841281 +v 0.026286 0.503435 -3.603955 +v 0.343941 0.424053 -3.810258 +v 0.320092 0.400208 -1.888889 +v 0.042175 0.519328 -3.596020 +v 0.026286 0.495483 -2.325687 +v 0.343941 0.424041 -2.508186 +v 0.026286 0.511376 -2.087451 +f 80 84 87 +f 76 75 77 +f 77 75 80 +f 77 74 81 +f 74 78 81 +f 75 76 82 +f 78 74 82 +f 76 78 82 +f 76 77 83 +f 78 76 83 +f 80 79 84 +f 82 74 84 +f 79 82 84 +f 77 81 85 +f 81 78 85 +f 83 77 85 +f 78 83 85 +f 80 75 86 +f 79 80 86 +f 75 82 86 +f 82 79 86 +f 74 77 87 +f 77 80 87 +f 84 74 87 +o convex_7 +v 0.534521 -0.457460 2.256723 +v 0.478962 0.495425 2.550503 +v 0.510710 0.511297 2.407541 +v 0.550413 -0.004730 2.550503 +v 0.478953 -0.457460 2.550503 +v 0.526574 0.511297 2.209024 +v 0.558341 -0.457460 2.232857 +v 0.463079 0.384226 2.542548 +v 0.542457 0.423906 2.264645 +v 0.558341 -0.155704 2.209024 +v 0.478953 -0.457460 2.526670 +v 0.526574 0.344547 2.209024 +v 0.494845 -0.457460 2.534592 +v 0.550413 0.050726 2.550503 +v 0.534521 0.519328 2.288444 +v 0.542457 -0.449429 2.216980 +f 99 97 103 +f 91 89 92 +f 89 90 93 +f 92 88 94 +f 92 89 95 +f 89 93 95 +f 93 96 97 +f 88 92 98 +f 92 95 98 +f 98 95 99 +f 95 93 99 +f 93 97 99 +f 91 92 100 +f 92 94 100 +f 94 91 100 +f 90 89 101 +f 89 91 101 +f 91 94 101 +f 94 97 101 +f 97 96 101 +f 93 90 102 +f 96 93 102 +f 90 101 102 +f 101 96 102 +f 94 88 103 +f 97 94 103 +f 88 98 103 +f 98 99 103 +o convex_8 +v 0.296253 -0.441578 3.479646 +v 0.399530 -0.346281 4.154660 +v 0.375666 -0.346281 4.154660 +v 0.129550 -0.441578 4.154660 +v 0.399530 -0.441578 3.225624 +v 0.391549 -0.433621 3.098458 +v 0.169270 -0.441578 4.146699 +v 0.399530 -0.362176 4.114856 +v 0.129550 -0.433621 4.146699 +f 109 104 112 +f 105 106 107 +f 107 104 108 +f 105 108 109 +f 106 105 109 +f 108 104 109 +f 105 107 110 +f 107 108 110 +f 110 108 111 +f 108 105 111 +f 105 110 111 +f 107 106 112 +f 104 107 112 +f 106 109 112 +o convex_9 +v 0.558333 -0.020691 4.234167 +v 0.399530 -0.346281 4.194447 +v 0.399530 -0.338334 4.194447 +v 0.399530 0.003114 5.004308 +v 0.526582 0.034905 4.289743 +v 0.439247 -0.012744 4.980444 +v 0.399530 0.034905 4.956660 +v 0.415430 -0.338334 4.250102 +v 0.558333 0.034905 4.194447 +v 0.399530 -0.092182 4.909011 +v 0.431297 0.034905 4.956660 +v 0.463081 -0.250947 4.210382 +v 0.566299 0.019009 4.234167 +f 121 123 125 +f 115 114 116 +f 115 116 119 +f 117 115 119 +f 114 115 121 +f 115 117 121 +f 117 119 121 +f 116 114 122 +f 118 116 122 +f 114 120 122 +f 120 118 122 +f 116 118 123 +f 119 116 123 +f 121 119 123 +f 113 118 124 +f 120 114 124 +f 118 120 124 +f 114 121 124 +f 121 113 124 +f 118 113 125 +f 113 121 125 +f 123 118 125 +o convex_10 +v 0.399530 0.090505 4.924880 +v 0.542453 0.034905 4.210323 +v 0.399530 0.360476 4.210323 +v 0.455126 0.352542 4.250050 +v 0.431308 0.042871 4.940756 +v 0.399530 0.034905 4.948657 +v 0.558358 0.042871 4.234174 +v 0.407490 0.312842 4.488260 +v 0.478944 0.082572 4.408881 +v 0.455126 0.352542 4.210323 +f 129 132 135 +f 127 130 131 +f 126 128 131 +f 130 126 131 +f 129 130 132 +f 130 127 132 +f 128 126 133 +f 129 128 133 +f 126 130 133 +f 130 129 133 +f 128 127 134 +f 127 131 134 +f 131 128 134 +f 127 128 135 +f 128 129 135 +f 132 127 135 +o convex_11 +v -0.521636 0.034891 -3.929826 +v -0.323167 -0.298617 -4.112407 +v -0.315210 -0.298617 -4.112407 +v -0.410522 0.042813 -4.437904 +v -0.418434 -0.298617 -3.834506 +v -0.521636 0.042813 -3.794716 +v -0.307252 -0.123941 -4.429846 +v -0.426369 0.034891 -4.429846 +v -0.315210 -0.290662 -4.064810 +v -0.331102 -0.139818 -4.437904 +v -0.410477 -0.282707 -3.794716 +v -0.529594 -0.004817 -3.834506 +f 146 141 147 +f 137 138 140 +f 139 136 141 +f 139 141 142 +f 136 139 143 +f 140 138 144 +f 138 142 144 +f 142 141 144 +f 138 137 145 +f 137 140 145 +f 142 138 145 +f 139 142 145 +f 143 139 145 +f 140 143 145 +f 140 144 146 +f 144 141 146 +f 141 136 147 +f 136 143 147 +f 143 140 147 +f 140 146 147 +o convex_12 +v -0.315193 -0.250971 -4.271159 +v -0.061069 -0.290668 -4.493441 +v -0.061069 -0.298617 -4.493441 +v -0.307233 -0.298617 -4.072601 +v -0.061069 -0.131864 -4.604664 +v -0.315193 -0.131864 -4.445774 +v -0.108730 -0.298617 -4.485497 +v -0.203977 -0.290668 -4.199713 +v -0.069029 -0.155712 -4.620498 +v -0.267508 -0.131864 -4.445774 +v -0.291363 -0.243022 -4.358439 +v -0.307233 -0.290668 -4.072601 +v -0.315193 -0.298617 -4.120323 +f 159 153 160 +f 149 150 152 +f 150 151 154 +f 150 149 155 +f 151 150 155 +f 149 152 155 +f 152 150 156 +f 153 152 156 +f 154 153 156 +f 150 154 156 +f 152 153 157 +f 148 153 158 +f 153 154 158 +f 151 155 159 +f 155 152 159 +f 152 157 159 +f 157 153 159 +f 153 148 160 +f 154 151 160 +f 148 158 160 +f 158 154 160 +f 151 159 160 +o convex_13 +v -0.537545 0.003101 -2.706926 +v -0.402568 -0.370082 -3.080017 +v -0.394607 -0.370082 -3.080017 +v -0.521651 0.019022 -3.794426 +v -0.521651 0.019022 -2.635553 +v -0.394607 -0.322396 -3.794653 +v -0.529598 -0.012781 -3.762654 +v -0.426396 -0.354161 -2.897329 +v -0.402568 -0.354161 -3.794653 +v -0.394607 -0.362122 -2.897329 +v -0.497851 -0.123921 -2.635553 +v -0.450196 -0.282709 -3.056301 +v -0.537545 -0.004821 -2.945100 +v -0.537545 0.019022 -3.770597 +v -0.489904 -0.060391 -3.778540 +f 166 164 175 +f 163 162 169 +f 166 163 169 +f 164 166 169 +f 162 168 169 +f 162 163 170 +f 163 166 170 +f 166 165 170 +f 168 162 170 +f 168 170 171 +f 165 161 171 +f 170 165 171 +f 167 169 172 +f 169 168 172 +f 168 171 172 +f 172 171 173 +f 171 161 173 +f 167 172 173 +f 167 173 174 +f 161 165 174 +f 165 164 174 +f 164 169 174 +f 169 167 174 +f 173 161 174 +f 164 165 175 +f 165 166 175 +o convex_14 +v -0.394607 -0.378051 -2.643267 +v -0.061069 -0.481275 -2.643267 +v -0.100835 -0.465398 -2.667160 +v -0.084903 -0.457452 -3.794653 +v -0.362840 -0.346281 -3.786538 +v -0.069036 -0.497167 -2.786288 +v -0.378707 -0.362188 -3.794653 +v -0.061069 -0.449506 -3.627738 +v -0.386641 -0.362188 -2.675049 +v -0.394607 -0.378051 -2.857743 +v -0.394607 -0.346281 -3.794653 +v -0.061069 -0.449506 -3.794653 +v -0.116670 -0.481260 -2.643267 +f 185 181 188 +f 179 181 182 +f 178 177 183 +f 176 177 184 +f 177 178 184 +f 178 183 184 +f 183 180 184 +f 182 181 185 +f 179 182 186 +f 176 184 186 +f 184 180 186 +f 185 176 186 +f 182 185 186 +f 177 181 187 +f 181 179 187 +f 183 177 187 +f 180 183 187 +f 179 186 187 +f 186 180 187 +f 177 176 188 +f 181 177 188 +f 176 185 188 +o convex_15 +v -0.378708 -0.386003 -2.643154 +v -0.061082 -0.497167 -0.777114 +v -0.061082 -0.505095 -0.777114 +v -0.394607 -0.393932 -0.824788 +v -0.370742 -0.370119 -2.484241 +v -0.069048 -0.497167 -2.642972 +v -0.061082 -0.481269 -2.642972 +v -0.243711 -0.425700 -0.808897 +v -0.164313 -0.473340 -1.801098 +v -0.386641 -0.378061 -0.824788 +v -0.061082 -0.489224 -0.785151 +v -0.394607 -0.386003 -2.245872 +v -0.394607 -0.370119 -2.643154 +v -0.354875 -0.409816 -1.039229 +v -0.069048 -0.505095 -0.777114 +v -0.069048 -0.505095 -2.023576 +v -0.211978 -0.425700 -2.643154 +f 201 193 205 +f 190 191 195 +f 196 193 198 +f 196 198 199 +f 190 195 199 +f 193 196 199 +f 198 190 199 +f 189 194 200 +f 192 198 201 +f 198 193 201 +f 189 200 201 +f 200 192 201 +f 192 200 202 +f 200 197 202 +f 191 190 203 +f 190 198 203 +f 198 192 203 +f 192 202 203 +f 202 197 203 +f 194 195 204 +f 195 191 204 +f 200 194 204 +f 197 200 204 +f 191 203 204 +f 203 197 204 +f 194 189 205 +f 195 194 205 +f 199 195 205 +f 193 199 205 +f 189 201 205 +o convex_16 +v 0.002474 -0.187466 -4.660222 +v 0.320116 -0.274790 -4.144073 +v 0.312169 -0.274790 -4.144073 +v 0.320116 -0.131864 -4.429958 +v -0.061069 -0.131864 -4.612538 +v 0.018369 -0.282735 -4.596715 +v -0.061069 -0.282735 -4.517279 +v 0.304184 -0.243024 -4.366506 +v 0.018369 -0.131864 -4.692028 +v 0.320116 -0.139824 -4.453773 +v 0.192992 -0.282735 -4.437843 +v 0.320116 -0.282735 -4.199749 +f 216 213 217 +f 208 207 209 +f 208 209 210 +f 206 211 212 +f 210 206 212 +f 208 210 212 +f 206 210 214 +f 210 209 214 +f 211 206 214 +f 211 214 215 +f 209 207 215 +f 214 209 215 +f 215 213 216 +f 212 211 216 +f 211 215 216 +f 212 216 217 +f 207 208 217 +f 208 212 217 +f 215 207 217 +f 213 215 217 +o convex_17 +v -0.029270 -0.489213 -3.413326 +v 0.328020 -0.378058 -2.762275 +v 0.320060 -0.378058 -2.762275 +v 0.328020 -0.362190 -3.731122 +v -0.061031 -0.457451 -3.476961 +v -0.061031 -0.497141 -2.762275 +v 0.328020 -0.393940 -2.794140 +v 0.050132 -0.465392 -3.731122 +v -0.061031 -0.457451 -3.731122 +v 0.328020 -0.378058 -3.731122 +v -0.061031 -0.481273 -2.778302 +v -0.021311 -0.497141 -2.762275 +v 0.320060 -0.362190 -3.619784 +v 0.002490 -0.481273 -3.643588 +f 224 229 231 +f 219 220 223 +f 221 219 224 +f 223 222 226 +f 218 223 226 +f 221 225 226 +f 221 224 227 +f 225 221 227 +f 224 225 227 +f 220 222 228 +f 223 220 228 +f 222 223 228 +f 219 223 229 +f 223 218 229 +f 224 219 229 +f 220 219 230 +f 219 221 230 +f 222 220 230 +f 221 226 230 +f 226 222 230 +f 225 224 231 +f 218 226 231 +f 226 225 231 +f 229 218 231 +o convex_18 +v 0.328062 -0.378044 -3.627343 +v 0.375701 -0.354229 -3.325597 +v 0.375701 -0.362169 -3.325597 +v 0.328062 -0.354229 -0.761049 +v 0.336004 -0.385985 -1.301459 +v 0.343945 -0.354229 -3.730832 +v 0.343945 -0.362169 -0.761049 +v 0.351882 -0.385985 -2.833443 +f 234 236 239 +f 235 232 236 +f 234 232 237 +f 233 234 237 +f 235 233 237 +f 232 235 237 +f 234 233 238 +f 233 235 238 +f 235 236 238 +f 236 234 238 +f 232 234 239 +f 236 232 239 +o convex_19 +v -0.418431 0.368472 -3.667566 +v 0.026286 0.511378 -2.754333 +v 0.010397 0.511378 -2.754333 +v -0.005492 0.527250 -3.794653 +v -0.402499 0.408158 -3.723167 +v -0.386610 0.376400 -2.754333 +v 0.026286 0.511378 -3.794653 +v -0.370721 0.368472 -2.794048 +v 0.018319 0.495506 -2.754333 +v -0.402499 0.368472 -3.762882 +v -0.386610 0.384343 -2.786105 +v -0.410465 0.400230 -3.794653 +v 0.002430 0.511378 -2.778162 +f 250 242 252 +f 242 241 243 +f 241 242 245 +f 243 241 246 +f 245 240 247 +f 241 245 248 +f 246 241 248 +f 245 247 248 +f 247 240 249 +f 246 248 249 +f 248 247 249 +f 245 242 250 +f 240 245 250 +f 244 243 251 +f 243 246 251 +f 249 240 251 +f 246 249 251 +f 240 250 251 +f 250 244 251 +f 242 243 252 +f 243 244 252 +f 244 250 252 +o convex_20 +v 0.494818 -0.004836 -1.086963 +v 0.351913 -0.354223 -2.960446 +v 0.367789 -0.354223 -2.960446 +v 0.502747 0.003139 -3.818477 +v 0.335999 -0.330366 -0.761049 +v 0.526589 -0.004836 -3.770293 +v 0.351913 -0.346247 -0.793072 +v 0.399560 -0.322390 -3.699065 +v 0.478923 0.003104 -0.808934 +v 0.518642 -0.004836 -2.587545 +v 0.367789 -0.346247 -3.730789 +v 0.335999 -0.346247 -1.666666 +v 0.455118 -0.044539 -0.817014 +v 0.486870 -0.020718 -0.800853 +v 0.463047 -0.092148 -3.818178 +v 0.383665 -0.354188 -3.730789 +v 0.351913 -0.346247 -2.960446 +v 0.486870 -0.052480 -1.626862 +v 0.494818 -0.012777 -3.818178 +v 0.335999 -0.354223 -0.761049 +v 0.518642 0.003139 -2.587545 +f 253 262 273 +f 260 258 262 +f 261 256 265 +f 257 261 265 +f 264 257 265 +f 261 257 266 +f 253 261 266 +f 262 253 266 +f 256 258 267 +f 255 254 268 +f 258 260 268 +f 260 259 268 +f 254 263 268 +f 267 258 268 +f 263 267 268 +f 263 254 269 +f 254 264 269 +f 267 263 269 +f 264 267 269 +f 259 260 270 +f 260 262 270 +f 266 259 270 +f 262 266 270 +f 265 256 271 +f 264 265 271 +f 256 267 271 +f 267 264 271 +f 254 255 272 +f 264 254 272 +f 257 264 272 +f 266 257 272 +f 259 266 272 +f 255 268 272 +f 268 259 272 +f 258 256 273 +f 256 261 273 +f 261 253 273 +f 262 258 273 +o convex_21 +v 0.343950 0.416077 -3.818477 +v 0.439237 0.360514 -2.785552 +v 0.439237 0.352560 -2.785552 +v 0.343950 0.384329 -0.864287 +v 0.423343 0.400203 -2.626796 +v 0.407459 0.352560 -3.818477 +v 0.399522 0.352560 -0.880481 +v 0.343950 0.368448 -1.015524 +v 0.415406 0.400203 -3.810380 +v 0.351897 0.424032 -2.801456 +v 0.343950 0.400203 -3.818477 +v 0.415406 0.384329 -1.650548 +v 0.351897 0.408144 -1.762169 +v 0.431281 0.352560 -3.619526 +f 279 282 287 +f 276 275 280 +f 279 276 280 +f 279 280 281 +f 277 274 281 +f 280 277 281 +f 278 275 282 +f 279 274 282 +f 274 277 283 +f 282 274 283 +f 278 282 283 +f 274 279 284 +f 279 281 284 +f 281 274 284 +f 275 278 285 +f 280 275 285 +f 277 280 285 +f 283 277 286 +f 278 283 286 +f 285 278 286 +f 277 285 286 +f 275 276 287 +f 276 279 287 +f 282 275 287 +o convex_22 +v -0.505792 -0.012750 1.938926 +v -0.513732 -0.441578 2.153310 +v -0.513732 -0.433611 2.105636 +v -0.537544 0.003139 1.248296 +v -0.497845 -0.306543 1.422903 +v -0.521664 0.003139 2.169201 +v -0.497845 -0.441578 2.200984 +v -0.521664 0.003139 1.208519 +v -0.497845 -0.187485 2.200984 +v -0.513732 -0.250954 1.383224 +v -0.497845 -0.235065 1.407012 +v -0.505792 0.003139 2.200984 +v -0.537544 -0.012750 1.192627 +f 292 297 300 +f 291 289 293 +f 289 290 294 +f 290 292 294 +f 293 289 294 +f 291 293 295 +f 294 292 296 +f 292 290 297 +f 295 288 298 +f 292 295 298 +f 296 292 298 +f 296 298 299 +f 293 294 299 +f 288 295 299 +f 295 293 299 +f 294 296 299 +f 298 288 299 +f 290 289 300 +f 289 291 300 +f 295 292 300 +f 291 295 300 +f 297 290 300 +o convex_23 +v -0.466072 -0.076306 2.844254 +v -0.466072 -0.449519 2.439390 +v -0.458120 -0.449519 2.439390 +v -0.513728 0.003139 2.201215 +v -0.394607 -0.401799 2.844254 +v -0.497823 -0.012768 2.876099 +v -0.505764 -0.441543 2.232927 +v -0.497823 0.003139 2.217071 +v -0.410512 -0.449519 2.844254 +v -0.489882 -0.441543 2.224999 +v -0.481954 -0.004836 2.876099 +v -0.513728 -0.195408 2.201215 +f 308 310 312 +f 301 305 308 +f 302 303 309 +f 303 305 309 +f 307 302 309 +f 306 307 309 +f 303 302 310 +f 305 303 310 +f 302 307 310 +f 308 305 310 +f 305 301 311 +f 304 306 311 +f 301 308 311 +f 308 304 311 +f 309 305 311 +f 306 309 311 +f 306 304 312 +f 307 306 312 +f 304 308 312 +f 310 307 312 +o convex_24 +v -0.489895 0.003139 3.542997 +v -0.394606 -0.457460 2.900117 +v -0.402558 -0.449480 2.876216 +v -0.386678 -0.338343 4.059260 +v -0.481955 0.003139 2.923902 +v -0.378727 -0.298622 4.027548 +v -0.474015 -0.036627 4.067305 +v -0.378727 -0.441545 2.923785 +v -0.466064 0.003139 4.067305 +v -0.497835 -0.012776 2.876216 +v -0.466064 -0.084238 3.987674 +v -0.378727 -0.425675 3.448093 +f 320 318 324 +f 314 315 320 +f 317 318 320 +f 317 313 321 +f 318 317 321 +f 316 318 321 +f 313 319 321 +f 319 316 321 +f 313 317 322 +f 319 313 322 +f 320 315 322 +f 317 320 322 +f 315 316 323 +f 316 319 323 +f 319 322 323 +f 322 315 323 +f 315 314 324 +f 316 315 324 +f 318 316 324 +f 314 320 324 +o convex_25 +v -0.283440 -0.036594 4.964483 +v -0.386675 -0.330398 4.067451 +v -0.402542 -0.282732 4.067451 +v -0.251662 0.003139 4.924797 +v -0.474021 0.003139 4.067451 +v -0.331064 -0.060428 4.932752 +v -0.251662 -0.314499 4.686596 +v -0.378709 -0.298631 4.067451 +v -0.474021 -0.020694 4.186597 +v -0.386675 -0.322400 4.162732 +v -0.315196 0.003139 4.900932 +v -0.458110 0.003139 4.083272 +v -0.251662 -0.306500 4.631001 +v -0.259629 -0.282699 4.750146 +v -0.251662 -0.060428 4.980482 +f 338 331 339 +f 326 327 329 +f 326 329 332 +f 329 327 333 +f 330 333 334 +f 327 326 334 +f 326 331 334 +f 333 327 334 +f 325 328 335 +f 328 329 335 +f 330 325 335 +f 329 333 335 +f 333 330 335 +f 329 328 336 +f 328 332 336 +f 332 329 336 +f 331 326 337 +f 328 331 337 +f 332 328 337 +f 326 332 337 +f 330 334 338 +f 334 331 338 +f 328 325 339 +f 325 330 339 +f 331 328 339 +f 330 338 339 +o convex_26 +v 0.455143 -0.457460 2.637894 +v 0.558358 0.034905 2.884041 +v 0.542452 0.034905 2.884041 +v 0.550398 0.034905 2.550568 +v 0.407486 -0.433604 2.884041 +v 0.486865 -0.457460 2.574367 +v 0.471019 -0.203422 2.550568 +v 0.423377 -0.457460 2.876043 +v 0.558358 0.003096 2.884041 +v 0.558358 0.019000 2.629961 +v 0.486865 -0.457460 2.550568 +f 343 349 350 +f 342 341 343 +f 341 342 344 +f 342 343 346 +f 340 344 346 +f 344 342 346 +f 344 340 347 +f 340 345 347 +f 347 345 348 +f 341 344 348 +f 344 347 348 +f 343 341 349 +f 341 348 349 +f 349 348 350 +f 345 340 350 +f 346 343 350 +f 340 346 350 +f 348 345 350 +o convex_27 +v 0.486890 0.296938 3.455672 +v 0.542469 0.034905 2.550665 +v 0.534524 0.042877 2.550665 +v 0.542469 0.034905 4.210250 +v 0.447178 0.320765 4.210250 +v 0.455123 0.344592 2.582505 +v 0.558347 0.042877 4.210250 +v 0.478945 0.344592 2.550665 +v 0.550413 0.058731 2.598425 +v 0.463067 0.336649 4.138610 +v 0.558347 0.042877 3.058970 +v 0.463067 0.304880 2.550665 +v 0.447178 0.344592 4.210250 +f 360 358 363 +f 353 352 354 +f 353 354 355 +f 354 352 357 +f 355 354 357 +f 352 353 358 +f 351 357 358 +f 352 358 359 +f 357 351 360 +f 351 358 360 +f 357 352 361 +f 358 357 361 +f 359 358 361 +f 352 359 361 +f 353 355 362 +f 355 356 362 +f 358 353 362 +f 356 358 362 +f 356 355 363 +f 355 357 363 +f 358 356 363 +f 357 360 363 +o convex_28 +v 0.431305 0.368456 4.186207 +v 0.463049 0.344618 2.550665 +v 0.478928 0.344618 2.550665 +v 0.463049 0.495504 2.550665 +v 0.399530 0.487543 2.709541 +v 0.399530 0.360525 4.146407 +v 0.455113 0.344618 4.210250 +v 0.470992 0.495504 2.590466 +v 0.399530 0.487543 2.868417 +v 0.455113 0.344618 2.582505 +v 0.407482 0.376388 4.186207 +f 371 372 374 +f 366 365 367 +f 367 365 368 +f 365 366 370 +f 366 367 371 +f 370 366 371 +f 364 370 371 +f 367 368 372 +f 368 369 372 +f 371 367 372 +f 368 365 373 +f 369 368 373 +f 365 370 373 +f 370 369 373 +f 370 364 374 +f 369 370 374 +f 364 371 374 +f 372 369 374 +o convex_29 +v -0.418426 -0.370101 -2.841687 +v -0.394611 -0.378040 -0.824580 +v -0.418426 -0.346285 -0.832695 +v -0.426366 -0.378040 -0.824580 +v -0.394611 -0.362169 -2.897278 +v -0.434314 -0.346285 -2.142740 +v -0.394611 -0.385988 -1.999501 +v -0.410494 -0.346285 -2.897278 +f 375 380 382 +f 376 377 378 +f 377 376 379 +f 378 377 380 +f 375 378 380 +f 376 378 381 +f 378 375 381 +f 375 379 381 +f 379 376 381 +f 379 375 382 +f 377 379 382 +f 380 377 382 +o convex_30 +v -0.505777 0.019022 -1.015633 +v -0.434320 -0.346281 -2.396449 +v -0.426386 -0.346281 -2.396449 +v -0.521666 0.019022 -2.635141 +v -0.442265 -0.322431 -0.904068 +v -0.529610 -0.020705 -2.547628 +v -0.418442 -0.322431 -2.897278 +v -0.489899 0.019022 -0.856573 +v -0.418442 -0.338307 -0.832521 +v -0.489899 -0.155727 -2.897278 +v -0.505777 -0.004829 -0.896186 +v -0.489899 0.019022 -1.206021 +v -0.513721 0.019022 -2.523779 +v -0.529610 -0.004829 -2.150481 +v -0.434320 -0.338271 -2.881311 +v -0.442265 -0.330369 -1.904513 +v -0.434320 -0.346281 -0.832521 +v -0.474010 -0.147753 -2.897278 +f 395 389 400 +f 386 383 390 +f 389 390 391 +f 385 389 391 +f 388 386 392 +f 390 383 393 +f 386 390 394 +f 390 389 394 +f 386 394 395 +f 394 389 395 +f 383 386 396 +f 388 387 396 +f 386 388 396 +f 387 393 396 +f 393 383 396 +f 385 384 397 +f 389 385 397 +f 392 389 397 +f 392 397 398 +f 387 388 398 +f 388 392 398 +f 397 384 398 +f 384 385 399 +f 391 390 399 +f 385 391 399 +f 393 387 399 +f 390 393 399 +f 398 384 399 +f 387 398 399 +f 392 386 400 +f 389 392 400 +f 386 395 400 +o convex_31 +v 0.137456 -0.290735 -4.485370 +v 0.320088 -0.370134 -3.731122 +v 0.296247 -0.370134 -3.731122 +v -0.005478 -0.481284 -3.778887 +v -0.061032 -0.282788 -4.509294 +v -0.061032 -0.449494 -3.739181 +v 0.026310 -0.338382 -4.541025 +v 0.320088 -0.282768 -4.159914 +v 0.320088 -0.378043 -3.794753 +v -0.061032 -0.330435 -4.437773 +v 0.312103 -0.290735 -4.072695 +v 0.018363 -0.282788 -4.588706 +v -0.061032 -0.465370 -3.794753 +v 0.320088 -0.290735 -4.159914 +v -0.005478 -0.481284 -3.731206 +f 406 413 415 +f 404 407 409 +f 408 402 409 +f 406 405 410 +f 405 407 410 +f 403 402 411 +f 406 403 411 +f 405 406 411 +f 402 408 411 +f 408 405 411 +f 401 407 412 +f 407 405 412 +f 408 401 412 +f 405 408 412 +f 407 404 413 +f 406 410 413 +f 410 407 413 +f 407 401 414 +f 401 408 414 +f 409 407 414 +f 408 409 414 +f 402 403 415 +f 403 406 415 +f 409 402 415 +f 404 409 415 +f 413 404 415 +o convex_32 +v 0.002460 -0.409797 4.710490 +v 0.010403 -0.314527 4.956659 +v 0.010403 -0.330414 4.956659 +v -0.196073 -0.314527 4.773995 +v -0.188130 -0.417740 4.146798 +v 0.010403 -0.417740 4.504200 +v -0.196073 -0.425695 4.210382 +v -0.013426 -0.378033 4.901004 +v -0.188130 -0.322470 4.654914 +v -0.061083 -0.417740 4.321535 +v -0.188130 -0.330414 4.766067 +f 422 423 426 +f 418 417 419 +f 418 416 421 +f 417 418 421 +f 419 420 422 +f 421 416 422 +f 416 418 423 +f 418 419 423 +f 422 416 423 +f 419 417 424 +f 420 419 424 +f 417 420 424 +f 420 417 425 +f 417 421 425 +f 422 420 425 +f 421 422 425 +f 419 422 426 +f 423 419 426 +o convex_33 +v -0.045148 -0.505109 -2.452375 +v 0.328058 -0.370107 -0.761049 +v 0.312174 -0.370107 -0.761049 +v 0.320059 -0.378062 -2.762275 +v -0.061031 -0.489211 -2.762275 +v -0.045148 -0.505082 -0.777112 +v 0.328020 -0.393959 -2.762275 +v -0.053109 -0.489211 -0.777112 +v 0.328058 -0.385991 -1.070949 +v 0.304214 -0.370120 -0.848612 +v 0.010464 -0.489211 -2.722313 +v 0.320097 -0.393946 -1.586927 +v -0.037225 -0.505082 -1.729928 +v 0.312136 -0.386004 -0.761049 +v 0.288292 -0.386017 -2.762275 +v -0.061069 -0.505082 -0.777112 +f 432 440 442 +f 430 428 433 +f 431 430 433 +f 433 428 435 +f 429 428 436 +f 428 430 436 +f 434 429 436 +f 431 434 436 +f 427 431 437 +f 431 433 437 +f 435 432 438 +f 433 435 438 +f 432 427 439 +f 427 437 439 +f 437 433 439 +f 438 432 439 +f 433 438 439 +f 428 429 440 +f 435 428 440 +f 432 435 440 +f 430 431 441 +f 436 430 441 +f 431 436 441 +f 431 427 442 +f 427 432 442 +f 429 434 442 +f 434 431 442 +f 440 429 442 +o convex_34 +v -0.346961 0.336644 4.130836 +v -0.497828 0.003139 3.011103 +v -0.489893 0.003139 3.011103 +v -0.386687 0.360501 3.011103 +v -0.474006 0.011115 4.091049 +v -0.323139 0.344585 4.098941 +v -0.442249 0.034937 4.130836 +v -0.378735 0.320763 3.011103 +v -0.497828 0.050818 3.170031 +v -0.481941 0.003139 3.019213 +v -0.378735 0.360501 3.265279 +v -0.497828 0.058758 3.011103 +v -0.458119 0.003139 4.130836 +f 452 449 455 +f 445 444 446 +f 448 443 449 +f 445 446 450 +f 446 448 450 +f 444 447 451 +f 444 445 452 +f 448 449 452 +f 445 450 452 +f 450 448 452 +f 447 443 453 +f 448 446 453 +f 443 448 453 +f 446 451 453 +f 451 447 453 +f 446 444 454 +f 444 451 454 +f 451 446 454 +f 443 447 455 +f 447 444 455 +f 449 443 455 +f 444 452 455 +o convex_35 +v -0.386684 0.360501 3.011020 +v -0.521669 0.003139 2.161376 +v -0.505761 0.003139 2.161376 +v -0.434337 0.360501 2.161376 +v -0.505761 0.042877 2.963360 +v -0.378738 0.328704 2.979246 +v -0.489882 0.003139 3.011020 +v -0.450203 0.344585 2.248794 +v -0.521669 0.050818 2.161376 +v -0.497814 0.003139 2.217021 +v -0.434337 0.328704 2.161376 +v -0.489882 0.003139 2.598134 +f 462 465 467 +f 458 457 459 +f 459 456 461 +f 457 458 462 +f 456 460 462 +f 460 457 462 +f 461 456 462 +f 456 459 463 +f 460 456 463 +f 460 463 464 +f 459 457 464 +f 457 460 464 +f 463 459 464 +f 462 458 465 +f 458 459 466 +f 459 461 466 +f 465 458 466 +f 461 465 466 +f 461 462 467 +f 465 461 467 +o convex_36 +v -0.045212 0.368457 4.432614 +v 0.058051 0.352563 4.877325 +v 0.050076 0.352563 4.877325 +v -0.291335 0.281105 4.377137 +v -0.299311 0.376395 4.210361 +v 0.010373 0.463711 4.178553 +v -0.076974 0.281105 4.877325 +v -0.267478 0.296981 4.527973 +v 0.058051 0.336670 4.845448 +v 0.002432 0.463711 4.234167 +v 0.002432 0.447835 4.178553 +v -0.148369 0.281105 4.631062 +v -0.267513 0.368457 4.178553 +f 473 478 480 +f 469 470 474 +f 472 471 475 +f 470 472 475 +f 474 470 475 +f 471 474 475 +f 473 469 476 +f 469 474 476 +f 470 469 477 +f 472 470 477 +f 473 472 477 +f 469 473 477 +f 468 471 478 +f 476 468 478 +f 473 476 478 +f 471 468 479 +f 474 471 479 +f 468 476 479 +f 476 474 479 +f 471 472 480 +f 472 473 480 +f 478 471 480 +o convex_37 +v -0.180227 -0.123890 -4.509427 +v -0.005492 0.034893 -4.811112 +v -0.092860 0.034893 -4.755516 +v -0.410465 0.050787 -4.437941 +v -0.402542 0.042813 -4.557059 +v -0.331020 -0.131864 -4.445904 +v -0.005492 -0.131864 -4.691994 +v 0.026286 0.050787 -4.787259 +v 0.026286 -0.115970 -4.668178 +f 482 488 489 +f 482 483 485 +f 481 484 486 +f 484 485 486 +f 486 485 487 +f 483 482 487 +f 485 483 487 +f 481 486 487 +f 485 484 488 +f 482 485 488 +f 484 481 489 +f 487 482 489 +f 481 487 489 +f 488 484 489 +o convex_38 +v -0.196073 0.360480 -4.437941 +v 0.002430 0.050819 -4.811112 +v 0.002430 0.058787 -4.811112 +v -0.402542 0.058787 -4.557059 +v -0.402542 0.050819 -4.437941 +v 0.026286 0.360480 -4.549132 +v -0.021381 0.368416 -4.596765 +v 0.026286 0.082595 -4.747590 +v -0.124638 0.368416 -4.437941 +v -0.346909 0.217538 -4.445904 +v -0.108749 0.376384 -4.517353 +f 493 499 500 +f 492 491 493 +f 493 491 494 +f 495 492 496 +f 492 493 496 +f 491 492 497 +f 494 491 497 +f 495 494 497 +f 492 495 497 +f 490 494 498 +f 494 495 498 +f 494 490 499 +f 493 494 499 +f 495 496 500 +f 496 493 500 +f 490 498 500 +f 498 495 500 +f 499 490 500 +o convex_39 +v 0.121604 0.455788 4.218191 +v 0.399492 0.368457 4.265940 +v 0.391533 0.368457 4.281739 +v 0.010441 0.360501 4.631079 +v 0.073963 0.368457 4.813794 +v 0.010441 0.447841 4.226178 +v 0.383612 0.360501 4.218191 +v 0.081922 0.455788 4.353216 +v 0.010441 0.455788 4.265940 +v 0.010441 0.424019 4.305643 +v 0.058082 0.360501 4.813794 +f 505 509 511 +f 501 502 507 +f 502 503 507 +f 506 501 507 +f 502 501 508 +f 503 502 508 +f 505 503 508 +f 501 506 509 +f 506 504 509 +f 508 501 509 +f 505 508 509 +f 504 506 510 +f 507 504 510 +f 506 507 510 +f 503 505 511 +f 507 503 511 +f 504 507 511 +f 509 504 511 +o convex_40 +v 0.351841 0.455788 3.297102 +v 0.399530 0.376395 4.218191 +v 0.328037 0.400216 4.218191 +v 0.264487 0.400216 4.202137 +v 0.121637 0.455788 4.218191 +v 0.399530 0.455788 3.281258 +v 0.391559 0.447841 3.146316 +v 0.391559 0.360501 4.178317 +v 0.161328 0.455788 4.210111 +v 0.121637 0.447841 4.202137 +f 512 518 521 +f 513 514 516 +f 515 513 516 +f 514 513 517 +f 512 516 517 +f 517 513 518 +f 512 517 518 +f 513 515 519 +f 518 513 519 +f 515 518 519 +f 516 514 520 +f 514 517 520 +f 517 516 520 +f 516 512 521 +f 515 516 521 +f 518 515 521 +o convex_41 +v -0.378724 -0.409797 3.741886 +v -0.196091 -0.314527 4.765871 +v -0.204046 -0.314527 4.765871 +v -0.378724 -0.314527 4.098898 +v -0.370751 -0.417740 3.360661 +v -0.196091 -0.425695 4.202219 +v -0.362814 -0.385976 4.178280 +v -0.196091 -0.322470 4.638887 +v -0.196091 -0.417740 4.114857 +v -0.259626 -0.322470 4.662688 +v -0.378724 -0.425695 3.535383 +v -0.378724 -0.314527 4.194239 +f 528 531 533 +f 524 523 525 +f 523 524 527 +f 525 523 529 +f 526 525 529 +f 523 527 529 +f 529 527 530 +f 527 526 530 +f 526 529 530 +f 527 524 531 +f 528 527 531 +f 522 525 532 +f 525 526 532 +f 526 527 532 +f 527 528 532 +f 528 522 532 +f 524 525 533 +f 525 522 533 +f 522 528 533 +f 531 524 533 +o convex_42 +v -0.402572 0.360473 -2.952881 +v -0.537552 0.019022 -3.794653 +v -0.537552 0.034926 -3.794653 +v -0.529606 0.019022 -2.897278 +v -0.386666 0.344568 -2.960874 +v -0.426381 0.360473 -3.794653 +v -0.521645 0.019022 -3.794653 +v -0.410504 0.352538 -3.794653 +v -0.529606 0.042862 -2.960874 +v -0.513714 0.026991 -2.897278 +v -0.386666 0.368442 -2.897278 +f 543 538 544 +f 536 535 537 +f 535 536 539 +f 537 535 540 +f 535 539 540 +f 540 539 541 +f 538 540 541 +f 536 537 542 +f 537 534 542 +f 539 536 542 +f 534 539 542 +f 537 540 543 +f 540 538 543 +f 534 537 544 +f 539 534 544 +f 541 539 544 +f 538 541 544 +f 537 543 544 +o convex_43 +v -0.362776 0.368455 -1.904521 +v 0.026286 0.503440 -1.412282 +v 0.018323 0.503440 -1.412282 +v 0.026286 0.511387 -2.754333 +v 0.018282 0.479600 -0.967756 +v -0.331005 0.392282 -0.872329 +v -0.378703 0.384363 -2.754333 +v -0.053144 0.471667 -2.746228 +v -0.331005 0.368455 -0.872329 +v -0.370780 0.368469 -2.754333 +v -0.069029 0.487546 -2.738306 +v -0.021412 0.487546 -0.880435 +v -0.346931 0.368469 -2.023712 +v 0.018323 0.487546 -2.079347 +v 0.010400 0.511387 -2.547637 +v 0.026245 0.487546 -0.880435 +v -0.259538 0.416109 -0.928148 +f 556 559 561 +f 545 550 551 +f 550 545 553 +f 545 551 554 +f 551 548 554 +f 548 552 554 +f 548 551 555 +f 551 550 555 +f 546 547 556 +f 553 545 557 +f 549 553 557 +f 545 554 557 +f 557 554 558 +f 552 548 558 +f 554 552 558 +f 549 557 558 +f 547 546 559 +f 546 548 559 +f 548 555 559 +f 556 547 559 +f 548 546 560 +f 550 553 560 +f 553 549 560 +f 546 556 560 +f 556 550 560 +f 558 548 560 +f 549 558 560 +f 555 550 561 +f 550 556 561 +f 559 555 561 +o convex_44 +v 0.042202 0.479619 4.178353 +v 0.399492 0.463744 3.186023 +v 0.367731 0.471686 3.217802 +v 0.010441 0.495499 2.852419 +v 0.010441 0.455797 4.090926 +v 0.280370 0.495499 2.971625 +v 0.391533 0.455797 3.051000 +v 0.010441 0.503441 3.448018 +v 0.129563 0.455797 4.233858 +v 0.081922 0.479619 4.233858 +v 0.399492 0.487557 2.852419 +v 0.066042 0.487557 2.852419 +v 0.073963 0.503441 2.852419 +v 0.399492 0.471686 2.860471 +v 0.010441 0.463744 4.241767 +f 570 571 576 +f 565 566 569 +f 566 568 570 +f 568 563 570 +f 563 564 571 +f 569 562 571 +f 567 569 571 +f 570 563 571 +f 564 563 572 +f 571 564 572 +f 567 571 572 +f 566 565 573 +f 568 566 573 +f 565 572 573 +f 565 569 574 +f 569 567 574 +f 572 565 574 +f 567 572 574 +f 563 568 575 +f 572 563 575 +f 568 573 575 +f 573 572 575 +f 562 569 576 +f 569 566 576 +f 566 570 576 +f 571 562 576 +o convex_45 +v 0.026286 -0.123912 -4.660222 +v 0.335999 -0.123912 -4.429998 +v 0.328026 -0.123912 -4.429998 +v 0.026286 0.042846 -4.771382 +v 0.328026 0.026959 -4.612597 +v 0.042172 -0.131864 -4.676096 +v 0.320113 0.042846 -4.588820 +v 0.034229 0.034894 -4.795231 +v 0.169258 -0.123912 -4.525320 +v 0.335999 -0.131864 -4.453846 +f 579 585 586 +f 579 578 583 +f 578 581 583 +f 583 581 584 +f 577 580 584 +f 582 577 584 +f 581 582 584 +f 580 583 584 +f 580 577 585 +f 577 582 585 +f 579 583 585 +f 583 580 585 +f 578 579 586 +f 581 578 586 +f 582 581 586 +f 585 582 586 +o convex_46 +v 0.177201 0.050821 -4.707841 +v 0.335999 0.344618 -4.128320 +v 0.335999 0.336643 -4.128320 +v 0.026286 0.344618 -4.564920 +v 0.320113 0.265166 -4.406198 +v 0.026286 0.042876 -4.779270 +v 0.335999 0.042876 -4.580786 +v 0.058057 0.344618 -4.564920 +v 0.335999 0.066711 -4.588686 +v 0.208882 0.344618 -4.430029 +v 0.320113 0.336643 -4.136220 +v 0.034229 0.058766 -4.795266 +v 0.328026 0.257220 -4.239445 +v 0.026286 0.304862 -4.580786 +f 592 597 600 +f 588 589 593 +f 592 587 593 +f 590 588 594 +f 591 588 595 +f 588 593 595 +f 593 587 595 +f 587 594 595 +f 595 594 596 +f 588 591 596 +f 594 588 596 +f 591 595 596 +f 589 588 597 +f 588 590 597 +f 587 592 598 +f 592 590 598 +f 590 594 598 +f 594 587 598 +f 593 589 599 +f 592 593 599 +f 589 597 599 +f 597 592 599 +f 590 592 600 +f 597 590 600 +o convex_47 +v 0.105724 -0.481284 3.797108 +v 0.399492 -0.441582 3.138382 +v 0.399492 -0.449525 3.138382 +v 0.010441 -0.449525 3.130328 +v 0.105724 -0.441582 4.154538 +v 0.383612 -0.465397 2.987429 +v 0.050161 -0.481284 4.154538 +v 0.010441 -0.465397 3.217703 +v 0.010441 -0.473337 4.154538 +v 0.145444 -0.449525 4.154538 +v 0.399492 -0.449525 2.908109 +v 0.010441 -0.481284 3.860686 +f 609 608 612 +f 602 604 605 +f 601 606 607 +f 606 603 607 +f 606 601 608 +f 604 606 608 +f 605 604 609 +f 607 605 609 +f 604 608 609 +f 603 602 610 +f 602 605 610 +f 605 607 610 +f 607 603 610 +f 602 603 611 +f 604 602 611 +f 603 606 611 +f 606 604 611 +f 601 607 612 +f 608 601 612 +f 607 609 612 +o convex_48 +v 0.423377 0.344618 -3.818477 +v 0.335999 0.019022 -4.596592 +v 0.335999 0.026990 -4.604673 +v 0.526573 0.019022 -3.834407 +v 0.407483 0.042862 -4.556882 +v 0.335999 0.336618 -4.112454 +v 0.494805 0.042862 -3.834407 +v 0.343965 0.201612 -4.445833 +v 0.431286 0.336618 -3.826481 +v 0.343965 0.344618 -4.160090 +v 0.351912 0.217516 -4.191797 +v 0.407483 0.336618 -3.826481 +v 0.407483 0.019022 -4.541106 +v 0.335999 0.019022 -4.572813 +f 619 623 626 +f 615 614 618 +f 616 613 619 +f 617 615 620 +f 615 618 620 +f 613 616 621 +f 616 617 621 +f 621 617 622 +f 618 613 622 +f 617 620 622 +f 620 618 622 +f 613 621 622 +f 623 619 624 +f 613 618 624 +f 619 613 624 +f 618 623 624 +f 614 615 625 +f 616 614 625 +f 617 616 625 +f 615 617 625 +f 614 616 626 +f 618 614 626 +f 616 619 626 +f 623 618 626 +o convex_49 +v 0.494817 0.161998 -3.524576 +v 0.510694 0.003173 -3.818477 +v 0.423368 0.296916 -3.818477 +v 0.502750 0.027011 -2.865606 +v 0.439255 0.352560 -2.865606 +v 0.431311 0.352560 -3.802434 +v 0.526592 0.019076 -3.151486 +v 0.423368 0.344557 -3.024449 +v 0.526592 0.050848 -3.746844 +v 0.518638 0.034945 -2.865606 +v 0.447188 0.336622 -2.937146 +v 0.526592 0.011142 -3.818477 +v 0.415424 0.352560 -3.818477 +f 632 638 639 +f 629 628 630 +f 630 628 633 +f 629 630 634 +f 630 631 634 +f 632 627 635 +f 631 630 636 +f 630 633 636 +f 636 633 637 +f 632 631 637 +f 627 632 637 +f 635 627 637 +f 633 635 637 +f 631 636 637 +f 628 629 638 +f 633 628 638 +f 632 635 638 +f 635 633 638 +f 631 632 639 +f 629 634 639 +f 634 631 639 +f 638 629 639 +o convex_50 +v 0.312132 0.400224 -1.777397 +v 0.343941 0.384343 -0.864287 +v 0.343941 0.376396 -0.864287 +v 0.026286 0.495486 -0.880254 +v 0.328052 0.416105 -1.769461 +v 0.026286 0.495486 -1.841076 +v 0.050135 0.503446 -0.880254 +v 0.058064 0.503446 -1.841076 +v 0.304234 0.384343 -1.118428 +v 0.026286 0.487552 -0.880254 +v 0.343941 0.400224 -1.841076 +v 0.335949 0.392290 -0.872414 +v 0.026286 0.487552 -1.420089 +f 648 649 652 +f 642 641 643 +f 643 641 646 +f 645 643 646 +f 646 644 647 +f 645 646 647 +f 645 640 648 +f 642 643 649 +f 643 645 649 +f 648 642 649 +f 641 642 650 +f 644 641 650 +f 640 645 650 +f 647 644 650 +f 645 647 650 +f 648 640 650 +f 642 648 650 +f 641 644 651 +f 644 646 651 +f 646 641 651 +f 645 648 652 +f 649 645 652 +o convex_51 +v 0.010441 -0.409784 4.734335 +v 0.399492 -0.314516 4.353241 +v 0.391533 -0.314516 4.384964 +v 0.010441 -0.314516 4.948654 +v 0.010441 -0.473335 4.154660 +v 0.058082 -0.386016 4.932752 +v 0.343892 -0.378066 4.162735 +v 0.391533 -0.338349 4.162735 +v 0.034281 -0.481285 4.218354 +v 0.208927 -0.314516 4.845491 +v 0.399492 -0.354233 4.202452 +v 0.050161 -0.314516 4.996446 +v 0.010441 -0.465385 4.178638 +v 0.193085 -0.330416 4.853402 +f 662 664 666 +f 655 654 656 +f 653 656 657 +f 656 653 658 +f 656 654 660 +f 659 657 660 +f 653 657 661 +f 658 653 661 +f 657 659 661 +f 655 656 662 +f 654 655 663 +f 660 654 663 +f 659 660 663 +f 658 661 663 +f 661 659 663 +f 656 658 664 +f 662 656 664 +f 657 656 665 +f 656 660 665 +f 660 657 665 +f 655 662 666 +f 658 663 666 +f 663 655 666 +f 664 658 666 +o convex_52 +v -0.450214 0.328704 1.367394 +v -0.537552 0.003139 1.184736 +v -0.537552 0.011115 1.176769 +v -0.521653 0.050818 2.161279 +v -0.505777 0.003139 2.042162 +v -0.442271 0.360501 2.161279 +v -0.426383 0.344585 1.391198 +v -0.537552 0.050818 1.176769 +v -0.434327 0.328704 2.161279 +v -0.521653 0.003139 1.240310 +v -0.521653 0.003139 2.161279 +f 671 675 677 +f 667 672 673 +f 669 668 674 +f 668 670 674 +f 672 667 674 +f 670 672 674 +f 667 673 674 +f 673 669 674 +f 672 670 675 +f 671 673 675 +f 673 672 675 +f 668 669 676 +f 671 668 676 +f 673 671 676 +f 669 673 676 +f 670 668 677 +f 668 671 677 +f 675 670 677 +o convex_53 +v 0.026272 -0.044528 5.194930 +v -0.251662 -0.314516 4.654967 +v -0.243687 -0.314516 4.654967 +v -0.251662 0.003139 4.932913 +v -0.251662 -0.060417 4.988428 +v 0.034218 -0.314516 4.996419 +v 0.050110 0.003139 5.163177 +v -0.243687 -0.314516 4.734457 +v 0.050110 -0.306525 4.980489 +v -0.235741 0.003139 4.932913 +v -0.243687 -0.306525 4.654967 +v 0.042164 -0.020710 5.202921 +f 686 684 689 +f 681 679 682 +f 679 680 683 +f 678 682 683 +f 682 679 685 +f 679 683 685 +f 683 682 685 +f 683 680 686 +f 681 684 687 +f 687 684 688 +f 680 679 688 +f 679 681 688 +f 686 680 688 +f 684 686 688 +f 681 687 688 +f 682 678 689 +f 681 682 689 +f 678 683 689 +f 684 681 689 +f 683 686 689 +o convex_54 +v 0.391586 -0.227141 4.472353 +v 0.399530 -0.100099 4.853448 +v 0.399530 -0.123941 4.853448 +v 0.177172 -0.314516 4.853448 +v 0.383641 -0.314516 4.440590 +v 0.328030 -0.274806 4.766088 +v 0.248650 -0.306561 4.615204 +v 0.399530 -0.314516 4.313540 +v 0.391586 -0.115987 4.766088 +v 0.224839 -0.250963 4.845468 +v 0.232761 -0.314516 4.821685 +v 0.391586 -0.171606 4.583494 +f 699 698 701 +f 692 691 693 +f 694 692 695 +f 691 692 697 +f 694 693 697 +f 692 694 697 +f 696 690 697 +f 693 696 697 +f 693 691 699 +f 696 693 699 +f 691 698 699 +f 692 693 700 +f 693 694 700 +f 695 692 700 +f 694 695 700 +f 690 696 701 +f 691 697 701 +f 697 690 701 +f 698 691 701 +f 696 699 701 +o convex_55 +v 0.359790 -0.171515 4.853501 +v 0.399530 0.003139 5.012348 +v 0.066047 0.003139 5.194911 +v 0.058113 -0.314516 4.996501 +v 0.248606 -0.203324 4.861476 +v 0.391527 -0.092164 4.853501 +v 0.050144 0.003139 5.171090 +v 0.066047 -0.044528 5.210863 +v 0.169262 -0.306525 4.853501 +v 0.399530 -0.012750 5.012348 +v 0.050144 -0.306525 4.972680 +v 0.193100 -0.314516 4.861476 +v 0.391527 0.003139 4.988526 +f 707 708 714 +f 704 703 708 +f 707 706 708 +f 703 704 709 +f 704 708 709 +f 706 707 710 +f 707 702 710 +f 708 706 710 +f 707 703 711 +f 702 707 711 +f 703 709 711 +f 709 705 711 +f 705 709 712 +f 709 708 712 +f 710 705 712 +f 708 710 712 +f 710 702 713 +f 705 710 713 +f 702 711 713 +f 711 705 713 +f 703 707 714 +f 708 703 714 +o convex_56 +v -0.362863 0.392278 1.510246 +v -0.299311 0.447839 2.320222 +v -0.299339 0.447839 2.598325 +v -0.307272 0.360509 4.130569 +v -0.434308 0.400220 2.288401 +v -0.434308 0.360509 1.399004 +v -0.299311 0.392278 1.629509 +v -0.339034 0.368460 4.043127 +v -0.442255 0.360509 2.280646 +v -0.362849 0.408137 3.178064 +v -0.307258 0.439897 1.923122 +v -0.299339 0.384344 4.035104 +v -0.434308 0.376402 1.407294 +v -0.426346 0.408137 2.256579 +v -0.323153 0.447839 2.376110 +f 728 724 729 +f 720 715 721 +f 718 720 721 +f 720 718 723 +f 718 722 723 +f 722 719 723 +f 719 722 724 +f 716 721 725 +f 721 715 725 +f 716 717 726 +f 721 716 726 +f 718 721 726 +f 722 718 726 +f 717 724 726 +f 724 722 726 +f 715 720 727 +f 720 723 727 +f 723 719 727 +f 725 715 727 +f 725 727 728 +f 719 724 728 +f 727 719 728 +f 717 716 729 +f 724 717 729 +f 716 725 729 +f 725 728 729 +o convex_57 +v -0.077043 -0.481279 3.892339 +v 0.010403 -0.425697 4.535537 +v 0.002405 -0.425697 4.535537 +v -0.370726 -0.441575 2.955822 +v 0.010403 -0.449524 3.130603 +v -0.378686 -0.425697 3.400341 +v -0.378686 -0.457458 2.907865 +v -0.203985 -0.433641 4.154430 +v 0.010403 -0.481279 4.186136 +v 0.010403 -0.465402 3.225879 +v -0.370726 -0.425697 3.225720 +v -0.370726 -0.457458 3.035326 +f 737 735 741 +f 732 731 735 +f 735 733 736 +f 733 734 736 +f 732 735 737 +f 731 732 738 +f 734 731 738 +f 737 730 738 +f 732 737 738 +f 730 736 739 +f 736 734 739 +f 738 730 739 +f 734 738 739 +f 734 733 740 +f 731 734 740 +f 735 731 740 +f 733 735 740 +f 735 736 741 +f 736 730 741 +f 730 737 741 +o convex_58 +v -0.299311 0.011126 4.877325 +v 0.058051 0.344585 4.917070 +v 0.058051 0.344585 4.877325 +v 0.058051 0.003173 5.163179 +v 0.050076 0.320757 4.980613 +v 0.050076 0.027001 5.179065 +v -0.299311 0.011126 4.909097 +v -0.061093 0.296929 4.885298 +v -0.132523 0.130233 4.893211 +f 745 742 750 +f 744 743 745 +f 745 743 746 +f 745 746 747 +f 747 746 748 +f 742 745 748 +f 745 747 748 +f 744 742 749 +f 743 744 749 +f 746 743 749 +f 748 746 749 +f 742 748 749 +f 742 744 750 +f 744 745 750 +o convex_59 +v 0.391541 0.360501 4.249957 +v 0.399530 0.122267 4.885204 +v 0.399530 0.098436 4.885204 +v 0.058051 0.352549 4.885204 +v 0.351865 0.257250 4.797839 +v 0.201014 0.352549 4.504156 +v 0.058051 0.352549 4.781920 +v 0.399530 0.352549 4.337384 +v 0.391541 0.177881 4.646924 +v 0.177181 0.312813 4.885204 +v 0.391541 0.098436 4.869286 +v 0.399530 0.304886 4.535930 +v 0.073962 0.360501 4.853429 +f 760 758 763 +f 753 752 754 +f 753 751 758 +f 752 753 758 +f 751 753 759 +f 756 751 759 +f 754 752 760 +f 752 755 760 +f 753 754 761 +f 754 757 761 +f 757 756 761 +f 759 753 761 +f 756 759 761 +f 755 752 762 +f 752 758 762 +f 760 755 762 +f 758 760 762 +f 751 756 763 +f 757 754 763 +f 756 757 763 +f 758 751 763 +f 754 760 763 +o convex_60 +v 0.066007 0.273113 5.020319 +v 0.058051 0.003173 5.163200 +v 0.097795 0.003173 5.131446 +v 0.399530 0.011142 5.004427 +v 0.058051 0.336622 4.885266 +v 0.391541 0.098488 4.885266 +v 0.209003 0.296916 4.893212 +v 0.066007 0.027011 5.179092 +v 0.073962 0.320754 4.988535 +v 0.272411 0.169932 4.885266 +v 0.399530 0.122292 4.901158 +v 0.391541 0.003173 4.980619 +f 769 767 775 +f 765 764 768 +f 766 765 768 +f 769 768 770 +f 764 765 771 +f 765 767 771 +f 771 767 772 +f 768 764 772 +f 770 768 772 +f 764 771 772 +f 766 768 773 +f 769 766 773 +f 768 769 773 +f 767 769 774 +f 769 770 774 +f 772 767 774 +f 770 772 774 +f 765 766 775 +f 767 765 775 +f 766 769 775 +o convex_61 +v -0.291358 0.408151 1.645187 +v -0.037245 0.503446 2.852275 +v -0.108739 0.503446 2.852275 +v -0.275479 0.431979 2.852275 +v -0.045198 0.455778 2.097845 +v -0.172228 0.503446 2.455151 +v -0.299311 0.455778 2.439318 +v -0.037245 0.487550 2.240932 +v -0.267502 0.400208 1.692922 +v -0.299311 0.439932 2.852275 +v -0.299311 0.439932 1.923327 +v -0.037245 0.495503 2.852275 +v -0.299311 0.400208 1.708873 +f 785 786 788 +f 777 778 779 +f 778 777 781 +f 780 776 783 +f 781 777 783 +f 776 780 784 +f 780 779 784 +f 779 778 785 +f 778 781 785 +f 781 782 785 +f 782 781 786 +f 783 776 786 +f 781 783 786 +f 785 782 786 +f 777 779 787 +f 779 780 787 +f 780 783 787 +f 783 777 787 +f 776 784 788 +f 784 779 788 +f 779 785 788 +f 786 776 788 +o convex_62 +v -0.037203 0.487558 2.240860 +v 0.399487 0.487558 2.852204 +v 0.399487 0.479626 2.852204 +v -0.037203 0.503442 2.852204 +v -0.037203 0.463739 2.177350 +v 0.383586 0.487558 2.677514 +v 0.066028 0.487558 2.852204 +v 0.042219 0.503442 2.590169 +v 0.320066 0.471686 2.614004 +v -0.029252 0.471686 2.129681 +f 797 793 798 +f 791 790 792 +f 792 789 793 +f 790 791 794 +f 791 792 795 +f 792 793 795 +f 792 790 796 +f 789 792 796 +f 790 794 796 +f 794 789 796 +f 794 791 797 +f 791 795 797 +f 795 793 797 +f 793 789 798 +f 789 794 798 +f 794 797 798 +o convex_63 +v 0.399530 -0.354147 4.170510 +v 0.407496 -0.457422 2.884041 +v 0.415446 -0.457422 2.884041 +v 0.542479 0.034905 2.884041 +v 0.566295 -0.004805 4.194367 +v 0.550396 0.034905 4.194367 +v 0.558345 -0.004805 2.947659 +v 0.423379 -0.346243 4.194367 +v 0.399530 -0.338340 4.130364 +v 0.399530 -0.449470 2.899945 +v 0.423379 -0.441518 3.019486 +v 0.566295 0.003098 3.416200 +v 0.558345 0.034905 2.884041 +v 0.447180 -0.370002 2.939707 +f 805 810 812 +f 799 800 801 +f 801 800 802 +f 799 801 806 +f 804 799 806 +f 803 804 806 +f 799 804 807 +f 804 802 807 +f 800 799 808 +f 802 800 808 +f 799 807 808 +f 807 802 808 +f 806 801 809 +f 803 806 809 +f 801 802 811 +f 802 804 811 +f 804 803 811 +f 805 801 811 +f 803 810 811 +f 810 805 811 +f 801 805 812 +f 809 801 812 +f 803 809 812 +f 810 803 812 +o convex_64 +v -0.346965 0.241349 -4.239269 +v -0.426385 0.042846 -4.437904 +v -0.426385 0.050812 -4.437904 +v -0.529610 0.058746 -3.794716 +v -0.418437 0.376384 -3.858242 +v -0.513696 0.050812 -3.794716 +v -0.339017 0.376384 -4.025020 +v -0.346965 0.225482 -4.429846 +v -0.410508 0.042846 -4.413980 +v -0.410508 0.352550 -3.794716 +v -0.529610 0.058746 -3.842376 +v -0.346965 0.352550 -4.183739 +v -0.339017 0.193748 -4.437904 +f 824 819 825 +f 818 813 819 +f 815 817 820 +f 818 814 821 +f 813 818 821 +f 817 816 822 +f 816 818 822 +f 819 817 822 +f 818 819 822 +f 815 814 823 +f 816 817 823 +f 817 815 823 +f 814 818 823 +f 818 816 823 +f 817 819 824 +f 820 817 824 +f 820 824 825 +f 814 815 825 +f 819 813 825 +f 815 820 825 +f 821 814 825 +f 813 821 825 +o convex_65 +v -0.331054 0.336654 -4.271119 +v -0.132542 0.376367 -4.414038 +v -0.132542 0.368418 -4.414038 +v -0.331054 0.368418 -4.032894 +v -0.331054 0.209631 -4.421967 +v -0.204028 0.368418 -4.199679 +v -0.243682 0.344603 -4.421967 +v -0.339017 0.376367 -4.088555 +v -0.339017 0.233462 -4.437904 +f 829 833 834 +f 830 828 831 +f 828 827 831 +f 829 830 831 +f 831 827 833 +f 829 831 833 +f 827 832 833 +f 832 826 833 +f 827 828 834 +f 830 829 834 +f 828 830 834 +f 832 827 834 +f 826 832 834 +f 833 826 834 +o convex_66 +v -0.466033 0.098442 -0.856545 +v -0.529594 0.019022 -2.897278 +v -0.529594 0.034926 -2.897278 +v -0.378746 0.360473 -2.857322 +v -0.346975 0.320729 -0.904092 +v -0.394641 0.368442 -2.714481 +v -0.513699 0.019022 -2.722272 +v -0.481928 0.019022 -0.856545 +v -0.346975 0.368442 -0.872328 +v -0.505771 0.026991 -1.198166 +v -0.331080 0.360473 -0.975613 +v -0.529594 0.026991 -2.515902 +v -0.513699 0.026991 -2.897278 +v -0.410517 0.336667 -2.897278 +v -0.481928 0.066701 -0.872527 +v -0.481928 0.019022 -0.975613 +f 842 841 850 +f 836 841 842 +f 838 840 843 +f 842 839 843 +f 835 842 843 +f 836 842 844 +f 839 841 845 +f 838 843 845 +f 843 839 845 +f 837 836 846 +f 836 844 846 +f 844 840 846 +f 836 837 847 +f 841 836 847 +f 838 845 847 +f 845 841 847 +f 840 838 848 +f 837 846 848 +f 846 840 848 +f 847 837 848 +f 838 847 848 +f 842 835 849 +f 835 843 849 +f 843 840 849 +f 840 844 849 +f 844 842 849 +f 841 839 850 +f 839 842 850 +o convex_67 +v -0.164322 0.281087 4.639049 +v -0.299287 0.019022 4.861440 +v -0.299287 0.034926 4.821656 +v -0.251625 0.273135 4.631177 +v -0.061069 0.281087 4.877325 +v -0.299287 0.273135 4.392901 +v -0.132563 0.161957 4.869359 +v -0.291336 0.154005 4.551752 +v -0.283384 0.090515 4.853426 +v -0.188106 0.257256 4.789886 +v -0.299287 0.281087 4.440557 +f 852 859 861 +f 853 852 856 +f 852 853 857 +f 851 855 857 +f 855 852 857 +f 856 851 858 +f 853 856 858 +f 857 853 858 +f 851 857 858 +f 852 855 859 +f 855 854 860 +f 854 859 860 +f 859 855 860 +f 855 851 861 +f 854 855 861 +f 851 856 861 +f 856 852 861 +f 859 854 861 +o convex_68 +v 0.415429 0.281048 -0.848658 +v 0.510695 0.003173 -2.865513 +v 0.518638 0.003173 -2.865513 +v 0.431314 0.352560 -2.865513 +v 0.383661 0.344523 -0.888319 +v 0.486856 0.011142 -0.808796 +v 0.431314 0.336622 -1.817425 +v 0.470985 0.003173 -0.904223 +v 0.518638 0.034945 -2.833502 +v 0.423371 0.344523 -2.793842 +v 0.502753 0.019076 -2.841354 +v 0.439256 0.352560 -2.674860 +v 0.399558 0.352560 -0.864562 +v 0.510695 0.011142 -2.039685 +f 870 868 875 +f 864 863 865 +f 862 866 867 +f 863 864 869 +f 867 866 869 +f 864 867 869 +f 864 865 870 +f 866 865 871 +f 866 871 872 +f 865 863 872 +f 863 869 872 +f 869 866 872 +f 871 865 872 +f 870 865 873 +f 868 870 873 +f 866 862 874 +f 865 866 874 +f 862 867 874 +f 867 868 874 +f 873 865 874 +f 868 873 874 +f 867 864 875 +f 868 867 875 +f 864 870 875 +o convex_69 +v -0.299251 0.439901 2.852275 +v 0.010403 0.463739 4.178355 +v -0.005481 0.463739 4.178355 +v -0.275455 0.368455 4.178355 +v 0.010403 0.495491 2.852275 +v -0.108760 0.503446 2.868371 +v -0.291340 0.384338 4.138635 +v -0.291340 0.424045 2.868371 +v 0.002430 0.447856 4.162389 +v 0.010403 0.503432 3.392390 +v -0.291340 0.368455 4.027392 +v -0.267513 0.455784 2.892125 +v 0.002430 0.471680 4.098915 +f 885 881 888 +f 877 878 879 +f 880 876 881 +f 879 878 882 +f 876 880 883 +f 877 879 884 +f 880 877 884 +f 877 880 885 +f 880 881 885 +f 879 882 886 +f 882 876 886 +f 876 883 886 +f 883 880 886 +f 884 879 886 +f 880 884 886 +f 881 876 887 +f 882 881 887 +f 876 882 887 +f 878 877 888 +f 882 878 888 +f 881 882 888 +f 877 885 888 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/479/479.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/479/479.urdf new file mode 100644 index 000000000..d9b3775d7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/479/479.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/480/480.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/480/480.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/480/480.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/480/480.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/480/480.obj new file mode 100644 index 000000000..932dfdd8f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/480/480.obj @@ -0,0 +1,507 @@ +o convex_0 +v 1.087327 2.686640 -0.408959 +v 0.877279 1.253238 -1.038479 +v -0.416212 1.253238 -1.003401 +v 1.017381 1.253426 1.059503 +v -1.045732 3.176488 1.094581 +v -1.010654 3.176488 -0.968323 +v -1.045732 1.253238 1.094581 +v 0.947225 3.176488 0.954478 +v 1.087327 3.141472 -0.968323 +v -0.940708 1.253238 -0.968323 +v 1.017381 1.253426 -1.038479 +v -1.045732 2.162527 0.010721 +v 0.982303 2.861532 0.989556 +v -0.695999 3.176488 1.094581 +v -0.031401 3.176488 -0.968323 +v 1.052250 1.708071 -1.003192 +v -1.045732 1.253238 0.604954 +v 1.017381 1.498163 1.059503 +v -0.416212 1.253238 1.094581 +v -0.975577 1.708071 -0.898377 +v 1.052250 2.442091 -1.003192 +v -1.045732 3.176488 0.080250 +v 1.052250 3.141472 -0.094095 +v -1.010654 2.756672 -0.968323 +v 1.052250 1.812743 0.394905 +v 1.087327 2.546763 -0.968323 +v 0.982303 3.141472 0.884532 +v 0.737385 3.176488 0.989556 +v 0.947225 1.358286 -1.038479 +v -0.975577 1.288254 -0.618799 +f 17 20 30 +f 2 3 6 +f 3 2 7 +f 6 5 8 +f 3 7 10 +f 4 2 11 +f 7 5 12 +f 5 7 14 +f 8 5 14 +f 6 8 15 +f 8 9 15 +f 4 11 16 +f 10 7 17 +f 7 12 17 +f 13 14 18 +f 18 14 19 +f 2 4 19 +f 7 2 19 +f 14 7 19 +f 4 18 19 +f 17 12 20 +f 9 11 21 +f 6 15 21 +f 15 9 21 +f 5 6 22 +f 12 5 22 +f 6 12 22 +f 9 8 23 +f 1 9 23 +f 18 1 23 +f 6 3 24 +f 3 10 24 +f 12 6 24 +f 10 20 24 +f 20 12 24 +f 4 16 25 +f 1 18 25 +f 18 4 25 +f 9 1 26 +f 11 9 26 +f 16 11 26 +f 1 25 26 +f 25 16 26 +f 8 13 27 +f 13 18 27 +f 23 8 27 +f 18 23 27 +f 13 8 28 +f 8 14 28 +f 14 13 28 +f 2 6 29 +f 11 2 29 +f 6 21 29 +f 21 11 29 +f 10 17 30 +f 20 10 30 +o convex_1 +v -1.045194 -0.914789 0.954516 +v 3.080138 1.253238 0.919712 +v 3.080138 1.148190 0.954516 +v 3.045410 -0.879773 -1.073447 +v -3.038708 1.113174 -1.003415 +v -3.003371 1.147978 0.954516 +v -2.933914 -0.914577 -0.968186 +v 3.115476 1.148190 -1.073447 +v 3.045410 -0.739921 1.094580 +v -3.108773 -0.879561 0.919500 +v -1.045194 1.253238 1.094580 +v -1.115259 1.253238 -0.968186 +v 0.912374 -0.914789 1.094580 +v 1.366886 1.253238 -1.038431 +v 1.296820 1.218010 1.059352 +v 1.087233 -0.914789 -0.933383 +v -2.793784 1.183206 0.989532 +v -3.073436 -0.914577 0.255255 +v -2.863849 -0.669889 0.954516 +v -3.038708 0.658601 -1.003415 +v 3.045410 -0.774725 1.059564 +v 2.590899 -0.879773 -1.073447 +v 3.045410 -0.354956 1.094580 +v 3.115476 0.658601 -0.583646 +v -1.220053 1.078370 1.094580 +v -3.038708 1.147978 -0.723710 +v 3.045410 -0.879773 -0.583858 +v 3.115476 1.218222 -0.094057 +v -3.003371 -0.914577 -0.688482 +v -3.038708 0.833469 0.954516 +v -1.500314 -0.879561 -1.003415 +v -2.933914 1.183206 0.884696 +v 2.730420 1.148190 -1.073447 +v 0.737515 -0.914789 1.094580 +v 3.080138 0.413700 1.024548 +v 3.080138 -0.354956 -1.073447 +v -0.276301 1.253238 1.094580 +v -3.108773 -0.634661 0.884696 +v 3.080138 -0.180300 0.430123 +v 3.080138 1.253238 0.499943 +v -2.933914 1.147978 -1.003415 +v -3.038708 1.147978 -0.024237 +v -3.108773 -0.879561 0.744632 +v -3.003371 -0.390184 -0.968186 +v -3.038708 -0.040448 0.954516 +v -3.003371 0.553765 -1.003415 +v 2.660355 1.183206 -1.038431 +v -3.073436 -0.914577 0.395107 +v 2.940007 1.253238 0.954516 +v -0.451160 -0.914789 -1.003415 +v 3.115476 0.623797 -1.073447 +v 3.115476 1.148190 0.010567 +v 0.842309 1.253238 -1.038431 +f 63 71 83 +f 41 32 42 +f 39 41 43 +f 42 32 44 +f 43 31 46 +f 39 43 51 +f 38 34 52 +f 50 35 52 +f 41 39 53 +f 43 41 55 +f 41 47 55 +f 46 34 57 +f 43 46 57 +f 51 43 57 +f 54 38 58 +f 37 31 59 +f 31 48 59 +f 47 36 60 +f 52 37 61 +f 41 42 62 +f 36 47 62 +f 47 41 62 +f 42 56 62 +f 44 38 63 +f 38 52 63 +f 52 35 63 +f 40 31 64 +f 31 43 64 +f 49 40 64 +f 43 55 64 +f 55 49 64 +f 53 39 65 +f 45 53 65 +f 34 38 66 +f 57 34 66 +f 51 57 66 +f 32 41 67 +f 41 53 67 +f 53 45 67 +f 56 35 68 +f 40 60 68 +f 39 51 69 +f 65 39 69 +f 66 54 69 +f 51 66 69 +f 44 32 70 +f 32 58 70 +f 58 44 70 +f 35 56 71 +f 56 42 71 +f 63 35 71 +f 60 36 72 +f 36 62 72 +f 62 56 72 +f 56 68 72 +f 68 60 72 +f 48 40 73 +f 35 50 73 +f 50 48 73 +f 68 35 73 +f 40 68 73 +f 50 37 74 +f 48 50 74 +f 37 59 74 +f 59 48 74 +f 40 49 75 +f 55 47 75 +f 49 55 75 +f 47 60 75 +f 60 40 75 +f 37 50 76 +f 50 52 76 +f 61 37 76 +f 52 61 76 +f 38 44 77 +f 44 58 77 +f 58 38 77 +f 31 40 78 +f 48 31 78 +f 40 48 78 +f 33 32 79 +f 65 33 79 +f 45 65 79 +f 32 67 79 +f 67 45 79 +f 31 37 80 +f 46 31 80 +f 34 46 80 +f 52 34 80 +f 37 52 80 +f 38 54 81 +f 66 38 81 +f 54 66 81 +f 32 33 82 +f 58 32 82 +f 54 58 82 +f 33 65 82 +f 65 69 82 +f 69 54 82 +f 42 44 83 +f 44 63 83 +f 71 42 83 +o convex_2 +v -1.325485 -2.173644 0.220366 +v -3.108855 -1.754081 -0.269179 +v -3.108855 -1.649149 -0.269179 +v -1.080700 -1.928839 -0.269179 +v -1.080700 -1.614153 0.290309 +v -3.108855 -2.173644 0.220366 +v -3.003834 -1.614153 0.255337 +v -1.080700 -2.173644 -0.269179 +v -1.080700 -1.614153 -0.199235 +v -2.898813 -2.103708 -0.234207 +v -1.080700 -2.138649 0.325280 +v -1.570269 -2.173644 0.325280 +v -3.038775 -2.138649 -0.129292 +v -1.360624 -1.614153 -0.234207 +v -1.150780 -1.893899 0.325280 +v -2.968894 -1.614153 -0.024377 +v -3.108855 -2.173644 0.080479 +v -3.038775 -1.893899 0.255337 +v -1.990154 -2.138649 -0.269179 +f 96 93 102 +f 85 86 87 +f 86 85 89 +f 86 89 90 +f 85 87 91 +f 87 88 91 +f 84 89 91 +f 88 87 92 +f 90 88 92 +f 84 91 94 +f 91 88 94 +f 89 84 95 +f 84 94 95 +f 85 93 96 +f 87 86 97 +f 92 87 97 +f 90 92 97 +f 88 90 98 +f 94 88 98 +f 90 95 98 +f 95 94 98 +f 86 90 99 +f 97 86 99 +f 90 97 99 +f 89 85 100 +f 91 89 100 +f 85 96 100 +f 96 91 100 +f 90 89 101 +f 89 95 101 +f 95 90 101 +f 85 91 102 +f 93 85 102 +f 91 96 102 +o convex_3 +v 0.877326 -0.914789 1.094581 +v 0.457688 -2.837923 -1.108415 +v 0.527771 -2.872666 -0.723710 +v -1.045551 -0.949929 0.989348 +v -0.975683 -2.942944 1.094365 +v -0.975683 -0.914789 -1.003398 +v 1.087146 -0.914789 -0.968464 +v 0.912476 -2.872864 0.989563 +v -1.010617 -2.767843 -1.038332 +v 0.947410 -2.837923 -1.108415 +v 1.122295 -2.138512 0.290021 +v -1.080700 -2.138313 -0.303856 +v 0.947410 -0.914789 1.059431 +v 1.122295 -2.103571 -0.408873 +v 0.597639 -2.907606 1.024497 +v -1.045551 -0.914789 0.185220 +v 1.122295 -1.614400 0.185004 +v -0.730930 -2.942944 0.709660 +v -1.080700 -2.138313 0.324955 +v 0.947410 -2.593139 -1.108415 +v 0.947410 -2.872864 -0.373939 +v -0.975683 -2.802983 -0.898380 +v -1.080700 -1.614201 -0.199054 +v -1.010617 -0.914789 0.989348 +v -0.905815 -2.593139 1.094365 +v 1.122295 -1.194713 -0.758644 +v -0.695996 -2.942944 1.094365 +v 1.087146 -0.914789 -0.583759 +v 0.877326 -2.907606 0.919480 +v -0.416308 -0.914789 -1.003398 +v -0.975683 -2.103571 -1.038332 +v 0.702441 -0.914789 1.094581 +v -1.045551 -1.544320 0.989348 +v -1.010617 -1.159574 -0.828512 +v 0.982344 -2.732903 -1.003398 +v 0.947410 -1.334675 1.059431 +v 0.912476 -2.523059 1.024497 +v -0.556044 -2.942944 0.744810 +v -0.975683 -2.942944 0.814462 +v 0.947410 -2.872864 0.045268 +v 1.087146 -1.229654 -0.968464 +v -1.010617 -2.453376 1.059431 +v -1.080700 -1.614201 0.290237 +v 0.457688 -2.768042 -1.108415 +v -0.695996 -2.802983 -1.038332 +f 141 124 147 +f 108 103 109 +f 105 104 112 +f 109 103 115 +f 103 108 118 +f 115 113 119 +f 113 116 119 +f 111 107 121 +f 114 111 121 +f 112 104 122 +f 109 112 122 +f 105 112 123 +f 114 121 125 +f 103 118 126 +f 118 106 126 +f 106 107 127 +f 119 116 128 +f 103 107 129 +f 107 120 129 +f 109 115 130 +f 115 119 130 +f 128 109 130 +f 119 128 130 +f 110 117 131 +f 117 129 131 +f 108 109 132 +f 122 108 132 +f 109 122 132 +f 111 108 133 +f 107 103 134 +f 103 126 134 +f 126 106 134 +f 127 107 134 +f 106 127 134 +f 106 121 135 +f 108 111 136 +f 111 114 136 +f 118 108 136 +f 114 125 136 +f 125 118 136 +f 116 113 137 +f 123 112 137 +f 110 113 138 +f 115 103 138 +f 113 115 138 +f 117 110 139 +f 103 129 139 +f 129 117 139 +f 138 103 139 +f 110 138 139 +f 120 105 140 +f 105 123 140 +f 129 120 140 +f 123 131 140 +f 131 129 140 +f 107 111 141 +f 105 120 141 +f 120 107 141 +f 111 124 141 +f 113 110 142 +f 110 131 142 +f 131 123 142 +f 137 113 142 +f 123 137 142 +f 112 109 143 +f 109 128 143 +f 128 116 143 +f 137 112 143 +f 116 137 143 +f 107 106 144 +f 121 107 144 +f 106 135 144 +f 135 121 144 +f 106 118 145 +f 121 106 145 +f 118 125 145 +f 125 121 145 +f 104 111 146 +f 122 104 146 +f 108 122 146 +f 133 108 146 +f 111 133 146 +f 104 105 147 +f 111 104 147 +f 124 111 147 +f 105 141 147 +o convex_4 +v 2.380945 -1.579294 0.150426 +v 1.122487 -2.068630 -0.339115 +v 1.122487 -2.103622 -0.199188 +v 3.080322 -2.138676 -0.269083 +v 1.122487 -2.138676 0.290285 +v 1.122487 -1.509372 -0.199188 +v 3.045248 -1.963777 0.290285 +v 2.940408 -1.649217 -0.269083 +v 3.080322 -1.649217 0.360249 +v 1.122487 -1.614225 0.185408 +v 3.010365 -2.138676 0.220321 +v 2.625698 -1.719140 -0.304133 +v 1.542228 -1.509372 -0.024278 +v 2.310988 -2.138676 -0.304133 +v 1.227518 -1.963777 0.290285 +v 1.227518 -1.928785 -0.339115 +v 1.891821 -1.544302 -0.234169 +v 2.730538 -1.719140 0.360249 +v 1.717025 -2.103622 -0.339115 +v 3.080322 -1.649217 0.185408 +v 1.122487 -1.509372 -0.024278 +v 3.045248 -1.754070 0.360249 +v 1.122487 -2.138676 0.080462 +v 1.262401 -1.649217 0.220321 +v 2.625698 -2.138676 -0.304133 +v 2.975291 -1.649217 -0.234169 +v 2.625698 -1.614225 0.290285 +f 160 168 174 +f 149 150 152 +f 149 152 153 +f 154 151 156 +f 153 152 157 +f 152 151 158 +f 151 154 158 +f 154 152 158 +f 155 151 159 +f 151 152 161 +f 157 152 162 +f 149 153 163 +f 155 159 164 +f 153 160 164 +f 160 148 164 +f 163 153 164 +f 159 163 164 +f 162 152 165 +f 150 149 166 +f 161 150 166 +f 149 163 166 +f 163 159 166 +f 148 156 167 +f 156 151 167 +f 153 157 168 +f 160 153 168 +f 152 154 169 +f 154 156 169 +f 165 152 169 +f 156 165 169 +f 152 150 170 +f 150 161 170 +f 161 152 170 +f 156 157 171 +f 157 162 171 +f 165 156 171 +f 162 165 171 +f 159 151 172 +f 151 161 172 +f 166 159 172 +f 161 166 172 +f 151 155 173 +f 164 148 173 +f 155 164 173 +f 167 151 173 +f 148 167 173 +f 156 148 174 +f 157 156 174 +f 148 160 174 +f 168 157 174 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/480/480.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/480/480.urdf new file mode 100644 index 000000000..7cb88586a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/480/480.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/481/481.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/481/481.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/481/481.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/481/481.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/481/481.obj new file mode 100644 index 000000000..213b58945 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/481/481.obj @@ -0,0 +1,423 @@ +o convex_0 +v -1.060797 2.525925 0.616349 +v -1.000838 3.484714 1.125624 +v 0.646585 3.484714 0.975684 +v 1.066092 -1.188469 1.035356 +v 1.006132 3.424790 -1.030820 +v -1.000838 -1.158278 -1.091143 +v -1.000838 -1.188469 1.035573 +v -1.030818 3.424790 -1.091143 +v 1.006132 -1.188469 -1.091143 +v 0.976153 3.454523 0.945739 +v -1.030818 -0.708617 1.065518 +v 1.066092 -0.229680 0.226636 +v 0.706544 -1.188469 1.065518 +v -1.060797 3.484714 1.125624 +v 1.006132 2.765622 0.915795 +v 1.036112 -1.188469 -0.851152 +v -1.000838 -1.188469 -1.060981 +v -1.060797 3.484714 0.526298 +v 0.376976 3.424790 -1.060981 +v 1.066092 -0.828466 1.035356 +v -1.030818 2.046530 -1.091143 +v -0.910899 3.454523 -0.611595 +v -0.671270 3.424790 -1.091143 +v -1.000838 -1.008239 1.065518 +v -1.060797 3.214368 1.125624 +v 1.006132 1.806833 -1.060981 +v 0.856234 3.484714 0.915795 +v -1.060797 3.394599 0.107074 +v 1.066092 -1.188469 0.076913 +v -1.030818 0.279906 -0.042649 +v -1.060797 2.076721 1.035573 +v 1.006132 -0.888390 -1.091143 +v 1.066092 -0.439186 0.885633 +v 1.006132 3.424790 -0.881097 +v 0.946173 3.454523 -0.132265 +v 1.006132 2.076721 0.975684 +v 0.257058 -1.188469 1.065518 +f 25 24 37 +f 6 8 9 +f 4 7 9 +f 7 4 13 +f 2 3 14 +f 4 9 16 +f 5 12 16 +f 6 9 17 +f 9 7 17 +f 7 11 17 +f 14 3 18 +f 1 14 18 +f 4 12 20 +f 2 13 20 +f 13 4 20 +f 8 6 21 +f 8 18 22 +f 5 19 22 +f 22 19 23 +f 9 8 23 +f 8 22 23 +f 11 7 24 +f 13 2 25 +f 2 14 25 +f 14 1 25 +f 11 24 25 +f 5 16 26 +f 19 5 26 +f 3 10 27 +f 18 3 27 +f 22 18 27 +f 1 18 28 +f 18 8 28 +f 21 1 28 +f 8 21 28 +f 12 4 29 +f 4 16 29 +f 16 12 29 +f 6 17 30 +f 17 11 30 +f 1 21 30 +f 21 6 30 +f 25 1 31 +f 11 25 31 +f 1 30 31 +f 30 11 31 +f 16 9 32 +f 23 19 32 +f 9 23 32 +f 26 16 32 +f 19 26 32 +f 20 12 33 +f 15 20 33 +f 5 10 34 +f 12 5 34 +f 10 15 34 +f 33 12 34 +f 15 33 34 +f 10 5 35 +f 5 22 35 +f 27 10 35 +f 22 27 35 +f 3 2 36 +f 10 3 36 +f 15 10 36 +f 2 20 36 +f 20 15 36 +f 7 13 37 +f 24 7 37 +f 13 25 37 +o convex_1 +v -0.102090 -2.776394 0.256891 +v -0.371802 -4.603488 0.137019 +v -0.311887 -4.573186 -0.132459 +v 0.227230 -4.363547 0.166987 +v 0.257280 -2.656519 -0.342235 +v -0.281837 -2.656519 -0.312267 +v 0.197365 -4.543264 -0.222363 +v 0.257280 -2.656519 0.196896 +v -0.311887 -2.656519 0.256891 +v -0.281837 -4.483422 -0.252331 +v -0.341752 -4.303705 0.226923 +v -0.012371 -4.513343 0.196896 +v 0.197365 -4.603488 -0.132459 +v -0.341752 -3.016144 0.256891 +v 0.257280 -2.806315 -0.342235 +v 0.257280 -3.195861 0.196896 +v -0.281837 -3.075986 -0.312267 +v -0.371802 -4.603488 0.196896 +v 0.227230 -4.094067 -0.252331 +v 0.137449 -4.183830 0.196896 +v -0.311887 -2.656519 -0.042672 +v -0.012371 -2.686631 -0.342235 +v 0.077534 -4.603488 -0.192453 +v -0.221921 -3.225782 0.256891 +v 0.167376 -4.483422 0.166987 +v -0.251910 -4.603488 0.196896 +v -0.371802 -4.393468 0.137019 +f 51 58 64 +f 42 43 45 +f 45 43 46 +f 38 45 46 +f 38 46 51 +f 42 45 52 +f 44 47 52 +f 45 38 53 +f 52 45 53 +f 40 39 54 +f 39 43 54 +f 47 40 54 +f 39 50 55 +f 48 51 55 +f 50 44 56 +f 41 50 56 +f 44 52 56 +f 53 41 56 +f 52 53 56 +f 49 41 57 +f 53 38 57 +f 41 53 57 +f 46 43 58 +f 51 46 58 +f 43 42 59 +f 42 52 59 +f 52 47 59 +f 54 43 59 +f 47 54 59 +f 39 40 60 +f 40 47 60 +f 47 44 60 +f 50 39 60 +f 44 50 60 +f 48 49 61 +f 38 51 61 +f 51 48 61 +f 57 38 61 +f 49 57 61 +f 41 49 62 +f 50 41 62 +f 49 48 63 +f 48 55 63 +f 55 50 63 +f 62 49 63 +f 50 62 63 +f 43 39 64 +f 39 55 64 +f 55 51 64 +f 58 43 64 +o convex_2 +v -1.000679 -1.787637 -0.821430 +v 1.096057 -2.266914 1.065700 +v 0.376824 -1.428322 1.095668 +v 1.005948 -1.188540 -1.091143 +v 1.006153 -2.536292 -1.091143 +v -1.000885 -2.626228 1.035732 +v -1.000679 -1.188540 1.035732 +v -0.970711 -2.536292 -1.060961 +v -1.000679 -1.188540 -1.061175 +v 1.065884 -1.188540 1.035732 +v 1.096057 -2.566319 1.065700 +v 0.256952 -2.656255 -0.342156 +v -0.701204 -2.536292 -1.091143 +v 1.035916 -1.248593 -0.881366 +v -0.191953 -1.817520 1.095668 +v -0.281857 -2.656255 -0.311974 +v 1.036121 -2.536292 -1.061175 +v 0.256952 -2.656255 0.196627 +v -0.341588 -1.248593 -1.091143 +v -0.161985 -1.188540 1.095668 +v 0.946012 -2.566319 -1.001239 +v 1.065884 -1.188540 0.076755 +v 0.526664 -2.176978 1.095668 +v 1.096057 -2.566319 0.795987 +v -1.000885 -2.596202 0.256563 +v 1.096057 -2.087185 0.855709 +v -0.311825 -2.656255 0.256563 +v 0.736441 -1.188540 1.065700 +v 1.066089 -2.566319 0.046787 +f 81 88 93 +f 71 68 73 +f 72 65 73 +f 68 71 74 +f 68 69 77 +f 72 73 77 +f 71 70 79 +f 72 77 80 +f 69 68 81 +f 68 78 81 +f 75 70 82 +f 76 75 82 +f 80 76 82 +f 73 68 83 +f 68 77 83 +f 77 73 83 +f 74 71 84 +f 79 67 84 +f 71 79 84 +f 77 69 85 +f 76 80 85 +f 80 77 85 +f 69 81 85 +f 68 74 86 +f 78 68 86 +f 66 67 87 +f 75 66 87 +f 70 75 87 +f 67 79 87 +f 79 70 87 +f 66 75 88 +f 75 76 88 +f 70 71 89 +f 65 72 89 +f 73 65 89 +f 71 73 89 +f 80 70 89 +f 72 80 89 +f 74 66 90 +f 81 78 90 +f 86 74 90 +f 78 86 90 +f 66 88 90 +f 88 81 90 +f 70 80 91 +f 82 70 91 +f 80 82 91 +f 67 66 92 +f 66 74 92 +f 84 67 92 +f 74 84 92 +f 76 85 93 +f 85 81 93 +f 88 76 93 +o convex_3 +v 0.137385 -1.218546 2.593248 +v 0.077507 -1.877464 1.095858 +v -0.162061 -1.847388 1.095858 +v -0.192029 -1.877464 2.922762 +v -0.192029 -1.188604 1.125970 +v -0.281933 -1.218546 2.922762 +v 0.227289 -1.697612 3.042637 +v 0.317193 -1.338312 1.095858 +v 0.227289 -1.248487 2.952683 +v 0.197321 -1.877464 1.185812 +v -0.251965 -1.547904 1.964524 +v -0.072216 -1.188604 1.095858 +v 0.317193 -1.308371 1.515326 +v 0.317193 -1.458146 1.095858 +v -0.192029 -1.817446 1.095858 +v -0.281933 -1.398263 2.443452 +v -0.132152 -1.877464 2.922762 +v -0.162061 -1.877464 1.485405 +v 0.167411 -1.547904 3.042637 +v -0.281933 -1.398263 2.922762 +v -0.162061 -1.188604 1.724964 +v -0.042248 -1.218546 2.952683 +v 0.227289 -1.727621 2.772966 +v -0.281933 -1.218546 2.473373 +v 0.137385 -1.727621 3.042637 +v 0.227289 -1.787504 1.095858 +f 107 116 119 +f 95 96 101 +f 97 95 103 +f 101 96 105 +f 101 105 106 +f 102 100 106 +f 94 102 106 +f 105 94 106 +f 95 101 107 +f 101 106 107 +f 106 100 107 +f 97 104 108 +f 104 98 108 +f 105 96 108 +f 98 105 108 +f 104 97 109 +f 97 103 110 +f 96 95 111 +f 95 97 111 +f 108 96 111 +f 97 108 111 +f 100 102 112 +f 99 109 113 +f 109 97 113 +f 98 99 114 +f 105 98 114 +f 94 105 114 +f 102 94 115 +f 99 112 115 +f 112 102 115 +f 114 99 115 +f 94 114 115 +f 107 100 116 +f 100 110 116 +f 110 103 116 +f 99 98 117 +f 98 104 117 +f 109 99 117 +f 104 109 117 +f 97 110 118 +f 110 100 118 +f 112 99 118 +f 100 112 118 +f 99 113 118 +f 113 97 118 +f 103 95 119 +f 95 107 119 +f 116 103 119 +o convex_4 +v -0.311796 -1.248452 -1.780337 +v 0.287237 -1.697627 -2.768549 +v 0.287237 -1.757569 -2.768549 +v 0.197271 -1.338310 -1.091143 +v -0.341846 -1.787596 -1.091143 +v -0.222015 -1.787596 -3.098215 +v 0.077440 -1.278423 -2.948117 +v 0.197271 -1.727598 -1.091143 +v -0.251942 -1.218481 -2.858530 +v -0.341846 -1.248452 -1.091143 +v 0.167344 -1.248452 -1.720416 +v 0.287237 -1.667712 -3.068156 +v 0.197271 -1.308394 -2.768549 +v 0.167344 -1.248452 -1.091143 +v -0.132111 -1.218481 -2.948117 +v -0.341846 -1.787596 -1.330828 +v 0.287237 -1.757569 -3.098215 +v -0.192026 -1.787596 -1.420809 +v -0.222015 -1.248452 -2.978372 +v 0.197271 -1.278423 -1.151064 +v -0.251942 -1.218481 -2.169532 +v -0.251942 -1.787596 -2.798608 +v -0.072195 -1.787596 -3.098215 +v 0.227321 -1.727598 -1.450671 +v 0.197271 -1.368280 -2.978372 +v 0.287237 -1.697627 -3.098215 +v -0.222015 -1.697627 -3.098215 +f 145 125 146 +f 123 124 127 +f 124 123 129 +f 128 120 129 +f 121 122 131 +f 126 130 132 +f 129 123 133 +f 130 126 134 +f 133 130 134 +f 125 124 135 +f 120 128 135 +f 129 120 135 +f 124 129 135 +f 131 122 136 +f 124 125 137 +f 122 127 137 +f 127 124 137 +f 128 134 138 +f 123 121 139 +f 121 131 139 +f 132 130 139 +f 131 132 139 +f 133 123 139 +f 130 133 139 +f 128 129 140 +f 129 133 140 +f 134 128 140 +f 133 134 140 +f 128 125 141 +f 125 135 141 +f 135 128 141 +f 136 122 142 +f 125 136 142 +f 137 125 142 +f 122 137 142 +f 122 121 143 +f 121 123 143 +f 127 122 143 +f 123 127 143 +f 126 132 144 +f 132 131 144 +f 134 126 144 +f 138 134 144 +f 138 144 145 +f 136 125 145 +f 131 136 145 +f 144 131 145 +f 125 128 146 +f 128 138 146 +f 138 145 146 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/481/481.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/481/481.urdf new file mode 100644 index 000000000..8d86f00a0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/481/481.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/482/482.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/482/482.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/482/482.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/482/482.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/482/482.obj new file mode 100644 index 000000000..52d7181fb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/482/482.obj @@ -0,0 +1,420 @@ +o convex_0 +v -0.328044 -3.972209 -0.675156 +v 1.029291 -0.047046 0.205711 +v 0.882434 -0.047046 0.205711 +v -1.061914 -0.046662 -1.922185 +v 1.066161 -3.935705 -1.811997 +v 1.029291 -0.047046 -1.922185 +v -0.988381 -0.046662 0.168840 +v 0.992629 -3.898817 0.205711 +v -0.988381 -3.898817 -1.959055 +v -0.951719 -3.972209 0.131969 +v -0.988381 -3.972209 -0.344805 +v 1.066161 -1.844975 -0.785132 +v -1.061914 -1.514900 -1.885314 +v -0.548226 -3.788536 -1.959055 +v -0.511355 -0.890870 -1.959055 +v 1.066161 -0.634188 -1.885314 +v -0.951719 -2.871319 0.168840 +v -1.061914 -0.120439 -1.371670 +v 1.066161 -3.898817 -1.004872 +v -1.025043 -3.788536 -1.959055 +v 0.772447 -3.935705 -1.848656 +v -0.988381 -3.935321 -1.665151 +v -0.474693 -3.972209 0.131969 +v 1.029291 -3.678638 -0.198170 +v 1.066161 -3.935705 -1.151718 +v -0.438031 -3.935321 0.168840 +v -1.025043 -2.027496 -1.959055 +v 1.066161 -1.551404 -1.885314 +v -0.144525 -3.935321 -1.885314 +v -0.071201 -3.972209 -0.711815 +v 1.029291 -0.340617 0.205711 +v 0.368954 -3.935705 0.168840 +f 26 10 32 +f 6 4 7 +f 3 2 7 +f 2 6 7 +f 2 3 8 +f 10 7 11 +f 1 10 11 +f 14 9 15 +f 4 6 15 +f 6 14 15 +f 6 2 16 +f 2 12 16 +f 12 5 16 +f 3 7 17 +f 8 3 17 +f 7 10 17 +f 7 4 18 +f 11 7 18 +f 4 13 18 +f 13 11 18 +f 5 12 19 +f 13 4 20 +f 11 13 20 +f 15 9 20 +f 9 14 21 +f 1 11 22 +f 20 9 22 +f 11 20 22 +f 10 1 23 +f 8 19 24 +f 19 8 25 +f 5 19 25 +f 8 17 26 +f 17 10 26 +f 4 15 27 +f 20 4 27 +f 15 20 27 +f 14 6 28 +f 6 16 28 +f 16 5 28 +f 5 21 28 +f 21 14 28 +f 9 21 29 +f 1 22 29 +f 22 9 29 +f 21 5 30 +f 23 1 30 +f 5 25 30 +f 25 23 30 +f 1 29 30 +f 29 21 30 +f 2 8 31 +f 12 2 31 +f 19 12 31 +f 8 24 31 +f 24 19 31 +f 10 23 32 +f 25 8 32 +f 23 25 32 +f 8 26 32 +o convex_1 +v -0.291400 0.834007 -3.903675 +v 0.295651 0.944058 -1.959055 +v 0.258957 1.274212 -1.959055 +v 0.258957 1.237420 -3.903675 +v -0.218011 1.237420 -2.179481 +v -0.181317 0.834007 -1.959055 +v 0.112179 0.797323 -3.830010 +v -0.218011 1.237420 -3.830010 +v -0.328095 0.723902 -3.719987 +v 0.295651 0.834007 -1.959055 +v 0.222262 0.907374 -3.866938 +v -0.034538 1.274212 -1.959055 +v -0.144622 0.723902 -3.389920 +v -0.254645 1.200737 -3.903675 +v -0.218011 0.797323 -2.142743 +v 0.258957 1.274212 -2.986186 +v -0.218011 1.200737 -1.995793 +v -0.181317 0.723902 -3.866938 +v 0.258957 1.054002 -3.866938 +v -0.328095 0.797323 -3.719987 +f 41 49 52 +f 34 35 38 +f 36 34 42 +f 34 38 42 +f 33 36 43 +f 42 39 43 +f 38 35 44 +f 40 37 44 +f 39 42 45 +f 36 33 46 +f 40 36 46 +f 37 40 46 +f 42 38 47 +f 41 45 47 +f 45 42 47 +f 35 34 48 +f 34 36 48 +f 36 40 48 +f 44 35 48 +f 40 44 48 +f 38 44 49 +f 44 37 49 +f 47 38 49 +f 41 47 49 +f 41 33 50 +f 33 43 50 +f 43 39 50 +f 45 41 50 +f 39 45 50 +f 36 42 51 +f 43 36 51 +f 42 43 51 +f 33 41 52 +f 46 33 52 +f 37 46 52 +f 49 37 52 +o convex_2 +v 1.029470 1.017497 -0.124648 +v -1.098511 0.724017 -1.885390 +v -1.025190 -0.046662 -1.922127 +v 1.029470 2.081233 -1.959055 +v -1.025190 1.971045 -0.014625 +v 1.029470 -0.046662 -0.014435 +v 1.029470 -0.046662 -1.922318 +v -0.988321 -0.046662 -0.014625 +v -1.098511 2.081233 -1.848842 +v 0.992601 2.118104 -0.014435 +v -0.181163 1.237237 -1.959055 +v -1.025190 2.081233 -1.885390 +v -0.951661 2.007704 -0.087910 +v -1.061851 -0.009791 -1.335087 +v 0.515597 2.118104 -0.234671 +v 0.295633 0.834204 -1.959055 +v -1.098511 2.081233 -1.591869 +v 1.029470 2.081233 -0.748426 +v 0.515597 2.081021 -1.959055 +v -1.098511 1.861070 -1.445109 +v -1.025190 0.650699 -0.344884 +v 1.029470 1.200791 -1.959055 +v -1.061851 -0.046662 -1.885390 +v 0.992601 2.118104 -0.381431 +v -1.098511 1.971045 -1.885390 +v 0.148783 2.081021 -0.014435 +f 67 69 78 +f 56 53 58 +f 58 55 59 +f 56 58 59 +f 55 58 60 +f 58 53 62 +f 64 61 67 +f 59 55 68 +f 55 63 68 +f 63 56 68 +f 61 54 69 +f 57 65 69 +f 67 61 69 +f 53 56 70 +f 62 53 70 +f 56 62 70 +f 56 63 71 +f 63 64 71 +f 54 66 72 +f 69 54 72 +f 57 69 72 +f 60 57 73 +f 66 60 73 +f 72 66 73 +f 57 72 73 +f 56 59 74 +f 59 68 74 +f 68 56 74 +f 54 55 75 +f 55 60 75 +f 66 54 75 +f 60 66 75 +f 62 56 76 +f 67 62 76 +f 64 67 76 +f 56 71 76 +f 71 64 76 +f 55 54 77 +f 54 61 77 +f 63 55 77 +f 61 64 77 +f 64 63 77 +f 57 60 78 +f 60 58 78 +f 58 62 78 +f 65 57 78 +f 62 67 78 +f 69 65 78 +o convex_3 +v -2.456192 1.934631 2.113460 +v -3.006495 -0.009971 0.022256 +v -3.043037 0.173660 0.059126 +v -1.098605 1.971275 0.169321 +v -1.098605 0.063522 2.150331 +v -3.006495 0.100166 2.150331 +v -3.116517 2.081413 0.132451 +v -1.098605 0.026878 0.132451 +v -1.098605 2.044564 2.113460 +v -2.969756 2.007920 2.076590 +v -1.245563 1.897782 2.150331 +v -3.079777 1.017501 1.196280 +v -3.006495 0.063522 2.113460 +v -3.116517 1.971275 0.095789 +v -1.869148 0.026878 1.526240 +v -3.006495 1.457642 2.113460 +v -1.428866 1.567574 0.132451 +v -1.428866 2.007715 0.169113 +v -1.979170 -0.009971 0.132451 +v -3.116517 2.081413 0.315970 +v -2.896276 0.136811 0.022256 +v -1.098605 0.026878 1.159409 +v -3.043037 0.357086 1.856616 +v -3.006495 0.650854 2.150331 +v -3.006495 -0.009971 0.279100 +v -3.006495 2.007920 1.966811 +v -3.116517 1.714356 0.499281 +v -2.933016 2.081413 0.132451 +v -1.098605 0.614005 0.132451 +v -1.355584 2.044564 2.113460 +v -1.098605 2.044564 1.929941 +v -1.832409 1.714356 2.150331 +f 102 89 110 +f 82 83 86 +f 83 82 87 +f 84 83 89 +f 83 87 89 +f 83 84 91 +f 80 81 92 +f 83 91 93 +f 79 88 94 +f 92 82 95 +f 80 86 97 +f 85 92 98 +f 86 80 99 +f 80 92 99 +f 92 95 99 +f 86 83 100 +f 83 93 100 +f 97 86 100 +f 93 97 100 +f 90 81 101 +f 81 91 101 +f 91 84 101 +f 94 90 101 +f 94 101 102 +f 84 89 102 +f 101 84 102 +f 81 80 103 +f 91 81 103 +f 93 91 103 +f 80 97 103 +f 97 93 103 +f 94 88 104 +f 88 98 104 +f 104 98 105 +f 81 90 105 +f 92 81 105 +f 90 94 105 +f 98 92 105 +f 94 104 105 +f 82 92 106 +f 92 85 106 +f 96 82 106 +f 85 98 106 +f 98 87 106 +f 82 86 107 +f 95 82 107 +f 86 99 107 +f 99 95 107 +f 88 79 108 +f 79 89 108 +f 89 87 108 +f 87 98 108 +f 98 88 108 +f 87 82 109 +f 82 96 109 +f 96 106 109 +f 106 87 109 +f 89 79 110 +f 79 94 110 +f 94 102 110 +o convex_4 +v 1.799551 2.007830 2.223712 +v -0.988390 -0.046662 -0.014435 +v -0.988390 -0.046662 0.169156 +v 3.010702 0.026820 0.169156 +v 0.699418 2.117945 -0.014435 +v -1.098604 0.063669 2.150320 +v -1.098604 2.044678 2.113514 +v 2.973696 0.026820 2.150101 +v 2.937092 2.154794 0.169156 +v -1.098604 1.971196 0.169156 +v 2.937092 2.117730 2.223712 +v 1.029257 -0.046662 -0.014435 +v -0.034271 1.017648 2.223712 +v -0.841572 2.007830 -0.014435 +v -1.098604 0.027036 0.132350 +v 2.937092 0.063669 2.186907 +v -1.098604 1.530732 2.186907 +v 2.973696 1.604215 1.783137 +v 2.313617 2.117730 2.223712 +v 0.992653 2.117945 -0.014435 +v 2.973696 1.787598 0.169156 +v 2.863884 1.384198 2.223712 +v 3.010702 0.100303 1.086455 +v 2.093188 0.027036 2.150320 +v -0.988390 1.971196 -0.014435 +v -0.401116 1.347350 2.223712 +v 0.112547 -0.046662 0.315941 +v -0.731357 2.044678 2.150320 +v 2.973696 1.347350 2.186907 +v 3.010702 0.467284 0.169156 +v -0.988390 -0.009598 0.939669 +v 2.900488 2.154794 0.536119 +v -1.098604 2.044678 1.930142 +v 0.479392 2.081097 2.150320 +v 1.029257 -0.046662 0.205743 +f 118 137 145 +f 116 117 120 +f 113 112 122 +f 112 115 122 +f 121 111 123 +f 115 112 124 +f 112 113 125 +f 113 116 125 +f 116 120 125 +f 123 116 126 +f 117 116 127 +f 111 121 129 +f 115 119 130 +f 122 115 130 +f 119 121 131 +f 121 128 131 +f 130 119 131 +f 121 123 132 +f 126 121 132 +f 123 126 132 +f 118 114 133 +f 126 116 134 +f 118 126 134 +f 124 112 135 +f 120 124 135 +f 112 125 135 +f 125 120 135 +f 123 111 136 +f 116 123 136 +f 127 116 136 +f 113 122 137 +f 134 113 137 +f 118 134 137 +f 117 127 138 +f 111 129 138 +f 129 117 138 +f 136 111 138 +f 127 136 138 +f 126 118 139 +f 121 126 139 +f 128 121 139 +f 118 133 139 +f 133 128 139 +f 114 122 140 +f 122 130 140 +f 131 128 140 +f 130 131 140 +f 133 114 140 +f 128 133 140 +f 116 113 141 +f 113 134 141 +f 134 116 141 +f 119 115 142 +f 121 119 142 +f 115 129 142 +f 129 121 142 +f 117 115 143 +f 120 117 143 +f 115 124 143 +f 124 120 143 +f 115 117 144 +f 117 129 144 +f 129 115 144 +f 114 118 145 +f 122 114 145 +f 137 122 145 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/482/482.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/482/482.urdf new file mode 100644 index 000000000..ee24aa0df --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/482/482.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/483/483.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/483/483.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/483/483.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/483/483.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/483/483.obj new file mode 100644 index 000000000..2e1c64a6e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/483/483.obj @@ -0,0 +1,432 @@ +o convex_0 +v -0.277168 -0.615211 -1.104393 +v -0.092109 0.803741 1.086333 +v -0.153795 0.803741 1.086333 +v -1.048453 3.487486 -1.042634 +v 1.018659 3.395077 -1.011540 +v -1.017610 3.394645 1.055454 +v -1.048453 -0.923529 1.024574 +v 0.925921 -0.923960 1.024360 +v 0.925921 3.426168 0.993480 +v 0.956764 -0.923960 -0.949781 +v -1.110348 -0.923529 -1.073513 +v -1.110348 3.487486 -0.857357 +v 0.987607 -0.121644 0.191472 +v 0.617490 -0.923960 1.086333 +v 0.956764 3.179168 -1.042634 +v 1.018659 3.426168 -0.394594 +v 1.018659 1.666944 -1.011540 +v 0.895078 3.024578 1.024360 +v -1.017610 3.456395 0.931936 +v -0.955924 2.438601 -1.073513 +v 0.956764 3.426168 0.839298 +v -0.277168 3.487486 -0.209532 +v 0.956764 -0.831552 -0.980660 +v 0.956764 -0.923960 0.808418 +v -0.740022 -0.923529 -1.104393 +v 0.247165 3.456395 -1.042634 +v -1.110348 -0.923529 -0.764719 +v -1.048453 0.526082 1.024574 +v 0.679176 3.456395 0.746659 +v -1.110348 2.037443 -1.073513 +v -1.079296 -0.892870 0.283896 +v 0.987607 -0.183825 -0.980875 +v 0.247165 -0.923960 1.086333 +v -1.017610 1.852194 1.055454 +v -0.801708 3.425736 1.055454 +v 0.617490 -0.121644 1.086333 +v 1.018659 1.698035 -0.425473 +v 1.018659 3.426168 -0.949995 +v -0.338854 -0.923529 -1.104393 +v -1.079296 3.487486 -0.209317 +v -0.462226 3.487486 -1.042634 +v -1.110348 3.487486 -1.042419 +v 0.586647 3.426168 1.024360 +v 0.925921 2.438170 1.024360 +v -1.110348 3.425736 -0.826477 +v 0.802549 0.094265 1.055239 +v 0.956764 3.086328 -1.042634 +v 0.679176 3.426168 -1.042634 +v -0.585598 -0.429961 -1.104393 +v 0.956764 1.482558 0.839298 +v -0.277168 -0.676961 -1.104393 +f 47 23 51 +f 2 3 14 +f 10 8 14 +f 15 5 17 +f 5 16 17 +f 15 1 20 +f 4 12 22 +f 8 10 24 +f 10 11 25 +f 12 11 27 +f 7 6 28 +f 19 9 29 +f 9 21 29 +f 21 16 29 +f 22 19 29 +f 11 12 30 +f 25 11 30 +f 27 7 31 +f 7 28 31 +f 17 13 32 +f 10 23 32 +f 23 17 32 +f 24 10 32 +f 13 24 32 +f 3 7 33 +f 11 10 33 +f 14 3 33 +f 10 14 33 +f 7 27 33 +f 27 11 33 +f 3 6 34 +f 6 7 34 +f 7 3 34 +f 3 2 35 +f 6 3 35 +f 19 6 35 +f 2 14 36 +f 18 2 36 +f 16 13 37 +f 13 17 37 +f 17 16 37 +f 16 5 38 +f 29 16 38 +f 23 10 39 +f 10 25 39 +f 25 1 39 +f 6 19 40 +f 22 12 40 +f 19 22 40 +f 28 6 40 +f 20 4 41 +f 4 22 41 +f 26 20 41 +f 22 29 41 +f 38 26 41 +f 29 38 41 +f 12 4 42 +f 4 20 42 +f 30 12 42 +f 20 30 42 +f 2 18 43 +f 18 9 43 +f 9 19 43 +f 35 2 43 +f 19 35 43 +f 9 18 44 +f 21 9 44 +f 8 21 44 +f 18 36 44 +f 12 27 45 +f 27 31 45 +f 31 28 45 +f 40 12 45 +f 28 40 45 +f 14 8 46 +f 36 14 46 +f 8 44 46 +f 44 36 46 +f 1 15 47 +f 15 17 47 +f 17 23 47 +f 5 15 48 +f 15 20 48 +f 20 26 48 +f 38 5 48 +f 26 38 48 +f 20 1 49 +f 1 25 49 +f 30 20 49 +f 25 30 49 +f 13 16 50 +f 21 8 50 +f 16 21 50 +f 8 24 50 +f 24 13 50 +f 23 39 51 +f 39 1 51 +f 1 47 51 +o convex_1 +v -0.554819 -1.695663 -2.400139 +v 0.586694 -1.942497 -1.104776 +v 0.586694 -2.158490 -1.104776 +v 0.432326 -2.035017 -3.078938 +v 0.463200 -1.016955 -3.017089 +v -0.462314 -1.078859 -1.104776 +v -0.523946 -2.004177 -1.135508 +v -0.493187 -1.078859 -2.986357 +v -0.585808 -2.035017 -3.078938 +v 0.463200 -1.048019 -1.104776 +v 0.278074 -2.158490 -3.078938 +v -0.493187 -2.065857 -2.862851 +v 0.463200 -2.158490 -2.832120 +v 0.463200 -2.158490 -1.104776 +v 0.216327 -1.016955 -3.017089 +v 0.586694 -2.158490 -1.382326 +v -0.493187 -1.233060 -1.104776 +v -0.523946 -1.819024 -1.104776 +v -0.400567 -1.788184 -3.078938 +v 0.463200 -1.016955 -2.153320 +v -0.493187 -1.078859 -2.122396 +v 0.494073 -1.202220 -1.104776 +v 0.123822 -1.048019 -1.104776 +v -0.246315 -1.048019 -2.832120 +v -0.585808 -1.973337 -2.955432 +v 0.185454 -1.325693 -3.048013 +v 0.463200 -1.233060 -3.017089 +v 0.432326 -2.158490 -3.078938 +v -0.493187 -2.004177 -1.104776 +f 69 58 80 +f 54 53 57 +f 57 53 61 +f 60 55 62 +f 60 62 63 +f 58 60 63 +f 54 62 64 +f 54 57 65 +f 62 54 65 +f 63 62 65 +f 58 63 65 +f 53 54 67 +f 56 53 67 +f 54 64 67 +f 65 57 68 +f 65 68 69 +f 55 60 70 +f 60 59 70 +f 59 66 70 +f 56 66 71 +f 52 68 72 +f 68 57 72 +f 53 56 73 +f 61 53 73 +f 56 71 73 +f 71 61 73 +f 57 61 74 +f 66 57 74 +f 61 71 74 +f 71 66 74 +f 57 66 75 +f 66 59 75 +f 59 72 75 +f 72 57 75 +f 60 58 76 +f 59 60 76 +f 68 52 76 +f 69 68 76 +f 58 69 76 +f 52 72 76 +f 72 59 76 +f 56 55 77 +f 66 56 77 +f 55 70 77 +f 70 66 77 +f 55 56 78 +f 56 67 78 +f 67 64 78 +f 62 55 79 +f 64 62 79 +f 55 78 79 +f 78 64 79 +f 58 65 80 +f 65 69 80 +o convex_2 +v -0.492966 -1.942514 1.086333 +v 0.956697 -0.924389 0.808633 +v 0.925940 -0.924389 1.024574 +v 0.925940 -2.621431 1.024574 +v -1.110145 -2.621431 -1.104393 +v 0.925940 -2.497840 -0.949995 +v -1.110145 -0.924389 -1.073513 +v -1.048427 -0.924389 1.024574 +v 0.956697 -0.924389 -0.949995 +v -1.079388 -2.466943 1.024574 +v 0.494116 -1.171238 -1.104393 +v 0.586592 -2.158465 -1.104393 +v 0.617552 -0.924389 1.086333 +v 0.648310 -2.312787 1.086333 +v 0.956697 -2.004310 -0.949995 +v -1.017670 -2.497840 1.024574 +v -0.740040 -0.924389 -1.104393 +v -0.585644 -1.078711 1.086333 +v -1.110145 -2.590533 -0.456353 +v 0.925940 -2.621431 0.746659 +v 0.679068 -2.621431 1.024574 +v 0.956697 -1.911617 0.808633 +v 0.617552 -2.528738 -0.980875 +v -1.110145 -0.924389 -0.764933 +v 0.463156 -1.047980 -1.104393 +v -1.017670 -2.621431 -1.104393 +v 0.864222 -2.528738 1.055454 +v -1.079388 -0.955287 0.314561 +v -0.462208 -2.127568 1.086333 +v -1.110145 -2.621431 -0.949995 +v -1.110145 -1.942348 -1.104393 +v -0.338772 -0.924389 -1.104393 +v 0.123809 -2.559469 -1.011754 +v 0.925940 -2.528738 -0.672295 +v 0.833464 -0.986185 1.055454 +v -1.110145 -2.497840 -0.363714 +f 104 99 116 +f 82 83 84 +f 83 82 87 +f 83 87 88 +f 87 82 89 +f 91 89 92 +f 85 91 92 +f 83 88 93 +f 93 81 94 +f 89 82 95 +f 92 89 95 +f 86 92 95 +f 87 89 97 +f 91 85 97 +f 90 81 98 +f 88 90 98 +f 81 93 98 +f 93 88 98 +f 87 85 99 +f 96 90 99 +f 84 85 100 +f 95 84 100 +f 85 84 101 +f 96 99 101 +f 82 84 102 +f 95 82 102 +f 84 95 102 +f 92 86 103 +f 88 87 104 +f 87 99 104 +f 89 91 105 +f 91 97 105 +f 85 92 106 +f 100 85 106 +f 92 103 106 +f 84 83 107 +f 94 96 107 +f 101 84 107 +f 96 101 107 +f 90 88 108 +f 88 104 108 +f 104 90 108 +f 81 90 109 +f 94 81 109 +f 90 96 109 +f 96 94 109 +f 99 85 110 +f 85 101 110 +f 101 99 110 +f 85 87 111 +f 97 85 111 +f 87 97 111 +f 97 89 112 +f 89 105 112 +f 105 97 112 +f 100 106 113 +f 106 103 113 +f 86 95 114 +f 95 100 114 +f 103 86 114 +f 100 113 114 +f 113 103 114 +f 83 93 115 +f 93 94 115 +f 107 83 115 +f 94 107 115 +f 99 90 116 +f 90 104 116 +o convex_3 +v -0.462362 -2.127746 1.302677 +v 0.617549 -0.955245 3.060909 +v 0.339797 -0.955245 3.060909 +v 0.031184 -1.078853 1.086333 +v 0.494104 -2.127746 1.086333 +v -0.554829 -1.973264 3.060909 +v -0.585808 -1.078853 1.086333 +v 0.524965 -2.004138 3.091928 +v -0.493106 -0.986118 2.968443 +v 0.524965 -1.109727 1.086333 +v -0.462362 -2.127746 1.086333 +v -0.585808 -1.047980 1.394947 +v 0.617549 -0.955245 2.844762 +v -0.523967 -1.109727 2.999069 +v -0.585808 -1.294852 1.086333 +v -0.554829 -2.004138 2.906406 +v 0.524965 -2.035126 2.783314 +v -0.184610 -0.955245 2.968443 +v 0.586688 -1.449105 3.091928 +v -0.554829 -1.819012 3.060909 +v -0.493106 -2.096758 1.394947 +v 0.031184 -2.004138 3.091928 +v -0.585808 -1.047980 1.610897 +v 0.524965 -1.078853 1.240640 +v 0.617549 -1.078853 2.875584 +v 0.494104 -2.127746 1.209818 +v -0.523967 -0.986118 2.505523 +v 0.524965 -2.035126 2.320198 +v 0.524965 -1.263979 1.086333 +v 0.524965 -1.356484 3.091928 +v 0.524965 -1.880759 1.487609 +v -0.554829 -2.004138 2.783314 +f 137 132 148 +f 120 121 123 +f 121 120 126 +f 121 117 127 +f 123 121 127 +f 120 123 128 +f 119 118 129 +f 120 128 129 +f 119 125 130 +f 123 127 131 +f 128 123 131 +f 122 131 132 +f 125 119 134 +f 119 129 134 +f 129 128 134 +f 124 133 135 +f 119 130 136 +f 127 117 137 +f 131 127 137 +f 117 132 137 +f 132 117 138 +f 122 132 138 +f 117 133 138 +f 133 124 138 +f 124 135 138 +f 136 122 138 +f 131 122 139 +f 128 131 139 +f 122 136 139 +f 136 130 139 +f 126 120 140 +f 120 129 140 +f 129 126 140 +f 129 118 141 +f 118 135 141 +f 117 121 142 +f 133 117 142 +f 121 133 142 +f 130 125 143 +f 125 134 143 +f 134 128 143 +f 128 139 143 +f 139 130 143 +f 133 121 144 +f 135 133 144 +f 141 135 144 +f 121 126 145 +f 126 129 145 +f 129 141 145 +f 118 119 146 +f 135 118 146 +f 119 136 146 +f 138 135 146 +f 136 138 146 +f 144 121 147 +f 141 144 147 +f 121 145 147 +f 145 141 147 +f 132 131 148 +f 131 137 148 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/483/483.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/483/483.urdf new file mode 100644 index 000000000..f685a3948 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/483/483.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/484/484.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/484/484.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/484/484.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/484/484.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/484/484.obj new file mode 100644 index 000000000..48a76f0c1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/484/484.obj @@ -0,0 +1,480 @@ +o convex_0 +v -2.274526 -0.315739 0.330150 +v -3.943354 -0.093313 -0.337455 +v -3.943354 0.017900 -0.337455 +v -2.014956 0.166293 -0.300337 +v -1.977627 -0.501247 -0.226165 +v -3.943354 0.129178 0.181743 +v -3.943354 -0.426952 0.255849 +v -1.977627 0.129178 0.293032 +v -3.869081 -0.464067 -0.226165 +v -1.977627 -0.501247 0.218861 +v -3.831944 -0.389903 0.293032 +v -1.977627 -0.464067 0.330150 +v -3.757672 0.055014 -0.337455 +v -2.942211 -0.501247 -0.151994 +v -3.164259 0.017900 -0.337455 +v -1.977627 0.166293 -0.151994 +v -3.943354 0.129178 0.107572 +v -3.461158 -0.241576 0.293032 +f 11 1 18 +f 3 2 6 +f 6 2 7 +f 2 5 9 +f 7 2 9 +f 5 8 10 +f 6 7 11 +f 8 1 12 +f 7 10 12 +f 10 8 12 +f 11 7 12 +f 1 11 12 +f 2 3 13 +f 9 5 14 +f 7 9 14 +f 10 7 14 +f 5 10 14 +f 4 5 15 +f 5 2 15 +f 2 13 15 +f 13 4 15 +f 5 4 16 +f 4 6 16 +f 6 8 16 +f 8 5 16 +f 3 6 17 +f 6 4 17 +f 13 3 17 +f 4 13 17 +f 8 6 18 +f 1 8 18 +f 6 11 18 +o convex_1 +v 2.213289 0.945231 0.329559 +v 0.284972 -1.205941 -3.044463 +v 0.247919 -1.205731 -3.044463 +v 1.619855 -1.131400 3.037264 +v 0.247723 0.870900 3.111838 +v 0.247723 0.907960 -3.082054 +v 2.139184 -1.094550 -2.933512 +v 0.247919 -1.094550 2.962690 +v 2.250538 0.907960 3.074248 +v 2.250538 0.945231 -3.007480 +v 2.213289 -1.131611 3.037264 +v 0.247723 0.945231 -0.930319 +v 1.063866 -1.205941 1.739190 +v 0.247919 -1.205731 0.960104 +v 2.176237 -0.909039 -2.933512 +v 2.250538 -0.056235 3.074248 +v 2.213289 -1.131611 1.665223 +v 2.102131 0.945231 -3.044463 +v 0.581591 -1.205941 -3.007480 +v 1.285987 0.907960 3.074248 +v 1.916670 -1.168671 2.703197 +v 0.804104 0.945231 -3.082054 +v 2.250538 0.722449 -2.932905 +v 2.176237 -1.131611 0.514478 +v 0.618644 -1.094340 3.000280 +v 2.213289 0.240246 -3.007480 +v 0.247723 0.945231 -2.599444 +v 1.100919 -1.131611 3.000280 +v 0.396130 -1.168460 -3.044463 +v 0.247723 0.796780 3.111838 +v 0.655697 0.945231 -0.374348 +v 2.176237 -1.094550 -2.117441 +v 0.284972 0.277517 -3.082054 +f 36 47 51 +f 19 27 28 +f 24 23 30 +f 19 28 30 +f 21 20 32 +f 20 31 32 +f 31 26 32 +f 27 23 34 +f 28 27 34 +f 34 29 35 +f 30 28 36 +f 20 25 37 +f 31 20 37 +f 27 19 38 +f 23 27 38 +f 30 23 38 +f 29 22 39 +f 35 29 39 +f 31 37 39 +f 30 36 40 +f 33 28 41 +f 28 34 41 +f 34 35 41 +f 37 25 42 +f 35 39 42 +f 39 37 42 +f 33 25 44 +f 28 33 44 +f 36 28 44 +f 24 30 45 +f 40 24 45 +f 30 40 45 +f 26 31 46 +f 39 22 46 +f 31 39 46 +f 22 43 46 +f 43 26 46 +f 25 20 47 +f 44 25 47 +f 36 44 47 +f 24 21 48 +f 23 24 48 +f 22 29 48 +f 21 32 48 +f 32 26 48 +f 34 23 48 +f 29 34 48 +f 43 22 48 +f 26 43 48 +f 19 30 49 +f 38 19 49 +f 30 38 49 +f 25 33 50 +f 33 41 50 +f 41 35 50 +f 42 25 50 +f 35 42 50 +f 20 21 51 +f 21 24 51 +f 24 40 51 +f 40 36 51 +f 47 20 51 +o convex_2 +v -0.494135 -2.133004 -1.079024 +v 0.025188 2.910681 1.108809 +v -0.531187 2.948046 -0.114698 +v -1.866252 -3.171391 0.960369 +v -1.829200 2.947443 -0.930798 +v 0.025188 -3.208757 1.071538 +v -1.903305 2.873316 1.034696 +v 0.025188 2.836553 -1.004911 +v -1.754899 -3.097264 -1.079024 +v 0.025188 -3.134027 -0.930584 +v -1.977606 -0.686010 -0.262924 +v -1.792147 2.948046 -1.041968 +v 0.025188 -0.389500 -1.079024 +v -1.087366 -3.208757 1.034482 +v -1.792147 -2.948406 -1.079024 +v -1.977606 0.128790 0.292923 +v -1.903305 -2.836914 0.812143 +v -1.977606 0.165552 -0.262924 +v -0.345729 -3.208757 1.071538 +v -0.420030 2.873316 -1.041754 +v -1.643741 -3.208757 0.997425 +v -1.050314 2.948046 0.329980 +v -1.866252 1.538418 1.034696 +v -1.792147 -1.353761 -1.079024 +v 0.025188 -1.687636 -1.079024 +v -0.160467 -3.134027 -0.967641 +v -1.124419 2.836553 1.071752 +v -1.866252 -2.800151 0.997425 +v -0.049113 2.873316 -1.004697 +v 0.025188 -3.208757 0.626646 +v -1.866252 -3.171391 0.441149 +v -1.977606 -0.463628 0.329980 +v -1.792147 -3.097264 -1.041968 +v -0.086166 2.910681 1.108809 +v 0.025188 2.057310 -1.041754 +v -1.792147 -3.134027 -0.485692 +v -1.903305 2.057310 1.034696 +v -1.495336 2.948046 -1.041968 +v -0.420030 -3.134027 -0.967641 +v -0.827999 2.910681 1.071752 +v 0.025188 2.910681 0.552533 +v -1.829200 2.947443 -0.670974 +v -1.903305 2.873316 0.960369 +f 69 58 94 +f 53 57 59 +f 59 57 61 +f 52 60 64 +f 59 61 64 +f 62 56 66 +f 64 60 66 +f 56 62 69 +f 67 58 69 +f 62 67 69 +f 57 53 70 +f 65 57 70 +f 57 65 72 +f 53 54 73 +f 54 63 73 +f 65 70 74 +f 56 63 75 +f 63 64 75 +f 66 56 75 +f 64 66 75 +f 52 64 76 +f 64 61 76 +f 60 52 77 +f 52 76 77 +f 76 61 77 +f 74 70 78 +f 68 55 79 +f 55 72 79 +f 72 65 79 +f 65 74 79 +f 59 71 80 +f 61 57 81 +f 57 72 81 +f 77 61 81 +f 68 62 82 +f 55 68 82 +f 72 55 82 +f 58 67 83 +f 67 62 83 +f 62 68 83 +f 66 60 84 +f 62 66 84 +f 82 62 84 +f 70 53 85 +f 53 73 85 +f 58 78 85 +f 78 70 85 +f 59 64 86 +f 71 59 86 +f 64 71 86 +f 72 82 87 +f 84 60 87 +f 82 84 87 +f 78 58 88 +f 74 78 88 +f 68 79 88 +f 79 74 88 +f 58 83 88 +f 83 68 88 +f 63 54 89 +f 64 63 89 +f 71 64 89 +f 54 80 89 +f 80 71 89 +f 60 77 90 +f 81 72 90 +f 77 81 90 +f 87 60 90 +f 72 87 90 +f 73 58 91 +f 85 73 91 +f 58 85 91 +f 54 53 92 +f 53 59 92 +f 80 54 92 +f 59 80 92 +f 56 58 93 +f 63 56 93 +f 58 73 93 +f 73 63 93 +f 58 56 94 +f 56 69 94 +o convex_3 +v -1.161575 3.986405 -0.226169 +v -0.901969 3.504569 0.330150 +v -0.939083 3.504569 0.330150 +v -1.013247 4.950665 0.218817 +v -0.605444 4.950665 -0.374544 +v -0.531280 2.948046 -0.189058 +v -0.679608 4.913420 0.255928 +v -1.198755 2.948046 -0.226169 +v -0.642493 2.948046 0.330150 +v -1.198755 4.950665 0.181775 +v -1.087411 2.985487 0.293039 +v -1.087411 4.765224 -0.300322 +v -0.642493 4.913420 0.144665 +v -0.531280 3.022537 -0.226169 +v -1.198755 4.468437 0.218817 +v -1.198755 4.913420 0.033401 +v -0.531280 3.096635 -0.114905 +v -1.198755 2.948046 -0.077794 +v -0.642493 4.802272 -0.374544 +v -1.050296 2.948046 0.330150 +v -0.642493 3.912503 0.293039 +v -0.568330 4.282995 -0.263142 +f 111 108 116 +f 97 96 101 +f 98 97 101 +f 99 98 101 +f 102 100 103 +f 96 97 103 +f 98 99 104 +f 102 95 106 +f 99 101 107 +f 100 102 108 +f 97 98 109 +f 98 104 109 +f 104 102 109 +f 95 102 110 +f 104 99 110 +f 102 104 110 +f 106 95 110 +f 99 106 110 +f 103 100 111 +f 100 108 111 +f 102 103 112 +f 109 102 112 +f 105 109 112 +f 102 106 113 +f 106 99 113 +f 99 108 113 +f 108 102 113 +f 103 97 114 +f 97 109 114 +f 109 105 114 +f 112 103 114 +f 105 112 114 +f 101 96 115 +f 96 103 115 +f 107 101 115 +f 103 111 115 +f 111 107 115 +f 99 107 116 +f 108 99 116 +f 107 111 116 +o convex_4 +v 0.062295 -1.057265 2.518208 +v 0.247723 0.871052 3.111838 +v 0.136477 0.871052 3.111838 +v 0.247723 0.796751 1.109023 +v 0.247723 -1.094318 2.963431 +v 0.099395 -1.131763 1.109023 +v 0.247723 -1.131763 1.109023 +v 0.136477 0.833803 1.776955 +v 0.062295 -0.723397 3.000484 +v 0.173523 0.796751 1.109023 +v 0.099395 0.796751 3.037537 +v 0.099395 -0.834752 1.109023 +v 0.062295 -1.094318 2.963431 +v 0.136477 0.240369 1.109023 +f 128 124 130 +f 120 118 121 +f 121 122 123 +f 120 121 123 +f 122 120 123 +f 119 118 124 +f 118 120 124 +f 118 119 125 +f 121 118 125 +f 120 122 126 +f 124 120 126 +f 119 124 127 +f 125 119 127 +f 117 125 127 +f 122 117 128 +f 126 122 128 +f 117 127 128 +f 127 124 128 +f 117 122 129 +f 122 121 129 +f 125 117 129 +f 121 125 129 +f 124 126 130 +f 126 128 130 +o convex_5 +v 0.136466 -0.538017 -3.044805 +v 0.247723 0.945231 -1.079238 +v 0.247723 0.945231 -2.562529 +v 0.247723 -1.205941 -3.044805 +v 0.173559 -1.205941 -1.079238 +v 0.136466 0.907960 -3.082054 +v 0.247723 -1.205941 -1.079238 +v 0.173559 0.945231 -1.339197 +v 0.247723 0.907960 -3.082054 +v 0.173559 -1.205941 -3.044805 +v 0.136466 0.907960 -2.525476 +v 0.210619 0.945231 -1.079238 +v 0.173559 -0.500957 -1.079238 +f 135 142 143 +f 133 132 134 +f 134 132 137 +f 135 134 137 +f 132 135 137 +f 132 133 138 +f 133 136 138 +f 133 134 139 +f 136 133 139 +f 134 136 139 +f 135 131 140 +f 134 135 140 +f 136 134 140 +f 131 136 140 +f 131 135 141 +f 136 131 141 +f 138 136 141 +f 135 132 142 +f 132 138 142 +f 142 138 143 +f 141 135 143 +f 138 141 143 +o convex_6 +v 0.025188 -2.540836 -1.004697 +v 0.099381 2.910957 1.108809 +v 0.136455 2.502417 1.071538 +v 0.025188 -3.208158 1.071752 +v 0.247701 -1.205593 -1.079024 +v 0.025210 2.836677 -1.004697 +v 0.247701 -1.131313 1.108809 +v 0.210626 2.317316 -1.004697 +v 0.210626 -3.133878 -0.930584 +v 0.025210 2.910957 1.108809 +v 0.247701 0.796373 1.108809 +v 0.099381 -3.208757 0.886256 +v 0.173508 2.873817 -0.485478 +v 0.025188 -3.133878 -0.930584 +v 0.247701 1.241454 -1.041754 +v 0.025188 -0.352571 -1.079024 +v 0.210626 -3.133878 -0.708031 +v 0.247701 0.944933 -1.079024 +v 0.173508 2.836677 -1.004697 +v 0.025188 -1.650674 -1.079024 +v 0.099381 -1.130714 1.108809 +v 0.136455 2.910957 0.478206 +v 0.099381 -2.911637 1.071538 +v 0.025188 1.983056 -1.041754 +f 162 161 167 +f 150 145 153 +f 146 145 154 +f 145 150 154 +f 150 148 154 +f 154 151 156 +f 147 144 157 +f 144 152 157 +f 155 147 157 +f 152 155 157 +f 154 148 158 +f 151 154 158 +f 144 147 159 +f 148 150 160 +f 152 148 160 +f 150 155 160 +f 155 152 160 +f 158 148 161 +f 151 158 161 +f 148 159 161 +f 149 156 162 +f 156 151 162 +f 151 161 162 +f 152 144 163 +f 148 152 163 +f 144 159 163 +f 159 148 163 +f 147 150 164 +f 153 147 164 +f 150 153 164 +f 145 146 165 +f 153 145 165 +f 149 153 165 +f 146 154 165 +f 156 149 165 +f 154 156 165 +f 150 147 166 +f 147 155 166 +f 155 150 166 +f 147 153 167 +f 153 149 167 +f 159 147 167 +f 161 159 167 +f 149 162 167 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/484/484.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/484/484.urdf new file mode 100644 index 000000000..6763b9728 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/484/484.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/485/485.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/485/485.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/485/485.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/485/485.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/485/485.obj new file mode 100644 index 000000000..2993e9f6b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/485/485.obj @@ -0,0 +1,156 @@ +o convex_0 +v 0.558845 -3.041005 -0.560530 +v -0.473762 -1.535726 1.121629 +v 1.031280 2.270852 1.091911 +v -1.005252 3.008627 -0.914793 +v 1.090123 3.038356 -0.944297 +v -1.064306 -3.100464 -1.062527 +v -1.005252 3.097208 1.062407 +v 1.090334 -3.040398 0.973894 +v -0.975724 -3.070128 1.121629 +v 0.972225 -2.804990 -0.944297 +v 1.001752 3.068085 1.091911 +v -1.034779 1.828551 0.649136 +v 0.824589 -2.952423 -0.973801 +v -1.034779 1.355914 -0.973801 +v 0.795062 -3.070734 1.003398 +v 1.090123 2.978897 -0.354002 +v 0.706481 3.097815 0.088345 +v 1.090123 2.005107 -0.944297 +v -1.005252 -3.100464 0.708144 +v -0.237756 3.068085 1.091911 +v 1.090334 -3.040398 0.708358 +v -1.064306 -2.450664 -1.062527 +v -0.769034 -3.011882 -1.062527 +v -1.005252 3.037749 -0.855785 +v -1.064306 -1.535726 -0.472018 +v 1.090123 -2.214649 1.003398 +v -1.005252 1.414766 1.091911 +v -1.005252 2.624571 -0.944297 +v -0.857616 -3.099857 -1.062527 +v -0.828089 -2.923301 1.121629 +v 0.972225 -2.952423 -0.855785 +v -1.005252 -0.148758 1.091911 +v -1.034779 1.680511 -0.944297 +v -1.064306 -3.100464 -0.678546 +v -1.005252 3.097208 0.737862 +v 0.736008 3.097815 0.708144 +v 0.972225 3.068085 -0.619538 +v 1.031280 2.093689 1.091911 +v 1.090123 -1.771134 0.973894 +v 1.031280 3.067479 0.855878 +v -1.064306 -1.476874 -1.032809 +v 0.854117 3.038356 -0.944297 +v -0.946197 -3.099857 0.914886 +v -0.975724 -2.538639 1.121629 +v 1.060807 -3.040398 0.501616 +v -0.385392 3.097815 1.062407 +v 0.854117 -3.041005 1.003398 +v -0.798561 3.037749 -0.914793 +v -0.798561 -3.099857 -0.354002 +v -1.005252 -2.450664 -1.062527 +v 0.617899 -3.041005 -0.472018 +v -1.034779 1.828551 0.324591 +v 0.942698 -2.952423 -0.914793 +f 31 51 53 +f 2 3 11 +f 8 5 16 +f 13 5 18 +f 10 13 18 +f 2 11 20 +f 5 8 21 +f 8 15 21 +f 18 5 21 +f 10 18 21 +f 5 13 23 +f 6 22 23 +f 22 6 25 +f 7 12 27 +f 20 7 27 +f 14 4 28 +f 6 23 29 +f 23 13 29 +f 2 9 30 +f 10 21 31 +f 19 9 32 +f 12 25 32 +f 25 19 32 +f 9 27 32 +f 27 12 32 +f 4 14 33 +f 24 4 33 +f 6 19 34 +f 25 6 34 +f 19 25 34 +f 12 7 35 +f 17 24 35 +f 17 36 37 +f 3 2 38 +f 26 3 38 +f 2 30 38 +f 30 26 38 +f 16 3 39 +f 8 16 39 +f 3 26 39 +f 26 8 39 +f 11 3 40 +f 3 16 40 +f 16 5 40 +f 36 11 40 +f 37 36 40 +f 5 37 40 +f 14 22 41 +f 25 12 41 +f 22 25 41 +f 33 14 41 +f 5 22 42 +f 22 14 42 +f 28 4 42 +f 14 28 42 +f 37 5 42 +f 15 9 43 +f 9 19 43 +f 9 2 44 +f 2 20 44 +f 27 9 44 +f 20 27 44 +f 21 15 45 +f 31 21 45 +f 7 20 46 +f 20 11 46 +f 35 7 46 +f 17 35 46 +f 11 36 46 +f 36 17 46 +f 15 8 47 +f 9 15 47 +f 8 26 47 +f 30 9 47 +f 26 30 47 +f 4 24 48 +f 24 17 48 +f 17 37 48 +f 42 4 48 +f 37 42 48 +f 19 6 49 +f 29 15 49 +f 6 29 49 +f 15 43 49 +f 43 19 49 +f 22 5 50 +f 5 23 50 +f 23 22 50 +f 29 1 51 +f 15 29 51 +f 45 15 51 +f 31 45 51 +f 24 33 52 +f 12 35 52 +f 35 24 52 +f 41 12 52 +f 33 41 52 +f 13 10 53 +f 1 29 53 +f 29 13 53 +f 10 31 53 +f 51 1 53 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/485/485.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/485/485.urdf new file mode 100644 index 000000000..90b88cf4a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/485/485.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/486/486.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/486/486.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/486/486.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/486/486.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/486/486.obj new file mode 100644 index 000000000..4a00e2568 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/486/486.obj @@ -0,0 +1,807 @@ +o convex_0 +v 1.257751 -0.355309 -1.774007 +v 1.386574 0.353200 -1.741896 +v 1.386574 0.353200 -1.806186 +v 3.029026 -0.001054 -1.806186 +v 1.257751 -0.129843 -2.160441 +v 1.257751 -0.033234 -1.451931 +v 2.803282 -0.001054 -2.031514 +v 2.706881 0.031125 -1.580859 +v 1.257751 0.224273 -2.063763 +v 2.771379 0.224273 -1.838366 +v 1.257751 0.256522 -1.484250 +v 2.803282 -0.161953 -1.870477 +v 1.322249 -0.322991 -2.096013 +v 1.354498 -0.226382 -1.516360 +v 2.771379 -0.161953 -1.774007 +v 2.738957 0.095554 -2.031514 +v 2.545809 0.192163 -1.645288 +v 1.354498 -0.001054 -2.160441 +v 1.257751 0.320882 -1.548609 +v 2.577884 0.192163 -1.967085 +v 2.030863 -0.226382 -2.063763 +v 1.515397 0.031125 -1.451931 +v 2.384910 -0.129843 -1.612969 +v 2.738957 0.224273 -1.774007 +v 1.354498 -0.355309 -1.838366 +v 1.257751 0.353200 -1.838366 +v 2.996777 0.095554 -1.806186 +v 2.706881 0.063305 -1.580859 +v 1.418823 0.224273 -2.063763 +v 2.577884 -0.001054 -2.063763 +f 7 21 30 +f 5 1 6 +f 5 6 9 +f 3 2 10 +f 9 6 11 +f 7 4 12 +f 1 5 13 +f 6 1 14 +f 4 8 15 +f 12 4 15 +f 14 1 15 +f 5 9 18 +f 9 11 19 +f 11 17 19 +f 10 16 20 +f 7 12 21 +f 13 5 21 +f 12 13 21 +f 11 6 22 +f 6 14 22 +f 14 8 22 +f 8 14 23 +f 15 8 23 +f 14 15 23 +f 10 2 24 +f 2 19 24 +f 19 17 24 +f 1 13 25 +f 13 12 25 +f 15 1 25 +f 12 15 25 +f 2 3 26 +f 3 10 26 +f 19 2 26 +f 9 19 26 +f 10 20 26 +f 4 7 27 +f 7 16 27 +f 16 10 27 +f 10 24 27 +f 27 24 28 +f 8 4 28 +f 17 11 28 +f 22 8 28 +f 11 22 28 +f 24 17 28 +f 4 27 28 +f 18 9 29 +f 16 18 29 +f 20 16 29 +f 9 26 29 +f 26 20 29 +f 16 7 30 +f 5 18 30 +f 18 16 30 +f 21 5 30 +o convex_1 +v 0.806748 -0.065420 2.863315 +v -1.028804 -0.194152 1.382282 +v -0.191352 -0.419303 1.382108 +v 0.033841 1.319350 1.382108 +v -0.803202 -0.001055 2.895564 +v 0.871089 -1.127845 1.382282 +v -0.062465 -0.838069 2.863315 +v -0.867748 -0.967060 1.446607 +v 0.903464 0.835960 1.382282 +v 0.001875 0.739541 2.927639 +v -0.867748 0.932638 1.446607 +v -0.030295 -1.321460 1.382108 +v 0.806748 0.771594 2.187297 +v 0.001875 -0.161581 3.153383 +v 1.032145 -0.033367 2.251621 +v 0.548976 -0.644713 2.766741 +v -1.028804 -0.033108 2.219546 +v -0.771032 0.739541 2.219546 +v -0.771032 -0.773962 2.219546 +v 1.064520 -0.258518 1.382282 +v 0.742407 -0.001055 2.959889 +v 0.774578 -0.838069 2.187297 +v 0.033841 -0.805757 2.927639 +v -0.609976 -0.612660 2.702242 +v -0.932089 0.739541 1.382282 +v 0.516805 0.578497 2.766741 +v -0.609976 0.546185 2.702242 +v -0.062465 0.063311 3.153383 +v 0.710237 -1.192469 1.414531 +v -0.030295 1.319350 1.414531 +v -0.932089 -0.773962 1.382282 +v -0.094636 -0.773703 2.927639 +v -1.028804 0.095365 2.122972 +v 0.742407 -0.097733 2.959889 +v 0.967805 0.578497 1.543354 +v -0.030295 -1.321460 1.414531 +v 0.935634 -0.934747 1.446607 +v -0.030295 0.739541 2.927639 +v -1.028804 0.159731 1.382282 +v 0.871089 0.868272 1.511105 +v -0.771032 -0.838069 2.058473 +v 0.098386 -0.001055 3.153383 +v 0.066011 -1.095533 2.090896 +v 0.033841 1.319350 1.414531 +v -0.803202 -0.033108 2.895564 +v 1.032145 -0.097733 2.219372 +v -1.028804 -0.129528 2.122972 +v -0.771032 0.771594 2.155221 +v 1.032145 0.030999 2.219372 +v 0.838918 -1.031425 1.704253 +v -0.127011 -0.065162 3.153383 +v -0.803202 -0.773962 2.155221 +v -0.803202 0.739541 2.155221 +v -0.835373 0.964951 1.382282 +v 0.645692 0.353087 2.831066 +v 0.774578 -0.001055 2.927813 +v 1.064520 -0.161840 1.382282 +v -0.867748 -0.967060 1.382282 +v 0.806748 -0.773703 2.187297 +v 0.774578 -0.097733 2.927813 +v 0.677862 -0.741391 2.477019 +f 52 90 91 +f 33 34 42 +f 42 34 50 +f 36 42 50 +f 49 37 54 +f 43 40 56 +f 48 35 57 +f 42 36 59 +f 32 33 61 +f 33 42 61 +f 37 53 62 +f 53 44 62 +f 54 37 62 +f 32 47 63 +f 47 35 63 +f 41 55 63 +f 53 46 64 +f 44 53 64 +f 39 43 65 +f 38 42 66 +f 42 59 66 +f 36 50 67 +f 57 35 68 +f 48 57 68 +f 35 58 68 +f 58 40 68 +f 40 60 68 +f 33 32 69 +f 34 33 69 +f 55 34 69 +f 32 63 69 +f 63 55 69 +f 39 34 70 +f 43 39 70 +f 37 49 71 +f 38 66 71 +f 66 37 71 +f 51 40 72 +f 40 58 72 +f 58 44 72 +f 64 51 72 +f 44 64 72 +f 53 37 73 +f 59 53 73 +f 37 66 73 +f 66 59 73 +f 40 43 74 +f 34 60 74 +f 60 40 74 +f 70 34 74 +f 43 70 74 +f 35 47 75 +f 49 54 75 +f 54 62 75 +f 45 31 76 +f 50 45 76 +f 67 50 76 +f 47 32 77 +f 32 61 77 +f 61 38 77 +f 60 41 78 +f 48 68 78 +f 68 60 78 +f 65 43 79 +f 52 53 80 +f 59 36 80 +f 53 59 80 +f 36 67 80 +f 67 76 80 +f 58 35 81 +f 44 58 81 +f 62 44 81 +f 35 75 81 +f 75 62 81 +f 71 49 82 +f 38 71 82 +f 75 47 82 +f 49 75 82 +f 47 77 82 +f 77 38 82 +f 35 48 83 +f 63 35 83 +f 41 63 83 +f 78 41 83 +f 48 78 83 +f 34 55 84 +f 55 41 84 +f 60 34 84 +f 41 60 84 +f 40 51 85 +f 56 40 85 +f 43 56 85 +f 31 45 86 +f 51 64 86 +f 79 43 86 +f 45 79 86 +f 43 85 86 +f 85 51 86 +f 34 39 87 +f 50 34 87 +f 45 50 87 +f 39 65 87 +f 79 45 87 +f 65 79 87 +f 42 38 88 +f 61 42 88 +f 38 61 88 +f 52 80 89 +f 80 76 89 +f 64 46 90 +f 76 31 90 +f 31 86 90 +f 86 64 90 +f 52 89 90 +f 89 76 90 +f 46 53 91 +f 53 52 91 +f 90 46 91 +o convex_2 +v -1.351037 -0.355237 -1.870477 +v -1.222394 0.385333 -1.709647 +v -1.222394 0.385333 -1.806186 +v -3.057719 0.031144 -1.806186 +v -1.222394 -0.000976 -1.451931 +v -1.222394 -0.000976 -2.160441 +v -2.799893 0.031144 -2.031514 +v -2.703231 -0.033168 -1.612969 +v -2.767553 -0.194203 -1.902726 +v -1.222394 -0.290780 -2.096013 +v -2.767553 0.224371 -1.774007 +v -1.254554 0.288756 -1.484250 +v -1.254554 0.288756 -2.063763 +v -1.222394 -0.258587 -1.580859 +v -2.767553 -0.194203 -1.806186 +v -2.638909 0.192106 -1.934975 +v -2.638909 0.159914 -1.645288 +v -2.767553 -0.033168 -2.031514 +v -1.222394 -0.323045 -1.709647 +v -2.252440 -0.194203 -2.031514 +v -2.735392 0.224371 -1.838366 +v -1.254554 0.353141 -1.580859 +v -3.057719 -0.033168 -1.838366 +v -2.638909 -0.129745 -1.677398 +v -2.703231 0.031144 -1.612969 +v -2.896376 -0.033168 -1.677398 +f 99 116 117 +f 94 93 96 +f 94 96 97 +f 97 96 101 +f 92 100 101 +f 93 94 102 +f 96 93 103 +f 94 97 104 +f 97 98 104 +f 96 99 105 +f 101 96 105 +f 100 92 106 +f 104 98 107 +f 102 95 108 +f 103 102 108 +f 98 97 109 +f 97 101 109 +f 92 101 110 +f 101 105 110 +f 106 92 110 +f 105 106 110 +f 101 100 111 +f 100 109 111 +f 109 101 111 +f 98 95 112 +f 102 94 112 +f 95 102 112 +f 94 104 112 +f 107 98 112 +f 104 107 112 +f 93 102 113 +f 102 103 113 +f 103 93 113 +f 95 98 114 +f 100 106 114 +f 98 109 114 +f 109 100 114 +f 105 99 115 +f 106 105 115 +f 99 96 116 +f 96 103 116 +f 103 108 116 +f 116 108 117 +f 108 95 117 +f 95 114 117 +f 114 106 117 +f 115 99 117 +f 106 115 117 +o convex_3 +v 0.967924 0.739635 -1.870899 +v -1.222034 -0.354881 -1.935158 +v -1.222034 -0.354881 -1.741890 +v 0.903357 -0.934924 -1.162086 +v 0.774464 -0.677183 -2.546763 +v -0.803316 0.997124 -1.162086 +v -0.674423 0.739383 -2.546763 +v -0.899682 -0.999233 -1.162086 +v 0.871073 1.061433 -1.162086 +v -0.738748 -0.677183 -2.482340 +v 0.806748 0.675074 -2.579056 +v 1.257751 -0.290572 -2.128098 +v 0.033879 -1.289254 -1.194380 +v -0.094771 -0.001054 -2.836746 +v 0.001837 1.287145 -1.194380 +v -1.222034 0.353024 -1.484363 +v 1.257751 0.320743 -1.516493 +v -1.222034 0.288463 -2.063675 +v -0.738748 -0.033083 -2.707737 +v 0.774464 -0.033083 -2.772160 +v 0.001837 -0.773773 -2.579056 +v 0.194812 0.803944 -2.611022 +v 0.774464 -0.967204 -1.870899 +v 1.257751 0.256182 -2.095968 +v -0.803316 -0.934671 -1.806313 +v 0.806748 0.964843 -1.838442 +v 1.257751 0.031226 -1.419941 +v -0.706707 0.932563 -1.999416 +v -0.996533 -0.838334 -1.162086 +v -1.222034 -0.290824 -2.095968 +v 0.967924 -0.870362 -1.162086 +v -0.126812 0.803944 -2.611022 +v -0.899682 0.900282 -1.162086 +v -1.222034 0.417333 -1.838442 +v 1.257751 -0.387161 -1.806313 +v 0.935641 0.997124 -1.162086 +v 0.774464 -0.805801 -2.353495 +v -1.222034 -0.001054 -1.419941 +v 0.066162 0.223901 -2.804289 +v -0.738748 0.127564 -2.707737 +v -0.738748 0.739383 -2.514470 +v 1.257751 -0.001054 -2.192520 +v -1.222034 0.030722 -2.160227 +v -0.030446 -1.289254 -1.162250 +v 0.806748 0.771664 -2.417917 +v -0.996533 0.224154 -1.162086 +v 0.999965 0.417333 -1.162086 +v -0.030446 -1.224693 -1.387648 +v 1.257751 0.353024 -1.870899 +v -0.738748 0.964843 -1.774183 +v 1.257751 -0.226262 -1.484363 +v 0.098203 -0.033083 -2.836746 +v 0.066162 1.287145 -1.162250 +v 1.193183 -0.419442 -2.095968 +v -0.899682 -0.999233 -1.258802 +v 0.871073 -0.065364 -2.675608 +v 0.806748 -0.967204 -1.774183 +v -0.674423 0.095283 -2.739867 +v -0.642382 -0.934671 -1.903028 +v 0.066162 1.287145 -1.194380 +v -0.706707 -0.548312 -2.546763 +v 0.871073 1.061433 -1.258802 +v 0.774464 0.031226 -2.772160 +v 0.774464 -0.741492 -2.514470 +f 171 154 181 +f 121 123 125 +f 123 121 126 +f 119 120 133 +f 119 133 135 +f 134 129 141 +f 129 134 144 +f 120 119 146 +f 125 123 146 +f 119 135 147 +f 136 127 147 +f 142 119 147 +f 127 142 147 +f 126 121 148 +f 132 139 149 +f 145 132 149 +f 124 145 149 +f 146 123 150 +f 135 133 151 +f 133 150 151 +f 129 144 152 +f 144 134 153 +f 126 148 153 +f 140 130 154 +f 133 120 155 +f 120 146 155 +f 139 128 156 +f 149 139 156 +f 145 124 158 +f 135 151 158 +f 151 145 158 +f 124 157 158 +f 128 141 159 +f 141 129 159 +f 147 135 160 +f 136 147 160 +f 157 136 160 +f 135 158 160 +f 158 157 160 +f 121 125 161 +f 130 121 161 +f 128 139 162 +f 141 128 162 +f 143 118 162 +f 139 143 162 +f 150 133 163 +f 146 150 163 +f 133 155 163 +f 155 146 163 +f 148 144 164 +f 144 153 164 +f 153 148 164 +f 138 154 165 +f 154 130 165 +f 130 161 165 +f 161 142 165 +f 134 141 166 +f 153 134 166 +f 162 118 166 +f 141 162 166 +f 123 132 167 +f 132 145 167 +f 150 123 167 +f 145 151 167 +f 151 150 167 +f 144 148 168 +f 152 144 168 +f 148 152 168 +f 137 122 169 +f 138 131 169 +f 122 138 169 +f 131 156 169 +f 123 126 170 +f 132 123 170 +f 129 152 171 +f 152 148 171 +f 119 142 172 +f 146 119 172 +f 125 146 172 +f 161 125 172 +f 142 161 172 +f 129 122 173 +f 122 137 173 +f 159 129 173 +f 121 130 174 +f 130 140 174 +f 148 121 174 +f 140 154 174 +f 171 148 174 +f 154 171 174 +f 131 136 175 +f 124 149 175 +f 156 131 175 +f 149 156 175 +f 157 124 175 +f 136 157 175 +f 127 138 176 +f 142 127 176 +f 138 165 176 +f 165 142 176 +f 139 132 177 +f 143 139 177 +f 170 126 177 +f 132 170 177 +f 127 136 178 +f 136 131 178 +f 131 138 178 +f 138 127 178 +f 118 143 179 +f 126 153 179 +f 166 118 179 +f 153 166 179 +f 177 126 179 +f 143 177 179 +f 156 128 180 +f 128 159 180 +f 137 169 180 +f 169 156 180 +f 173 137 180 +f 159 173 180 +f 122 129 181 +f 138 122 181 +f 154 138 181 +f 129 171 181 +o convex_4 +v 1.032315 0.159807 -1.065431 +v -1.028805 -0.065162 -0.936674 +v -0.996322 -0.838176 -1.162036 +v 0.033834 -1.804534 -0.904447 +v 0.033834 1.866836 -0.904447 +v -0.803243 0.996790 -1.162036 +v 0.967754 -0.870161 -1.162036 +v 0.903395 1.061477 -1.162036 +v 1.032315 0.256478 -0.904447 +v -0.964243 -1.031520 -0.904447 +v -0.867603 0.996790 -0.904447 +v 0.967754 -0.870161 -0.904447 +v -0.062604 -1.289191 -1.162036 +v 0.903395 1.158149 -0.904447 +v -0.030323 1.286805 -1.162036 +v -0.931962 0.739118 -1.162036 +v -0.931962 -0.999176 -1.162036 +v -0.030323 1.866836 -0.936674 +v -0.030323 -1.804534 -0.936674 +v 0.967754 0.803806 -1.162036 +v -0.996322 0.191791 -1.162036 +v 1.000035 -0.709161 -1.162036 +v -1.028805 0.031151 -0.904447 +v 0.903395 -0.934489 -1.162036 +v 0.098194 1.834132 -0.936674 +v 0.935474 -0.934489 -1.065431 +v 0.033834 -1.804534 -0.936674 +v 0.033834 -1.289191 -1.162036 +v 0.098194 1.286805 -1.162036 +v -0.835322 0.996790 -1.129834 +f 199 187 211 +f 184 187 188 +f 188 187 189 +f 186 185 190 +f 183 184 191 +f 185 186 191 +f 191 186 192 +f 190 185 193 +f 184 188 194 +f 186 190 195 +f 189 187 196 +f 187 184 197 +f 191 184 198 +f 184 194 198 +f 192 186 199 +f 196 187 199 +f 185 191 200 +f 191 198 200 +f 198 194 200 +f 188 189 201 +f 190 182 201 +f 189 195 201 +f 195 190 201 +f 184 183 202 +f 197 184 202 +f 182 190 203 +f 193 188 203 +f 190 193 203 +f 201 182 203 +f 188 201 203 +f 183 191 204 +f 191 192 204 +f 192 197 204 +f 202 183 204 +f 197 202 204 +f 194 188 205 +f 186 195 206 +f 195 189 206 +f 199 186 206 +f 193 185 207 +f 188 193 207 +f 205 188 207 +f 205 207 208 +f 185 200 208 +f 200 194 208 +f 207 185 208 +f 208 194 209 +f 194 205 209 +f 205 208 209 +f 189 196 210 +f 196 199 210 +f 206 189 210 +f 199 206 210 +f 187 197 211 +f 197 192 211 +f 192 199 211 +o convex_5 +v -0.545633 -1.449889 -0.904446 +v 0.033806 1.415587 1.382109 +v -0.030276 1.415587 1.382109 +v -0.062525 2.832619 -0.582144 +v 1.064520 -2.351313 0.512564 +v -1.028742 -0.194058 1.382109 +v 0.935525 1.350988 -0.807756 +v 0.967774 0.578169 1.382109 +v -0.062525 -2.738316 0.963340 +v -1.028742 2.059208 0.126473 +v 0.742448 2.606819 0.705722 +v -1.028742 -2.093509 0.126473 +v 0.484665 -2.641120 -0.453447 +v -1.028742 0.031150 -0.904446 +v -0.577882 2.606819 0.769958 +v 0.935525 -0.998880 -0.904446 +v 0.871235 -1.127486 1.382109 +v 1.000023 2.414207 -0.227836 +v -0.770959 -2.770319 0.254722 +v -0.030276 1.963198 -0.904446 +v -0.867706 -0.966877 1.382109 +v -0.770959 2.027205 -0.614375 +v -0.030276 -2.769726 -0.549914 +v 0.001765 2.800616 0.931109 +v -0.867706 0.964578 1.382109 +v -0.803208 2.800024 0.223164 +v 0.806738 -2.834918 0.286953 +v -0.770959 -2.093509 -0.582144 +v 0.677950 2.928629 0.062012 +v 1.032272 0.287769 -0.904446 +v 1.064520 -0.161462 1.382109 +v -0.030276 -2.996119 0.254722 +v -0.094774 3.058420 0.223164 +v 0.806738 -2.158108 1.027576 +v 0.742448 2.220409 -0.678835 +v 0.033806 -1.900305 -0.904446 +v 0.806738 -2.512515 -0.324750 +v -0.803208 -2.029503 0.931109 +v -0.964244 -1.062886 -0.904446 +v -1.060991 -1.643093 0.126473 +v 1.064520 0.771374 0.094243 +v -0.030276 -1.417293 1.382109 +v 0.903276 0.867976 1.382109 +v -0.867706 0.996581 -0.904446 +v 0.130344 -2.738316 0.963340 +v 0.871235 1.318985 -0.904446 +v -0.803208 2.027205 0.931109 +v -0.642172 2.638822 -0.324750 +v -0.577882 -2.577114 -0.388763 +v -1.028742 0.159756 1.382109 +v 0.549163 2.671418 -0.453447 +v -1.060991 -0.547871 0.158703 +v 1.000023 2.414207 -0.131145 +v -0.577882 -2.577114 0.769958 +v -1.028742 -2.062099 0.254722 +v -1.028742 2.059208 0.223164 +v -0.062525 2.800616 0.931109 +v 0.581412 -2.609117 0.834419 +v -0.931995 -0.805675 1.382109 +v -0.738918 -2.770319 0.126473 +v 1.032272 -2.351313 0.609031 +v 0.001765 -2.511922 1.060030 +v -0.803208 2.800024 0.158703 +v -0.062525 3.058420 0.094243 +f 274 244 275 +f 213 214 217 +f 213 217 219 +f 212 225 227 +f 219 217 228 +f 227 225 231 +f 228 217 232 +f 215 231 233 +f 214 213 235 +f 217 214 236 +f 234 224 238 +f 212 234 239 +f 235 222 240 +f 216 227 241 +f 218 229 241 +f 227 231 241 +f 219 228 242 +f 220 230 243 +f 234 238 243 +f 235 240 244 +f 229 218 246 +f 231 215 246 +f 212 227 247 +f 227 224 247 +f 224 234 247 +f 234 212 247 +f 227 216 248 +f 224 227 248 +f 216 238 248 +f 238 224 248 +f 220 232 249 +f 225 212 250 +f 212 239 250 +f 239 223 250 +f 225 250 251 +f 250 223 251 +f 216 241 252 +f 241 229 252 +f 242 216 252 +f 228 232 253 +f 213 219 254 +f 219 222 254 +f 235 213 254 +f 222 235 254 +f 225 221 255 +f 231 225 255 +f 221 233 255 +f 233 231 255 +f 220 243 256 +f 243 238 256 +f 245 228 256 +f 218 241 257 +f 241 231 257 +f 246 218 257 +f 231 246 257 +f 226 237 258 +f 215 233 259 +f 239 234 260 +f 217 236 261 +f 236 258 261 +f 215 240 262 +f 240 229 262 +f 229 246 262 +f 246 215 262 +f 221 225 263 +f 251 217 263 +f 225 251 263 +f 217 261 263 +f 222 219 264 +f 229 240 264 +f 240 222 264 +f 219 242 264 +f 252 229 264 +f 242 252 264 +f 230 220 265 +f 220 249 265 +f 249 230 265 +f 223 230 266 +f 230 249 266 +f 217 251 266 +f 251 223 266 +f 237 221 267 +f 258 237 267 +f 261 258 267 +f 221 263 267 +f 263 261 267 +f 214 235 268 +f 236 214 268 +f 237 226 268 +f 244 237 268 +f 235 244 268 +f 226 258 268 +f 258 236 268 +f 256 238 269 +f 245 256 269 +f 232 217 270 +f 249 232 270 +f 217 266 270 +f 266 249 270 +f 230 223 271 +f 223 239 271 +f 243 230 271 +f 234 243 271 +f 260 234 271 +f 239 260 271 +f 238 216 272 +f 216 242 272 +f 242 228 272 +f 228 245 272 +f 269 238 272 +f 245 269 272 +f 232 220 273 +f 228 253 273 +f 253 232 273 +f 220 256 273 +f 256 228 273 +f 233 221 274 +f 221 237 274 +f 237 244 274 +f 215 259 274 +f 259 233 274 +f 240 215 275 +f 244 240 275 +f 215 274 275 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/486/486.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/486/486.urdf new file mode 100644 index 000000000..87847a1bb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/486/486.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/487/487.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/487/487.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/487/487.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/487/487.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/487/487.obj new file mode 100644 index 000000000..2a427cdfc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/487/487.obj @@ -0,0 +1,669 @@ +o convex_0 +v 1.919897 -4.153092 0.702667 +v 1.549309 -4.375532 0.109803 +v 1.734639 -4.375532 0.109803 +v 2.105154 -2.448288 -0.001381 +v 1.586317 -2.448288 0.554468 +v 2.253404 -2.448288 0.591483 +v 2.142162 -4.301385 0.109803 +v 1.586317 -4.301385 0.702667 +v 1.660478 -2.596581 0.035634 +v 2.179243 -4.301385 0.665651 +v 2.290557 -2.485456 -0.001381 +v 2.216323 -4.227239 0.665651 +v 1.549309 -3.078439 0.369116 +v 1.586317 -4.078946 0.702667 +v 1.697559 -2.448288 0.035634 +v 1.549309 -4.375532 0.332170 +v 1.549309 -3.856506 0.109803 +f 13 9 17 +f 4 5 6 +f 4 2 9 +f 3 7 10 +f 1 8 10 +f 3 2 11 +f 2 4 11 +f 4 6 11 +f 7 3 11 +f 6 1 12 +f 1 10 12 +f 10 7 12 +f 11 6 12 +f 7 11 12 +f 5 9 13 +f 1 6 14 +f 6 5 14 +f 8 1 14 +f 13 8 14 +f 5 13 14 +f 5 4 15 +f 4 9 15 +f 9 5 15 +f 2 3 16 +f 3 10 16 +f 10 8 16 +f 13 2 16 +f 8 13 16 +f 9 2 17 +f 2 13 17 +o convex_1 +v -3.158269 -1.892011 -0.260890 +v 0.955891 -0.001503 1.443820 +v 0.955891 -0.001503 1.369797 +v 0.993119 -2.336738 -0.705682 +v -0.971717 -2.448099 1.443820 +v -3.047410 -0.261107 -0.742912 +v -3.232726 -0.335348 1.332785 +v 0.844619 -0.001503 -0.594430 +v 0.993119 -2.299618 1.481267 +v -3.084225 -2.336498 1.332785 +v -3.121454 -2.336498 -0.705682 +v -1.231075 -0.001503 1.332785 +v -1.082988 -0.001503 -0.705682 +v 0.992706 -0.372468 -0.594430 +v -2.898911 -2.373858 -0.483177 +v -3.121454 -2.151375 -0.742912 +v 0.251445 -2.151375 1.481267 +v -3.084225 -0.261107 -0.594430 +v 0.993119 -2.336738 1.369797 +v 0.511217 -2.373858 -0.260890 +v 0.992706 -0.372468 1.444038 +v -2.194465 -0.298467 -0.742912 +v -3.232726 -0.706073 0.962016 +v -1.267890 -2.448099 1.221533 +v 0.993119 -2.077374 -0.705682 +v -3.121454 -2.114255 1.295774 +v -2.639552 -2.336498 1.370015 +v -0.637901 -0.261346 -0.705682 +v 0.992706 -0.594712 -0.631659 +v 0.807391 -0.001503 1.443820 +v 0.918662 -1.484165 1.481267 +v -3.084225 -0.261107 -0.334913 +v -1.045760 -2.373619 1.443820 +v -3.121454 -2.336498 0.146890 +v -1.082988 -0.001503 1.369797 +v -3.232726 -0.409349 1.036039 +v -3.121454 -1.966013 -0.742912 +v -1.119803 -0.001503 -0.594430 +v -3.232726 -0.632072 1.332785 +f 27 44 56 +f 19 20 25 +f 19 25 29 +f 29 25 30 +f 20 19 31 +f 25 20 31 +f 28 21 32 +f 21 28 33 +f 28 18 33 +f 22 26 34 +f 21 26 36 +f 26 22 36 +f 32 21 37 +f 21 36 37 +f 36 22 37 +f 31 19 38 +f 23 30 39 +f 21 33 39 +f 33 23 39 +f 22 27 41 +f 27 32 41 +f 32 37 41 +f 37 22 41 +f 26 21 42 +f 38 26 42 +f 31 38 42 +f 21 39 42 +f 27 22 44 +f 30 25 45 +f 39 30 45 +f 42 39 45 +f 42 45 46 +f 25 31 46 +f 31 42 46 +f 45 25 46 +f 19 29 47 +f 24 34 47 +f 47 34 48 +f 34 26 48 +f 38 19 48 +f 26 38 48 +f 19 47 48 +f 24 29 49 +f 35 24 49 +f 29 35 49 +f 22 34 50 +f 34 24 50 +f 44 22 50 +f 24 44 50 +f 18 28 51 +f 32 27 51 +f 28 32 51 +f 40 18 51 +f 27 43 51 +f 43 40 51 +f 29 24 52 +f 24 47 52 +f 47 29 52 +f 24 35 53 +f 40 24 53 +f 40 53 54 +f 23 33 54 +f 33 18 54 +f 35 23 54 +f 18 40 54 +f 53 35 54 +f 29 30 55 +f 30 23 55 +f 35 29 55 +f 23 35 55 +f 24 40 56 +f 43 27 56 +f 40 43 56 +f 44 24 56 +o convex_2 +v 1.883000 -2.448099 -0.223661 +v 1.030314 -1.595048 1.481267 +v 1.141467 -0.372228 1.443820 +v 2.957607 -2.299618 1.481267 +v 2.920684 -0.372468 -0.705682 +v 0.993391 -0.372228 -0.594430 +v 2.846454 -0.409588 1.370015 +v 2.846454 -2.336738 -0.742912 +v 0.993391 -2.336738 -0.705682 +v 0.993391 -2.299378 1.481267 +v 2.216459 -0.001503 0.702717 +v 1.512234 -0.001503 0.109879 +v 0.993391 -0.372228 1.443820 +v 1.400888 -2.448099 0.739511 +v 2.438765 -2.448099 0.443201 +v 2.179344 -0.001503 0.035856 +v 2.957607 -1.187920 0.221131 +v 2.883569 -0.668953 1.406808 +v 1.178582 -0.372228 -0.631441 +v 2.809339 -2.373619 -0.705682 +v 1.660502 -0.001503 0.554453 +v 2.957607 -2.040014 1.481267 +v 2.920684 -0.372468 -0.075397 +v 0.993391 -2.040014 -0.705682 +v 0.993391 -2.373619 -0.520407 +v 2.920684 -2.336738 0.405972 +v 0.993391 -2.336738 1.369797 +v 2.920684 -0.928556 -0.668453 +v 2.327612 -2.299378 -0.742912 +v 2.883569 -2.336738 1.332785 +v 0.993391 -0.335587 -0.483395 +v 2.587033 -0.409588 1.406808 +v 2.475880 -2.448099 -0.260890 +v 2.957607 -1.854891 1.443820 +v 2.957607 -2.225377 0.962016 +v 1.400888 -2.448099 0.184120 +v 0.993391 -0.335587 0.405972 +v 1.400888 -2.373619 -0.631441 +v 1.920115 -0.001503 0.035856 +f 75 68 95 +f 60 58 66 +f 62 65 66 +f 58 59 69 +f 66 58 69 +f 62 66 69 +f 59 67 69 +f 70 57 71 +f 67 61 72 +f 68 67 72 +f 62 68 75 +f 65 64 76 +f 67 68 77 +f 69 67 77 +f 68 69 77 +f 59 58 78 +f 58 60 78 +f 60 73 78 +f 61 67 79 +f 67 63 79 +f 73 61 79 +f 63 74 79 +f 65 62 80 +f 75 61 80 +f 62 75 80 +f 66 65 81 +f 76 64 82 +f 60 66 83 +f 66 81 83 +f 81 70 83 +f 64 61 84 +f 61 73 84 +f 82 64 84 +f 61 64 85 +f 64 65 85 +f 80 61 85 +f 65 80 85 +f 70 71 86 +f 82 60 86 +f 76 82 86 +f 60 83 86 +f 83 70 86 +f 68 62 87 +f 62 69 87 +f 67 59 88 +f 63 67 88 +f 74 63 88 +f 59 78 88 +f 78 74 88 +f 71 57 89 +f 86 71 89 +f 76 86 89 +f 78 73 90 +f 74 78 90 +f 73 79 90 +f 79 74 90 +f 73 60 91 +f 60 82 91 +f 84 73 91 +f 82 84 91 +f 57 70 92 +f 81 57 92 +f 70 81 92 +f 69 68 93 +f 68 87 93 +f 87 69 93 +f 65 76 94 +f 81 65 94 +f 57 81 94 +f 89 57 94 +f 76 89 94 +f 72 61 95 +f 68 72 95 +f 61 75 95 +o convex_3 +v -1.082658 1.184976 -0.668772 +v -0.823166 3.668178 1.481267 +v -1.156739 3.668178 1.481267 +v -0.044900 1.184726 1.481267 +v 0.955818 3.556773 -0.631521 +v 0.955818 1.184726 1.406975 +v -1.082658 3.631126 -0.557440 +v 0.955818 3.742280 1.406975 +v 0.881737 1.184726 -0.594481 +v -1.193779 1.184976 1.369935 +v -1.156739 1.963308 0.184004 +v -0.675005 1.259079 1.481267 +v 0.955818 2.852544 -0.631521 +v 0.622245 3.742280 1.073399 +v 0.696536 3.186258 1.444016 +v 0.955818 3.593824 -0.520189 +v -1.082658 3.186258 -0.594481 +v -1.119699 1.184976 -0.483359 +v -0.675005 3.705229 1.406975 +v -1.119699 3.075103 -0.297945 +v -1.193779 1.222028 0.887986 +v 0.918777 1.666896 -0.594481 +v -1.193779 1.444337 1.406975 +v 0.066431 1.740999 1.481267 +v 0.733576 3.556773 -0.631521 +v -1.082658 1.370484 -0.668772 +v 0.955818 1.184726 1.147480 +v -1.156739 3.668178 1.369935 +v -0.823166 3.631126 -0.557440 +v -1.119699 3.668178 0.665321 +v 0.955818 3.742280 1.147480 +v 0.436833 3.704978 1.444016 +f 110 103 127 +f 97 98 99 +f 98 97 103 +f 101 100 103 +f 99 96 104 +f 101 99 104 +f 99 98 107 +f 105 99 107 +f 96 100 108 +f 100 101 108 +f 104 96 108 +f 101 103 110 +f 103 100 111 +f 96 99 113 +f 99 105 113 +f 102 112 113 +f 98 103 114 +f 103 109 114 +f 102 113 115 +f 113 106 115 +f 113 105 116 +f 106 113 116 +f 115 106 116 +f 104 108 117 +f 107 98 118 +f 105 107 118 +f 116 105 118 +f 97 99 119 +f 99 101 119 +f 110 97 119 +f 101 110 119 +f 102 100 120 +f 112 102 120 +f 112 120 121 +f 100 96 121 +f 96 113 121 +f 113 112 121 +f 120 100 121 +f 101 104 122 +f 108 101 122 +f 104 117 122 +f 117 108 122 +f 98 114 123 +f 102 115 123 +f 115 116 123 +f 118 98 123 +f 116 118 123 +f 100 102 124 +f 102 109 124 +f 111 100 124 +f 109 102 125 +f 114 109 125 +f 123 114 125 +f 102 123 125 +f 109 103 126 +f 103 111 126 +f 124 109 126 +f 111 124 126 +f 103 97 127 +f 97 110 127 +o convex_4 +v 2.179199 1.703700 0.146782 +v 1.512163 -0.001503 0.109814 +v 1.512163 -0.001503 0.183880 +v 2.216283 -0.001503 0.258078 +v 1.623485 1.592368 0.628542 +v 2.216283 -0.001503 0.702805 +v 2.216352 1.703700 0.702805 +v 1.549179 1.555313 0.146782 +v 2.179199 -0.001503 0.035551 +v 1.660501 -0.001503 0.554410 +v 2.179199 1.666478 0.072650 +v 1.919746 0.035719 0.035551 +v 2.216352 1.703700 0.332144 +v 2.068015 1.666478 0.702805 +v 1.586332 1.592368 0.480278 +v 1.512163 0.517603 0.109814 +f 130 142 143 +f 130 129 131 +f 130 131 133 +f 133 131 134 +f 131 129 136 +f 132 130 137 +f 130 133 137 +f 133 132 137 +f 135 128 138 +f 131 136 138 +f 138 136 139 +f 136 129 139 +f 135 138 139 +f 128 134 140 +f 134 131 140 +f 138 128 140 +f 131 138 140 +f 132 133 141 +f 134 132 141 +f 133 134 141 +f 130 132 142 +f 134 128 142 +f 132 134 142 +f 128 135 142 +f 142 135 143 +f 129 130 143 +f 139 129 143 +f 135 139 143 +o convex_5 +v -0.452597 0.517534 -2.559259 +v 0.177558 0.925176 -2.559259 +v 0.177558 0.851037 -2.262832 +v 0.214657 0.369255 -2.633398 +v -0.044903 0.295116 -2.225741 +v -0.452597 0.813967 -2.225741 +v -0.304267 0.851037 -2.670489 +v -0.193102 0.406325 -2.670489 +v -0.378334 0.406325 -2.225741 +v 0.214657 0.702758 -2.225741 +v 0.214657 0.739828 -2.670489 +v 0.066262 0.295116 -2.225741 +v -0.415498 0.443394 -2.633398 +f 152 144 156 +f 146 145 149 +f 144 149 150 +f 149 145 150 +f 147 148 151 +f 148 149 152 +f 149 144 152 +f 145 146 153 +f 146 149 153 +f 149 148 153 +f 150 145 154 +f 147 151 154 +f 151 150 154 +f 145 153 154 +f 153 147 154 +f 148 147 155 +f 147 153 155 +f 153 148 155 +f 144 150 156 +f 150 151 156 +f 151 148 156 +f 148 152 156 +o convex_6 +v -0.860183 0.591611 -1.039581 +v -0.452405 0.591611 -2.225697 +v -0.452405 0.814007 -2.225697 +v 2.920652 0.109808 -1.113771 +v 2.846565 1.147656 -1.076618 +v 2.883307 0.035567 -2.151507 +v -3.158680 0.109808 -2.188544 +v -3.121336 1.147656 -1.076618 +v -3.121336 0.146928 -1.076618 +v 2.994739 1.147656 -2.040164 +v -3.083991 1.147656 -2.188544 +v 0.733586 0.220951 -1.039697 +v 1.326280 0.035567 -2.077200 +v 0.955846 0.258072 -2.225697 +v 2.809221 1.147656 -2.077317 +v -2.528039 0.962162 -1.039581 +v -3.158680 0.109808 -1.706597 +v 2.846565 0.035567 -1.854978 +v 0.177634 0.814007 -2.225697 +v -1.749827 0.221060 -1.039581 +v 0.066203 0.851019 -1.039697 +v 1.474454 0.109808 -1.113771 +v -1.638396 0.072687 -2.151391 +v -3.121336 1.147656 -1.891899 +v 2.920652 0.517479 -1.113771 +v 2.920652 0.072687 -1.706713 +v -3.158680 0.406336 -2.188544 +v 0.658897 0.220951 -2.225697 +v 2.957394 1.110427 -2.077317 +v 2.846565 0.925151 -1.076618 +f 168 160 186 +f 159 158 163 +f 164 161 166 +f 164 166 167 +f 165 160 168 +f 158 159 170 +f 167 166 171 +f 161 164 172 +f 164 165 172 +f 165 164 173 +f 169 165 173 +f 169 162 174 +f 165 169 174 +f 159 167 175 +f 170 159 175 +f 162 170 175 +f 167 171 175 +f 168 157 176 +f 165 168 176 +f 157 172 176 +f 172 165 176 +f 157 168 177 +f 168 161 177 +f 172 157 177 +f 161 172 177 +f 160 165 178 +f 174 160 178 +f 165 174 178 +f 163 162 179 +f 162 169 179 +f 173 163 179 +f 169 173 179 +f 164 167 180 +f 161 160 181 +f 160 166 181 +f 166 161 181 +f 166 160 182 +f 162 166 182 +f 160 174 182 +f 174 162 182 +f 159 163 183 +f 167 159 183 +f 163 173 183 +f 173 164 183 +f 164 180 183 +f 180 167 183 +f 162 163 184 +f 163 158 184 +f 158 170 184 +f 170 162 184 +f 166 162 185 +f 171 166 185 +f 162 175 185 +f 175 171 185 +f 160 161 186 +f 161 168 186 +o convex_7 +v -0.415404 0.591673 3.075019 +v 0.177587 0.369255 3.000792 +v 0.177587 0.332185 3.000792 +v -0.378436 0.517534 1.481267 +v 0.140489 0.851037 1.666833 +v -0.489666 0.925176 3.445574 +v 0.140489 0.888107 3.445574 +v 0.177587 0.332185 1.481267 +v -0.341272 0.406325 3.445574 +v -0.415404 0.813967 1.518573 +v -0.341272 0.295116 1.481267 +v 0.140489 0.332185 3.445574 +v 0.177587 0.665689 1.481267 +v -0.044874 0.295116 2.741385 +v -0.415404 0.925176 2.963871 +v -0.156040 0.925176 3.371540 +v 0.140489 0.813967 1.481267 +v -0.415404 0.851037 1.778172 +v -0.044874 0.295116 1.481267 +f 200 197 205 +f 189 188 193 +f 188 189 194 +f 192 187 195 +f 193 192 195 +f 190 192 196 +f 187 192 197 +f 192 190 197 +f 190 194 197 +f 195 187 197 +f 189 193 198 +f 193 195 198 +f 191 193 199 +f 193 188 199 +f 188 194 199 +f 194 190 199 +f 194 189 200 +f 195 197 200 +f 198 195 200 +f 189 198 200 +f 193 191 202 +f 192 193 202 +f 191 201 202 +f 201 192 202 +f 190 196 203 +f 196 191 203 +f 191 199 203 +f 199 190 203 +f 196 192 204 +f 191 196 204 +f 201 191 204 +f 192 201 204 +f 197 194 205 +f 194 200 205 +o convex_8 +v -0.341424 0.406292 -1.039469 +v 0.956050 0.813971 1.443762 +v -0.045099 1.184726 1.481267 +v -1.193990 -0.001503 1.332974 +v -1.082657 1.184726 -0.668366 +v 0.844717 -0.001503 -0.594343 +v 0.881758 1.184726 -0.594343 +v 0.956050 -0.001503 1.443762 +v -1.082657 -0.001503 -0.705378 +v -1.193990 1.184726 1.369985 +v 0.956050 1.184726 1.406997 +v 0.066233 0.850896 -1.039469 +v -0.341424 0.295054 1.481267 +v 0.140525 0.332211 -1.039469 +v -1.193990 0.332211 0.628520 +v -0.378465 0.888168 -1.039469 +v -1.119698 1.184726 -0.483061 +v -0.637749 1.184726 1.481267 +v 0.881758 0.443333 -0.594343 +v -1.119698 -0.001503 -0.594343 +v -1.119698 0.035654 1.369985 +v 0.956050 1.036447 1.147423 +v -0.118970 0.295054 -1.039469 +v -1.193990 1.110528 0.813825 +v 0.177565 0.332211 1.481267 +v -1.193990 -0.001503 0.628520 +v -1.119698 1.110528 1.406997 +f 226 223 232 +f 210 208 212 +f 209 211 213 +f 211 209 214 +f 208 210 215 +f 208 207 216 +f 212 208 216 +f 207 213 216 +f 206 217 219 +f 217 212 219 +f 209 215 220 +f 210 212 221 +f 206 214 221 +f 214 210 221 +f 217 206 221 +f 212 217 221 +f 215 210 222 +f 208 215 223 +f 218 208 223 +f 213 211 224 +f 211 219 224 +f 219 212 224 +f 210 214 225 +f 214 209 225 +f 222 210 225 +f 220 222 225 +f 209 213 226 +f 213 218 226 +f 218 223 226 +f 212 216 227 +f 216 213 227 +f 213 224 227 +f 224 212 227 +f 214 206 228 +f 211 214 228 +f 219 211 228 +f 206 219 228 +f 220 215 229 +f 215 222 229 +f 222 220 229 +f 207 208 230 +f 213 207 230 +f 208 218 230 +f 218 213 230 +f 209 220 231 +f 225 209 231 +f 220 225 231 +f 215 209 232 +f 223 215 232 +f 209 226 232 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/487/487.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/487/487.urdf new file mode 100644 index 000000000..00e7bee53 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/487/487.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/488/488.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/488/488.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/488/488.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/488/488.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/488/488.obj new file mode 100644 index 000000000..def80f757 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/488/488.obj @@ -0,0 +1,327 @@ +o convex_0 +v 1.061468 -3.149755 -0.212208 +v -1.080805 -3.841326 -0.972489 +v -0.216850 -3.841326 -0.972489 +v 0.854077 0.132289 -1.007151 +v -0.942614 0.132289 0.927698 +v 1.061468 -3.771702 1.100593 +v -1.080805 -3.841326 0.962360 +v 1.026868 0.132289 0.927698 +v -1.011605 0.132289 -0.937828 +v 1.061468 -3.806708 -0.937828 +v 0.992267 0.132289 -0.972283 +v -0.769823 -0.040798 0.962153 +v -1.046205 -0.731591 -0.972489 +v -1.080805 -3.392077 0.962360 +v 0.819476 -3.806708 1.065931 +v 1.026868 -3.530158 -0.972283 +v -1.011605 0.132289 -0.488674 +v 0.923067 -3.564386 1.100593 +v 1.026868 0.062665 0.236740 +v 0.957667 -0.316960 0.962360 +v -1.080805 -2.769741 -0.972489 +v 1.061258 -2.424345 1.031270 +v -0.735223 0.132289 -0.972489 +v 1.061468 -3.287836 -0.764933 +v -0.562432 -3.841326 0.893037 +v 0.750276 -0.144262 -1.006944 +v 1.061468 -3.806708 0.236740 +v -0.977005 -0.628128 0.927698 +v -1.046205 -2.666278 0.962360 +v 0.819476 -3.806708 -0.972283 +v 0.888677 -3.702856 1.100593 +v 0.957667 0.062665 -1.007151 +v 1.061468 -3.564386 1.100593 +f 22 8 33 +f 2 3 7 +f 4 5 8 +f 5 4 9 +f 1 6 10 +f 4 8 11 +f 8 5 12 +f 2 7 14 +f 6 7 15 +f 11 10 16 +f 5 9 17 +f 9 13 17 +f 13 14 17 +f 11 8 19 +f 8 12 20 +f 14 13 21 +f 2 14 21 +f 19 8 22 +f 9 4 23 +f 4 13 23 +f 13 9 23 +f 1 10 24 +f 10 11 24 +f 11 19 24 +f 22 1 24 +f 19 22 24 +f 7 3 25 +f 15 7 25 +f 3 2 26 +f 13 4 26 +f 2 21 26 +f 21 13 26 +f 3 10 27 +f 10 6 27 +f 6 15 27 +f 25 3 27 +f 15 25 27 +f 14 5 28 +f 5 17 28 +f 17 14 28 +f 12 5 29 +f 5 14 29 +f 10 3 30 +f 16 10 30 +f 3 26 30 +f 7 6 31 +f 14 7 31 +f 6 18 31 +f 18 12 31 +f 12 29 31 +f 29 14 31 +f 4 11 32 +f 11 16 32 +f 26 4 32 +f 16 30 32 +f 30 26 32 +f 6 1 33 +f 18 6 33 +f 12 18 33 +f 8 20 33 +f 20 12 33 +f 1 22 33 +o convex_1 +v -0.216878 2.309138 -2.423502 +v -1.046276 1.583366 -1.042052 +v -1.011574 0.270853 -1.560299 +v 0.957714 0.201652 -1.007353 +v 1.026915 0.166842 -3.010943 +v 0.923215 2.239727 -1.007353 +v -0.942373 0.305244 -3.045439 +v 1.026915 2.239727 -3.080138 +v -1.011574 2.309138 -2.941749 +v -1.046276 2.205337 -1.007353 +v -1.011574 0.236043 -1.007353 +v 0.992213 0.270644 -1.076548 +v -0.596976 0.789022 -3.080138 +v 1.026915 2.239727 -2.423502 +v 0.681112 0.616229 -3.080138 +v 0.612114 0.166842 -3.010943 +v -1.011574 2.239937 -2.976448 +v 1.026915 2.274538 -3.045439 +v -1.046276 2.274328 -1.871166 +v -1.011574 1.445174 -2.976448 +v 0.957714 0.166842 -1.871166 +v 0.957714 1.963343 -1.007353 +v -0.977075 0.270853 -2.492697 +v -1.046276 2.239937 -2.320015 +v 1.026915 0.166842 -2.527192 +v 0.957714 0.236043 -3.045439 +v -0.907873 2.309138 -2.354511 +v 0.024819 2.309138 -3.010943 +v -0.977075 0.478037 -3.010943 +v -0.527978 0.996206 -3.080138 +v -0.942373 2.239937 -1.283928 +v 0.404714 2.274538 -1.594795 +v -0.735175 0.270853 -3.045439 +v -1.011574 0.236043 -1.283928 +v 0.404714 0.201442 -1.007353 +v 0.439416 2.239937 -1.007353 +v 0.957714 2.239727 -1.214733 +f 55 47 70 +f 37 39 43 +f 43 35 44 +f 37 43 44 +f 38 41 47 +f 46 41 48 +f 46 40 50 +f 47 41 51 +f 35 43 52 +f 49 38 54 +f 44 49 54 +f 39 37 55 +f 37 45 55 +f 45 47 55 +f 36 35 57 +f 42 50 57 +f 35 52 57 +f 52 42 57 +f 50 53 57 +f 53 36 57 +f 45 37 58 +f 38 47 58 +f 47 45 58 +f 37 54 58 +f 54 38 58 +f 41 38 59 +f 48 41 59 +f 38 49 59 +f 34 42 60 +f 42 52 60 +f 42 34 61 +f 41 50 61 +f 50 42 61 +f 34 51 61 +f 51 41 61 +f 50 40 62 +f 53 50 62 +f 36 53 62 +f 56 36 62 +f 40 56 62 +f 41 46 63 +f 50 41 63 +f 46 50 63 +f 52 43 64 +f 60 52 64 +f 51 34 65 +f 39 51 65 +f 34 60 65 +f 40 46 66 +f 46 48 66 +f 56 40 66 +f 49 56 66 +f 48 59 66 +f 59 49 66 +f 35 36 67 +f 44 35 67 +f 49 44 67 +f 36 56 67 +f 56 49 67 +f 37 44 68 +f 54 37 68 +f 44 54 68 +f 43 39 69 +f 64 43 69 +f 60 64 69 +f 65 60 69 +f 39 65 69 +f 51 39 70 +f 47 51 70 +f 39 55 70 +o convex_2 +v 0.508447 1.583355 3.104676 +v 0.854029 0.132505 -1.006748 +v 0.957620 0.132505 -1.006748 +v 0.923020 2.239974 -1.006748 +v -1.046255 2.205242 -1.007150 +v -0.977055 0.340021 3.035448 +v -0.977055 2.378245 3.104676 +v 1.096021 0.201750 2.966220 +v -1.011655 0.132725 -0.937922 +v 1.061421 2.343512 3.070062 +v 1.096021 2.205242 0.928016 +v -0.942455 0.132725 0.928016 +v 0.992220 0.132505 -0.972134 +v 1.026821 0.132505 0.928419 +v -1.011655 0.236263 -1.007150 +v -0.977055 2.378245 2.689710 +v -0.320700 0.270776 3.035448 +v 0.957620 2.239974 -0.972134 +v -0.977055 0.512584 3.070062 +v -1.046255 1.514110 -0.937922 +v -0.113099 2.378245 3.104676 +v 0.508447 0.719879 3.070062 +v 1.096021 0.201750 2.482429 +v 1.096021 1.238229 3.000834 +v -1.011655 2.239754 -0.488745 +v -1.046255 2.205242 -0.696026 +v 0.439246 2.239754 -1.007150 +v -0.977055 1.548622 3.104676 +v 0.785039 0.201750 2.966220 +v 1.061421 1.825163 3.070062 +v -0.873464 0.305288 3.035448 +v -1.011655 0.132725 -0.488745 +v 1.026821 0.167018 2.136691 +v 1.061421 2.343512 2.862378 +v 1.096021 2.239754 1.411406 +v 0.957620 0.305288 3.000432 +v 1.096021 2.101484 0.928016 +v 0.439246 2.343292 3.104676 +v -0.147908 2.378245 3.035448 +v 0.992220 0.409046 -0.937520 +v 0.646638 1.825163 3.104676 +v 1.096021 2.239754 1.031858 +f 104 105 112 +f 72 73 83 +f 73 74 83 +f 82 72 84 +f 72 83 84 +f 73 72 85 +f 72 79 85 +f 75 77 86 +f 83 74 88 +f 75 85 90 +f 85 79 90 +f 77 71 91 +f 86 77 91 +f 71 89 92 +f 89 87 92 +f 81 78 93 +f 78 84 93 +f 84 83 93 +f 78 81 94 +f 75 86 95 +f 77 75 96 +f 76 89 96 +f 75 90 96 +f 90 76 96 +f 74 73 97 +f 73 85 97 +f 85 75 97 +f 86 74 97 +f 75 95 97 +f 95 86 97 +f 71 77 98 +f 89 71 98 +f 77 96 98 +f 96 89 98 +f 78 87 99 +f 87 82 99 +f 78 94 100 +f 94 80 100 +f 76 82 101 +f 82 87 101 +f 89 76 101 +f 87 89 101 +f 79 72 102 +f 72 82 102 +f 82 76 102 +f 76 90 102 +f 90 79 102 +f 82 84 103 +f 84 78 103 +f 99 82 103 +f 78 99 103 +f 88 74 104 +f 91 80 104 +f 80 94 105 +f 94 81 105 +f 104 80 105 +f 87 78 106 +f 92 87 106 +f 100 92 106 +f 78 100 106 +f 83 81 107 +f 81 93 107 +f 93 83 107 +f 91 71 108 +f 80 91 108 +f 74 86 109 +f 86 91 109 +f 104 74 109 +f 91 104 109 +f 81 83 110 +f 88 81 110 +f 83 88 110 +f 71 92 111 +f 100 80 111 +f 92 100 111 +f 108 71 111 +f 80 108 111 +f 81 88 112 +f 88 104 112 +f 105 81 112 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/488/488.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/488/488.urdf new file mode 100644 index 000000000..afcebdac2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/488/488.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/489/489.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/489/489.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/489/489.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/489/489.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/489/489.obj new file mode 100644 index 000000000..81db7ac28 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/489/489.obj @@ -0,0 +1,921 @@ +o convex_0 +v 0.034108 -1.234048 2.177736 +v -0.098154 -2.327054 1.184474 +v 0.000955 -2.327054 1.184474 +v -0.065001 -2.095015 2.740871 +v -0.628252 -1.697646 1.184474 +v 0.497900 -1.200934 1.184474 +v 0.398558 -1.796988 2.674539 +v 0.431594 -2.227472 1.184474 +v -0.429451 -1.763754 2.674539 +v -0.462604 -1.200934 1.184474 +v -0.462604 -2.128129 1.813769 +v 0.067261 -1.366385 2.707705 +v 0.564323 -1.863096 1.217469 +v 0.034108 -1.697646 2.939867 +v -0.296955 -1.432853 2.509053 +v -0.495640 -2.161364 1.184474 +v -0.031965 -1.101351 1.316967 +v 0.332252 -2.128129 2.111576 +v 0.398558 -1.333390 2.078410 +v -0.495640 -1.234048 1.349961 +v -0.031965 -2.260586 1.946261 +v 0.497900 -1.697646 2.111576 +v -0.561946 -1.697646 1.913095 +v 0.000955 -2.128129 2.707705 +v -0.429451 -1.697646 2.674539 +v 0.398558 -1.697646 2.674539 +v -0.330109 -2.028787 2.542047 +v -0.031965 -1.366385 2.707705 +v -0.065001 -1.730760 2.939867 +v -0.065001 -2.161364 2.575213 +v 0.332252 -1.465847 2.542047 +v 0.266062 -2.062021 2.509053 +v -0.131307 -1.101351 1.184474 +v 0.497900 -1.200934 1.250634 +v 0.034108 -1.796988 2.939867 +v -0.628252 -1.763754 1.217469 +v -0.098154 -1.200934 1.879929 +v 0.564323 -1.730760 1.184474 +v 0.497900 -1.763754 2.111576 +v -0.363145 -1.366385 2.177736 +v -0.528793 -1.267042 1.250634 +v -0.528793 -1.863096 1.946261 +v 0.365405 -2.128129 2.012422 +v -0.396298 -1.763754 2.740871 +v -0.098154 -2.260586 1.879929 +v 0.133450 -1.200934 1.879929 +v 0.464747 -2.161364 1.217469 +f 39 43 47 +f 3 2 5 +f 3 5 6 +f 3 6 8 +f 6 5 10 +f 5 2 16 +f 2 11 16 +f 1 12 19 +f 2 3 21 +f 3 8 21 +f 8 18 21 +f 21 18 24 +f 23 9 25 +f 14 7 26 +f 12 14 26 +f 7 22 26 +f 22 19 26 +f 9 11 27 +f 12 1 28 +f 14 12 28 +f 15 25 28 +f 28 25 29 +f 14 28 29 +f 24 4 30 +f 21 24 30 +f 4 27 30 +f 27 11 30 +f 19 12 31 +f 12 26 31 +f 26 19 31 +f 7 24 32 +f 24 18 32 +f 6 10 33 +f 17 6 33 +f 10 20 33 +f 6 17 34 +f 19 22 34 +f 7 14 35 +f 4 24 35 +f 24 7 35 +f 29 4 35 +f 14 29 35 +f 5 16 36 +f 16 11 36 +f 23 5 36 +f 1 17 37 +f 28 1 37 +f 17 33 37 +f 33 20 37 +f 8 6 38 +f 13 8 38 +f 22 13 38 +f 6 34 38 +f 34 22 38 +f 13 22 39 +f 22 7 39 +f 25 15 40 +f 20 25 40 +f 15 28 40 +f 28 37 40 +f 37 20 40 +f 10 5 41 +f 20 10 41 +f 5 23 41 +f 25 20 41 +f 23 25 41 +f 11 9 42 +f 9 23 42 +f 36 11 42 +f 23 36 42 +f 18 8 43 +f 7 32 43 +f 32 18 43 +f 39 7 43 +f 25 9 44 +f 27 4 44 +f 9 27 44 +f 29 25 44 +f 4 29 44 +f 11 2 45 +f 2 21 45 +f 30 11 45 +f 21 30 45 +f 17 1 46 +f 1 19 46 +f 34 17 46 +f 19 34 46 +f 8 13 47 +f 13 39 47 +f 43 8 47 +o convex_1 +v 0.266163 2.244719 1.018323 +v 0.531079 1.582280 -1.035385 +v 0.531079 1.615326 -1.035385 +v -1.224459 1.582112 -0.604541 +v -0.197503 3.138648 -0.737124 +v -0.926335 1.582112 0.985229 +v 1.293119 1.582112 0.024666 +v -0.793752 2.873774 0.786456 +v 0.763037 3.072387 0.024462 +v 0.696621 2.774298 -0.836612 +v 1.027953 1.582112 0.819551 +v -0.826710 2.774298 -0.803313 +v 0.100372 3.105602 0.753157 +v -0.859918 2.112197 -1.001881 +v 0.663413 2.807513 0.786252 +v 1.127328 1.648372 -0.803313 +v -0.064920 3.304384 0.024462 +v -0.793752 3.039510 -0.107712 +v -1.224459 1.615326 0.322723 +v -0.296878 2.708038 -0.968991 +v -0.959293 1.582112 -1.001881 +v -0.131087 2.674991 0.985229 +v 0.431704 1.582280 1.051622 +v 0.729829 1.814108 -1.035385 +v -1.158043 1.582112 0.720063 +v -1.224459 1.747679 -0.041523 +v -0.893127 1.946461 0.985229 +v 0.001496 3.105602 -0.770219 +v 0.696621 2.906820 -0.670935 +v -0.859918 2.774298 -0.770219 +v -1.191251 1.648372 -0.770219 +v 0.895370 1.582112 -1.002086 +v 0.034205 3.304384 -0.041523 +v -0.131087 3.105602 0.753157 +v 0.994745 1.780894 0.819551 +v 1.293119 1.615158 -0.041523 +v 0.696621 2.840559 0.687172 +v -0.495627 2.045937 1.018119 +v -0.462669 2.542470 -1.001881 +v -0.793752 3.039510 0.057761 +v 0.001496 2.509255 1.018323 +v 1.293119 1.615158 0.024666 +v -0.561794 2.377071 0.985229 +v 0.630454 2.840559 -0.836612 +v -0.826710 2.840728 -0.737124 +v 0.332330 2.178458 1.018323 +v 1.160536 1.615158 -0.737124 +v -0.661418 1.582112 1.018119 +v -0.131087 2.674991 -0.968991 +v 0.663413 3.105602 -0.041523 +v 0.034205 3.204908 0.455101 +v -0.760544 2.840728 0.819551 +v 0.895370 1.681418 -1.002086 +v -0.064920 3.304384 -0.074618 +v -1.257667 1.615326 -0.173902 +v -0.064920 3.171862 -0.637840 +v 0.133580 2.674991 0.952134 +v -0.396253 3.039510 -0.770219 +v 0.928578 2.045768 0.786456 +v 0.763037 3.072387 -0.008428 +v 0.663413 2.873774 0.687172 +v -1.158043 1.615326 0.720063 +v 1.127328 1.714633 -0.737124 +f 76 107 110 +f 53 51 54 +f 53 54 58 +f 50 49 68 +f 54 51 68 +f 61 50 68 +f 49 50 71 +f 51 53 72 +f 66 55 73 +f 67 52 75 +f 59 61 77 +f 73 65 77 +f 68 51 78 +f 61 68 78 +f 77 61 78 +f 68 49 79 +f 54 68 79 +f 49 71 79 +f 64 55 81 +f 69 60 81 +f 70 58 82 +f 50 61 86 +f 61 59 86 +f 59 67 86 +f 71 50 86 +f 55 64 87 +f 64 65 87 +f 73 55 87 +f 65 73 87 +f 70 48 88 +f 85 70 88 +f 58 54 89 +f 82 58 89 +f 54 83 89 +f 83 56 89 +f 56 84 89 +f 74 85 90 +f 88 69 90 +f 85 88 90 +f 57 71 91 +f 67 75 91 +f 76 57 91 +f 75 76 91 +f 59 77 92 +f 77 65 92 +f 48 70 93 +f 82 62 93 +f 70 82 93 +f 54 79 94 +f 79 63 94 +f 83 54 94 +f 53 58 95 +f 58 70 95 +f 74 53 95 +f 70 85 95 +f 85 74 95 +f 86 67 96 +f 71 86 96 +f 91 71 96 +f 67 91 96 +f 80 56 97 +f 60 56 98 +f 56 80 98 +f 80 64 98 +f 64 81 98 +f 81 60 98 +f 55 74 99 +f 81 55 99 +f 69 81 99 +f 90 69 99 +f 74 90 99 +f 57 63 100 +f 71 57 100 +f 63 79 100 +f 79 71 100 +f 52 65 101 +f 65 64 101 +f 64 80 101 +f 51 72 102 +f 72 66 102 +f 66 73 102 +f 73 77 102 +f 77 78 102 +f 78 51 102 +f 75 52 103 +f 76 75 103 +f 97 76 103 +f 80 97 103 +f 52 101 103 +f 101 80 103 +f 62 60 104 +f 60 69 104 +f 88 48 104 +f 69 88 104 +f 48 93 104 +f 93 62 104 +f 65 52 105 +f 52 67 105 +f 67 59 105 +f 59 92 105 +f 92 65 105 +f 62 82 106 +f 84 62 106 +f 82 89 106 +f 89 84 106 +f 56 83 107 +f 97 56 107 +f 76 97 107 +f 56 60 108 +f 60 62 108 +f 84 56 108 +f 62 84 108 +f 55 66 109 +f 72 53 109 +f 66 72 109 +f 74 55 109 +f 53 74 109 +f 63 57 110 +f 57 76 110 +f 94 63 110 +f 83 94 110 +f 107 83 110 +o convex_2 +v -0.528865 -1.962624 -1.300444 +v 0.531196 -1.631431 -1.267274 +v 0.531196 -1.763842 -1.267274 +v 0.034076 -1.631431 -3.023011 +v -0.462604 -1.200791 -1.267274 +v 0.034076 -2.293927 -1.499459 +v 0.398675 -1.167606 -1.333613 +v -0.396343 -1.697691 -2.757657 +v -0.065040 -1.267052 -2.790826 +v 0.365489 -1.697691 -2.691490 +v -0.065040 -2.061960 -2.724831 +v 0.398675 -2.161406 -1.267274 +v -0.429419 -2.194481 -1.267274 +v 0.365489 -2.095145 -1.996139 +v 0.266043 -1.399573 -2.625152 +v -0.595125 -1.697691 -1.333613 +v -0.396343 -2.095145 -2.029308 +v -0.429419 -1.300127 -1.962969 +v -0.065040 -1.167606 -2.062477 +v 0.266043 -1.962624 -2.592154 +v 0.431750 -1.200791 -1.267274 +v -0.031965 -2.227556 -1.996139 +v -0.528865 -1.730767 -1.962969 +v 0.034076 -1.267052 -2.757657 +v 0.332304 -1.598355 -2.790826 +v -0.396343 -1.631431 -2.757657 +v -0.131301 -2.293927 -1.267274 +v 0.464935 -1.664616 -2.029308 +v -0.065040 -1.664616 -3.023011 +v -0.296897 -1.366498 -2.592154 +v -0.230636 -1.167606 -1.267274 +v 0.001000 -2.061960 -2.724831 +v 0.266043 -1.697691 -2.857336 +v -0.263822 -1.995699 -2.592154 +v -0.595125 -1.796917 -1.267274 +v -0.495679 -1.233867 -1.333613 +v 0.365489 -1.233867 -1.764298 +v -0.528865 -1.664616 -1.929972 +v 0.100336 -2.293927 -1.300444 +v 0.034076 -2.227556 -1.962969 +v -0.396343 -2.128110 -1.896803 +f 132 137 151 +f 113 112 115 +f 113 115 122 +f 122 115 123 +f 113 122 124 +f 115 119 128 +f 119 115 129 +f 120 124 130 +f 115 112 131 +f 118 127 133 +f 114 119 134 +f 129 117 134 +f 119 129 134 +f 114 134 135 +f 134 125 135 +f 118 133 136 +f 122 123 137 +f 132 116 137 +f 112 113 138 +f 113 124 138 +f 124 120 138 +f 131 112 138 +f 120 135 138 +f 135 131 138 +f 119 114 139 +f 121 118 139 +f 118 136 139 +f 136 119 139 +f 128 119 140 +f 119 136 140 +f 136 128 140 +f 129 115 141 +f 117 129 141 +f 115 131 141 +f 131 117 141 +f 130 124 142 +f 132 121 142 +f 139 114 142 +f 121 139 142 +f 120 130 143 +f 135 120 143 +f 114 135 143 +f 142 114 143 +f 130 142 143 +f 118 121 144 +f 127 118 144 +f 121 127 144 +f 111 123 145 +f 123 115 145 +f 127 111 145 +f 126 133 145 +f 133 127 145 +f 115 128 146 +f 145 115 146 +f 126 145 146 +f 117 131 147 +f 125 134 147 +f 134 117 147 +f 131 135 147 +f 135 125 147 +f 133 126 148 +f 128 136 148 +f 136 133 148 +f 146 128 148 +f 126 146 148 +f 116 124 149 +f 124 122 149 +f 137 116 149 +f 122 137 149 +f 124 116 150 +f 116 132 150 +f 142 124 150 +f 132 142 150 +f 123 111 151 +f 127 121 151 +f 111 127 151 +f 121 132 151 +f 137 123 151 +o convex_3 +v 0.829249 -1.995543 0.985206 +v -0.594989 -1.797043 -1.267274 +v -0.594989 -1.664710 -1.267274 +v -1.058859 -0.969015 0.918978 +v 1.061184 -0.969015 -0.935893 +v -0.031718 -2.724580 -0.206903 +v -0.760657 -2.459397 0.753407 +v 1.094318 -0.969015 0.852749 +v -1.091993 -0.969015 -0.836311 +v 0.762982 -2.393059 -0.803197 +v -0.760657 -2.426400 -0.803197 +v 0.464780 -2.260554 1.184131 +v 0.829249 -2.426228 0.885864 +v 0.034296 -2.326720 -1.267274 +v -1.290542 -1.035182 0.024656 +v 1.292866 -1.002184 -0.074446 +v -0.528722 -1.234025 1.184131 +v 0.398512 -1.167687 -1.267274 +v -0.495588 -2.194387 1.184131 +v -0.064852 -2.691410 0.753407 +v 0.431646 -1.167687 1.184131 +v 0.464780 -2.094879 -1.267274 +v -0.826924 -2.492567 -0.173788 +v -0.031718 -2.658241 -0.803197 +v -0.594989 -0.969015 -1.101464 +v -0.992592 -1.764046 -0.803197 +v 0.796116 -2.459397 -0.240017 +v -0.992592 -1.797043 0.753407 +v -0.131119 -0.968843 1.084548 +v 0.961783 -1.764046 -0.836311 +v -0.429321 -2.194387 -1.267274 +v -0.495588 -1.234025 -1.267274 +v 0.597314 -1.863038 1.184131 +v 0.067177 -2.724580 0.057771 +v -0.064852 -2.359890 1.184131 +v 0.497913 -0.968843 -1.167452 +v -0.826924 -2.492567 0.123999 +v -0.628123 -1.830213 1.184131 +v 0.796116 -2.459397 0.885864 +v 0.564180 -1.730877 -1.267274 +v -0.992592 -0.969015 -0.968767 +v 0.067177 -2.658241 -0.770083 +v 1.094318 -1.200856 0.786281 +v -1.290542 -0.969015 -0.074446 +v 0.630448 -0.969015 1.051434 +v -0.131119 -1.068351 1.184131 +v -0.992592 -0.969015 0.985206 +v -0.097985 -2.724580 0.024656 +v -1.058859 -1.267023 0.852749 +v 1.028051 -1.830213 0.024416 +v 0.232845 -2.625072 0.819635 +v 1.292866 -0.969015 -0.008698 +v 0.994917 -0.969015 -1.002121 +v 0.729848 -2.426228 -0.803197 +v -0.793791 -2.459397 -0.604272 +v -1.058859 -1.201028 -0.869425 +v 0.464780 -2.194215 -1.233920 +v 0.497913 -1.201028 1.184131 +v -1.224274 -1.267023 -0.008458 +v 0.829249 -2.260725 -0.670740 +v 0.829249 -2.393059 0.918978 +v -0.230520 -1.167687 -1.267274 +v -0.992592 -1.830213 0.720293 +v -0.992592 -1.797043 -0.770083 +f 174 210 215 +f 153 154 165 +f 165 154 169 +f 163 168 170 +f 168 163 172 +f 165 169 173 +f 153 162 177 +f 156 167 181 +f 162 153 182 +f 153 165 182 +f 165 175 182 +f 175 162 182 +f 169 154 183 +f 152 159 184 +f 172 163 184 +f 170 158 186 +f 163 170 186 +f 158 171 186 +f 180 159 187 +f 160 180 187 +f 171 158 188 +f 158 170 189 +f 170 168 189 +f 179 158 189 +f 178 164 190 +f 185 178 190 +f 173 169 191 +f 156 181 191 +f 181 173 191 +f 154 153 192 +f 183 154 192 +f 176 183 192 +f 160 187 192 +f 187 176 192 +f 157 175 193 +f 175 165 193 +f 185 157 193 +f 178 185 193 +f 166 155 195 +f 155 180 195 +f 180 160 195 +f 159 180 196 +f 196 180 197 +f 168 172 197 +f 172 196 197 +f 180 155 198 +f 155 189 198 +f 189 168 198 +f 197 180 198 +f 168 197 198 +f 174 157 199 +f 157 185 199 +f 185 171 199 +f 171 188 199 +f 188 174 199 +f 155 166 200 +f 166 179 200 +f 189 155 200 +f 179 189 200 +f 167 164 201 +f 164 178 201 +f 171 185 202 +f 163 186 202 +f 186 171 202 +f 190 163 202 +f 185 190 202 +f 167 156 203 +f 164 167 203 +f 156 187 203 +f 187 159 203 +f 159 194 203 +f 194 164 203 +f 187 156 204 +f 169 187 204 +f 156 191 204 +f 191 169 204 +f 161 178 205 +f 193 165 205 +f 178 193 205 +f 157 174 206 +f 175 157 206 +f 162 175 206 +f 153 177 207 +f 192 153 207 +f 160 192 207 +f 195 160 207 +f 177 195 207 +f 165 173 208 +f 181 161 208 +f 173 181 208 +f 161 205 208 +f 205 165 208 +f 184 159 209 +f 172 184 209 +f 159 196 209 +f 196 172 209 +f 174 188 210 +f 178 161 211 +f 181 167 211 +f 161 181 211 +f 167 201 211 +f 201 178 211 +f 159 152 212 +f 152 184 212 +f 184 163 212 +f 163 190 212 +f 190 164 212 +f 194 159 212 +f 164 194 212 +f 169 183 213 +f 183 176 213 +f 187 169 213 +f 176 187 213 +f 179 166 214 +f 158 179 214 +f 188 158 214 +f 166 210 214 +f 210 188 214 +f 177 162 215 +f 166 195 215 +f 195 177 215 +f 206 174 215 +f 162 206 215 +f 210 166 215 +o convex_4 +v 0.530796 -0.736999 1.051622 +v 0.464805 -0.968843 -1.167893 +v 0.464805 -0.935664 -1.167893 +v -2.085602 -0.703878 0.024423 +v -0.992392 -0.968843 0.985141 +v 2.154424 -0.670758 -0.041841 +v 1.094417 -0.968843 0.852831 +v -0.760801 -0.670758 -1.035148 +v -1.091586 -0.968843 -0.869380 +v -1.025595 -0.670758 0.985141 +v 1.094417 -0.670758 -0.969101 +v 1.061214 -0.968843 -0.935861 +v 1.425202 -0.670758 0.786567 +v 1.391999 -0.968843 -0.074430 +v -1.290389 -0.968843 0.090904 +v -1.985993 -0.670758 -0.107453 +v 0.630405 -0.968843 1.051622 +v -0.595201 -0.968843 -1.101412 +v -1.091586 -0.670758 -0.935861 +v 2.154424 -0.703878 -0.008600 +v 0.663608 -0.670758 -1.101629 +v -0.694395 -0.968843 1.051405 +v 0.630405 -0.670758 1.051622 +v -1.058798 -0.935664 -0.935861 +v -0.661192 -0.703878 -1.068171 +v 1.028011 -0.869423 -1.002125 +v -0.859995 -0.670758 1.018165 +v -1.091586 -0.803240 0.952118 +v -1.058798 -0.968843 0.918877 +v -1.290389 -0.968843 -0.107453 +v 1.955206 -0.703878 -0.240198 +v -1.985993 -0.670758 0.123927 +v 1.624006 -0.703878 0.587775 +v 0.597202 -0.736999 -1.134653 +f 226 241 249 +f 220 217 222 +f 217 220 224 +f 221 223 225 +f 223 221 226 +f 222 217 227 +f 221 225 228 +f 222 227 229 +f 224 220 230 +f 225 223 231 +f 220 222 232 +f 222 228 232 +f 218 217 233 +f 217 224 233 +f 231 223 234 +f 221 228 235 +f 222 229 235 +f 229 227 235 +f 223 226 236 +f 225 220 237 +f 232 216 237 +f 220 232 237 +f 228 225 238 +f 216 232 238 +f 232 228 238 +f 237 216 238 +f 224 219 239 +f 219 231 239 +f 233 224 239 +f 234 233 239 +f 231 234 239 +f 218 233 240 +f 233 234 240 +f 234 223 240 +f 223 236 240 +f 227 217 241 +f 225 237 242 +f 238 225 242 +f 237 238 242 +f 219 220 243 +f 220 225 243 +f 220 219 244 +f 219 230 244 +f 230 220 244 +f 219 224 245 +f 230 219 245 +f 224 230 245 +f 226 221 246 +f 221 235 246 +f 235 227 246 +f 241 226 246 +f 227 241 246 +f 231 219 247 +f 225 231 247 +f 219 243 247 +f 243 225 247 +f 228 222 248 +f 222 235 248 +f 235 228 248 +f 217 218 249 +f 236 226 249 +f 218 240 249 +f 240 236 249 +f 241 217 249 +o convex_5 +v -2.085835 -0.670699 0.123889 +v 1.391984 1.581943 0.024624 +v 1.590665 1.515572 0.024624 +v 0.563846 -0.670699 -1.101428 +v 2.054852 -0.471807 0.753196 +v -2.748106 1.084933 0.057502 +v -0.694469 1.581943 1.018323 +v -0.959378 1.581943 -1.001953 +v 2.816762 0.389472 -0.770125 +v -2.748106 0.257171 -0.803213 +v -1.025605 -0.670699 0.985025 +v 2.750535 0.356396 0.819584 +v -2.780922 0.323321 0.753407 +v 0.862167 1.581943 -1.035041 +v 2.220718 -0.670699 -0.074430 +v 0.464804 1.581943 1.051412 +v 2.783350 1.084933 0.024413 +v 0.729713 -0.670699 1.018113 +v -0.760696 -0.670699 -1.035252 +v -2.847149 -0.438732 -0.041342 +v 2.816762 -0.438511 -0.074430 +v 2.087667 -0.471807 -0.803213 +v 2.121079 0.290246 -1.035252 +v -2.118650 0.323321 -1.002163 +v -2.085835 0.290246 0.985235 +v 2.054852 0.290246 1.018323 +v 3.048855 0.323101 0.090800 +v -3.046427 0.389472 -0.041342 +v -2.118650 -0.438732 0.753407 +v -2.615653 0.886041 -0.571385 +v 2.054852 1.084933 0.786285 +v -1.158059 1.581943 0.720108 +v -2.019608 -0.471807 -0.770335 +v 0.034029 -0.438732 1.051412 +v -2.483198 0.952412 0.587545 +v 1.060848 1.581943 0.786285 +v 2.551854 0.919336 -0.604473 +v -1.224286 1.581943 -0.737036 +v 2.650896 -0.305990 0.488280 +v 0.729713 1.051858 -1.068129 +v 2.816762 0.223875 -0.770125 +v -0.925966 1.581943 0.985025 +v -2.814334 0.356396 -0.770335 +v -2.780922 1.084933 -0.041342 +v 1.160487 1.581943 -0.770125 +v -0.230282 1.316900 1.051622 +v -2.648468 -0.272915 -0.571385 +v -2.648468 -0.206764 0.587545 +v 1.524438 -0.670699 0.786285 +v -2.019608 -0.670699 -0.173905 +v 2.816762 -0.438511 0.057502 +v 1.789943 0.422767 -1.068340 +v 2.584669 0.919336 0.554667 +v 2.650896 -0.305990 -0.538297 +v -2.780922 0.389472 0.753407 +v 1.094260 -0.670699 -0.968865 +v -1.257698 1.581943 0.156977 +v 2.750535 0.223875 0.786285 +v 3.048855 0.356396 -0.041552 +v -2.814334 -0.438732 0.090590 +v -3.046427 0.257171 0.024624 +v -0.859739 -0.670699 1.018323 +v -2.019011 0.157724 -1.002163 +v -2.847149 0.257171 -0.703948 +f 310 277 313 +f 256 251 257 +f 250 253 260 +f 257 251 263 +f 260 253 264 +f 251 256 265 +f 260 264 267 +f 253 250 268 +f 270 264 271 +f 263 258 272 +f 271 253 272 +f 261 265 275 +f 267 254 275 +f 266 261 276 +f 250 260 278 +f 274 262 278 +f 260 274 278 +f 265 261 280 +f 256 257 281 +f 275 265 283 +f 267 275 283 +f 252 251 285 +f 251 265 285 +f 266 252 285 +f 265 280 285 +f 280 266 285 +f 258 263 286 +f 266 258 286 +f 257 279 287 +f 281 257 287 +f 257 263 289 +f 253 273 289 +f 273 257 289 +f 272 258 290 +f 271 272 290 +f 274 256 291 +f 281 255 291 +f 256 281 291 +f 255 284 291 +f 257 273 292 +f 273 259 292 +f 279 257 292 +f 279 292 293 +f 277 255 293 +f 255 281 293 +f 287 279 293 +f 292 277 293 +f 251 252 294 +f 263 251 294 +f 252 266 294 +f 286 263 294 +f 266 286 294 +f 265 256 295 +f 256 274 295 +f 283 265 295 +f 274 283 295 +f 259 282 296 +f 282 269 296 +f 278 262 297 +f 254 267 298 +f 267 264 298 +f 268 250 299 +f 250 269 299 +f 282 268 299 +f 269 282 299 +f 264 270 300 +f 270 276 300 +f 288 254 300 +f 254 298 300 +f 298 264 300 +f 272 253 301 +f 263 272 301 +f 289 263 301 +f 253 289 301 +f 261 266 302 +f 280 261 302 +f 266 280 302 +f 270 271 303 +f 290 270 303 +f 271 290 303 +f 262 274 304 +f 255 277 304 +f 284 255 304 +f 274 291 304 +f 291 284 304 +f 264 253 305 +f 253 271 305 +f 271 264 305 +f 281 287 306 +f 293 281 306 +f 287 293 306 +f 275 254 307 +f 261 275 307 +f 276 261 307 +f 254 288 307 +f 300 276 307 +f 288 300 307 +f 258 266 308 +f 266 276 308 +f 276 270 308 +f 270 290 308 +f 290 258 308 +f 269 250 309 +f 250 278 309 +f 297 262 309 +f 278 297 309 +f 262 304 310 +f 304 277 310 +f 269 309 310 +f 309 262 310 +f 260 267 311 +f 274 260 311 +f 267 283 311 +f 283 274 311 +f 253 268 312 +f 273 253 312 +f 259 273 312 +f 268 282 312 +f 282 259 312 +f 292 259 313 +f 277 292 313 +f 259 296 313 +f 296 269 313 +f 269 310 313 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/489/489.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/489/489.urdf new file mode 100644 index 000000000..89c9ab1c9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/489/489.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/490/490.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/490/490.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/490/490.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/490/490.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/490/490.obj new file mode 100644 index 000000000..3e9ca64ce --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/490/490.obj @@ -0,0 +1,264 @@ +o convex_0 +v -0.617927 -0.123165 1.007489 +v -0.444339 -2.344523 -0.101722 +v -0.374990 -2.344523 -0.101722 +v 0.631434 -0.296899 -3.017363 +v 1.047745 -2.309733 3.020812 +v 0.978396 -0.331472 3.056092 +v -1.104015 -2.309733 3.056092 +v -1.034452 -2.240152 -3.052642 +v 0.978396 -2.309733 -2.948000 +v -0.999777 -0.296899 -2.948000 +v -1.104015 -0.158173 2.986131 +v 1.082634 -0.123383 -1.004040 +v 1.082634 -0.296899 -3.017363 +v 1.082634 -0.123383 1.076852 +v -1.069127 -0.123165 -0.553180 +v 1.047745 -2.274725 0.139853 +v 1.082634 -1.164481 1.111534 +v -1.034452 -0.123165 -1.039319 +v -1.104015 -2.309733 2.292500 +v 1.082634 -0.539779 -3.017363 +v 0.284259 -2.309733 -2.982681 +v 1.047745 -0.262109 -2.809273 +v -1.034452 -1.372353 -3.017363 +v 0.804808 -2.309733 -2.982681 +v -0.097378 -2.344523 0.174534 +v 1.082634 -0.296899 1.458947 +v -1.069127 -0.713295 3.020812 +v -1.034452 -2.309733 0.521948 +v 1.013070 -2.274725 -1.941637 +v -0.132052 -0.227319 3.020812 +v -0.652602 -2.240152 -3.052642 +v -0.409664 -2.309515 3.056092 +v -0.583252 -2.344523 0.521948 +v -1.069127 -0.227536 -0.691906 +v -1.034452 -1.893120 -3.052642 +v 1.082634 -1.060545 -1.004040 +v 1.013070 -1.025972 3.020812 +v -0.860864 -1.719603 3.056092 +v -0.999777 -0.678722 -2.982681 +v -1.069127 -0.123165 0.973406 +v 0.978396 -0.782876 3.056092 +v -1.034452 -0.262109 -2.080363 +v 1.047745 -0.852239 -3.017363 +v 1.047745 -1.997273 -1.004040 +v -0.965102 -0.158173 2.986131 +v -0.513903 -0.227319 3.020812 +v 1.047745 -2.309733 0.625394 +v 1.047745 -2.066636 3.020812 +v -1.104015 -0.192746 2.812723 +v 0.735458 -0.331472 3.056092 +v 1.013070 -1.788966 -2.982681 +v 1.013070 -0.331472 2.639315 +v 0.353608 -0.123165 -1.038721 +v -0.374990 -0.296899 -2.982681 +f 35 39 54 +f 13 12 14 +f 1 11 14 +f 13 14 17 +f 10 15 18 +f 15 1 18 +f 7 11 19 +f 13 17 20 +f 3 2 21 +f 2 8 21 +f 13 4 22 +f 12 13 22 +f 10 18 22 +f 9 3 24 +f 3 21 24 +f 21 8 24 +f 2 3 25 +f 3 9 25 +f 17 14 26 +f 5 17 26 +f 11 7 27 +f 8 2 28 +f 19 8 28 +f 6 14 30 +f 13 20 31 +f 24 8 31 +f 7 5 32 +f 6 7 32 +f 5 7 33 +f 7 19 33 +f 2 25 33 +f 25 5 33 +f 28 2 33 +f 19 28 33 +f 8 19 34 +f 34 23 35 +f 4 13 35 +f 31 8 35 +f 13 31 35 +f 8 34 35 +f 20 17 36 +f 7 6 38 +f 27 7 38 +f 23 10 39 +f 35 23 39 +f 11 1 40 +f 1 15 40 +f 15 11 40 +f 5 6 41 +f 32 5 41 +f 6 32 41 +f 15 10 42 +f 10 23 42 +f 34 15 42 +f 23 34 42 +f 31 20 43 +f 24 31 43 +f 16 29 44 +f 29 20 44 +f 36 16 44 +f 20 36 44 +f 14 11 45 +f 30 14 45 +f 11 30 45 +f 11 27 46 +f 6 30 46 +f 30 11 46 +f 27 38 46 +f 17 5 47 +f 5 25 47 +f 25 9 47 +f 9 29 47 +f 29 16 47 +f 16 36 47 +f 36 17 47 +f 6 5 48 +f 5 26 48 +f 37 6 48 +f 11 15 49 +f 19 11 49 +f 15 34 49 +f 34 19 49 +f 38 6 50 +f 6 46 50 +f 46 38 50 +f 9 24 51 +f 29 9 51 +f 20 29 51 +f 43 20 51 +f 24 43 51 +f 14 6 52 +f 26 14 52 +f 6 37 52 +f 48 26 52 +f 37 48 52 +f 14 12 53 +f 1 14 53 +f 18 1 53 +f 12 22 53 +f 22 18 53 +f 22 4 54 +f 10 22 54 +f 4 35 54 +f 39 10 54 +o convex_1 +v 0.978366 3.173711 0.938632 +v -1.069283 -0.122778 -0.518519 +v -1.069283 -0.122778 0.973450 +v -1.034527 3.729064 -0.969902 +v 1.082423 -0.122778 -1.004719 +v 1.013122 3.694209 -1.004719 +v -0.999771 3.763919 0.973450 +v 1.082423 -0.122778 1.077695 +v -1.034527 -0.122778 -1.039330 +v 0.943610 3.798386 0.938632 +v 0.319057 3.833241 -0.449091 +v 1.082634 0.293543 1.077695 +v 0.527171 -0.053069 1.077695 +v -1.069283 0.987928 0.973450 +v 0.284301 -0.087924 -1.039537 +v -1.034527 0.987928 -1.039330 +v 1.082634 1.057250 -1.004719 +v 1.047878 0.675397 1.077695 +v -0.027870 3.763919 0.973450 +v -1.034527 2.965744 -1.004512 +v 0.110733 3.833241 0.313991 +v -1.034527 3.729064 -0.310443 +v 1.013122 3.694209 -0.761826 +v 0.943610 3.729064 -0.935292 +v 0.110733 3.833241 -0.241016 +v -0.617877 -0.122778 1.008060 +v 0.388358 3.833241 0.487456 +v 1.047878 2.514181 -0.969902 +v 0.943610 3.798386 0.591702 +v 0.978366 3.104388 0.973450 +v -0.999771 3.763919 0.660922 +v -1.034527 2.479713 0.973450 +v 0.839553 3.694209 -1.004719 +v 0.353603 3.798386 0.938840 +v 0.978366 3.763919 0.244563 +v 0.561927 3.798386 -0.622764 +f 65 83 90 +f 57 56 59 +f 57 59 62 +f 59 56 63 +f 62 59 66 +f 62 66 67 +f 56 57 68 +f 58 56 68 +f 59 63 69 +f 69 63 70 +f 63 56 70 +f 60 69 70 +f 66 59 71 +f 59 69 71 +f 69 60 71 +f 61 67 72 +f 67 66 72 +f 61 72 73 +f 56 58 74 +f 70 56 74 +f 61 58 76 +f 58 68 76 +f 60 58 78 +f 65 58 79 +f 61 75 79 +f 75 65 79 +f 57 62 80 +f 67 61 80 +f 62 67 80 +f 68 57 80 +f 75 61 81 +f 65 75 81 +f 71 60 82 +f 66 71 82 +f 60 77 82 +f 77 66 82 +f 60 78 83 +f 81 64 83 +f 65 81 83 +f 55 64 84 +f 66 55 84 +f 72 66 84 +f 64 73 84 +f 73 72 84 +f 58 61 85 +f 79 58 85 +f 61 79 85 +f 61 76 86 +f 76 68 86 +f 80 61 86 +f 68 80 86 +f 58 60 87 +f 60 70 87 +f 74 58 87 +f 70 74 87 +f 61 73 88 +f 73 64 88 +f 81 61 88 +f 64 81 88 +f 64 55 89 +f 55 66 89 +f 77 60 89 +f 66 77 89 +f 60 83 89 +f 83 64 89 +f 58 65 90 +f 78 58 90 +f 83 78 90 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/490/490.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/490/490.urdf new file mode 100644 index 000000000..0412b202b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/490/490.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/491/491.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/491/491.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/491/491.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/491/491.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/491/491.obj new file mode 100644 index 000000000..b4083a2e9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/491/491.obj @@ -0,0 +1,732 @@ +o convex_0 +v -0.019092 -0.276574 2.008047 +v -0.019092 -2.361624 -2.035059 +v 0.043896 -2.361624 -2.035059 +v -0.050586 -0.497811 -2.761889 +v 1.055020 -0.055336 -0.076671 +v 0.802239 -2.013740 2.070917 +v -0.966814 -1.413689 2.039776 +v -0.935320 -0.055336 -1.055571 +v 1.023319 -1.318873 -2.066788 +v -1.061711 -1.413689 -2.066788 +v -0.714033 -2.077176 2.039776 +v 0.770538 -1.255663 2.765431 +v -0.840424 -0.055336 0.901642 +v -0.714033 -1.287268 2.797160 +v 0.043896 -2.045571 -2.761889 +v 0.802239 -2.077176 -1.971601 +v -0.777228 -2.140161 -2.035059 +v 0.075597 -2.171992 2.418761 +v 1.055020 -1.318873 1.976317 +v 0.896928 -0.055336 -1.087300 +v 0.896928 -0.055336 0.996829 +v -0.777228 -1.255663 -2.761302 +v -0.019092 -0.561022 2.766019 +v 0.770538 -1.287268 -2.729573 +v -0.998515 -0.055336 0.111941 +v 0.075597 -2.298414 2.008047 +v 0.075597 -2.045571 2.766019 +v 0.075597 -1.287268 -2.983405 +v 0.075597 -1.287268 3.019264 +v -0.808930 -2.140161 -0.929242 +v -0.745734 -0.529416 2.008047 +v 0.580952 -0.719049 -2.572103 +v -0.840424 -0.561022 -2.066788 +v 0.644147 -0.687443 2.450491 +v -1.061711 -1.381858 -0.550256 +v 1.055020 -1.318873 -1.182487 +v 0.802239 -2.045571 1.976317 +v -0.966814 -1.192677 2.039776 +v -0.777228 -1.413689 -2.761302 +v 0.580952 -1.919149 -2.540374 +v 0.012402 -2.140387 -2.699019 +v -0.492953 -1.887544 2.607961 +v 0.012402 -2.298414 2.008047 +v -1.030009 -0.340010 -0.045529 +v 0.770538 -0.529416 -2.066788 +v -0.019092 -0.276574 -2.035059 +v -0.556148 -1.950755 -2.572103 +v 0.170286 -2.329793 -1.908730 +v -0.777228 -1.982360 2.039776 +v 0.802239 -0.497811 1.944588 +v -0.556148 -0.718823 2.545090 +v 0.644147 -1.792728 2.576232 +v 0.833733 -2.013740 1.976317 +v -0.619344 -0.750654 -2.603832 +v -0.050586 -0.055336 1.154887 +v -0.998515 -1.287268 1.818260 +v 1.055020 -1.192677 1.944588 +v -0.745734 -1.381858 2.766019 +v 0.043896 -0.561022 2.766019 +v -0.998515 -0.055336 -0.423928 +v -0.082288 -1.350479 -2.983405 +v -0.050586 -2.361624 -1.687802 +v 1.023319 -1.161298 -1.971601 +v -1.061711 -1.445069 -0.992700 +f 30 49 64 +f 5 8 13 +f 12 6 19 +f 8 5 20 +f 5 13 21 +f 1 13 23 +f 9 16 24 +f 13 8 25 +f 18 6 27 +f 11 18 27 +f 4 24 28 +f 24 15 28 +f 23 14 29 +f 27 12 29 +f 10 17 30 +f 23 13 31 +f 24 4 32 +f 8 4 33 +f 10 8 33 +f 22 10 33 +f 16 9 36 +f 5 19 36 +f 6 18 37 +f 18 26 37 +f 13 25 38 +f 14 31 38 +f 31 13 38 +f 17 10 39 +f 10 22 39 +f 15 24 40 +f 24 16 40 +f 3 2 41 +f 16 3 41 +f 2 17 41 +f 15 40 41 +f 40 16 41 +f 11 27 42 +f 18 11 43 +f 26 18 43 +f 11 30 43 +f 10 35 44 +f 4 20 45 +f 32 4 45 +f 24 32 45 +f 4 8 46 +f 20 4 46 +f 8 20 46 +f 17 39 47 +f 39 15 47 +f 41 17 47 +f 15 41 47 +f 3 16 48 +f 26 3 48 +f 16 37 48 +f 37 26 48 +f 30 11 49 +f 34 12 50 +f 14 23 51 +f 31 14 51 +f 23 31 51 +f 6 12 52 +f 27 6 52 +f 12 27 52 +f 19 6 53 +f 16 36 53 +f 36 19 53 +f 37 16 53 +f 6 37 53 +f 4 22 54 +f 33 4 54 +f 22 33 54 +f 13 1 55 +f 1 21 55 +f 21 13 55 +f 35 7 56 +f 7 38 56 +f 38 25 56 +f 25 44 56 +f 44 35 56 +f 19 5 57 +f 12 19 57 +f 5 21 57 +f 50 12 57 +f 21 50 57 +f 29 14 58 +f 27 29 58 +f 38 7 58 +f 14 38 58 +f 11 42 58 +f 42 27 58 +f 7 49 58 +f 49 11 58 +f 21 1 59 +f 1 23 59 +f 29 12 59 +f 23 29 59 +f 12 34 59 +f 50 21 59 +f 34 50 59 +f 8 10 60 +f 25 8 60 +f 10 44 60 +f 44 25 60 +f 22 4 61 +f 4 28 61 +f 28 15 61 +f 15 39 61 +f 39 22 61 +f 2 3 62 +f 17 2 62 +f 3 26 62 +f 30 17 62 +f 26 43 62 +f 43 30 62 +f 20 5 63 +f 9 24 63 +f 5 36 63 +f 36 9 63 +f 45 20 63 +f 24 45 63 +f 10 30 64 +f 7 35 64 +f 35 10 64 +f 49 7 64 +o convex_1 +v -0.050549 3.388109 0.523176 +v 0.201923 1.145198 -1.308977 +v 0.265041 1.145198 -1.308977 +v -0.334982 1.145198 1.281649 +v 0.960142 1.145448 0.586318 +v -0.903647 1.177011 -0.866471 +v 0.770587 3.040425 -0.834773 +v -0.777210 3.198486 -0.076553 +v -0.082108 3.293422 -0.803075 +v 0.675709 2.882615 0.523176 +v -0.714092 3.008863 0.839143 +v -0.903647 1.145448 0.681159 +v 0.960142 1.145448 -0.834773 +v 0.075486 3.704230 0.017781 +v 0.359919 2.124874 0.997126 +v 0.833705 3.198486 0.017527 +v -0.998524 1.872127 -0.013664 +v 0.170364 3.261860 0.744556 +v 1.055020 1.840315 -0.076807 +v -0.872088 1.777191 -0.834773 +v 0.896823 1.398195 0.807445 +v -0.018990 1.177011 1.281649 +v -0.619415 2.882615 -0.613646 +v -0.998524 1.145448 -0.392520 +v 0.896823 1.809003 0.744302 +v -0.903647 1.587818 0.744302 +v -0.334982 2.061500 -1.024454 +v 1.055020 1.145198 0.080923 +v -0.018990 3.704230 -0.044855 +v 0.960142 1.492882 -0.834773 +v 0.612591 1.145448 0.997126 +v -0.777210 1.145448 -0.961312 +v 0.770587 2.977301 -0.866471 +v 0.075486 3.704230 -0.076553 +v -0.998524 1.145448 0.080923 +v -0.808769 1.177011 0.870841 +v 1.055020 1.714067 0.080923 +v 0.928583 1.177011 -0.897915 +v -0.745651 3.103800 0.491478 +v 0.138604 3.198736 0.776000 +v 0.833705 3.198486 -0.076553 +v 0.043927 1.177011 -1.277025 +v 0.043927 3.293422 -0.803075 +v -0.998524 1.745629 -0.202839 +v -0.745651 3.230048 -0.108251 +v 0.328159 1.429757 1.123665 +v 0.802146 2.882615 -0.834773 +v 1.055020 1.145198 -0.171394 +v -0.050549 3.672418 0.049479 +v 0.201923 1.177011 -1.308977 +v -0.050549 1.208573 1.281649 +v 0.991701 1.619380 -0.645091 +v -0.777210 2.724554 0.744302 +v -0.714092 2.756116 0.870841 +v 0.328159 1.240135 -1.277025 +v -0.745651 3.230048 0.049479 +v 0.739028 2.535181 0.617763 +v -0.998524 1.682505 0.144066 +v 0.896823 1.145448 0.807445 +v -0.082108 3.324985 -0.771630 +v 0.043927 3.293422 0.712857 +v 0.423036 1.998376 0.997126 +v 0.675709 3.135362 -0.739932 +v -0.619415 1.208573 -1.024454 +f 106 96 128 +f 66 67 68 +f 74 80 82 +f 80 78 82 +f 73 84 87 +f 84 72 87 +f 66 68 88 +f 85 69 89 +f 84 73 91 +f 68 67 92 +f 86 68 95 +f 70 84 96 +f 66 88 96 +f 88 70 96 +f 78 80 98 +f 93 78 98 +f 68 76 99 +f 88 68 99 +f 81 88 99 +f 76 90 99 +f 76 68 100 +f 90 76 100 +f 83 80 101 +f 80 89 101 +f 89 69 101 +f 69 92 101 +f 92 83 101 +f 77 67 102 +f 94 77 102 +f 97 94 102 +f 72 81 103 +f 82 75 104 +f 79 82 104 +f 80 83 105 +f 98 80 105 +f 66 96 106 +f 71 97 107 +f 81 72 108 +f 84 70 108 +f 72 84 108 +f 70 88 108 +f 88 81 108 +f 87 72 109 +f 79 86 110 +f 95 85 110 +f 86 95 110 +f 97 71 111 +f 94 97 111 +f 71 105 111 +f 105 83 111 +f 67 77 112 +f 92 67 112 +f 83 92 112 +f 75 65 113 +f 78 93 113 +f 103 75 113 +f 67 66 114 +f 91 73 114 +f 97 67 114 +f 66 106 114 +f 106 91 114 +f 73 107 114 +f 107 97 114 +f 75 68 115 +f 68 86 115 +f 86 79 115 +f 104 75 115 +f 79 104 115 +f 77 94 116 +f 111 83 116 +f 94 111 116 +f 112 77 116 +f 83 112 116 +f 90 75 117 +f 103 81 117 +f 75 103 117 +f 68 75 118 +f 75 90 118 +f 100 68 118 +f 90 100 118 +f 67 97 119 +f 102 67 119 +f 97 102 119 +f 72 103 120 +f 109 72 120 +f 93 109 120 +f 113 93 120 +f 103 113 120 +f 80 74 121 +f 82 79 121 +f 74 82 121 +f 89 80 121 +f 81 99 122 +f 99 90 122 +f 90 117 122 +f 117 81 122 +f 69 85 123 +f 68 92 123 +f 92 69 123 +f 85 95 123 +f 95 68 123 +f 73 87 124 +f 93 98 124 +f 107 73 124 +f 98 107 124 +f 87 109 124 +f 109 93 124 +f 65 75 125 +f 75 82 125 +f 82 78 125 +f 113 65 125 +f 78 113 125 +f 85 89 126 +f 79 110 126 +f 110 85 126 +f 121 79 126 +f 89 121 126 +f 105 71 127 +f 98 105 127 +f 71 107 127 +f 107 98 127 +f 84 91 128 +f 96 84 128 +f 91 106 128 +o convex_2 +v 0.265192 1.145198 -1.277718 +v -0.113812 0.260594 -1.309277 +v 0.012436 0.260594 -1.309277 +v 0.012436 0.671464 -2.983405 +v -0.208629 0.987171 -1.277718 +v 0.233565 0.387015 -1.277718 +v -0.208629 0.702896 -2.730433 +v 0.202003 0.639858 -2.730433 +v -0.335072 0.481745 -1.277718 +v -0.050623 0.450226 -2.761992 +v 0.012436 0.860750 -2.761992 +v 0.328381 0.734328 -1.309277 +v -0.303445 0.323805 -1.340836 +v 0.012436 1.145198 -1.340836 +v 0.107187 0.481745 -2.604030 +v -0.335072 0.608253 -1.403953 +v -0.208629 0.576648 -2.667315 +v -0.145440 0.829144 -2.540912 +v 0.296754 1.113593 -1.309277 +v 0.170376 0.797539 -2.604030 +v 0.328381 0.955566 -1.277718 +v 0.265192 1.145198 -1.340836 +v -0.208629 0.923960 -1.719877 +v 0.043998 0.860750 -2.761992 +v 0.012436 0.450226 -2.730433 +v -0.177002 0.481745 -2.540912 +v -0.050623 0.608253 -2.951512 +v -0.271883 0.734328 -1.877839 +v 0.202003 0.355410 -1.309277 +v -0.240191 0.639858 -2.509353 +v 0.202003 0.671464 -2.730433 +v 0.202003 0.608253 -2.667315 +v -0.303445 0.323805 -1.277718 +f 137 141 161 +f 129 133 134 +f 134 133 137 +f 131 130 138 +f 132 135 139 +f 138 130 141 +f 133 129 142 +f 137 133 144 +f 139 135 146 +f 142 139 146 +f 129 134 149 +f 134 140 149 +f 147 129 149 +f 142 129 150 +f 139 142 150 +f 129 147 150 +f 147 148 150 +f 133 142 151 +f 146 135 151 +f 142 146 151 +f 132 139 152 +f 139 150 152 +f 150 148 152 +f 132 136 153 +f 131 138 153 +f 138 141 154 +f 145 138 154 +f 141 145 154 +f 135 132 155 +f 145 135 155 +f 138 145 155 +f 132 153 155 +f 153 138 155 +f 144 133 156 +f 133 151 156 +f 151 135 156 +f 134 131 157 +f 143 134 157 +f 131 153 157 +f 153 143 157 +f 141 137 158 +f 137 144 158 +f 135 145 158 +f 145 141 158 +f 144 156 158 +f 156 135 158 +f 136 132 159 +f 140 136 159 +f 148 147 159 +f 149 140 159 +f 147 149 159 +f 132 152 159 +f 152 148 159 +f 140 134 160 +f 136 140 160 +f 134 143 160 +f 153 136 160 +f 143 153 160 +f 130 131 161 +f 131 134 161 +f 134 137 161 +f 141 130 161 +o convex_3 +v -0.966764 0.860722 -0.645391 +v 1.055020 1.145198 0.080787 +v 1.023260 1.145198 0.301972 +v 0.928583 -0.055218 0.870841 +v 0.865264 -0.055218 -1.087761 +v -0.808769 -0.055218 0.965277 +v -0.334982 1.145198 1.281649 +v 0.328360 1.145198 -1.277384 +v -0.935206 -0.055218 -1.056199 +v -0.998524 1.145198 0.080787 +v 0.391477 0.702797 1.281649 +v -0.840529 1.145198 -0.929700 +v 0.928583 1.145198 -0.897887 +v 0.897024 1.145198 0.839028 +v -0.334982 0.292357 -1.277384 +v 1.055020 -0.055218 -0.076522 +v 0.012569 -0.055218 1.154900 +v -0.872088 1.145198 0.807466 +v -0.998524 -0.055218 0.112349 +v -0.271864 0.418673 1.281649 +v -0.208545 0.987038 -1.277384 +v 0.865264 -0.055218 0.997089 +v 0.265041 0.387065 -1.277384 +v 0.233683 1.050255 1.281649 +v 0.359919 0.387065 1.281649 +v -0.998524 1.145198 -0.392644 +v 0.960142 1.113472 -0.834763 +v 0.928583 -0.055218 -0.961262 +v -0.998524 -0.055218 -0.424206 +v -0.018990 0.165923 -1.245571 +v -0.840529 0.197532 0.933715 +v 1.055020 1.145198 -0.171459 +v -0.903647 0.955430 -0.929700 +v -0.176986 -0.055218 -1.119323 +v 0.897024 0.197532 -1.056199 +v -0.366541 0.987038 1.281649 +v 0.012569 1.145198 -1.277384 +v 0.897024 0.197532 0.965527 +v -0.334982 0.607972 -1.277384 +v 0.012569 1.145198 1.281649 +v -0.903647 1.050255 0.680968 +v 1.055020 0.071215 0.017663 +v 0.359919 1.050255 -1.277384 +v -0.366541 0.702797 1.281649 +v 1.055020 -0.023610 -0.108335 +v 0.012569 0.229140 -1.277384 +v -0.050549 0.323966 1.281649 +v -0.966764 0.323966 -0.803452 +v 0.928583 0.197532 0.870841 +v -0.872088 0.892330 0.839028 +v 0.359919 0.765896 -1.277384 +v -0.903647 1.145198 -0.866576 +v -0.145427 0.229140 -1.277384 +f 207 191 214 +f 166 165 167 +f 164 163 168 +f 168 163 169 +f 166 167 170 +f 168 169 171 +f 171 169 173 +f 169 163 174 +f 164 168 175 +f 165 166 177 +f 167 165 178 +f 168 171 179 +f 170 167 180 +f 172 168 181 +f 167 178 181 +f 169 176 182 +f 178 165 183 +f 176 169 184 +f 168 172 185 +f 172 175 185 +f 172 181 186 +f 183 172 186 +f 178 183 186 +f 171 173 187 +f 180 171 187 +f 177 166 189 +f 170 180 190 +f 180 187 190 +f 180 167 192 +f 174 163 193 +f 163 177 193 +f 188 174 193 +f 162 187 194 +f 166 170 195 +f 191 166 195 +f 174 188 196 +f 188 189 196 +f 189 166 196 +f 168 179 197 +f 181 168 197 +f 192 167 197 +f 173 169 198 +f 182 173 198 +f 169 182 198 +f 175 172 199 +f 183 165 199 +f 172 183 199 +f 176 170 200 +f 173 182 200 +f 182 176 200 +f 170 194 200 +f 194 173 200 +f 175 168 201 +f 168 185 201 +f 185 175 201 +f 179 171 202 +f 171 180 202 +f 163 164 203 +f 164 165 203 +f 177 163 203 +f 165 177 203 +f 169 174 204 +f 184 169 204 +f 196 166 204 +f 174 196 204 +f 167 181 205 +f 197 167 205 +f 181 197 205 +f 177 189 206 +f 189 188 206 +f 193 177 206 +f 188 193 206 +f 184 166 207 +f 176 184 207 +f 166 191 207 +f 181 178 208 +f 186 181 208 +f 178 186 208 +f 187 162 209 +f 170 190 209 +f 190 187 209 +f 162 194 209 +f 194 170 209 +f 165 164 210 +f 164 175 210 +f 199 165 210 +f 175 199 210 +f 180 192 211 +f 197 179 211 +f 192 197 211 +f 179 202 211 +f 202 180 211 +f 166 184 212 +f 204 166 212 +f 184 204 212 +f 187 173 213 +f 173 194 213 +f 194 187 213 +f 170 176 214 +f 195 170 214 +f 191 195 214 +f 176 207 214 +o convex_4 +v -0.019092 1.145198 1.281649 +v -0.082328 0.355450 1.281649 +v 0.138774 0.355450 1.281649 +v 0.043995 0.639778 3.019264 +v -0.366665 0.797557 1.313285 +v 0.391567 0.671396 1.376558 +v 0.075613 0.860793 2.797980 +v 0.043995 0.450226 2.766343 +v -0.303429 1.081885 1.376558 +v -0.145489 0.639778 2.797980 +v 0.265170 1.018727 1.281649 +v 0.265170 0.639778 2.608332 +v -0.240268 0.418686 1.534569 +v 0.328332 0.418686 1.281649 +v -0.019092 0.860793 2.766343 +v 0.233553 0.734554 2.671605 +v 0.107230 0.450226 2.734877 +v -0.366665 0.734554 1.281649 +v -0.145489 0.703013 2.797980 +v -0.145489 0.450226 2.260843 +v -0.145489 1.145198 1.313285 +v -0.271886 0.450226 1.281649 +v 0.233553 0.545002 2.608332 +v 0.265170 1.018727 1.344921 +v 0.012451 0.355450 1.597672 +v -0.303429 1.081885 1.281649 +v 0.107230 0.639778 2.987627 +v 0.359949 0.481844 1.281649 +v 0.075613 0.892333 2.671605 +v 0.202009 0.829175 2.545229 +v 0.296788 0.703013 2.292309 +v -0.019092 1.145198 1.344921 +v 0.012451 0.892333 2.703241 +v -0.240268 0.608238 2.071706 +v -0.113871 0.829175 2.640138 +f 233 229 249 +f 217 216 215 +f 222 218 224 +f 217 215 225 +f 217 225 228 +f 218 221 229 +f 218 222 231 +f 217 228 231 +f 215 216 232 +f 224 219 232 +f 223 219 233 +f 219 224 233 +f 224 218 233 +f 218 229 233 +f 222 224 234 +f 227 216 234 +f 216 227 236 +f 232 216 236 +f 227 232 236 +f 231 228 237 +f 225 215 238 +f 220 225 238 +f 216 217 239 +f 217 231 239 +f 231 222 239 +f 234 216 239 +f 222 234 239 +f 219 223 240 +f 215 232 240 +f 232 219 240 +f 235 215 240 +f 223 235 240 +f 221 218 241 +f 230 221 241 +f 226 230 241 +f 218 231 241 +f 237 226 241 +f 231 237 241 +f 225 220 242 +f 220 226 242 +f 228 225 242 +f 226 237 242 +f 237 228 242 +f 238 243 244 +f 221 230 244 +f 230 238 244 +f 243 221 244 +f 226 220 245 +f 230 226 245 +f 220 238 245 +f 238 230 245 +f 215 235 246 +f 238 215 246 +f 243 238 246 +f 243 246 247 +f 229 221 247 +f 223 229 247 +f 235 223 247 +f 221 243 247 +f 246 235 247 +f 224 232 248 +f 232 227 248 +f 234 224 248 +f 227 234 248 +f 229 223 249 +f 223 233 249 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/491/491.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/491/491.urdf new file mode 100644 index 000000000..a050598d7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/491/491.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/492/492.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/492/492.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/492/492.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/492/492.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/492/492.obj new file mode 100644 index 000000000..ca8ccade3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/492/492.obj @@ -0,0 +1,669 @@ +o convex_0 +v 1.113353 2.811738 0.252314 +v -1.123781 -1.625770 0.613001 +v -1.087649 -1.914828 0.035732 +v -0.943339 2.848103 -1.407439 +v 1.041089 -1.914828 -1.334962 +v 1.004956 -1.914828 0.721079 +v -1.087649 2.848103 0.685265 +v 0.968824 2.848103 -1.262910 +v -0.979252 -1.914828 -1.298936 +v 1.077221 2.848103 0.721079 +v -0.221569 -1.914828 0.757530 +v 0.608159 2.848103 -1.371201 +v 0.968824 -1.914828 -1.371201 +v -1.087649 1.368312 0.071759 +v -1.087649 -1.914828 0.685265 +v 1.041089 -1.914828 0.685053 +v -0.726764 2.487247 0.721291 +v 1.113353 1.837332 0.685053 +v -0.618367 -1.914828 -1.335174 +v -1.015384 -1.806198 -1.082355 +v 0.716336 -1.914828 0.757530 +v -0.005214 2.848103 -1.407439 +v -0.943339 1.981861 -1.407439 +v 1.004956 2.848103 -1.046540 +v -0.907206 -1.662135 0.721291 +v -1.087649 2.811738 0.324366 +v 0.391584 -1.914828 -1.371201 +v -1.123781 1.043822 0.685265 +v 1.041089 -1.229014 -1.334962 +v -0.582454 2.848103 0.721291 +v -1.015384 -0.976321 -1.046328 +v 1.004956 -0.254609 -1.334962 +v -0.871074 0.718864 0.721291 +v -1.123781 0.971557 0.613001 +f 28 26 34 +f 3 5 6 +f 4 7 8 +f 5 3 9 +f 8 7 10 +f 3 6 11 +f 4 8 12 +f 5 9 13 +f 2 3 15 +f 3 11 15 +f 6 5 16 +f 5 1 18 +f 1 10 18 +f 10 6 18 +f 16 5 18 +f 6 16 18 +f 13 9 19 +f 9 3 20 +f 4 9 20 +f 6 10 21 +f 11 6 21 +f 4 12 22 +f 12 13 22 +f 22 13 23 +f 9 4 23 +f 19 9 23 +f 4 22 23 +f 10 1 24 +f 8 10 24 +f 15 11 25 +f 7 4 26 +f 4 14 26 +f 13 19 27 +f 23 13 27 +f 19 23 27 +f 2 15 28 +f 15 25 28 +f 7 26 28 +f 1 5 29 +f 5 13 29 +f 24 1 29 +f 8 24 29 +f 10 7 30 +f 7 17 30 +f 17 11 30 +f 21 10 30 +f 11 21 30 +f 14 4 31 +f 4 20 31 +f 20 14 31 +f 12 8 32 +f 13 12 32 +f 8 29 32 +f 29 13 32 +f 17 7 33 +f 11 17 33 +f 25 11 33 +f 7 28 33 +f 28 25 33 +f 3 2 34 +f 20 3 34 +f 14 20 34 +f 26 14 34 +f 2 28 34 +o convex_1 +v -0.438193 -2.059297 -3.283417 +v 0.572111 -2.816718 -1.371554 +v 0.572111 -3.141527 -1.371554 +v 0.535979 -1.987156 -3.355603 +v -0.438193 -2.023284 -1.371554 +v -0.510341 -3.033257 -3.319609 +v 0.427699 -3.033257 -3.391796 +v -0.438193 -2.997128 -1.371554 +v 0.463831 -1.951027 -1.371554 +v -0.618622 -1.987156 -3.247422 +v -0.438193 -3.069269 -3.247422 +v -0.474093 -2.888859 -1.443741 +v 0.463831 -3.069269 -3.139043 +v -0.113236 -1.951027 -2.237598 +v -0.618622 -2.095425 -3.030862 +v -0.365812 -2.924987 -3.355603 +v 0.572111 -2.888859 -2.021037 +v 0.499847 -1.951027 -2.201406 +v 0.463831 -3.141527 -1.371554 +v -0.257649 -1.987156 -1.371554 +v -0.474093 -3.033257 -2.201406 +v 0.463831 -2.924987 -3.391796 +v 0.391683 -1.987156 -3.355603 +v -0.582373 -1.987156 -2.706120 +f 54 48 58 +f 37 36 39 +f 37 39 42 +f 39 36 43 +f 40 41 45 +f 42 39 46 +f 37 45 47 +f 45 41 47 +f 44 40 49 +f 40 46 49 +f 41 40 50 +f 44 35 50 +f 40 44 50 +f 36 37 51 +f 38 36 51 +f 37 47 51 +f 36 38 52 +f 43 36 52 +f 38 48 52 +f 48 43 52 +f 37 42 53 +f 45 37 53 +f 39 43 54 +f 43 48 54 +f 40 45 55 +f 42 46 55 +f 46 40 55 +f 53 42 55 +f 45 53 55 +f 47 41 56 +f 41 50 56 +f 38 51 56 +f 51 47 56 +f 35 44 57 +f 48 38 57 +f 44 48 57 +f 50 35 57 +f 38 56 57 +f 56 50 57 +f 46 39 58 +f 48 44 58 +f 44 49 58 +f 49 46 58 +f 39 54 58 +o convex_2 +v -1.015307 -1.914828 -1.082425 +v 1.113343 -3.177450 0.721291 +v 1.113343 -3.430108 0.721291 +v 1.113343 -3.538342 -1.371356 +v -0.979326 -3.610719 0.685265 +v 1.004971 -1.914828 0.721291 +v -0.979326 -3.538508 -1.371356 +v 1.041167 -1.951182 -1.371356 +v -0.474311 -1.951016 1.082275 +v -1.087698 -1.914828 0.685265 +v 0.499740 -3.033193 1.082275 +v -0.979326 -1.914828 -1.299063 +v -0.546487 -2.997005 1.082275 +v 0.608112 -2.059417 1.082275 +v 0.247232 -1.914828 -1.371356 +v -1.015307 -3.394085 -1.227011 +v 0.175057 -3.538342 0.721291 +v 1.077147 -2.275885 -0.324912 +v -1.087698 -2.203508 -0.000435 +v 1.041167 -1.951182 0.721291 +v 1.113343 -3.538342 -0.902053 +v -0.907151 -3.610719 0.216203 +v -0.438115 -2.023228 -1.371356 +v 1.041167 -1.914828 -1.335090 +v 1.041167 -3.466130 0.721291 +v 1.113343 -3.213639 -1.371356 +v -0.726603 -3.610719 0.685265 +v -1.087698 -2.131462 0.685265 +v 0.571916 -1.987205 1.082275 +v 1.077147 -2.311908 -1.371356 +v -0.979326 -3.574365 -0.685655 +f 80 63 89 +f 60 61 62 +f 62 65 66 +f 67 64 68 +f 64 59 68 +f 59 64 70 +f 67 68 71 +f 63 69 71 +f 69 67 71 +f 61 60 72 +f 69 61 72 +f 67 69 72 +f 66 65 73 +f 70 64 73 +f 59 70 74 +f 70 65 74 +f 68 59 77 +f 59 74 77 +f 72 60 78 +f 60 76 78 +f 62 61 79 +f 65 70 81 +f 73 65 81 +f 70 73 81 +f 73 64 82 +f 66 73 82 +f 64 78 82 +f 78 76 82 +f 61 69 83 +f 69 75 83 +f 79 61 83 +f 75 79 83 +f 60 62 84 +f 62 66 84 +f 76 60 84 +f 69 63 85 +f 75 69 85 +f 62 79 85 +f 79 75 85 +f 80 62 85 +f 63 80 85 +f 71 68 86 +f 63 71 86 +f 74 63 86 +f 68 77 86 +f 77 74 86 +f 64 67 87 +f 67 72 87 +f 78 64 87 +f 72 78 87 +f 66 82 88 +f 82 76 88 +f 84 66 88 +f 76 84 88 +f 65 62 89 +f 63 74 89 +f 74 65 89 +f 62 80 89 +o convex_3 +v -0.077291 -2.961130 2.705955 +v 0.499783 -1.950910 2.453506 +v 0.499783 -1.950910 2.309136 +v 0.896856 -2.997262 2.236925 +v -0.582539 -2.961130 2.236925 +v -0.474220 -2.023175 2.597718 +v 0.571899 -2.059307 2.705955 +v -0.474220 -2.023175 2.236925 +v 0.427522 -2.997262 2.778167 +v -0.546336 -3.033395 2.597718 +v -0.365901 -2.095333 2.669823 +v 0.463725 -1.950910 2.236925 +v 0.571899 -1.987043 2.669823 +v -0.005175 -3.033395 2.417374 +v 0.896856 -2.961130 2.273110 +v -0.077291 -1.987043 2.669823 +v -0.582539 -2.744654 2.273110 +f 99 95 106 +f 93 94 97 +f 98 90 99 +f 90 98 100 +f 98 96 100 +f 95 99 100 +f 99 90 100 +f 91 92 101 +f 92 93 101 +f 93 97 101 +f 92 91 102 +f 94 93 103 +f 93 98 103 +f 99 94 103 +f 98 99 103 +f 93 92 104 +f 98 93 104 +f 96 98 104 +f 92 102 104 +f 102 96 104 +f 97 95 105 +f 95 100 105 +f 100 96 105 +f 91 101 105 +f 101 97 105 +f 102 91 105 +f 96 102 105 +f 97 94 106 +f 95 97 106 +f 94 99 106 +o convex_4 +v -0.185607 3.858238 2.778167 +v 0.138948 2.884295 0.793612 +v 0.427688 2.884295 0.793612 +v -0.474241 3.966515 0.793612 +v -0.510373 2.884295 2.633832 +v 0.535979 4.002753 2.669770 +v 0.572111 2.920424 2.705902 +v 0.535979 3.966515 0.793612 +v -0.438109 2.920424 0.793612 +v -0.438109 4.002753 2.778167 +v -0.474241 4.002753 1.803567 +v 0.319503 4.002753 1.226617 +v 0.499847 2.884295 1.551613 +v -0.510373 2.920424 2.669770 +v -0.474241 3.425570 0.793612 +v 0.103028 2.884295 2.669770 +v 0.535979 3.822219 0.793612 +v -0.257765 3.713943 2.778167 +v 0.572111 3.136868 2.705902 +v -0.510373 2.884295 2.417233 +v -0.510373 3.064720 2.669770 +f 126 120 127 +f 109 108 110 +f 108 109 111 +f 109 110 114 +f 110 108 115 +f 107 112 116 +f 116 112 117 +f 112 114 118 +f 114 110 118 +f 117 112 118 +f 110 117 118 +f 111 109 119 +f 110 115 121 +f 111 119 122 +f 119 113 122 +f 120 111 122 +f 113 120 122 +f 114 113 123 +f 109 114 123 +f 119 109 123 +f 113 119 123 +f 113 107 124 +f 107 116 124 +f 120 113 124 +f 116 120 124 +f 112 107 125 +f 107 113 125 +f 114 112 125 +f 113 114 125 +f 108 111 126 +f 115 108 126 +f 111 120 126 +f 110 121 126 +f 121 115 126 +f 116 117 127 +f 117 110 127 +f 120 116 127 +f 110 126 127 +o convex_5 +v -3.071991 -3.033345 1.839908 +v -0.691077 -1.950910 1.659794 +v -0.691077 -1.950910 1.262887 +v -0.582539 -2.961190 1.226645 +v -2.999797 -1.987043 1.226754 +v -0.582539 -2.961190 2.200792 +v -2.963948 -1.987043 2.200683 +v -2.963948 -2.961081 1.118358 +v -3.108335 -3.069477 2.236925 +v -0.582539 -2.023175 2.128637 +v -0.582539 -1.987043 1.226645 +v -2.999797 -1.950910 1.587639 +v -2.494687 -2.744725 1.118358 +v -2.206159 -1.987043 2.200683 +v -0.907411 -2.961081 1.190622 +v -2.855657 -2.997213 1.298909 +v -3.108335 -2.888926 2.236925 +v -2.999797 -1.950910 1.262887 +v -0.582539 -2.816771 2.200792 +v -3.071991 -2.492237 1.695488 +v -1.304477 -2.997213 1.515374 +v -1.881287 -1.950910 1.803885 +v -0.582539 -1.987043 2.020350 +f 129 149 150 +f 133 131 137 +f 130 129 138 +f 137 131 138 +f 129 130 139 +f 135 132 140 +f 132 138 140 +f 138 131 142 +f 135 140 142 +f 140 138 142 +f 128 135 143 +f 136 128 143 +f 135 142 143 +f 142 131 143 +f 136 133 144 +f 134 139 144 +f 141 134 144 +f 130 138 145 +f 138 132 145 +f 139 130 145 +f 133 137 146 +f 137 141 146 +f 144 133 146 +f 141 144 146 +f 135 128 147 +f 132 135 147 +f 128 136 147 +f 136 144 147 +f 144 139 147 +f 145 132 147 +f 139 145 147 +f 131 133 148 +f 133 136 148 +f 136 143 148 +f 143 131 148 +f 129 139 149 +f 139 134 149 +f 134 141 149 +f 149 141 150 +f 138 129 150 +f 137 138 150 +f 141 137 150 +o convex_6 +v -0.546152 -2.961116 1.082275 +v 3.025495 -1.950910 2.200757 +v 3.061521 -2.167577 2.200757 +v -0.582539 -2.961116 2.236925 +v -0.582539 -1.950910 1.262887 +v 3.097908 -2.924948 1.118443 +v 3.061521 -3.105560 2.128535 +v -0.474099 -2.023245 2.236925 +v 2.772951 -2.059187 1.226719 +v -0.293608 -1.950910 1.082275 +v 0.247507 -3.033338 1.082275 +v 1.437816 -3.033338 2.236925 +v 0.283894 -1.950910 2.236925 +v 2.953442 -2.239573 1.190665 +v 0.608130 -1.987078 1.082275 +v 0.897061 -1.950910 1.154497 +v -0.582539 -1.987078 2.020371 +v 3.097908 -3.033338 1.587491 +v 2.953442 -2.059187 1.298828 +v 2.953442 -2.961229 1.118443 +v -0.582539 -2.961116 1.226606 +v -0.510126 -2.023245 1.082275 +v 3.097908 -3.105560 2.056313 +v -0.510126 -2.997170 1.082275 +v 0.500412 -3.033338 1.082275 +v 3.061521 -2.347849 2.200757 +v 3.061521 -2.203518 1.876040 +v 1.185632 -3.033338 2.236925 +f 162 154 178 +f 155 152 160 +f 151 160 161 +f 153 152 162 +f 158 154 162 +f 158 162 163 +f 152 155 163 +f 162 152 163 +f 161 160 165 +f 164 156 165 +f 159 164 165 +f 160 152 166 +f 159 165 166 +f 165 160 166 +f 155 154 167 +f 154 158 167 +f 158 163 167 +f 163 155 167 +f 156 164 169 +f 164 159 169 +f 166 152 169 +f 159 166 169 +f 156 168 170 +f 155 151 171 +f 154 155 171 +f 151 155 172 +f 160 151 172 +f 155 160 172 +f 156 153 173 +f 157 161 173 +f 168 156 173 +f 151 161 174 +f 161 154 174 +f 171 151 174 +f 154 171 174 +f 165 156 175 +f 161 165 175 +f 156 170 175 +f 170 168 175 +f 173 161 175 +f 168 173 175 +f 153 162 176 +f 162 157 176 +f 173 153 176 +f 157 173 176 +f 152 153 177 +f 153 156 177 +f 169 152 177 +f 156 169 177 +f 154 161 178 +f 161 157 178 +f 157 162 178 +o convex_7 +v -0.582373 2.992643 -3.283441 +v 0.572111 4.074756 -1.407439 +v 0.572111 3.894346 -1.407439 +v 0.499847 2.920385 -3.355720 +v -0.438193 2.920385 -1.407439 +v -0.618622 4.002615 -3.319485 +v -0.438193 4.111001 -1.407439 +v 0.499847 3.930475 -3.247397 +v 0.499847 2.956514 -1.407439 +v -0.401945 4.038628 -3.066987 +v 0.283403 3.966487 -3.283441 +v -0.329913 2.956514 -3.319485 +v 0.499847 2.920385 -1.696363 +v 0.535979 3.209065 -2.778444 +v -0.474093 4.074756 -1.551996 +v -0.474093 2.920385 -1.804685 +v 0.066842 2.920385 -3.319485 +v -0.221516 4.002615 -3.319485 +v 0.535979 4.002615 -2.489711 +v -0.618622 3.930475 -3.283441 +f 194 193 198 +f 181 180 183 +f 183 180 185 +f 181 183 187 +f 184 185 188 +f 185 180 188 +f 186 182 189 +f 184 182 190 +f 179 184 190 +f 183 182 191 +f 187 183 191 +f 187 191 192 +f 180 181 192 +f 182 186 192 +f 181 187 192 +f 191 182 192 +f 183 185 193 +f 185 184 193 +f 182 183 194 +f 179 190 194 +f 183 193 194 +f 190 182 195 +f 182 194 195 +f 194 190 195 +f 182 184 196 +f 184 188 196 +f 189 182 196 +f 188 189 196 +f 188 180 197 +f 186 189 197 +f 189 188 197 +f 180 192 197 +f 192 186 197 +f 184 179 198 +f 193 184 198 +f 179 194 198 +o convex_8 +v -0.870955 4.074746 -1.407439 +v 1.113343 2.884444 0.504692 +v 1.113343 2.848258 0.504692 +v -1.051502 3.894317 0.757417 +v 0.932795 4.471624 0.721436 +v 1.041167 4.435605 -1.262871 +v -0.943131 2.848424 -1.407439 +v 0.968776 2.848424 -1.263087 +v -1.087698 2.848424 0.685240 +v -0.979326 4.543995 -1.190910 +v -1.051502 4.507644 0.757417 +v 0.427780 2.884444 0.793612 +v 0.571916 3.930336 -1.407439 +v -0.546487 4.543995 -1.371243 +v 1.077147 2.848258 0.721221 +v 0.788444 4.507810 0.577084 +v 0.499740 2.920464 -1.407439 +v 0.571916 4.002542 0.793612 +v 1.077147 4.218990 -1.046342 +v -0.438115 2.920464 0.793612 +v -1.087698 2.920464 0.360555 +v -1.087698 3.930336 0.685240 +v 1.004971 4.471624 -0.866010 +v 1.004971 3.136912 -1.263087 +v -0.943131 4.543995 -1.371243 +v 0.968776 4.471624 0.396536 +v -0.365939 4.543995 -0.685461 +v 1.113343 2.920464 0.180007 +v -0.510291 3.966522 0.793612 +v 0.571916 4.074746 -1.407439 +v -1.051502 4.507644 0.252183 +v 1.077147 3.136912 0.721221 +v 1.077147 4.218990 -0.938186 +v 0.102881 4.471624 0.757417 +f 209 216 232 +f 201 205 206 +f 207 202 209 +f 205 199 211 +f 201 200 213 +f 205 201 213 +f 207 205 213 +f 210 207 213 +f 209 203 214 +f 206 205 215 +f 205 211 215 +f 210 213 216 +f 202 207 218 +f 207 210 218 +f 210 216 218 +f 205 207 219 +f 208 205 219 +f 207 209 220 +f 219 207 220 +f 208 219 220 +f 204 212 221 +f 212 214 221 +f 211 204 222 +f 206 215 222 +f 215 211 222 +f 204 217 222 +f 199 205 223 +f 205 208 223 +f 212 199 223 +f 208 212 223 +f 214 203 224 +f 204 221 224 +f 221 214 224 +f 208 209 225 +f 212 208 225 +f 209 214 225 +f 214 212 225 +f 200 201 226 +f 201 206 226 +f 206 222 226 +f 222 217 226 +f 209 202 227 +f 216 209 227 +f 202 218 227 +f 218 216 227 +f 211 199 228 +f 204 211 228 +f 212 204 228 +f 199 212 228 +f 209 208 229 +f 220 209 229 +f 208 220 229 +f 213 200 230 +f 203 216 230 +f 216 213 230 +f 224 203 230 +f 224 230 231 +f 217 204 231 +f 204 224 231 +f 200 226 231 +f 226 217 231 +f 230 200 231 +f 203 209 232 +f 216 203 232 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/492/492.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/492/492.urdf new file mode 100644 index 000000000..7eaae076d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/492/492.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/493/493.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/493/493.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/493/493.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/493/493.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/493/493.obj new file mode 100644 index 000000000..6c8823c74 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/493/493.obj @@ -0,0 +1,852 @@ +o convex_0 +v -1.719068 -1.612338 -0.874534 +v -0.016544 -2.889419 1.040677 +v -0.087515 -2.889419 1.040677 +v -0.016739 1.969387 0.650424 +v -0.016544 -3.173351 -1.052145 +v -1.683485 -3.527959 0.863066 +v -1.825427 1.649195 -0.519926 +v -0.016739 1.685455 -0.839093 +v -2.002952 0.621016 0.579339 +v -2.002952 -3.315317 -0.129672 +v -0.016544 -3.953858 0.047324 +v -1.470767 -0.620419 0.934152 +v -0.797030 -3.811892 -0.803653 +v -1.612709 1.223911 -0.874534 +v -2.002952 1.614164 0.082765 +v -0.052127 1.685455 0.827626 +v -0.087515 2.252705 -0.058792 +v -1.506155 -3.953243 -0.023351 +v -0.016544 -3.776246 0.863271 +v -1.506155 -3.421638 -0.839093 +v -2.002952 1.153235 -0.519926 +v -0.726059 -1.399696 -1.052145 +v -1.577126 1.294587 0.650219 +v -0.016544 0.053152 -1.016500 +v -2.002952 -3.279672 0.331052 +v -0.016544 0.195732 0.969592 +v -0.584117 -3.385993 1.040677 +v -2.002952 -2.995740 -0.377959 +v -1.577126 1.933127 -0.023351 +v -0.761641 -3.883182 0.792185 +v -1.541738 -1.187055 -0.981059 +v -0.513146 -3.385993 -1.052145 +v -0.052127 -3.705570 -0.839298 +v -0.016739 1.969387 -0.661892 +v -0.726059 -4.025148 -0.058792 +v -2.002952 1.365877 0.437577 +v -0.903389 -0.230166 -1.016500 +v -1.825427 -2.002592 -0.768213 +v -1.648097 1.401523 -0.839093 +v -0.726059 -1.434727 1.005032 +v -1.648097 -2.711808 0.898506 +v -1.577126 1.188881 0.685660 +v -1.896398 -3.563604 -0.023351 +v -0.690670 -3.883182 -0.697127 +v -1.648097 -0.407777 0.863066 +v -0.016739 2.252705 0.082765 +v -0.584117 -0.124460 0.969592 +v -1.754651 -0.549129 -0.839298 +v -1.577126 -3.918212 0.082765 +v -0.726059 -3.989503 0.331052 +v -0.016544 -1.506017 -1.052145 +v -0.052127 1.827421 0.792185 +v -2.002952 1.507843 -0.413400 +v -2.002952 -3.137706 0.366492 +v -0.052127 1.437168 0.863271 +v -0.016544 -3.208996 1.040677 +v -1.541738 1.933127 -0.094232 +v -1.541738 -0.868706 -0.981059 +v -1.541738 -3.350962 -0.839093 +v -1.577126 -3.527959 0.898506 +v -0.052127 1.827421 -0.803653 +v -1.648097 1.153235 -0.874534 +v -0.052127 1.969387 0.650424 +v -1.790039 1.649195 -0.555366 +f 61 39 64 +f 5 2 11 +f 10 9 15 +f 11 2 19 +f 13 18 20 +f 10 15 21 +f 2 5 24 +f 14 8 24 +f 9 10 25 +f 3 2 26 +f 4 16 26 +f 2 24 26 +f 2 3 27 +f 10 21 28 +f 7 15 29 +f 19 27 30 +f 31 22 32 +f 13 20 32 +f 22 5 32 +f 5 11 33 +f 32 5 33 +f 13 32 33 +f 24 8 34 +f 15 9 36 +f 29 15 36 +f 14 24 37 +f 24 22 37 +f 28 21 38 +f 8 14 39 +f 3 26 40 +f 27 3 40 +f 12 27 40 +f 9 6 41 +f 27 12 41 +f 36 9 42 +f 23 36 42 +f 10 20 43 +f 20 18 43 +f 6 25 43 +f 25 10 43 +f 18 13 44 +f 33 11 44 +f 13 33 44 +f 35 18 44 +f 11 35 44 +f 9 41 45 +f 41 12 45 +f 42 9 45 +f 12 42 45 +f 4 26 46 +f 26 24 46 +f 17 29 46 +f 34 17 46 +f 24 34 46 +f 40 26 47 +f 12 40 47 +f 1 38 48 +f 38 21 48 +f 30 6 49 +f 18 30 49 +f 6 43 49 +f 43 18 49 +f 11 19 50 +f 30 18 50 +f 19 30 50 +f 18 35 50 +f 35 11 50 +f 5 22 51 +f 24 5 51 +f 22 24 51 +f 16 4 52 +f 36 23 52 +f 42 16 52 +f 23 42 52 +f 15 7 53 +f 21 15 53 +f 39 21 53 +f 7 39 53 +f 6 9 54 +f 25 6 54 +f 9 25 54 +f 26 16 55 +f 42 12 55 +f 16 42 55 +f 12 47 55 +f 47 26 55 +f 19 2 56 +f 2 27 56 +f 27 19 56 +f 7 29 57 +f 29 17 57 +f 17 34 57 +f 31 1 58 +f 22 31 58 +f 37 22 58 +f 1 48 58 +f 20 10 59 +f 10 28 59 +f 1 31 59 +f 31 32 59 +f 32 20 59 +f 38 1 59 +f 28 38 59 +f 6 30 60 +f 30 27 60 +f 41 6 60 +f 27 41 60 +f 34 8 61 +f 8 39 61 +f 14 37 62 +f 39 14 62 +f 21 39 62 +f 48 21 62 +f 37 58 62 +f 58 48 62 +f 29 36 63 +f 4 46 63 +f 46 29 63 +f 52 4 63 +f 36 52 63 +f 39 7 64 +f 7 57 64 +f 57 34 64 +f 34 61 64 +o convex_1 +v -3.173315 -3.173789 0.189235 +v -2.003119 -2.464399 -0.023469 +v -2.003119 -2.464399 -0.342700 +v -2.003119 -3.386660 -0.023469 +v -3.457116 -3.031784 -0.236174 +v -2.003119 -3.031784 0.331246 +v -3.350628 -2.819274 0.118403 +v -2.003119 -2.996396 -0.378185 +v -2.925011 -3.244655 -0.236174 +v -3.492611 -3.209267 0.047363 +v -2.038614 -3.315703 0.295761 +v -3.527941 -2.819274 -0.023469 +v -2.038614 -2.641791 0.189235 +v -3.315132 -2.960827 0.224790 +v -3.705420 -3.031784 0.047363 +v -2.712536 -3.244655 -0.271659 +v -3.492611 -3.209267 -0.058885 +v -2.038614 -2.748227 -0.378185 +v -3.527941 -2.996396 -0.200827 +v -2.109606 -3.386660 0.011947 +v -2.499727 -2.854662 0.260275 +v -2.038614 -2.464399 -0.342700 +v -3.421620 -2.783705 0.011947 +v -3.492611 -2.960827 0.189235 +v -2.074110 -3.173789 0.331246 +v -3.705420 -3.031784 -0.058885 +v -3.457116 -3.067353 -0.236174 +v -3.244307 -2.819274 0.153819 +v -2.038614 -2.464399 -0.023469 +f 92 77 93 +f 67 66 68 +f 68 66 70 +f 67 68 72 +f 68 70 75 +f 65 74 75 +f 70 66 77 +f 72 68 80 +f 68 73 80 +f 74 79 81 +f 67 72 82 +f 73 68 84 +f 68 75 84 +f 75 74 84 +f 81 73 84 +f 74 81 84 +f 70 77 85 +f 78 70 85 +f 66 67 86 +f 67 82 86 +f 82 69 86 +f 69 83 86 +f 83 76 86 +f 76 71 87 +f 86 76 87 +f 74 65 88 +f 71 76 88 +f 65 78 88 +f 79 74 88 +f 76 79 88 +f 65 75 89 +f 75 70 89 +f 78 65 89 +f 70 78 89 +f 79 76 90 +f 81 79 90 +f 76 83 90 +f 90 83 91 +f 72 80 91 +f 80 73 91 +f 73 81 91 +f 69 82 91 +f 82 72 91 +f 83 69 91 +f 81 90 91 +f 85 77 92 +f 78 85 92 +f 71 88 92 +f 88 78 92 +f 77 66 93 +f 66 86 93 +f 87 71 93 +f 86 87 93 +f 71 92 93 +o convex_2 +v -3.740767 0.869845 -0.094315 +v -2.002952 1.614668 0.012016 +v -2.002952 1.614668 -0.023428 +v -2.002952 -0.052006 0.082803 +v -2.002952 0.869845 -0.484600 +v -2.464228 0.869845 0.508531 +v -3.528097 0.940819 -0.413612 +v -3.563513 0.976225 0.331111 +v -2.002952 -0.052006 0.437543 +v -3.492681 1.401745 -0.058872 +v -2.002952 1.366339 0.437543 +v -2.038715 1.437313 -0.413612 +v -3.563513 0.550868 0.012016 +v -2.038715 0.231565 -0.378168 +v -2.854498 1.366339 0.366555 +v -2.819082 1.401745 -0.378168 +v -3.563513 0.550868 -0.094315 +v -2.924983 0.940819 -0.484600 +v -2.038715 0.479893 0.544076 +v -3.492681 0.834439 0.331111 +v -3.208832 0.621679 -0.342623 +v -3.776530 1.011630 -0.023428 +v -3.492681 1.401745 0.012016 +v -3.492681 1.047199 -0.413612 +v -2.819082 0.976225 0.472987 +v -2.002952 1.188985 -0.484600 +v -2.712487 1.543693 0.012016 +v -2.038715 -0.052006 0.437543 +v -2.038715 0.160754 -0.307079 +v -3.457265 0.905250 0.366555 +v -2.002952 0.763628 0.544076 +v -3.350670 0.621679 0.260122 +v -3.315254 1.295365 0.260122 +v -3.350670 1.295365 -0.307079 +v -2.712487 1.082605 -0.484600 +v -2.038715 -0.052006 0.082803 +v -2.819082 1.401745 0.331111 +v -2.038715 1.437313 0.366555 +v -3.776530 0.940819 0.012016 +v -2.002952 0.231565 -0.378168 +v -2.002952 1.508125 -0.307079 +v -3.669935 1.011630 -0.236292 +v -2.819082 1.508125 -0.094315 +f 103 120 136 +f 96 95 97 +f 96 97 98 +f 97 95 102 +f 102 95 104 +f 94 100 110 +f 106 94 110 +f 98 107 111 +f 107 100 111 +f 100 107 114 +f 110 100 114 +f 103 115 116 +f 115 101 116 +f 111 100 117 +f 99 104 118 +f 108 101 118 +f 104 108 118 +f 112 99 118 +f 96 98 119 +f 98 111 119 +f 95 96 120 +f 103 116 120 +f 97 102 121 +f 106 110 121 +f 102 112 121 +f 114 107 122 +f 110 114 122 +f 101 113 123 +f 118 101 123 +f 112 118 123 +f 121 112 123 +f 113 121 123 +f 104 99 124 +f 102 104 124 +f 99 112 124 +f 112 102 124 +f 113 106 125 +f 106 121 125 +f 121 113 125 +f 101 108 126 +f 116 101 126 +f 103 109 127 +f 117 103 127 +f 109 117 127 +f 109 105 128 +f 117 109 128 +f 111 117 128 +f 105 119 128 +f 119 111 128 +f 97 121 129 +f 121 110 129 +f 122 97 129 +f 110 122 129 +f 95 120 130 +f 120 116 130 +f 126 108 130 +f 116 126 130 +f 104 95 131 +f 108 104 131 +f 95 130 131 +f 130 108 131 +f 94 106 132 +f 113 101 132 +f 106 113 132 +f 115 94 132 +f 101 115 132 +f 98 97 133 +f 107 98 133 +f 97 122 133 +f 122 107 133 +f 109 96 134 +f 105 109 134 +f 96 119 134 +f 119 105 134 +f 100 94 135 +f 94 115 135 +f 115 103 135 +f 103 117 135 +f 117 100 135 +f 96 109 136 +f 109 103 136 +f 120 96 136 +o convex_3 +v 0.550945 -2.641778 0.153850 +v -0.016489 -3.918733 -0.094232 +v -0.016489 -3.883116 -0.236198 +v -0.016489 -2.287041 1.005032 +v -0.016489 -2.287041 -1.052145 +v 0.515453 -2.287041 -0.910179 +v 0.550945 -3.315633 0.224731 +v 0.125425 -3.634912 -0.839298 +v 0.019004 -3.705667 0.898711 +v 0.409087 -2.287041 0.898711 +v 0.550945 -3.315633 -0.307079 +v -0.016489 -3.138185 -1.052145 +v 0.302665 -2.748310 1.005032 +v 0.125425 -3.741285 0.792185 +v -0.016489 -3.173803 1.040677 +v 0.338158 -2.677395 -1.016500 +v 0.550945 -3.386389 -0.129877 +v -0.016489 -3.705667 -0.803653 +v 0.019004 -3.918733 -0.094232 +v 0.550945 -3.067589 0.366697 +v 0.302665 -2.287041 -1.052145 +v -0.016489 -3.776743 0.827831 +v 0.196355 -3.386389 0.898711 +v 0.267228 -2.287041 1.005032 +v 0.019004 -3.918733 0.189290 +v 0.125425 -3.705667 -0.697332 +v 0.125425 -3.067589 -1.052145 +v 0.550945 -3.386389 0.082765 +v 0.160862 -2.996514 1.040677 +v 0.515453 -2.358116 -0.910179 +v 0.550945 -2.712853 -0.271639 +f 147 142 167 +f 139 138 140 +f 139 140 141 +f 141 140 142 +f 137 142 146 +f 142 140 146 +f 137 143 147 +f 139 141 148 +f 140 138 151 +f 147 143 153 +f 139 148 154 +f 148 144 154 +f 138 139 155 +f 143 137 156 +f 137 146 156 +f 146 149 156 +f 141 142 157 +f 148 141 157 +f 150 145 158 +f 151 138 158 +f 145 151 158 +f 150 143 159 +f 145 150 159 +f 143 156 159 +f 156 149 159 +f 146 140 160 +f 149 146 160 +f 138 155 161 +f 155 153 161 +f 150 158 161 +f 158 138 161 +f 144 147 162 +f 147 153 162 +f 139 154 162 +f 154 144 162 +f 155 139 162 +f 153 155 162 +f 144 148 163 +f 152 144 163 +f 148 157 163 +f 157 152 163 +f 143 150 164 +f 153 143 164 +f 150 161 164 +f 161 153 164 +f 140 151 165 +f 151 145 165 +f 145 159 165 +f 159 149 165 +f 160 140 165 +f 149 160 165 +f 142 147 166 +f 147 144 166 +f 144 152 166 +f 157 142 166 +f 152 157 166 +f 142 137 167 +f 137 147 167 +o convex_4 +v 0.551171 -3.351081 0.153850 +v 0.586726 -2.641757 0.011947 +v 0.586726 -2.641757 -0.023414 +v 2.289108 -3.102829 0.011947 +v 0.551171 -3.138262 -0.342714 +v 0.551171 -2.996528 0.331246 +v 1.969624 -3.067322 -0.271663 +v 0.622111 -3.351081 -0.236236 +v 2.076118 -3.067322 0.189343 +v 0.551171 -2.712770 -0.271663 +v 2.005179 -2.854649 -0.058906 +v 1.898684 -3.280141 -0.023414 +v 0.586726 -2.748276 0.260195 +v 0.728605 -3.315647 0.224769 +v 1.969624 -2.890155 0.082931 +v 2.040564 -3.138262 0.189343 +v 2.005179 -2.961095 -0.236236 +v 0.657666 -2.925589 -0.342714 +v 0.763990 -3.386514 0.011947 +v 1.827745 -3.209201 -0.200810 +v 0.551171 -3.280141 -0.307221 +v 1.756805 -3.244708 0.153850 +v 0.622111 -3.067322 0.331246 +v 2.217998 -3.102829 -0.129825 +v 2.182443 -2.925589 -0.023414 +v 0.551171 -3.386514 -0.129825 +v 0.551171 -2.677336 0.118358 +v 1.579541 -2.854649 -0.236236 +v 0.622111 -3.280141 0.260195 +v 2.040564 -3.031889 0.189343 +f 192 182 197 +f 172 168 173 +f 172 173 177 +f 170 169 178 +f 177 170 178 +f 178 169 182 +f 171 176 183 +f 179 171 183 +f 174 172 185 +f 172 177 185 +f 184 174 185 +f 181 168 186 +f 179 175 187 +f 168 172 188 +f 172 174 188 +f 174 187 188 +f 187 175 188 +f 179 183 189 +f 186 179 189 +f 181 186 189 +f 176 173 190 +f 183 176 190 +f 171 179 191 +f 174 184 191 +f 187 174 191 +f 179 187 191 +f 176 171 192 +f 178 182 192 +f 184 178 192 +f 171 191 192 +f 191 184 192 +f 175 179 193 +f 186 168 193 +f 179 186 193 +f 168 188 193 +f 188 175 193 +f 169 170 194 +f 170 177 194 +f 177 173 194 +f 173 180 194 +f 182 169 194 +f 180 182 194 +f 177 178 195 +f 178 184 195 +f 185 177 195 +f 184 185 195 +f 173 168 196 +f 168 181 196 +f 189 183 196 +f 181 189 196 +f 190 173 196 +f 183 190 196 +f 173 176 197 +f 180 173 197 +f 182 180 197 +f 176 192 197 +o convex_5 +v 1.508539 4.204255 0.295611 +v -0.016322 -2.287041 -1.052145 +v 0.302783 -2.287041 -1.052145 +v -0.016322 -2.287041 1.005032 +v 2.218081 -0.832599 0.047324 +v 0.551001 3.707369 -0.732567 +v 2.076084 3.493872 -0.803653 +v 2.111639 3.493872 0.898506 +v -0.016322 1.862788 0.792185 +v 1.934309 -1.434963 0.721100 +v 2.005196 -1.151573 -0.732567 +v 0.905883 3.387760 1.040677 +v -0.016322 1.437067 -0.874533 +v 2.040751 0.764173 0.969592 +v 0.941216 3.423342 -0.980854 +v 0.338338 3.707369 0.047324 +v 1.969641 -1.754572 -0.165113 +v 2.076084 0.870286 -0.909974 +v 2.253414 2.252927 -0.626451 +v 2.253414 0.799120 0.756745 +v 2.218081 3.707369 0.118205 +v 1.331209 4.204255 -0.377959 +v 0.551001 3.742951 0.756745 +v 0.267451 -2.287041 1.005032 +v 2.253414 0.374034 -0.697127 +v 1.260321 3.848428 0.969387 +v 0.905883 4.204255 0.082765 +v -0.016322 2.004483 -0.626246 +v 1.224766 -2.074181 -0.555366 +v -0.016322 0.196121 0.969387 +v 1.969641 0.799756 -0.945619 +v 1.224766 3.813481 -0.909974 +v -0.016322 0.054426 -1.016500 +v -0.016322 2.359675 0.047324 +v 2.253414 2.536317 0.650424 +v 1.153879 0.231704 -1.016500 +v 0.409226 -2.287041 0.898506 +v 1.153879 2.678648 1.040677 +v 1.686091 4.026342 -0.449045 +v 2.218081 -0.406878 0.579339 +v 0.551001 -2.287041 -0.909974 +v 1.650536 0.658060 1.005032 +v 2.218081 -0.477408 -0.590806 +v 0.976771 4.204255 -0.307079 +v 1.331209 -1.400016 -0.909974 +v 1.083213 4.204255 0.366492 +v 1.756979 3.990759 0.543898 +v 2.253414 1.153676 -0.768212 +v 2.005196 -1.718989 -0.058792 +v 1.047658 3.387760 -0.980854 +v 1.969641 -1.186520 0.756540 +v -0.016322 -1.506129 -1.052145 +v 2.218081 3.707369 -0.023147 +v 1.579648 4.204255 -0.023351 +v -0.016322 1.862788 -0.803653 +v 0.870328 3.352177 -0.980854 +v 0.338338 3.707369 -0.023351 +v -0.016322 1.756040 0.827626 +v 1.366763 3.423342 1.005032 +v 2.253414 3.281647 0.011884 +v 2.005196 -1.009877 -0.768212 +v 2.040751 1.365901 0.969592 +v 0.480113 3.707369 -0.555366 +v 1.508539 -1.966797 -0.342519 +f 234 226 261 +f 199 200 201 +f 199 201 206 +f 199 206 210 +f 213 206 220 +f 201 200 221 +f 217 202 222 +f 216 217 222 +f 220 209 223 +f 198 219 224 +f 213 220 224 +f 210 206 225 +f 208 214 226 +f 206 201 227 +f 201 209 227 +f 204 215 228 +f 212 203 229 +f 199 210 230 +f 206 213 231 +f 225 206 231 +f 205 217 232 +f 217 216 232 +f 218 205 232 +f 228 200 233 +f 221 200 234 +f 207 221 234 +f 209 201 235 +f 201 221 235 +f 204 229 236 +f 229 219 236 +f 207 202 237 +f 202 217 237 +f 200 208 238 +f 208 226 238 +f 234 200 238 +f 226 234 238 +f 221 211 239 +f 235 221 239 +f 222 202 240 +f 224 219 241 +f 229 203 241 +f 219 229 241 +f 208 200 242 +f 200 228 242 +f 223 198 243 +f 220 223 243 +f 224 220 243 +f 198 224 243 +f 205 218 244 +f 198 223 244 +f 223 205 244 +f 215 204 245 +f 204 216 245 +f 222 215 245 +f 216 222 245 +f 202 207 246 +f 214 208 246 +f 207 234 246 +f 234 214 246 +f 240 202 246 +f 208 240 246 +f 204 228 247 +f 212 229 247 +f 229 204 247 +f 228 233 247 +f 217 211 248 +f 221 207 248 +f 211 221 248 +f 207 237 248 +f 237 217 248 +f 200 199 249 +f 199 230 249 +f 233 200 249 +f 212 247 249 +f 247 233 249 +f 216 204 250 +f 204 236 250 +f 250 236 251 +f 219 198 251 +f 236 219 251 +f 198 244 251 +f 244 218 251 +f 218 250 251 +f 210 225 252 +f 203 212 253 +f 230 210 253 +f 249 230 253 +f 212 249 253 +f 252 203 253 +f 210 252 253 +f 213 224 254 +f 231 213 254 +f 225 231 254 +f 224 241 254 +f 252 225 254 +f 209 220 255 +f 220 206 255 +f 206 227 255 +f 227 209 255 +f 205 223 256 +f 223 209 256 +f 209 235 256 +f 232 216 257 +f 218 232 257 +f 216 250 257 +f 250 218 257 +f 215 222 258 +f 228 215 258 +f 240 208 258 +f 222 240 258 +f 208 242 258 +f 242 228 258 +f 217 205 259 +f 211 217 259 +f 239 211 259 +f 235 239 259 +f 205 256 259 +f 256 235 259 +f 241 203 260 +f 203 252 260 +f 254 241 260 +f 252 254 260 +f 226 214 261 +f 214 234 261 +o convex_6 +v 1.047676 4.204255 -0.307228 +v 1.295834 4.381877 0.366718 +v 1.225030 4.381877 0.366718 +v 1.260401 5.942362 -0.023414 +v 1.508622 4.204255 -0.271743 +v 0.941188 4.204255 0.082834 +v 1.508622 4.204255 0.295747 +v 1.473189 5.729352 0.047418 +v 1.083172 5.587629 0.118320 +v 1.260401 5.693793 -0.200702 +v 1.260401 5.622847 0.224706 +v 1.047676 5.587629 -0.023414 +v 1.012242 4.204255 0.295747 +v 1.579614 4.275372 0.047418 +v 1.295834 4.452824 -0.342714 +v 1.437693 5.481124 -0.165356 +v 1.012242 4.381877 -0.271743 +v 1.473189 5.658576 -0.058830 +v 0.941188 4.239813 -0.094315 +v 1.366764 5.587629 0.189360 +v 1.154101 5.622847 0.189360 +v 1.331330 5.693793 -0.200702 +v 1.118605 5.481124 -0.165356 +v 1.260401 5.942362 0.047418 +v 1.508622 4.310760 0.295747 +v 1.154101 4.310760 -0.342714 +v 1.579614 4.204255 -0.023414 +v 1.366764 4.204255 -0.342714 +v 1.083172 5.729352 -0.023414 +v 1.331330 4.204255 0.366718 +f 268 286 291 +f 262 266 267 +f 267 266 268 +f 264 263 272 +f 267 270 273 +f 267 268 274 +f 270 267 274 +f 265 269 279 +f 269 275 279 +f 266 277 279 +f 262 267 280 +f 267 273 280 +f 278 262 280 +f 273 278 280 +f 272 263 281 +f 264 272 282 +f 274 264 282 +f 270 274 282 +f 271 265 283 +f 276 271 283 +f 277 266 283 +f 265 279 283 +f 279 277 283 +f 271 278 284 +f 278 273 284 +f 269 265 285 +f 281 269 285 +f 272 281 285 +f 270 282 285 +f 282 272 285 +f 268 275 286 +f 275 269 286 +f 281 263 286 +f 269 281 286 +f 271 276 287 +f 262 278 287 +f 278 271 287 +f 268 266 288 +f 275 268 288 +f 266 279 288 +f 279 275 288 +f 266 262 289 +f 283 266 289 +f 276 283 289 +f 262 287 289 +f 287 276 289 +f 265 271 290 +f 273 270 290 +f 271 284 290 +f 284 273 290 +f 285 265 290 +f 270 285 290 +f 263 264 291 +f 264 274 291 +f 274 268 291 +f 286 263 291 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/493/493.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/493/493.urdf new file mode 100644 index 000000000..aa66bd943 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/493/493.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/494/494.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/494/494.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/494/494.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/494/494.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/494/494.obj new file mode 100644 index 000000000..ff29d61e4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/494/494.obj @@ -0,0 +1,852 @@ +o convex_0 +v 0.630968 -0.490526 -1.425058 +v -0.506223 -1.298601 -1.275556 +v -0.326561 -1.298601 -1.275556 +v 0.002596 -0.550402 -2.980892 +v -0.326561 0.017843 -1.245656 +v 0.481250 0.377260 -1.245656 +v -0.296618 -0.161620 -2.591848 +v 0.481250 -1.118810 -1.245656 +v 0.421363 -0.430979 -2.711450 +v 0.032429 -0.909492 -2.711450 +v -0.356505 -0.550402 -2.771420 +v 0.122148 -0.101745 -2.711450 +v -0.506223 -0.580258 -1.245656 +v 0.391419 -0.819760 -2.531878 +v 0.601025 0.227489 -1.245656 +v -0.386449 -0.101745 -2.023573 +v 0.211979 -1.238725 -1.275556 +v 0.571081 -0.520382 -2.023403 +v -0.476168 -0.550402 -1.933872 +v 0.391419 0.377096 -1.275556 +v -0.206898 -0.849616 -2.651649 +v -0.236730 -0.071889 -2.472077 +v 0.541137 -1.029243 -1.245656 +v -0.147011 0.137594 -1.335357 +v 0.361587 -0.221496 -2.561948 +v 0.301699 -0.879472 -2.561948 +v 0.002596 -0.460670 -2.980892 +v -0.506223 -1.298601 -1.245656 +v -0.386449 -0.041869 -1.245656 +v 0.630968 -0.610113 -1.245656 +v 0.002596 -0.101745 -2.711450 +v 0.421363 -0.550402 -2.711450 +v 0.511194 -0.849616 -1.933872 +v -0.057291 -0.909492 -2.711450 +v -0.296618 -0.789740 -2.621749 +v 0.062372 -0.550402 -2.980892 +v -0.356505 -0.490526 -2.771420 +v 0.630968 -0.012013 -1.275386 +v 0.451418 -0.460670 -2.651819 +v -0.416392 -0.191640 -1.963772 +v 0.601025 0.227489 -1.275386 +v 0.481250 0.377260 -1.275386 +v -0.027347 -0.849616 -2.801320 +v -0.446225 -0.550402 -2.202805 +v 0.062372 -0.460670 -2.980892 +v 0.511194 -1.088954 -1.305287 +v 0.122148 -0.879472 -2.711450 +v -0.236730 -0.101745 -2.591848 +v -0.266674 -0.071889 -2.412277 +v 0.451418 -0.550238 -2.621749 +f 39 18 50 +f 6 5 8 +f 3 2 10 +f 8 5 13 +f 6 8 15 +f 3 10 17 +f 2 13 19 +f 5 6 20 +f 15 8 23 +f 16 5 24 +f 5 20 24 +f 9 12 25 +f 8 17 26 +f 17 10 26 +f 4 11 27 +f 2 3 28 +f 13 2 28 +f 8 13 28 +f 3 17 28 +f 17 8 28 +f 13 5 29 +f 5 16 29 +f 18 1 30 +f 15 23 30 +f 12 27 31 +f 14 26 32 +f 18 30 33 +f 30 23 33 +f 10 2 34 +f 2 21 34 +f 2 11 35 +f 21 2 35 +f 11 21 35 +f 4 27 36 +f 9 32 36 +f 16 7 37 +f 27 11 37 +f 1 18 38 +f 30 1 38 +f 15 30 38 +f 32 9 39 +f 19 13 40 +f 13 29 40 +f 29 16 40 +f 16 37 40 +f 6 15 41 +f 9 25 41 +f 38 18 41 +f 15 38 41 +f 39 9 41 +f 18 39 41 +f 20 6 42 +f 25 12 42 +f 12 31 42 +f 31 20 42 +f 6 41 42 +f 41 25 42 +f 11 4 43 +f 21 11 43 +f 10 34 43 +f 34 21 43 +f 4 36 43 +f 11 2 44 +f 2 19 44 +f 37 11 44 +f 19 40 44 +f 40 37 44 +f 12 9 45 +f 27 12 45 +f 36 27 45 +f 9 36 45 +f 23 8 46 +f 8 26 46 +f 26 14 46 +f 14 33 46 +f 33 23 46 +f 26 10 47 +f 32 26 47 +f 36 32 47 +f 10 43 47 +f 43 36 47 +f 22 20 48 +f 20 31 48 +f 31 27 48 +f 37 7 48 +f 27 37 48 +f 7 16 49 +f 20 22 49 +f 16 24 49 +f 24 20 49 +f 48 7 49 +f 22 48 49 +f 14 32 50 +f 33 14 50 +f 18 33 50 +f 32 39 50 +o convex_1 +v 0.152016 1.993038 -1.245349 +v -0.446284 0.706447 -1.305453 +v -0.386358 0.706447 -1.305453 +v 0.032404 1.544284 -3.040563 +v 0.511213 1.065631 -1.245349 +v -0.446284 1.813511 -1.245349 +v 0.451407 1.424685 -2.771325 +v -0.386358 1.544284 -2.801201 +v 0.062187 1.125559 -2.831253 +v 0.002381 1.873439 -2.771325 +v 0.451407 1.873439 -1.275401 +v -0.625822 0.975932 -1.245349 +v 0.032404 0.736605 -1.245349 +v 0.451287 1.125559 -2.202796 +v 0.601042 1.604084 -1.245349 +v -0.356455 1.873439 -2.113343 +v 0.361458 1.753711 -2.502086 +v -0.506090 1.544284 -2.083467 +v -0.296649 1.245287 -2.651644 +v -0.057305 2.023067 -1.275576 +v 0.571019 1.484485 -2.053415 +v 0.062187 1.873439 -2.771325 +v 0.421384 1.813511 -2.023538 +v 0.451407 1.514385 -2.771325 +v 0.002381 1.125559 -2.831253 +v -0.386358 1.484356 -2.801201 +v -0.476187 0.706447 -1.275576 +v 0.032404 1.963138 -2.083467 +v -0.296649 1.753711 -2.651644 +v 0.062187 1.454456 -3.040563 +v 0.481310 1.095659 -1.933734 +v -0.625822 1.065760 -1.275576 +v 0.571019 1.424685 -2.053415 +v 0.331555 1.185359 -2.621767 +v 0.421384 1.903339 -1.275576 +v 0.032404 0.736605 -1.275576 +v -0.386358 1.873439 -1.903857 +v -0.386358 1.873439 -1.245349 +v 0.541116 1.185359 -1.544815 +v -0.296649 1.903339 -2.053590 +v -0.625822 0.975932 -1.275576 +v -0.116991 1.484356 -2.980810 +v 0.271749 1.514256 -2.920882 +v 0.511213 1.065631 -1.424958 +v -0.326552 1.544284 -2.861129 +v -0.476187 0.706447 -1.245349 +f 62 77 96 +f 55 51 56 +f 53 52 59 +f 55 56 62 +f 55 62 63 +f 51 55 65 +f 66 58 68 +f 54 60 72 +f 61 65 73 +f 65 71 73 +f 67 72 73 +f 71 57 74 +f 72 67 74 +f 73 71 74 +f 67 73 74 +f 59 52 75 +f 75 69 76 +f 68 58 76 +f 52 53 77 +f 75 52 77 +f 69 75 77 +f 76 69 77 +f 70 51 78 +f 72 60 78 +f 58 66 79 +f 66 60 79 +f 57 59 80 +f 59 75 80 +f 62 56 82 +f 56 68 82 +f 64 57 83 +f 57 71 83 +f 71 65 83 +f 81 64 83 +f 59 57 84 +f 57 64 84 +f 64 59 84 +f 51 65 85 +f 65 61 85 +f 61 73 85 +f 73 72 85 +f 78 51 85 +f 72 78 85 +f 53 59 86 +f 63 53 86 +f 55 63 86 +f 59 64 86 +f 64 81 86 +f 68 56 87 +f 66 68 87 +f 70 87 88 +f 56 51 88 +f 51 70 88 +f 87 56 88 +f 65 55 89 +f 83 65 89 +f 81 83 89 +f 60 66 90 +f 78 60 90 +f 70 78 90 +f 66 87 90 +f 87 70 90 +f 68 76 91 +f 77 62 91 +f 76 77 91 +f 62 82 91 +f 82 68 91 +f 75 76 92 +f 54 80 92 +f 80 75 92 +f 54 72 93 +f 74 57 93 +f 72 74 93 +f 57 80 93 +f 80 54 93 +f 55 86 94 +f 86 81 94 +f 89 55 94 +f 81 89 94 +f 60 54 95 +f 76 58 95 +f 58 79 95 +f 79 60 95 +f 54 92 95 +f 92 76 95 +f 53 63 96 +f 63 62 96 +f 77 53 96 +o convex_2 +v 0.331631 -3.033682 -0.646750 +v 0.122068 2.112121 1.238517 +v 0.032256 2.112121 1.238517 +v 0.032256 2.052735 -1.245348 +v -1.074614 -0.729856 -0.048395 +v 0.780490 -2.554917 0.819353 +v 0.840365 2.112121 -0.916144 +v -0.865256 -2.584916 0.879164 +v -0.895194 -2.764300 -0.975955 +v -0.835319 1.992736 -0.826184 +v -0.775443 2.022736 0.879164 +v 0.660739 -0.549860 -1.245348 +v 0.810427 2.052123 0.849258 +v -0.446335 2.711496 -0.018247 +v 0.990052 -0.579859 -0.736467 +v -0.057147 -3.543058 0.011416 +v 0.451381 -1.208008 1.238517 +v -0.535943 -0.879240 1.238517 +v 0.750552 -2.584916 -0.766373 +v -0.655693 0.885210 -1.245348 +v 0.960115 -0.101707 0.789447 +v 0.331631 2.711496 -0.107963 +v -0.027415 -3.213678 0.759542 +v 0.660739 1.035207 1.238517 +v -0.985006 -0.221704 0.819353 +v -0.955069 1.753354 0.101133 +v -1.014944 -0.101707 -0.826184 +v -0.506211 -1.388004 -1.245348 +v 0.032256 -3.243065 -0.796278 +v 0.930177 1.783353 0.101133 +v 0.032256 2.471501 0.969124 +v -0.535943 1.214590 1.238517 +v 1.019785 -0.729244 0.101133 +v 0.780490 -2.794300 -0.107963 +v 0.511051 -1.118623 -1.245348 +v 0.600864 1.633357 -1.245348 +v -0.087085 2.382115 -0.946049 +v -0.117022 -1.478002 1.238517 +v -0.476273 1.812740 -1.245348 +v -0.386460 2.711496 0.370526 +v -0.685631 2.471501 0.101133 +v 0.062193 2.711496 -0.407262 +v 0.540989 1.872739 1.238517 +v 0.630802 2.471501 0.071227 +v 0.301694 2.680884 0.280809 +v -0.835319 -2.794300 0.101133 +v 1.019785 0.017678 -0.018004 +v 0.002318 -3.543058 0.011416 +v -1.074614 -0.221704 0.011416 +v -0.326585 2.681496 -0.347451 +v -0.386460 1.843352 1.238517 +v -0.955069 1.753354 -0.137869 +v 0.870302 2.052735 -0.736467 +v 0.990052 -0.311090 0.639676 +v -0.476273 -1.357393 1.238517 +v 0.092131 -2.255536 -1.035766 +v -1.044677 -0.341701 -0.616845 +v -0.176897 -3.453060 -0.167775 +v 0.780490 -2.794300 0.071227 +v -0.865256 1.723355 -0.856089 +v -1.044677 -0.430475 0.400432 +v 0.540989 -0.699857 1.238517 +v -0.805381 -2.644915 0.879164 +v 0.481319 2.501500 0.490148 +f 140 141 160 +f 104 101 105 +f 108 103 111 +f 98 99 113 +f 113 99 114 +f 108 111 115 +f 100 108 116 +f 102 113 119 +f 98 113 120 +f 117 109 120 +f 102 117 120 +f 104 114 121 +f 121 107 122 +f 116 105 123 +f 105 116 124 +f 116 108 124 +f 115 97 125 +f 109 117 126 +f 99 98 127 +f 114 99 128 +f 107 121 128 +f 121 114 128 +f 97 115 130 +f 115 111 130 +f 111 129 130 +f 108 115 131 +f 124 108 131 +f 115 125 131 +f 100 103 132 +f 103 108 132 +f 108 100 132 +f 103 100 133 +f 113 114 134 +f 119 113 134 +f 100 116 135 +f 133 100 135 +f 106 133 135 +f 118 110 136 +f 107 127 136 +f 110 106 137 +f 122 107 137 +f 107 136 137 +f 136 110 137 +f 118 103 138 +f 110 118 138 +f 103 133 138 +f 98 120 139 +f 120 109 139 +f 127 98 139 +f 109 127 139 +f 103 118 140 +f 118 136 141 +f 136 127 141 +f 140 118 141 +f 104 105 142 +f 129 111 143 +f 102 119 144 +f 119 112 144 +f 125 97 144 +f 112 125 144 +f 97 130 144 +f 106 110 146 +f 133 106 146 +f 110 138 146 +f 138 133 146 +f 99 127 147 +f 127 107 147 +f 128 99 147 +f 107 128 147 +f 137 106 148 +f 122 137 148 +f 145 122 148 +f 111 103 149 +f 109 126 149 +f 103 140 149 +f 140 109 149 +f 143 111 149 +f 126 143 149 +f 117 102 150 +f 126 117 150 +f 102 129 150 +f 143 126 150 +f 129 143 150 +f 114 104 151 +f 134 114 151 +f 105 124 152 +f 125 105 152 +f 124 131 152 +f 131 125 152 +f 105 101 153 +f 123 105 153 +f 101 145 153 +f 148 123 153 +f 145 148 153 +f 125 112 154 +f 105 125 154 +f 142 105 154 +f 112 142 154 +f 129 102 155 +f 130 129 155 +f 102 144 155 +f 144 130 155 +f 116 123 156 +f 135 116 156 +f 106 135 156 +f 148 106 156 +f 123 148 156 +f 101 104 157 +f 104 121 157 +f 121 122 157 +f 145 101 157 +f 122 145 157 +f 113 102 158 +f 120 113 158 +f 102 120 158 +f 112 119 159 +f 119 134 159 +f 104 142 159 +f 142 112 159 +f 151 104 159 +f 134 151 159 +f 127 109 160 +f 109 140 160 +f 141 127 160 +o convex_3 +v 0.032402 2.711496 -0.407418 +v 0.002450 2.741738 0.370661 +v -0.266683 2.741738 0.370661 +v 0.002450 4.476963 -0.078166 +v 0.331707 2.711496 -0.018378 +v -0.416445 2.711496 -0.018378 +v -0.236804 4.237442 -0.078166 +v 0.062355 4.147752 0.161137 +v 0.211971 4.207546 -0.048158 +v -0.266683 2.771635 -0.317546 +v -0.027429 4.237442 -0.257758 +v 0.241923 2.741738 -0.347554 +v 0.241923 2.861326 0.221001 +v -0.356540 2.711496 0.340729 +v -0.117067 4.117855 0.161137 +v 0.092234 4.147752 -0.227826 +v -0.236804 4.237442 -0.018378 +v -0.027429 4.117855 0.191069 +v -0.206851 3.818542 -0.227826 +v -0.057235 2.771635 -0.407418 +v 0.331707 2.741738 -0.108098 +v 0.002450 4.416996 0.041409 +v 0.152139 3.998095 0.131205 +v 0.211971 2.711496 0.250933 +v -0.416445 2.741738 0.071341 +v -0.296708 2.711496 -0.287690 +v 0.211971 4.207546 -0.018378 +v 0.241923 2.951189 -0.317546 +v -0.057235 4.207546 -0.257758 +v -0.206851 3.968199 0.131205 +v 0.002450 4.237442 -0.257758 +v -0.386493 2.741738 0.250933 +v 0.152139 4.057889 -0.197894 +f 188 176 193 +f 161 165 166 +f 167 164 171 +f 165 161 172 +f 162 163 174 +f 166 165 174 +f 174 163 175 +f 164 169 176 +f 164 167 177 +f 163 162 178 +f 162 168 178 +f 175 163 178 +f 165 172 181 +f 164 177 182 +f 177 175 182 +f 178 168 182 +f 175 178 182 +f 168 162 183 +f 162 173 183 +f 173 162 184 +f 165 173 184 +f 162 174 184 +f 174 165 184 +f 167 166 185 +f 177 167 185 +f 161 166 186 +f 166 167 186 +f 167 179 186 +f 179 170 186 +f 180 161 186 +f 170 180 186 +f 169 164 187 +f 173 165 187 +f 165 181 187 +f 181 169 187 +f 164 182 187 +f 182 168 187 +f 168 183 187 +f 183 173 187 +f 172 176 188 +f 169 181 188 +f 181 172 188 +f 167 171 189 +f 179 167 189 +f 170 179 189 +f 171 180 189 +f 180 170 189 +f 174 175 190 +f 177 174 190 +f 175 177 190 +f 171 164 191 +f 172 161 191 +f 164 176 191 +f 176 172 191 +f 180 171 191 +f 161 180 191 +f 166 174 192 +f 174 177 192 +f 185 166 192 +f 177 185 192 +f 176 169 193 +f 169 188 193 +o convex_4 +v 0.271750 0.048064 1.238693 +v -0.057379 -1.388379 1.238693 +v 0.002520 -1.388379 1.238693 +v -0.057379 -0.520687 3.033907 +v -0.536044 -0.640054 1.238693 +v 0.511240 -0.520687 2.046408 +v -0.416351 -0.550566 2.704741 +v -0.296659 -0.011843 1.268745 +v 0.032364 -0.161538 2.794370 +v 0.421392 -1.148897 1.238693 +v 0.002520 -0.939444 2.794370 +v -0.446301 -1.268564 1.268745 +v 0.391548 -0.520687 2.734617 +v 0.421392 -0.041723 1.388250 +v 0.541085 -0.490658 1.238693 +v -0.356452 -0.191418 2.076636 +v 0.002520 0.137852 1.238693 +v 0.391548 -0.101780 2.016707 +v -0.326608 -0.849657 2.614936 +v 0.301699 -0.849657 2.525131 +v -0.506094 -0.550566 2.046759 +v -0.027429 -0.161538 2.794370 +v -0.356452 -0.071751 1.238693 +v -0.087117 -0.939444 2.764493 +v -0.386402 -0.520687 2.794370 +v 0.301699 -0.580594 2.854298 +v 0.271750 -0.221297 2.614936 +v 0.092158 0.137852 1.268745 +v 0.391548 -0.909415 2.046759 +v -0.326608 -0.191418 2.225841 +v -0.057379 -0.610474 3.033907 +v 0.122213 -1.328472 1.268745 +v -0.416351 -1.298592 1.268745 +v -0.386402 -0.640054 2.764493 +v 0.541085 -0.640054 1.298621 +v 0.511240 -0.460779 2.046408 +v -0.536044 -0.759720 1.238693 +v -0.296659 -0.281205 2.584884 +v 0.361493 -0.490658 2.794370 +v 0.032364 -0.520687 3.033907 +v 0.361493 -0.640054 2.734617 +v 0.451341 -1.029082 1.388250 +v 0.421392 -0.041723 1.238693 +v -0.057379 -1.388379 1.268745 +v -0.506094 -0.580594 2.046759 +v 0.002520 -0.669933 3.003855 +v -0.446301 -1.268564 1.238693 +v 0.002520 0.137852 1.268745 +v 0.032364 -0.939444 2.764493 +f 234 219 242 +f 196 195 194 +f 194 195 198 +f 196 194 203 +f 203 194 208 +f 194 198 210 +f 200 209 214 +f 197 202 215 +f 209 201 216 +f 210 198 216 +f 201 210 216 +f 198 214 216 +f 214 209 216 +f 209 200 218 +f 197 215 218 +f 211 202 220 +f 207 194 221 +f 194 210 221 +f 202 211 221 +f 211 207 221 +f 215 202 221 +f 213 203 222 +f 201 209 223 +f 209 218 223 +f 217 204 224 +f 197 218 224 +f 196 203 225 +f 203 213 225 +f 212 205 226 +f 217 212 226 +f 205 212 227 +f 212 217 227 +f 218 200 227 +f 217 224 227 +f 224 218 227 +f 203 208 228 +f 228 208 229 +f 206 199 229 +f 208 207 229 +f 211 206 229 +f 207 211 229 +f 199 228 229 +f 198 195 230 +f 214 198 230 +f 218 215 231 +f 215 223 231 +f 223 218 231 +f 206 211 232 +f 219 206 232 +f 220 202 232 +f 211 220 232 +f 202 197 233 +f 197 224 233 +f 232 202 233 +f 219 232 233 +f 199 206 234 +f 206 219 234 +f 222 199 234 +f 213 222 234 +f 199 222 235 +f 222 203 235 +f 228 199 235 +f 203 228 235 +f 194 207 236 +f 208 194 236 +f 207 208 236 +f 195 196 237 +f 196 204 237 +f 204 217 237 +f 226 195 237 +f 217 226 237 +f 200 214 238 +f 227 200 238 +f 205 227 238 +f 230 205 238 +f 214 230 238 +f 204 219 239 +f 224 204 239 +f 233 224 239 +f 219 233 239 +f 195 226 240 +f 226 205 240 +f 230 195 240 +f 205 230 240 +f 210 201 241 +f 221 210 241 +f 215 221 241 +f 201 223 241 +f 223 215 241 +f 204 196 242 +f 219 204 242 +f 196 225 242 +f 225 213 242 +f 213 234 242 +o convex_5 +v -0.446241 1.663895 1.597683 +v 0.391492 0.646595 1.238696 +v -0.386493 0.646736 1.238517 +v -0.027432 1.454389 3.064009 +v 0.481286 1.933159 1.238696 +v 0.421423 1.484338 2.764704 +v 0.002499 1.873542 2.794545 +v -0.416310 1.424439 2.794545 +v -0.027432 1.095557 2.824387 +v 0.002499 2.083048 1.238517 +v 0.630942 1.065748 1.268716 +v -0.536150 1.245164 1.238517 +v 0.451354 1.903351 2.136253 +v -0.356448 1.813502 2.136432 +v -0.386493 1.813502 1.238517 +v 0.451354 0.736584 1.418100 +v -0.326631 1.155456 2.614963 +v 0.541148 1.544237 2.076392 +v -0.446241 0.706494 1.298557 +v -0.506104 1.454389 2.106412 +v 0.541148 1.843451 1.238696 +v 0.301698 1.245164 2.674645 +v 0.152041 2.083048 1.268716 +v 0.331515 1.813502 2.614963 +v -0.416310 1.514288 2.764526 +v 0.032431 1.993199 2.136432 +v 0.391492 1.574046 2.794545 +v -0.296585 1.753603 2.585121 +v 0.421423 0.646595 1.268716 +v -0.386493 0.646736 1.268716 +v 0.630942 1.185405 1.238696 +v 0.062248 1.873542 2.794545 +v -0.356448 1.843451 1.957028 +v -0.087180 1.065607 2.734684 +v -0.027432 1.514288 3.064009 +v 0.421423 1.933159 2.076392 +v 0.391492 1.484338 2.824387 +v -0.506104 1.275113 1.867147 +v 0.241835 1.155456 2.614963 +v -0.446241 1.424439 2.674645 +v -0.536150 1.155456 1.298557 +v 0.092179 2.023008 1.926829 +v -0.087180 1.155456 2.854228 +v 0.391492 1.993058 1.238696 +v -0.326631 1.873542 1.238517 +v -0.416310 1.364821 2.734684 +v -0.506104 1.484338 2.016710 +v 0.481286 0.706635 1.268716 +f 273 253 290 +f 252 245 254 +f 254 243 257 +f 252 254 257 +f 248 253 260 +f 255 248 260 +f 254 245 261 +f 252 247 263 +f 247 255 263 +f 255 260 263 +f 258 248 264 +f 248 255 269 +f 255 266 269 +f 249 256 270 +f 267 249 270 +f 256 267 270 +f 245 244 272 +f 261 245 272 +f 259 261 272 +f 244 271 272 +f 244 245 273 +f 245 252 273 +f 260 253 273 +f 252 263 273 +f 263 260 273 +f 266 255 274 +f 268 249 274 +f 269 266 274 +f 256 249 275 +f 257 243 275 +f 249 268 275 +f 268 252 275 +f 271 251 276 +f 259 272 276 +f 272 271 276 +f 250 246 277 +f 249 267 277 +f 267 250 277 +f 274 249 277 +f 269 274 277 +f 255 247 278 +f 274 255 278 +f 246 251 279 +f 264 248 279 +f 251 264 279 +f 248 269 279 +f 277 246 279 +f 269 277 279 +f 264 251 281 +f 258 264 281 +f 251 271 281 +f 271 258 281 +f 250 267 282 +f 267 262 282 +f 280 261 282 +f 262 280 282 +f 254 261 283 +f 262 254 283 +f 261 280 283 +f 280 262 283 +f 265 252 284 +f 252 268 284 +f 268 274 284 +f 278 265 284 +f 274 278 284 +f 246 250 285 +f 251 246 285 +f 250 259 285 +f 276 251 285 +f 259 276 285 +f 247 252 286 +f 252 265 286 +f 278 247 286 +f 265 278 286 +f 252 257 287 +f 275 252 287 +f 257 275 287 +f 259 250 288 +f 261 259 288 +f 250 282 288 +f 282 261 288 +f 243 254 289 +f 254 262 289 +f 267 256 289 +f 262 267 289 +f 256 275 289 +f 275 243 289 +f 253 248 290 +f 248 258 290 +f 271 244 290 +f 258 271 290 +f 244 273 290 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/494/494.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/494/494.urdf new file mode 100644 index 000000000..7ef9e30e9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/494/494.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/495/495.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/495/495.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/495/495.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/495/495.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/495/495.obj new file mode 100644 index 000000000..49c6bcc96 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/495/495.obj @@ -0,0 +1,1170 @@ +o convex_0 +v 0.418394 2.118920 1.025457 +v 0.114358 1.207015 -1.237398 +v 0.114358 1.240861 -1.237398 +v -1.270385 2.152669 0.045702 +v -0.932428 1.207015 0.991698 +v 0.958622 1.207015 0.890175 +v 0.891030 2.186514 -0.865800 +v -0.966098 1.207015 -0.933074 +v -0.864837 2.186514 -0.899315 +v -0.932428 2.186514 0.957694 +v 0.958622 1.207015 -0.865800 +v 1.296579 2.186514 0.012187 +v -0.054243 1.207015 1.261772 +v 0.857360 2.186514 0.923934 +v -1.067359 1.207015 -0.831796 +v -1.033689 1.207015 0.890175 +v 0.620916 2.085074 -1.000593 +v -1.270385 2.186514 -0.257643 +v 0.384724 1.308359 -1.237398 +v 1.026213 1.207015 -0.291402 +v 0.857360 1.342205 1.025457 +v -0.459540 2.186514 1.025457 +v -0.358279 1.308359 1.228013 +v 1.262657 2.186514 -0.223883 +v -1.000019 2.118920 -0.831796 +v 0.958622 1.950077 0.856660 +v 0.046767 2.186514 -0.967078 +v -0.898758 1.578738 -0.967078 +v 0.924952 1.443453 -0.933319 +v -1.270385 2.085074 0.012432 +v 1.026213 1.207015 0.113465 +v 0.891030 2.118920 -0.899560 +v 1.296579 2.152669 -0.088601 +v -1.067359 1.207015 -0.156365 +v -0.966098 2.152669 0.923934 +v 0.249290 2.186514 1.025457 +v -0.054243 1.240861 1.261772 +v 0.891030 1.207015 -0.966834 +v 0.857360 1.207015 1.025457 +v 0.992543 1.207015 -0.764278 +v -0.561053 2.186514 -0.933074 +v -1.067359 1.409703 -0.831796 +f 25 28 42 +f 5 2 6 +f 2 5 8 +f 7 9 10 +f 6 2 11 +f 7 10 12 +f 5 6 13 +f 12 10 14 +f 8 5 15 +f 5 10 16 +f 15 5 16 +f 4 10 18 +f 10 9 18 +f 2 3 19 +f 6 11 20 +f 14 10 22 +f 10 5 23 +f 5 13 23 +f 22 10 23 +f 7 12 24 +f 18 9 25 +f 6 12 26 +f 12 14 26 +f 21 6 26 +f 14 21 26 +f 9 7 27 +f 7 17 27 +f 17 19 27 +f 3 2 28 +f 2 8 28 +f 9 3 28 +f 25 9 28 +f 24 11 29 +f 16 4 30 +f 4 18 30 +f 18 15 30 +f 6 20 31 +f 17 7 32 +f 19 17 32 +f 7 24 32 +f 29 19 32 +f 24 29 32 +f 12 6 33 +f 24 12 33 +f 6 31 33 +f 31 20 33 +f 15 16 34 +f 16 30 34 +f 30 15 34 +f 10 4 35 +f 16 10 35 +f 4 16 35 +f 1 14 36 +f 14 22 36 +f 36 22 37 +f 14 1 37 +f 13 21 37 +f 21 14 37 +f 23 13 37 +f 22 23 37 +f 1 36 37 +f 11 2 38 +f 2 19 38 +f 29 11 38 +f 19 29 38 +f 13 6 39 +f 6 21 39 +f 21 13 39 +f 20 11 40 +f 11 24 40 +f 33 20 40 +f 24 33 40 +f 3 9 41 +f 19 3 41 +f 9 27 41 +f 27 19 41 +f 8 15 42 +f 15 18 42 +f 18 25 42 +f 28 8 42 +o convex_1 +v 0.114378 0.869141 2.714193 +v -0.088121 0.295068 1.228588 +v -0.324536 0.396475 1.228588 +v -0.020596 1.207015 1.228588 +v 0.384631 0.531535 1.228588 +v -0.223248 0.632942 2.714193 +v -0.324536 1.207015 1.262228 +v 0.046853 0.463960 2.781648 +v 0.249505 1.004202 1.363675 +v 0.249505 0.700427 2.781648 +v 0.317030 0.328900 1.296044 +v -0.020596 0.902884 2.781648 +v -0.392213 0.767913 1.431131 +v -0.020596 0.700427 3.018357 +v -0.088121 0.463960 2.680377 +v -0.223248 0.734170 2.714193 +v 0.249505 0.632942 2.781648 +v -0.020596 0.295068 1.498762 +v -0.392213 0.936805 1.228588 +v 0.350792 0.666774 1.667489 +v -0.257011 0.430218 1.937662 +v 0.215742 0.497792 2.545290 +v 0.148141 1.105608 1.228588 +v -0.054359 1.207015 1.329859 +v 0.046853 0.902884 2.781648 +f 46 66 67 +f 44 45 46 +f 44 46 47 +f 51 43 52 +f 44 47 53 +f 45 48 55 +f 56 48 57 +f 50 56 57 +f 54 49 58 +f 55 48 58 +f 48 56 58 +f 56 54 58 +f 53 47 59 +f 56 50 59 +f 52 56 59 +f 53 50 60 +f 44 53 60 +f 50 57 60 +f 46 45 61 +f 49 46 61 +f 45 55 61 +f 58 49 61 +f 55 58 61 +f 47 51 62 +f 51 52 62 +f 59 47 62 +f 52 59 62 +f 45 44 63 +f 48 45 63 +f 57 48 63 +f 44 60 63 +f 60 57 63 +f 50 53 64 +f 59 50 64 +f 53 59 64 +f 47 46 65 +f 43 51 65 +f 51 47 65 +f 46 49 66 +f 49 54 66 +f 66 54 67 +f 52 43 67 +f 56 52 67 +f 54 56 67 +f 43 65 67 +f 65 46 67 +o convex_2 +v -1.405673 2.355496 0.214943 +v -1.270728 3.064514 0.012308 +v -1.270728 3.064514 -0.055237 +v -3.026728 2.693030 0.046051 +v -1.270728 2.220380 -0.224070 +v -2.587513 2.693030 -0.224070 +v -1.270728 2.861926 0.316290 +v -2.756323 2.423054 0.079853 +v -1.270728 2.895705 -0.291674 +v -2.790016 2.693030 0.248686 +v -2.722458 2.895705 0.012308 +v -1.270728 2.186514 0.046051 +v -2.823881 2.625557 -0.190327 +v -2.215857 2.456834 0.248686 +v -1.439538 2.963263 0.248686 +v -2.418531 2.861926 -0.190327 +v -1.304421 2.423054 -0.291674 +v -2.790016 2.423054 0.012308 +v -1.270728 2.659251 0.316290 +v -1.304421 2.186514 -0.190327 +v -2.621206 2.828146 0.181141 +v -2.756323 2.591950 0.248686 +v -1.304421 2.963263 -0.257872 +v -2.587513 2.456834 -0.122782 +v -2.790016 2.861926 -0.055237 +v -1.270728 2.389275 0.248686 +v -1.675906 2.693030 0.316290 +v -1.608348 2.558171 -0.291674 +f 84 80 95 +f 70 69 72 +f 72 69 74 +f 70 72 76 +f 69 70 78 +f 71 77 78 +f 72 74 79 +f 79 68 81 +f 75 79 81 +f 74 69 82 +f 77 74 82 +f 69 78 82 +f 76 73 83 +f 78 70 83 +f 73 80 83 +f 76 72 84 +f 72 80 84 +f 75 71 85 +f 79 75 85 +f 71 80 85 +f 79 74 86 +f 72 79 87 +f 79 85 87 +f 78 77 88 +f 77 82 88 +f 82 78 88 +f 71 75 89 +f 77 71 89 +f 75 81 89 +f 70 76 90 +f 83 70 90 +f 76 83 90 +f 80 72 91 +f 85 80 91 +f 72 87 91 +f 87 85 91 +f 71 78 92 +f 80 71 92 +f 78 83 92 +f 83 80 92 +f 68 79 93 +f 81 68 93 +f 79 86 93 +f 86 81 93 +f 74 77 94 +f 86 74 94 +f 81 86 94 +f 77 89 94 +f 89 81 94 +f 73 76 95 +f 80 73 95 +f 76 84 95 +o convex_3 +v -1.101506 -1.731376 0.620207 +v -1.135328 -1.393618 -0.663209 +v -1.135328 -1.292581 -0.663209 +v -2.959176 -1.292581 0.046004 +v -1.101506 -0.650656 0.586454 +v -1.101506 -2.001689 -0.088871 +v -1.236612 -0.752089 -0.460286 +v -2.756244 -1.731376 -0.021230 +v -2.688781 -1.393618 0.417555 +v -2.722603 -1.292581 -0.392780 +v -2.654959 -0.920968 0.012523 +v -1.101506 -1.832810 -0.527927 +v -1.169150 -1.224871 0.721600 +v -1.135328 -1.832810 0.586454 +v -1.101506 -0.650656 0.046004 +v -1.945967 -0.887113 -0.426533 +v -2.553856 -1.055992 0.316162 +v -2.114714 -1.697521 -0.392780 +v -2.722603 -1.731376 0.079757 +v -1.135328 -2.001689 0.113510 +v -1.101506 -0.752089 -0.460286 +v -2.013793 -0.785812 -0.021230 +v -2.553856 -1.630075 0.316162 +v -2.654959 -1.292581 0.417555 +v -2.520034 -0.988414 -0.257634 +v -2.553856 -1.596352 -0.325411 +v -1.135328 -1.359763 0.721600 +v -2.046888 -1.326172 -0.527927 +v -1.135328 -0.650656 0.586454 +v -2.722603 -0.954823 0.046004 +v -2.959176 -1.393618 0.046004 +v -2.790066 -1.326172 0.350050 +v -2.621319 -1.765231 -0.021230 +v -2.959176 -1.326172 -0.054982 +v -1.135328 -1.866533 -0.460286 +v -1.979971 -1.224871 -0.527927 +v -2.722603 -0.954823 -0.021230 +f 129 99 132 +f 100 96 101 +f 97 98 107 +f 100 101 107 +f 101 96 109 +f 100 107 110 +f 102 98 111 +f 109 114 115 +f 101 109 115 +f 98 102 116 +f 107 98 116 +f 102 110 116 +f 110 107 116 +f 110 102 117 +f 102 111 117 +f 111 106 117 +f 109 104 118 +f 104 114 118 +f 114 109 118 +f 104 108 119 +f 111 105 120 +f 106 111 120 +f 103 105 121 +f 105 113 121 +f 113 103 121 +f 96 100 122 +f 100 108 122 +f 108 104 122 +f 109 96 122 +f 104 109 122 +f 98 97 123 +f 97 107 123 +f 113 105 123 +f 107 113 123 +f 108 100 124 +f 100 110 124 +f 117 106 124 +f 110 117 124 +f 119 108 124 +f 112 119 124 +f 124 106 125 +f 112 124 125 +f 103 114 126 +f 126 114 127 +f 114 104 127 +f 104 119 127 +f 119 112 127 +f 125 99 127 +f 112 125 127 +f 99 126 127 +f 103 113 128 +f 114 103 128 +f 115 114 128 +f 101 115 128 +f 105 103 129 +f 126 99 129 +f 103 126 129 +f 107 101 130 +f 113 107 130 +f 101 128 130 +f 128 113 130 +f 111 98 131 +f 105 111 131 +f 98 123 131 +f 123 105 131 +f 120 105 132 +f 106 120 132 +f 99 125 132 +f 125 106 132 +f 105 129 132 +o convex_4 +v -0.729899 -1.461183 -2.756808 +v 1.127699 -1.292271 0.721217 +v 1.127699 -1.359749 0.721217 +v -0.797325 -1.225007 2.713872 +v 0.587200 -0.177794 -1.439160 +v 0.114345 -2.373223 -1.979990 +v -1.000039 -0.177794 0.991338 +v 0.958807 -0.177794 1.126692 +v 0.080523 -2.069138 2.713284 +v -1.101506 -2.035398 0.079754 +v 0.789696 -1.326010 -2.723263 +v -1.033861 -0.177794 -0.797697 +v 1.127699 -2.001444 -0.088556 +v 0.756092 -1.326010 2.747416 +v -0.088151 -0.549358 2.747416 +v -0.020507 -0.549358 -2.756808 +v 1.026233 -0.177794 -0.730608 +v -0.121973 -2.271790 1.970599 +v 0.789696 -2.069138 2.004732 +v -0.763721 -2.204096 -1.675736 +v -0.020507 -2.102662 -2.790941 +v -0.797325 -2.035183 2.004143 +v 0.789696 -2.069138 -2.081212 +v -1.067683 -1.292056 2.004143 +v -1.000039 -1.427228 -1.979990 +v 0.823519 -2.238050 0.113298 +v 1.026233 -1.292271 -2.081212 +v -0.797325 -2.271574 0.146843 +v 1.026233 -1.359749 2.038276 +v 0.756092 -0.515618 -2.081212 +v 0.046701 -1.258961 -3.027517 +v -0.054329 -1.359535 2.984581 +v 1.127699 -0.617051 0.417552 +v -0.561006 -0.785964 -2.587909 +v -1.101506 -0.718485 -0.460487 +v -0.831147 -0.515833 2.004143 +v 0.587200 -0.752224 2.510840 +v -0.054329 -0.312967 2.072409 +v -0.729899 -2.170356 -2.047079 +v 0.148167 -2.271790 1.971187 +v -1.101506 -0.515618 0.619995 +v 0.046701 -2.373223 -0.629386 +v 0.958589 -2.136402 -1.101951 +v 1.127699 -0.921136 -0.629386 +v -0.020507 -0.312967 -2.047667 +v -0.729899 -1.292271 -2.756808 +v -0.628650 -1.765053 2.579106 +v 0.587200 -0.718485 -2.587909 +v -0.054329 -2.373223 -2.014123 +v -1.101506 -1.866271 -0.527576 +v 0.587200 -1.900226 -2.587909 +v -0.966217 -0.177794 -0.966596 +v 0.756092 -1.258531 -2.790352 +v -0.561006 -1.967705 -2.587909 +v 1.127699 -1.933965 -0.527576 +v 1.127699 -1.866486 0.484641 +v -1.067683 -0.177794 0.788306 +v -0.628650 -0.718485 2.544973 +v 0.621022 -1.798792 2.578518 +v -0.054329 -2.069138 2.713284 +v 1.060055 -0.177794 0.451096 +v -0.020507 -0.549358 2.747416 +v -0.797325 -1.326010 2.713872 +v -0.831147 -2.237835 -0.966596 +f 181 160 196 +f 137 139 140 +f 139 137 144 +f 134 135 145 +f 137 140 149 +f 138 153 155 +f 142 154 156 +f 145 151 158 +f 155 143 159 +f 154 142 160 +f 150 154 160 +f 135 134 161 +f 140 146 161 +f 146 151 161 +f 148 137 162 +f 137 149 162 +f 149 159 162 +f 153 133 163 +f 141 146 164 +f 147 136 164 +f 134 145 165 +f 161 134 165 +f 144 157 167 +f 147 139 168 +f 156 136 168 +f 146 140 169 +f 140 139 170 +f 139 147 170 +f 152 142 171 +f 157 133 171 +f 151 141 172 +f 158 151 172 +f 142 156 173 +f 167 142 173 +f 138 158 174 +f 150 160 174 +f 172 150 174 +f 158 172 174 +f 138 155 175 +f 158 138 175 +f 145 158 175 +f 155 159 175 +f 159 149 176 +f 165 145 176 +f 149 165 176 +f 137 148 177 +f 133 157 178 +f 157 144 178 +f 163 133 178 +f 148 163 178 +f 166 148 178 +f 148 162 180 +f 153 138 181 +f 152 171 181 +f 171 153 181 +f 138 174 181 +f 174 160 181 +f 142 167 182 +f 167 157 182 +f 171 142 182 +f 157 171 182 +f 143 155 183 +f 155 153 183 +f 144 137 184 +f 148 166 184 +f 137 177 184 +f 177 148 184 +f 178 144 184 +f 166 178 184 +f 159 143 185 +f 162 159 185 +f 163 148 185 +f 153 163 185 +f 180 162 185 +f 148 180 185 +f 143 183 185 +f 183 153 185 +f 133 153 186 +f 153 171 186 +f 171 133 186 +f 145 175 187 +f 175 159 187 +f 176 145 187 +f 159 176 187 +f 145 135 188 +f 151 145 188 +f 135 161 188 +f 161 151 188 +f 139 144 189 +f 144 167 189 +f 168 139 189 +f 156 168 189 +f 173 156 189 +f 167 173 189 +f 136 147 190 +f 168 136 190 +f 147 168 190 +f 146 141 191 +f 151 146 191 +f 141 151 191 +f 154 150 192 +f 141 164 192 +f 172 141 192 +f 150 172 192 +f 179 154 192 +f 149 140 193 +f 140 161 193 +f 165 149 193 +f 161 165 193 +f 164 146 194 +f 147 164 194 +f 169 140 194 +f 146 169 194 +f 140 170 194 +f 170 147 194 +f 136 156 195 +f 156 154 195 +f 164 136 195 +f 154 179 195 +f 192 164 195 +f 179 192 195 +f 142 152 196 +f 160 142 196 +f 152 181 196 +o convex_5 +v 1.127732 -0.752092 0.181088 +v 1.127732 -1.967913 -0.122696 +v 1.127732 -1.933906 -0.325391 +v 1.296562 -1.866503 -0.055131 +v 1.296562 -0.988430 -0.460521 +v 1.296562 -1.292416 0.586477 +v 1.127732 -1.798978 0.552566 +v 1.127732 -0.954668 -0.595521 +v 1.296562 -1.494992 -0.561868 +v 1.296562 -0.819617 0.383783 +v 1.127732 -1.292416 0.687825 +v 1.296562 -1.765093 0.451348 +v 1.161502 -1.866503 -0.528085 +v 1.161502 -0.718207 -0.122696 +v 1.127732 -1.663805 -0.629433 +v 1.127732 -0.819617 0.417565 +v 1.296562 -0.785855 -0.088914 +v 1.195271 -1.967913 0.045829 +v 1.296562 -1.765093 -0.426738 +f 209 205 215 +f 199 198 197 +f 200 201 202 +f 197 198 203 +f 199 197 204 +f 204 201 205 +f 201 200 205 +f 202 201 206 +f 202 206 207 +f 197 203 207 +f 203 202 207 +f 200 202 208 +f 202 203 208 +f 204 197 210 +f 201 204 210 +f 197 206 210 +f 199 204 211 +f 204 205 211 +f 209 199 211 +f 205 209 211 +f 206 197 212 +f 207 206 212 +f 197 207 212 +f 206 201 213 +f 201 210 213 +f 210 206 213 +f 198 199 214 +f 203 198 214 +f 200 208 214 +f 208 203 214 +f 199 209 214 +f 209 200 214 +f 205 200 215 +f 200 209 215 +o convex_6 +v 1.634618 -1.292485 0.552721 +v 1.296747 -1.461170 -0.528105 +v 1.296747 -1.359816 -0.528105 +v 3.018977 -1.326304 -0.055191 +v 1.296747 -0.819637 -0.122795 +v 1.296747 -1.866483 0.079807 +v 2.816322 -0.920991 -0.055191 +v 2.782434 -1.697594 0.046057 +v 1.296747 -0.819637 0.383763 +v 2.782434 -1.292485 0.383763 +v 1.296747 -1.731310 0.485117 +v 2.681107 -1.292485 -0.392790 +v 2.039759 -0.954810 -0.392790 +v 1.904712 -1.697594 -0.359147 +v 2.107367 -1.697594 0.417406 +v 2.073647 -0.920991 0.349908 +v 1.296747 -0.988526 -0.460501 +v 1.296747 -1.765129 -0.359147 +v 2.073647 -0.819637 -0.055191 +v 2.613667 -1.562524 -0.291542 +v 2.174638 -1.798845 0.012308 +v 1.296747 -1.224950 0.552721 +v 2.816322 -0.920991 0.012308 +v 2.816322 -1.292485 -0.359147 +v 1.938432 -1.359816 -0.494144 +v 2.613667 -1.596240 0.316158 +v 2.782434 -1.697594 -0.021441 +v 2.613667 -1.022345 0.282515 +v 2.613667 -1.022345 -0.291542 +v 2.985089 -1.326304 0.113450 +v 2.039759 -1.731310 0.383763 +v 1.938432 -1.359816 0.518760 +v 2.681107 -1.359816 -0.392790 +v 1.330635 -0.920991 0.451367 +v 2.039759 -1.224950 0.485117 +f 231 249 250 +f 218 217 220 +f 220 217 221 +f 220 221 224 +f 224 221 226 +f 218 220 232 +f 220 228 232 +f 221 217 233 +f 217 229 233 +f 220 224 234 +f 228 220 234 +f 222 228 234 +f 221 233 236 +f 233 229 236 +f 226 216 237 +f 224 226 237 +f 219 222 238 +f 224 231 238 +f 234 224 238 +f 222 234 238 +f 222 219 239 +f 217 218 240 +f 228 227 240 +f 229 217 240 +f 218 232 240 +f 232 228 240 +f 223 225 241 +f 230 223 241 +f 225 230 241 +f 219 223 242 +f 229 235 242 +f 223 236 242 +f 236 229 242 +f 239 219 242 +f 235 239 242 +f 231 225 243 +f 225 238 243 +f 238 231 243 +f 228 222 244 +f 227 228 244 +f 222 239 244 +f 239 227 244 +f 223 219 245 +f 225 223 245 +f 219 238 245 +f 238 225 245 +f 226 221 246 +f 223 230 246 +f 230 226 246 +f 236 223 246 +f 221 236 246 +f 216 226 247 +f 230 225 247 +f 226 230 247 +f 235 229 248 +f 227 239 248 +f 239 235 248 +f 240 227 248 +f 229 240 248 +f 231 224 249 +f 237 216 249 +f 224 237 249 +f 225 231 250 +f 216 247 250 +f 247 225 250 +f 249 216 250 +o convex_7 +v 0.080616 1.139464 -1.271339 +v -0.020646 0.295068 -1.372663 +v 0.013150 0.295068 -1.372663 +v -0.020646 0.666764 -2.959800 +v -0.290886 0.666764 -1.271339 +v 0.350855 0.666764 -1.271339 +v 0.181940 0.599070 -2.689547 +v 0.350855 1.105575 -1.305224 +v -0.189499 0.666764 -2.689547 +v -0.054442 0.430208 -2.689547 +v -0.257090 0.396402 -1.271339 +v 0.013150 0.869102 -2.689547 +v -0.189499 0.970436 -1.406548 +v 0.215735 0.362679 -1.271339 +v 0.181940 0.396402 -1.980608 +v 0.148144 0.767768 -2.621943 +v 0.013150 0.430208 -2.723267 +v -0.189499 0.599070 -2.689547 +v -0.088174 0.835461 -2.621943 +v 0.350855 0.700487 -1.440268 +v 0.283264 0.464096 -1.372663 +v 0.080616 1.139464 -1.338943 +v -0.290886 0.565430 -1.440268 +f 268 261 273 +f 251 255 256 +f 251 256 258 +f 256 255 261 +f 260 252 261 +f 255 251 263 +f 259 255 263 +f 252 253 264 +f 261 252 264 +f 256 261 264 +f 264 253 265 +f 257 254 266 +f 258 257 266 +f 254 262 266 +f 262 258 266 +f 253 252 267 +f 254 257 267 +f 252 260 267 +f 260 254 267 +f 257 265 267 +f 265 253 267 +f 259 254 268 +f 254 260 268 +f 260 261 268 +f 254 259 269 +f 262 254 269 +f 259 263 269 +f 258 256 270 +f 257 258 270 +f 256 264 271 +f 265 257 271 +f 264 265 271 +f 270 256 271 +f 257 270 271 +f 251 258 272 +f 258 262 272 +f 263 251 272 +f 262 269 272 +f 269 263 272 +f 255 259 273 +f 261 255 273 +f 259 268 273 +o convex_8 +v -0.223275 0.902970 -1.271174 +v 1.060148 -0.143905 0.451209 +v 1.060148 -0.177794 0.451209 +v -1.000161 0.328903 0.991655 +v 0.857283 1.207015 1.025418 +v -0.932470 -0.177794 -1.000583 +v -1.067644 1.207015 -0.865778 +v 0.891232 -0.177794 -1.169641 +v 0.958715 1.207015 -0.865778 +v -0.155584 -0.177794 1.194231 +v -0.932470 1.207015 0.991655 +v -1.067644 -0.177794 0.789079 +v 0.958715 -0.177794 1.126706 +v -0.358449 1.207015 1.228238 +v 0.350745 1.207015 -1.271174 +v 0.992457 1.207015 0.856360 +v 0.688367 -0.177794 -1.271174 +v -1.033902 1.207015 0.890367 +v -1.033902 -0.177794 -0.832015 +v 0.418228 0.565172 1.228238 +v 1.026198 0.295151 -0.730483 +v 1.026198 1.207015 -0.291324 +v -0.966211 -0.177794 1.025418 +v -0.257017 0.396409 -1.271174 +v 1.026198 -0.177794 -0.730483 +v -0.425932 0.767824 1.228238 +v -1.067644 0.734071 0.856605 +v 0.215779 1.071733 1.228238 +v -0.898728 1.207015 -0.967065 +v 0.891232 1.207015 -0.967065 +v -0.020619 -0.177794 -1.203404 +v -1.067644 0.193757 -0.595432 +v -0.290758 0.666566 -1.271174 +v 0.350745 0.295151 1.228238 +v 0.857283 -0.143905 -1.203404 +v -0.932470 0.328903 -1.000583 +v -0.324500 0.396409 1.228238 +v 1.026198 1.207015 0.113583 +v 0.992457 1.172992 -0.798252 +v 0.114347 1.172992 -1.271174 +v 0.992457 0.666566 0.957892 +v 0.891232 1.172992 1.025418 +v 0.384486 1.172992 -1.271174 +v -1.067644 1.207015 -0.156518 +v 0.046864 1.207015 1.228238 +v 0.181830 -0.177794 1.194231 +v -1.067644 0.632677 -0.865778 +f 292 305 320 +f 276 279 281 +f 280 278 282 +f 279 276 283 +f 278 280 284 +f 279 283 285 +f 283 276 286 +f 278 284 287 +f 280 282 288 +f 282 278 289 +f 281 279 290 +f 274 288 290 +f 277 284 291 +f 284 280 291 +f 279 285 292 +f 275 276 294 +f 282 289 295 +f 275 294 295 +f 284 277 296 +f 277 285 296 +f 285 283 296 +f 274 290 297 +f 276 281 298 +f 294 276 298 +f 281 294 298 +f 287 284 299 +f 293 287 299 +f 284 296 299 +f 280 285 300 +f 285 277 300 +f 277 291 300 +f 287 293 301 +f 280 288 302 +f 282 281 303 +f 288 282 303 +f 290 279 304 +f 279 297 304 +f 297 290 304 +f 285 280 305 +f 292 285 305 +f 274 297 306 +f 297 279 306 +f 302 274 306 +f 286 293 307 +f 293 299 307 +f 281 290 308 +f 303 281 308 +f 279 280 309 +f 280 302 309 +f 306 279 309 +f 302 306 309 +f 296 283 310 +f 299 296 310 +f 283 307 310 +f 307 299 310 +f 289 275 311 +f 275 295 311 +f 295 289 311 +f 281 282 312 +f 294 281 312 +f 282 295 312 +f 295 294 312 +f 288 274 313 +f 274 302 313 +f 302 288 313 +f 276 275 314 +f 286 276 314 +f 275 289 314 +f 314 289 315 +f 289 278 315 +f 293 286 315 +f 278 301 315 +f 301 293 315 +f 286 314 315 +f 290 288 316 +f 288 303 316 +f 308 290 316 +f 303 308 316 +f 291 280 317 +f 280 300 317 +f 300 291 317 +f 278 287 318 +f 301 278 318 +f 287 301 318 +f 283 286 319 +f 307 283 319 +f 286 307 319 +f 280 279 320 +f 279 292 320 +f 305 280 320 +o convex_9 +v -0.358378 2.456966 1.025583 +v 0.215656 2.186514 -0.967191 +v 0.215656 2.220581 -0.967191 +v 1.262803 2.693202 0.316135 +v -0.797272 3.604822 -0.021326 +v -1.270385 2.186514 -0.257743 +v 0.722244 3.638591 0.045776 +v 0.857384 2.186514 0.924150 +v -0.864966 3.300899 0.923955 +v 0.823413 3.233360 -0.831817 +v -0.932411 3.098284 -0.764324 +v 0.891106 3.199591 0.788775 +v 1.262803 2.186514 -0.223997 +v -0.932411 2.186514 0.957701 +v -1.270385 3.030745 0.248448 +v -0.932411 2.186514 -0.865563 +v 1.262803 3.098432 -0.055072 +v 0.857384 2.186514 -0.899504 +v -0.121821 3.706278 -0.021326 +v -1.270385 2.963207 -0.291489 +v -0.155792 3.300899 -0.730578 +v 1.262803 2.996976 -0.257743 +v -1.270385 2.389427 0.248448 +v 0.215656 2.220581 1.025583 +v -0.594686 3.435976 0.687537 +v -0.763549 3.233360 0.957701 +v 1.262803 2.186514 0.079717 +v -1.270385 2.862196 0.349881 +v -0.594686 2.456966 -0.899309 +v 1.228832 3.064514 0.282389 +v 0.823413 3.334668 -0.663086 +v -0.088098 3.706278 0.079717 +v 0.654550 2.321889 -0.967191 +v -1.270385 3.098284 -0.055072 +v -0.797272 3.604822 0.079717 +v -0.999857 2.355658 -0.798071 +v 0.924829 2.186514 0.856657 +v 0.722244 3.638591 -0.021131 +v 0.755967 3.300899 -0.764324 +v -0.898689 2.895966 0.957701 +v 1.026246 3.267130 0.417373 +v -1.270385 2.186514 0.079717 +v 0.485935 2.288120 0.991642 +v -0.898689 2.996976 -0.798071 +v -0.864966 3.334668 0.890208 +v -0.425824 2.186514 1.025583 +v 1.262803 2.423048 -0.291489 +v 0.891106 2.321889 -0.865758 +v 0.688273 3.233360 -0.831817 +v 1.262803 2.895817 0.316135 +v 0.215656 3.604822 -0.223802 +v 0.857384 3.064514 0.822716 +v -1.270385 2.355658 -0.325235 +v -0.830995 2.220581 -0.899309 +v 1.262803 2.389278 0.248643 +v 0.924829 2.727119 0.822716 +f 357 370 376 +f 326 322 328 +f 328 322 333 +f 326 328 334 +f 322 326 336 +f 324 333 337 +f 333 322 338 +f 326 335 340 +f 331 325 341 +f 325 339 341 +f 337 333 342 +f 335 326 343 +f 332 327 345 +f 332 329 346 +f 321 344 346 +f 328 333 347 +f 333 324 347 +f 329 335 348 +f 343 334 348 +f 335 343 348 +f 342 330 351 +f 337 342 351 +f 345 327 352 +f 322 323 353 +f 338 322 353 +f 330 338 353 +f 325 331 354 +f 331 340 354 +f 340 335 354 +f 339 325 355 +f 352 339 355 +f 325 354 355 +f 354 335 355 +f 331 336 356 +f 340 331 356 +f 328 347 357 +f 327 337 358 +f 337 351 358 +f 352 327 358 +f 339 352 358 +f 351 330 359 +f 358 351 359 +f 346 329 360 +f 321 346 360 +f 329 348 360 +f 348 334 360 +f 327 332 361 +f 337 327 361 +f 332 350 361 +f 350 337 361 +f 326 334 362 +f 343 326 362 +f 334 343 362 +f 344 328 363 +f 346 344 363 +f 336 331 364 +f 329 332 365 +f 335 329 365 +f 332 345 365 +f 345 352 365 +f 355 335 365 +f 352 355 365 +f 334 328 366 +f 344 321 366 +f 328 344 366 +f 321 360 366 +f 360 334 366 +f 333 338 367 +f 342 333 367 +f 342 367 368 +f 338 330 368 +f 330 342 368 +f 367 338 368 +f 331 341 369 +f 323 349 369 +f 353 323 369 +f 330 353 369 +f 359 330 369 +f 341 359 369 +f 364 331 369 +f 349 364 369 +f 324 337 370 +f 350 332 370 +f 337 350 370 +f 357 324 370 +f 341 339 371 +f 339 358 371 +f 359 341 371 +f 358 359 371 +f 328 332 372 +f 332 346 372 +f 363 328 372 +f 346 363 372 +f 336 326 373 +f 326 340 373 +f 356 336 373 +f 340 356 373 +f 323 322 374 +f 322 336 374 +f 349 323 374 +f 336 364 374 +f 364 349 374 +f 347 324 375 +f 324 357 375 +f 357 347 375 +f 332 328 376 +f 328 357 376 +f 370 332 376 +o convex_10 +v 1.262978 2.186604 0.046051 +v 1.330609 3.098462 0.012308 +v 1.330609 3.098462 -0.021435 +v 3.052747 2.625663 0.012308 +v 1.262978 2.524355 -0.291674 +v 1.262978 2.828189 0.316290 +v 2.748758 2.693053 -0.224070 +v 2.782398 2.659313 0.214943 +v 2.782398 2.895668 0.012308 +v 1.262978 2.996975 -0.257872 +v 1.364424 2.254172 -0.224070 +v 2.816213 2.456787 -0.021435 +v 1.364424 2.389308 0.248686 +v 1.364424 2.996975 0.248686 +v 2.647311 2.490616 0.181141 +v 2.242051 2.929497 -0.190327 +v 1.296793 2.186604 -0.156525 +v 1.668414 2.693053 -0.291674 +v 2.410953 2.625663 0.248686 +v 2.714942 2.591923 -0.190327 +v 2.613671 2.828189 0.147398 +v 1.262978 3.030804 0.214943 +v 2.850029 2.726792 -0.190327 +v 1.262978 2.726792 0.316290 +v 2.816213 2.456787 0.046051 +f 393 388 401 +f 381 377 382 +f 379 378 385 +f 384 380 385 +f 381 382 386 +f 381 383 387 +f 382 384 390 +f 389 377 391 +f 379 385 392 +f 386 379 392 +f 383 386 392 +f 377 381 393 +f 381 387 393 +f 387 388 393 +f 383 381 394 +f 381 386 394 +f 386 383 394 +f 384 382 395 +f 391 384 395 +f 389 391 395 +f 387 383 396 +f 388 387 396 +f 380 388 396 +f 384 385 397 +f 390 384 397 +f 385 390 397 +f 378 379 398 +f 385 378 398 +f 379 386 398 +f 386 382 398 +f 382 390 398 +f 390 385 398 +f 385 380 399 +f 392 385 399 +f 383 392 399 +f 380 396 399 +f 396 383 399 +f 382 377 400 +f 377 389 400 +f 395 382 400 +f 389 395 400 +f 380 384 401 +f 388 380 401 +f 384 391 401 +f 391 377 401 +f 377 393 401 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/495/495.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/495/495.urdf new file mode 100644 index 000000000..1198afda2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/495/495.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/496/496.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/496/496.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/496/496.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/496/496.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/496/496.obj new file mode 100644 index 000000000..f51c9d446 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/496/496.obj @@ -0,0 +1,498 @@ +o convex_0 +v -0.310199 -0.155266 -4.187270 +v 0.285066 -0.089216 -2.666328 +v 0.218874 0.076184 -2.666328 +v 0.185836 -0.122186 -5.443941 +v -0.078701 -0.386881 -2.666328 +v -0.244007 0.109264 -3.360950 +v -0.045604 0.109264 -5.212595 +v 0.020471 -0.353746 -5.311660 +v 0.251970 -0.353746 -2.964107 +v -0.277103 -0.056136 -2.666328 +v -0.244007 -0.353746 -4.683470 +v -0.210969 -0.089216 -5.411016 +v 0.185836 0.076184 -4.517973 +v 0.020471 0.142344 -2.666328 +v 0.251970 -0.254506 -4.683470 +v -0.244007 -0.320721 -2.931182 +v -0.210969 0.109264 -4.749611 +v -0.012566 0.175424 -3.857150 +v 0.053568 -0.386881 -4.782536 +v 0.251970 -0.056136 -4.716395 +v -0.012566 -0.089216 -5.642654 +v 0.152740 -0.386881 -2.666328 +v 0.218874 -0.320721 -4.815751 +v 0.053568 0.076184 -5.344876 +v -0.310199 -0.089216 -4.253411 +v -0.210969 -0.155266 -5.411016 +v -0.210969 0.076184 -2.666328 +v -0.310199 -0.155266 -3.162528 +v 0.285066 -0.254506 -2.666328 +v 0.285066 -0.089216 -3.757793 +v 0.053568 0.142344 -4.683470 +v -0.078701 -0.320721 -5.344876 +v -0.244007 -0.287586 -2.666328 +v -0.078701 -0.386881 -4.716395 +v -0.144835 0.142344 -4.683470 +v -0.045604 0.076184 -5.411016 +v 0.053568 -0.320721 -5.411016 +v 0.152740 0.043104 -5.113238 +v -0.277103 -0.089216 -4.848676 +v -0.244007 -0.353746 -3.493231 +v -0.310199 -0.056136 -3.559372 +v -0.012566 -0.155266 -5.642654 +v -0.045604 0.175424 -3.592588 +v -0.045604 0.142344 -2.666328 +v -0.244007 0.109264 -4.022356 +v 0.185836 -0.254506 -5.278735 +v 0.152740 0.109264 -4.220486 +v -0.277103 -0.287586 -3.493231 +f 40 16 48 +f 2 3 5 +f 5 3 10 +f 10 3 14 +f 14 3 18 +f 13 3 20 +f 15 4 20 +f 2 5 22 +f 5 19 22 +f 19 9 22 +f 15 9 23 +f 9 19 23 +f 19 8 23 +f 4 21 24 +f 12 21 26 +f 6 10 27 +f 10 14 27 +f 25 1 28 +f 9 15 29 +f 2 22 29 +f 22 9 29 +f 3 2 30 +f 20 3 30 +f 15 20 30 +f 29 15 30 +f 2 29 30 +f 24 7 31 +f 8 11 32 +f 11 26 32 +f 5 10 33 +f 16 5 33 +f 10 28 33 +f 28 16 33 +f 5 11 34 +f 11 8 34 +f 19 5 34 +f 8 19 34 +f 7 17 35 +f 18 31 35 +f 31 7 35 +f 12 17 36 +f 17 7 36 +f 21 12 36 +f 7 24 36 +f 24 21 36 +f 23 8 37 +f 8 32 37 +f 13 20 38 +f 20 4 38 +f 4 24 38 +f 31 13 38 +f 24 31 38 +f 11 1 39 +f 17 12 39 +f 1 25 39 +f 25 17 39 +f 26 11 39 +f 12 26 39 +f 11 5 40 +f 5 16 40 +f 10 6 41 +f 28 10 41 +f 25 28 41 +f 21 4 42 +f 26 21 42 +f 32 26 42 +f 4 37 42 +f 37 32 42 +f 14 18 43 +f 35 6 43 +f 18 35 43 +f 6 27 44 +f 27 14 44 +f 43 6 44 +f 14 43 44 +f 17 25 45 +f 6 35 45 +f 35 17 45 +f 41 6 45 +f 25 41 45 +f 4 15 46 +f 15 23 46 +f 37 4 46 +f 23 37 46 +f 3 13 47 +f 18 3 47 +f 13 31 47 +f 31 18 47 +f 1 11 48 +f 28 1 48 +f 16 28 48 +f 11 40 48 +o convex_1 +v 0.384355 -0.155237 -2.103783 +v -0.343334 -0.188327 -2.037695 +v -0.343334 -0.188327 -1.938419 +v -0.045520 0.440038 -1.938419 +v -0.244039 0.076051 -2.665894 +v 0.086541 -0.717649 -1.938419 +v 0.285060 -0.056308 -2.665894 +v -0.210988 -0.353775 -2.665894 +v 0.251938 -0.353775 -2.665894 +v 0.285060 0.307566 -1.938419 +v 0.318182 -0.618380 -1.938419 +v -0.277161 0.307566 -1.938419 +v 0.053490 0.142231 -2.665894 +v -0.244039 -0.552200 -1.938419 +v -0.310212 -0.155237 -2.533645 +v 0.020510 -0.651356 -2.136899 +v 0.020510 0.440038 -2.004579 +v 0.218958 0.109141 -2.599805 +v 0.384355 -0.056308 -1.938419 +v 0.086541 -0.419841 -2.632850 +v 0.318182 -0.155237 -2.599805 +v 0.318182 0.241386 -2.004579 +v -0.277161 0.274476 -2.103783 +v -0.343334 -0.023218 -2.004579 +v -0.244039 -0.552200 -2.004579 +v -0.045520 0.241386 -2.467485 +v -0.277161 -0.221416 -2.665894 +v -0.045520 -0.684559 -1.971535 +f 73 56 76 +f 52 51 54 +f 53 55 56 +f 56 55 57 +f 52 54 58 +f 54 57 59 +f 58 54 59 +f 51 52 60 +f 55 53 61 +f 51 50 62 +f 54 51 62 +f 52 58 65 +f 61 65 66 +f 55 61 66 +f 65 58 66 +f 59 49 67 +f 58 59 67 +f 56 57 68 +f 57 54 68 +f 64 56 68 +f 54 64 68 +f 57 55 69 +f 49 59 69 +f 59 57 69 +f 55 66 70 +f 66 58 70 +f 67 49 70 +f 58 67 70 +f 69 55 70 +f 49 69 70 +f 60 52 71 +f 53 63 71 +f 71 63 72 +f 50 51 72 +f 51 60 72 +f 63 50 72 +f 60 71 72 +f 62 50 73 +f 50 63 73 +f 61 53 74 +f 52 65 74 +f 65 61 74 +f 71 52 74 +f 53 71 74 +f 53 56 75 +f 63 53 75 +f 56 73 75 +f 73 63 75 +f 54 62 76 +f 56 64 76 +f 64 54 76 +f 62 73 76 +o convex_2 +v -0.674026 -1.180218 -1.508266 +v -0.244122 0.141557 2.394709 +v -0.277147 0.141557 2.394709 +v -0.111634 3.086179 -1.045100 +v 0.781200 -2.238251 -0.615018 +v 0.714956 1.762568 2.129618 +v -0.012560 -2.867318 2.063876 +v 0.748175 2.225801 -1.441675 +v -0.707051 1.729524 2.096535 +v -0.773295 -2.470173 1.401787 +v -0.839344 2.258846 -1.442099 +v 0.053489 -2.834274 -1.342849 +v 0.913493 -0.419586 2.096535 +v 0.384320 -0.319840 -1.937924 +v -0.938613 -0.385929 2.096535 +v -1.004662 -0.154619 -0.747351 +v -0.012560 2.821212 1.435295 +v 0.913493 -0.386541 -1.375509 +v 0.748175 -2.404085 1.402211 +v 0.880468 2.159713 -0.515768 +v -0.740076 -2.371040 -0.680761 +v -0.905588 2.225801 -0.251103 +v 0.020465 -3.165329 -0.615018 +v 0.615687 2.853645 -0.515344 +v -0.310171 0.373480 -1.938348 +v -0.674026 2.853645 -0.581511 +v 0.714956 -2.205818 -1.342425 +v 0.516613 -1.445186 2.328542 +v -0.641002 -1.907807 2.228868 +v 0.979542 -0.188275 1.600286 +v -0.012560 2.556857 -1.574432 +v -0.012560 2.391023 2.130043 +v -0.012560 -3.165329 1.401787 +v -1.004662 -0.154619 1.534544 +v -0.938613 -0.154619 -1.375509 +v -0.674026 -2.106685 -1.375933 +v -0.244122 -0.551763 -1.938348 +v 0.681931 -2.172774 2.096535 +v 0.549638 1.034368 2.328542 +v 0.979542 -0.254364 -0.648101 +v -0.508514 1.001935 2.361201 +v -0.475489 -1.378485 2.394709 +v 0.318076 3.086179 -0.945426 +v 0.748175 2.126668 1.369128 +v -0.773295 2.159101 1.137545 +v -0.938613 2.159713 -0.747351 +v -0.740076 -2.238251 2.096535 +v 0.318076 0.340435 -1.937924 +v 0.748175 -2.437129 -0.581511 +v -0.310171 3.086179 -0.416519 +v 0.318076 -0.617852 -1.937924 +v -0.806320 -2.304951 1.369128 +v 0.285051 3.086179 -0.349928 +v -0.541733 2.886689 -1.111267 +v 0.020465 -1.841718 2.361201 +v -0.674026 -0.088530 2.361625 +v 0.913493 0.109125 -1.375509 +v -0.012560 -3.165329 -0.615018 +v 0.681931 -0.254364 2.328542 +v -0.541733 -0.121574 -1.772932 +v -1.004662 -0.385929 1.369128 +v 0.086514 2.755123 1.468378 +v 0.020465 -3.165329 1.368704 +v 0.979542 -0.320452 1.402211 +f 116 106 140 +f 96 84 100 +f 94 81 103 +f 90 94 103 +f 99 88 103 +f 82 89 106 +f 89 95 106 +f 101 87 107 +f 93 85 108 +f 91 85 110 +f 97 92 111 +f 111 77 112 +f 97 111 112 +f 101 90 113 +f 88 112 113 +f 95 89 114 +f 82 108 115 +f 81 94 116 +f 96 106 116 +f 79 78 117 +f 108 85 117 +f 78 115 117 +f 115 108 117 +f 78 79 118 +f 100 84 119 +f 107 80 119 +f 84 107 119 +f 96 100 120 +f 82 106 120 +f 106 96 120 +f 85 93 121 +f 93 102 121 +f 102 98 121 +f 110 85 121 +f 98 110 121 +f 102 87 122 +f 98 102 122 +f 92 110 122 +f 110 98 122 +f 87 111 122 +f 111 92 122 +f 83 105 123 +f 105 91 123 +f 109 83 123 +f 86 109 123 +f 84 90 124 +f 90 101 124 +f 107 84 124 +f 101 107 124 +f 81 95 125 +f 103 81 125 +f 99 103 125 +f 102 93 126 +f 119 80 126 +f 103 88 127 +f 90 103 127 +f 88 113 127 +f 113 90 127 +f 97 86 128 +f 92 97 128 +f 86 123 128 +f 123 91 128 +f 100 119 129 +f 126 93 129 +f 119 126 129 +f 87 102 130 +f 80 107 130 +f 107 87 130 +f 126 80 130 +f 102 126 130 +f 105 83 131 +f 83 114 131 +f 114 104 131 +f 78 118 131 +f 118 105 131 +f 85 91 132 +f 91 105 132 +f 79 117 132 +f 117 85 132 +f 118 79 132 +f 105 118 132 +f 90 84 133 +f 94 90 133 +f 84 96 133 +f 116 94 133 +f 96 116 133 +f 86 97 134 +f 88 99 134 +f 109 86 134 +f 99 109 134 +f 112 88 134 +f 97 112 134 +f 89 82 135 +f 114 89 135 +f 104 114 135 +f 115 78 135 +f 82 115 135 +f 78 131 135 +f 131 104 135 +f 87 101 136 +f 111 87 136 +f 77 111 136 +f 112 77 136 +f 101 113 136 +f 113 112 136 +f 91 110 137 +f 110 92 137 +f 92 128 137 +f 128 91 137 +f 108 82 138 +f 93 108 138 +f 82 120 138 +f 120 100 138 +f 129 93 138 +f 100 129 138 +f 83 109 139 +f 109 99 139 +f 95 114 139 +f 114 83 139 +f 125 95 139 +f 99 125 139 +f 95 81 140 +f 106 95 140 +f 81 116 140 +o convex_3 +v -0.012566 3.251602 -1.012198 +v 0.020413 3.152417 -0.284510 +v -0.045546 3.152417 -0.284510 +v 0.053464 4.839248 -0.615374 +v 0.351278 3.086179 -0.714456 +v -0.376411 3.086179 -0.714456 +v -0.244065 4.574469 -0.681334 +v 0.251983 4.607587 -0.648354 +v 0.020413 4.574469 -0.846802 +v 0.285105 3.086179 -0.946025 +v -0.310238 3.086179 -0.946025 +v 0.285105 3.086179 -0.416855 +v 0.053464 4.607587 -0.449906 +v -0.277116 3.251602 -0.383805 +v 0.218932 4.177385 -0.449906 +v -0.045546 4.541349 -0.449906 +v -0.310238 3.086179 -0.416855 +v -0.177892 4.409046 -0.813680 +v -0.244065 4.508402 -0.615374 +v 0.351278 3.119470 -0.582252 +v 0.152759 4.441993 -0.813680 +v 0.251983 4.574469 -0.582252 +v -0.376411 3.152417 -0.615374 +v -0.111790 3.119470 -1.012198 +v 0.218932 3.086179 -0.350682 +v -0.012566 4.839248 -0.615374 +v -0.177892 4.309689 -0.483028 +v -0.045546 4.541349 -0.846802 +v 0.285105 4.309689 -0.648354 +v 0.251983 4.574469 -0.681334 +f 169 150 170 +f 145 146 150 +f 141 149 150 +f 146 147 151 +f 150 146 151 +f 146 145 152 +f 143 142 153 +f 153 142 155 +f 143 153 156 +f 154 143 156 +f 146 152 157 +f 143 154 157 +f 151 147 158 +f 157 154 159 +f 152 145 160 +f 150 149 161 +f 148 144 162 +f 144 153 162 +f 155 152 162 +f 153 155 162 +f 152 160 162 +f 147 146 163 +f 146 157 163 +f 159 147 163 +f 157 159 163 +f 141 150 164 +f 150 151 164 +f 142 143 165 +f 155 142 165 +f 152 155 165 +f 143 157 165 +f 157 152 165 +f 144 149 166 +f 153 144 166 +f 156 153 166 +f 147 159 166 +f 159 156 166 +f 154 156 167 +f 156 159 167 +f 159 154 167 +f 149 141 168 +f 158 147 168 +f 151 158 168 +f 141 164 168 +f 164 151 168 +f 166 149 168 +f 147 166 168 +f 145 150 169 +f 160 145 169 +f 148 162 169 +f 162 160 169 +f 144 148 170 +f 149 144 170 +f 161 149 170 +f 150 161 170 +f 148 169 170 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/496/496.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/496/496.urdf new file mode 100644 index 000000000..c2d63dd2d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/496/496.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/497/497.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/497/497.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/497/497.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/497/497.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/497/497.obj new file mode 100644 index 000000000..d15286bd4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/497/497.obj @@ -0,0 +1,564 @@ +o convex_0 +v -0.013296 -0.245799 1.017792 +v -2.067654 -4.059994 0.797813 +v -1.957557 -2.996453 -1.072547 +v 0.096586 -4.097318 -1.072763 +v -1.957557 -0.245799 -1.109605 +v -0.013511 -4.059994 1.091478 +v -2.067654 -0.245799 0.981165 +v 0.133429 -0.245799 -0.999293 +v -1.920714 -4.097318 -1.072547 +v -2.067654 -4.059994 0.981165 +v -0.343587 -0.245799 1.091478 +v -0.637036 -4.059994 1.091478 +v -1.994184 -0.245799 -0.962665 +v 0.133429 -0.796231 -0.742471 +v 0.059959 -4.097318 -0.082318 +v 0.133429 -1.089544 -1.035920 +v -1.957557 -2.519537 -1.109605 +v -1.590638 -0.245799 -1.109605 +v -2.067654 -0.245799 0.577619 +v -1.994184 -4.097318 0.100818 +v -1.664108 -0.686145 1.017792 +v -1.773990 -4.059994 1.018008 +v -0.050138 -0.245799 1.091478 +v 0.133429 -2.409451 -0.999293 +v 0.096586 -3.179679 -1.072763 +v -1.957557 -4.097318 -0.852784 +v 0.096586 -4.023424 -0.632589 +v 0.133429 -0.245799 -0.742471 +v -0.013511 -2.262794 1.091478 +v -0.196863 -0.245799 -1.035920 +v 0.023332 -3.326335 0.651089 +f 28 29 31 +f 1 5 7 +f 5 1 8 +f 7 2 10 +f 1 7 11 +f 6 11 12 +f 3 2 13 +f 7 5 13 +f 9 4 15 +f 8 14 16 +f 9 3 17 +f 4 9 17 +f 3 13 17 +f 13 5 17 +f 5 8 18 +f 4 17 18 +f 17 5 18 +f 2 7 19 +f 13 2 19 +f 7 13 19 +f 10 2 20 +f 6 12 20 +f 9 15 20 +f 15 6 20 +f 11 7 21 +f 12 11 21 +f 12 21 22 +f 7 10 22 +f 10 20 22 +f 20 12 22 +f 21 7 22 +f 1 11 23 +f 11 6 23 +f 4 16 24 +f 16 14 24 +f 16 4 25 +f 4 18 25 +f 18 16 25 +f 2 3 26 +f 3 9 26 +f 20 2 26 +f 9 20 26 +f 15 4 27 +f 6 15 27 +f 4 24 27 +f 24 14 27 +f 8 1 28 +f 14 8 28 +f 1 23 29 +f 23 6 29 +f 28 1 29 +f 8 16 30 +f 18 8 30 +f 16 18 30 +f 6 27 31 +f 27 14 31 +f 14 28 31 +f 29 6 31 +o convex_1 +v -0.637094 -0.245210 1.054420 +v -1.370630 1.992346 -0.999293 +v -1.370630 1.992346 -1.072547 +v -4.011944 -0.025090 -0.999293 +v -4.011944 1.992346 1.017792 +v 0.243483 -0.208414 -0.999293 +v 0.243483 1.882176 0.907695 +v -3.974872 0.011487 0.944538 +v -3.938216 1.881957 -0.926038 +v 0.243483 1.882176 -1.036135 +v 0.243483 -0.171837 1.091478 +v -1.957543 -0.244991 -1.109605 +v -2.067511 -0.244991 0.981165 +v -1.554327 1.918753 1.054635 +v -2.177479 1.992346 -1.072547 +v -0.343429 -0.245210 1.091478 +v -3.974872 0.048283 -1.035920 +v -0.196805 -0.245210 -1.035920 +v -3.277991 1.918753 1.054635 +v -4.011944 1.478733 1.017792 +v -4.011944 0.745219 -0.999293 +v -1.444359 0.451945 -1.109605 +v 0.243483 1.918753 -0.155573 +v -3.535000 1.992346 1.017792 +v -1.994199 0.855389 -1.109605 +v -3.901560 -0.025090 0.944538 +v 0.243483 1.772007 0.944538 +v -4.011944 1.955331 0.247327 +v -0.013525 -0.245210 1.017792 +v -1.994199 1.992346 -0.155788 +v -4.011944 -0.025090 -0.339140 +v -3.974872 1.845380 -0.926038 +v -2.691079 1.992346 -0.742471 +v 0.243483 0.965120 -1.035920 +v 0.243483 -0.061887 1.091478 +v 0.243483 1.918753 -0.779098 +v -3.791592 1.808584 -0.962665 +v -0.453814 1.405141 -1.072763 +v -2.361175 -0.098464 -1.109605 +v 0.133098 -0.245210 -0.742471 +v -1.590983 -0.244991 -1.109605 +v -3.938216 0.598473 0.981165 +v -4.011944 1.992346 0.760971 +v -1.040726 1.955331 -1.072547 +v -1.994199 -0.244991 -0.962665 +v -0.086837 0.048283 1.091478 +v -4.011944 1.221817 0.981165 +f 62 39 78 +f 33 34 36 +f 38 37 41 +f 37 38 42 +f 36 34 46 +f 44 32 47 +f 43 35 48 +f 47 32 49 +f 45 36 50 +f 47 50 51 +f 36 35 51 +f 50 36 51 +f 35 36 52 +f 48 35 52 +f 46 48 52 +f 34 33 54 +f 38 41 54 +f 33 36 55 +f 36 45 55 +f 45 38 55 +f 46 34 56 +f 48 46 56 +f 53 43 56 +f 47 39 57 +f 44 47 57 +f 42 38 58 +f 38 45 58 +f 52 36 59 +f 42 47 60 +f 47 49 60 +f 54 33 61 +f 38 54 61 +f 33 55 61 +f 55 38 61 +f 35 44 62 +f 51 35 62 +f 57 39 62 +f 44 57 62 +f 59 40 63 +f 52 59 63 +f 36 46 64 +f 46 40 64 +f 41 37 65 +f 37 49 65 +f 47 42 66 +f 42 58 66 +f 58 45 66 +f 41 34 67 +f 34 54 67 +f 54 41 67 +f 40 46 68 +f 46 52 68 +f 63 40 68 +f 52 63 68 +f 41 65 69 +f 43 48 70 +f 56 43 70 +f 48 56 70 +f 37 42 71 +f 49 37 71 +f 42 60 71 +f 60 49 71 +f 49 43 72 +f 43 53 72 +f 65 49 72 +f 53 69 72 +f 69 65 72 +f 39 47 73 +f 47 51 73 +f 51 39 73 +f 59 36 74 +f 40 59 74 +f 36 64 74 +f 64 40 74 +f 34 41 75 +f 56 34 75 +f 53 56 75 +f 41 69 75 +f 69 53 75 +f 35 43 76 +f 32 44 76 +f 44 35 76 +f 49 32 76 +f 43 49 76 +f 45 50 77 +f 50 47 77 +f 47 66 77 +f 66 45 77 +f 39 51 78 +f 51 62 78 +o convex_2 +v 2.664753 -0.391576 -0.559173 +v 3.471699 3.936636 0.541207 +v 3.508322 3.752961 0.321020 +v 3.581792 -2.006138 0.467737 +v 2.444566 3.899901 0.541207 +v 3.545057 3.862573 -0.449191 +v 2.591395 -2.116343 0.541207 +v 3.545057 -2.006138 -0.449191 +v 2.481301 3.862573 -0.596019 +v 2.518036 -1.858605 -0.522549 +v 3.581792 3.899901 -0.375832 +v 2.738112 2.578626 -0.596019 +v 2.738112 -2.116343 -0.522549 +v 3.471699 -1.638788 -0.485814 +v 2.554660 -1.455113 0.541207 +v 2.481301 2.028786 -0.596019 +v 2.444566 3.129058 0.394378 +v 3.581792 -0.758333 0.467737 +v 3.581792 -1.859198 0.027585 +v 3.178153 -2.079607 0.504472 +v 3.581792 3.202528 -0.449191 +v 2.554660 -2.116343 -0.522549 +v 2.701377 3.862573 -0.596019 +v 3.545057 0.085387 0.504472 +v 2.738112 -2.042280 0.541207 +v 3.508322 -2.042280 -0.412456 +v 2.444566 3.825839 0.100944 +v 3.581792 3.752961 -0.265738 +v 2.518036 -1.858605 -0.412456 +v 3.178153 3.936636 0.467737 +v 2.554660 -2.116343 0.211037 +v 3.471699 3.349469 0.541207 +v 3.581792 2.431686 -0.449191 +v 2.444566 3.385611 0.541207 +v 2.518036 -0.795068 -0.559173 +v 2.848094 -2.116343 0.504472 +v 2.848094 -2.079015 -0.522549 +v 3.288246 -1.821870 0.504472 +v 2.444566 3.899901 0.247661 +f 108 87 117 +f 80 83 85 +f 79 90 92 +f 85 83 93 +f 87 90 94 +f 81 80 96 +f 82 89 96 +f 82 86 97 +f 89 82 97 +f 84 89 99 +f 92 90 99 +f 89 97 99 +f 91 85 100 +f 89 84 101 +f 87 89 101 +f 90 87 101 +f 84 99 101 +f 99 90 101 +f 96 80 102 +f 82 96 102 +f 80 85 103 +f 85 98 103 +f 86 82 104 +f 91 86 104 +f 82 98 104 +f 87 94 105 +f 94 88 105 +f 95 83 105 +f 88 95 105 +f 80 81 106 +f 89 80 106 +f 81 96 106 +f 96 89 106 +f 95 88 107 +f 88 100 107 +f 83 80 108 +f 80 89 108 +f 89 87 108 +f 85 93 109 +f 100 85 109 +f 93 107 109 +f 107 100 109 +f 102 80 110 +f 80 103 110 +f 86 92 111 +f 97 86 111 +f 92 99 111 +f 99 97 111 +f 93 83 112 +f 83 95 112 +f 107 93 112 +f 95 107 112 +f 90 79 113 +f 88 94 113 +f 94 90 113 +f 100 88 113 +f 91 100 113 +f 85 91 114 +f 98 85 114 +f 91 104 114 +f 104 98 114 +f 86 91 115 +f 92 86 115 +f 79 92 115 +f 113 79 115 +f 91 113 115 +f 98 82 116 +f 82 102 116 +f 103 98 116 +f 102 110 116 +f 110 103 116 +f 105 83 117 +f 87 105 117 +f 83 108 117 +o convex_3 +v 0.830507 -0.208737 0.321099 +v 0.647072 -2.152870 -0.045659 +v 0.683782 -2.189712 -0.192437 +v 1.233970 -2.079572 0.247683 +v 1.233970 -0.208737 -0.229172 +v 0.720492 -0.208737 -0.229172 +v 0.647072 -2.042923 0.321099 +v 1.197203 -2.042923 -0.192437 +v 1.233970 -0.208737 0.284364 +v 0.683782 -1.859291 -0.229172 +v 0.683782 -0.575807 -0.045659 +v 1.123841 -0.245580 0.321099 +v 0.867217 -2.042923 0.321099 +v 1.233970 -2.079572 -0.045659 +v 0.647072 -1.602750 0.247683 +v 0.793854 -0.245580 0.284364 +v 1.233970 -1.345626 0.284364 +v 0.683782 -0.869385 -0.229172 +v 0.793854 -2.189712 -0.082394 +f 131 121 136 +f 118 122 123 +f 122 118 126 +f 121 122 126 +f 120 119 127 +f 123 122 127 +f 125 120 127 +f 122 125 127 +f 118 124 129 +f 126 118 129 +f 124 121 130 +f 129 124 130 +f 122 121 131 +f 120 125 131 +f 125 122 131 +f 119 124 132 +f 128 132 133 +f 118 123 133 +f 124 118 133 +f 123 128 133 +f 132 124 133 +f 121 126 134 +f 126 129 134 +f 130 121 134 +f 129 130 134 +f 127 119 135 +f 123 127 135 +f 128 123 135 +f 119 132 135 +f 132 128 135 +f 119 120 136 +f 124 119 136 +f 121 124 136 +f 120 131 136 +o convex_4 +v 0.243483 1.882051 -1.036236 +v 0.316917 -0.098338 1.091478 +v 0.243483 -0.098338 1.091478 +v 0.903847 -0.171719 -0.999372 +v 1.967468 2.029031 0.944645 +v 2.004275 -0.098338 -0.962716 +v 2.077708 1.992012 -1.036236 +v 2.077708 -0.024958 0.981301 +v 0.243483 1.882051 0.907990 +v 0.243483 -0.171719 -0.999372 +v 1.234029 -0.208737 0.284213 +v 0.757159 2.029031 -0.302491 +v 0.243483 -0.171719 1.091478 +v 2.077708 0.525065 0.981301 +v 2.040902 1.221629 -1.036236 +v 0.243483 -0.208737 -0.779436 +v 0.977281 1.955431 0.944645 +v 2.040902 -0.024958 1.017957 +v 2.077708 -0.024958 0.357525 +v 0.793787 2.029031 0.284213 +v 2.040902 2.029031 -0.228971 +v 0.280290 1.918632 -1.036236 +v 0.243483 1.038507 -1.036236 +v 1.234029 -0.208737 -0.228971 +v 0.280290 1.808671 0.944645 +v 0.243483 1.918632 0.137589 +v 1.527405 1.992012 -1.036236 +v 2.004275 1.698491 0.944645 +v 2.040902 2.029031 -0.559083 +v 0.243483 -0.208737 -0.265835 +v 2.004275 -0.098338 -0.595947 +v 1.710720 2.029031 0.944645 +v 2.040902 1.038288 0.981301 +v 2.004275 0.415323 -0.999372 +v 0.830414 -0.208737 0.321077 +v 0.316917 -0.171719 1.091478 +f 149 171 172 +f 139 138 141 +f 137 139 145 +f 139 137 146 +f 138 139 149 +f 139 146 149 +f 144 143 150 +f 137 143 151 +f 143 142 151 +f 146 140 152 +f 149 146 152 +f 147 144 154 +f 144 150 154 +f 142 143 155 +f 144 142 155 +f 143 144 155 +f 141 148 156 +f 145 153 156 +f 148 141 157 +f 150 143 157 +f 143 137 158 +f 146 137 159 +f 140 146 159 +f 151 140 159 +f 137 151 159 +f 140 142 160 +f 142 147 160 +f 152 140 160 +f 147 152 160 +f 145 139 161 +f 139 153 161 +f 153 145 161 +f 137 145 162 +f 156 148 162 +f 145 156 162 +f 158 137 162 +f 148 158 162 +f 143 158 163 +f 158 148 163 +f 157 141 164 +f 150 157 164 +f 157 143 165 +f 148 157 165 +f 143 163 165 +f 163 148 165 +f 152 147 166 +f 149 152 166 +f 142 144 167 +f 147 142 167 +f 144 147 167 +f 139 141 168 +f 153 139 168 +f 141 156 168 +f 156 153 168 +f 141 138 169 +f 138 154 169 +f 154 150 169 +f 164 141 169 +f 150 164 169 +f 142 140 170 +f 140 151 170 +f 151 142 170 +f 166 147 171 +f 149 166 171 +f 138 149 172 +f 154 138 172 +f 147 154 172 +f 171 147 172 +o convex_5 +v 0.720445 2.652969 -0.082390 +v 0.793815 4.010005 0.357783 +v 0.720445 4.010005 0.357783 +v 1.270594 3.863037 -0.302542 +v 1.307279 2.029224 0.284292 +v 1.343963 3.863037 0.321070 +v 1.307279 2.029224 -0.265828 +v 0.793815 2.029224 0.284292 +v 0.757130 3.679617 -0.229050 +v 0.757130 2.029224 -0.302542 +v 0.720445 3.863037 -0.155752 +v 1.343963 2.689614 0.321070 +v 1.343963 3.863037 0.064270 +v 0.757130 2.616130 0.321070 +v 1.197225 2.029224 -0.302542 +v 0.757130 2.506194 -0.302542 +v 0.720445 3.679617 0.357783 +v 1.343963 2.836389 -0.009028 +v 1.087170 3.936327 -0.082390 +v 1.160540 3.826392 -0.302542 +v 0.977238 3.863037 0.357783 +v 0.757130 2.029224 -0.009028 +f 180 186 194 +f 179 177 180 +f 179 180 182 +f 173 175 183 +f 182 173 183 +f 177 179 184 +f 179 176 185 +f 178 184 185 +f 180 177 186 +f 177 184 186 +f 176 179 187 +f 182 176 187 +f 179 182 187 +f 176 182 188 +f 183 181 188 +f 182 183 188 +f 175 173 189 +f 174 175 189 +f 173 186 189 +f 186 184 189 +f 184 179 190 +f 179 185 190 +f 185 184 190 +f 175 174 191 +f 174 178 191 +f 183 175 191 +f 176 183 191 +f 185 176 191 +f 178 185 191 +f 181 183 192 +f 183 176 192 +f 176 188 192 +f 188 181 192 +f 178 174 193 +f 184 178 193 +f 174 189 193 +f 189 184 193 +f 182 180 194 +f 173 182 194 +f 186 173 194 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/497/497.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/497/497.urdf new file mode 100644 index 000000000..327a3eca9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/497/497.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/498/498.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/498/498.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/498/498.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/498/498.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/498/498.obj new file mode 100644 index 000000000..8921425ca --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/498/498.obj @@ -0,0 +1,504 @@ +o convex_0 +v -1.733064 -1.682873 0.192993 +v -1.463247 -2.222557 -0.346831 +v -1.972732 -2.252515 -0.316717 +v -1.102983 -2.252515 0.252951 +v -3.052380 -2.192537 0.252951 +v -2.902397 -1.652792 -0.196801 +v -1.102983 -1.682873 -0.316717 +v -2.992272 -1.742852 0.312909 +v -1.102983 -1.712832 0.342956 +v -2.932165 -2.282535 -0.256827 +v -1.102983 -2.222557 -0.316717 +v -1.402949 -1.652792 -0.316717 +v -1.432907 -2.282535 0.162947 +v -2.902397 -2.162578 0.282930 +v -2.872057 -2.282535 -0.076818 +v -2.932165 -1.652792 -0.136776 +v -1.102983 -2.162578 0.282930 +v -1.133132 -1.682873 0.192993 +v -2.392531 -2.282535 -0.286738 +v -1.133132 -1.802830 -0.346831 +v -2.992272 -1.922787 0.312909 +v -1.193240 -1.772810 0.342956 +v -2.812140 -1.712832 0.252951 +v -2.962123 -2.282535 -0.226780 +v -3.052380 -2.102600 0.222972 +v -1.703106 -2.252515 0.252951 +v -1.133132 -2.222557 -0.346831 +f 20 11 27 +f 4 7 9 +f 7 4 11 +f 10 6 12 +f 11 4 13 +f 10 13 15 +f 12 6 16 +f 4 9 17 +f 14 4 17 +f 1 9 18 +f 9 7 18 +f 7 12 18 +f 16 1 18 +f 12 16 18 +f 3 2 19 +f 10 3 19 +f 13 10 19 +f 2 3 20 +f 3 10 20 +f 7 11 20 +f 12 7 20 +f 10 12 20 +f 8 5 21 +f 5 14 21 +f 21 14 22 +f 9 8 22 +f 17 9 22 +f 14 17 22 +f 8 21 22 +f 9 1 23 +f 8 9 23 +f 1 16 23 +f 16 8 23 +f 6 10 24 +f 15 5 24 +f 10 15 24 +f 16 6 24 +f 16 24 25 +f 5 8 25 +f 8 16 25 +f 24 5 25 +f 13 4 26 +f 4 14 26 +f 14 5 26 +f 5 15 26 +f 15 13 26 +f 11 13 27 +f 19 2 27 +f 13 19 27 +f 2 20 27 +o convex_1 +v -3.082268 1.646188 0.103000 +v -1.102983 2.335907 -0.166834 +v -1.102983 2.335907 -0.286767 +v -2.962287 2.335907 -0.016933 +v -1.102983 1.826247 0.312965 +v -2.962287 1.676299 -0.316799 +v -1.222964 1.796203 -0.346831 +v -2.962287 2.275887 0.252966 +v -2.992381 2.305863 -0.346831 +v -2.752420 1.646188 0.312965 +v -1.102983 2.215935 0.192967 +v -2.572449 2.335907 0.222934 +v -1.102983 1.946151 -0.346831 +v -3.112361 1.766227 -0.316799 +v -3.052175 1.676299 0.312965 +v -1.133076 1.796203 0.312965 +v -1.193067 2.335907 -0.316799 +v -1.133076 1.796203 -0.286767 +v -1.972743 1.766227 -0.346831 +v -2.842110 1.646188 0.103000 +v -1.102983 1.856223 0.312965 +v -1.642895 2.245911 0.222934 +v -3.112361 1.676299 -0.316799 +v -2.032930 2.335907 -0.316799 +v -2.962287 2.335907 0.162999 +v -3.112361 1.766227 -0.226833 +f 35 52 53 +f 29 30 31 +f 30 29 32 +f 32 29 38 +f 29 31 39 +f 38 29 39 +f 30 32 40 +f 34 36 40 +f 28 37 42 +f 37 32 42 +f 32 37 43 +f 31 30 44 +f 30 40 44 +f 40 36 44 +f 33 34 45 +f 40 32 45 +f 34 40 45 +f 32 43 45 +f 43 37 45 +f 34 33 46 +f 36 34 46 +f 28 33 47 +f 37 28 47 +f 33 45 47 +f 45 37 47 +f 32 38 48 +f 35 42 48 +f 42 32 48 +f 39 35 49 +f 38 39 49 +f 48 38 49 +f 35 48 49 +f 33 28 50 +f 41 36 50 +f 46 33 50 +f 36 46 50 +f 36 31 51 +f 31 44 51 +f 44 36 51 +f 31 36 52 +f 39 31 52 +f 35 39 52 +f 36 41 53 +f 28 42 53 +f 42 35 53 +f 50 28 53 +f 41 50 53 +f 52 36 53 +o convex_2 +v 1.026329 1.136346 -0.436518 +v -1.102983 -2.761919 0.552491 +v -1.102983 -2.761919 0.612728 +v 1.086334 -2.972348 0.972482 +v 0.996326 -2.971937 -0.976357 +v -0.982974 1.136346 -1.036594 +v -1.042978 1.136346 1.032719 +v -1.042978 -3.062355 -1.066608 +v 1.086334 1.136346 1.002704 +v -1.072766 -3.032353 1.062733 +v 0.966324 1.136346 -0.976357 +v 1.086334 -1.802252 -0.346684 +v -1.102983 -1.682653 -0.316670 +v -0.682950 -3.062355 -1.066608 +v -0.443145 -1.412631 1.062733 +v 0.996326 -2.881929 1.002704 +v -1.012976 0.626304 1.062733 +v 0.666300 -3.002350 -1.006580 +v -0.952971 -0.843406 -1.066608 +v -1.012976 1.106343 -0.736452 +v -1.102983 -2.402301 -0.586589 +v 0.456498 1.135935 1.032719 +v -0.712952 -3.032353 1.062733 +v 0.336488 0.985922 -1.006371 +v 1.086334 -2.312294 -0.226627 +v 0.756307 -2.881929 -1.006580 +v -1.102983 -1.712655 0.342809 +v -1.072766 -1.142609 1.062733 +v 0.996326 -1.292621 -0.976357 +v -0.533152 1.135935 -1.036594 +v -1.072766 -2.852338 -0.916537 +v -1.012976 -3.062355 -0.166599 +v 0.336488 -3.001939 1.002496 +v -0.533152 -2.941935 1.062733 +v -0.652947 -2.942345 -1.066608 +v 1.086334 1.136346 0.912453 +v 1.086334 -1.382217 1.002704 +v -1.042978 -2.101865 -1.066608 +v 1.026329 -2.972348 -0.556575 +v -1.072766 -3.032353 -0.256850 +v 0.996326 1.045927 -0.766466 +v 1.086334 -2.972348 0.762591 +f 92 78 95 +f 54 59 60 +f 54 60 62 +f 56 55 63 +f 59 54 64 +f 62 57 65 +f 55 56 66 +f 63 68 70 +f 57 67 71 +f 67 61 72 +f 60 59 73 +f 66 60 73 +f 66 73 74 +f 55 66 74 +f 73 59 74 +f 62 60 75 +f 60 70 75 +f 70 68 75 +f 68 63 76 +f 57 69 76 +f 65 57 78 +f 58 65 78 +f 58 71 79 +f 71 67 79 +f 77 64 79 +f 66 56 80 +f 60 66 80 +f 56 63 81 +f 70 60 81 +f 63 70 81 +f 80 56 81 +f 60 80 81 +f 65 58 82 +f 58 79 82 +f 79 64 82 +f 59 64 83 +f 72 59 83 +f 64 77 83 +f 77 72 83 +f 55 74 84 +f 63 61 85 +f 61 67 85 +f 76 63 85 +f 76 85 86 +f 67 57 86 +f 57 76 86 +f 85 67 86 +f 68 76 87 +f 76 69 87 +f 67 72 88 +f 72 77 88 +f 79 67 88 +f 77 79 88 +f 54 62 89 +f 65 54 89 +f 62 65 89 +f 57 62 90 +f 69 57 90 +f 62 75 90 +f 75 68 90 +f 68 87 90 +f 87 69 90 +f 59 72 91 +f 72 61 91 +f 74 59 91 +f 61 84 91 +f 84 74 91 +f 71 58 92 +f 58 78 92 +f 63 55 93 +f 61 63 93 +f 55 84 93 +f 84 61 93 +f 64 54 94 +f 54 65 94 +f 65 82 94 +f 82 64 94 +f 57 71 95 +f 78 57 95 +f 71 92 95 +o convex_3 +v 1.086339 2.066202 -0.346696 +v -0.982926 1.136537 -1.036618 +v -0.623119 1.136346 -0.826562 +v -1.012928 3.085552 1.032742 +v 1.086339 1.136346 1.002561 +v -1.042930 1.136537 1.032742 +v 0.936331 3.085552 -0.976457 +v 1.086339 2.965718 1.002561 +v -0.952924 3.055403 -1.036618 +v 0.966332 1.136537 -0.976457 +v -1.102933 2.305679 -0.316717 +v 0.456516 1.136537 1.032742 +v -1.102933 1.826153 0.312639 +v -0.533114 1.136346 -1.036618 +v 0.966332 3.085552 -0.916499 +v -1.102933 1.826153 -0.346696 +v -0.383105 3.055403 1.032742 +v 1.086339 1.736278 -0.346696 +v 1.026336 1.136346 -0.436633 +v -1.012928 3.085552 0.732547 +v 0.516520 3.085552 -0.976457 +v -0.772914 3.055403 -1.036618 +v 0.966332 3.085552 -0.826562 +v 1.086339 2.965718 0.822687 +v -0.023298 2.995486 1.032742 +v -1.102933 2.215803 0.192723 +v 0.966332 2.635603 -0.976457 +v -1.042930 1.796194 1.032742 +v 1.086339 2.185845 -0.316514 +v 0.306507 1.286520 -1.006436 +v -0.982926 1.496419 -1.036618 +v 0.156499 2.905610 -1.006436 +v -1.102933 2.335637 -0.286738 +v 1.026336 3.025635 0.132968 +f 118 112 129 +f 97 98 101 +f 98 100 101 +f 100 96 103 +f 99 101 107 +f 101 100 107 +f 100 103 107 +f 98 97 109 +f 100 98 109 +f 97 104 109 +f 102 99 110 +f 97 101 111 +f 101 108 111 +f 108 106 111 +f 99 107 112 +f 96 100 113 +f 105 96 113 +f 105 113 114 +f 100 109 114 +f 109 105 114 +f 113 100 114 +f 99 102 115 +f 102 104 116 +f 115 102 116 +f 104 115 116 +f 104 102 117 +f 109 104 117 +f 110 99 118 +f 103 110 118 +f 99 112 118 +f 103 96 119 +f 110 103 119 +f 107 103 120 +f 112 107 120 +f 103 112 120 +f 108 99 121 +f 106 108 121 +f 96 105 122 +f 102 110 122 +f 110 96 122 +f 101 99 123 +f 108 101 123 +f 99 108 123 +f 96 110 124 +f 119 96 124 +f 110 119 124 +f 105 109 125 +f 122 105 125 +f 102 122 125 +f 104 97 126 +f 106 104 126 +f 97 111 126 +f 111 106 126 +f 117 102 127 +f 109 117 127 +f 102 125 127 +f 125 109 127 +f 104 106 128 +f 99 115 128 +f 115 104 128 +f 121 99 128 +f 106 121 128 +f 112 103 129 +f 103 118 129 +o convex_4 +v 1.086340 -2.162516 -0.286847 +v 3.035355 -1.682782 0.192967 +v 3.035355 -1.712814 0.222990 +v 3.005399 -2.312546 -0.346831 +v 1.476524 -2.312546 0.222990 +v 1.086340 -1.802780 -0.346831 +v 1.086340 -1.742781 0.252951 +v 2.975444 -2.222580 0.282974 +v 2.915533 -1.802780 -0.316808 +v 1.086340 -2.342578 0.072998 +v 1.236499 -2.312546 -0.256824 +v 2.855431 -1.682782 0.103021 +v 1.296601 -1.712814 0.252951 +v 1.086340 -2.312546 0.192967 +v 2.975444 -2.312546 -0.196839 +v 2.525730 -2.312546 -0.346831 +v 2.945488 -1.952746 -0.346831 +v 2.975444 -2.102646 0.282974 +v 1.086340 -1.862844 0.252951 +v 2.705654 -2.222580 0.282974 +v 2.405717 -1.682782 0.163005 +v 3.005399 -2.252482 0.072998 +v 2.795520 -2.252482 0.222990 +v 1.206543 -2.342578 0.132982 +v 1.086340 -2.312546 -0.226862 +f 140 139 154 +f 131 132 133 +f 135 130 136 +f 136 130 139 +f 131 138 141 +f 138 135 141 +f 132 131 142 +f 135 136 142 +f 136 139 143 +f 135 133 145 +f 130 135 145 +f 133 139 145 +f 140 130 145 +f 139 140 145 +f 131 133 146 +f 133 135 146 +f 138 131 146 +f 135 138 146 +f 137 132 147 +f 132 142 147 +f 142 136 147 +f 143 134 148 +f 136 143 148 +f 134 137 149 +f 147 136 149 +f 137 147 149 +f 148 134 149 +f 136 148 149 +f 141 135 150 +f 131 141 150 +f 142 131 150 +f 135 142 150 +f 133 132 151 +f 132 137 151 +f 137 144 151 +f 144 133 151 +f 137 134 152 +f 144 137 152 +f 144 152 153 +f 139 133 153 +f 134 143 153 +f 143 139 153 +f 133 144 153 +f 152 134 153 +f 139 130 154 +f 130 140 154 +o convex_5 +v 2.945488 2.246002 0.282930 +v 1.086340 1.736160 -0.346831 +v 1.086340 2.065990 -0.346831 +v 3.035355 2.155971 -0.346831 +v 2.975444 1.736160 0.342956 +v 1.086340 2.186015 0.312909 +v 1.086340 1.736160 0.312909 +v 2.945488 1.736160 -0.226780 +v 1.086340 2.186015 -0.316717 +v 2.315660 2.246002 0.073010 +v 1.176588 2.216009 0.312909 +v 3.035355 2.186015 -0.316717 +v 2.975444 1.946166 0.342956 +v 1.626493 1.766154 0.342956 +v 1.476524 1.736160 -0.346831 +v 1.506480 2.216009 -0.166755 +v 2.915533 1.766154 -0.256827 +v 2.975444 2.246002 0.102989 +v 2.195838 2.216009 0.312909 +v 2.975444 2.096034 -0.346831 +f 171 169 174 +f 156 157 158 +f 157 156 160 +f 156 159 161 +f 160 156 161 +f 158 159 162 +f 159 156 162 +f 158 157 163 +f 157 160 163 +f 163 160 165 +f 155 164 165 +f 159 158 166 +f 158 163 166 +f 159 166 167 +f 161 159 168 +f 160 161 168 +f 165 160 168 +f 159 167 168 +f 167 165 168 +f 156 158 169 +f 162 156 169 +f 163 165 170 +f 165 164 170 +f 166 163 170 +f 164 166 170 +f 158 162 171 +f 162 169 171 +f 164 155 172 +f 166 164 172 +f 155 167 172 +f 167 166 172 +f 155 165 173 +f 167 155 173 +f 165 167 173 +f 169 158 174 +f 158 171 174 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/498/498.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/498/498.urdf new file mode 100644 index 000000000..7f7c09a07 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/498/498.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/499/499.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/499/499.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/499/499.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/499/499.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/499/499.obj new file mode 100644 index 000000000..5b60e4f1f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/499/499.obj @@ -0,0 +1,402 @@ +o convex_0 +v -1.069630 1.064505 -0.966408 +v 1.717179 3.294276 -0.111771 +v 1.717179 3.294276 -0.929278 +v -3.113693 3.256954 0.965646 +v 3.055331 1.101828 1.039907 +v -2.890265 1.213360 1.002777 +v -3.038815 3.219631 -1.040883 +v 3.017892 1.213360 -1.078013 +v 3.055331 3.182526 1.002562 +v -3.001979 1.250465 -0.892147 +v 2.906178 3.294058 -0.929492 +v -0.363115 1.064505 1.077037 +v -1.589553 3.219631 -1.115143 +v 1.048103 1.064505 -1.040668 +v -2.964540 3.108317 1.002777 +v -3.038815 1.250465 0.965646 +v -3.038815 2.105181 -1.003752 +v 1.456916 1.621948 1.077037 +v 1.494355 3.256954 0.965432 +v 2.943617 3.145421 -0.966622 +v -0.771928 3.219631 -1.115143 +v -3.113693 3.256954 0.296446 +v -1.069630 1.064505 1.039907 +v 3.017892 1.547738 -1.078013 +v 0.490742 1.064505 -1.040668 +v 0.862719 3.294276 -0.966408 +v 1.048103 1.064505 1.077037 +v 3.055331 1.139151 0.110795 +v -3.001979 1.510634 -0.966408 +v -0.511665 2.662188 -1.115143 +v 2.943617 3.294058 -0.594892 +v 3.055331 3.182526 0.742651 +v -3.076254 3.256954 -0.186031 +v -2.964540 1.213360 0.854041 +v 1.642905 1.250465 -1.078013 +v -3.113693 2.885252 0.705306 +v -3.076254 3.182744 -1.003752 +v -2.741716 3.145421 -1.078013 +v -3.038815 1.696594 -0.557547 +v 1.940003 3.294058 0.036320 +v -1.849816 1.139151 1.039907 +v 2.980453 3.219631 0.668176 +v -2.964540 1.250465 -0.929278 +v 2.311981 2.439342 1.039907 +v 2.980453 1.622166 -1.078013 +v 3.055331 1.101828 0.742651 +v 0.714169 3.294276 -0.632022 +v -0.252005 1.213360 1.077037 +v 1.717179 1.250465 1.077037 +v -3.038815 1.250465 0.705306 +v -3.113693 2.810825 0.965646 +v 3.055331 1.324892 1.039907 +v -1.849816 1.956544 1.039907 +v -1.589553 3.145421 -1.115143 +v 3.055331 1.213360 -0.000810 +f 32 28 55 +f 12 1 14 +f 9 4 15 +f 4 9 19 +f 11 20 21 +f 1 12 23 +f 8 14 25 +f 14 1 25 +f 2 3 26 +f 3 11 26 +f 13 7 26 +f 11 21 26 +f 21 13 26 +f 14 5 27 +f 12 14 27 +f 18 12 27 +f 9 5 28 +f 14 8 28 +f 10 17 29 +f 13 21 30 +f 24 8 30 +f 21 24 30 +f 3 2 31 +f 11 3 31 +f 20 11 31 +f 20 31 32 +f 24 20 32 +f 9 28 32 +f 31 9 32 +f 26 7 33 +f 10 1 34 +f 6 16 34 +f 1 23 34 +f 23 6 34 +f 8 25 35 +f 25 30 35 +f 30 8 35 +f 4 22 36 +f 36 22 37 +f 7 17 37 +f 33 7 37 +f 22 33 37 +f 7 13 38 +f 17 7 38 +f 17 10 39 +f 36 37 39 +f 37 17 39 +f 4 19 40 +f 31 2 40 +f 19 31 40 +f 15 6 41 +f 6 23 41 +f 23 12 41 +f 19 9 42 +f 31 19 42 +f 9 31 42 +f 1 10 43 +f 25 1 43 +f 10 29 43 +f 29 25 43 +f 9 15 44 +f 15 18 44 +f 21 20 45 +f 20 24 45 +f 24 21 45 +f 5 14 46 +f 28 5 46 +f 14 28 46 +f 22 4 47 +f 2 26 47 +f 33 22 47 +f 26 33 47 +f 40 2 47 +f 4 40 47 +f 12 18 48 +f 18 15 48 +f 27 5 49 +f 18 27 49 +f 44 18 49 +f 10 34 50 +f 34 16 50 +f 39 10 50 +f 36 39 50 +f 15 4 51 +f 6 15 51 +f 16 6 51 +f 4 36 51 +f 50 16 51 +f 36 50 51 +f 5 9 52 +f 9 44 52 +f 49 5 52 +f 44 49 52 +f 15 41 53 +f 41 12 53 +f 12 48 53 +f 48 15 53 +f 29 17 54 +f 25 29 54 +f 30 25 54 +f 13 30 54 +f 38 13 54 +f 17 38 54 +f 8 24 55 +f 28 8 55 +f 24 32 55 +o convex_1 +v 1.791968 -1.871303 0.333980 +v 2.646325 -1.574131 -0.372100 +v 2.646325 -1.537019 -0.372100 +v 1.085899 -1.722786 -0.297745 +v 2.943657 -2.131363 0.110988 +v 3.018179 -1.425476 0.371157 +v 1.234565 -1.462657 0.222447 +v 1.085899 -2.057070 -0.223318 +v 1.085899 -2.094251 0.259625 +v 3.018179 -1.982777 -0.223318 +v 2.943657 -2.131363 0.259625 +v 2.943657 -1.499838 -0.372100 +v 1.085899 -1.574131 -0.223318 +v 1.085899 -1.685605 0.259625 +v 2.943657 -2.019889 -0.223318 +v 2.200327 -2.131363 0.073810 +v 2.757730 -1.425476 0.371157 +v 1.234565 -1.574131 -0.297745 +v 1.085899 -2.057070 0.296802 +v 3.018179 -1.537019 0.371157 +v 1.085899 -1.499838 0.036633 +v 3.018179 -1.425476 0.259625 +v 1.346159 -2.094251 -0.111858 +v 1.123160 -1.871303 0.296802 +v 2.274660 -1.722786 -0.334850 +v 2.794991 -1.499838 -0.372100 +f 77 67 81 +f 58 57 59 +f 59 63 64 +f 60 65 66 +f 57 58 67 +f 59 64 68 +f 68 64 69 +f 65 60 70 +f 57 67 70 +f 67 65 70 +f 66 64 71 +f 60 66 71 +f 62 69 72 +f 58 59 73 +f 59 68 73 +f 66 56 74 +f 64 66 74 +f 69 64 74 +f 65 61 75 +f 56 66 75 +f 66 65 75 +f 72 56 75 +f 61 72 75 +f 69 62 76 +f 68 69 76 +f 73 68 76 +f 61 65 77 +f 65 67 77 +f 72 61 77 +f 62 72 77 +f 64 63 78 +f 63 70 78 +f 70 60 78 +f 60 71 78 +f 71 64 78 +f 56 72 79 +f 72 69 79 +f 74 56 79 +f 69 74 79 +f 59 57 80 +f 63 59 80 +f 57 70 80 +f 70 63 80 +f 67 58 81 +f 58 73 81 +f 76 62 81 +f 73 76 81 +f 62 77 81 +o convex_2 +v -1.069736 -1.574106 0.296744 +v -3.039066 -1.648424 -0.334872 +v -3.001852 -1.796952 -0.297687 +v -1.069736 -2.019962 -0.334872 +v -3.113693 -1.982803 0.185255 +v -1.069736 -2.057176 0.333929 +v -1.106950 -1.536947 -0.223383 +v -2.964838 -1.536947 0.185255 +v -2.964838 -1.982803 -0.223383 +v -3.039066 -1.574106 -0.334872 +v -1.069736 -1.499733 0.110952 +v -1.999081 -1.499733 0.222440 +v -3.001852 -1.536947 -0.111895 +v -1.181578 -1.982803 0.333929 +v -1.069736 -1.945643 -0.334872 +v -1.664356 -1.499733 0.259559 +v -1.144364 -2.057176 0.259559 +v -2.816383 -1.574106 -0.334872 +f 88 96 99 +f 84 83 85 +f 83 84 86 +f 85 82 87 +f 84 85 90 +f 86 84 90 +f 85 83 91 +f 83 86 91 +f 82 85 92 +f 93 92 94 +f 86 89 94 +f 91 86 94 +f 88 91 94 +f 92 88 94 +f 89 93 94 +f 87 82 95 +f 86 87 95 +f 89 86 95 +f 85 91 96 +f 92 85 96 +f 88 92 96 +f 82 92 97 +f 93 89 97 +f 92 93 97 +f 95 82 97 +f 89 95 97 +f 85 87 98 +f 87 86 98 +f 90 85 98 +f 86 90 98 +f 91 88 99 +f 96 91 99 +o convex_3 +v 1.085710 -2.317112 0.408029 +v -1.069736 -4.844303 -0.594794 +v -1.069736 -4.844303 -0.148978 +v -1.069736 1.064505 -0.966553 +v -1.069736 1.064505 1.039936 +v 1.048365 1.064505 -1.041032 +v 0.936964 -4.844303 -0.966553 +v 0.974098 -4.844303 1.077070 +v 1.048365 1.064505 1.077070 +v -0.995258 -4.881553 1.114414 +v -1.069736 -4.806471 -0.966553 +v 1.048365 -3.283288 -1.003687 +v 1.011231 -2.353780 -1.041032 +v 0.491148 1.064505 -1.041032 +v -0.958124 0.321247 1.077070 +v 0.862485 -4.881553 -0.966553 +v 1.085710 -2.651199 -0.743540 +v -1.032392 -4.881553 0.816922 +v -0.586575 -4.881553 1.114414 +v -0.958124 -3.580708 1.114414 +v 1.011231 -4.397301 0.482507 +v 1.085710 -1.499937 0.036691 +v -0.400696 1.064505 1.077070 +v 0.974098 -4.844303 -0.037365 +v 1.085710 -2.279862 0.482507 +v -0.289083 -2.837450 -1.003687 +v -1.069736 0.544166 1.039936 +v 1.011231 -3.803044 -1.003687 +v 1.048365 0.060496 1.039725 +v -0.251949 -4.881553 1.077070 +v 0.974098 -4.546302 -0.966553 +v -1.032392 -4.881553 0.519641 +v 0.936964 -4.881553 -0.743540 +v -0.326428 1.027254 -1.003687 +v -0.586575 -4.844303 -0.966553 +v -1.032392 0.208915 1.077070 +v 1.085710 -1.611687 -0.297513 +v 1.011231 -4.397301 0.631042 +v 1.048365 -2.353780 -1.041032 +f 111 127 138 +f 101 102 103 +f 103 102 104 +f 103 104 105 +f 105 104 108 +f 101 103 110 +f 103 105 113 +f 105 112 113 +f 102 101 117 +f 115 109 117 +f 107 108 118 +f 109 115 118 +f 118 108 119 +f 109 118 119 +f 111 116 120 +f 105 108 121 +f 100 116 121 +f 108 104 122 +f 104 114 122 +f 114 119 122 +f 119 108 122 +f 120 107 123 +f 100 121 124 +f 121 108 124 +f 112 110 125 +f 113 112 125 +f 104 102 126 +f 109 104 126 +f 102 117 126 +f 117 109 126 +f 110 112 127 +f 106 115 127 +f 108 107 128 +f 107 124 128 +f 124 108 128 +f 107 118 129 +f 118 115 129 +f 111 120 130 +f 123 106 130 +f 120 123 130 +f 127 111 130 +f 106 127 130 +f 101 115 131 +f 117 101 131 +f 115 117 131 +f 115 106 132 +f 106 123 132 +f 123 107 132 +f 107 129 132 +f 129 115 132 +f 110 103 133 +f 103 113 133 +f 125 110 133 +f 113 125 133 +f 101 110 134 +f 115 101 134 +f 110 127 134 +f 127 115 134 +f 104 109 135 +f 114 104 135 +f 109 119 135 +f 119 114 135 +f 116 105 136 +f 105 121 136 +f 121 116 136 +f 116 100 137 +f 107 120 137 +f 120 116 137 +f 124 107 137 +f 100 124 137 +f 112 105 138 +f 105 116 138 +f 116 111 138 +f 127 112 138 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/499/499.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/499/499.urdf new file mode 100644 index 000000000..178bccc47 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/499/499.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/500/500.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/500/500.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/500/500.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/500/500.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/500/500.obj new file mode 100644 index 000000000..0366c049b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/500/500.obj @@ -0,0 +1,798 @@ +o convex_0 +v -1.504545 -1.815040 0.318053 +v -2.695964 -1.138662 -0.165030 +v -2.695964 -1.138662 -0.197200 +v -3.018152 -1.815040 0.060337 +v -1.085621 -1.847295 -0.293948 +v -1.085621 -1.267542 0.156965 +v -2.921614 -1.235426 0.189195 +v -2.953794 -1.782855 -0.293948 +v -1.085621 -1.203102 -0.261659 +v -3.018152 -1.815040 0.253594 +v -3.114887 -1.170917 -0.197200 +v -1.085621 -1.750531 0.318053 +v -2.052184 -1.460863 -0.293948 +v -1.085621 -1.847295 0.189195 +v -1.085621 -1.332052 0.221365 +v -3.114887 -1.138662 -0.100571 +v -1.665440 -1.847295 -0.293948 +v -2.760322 -1.782855 0.285823 +v -2.921614 -1.589604 -0.293948 +v -1.150178 -1.203102 -0.132800 +v -1.085621 -1.492978 -0.293948 +v -2.309418 -1.235426 0.189195 +f 16 7 22 +f 3 2 9 +f 6 5 9 +f 8 4 11 +f 3 9 11 +f 4 10 11 +f 5 6 12 +f 5 8 13 +f 11 9 13 +f 1 10 14 +f 12 1 14 +f 5 12 14 +f 12 6 15 +f 7 12 15 +f 2 3 16 +f 6 2 16 +f 10 7 16 +f 11 10 16 +f 3 11 16 +f 4 8 17 +f 8 5 17 +f 10 4 17 +f 14 10 17 +f 5 14 17 +f 10 1 18 +f 7 10 18 +f 1 12 18 +f 12 7 18 +f 8 11 19 +f 13 8 19 +f 11 13 19 +f 2 6 20 +f 9 2 20 +f 6 9 20 +f 9 5 21 +f 5 13 21 +f 13 9 21 +f 15 6 22 +f 7 15 22 +f 6 16 22 +o convex_1 +v 0.718141 3.531594 0.446776 +v -1.085574 2.114694 0.672363 +v -1.021041 1.245337 -0.615871 +v 1.008005 1.148528 0.930010 +v 0.911313 3.596053 -1.034791 +v -0.988881 3.499244 -1.034791 +v 1.008005 1.148528 -1.002536 +v -1.085574 3.467135 0.930010 +v -1.053200 1.148528 0.962265 +v 1.040165 3.435025 0.962265 +v -0.763336 1.148528 -1.034791 +v 1.104698 1.180638 0.317757 +v -0.763336 3.531833 0.704422 +v 1.072324 1.438474 -0.551361 +v -0.988881 1.148528 -1.002536 +v -1.085574 3.467135 0.414521 +v 0.879153 1.180638 -1.034791 +v 1.040165 3.467374 0.607658 +v -0.538006 3.563943 -0.615871 +v 1.008005 1.792639 0.962265 +v 0.943472 3.370566 -1.034791 +v -0.280302 3.563943 0.317757 +v 1.072324 2.887483 0.833246 +v 1.008005 3.467374 0.930010 +v -1.021041 2.179153 -0.744890 +v 1.104698 1.148528 0.478835 +v 0.589289 3.531594 0.640108 +v 0.621449 3.434785 0.962265 +v -1.053200 1.567152 0.962265 +v -1.053200 1.148528 0.414521 +v -1.021041 3.499244 0.865500 +v 1.072324 1.148528 -0.615871 +v 0.943472 3.531594 -0.938027 +v -0.827870 3.531833 -0.841458 +v 0.879153 3.596053 -0.905772 +v 1.040165 2.468620 0.962265 +f 48 45 58 +f 29 26 31 +f 30 24 31 +f 28 27 33 +f 29 31 33 +f 28 33 37 +f 33 31 37 +f 25 24 38 +f 24 30 38 +f 33 27 39 +f 29 33 39 +f 31 26 42 +f 32 31 42 +f 39 27 43 +f 29 39 43 +f 41 35 44 +f 34 36 45 +f 40 32 45 +f 36 40 45 +f 30 32 46 +f 40 27 46 +f 32 40 46 +f 37 25 47 +f 28 37 47 +f 25 38 47 +f 38 28 47 +f 26 29 48 +f 34 45 48 +f 44 35 49 +f 46 23 49 +f 35 46 49 +f 32 30 50 +f 31 32 50 +f 30 31 51 +f 50 30 51 +f 31 50 51 +f 24 25 52 +f 31 24 52 +f 25 37 52 +f 37 31 52 +f 28 38 53 +f 38 30 53 +f 30 46 53 +f 46 35 53 +f 36 34 54 +f 29 43 54 +f 43 36 54 +f 48 29 54 +f 34 48 54 +f 27 40 55 +f 40 36 55 +f 36 43 55 +f 43 27 55 +f 27 28 56 +f 41 27 56 +f 35 41 56 +f 28 53 56 +f 53 35 56 +f 27 41 57 +f 41 44 57 +f 23 46 57 +f 46 27 57 +f 49 23 57 +f 44 49 57 +f 42 26 58 +f 32 42 58 +f 45 32 58 +f 26 48 58 +o convex_2 +v 2.135234 -1.782871 -0.100650 +v 1.298207 -1.170873 0.350264 +v 1.298207 -1.170873 0.285805 +v 3.037143 -1.299788 -0.197278 +v 2.972640 -1.718380 0.350264 +v 1.104887 -1.847295 0.285805 +v 1.104887 -1.267542 -0.261737 +v 2.940483 -1.718380 -0.261737 +v 2.940483 -1.299788 0.285805 +v 1.104887 -1.686201 -0.197278 +v 1.104887 -1.170873 0.350264 +v 2.843823 -1.750625 0.350264 +v 2.360712 -1.718380 -0.261737 +v 1.427024 -1.815050 0.318034 +v 1.523684 -1.267542 -0.261737 +v 1.298207 -1.847295 0.189176 +v 2.779320 -1.750625 -0.229508 +v 2.972640 -1.589598 0.350264 +v 2.972640 -1.557286 -0.261737 +v 1.137233 -1.718380 -0.165049 +v 1.104887 -1.396457 -0.261737 +f 71 68 79 +f 61 60 62 +f 62 63 66 +f 62 60 67 +f 64 65 68 +f 60 61 69 +f 63 60 69 +f 61 65 69 +f 65 64 69 +f 66 63 70 +f 63 69 70 +f 65 66 71 +f 69 64 72 +f 64 70 72 +f 70 69 72 +f 61 62 73 +f 65 61 73 +f 66 65 73 +f 70 64 74 +f 70 74 75 +f 66 70 75 +f 71 66 75 +f 74 59 75 +f 63 62 76 +f 60 63 76 +f 67 60 76 +f 62 67 76 +f 62 66 77 +f 73 62 77 +f 66 73 77 +f 64 68 78 +f 68 71 78 +f 59 74 78 +f 74 64 78 +f 75 59 78 +f 71 75 78 +f 68 65 79 +f 65 71 79 +o convex_3 +v -0.698840 -0.397838 0.962265 +v -0.602250 -0.365678 -1.034791 +v -0.602250 -0.107924 -1.034791 +v 1.104609 -0.107924 0.479030 +v 1.072413 -0.913188 -1.002341 +v -0.988828 -0.913188 0.962265 +v 0.943408 -0.913188 0.930010 +v -0.988828 -0.913188 -0.970282 +v -1.021024 -0.107924 0.962265 +v 1.040216 -0.107924 -1.002341 +v 0.975605 -0.107924 0.930010 +v -1.117832 -0.107924 -0.197146 +v -0.988828 -0.107924 -0.970282 +v 1.104609 -0.913188 0.382266 +v -1.085418 -0.719912 -0.165087 +v 1.104609 -0.140163 -0.680185 +v -0.409070 -0.880949 -1.034791 +v 0.589245 -0.107924 -1.034791 +v 1.104609 -0.913188 -0.809008 +v -1.053221 -0.913188 -0.068323 +v 0.975605 -0.687673 0.930010 +v -1.117832 -0.172402 -0.132832 +f 91 94 101 +f 85 84 86 +f 80 85 86 +f 82 81 87 +f 84 85 87 +f 83 82 88 +f 85 80 88 +f 82 83 89 +f 83 88 90 +f 88 80 90 +f 88 82 91 +f 82 87 92 +f 91 82 92 +f 87 91 92 +f 86 84 93 +f 91 87 94 +f 89 83 95 +f 84 89 95 +f 83 93 95 +f 81 82 96 +f 87 81 96 +f 84 87 96 +f 82 89 97 +f 89 84 97 +f 96 82 97 +f 84 96 97 +f 93 84 98 +f 84 95 98 +f 95 93 98 +f 87 85 99 +f 85 94 99 +f 94 87 99 +f 80 86 100 +f 90 80 100 +f 83 90 100 +f 93 83 100 +f 86 93 100 +f 85 88 101 +f 88 91 101 +f 94 85 101 +o convex_4 +v 0.460463 -0.913188 2.411488 +v 0.460355 -2.040558 2.766032 +v 0.106062 -2.008224 2.185888 +v -0.505831 -1.138750 2.959144 +v 0.395929 -0.913188 1.058896 +v -0.505831 -1.943889 1.058896 +v 0.524889 -1.943889 1.123469 +v -0.473564 -2.008224 3.120373 +v -0.409137 -1.009858 1.058896 +v 0.524889 -0.945411 3.023514 +v 0.589316 -2.040558 3.055800 +v 0.492622 -0.913188 1.058896 +v -0.505831 -1.042081 2.927059 +v -0.473564 -1.042081 1.155755 +v 0.492622 -1.943889 1.058896 +v 0.589316 -1.750660 3.055800 +v -0.054844 -0.977635 2.991430 +v 0.460355 -1.042081 3.055599 +v 0.524889 -1.976112 1.348867 +v -0.505831 -1.621767 2.991430 +v -0.505831 -1.042081 2.089635 +v 0.524889 -0.913188 2.282747 +v 0.589316 -1.976112 2.669173 +v -0.376870 -1.009858 2.766032 +v -0.441297 -1.911665 3.120373 +v -0.505831 -1.589544 1.058896 +v -0.473564 -2.008224 2.862487 +f 109 107 128 +f 106 107 110 +f 109 103 112 +f 106 102 113 +f 107 106 113 +f 107 105 114 +f 113 108 116 +f 107 113 116 +f 111 102 118 +f 114 105 118 +f 117 111 119 +f 111 118 119 +f 103 104 120 +f 104 107 120 +f 112 103 120 +f 108 112 120 +f 107 116 120 +f 116 108 120 +f 105 107 121 +f 109 105 121 +f 107 109 121 +f 107 114 122 +f 114 110 122 +f 110 115 122 +f 102 111 123 +f 113 102 123 +f 111 117 123 +f 117 113 123 +f 112 108 124 +f 108 113 124 +f 117 112 124 +f 113 117 124 +f 102 106 125 +f 106 110 125 +f 110 114 125 +f 118 102 125 +f 114 118 125 +f 105 109 126 +f 109 112 126 +f 112 117 126 +f 118 105 126 +f 117 119 126 +f 119 118 126 +f 110 107 127 +f 115 110 127 +f 107 122 127 +f 122 115 127 +f 104 103 128 +f 107 104 128 +f 103 109 128 +o convex_5 +v 2.457234 0.117579 0.607948 +v 2.747263 -0.107924 -0.616054 +v 2.553974 -0.107924 -0.583704 +v 1.136909 1.051553 -0.487016 +v 3.101722 1.051553 -0.454906 +v 1.136909 -0.011213 0.253544 +v 1.136909 0.987157 0.446801 +v 2.940552 1.083867 0.478910 +v 3.101722 0.053183 0.575719 +v 1.136909 -0.011213 -0.487016 +v 1.136909 0.085381 0.607948 +v 2.940552 -0.107924 -0.616054 +v 1.136909 0.246487 0.607948 +v 2.940552 -0.107924 -0.454906 +v 1.136909 1.019355 0.414571 +v 3.037292 0.600548 0.543369 +v 2.586093 1.083867 0.479030 +v 3.004981 1.083867 -0.004053 +v 2.586093 0.020985 0.479030 +v 2.940552 -0.011213 -0.616054 +v 1.298079 -0.043411 -0.487016 +v 3.101722 0.053183 0.446801 +v 1.555797 0.053183 0.607948 +v 3.069411 0.890563 -0.487136 +v 1.136909 1.051553 -0.229300 +v 3.101722 0.181975 0.575719 +v 2.586093 0.922761 0.511260 +f 145 141 155 +f 132 134 135 +f 132 130 138 +f 134 132 138 +f 135 134 139 +f 131 130 140 +f 135 139 141 +f 139 129 141 +f 134 131 142 +f 131 140 142 +f 140 137 142 +f 132 135 143 +f 133 136 144 +f 135 141 145 +f 143 135 145 +f 133 132 146 +f 136 133 146 +f 132 145 146 +f 145 136 146 +f 134 142 147 +f 142 137 147 +f 130 132 148 +f 140 130 148 +f 133 140 148 +f 130 131 149 +f 131 134 149 +f 138 130 149 +f 134 138 149 +f 133 137 150 +f 140 133 150 +f 137 140 150 +f 137 129 151 +f 139 134 151 +f 129 139 151 +f 134 147 151 +f 147 137 151 +f 132 133 152 +f 148 132 152 +f 133 148 152 +f 132 143 153 +f 145 132 153 +f 143 145 153 +f 137 133 154 +f 129 137 154 +f 133 144 154 +f 144 129 154 +f 141 129 155 +f 144 136 155 +f 129 144 155 +f 136 145 155 +o convex_6 +v -0.473583 -1.911558 -2.838407 +v 0.557118 -1.718348 -1.034990 +v 0.524895 -1.203159 -1.034990 +v -0.570252 -2.040438 -1.034791 +v -0.505695 -1.009949 -1.034791 +v 0.492672 -0.977729 -2.999500 +v 0.428115 -2.072548 -2.999302 +v -0.473583 -1.042169 -2.999302 +v 0.557118 -2.008218 -1.034990 +v -0.441249 -2.072548 -3.064057 +v 0.492672 -0.945509 -1.034990 +v -0.054791 -0.977729 -2.967321 +v 0.524895 -1.235379 -2.580577 +v 0.460338 -2.072548 -2.773850 +v -0.505695 -1.009949 -2.033533 +v -0.441249 -2.072548 -1.936797 +v 0.524895 -2.040549 -1.421536 +v -0.505695 -1.203269 -2.548597 +v 0.557118 -2.008218 -1.292621 +v 0.363779 -0.945399 -1.163706 +v 0.267109 -2.072548 -3.031679 +v -0.537919 -1.267599 -1.067169 +v -0.409136 -1.847118 -3.064057 +v 0.041547 -2.040438 -1.034791 +v 0.492672 -1.332039 -2.999500 +v -0.473583 -1.009949 -2.967321 +v -0.570252 -1.943778 -1.131527 +v 0.524895 -1.171049 -2.580577 +f 174 168 183 +f 159 156 165 +f 156 163 165 +f 161 163 167 +f 165 162 169 +f 159 165 171 +f 165 169 171 +f 171 169 172 +f 163 156 173 +f 157 164 174 +f 172 169 174 +f 164 172 174 +f 160 166 175 +f 166 161 175 +f 161 167 175 +f 170 160 175 +f 167 170 175 +f 162 165 176 +f 159 160 177 +f 160 170 177 +f 170 173 177 +f 163 161 178 +f 165 163 178 +f 161 176 178 +f 176 165 178 +f 157 158 179 +f 160 159 179 +f 164 157 179 +f 158 166 179 +f 166 160 179 +f 159 171 179 +f 171 172 179 +f 172 164 179 +f 161 168 180 +f 169 162 180 +f 168 174 180 +f 174 169 180 +f 176 161 180 +f 162 176 180 +f 167 163 181 +f 170 167 181 +f 163 173 181 +f 173 170 181 +f 156 159 182 +f 173 156 182 +f 159 177 182 +f 177 173 182 +f 158 157 183 +f 166 158 183 +f 161 166 183 +f 168 161 183 +f 157 174 183 +o convex_7 +v 0.879148 -2.330324 0.962164 +v -0.570202 -2.040401 -1.034791 +v -1.021087 -2.523446 -0.938058 +v -0.988926 -0.913188 0.962164 +v 1.072323 -0.913188 -1.002410 +v 1.104698 -2.426965 -0.970234 +v -0.924392 -2.555927 0.994339 +v -0.988926 -0.913188 -0.970234 +v 0.943468 -0.913188 0.929783 +v 0.492583 -0.913188 1.058896 +v 1.104698 -1.009990 0.382383 +v 0.943468 -2.459286 0.865431 +v -1.085621 -1.814958 0.318031 +v -0.505667 -1.943920 1.058896 +v -1.085621 -1.203112 -0.261545 +v 0.589278 -2.072561 1.058896 +v 1.104698 -1.847118 0.285650 +v 0.073859 -2.523606 0.672171 +v 0.492583 -0.945509 -1.034791 +v 0.653598 -2.072561 -1.034791 +v -0.602362 -2.523446 -0.938058 +v -0.473507 -1.106631 1.058896 +v -0.956552 -2.523446 0.994339 +v 1.104698 -0.913188 -0.809150 +v -0.505667 -1.009829 -1.034791 +v 0.911308 -2.459286 -0.454805 +v -0.602362 -2.555927 0.994339 +v -0.988926 -1.332074 0.994339 +v -1.085621 -1.976080 -0.390454 +v -1.053247 -0.913188 -0.100666 +v -0.988926 -2.555927 0.028038 +v 0.975843 -2.330324 -1.002410 +v 0.524744 -2.491285 0.962164 +v -1.085621 -1.267593 0.156947 +v 1.104698 -2.426965 -0.712417 +v 0.943468 -2.169202 0.929783 +v 1.104698 -0.913188 0.382383 +v 0.653598 -2.491285 0.736727 +v 0.685759 -2.459125 -0.970234 +f 215 189 222 +f 185 186 191 +f 187 188 191 +f 188 187 192 +f 192 187 193 +f 184 192 199 +f 192 193 199 +f 197 190 199 +f 193 197 199 +f 189 194 200 +f 191 188 202 +f 185 202 203 +f 202 188 203 +f 193 187 205 +f 197 193 205 +f 190 197 206 +f 189 188 207 +f 188 192 207 +f 194 189 207 +f 185 191 208 +f 202 185 208 +f 191 202 208 +f 189 195 209 +f 201 204 209 +f 199 190 210 +f 187 196 211 +f 205 187 211 +f 197 205 211 +f 206 197 211 +f 196 206 211 +f 191 186 212 +f 198 191 212 +f 196 198 212 +f 187 191 213 +f 191 198 213 +f 186 204 214 +f 204 201 214 +f 190 206 214 +f 206 196 214 +f 210 190 214 +f 201 210 214 +f 212 186 214 +f 196 212 214 +f 186 185 215 +f 188 189 215 +f 185 203 215 +f 203 188 215 +f 195 184 216 +f 184 199 216 +f 199 210 216 +f 196 187 217 +f 198 196 217 +f 187 213 217 +f 213 198 217 +f 195 189 218 +f 189 200 218 +f 200 195 218 +f 192 184 219 +f 194 192 219 +f 184 195 219 +f 200 194 219 +f 195 200 219 +f 192 194 220 +f 207 192 220 +f 194 207 220 +f 209 195 221 +f 201 209 221 +f 210 201 221 +f 195 216 221 +f 216 210 221 +f 204 186 222 +f 189 209 222 +f 209 204 222 +f 186 215 222 +o convex_8 +v -3.050271 0.117683 0.189170 +v -1.730173 1.116078 -0.068285 +v -1.730173 1.116078 -0.100508 +v -1.053411 -0.107924 -0.003949 +v -2.953702 -0.043345 -0.551633 +v -2.921447 1.116078 0.575738 +v -1.053411 -0.043345 0.511181 +v -1.053411 1.083848 -0.519409 +v -2.985957 1.051499 -0.487186 +v -1.053411 1.083848 0.511181 +v -1.053411 -0.075574 -0.519409 +v -3.050271 0.021114 0.479068 +v -2.889193 -0.075574 -0.487186 +v -3.050271 0.117683 0.511291 +v -3.018016 1.051499 -0.454963 +v -2.245076 1.116078 0.575738 +v -2.953702 0.793783 0.575738 +v -2.405958 0.310940 -0.551633 +v -2.953702 1.116078 0.414622 +v -1.085666 -0.107924 -0.487076 +v -1.794487 1.083729 -0.519299 +v -1.278998 1.051499 0.543514 +v -2.985957 -0.043345 -0.487186 +v -2.728115 1.083729 -0.325960 +v -3.050271 0.568416 -0.036062 +v -2.116252 -0.011115 0.511291 +v -3.018016 0.632755 -0.487186 +f 247 237 249 +f 224 225 228 +f 225 224 230 +f 229 226 230 +f 230 224 232 +f 229 230 232 +f 230 226 233 +f 226 234 235 +f 223 234 236 +f 224 228 238 +f 232 224 238 +f 228 236 239 +f 238 228 239 +f 229 238 239 +f 227 231 240 +f 233 227 240 +f 230 233 240 +f 228 225 241 +f 236 228 241 +f 233 226 242 +f 227 233 242 +f 226 235 242 +f 235 227 242 +f 225 230 243 +f 240 231 243 +f 230 240 243 +f 229 232 244 +f 238 229 244 +f 232 238 244 +f 234 223 245 +f 227 235 245 +f 235 234 245 +f 231 237 246 +f 241 225 246 +f 237 241 246 +f 225 243 246 +f 243 231 246 +f 223 236 247 +f 236 241 247 +f 241 237 247 +f 226 229 248 +f 234 226 248 +f 236 234 248 +f 239 236 248 +f 229 239 248 +f 231 227 249 +f 237 231 249 +f 245 223 249 +f 227 245 249 +f 223 247 249 +o convex_9 +v 1.136909 0.020944 0.478835 +v -0.763459 0.954864 -1.034791 +v -0.924467 0.343236 -1.002536 +v -1.053316 1.148289 0.962265 +v 1.007845 1.148289 -1.002341 +v -1.020943 -0.107924 0.962265 +v 1.040004 -0.107924 -1.002341 +v 1.007845 1.148289 0.930010 +v -0.988784 -0.107924 -0.970282 +v 0.975686 -0.107924 0.930010 +v -0.988784 1.148289 -1.002536 +v 1.136909 1.051515 -0.487047 +v -1.053316 -0.107924 -0.519302 +v 0.589138 -0.107924 -1.034791 +v 1.136909 0.987204 0.446580 +v -1.053316 1.083855 -0.519302 +v 1.136909 -0.011273 -0.454793 +v 0.846837 1.148289 -1.034791 +v -0.634609 -0.107924 -1.034791 +v 1.136909 0.085378 0.607854 +v -1.053316 -0.043490 0.511285 +v 1.104535 -0.107924 0.478835 +v 1.104535 1.148289 0.478835 +v -0.763459 0.020944 0.962265 +v -0.763459 1.148289 -1.034791 +v 1.072376 -0.107924 -0.873518 +v 1.040004 0.375329 -1.002341 +f 261 275 276 +f 254 253 257 +f 256 255 258 +f 255 256 259 +f 251 252 260 +f 253 254 260 +f 252 258 260 +f 258 255 262 +f 260 258 262 +f 256 258 263 +f 250 261 264 +f 253 260 265 +f 262 253 265 +f 260 262 265 +f 261 250 266 +f 260 254 267 +f 263 251 267 +f 256 263 267 +f 252 251 268 +f 258 252 268 +f 251 263 268 +f 263 258 268 +f 257 259 269 +f 250 264 269 +f 264 257 269 +f 255 253 270 +f 253 262 270 +f 262 255 270 +f 259 256 271 +f 266 250 271 +f 250 269 271 +f 269 259 271 +f 254 257 272 +f 261 254 272 +f 257 264 272 +f 264 261 272 +f 253 255 273 +f 257 253 273 +f 255 259 273 +f 259 257 273 +f 251 260 274 +f 267 251 274 +f 260 267 274 +f 261 266 275 +f 271 256 275 +f 266 271 275 +f 254 261 276 +f 267 254 276 +f 256 267 276 +f 275 256 276 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/500/500.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/500/500.urdf new file mode 100644 index 000000000..e1f160079 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/500/500.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/501/501.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/501/501.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/501/501.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/501/501.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/501/501.obj new file mode 100644 index 000000000..a50d746cb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/501/501.obj @@ -0,0 +1,471 @@ +o convex_0 +v -2.620701 0.589200 0.265320 +v -2.927603 -0.024725 0.162928 +v -3.064064 0.009347 -0.314557 +v -2.518329 0.043482 -0.758186 +v -3.029975 0.623398 -0.280495 +v -2.518329 0.077617 0.197093 +v -2.518329 0.589200 -0.246226 +v -2.995833 0.555065 0.299485 +v -2.518329 0.623398 0.231155 +v -2.859373 -0.024725 0.265320 +v -3.064064 0.248166 -0.348722 +v -2.552471 0.077617 -0.758186 +f 11 5 12 +f 2 3 4 +f 6 4 7 +f 3 2 8 +f 1 6 9 +f 6 7 9 +f 7 5 9 +f 8 1 9 +f 5 8 9 +f 2 4 10 +f 6 1 10 +f 4 6 10 +f 8 2 10 +f 1 8 10 +f 3 8 11 +f 8 5 11 +f 4 3 12 +f 7 4 12 +f 5 7 12 +f 3 11 12 +o convex_1 +v 4.817051 -0.161218 0.572372 +v 1.644341 0.930464 -0.280388 +v 1.644341 0.930464 -0.314567 +v 1.166691 -0.297799 0.606437 +v 5.123863 -0.229509 -0.553362 +v 5.021593 0.759739 0.538194 +v 1.166691 -0.229388 -0.519297 +v 5.123863 0.862174 -0.519297 +v 1.166691 0.862174 0.606437 +v 1.166691 0.793884 -0.450940 +v 1.166691 -0.297799 -0.348745 +v 1.883359 0.862174 0.606437 +v 5.021593 0.145847 0.572372 +v 1.166691 0.930464 0.128733 +v 5.089773 -0.229509 -0.212258 +v 5.123863 0.862174 -0.382810 +v 1.507980 -0.297799 0.606437 +v 1.337529 -0.058903 -0.519297 +v 5.021593 0.555108 0.572372 +v 4.987503 -0.127073 0.572372 +v 1.166691 0.930464 -0.314567 +v 3.350012 0.896319 -0.109836 +v 2.531460 0.793884 -0.485119 +v 2.087900 -0.263533 0.606437 +v 1.405709 0.896319 0.469950 +v 5.055683 0.623278 0.367642 +v 5.055683 -0.195363 0.162911 +v 4.987503 -0.161218 -0.553362 +v 4.543942 0.759739 0.572372 +v 5.123863 -0.195363 -0.450940 +f 25 39 42 +f 15 14 20 +f 19 16 21 +f 19 21 22 +f 16 19 23 +f 19 17 23 +f 21 16 24 +f 14 15 26 +f 22 21 26 +f 17 20 28 +f 20 14 28 +f 16 23 29 +f 23 17 29 +f 24 16 29 +f 17 27 29 +f 19 22 30 +f 15 20 33 +f 20 22 33 +f 26 15 33 +f 22 26 33 +f 14 26 34 +f 28 14 34 +f 18 28 34 +f 22 20 35 +f 20 30 35 +f 30 22 35 +f 24 29 36 +f 29 13 36 +f 31 24 36 +f 25 31 36 +f 32 25 36 +f 13 32 36 +f 24 18 37 +f 21 24 37 +f 26 21 37 +f 18 34 37 +f 34 26 37 +f 28 18 38 +f 18 31 38 +f 31 25 38 +f 13 29 39 +f 29 27 39 +f 25 32 39 +f 32 13 39 +f 17 19 40 +f 20 17 40 +f 19 30 40 +f 30 20 40 +f 18 24 41 +f 31 18 41 +f 24 31 41 +f 27 17 42 +f 17 28 42 +f 38 25 42 +f 28 38 42 +f 39 27 42 +o convex_2 +v -2.518132 0.589190 -0.245782 +v -1.358249 0.725740 0.913229 +v -1.392427 0.862181 0.265193 +v -1.426491 -0.127066 -2.975590 +v -2.450004 -0.195397 2.960134 +v -2.450004 0.179979 -3.009254 +v -1.426491 0.896346 -3.044120 +v -2.415826 0.793961 2.925868 +v -1.528911 -0.161232 3.097195 +v -1.426491 0.896346 3.097195 +v -2.415826 -0.229562 -3.044120 +v -2.450004 0.759795 -2.974988 +v -1.358249 0.043539 0.503848 +v -2.518132 -0.058846 -1.405995 +v -2.142859 -0.229562 -2.907059 +v -1.392427 0.862181 -2.702669 +v -2.484068 0.725630 2.175036 +v -1.597152 0.896346 3.097195 +v -1.460669 -0.161232 0.606043 +v -2.518132 0.111759 0.196662 +v -2.381762 -0.229562 -0.211517 +v -1.392427 -0.092901 -2.293288 +v -1.733636 0.862181 -3.044120 +v -1.494733 -0.161232 2.857939 +v -1.358249 0.725740 -0.519304 +v -1.392427 0.623245 2.312098 +v -2.484068 0.725630 -2.156828 +v -2.074617 -0.195287 2.993798 +v -1.562975 -0.161232 -2.975590 +v -2.279456 0.793961 -2.804263 +v -1.631216 0.896346 3.028664 +v -2.484068 -0.092901 1.970646 +v -2.450004 0.759795 2.925868 +v -2.415826 0.759795 2.960134 +v -1.358249 0.077594 -0.348578 +v -2.450004 -0.195397 -2.702068 +v -1.426491 0.623245 -3.044120 +v -2.450004 0.589190 -3.009254 +v -1.426491 0.691465 3.097195 +v -1.460669 -0.161232 -0.825889 +f 57 71 82 +f 44 45 52 +f 45 49 52 +f 45 44 58 +f 49 45 58 +f 47 51 60 +f 52 49 60 +f 51 52 60 +f 43 56 62 +f 59 43 62 +f 47 53 63 +f 53 57 63 +f 46 58 64 +f 61 46 64 +f 55 61 64 +f 49 53 65 +f 61 55 66 +f 57 61 66 +f 44 55 67 +f 58 44 67 +f 44 52 68 +f 55 44 68 +f 66 55 68 +f 56 43 69 +f 43 59 69 +f 59 54 69 +f 51 47 70 +f 47 63 70 +f 63 57 70 +f 66 51 70 +f 57 66 70 +f 53 46 71 +f 57 53 71 +f 54 50 72 +f 65 54 72 +f 65 72 73 +f 50 60 73 +f 60 49 73 +f 49 65 73 +f 72 50 73 +f 56 47 74 +f 47 59 74 +f 62 56 74 +f 59 62 74 +f 50 54 75 +f 59 47 75 +f 54 59 75 +f 47 60 76 +f 60 50 76 +f 50 75 76 +f 75 47 76 +f 64 58 77 +f 55 64 77 +f 67 55 77 +f 58 67 77 +f 53 47 78 +f 48 53 78 +f 47 56 78 +f 56 48 78 +f 46 53 79 +f 53 49 79 +f 49 58 79 +f 58 46 79 +f 53 48 80 +f 48 56 80 +f 65 53 80 +f 54 65 80 +f 56 69 80 +f 69 54 80 +f 52 51 81 +f 51 66 81 +f 68 52 81 +f 66 68 81 +f 46 61 82 +f 61 57 82 +f 71 46 82 +o convex_3 +v -1.085302 0.657403 -0.280525 +v -1.358249 0.077561 -0.348765 +v -1.358249 0.452750 -0.348765 +v -1.358249 0.077561 0.367722 +v -1.085302 0.077561 0.367722 +v -1.358249 0.657403 0.333567 +v -1.085302 0.111679 -0.314610 +v -1.085302 0.657403 0.265326 +v -1.358249 0.589223 -0.314610 +v -1.085302 0.623342 -0.348765 +f 85 91 92 +f 85 84 86 +f 86 84 87 +f 85 86 88 +f 86 87 88 +f 83 87 89 +f 87 84 89 +f 87 83 90 +f 83 88 90 +f 88 87 90 +f 88 83 91 +f 85 88 91 +f 84 85 92 +f 83 89 92 +f 89 84 92 +f 91 83 92 +o convex_4 +v 0.620619 -3.675639 0.231134 +v -0.573412 -4.733003 0.162898 +v -0.573412 -4.733003 0.572319 +v -0.573412 -2.788444 -0.485068 +v 0.620619 -4.698741 -0.587594 +v -0.505272 -2.788444 0.572319 +v 0.518233 -2.788444 -0.451007 +v 0.620619 -4.733003 0.470020 +v -0.539284 -4.698741 -0.451007 +v 0.586491 -2.788444 0.435845 +v 0.483988 -4.323572 0.504082 +v 0.552245 -2.993444 -0.485068 +v -0.334512 -2.856967 0.572319 +v 0.449976 -4.596526 -0.587480 +v -0.300501 -4.733003 0.572319 +v 0.620619 -4.733003 -0.314533 +v -0.573412 -4.630598 -0.451007 +v -0.573412 -2.788444 -0.212121 +v 0.586491 -2.788444 0.094661 +v 0.586374 -4.391716 -0.587480 +v 0.518233 -2.822896 -0.485068 +v -0.573412 -4.323572 0.572319 +v 0.620619 -3.811736 0.470020 +v -0.573412 -3.266399 -0.485068 +f 106 109 116 +f 94 95 96 +f 96 98 99 +f 95 94 100 +f 97 93 100 +f 99 98 102 +f 98 95 105 +f 102 98 105 +f 97 101 106 +f 95 100 107 +f 100 103 107 +f 105 95 107 +f 103 105 107 +f 100 94 108 +f 97 100 108 +f 94 101 108 +f 101 97 108 +f 94 96 109 +f 101 94 109 +f 106 101 109 +f 96 95 110 +f 98 96 110 +f 93 97 111 +f 102 93 111 +f 99 102 111 +f 97 104 111 +f 104 99 111 +f 104 97 112 +f 106 96 112 +f 97 106 112 +f 96 99 113 +f 99 104 113 +f 104 112 113 +f 112 96 113 +f 95 98 114 +f 110 95 114 +f 98 110 114 +f 100 93 115 +f 93 102 115 +f 103 100 115 +f 102 105 115 +f 105 103 115 +f 96 106 116 +f 109 96 116 +o convex_5 +v 1.166514 0.895591 0.537973 +v -1.085285 0.077457 -0.280488 +v -1.085285 0.077457 0.367338 +v 1.098184 -2.685721 0.947414 +v 1.132349 -2.651075 -1.099370 +v 1.132349 3.318386 -1.099370 +v -0.914681 3.421109 0.981710 +v -0.948626 -2.651683 -1.030990 +v -0.914681 3.386462 -1.030990 +v -1.016956 -2.753797 1.015795 +v 1.132349 3.283740 1.015584 +v 1.132349 -2.651075 1.050090 +v 0.518262 -2.788444 -0.450913 +v 0.177053 0.078065 -1.099370 +v -0.505143 -2.548960 1.050090 +v -0.948626 3.421109 0.947625 +v 1.064019 1.135074 1.050090 +v -0.812186 3.147587 -1.065075 +v -1.051121 1.339304 -0.553379 +v 1.166514 -0.228887 -0.519294 +v -0.982791 -2.514922 -0.996694 +v -0.573473 -2.788444 -0.484998 +v 0.654701 -2.788444 0.469803 +v 0.381602 3.352424 1.015584 +v 0.347658 -2.548960 -1.099370 +v -0.948626 3.181625 -0.996905 +v -1.085285 0.691361 0.230998 +v 1.064019 -2.685721 -1.065075 +v -0.982791 -0.025266 1.015795 +v -0.436813 3.386462 -1.065075 +v 1.166514 -0.296964 0.606143 +v -0.436813 -2.651683 -1.065075 +v 0.722811 3.318386 -1.099370 +v -0.505143 -2.788444 0.572269 +v 1.029854 3.318386 1.015584 +v -1.016956 -2.753797 0.776989 +v -0.982791 1.134467 0.981499 +v 1.166514 0.930237 -0.314573 +v -0.846351 3.421109 0.811074 +v 0.074559 -2.719759 1.050090 +v -1.085285 0.622677 -0.348448 +v -0.914681 -2.685721 -0.928735 +v -0.948626 2.260161 -1.030990 +v -0.948626 3.386462 0.060362 +v -1.016956 -2.037170 1.015795 +v -0.982791 -2.651683 -0.894439 +v 1.132349 1.168505 1.050090 +f 151 140 163 +f 119 118 126 +f 120 121 128 +f 122 121 130 +f 131 128 133 +f 121 122 136 +f 138 129 139 +f 131 133 140 +f 130 121 141 +f 118 119 143 +f 119 132 143 +f 132 135 143 +f 121 120 144 +f 129 138 144 +f 139 129 144 +f 120 139 144 +f 140 123 145 +f 131 140 145 +f 134 125 146 +f 117 127 147 +f 128 121 147 +f 121 136 147 +f 136 117 147 +f 124 134 148 +f 134 130 148 +f 141 121 148 +f 130 141 148 +f 121 144 148 +f 144 124 148 +f 122 130 149 +f 130 134 149 +f 146 122 149 +f 134 146 149 +f 126 138 150 +f 138 139 150 +f 139 126 150 +f 127 122 151 +f 126 118 152 +f 138 126 152 +f 132 119 153 +f 123 132 153 +f 145 123 153 +f 127 117 154 +f 122 127 154 +f 136 122 154 +f 117 136 154 +f 125 132 155 +f 132 123 155 +f 123 140 155 +f 122 146 155 +f 146 125 155 +f 151 122 155 +f 140 151 155 +f 120 128 156 +f 131 126 156 +f 128 131 156 +f 139 120 156 +f 126 139 156 +f 137 118 157 +f 135 137 157 +f 118 143 157 +f 143 135 157 +f 124 144 158 +f 144 138 158 +f 138 152 158 +f 125 134 159 +f 134 124 159 +f 124 137 159 +f 137 135 159 +f 142 125 159 +f 135 142 159 +f 132 125 160 +f 135 132 160 +f 125 142 160 +f 142 135 160 +f 119 126 161 +f 126 131 161 +f 131 145 161 +f 153 119 161 +f 145 153 161 +f 137 124 162 +f 118 137 162 +f 152 118 162 +f 124 158 162 +f 158 152 162 +f 133 128 163 +f 140 133 163 +f 147 127 163 +f 128 147 163 +f 127 151 163 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/501/501.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/501/501.urdf new file mode 100644 index 000000000..170583069 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/501/501.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/502/502.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/502/502.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/502/502.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/502/502.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/502/502.obj new file mode 100644 index 000000000..581e6aafa --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/502/502.obj @@ -0,0 +1,366 @@ +o convex_0 +v 0.079820 0.558712 -1.799817 +v 0.153952 -0.590644 -2.430465 +v 0.302217 -0.590644 -2.430465 +v -0.142464 0.521546 -3.690835 +v -0.476115 -0.367997 -1.799817 +v -0.550360 -0.553478 -3.653630 +v 0.598858 -0.405163 -3.690835 +v -0.513237 0.447563 -1.799817 +v 0.450481 0.595878 -1.799817 +v 0.598858 -0.590644 -1.837022 +v 0.487603 0.447563 -3.653630 +v -0.476115 0.521546 -3.690835 +v 0.598858 -0.553478 -3.690835 +v -0.439105 -0.479378 -1.799817 +v -0.550360 0.076600 -2.319217 +v 0.561736 -0.219798 -1.799817 +v -0.327851 0.558712 -3.282682 +v 0.487603 0.484612 -3.393929 +v -0.550360 -0.145698 -3.579403 +v -0.513237 -0.516312 -2.541712 +v 0.376349 -0.590644 -1.799817 +v -0.068332 -0.553478 -3.690835 +v 0.487603 0.410397 -1.874228 +v -0.513237 0.447563 -2.615753 +v -0.550360 -0.553478 -3.393929 +v 0.302217 0.595878 -2.096723 +v 0.524613 0.187866 -3.690835 +v -0.290841 -0.516312 -1.837022 +v -0.476115 0.521546 -3.023167 +v -0.513237 0.039551 -1.799817 +v 0.265207 0.595878 -1.874228 +v -0.253719 0.558712 -3.356909 +v -0.550360 -0.479378 -3.023167 +f 30 15 33 +f 5 1 8 +f 1 5 9 +f 2 3 10 +f 4 7 12 +f 3 2 13 +f 7 10 13 +f 10 3 13 +f 12 7 13 +f 9 5 14 +f 10 7 16 +f 9 14 16 +f 11 4 18 +f 12 6 19 +f 6 15 19 +f 14 5 20 +f 2 10 21 +f 10 16 21 +f 16 14 21 +f 2 6 22 +f 6 12 22 +f 13 2 22 +f 12 13 22 +f 16 7 23 +f 9 16 23 +f 18 9 23 +f 7 18 23 +f 8 12 24 +f 15 8 24 +f 12 19 24 +f 19 15 24 +f 6 2 25 +f 15 6 25 +f 2 21 25 +f 9 18 26 +f 7 4 27 +f 4 11 27 +f 11 18 27 +f 18 7 27 +f 14 20 28 +f 21 14 28 +f 20 25 28 +f 25 21 28 +f 8 1 29 +f 12 8 29 +f 17 12 29 +f 5 8 30 +f 8 15 30 +f 1 9 31 +f 9 26 31 +f 26 17 31 +f 29 1 31 +f 17 29 31 +f 4 12 32 +f 12 17 32 +f 18 4 32 +f 17 26 32 +f 26 18 32 +f 20 5 33 +f 15 25 33 +f 25 20 33 +f 5 30 33 +o convex_1 +v 0.673059 2.968254 0.202388 +v -1.106654 2.115876 -1.725358 +v -1.106654 2.115876 -1.688228 +v 1.080995 -3.000766 0.239318 +v 0.932596 3.005753 -1.762687 +v 1.043735 -2.925767 -1.799817 +v -0.995302 -3.000171 0.239318 +v -0.921210 3.042658 0.239318 +v -0.995302 -2.962671 -1.799817 +v -1.106654 3.080158 -1.688228 +v 0.969642 2.745636 0.239318 +v 1.080781 -2.851958 -1.651498 +v -0.513274 0.447432 -1.799817 +v -0.958256 3.042658 0.202388 +v 1.080781 -1.554345 0.165258 +v -1.106654 3.080158 -1.466049 +v -0.290783 3.080158 -1.725358 +v 1.080995 -3.000766 -0.502077 +v -0.995302 -0.626968 0.239318 +v 1.006689 -0.293636 -1.799817 +v 0.969642 2.004567 -1.466049 +v 0.932596 2.968254 -0.131579 +v -0.995302 -3.000171 -1.058222 +v -0.735765 3.080158 -1.725358 +v -1.032348 -1.665058 -1.762687 +v 0.265123 -2.962671 -1.799817 +v -0.995302 -1.701963 -1.799817 +v 0.561921 3.042658 -1.688228 +v -0.958256 3.080158 -0.687525 +v 0.450568 0.595050 -1.799817 +v -1.106654 2.560517 -1.725358 +v 0.932596 2.930754 0.239318 +v -0.735765 3.042658 0.165059 +v 1.043735 -1.406131 -1.799817 +v 1.080781 -1.776963 -0.279698 +v 1.080995 -2.962671 -1.391590 +v 1.080781 -1.554345 0.239518 +v 0.932596 3.005753 -1.132282 +v 0.821244 3.005753 -1.762687 +v 0.969642 2.634922 -0.094250 +v -1.069394 0.447432 -1.762687 +v 0.969642 1.744450 -1.762687 +f 54 67 75 +f 35 36 43 +f 39 42 46 +f 36 40 49 +f 43 36 49 +f 43 49 50 +f 37 40 51 +f 41 47 52 +f 49 40 52 +f 47 49 52 +f 39 46 53 +f 51 40 56 +f 50 38 57 +f 43 50 57 +f 36 35 58 +f 40 36 58 +f 56 40 58 +f 42 56 58 +f 42 39 59 +f 56 42 59 +f 51 56 59 +f 46 42 60 +f 38 50 61 +f 47 41 62 +f 49 47 62 +f 50 49 62 +f 61 50 62 +f 38 53 63 +f 53 46 63 +f 35 43 64 +f 43 57 64 +f 57 46 64 +f 34 41 65 +f 55 34 65 +f 44 55 65 +f 41 34 66 +f 34 55 66 +f 61 62 66 +f 62 41 66 +f 45 39 67 +f 53 38 67 +f 39 53 67 +f 54 45 67 +f 45 54 68 +f 54 48 68 +f 39 45 69 +f 37 51 69 +f 59 39 69 +f 51 59 69 +f 45 68 69 +f 68 48 69 +f 40 37 70 +f 48 44 70 +f 52 40 70 +f 41 52 70 +f 65 41 70 +f 44 65 70 +f 37 69 70 +f 69 48 70 +f 44 38 71 +f 55 44 71 +f 38 61 71 +f 66 55 71 +f 61 66 71 +f 46 57 72 +f 57 38 72 +f 38 63 72 +f 63 46 72 +f 38 44 73 +f 44 48 73 +f 54 38 73 +f 48 54 73 +f 58 35 74 +f 42 58 74 +f 60 42 74 +f 46 60 74 +f 35 64 74 +f 64 46 74 +f 38 54 75 +f 67 38 75 +o convex_2 +v 1.080835 -2.555298 1.425857 +v -1.106654 2.597726 2.241718 +v -1.106654 2.597726 2.278539 +v 1.118074 3.005651 2.241718 +v -0.921115 3.042237 0.239920 +v -0.958354 -2.926028 2.315774 +v 1.118074 -3.000417 0.239713 +v -0.995374 -3.000417 0.239920 +v 0.932535 2.931262 0.239920 +v 1.006794 -3.112002 2.278746 +v -1.106654 3.117236 2.278539 +v -0.476213 -0.516283 2.353009 +v 1.080835 3.005651 1.611204 +v -0.958136 3.042237 0.313977 +v -0.995374 -2.963223 1.685261 +v 1.080835 -0.404698 2.278746 +v 0.153793 3.080041 2.278539 +v 0.969555 2.783092 0.239920 +v -0.995374 -0.627258 0.239920 +v -0.995374 2.375167 2.315774 +v 0.635933 -3.112002 1.907844 +v -1.106654 3.117236 2.130219 +v -0.068332 -3.037003 2.315774 +v 1.080835 -3.037003 0.388033 +v -0.698555 -3.037612 0.536353 +v 1.043815 -3.112002 2.130426 +v 1.118074 2.967847 1.981900 +v -0.995374 -2.369933 2.315774 +v 1.118074 1.670292 2.167454 +v 0.524653 -2.258348 2.315774 +v 0.635933 2.967847 0.239920 +v -0.958354 -2.963223 2.241718 +v -0.995374 3.117236 1.833787 +v 0.969555 3.042846 2.204483 +v -0.772815 3.042237 0.276948 +v 1.080835 0.002617 2.278746 +v 1.118074 -2.888833 0.239713 +v -0.995374 -3.000417 1.018547 +v 0.265073 3.042846 2.278539 +v -0.550472 -0.627258 2.353009 +v 0.747213 -3.112002 2.278539 +v -1.032395 1.708097 2.315774 +v 1.043815 -2.740663 2.278746 +v 1.118074 -2.888833 0.351005 +v -1.032395 3.080041 1.203894 +v 1.043815 -3.112002 1.870815 +v -0.661535 3.117236 2.278539 +v 1.006794 2.967847 0.758936 +v -1.032395 -0.701648 2.315774 +v -0.958136 2.411752 0.239920 +f 112 94 125 +f 78 77 83 +f 77 78 86 +f 82 83 94 +f 83 77 97 +f 77 86 97 +f 94 83 97 +f 83 82 99 +f 83 99 100 +f 85 96 101 +f 79 82 102 +f 88 79 102 +f 78 90 103 +f 90 81 103 +f 82 79 104 +f 91 76 104 +f 79 91 104 +f 98 85 105 +f 81 90 107 +f 98 81 107 +f 80 89 108 +f 97 86 108 +f 79 88 109 +f 92 79 109 +f 88 106 109 +f 108 109 110 +f 106 80 110 +f 80 108 110 +f 109 106 110 +f 79 87 111 +f 91 79 111 +f 105 91 111 +f 87 105 111 +f 84 93 112 +f 82 94 112 +f 102 82 112 +f 93 102 112 +f 80 106 112 +f 106 84 112 +f 78 83 113 +f 90 78 113 +f 83 100 113 +f 107 90 113 +f 87 79 114 +f 79 92 114 +f 95 87 114 +f 92 95 114 +f 87 95 115 +f 81 98 115 +f 103 81 115 +f 105 87 115 +f 98 105 115 +f 96 85 116 +f 85 98 116 +f 100 96 116 +f 98 107 116 +f 113 100 116 +f 107 113 116 +f 86 78 117 +f 95 86 117 +f 115 95 117 +f 76 91 118 +f 101 76 118 +f 85 101 118 +f 105 85 118 +f 91 105 118 +f 76 101 119 +f 101 82 119 +f 104 76 119 +f 82 104 119 +f 89 94 120 +f 94 97 120 +f 108 89 120 +f 97 108 120 +f 99 82 121 +f 96 100 121 +f 100 99 121 +f 82 101 121 +f 101 96 121 +f 86 95 122 +f 95 92 122 +f 108 86 122 +f 92 109 122 +f 109 108 122 +f 93 84 123 +f 88 102 123 +f 102 93 123 +f 84 106 123 +f 106 88 123 +f 78 103 124 +f 103 115 124 +f 117 78 124 +f 115 117 124 +f 89 80 125 +f 94 89 125 +f 80 112 125 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/502/502.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/502/502.urdf new file mode 100644 index 000000000..2fd8b13a1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/502/502.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/503/503.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/503/503.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/503/503.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/503/503.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/503/503.obj new file mode 100644 index 000000000..00858218e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/503/503.obj @@ -0,0 +1,4269 @@ +o convex_0 +v -0.803021 -0.357261 0.196575 +v -0.803021 0.066709 1.233221 +v -0.803021 0.396567 1.138676 +v -1.038651 0.160820 0.950394 +v -0.826617 0.514324 0.173285 +v -1.038651 -0.310206 0.550079 +v -0.826617 -0.451607 1.044708 +v -1.038651 0.325867 0.361567 +v -0.803021 0.655843 0.691089 +v -1.038651 -0.003875 0.267368 +v -1.038651 0.349394 0.879717 +v -0.803021 -0.545953 0.597236 +v -0.803021 0.113882 0.055335 +v -1.038651 -0.215977 0.879717 +v -1.038651 0.420095 0.597236 +v -0.826617 0.514324 1.091750 +v -0.826617 -0.027285 1.233221 +f 16 4 17 +f 3 2 1 +f 6 4 8 +f 3 1 9 +f 1 6 10 +f 8 5 10 +f 6 8 10 +f 8 4 11 +f 1 2 12 +f 6 1 12 +f 2 7 12 +f 7 6 12 +f 9 1 13 +f 5 9 13 +f 1 10 13 +f 10 5 13 +f 4 6 14 +f 6 7 14 +f 5 8 15 +f 9 5 15 +f 8 11 15 +f 11 9 15 +f 2 3 16 +f 3 9 16 +f 11 4 16 +f 9 11 16 +f 7 2 17 +f 4 14 17 +f 14 7 17 +f 2 16 17 +o convex_1 +v -2.546622 0.113799 0.762043 +v -1.038651 0.373067 0.809173 +v -1.038651 0.373067 0.762043 +v -1.038651 -0.263178 0.762043 +v -1.321455 0.019632 0.950561 +v -2.523094 0.019632 0.879867 +v -1.038651 0.325922 0.903431 +v -2.381771 -0.145345 0.809173 +v -1.038651 -0.216032 0.879867 +v -2.287503 0.231631 0.809173 +v -2.428669 -0.145345 0.762043 +v -2.475882 0.090257 0.879867 +v -1.038651 0.137403 0.950561 +f 24 29 30 +f 20 19 21 +f 18 20 21 +f 21 19 24 +f 23 25 26 +f 22 23 26 +f 21 24 26 +f 25 21 26 +f 20 18 27 +f 19 20 27 +f 24 19 27 +f 18 21 28 +f 23 18 28 +f 21 25 28 +f 25 23 28 +f 23 22 29 +f 18 23 29 +f 27 18 29 +f 24 27 29 +f 22 26 30 +f 26 24 30 +f 29 22 30 +o convex_2 +v -1.792494 -0.875902 -0.534048 +v -2.452529 -0.899478 -0.816743 +v -2.452529 -0.875902 -0.816743 +v -0.967957 -0.946631 -0.816743 +v -1.816035 -1.323543 -0.793167 +v -0.967957 -0.923054 -0.369103 +v -0.991644 -0.875902 -0.416255 +v -2.428843 -0.899478 -0.722482 +v -1.792494 -1.323543 -0.816743 +v -0.967957 -0.970163 -0.486940 +f 35 39 40 +f 32 33 34 +f 31 35 36 +f 33 31 37 +f 34 33 37 +f 31 36 37 +f 36 34 37 +f 31 33 38 +f 33 32 38 +f 35 31 38 +f 32 35 38 +f 32 34 39 +f 35 32 39 +f 34 36 40 +f 36 35 40 +f 39 34 40 +o convex_3 +v -2.311068 1.032773 -0.816787 +v -2.593917 0.066840 -0.816787 +v -2.570251 0.066840 -0.816787 +v -1.863556 0.066840 -0.392624 +v -1.863556 1.174154 -0.816787 +v -2.476016 0.820645 -0.675330 +v -1.887079 0.844265 -0.463373 +v -2.499539 0.066840 -0.604705 +v -1.863556 0.066840 -0.439831 +v -1.910674 1.221394 -0.793162 +v -2.523134 0.773519 -0.816787 +v -2.546657 0.161094 -0.628247 +f 51 42 52 +f 43 42 41 +f 42 43 44 +f 43 41 45 +f 44 45 47 +f 42 44 48 +f 44 47 48 +f 44 43 49 +f 45 44 49 +f 43 45 49 +f 45 41 50 +f 41 46 50 +f 47 45 50 +f 46 47 50 +f 41 42 51 +f 46 41 51 +f 46 51 52 +f 47 46 52 +f 48 47 52 +f 42 48 52 +o convex_4 +v 2.189810 -0.734470 -2.277769 +v 2.943696 -0.168993 -2.018584 +v 2.943696 -0.216159 -2.018584 +v 2.166139 -0.899294 -2.018584 +v 2.166139 -0.168993 -2.348421 +v 2.566638 -0.922988 -2.159992 +v 2.920101 -0.192613 -2.159992 +v 2.637346 -0.899294 -2.018584 +v 2.236923 -0.192613 -2.372053 +v 2.166139 -0.922988 -2.183589 +v 2.896507 -0.168993 -2.018584 +f 54 57 63 +f 55 54 56 +f 54 55 59 +f 57 54 59 +f 58 59 60 +f 55 56 60 +f 56 58 60 +f 59 55 60 +f 53 57 61 +f 58 53 61 +f 57 59 61 +f 59 58 61 +f 57 53 62 +f 56 57 62 +f 58 56 62 +f 53 58 62 +f 56 54 63 +f 57 56 63 +o convex_5 +v 0.139617 -2.054007 1.610370 +v 0.940778 -1.205763 1.633995 +v 0.940778 -1.205763 1.610370 +v -0.567359 -1.205763 1.610370 +v 0.139765 -1.252925 2.034534 +v 0.327839 -1.936103 1.633995 +v -0.543739 -1.276589 1.633995 +v 0.186710 -1.229344 2.034534 +v 0.139617 -2.054007 1.633995 +f 71 68 72 +f 65 66 67 +f 66 64 67 +f 64 66 69 +f 66 65 69 +f 67 64 70 +f 68 67 70 +f 65 67 71 +f 67 68 71 +f 69 65 71 +f 69 71 72 +f 64 69 72 +f 70 64 72 +f 68 70 72 +o convex_6 +v -1.274298 -1.818367 -1.688623 +v -1.250703 -1.229402 -1.217386 +v -1.274298 -1.229402 -1.217386 +v -1.274298 -1.229402 -1.877131 +v -1.015137 -1.253019 -1.759273 +v -1.250703 -1.983322 -1.405958 +v -1.250703 -1.724118 -1.806417 +v -1.038681 -1.347269 -1.665052 +f 78 77 80 +f 75 74 76 +f 73 75 76 +f 76 74 77 +f 75 73 78 +f 74 75 78 +f 73 76 79 +f 76 77 79 +f 77 78 79 +f 78 73 79 +f 77 74 80 +f 74 78 80 +o convex_7 +v -1.910610 -0.734415 -0.463357 +v -2.593784 -0.616500 -0.816748 +v -2.593784 -0.616500 -0.793183 +v -1.910610 0.066727 -0.439792 +v -1.934221 -0.875858 -0.628231 +v -2.570240 0.066727 -0.816748 +v -2.523152 0.066727 -0.604745 +v -2.523152 -0.758035 -0.651795 +v -2.428910 -0.875858 -0.816748 +v -1.957765 -0.145392 -0.416227 +v -2.334600 -0.875858 -0.675360 +f 88 89 91 +f 84 81 85 +f 82 83 86 +f 84 85 86 +f 84 86 87 +f 86 83 87 +f 87 83 88 +f 83 82 88 +f 82 86 89 +f 86 85 89 +f 88 82 89 +f 81 84 90 +f 84 87 90 +f 87 88 90 +f 88 81 90 +f 85 81 91 +f 81 88 91 +f 89 85 91 +o convex_8 +v -1.816164 -0.098244 -0.369059 +v -1.910451 -0.875858 -0.604705 +v -1.910451 -0.875858 -0.557576 +v -0.968050 -0.875858 -0.392642 +v -1.062336 0.066727 -0.298384 +v -1.792639 -0.734415 -0.416188 +v -0.991667 -0.004041 -0.227671 +v -1.910451 0.066727 -0.439734 +v -0.991667 -0.852238 -0.345550 +v -1.839690 -0.852238 -0.604705 +v -1.910451 0.066727 -0.392642 +v -0.968050 -0.027568 -0.298384 +f 101 96 103 +f 94 93 95 +f 92 97 98 +f 93 94 99 +f 94 95 100 +f 97 94 100 +f 95 98 100 +f 98 97 100 +f 95 93 101 +f 93 99 101 +f 99 96 101 +f 97 92 102 +f 94 97 102 +f 92 98 102 +f 98 96 102 +f 99 94 102 +f 96 99 102 +f 96 98 103 +f 98 95 103 +f 95 101 103 +o convex_9 +v -1.863414 0.066727 -0.416170 +v -0.967957 0.797231 -0.486864 +v -0.967957 0.113921 -0.227671 +v -1.769100 0.797231 -0.416170 +v -1.038781 0.632267 -0.510447 +v -1.863414 0.797231 -0.486864 +v -0.967957 0.090396 -0.298393 +v -1.839835 0.066727 -0.369059 +v -1.839835 0.113921 -0.439725 +f 108 110 112 +f 106 105 107 +f 105 108 109 +f 107 105 109 +f 105 106 110 +f 108 105 110 +f 106 107 111 +f 107 109 111 +f 109 104 111 +f 104 110 111 +f 110 106 111 +f 109 108 112 +f 104 109 112 +f 110 104 112 +o convex_10 +v -1.839835 0.797323 -0.439792 +v -1.721855 1.268523 -0.793183 +v -0.967957 1.103523 -0.581180 +v -0.967957 1.079951 -0.816748 +v -0.967957 0.797323 -0.486921 +v -1.863414 1.174191 -0.816748 +v -1.863414 0.797323 -0.486921 +v -1.556981 0.891563 -0.439792 +v -1.345125 1.079951 -0.816748 +v -0.967957 1.032900 -0.510486 +f 120 117 122 +f 114 115 116 +f 116 115 117 +f 113 114 118 +f 114 116 118 +f 117 113 119 +f 116 117 119 +f 113 118 119 +f 114 113 120 +f 113 117 120 +f 118 116 121 +f 116 119 121 +f 119 118 121 +f 115 114 122 +f 117 115 122 +f 114 120 122 +o convex_11 +v -2.546788 0.043181 0.455685 +v -1.038651 0.349503 0.455685 +v -1.038651 -0.239613 0.455685 +v -1.038651 -0.003932 0.267205 +v -1.086039 0.302332 0.337922 +v -2.523168 -0.003932 0.408546 +v -1.085891 -0.216028 0.337922 +v -2.028329 -0.168857 0.455685 +v -2.004561 0.231633 0.432106 +v -1.109511 0.090294 0.267205 +f 128 127 132 +f 125 124 123 +f 124 125 126 +f 124 126 127 +f 126 125 129 +f 128 126 129 +f 128 129 130 +f 125 123 130 +f 123 128 130 +f 129 125 130 +f 123 124 131 +f 124 127 131 +f 128 123 131 +f 127 128 131 +f 127 126 132 +f 126 128 132 +o convex_12 +v -1.132947 -0.310307 0.644179 +v -2.475983 0.043162 0.479300 +v -2.475983 0.043162 0.455703 +v -2.499557 -0.216023 0.644179 +v -2.593684 0.043162 0.761984 +v -1.038651 -0.216023 0.455703 +v -1.038651 -0.239585 0.761984 +v -2.146118 -0.168898 0.455703 +v -2.452410 -0.168898 0.761984 +v -2.758870 -0.004031 0.644179 +v -1.062225 -0.310307 0.550001 +v -2.570110 -0.004031 0.455703 +f 136 142 144 +f 134 135 137 +f 135 134 138 +f 134 137 138 +f 138 137 139 +f 135 138 140 +f 136 133 141 +f 139 137 141 +f 133 139 141 +f 137 135 142 +f 136 141 142 +f 141 137 142 +f 133 136 143 +f 138 139 143 +f 139 133 143 +f 136 140 143 +f 140 138 143 +f 135 140 144 +f 140 136 144 +f 142 135 144 +o convex_13 +v 0.021746 -2.266043 -0.156977 +v -0.661617 -2.407338 0.573471 +v -0.590866 -2.619401 0.573471 +v -0.543755 -1.865785 -0.156977 +v -0.637977 -1.394280 -0.133357 +v -0.190338 -2.572383 -0.015479 +v -0.637977 -2.171766 0.549925 +v 0.210274 -2.619641 -0.133357 +v -0.378782 -2.525364 0.102252 +v -0.543755 -2.548754 0.597091 +v -0.661617 -1.512307 -0.156977 +v 0.139523 -2.619641 -0.156977 +v -0.025451 -2.195395 -0.133357 +v 0.210274 -2.572383 -0.133357 +f 157 151 158 +f 147 146 148 +f 147 148 153 +f 150 147 153 +f 148 150 153 +f 146 147 154 +f 151 146 154 +f 147 152 154 +f 148 146 155 +f 145 148 155 +f 149 145 155 +f 146 151 155 +f 151 149 155 +f 148 145 156 +f 147 150 156 +f 150 148 156 +f 152 147 156 +f 145 149 157 +f 149 151 157 +f 151 154 158 +f 154 152 158 +f 156 145 158 +f 152 156 158 +f 145 157 158 +o convex_14 +v -2.735305 0.043162 0.620612 +v -1.038651 0.396632 0.714880 +v -1.038651 0.396632 0.550001 +v -2.405308 0.278751 0.620612 +v -2.428725 0.043162 0.455703 +v -2.546640 0.043162 0.761984 +v -1.062401 0.302348 0.455703 +v -2.263809 0.208133 0.455703 +v -2.381725 0.231661 0.761984 +v -1.085818 0.325876 0.761984 +f 160 167 168 +f 160 161 162 +f 159 163 164 +f 164 163 165 +f 161 160 165 +f 162 161 166 +f 159 162 166 +f 163 159 166 +f 165 163 166 +f 161 165 166 +f 160 162 167 +f 162 159 167 +f 159 164 167 +f 167 164 168 +f 164 165 168 +f 165 160 168 +o convex_15 +v -0.519747 -0.545847 -2.372039 +v 2.166139 -0.168919 -2.348472 +v 2.166139 -0.216058 -2.324905 +v 1.694306 -0.781600 -2.348472 +v 2.095272 -0.781600 -2.230679 +v -0.967957 -0.168919 -2.348472 +v -0.967957 -0.781600 -2.301352 +v 2.166139 -0.168919 -2.372039 +v -0.967957 -0.781600 -2.348472 +v -0.967957 -0.168919 -2.372039 +v 2.142517 -0.710892 -2.230679 +v 1.953845 -0.498709 -2.372039 +v 2.166139 -0.758031 -2.277813 +v -0.967957 -0.381042 -2.324905 +f 175 179 182 +f 171 170 174 +f 172 173 175 +f 170 171 176 +f 174 170 176 +f 169 172 177 +f 175 174 177 +f 172 175 177 +f 176 169 178 +f 174 176 178 +f 169 177 178 +f 177 174 178 +f 171 174 179 +f 175 173 179 +f 172 169 180 +f 169 176 180 +f 173 172 181 +f 176 171 181 +f 171 179 181 +f 179 173 181 +f 180 176 181 +f 172 180 181 +f 174 175 182 +f 179 174 182 +o convex_16 +v 3.132234 -0.263298 -1.193902 +v 2.613925 -0.875858 -2.018422 +v 2.661091 -0.875858 -2.018422 +v 2.967267 -0.168988 -2.018422 +v 3.108650 -0.781480 -1.335317 +v 2.802474 -0.852194 -1.217471 +v 3.085068 -0.168988 -1.193902 +v 3.202983 -0.168988 -1.405944 +v 2.661091 -0.687240 -1.971364 +v 2.896691 -0.192583 -1.994933 +v 2.896691 -0.875858 -1.193902 +v 3.085068 -0.757954 -1.193902 +f 193 187 194 +f 185 184 186 +f 185 186 187 +f 186 189 190 +f 187 186 190 +f 189 183 190 +f 184 188 191 +f 188 189 191 +f 191 189 192 +f 186 184 192 +f 189 186 192 +f 184 191 192 +f 184 185 193 +f 185 187 193 +f 188 184 193 +f 183 189 193 +f 189 188 193 +f 190 183 194 +f 187 190 194 +f 183 193 194 +o convex_17 +v 2.896580 -0.828600 -1.075927 +v 3.108724 -0.168988 -1.123060 +v 3.108724 -0.192583 -1.123060 +v 2.872999 -0.168988 -0.581141 +v 2.260480 -0.852194 -0.604768 +v 2.872999 -0.616594 -0.769736 +v 2.825838 -0.852194 -1.193761 +v 3.061480 -0.168988 -1.170194 +v 2.401882 -0.875858 -0.581141 +v 3.061480 -0.757954 -1.170194 +v 2.778759 -0.168988 -0.604768 +v 2.967239 -0.216178 -0.651902 +f 200 204 206 +f 201 199 202 +f 196 197 202 +f 198 196 202 +f 198 199 203 +f 195 200 203 +f 201 195 203 +f 199 201 203 +f 200 195 204 +f 195 201 204 +f 201 202 204 +f 202 197 204 +f 199 198 205 +f 202 199 205 +f 198 202 205 +f 197 196 206 +f 196 198 206 +f 198 203 206 +f 203 200 206 +f 204 197 206 +o convex_18 +v 0.563806 1.056442 -2.301350 +v 0.186786 -0.168919 -2.372014 +v 0.257486 0.137421 -2.395611 +v 0.964190 -0.168919 -2.372014 +v 0.917082 0.867768 -2.159971 +v 0.186786 1.056442 -2.395611 +v 0.186786 0.325975 -2.324896 +v 0.328187 1.056442 -2.419182 +v 0.940674 1.032813 -2.207140 +v 0.186786 1.056442 -2.348442 +v 0.964190 0.113912 -2.372014 +v 0.186786 -0.168919 -2.348442 +v 0.964190 -0.168919 -2.348442 +v 0.964190 1.032813 -2.159971 +f 219 217 220 +f 208 209 210 +f 209 208 212 +f 212 208 213 +f 210 209 214 +f 209 212 214 +f 212 207 214 +f 214 207 215 +f 207 212 216 +f 213 211 216 +f 212 213 216 +f 210 214 217 +f 214 215 217 +f 208 210 218 +f 213 208 218 +f 211 213 218 +f 210 217 219 +f 218 210 219 +f 211 218 219 +f 215 207 220 +f 207 216 220 +f 216 211 220 +f 217 215 220 +f 211 219 220 +o convex_19 +v 2.166074 -0.027518 -2.395592 +v 1.082249 1.032877 -2.136407 +v 1.082249 1.032877 -2.160002 +v 0.964343 -0.168919 -2.348454 +v 2.189703 0.773484 -2.136407 +v 0.964343 0.113884 -2.372023 +v 2.189703 -0.168919 -2.348454 +v 2.166074 0.161057 -2.372023 +v 0.964343 1.032877 -2.183571 +v 2.142565 0.820657 -2.183571 +v 0.988092 0.962059 -2.136407 +v 0.964343 -0.168919 -2.372023 +f 227 224 232 +f 225 224 227 +f 225 227 228 +f 221 226 228 +f 227 221 228 +f 228 226 229 +f 222 223 229 +f 226 224 229 +f 223 222 230 +f 222 225 230 +f 225 228 230 +f 228 229 230 +f 229 223 230 +f 224 225 231 +f 225 222 231 +f 222 229 231 +f 229 224 231 +f 226 221 232 +f 224 226 232 +f 221 227 232 +o convex_20 +v 2.331200 0.773519 -2.136407 +v 2.189784 -0.168919 -2.372023 +v 2.260492 -0.168919 -2.372023 +v 2.825831 -0.168919 -2.136407 +v 3.014385 0.043246 -2.160002 +v 2.284061 0.043246 -2.395592 +v 2.189784 0.773519 -2.136407 +v 2.213353 -0.168919 -2.324885 +v 2.260492 0.797060 -2.183571 +v 2.189784 0.231772 -2.348454 +f 241 238 242 +f 234 235 236 +f 233 236 237 +f 236 235 237 +f 237 235 238 +f 235 234 238 +f 236 233 239 +f 236 239 240 +f 234 236 240 +f 239 234 240 +f 233 237 241 +f 237 238 241 +f 239 233 241 +f 239 241 242 +f 238 234 242 +f 234 239 242 +o convex_21 +v -0.897174 1.127129 -1.335407 +v -0.449586 1.103562 -2.112660 +v -0.449586 1.080016 -2.112660 +v -0.520319 1.127129 -0.581141 +v -0.967907 1.056449 -0.581141 +v -0.967907 1.080016 -2.136255 +v -0.614546 1.080016 -0.581141 +v -0.967907 1.103562 -0.581141 +v -0.967907 1.103562 -2.136255 +f 250 243 251 +f 245 244 246 +f 244 243 246 +f 245 247 248 +f 244 245 248 +f 245 246 249 +f 246 247 249 +f 247 245 249 +f 246 243 250 +f 247 246 250 +f 248 247 250 +f 248 250 251 +f 243 244 251 +f 244 248 251 +o convex_22 +v 1.270729 -0.993681 -0.581141 +v 1.294280 -0.593133 0.055104 +v 1.270729 -0.593133 0.055104 +v 1.459181 0.184550 -0.274789 +v 1.506329 -0.993681 -0.439704 +v 1.270683 0.184550 -0.251247 +v 1.506329 -0.781471 -0.227706 +v 1.506329 -0.970038 -0.581141 +v 1.270729 -0.993681 -0.345476 +v 1.294257 0.043153 -0.062790 +v 1.294280 -0.710887 0.031501 +v 1.506329 -0.475264 -0.227706 +f 259 255 263 +f 255 252 257 +f 258 256 259 +f 252 255 259 +f 256 252 259 +f 252 256 260 +f 257 252 260 +f 254 257 260 +f 254 253 261 +f 253 255 261 +f 257 254 261 +f 255 257 261 +f 253 254 262 +f 258 253 262 +f 256 258 262 +f 254 260 262 +f 260 256 262 +f 255 253 263 +f 253 258 263 +f 258 259 263 +o convex_23 +v 1.506551 -0.970038 -0.392665 +v 2.637432 -0.404566 -0.557537 +v 2.637432 -0.404566 -0.581141 +v 1.506551 -0.404566 -0.274840 +v 1.506551 -0.970038 -0.581141 +v 2.307411 -0.875812 -0.510394 +v 1.647814 -0.734415 -0.251268 +v 2.213199 -0.428151 -0.345522 +v 2.378043 -0.875812 -0.581141 +v 2.566578 -0.404566 -0.581141 +v 2.260250 -0.522435 -0.369094 +v 1.765718 -0.993681 -0.557537 +v 1.624344 -0.404566 -0.251268 +v 1.506551 -0.781528 -0.251268 +f 270 276 277 +f 265 266 267 +f 264 267 268 +f 266 265 272 +f 268 266 272 +f 265 269 272 +f 267 266 273 +f 268 267 273 +f 266 268 273 +f 269 265 274 +f 270 269 274 +f 271 270 274 +f 265 271 274 +f 264 268 275 +f 269 264 275 +f 268 272 275 +f 272 269 275 +f 265 267 276 +f 270 271 276 +f 271 265 276 +f 267 264 277 +f 264 269 277 +f 269 270 277 +f 276 267 277 +o convex_24 +v 2.684561 0.231698 -0.581141 +v 1.317877 1.009313 -0.557521 +v 1.435654 0.985739 -0.557521 +v 1.270683 0.184550 -0.204107 +v 2.542979 0.585306 -0.557521 +v 1.270683 0.255272 -0.321985 +v 1.294349 0.915017 -0.581141 +v 1.883511 0.420208 -0.345494 +v 2.566645 0.184550 -0.581141 +v 2.260370 0.184550 -0.416170 +v 2.048067 0.844296 -0.581141 +v 2.048067 0.844296 -0.557521 +f 282 288 289 +f 283 281 284 +f 281 279 284 +f 280 279 285 +f 279 281 285 +f 281 283 286 +f 283 284 286 +f 284 278 286 +f 278 282 287 +f 285 281 287 +f 282 285 287 +f 286 278 287 +f 281 286 287 +f 279 280 288 +f 282 278 288 +f 284 279 288 +f 278 284 288 +f 280 285 289 +f 285 282 289 +f 288 280 289 +o convex_25 +v 1.270683 0.255139 0.173103 +v 1.294266 0.019755 1.162536 +v 1.482764 0.160808 0.926876 +v 1.294266 -0.592951 0.149441 +v 1.482764 -0.404511 0.408657 +v 1.270683 -0.475259 0.997542 +v 1.270683 0.514437 0.738539 +v 1.482764 0.207973 0.361546 +v 1.482764 -0.310291 0.808993 +v 1.270683 -0.475259 0.078775 +v 1.482764 -0.003938 0.267325 +v 1.294266 -0.592951 0.785437 +v 1.270683 0.396524 1.021098 +v 1.482764 0.325887 0.667766 +v 1.294266 0.419996 0.243769 +v 1.482764 -0.050882 0.973987 +v 1.294266 -0.003938 0.078775 +v 1.482764 -0.333763 0.290880 +f 299 300 307 +f 290 295 296 +f 292 294 297 +f 294 292 298 +f 295 290 299 +f 293 295 299 +f 297 294 300 +f 293 294 301 +f 295 293 301 +f 294 298 301 +f 298 295 301 +f 291 292 302 +f 295 291 302 +f 296 295 302 +f 296 302 303 +f 292 297 303 +f 302 292 303 +f 303 297 304 +f 290 296 304 +f 297 300 304 +f 296 303 304 +f 292 291 305 +f 291 295 305 +f 298 292 305 +f 295 298 305 +f 299 290 306 +f 300 299 306 +f 290 304 306 +f 304 300 306 +f 294 293 307 +f 293 299 307 +f 300 294 307 +o convex_26 +v 2.213315 -0.286752 0.667693 +v 1.482933 -0.168905 0.290751 +v 1.482765 -0.310279 0.314348 +v 2.967099 -0.051128 0.432180 +v 1.482765 -0.263155 0.809122 +v 1.482933 -0.027531 0.314399 +v 3.202646 -0.027531 0.644147 +v 2.919956 -0.215995 0.644147 +v 1.530076 -0.381001 0.479374 +v 1.906884 -0.286752 0.809122 +v 2.990671 -0.192502 0.597003 +v 1.482765 -0.333842 0.785576 +v 2.802098 -0.027531 0.408634 +f 314 311 320 +f 309 310 313 +f 310 312 313 +f 313 312 314 +f 315 308 316 +f 314 312 317 +f 315 314 317 +f 308 315 317 +f 310 311 318 +f 311 314 318 +f 314 315 318 +f 316 310 318 +f 315 316 318 +f 312 310 319 +f 316 308 319 +f 310 316 319 +f 317 312 319 +f 308 317 319 +f 310 309 320 +f 311 310 320 +f 309 313 320 +f 313 314 320 +o convex_27 +v -2.476004 -1.064401 -1.311707 +v -1.934186 -0.970161 -1.947827 +v -1.934186 -0.946608 -1.947827 +v -1.816284 -1.111479 -1.806405 +v -2.099134 -1.229328 -1.782866 +v -2.287462 -1.229328 -1.311707 +v -2.499527 -0.946608 -1.311707 +v -2.122728 -0.946608 -1.877085 +v -1.816284 -1.229328 -1.853546 +v -1.816284 -0.946608 -1.900687 +v -2.499527 -0.970161 -1.429528 +f 327 328 331 +f 321 325 326 +f 321 326 327 +f 323 322 328 +f 322 325 328 +f 327 323 328 +f 325 322 329 +f 324 326 329 +f 326 325 329 +f 322 323 330 +f 326 324 330 +f 323 327 330 +f 327 326 330 +f 329 322 330 +f 324 329 330 +f 325 321 331 +f 321 327 331 +f 328 325 331 +o convex_28 +v -2.358174 -0.946608 -0.816787 +v -2.546716 -0.970161 -1.311596 +v -2.546716 -0.970161 -1.264469 +v -1.816284 -1.229328 -0.816787 +v -2.240344 -1.229328 -0.934677 +v -2.287462 -1.229328 -1.311596 +v -2.476004 -0.946608 -1.288008 +v -1.839951 -1.182166 -0.840423 +v -2.334651 -1.064401 -0.816787 +f 334 336 340 +f 334 333 337 +f 335 336 337 +f 336 334 337 +f 334 332 338 +f 333 334 338 +f 337 333 338 +f 337 338 339 +f 332 335 339 +f 335 337 339 +f 338 332 339 +f 332 334 340 +f 335 332 340 +f 336 335 340 +o convex_29 +v -2.169573 -0.946599 -1.735868 +v -1.156683 -0.758080 -2.348368 +v -1.156683 -0.734491 -2.348368 +v -0.968040 -1.064398 -1.782937 +v -1.556994 -1.229328 -1.947890 +v -2.193199 -0.805210 -2.136287 +v -1.015291 -1.229328 -1.782937 +v -1.816273 -1.229328 -1.830126 +v -0.991786 -0.734491 -2.301239 +v -2.193199 -0.734491 -2.089157 +v -0.968040 -1.064398 -2.065653 +v -2.169573 -0.922961 -1.735868 +v -0.968160 -0.781669 -2.348368 +v -1.839778 -0.781669 -2.230545 +f 350 343 354 +f 344 341 347 +f 345 347 348 +f 346 345 348 +f 341 346 348 +f 347 341 348 +f 346 341 350 +f 349 343 350 +f 344 347 351 +f 347 345 351 +f 341 344 352 +f 344 349 352 +f 350 341 352 +f 349 350 352 +f 342 343 353 +f 345 342 353 +f 343 349 353 +f 349 344 353 +f 351 345 353 +f 344 351 353 +f 343 342 354 +f 342 345 354 +f 345 346 354 +f 346 350 354 +o convex_30 +v -1.062325 -1.205719 -1.782937 +v -0.968038 -0.946608 -0.816882 +v -1.227245 -0.946608 -0.816882 +v -1.674781 -1.229328 -0.816882 +v -1.015181 -1.064401 -1.759202 +v -1.321531 -1.229328 -0.958348 +v -1.769067 -1.182166 -0.840522 +v -1.015181 -1.229328 -1.688563 +v -1.085896 -0.946608 -1.193904 +v -0.968038 -1.064401 -1.782937 +v -0.968038 -0.970161 -0.816882 +f 364 356 365 +f 356 357 358 +f 358 357 361 +f 355 358 361 +f 359 355 361 +f 358 355 362 +f 360 358 362 +f 357 356 363 +f 361 357 363 +f 359 361 363 +f 355 359 364 +f 362 355 364 +f 363 356 364 +f 359 363 364 +f 356 358 365 +f 358 360 365 +f 360 362 365 +f 362 364 365 +o convex_31 +v 0.115905 -2.949514 0.597091 +v 0.163014 -2.666817 -0.156977 +v 0.163014 -2.619673 -0.156977 +v -0.567283 -2.666817 0.549925 +v -0.543690 -2.619673 0.597091 +v 0.210198 -2.878799 0.502832 +v -0.543690 -2.737499 0.573471 +v -0.096121 -2.643245 0.267075 +v 0.186606 -2.761070 0.007994 +v -0.449473 -2.619673 0.337862 +v 0.210198 -2.619673 -0.133357 +f 371 374 376 +f 370 366 371 +f 366 370 372 +f 370 369 372 +f 370 371 373 +f 371 366 374 +f 372 367 374 +f 366 372 374 +f 368 367 375 +f 369 370 375 +f 370 368 375 +f 367 372 375 +f 372 369 375 +f 367 368 376 +f 368 370 376 +f 370 373 376 +f 373 371 376 +f 374 367 376 +o convex_32 +v 2.166139 -0.923007 -2.136421 +v -0.873468 -0.805209 -2.348456 +v -0.873468 -0.781600 -2.348456 +v -0.967957 -1.064359 -2.018584 +v 0.234019 -0.993669 -2.324882 +v 2.166139 -0.781600 -2.230684 +v -0.378627 -0.946561 -2.018584 +v 2.166139 -0.899453 -2.018584 +v 1.529871 -0.805209 -2.348456 +v -0.967957 -0.781600 -2.277735 +v 1.953845 -0.946506 -2.207110 +v 1.977467 -0.946561 -2.018584 +v -0.967957 -1.064359 -2.065731 +v 0.093205 -0.970088 -2.348456 +v -0.967957 -0.946561 -2.042190 +f 383 386 391 +f 377 382 384 +f 383 380 384 +f 378 379 385 +f 379 382 385 +f 379 378 386 +f 382 379 386 +f 384 382 386 +f 383 384 386 +f 382 377 387 +f 381 385 387 +f 385 382 387 +f 377 384 388 +f 384 380 388 +f 387 377 388 +f 387 388 389 +f 386 378 389 +f 380 386 389 +f 381 387 389 +f 388 380 389 +f 378 385 390 +f 385 381 390 +f 389 378 390 +f 381 389 390 +f 380 383 391 +f 386 380 391 +o convex_33 +v 0.210274 2.988668 0.479268 +v 1.011472 2.682439 1.091870 +v 0.328148 2.823789 1.327567 +v 0.210274 2.658865 1.327567 +v 0.964338 2.941612 0.502934 +v 0.987787 2.588143 1.044713 +v 0.210274 3.059436 0.667896 +v 1.011472 2.847271 0.479268 +v 0.304542 2.658865 1.374724 +v 0.210274 2.823789 1.327567 +v 0.351676 3.059436 0.597160 +v 0.281014 2.965094 0.479268 +f 399 397 403 +f 394 393 396 +f 392 395 398 +f 392 396 399 +f 396 393 399 +f 393 397 399 +f 393 394 400 +f 397 393 400 +f 395 397 400 +f 394 398 401 +f 398 395 401 +f 400 394 401 +f 395 400 401 +f 396 392 402 +f 394 396 402 +f 398 394 402 +f 392 398 402 +f 395 392 403 +f 397 395 403 +f 392 399 403 +o convex_34 +v -0.967957 -1.040790 -1.406014 +v -0.967957 -1.064362 -2.018584 +v -0.967957 -1.017267 -2.018584 +v 0.870084 -0.970140 -1.264515 +v -0.779404 -0.946568 -1.264515 +v 0.870084 -0.946568 -2.018584 +v -0.897250 -1.111489 -1.759354 +v -0.213742 -0.946568 -2.018584 +v 0.870084 -0.970140 -2.018584 +v 0.870084 -0.946568 -1.264515 +v -0.967957 -0.993695 -1.264515 +v -0.661557 -0.970140 -2.018584 +f 408 411 415 +f 406 405 404 +f 405 406 409 +f 404 405 410 +f 407 404 410 +f 409 406 411 +f 408 409 411 +f 405 409 412 +f 409 407 412 +f 407 410 412 +f 410 405 412 +f 408 407 413 +f 409 408 413 +f 407 409 413 +f 406 404 414 +f 404 407 414 +f 407 408 414 +f 408 406 414 +f 406 408 415 +f 411 406 415 +o convex_35 +v 2.401654 -0.875858 -0.628277 +v 0.870084 -0.970121 -2.018584 +v 0.870084 -1.040811 -0.699052 +v 2.613613 -0.993679 -1.288184 +v 2.660693 -0.875858 -2.018584 +v 0.940995 -0.922990 -1.405813 +v 1.082431 -0.946580 -0.581141 +v 1.812857 -0.993679 -0.581141 +v 2.566532 -0.946548 -1.947809 +v 2.849403 -0.875858 -1.123277 +v 2.589976 -0.993679 -0.958230 +v 1.058794 -0.922990 -2.018584 +v 2.119170 -0.875858 -0.581141 +v 0.870084 -0.946580 -0.863958 +v 0.964633 -1.040811 -0.581141 +v 1.200035 -0.970121 -2.018584 +v 2.849403 -0.899448 -1.241047 +f 425 426 432 +f 420 416 425 +f 416 423 426 +f 425 416 426 +f 420 417 427 +f 417 421 427 +f 427 421 428 +f 416 420 428 +f 423 416 428 +f 422 423 428 +f 420 427 428 +f 417 418 429 +f 421 417 429 +f 418 422 429 +f 428 421 429 +f 422 428 429 +f 418 419 430 +f 422 418 430 +f 423 422 430 +f 419 426 430 +f 426 423 430 +f 418 417 431 +f 419 418 431 +f 417 420 431 +f 424 419 431 +f 420 424 431 +f 419 424 432 +f 424 420 432 +f 420 425 432 +f 426 419 432 +o convex_36 +v 1.035053 -2.431099 0.408523 +v 1.199973 -0.758035 0.714914 +v 1.176401 -0.758035 0.714914 +v 1.199973 -1.253155 -0.156977 +v 1.199973 -2.030436 0.691273 +v 1.035053 -1.606590 -0.156977 +v 1.035053 -2.431099 0.714914 +v 1.058624 -2.148247 0.102303 +v 1.199973 -1.347439 -0.156977 +v 1.129274 -2.336642 0.644163 +f 440 441 442 +f 435 434 436 +f 436 434 437 +f 435 436 438 +f 434 435 439 +f 437 434 439 +f 438 433 439 +f 435 438 439 +f 433 438 440 +f 440 438 441 +f 436 437 441 +f 438 436 441 +f 441 437 442 +f 439 433 442 +f 437 439 442 +f 433 440 442 +o convex_37 +v -1.698390 0.137495 -2.324885 +v -0.308413 1.103571 -2.183571 +v -0.308413 1.103571 -2.207165 +v -0.308413 -0.168919 -2.348428 +v -1.698390 0.750074 -2.324885 +v -0.968091 1.032822 -2.136407 +v -0.379034 0.090412 -2.395592 +v -1.698390 0.985739 -2.183545 +v -0.379034 0.985739 -2.136407 +v -0.968091 -0.168919 -2.348428 +v -0.873657 0.043204 -2.395592 +v -1.627632 0.184703 -2.301315 +v -1.533334 0.867906 -2.301315 +v -1.698390 0.137495 -2.348479 +v -1.698390 0.985739 -2.230709 +v -0.968091 1.103571 -2.136407 +f 457 450 458 +f 445 444 446 +f 445 446 449 +f 447 443 450 +f 446 444 451 +f 451 448 452 +f 446 451 452 +f 449 446 453 +f 447 449 453 +f 446 452 453 +f 450 443 454 +f 448 450 454 +f 452 448 454 +f 443 452 454 +f 445 449 455 +f 449 447 455 +f 443 447 456 +f 452 443 456 +f 447 453 456 +f 453 452 456 +f 447 450 457 +f 445 455 457 +f 455 447 457 +f 444 445 458 +f 450 448 458 +f 451 444 458 +f 448 451 458 +f 445 457 458 +o convex_38 +v -0.119621 1.079905 -2.230702 +v -0.308148 -0.168919 -2.372053 +v -0.308148 -0.168919 -2.348488 +v 0.186710 -0.168919 -2.372053 +v 0.115940 1.056363 -2.372053 +v -0.308148 1.103571 -2.183536 +v -0.237378 0.773491 -2.183536 +v 0.186710 0.608575 -2.324905 +v -0.308148 0.184578 -2.372053 +v 0.186710 -0.168919 -2.348488 +v -0.284558 1.079905 -2.230702 +v 0.186710 1.056363 -2.348488 +f 459 466 470 +f 461 460 462 +f 462 460 463 +f 460 461 464 +f 459 464 465 +f 464 461 465 +f 459 465 466 +f 463 460 467 +f 460 464 467 +f 461 462 468 +f 465 461 468 +f 462 466 468 +f 466 465 468 +f 464 463 469 +f 463 467 469 +f 467 464 469 +f 462 463 470 +f 463 464 470 +f 464 459 470 +f 466 462 470 +o convex_39 +v 2.873078 0.113856 -2.136407 +v 2.213268 0.773618 -2.136407 +v 2.213268 0.773618 -2.112741 +v 2.873078 0.797231 -1.570973 +v 2.708126 0.655753 -2.018574 +v 2.566618 0.773618 -1.665139 +v 2.590256 0.302493 -2.112741 +v 2.825866 0.773618 -1.500161 +v 2.307628 0.797231 -2.136407 +v 2.873078 0.420291 -2.042116 +v 2.802292 0.137469 -2.112741 +f 471 478 481 +f 472 471 477 +f 473 472 477 +f 476 473 477 +f 471 474 478 +f 474 476 478 +f 471 472 479 +f 472 473 479 +f 474 475 479 +f 473 476 479 +f 476 474 479 +f 474 471 480 +f 475 474 480 +f 471 479 480 +f 479 475 480 +f 477 471 481 +f 476 477 481 +f 478 476 481 +o convex_40 +v 2.990956 -0.074631 -2.112738 +v 2.943790 0.797231 -1.358850 +v 2.920244 0.797231 -1.358850 +v 3.179400 -0.168919 -1.358850 +v 3.250112 0.043206 -1.406034 +v 2.896698 -0.168919 -2.065630 +v 2.896698 0.349431 -2.065630 +v 2.967336 0.797231 -1.453143 +v 3.014503 0.043206 -2.136331 +v 3.061595 -0.168919 -1.547360 +v 2.873078 0.773493 -1.476659 +v 2.873078 0.090303 -2.136331 +v 3.226492 -0.145182 -1.358850 +f 490 486 494 +f 483 484 485 +f 484 483 489 +f 483 486 489 +f 488 489 490 +f 489 486 490 +f 485 484 491 +f 487 485 491 +f 487 491 492 +f 484 489 492 +f 489 488 492 +f 491 484 492 +f 482 487 493 +f 488 490 493 +f 490 482 493 +f 487 492 493 +f 492 488 493 +f 483 485 494 +f 486 483 494 +f 487 482 494 +f 485 487 494 +f 482 490 494 +o convex_41 +v 2.566786 0.372977 -0.581141 +v 3.226547 0.043197 -1.311508 +v 3.179388 0.090356 -1.217282 +v 2.896633 -0.168919 -0.581141 +v 2.778836 0.514455 -0.628406 +v 3.014431 0.514455 -1.358698 +v 3.132229 -0.168919 -1.311508 +v 3.014431 -0.051055 -0.675519 +v 2.802516 -0.168919 -0.604811 +v 2.543173 0.514455 -0.604811 +v 3.061590 0.514455 -1.335103 +v 3.202935 -0.168919 -1.358698 +f 505 496 506 +f 495 498 499 +f 496 497 502 +f 499 498 502 +f 497 499 502 +f 498 495 503 +f 495 501 503 +f 501 498 503 +f 495 499 504 +f 499 500 504 +f 501 495 504 +f 500 501 504 +f 497 496 505 +f 499 497 505 +f 500 499 505 +f 500 505 506 +f 501 500 506 +f 498 501 506 +f 502 498 506 +f 496 502 506 +o convex_42 +v 2.990749 0.514455 -1.170169 +v 2.896470 0.773620 -1.358698 +v 2.896470 0.797231 -1.358698 +v 2.071880 0.773620 -0.581141 +v 2.708006 0.655843 -0.628406 +v 2.519731 0.514455 -0.581141 +v 2.990749 0.514455 -1.335103 +v 2.401905 0.797231 -0.628406 +v 2.920111 0.797231 -1.240877 +v 2.778739 0.514455 -0.628406 +f 507 515 516 +f 509 508 510 +f 511 510 512 +f 508 509 513 +f 510 508 513 +f 507 512 513 +f 512 510 513 +f 509 510 514 +f 510 511 514 +f 514 511 515 +f 507 513 515 +f 513 509 515 +f 509 514 515 +f 512 507 516 +f 511 512 516 +f 515 511 516 +o convex_43 +v 2.943405 0.820839 -1.476680 +v 1.011472 1.009292 -2.136335 +v 1.011472 1.032845 -2.136335 +v 1.200051 1.056398 -1.405974 +v 2.236759 1.080006 -1.429567 +v 2.260116 0.797286 -2.136335 +v 1.176503 1.009292 -1.476680 +v 2.896500 0.797286 -1.405974 +v 2.095277 0.797286 -2.112743 +v 2.213019 0.844392 -2.112743 +v 1.129406 1.032845 -2.136335 +v 2.495984 0.797286 -1.665204 +v 1.176503 0.962158 -2.112743 +v 1.930629 1.080006 -1.405974 +f 524 521 530 +f 518 519 522 +f 519 518 523 +f 520 519 523 +f 520 523 524 +f 517 521 524 +f 522 517 524 +f 522 524 525 +f 518 522 525 +f 521 517 526 +f 517 522 526 +f 526 522 527 +f 519 521 527 +f 522 519 527 +f 521 526 527 +f 524 523 528 +f 525 524 528 +f 523 525 528 +f 523 518 529 +f 518 525 529 +f 525 523 529 +f 519 520 530 +f 521 519 530 +f 520 524 530 +o convex_44 +v 0.210274 -2.831594 1.068292 +v -0.425962 -2.195478 1.303961 +v -0.449536 -2.195478 1.303961 +v -0.355240 -2.737409 0.597091 +v 0.210274 -2.902380 0.620755 +v -0.402388 -2.572512 1.139006 +v 0.210274 -2.713863 1.303961 +v -0.449536 -2.761029 0.644350 +v 0.139553 -2.761029 1.303961 +v 0.115979 -2.949546 0.620755 +v -0.166714 -2.360449 1.280366 +v -0.449536 -2.407615 1.233246 +f 539 533 542 +f 533 532 534 +f 534 532 535 +f 532 533 537 +f 531 535 537 +f 533 534 538 +f 536 538 539 +f 537 533 539 +f 531 537 539 +f 531 539 540 +f 535 531 540 +f 534 535 540 +f 538 534 540 +f 539 538 540 +f 535 532 541 +f 532 537 541 +f 537 535 541 +f 533 538 542 +f 538 536 542 +f 536 539 542 +o convex_45 +v -0.496628 1.621993 -0.298365 +v -0.520075 2.729531 0.644220 +v -0.567283 2.729531 0.644220 +v 0.186553 2.729531 -0.156830 +v 0.233839 2.140419 -0.274745 +v -0.378765 2.587945 0.078817 +v -0.543679 2.375891 0.455537 +v -0.567283 2.069843 -0.086154 +v 0.210157 2.682263 -0.109682 +v 0.186631 2.281681 -0.298365 +v -0.496628 1.716420 -0.298365 +v -0.543679 1.739837 -0.133210 +v -0.496549 2.729531 0.432009 +v -0.143275 2.682263 -0.015479 +v -0.472945 1.621993 -0.274745 +v -0.543679 2.635212 0.644220 +f 547 551 558 +f 545 544 546 +f 546 544 551 +f 547 546 551 +f 547 543 552 +f 546 547 552 +f 543 550 553 +f 552 543 553 +f 546 552 553 +f 549 545 554 +f 550 543 554 +f 545 550 554 +f 545 546 555 +f 550 545 555 +f 548 550 555 +f 550 548 556 +f 553 550 556 +f 546 553 556 +f 555 546 556 +f 548 555 556 +f 543 547 557 +f 547 549 557 +f 554 543 557 +f 549 554 557 +f 544 545 558 +f 545 549 558 +f 549 547 558 +f 551 544 558 +o convex_46 +v 2.590086 -0.404566 -0.510419 +v 2.684538 0.184550 -0.557509 +v 2.708084 0.160965 -0.557509 +v 1.529972 0.184550 -0.251303 +v 2.590086 -0.404566 -0.581141 +v 2.189667 -0.404566 -0.345517 +v 1.459200 -0.404566 -0.274830 +v 1.483014 0.184550 -0.298393 +v 2.566673 0.184550 -0.581141 +v 2.048523 0.160965 -0.345517 +v 2.825949 -0.098244 -0.557509 +v 1.483014 -0.404566 -0.227671 +f 566 565 570 +f 563 559 564 +f 563 564 565 +f 562 560 566 +f 563 565 566 +f 563 566 567 +f 560 561 567 +f 566 560 567 +f 561 560 568 +f 560 562 568 +f 562 564 568 +f 568 564 569 +f 559 563 569 +f 564 559 569 +f 563 567 569 +f 567 561 569 +f 561 568 569 +f 564 562 570 +f 565 564 570 +f 562 566 570 +o convex_47 +v 0.870100 -2.525207 -0.015534 +v 1.035020 -2.525207 0.785608 +v 1.011449 -2.525207 0.785608 +v 1.035020 -1.677155 -0.109830 +v 0.893672 -2.666632 0.785608 +v 0.964322 -2.501703 0.007994 +v 0.870100 -2.054221 -0.156977 +v 1.035020 -2.383882 0.220205 +v 0.987893 -2.690236 0.644073 +v 0.870100 -2.690236 0.384991 +v 1.011449 -1.677155 -0.109830 +v 1.035020 -1.771471 -0.156977 +f 581 574 582 +f 573 572 574 +f 572 573 575 +f 576 571 577 +f 574 572 578 +f 576 578 579 +f 572 575 579 +f 578 572 579 +f 571 576 580 +f 577 571 580 +f 575 577 580 +f 576 579 580 +f 579 575 580 +f 573 574 581 +f 575 573 581 +f 577 575 581 +f 577 581 582 +f 576 577 582 +f 574 578 582 +f 578 576 582 +o convex_48 +v 1.011472 2.799992 0.715013 +v 1.035055 1.151032 1.539497 +v 1.035055 1.268777 1.516020 +v 1.199989 1.787174 0.620656 +v 1.152860 1.009490 0.620656 +v 1.199989 1.810616 0.950683 +v 1.035055 2.611387 1.091815 +v 1.011472 1.033110 1.492453 +v 1.152860 2.517262 0.620656 +v 1.011472 2.729309 0.620656 +v 1.176424 1.009490 0.809281 +v 1.082184 1.033110 1.468886 +v 1.011472 2.564325 1.115382 +v 1.199989 2.187293 0.715013 +f 591 589 596 +f 585 588 589 +f 584 585 590 +f 586 587 591 +f 583 589 591 +f 590 583 592 +f 587 590 592 +f 583 591 592 +f 591 587 592 +f 587 586 593 +f 586 588 593 +f 590 587 593 +f 590 593 594 +f 585 584 594 +f 588 585 594 +f 584 590 594 +f 593 588 594 +f 589 583 595 +f 585 589 595 +f 590 585 595 +f 583 590 595 +f 588 586 596 +f 589 588 596 +f 586 591 596 +o convex_49 +v -2.381868 -0.192484 -2.136275 +v -2.216927 -0.946552 -1.806439 +v -2.216927 -0.922932 -1.877140 +v -2.711697 -0.687323 -1.429571 +v -2.664586 -0.192484 -1.429571 +v -2.193319 -0.192484 -2.159868 +v -2.216927 -0.922932 -1.665190 +v -2.216927 -0.805127 -2.112759 +v -2.523147 -0.946552 -1.405979 +v -2.428979 -0.216104 -2.112759 +v -2.735305 -0.192484 -1.429571 +v -2.452587 -0.922932 -1.405979 +v -2.664586 -0.758035 -1.476680 +f 606 604 609 +f 598 599 602 +f 597 601 602 +f 598 602 603 +f 602 601 603 +f 597 602 604 +f 602 599 604 +f 599 598 605 +f 598 603 605 +f 604 599 605 +f 597 604 606 +f 601 597 607 +f 600 605 607 +f 597 606 607 +f 606 600 607 +f 603 601 608 +f 605 603 608 +f 601 607 608 +f 607 605 608 +f 605 600 609 +f 604 605 609 +f 600 606 609 +o convex_50 +v -2.617443 -0.899361 -1.311571 +v -2.570392 0.019598 -0.816845 +v -2.570392 0.019598 -0.840428 +v -2.381836 -0.946552 -0.887536 +v -2.593878 -0.734427 -0.816845 +v -2.735266 0.019598 -1.405903 +v -2.476134 -0.922815 -1.405903 +v -2.758831 -0.640138 -1.335154 +v -2.782395 0.019598 -1.311571 +v -2.617443 0.019598 -0.816845 +v -2.429004 -0.946552 -0.816845 +v -2.711701 -0.757975 -1.405903 +f 617 615 621 +f 612 611 613 +f 611 612 615 +f 612 613 616 +f 615 612 616 +f 610 614 617 +f 611 615 618 +f 617 614 618 +f 615 617 618 +f 614 611 619 +f 611 618 619 +f 618 614 619 +f 613 611 620 +f 614 610 620 +f 611 614 620 +f 610 616 620 +f 616 613 620 +f 616 610 621 +f 615 616 621 +f 610 617 621 +o convex_51 +v -2.617429 0.962010 -1.405903 +v -2.334706 0.985748 -0.816845 +v -2.405486 0.985748 -0.816845 +v -2.570316 0.019598 -0.816845 +v -2.735234 0.019598 -1.405903 +v -2.711655 0.797171 -1.358679 +v -2.617429 0.090338 -0.816845 +v -2.523290 0.962010 -1.358679 +v -2.523290 0.820625 -0.816845 +v -2.782434 0.019598 -1.311571 +v -2.334706 0.962010 -0.840428 +f 626 629 632 +f 624 623 622 +f 623 624 625 +f 622 626 627 +f 625 624 628 +f 622 623 629 +f 626 622 629 +f 624 622 630 +f 622 627 630 +f 627 628 630 +f 628 624 630 +f 626 625 631 +f 627 626 631 +f 628 627 631 +f 625 628 631 +f 623 625 632 +f 625 626 632 +f 629 623 632 +o convex_52 +v -1.957552 -0.616608 -2.230674 +v -0.968077 0.137421 -2.348481 +v -0.968077 -0.380883 -2.324884 +v -2.169574 -0.545857 -2.112842 +v -1.769035 0.113780 -2.372053 +v -2.193199 0.137421 -2.183582 +v -0.968077 -0.734470 -2.348481 +v -1.345112 -0.710830 -2.348481 +v -2.169574 -0.734470 -2.160010 +v -0.968077 -0.404524 -2.372053 +v -2.146070 -0.734470 -2.112842 +v -2.169574 -0.027552 -2.230674 +v -1.745531 -0.027552 -2.372053 +v -0.968077 0.137421 -2.372053 +v -0.968077 -0.734470 -2.324884 +f 643 639 647 +f 635 634 636 +f 636 634 638 +f 634 635 639 +f 633 640 641 +f 636 638 641 +f 640 639 641 +f 634 639 642 +f 639 640 642 +f 635 636 643 +f 636 641 643 +f 641 639 643 +f 638 637 644 +f 641 638 644 +f 641 644 645 +f 640 633 645 +f 633 641 645 +f 637 642 645 +f 642 640 645 +f 644 637 645 +f 638 634 646 +f 637 638 646 +f 634 642 646 +f 642 637 646 +f 639 635 647 +f 635 643 647 +o convex_53 +v -2.334619 1.292040 -1.429541 +v -1.839976 0.985785 -2.183536 +v -2.216825 0.985785 -2.065595 +v -2.523117 0.985785 -1.429541 +v -2.240369 1.362782 -1.853553 +v -1.816358 1.315620 -1.900714 +v -2.405324 1.009366 -1.971346 +v -2.381780 1.362782 -1.453159 +v -1.816358 1.362782 -1.947802 +v -1.816358 1.032909 -2.089213 +v -2.570353 1.009366 -1.476703 +f 651 655 658 +f 650 649 651 +f 649 650 652 +f 648 651 653 +f 650 651 654 +f 652 650 654 +f 652 654 655 +f 651 648 655 +f 648 653 655 +f 655 653 656 +f 649 652 656 +f 652 655 656 +f 651 649 657 +f 653 651 657 +f 656 653 657 +f 649 656 657 +f 654 651 658 +f 655 654 658 +o convex_54 +v -2.334619 1.056490 -0.816787 +v -2.570353 0.985785 -1.429348 +v -2.570353 1.032909 -1.429348 +v -1.816358 1.292040 -0.911115 +v -2.381780 1.362782 -1.405841 +v -2.216825 1.362782 -0.981816 +v -1.839976 1.197790 -0.816787 +v -2.287531 0.985785 -0.816787 +v -1.816358 1.362782 -0.863981 +v -2.334619 1.292040 -1.429348 +v -2.523117 0.985785 -1.429348 +v -2.405324 1.009366 -0.863981 +f 666 659 670 +f 665 659 666 +f 664 659 667 +f 663 664 667 +f 659 665 667 +f 665 662 667 +f 660 661 668 +f 661 663 668 +f 667 662 668 +f 663 667 668 +f 662 665 669 +f 666 660 669 +f 665 666 669 +f 660 668 669 +f 668 662 669 +f 661 660 670 +f 663 661 670 +f 659 664 670 +f 664 663 670 +f 660 666 670 +o convex_55 +v -1.227263 1.362782 -1.476597 +v -1.769040 0.985785 -2.207100 +v -1.816284 0.985785 -2.183432 +v -0.968040 1.080034 -1.476597 +v -0.968040 1.103615 -2.159907 +v -1.816284 1.362782 -1.947749 +v -0.968040 0.985785 -2.207100 +v -1.321503 1.362782 -1.782999 +v -1.062364 1.080034 -1.476597 +v -1.816284 1.292040 -1.924295 +v -1.816284 0.985785 -2.136381 +f 680 673 681 +f 671 674 675 +f 675 672 676 +f 672 673 676 +f 673 672 677 +f 675 674 677 +f 672 675 677 +f 671 675 678 +f 675 676 678 +f 676 671 678 +f 674 671 679 +f 671 676 680 +f 676 673 680 +f 679 671 680 +f 679 680 681 +f 673 677 681 +f 677 674 681 +f 674 679 681 +o convex_56 +v -1.345084 1.362782 -0.958281 +v -1.250844 1.315644 -1.476597 +v -1.816284 1.268477 -0.887566 +v -0.968040 1.080006 -0.816852 +v -1.038783 1.080006 -1.476597 +v -1.180184 1.362782 -1.429389 +v -1.816284 1.362782 -0.863995 +v -1.250844 1.080006 -0.816852 +v -1.816284 1.221394 -0.816852 +v -0.968040 1.103589 -1.476597 +v -0.968040 1.103589 -0.816852 +f 685 691 692 +f 684 683 686 +f 687 683 688 +f 683 684 688 +f 682 687 688 +f 686 685 689 +f 684 686 690 +f 688 684 690 +f 686 689 690 +f 689 685 690 +f 686 683 691 +f 685 686 691 +f 683 687 691 +f 691 687 692 +f 687 682 692 +f 682 688 692 +f 688 690 692 +f 690 685 692 +o convex_57 +v -1.203661 1.362782 -1.476634 +v -1.556999 2.941303 -1.358875 +v -1.556999 2.941303 -1.382417 +v -1.604203 1.362782 -1.830011 +v -1.392142 2.069910 -1.735743 +v -1.227242 1.386580 -1.358875 +v -1.392142 2.729289 -1.382417 +v -1.604203 2.729289 -1.665068 +v -1.604203 2.894326 -1.358875 +v -1.321482 1.362782 -1.782877 +v -1.580580 1.692858 -1.853553 +v -1.250781 2.022779 -1.358875 +v -1.509879 2.682157 -1.641526 +f 697 700 705 +f 696 693 698 +f 695 694 699 +f 694 695 701 +f 698 694 701 +f 696 698 701 +f 695 700 701 +f 700 696 701 +f 693 696 702 +f 697 693 702 +f 697 702 703 +f 696 700 703 +f 700 697 703 +f 702 696 703 +f 693 697 704 +f 694 698 704 +f 698 693 704 +f 699 694 704 +f 697 699 704 +f 695 699 705 +f 699 697 705 +f 700 695 705 +o convex_58 +v -1.250781 2.046341 -1.358774 +v -1.580580 1.622058 -0.911089 +v -1.580580 1.999129 -0.934666 +v -1.604203 2.894437 -1.358774 +v -1.227242 1.362782 -1.358774 +v -1.392142 2.140609 -1.005350 +v -1.297902 1.362782 -1.005350 +v -1.604203 1.362782 -0.934666 +v -1.439220 2.823697 -1.264469 +v -1.604203 2.682374 -1.052503 +v -1.180081 1.433522 -1.335154 +v -1.415639 2.847225 -1.358774 +f 714 706 717 +f 709 706 710 +f 708 707 711 +f 711 707 712 +f 712 707 713 +f 707 708 713 +f 709 710 713 +f 710 712 713 +f 711 706 714 +f 711 714 715 +f 708 711 715 +f 713 708 715 +f 709 713 715 +f 714 709 715 +f 710 706 716 +f 706 711 716 +f 711 712 716 +f 712 710 716 +f 706 709 717 +f 709 714 717 +o convex_59 +v 0.870084 -1.017246 -0.581141 +v 0.516442 -1.040829 -1.099512 +v 0.516442 -1.017246 -1.099512 +v -0.190325 -1.040829 -0.581141 +v 0.351505 -1.300022 -0.581141 +v 0.870084 -1.040829 -0.722607 +v -0.190325 -1.017246 -0.604786 +v 0.304588 -1.300022 -0.604786 +f 719 722 725 +f 718 721 722 +f 722 719 723 +f 720 718 723 +f 719 720 723 +f 718 722 723 +f 718 720 724 +f 720 719 724 +f 719 721 724 +f 721 718 724 +f 721 719 725 +f 722 721 725 +o convex_60 +v -0.284449 -0.922988 -0.604821 +v -0.967957 -0.993663 -1.264515 +v -0.967957 -0.993663 -1.193810 +v 0.870084 -1.017246 -0.840416 +v 0.870084 -0.946552 -1.264515 +v -0.260880 -1.017246 -0.581141 +v -0.802973 -0.922988 -1.170130 +v -0.967957 -0.946552 -0.581141 +v 0.610822 -1.017246 -1.170130 +v 0.870084 -0.993663 -0.675526 +v 0.870084 -0.946552 -0.887576 +v 0.021411 -0.922988 -1.240835 +v -0.967957 -0.922988 -0.675526 +v -0.967957 -0.970117 -0.581141 +f 731 733 739 +f 728 727 731 +f 727 728 733 +f 731 726 733 +f 730 729 734 +f 727 730 734 +f 731 727 734 +f 729 731 734 +f 729 730 735 +f 726 731 735 +f 731 729 735 +f 726 735 736 +f 735 730 736 +f 730 727 737 +f 732 726 737 +f 727 732 737 +f 726 736 737 +f 736 730 737 +f 726 732 738 +f 732 727 738 +f 727 733 738 +f 733 726 738 +f 728 731 739 +f 733 728 739 +o convex_61 +v 2.307413 0.820832 -0.604715 +v 2.330939 0.985711 -1.405903 +v 2.330939 1.009292 -1.405903 +v 1.200335 1.009292 -0.604715 +v 2.896414 0.797231 -1.405903 +v 2.095339 0.938591 -0.628289 +v 2.024935 0.797231 -0.604715 +v 2.943465 0.844392 -1.382329 +v 2.165915 1.009292 -1.005228 +v 1.200335 0.985711 -0.604715 +v 1.553735 1.009292 -0.581141 +f 743 749 750 +f 742 741 743 +f 741 742 744 +f 744 740 746 +f 740 744 747 +f 744 742 747 +f 745 740 747 +f 745 747 748 +f 742 743 748 +f 747 742 748 +f 743 741 749 +f 741 744 749 +f 744 746 749 +f 749 746 750 +f 740 745 750 +f 746 740 750 +f 745 748 750 +f 748 743 750 +o convex_62 +v 1.836116 1.009313 -0.863946 +v 1.200206 1.032886 -1.405903 +v 1.105970 1.009313 -0.604715 +v 0.964545 1.103571 -0.581141 +v 2.236653 1.079988 -1.405903 +v 2.378221 1.009313 -1.405903 +v 1.200206 1.056442 -1.405903 +v 1.459317 1.032886 -0.604715 +v 2.166012 1.032886 -1.099443 +v 0.917356 1.056442 -0.604715 +f 754 757 760 +f 752 755 756 +f 751 753 756 +f 753 752 756 +f 754 755 757 +f 755 752 757 +f 753 751 758 +f 754 753 758 +f 755 754 759 +f 756 755 759 +f 751 756 759 +f 758 751 759 +f 754 758 759 +f 752 753 760 +f 753 754 760 +f 757 752 760 +o convex_63 +v -0.967921 -0.970091 -0.486850 +v -0.873671 0.043162 -0.156977 +v -0.873671 0.043162 -0.180560 +v -0.590960 -1.629927 -0.180560 +v -0.590960 -0.922761 -0.581141 +v -0.967921 -0.970091 -0.581141 +v -0.967921 -0.899342 -0.345517 +v -0.967921 0.019579 -0.274810 +v -0.732371 -0.334003 -0.156977 +v -0.755915 -1.182012 -0.156977 +v -0.590960 -0.946508 -0.369059 +v -0.967921 -0.004004 -0.204143 +v -0.614541 -1.629927 -0.156977 +f 769 770 773 +f 765 764 766 +f 766 761 767 +f 766 767 768 +f 762 763 768 +f 763 765 768 +f 765 766 768 +f 763 762 769 +f 765 763 769 +f 769 762 770 +f 764 765 771 +f 769 764 771 +f 765 769 771 +f 768 767 772 +f 762 768 772 +f 770 762 772 +f 767 770 772 +f 761 766 773 +f 766 764 773 +f 767 761 773 +f 764 769 773 +f 770 767 773 +o convex_64 +v 0.540195 -1.111643 -0.533975 +v 0.304533 -2.548795 -0.180560 +v 0.328146 -2.548795 -0.180560 +v 0.964227 -1.771314 -0.156977 +v 0.987907 -1.017426 -0.581141 +v 0.964227 -2.053966 -0.180560 +v 0.304533 -1.370854 -0.581141 +v 0.304533 -2.430986 -0.156977 +v 0.964227 -1.064610 -0.392601 +v 0.304533 -1.253045 -0.557516 +f 782 774 783 +f 776 778 779 +f 778 777 779 +f 776 775 780 +f 778 776 780 +f 775 776 781 +f 776 779 781 +f 779 777 781 +f 780 775 781 +f 778 774 782 +f 777 778 782 +f 781 777 782 +f 781 782 783 +f 774 778 783 +f 778 780 783 +f 780 781 783 +o convex_65 +v 0.987907 -1.747724 -0.274810 +v 1.270683 -0.805164 -0.156977 +v 1.270683 -0.805164 -0.180560 +v 0.987907 -0.993815 -0.486850 +v 1.270683 -0.993815 -0.581141 +v 1.247100 -1.229381 -0.156977 +v 0.987907 -1.724118 -0.156977 +v 0.987907 -0.993815 -0.581141 +v 1.223544 -0.805164 -0.156977 +v 1.011490 -1.818444 -0.180560 +v 0.987907 -1.040829 -0.392601 +f 792 787 794 +f 786 785 788 +f 788 785 789 +f 787 784 790 +f 789 785 790 +f 784 787 791 +f 788 784 791 +f 786 788 791 +f 785 786 792 +f 790 785 792 +f 786 791 792 +f 791 787 792 +f 784 788 793 +f 788 789 793 +f 790 784 793 +f 789 790 793 +f 787 790 794 +f 790 792 794 +o convex_66 +v 1.223507 0.137576 -0.180560 +v 0.964382 2.258238 -0.156977 +v 0.940810 2.258238 -0.156977 +v 0.940810 1.174502 -0.581141 +v 1.270651 1.009518 -0.581141 +v 1.011525 0.868042 -0.156977 +v 1.105747 1.810302 -0.156977 +v 1.270651 0.184594 -0.156977 +v 0.940810 0.985799 -0.557516 +v 1.270651 0.373088 -0.369059 +v 1.105747 0.302560 -0.156977 +v 0.987953 2.187500 -0.227685 +f 796 801 806 +f 796 797 800 +f 796 800 801 +f 801 800 802 +f 799 801 802 +f 797 798 803 +f 798 799 803 +f 800 797 803 +f 802 795 804 +f 799 802 804 +f 795 803 804 +f 803 799 804 +f 802 800 805 +f 795 802 805 +f 803 795 805 +f 800 803 805 +f 797 796 806 +f 798 797 806 +f 799 798 806 +f 801 799 806 +o convex_67 +v -0.967957 0.608555 -0.486813 +v -0.803019 0.090266 -0.039207 +v -0.826597 0.090266 -0.039207 +v -0.803019 -0.239613 -0.156984 +v -0.685265 1.103571 -0.581088 +v -0.967957 1.032704 -0.510421 +v -0.685265 0.396874 -0.156984 +v -0.967957 0.043197 -0.180593 +v -0.685265 0.844164 -0.533924 +v -0.967957 1.032704 -0.581088 +f 811 815 816 +f 808 809 810 +f 812 809 813 +f 809 808 813 +f 808 810 813 +f 811 812 813 +f 810 809 814 +f 807 810 814 +f 812 807 814 +f 809 812 814 +f 810 807 815 +f 813 810 815 +f 811 813 815 +f 812 811 816 +f 807 812 816 +f 815 807 816 +o convex_68 +v -0.637919 0.938683 1.846326 +v 0.139580 0.797286 3.424847 +v 0.139580 0.773666 3.424847 +v 0.139580 1.197765 1.846326 +v -0.685030 0.773666 1.846326 +v -0.543783 0.797286 2.670587 +v 0.115940 1.244959 1.893303 +v 0.115940 0.797286 3.212523 +v 0.115940 0.844388 3.330429 +v -0.590893 0.773666 2.529502 +v -0.685030 0.915109 1.893303 +f 821 826 827 +f 818 819 820 +f 817 820 821 +f 819 818 822 +f 818 820 823 +f 820 817 823 +f 820 819 824 +f 821 820 824 +f 819 821 824 +f 822 818 825 +f 823 822 825 +f 818 823 825 +f 821 819 826 +f 819 822 826 +f 826 822 827 +f 817 821 827 +f 823 817 827 +f 822 823 827 +o convex_69 +v 0.940826 0.749942 2.553057 +v 1.176419 -0.003967 1.186341 +v 1.152850 0.043245 1.280470 +v 1.152850 1.009313 0.620775 +v 1.152825 0.043245 2.717652 +v 0.940826 -0.003967 3.165424 +v 0.940826 0.914987 1.846298 +v 1.176419 1.009313 0.809297 +v 1.152850 0.608702 0.644439 +v 1.199989 -0.003967 1.492393 +v 1.082167 1.009313 1.445591 +v 1.199989 0.820761 0.620775 +v 0.964396 0.066852 3.306881 +v 0.964396 0.679322 2.670588 +v 1.176394 -0.003967 2.340872 +v 1.152825 0.137571 2.599859 +v 1.199989 0.584798 0.620775 +f 839 837 844 +f 830 829 833 +f 830 833 834 +f 833 828 834 +f 829 830 836 +f 830 834 836 +f 834 831 836 +f 833 829 837 +f 831 834 838 +f 834 828 838 +f 835 831 838 +f 831 835 839 +f 833 832 840 +f 828 833 840 +f 838 828 841 +f 828 840 841 +f 840 832 841 +f 832 833 842 +f 833 837 842 +f 839 835 842 +f 837 839 842 +f 835 838 843 +f 838 841 843 +f 841 832 843 +f 832 842 843 +f 842 835 843 +f 829 836 844 +f 836 831 844 +f 837 829 844 +f 831 839 844 +o convex_70 +v -0.661617 -1.417947 1.539448 +v -0.685200 -2.360278 0.597048 +v -0.708770 -1.747634 0.149547 +v -0.803005 -1.936069 0.714848 +v -0.755853 -0.805455 -0.156802 +v -0.755853 -0.805455 1.610370 +v -0.661631 -1.300289 -0.156802 +v -0.661617 -1.041076 1.610370 +v -0.779422 -0.805455 0.573523 +v -0.661631 -2.360278 0.597048 +v -0.779422 -1.441692 0.078798 +v -0.732311 -0.805455 -0.156802 +v -0.685214 -2.006695 1.091947 +v -0.732297 -1.135293 1.610370 +v -0.685200 -1.441692 -0.156802 +v -0.803005 -1.936069 0.549998 +v -0.708770 -0.852640 1.327374 +f 852 856 861 +f 845 851 852 +f 848 850 853 +f 850 849 853 +f 851 845 854 +f 853 849 855 +f 849 850 856 +f 851 849 856 +f 852 851 856 +f 848 846 857 +f 846 854 857 +f 854 845 857 +f 850 848 858 +f 845 852 858 +f 852 850 858 +f 848 857 858 +f 857 845 858 +f 846 847 859 +f 849 851 859 +f 854 846 859 +f 851 854 859 +f 847 855 859 +f 855 849 859 +f 847 846 860 +f 846 848 860 +f 848 853 860 +f 855 847 860 +f 853 855 860 +f 850 852 861 +f 856 850 861 +o convex_71 +v 3.249939 -0.003935 0.620591 +v 1.553687 0.325938 0.644186 +v 1.553687 0.325938 0.620591 +v 1.482938 -0.027531 0.314380 +v 2.755040 0.137439 0.455740 +v 1.482938 0.208092 0.361500 +v 2.943590 -0.027531 0.408620 +v 2.920064 0.208092 0.597031 +v 3.131966 -0.027531 0.644186 +v 1.506636 0.278744 0.644186 +v 2.943590 0.208092 0.644186 +v 1.553687 0.019662 0.290751 +v 1.506636 0.255182 0.408620 +v 2.920064 0.019662 0.408620 +f 868 873 875 +f 865 868 870 +f 868 862 870 +f 863 864 871 +f 867 865 871 +f 870 863 871 +f 865 870 871 +f 864 863 872 +f 862 869 872 +f 869 864 872 +f 863 870 872 +f 870 862 872 +f 865 867 873 +f 868 865 873 +f 866 867 874 +f 869 866 874 +f 864 869 874 +f 871 864 874 +f 867 871 874 +f 867 866 875 +f 862 868 875 +f 866 869 875 +f 869 862 875 +f 873 867 875 +o convex_72 +v 3.108282 -0.145308 0.644220 +v 1.530330 0.325938 0.667847 +v 1.530330 0.325938 0.644220 +v 1.482938 -0.263178 0.785652 +v 2.801962 0.019616 0.879830 +v 1.482938 0.043144 0.950531 +v 2.966970 0.184483 0.644220 +v 2.142796 -0.263178 0.644220 +v 2.072227 -0.263178 0.832696 +v 1.553853 0.255182 0.879830 +v 3.037712 0.019616 0.856233 +v 1.530330 -0.074668 0.950531 +v 2.943447 -0.192422 0.738548 +v 2.825658 0.160956 0.785652 +v 1.482938 0.278767 0.644220 +v 3.249939 0.019616 0.644220 +v 2.990493 -0.051082 0.856233 +f 876 891 892 +f 876 878 882 +f 878 877 882 +f 878 876 883 +f 879 883 884 +f 881 880 885 +f 885 880 886 +f 880 881 887 +f 881 879 887 +f 879 884 887 +f 883 876 888 +f 884 883 888 +f 882 877 889 +f 877 885 889 +f 886 882 889 +f 885 886 889 +f 877 878 890 +f 879 881 890 +f 878 883 890 +f 883 879 890 +f 885 877 890 +f 881 885 890 +f 876 882 891 +f 882 886 891 +f 891 886 892 +f 886 880 892 +f 880 887 892 +f 887 884 892 +f 888 876 892 +f 884 888 892 +o convex_73 +v 0.210198 2.823789 1.327646 +v -0.567283 1.009490 1.586764 +v -0.543690 1.009490 1.586764 +v -0.567283 1.928183 1.280465 +v -0.543690 2.045928 1.374729 +v 0.186606 1.975246 1.610370 +v 0.210198 2.187293 1.468959 +v -0.567283 1.127412 1.610370 +v -0.025421 2.470022 1.280465 +v -0.496582 2.210913 1.280465 +v 0.210198 1.857856 1.586764 +v 0.210198 2.776372 1.280465 +f 901 902 904 +f 895 894 896 +f 893 897 898 +f 894 895 900 +f 896 894 900 +f 897 896 900 +f 898 897 900 +f 895 898 900 +f 895 896 901 +f 899 895 901 +f 897 893 902 +f 896 897 902 +f 901 896 902 +f 893 898 903 +f 898 895 903 +f 895 899 903 +f 899 893 903 +f 893 899 904 +f 899 901 904 +f 902 893 904 +o convex_74 +v -1.839907 -2.973111 -1.382264 +v -2.099002 -2.054090 -1.005304 +v -2.099002 -2.054090 -1.028998 +v -2.122565 -2.737328 -1.311700 +v -1.816314 -2.572433 -1.759372 +v -1.816314 -2.666531 -1.005304 +v -2.122565 -2.619572 -1.523689 +v -2.075440 -2.501906 -1.052544 +v -1.934156 -2.313352 -1.005304 +v -1.816314 -2.760897 -1.712206 +v -1.839907 -2.737328 -1.005304 +v -1.981191 -2.572433 -1.688586 +v -2.122565 -2.219075 -1.005304 +f 912 915 917 +f 905 908 911 +f 907 906 913 +f 909 907 913 +f 906 910 913 +f 910 909 913 +f 910 905 914 +f 909 910 914 +f 905 911 914 +f 908 905 915 +f 910 906 915 +f 905 910 915 +f 912 908 915 +f 907 909 916 +f 911 907 916 +f 909 914 916 +f 914 911 916 +f 906 907 917 +f 907 911 917 +f 911 908 917 +f 908 912 917 +f 915 906 917 +o convex_75 +v -1.816284 -1.677231 -1.877196 +v -2.240406 -1.535774 -1.500203 +v -2.216825 -1.983283 -1.547337 +v -2.099005 -2.572249 -1.476597 +v -2.146125 -1.959751 -1.735755 +v -1.816284 -1.229459 -1.830022 +v -1.816284 -2.572249 -1.759361 +v -2.099005 -1.229459 -1.782928 +v -2.216825 -1.229459 -1.476597 +v -2.051885 -2.548717 -1.665172 +v -1.839907 -1.983283 -1.877196 +v -1.816284 -2.454456 -1.735755 +v -2.193245 -1.323720 -1.476597 +f 929 923 930 +f 919 920 921 +f 920 919 922 +f 918 923 924 +f 922 919 925 +f 923 918 925 +f 923 925 926 +f 919 921 926 +f 925 919 926 +f 921 920 927 +f 920 922 927 +f 924 921 927 +f 924 927 928 +f 918 924 928 +f 925 918 928 +f 922 925 928 +f 927 922 928 +f 921 924 929 +f 924 923 929 +f 923 926 930 +f 926 921 930 +f 921 929 930 +o convex_76 +v -1.274351 -1.229328 -1.877168 +v -1.816284 -2.737464 -1.759409 +v -1.816284 -2.737464 -1.735829 +v -1.816284 -1.229328 -1.830089 +v -1.274351 -1.724314 -1.735829 +v -1.580594 -1.418140 -1.947869 +v -1.392169 -2.030488 -1.806529 +v -1.769072 -1.960071 -1.900728 +v -1.439328 -1.276715 -1.947869 +v -1.816284 -2.525180 -1.735829 +v -1.274351 -1.253095 -1.830089 +f 934 935 941 +f 932 933 934 +f 933 932 937 +f 931 935 937 +f 935 933 937 +f 932 934 938 +f 934 936 938 +f 937 932 938 +f 934 931 939 +f 936 934 939 +f 931 937 939 +f 938 936 939 +f 937 938 939 +f 934 933 940 +f 935 934 940 +f 933 935 940 +f 931 934 941 +f 935 931 941 +o convex_77 +v -1.274351 -1.983578 -1.476597 +v -1.816284 -2.925982 -1.500191 +v -1.769072 -2.925982 -1.500191 +v -1.274351 -1.724185 -1.735757 +v -1.439328 -2.690234 -1.523761 +v -1.769072 -2.760817 -1.735757 +v -1.439328 -2.313437 -1.735757 +v -1.816284 -2.855281 -1.476597 +v -1.816284 -2.690234 -1.735757 +v -1.297957 -1.889232 -1.476597 +v -1.439328 -2.690234 -1.476597 +f 942 949 952 +f 945 942 946 +f 946 944 947 +f 944 943 947 +f 947 945 948 +f 945 946 948 +f 946 947 948 +f 943 944 949 +f 947 943 950 +f 945 947 950 +f 943 949 950 +f 950 949 951 +f 942 945 951 +f 949 942 951 +f 945 950 951 +f 946 942 952 +f 944 946 952 +f 949 944 952 +o convex_78 +v -1.721993 -1.795114 -0.840405 +v -2.240406 -1.370999 -1.005304 +v -2.193166 -1.795114 -1.005304 +v -1.345038 -1.229328 -1.005304 +v -1.745570 -2.760879 -1.005304 +v -1.910603 -1.229478 -0.816805 +v -1.392190 -2.053871 -0.981705 +v -1.792722 -2.454449 -0.911055 +v -2.193166 -1.229478 -0.887511 +v -1.368614 -1.229328 -0.934599 +v -2.169678 -1.936486 -0.958161 +v -1.816211 -1.960173 -0.840405 +v -1.698505 -1.229328 -0.816805 +v -2.240406 -1.229478 -1.005304 +v -1.745570 -2.737192 -0.958161 +f 964 960 967 +f 955 954 956 +f 955 956 957 +f 957 956 959 +f 953 959 962 +f 959 956 962 +f 954 955 963 +f 955 957 963 +f 961 954 963 +f 961 963 964 +f 958 961 964 +f 963 960 964 +f 961 958 965 +f 962 956 965 +f 953 962 965 +f 964 953 965 +f 958 964 965 +f 956 954 966 +f 954 961 966 +f 961 965 966 +f 965 956 966 +f 959 953 967 +f 957 959 967 +f 963 957 967 +f 960 963 967 +f 953 964 967 +o convex_79 +v -0.802996 0.632361 0.644409 +v -0.708756 0.962608 1.610370 +v -0.732318 0.962608 1.610370 +v -0.708756 2.281803 0.644409 +v -0.802996 2.069693 0.667956 +v -0.802996 0.043243 1.610370 +v -0.755871 0.113946 1.256799 +v -0.755871 0.679571 0.762140 +v -0.708756 0.655854 1.468809 +v -0.802996 0.302563 1.610370 +v -0.732318 1.998990 0.927153 +v -0.802996 -0.003967 1.209707 +f 974 973 979 +f 971 968 972 +f 969 970 973 +f 972 968 973 +f 968 971 975 +f 974 968 975 +f 974 975 976 +f 971 969 976 +f 969 973 976 +f 973 974 976 +f 975 971 976 +f 970 972 977 +f 973 970 977 +f 972 973 977 +f 970 969 978 +f 969 971 978 +f 971 972 978 +f 972 970 978 +f 973 968 979 +f 968 974 979 +o convex_80 +v -1.698547 0.914934 -2.277739 +v -2.570316 0.043255 -1.995074 +v -2.523122 -0.003916 -2.089296 +v -2.452458 0.867878 -2.065787 +v -2.334686 0.985748 -1.971454 +v -2.428904 -0.192484 -1.971454 +v -1.839958 0.137481 -2.348488 +v -1.698547 0.938577 -2.183554 +v -1.698547 0.137481 -2.324868 +v -2.240469 -0.192484 -2.183481 +v -1.769295 0.820708 -2.324868 +v -2.476013 0.750009 -2.089296 +v -2.499567 0.820708 -1.971454 +v -2.381795 0.066898 -2.159934 +f 991 986 993 +f 980 983 984 +f 981 982 985 +f 980 984 987 +f 984 985 987 +f 987 985 988 +f 980 987 988 +f 985 982 989 +f 988 985 989 +f 986 988 989 +f 983 980 990 +f 988 986 990 +f 980 988 990 +f 982 981 991 +f 983 990 991 +f 990 986 991 +f 984 983 992 +f 981 985 992 +f 985 984 992 +f 991 981 992 +f 983 991 992 +f 989 982 993 +f 986 989 993 +f 982 991 993 +o convex_81 +v -2.570313 0.161124 -1.971454 +v -2.546827 0.985748 -1.405903 +v -2.593878 0.985748 -1.405903 +v -2.688137 -0.192484 -1.405903 +v -2.452569 -0.192484 -1.900705 +v -2.358271 0.985748 -1.971454 +v -2.711701 0.726481 -1.429486 +v -2.523263 0.820708 -1.947871 +v -2.758831 0.019612 -1.476707 +v -2.499698 -0.168725 -1.971454 +v -2.570313 -0.192484 -1.594512 +v -2.735266 -0.192484 -1.405903 +f 1002 1003 1005 +f 995 996 997 +f 995 998 999 +f 996 995 999 +f 999 994 1001 +f 996 999 1001 +f 1000 996 1001 +f 1001 994 1002 +f 1000 1001 1002 +f 999 998 1003 +f 994 999 1003 +f 1002 994 1003 +f 995 997 1004 +f 997 998 1004 +f 998 995 1004 +f 997 996 1005 +f 998 997 1005 +f 996 1000 1005 +f 1000 1002 1005 +f 1003 998 1005 +o convex_82 +v -0.661594 2.493679 0.644409 +v -0.567359 1.103776 1.610370 +v -0.567359 1.551451 1.492450 +v -0.708747 1.056726 1.586635 +v -0.685177 2.116580 0.715048 +v -0.567359 2.564255 0.644409 +v -0.590928 2.046004 1.280345 +v -0.567359 0.985976 1.586635 +v -0.708747 2.022479 0.974245 +v -0.708747 0.962451 1.539542 +v -0.567359 2.682402 0.667956 +v -0.708747 2.234381 0.644409 +f 1015 1014 1017 +f 1007 1008 1009 +f 1008 1007 1011 +f 1009 1008 1012 +f 1007 1009 1013 +f 1011 1007 1013 +f 1010 1011 1013 +f 1009 1012 1014 +f 1012 1006 1014 +f 1013 1009 1015 +f 1010 1013 1015 +f 1009 1014 1015 +f 1011 1006 1016 +f 1008 1011 1016 +f 1012 1008 1016 +f 1006 1012 1016 +f 1011 1010 1017 +f 1006 1011 1017 +f 1014 1006 1017 +f 1010 1015 1017 +o convex_83 +v 0.021688 2.729563 -0.062640 +v 0.210198 3.035832 0.644220 +v 0.210198 3.012260 0.644220 +v -0.567283 2.729563 0.644220 +v -0.543690 2.800278 0.597013 +v 0.210198 2.729563 -0.109770 +v 0.186606 2.894499 0.102351 +v 0.186606 3.059403 0.573409 +v -0.166822 2.729563 0.337762 +f 1021 1023 1026 +f 1020 1019 1021 +f 1018 1021 1022 +f 1021 1019 1022 +f 1019 1020 1023 +f 1021 1018 1023 +f 1018 1022 1024 +f 1019 1023 1024 +f 1023 1018 1024 +f 1022 1019 1025 +f 1024 1022 1025 +f 1019 1024 1025 +f 1020 1021 1026 +f 1023 1020 1026 +o convex_84 +v -2.216899 1.928624 -1.782794 +v -2.169754 1.480755 -0.981740 +v -2.169754 1.857840 -1.005380 +v -2.381836 1.386662 -1.405993 +v -2.193378 2.823646 -1.382352 +v -2.169754 1.363068 -1.853631 +v -2.334690 2.046454 -1.405993 +v -2.216920 2.046454 -1.028936 +v -2.240482 1.362925 -1.005380 +v -2.169754 2.800052 -1.453104 +v -2.264066 1.363068 -1.782794 +v -2.193378 2.116523 -1.782794 +v -2.334690 2.022859 -1.453104 +f 1031 1038 1039 +f 1029 1028 1032 +f 1031 1033 1034 +f 1028 1029 1034 +f 1029 1031 1034 +f 1033 1030 1034 +f 1034 1030 1035 +f 1032 1028 1035 +f 1028 1034 1035 +f 1031 1029 1036 +f 1029 1032 1036 +f 1027 1032 1037 +f 1035 1030 1037 +f 1032 1035 1037 +f 1032 1027 1038 +f 1031 1036 1038 +f 1036 1032 1038 +f 1030 1033 1039 +f 1033 1031 1039 +f 1027 1037 1039 +f 1037 1030 1039 +f 1038 1027 1039 +o convex_85 +v 0.987787 2.541134 0.055146 +v 0.210274 2.611599 -0.156977 +v 0.210274 2.611599 -0.133373 +v 0.987787 2.116850 -0.133373 +v 0.210274 2.988643 0.479268 +v 1.011472 2.917914 0.479268 +v 0.257408 2.800121 -0.133373 +v 0.493077 2.352612 -0.133373 +v 0.775802 2.682328 -0.015541 +v 1.011472 2.234819 -0.156977 +v 1.011472 2.847273 0.479268 +v 0.257408 3.012219 0.408456 +v 0.328148 2.941490 0.479268 +v 0.987787 2.917914 0.432122 +f 1046 1051 1053 +f 1041 1042 1044 +f 1041 1044 1046 +f 1042 1041 1047 +f 1041 1043 1047 +f 1043 1044 1047 +f 1044 1042 1047 +f 1046 1048 1049 +f 1043 1041 1049 +f 1040 1045 1049 +f 1041 1046 1049 +f 1048 1040 1049 +f 1049 1045 1050 +f 1045 1044 1050 +f 1043 1049 1050 +f 1044 1045 1051 +f 1046 1044 1051 +f 1044 1043 1052 +f 1043 1050 1052 +f 1050 1044 1052 +f 1045 1040 1053 +f 1040 1048 1053 +f 1048 1046 1053 +f 1051 1045 1053 +o convex_86 +v 0.045195 -1.064507 -0.557516 +v -0.590923 -1.158672 -0.369059 +v -0.590923 -1.158672 -0.321934 +v 0.257293 -2.619641 -0.180560 +v -0.590923 -0.946593 -0.581099 +v -0.590748 -1.582830 -0.156977 +v 0.304445 -2.454562 -0.156977 +v 0.304445 -1.347500 -0.581141 +v 0.233804 -1.135089 -0.557516 +v -0.543683 -1.794743 -0.180560 +v -0.449466 -0.970176 -0.392642 +v 0.186564 -2.619641 -0.180560 +v 0.210140 -1.912490 -0.416184 +v -0.355249 -0.923177 -0.581099 +v -0.590923 -0.946593 -0.369059 +f 1067 1058 1068 +f 1055 1056 1058 +f 1055 1058 1059 +f 1056 1055 1059 +f 1060 1057 1061 +f 1060 1061 1062 +f 1059 1058 1063 +f 1059 1060 1064 +f 1062 1054 1064 +f 1060 1062 1064 +f 1057 1060 1065 +f 1060 1059 1065 +f 1063 1058 1065 +f 1059 1063 1065 +f 1058 1061 1066 +f 1061 1057 1066 +f 1057 1065 1066 +f 1065 1058 1066 +f 1061 1058 1067 +f 1054 1062 1067 +f 1062 1061 1067 +f 1064 1054 1067 +f 1064 1067 1068 +f 1058 1056 1068 +f 1056 1059 1068 +f 1059 1064 1068 +o convex_87 +v 0.186633 -2.101132 1.610370 +v -0.661617 -1.818730 1.304030 +v -0.661617 -1.818730 1.327599 +v -0.637977 -1.087940 1.586801 +v 0.210274 -2.619434 1.327599 +v -0.590866 -2.053984 1.374738 +v 0.068856 -2.713891 1.327599 +v -0.661617 -1.205971 1.610370 +v -0.637977 -1.653713 1.304030 +v 0.210274 -2.030410 1.563232 +v 0.068856 -2.053984 1.610370 +v -0.520199 -2.195427 1.304030 +v 0.210274 -2.737464 1.304030 +v 0.139523 -2.690317 1.374738 +f 1075 1081 1082 +f 1071 1070 1074 +f 1070 1071 1076 +f 1072 1070 1076 +f 1069 1072 1076 +f 1071 1074 1076 +f 1070 1072 1077 +f 1073 1077 1078 +f 1072 1069 1078 +f 1077 1072 1078 +f 1069 1076 1079 +f 1076 1074 1079 +f 1074 1070 1080 +f 1075 1074 1080 +f 1070 1077 1080 +f 1080 1077 1081 +f 1077 1073 1081 +f 1073 1078 1081 +f 1078 1069 1081 +f 1075 1080 1081 +f 1074 1075 1082 +f 1069 1079 1082 +f 1079 1074 1082 +f 1081 1069 1082 +o convex_88 +v -0.543817 -2.713710 0.691470 +v -0.638016 -1.677268 1.303961 +v -0.638016 -1.677268 1.280366 +v -0.449536 -2.171989 1.280366 +v -0.449536 -2.713710 0.597091 +v -0.661576 -2.289649 0.597091 +v -0.638016 -1.983564 1.280366 +v -0.473137 -2.360308 1.256772 +v -0.661576 -2.430967 0.644350 +v -0.449536 -2.643051 0.927070 +f 1090 1083 1092 +f 1085 1084 1086 +f 1085 1086 1087 +f 1085 1087 1088 +f 1084 1085 1088 +f 1086 1084 1089 +f 1086 1089 1090 +f 1089 1083 1090 +f 1087 1083 1091 +f 1088 1087 1091 +f 1084 1088 1091 +f 1083 1089 1091 +f 1089 1084 1091 +f 1083 1087 1092 +f 1087 1086 1092 +f 1086 1090 1092 +o convex_89 +v -0.543794 1.032988 -0.581141 +v -0.496665 1.928179 -0.156977 +v -0.520229 1.928179 -0.156977 +v -0.661617 0.349503 -0.156977 +v -0.685182 1.103763 -0.581141 +v -0.638053 1.433220 -0.156977 +v -0.496665 1.103763 -0.581141 +v -0.685182 0.797485 -0.156977 +v -0.685182 0.726710 -0.486850 +f 1100 1097 1101 +f 1094 1095 1096 +f 1095 1094 1097 +f 1095 1097 1098 +f 1096 1095 1098 +f 1094 1096 1099 +f 1096 1093 1099 +f 1093 1097 1099 +f 1097 1094 1099 +f 1098 1097 1100 +f 1096 1098 1100 +f 1093 1096 1101 +f 1097 1093 1101 +f 1096 1100 1101 +o convex_90 +v 0.233839 2.187415 -0.298393 +v -0.496665 1.103589 -0.581141 +v -0.496665 1.103589 -0.533979 +v 0.233839 1.080006 -0.345527 +v -0.496665 1.669030 -0.298393 +v 0.186645 1.080006 -0.298393 +v 0.233839 2.046138 -0.369107 +v 0.186645 2.211109 -0.321974 +v -0.449471 1.268671 -0.557532 +v -0.496665 1.598502 -0.298393 +f 1107 1106 1111 +f 1103 1104 1106 +f 1104 1103 1107 +f 1103 1105 1107 +f 1105 1102 1107 +f 1102 1106 1107 +f 1105 1103 1108 +f 1102 1105 1108 +f 1106 1102 1109 +f 1102 1108 1109 +f 1109 1108 1110 +f 1103 1106 1110 +f 1108 1103 1110 +f 1106 1109 1110 +f 1106 1104 1111 +f 1104 1107 1111 +o convex_91 +v -0.779387 0.161163 -0.156899 +v -0.567382 2.682277 0.644220 +v -0.590953 2.682277 0.644220 +v -0.779387 0.632623 0.644220 +v -0.803005 2.069616 0.620538 +v -0.567382 1.810615 -0.156899 +v -0.661645 0.349694 -0.133295 +v -0.802982 0.255560 -0.156899 +v -0.590953 2.046214 -0.062640 +v -0.802982 -0.003967 0.102430 +v -0.614502 0.891360 -0.039037 +v -0.732290 -0.003967 0.055222 +v -0.567382 2.564215 0.644220 +v -0.802982 0.632623 0.644220 +v -0.755839 0.679690 0.597013 +v -0.567382 1.575017 -0.156899 +v -0.803005 2.022549 0.573409 +f 1119 1121 1128 +f 1113 1114 1115 +f 1117 1112 1119 +f 1117 1119 1120 +f 1114 1113 1120 +f 1116 1114 1120 +f 1113 1117 1120 +f 1119 1112 1121 +f 1118 1122 1123 +f 1112 1118 1123 +f 1115 1121 1123 +f 1121 1112 1123 +f 1113 1115 1124 +f 1117 1113 1124 +f 1115 1114 1125 +f 1114 1116 1125 +f 1121 1115 1125 +f 1116 1121 1125 +f 1123 1122 1126 +f 1115 1123 1126 +f 1124 1115 1126 +f 1122 1124 1126 +f 1112 1117 1127 +f 1118 1112 1127 +f 1122 1118 1127 +f 1117 1124 1127 +f 1124 1122 1127 +f 1120 1119 1128 +f 1116 1120 1128 +f 1121 1116 1128 +o convex_92 +v 0.940709 2.305180 -0.180583 +v 0.233839 1.080162 -0.345562 +v 0.257503 1.080162 -0.369059 +v 0.233839 2.635272 -0.180583 +v 0.917114 1.197920 -0.581115 +v 0.233839 2.046175 -0.369059 +v 0.940709 2.211221 -0.157003 +v 0.940709 1.056518 -0.557535 +v 0.281097 1.080162 -0.321940 +v 0.233839 2.517360 -0.157003 +v 0.846399 1.080162 -0.581115 +v 0.940709 2.164088 -0.251282 +v 0.446052 2.305180 -0.157003 +f 1138 1137 1141 +f 1131 1130 1134 +f 1130 1132 1134 +f 1132 1133 1134 +f 1129 1132 1135 +f 1130 1131 1136 +f 1129 1135 1136 +f 1136 1135 1137 +f 1130 1136 1137 +f 1132 1130 1138 +f 1135 1132 1138 +f 1130 1137 1138 +f 1131 1134 1139 +f 1134 1133 1139 +f 1136 1131 1139 +f 1133 1136 1139 +f 1132 1129 1140 +f 1133 1132 1140 +f 1129 1136 1140 +f 1136 1133 1140 +f 1137 1135 1141 +f 1135 1138 1141 +o convex_93 +v 0.139580 -0.003967 3.636920 +v 0.446038 0.750102 3.354162 +v 0.469564 0.726481 3.354162 +v 0.893570 -0.003967 3.330589 +v 0.917096 0.090292 3.424884 +v 0.139580 0.679389 3.401342 +v 0.233917 0.750102 3.471999 +v 0.233917 0.066746 3.660494 +v 0.139580 -0.003967 3.589740 +v 0.516693 0.443632 3.330589 +v 0.846441 0.302503 3.330589 +v 0.917096 -0.003967 3.424884 +f 1146 1149 1153 +f 1144 1143 1148 +f 1146 1144 1148 +f 1143 1147 1148 +f 1147 1142 1148 +f 1148 1142 1149 +f 1146 1148 1149 +f 1145 1142 1150 +f 1142 1147 1150 +f 1150 1147 1151 +f 1147 1143 1151 +f 1145 1150 1151 +f 1145 1151 1152 +f 1143 1144 1152 +f 1146 1145 1152 +f 1144 1146 1152 +f 1151 1143 1152 +f 1142 1145 1153 +f 1145 1146 1153 +f 1149 1142 1153 +o convex_94 +v -0.779422 -0.710864 1.751718 +v -0.732332 0.702972 1.845932 +v -0.732332 0.702972 1.610377 +v -0.708747 -1.040811 1.610377 +v -0.826558 0.019524 1.445434 +v -0.826570 0.137130 1.845932 +v -0.708747 -0.922863 1.845932 +v -0.826570 -0.215859 1.845932 +f 1160 1159 1161 +f 1157 1154 1158 +f 1156 1157 1158 +f 1156 1158 1159 +f 1155 1156 1159 +f 1156 1155 1160 +f 1157 1156 1160 +f 1154 1157 1160 +f 1155 1159 1160 +f 1158 1154 1161 +f 1159 1158 1161 +f 1154 1160 1161 +o convex_95 +v 1.011472 2.281651 -0.109713 +v 1.223544 1.881377 0.809173 +v 1.223544 1.928437 0.785532 +v 1.011472 2.823499 0.620516 +v 1.247118 2.446624 0.243675 +v 1.058619 1.551431 -0.156901 +v 1.105744 1.551431 0.549876 +v 1.129295 1.834317 -0.133260 +v 1.035069 2.894352 0.455500 +v 1.152846 2.540744 0.620516 +v 1.152846 1.551431 0.502688 +v 1.011472 1.999290 -0.133260 +v 1.247118 2.258121 0.361503 +v 1.058619 1.551431 0.078754 +v 1.011472 2.729247 0.620516 +v 1.035069 2.211323 -0.156901 +f 1167 1173 1177 +f 1162 1165 1170 +f 1166 1170 1171 +f 1163 1164 1171 +f 1165 1163 1171 +f 1164 1166 1171 +f 1170 1165 1171 +f 1163 1168 1172 +f 1168 1167 1172 +f 1167 1169 1172 +f 1165 1162 1173 +f 1164 1163 1174 +f 1166 1164 1174 +f 1169 1166 1174 +f 1163 1172 1174 +f 1172 1169 1174 +f 1167 1168 1175 +f 1173 1167 1175 +f 1173 1175 1176 +f 1163 1165 1176 +f 1168 1163 1176 +f 1165 1173 1176 +f 1175 1168 1176 +f 1166 1169 1177 +f 1169 1167 1177 +f 1162 1170 1177 +f 1170 1166 1177 +f 1173 1162 1177 +o convex_96 +v 0.186659 1.574675 1.751731 +v -0.755876 0.702972 1.610370 +v -0.755876 0.702972 1.845971 +v 0.233839 1.197878 1.845971 +v 0.186659 1.904769 1.610370 +v -0.661613 0.938720 1.845971 +v -0.732237 0.938720 1.610370 +v 0.233839 1.763249 1.610370 +v 0.233839 1.268697 1.775302 +v 0.139576 1.292224 1.845971 +f 1178 1183 1187 +f 1180 1179 1181 +f 1180 1181 1183 +f 1178 1182 1183 +f 1179 1180 1184 +f 1182 1179 1184 +f 1183 1182 1184 +f 1180 1183 1184 +f 1178 1181 1185 +f 1182 1178 1185 +f 1179 1182 1185 +f 1181 1179 1186 +f 1179 1185 1186 +f 1185 1181 1186 +f 1181 1178 1187 +f 1183 1181 1187 +o convex_97 +v 1.129164 -0.781480 1.845971 +v 0.398867 -1.205643 1.822422 +v 0.398867 -1.205643 1.845971 +v 1.152756 0.019478 1.610370 +v 0.964246 -1.205643 1.610370 +v 1.152756 0.019478 1.845971 +v 1.105647 -1.064255 1.610370 +v 1.034947 -1.017126 1.845971 +v 0.799328 -1.182019 1.633965 +v 1.176348 -0.263298 1.610370 +f 1194 1191 1197 +f 1189 1190 1191 +f 1190 1189 1192 +f 1190 1188 1193 +f 1191 1190 1193 +f 1192 1191 1194 +f 1192 1194 1195 +f 1188 1190 1195 +f 1190 1192 1195 +f 1194 1188 1195 +f 1189 1191 1196 +f 1191 1192 1196 +f 1192 1189 1196 +f 1193 1188 1197 +f 1191 1193 1197 +f 1188 1194 1197 +o convex_98 +v -0.732210 -0.899418 1.869625 +v 0.139580 -0.663832 3.377246 +v 0.139580 -0.734630 3.377246 +v 0.139580 -1.205692 1.964230 +v -0.732210 -0.710938 1.846104 +v -0.590826 -1.205692 1.634238 +v -0.520091 -0.687413 2.858909 +v 0.115914 -1.229328 2.082010 +v -0.661562 -0.993686 1.610370 +v -0.614493 -0.781680 2.600000 +v 0.115914 -0.781680 3.282987 +v 0.045179 -1.205692 1.846277 +v -0.520091 -0.663832 2.764650 +v -0.755876 -0.710938 1.987578 +v 0.139580 -0.663832 3.353551 +v 0.115914 -1.040682 2.623349 +v -0.708719 -1.064318 1.634238 +f 1211 1202 1214 +f 1199 1200 1201 +f 1200 1199 1204 +f 1201 1200 1205 +f 1204 1207 1208 +f 1200 1204 1208 +f 1207 1203 1208 +f 1202 1201 1209 +f 1201 1205 1209 +f 1205 1203 1209 +f 1206 1202 1209 +f 1203 1206 1209 +f 1204 1199 1210 +f 1204 1210 1211 +f 1198 1207 1211 +f 1207 1204 1211 +f 1210 1202 1211 +f 1199 1201 1212 +f 1201 1202 1212 +f 1210 1199 1212 +f 1202 1210 1212 +f 1205 1200 1213 +f 1203 1205 1213 +f 1200 1208 1213 +f 1208 1203 1213 +f 1202 1206 1214 +f 1206 1203 1214 +f 1207 1198 1214 +f 1203 1207 1214 +f 1198 1211 1214 +o convex_99 +v -0.567398 0.066686 3.353946 +v -0.755862 -0.710906 1.846169 +v -0.779401 -0.663772 1.846169 +v -0.803000 0.090292 1.846169 +v -0.826570 -0.003976 2.647090 +v -0.520229 -0.710906 2.788491 +v -0.520229 0.090292 3.283321 +v -0.638106 -0.710906 2.576617 +v -0.520229 -0.663772 2.717867 +v -0.803000 0.090292 2.647090 +v -0.826570 -0.216118 1.846169 +v -0.732293 -0.640166 1.846169 +v -0.543799 -0.027582 3.377538 +v -0.755862 -0.710906 2.034755 +v -0.520229 -0.310307 2.929893 +f 1221 1223 1229 +f 1216 1217 1218 +f 1216 1220 1222 +f 1220 1216 1223 +f 1221 1220 1223 +f 1219 1215 1224 +f 1218 1219 1224 +f 1215 1221 1224 +f 1221 1218 1224 +f 1218 1217 1225 +f 1219 1218 1225 +f 1217 1219 1225 +f 1216 1218 1226 +f 1223 1216 1226 +f 1218 1223 1226 +f 1215 1219 1227 +f 1221 1215 1227 +f 1220 1221 1227 +f 1219 1222 1227 +f 1222 1220 1227 +f 1217 1216 1228 +f 1219 1217 1228 +f 1216 1222 1228 +f 1222 1219 1228 +f 1218 1221 1229 +f 1223 1218 1229 +o convex_100 +v 1.035069 -2.407238 1.021434 +v 1.176387 -0.003967 1.610370 +v 1.199973 -0.003967 1.516056 +v 1.176387 -0.734829 0.714914 +v 1.176420 -2.336591 0.950699 +v 1.035053 -1.064433 1.610370 +v 1.035069 -2.454504 0.715002 +v 1.105760 -1.135081 1.610370 +v 1.199973 -1.064433 0.714914 +v 1.176387 -0.003967 1.209712 +v 1.176420 -2.171663 0.715002 +v 1.058622 -2.148030 1.256781 +v 1.176420 -2.124648 1.068504 +v 1.176387 -0.263427 1.610370 +v 1.199973 -0.003967 1.209712 +v 1.058622 -2.572417 0.785737 +v 1.152834 -0.003967 1.468899 +f 1239 1235 1246 +f 1235 1233 1236 +f 1230 1235 1236 +f 1231 1235 1237 +f 1232 1234 1238 +f 1236 1233 1238 +f 1231 1232 1239 +f 1233 1235 1239 +f 1238 1234 1240 +f 1236 1238 1240 +f 1230 1234 1241 +f 1235 1230 1241 +f 1237 1235 1241 +f 1237 1241 1242 +f 1234 1232 1242 +f 1241 1234 1242 +f 1232 1231 1243 +f 1231 1237 1243 +f 1237 1242 1243 +f 1242 1232 1243 +f 1232 1238 1244 +f 1238 1233 1244 +f 1239 1232 1244 +f 1233 1239 1244 +f 1234 1230 1245 +f 1230 1236 1245 +f 1240 1234 1245 +f 1236 1240 1245 +f 1235 1231 1246 +f 1231 1239 1246 +o convex_101 +v 0.021711 0.066672 3.613263 +v -0.520229 -0.663777 2.788602 +v -0.496656 -0.663777 2.788602 +v 0.139580 -0.663777 3.401181 +v -0.520229 -0.098225 3.354015 +v 0.139580 0.090292 3.589763 +v -0.473082 0.090292 3.354015 +v -0.402360 -0.569518 3.165682 +v -0.496656 -0.310289 2.977267 +v -0.213834 -0.640157 3.000684 +v 0.139580 -0.616610 3.354015 +v -0.119668 -0.663777 3.283432 +v -0.520229 0.090292 3.401181 +v -0.496656 -0.616610 2.788602 +f 1252 1256 1260 +f 1248 1249 1250 +f 1250 1247 1251 +f 1247 1250 1252 +f 1251 1248 1254 +f 1253 1252 1255 +f 1250 1249 1256 +f 1256 1252 1257 +f 1252 1250 1257 +f 1250 1256 1257 +f 1248 1250 1258 +f 1250 1251 1258 +f 1254 1248 1258 +f 1251 1254 1258 +f 1251 1247 1259 +f 1248 1251 1259 +f 1247 1252 1259 +f 1252 1253 1259 +f 1255 1248 1259 +f 1253 1255 1259 +f 1249 1248 1260 +f 1248 1255 1260 +f 1255 1252 1260 +f 1256 1249 1260 +o convex_102 +v -0.520269 0.749986 2.788395 +v -0.826537 0.090292 1.846017 +v -0.826537 0.137451 1.846017 +v -0.802966 0.113905 2.623486 +v -0.496665 0.090292 3.330344 +v -0.685140 0.773666 1.846017 +v -0.755823 0.726507 1.869854 +v -0.496665 0.420273 2.906229 +v -0.779394 0.113905 1.846017 +v -0.543840 0.113905 3.377419 +v -0.496665 0.749986 2.647023 +v -0.567412 0.773666 2.647023 +f 1271 1266 1272 +f 1263 1262 1264 +f 1264 1262 1265 +f 1262 1263 1266 +f 1263 1264 1267 +f 1266 1263 1267 +f 1265 1262 1269 +f 1262 1266 1269 +f 1268 1265 1269 +f 1265 1261 1270 +f 1264 1265 1270 +f 1261 1265 1271 +f 1265 1268 1271 +f 1269 1266 1271 +f 1268 1269 1271 +f 1266 1267 1272 +f 1267 1264 1272 +f 1270 1261 1272 +f 1264 1270 1272 +f 1261 1271 1272 +o convex_103 +v 0.139580 0.773666 3.377718 +v -0.496665 0.090292 3.354006 +v -0.496665 0.373113 3.000721 +v 0.139580 0.090292 3.589744 +v -0.449519 0.773666 2.670779 +v -0.378770 0.632188 3.189127 +v 0.115976 0.773666 3.424681 +v -0.496665 0.113905 3.401246 +v -0.096084 0.749986 3.000721 +v -0.496665 0.773666 2.765167 +v 0.068831 0.113905 3.613364 +v -0.048939 0.749986 3.354006 +f 1282 1278 1284 +f 1274 1275 1276 +f 1276 1275 1277 +f 1276 1273 1279 +f 1273 1277 1279 +f 1275 1274 1280 +f 1273 1276 1281 +f 1277 1273 1281 +f 1276 1277 1281 +f 1277 1275 1282 +f 1279 1277 1282 +f 1280 1278 1282 +f 1275 1280 1282 +f 1274 1276 1283 +f 1276 1279 1283 +f 1279 1280 1283 +f 1280 1274 1283 +f 1278 1280 1284 +f 1280 1279 1284 +f 1279 1282 1284 +o convex_104 +v 0.304551 -1.205683 1.846017 +v 0.893649 -0.710906 2.764858 +v 0.846482 -0.710906 2.811932 +v 0.493068 -0.710906 2.929766 +v 0.186747 -0.758095 3.377419 +v 0.822936 -1.087862 1.869854 +v 0.870029 -0.993635 1.869854 +v 0.186747 -1.229277 2.105373 +v 0.139580 -0.710906 3.306808 +v 0.893649 -0.781690 2.694247 +v 0.139580 -1.205683 1.987688 +f 1289 1293 1295 +f 1287 1286 1288 +f 1288 1286 1291 +f 1290 1285 1291 +f 1285 1290 1292 +f 1287 1288 1293 +f 1289 1287 1293 +f 1286 1287 1294 +f 1287 1289 1294 +f 1291 1286 1294 +f 1290 1291 1294 +f 1289 1292 1294 +f 1292 1290 1294 +f 1288 1291 1295 +f 1291 1285 1295 +f 1285 1292 1295 +f 1292 1289 1295 +f 1293 1288 1295 +o convex_105 +v 0.139580 -0.357436 3.448264 +v 0.893649 -0.003967 3.424738 +v 0.893649 -0.027564 3.424738 +v 0.870029 -0.710906 2.694436 +v 0.304551 -0.710906 3.354070 +v 0.139580 -0.003967 3.589693 +v 0.870029 -0.286784 2.953676 +v 0.728678 -0.569394 3.212641 +v 0.210293 -0.051161 3.636929 +v 0.139580 -0.710906 3.354070 +v 0.516614 -0.687240 2.953676 +v 0.893649 -0.710906 2.788722 +v 0.893649 -0.027564 3.306927 +v 0.870029 -0.640184 2.718053 +f 1302 1307 1309 +f 1298 1300 1303 +f 1298 1297 1304 +f 1300 1298 1304 +f 1297 1301 1304 +f 1304 1301 1305 +f 1299 1300 1305 +f 1301 1296 1305 +f 1300 1304 1305 +f 1296 1301 1306 +f 1305 1296 1306 +f 1299 1305 1306 +f 1297 1298 1307 +f 1300 1299 1307 +f 1298 1303 1307 +f 1303 1300 1307 +f 1301 1297 1308 +f 1302 1301 1308 +f 1297 1307 1308 +f 1307 1302 1308 +f 1301 1302 1309 +f 1299 1306 1309 +f 1306 1301 1309 +f 1307 1299 1309 +o convex_106 +v 0.987926 -0.592824 2.670611 +v 0.893649 -1.040811 1.846169 +v 0.893649 -0.993515 1.846169 +v 1.176424 -0.004068 1.846017 +v 0.893649 -0.003967 3.283309 +v 1.152841 -0.357565 2.317300 +v 1.082120 -0.946525 1.846169 +v 1.152841 -0.004068 2.694205 +v 0.893649 -0.757749 2.717800 +v 0.917232 -0.027614 3.401130 +v 1.152841 -0.004068 1.846017 +v 1.129286 -0.781498 1.893206 +v 1.035036 -0.946525 2.058368 +f 1321 1315 1322 +f 1312 1311 1314 +f 1311 1313 1316 +f 1313 1314 1317 +f 1310 1315 1317 +f 1315 1313 1317 +f 1314 1311 1318 +f 1310 1317 1319 +f 1317 1314 1319 +f 1318 1310 1319 +f 1314 1318 1319 +f 1311 1312 1320 +f 1313 1311 1320 +f 1314 1313 1320 +f 1312 1314 1320 +f 1313 1315 1321 +f 1316 1313 1321 +f 1316 1321 1322 +f 1315 1310 1322 +f 1311 1316 1322 +f 1310 1318 1322 +f 1318 1311 1322 +o convex_107 +v 1.035036 -1.629977 1.516107 +v 0.210274 -2.737464 1.280465 +v 0.257422 -2.737464 1.280465 +v 0.304570 -2.053984 1.610370 +v 1.011463 -1.087940 1.586764 +v 1.035036 -1.959527 1.280465 +v 0.917167 -2.077558 1.492533 +v 0.210274 -1.983101 1.586764 +v 1.011463 -2.171853 1.304072 +v 1.035036 -1.252957 1.610370 +v 0.233848 -2.713891 1.351187 +v 0.210274 -2.690317 1.280465 +v 0.799379 -2.407430 1.304072 +f 1329 1333 1335 +f 1325 1324 1328 +f 1326 1327 1330 +f 1328 1323 1331 +f 1323 1329 1331 +f 1327 1326 1332 +f 1328 1327 1332 +f 1323 1328 1332 +f 1326 1329 1332 +f 1329 1323 1332 +f 1324 1325 1333 +f 1329 1326 1333 +f 1330 1324 1333 +f 1326 1330 1333 +f 1328 1324 1334 +f 1327 1328 1334 +f 1324 1330 1334 +f 1330 1327 1334 +f 1325 1328 1335 +f 1328 1331 1335 +f 1331 1329 1335 +f 1333 1325 1335 +o convex_108 +v 0.139580 0.938658 3.047813 +v 0.940700 0.773738 2.623843 +v 0.940700 0.750102 2.623843 +v 0.139580 1.221323 1.846017 +v 0.139580 0.750102 3.401042 +v 0.893570 0.915119 1.846017 +v 0.233917 1.244910 1.893386 +v 0.257521 0.844404 3.401042 +v 0.940700 0.844404 2.458992 +v 0.940700 0.962246 1.846017 +v 0.917096 0.750102 2.435151 +v 0.398909 0.750102 3.377672 +v 0.139580 1.197783 1.869701 +v 0.893570 0.820865 2.647214 +f 1343 1347 1349 +f 1336 1339 1340 +f 1339 1336 1342 +f 1342 1336 1343 +f 1336 1340 1343 +f 1337 1338 1344 +f 1341 1339 1345 +f 1339 1342 1345 +f 1344 1338 1345 +f 1342 1344 1345 +f 1338 1340 1346 +f 1340 1341 1346 +f 1345 1338 1346 +f 1341 1345 1346 +f 1338 1337 1347 +f 1340 1338 1347 +f 1343 1340 1347 +f 1340 1339 1348 +f 1341 1340 1348 +f 1339 1341 1348 +f 1342 1343 1349 +f 1337 1344 1349 +f 1344 1342 1349 +f 1347 1337 1349 +o convex_109 +v -2.146226 -2.737464 -1.335200 +v -2.216906 -1.229328 -1.005304 +v -2.240425 -1.229328 -1.005304 +v -2.216906 -1.229328 -1.476597 +v -2.334706 -1.323808 -1.335200 +v -2.122645 -1.960071 -1.005304 +v -2.122645 -2.596040 -1.476597 +v -2.193346 -1.936451 -1.028924 +v -2.287545 -1.912831 -1.358774 +v -2.240425 -1.983396 -1.476597 +v -2.122645 -2.336663 -1.476597 +f 1355 1356 1360 +f 1352 1351 1353 +f 1352 1353 1354 +f 1351 1352 1355 +f 1353 1351 1355 +f 1355 1350 1356 +f 1352 1354 1357 +f 1350 1355 1357 +f 1355 1352 1357 +f 1350 1357 1358 +f 1357 1354 1358 +f 1354 1353 1359 +f 1353 1356 1359 +f 1356 1350 1359 +f 1358 1354 1359 +f 1350 1358 1359 +f 1353 1355 1360 +f 1356 1353 1360 +o convex_110 +v 1.011472 2.658837 1.139149 +v 0.210274 1.833752 1.586711 +v 0.445944 1.504223 1.586711 +v 0.987787 2.540799 1.068437 +v 1.011472 0.985766 1.610370 +v 0.281014 2.635263 1.398233 +v 0.987787 0.985766 1.516052 +v 0.210274 2.588115 1.351127 +v 0.940732 1.951789 1.421786 +v 0.233880 1.975195 1.610370 +v 0.987787 1.833752 1.256968 +v 1.011472 2.658837 1.068437 +v 0.775802 1.056656 1.610370 +f 1365 1370 1373 +f 1363 1362 1368 +f 1367 1363 1368 +f 1365 1361 1369 +f 1361 1366 1369 +f 1369 1366 1370 +f 1368 1362 1370 +f 1366 1368 1370 +f 1365 1369 1370 +f 1368 1364 1371 +f 1367 1368 1371 +f 1361 1365 1372 +f 1366 1361 1372 +f 1365 1367 1372 +f 1364 1368 1372 +f 1368 1366 1372 +f 1371 1364 1372 +f 1367 1371 1372 +f 1362 1363 1373 +f 1363 1367 1373 +f 1367 1365 1373 +f 1370 1362 1373 +o convex_111 +v -1.792667 -2.973019 -1.288052 +v -1.439250 -2.077655 -1.005304 +v -1.439250 -2.077655 -1.028924 +v -1.439250 -2.808050 -1.382255 +v -1.816247 -2.855184 -1.476597 +v -1.816247 -2.760916 -1.005304 +v -1.439250 -2.595948 -1.476597 +v -1.509993 -2.595948 -1.052498 +v -1.745542 -2.784483 -1.005304 +v -1.816247 -2.690216 -1.028924 +v -1.486412 -2.101312 -1.028924 +f 1378 1383 1384 +f 1376 1375 1377 +f 1377 1374 1378 +f 1378 1374 1379 +f 1376 1377 1380 +f 1377 1378 1380 +f 1377 1375 1381 +f 1374 1377 1382 +f 1375 1379 1382 +f 1379 1374 1382 +f 1381 1375 1382 +f 1377 1381 1382 +f 1378 1379 1383 +f 1379 1375 1383 +f 1375 1376 1384 +f 1376 1380 1384 +f 1380 1378 1384 +f 1383 1375 1384 +o convex_112 +v -1.392119 -2.737252 -1.405829 +v -1.345003 -1.229632 -1.005304 +v -1.321429 -1.229632 -1.028924 +v -1.345003 -2.030327 -1.476597 +v -1.274298 -2.101111 -1.382255 +v -1.439250 -2.195337 -1.005304 +v -1.439250 -2.478016 -1.476597 +v -1.392119 -1.276669 -1.028924 +v -1.297872 -1.253075 -1.264478 +v -1.392119 -2.077516 -1.005304 +v -1.274298 -2.007037 -1.476597 +v -1.274298 -1.253075 -1.146701 +v -1.415676 -2.713657 -1.264478 +f 1394 1390 1397 +f 1390 1386 1392 +f 1391 1390 1392 +f 1386 1387 1393 +f 1388 1391 1393 +f 1391 1392 1393 +f 1392 1386 1393 +f 1387 1386 1394 +f 1386 1390 1394 +f 1389 1385 1395 +f 1385 1391 1395 +f 1391 1388 1395 +f 1388 1393 1395 +f 1395 1393 1396 +f 1393 1387 1396 +f 1387 1394 1396 +f 1394 1389 1396 +f 1389 1395 1396 +f 1385 1389 1397 +f 1391 1385 1397 +f 1390 1391 1397 +f 1389 1394 1397 +o convex_113 +v -1.604313 1.999207 -1.830085 +v -2.169754 1.362914 -1.853631 +v -2.122537 1.362914 -1.877177 +v -1.816374 2.705835 -1.782937 +v -1.769213 1.410110 -1.947890 +v -1.604313 1.410110 -1.830085 +v -2.169754 2.022739 -1.759372 +v -1.604313 2.093205 -1.759372 +v -2.169754 2.116737 -1.806502 +v -1.816374 2.163802 -1.877177 +v -2.169754 1.457174 -1.806502 +v -1.769213 2.705835 -1.759372 +f 1405 1398 1409 +f 1400 1402 1403 +f 1399 1400 1403 +f 1402 1398 1403 +f 1403 1398 1405 +f 1400 1399 1406 +f 1402 1400 1406 +f 1399 1404 1406 +f 1404 1401 1406 +f 1401 1398 1407 +f 1398 1402 1407 +f 1406 1401 1407 +f 1402 1406 1407 +f 1399 1403 1408 +f 1404 1399 1408 +f 1403 1405 1408 +f 1405 1404 1408 +f 1398 1401 1409 +f 1401 1404 1409 +f 1404 1405 1409 +o convex_114 +v -1.863480 3.059267 -1.382338 +v -2.169754 2.093382 -1.759372 +v -2.146118 2.093382 -1.759372 +v -1.816374 2.847220 -1.759372 +v -1.604313 2.187636 -1.735789 +v -2.169754 2.776505 -1.382338 +v -1.604313 2.894395 -1.382338 +v -2.099011 2.658712 -1.688660 +v -1.604313 2.729427 -1.688660 +v -2.146118 2.352605 -1.570855 +v -2.169754 2.823681 -1.453051 +v -1.604313 2.352605 -1.759372 +v -1.792793 3.083000 -1.405921 +f 1416 1418 1422 +f 1412 1411 1413 +f 1410 1415 1416 +f 1413 1411 1417 +f 1416 1414 1418 +f 1411 1412 1419 +f 1412 1414 1419 +f 1415 1411 1419 +f 1416 1415 1419 +f 1414 1416 1419 +f 1410 1413 1420 +f 1411 1415 1420 +f 1415 1410 1420 +f 1417 1411 1420 +f 1413 1417 1420 +f 1412 1413 1421 +f 1414 1412 1421 +f 1413 1418 1421 +f 1418 1414 1421 +f 1413 1410 1422 +f 1410 1416 1422 +f 1418 1413 1422 +o convex_115 +v -1.887006 3.059343 -1.382338 +v -2.169754 2.164159 -1.099567 +v -2.169754 2.164159 -1.075998 +v -1.604313 2.658705 -1.099567 +v -1.863480 2.870808 -1.075998 +v -1.604313 2.894375 -1.382338 +v -2.169754 2.823674 -1.382338 +v -2.122537 2.588274 -1.099567 +v -2.146118 2.376172 -1.240893 +v -1.627839 2.988642 -1.335200 +v -1.604313 2.729406 -1.075998 +f 1432 1427 1433 +f 1425 1424 1426 +f 1426 1424 1428 +f 1424 1425 1429 +f 1427 1423 1429 +f 1423 1428 1429 +f 1425 1427 1430 +f 1429 1425 1430 +f 1427 1429 1430 +f 1428 1424 1431 +f 1424 1429 1431 +f 1429 1428 1431 +f 1423 1427 1432 +f 1428 1423 1432 +f 1428 1432 1433 +f 1425 1426 1433 +f 1427 1425 1433 +f 1426 1428 1433 +o convex_116 +v -1.792793 2.870771 -1.075977 +v -2.169754 1.362930 -1.005277 +v -2.169754 1.362930 -0.981717 +v -1.604313 1.362930 -0.934638 +v -1.816374 2.046366 -0.887518 +v -1.604313 2.540861 -1.075977 +v -2.169754 2.258040 -1.075977 +v -1.839900 2.800066 -0.981717 +v -1.604313 2.093454 -0.934638 +v -1.698526 1.362930 -0.863916 +v -2.169754 1.975661 -1.005277 +v -2.146118 1.457253 -1.028836 +v -1.839900 1.433635 -0.863916 +v -1.604313 2.705742 -1.052397 +f 1441 1442 1447 +f 1436 1435 1437 +f 1435 1436 1440 +f 1434 1439 1440 +f 1434 1440 1441 +f 1437 1439 1442 +f 1441 1438 1442 +f 1436 1437 1443 +f 1437 1442 1443 +f 1442 1438 1443 +f 1440 1436 1444 +f 1438 1441 1444 +f 1441 1440 1444 +f 1437 1435 1445 +f 1439 1437 1445 +f 1435 1440 1445 +f 1440 1439 1445 +f 1436 1443 1446 +f 1443 1438 1446 +f 1444 1436 1446 +f 1438 1444 1446 +f 1439 1434 1447 +f 1434 1441 1447 +f 1442 1439 1447 +o convex_117 +v 0.210198 2.847386 1.256739 +v -0.567359 1.975536 1.256739 +v -0.543764 1.975536 1.256739 +v -0.543688 2.800264 0.644283 +v 0.210198 2.988646 0.644283 +v -0.355159 2.588010 1.186059 +v -0.543764 2.305490 0.856385 +v 0.210198 2.776600 1.280465 +v -0.567359 2.093444 1.280465 +v -0.567359 2.611571 0.644283 +v 0.163009 3.035871 0.667884 +v 0.021670 2.753039 1.280465 +v -0.543688 2.800264 0.667884 +f 1453 1459 1460 +f 1450 1449 1454 +f 1452 1450 1454 +f 1452 1448 1455 +f 1450 1452 1455 +f 1449 1450 1456 +f 1450 1455 1456 +f 1451 1452 1457 +f 1454 1449 1457 +f 1452 1454 1457 +f 1449 1456 1457 +f 1448 1452 1458 +f 1452 1451 1458 +f 1455 1448 1459 +f 1453 1456 1459 +f 1456 1455 1459 +f 1456 1453 1460 +f 1451 1457 1460 +f 1457 1456 1460 +f 1448 1458 1460 +f 1458 1451 1460 +f 1459 1448 1460 +o convex_118 +v 1.035036 -2.266326 1.186163 +v 0.210274 -2.878852 0.785608 +v 0.210274 -2.878852 0.879911 +v 0.893593 -2.737434 0.785608 +v 0.280996 -2.737434 1.280417 +v 1.011463 -2.006961 1.256829 +v 1.035036 -2.525350 0.785608 +v 0.752150 -2.572461 1.209702 +v 0.210274 -2.713794 1.209702 +v 0.233848 -2.831656 0.785608 +v 1.035036 -2.172019 1.280417 +f 1465 1468 1471 +f 1463 1462 1464 +f 1463 1464 1465 +f 1464 1462 1467 +f 1461 1464 1467 +f 1464 1461 1468 +f 1465 1464 1468 +f 1462 1463 1469 +f 1463 1465 1469 +f 1465 1466 1469 +f 1469 1466 1470 +f 1467 1462 1470 +f 1466 1467 1470 +f 1462 1469 1470 +f 1466 1465 1471 +f 1461 1467 1471 +f 1467 1466 1471 +f 1468 1461 1471 +o convex_119 +v 1.199989 0.231594 -0.156977 +v 1.223558 0.019529 1.233336 +v 1.270683 0.160769 1.139025 +v 1.223558 -1.488539 0.125957 +v 1.270683 0.160769 -0.156977 +v 1.270683 -0.970179 -0.156977 +v 1.199989 0.561497 0.809138 +v 1.199989 -0.545843 1.139025 +v 1.199989 -1.299876 -0.156977 +v 1.270683 -0.475017 1.067985 +v 1.270683 0.561497 0.596835 +v 1.199989 -1.488539 0.196589 +v 1.199989 0.443660 1.067985 +v 1.199989 0.490671 0.196589 +f 1478 1482 1485 +f 1476 1474 1477 +f 1472 1476 1477 +f 1478 1472 1479 +f 1477 1475 1480 +f 1472 1477 1480 +f 1479 1472 1480 +f 1474 1473 1481 +f 1477 1474 1481 +f 1475 1477 1481 +f 1473 1479 1481 +f 1474 1476 1482 +f 1480 1475 1483 +f 1479 1480 1483 +f 1475 1481 1483 +f 1481 1479 1483 +f 1473 1474 1484 +f 1479 1473 1484 +f 1478 1479 1484 +f 1474 1482 1484 +f 1482 1478 1484 +f 1476 1472 1485 +f 1472 1478 1485 +f 1482 1476 1485 +o convex_120 +v -0.779424 -0.003967 1.492386 +v -0.755871 -0.805164 -0.156977 +v -0.802996 -0.310376 -0.156977 +v -0.732318 -0.003967 -0.038993 +v -0.732318 -0.805164 1.610370 +v -0.802996 -0.404566 1.610370 +v -0.708756 -0.640157 -0.062693 +v -0.802996 -0.003967 -0.086221 +v -0.802996 -0.569417 0.644522 +v -0.708756 -0.333982 0.149402 +v -0.755871 -0.805164 1.610370 +v -0.802996 -0.003967 1.492386 +v -0.732318 -0.522361 1.468858 +f 1490 1495 1498 +f 1487 1488 1489 +f 1490 1486 1491 +f 1487 1489 1492 +f 1490 1487 1492 +f 1489 1488 1493 +f 1486 1489 1493 +f 1488 1491 1493 +f 1488 1487 1494 +f 1491 1488 1494 +f 1492 1489 1495 +f 1490 1492 1495 +f 1487 1490 1496 +f 1490 1491 1496 +f 1494 1487 1496 +f 1491 1494 1496 +f 1491 1486 1497 +f 1486 1493 1497 +f 1493 1491 1497 +f 1489 1486 1498 +f 1486 1490 1498 +f 1495 1489 1498 +o convex_121 +v 0.210339 -2.596058 -0.133350 +v 0.870019 -2.077655 -0.133350 +v 0.870019 -2.077655 -0.156917 +v 0.870019 -2.690335 0.455703 +v 0.870019 -2.525350 -0.015516 +v 0.257482 -2.690335 -0.156917 +v 0.610797 -2.666706 0.314242 +v 0.634368 -2.195561 -0.133350 +f 1505 1500 1506 +f 1501 1500 1502 +f 1501 1502 1503 +f 1501 1503 1504 +f 1499 1501 1504 +f 1503 1502 1504 +f 1504 1502 1505 +f 1502 1500 1505 +f 1499 1504 1505 +f 1499 1505 1506 +f 1501 1499 1506 +f 1500 1501 1506 +o convex_122 +v 1.129277 0.255290 -0.156901 +v 1.152860 1.551299 0.620580 +v 1.152860 1.551299 0.526286 +v 1.011472 1.409764 -0.156901 +v 1.152860 0.608979 0.620580 +v 1.199989 0.255290 -0.156901 +v 1.082184 1.551299 -0.156901 +v 1.011472 0.938529 -0.086200 +v 1.105730 1.551299 0.549879 +v 1.199989 0.585440 0.620580 +v 1.176424 0.019598 0.031609 +f 1516 1511 1517 +f 1507 1510 1512 +f 1508 1509 1513 +f 1509 1512 1513 +f 1512 1510 1513 +f 1510 1507 1514 +f 1514 1511 1515 +f 1511 1508 1515 +f 1508 1513 1515 +f 1513 1510 1515 +f 1510 1514 1515 +f 1509 1508 1516 +f 1508 1511 1516 +f 1512 1509 1516 +f 1512 1516 1517 +f 1507 1512 1517 +f 1514 1507 1517 +f 1511 1514 1517 +o convex_123 +v 0.304623 1.810459 1.610370 +v 0.233915 1.197894 1.798851 +v 0.281104 1.174353 1.798851 +v 0.893575 0.962188 1.610370 +v 1.011472 0.938646 1.845971 +v 0.257510 1.244977 1.845971 +v 1.011472 0.962188 1.610370 +v 0.257510 1.692655 1.610370 +v 0.257510 1.857639 1.633965 +v 0.987801 0.867925 1.845971 +v 0.705046 1.080186 1.610370 +f 1525 1521 1528 +f 1520 1519 1521 +f 1521 1518 1524 +f 1518 1522 1524 +f 1518 1521 1525 +f 1522 1518 1526 +f 1523 1522 1526 +f 1519 1523 1526 +f 1525 1519 1526 +f 1518 1525 1526 +f 1519 1520 1527 +f 1520 1521 1527 +f 1522 1523 1527 +f 1523 1519 1527 +f 1521 1524 1527 +f 1524 1522 1527 +f 1521 1519 1528 +f 1519 1525 1528 +o convex_124 +v 0.210348 -2.949546 0.526296 +v 0.964343 -2.690335 0.761947 +v 0.940649 -2.690335 0.785520 +v 0.210348 -2.690335 -0.109673 +v 0.210348 -2.855260 0.785520 +v 0.893556 -2.808167 0.644077 +v 0.940649 -2.690335 0.455662 +v 0.233968 -2.713907 -0.109673 +v 0.422485 -2.784621 0.785520 +v 0.233968 -2.902378 0.785520 +v 0.210348 -2.690335 0.008109 +f 1533 1537 1539 +f 1531 1530 1532 +f 1532 1529 1533 +f 1530 1531 1534 +f 1532 1530 1535 +f 1530 1534 1535 +f 1535 1534 1536 +f 1529 1532 1536 +f 1534 1529 1536 +f 1532 1535 1536 +f 1533 1531 1537 +f 1533 1529 1538 +f 1531 1533 1538 +f 1534 1531 1538 +f 1529 1534 1538 +f 1531 1532 1539 +f 1532 1533 1539 +f 1537 1531 1539 +o convex_125 +v 0.752212 0.655843 3.189173 +v 0.917121 -0.003967 3.236173 +v 0.540255 0.726481 3.000592 +v 0.940725 0.750102 2.482262 +v 0.398844 0.750102 3.330589 +v 0.940725 0.113912 3.330589 +v 0.940725 0.750102 2.670927 +v 0.917121 0.726481 2.482262 +v 0.563806 0.443632 3.306922 +v 0.516651 0.726481 3.330589 +f 1546 1544 1549 +f 1543 1542 1544 +f 1541 1543 1545 +f 1543 1544 1546 +f 1545 1543 1546 +f 1540 1545 1546 +f 1541 1542 1547 +f 1542 1543 1547 +f 1543 1541 1547 +f 1542 1541 1548 +f 1544 1542 1548 +f 1541 1545 1548 +f 1545 1544 1548 +f 1545 1540 1549 +f 1544 1545 1549 +f 1540 1546 1549 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/503/503.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/503/503.urdf new file mode 100644 index 000000000..975542691 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/503/503.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/504/504.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/504/504.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/504/504.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/504/504.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/504/504.obj new file mode 100644 index 000000000..aa32263d2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/504/504.obj @@ -0,0 +1,321 @@ +o convex_0 +v 0.329270 -3.056439 0.087576 +v -0.361848 -3.261245 0.061974 +v -0.361848 -3.261245 0.087576 +v -0.029075 -4.771436 0.010966 +v 0.022001 -3.056439 -0.296323 +v -0.105858 -3.056439 0.369198 +v -0.003571 -4.515429 0.215586 +v -0.029075 -4.540778 -0.168313 +v -0.284997 -3.056439 -0.193850 +v -0.233853 -4.540778 0.061974 +v 0.175568 -4.464228 -0.014636 +v 0.252419 -3.158842 -0.219452 +v 0.252419 -3.133325 0.266790 +v -0.310636 -3.056439 0.317994 +v -0.208214 -4.335972 -0.117044 +v -0.131430 -4.387341 0.215586 +v 0.022001 -3.056439 0.369198 +v 0.149996 -4.387341 0.113178 +v 0.329270 -3.056439 -0.065840 +v -0.080219 -4.515429 -0.168313 +v -0.284997 -3.235896 -0.193850 +v -0.361848 -3.082124 -0.014636 +v 0.124424 -4.335972 -0.117044 +v -0.029075 -3.082124 -0.296323 +v -0.233853 -4.489744 -0.014636 +v 0.175568 -4.464228 0.036438 +v 0.022001 -4.489744 0.215586 +v -0.284997 -3.235896 0.317994 +v -0.029075 -4.361825 0.241188 +v 0.329270 -3.210211 0.036438 +v -0.054647 -4.720235 0.087576 +v -0.361848 -3.107640 0.164382 +v 0.277991 -3.133325 -0.193850 +v -0.003571 -4.745584 0.061974 +v 0.022001 -3.107640 0.369198 +v -0.182642 -4.233737 0.215586 +v -0.105858 -4.720235 0.010966 +v 0.201208 -3.082124 -0.245054 +v 0.149996 -4.540778 -0.014636 +v 0.252419 -3.056439 0.266790 +v 0.124424 -4.335972 0.164382 +v -0.259425 -3.082124 -0.219452 +v -0.233853 -4.489744 0.087576 +v -0.080219 -3.133325 0.369198 +v 0.329270 -3.107640 0.087576 +f 26 30 45 +f 1 5 6 +f 6 5 9 +f 3 2 10 +f 6 9 14 +f 1 6 17 +f 5 1 19 +f 8 4 20 +f 20 15 21 +f 2 3 22 +f 14 9 22 +f 9 21 22 +f 8 12 23 +f 5 8 24 +f 8 20 24 +f 10 2 25 +f 15 20 25 +f 21 15 25 +f 2 22 25 +f 22 21 25 +f 13 18 26 +f 26 18 27 +f 6 14 28 +f 28 16 29 +f 16 7 29 +f 7 27 29 +f 19 1 30 +f 11 19 30 +f 26 11 30 +f 7 16 31 +f 16 10 31 +f 22 3 32 +f 14 22 32 +f 19 11 33 +f 11 23 33 +f 23 12 33 +f 26 27 34 +f 27 7 34 +f 31 4 34 +f 7 31 34 +f 17 6 35 +f 13 17 35 +f 27 13 35 +f 29 27 35 +f 16 28 36 +f 20 4 37 +f 10 25 37 +f 25 20 37 +f 4 31 37 +f 31 10 37 +f 8 5 38 +f 12 8 38 +f 5 19 38 +f 33 12 38 +f 19 33 38 +f 4 8 39 +f 8 23 39 +f 23 11 39 +f 11 26 39 +f 34 4 39 +f 26 34 39 +f 13 1 40 +f 1 17 40 +f 17 13 40 +f 18 13 41 +f 27 18 41 +f 13 27 41 +f 9 5 42 +f 20 21 42 +f 21 9 42 +f 5 24 42 +f 24 20 42 +f 3 10 43 +f 10 16 43 +f 28 14 43 +f 32 3 43 +f 14 32 43 +f 16 36 43 +f 36 28 43 +f 6 28 44 +f 28 29 44 +f 35 6 44 +f 29 35 44 +f 1 13 45 +f 13 26 45 +f 30 1 45 +o convex_1 +v 0.021976 -2.416219 -0.731271 +v -0.003480 0.296226 1.060317 +v -0.003480 0.756581 1.034660 +v -1.027349 0.092463 -0.014676 +v 0.815535 3.009929 -0.756928 +v 0.738765 -1.929450 0.727376 +v -0.668955 2.676613 -0.680157 +v -0.668955 -2.236353 0.701919 +v -0.668955 2.779123 0.650605 +v 0.661994 2.523161 0.727376 +v 0.943418 -1.929450 -0.014676 +v -0.694412 -1.981020 -0.654500 +v -0.028937 0.449678 -0.987441 +v 0.226830 -3.056439 0.292207 +v 0.713108 -1.955235 -0.654500 +v -0.080251 3.316833 0.650605 +v 1.020389 0.756581 0.061894 +v -0.105707 3.316833 -0.756728 +v -0.796839 0.423893 0.804146 +v -0.668955 -2.748278 0.036438 +v 0.738765 3.316204 0.087551 +v -0.054594 -1.955235 0.983345 +v -0.924922 2.625672 0.010981 +v -0.643298 3.316833 -0.040133 +v -0.950379 -1.929450 0.061894 +v 0.277943 -3.056439 -0.219332 +v -0.745725 0.423893 -0.756928 +v -0.080251 2.523161 0.932231 +v 0.764221 0.501248 0.804146 +v -0.028937 2.625043 -0.935927 +v 0.943418 2.548317 0.087551 +v -0.003480 -1.699273 -0.910470 +v 0.789878 0.118248 -0.731271 +v -0.336218 -2.979084 -0.270446 +v -0.284904 -3.056439 0.343321 +v 0.661994 -2.697337 0.061894 +v -0.745725 -1.724429 0.778489 +v 0.021976 -2.672181 0.701919 +v 0.457140 3.368402 -0.449845 +v 0.073290 0.193716 -0.987441 +v -0.745725 2.445806 0.701919 +v -1.027349 0.322011 0.087551 +v 1.020389 -0.163499 0.036438 +v 0.508254 -2.697337 -0.449845 +v -0.515415 3.316833 0.497063 +v 0.508254 -2.672181 0.522520 +v 0.431484 3.291048 0.522520 +v -0.694412 2.497376 -0.705614 +v -0.003480 -2.748278 -0.603186 +v -0.489758 -2.774063 -0.424188 +v -0.515415 3.290419 -0.500758 +v 0.124403 -1.877881 0.957889 +v -0.489758 -2.723122 0.573633 +v 0.764221 -0.086774 0.804146 +v -0.054594 0.296226 1.060317 +v 0.073290 -1.980391 -0.884813 +v 1.020389 0.322640 -0.040333 +v -1.027349 0.526404 -0.014676 +v -0.822495 0.244657 0.778489 +v 0.943418 -1.929450 0.087551 +v -0.668955 -1.981020 -0.680157 +v -0.003480 2.523161 0.932231 +v 0.150060 3.368402 0.138465 +v -0.950379 2.395494 -0.014676 +f 93 103 109 +f 48 47 55 +f 49 57 70 +f 65 53 70 +f 57 65 70 +f 57 49 72 +f 61 54 73 +f 55 47 74 +f 52 63 75 +f 63 50 75 +f 58 72 75 +f 62 50 76 +f 66 55 76 +f 50 66 76 +f 55 74 76 +f 74 62 76 +f 72 58 77 +f 56 60 78 +f 79 71 80 +f 71 59 80 +f 65 79 80 +f 59 71 81 +f 53 67 82 +f 70 53 82 +f 80 59 83 +f 50 63 84 +f 66 50 84 +f 63 69 84 +f 75 50 85 +f 58 75 85 +f 77 58 85 +f 50 78 85 +f 54 68 86 +f 73 54 86 +f 64 73 86 +f 49 70 87 +f 60 56 89 +f 56 81 89 +f 81 71 89 +f 54 61 90 +f 68 54 90 +f 69 68 90 +f 81 51 91 +f 59 81 91 +f 51 83 91 +f 83 59 91 +f 55 66 92 +f 68 52 93 +f 52 75 93 +f 75 72 93 +f 71 79 94 +f 46 89 94 +f 89 71 94 +f 65 57 95 +f 79 65 95 +f 94 79 95 +f 63 52 96 +f 52 68 96 +f 69 63 96 +f 68 69 96 +f 47 67 97 +f 83 51 97 +f 67 83 97 +f 53 65 98 +f 67 53 98 +f 65 80 98 +f 83 67 98 +f 80 83 98 +f 74 47 99 +f 62 74 99 +f 51 88 99 +f 88 62 99 +f 47 97 99 +f 97 51 99 +f 47 48 100 +f 67 47 100 +f 48 73 100 +f 73 64 100 +f 64 82 100 +f 82 67 100 +f 78 60 101 +f 77 85 101 +f 85 78 101 +f 60 89 101 +f 89 46 101 +f 50 62 102 +f 78 50 102 +f 56 78 102 +f 88 56 102 +f 62 88 102 +f 72 49 103 +f 49 87 103 +f 93 72 103 +f 82 64 104 +f 70 82 104 +f 64 86 104 +f 87 70 104 +f 86 87 104 +f 51 81 105 +f 81 56 105 +f 88 51 105 +f 56 88 105 +f 57 72 106 +f 72 77 106 +f 46 94 106 +f 95 57 106 +f 94 95 106 +f 101 46 106 +f 77 101 106 +f 48 55 107 +f 73 48 107 +f 61 73 107 +f 55 92 107 +f 92 61 107 +f 66 84 108 +f 84 69 108 +f 90 61 108 +f 69 90 108 +f 92 66 108 +f 61 92 108 +f 86 68 109 +f 87 86 109 +f 68 93 109 +f 103 87 109 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/504/504.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/504/504.urdf new file mode 100644 index 000000000..9777ea802 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/504/504.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/505/505.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/505/505.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/505/505.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/505/505.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/505/505.obj new file mode 100644 index 000000000..978a4ffca --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/505/505.obj @@ -0,0 +1,1815 @@ +o convex_0 +v 1.214757 -4.542131 0.408295 +v 1.536870 -4.485270 0.976721 +v 1.404217 -4.485270 0.995641 +v 1.536870 -4.561085 0.976721 +v 1.517882 -4.485270 0.256636 +v 0.987320 -4.485270 1.014562 +v 0.987320 -4.504223 0.256636 +v 1.063168 -4.542131 0.995641 +v 1.517882 -4.542131 0.256636 +v 0.987320 -4.523177 0.256636 +f 9 1 10 +f 2 3 4 +f 3 2 5 +f 2 4 5 +f 4 3 6 +f 3 5 6 +f 6 5 7 +f 1 4 8 +f 4 6 8 +f 4 1 9 +f 5 4 9 +f 7 5 9 +f 7 9 10 +f 6 7 10 +f 1 8 10 +f 8 6 10 +o convex_1 +v 1.480063 -4.466341 -0.899664 +v 0.418833 -4.561072 -1.070199 +v -0.415309 -4.598992 -1.070175 +v 0.418833 -4.447374 -1.070199 +v 0.418833 -4.542106 -0.823873 +v 1.460953 -4.523168 -1.070199 +v -0.415309 -4.504230 -0.975430 +v 1.480063 -4.523168 -0.823873 +v 1.460953 -4.447374 -0.823873 +v 1.460953 -4.447374 -1.070199 +v -0.282469 -4.598992 -0.975430 +v -0.415309 -4.504230 -1.070175 +v 1.233494 -4.542106 -1.070199 +f 18 21 23 +f 12 13 14 +f 12 14 16 +f 16 11 18 +f 14 17 19 +f 17 15 19 +f 18 11 19 +f 15 18 19 +f 16 14 20 +f 11 16 20 +f 19 11 20 +f 14 19 20 +f 17 13 21 +f 15 17 21 +f 18 15 21 +f 14 13 22 +f 13 17 22 +f 17 14 22 +f 13 12 23 +f 12 16 23 +f 16 18 23 +f 21 13 23 +o convex_2 +v 1.764710 0.158421 0.199715 +v 3.546018 0.783864 0.237597 +v 2.901405 0.632156 0.256556 +v 1.555878 0.783864 0.180756 +v 3.488940 0.461653 0.180756 +v 1.556073 0.177400 0.275506 +v 1.574969 0.726989 0.237597 +v 3.546018 0.783864 0.180756 +v 1.556073 0.158421 0.180747 +v 3.090756 0.291150 0.199715 +v 2.105621 0.783864 0.237597 +v 1.575359 0.272171 0.275506 +f 26 34 35 +f 27 29 30 +f 27 25 31 +f 25 28 31 +f 31 28 32 +f 29 27 32 +f 24 29 32 +f 27 31 32 +f 25 26 33 +f 28 25 33 +f 26 29 33 +f 29 24 33 +f 32 28 33 +f 24 32 33 +f 26 25 34 +f 25 27 34 +f 27 30 34 +f 34 30 35 +f 29 26 35 +f 30 29 35 +o convex_3 +v -0.434262 -4.504223 0.503008 +v -0.510062 0.139437 0.995756 +v -0.491112 0.139437 0.635565 +v -0.510062 -0.411020 0.256561 +v -0.472181 -3.916039 0.995756 +v -0.434262 -3.859674 0.995756 +v -0.453231 -1.566481 0.256561 +v -0.453231 -4.446496 0.256561 +v -0.529022 -0.637840 0.976727 +v -0.434262 -2.987852 0.256561 +v -0.510062 0.139437 0.256561 +v -0.453231 -4.466042 0.995756 +v -0.529022 0.119892 0.597867 +v -0.472181 -0.354202 0.275591 +v -0.491112 -0.581021 0.995756 +v -0.529022 0.139437 0.995756 +v -0.434262 -4.446496 0.256561 +v -0.434262 -4.466042 0.995756 +f 47 36 53 +f 37 40 41 +f 39 42 43 +f 43 40 44 +f 41 36 45 +f 42 41 45 +f 43 42 45 +f 37 38 46 +f 42 39 46 +f 41 40 47 +f 43 36 47 +f 40 43 47 +f 39 43 48 +f 43 44 48 +f 46 39 48 +f 38 41 49 +f 41 42 49 +f 46 38 49 +f 42 46 49 +f 38 37 50 +f 37 41 50 +f 41 38 50 +f 40 37 51 +f 44 40 51 +f 37 46 51 +f 48 44 51 +f 46 48 51 +f 36 43 52 +f 45 36 52 +f 43 45 52 +f 36 41 53 +f 41 47 53 +o convex_4 +v -0.472181 -3.953714 0.995756 +v -0.434262 -3.613332 1.090525 +v -0.453231 -3.613332 1.090525 +v -0.510062 0.139437 0.995756 +v -0.434262 0.139437 1.014717 +v -0.529022 0.139437 1.033669 +v -0.434262 -4.466316 0.995756 +v -0.472181 -4.067776 1.090525 +v -0.529022 -0.676127 0.995756 +v -0.434262 -0.827609 1.052612 +f 58 59 63 +f 58 57 59 +f 54 57 60 +f 57 58 60 +f 58 55 60 +f 55 56 61 +f 56 59 61 +f 54 60 61 +f 60 55 61 +f 57 54 62 +f 59 57 62 +f 54 61 62 +f 61 59 62 +f 56 55 63 +f 55 58 63 +f 59 56 63 +o convex_5 +v -2.443021 0.708064 0.332376 +v -0.946106 0.708048 -0.293096 +v -0.946106 0.726982 -0.293096 +v -0.548083 0.632245 0.332376 +v -2.537807 0.632295 -0.217239 +v -2.557079 0.802817 -0.198320 +v -1.154557 0.745932 0.180661 +v -0.548083 0.632245 -0.293096 +v -2.443021 0.632262 0.313335 +v -0.548083 0.689114 0.332376 +v -0.548083 0.708048 -0.293096 +v -2.443021 0.726982 0.332376 +v -2.443217 0.802817 -0.236157 +v -2.537807 0.670180 -0.236157 +v -0.813563 0.726982 -0.293096 +f 76 70 78 +f 65 66 71 +f 68 71 72 +f 67 64 72 +f 64 69 72 +f 69 68 72 +f 71 67 72 +f 64 67 73 +f 67 71 73 +f 73 71 74 +f 71 66 74 +f 70 73 74 +f 69 64 75 +f 70 69 75 +f 64 73 75 +f 73 70 75 +f 69 70 76 +f 66 65 77 +f 68 69 77 +f 65 71 77 +f 71 68 77 +f 76 66 77 +f 69 76 77 +f 74 66 78 +f 70 74 78 +f 66 76 78 +o convex_6 +v 3.564972 0.802816 0.161767 +v 1.556075 0.764906 -0.103559 +v 1.556075 0.764906 0.180735 +v 2.768493 0.708049 -0.103559 +v 3.564972 0.840725 0.199637 +v 3.413149 0.764906 -0.084557 +v 3.564972 0.783854 0.237608 +v 1.556271 0.802816 0.218606 +v 1.556075 0.783854 -0.103559 +v 3.413149 0.727010 -0.103559 +v 3.242447 0.840725 0.237608 +v 2.238490 0.727010 0.029154 +f 82 85 90 +f 83 79 84 +f 79 83 85 +f 81 85 86 +f 80 81 87 +f 82 80 87 +f 83 84 87 +f 81 86 87 +f 84 79 88 +f 79 85 88 +f 85 82 88 +f 82 87 88 +f 87 84 88 +f 85 83 89 +f 86 85 89 +f 83 87 89 +f 87 86 89 +f 81 80 90 +f 80 82 90 +f 85 81 90 +o convex_7 +v -0.472170 1.030292 -0.785748 +v -0.415309 1.522955 -0.141467 +v -0.491124 1.522955 -0.141467 +v -0.491124 0.139437 -0.312137 +v -0.434262 0.139437 -0.975363 +v -0.415309 1.579920 -0.994223 +v -0.415309 0.670171 -0.312137 +v -0.453216 1.579920 -0.994223 +v -0.453216 0.139437 -0.975363 +v -0.434262 0.859679 -0.141467 +v -0.415309 0.859679 -1.013252 +v -0.491124 1.541990 -0.369056 +v -0.491124 0.139437 -0.482723 +v -0.453216 0.139437 -0.463864 +f 95 97 104 +f 96 92 97 +f 95 94 99 +f 91 98 99 +f 92 93 100 +f 93 94 100 +f 97 92 100 +f 94 97 100 +f 97 95 101 +f 96 97 101 +f 98 96 101 +f 95 99 101 +f 99 98 101 +f 93 92 102 +f 94 93 102 +f 92 96 102 +f 98 91 102 +f 96 98 102 +f 91 99 103 +f 99 94 103 +f 94 102 103 +f 102 91 103 +f 94 95 104 +f 97 94 104 +o convex_8 +v 0.304933 1.579920 -0.330831 +v 1.517971 1.447259 -0.274251 +v 1.517971 1.428290 -0.274251 +v 0.798175 1.485181 -0.975349 +v 0.437802 1.541983 0.332376 +v 1.423098 1.541983 0.294358 +v 0.304933 1.485181 -0.956275 +v 1.517971 1.447259 -0.937458 +v 0.324050 1.541983 -0.918385 +v 1.479855 1.428290 -0.141508 +v 0.892810 1.579920 0.332376 +v 1.423098 1.504120 0.332376 +v 1.347343 1.428290 -0.937458 +v 1.517971 1.466197 -0.785769 +v 0.304933 1.579920 -0.141508 +f 109 115 119 +f 106 107 112 +f 105 110 113 +f 108 111 113 +f 111 105 113 +f 112 108 113 +f 109 111 114 +f 110 105 115 +f 110 115 116 +f 107 106 116 +f 106 110 116 +f 114 107 116 +f 109 114 116 +f 115 109 116 +f 111 108 117 +f 112 107 117 +f 108 112 117 +f 107 114 117 +f 114 111 117 +f 110 106 118 +f 106 112 118 +f 113 110 118 +f 112 113 118 +f 105 111 119 +f 111 109 119 +f 115 105 119 +o convex_9 +v 0.626639 0.556241 1.071571 +v 1.480063 1.579920 1.071571 +v 1.480063 0.859679 1.071571 +v -0.225593 1.466131 0.995764 +v 1.479865 0.139437 1.033667 +v 1.480063 1.579920 1.014723 +v -0.491010 0.385910 0.995764 +v -0.547985 1.428201 1.014723 +v -0.491010 0.139437 1.033667 +v 1.347057 0.139437 1.071564 +v 1.480063 0.859679 1.014723 +v 1.006005 1.522955 1.071571 +v 0.437850 1.485025 0.995764 +v 0.475171 0.139437 1.071571 +v -0.491010 0.461769 1.033667 +v -0.491010 0.139437 1.014730 +v -0.547985 1.428201 0.995764 +f 135 127 136 +f 122 121 120 +f 121 122 125 +f 123 121 125 +f 121 123 127 +f 124 122 129 +f 128 124 129 +f 122 124 130 +f 125 122 130 +f 124 126 130 +f 120 121 131 +f 121 127 131 +f 123 125 132 +f 126 123 132 +f 125 130 132 +f 130 126 132 +f 122 120 133 +f 129 122 133 +f 128 129 133 +f 127 128 134 +f 120 131 134 +f 131 127 134 +f 133 120 134 +f 128 133 134 +f 126 124 135 +f 128 127 135 +f 124 128 135 +f 123 126 136 +f 127 123 136 +f 126 135 136 +o convex_10 +v 1.517959 0.840643 0.465017 +v 1.499000 0.139437 -0.141467 +v 1.499000 0.859679 -0.141467 +v 1.423228 0.310050 0.351297 +v 1.555878 0.158402 0.256517 +v 1.442174 0.139437 0.635636 +v 1.442174 0.859679 0.635636 +v 1.555878 0.783749 -0.141467 +v 1.555878 0.158402 -0.141467 +v 1.555878 0.840643 0.275458 +v 1.423228 0.139437 0.237728 +v 1.461120 0.139437 0.635636 +f 143 142 148 +f 139 140 143 +f 140 142 143 +f 138 139 144 +f 144 141 145 +f 141 138 145 +f 138 144 145 +f 137 141 146 +f 143 137 146 +f 139 143 146 +f 144 139 146 +f 141 144 146 +f 139 138 147 +f 140 139 147 +f 138 142 147 +f 142 140 147 +f 141 137 148 +f 138 141 148 +f 142 138 148 +f 137 143 148 +o convex_11 +v -0.377401 -4.504223 -1.070189 +v -0.453209 0.139437 -0.634373 +v -0.434257 0.139437 -0.710145 +v -0.453209 0.139437 -0.994375 +v -0.434257 -4.446950 -0.634373 +v -0.377401 0.139437 -0.994375 +v -0.434248 -4.371041 -1.032261 +v -0.472170 -1.851482 -0.653273 +v -0.415324 -3.346945 -0.634373 +v -0.472170 0.139437 -0.634373 +v -0.434248 -0.506021 -1.032261 +v -0.415324 -4.446950 -0.634373 +v -0.415314 -4.504223 -1.070189 +v -0.377401 -0.524203 -1.032261 +v -0.377401 -3.802402 -1.032261 +f 154 160 163 +f 150 151 152 +f 152 151 154 +f 155 153 156 +f 152 155 156 +f 151 150 157 +f 150 153 157 +f 154 151 157 +f 150 152 158 +f 153 150 158 +f 156 153 158 +f 152 156 158 +f 152 154 159 +f 153 149 160 +f 157 153 160 +f 154 157 160 +f 149 153 161 +f 155 152 161 +f 153 155 161 +f 152 159 161 +f 159 149 161 +f 154 149 162 +f 159 154 162 +f 149 159 162 +f 149 154 163 +f 160 149 163 +o convex_12 +v 0.039474 -0.637840 -1.032295 +v -0.377401 -4.504223 -1.070199 +v 0.418636 -4.504223 -1.070199 +v 0.399624 -0.922387 -0.994399 +v -0.377401 0.139437 -0.994399 +v -0.377401 -3.802402 -1.032295 +v 0.418636 0.139437 -1.013351 +v 0.418636 -4.029675 -1.032295 +v -0.377401 -0.524203 -1.032295 +v 0.418636 -4.010584 -1.070199 +v -0.377401 -3.783765 -1.070199 +v -0.377401 -0.561930 -0.994399 +v -0.377401 -4.504223 -1.051232 +v 0.418636 0.139437 -0.994399 +v -0.377401 0.139437 -1.013351 +v 0.399624 -0.846477 -1.032295 +v 0.418636 -4.504223 -1.051232 +f 171 176 180 +f 168 165 169 +f 167 169 171 +f 166 170 171 +f 165 168 172 +f 170 164 172 +f 166 165 173 +f 170 166 173 +f 172 164 174 +f 165 172 174 +f 173 165 174 +f 164 173 174 +f 167 168 175 +f 168 169 175 +f 169 167 175 +f 165 166 176 +f 169 165 176 +f 171 169 176 +f 168 167 177 +f 170 168 177 +f 167 171 177 +f 171 170 177 +f 168 170 178 +f 172 168 178 +f 170 172 178 +f 164 170 179 +f 173 164 179 +f 170 173 179 +f 166 171 180 +f 176 166 180 +o convex_13 +v -0.377401 -4.523177 0.199641 +v -0.415299 -4.598992 -0.975430 +v -0.415299 -4.447362 -0.975430 +v -0.434262 -4.447362 0.256561 +v -0.377401 -4.580023 -0.975430 +v -0.434262 -4.580023 -0.634028 +v -0.396364 -4.447362 -0.975430 +f 185 183 187 +f 181 182 185 +f 182 183 185 +f 182 181 186 +f 183 182 186 +f 184 183 186 +f 181 184 186 +f 183 184 187 +f 184 181 187 +f 181 185 187 +o convex_14 +v -0.377401 -4.580019 -0.975430 +v 0.418655 -4.466330 0.256561 +v -0.036101 -4.466330 0.256561 +v -0.358388 -4.523194 0.199641 +v 0.418655 -4.561073 -0.975430 +v 0.399642 -4.523194 -0.861469 +v -0.377401 -4.485289 0.161774 +v -0.339453 -4.598979 -0.937322 +v 0.399642 -4.504235 0.028879 +v -0.358388 -4.561073 -0.975430 +v 0.399642 -4.466330 -0.027800 +v 0.418655 -4.561073 -0.823723 +f 196 191 199 +f 189 190 191 +f 189 192 193 +f 191 190 194 +f 188 191 194 +f 191 188 195 +f 188 192 195 +f 189 191 196 +f 192 188 197 +f 193 192 197 +f 188 194 197 +f 197 194 198 +f 190 189 198 +f 189 193 198 +f 194 190 198 +f 193 197 198 +f 192 189 199 +f 191 195 199 +f 195 192 199 +f 189 196 199 +o convex_15 +v 3.470144 0.461651 -0.255189 +v 1.783367 0.783864 -0.103559 +v 1.783367 0.783864 -0.141467 +v 3.527065 0.745953 -0.103559 +v 3.470144 0.461651 -0.103559 +v 1.555878 0.764908 -0.255189 +v 3.507962 0.708010 -0.255189 +v 1.555878 0.764908 -0.103559 +v 1.726640 0.783864 -0.255189 +v 3.507962 0.745953 -0.179374 +f 208 202 209 +f 202 201 203 +f 200 203 204 +f 203 201 204 +f 200 204 205 +f 200 205 206 +f 203 200 206 +f 204 201 207 +f 205 204 207 +f 205 207 208 +f 201 202 208 +f 206 205 208 +f 207 201 208 +f 206 208 209 +f 202 203 209 +f 203 206 209 +o convex_16 +v 0.437690 -4.485276 -0.330996 +v 1.442156 -4.523164 0.256561 +v 1.442156 -4.542124 0.256561 +v 1.442156 -4.504220 -0.823800 +v 0.418655 -4.542124 -0.823800 +v 0.418655 -4.466316 0.256561 +v 0.532566 -4.504220 0.256561 +v 1.195598 -4.485276 -0.747976 +v 1.442156 -4.542124 -0.349926 +v 1.309409 -4.504220 0.218596 +v 0.418655 -4.542124 -0.558363 +v 1.442156 -4.523164 -0.823800 +v 0.418655 -4.523164 -0.823800 +v 0.646177 -4.466316 -0.160630 +v 1.271439 -4.542124 0.256561 +f 216 220 224 +f 211 212 213 +f 212 211 215 +f 212 215 216 +f 213 212 218 +f 212 214 218 +f 211 213 219 +f 215 211 219 +f 213 217 219 +f 214 212 220 +f 215 214 220 +f 216 215 220 +f 214 213 221 +f 213 218 221 +f 218 214 221 +f 213 214 222 +f 214 215 222 +f 215 210 222 +f 217 213 222 +f 210 217 222 +f 210 215 223 +f 217 210 223 +f 215 219 223 +f 219 217 223 +f 212 216 224 +f 220 212 224 +o convex_17 +v 1.517971 -4.447362 0.123737 +v 1.461124 -4.542131 -0.482539 +v 1.480063 -4.542131 -0.482539 +v 1.480063 -4.447362 -0.823800 +v 1.442156 -4.523170 0.256561 +v 1.517971 -4.542131 0.256561 +f 225 229 230 +f 227 226 228 +f 225 228 229 +f 228 226 229 +f 229 226 230 +f 226 227 230 +f 227 228 230 +f 228 225 230 +o convex_18 +v 1.423202 0.139207 -0.956477 +v 0.418655 -4.447147 -1.070184 +v 1.423202 -4.447147 -1.070184 +v 0.475687 0.139207 -1.013336 +v 0.418655 -4.030084 -1.032282 +v 1.423202 -4.352421 -1.032282 +v 0.437731 0.119903 -0.975445 +v 1.423202 0.044032 -0.994390 +v 0.418655 -0.903677 -1.032282 +v 1.404027 0.006322 -0.956477 +v 1.404027 -4.295406 -1.070184 +v 0.418655 -4.011228 -1.070184 +v 0.418655 -4.447147 -1.051238 +f 233 236 243 +f 233 231 236 +f 231 234 237 +f 231 233 238 +f 234 231 238 +f 232 235 239 +f 237 234 239 +f 235 237 239 +f 235 236 240 +f 236 231 240 +f 231 237 240 +f 237 235 240 +f 233 232 241 +f 238 233 241 +f 234 238 241 +f 239 234 241 +f 239 241 242 +f 232 239 242 +f 241 232 242 +f 232 233 243 +f 235 232 243 +f 236 235 243 +o convex_19 +v 0.721825 -4.485255 0.976732 +v -0.434123 -4.504210 0.256632 +v 0.702766 -4.523166 0.919843 +v 0.987127 -4.504210 0.256632 +v -0.434123 -4.409466 0.256632 +v -0.434123 -4.466311 0.976732 +v -0.017180 -4.447377 0.976732 +v 0.987127 -4.523166 0.256632 +v 0.911307 -4.485255 0.256632 +v 0.987127 -4.523166 0.976732 +v -0.434123 -4.504210 0.503010 +v -0.434123 -4.447377 0.976732 +v 0.987127 -4.504210 0.976732 +f 253 247 256 +f 247 245 248 +f 248 245 249 +f 244 248 250 +f 249 244 250 +f 246 245 251 +f 245 247 251 +f 248 244 252 +f 247 248 252 +f 244 249 253 +f 249 246 253 +f 246 251 253 +f 251 247 253 +f 245 246 254 +f 249 245 254 +f 246 249 254 +f 248 249 255 +f 250 248 255 +f 249 250 255 +f 252 244 256 +f 247 252 256 +f 244 253 256 +o convex_20 +v 0.304882 -4.504207 1.033669 +v 0.987127 -4.390527 1.014725 +v 0.987127 -4.390527 0.995769 +v -0.434123 -4.390527 1.071558 +v -0.434123 -4.466305 0.976814 +v 0.987127 -4.523151 0.976814 +v -0.244503 -4.466305 1.090514 +v 0.740746 -4.523151 1.033669 +f 258 263 264 +f 258 259 260 +f 260 259 261 +f 261 259 262 +f 259 258 262 +f 258 260 263 +f 261 257 263 +f 260 261 263 +f 257 261 264 +f 261 262 264 +f 262 258 264 +f 263 257 264 +o convex_21 +v 1.536924 -4.143793 0.521989 +v 1.499020 -2.002333 0.957780 +v 1.480063 -2.002333 0.957780 +v 1.517967 -2.002333 0.256630 +v 1.499020 -4.485270 0.256630 +v 1.536924 -4.485270 0.957780 +v 1.536924 -2.002333 0.256630 +v 1.480063 -2.002333 0.484101 +v 1.499020 -3.973176 0.900878 +v 1.517967 -2.021533 0.957780 +v 1.480063 -2.969404 0.749254 +v 1.517967 -4.485270 0.256630 +v 1.499020 -4.485270 0.654532 +v 1.536924 -3.631942 0.957780 +v 1.536924 -3.309909 0.256630 +v 1.517967 -4.485270 0.957780 +v 1.499020 -3.215851 0.256630 +v 1.536924 -2.021533 0.427199 +f 274 278 282 +f 267 266 268 +f 266 267 270 +f 270 265 271 +f 268 266 271 +f 269 268 271 +f 267 268 272 +f 266 270 274 +f 271 266 274 +f 267 272 275 +f 272 269 275 +f 273 267 275 +f 270 269 276 +f 265 270 276 +f 269 271 276 +f 269 270 277 +f 275 269 277 +f 273 275 277 +f 270 271 278 +f 274 270 278 +f 271 265 279 +f 265 276 279 +f 276 271 279 +f 270 267 280 +f 267 273 280 +f 277 270 280 +f 273 277 280 +f 268 269 281 +f 272 268 281 +f 269 272 281 +f 271 274 282 +f 278 271 282 +o convex_22 +v 1.442156 0.139437 1.033649 +v 0.987311 -4.485270 0.995771 +v 1.044211 -4.485270 0.976816 +v 1.442156 -4.389751 0.995771 +v 0.987311 -1.112258 1.071560 +v 0.987311 0.139437 1.052605 +v 1.423144 -4.295591 0.957860 +v 1.328400 0.062932 1.071560 +v 1.082100 -4.485270 1.014716 +v 1.442156 -0.732449 1.052605 +v 1.423144 -0.657302 1.014716 +v 0.987311 0.139437 1.071560 +v 1.442156 -4.485270 0.957860 +v 0.987311 -4.485270 1.014716 +f 291 287 296 +f 284 287 288 +f 285 284 288 +f 284 285 291 +f 286 290 291 +f 290 287 291 +f 286 283 292 +f 283 290 292 +f 290 286 292 +f 288 283 293 +f 285 288 293 +f 289 285 293 +f 288 287 294 +f 283 288 294 +f 290 283 294 +f 287 290 294 +f 283 286 295 +f 285 289 295 +f 291 285 295 +f 286 291 295 +f 293 283 295 +f 289 293 295 +f 287 284 296 +f 284 291 296 +o convex_23 +v 1.499005 -0.050241 1.052599 +v 1.442174 -4.485270 0.957849 +v 1.536924 -4.485270 0.957849 +v 1.461124 0.139437 0.957849 +v 1.442174 -0.676315 1.052599 +v 1.536924 -4.049327 0.995768 +v 1.499005 -0.315971 0.957849 +v 1.442174 -4.314605 0.995768 +v 1.442174 0.139437 1.033649 +f 298 301 305 +f 299 298 300 +f 297 301 302 +f 302 299 303 +f 299 300 303 +f 300 297 303 +f 297 302 303 +f 298 299 304 +f 301 298 304 +f 302 301 304 +f 299 302 304 +f 300 298 305 +f 297 300 305 +f 301 297 305 +o convex_24 +v -1.874893 0.139437 -0.255161 +v -1.817954 0.632234 -0.179393 +v -1.723195 0.234225 -0.084646 +v -2.519090 0.556404 -0.084646 +v -2.538125 0.632234 -0.217267 +v -2.481102 0.158395 -0.103583 +v -1.685208 0.215267 -0.293096 +v -2.424330 0.158395 -0.179393 +v -2.500138 0.632234 -0.084646 +v -1.817954 0.613277 -0.217267 +v -1.761099 0.139437 -0.293096 +v -1.704243 0.196310 -0.103583 +v -2.481102 0.177352 -0.084646 +f 311 317 318 +f 309 310 311 +f 306 311 313 +f 311 310 313 +f 308 307 314 +f 309 308 314 +f 310 309 314 +f 307 310 314 +f 310 307 315 +f 307 312 315 +f 312 310 315 +f 310 312 316 +f 313 310 316 +f 306 313 316 +f 307 308 317 +f 311 306 317 +f 312 307 317 +f 306 316 317 +f 316 312 317 +f 308 309 318 +f 309 311 318 +f 317 308 318 +o convex_25 +v 1.556260 0.253253 -0.274164 +v 1.707608 0.783864 -0.255199 +v 1.707608 0.783864 -0.293096 +v 3.508111 0.461653 -0.349948 +v 3.242679 0.177400 -0.236256 +v 3.508111 0.708010 -0.255199 +v 1.555878 0.783864 -0.330983 +v 2.882464 0.177400 -0.330994 +v 1.556260 0.158421 -0.236256 +v 3.489001 0.689031 -0.349948 +v 3.242679 0.177400 -0.330994 +v 2.617223 0.708010 -0.349948 +v 1.555878 0.708010 -0.330983 +v 1.555878 0.783864 -0.255199 +v 3.508111 0.461653 -0.255199 +v 1.707799 0.272171 -0.236256 +f 332 327 334 +f 321 320 324 +f 320 321 325 +f 321 324 325 +f 319 326 327 +f 324 322 328 +f 325 324 328 +f 322 323 329 +f 326 322 329 +f 323 327 329 +f 327 326 329 +f 322 326 330 +f 328 322 330 +f 325 328 330 +f 326 319 331 +f 319 327 331 +f 330 326 331 +f 325 330 331 +f 320 325 332 +f 325 331 332 +f 331 327 332 +f 323 322 333 +f 324 323 333 +f 322 324 333 +f 324 320 334 +f 323 324 334 +f 327 323 334 +f 320 332 334 +o convex_26 +v 3.033898 0.272101 0.161726 +v 1.556357 0.158400 -0.236235 +v 1.556357 0.158400 -0.084602 +v 3.242594 0.177368 -0.236235 +v 1.840506 0.158415 0.180746 +v 2.901318 0.310021 0.161726 +v 3.242594 0.253148 -0.122480 +v 1.556026 0.177383 0.180746 +v 1.556357 0.177368 -0.236235 +v 3.166644 0.215243 -0.236235 +v 2.371159 0.158400 -0.236235 +v 3.071873 0.310021 0.180746 +f 340 342 346 +f 338 335 339 +f 336 337 342 +f 337 339 342 +f 342 340 343 +f 338 336 343 +f 340 341 343 +f 336 342 343 +f 343 341 344 +f 341 338 344 +f 338 343 344 +f 337 336 345 +f 336 338 345 +f 338 339 345 +f 339 337 345 +f 335 338 346 +f 339 335 346 +f 338 341 346 +f 341 340 346 +f 342 339 346 +o convex_27 +v -1.305985 0.272150 -0.198337 +v -0.548059 0.632234 -0.274128 +v -0.548059 0.632234 -0.293096 +v -0.548059 0.215252 -0.122513 +v -0.548059 0.215252 -0.274128 +v -1.211309 0.632234 -0.236224 +v -1.305985 0.310069 -0.122513 +v -1.249150 0.480560 -0.255176 +v -1.305985 0.272150 -0.236224 +v -0.604968 0.632234 -0.255176 +v -0.699718 0.215252 -0.274128 +f 355 354 357 +f 349 348 350 +f 349 350 351 +f 348 349 352 +f 347 350 353 +f 352 349 354 +f 347 353 355 +f 353 352 355 +f 352 354 355 +f 350 348 356 +f 348 352 356 +f 352 353 356 +f 353 350 356 +f 350 347 357 +f 351 350 357 +f 349 351 357 +f 354 349 357 +f 347 355 357 +o convex_28 +v 0.456933 0.139437 -1.013338 +v 1.100618 1.485090 -0.937538 +v 1.100618 1.485090 -0.956497 +v -0.415205 1.485090 -0.975434 +v -0.453216 0.139437 -0.975434 +v 1.517778 0.139437 -0.956482 +v -0.415205 1.106131 -1.013338 +v 1.517971 1.030392 -0.975427 +v 0.267263 1.485090 -0.994364 +v -0.434114 0.139437 -1.013338 +v 1.517971 0.859683 -0.937538 +v 1.328107 0.139437 -0.994371 +v 0.778776 1.465991 -0.937538 +v 1.517971 1.447023 -0.956497 +v -0.415205 1.485090 -0.994364 +v 1.157538 1.465991 -0.975427 +v 1.517971 1.447023 -0.937538 +f 368 371 374 +f 359 360 361 +f 362 358 363 +f 361 360 366 +f 358 364 366 +f 365 358 366 +f 358 362 367 +f 364 358 367 +f 362 364 367 +f 362 363 368 +f 363 365 368 +f 363 358 369 +f 365 363 369 +f 358 365 369 +f 359 361 370 +f 361 362 370 +f 368 359 370 +f 362 368 370 +f 360 359 371 +f 368 365 371 +f 362 361 372 +f 364 362 372 +f 361 366 372 +f 366 364 372 +f 366 360 373 +f 365 366 373 +f 360 371 373 +f 371 365 373 +f 359 368 374 +f 371 359 374 +o convex_29 +v -0.415309 1.485170 -0.994384 +v 0.304933 1.579920 -0.141467 +v 0.304933 1.560951 -0.141467 +v -0.415309 1.523070 -0.141467 +v -0.415309 1.579920 -0.994384 +v 0.304933 1.485170 -0.975349 +v 0.304933 1.542001 -0.937445 +v -0.263660 1.504120 -0.141467 +v -0.320484 1.579920 -0.690987 +v 0.247968 1.542001 -0.141467 +v 0.304933 1.579920 -0.350021 +f 381 379 385 +f 377 376 378 +f 375 378 379 +f 376 377 380 +f 375 379 380 +f 376 380 381 +f 380 379 381 +f 377 378 382 +f 378 375 382 +f 375 380 382 +f 378 376 383 +f 379 378 383 +f 376 379 383 +f 380 377 384 +f 377 382 384 +f 382 380 384 +f 379 376 385 +f 376 381 385 +o convex_30 +v 3.451257 0.480606 -0.103559 +v 3.545993 0.783864 0.180747 +v 3.545993 0.783864 -0.008772 +v 3.413368 0.783864 0.066980 +v 3.489146 0.461651 0.180747 +v 3.432312 0.461651 0.180747 +v 3.413368 0.745953 -0.103559 +v 3.489146 0.461651 -0.103559 +f 392 388 393 +f 387 388 389 +f 388 387 390 +f 390 387 391 +f 387 389 391 +f 386 391 392 +f 389 388 392 +f 391 389 392 +f 388 390 393 +f 390 391 393 +f 391 386 393 +f 386 392 393 +o convex_31 +v -0.282562 1.541987 -0.141467 +v 0.437609 1.504098 0.995756 +v 0.266958 1.504098 0.995756 +v -0.415309 1.428290 0.768223 +v 0.437609 1.560938 -0.141467 +v 0.418573 1.579890 0.086178 +v -0.415309 1.447272 0.995756 +v 0.304862 1.466209 0.976721 +v -0.396273 1.485161 -0.027700 +v -0.415309 1.523035 0.010371 +v 0.266958 1.541987 -0.141467 +v 0.437609 1.485161 0.844030 +v -0.206755 1.428290 0.995756 +f 401 395 406 +f 395 398 399 +f 396 395 399 +f 398 394 399 +f 395 396 400 +f 401 397 402 +f 399 394 403 +f 396 399 403 +f 400 396 403 +f 397 400 403 +f 394 402 403 +f 402 397 403 +f 394 398 404 +f 402 394 404 +f 402 404 405 +f 398 395 405 +f 395 401 405 +f 401 402 405 +f 404 398 405 +f 395 400 406 +f 400 397 406 +f 397 401 406 +o convex_32 +v 1.498998 1.409307 0.881958 +v 1.498998 0.859679 -0.141467 +v 1.480063 0.878714 -0.122341 +v 1.498998 1.503990 -0.141467 +v 1.423202 1.579920 1.014710 +v 1.461128 0.859679 1.014710 +v 1.423202 1.485096 -0.141467 +v 1.536924 0.859679 0.389428 +v 1.442159 0.859679 0.597667 +v 1.480063 1.579920 1.014710 +v 1.536924 1.030292 0.483928 +v 1.536924 0.878714 0.067225 +v 1.480063 0.859679 1.014710 +v 1.498998 1.541990 0.408328 +f 417 410 420 +f 408 409 413 +f 410 408 413 +f 411 410 413 +f 412 408 414 +f 409 408 415 +f 412 411 415 +f 408 412 415 +f 413 409 415 +f 411 413 415 +f 411 412 416 +f 417 414 418 +f 408 410 418 +f 414 408 418 +f 410 417 418 +f 412 414 419 +f 407 416 419 +f 416 412 419 +f 417 407 419 +f 414 417 419 +f 410 411 420 +f 416 407 420 +f 411 416 420 +f 407 417 420 +o convex_33 +v -0.415314 -4.447362 -0.634263 +v -0.491108 0.139437 0.256561 +v -0.510077 0.139437 0.256561 +v -0.472176 0.139437 -0.634263 +v -0.415314 -4.389893 0.256561 +v -0.453216 -3.423684 -0.634263 +v -0.453216 -4.428056 0.256561 +v -0.453225 0.139437 -0.463615 +v -0.510077 0.101274 -0.084648 +v -0.415314 -3.366663 -0.634263 +v -0.472176 -0.334688 0.256561 +v -0.472157 -2.003105 -0.634263 +v -0.434274 -4.447362 -0.634263 +v -0.510077 -0.372851 0.237552 +v -0.453225 0.139437 -0.634263 +v -0.491108 0.139437 -0.482624 +v -0.453225 -1.547388 0.256561 +f 428 431 437 +f 423 422 424 +f 422 423 425 +f 424 421 426 +f 421 425 427 +f 425 423 427 +f 424 422 428 +f 421 424 430 +f 425 421 430 +f 428 425 430 +f 422 425 431 +f 428 422 431 +f 424 426 432 +f 426 421 433 +f 421 427 433 +f 427 426 433 +f 427 423 434 +f 426 427 434 +f 423 429 434 +f 432 426 434 +f 429 432 434 +f 424 428 435 +f 430 424 435 +f 428 430 435 +f 423 424 436 +f 429 423 436 +f 424 432 436 +f 432 429 436 +f 425 428 437 +f 431 425 437 +o convex_34 +v 3.072261 0.215276 -0.084593 +v 3.527064 0.234228 -0.236170 +v 3.527064 0.215332 -0.236170 +v 3.489086 0.461651 0.180746 +v 3.280718 0.461651 -0.349932 +v 3.072261 0.291084 0.180746 +v 3.508053 0.461651 -0.349932 +v 3.261796 0.177345 -0.349932 +v 3.470119 0.310063 0.142774 +v 3.527064 0.177345 -0.312011 +v 3.072261 0.328988 0.180746 +v 3.242829 0.461651 -0.330971 +v 3.375329 0.461651 0.180746 +f 441 449 450 +f 440 439 441 +f 441 439 444 +f 442 441 444 +f 442 444 445 +f 440 441 446 +f 441 443 446 +f 446 443 447 +f 439 440 447 +f 443 438 447 +f 444 439 447 +f 445 444 447 +f 438 445 447 +f 440 446 447 +f 438 443 448 +f 443 441 448 +f 441 442 449 +f 442 445 449 +f 445 438 449 +f 438 448 449 +f 449 448 450 +f 448 441 450 +o convex_35 +v -0.510075 1.409336 0.048108 +v -0.415309 1.447262 0.995756 +v -0.491101 1.447262 0.995756 +v -0.415309 1.523059 -0.141467 +v -0.510075 1.504101 -0.027700 +v -0.547985 1.409336 0.995756 +v -0.472192 1.409336 -0.141467 +f 452 456 457 +f 453 452 454 +f 453 454 455 +f 453 455 456 +f 452 453 456 +f 455 451 456 +f 456 451 457 +f 454 452 457 +f 451 455 457 +f 455 454 457 +o convex_36 +v 0.437560 0.063243 1.071564 +v -0.434262 -2.305353 1.052618 +v -0.434262 -2.305353 1.071564 +v 0.494470 -2.305353 1.052618 +v -0.434262 0.139341 1.014712 +v 0.494470 0.138862 1.033665 +v 0.494470 -1.774345 1.090525 +v -0.415262 -0.846338 1.014712 +v -0.434262 0.139341 1.033665 +v 0.058377 -2.305353 1.090525 +v -0.434262 -2.248160 1.033665 +v -0.036169 0.120197 1.014712 +v -0.415262 -0.732670 1.052618 +v 0.494470 0.138862 1.071564 +v 0.342742 -2.305353 1.090525 +v 0.475470 -1.224672 1.090525 +f 471 458 473 +f 460 459 461 +f 459 460 462 +f 461 463 464 +f 462 460 466 +f 463 462 466 +f 460 461 467 +f 461 459 468 +f 459 462 468 +f 465 461 468 +f 462 465 468 +f 463 461 469 +f 462 463 469 +f 461 465 469 +f 465 462 469 +f 458 466 470 +f 466 460 470 +f 460 467 470 +f 464 463 471 +f 466 458 471 +f 463 466 471 +f 461 464 472 +f 467 461 472 +f 464 467 472 +f 467 464 473 +f 458 470 473 +f 470 467 473 +f 464 471 473 +o convex_37 +v 1.423202 -4.447362 -1.051227 +v 1.517952 0.139437 -0.937536 +v 1.517952 0.139437 -0.975441 +v 1.423202 0.139437 -0.975441 +v 1.442171 -4.447362 -0.937536 +v 1.480052 -3.896911 -1.051227 +v 1.480052 -4.295607 -0.937536 +v 1.423202 0.024947 -0.994401 +v 1.423202 0.139437 -0.956495 +v 1.461121 -4.447362 -1.070186 +v 1.517952 -0.069788 -0.994401 +f 479 483 484 +f 475 476 477 +f 475 478 480 +f 477 476 481 +f 474 477 481 +f 475 477 482 +f 477 474 482 +f 474 478 482 +f 478 475 482 +f 478 474 483 +f 479 480 483 +f 480 478 483 +f 474 481 483 +f 483 481 484 +f 476 475 484 +f 480 479 484 +f 475 480 484 +f 481 476 484 +o convex_38 +v 1.536915 -1.756614 -0.236284 +v 1.536915 -1.453551 0.256454 +v 1.536915 -0.373300 -0.293201 +v 1.442174 -4.276300 -0.937523 +v 1.517967 -4.446914 0.256454 +v 1.480080 -4.351729 -0.937523 +v 1.480080 -0.411015 -0.937523 +v 1.480070 -4.408750 0.142736 +v 1.517948 -0.524158 -0.937523 +v 1.517967 -1.453551 0.256454 +v 1.517958 0.139437 -0.293201 +v 1.536906 0.139437 -0.671987 +v 1.536915 -3.233764 0.237404 +v 1.499000 0.139437 -0.937523 +v 1.442174 -4.447362 -0.880606 +v 1.536906 0.139437 -0.293201 +v 1.536915 -1.036447 -0.463719 +v 1.517967 -4.427607 0.104752 +v 1.499019 -4.446914 0.256454 +v 1.480080 -0.411015 -0.918473 +v 1.499000 0.139437 -0.653053 +v 1.480080 -4.447362 -0.899539 +f 502 489 506 +f 487 486 485 +f 490 488 491 +f 490 491 493 +f 489 486 494 +f 494 486 495 +f 485 486 497 +f 486 489 497 +f 493 491 498 +f 496 493 498 +f 495 496 498 +f 488 490 499 +f 486 487 500 +f 495 486 500 +f 487 496 500 +f 496 495 500 +f 487 485 501 +f 485 490 501 +f 490 493 501 +f 496 487 501 +f 493 496 501 +f 490 485 502 +f 485 497 502 +f 497 489 502 +f 489 494 503 +f 494 492 503 +f 499 489 503 +f 492 499 503 +f 491 488 504 +f 492 494 504 +f 498 491 504 +f 488 499 504 +f 499 492 504 +f 494 495 505 +f 495 498 505 +f 504 494 505 +f 498 504 505 +f 499 490 506 +f 489 499 506 +f 490 502 506 +o convex_39 +v 1.536917 0.139563 -0.672097 +v 1.499024 1.428108 -0.141546 +v 1.517971 1.428108 -0.274284 +v 1.499024 1.428108 -0.937491 +v 1.499017 0.139563 -0.653111 +v 1.555871 0.158487 -0.141546 +v 1.536917 1.352289 -0.899521 +v 1.480063 0.954397 -0.141546 +v 1.499017 0.139563 -0.956397 +v 1.555871 0.783836 -0.141546 +v 1.517971 0.139563 -0.141546 +v 1.480063 1.428108 -0.293109 +v 1.517971 0.139563 -0.956397 +v 1.555871 0.253229 -0.331160 +f 513 516 520 +f 508 509 510 +f 510 509 513 +f 512 508 514 +f 507 511 515 +f 511 514 515 +f 509 508 516 +f 508 512 516 +f 513 509 516 +f 511 507 517 +f 507 512 517 +f 514 511 517 +f 512 514 517 +f 508 510 518 +f 514 508 518 +f 510 515 518 +f 515 514 518 +f 513 507 519 +f 510 513 519 +f 507 515 519 +f 515 510 519 +f 512 507 520 +f 507 513 520 +f 516 512 520 +o convex_40 +v 1.442163 -0.959643 0.427073 +v 1.461137 0.139437 0.502960 +v 1.555878 0.063342 -0.179315 +v 1.536917 -2.002123 0.408141 +v 1.517943 -1.452478 -0.292989 +v 1.423215 0.139437 0.256524 +v 1.480072 -2.002123 0.502960 +v 1.517943 0.139228 -0.292989 +v 1.536917 -1.452478 -0.292989 +v 1.555878 -0.940566 0.067042 +v 1.555878 0.139228 -0.292989 +v 1.442163 0.139437 0.502960 +v 1.536917 -2.002123 0.256524 +v 1.517956 -1.945104 0.502960 +v 1.461137 -1.641982 0.483949 +f 527 532 535 +f 525 521 526 +f 525 526 528 +f 525 528 529 +f 523 522 530 +f 522 524 530 +f 530 529 531 +f 522 523 531 +f 526 522 531 +f 528 526 531 +f 529 528 531 +f 523 530 531 +f 522 526 532 +f 526 521 532 +f 527 522 532 +f 524 527 533 +f 527 525 533 +f 525 529 533 +f 530 524 533 +f 529 530 533 +f 524 522 534 +f 522 527 534 +f 527 524 534 +f 521 525 535 +f 525 527 535 +f 532 521 535 +o convex_41 +v 0.077438 -2.305593 1.090525 +v -0.434262 -4.390297 1.071571 +v -0.434262 -4.390297 1.090525 +v -0.434262 -2.305593 1.052618 +v 0.077438 -4.390297 1.052618 +v 0.077438 -2.305593 1.052618 +v 0.077438 -4.390297 1.071571 +v -0.434262 -2.305593 1.071571 +v -0.434262 -3.632204 1.052618 +v 0.077438 -3.310397 1.090525 +v -0.434262 -3.556293 1.090525 +v -0.244679 -4.390297 1.052618 +f 544 540 547 +f 537 538 539 +f 538 537 540 +f 539 536 541 +f 536 540 541 +f 540 539 541 +f 540 536 542 +f 538 540 542 +f 539 538 543 +f 536 539 543 +f 537 539 544 +f 539 540 544 +f 536 538 545 +f 542 536 545 +f 538 542 545 +f 538 536 546 +f 536 543 546 +f 543 538 546 +f 540 537 547 +f 537 544 547 +o convex_42 +v 0.323901 -2.400686 1.090525 +v 0.077488 -4.390297 1.033669 +v 0.077488 -4.390297 1.071564 +v 0.987266 -4.390297 0.995756 +v 0.968298 -2.324774 1.014717 +v 0.077488 -2.305593 1.071564 +v 0.987266 -2.400686 1.052612 +v 0.778701 -4.390297 1.033669 +v 0.740853 -4.371319 0.995756 +v 0.077488 -2.305593 1.090525 +v 0.304933 -2.305593 1.052612 +v 0.987266 -4.390297 1.014717 +v 0.096457 -3.234486 1.090525 +v 0.987266 -3.537315 0.995756 +v 0.987266 -2.305593 1.052612 +f 561 552 562 +f 550 549 551 +f 549 550 553 +f 550 551 555 +f 554 548 555 +f 551 549 556 +f 553 550 557 +f 549 553 558 +f 556 549 558 +f 552 556 558 +f 553 557 558 +f 551 554 559 +f 555 551 559 +f 554 555 559 +f 555 548 560 +f 550 555 560 +f 548 557 560 +f 557 550 560 +f 554 551 561 +f 551 556 561 +f 556 552 561 +f 548 554 562 +f 557 548 562 +f 552 558 562 +f 558 557 562 +f 554 561 562 +o convex_43 +v 0.911437 -0.239869 1.090525 +v 0.494470 -2.305353 1.052621 +v 0.646129 -2.305353 1.033664 +v 0.494470 0.138959 1.052621 +v 0.987266 -1.092291 1.033664 +v 0.987266 -2.305353 1.052621 +v 0.494470 -1.698702 1.090525 +v 0.987266 0.138959 1.052621 +v 0.494470 0.138959 1.071568 +v 0.987266 -2.305353 1.033664 +v 0.684092 -2.305353 1.071568 +v 0.987266 0.138959 1.071568 +f 570 571 574 +f 565 564 566 +f 565 566 567 +f 564 565 568 +f 566 564 569 +f 567 566 570 +f 568 567 570 +f 569 563 571 +f 566 569 571 +f 570 566 571 +f 565 567 572 +f 568 565 572 +f 567 568 572 +f 564 568 573 +f 568 563 573 +f 563 569 573 +f 569 564 573 +f 563 568 574 +f 568 570 574 +f 571 563 574 +o convex_44 +v 1.423202 1.579920 1.014710 +v 0.437609 1.523070 0.332376 +v 0.437609 1.485170 0.863028 +v 1.423202 1.523070 0.332376 +v 0.665098 1.579920 0.332376 +v 0.475523 1.523070 0.957804 +v 1.328367 1.542001 1.014710 +v 0.570359 1.485170 1.014710 +v 1.176804 1.560951 0.332376 +v 1.423202 1.523070 0.635673 +v 0.437609 1.560951 0.370313 +v 1.290452 1.579920 1.014710 +f 579 585 586 +f 577 576 578 +f 578 576 579 +f 581 575 582 +f 577 578 582 +f 580 577 582 +f 575 578 583 +f 579 575 583 +f 578 579 583 +f 578 575 584 +f 575 581 584 +f 581 582 584 +f 582 578 584 +f 576 577 585 +f 579 576 585 +f 577 580 585 +f 585 580 586 +f 575 579 586 +f 582 575 586 +f 580 582 586 +o convex_45 +v 1.442156 -0.656662 0.521973 +v 1.480059 0.859398 1.033664 +v 1.480059 0.859398 0.863014 +v 1.499017 -2.001843 0.502960 +v 1.480059 -2.001843 0.957767 +v 1.442156 0.859398 0.882027 +v 1.461113 0.139186 0.502960 +v 1.499017 -0.391659 0.957767 +v 1.461113 -1.964025 0.559895 +v 1.499017 -2.001843 0.957767 +v 1.442156 0.859398 0.635636 +v 1.461113 0.139186 1.033664 +v 1.499017 -1.622828 0.502960 +v 1.461113 0.859398 0.635636 +f 599 593 600 +f 588 589 592 +f 587 591 592 +f 590 587 593 +f 589 588 594 +f 587 590 595 +f 591 587 595 +f 590 591 595 +f 591 590 596 +f 594 588 596 +f 590 594 596 +f 587 592 597 +f 592 589 597 +f 593 587 597 +f 588 592 598 +f 592 591 598 +f 591 596 598 +f 596 588 598 +f 590 593 599 +f 589 594 599 +f 594 590 599 +f 597 589 600 +f 593 597 600 +f 589 599 600 +o convex_46 +v -2.424412 0.196313 0.104980 +v -2.424412 0.632234 0.313423 +v -2.424412 0.632234 0.199695 +v -2.519171 0.632234 -0.065631 +v -2.462321 0.234206 0.256500 +v -2.424412 0.177345 -0.084606 +v -2.481253 0.177345 -0.084606 +v -2.481253 0.632234 -0.084606 +f 607 604 608 +f 603 602 601 +f 602 603 604 +f 601 602 605 +f 602 604 605 +f 603 601 606 +f 601 605 607 +f 605 604 607 +f 606 601 607 +f 606 607 608 +f 604 603 608 +f 603 606 608 +o convex_47 +v -2.424334 0.177345 -0.027683 +v -1.817975 0.632234 0.237604 +v -1.799030 0.423669 0.256500 +v -1.723184 0.215282 -0.084606 +v -2.424334 0.234206 0.256500 +v -2.405321 0.632234 0.275513 +v -2.405321 0.215282 -0.084606 +v -1.780086 0.329004 0.256500 +v -2.424334 0.632234 0.313423 +v -2.026432 0.632234 0.218630 +v -1.723184 0.234206 -0.084606 +v -1.723184 0.215282 -0.046696 +f 619 610 620 +f 612 609 615 +f 610 611 616 +f 611 610 617 +f 609 613 617 +f 610 614 617 +f 615 609 617 +f 614 615 617 +f 616 611 617 +f 613 616 617 +f 614 610 618 +f 615 614 618 +f 615 618 619 +f 612 615 619 +f 618 610 619 +f 609 612 620 +f 613 609 620 +f 610 616 620 +f 616 613 620 +f 612 619 620 +o convex_48 +v -0.851265 0.328963 0.275515 +v -1.325087 0.291052 -0.122513 +v -1.325087 0.310008 -0.122513 +v -0.547985 0.234219 -0.122513 +v -0.567002 0.234219 0.313408 +v -0.547985 0.328963 0.294439 +v -1.268189 0.291052 0.180672 +v -0.623824 0.215263 -0.103500 +v -1.325087 0.328963 0.161793 +v -0.585942 0.253175 -0.122513 +f 626 624 630 +f 622 623 624 +f 621 625 626 +f 625 624 626 +f 625 621 627 +f 625 627 628 +f 622 624 628 +f 624 625 628 +f 627 622 628 +f 623 622 629 +f 621 626 629 +f 626 623 629 +f 627 621 629 +f 622 627 629 +f 624 623 630 +f 623 626 630 +o convex_49 +v -1.268189 0.594297 0.142876 +v -0.547985 0.632234 0.332358 +v -0.547985 0.328975 0.332358 +v -1.287130 0.442697 0.180772 +v -0.547985 0.328975 0.294443 +v -1.268189 0.328975 0.142876 +v -0.623824 0.632234 0.332358 +v -0.585942 0.613266 0.294443 +v -1.211215 0.328975 0.199711 +v -1.249248 0.632234 0.180772 +v -1.230307 0.632234 0.142876 +f 640 632 641 +f 632 633 635 +f 635 633 636 +f 634 631 636 +f 633 632 637 +f 632 635 638 +f 636 633 639 +f 634 636 639 +f 633 637 639 +f 637 634 639 +f 631 634 640 +f 637 632 640 +f 634 637 640 +f 635 636 641 +f 636 631 641 +f 632 638 641 +f 638 635 641 +f 631 640 641 +o convex_50 +v -0.510062 1.333336 0.825010 +v -0.491101 0.139437 -0.312050 +v -0.472192 0.139437 -0.312050 +v -0.491101 0.139437 1.033664 +v -0.415309 0.821718 -0.312050 +v -0.547985 0.708108 -0.292950 +v -0.547985 0.423835 1.014564 +v -0.491127 1.409283 -0.141465 +v -0.547985 1.409283 0.995727 +v -0.547985 0.215384 -0.273981 +v -0.491101 0.859630 1.014564 +v -0.472192 1.409283 0.105126 +v -0.528998 0.139437 1.033664 +v -0.415309 0.632285 -0.273981 +v -0.547985 1.409283 0.711330 +f 650 649 656 +f 643 644 645 +f 644 643 646 +f 646 643 647 +f 646 647 649 +f 647 648 650 +f 647 643 651 +f 648 647 651 +f 642 650 652 +f 646 649 653 +f 649 650 653 +f 650 642 653 +f 642 652 653 +f 652 646 653 +f 643 645 654 +f 650 648 654 +f 651 643 654 +f 648 651 654 +f 645 652 654 +f 652 650 654 +f 645 644 655 +f 644 646 655 +f 646 652 655 +f 652 645 655 +f 649 647 656 +f 647 650 656 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/505/505.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/505/505.urdf new file mode 100644 index 000000000..0476a70dd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/505/505.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/506/506.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/506/506.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/506/506.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/506/506.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/506/506.obj new file mode 100644 index 000000000..e2f82d178 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/506/506.obj @@ -0,0 +1,378 @@ +o convex_0 +v 0.185724 -3.355093 -0.397373 +v 1.041163 1.363904 1.077164 +v 1.041163 1.363904 0.546057 +v -1.082365 1.363904 -1.075677 +v -0.964345 -3.089026 0.959021 +v -0.964345 1.363904 1.047468 +v 1.070668 -3.295505 1.017986 +v 0.982153 1.363904 -1.016712 +v -0.934839 -3.207278 -1.075677 +v 1.011658 -3.206816 -0.957748 +v -0.964345 -3.295967 0.929539 +v -0.964345 0.301945 1.047468 +v -0.964345 1.363904 -1.105372 +v -0.610283 -3.207278 -1.075677 +v 1.011658 -0.022786 1.077164 +v 1.041163 -3.325530 0.959021 +v 1.011658 -1.703259 -0.957748 +v 0.805122 -3.295967 1.017986 +v 0.539786 1.245652 -1.046194 +v 1.041163 -3.265942 -0.220266 +v 1.070668 -1.761923 0.988503 +v -0.964345 -3.266404 0.428128 +v -0.993850 -0.376619 -1.105372 +v 0.716606 -3.119051 -0.987230 +v 0.480776 -3.355093 0.103611 +v 0.982153 -3.236841 -0.928266 +v 0.510281 1.363904 1.077164 +v -1.082365 1.333879 -1.105372 +v 1.070668 -1.939301 1.047468 +v 0.303745 -3.355093 -0.426855 +v -0.344947 -1.555444 -1.075677 +v 0.097209 -3.355093 -0.308713 +v 1.041163 -3.118589 -0.249962 +v 1.070668 -3.295505 0.781915 +v -0.964345 -2.351798 -1.075677 +v -0.934839 -3.236379 -0.544784 +v -0.816819 -3.295967 0.959021 +v 0.982153 -1.467217 -0.987230 +v 1.011658 1.363904 -0.279444 +v -0.964345 -3.295967 0.841093 +f 36 32 40 +f 2 3 4 +f 2 4 6 +f 4 3 8 +f 5 4 11 +f 4 5 12 +f 6 4 12 +f 4 8 13 +f 10 8 17 +f 16 7 18 +f 13 8 19 +f 3 2 21 +f 14 9 23 +f 13 19 23 +f 10 14 24 +f 16 11 25 +f 14 10 26 +f 10 20 26 +f 2 6 27 +f 6 12 27 +f 15 2 27 +f 12 15 27 +f 11 4 28 +f 4 13 28 +f 23 9 28 +f 13 23 28 +f 2 15 29 +f 15 12 29 +f 12 18 29 +f 18 7 29 +f 21 2 29 +f 7 21 29 +f 1 9 30 +f 9 14 30 +f 20 16 30 +f 25 1 30 +f 16 25 30 +f 26 20 30 +f 14 26 30 +f 14 23 31 +f 23 19 31 +f 9 1 32 +f 1 25 32 +f 25 11 32 +f 17 3 33 +f 10 17 33 +f 20 10 33 +f 3 21 33 +f 33 21 34 +f 7 16 34 +f 16 20 34 +f 21 7 34 +f 20 33 34 +f 9 22 35 +f 28 9 35 +f 22 28 35 +f 9 32 36 +f 5 11 37 +f 12 5 37 +f 11 16 37 +f 18 12 37 +f 16 18 37 +f 8 10 38 +f 19 8 38 +f 10 24 38 +f 24 14 38 +f 14 31 38 +f 31 19 38 +f 8 3 39 +f 3 17 39 +f 17 8 39 +f 22 9 40 +f 11 28 40 +f 28 22 40 +f 32 11 40 +f 9 36 40 +o convex_1 +v -0.757796 2.779371 -1.075708 +v 1.041183 1.924260 1.106657 +v 1.041183 1.894814 1.106657 +v -0.964122 2.690886 1.106657 +v -1.082354 1.364051 -1.105372 +v 0.952246 2.808964 -1.016813 +v 0.981962 1.364051 -1.016813 +v -0.964122 1.364051 1.047546 +v 1.040973 2.808964 1.106657 +v 1.041183 1.364051 1.076993 +v -1.111859 2.749925 -1.105372 +v -0.344932 2.868003 -0.161535 +v 0.451078 2.160269 -1.105372 +v -0.315427 1.541021 1.106657 +v 0.215036 2.868003 0.369170 +v -1.082143 2.749925 -0.426996 +v 1.040973 2.779518 0.693526 +v -0.934617 2.720479 1.047546 +v 0.303551 1.541021 -1.105372 +v 0.716415 2.838410 -0.869359 +v 0.981962 2.808964 -0.928254 +v 1.041183 1.364051 0.546072 +v -1.111859 2.337240 -1.016813 +v -0.964122 1.452536 1.076993 +v 0.863941 2.690886 -1.046261 +v 0.745920 2.838410 0.840980 +v -0.344932 2.868003 -0.308990 +v -0.993627 2.661440 0.840980 +v -0.787301 2.749925 -1.105372 +v 0.804930 2.838410 -0.751352 +v -1.023132 2.779371 -0.987366 +v 0.981962 2.396279 -1.016813 +v 0.775425 2.808964 1.106657 +v 0.657404 2.808964 -1.046261 +v -1.111859 2.661440 -0.869359 +v 0.274046 2.868003 0.162821 +v 0.244752 1.511428 1.106657 +v -1.082354 1.364051 -1.046261 +f 48 63 78 +f 43 42 44 +f 45 47 48 +f 44 42 49 +f 42 43 50 +f 48 47 50 +f 45 51 53 +f 43 44 54 +f 49 42 57 +f 55 52 58 +f 56 44 58 +f 52 56 58 +f 47 45 59 +f 45 53 59 +f 53 47 59 +f 49 57 61 +f 50 47 62 +f 42 50 62 +f 57 42 62 +f 51 45 63 +f 48 50 64 +f 54 44 64 +f 47 53 65 +f 52 55 67 +f 60 41 67 +f 44 56 68 +f 64 44 68 +f 53 51 69 +f 46 60 70 +f 61 46 70 +f 49 61 70 +f 66 49 70 +f 41 51 71 +f 51 56 71 +f 56 52 71 +f 67 41 71 +f 52 67 71 +f 46 61 72 +f 61 57 72 +f 62 47 72 +f 57 62 72 +f 65 46 72 +f 47 65 72 +f 44 49 73 +f 58 44 73 +f 55 58 73 +f 49 66 73 +f 66 55 73 +f 51 41 74 +f 41 60 74 +f 60 46 74 +f 46 65 74 +f 65 53 74 +f 69 51 74 +f 53 69 74 +f 56 51 75 +f 63 48 75 +f 51 63 75 +f 48 64 75 +f 68 56 75 +f 64 68 75 +f 55 66 76 +f 67 55 76 +f 60 67 76 +f 70 60 76 +f 66 70 76 +f 50 43 77 +f 43 54 77 +f 64 50 77 +f 54 64 77 +f 45 48 78 +f 63 45 78 +o convex_2 +v 0.038368 1.481951 -2.992775 +v 0.333207 2.012766 -1.105569 +v -0.197478 2.012766 -1.105569 +v 0.303742 2.012766 -3.110946 +v 0.303742 1.540918 -1.105569 +v -0.315401 1.511407 -3.022219 +v -0.285936 1.983200 -3.022219 +v -0.197478 1.540918 -1.105569 +v 0.215284 1.452385 -2.874800 +v -0.285936 1.511407 -2.225840 +v -0.256472 2.012766 -2.137506 +v 0.303742 1.924233 -3.110946 +v 0.333207 1.953744 -2.284925 +v -0.256472 1.481951 -2.933689 +v -0.226943 1.629451 -1.223544 +v -0.315401 1.747221 -2.963134 +v -0.109020 2.012766 -3.051664 +v 0.156291 1.452385 -2.815714 +v 0.185819 1.452385 -2.963134 +v 0.303742 1.865265 -2.963134 +v 0.333207 1.806298 -1.105569 +v 0.274277 1.511407 -1.548024 +v 0.185819 2.012766 -3.110946 +v 0.303742 1.540918 -1.223544 +f 100 87 102 +f 81 80 82 +f 80 81 83 +f 83 81 86 +f 81 82 89 +f 79 84 90 +f 82 80 91 +f 90 82 91 +f 88 84 92 +f 86 88 92 +f 86 81 93 +f 88 86 93 +f 81 89 93 +f 93 89 94 +f 85 84 94 +f 84 88 94 +f 89 85 94 +f 88 93 94 +f 89 82 95 +f 85 89 95 +f 86 92 96 +f 96 92 97 +f 84 79 97 +f 79 90 97 +f 90 87 97 +f 92 84 97 +f 87 96 97 +f 87 90 98 +f 90 91 98 +f 80 83 99 +f 91 80 99 +f 83 86 100 +f 86 96 100 +f 96 87 100 +f 84 85 101 +f 82 90 101 +f 90 84 101 +f 95 82 101 +f 85 95 101 +f 87 98 102 +f 98 91 102 +f 99 83 102 +f 91 99 102 +f 83 100 102 +o convex_3 +v -0.345022 1.540927 1.608394 +v 0.303840 1.599926 2.964419 +v 0.303840 1.540927 2.964419 +v 0.303840 2.042196 1.106854 +v -0.256420 1.953666 2.994060 +v 0.274306 1.511459 1.165939 +v -0.345022 1.393398 3.112231 +v -0.285954 1.953666 1.106854 +v 0.185830 2.012665 2.934974 +v -0.315424 1.540927 1.106854 +v -0.020591 2.012665 2.934974 +v -0.345022 1.570458 3.082394 +v 0.303840 1.511459 2.109542 +v -0.079469 1.511459 1.106854 +v -0.256420 1.393398 3.112231 +v -0.197478 1.983197 1.106854 +v -0.345022 1.393398 2.905529 +v 0.244772 1.511459 1.106854 +v -0.285954 1.953666 2.109542 +v 0.244772 1.865199 2.934974 +v 0.215301 2.042196 1.991764 +v -0.315424 1.511459 1.224829 +v -0.197478 1.983197 2.964419 +v -0.315424 1.776732 1.106854 +v 0.244772 1.511459 2.964419 +v -0.285954 1.481991 3.112231 +v 0.303840 1.658925 2.934974 +v 0.274306 2.042196 1.667284 +f 129 106 130 +f 104 105 106 +f 110 106 112 +f 107 111 113 +f 103 109 114 +f 106 105 115 +f 108 106 115 +f 112 106 116 +f 105 104 117 +f 108 115 117 +f 106 110 118 +f 109 103 119 +f 117 109 119 +f 108 117 119 +f 106 108 120 +f 116 106 120 +f 108 119 120 +f 119 116 120 +f 114 107 121 +f 118 110 121 +f 111 104 122 +f 113 111 123 +f 106 118 123 +f 118 113 123 +f 103 112 124 +f 112 116 124 +f 119 103 124 +f 116 119 124 +f 107 113 125 +f 113 118 125 +f 121 107 125 +f 118 121 125 +f 112 103 126 +f 110 112 126 +f 103 114 126 +f 121 110 126 +f 114 121 126 +f 115 105 127 +f 105 117 127 +f 117 115 127 +f 104 111 128 +f 111 107 128 +f 114 109 128 +f 107 114 128 +f 117 104 128 +f 109 117 128 +f 104 106 129 +f 122 104 129 +f 122 129 130 +f 111 122 130 +f 106 123 130 +f 123 111 130 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/506/506.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/506/506.urdf new file mode 100644 index 000000000..cdadef792 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/506/506.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/507/507.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/507/507.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/507/507.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/507/507.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/507/507.obj new file mode 100644 index 000000000..03b114967 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/507/507.obj @@ -0,0 +1,1947 @@ +o convex_0 +v -0.660021 0.225819 0.314795 +v -2.951893 0.220434 0.153384 +v -2.951893 0.241957 0.153384 +v -0.240093 0.220434 0.314795 +v -0.185944 0.263476 0.320172 +v -2.924547 0.263476 0.169548 +v -2.946478 0.220434 0.174942 +v -0.460481 0.263476 0.320172 +v -2.940792 0.263476 0.153384 +v -0.250652 0.220434 0.325583 +f 5 8 10 +f 1 6 7 +f 3 2 7 +f 2 4 7 +f 5 6 8 +f 6 1 8 +f 2 3 9 +f 4 2 9 +f 5 4 9 +f 6 5 9 +f 7 6 9 +f 3 7 9 +f 4 5 10 +f 1 7 10 +f 7 4 10 +f 8 1 10 +o convex_1 +v -1.154193 -0.242343 -0.309399 +v -0.169822 -0.199305 -0.314779 +v -0.164430 -0.269246 -0.293258 +v -2.058610 -0.199305 -0.293258 +v -0.159038 -0.280024 -0.320159 +v -0.557323 -0.199305 -0.320159 +v -0.352788 -0.280024 -0.293258 +v -1.708669 -0.199305 -0.293258 +v -2.058610 -0.204702 -0.298644 +v -0.482017 -0.269246 -0.320159 +f 11 19 20 +f 12 13 15 +f 12 15 16 +f 14 12 16 +f 13 14 17 +f 15 13 17 +f 13 12 18 +f 14 13 18 +f 12 14 18 +f 14 16 19 +f 17 14 19 +f 11 17 19 +f 16 15 20 +f 17 11 20 +f 15 17 20 +f 19 16 20 +o convex_2 +v -2.957293 0.048248 -0.110277 +v -2.946526 0.220399 0.164146 +v -2.925004 0.268857 0.153337 +v -2.930376 -0.172361 -0.201752 +v -3.016467 -0.156251 0.164146 +v -2.935739 0.209601 -0.185579 +v -2.908854 0.215000 -0.190983 +v -2.935760 -0.172361 -0.234018 +v -2.908854 -0.010921 -0.244827 +v -2.946516 0.268857 0.147973 +v -3.016467 -0.145454 0.131840 +v -3.005701 -0.140055 0.164146 +v -2.925004 0.258059 0.153337 +v -2.908854 0.215000 -0.115682 +v -2.930387 0.032095 -0.234018 +v -2.925004 -0.172361 -0.228654 +f 29 33 36 +f 24 25 28 +f 22 23 30 +f 25 22 30 +f 23 27 30 +f 27 26 30 +f 26 21 31 +f 28 25 31 +f 25 30 31 +f 30 26 31 +f 25 24 32 +f 22 25 32 +f 23 22 33 +f 22 32 33 +f 32 24 33 +f 27 23 34 +f 29 27 34 +f 23 33 34 +f 33 29 34 +f 21 26 35 +f 26 27 35 +f 29 28 35 +f 27 29 35 +f 31 21 35 +f 28 31 35 +f 24 28 36 +f 28 29 36 +f 33 24 36 +o convex_3 +v 0.239115 0.225811 -0.260834 +v 0.276842 0.301138 0.330947 +v 0.276842 0.295758 0.330947 +v -0.228948 0.284989 0.153329 +v -0.223551 0.247349 -0.287824 +v -0.175180 0.306527 0.287892 +v -0.228948 0.236588 -0.276964 +v -0.164338 0.295758 0.298623 +v 0.266049 0.225819 -0.212446 +v 0.271445 0.236588 -0.223242 +v 0.260652 0.301138 0.293225 +v -0.169734 0.241961 -0.320083 +v 0.255255 0.290385 0.304021 +v -0.228948 0.279608 0.137135 +v -0.185874 0.231208 -0.320083 +v -0.175180 0.306527 0.325549 +v 0.104598 0.306527 0.320151 +v -0.228948 0.290377 0.131737 +f 40 52 54 +f 39 45 46 +f 38 39 46 +f 45 37 46 +f 38 46 47 +f 46 37 48 +f 41 47 48 +f 47 46 48 +f 39 44 49 +f 44 45 49 +f 45 39 49 +f 40 43 50 +f 43 45 50 +f 45 44 50 +f 43 41 51 +f 45 43 51 +f 37 45 51 +f 48 37 51 +f 41 48 51 +f 39 38 52 +f 44 39 52 +f 40 50 52 +f 50 44 52 +f 41 42 53 +f 47 41 53 +f 38 47 53 +f 52 38 53 +f 42 52 53 +f 42 41 54 +f 43 40 54 +f 41 43 54 +f 52 42 54 +o convex_4 +v 1.649184 -0.161637 0.298667 +v 2.951193 0.048231 0.266392 +v 2.951193 0.026702 0.266392 +v 2.918927 -0.156254 0.244866 +v 2.940481 0.048231 0.244866 +v 1.982949 0.048231 0.298667 +v 2.929770 -0.161637 0.255632 +v 1.649184 -0.156254 0.293284 +v 1.805290 -0.161637 0.298667 +v 2.138924 0.042849 0.298667 +v 1.982949 0.048231 0.293284 +v 2.983590 -0.161637 0.244866 +f 62 58 66 +f 56 59 60 +f 59 58 62 +f 55 60 62 +f 60 55 63 +f 55 61 63 +f 63 61 64 +f 57 56 64 +f 56 60 64 +f 61 57 64 +f 60 63 64 +f 60 59 65 +f 59 62 65 +f 62 60 65 +f 56 57 66 +f 58 59 66 +f 59 56 66 +f 61 55 66 +f 57 61 66 +f 55 62 66 +o convex_5 +v 2.919023 -0.231586 -0.282496 +v 0.336219 -0.236962 -0.330923 +v 0.336219 -0.226209 -0.330923 +v 0.341781 -0.247732 -0.293261 +v 0.444173 -0.204691 -0.314777 +v 2.919023 -0.204686 -0.287885 +v 2.563811 -0.242351 -0.304017 +v 2.773651 -0.204686 -0.298636 +v 0.557183 -0.247732 -0.330923 +v 0.341781 -0.236962 -0.293261 +v 0.336219 -0.204691 -0.325538 +v 2.708930 -0.242351 -0.282496 +v 2.698311 -0.231586 -0.304017 +v 1.466069 -0.247732 -0.293261 +v 2.213909 -0.236966 -0.282496 +v 2.692749 -0.204686 -0.287885 +v 2.919023 -0.236966 -0.298636 +f 79 74 83 +f 68 69 75 +f 70 68 75 +f 69 68 77 +f 68 70 77 +f 74 69 77 +f 70 76 77 +f 76 71 77 +f 69 74 79 +f 73 75 79 +f 75 69 79 +f 75 73 80 +f 70 75 80 +f 73 78 80 +f 78 70 80 +f 76 70 81 +f 78 67 81 +f 70 78 81 +f 67 72 82 +f 72 74 82 +f 71 76 82 +f 74 77 82 +f 77 71 82 +f 81 67 82 +f 76 81 82 +f 72 67 83 +f 74 72 83 +f 67 78 83 +f 78 73 83 +f 73 79 83 +o convex_6 +v 2.999741 -0.247728 0.212494 +v 2.908287 -0.258499 0.121075 +v 2.935181 -0.258499 0.121075 +v 2.945942 -0.161637 0.008063 +v 2.929801 -0.236966 -0.298639 +v 2.908287 -0.161637 0.255627 +v 2.988961 -0.167032 0.239405 +v 2.908287 -0.258499 0.250201 +v 2.919030 -0.204692 -0.293214 +v 2.935181 -0.204692 -0.293214 +v 2.999741 -0.258499 0.244830 +v 2.919030 -0.242342 -0.260932 +v 2.988961 -0.258499 0.131818 +f 95 88 96 +f 87 89 90 +f 85 86 91 +f 89 85 91 +f 85 89 92 +f 89 87 92 +f 87 90 93 +f 90 84 93 +f 88 92 93 +f 92 87 93 +f 90 89 94 +f 84 90 94 +f 91 86 94 +f 89 91 94 +f 86 85 95 +f 85 92 95 +f 92 88 95 +f 93 84 96 +f 88 93 96 +f 84 94 96 +f 94 86 96 +f 86 95 96 +o convex_7 +v 2.956686 -0.161622 0.008090 +v 2.913641 -0.204686 -0.293258 +v 2.935177 -0.204686 -0.293258 +v 2.913641 -0.010962 -0.260929 +v 2.983597 -0.010962 -0.260929 +v 2.919031 -0.010962 0.008090 +v 2.962061 -0.204686 0.008090 +v 2.951304 -0.204686 0.008090 +v 2.929795 -0.010962 0.008090 +v 2.972826 -0.075569 -0.271725 +v 2.983597 -0.010962 -0.234056 +f 101 105 107 +f 100 98 102 +f 101 100 102 +f 98 99 103 +f 97 102 103 +f 103 102 104 +f 102 98 104 +f 98 103 104 +f 102 97 105 +f 101 102 105 +f 99 98 106 +f 98 100 106 +f 100 101 106 +f 103 99 106 +f 101 103 106 +f 97 103 107 +f 103 101 107 +f 105 97 107 +o convex_8 +v -0.482008 -0.183175 0.261008 +v -1.310550 -0.274637 -0.110296 +v -1.310550 -0.280024 -0.099502 +v -0.196815 -0.242339 -0.110296 +v -0.282940 -0.167026 0.239455 +v -1.310441 -0.204699 0.244834 +v -0.223852 -0.231577 -0.104881 +v -1.294415 -0.215451 0.250213 +v -1.310550 -0.269250 -0.110296 +v -1.181363 -0.280024 -0.104881 +v -0.256121 -0.183175 0.217939 +v -0.218401 -0.242339 -0.094086 +v -1.240451 -0.199313 0.255593 +v -0.266805 -0.167026 0.261008 +v -1.310441 -0.210075 0.261008 +f 108 121 122 +f 109 110 116 +f 111 109 116 +f 114 111 116 +f 112 114 116 +f 110 109 117 +f 109 111 117 +f 115 110 117 +f 108 115 118 +f 111 118 119 +f 117 111 119 +f 115 117 119 +f 118 115 119 +f 112 116 120 +f 116 113 120 +f 111 114 121 +f 114 112 121 +f 108 118 121 +f 118 111 121 +f 112 120 121 +f 121 120 122 +f 110 115 122 +f 115 108 122 +f 116 110 122 +f 113 116 122 +f 120 113 122 +o convex_9 +v 2.929795 0.048231 0.180254 +v 2.945935 -0.161637 0.008114 +v 2.940553 -0.140108 0.008114 +v 2.929795 0.048231 0.008114 +v 2.983597 -0.140108 0.244841 +v 2.951304 0.042849 0.239442 +v 2.972826 -0.161637 0.228689 +v 2.913641 0.010555 0.013513 +v 2.956686 -0.156254 0.013513 +v 2.940553 0.032084 0.244841 +f 130 129 132 +f 124 125 126 +f 126 123 128 +f 127 126 128 +f 125 124 129 +f 126 125 130 +f 123 126 130 +f 125 129 130 +f 124 126 131 +f 126 127 131 +f 127 129 131 +f 129 124 131 +f 128 123 132 +f 127 128 132 +f 129 127 132 +f 123 130 132 +o convex_10 +v 2.913650 0.236574 0.250214 +v 2.924416 0.048231 0.008090 +v 2.935174 0.048231 0.008090 +v 2.951300 0.048231 0.261008 +v 2.983590 0.209657 0.008090 +v 2.908267 0.209657 0.008090 +v 2.913650 0.048231 0.067284 +v 2.924416 0.236574 0.261008 +v 2.908267 0.225807 0.261008 +v 2.940557 0.048231 0.261008 +f 141 139 142 +f 134 135 136 +f 135 134 137 +f 136 135 137 +f 133 137 138 +f 137 134 138 +f 134 136 139 +f 138 134 139 +f 137 133 140 +f 136 137 140 +f 133 138 141 +f 138 139 141 +f 140 133 141 +f 136 140 141 +f 139 136 142 +f 136 141 142 +o convex_11 +v -1.192260 -0.269257 -0.115687 +v -2.085452 -0.204693 -0.293258 +v -2.112498 -0.204693 -0.287867 +v -2.790352 -0.199305 -0.110296 +v -1.197737 -0.231603 -0.287867 +v -1.235396 -0.280018 -0.115687 +v -2.940986 -0.204693 -0.115687 +v -1.230089 -0.242348 -0.293258 +v -1.929683 -0.199305 -0.287867 +v -2.085452 -0.199305 -0.293258 +v -1.192260 -0.280018 -0.110296 +v -1.203044 -0.269257 -0.110296 +v -2.940986 -0.199305 -0.110296 +f 149 153 155 +f 145 148 149 +f 145 144 150 +f 148 145 150 +f 144 145 152 +f 145 149 152 +f 150 144 152 +f 147 150 152 +f 146 151 152 +f 151 147 152 +f 147 143 153 +f 149 148 153 +f 150 147 153 +f 148 150 153 +f 143 147 154 +f 151 146 154 +f 147 151 154 +f 153 143 154 +f 146 153 154 +f 152 149 155 +f 146 152 155 +f 153 146 155 +o convex_12 +v -1.762519 -0.172389 -0.304023 +v -0.196894 -0.010962 -0.320160 +v -0.196894 -0.010962 -0.325542 +v -0.169800 -0.199305 -0.314781 +v -1.907840 -0.010962 -0.293258 +v -1.719416 -0.199305 -0.293258 +v -0.180708 -0.193922 -0.325542 +v -1.934757 -0.010962 -0.304023 +v -1.967129 -0.199305 -0.298644 +v -0.363678 -0.016346 -0.314781 +v -0.385142 -0.016346 -0.325542 +v -1.967129 -0.199305 -0.293258 +f 163 164 167 +f 158 157 159 +f 157 158 160 +f 159 160 161 +f 158 159 162 +f 160 158 163 +f 159 161 164 +f 156 162 164 +f 162 159 164 +f 163 156 164 +f 159 157 165 +f 160 159 165 +f 157 160 165 +f 162 156 166 +f 158 162 166 +f 163 158 166 +f 156 163 166 +f 161 160 167 +f 160 163 167 +f 164 161 167 +o convex_13 +v -1.773405 0.085900 0.266389 +v -0.821114 0.220430 0.304050 +v -0.821114 0.220430 0.298673 +v -0.821114 0.085900 0.309435 +v -1.273068 0.215044 0.266389 +v -1.208463 0.102044 0.304050 +v -1.380463 0.220430 0.271774 +v -0.917882 0.085900 0.298673 +v -1.660230 0.085900 0.266389 +v -1.773405 0.091286 0.271774 +v -0.831835 0.198900 0.309435 +v -0.831835 0.215044 0.293293 +v -1.332079 0.085900 0.298673 +f 173 177 180 +f 170 169 171 +f 169 170 174 +f 172 168 174 +f 170 172 174 +f 171 168 175 +f 172 175 176 +f 168 172 176 +f 175 168 176 +f 174 168 177 +f 174 177 178 +f 171 169 178 +f 173 171 178 +f 169 174 178 +f 177 173 178 +f 170 171 179 +f 172 170 179 +f 171 175 179 +f 175 172 179 +f 168 171 180 +f 171 173 180 +f 177 168 180 +o convex_14 +v -2.919615 0.204243 0.180304 +v -3.021849 -0.156255 0.185677 +v -3.021849 -0.156255 0.239468 +v -2.919615 -0.156255 0.244864 +v -3.005687 -0.140069 0.164146 +v -2.957282 0.215047 0.164146 +v -2.919615 0.193514 0.169542 +v -2.919615 -0.156255 0.234095 +f 185 187 188 +f 183 182 184 +f 181 183 184 +f 185 182 186 +f 183 181 186 +f 182 183 186 +f 181 184 187 +f 185 186 187 +f 186 181 187 +f 184 182 188 +f 182 185 188 +f 187 184 188 +o convex_15 +v -2.919453 0.166597 0.174922 +v -1.359051 0.220430 0.266383 +v -1.359051 0.220430 0.260998 +v -2.478293 -0.156255 0.260998 +v -2.908760 -0.140069 0.244852 +v -2.876375 0.220430 0.180307 +v -1.472243 0.220430 0.266383 +v -2.591333 -0.150835 0.266373 +v -2.903413 -0.150835 0.234091 +v -2.854990 0.215047 0.169527 +v -1.359051 0.215010 0.260998 +v -2.478293 -0.156255 0.266373 +v -2.914106 0.150410 0.191068 +v -2.919453 -0.156255 0.244852 +f 193 201 202 +f 190 191 194 +f 190 194 195 +f 192 197 198 +f 189 194 198 +f 194 191 198 +f 197 189 198 +f 191 190 199 +f 192 198 199 +f 198 191 199 +f 190 195 200 +f 195 196 200 +f 199 190 200 +f 192 199 200 +f 194 189 201 +f 195 194 201 +f 196 195 201 +f 193 196 201 +f 196 193 202 +f 189 197 202 +f 197 192 202 +f 200 196 202 +f 192 200 202 +f 201 189 202 +o convex_16 +v -2.924682 0.220439 -0.083365 +v -1.886582 0.220439 -0.244827 +v -1.886582 0.225816 -0.244827 +v -1.870273 0.247332 -0.035031 +v -2.924682 0.252718 0.045700 +v -2.908683 0.215053 -0.190974 +v -1.967301 0.209672 -0.234017 +v -2.914050 0.247332 0.088776 +v -1.881214 0.252718 -0.078009 +v -2.897948 0.209672 -0.147963 +v -1.870273 0.252718 -0.035031 +v -2.827964 0.209672 -0.196362 +v -2.924682 0.252718 0.088776 +f 213 207 215 +f 204 205 206 +f 203 207 208 +f 204 206 209 +f 209 206 210 +f 205 208 211 +f 208 207 211 +f 203 208 212 +f 209 210 212 +f 210 203 212 +f 206 205 213 +f 210 206 213 +f 211 207 213 +f 205 211 213 +f 205 204 214 +f 208 205 214 +f 204 209 214 +f 212 208 214 +f 209 212 214 +f 207 203 215 +f 203 210 215 +f 210 213 215 +o convex_17 +v -2.919342 0.252721 0.078025 +v -0.282827 0.247348 -0.234065 +v -0.353021 0.247348 -0.228679 +v -0.272271 0.290386 0.131842 +v -0.266993 0.279620 0.142613 +v -2.897703 0.268863 0.142613 +v -1.133077 0.252721 -0.164092 +v -0.234535 0.247348 -0.174863 +v -2.903244 0.252721 0.121071 +v -0.228993 0.252729 -0.234065 +v -1.869855 0.247340 -0.077925 +v -2.924883 0.258102 0.153384 +v -0.228993 0.290386 0.153384 +v -2.919342 0.258102 0.078025 +v -2.370717 0.274240 0.147960 +v -1.864577 0.247340 -0.034993 +v -0.396035 0.279620 0.153384 +v -2.924883 0.268863 0.153384 +f 228 230 233 +f 223 220 224 +f 217 218 225 +f 218 222 225 +f 222 219 225 +f 223 217 225 +f 218 217 226 +f 222 218 226 +f 217 223 226 +f 216 224 227 +f 220 223 228 +f 225 219 228 +f 223 225 228 +f 221 222 229 +f 226 216 229 +f 222 226 229 +f 216 227 229 +f 219 222 230 +f 222 221 230 +f 228 219 230 +f 223 224 231 +f 224 216 231 +f 216 226 231 +f 226 223 231 +f 224 220 232 +f 227 224 232 +f 220 228 232 +f 228 227 232 +f 227 228 233 +f 221 229 233 +f 229 227 233 +f 230 221 233 +o convex_18 +v -2.962591 -0.177787 -0.115710 +v -2.150298 -0.172405 -0.298615 +v -2.150298 -0.167024 -0.298615 +v -2.919429 -0.167024 -0.271719 +v -2.209440 -0.199305 -0.293251 +v -2.914070 -0.199305 -0.110309 +v -1.967320 -0.167024 -0.293251 +v -1.967320 -0.199305 -0.293251 +v -2.951776 -0.172405 -0.110309 +v -2.957135 -0.199305 -0.137223 +v -2.844016 -0.172405 -0.287868 +f 238 243 244 +f 235 236 240 +f 236 237 240 +f 240 239 241 +f 238 235 241 +f 239 238 241 +f 235 240 241 +f 237 234 242 +f 234 239 242 +f 240 237 242 +f 239 240 242 +f 234 237 243 +f 238 239 243 +f 239 234 243 +f 236 235 244 +f 237 236 244 +f 235 238 244 +f 243 237 244 +o convex_19 +v -0.175181 0.295764 0.212577 +v -2.946240 0.263483 0.153389 +v -2.946240 0.263483 0.164154 +v -0.465986 0.279625 0.153389 +v -2.090372 0.263483 0.212577 +v -2.295184 0.279625 0.196424 +v -0.535975 0.290382 0.153389 +v -0.175181 0.285001 0.191048 +v -2.171483 0.279625 0.212577 +v -2.946240 0.268865 0.153389 +v -2.365172 0.263483 0.153389 +v -0.551980 0.295764 0.207189 +v -0.175181 0.290382 0.153389 +v -0.481992 0.285001 0.212577 +f 249 252 258 +f 247 246 249 +f 248 246 251 +f 249 248 252 +f 249 245 253 +f 247 249 253 +f 253 250 254 +f 246 247 254 +f 251 246 254 +f 250 251 254 +f 247 253 254 +f 246 248 255 +f 248 249 255 +f 249 246 255 +f 251 250 256 +f 253 245 256 +f 250 253 256 +f 248 251 257 +f 245 252 257 +f 252 248 257 +f 256 245 257 +f 251 256 257 +f 245 249 258 +f 252 245 258 +o convex_20 +v 2.214082 -0.242357 -0.078013 +v 1.396136 -0.247734 -0.293258 +v 1.396136 -0.253116 -0.174854 +v 1.396136 -0.236975 0.008090 +v 2.214082 -0.236975 -0.293258 +v 2.214082 -0.253116 0.008090 +v 1.460749 -0.236975 -0.293258 +v 2.192545 -0.247734 -0.217862 +v 1.713755 -0.253116 0.008090 +v 1.396136 -0.253116 -0.072645 +v 1.557628 -0.236975 0.008090 +v 2.214082 -0.253116 -0.083411 +v 2.214082 -0.242357 -0.293258 +v 2.214082 -0.247734 0.008090 +v 2.214082 -0.236975 -0.207154 +f 263 269 273 +f 260 261 262 +f 263 259 264 +f 260 262 265 +f 262 263 265 +f 263 260 265 +f 261 260 266 +f 261 264 267 +f 264 262 267 +f 262 261 268 +f 261 267 268 +f 267 262 268 +f 263 262 269 +f 262 264 269 +f 263 264 270 +f 264 261 270 +f 261 266 270 +f 270 266 271 +f 260 263 271 +f 266 260 271 +f 263 270 271 +f 264 259 272 +f 259 269 272 +f 269 264 272 +f 259 263 273 +f 269 259 273 +o convex_21 +v -2.924884 -0.150872 -0.282483 +v -1.967129 -0.010962 -0.293247 +v -1.967129 -0.010962 -0.298635 +v -1.967129 -0.167018 -0.293247 +v -2.881889 -0.010962 -0.239451 +v -2.924884 -0.167018 -0.239451 +v -2.914135 -0.010962 -0.250220 +v -2.919509 -0.167018 -0.287871 +v -2.263281 -0.059432 -0.298635 +v -2.155606 -0.167018 -0.298635 +v -2.004938 -0.016355 -0.287865 +v -2.914135 -0.156249 -0.287871 +f 282 281 285 +f 276 275 277 +f 275 276 278 +f 279 278 280 +f 278 276 280 +f 274 279 280 +f 279 274 281 +f 277 279 281 +f 280 276 282 +f 281 282 283 +f 276 277 283 +f 277 281 283 +f 282 276 283 +f 277 275 284 +f 275 278 284 +f 279 277 284 +f 278 279 284 +f 274 280 285 +f 281 274 285 +f 280 282 285 +o convex_22 +v 2.919023 -0.236977 -0.126451 +v 2.214082 -0.242356 -0.282496 +v 2.214082 -0.247735 -0.212494 +v 2.214082 -0.247735 0.008090 +v 2.919023 -0.253117 -0.008066 +v 2.902807 -0.242356 -0.266339 +v 2.703732 -0.231595 -0.277063 +v 2.214082 -0.236977 -0.207118 +v 2.870582 -0.242356 -0.002718 +v 2.214082 -0.253117 0.008090 +v 2.919023 -0.231595 -0.282496 +v 2.251758 -0.253117 -0.083415 +v 2.214082 -0.236977 -0.282496 +v 2.919023 -0.247735 0.008090 +f 295 290 299 +f 287 288 289 +f 288 287 291 +f 287 289 293 +f 292 293 294 +f 286 292 294 +f 293 289 294 +f 289 288 295 +f 286 290 296 +f 290 291 296 +f 291 287 296 +f 292 286 296 +f 288 291 297 +f 291 290 297 +f 295 288 297 +f 290 295 297 +f 287 293 298 +f 293 292 298 +f 296 287 298 +f 292 296 298 +f 290 286 299 +f 286 294 299 +f 294 289 299 +f 289 295 299 +o convex_23 +v 0.589235 0.182766 -0.260971 +v 0.476257 0.231188 -0.228690 +v 0.476257 0.231188 -0.234068 +v 2.676633 0.188151 -0.234068 +v 0.352474 0.231188 -0.255586 +v 2.181501 0.182766 -0.228690 +v 0.293283 0.182766 -0.255586 +v 0.277076 0.225803 -0.228690 +v 2.606638 0.193531 -0.228690 +v 0.293283 0.209663 -0.260971 +f 307 304 309 +f 301 302 304 +f 300 303 305 +f 300 305 306 +f 306 305 307 +f 301 304 307 +f 305 301 307 +f 302 301 308 +f 303 304 308 +f 304 302 308 +f 301 305 308 +f 305 303 308 +f 303 300 309 +f 304 303 309 +f 300 306 309 +f 306 307 309 +o convex_24 +v 2.999723 0.188143 -0.212540 +v 2.913653 -0.010962 -0.260971 +v 2.988966 -0.010962 -0.260971 +v 2.967463 -0.010962 -0.212540 +v 2.913653 0.188143 -0.228687 +v 3.037409 0.182744 -0.228687 +v 2.913653 0.182744 -0.212540 +v 3.032007 0.155849 -0.212540 +f 315 310 317 +f 311 312 313 +f 312 311 314 +f 314 310 315 +f 312 314 315 +f 311 313 316 +f 313 310 316 +f 310 314 316 +f 314 311 316 +f 313 312 317 +f 310 313 317 +f 312 315 317 +o convex_25 +v 2.913617 0.204289 0.008115 +v 0.277100 0.225807 -0.228683 +v 0.277100 0.225807 -0.212470 +v 2.908197 0.231188 0.255627 +v 2.633345 0.193533 -0.228683 +v 0.503175 0.231183 -0.228683 +v 2.627925 0.182762 -0.217875 +v 2.875679 0.225807 0.255627 +v 2.908197 0.231188 0.196415 +v 2.913617 0.188147 -0.228683 +v 2.913617 0.182762 -0.169472 +v 0.498014 0.220422 -0.217875 +v 0.304198 0.231183 -0.207113 +v 2.601085 0.182762 -0.228683 +f 324 329 331 +f 322 319 323 +f 321 318 326 +f 322 323 326 +f 319 322 327 +f 326 318 327 +f 322 326 327 +f 318 321 328 +f 321 325 328 +f 325 324 328 +f 327 318 328 +f 320 319 329 +f 325 320 329 +f 324 325 329 +f 319 320 330 +f 323 319 330 +f 320 325 330 +f 325 321 330 +f 321 326 330 +f 326 323 330 +f 319 327 331 +f 328 324 331 +f 327 328 331 +f 329 319 331 +o convex_26 +v 2.687516 0.241959 0.261008 +v 0.276842 0.231201 -0.217921 +v 0.276842 0.231201 -0.169447 +v 0.276842 0.295767 0.255570 +v 2.649652 0.231195 0.261008 +v 0.276842 0.284991 0.261008 +v 0.341751 0.236580 -0.212483 +v 2.854169 0.236586 0.239443 +v 2.908260 0.231195 0.250179 +v 0.303887 0.290382 0.212534 +v 0.739710 0.274239 0.261008 +f 336 337 342 +f 333 334 335 +f 334 333 336 +f 335 334 337 +f 332 335 337 +f 336 332 337 +f 333 335 338 +f 335 332 339 +f 338 339 340 +f 332 336 340 +f 336 333 340 +f 333 338 340 +f 339 332 340 +f 338 335 341 +f 335 339 341 +f 339 338 341 +f 334 336 342 +f 337 334 342 +o convex_27 +v 1.966546 0.048231 0.298673 +v 2.918925 0.231175 0.277154 +v 2.838154 0.225785 0.282531 +v 2.025919 0.231175 0.287912 +v 2.838154 0.048231 0.261008 +v 2.913527 0.231175 0.261008 +v 2.951117 0.048231 0.266393 +v 2.085100 0.096689 0.304054 +v 1.966546 0.231175 0.298673 +v 1.988233 0.048231 0.293292 +v 2.004329 0.048231 0.304054 +v 2.913527 0.085926 0.271774 +v 1.972040 0.155838 0.304054 +f 353 350 355 +f 346 344 348 +f 347 346 348 +f 343 347 349 +f 348 344 349 +f 347 348 349 +f 345 344 351 +f 344 346 351 +f 347 343 352 +f 346 347 352 +f 351 346 352 +f 343 351 352 +f 343 349 353 +f 344 345 354 +f 349 344 354 +f 345 350 354 +f 353 349 354 +f 350 353 354 +f 350 345 355 +f 345 351 355 +f 351 343 355 +f 343 353 355 +o convex_28 +v 2.919023 0.236588 0.277154 +v 0.276842 0.290371 0.261008 +v 0.276842 0.295760 0.261008 +v 0.276842 0.301142 0.330960 +v 0.287704 0.231193 0.330960 +v 2.682116 0.231193 0.261008 +v 2.816605 0.231193 0.282529 +v 0.438486 0.231193 0.320196 +v 2.714445 0.241963 0.261008 +v 0.406157 0.301142 0.320196 +v 0.293135 0.284997 0.261008 +v 0.459953 0.236581 0.330960 +v 2.778844 0.241963 0.282529 +f 364 365 368 +f 358 357 359 +f 359 357 360 +f 357 358 361 +f 360 361 362 +f 361 356 362 +f 361 360 363 +f 356 361 364 +f 361 358 364 +f 358 359 365 +f 364 358 365 +f 360 357 366 +f 357 361 366 +f 363 360 366 +f 361 363 366 +f 359 360 367 +f 362 359 367 +f 360 362 367 +f 362 356 368 +f 359 362 368 +f 356 364 368 +f 365 359 368 +o convex_29 +v 1.638310 -0.220829 0.261017 +v 2.908260 -0.161637 0.255635 +v 2.908260 -0.161637 0.250252 +v 2.908260 -0.258499 0.250252 +v 1.654482 -0.161637 0.304052 +v 1.627529 -0.215434 0.244864 +v 1.627529 -0.215434 0.298670 +v 1.638310 -0.161637 0.293287 +v 2.859744 -0.258499 0.244864 +v 2.897353 -0.167032 0.244864 +v 2.768102 -0.161637 0.250252 +v 1.719046 -0.215434 0.298670 +f 375 372 380 +f 371 370 372 +f 370 371 373 +f 374 369 375 +f 373 371 376 +f 375 373 376 +f 374 375 376 +f 369 374 377 +f 375 369 377 +f 372 375 377 +f 371 372 378 +f 372 377 378 +f 377 374 378 +f 376 371 379 +f 374 376 379 +f 371 378 379 +f 378 374 379 +f 372 370 380 +f 370 373 380 +f 373 375 380 +o convex_30 +v -0.304459 -0.280015 -0.271731 +v -1.192082 -0.242367 -0.293258 +v -1.192082 -0.236978 -0.293258 +v -1.192082 -0.274635 -0.110296 +v -0.196712 -0.236978 -0.110296 +v -0.164519 -0.269255 -0.293258 +v -1.192082 -0.280015 -0.110296 +v -0.374378 -0.280015 -0.293258 +v -0.196712 -0.247747 -0.126451 +v -1.192082 -0.242367 -0.239441 +v -0.196712 -0.236978 -0.137232 +v -0.315123 -0.236978 -0.110296 +v -1.186750 -0.269255 -0.110296 +v -1.079105 -0.236978 -0.293258 +v -1.181318 -0.280015 -0.126451 +v -0.169851 -0.263875 -0.277086 +v -1.149024 -0.280015 -0.110296 +v -1.186750 -0.247747 -0.277086 +v -0.164519 -0.274635 -0.277086 +f 389 381 399 +f 383 382 384 +f 382 383 386 +f 384 382 387 +f 385 384 387 +f 382 386 388 +f 381 387 388 +f 383 384 390 +f 383 385 391 +f 384 385 392 +f 385 383 392 +f 383 390 392 +f 392 390 393 +f 390 384 393 +f 384 392 393 +f 386 383 394 +f 383 391 394 +f 388 387 395 +f 385 386 396 +f 391 385 396 +f 386 394 396 +f 394 391 396 +f 387 381 397 +f 385 387 397 +f 389 385 397 +f 381 389 397 +f 387 382 398 +f 382 388 398 +f 395 387 398 +f 388 395 398 +f 386 385 399 +f 388 386 399 +f 381 388 399 +f 385 389 399 +o convex_31 +v 2.907995 -0.253115 0.244841 +v 1.552192 -0.247738 0.008114 +v 1.552192 -0.242357 0.008114 +v 2.907995 -0.253115 0.008114 +v 2.682094 -0.242357 0.244841 +v 1.950505 -0.258497 0.013513 +v 2.838048 -0.258497 0.244841 +v 2.907995 -0.247738 0.008114 +v 2.477562 -0.247738 0.244841 +v 2.907995 -0.258497 0.121113 +v 1.762298 -0.242357 0.008114 +v 2.477562 -0.242357 0.244841 +f 408 404 411 +f 401 402 403 +f 401 403 405 +f 400 404 406 +f 401 405 406 +f 403 402 407 +f 400 403 407 +f 404 400 407 +f 402 401 408 +f 406 404 408 +f 401 406 408 +f 403 400 409 +f 405 403 409 +f 406 405 409 +f 400 406 409 +f 402 404 410 +f 407 402 410 +f 404 407 410 +f 404 402 411 +f 402 408 411 +o convex_32 +v 0.519105 -0.161637 0.336346 +v 1.993335 0.048231 0.304065 +v 1.993335 0.042849 0.304065 +v 1.509210 -0.156254 0.298682 +v 0.389939 0.048231 0.330968 +v 0.389939 -0.161637 0.352489 +v 0.406044 0.048231 0.341723 +v 1.665162 -0.161637 0.304065 +v 1.842642 0.048231 0.298682 +v 1.708218 0.048231 0.314820 +v 0.336202 -0.145490 0.341723 +v 1.665162 -0.161637 0.298682 +v 0.314510 0.048231 0.341723 +v 0.325356 -0.032503 0.336346 +v 0.357730 -0.140108 0.352489 +f 424 422 426 +f 413 416 418 +f 414 417 419 +f 417 412 419 +f 413 414 420 +f 415 416 420 +f 416 413 420 +f 414 413 421 +f 417 414 421 +f 413 418 421 +f 415 412 422 +f 412 417 422 +f 412 415 423 +f 414 419 423 +f 419 412 423 +f 420 414 423 +f 415 420 423 +f 418 416 424 +f 422 424 425 +f 416 415 425 +f 415 422 425 +f 424 416 425 +f 417 421 426 +f 421 418 426 +f 422 417 426 +f 418 424 426 +o convex_33 +v -2.887043 -0.005549 -0.250186 +v -0.815547 0.220430 -0.293240 +v -0.815547 0.215040 -0.293240 +v -2.822501 0.209649 -0.185645 +v -2.171547 -0.010962 -0.277104 +v -0.944836 0.220430 -0.298626 +v -2.854875 0.209649 -0.196416 +v -2.010089 -0.005549 -0.298615 +v -2.903230 -0.000181 -0.234084 +v -1.929361 0.215040 -0.228687 +v -1.827322 -0.000181 -0.293240 +v -2.897903 0.188131 -0.185645 +v -1.880800 -0.010962 -0.298626 +v -1.967061 0.220430 -0.228687 +v -2.908762 0.209649 -0.191030 +v -0.815547 0.215040 -0.298626 +f 437 439 442 +f 427 433 434 +f 433 432 434 +f 427 431 435 +f 429 428 436 +f 435 431 436 +f 429 436 437 +f 436 431 437 +f 436 430 438 +f 435 436 438 +f 431 427 439 +f 427 434 439 +f 434 432 439 +f 437 431 439 +f 428 432 440 +f 432 433 440 +f 436 428 440 +f 430 436 440 +f 433 427 441 +f 427 435 441 +f 438 430 441 +f 435 438 441 +f 440 433 441 +f 430 440 441 +f 428 429 442 +f 432 428 442 +f 429 437 442 +f 439 432 442 +o convex_34 +v -3.027214 -0.172410 0.212560 +v -2.941144 -0.274642 0.212560 +v -2.989553 -0.269254 0.196412 +v -2.951902 -0.156255 -0.110296 +v -2.962671 -0.204706 -0.110296 +v -3.037992 -0.269254 0.217954 +v -3.016465 -0.156255 0.234102 +v -2.935749 -0.269254 0.234102 +v -2.935749 -0.204706 -0.110296 +v -3.016465 -0.156255 0.131854 +v -3.037992 -0.269254 0.234102 +f 444 450 453 +f 444 445 447 +f 445 444 448 +f 447 445 448 +f 446 449 450 +f 450 444 451 +f 447 446 451 +f 444 447 451 +f 446 450 451 +f 446 447 452 +f 448 443 452 +f 447 448 452 +f 449 446 452 +f 443 449 452 +f 448 444 453 +f 443 448 453 +f 449 443 453 +f 450 449 453 +o convex_35 +v -3.037833 -0.226195 0.234110 +v -2.198604 -0.156263 0.277147 +v -2.198604 -0.242359 0.277147 +v -2.198604 -0.242359 0.234110 +v -3.000126 -0.274642 0.261003 +v -3.021709 -0.156263 0.234110 +v -2.838714 -0.274642 0.234110 +v -2.516137 -0.156263 0.271763 +v -2.290143 -0.156263 0.266383 +v -3.021709 -0.177793 0.244875 +v -3.037751 -0.274642 0.234110 +v -2.935545 -0.156263 0.234110 +v -2.257811 -0.253113 0.239495 +v -3.037751 -0.242359 0.255627 +f 464 458 467 +f 455 456 457 +f 457 454 459 +f 454 457 460 +f 456 455 461 +f 458 456 461 +f 455 459 461 +f 455 457 462 +f 459 455 462 +f 461 459 463 +f 454 460 464 +f 460 458 464 +f 457 459 465 +f 462 457 465 +f 459 462 465 +f 457 456 466 +f 456 458 466 +f 460 457 466 +f 458 460 466 +f 459 454 467 +f 458 461 467 +f 463 459 467 +f 461 463 467 +f 454 464 467 +o convex_36 +v 0.303940 0.096689 0.330958 +v 1.966546 0.231175 0.298682 +v 1.944856 0.166600 0.304058 +v 1.848070 0.048231 0.298682 +v 0.395467 0.048231 0.341723 +v 0.454623 0.231175 0.320202 +v 0.470727 0.231175 0.330958 +v 1.761801 0.231175 0.293302 +v 1.702810 0.048231 0.314822 +v 0.373941 0.048231 0.330958 +v 0.287837 0.231175 0.330958 +v 1.966546 0.048231 0.298682 +v 0.298682 0.182717 0.325578 +v 1.966546 0.150447 0.293302 +v 0.325466 0.080554 0.341723 +v 1.896381 0.080554 0.309438 +f 482 472 483 +f 470 469 474 +f 469 473 474 +f 473 469 475 +f 471 473 475 +f 472 471 476 +f 471 472 477 +f 474 473 478 +f 469 470 479 +f 476 471 479 +f 473 471 480 +f 477 468 480 +f 471 477 480 +f 468 478 480 +f 478 473 480 +f 475 469 481 +f 471 475 481 +f 469 479 481 +f 479 471 481 +f 470 474 482 +f 468 477 482 +f 477 472 482 +f 478 468 482 +f 474 478 482 +f 472 476 483 +f 479 470 483 +f 476 479 483 +f 470 482 483 +o convex_37 +v -1.439789 -0.199305 0.293291 +v -0.272146 -0.156264 0.309427 +v -0.272146 -0.156264 0.298668 +v -2.198426 -0.156264 0.271778 +v -0.363666 -0.177789 0.261008 +v -2.106905 -0.242355 0.261008 +v -2.160608 -0.242355 0.277155 +v -0.326037 -0.167026 0.314805 +v -2.025974 -0.156264 0.282532 +v -0.266851 -0.167026 0.261008 +v -2.198426 -0.236961 0.261008 +v -0.266851 -0.161649 0.266401 +v -0.379739 -0.156264 0.314805 +f 492 484 496 +f 485 486 487 +f 489 488 490 +f 490 488 491 +f 484 490 491 +f 485 487 492 +f 490 484 492 +f 487 490 492 +f 488 489 493 +f 485 491 493 +f 491 488 493 +f 489 490 494 +f 490 487 494 +f 487 493 494 +f 493 489 494 +f 486 485 495 +f 487 486 495 +f 485 493 495 +f 493 487 495 +f 491 485 496 +f 484 491 496 +f 485 492 496 +o convex_38 +v 1.374360 -0.161637 0.314824 +v 0.341416 -0.177781 0.293301 +v 0.341416 -0.177781 0.298683 +v 1.627529 -0.215449 0.293301 +v 0.341416 -0.167020 0.352483 +v 1.627529 -0.172403 0.293301 +v 0.341416 -0.167020 0.293301 +v 1.584474 -0.210066 0.304066 +v 0.384471 -0.161637 0.352483 +v 1.627529 -0.161637 0.298683 +v 0.357656 -0.172403 0.347101 +f 500 504 507 +f 499 498 500 +f 498 499 501 +f 500 498 502 +f 498 501 503 +f 502 498 503 +f 503 501 505 +f 504 497 505 +f 501 504 505 +f 500 502 506 +f 502 503 506 +f 497 504 506 +f 504 500 506 +f 505 497 506 +f 503 505 506 +f 499 500 507 +f 501 499 507 +f 504 501 507 +o convex_39 +v -0.820928 -0.156255 0.304062 +v -0.191386 0.220430 0.325577 +v -0.191386 0.215047 0.325577 +v -0.374345 -0.150835 0.304062 +v -0.820928 0.220430 0.298677 +v -0.761647 0.193514 0.314817 +v -0.390491 -0.156255 0.314817 +v -0.202170 0.188130 0.314817 +v -0.648630 -0.156255 0.298677 +v -0.272113 -0.156255 0.314817 +v -0.745501 0.220430 0.298677 +v -0.820928 -0.010906 0.309442 +v -0.820928 -0.156255 0.298677 +v -0.245245 -0.021672 0.309442 +v -0.212955 0.182747 0.325577 +f 519 514 522 +f 509 512 513 +f 509 510 515 +f 514 508 516 +f 514 516 517 +f 516 511 517 +f 512 509 518 +f 509 515 518 +f 516 512 518 +f 511 516 518 +f 512 508 519 +f 513 512 519 +f 508 514 519 +f 508 512 520 +f 516 508 520 +f 512 516 520 +f 515 510 521 +f 510 517 521 +f 517 511 521 +f 518 515 521 +f 511 518 521 +f 510 509 522 +f 509 513 522 +f 514 517 522 +f 517 510 522 +f 513 519 522 +o convex_40 +v -1.870106 0.225818 -0.169510 +v -0.277507 0.225818 -0.330914 +v -0.277507 0.236569 -0.330914 +v -0.277668 0.241949 -0.223286 +v -1.848580 0.247336 -0.115709 +v -1.870106 0.225818 -0.244802 +v -0.266744 0.247336 -0.287883 +v -1.832355 0.241949 -0.072628 +v -0.256142 0.220438 -0.320144 +v -0.229154 0.247336 -0.228646 +v -0.352848 0.241949 -0.325529 +v -1.800067 0.220438 -0.250187 +v -1.870106 0.247336 -0.072628 +v -1.870106 0.220438 -0.207131 +f 534 531 536 +f 524 525 531 +f 530 523 531 +f 526 530 531 +f 525 529 532 +f 529 527 532 +f 530 526 532 +f 531 525 532 +f 526 531 532 +f 528 527 533 +f 529 525 533 +f 527 529 533 +f 525 524 534 +f 524 531 534 +f 533 525 534 +f 528 533 534 +f 527 528 535 +f 528 523 535 +f 523 530 535 +f 532 527 535 +f 530 532 535 +f 523 528 536 +f 531 523 536 +f 528 534 536 +o convex_41 +v -1.557930 -0.010962 -0.309404 +v -0.229136 0.220430 -0.325544 +v -0.223759 0.193477 -0.320162 +v -0.196706 -0.010962 -0.325544 +v -0.718948 0.220430 -0.298639 +v -1.547176 -0.010962 -0.298639 +v -0.605695 0.188131 -0.325544 +v -1.913317 -0.005572 -0.304022 +v -0.379693 -0.010962 -0.314783 +v -0.848165 0.220430 -0.304022 +v -0.261398 0.220430 -0.330927 +v -0.390615 -0.010962 -0.325544 +v -1.913317 -0.005572 -0.298639 +v -0.196706 -0.010962 -0.320162 +f 541 545 550 +f 538 539 540 +f 539 538 541 +f 537 540 542 +f 543 537 544 +f 542 540 545 +f 541 542 545 +f 541 538 546 +f 543 544 546 +f 538 540 547 +f 537 543 547 +f 546 538 547 +f 543 546 547 +f 540 537 548 +f 547 540 548 +f 537 547 548 +f 537 542 549 +f 542 541 549 +f 544 537 549 +f 541 546 549 +f 546 544 549 +f 540 539 550 +f 539 541 550 +f 545 540 550 +o convex_42 +v -0.191534 0.306530 0.282535 +v -2.117803 0.263484 0.212577 +v -2.117803 0.263484 0.217975 +v -0.180696 0.263488 0.320186 +v -0.175181 0.290379 0.212577 +v -0.245348 0.306530 0.325572 +v -1.880680 0.285003 0.212577 +v -0.444440 0.263488 0.320186 +v -0.616531 0.295760 0.212577 +v -1.891709 0.285003 0.228737 +v -2.004661 0.263484 0.212577 +v -0.439116 0.306530 0.304048 +v -0.175181 0.306530 0.325572 +v -0.175181 0.301145 0.234112 +f 563 555 564 +f 555 552 557 +f 553 554 558 +f 554 556 558 +f 557 551 559 +f 555 557 559 +f 552 553 560 +f 557 552 560 +f 553 558 560 +f 558 556 560 +f 553 552 561 +f 554 553 561 +f 555 554 561 +f 552 555 561 +f 556 551 562 +f 551 557 562 +f 557 560 562 +f 560 556 562 +f 554 555 563 +f 551 556 563 +f 556 554 563 +f 559 551 564 +f 555 559 564 +f 551 563 564 +o convex_43 +v -1.326871 -0.215451 0.255625 +v -2.198435 -0.274642 0.072665 +v -2.198435 -0.274642 0.115750 +v -2.198435 -0.236980 0.244840 +v -1.326871 -0.236980 0.078049 +v -1.321483 -0.247724 0.088815 +v -1.332259 -0.204686 0.244840 +v -2.166106 -0.247724 0.250241 +v -2.198435 -0.269260 0.072665 +v -2.112312 -0.231605 0.261008 +v -1.993949 -0.274642 0.072665 +v -1.310620 -0.204686 0.261008 +v -1.310620 -0.247724 0.072665 +f 576 565 577 +f 566 567 568 +f 568 567 572 +f 570 565 572 +f 567 570 572 +f 566 568 573 +f 568 571 573 +f 571 569 573 +f 571 568 574 +f 568 572 574 +f 572 565 574 +f 567 566 575 +f 570 567 575 +f 566 573 575 +f 569 571 576 +f 574 565 576 +f 571 574 576 +f 565 570 577 +f 573 569 577 +f 570 575 577 +f 575 573 577 +f 569 576 577 +o convex_44 +v 1.396136 -0.247735 -0.126440 +v 0.341416 -0.242350 -0.293258 +v 0.341416 -0.236974 -0.293258 +v 0.341416 -0.226212 -0.126440 +v 1.396136 -0.242350 -0.293258 +v 0.723515 -0.253117 -0.239437 +v 0.481516 -0.220830 -0.131845 +v 1.175405 -0.253117 -0.126440 +v 1.396136 -0.247735 -0.293258 +v 0.341416 -0.220830 -0.164128 +v 0.352360 -0.247735 -0.287853 +v 1.396136 -0.242350 -0.169500 +v 1.396136 -0.253117 -0.174889 +v 0.454570 -0.231598 -0.126440 +f 588 583 591 +f 580 579 581 +f 579 580 582 +f 581 578 584 +f 578 581 585 +f 582 578 586 +f 579 582 586 +f 580 581 587 +f 582 580 587 +f 581 584 587 +f 584 582 587 +f 581 579 588 +f 586 583 588 +f 579 586 588 +f 578 582 589 +f 584 578 589 +f 582 584 589 +f 578 585 590 +f 585 583 590 +f 583 586 590 +f 586 578 590 +f 585 581 591 +f 583 585 591 +f 581 588 591 +o convex_45 +v 1.433630 -0.199303 0.293291 +v 0.341416 -0.226210 -0.126440 +v 0.341416 -0.226210 -0.110293 +v 2.504668 -0.242348 0.239386 +v 0.341416 -0.177798 0.293291 +v 0.363015 -0.215449 -0.115635 +v 1.396150 -0.247724 -0.126440 +v 2.294188 -0.242348 0.244810 +v 0.346922 -0.167037 0.287867 +v 1.196892 -0.253117 -0.121017 +v 2.504668 -0.236955 0.239386 +v 1.584397 -0.215432 0.293291 +v 1.396150 -0.253117 -0.126440 +v 0.616058 -0.188551 0.277103 +v 0.685936 -0.226210 -0.126440 +v 1.396150 -0.253117 -0.072618 +f 601 604 607 +f 593 594 596 +f 596 592 600 +f 593 596 600 +f 597 593 600 +f 594 593 601 +f 595 598 602 +f 600 592 602 +f 592 596 603 +f 599 595 603 +f 602 592 603 +f 595 602 603 +f 593 598 604 +f 598 595 604 +f 601 593 604 +f 596 594 605 +f 594 601 605 +f 601 599 605 +f 603 596 605 +f 599 603 605 +f 593 597 606 +f 598 593 606 +f 597 600 606 +f 602 598 606 +f 600 602 606 +f 595 599 607 +f 599 601 607 +f 604 595 607 +o convex_46 +v 0.303758 0.058972 -0.282504 +v 2.913609 0.182762 -0.223328 +v 2.913609 0.161220 -0.223328 +v 2.698152 -0.199263 -0.298634 +v 0.379425 -0.204686 -0.314774 +v 2.843329 -0.188492 -0.282494 +v 0.298885 0.166567 -0.255598 +v 2.740987 0.182762 -0.234084 +v 0.384811 -0.193916 -0.325541 +v 0.304271 0.177300 -0.266354 +v 2.913353 -0.183107 -0.293251 +v 2.870261 0.161220 -0.223328 +v 2.913353 -0.204686 -0.287878 +v 0.584109 0.182762 -0.250214 +v 0.336333 -0.204686 -0.325541 +v 2.913609 0.166567 -0.234084 +v 0.809569 -0.204686 -0.309381 +f 620 613 624 +f 608 614 617 +f 611 616 617 +f 617 615 618 +f 611 617 618 +f 610 609 619 +f 613 610 619 +f 614 612 619 +f 610 613 620 +f 611 618 620 +f 609 615 621 +f 617 614 621 +f 615 617 621 +f 619 609 621 +f 614 619 621 +f 614 608 622 +f 612 614 622 +f 616 611 622 +f 608 617 622 +f 617 616 622 +f 611 620 622 +f 620 612 622 +f 609 610 623 +f 615 609 623 +f 618 615 623 +f 610 620 623 +f 620 618 623 +f 613 619 624 +f 619 612 624 +f 612 620 624 +o convex_47 +v -2.198522 -0.231605 -0.083385 +v -2.935677 -0.204689 -0.110296 +v -2.935677 -0.199305 -0.110296 +v -2.935677 -0.242342 0.099571 +v -2.214757 -0.274642 0.061895 +v -2.198522 -0.269252 0.099571 +v -2.919514 -0.199305 -0.083385 +v -2.236260 -0.236974 -0.110296 +v -2.860345 -0.253116 0.094189 +v -2.924854 -0.236974 0.094189 +v -2.204005 -0.226215 -0.104914 +v -2.370832 -0.274642 0.099571 +v -2.849522 -0.210072 -0.110296 +f 633 626 637 +f 627 626 628 +f 629 625 630 +f 626 627 632 +f 625 629 632 +f 628 626 633 +f 627 628 634 +f 628 630 634 +f 631 627 634 +f 630 631 634 +f 630 625 635 +f 627 631 635 +f 631 630 635 +f 625 632 635 +f 632 627 635 +f 630 628 636 +f 629 630 636 +f 633 629 636 +f 628 633 636 +f 626 632 637 +f 632 629 637 +f 629 633 637 +o convex_48 +v -1.321483 -0.280024 -0.078006 +v -2.198474 -0.236982 -0.110296 +v -2.198474 -0.231597 -0.110296 +v -2.198474 -0.269254 0.072665 +v -1.310706 -0.242362 0.072665 +v -1.353726 -0.263874 -0.110296 +v -1.827202 -0.280019 0.013421 +v -1.380667 -0.253123 0.072665 +v -2.198474 -0.236982 -0.056479 +v -1.380667 -0.274634 -0.110296 +v -2.187610 -0.274634 0.056493 +v -2.085406 -0.231597 -0.110296 +v -1.961649 -0.274634 0.072665 +v -2.198474 -0.263869 0.067274 +v -1.310706 -0.242362 0.051120 +v -1.418386 -0.242362 0.072665 +v -2.192999 -0.242362 -0.094142 +f 648 639 654 +f 640 639 641 +f 639 640 643 +f 638 642 645 +f 642 641 645 +f 640 641 646 +f 639 643 647 +f 643 638 647 +f 638 644 647 +f 647 644 648 +f 641 639 648 +f 640 642 649 +f 643 640 649 +f 644 638 650 +f 638 645 650 +f 645 641 650 +f 648 644 650 +f 641 648 650 +f 646 641 651 +f 642 638 652 +f 638 643 652 +f 649 642 652 +f 643 649 652 +f 641 642 653 +f 642 640 653 +f 640 646 653 +f 651 641 653 +f 646 651 653 +f 639 647 654 +f 647 648 654 +o convex_49 +v -2.273926 -0.274642 0.131874 +v -2.935677 -0.247740 0.099571 +v -2.935677 -0.242361 0.099571 +v -2.935677 -0.274642 0.234102 +v -2.198522 -0.242361 0.234102 +v -2.198522 -0.263876 0.110343 +v -2.397747 -0.274642 0.099571 +v -2.198522 -0.253122 0.228716 +v -2.935677 -0.258500 0.196426 +v -2.919514 -0.274642 0.207185 +v -2.811856 -0.274642 0.234102 +v -2.854934 -0.242361 0.099571 +v -2.935677 -0.242361 0.121102 +v -2.198522 -0.242361 0.217957 +v -2.198522 -0.274642 0.099571 +v -2.263174 -0.242361 0.234102 +f 667 663 670 +f 657 656 658 +f 656 657 661 +f 655 658 661 +f 660 659 662 +f 657 658 663 +f 658 656 664 +f 656 661 664 +f 661 658 664 +f 658 655 665 +f 659 658 665 +f 655 662 665 +f 662 659 665 +f 657 659 666 +f 661 657 666 +f 659 657 667 +f 657 663 667 +f 659 660 668 +f 666 659 668 +f 660 666 668 +f 655 661 669 +f 662 655 669 +f 660 662 669 +f 666 660 669 +f 661 666 669 +f 658 659 670 +f 663 658 670 +f 659 667 670 +o convex_50 +v -2.499870 -0.156255 0.266389 +v -0.820928 0.085900 0.309437 +v -0.820928 -0.005596 0.309437 +v -1.676505 0.085900 0.266389 +v -0.923315 -0.156255 0.293294 +v -1.429331 0.058949 0.298675 +v -0.934161 -0.156255 0.304052 +v -2.332896 -0.123924 0.277160 +v -1.789574 0.085900 0.271774 +v -0.820928 0.005165 0.298675 +v -2.295261 -0.156255 0.266389 +v -0.912468 0.085900 0.298675 +v -1.197605 0.085900 0.304052 +v -2.499870 -0.156255 0.271774 +v -0.820928 -0.156255 0.304052 +f 675 680 685 +f 671 675 677 +f 672 674 679 +f 674 671 679 +f 678 676 679 +f 672 673 680 +f 675 674 680 +f 671 674 681 +f 675 671 681 +f 674 675 681 +f 674 672 682 +f 672 680 682 +f 680 674 682 +f 673 672 683 +f 677 673 683 +f 676 678 683 +f 678 677 683 +f 672 679 683 +f 679 676 683 +f 671 677 684 +f 677 678 684 +f 679 671 684 +f 678 679 684 +f 677 675 685 +f 673 677 685 +f 680 673 685 +o convex_51 +v 2.913641 0.198901 -0.008064 +v 3.032006 0.188147 -0.185630 +v 3.032006 0.182765 -0.185630 +v 2.913641 0.188147 -0.212540 +v 2.967464 0.177380 0.008091 +v 2.983582 0.209661 0.008091 +v 2.994347 0.177380 -0.212540 +f 688 690 692 +f 686 689 690 +f 690 688 691 +f 688 687 691 +f 687 689 691 +f 689 686 691 +f 686 690 691 +f 687 688 692 +f 689 687 692 +f 690 689 692 +o convex_52 +v 2.962088 0.171997 0.008091 +v 2.967464 -0.010962 -0.212540 +v 2.967464 -0.000196 -0.212540 +v 3.032006 0.177380 -0.196386 +v 2.924418 -0.010962 0.008091 +v 2.913641 0.015954 0.002691 +v 3.015864 0.171997 -0.196386 +v 2.978206 0.171997 0.002691 +v 2.978206 -0.010962 -0.207119 +v 3.032006 0.161212 -0.207119 +f 701 694 702 +f 694 697 698 +f 695 694 698 +f 697 693 698 +f 695 698 699 +f 693 696 699 +f 698 693 699 +f 696 693 700 +f 693 697 700 +f 697 694 701 +f 697 701 702 +f 694 695 702 +f 695 699 702 +f 699 696 702 +f 696 700 702 +f 700 697 702 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/507/507.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/507/507.urdf new file mode 100644 index 000000000..fceb2edb7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/507/507.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/508/508.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/508/508.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/508/508.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/508/508.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/508/508.obj new file mode 100644 index 000000000..44f729e0c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/508/508.obj @@ -0,0 +1,486 @@ +o convex_0 +v -1.079707 -2.895503 -0.876247 +v 1.088891 -2.510837 1.082150 +v 1.088891 -3.070369 1.082150 +v 1.018840 -1.112106 -0.911191 +v -0.974631 -1.111910 1.047206 +v 0.948789 -3.070564 -0.946136 +v -1.044682 -3.070564 1.012261 +v -0.974631 -1.111910 -0.981080 +v 0.983815 -1.112106 1.082150 +v -1.079707 -3.105693 -1.121073 +v 0.948789 -1.112106 -0.946351 +v 1.088891 -3.070369 0.592497 +v 0.214319 -3.105693 -0.911191 +v -1.044682 -3.105693 -0.141767 +v -0.939818 -1.286971 -1.016024 +v -0.520151 -3.070564 1.047206 +v 1.018840 -1.811569 -0.911191 +v -1.009656 -1.531705 -1.016024 +v 1.018840 -1.112106 -0.071663 +v -0.974631 -2.056693 1.047206 +v -0.625015 -2.650769 -1.086129 +v 0.983815 -3.070369 -0.736469 +v 0.704037 -1.111910 1.082150 +v -1.044682 -2.860764 1.012261 +v 0.878951 -3.070564 1.082150 +v 1.018840 -1.426903 1.082150 +v -0.030221 -1.111910 -0.981296 +f 23 4 27 +f 3 2 9 +f 7 1 10 +f 2 3 12 +f 4 2 12 +f 10 6 13 +f 12 3 13 +f 7 10 14 +f 13 3 14 +f 10 13 14 +f 7 14 16 +f 11 4 17 +f 6 11 17 +f 4 12 17 +f 1 5 18 +f 5 8 18 +f 10 1 18 +f 8 15 18 +f 15 10 18 +f 2 4 19 +f 5 7 20 +f 7 16 20 +f 6 10 21 +f 11 6 21 +f 10 15 21 +f 13 6 22 +f 12 13 22 +f 6 17 22 +f 17 12 22 +f 8 5 23 +f 3 9 23 +f 19 4 23 +f 9 19 23 +f 5 20 23 +f 5 1 24 +f 1 7 24 +f 7 5 24 +f 14 3 25 +f 16 14 25 +f 20 16 25 +f 3 23 25 +f 23 20 25 +f 9 2 26 +f 2 19 26 +f 19 9 26 +f 4 11 27 +f 15 8 27 +f 11 21 27 +f 21 15 27 +f 8 23 27 +o convex_1 +v 1.018769 2.735405 0.977289 +v -1.044602 2.770535 -1.016353 +v -1.044602 1.966464 -0.981203 +v 1.053693 1.091744 -0.981203 +v -0.974754 1.091744 1.047387 +v -0.974754 2.945596 1.047387 +v 0.948922 2.945596 -1.016353 +v 0.983845 1.091744 1.047387 +v -1.009678 1.091744 -0.911308 +v 1.053693 3.085527 0.942342 +v -1.044602 3.085527 -1.016353 +v -1.009678 1.091744 1.012237 +v -1.044602 3.050398 -0.246693 +v 0.843945 2.980335 -1.016353 +v 1.053693 1.581798 -0.981203 +v -0.415154 2.980335 1.047387 +v 1.053693 1.091744 -0.281641 +v 1.053693 3.085527 0.767400 +v -0.834854 2.980335 1.047387 +v 0.354193 1.091744 -0.981203 +v -0.729878 3.085527 -1.016353 +v 0.983845 1.581798 1.047387 +v 0.738969 3.085527 0.872446 +v -1.009678 1.161808 -0.946256 +v -1.044602 2.036527 -0.036804 +v -0.869778 3.085527 -0.526477 +v 1.053693 2.770535 0.942342 +v -1.009678 2.875337 0.627609 +v 0.983845 2.980335 -0.561627 +v -1.044602 1.826337 -0.841412 +f 39 52 57 +f 31 29 34 +f 32 31 35 +f 33 32 35 +f 31 32 36 +f 29 30 38 +f 34 29 38 +f 32 33 39 +f 36 32 39 +f 38 30 40 +f 34 38 41 +f 31 34 42 +f 37 31 42 +f 33 35 43 +f 28 37 43 +f 35 31 44 +f 31 37 44 +f 38 37 45 +f 37 42 45 +f 40 33 46 +f 33 43 46 +f 43 37 46 +f 30 29 47 +f 29 31 47 +f 31 36 47 +f 41 38 48 +f 38 45 48 +f 45 41 48 +f 37 28 49 +f 35 37 49 +f 28 43 49 +f 43 35 49 +f 37 38 50 +f 46 37 50 +f 36 30 51 +f 30 47 51 +f 47 36 51 +f 40 30 52 +f 39 40 52 +f 38 40 53 +f 40 46 53 +f 50 38 53 +f 46 50 53 +f 37 35 54 +f 35 44 54 +f 44 37 54 +f 39 33 55 +f 33 40 55 +f 40 39 55 +f 34 41 56 +f 42 34 56 +f 41 45 56 +f 45 42 56 +f 30 36 57 +f 36 39 57 +f 52 30 57 +o convex_2 +v -0.030303 0.217230 3.040978 +v 0.354339 -0.202411 2.935926 +v 0.319347 -0.062510 2.971007 +v 0.179446 0.322187 1.082557 +v -0.345234 -0.202411 1.082557 +v 0.214370 -0.272423 1.082557 +v -0.275249 -0.272423 3.040978 +v -0.275249 0.252236 1.082557 +v 0.214370 0.357193 3.040978 +v -0.205196 0.217230 2.796175 +v 0.354339 -0.272423 2.935926 +v -0.345234 -0.167466 1.817157 +v 0.214370 0.357193 2.026878 +v 0.249362 -0.237417 1.187610 +v -0.030303 -0.272423 1.082557 +v 0.144453 0.357193 3.040978 +v -0.275249 -0.132460 3.040978 +v -0.275249 0.252236 1.397331 +v 0.144453 0.357193 1.712105 +v -0.310242 -0.272423 2.656234 +v -0.135280 0.252236 2.971007 +v 0.249362 0.287181 3.040978 +v -0.345234 -0.027565 1.082557 +v -0.065295 -0.237417 3.040978 +f 68 79 81 +f 62 61 63 +f 61 62 65 +f 58 64 66 +f 59 60 68 +f 64 63 68 +f 59 61 70 +f 61 59 71 +f 63 61 71 +f 59 68 71 +f 68 63 71 +f 62 63 72 +f 63 64 72 +f 58 66 73 +f 66 70 73 +f 64 58 74 +f 69 74 75 +f 73 65 75 +f 74 67 75 +f 61 65 76 +f 70 61 76 +f 65 73 76 +f 73 70 76 +f 69 62 77 +f 62 72 77 +f 72 64 77 +f 64 74 77 +f 74 69 77 +f 58 73 78 +f 74 58 78 +f 67 74 78 +f 73 75 78 +f 75 67 78 +f 60 59 79 +f 66 64 79 +f 68 60 79 +f 59 70 79 +f 70 66 79 +f 65 62 80 +f 62 69 80 +f 69 75 80 +f 75 65 80 +f 64 68 81 +f 79 64 81 +o convex_3 +v 0.284354 0.007406 -1.226242 +v -0.205237 -0.342380 -3.080093 +v -0.240182 -0.202342 -3.044964 +v -0.240182 -0.342380 -1.086310 +v -0.310255 0.252216 -1.086310 +v 0.249348 0.217223 -3.009835 +v 0.319360 -0.272395 -3.009835 +v 0.319360 0.357193 -1.086310 +v -0.310255 0.252216 -2.974901 +v 0.214404 -0.202342 -1.121440 +v 0.039497 -0.342380 -1.856032 +v -0.275249 -0.202342 -1.261371 +v 0.284354 -0.307388 -2.765101 +v -0.030330 0.252216 -3.009835 +v 0.319360 -0.272395 -2.660298 +v -0.100281 -0.342380 -1.086310 +v 0.319360 0.007406 -2.555301 +v 0.319360 0.182300 -1.086310 +v -0.310255 0.077323 -1.086310 +v -0.310255 0.182300 -2.974901 +v -0.240182 -0.342380 -2.031093 +f 101 84 102 +f 83 87 88 +f 86 85 89 +f 86 89 90 +f 85 83 92 +f 83 88 94 +f 92 83 94 +f 87 83 95 +f 89 87 95 +f 83 90 95 +f 90 89 95 +f 88 89 96 +f 82 91 96 +f 94 88 96 +f 91 94 96 +f 89 85 97 +f 85 92 97 +f 94 91 97 +f 92 94 97 +f 88 87 98 +f 87 89 98 +f 89 88 98 +f 91 82 99 +f 82 96 99 +f 96 89 99 +f 89 97 99 +f 97 91 99 +f 85 86 100 +f 86 90 100 +f 93 85 100 +f 93 100 101 +f 83 84 101 +f 90 83 101 +f 100 90 101 +f 84 83 102 +f 83 85 102 +f 85 93 102 +f 93 101 102 +o convex_4 +v -1.884360 -1.041813 -1.016045 +v -2.863680 1.091313 1.082366 +v -1.009842 1.091744 -0.631389 +v -1.009842 -0.971931 1.047339 +v -3.003611 -1.111695 -1.086310 +v -3.003611 1.021431 -1.016257 +v -2.933548 -1.006656 0.977286 +v -1.009842 0.951549 1.047339 +v -1.009842 -0.971931 -0.981231 +v -1.079905 1.091744 -0.946204 +v -2.933548 0.671806 1.082366 +v -3.003611 1.021431 -0.561549 +v -2.758683 -1.006656 1.012313 +v -1.289899 -1.006656 0.662471 +v -3.003611 -1.006656 -0.596575 +v -2.303957 1.056372 1.082366 +v -1.009842 -0.272033 -0.981231 +v -2.933548 1.091313 1.012313 +v -2.863680 -1.041597 0.662471 +v -1.499697 1.091744 -0.946204 +v -2.933548 -1.006656 -1.086310 +v -1.219836 0.986490 1.047127 +v -2.968482 0.112103 0.382683 +v -1.009842 1.021431 -0.946204 +v -1.394700 -1.006656 -1.016045 +v -2.933548 -1.111695 -0.981231 +v -1.429829 -0.971931 1.047127 +v -2.128898 0.986490 1.082366 +v -1.954228 -1.006656 1.012313 +v -2.933548 -0.936774 1.012313 +v -2.898614 1.021431 -1.016257 +v -2.968482 1.056372 0.382683 +v -2.338891 1.056372 -0.981231 +v -1.324832 -1.006656 -0.946204 +f 116 128 136 +f 106 105 110 +f 105 106 111 +f 108 107 114 +f 111 106 116 +f 107 109 117 +f 114 107 117 +f 105 104 118 +f 104 113 118 +f 105 111 119 +f 113 104 120 +f 108 114 120 +f 109 107 121 +f 115 109 121 +f 104 105 122 +f 105 112 122 +f 112 108 122 +f 120 104 122 +f 107 108 123 +f 110 105 124 +f 105 118 124 +f 118 110 124 +f 114 117 125 +f 112 105 126 +f 105 119 126 +f 119 123 126 +f 103 107 127 +f 119 111 127 +f 107 123 127 +f 123 119 127 +f 107 103 128 +f 121 107 128 +f 116 121 128 +f 106 113 129 +f 115 106 129 +f 106 110 130 +f 113 106 130 +f 110 118 130 +f 118 113 130 +f 106 115 131 +f 116 106 131 +f 115 121 131 +f 121 116 131 +f 109 115 132 +f 117 109 132 +f 113 125 132 +f 125 117 132 +f 129 113 132 +f 115 129 132 +f 108 112 133 +f 123 108 133 +f 112 126 133 +f 126 123 133 +f 113 120 134 +f 120 114 134 +f 125 113 134 +f 114 125 134 +f 108 120 135 +f 122 108 135 +f 120 122 135 +f 111 116 136 +f 103 127 136 +f 127 111 136 +f 128 103 136 +o convex_5 +v -1.009828 -0.342130 -0.981018 +v 3.117652 1.091744 0.977286 +v 3.117652 0.427003 1.012100 +v -1.009828 1.021431 1.047127 +v -0.939529 -1.111695 1.047127 +v 2.977457 -1.006872 -1.051284 +v 2.942307 1.091744 -1.051284 +v 3.117652 -1.076754 1.047339 +v -1.009828 1.091313 -0.911178 +v -0.974679 -1.111695 -0.981018 +v -0.310064 0.252082 -1.086310 +v 0.634134 0.776628 1.082366 +v -0.974679 1.091313 1.047127 +v 1.019166 -1.111695 -0.911178 +v 0.984420 -1.111695 1.082366 +v -1.009828 -0.971715 1.047127 +v -0.240168 -0.342130 -1.086310 +v -0.554901 0.461944 1.082366 +v 3.082502 -1.076754 0.312630 +v 2.977457 1.021647 -1.051284 +v -0.904783 1.091313 -0.946204 +v 2.242946 -1.006872 1.082366 +v 1.613481 1.091313 1.047127 +v 3.117652 1.091744 0.732312 +v 3.012607 -1.006872 -0.806310 +v 3.117652 -0.342130 1.047339 +v 2.278096 1.091744 -1.051284 +v 0.319401 0.356905 -1.086310 +v -1.009828 -0.971715 -0.981018 +v 3.117652 -1.076754 0.802365 +v -0.344810 -0.202151 1.082366 +v -1.009828 0.986490 -0.946204 +f 157 147 168 +f 138 139 144 +f 137 140 145 +f 145 140 149 +f 141 146 150 +f 146 142 150 +f 141 150 151 +f 150 144 151 +f 140 137 152 +f 146 141 152 +f 142 146 153 +f 149 140 154 +f 148 149 154 +f 151 148 154 +f 140 152 154 +f 150 142 155 +f 148 151 158 +f 151 144 158 +f 139 138 159 +f 138 149 159 +f 149 148 159 +f 143 138 160 +f 138 144 160 +f 156 143 160 +f 156 160 161 +f 155 142 161 +f 142 156 161 +f 144 139 162 +f 158 144 162 +f 148 158 162 +f 139 159 162 +f 159 148 162 +f 138 143 163 +f 149 138 163 +f 145 149 163 +f 157 145 163 +f 147 157 163 +f 142 153 164 +f 153 147 164 +f 143 156 164 +f 156 142 164 +f 163 143 164 +f 147 163 164 +f 137 147 165 +f 152 137 165 +f 146 152 165 +f 153 146 165 +f 147 153 165 +f 144 150 166 +f 150 155 166 +f 160 144 166 +f 161 160 166 +f 155 161 166 +f 141 151 167 +f 152 141 167 +f 151 154 167 +f 154 152 167 +f 137 145 168 +f 147 137 168 +f 145 157 168 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/508/508.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/508/508.urdf new file mode 100644 index 000000000..57ad93b98 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/508/508.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/509/509.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/509/509.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/509/509.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/509/509.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/509/509.obj new file mode 100644 index 000000000..a95453168 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/509/509.obj @@ -0,0 +1,558 @@ +o convex_0 +v -3.763898 -0.208170 -0.448703 +v -1.796221 0.307890 0.002810 +v -1.796221 0.307890 -0.351946 +v -1.796221 -0.304990 -0.513250 +v -3.763898 -0.079139 0.067357 +v -3.763898 0.178796 -0.513250 +v -1.796221 -0.175896 0.035083 +v -3.699294 0.243343 0.099630 +v -3.731596 -0.337327 -0.351946 +v -1.796221 0.275617 -0.545587 +v -3.796200 -0.208170 0.002810 +v -2.892920 0.243343 -0.545587 +v -2.796211 -0.337327 -0.481040 +v -1.796221 -0.208170 -0.029464 +v -3.763898 0.049766 -0.513250 +v -3.183246 0.275617 0.002810 +v -3.763898 0.211070 -0.416493 +v -1.828719 -0.046865 -0.545587 +v -2.699696 -0.337327 -0.416493 +v -1.796221 0.017492 0.035083 +v -3.796200 0.114313 -0.319673 +f 8 17 21 +f 3 2 4 +f 4 2 7 +f 5 7 8 +f 3 4 10 +f 7 5 11 +f 1 9 11 +f 3 10 12 +f 9 1 13 +f 4 7 14 +f 7 11 14 +f 11 9 14 +f 6 12 15 +f 13 1 15 +f 4 13 15 +f 2 3 16 +f 8 2 16 +f 3 12 16 +f 16 12 17 +f 12 6 17 +f 8 16 17 +f 10 4 18 +f 12 10 18 +f 4 15 18 +f 15 12 18 +f 13 4 19 +f 9 13 19 +f 4 14 19 +f 14 9 19 +f 7 2 20 +f 8 7 20 +f 2 8 20 +f 5 8 21 +f 1 11 21 +f 11 5 21 +f 15 1 21 +f 6 15 21 +f 17 6 21 +o convex_1 +v 0.429773 0.339447 -0.416483 +v -1.796221 -0.304659 -0.513181 +v -1.796221 -0.304659 -0.416274 +v 0.429773 -3.078295 0.809120 +v -1.699259 2.952661 0.744516 +v 0.397307 3.081723 0.841631 +v -1.763755 3.081723 -1.287388 +v 0.203818 -2.981800 -1.190690 +v -1.699259 -2.949836 0.712214 +v 0.365059 2.984624 -1.190690 +v -1.731507 -3.078295 -1.222784 +v 0.397307 -2.981800 -1.158180 +v -1.763755 2.242817 0.744516 +v -1.376777 -2.981800 0.744516 +v 0.171570 3.081723 0.841631 +v -1.796221 -0.175596 0.034913 +v 0.397307 0.081322 -1.190690 +v 0.042577 -3.014367 0.809328 +v -1.699259 -1.046466 -1.255086 +v 0.397307 3.049156 -0.094087 +v -1.763755 2.920093 0.744516 +v -1.731507 -3.046331 -0.513181 +v -1.667011 3.081723 -1.287388 +v -1.763755 -0.336623 -1.255086 +v -0.151130 3.017191 -1.222992 +v -1.473522 -3.078295 -1.222784 +v 0.365059 0.887661 0.841631 +v 0.429773 0.178421 0.034913 +v -1.796221 0.307483 0.002611 +v 0.429773 0.339447 -0.513181 +v -0.118882 -3.079502 0.486516 +v 0.397307 -0.981935 -1.190690 +v 0.074825 -3.079502 0.292912 +v -1.763755 3.081723 -1.190690 +v -1.731507 1.307416 0.744516 +v -1.086326 -3.046934 -1.222784 +v 0.397307 3.081723 0.551120 +v 0.429773 -0.272092 -0.448576 +v 0.171570 2.791031 0.841631 +v 0.397307 -3.014367 -0.642180 +v -1.796221 0.274916 -0.545483 +v -1.731507 -3.014367 -0.351879 +v -1.699259 2.791031 -1.287388 +v -1.731507 -3.078295 -0.997086 +v -1.473522 -2.981800 0.712214 +v 0.429773 -3.078295 0.712422 +v -1.183288 2.888129 0.776818 +f 56 60 68 +f 24 23 32 +f 27 28 36 +f 23 24 37 +f 30 34 37 +f 35 25 39 +f 36 26 42 +f 37 34 42 +f 28 27 44 +f 32 23 45 +f 28 40 45 +f 40 32 45 +f 31 38 46 +f 41 31 46 +f 29 33 47 +f 32 40 47 +f 25 27 48 +f 27 36 48 +f 39 25 48 +f 25 22 49 +f 22 27 49 +f 27 25 49 +f 23 37 50 +f 37 42 50 +f 22 25 51 +f 27 22 51 +f 38 31 51 +f 31 41 51 +f 33 29 53 +f 29 44 53 +f 46 38 53 +f 44 46 53 +f 51 33 53 +f 38 51 53 +f 32 47 54 +f 25 52 54 +f 52 32 54 +f 26 36 55 +f 36 28 55 +f 42 26 55 +f 28 50 55 +f 50 42 55 +f 34 30 56 +f 30 35 56 +f 29 47 57 +f 47 40 57 +f 44 27 58 +f 41 46 58 +f 46 44 58 +f 27 51 58 +f 51 41 58 +f 51 25 59 +f 33 51 59 +f 35 39 60 +f 48 36 60 +f 39 48 60 +f 56 35 60 +f 47 33 61 +f 54 47 61 +f 45 23 62 +f 28 45 62 +f 23 50 62 +f 50 28 62 +f 37 24 63 +f 30 37 63 +f 24 43 63 +f 43 30 63 +f 40 28 64 +f 28 44 64 +f 44 29 64 +f 29 57 64 +f 57 40 64 +f 24 32 65 +f 43 24 65 +f 32 52 65 +f 65 52 66 +f 35 30 66 +f 25 35 66 +f 30 43 66 +f 52 25 66 +f 43 65 66 +f 25 54 67 +f 59 25 67 +f 33 59 67 +f 61 33 67 +f 54 61 67 +f 36 42 68 +f 42 34 68 +f 34 56 68 +f 60 36 68 +o convex_2 +v 0.526600 0.178847 0.035049 +v 0.526600 -0.305066 -0.448741 +v 0.429807 -0.272793 -0.448741 +v 0.720098 0.340151 -0.480967 +v 0.720098 -0.305066 0.131793 +v 0.429807 0.340151 -0.513260 +v 0.429807 -0.305066 0.164152 +v 0.720098 -0.305066 -0.448741 +v 0.720098 0.275604 -0.029470 +v 0.429807 0.243331 0.002756 +f 69 77 78 +f 70 71 74 +f 71 70 75 +f 73 69 75 +f 70 73 75 +f 74 71 75 +f 72 73 76 +f 73 70 76 +f 70 74 76 +f 74 72 76 +f 69 73 77 +f 73 72 77 +f 72 74 77 +f 77 74 78 +f 75 69 78 +f 74 75 78 +o convex_3 +v 1.881383 0.565873 -0.191494 +v 1.042869 -0.595414 -3.223237 +v 1.107326 -0.595414 -3.223237 +v 0.913727 -0.563049 1.454123 +v 0.784698 0.469129 -2.900148 +v 1.849211 -0.466304 -3.158712 +v 0.784698 0.469129 1.454123 +v 1.849211 -0.466304 1.454587 +v 1.849211 0.501377 -3.287761 +v 1.881383 0.598238 1.454587 +v 0.720127 -0.304946 -0.481624 +v 0.849269 -0.595414 -3.222772 +v 0.784698 0.436880 -3.222772 +v 0.784698 -0.498552 1.454123 +v 1.139611 0.565873 1.454587 +v 1.881383 -0.369559 -1.803689 +v 0.720127 0.340019 -0.288050 +v 1.816925 -0.498552 -3.158712 +v 0.946012 -0.595414 -0.578179 +v 0.720127 -0.304946 0.131595 +v 1.881383 -0.272698 0.099100 +v 1.655612 -0.498552 1.228518 +v 0.784698 0.178777 -3.222772 +v 0.816984 0.469129 -3.190278 +v 0.752413 0.340019 1.099004 +v 1.623326 0.178661 -3.287761 +v 0.784698 -0.530801 0.680288 +v 0.978298 0.533625 1.389598 +v 0.816984 -0.304946 -3.222772 +v 0.849269 -0.595414 -1.480600 +v 1.849211 0.598238 1.390062 +v 1.042869 -0.401808 -3.255267 +v 1.010469 -0.563049 1.454123 +v 1.784640 0.501377 -3.287761 +v 1.816925 -0.498552 -2.610018 +f 100 81 113 +f 80 81 90 +f 82 86 92 +f 86 88 93 +f 92 86 93 +f 85 92 93 +f 86 84 94 +f 87 79 94 +f 84 87 94 +f 79 88 94 +f 85 83 95 +f 91 89 95 +f 83 91 95 +f 84 86 96 +f 90 81 97 +f 95 89 98 +f 88 86 99 +f 86 94 99 +f 94 88 99 +f 97 81 100 +f 89 91 101 +f 91 83 102 +f 83 93 102 +f 92 85 103 +f 85 95 103 +f 98 92 103 +f 95 98 103 +f 87 84 104 +f 96 81 104 +f 84 96 104 +f 89 90 105 +f 82 92 105 +f 92 98 105 +f 98 89 105 +f 83 85 106 +f 93 83 106 +f 85 93 106 +f 90 89 107 +f 89 101 107 +f 97 82 108 +f 90 97 108 +f 82 105 108 +f 105 90 108 +f 88 79 109 +f 93 88 109 +f 102 93 109 +f 81 80 110 +f 80 90 110 +f 101 91 110 +f 104 81 110 +f 91 104 110 +f 90 107 110 +f 107 101 110 +f 86 82 111 +f 82 97 111 +f 100 86 111 +f 97 100 111 +f 79 87 112 +f 91 102 112 +f 87 104 112 +f 104 91 112 +f 109 79 112 +f 102 109 112 +f 81 96 113 +f 96 86 113 +f 86 100 113 +o convex_4 +v 2.139549 0.275630 0.099536 +v 2.171813 -0.337327 -0.416496 +v 2.236341 -0.337327 -0.416496 +v 2.236341 0.243350 -0.481008 +v 1.881519 0.243350 -0.481008 +v 1.881519 -0.272707 0.067313 +v 2.300869 -0.208208 0.002800 +v 1.881519 -0.272707 -0.545521 +v 1.881519 0.275630 0.131825 +v 2.268605 0.211010 0.035023 +v 2.010616 -0.272707 0.067313 +v 2.042880 -0.046869 -0.545521 +v 2.236341 0.275630 -0.287472 +f 123 117 126 +f 115 116 119 +f 116 117 120 +f 116 115 121 +f 115 119 121 +f 119 118 121 +f 118 119 122 +f 120 117 123 +f 114 120 123 +f 119 116 124 +f 116 120 124 +f 120 114 124 +f 114 122 124 +f 122 119 124 +f 117 116 125 +f 118 117 125 +f 116 121 125 +f 121 118 125 +f 117 118 126 +f 122 114 126 +f 118 122 126 +f 114 123 126 +o convex_5 +v 1.042739 0.630499 2.099741 +v 0.913755 -0.563153 1.454587 +v 1.010576 -0.563153 1.454587 +v 0.752388 -0.466292 2.906327 +v 1.849134 -0.433926 2.712496 +v 1.881518 0.598134 1.454587 +v 1.881518 0.598134 2.712496 +v 0.784772 0.468907 1.454587 +v 1.849134 -0.466175 1.454587 +v 0.784772 0.469024 2.809411 +v 1.720151 -0.563153 2.261030 +v 0.752388 -0.498540 1.551502 +v 0.978302 0.630499 1.583760 +v 0.752388 0.081929 2.873927 +v 1.881518 -0.175941 2.712496 +v 1.655383 0.630499 1.454587 +v 0.946250 -0.563153 2.035226 +v 0.881482 -0.466292 2.906327 +v 1.558673 -0.563153 1.519245 +v 1.720151 0.598134 2.744896 +v 1.784698 -0.433926 2.744896 +v 0.849208 0.501273 2.809411 +v 1.849134 -0.466292 2.680238 +v 1.687656 0.630499 2.099741 +v 0.752388 0.210922 2.809411 +v 0.784772 -0.498540 1.454587 +f 138 134 152 +f 129 128 132 +f 132 128 134 +f 129 132 135 +f 128 129 137 +f 134 136 139 +f 138 130 140 +f 132 133 141 +f 135 132 141 +f 132 134 142 +f 139 127 142 +f 134 139 142 +f 128 137 143 +f 137 130 143 +f 138 128 143 +f 130 138 143 +f 130 137 144 +f 140 130 144 +f 129 135 145 +f 137 129 145 +f 135 137 145 +f 140 144 146 +f 146 144 147 +f 131 141 147 +f 141 133 147 +f 133 146 147 +f 127 139 148 +f 139 136 148 +f 136 140 148 +f 146 127 148 +f 140 146 148 +f 137 135 149 +f 141 131 149 +f 135 141 149 +f 144 137 149 +f 147 144 149 +f 131 147 149 +f 133 132 150 +f 142 127 150 +f 132 142 150 +f 127 146 150 +f 146 133 150 +f 136 134 151 +f 134 138 151 +f 140 136 151 +f 138 140 151 +f 134 128 152 +f 128 138 152 +o convex_6 +v 1.623334 -1.853222 1.906189 +v 0.978214 -2.433975 1.648216 +v 0.978214 -2.433975 1.680492 +v 0.978214 -0.563645 1.841636 +v 1.558815 -0.563645 1.519109 +v 1.655560 -0.563645 2.099729 +v 1.107317 -2.950199 2.035176 +v 1.526589 -2.950199 1.519109 +v 1.623334 -2.982463 2.132006 +v 1.010573 -3.079255 1.519109 +v 1.075091 -0.821512 1.551446 +v 1.010573 -0.563645 2.002959 +v 1.526589 -2.659823 2.132006 +v 0.978214 -1.208680 1.970682 +v 1.075091 -0.563645 1.583722 +v 1.558815 -2.788879 1.583722 +v 1.655560 -0.886040 2.002959 +v 1.075091 -2.982463 1.970682 +v 1.010573 -2.595295 1.519109 +v 1.591107 -0.563645 1.615999 +v 1.591107 -0.563645 2.099729 +v 1.139610 -3.079255 1.648216 +v 1.429778 -0.563645 1.519109 +v 1.365259 -2.982463 2.099729 +f 170 174 176 +f 154 155 156 +f 157 156 158 +f 155 154 162 +f 157 160 162 +f 158 156 164 +f 161 158 165 +f 156 155 166 +f 164 156 166 +f 159 164 166 +f 156 157 167 +f 163 156 167 +f 160 157 168 +f 161 160 168 +f 153 161 168 +f 161 153 169 +f 158 161 169 +f 153 168 169 +f 155 162 170 +f 166 155 170 +f 159 166 170 +f 154 156 171 +f 162 154 171 +f 157 162 171 +f 156 163 171 +f 157 158 172 +f 168 157 172 +f 158 169 172 +f 169 168 172 +f 158 164 173 +f 165 158 173 +f 164 165 173 +f 160 161 174 +f 162 160 174 +f 170 162 174 +f 167 157 175 +f 163 167 175 +f 157 171 175 +f 171 163 175 +f 164 159 176 +f 161 165 176 +f 165 164 176 +f 159 170 176 +f 174 161 176 +o convex_7 +v 1.655582 2.372302 1.777246 +v 0.978214 0.630742 1.583691 +v 1.075120 0.630742 1.551465 +v 1.687884 0.630742 2.099707 +v 1.107352 2.920567 2.131999 +v 0.978214 3.049670 1.583691 +v 1.655582 0.630742 1.454587 +v 1.042818 0.630742 2.099707 +v 1.655582 3.114587 2.131999 +v 1.558815 3.017334 1.583691 +v 0.978214 2.791706 1.680502 +v 1.591048 3.082007 1.648209 +v 1.139585 2.082002 2.131999 +v 1.591048 0.792182 1.454587 +v 0.978214 0.630742 1.777246 +v 1.655582 1.243680 1.486946 +v 1.655582 3.114587 2.002962 +v 1.042818 0.953380 2.099707 +f 187 191 194 +f 178 179 180 +f 179 178 182 +f 180 179 183 +f 178 180 184 +f 182 181 185 +f 182 178 187 +f 181 182 187 +f 186 182 188 +f 184 180 189 +f 181 184 189 +f 180 185 189 +f 185 181 189 +f 179 182 190 +f 183 179 190 +f 182 186 190 +f 178 184 191 +f 187 178 191 +f 177 180 192 +f 180 183 192 +f 188 177 192 +f 186 188 192 +f 183 190 192 +f 190 186 192 +f 180 177 193 +f 185 180 193 +f 182 185 193 +f 177 188 193 +f 188 182 193 +f 184 181 194 +f 181 187 194 +f 191 184 194 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/509/509.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/509/509.urdf new file mode 100644 index 000000000..821490923 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/509/509.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/510/510.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/510/510.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/510/510.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/510/510.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/510/510.obj new file mode 100644 index 000000000..a89f44579 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/510/510.obj @@ -0,0 +1,447 @@ +o convex_0 +v 0.291350 -3.399307 0.371953 +v -0.328798 -5.321238 0.681979 +v -0.328798 -5.321238 0.743972 +v 0.260330 -5.383392 0.496056 +v 0.260330 -3.399307 0.837049 +v -0.235679 -3.399307 0.278934 +v -0.173640 -5.352314 0.247909 +v -0.266698 -3.399307 0.774998 +v 0.260330 -5.321238 0.837049 +v 0.260330 -5.383392 0.340985 +v -0.235679 -3.461462 0.806023 +v -0.235679 -5.042320 0.247909 +v 0.229311 -3.399307 0.340985 +v 0.291350 -4.515173 0.650953 +v 0.167272 -5.321238 0.837049 +v -0.111661 -5.259277 0.247909 +v -0.266698 -3.399307 0.434004 +v 0.074274 -3.399307 0.837049 +v -0.297718 -4.019492 0.774998 +v 0.291350 -3.399307 0.650953 +v 0.291350 -4.422135 0.371953 +v -0.173640 -4.639093 0.247909 +f 13 16 22 +f 5 1 6 +f 3 2 7 +f 4 3 7 +f 5 6 8 +f 4 7 10 +f 2 6 12 +f 7 2 12 +f 6 1 13 +f 1 10 13 +f 9 4 14 +f 5 9 14 +f 4 10 14 +f 3 4 15 +f 4 9 15 +f 9 5 15 +f 11 3 15 +f 10 7 16 +f 7 12 16 +f 13 10 16 +f 6 2 17 +f 8 6 17 +f 5 8 18 +f 8 11 18 +f 15 5 18 +f 11 15 18 +f 2 3 19 +f 3 11 19 +f 11 8 19 +f 17 2 19 +f 8 17 19 +f 1 5 20 +f 14 1 20 +f 5 14 20 +f 10 1 21 +f 1 14 21 +f 14 10 21 +f 12 6 22 +f 6 13 22 +f 16 12 22 +o convex_1 +v -1.010960 0.103905 0.310172 +v 1.066534 0.755640 1.643025 +v 1.066534 1.189531 1.612209 +v 0.942283 -3.305687 -0.558068 +v -0.917823 -3.367223 1.518899 +v 1.004510 1.189531 -0.527252 +v -0.917823 -3.398664 -0.527036 +v 1.066534 -3.336680 1.643025 +v -0.979847 1.189531 1.519114 +v -1.010960 1.189531 -0.527252 +v -0.483656 -0.298994 1.581177 +v 0.167290 1.189531 -0.558068 +v -0.948936 -3.243703 1.519114 +v 0.291134 -3.398664 0.372236 +v 0.632367 -3.336680 1.643025 +v 1.066534 -3.336680 1.363956 +v -1.010960 1.158538 1.270861 +v -0.948936 -2.685843 -0.527252 +v -0.917823 -3.398664 1.302108 +v -0.359608 1.158090 1.581177 +v -0.080602 -0.206017 -0.558068 +v 0.756415 -3.336680 -0.558068 +v -0.669727 -3.367223 1.550146 +v 1.004510 0.755640 -0.527252 +v -1.010960 0.352292 -0.527252 +v 1.004510 -3.336680 0.372236 +v 0.384272 -3.274246 -0.558068 +v 0.260224 -3.398664 0.836848 +v 0.942283 -2.096093 -0.558068 +v 0.322248 -3.367223 1.612209 +v -0.483656 -3.398664 -0.527036 +v -0.979847 -0.887846 1.519114 +v -0.762865 -2.189070 1.550146 +v 0.322248 1.189531 -0.558068 +v -0.948936 -3.274695 1.394988 +v 1.066534 0.972585 1.550146 +v 1.004510 0.693655 1.643025 +v -0.483656 0.010928 1.581177 +v 0.849349 1.189980 1.612209 +v 0.973397 -3.305687 -0.123840 +f 46 48 62 +f 25 24 30 +f 30 24 37 +f 25 30 38 +f 30 36 38 +f 32 23 39 +f 31 32 39 +f 23 35 39 +f 29 36 41 +f 34 26 43 +f 32 34 43 +f 29 40 43 +f 43 26 44 +f 35 27 45 +f 37 33 45 +f 27 41 45 +f 26 28 46 +f 28 38 46 +f 23 32 47 +f 32 43 47 +f 43 40 47 +f 38 36 48 +f 36 44 48 +f 44 26 48 +f 46 38 48 +f 29 43 49 +f 44 29 49 +f 43 44 49 +f 36 30 50 +f 41 36 50 +f 28 26 51 +f 26 34 51 +f 30 37 52 +f 37 45 52 +f 45 41 52 +f 50 30 52 +f 41 50 52 +f 36 29 53 +f 29 44 53 +f 44 36 53 +f 31 39 54 +f 39 35 54 +f 35 45 55 +f 45 33 55 +f 31 54 55 +f 54 35 55 +f 28 51 56 +f 51 34 56 +f 35 23 57 +f 27 35 57 +f 40 29 57 +f 41 27 57 +f 29 41 57 +f 23 47 57 +f 47 40 57 +f 28 25 58 +f 25 38 58 +f 38 28 58 +f 37 24 59 +f 24 42 59 +f 59 42 60 +f 33 37 60 +f 42 31 60 +f 31 55 60 +f 55 33 60 +f 37 59 60 +f 24 25 61 +f 25 28 61 +f 32 31 61 +f 34 32 61 +f 42 24 61 +f 31 42 61 +f 28 56 61 +f 56 34 61 +f 26 46 62 +f 48 26 62 +o convex_2 +v -0.607864 1.903091 -1.054678 +v 0.601412 1.965039 -0.527276 +v 0.601412 1.779085 -0.527276 +v 0.508372 2.244188 -4.527229 +v -0.514706 1.221005 -4.433651 +v 0.322293 1.190086 -0.527276 +v 0.477359 1.252034 -4.434043 +v -0.514706 2.213159 -4.433651 +v 0.508372 2.306246 -0.527276 +v -0.483812 1.221005 -0.527276 +v -0.607864 2.120073 -0.527276 +v 0.477359 1.252034 -0.744580 +v 0.477359 1.221005 -4.061690 +v -0.576733 2.182131 -2.604385 +v -0.545720 1.345120 -3.999827 +v 0.508372 1.314091 -4.030367 +v -0.018615 2.244188 -4.495906 +v 0.570398 2.213050 -0.589531 +v -0.607864 2.151102 -1.054678 +v 0.601412 1.779085 -0.930560 +v 0.508372 2.275108 -3.410954 +v 0.508372 1.345120 -0.527276 +v 0.260267 1.190086 -1.364776 +v 0.074306 1.190086 -0.527276 +v -0.514706 1.221005 -2.635317 +v 0.446346 2.058016 -4.527229 +v -0.514706 2.213159 -3.782915 +v -0.545720 2.182131 -3.844778 +v -0.607864 2.058016 -1.426639 +v 0.074306 1.221005 -4.434043 +v 0.508372 1.314091 -1.240658 +v -0.545720 1.562103 -0.527276 +v 0.539385 2.306246 -0.713648 +v -0.421667 2.151102 -4.464974 +v -0.328746 2.182131 -0.527276 +v 0.291280 2.182131 -4.527229 +v 0.539385 2.275108 -2.356933 +f 83 95 99 +f 65 64 68 +f 68 64 71 +f 68 71 72 +f 72 71 73 +f 74 68 75 +f 70 67 77 +f 69 66 78 +f 75 69 78 +f 70 71 79 +f 71 64 80 +f 63 73 81 +f 64 65 82 +f 66 64 82 +f 65 78 82 +f 78 66 82 +f 66 79 83 +f 65 68 84 +f 68 74 84 +f 75 68 85 +f 68 72 86 +f 67 85 86 +f 85 68 86 +f 77 67 87 +f 63 77 87 +f 67 86 87 +f 86 72 87 +f 66 69 88 +f 71 70 89 +f 70 76 89 +f 81 71 89 +f 76 81 89 +f 76 70 90 +f 70 77 90 +f 90 77 91 +f 77 63 91 +f 63 81 91 +f 81 76 91 +f 76 90 91 +f 69 75 92 +f 85 67 92 +f 75 85 92 +f 67 88 92 +f 88 69 92 +f 74 75 93 +f 78 65 93 +f 75 78 93 +f 65 84 93 +f 84 74 93 +f 72 73 94 +f 73 63 94 +f 63 87 94 +f 87 72 94 +f 79 71 95 +f 71 80 95 +f 83 79 95 +f 67 70 96 +f 70 79 96 +f 73 71 97 +f 71 81 97 +f 81 73 97 +f 79 66 98 +f 88 67 98 +f 66 88 98 +f 67 96 98 +f 96 79 98 +f 64 66 99 +f 80 64 99 +f 66 83 99 +f 95 80 99 +o convex_3 +v -1.041968 2.709135 -0.279105 +v 1.066534 1.500157 1.612233 +v 1.066534 1.190134 1.612233 +v 1.004410 1.190134 -0.527276 +v -0.979844 1.190134 1.519038 +v 0.973451 2.678179 1.612233 +v 1.004410 2.709290 -0.496071 +v -1.010803 1.190134 -0.527067 +v -1.010803 2.771202 1.519038 +v -1.041968 2.678179 -0.527067 +v -0.204635 1.500311 1.612233 +v 1.035369 2.709290 -0.216905 +v -1.010803 1.190134 1.301862 +v 1.035369 2.678179 1.518829 +v -0.669843 2.368002 1.581029 +v -0.638884 2.771202 1.146886 +v -1.041968 1.810334 -0.185910 +v 0.539203 2.554202 -0.527276 +v -1.041968 2.740091 0.557767 +v 0.322284 2.740246 0.186033 +v -1.010803 1.438245 1.519038 +v -0.328676 1.190134 1.581029 +v 0.694409 2.678179 1.612233 +v -0.111552 2.709135 -0.496071 +v -0.204635 1.934312 1.612233 +v -0.762719 2.771202 1.519038 +v 1.004410 2.709290 0.062052 +v -1.041968 1.903356 -0.527067 +v -0.917720 2.771202 1.177881 +v 1.035369 2.647223 1.612233 +f 113 105 129 +f 103 102 104 +f 102 101 105 +f 103 104 107 +f 102 105 110 +f 101 102 111 +f 102 103 111 +f 103 106 111 +f 107 104 112 +f 101 111 113 +f 104 110 114 +f 100 109 116 +f 107 112 116 +f 106 103 117 +f 103 107 117 +f 109 106 117 +f 100 116 118 +f 111 106 119 +f 112 104 120 +f 104 114 120 +f 114 108 120 +f 116 112 120 +f 108 118 120 +f 118 116 120 +f 104 102 121 +f 102 110 121 +f 110 104 121 +f 105 108 122 +f 110 105 122 +f 108 114 122 +f 109 100 123 +f 106 109 123 +f 119 106 123 +f 114 110 124 +f 110 122 124 +f 122 114 124 +f 108 105 125 +f 105 113 125 +f 115 108 125 +f 119 115 125 +f 119 125 126 +f 113 111 126 +f 111 119 126 +f 125 113 126 +f 116 109 127 +f 107 116 127 +f 117 107 127 +f 109 117 127 +f 108 115 128 +f 118 108 128 +f 100 118 128 +f 115 119 128 +f 123 100 128 +f 119 123 128 +f 105 101 129 +f 101 113 129 +o convex_4 +v -0.049725 2.027070 2.604828 +v 0.229287 1.376024 3.379472 +v 0.291350 1.376024 3.379472 +v 0.167278 1.500157 1.612233 +v -0.266783 1.407074 3.658721 +v 0.291350 1.965037 3.379472 +v -0.204720 1.934054 1.612233 +v 0.229287 2.058187 1.612233 +v -0.235751 1.965037 3.472622 +v -0.204720 1.469174 1.798332 +v 0.291350 1.438057 3.658721 +v 0.260318 1.500157 1.643484 +v -0.266783 1.469174 2.914325 +v -0.204720 1.500157 1.612233 +v 0.291350 1.903137 3.503672 +v -0.235751 1.965037 2.418529 +v -0.266783 1.717105 3.565371 +v -0.049725 1.376024 3.658721 +v 0.105269 2.058187 1.674333 +v 0.260318 2.027070 1.984431 +v 0.291350 1.500157 2.697176 +v -0.235751 1.469174 1.922532 +v 0.229287 2.058187 1.922532 +v -0.173743 1.996154 3.224423 +v -0.266783 1.407074 3.224423 +f 142 151 154 +f 133 136 137 +f 132 131 139 +f 132 135 140 +f 133 137 141 +f 132 139 141 +f 139 133 141 +f 136 133 143 +f 133 139 143 +f 135 138 144 +f 140 135 144 +f 145 142 146 +f 134 140 146 +f 142 134 146 +f 144 138 146 +f 140 144 146 +f 138 145 146 +f 131 132 147 +f 139 131 147 +f 132 140 147 +f 140 134 147 +f 137 136 148 +f 145 130 148 +f 136 145 148 +f 141 137 149 +f 141 149 150 +f 135 132 150 +f 132 141 150 +f 149 135 150 +f 143 139 151 +f 136 143 151 +f 145 136 151 +f 142 145 151 +f 148 130 152 +f 137 148 152 +f 135 149 152 +f 149 137 152 +f 138 135 153 +f 130 145 153 +f 145 138 153 +f 152 130 153 +f 135 152 153 +f 134 142 154 +f 139 147 154 +f 147 134 154 +f 151 139 154 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/510/510.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/510/510.urdf new file mode 100644 index 000000000..b2828d18e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/510/510.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/511/511.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/511/511.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/511/511.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/511/511.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/511/511.obj new file mode 100644 index 000000000..1d12febc2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/511/511.obj @@ -0,0 +1,189 @@ +o convex_0 +v -0.222164 -2.212918 -0.845740 +v 0.001916 0.476968 0.997868 +v 0.001916 1.049958 0.972781 +v 0.973561 0.103539 -0.073372 +v -0.496272 3.018080 -0.571560 +v -0.645785 -2.262509 0.673711 +v 0.799129 2.669148 -0.845740 +v 0.475184 -2.984871 0.524373 +v 0.649616 2.319618 0.723490 +v -0.894973 2.295121 0.026186 +v 0.674535 -2.263107 -0.646228 +v -0.645785 -2.287604 -0.696205 +v -0.695623 2.295121 0.648821 +v 0.674535 -2.263107 0.723490 +v 0.001916 0.999769 -1.020165 +v 0.101401 3.041980 0.623931 +v -0.446434 -3.009966 -0.521583 +v -0.670704 2.295121 -0.745787 +v -0.969730 -0.244796 -0.048483 +v 0.749291 3.018080 0.100855 +v 0.001916 -2.262509 0.923002 +v 0.873886 -2.312698 0.050878 +v 0.475184 -2.984871 -0.446914 +v -0.421515 -3.035658 0.449507 +v -0.845136 -2.312698 -0.023396 +v -0.745460 -0.219701 0.723687 +v 0.724372 -0.120519 0.798356 +v 0.923723 2.270027 0.075965 +v -0.720541 0.003759 -0.795763 +v -0.097570 3.018080 -0.820653 +v 0.051563 -2.262509 -0.895322 +v -0.496272 3.018080 0.424617 +v -0.047732 2.220435 0.923002 +v -0.022813 2.295719 -0.995078 +v 0.051563 -0.194607 -1.020165 +v 0.774210 0.177627 -0.770874 +v 0.973561 -0.195205 0.075965 +v 0.599778 -3.035658 0.100855 +v -0.894973 2.270027 -0.123152 +v -0.645785 3.018080 0.001099 +v -0.022813 -3.035060 0.624129 +v -0.147407 -0.020141 0.972781 +v 0.051563 -3.009966 -0.621339 +v -0.595947 -3.009966 -0.023593 +v 0.475184 3.041980 0.524373 +v -0.745460 0.301905 0.723687 +v 0.824048 2.643456 -0.820653 +v -0.969730 0.003161 0.026186 +v 0.026644 -0.369073 0.997868 +v -0.870055 -2.188421 -0.023396 +v -0.047732 2.967891 0.673908 +v 0.475184 2.992986 -0.471804 +v -0.022813 -0.119921 -1.020165 +v -0.969730 0.003161 -0.098065 +v 0.923723 2.320216 -0.123152 +v 0.898804 -1.988860 0.026186 +v 0.724372 0.152533 0.798356 +v -0.072651 -3.059557 0.100855 +v -0.695623 2.244932 -0.720897 +v 0.699454 -0.045235 -0.795763 +v -0.645785 -2.138232 -0.721095 +v -0.047732 -2.262509 -0.895322 +v 0.724372 2.270624 -0.870432 +v 0.973561 0.675931 0.051076 +f 57 37 64 +f 8 14 21 +f 11 22 23 +f 12 17 25 +f 20 9 28 +f 5 16 30 +f 18 5 30 +f 2 3 33 +f 3 9 33 +f 9 16 33 +f 15 29 34 +f 29 18 34 +f 30 7 34 +f 18 30 34 +f 27 14 37 +f 14 8 38 +f 22 14 38 +f 23 22 38 +f 5 18 39 +f 10 13 40 +f 16 5 40 +f 13 32 40 +f 32 16 40 +f 5 39 40 +f 39 10 40 +f 21 6 41 +f 8 21 41 +f 6 24 41 +f 38 8 41 +f 6 21 42 +f 26 6 42 +f 2 33 42 +f 11 23 43 +f 31 11 43 +f 23 38 43 +f 24 6 44 +f 25 17 44 +f 6 25 44 +f 16 9 45 +f 9 20 45 +f 30 16 45 +f 20 30 45 +f 13 10 46 +f 33 13 46 +f 26 42 46 +f 42 33 46 +f 7 20 47 +f 4 36 47 +f 36 7 47 +f 46 10 48 +f 26 46 48 +f 21 14 49 +f 14 27 49 +f 2 42 49 +f 42 21 49 +f 12 25 50 +f 25 6 50 +f 6 26 50 +f 48 19 50 +f 26 48 50 +f 32 13 51 +f 16 32 51 +f 33 16 51 +f 13 33 51 +f 20 7 52 +f 7 30 52 +f 30 20 52 +f 29 15 53 +f 15 35 53 +f 10 39 54 +f 19 48 54 +f 48 10 54 +f 12 50 54 +f 50 19 54 +f 20 28 55 +f 47 20 55 +f 4 47 55 +f 22 11 56 +f 14 22 56 +f 36 4 56 +f 11 36 56 +f 4 37 56 +f 37 14 56 +f 3 2 57 +f 9 3 57 +f 28 9 57 +f 27 37 57 +f 2 49 57 +f 49 27 57 +f 41 24 58 +f 38 41 58 +f 17 43 58 +f 43 38 58 +f 24 44 58 +f 44 17 58 +f 18 29 59 +f 39 18 59 +f 29 54 59 +f 54 39 59 +f 11 31 60 +f 31 35 60 +f 36 11 60 +f 53 1 61 +f 29 53 61 +f 12 54 61 +f 54 29 61 +f 17 12 62 +f 35 31 62 +f 31 43 62 +f 43 17 62 +f 1 53 62 +f 53 35 62 +f 61 1 62 +f 12 61 62 +f 34 7 63 +f 15 34 63 +f 35 15 63 +f 7 36 63 +f 60 35 63 +f 36 60 63 +f 37 4 64 +f 4 55 64 +f 55 28 64 +f 28 57 64 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/511/511.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/511/511.urdf new file mode 100644 index 000000000..c9e2393b3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/511/511.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/512/512.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/512/512.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/512/512.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/512/512.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/512/512.obj new file mode 100644 index 000000000..b9ceeb89b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/512/512.obj @@ -0,0 +1,942 @@ +o convex_0 +v -0.011816 -3.676240 -0.514719 +v 0.017944 -3.676240 0.620722 +v 0.197261 -3.676240 0.560927 +v -0.011816 -5.379402 0.053002 +v -0.549658 -3.676240 0.112686 +v 0.555895 -3.945319 -0.006682 +v -0.011816 -5.140165 -0.395017 +v 0.047812 -5.140165 0.441337 +v 0.406446 -5.170008 0.053002 +v 0.436314 -3.676240 -0.395017 +v -0.370233 -5.080482 -0.036469 +v -0.400101 -4.333765 0.471234 +v -0.370233 -4.363773 -0.365120 +v 0.406446 -4.273914 0.441337 +v 0.406446 -4.423458 -0.365120 +v -0.400101 -3.676240 -0.365120 +v 0.496050 -3.676240 0.291960 +v -0.430077 -3.676240 0.501132 +v -0.370233 -5.050640 0.112686 +v 0.017944 -4.273914 0.590825 +v 0.047812 -4.483141 -0.484821 +v 0.406446 -5.170008 -0.036469 +v -0.489813 -4.423458 0.023326 +v 0.525918 -4.423291 0.053002 +v 0.316733 -4.990789 0.321858 +v 0.286865 -4.990789 -0.305436 +v -0.011816 -5.140165 0.441337 +v -0.280628 -4.930938 0.351755 +v -0.280628 -4.930938 -0.275538 +v -0.549658 -3.706416 0.023326 +v 0.406446 -3.676240 0.471234 +v 0.555895 -3.676240 0.112686 +v -0.011816 -5.379402 -0.036469 +v 0.047812 -5.140165 -0.395017 +v -0.071444 -3.736091 0.620722 +v -0.011816 -4.483141 -0.484821 +v -0.101312 -4.393615 0.560927 +v -0.489813 -4.333765 0.142583 +v -0.430077 -3.915477 0.501132 +v 0.077680 -3.706416 -0.514719 +v -0.370233 -5.110157 0.053002 +v 0.406446 -4.423458 0.411550 +v 0.047812 -5.379402 0.053002 +v 0.525918 -4.393449 -0.006682 +v 0.376470 -4.423458 0.441337 +v 0.496050 -3.706249 -0.245752 +v 0.047812 -5.379402 -0.036469 +v -0.459945 -3.736091 0.471234 +f 12 39 48 +f 1 2 3 +f 2 1 5 +f 1 3 10 +f 5 1 16 +f 1 13 16 +f 10 3 17 +f 2 5 18 +f 3 2 20 +f 14 3 20 +f 10 15 21 +f 13 11 23 +f 9 22 24 +f 8 9 25 +f 15 22 26 +f 4 8 27 +f 8 20 27 +f 12 19 28 +f 27 12 28 +f 7 11 29 +f 13 7 29 +f 11 13 29 +f 5 16 30 +f 16 13 30 +f 23 5 30 +f 13 23 30 +f 3 14 31 +f 17 3 31 +f 14 17 31 +f 10 17 32 +f 24 6 32 +f 11 7 33 +f 7 21 34 +f 21 15 34 +f 15 26 34 +f 26 22 34 +f 33 7 34 +f 2 18 35 +f 20 2 35 +f 13 1 36 +f 7 13 36 +f 21 7 36 +f 12 27 37 +f 27 20 37 +f 20 35 37 +f 19 12 38 +f 5 23 38 +f 35 18 39 +f 12 37 39 +f 37 35 39 +f 1 10 40 +f 10 21 40 +f 36 1 40 +f 21 36 40 +f 23 11 41 +f 4 27 41 +f 28 19 41 +f 27 28 41 +f 33 4 41 +f 11 33 41 +f 19 38 41 +f 38 23 41 +f 17 14 42 +f 9 24 42 +f 25 9 42 +f 32 17 42 +f 24 32 42 +f 8 4 43 +f 9 8 43 +f 22 9 43 +f 4 33 43 +f 22 15 44 +f 6 24 44 +f 24 22 44 +f 20 8 45 +f 14 20 45 +f 8 25 45 +f 42 14 45 +f 25 42 45 +f 15 10 46 +f 32 6 46 +f 10 32 46 +f 6 44 46 +f 44 15 46 +f 34 22 47 +f 33 34 47 +f 22 43 47 +f 43 33 47 +f 18 5 48 +f 5 38 48 +f 38 12 48 +f 39 18 48 +o convex_1 +v -0.011770 -3.227689 -0.783551 +v 0.047896 0.566723 1.307963 +v -0.041604 0.566723 1.307963 +v 0.256928 0.566723 -1.261719 +v -0.967826 0.506917 -0.245518 +v 0.974118 -2.390809 -0.006811 +v -0.609230 -3.287496 0.650199 +v 1.003952 0.566723 0.112668 +v 0.794920 -2.570229 0.799862 +v -0.728762 -2.570644 -0.693753 +v 0.794920 -2.600132 -0.932711 +v -0.937993 -0.270573 0.769929 +v 0.585690 -3.676240 0.082736 +v 0.974118 0.207882 -0.813484 +v 0.854587 0.536405 0.949022 +v -0.848294 0.566308 -0.813232 +v -0.937993 -2.630036 -0.006559 +v -0.400199 -3.676240 -0.365248 +v -0.788628 -2.570229 0.829795 +v 0.018063 -2.898751 0.919341 +v -0.728762 0.566723 1.068753 +v 0.018063 -3.676240 0.620518 +v -0.161135 -2.391224 -0.962644 +v -0.430032 0.477013 -1.112307 +v 0.735055 0.566723 -1.112056 +v 0.974118 -0.150544 0.769929 +v 0.436325 0.536820 1.278030 +v 0.466158 -3.646337 -0.424862 +v -0.728762 -3.407110 0.082484 +v 0.764888 -3.406694 -0.036492 +v -0.459865 0.477013 1.248098 +v 1.033984 -0.778516 -0.036492 +v 0.585690 -3.407110 0.560652 +v -0.459865 -3.676240 0.471106 +v -0.878326 -0.449578 -0.723686 +v -0.997858 -0.868226 -0.006559 +v 0.525824 0.447110 -1.261719 +v -0.878326 0.566308 0.829795 +v 0.974118 -0.389771 -0.813484 +v -0.549564 -3.377206 -0.514409 +v -0.101270 -2.749650 -0.932963 +v 0.794920 0.566723 1.038820 +v 0.944285 -2.600132 -0.185652 +v 0.047896 -3.437013 -0.693753 +v -0.997858 0.177979 0.023122 +v 0.018063 -3.407110 0.769929 +v 0.944285 0.566723 -0.813484 +v 0.824753 -2.570229 0.739997 +v 0.585690 -3.407110 -0.574274 +v -0.937993 -2.630036 0.082736 +v 1.033984 0.207882 -0.036492 +v -0.131302 -2.809041 0.919341 +v 0.077729 -3.676240 -0.514409 +v 0.436325 -3.676240 0.470854 +v 0.764888 -2.450615 -0.962644 +v 0.944285 -2.630036 0.082736 +v 1.003952 -0.180447 -0.664072 +v 0.047896 0.566723 -1.231787 +v -0.549564 -3.676240 0.023122 +v -0.758595 -3.347303 0.023122 +v -0.848294 -0.628998 -0.753618 +v 0.794920 -2.331417 -0.962644 +v -0.967826 0.566308 0.112417 +v 0.914452 0.566723 0.829795 +f 90 63 112 +f 51 50 52 +f 52 50 56 +f 50 51 68 +f 51 52 69 +f 60 67 69 +f 66 61 70 +f 71 58 72 +f 52 56 73 +f 50 68 75 +f 68 57 75 +f 55 67 77 +f 61 76 78 +f 51 69 79 +f 69 67 79 +f 74 54 80 +f 61 78 81 +f 66 70 82 +f 70 55 82 +f 55 77 82 +f 53 64 83 +f 58 65 83 +f 83 65 84 +f 53 83 84 +f 52 73 85 +f 60 69 86 +f 73 62 87 +f 59 49 89 +f 58 71 89 +f 71 52 89 +f 52 85 89 +f 49 88 89 +f 88 58 89 +f 56 50 90 +f 57 74 90 +f 74 63 90 +f 50 75 90 +f 75 57 90 +f 78 59 91 +f 59 87 91 +f 49 59 92 +f 88 49 92 +f 66 88 92 +f 53 84 93 +f 84 60 93 +f 67 55 94 +f 57 68 94 +f 55 70 94 +f 81 57 94 +f 73 56 95 +f 62 73 95 +f 74 57 96 +f 57 81 96 +f 81 78 96 +f 59 78 97 +f 78 76 97 +f 92 59 97 +f 67 60 98 +f 84 65 98 +f 60 84 98 +f 56 74 99 +f 74 80 99 +f 95 56 99 +f 62 95 99 +f 68 51 100 +f 51 79 100 +f 79 67 100 +f 67 94 100 +f 94 68 100 +f 61 66 101 +f 76 61 101 +f 66 92 101 +f 97 76 101 +f 92 97 101 +f 70 61 102 +f 61 81 102 +f 94 70 102 +f 81 94 102 +f 59 89 103 +f 89 85 103 +f 54 74 104 +f 91 54 104 +f 78 91 104 +f 74 96 104 +f 96 78 104 +f 80 54 105 +f 87 62 105 +f 54 91 105 +f 91 87 105 +f 62 99 105 +f 99 80 105 +f 69 52 106 +f 64 69 106 +f 52 71 106 +f 72 64 106 +f 71 72 106 +f 66 82 107 +f 82 77 107 +f 88 66 107 +f 88 107 108 +f 65 58 108 +f 77 67 108 +f 58 88 108 +f 67 98 108 +f 98 65 108 +f 107 77 108 +f 64 72 109 +f 72 58 109 +f 83 64 109 +f 58 83 109 +f 85 73 110 +f 87 59 110 +f 73 87 110 +f 59 103 110 +f 103 85 110 +f 64 53 111 +f 69 64 111 +f 60 86 111 +f 86 69 111 +f 53 93 111 +f 93 60 111 +f 74 56 112 +f 63 74 112 +f 56 90 112 +o convex_2 +v 0.227115 3.644651 -0.454959 +v 0.047799 2.927365 0.590842 +v -0.041697 2.927365 0.590842 +v 0.017931 4.450953 0.441442 +v -0.549561 2.867784 -0.126208 +v 0.526012 2.867606 -0.066425 +v -0.400221 4.450953 0.023075 +v 0.376563 4.450953 0.052908 +v -0.220905 2.867784 -0.544458 +v -0.429981 2.867784 0.471275 +v -0.041697 4.450953 -0.365108 +v 0.436299 2.867784 0.411492 +v 0.406431 2.867784 -0.454959 +v -0.400221 3.614683 -0.365108 +v -0.041697 4.689810 0.082741 +v 0.376563 3.674442 -0.395175 +v -0.340377 3.823572 0.411492 +v 0.346587 3.674442 0.411492 +v 0.017931 2.897574 -0.604359 +v -0.579538 2.897574 0.023075 +v 0.466167 3.853362 0.023075 +v -0.459957 2.867784 -0.425008 +v -0.400221 4.450953 0.082741 +v 0.256983 4.241707 -0.305559 +v -0.041697 3.674442 -0.514625 +v -0.310509 4.241707 -0.275491 +v 0.286851 4.241707 0.321758 +v 0.376563 4.450953 -0.006758 +v -0.250773 4.301466 0.351591 +v -0.041697 3.704411 0.530942 +v 0.017931 4.450953 -0.365108 +v 0.017931 4.689810 -0.006758 +v -0.310509 2.867784 0.530942 +v -0.340377 3.704411 -0.395175 +v 0.376563 3.674442 0.381659 +v 0.496035 3.554745 -0.036592 +v 0.047799 3.704411 0.530942 +v 0.227115 2.867784 0.530942 +v -0.459957 2.897574 0.411492 +v -0.400221 2.897574 -0.484792 +v -0.489825 3.734201 -0.006758 +v 0.526012 2.957333 0.023075 +v -0.011937 4.450953 0.441442 +v 0.017931 4.689810 0.082741 +v 0.017931 3.674442 -0.514625 +v 0.406431 2.957333 -0.454959 +v -0.101325 4.660020 0.023075 +v 0.406431 4.331434 -0.006758 +v -0.489825 3.734201 0.052908 +f 135 153 161 +f 117 118 122 +f 118 121 125 +f 125 121 131 +f 117 122 132 +f 118 117 134 +f 121 118 134 +f 117 126 134 +f 131 121 137 +f 119 123 138 +f 126 119 138 +f 120 116 139 +f 116 130 139 +f 128 136 140 +f 135 129 141 +f 115 114 142 +f 128 113 143 +f 136 128 143 +f 137 123 143 +f 140 136 143 +f 140 143 144 +f 120 140 144 +f 143 123 144 +f 114 115 145 +f 122 118 145 +f 129 122 145 +f 115 142 145 +f 142 129 145 +f 123 137 146 +f 138 123 146 +f 126 138 146 +f 130 124 147 +f 124 133 147 +f 133 120 147 +f 120 139 147 +f 139 130 147 +f 130 116 149 +f 142 114 149 +f 116 142 149 +f 118 124 150 +f 124 130 150 +f 114 145 150 +f 145 118 150 +f 149 114 150 +f 130 149 150 +f 122 129 151 +f 132 122 151 +f 129 135 151 +f 121 134 152 +f 134 126 152 +f 137 121 152 +f 126 146 152 +f 146 137 152 +f 126 117 153 +f 119 126 153 +f 117 132 153 +f 135 119 153 +f 124 118 154 +f 133 124 154 +f 118 148 154 +f 148 133 154 +f 116 127 155 +f 127 135 155 +f 141 129 155 +f 135 141 155 +f 142 116 155 +f 129 142 155 +f 116 120 156 +f 127 116 156 +f 144 127 156 +f 120 144 156 +f 113 131 157 +f 131 137 157 +f 143 113 157 +f 137 143 157 +f 118 125 158 +f 113 128 158 +f 131 113 158 +f 125 131 158 +f 148 118 158 +f 128 148 158 +f 123 119 159 +f 135 127 159 +f 119 135 159 +f 144 123 159 +f 127 144 159 +f 120 133 160 +f 140 120 160 +f 128 140 160 +f 148 128 160 +f 133 148 160 +f 132 151 161 +f 151 135 161 +f 153 132 161 +o convex_3 +v 0.047849 2.150318 -2.038707 +v 0.017899 0.775884 -1.351487 +v 0.167416 0.775884 -1.351487 +v -0.071601 1.642381 -2.964881 +v -0.609418 1.821661 -1.291871 +v 0.585783 1.403294 -1.291708 +v 0.376483 1.642381 -2.695791 +v -0.430067 1.642381 -2.725599 +v 0.406433 2.000801 -1.291708 +v -0.459901 1.074918 -1.291871 +v -0.071601 1.284101 -2.725599 +v 0.466216 0.776024 -1.291708 +v -0.489851 2.120415 -1.291871 +v 0.017899 2.060608 -2.725599 +v 0.376483 2.030704 -2.038707 +v -0.430067 2.060608 -2.038707 +v 0.017899 2.210125 -1.291871 +v -0.579467 1.672284 -1.978927 +v -0.340334 1.373531 -2.546424 +v 0.286866 1.403434 -2.576232 +v 0.526000 1.612337 -1.889340 +v -0.310500 1.971038 -2.576232 +v -0.071601 2.180222 -1.889340 +v -0.459901 1.164347 -1.650385 +v -0.011817 1.284101 -2.725599 +v 0.376483 1.701907 -2.695791 +v -0.430067 1.731951 -2.695791 +v 0.466216 0.776024 -1.321679 +v 0.017899 1.672284 -2.964881 +v -0.041767 2.060608 -2.725599 +v 0.286866 1.941135 -2.546424 +v 0.555833 1.433197 -1.620413 +v -0.579467 1.522627 -1.291871 +v 0.436383 1.970898 -1.441075 +v -0.459901 1.284101 -1.978927 +v 0.496050 0.865594 -1.321679 +v -0.459901 1.074918 -1.381459 +v -0.131267 2.210125 -1.321679 +v 0.017899 0.775884 -1.291871 +v -0.131267 1.701907 -2.934745 +v 0.496050 1.702047 -2.008735 +v -0.489851 2.120415 -1.381459 +v -0.579467 1.701907 -1.978927 +v 0.346650 1.582574 -2.695791 +v -0.579467 1.642381 -1.949119 +f 198 194 206 +f 164 163 172 +f 169 165 172 +f 170 166 173 +f 167 170 173 +f 166 170 174 +f 175 162 176 +f 174 170 178 +f 176 162 178 +f 170 176 178 +f 172 163 180 +f 169 172 180 +f 162 175 184 +f 178 162 184 +f 164 172 186 +f 172 165 186 +f 182 168 187 +f 177 183 188 +f 173 164 189 +f 164 186 189 +f 186 181 189 +f 186 165 190 +f 187 168 190 +f 175 187 190 +f 183 177 191 +f 184 175 191 +f 177 184 191 +f 188 183 191 +f 175 190 191 +f 175 176 192 +f 187 175 192 +f 176 187 192 +f 182 167 193 +f 168 182 193 +f 173 166 194 +f 171 173 194 +f 170 167 195 +f 176 170 195 +f 167 182 195 +f 169 180 196 +f 180 185 196 +f 167 173 197 +f 173 189 197 +f 189 168 197 +f 193 167 197 +f 168 193 197 +f 163 171 198 +f 180 163 198 +f 185 180 198 +f 171 194 198 +f 174 178 199 +f 178 184 199 +f 163 164 200 +f 171 163 200 +f 164 173 200 +f 173 171 200 +f 165 169 201 +f 169 188 201 +f 190 165 201 +f 188 191 201 +f 191 190 201 +f 187 176 202 +f 182 187 202 +f 176 195 202 +f 195 182 202 +f 166 174 203 +f 184 177 203 +f 174 199 203 +f 199 184 203 +f 169 179 204 +f 179 166 204 +f 188 169 204 +f 177 188 204 +f 166 203 204 +f 203 177 204 +f 181 186 205 +f 168 189 205 +f 189 181 205 +f 186 190 205 +f 190 168 205 +f 179 169 206 +f 166 179 206 +f 194 166 206 +f 169 196 206 +f 196 185 206 +f 185 198 206 +o convex_4 +v -0.041586 2.210093 1.307963 +v 0.167475 0.566723 -1.261573 +v 0.525947 0.566723 -1.261573 +v 0.077712 2.867486 -0.604303 +v -0.967978 0.566949 0.112256 +v 0.914341 0.566949 0.829578 +v -0.848294 2.299502 -0.873267 +v 0.764929 2.598358 -0.096147 +v -0.728803 0.716489 1.098797 +v -0.459901 2.867486 0.471044 +v 0.436184 1.970918 -1.291599 +v 0.944262 0.716264 -0.813215 +v -0.788645 2.150187 0.799807 +v 0.794850 2.239821 0.829578 +v -0.459901 1.044848 -1.291599 +v 0.466105 0.566723 1.277682 +v -0.848294 0.566949 -0.813469 +v 0.406456 2.867486 0.471044 +v 0.854692 2.150187 -0.813215 +v 0.974183 1.940965 0.052712 +v -0.489822 2.120459 -1.291599 +v -0.579391 1.463291 1.307963 +v 0.585596 1.493019 1.307963 +v -0.459901 2.867486 -0.484707 +v -0.459901 0.566723 1.247910 +v -0.938057 1.940965 0.082484 +v -0.728803 2.687992 0.052712 +v 1.004104 0.566949 -0.155945 +v -0.878215 0.566949 0.829578 +v 0.406456 2.867486 -0.454935 +v 0.585596 1.403610 -1.291599 +v -0.459901 2.000871 1.307963 +v -0.609312 1.642785 -1.291599 +v 0.436184 2.030599 1.307963 +v -0.011665 2.598358 0.978946 +v 0.018063 2.210093 -1.291599 +v -0.967978 0.596902 -0.215743 +v -0.101428 0.566723 1.307963 +v 0.824771 0.566949 -1.022381 +v -0.459901 0.566723 -1.112205 +v 0.047791 2.598358 -0.932811 +v 0.555675 2.867486 0.022686 +v 0.824771 2.000646 0.859605 +v 0.735201 0.806123 1.128569 +v 1.004104 1.254295 0.022940 +v -0.071507 2.867486 0.620412 +v -0.579391 2.867486 -0.096147 +v 0.496026 0.596677 -1.291599 +v 0.974183 1.911012 -0.096147 +v -0.878215 1.970693 -0.783443 +v 0.764929 2.568404 0.172308 +v 0.585596 2.628311 0.620412 +v -0.758724 2.209867 0.829578 +v 0.047791 2.598358 0.978946 +v 0.585596 2.628311 -0.574277 +v -0.938057 1.911012 -0.126173 +v -0.459901 0.805898 1.307963 +v -0.878215 0.566949 -0.753671 +v 1.004104 0.566949 0.112510 +v -0.967978 1.134707 0.052712 +v 0.525947 0.985167 1.307963 +v 0.735201 0.865579 -1.141977 +v 0.794850 2.179914 0.889376 +v 0.914341 0.806123 0.799807 +f 265 251 270 +f 208 209 222 +f 210 216 224 +f 217 221 227 +f 207 228 229 +f 216 210 230 +f 227 213 230 +f 208 222 231 +f 232 219 233 +f 213 232 233 +f 215 228 235 +f 228 219 235 +f 211 231 235 +f 231 215 235 +f 219 232 235 +f 210 224 236 +f 221 217 237 +f 217 225 237 +f 228 207 238 +f 223 213 239 +f 221 223 239 +f 213 227 239 +f 227 221 239 +f 207 229 240 +f 238 207 241 +f 216 238 241 +f 217 227 242 +f 229 228 244 +f 231 222 244 +f 234 209 245 +f 218 234 245 +f 221 208 246 +f 223 221 246 +f 231 211 246 +f 208 231 246 +f 230 210 247 +f 227 230 247 +f 210 236 247 +f 242 227 247 +f 217 242 247 +f 236 224 248 +f 214 236 248 +f 249 229 250 +f 222 212 250 +f 212 249 250 +f 234 218 251 +f 224 216 252 +f 216 241 252 +f 216 230 253 +f 230 213 253 +f 233 216 253 +f 213 233 253 +f 209 208 254 +f 208 221 254 +f 221 237 254 +f 245 209 254 +f 225 214 255 +f 218 225 255 +f 214 226 255 +f 226 251 255 +f 251 218 255 +f 220 226 257 +f 226 214 257 +f 214 248 257 +f 257 248 258 +f 248 224 258 +f 220 257 258 +f 219 228 259 +f 233 219 259 +f 216 233 259 +f 238 216 259 +f 228 238 259 +f 207 240 260 +f 241 207 260 +f 224 252 260 +f 252 241 260 +f 240 258 260 +f 258 224 260 +f 214 225 261 +f 225 217 261 +f 236 214 261 +f 247 236 261 +f 217 247 261 +f 232 213 262 +f 213 256 262 +f 256 243 262 +f 228 215 263 +f 215 231 263 +f 244 228 263 +f 231 244 263 +f 213 223 264 +f 211 243 264 +f 246 211 264 +f 223 246 264 +f 256 213 264 +f 243 256 264 +f 222 209 265 +f 212 222 265 +f 209 234 265 +f 234 251 265 +f 211 235 266 +f 235 232 266 +f 243 211 266 +f 232 262 266 +f 262 243 266 +f 244 222 267 +f 229 244 267 +f 250 229 267 +f 222 250 267 +f 225 218 268 +f 237 225 268 +f 218 245 268 +f 254 237 268 +f 245 254 268 +f 226 220 269 +f 240 229 269 +f 249 226 269 +f 229 249 269 +f 220 258 269 +f 258 240 269 +f 249 212 270 +f 226 249 270 +f 251 226 270 +f 212 265 270 +o convex_5 +v -0.011820 2.210125 1.307963 +v -0.071592 0.566884 1.307963 +v 0.047838 0.566884 1.307963 +v 0.077723 1.642165 2.951365 +v 0.585669 1.492896 1.307963 +v -0.579424 1.433060 1.457407 +v -0.370337 1.672083 2.742079 +v 0.406468 1.702001 2.712318 +v -0.011820 2.090453 2.712318 +v -0.459994 2.000699 1.307963 +v 0.436354 2.030617 1.726535 +v 0.077723 1.224277 2.742079 +v 0.436354 0.776150 1.338045 +v -0.429994 0.746232 1.337884 +v -0.400108 2.030617 2.084943 +v 0.466240 2.000859 1.307963 +v -0.280679 1.313870 2.562714 +v 0.555897 1.552571 1.845897 +v 0.406468 1.612407 2.712318 +v 0.376582 2.060696 2.025101 +v -0.519652 1.582489 2.025262 +v -0.579424 1.283952 1.307963 +v -0.370337 1.582489 2.742079 +v -0.011820 2.180046 2.055183 +v 0.017952 1.224277 2.742079 +v 0.316810 1.343788 2.562714 +v 0.257039 2.000699 2.562714 +v 0.526012 1.731919 1.935499 +v -0.310451 1.941023 2.562714 +v -0.041706 1.672083 2.951365 +v 0.585669 1.313870 1.367805 +v -0.310451 2.090453 2.025262 +v -0.519652 1.642165 2.025262 +v -0.459994 0.835825 1.367805 +v -0.071592 0.566884 1.337884 +v 0.047838 0.566884 1.337884 +v 0.496126 0.955336 1.307963 +v 0.017952 2.090453 2.712318 +v 0.047838 2.180046 2.025262 +v 0.406468 0.746071 1.338045 +v 0.376582 2.030617 2.174384 +v 0.017952 2.210125 1.307963 +v -0.131250 1.254195 2.652477 +v -0.429994 2.030617 1.307963 +v 0.466240 0.865582 1.367805 +v 0.047838 1.761676 2.921283 +v -0.489766 1.881187 1.517249 +v 0.017952 1.582489 2.951365 +v -0.429994 0.746232 1.307963 +v -0.579424 1.462978 1.307963 +f 303 317 320 +f 273 272 271 +f 273 271 275 +f 271 272 280 +f 275 271 286 +f 278 274 289 +f 274 282 289 +f 288 278 289 +f 280 272 292 +f 291 276 292 +f 284 287 293 +f 277 291 293 +f 289 282 296 +f 283 289 296 +f 275 286 298 +f 286 281 298 +f 278 288 298 +f 288 275 298 +f 277 279 299 +f 285 277 299 +f 279 285 299 +f 279 277 300 +f 277 293 300 +f 275 288 301 +f 288 289 301 +f 285 279 302 +f 279 294 302 +f 294 271 302 +f 277 285 303 +f 276 291 303 +f 291 277 303 +f 291 292 304 +f 284 293 304 +f 293 291 304 +f 272 273 305 +f 284 272 305 +f 282 295 305 +f 295 284 305 +f 305 273 306 +f 282 305 306 +f 273 275 307 +f 275 301 307 +f 294 279 308 +f 278 297 308 +f 294 308 309 +f 308 290 309 +f 296 282 310 +f 283 296 310 +f 282 306 310 +f 306 273 310 +f 273 307 310 +f 307 283 310 +f 281 290 311 +f 297 278 311 +f 298 281 311 +f 278 298 311 +f 290 308 311 +f 308 297 311 +f 286 271 312 +f 281 286 312 +f 290 281 312 +f 271 294 312 +f 309 290 312 +f 294 309 312 +f 287 284 313 +f 293 287 313 +f 284 295 313 +f 295 293 313 +f 271 280 314 +f 280 285 314 +f 302 271 314 +f 285 302 314 +f 289 283 315 +f 301 289 315 +f 283 307 315 +f 307 301 315 +f 274 278 316 +f 300 274 316 +f 279 300 316 +f 278 308 316 +f 308 279 316 +f 285 280 317 +f 303 285 317 +f 282 274 318 +f 295 282 318 +f 293 295 318 +f 274 300 318 +f 300 293 318 +f 272 284 319 +f 292 272 319 +f 284 304 319 +f 304 292 319 +f 280 292 320 +f 292 276 320 +f 276 303 320 +f 317 280 320 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/512/512.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/512/512.urdf new file mode 100644 index 000000000..07e2859a4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/512/512.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/513/513.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/513/513.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/513/513.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/513/513.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/513/513.obj new file mode 100644 index 000000000..f5cd9258c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/513/513.obj @@ -0,0 +1,273 @@ +o convex_0 +v 1.098104 1.295754 -0.544104 +v -1.095469 -4.141080 -1.038654 +v -1.095469 -4.141080 -0.513220 +v -1.064549 1.851835 0.845854 +v 1.036265 -4.202465 1.000270 +v 1.067185 -4.202465 -1.007562 +v -0.971790 1.758553 -1.007353 +v -1.033629 -4.234362 1.093129 +v 1.005346 1.789847 0.969178 +v 1.098104 1.913822 -0.914912 +v -1.064549 1.851835 0.969387 +v 1.098104 -0.619836 -0.976679 +v -0.570265 1.913822 -0.513220 +v 0.572901 1.913822 0.475045 +v -1.064549 -1.824076 -1.038654 +v 0.850748 -4.048399 1.031153 +v -0.848112 -3.801052 1.093129 +v -1.064549 1.017112 1.000270 +v 0.078402 -4.110387 -1.038445 +v 1.067185 -4.141080 -0.018879 +v 1.005346 1.881926 -0.945795 +v 0.634525 0.677686 1.000270 +v -1.002710 1.789847 -0.698729 +v 1.067185 -2.812865 -1.007562 +v -0.724648 1.727860 -1.007353 +v -0.291989 -4.234362 0.289745 +v 1.036265 -2.256182 1.000270 +v -1.095469 -1.916756 -0.327712 +v 0.418303 -4.234362 1.031153 +v -0.600970 1.913822 0.444162 +v 1.067185 -2.256182 0.413070 +v 1.036265 1.820540 0.567695 +v -1.064549 -4.079092 0.505929 +v 1.098104 -1.360675 -0.914912 +v -1.033629 -4.234362 0.753204 +v -1.002710 1.202472 -1.007353 +v 1.005346 -0.991159 1.000270 +v 0.850748 -4.203067 -1.007562 +v -1.095469 -3.306958 -1.038654 +v -0.508426 1.851835 0.969387 +v 1.098104 0.492325 -0.482337 +v -0.322908 1.820540 -0.976679 +v 1.098104 1.882528 -0.605870 +v -1.064549 0.708379 1.000270 +v -1.064549 1.480512 0.629670 +v 0.047482 -4.234362 1.061828 +v 0.511062 1.820540 0.969387 +v -1.033629 -3.770359 1.093129 +v 1.098104 1.666475 -0.945795 +v 1.005346 1.820540 0.752995 +v -1.095469 -2.194797 -0.296829 +v -0.909951 -2.009436 -1.038654 +v 1.067185 -4.202465 -0.049762 +v -0.971790 1.017112 1.000270 +v -1.033629 1.851835 0.567904 +f 13 23 55 +f 3 2 8 +f 10 1 12 +f 10 13 14 +f 6 2 19 +f 13 7 23 +f 12 6 24 +f 6 19 24 +f 15 7 25 +f 7 21 25 +f 24 19 25 +f 16 5 27 +f 2 3 28 +f 11 4 28 +f 26 6 29 +f 8 26 29 +f 4 11 30 +f 13 4 30 +f 11 14 30 +f 14 13 30 +f 5 20 31 +f 1 27 31 +f 27 5 31 +f 9 27 32 +f 3 8 33 +f 12 1 34 +f 6 12 34 +f 8 2 35 +f 2 26 35 +f 26 8 35 +f 7 15 36 +f 23 7 36 +f 17 16 37 +f 9 22 37 +f 22 17 37 +f 27 9 37 +f 16 27 37 +f 2 6 38 +f 26 2 38 +f 6 26 38 +f 15 2 39 +f 2 28 39 +f 14 11 40 +f 11 18 40 +f 1 31 41 +f 31 20 41 +f 34 1 41 +f 20 34 41 +f 7 13 42 +f 13 10 42 +f 21 7 42 +f 10 21 42 +f 1 10 43 +f 27 1 43 +f 10 32 43 +f 32 27 43 +f 8 18 44 +f 33 8 44 +f 4 23 45 +f 28 4 45 +f 36 15 45 +f 23 36 45 +f 15 39 45 +f 39 28 45 +f 5 16 46 +f 16 17 46 +f 17 8 46 +f 29 5 46 +f 8 29 46 +f 9 14 47 +f 14 40 47 +f 8 17 48 +f 18 8 48 +f 10 12 49 +f 21 10 49 +f 12 24 49 +f 25 21 49 +f 24 25 49 +f 14 9 50 +f 10 14 50 +f 32 10 50 +f 9 32 50 +f 18 11 51 +f 28 3 51 +f 11 28 51 +f 3 33 51 +f 44 18 51 +f 33 44 51 +f 2 15 52 +f 19 2 52 +f 15 25 52 +f 25 19 52 +f 20 5 53 +f 5 29 53 +f 29 6 53 +f 6 34 53 +f 34 20 53 +f 22 9 54 +f 17 22 54 +f 40 18 54 +f 9 47 54 +f 47 40 54 +f 48 17 54 +f 18 48 54 +f 4 13 55 +f 23 4 55 +o convex_1 +v 0.572883 2.346678 0.320692 +v -0.601142 1.913822 0.258902 +v -0.570114 1.913822 -0.513329 +v -0.539200 5.775323 -0.297113 +v 0.480142 5.899165 -0.513329 +v 0.387401 5.899165 0.444171 +v 0.511056 1.913822 -0.575120 +v -0.508402 5.559092 0.444274 +v 0.572883 1.913822 0.475221 +v -0.601142 5.744265 -0.420592 +v -0.601142 1.913822 0.444274 +v 0.541969 5.682933 0.444274 +v -0.415661 5.806382 0.444274 +v -0.384748 1.975940 -0.544276 +v 0.511056 5.559092 -0.420592 +v -0.570114 5.311801 -0.451538 +v 0.047582 1.975940 0.475015 +v 0.511056 5.930223 0.073426 +v 0.511056 2.593575 -0.575120 +v 0.572883 2.655693 0.475221 +v -0.601142 5.744265 -0.358904 +v -0.570114 2.841259 -0.513329 +v -0.601142 2.192171 0.444274 +v 0.387401 5.930223 0.351536 +v 0.449228 5.899165 -0.513329 +v 0.541969 2.284954 -0.204375 +v -0.508402 5.775323 0.382483 +v 0.511056 5.930223 0.413327 +v 0.232949 1.944881 -0.575120 +v 0.511056 4.230644 -0.544173 +v 0.511056 5.899165 -0.327957 +v -0.601142 5.342467 -0.420592 +v -0.446575 5.713599 -0.451538 +v 0.541969 5.682933 0.382483 +v 0.572883 1.913822 0.289746 +v 0.171236 5.867713 -0.482382 +v 0.418315 5.837440 -0.513329 +v 0.449228 2.562910 -0.575120 +f 92 80 93 +f 57 58 62 +f 57 62 64 +f 57 64 66 +f 65 57 66 +f 66 64 72 +f 68 63 72 +f 64 56 75 +f 67 61 75 +f 61 68 75 +f 72 64 75 +f 68 72 75 +f 59 65 76 +f 65 66 76 +f 58 65 77 +f 69 58 77 +f 65 71 77 +f 72 63 78 +f 66 72 78 +f 63 76 78 +f 76 66 78 +f 59 68 79 +f 79 73 80 +f 73 60 80 +f 60 74 80 +f 62 74 81 +f 68 59 82 +f 63 68 82 +f 59 76 82 +f 76 63 82 +f 61 67 83 +f 68 61 83 +f 67 73 83 +f 79 68 83 +f 73 79 83 +f 62 58 84 +f 58 69 84 +f 74 62 84 +f 70 56 85 +f 60 70 85 +f 74 60 85 +f 56 81 85 +f 81 74 85 +f 70 60 86 +f 60 73 86 +f 58 57 87 +f 65 58 87 +f 57 65 87 +f 71 65 88 +f 77 71 88 +f 65 80 88 +f 56 70 89 +f 73 67 89 +f 75 56 89 +f 67 75 89 +f 70 86 89 +f 86 73 89 +f 56 64 90 +f 64 62 90 +f 81 56 90 +f 62 81 90 +f 65 59 91 +f 59 79 91 +f 79 80 91 +f 80 65 91 +f 69 77 92 +f 77 88 92 +f 88 80 92 +f 80 74 93 +f 84 69 93 +f 74 84 93 +f 69 92 93 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/513/513.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/513/513.urdf new file mode 100644 index 000000000..e2169f248 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/513/513.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/514/514.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/514/514.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/514/514.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/514/514.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/514/514.obj new file mode 100644 index 000000000..c119b4117 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/514/514.obj @@ -0,0 +1,408 @@ +o convex_0 +v 3.873482 1.156996 0.081234 +v 1.957783 0.677979 -0.360905 +v 1.957783 0.677979 -0.287086 +v 1.957783 1.304404 -0.029268 +v 1.957783 0.751745 0.265491 +v 3.873482 0.677979 0.302369 +v 3.910565 1.156996 -0.176648 +v 2.878932 1.304404 0.228549 +v 3.799699 0.677979 -0.213461 +v 1.957783 1.267552 -0.287086 +v 1.957783 1.304404 0.228549 +v 3.836591 1.267552 0.191801 +v 2.178943 0.788535 -0.360905 +v 3.541838 1.193786 -0.213461 +v 1.957783 1.120143 0.265491 +v 3.873482 0.788535 0.302369 +v 3.836591 1.267552 0.118111 +v 2.142051 1.267552 -0.287086 +v 2.989225 0.714831 0.302369 +v 2.510587 0.714831 0.265491 +v 3.836591 0.714831 -0.213461 +v 3.689214 1.120143 -0.213461 +f 21 13 22 +f 2 3 4 +f 4 3 5 +f 3 2 6 +f 6 2 9 +f 2 4 10 +f 4 5 11 +f 8 4 11 +f 1 7 12 +f 9 2 13 +f 2 10 13 +f 11 5 15 +f 8 11 15 +f 7 1 16 +f 6 7 16 +f 1 12 16 +f 12 8 16 +f 8 15 16 +f 4 8 17 +f 12 7 17 +f 8 12 17 +f 7 14 17 +f 17 14 18 +f 10 4 18 +f 13 10 18 +f 14 13 18 +f 4 17 18 +f 15 5 19 +f 6 16 19 +f 16 15 19 +f 5 3 20 +f 3 6 20 +f 19 5 20 +f 6 19 20 +f 7 6 21 +f 6 9 21 +f 9 13 21 +f 13 14 22 +f 14 7 22 +f 7 21 22 +o convex_1 +v -0.216472 -0.058588 -0.987331 +v -0.216472 -1.643191 1.113037 +v -0.253371 -1.643191 1.113037 +v -1.653538 3.956548 1.076029 +v -2.206225 -2.121905 -0.987331 +v -0.216472 4.068046 -0.950323 +v -2.058829 4.031082 -0.987331 +v -2.169327 -2.084941 1.039022 +v -0.216472 3.883226 1.076029 +v -0.216472 -2.122511 -0.913522 +v -2.058829 3.956548 1.076029 +v -2.243124 1.083053 0.338968 +v -0.253569 -2.011619 1.002426 +v -2.095529 3.883226 -0.950323 +v -2.132428 0.678267 1.076029 +v -2.243124 -0.316124 -0.286866 +v -0.216472 3.441476 -0.987331 +v -0.511464 -1.974655 1.113037 +v -0.290270 4.068046 -0.618697 +v -0.290270 -2.085547 -0.950323 +v -2.206225 -2.121905 -0.139659 +v -2.206225 -1.311121 0.818212 +v -2.095529 3.514798 0.965419 +v -2.206225 -1.385049 -0.987331 +v -2.243124 0.751589 -0.066056 +v -0.253371 3.920190 0.928617 +v -1.616640 -2.122511 -0.987331 +v -0.216472 -2.122511 -0.766110 +v -2.243124 0.052304 0.449579 +v -1.690437 3.993512 0.596991 +v -0.216472 -1.974655 1.113037 +v -1.505943 -2.047977 1.076029 +v -2.058829 4.031082 -0.729102 +v -0.769358 -2.048583 0.855014 +v -2.206225 1.709017 0.523182 +v -0.769358 4.068046 -0.839918 +v -2.021930 -2.084941 1.039022 +v -2.206225 1.230303 -0.397682 +v -2.132428 0.347410 1.076029 +v -1.358745 4.031082 -0.987331 +v -2.169327 -1.016622 1.039022 +v -2.132428 -2.121905 0.007753 +v -2.095529 3.809298 -0.987331 +v -2.243124 -0.500338 -0.213468 +v -2.095728 2.740978 1.076029 +v -2.243124 0.347410 0.449579 +f 67 57 68 +f 25 24 26 +f 24 23 28 +f 23 27 29 +f 26 24 31 +f 24 28 31 +f 23 24 32 +f 25 26 33 +f 28 23 39 +f 23 29 39 +f 24 25 40 +f 25 33 40 +f 23 32 42 +f 43 30 44 +f 33 36 45 +f 29 27 46 +f 27 38 46 +f 46 38 47 +f 34 36 47 +f 38 34 47 +f 26 31 48 +f 31 28 48 +f 28 41 48 +f 41 26 48 +f 27 23 49 +f 23 42 49 +f 42 32 49 +f 43 27 49 +f 32 24 50 +f 49 32 50 +f 34 38 51 +f 43 44 51 +f 33 26 52 +f 26 41 52 +f 24 40 53 +f 50 24 53 +f 35 50 53 +f 53 40 54 +f 29 36 55 +f 36 33 55 +f 33 52 55 +f 50 35 56 +f 36 34 57 +f 45 36 57 +f 28 29 58 +f 41 28 58 +f 52 41 58 +f 29 55 58 +f 55 52 58 +f 35 53 59 +f 54 30 59 +f 53 54 59 +f 56 35 59 +f 50 56 59 +f 46 47 60 +f 37 30 61 +f 40 37 61 +f 30 54 61 +f 54 40 61 +f 29 28 62 +f 28 39 62 +f 39 29 62 +f 30 37 63 +f 44 30 63 +f 30 43 64 +f 43 49 64 +f 49 50 64 +f 59 30 64 +f 50 59 64 +f 36 29 65 +f 29 46 65 +f 47 36 65 +f 46 60 65 +f 60 47 65 +f 38 27 66 +f 27 43 66 +f 51 38 66 +f 43 51 66 +f 40 33 67 +f 37 40 67 +f 33 45 67 +f 45 57 67 +f 63 37 67 +f 63 67 68 +f 34 51 68 +f 51 44 68 +f 57 34 68 +f 44 63 68 +o convex_2 +v -0.216472 -0.022876 -0.987331 +v -0.032229 -1.422168 1.113037 +v -0.069074 -1.422168 1.113037 +v -0.216472 3.882277 1.076029 +v -0.032229 3.183435 -0.987331 +v -0.216472 -4.074391 -0.950323 +v -0.032229 -4.074391 -0.950323 +v -0.179609 -4.148377 1.076029 +v -0.216472 4.067241 -0.950323 +v -0.032229 1.893512 1.002426 +v -0.032229 -4.112188 1.076029 +v -0.069092 4.030248 -0.544888 +v -0.216472 -1.974648 1.113037 +v -0.142746 3.882277 0.928617 +v -0.216472 -4.112188 0.265159 +v -0.069092 4.067241 -0.950323 +v -0.142746 3.513958 1.076029 +v -0.216472 3.403783 -0.987331 +v -0.032229 0.198277 -0.987331 +v -0.069092 -2.969433 1.113037 +v -0.032229 -4.148377 0.855014 +v -0.216472 4.067241 -0.655499 +v -0.142746 3.919270 0.855014 +f 90 72 91 +f 71 70 72 +f 72 69 74 +f 74 69 75 +f 73 70 75 +f 69 72 77 +f 70 73 78 +f 75 70 79 +f 78 73 80 +f 70 71 81 +f 71 72 81 +f 72 74 81 +f 78 80 82 +f 74 76 83 +f 81 74 83 +f 76 81 83 +f 80 73 84 +f 72 70 85 +f 70 78 85 +f 82 72 85 +f 78 82 85 +f 73 69 86 +f 69 77 86 +f 84 73 86 +f 77 84 86 +f 69 73 87 +f 75 69 87 +f 73 75 87 +f 79 70 88 +f 76 79 88 +f 70 81 88 +f 81 76 88 +f 74 75 89 +f 76 74 89 +f 75 79 89 +f 79 76 89 +f 77 72 90 +f 84 77 90 +f 84 90 91 +f 72 82 91 +f 82 80 91 +f 80 84 91 +o convex_3 +v 1.920585 -4.111611 0.044429 +v 0.004778 -1.421725 1.113037 +v -0.032229 -1.421725 1.113037 +v 0.999494 2.041375 -1.024179 +v -0.032229 -4.074647 -0.950121 +v 1.810148 2.004411 0.928520 +v -0.032035 2.041375 -0.545105 +v 1.846960 -4.149181 -1.024179 +v 1.625890 -4.111611 0.965549 +v 1.810148 2.004411 -1.024179 +v -0.032035 1.893519 1.002368 +v -0.032229 -4.111611 1.076008 +v -0.032035 2.041375 -0.987150 +v 1.957592 -3.706220 0.928520 +v 1.957592 1.266950 -0.286949 +v 1.957592 1.303914 0.228527 +v 1.294188 -4.111611 -1.024179 +v -0.032229 -4.149181 0.818061 +v 1.589078 1.451164 0.965549 +v 0.152223 -2.232509 1.113037 +v 0.446917 2.004411 -1.024179 +v 0.336285 -4.075253 -0.987150 +v 1.957592 0.677344 -0.360797 +v 1.957592 -4.075253 0.744421 +v 1.699515 -2.674864 0.965549 +v 1.846960 1.892913 -0.913302 +v 1.883772 -4.148576 -0.618535 +v 1.404821 -4.149181 -1.024179 +v 0.925869 2.041375 0.081039 +v 1.846960 -0.944223 -1.024179 +v -0.032229 0.235594 -0.987150 +v 1.846960 1.008808 0.928729 +v 0.962681 1.967447 0.965549 +v 0.152223 -4.038290 1.076008 +v 0.115215 1.893519 1.002368 +v 1.957592 -4.075253 0.928520 +v 0.152223 -1.568975 1.113037 +v 0.041590 -4.149181 0.965549 +v 1.699515 -3.927397 0.965549 +v 1.846960 -4.149181 -0.360588 +v 0.336285 -4.112217 -0.729203 +v 0.041590 1.930483 0.781241 +v 1.920585 -4.111611 0.781032 +v -0.032229 -2.748792 1.113037 +v 1.478446 2.004411 0.891700 +v 1.957592 1.156664 0.265347 +v 0.557355 -2.196151 1.076008 +v 1.552071 1.524486 0.965549 +v 1.846960 1.892913 -0.139461 +f 107 117 140 +f 95 97 101 +f 99 95 101 +f 94 93 102 +f 94 96 103 +f 98 95 104 +f 105 106 107 +f 95 99 108 +f 103 96 109 +f 93 94 111 +f 104 95 112 +f 95 108 112 +f 112 108 113 +f 106 105 114 +f 92 114 115 +f 114 105 115 +f 101 97 117 +f 107 106 117 +f 106 114 117 +f 114 92 118 +f 99 114 118 +f 92 115 118 +f 108 99 119 +f 99 109 119 +f 113 108 119 +f 96 113 119 +f 97 95 120 +f 95 98 120 +f 99 101 121 +f 114 99 121 +f 101 117 121 +f 117 114 121 +f 96 94 122 +f 94 102 122 +f 102 98 122 +f 98 104 122 +f 104 112 122 +f 112 113 122 +f 113 96 122 +f 97 110 123 +f 116 105 123 +f 110 116 123 +f 103 100 125 +f 102 93 126 +f 124 102 126 +f 115 105 127 +f 105 116 127 +f 118 115 127 +f 93 111 128 +f 126 93 128 +f 100 103 129 +f 109 99 129 +f 103 109 129 +f 125 100 130 +f 111 125 130 +f 127 116 130 +f 100 127 130 +f 99 118 131 +f 129 99 131 +f 109 96 132 +f 96 119 132 +f 119 109 132 +f 98 102 133 +f 102 124 133 +f 127 100 134 +f 118 127 134 +f 100 129 134 +f 131 118 134 +f 129 131 134 +f 94 103 135 +f 111 94 135 +f 103 125 135 +f 125 111 135 +f 97 120 136 +f 120 98 136 +f 124 97 136 +f 98 133 136 +f 133 124 136 +f 105 107 137 +f 107 97 137 +f 123 105 137 +f 97 123 137 +f 116 110 138 +f 128 111 138 +f 110 128 138 +f 111 130 138 +f 130 116 138 +f 110 97 139 +f 97 124 139 +f 124 126 139 +f 128 110 139 +f 126 128 139 +f 97 107 140 +f 117 97 140 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/514/514.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/514/514.urdf new file mode 100644 index 000000000..41c88decb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/514/514.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/515/515.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/515/515.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/515/515.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/515/515.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/515/515.obj new file mode 100644 index 000000000..8c5bf3bf4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/515/515.obj @@ -0,0 +1,819 @@ +o convex_0 +v -0.308809 0.613624 -1.796983 +v 0.347258 0.679230 -2.911924 +v 0.314500 0.875935 -2.157903 +v -0.243164 1.039981 -3.437022 +v -0.276051 0.482352 -3.371505 +v 0.215968 0.482352 -1.501386 +v -0.210405 1.007148 -1.501386 +v 0.281613 1.072871 -1.501386 +v 0.215968 0.974374 -3.437022 +v 0.347258 0.515185 -3.371505 +v -0.308809 0.580791 -1.501386 +v 0.019225 0.482352 -1.501386 +v 0.281613 0.482352 -2.157903 +v 0.019225 0.810328 -3.469973 +v -0.243164 0.941542 -1.501386 +v -0.276051 0.744837 -3.404071 +v 0.117564 1.072871 -1.960967 +v 0.051919 1.007148 -3.469973 +v 0.281613 1.072871 -1.665564 +v 0.248790 0.613624 -1.501386 +v -0.243164 1.039981 -3.076102 +v 0.347258 0.613624 -3.371505 +v -0.308809 0.646398 -1.501386 +v 0.215968 0.843161 -3.469973 +f 9 22 24 +f 7 6 8 +f 1 5 11 +f 6 7 11 +f 5 6 12 +f 11 5 12 +f 6 11 12 +f 2 3 13 +f 6 5 13 +f 10 2 13 +f 5 10 13 +f 10 5 14 +f 11 7 15 +f 5 1 16 +f 4 14 16 +f 14 5 16 +f 7 8 17 +f 14 4 18 +f 3 2 19 +f 8 3 19 +f 4 17 19 +f 17 8 19 +f 9 18 19 +f 18 4 19 +f 3 8 20 +f 8 6 20 +f 13 3 20 +f 6 13 20 +f 15 7 21 +f 17 4 21 +f 7 17 21 +f 2 10 22 +f 19 2 22 +f 9 19 22 +f 1 11 23 +f 11 15 23 +f 16 1 23 +f 4 16 23 +f 21 4 23 +f 15 21 23 +f 10 14 24 +f 18 9 24 +f 14 18 24 +f 22 10 24 +o convex_1 +v -0.177563 2.975764 -1.009240 +v 0.084831 2.418072 -3.371281 +v -0.243234 2.483829 -3.502343 +v 0.183164 3.008609 -3.502343 +v 0.248893 2.450917 -1.009240 +v -0.341683 3.107077 -3.436934 +v 0.183222 3.107077 -1.009240 +v -0.243234 2.582230 -1.009240 +v 0.216058 2.418072 -3.338333 +v 0.117609 2.450917 -1.009240 +v -0.341683 2.877229 -3.371281 +v -0.341683 3.074232 -2.944659 +v -0.276012 2.516540 -3.502343 +v -0.243234 3.008609 -1.567412 +v 0.117609 3.107077 -1.009240 +v 0.183222 3.107077 -1.370209 +v 0.248893 2.483762 -1.501515 +v 0.183164 2.418072 -1.665769 +v -0.243234 2.549385 -1.370209 +v 0.216058 2.615007 -3.403986 +v 0.051938 3.041319 -3.502343 +v 0.216000 2.877364 -1.239147 +v -0.243234 2.483829 -3.272680 +v -0.243234 2.680630 -1.009240 +v -0.276012 3.107077 -3.436934 +v 0.183164 3.041319 -3.010312 +f 49 40 50 +f 25 29 31 +f 29 25 32 +f 26 27 33 +f 29 32 34 +f 35 32 36 +f 30 35 36 +f 28 27 37 +f 35 30 37 +f 32 35 37 +f 36 38 39 +f 31 30 39 +f 25 31 39 +f 30 36 39 +f 38 25 39 +f 30 31 40 +f 29 33 41 +f 26 33 42 +f 33 29 42 +f 29 34 42 +f 34 32 43 +f 32 37 43 +f 27 28 44 +f 33 27 44 +f 28 41 44 +f 41 33 44 +f 28 37 45 +f 37 30 45 +f 31 29 46 +f 40 31 46 +f 29 41 46 +f 41 28 46 +f 27 26 47 +f 37 27 47 +f 26 42 47 +f 42 34 47 +f 34 43 47 +f 43 37 47 +f 32 25 48 +f 36 32 48 +f 25 38 48 +f 38 36 48 +f 30 40 49 +f 45 30 49 +f 45 49 50 +f 28 45 50 +f 46 28 50 +f 40 46 50 +o convex_2 +v 1.003428 -0.010449 -0.123607 +v -1.096308 -4.340743 0.007600 +v -1.030598 -4.340743 0.007600 +v 0.314326 -4.274581 -1.468531 +v -0.997744 1.860306 -1.402610 +v -0.997744 1.760759 0.664059 +v 1.069138 -4.175641 0.631204 +v 0.970573 1.859699 -1.435677 +v 0.937719 1.794143 0.565283 +v -1.030598 -4.274581 -1.468531 +v -1.096308 -4.340743 0.630992 +v 0.937719 -4.274581 -1.435677 +v 0.544098 1.432982 -1.501386 +v 0.314326 1.071821 0.664059 +v -0.308854 0.645711 -1.501386 +v -0.407206 1.860306 0.073098 +v -1.030598 0.546771 0.664059 +v -1.063453 -4.209025 -1.435465 +v 0.970573 1.728588 0.565283 +v -0.964889 1.826921 -1.435465 +v 0.970573 -4.241803 -1.140196 +v -1.096308 -3.322814 0.598138 +v -1.030598 -0.272671 -1.435465 +v -0.604123 -4.340136 0.204305 +v 1.069138 -3.847864 0.532640 +v 1.036283 -2.207767 0.631204 +v 0.478388 1.859699 0.040667 +v -1.030598 -1.617162 -1.468531 +v -0.997744 -0.076005 0.664059 +v 0.872221 1.761366 -1.468319 +v -1.063453 -4.307358 -1.140408 +v 0.314326 -4.307358 -0.746575 +v 0.970573 0.809599 -1.435677 +v -0.997744 1.860306 -0.943491 +v 0.215974 0.481823 -1.501386 +v -1.096308 -4.274581 -0.090752 +v 0.281684 0.514600 0.664059 +v 0.576740 1.367427 -1.501386 +v -0.866537 -4.340136 0.630992 +v 0.839366 -4.274581 -0.976134 +v -0.210290 1.006872 -1.501386 +v 0.970573 1.826921 -0.222171 +v 1.069138 -4.175641 0.532640 +v -0.833682 1.760759 0.664059 +v 1.003428 0.022328 -0.812073 +v 0.576740 -2.896705 -1.468531 +v 0.248829 -4.307358 -0.845139 +v 0.970573 1.794143 0.532640 +v -0.997744 1.695810 -1.435465 +f 78 73 99 +f 52 53 61 +f 58 55 66 +f 56 59 66 +f 64 56 67 +f 59 64 69 +f 55 58 70 +f 52 61 72 +f 67 55 72 +f 61 67 72 +f 72 55 73 +f 61 53 74 +f 64 57 76 +f 69 64 76 +f 75 69 76 +f 57 75 76 +f 58 66 77 +f 66 59 77 +f 65 60 78 +f 60 68 78 +f 68 73 78 +f 67 61 79 +f 64 67 79 +f 70 58 80 +f 63 70 80 +f 53 52 81 +f 60 54 81 +f 54 62 81 +f 52 68 81 +f 68 60 81 +f 71 62 83 +f 80 58 83 +f 62 80 83 +f 66 55 84 +f 56 66 84 +f 55 67 84 +f 67 56 84 +f 54 60 85 +f 60 65 85 +f 65 63 85 +f 68 52 86 +f 52 72 86 +f 73 68 86 +f 72 73 86 +f 57 64 87 +f 79 57 87 +f 64 79 87 +f 80 62 88 +f 63 80 88 +f 54 85 88 +f 85 63 88 +f 61 74 89 +f 74 57 89 +f 57 79 89 +f 79 61 89 +f 62 57 90 +f 57 74 90 +f 82 62 90 +f 74 82 90 +f 63 65 91 +f 70 63 91 +f 65 70 91 +f 58 77 92 +f 57 62 93 +f 62 71 93 +f 75 57 93 +f 71 83 93 +f 59 56 94 +f 56 64 94 +f 64 59 94 +f 51 75 95 +f 83 58 95 +f 58 92 95 +f 75 93 95 +f 93 83 95 +f 62 54 96 +f 54 88 96 +f 88 62 96 +f 74 53 97 +f 53 81 97 +f 81 62 97 +f 62 82 97 +f 82 74 97 +f 59 69 98 +f 75 51 98 +f 69 75 98 +f 77 59 98 +f 92 77 98 +f 51 95 98 +f 95 92 98 +f 55 70 99 +f 70 65 99 +f 73 55 99 +f 65 78 99 +o convex_3 +v -0.407222 -2.240695 1.123615 +v 0.511371 0.416409 2.173309 +v 0.511371 0.416409 0.992157 +v -0.571271 0.416675 1.090663 +v 0.511371 -2.207641 2.173309 +v -0.440074 -2.306536 2.140474 +v 0.445667 -2.174854 1.024992 +v -0.440074 0.383621 2.107638 +v -0.571271 -2.273483 1.222005 +v 0.314469 -1.387426 0.992157 +v -0.538419 0.416675 1.517178 +v 0.511371 -2.174854 1.713959 +v 0.117568 0.416675 0.992157 +v 0.314469 0.416409 2.173309 +v -0.472820 -1.748619 2.009132 +v -0.276024 -2.306536 2.074803 +v -0.571271 -2.273483 1.156334 +v 0.150420 -2.240695 2.173309 +v -0.472820 0.416675 1.976296 +v -0.571271 0.154110 1.090663 +v 0.216018 -2.175121 1.024992 +v 0.478519 -2.174854 1.254841 +v -0.571271 0.416675 1.254841 +v 0.478519 -1.059553 0.992157 +v -0.440074 -1.945610 2.140474 +v -0.144827 -2.240695 1.090663 +v 0.511371 -2.207641 1.910625 +v 0.511371 0.186897 0.992157 +v -0.571271 -1.420480 1.254841 +f 110 122 128 +f 102 101 104 +f 102 104 111 +f 101 102 112 +f 102 109 112 +f 103 110 112 +f 104 101 113 +f 108 105 114 +f 104 105 115 +f 105 108 116 +f 108 103 116 +f 115 105 116 +f 105 104 117 +f 104 113 117 +f 101 112 118 +f 112 110 118 +f 113 101 118 +f 107 113 118 +f 114 107 118 +f 110 114 118 +f 112 109 119 +f 103 112 119 +f 100 116 119 +f 116 103 119 +f 109 106 120 +f 100 119 120 +f 119 109 120 +f 103 108 122 +f 110 103 122 +f 109 102 123 +f 106 109 123 +f 121 106 123 +f 113 107 124 +f 114 105 124 +f 107 114 124 +f 105 117 124 +f 117 113 124 +f 106 115 125 +f 116 100 125 +f 115 116 125 +f 120 106 125 +f 100 120 125 +f 111 104 126 +f 104 115 126 +f 115 106 126 +f 106 121 126 +f 121 111 126 +f 102 111 127 +f 111 121 127 +f 123 102 127 +f 121 123 127 +f 108 114 128 +f 114 110 128 +f 122 108 128 +o convex_4 +v -0.472749 2.418072 1.976258 +v 0.544181 3.139887 1.353411 +v 0.544181 3.074248 1.353411 +v -0.243112 3.041393 0.664059 +v -0.243112 3.106961 2.533992 +v 0.478555 2.418072 2.206042 +v 0.544181 2.418072 0.992208 +v -0.571351 2.418072 1.057918 +v -0.571351 3.139887 1.025063 +v 0.248809 2.615059 2.698266 +v 0.478555 3.139887 2.206042 +v 0.248809 2.516565 0.664059 +v 0.544181 3.139887 0.992208 +v -0.177486 2.549349 2.599701 +v -0.210245 2.418072 0.664059 +v -0.472749 3.139887 1.976258 +v 0.216051 3.041393 0.664059 +v 0.248809 3.041393 2.533992 +v -0.571351 3.139887 1.287503 +v 0.183184 2.516565 2.665212 +v -0.439990 2.418072 2.074822 +v -0.571351 2.418072 1.287503 +v -0.243112 2.582204 0.664059 +v 0.544181 2.418072 1.189138 +v 0.117558 2.582204 2.698266 +f 142 148 153 +f 131 130 134 +f 134 129 135 +f 130 131 135 +f 135 129 136 +f 138 134 139 +f 134 130 139 +f 130 137 139 +f 130 135 141 +f 137 130 141 +f 132 137 141 +f 135 140 141 +f 135 136 143 +f 132 140 143 +f 140 135 143 +f 139 137 144 +f 133 139 144 +f 140 132 145 +f 132 141 145 +f 141 140 145 +f 133 138 146 +f 138 139 146 +f 139 133 146 +f 137 136 147 +f 129 144 147 +f 144 137 147 +f 134 138 148 +f 148 142 149 +f 129 134 149 +f 142 133 149 +f 144 129 149 +f 133 144 149 +f 134 148 149 +f 136 129 150 +f 129 147 150 +f 147 136 150 +f 137 132 151 +f 136 137 151 +f 132 143 151 +f 143 136 151 +f 131 134 152 +f 134 135 152 +f 135 131 152 +f 138 133 153 +f 133 142 153 +f 148 138 153 +o convex_5 +v 0.544155 2.549510 -0.976288 +v 0.183219 3.107064 0.171912 +v -0.275961 3.107064 0.171912 +v 0.314397 3.796073 -0.877898 +v -0.538542 1.860501 -0.877898 +v 0.478510 1.860501 0.040571 +v -0.472784 3.796073 -0.845178 +v 0.478510 3.796073 0.073406 +v -0.440074 1.860501 0.040571 +v -0.538542 3.861702 0.040571 +v 0.609801 1.860305 -1.009240 +v -0.177493 2.975806 -1.009240 +v 0.314397 2.385339 0.171912 +v 0.445688 3.730248 -0.877898 +v 0.609801 2.090301 -0.812342 +v 0.183219 3.107064 -1.009240 +v -0.243138 2.582422 -1.009240 +v -0.243138 2.450968 0.171912 +v 0.478510 3.697531 0.106242 +v -0.538542 1.860501 -0.648281 +v -0.538542 2.418447 -0.877898 +v 0.511333 1.860305 -0.024985 +v 0.511333 3.533360 -0.057936 +v -0.407139 1.860501 0.073406 +v -0.472784 3.861702 -0.254717 +v -0.505607 3.763160 0.073406 +v 0.412752 1.860501 -1.009240 +v -0.275961 3.861702 0.007851 +v -0.472784 2.352622 0.040571 +v 0.478510 3.796073 -0.221882 +v -0.472784 3.828789 -0.746671 +v -0.440074 1.893218 -0.910733 +v -0.046315 3.796073 -0.877898 +v 0.412752 3.664814 -0.910733 +v 0.609801 2.024476 -0.976288 +v -0.407139 3.828789 0.073406 +v -0.538542 3.861702 -0.024985 +f 178 184 190 +f 155 156 166 +f 154 164 169 +f 164 165 169 +f 160 165 170 +f 165 164 170 +f 166 156 171 +f 156 155 172 +f 155 166 172 +f 166 159 172 +f 163 158 173 +f 158 163 174 +f 170 158 174 +f 160 170 174 +f 158 164 175 +f 164 168 175 +f 172 159 175 +f 173 158 175 +f 162 173 175 +f 161 172 176 +f 175 168 176 +f 172 175 176 +f 159 166 177 +f 166 171 177 +f 175 159 177 +f 162 175 177 +f 171 156 179 +f 177 171 179 +f 164 158 180 +f 170 164 180 +f 163 161 181 +f 157 178 181 +f 178 163 181 +f 163 173 182 +f 173 162 182 +f 162 177 182 +f 179 163 182 +f 177 179 182 +f 167 157 183 +f 161 176 183 +f 157 181 183 +f 181 161 183 +f 178 157 184 +f 158 170 185 +f 180 158 185 +f 170 180 185 +f 165 160 186 +f 169 165 186 +f 184 157 186 +f 160 184 186 +f 157 167 187 +f 167 154 187 +f 154 169 187 +f 186 157 187 +f 169 186 187 +f 164 154 188 +f 154 167 188 +f 168 164 188 +f 176 168 188 +f 167 183 188 +f 183 176 188 +f 161 163 189 +f 156 172 189 +f 172 161 189 +f 163 179 189 +f 179 156 189 +f 160 174 190 +f 174 163 190 +f 163 178 190 +f 184 160 190 +o convex_6 +v 0.281703 2.549385 0.401632 +v -0.276063 2.778963 0.172009 +v -0.243250 2.450917 0.172009 +v -0.243250 2.582162 0.664059 +v 0.183264 3.107077 0.172009 +v -0.276063 3.041387 0.664059 +v 0.216077 3.041387 0.664059 +v 0.248890 2.516540 0.664059 +v 0.281703 2.516540 0.172009 +v -0.276063 3.107077 0.172009 +v -0.177624 2.418072 0.664059 +v -0.276063 3.074232 0.598356 +v 0.216077 2.483762 0.172009 +f 198 201 203 +f 192 193 194 +f 193 192 195 +f 192 194 196 +f 196 194 197 +f 191 197 198 +f 197 194 198 +f 193 195 199 +f 197 191 199 +f 195 197 199 +f 191 198 199 +f 195 192 200 +f 192 196 200 +f 194 193 201 +f 198 194 201 +f 197 195 202 +f 196 197 202 +f 195 200 202 +f 200 196 202 +f 193 199 203 +f 199 198 203 +f 201 193 203 +o convex_7 +v -0.571351 1.105680 1.287448 +v 0.478555 2.418072 2.206119 +v 0.544181 2.418072 1.189057 +v -0.571351 2.418072 1.057870 +v 0.511313 1.105680 0.992157 +v -0.439881 1.105680 2.074693 +v 0.478446 1.105680 2.206119 +v -0.439990 2.418072 2.074693 +v 0.544181 2.418072 0.992157 +v -0.571351 1.105680 1.090667 +v 0.117558 1.105680 0.992157 +v -0.341388 2.418072 2.107609 +v -0.472749 2.418072 1.976421 +v 0.544181 1.696359 1.025192 +v -0.571351 2.418072 1.287448 +v -0.571351 1.499552 1.057870 +v 0.281568 2.319540 0.992157 +v -0.472858 1.105680 1.976421 +v 0.412929 1.598084 2.206119 +f 205 215 222 +f 205 206 207 +f 204 208 209 +f 209 208 210 +f 206 205 210 +f 205 207 211 +f 207 206 212 +f 204 207 213 +f 208 204 213 +f 208 213 214 +f 212 208 214 +f 205 211 215 +f 211 209 215 +f 211 207 216 +f 210 208 217 +f 206 210 217 +f 212 206 217 +f 208 212 217 +f 207 204 218 +f 216 207 218 +f 213 207 219 +f 214 213 219 +f 207 214 219 +f 207 212 220 +f 214 207 220 +f 212 214 220 +f 204 209 221 +f 209 211 221 +f 211 216 221 +f 218 204 221 +f 216 218 221 +f 209 210 222 +f 210 205 222 +f 215 209 222 +o convex_8 +v -0.210251 3.402378 2.140406 +v 0.576991 3.697579 1.123464 +v 0.544155 3.763202 1.484468 +v -0.604161 3.796047 1.025192 +v 0.544155 3.139887 0.992157 +v -0.571326 3.139887 1.025192 +v 0.478484 3.139887 2.206119 +v 0.445649 3.828892 2.206119 +v -0.439984 3.763202 2.041897 +v -0.472704 3.139887 1.976421 +v 0.445649 3.730424 0.992157 +v -0.308758 3.139887 2.140406 +v -0.472704 3.796047 1.943506 +v 0.478484 3.828892 2.041897 +v 0.019135 3.763202 0.992157 +v 0.576991 3.238355 0.992157 +v -0.604161 3.336823 1.057870 +v 0.347258 3.828892 2.206119 +v -0.374313 3.796047 2.074693 +v 0.576991 3.697579 0.992157 +v 0.478484 3.828892 2.173084 +v -0.079025 3.139887 2.173084 +v 0.216032 3.139887 0.992157 +f 237 227 245 +f 228 227 229 +f 224 225 229 +f 228 229 232 +f 232 229 234 +f 231 232 234 +f 232 231 235 +f 225 233 236 +f 236 233 237 +f 228 226 237 +f 233 227 237 +f 226 236 237 +f 229 227 238 +f 224 229 238 +f 227 233 238 +f 226 228 239 +f 228 232 239 +f 235 226 239 +f 232 235 239 +f 229 230 240 +f 223 234 240 +f 226 235 240 +f 236 226 240 +f 230 236 240 +f 234 223 241 +f 231 234 241 +f 235 231 241 +f 223 240 241 +f 240 235 241 +f 225 224 242 +f 233 225 242 +f 224 238 242 +f 238 233 242 +f 229 225 243 +f 230 229 243 +f 225 236 243 +f 236 230 243 +f 234 229 244 +f 229 240 244 +f 240 234 244 +f 227 228 245 +f 228 237 245 +o convex_9 +v -0.341474 1.007155 0.664059 +v 0.511371 0.580817 2.173213 +v 0.511371 0.416743 2.173213 +v -0.439932 0.416743 2.074796 +v -0.439932 1.105680 2.074796 +v 0.511371 1.105680 0.992366 +v 0.281600 0.515201 0.664059 +v -0.571351 0.416743 1.090631 +v 0.478517 1.105680 2.206119 +v 0.511371 0.416743 0.992366 +v -0.571351 1.105680 1.090631 +v 0.281600 1.072771 0.664059 +v -0.210267 0.580817 2.206119 +v -0.243122 0.515201 0.664059 +v -0.177518 1.039997 2.206119 +v -0.571351 0.580817 1.287615 +v -0.472893 1.105680 1.976380 +v 0.347310 0.449584 2.206119 +v -0.046205 0.449584 0.795382 +v 0.314455 0.777531 0.664059 +v -0.308725 0.547975 0.664059 +v -0.472893 0.416743 1.976380 +v -0.571351 1.105680 1.287615 +v 0.019186 1.072771 0.664059 +f 257 246 269 +f 247 248 251 +f 248 249 253 +f 248 247 254 +f 247 251 254 +f 251 250 254 +f 251 248 255 +f 248 253 255 +f 250 251 256 +f 246 253 256 +f 252 246 257 +f 250 249 258 +f 246 252 259 +f 254 250 260 +f 250 258 260 +f 258 254 260 +f 256 253 261 +f 249 250 262 +f 250 256 262 +f 249 248 263 +f 248 254 263 +f 258 249 263 +f 254 258 263 +f 252 255 264 +f 255 253 264 +f 259 252 264 +f 253 259 264 +f 251 255 265 +f 255 252 265 +f 257 251 265 +f 252 257 265 +f 253 246 266 +f 246 259 266 +f 259 253 266 +f 253 249 267 +f 261 253 267 +f 262 261 267 +f 249 262 267 +f 256 261 268 +f 262 256 268 +f 261 262 268 +f 256 251 269 +f 246 256 269 +f 251 257 269 +o convex_10 +v 0.347322 0.482308 2.206119 +v -0.243254 0.908745 2.435839 +v -0.243254 0.908745 2.566956 +v 0.347322 1.105680 2.698217 +v -0.144747 0.515130 2.599759 +v -0.177525 1.040035 2.206119 +v 0.314487 1.007213 2.206119 +v -0.210418 0.580840 2.206119 +v 0.248874 0.482308 2.534153 +v -0.243254 1.040035 2.566956 +v 0.248874 0.449485 2.206119 +v 0.347322 0.974326 2.698217 +v 0.216038 1.072858 2.698217 +v -0.210418 0.712002 2.599759 +v -0.111970 0.515130 2.206119 +f 280 274 284 +f 273 270 276 +f 275 273 276 +f 270 275 276 +f 272 271 277 +f 271 275 277 +f 275 270 277 +f 271 272 279 +f 275 271 279 +f 273 275 279 +f 277 270 280 +f 270 278 280 +f 278 274 280 +f 270 273 281 +f 278 270 281 +f 274 278 281 +f 273 279 282 +f 281 273 282 +f 274 281 282 +f 272 277 283 +f 277 274 283 +f 279 272 283 +f 282 279 283 +f 274 282 283 +f 274 277 284 +f 277 280 284 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/515/515.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/515/515.urdf new file mode 100644 index 000000000..261674aec --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/515/515.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/516/516.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/516/516.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/516/516.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/516/516.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/516/516.obj new file mode 100644 index 000000000..ebcd64345 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/516/516.obj @@ -0,0 +1,546 @@ +o convex_0 +v 1.070469 -1.045960 0.386461 +v -1.078706 -2.887769 0.147750 +v -1.078706 -2.887769 1.034685 +v -1.078706 -0.227407 1.068845 +v -0.976254 -0.227407 -0.943527 +v 0.968017 -2.887769 -0.977687 +v 1.002098 -2.887769 1.069052 +v 1.036178 -0.227407 -0.977687 +v 1.070469 -0.227407 1.069052 +v -0.976254 -2.887769 -0.943527 +v -0.396254 -2.751300 -1.046009 +v -0.805641 -2.887769 1.068845 +v -0.976254 -0.705048 -0.977480 +v 1.036178 -2.580714 1.000731 +v -1.010334 -0.227407 -0.602334 +v -1.010334 -2.887769 -0.909366 +v 1.070469 -0.261524 -0.397578 +v -0.055239 -2.853652 -1.046009 +v 0.149244 -0.227407 -0.977687 +v -0.976254 -2.614831 -0.977480 +v -1.078706 -0.295642 0.864296 +v -0.362174 -2.887769 -1.046009 +f 20 11 22 +f 2 3 4 +f 3 2 6 +f 3 6 7 +f 5 4 8 +f 4 7 9 +f 8 4 9 +f 6 2 10 +f 4 3 12 +f 3 7 12 +f 7 4 12 +f 6 1 14 +f 7 6 14 +f 9 7 14 +f 1 9 14 +f 4 5 15 +f 10 2 16 +f 5 13 16 +f 2 15 16 +f 15 5 16 +f 1 6 17 +f 6 8 17 +f 9 1 17 +f 8 9 17 +f 8 6 18 +f 11 8 18 +f 5 8 19 +f 8 11 19 +f 13 5 19 +f 11 13 19 +f 13 11 20 +f 10 16 20 +f 16 13 20 +f 2 4 21 +f 15 2 21 +f 4 15 21 +f 6 10 22 +f 18 6 22 +f 11 18 22 +f 10 20 22 +o convex_1 +v 1.104530 2.160825 -1.046009 +v -1.078706 -0.227147 0.898263 +v -1.078706 -0.227147 1.068875 +v -1.078706 2.160825 1.068875 +v 1.070337 -0.124765 1.103166 +v -0.976340 -0.227147 -0.943557 +v -1.010319 2.160825 -0.977637 +v 1.036143 -0.227147 -0.977637 +v 1.070337 2.126698 1.103166 +v 1.070337 -0.227147 1.068875 +v -1.078706 2.160825 1.103166 +v 1.104530 0.591673 -0.466009 +v 1.104530 1.751065 1.103166 +v 1.002164 -0.090638 -1.011718 +v 1.070337 2.160825 1.068875 +v -1.010319 0.250635 -0.943557 +v 0.763453 2.126698 -1.046009 +v -1.044513 1.341771 1.103166 +v -1.044513 1.819319 -0.158864 +v 1.070337 -0.227147 -0.431929 +v 1.104530 1.137008 -1.011718 +v -1.010319 -0.227147 -0.636412 +f 38 28 44 +f 24 25 26 +f 25 24 28 +f 26 23 29 +f 25 28 30 +f 27 25 32 +f 25 30 32 +f 26 25 33 +f 23 26 33 +f 27 31 33 +f 32 34 35 +f 31 27 35 +f 27 32 35 +f 34 23 35 +f 30 28 36 +f 23 33 37 +f 33 31 37 +f 35 23 37 +f 31 35 37 +f 29 28 38 +f 29 23 39 +f 28 29 39 +f 23 36 39 +f 36 28 39 +f 25 27 40 +f 33 25 40 +f 27 33 40 +f 24 26 41 +f 26 29 41 +f 38 24 41 +f 29 38 41 +f 32 30 42 +f 34 32 42 +f 34 42 43 +f 23 34 43 +f 36 23 43 +f 30 36 43 +f 42 30 43 +f 28 24 44 +f 24 38 44 +o convex_2 +v 0.592528 -4.184201 1.068849 +v -0.464282 -2.956378 -1.011691 +v -0.771387 -2.922348 -0.977477 +v -0.976124 -4.354784 -0.943466 +v -1.078492 -2.888174 1.034635 +v 1.002001 -2.922348 -0.977477 +v 1.104583 -4.354784 -1.011691 +v 1.002001 -2.888174 1.068849 +v -1.078706 -4.320753 1.068849 +v 0.967807 -4.252405 1.034635 +v -1.010104 -2.888174 -0.943466 +v -1.078706 -4.218375 -0.670569 +v 1.001787 -4.286579 0.795951 +v 0.967807 -2.888174 -0.977477 +v -1.010104 -2.990552 1.068849 +v 1.104583 -4.354784 -0.772804 +v -1.078492 -2.888174 0.147921 +v 1.104583 -4.184201 -1.011691 +v -0.089430 -3.740800 -1.011691 +v -1.044298 -4.354784 -0.909252 +v 1.070389 -4.354784 -0.602344 +v 0.319616 -2.956378 -1.011691 +v -0.737407 -4.320753 1.068849 +v 1.001787 -3.774974 1.034635 +v -1.044298 -3.638566 -0.943466 +v 0.490159 -4.286579 1.068849 +f 67 57 70 +f 45 52 53 +f 52 45 54 +f 49 52 55 +f 53 49 56 +f 46 47 58 +f 52 50 58 +f 47 55 58 +f 55 52 58 +f 52 49 59 +f 49 53 59 +f 53 52 59 +f 48 51 60 +f 49 55 61 +f 56 49 61 +f 51 46 62 +f 50 52 62 +f 60 51 62 +f 52 60 62 +f 48 46 63 +f 46 51 63 +f 51 48 63 +f 53 56 64 +f 48 60 64 +f 64 60 65 +f 60 57 65 +f 53 64 65 +f 46 58 66 +f 58 50 66 +f 62 46 66 +f 50 62 66 +f 45 53 67 +f 53 65 67 +f 65 57 67 +f 52 54 68 +f 54 57 68 +f 60 52 68 +f 57 60 68 +f 47 46 69 +f 46 48 69 +f 55 47 69 +f 61 55 69 +f 56 61 69 +f 48 64 69 +f 64 56 69 +f 54 45 70 +f 57 54 70 +f 45 67 70 +o convex_3 +v 2.980743 3.218185 0.625572 +v 2.502995 2.433850 -0.602528 +v 2.502995 3.081730 -0.602528 +v 1.104583 3.184128 0.557290 +v 3.049075 2.229167 0.523150 +v 1.104583 2.195109 -0.568388 +v 1.104583 3.252356 -0.500106 +v 1.104583 2.229167 0.454869 +v 3.014814 3.320584 -0.602528 +v 3.049075 2.161052 -0.602528 +v 1.104583 3.320584 0.557290 +v 3.049075 3.286413 0.386708 +v 2.639468 2.229167 0.557290 +v 2.980743 2.161052 -0.295383 +v 1.172915 3.252356 -0.534247 +v 1.957677 2.161052 -0.534247 +v 2.502995 3.320584 -0.568388 +v 3.049075 3.252356 0.625572 +v 2.980743 2.502078 0.591431 +v 3.014814 3.320584 -0.192961 +v 3.049075 2.945274 -0.602528 +v 1.104583 2.195109 -0.056519 +v 1.104583 2.468020 -0.568388 +v 1.480120 2.229167 0.489009 +f 84 83 94 +f 73 72 76 +f 76 74 77 +f 74 76 78 +f 72 73 79 +f 76 72 80 +f 72 79 80 +f 74 71 81 +f 77 74 81 +f 75 80 82 +f 80 75 84 +f 75 83 84 +f 79 73 85 +f 76 80 86 +f 80 84 86 +f 77 81 87 +f 81 79 87 +f 85 77 87 +f 79 85 87 +f 81 71 88 +f 82 81 88 +f 75 82 88 +f 71 74 89 +f 74 83 89 +f 83 75 89 +f 88 71 89 +f 75 88 89 +f 79 81 90 +f 82 79 90 +f 81 82 90 +f 80 79 91 +f 79 82 91 +f 82 80 91 +f 78 76 92 +f 84 78 92 +f 76 86 92 +f 86 84 92 +f 73 76 93 +f 76 77 93 +f 85 73 93 +f 77 85 93 +f 74 78 94 +f 83 74 94 +f 78 84 94 +o convex_4 +v 0.285823 -2.956325 2.399414 +v -0.259946 -3.604352 1.069052 +v -0.294073 -3.467903 1.069052 +v -0.328200 -3.126921 3.115885 +v 0.149381 -3.467903 3.013504 +v 0.354078 -2.888030 1.069052 +v -0.328200 -3.058696 1.069052 +v 0.217569 -3.433755 1.069052 +v 0.354078 -3.058696 3.013504 +v -0.328200 -2.990472 3.115885 +v -0.225818 -3.536127 3.081625 +v -0.123503 -3.604352 1.103313 +v 0.217569 -3.433755 2.979243 +v 0.251696 -2.888030 1.069052 +v 0.354078 -2.990472 2.945183 +v -0.259946 -3.501980 2.979243 +v -0.191691 -3.570204 2.740619 +v -0.294073 -3.024549 1.239755 +v 0.354078 -2.990472 1.307876 +v 0.354078 -3.092773 2.945183 +v -0.328200 -3.263229 1.478579 +v 0.183508 -3.467903 2.774680 +f 111 106 116 +f 96 97 100 +f 100 97 101 +f 96 100 102 +f 95 100 104 +f 101 98 104 +f 98 103 104 +f 103 98 105 +f 99 103 105 +f 96 102 106 +f 103 99 107 +f 100 101 108 +f 104 100 108 +f 100 95 109 +f 103 100 109 +f 95 104 109 +f 104 103 109 +f 97 96 110 +f 96 105 110 +f 105 98 110 +f 105 96 111 +f 99 105 111 +f 96 106 111 +f 101 104 112 +f 108 101 112 +f 104 108 112 +f 102 100 113 +f 100 103 113 +f 113 103 114 +f 107 102 114 +f 103 107 114 +f 102 113 114 +f 101 97 115 +f 98 101 115 +f 97 110 115 +f 110 98 115 +f 106 102 116 +f 107 99 116 +f 102 107 116 +f 99 111 116 +o convex_5 +v -3.057151 2.195066 -0.056539 +v -1.112820 3.354811 -0.363651 +v -1.112820 3.286447 0.216058 +v -1.112820 2.229190 -0.534180 +v -2.988983 3.218199 -0.602528 +v -3.057151 3.218199 0.557344 +v -1.112820 2.160942 0.454936 +v -3.023067 2.160942 0.420875 +v -3.091041 2.297438 -0.465946 +v -1.112820 3.218199 0.523170 +v -1.112820 3.354811 -0.568354 +v -2.954899 3.252323 0.489110 +v -1.147097 2.365685 -0.568354 +v -3.057151 3.013572 0.557344 +v -1.385878 3.184075 0.557344 +v -1.726911 3.320570 -0.602528 +v -1.112820 2.297438 0.488996 +v -2.920622 2.229190 -0.465946 +v -2.988983 3.047696 -0.602528 +v -1.795272 2.195066 -0.193008 +v -2.272447 2.160942 0.454936 +v -1.692827 2.229190 -0.534294 +v -3.091041 2.229190 -0.227068 +v -3.057151 3.218199 0.284406 +v -1.112820 3.252323 0.488996 +v -3.091041 2.433933 -0.465946 +v -1.454240 3.286447 -0.602528 +v -1.317710 3.354811 -0.363537 +v -3.023067 2.160942 0.318467 +f 134 136 145 +f 118 119 120 +f 120 119 123 +f 123 119 126 +f 118 120 127 +f 127 120 129 +f 126 122 131 +f 122 130 131 +f 121 128 132 +f 123 126 133 +f 126 131 133 +f 131 130 133 +f 125 121 135 +f 121 132 135 +f 134 125 135 +f 120 123 136 +f 124 123 137 +f 130 124 137 +f 123 133 137 +f 133 130 137 +f 129 120 138 +f 135 129 138 +f 134 135 138 +f 120 136 138 +f 136 134 138 +f 117 124 139 +f 124 130 139 +f 130 122 139 +f 134 117 139 +f 125 134 139 +f 128 121 140 +f 122 128 140 +f 126 119 141 +f 122 126 141 +f 119 128 141 +f 128 122 141 +f 121 125 142 +f 139 122 142 +f 125 139 142 +f 140 121 142 +f 122 140 142 +f 127 129 143 +f 132 127 143 +f 129 135 143 +f 135 132 143 +f 119 118 144 +f 118 127 144 +f 128 119 144 +f 132 128 144 +f 127 132 144 +f 124 117 145 +f 123 124 145 +f 117 134 145 +f 136 123 145 +o convex_6 +v -0.873771 2.161139 1.103166 +v 0.251601 3.695879 -1.080123 +v 0.251601 3.764154 -1.080123 +v 1.036214 2.604445 1.068972 +v 1.104583 2.160979 -1.045715 +v -1.010291 2.161139 -0.977540 +v -1.112736 3.695719 1.103166 +v 0.933770 3.695879 1.000584 +v -0.942140 3.798292 -1.011521 +v 1.104583 3.730017 -1.080123 +v 1.036214 2.160979 1.068972 +v -1.078660 2.161139 1.103166 +v -1.112736 3.354666 -0.568067 +v 1.104583 3.320529 0.557130 +v -1.112736 2.229254 -0.534087 +v 1.104583 2.229254 0.454762 +v -0.976216 3.798292 -0.636455 +v -0.737467 3.695719 1.103166 +v -1.112736 2.161139 0.454762 +v 1.036214 3.730017 -0.261176 +v -0.737467 3.798292 -1.045929 +v 1.070290 2.843246 -1.080123 +v -1.078660 3.729856 0.693693 +v -0.464643 3.798292 -0.977540 +v 0.729097 2.161139 -1.045715 +v -0.976216 3.013452 -1.011521 +v 0.968063 3.320529 1.034564 +v 0.968063 3.695719 0.830041 +f 165 153 173 +f 147 148 155 +f 146 152 157 +f 156 146 157 +f 150 155 159 +f 149 156 159 +f 152 158 160 +f 158 151 160 +f 156 150 161 +f 150 159 161 +f 159 156 161 +f 154 158 162 +f 152 146 163 +f 146 156 163 +f 156 149 163 +f 151 150 164 +f 150 156 164 +f 157 152 164 +f 156 157 164 +f 160 151 164 +f 152 160 164 +f 148 147 166 +f 154 162 166 +f 147 155 167 +f 155 150 167 +f 158 152 168 +f 153 162 168 +f 162 158 168 +f 152 163 168 +f 163 153 168 +f 155 148 169 +f 162 153 169 +f 165 155 169 +f 153 165 169 +f 166 162 169 +f 148 166 169 +f 150 151 170 +f 147 167 170 +f 167 150 170 +f 158 154 171 +f 151 158 171 +f 166 147 171 +f 154 166 171 +f 170 151 171 +f 147 170 171 +f 149 159 172 +f 159 153 172 +f 163 149 172 +f 153 163 172 +f 153 159 173 +f 159 155 173 +f 155 165 173 +o convex_7 +v -0.225818 -3.126884 -3.058728 +v 0.354078 -2.922201 -2.683298 +v 0.354078 -2.956315 -2.683298 +v -0.328200 -2.888087 -1.012095 +v 0.251696 -3.433795 -1.012095 +v -0.225818 -3.467853 -2.546869 +v 0.354078 -3.433795 -2.956156 +v 0.319950 -2.956315 -1.012095 +v -0.225818 -3.467853 -1.012095 +v 0.012939 -2.956315 -3.058728 +v -0.225818 -3.433795 -2.956156 +v 0.354078 -2.922201 -3.024270 +v -0.225818 -2.990428 -2.921898 +v 0.012939 -3.467853 -1.012095 +v -0.123503 -2.888087 -1.012095 +v -0.259946 -3.399682 -1.114467 +v 0.285823 -3.433795 -1.387324 +f 187 180 190 +f 175 176 180 +f 180 176 181 +f 176 175 181 +f 177 178 181 +f 178 177 182 +f 180 174 183 +f 177 174 184 +f 180 179 184 +f 174 180 184 +f 175 180 185 +f 183 177 185 +f 180 183 185 +f 174 177 186 +f 177 183 186 +f 183 174 186 +f 179 180 187 +f 178 182 187 +f 182 179 187 +f 181 175 188 +f 177 181 188 +f 175 185 188 +f 185 177 188 +f 182 177 189 +f 179 182 189 +f 177 184 189 +f 184 179 189 +f 180 181 190 +f 181 178 190 +f 178 187 190 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/516/516.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/516/516.urdf new file mode 100644 index 000000000..ea9d9840a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/516/516.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/517/517.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/517/517.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/517/517.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/517/517.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/517/517.obj new file mode 100644 index 000000000..d862d0785 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/517/517.obj @@ -0,0 +1,699 @@ +o convex_0 +v -0.980714 0.080154 -0.057383 +v 0.146151 -0.811255 1.226401 +v 0.067537 -0.811255 1.226401 +v 0.041267 3.460397 0.047260 +v 0.696449 -0.863317 -0.974547 +v 0.748792 2.280740 0.833436 +v -0.797216 -0.863740 -0.817214 +v 0.722719 2.333226 -0.817214 +v -0.718602 2.726021 0.020914 +v 1.010905 -0.863317 0.020914 +v -0.089690 2.699779 -0.765015 +v -0.797216 0.604164 0.754892 +v -0.089690 2.778930 0.754646 +v 0.067537 -0.837497 -1.288968 +v -0.823486 -0.863740 0.780991 +v 0.879750 -0.863317 0.780991 +v -0.797216 0.630406 -0.765015 +v 1.037175 0.603740 -0.057137 +v 0.775063 2.726445 -0.005185 +v 0.958561 0.132640 -0.712324 +v 0.958561 0.289673 0.754646 +v 0.512951 -0.863317 1.121512 +v -0.325532 0.814106 0.990523 +v -0.561374 2.176192 -0.581336 +v -0.980714 0.578344 -0.005185 +v -0.954444 -0.863740 -0.031284 +v 0.722719 2.333226 0.859535 +v 0.250838 -0.863740 -1.288968 +v -0.587447 2.097464 0.571213 +v -0.299262 0.787863 -1.000646 +v -0.220648 -0.863317 1.147857 +v 0.879750 -0.863317 -0.791114 +v 0.041267 3.460397 -0.031284 +v -0.063420 2.804750 -0.738670 +v 0.722719 2.228255 -0.843559 +v -0.718602 2.726021 -0.031284 +v 0.565294 -0.758346 -1.105536 +v 0.932291 0.420464 -0.765015 +v 1.037175 0.577921 0.099704 +v -0.823486 0.604164 0.728547 +v -0.010879 2.726445 0.780745 +v 0.277109 -0.863740 1.226401 +v -0.875830 0.525435 -0.528892 +v 0.775063 2.621473 0.256792 +v 0.015194 2.804750 0.754646 +v -0.928173 -0.653798 0.309236 +v 0.748792 2.202435 -0.817214 +v -0.797216 0.315916 -0.791114 +v 0.906020 -0.758769 0.780991 +v 0.801333 2.595231 -0.005185 +v 1.037175 -0.182274 0.020914 +v 0.879750 0.027668 0.833436 +v -0.377876 -0.837074 1.069067 +v -0.954444 0.499616 0.178248 +v -0.901903 -0.785012 -0.397903 +v 0.748792 2.175769 0.859535 +v 0.696449 2.411954 0.807090 +v 0.015194 3.460397 0.047260 +v 0.591565 2.411954 -0.817460 +v 0.015194 3.460397 -0.031284 +v -0.980714 0.499616 -0.083482 +v -0.823486 -0.365127 0.780991 +v -0.272991 1.128596 0.964178 +v 0.958561 0.080154 0.754646 +f 52 49 64 +f 11 17 24 +f 7 15 26 +f 3 2 27 +f 7 14 28 +f 15 7 28 +f 13 9 29 +f 12 13 29 +f 11 14 30 +f 17 11 30 +f 3 23 31 +f 20 10 32 +f 28 5 32 +f 10 28 32 +f 4 19 33 +f 19 8 33 +f 11 24 34 +f 28 14 35 +f 24 17 36 +f 25 9 36 +f 34 24 36 +f 5 28 37 +f 28 35 37 +f 37 35 38 +f 18 20 38 +f 32 5 38 +f 20 32 38 +f 5 37 38 +f 6 21 39 +f 29 9 40 +f 12 29 40 +f 3 27 41 +f 2 3 42 +f 10 16 42 +f 16 22 42 +f 27 2 42 +f 28 10 42 +f 15 28 42 +f 3 31 42 +f 31 15 42 +f 36 17 43 +f 19 4 44 +f 27 6 44 +f 6 39 44 +f 13 41 45 +f 41 27 45 +f 25 1 46 +f 1 26 46 +f 26 15 46 +f 35 8 47 +f 38 35 47 +f 18 38 47 +f 14 7 48 +f 30 14 48 +f 17 30 48 +f 7 43 48 +f 43 17 48 +f 16 10 49 +f 22 16 49 +f 8 19 50 +f 39 18 50 +f 19 44 50 +f 44 39 50 +f 47 8 50 +f 18 47 50 +f 10 20 51 +f 20 18 51 +f 18 39 51 +f 22 49 52 +f 23 12 53 +f 15 31 53 +f 31 23 53 +f 9 25 54 +f 40 9 54 +f 25 46 54 +f 26 1 55 +f 7 26 55 +f 43 7 55 +f 21 6 56 +f 6 27 56 +f 42 22 56 +f 27 42 56 +f 52 21 56 +f 22 52 56 +f 44 4 57 +f 27 44 57 +f 4 45 57 +f 45 27 57 +f 9 13 58 +f 4 33 58 +f 36 9 58 +f 45 4 58 +f 13 45 58 +f 14 11 59 +f 33 8 59 +f 11 34 59 +f 34 33 59 +f 35 14 59 +f 8 35 59 +f 33 34 60 +f 34 36 60 +f 58 33 60 +f 36 58 60 +f 1 25 61 +f 25 36 61 +f 36 43 61 +f 55 1 61 +f 43 55 61 +f 12 40 62 +f 46 15 62 +f 53 12 62 +f 15 53 62 +f 40 54 62 +f 54 46 62 +f 13 12 63 +f 12 23 63 +f 23 3 63 +f 41 13 63 +f 3 41 63 +f 39 21 64 +f 49 10 64 +f 10 51 64 +f 51 39 64 +f 21 52 64 +o convex_1 +v -0.037295 -2.855610 -0.345766 +v 0.041275 -2.776843 0.388026 +v -0.011149 -2.776843 0.388026 +v 0.015063 -4.585118 0.021130 +v -0.377984 -2.776843 0.047203 +v 0.303395 -2.776843 -0.057450 +v -0.037295 -4.322975 -0.214681 +v 0.015063 -4.296601 0.230652 +v -0.325493 -2.776843 -0.267115 +v -0.194433 -4.270405 -0.005015 +v 0.250971 -2.803217 0.283158 +v 0.172335 -4.244385 -0.005015 +v 0.250971 -2.776843 -0.267115 +v -0.246857 -2.803217 0.283158 +v 0.119911 -4.139599 -0.162318 +v -0.115797 -4.165795 0.178289 +v -0.168221 -4.165795 -0.162318 +v 0.146123 -4.270405 0.099638 +v 0.303395 -2.934200 0.047203 +v 0.224759 -2.934200 0.309303 +v -0.377984 -2.803217 -0.083667 +v 0.015063 -4.296601 -0.214681 +v -0.299348 -2.803217 -0.293332 +v 0.041275 -2.776843 -0.345766 +v -0.037295 -4.585118 0.021130 +v -0.037295 -4.218011 0.230652 +v -0.168221 -4.244385 0.073421 +v 0.250971 -2.829590 -0.267115 +v -0.115797 -2.803217 -0.345766 +v -0.351705 -2.803217 -0.214681 +v 0.146123 -4.375191 -0.005015 +v 0.119911 -4.165795 0.178289 +v -0.037295 -4.558568 -0.057450 +v -0.299348 -2.803217 0.204506 +v -0.037295 -4.349172 0.204506 +v -0.063373 -4.296601 -0.214681 +v -0.194433 -4.270405 -0.031233 +v 0.172335 -4.218011 0.047203 +f 82 95 102 +f 67 66 69 +f 69 66 70 +f 66 67 72 +f 69 70 73 +f 70 66 75 +f 73 70 77 +f 67 69 78 +f 72 68 82 +f 70 75 83 +f 76 70 83 +f 66 72 84 +f 75 66 84 +f 82 75 84 +f 69 73 85 +f 74 69 85 +f 71 65 86 +f 81 73 87 +f 73 77 88 +f 86 65 88 +f 72 67 90 +f 67 78 90 +f 78 80 90 +f 69 74 91 +f 74 89 91 +f 70 76 92 +f 77 70 92 +f 76 79 92 +f 79 86 92 +f 88 77 92 +f 86 88 92 +f 65 71 93 +f 87 73 93 +f 73 88 93 +f 88 65 93 +f 73 81 94 +f 85 73 94 +f 79 76 95 +f 82 68 95 +f 68 86 95 +f 86 79 95 +f 72 82 96 +f 84 72 96 +f 82 84 96 +f 71 86 97 +f 86 68 97 +f 68 89 97 +f 78 69 98 +f 80 78 98 +f 69 91 98 +f 91 80 98 +f 68 72 99 +f 89 68 99 +f 72 90 99 +f 90 80 99 +f 80 91 99 +f 91 89 99 +f 81 87 100 +f 93 71 100 +f 87 93 100 +f 71 97 100 +f 97 81 100 +f 74 85 101 +f 89 74 101 +f 94 81 101 +f 85 94 101 +f 81 97 101 +f 97 89 101 +f 75 82 102 +f 76 83 102 +f 83 75 102 +f 95 76 102 +o convex_2 +v 0.250945 -0.942361 1.279061 +v -0.325527 -1.833308 1.279061 +v 0.041288 -1.833308 1.279061 +v -0.011075 -1.544988 3.008377 +v -0.220732 -1.152103 1.331711 +v 0.303377 -1.676067 1.331711 +v -0.273095 -1.518825 2.798793 +v 0.198514 -1.518825 2.667762 +v -0.037256 -1.728480 2.746482 +v -0.063437 -1.335595 2.772553 +v 0.355809 -1.256931 1.279061 +v -0.351777 -1.571239 1.279061 +v 0.015106 -0.968699 1.279061 +v -0.246914 -1.676067 2.641521 +v 0.172332 -1.492575 2.772553 +v 0.198514 -1.676067 2.091661 +v -0.325527 -1.544988 2.169874 +v -0.011075 -1.335595 2.772553 +v -0.220732 -1.413998 2.641521 +v -0.273095 -1.597402 2.772553 +v 0.277127 -0.994862 1.331711 +v -0.351777 -1.780894 1.305470 +v 0.093719 -0.942361 1.305470 +v 0.015106 -1.833308 1.462742 +v 0.172332 -1.571239 2.694002 +v -0.089688 -1.544988 3.008377 +v 0.277127 -1.702230 1.279061 +v 0.355809 -1.335595 1.305470 +v -0.351777 -1.571239 1.672326 +v 0.250945 -0.942361 1.305470 +v -0.194482 -1.702230 2.667762 +v -0.220732 -1.152103 1.279061 +v 0.015106 -0.968699 1.305470 +v -0.063437 -1.492575 3.008377 +v 0.198514 -1.492575 2.667762 +v 0.093719 -1.676067 2.615450 +f 118 127 138 +f 105 104 103 +f 105 103 113 +f 103 104 114 +f 103 114 115 +f 109 107 119 +f 107 109 121 +f 109 112 121 +f 109 119 122 +f 113 103 123 +f 114 104 124 +f 104 116 124 +f 116 122 124 +f 122 119 124 +f 103 115 125 +f 112 120 125 +f 104 105 126 +f 111 104 126 +f 108 110 127 +f 106 111 127 +f 110 117 127 +f 117 106 127 +f 118 108 127 +f 111 106 128 +f 109 122 128 +f 105 113 129 +f 108 118 129 +f 126 105 129 +f 118 126 129 +f 110 108 130 +f 129 113 130 +f 108 129 130 +f 107 114 131 +f 119 107 131 +f 114 124 131 +f 124 119 131 +f 120 117 132 +f 123 103 132 +f 117 123 132 +f 103 125 132 +f 125 120 132 +f 104 111 133 +f 116 104 133 +f 122 116 133 +f 111 128 133 +f 128 122 133 +f 114 107 134 +f 107 115 134 +f 115 114 134 +f 115 107 135 +f 107 121 135 +f 121 112 135 +f 125 115 135 +f 112 125 135 +f 112 109 136 +f 106 117 136 +f 120 112 136 +f 117 120 136 +f 128 106 136 +f 109 128 136 +f 117 110 137 +f 113 123 137 +f 123 117 137 +f 110 130 137 +f 130 113 137 +f 111 126 138 +f 126 118 138 +f 127 111 138 +o convex_3 +v -0.142030 -1.021097 -1.263336 +v -0.011041 -1.885709 -1.368061 +v 0.015119 -1.885709 -1.368061 +v -0.037264 -1.492567 -2.940084 +v 0.303318 -0.994887 -1.263336 +v -0.273080 -1.780871 -1.263336 +v 0.277096 -1.780871 -1.263336 +v -0.246857 -1.518776 -2.704207 +v 0.146108 -1.597405 -2.677944 +v -0.063424 -1.754662 -2.625581 +v -0.037264 -1.283191 -2.704207 +v 0.250874 -0.863740 -1.341798 +v -0.299302 -1.544986 -1.263336 +v 0.329540 -1.361820 -1.420423 +v 0.146108 -1.492567 -2.704207 +v 0.041280 -0.863740 -1.315698 +v -0.246857 -1.440148 -2.677944 +v 0.172268 -1.780871 -1.996903 +v -0.168252 -1.309401 -2.573219 +v -0.168252 -1.047306 -1.341798 +v -0.194474 -1.676033 -2.494593 +v -0.011041 -1.728452 -2.730470 +v -0.063424 -1.885709 -1.263336 +v -0.273080 -1.440148 -2.023166 +v 0.277096 -1.780871 -1.368061 +v -0.089647 -1.283191 -2.704207 +v 0.277096 -0.863740 -1.263336 +v -0.089647 -1.544986 -2.940084 +v 0.329540 -1.152144 -1.289435 +v 0.172268 -1.544986 -2.573219 +v 0.146108 -1.728452 -2.363605 +v 0.067502 -1.885709 -1.289435 +v -0.011041 -1.754662 -2.625581 +v 0.329540 -1.466358 -1.263336 +v -0.063424 -1.728452 -2.730470 +v -0.246857 -1.544986 -2.677944 +f 173 159 174 +f 143 139 144 +f 143 144 145 +f 141 140 148 +f 144 139 151 +f 147 142 153 +f 142 149 153 +f 149 150 153 +f 157 155 158 +f 151 139 158 +f 139 154 158 +f 154 157 158 +f 148 144 159 +f 142 147 160 +f 140 141 161 +f 145 144 161 +f 148 140 161 +f 144 148 161 +f 146 151 162 +f 155 146 162 +f 158 155 162 +f 151 158 162 +f 149 142 164 +f 150 149 164 +f 154 150 164 +f 157 154 164 +f 155 157 164 +f 139 143 165 +f 153 150 165 +f 143 153 165 +f 154 139 165 +f 150 154 165 +f 146 155 166 +f 142 160 166 +f 164 142 166 +f 155 164 166 +f 153 143 167 +f 153 167 168 +f 147 153 168 +f 152 163 168 +f 163 147 168 +f 167 152 168 +f 160 147 169 +f 147 163 169 +f 163 156 169 +f 161 141 170 +f 145 161 170 +f 163 145 170 +f 156 163 170 +f 141 148 171 +f 148 160 171 +f 160 169 171 +f 169 156 171 +f 170 141 171 +f 156 170 171 +f 143 145 172 +f 145 163 172 +f 163 152 172 +f 167 143 172 +f 152 167 172 +f 148 159 173 +f 160 148 173 +f 166 160 173 +f 166 173 174 +f 144 151 174 +f 151 146 174 +f 159 144 174 +f 146 166 174 +o convex_4 +v -0.928285 -1.755123 -0.031040 +v 1.010937 -0.863740 0.020966 +v 1.010937 -0.916362 0.020966 +v -0.377801 -1.623850 1.279061 +v 0.277085 -2.776843 -0.188302 +v 0.015131 -0.863927 -1.263008 +v -0.823313 -0.863740 0.780899 +v 0.827379 -2.042950 0.807026 +v 0.827379 -2.068980 -0.791222 +v -0.770923 -2.147819 -0.869604 +v 0.512844 -0.863927 1.121799 +v -0.797118 -2.147819 0.807275 +v -0.797118 -0.863740 -0.817349 +v -0.273019 -2.776843 0.309362 +v 0.067522 -1.911677 -1.263008 +v 0.879770 -0.863740 -0.791222 +v 0.041326 -2.462050 0.885657 +v -0.011065 -2.462050 -0.922108 +v 0.303281 -1.676285 1.279061 +v -0.377801 -2.776843 -0.214678 +v 0.381867 -1.178346 -1.263008 +v 0.041326 -0.942392 1.279061 +v -0.299215 -1.728719 -1.263008 +v 0.879770 -0.863740 0.780899 +v 0.644011 -2.514672 0.125724 +v 0.224694 -2.776843 0.335489 +v 0.958547 -1.859430 -0.057168 +v -0.928285 -0.863740 -0.188302 +v -0.639945 -2.567106 0.047093 +v -0.351606 -1.859243 1.279061 +v 0.303281 -1.781153 -1.263008 +v -0.823313 -2.095384 0.833154 +v -0.928285 -0.863740 0.230482 +v 0.512844 -2.514672 -0.502826 +v 0.355672 -1.230780 1.279061 +v 0.591431 -2.409616 0.597510 +v -0.377801 -0.863927 1.069295 +v -0.797118 -2.121602 -0.817349 +v -0.168237 -1.047260 -1.263008 +v 0.408062 -0.863927 -1.210504 +v 0.067522 -2.462050 -0.922108 +v -0.299215 -2.776843 -0.319436 +v -0.273019 -1.833026 -1.263008 +v 0.670207 -2.488267 -0.083544 +v 0.984742 -1.650067 -0.004913 +v 0.041326 -1.859243 1.279061 +v -0.037260 -2.435833 0.912033 +v -0.220628 -1.152129 1.279061 +v 0.644011 -2.174036 0.833402 +v 0.041326 -2.776843 -0.371940 +v 0.879770 -1.204750 0.780899 +v 0.879770 -1.099694 -0.791222 +v -0.902090 -1.885647 0.204355 +v 0.801184 -2.147631 0.702268 +v -0.299215 -1.518982 -1.263008 +v 0.277085 -0.863927 1.226557 +v -0.613750 -2.409803 -0.633960 +v -0.430192 -2.750439 0.073469 +v -0.875894 -1.125912 -0.502826 +v -0.063456 -2.776843 0.387993 +v -0.823313 -1.099694 0.807275 +v -0.639945 -2.567106 -0.057168 +v 0.774989 -2.095384 -0.817101 +v 0.250890 -2.776843 -0.266933 +f 224 215 238 +f 181 176 187 +f 176 177 190 +f 187 176 190 +f 180 187 190 +f 179 188 194 +f 189 180 195 +f 178 193 196 +f 180 189 197 +f 177 176 198 +f 176 181 198 +f 188 179 200 +f 179 199 200 +f 181 187 202 +f 193 178 204 +f 195 183 205 +f 189 195 205 +f 203 186 206 +f 204 178 206 +f 186 204 206 +f 202 175 207 +f 181 202 207 +f 193 182 209 +f 196 193 209 +f 198 185 209 +f 191 200 210 +f 200 199 210 +f 187 184 212 +f 187 180 213 +f 180 197 213 +f 180 190 214 +f 195 180 214 +f 190 195 214 +f 192 189 215 +f 189 205 215 +f 179 194 216 +f 192 184 217 +f 189 192 217 +f 184 197 217 +f 197 189 217 +f 199 179 218 +f 183 201 218 +f 179 208 218 +f 208 183 218 +f 182 201 219 +f 201 183 219 +f 193 204 220 +f 220 204 221 +f 186 188 221 +f 204 186 221 +f 191 220 221 +f 181 178 222 +f 178 196 222 +f 211 181 222 +f 196 211 222 +f 182 193 223 +f 210 182 223 +f 191 210 223 +f 220 191 223 +f 193 220 223 +f 192 215 224 +f 216 192 224 +f 179 216 224 +f 177 198 225 +f 209 182 225 +f 198 209 225 +f 219 177 225 +f 182 219 225 +f 190 177 226 +f 183 195 226 +f 195 190 226 +f 177 219 226 +f 219 183 226 +f 207 175 227 +f 206 207 227 +f 175 212 227 +f 201 182 228 +f 182 210 228 +f 210 199 228 +f 199 218 228 +f 218 201 228 +f 184 187 229 +f 197 184 229 +f 187 213 229 +f 213 197 229 +f 198 181 230 +f 185 198 230 +f 209 185 230 +f 196 209 230 +f 181 211 230 +f 211 196 230 +f 184 192 231 +f 192 216 231 +f 216 194 231 +f 188 186 232 +f 194 188 232 +f 186 203 232 +f 175 202 233 +f 202 187 233 +f 187 212 233 +f 212 175 233 +f 188 200 234 +f 200 191 234 +f 221 188 234 +f 191 221 234 +f 178 181 235 +f 206 178 235 +f 181 207 235 +f 207 206 235 +f 203 206 236 +f 212 184 236 +f 206 227 236 +f 227 212 236 +f 184 231 236 +f 231 194 236 +f 194 232 236 +f 232 203 236 +f 205 183 237 +f 183 208 237 +f 215 205 237 +f 208 215 237 +f 208 179 238 +f 215 208 238 +f 179 224 238 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/517/517.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/517/517.urdf new file mode 100644 index 000000000..c287c3774 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/517/517.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/518/518.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/518/518.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/518/518.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/518/518.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/518/518.obj new file mode 100644 index 000000000..2d61bacc8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/518/518.obj @@ -0,0 +1,798 @@ +o convex_0 +v -0.217085 3.611853 0.209309 +v -0.446514 1.283679 1.947699 +v -0.741898 1.283679 1.947699 +v -0.709123 0.364450 -0.348874 +v 0.996822 0.364819 0.864830 +v 0.570134 3.283899 1.455384 +v 0.865518 0.495926 -0.283232 +v -0.840427 3.251400 1.717952 +v 0.602909 0.364450 1.914653 +v -0.971529 0.364819 1.816415 +v -1.037080 1.972455 0.176488 +v 0.701438 3.251400 0.143442 +v -0.020230 4.137391 0.897651 +v 0.996822 2.299670 0.930472 +v -0.774674 3.218161 0.143442 +v -0.282636 1.185072 -0.348874 +v 0.307727 2.201801 1.881832 +v -1.037080 0.364819 -0.151948 +v 0.865518 2.005324 1.652310 +v 0.766989 3.645091 0.930472 +v -1.070058 2.136432 1.061531 +v -0.840427 3.612222 0.832009 +v 0.078097 3.612222 1.619489 +v 0.898294 0.364819 1.684906 +v 0.963845 2.070324 0.307547 +v 0.734214 0.364819 -0.348874 +v -0.020230 3.645091 0.143442 +v -0.873202 0.692772 -0.348874 +v -1.037080 1.972455 1.684906 +v -0.873202 0.364819 1.947699 +v -1.037080 0.364819 1.225861 +v -0.905978 1.710240 1.914653 +v 0.373278 0.856749 -0.348874 +v -0.577818 1.119702 -0.348874 +v 0.406054 0.397319 1.947699 +v 0.766989 3.612222 0.766592 +v 0.996822 1.841348 1.094577 +v 0.931069 2.070324 0.143442 +v 0.865518 2.168932 1.619264 +v -1.070058 1.152202 0.930247 +v -0.840427 3.546484 1.127173 +v -0.118556 1.972455 1.914653 +v 0.045321 4.104152 0.832009 +v -1.070058 2.103193 0.734220 +v -0.085781 4.071283 0.766816 +v -0.807651 3.284269 1.717952 +v 0.439032 1.381548 1.914653 +v -0.282636 3.907306 1.127173 +v 0.602909 2.136801 -0.086081 +v 0.766989 2.168932 1.684906 +v 0.996822 2.136063 0.635532 +v -0.807651 1.873847 1.914653 +v -0.938753 1.611633 1.914653 +v 0.668663 3.316769 0.176263 +v -0.905978 2.627993 0.143442 +v -1.004304 0.397688 -0.250411 +v 0.734214 3.152792 0.143442 +v 0.865518 0.364819 -0.250186 +v -0.020230 3.612222 1.619489 +v -0.479492 3.874437 0.897651 +v 0.931069 0.364819 1.521026 +v -1.004304 0.758511 1.750548 +v 0.635887 3.283899 1.389741 +v 0.045321 3.907676 1.225861 +f 59 23 64 +f 4 9 10 +f 6 20 23 +f 19 9 24 +f 5 7 25 +f 4 16 26 +f 15 1 27 +f 16 4 28 +f 8 21 29 +f 2 3 30 +f 10 9 30 +f 4 10 31 +f 18 4 31 +f 26 16 33 +f 15 27 34 +f 27 16 34 +f 28 15 34 +f 16 28 34 +f 2 30 35 +f 30 9 35 +f 20 14 36 +f 5 14 37 +f 19 24 37 +f 25 7 38 +f 14 20 39 +f 37 14 39 +f 19 37 39 +f 29 21 40 +f 18 31 40 +f 31 29 40 +f 21 8 41 +f 22 21 41 +f 3 2 42 +f 2 35 42 +f 13 20 43 +f 20 36 43 +f 11 18 44 +f 22 11 44 +f 21 22 44 +f 18 40 44 +f 40 21 44 +f 1 15 45 +f 15 22 45 +f 27 1 45 +f 13 43 45 +f 43 27 45 +f 17 23 46 +f 41 8 46 +f 42 17 46 +f 9 19 47 +f 35 9 47 +f 17 42 47 +f 42 35 47 +f 41 46 48 +f 12 7 49 +f 7 26 49 +f 27 12 49 +f 16 27 49 +f 26 33 49 +f 33 16 49 +f 23 17 50 +f 6 23 50 +f 19 39 50 +f 39 6 50 +f 47 19 50 +f 17 47 50 +f 14 5 51 +f 5 25 51 +f 36 14 51 +f 25 36 51 +f 32 3 52 +f 8 32 52 +f 3 42 52 +f 46 8 52 +f 42 46 52 +f 8 29 53 +f 30 3 53 +f 10 30 53 +f 3 32 53 +f 32 8 53 +f 12 27 54 +f 36 12 54 +f 27 43 54 +f 43 36 54 +f 11 22 55 +f 22 15 55 +f 15 28 55 +f 55 28 56 +f 4 18 56 +f 18 11 56 +f 28 4 56 +f 11 55 56 +f 7 12 57 +f 12 36 57 +f 36 25 57 +f 38 7 57 +f 25 38 57 +f 7 5 58 +f 9 4 58 +f 5 9 58 +f 26 7 58 +f 4 26 58 +f 46 23 59 +f 13 48 59 +f 48 46 59 +f 22 41 60 +f 13 45 60 +f 45 22 60 +f 48 13 60 +f 41 48 60 +f 9 5 61 +f 24 9 61 +f 5 37 61 +f 37 24 61 +f 31 10 62 +f 29 31 62 +f 53 29 62 +f 10 53 62 +f 20 6 63 +f 6 39 63 +f 39 20 63 +f 20 13 64 +f 23 20 64 +f 13 59 64 +o convex_1 +v -0.052834 -2.194589 0.307402 +v 0.110902 -2.194589 1.455576 +v 0.373409 -2.194589 1.357010 +v 0.078155 -3.867806 0.963309 +v -0.512354 -2.260266 0.963309 +v 0.439009 -2.916385 0.602650 +v -0.249741 -3.473906 0.569945 +v -0.020087 -3.605097 1.324193 +v 0.439009 -3.605097 0.963309 +v 0.570316 -2.194589 0.865193 +v 0.078155 -3.572340 0.471491 +v -0.348194 -2.752437 1.324193 +v -0.348194 -3.605097 0.897673 +v -0.413795 -2.194589 0.438673 +v 0.439009 -2.949306 1.291375 +v 0.406262 -2.194589 0.471491 +v -0.348194 -2.194589 1.357010 +v -0.348194 -2.883628 0.438673 +v 0.110902 -3.605097 1.324193 +v 0.045302 -3.014819 1.422646 +v 0.045302 -2.752437 0.340220 +v -0.512354 -2.391621 0.832375 +v 0.537463 -2.949306 0.897673 +v 0.406262 -2.949306 0.537127 +v 0.045302 -3.703695 0.569945 +v 0.471862 -2.194589 1.291375 +v 0.307809 -3.473906 0.602650 +v -0.249741 -3.473906 1.192921 +v 0.439009 -3.605097 0.897673 +v -0.020087 -2.391621 1.455576 +v 0.340556 -3.440985 1.225739 +v -0.151287 -3.769372 0.865193 +v -0.446542 -2.982062 0.897673 +v 0.570316 -2.227509 0.963309 +v -0.413795 -2.194589 1.291375 +v 0.143755 -2.817951 1.422646 +v 0.012766 -3.572340 0.471491 +v 0.078155 -3.867806 0.865193 +v 0.045302 -2.194589 0.307402 +v 0.242208 -2.916385 0.438673 +v -0.249741 -3.703695 0.930491 +v -0.085687 -2.916385 0.373038 +v -0.512354 -2.194589 0.799557 +v 0.537463 -2.916385 0.963309 +v -0.380941 -2.325944 0.405856 +v -0.446542 -2.949306 0.832375 +v -0.348194 -3.605097 0.865193 +v 0.078155 -3.703695 0.569945 +v 0.012766 -3.867806 0.963309 +v -0.052834 -3.605097 0.504309 +f 96 111 114 +f 65 66 67 +f 65 67 74 +f 66 65 78 +f 65 74 80 +f 74 70 80 +f 66 78 81 +f 72 68 83 +f 68 73 83 +f 76 72 84 +f 72 83 84 +f 78 82 86 +f 70 74 87 +f 80 70 88 +f 74 67 90 +f 67 79 90 +f 75 88 91 +f 72 76 92 +f 76 77 92 +f 73 68 93 +f 70 87 93 +f 87 73 93 +f 88 70 93 +f 91 88 93 +f 66 81 94 +f 81 76 94 +f 76 84 94 +f 84 66 94 +f 73 79 95 +f 83 73 95 +f 79 83 95 +f 76 69 97 +f 77 76 97 +f 69 86 97 +f 87 74 98 +f 74 90 98 +f 90 79 98 +f 69 76 99 +f 76 81 99 +f 81 78 99 +f 67 66 100 +f 79 67 100 +f 83 79 100 +f 84 83 100 +f 66 84 100 +f 85 75 101 +f 75 89 101 +f 93 68 102 +f 96 89 102 +f 65 80 103 +f 85 65 103 +f 85 103 104 +f 75 85 104 +f 88 75 104 +f 80 88 104 +f 103 80 104 +f 72 92 105 +f 92 77 105 +f 82 65 106 +f 65 85 106 +f 101 82 106 +f 85 101 106 +f 86 69 107 +f 78 86 107 +f 69 99 107 +f 99 78 107 +f 79 73 108 +f 73 87 108 +f 87 98 108 +f 98 79 108 +f 78 65 109 +f 65 82 109 +f 82 78 109 +f 86 82 110 +f 97 86 110 +f 97 110 111 +f 82 71 111 +f 77 97 111 +f 105 77 111 +f 96 105 111 +f 110 82 111 +f 89 75 112 +f 75 91 112 +f 91 93 112 +f 93 102 112 +f 102 89 112 +f 68 72 113 +f 102 68 113 +f 96 102 113 +f 72 105 113 +f 105 96 113 +f 71 82 114 +f 89 96 114 +f 82 101 114 +f 101 89 114 +f 111 71 114 +o convex_2 +v -0.545156 -2.161758 0.930520 +v 0.701549 -1.997778 0.930520 +v 0.635727 -1.997778 1.160145 +v -0.676395 -1.997778 0.733896 +v 0.077994 -2.194589 0.307508 +v 0.110770 -2.194589 1.455358 +v -0.479469 -1.997778 1.455358 +v 0.045218 -1.997778 0.176195 +v 0.570310 -2.194589 0.799621 +v -0.413782 -2.194589 0.405959 +v 0.504623 -2.030570 0.340233 +v 0.537399 -2.030570 1.422633 +v -0.381006 -2.194589 1.356908 +v -0.512245 -1.997778 0.307508 +v -0.085616 -1.997778 1.586809 +v 0.504623 -2.194589 1.258596 +v -0.676395 -2.030570 0.996108 +v 0.373383 -2.194589 0.438683 +v -0.118392 -2.030570 0.176195 +v 0.504623 -1.997778 0.340233 +v -0.512245 -2.194589 0.766759 +v 0.077994 -1.997778 1.586809 +v 0.701549 -2.030570 0.832346 +f 125 134 137 +f 117 116 118 +f 117 118 121 +f 118 116 122 +f 120 119 123 +f 119 120 124 +f 119 122 125 +f 124 120 127 +f 118 122 128 +f 124 118 128 +f 117 121 129 +f 121 127 129 +f 127 120 129 +f 116 117 130 +f 120 123 130 +f 117 126 130 +f 126 120 130 +f 121 118 131 +f 115 127 131 +f 127 121 131 +f 123 119 132 +f 119 125 132 +f 125 123 132 +f 122 119 133 +f 119 124 133 +f 128 122 133 +f 124 128 133 +f 122 116 134 +f 125 122 134 +f 118 124 135 +f 127 115 135 +f 124 127 135 +f 115 131 135 +f 131 118 135 +f 126 117 136 +f 120 126 136 +f 117 129 136 +f 129 120 136 +f 123 125 137 +f 116 130 137 +f 130 123 137 +f 134 116 137 +o convex_3 +v 0.340484 -0.456086 2.176737 +v -0.085788 -1.997509 0.142520 +v 0.045341 -1.997509 0.142520 +v 0.078021 -0.193672 -3.792654 +v -1.037192 0.364218 1.225328 +v 0.996746 0.364450 0.897449 +v -0.774729 -0.980452 -3.596174 +v 0.799847 -1.669433 -2.185487 +v -0.873178 -1.767694 1.783157 +v 0.799847 -1.735094 1.750307 +v 0.832732 -0.881960 -3.596174 +v 0.012456 -1.669433 -3.694104 +v -1.037192 0.364218 -0.152510 +v -1.004307 -1.735094 0.668119 +v -0.873178 0.364218 1.946787 +v 0.373369 0.101573 -2.710466 +v -0.709164 -0.095180 -3.333994 +v 1.029631 -0.947621 -2.152637 +v -0.774729 -1.702264 -2.185487 +v -1.037192 -0.947621 -2.218337 +v 0.898296 0.364218 1.684608 +v -0.512265 -1.341358 2.177357 +v 0.701397 -1.997509 0.995999 +v 0.012456 -1.931847 -2.251186 +v -0.741844 -1.997509 0.930299 +v 0.012456 -0.881960 -4.154623 +v 0.865411 0.364218 -0.251059 +v 0.931181 -1.570941 0.896829 +v -0.577830 0.364218 -0.971898 +v 0.865411 -0.160841 -2.251186 +v -1.070077 -0.947621 1.126778 +v 0.602948 -1.078944 2.176737 +v -0.020223 -1.899017 1.848237 +v -1.004307 -0.193441 -2.021237 +v 0.602948 0.364218 1.913937 +v 0.635833 -1.472449 -3.301145 +v -1.004307 -0.750868 1.750307 +v -0.676279 -0.816530 2.176737 +v 0.963861 -0.881960 1.159629 +v 0.635833 -0.324763 -3.268295 +v 0.438934 -1.407019 2.176737 +v -0.577830 -1.505280 -3.268295 +v -1.070077 -0.947621 -1.168378 +v -0.512265 -1.997509 1.487508 +v 0.898296 -1.735094 0.766049 +v -1.037192 -1.669433 0.962529 +v -0.085788 -0.291933 2.176737 +v -1.070077 0.003312 0.897449 +v 0.537383 -1.997509 1.455278 +v 0.898296 -0.980452 1.684608 +v -0.741844 -0.947621 -3.694724 +v 0.110906 -1.669433 -3.662494 +v 0.110906 0.364218 -0.874588 +v 0.767167 -1.702264 -2.185487 +v 0.078021 -0.980452 -4.154623 +v 0.832732 -0.947621 -3.596174 +v -0.807614 -1.702264 -2.054707 +v 0.143585 -0.193672 -3.792654 +v -0.085788 -1.931847 -2.153256 +v 1.029631 -0.849129 -2.120407 +v 0.701397 -1.997509 0.798899 +v -0.052903 -1.505280 2.176737 +v -0.971627 0.364218 1.816007 +v 1.029631 -0.914790 -1.693357 +f 155 197 201 +f 142 143 150 +f 153 141 154 +f 139 140 160 +f 140 139 161 +f 146 151 162 +f 139 160 162 +f 154 141 163 +f 150 143 166 +f 154 150 166 +f 153 154 166 +f 164 143 167 +f 153 164 167 +f 138 159 169 +f 150 154 171 +f 154 144 171 +f 157 150 171 +f 144 157 171 +f 143 152 172 +f 158 143 172 +f 138 169 172 +f 169 158 172 +f 142 168 174 +f 146 159 175 +f 152 174 175 +f 174 146 175 +f 167 148 177 +f 153 167 177 +f 147 169 178 +f 169 159 178 +f 170 147 178 +f 149 156 179 +f 156 144 179 +f 150 157 180 +f 146 162 181 +f 162 160 181 +f 170 146 181 +f 145 155 182 +f 147 160 182 +f 155 165 182 +f 165 147 182 +f 151 146 183 +f 157 151 183 +f 146 174 183 +f 174 168 183 +f 180 157 183 +f 168 180 183 +f 159 138 184 +f 138 172 184 +f 172 152 184 +f 152 175 184 +f 175 159 184 +f 142 150 185 +f 168 142 185 +f 150 180 185 +f 180 168 185 +f 160 147 186 +f 147 170 186 +f 181 160 186 +f 170 181 186 +f 143 158 187 +f 147 165 187 +f 158 169 187 +f 169 147 187 +f 176 143 187 +f 165 176 187 +f 144 154 188 +f 154 163 188 +f 179 144 188 +f 149 179 188 +f 161 149 189 +f 143 164 190 +f 164 153 190 +f 166 143 190 +f 153 166 190 +f 173 145 191 +f 161 189 191 +f 189 173 191 +f 149 188 192 +f 188 163 192 +f 189 149 192 +f 189 192 193 +f 155 145 193 +f 148 155 193 +f 145 173 193 +f 173 189 193 +f 192 148 193 +f 144 156 194 +f 151 157 194 +f 157 144 194 +f 162 151 194 +f 156 162 194 +f 141 153 195 +f 163 141 195 +f 177 148 195 +f 153 177 195 +f 148 192 195 +f 192 163 195 +f 156 149 196 +f 161 139 196 +f 149 161 196 +f 162 156 196 +f 139 162 196 +f 155 148 197 +f 148 167 197 +f 167 143 197 +f 160 140 198 +f 140 161 198 +f 145 182 198 +f 182 160 198 +f 191 145 198 +f 161 191 198 +f 159 146 199 +f 146 170 199 +f 178 159 199 +f 170 178 199 +f 143 142 200 +f 152 143 200 +f 142 174 200 +f 174 152 200 +f 165 155 201 +f 143 176 201 +f 176 165 201 +f 197 143 201 +o convex_4 +v -0.610759 -1.013359 2.177530 +v 0.603124 -0.947724 2.308794 +v 0.603124 -0.980542 2.308794 +v -0.020231 -0.914906 3.948825 +v -0.151419 -0.324635 2.177530 +v 0.045180 -1.472809 2.177530 +v -0.020231 -0.488724 3.719068 +v -0.413917 -0.914906 3.686295 +v -0.545104 -0.390270 2.243249 +v 0.438987 -0.488724 2.997718 +v 0.438987 -0.882425 3.686295 +v -0.052937 -1.242972 3.686295 +v 0.438987 -1.374243 2.177530 +v -0.446622 -1.341425 2.210476 +v 0.504642 -0.554359 2.177530 +v 0.406160 -1.242972 3.063264 +v -0.348262 -0.587177 3.489485 +v -0.413917 -1.242972 2.932173 +v -0.545104 -0.849607 3.063264 +v 0.078007 -1.242972 3.686295 +v 0.012474 -0.357453 2.866453 +v 0.570297 -0.849607 2.964945 +v 0.012474 -0.324635 2.177530 +v -0.643587 -0.783972 2.177530 +v 0.307799 -0.554359 3.522257 +v -0.020231 -1.374243 2.997718 +v -0.446622 -0.488724 2.997718 +v 0.438987 -0.816790 3.686295 +v -0.315434 -1.177449 3.456712 +v -0.020231 -0.816790 3.948825 +v -0.413917 -0.849607 3.686295 +v 0.438987 -1.242972 2.964945 +v 0.340505 -1.144631 3.522257 +v 0.570297 -1.111813 2.177530 +v 0.045180 -1.374243 2.997718 +v -0.020231 -0.455906 3.587803 +v -0.446622 -0.357453 2.177530 +v -0.545104 -0.914906 3.030491 +v -0.512155 -1.275789 2.177530 +v -0.052937 -1.472809 2.210476 +v -0.348262 -1.275789 2.964945 +v 0.570297 -0.914906 2.932173 +v 0.045180 -0.914906 3.948825 +v 0.340505 -0.455906 2.177530 +v 0.045180 -0.816790 3.948825 +v -0.184246 -0.357453 2.669643 +v 0.406160 -1.275789 2.932173 +v 0.012474 -0.488724 3.719068 +f 246 229 249 +f 202 206 207 +f 205 209 213 +f 207 206 214 +f 214 206 216 +f 205 213 221 +f 204 203 223 +f 203 216 223 +f 216 211 223 +f 216 206 224 +f 206 222 224 +f 222 211 224 +f 206 202 225 +f 220 210 225 +f 221 213 227 +f 218 208 228 +f 210 220 228 +f 223 211 229 +f 212 223 229 +f 211 226 229 +f 213 209 230 +f 209 219 230 +f 209 205 231 +f 208 218 232 +f 220 209 232 +f 218 228 232 +f 228 220 232 +f 231 208 232 +f 209 231 232 +f 212 221 234 +f 221 217 234 +f 233 212 234 +f 217 233 234 +f 203 204 235 +f 216 203 235 +f 214 216 235 +f 233 214 235 +f 207 214 236 +f 221 227 236 +f 211 222 237 +f 228 208 237 +f 210 228 237 +f 206 225 238 +f 225 210 238 +f 219 209 239 +f 209 220 239 +f 225 202 239 +f 220 225 239 +f 202 207 240 +f 207 215 240 +f 215 219 240 +f 239 202 240 +f 219 239 240 +f 215 207 241 +f 207 236 241 +f 236 227 241 +f 219 215 242 +f 227 213 242 +f 213 230 242 +f 230 219 242 +f 215 241 242 +f 241 227 242 +f 204 223 243 +f 223 212 243 +f 212 233 243 +f 235 204 243 +f 233 235 243 +f 205 221 244 +f 221 212 244 +f 212 229 244 +f 231 205 244 +f 211 216 245 +f 224 211 245 +f 216 224 245 +f 208 231 246 +f 244 229 246 +f 231 244 246 +f 222 206 247 +f 210 237 247 +f 237 222 247 +f 206 238 247 +f 238 210 247 +f 217 221 248 +f 214 233 248 +f 233 217 248 +f 236 214 248 +f 221 236 248 +f 226 211 249 +f 229 226 249 +f 211 237 249 +f 237 208 249 +f 208 246 249 +o convex_5 +v 0.668741 0.397270 -0.381756 +v -0.577868 0.364449 -0.873805 +v -0.676215 0.364449 -0.775313 +v -0.873218 0.528490 -0.381756 +v 0.209375 0.528490 -0.676923 +v -0.906052 0.364449 -0.348976 +v 0.537405 0.528490 -0.348976 +v 0.176387 0.364449 -0.808143 +v 0.668741 0.364449 -0.348976 +v -0.577868 0.397270 -0.873805 +v -0.544880 0.528490 -0.545806 +v -0.873218 0.528490 -0.348976 +v 0.143553 0.430075 -0.808143 +f 257 259 262 +f 252 251 255 +f 253 252 255 +f 250 254 256 +f 254 253 256 +f 255 251 257 +f 255 257 258 +f 256 255 258 +f 250 256 258 +f 257 250 258 +f 251 252 259 +f 252 253 259 +f 257 251 259 +f 253 254 260 +f 259 253 260 +f 254 259 260 +f 253 255 261 +f 256 253 261 +f 255 256 261 +f 254 250 262 +f 250 257 262 +f 259 254 262 +o convex_6 +v -0.873244 0.528542 -0.381730 +v -0.315242 1.053421 -0.348903 +v 0.340550 0.823709 -0.348903 +v 0.242086 0.561372 -0.644118 +v 0.504700 0.528542 -0.348903 +v -0.544944 1.020539 -0.381730 +v -0.544944 0.528542 -0.512895 +v -0.873244 0.528542 -0.348903 +v 0.143758 0.528542 -0.644118 +v -0.315242 1.053421 -0.381730 +v 0.340550 0.790981 -0.414529 +f 266 272 273 +f 265 264 267 +f 267 263 269 +f 263 268 269 +f 263 267 270 +f 267 264 270 +f 264 268 270 +f 268 263 270 +f 266 267 271 +f 268 266 271 +f 269 268 271 +f 267 269 271 +f 264 265 272 +f 268 264 272 +f 266 268 272 +f 267 266 273 +f 265 267 273 +f 272 265 273 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/518/518.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/518/518.urdf new file mode 100644 index 000000000..a06066e38 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/518/518.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/519/519.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/519/519.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/519/519.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/519/519.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/519/519.obj new file mode 100644 index 000000000..332bee64a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/519/519.obj @@ -0,0 +1,588 @@ +o convex_0 +v 1.204552 -2.124139 0.053227 +v 2.958814 -0.996403 0.585966 +v 2.990184 -1.027739 0.585966 +v 2.927444 -1.153202 -0.573238 +v 2.990184 -2.218266 0.491900 +v 1.110631 -1.121866 0.491900 +v 1.079261 -2.030131 -0.541807 +v 1.079261 -1.090530 -0.447741 +v 3.021554 -2.092922 -0.510489 +v 1.079261 -2.155475 0.585966 +v 3.021554 -1.998795 -0.573238 +v 1.079261 -1.779563 0.585966 +v 2.864703 -1.403890 0.585966 +v 1.079261 -2.061467 -0.510489 +v 2.426090 -1.027739 0.585966 +v 2.864703 -2.218266 0.429265 +v 1.079261 -1.215755 0.523217 +v 2.958814 -1.153202 -0.541807 +v 1.173182 -1.810899 -0.541807 +v 1.423953 -2.155475 0.585966 +v 2.958814 -0.996403 0.523217 +v 1.267102 -1.153202 -0.479172 +v 1.079261 -2.155475 0.429265 +v 2.739412 -1.215874 -0.573238 +v 3.021554 -2.092922 -0.259835 +v 1.267102 -1.090530 -0.447741 +v 1.079261 -1.090530 -0.291153 +f 8 17 27 +f 3 2 10 +f 8 7 10 +f 9 7 11 +f 10 2 12 +f 8 10 12 +f 5 3 13 +f 3 10 13 +f 7 9 14 +f 10 7 14 +f 12 2 15 +f 9 5 16 +f 5 10 16 +f 1 14 16 +f 14 9 16 +f 8 12 17 +f 15 6 17 +f 12 15 17 +f 3 11 18 +f 11 4 18 +f 7 8 19 +f 10 5 20 +f 5 13 20 +f 13 10 20 +f 2 3 21 +f 8 2 21 +f 3 18 21 +f 18 4 21 +f 8 4 22 +f 19 8 22 +f 14 1 23 +f 10 14 23 +f 1 16 23 +f 16 10 23 +f 4 11 24 +f 11 7 24 +f 7 19 24 +f 22 4 24 +f 19 22 24 +f 3 5 25 +f 5 9 25 +f 11 3 25 +f 9 11 25 +f 4 8 26 +f 21 4 26 +f 8 21 26 +f 2 8 27 +f 15 2 27 +f 6 15 27 +f 17 6 27 +o convex_1 +v -1.051217 0.789665 -1.011819 +v -0.455965 1.165558 1.087243 +v -0.487197 1.165558 1.087243 +v 0.953571 3.483347 -1.043161 +v -0.988548 3.358227 0.836506 +v 0.985008 0.789665 1.024559 +v 0.922339 3.514827 0.993002 +v 0.985008 0.789665 -0.980262 +v -1.082654 3.420654 -1.042946 +v -1.051217 0.789665 0.711138 +v -0.079952 0.789665 -1.105845 +v -0.988548 3.327013 0.993002 +v -0.957317 0.789665 0.993002 +v 0.985008 1.980306 1.024559 +v 1.016445 0.852358 -0.698398 +v -1.082654 0.852358 0.241221 +v -0.925879 3.452400 -0.980262 +v -0.487197 1.541452 -1.105845 +v -1.019780 0.789665 -1.074503 +v 0.953571 3.514827 0.178322 +v 0.703101 2.919373 -1.074288 +v -1.082654 0.789665 -0.823766 +v -1.082654 3.420654 -0.698398 +v 0.734332 3.514827 0.993002 +v -0.361859 0.789665 1.087243 +v 0.953571 0.946532 -1.011604 +v -1.019780 2.668866 0.836506 +v 0.985008 2.449573 -0.917578 +v 0.170518 1.541719 -1.105845 +v 0.953571 2.606173 1.024559 +v -0.831979 2.668866 -1.074503 +v -1.051217 3.420654 -0.416319 +v 0.953571 3.264053 0.993002 +v 0.577763 3.483347 -1.042946 +v -1.051217 1.635625 -1.074503 +v -0.988548 2.105426 0.993002 +v -0.831979 2.668866 1.024559 +v 0.953571 2.543479 -1.043161 +v -1.019780 3.358227 0.585770 +f 59 50 66 +f 30 29 34 +f 33 28 35 +f 28 33 37 +f 35 28 38 +f 37 33 40 +f 33 35 42 +f 41 33 42 +f 45 38 46 +f 38 28 46 +f 36 28 49 +f 28 37 49 +f 43 36 49 +f 37 43 49 +f 36 43 50 +f 44 36 50 +f 30 34 51 +f 32 39 51 +f 34 47 51 +f 47 44 51 +f 29 30 52 +f 30 40 52 +f 40 33 52 +f 33 41 52 +f 35 38 53 +f 37 39 54 +f 43 37 54 +f 35 31 55 +f 42 35 55 +f 41 42 55 +f 47 41 55 +f 31 47 55 +f 38 45 56 +f 45 48 56 +f 53 38 56 +f 34 29 57 +f 29 52 57 +f 52 41 57 +f 36 48 58 +f 48 45 58 +f 44 50 59 +f 32 51 59 +f 51 44 59 +f 47 34 60 +f 41 47 60 +f 34 57 60 +f 57 41 60 +f 36 44 61 +f 47 31 61 +f 44 47 61 +f 31 48 61 +f 48 36 61 +f 28 36 62 +f 45 46 62 +f 46 28 62 +f 58 45 62 +f 36 58 62 +f 39 37 63 +f 37 40 63 +f 40 30 63 +f 30 51 64 +f 51 39 64 +f 63 30 64 +f 39 63 64 +f 31 35 65 +f 48 31 65 +f 35 53 65 +f 56 48 65 +f 53 56 65 +f 39 32 66 +f 50 43 66 +f 54 39 66 +f 43 54 66 +f 32 59 66 +o convex_2 +v -2.962345 -2.186937 0.429219 +v -1.082878 -1.027733 -0.510529 +v -1.082878 -1.027733 -0.573238 +v -1.082878 -2.186823 -0.573238 +v -1.082878 -2.061553 0.554636 +v -2.931046 -1.153230 -0.416577 +v -2.962345 -1.153230 0.460573 +v -3.056434 -2.092870 -0.541884 +v -1.082878 -1.090481 0.429219 +v -2.366897 -1.121799 -0.573238 +v -2.962345 -2.186937 0.523282 +v -2.962345 -1.121799 0.429219 +v -2.962345 -1.247183 -0.541884 +v -1.145475 -1.873534 0.554636 +v -2.054103 -2.155506 -0.573238 +v -1.082878 -1.121799 0.460573 +v -3.056434 -2.124188 -0.353868 +v -1.239371 -2.186823 -0.353868 +v -2.962345 -1.121799 0.116006 +v -1.865925 -2.061440 0.554636 +v -3.024942 -2.124188 -0.541884 +v -3.056434 -1.967487 -0.541884 +v -2.617673 -2.186937 0.397975 +v -1.270670 -2.186823 -0.573238 +v -2.962345 -2.061440 0.523282 +f 86 73 91 +f 69 68 70 +f 70 68 71 +f 71 68 75 +f 69 70 76 +f 68 69 78 +f 75 68 78 +f 72 76 79 +f 76 70 81 +f 74 76 81 +f 71 75 82 +f 78 73 82 +f 75 78 82 +f 80 71 82 +f 73 80 82 +f 67 77 83 +f 73 78 83 +f 70 71 84 +f 69 76 85 +f 76 72 85 +f 78 69 85 +f 72 79 85 +f 77 71 86 +f 71 80 86 +f 80 73 86 +f 74 81 87 +f 67 83 87 +f 83 74 87 +f 76 74 88 +f 79 76 88 +f 74 83 88 +f 83 78 88 +f 78 85 88 +f 85 79 88 +f 77 67 89 +f 71 77 89 +f 70 84 89 +f 84 71 89 +f 81 70 90 +f 67 87 90 +f 87 81 90 +f 89 67 90 +f 70 89 90 +f 83 77 91 +f 73 83 91 +f 77 86 91 +o convex_3 +v 0.671553 -2.688214 0.334932 +v -0.111175 0.006152 1.118573 +v -0.299292 0.006152 1.118573 +v -0.581150 0.006152 -1.074491 +v -0.925855 -2.531289 0.992938 +v 0.984940 0.006152 -0.980210 +v -0.957172 -2.656565 -1.105845 +v 1.078681 -2.688214 1.087001 +v 0.984729 -2.625444 -0.917719 +v -1.082654 0.006152 0.523058 +v 1.016258 0.006152 1.055647 +v -1.019807 0.006152 -1.074491 +v -1.082654 -2.186581 -0.604393 +v -0.956961 0.006152 0.993156 +v 1.079105 -1.090742 -0.447621 +v -1.082654 -2.061304 0.554412 +v -0.706632 -2.656565 -1.105845 +v 1.078681 -2.030183 -0.541684 +v -1.082654 0.006152 -0.729593 +v 0.828141 -2.688214 1.087001 +v 1.079105 -1.779366 1.087001 +v 0.984729 -2.217966 -0.949073 +v -0.957172 -2.625180 -0.322204 +v 0.420801 -1.309910 1.118573 +v 1.016258 0.006152 -0.729375 +v 1.016046 -2.656565 -0.447621 +v -0.706632 -1.810488 -1.105845 +v -0.800584 -2.562674 0.992938 +v 1.047575 -0.526602 1.055647 +v 0.984940 -0.620494 -0.980210 +v -0.988490 -0.902695 -1.105845 +v 1.078681 -2.688214 0.617121 +v 0.577600 -2.562410 1.087001 +v 0.201578 -2.688214 0.209514 +v -0.111175 -2.656565 -1.043136 +v 1.047575 -1.184633 1.087001 +v -0.957172 -1.027972 0.992938 +v -0.988490 -1.779366 -1.105845 +v 1.079105 -1.153512 0.491921 +v -1.019807 0.006152 0.804812 +v -0.957172 -2.468782 0.930229 +v 1.016046 -2.625444 -0.698021 +v -0.957172 -2.656565 -0.854792 +v 0.890776 -2.625444 -0.949073 +v -1.019807 -0.432447 -1.074491 +f 129 104 136 +f 94 93 95 +f 95 93 97 +f 94 95 101 +f 97 93 102 +f 101 95 103 +f 94 101 105 +f 101 104 107 +f 97 106 109 +f 101 103 110 +f 104 101 110 +f 92 99 111 +f 109 100 113 +f 107 104 114 +f 93 94 115 +f 111 99 115 +f 99 112 115 +f 97 102 116 +f 106 97 116 +f 95 97 118 +f 97 108 118 +f 108 98 118 +f 111 96 119 +f 96 114 119 +f 116 102 120 +f 106 116 120 +f 108 97 121 +f 97 109 121 +f 113 108 121 +f 109 113 121 +f 103 95 122 +f 95 118 122 +f 118 98 122 +f 99 92 123 +f 109 106 123 +f 112 99 123 +f 106 112 123 +f 92 117 123 +f 94 96 124 +f 96 111 124 +f 115 94 124 +f 111 115 124 +f 98 108 125 +f 92 111 125 +f 117 92 126 +f 100 117 126 +f 125 108 126 +f 92 125 126 +f 102 93 127 +f 93 115 127 +f 115 112 127 +f 120 102 127 +f 112 120 127 +f 96 94 128 +f 94 105 128 +f 98 104 129 +f 103 122 129 +f 122 98 129 +f 112 106 130 +f 120 112 130 +f 106 120 130 +f 105 101 131 +f 101 107 131 +f 128 105 131 +f 107 128 131 +f 114 96 132 +f 107 114 132 +f 96 128 132 +f 128 107 132 +f 100 109 133 +f 117 100 133 +f 109 123 133 +f 123 117 133 +f 104 98 134 +f 114 104 134 +f 111 119 134 +f 119 114 134 +f 98 125 134 +f 125 111 134 +f 108 113 135 +f 113 100 135 +f 126 108 135 +f 100 126 135 +f 110 103 136 +f 104 110 136 +f 103 129 136 +o convex_4 +v -1.082654 0.068867 -0.760947 +v 1.016445 0.726683 1.055864 +v -0.362065 0.789398 1.087001 +v -0.080158 0.789398 -1.105845 +v 1.016445 0.006152 1.055864 +v 0.985008 0.006152 -0.980210 +v -0.957111 0.006152 0.992938 +v -1.082654 0.789398 -0.823656 +v 0.985008 0.789398 -0.980210 +v -1.019780 0.006152 -1.074273 +v -1.051217 0.789398 0.710966 +v -0.299396 0.006152 1.118573 +v -1.019780 0.789398 -1.074273 +v -1.082654 0.006152 0.523276 +v 0.985008 0.789398 1.024292 +v 0.233187 0.100148 -1.105845 +v -0.957111 0.789398 0.992938 +v 1.016445 0.789398 -0.698238 +v 0.201750 0.664045 1.118573 +v 1.016445 0.006152 -0.729593 +v -1.082654 0.789398 0.241304 +v 0.233187 0.225501 1.118573 +v -0.299396 0.570049 1.118573 +v 0.201750 0.570049 -1.105845 +v -0.174058 0.068867 -1.105845 +f 152 142 161 +f 142 141 143 +f 139 140 144 +f 140 139 145 +f 142 143 146 +f 137 144 146 +f 139 144 147 +f 143 141 148 +f 144 140 149 +f 146 144 149 +f 144 137 150 +f 137 146 150 +f 146 143 150 +f 143 147 150 +f 139 138 151 +f 145 139 151 +f 145 142 152 +f 147 143 153 +f 139 147 153 +f 143 148 153 +f 138 141 154 +f 151 138 154 +f 145 151 154 +f 138 139 155 +f 141 142 156 +f 142 145 156 +f 154 141 156 +f 145 154 156 +f 147 144 157 +f 144 150 157 +f 150 147 157 +f 141 138 158 +f 148 141 158 +f 138 155 158 +f 155 148 158 +f 139 153 159 +f 153 148 159 +f 155 139 159 +f 148 155 159 +f 140 145 160 +f 152 140 160 +f 145 152 160 +f 142 146 161 +f 149 140 161 +f 146 149 161 +f 140 152 161 +o convex_5 +v 0.264510 0.601339 3.060861 +v -0.299408 0.037482 2.872872 +v -0.268060 0.037482 2.872872 +v 0.201814 0.664045 1.118573 +v -0.268060 0.758068 2.935471 +v -0.299408 0.570022 1.118573 +v 0.233104 0.194140 1.243963 +v 0.264510 0.131505 2.998262 +v -0.268060 0.194140 1.118573 +v -0.299408 0.037482 3.060861 +v 0.295859 0.475998 2.340400 +v 0.295859 0.570022 3.092353 +v 0.233104 0.225528 1.118573 +v -0.299408 0.601339 1.181365 +v 0.264510 0.288234 1.338054 +v -0.299408 0.288234 3.029561 +v -0.205364 0.758068 2.935471 +v -0.236712 0.162823 1.275262 +v -0.299408 0.131505 1.776628 +v -0.268060 0.758068 2.810081 +v 0.295859 0.601339 2.684884 +v -0.205364 0.037482 3.060861 +f 173 171 183 +f 167 165 170 +f 163 164 171 +f 167 163 171 +f 169 172 173 +f 170 165 174 +f 168 170 174 +f 165 167 175 +f 167 171 175 +f 169 168 176 +f 165 172 176 +f 172 169 176 +f 174 165 176 +f 168 174 176 +f 173 166 177 +f 171 173 177 +f 166 175 177 +f 175 171 177 +f 173 162 178 +f 166 173 178 +f 164 163 179 +f 168 164 179 +f 170 168 179 +f 170 179 180 +f 163 167 180 +f 167 170 180 +f 179 163 180 +f 165 175 181 +f 175 166 181 +f 178 165 181 +f 166 178 181 +f 172 165 182 +f 173 172 182 +f 162 173 182 +f 178 162 182 +f 165 178 182 +f 164 168 183 +f 168 169 183 +f 171 164 183 +f 169 173 183 +o convex_6 +v 0.170490 0.632648 -1.106041 +v -0.330738 0.068812 -3.110955 +v -0.111368 0.068812 -3.110955 +v -0.017470 0.068812 -1.106041 +v -0.236730 0.726738 -1.106041 +v 0.233199 0.570049 -3.016754 +v -0.268029 0.632648 -3.016754 +v 0.233199 0.100175 -1.106041 +v 0.233199 0.131475 -3.110955 +v -0.205376 0.068812 -1.262847 +v -0.268029 0.632648 -1.356852 +v 0.201845 0.632648 -1.294051 +v -0.174077 0.726738 -1.325451 +v 0.201845 0.100175 -3.110955 +v -0.205376 0.664011 -2.766140 +v 0.233199 0.601349 -2.358916 +v -0.205376 0.194137 -1.106041 +v 0.233199 0.350826 -1.106041 +v 0.201845 0.601349 -2.734739 +v -0.205376 0.570049 -3.047958 +f 192 185 203 +f 185 186 187 +f 187 184 188 +f 184 187 191 +f 189 191 192 +f 186 185 192 +f 185 187 193 +f 190 185 194 +f 188 190 194 +f 185 193 194 +f 188 184 196 +f 184 195 196 +f 187 186 197 +f 191 187 197 +f 192 191 197 +f 186 192 197 +f 190 188 198 +f 189 190 198 +f 188 196 198 +f 191 189 199 +f 187 188 200 +f 193 187 200 +f 188 194 200 +f 194 193 200 +f 184 191 201 +f 195 184 201 +f 191 199 201 +f 199 195 201 +f 196 195 202 +f 189 198 202 +f 198 196 202 +f 199 189 202 +f 195 199 202 +f 185 190 203 +f 190 189 203 +f 189 192 203 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/519/519.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/519/519.urdf new file mode 100644 index 000000000..8982d719b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/519/519.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/520/520.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/520/520.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/520/520.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/520/520.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/520/520.obj new file mode 100644 index 000000000..17128a8d3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/520/520.obj @@ -0,0 +1,849 @@ +o convex_0 +v -1.585820 -1.109789 0.599298 +v -0.065866 1.364215 0.422545 +v -0.065866 1.364215 0.387045 +v 2.973446 -0.084859 1.200182 +v -1.338247 0.515658 2.225011 +v 0.392977 -0.968585 2.012758 +v 2.266436 0.904636 1.906819 +v -3.070661 -0.014257 1.306122 +v 1.701065 -0.756512 0.422545 +v -2.292830 -0.933150 2.012945 +v -2.610628 0.091513 0.387045 +v 2.125391 0.763165 0.387045 +v 0.145404 -1.357562 0.387045 +v 2.018863 -0.756512 1.977632 +v -2.222010 0.762899 1.800693 +v 1.099987 -0.509005 2.260324 +v -2.575516 0.798333 1.129556 +v -0.348551 0.975238 1.942132 +v -2.752268 -0.791946 1.094243 +v 2.478301 -0.791680 1.129556 +v 2.725873 -0.014257 0.422545 +v 2.761581 0.798333 1.023429 +v -2.717156 0.020644 2.012945 +v 2.690761 -0.049425 1.942132 +v 1.205920 0.445056 2.260324 +v -1.197202 -0.544173 2.260324 +v 0.746482 1.328781 0.387045 +v -1.833393 0.833767 0.422545 +v -2.080965 -0.721078 0.387045 +v -2.823088 0.091513 0.457858 +v 0.145404 0.692563 2.225011 +v -0.843697 -1.286694 0.387045 +v -2.045258 0.727731 2.012945 +v 1.736178 -0.084859 2.225011 +v 0.110291 -0.685910 2.260324 +v 0.534617 0.126947 2.295824 +v -1.550112 -0.155461 2.260324 +v -1.090674 1.081274 1.235682 +v 2.443188 -0.579607 0.634798 +v -2.540403 0.798333 1.341435 +v -2.540403 0.621695 0.634798 +v 2.408076 -0.791680 1.376561 +v 2.549121 -0.049425 0.387045 +v -1.161494 -0.968318 2.012758 +v -2.610628 -0.544439 0.599298 +v 3.009154 0.056345 1.200182 +v 2.372368 0.904636 1.765566 +v 2.018863 1.010672 0.705237 +v 0.145404 -1.357562 0.422545 +v 2.584829 0.586260 0.563985 +v -2.363651 -0.933150 1.906819 +v -3.034954 0.126947 1.270808 +v 1.559425 0.939804 1.906819 +v 0.287044 -1.004019 1.942132 +v 1.912930 -0.791680 1.942132 +v -2.646336 0.020644 2.048072 +v -0.136686 1.364215 0.387045 +v -2.858201 -0.615041 1.129556 +v 2.761581 0.091513 0.457858 +v -2.504696 0.833767 1.270808 +v -0.030754 0.586527 2.260324 +v 1.736178 0.056345 2.225011 +v 2.690761 0.020911 1.942132 +v 2.796694 0.656862 1.164869 +f 47 63 64 +f 11 3 12 +f 11 12 13 +f 3 2 27 +f 2 7 27 +f 12 3 27 +f 11 13 29 +f 1 19 29 +f 28 11 30 +f 11 29 30 +f 25 7 31 +f 1 29 32 +f 29 13 32 +f 15 23 33 +f 5 31 33 +f 31 18 33 +f 16 14 34 +f 14 24 34 +f 25 16 34 +f 6 14 35 +f 14 16 35 +f 26 10 35 +f 26 35 36 +f 16 25 36 +f 35 16 36 +f 10 26 37 +f 26 36 37 +f 18 2 38 +f 15 33 38 +f 33 18 38 +f 13 9 39 +f 4 20 39 +f 20 13 39 +f 21 4 39 +f 9 21 39 +f 23 15 40 +f 17 28 41 +f 30 17 41 +f 28 30 41 +f 20 4 42 +f 24 14 42 +f 4 24 42 +f 9 13 43 +f 13 12 43 +f 12 21 43 +f 21 9 43 +f 6 35 44 +f 35 10 44 +f 29 19 45 +f 30 29 45 +f 4 21 46 +f 24 4 46 +f 27 7 47 +f 47 22 48 +f 22 12 48 +f 12 27 48 +f 27 47 48 +f 13 20 49 +f 10 32 49 +f 32 13 49 +f 20 42 49 +f 44 10 49 +f 12 22 50 +f 19 1 51 +f 10 23 51 +f 23 8 51 +f 1 32 51 +f 32 10 51 +f 8 23 52 +f 30 8 52 +f 17 30 52 +f 40 17 52 +f 23 40 52 +f 7 2 53 +f 2 18 53 +f 18 31 53 +f 31 7 53 +f 6 44 54 +f 44 49 54 +f 54 49 55 +f 14 6 55 +f 42 14 55 +f 49 42 55 +f 6 54 55 +f 23 10 56 +f 5 33 56 +f 33 23 56 +f 37 5 56 +f 10 37 56 +f 2 3 57 +f 3 11 57 +f 11 28 57 +f 28 17 57 +f 38 2 57 +f 8 30 58 +f 45 19 58 +f 30 45 58 +f 19 51 58 +f 51 8 58 +f 21 12 59 +f 46 21 59 +f 22 46 59 +f 12 50 59 +f 50 22 59 +f 15 38 60 +f 17 40 60 +f 40 15 60 +f 57 17 60 +f 38 57 60 +f 31 5 61 +f 25 31 61 +f 36 25 61 +f 5 37 61 +f 37 36 61 +f 7 25 62 +f 34 24 62 +f 25 34 62 +f 24 46 63 +f 47 7 63 +f 7 62 63 +f 62 24 63 +f 46 22 64 +f 22 47 64 +f 63 46 64 +o convex_1 +v 0.110596 0.233004 -2.794253 +v -0.030753 -0.297129 -2.971158 +v -0.030753 -0.261754 -3.324387 +v -0.278188 0.197684 -2.794253 +v -0.066018 0.091613 -3.677906 +v 0.181319 -0.049667 -3.571821 +v 0.181319 -0.191058 -2.794253 +v -0.242826 -0.084987 -3.501195 +v -0.207465 -0.261754 -2.794253 +v 0.004560 0.197684 -3.430472 +v -0.066018 -0.084987 -3.748629 +v 0.216681 0.056293 -2.794253 +v 0.039921 -0.226378 -3.536556 +v 0.181319 0.020917 -3.571821 +v -0.207465 0.126988 -3.395110 +v -0.101380 0.268435 -2.971158 +v -0.278188 -0.120363 -2.794253 +v -0.136790 -0.226378 -3.359652 +v 0.039921 -0.297129 -2.794253 +v 0.145958 0.197684 -3.006423 +v 0.145958 -0.191058 -3.324387 +v -0.242826 -0.014347 -3.536556 +f 72 81 86 +f 65 68 71 +f 71 68 73 +f 65 71 76 +f 71 70 76 +f 66 67 77 +f 75 70 77 +f 69 74 78 +f 70 75 78 +f 75 69 78 +f 76 70 78 +f 74 69 79 +f 74 79 80 +f 68 65 80 +f 65 74 80 +f 79 68 80 +f 73 68 81 +f 72 73 81 +f 67 66 82 +f 66 73 82 +f 73 72 82 +f 72 75 82 +f 77 67 82 +f 75 77 82 +f 73 66 83 +f 71 73 83 +f 66 77 83 +f 74 65 84 +f 65 76 84 +f 78 74 84 +f 76 78 84 +f 70 71 85 +f 77 70 85 +f 71 83 85 +f 83 77 85 +f 69 75 86 +f 75 72 86 +f 68 79 86 +f 79 69 86 +f 81 68 86 +o convex_2 +v 0.004553 -0.791856 -2.016679 +v -0.066101 0.657118 -2.016679 +v -0.066101 0.657118 -2.052072 +v -0.419579 -0.084818 -2.052072 +v 0.216653 -0.084818 -2.794253 +v -0.313494 -0.049778 -2.758785 +v 0.287376 0.126981 -2.016679 +v -0.278132 0.232952 -2.794253 +v 0.145930 0.232952 -2.758785 +v -0.348856 0.515824 -2.016679 +v 0.252015 -0.544308 -2.052072 +v -0.313494 -0.615097 -2.016679 +v -0.136755 -0.296901 -2.794253 +v 0.216653 0.445035 -2.087388 +v 0.181292 -0.226254 -2.794253 +v 0.252015 0.056334 -2.582049 +v 0.039914 0.268418 -2.794253 +v -0.419579 0.126981 -2.016679 +v 0.004553 -0.791856 -2.052072 +v -0.242840 -0.226254 -2.794253 +v -0.242840 -0.685886 -2.052072 +v -0.136755 0.657118 -2.052072 +v 0.004553 -0.332225 -2.758785 +v 0.181292 0.515824 -2.052072 +v 0.287376 -0.014455 -2.264123 +v -0.348856 0.480501 -2.158098 +v -0.101394 0.303741 -2.758785 +f 94 108 113 +f 88 87 93 +f 87 88 96 +f 93 87 97 +f 90 92 98 +f 87 96 98 +f 94 91 99 +f 91 97 101 +f 99 91 101 +f 91 95 102 +f 100 93 102 +f 95 100 102 +f 91 94 103 +f 89 95 103 +f 95 91 103 +f 92 90 104 +f 94 92 104 +f 90 98 104 +f 98 96 104 +f 97 87 105 +f 101 97 105 +f 92 94 106 +f 98 92 106 +f 94 99 106 +f 106 99 107 +f 87 98 107 +f 105 87 107 +f 99 105 107 +f 98 106 107 +f 88 89 108 +f 96 88 108 +f 99 101 109 +f 105 99 109 +f 101 105 109 +f 89 88 110 +f 88 93 110 +f 95 89 110 +f 93 100 110 +f 100 95 110 +f 97 91 111 +f 93 97 111 +f 91 102 111 +f 102 93 111 +f 94 104 112 +f 104 96 112 +f 96 108 112 +f 108 94 112 +f 89 103 113 +f 103 94 113 +f 108 89 113 +o convex_3 +v 0.923583 0.267802 -1.698265 +v -1.267894 -1.074690 0.351517 +v -1.267894 -1.074690 0.386810 +v -0.772900 2.742152 -0.709137 +v 1.277079 1.081343 0.387045 +v -0.066157 -2.665090 -1.521568 +v 0.782085 -2.594682 0.068708 +v -0.985147 0.126393 -1.733558 +v 0.746710 2.247518 -1.556860 +v -0.101282 2.777652 0.068708 +v 1.277079 -0.756373 -1.274051 +v -0.772900 -2.699998 -0.744429 +v -1.267894 0.939343 0.386810 +v -0.879023 2.247518 -1.627445 +v 0.287340 -0.650465 -2.016603 +v 0.852834 -2.240865 -1.627681 +v -1.267894 -0.649873 -1.238758 +v 1.277079 -0.826782 0.387045 +v -0.879023 -2.169865 -1.556860 +v 0.852834 2.565835 0.139292 +v 0.004593 3.025560 -0.779722 +v -0.808274 -2.523682 0.104000 +v -0.384029 0.585527 -2.016603 +v 0.075092 -3.018907 -0.744429 +v 1.277079 0.621618 -1.168173 +v -1.267894 0.763027 -1.203466 +v -0.879023 2.494835 0.104000 +v 0.782085 -2.735498 -0.850071 +v -0.348655 -0.685373 -2.016603 +v -0.136656 2.671743 -1.521568 +v 0.782085 2.671743 -0.708902 +v -0.066157 -1.993548 0.280933 +v 0.075092 1.929202 0.316225 +v 0.216591 0.479618 -2.016603 +v 1.277079 -1.074690 -0.849836 +v -0.066157 -2.806498 0.033415 +v -0.030533 -0.933282 -2.016603 +v -0.843649 2.636243 -0.920656 +v -0.631651 -1.462823 0.387045 +v 0.923583 0.020485 -1.733558 +v 0.711336 1.504977 0.387045 +v 1.277079 0.055393 -1.344871 +v -0.066157 1.717385 -1.769085 +v 0.110467 -2.629590 -1.556860 +v -0.066157 -3.018907 -0.779722 +v 0.782085 2.212018 -1.556860 +v 0.570087 -2.063957 0.245640 +v -0.596276 1.999610 0.280697 +v -1.267894 0.161893 -1.344871 +v 0.817459 -2.594682 -0.143282 +v -0.066157 3.025560 -0.673609 +v 0.640836 2.777652 -0.743959 +v 0.004593 2.671743 -1.521568 +v 1.277079 0.833435 -0.779486 +v -0.843649 -2.134957 -1.592153 +v 0.216591 -1.392415 0.387045 +v -1.267894 -0.862282 -0.814779 +v -0.808274 -2.629590 -0.779486 +v -0.985147 -0.402557 -1.698265 +v 0.852834 2.600743 -0.037405 +v -0.843649 2.565243 0.068708 +v 0.888208 -1.604232 -1.662738 +v -1.267894 0.868935 -0.814779 +v -0.030533 0.656527 -2.016603 +f 156 122 177 +f 115 116 126 +f 115 126 130 +f 124 118 131 +f 119 125 132 +f 121 127 136 +f 118 124 138 +f 130 126 139 +f 120 137 141 +f 121 136 142 +f 136 128 142 +f 133 123 146 +f 128 136 147 +f 129 124 148 +f 124 131 148 +f 141 129 148 +f 137 120 149 +f 145 135 149 +f 128 129 150 +f 142 128 150 +f 117 134 151 +f 127 139 151 +f 126 140 151 +f 143 127 151 +f 134 143 151 +f 126 116 152 +f 131 118 152 +f 116 135 152 +f 135 145 152 +f 128 147 153 +f 118 133 154 +f 146 126 154 +f 133 146 154 +f 126 152 154 +f 152 118 154 +f 138 124 155 +f 153 114 155 +f 127 143 156 +f 129 141 157 +f 141 137 157 +f 150 129 157 +f 125 119 158 +f 135 125 158 +f 137 149 158 +f 149 135 158 +f 119 157 158 +f 157 137 158 +f 122 144 159 +f 147 122 159 +f 114 153 159 +f 153 147 159 +f 155 114 159 +f 138 155 159 +f 120 131 160 +f 149 120 160 +f 145 149 160 +f 123 140 161 +f 140 126 161 +f 126 146 161 +f 146 123 161 +f 127 121 162 +f 139 127 162 +f 130 139 162 +f 131 120 163 +f 120 141 163 +f 148 131 163 +f 141 148 163 +f 123 133 164 +f 134 117 164 +f 133 134 164 +f 144 122 165 +f 143 134 166 +f 156 143 166 +f 122 156 166 +f 134 165 166 +f 165 122 166 +f 118 138 167 +f 159 144 167 +f 138 159 167 +f 119 132 168 +f 142 150 168 +f 157 119 168 +f 150 157 168 +f 131 152 169 +f 152 145 169 +f 160 131 169 +f 145 160 169 +f 115 130 170 +f 130 132 170 +f 170 132 171 +f 116 115 171 +f 132 125 171 +f 135 116 171 +f 125 135 171 +f 115 170 171 +f 132 130 172 +f 121 142 172 +f 162 121 172 +f 130 162 172 +f 168 132 172 +f 142 168 172 +f 133 118 173 +f 134 133 173 +f 165 134 173 +f 144 165 173 +f 118 167 173 +f 167 144 173 +f 140 123 174 +f 117 151 174 +f 151 140 174 +f 123 164 174 +f 164 117 174 +f 124 129 175 +f 129 128 175 +f 128 153 175 +f 155 124 175 +f 153 155 175 +f 139 126 176 +f 151 139 176 +f 126 151 176 +f 136 127 177 +f 122 147 177 +f 147 136 177 +f 127 156 177 +o convex_4 +v 1.453946 -0.509195 -1.274096 +v 1.347813 0.798651 -0.744225 +v 1.347813 0.798651 -0.779621 +v 3.009154 0.020793 -0.849985 +v 1.277114 -0.791991 -0.355296 +v 2.797057 0.020793 -0.355296 +v 1.277114 0.480252 -0.284611 +v 1.277114 0.550951 -1.203410 +v 2.797057 -0.403062 -0.814589 +v 2.655659 0.020793 -1.238914 +v 1.277114 -0.933389 -0.849985 +v 2.761623 0.374288 -0.744225 +v 1.277114 0.056058 -1.344995 +v 1.913574 -0.085001 -0.249215 +v 2.549526 -0.332363 -1.132725 +v 2.584960 0.303589 -1.062040 +v 2.549526 0.303589 -0.461377 +v 1.277114 -0.685858 -1.238914 +v 2.655659 -0.261664 -0.461377 +v 1.277114 -0.403062 -0.249215 +v 2.125671 0.020793 -1.309599 +v 2.726358 -0.085001 -1.203410 +v 1.312548 -0.933389 -0.744225 +v 1.383247 0.586385 -1.168122 +v 1.524645 0.480252 -0.320007 +v 1.277114 0.798651 -0.708936 +v 2.797057 -0.403062 -0.779621 +v 1.312548 -0.791991 -0.355296 +v 2.726358 0.374288 -0.849985 +v 2.832322 -0.049906 -0.390692 +v 1.312548 -0.897955 -0.920777 +v 3.009154 0.020793 -0.744225 +v 1.949008 -0.155700 -1.309599 +v 2.761623 -0.049906 -0.355296 +v 1.984273 -0.403062 -1.238914 +v 1.312548 -0.120266 -1.344995 +v 1.312548 0.727952 -0.955959 +v 2.090406 0.374288 -1.168122 +v 1.277114 0.091492 -0.249215 +v 2.832322 0.020793 -1.097436 +v 2.266560 0.020793 -0.284611 +v 3.009154 -0.049906 -0.849985 +f 199 217 219 +f 182 184 185 +f 182 185 188 +f 180 179 189 +f 188 185 190 +f 189 179 194 +f 183 189 194 +f 188 190 195 +f 184 182 197 +f 190 185 198 +f 186 192 199 +f 182 188 200 +f 188 186 200 +f 184 183 202 +f 183 194 202 +f 202 194 203 +f 179 180 203 +f 185 184 203 +f 194 179 203 +f 184 202 203 +f 200 186 204 +f 200 204 205 +f 197 182 205 +f 191 197 205 +f 182 200 205 +f 204 196 205 +f 180 189 206 +f 189 181 206 +f 196 204 207 +f 186 188 208 +f 192 186 208 +f 188 195 208 +f 195 192 208 +f 181 189 209 +f 189 183 209 +f 183 207 209 +f 207 204 209 +f 198 187 210 +f 187 199 210 +f 191 205 211 +f 205 196 211 +f 207 183 211 +f 196 207 211 +f 195 178 212 +f 192 195 212 +f 199 192 212 +f 178 210 212 +f 210 199 212 +f 178 195 213 +f 195 190 213 +f 190 198 213 +f 210 178 213 +f 198 210 213 +f 201 185 214 +f 193 201 214 +f 203 180 214 +f 185 203 214 +f 180 206 214 +f 206 193 214 +f 193 187 215 +f 198 185 215 +f 187 198 215 +f 185 201 215 +f 201 193 215 +f 191 184 216 +f 184 197 216 +f 197 191 216 +f 187 193 217 +f 199 187 217 +f 206 181 217 +f 193 206 217 +f 183 184 218 +f 184 191 218 +f 211 183 218 +f 191 211 218 +f 186 199 219 +f 204 186 219 +f 181 209 219 +f 209 204 219 +f 217 181 219 +o convex_5 +v 2.514285 0.056528 0.387024 +v 1.277114 -0.791815 0.351673 +v 1.277114 -0.791815 0.387024 +v 1.277114 1.081250 0.387024 +v 1.312475 0.268293 0.174959 +v 2.054706 0.056528 0.210331 +v 1.948500 0.798347 0.316322 +v 1.277114 0.975093 0.245682 +v 1.277114 -0.579683 0.245682 +v 2.514285 0.021142 0.351673 +v 2.019344 0.798347 0.387024 +v 1.842899 -0.155603 0.210331 +v 1.383198 -0.791815 0.351673 +f 228 231 232 +f 221 222 223 +f 222 220 223 +f 226 225 227 +f 221 223 227 +f 225 224 227 +f 223 226 227 +f 227 224 228 +f 221 227 228 +f 225 226 229 +f 229 226 230 +f 223 220 230 +f 226 223 230 +f 220 229 230 +f 224 225 231 +f 228 224 231 +f 225 229 231 +f 231 229 232 +f 220 222 232 +f 222 221 232 +f 221 228 232 +f 229 220 232 +o convex_6 +v -1.374218 -0.791894 -0.814637 +v -1.268095 0.833999 -0.673588 +v -1.268095 0.833999 -0.849926 +v -2.999796 0.020727 -0.814637 +v -1.268095 -0.226295 -0.213867 +v -1.268095 -0.120266 -1.309647 +v -2.752289 -0.049688 -1.203566 +v -2.717028 -0.014237 -0.426030 +v -1.303525 0.692518 -0.355344 +v -2.752289 0.374267 -0.779241 +v -1.303525 0.621778 -1.203566 +v -2.752289 -0.403065 -0.814637 +v -1.268095 -0.544546 -0.249263 +v -1.268095 -0.579835 -1.203566 +v -1.409479 0.232786 -0.213867 +v -2.575644 0.303527 -1.062088 +v -2.540213 -0.297036 -1.132774 +v -2.469521 -0.332325 -0.496715 +v -1.303525 -0.827346 -0.708877 +v -1.833631 0.020727 -1.309647 +v -2.540213 0.268238 -0.496715 +v -2.752289 0.020727 -1.203566 +v -2.010446 -0.049688 -0.284659 +v -1.374218 -0.579835 -1.203566 +v -1.268095 0.197497 -1.309647 +v -1.374218 0.657066 -1.168170 +v -2.681597 0.374267 -0.885429 +v -2.681597 0.056179 -0.426030 +v -1.268095 0.303527 -0.213867 +v -2.752289 -0.403065 -0.849926 +v -1.975015 -0.438517 -0.390633 +v -2.081138 -0.367776 -1.203566 +v -1.869062 0.197497 -1.274251 +v -1.268095 -0.827346 -0.779241 +v -1.338787 0.833999 -0.814637 +v -2.610905 0.338816 -0.602903 +v -1.303525 -0.544546 -0.249263 +v -2.010446 -0.120266 -1.274251 +v -2.964365 -0.084977 -0.814637 +v -1.303525 0.833999 -0.673588 +f 267 242 272 +f 235 234 237 +f 235 237 238 +f 238 237 245 +f 238 245 246 +f 240 244 250 +f 250 244 251 +f 239 236 254 +f 236 242 254 +f 252 239 254 +f 237 247 255 +f 238 246 256 +f 235 238 257 +f 243 235 257 +f 238 252 257 +f 235 243 258 +f 254 248 258 +f 243 254 258 +f 254 242 259 +f 248 254 259 +f 258 248 259 +f 236 240 260 +f 242 236 260 +f 247 241 260 +f 241 253 260 +f 240 255 260 +f 255 247 260 +f 237 234 261 +f 234 241 261 +f 247 237 261 +f 241 247 261 +f 239 249 262 +f 251 244 262 +f 256 233 262 +f 249 256 262 +f 240 250 263 +f 250 251 263 +f 249 239 264 +f 256 249 264 +f 254 243 265 +f 252 254 265 +f 243 257 265 +f 257 252 265 +f 246 245 266 +f 245 251 266 +f 256 246 266 +f 233 256 266 +f 262 233 266 +f 251 262 266 +f 234 235 267 +f 235 258 267 +f 259 242 267 +f 258 259 267 +f 241 242 268 +f 253 241 268 +f 242 260 268 +f 260 253 268 +f 245 237 269 +f 251 245 269 +f 255 240 269 +f 237 255 269 +f 240 263 269 +f 263 251 269 +f 252 238 270 +f 239 252 270 +f 238 256 270 +f 264 239 270 +f 256 264 270 +f 236 239 271 +f 240 236 271 +f 244 240 271 +f 239 262 271 +f 262 244 271 +f 241 234 272 +f 242 241 272 +f 234 267 272 +o convex_7 +v -1.338763 0.940042 0.387024 +v -2.504855 0.020834 0.351673 +v -2.504855 0.020834 0.387024 +v -1.268046 -1.039432 0.351673 +v -1.268046 0.197739 0.174959 +v -2.116157 0.091558 0.210331 +v -1.374121 -0.756539 0.210331 +v -2.045441 -0.721275 0.387024 +v -1.268046 0.798596 0.245682 +v -1.268046 -1.039432 0.387024 +v -1.974725 -0.721275 0.316322 +v -1.939367 0.586426 0.351673 +v -1.268046 -0.402923 0.174959 +v -1.268046 0.940042 0.387024 +v -1.480195 0.586426 0.210331 +v -1.727581 -0.049695 0.174959 +v -2.045441 -0.084766 0.210331 +v -1.515553 0.904584 0.351673 +v -1.268046 -0.897986 0.245682 +f 279 285 291 +f 273 275 280 +f 275 274 280 +f 276 277 281 +f 280 276 282 +f 273 280 282 +f 276 281 282 +f 276 280 283 +f 280 274 283 +f 275 273 284 +f 274 275 284 +f 278 274 284 +f 277 276 285 +f 281 273 286 +f 273 282 286 +f 282 281 286 +f 281 277 287 +f 278 284 287 +f 277 285 288 +f 285 279 288 +f 287 277 288 +f 278 287 288 +f 274 278 289 +f 283 274 289 +f 279 283 289 +f 278 288 289 +f 288 279 289 +f 273 281 290 +f 284 273 290 +f 281 287 290 +f 287 284 290 +f 283 279 291 +f 276 283 291 +f 285 276 291 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/520/520.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/520/520.urdf new file mode 100644 index 000000000..1836ffddd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/520/520.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/521/521.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/521/521.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/521/521.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/521/521.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/521/521.obj new file mode 100644 index 000000000..ced516a54 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/521/521.obj @@ -0,0 +1,501 @@ +o convex_0 +v 1.512202 0.566037 0.535426 +v 2.629345 0.131388 -0.581777 +v 2.629345 0.162410 -0.581777 +v 3.187916 -0.427013 0.535426 +v 1.325947 -0.582237 -0.488504 +v 1.325947 -0.489058 0.597531 +v 3.187916 0.503880 0.349110 +v 3.312151 -0.520080 -0.426514 +v 1.325947 0.472858 -0.426399 +v 3.187916 0.472858 -0.550609 +v 1.325947 0.566037 0.318173 +v 3.156808 0.441723 0.442268 +v 3.281044 0.410813 -0.581662 +v 1.325947 -0.520080 -0.519672 +v 2.474002 -0.520080 0.038814 +v 1.388162 0.472858 -0.457451 +v 3.187916 -0.240767 0.535426 +v 1.325947 0.566037 0.535426 +v 1.605330 -0.489058 0.597531 +v 1.853800 0.566037 0.442268 +v 3.281044 0.255590 -0.581662 +v 1.388162 -0.582237 -0.364409 +v 2.877620 0.441723 -0.581662 +v 3.281044 -0.520080 -0.271366 +v 2.722472 -0.395991 0.566479 +v 2.039860 -0.551102 -0.488504 +v 2.877426 -0.458035 0.473321 +v 1.357249 -0.520080 0.411215 +v 2.660258 0.534903 0.442268 +v 3.218829 -0.395878 0.411215 +v 3.249936 -0.427013 -0.457451 +v 3.312151 -0.489058 -0.395461 +v 1.357249 0.162410 0.566479 +v 2.629345 -0.551102 -0.395346 +v 1.419075 0.503768 -0.240198 +v 1.325947 -0.458035 -0.519672 +f 16 3 36 +f 5 6 9 +f 9 6 11 +f 2 3 13 +f 10 7 13 +f 3 2 14 +f 5 9 14 +f 12 1 17 +f 7 12 17 +f 1 11 18 +f 11 6 18 +f 10 11 20 +f 11 1 20 +f 2 13 21 +f 13 8 21 +f 14 2 21 +f 13 3 23 +f 10 13 23 +f 16 10 23 +f 3 16 23 +f 8 4 24 +f 17 1 25 +f 4 17 25 +f 19 4 25 +f 8 5 26 +f 5 14 26 +f 14 21 26 +f 4 19 27 +f 24 4 27 +f 15 24 27 +f 6 5 28 +f 19 6 28 +f 5 22 28 +f 22 15 28 +f 27 19 28 +f 15 27 28 +f 7 10 29 +f 1 12 29 +f 12 7 29 +f 20 1 29 +f 10 20 29 +f 4 8 30 +f 17 4 30 +f 7 17 30 +f 21 8 31 +f 8 26 31 +f 26 21 31 +f 13 7 32 +f 8 13 32 +f 30 8 32 +f 7 30 32 +f 1 18 33 +f 18 6 33 +f 6 19 33 +f 25 1 33 +f 19 25 33 +f 5 8 34 +f 22 5 34 +f 15 22 34 +f 8 24 34 +f 24 15 34 +f 9 11 35 +f 11 10 35 +f 16 9 35 +f 10 16 35 +f 3 14 36 +f 14 9 36 +f 9 16 36 +o convex_1 +v 1.325947 0.348064 -0.457397 +v 1.325947 -1.078047 1.094082 +v 1.294715 -1.078047 1.094082 +v -0.225796 3.017758 1.063036 +v -0.691130 -3.096026 -0.953929 +v -0.722153 2.924399 -0.953929 +v -0.722153 -2.940429 1.031776 +v 1.201648 -3.002667 -1.016235 +v 1.263693 2.986638 -1.078328 +v 1.325947 2.954920 1.000730 +v 1.325947 -2.940429 1.094082 +v -0.784197 3.017758 1.063036 +v -0.815429 -0.457452 -0.488443 +v -0.815429 -1.201926 0.628383 +v 0.487926 -2.940429 1.094082 +v 0.984492 2.986638 -1.078328 +v 1.325947 -0.519691 -0.519490 +v 1.108581 2.986638 1.031989 +v -0.815429 0.534781 -0.488443 +v -0.411930 2.954920 -0.985188 +v 1.263693 1.744851 -1.078328 +v -0.784197 3.017758 0.659430 +v 1.325947 2.954920 0.287084 +v -0.753175 0.161946 1.063036 +v -0.722153 -2.630431 -0.891836 +v -0.722153 -3.002667 0.380011 +v 1.232670 -2.971548 -0.736603 +v -0.815429 0.596422 0.566290 +v -0.536019 -3.096026 -0.891836 +v -0.349885 -2.940429 1.063036 +v 1.294715 2.986638 -0.581583 +v -0.784197 1.713731 1.063036 +v 1.325947 -2.940429 0.938849 +v 1.201648 1.744851 -1.078328 +v 1.232670 -1.668120 -1.016235 +v -0.753175 -2.474833 0.938637 +v -0.722153 2.954920 -0.891836 +v 1.325947 2.644922 1.031776 +v 1.139604 -3.002667 -1.016235 +v -0.629086 -3.096026 -0.829956 +v 1.201648 -3.002667 -0.892049 +v -0.722153 -3.002667 0.162897 +v -0.101497 3.017758 1.000730 +v -0.660108 -2.971548 0.783616 +v 1.294715 2.986638 0.101017 +v -0.722153 2.210446 -0.953929 +v 1.263693 -2.971548 0.162897 +f 65 77 83 +f 39 38 40 +f 38 37 46 +f 37 38 47 +f 38 39 47 +f 39 40 48 +f 47 39 51 +f 39 48 51 +f 45 37 53 +f 37 47 53 +f 40 38 54 +f 42 49 55 +f 49 50 55 +f 52 41 56 +f 52 45 57 +f 45 53 57 +f 48 40 58 +f 45 52 58 +f 42 55 58 +f 46 37 59 +f 50 49 61 +f 44 53 63 +f 50 48 64 +f 55 50 64 +f 48 58 64 +f 58 55 64 +f 41 44 65 +f 60 43 66 +f 51 60 66 +f 37 45 67 +f 59 37 67 +f 46 59 67 +f 48 50 68 +f 51 48 68 +f 43 60 68 +f 60 51 68 +f 47 44 69 +f 53 47 69 +f 44 63 69 +f 63 53 69 +f 41 52 70 +f 57 44 70 +f 52 57 70 +f 53 44 71 +f 44 57 71 +f 57 53 71 +f 62 43 72 +f 68 50 72 +f 43 68 72 +f 56 42 73 +f 52 56 73 +f 58 52 73 +f 42 58 73 +f 38 46 74 +f 54 38 74 +f 46 54 74 +f 44 41 75 +f 41 70 75 +f 70 44 75 +f 62 41 76 +f 41 65 76 +f 65 47 76 +f 44 47 77 +f 65 44 77 +f 61 41 78 +f 50 61 78 +f 41 62 78 +f 72 50 78 +f 62 72 78 +f 40 54 79 +f 58 40 79 +f 45 58 79 +f 67 45 79 +f 47 51 80 +f 43 62 80 +f 66 43 80 +f 51 66 80 +f 62 76 80 +f 76 47 80 +f 54 46 81 +f 46 67 81 +f 79 54 81 +f 67 79 81 +f 49 42 82 +f 56 41 82 +f 42 56 82 +f 41 61 82 +f 61 49 82 +f 47 65 83 +f 77 47 83 +o convex_2 +v -2.118876 2.583215 -0.240271 +v -1.529288 2.552016 0.349256 +v -1.498220 3.017594 0.162995 +v -1.591360 0.597072 -0.271348 +v -1.994668 0.597072 0.349256 +v -1.994668 2.986635 0.318179 +v -1.467152 3.048792 -0.271348 +v -2.025736 0.597072 -0.333502 +v -1.560356 0.597072 0.349256 +v -2.118876 3.048792 -0.116164 +v -2.087808 3.017594 -0.240271 +v -1.839456 1.248880 -0.333502 +v -1.529288 1.000732 0.225082 +v -1.529288 3.017594 0.318179 +v -1.560356 0.783303 -0.271348 +v -2.025736 0.597072 0.131984 +v -2.025736 2.986635 0.287169 +v -1.653432 0.597072 -0.302425 +v -2.056804 0.969534 -0.271348 +v -1.653432 3.048792 -0.271348 +v -2.025736 1.000732 -0.333502 +v -1.498220 3.048792 0.131984 +v -1.994668 1.093848 0.349256 +v -1.529288 1.683499 0.349256 +v -1.467152 2.955677 -0.209261 +v -1.560356 0.597072 -0.116164 +f 108 96 109 +f 87 88 91 +f 88 87 92 +f 85 88 92 +f 84 93 94 +f 85 86 97 +f 89 85 97 +f 93 89 97 +f 91 88 99 +f 93 84 99 +f 88 93 99 +f 93 88 100 +f 89 93 100 +f 87 91 101 +f 91 95 101 +f 95 90 101 +f 98 87 101 +f 90 98 101 +f 84 91 102 +f 99 84 102 +f 91 99 102 +f 93 90 103 +f 94 93 103 +f 90 95 103 +f 103 95 104 +f 91 84 104 +f 84 94 104 +f 95 91 104 +f 94 103 104 +f 86 90 105 +f 90 93 105 +f 97 86 105 +f 93 97 105 +f 88 85 106 +f 85 89 106 +f 100 88 106 +f 89 100 106 +f 86 85 107 +f 85 92 107 +f 92 96 107 +f 107 96 108 +f 90 86 108 +f 98 90 108 +f 86 107 108 +f 98 108 109 +f 92 87 109 +f 96 92 109 +f 87 98 109 +o convex_3 +v -1.405083 -2.754365 -0.240362 +v -2.118876 -2.909400 0.131954 +v -2.118876 -2.909400 0.225094 +v -2.087783 -0.613514 0.287187 +v -2.025669 -0.613514 -0.209315 +v -1.436176 -0.613514 0.194047 +v -1.467268 -3.096026 0.225094 +v -1.932602 -2.971609 -0.271409 +v -1.529242 -0.613514 -0.302455 +v -1.405083 -3.096026 -0.333502 +v -1.808513 -1.885388 -0.302455 +v -2.056691 -1.048002 -0.178330 +v -1.901510 -0.613514 0.287187 +v -2.087783 -1.327455 0.287187 +v -1.963694 -2.909400 -0.271409 +v -1.405083 -2.692156 -0.333502 +v -1.405083 -3.096026 -0.116236 +v -1.684424 -0.613514 -0.302455 +v -1.467268 -1.668630 0.225094 +v -2.087783 -1.296351 -0.054143 +v -1.436176 -0.613514 0.131954 +v -1.529242 -3.096026 0.225094 +v -2.056691 -0.613514 -0.178330 +v -1.498290 -0.924071 -0.302455 +v -2.118876 -2.071528 0.194047 +v -2.087783 -2.940505 0.225094 +v -1.622449 -3.064679 -0.302455 +v -1.436176 -3.096026 0.100968 +v -1.777491 -3.002470 -0.302455 +v -1.467268 -2.412947 -0.333502 +f 138 120 139 +f 114 113 115 +f 114 115 118 +f 115 113 122 +f 116 122 123 +f 113 112 123 +f 122 113 123 +f 117 111 124 +f 114 120 124 +f 111 121 124 +f 115 110 125 +f 110 119 125 +f 110 115 126 +f 119 110 126 +f 116 119 126 +f 114 118 127 +f 120 114 127 +f 116 115 128 +f 115 122 128 +f 122 116 128 +f 121 111 129 +f 118 115 130 +f 115 125 130 +f 119 116 131 +f 116 123 131 +f 113 114 132 +f 114 124 132 +f 124 121 132 +f 129 113 132 +f 121 129 132 +f 125 118 133 +f 118 130 133 +f 130 125 133 +f 111 112 134 +f 112 113 134 +f 129 111 134 +f 113 129 134 +f 112 111 135 +f 111 117 135 +f 123 112 135 +f 131 123 135 +f 131 135 136 +f 119 131 136 +f 135 117 136 +f 115 116 137 +f 126 115 137 +f 116 126 137 +f 117 124 138 +f 124 120 138 +f 136 117 138 +f 119 136 138 +f 118 125 139 +f 125 119 139 +f 127 118 139 +f 120 127 139 +f 119 138 139 +o convex_4 +v -2.056643 -0.613271 -0.178138 +v -0.815669 0.597072 0.566397 +v -0.815669 0.472791 0.566397 +v -2.739564 0.286548 0.597531 +v -2.677224 0.503832 -0.550743 +v -0.815669 -0.457950 -0.488586 +v -0.815669 -0.582231 0.473330 +v -0.815669 0.534872 -0.488586 +v -2.739564 -0.582231 -0.457564 +v -2.677224 -0.427028 0.535374 +v -2.739564 0.503832 0.597531 +v -2.025755 0.596953 -0.333362 +v -2.087719 -0.613271 0.287084 +v -1.529290 -0.613271 -0.302340 +v -1.994679 0.596953 0.349241 +v -2.118795 -0.458069 0.535374 +v -2.615260 0.224467 -0.550743 +v -1.994679 0.503832 -0.550743 +v -2.708300 -0.458069 0.473330 +v -0.846557 -0.488991 -0.488586 +v -2.739564 -0.395988 -0.488474 +v -2.739564 -0.582231 -0.240183 +v -1.591442 0.596953 -0.271318 +v -2.708300 0.503832 -0.240183 +v -1.312134 -0.520150 -0.488474 +v -0.877633 -0.364947 0.504352 +v -2.522220 -0.458069 0.535374 +v -1.436250 -0.613271 0.194017 +v -2.615260 -0.209745 0.566397 +v -1.249982 0.503832 -0.519608 +v -2.242911 0.534872 0.597531 +v -0.815669 0.597072 0.411173 +v -2.739564 0.503832 0.380263 +f 163 160 172 +f 141 142 145 +f 145 142 146 +f 141 145 147 +f 148 143 150 +f 147 144 151 +f 148 140 152 +f 140 148 153 +f 152 140 153 +f 141 151 154 +f 151 150 154 +f 144 147 157 +f 156 144 157 +f 149 143 158 +f 145 146 159 +f 146 153 159 +f 157 145 159 +f 156 157 159 +f 148 150 160 +f 144 156 160 +f 143 148 161 +f 148 152 161 +f 158 143 161 +f 152 158 161 +f 147 151 162 +f 151 144 163 +f 144 160 163 +f 153 148 164 +f 159 153 164 +f 156 159 164 +f 148 160 164 +f 160 156 164 +f 146 142 165 +f 142 155 165 +f 155 146 165 +f 152 146 166 +f 146 155 166 +f 149 158 166 +f 158 152 166 +f 146 152 167 +f 153 146 167 +f 152 153 167 +f 142 143 168 +f 143 149 168 +f 155 142 168 +f 149 166 168 +f 166 155 168 +f 147 145 169 +f 157 147 169 +f 145 157 169 +f 142 141 170 +f 143 142 170 +f 150 143 170 +f 141 154 170 +f 154 150 170 +f 141 147 171 +f 151 141 171 +f 147 162 171 +f 162 151 171 +f 150 151 172 +f 160 150 172 +f 151 163 172 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/521/521.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/521/521.urdf new file mode 100644 index 000000000..518e9d0b3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/521/521.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/522/522.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/522/522.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/522/522.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/522/522.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/522/522.obj new file mode 100644 index 000000000..ecf9fef3b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/522/522.obj @@ -0,0 +1,861 @@ +o convex_0 +v 0.946278 -5.221348 0.287017 +v -1.045826 -2.896848 0.021649 +v -1.045826 -2.896848 0.054615 +v 0.979449 0.721002 -0.011522 +v 0.016670 -5.287917 -1.007676 +v -0.049672 -5.221348 1.017598 +v -1.012450 0.721002 -0.044489 +v 0.083012 0.721002 1.017598 +v -0.116014 0.721002 -0.974301 +v -0.813219 -5.254632 -0.741899 +v 0.813389 -4.689470 -0.741899 +v -0.746877 -5.221348 0.784991 +v 0.747047 -0.507817 0.851538 +v 0.049841 -6.217853 -0.044693 +v -0.780048 -0.275503 0.818367 +v 0.680705 0.721002 -0.741899 +v -0.813219 0.488688 -0.741899 +v 0.780218 -5.154778 0.785196 +v -0.780048 -5.984859 0.054615 +v 0.049841 -5.984859 -0.775070 +v 0.049841 -5.950895 0.785196 +v 0.780218 -5.918290 -0.044693 +v 1.045995 -4.457836 0.054615 +v -0.082843 -2.731783 1.084145 +v -1.012450 -5.287917 0.021649 +v 0.780218 0.721002 0.752025 +v -0.746877 0.721002 0.784991 +v -0.813219 -2.233870 0.851538 +v 0.846765 -2.731103 -0.708728 +v 0.780218 -5.254632 -0.741899 +v 0.116183 -1.270649 -0.974301 +v -0.049672 -0.473853 1.084145 +v 1.045995 -2.034841 0.087786 +v 0.049841 -2.233870 1.084145 +v -0.182356 -5.253953 -0.974096 +v -1.045826 -0.274823 0.054615 +v 1.012620 -5.221348 -0.077864 +v -0.746877 0.721002 -0.775070 +v -0.215732 -5.951574 -0.741899 +v -1.045826 -0.972445 -0.044489 +v 0.614158 -5.785830 0.519418 +v 0.083012 -5.221348 1.017598 +v -0.780048 -5.287917 -0.775070 +v 0.747047 -2.731103 0.851538 +v -0.481304 -5.818436 0.618932 +v -0.879766 -2.233870 0.685683 +v 0.580987 -5.785830 -0.575839 +v -0.613988 -5.818436 -0.575839 +v -0.780048 0.455404 -0.775070 +v 0.016670 0.721002 -0.974301 +v 1.045995 -2.300439 0.021649 +v 0.747047 0.721002 -0.642386 +v -0.149185 -2.201264 1.084145 +v 0.713876 -5.984180 0.021853 +v 0.747047 -5.220668 -0.775070 +v 0.780218 -1.802526 -0.741899 +v -0.979279 -5.254632 -0.177377 +v 0.979449 0.721002 0.087786 +v -0.780048 -5.984859 -0.044489 +v -0.082843 -6.217853 0.021649 +v 0.049841 -0.872591 1.084145 +v -0.149185 0.588542 -0.974301 +v -0.846390 -1.105584 0.752025 +v -0.979279 0.721002 0.154333 +f 36 63 64 +f 4 7 8 +f 7 4 9 +f 9 4 16 +f 6 12 21 +f 1 18 22 +f 18 1 23 +f 3 2 25 +f 19 12 25 +f 4 8 26 +f 8 13 26 +f 8 7 27 +f 8 27 32 +f 27 15 32 +f 15 28 32 +f 13 18 33 +f 18 23 33 +f 26 13 33 +f 32 24 34 +f 2 3 36 +f 1 22 37 +f 23 1 37 +f 11 29 37 +f 30 11 37 +f 22 30 37 +f 7 9 38 +f 17 7 38 +f 5 20 39 +f 35 5 39 +f 7 17 40 +f 17 10 40 +f 2 36 40 +f 36 7 40 +f 18 21 41 +f 22 18 41 +f 6 21 42 +f 21 18 42 +f 24 6 42 +f 34 24 42 +f 10 17 43 +f 35 39 43 +f 18 13 44 +f 13 34 44 +f 42 18 44 +f 34 42 44 +f 12 19 45 +f 21 12 45 +f 19 21 45 +f 3 25 46 +f 25 12 46 +f 12 28 46 +f 36 3 46 +f 22 20 47 +f 20 30 47 +f 30 22 47 +f 10 43 48 +f 43 39 48 +f 17 38 49 +f 43 17 49 +f 35 43 49 +f 5 9 50 +f 9 16 50 +f 31 5 50 +f 16 31 50 +f 29 4 51 +f 33 23 51 +f 4 33 51 +f 23 37 51 +f 37 29 51 +f 16 4 52 +f 4 29 52 +f 29 16 52 +f 12 6 53 +f 6 24 53 +f 28 12 53 +f 24 32 53 +f 32 28 53 +f 14 20 54 +f 21 14 54 +f 20 22 54 +f 41 21 54 +f 22 41 54 +f 20 5 55 +f 11 30 55 +f 30 20 55 +f 5 31 55 +f 55 31 56 +f 16 29 56 +f 29 11 56 +f 31 16 56 +f 11 55 56 +f 25 2 57 +f 2 40 57 +f 40 10 57 +f 4 26 58 +f 33 4 58 +f 26 33 58 +f 19 25 59 +f 10 48 59 +f 48 39 59 +f 57 10 59 +f 25 57 59 +f 20 14 60 +f 14 21 60 +f 21 19 60 +f 39 20 60 +f 19 59 60 +f 59 39 60 +f 13 8 61 +f 8 32 61 +f 34 13 61 +f 32 34 61 +f 9 5 62 +f 5 35 62 +f 38 9 62 +f 35 49 62 +f 49 38 62 +f 15 27 63 +f 28 15 63 +f 46 28 63 +f 36 46 63 +f 27 7 64 +f 7 36 64 +f 63 27 64 +o convex_1 +v -1.012622 1.186758 -0.011324 +v 0.979497 0.821331 0.087796 +v 0.979497 0.788160 0.087796 +v 0.149383 2.082921 -1.007677 +v 0.415168 2.116229 0.951129 +v -0.149357 0.721681 -0.974174 +v -0.049712 0.721681 1.017540 +v -0.779987 2.116229 0.818309 +v -0.846482 2.116229 -0.841353 +v 0.780207 2.116229 -0.808247 +v -1.012622 0.721681 0.054690 +v 0.813357 2.116229 0.818309 +v 0.680562 0.721681 -0.741837 +v 0.747057 0.721681 0.785203 +v -0.813332 0.754989 -0.741837 +v -0.746837 0.721681 0.751898 +v 0.946347 2.116229 -0.144343 +v -0.979277 2.116229 0.087796 +v -0.580892 2.116229 -0.974174 +v -0.082862 2.116229 0.984235 +v 0.580918 2.082921 -0.941068 +v 0.979497 0.721681 -0.011522 +v -0.680537 2.016443 0.884719 +v 0.049738 0.788160 -0.974174 +v 0.647412 2.049750 0.918023 +v 0.083083 0.721681 1.017540 +v 0.946347 2.116229 0.154206 +v -1.012622 0.721681 -0.044628 +v -0.979277 2.116229 -0.144145 +v 0.713907 0.821331 -0.741837 +v -0.813332 1.186758 -0.808247 +v -0.746837 0.887809 0.785004 +v -0.813332 2.082921 0.751898 +v 0.780207 0.721681 0.751898 +v -0.215657 2.116229 -1.007280 +v -0.746837 0.721681 -0.774943 +v 0.780207 1.949964 -0.808247 +v -0.547547 2.116229 0.917825 +v 0.813357 1.883759 0.818309 +v -0.779987 2.049750 -0.907764 +v -0.647192 0.721681 0.818309 +v 0.979497 1.584947 -0.011522 +v 0.680562 0.721681 0.818309 +v -0.846482 1.949964 -0.841353 +v 0.049738 1.086972 1.017540 +v -0.846482 0.721681 0.519363 +v 0.846702 2.116229 0.685488 +f 76 103 111 +f 72 69 73 +f 73 69 74 +f 70 71 75 +f 74 69 76 +f 71 70 77 +f 71 77 78 +f 75 71 80 +f 74 76 81 +f 72 73 82 +f 65 75 82 +f 73 74 83 +f 69 72 84 +f 66 67 86 +f 78 77 86 +f 70 68 88 +f 77 70 88 +f 68 85 88 +f 85 77 88 +f 76 69 89 +f 71 78 90 +f 89 69 90 +f 81 76 91 +f 70 75 92 +f 75 65 92 +f 65 82 93 +f 82 73 93 +f 92 65 93 +f 73 92 93 +f 77 85 94 +f 86 77 94 +f 87 72 96 +f 72 82 97 +f 82 75 97 +f 96 72 97 +f 86 67 98 +f 78 86 98 +f 68 70 99 +f 70 83 99 +f 83 74 99 +f 85 68 99 +f 74 85 99 +f 70 92 100 +f 92 79 100 +f 95 70 100 +f 79 95 100 +f 74 81 101 +f 85 74 101 +f 81 86 101 +f 94 85 101 +f 86 94 101 +f 71 84 102 +f 84 72 102 +f 87 71 102 +f 72 87 102 +f 76 89 103 +f 89 78 103 +f 98 67 103 +f 78 98 103 +f 83 70 104 +f 73 83 104 +f 70 95 104 +f 80 71 105 +f 71 87 105 +f 96 80 105 +f 87 96 105 +f 66 86 106 +f 86 81 106 +f 91 66 106 +f 81 91 106 +f 78 89 107 +f 90 78 107 +f 89 90 107 +f 92 73 108 +f 79 92 108 +f 95 79 108 +f 73 104 108 +f 104 95 108 +f 69 84 109 +f 84 71 109 +f 71 90 109 +f 90 69 109 +f 75 80 110 +f 80 96 110 +f 97 75 110 +f 96 97 110 +f 67 66 111 +f 66 91 111 +f 91 76 111 +f 103 67 111 +o convex_2 +v -0.282119 3.179004 -1.140257 +v 0.049786 3.212175 1.150097 +v -0.115971 3.212175 1.150097 +v 0.049786 5.868225 -0.011571 +v 0.979589 3.212175 -0.077764 +v -1.012622 4.905213 0.021411 +v 0.780289 5.602331 0.021411 +v -0.016517 5.635765 0.785014 +v -0.879626 3.179004 0.718822 +v 0.016635 4.872042 -1.007417 +v 0.780289 4.473727 0.785014 +v 0.813441 3.179004 -0.808384 +v -0.879626 3.179004 -0.808157 +v -0.779977 4.871779 -0.775174 +v -0.779977 4.838608 0.718822 +v -0.779977 5.635502 -0.011571 +v -0.049668 5.602594 -0.741737 +v 0.747138 4.772266 -0.774947 +v 0.846592 3.179004 0.751804 +v 0.979589 4.938384 -0.011571 +v 0.282237 3.212175 -1.140257 +v -1.012622 3.179004 -0.011571 +v -0.016517 4.872042 0.984274 +v 0.747138 4.904950 0.751804 +v -0.680522 3.179004 0.917854 +v 0.514687 5.403305 -0.575914 +v 0.580990 5.436213 0.585982 +v -0.614024 5.369871 0.585754 +v -0.580873 5.436213 -0.575914 +v -1.012622 4.772266 -0.144184 +v 0.680640 3.179004 0.917854 +v 0.979589 4.672490 0.154251 +v -0.813323 3.942727 -0.874577 +v 0.979589 4.838871 -0.110974 +v 0.780289 3.909556 -0.841367 +v -0.082820 5.868225 0.021411 +v 0.016635 5.602594 -0.741737 +v -0.082820 4.838608 -1.007417 +v -0.414920 3.212175 -1.107274 +v -0.016517 3.245347 -1.173239 +v 0.614337 4.838871 0.818224 +v 0.381691 3.179004 1.050694 +v -1.012622 4.772266 0.087831 +v -0.647371 4.805437 0.785014 +v -0.779977 5.602331 0.087831 +v 0.979589 3.179004 0.021411 +v -0.813323 4.009069 0.785014 +v -0.414920 3.179004 1.050922 +v 0.747138 5.602331 0.121041 +v 0.448189 3.179004 -1.073837 +v -0.713674 3.179004 -0.974207 +v 0.016635 5.635765 0.785014 +v 0.049786 4.838608 0.984274 +v -0.082820 4.805700 0.984274 +v 0.614337 5.436213 -0.443074 +v 0.846592 3.245347 -0.708754 +v 0.016635 5.868225 0.087831 +v -0.979276 5.037897 -0.044554 +v -1.012622 3.212175 -0.077764 +v 0.979589 4.838871 0.121041 +v 0.780289 4.838871 -0.675544 +v -0.813323 4.871779 -0.708527 +v 0.713791 4.838871 -0.774947 +v -0.580873 5.702107 0.054621 +f 156 119 175 +f 120 112 123 +f 112 120 124 +f 120 123 130 +f 121 129 132 +f 124 120 133 +f 114 113 134 +f 120 130 136 +f 126 119 139 +f 125 127 140 +f 128 125 140 +f 127 128 140 +f 133 117 141 +f 130 122 142 +f 136 130 142 +f 122 130 143 +f 116 131 143 +f 124 141 144 +f 118 131 145 +f 131 116 145 +f 115 128 147 +f 128 127 147 +f 115 118 148 +f 128 115 148 +f 121 128 148 +f 128 121 149 +f 125 128 149 +f 144 125 150 +f 149 112 150 +f 125 149 150 +f 132 112 151 +f 121 132 151 +f 112 149 151 +f 149 121 151 +f 122 135 152 +f 142 122 153 +f 136 142 153 +f 152 113 153 +f 122 152 153 +f 126 117 154 +f 117 133 154 +f 133 120 154 +f 119 126 155 +f 117 126 156 +f 139 119 156 +f 126 139 156 +f 123 116 157 +f 130 123 157 +f 143 130 157 +f 116 143 157 +f 120 136 158 +f 126 154 158 +f 154 120 158 +f 155 126 158 +f 155 158 159 +f 113 114 159 +f 153 113 159 +f 136 153 159 +f 158 136 159 +f 118 115 160 +f 138 135 160 +f 123 112 161 +f 112 132 161 +f 132 129 161 +f 146 123 161 +f 129 146 161 +f 112 124 162 +f 124 144 162 +f 150 112 162 +f 144 150 162 +f 119 134 163 +f 135 138 163 +f 152 135 163 +f 138 160 163 +f 134 113 164 +f 113 152 164 +f 163 134 164 +f 152 163 164 +f 114 134 165 +f 134 119 165 +f 119 155 165 +f 155 159 165 +f 159 114 165 +f 148 118 166 +f 137 148 166 +f 116 123 167 +f 145 116 167 +f 123 146 167 +f 146 145 167 +f 115 147 168 +f 147 119 168 +f 160 115 168 +f 119 163 168 +f 163 160 168 +f 141 117 169 +f 117 156 169 +f 156 127 169 +f 124 133 170 +f 141 124 170 +f 133 141 170 +f 131 118 171 +f 135 122 171 +f 122 143 171 +f 143 131 171 +f 118 160 171 +f 160 135 171 +f 118 145 172 +f 146 129 172 +f 145 146 172 +f 166 118 172 +f 127 125 173 +f 125 144 173 +f 144 141 173 +f 169 127 173 +f 141 169 173 +f 129 121 174 +f 121 148 174 +f 148 137 174 +f 137 166 174 +f 172 129 174 +f 166 172 174 +f 119 147 175 +f 147 127 175 +f 127 156 175 +o convex_3 +v -0.381755 2.747184 1.250162 +v 0.315518 2.780267 1.416368 +v 0.315518 2.747184 1.416368 +v -0.082875 2.813415 3.043152 +v -0.082875 3.112205 1.250162 +v 0.149390 2.448264 1.250162 +v -0.049704 2.581182 2.810604 +v 0.182629 2.780267 2.810604 +v -0.315345 2.514755 1.316680 +v -0.248935 2.846628 2.777257 +v -0.016601 3.012630 2.611403 +v 0.215800 3.045843 1.250162 +v -0.282106 3.045843 1.283509 +v 0.282279 2.481542 1.283509 +v 0.149390 2.581182 2.545060 +v -0.182525 2.979416 2.611403 +v -0.248935 2.747184 2.711091 +v -0.049704 2.448264 1.516057 +v 0.182629 2.713970 2.810604 +v 0.082980 2.946203 2.677569 +v 0.315518 2.846628 1.250162 +v -0.049704 2.547969 2.611403 +v -0.381755 2.813415 1.283509 +v 0.016570 3.112205 1.316680 +v -0.016601 2.946203 2.876946 +v -0.116114 2.448264 1.250162 +v -0.149285 2.614395 2.677569 +v -0.016601 2.747184 3.043152 +v 0.215800 3.012630 1.516057 +f 196 187 204 +f 176 180 181 +f 178 177 183 +f 181 180 187 +f 180 176 188 +f 181 189 190 +f 185 179 191 +f 186 180 191 +f 180 188 191 +f 188 185 191 +f 182 179 192 +f 176 184 192 +f 185 176 192 +f 179 185 192 +f 178 183 194 +f 189 178 194 +f 182 190 194 +f 190 189 194 +f 187 186 195 +f 177 178 196 +f 183 177 196 +f 181 187 196 +f 178 189 196 +f 189 181 196 +f 181 190 197 +f 190 182 197 +f 193 181 197 +f 184 193 197 +f 176 185 198 +f 188 176 198 +f 185 188 198 +f 180 186 199 +f 186 187 199 +f 187 180 199 +f 191 179 200 +f 186 191 200 +f 183 195 200 +f 195 186 200 +f 176 181 201 +f 184 176 201 +f 181 193 201 +f 193 184 201 +f 182 192 202 +f 192 184 202 +f 197 182 202 +f 184 197 202 +f 179 182 203 +f 182 194 203 +f 194 183 203 +f 200 179 203 +f 183 200 203 +f 195 183 204 +f 187 195 204 +f 183 196 204 +o convex_4 +v -0.348552 2.846641 -1.472760 +v 0.381925 2.846641 -1.273305 +v 0.381925 2.680715 -1.273305 +v 0.016687 2.879884 -3.032919 +v -0.049668 2.415132 -1.273305 +v -0.049668 3.145466 -1.273305 +v -0.016491 2.614373 -2.734081 +v 0.215895 2.913055 -2.767151 +v -0.215699 2.846641 -2.767151 +v -0.282126 2.514788 -1.273305 +v 0.315499 2.481545 -1.339962 +v -0.049668 3.045810 -2.667596 +v 0.315499 3.045810 -1.339962 +v -0.282126 3.079053 -1.273305 +v 0.215895 2.813470 -2.833636 +v 0.049864 3.045810 -2.767151 +v -0.215699 2.747128 -2.700838 +v 0.215895 2.647544 -2.435242 +v 0.116291 2.415132 -1.306719 +v 0.049864 3.145466 -1.373204 +v -0.348552 2.713957 -1.273305 +v -0.182521 2.647544 -2.501555 +v 0.381925 2.813470 -1.472760 +v -0.016491 2.747128 -2.966434 +v 0.182646 3.012639 -2.534798 +v -0.182521 2.946226 -2.634353 +v 0.016687 2.614373 -2.734081 +v 0.249072 2.813470 -2.667596 +v -0.282126 3.079053 -1.339962 +f 216 230 233 +f 207 206 209 +f 209 206 210 +f 209 210 214 +f 208 213 216 +f 210 206 217 +f 214 210 218 +f 208 212 219 +f 212 208 220 +f 208 216 220 +f 205 213 221 +f 207 209 223 +f 209 211 223 +f 215 207 223 +f 216 210 224 +f 210 217 224 +f 220 216 224 +f 218 205 225 +f 214 218 225 +f 205 221 225 +f 221 214 225 +f 211 209 226 +f 209 214 226 +f 221 211 226 +f 214 221 226 +f 206 207 227 +f 217 206 227 +f 212 217 227 +f 213 208 228 +f 208 219 228 +f 211 221 228 +f 221 213 228 +f 217 212 229 +f 212 220 229 +f 224 217 229 +f 220 224 229 +f 216 213 230 +f 222 215 231 +f 219 222 231 +f 223 211 231 +f 215 223 231 +f 228 219 231 +f 211 228 231 +f 207 215 232 +f 219 212 232 +f 215 222 232 +f 222 219 232 +f 227 207 232 +f 212 227 232 +f 213 205 233 +f 210 216 233 +f 205 218 233 +f 218 210 233 +f 230 213 233 +o convex_5 +v -0.946053 2.747018 -0.575745 +v 0.979588 3.178741 0.021528 +v 0.879874 3.178741 0.619296 +v 0.946222 2.116229 0.154420 +v -0.713641 2.116229 0.884833 +v 0.016576 2.116229 -1.040867 +v -0.846530 3.178741 0.785287 +v 0.082925 3.145460 -1.273305 +v 0.315528 2.481493 1.250162 +v 0.780159 2.116229 -0.808429 +v -0.846530 2.116229 -0.841282 +v -0.879704 3.178741 -0.808429 +v -0.149295 3.112282 1.250162 +v 0.813525 2.116229 0.818387 +v 0.813525 3.178741 -0.808429 +v -0.979419 2.116229 0.087974 +v -0.315358 2.514879 -1.273305 +v 0.348702 2.481493 -1.273305 +v -0.381707 2.747018 1.250162 +v 0.680637 3.178741 0.917932 +v -0.979419 3.178741 0.121074 +v 0.879874 2.713736 -0.741736 +v -0.348533 2.913113 -1.273305 +v -0.912878 2.747018 0.685495 +v 0.415051 2.780299 -1.273305 +v -0.082947 2.415242 1.250162 +v 0.348702 2.846654 1.250162 +v 0.580922 2.116229 0.951279 +v 0.913048 2.747018 0.652395 +v 0.946222 2.116229 -0.143969 +v 0.049750 3.178741 1.183716 +v -0.381707 3.178741 -1.140413 +v -0.813356 2.116229 0.785287 +v -0.049581 2.381857 -1.273305 +v -0.613927 2.116229 -0.974174 +v -0.979419 2.116229 -0.143969 +v 0.879874 2.879728 0.751941 +v 0.979588 2.415242 -0.044424 +v -0.082947 2.116229 0.984378 +v 0.315528 3.045823 -1.273305 +v -0.979419 3.178741 -0.177316 +v 0.580922 2.116229 -0.940827 +v 0.248988 3.045823 1.250162 +v -0.414881 2.780299 -1.239958 +v -0.315358 3.012646 1.250162 +v -0.315358 2.514879 1.250162 +v -0.713641 3.178741 -0.974174 +v -0.912878 2.647485 -0.774836 +v 0.348702 3.178741 -1.140413 +v -0.879704 2.647485 0.751941 +v -0.281992 3.079105 -1.273305 +v -0.414881 3.178741 1.083924 +v 0.979588 3.178741 -0.044424 +v 0.116291 2.381857 -1.273305 +v 0.846700 2.182688 0.785287 +v -0.779990 2.116229 -0.907975 +v 0.846700 3.112282 -0.774836 +v -0.879704 3.145460 0.751941 +v 0.149465 2.415242 1.250162 +v 0.846700 2.481493 -0.774836 +f 255 263 293 +f 237 238 239 +f 236 235 240 +f 237 239 243 +f 239 238 244 +f 240 235 245 +f 238 237 247 +f 245 235 248 +f 244 238 249 +f 250 241 251 +f 242 246 252 +f 236 240 253 +f 240 245 254 +f 241 250 256 +f 254 249 257 +f 243 251 258 +f 251 241 258 +f 242 252 259 +f 246 242 260 +f 242 247 260 +f 238 247 261 +f 247 242 261 +f 235 236 262 +f 237 243 263 +f 253 240 264 +f 245 248 265 +f 249 238 266 +f 257 249 266 +f 250 251 267 +f 239 244 268 +f 267 239 268 +f 250 267 268 +f 244 249 269 +f 249 254 269 +f 236 253 270 +f 260 247 270 +f 253 260 270 +f 262 236 270 +f 235 262 271 +f 262 237 271 +f 237 263 271 +f 263 255 271 +f 259 238 272 +f 238 261 272 +f 258 241 273 +f 248 258 273 +f 245 234 274 +f 254 245 274 +f 234 269 274 +f 269 254 274 +f 243 239 275 +f 251 243 275 +f 246 260 276 +f 260 253 276 +f 264 246 276 +f 253 264 276 +f 256 250 277 +f 240 252 278 +f 252 246 278 +f 252 238 279 +f 238 259 279 +f 259 252 279 +f 245 265 280 +f 256 277 280 +f 245 244 281 +f 234 245 281 +f 269 234 281 +f 244 269 281 +f 241 265 282 +f 265 248 282 +f 273 241 282 +f 248 273 282 +f 238 252 283 +f 252 240 283 +f 266 238 283 +f 257 266 283 +f 241 256 284 +f 265 241 284 +f 280 265 284 +f 256 280 284 +f 264 240 285 +f 246 264 285 +f 240 278 285 +f 278 246 285 +f 248 235 286 +f 235 271 286 +f 271 255 286 +f 239 267 287 +f 267 251 287 +f 275 239 287 +f 251 275 287 +f 247 237 288 +f 237 262 288 +f 270 247 288 +f 262 270 288 +f 244 245 289 +f 268 244 289 +f 250 268 289 +f 277 250 289 +f 245 280 289 +f 280 277 289 +f 258 248 290 +f 255 258 290 +f 248 286 290 +f 286 255 290 +f 240 254 291 +f 254 257 291 +f 283 240 291 +f 257 283 291 +f 242 259 292 +f 261 242 292 +f 259 272 292 +f 272 261 292 +f 243 258 293 +f 258 255 293 +f 263 243 293 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/522/522.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/522/522.urdf new file mode 100644 index 000000000..dcbe5fbfd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/522/522.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/523/523.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/523/523.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/523/523.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/523/523.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/523/523.obj new file mode 100644 index 000000000..059895822 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/523/523.obj @@ -0,0 +1,471 @@ +o convex_0 +v 0.641888 -1.658577 -0.850350 +v 3.905802 0.442396 1.100660 +v 3.905802 0.442396 0.687835 +v 0.266676 0.404693 -0.362545 +v 0.266676 -1.696067 0.987974 +v 4.131005 -1.658364 -0.962610 +v 4.168411 0.404693 -0.962610 +v 4.131005 -1.621086 0.950484 +v 0.266676 0.329711 1.100660 +v 0.266676 0.066850 -1.037804 +v 0.266676 -1.621086 -1.075508 +v 4.206202 0.179535 1.100447 +v 0.341873 0.404693 -0.887841 +v 0.904497 -1.733771 0.612854 +v 0.979694 -1.170771 -1.075508 +v 4.206202 0.442183 -0.099683 +v 4.168411 -1.470910 -0.850137 +v 4.131005 -1.508401 0.987761 +v 3.605787 -1.658364 0.950484 +v 0.266676 0.366989 -1.000313 +v 0.266676 -1.733771 0.950484 +v 0.266676 0.104554 1.100660 +v 4.206202 0.442183 1.100447 +v 3.230576 -1.658364 -1.000313 +v 1.129701 0.367202 1.100660 +v 1.954934 0.404480 -1.000100 +v 4.206202 -0.233076 0.500169 +v 4.131005 -1.658364 -0.174878 +v 4.168411 0.142044 1.100447 +v 0.266676 -1.733771 0.650345 +v 1.017099 -1.621086 -1.075508 +v 4.168411 -0.945613 1.025465 +v 4.206202 0.367202 -0.324841 +v 2.705357 -1.696067 -0.249859 +v 3.755794 0.442396 1.100660 +v 0.341873 -0.908123 -1.075508 +v 4.168411 -1.358438 -0.962610 +v 0.754490 -1.733771 0.950484 +v 3.155379 -0.120604 -1.000313 +v 0.266676 -1.658577 -0.812860 +v 2.554964 -1.658364 -1.000313 +v 0.529286 -1.696067 0.987974 +f 38 19 42 +f 4 5 9 +f 5 4 10 +f 5 10 11 +f 3 2 16 +f 13 3 16 +f 8 18 19 +f 10 4 20 +f 4 13 20 +f 5 11 21 +f 2 9 22 +f 9 5 22 +f 2 12 23 +f 16 2 23 +f 12 16 23 +f 9 2 25 +f 4 9 25 +f 16 7 26 +f 13 16 26 +f 10 20 26 +f 20 13 26 +f 16 12 27 +f 6 17 28 +f 17 8 28 +f 8 19 28 +f 12 2 29 +f 2 22 29 +f 21 11 30 +f 14 21 30 +f 11 15 31 +f 24 11 31 +f 8 17 32 +f 18 8 32 +f 27 12 32 +f 17 27 32 +f 12 29 32 +f 29 18 32 +f 7 16 33 +f 16 27 33 +f 27 17 33 +f 24 6 34 +f 6 28 34 +f 28 14 34 +f 2 3 35 +f 3 13 35 +f 13 4 35 +f 25 2 35 +f 4 25 35 +f 11 10 36 +f 15 11 36 +f 26 15 36 +f 10 26 36 +f 17 6 37 +f 6 24 37 +f 24 7 37 +f 7 33 37 +f 33 17 37 +f 5 21 38 +f 21 14 38 +f 14 28 38 +f 28 19 38 +f 7 24 39 +f 26 7 39 +f 15 26 39 +f 31 15 39 +f 24 31 39 +f 11 1 40 +f 1 30 40 +f 30 11 40 +f 1 11 41 +f 11 24 41 +f 30 1 41 +f 14 30 41 +f 24 34 41 +f 34 14 41 +f 19 18 42 +f 22 5 42 +f 18 29 42 +f 29 22 42 +f 5 38 42 +o convex_1 +v -2.697638 -0.833262 0.575150 +v -3.222472 -1.170786 -0.587519 +v -3.785516 -1.208489 -0.550068 +v -3.785516 -0.120406 -0.437489 +v -1.947099 -0.158003 -0.587519 +v -3.860626 -0.158003 0.537700 +v -1.947099 -1.170786 0.575150 +v -1.947099 -0.120406 0.500136 +v -3.860626 -1.095911 0.462685 +v -1.947099 -1.095911 -0.587519 +v -1.984748 -1.208489 0.537700 +v -3.822977 -1.208489 -0.400039 +v -3.110088 -0.120406 -0.512504 +v -3.785516 -0.945841 -0.550068 +v -2.172242 -1.133401 -0.587519 +v -3.822977 -0.120406 0.237642 +v -2.059671 -0.308072 0.537700 +v -3.672945 -1.095911 0.500136 +v -3.860626 -0.158003 0.237642 +v -3.410153 -1.208489 -0.512504 +v -3.860626 -1.133401 0.237642 +v -1.984748 -0.795559 0.575150 +v -3.822977 -1.020823 -0.475054 +v -2.097320 -0.158003 -0.587519 +v -3.785516 -0.232984 -0.475054 +v -2.360111 -1.170786 0.575150 +v -2.697638 -0.120406 -0.400039 +v -1.984748 -1.208489 0.462685 +f 62 57 70 +f 49 47 50 +f 44 47 52 +f 47 49 52 +f 45 53 54 +f 46 50 55 +f 44 45 56 +f 45 44 57 +f 44 52 57 +f 50 46 58 +f 48 50 58 +f 50 48 59 +f 43 48 60 +f 48 51 60 +f 51 48 61 +f 58 46 61 +f 48 58 61 +f 53 45 62 +f 45 57 62 +f 53 51 63 +f 54 53 63 +f 51 61 63 +f 48 43 64 +f 43 49 64 +f 49 50 64 +f 59 48 64 +f 50 59 64 +f 45 54 65 +f 56 45 65 +f 61 46 65 +f 54 63 65 +f 63 61 65 +f 47 44 66 +f 55 47 66 +f 44 56 66 +f 56 55 66 +f 46 55 67 +f 55 56 67 +f 56 65 67 +f 65 46 67 +f 49 43 68 +f 53 49 68 +f 51 53 68 +f 43 60 68 +f 60 51 68 +f 50 47 69 +f 47 55 69 +f 55 50 69 +f 52 49 70 +f 49 53 70 +f 57 52 70 +f 53 62 70 +o convex_2 +v 0.266588 0.404626 -0.850350 +v -1.947099 -1.171263 0.049854 +v -1.947099 -1.171263 0.575150 +v 0.191397 -3.646930 1.062956 +v -1.834422 -3.722338 -1.037804 +v 0.116423 0.629997 1.100660 +v -1.871909 0.629997 -0.962823 +v 0.153910 -3.496967 -0.962823 +v -1.909396 -3.571949 1.062956 +v -1.909396 0.592080 0.950271 +v 0.153910 0.629997 -1.037804 +v 0.266588 -1.620726 -1.075508 +v 0.266588 0.329645 1.100660 +v 0.041232 -3.646930 -0.887841 +v -1.834422 -1.471615 -1.037804 +v -1.947099 -1.133772 -0.625193 +v 0.266588 -1.733198 0.950484 +v -1.609282 0.629997 0.987974 +v -1.309169 -3.722338 -0.437526 +v -1.947099 -0.158161 -0.587489 +v -0.708943 -1.583235 -1.075508 +v -1.909396 -3.609440 0.912993 +v 0.228884 0.629997 0.650345 +v -0.108716 0.629997 1.100660 +v -1.384143 0.629997 -1.000313 +v 0.228884 -1.995633 -1.075508 +v 0.191397 -3.646930 0.350206 +v -0.221394 -3.684421 0.612854 +v -1.871909 -3.009162 1.062956 +v -1.871909 -3.684421 -0.287350 +v 0.266588 -0.908828 -1.075508 +v -1.947099 -0.120670 0.500169 +v 0.191397 -3.159125 -0.962823 +v -1.646770 -3.722338 -1.037804 +v -0.558994 -3.646930 1.062956 +v -0.108716 0.066784 1.100660 +v 0.153910 -3.609440 -0.925332 +v -1.871909 -0.383105 -1.000313 +v 0.228884 0.629997 -0.850350 +v 0.266588 0.366710 -1.000313 +v -1.871909 0.629997 0.950271 +v -1.384143 -3.722338 -0.925119 +v -0.033742 -3.646930 -0.962823 +v 0.003745 0.629997 -1.037804 +v -1.834422 -3.722338 -0.700174 +v -1.909396 -3.609440 0.762817 +f 100 92 116 +f 73 79 80 +f 77 76 81 +f 82 71 83 +f 72 73 86 +f 83 74 87 +f 82 83 87 +f 76 77 88 +f 80 77 90 +f 86 73 90 +f 77 86 90 +f 75 85 91 +f 73 72 92 +f 79 73 92 +f 81 76 93 +f 83 71 93 +f 76 83 93 +f 83 76 94 +f 76 88 94 +f 77 81 95 +f 91 85 95 +f 75 91 96 +f 91 82 96 +f 87 74 97 +f 82 87 97 +f 84 97 98 +f 97 74 98 +f 80 79 99 +f 88 80 99 +f 79 94 99 +f 94 88 99 +f 86 75 100 +f 71 82 101 +f 82 91 101 +f 73 80 102 +f 90 73 102 +f 80 90 102 +f 78 96 103 +f 96 82 103 +f 82 97 103 +f 89 75 104 +f 75 96 104 +f 79 92 105 +f 89 98 105 +f 98 74 105 +f 74 83 106 +f 83 94 106 +f 94 79 106 +f 105 74 106 +f 79 105 106 +f 97 84 107 +f 78 103 107 +f 103 97 107 +f 85 75 108 +f 75 86 108 +f 86 77 108 +f 77 95 108 +f 95 85 108 +f 93 71 109 +f 81 93 109 +f 71 101 110 +f 101 81 110 +f 109 71 110 +f 81 109 110 +f 77 80 111 +f 88 77 111 +f 80 88 111 +f 84 98 112 +f 98 89 112 +f 89 104 112 +f 112 104 113 +f 96 78 113 +f 104 96 113 +f 107 84 113 +f 78 107 113 +f 84 112 113 +f 95 81 114 +f 91 95 114 +f 81 101 114 +f 101 91 114 +f 75 89 115 +f 100 75 115 +f 92 100 115 +f 105 92 115 +f 89 105 115 +f 72 86 116 +f 92 72 116 +f 86 100 116 +o convex_3 +v 0.228884 0.629997 0.650165 +v -1.947099 4.156188 -1.075324 +v -1.947099 4.156188 -0.887672 +v 0.266588 4.343866 -1.113028 +v 0.153910 4.381327 1.062956 +v -1.871909 0.629997 0.950495 +v -1.421630 0.629997 -1.000134 +v -1.909396 4.418788 0.912791 +v 0.153910 0.629997 -1.037837 +v 0.116423 0.629997 1.100660 +v -1.871909 0.629997 -0.962646 +v -1.646770 2.393649 1.025469 +v 0.266588 2.393649 -1.113028 +v -1.947099 4.306405 -1.075324 +v -0.446316 2.468572 1.100660 +v -1.909396 4.268943 0.950495 +v 0.228884 0.629997 -0.850185 +v -1.947099 4.381327 -0.024819 +v -1.384143 4.418788 0.425026 +v 0.153910 3.556064 1.100660 +v -0.483803 4.343866 -1.113028 +v -0.108716 0.629997 1.100660 +v -0.221177 2.768263 -1.113028 +v -1.871909 1.305786 0.987765 +v 0.191397 4.381327 0.425026 +v 0.228884 0.892969 0.687652 +v -1.909396 3.818665 -1.075324 +v 0.191397 1.680770 0.987982 +v 0.266588 1.868448 -0.962863 +v -1.233978 4.418788 0.987765 +v -1.947099 4.343866 0.162616 +v -0.408829 4.381327 -0.512585 +v 0.191397 2.281265 -1.113028 +v 0.266588 4.343866 -1.037837 +v -0.784133 4.231482 -1.113028 +v -1.534308 0.705662 -1.000134 +v -1.909396 3.518603 0.950495 +v -0.071229 4.381327 1.062956 +v 0.153910 0.967891 1.100660 +v -1.609282 0.629997 0.987765 +v -0.071229 0.629997 -1.037837 +v -1.871909 3.143247 0.987765 +v -1.909396 4.343866 -0.662533 +v -1.046543 4.418788 0.875304 +v -1.834422 4.418788 0.537703 +f 137 159 161 +f 119 118 122 +f 117 122 123 +f 117 123 125 +f 122 117 126 +f 122 118 127 +f 123 122 127 +f 118 119 130 +f 117 125 133 +f 125 129 133 +f 130 119 134 +f 131 126 136 +f 120 129 137 +f 122 126 138 +f 126 131 138 +f 131 128 138 +f 137 129 139 +f 138 128 140 +f 141 121 142 +f 127 118 143 +f 121 136 144 +f 142 121 144 +f 129 120 145 +f 117 133 145 +f 133 129 145 +f 142 117 145 +f 124 132 146 +f 135 124 146 +f 119 122 147 +f 132 124 147 +f 134 119 147 +f 124 134 147 +f 120 137 148 +f 141 120 148 +f 129 125 149 +f 139 129 149 +f 120 141 150 +f 141 142 150 +f 145 120 150 +f 142 145 150 +f 118 130 151 +f 130 137 151 +f 137 139 151 +f 143 118 151 +f 139 143 151 +f 123 127 152 +f 127 143 152 +f 143 139 152 +f 139 149 152 +f 140 132 153 +f 122 140 153 +f 147 122 153 +f 132 147 153 +f 132 131 154 +f 136 121 154 +f 131 136 154 +f 146 132 154 +f 121 146 154 +f 126 117 155 +f 136 126 155 +f 117 142 155 +f 144 136 155 +f 142 144 155 +f 122 138 156 +f 140 122 156 +f 138 140 156 +f 125 123 157 +f 149 125 157 +f 123 152 157 +f 152 149 157 +f 128 131 158 +f 131 132 158 +f 140 128 158 +f 132 140 158 +f 130 134 159 +f 137 130 159 +f 121 141 160 +f 135 146 160 +f 146 121 160 +f 148 135 160 +f 141 148 160 +f 134 124 161 +f 124 135 161 +f 135 148 161 +f 148 137 161 +f 159 134 161 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/523/523.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/523/523.urdf new file mode 100644 index 000000000..d718534cf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/523/523.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/524/524.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/524/524.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/524/524.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/524/524.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/524/524.obj new file mode 100644 index 000000000..01c66d0c5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/524/524.obj @@ -0,0 +1,3171 @@ +o convex_0 +v -0.452673 -0.634634 -2.429702 +v 0.110026 -0.618069 -2.793806 +v 0.110026 -0.601475 -2.793806 +v 0.126583 -0.866278 -2.429702 +v 0.093469 -0.816642 -2.711076 +v -0.419560 -0.601475 -2.429702 +v -0.403004 -0.618069 -2.545616 +v 0.093469 -0.899379 -2.446312 +v 0.110026 -0.601475 -2.744153 +v -0.419560 -0.667735 -2.446312 +v 0.126583 -0.833178 -2.694501 +f 9 4 11 +f 1 4 6 +f 3 2 7 +f 2 5 7 +f 1 6 7 +f 6 3 7 +f 4 1 8 +f 3 6 9 +f 6 4 9 +f 1 7 10 +f 7 5 10 +f 8 1 10 +f 5 8 10 +f 2 3 11 +f 5 2 11 +f 4 8 11 +f 8 5 11 +f 3 9 11 +o convex_1 +v 0.937621 -0.022133 -2.711143 +v 0.143248 -0.088292 -2.992517 +v 0.126639 -0.204193 -2.942794 +v 0.126639 0.077187 -2.909716 +v 0.871430 -0.204193 -2.628414 +v 0.871430 0.077187 -2.628414 +v 0.888038 -0.204193 -2.711143 +v 0.192911 0.077187 -2.959368 +v 0.921174 -0.055240 -2.760796 +v 0.854983 0.077187 -2.727718 +v 0.126639 -0.204193 -2.909716 +v 0.209520 -0.088292 -2.992517 +v 0.192911 -0.204193 -2.959368 +v 0.954310 -0.104845 -2.628414 +f 18 20 25 +f 13 14 15 +f 15 16 17 +f 16 14 18 +f 13 15 19 +f 15 17 19 +f 17 12 21 +f 19 17 21 +f 20 19 21 +f 12 20 21 +f 15 14 22 +f 16 15 22 +f 14 16 22 +f 13 19 23 +f 19 20 23 +f 23 20 24 +f 14 13 24 +f 18 14 24 +f 20 18 24 +f 13 23 24 +f 12 17 25 +f 17 16 25 +f 16 18 25 +f 20 12 25 +o convex_2 +v -0.535455 0.689727 -2.032491 +v 0.126571 0.689727 -2.760770 +v 0.126571 0.706274 -2.760770 +v 0.143193 0.971099 -2.032491 +v -0.254083 0.590371 -2.429604 +v -0.618264 0.706274 -2.049103 +v 0.126571 0.971099 -2.098724 +v -0.585096 0.590371 -2.098724 +v -0.485814 0.606955 -2.347045 +v 0.126571 0.904837 -2.115264 +v -0.072066 0.590371 -2.661385 +v 0.143193 0.689727 -2.694465 +v -0.138329 0.590371 -2.677925 +v 0.126571 0.739368 -2.694465 +v 0.076931 0.921421 -2.032491 +v -0.601643 0.590371 -2.164957 +f 34 38 41 +f 26 29 31 +f 31 29 32 +f 26 31 33 +f 31 28 34 +f 33 30 35 +f 30 33 36 +f 35 30 36 +f 35 36 37 +f 27 28 37 +f 29 35 37 +f 36 27 37 +f 28 27 38 +f 34 28 38 +f 27 36 38 +f 36 33 38 +f 28 31 39 +f 32 29 39 +f 31 32 39 +f 37 28 39 +f 29 37 39 +f 29 26 40 +f 26 33 40 +f 35 29 40 +f 33 35 40 +f 33 31 41 +f 31 34 41 +f 38 33 41 +o convex_3 +v 0.871482 0.656617 -2.198074 +v 0.143193 0.722814 -2.710977 +v 0.143193 0.722814 -2.628217 +v 0.192908 0.971099 -2.065696 +v 0.854935 0.606924 -2.148324 +v 0.871482 0.772507 -2.049158 +v 0.143193 0.937947 -2.049158 +v 0.474355 0.623500 -2.661427 +v 0.176361 0.739426 -2.710977 +v 0.523921 0.606924 -2.479234 +v 0.871482 0.722814 -2.032486 +v 0.805294 0.606924 -2.363595 +v 0.408167 0.606924 -2.661427 +v 0.143193 0.971099 -2.032486 +f 48 52 55 +f 43 44 48 +f 47 49 50 +f 45 47 50 +f 49 43 50 +f 46 48 51 +f 48 44 51 +f 46 42 52 +f 42 47 52 +f 48 46 52 +f 42 46 53 +f 47 42 53 +f 49 47 53 +f 46 51 53 +f 53 51 54 +f 44 43 54 +f 43 49 54 +f 51 44 54 +f 49 53 54 +f 47 45 55 +f 43 48 55 +f 50 43 55 +f 45 50 55 +f 52 47 55 +o convex_4 +v 0.110031 0.838725 2.519563 +v -0.701031 0.722834 1.956954 +v -0.701031 0.722834 2.023381 +v -0.171423 0.623487 2.652094 +v 0.126639 0.971051 1.957116 +v -0.684423 0.789052 2.006694 +v 0.076895 1.004179 2.039826 +v 0.076895 0.739379 2.784544 +v -0.601623 0.623487 2.205328 +v -0.551879 0.640070 2.403882 +v 0.126639 0.722834 2.701753 +v -0.055487 0.971051 1.957116 +v -0.270750 0.623487 2.652094 +v -0.568487 0.822106 2.023381 +v -0.667895 0.722834 1.956954 +v 0.126639 0.987596 2.073121 +v -0.684423 0.789052 1.956954 +v -0.320170 0.640070 2.436934 +v 0.126639 0.722834 2.784544 +f 66 71 74 +f 57 58 61 +f 56 62 63 +f 58 57 64 +f 61 58 65 +f 63 61 65 +f 58 64 65 +f 59 60 66 +f 62 60 67 +f 64 59 68 +f 63 65 68 +f 65 64 68 +f 61 63 69 +f 63 62 69 +f 67 61 69 +f 62 67 69 +f 64 57 70 +f 60 64 70 +f 62 56 71 +f 60 62 71 +f 66 60 71 +f 57 61 72 +f 67 60 72 +f 61 67 72 +f 70 57 72 +f 60 70 72 +f 60 59 73 +f 59 64 73 +f 64 60 73 +f 56 63 74 +f 59 66 74 +f 68 59 74 +f 63 68 74 +f 71 56 74 +o convex_5 +v -0.552017 0.838698 1.278306 +v -0.088555 0.954525 1.956954 +v -0.121683 0.954525 1.956954 +v -0.502301 0.805565 1.956954 +v -0.121683 0.937966 1.195497 +v -0.535476 0.888324 1.212118 +v -0.568604 0.822140 1.956954 +v -0.138223 0.971083 1.195497 +v -0.088555 0.921424 1.956954 +v -0.105142 0.971083 1.791410 +v -0.088555 0.971083 1.195497 +v -0.568604 0.838698 1.807957 +v -0.568604 0.855240 1.195497 +v -0.552017 0.805565 1.725148 +f 81 87 88 +f 76 77 78 +f 78 77 81 +f 76 78 83 +f 78 79 83 +f 77 76 84 +f 82 80 84 +f 82 84 85 +f 79 82 85 +f 76 83 85 +f 83 79 85 +f 84 76 85 +f 81 77 86 +f 77 84 86 +f 84 80 86 +f 79 75 87 +f 82 79 87 +f 80 82 87 +f 86 80 87 +f 81 86 87 +f 75 79 88 +f 79 78 88 +f 78 81 88 +f 87 75 88 +o convex_6 +v 0.143222 0.789077 2.453443 +v 0.838436 0.739402 2.039925 +v 0.821854 0.689690 2.155731 +v 0.143222 0.739402 2.767848 +v 0.159805 0.987627 2.039925 +v 0.805201 0.606961 2.139113 +v 0.341934 0.606961 2.685204 +v 0.143222 0.954498 2.006614 +v 0.474386 0.623507 2.635499 +v 0.772176 0.722856 2.006614 +v 0.457803 0.656636 2.387269 +v 0.755593 0.606961 2.337786 +v 0.126639 0.722856 2.685130 +v 0.126639 0.987627 2.006614 +v 0.143222 0.921369 2.073013 +v 0.341934 0.606961 2.668586 +f 103 99 104 +f 91 90 92 +f 92 90 93 +f 90 91 94 +f 91 92 97 +f 92 95 97 +f 90 94 98 +f 94 96 98 +f 94 91 100 +f 95 94 100 +f 91 97 100 +f 97 95 100 +f 95 92 101 +f 92 93 102 +f 93 90 102 +f 90 98 102 +f 98 96 102 +f 101 92 102 +f 96 94 103 +f 94 99 103 +f 89 101 103 +f 102 96 103 +f 101 102 103 +f 94 95 104 +f 99 94 104 +f 101 89 104 +f 95 101 104 +f 89 103 104 +o convex_7 +v 0.159808 -0.783563 -2.760822 +v 0.341899 -0.204193 -2.843467 +v 0.888097 -0.204323 -2.628373 +v 0.126639 -0.816553 -2.628373 +v 0.192902 -0.253906 -2.942796 +v 0.871401 -0.253970 -2.694613 +v 0.441255 -0.750378 -2.628373 +v 0.126639 -0.220786 -2.893116 +v 0.192902 -0.816553 -2.744262 +v 0.821834 -0.386320 -2.644964 +v 0.854854 -0.204323 -2.711173 +v 0.126639 -0.833210 -2.727733 +v 0.143261 -0.204193 -2.942796 +v 0.871401 -0.204323 -2.628373 +v 0.192902 -0.866330 -2.628373 +v 0.408086 -0.766906 -2.661493 +f 119 113 120 +f 107 108 111 +f 105 109 113 +f 109 110 113 +f 110 107 114 +f 107 111 114 +f 106 107 115 +f 110 109 115 +f 107 110 115 +f 108 112 116 +f 105 113 116 +f 109 105 117 +f 112 106 117 +f 106 115 117 +f 115 109 117 +f 105 116 117 +f 116 112 117 +f 107 106 118 +f 108 107 118 +f 106 112 118 +f 112 108 118 +f 111 108 119 +f 108 116 119 +f 116 113 119 +f 113 110 120 +f 114 111 120 +f 110 114 120 +f 111 119 120 +o convex_8 +v 0.954284 0.590293 1.791261 +v 1.003940 0.193140 1.973407 +v 1.020504 0.193140 1.973407 +v 1.003940 0.706157 0.997053 +v 0.821902 0.706157 1.956803 +v 1.020504 0.722746 1.145992 +v 0.871577 0.722746 2.006614 +v 1.020504 0.275930 1.989912 +v 0.821902 0.722746 2.006614 +f 128 127 129 +f 123 122 124 +f 124 122 125 +f 123 124 126 +f 121 126 127 +f 122 123 128 +f 126 121 128 +f 123 126 128 +f 121 127 128 +f 124 125 129 +f 125 122 129 +f 126 124 129 +f 127 126 129 +f 122 128 129 +o convex_9 +v -0.651450 0.673079 -1.916620 +v -0.701029 -0.038659 -2.429650 +v -0.667938 -0.038659 -2.429650 +v -0.469310 0.292506 -2.644834 +v -0.800304 0.093878 -1.916620 +v -0.469310 0.375066 -2.446122 +v -0.618320 0.689691 -2.082238 +v -0.866527 -0.022048 -2.032523 +v -0.618320 0.639927 -1.916620 +v -0.568585 0.093807 -2.661381 +v -0.469310 0.143500 -2.661381 +v -0.469310 0.590306 -2.363536 +v -0.816870 -0.038659 -2.032523 +v -0.717595 -0.022048 -2.413028 +v -0.502401 0.590306 -2.363536 +v -0.833435 0.126959 -1.916620 +v -0.469310 0.590306 -2.313821 +f 141 136 146 +f 130 136 137 +f 130 134 138 +f 134 135 138 +f 136 130 138 +f 132 131 139 +f 135 134 140 +f 133 135 140 +f 132 139 140 +f 139 133 140 +f 135 133 141 +f 131 132 142 +f 137 131 142 +f 134 137 142 +f 132 140 142 +f 140 134 142 +f 131 137 143 +f 137 136 143 +f 139 131 143 +f 136 139 143 +f 133 139 144 +f 139 136 144 +f 141 133 144 +f 136 141 144 +f 134 130 145 +f 130 137 145 +f 137 134 145 +f 138 135 146 +f 136 138 146 +f 135 141 146 +o convex_10 +v 0.143057 0.673070 -2.727719 +v -0.551983 0.077231 -2.694621 +v -0.551983 0.077231 -2.678029 +v 0.126592 -0.071766 -2.942813 +v 0.126456 0.673070 -2.777381 +v -0.171330 -0.055145 -2.893151 +v -0.187931 0.342056 -2.678029 +v 0.093392 0.673070 -2.678029 +v 0.110060 -0.038598 -2.975940 +v -0.088668 0.623429 -2.694621 +v -0.369923 -0.055145 -2.826984 +v -0.336790 -0.071766 -2.793916 +v -0.518782 0.160040 -2.694621 +v -0.353322 0.193134 -2.678029 +v 0.126592 -0.038598 -2.926250 +v 0.143057 0.093852 -2.942842 +f 161 150 162 +f 147 151 154 +f 149 153 154 +f 152 151 155 +f 150 152 155 +f 149 154 156 +f 154 151 156 +f 149 148 157 +f 151 152 157 +f 157 152 158 +f 152 150 158 +f 149 157 158 +f 148 149 159 +f 149 156 159 +f 156 151 159 +f 157 148 159 +f 151 157 159 +f 153 149 160 +f 149 158 160 +f 160 158 161 +f 154 153 161 +f 147 154 161 +f 158 150 161 +f 153 160 161 +f 151 147 162 +f 150 155 162 +f 155 151 162 +f 147 161 162 +o convex_11 +v -0.667834 0.689691 -1.734455 +v 0.143193 0.987633 -0.807467 +v 0.060348 0.987633 -0.807467 +v 0.143193 0.971068 -2.032419 +v -0.717468 0.772459 -0.824134 +v -0.750679 0.689691 -0.807467 +v -0.502326 0.706286 -1.999086 +v 0.143193 0.954503 -1.221380 +v -0.618200 0.706286 -2.032419 +v 0.076862 0.971068 -1.966112 +v 0.143193 0.971068 -0.807467 +v 0.109982 0.937937 -2.032419 +v -0.767103 0.722851 -0.956509 +v -0.552051 0.689691 -1.982659 +v 0.109982 0.987633 -1.651360 +v -0.055526 0.921401 -1.999086 +f 167 172 178 +f 165 167 168 +f 164 165 168 +f 166 164 170 +f 164 168 173 +f 170 164 173 +f 166 170 174 +f 170 169 174 +f 171 166 174 +f 169 171 174 +f 168 167 175 +f 163 168 175 +f 171 163 175 +f 167 171 175 +f 168 163 176 +f 169 170 176 +f 163 171 176 +f 171 169 176 +f 173 168 176 +f 170 173 176 +f 165 164 177 +f 164 166 177 +f 167 165 177 +f 166 172 177 +f 172 167 177 +f 171 167 178 +f 166 171 178 +f 172 166 178 +o convex_12 +v -0.419560 0.209687 2.718439 +v 0.060426 0.722798 2.768099 +v 0.060426 0.689592 2.784652 +v 0.060426 0.209687 2.900471 +v 0.027275 0.706168 2.668806 +v -0.618264 0.193165 2.718439 +v 0.043817 0.209687 2.950131 +v -0.171363 0.673123 2.668806 +v -0.601589 0.193165 2.668806 +v -0.072044 0.176535 2.850811 +v 0.027275 0.722798 2.768099 +v -0.336783 0.375181 2.668806 +v -0.585047 0.292514 2.685332 +f 189 186 191 +f 180 181 182 +f 180 182 183 +f 182 181 185 +f 186 183 187 +f 183 182 188 +f 182 185 188 +f 185 184 188 +f 184 187 188 +f 187 179 188 +f 181 180 189 +f 180 183 189 +f 185 181 189 +f 184 185 189 +f 183 186 189 +f 179 187 190 +f 187 183 190 +f 188 179 190 +f 183 188 190 +f 187 184 191 +f 186 187 191 +f 184 189 191 +o convex_13 +v 0.159874 0.126885 -2.942802 +v 0.242640 0.722798 -2.661477 +v 0.424709 0.640015 -2.661477 +v 0.854862 0.077215 -2.661477 +v 0.143335 0.077215 -2.909723 +v 0.871543 0.110391 -2.711137 +v 0.176413 0.706178 -2.777351 +v 0.176413 0.706178 -2.661477 +v 0.209491 0.110391 -2.942802 +v 0.143335 0.722798 -2.744244 +v 0.457787 0.623395 -2.678030 +v 0.838323 0.209668 -2.661477 +v 0.838323 0.077215 -2.727691 +v 0.556949 0.342121 -2.661477 +f 199 196 205 +f 194 193 195 +f 195 193 199 +f 196 192 200 +f 192 198 200 +f 198 197 200 +f 192 196 201 +f 193 198 201 +f 198 192 201 +f 199 193 201 +f 196 199 201 +f 193 194 202 +f 198 193 202 +f 197 198 202 +f 194 195 203 +f 195 197 203 +f 202 194 203 +f 197 202 203 +f 195 196 204 +f 197 195 204 +f 196 200 204 +f 200 197 204 +f 196 195 205 +f 195 199 205 +o convex_14 +v 1.152951 0.275899 -1.585283 +v 1.136391 -0.022106 -1.966144 +v 1.086738 0.077278 -2.082080 +v 1.103291 -0.022106 -1.006335 +v 1.086738 0.722798 -0.989564 +v 1.136391 0.027622 -1.006335 +v 1.119844 0.722798 -0.840574 +v 1.103291 0.689621 -1.171731 +v 1.152951 0.060726 -1.966144 +v 1.152951 -0.005481 -1.403602 +v 1.136398 0.623341 -1.072445 +v 1.103291 0.193213 -1.999199 +v 1.136398 0.342180 -0.923454 +v 1.103291 0.656445 -0.840574 +v 1.086738 0.375283 -1.701340 +f 213 217 220 +f 208 207 209 +f 208 209 210 +f 210 212 213 +f 207 208 214 +f 213 206 214 +f 209 207 215 +f 211 209 215 +f 207 214 215 +f 214 206 215 +f 206 213 216 +f 213 212 216 +f 215 206 216 +f 214 208 217 +f 213 214 217 +f 209 211 218 +f 211 215 218 +f 216 212 218 +f 215 216 218 +f 210 209 219 +f 212 210 219 +f 209 218 219 +f 218 212 219 +f 208 210 220 +f 210 213 220 +f 217 208 220 +o convex_15 +v 0.457708 0.871771 -2.032419 +v 1.119844 0.805567 -0.807467 +v 1.070132 0.822118 -0.807467 +v 0.689481 0.855205 -0.807467 +v 0.888071 0.722813 -1.966112 +v 1.103252 0.722813 -0.824134 +v 0.937718 0.772451 -1.850163 +v 0.788776 0.871771 -1.271021 +v 0.457708 0.855205 -1.999086 +v 0.540475 0.871771 -2.032419 +v 0.805239 0.871771 -0.807467 +v 1.119844 0.722813 -1.006270 +v 0.921191 0.722813 -2.015753 +v 1.103252 0.805567 -0.973056 +v 0.689481 0.871771 -0.807467 +v 0.871543 0.772451 -2.032419 +f 233 221 236 +f 222 223 224 +f 222 224 226 +f 225 226 229 +f 226 224 229 +f 221 228 230 +f 228 227 230 +f 224 223 231 +f 223 228 231 +f 228 221 231 +f 222 226 232 +f 226 225 232 +f 229 221 233 +f 225 229 233 +f 232 225 233 +f 223 222 234 +f 228 223 234 +f 227 228 234 +f 222 232 234 +f 233 227 234 +f 232 233 234 +f 221 229 235 +f 229 224 235 +f 224 231 235 +f 231 221 235 +f 221 230 236 +f 230 227 236 +f 227 233 236 +o convex_16 +v 0.060469 -0.982204 1.444012 +v 0.507368 -0.915997 0.914129 +v 0.507368 -0.932555 0.914129 +v 0.259115 -0.932555 1.989865 +v 0.060469 -0.932555 0.897535 +v 0.060469 -0.915997 2.172148 +v 0.341793 -0.982204 0.897535 +v 0.110164 -0.982204 1.973271 +v 0.275651 -0.915997 1.956802 +v 0.093584 -0.965646 0.980380 +v 0.308678 -0.915997 1.079819 +f 241 242 247 +f 241 237 242 +f 238 239 243 +f 241 238 243 +f 239 240 244 +f 240 242 244 +f 242 237 244 +f 243 239 244 +f 237 243 244 +f 239 238 245 +f 240 239 245 +f 238 242 245 +f 242 240 245 +f 237 241 246 +f 243 237 246 +f 241 243 246 +f 238 241 247 +f 242 238 247 +o convex_17 +v -0.767226 0.722816 -0.741201 +v -0.568604 0.888311 0.367826 +v -0.618284 0.888311 0.367826 +v -0.800305 0.722816 0.367826 +v -0.585205 0.755929 -0.807467 +v -0.684491 0.888311 -0.012971 +v -0.568604 0.805581 -0.741201 +v -0.816905 0.755929 0.367826 +v -0.734122 0.772486 -0.807467 +v -0.568604 0.904886 -0.062670 +v -0.585205 0.855198 0.367826 +v -0.717570 0.871754 0.367826 +v -0.783753 0.722816 0.351260 +v -0.717570 0.722816 -0.807467 +v -0.816905 0.739372 0.053295 +f 255 259 262 +f 249 250 251 +f 249 252 254 +f 251 250 255 +f 254 252 256 +f 254 256 257 +f 250 249 257 +f 253 250 257 +f 249 254 257 +f 256 253 257 +f 249 251 258 +f 252 249 258 +f 250 253 259 +f 255 250 259 +f 251 248 260 +f 258 251 260 +f 252 258 260 +f 248 256 261 +f 256 252 261 +f 260 248 261 +f 252 260 261 +f 248 251 262 +f 251 255 262 +f 253 256 262 +f 256 248 262 +f 259 253 262 +o convex_18 +v -0.833433 0.722814 0.682354 +v -0.568630 0.822099 1.956954 +v -0.585193 0.822099 1.956954 +v -0.568630 0.888332 0.367826 +v -0.767206 0.838657 1.030015 +v -0.684494 0.722814 1.956954 +v -0.800332 0.722814 0.367826 +v -0.568630 0.855199 0.417603 +v -0.717569 0.871758 0.367826 +v -0.585193 0.871758 1.294765 +v -0.701031 0.772473 1.923821 +v -0.568630 0.789031 1.890688 +v -0.833433 0.739372 0.384470 +v -0.684494 0.722814 1.807779 +f 270 274 276 +f 264 265 268 +f 268 263 269 +f 269 266 270 +f 266 264 270 +f 266 269 271 +f 265 264 272 +f 264 266 272 +f 267 265 272 +f 266 271 272 +f 271 267 272 +f 267 263 273 +f 265 267 273 +f 268 265 273 +f 263 268 273 +f 264 268 274 +f 270 264 274 +f 263 267 275 +f 269 263 275 +f 267 271 275 +f 271 269 275 +f 268 269 276 +f 269 270 276 +f 274 268 276 +o convex_19 +v 1.086563 0.987646 -0.079120 +v 0.126735 0.971099 -0.327418 +v 0.126735 0.987646 -0.327418 +v 0.126735 0.987646 -0.046009 +v 1.103291 0.921439 -0.327418 +v 1.086563 1.020759 -0.095675 +v 0.358543 0.921439 -0.261170 +v 1.103291 0.954552 -0.327418 +v 0.573718 1.020759 -0.046009 +v 0.126735 0.971099 -0.062565 +v 0.358543 0.921439 -0.327418 +v 0.126735 1.004203 -0.046009 +v 0.788702 0.987646 -0.046009 +f 286 283 289 +f 279 278 280 +f 278 279 281 +f 277 281 284 +f 281 279 284 +f 279 282 284 +f 282 277 284 +f 282 279 285 +f 280 278 286 +f 278 283 286 +f 278 281 287 +f 283 278 287 +f 281 283 287 +f 279 280 288 +f 285 279 288 +f 280 285 288 +f 281 277 289 +f 277 282 289 +f 283 281 289 +f 285 280 289 +f 282 285 289 +f 280 286 289 +o convex_20 +v 1.070184 0.755950 0.616101 +v 0.126639 0.971064 0.400933 +v 0.126639 0.971064 0.765108 +v 1.070184 0.855225 0.400933 +v 0.656321 0.822151 0.417509 +v 1.070184 0.722824 0.765108 +v 0.192861 0.987627 0.765108 +v 0.192861 0.987627 0.400933 +v 0.987245 0.772487 0.765108 +v 1.070184 0.855225 0.450625 +v 1.020495 0.722824 0.715415 +v 0.341837 0.904863 0.400933 +f 300 292 301 +f 293 290 294 +f 290 293 295 +f 291 292 296 +f 292 295 296 +f 293 291 297 +f 291 296 297 +f 296 293 297 +f 296 295 298 +f 296 298 299 +f 295 293 299 +f 293 296 299 +f 298 295 299 +f 294 290 300 +f 295 292 300 +f 290 295 300 +f 292 291 301 +f 291 293 301 +f 293 294 301 +f 294 300 301 +o convex_21 +v 0.143264 0.954518 1.956789 +v 1.070184 0.739379 0.814934 +v 1.070184 0.722798 0.814934 +v 0.126639 0.987625 0.765108 +v 0.772140 0.722826 1.973316 +v 0.176329 0.987625 1.973316 +v 0.854894 0.739406 1.973316 +v 0.176329 0.954491 0.765108 +v 0.143264 1.004179 0.963924 +v 1.020495 0.722798 0.765108 +v 0.987245 0.772513 0.765108 +v 1.036842 0.755960 0.847989 +v 0.126732 0.987625 2.006614 +v 0.192861 0.987625 0.765108 +v 0.226018 0.921384 2.006614 +v 0.838269 0.722826 2.006614 +v 0.126639 0.971072 0.765108 +f 316 302 318 +f 304 303 308 +f 303 304 311 +f 304 306 311 +f 309 305 311 +f 306 309 311 +f 310 307 312 +f 303 311 312 +f 311 305 312 +f 307 308 313 +f 308 303 313 +f 303 312 313 +f 312 307 313 +f 308 307 314 +f 310 305 314 +f 307 310 314 +f 305 310 315 +f 312 305 315 +f 310 312 315 +f 314 302 316 +f 314 316 317 +f 306 304 317 +f 304 308 317 +f 308 314 317 +f 316 306 317 +f 305 309 318 +f 309 306 318 +f 302 314 318 +f 314 305 318 +f 306 316 318 +o convex_22 +v -0.866566 -0.253925 -0.559207 +v -0.469408 -0.866330 -0.807467 +v -0.436259 -0.866330 -0.807467 +v -0.734053 -0.866330 -0.029503 +v -0.866566 -0.502187 -0.509508 +v -0.767203 -0.237362 -0.658368 +v -0.800310 -0.253925 -0.807467 +v -0.866523 -0.667634 0.003604 +v -0.767160 -0.866330 -0.046096 +v -0.717500 -0.849705 -0.046096 +v -0.469408 -0.783576 -0.757688 +v -0.519069 -0.866330 -0.741174 +v -0.750607 -0.253925 -0.807467 +v -0.849928 -0.634569 -0.029582 +v -0.866523 -0.700699 -0.046096 +v -0.717500 -0.320116 -0.674961 +f 329 331 334 +f 320 321 322 +f 319 324 325 +f 321 320 325 +f 323 319 325 +f 319 323 326 +f 320 322 327 +f 322 326 327 +f 322 321 328 +f 326 322 328 +f 328 321 329 +f 325 320 330 +f 323 325 330 +f 320 327 330 +f 327 323 330 +f 325 324 331 +f 321 325 331 +f 329 321 331 +f 324 319 332 +f 319 326 332 +f 328 324 332 +f 326 328 332 +f 326 323 333 +f 323 327 333 +f 327 326 333 +f 324 328 334 +f 328 329 334 +f 331 324 334 +o convex_23 +v -0.568570 -0.154640 -2.727584 +v -0.667878 -0.088472 -2.429702 +v -0.618224 0.077215 -2.429776 +v -0.386547 -0.601475 -2.512511 +v -0.386517 0.077215 -2.760715 +v -0.386517 -0.088339 -2.810430 +v -0.585132 -0.022104 -2.744168 +v -0.469324 -0.584800 -2.429702 +v -0.701001 -0.071797 -2.479417 +v -0.403140 -0.601475 -2.562189 +v -0.436232 -0.551716 -2.429702 +v -0.386517 0.077215 -2.727621 +v -0.568570 0.077215 -2.677943 +v -0.667878 0.060606 -2.446323 +f 347 341 348 +f 339 340 341 +f 340 335 341 +f 341 335 343 +f 342 336 343 +f 335 342 343 +f 335 340 344 +f 340 338 344 +f 342 335 344 +f 338 342 344 +f 337 336 345 +f 336 342 345 +f 342 338 345 +f 339 337 346 +f 338 340 346 +f 340 339 346 +f 337 345 346 +f 345 338 346 +f 337 339 347 +f 339 341 347 +f 336 337 348 +f 343 336 348 +f 341 343 348 +f 337 347 348 +o convex_24 +v 1.103278 0.093830 1.857533 +v 1.086727 -0.022106 0.980445 +v 1.020524 0.706173 0.897812 +v 1.020524 -0.022106 2.221809 +v 1.070185 0.722798 0.848060 +v 1.037083 0.209692 2.022943 +v 1.103278 0.226244 0.914252 +v 1.103278 -0.022106 2.023087 +v 1.020524 0.722798 1.046782 +v 1.053634 0.673070 0.748699 +v 1.103278 -0.022106 0.980445 +v 1.020524 -0.005481 2.105719 +v 1.086727 0.557061 0.798451 +v 1.020524 0.209692 2.022943 +v 1.037083 0.673070 1.145998 +f 362 354 363 +f 352 350 356 +f 354 352 356 +f 349 354 356 +f 355 349 356 +f 351 352 357 +f 353 351 357 +f 350 351 358 +f 351 353 358 +f 356 350 359 +f 355 356 359 +f 350 358 359 +f 351 350 360 +f 352 351 360 +f 350 352 360 +f 353 349 361 +f 349 355 361 +f 358 353 361 +f 355 359 361 +f 359 358 361 +f 352 354 362 +f 357 352 362 +f 357 362 363 +f 349 353 363 +f 354 349 363 +f 353 357 363 +o convex_25 +v -0.320262 -0.071818 -2.793792 +v -0.386517 -0.601424 -2.562184 +v -0.254058 -0.601424 -2.628376 +v 0.126639 -0.138070 -2.909728 +v -0.369940 -0.088407 -2.826954 +v 0.110063 -0.601424 -2.793792 +v -0.353364 -0.584835 -2.529022 +v 0.093487 -0.088407 -2.975964 +v 0.126639 -0.568297 -2.760718 +v -0.386517 -0.071818 -2.777255 +v 0.126639 -0.071818 -2.975964 +f 373 364 374 +f 366 365 368 +f 366 368 369 +f 365 366 369 +f 367 364 370 +f 365 369 370 +f 369 368 371 +f 367 370 372 +f 370 369 372 +f 368 365 373 +f 370 364 373 +f 365 370 373 +f 364 367 374 +f 371 368 374 +f 369 371 374 +f 367 372 374 +f 372 369 374 +f 368 373 374 +o convex_26 +v 0.375018 -0.717349 2.321197 +v 0.706009 -0.253854 2.668751 +v 0.706009 -0.303533 2.668751 +v 0.143193 -0.700789 2.668751 +v 0.706009 -0.717349 2.172229 +v 0.590096 -0.584870 2.569344 +v 0.689426 -0.700789 2.089494 +v 0.490766 -0.369773 2.652136 +v 0.209413 -0.717349 2.668751 +v 0.706009 -0.634550 2.354313 +v 0.375018 -0.700789 2.321197 +v 0.623206 -0.286973 2.652136 +v 0.143193 -0.700789 2.635577 +v 0.341853 -0.667670 2.652136 +f 379 384 388 +f 377 376 378 +f 376 377 379 +f 379 375 381 +f 376 379 381 +f 378 376 382 +f 377 378 383 +f 375 379 383 +f 379 377 384 +f 377 380 384 +f 381 375 385 +f 385 382 386 +f 376 381 386 +f 382 376 386 +f 381 385 386 +f 378 382 387 +f 383 378 387 +f 375 383 387 +f 385 375 387 +f 382 385 387 +f 380 377 388 +f 377 383 388 +f 383 379 388 +f 384 380 388 +o convex_27 +v 0.109995 -0.866317 -2.396491 +v -0.452717 -0.651188 -2.429702 +v -0.452717 -0.634582 -2.429702 +v -0.667925 -0.651188 -1.966206 +v -0.552038 -0.816657 -1.982766 +v 0.126639 -1.015298 -1.966206 +v 0.109995 -0.915977 -2.413142 +v -0.634714 -0.634582 -1.966206 +v 0.076940 -1.031864 -1.982766 +v -0.220943 -0.700809 -2.413142 +v -0.618225 -0.783563 -1.999326 +v 0.109995 -0.982165 -1.999326 +v -0.452717 -0.684281 -2.379977 +v -0.552038 -0.816657 -1.966206 +f 399 393 402 +f 391 390 392 +f 390 391 395 +f 389 394 395 +f 391 392 396 +f 392 394 396 +f 393 395 397 +f 395 394 397 +f 389 395 398 +f 395 391 398 +f 391 396 398 +f 392 390 399 +f 395 393 399 +f 394 389 400 +f 396 394 400 +f 389 398 400 +f 398 396 400 +f 390 395 401 +f 399 390 401 +f 395 399 401 +f 394 392 402 +f 393 397 402 +f 397 394 402 +f 392 399 402 +o convex_28 +v -0.916226 0.226280 -0.592220 +v -0.883106 0.557212 -0.310864 +v -0.866546 0.557212 -0.327489 +v -0.899666 0.027658 -0.310864 +v -0.800352 0.424746 -0.807467 +v -0.866546 0.027658 -0.807467 +v -0.833472 0.557212 -0.790842 +v -0.916226 0.524082 -0.344065 +v -0.916226 0.027658 -0.608748 +v -0.883106 0.110404 -0.807467 +v -0.916226 0.424746 -0.542687 +v -0.916226 0.027658 -0.310864 +v -0.816912 0.259357 -0.774266 +v -0.800352 0.557212 -0.807467 +f 412 409 416 +f 405 404 406 +f 405 406 407 +f 404 405 409 +f 404 409 410 +f 408 406 411 +f 410 403 411 +f 407 408 412 +f 411 403 412 +f 408 411 412 +f 403 410 413 +f 410 409 413 +f 409 412 413 +f 412 403 413 +f 406 404 414 +f 404 410 414 +f 411 406 414 +f 410 411 414 +f 407 406 415 +f 406 408 415 +f 408 407 415 +f 405 407 416 +f 409 405 416 +f 407 412 416 +o convex_29 +v -0.469361 -0.634582 -2.413077 +v -0.849943 -0.038659 -1.982759 +v -0.866478 -0.038659 -1.982759 +v -0.684412 -0.038659 -2.429702 +v -0.436247 -0.568317 -2.413077 +v -0.667876 -0.634582 -1.999340 +v -0.717527 -0.071792 -2.429702 +v -0.634849 -0.601391 -1.982759 +v -0.866478 -0.071792 -2.032458 +v -0.833407 -0.055226 -1.982759 +v -0.700991 -0.038659 -2.346884 +v -0.419667 -0.634582 -2.429702 +f 424 422 428 +f 419 418 420 +f 417 422 423 +f 419 420 423 +f 418 419 424 +f 419 422 424 +f 422 419 425 +f 423 422 425 +f 419 423 425 +f 418 424 426 +f 424 421 426 +f 420 418 427 +f 421 420 427 +f 418 426 427 +f 426 421 427 +f 420 421 428 +f 422 417 428 +f 417 423 428 +f 423 420 428 +f 421 424 428 +o convex_30 +v -0.701001 -0.833220 1.013505 +v 0.060426 -0.965613 1.990061 +v 0.043805 -0.949048 1.990061 +v -0.701001 -0.750498 1.973332 +v 0.060426 -0.949048 1.443855 +v -0.651287 -0.717393 1.973332 +v -0.022380 -0.982204 1.907279 +v -0.386473 -0.866299 1.013505 +v -0.618195 -0.866299 1.112824 +v 0.043805 -0.982204 1.526541 +v -0.701001 -0.800142 1.096286 +v -0.403093 -0.899430 1.063212 +v 0.010712 -0.982204 1.990061 +v -0.701001 -0.717393 1.990061 +f 432 441 442 +f 431 430 433 +f 431 433 434 +f 434 433 436 +f 432 429 437 +f 435 432 437 +f 433 430 438 +f 429 432 439 +f 434 436 439 +f 436 429 439 +f 436 433 440 +f 429 436 440 +f 437 429 440 +f 435 437 440 +f 433 438 440 +f 438 435 440 +f 430 431 441 +f 432 435 441 +f 438 430 441 +f 435 438 441 +f 431 434 442 +f 439 432 442 +f 434 439 442 +f 441 431 442 +o convex_31 +v -0.717636 0.673079 -1.088865 +v -0.866531 -0.038659 -1.982759 +v -0.866531 -0.005507 -1.982759 +v -0.618318 0.689691 -1.916494 +v -0.883084 -0.038659 -0.807467 +v -0.816844 0.623387 -0.824148 +v -0.651424 0.689691 -1.899927 +v -0.833452 -0.022048 -1.949626 +v -0.899664 0.011033 -1.138564 +v -0.618318 0.656468 -1.883131 +v -0.800319 0.325516 -0.824148 +v -0.767240 0.689691 -0.807467 +v -0.899664 0.027574 -0.807467 +v -0.850005 0.060655 -1.982759 +v -0.883084 -0.022048 -1.750945 +v -0.866531 0.011033 -0.807467 +v -0.783821 0.689691 -0.906980 +v -0.618318 0.673079 -1.833662 +f 453 458 460 +f 444 446 450 +f 447 444 450 +f 450 446 452 +f 443 446 454 +f 446 449 454 +f 453 443 454 +f 451 447 455 +f 448 451 455 +f 447 454 455 +f 454 448 455 +f 444 445 456 +f 446 444 456 +f 445 448 456 +f 449 446 456 +f 445 444 457 +f 444 447 457 +f 448 445 457 +f 447 451 457 +f 451 448 457 +f 447 450 458 +f 450 452 458 +f 454 447 458 +f 453 454 458 +f 448 454 459 +f 454 449 459 +f 456 448 459 +f 449 456 459 +f 446 443 460 +f 452 446 460 +f 443 453 460 +f 458 452 460 +o convex_32 +v 0.623206 -0.899426 -1.933099 +v 0.126688 -0.849848 -2.628274 +v 0.126688 -0.833257 -2.628274 +v 0.126688 -1.031795 -1.933235 +v 0.921164 -0.717382 -1.933099 +v 0.904571 -0.800141 -2.049064 +v 0.490780 -0.717349 -2.628274 +v 0.192980 -0.882867 -2.595132 +v 0.192980 -1.048385 -1.966310 +v 0.556913 -0.717349 -2.379944 +v 0.126688 -0.982120 -2.049064 +v 0.838358 -0.717382 -2.247646 +v 0.921164 -0.816667 -1.982847 +v 0.126688 -0.833257 -2.562057 +v 0.490780 -0.733940 -2.628274 +v 0.126688 -1.031795 -2.049064 +v 0.424567 -0.717349 -2.611669 +v 0.921164 -0.816667 -1.933099 +f 469 473 478 +f 463 462 464 +f 464 461 465 +f 462 463 467 +f 461 464 469 +f 463 464 471 +f 464 465 471 +f 465 470 471 +f 465 466 472 +f 470 465 472 +f 467 470 472 +f 466 465 473 +f 468 466 473 +f 469 468 473 +f 463 471 474 +f 471 470 474 +f 462 467 475 +f 466 468 475 +f 468 462 475 +f 472 466 475 +f 467 472 475 +f 464 462 476 +f 462 468 476 +f 469 464 476 +f 468 469 476 +f 467 463 477 +f 470 467 477 +f 463 474 477 +f 474 470 477 +f 465 461 478 +f 461 469 478 +f 473 465 478 +o convex_33 +v -0.850020 -0.700762 0.483700 +v -0.866546 -0.237300 0.864428 +v -0.883104 -0.237300 0.864428 +v -0.783820 -0.717349 0.864428 +v -0.866546 -0.237300 0.649281 +v -0.916205 -0.485595 0.500284 +v -0.816920 -0.684221 0.483700 +v -0.932779 -0.237300 0.483700 +v -0.767261 -0.684221 0.831297 +v -0.816920 -0.717349 0.781657 +v -0.883104 -0.303603 0.864428 +f 488 482 489 +f 480 481 482 +f 481 480 483 +f 482 479 485 +f 481 483 486 +f 479 484 486 +f 483 485 486 +f 485 479 486 +f 480 482 487 +f 483 480 487 +f 485 483 487 +f 482 485 487 +f 479 482 488 +f 484 479 488 +f 484 488 489 +f 482 481 489 +f 481 486 489 +f 486 484 489 +o convex_34 +v 0.126639 -1.031822 -1.933099 +v 0.854990 -0.750456 -0.956543 +v 0.805297 -0.750456 -0.956543 +v 0.159792 -0.982152 -0.956543 +v 0.854990 -0.833259 -1.850222 +v 0.838378 -0.800155 -1.933099 +v 0.143251 -0.949049 -0.989713 +v 0.176332 -1.048418 -1.866759 +v 0.838378 -0.783589 -0.989713 +v 0.126639 -1.015256 -1.850222 +v 0.606669 -0.915945 -1.933099 +v 0.143251 -0.998719 -1.072495 +v 0.838378 -0.750456 -1.171718 +f 495 496 502 +f 491 492 493 +f 491 494 495 +f 493 492 496 +f 491 493 498 +f 494 491 498 +f 497 494 498 +f 495 490 499 +f 496 495 499 +f 495 494 500 +f 490 495 500 +f 497 490 500 +f 494 497 500 +f 493 496 501 +f 490 497 501 +f 498 493 501 +f 497 498 501 +f 499 490 501 +f 496 499 501 +f 492 491 502 +f 491 495 502 +f 496 492 502 +o convex_35 +v 0.987473 -0.435786 -0.973246 +v 0.854998 -0.816670 -1.933097 +v 0.854998 -0.800029 -1.933097 +v 1.152870 -0.022242 -1.966206 +v 0.921192 -0.816670 -1.916296 +v 1.086706 -0.038805 -1.072571 +v 0.854998 -0.733852 -0.956543 +v 1.119802 -0.071855 -1.055968 +v 0.904658 -0.733852 -0.956543 +v 1.119802 -0.038805 -1.916395 +v 1.152870 -0.071855 -1.899890 +v 1.119802 -0.022242 -1.006354 +v 0.854998 -0.766979 -0.956543 +v 0.954376 -0.700647 -1.966206 +f 513 507 516 +f 505 504 509 +f 508 505 509 +f 503 509 511 +f 507 510 511 +f 506 505 512 +f 505 508 512 +f 508 506 512 +f 510 507 513 +f 510 513 514 +f 506 508 514 +f 509 503 514 +f 508 509 514 +f 503 511 514 +f 511 510 514 +f 513 506 514 +f 504 507 515 +f 509 504 515 +f 511 509 515 +f 507 511 515 +f 504 505 516 +f 505 506 516 +f 507 504 516 +f 506 513 516 +o convex_36 +v 0.441154 -0.700746 -2.628343 +v 0.805330 -0.700746 -2.247614 +v 0.788753 -0.700746 -2.247614 +v 0.788753 -0.369762 -2.611758 +v 0.739096 -0.651105 -2.528986 +v 0.606701 -0.485647 -2.611758 +v 0.805330 -0.435972 -2.628343 +v 0.573621 -0.700746 -2.413195 +v 0.540504 -0.717315 -2.611758 +v 0.788753 -0.502182 -2.413195 +v 0.805330 -0.717315 -2.313876 +f 524 525 527 +f 522 520 523 +f 517 522 523 +f 522 517 524 +f 517 523 525 +f 523 521 525 +f 524 517 525 +f 519 518 526 +f 520 522 526 +f 523 520 526 +f 518 523 526 +f 524 519 526 +f 522 524 526 +f 518 519 527 +f 523 518 527 +f 521 523 527 +f 519 524 527 +f 525 521 527 +o convex_37 +v 0.821838 0.275933 2.370838 +v 0.424666 0.606924 2.685253 +v 0.474295 0.590341 2.668664 +v 0.821838 0.044108 2.685253 +v 0.821838 0.606924 2.221848 +v 0.374991 0.557176 2.668664 +v 0.672858 0.540649 2.585926 +v 0.805279 0.573814 2.155647 +v 0.805279 0.160076 2.685253 +v 0.490853 0.375098 2.668664 +v 0.805279 0.308988 2.337712 +v 0.358387 0.606924 2.685253 +v 0.805279 0.044108 2.668664 +f 537 538 540 +f 531 528 532 +f 529 530 534 +f 532 529 534 +f 532 528 535 +f 530 529 536 +f 529 531 536 +f 531 532 536 +f 534 530 536 +f 532 534 536 +f 535 528 538 +f 533 535 538 +f 537 533 538 +f 531 529 539 +f 529 532 539 +f 532 535 539 +f 535 533 539 +f 537 531 539 +f 533 537 539 +f 528 531 540 +f 531 537 540 +f 538 528 540 +o convex_38 +v -0.237652 -0.667689 2.652236 +v 0.060426 -0.171087 2.950159 +v 0.060426 -0.220766 2.950159 +v -0.601711 -0.187663 2.718451 +v -0.369937 -0.402860 2.635706 +v 0.027306 -0.667689 2.784667 +v 0.060426 -0.634488 2.751544 +v -0.121701 -0.171087 2.834259 +v -0.601711 -0.253870 2.635706 +v -0.171348 -0.651113 2.635706 +v -0.601711 -0.320077 2.652236 +v -0.568591 -0.171087 2.685359 +v 0.027306 -0.204239 2.950159 +v 0.060426 -0.187663 2.917005 +f 548 542 554 +f 542 543 547 +f 543 546 547 +f 549 545 550 +f 546 541 550 +f 547 546 550 +f 545 548 550 +f 548 547 550 +f 541 549 550 +f 546 544 551 +f 541 546 551 +f 544 549 551 +f 549 541 551 +f 544 542 552 +f 548 545 552 +f 542 548 552 +f 549 544 552 +f 545 549 552 +f 543 542 553 +f 542 544 553 +f 546 543 553 +f 544 546 553 +f 542 547 554 +f 547 548 554 +o convex_39 +v 0.706009 -0.303592 2.668630 +v 0.805323 -0.717349 1.990127 +v 0.805323 -0.700679 1.990127 +v 1.070148 -0.022242 2.106092 +v 0.871592 -0.038844 2.701675 +v 1.037032 -0.038844 2.039924 +v 0.706009 -0.700679 2.089569 +v 0.838511 -0.717281 2.023325 +v 0.706009 -0.237388 2.652031 +v 0.722585 -0.651009 2.304670 +v 1.070148 -0.138116 2.006802 +v 0.821935 -0.022242 2.701675 +v 1.053572 -0.055378 1.990203 +v 0.838511 -0.038844 2.767919 +v 0.722585 -0.402864 2.387285 +v 0.722585 -0.353262 2.635508 +f 568 555 570 +f 557 556 561 +f 561 556 562 +f 561 555 563 +f 555 561 564 +f 561 562 564 +f 558 559 565 +f 559 562 565 +f 562 556 565 +f 559 558 566 +f 558 560 566 +f 560 563 566 +f 556 557 567 +f 560 558 567 +f 557 561 567 +f 561 560 567 +f 565 556 567 +f 558 565 567 +f 562 559 568 +f 563 555 568 +f 559 566 568 +f 566 563 568 +f 560 561 569 +f 563 560 569 +f 561 563 569 +f 555 564 570 +f 564 562 570 +f 562 568 570 +o convex_40 +v 0.060500 -0.651045 2.735023 +v 0.821849 0.011001 2.768125 +v 0.821849 0.011001 2.735023 +v 0.060500 0.011001 2.983203 +v 0.077046 -0.138006 2.983203 +v 0.093593 -0.717349 2.751591 +v 0.441137 -0.369572 2.668785 +v 0.821849 -0.088384 2.751557 +v 0.755590 -0.253860 2.668819 +v 0.126685 -0.700595 2.668785 +v 0.805228 -0.071844 2.668819 +v 0.093593 -0.022151 3.016339 +v 0.805228 -0.038763 2.784625 +v 0.259129 -0.684197 2.685387 +f 580 579 584 +f 572 573 574 +f 574 571 575 +f 575 571 576 +f 573 572 578 +f 571 574 580 +f 576 571 580 +f 574 577 580 +f 577 579 580 +f 574 573 581 +f 577 574 581 +f 573 578 581 +f 579 577 581 +f 578 579 581 +f 572 574 582 +f 574 575 582 +f 575 576 583 +f 578 572 583 +f 576 578 583 +f 572 582 583 +f 582 575 583 +f 578 576 584 +f 579 578 584 +f 576 580 584 +o convex_41 +v -0.618222 0.325558 2.453518 +v -0.187876 0.623435 2.668751 +v -0.187876 0.606882 2.668751 +v -0.601667 0.623435 2.205255 +v -0.502337 0.524115 2.602511 +v -0.618222 0.193131 2.668751 +v -0.336913 0.408283 2.652191 +v -0.618222 0.623435 2.271495 +v -0.585112 0.325558 2.668751 +v -0.601667 0.424794 2.337734 +v -0.320358 0.623435 2.635586 +v -0.187876 0.606882 2.652191 +v -0.535447 0.623435 2.437003 +f 589 595 597 +f 587 586 590 +f 590 585 591 +f 587 590 591 +f 586 588 592 +f 588 585 592 +f 585 590 592 +f 592 590 593 +f 590 586 593 +f 585 588 594 +f 591 585 594 +f 586 592 595 +f 593 586 595 +f 589 593 595 +f 586 587 596 +f 588 586 596 +f 587 591 596 +f 594 588 596 +f 591 594 596 +f 592 593 597 +f 593 589 597 +f 595 592 597 +o convex_42 +v 0.590192 0.358558 -2.661449 +v 0.871501 0.606924 -2.164847 +v 0.854946 0.606924 -2.164847 +v 0.871501 0.093868 -2.628297 +v 0.739061 0.491003 -2.595145 +v 0.441196 0.606924 -2.661449 +v 0.854946 0.309035 -2.346990 +v 0.871501 0.160066 -2.661449 +v 0.788726 0.606924 -2.396669 +v 0.573637 0.590299 -2.462779 +v 0.573637 0.375132 -2.644873 +v 0.490862 0.606924 -2.661449 +v 0.871501 0.606924 -2.231151 +f 605 606 610 +f 600 599 603 +f 599 600 604 +f 601 599 604 +f 599 601 605 +f 601 598 605 +f 598 603 605 +f 603 599 606 +f 605 602 606 +f 600 603 607 +f 604 600 607 +f 604 607 608 +f 598 601 608 +f 603 598 608 +f 601 604 608 +f 607 603 608 +f 602 605 609 +f 605 603 609 +f 603 606 609 +f 606 602 609 +f 599 605 610 +f 606 599 610 +o convex_43 +v -0.552017 0.855225 0.483791 +v -0.088555 0.971099 1.195375 +v -0.138223 0.971099 1.195375 +v -0.088555 0.971099 -0.046009 +v -0.568604 0.904905 -0.046009 +v -0.568604 0.871785 1.195375 +v -0.121683 0.937979 1.195375 +v -0.105142 0.937979 0.119735 +v -0.518889 0.855225 1.195375 +v -0.469267 0.888345 -0.046009 +v -0.171351 0.971099 -0.046009 +v -0.535476 0.888345 1.195375 +v -0.502301 0.921420 -0.029241 +v -0.568604 0.871785 0.053510 +f 615 620 624 +f 613 612 614 +f 612 613 616 +f 612 616 617 +f 614 612 618 +f 612 617 618 +f 618 617 619 +f 616 611 619 +f 617 616 619 +f 611 618 619 +f 615 614 620 +f 614 618 620 +f 618 611 620 +f 613 614 621 +f 614 615 621 +f 616 613 622 +f 615 616 622 +f 613 621 623 +f 621 615 623 +f 622 613 623 +f 615 622 623 +f 616 615 624 +f 611 616 624 +f 620 611 624 +o convex_44 +v 0.871543 0.077234 -2.611647 +v 1.136347 0.077234 -1.966342 +v 0.937806 0.689671 -1.999491 +v 0.970910 -0.038598 -2.628329 +v 1.119823 -0.055200 -1.999420 +v 0.871543 0.524110 -2.164952 +v 0.888123 0.706120 -2.131803 +v 1.152872 -0.005471 -2.049108 +v 0.888123 0.706120 -1.999491 +v 0.888123 0.275921 -2.297406 +v 0.888123 0.093835 -2.694484 +v 0.921227 0.722798 -2.049108 +v 0.937806 -0.055200 -2.595108 +v 0.871543 0.722798 -2.115335 +v 1.152872 -0.055200 -1.966342 +f 637 628 639 +f 627 626 632 +f 626 627 633 +f 625 629 634 +f 630 625 634 +f 629 633 634 +f 633 630 634 +f 635 631 636 +f 627 632 636 +f 632 628 636 +f 633 627 636 +f 628 635 636 +f 629 625 637 +f 625 635 637 +f 635 628 637 +f 625 630 638 +f 630 633 638 +f 635 625 638 +f 631 635 638 +f 636 631 638 +f 633 636 638 +f 632 626 639 +f 628 632 639 +f 626 633 639 +f 633 629 639 +f 629 637 639 +o convex_45 +v 0.970883 0.722798 -1.568797 +v 1.070162 0.159982 -1.999313 +v 1.086738 0.159982 -1.999313 +v 1.070162 0.706215 -1.072412 +v 0.937784 0.722798 -1.966105 +v 1.086738 0.722798 -1.188365 +v 0.904650 0.673050 -1.966105 +v 1.086738 0.242785 -1.999313 +v 0.904650 0.722798 -1.999313 +v 1.070162 0.176564 -1.949502 +f 643 646 649 +f 643 642 645 +f 640 643 645 +f 644 640 645 +f 643 640 646 +f 642 641 647 +f 645 642 647 +f 644 645 647 +f 640 644 648 +f 641 646 648 +f 646 640 648 +f 644 647 648 +f 647 641 648 +f 641 642 649 +f 642 643 649 +f 646 641 649 +o convex_46 +v 0.821883 0.011139 2.718483 +v 0.226044 0.722728 2.701894 +v 0.226044 0.722728 2.685369 +v 0.060426 0.011139 2.983195 +v 0.126763 0.689636 2.801169 +v 0.805261 0.027650 2.768120 +v 0.077047 0.027650 3.016308 +v 0.159856 0.706147 2.685369 +v 0.805261 0.027650 2.685337 +v 0.772168 0.209623 2.701926 +v 0.060500 0.722728 2.735007 +v 0.424607 0.308970 2.718483 +v 0.358345 0.656474 2.701894 +v 0.110141 0.027650 2.950081 +v 0.060500 0.706147 2.784677 +v 0.176403 0.722728 2.768120 +v 0.772168 0.209623 2.685337 +f 662 659 666 +f 653 650 655 +f 655 654 656 +f 653 655 656 +f 650 653 658 +f 655 650 659 +f 651 652 660 +f 652 657 660 +f 657 653 660 +f 657 658 661 +f 652 651 662 +f 653 657 663 +f 658 653 663 +f 657 661 663 +f 661 658 663 +f 656 654 664 +f 653 656 664 +f 660 653 664 +f 660 664 665 +f 654 655 665 +f 655 659 665 +f 651 660 665 +f 662 651 665 +f 659 662 665 +f 664 654 665 +f 657 652 666 +f 650 658 666 +f 658 657 666 +f 659 650 666 +f 652 662 666 +o convex_47 +v 0.490730 0.871779 -2.015563 +v 0.706009 0.888339 -0.807575 +v 0.474227 0.937996 -0.327418 +v 0.209439 0.971093 -2.015563 +v 0.176319 0.954533 -0.327418 +v 0.606593 0.871779 -0.807575 +v 0.341861 0.888339 -2.015563 +v 0.192879 0.987641 -0.327418 +v 0.143199 0.954533 -2.032419 +v 0.689392 0.888339 -1.403391 +v 0.457611 0.904898 -0.327418 +v 0.408101 0.871779 -1.982518 +v 0.126639 0.987641 -0.807575 +v 0.143199 0.954533 -0.873833 +v 0.706009 0.871779 -0.807575 +v 0.490730 0.888339 -2.015563 +v 0.225999 0.971093 -1.949472 +v 0.126639 0.971081 -0.327418 +f 680 671 684 +f 671 669 674 +f 667 673 675 +f 669 668 676 +f 669 671 677 +f 667 672 678 +f 673 667 678 +f 677 671 678 +f 672 677 678 +f 670 675 679 +f 675 673 680 +f 673 678 680 +f 678 671 680 +f 668 669 681 +f 672 667 681 +f 676 668 681 +f 667 676 681 +f 669 677 681 +f 677 672 681 +f 667 675 682 +f 675 670 682 +f 670 676 682 +f 676 667 682 +f 674 669 683 +f 669 676 683 +f 676 670 683 +f 670 679 683 +f 679 674 683 +f 671 674 684 +f 674 679 684 +f 679 675 684 +f 675 680 684 +o convex_48 +v -0.932779 0.027528 0.169089 +v -0.800380 -0.237274 -0.807467 +v -0.783799 -0.237274 -0.807467 +v -0.916198 -0.237274 0.169089 +v -0.899647 -0.055235 -0.807467 +v -0.866543 0.027528 -0.807467 +v -0.899647 0.027528 0.135919 +v -0.899647 -0.237274 -0.575563 +v -0.783799 -0.204174 -0.658345 +v -0.883095 -0.237274 0.069771 +v -0.916198 0.027528 -0.592196 +v -0.932779 -0.055235 0.152457 +f 685 695 696 +f 686 687 688 +f 687 686 689 +f 687 689 690 +f 685 688 691 +f 690 685 691 +f 686 688 692 +f 689 686 692 +f 687 690 693 +f 690 691 693 +f 693 691 694 +f 688 687 694 +f 691 688 694 +f 687 693 694 +f 685 690 695 +f 690 689 695 +f 689 692 695 +f 695 692 696 +f 688 685 696 +f 692 688 696 +o convex_49 +v -0.916213 -0.121410 1.990061 +v -0.916213 -0.237274 0.169185 +v -0.899668 -0.237274 0.169185 +v -0.932768 0.027528 0.169185 +v -0.850022 -0.187611 1.990061 +v -0.949323 0.027528 1.990061 +v -0.932768 -0.237274 0.550079 +v -0.916213 0.027528 0.169185 +v -0.883132 -0.237274 1.940154 +v -0.866577 -0.237274 0.665933 +v -0.916213 0.010965 1.990061 +v -0.949323 0.010965 0.930794 +v -0.899668 -0.038698 0.169185 +v -0.949323 -0.022135 1.956909 +v -0.899668 -0.237274 1.725200 +v -0.850022 -0.237274 1.990061 +v -0.916213 0.027528 1.476558 +f 702 707 713 +f 699 698 700 +f 697 701 702 +f 698 699 703 +f 700 698 703 +f 699 700 704 +f 700 702 704 +f 703 699 705 +f 705 699 706 +f 702 701 707 +f 702 700 708 +f 700 703 708 +f 699 704 709 +f 704 701 709 +f 706 699 709 +f 701 706 709 +f 697 702 710 +f 702 708 710 +f 708 703 710 +f 705 697 711 +f 703 705 711 +f 697 710 711 +f 710 703 711 +f 701 697 712 +f 697 705 712 +f 706 701 712 +f 705 706 712 +f 701 704 713 +f 704 702 713 +f 707 701 713 +o convex_50 +v 0.043782 -0.717364 2.767995 +v -0.734138 -0.684301 1.990132 +v -0.734138 -0.667739 1.990132 +v 0.060426 -0.949049 1.990132 +v 0.060426 -0.667739 2.734870 +v 0.027293 -0.949049 2.122555 +v -0.717572 -0.733957 2.006732 +v -0.088594 -0.717364 2.718346 +v -0.171348 -0.667739 2.685221 +v -0.320368 -0.667739 2.337677 +v 0.027293 -0.800113 2.619048 +v 0.060426 -0.982173 1.990132 +v -0.667873 -0.684301 2.155680 +v -0.701006 -0.667739 1.990132 +v 0.060426 -0.767020 2.718346 +v 0.027293 -0.932487 1.990132 +f 727 723 729 +f 715 716 717 +f 714 718 722 +f 718 716 722 +f 721 714 722 +f 716 718 723 +f 720 719 724 +f 721 720 724 +f 715 717 725 +f 717 718 725 +f 719 720 725 +f 720 715 725 +f 716 715 726 +f 715 720 726 +f 720 721 726 +f 722 716 726 +f 721 722 726 +f 717 716 727 +f 716 723 727 +f 718 714 728 +f 714 721 728 +f 724 719 728 +f 721 724 728 +f 725 718 728 +f 719 725 728 +f 718 717 729 +f 723 718 729 +f 717 727 729 +o convex_51 +v -0.502431 -0.866330 -0.757737 +v -0.386552 -0.932537 -0.029456 +v -0.403127 -0.915990 -0.029456 +v -0.750692 -0.882896 -0.029456 +v -0.403127 -0.965651 -0.807467 +v -0.436240 -0.866330 -0.757737 +v -0.651316 -0.866330 -0.029456 +v -0.436240 -0.949084 -0.062584 +v -0.386552 -0.932537 -0.807467 +f 730 735 738 +f 731 732 733 +f 733 730 734 +f 732 731 735 +f 735 730 736 +f 733 732 736 +f 730 733 736 +f 732 735 736 +f 731 733 737 +f 733 734 737 +f 734 731 737 +f 734 730 738 +f 731 734 738 +f 735 731 738 +o convex_52 +v -0.601711 -0.204245 2.701731 +v -0.734167 -0.667689 1.990216 +v -0.701095 -0.667689 1.990216 +v -0.916161 0.011001 1.990139 +v -0.717631 -0.005608 2.734780 +v -0.618315 0.011001 2.767906 +v -0.601711 -0.651081 2.172256 +v -0.949300 -0.005608 2.006780 +v -0.618281 -0.634472 2.304683 +v -0.750702 -0.634472 2.006780 +v -0.899625 0.011001 2.006780 +v -0.618281 -0.369732 2.370780 +v -0.667990 -0.138011 2.718217 +v -0.701061 0.011001 2.767906 +f 743 751 752 +f 741 740 742 +f 740 741 745 +f 744 739 745 +f 742 740 746 +f 740 745 747 +f 745 739 747 +f 746 740 748 +f 743 746 748 +f 740 747 748 +f 741 742 749 +f 742 744 749 +f 745 741 749 +f 745 749 750 +f 744 745 750 +f 749 744 750 +f 747 739 751 +f 743 748 751 +f 748 747 751 +f 739 744 752 +f 744 742 752 +f 742 746 752 +f 746 743 752 +f 751 739 752 +o convex_53 +v -0.932770 0.507544 0.533321 +v -0.916219 0.027658 -0.310864 +v -0.916219 0.524082 -0.310864 +v -0.883119 0.474414 0.583020 +v -0.932770 0.027658 0.583020 +v -0.883119 0.557212 -0.310864 +v -0.899679 0.027658 0.119628 +v -0.932770 0.457875 -0.261165 +v -0.899679 0.027658 -0.310864 +v -0.899679 0.557212 0.583020 +v -0.932770 0.557212 -0.145317 +v -0.932770 0.060736 -0.046006 +v -0.916219 0.027658 0.583020 +f 757 759 765 +f 754 755 758 +f 757 754 759 +f 755 754 760 +f 757 753 760 +f 754 758 761 +f 758 756 761 +f 756 759 761 +f 759 754 761 +f 753 757 762 +f 757 756 762 +f 756 758 762 +f 762 758 763 +f 758 755 763 +f 760 753 763 +f 755 760 763 +f 753 762 763 +f 754 757 764 +f 760 754 764 +f 757 760 764 +f 756 757 765 +f 759 756 765 +o convex_54 +v -0.618297 0.209644 2.701723 +v -0.949300 0.011001 1.990061 +v -0.949300 0.060679 1.990061 +v -0.618297 0.706215 2.106014 +v -0.618297 0.011001 2.751418 +v -0.717614 0.027584 2.734853 +v -0.717614 0.689563 2.023268 +v -0.916184 0.011001 1.990061 +v -0.618297 0.375051 2.337765 +v -0.634855 0.722798 2.172273 +v -0.684530 0.673120 1.990061 +v -0.932742 0.110357 2.006703 +f 772 768 777 +f 769 766 770 +f 767 770 771 +f 768 767 771 +f 770 766 771 +f 767 768 773 +f 770 767 773 +f 770 773 774 +f 769 770 774 +f 766 769 775 +f 771 766 775 +f 772 771 775 +f 769 772 775 +f 768 772 776 +f 772 769 776 +f 773 768 776 +f 774 773 776 +f 769 774 776 +f 768 771 777 +f 771 772 777 +o convex_55 +v -0.601589 -0.154515 2.735012 +v 0.060426 0.176535 2.950107 +v 0.060426 0.159964 2.966666 +v 0.043817 -0.171087 2.917023 +v -0.601589 0.176535 2.685337 +v -0.618264 0.010993 2.801213 +v 0.027275 -0.022082 3.016340 +v -0.585047 -0.171087 2.685337 +v -0.088652 0.176535 2.850822 +v 0.043817 -0.171087 2.966666 +v -0.618264 0.159964 2.735012 +v -0.105128 -0.171087 2.850822 +f 786 781 789 +f 779 780 781 +f 780 783 784 +f 785 782 786 +f 779 781 786 +f 782 779 786 +f 781 780 787 +f 783 778 787 +f 780 784 787 +f 784 783 787 +f 778 785 787 +f 785 781 787 +f 780 779 788 +f 779 782 788 +f 783 780 788 +f 778 783 788 +f 785 778 788 +f 782 785 788 +f 781 785 789 +f 785 786 789 +o convex_56 +v 0.821818 -0.982204 0.301489 +v 0.060426 -0.965651 -0.294311 +v 0.060426 -0.949097 -0.294311 +v 0.060426 -0.982204 0.533360 +v 0.077031 -0.949097 0.500224 +v 0.987417 -0.965651 0.533360 +v 0.457863 -0.949097 0.003670 +v 0.474287 -0.982204 0.020279 +v 0.987417 -0.982204 0.533360 +f 795 793 798 +f 792 791 793 +f 792 793 794 +f 794 793 795 +f 791 792 796 +f 792 794 796 +f 794 795 796 +f 795 790 796 +f 793 791 797 +f 790 793 797 +f 791 796 797 +f 796 790 797 +f 793 790 798 +f 790 795 798 +o convex_57 +v 1.086652 -0.965646 0.649286 +v 0.060426 -0.982204 0.533360 +v 0.060426 -0.982204 0.583053 +v 0.060426 -0.915997 0.748529 +v 0.275716 -0.982204 0.897535 +v 1.103291 -0.915997 0.715448 +v 0.524080 -0.915997 0.897535 +v 1.086652 -0.982204 0.698907 +v 0.987326 -0.965646 0.533360 +v 0.060426 -0.949100 0.549936 +v 0.060426 -0.932555 0.897535 +v 0.987326 -0.982204 0.533360 +v 1.103291 -0.932555 0.748529 +f 803 806 811 +f 800 801 802 +f 801 800 803 +f 804 802 805 +f 803 800 806 +f 804 799 807 +f 800 802 808 +f 802 804 808 +f 807 800 808 +f 804 807 808 +f 802 801 809 +f 801 803 809 +f 803 805 809 +f 805 802 809 +f 806 800 810 +f 799 806 810 +f 800 807 810 +f 807 799 810 +f 799 804 811 +f 805 803 811 +f 804 805 811 +f 806 799 811 +o convex_58 +v 0.540501 -0.915971 0.798228 +v 1.136398 -0.717369 0.914089 +v 1.136398 -0.750479 0.914089 +v 1.103278 -0.915971 0.732019 +v 0.557028 -0.915971 0.914089 +v 0.656388 -0.866316 0.798228 +v 0.474261 -0.899406 0.914089 +v 1.103278 -0.915971 0.765132 +v 1.053566 -0.733934 0.880958 +v 0.954271 -0.899406 0.732019 +f 817 820 821 +f 813 814 815 +f 812 815 816 +f 814 813 816 +f 812 816 818 +f 816 813 818 +f 817 812 818 +f 815 814 819 +f 816 815 819 +f 814 816 819 +f 813 815 820 +f 818 813 820 +f 817 818 820 +f 815 812 821 +f 812 817 821 +f 820 815 821 +o convex_59 +v 0.457828 -0.915971 0.930728 +v 1.136317 -0.717388 0.947265 +v 1.136317 -0.733951 0.947265 +v 0.242513 -0.899388 1.956954 +v 0.341903 -0.915971 1.907240 +v 0.821876 -0.717388 1.923778 +v 0.375149 -0.899388 1.063230 +v 0.854860 -0.750495 1.940315 +v 0.557129 -0.915971 0.930728 +v 1.119694 -0.750495 0.980442 +v 1.036928 -0.733951 0.914089 +v 0.242513 -0.915971 1.956954 +v 0.854860 -0.717388 1.956954 +v 0.755558 -0.783602 1.956954 +v 0.408133 -0.915971 1.658876 +f 831 835 836 +f 825 827 828 +f 826 822 830 +f 824 829 831 +f 830 824 831 +f 823 824 832 +f 827 823 832 +f 822 828 832 +f 828 827 832 +f 830 822 832 +f 824 830 832 +f 822 826 833 +f 828 822 833 +f 825 828 833 +f 824 823 834 +f 823 827 834 +f 827 825 834 +f 829 824 834 +f 825 833 834 +f 831 829 835 +f 833 826 835 +f 829 834 835 +f 834 833 835 +f 826 830 836 +f 830 831 836 +f 835 826 836 +o convex_60 +v -0.667878 -0.899421 -0.029456 +v -0.386517 -0.866333 1.013409 +v -0.386517 -0.882884 1.013409 +v -0.701001 -0.849783 1.013409 +v -0.651316 -0.816683 0.864268 +v -0.386517 -0.949084 -0.029456 +v -0.651316 -0.866333 -0.029456 +v -0.386517 -0.849783 0.847731 +v -0.403109 -0.949084 0.169195 +v -0.403109 -0.915971 -0.029456 +v -0.701001 -0.816683 1.013409 +v -0.701001 -0.866333 -0.029456 +v -0.485886 -0.882884 1.013409 +f 840 845 849 +f 839 838 840 +f 838 839 842 +f 842 837 843 +f 838 842 844 +f 843 841 844 +f 840 837 845 +f 842 839 845 +f 837 842 845 +f 842 843 846 +f 844 842 846 +f 843 844 846 +f 840 838 847 +f 838 844 847 +f 844 841 847 +f 837 840 848 +f 843 837 848 +f 841 843 848 +f 840 847 848 +f 847 841 848 +f 839 840 849 +f 845 839 849 +o convex_61 +v 0.126751 -0.733934 2.552741 +v 0.838436 -0.717369 2.006726 +v 0.821760 -0.717369 2.039856 +v 0.325347 -0.915971 1.973597 +v 0.077102 -0.750479 2.734876 +v 0.093627 -0.899406 2.072907 +v 0.408120 -0.717369 2.254964 +v 0.838436 -0.750479 1.990161 +v 0.821760 -0.717369 1.956954 +v 0.077102 -0.915971 2.221913 +v 0.060502 -0.717369 2.751363 +v 0.209525 -0.899406 1.973597 +f 856 858 861 +f 852 851 856 +f 855 850 856 +f 851 852 857 +f 852 854 857 +f 856 851 858 +f 851 857 858 +f 857 853 858 +f 855 853 859 +f 853 857 859 +f 857 854 859 +f 854 852 860 +f 850 855 860 +f 852 856 860 +f 856 850 860 +f 855 859 860 +f 859 854 860 +f 853 855 861 +f 855 856 861 +f 858 853 861 +o convex_62 +v 1.070184 -0.022242 2.056274 +v 1.119833 -0.717281 0.897535 +v 1.136391 -0.717281 0.897535 +v 1.103288 -0.022242 0.980335 +v 1.070184 -0.717281 1.063134 +v 1.103288 -0.038777 2.023155 +v 1.086749 -0.022242 0.980335 +v 1.086749 -0.700678 1.179054 +v 1.119833 -0.138059 0.963775 +v 1.136391 -0.634467 1.079694 +f 870 867 871 +f 863 864 866 +f 865 862 867 +f 862 865 868 +f 866 862 868 +f 863 866 868 +f 862 866 869 +f 866 864 869 +f 867 862 869 +f 864 863 870 +f 865 867 870 +f 863 868 870 +f 868 865 870 +f 869 864 871 +f 867 869 871 +f 864 870 871 +o convex_63 +v -0.535462 0.805601 -0.807467 +v 0.126639 1.004206 -0.046009 +v 0.043817 1.004206 -0.046009 +v 0.060354 0.987623 -0.807467 +v -0.568604 0.904847 -0.046009 +v -0.518924 0.772458 -0.757751 +v 0.126639 0.971064 -0.062631 +v 0.126639 0.971064 -0.807467 +v -0.551999 0.871772 -0.046009 +v -0.568604 0.772458 -0.807467 +v -0.568604 0.855235 -0.426738 +v -0.452639 0.789041 -0.807467 +v 0.076960 1.004206 -0.393644 +f 879 875 884 +f 873 874 876 +f 872 875 879 +f 873 878 879 +f 873 876 880 +f 877 878 880 +f 878 873 880 +f 872 879 881 +f 880 876 881 +f 877 880 881 +f 875 872 882 +f 876 875 882 +f 872 881 882 +f 881 876 882 +f 878 877 883 +f 879 878 883 +f 881 879 883 +f 877 881 883 +f 874 873 884 +f 875 876 884 +f 876 874 884 +f 873 879 884 +o convex_64 +v -0.750718 0.722765 1.212112 +v -0.949307 0.027554 1.145837 +v -0.949307 0.060763 1.145837 +v -0.949307 0.027554 1.990061 +v -0.684504 0.673088 1.973451 +v -0.800339 0.706161 1.178974 +v -0.916200 0.044227 1.145837 +v -0.717611 0.706161 1.990061 +v -0.916200 0.044227 1.990061 +v -0.949307 0.077300 1.973451 +v -0.684504 0.706161 1.857510 +v -0.767284 0.722765 1.145837 +v -0.833420 0.573733 1.145837 +v -0.750718 0.706161 1.212112 +f 896 885 898 +f 887 886 888 +f 886 887 891 +f 888 886 891 +f 888 891 893 +f 891 889 893 +f 889 892 893 +f 892 888 893 +f 887 888 894 +f 888 892 894 +f 892 890 894 +f 889 891 895 +f 885 892 895 +f 892 889 895 +f 891 887 896 +f 892 885 896 +f 890 892 896 +f 887 894 897 +f 894 890 897 +f 896 887 897 +f 890 896 897 +f 885 895 898 +f 895 891 898 +f 891 896 898 +o convex_65 +v 0.010787 1.004206 1.211921 +v 0.126618 0.987646 1.956954 +v 0.126618 0.971099 1.956954 +v 0.126618 1.004206 -0.046010 +v -0.088534 0.954552 -0.046010 +v -0.088534 0.937992 1.956954 +v 0.126618 0.971099 -0.029344 +v -0.071981 0.987646 -0.046010 +v -0.088534 0.971099 1.857551 +v 0.110065 1.004206 1.956954 +v -0.038874 0.937992 1.907154 +v -0.022320 0.954552 0.020259 +f 909 903 910 +f 900 901 902 +f 901 900 904 +f 902 901 905 +f 903 902 905 +f 899 902 906 +f 902 903 906 +f 903 904 907 +f 899 906 907 +f 906 903 907 +f 900 902 908 +f 902 899 908 +f 904 900 908 +f 899 907 908 +f 907 904 908 +f 901 904 909 +f 904 903 909 +f 905 901 909 +f 905 909 910 +f 903 905 910 +o convex_66 +v -0.386517 -0.899450 0.401075 +v 0.060426 -0.949084 1.443746 +v -0.005811 -0.932536 1.427155 +v 0.060426 -0.916010 0.731971 +v 0.043845 -0.982204 0.483825 +v -0.386517 -0.899450 1.443746 +v -0.270625 -0.866330 0.864392 +v -0.386517 -0.932524 0.434154 +v -0.038929 -0.965644 1.443746 +v 0.060426 -0.949084 0.384379 +v -0.386517 -0.882901 1.443746 +v -0.171314 -0.965644 0.384379 +v -0.353355 -0.915998 1.443746 +v -0.386517 -0.866330 0.748563 +v -0.005811 -0.899450 0.798233 +v -0.336817 -0.882901 1.443746 +v 0.060426 -0.965644 1.443746 +f 915 920 927 +f 916 911 918 +f 912 916 919 +f 914 912 920 +f 916 912 921 +f 911 916 921 +f 918 911 922 +f 919 918 922 +f 915 919 922 +f 920 915 922 +f 911 920 922 +f 916 918 923 +f 919 916 923 +f 918 919 923 +f 917 911 924 +f 911 921 924 +f 921 917 924 +f 913 912 925 +f 912 914 925 +f 911 917 925 +f 914 920 925 +f 920 911 925 +f 912 913 926 +f 921 912 926 +f 917 921 926 +f 913 925 926 +f 925 917 926 +f 912 919 927 +f 919 915 927 +f 920 912 927 +o convex_67 +v 1.119844 0.838696 -0.625334 +v 0.474261 0.904860 -0.807467 +v 0.474261 0.921411 -0.807467 +v 0.474261 0.904860 -0.327418 +v 1.103288 0.937992 -0.327418 +v 1.053618 0.789012 -0.807467 +v 1.119844 0.822144 -0.807467 +v 0.474261 0.937992 -0.327418 +v 1.103288 0.937992 -0.393720 +v 1.053618 0.904860 -0.360545 +v 1.086668 0.789012 -0.774339 +v 0.540488 0.921411 -0.807467 +f 930 936 939 +f 930 929 931 +f 929 930 933 +f 931 929 933 +f 933 930 934 +f 930 931 935 +f 931 932 935 +f 935 932 936 +f 932 928 936 +f 928 934 936 +f 930 935 936 +f 928 932 937 +f 932 931 937 +f 931 933 938 +f 934 928 938 +f 933 934 938 +f 928 937 938 +f 937 931 938 +f 934 930 939 +f 936 934 939 +o convex_68 +v 1.086686 0.871803 0.318159 +v 0.126639 0.987611 -0.046009 +v 0.126639 0.971072 -0.029429 +v 0.126639 0.987611 0.400933 +v 1.086686 1.020759 -0.046009 +v 0.590217 0.838690 0.400933 +v 1.070052 0.871803 0.400933 +v 1.086686 0.987628 -0.029429 +v 0.805325 0.838690 0.367815 +v 0.573677 1.020759 -0.046009 +v 1.086686 1.020759 -0.012891 +v 0.159813 0.954515 0.400933 +v 0.126639 1.004203 -0.046009 +v 0.192986 0.987611 0.400933 +v 1.086686 0.954515 0.185730 +v 1.070052 0.838690 0.384352 +f 948 947 955 +f 941 942 943 +f 943 945 946 +f 942 941 947 +f 944 940 947 +f 941 944 947 +f 945 942 948 +f 942 947 948 +f 944 941 949 +f 944 949 950 +f 940 944 950 +f 949 943 950 +f 943 942 951 +f 942 945 951 +f 945 943 951 +f 941 943 952 +f 949 941 952 +f 943 949 952 +f 943 946 953 +f 950 943 953 +f 950 953 954 +f 946 940 954 +f 940 950 954 +f 953 946 954 +f 946 945 955 +f 940 946 955 +f 947 940 955 +f 945 948 955 +o convex_69 +v -0.949333 0.044226 0.963666 +v -0.767263 0.722730 1.145782 +v -0.767263 0.722730 0.880927 +v -0.899645 0.573705 0.632763 +v -0.899645 0.060762 0.616182 +v -0.949333 0.027690 1.145782 +v -0.816933 0.722730 0.583020 +v -0.800376 0.722730 1.129201 +v -0.916202 0.027690 1.129201 +v -0.932758 0.027690 0.583020 +v -0.916202 0.490959 0.583020 +v -0.767263 0.689591 1.145782 +v -0.949333 0.060762 1.145782 +v -0.850028 0.706126 0.583020 +f 962 966 969 +f 957 958 962 +f 958 960 962 +f 957 962 963 +f 964 961 965 +f 961 956 965 +f 962 960 965 +f 960 964 965 +f 965 956 966 +f 962 965 966 +f 958 957 967 +f 960 958 967 +f 957 961 967 +f 964 960 967 +f 961 964 967 +f 961 957 968 +f 956 961 968 +f 957 963 968 +f 963 959 968 +f 959 966 968 +f 966 956 968 +f 959 963 969 +f 963 962 969 +f 966 959 969 +o convex_70 +v -0.568603 -0.634595 -1.469522 +v -0.436223 -0.949079 -0.939946 +v -0.535502 -0.866303 -1.485969 +v -0.419623 -0.833210 -1.966206 +v -0.552053 -0.634595 -0.807467 +v -0.667907 -0.651157 -1.966206 +v -0.585129 -0.651157 -0.807467 +v -0.419623 -0.882864 -0.807467 +v -0.618206 -0.783587 -1.966206 +v -0.634781 -0.634595 -1.966206 +v -0.436223 -0.866303 -1.866846 +v -0.436223 -0.932518 -0.807467 +v -0.535526 -0.651157 -0.923386 +v -0.419623 -0.949079 -0.939946 +f 977 981 983 +f 974 975 976 +f 974 976 977 +f 975 973 978 +f 976 975 978 +f 972 976 978 +f 970 973 979 +f 974 970 979 +f 973 975 979 +f 975 974 979 +f 971 972 980 +f 972 978 980 +f 978 973 980 +f 972 971 981 +f 976 972 981 +f 977 976 981 +f 973 970 982 +f 970 974 982 +f 977 973 982 +f 974 977 982 +f 973 977 983 +f 971 980 983 +f 980 973 983 +f 981 971 983 +o convex_71 +v 1.037035 -0.237333 1.990061 +v 1.053585 -0.717349 1.112901 +v 1.053585 -0.700729 1.112901 +v 0.821907 -0.717349 1.940256 +v 1.053585 -0.088323 1.940256 +v 1.070184 -0.717349 1.212167 +v 0.871582 -0.684236 1.973402 +v 0.821907 -0.667679 1.973402 +v 1.070184 -0.071766 1.990061 +v 1.070184 -0.237333 1.874051 +f 989 992 993 +f 986 985 987 +f 985 986 989 +f 987 985 989 +f 987 989 990 +f 987 990 991 +f 986 987 991 +f 988 986 991 +f 990 984 991 +f 988 991 992 +f 986 988 992 +f 989 986 992 +f 991 984 992 +f 992 984 993 +f 984 990 993 +f 990 989 993 +o convex_72 +v -0.369895 -0.882909 -1.949533 +v 0.126639 -0.965621 -0.940059 +v -0.402994 -0.915998 -0.807467 +v 0.110010 -1.048418 -1.966206 +v -0.402994 -0.965621 -0.807467 +v -0.386364 -0.833244 -1.966206 +v 0.093487 -0.998710 -1.966206 +v 0.126639 -0.998731 -1.055865 +v -0.419623 -0.833244 -1.850173 +v -0.419623 -0.949087 -1.006186 +v 0.126639 -1.048418 -1.833727 +v 0.126639 -0.965621 -1.088985 +v -0.419623 -0.866375 -1.932973 +f 1003 1002 1006 +f 995 996 998 +f 997 994 999 +f 997 999 1000 +f 995 998 1001 +f 996 995 1002 +f 995 999 1002 +f 994 997 1003 +f 997 998 1003 +f 998 996 1003 +f 996 1002 1003 +f 998 997 1004 +f 997 1000 1004 +f 995 1001 1004 +f 1001 998 1004 +f 999 995 1005 +f 1000 999 1005 +f 995 1004 1005 +f 1004 1000 1005 +f 999 994 1006 +f 1002 999 1006 +f 994 1003 1006 +o convex_73 +v 0.838467 0.706173 2.106035 +v 1.003940 -0.022106 2.172217 +v 1.020504 -0.022106 2.172217 +v 0.821902 -0.005481 2.767923 +v 0.821902 0.325555 2.288108 +v 1.020504 0.259348 2.023309 +v 0.821902 0.706173 2.006614 +v 0.871577 -0.005481 2.701741 +v 1.003940 0.160037 2.006614 +v 0.821902 -0.022106 2.701741 +v 0.871577 0.722798 2.023309 +v 1.020504 -0.005481 2.255018 +v 0.855012 0.242796 2.271563 +f 1016 1011 1019 +f 1010 1007 1013 +f 1011 1010 1013 +f 1007 1010 1014 +f 1009 1008 1015 +f 1012 1009 1015 +f 1008 1009 1016 +f 1010 1011 1016 +f 1009 1014 1016 +f 1014 1010 1016 +f 1013 1007 1017 +f 1007 1014 1017 +f 1014 1012 1017 +f 1012 1015 1017 +f 1015 1013 1017 +f 1009 1012 1018 +f 1014 1009 1018 +f 1012 1014 1018 +f 1011 1013 1019 +f 1015 1008 1019 +f 1013 1015 1019 +f 1008 1016 1019 +o convex_74 +v -0.618329 -0.502110 -0.807630 +v -0.668004 -0.634582 -1.982626 +v -0.651434 -0.634582 -1.982626 +v -0.849964 -0.038659 -1.982626 +v -0.899672 -0.055226 -0.807630 +v -0.552085 -0.617958 -1.287521 +v -0.601759 -0.617958 -0.807630 +v -0.866533 -0.038659 -0.807630 +v -0.883103 -0.055226 -1.783976 +v -0.816858 -0.088358 -1.966063 +v -0.634865 -0.617958 -1.966063 +v -0.899672 -0.055226 -1.237829 +v -0.552085 -0.617958 -0.973153 +v -0.800289 -0.253906 -0.807630 +v -0.668004 -0.634582 -1.899922 +v -0.833394 -0.055226 -1.817103 +v -0.866499 -0.071792 -1.982626 +v -0.684506 -0.601391 -1.982626 +v -0.568654 -0.634582 -0.807630 +f 1034 1022 1038 +f 1022 1021 1023 +f 1020 1024 1026 +f 1024 1020 1027 +f 1022 1023 1030 +f 1025 1022 1030 +f 1023 1029 1030 +f 1029 1025 1030 +f 1027 1023 1031 +f 1024 1027 1031 +f 1023 1028 1031 +f 1027 1020 1032 +f 1026 1024 1033 +f 1026 1033 1034 +f 1021 1022 1034 +f 1033 1024 1034 +f 1023 1027 1035 +f 1029 1023 1035 +f 1025 1029 1035 +f 1032 1025 1035 +f 1027 1032 1035 +f 1023 1021 1036 +f 1028 1023 1036 +f 1028 1036 1037 +f 1024 1031 1037 +f 1031 1028 1037 +f 1021 1034 1037 +f 1034 1024 1037 +f 1036 1021 1037 +f 1022 1025 1038 +f 1020 1026 1038 +f 1025 1032 1038 +f 1032 1020 1038 +f 1026 1034 1038 +o convex_75 +v -0.585104 -0.601462 2.403948 +v -0.187876 -0.651123 2.635644 +v -0.353458 -0.469048 2.635644 +v -0.568538 -0.651123 2.188702 +v -0.601671 -0.270407 2.635644 +v -0.320366 -0.634517 2.635644 +v -0.320366 -0.651123 2.387411 +v -0.601671 -0.667689 2.254938 +v -0.585104 -0.386294 2.453472 +v -0.535446 -0.535236 2.569408 +v -0.601671 -0.336634 2.635644 +v -0.419562 -0.402860 2.619020 +f 1045 1047 1050 +f 1040 1041 1043 +f 1040 1043 1044 +f 1040 1044 1046 +f 1044 1039 1046 +f 1045 1040 1046 +f 1042 1045 1046 +f 1045 1042 1047 +f 1046 1043 1047 +f 1042 1046 1047 +f 1039 1044 1048 +f 1048 1044 1049 +f 1044 1043 1049 +f 1046 1039 1049 +f 1043 1046 1049 +f 1039 1048 1049 +f 1041 1040 1050 +f 1043 1041 1050 +f 1040 1045 1050 +f 1047 1043 1050 +o convex_76 +v 0.821933 -0.717349 -2.297307 +v 1.152917 -0.055213 -1.966270 +v 1.119812 -0.055213 -1.966270 +v 0.937784 -0.055213 -2.628343 +v 0.805330 -0.452391 -2.429643 +v 0.954354 -0.717349 -1.982861 +v 0.970890 -0.071805 -2.628343 +v 0.921249 -0.684230 -1.966270 +v 0.805330 -0.402809 -2.628343 +v 1.119812 -0.187692 -2.015978 +v 0.805330 -0.667572 -2.247664 +v 0.871574 -0.187692 -2.611687 +v 0.855038 -0.336699 -2.628343 +f 1059 1057 1063 +f 1053 1052 1054 +f 1054 1052 1057 +f 1052 1053 1058 +f 1056 1052 1058 +f 1051 1056 1058 +f 1054 1057 1059 +f 1052 1056 1060 +f 1056 1057 1060 +f 1057 1052 1060 +f 1053 1055 1061 +f 1058 1053 1061 +f 1051 1058 1061 +f 1059 1051 1061 +f 1055 1059 1061 +f 1053 1054 1062 +f 1055 1053 1062 +f 1059 1055 1062 +f 1054 1059 1062 +f 1056 1051 1063 +f 1057 1056 1063 +f 1051 1059 1063 +o convex_77 +v -0.899660 -0.237300 0.384276 +v -0.850025 -0.717349 0.003641 +v -0.883122 -0.684221 -0.029535 +v -0.866574 -0.237300 -0.592272 +v -0.816905 -0.684221 0.483700 +v -0.932779 -0.485595 0.400811 +v -0.899660 -0.253888 -0.575631 +v -0.932779 -0.237300 0.483700 +v -0.899660 -0.485501 -0.459777 +v -0.850025 -0.700762 0.483700 +v -0.833465 -0.717349 0.003641 +v -0.916208 -0.617919 -0.046071 +v -0.866574 -0.502042 -0.476312 +v -0.883100 -0.237300 0.086424 +v -0.816905 -0.717349 0.202279 +f 1065 1074 1078 +f 1070 1069 1071 +f 1064 1067 1071 +f 1068 1064 1071 +f 1067 1070 1071 +f 1066 1065 1073 +f 1071 1069 1073 +f 1068 1071 1073 +f 1069 1070 1075 +f 1072 1066 1075 +f 1070 1072 1075 +f 1066 1073 1075 +f 1073 1069 1075 +f 1065 1066 1076 +f 1070 1067 1076 +f 1066 1072 1076 +f 1072 1070 1076 +f 1067 1074 1076 +f 1074 1065 1076 +f 1067 1064 1077 +f 1064 1068 1077 +f 1068 1067 1077 +f 1067 1068 1078 +f 1073 1065 1078 +f 1068 1073 1078 +f 1074 1067 1078 +o convex_78 +v -0.386517 -0.965651 -0.807467 +v 0.060426 -0.949091 0.384379 +v -0.270625 -0.916000 0.384379 +v -0.303743 -0.965651 0.202266 +v 0.060426 -0.949091 -0.310825 +v -0.386517 -0.932550 -0.790900 +v -0.386517 -0.932550 0.384379 +v 0.060426 -0.965651 0.384379 +v 0.060426 -0.965651 -0.310825 +v -0.386517 -0.916000 0.384379 +f 1084 1085 1088 +f 1081 1080 1083 +f 1083 1079 1084 +f 1081 1083 1084 +f 1080 1081 1085 +f 1079 1082 1085 +f 1084 1079 1085 +f 1082 1079 1086 +f 1083 1080 1086 +f 1080 1085 1086 +f 1085 1082 1086 +f 1079 1083 1087 +f 1086 1079 1087 +f 1083 1086 1087 +f 1081 1084 1088 +f 1085 1081 1088 +o convex_79 +v -0.320240 0.590328 -2.413203 +v -0.469245 0.159982 -2.678003 +v -0.469245 0.159982 -2.661397 +v -0.072002 0.573773 -2.678003 +v -0.436115 0.524108 -2.528964 +v -0.221007 0.342129 -2.661397 +v -0.436115 0.573773 -2.330381 +v -0.187916 0.590328 -2.661397 +v -0.469245 0.590328 -2.380095 +v -0.469245 0.309019 -2.644894 +f 1097 1093 1098 +f 1091 1090 1094 +f 1090 1092 1094 +f 1092 1089 1094 +f 1094 1089 1095 +f 1091 1094 1095 +f 1092 1090 1096 +f 1089 1092 1096 +f 1090 1091 1097 +f 1091 1095 1097 +f 1095 1089 1097 +f 1089 1096 1097 +f 1096 1093 1097 +f 1096 1090 1098 +f 1093 1096 1098 +f 1090 1097 1098 +o convex_80 +v -0.734161 -0.717366 1.857614 +v -0.750711 -0.882884 -0.029456 +v -0.701031 -0.882884 -0.029456 +v -0.849983 -0.717366 -0.029456 +v -0.767261 -0.833209 0.947487 +v -0.701031 -0.717366 1.774785 +v -0.800333 -0.733924 -0.029456 +v -0.701031 -0.833209 1.112551 +v -0.849983 -0.733924 0.219227 +v -0.783782 -0.866309 0.053570 +v -0.701031 -0.849751 0.103188 +v -0.717611 -0.750482 1.923837 +v -0.833433 -0.733924 0.583357 +f 1103 1110 1111 +f 1101 1100 1102 +f 1102 1099 1104 +f 1101 1102 1105 +f 1102 1104 1105 +f 1100 1101 1106 +f 1103 1100 1106 +f 1101 1104 1106 +f 1103 1107 1108 +f 1102 1100 1108 +f 1100 1103 1108 +f 1107 1102 1108 +f 1104 1101 1109 +f 1101 1105 1109 +f 1105 1104 1109 +f 1104 1099 1110 +f 1103 1106 1110 +f 1106 1104 1110 +f 1099 1102 1111 +f 1102 1107 1111 +f 1107 1103 1111 +f 1110 1099 1111 +o convex_81 +v -0.849988 -0.237300 1.990061 +v -0.783815 -0.717349 0.864429 +v -0.800336 -0.700762 0.864429 +v -0.866545 -0.237300 0.864429 +v -0.701031 -0.667634 1.973423 +v -0.883101 -0.320097 1.592740 +v -0.734163 -0.700762 1.990061 +v -0.767258 -0.684221 0.864429 +v -0.883101 -0.303603 0.864429 +v -0.883101 -0.253888 1.874148 +v -0.800336 -0.700762 1.096254 +v -0.833431 -0.253888 1.940368 +v -0.701031 -0.717349 1.840873 +v -0.849988 -0.287016 0.864429 +v -0.734163 -0.551757 1.990061 +f 1116 1125 1126 +f 1113 1114 1115 +f 1113 1115 1119 +f 1115 1114 1120 +f 1114 1117 1120 +f 1120 1117 1121 +f 1112 1115 1121 +f 1118 1112 1121 +f 1115 1120 1121 +f 1118 1121 1122 +f 1114 1113 1122 +f 1117 1114 1122 +f 1113 1118 1122 +f 1121 1117 1122 +f 1115 1112 1123 +f 1118 1113 1124 +f 1116 1118 1124 +f 1113 1119 1124 +f 1119 1116 1124 +f 1119 1115 1125 +f 1116 1119 1125 +f 1115 1123 1125 +f 1125 1123 1126 +f 1112 1118 1126 +f 1118 1116 1126 +f 1123 1112 1126 +o convex_82 +v -0.932760 0.573840 -0.112223 +v -0.734158 0.722798 -0.724576 +v -0.734158 0.706222 -0.724576 +v -0.816923 0.722798 0.583020 +v -0.866540 0.557264 0.583020 +v -0.800378 0.557264 -0.807467 +v -0.783833 0.722798 -0.708107 +v -0.849994 0.722798 0.549810 +v -0.932760 0.557264 0.202188 +v -0.833469 0.557264 -0.790861 +v -0.916195 0.623503 0.036680 +v -0.800378 0.689662 -0.790861 +v -0.899650 0.573840 0.583020 +v -0.816923 0.689662 0.583020 +f 1131 1129 1140 +f 1129 1128 1130 +f 1129 1131 1132 +f 1128 1129 1132 +f 1130 1128 1133 +f 1130 1133 1134 +f 1132 1131 1135 +f 1135 1127 1136 +f 1132 1135 1136 +f 1134 1133 1137 +f 1135 1134 1137 +f 1127 1135 1137 +f 1128 1132 1138 +f 1133 1128 1138 +f 1136 1127 1138 +f 1132 1136 1138 +f 1127 1137 1138 +f 1137 1133 1138 +f 1131 1130 1139 +f 1130 1134 1139 +f 1135 1131 1139 +f 1134 1135 1139 +f 1129 1130 1140 +f 1130 1131 1140 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/524/524.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/524/524.urdf new file mode 100644 index 000000000..c99d3d667 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/524/524.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/525/525.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/525/525.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/525/525.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/525/525.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/525/525.obj new file mode 100644 index 000000000..b1e5fc184 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/525/525.obj @@ -0,0 +1,315 @@ +o convex_0 +v 0.480341 -2.930523 1.075207 +v -1.113859 -2.505099 -1.050132 +v -1.113859 -2.505099 -1.014801 +v 1.082842 -0.096075 -1.015013 +v -1.042901 -0.096075 0.969004 +v 0.940925 -4.135233 -1.015013 +v -1.078380 -3.957710 0.969004 +v 1.011884 -0.096075 0.933462 +v 1.047363 -4.135233 1.075419 +v -1.113859 -0.096075 -1.014801 +v -1.007421 -4.028482 -1.085885 +v -0.865719 -0.379954 1.004335 +v -0.582316 -3.107256 -1.085885 +v 0.976404 -3.957710 -1.015013 +v 1.011884 -0.202431 0.969004 +v -1.078380 -3.992898 -1.085885 +v -1.078380 -0.982112 0.969004 +v 0.799223 -4.135233 1.075207 +v 1.047363 -0.096075 0.543767 +v 0.586563 -4.099254 -1.050343 +v -1.113859 -0.096075 -0.447818 +v 1.082842 -0.521499 -1.015013 +v 0.480341 -4.099254 1.075207 +v -1.113859 -1.301180 -1.050132 +v 1.082842 -0.096075 -0.589564 +v 1.011884 -3.178424 1.075419 +v 0.338854 -1.371952 -1.050343 +v -0.653274 -3.709414 1.004335 +v -1.078380 -0.096075 0.649970 +v 0.834703 -4.135233 -1.015013 +v -1.078380 -3.992898 -0.022793 +v -1.078380 -3.072068 -1.085885 +v -0.511357 -4.028482 -1.085885 +v 0.763744 -0.096075 0.969004 +v 0.976404 -4.135233 -0.873055 +v 1.047363 -4.135233 1.039665 +v 0.409597 -3.142840 1.075207 +v -0.759282 -3.992898 0.969004 +f 31 18 38 +f 4 5 8 +f 2 3 10 +f 5 4 10 +f 12 1 15 +f 3 2 16 +f 13 11 16 +f 7 12 17 +f 12 5 17 +f 6 9 18 +f 4 8 19 +f 8 15 19 +f 15 9 19 +f 14 6 20 +f 3 7 21 +f 10 3 21 +f 5 10 21 +f 7 17 21 +f 20 4 22 +f 14 20 22 +f 7 18 23 +f 18 9 23 +f 2 10 24 +f 10 4 24 +f 16 2 24 +f 4 19 25 +f 19 9 25 +f 22 4 25 +f 9 22 25 +f 9 15 26 +f 15 1 26 +f 4 20 27 +f 20 13 27 +f 24 4 27 +f 12 7 28 +f 7 23 28 +f 17 5 29 +f 5 21 29 +f 21 17 29 +f 6 18 30 +f 18 11 30 +f 20 6 30 +f 11 20 30 +f 7 3 31 +f 3 16 31 +f 16 11 31 +f 11 18 31 +f 13 16 32 +f 16 24 32 +f 27 13 32 +f 24 27 32 +f 11 13 33 +f 20 11 33 +f 13 20 33 +f 8 5 34 +f 5 12 34 +f 15 8 34 +f 12 15 34 +f 9 6 35 +f 6 14 35 +f 14 22 35 +f 35 22 36 +f 22 9 36 +f 9 35 36 +f 1 12 37 +f 23 9 37 +f 9 26 37 +f 26 1 37 +f 12 28 37 +f 28 23 37 +f 18 7 38 +f 7 31 38 +o convex_1 +v -1.078407 -0.025115 -2.325354 +v 1.082849 1.923477 -0.482362 +v 0.976410 1.994222 3.059394 +v 1.011889 -0.095860 3.094998 +v -1.042927 2.065181 2.952580 +v 1.082849 -0.095860 -2.927616 +v -0.936703 1.994222 -3.033826 +v -0.971968 -0.060380 3.059394 +v 1.082849 2.100661 -3.070034 +v -1.042927 -0.060380 -3.070034 +v -1.113887 -0.095860 -0.447361 +v -1.007447 1.746078 -3.033826 +v -0.440631 2.100661 -0.517966 +v 0.480338 2.100661 0.579139 +v 1.011889 1.462670 3.094998 +v 1.082849 -0.095860 -0.553571 +v -1.113887 0.329253 -0.766595 +v 0.445073 2.029701 3.059394 +v -1.042927 1.214742 2.988184 +v -0.086263 -0.095860 3.094998 +v -0.794784 2.029486 -3.033826 +v 0.338634 -0.095860 -2.998221 +v -1.042927 2.065181 1.961082 +v -0.971968 0.364732 3.059394 +v -1.078407 -0.095860 0.684746 +v -1.007447 0.648141 -3.070034 +v -0.582335 0.081324 -3.070034 +v -1.113887 0.045844 -1.439463 +v -0.971968 1.994222 -2.998221 +v 0.799226 2.100661 -3.034430 +v 1.011889 0.010365 -2.963220 +v 0.657522 2.029701 3.059394 +v -1.113887 -0.095860 -1.014621 +v -1.007447 -0.060380 2.527738 +v -0.476111 2.100661 0.437324 +v -0.971968 2.065181 0.614140 +v 0.940930 1.639639 3.094998 +v -1.042927 1.569109 2.988184 +v 1.082849 2.100661 -2.892614 +v 1.082849 2.029701 -3.070034 +v -0.901223 2.065181 2.952580 +v -1.042927 0.223028 -3.070034 +v 0.196930 -0.095860 -2.998221 +f 60 71 81 +f 40 44 47 +f 44 42 49 +f 47 51 52 +f 40 41 53 +f 42 40 53 +f 40 42 54 +f 44 40 54 +f 42 44 54 +f 49 43 55 +f 49 42 58 +f 42 53 58 +f 47 45 59 +f 44 49 60 +f 55 43 61 +f 50 55 61 +f 57 46 62 +f 46 58 62 +f 57 49 63 +f 49 58 63 +f 58 46 63 +f 45 47 64 +f 47 48 64 +f 50 45 64 +f 48 47 65 +f 60 48 65 +f 49 55 66 +f 55 50 66 +f 45 50 67 +f 59 45 67 +f 50 61 67 +f 51 47 68 +f 47 59 68 +f 59 51 68 +f 44 60 69 +f 60 65 69 +f 41 52 70 +f 43 56 70 +f 39 48 71 +f 60 49 71 +f 66 39 71 +f 49 66 71 +f 46 57 72 +f 63 46 72 +f 57 63 72 +f 52 51 73 +f 43 52 73 +f 61 43 73 +f 51 61 73 +f 51 59 74 +f 61 51 74 +f 59 67 74 +f 67 61 74 +f 53 41 75 +f 58 53 75 +f 56 62 75 +f 62 58 75 +f 41 70 75 +f 70 56 75 +f 43 49 76 +f 56 43 76 +f 49 57 76 +f 62 56 76 +f 57 62 76 +f 41 40 77 +f 40 47 77 +f 47 52 77 +f 52 41 77 +f 47 44 78 +f 65 47 78 +f 44 69 78 +f 69 65 78 +f 52 43 79 +f 70 52 79 +f 43 70 79 +f 48 39 80 +f 64 48 80 +f 50 64 80 +f 39 66 80 +f 66 50 80 +f 48 60 81 +f 71 48 81 +o convex_2 +v -0.511507 3.588433 -0.518986 +v 0.515901 3.907310 0.614813 +v 0.551381 3.942849 0.579299 +v 0.480421 2.100661 -0.483471 +v -0.440655 2.100661 0.472977 +v 0.551381 4.084615 -0.518986 +v -0.546987 3.907310 0.437574 +v 0.480421 2.100661 0.579299 +v -0.440655 2.100661 -0.518986 +v -0.511507 4.013732 -0.518986 +v -0.511507 2.526155 0.402059 +v 0.551381 3.375977 -0.518986 +v 0.374197 3.623971 0.614813 +v 0.515901 2.384388 0.402059 +v 0.338717 4.084615 -0.412664 +v -0.476028 3.907310 0.472977 +v -0.546987 3.942849 0.295849 +v -0.476028 2.100661 -0.022893 +v 0.515901 2.384388 -0.483471 +v 0.374197 2.100661 0.579299 +v -0.298951 4.049077 -0.483471 +v -0.546987 3.907310 0.083206 +v 0.551381 3.340438 -0.129215 +v -0.228099 2.100661 -0.518986 +v -0.440655 3.942849 0.366767 +v 0.515901 3.127983 0.614813 +v -0.476028 2.100661 0.437574 +f 92 99 108 +f 86 85 89 +f 85 86 90 +f 82 87 90 +f 87 82 91 +f 87 84 93 +f 90 87 93 +f 89 85 95 +f 84 87 96 +f 83 84 97 +f 88 86 97 +f 94 83 97 +f 86 94 97 +f 90 86 99 +f 82 90 99 +f 92 82 99 +f 85 93 100 +f 95 85 100 +f 86 89 101 +f 94 86 101 +f 87 91 102 +f 96 87 102 +f 91 98 102 +f 91 82 103 +f 82 92 103 +f 92 88 103 +f 98 91 103 +f 88 98 103 +f 93 84 104 +f 84 95 104 +f 100 93 104 +f 95 100 104 +f 85 90 105 +f 93 85 105 +f 90 93 105 +f 84 96 106 +f 97 84 106 +f 88 97 106 +f 98 88 106 +f 96 102 106 +f 102 98 106 +f 84 83 107 +f 83 94 107 +f 95 84 107 +f 89 95 107 +f 101 89 107 +f 94 101 107 +f 86 88 108 +f 88 92 108 +f 99 86 108 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/525/525.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/525/525.urdf new file mode 100644 index 000000000..09e136e32 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/525/525.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/526/526.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/526/526.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/526/526.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/526/526.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/526/526.obj new file mode 100644 index 000000000..b5ebb76fb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/526/526.obj @@ -0,0 +1,537 @@ +o convex_0 +v -0.360358 -0.083051 -1.490251 +v 0.367300 0.068417 -1.308266 +v 0.367300 -0.052744 -1.308266 +v 0.003471 -0.083051 -3.006134 +v -0.087344 0.341318 -1.308266 +v -0.117687 -0.356020 -1.308266 +v -0.026730 0.159338 -2.763320 +v 0.215657 -0.113358 -2.733238 +v -0.238987 -0.022436 -2.763320 +v -0.299601 0.250328 -1.308266 +v 0.276271 0.250328 -1.460003 +v -0.148030 -0.234655 -2.642162 +v 0.276271 -0.264962 -1.429590 +v 0.003471 -0.264962 -2.763320 +v -0.299601 -0.295338 -1.308266 +v 0.215657 0.007802 -2.733238 +v 0.064085 -0.356020 -1.308266 +v 0.064085 0.341318 -1.368928 +v -0.238987 -0.113358 -2.702824 +v -0.178301 0.129031 -2.551253 +v 0.124700 0.129031 -2.642162 +v -0.360358 0.068417 -1.338680 +v -0.269258 -0.295338 -1.672237 +v 0.185314 -0.204348 -2.551253 +v -0.269258 0.280636 -1.338680 +v 0.246000 0.280636 -1.308266 +v 0.367300 -0.022436 -1.490251 +v -0.057072 -0.083051 -3.006134 +v 0.306543 -0.234655 -1.399342 +v -0.269258 -0.022436 -2.581334 +v 0.033742 -0.356020 -1.520665 +v -0.026730 -0.022436 -3.006134 +v 0.003471 0.159338 -2.763320 +f 16 32 33 +f 3 2 5 +f 3 5 6 +f 6 5 10 +f 4 8 14 +f 6 10 15 +f 8 4 16 +f 11 2 16 +f 3 6 17 +f 7 5 18 +f 7 9 20 +f 11 16 21 +f 1 15 22 +f 15 10 22 +f 14 6 23 +f 12 14 23 +f 15 1 23 +f 6 15 23 +f 1 19 23 +f 19 12 23 +f 14 8 24 +f 13 14 24 +f 5 7 25 +f 10 5 25 +f 7 20 25 +f 20 10 25 +f 5 2 26 +f 2 11 26 +f 18 5 26 +f 11 18 26 +f 2 3 27 +f 16 2 27 +f 8 16 27 +f 4 14 28 +f 14 12 28 +f 19 9 28 +f 12 19 28 +f 3 17 29 +f 17 13 29 +f 24 8 29 +f 13 24 29 +f 27 3 29 +f 8 27 29 +f 19 1 30 +f 9 19 30 +f 20 9 30 +f 10 20 30 +f 1 22 30 +f 22 10 30 +f 6 14 31 +f 14 13 31 +f 17 6 31 +f 13 17 31 +f 9 7 32 +f 16 4 32 +f 4 28 32 +f 28 9 32 +f 7 18 33 +f 18 11 33 +f 21 16 33 +f 11 21 33 +f 32 7 33 +o convex_1 +v -0.420972 -0.507521 -1.035394 +v 0.064085 0.614190 -1.035394 +v 0.155019 0.583799 -1.035394 +v 0.094357 0.341271 -1.308239 +v 0.458209 -0.446978 -1.035394 +v -0.299649 -0.325654 -1.308239 +v -0.511906 0.462594 -1.065761 +v 0.367276 -0.083125 -1.308239 +v 0.458209 0.462594 -1.065761 +v -0.633230 -0.052735 -1.035394 +v -0.299649 0.250337 -1.308239 +v 0.064085 -0.598573 -1.065761 +v 0.306614 -0.264992 -1.308239 +v 0.579533 0.068352 -1.035394 +v 0.306614 0.250337 -1.308239 +v -0.117782 0.614190 -1.065761 +v -0.572568 0.007808 -1.126387 +v 0.549143 -0.022463 -1.126387 +v -0.481634 -0.477249 -1.065761 +v 0.064085 -0.355925 -1.308239 +v -0.481634 0.492866 -1.035394 +v -0.117782 -0.598573 -1.065761 +v -0.360310 0.068352 -1.308239 +v 0.458209 -0.446978 -1.065761 +v -0.087391 0.341271 -1.308239 +v 0.064085 0.523138 -1.156700 +f 37 58 59 +f 36 35 34 +f 36 34 38 +f 39 37 41 +f 35 36 42 +f 34 35 43 +f 37 39 44 +f 38 34 45 +f 39 41 46 +f 36 38 47 +f 42 36 47 +f 41 37 48 +f 37 42 48 +f 43 40 50 +f 46 41 51 +f 42 47 51 +f 48 42 51 +f 41 48 51 +f 34 43 52 +f 50 39 52 +f 43 50 52 +f 39 46 53 +f 46 45 53 +f 43 35 54 +f 40 43 54 +f 35 49 54 +f 49 40 54 +f 45 34 55 +f 34 52 55 +f 52 39 55 +f 39 53 55 +f 53 45 55 +f 40 44 56 +f 44 39 56 +f 39 50 56 +f 50 40 56 +f 38 45 57 +f 45 46 57 +f 47 38 57 +f 46 51 57 +f 51 47 57 +f 44 40 58 +f 37 44 58 +f 40 49 58 +f 58 49 59 +f 35 42 59 +f 42 37 59 +f 49 35 59 +o convex_2 +v 0.063967 4.797930 -0.398682 +v -1.057696 0.371156 -0.034817 +v -1.057696 0.371156 -0.004546 +v 0.821967 -4.448347 -0.004546 +v 0.063967 3.008612 0.965557 +v -0.117663 -3.023357 -0.974649 +v -0.602816 -3.751032 0.601693 +v 1.004000 3.038973 -0.095361 +v 0.761424 -2.901914 0.753253 +v 0.609662 0.067550 -1.035394 +v -0.784647 3.069334 -0.792818 +v -0.815120 3.038973 0.753253 +v -0.754375 -3.053717 -0.792818 +v -0.663359 -0.021573 1.026302 +v 0.761424 3.098715 0.722981 +v -0.724104 -4.539429 -0.065089 +v 0.033695 3.038973 -1.035394 +v 0.063967 -4.478707 0.753253 +v 0.094238 -4.508089 -0.762344 +v 0.609662 -0.051934 1.026302 +v -0.754375 4.524684 -0.004546 +v 0.033695 4.524684 0.722981 +v 0.791695 -3.022377 -0.701599 +v 0.791695 4.494324 -0.095361 +v -0.663359 -0.082294 -1.035394 +v 0.761424 3.038973 -0.762344 +v 1.004000 -2.992996 0.086269 +v -0.936408 -0.082294 0.753253 +v -1.057696 2.827428 -0.004546 +v -0.966680 -0.021573 -0.762344 +v -0.966680 -3.174180 -0.034817 +v 0.003423 4.524684 -0.792818 +v 0.094238 -4.994838 0.025726 +v 0.003423 -3.022377 0.965557 +v 0.882712 -0.173376 -0.732073 +v 0.852239 0.309456 0.753253 +v -0.724104 -3.023357 0.722981 +v 0.003423 5.010454 -0.004546 +v 0.124712 -3.022377 -0.974649 +v 1.004000 3.038973 0.055997 +v 1.004000 -2.992996 -0.065089 +v -0.572544 4.160357 -0.610785 +v 0.609662 -4.084020 0.571422 +v 0.579391 4.160357 0.541150 +v -0.511799 -4.175101 -0.610785 +v -0.572544 4.160357 0.541150 +v -0.117663 3.069334 0.965557 +v 0.609662 4.069275 -0.610785 +v 0.609662 -4.115359 -0.550242 +v 0.791695 4.524684 -0.004546 +v -0.875663 1.492540 0.844269 +v -0.602816 0.613062 1.026302 +v -1.027223 3.069334 -0.125632 +v -0.845392 1.492540 -0.883633 +v 0.003423 -4.508089 -0.762344 +v -0.996951 -2.628669 -0.065089 +v 0.821967 -4.448347 0.055796 +v 0.094238 4.494324 -0.792818 +v -0.754375 4.524684 -0.065089 +v -0.026848 1.220274 1.026302 +v -0.511799 -4.144741 0.541150 +v 0.700679 -3.023357 -0.762344 +v -0.238951 3.038973 -0.974649 +v -0.026848 4.524684 0.722981 +f 106 81 123 +f 74 64 79 +f 64 74 81 +f 65 72 84 +f 76 69 84 +f 69 76 85 +f 83 67 85 +f 61 62 88 +f 71 80 88 +f 62 87 88 +f 84 72 89 +f 61 88 89 +f 72 75 90 +f 77 75 92 +f 78 63 92 +f 77 68 93 +f 79 73 93 +f 68 79 93 +f 82 69 94 +f 69 85 94 +f 85 67 94 +f 74 79 95 +f 79 68 95 +f 68 86 95 +f 75 66 96 +f 66 77 96 +f 73 87 96 +f 90 75 96 +f 87 90 96 +f 93 73 96 +f 77 93 96 +f 83 60 97 +f 60 91 97 +f 78 65 98 +f 65 84 98 +f 84 69 98 +f 86 67 99 +f 74 95 99 +f 95 86 99 +f 63 82 100 +f 86 63 100 +f 67 86 100 +f 82 94 100 +f 94 67 100 +f 91 70 101 +f 68 77 102 +f 81 74 103 +f 75 72 104 +f 80 71 105 +f 64 81 106 +f 83 85 107 +f 63 78 108 +f 82 63 108 +f 67 83 109 +f 97 81 109 +f 83 97 109 +f 99 67 109 +f 74 99 109 +f 103 74 109 +f 81 103 109 +f 87 73 110 +f 71 88 110 +f 88 87 110 +f 73 79 111 +f 106 71 111 +f 71 110 111 +f 110 73 111 +f 88 80 112 +f 89 88 112 +f 89 112 113 +f 84 89 113 +f 112 70 113 +f 72 65 114 +f 65 78 114 +f 92 75 114 +f 78 92 114 +f 104 72 114 +f 75 104 114 +f 62 61 115 +f 87 62 115 +f 61 89 115 +f 89 72 115 +f 72 90 115 +f 90 87 115 +f 63 86 116 +f 86 68 116 +f 92 63 116 +f 77 92 116 +f 68 102 116 +f 102 77 116 +f 60 83 117 +f 85 76 117 +f 76 91 117 +f 91 60 117 +f 83 107 117 +f 107 85 117 +f 80 97 118 +f 97 91 118 +f 101 70 118 +f 91 101 118 +f 70 112 118 +f 112 80 118 +f 79 64 119 +f 64 106 119 +f 111 79 119 +f 106 111 119 +f 66 75 120 +f 77 66 120 +f 75 77 120 +f 69 82 121 +f 78 98 121 +f 98 69 121 +f 108 78 121 +f 82 108 121 +f 76 84 122 +f 70 91 122 +f 91 76 122 +f 113 70 122 +f 84 113 122 +f 97 80 123 +f 81 97 123 +f 105 71 123 +f 80 105 123 +f 71 106 123 +o convex_3 +v 0.458239 -0.022422 1.238494 +v -0.633230 -0.022422 1.026303 +v -0.602688 -0.113414 1.026303 +v 0.488537 0.462458 1.026303 +v -0.330003 0.310886 1.299147 +v 0.063996 -0.568254 1.026303 +v -0.299583 -0.295275 1.299147 +v -0.481495 0.553326 1.026303 +v 0.306626 0.341176 1.299147 +v -0.026655 0.705147 1.056669 +v 0.458239 -0.386268 1.056669 +v 0.245908 -0.295275 1.299147 +v -0.451196 -0.446972 1.056669 +v 0.609852 0.007868 1.026303 +v -0.542091 0.523161 1.056669 +v -0.390600 0.038157 1.299147 +v -0.026655 0.462458 1.268808 +v 0.458239 0.492872 1.086982 +v -0.117672 -0.355979 1.299147 +v 0.397521 0.128901 1.299147 +v -0.633230 -0.022422 1.056669 +v 0.063996 -0.568254 1.056669 +v 0.609852 0.068447 1.056669 +v -0.026655 0.705147 1.026303 +v 0.397521 -0.446972 1.026303 +v -0.087252 -0.568254 1.056669 +v -0.451196 -0.446972 1.026303 +f 149 136 150 +f 126 125 127 +f 126 127 129 +f 127 125 131 +f 128 130 132 +f 132 130 135 +f 134 124 135 +f 129 127 137 +f 131 125 138 +f 133 131 138 +f 130 128 139 +f 128 138 139 +f 128 132 140 +f 132 133 140 +f 138 128 140 +f 133 138 140 +f 133 132 141 +f 135 130 142 +f 130 136 142 +f 135 124 143 +f 132 135 143 +f 141 132 143 +f 125 126 144 +f 126 136 144 +f 136 130 144 +f 138 125 144 +f 130 139 144 +f 139 138 144 +f 135 142 145 +f 124 134 146 +f 137 127 146 +f 134 137 146 +f 127 141 146 +f 143 124 146 +f 141 143 146 +f 127 131 147 +f 131 133 147 +f 141 127 147 +f 133 141 147 +f 134 135 148 +f 129 137 148 +f 137 134 148 +f 145 129 148 +f 135 145 148 +f 142 136 149 +f 129 145 149 +f 145 142 149 +f 126 129 150 +f 136 126 150 +f 129 149 150 +o convex_4 +v -0.329950 0.219994 1.299174 +v 0.397619 0.038080 1.329790 +v 0.397619 -0.022463 1.329790 +v 0.033719 0.038080 3.027192 +v -0.208650 -0.325678 1.299174 +v 0.215669 0.341294 1.299174 +v 0.003471 -0.204378 2.784633 +v -0.178325 0.038080 2.784633 +v 0.064044 0.250337 2.663354 +v 0.245994 0.038080 2.814911 +v 0.276319 -0.265063 1.299174 +v -0.390677 -0.052806 1.329790 +v -0.087350 0.371637 1.329790 +v 0.336969 0.280680 1.329790 +v -0.299625 -0.295335 1.329790 +v -0.238975 0.250337 1.875462 +v 0.033719 -0.356020 1.420622 +v 0.215669 -0.174106 2.390518 +v -0.026700 0.219994 2.754187 +v 0.215669 0.189723 2.572352 +v -0.148000 -0.174106 2.481351 +v 0.245994 -0.052806 2.754187 +v 0.064044 -0.204378 2.784633 +v -0.390677 0.038080 1.329790 +v -0.178325 0.007808 2.784633 +v -0.299625 0.280680 1.420622 +v 0.064044 0.371637 1.390345 +v 0.064044 0.219994 2.814911 +v 0.276319 -0.265063 1.390345 +v 0.276319 0.038080 2.633077 +v 0.064044 -0.022463 3.027192 +v 0.306644 0.310952 1.299174 +v -0.087350 -0.356020 1.360067 +v -0.148000 0.189723 2.542075 +f 169 166 184 +f 155 151 156 +f 155 156 161 +f 151 155 162 +f 156 151 163 +f 162 155 165 +f 158 154 169 +f 159 163 169 +f 163 166 169 +f 165 157 171 +f 168 172 173 +f 157 167 173 +f 151 162 174 +f 162 158 174 +f 154 158 175 +f 158 162 175 +f 162 165 175 +f 171 157 175 +f 165 171 175 +f 163 151 176 +f 158 166 176 +f 166 163 176 +f 151 174 176 +f 174 158 176 +f 159 156 177 +f 156 163 177 +f 163 159 177 +f 154 160 178 +f 169 154 178 +f 159 169 178 +f 170 159 178 +f 160 170 178 +f 161 153 179 +f 167 161 179 +f 153 172 179 +f 172 168 179 +f 168 173 179 +f 173 167 179 +f 153 152 180 +f 152 164 180 +f 170 160 180 +f 164 170 180 +f 172 153 180 +f 160 172 180 +f 160 154 181 +f 172 160 181 +f 173 172 181 +f 157 173 181 +f 154 175 181 +f 175 157 181 +f 152 153 182 +f 156 159 182 +f 153 161 182 +f 161 156 182 +f 164 152 182 +f 159 170 182 +f 170 164 182 +f 155 161 183 +f 165 155 183 +f 157 165 183 +f 167 157 183 +f 161 167 183 +f 166 158 184 +f 158 169 184 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/526/526.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/526/526.urdf new file mode 100644 index 000000000..02d49984c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/526/526.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/527/527.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/527/527.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/527/527.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/527/527.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/527/527.obj new file mode 100644 index 000000000..95e777a19 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/527/527.obj @@ -0,0 +1,864 @@ +o convex_0 +v -0.034666 -2.695454 0.973757 +v 0.000788 -2.060920 -1.036217 +v 0.000788 -1.778694 -1.036217 +v 1.481927 -1.778694 0.021728 +v -0.951276 -1.778694 0.868044 +v 0.036241 -3.400933 -0.683433 +v -0.810280 -3.294947 -0.048544 +v -0.951276 -1.778694 -0.789146 +v 0.141511 -3.400933 0.762331 +v 1.093847 -1.778694 0.868248 +v 0.882217 -2.695454 -0.789146 +v 0.776402 -3.294947 0.092204 +v 1.093847 -1.778694 -0.895063 +v -1.304175 -1.849294 0.021728 +v -0.598922 -3.048280 -0.789146 +v -0.598922 -3.083493 0.762127 +v 0.353141 -2.907253 -1.036217 +v 0.917397 -2.660413 0.762331 +v -0.034666 -1.778694 1.044640 +v 0.388595 -2.942467 1.009198 +v -0.034666 -3.542132 -0.083781 +v 0.776402 -3.294947 -0.119223 +v 0.106330 -3.365720 -0.789146 +v 1.481927 -1.814080 -0.083781 +v 0.670586 -3.154093 0.550701 +v -1.304175 -1.814080 0.092204 +v -0.810280 -3.294947 0.021728 +v 0.036241 -2.484346 -1.036217 +v 0.036241 -3.400933 0.762331 +v 0.564771 -3.189307 -0.612958 +v 0.176964 -1.778694 1.044640 +v 0.071422 -3.542132 -0.048544 +v -0.951276 -1.849294 0.868044 +v 0.071422 -2.343319 1.044640 +v -0.880914 -1.814080 -0.824384 +v 0.811582 -2.201947 -0.965538 +v -0.034666 -3.542132 0.092204 +v 1.481927 -1.814080 0.021728 +v 0.811582 -2.272547 0.938723 +v -1.304175 -1.778694 -0.013306 +v 0.811582 -3.259906 0.056966 +v -0.387292 -3.048280 0.832806 +v -1.021910 -1.814080 -0.647992 +v 1.093847 -1.849294 0.868248 +v 0.036241 -3.365720 -0.789146 +v -1.092544 -2.484346 0.056966 +v 0.282780 -2.907253 -1.036217 +v 0.529591 -3.400933 0.021728 +v 0.458956 -2.836481 1.009198 +v 0.423775 -2.801440 -1.036217 +v 0.988032 -1.778694 -0.930301 +v -1.021910 -2.625372 -0.083781 +v -0.598922 -3.118880 0.726889 +v -0.739918 -3.330506 0.021728 +v 0.317960 -2.942467 1.009198 +v 1.093847 -1.814080 -0.895063 +v 0.388595 -2.942467 -1.000776 +v 0.988032 -1.778694 0.903485 +v 0.106330 -1.849294 -1.036217 +v -0.739918 -3.224693 -0.295411 +v -1.268994 -1.884507 -0.048544 +f 15 52 61 +f 4 3 5 +f 5 3 8 +f 4 5 10 +f 3 4 13 +f 2 3 17 +f 10 5 19 +f 7 6 21 +f 13 4 24 +f 22 11 24 +f 9 12 25 +f 12 18 25 +f 20 9 25 +f 18 20 25 +f 2 17 28 +f 9 20 29 +f 11 22 30 +f 22 23 30 +f 10 19 31 +f 21 6 32 +f 6 23 32 +f 23 22 32 +f 19 5 33 +f 5 26 33 +f 26 16 33 +f 31 19 34 +f 33 1 34 +f 19 33 34 +f 3 2 35 +f 8 3 35 +f 15 8 35 +f 2 28 35 +f 28 15 35 +f 9 29 37 +f 32 9 37 +f 21 32 37 +f 4 10 38 +f 24 4 38 +f 5 8 40 +f 26 5 40 +f 14 26 40 +f 18 12 41 +f 12 22 41 +f 22 24 41 +f 38 18 41 +f 24 38 41 +f 16 29 42 +f 1 33 42 +f 33 16 42 +f 8 15 43 +f 40 8 43 +f 38 10 44 +f 18 38 44 +f 39 18 44 +f 6 7 45 +f 23 6 45 +f 17 23 45 +f 14 7 46 +f 26 14 46 +f 16 26 46 +f 27 16 46 +f 7 27 46 +f 15 28 47 +f 28 17 47 +f 45 15 47 +f 17 45 47 +f 12 9 48 +f 22 12 48 +f 9 32 48 +f 32 22 48 +f 20 18 49 +f 34 20 49 +f 31 34 49 +f 18 39 49 +f 17 3 50 +f 36 11 50 +f 36 50 51 +f 3 13 51 +f 7 14 52 +f 16 27 53 +f 29 16 53 +f 29 53 54 +f 7 21 54 +f 27 7 54 +f 21 37 54 +f 37 29 54 +f 53 27 54 +f 29 20 55 +f 34 1 55 +f 20 34 55 +f 1 42 55 +f 42 29 55 +f 13 24 56 +f 24 11 56 +f 11 36 56 +f 36 51 56 +f 51 13 56 +f 23 17 57 +f 11 30 57 +f 30 23 57 +f 17 50 57 +f 50 11 57 +f 10 31 58 +f 44 10 58 +f 39 44 58 +f 31 49 58 +f 49 39 58 +f 50 3 59 +f 51 50 59 +f 3 51 59 +f 45 7 60 +f 15 45 60 +f 7 52 60 +f 52 15 60 +f 14 40 61 +f 43 15 61 +f 40 43 61 +f 52 14 61 +o convex_1 +v -0.598682 0.937056 -2.587891 +v 1.058702 1.501467 2.066882 +v 0.917613 1.924416 2.031254 +v -0.810433 1.395550 2.736685 +v -0.034796 2.418096 -2.164514 +v 1.023253 0.654851 -0.224580 +v -1.339575 0.654851 0.021846 +v 0.000652 0.654851 2.772312 +v -0.775219 2.206442 1.996220 +v 0.917613 1.465922 -2.270210 +v -0.775219 2.206442 -2.058224 +v 0.035866 2.277173 2.737278 +v 0.035866 0.690216 -2.728621 +v 0.776524 2.206442 -1.776171 +v 0.035866 2.171256 -2.834911 +v 0.035866 2.488827 2.031848 +v 0.846951 0.654851 1.960592 +v 0.776524 1.466281 2.807346 +v -0.775219 1.466281 -2.728027 +v 0.776524 2.276993 2.031254 +v -0.810433 0.654851 2.066882 +v 0.670648 0.655030 -1.882461 +v -0.034796 1.501467 3.054960 +v 0.670648 1.430916 -2.799283 +v -0.775219 0.654851 -1.988157 +v 1.023253 1.501467 -1.317760 +v -0.070010 1.395550 -3.011268 +v -1.022183 1.395550 -2.058224 +v -1.057162 1.430916 1.961186 +v -0.845646 2.135890 0.585953 +v 1.058702 0.654851 1.255755 +v 0.776524 2.171256 -2.093852 +v 0.106293 2.418096 -2.093852 +v 0.741076 0.725402 -1.987563 +v -0.598682 1.994788 2.595955 +v -0.034796 2.488827 1.714166 +v -0.810433 2.206621 -1.353388 +v 1.058702 1.465922 -0.259614 +v 0.988040 1.430736 -2.058224 +v 0.529560 2.100705 2.631582 +v 0.529560 0.866505 2.631582 +v -0.598682 0.831319 2.595955 +v -0.493041 2.030153 -2.657959 +v 0.846951 2.100705 -0.965045 +v -1.339575 0.690396 -0.048222 +v 0.564773 1.994788 -2.622925 +v -1.022183 0.654851 -1.317760 +v 0.564773 0.866505 -2.481602 +v -1.022183 1.466102 -2.058224 +v -0.246077 2.382910 -1.882461 +v -1.022183 0.654851 1.396485 +v -0.739771 1.466281 2.807346 +v 0.000652 2.206621 2.807940 +v -0.704557 1.395730 -2.799283 +v 0.776524 1.607025 2.772312 +v 0.741076 1.395730 -2.728621 +v -0.070010 0.690216 2.807940 +v -0.070010 0.690216 -2.728621 +v 0.071079 1.431095 -3.011268 +v -0.105223 2.171256 -2.799283 +v -1.022183 1.360364 2.102509 +v 0.000652 0.654851 -2.658553 +v 1.058702 0.972422 -0.012595 +v 0.035866 0.690216 2.807940 +f 84 118 125 +f 68 67 69 +f 70 73 77 +f 69 67 78 +f 78 63 79 +f 77 73 81 +f 68 69 82 +f 67 68 86 +f 80 62 86 +f 80 86 89 +f 65 70 90 +f 90 70 91 +f 63 78 92 +f 78 67 92 +f 76 66 94 +f 81 75 94 +f 77 81 94 +f 75 93 94 +f 93 76 94 +f 67 83 95 +f 83 74 95 +f 70 65 96 +f 73 70 96 +f 70 77 97 +f 94 66 97 +f 77 94 97 +f 91 70 98 +f 70 97 98 +f 63 92 99 +f 71 93 100 +f 93 87 100 +f 67 95 100 +f 81 73 101 +f 78 79 102 +f 65 82 103 +f 80 72 104 +f 64 63 105 +f 81 64 105 +f 75 81 105 +f 93 75 105 +f 87 93 105 +f 63 99 105 +f 99 87 105 +f 68 90 106 +f 90 91 106 +f 91 98 106 +f 85 76 107 +f 76 93 107 +f 86 68 108 +f 89 86 108 +f 68 106 108 +f 106 89 108 +f 95 74 109 +f 72 80 110 +f 80 89 110 +f 98 72 110 +f 89 106 110 +f 106 98 110 +f 66 72 111 +f 97 66 111 +f 72 98 111 +f 98 97 111 +f 68 82 112 +f 96 65 113 +f 65 103 113 +f 73 96 114 +f 101 73 114 +f 113 84 114 +f 96 113 114 +f 62 80 115 +f 80 104 115 +f 63 64 116 +f 79 63 116 +f 64 81 116 +f 84 79 116 +f 81 101 116 +f 114 84 116 +f 101 114 116 +f 74 85 117 +f 93 71 117 +f 71 100 117 +f 100 95 117 +f 85 107 117 +f 107 93 117 +f 109 74 117 +f 95 109 117 +f 82 69 118 +f 103 82 118 +f 84 113 118 +f 113 103 118 +f 86 62 119 +f 88 74 119 +f 62 115 119 +f 115 88 119 +f 85 74 120 +f 76 85 120 +f 74 88 120 +f 88 76 120 +f 72 66 121 +f 66 76 121 +f 76 88 121 +f 104 72 121 +f 88 115 121 +f 115 104 121 +f 82 65 122 +f 65 90 122 +f 90 68 122 +f 112 82 122 +f 68 112 122 +f 83 67 123 +f 74 83 123 +f 67 86 123 +f 86 119 123 +f 119 74 123 +f 92 67 124 +f 87 99 124 +f 99 92 124 +f 67 100 124 +f 100 87 124 +f 69 78 125 +f 79 84 125 +f 78 102 125 +f 102 79 125 +f 118 69 125 +o convex_2 +v 1.728587 -0.050524 0.973861 +v 0.000638 -1.778694 -1.036217 +v 0.000638 -1.743339 -1.036217 +v -2.785456 -0.438584 0.832806 +v -1.621614 -0.050524 -1.036003 +v 0.176402 -1.778694 1.044495 +v 2.786733 -0.509125 -0.824529 +v -2.785456 -1.284907 -0.048409 +v 2.821767 -1.320093 -0.013306 +v -1.656648 -0.050524 1.044281 +v 2.892429 -0.050524 -0.083726 +v -2.785456 -0.544481 -0.789212 +v 2.821767 -0.579666 0.726855 +v -0.951218 -1.778694 0.868123 +v -2.891152 -0.050524 -0.048409 +v 1.093818 -1.778694 -0.894949 +v 2.045675 -0.473770 -1.036217 +v 1.093818 -1.778694 0.868123 +v -0.916184 -1.778694 -0.824315 +v 2.081302 -0.050524 -0.859632 +v -0.069430 -0.050524 1.150446 +v -2.044991 -0.615022 1.079598 +v 2.116336 -0.614852 1.009178 +v -2.185721 -1.249383 0.797489 +v -2.044991 -0.579666 -1.036003 +v -2.080025 -1.320093 -0.753681 +v 2.081302 -1.355448 -0.824529 +v 1.587263 -1.778694 -0.083726 +v -1.409629 -1.778694 0.022011 +v -3.032475 -0.579666 0.057114 +v 2.257660 -1.284738 0.691752 +v 3.033752 -0.614852 -0.083726 +v 2.645409 -0.050524 0.586015 +v -2.609098 -0.050524 -0.648157 +v -2.609098 -0.050524 0.691752 +v -2.785456 -1.284907 0.127320 +v 2.821767 -1.320093 -0.119043 +v 2.010641 -0.685393 -1.036217 +v 2.610375 -0.050524 -0.648157 +v 2.610375 -1.143656 -0.648157 +v -2.609098 -1.108470 -0.577523 +v -2.609098 -1.073115 0.656435 +v 0.000638 -0.050524 -1.000900 +v -2.785456 -0.544481 0.832806 +v 2.645409 -1.108470 0.550698 +v -0.034396 -1.778694 1.044495 +v 1.516602 -0.756104 1.044495 +v 2.821767 -0.509125 0.726855 +v -2.009364 -1.249383 0.868123 +v 3.033752 -0.438584 -0.083726 +v 2.081302 -1.249383 0.797489 +v 2.116336 -1.602257 -0.083726 +v -0.280821 -0.121065 1.150446 +v -3.032475 -0.438584 -0.013306 +v -1.938702 -0.368043 1.079598 +v -2.256383 -1.496361 0.022011 +v 2.045675 -0.438584 1.009178 +v -2.891152 -0.050524 0.092217 +v 2.081302 -0.050524 0.868123 +v 0.952495 -1.778694 -0.930266 +v -2.785456 -0.438584 -0.753681 +v 0.988123 -1.778694 0.903440 +v 1.904945 -0.050524 -0.894949 +v 2.786733 -0.544481 -0.824529 +f 162 165 189 +f 126 130 135 +f 130 126 136 +f 127 131 139 +f 135 130 140 +f 131 127 141 +f 127 128 142 +f 128 130 142 +f 131 141 143 +f 127 139 144 +f 130 136 145 +f 132 142 145 +f 126 135 146 +f 128 127 150 +f 130 128 150 +f 137 130 150 +f 127 144 151 +f 144 133 151 +f 150 127 151 +f 137 150 151 +f 143 141 153 +f 144 139 154 +f 137 133 155 +f 143 134 156 +f 138 134 157 +f 136 126 158 +f 140 130 159 +f 129 135 160 +f 135 140 160 +f 139 149 161 +f 155 133 161 +f 141 152 162 +f 157 134 162 +f 127 142 163 +f 136 132 164 +f 145 136 164 +f 132 145 164 +f 162 152 165 +f 133 137 166 +f 151 133 166 +f 137 151 166 +f 161 149 167 +f 142 130 168 +f 130 145 168 +f 147 129 169 +f 129 155 169 +f 155 161 169 +f 167 149 169 +f 161 167 169 +f 134 138 170 +f 156 134 170 +f 138 156 170 +f 139 131 171 +f 146 131 172 +f 131 148 172 +f 148 146 172 +f 148 138 173 +f 138 157 173 +f 136 158 173 +f 149 139 174 +f 147 169 174 +f 169 149 174 +f 139 171 174 +f 171 147 174 +f 132 136 175 +f 157 132 175 +f 136 173 175 +f 173 157 175 +f 138 148 176 +f 156 138 176 +f 143 156 176 +f 134 143 177 +f 153 141 177 +f 143 153 177 +f 141 162 177 +f 162 134 177 +f 131 146 178 +f 146 135 178 +f 171 131 178 +f 147 171 178 +f 155 129 179 +f 137 155 179 +f 135 129 180 +f 129 147 180 +f 178 135 180 +f 147 178 180 +f 133 144 181 +f 154 139 181 +f 144 154 181 +f 139 161 181 +f 161 133 181 +f 126 146 182 +f 146 148 182 +f 148 173 182 +f 129 160 183 +f 160 140 183 +f 179 129 183 +f 140 179 183 +f 158 126 184 +f 173 158 184 +f 126 182 184 +f 182 173 184 +f 141 127 185 +f 152 141 185 +f 127 163 185 +f 163 152 185 +f 130 137 186 +f 159 130 186 +f 140 159 186 +f 179 140 186 +f 137 179 186 +f 131 143 187 +f 148 131 187 +f 176 148 187 +f 143 176 187 +f 145 142 188 +f 142 168 188 +f 168 145 188 +f 142 132 189 +f 132 157 189 +f 157 162 189 +f 163 142 189 +f 152 163 189 +f 165 152 189 +o convex_3 +v 2.469001 -0.050524 0.656559 +v -0.069286 0.302153 -1.247830 +v -0.069286 0.337432 -1.247830 +v -2.644149 -0.015245 0.656269 +v 0.035937 0.337432 1.714746 +v -1.586294 -0.050524 -1.036135 +v -2.573812 0.337432 -0.013327 +v 2.574787 0.337432 -0.048416 +v 2.610236 -0.050524 -0.648123 +v -0.245970 -0.050524 1.185508 +v -2.608699 -0.050524 -0.612744 +v -1.656630 0.337432 -0.894908 +v 2.010973 0.266874 -0.753971 +v 2.081309 -0.050524 -0.859528 +v 2.045860 0.231595 0.762117 +v -1.939100 0.266874 0.832585 +v -1.621744 -0.050524 1.044281 +v 1.552382 -0.050524 1.008901 +v 2.786358 0.266874 -0.013327 +v -2.891169 -0.050524 0.057142 +v 2.857256 -0.050524 0.057142 +v -2.785383 0.266874 -0.048416 +v -0.069286 0.302153 1.714746 +v 2.574787 0.055313 0.585801 +v 0.000487 -0.015245 -1.036135 +v -2.079772 0.231595 -0.789060 +v -1.550845 0.337432 0.938433 +v 2.045860 0.337432 0.480243 +v 2.045860 0.337432 -0.506896 +v -2.785383 0.266874 0.057142 +v -2.221007 0.196353 0.762117 +v 2.539900 0.090554 -0.612744 +v -2.608699 0.020034 -0.612744 +v -2.079772 -0.050524 0.903344 +v -1.198602 0.337432 -1.036135 +v 2.045860 -0.050524 0.867965 +v -0.069286 0.337432 1.714746 +v 2.116196 0.231595 -0.753971 +v 0.000487 0.337432 -1.247830 +v 2.857256 -0.015245 -0.118884 +v 0.035937 0.302153 1.714746 +v -2.009436 -0.015245 -0.894908 +v 2.645123 -0.015245 0.550711 +v 2.116196 0.125833 0.797496 +v 2.045860 0.020034 -0.859528 +v 2.751471 0.231595 -0.154263 +v -2.644149 -0.050524 0.656269 +v -0.916132 -0.050524 -1.036135 +v -2.608699 0.090554 0.585801 +v -2.891169 -0.015245 -0.013327 +v -0.104736 -0.050524 1.185508 +v -2.573812 0.337432 0.057142 +v -2.538363 0.090554 -0.612744 +f 215 222 242 +f 192 191 195 +f 194 192 196 +f 192 194 197 +f 190 195 198 +f 195 190 199 +f 195 199 200 +f 196 192 201 +f 198 195 203 +f 200 199 206 +f 199 190 207 +f 200 206 209 +f 190 198 210 +f 196 201 211 +f 206 199 212 +f 208 204 213 +f 191 203 214 +f 211 201 215 +f 194 196 216 +f 197 194 217 +f 194 204 217 +f 208 197 217 +f 204 208 217 +f 192 197 218 +f 197 202 218 +f 209 193 219 +f 196 211 219 +f 205 219 220 +f 209 206 223 +f 206 212 223 +f 192 195 224 +f 201 192 224 +f 207 190 225 +f 190 213 225 +f 212 194 226 +f 194 216 226 +f 216 205 226 +f 220 193 226 +f 205 220 226 +f 193 223 226 +f 223 212 226 +f 202 197 227 +f 221 198 227 +f 191 192 228 +f 203 191 228 +f 192 218 228 +f 218 202 228 +f 202 227 228 +f 210 198 229 +f 208 210 229 +f 194 212 230 +f 212 199 230 +f 207 225 230 +f 225 194 230 +f 195 200 231 +f 215 201 231 +f 200 222 231 +f 222 215 231 +f 224 195 231 +f 201 224 231 +f 190 210 232 +f 210 208 232 +f 213 190 232 +f 208 213 232 +f 204 194 233 +f 213 204 233 +f 194 225 233 +f 225 213 233 +f 198 203 234 +f 227 198 234 +f 203 228 234 +f 228 227 234 +f 197 208 235 +f 198 221 235 +f 227 197 235 +f 221 227 235 +f 229 198 235 +f 208 229 235 +f 193 209 236 +f 223 193 236 +f 209 223 236 +f 195 191 237 +f 203 195 237 +f 191 214 237 +f 214 203 237 +f 219 193 238 +f 193 220 238 +f 220 219 238 +f 200 209 239 +f 209 219 239 +f 219 211 239 +f 222 200 239 +f 211 222 239 +f 199 207 240 +f 230 199 240 +f 207 230 240 +f 216 196 241 +f 205 216 241 +f 219 205 241 +f 196 219 241 +f 211 215 242 +f 222 211 242 +o convex_4 +v -1.586120 0.619527 -0.048140 +v 1.058664 0.654851 1.220528 +v 1.058664 0.619527 1.220528 +v 0.000543 0.619527 -2.552774 +v -0.034670 0.337463 1.855628 +v -2.468175 0.337463 -0.012885 +v 1.058664 0.337463 -0.471199 +v -0.034670 0.654851 2.667003 +v -0.034670 0.337463 -1.424105 +v -0.810395 0.654851 -1.846653 +v 0.811481 0.654851 -1.283085 +v 1.023105 0.337463 1.150018 +v -0.810395 0.654851 2.031903 +v -1.515694 0.337463 -0.930025 +v -1.445268 0.337463 0.938488 +v 0.847040 0.619527 1.926138 +v -2.468175 0.372756 0.022370 +v 0.035756 0.443280 -1.988184 +v -0.034670 0.619527 2.667003 +v -1.445268 0.654851 0.022370 +v 0.529431 0.654851 -1.952929 +v 1.023105 0.654851 -0.224925 +v -0.775182 0.619527 2.067158 +v -0.034670 0.443280 2.208178 +v -0.034670 0.654851 -2.552774 +v -0.669543 0.619527 -1.988184 +v 0.529431 0.619527 -1.952929 +v -0.069883 0.443280 -1.988184 +v 0.212167 0.372756 1.890883 +v 0.776268 0.337463 -0.824260 +v 0.847040 0.654851 1.926138 +v 0.000543 0.619527 2.667003 +v -1.727318 0.584265 0.022370 +v 1.058664 0.337463 0.973743 +v -2.397404 0.337463 0.091858 +v -0.034670 0.619527 -2.552774 +v -2.468175 0.372756 -0.012885 +f 259 275 279 +f 247 248 249 +f 244 245 249 +f 249 248 251 +f 250 244 252 +f 252 244 253 +f 247 249 254 +f 250 252 255 +f 251 248 256 +f 248 247 257 +f 245 244 258 +f 254 245 258 +f 252 243 262 +f 255 252 262 +f 252 253 263 +f 244 249 264 +f 253 244 264 +f 249 253 264 +f 250 255 265 +f 255 259 265 +f 261 250 265 +f 257 261 265 +f 257 247 266 +f 261 257 266 +f 263 246 267 +f 252 263 267 +f 248 252 268 +f 256 248 268 +f 252 267 268 +f 253 249 269 +f 260 246 269 +f 246 263 269 +f 263 253 269 +f 251 256 270 +f 246 260 270 +f 260 251 270 +f 247 254 271 +f 266 247 271 +f 249 251 272 +f 251 260 272 +f 269 249 272 +f 260 269 272 +f 244 250 273 +f 258 244 273 +f 258 273 274 +f 254 258 274 +f 250 261 274 +f 261 266 274 +f 271 254 274 +f 266 271 274 +f 273 250 274 +f 259 255 275 +f 262 243 275 +f 255 262 275 +f 249 245 276 +f 254 249 276 +f 245 254 276 +f 248 257 277 +f 259 248 277 +f 257 265 277 +f 265 259 277 +f 267 246 278 +f 256 268 278 +f 268 267 278 +f 246 270 278 +f 270 256 278 +f 243 252 279 +f 252 248 279 +f 248 259 279 +f 275 243 279 +o convex_5 +v 1.094112 0.407963 0.586063 +v 2.434183 0.372711 0.021956 +v 2.434183 0.337446 0.021956 +v 1.058702 0.372711 -0.436648 +v 2.046016 0.478493 -0.048609 +v 1.094112 0.337446 0.974102 +v 2.046016 0.337446 -0.401297 +v 1.058702 0.443214 -0.295518 +v 1.058702 0.337446 -0.436648 +v 1.940189 0.478493 0.162948 +v 1.058702 0.372711 0.974102 +v 2.046016 0.372711 -0.401297 +v 2.046016 0.372711 0.374506 +v 1.058702 0.443214 0.127735 +v 1.623112 0.478493 0.021956 +f 287 293 294 +f 281 282 286 +f 282 285 286 +f 283 286 288 +f 286 285 288 +f 287 283 288 +f 281 284 289 +f 288 285 290 +f 287 288 290 +f 284 281 291 +f 281 286 291 +f 286 283 291 +f 287 284 291 +f 283 287 291 +f 282 281 292 +f 285 282 292 +f 281 289 292 +f 290 285 292 +f 289 290 292 +f 290 280 293 +f 287 290 293 +f 284 287 294 +f 289 284 294 +f 280 290 294 +f 290 289 294 +f 293 280 294 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/527/527.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/527/527.urdf new file mode 100644 index 000000000..1551f9d5e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/527/527.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/528/528.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/528/528.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/528/528.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/528/528.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/528/528.obj new file mode 100644 index 000000000..bc408f3f0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/528/528.obj @@ -0,0 +1,510 @@ +o convex_0 +v 0.282612 -1.196955 -2.185540 +v -0.320944 -1.260525 -2.122057 +v -0.289159 -1.260525 -2.312554 +v 0.219042 -1.609861 -2.058426 +v -0.193864 -1.609861 -2.503151 +v 0.250827 -1.069875 -2.566683 +v 0.091962 -1.006306 -2.058426 +v -0.289159 -1.069875 -2.376037 +v 0.187257 -1.578018 -2.471360 +v -0.162079 -1.578018 -2.058426 +v -0.320944 -1.069875 -2.058426 +v 0.282612 -1.006306 -2.058426 +v -0.162079 -1.069875 -2.471360 +v 0.219042 -1.609861 -2.312554 +v -0.225590 -1.578018 -2.503151 +v 0.219042 -1.038150 -2.534892 +v 0.250827 -1.165170 -2.566683 +v 0.123747 -1.133386 -2.566683 +f 17 5 18 +f 3 2 8 +f 5 4 10 +f 4 7 10 +f 10 7 11 +f 7 8 11 +f 8 2 11 +f 2 10 11 +f 4 1 12 +f 1 6 12 +f 7 4 12 +f 1 4 14 +f 4 5 14 +f 5 9 14 +f 2 3 15 +f 3 8 15 +f 5 10 15 +f 10 2 15 +f 8 13 15 +f 8 7 16 +f 12 6 16 +f 7 12 16 +f 6 13 16 +f 13 8 16 +f 6 1 17 +f 9 5 17 +f 1 14 17 +f 14 9 17 +f 13 6 18 +f 5 15 18 +f 15 13 18 +f 6 17 18 +o convex_1 +v 1.076764 0.042491 -0.406453 +v -1.115096 2.328742 -0.501704 +v -0.987867 2.773324 -0.533455 +v 1.044796 3.789770 1.594475 +v -0.987867 -2.372247 1.626440 +v -0.956113 3.758402 1.499223 +v 0.949535 -2.308305 1.499223 +v -1.051374 -2.244966 -0.438203 +v 1.013042 3.663091 -0.406453 +v 1.076764 -2.212994 -0.469954 +v -1.115096 3.662488 -0.501704 +v 0.314247 -1.673101 -0.565205 +v 0.282494 -1.481876 1.626440 +v -0.987867 1.756877 1.562725 +v -1.019621 -2.372247 1.403972 +v -0.352579 -1.196548 -0.565205 +v 1.076764 -2.212994 -0.120483 +v 1.044796 3.725827 0.197237 +v 0.981288 -0.624080 1.562510 +v -1.115096 3.662488 -0.279450 +v 0.600245 -2.340276 1.562510 +v -0.924360 3.694459 -0.279450 +v -0.416087 0.487073 -0.565205 +v -0.987867 -1.577187 1.626440 +v 1.013042 -2.149655 -0.501490 +v 1.044796 2.518760 1.562725 +v -0.860852 3.758402 1.530974 +v 0.886027 2.963945 -0.438203 +v -0.606609 3.663091 -0.501490 +v 0.727259 3.790373 1.276755 +v -1.051374 -2.276333 -0.247485 +v -0.987867 -2.085712 -0.469954 +v 0.854274 -2.244362 -0.215949 +v -0.987867 3.726430 1.340256 +v -0.733838 -2.372247 1.340256 +v 1.013042 3.694459 -0.342951 +v 1.044796 2.805295 -0.406453 +v 0.759013 -2.308305 1.562510 +v 1.076764 -0.274809 -0.469954 +v 0.187233 -0.941984 -0.565205 +v -0.479594 -2.244966 -0.469739 +v -0.193811 -1.641130 -0.565205 +v -1.051374 -2.276333 -0.056982 +v 0.949535 -2.308305 1.086252 +v 0.155479 -0.910616 1.626440 +v -0.670330 -2.372247 1.626440 +v 0.981288 3.790373 1.594261 +v -0.956113 3.091227 -0.533455 +v 0.949535 -1.164576 1.562510 +v 0.028250 -2.244362 -0.469739 +v 0.663752 3.503838 -0.438203 +v -1.115096 2.392081 -0.438203 +v 0.314247 -1.545819 -0.565205 +v -1.083128 -0.274809 -0.469954 +v -0.892606 3.758402 1.372221 +v -1.083128 3.695063 -0.183984 +v 1.044796 3.535809 1.594475 +v 0.949535 -2.212994 1.530974 +v 0.346001 3.790373 1.562510 +v 1.044796 3.789770 1.276755 +v 1.044796 2.042809 -0.437989 +v -1.083128 1.279721 -0.501704 +v -0.511348 0.392366 -0.565205 +v 1.013042 -2.276937 0.705031 +f 37 76 82 +f 21 20 29 +f 19 22 35 +f 28 19 35 +f 29 20 38 +f 33 32 38 +f 30 34 41 +f 23 31 42 +f 32 33 42 +f 33 23 42 +f 24 32 45 +f 32 42 45 +f 32 24 52 +f 24 38 52 +f 38 32 52 +f 23 33 53 +f 33 49 53 +f 36 27 54 +f 29 40 54 +f 47 29 54 +f 27 47 54 +f 40 48 54 +f 36 19 55 +f 27 36 55 +f 39 25 56 +f 19 28 57 +f 28 43 57 +f 55 19 57 +f 30 41 58 +f 49 26 59 +f 26 50 59 +f 34 30 60 +f 30 43 60 +f 50 34 60 +f 43 59 60 +f 59 50 60 +f 49 33 61 +f 25 39 62 +f 51 28 62 +f 39 53 62 +f 53 51 62 +f 31 22 63 +f 42 31 63 +f 31 23 64 +f 23 53 64 +f 53 39 64 +f 56 31 64 +f 39 56 64 +f 45 42 65 +f 63 22 65 +f 42 63 65 +f 21 29 66 +f 29 47 66 +f 31 56 67 +f 43 28 68 +f 28 51 68 +f 53 49 68 +f 51 53 68 +f 59 43 68 +f 49 59 68 +f 27 46 69 +f 47 27 69 +f 58 41 69 +f 46 58 69 +f 41 66 69 +f 66 47 69 +f 38 20 70 +f 33 38 70 +f 61 33 70 +f 43 30 71 +f 57 43 71 +f 30 58 71 +f 58 46 71 +f 26 49 72 +f 50 26 72 +f 49 61 72 +f 70 20 72 +f 61 70 72 +f 73 48 74 +f 29 38 74 +f 38 24 74 +f 40 29 74 +f 48 40 74 +f 24 73 74 +f 22 31 75 +f 35 22 75 +f 44 35 75 +f 37 44 75 +f 31 67 75 +f 67 37 75 +f 56 25 76 +f 37 67 76 +f 67 56 76 +f 24 45 77 +f 45 65 77 +f 65 48 77 +f 73 24 77 +f 48 73 77 +f 22 19 78 +f 19 36 78 +f 36 54 78 +f 54 48 78 +f 65 22 78 +f 48 65 78 +f 46 27 79 +f 27 55 79 +f 55 57 79 +f 57 71 79 +f 71 46 79 +f 20 21 80 +f 34 50 80 +f 72 20 80 +f 50 72 80 +f 41 34 81 +f 21 66 81 +f 66 41 81 +f 80 21 81 +f 34 80 81 +f 28 35 82 +f 35 44 82 +f 44 37 82 +f 25 62 82 +f 62 28 82 +f 76 25 82 +o convex_2 +v 0.091916 -1.006402 3.309841 +v -0.289178 -1.641484 1.626630 +v -0.225621 -1.641484 1.626630 +v 0.250746 -0.911008 1.626630 +v 0.346144 -1.577983 3.563982 +v -0.225621 -0.942901 3.468584 +v -0.225621 -1.546233 3.500447 +v 0.282587 -1.482732 1.626630 +v -0.225621 -1.006402 1.626630 +v 0.250746 -1.101725 3.563982 +v 0.346144 -1.450910 3.436911 +v -0.225621 -1.577983 3.309841 +v 0.346144 -1.546233 2.960302 +v 0.060137 -0.911008 2.103239 +v -0.098569 -0.942901 3.405049 +v -0.289178 -1.546233 1.753700 +v 0.091916 -1.069903 3.563982 +v 0.346144 -1.577983 3.277978 +v -0.225621 -0.942901 2.928629 +v 0.219030 -1.514482 1.626630 +v -0.003233 -1.577983 3.532120 +v 0.282587 -1.292157 1.626630 +v -0.289178 -1.641484 1.753700 +v -0.003233 -0.942901 1.658492 +f 91 101 106 +f 85 84 86 +f 85 86 90 +f 86 84 91 +f 86 83 92 +f 86 92 93 +f 92 87 93 +f 86 93 95 +f 93 87 95 +f 83 86 97 +f 92 83 97 +f 88 92 97 +f 86 96 97 +f 96 88 97 +f 89 88 98 +f 91 84 98 +f 88 89 99 +f 87 92 99 +f 92 88 99 +f 87 85 100 +f 95 87 100 +f 90 95 100 +f 88 96 101 +f 98 88 101 +f 91 98 101 +f 85 90 102 +f 100 85 102 +f 90 100 102 +f 89 94 103 +f 87 99 103 +f 99 89 103 +f 90 86 104 +f 95 90 104 +f 86 95 104 +f 84 85 105 +f 85 87 105 +f 94 89 105 +f 89 98 105 +f 98 84 105 +f 87 103 105 +f 103 94 105 +f 86 91 106 +f 96 86 106 +f 101 96 106 +o convex_3 +v 0.091950 -2.435036 -2.058308 +v -0.289066 0.391122 -0.851315 +v -0.320844 0.391122 -0.851315 +v 0.536740 -4.341374 -0.883096 +v 0.441405 1.629878 -2.026526 +v -0.575073 -4.214043 -1.963081 +v -0.511516 1.629878 -1.931299 +v 0.441405 1.661408 -0.914996 +v -0.511516 -4.214043 -1.010223 +v 0.536740 -4.214043 -1.994863 +v -0.447958 1.788740 -0.946659 +v -0.320844 -1.070161 -2.058308 +v 0.473183 1.344291 -0.914878 +v -0.225509 -1.989982 -0.851315 +v -0.575073 -4.118847 -1.613601 +v 0.346069 -1.545533 -0.851315 +v 0.536740 -3.038953 -1.994863 +v -0.416180 1.820876 -0.883214 +v 0.409626 -4.373511 -1.042122 +v 0.187285 1.661408 -2.026526 +v 0.536740 -2.911621 -0.914878 +v -0.511516 -3.293010 -0.978441 +v 0.473183 0.613043 -2.026526 +v 0.155507 1.725074 -0.883214 +v 0.282512 -1.006495 -2.058308 +v -0.575073 -2.530232 -1.899518 +v -0.384401 -4.246179 -0.978441 +v -0.289066 1.820876 -1.073786 +v -0.479737 1.693544 -1.867736 +v -0.511516 -4.246179 -1.867736 +v 0.377848 -3.642263 -2.026526 +v -0.257287 -2.085783 -2.058308 +v 0.536740 -4.245573 -1.962963 +v -0.447958 0.867100 -0.883214 +v 0.441405 1.661408 -1.867618 +v 0.504962 -2.053648 -2.026526 +v 0.060171 -2.657564 -0.851315 +v -0.575073 -3.293010 -1.963081 +v -0.511516 1.597742 -1.867736 +v -0.479737 -4.246179 -1.010223 +v 0.377848 1.692938 -1.105568 +v -0.257287 -1.800197 -0.851315 +v -0.479737 -4.023652 -0.978441 +v 0.441405 -4.246179 -0.883214 +v 0.123728 -4.214043 -1.994744 +v 0.282512 -0.974966 -0.851315 +v 0.536740 -4.373511 -0.914878 +v -0.447958 1.439487 -0.883214 +v -0.447958 1.121764 -1.963081 +v 0.473183 1.312155 -1.073786 +v 0.536740 -2.911621 -1.804173 +v -0.543185 -4.214043 -1.232576 +v -0.511516 -3.578597 -0.978441 +v -0.257287 1.820876 -0.883214 +v -0.447958 1.820876 -1.073786 +f 134 135 161 +f 108 109 120 +f 110 119 122 +f 119 114 122 +f 108 120 122 +f 110 116 123 +f 109 108 124 +f 119 110 127 +f 110 123 127 +f 107 118 131 +f 126 111 131 +f 118 126 131 +f 111 129 131 +f 112 121 132 +f 126 113 135 +f 134 126 135 +f 107 131 137 +f 118 107 138 +f 112 118 138 +f 107 137 138 +f 116 110 139 +f 136 112 139 +f 125 136 139 +f 114 119 141 +f 119 111 141 +f 111 126 141 +f 126 134 141 +f 123 116 142 +f 129 123 142 +f 131 129 142 +f 116 137 142 +f 137 131 142 +f 110 122 143 +f 122 120 143 +f 118 112 144 +f 113 118 144 +f 112 132 144 +f 132 113 144 +f 117 113 145 +f 113 132 145 +f 132 117 145 +f 133 115 146 +f 112 136 146 +f 136 125 146 +f 130 114 147 +f 114 141 147 +f 120 109 148 +f 109 140 148 +f 115 133 149 +f 120 148 149 +f 133 110 150 +f 110 143 150 +f 143 120 150 +f 149 133 150 +f 120 149 150 +f 137 116 151 +f 112 138 151 +f 138 137 151 +f 116 139 151 +f 139 112 151 +f 108 122 152 +f 122 114 152 +f 114 130 152 +f 130 108 152 +f 110 133 153 +f 139 110 153 +f 125 139 153 +f 146 125 153 +f 133 146 153 +f 109 124 154 +f 124 117 154 +f 121 128 154 +f 117 132 154 +f 132 121 154 +f 140 109 154 +f 128 140 154 +f 118 113 155 +f 126 118 155 +f 113 126 155 +f 111 119 156 +f 129 111 156 +f 123 129 156 +f 119 127 157 +f 127 123 157 +f 156 119 157 +f 123 156 157 +f 121 112 158 +f 128 121 158 +f 112 146 158 +f 146 115 158 +f 140 128 159 +f 148 140 159 +f 115 149 159 +f 149 148 159 +f 158 115 159 +f 128 158 159 +f 124 108 160 +f 108 130 160 +f 134 124 160 +f 141 134 160 +f 130 147 160 +f 147 141 160 +f 113 117 161 +f 117 124 161 +f 124 134 161 +f 135 113 161 +o convex_4 +v 0.219064 -1.101663 -0.565420 +v -0.257412 -1.165192 -0.851314 +v -0.225627 -1.482707 -0.851314 +v 0.346144 -1.578033 -0.851314 +v -0.193842 -1.609765 -0.565420 +v 0.282574 -0.974540 -0.851314 +v -0.193842 -1.038134 -0.565420 +v 0.282574 -1.641562 -0.565420 +v -0.193842 -1.609765 -0.851314 +v -0.257412 -1.069931 -0.851314 +v 0.028533 -0.974540 -0.565420 +v 0.314359 -1.641562 -0.787761 +v 0.282574 -0.974540 -0.787761 +v 0.314359 -1.578033 -0.628974 +f 174 162 175 +f 164 163 165 +f 163 164 166 +f 165 163 167 +f 166 162 168 +f 163 166 168 +f 162 166 169 +f 164 165 170 +f 166 164 170 +f 169 166 170 +f 167 163 171 +f 163 168 171 +f 171 168 172 +f 168 162 172 +f 167 171 172 +f 165 169 173 +f 170 165 173 +f 169 170 173 +f 165 167 174 +f 172 162 174 +f 167 172 174 +f 162 169 175 +f 169 165 175 +f 165 174 175 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/528/528.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/528/528.urdf new file mode 100644 index 000000000..8283751cf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/528/528.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/529/529.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/529/529.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/529/529.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/529/529.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/529/529.obj new file mode 100644 index 000000000..4c73e6bbe --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/529/529.obj @@ -0,0 +1,642 @@ +o convex_0 +v -0.412698 2.852357 -1.027162 +v -2.724122 -3.165870 0.566676 +v -2.724122 -3.165870 0.965135 +v -0.213361 -3.205782 1.005250 +v -2.604421 2.851752 1.005250 +v -2.644239 -3.085442 -0.947552 +v -0.213361 -3.125353 -1.107184 +v -0.213361 2.932181 0.965342 +v -2.684058 2.972093 -0.947552 +v -0.213361 2.972093 -0.987460 +v -2.724122 -1.212607 -0.987460 +v -2.724122 1.177872 0.965135 +v -0.253179 0.500580 -1.107184 +v -0.213361 2.612886 1.005250 +v -0.850944 -3.125353 -1.107184 +v -0.731243 2.972093 0.925434 +v -1.408891 -3.205782 1.005043 +v -2.724122 2.493150 -0.907644 +v -2.604421 1.018225 -0.987460 +v -0.253179 -3.165265 -0.867943 +v -0.213361 2.533062 -1.067276 +v -2.684058 -3.125353 -0.588794 +v -2.684058 2.931576 -0.190335 +v -2.166175 -1.770769 1.005250 +v -0.253179 -3.205782 0.128309 +v -2.444902 -2.966311 -0.987460 +v -0.890762 -2.806663 -1.107184 +v -2.245565 2.891664 1.005250 +v -2.644239 2.493150 1.005250 +v -2.684058 2.972093 -0.748426 +v -1.847137 -3.125353 -1.027368 +v -2.724122 -1.610516 -0.947552 +v -2.684058 -2.846575 -0.947552 +v -0.292997 2.533062 -1.067276 +v -1.568164 -3.205782 0.925434 +v -1.647800 2.972093 -0.987460 +f 34 9 36 +f 4 7 8 +f 8 7 10 +f 2 3 11 +f 11 3 12 +f 5 4 14 +f 4 8 14 +f 13 7 15 +f 8 10 16 +f 10 9 16 +f 9 11 18 +f 11 12 18 +f 11 9 19 +f 9 13 19 +f 15 7 20 +f 1 10 21 +f 10 7 21 +f 7 13 21 +f 18 12 23 +f 4 5 24 +f 3 17 24 +f 17 4 24 +f 7 4 25 +f 4 17 25 +f 20 7 25 +f 11 15 26 +f 15 11 27 +f 13 15 27 +f 11 19 27 +f 19 13 27 +f 5 14 28 +f 14 8 28 +f 8 16 28 +f 23 5 28 +f 12 3 29 +f 5 23 29 +f 23 12 29 +f 24 5 29 +f 3 24 29 +f 16 9 30 +f 9 18 30 +f 18 23 30 +f 28 16 30 +f 23 28 30 +f 15 20 31 +f 22 6 31 +f 20 25 31 +f 25 22 31 +f 6 26 31 +f 26 15 31 +f 2 11 32 +f 22 2 33 +f 6 22 33 +f 26 6 33 +f 11 26 33 +f 2 32 33 +f 32 11 33 +f 13 9 34 +f 1 21 34 +f 21 13 34 +f 3 2 35 +f 17 3 35 +f 2 22 35 +f 25 17 35 +f 22 25 35 +f 9 10 36 +f 10 1 36 +f 1 34 36 +o convex_1 +v 1.939403 0.540558 1.045088 +v 1.460890 -1.212919 -1.107184 +v 1.460890 0.540558 -1.107184 +v 3.453753 -1.093043 -1.066988 +v 3.373968 0.939162 -0.947490 +v 3.333978 -1.133072 1.004891 +v 1.460890 -1.093254 0.925371 +v 3.413763 0.939162 1.124607 +v 1.460890 0.899344 1.004891 +v 1.460890 0.939373 -1.066988 +v 2.696480 -1.133072 1.004891 +v 3.214593 0.939162 -0.987468 +v 1.819824 -1.212919 -1.107184 +v 1.460890 -1.212919 -0.628538 +v 3.373968 -1.133072 0.566659 +v 1.460890 0.939373 0.167969 +v 3.413763 0.341467 -0.987468 +v 1.460890 -0.734468 0.965131 +v 2.058788 0.939373 -1.066988 +v 1.460890 -1.133072 0.726135 +v 3.254388 -0.853923 1.044869 +v 3.453753 -0.973588 -1.066988 +v 3.453753 -1.093043 -0.867970 +v 3.413763 0.819497 1.124607 +v 1.700244 0.899344 1.045088 +v 2.696480 0.939162 1.084847 +v 3.413763 0.939162 0.646397 +v 3.294183 0.859526 1.124607 +v 3.453753 -0.814105 -1.027228 +v 1.979198 -1.133072 -1.107184 +f 39 58 66 +f 39 38 43 +f 39 43 45 +f 39 45 46 +f 38 39 49 +f 49 42 50 +f 43 38 50 +f 42 47 50 +f 38 49 50 +f 49 40 51 +f 42 49 51 +f 46 45 52 +f 48 41 53 +f 45 43 54 +f 43 47 54 +f 39 46 55 +f 41 48 55 +f 52 44 55 +f 46 52 55 +f 47 43 56 +f 43 50 56 +f 50 47 56 +f 47 42 57 +f 54 47 57 +f 48 53 58 +f 39 55 58 +f 55 48 58 +f 51 40 59 +f 40 58 59 +f 42 51 60 +f 57 42 60 +f 51 59 60 +f 59 44 60 +f 54 37 61 +f 45 54 61 +f 44 52 62 +f 52 45 62 +f 61 44 62 +f 45 61 62 +f 53 41 63 +f 41 55 63 +f 55 44 63 +f 37 54 64 +f 54 57 64 +f 60 44 64 +f 57 60 64 +f 44 61 64 +f 61 37 64 +f 58 53 65 +f 44 59 65 +f 59 58 65 +f 53 63 65 +f 63 44 65 +f 49 39 66 +f 40 49 66 +f 58 40 66 +o convex_2 +v 0.743342 -2.209050 -1.107184 +v 1.181834 -0.734632 1.045107 +v 0.942761 -0.734632 1.045107 +v -0.133314 -3.205540 1.005078 +v -0.213115 -0.734632 -1.067155 +v 1.381089 -3.125724 1.005078 +v 1.460890 -0.734632 -1.107184 +v -0.213115 -3.125724 -1.106974 +v 1.341107 -3.165632 -1.027127 +v -0.213115 -0.734632 0.925231 +v 1.460890 -0.734632 0.925442 +v -0.213115 -3.205540 1.005078 +v 1.420908 -2.727128 1.005078 +v 0.982579 -3.205540 -0.668341 +v 1.460890 -1.213286 -1.107184 +v 1.381089 -3.165632 -0.190101 +v -0.213115 -0.894506 0.965260 +v -0.133314 -3.165632 -0.947490 +v -0.213115 -1.890754 -1.106974 +v 1.460890 -1.571974 0.965260 +v 1.381089 -3.165632 0.327536 +v -0.213115 -3.205540 0.128234 +v -0.213115 -2.727128 1.005078 +v 1.341107 -2.488164 -1.066945 +v 0.663542 -3.165632 -1.067155 +v 0.703524 -1.013988 -1.107184 +v 0.902779 -3.165632 1.005078 +f 87 72 93 +f 68 69 70 +f 69 68 71 +f 71 68 73 +f 69 71 76 +f 71 74 76 +f 73 68 77 +f 70 69 78 +f 76 74 78 +f 68 72 79 +f 70 78 80 +f 67 73 81 +f 73 77 81 +f 81 79 82 +f 80 75 82 +f 75 81 82 +f 69 76 83 +f 76 78 83 +f 74 71 85 +f 77 68 86 +f 68 79 86 +f 81 77 86 +f 79 81 86 +f 79 72 87 +f 70 80 87 +f 82 79 87 +f 80 82 87 +f 78 74 88 +f 80 78 88 +f 74 84 88 +f 84 80 88 +f 78 69 89 +f 69 83 89 +f 83 78 89 +f 67 81 90 +f 81 75 90 +f 74 67 91 +f 75 80 91 +f 84 74 91 +f 80 84 91 +f 67 90 91 +f 90 75 91 +f 73 67 92 +f 71 73 92 +f 67 74 92 +f 85 71 92 +f 74 85 92 +f 68 70 93 +f 72 68 93 +f 70 87 93 +o convex_3 +v -0.212951 0.939373 -0.947701 +v 1.460890 0.899457 1.005078 +v 1.460890 0.421228 1.005078 +v 1.460890 0.421228 -1.107184 +v -0.212951 0.421228 1.045107 +v -0.212951 0.421228 -1.107184 +v 1.460890 0.939373 -1.066945 +v -0.212951 0.939373 0.965260 +v 1.341119 0.939373 1.005078 +v 1.420748 0.819727 -1.107184 +v 1.261327 0.620554 1.045107 +v 0.544341 0.939373 1.005078 +v -0.212951 0.500959 -1.107184 +v 1.181698 0.939373 -1.066945 +f 106 94 107 +f 95 96 97 +f 97 96 98 +f 98 94 99 +f 97 98 99 +f 95 97 100 +f 94 98 101 +f 100 94 101 +f 100 101 102 +f 95 100 102 +f 97 99 103 +f 100 97 103 +f 96 95 104 +f 98 96 104 +f 95 102 104 +f 104 102 105 +f 101 98 105 +f 102 101 105 +f 98 104 105 +f 99 94 106 +f 103 99 106 +f 103 106 107 +f 94 100 107 +f 100 103 107 +o convex_4 +v 0.026029 1.975583 -2.382394 +v 0.504316 1.537231 -1.465919 +v 0.584030 1.537231 -1.465919 +v 0.026029 2.254662 -1.067327 +v 0.663745 2.135067 -3.020332 +v 0.584030 2.135067 -1.067327 +v 0.145632 1.577190 -2.780986 +v 0.026029 1.537231 -1.067327 +v 0.663745 1.656827 -2.940614 +v 0.065917 2.095108 -2.940614 +v 0.584030 1.537231 -1.067327 +v 0.105806 1.736533 -2.980378 +v 0.623856 2.135067 -1.386201 +v 0.225409 2.135067 -2.980378 +v 0.663745 1.617079 -2.422349 +v 0.424601 1.617079 -2.980378 +f 116 122 123 +f 110 109 114 +f 109 110 115 +f 111 108 115 +f 113 111 115 +f 114 109 115 +f 108 111 117 +f 115 110 118 +f 113 115 118 +f 115 108 119 +f 114 115 119 +f 108 117 119 +f 112 111 120 +f 111 113 120 +f 113 118 120 +f 111 112 121 +f 117 111 121 +f 112 119 121 +f 119 117 121 +f 116 112 122 +f 118 110 122 +f 112 120 122 +f 120 118 122 +f 110 114 123 +f 112 116 123 +f 114 119 123 +f 119 112 123 +f 122 110 123 +o convex_5 +v 0.942746 -0.136789 1.921470 +v -0.213115 -0.734632 -2.980299 +v -0.213115 -0.296093 -2.980299 +v -0.213115 0.181933 3.037584 +v 0.862867 0.341350 -2.979699 +v 0.942632 -0.734632 1.044438 +v -0.133350 -0.654754 2.957690 +v 0.823041 -0.654754 -3.059593 +v -0.173176 0.341350 -3.019346 +v 0.862867 0.341350 2.877796 +v 0.823041 -0.614928 2.957690 +v -0.213115 0.421115 1.044438 +v 0.942746 0.421228 -0.947507 +v -0.213115 -0.734632 0.924897 +v 0.942632 -0.734632 -0.986553 +v -0.093410 0.381176 3.037584 +v 0.942746 0.421228 1.363413 +v -0.173176 0.421115 -1.625105 +v -0.173176 -0.455623 3.077230 +v 0.743389 0.221759 2.997937 +v -0.213115 0.421115 -1.106094 +v 0.623798 0.381176 -2.541183 +v 0.823041 -0.694693 -2.700971 +v 0.065894 -0.614928 3.077230 +v -0.213115 0.381176 3.037584 +v -0.213115 -0.694693 1.722035 +v 0.424554 -0.256267 -3.059593 +v 0.942632 -0.574988 1.722035 +v 0.862867 0.022515 2.957690 +v 0.783215 -0.614928 2.997937 +v 0.823041 -0.734632 -1.704398 +v 0.504320 0.421115 1.642742 +v 0.942746 0.381289 1.801929 +v -0.093410 -0.136902 3.077230 +v 0.862867 0.301524 2.957690 +v 0.185485 0.421115 -1.704398 +f 145 141 159 +f 126 125 127 +f 125 126 132 +f 126 127 135 +f 127 125 137 +f 125 129 137 +f 129 130 137 +f 129 125 138 +f 124 129 138 +f 131 128 138 +f 136 124 138 +f 128 136 138 +f 136 135 140 +f 124 136 140 +f 139 133 140 +f 132 126 144 +f 126 135 144 +f 135 136 144 +f 141 132 144 +f 136 141 144 +f 128 132 145 +f 136 128 145 +f 132 141 145 +f 125 131 146 +f 131 138 146 +f 142 130 147 +f 135 127 148 +f 127 142 148 +f 127 137 149 +f 137 130 149 +f 130 142 149 +f 142 127 149 +f 131 125 150 +f 128 131 150 +f 125 132 150 +f 132 128 150 +f 129 124 151 +f 134 129 151 +f 134 151 152 +f 151 124 152 +f 130 129 153 +f 129 134 153 +f 147 130 153 +f 143 147 153 +f 134 152 153 +f 138 125 154 +f 125 146 154 +f 146 138 154 +f 140 135 155 +f 139 140 155 +f 135 148 155 +f 148 139 155 +f 124 140 156 +f 140 133 156 +f 143 139 157 +f 142 147 157 +f 147 143 157 +f 139 148 157 +f 148 142 157 +f 133 139 158 +f 139 143 158 +f 152 124 158 +f 143 153 158 +f 153 152 158 +f 124 156 158 +f 156 133 158 +f 141 136 159 +f 136 145 159 +o convex_6 +v 0.942796 -0.455623 1.324108 +v 1.261533 -0.734632 -1.107184 +v 1.460890 -0.734632 -1.107184 +v 1.460890 0.421228 -1.107184 +v 0.942796 0.421228 -0.947732 +v 1.460890 0.421228 1.005203 +v 1.460890 -0.734632 0.925477 +v 0.942796 -0.734632 -1.027458 +v 0.942796 0.421228 1.124674 +v 0.942796 -0.734632 1.044947 +v 0.982657 -0.415571 1.324108 +v 1.381117 0.421228 -1.107184 +v 1.460890 -0.694693 0.965221 +v 0.942796 0.221872 -0.987476 +f 171 167 173 +f 162 161 163 +f 162 163 165 +f 163 164 165 +f 161 162 166 +f 162 165 166 +f 160 164 167 +f 161 166 167 +f 164 160 168 +f 165 164 168 +f 166 160 169 +f 160 167 169 +f 167 166 169 +f 168 160 170 +f 165 168 170 +f 163 161 171 +f 164 163 171 +f 161 167 171 +f 160 166 172 +f 166 165 172 +f 170 160 172 +f 165 170 172 +f 167 164 173 +f 164 171 173 +o convex_7 +v 0.862961 2.095100 1.084965 +v 1.142016 0.939770 -1.067327 +v 0.026122 1.537430 -1.067327 +v 1.420908 2.972093 -0.947662 +v -0.213115 2.931904 0.965299 +v -0.213115 0.939770 0.965299 +v 1.341107 0.939770 1.004907 +v -0.213115 2.972093 -0.987480 +v 1.381089 2.852322 0.965299 +v -0.213115 0.939770 -0.947662 +v 1.460890 0.939770 -1.067327 +v 0.464451 2.413826 -1.067327 +v 0.105759 1.577420 1.084965 +v 1.460890 0.939770 -0.588876 +v 1.460890 1.896146 -1.027298 +v -0.213115 2.533397 -1.067327 +v 1.381089 2.972093 -0.549058 +v 0.942761 1.298287 1.084965 +v 0.703360 2.334045 1.084965 +v 1.142016 2.892113 0.965299 +v 0.026122 2.134891 1.084965 +v 1.301289 2.812332 1.004907 +v -0.213115 1.059143 1.004907 +v 0.265360 2.931904 0.965299 +v 1.460890 1.457848 -1.067327 +v 1.381089 2.413826 0.965299 +v -0.213115 2.972093 -0.628694 +v 1.181834 1.019352 1.044725 +v -0.213115 2.613178 1.004907 +f 196 194 202 +f 179 175 180 +f 179 178 181 +f 176 175 183 +f 175 179 183 +f 179 181 183 +f 175 176 184 +f 180 175 184 +f 184 176 185 +f 180 184 187 +f 187 184 188 +f 177 182 188 +f 182 187 188 +f 181 177 189 +f 176 183 189 +f 183 181 189 +f 185 176 189 +f 177 185 189 +f 177 181 190 +f 182 177 190 +f 174 186 191 +f 186 174 192 +f 182 190 193 +f 192 178 194 +f 186 192 194 +f 180 182 195 +f 174 191 195 +f 192 174 195 +f 178 192 195 +f 182 193 195 +f 178 179 196 +f 191 186 196 +f 186 194 196 +f 190 178 197 +f 193 190 197 +f 178 195 197 +f 195 193 197 +f 185 177 198 +f 184 185 198 +f 188 184 198 +f 177 188 198 +f 182 180 199 +f 187 182 199 +f 180 187 199 +f 181 178 200 +f 190 181 200 +f 178 190 200 +f 179 180 201 +f 180 195 201 +f 195 191 201 +f 196 179 201 +f 191 196 201 +f 194 178 202 +f 178 196 202 +o convex_8 +v 0.065917 1.696676 1.124954 +v 0.743459 2.135016 2.958248 +v 0.743459 2.055360 2.958248 +v 0.703571 1.776398 1.084965 +v 0.623864 1.616954 3.077827 +v 0.105806 2.174877 2.320360 +v 0.663682 2.214805 1.084965 +v 0.145624 1.616954 2.918258 +v 0.703571 1.537231 1.084965 +v 0.026029 2.135016 1.084965 +v 0.185512 2.174877 2.958248 +v 0.105806 1.577159 1.084965 +v 0.663682 1.577159 2.559519 +v 0.105806 1.577159 1.882422 +v 0.583976 2.174877 2.958248 +v 0.026029 2.095221 1.284524 +v 0.145624 2.015433 2.958248 +v 0.663682 2.214805 1.762842 +v 0.743459 2.135016 2.599509 +v 0.583976 1.577159 2.719089 +v 0.504269 1.537231 1.124954 +f 211 222 223 +f 205 204 207 +f 209 206 211 +f 208 209 212 +f 209 211 212 +f 203 212 214 +f 212 211 214 +f 205 207 215 +f 211 205 215 +f 203 214 216 +f 207 204 217 +f 213 207 217 +f 208 212 218 +f 212 203 218 +f 203 216 218 +f 216 210 218 +f 210 207 219 +f 207 213 219 +f 213 208 219 +f 208 218 219 +f 218 210 219 +f 204 209 220 +f 209 208 220 +f 208 213 220 +f 217 204 220 +f 213 217 220 +f 204 205 221 +f 209 204 221 +f 206 209 221 +f 205 211 221 +f 211 206 221 +f 207 210 222 +f 215 207 222 +f 211 215 222 +f 210 216 222 +f 222 216 223 +f 214 211 223 +f 216 214 223 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/529/529.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/529/529.urdf new file mode 100644 index 000000000..ba08d0a1d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/529/529.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/530/530.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/530/530.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/530/530.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/530/530.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/530/530.obj new file mode 100644 index 000000000..8aefb91e6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/530/530.obj @@ -0,0 +1,681 @@ +o convex_0 +v 0.578847 -1.463569 -0.521734 +v 0.994760 0.870602 1.557038 +v 1.026785 0.870602 1.524737 +v -1.019928 0.870602 -0.489643 +v -0.987903 -2.103072 1.492856 +v 0.994760 -2.103072 1.492856 +v 0.994760 0.870602 -0.489433 +v -1.051953 0.870602 1.428884 +v -0.987903 -2.103072 -0.457552 +v 0.994760 -2.103072 -0.361699 +v 1.058810 -2.103072 0.022132 +v 0.195166 0.870602 -0.585706 +v -0.795959 -2.103072 1.524947 +v 0.866866 -2.103072 -0.489643 +v 1.058810 -0.376676 -0.041840 +v -1.019928 0.806564 1.460765 +v -1.019928 -0.695991 -0.489643 +v 0.994760 -0.568498 1.557038 +v 1.058810 -2.103072 0.565369 +v -0.987903 -1.623372 -0.489643 +v -1.019928 -1.111653 1.492856 +v 0.994760 -2.039034 1.524737 +v 1.026785 0.870602 -0.329609 +v 0.834841 0.870602 1.557038 +v 0.898891 0.678489 -0.521734 +v 1.026785 -2.071053 1.205087 +v 0.994760 -0.184854 -0.489433 +v 0.259216 0.774545 -0.585706 +v 0.962734 -2.103072 -0.457552 +v -0.444096 0.838583 1.492856 +f 13 24 30 +f 2 3 4 +f 4 3 7 +f 2 4 8 +f 6 5 9 +f 6 9 10 +f 6 10 11 +f 4 7 12 +f 5 6 13 +f 10 9 14 +f 8 4 17 +f 4 12 17 +f 3 2 18 +f 6 11 19 +f 15 3 19 +f 11 15 19 +f 1 14 20 +f 14 9 20 +f 9 17 20 +f 17 12 20 +f 9 5 21 +f 5 13 21 +f 16 8 21 +f 13 16 21 +f 8 17 21 +f 17 9 21 +f 13 6 22 +f 3 18 22 +f 18 13 22 +f 7 3 23 +f 3 15 23 +f 15 11 23 +f 2 8 24 +f 18 2 24 +f 13 18 24 +f 12 7 25 +f 19 3 26 +f 6 19 26 +f 22 6 26 +f 3 22 26 +f 11 10 27 +f 7 23 27 +f 23 11 27 +f 25 7 27 +f 14 25 27 +f 14 1 28 +f 1 20 28 +f 20 12 28 +f 12 25 28 +f 25 14 28 +f 10 14 29 +f 27 10 29 +f 14 27 29 +f 8 16 30 +f 16 13 30 +f 24 8 30 +o convex_1 +v 1.986551 -2.806907 0.501672 +v 1.538807 -2.135344 0.789485 +v 1.538807 -2.135344 0.757469 +v 3.073356 -2.167369 0.245810 +v 3.105610 -2.838932 0.853450 +v 1.059210 -2.327357 0.213860 +v 1.059210 -2.742857 0.821435 +v 3.073356 -2.742857 0.181844 +v 3.041303 -2.167369 0.821435 +v 1.059210 -2.742857 0.213860 +v 1.059210 -2.135344 0.629538 +v 1.059210 -2.167369 0.245810 +v 1.059210 -2.135344 0.789485 +v 2.977397 -2.487138 0.853450 +v 2.945343 -2.550982 0.181844 +v 1.698672 -2.742857 0.181844 +v 2.657665 -2.838932 0.725519 +v 1.282982 -2.774951 0.309775 +v 2.273828 -2.742857 0.853450 +v 3.105610 -2.806907 0.533622 +f 35 47 50 +f 33 32 34 +f 34 32 39 +f 35 34 39 +f 37 36 40 +f 32 33 41 +f 33 34 41 +f 36 37 41 +f 34 36 42 +f 41 34 42 +f 36 41 42 +f 39 32 43 +f 32 41 43 +f 41 37 43 +f 35 39 44 +f 39 43 44 +f 36 34 45 +f 34 38 45 +f 40 36 46 +f 36 45 46 +f 45 38 46 +f 35 37 47 +f 38 31 48 +f 37 40 48 +f 46 38 48 +f 40 46 48 +f 31 47 48 +f 47 37 48 +f 37 35 49 +f 43 37 49 +f 35 44 49 +f 44 43 49 +f 34 35 50 +f 31 38 50 +f 38 34 50 +f 47 31 50 +o convex_2 +v 0.323241 1.510518 -2.184793 +v -0.284403 1.158724 -2.440543 +v -0.124462 1.158724 -2.440543 +v 0.163300 1.798331 -2.600525 +v -0.284403 1.766237 -2.088825 +v -0.252403 1.158724 -2.088825 +v -0.284403 1.862312 -2.504556 +v 0.259241 1.798331 -2.088825 +v 0.323241 1.222706 -2.088825 +v 0.291241 1.702393 -2.600525 +v 0.227241 1.254800 -2.440543 +v 0.291241 1.798331 -2.600525 +v 0.099360 1.830287 -2.088825 +v 0.163300 1.158724 -2.120831 +f 61 59 64 +f 55 52 56 +f 52 53 56 +f 54 52 57 +f 52 55 57 +f 55 56 58 +f 58 56 59 +f 51 58 59 +f 51 59 60 +f 53 52 60 +f 52 54 60 +f 60 59 61 +f 53 60 61 +f 54 57 62 +f 58 51 62 +f 51 60 62 +f 60 54 62 +f 57 55 63 +f 55 58 63 +f 62 57 63 +f 58 62 63 +f 56 53 64 +f 59 56 64 +f 53 61 64 +o convex_3 +v -0.028453 1.158784 2.612419 +v 0.355222 1.414640 3.475543 +v 0.355222 1.318709 3.475543 +v 0.323228 1.222777 1.621000 +v -0.252346 1.734312 1.845176 +v -0.284403 1.254774 3.603838 +v 0.227247 1.766368 3.507568 +v -0.284403 1.190781 1.621000 +v 0.227247 1.702315 1.621000 +v -0.220353 1.766368 3.475543 +v -0.284403 1.638380 1.621000 +v 0.323228 1.158784 1.749295 +v -0.188359 1.190781 3.603838 +v 0.323228 1.286712 3.507568 +v -0.156365 1.158784 1.621000 +v -0.284403 1.190781 3.603838 +v 0.003541 1.766368 2.803987 +f 74 71 81 +f 66 67 68 +f 66 68 73 +f 71 66 73 +f 68 72 73 +f 70 71 74 +f 72 70 75 +f 69 73 75 +f 73 72 75 +f 74 69 75 +f 70 74 75 +f 68 67 76 +f 71 70 77 +f 65 76 77 +f 77 76 78 +f 67 66 78 +f 66 71 78 +f 76 67 78 +f 71 77 78 +f 72 68 79 +f 76 65 79 +f 68 76 79 +f 70 72 80 +f 77 70 80 +f 65 77 80 +f 72 79 80 +f 79 65 80 +f 71 73 81 +f 73 69 81 +f 69 74 81 +o convex_4 +v -3.002483 -2.742907 0.437813 +v -1.563891 -2.135488 0.789469 +v -1.052150 -2.167454 0.821425 +v -1.403959 -2.231385 0.245869 +v -1.052150 -2.742907 0.853450 +v -1.052150 -2.774872 0.213844 +v -3.066574 -2.167454 0.149863 +v -3.002483 -2.870841 0.821425 +v -2.970536 -2.135488 0.757444 +v -3.066574 -2.678903 0.309782 +v -1.052150 -2.263350 0.277825 +v -3.002483 -2.646938 0.821425 +v -1.052150 -2.167454 0.661506 +v -1.244028 -2.774872 0.213844 +v -3.034430 -2.135488 0.533544 +v -2.043487 -2.742907 0.853450 +v -3.066574 -2.231385 0.149863 +v -2.938590 -2.167454 0.149863 +v -1.052150 -2.646938 0.213844 +v -3.066574 -2.678903 0.501657 +v -1.308119 -2.167454 0.821425 +v -2.234971 -2.838804 0.565500 +f 82 95 103 +f 84 86 87 +f 82 89 91 +f 84 87 92 +f 83 84 94 +f 84 92 94 +f 92 85 94 +f 82 91 95 +f 90 83 96 +f 93 90 96 +f 86 84 97 +f 89 86 97 +f 93 89 97 +f 91 88 98 +f 87 95 98 +f 95 91 98 +f 83 94 99 +f 94 85 99 +f 96 83 99 +f 88 96 99 +f 87 98 99 +f 98 88 99 +f 85 92 100 +f 92 87 100 +f 99 85 100 +f 87 99 100 +f 88 91 101 +f 91 89 101 +f 89 93 101 +f 96 88 101 +f 93 96 101 +f 84 83 102 +f 83 90 102 +f 90 93 102 +f 97 84 102 +f 93 97 102 +f 87 86 103 +f 86 89 103 +f 89 82 103 +f 95 87 103 +o convex_5 +v -0.604224 -3.542478 1.268865 +v 0.642887 -2.199441 -0.489762 +v 0.642887 -2.103510 -0.489762 +v 0.994747 -2.103363 1.492909 +v -0.987903 -2.103510 1.492909 +v 0.962722 -3.606482 -0.457615 +v -0.955878 -3.542478 -0.457615 +v 0.994747 -3.478328 1.492909 +v -0.987903 -2.103510 -0.457615 +v -0.955878 -3.478475 1.525056 +v 1.058797 -2.103363 0.054176 +v -1.051953 -2.966597 0.086126 +v -0.316207 -3.606482 0.917219 +v 0.962722 -2.103363 -0.457615 +v 1.058797 -3.030600 1.076968 +v -1.051953 -2.167366 0.821172 +v -0.731910 -2.103510 1.525056 +v 0.355076 -3.606482 0.757469 +v -1.051953 -2.743248 0.853122 +v 1.058797 -2.966744 0.437970 +v -0.316207 -3.478475 1.525056 +v 1.058797 -2.135585 0.789222 +v 0.547019 -3.606482 -0.457615 +v 0.802805 -2.583166 -0.489762 +v -0.955878 -3.510403 1.109115 +v -0.380257 -3.606482 0.597325 +v -0.987903 -3.062675 1.525056 +v 0.898673 -3.510403 1.364912 +v -1.051953 -2.263298 0.277825 +v 0.962722 -3.606482 -0.201818 +v 1.058797 -2.583313 0.054176 +v 0.994747 -3.510256 0.469722 +v 0.994747 -2.103363 -0.361568 +v -0.987903 -3.382544 -0.329618 +f 128 115 137 +f 106 105 112 +f 105 110 112 +f 104 113 116 +f 108 107 117 +f 106 112 117 +f 112 108 117 +f 107 114 117 +f 107 111 118 +f 108 112 119 +f 107 108 120 +f 116 109 121 +f 115 113 122 +f 108 119 122 +f 119 115 122 +f 114 118 123 +f 111 107 124 +f 113 104 124 +f 107 120 124 +f 120 113 124 +f 114 107 125 +f 107 118 125 +f 118 114 125 +f 109 116 126 +f 105 106 127 +f 110 105 127 +f 106 117 127 +f 117 109 127 +f 109 126 127 +f 126 110 127 +f 113 115 128 +f 116 113 128 +f 116 128 129 +f 110 126 129 +f 126 116 129 +f 128 110 129 +f 120 108 130 +f 113 120 130 +f 108 122 130 +f 122 113 130 +f 104 116 131 +f 116 121 131 +f 124 104 131 +f 111 124 131 +f 112 115 132 +f 119 112 132 +f 115 119 132 +f 121 109 133 +f 111 131 133 +f 131 121 133 +f 123 109 134 +f 114 123 134 +f 118 111 135 +f 109 123 135 +f 123 118 135 +f 133 109 135 +f 111 133 135 +f 109 117 136 +f 117 114 136 +f 134 109 136 +f 114 134 136 +f 112 110 137 +f 115 112 137 +f 110 128 137 +o convex_6 +v -0.796224 1.734327 -2.056737 +v -1.403943 2.086180 -0.969516 +v -0.636312 2.086065 -0.969516 +v -3.098584 0.902990 -1.033516 +v -0.380347 0.966921 -1.033516 +v -3.034459 1.958086 -1.928849 +v -2.746565 0.999003 -1.960849 +v -3.098584 2.086180 -0.905628 +v -0.380347 0.966921 -1.960736 +v -0.380347 2.022133 -1.992849 +v -0.380347 2.086065 -1.001629 +v -2.970601 0.967037 -1.832848 +v -0.380347 1.286809 -2.056737 +v -0.412542 2.086065 -1.545070 +v -0.700436 0.934956 -1.033516 +v -3.066389 0.902990 -1.257406 +v -3.034459 1.990052 -0.905628 +v -2.906476 1.990052 -1.800847 +v -2.746565 1.926121 -1.960849 +v -3.098584 1.062934 -1.257406 +v -3.098584 2.086180 -1.001516 +v -0.380347 1.862190 -2.056737 +v -2.203236 0.902990 -1.033516 +v -1.979466 0.967037 -1.960849 +v -0.924207 1.094784 -2.024737 +v -2.970601 1.158831 -1.928849 +v -0.668507 2.022133 -1.992849 +f 159 156 164 +f 140 139 145 +f 142 146 147 +f 139 140 148 +f 140 142 148 +f 142 147 148 +f 144 138 150 +f 147 146 150 +f 139 148 151 +f 148 147 151 +f 146 142 152 +f 142 140 154 +f 140 145 154 +f 145 141 154 +f 152 142 154 +f 144 143 156 +f 138 144 156 +f 141 145 157 +f 153 141 157 +f 149 153 157 +f 145 139 158 +f 139 151 158 +f 155 143 158 +f 151 155 158 +f 157 145 158 +f 143 157 158 +f 150 138 159 +f 147 150 159 +f 138 156 159 +f 146 152 160 +f 153 146 160 +f 141 153 160 +f 154 141 160 +f 152 154 160 +f 149 144 161 +f 146 153 161 +f 153 149 161 +f 144 150 162 +f 150 146 162 +f 161 144 162 +f 146 161 162 +f 143 144 163 +f 144 149 163 +f 157 143 163 +f 149 157 163 +f 151 147 164 +f 143 155 164 +f 155 151 164 +f 156 143 164 +f 147 159 164 +o convex_7 +v 3.073628 1.510452 -1.033537 +v -0.283990 1.606349 -2.088825 +v -0.283990 1.766293 -2.088825 +v -0.316109 1.286809 -0.873537 +v 3.073628 0.902990 -1.992705 +v 2.913709 2.086180 -2.088706 +v -0.380347 2.086065 -1.001537 +v -0.380347 0.966921 -1.960824 +v 3.041509 1.030968 -1.001537 +v 3.073628 2.086180 -1.097537 +v -0.380347 0.966921 -1.033656 +v -0.380347 2.022133 -1.992705 +v 0.291448 1.798143 -0.873537 +v -0.028390 1.158831 -2.088825 +v -0.380347 2.086065 -1.544943 +v 3.009390 1.478603 -2.056705 +v 0.802985 0.966921 -1.033656 +v 0.259328 0.934956 -1.960824 +v 2.881252 2.086180 -1.065537 +v 0.195429 1.254727 -0.873537 +v 3.073628 0.902990 -1.896824 +v -0.220090 1.830224 -0.873537 +v 0.931123 2.054099 -2.056824 +v 3.073628 2.086180 -1.321419 +v 3.041509 0.999003 -1.129418 +v 2.945490 1.830224 -2.088706 +v -0.380347 1.254727 -2.056824 +v 2.337934 2.086180 -2.088825 +v 2.593534 0.902990 -1.992824 +v 3.073628 1.222878 -1.960824 +v 2.945490 2.053983 -2.088706 +v 0.483147 2.086065 -1.001537 +v 0.323566 1.190796 -2.088825 +f 192 190 197 +f 165 169 174 +f 168 171 175 +f 171 172 175 +f 172 171 176 +f 173 165 177 +f 166 167 178 +f 176 171 179 +f 175 172 182 +f 172 178 182 +f 165 174 183 +f 174 170 183 +f 177 165 183 +f 168 175 184 +f 177 168 184 +f 173 177 184 +f 181 173 184 +f 175 181 184 +f 169 165 185 +f 165 173 185 +f 181 175 185 +f 171 168 186 +f 168 177 186 +f 177 183 186 +f 167 176 187 +f 176 179 187 +f 174 169 188 +f 170 174 188 +f 173 181 189 +f 185 173 189 +f 181 185 189 +f 167 166 191 +f 176 167 191 +f 172 176 191 +f 166 178 191 +f 178 172 191 +f 178 167 192 +f 179 171 192 +f 183 170 192 +f 171 183 192 +f 167 187 192 +f 187 179 192 +f 178 169 193 +f 175 182 193 +f 182 178 193 +f 169 185 193 +f 185 175 193 +f 169 180 194 +f 188 169 194 +f 188 194 195 +f 170 188 195 +f 180 190 195 +f 192 170 195 +f 190 192 195 +f 194 180 195 +f 183 171 196 +f 171 186 196 +f 186 183 196 +f 169 178 197 +f 180 169 197 +f 190 180 197 +f 178 192 197 +o convex_8 +v 0.355222 1.478430 -0.553725 +v -0.284403 1.254724 -0.873506 +v -0.284403 1.254724 -0.745575 +v 0.259241 0.870893 -0.585747 +v 0.291235 1.798305 -0.873506 +v -0.284403 1.766280 -0.553725 +v -0.220353 1.830330 -0.873506 +v 0.195316 1.254724 -0.873506 +v 0.323228 1.766280 -0.553725 +v -0.220353 1.222793 -0.553725 +v 0.195316 0.870893 -0.553725 +f 198 207 208 +f 198 201 202 +f 199 200 203 +f 202 199 204 +f 199 203 204 +f 201 199 205 +f 202 201 205 +f 199 202 205 +f 198 202 206 +f 203 198 206 +f 202 204 206 +f 204 203 206 +f 203 200 207 +f 198 203 207 +f 200 199 208 +f 199 201 208 +f 201 198 208 +f 207 200 208 +o convex_9 +v 0.067407 0.903169 -0.553725 +v 1.026828 2.469936 1.621000 +v 0.962731 2.469936 1.621000 +v 0.994678 0.871056 1.588856 +v -1.051953 0.871056 1.428988 +v -1.051953 2.501711 -0.521581 +v 0.994678 2.469936 -0.521581 +v -1.051953 2.469936 1.428988 +v -1.019802 0.871056 -0.489649 +v 0.994678 0.871056 -0.489649 +v 0.291238 2.597712 0.373982 +v -0.284212 1.190832 1.621000 +v 1.026828 0.871056 -0.329781 +v -1.051953 1.030944 -0.521581 +v -0.284212 1.670496 1.621000 +v -0.284212 2.565599 0.821231 +v 0.738900 2.054160 -0.553725 +v 1.026828 0.871056 1.524994 +v 0.067407 2.597712 0.150038 +v -0.284212 1.766328 -0.553725 +v 0.578963 0.871225 -0.553725 +v -0.987856 0.871056 1.460919 +v 1.026828 1.510777 -0.361712 +v 0.898838 2.501711 1.428988 +v 0.323185 1.158888 1.621000 +v 0.323185 2.597712 0.150038 +v 0.994678 1.446720 -0.521581 +v 1.026828 2.469936 1.237188 +v -0.540193 2.501711 -0.521581 +f 234 215 237 +f 214 213 216 +f 212 213 217 +f 212 217 218 +f 210 211 220 +f 212 218 221 +f 213 214 222 +f 209 217 222 +f 217 213 222 +f 211 216 223 +f 220 211 223 +f 214 216 224 +f 210 212 226 +f 221 210 226 +f 212 221 226 +f 214 224 227 +f 224 219 227 +f 222 214 228 +f 209 222 228 +f 225 209 228 +f 214 225 228 +f 217 209 229 +f 218 217 229 +f 209 225 229 +f 213 212 230 +f 216 213 230 +f 212 220 230 +f 223 216 230 +f 220 223 230 +f 210 221 231 +f 211 210 232 +f 216 211 232 +f 224 216 232 +f 219 224 232 +f 212 210 233 +f 210 220 233 +f 220 212 233 +f 214 227 234 +f 227 219 234 +f 232 215 234 +f 219 232 234 +f 221 218 235 +f 225 215 235 +f 218 229 235 +f 229 225 235 +f 215 231 235 +f 231 221 235 +f 210 231 236 +f 231 215 236 +f 232 210 236 +f 215 232 236 +f 225 214 237 +f 215 225 237 +f 214 234 237 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/530/530.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/530/530.urdf new file mode 100644 index 000000000..a5108e608 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/530/530.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/531/531.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/531/531.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/531/531.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/531/531.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/531/531.obj new file mode 100644 index 000000000..c41a73739 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/531/531.obj @@ -0,0 +1,366 @@ +o convex_0 +v -0.071706 3.493819 1.071285 +v -1.109058 3.320304 0.863773 +v -1.074437 0.936244 -0.449912 +v 0.861576 3.701095 -1.037619 +v 0.999847 -0.170795 1.036665 +v 0.895986 -0.170795 -0.968378 +v -1.005197 -0.170795 0.967424 +v -0.936166 3.839671 -1.072239 +v 1.034467 3.701095 1.036665 +v -1.039817 -0.170795 -1.072239 +v -1.109058 3.666549 1.071285 +v 0.965227 3.701095 -1.002789 +v 0.965227 -0.066765 -0.691835 +v -0.555761 -0.170795 -1.072239 +v -1.039817 0.520908 1.002045 +v 0.239248 -0.170795 1.036455 +v -0.970576 3.597064 -0.968378 +v 1.034467 1.972621 1.002045 +v -0.279218 3.804732 -1.072239 +v -1.039817 -0.170795 0.241446 +v 0.965227 2.145351 -1.002789 +v 0.999847 -0.170795 0.276066 +v -0.901545 3.839671 -0.899347 +v -1.074437 3.216667 1.071285 +v 0.308279 3.666549 1.071285 +v 0.999847 3.701095 -0.207779 +v -1.039817 0.590000 -1.072239 +v -0.071706 3.700702 -1.072239 +v 0.930606 -0.101311 -0.968378 +v 0.688684 3.735641 -0.691835 +v -0.728653 3.839671 -1.037409 +v -1.109058 3.597064 0.932804 +v -1.074437 3.701095 0.725502 +v -1.039817 0.313240 0.967424 +v 1.034467 3.701095 0.829153 +v 0.930606 1.834438 -1.002789 +v -0.970576 3.804732 -0.864727 +v -1.109058 3.355635 1.002045 +v -0.521141 -0.170795 1.002045 +f 7 16 39 +f 6 5 7 +f 6 7 10 +f 6 10 14 +f 10 8 14 +f 7 5 16 +f 9 5 18 +f 12 4 19 +f 14 8 19 +f 3 10 20 +f 10 7 20 +f 4 12 21 +f 5 6 22 +f 18 5 22 +f 13 21 22 +f 5 1 24 +f 1 11 24 +f 11 15 24 +f 15 16 24 +f 16 5 24 +f 1 5 25 +f 5 9 25 +f 11 1 25 +f 9 11 25 +f 21 12 26 +f 18 22 26 +f 22 21 26 +f 10 3 27 +f 8 10 27 +f 17 8 27 +f 4 14 28 +f 19 4 28 +f 14 19 28 +f 6 14 29 +f 21 13 29 +f 22 6 29 +f 13 22 29 +f 12 19 30 +f 26 12 30 +f 19 8 31 +f 8 23 31 +f 23 9 31 +f 9 30 31 +f 30 19 31 +f 3 2 32 +f 2 11 32 +f 27 3 32 +f 17 27 32 +f 8 11 33 +f 11 9 33 +f 23 8 33 +f 9 23 33 +f 7 15 34 +f 15 11 34 +f 20 7 34 +f 9 18 35 +f 18 26 35 +f 30 9 35 +f 26 30 35 +f 14 4 36 +f 4 21 36 +f 29 14 36 +f 21 29 36 +f 11 8 37 +f 8 17 37 +f 32 11 37 +f 17 32 37 +f 2 3 38 +f 11 2 38 +f 3 20 38 +f 34 11 38 +f 20 34 38 +f 15 7 39 +f 16 15 39 +o convex_1 +v 0.342905 -0.205450 1.347869 +v 0.585036 -2.383466 -0.380915 +v 0.619446 -2.383466 -0.380915 +v 0.895987 -0.205450 -3.112046 +v -1.109040 -2.279504 -2.973219 +v -1.005180 -0.240104 1.312508 +v -1.005180 -2.279504 1.347869 +v -0.970560 -0.309196 -2.938731 +v 0.965227 -2.313941 1.347869 +v 0.930607 -2.313941 -3.007708 +v 0.999847 -0.170795 1.209479 +v -1.039800 -0.170795 -1.106481 +v 1.034467 -2.348812 -1.106044 +v 0.965227 -0.205666 -3.112046 +v -0.382858 -1.622807 -3.112046 +v -0.452098 -2.383466 0.379575 +v -1.039800 -0.170795 0.172209 +v 0.999847 -0.205666 1.347869 +v -1.109040 -1.726336 -2.454584 +v -0.002876 -2.313941 -3.007708 +v 0.930607 -0.170795 -0.933166 +v 0.965227 -1.277131 -3.077121 +v -1.074420 -2.245066 -0.830574 +v -1.005180 -0.170795 0.967188 +v 0.965227 -2.348596 1.105578 +v -1.005180 -0.274758 1.347869 +v -0.970770 -2.314158 1.071089 +v 0.999847 -0.170795 0.275674 +v -1.005180 -0.516688 -2.938731 +v 0.930607 -2.348596 -2.281705 +v -0.417478 -2.383466 0.033819 +v 0.895987 -2.279504 -3.042633 +v -1.039800 -0.758834 0.448552 +v 0.999847 -0.862580 1.347869 +v -1.074420 -0.689526 -1.590191 +v 0.100984 -0.240104 -3.042633 +v -1.109040 -1.968482 -2.973219 +v -0.348448 -2.313941 1.347869 +v 0.965227 -2.313941 -2.661951 +v 0.481175 -2.383466 0.517965 +v -1.109040 -2.210412 -2.212729 +v -0.763259 -0.309196 -2.973656 +v -0.071697 -1.553715 -3.112046 +v -1.039800 -0.205450 -1.555703 +v 1.034467 -2.244850 -1.037068 +v -0.382858 -1.553715 -3.112046 +v 0.550416 -0.205450 -3.007708 +v -1.074420 -1.519061 -2.973219 +v -0.970770 -2.141320 -3.008144 +v -1.039800 -2.245066 0.344651 +v 1.034467 -2.313941 -1.002579 +v -1.005180 -0.274758 -2.489072 +v -0.970560 -0.170795 -1.175458 +f 91 51 92 +f 40 46 48 +f 43 53 54 +f 41 42 55 +f 50 51 56 +f 40 48 57 +f 50 40 57 +f 51 50 60 +f 53 43 60 +f 53 52 61 +f 44 46 62 +f 45 40 63 +f 40 50 63 +f 56 45 63 +f 50 56 63 +f 42 52 64 +f 52 48 64 +f 40 45 65 +f 46 40 65 +f 45 56 65 +f 46 44 66 +f 44 55 66 +f 60 50 67 +f 53 60 67 +f 42 41 69 +f 52 42 69 +f 59 49 69 +f 59 69 70 +f 41 55 70 +f 55 44 70 +f 44 59 70 +f 69 41 70 +f 49 59 71 +f 61 49 71 +f 46 65 72 +f 65 56 72 +f 57 48 73 +f 56 51 74 +f 58 56 74 +f 44 58 76 +f 58 74 76 +f 74 68 76 +f 48 46 77 +f 64 48 77 +f 55 64 77 +f 46 66 77 +f 66 55 77 +f 49 61 78 +f 61 52 78 +f 52 69 78 +f 69 49 78 +f 55 42 79 +f 42 64 79 +f 64 55 79 +f 58 44 80 +f 56 58 80 +f 44 62 80 +f 72 56 80 +f 62 72 80 +f 75 43 81 +f 47 75 81 +f 54 53 82 +f 53 61 82 +f 71 54 82 +f 61 71 82 +f 74 51 83 +f 68 74 83 +f 52 53 84 +f 50 57 84 +f 67 50 84 +f 53 67 84 +f 43 54 85 +f 81 43 85 +f 47 81 85 +f 43 75 86 +f 68 47 87 +f 76 68 87 +f 47 85 87 +f 87 85 88 +f 59 44 88 +f 71 59 88 +f 54 71 88 +f 44 76 88 +f 85 54 88 +f 76 87 88 +f 62 46 89 +f 46 72 89 +f 72 62 89 +f 48 52 90 +f 73 48 90 +f 57 73 90 +f 52 84 90 +f 84 57 90 +f 47 68 91 +f 75 47 91 +f 68 83 91 +f 83 51 91 +f 86 75 91 +f 86 91 92 +f 60 43 92 +f 51 60 92 +f 43 86 92 +o convex_2 +v 0.965314 -0.412837 3.111092 +v -1.074396 -2.314321 2.834250 +v -1.074396 -2.314321 2.937980 +v -1.039716 -0.274731 1.347869 +v 0.965314 -2.314321 1.347869 +v 0.999788 -0.205369 1.347869 +v -1.074396 -0.309206 3.007190 +v 1.034467 -2.245164 3.111092 +v -1.005243 -2.279433 1.347869 +v -0.002831 -1.622759 3.111092 +v 0.965314 -0.309206 2.868942 +v 0.999788 -2.314321 1.935725 +v -1.039716 -2.314321 1.797477 +v 0.999788 -0.205369 1.624711 +v 0.550395 -0.343681 3.111092 +v 1.034467 -2.279639 2.972671 +v -0.901410 -0.516881 3.041709 +v -0.970563 -2.279433 2.972671 +v 0.446562 -0.205369 1.382561 +v -1.039716 -0.274731 2.212221 +v -1.074396 -0.309206 2.419334 +v 0.999788 -0.827774 1.347869 +v 1.034467 -2.037696 3.111092 +v -0.590530 -2.314321 2.972671 +v -0.797783 -0.309206 3.041709 +v -0.279238 -2.314321 1.347869 +v 0.999788 -0.240050 1.901206 +v -1.074396 -1.000767 3.007190 +v 0.481242 -2.279639 3.076400 +v -0.486697 -0.240256 1.347869 +v -0.002831 -1.346135 3.111092 +v 0.930634 -0.343681 3.111092 +v 1.034467 -2.279639 2.868942 +f 115 108 125 +f 95 94 97 +f 97 96 98 +f 94 95 99 +f 96 97 101 +f 100 93 102 +f 95 97 104 +f 94 96 105 +f 97 94 105 +f 96 101 105 +f 102 93 107 +f 106 98 111 +f 99 106 111 +f 96 99 112 +f 99 111 112 +f 96 94 113 +f 94 99 113 +f 99 96 113 +f 97 98 114 +f 104 97 114 +f 93 100 115 +f 98 106 115 +f 100 108 115 +f 95 104 116 +f 104 108 116 +f 110 95 116 +f 106 99 117 +f 103 106 117 +f 99 109 117 +f 101 97 118 +f 97 105 118 +f 105 101 118 +f 103 93 119 +f 106 103 119 +f 93 115 119 +f 115 106 119 +f 99 95 120 +f 109 99 120 +f 102 109 120 +f 95 110 120 +f 110 102 120 +f 100 102 121 +f 108 100 121 +f 102 110 121 +f 116 108 121 +f 110 116 121 +f 98 96 122 +f 111 98 122 +f 96 112 122 +f 112 111 122 +f 102 107 123 +f 109 102 123 +f 107 117 123 +f 117 109 123 +f 93 103 124 +f 107 93 124 +f 103 117 124 +f 117 107 124 +f 108 104 125 +f 114 98 125 +f 104 114 125 +f 98 115 125 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/531/531.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/531/531.urdf new file mode 100644 index 000000000..5909d6b99 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/531/531.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/532/532.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/532/532.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/532/532.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/532/532.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/532/532.obj new file mode 100644 index 000000000..11b67c33e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/532/532.obj @@ -0,0 +1,558 @@ +o convex_0 +v 1.049600 -0.627712 2.510104 +v -0.998076 -0.739234 1.579392 +v -0.923313 -1.260487 1.579392 +v -0.551099 -0.627986 3.254601 +v 0.081484 0.749906 1.579392 +v 0.900675 -1.558151 1.579574 +v 0.081484 -1.372282 3.217431 +v 0.081484 0.190932 3.180079 +v -0.811869 0.339900 1.691267 +v 0.900675 0.377348 1.579574 +v -0.029960 -2.042504 1.616927 +v 0.788830 -0.553638 3.217431 +v -0.774587 -1.334835 2.435946 +v -0.998076 -0.553638 2.398776 +v -0.737306 0.190932 2.398776 +v 0.826112 -1.334835 2.473116 +v 0.826112 0.191205 2.435946 +v 0.118766 -0.553638 3.440817 +v 1.049600 -0.776408 1.579574 +v -0.700024 -0.516464 3.180079 +v -0.848950 -1.521251 1.579392 +v -0.551099 -1.186140 2.994046 +v -0.886231 0.153758 1.579392 +v 0.639905 -1.111519 3.031398 +v -0.402374 0.041963 3.031216 +v 0.528461 0.042237 3.031398 +v 0.044203 -2.042504 1.579392 +v 1.049600 -0.367222 2.249731 +v 0.007121 0.190932 3.180079 +v -0.737306 -0.627986 3.142909 +v 0.044203 0.749906 1.616927 +v 0.007121 -0.516464 3.440817 +v 0.826112 -0.516464 3.180261 +v 1.049600 -0.367222 1.579574 +v -0.737306 -1.372282 2.435946 +v 0.044203 -1.372282 3.217431 +v -0.848950 -1.521251 1.691267 +v -0.998076 -0.627986 2.398776 +v 0.044203 -2.042504 1.616927 +v 0.081484 -0.664886 3.440817 +v 0.863393 -0.627712 3.068568 +v -0.998076 -0.479290 1.579392 +v 0.081484 0.749906 1.616927 +v 1.049600 -0.776408 2.287083 +v 0.156047 0.191205 3.142909 +v 0.937956 0.302727 1.616745 +v 0.826112 -1.372009 2.398594 +v -0.774587 0.377348 1.579392 +v -0.588380 -0.106732 2.994046 +v 1.049600 -0.441843 2.398594 +v 0.007121 0.228379 3.105738 +v 0.863393 0.377348 1.728437 +v 0.863393 -1.558151 1.728437 +v 0.677186 -0.106732 3.031398 +v 0.788830 -0.590812 3.217431 +v -0.700024 -0.664886 3.180079 +v -0.848950 -0.553638 2.845001 +v 0.714468 -1.223313 2.808012 +v -0.774587 0.302727 1.952005 +v 0.937956 -1.409183 1.691267 +v 0.007121 -0.627986 3.440817 +v 0.081484 0.116858 3.217431 +f 29 32 62 +f 3 2 5 +f 9 14 15 +f 3 5 21 +f 5 2 23 +f 14 9 23 +f 19 6 27 +f 5 19 27 +f 21 5 27 +f 11 21 27 +f 1 19 28 +f 15 25 29 +f 25 20 29 +f 13 22 30 +f 20 4 32 +f 29 20 32 +f 8 12 33 +f 5 10 34 +f 19 5 34 +f 28 19 34 +f 22 13 35 +f 22 35 36 +f 11 7 36 +f 35 11 36 +f 3 21 37 +f 21 11 37 +f 11 35 37 +f 35 13 37 +f 2 3 38 +f 14 2 38 +f 13 30 38 +f 3 37 38 +f 37 13 38 +f 7 11 39 +f 11 27 39 +f 27 6 39 +f 18 32 40 +f 36 7 40 +f 16 1 41 +f 1 33 41 +f 2 14 42 +f 23 2 42 +f 14 23 42 +f 10 5 43 +f 5 31 43 +f 1 16 44 +f 19 1 44 +f 26 17 45 +f 8 33 45 +f 33 26 45 +f 43 8 45 +f 17 43 45 +f 10 17 46 +f 34 10 46 +f 28 34 46 +f 16 7 47 +f 7 39 47 +f 5 23 48 +f 23 9 48 +f 31 5 48 +f 9 31 48 +f 15 20 49 +f 25 15 49 +f 20 25 49 +f 1 28 50 +f 33 1 50 +f 17 33 50 +f 46 17 50 +f 28 46 50 +f 29 8 51 +f 15 29 51 +f 31 15 51 +f 8 43 51 +f 43 31 51 +f 17 10 52 +f 10 43 52 +f 43 17 52 +f 39 6 53 +f 47 39 53 +f 6 47 53 +f 17 26 54 +f 26 33 54 +f 33 17 54 +f 12 18 55 +f 7 24 55 +f 33 12 55 +f 40 7 55 +f 18 40 55 +f 24 41 55 +f 41 33 55 +f 4 20 56 +f 20 30 56 +f 30 22 56 +f 22 36 56 +f 36 4 56 +f 15 14 57 +f 20 15 57 +f 30 20 57 +f 14 38 57 +f 38 30 57 +f 7 16 58 +f 24 7 58 +f 16 41 58 +f 41 24 58 +f 9 15 59 +f 31 9 59 +f 15 31 59 +f 6 19 60 +f 44 16 60 +f 19 44 60 +f 16 47 60 +f 47 6 60 +f 32 4 61 +f 4 36 61 +f 40 32 61 +f 36 40 61 +f 12 8 62 +f 18 12 62 +f 8 29 62 +f 32 18 62 +o convex_1 +v -0.141628 -1.855811 -2.590607 +v 0.081481 0.861008 1.579392 +v 0.044296 0.861008 1.579392 +v 0.044296 -3.345104 1.132023 +v 1.049531 -2.638029 -1.212581 +v 1.012346 2.685977 0.573629 +v -0.997916 2.685361 0.238510 +v 0.751638 1.531128 -2.292225 +v -0.848969 -3.270578 -1.622396 +v -0.997916 -0.738534 1.579392 +v -0.811784 1.457218 -2.292225 +v 1.049531 -0.776105 1.579392 +v 0.528321 -3.196052 -2.143238 +v 0.007319 2.685977 1.429997 +v 0.007319 2.238820 -2.292633 +v -1.035308 -2.600458 0.387497 +v 0.826215 -3.345104 0.425050 +v -1.035308 -2.638029 -1.659541 +v -0.811784 -2.600458 -2.366922 +v 1.012346 1.456602 -1.585252 +v -0.067258 -3.606254 -1.659541 +v -0.774599 2.685977 1.169576 +v -0.774599 -3.308149 0.462195 +v 0.751638 -2.637413 -2.255080 +v 0.826215 2.685977 -0.505607 +v 0.789030 2.685977 1.206721 +v -0.997916 1.456602 -1.696686 +v 1.086924 -2.600458 0.425050 +v 0.900584 -1.557706 1.578984 +v 0.081481 1.456602 -2.553054 +v -0.848969 -1.520135 1.578984 +v -0.848969 2.685977 -0.505607 +v -0.067258 -3.382675 -2.329778 +v 0.751638 -3.382059 -1.621988 +v 0.007319 -3.606254 -0.022319 +v -0.029866 -2.638029 -2.590607 +v -0.029866 -2.153916 1.579392 +v 1.012346 -2.637413 -1.622396 +v 0.937977 0.302370 1.578984 +v 0.789030 -2.674984 1.169168 +v -0.774599 2.201248 -1.622396 +v -0.774599 -2.562887 1.169576 +v -0.811784 0.376896 1.579392 +v 0.751638 -0.627053 -2.329778 +v 0.751638 2.238820 -1.584844 +v -0.029866 2.685977 -0.989304 +v -0.774599 -3.382059 -1.622396 +v -0.997916 2.685361 0.499340 +v -0.104443 1.456602 -2.553054 +v -0.774599 -1.557706 -2.404067 +v 0.826215 1.419647 -2.217936 +v 1.086924 -1.967293 0.387497 +v -0.104443 -3.568683 0.387497 +v 1.012346 2.685977 0.238919 +v 1.049531 -0.367135 1.579392 +v 0.602899 -2.637413 -2.366922 +v -0.811784 -3.345104 -0.021910 +v -1.035308 -1.930338 -1.621988 +v -0.997916 -0.441045 1.579392 +v -0.551283 2.052196 -2.143238 +v -0.513891 -3.159096 0.983445 +v -0.774599 1.493557 -2.329778 +v -0.662837 -3.084570 -2.180791 +v 0.528321 2.052812 -2.143238 +f 77 107 126 +f 64 65 72 +f 64 72 74 +f 65 64 76 +f 71 78 80 +f 71 80 81 +f 80 73 81 +f 76 68 84 +f 84 68 87 +f 68 76 88 +f 73 80 89 +f 79 67 90 +f 90 74 91 +f 77 70 92 +f 72 78 93 +f 84 87 94 +f 89 69 94 +f 67 79 96 +f 75 86 96 +f 83 95 96 +f 95 75 96 +f 96 79 97 +f 83 96 97 +f 81 63 98 +f 63 92 98 +f 95 81 98 +f 74 72 99 +f 66 91 99 +f 91 74 99 +f 72 93 99 +f 93 66 99 +f 82 67 100 +f 67 96 100 +f 96 86 100 +f 76 64 101 +f 88 76 101 +f 66 79 102 +f 79 90 102 +f 91 66 102 +f 90 91 102 +f 73 89 103 +f 94 77 103 +f 89 94 103 +f 78 85 104 +f 93 78 104 +f 66 93 104 +f 72 65 105 +f 65 76 105 +f 76 84 105 +f 92 70 106 +f 98 92 106 +f 100 86 106 +f 77 87 107 +f 87 77 108 +f 77 94 108 +f 94 87 108 +f 95 83 109 +f 94 69 110 +f 84 94 110 +f 92 63 111 +f 77 92 111 +f 63 81 112 +f 81 73 112 +f 111 63 112 +f 82 100 113 +f 106 70 113 +f 100 106 113 +f 70 107 113 +f 107 82 113 +f 67 82 114 +f 90 67 114 +f 79 66 115 +f 66 85 115 +f 97 79 115 +f 83 97 115 +f 109 83 115 +f 87 68 116 +f 82 107 116 +f 107 87 116 +f 68 114 116 +f 114 82 116 +f 64 74 117 +f 68 88 117 +f 74 90 117 +f 101 64 117 +f 88 101 117 +f 114 68 117 +f 90 114 117 +f 86 75 118 +f 75 95 118 +f 95 98 118 +f 106 86 118 +f 98 106 118 +f 78 71 119 +f 85 78 119 +f 71 109 119 +f 115 85 119 +f 109 115 119 +f 80 78 120 +f 69 89 120 +f 89 80 120 +f 110 69 120 +f 78 110 120 +f 78 72 121 +f 72 105 121 +f 105 84 121 +f 110 78 121 +f 84 110 121 +f 103 77 122 +f 85 66 123 +f 66 104 123 +f 104 85 123 +f 73 103 124 +f 77 111 124 +f 112 73 124 +f 111 112 124 +f 122 77 124 +f 103 122 124 +f 71 81 125 +f 81 95 125 +f 109 71 125 +f 95 109 125 +f 70 77 126 +f 107 70 126 +o convex_2 +v -1.035104 3.319178 0.313099 +v 1.049407 3.505182 0.499514 +v 0.937773 3.468016 0.871668 +v -0.067135 4.435716 0.424948 +v 0.007152 2.686148 -0.877929 +v 0.007152 2.686148 1.430464 +v 0.044295 4.175036 -0.356642 +v 0.863487 2.686148 -0.430983 +v -0.067135 4.175036 1.169707 +v -0.774489 2.686148 1.169707 +v -0.848980 2.686148 -0.468266 +v 0.826140 4.212203 0.387665 +v -0.811632 4.137870 0.350382 +v 0.826140 2.686148 1.169482 +v -0.774489 3.393511 1.169707 +v 0.826140 3.468016 1.206991 +v -0.774489 3.468016 -0.356642 +v 0.788996 3.430849 -0.356416 +v -0.029992 3.430849 1.430464 +v 1.049407 2.760652 0.462231 +v -0.997961 2.686148 0.499288 +v 0.602872 4.026199 1.020801 +v -0.625712 3.988861 0.908951 +v -0.588365 3.988861 -0.170453 +v 0.565729 4.026199 -0.170227 +v 0.081438 4.175036 1.169707 +v -1.035104 3.393511 0.462005 +v 0.826140 4.212203 0.499514 +v 1.049407 3.468016 0.350608 +v -0.029992 4.175036 -0.356642 +v 0.081438 4.435716 0.462005 +v -0.774489 4.137870 0.499288 +v 0.788996 2.723486 -0.542606 +v -0.029992 2.723486 -0.877929 +v -0.774489 2.760652 -0.542832 +v 0.081438 2.686148 1.430464 +v -0.700203 4.212203 0.350382 +v 1.012264 2.686148 0.239210 +v -0.997961 2.723486 0.201927 +v 0.193276 3.430849 1.392954 +v 0.044295 4.212203 -0.319359 +v 0.007152 2.723486 -0.877929 +v 0.379400 4.361383 0.387665 +v -0.029992 4.212203 -0.319359 +v -1.035104 3.430849 0.350382 +v -0.923470 2.797990 -0.244793 +v 0.788996 2.686148 1.206991 +v 0.044295 4.100532 -0.393700 +v -0.700203 4.212203 0.424948 +v -0.476731 4.026199 1.020575 +v 0.863487 3.468016 -0.170227 +v -0.029992 4.435716 0.350382 +v 0.044295 4.212203 1.132198 +v -0.811632 3.133003 -0.430983 +v -0.811632 3.393511 1.095367 +v 0.640015 4.063365 -0.058603 +v -0.625712 4.026199 -0.095886 +v -0.960613 3.691015 0.424948 +v 0.900630 2.760652 -0.319359 +v -0.029992 4.212203 1.132198 +v 0.937773 2.686148 0.834611 +v 0.826140 3.095665 1.206991 +v 0.788996 3.505182 -0.319359 +f 151 182 189 +f 132 131 134 +f 131 132 136 +f 131 136 137 +f 132 134 140 +f 136 132 145 +f 135 141 145 +f 141 136 145 +f 137 136 147 +f 135 145 152 +f 142 148 152 +f 147 136 153 +f 127 147 153 +f 129 128 154 +f 128 138 154 +f 142 129 154 +f 148 142 154 +f 138 128 155 +f 128 146 155 +f 143 150 156 +f 141 149 158 +f 134 131 159 +f 144 134 159 +f 143 156 160 +f 131 137 161 +f 160 131 161 +f 132 140 162 +f 145 132 162 +f 140 134 164 +f 155 146 164 +f 137 147 165 +f 147 127 165 +f 152 145 166 +f 142 152 166 +f 162 142 166 +f 145 162 166 +f 151 133 167 +f 133 156 167 +f 159 131 168 +f 144 159 168 +f 131 160 168 +f 154 138 169 +f 157 154 169 +f 138 167 169 +f 156 150 170 +f 167 156 170 +f 139 143 171 +f 127 153 171 +f 165 127 172 +f 137 165 172 +f 127 171 172 +f 162 140 173 +f 133 144 174 +f 156 133 174 +f 160 156 174 +f 144 168 174 +f 168 160 174 +f 158 135 175 +f 139 158 175 +f 163 139 175 +f 130 163 175 +f 141 135 176 +f 149 141 176 +f 135 158 176 +f 158 149 176 +f 134 144 177 +f 138 155 177 +f 130 157 178 +f 163 130 178 +f 157 169 178 +f 169 167 178 +f 170 163 178 +f 167 170 178 +f 135 152 179 +f 152 148 179 +f 148 154 179 +f 154 157 179 +f 143 160 180 +f 161 137 180 +f 160 161 180 +f 171 143 180 +f 137 172 180 +f 172 171 180 +f 136 141 181 +f 153 136 181 +f 141 158 181 +f 151 167 182 +f 167 138 182 +f 143 139 183 +f 150 143 183 +f 139 163 183 +f 170 150 183 +f 163 170 183 +f 158 139 184 +f 139 171 184 +f 171 153 184 +f 153 181 184 +f 181 158 184 +f 164 134 185 +f 155 164 185 +f 134 177 185 +f 177 155 185 +f 157 130 186 +f 130 175 186 +f 175 135 186 +f 135 179 186 +f 179 157 186 +f 128 129 187 +f 146 128 187 +f 140 164 187 +f 164 146 187 +f 129 142 188 +f 142 162 188 +f 173 140 188 +f 162 173 188 +f 187 129 188 +f 140 187 188 +f 144 133 189 +f 133 151 189 +f 177 144 189 +f 138 177 189 +f 182 138 189 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/532/532.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/532/532.urdf new file mode 100644 index 000000000..6885711b0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/532/532.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/533/533.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/533/533.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/533/533.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/533/533.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/533/533.obj new file mode 100644 index 000000000..aac288754 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/533/533.obj @@ -0,0 +1,513 @@ +o convex_0 +v 0.134674 1.390847 3.512779 +v -0.253005 0.777026 1.607216 +v -0.220682 0.777026 1.607216 +v 0.328545 1.487770 1.607216 +v 0.296223 0.809380 3.577481 +v -0.285327 1.423202 3.610028 +v -0.317650 1.390847 1.607216 +v 0.296223 0.874018 1.671721 +v -0.253005 0.874018 3.286716 +v 0.263901 1.390847 3.383572 +v -0.317650 0.938587 1.671721 +v 0.102352 0.809380 3.577481 +v -0.317650 1.423202 2.350109 +v -0.253005 0.970941 3.545130 +v 0.296223 0.809380 2.931248 +v 0.328545 1.261640 1.607216 +v -0.091456 1.423202 3.577481 +v 0.328545 1.487770 1.768578 +v 0.231578 1.487770 1.607216 +v 0.263901 0.874018 1.607216 +v -0.285327 1.326279 3.610028 +v -0.285327 0.809380 2.091694 +v 0.296223 0.874018 3.577481 +v -0.091456 0.777026 2.027189 +f 8 15 24 +f 3 2 4 +f 4 2 7 +f 7 2 11 +f 7 11 13 +f 9 12 14 +f 15 8 16 +f 3 4 16 +f 5 15 16 +f 1 10 17 +f 17 10 18 +f 16 4 18 +f 5 16 18 +f 6 17 18 +f 4 7 19 +f 13 6 19 +f 7 13 19 +f 18 4 19 +f 6 18 19 +f 8 3 20 +f 16 8 20 +f 3 16 20 +f 5 6 21 +f 11 9 21 +f 12 5 21 +f 6 13 21 +f 13 11 21 +f 9 14 21 +f 14 12 21 +f 11 2 22 +f 9 11 22 +f 2 12 22 +f 12 9 22 +f 6 5 23 +f 10 1 23 +f 1 17 23 +f 17 6 23 +f 18 10 23 +f 5 18 23 +f 2 3 24 +f 3 8 24 +f 12 2 24 +f 5 12 24 +f 15 5 24 +o convex_1 +v 0.231591 1.326231 -2.431844 +v -0.349959 0.938666 -2.431844 +v -0.349959 0.938666 -2.270403 +v 0.263913 0.777092 -2.496469 +v 0.231591 0.938666 -2.108838 +v -0.317637 1.390848 -2.108838 +v -0.220670 1.455464 -2.496469 +v 0.263913 1.358506 -2.108838 +v -0.317637 0.938666 -2.108838 +v 0.199268 1.326231 -2.528824 +v 0.199268 0.841708 -2.528824 +v 0.199268 0.777092 -2.399531 +v 0.296236 1.229274 -2.141151 +v -0.317637 1.196999 -2.464157 +v 0.199268 0.874050 -2.141151 +v -0.252992 1.423123 -2.141151 +f 32 31 40 +f 26 27 30 +f 30 29 32 +f 30 27 33 +f 29 30 33 +f 25 28 34 +f 32 25 34 +f 31 32 34 +f 28 26 35 +f 34 28 35 +f 31 34 35 +f 27 26 36 +f 26 28 36 +f 33 27 36 +f 28 25 37 +f 29 28 37 +f 25 32 37 +f 32 29 37 +f 26 30 38 +f 30 31 38 +f 35 26 38 +f 31 35 38 +f 28 29 39 +f 29 33 39 +f 36 28 39 +f 33 36 39 +f 31 30 40 +f 30 32 40 +o convex_2 +v 0.683780 -3.874838 -0.590239 +v 0.942295 2.198515 1.606824 +v 1.039344 2.230964 1.445098 +v -0.931304 2.198515 -0.557765 +v -1.060774 -3.810541 1.574350 +v 0.974715 -3.842389 1.574350 +v 1.103973 2.230964 -0.460988 +v -1.028353 2.101169 1.445098 +v -0.963725 -3.907887 -0.525506 +v 0.942295 -3.648296 -0.590239 +v -0.317649 1.390898 1.606824 +v 0.199170 1.357848 -0.590239 +v 1.006924 -2.097960 1.606824 +v -0.963725 -0.838462 -0.557765 +v 1.103973 1.390898 -0.428513 +v -1.028353 2.133617 1.089817 +v -1.060774 -3.842990 1.218854 +v 0.974715 -3.874838 0.831099 +v -0.253020 2.230964 0.831099 +v 0.910087 -3.907287 -0.590239 +v 1.103973 2.166066 0.120752 +v -0.349857 0.905366 -0.590239 +v -1.060774 -1.419538 1.542090 +v 0.651571 -3.874838 1.315846 +v -0.963725 2.198515 -0.331521 +v -0.414486 2.230964 -0.557765 +v -0.802259 -3.907887 -0.008499 +v -0.899096 -3.842389 1.574350 +v 0.425477 2.198515 1.574350 +v -0.963725 -1.387089 -0.557765 +v 1.039344 2.133617 1.509616 +v 1.071553 1.099459 -0.493247 +v -0.996145 -3.875439 -0.073233 +v -0.317649 -3.907287 -0.557765 +v -1.060774 -2.647188 1.574350 +v 1.006924 2.197914 1.606824 +v -1.060774 -1.161148 1.445098 +v -0.285228 0.809222 1.606824 +v -0.963725 1.713585 -0.396254 +v 0.910087 -3.907287 -0.331521 +v -0.963725 2.198515 -0.008499 +v -0.705210 2.230964 -0.557765 +v -0.769838 2.133017 1.444883 +v 1.103973 1.390898 -0.460988 +v -0.349857 -3.907287 0.120752 +v 0.974715 -3.874838 1.251113 +v -0.317649 1.390898 -0.590239 +v -1.060774 -3.196415 1.251113 +v -1.060774 -3.842990 1.509831 +v -1.028353 2.133617 1.186595 +v 0.683780 2.230964 -0.493247 +v -1.028353 2.069321 1.057343 +v 1.039344 -0.483327 -0.525506 +v 0.942295 -2.097960 1.606824 +f 53 78 94 +f 50 41 52 +f 42 51 53 +f 53 46 55 +f 43 47 59 +f 41 50 60 +f 50 58 60 +f 47 43 61 +f 55 47 61 +f 53 55 61 +f 52 41 62 +f 54 44 62 +f 51 48 63 +f 57 45 63 +f 59 47 66 +f 49 60 67 +f 46 53 68 +f 64 46 68 +f 42 43 69 +f 51 42 69 +f 48 51 69 +f 43 59 69 +f 62 41 70 +f 54 62 70 +f 61 43 71 +f 53 61 71 +f 52 47 72 +f 49 57 73 +f 70 49 73 +f 54 70 73 +f 41 60 74 +f 60 49 74 +f 70 41 74 +f 49 70 74 +f 45 51 75 +f 63 45 75 +f 51 63 75 +f 43 42 76 +f 42 53 76 +f 71 43 76 +f 53 71 76 +f 63 48 77 +f 57 63 77 +f 51 45 78 +f 53 51 78 +f 44 54 79 +f 65 44 79 +f 60 58 80 +f 67 60 80 +f 65 56 81 +f 44 65 82 +f 59 66 82 +f 81 59 82 +f 65 81 82 +f 48 69 83 +f 69 59 83 +f 47 55 84 +f 58 50 84 +f 55 58 84 +f 64 67 85 +f 67 80 85 +f 85 80 86 +f 55 46 86 +f 58 55 86 +f 46 64 86 +f 80 58 86 +f 64 85 86 +f 52 62 87 +f 62 44 87 +f 66 52 87 +f 44 82 87 +f 82 66 87 +f 54 73 88 +f 73 57 88 +f 57 77 88 +f 79 54 88 +f 77 79 88 +f 45 57 89 +f 57 49 89 +f 49 67 89 +f 67 64 89 +f 64 68 89 +f 68 45 89 +f 77 48 90 +f 56 77 90 +f 81 56 90 +f 59 81 90 +f 48 83 90 +f 83 59 90 +f 47 52 91 +f 52 66 91 +f 66 47 91 +f 56 65 92 +f 77 56 92 +f 65 79 92 +f 79 77 92 +f 50 52 93 +f 72 47 93 +f 52 72 93 +f 47 84 93 +f 84 50 93 +f 45 68 94 +f 68 53 94 +f 78 45 94 +o convex_3 +v -0.285340 3.878470 0.185195 +v 0.231559 3.911021 0.863700 +v 0.263926 4.201815 0.702110 +v 0.231559 2.230964 0.249818 +v -0.253027 2.230964 0.831289 +v -0.253027 4.201815 0.702110 +v 0.199246 2.230964 0.863700 +v -0.220714 2.230964 0.249818 +v 0.263926 4.136910 0.346785 +v -0.220714 4.201815 0.185195 +v -0.285340 2.392538 0.766666 +v 0.102308 4.234169 0.831289 +v 0.263926 3.264528 0.282162 +v -0.285340 4.201815 0.572864 +v -0.253027 2.263318 0.282162 +v -0.156088 2.263318 0.863700 +v -0.253027 2.618820 0.831289 +v 0.231559 2.230964 0.443685 +v -0.285340 3.297078 0.217539 +v -0.285340 4.201815 0.185195 +v 0.005369 4.234169 0.508375 +v 0.231559 3.232566 0.863700 +v 0.231559 4.104753 0.314440 +v -0.091462 4.234169 0.766666 +v 0.231559 4.234169 0.831289 +f 115 106 119 +f 99 98 101 +f 95 98 102 +f 98 99 102 +f 98 95 104 +f 103 97 107 +f 98 104 107 +f 105 100 108 +f 95 105 108 +f 102 99 109 +f 99 105 109 +f 101 96 110 +f 99 101 110 +f 96 106 110 +f 110 106 111 +f 105 99 111 +f 100 105 111 +f 99 110 111 +f 101 98 112 +f 107 97 112 +f 98 107 112 +f 95 102 113 +f 105 95 113 +f 102 109 113 +f 109 105 113 +f 104 95 114 +f 95 108 114 +f 103 104 115 +f 104 114 115 +f 97 96 116 +f 96 101 116 +f 112 97 116 +f 101 112 116 +f 104 103 117 +f 103 107 117 +f 107 104 117 +f 108 100 118 +f 111 106 118 +f 100 111 118 +f 114 108 118 +f 115 114 118 +f 106 115 118 +f 96 97 119 +f 97 103 119 +f 106 96 119 +f 103 115 119 +o convex_4 +v 0.199335 0.906666 -2.108797 +v -0.317649 4.201859 -0.881147 +v 0.457709 4.169239 -0.978124 +v 0.554600 -1.969303 -0.913472 +v -0.608437 -1.839428 -2.108677 +v -0.576024 4.201255 -2.011700 +v -0.543727 -1.936683 -1.010449 +v 0.554600 4.104604 -1.947170 +v 0.522303 -1.904063 -2.044026 +v -0.446836 3.813443 -0.881147 +v 0.587014 4.169239 -1.010449 +v -0.576024 0.454219 -1.365790 +v -0.252938 0.842031 -0.881147 +v 0.328405 1.907608 -0.881147 +v 0.554600 0.712761 -2.011821 +v -0.349829 1.293270 -2.108797 +v 0.296108 1.325890 -2.108797 +v 0.554600 -1.969303 -1.430441 +v -0.576024 4.201255 -1.850193 +v -0.414539 -1.969303 -0.978124 +v -0.576024 3.781427 -2.044026 +v 0.554600 3.878682 -1.979495 +v -0.543727 -1.354965 -0.978124 +v -0.576024 -1.936683 -1.301139 +v -0.608437 0.293537 -2.011700 +v -0.091454 4.168635 -2.011700 +v -0.446836 4.201859 -0.945798 +v 0.490006 -1.936683 -1.947049 +v 0.554600 3.910094 -0.978003 +v 0.587014 4.169239 -1.139631 +v -0.446836 -1.839428 -2.108677 +v -0.285235 4.201859 -2.011700 +v 0.425413 -1.969303 -0.913472 +v -0.608437 -1.839428 -1.882518 +v 0.587014 3.425631 -1.042655 +v 0.554600 -1.936683 -1.559383 +v -0.543727 -0.805867 -0.978124 +v -0.349829 1.389921 -0.881147 +v 0.296108 0.939286 -0.881147 +v -0.576024 -1.419600 -1.236608 +v -0.608437 -1.225695 -2.108677 +v 0.554600 -1.322345 -0.913472 +v -0.349829 -1.872048 -2.076352 +v 0.457709 4.104604 -1.979375 +v 0.070030 -1.872048 -2.076352 +f 162 150 164 +f 121 122 130 +f 121 129 132 +f 121 132 133 +f 120 124 135 +f 134 128 136 +f 120 135 136 +f 131 129 138 +f 137 123 139 +f 136 135 140 +f 134 136 141 +f 126 139 142 +f 139 132 142 +f 139 126 143 +f 138 125 144 +f 131 138 144 +f 125 140 144 +f 136 140 145 +f 129 121 146 +f 125 138 146 +f 138 129 146 +f 128 137 147 +f 137 139 147 +f 139 143 147 +f 122 121 148 +f 130 122 148 +f 121 133 148 +f 141 127 149 +f 134 141 149 +f 124 120 150 +f 121 130 151 +f 140 125 151 +f 145 140 151 +f 146 121 151 +f 125 146 151 +f 130 149 151 +f 149 127 151 +f 123 132 152 +f 139 123 152 +f 132 139 152 +f 124 143 153 +f 144 124 153 +f 130 123 154 +f 123 137 154 +f 149 130 154 +f 134 149 154 +f 128 134 155 +f 137 128 155 +f 154 137 155 +f 134 154 155 +f 129 131 156 +f 142 129 156 +f 132 129 157 +f 129 142 157 +f 142 132 157 +f 132 123 158 +f 123 133 158 +f 133 132 158 +f 126 142 159 +f 143 126 159 +f 131 144 159 +f 153 143 159 +f 144 153 159 +f 156 131 159 +f 142 156 159 +f 135 124 160 +f 140 135 160 +f 124 144 160 +f 144 140 160 +f 123 130 161 +f 133 123 161 +f 130 148 161 +f 148 133 161 +f 143 124 162 +f 128 147 162 +f 147 143 162 +f 124 150 162 +f 141 136 163 +f 127 141 163 +f 136 145 163 +f 151 127 163 +f 145 151 163 +f 120 136 164 +f 136 128 164 +f 150 120 164 +f 128 162 164 +o convex_5 +v 0.166946 0.906363 -0.848692 +v -0.220670 1.455530 -0.848692 +v -0.220670 1.455530 -0.881027 +v -0.317637 0.873974 -0.751744 +v 0.199268 1.358484 -0.590239 +v -0.317637 1.390813 -0.590239 +v 0.231591 0.938691 -0.590239 +v 0.296236 1.390813 -0.881027 +v -0.285315 0.841645 -0.881027 +v -0.317637 0.873974 -0.590239 +v -0.349959 1.455530 -0.881027 +v 0.296236 0.938691 -0.881027 +v 0.231591 1.390813 -0.654909 +f 172 166 177 +f 169 170 171 +f 167 166 172 +f 165 171 173 +f 167 172 173 +f 171 170 174 +f 168 173 174 +f 173 171 174 +f 166 167 175 +f 170 166 175 +f 167 173 175 +f 173 168 175 +f 168 174 175 +f 174 170 175 +f 171 165 176 +f 172 171 176 +f 165 173 176 +f 173 172 176 +f 166 170 177 +f 170 169 177 +f 169 171 177 +f 171 172 177 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/533/533.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/533/533.urdf new file mode 100644 index 000000000..d83a36271 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/533/533.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/534/534.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/534/534.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/534/534.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/534/534.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/534/534.obj new file mode 100644 index 000000000..b28674505 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/534/534.obj @@ -0,0 +1,819 @@ +o convex_0 +v 0.070773 3.300357 1.575140 +v 0.559547 2.849165 2.214378 +v 0.559547 3.074859 2.176745 +v 0.597217 2.510722 1.575140 +v 0.559547 4.465693 1.537507 +v 0.108381 4.428045 2.063844 +v -0.042050 2.510722 2.176745 +v 0.521939 4.503341 2.101478 +v 0.108381 4.352749 1.537507 +v 0.033165 2.510722 1.612840 +v 0.559547 2.510722 2.214378 +v 0.070773 4.164898 2.101478 +v 0.597217 2.924461 1.537507 +v 0.597217 3.488403 1.612840 +v -0.042050 2.623666 2.063844 +v -0.004442 2.548370 1.687974 +v 0.597217 2.510722 1.913510 +v 0.484394 4.503341 1.687974 +v 0.446787 4.164898 2.139045 +v 0.258874 2.548370 2.214378 +v 0.258874 2.548370 1.575140 +f 9 13 21 +f 2 3 8 +f 4 7 10 +f 9 1 10 +f 7 4 11 +f 8 6 12 +f 6 9 12 +f 9 5 13 +f 8 3 14 +f 5 8 14 +f 4 13 14 +f 13 5 14 +f 7 12 15 +f 12 9 15 +f 10 7 16 +f 9 10 16 +f 7 15 16 +f 15 9 16 +f 3 2 17 +f 2 11 17 +f 11 4 17 +f 14 3 17 +f 4 14 17 +f 8 5 18 +f 6 8 18 +f 5 9 18 +f 9 6 18 +f 2 8 19 +f 8 12 19 +f 19 12 20 +f 11 2 20 +f 7 11 20 +f 12 7 20 +f 2 19 20 +f 1 9 21 +f 10 1 21 +f 4 10 21 +f 13 4 21 +o convex_1 +v 1.161131 -1.738910 0.973242 +v -0.756525 -3.656321 -1.094445 +v -0.568326 -3.656321 -1.094445 +v -0.681203 -1.249868 -1.132167 +v 1.349120 -1.249868 -1.057136 +v -0.718759 -1.249868 0.973242 +v 1.349120 -3.543631 0.973242 +v -0.681203 -3.580955 0.973242 +v 1.349120 -3.694124 -1.057136 +v 1.349120 -1.249868 0.860489 +v 1.386885 -1.625981 0.634777 +v 0.935376 -3.694124 -0.680949 +v -0.718759 -1.626220 -1.132167 +v -0.756525 -3.618758 -0.342484 +v -0.230114 -1.287670 -1.132167 +v -0.380337 -3.618758 0.634777 +v 1.311564 -1.249868 0.935520 +v -0.756525 -2.828968 -1.094445 +v -0.718759 -2.753841 0.973242 +v 1.386885 -2.453334 0.747530 +v -0.681203 -2.303080 -1.132167 +v 1.386885 -1.249868 0.333827 +v 1.349120 -3.581194 0.634777 +v 0.822709 -1.249868 0.973242 +v 1.349120 -2.039657 0.973242 +v 1.349120 -3.694124 -0.756186 +v -0.718759 -3.580955 0.672292 +v 0.146074 -3.581194 0.973242 +v -0.756525 -3.656321 -0.906455 +v 0.559608 -3.694124 -1.056930 +f 33 50 51 +f 26 25 27 +f 22 27 28 +f 28 27 29 +f 23 24 30 +f 26 27 31 +f 27 25 34 +f 25 26 36 +f 26 30 36 +f 34 25 36 +f 31 27 38 +f 34 23 39 +f 27 34 39 +f 23 35 39 +f 35 27 39 +f 29 27 40 +f 27 35 40 +f 24 23 42 +f 30 24 42 +f 23 34 42 +f 36 30 42 +f 34 36 42 +f 30 26 43 +f 26 31 43 +f 31 32 43 +f 41 30 43 +f 32 41 43 +f 41 28 44 +f 27 22 45 +f 22 38 45 +f 38 27 45 +f 22 28 46 +f 32 31 46 +f 38 22 46 +f 31 38 46 +f 28 41 46 +f 41 32 46 +f 33 30 47 +f 37 33 47 +f 30 41 47 +f 41 44 47 +f 29 40 48 +f 40 35 48 +f 28 29 49 +f 29 37 49 +f 44 28 49 +f 37 47 49 +f 47 44 49 +f 35 23 50 +f 37 29 50 +f 33 37 50 +f 29 48 50 +f 48 35 50 +f 23 30 51 +f 30 33 51 +f 50 23 51 +o convex_2 +v 0.521921 -1.588106 1.612759 +v -0.004416 -1.437874 2.251982 +v -0.041984 -1.437874 2.251982 +v 0.484288 0.028666 1.537507 +v 0.634821 0.028666 2.139034 +v -0.004416 0.028666 1.537507 +v -0.042050 0.028666 2.101478 +v 0.559488 -1.663471 2.063852 +v 0.070784 -1.625705 1.650385 +v 0.597188 -1.550507 1.537507 +v -0.041984 -1.625705 2.139104 +v 0.597188 -0.046698 1.650455 +v 0.597188 -1.287477 2.101478 +v 0.033217 -1.625705 2.251982 +v 0.634821 -0.648122 1.800749 +v -0.004416 -0.197095 1.537507 +v 0.446787 -1.437874 1.537507 +f 60 67 68 +f 54 53 56 +f 56 55 57 +f 54 56 58 +f 56 57 58 +f 52 59 60 +f 57 55 61 +f 59 52 61 +f 52 60 61 +f 54 58 62 +f 60 59 62 +f 55 56 63 +f 61 55 63 +f 59 61 64 +f 53 54 65 +f 56 53 65 +f 54 62 65 +f 62 59 65 +f 64 56 65 +f 59 64 65 +f 63 56 66 +f 61 63 66 +f 56 64 66 +f 64 61 66 +f 58 57 67 +f 57 61 67 +f 62 58 67 +f 60 62 67 +f 61 60 68 +f 67 61 68 +o convex_3 +v 0.860271 0.291894 -1.696697 +v -0.831637 2.359809 -3.200340 +v -0.794068 1.833601 -3.200340 +v 1.273965 2.322456 -3.162688 +v -0.718713 2.510527 -1.170179 +v -0.681144 0.367470 -3.237991 +v 1.311534 2.472739 -1.170179 +v -0.643575 0.329899 -1.170179 +v 1.311534 0.442395 -3.049935 +v 1.386889 0.291894 -1.170179 +v -0.493082 2.434951 -2.861878 +v 0.860271 0.404824 -3.125238 +v 1.311534 2.472739 -1.546090 +v 1.311534 1.607741 -3.125238 +v -0.230098 0.743178 -3.237991 +v -0.267668 0.291894 -1.207831 +v -0.230098 2.397597 -3.200340 +v -0.756499 2.434951 -1.508641 +v 1.386889 0.405041 -1.659045 +v 0.935409 2.510527 -1.207831 +v -0.079605 0.329899 -2.673822 +v 1.349103 0.405041 -2.674024 +v -0.681144 0.968820 -1.170179 +v 1.386889 0.743396 -1.245281 +v -0.681144 0.367470 -2.598721 +v -0.794068 2.434951 -2.861878 +v -0.681144 1.307609 -3.237991 +v 1.311534 0.404824 -2.899530 +v -0.643575 0.329899 -2.410664 +v 1.311534 0.479965 -3.087587 +v 1.236396 2.359809 -2.899530 +v 1.273965 2.134384 -3.162688 +v -0.718713 2.510527 -1.320584 +v -0.831637 2.359809 -3.125036 +v -0.417944 0.367470 -3.237991 +v 0.484364 2.472522 -1.997507 +v 1.386889 0.291894 -1.395685 +f 96 90 105 +f 71 70 74 +f 75 73 76 +f 75 76 78 +f 72 81 82 +f 78 76 84 +f 69 78 84 +f 73 75 88 +f 75 81 88 +f 69 84 89 +f 82 87 90 +f 76 73 91 +f 73 86 91 +f 75 78 92 +f 81 75 92 +f 82 81 92 +f 78 87 92 +f 87 82 92 +f 71 74 93 +f 74 76 93 +f 85 70 94 +f 79 85 94 +f 74 70 95 +f 72 83 95 +f 83 74 95 +f 70 85 95 +f 85 72 95 +f 80 77 96 +f 89 80 96 +f 69 89 96 +f 77 90 96 +f 76 74 97 +f 84 76 97 +f 74 89 97 +f 89 84 97 +f 77 80 98 +f 90 77 98 +f 82 90 98 +f 81 72 99 +f 72 85 99 +f 72 82 100 +f 83 72 100 +f 80 83 100 +f 98 80 100 +f 82 98 100 +f 73 88 101 +f 88 79 101 +f 79 94 101 +f 94 73 101 +f 70 71 102 +f 86 73 102 +f 76 91 102 +f 91 86 102 +f 71 93 102 +f 93 76 102 +f 94 70 102 +f 73 94 102 +f 74 83 103 +f 83 80 103 +f 89 74 103 +f 80 89 103 +f 85 79 104 +f 79 88 104 +f 88 81 104 +f 81 99 104 +f 99 85 104 +f 78 69 105 +f 87 78 105 +f 90 87 105 +f 69 96 105 +o convex_4 +v -2.749534 -1.212264 -0.568270 +v -2.298287 -0.009055 0.446993 +v -2.298287 -0.009055 -0.681126 +v -2.298287 -1.174457 -0.192267 +v -2.711856 -0.009055 0.409337 +v -2.749534 -1.136886 0.371682 +v -2.674311 -0.159574 -0.605815 +v -2.298287 -1.099316 0.446993 +v -2.298287 -1.174457 -0.605815 +v -2.749534 -0.422687 0.033335 +v -2.411098 -1.136886 0.446993 +v -2.711856 -1.099316 -0.605815 +v -2.711856 -0.046744 -0.041976 +v -2.749534 -0.347546 0.409337 +v -2.599045 -0.009055 0.446993 +v -2.411098 -0.272286 -0.681126 +f 114 117 121 +f 108 107 109 +f 107 108 110 +f 109 107 113 +f 108 109 114 +f 109 106 114 +f 106 111 115 +f 112 106 115 +f 106 109 116 +f 111 106 116 +f 113 107 116 +f 109 113 116 +f 106 112 117 +f 114 106 117 +f 110 108 118 +f 108 112 118 +f 112 115 118 +f 118 115 119 +f 115 111 119 +f 111 116 119 +f 110 118 119 +f 119 116 120 +f 107 110 120 +f 116 107 120 +f 110 119 120 +f 112 108 121 +f 108 114 121 +f 117 112 121 +o convex_5 +v 3.304418 -0.084304 0.146073 +v 1.387095 -0.422680 -0.718730 +v 1.387095 -1.136853 -0.681037 +v 1.387095 -0.798477 0.409330 +v 3.304418 -1.212150 -0.718730 +v 3.379909 -1.061671 0.484597 +v 1.387095 -0.046655 0.296488 +v 3.229121 -0.046655 -0.568314 +v 1.387095 -1.061671 0.409330 +v 1.387095 -0.121952 -0.718730 +v 3.342066 -0.159486 0.334181 +v 2.928327 -1.212150 -0.493047 +v 1.387095 -0.084304 0.334181 +v 3.379909 -0.911307 0.484597 +v 3.342066 -0.084304 0.033231 +v 3.266770 -0.234668 -0.605771 +v 1.650437 -1.099319 0.258914 +v 1.387095 -0.046655 0.033231 +v 3.379909 -1.099319 0.296488 +v 1.612789 -0.121952 -0.718730 +v 1.688085 -1.024137 0.446904 +v 3.304418 -1.099319 -0.718730 +v 1.875935 -0.046655 0.296488 +v 3.379909 -0.347498 0.296488 +v 2.815578 -1.212150 -0.718730 +v 1.387095 -1.136853 -0.455473 +v 3.342066 -1.136853 -0.455473 +v 2.890874 -0.046655 -0.568314 +f 131 139 149 +f 123 124 125 +f 123 125 128 +f 125 124 130 +f 126 123 131 +f 123 128 131 +f 128 125 134 +f 132 134 135 +f 129 122 136 +f 122 132 136 +f 129 136 137 +f 127 130 138 +f 128 129 139 +f 131 128 139 +f 133 126 140 +f 135 127 140 +f 127 138 140 +f 138 133 140 +f 126 131 141 +f 131 129 141 +f 129 137 141 +f 125 130 142 +f 130 127 142 +f 134 125 142 +f 135 134 142 +f 127 135 142 +f 126 141 143 +f 141 137 143 +f 122 129 144 +f 129 128 144 +f 132 122 144 +f 128 134 144 +f 134 132 144 +f 132 135 145 +f 136 132 145 +f 135 140 145 +f 124 123 146 +f 123 126 146 +f 126 133 146 +f 146 133 147 +f 130 124 147 +f 138 130 147 +f 133 138 147 +f 124 146 147 +f 137 136 148 +f 140 126 148 +f 143 137 148 +f 126 143 148 +f 136 145 148 +f 145 140 148 +f 129 131 149 +f 139 129 149 +o convex_6 +v -0.756525 0.028666 0.559584 +v -0.267629 2.510527 1.048656 +v -0.643588 2.510527 1.048656 +v -0.718737 2.510527 -1.169977 +v 1.386716 0.028666 -1.057047 +v 1.424504 2.397561 1.048656 +v 1.311567 2.510527 -1.169977 +v 1.311567 0.292012 1.048656 +v -0.643588 0.028666 -1.169977 +v -0.718737 0.028666 0.973080 +v 1.311567 0.028666 0.897938 +v 1.386716 0.292012 -1.169977 +v -0.718737 1.306766 1.048656 +v -0.756525 0.329667 -0.868976 +v -0.718737 0.329667 1.048656 +v -0.756525 1.607767 -0.906547 +v 1.386716 0.818460 0.521796 +v -0.718737 2.510527 -0.530622 +v 1.386716 0.780804 -1.169977 +v -0.756525 0.292012 0.860367 +v 1.048332 2.435216 1.048656 +v -0.681162 2.284837 1.048656 +v 1.424504 2.397561 0.860367 +v 1.386716 0.028666 -0.793834 +v 1.010758 0.028666 0.935509 +f 159 160 174 +f 152 151 153 +f 151 152 155 +f 153 151 156 +f 155 152 157 +f 154 150 158 +f 153 156 158 +f 150 154 159 +f 155 157 160 +f 159 154 160 +f 154 158 161 +f 158 156 161 +f 157 152 162 +f 158 150 163 +f 153 158 163 +f 159 157 164 +f 157 162 164 +f 163 150 165 +f 153 163 165 +f 155 160 166 +f 152 153 167 +f 153 165 167 +f 161 156 168 +f 150 159 169 +f 159 164 169 +f 164 162 169 +f 165 150 169 +f 162 167 169 +f 167 165 169 +f 151 155 170 +f 155 156 170 +f 156 151 170 +f 162 152 171 +f 152 167 171 +f 167 162 171 +f 155 154 172 +f 156 155 172 +f 154 161 172 +f 168 156 172 +f 161 168 172 +f 154 155 173 +f 160 154 173 +f 155 166 173 +f 166 160 173 +f 157 159 174 +f 160 157 174 +o convex_7 +v 1.386718 2.059147 2.853457 +v -0.756429 0.367323 2.364481 +v -0.718856 0.329667 1.048843 +v -0.643497 2.510527 1.048843 +v 1.311572 0.329667 1.048843 +v 1.424504 2.397561 1.048656 +v -0.643497 2.435216 2.815728 +v 1.236213 0.404735 2.966269 +v -0.756429 0.367323 2.966269 +v 0.634834 0.028666 2.139045 +v 1.424504 2.510527 2.815916 +v -0.004332 0.028666 1.537820 +v -0.681283 2.246938 1.048843 +v 1.273999 0.367323 2.778187 +v -0.041905 0.028666 2.063775 +v 0.597047 2.510527 1.575361 +v 0.785125 0.630425 2.966269 +v -0.041905 2.510527 2.176586 +v 0.559475 0.028666 1.575361 +v 1.273999 0.292012 1.048843 +v -0.681283 2.134458 2.815728 +v -0.718856 1.269597 1.048843 +v 1.424504 2.435216 1.274467 +v 1.424504 2.435216 2.815916 +v -0.718856 0.517702 2.966269 +v -0.154837 2.472629 2.815728 +v -0.643497 2.472629 2.402210 +v -0.229982 2.510527 1.048843 +v 1.273999 0.630425 2.966269 +v 1.349145 0.969082 1.537632 +v 0.672407 0.367323 2.928540 +v -0.756429 0.442391 2.966269 +v 1.424504 2.322249 1.048656 +v 1.424504 2.510527 2.590292 +f 197 190 208 +f 176 177 183 +f 178 180 187 +f 182 184 188 +f 183 177 189 +f 184 183 189 +f 177 186 189 +f 186 184 189 +f 178 185 190 +f 183 182 191 +f 185 178 192 +f 184 186 193 +f 193 186 194 +f 186 177 194 +f 188 184 194 +f 179 188 194 +f 184 193 194 +f 177 176 196 +f 180 177 196 +f 187 180 196 +f 185 180 197 +f 180 185 198 +f 183 191 199 +f 199 191 200 +f 175 185 200 +f 191 175 200 +f 185 192 200 +f 181 199 200 +f 200 192 201 +f 178 187 201 +f 192 178 201 +f 195 181 201 +f 187 195 201 +f 181 200 201 +f 180 178 202 +f 178 190 202 +f 197 180 202 +f 190 197 202 +f 185 175 203 +f 182 188 203 +f 175 191 203 +f 191 182 203 +f 198 185 203 +f 188 198 203 +f 188 179 204 +f 198 188 204 +f 182 183 205 +f 184 182 205 +f 183 184 205 +f 176 183 206 +f 181 195 206 +f 195 187 206 +f 196 176 206 +f 187 196 206 +f 199 181 206 +f 183 199 206 +f 177 180 207 +f 194 177 207 +f 179 194 207 +f 180 198 207 +f 204 179 207 +f 198 204 207 +f 190 185 208 +f 185 197 208 +o convex_8 +v -2.260668 -0.009052 0.785055 +v -2.223068 -1.174660 -0.868666 +v -2.185486 -1.174660 -0.868666 +v -2.110267 -0.084248 -3.237590 +v -2.110267 -0.272298 2.927650 +v -2.298287 -0.836103 -3.162750 +v -2.298287 -0.685595 2.815390 +v -2.110267 -1.061807 2.815390 +v -2.110267 -1.061807 -3.162750 +v -2.298287 -0.009052 -1.169232 +v -2.298287 -1.174660 -0.228905 +v -2.298287 -0.121790 2.852810 +v -2.110267 -0.009052 0.897919 +v -2.260668 -1.061807 2.665106 +v -2.298287 -1.061807 -3.124727 +v -2.185486 -0.159445 -3.049887 +v -2.110267 -0.121904 2.927650 +v -2.147886 -1.174660 -0.530075 +v -2.110267 -0.009052 -0.755802 +v -2.298287 -0.347380 2.928253 +f 225 220 228 +f 212 213 216 +f 211 210 217 +f 214 212 217 +f 212 216 217 +f 214 215 218 +f 210 211 219 +f 215 214 219 +f 209 218 220 +f 218 215 220 +f 213 212 221 +f 218 209 221 +f 209 220 221 +f 216 215 222 +f 215 219 222 +f 219 216 222 +f 217 210 223 +f 214 217 223 +f 210 219 223 +f 219 214 223 +f 212 214 224 +f 218 212 224 +f 214 218 224 +f 213 221 225 +f 221 220 225 +f 211 217 226 +f 217 216 226 +f 219 211 226 +f 216 219 226 +f 212 218 227 +f 221 212 227 +f 218 221 227 +f 216 213 228 +f 215 216 228 +f 220 215 228 +f 213 225 228 +o convex_9 +v -1.922140 -0.009044 1.123038 +v -1.283060 -1.174660 0.220734 +v -1.884626 -1.099356 -2.146983 +v -1.132591 -0.121886 -3.200174 +v -1.170208 -0.084234 2.853410 +v -2.110226 -1.061704 2.815386 +v -2.110226 -0.084234 -3.236991 +v -1.170311 -1.174660 2.815386 +v -1.245443 -1.024052 -3.200174 +v -2.110226 -0.121772 2.928249 +v -2.110226 -1.061704 -3.162151 +v -1.057356 -1.137008 -0.117252 +v -1.057356 -0.084234 0.483881 +v -1.094974 -0.046582 0.445858 +v -2.110226 -0.009044 0.333598 +v -1.207825 -1.061704 -2.786140 +v -1.245443 -0.046582 2.664499 +v -1.057356 -1.099356 -0.604919 +v -1.057356 -0.121886 -0.680362 +v -1.847009 -0.009044 0.371621 +v -1.057356 -1.137008 0.483881 +v -1.884626 -1.099356 2.815386 +v -1.207825 -0.948862 -3.200174 +v -2.072609 -0.046696 -1.883837 +v -1.734157 -0.535488 -3.237594 +v -1.132591 -1.137008 2.176229 +v -1.395911 -0.084234 2.890226 +v -2.110226 -0.009044 0.972755 +v -2.034992 -0.234614 2.928249 +v -1.207825 -1.174660 0.220734 +v -1.132591 -0.197076 -3.200174 +v -1.245443 -1.174660 2.815386 +v -1.771774 -1.061704 -3.162151 +v -1.809392 -0.084234 2.777363 +f 245 256 262 +f 235 234 238 +f 231 234 239 +f 234 235 239 +f 241 232 242 +f 233 241 242 +f 235 238 243 +f 233 242 245 +f 241 240 246 +f 240 244 246 +f 232 241 247 +f 241 246 247 +f 242 232 248 +f 243 229 248 +f 229 245 248 +f 245 242 248 +f 236 240 249 +f 240 241 249 +f 231 230 250 +f 234 231 250 +f 244 237 251 +f 246 244 251 +f 232 235 252 +f 235 243 252 +f 248 232 252 +f 243 248 252 +f 235 232 253 +f 239 235 253 +f 237 239 253 +f 251 237 253 +f 233 236 254 +f 241 233 254 +f 236 249 254 +f 249 241 254 +f 236 233 255 +f 233 245 255 +f 229 243 256 +f 243 238 256 +f 245 229 256 +f 238 234 257 +f 234 250 257 +f 236 255 257 +f 255 238 257 +f 230 231 258 +f 236 230 258 +f 240 236 258 +f 244 240 258 +f 232 247 259 +f 247 246 259 +f 246 251 259 +f 253 232 259 +f 251 253 259 +f 230 236 260 +f 250 230 260 +f 257 250 260 +f 236 257 260 +f 231 239 261 +f 239 237 261 +f 237 244 261 +f 258 231 261 +f 244 258 261 +f 238 255 262 +f 255 245 262 +f 256 238 262 +o convex_10 +v 1.349235 -0.234649 0.709926 +v -0.681020 -0.873791 -1.169977 +v -0.681020 -0.460420 -1.169977 +v -0.718821 -1.249868 0.973448 +v 1.386797 -1.249868 -1.057099 +v -0.718821 0.028666 0.973448 +v 1.386797 0.028666 -1.057099 +v 1.311434 -1.249868 0.935682 +v -1.057356 -0.121764 -0.680909 +v -0.681020 -1.249868 -1.132211 +v 1.311434 0.028666 0.898126 +v -1.057356 -1.136982 0.484379 +v -0.643458 0.028666 -1.169977 +v -1.057356 -0.084219 0.484379 +v -1.057356 -1.099437 -0.605796 +v 1.386797 -1.249868 0.559492 +v 0.822890 -1.212072 0.973448 +v -0.267600 -0.046549 -1.169977 +v 1.386797 -0.046549 0.296389 +v 1.048262 -0.009004 0.935682 +v 0.033134 0.028666 0.973448 +v 1.311434 -0.422625 0.935682 +f 282 279 284 +f 266 267 270 +f 265 264 271 +f 267 266 272 +f 264 267 272 +f 269 268 273 +f 266 268 274 +f 272 266 274 +f 264 265 275 +f 268 269 275 +f 265 271 275 +f 275 271 276 +f 274 268 276 +f 271 274 276 +f 268 275 276 +f 271 264 277 +f 264 272 277 +f 274 271 277 +f 272 274 277 +f 267 269 278 +f 270 267 278 +f 268 266 279 +f 266 270 279 +f 267 264 280 +f 269 267 280 +f 264 275 280 +f 275 269 280 +f 273 263 281 +f 269 273 281 +f 263 278 281 +f 278 269 281 +f 279 282 283 +f 273 268 283 +f 268 279 283 +f 282 273 283 +f 263 273 284 +f 278 263 284 +f 270 278 284 +f 279 270 284 +f 273 282 284 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/534/534.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/534/534.urdf new file mode 100644 index 000000000..21df36eed --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/534/534.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/535/535.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/535/535.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/535/535.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/535/535.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/535/535.obj new file mode 100644 index 000000000..29cc1a9fc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/535/535.obj @@ -0,0 +1,576 @@ +o convex_0 +v 0.901021 1.277809 -1.044776 +v 1.076542 3.136750 0.603579 +v 1.041354 3.136750 1.094625 +v -1.063223 3.276870 -0.974472 +v -0.992847 1.278005 1.059365 +v -1.063223 3.276870 1.094409 +v 0.971187 1.277809 1.059581 +v -0.957869 1.278005 -1.009516 +v 1.076542 3.242035 -0.974688 +v 1.076542 1.277809 -1.080036 +v 0.620355 3.276870 0.533276 +v 1.041354 2.961404 1.129885 +v -0.957869 3.066494 -1.009516 +v 0.409855 1.278005 1.094625 +v -1.063223 2.610516 1.094409 +v -0.992847 1.348260 -1.009516 +v 1.076542 2.260020 0.287969 +v 1.076542 3.031464 -1.009732 +v 0.795876 3.276870 -0.132772 +v -1.063223 2.891148 -0.869341 +v 1.076542 1.277809 -0.659078 +v 1.041354 1.523411 -1.080036 +v 1.041354 2.435170 1.094625 +v -0.080892 3.276870 -0.974688 +v 1.006375 1.277809 0.673667 +v 0.725709 3.136750 1.129885 +v -0.957869 2.294854 1.094409 +v -0.817536 3.276870 1.094409 +v -1.028035 1.839268 0.919190 +v 1.076542 3.242035 -0.623818 +v -1.028035 2.891148 -1.009516 +v -0.992847 1.278005 -0.623818 +v -1.063223 2.645546 0.568536 +f 20 32 33 +f 5 1 7 +f 7 1 10 +f 1 8 10 +f 9 2 10 +f 4 6 11 +f 2 3 12 +f 5 7 14 +f 7 12 14 +f 6 4 15 +f 10 8 16 +f 10 2 17 +f 9 10 18 +f 4 11 19 +f 15 4 20 +f 4 16 20 +f 7 10 21 +f 10 17 21 +f 10 16 22 +f 18 10 22 +f 13 18 22 +f 2 12 23 +f 12 7 23 +f 17 2 23 +f 13 4 24 +f 9 18 24 +f 18 13 24 +f 19 9 24 +f 4 19 24 +f 7 21 25 +f 21 17 25 +f 23 7 25 +f 17 23 25 +f 12 3 26 +f 14 12 26 +f 6 15 26 +f 26 15 27 +f 5 14 27 +f 15 5 27 +f 14 26 27 +f 3 11 28 +f 11 6 28 +f 26 3 28 +f 6 26 28 +f 5 15 29 +f 3 2 30 +f 2 9 30 +f 11 3 30 +f 9 19 30 +f 19 11 30 +f 4 13 31 +f 16 4 31 +f 22 16 31 +f 13 22 31 +f 1 5 32 +f 8 1 32 +f 16 8 32 +f 20 16 32 +f 5 29 32 +f 32 29 33 +f 15 20 33 +f 29 15 33 +o convex_1 +v -0.256399 -1.949363 1.094807 +v 0.339901 -1.633722 3.023787 +v 0.339901 -1.774083 3.023787 +v -0.256399 -1.949363 3.093888 +v 0.304796 -2.124768 3.129337 +v 0.269690 -1.633722 1.094807 +v -0.291505 -1.633722 1.516012 +v 0.234646 -2.019513 1.094807 +v 0.234646 -1.493362 2.988935 +v -0.221293 -2.089662 1.094807 +v -0.256399 -1.668766 2.988935 +v -0.291505 -1.633722 1.094807 +v -0.256399 -2.054495 2.602980 +v 0.339901 -1.493362 2.708132 +v 0.269690 -2.054495 1.656414 +v -0.256399 -2.019513 3.093888 +v -0.080995 -2.089662 1.094807 +v 0.339901 -1.633722 2.567930 +v 0.234646 -2.124768 3.129337 +v 0.269690 -1.598617 1.375809 +v -0.291505 -1.738977 1.094807 +v -0.221293 -2.089662 1.621363 +v 0.269690 -1.949363 1.340361 +v -0.186250 -1.633722 2.988935 +f 40 44 57 +f 36 35 38 +f 35 37 38 +f 34 39 41 +f 37 35 42 +f 34 41 43 +f 40 37 44 +f 39 34 45 +f 40 42 45 +f 34 43 46 +f 35 36 47 +f 42 35 47 +f 45 42 47 +f 36 38 48 +f 37 40 49 +f 38 43 50 +f 43 41 50 +f 48 38 50 +f 41 48 50 +f 47 36 51 +f 39 47 51 +f 36 48 51 +f 38 37 52 +f 43 38 52 +f 37 49 52 +f 49 46 52 +f 39 45 53 +f 47 39 53 +f 45 47 53 +f 45 34 54 +f 40 45 54 +f 34 46 54 +f 49 40 54 +f 46 49 54 +f 46 43 55 +f 43 52 55 +f 52 46 55 +f 41 39 56 +f 48 41 56 +f 39 51 56 +f 51 48 56 +f 37 42 57 +f 42 40 57 +f 44 37 57 +o convex_2 +v 0.936037 -0.896828 -1.185490 +v -0.291463 1.207447 -2.903740 +v -0.291463 1.207447 -3.009112 +v -0.992923 -0.861805 -3.079488 +v -0.992923 1.172217 -1.115114 +v 0.971163 1.137194 -2.974116 +v 1.076542 1.102171 -1.115306 +v 1.041415 -0.861599 -2.939121 +v -0.957796 -0.861805 -1.115114 +v -1.098301 1.207447 -3.044300 +v 1.076542 -0.896828 -1.115306 +v 0.830871 1.137194 -1.115114 +v 1.076542 0.050240 -2.097301 +v -0.677213 -0.861805 -3.079488 +v 1.006289 0.961872 -2.973924 +v -1.098301 1.032125 -2.833749 +v 0.900911 -0.861599 -2.974116 +v -0.992923 1.207447 -2.062305 +v 1.076542 -0.896828 -1.641588 +v -0.957796 -0.090059 -3.079488 +v 0.550075 1.172423 -2.903933 +v -1.063175 0.260173 -3.009112 +v 1.041415 -0.019806 -2.939121 +v 1.076542 -0.861599 -2.342655 +v -1.098301 1.172217 -2.728377 +v -0.992923 -0.861805 -2.658386 +v 1.006289 1.137400 -2.833749 +v -0.922670 1.207447 -3.044300 +v 1.076542 0.996896 -1.396041 +v -0.572047 1.207447 -2.342848 +v 1.006289 1.137400 -2.062305 +v -1.098301 0.891620 -2.973924 +v 1.006289 0.400678 -2.974116 +f 72 80 90 +f 59 60 67 +f 66 58 68 +f 66 68 69 +f 62 66 69 +f 68 64 69 +f 64 68 70 +f 71 63 72 +f 59 67 75 +f 67 62 75 +f 62 69 75 +f 58 61 76 +f 68 58 76 +f 70 68 76 +f 61 71 76 +f 74 65 76 +f 71 74 76 +f 61 67 77 +f 71 61 77 +f 63 71 77 +f 60 59 78 +f 63 60 78 +f 59 69 78 +f 67 61 79 +f 76 65 81 +f 70 76 81 +f 65 80 81 +f 80 70 81 +f 66 62 82 +f 62 67 82 +f 73 66 82 +f 67 73 82 +f 61 58 83 +f 58 66 83 +f 79 61 83 +f 72 63 84 +f 63 78 84 +f 60 63 85 +f 67 60 85 +f 63 77 85 +f 77 67 85 +f 64 70 86 +f 70 80 86 +f 80 72 86 +f 84 64 86 +f 72 84 86 +f 69 59 87 +f 59 75 87 +f 75 69 87 +f 69 64 88 +f 78 69 88 +f 64 84 88 +f 84 78 88 +f 66 73 89 +f 73 67 89 +f 67 79 89 +f 83 66 89 +f 79 83 89 +f 71 72 90 +f 65 74 90 +f 74 71 90 +f 80 65 90 +o convex_3 +v 0.865923 -0.020019 3.024103 +v -0.957769 -0.966970 -1.115114 +v -0.957769 1.137194 -1.115114 +v 1.076422 -0.896663 -1.115114 +v -0.922791 -0.861729 2.988853 +v 0.971277 1.137194 2.848664 +v 1.076422 1.277589 -1.079459 +v -1.028145 1.102041 2.918353 +v 1.006256 -0.931817 3.024103 +v -0.992957 1.277589 1.234872 +v 1.111609 -0.966970 0.988934 +v -0.992957 -0.966970 1.024184 +v 1.006256 1.102041 2.988853 +v -0.992957 1.277589 -0.343265 +v 0.971277 1.277589 1.059028 +v 1.076422 -0.966970 -1.044614 +v -1.028145 -0.020019 1.796032 +v -0.957769 1.277589 -1.009770 +v 1.041443 0.681296 2.567881 +v 1.076422 1.102041 -1.115114 +v -0.992957 -0.966970 -0.237921 +v -0.957769 -0.195348 2.988853 +v -0.957769 -0.756488 2.918353 +v -0.151172 -0.896663 3.024103 +v 1.111609 -0.686181 1.129528 +v -1.028145 1.137194 2.742915 +v 1.111609 -0.861729 0.288395 +v 1.076422 1.277589 -0.693737 +v 0.550280 1.067107 2.988853 +v 1.041443 -0.931817 2.567881 +v -0.501794 1.102041 2.953198 +v 0.655425 -0.931817 3.024103 +v -0.992957 -0.861729 1.796032 +v -1.028145 0.856624 2.918353 +v -0.256317 -0.826576 3.024103 +v -1.028145 1.137194 2.392443 +v -0.992957 0.681296 2.953603 +v -0.010631 -0.966970 1.094683 +f 122 102 128 +f 92 93 94 +f 92 101 102 +f 91 99 103 +f 93 92 104 +f 100 97 104 +f 97 100 105 +f 100 96 105 +f 96 103 105 +f 92 94 106 +f 101 92 106 +f 97 93 108 +f 93 104 108 +f 104 97 108 +f 103 99 109 +f 94 93 110 +f 93 97 110 +f 92 102 111 +f 104 92 111 +f 102 107 111 +f 107 104 111 +f 95 112 113 +f 99 91 114 +f 95 102 114 +f 96 100 116 +f 100 104 116 +f 107 98 116 +f 106 94 117 +f 101 106 117 +f 94 110 117 +f 110 97 117 +f 97 115 117 +f 115 101 117 +f 97 105 118 +f 105 103 118 +f 103 109 118 +f 115 97 118 +f 109 115 118 +f 91 103 119 +f 99 101 120 +f 109 99 120 +f 101 115 120 +f 115 109 120 +f 103 96 121 +f 96 116 121 +f 116 98 121 +f 119 103 121 +f 99 114 122 +f 114 102 122 +f 102 95 123 +f 107 102 123 +f 95 113 123 +f 123 113 124 +f 98 107 124 +f 112 98 124 +f 113 112 124 +f 107 123 124 +f 112 95 125 +f 114 91 125 +f 95 114 125 +f 91 119 125 +f 119 112 125 +f 104 107 126 +f 116 104 126 +f 107 116 126 +f 98 112 127 +f 112 119 127 +f 121 98 127 +f 119 121 127 +f 101 99 128 +f 102 101 128 +f 99 122 128 +o convex_4 +v 0.339901 -1.528440 -1.115114 +v 0.059242 -2.194924 -2.974158 +v -0.256385 -2.159760 -2.974158 +v -0.081022 -2.124727 -1.115114 +v -0.186253 -1.598702 -2.904094 +v -0.256385 -1.563604 -1.115114 +v 0.199572 -1.598702 -3.044410 +v 0.304803 -2.089628 -1.115114 +v 0.234605 -2.194924 -2.939032 +v -0.326583 -2.089628 -1.115114 +v -0.221287 -1.528440 -1.641440 +v -0.326583 -2.019430 -1.641440 +v 0.269704 -2.159760 -1.150240 +v 0.234605 -1.563604 -2.693337 +v -0.256385 -2.019430 -2.974158 +v 0.339901 -1.633736 -1.255430 +v 0.304803 -1.528440 -1.711504 +v -0.256385 -2.159760 -2.693337 +v 0.234605 -1.984332 -2.974158 +v -0.221287 -1.528440 -1.115114 +v -0.186253 -1.633736 -2.974158 +v -0.326583 -1.914265 -1.255430 +v -0.186253 -2.054594 -3.009284 +v 0.269704 -2.054594 -2.448020 +v 0.164473 -1.563604 -2.763589 +f 145 142 153 +f 132 129 134 +f 129 132 136 +f 132 134 138 +f 133 134 139 +f 131 138 140 +f 136 132 141 +f 130 137 141 +f 137 136 141 +f 131 140 143 +f 140 133 143 +f 129 136 144 +f 139 129 145 +f 129 144 145 +f 131 130 146 +f 138 131 146 +f 132 138 146 +f 130 141 146 +f 141 132 146 +f 130 135 147 +f 137 130 147 +f 135 142 147 +f 142 145 147 +f 145 144 147 +f 134 129 148 +f 139 134 148 +f 129 139 148 +f 133 135 149 +f 143 133 149 +f 134 133 150 +f 138 134 150 +f 133 140 150 +f 140 138 150 +f 130 131 151 +f 135 130 151 +f 131 143 151 +f 149 135 151 +f 143 149 151 +f 136 137 152 +f 144 136 152 +f 137 147 152 +f 147 144 152 +f 135 133 153 +f 133 139 153 +f 142 135 153 +f 139 145 153 +o convex_5 +v -0.817436 -2.826000 -1.009766 +v 1.111620 -0.967190 0.989243 +v 0.830744 -0.967190 1.024503 +v -0.957769 -0.967190 -1.115114 +v -1.028145 -2.615834 0.954416 +v 1.041244 -2.861380 -1.114898 +v 1.076432 -2.756009 0.954199 +v 1.076432 -0.967190 -1.044810 +v -0.992957 -0.967190 1.024503 +v -0.361668 -2.931564 0.533241 +v -0.957769 -2.791197 -1.115114 +v 0.409745 -2.159736 1.094807 +v -0.992957 -2.791197 0.884328 +v 0.515100 -2.931564 0.498197 +v -0.571958 -2.931564 -0.448417 +v -0.291501 -1.633839 1.094807 +v 1.076432 -1.704023 -1.079854 +v -0.010626 -0.967190 1.094807 +v -1.028145 -2.685825 0.322762 +v -1.028145 -1.353104 0.954416 +v -0.045814 -0.967190 -1.115114 +v 1.076432 -2.791004 0.077456 +v -0.992957 -2.791197 -0.729200 +v 1.041244 -2.791004 0.919155 +v -0.642124 -2.755816 0.954416 +v -0.221125 -2.089552 1.094807 +v -0.992957 -1.002378 -0.273198 +v 0.550078 -2.896376 -0.904635 +v 1.111620 -1.388292 0.989243 +v -0.817436 -1.072754 1.059330 +v 0.971287 -2.685825 0.989243 +v 1.076432 -1.318108 -1.079854 +v -0.677312 -2.896376 0.638373 +v 1.111620 -1.002570 0.463154 +v 0.479912 -2.931564 0.077240 +v 1.041244 -2.861380 -0.658896 +v -0.186147 -2.896376 0.673633 +v 0.550078 -0.967190 1.059330 +v -0.992957 -1.388292 1.024503 +v 0.550078 -2.861188 -1.115114 +v -0.712291 -2.791197 0.919372 +v -1.028145 -2.755816 0.919372 +v 1.111620 -1.493472 0.919155 +v 1.076432 -2.791004 0.848852 +v -0.536979 -2.931564 -0.483677 +f 193 181 198 +f 156 155 157 +f 157 155 161 +f 156 157 162 +f 155 156 165 +f 167 163 168 +f 164 154 168 +f 156 162 171 +f 169 165 171 +f 158 162 173 +f 172 158 173 +f 157 161 174 +f 164 157 174 +f 159 170 175 +f 157 164 176 +f 164 168 176 +f 168 166 176 +f 165 169 179 +f 178 165 179 +f 158 178 179 +f 162 157 180 +f 173 162 180 +f 172 173 180 +f 157 176 180 +f 176 172 180 +f 155 165 182 +f 171 162 183 +f 169 171 183 +f 179 169 183 +f 178 160 184 +f 165 178 184 +f 182 165 184 +f 160 182 184 +f 170 159 185 +f 174 161 185 +f 159 174 185 +f 168 163 186 +f 166 168 186 +f 161 155 187 +f 155 182 187 +f 185 161 187 +f 170 185 187 +f 159 167 188 +f 167 168 188 +f 181 159 188 +f 167 159 189 +f 159 175 189 +f 163 167 190 +f 167 177 190 +f 186 163 190 +f 165 156 191 +f 156 171 191 +f 171 165 191 +f 162 158 192 +f 158 179 192 +f 183 162 192 +f 179 183 192 +f 154 164 193 +f 164 174 193 +f 174 159 193 +f 159 181 193 +f 177 160 194 +f 160 178 194 +f 166 186 194 +f 190 177 194 +f 186 190 194 +f 158 172 195 +f 176 166 195 +f 172 176 195 +f 178 158 195 +f 194 178 195 +f 166 194 195 +f 175 170 196 +f 182 160 196 +f 170 187 196 +f 187 182 196 +f 160 177 197 +f 177 167 197 +f 167 189 197 +f 189 175 197 +f 196 160 197 +f 175 196 197 +f 168 154 198 +f 188 168 198 +f 181 188 198 +f 154 193 198 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/535/535.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/535/535.urdf new file mode 100644 index 000000000..1b20078a4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/535/535.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/536/536.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/536/536.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/536/536.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/536/536.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/536/536.obj new file mode 100644 index 000000000..82fe8825d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/536/536.obj @@ -0,0 +1,1119 @@ +o convex_0 +v -1.044016 -1.684723 -0.116207 +v 1.013523 -0.518818 0.054570 +v 0.979083 -0.518818 0.466199 +v 0.944844 -1.856087 0.706070 +v 0.773248 -1.856087 -1.042126 +v -0.666787 -0.518949 -1.145033 +v -0.701026 -0.518949 1.049094 +v -0.666787 -1.856087 1.014792 +v -0.598109 -1.856087 -1.110731 +v 0.773248 -0.518949 -1.145033 +v 0.601854 -0.518949 1.152001 +v -0.975338 -0.518949 -0.905162 +v 0.087670 -1.856087 1.186059 +v 0.018992 -1.856087 -1.316545 +v -0.975338 -0.518949 0.706315 +v 0.944844 -1.650424 -0.836312 +v -0.941099 -1.856087 -0.767707 +v -0.906659 -1.856087 0.774920 +v 0.979083 -0.518818 -0.939464 +v 0.807688 -1.856087 0.946187 +v 0.910404 -0.518949 0.911885 +v 1.013523 -1.616125 -0.082149 +v 0.601854 -0.518949 -1.213638 +v -1.044016 -0.518949 -0.150509 +v -0.632347 -0.518949 1.083397 +v 0.979083 -1.856087 -0.253416 +v -1.044016 -1.581826 0.123175 +v -0.941099 -0.827509 0.843525 +v -0.049485 -1.821788 1.186549 +v 1.013523 -0.553248 -0.665045 +v -1.009576 -1.856087 0.226327 +v -0.529631 -1.856087 1.083397 +v -0.975338 -0.724612 -0.905162 +v 0.807688 -1.787489 -1.042126 +v -0.941099 -1.718891 0.740618 +v 0.979083 -1.478798 0.500501 +v 0.944844 -0.724612 0.843280 +v -0.460953 -1.856087 -1.179336 +v 0.910404 -1.856087 -0.870614 +v 0.739010 -0.587416 1.083397 +v -0.701026 -1.856087 -1.042126 +v -1.044016 -0.518949 0.054570 +v -0.015247 -1.821788 -1.316545 +v -1.009576 -0.656014 -0.665045 +v -0.975338 -1.478798 -0.767707 +v 0.464698 -0.518949 -1.213638 +v 0.430459 -1.856087 1.083397 +v 0.876165 -1.856087 0.877582 +v 0.979083 -1.101901 -0.836312 +v -0.872420 -0.587416 -1.007824 +v -0.803943 -0.518949 0.980489 +v -1.009576 -1.856087 -0.287964 +v -0.941099 -1.787489 -0.802254 +v 1.013523 -1.616125 0.020268 +f 36 4 54 +f 5 4 8 +f 5 8 9 +f 8 4 13 +f 5 9 14 +f 9 8 17 +f 17 8 18 +f 3 2 19 +f 6 12 19 +f 13 4 20 +f 3 11 21 +f 19 10 23 +f 3 19 24 +f 19 12 24 +f 3 7 25 +f 11 3 25 +f 4 5 26 +f 16 22 26 +f 24 1 27 +f 18 8 28 +f 13 11 29 +f 11 25 29 +f 19 2 30 +f 2 22 30 +f 17 18 31 +f 27 1 31 +f 7 8 32 +f 8 13 32 +f 25 7 32 +f 13 29 32 +f 29 25 32 +f 5 14 34 +f 10 19 34 +f 23 10 34 +f 14 23 34 +f 15 27 35 +f 28 15 35 +f 18 28 35 +f 31 18 35 +f 27 31 35 +f 2 3 36 +f 3 21 37 +f 36 3 37 +f 4 36 37 +f 9 6 38 +f 14 9 38 +f 19 16 39 +f 26 5 39 +f 16 26 39 +f 5 34 39 +f 34 19 39 +f 11 20 40 +f 21 11 40 +f 9 17 41 +f 15 3 42 +f 3 24 42 +f 27 15 42 +f 24 27 42 +f 23 14 43 +f 38 6 43 +f 14 38 43 +f 1 24 44 +f 24 12 44 +f 12 33 44 +f 44 33 45 +f 1 44 45 +f 6 19 46 +f 19 23 46 +f 23 43 46 +f 43 6 46 +f 11 13 47 +f 20 11 47 +f 13 20 47 +f 20 4 48 +f 4 37 48 +f 37 21 48 +f 40 20 48 +f 21 40 48 +f 16 19 49 +f 22 16 49 +f 19 30 49 +f 30 22 49 +f 6 9 50 +f 12 6 50 +f 33 12 50 +f 9 41 50 +f 41 33 50 +f 7 3 51 +f 8 7 51 +f 3 15 51 +f 28 8 51 +f 15 28 51 +f 31 1 52 +f 17 31 52 +f 1 45 52 +f 45 17 52 +f 41 17 53 +f 33 41 53 +f 45 33 53 +f 17 45 53 +f 22 2 54 +f 4 26 54 +f 26 22 54 +f 2 36 54 +o convex_1 +v -0.049512 -2.507946 2.969749 +v -0.118043 -3.193491 1.220841 +v 0.018911 -3.193491 1.220841 +v 0.087442 -1.890638 1.220841 +v -0.563924 -2.644800 1.220841 +v 0.533430 -2.610491 1.769686 +v -0.049512 -2.987636 2.763804 +v -0.426754 -2.576182 2.729394 +v 0.464684 -2.062183 1.220841 +v 0.018911 -2.164983 2.729394 +v -0.426754 -2.096492 1.323728 +v 0.396154 -2.542000 2.695327 +v 0.430419 -3.021945 1.220841 +v -0.426754 -3.056254 1.906983 +v 0.361781 -2.987636 1.975289 +v 0.430419 -2.164983 1.975289 +v -0.461020 -3.090563 1.220841 +v -0.323851 -2.267910 2.523620 +v -0.529551 -2.576182 2.043937 +v -0.015247 -3.124872 2.112414 +v -0.015247 -1.890638 1.323728 +v 0.533430 -2.747727 1.220841 +v -0.323851 -2.919145 2.592440 +v 0.053177 -2.987636 2.729394 +v -0.083778 -2.164983 2.695327 +v -0.392382 -2.164983 1.906983 +v -0.426754 -2.096492 1.220841 +v 0.293250 -2.233601 2.523620 +v 0.018911 -2.644800 2.969749 +v 0.361781 -2.679109 2.661088 +v -0.563924 -2.747727 1.358138 +v 0.053177 -2.130674 2.592440 +v -0.323851 -2.610491 2.832452 +v 0.498950 -2.439328 1.975289 +v 0.533430 -2.405019 1.220841 +v -0.529551 -2.679109 2.009698 +v 0.396154 -3.056254 1.255251 +v 0.293250 -2.884836 2.489381 +v 0.087442 -1.890638 1.289489 +v 0.053177 -2.542000 2.969749 +v -0.118043 -3.124872 2.043937 +v -0.461020 -3.090563 1.461196 +v -0.426754 -2.644800 2.695327 +v -0.358116 -2.542000 2.798042 +v 0.498950 -2.576182 2.112414 +v -0.426754 -3.021945 2.043937 +v -0.083778 -3.021945 2.626678 +f 77 100 101 +f 57 56 58 +f 58 56 59 +f 57 58 63 +f 57 63 67 +f 67 60 69 +f 59 56 71 +f 65 59 73 +f 56 57 74 +f 67 63 76 +f 60 67 76 +f 74 69 78 +f 55 64 79 +f 79 75 80 +f 62 72 80 +f 65 73 80 +f 73 62 80 +f 75 65 80 +f 72 79 80 +f 58 59 81 +f 59 65 81 +f 75 58 81 +f 65 75 81 +f 64 66 82 +f 66 70 82 +f 61 78 83 +f 83 78 84 +f 66 83 84 +f 59 71 85 +f 73 59 85 +f 79 64 86 +f 75 79 86 +f 64 82 86 +f 82 70 86 +f 77 61 87 +f 83 55 87 +f 61 83 87 +f 63 70 88 +f 70 66 88 +f 60 76 89 +f 76 63 89 +f 88 60 89 +f 63 88 89 +f 62 73 90 +f 73 85 90 +f 57 67 91 +f 67 69 91 +f 74 57 91 +f 69 74 91 +f 78 69 92 +f 84 78 92 +f 69 84 92 +f 63 58 93 +f 70 63 93 +f 58 75 93 +f 86 70 93 +f 75 86 93 +f 64 55 94 +f 66 64 94 +f 55 83 94 +f 83 66 94 +f 56 74 95 +f 71 56 96 +f 85 71 96 +f 90 85 96 +f 56 95 96 +f 95 68 96 +f 87 62 97 +f 77 87 97 +f 62 90 97 +f 72 62 98 +f 55 79 98 +f 79 72 98 +f 87 55 98 +f 62 87 98 +f 69 60 99 +f 66 84 99 +f 84 69 99 +f 60 88 99 +f 88 66 99 +f 96 68 100 +f 90 96 100 +f 77 97 100 +f 97 90 100 +f 61 77 101 +f 78 61 101 +f 74 78 101 +f 68 95 101 +f 95 74 101 +f 100 68 101 +o convex_2 +v -1.044016 -0.381595 0.054976 +v 1.013442 0.167029 0.054338 +v 1.013442 -0.518818 0.054338 +v 0.259014 0.167029 -1.591129 +v -0.632363 0.167029 1.426518 +v 0.601991 -0.518818 1.151954 +v -0.666601 -0.518818 -1.145003 +v -0.975139 0.167029 -1.042321 +v 0.979003 -0.518818 -0.939320 +v 0.567753 0.167029 1.632201 +v -0.666601 -0.518818 1.083393 +v 1.013442 0.167029 -1.007881 +v -0.940902 0.167029 0.946271 +v 0.944766 -0.450139 0.877391 +v -0.975139 -0.518818 -0.939320 +v -0.940902 -0.518818 0.877710 +v 0.601991 -0.518818 -1.213883 +v -0.015287 0.132723 1.666641 +v -0.632363 0.132723 -1.385126 +v 0.533315 0.132723 -1.591129 +v 0.944766 0.167029 0.877391 +v -1.044016 0.167029 -0.082146 +v -1.044016 -0.518818 -0.150707 +v 0.773378 0.167029 -1.385126 +v 0.910529 -0.518818 0.912150 +v 0.738940 0.132723 1.391759 +v 0.259014 0.132723 -1.591129 +v 0.464840 0.132723 1.666641 +v 1.013442 -0.518818 -0.665075 +v 0.773378 -0.518818 -1.145322 +v -0.255351 0.132723 1.597761 +v -0.975139 -0.004500 0.740587 +v -1.009578 -0.484512 -0.699196 +v 0.773378 -0.484512 1.083393 +v -0.975139 -0.518818 0.706147 +v -0.632363 0.167029 -1.385126 +v -0.632363 0.132723 1.426518 +v 0.430402 -0.518818 -1.213883 +v 0.567753 0.132723 1.632201 +v -0.015287 0.167029 1.666641 +f 132 119 141 +f 103 105 106 +f 104 107 108 +f 106 105 109 +f 104 108 110 +f 103 106 111 +f 108 107 112 +f 103 104 113 +f 105 103 113 +f 106 109 114 +f 104 103 115 +f 108 112 116 +f 116 112 117 +f 110 108 118 +f 112 107 119 +f 116 109 120 +f 108 116 120 +f 103 111 122 +f 115 103 122 +f 114 109 123 +f 116 117 124 +f 102 123 124 +f 105 113 125 +f 113 110 125 +f 121 105 125 +f 107 104 126 +f 104 115 126 +f 126 115 127 +f 122 111 127 +f 115 122 127 +f 120 105 128 +f 108 120 128 +f 105 121 128 +f 121 118 128 +f 119 107 129 +f 104 110 130 +f 113 104 130 +f 110 113 130 +f 110 118 131 +f 118 121 131 +f 125 110 131 +f 121 125 131 +f 112 119 132 +f 123 102 133 +f 114 123 133 +f 109 116 134 +f 123 109 134 +f 116 124 134 +f 124 123 134 +f 107 126 135 +f 117 114 136 +f 124 117 136 +f 102 124 136 +f 133 102 136 +f 114 133 136 +f 109 105 137 +f 105 120 137 +f 120 109 137 +f 106 114 138 +f 117 112 138 +f 114 117 138 +f 132 106 138 +f 112 132 138 +f 118 108 139 +f 108 128 139 +f 128 118 139 +f 126 127 140 +f 127 111 140 +f 129 107 140 +f 111 129 140 +f 107 135 140 +f 135 126 140 +f 111 106 141 +f 129 111 141 +f 119 129 141 +f 106 132 141 +o convex_3 +v -0.083690 2.121597 3.003679 +v 0.259078 0.167029 -1.658592 +v 0.464658 0.167029 -1.658592 +v -0.015096 2.327256 -2.825504 +v -1.044016 0.167029 -0.013682 +v 0.773436 0.544338 2.523291 +v 0.910626 2.155835 -0.219221 +v -0.838232 2.498906 0.123144 +v -0.941022 1.401216 -2.790849 +v 0.910626 1.024592 -2.756792 +v -0.769637 0.852942 2.729427 +v 1.013415 0.167029 0.053835 +v 0.636247 2.155835 2.660715 +v -0.769637 0.613044 -2.688080 +v 0.636247 2.498906 0.054432 +v -0.975421 1.469922 2.077558 +v -0.289474 0.167029 1.666480 +v 0.704842 2.087358 -2.790849 +v 0.944821 1.401216 2.077558 +v 1.047815 1.435455 -2.104923 +v 0.053294 0.749998 -2.996986 +v -0.666643 2.121597 2.763485 +v -0.015096 2.395734 2.557946 +v -1.009616 2.258779 0.053835 +v -0.701043 2.121597 -2.825504 +v 0.190484 0.749998 3.003679 +v 0.842031 0.613044 -2.688080 +v -0.701043 0.544338 2.695370 +v -0.975421 0.167029 -1.041975 +v 0.156084 1.984414 -3.065698 +v -1.044016 1.469922 -2.036211 +v 0.704842 1.401216 2.900311 +v 0.533252 0.167029 1.700537 +v 1.013415 0.167029 -1.007918 +v -0.598048 1.366978 3.038333 +v -0.701043 1.366978 -3.030446 +v 0.053294 0.407155 2.695370 +v -0.015096 0.510099 -2.756792 +v -0.941022 0.167029 0.945898 +v 0.018895 2.430201 -2.138980 +v -1.044016 1.435683 0.877186 +v 0.636247 1.435683 -3.031043 +v 0.361868 1.915937 3.038333 +v -0.666643 2.498906 -0.630300 +v -0.872427 1.366978 2.729427 +v 0.704842 0.510099 2.694772 +v 0.944821 0.167029 0.877186 +v -0.666643 0.167029 -1.418996 +v 0.842031 1.435683 2.763485 +v -0.872427 2.327256 -1.110090 +v 0.910626 2.155835 0.157202 +v -0.872427 2.327256 1.117380 +v 0.944821 1.469922 -2.790849 +v 0.773436 2.190074 -1.899384 +v 0.533252 2.498906 -0.527530 +v 1.047815 1.435455 -1.555823 +v -0.495259 1.915937 -3.065698 +v 1.013415 0.647282 -1.967498 +v -0.906827 0.613044 1.906076 +v 0.910626 0.613044 1.906076 +v -0.666643 2.498906 0.603532 +v 0.053294 2.361723 2.763485 +v -0.460859 0.990125 -3.030446 +v -0.118090 0.715759 3.003679 +f 169 178 205 +f 143 144 146 +f 146 144 153 +f 146 153 158 +f 143 146 170 +f 150 155 170 +f 145 159 171 +f 166 150 172 +f 170 146 172 +f 150 170 172 +f 158 153 174 +f 153 144 175 +f 161 153 175 +f 144 168 175 +f 142 163 176 +f 152 169 176 +f 155 150 177 +f 150 166 177 +f 169 158 178 +f 158 174 178 +f 144 143 179 +f 155 162 179 +f 168 144 179 +f 162 168 179 +f 146 158 180 +f 158 169 180 +f 159 145 181 +f 146 157 182 +f 157 165 182 +f 172 146 182 +f 165 172 182 +f 151 168 183 +f 168 162 183 +f 171 159 183 +f 167 173 184 +f 142 176 184 +f 176 167 184 +f 149 156 185 +f 145 166 185 +f 181 145 185 +f 163 157 186 +f 176 163 186 +f 152 176 186 +f 173 167 187 +f 167 178 187 +f 178 174 187 +f 174 153 188 +f 147 187 188 +f 187 174 188 +f 143 170 189 +f 170 155 189 +f 179 143 189 +f 155 179 189 +f 160 154 190 +f 154 184 190 +f 184 173 190 +f 187 147 190 +f 173 187 190 +f 165 149 191 +f 172 165 191 +f 166 172 191 +f 149 185 191 +f 185 166 191 +f 148 156 192 +f 156 154 192 +f 154 160 192 +f 161 148 192 +f 157 163 193 +f 149 165 193 +f 165 157 193 +f 159 161 194 +f 151 183 194 +f 183 159 194 +f 156 148 195 +f 161 159 195 +f 148 161 195 +f 159 181 196 +f 185 156 196 +f 181 185 196 +f 156 195 196 +f 195 159 196 +f 160 153 197 +f 153 161 197 +f 192 160 197 +f 161 192 197 +f 166 145 198 +f 145 171 198 +f 177 166 198 +f 168 151 199 +f 161 175 199 +f 175 168 199 +f 151 194 199 +f 194 161 199 +f 157 146 200 +f 169 152 200 +f 146 180 200 +f 180 169 200 +f 186 157 200 +f 152 186 200 +f 153 160 201 +f 147 188 201 +f 188 153 201 +f 190 147 201 +f 160 190 201 +f 156 149 202 +f 164 156 202 +f 163 164 202 +f 193 163 202 +f 149 193 202 +f 154 156 203 +f 163 142 203 +f 156 164 203 +f 164 163 203 +f 142 184 203 +f 184 154 203 +f 162 155 204 +f 155 177 204 +f 183 162 204 +f 171 183 204 +f 198 171 204 +f 177 198 204 +f 167 176 205 +f 176 169 205 +f 178 167 205 +o convex_4 +v 0.018945 2.567511 0.672056 +v -0.152208 2.498930 -0.733821 +v -0.289384 2.498930 -0.699421 +v -0.186467 2.738929 -0.562245 +v 0.636307 2.498930 -0.047800 +v -0.735312 2.498930 0.260529 +v 0.018945 2.738929 0.569280 +v 0.396214 2.738929 -0.424928 +v -0.632394 2.738929 -0.047800 +v -0.597995 2.498930 0.603539 +v -0.632394 2.533232 -0.596504 +v 0.396214 2.738929 0.363446 +v 0.464731 2.498930 0.466363 +v 0.464731 2.498930 -0.562245 +v -0.460819 2.738929 0.500622 +v -0.803970 2.498930 -0.082059 +v -0.529477 2.738929 -0.459328 +v -0.015314 2.601813 -0.699421 +v 0.499131 2.738929 -0.150576 +v -0.117949 2.498930 0.706456 +v -0.735312 2.636045 0.020576 +v 0.499131 2.533232 -0.527846 +v 0.636307 2.533232 -0.013682 +v -0.597995 2.533232 0.603539 +f 220 226 229 +f 208 207 210 +f 208 210 211 +f 209 212 213 +f 212 209 214 +f 211 210 215 +f 207 208 216 +f 212 206 217 +f 213 212 217 +f 215 210 218 +f 217 206 218 +f 210 207 219 +f 212 214 220 +f 208 211 221 +f 216 208 221 +f 216 221 222 +f 214 209 222 +f 209 216 222 +f 209 213 223 +f 207 216 223 +f 216 209 223 +f 219 207 223 +f 213 217 224 +f 206 212 225 +f 218 206 225 +f 215 218 225 +f 212 220 225 +f 220 214 226 +f 221 211 226 +f 222 221 226 +f 214 222 226 +f 210 219 227 +f 223 213 227 +f 219 223 227 +f 213 224 227 +f 227 224 228 +f 218 210 228 +f 217 218 228 +f 224 217 228 +f 210 227 228 +f 211 215 229 +f 215 225 229 +f 225 220 229 +f 226 211 229 +o convex_5 +v -0.015274 2.910548 -0.562359 +v -0.015274 2.841910 0.569287 +v -0.049539 2.841910 0.569287 +v -0.083697 4.384983 0.054751 +v -0.598216 2.738952 -0.082163 +v 0.499138 2.738952 -0.150841 +v 0.327488 4.144749 0.020412 +v -0.426567 4.179229 -0.013595 +v -0.015274 4.144749 -0.356545 +v -0.460939 2.738952 -0.459452 +v -0.460939 2.738952 0.466269 +v -0.049539 4.179229 0.363362 +v 0.396234 2.738952 0.363362 +v 0.361861 3.322217 -0.390884 +v -0.460939 3.425013 -0.390884 +v -0.392409 3.459332 0.431930 +v 0.327488 3.527971 0.329023 +v 0.361861 2.738952 -0.459452 +v -0.563843 3.390694 0.054751 +v 0.464765 3.425013 -0.013595 +v 0.259065 3.938995 -0.287977 +v -0.323878 4.007472 -0.287977 +v -0.323878 4.007472 0.294794 +v -0.015274 3.459332 0.500608 +v -0.118070 3.425013 -0.493681 +v -0.152228 2.738952 -0.562359 +v 0.327488 4.144749 -0.047934 +v 0.259065 3.973475 0.260455 +v -0.015274 4.384983 -0.047934 +v -0.598216 2.773271 0.123319 +v 0.018992 2.738952 0.569287 +v -0.083697 4.144749 -0.356545 +v 0.499138 2.876229 0.054751 +v -0.426567 4.110591 0.088980 +v 0.361861 3.184940 0.363362 +v -0.529578 2.773271 -0.390884 +v 0.018992 4.144749 0.363362 +v -0.015274 3.630284 -0.459452 +v -0.529578 3.459332 -0.116502 +v -0.015274 4.384983 0.054751 +v 0.018992 3.425013 0.500608 +v -0.392409 2.807590 0.500608 +f 240 260 271 +f 235 234 239 +f 234 235 240 +f 240 235 242 +f 235 239 247 +f 230 243 247 +f 243 235 247 +f 240 245 248 +f 235 243 249 +f 236 246 249 +f 243 238 250 +f 244 237 251 +f 245 241 252 +f 232 231 253 +f 245 232 253 +f 241 245 253 +f 244 254 255 +f 239 244 255 +f 230 247 255 +f 247 239 255 +f 254 230 255 +f 249 243 256 +f 236 249 256 +f 250 238 256 +f 243 250 256 +f 246 236 257 +f 237 233 258 +f 236 256 258 +f 256 238 258 +f 234 240 259 +f 248 234 259 +f 240 248 259 +f 231 232 260 +f 240 242 260 +f 251 237 261 +f 244 251 261 +f 254 244 261 +f 237 258 261 +f 258 238 261 +f 242 235 262 +f 235 249 262 +f 233 237 263 +f 241 233 263 +f 237 248 263 +f 248 245 263 +f 252 241 263 +f 245 252 263 +f 249 246 264 +f 260 242 264 +f 242 262 264 +f 262 249 264 +f 239 234 265 +f 244 239 265 +f 241 253 266 +f 257 236 266 +f 246 257 266 +f 243 230 267 +f 238 243 267 +f 230 254 267 +f 261 238 267 +f 254 261 267 +f 237 244 268 +f 234 248 268 +f 248 237 268 +f 265 234 268 +f 244 265 268 +f 233 241 269 +f 258 233 269 +f 236 258 269 +f 266 236 269 +f 241 266 269 +f 253 231 270 +f 231 260 270 +f 264 246 270 +f 260 264 270 +f 266 253 270 +f 246 266 270 +f 232 245 271 +f 245 240 271 +f 260 232 271 +o convex_6 +v 0.430516 -2.027827 -1.282498 +v -0.015062 -3.193487 -1.556920 +v 0.018861 -3.193487 -1.556920 +v -0.049506 -2.507967 -3.031406 +v -0.460953 -2.062123 -1.282498 +v 0.430516 -3.056304 -1.282498 +v -0.426718 -3.056304 -1.282498 +v 0.361942 -2.610461 -2.791051 +v 0.018861 -2.130714 -2.722745 +v -0.392274 -2.610461 -2.756984 +v -0.015062 -2.987713 -2.825461 +v -0.015062 -1.856218 -1.454205 +v 0.533430 -2.644757 -1.522853 +v -0.323804 -2.233601 -2.551038 +v -0.529631 -2.644757 -1.762866 +v 0.361942 -3.022009 -2.071355 +v 0.396073 -2.130714 -2.002878 +v -0.358143 -2.987713 -2.071355 +v -0.426718 -2.130714 -1.899991 +v 0.499091 -2.541869 -2.036946 +v -0.529631 -2.781939 -1.282498 +v -0.083741 -2.130714 -2.722745 +v 0.121879 -3.193487 -1.282498 +v 0.087540 -1.856218 -1.282498 +v 0.361942 -2.507967 -2.756984 +v -0.392274 -2.507967 -2.756984 +v -0.015062 -3.124896 -2.174071 +v 0.533430 -2.541869 -1.282498 +v 0.293367 -2.850530 -2.654097 +v -0.495292 -2.541869 -2.174071 +v -0.289569 -2.884826 -2.585277 +v 0.293367 -2.267897 -2.585277 +v -0.083741 -1.856218 -1.351146 +v 0.464752 -2.096418 -1.351146 +v -0.392274 -3.090600 -1.316908 +v 0.018861 -2.541869 -3.031406 +v 0.499091 -2.610461 -2.036946 +v -0.529631 -2.473671 -1.385385 +v 0.087540 -1.856218 -1.351146 +v 0.018861 -2.987713 -2.825461 +v 0.087540 -3.124896 -2.071355 +v 0.396073 -3.090600 -1.419795 +v -0.118080 -3.193487 -1.282498 +v -0.083741 -3.124896 -2.071355 +v -0.460953 -2.062123 -1.385385 +v -0.049506 -2.576165 -3.031406 +f 307 311 317 +f 272 276 277 +f 277 276 278 +f 278 286 289 +f 286 281 289 +f 278 276 292 +f 286 278 292 +f 280 275 293 +f 283 280 293 +f 285 290 293 +f 273 274 294 +f 277 278 294 +f 276 272 295 +f 291 279 296 +f 288 291 296 +f 275 281 297 +f 290 285 297 +f 293 275 297 +f 285 293 297 +f 274 273 298 +f 272 277 299 +f 277 284 299 +f 284 291 299 +f 279 287 300 +f 281 286 301 +f 297 281 301 +f 290 297 301 +f 281 282 302 +f 282 289 302 +f 289 281 302 +f 280 288 303 +f 296 280 303 +f 288 296 303 +f 283 293 304 +f 293 290 304 +f 276 295 304 +f 295 283 304 +f 288 272 305 +f 291 288 305 +f 272 299 305 +f 299 291 305 +f 278 289 306 +f 275 280 307 +f 296 279 307 +f 280 296 307 +f 284 277 308 +f 277 287 308 +f 287 279 308 +f 291 284 308 +f 279 291 308 +f 292 276 309 +f 286 292 309 +f 301 286 309 +f 280 283 310 +f 288 280 310 +f 272 288 310 +f 295 272 310 +f 283 295 310 +f 298 282 311 +f 279 300 311 +f 300 287 311 +f 307 279 311 +f 294 274 312 +f 274 298 312 +f 311 287 312 +f 298 311 312 +f 287 277 313 +f 277 294 313 +f 294 312 313 +f 312 287 313 +f 273 294 314 +f 294 278 314 +f 278 306 314 +f 314 306 315 +f 289 282 315 +f 298 273 315 +f 282 298 315 +f 306 289 315 +f 273 314 315 +f 290 301 316 +f 276 304 316 +f 304 290 316 +f 309 276 316 +f 301 309 316 +f 281 275 317 +f 282 281 317 +f 275 307 317 +f 311 282 317 +o convex_7 +v -0.872467 -2.884773 -0.802067 +v 0.979230 -1.856218 0.294767 +v 0.944770 -1.856218 0.706356 +v 0.636186 -3.193470 0.671812 +v -0.906733 -1.856382 0.774709 +v 0.430399 -2.027918 -1.282253 +v -0.495353 -3.124889 1.220596 +v 0.498930 -3.262052 -1.076459 +v -0.700945 -1.856382 -1.042160 +v -0.083778 -3.536377 -0.253527 +v 0.464664 -2.062126 1.220596 +v -0.426627 -3.090516 -1.282253 +v 0.876239 -3.056308 0.877851 +v 0.910505 -1.856218 -0.870665 +v -0.838202 -3.090516 0.843307 +v 0.807514 -3.056308 -0.973562 +v -1.009724 -1.856382 -0.253527 +v -0.049512 -3.502004 0.671812 +v -0.049512 -1.890755 1.220596 +v -0.597954 -3.262052 -1.007861 +v 0.430399 -3.056308 1.220596 +v 0.498930 -2.919145 -1.282253 +v -0.118043 -1.856218 -1.282253 +v -0.426627 -2.096334 1.220596 +v -0.083778 -3.502004 -0.802067 +v -0.563884 -2.679358 -1.282253 +v -0.940998 -1.856382 -0.767768 +v -0.597954 -3.262052 1.014802 +v -0.803742 -3.159098 -0.870665 +v 0.053284 -3.227679 -1.282253 +v 0.807514 -1.856218 0.946204 +v 0.019019 -3.536377 -0.116331 +v 0.567461 -2.713402 1.220596 +v -1.009724 -1.924964 0.191870 +v -0.563884 -2.645149 1.220596 +v -0.015247 -3.262052 1.151998 +v 0.944770 -2.096499 -0.390723 +v 0.601921 -3.193470 0.980503 +v 0.773248 -1.856218 -1.042160 +v -0.666680 -1.856382 1.014802 +v -0.461087 -2.062291 -1.282253 +v -0.872467 -2.987727 -0.733469 +v -0.769476 -3.193470 -0.699170 +v 0.053284 -3.467796 0.774709 +v 0.430399 -3.124889 -1.282253 +v 0.533195 -2.542195 -1.282253 +v 0.944770 -2.370824 0.397664 +v 0.121815 -1.856218 1.186297 +v -0.083778 -3.536377 0.123272 +v 0.807514 -2.781983 -1.007861 +v -0.049512 -3.262052 -1.247954 +v -0.015247 -3.502004 -0.802067 +v -0.940998 -1.856382 0.671812 +v 0.567461 -3.227679 -1.042160 +v 0.087550 -3.502004 0.123272 +v 0.876239 -1.856218 0.877851 +v 0.121815 -1.856218 -1.282253 +v -0.769476 -3.159098 0.911905 +v -0.597954 -2.781983 1.186297 +v 0.944770 -1.890591 -0.596272 +v -0.906733 -2.405033 -0.802067 +v -0.838202 -3.124889 -0.836366 +v 0.053284 -3.193470 1.220596 +v -1.009724 -1.959337 -0.219228 +f 344 378 381 +f 319 320 330 +f 320 319 331 +f 324 328 336 +f 328 324 338 +f 329 323 339 +f 323 329 340 +f 320 331 340 +f 324 336 341 +f 327 337 342 +f 340 329 343 +f 340 326 344 +f 334 340 344 +f 326 343 344 +f 329 337 346 +f 343 329 346 +f 329 339 347 +f 320 340 348 +f 328 338 350 +f 338 330 350 +f 348 328 350 +f 324 341 352 +f 324 345 353 +f 321 330 355 +f 330 338 355 +f 340 331 356 +f 341 336 357 +f 322 352 357 +f 352 341 357 +f 326 340 358 +f 343 326 358 +f 340 343 358 +f 332 351 359 +f 337 327 360 +f 346 337 360 +f 345 335 361 +f 335 349 361 +f 353 345 361 +f 355 353 361 +f 333 325 362 +f 339 333 362 +f 347 339 362 +f 325 347 362 +f 339 323 363 +f 323 356 363 +f 319 330 364 +f 330 333 364 +f 354 319 364 +f 333 354 364 +f 336 328 365 +f 328 348 365 +f 348 340 365 +f 357 336 365 +f 322 357 365 +f 335 345 366 +f 349 335 366 +f 327 349 366 +f 360 327 366 +f 345 360 366 +f 331 333 367 +f 333 339 367 +f 356 331 367 +f 339 363 367 +f 363 356 367 +f 337 329 368 +f 342 337 368 +f 329 347 368 +f 368 347 369 +f 327 342 369 +f 347 325 369 +f 325 349 369 +f 349 327 369 +f 342 368 369 +f 332 322 370 +f 340 334 370 +f 351 332 370 +f 334 351 370 +f 322 365 370 +f 365 340 370 +f 330 321 371 +f 325 333 371 +f 333 330 371 +f 349 325 371 +f 349 371 372 +f 321 355 372 +f 361 349 372 +f 355 361 372 +f 371 321 372 +f 330 320 373 +f 320 348 373 +f 350 330 373 +f 348 350 373 +f 323 340 374 +f 356 323 374 +f 340 356 374 +f 345 324 375 +f 332 360 375 +f 360 345 375 +f 322 332 376 +f 352 322 376 +f 324 352 376 +f 375 324 376 +f 332 375 376 +f 331 319 377 +f 333 331 377 +f 319 354 377 +f 354 333 377 +f 344 343 378 +f 343 346 379 +f 359 318 379 +f 332 359 379 +f 360 332 379 +f 346 360 379 +f 318 378 379 +f 378 343 379 +f 338 324 380 +f 324 353 380 +f 355 338 380 +f 353 355 380 +f 334 344 381 +f 351 334 381 +f 318 359 381 +f 359 351 381 +f 378 318 381 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/536/536.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/536/536.urdf new file mode 100644 index 000000000..6e07b1a07 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/536/536.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/537/537.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/537/537.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/537/537.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/537/537.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/537/537.obj new file mode 100644 index 000000000..b9a0de401 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/537/537.obj @@ -0,0 +1,510 @@ +o convex_0 +v -1.076993 -2.790132 -0.347943 +v 1.058419 -1.285135 0.947126 +v 1.023360 -1.285135 1.087363 +v 0.953242 -3.105390 0.982185 +v 1.023360 -3.140549 -1.083339 +v -1.076993 -1.285331 -1.083339 +v -1.112265 -1.285331 0.947126 +v 1.058419 -1.285135 -1.083339 +v -0.972029 -3.140354 1.052304 +v -1.042147 -3.280599 -1.013220 +v 0.638136 -3.140354 1.017244 +v -0.096828 -2.230519 1.087363 +v 1.023360 -3.140549 -0.452909 +v 1.058419 -2.405142 -1.083339 +v -1.042147 -3.280599 -0.697899 +v -0.306970 -3.245245 -1.048067 +v -1.076993 -1.705284 -1.083339 +v 0.988301 -2.790327 1.017244 +v -0.937182 -3.175317 0.912279 +v -1.076993 -3.070231 -0.837924 +v 0.603077 -1.285331 1.087363 +v -1.112265 -1.740248 0.456933 +v 1.023360 -1.600198 1.087363 +v -0.622076 -3.245245 -1.048067 +v -0.972029 -2.825291 1.052304 +v -0.376875 -3.140354 1.052304 +v 0.988301 -3.140549 0.142037 +v -0.796946 -3.280599 -0.943102 +v -1.112265 -1.285331 0.247002 +v -1.007088 -2.790132 1.017032 +v -1.042147 -3.245245 -0.347943 +v -1.042147 -2.895218 -1.048067 +v 0.813219 -3.140354 -1.083339 +v 0.988301 -3.105390 0.632017 +v 0.708254 -3.140354 0.982185 +v -1.076993 -2.405142 -1.048067 +v -1.112265 -1.460344 0.877007 +f 1 30 37 +f 3 2 8 +f 5 6 8 +f 8 2 14 +f 5 8 14 +f 2 13 14 +f 13 5 14 +f 5 13 16 +f 6 5 17 +f 11 4 18 +f 15 11 19 +f 10 15 20 +f 3 7 21 +f 12 3 21 +f 20 1 22 +f 2 3 23 +f 3 12 23 +f 18 2 23 +f 11 18 23 +f 5 16 24 +f 16 10 24 +f 7 9 25 +f 9 12 25 +f 21 7 25 +f 12 21 25 +f 12 9 26 +f 9 19 26 +f 19 11 26 +f 23 12 26 +f 11 23 26 +f 16 13 27 +f 16 27 28 +f 15 10 28 +f 10 16 28 +f 7 3 29 +f 3 8 29 +f 8 6 29 +f 6 17 29 +f 22 7 29 +f 20 22 29 +f 9 7 30 +f 19 9 31 +f 15 19 31 +f 1 20 31 +f 20 15 31 +f 9 30 31 +f 30 1 31 +f 24 10 32 +f 17 24 32 +f 17 5 33 +f 5 24 33 +f 24 17 33 +f 13 2 34 +f 2 18 34 +f 18 4 34 +f 4 27 34 +f 27 13 34 +f 4 11 35 +f 11 15 35 +f 27 4 35 +f 28 27 35 +f 15 28 35 +f 10 20 36 +f 29 17 36 +f 20 29 36 +f 32 10 36 +f 17 32 36 +f 7 22 37 +f 22 1 37 +f 30 7 37 +o convex_1 +v -0.411920 1.376017 1.087315 +v 1.093448 2.846093 -0.592981 +v 1.058390 2.846093 -0.172907 +v -1.077171 2.811133 -1.048327 +v 0.918371 0.921146 -0.978209 +v -1.042113 0.921146 -1.048327 +v -0.971997 2.811133 1.052043 +v 0.918371 0.921146 0.947290 +v 0.918371 2.881249 1.122374 +v -1.007055 0.921146 1.017196 +v 1.093448 2.846093 -1.013268 +v -0.306958 2.916209 -0.172907 +v 1.093448 2.425988 -1.013268 +v 0.463042 2.145917 -1.048327 +v 0.953216 0.990871 0.772206 +v -1.077171 2.216033 -0.452744 +v -0.937152 2.846093 1.052043 +v 0.953216 0.920951 -0.943149 +v 0.323023 2.916209 -0.312932 +v 0.953216 2.881249 1.052256 +v -1.007055 2.811133 0.771994 +v -0.971997 0.921146 1.052043 +v -0.306958 0.921146 -1.048327 +v -0.971997 2.846093 -0.873031 +v -0.306958 2.916209 0.211895 +v 0.708235 2.566023 1.122374 +v -0.411920 0.956106 1.052043 +v -1.077171 2.811133 -0.488016 +v -0.341804 2.846093 1.087315 +v 1.093448 2.460948 -0.627828 +v -0.446978 2.846093 -1.013056 +v -1.077171 1.970922 -1.048327 +v 0.918371 1.586167 1.017196 +v 0.953216 2.635943 1.052256 +v 0.288177 2.916209 0.211895 +v -1.042113 1.481092 0.316860 +v 1.023332 2.040842 -1.013268 +v -0.971997 2.846093 0.807053 +f 61 65 75 +f 48 39 50 +f 48 50 51 +f 43 41 51 +f 41 48 51 +f 47 43 55 +f 42 50 55 +f 52 45 55 +f 50 52 55 +f 40 39 57 +f 39 48 57 +f 48 56 57 +f 47 44 58 +f 38 44 59 +f 44 47 59 +f 47 55 59 +f 55 45 59 +f 43 51 60 +f 42 55 60 +f 55 43 60 +f 54 46 62 +f 56 49 62 +f 49 61 62 +f 38 59 64 +f 59 45 64 +f 63 38 64 +f 41 53 65 +f 61 41 65 +f 44 38 66 +f 54 44 66 +f 46 54 66 +f 38 63 66 +f 63 46 66 +f 39 40 67 +f 50 39 67 +f 52 50 67 +f 48 41 68 +f 56 48 68 +f 49 56 68 +f 41 61 68 +f 61 49 68 +f 41 43 69 +f 53 41 69 +f 46 63 70 +f 64 45 70 +f 63 64 70 +f 45 52 71 +f 40 57 71 +f 57 46 71 +f 67 40 71 +f 52 67 71 +f 70 45 71 +f 46 70 71 +f 46 57 72 +f 57 56 72 +f 62 46 72 +f 56 62 72 +f 43 47 73 +f 47 58 73 +f 65 53 73 +f 58 65 73 +f 69 43 73 +f 53 69 73 +f 50 42 74 +f 51 50 74 +f 60 51 74 +f 42 60 74 +f 44 54 75 +f 58 44 75 +f 54 62 75 +f 62 61 75 +f 65 58 75 +o convex_2 +v -0.201909 3.896625 -0.313076 +v 0.148019 4.806803 0.352125 +v 0.358210 4.841728 0.317032 +v 0.288082 2.916404 0.211957 +v 0.323113 4.841728 -0.313076 +v -0.307005 3.091800 0.246982 +v 0.323113 2.916404 -0.313076 +v -0.307005 4.876846 -0.348101 +v -0.236941 4.736759 0.352125 +v -0.307005 2.951714 -0.208001 +v -0.307005 2.916404 0.211957 +v 0.323113 3.231694 0.246982 +v 0.113052 4.876846 -0.348101 +v -0.271973 4.841728 0.036900 +v -0.096878 4.071637 -0.348101 +v -0.131910 4.596673 0.352125 +v 0.218148 2.916404 -0.313076 +v 0.358210 4.841728 0.106950 +v 0.358210 4.561748 0.317032 +v -0.166942 4.806803 0.352125 +v 0.323113 2.916404 0.036900 +v -0.307005 2.916404 -0.173044 +f 92 86 97 +f 81 83 85 +f 83 76 85 +f 79 81 86 +f 82 79 86 +f 81 85 86 +f 81 79 87 +f 80 82 88 +f 83 78 88 +f 78 83 89 +f 83 81 89 +f 81 84 89 +f 76 83 90 +f 88 82 90 +f 83 88 90 +f 77 84 91 +f 84 81 91 +f 87 77 91 +f 81 87 91 +f 85 76 92 +f 82 86 92 +f 76 90 92 +f 90 82 92 +f 82 80 93 +f 88 78 93 +f 80 88 93 +f 78 77 94 +f 77 87 94 +f 93 78 94 +f 82 93 94 +f 77 78 95 +f 84 77 95 +f 78 89 95 +f 89 84 95 +f 79 82 96 +f 87 79 96 +f 94 87 96 +f 82 94 96 +f 86 85 97 +f 85 92 97 +o convex_3 +v -1.602581 0.815417 1.087181 +v -3.037781 -1.284954 -1.013169 +v -2.967652 -1.284954 -1.013169 +v -1.182394 0.815629 -1.048146 +v -1.112265 -1.214835 0.912080 +v -3.037781 0.885748 1.122374 +v -3.107714 0.780570 -1.013169 +v -1.112265 -1.144717 -1.083339 +v -2.967652 -1.109870 0.947273 +v -1.112265 0.780357 1.052204 +v -1.112265 0.325437 -1.083339 +v -3.072748 -1.039751 -0.803091 +v -2.932685 -1.249894 -1.048146 +v -1.112265 -1.074598 0.947057 +v -3.072748 0.780570 0.807149 +v -2.232569 0.815417 -1.048146 +v -1.147427 -1.179563 -1.083339 +v -1.112265 0.815629 0.176914 +v -2.757656 -1.144717 0.947273 +v -1.742643 -1.249894 0.246868 +v -2.932685 0.780570 1.122374 +v -3.107714 0.815629 -0.733136 +v -1.112265 0.815629 -1.048146 +v -3.107714 0.080234 -1.013169 +v -1.182394 0.815629 1.052204 +v -3.002619 0.885748 0.877103 +v -3.037781 0.255530 1.052204 +v -2.827785 0.885748 1.122374 +v -1.637548 -1.074598 -1.083339 +v -2.372631 0.780570 -1.048146 +v -1.462519 -1.214623 0.912080 +v -3.037781 -1.249894 -0.523058 +v -1.112265 -1.214835 0.246868 +v -3.072748 -1.214835 -1.013169 +v -1.112265 0.500308 1.052204 +v -3.107714 0.745298 -0.382934 +v -1.637548 0.745511 1.087181 +v -3.002619 -1.179776 0.317038 +v -1.252327 -1.109657 0.947057 +v -3.037781 -1.284954 -0.942999 +f 129 131 137 +f 102 105 107 +f 107 105 108 +f 100 99 110 +f 102 107 111 +f 101 108 113 +f 108 105 114 +f 100 110 114 +f 107 108 115 +f 103 106 118 +f 106 116 118 +f 112 103 119 +f 113 104 119 +f 108 101 120 +f 115 108 120 +f 104 110 121 +f 119 104 121 +f 98 107 122 +f 107 115 122 +f 101 113 123 +f 119 103 123 +f 113 119 123 +f 120 101 123 +f 106 103 124 +f 103 112 124 +f 112 109 124 +f 103 118 125 +f 115 120 125 +f 98 122 125 +f 122 115 125 +f 123 103 125 +f 120 123 125 +f 108 114 126 +f 114 110 126 +f 110 104 127 +f 104 113 127 +f 113 108 127 +f 108 126 127 +f 126 110 127 +f 102 116 128 +f 117 102 128 +f 105 102 130 +f 100 114 130 +f 114 105 130 +f 117 100 130 +f 102 117 130 +f 110 99 131 +f 109 121 131 +f 121 110 131 +f 107 98 132 +f 111 107 132 +f 109 112 133 +f 112 119 133 +f 121 109 133 +f 119 121 133 +f 118 111 134 +f 98 125 134 +f 125 118 134 +f 132 98 134 +f 111 132 134 +f 116 106 135 +f 106 124 135 +f 124 109 135 +f 129 116 135 +f 109 131 135 +f 131 129 135 +f 102 111 136 +f 116 102 136 +f 111 118 136 +f 118 116 136 +f 99 100 137 +f 100 117 137 +f 128 116 137 +f 117 128 137 +f 116 129 137 +f 131 99 137 +o convex_4 +v -1.112265 -1.284954 0.912279 +v 3.018769 0.920759 -0.697899 +v 2.983812 0.885566 -0.207706 +v -1.006984 0.920759 1.017032 +v -1.112265 0.430217 -1.083339 +v 3.089093 -1.144614 -0.943102 +v 2.983812 -1.179807 1.087363 +v -1.076897 -1.284954 -1.083339 +v 2.983812 0.780419 0.947126 +v -1.006984 0.920759 -1.048067 +v 3.018769 0.920759 -1.013220 +v 1.058327 -1.284954 -1.083339 +v 0.638438 -1.284954 1.087363 +v -1.112265 0.780635 1.052304 +v 0.918501 0.920759 0.947126 +v 3.053725 -0.759434 1.052091 +v -0.516771 0.920759 1.052304 +v 1.548129 -0.654719 -1.083339 +v 3.018769 0.815612 0.666864 +v 3.089093 -0.689696 -0.977948 +v -1.076897 -1.284954 0.947126 +v -1.112265 -1.144830 -1.083339 +v 3.053725 -1.179807 1.052091 +v -1.112265 0.815396 -1.048067 +v 1.058327 -1.284954 0.982185 +v 3.018769 0.430433 0.982185 +v 2.493599 0.360263 -1.048280 +v -0.972027 0.640511 -1.083339 +v -1.112265 0.500603 1.052304 +v 3.053725 0.500387 -1.013220 +v 2.983812 -1.109637 -0.977948 +v 0.988414 -0.864797 1.087363 +v 3.053725 -1.179807 0.526839 +v 3.089093 -1.109637 -0.277825 +v 2.948855 -1.109637 1.087363 +v 1.338390 -1.214784 -1.083339 +v 3.018769 0.220355 -1.013220 +v -0.306621 0.920759 -1.048280 +f 148 165 175 +f 141 139 147 +f 147 139 148 +f 138 145 149 +f 145 142 149 +f 138 149 150 +f 142 138 151 +f 140 139 152 +f 139 141 152 +f 141 151 154 +f 152 141 154 +f 146 152 154 +f 149 142 155 +f 139 140 156 +f 140 152 156 +f 152 146 156 +f 138 150 158 +f 138 142 159 +f 145 138 159 +f 142 145 159 +f 153 144 160 +f 141 147 161 +f 142 151 161 +f 151 141 161 +f 144 150 162 +f 150 149 162 +f 149 160 162 +f 160 144 162 +f 144 153 163 +f 146 154 163 +f 156 146 163 +f 153 156 163 +f 155 142 165 +f 161 147 165 +f 142 161 165 +f 148 164 165 +f 164 155 165 +f 151 138 166 +f 150 151 166 +f 138 158 166 +f 158 150 166 +f 148 139 167 +f 139 156 167 +f 156 157 167 +f 164 148 167 +f 143 149 168 +f 157 143 168 +f 150 144 169 +f 151 150 169 +f 154 151 169 +f 149 143 170 +f 143 160 170 +f 160 149 170 +f 156 153 171 +f 157 156 171 +f 143 157 171 +f 160 143 171 +f 153 160 171 +f 144 163 172 +f 163 154 172 +f 169 144 172 +f 154 169 172 +f 149 155 173 +f 168 149 173 +f 168 173 174 +f 155 164 174 +f 167 157 174 +f 164 167 174 +f 157 168 174 +f 173 155 174 +f 147 148 175 +f 165 147 175 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/537/537.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/537/537.urdf new file mode 100644 index 000000000..d2d515b30 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/537/537.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/538/538.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/538/538.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/538/538.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/538/538.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/538/538.obj new file mode 100644 index 000000000..0163d0235 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/538/538.obj @@ -0,0 +1,717 @@ +o convex_0 +v 0.538231 -3.172089 0.319081 +v -0.547307 -4.980963 0.253393 +v -0.481377 -5.046758 -0.536077 +v -0.547307 -3.073690 -0.470279 +v 0.538231 -5.079950 -0.503123 +v -0.547307 -3.073690 0.582384 +v 0.604049 -4.981159 0.450787 +v 0.571140 -3.073690 -0.470169 +v -0.547307 -4.980963 0.516585 +v 0.505210 -3.073690 0.450787 +v 0.571140 -3.567056 -0.503123 +v -0.547307 -3.205084 -0.503123 +v 0.505210 -5.013959 -0.536077 +v -0.448581 -3.172285 0.582384 +v -0.448581 -4.323208 -0.536077 +v 0.505210 -5.079950 -0.305619 +v 0.373688 -3.073690 0.483632 +v 0.571140 -3.073690 -0.206976 +v 0.176235 -4.980963 0.483632 +v 0.571140 -5.013959 0.352035 +v 0.604049 -4.750778 0.286237 +v -0.547307 -3.468265 -0.503123 +v 0.176235 -5.079950 -0.470279 +v 0.604049 -4.849569 0.450787 +v -0.514286 -5.013959 0.121796 +f 23 16 25 +f 4 2 6 +f 4 6 8 +f 6 2 9 +f 8 6 10 +f 8 11 12 +f 2 4 12 +f 4 8 12 +f 5 3 13 +f 11 5 13 +f 6 9 14 +f 12 11 15 +f 3 12 15 +f 13 3 15 +f 11 13 15 +f 10 6 17 +f 6 14 17 +f 14 7 17 +f 10 1 18 +f 8 10 18 +f 14 9 19 +f 7 14 19 +f 5 7 20 +f 16 5 20 +f 9 16 20 +f 19 9 20 +f 7 19 20 +f 7 5 21 +f 5 11 21 +f 11 8 21 +f 8 18 21 +f 3 2 22 +f 12 3 22 +f 2 12 22 +f 3 5 23 +f 5 16 23 +f 1 10 24 +f 17 7 24 +f 10 17 24 +f 18 1 24 +f 7 21 24 +f 21 18 24 +f 2 3 25 +f 9 2 25 +f 16 9 25 +f 3 23 25 +o convex_1 +v 1.097487 -2.217866 -0.766248 +v -1.106492 -3.073301 0.779659 +v -1.106492 -3.073301 1.075822 +v -1.073485 -0.639005 1.042752 +v -1.007684 -0.639005 -1.062411 +v 0.965671 -0.639005 0.943962 +v -0.974892 -2.974176 -1.062411 +v 0.932879 -3.073301 0.911310 +v 1.031687 -0.639005 -0.996481 +v 1.097487 -3.040180 -0.963620 +v 1.031687 -0.639005 0.615148 +v 0.932879 -1.790625 0.977031 +v -0.547084 -3.073301 -0.470085 +v -1.040692 -0.639005 -0.930760 +v -0.547084 -3.007297 -1.062202 +v 0.932879 -0.639005 0.977031 +v -1.106492 -2.020568 1.075822 +v -0.218299 -0.672127 -1.062202 +v 0.965671 -3.007297 -0.996481 +v -0.843292 -3.073301 1.075822 +v 0.965671 -2.711350 0.878241 +v 1.064479 -0.639005 -0.766248 +v 0.899871 -3.040180 0.943962 +v 0.669679 -3.073301 -0.568876 +v -1.040692 -1.395791 -0.864830 +v 1.097487 -3.040180 -0.831969 +v 1.064479 -0.639005 -0.042481 +v -1.007684 -3.007297 -0.700318 +v 1.064479 -1.099844 -0.996481 +v 0.538079 -0.836542 -1.029341 +v -0.974892 -3.007297 -0.930760 +v -1.040692 -2.020568 1.075822 +v -0.941884 -0.639005 1.042752 +v 0.965671 -3.040180 0.779659 +v 0.801279 -3.040180 -0.996481 +v 1.064479 -1.659093 -0.042481 +v -1.073485 -3.073301 0.483496 +v 1.064479 -2.349398 -0.996481 +v -1.007684 -2.283633 -0.996271 +v -1.106492 -2.020568 1.009892 +f 42 29 65 +f 30 29 31 +f 28 27 33 +f 30 31 34 +f 34 31 36 +f 33 27 38 +f 29 30 39 +f 31 29 41 +f 37 31 41 +f 27 28 42 +f 32 30 43 +f 30 34 43 +f 40 32 43 +f 28 33 45 +f 37 41 45 +f 42 28 45 +f 36 31 46 +f 31 37 46 +f 37 33 46 +f 34 36 47 +f 33 37 48 +f 45 33 48 +f 37 45 48 +f 35 33 49 +f 33 38 49 +f 27 39 50 +f 33 35 51 +f 35 26 51 +f 26 47 52 +f 47 36 52 +f 26 35 54 +f 34 47 54 +f 47 26 54 +f 43 34 55 +f 40 43 55 +f 44 40 55 +f 34 54 55 +f 32 40 56 +f 40 38 56 +f 53 32 56 +f 29 42 57 +f 45 41 57 +f 42 45 57 +f 41 29 58 +f 29 57 58 +f 57 41 58 +f 46 33 59 +f 33 51 59 +f 51 46 59 +f 38 40 60 +f 40 44 60 +f 44 35 60 +f 35 49 60 +f 49 38 60 +f 36 46 61 +f 51 26 61 +f 46 51 61 +f 26 52 61 +f 52 36 61 +f 38 27 62 +f 27 53 62 +f 56 38 62 +f 53 56 62 +f 35 44 63 +f 54 35 63 +f 44 55 63 +f 55 54 63 +f 30 32 64 +f 39 30 64 +f 27 50 64 +f 50 39 64 +f 53 27 64 +f 32 53 64 +f 39 27 65 +f 29 39 65 +f 27 42 65 +o convex_2 +v -1.106734 0.446408 0.516425 +v -2.718239 -0.408657 -0.601869 +v -2.718239 -0.375748 -0.601869 +v -3.080017 0.314886 0.582384 +v -1.106734 -0.474474 0.582384 +v -1.106734 0.512338 -0.601869 +v -3.113013 0.545247 -0.437376 +v -1.106734 -0.474474 -0.536025 +v -2.981422 -0.441565 0.483503 +v -3.014418 -0.606109 -0.568831 +v -3.080017 0.545247 0.582384 +v -2.817030 -0.408657 0.582384 +v -1.369917 0.479430 0.549346 +v -1.139534 -0.507383 0.450581 +v -2.224869 0.545247 -0.536025 +v -1.172529 -0.507383 -0.536025 +v -1.106734 0.512338 -0.141313 +v -1.139534 0.150342 -0.601869 +v -3.113013 0.479430 -0.470182 +v -3.047217 -0.408657 -0.568831 +v -1.501312 0.512338 -0.601869 +v -2.290664 0.512338 0.582384 +v -3.113013 0.479430 0.187440 +v -1.106734 -0.178408 0.582384 +v -1.633100 -0.474474 0.582384 +v -2.915626 0.545247 0.582384 +v -3.014418 -0.540292 -0.141313 +v -2.652443 -0.573200 -0.239962 +v -2.981422 -0.342839 0.582384 +v -1.139534 0.446408 0.549346 +v -2.356264 -0.573200 -0.568831 +v -3.113013 0.314886 -0.371533 +f 85 88 97 +f 67 68 71 +f 66 70 71 +f 71 70 73 +f 69 70 76 +f 70 69 77 +f 73 70 79 +f 72 76 80 +f 73 79 81 +f 66 71 82 +f 78 66 82 +f 71 80 82 +f 67 71 83 +f 71 73 83 +f 81 67 83 +f 73 81 83 +f 72 80 84 +f 68 67 85 +f 67 75 85 +f 84 68 85 +f 71 68 86 +f 80 71 86 +f 68 84 86 +f 84 80 86 +f 76 70 87 +f 69 76 88 +f 76 72 88 +f 72 84 88 +f 85 69 88 +f 70 66 89 +f 87 70 89 +f 70 77 90 +f 77 74 90 +f 79 70 90 +f 80 76 91 +f 78 82 91 +f 82 80 91 +f 76 87 91 +f 87 78 91 +f 74 69 92 +f 69 85 92 +f 85 75 92 +f 75 79 93 +f 90 74 93 +f 79 90 93 +f 74 92 93 +f 92 75 93 +f 69 74 94 +f 77 69 94 +f 74 77 94 +f 66 78 95 +f 78 87 95 +f 89 66 95 +f 87 89 95 +f 75 67 96 +f 79 75 96 +f 67 81 96 +f 81 79 96 +f 84 85 97 +f 88 84 97 +o convex_3 +v 3.071141 1.532256 -0.141229 +v 1.788420 2.617463 -0.536019 +v 1.788420 2.617463 -0.568973 +v 1.097664 1.466332 0.351984 +v 2.972546 2.486066 0.516534 +v 1.097664 2.485954 0.549488 +v 1.097664 1.565162 -0.536019 +v 3.005345 2.584670 -0.536019 +v 2.939550 1.499238 0.516534 +v 3.104137 1.532256 -0.536019 +v 1.097664 2.617463 -0.568973 +v 1.097664 1.466332 0.549488 +v 2.051407 1.466332 0.549488 +v 3.104137 1.499238 -0.371468 +v 1.097664 1.861199 -0.568973 +v 2.676171 2.551765 -0.568973 +v 1.097664 2.551765 0.154589 +v 3.104137 1.729689 -0.305780 +v 2.215797 2.124105 0.549488 +v 2.150002 1.532256 -0.536019 +v 1.262055 2.617463 -0.404422 +v 2.478980 1.466332 0.483690 +v 2.939550 2.584670 -0.437267 +v 1.953008 2.485954 0.549488 +v 2.972546 2.124105 0.516534 +v 1.328047 2.518859 0.417782 +v 3.005345 2.518859 -0.108276 +v 3.104137 1.795388 -0.536019 +f 105 124 125 +f 101 103 104 +f 100 99 105 +f 99 100 108 +f 104 103 108 +f 103 101 109 +f 103 109 110 +f 109 101 110 +f 98 106 111 +f 108 100 112 +f 104 108 112 +f 100 105 113 +f 107 112 113 +f 112 100 113 +f 108 103 114 +f 98 111 115 +f 111 107 115 +f 103 110 116 +f 110 106 116 +f 101 104 117 +f 111 101 117 +f 107 111 117 +f 104 112 117 +f 112 107 117 +f 99 108 118 +f 108 114 118 +f 106 110 119 +f 110 101 119 +f 101 111 119 +f 111 106 119 +f 105 99 120 +f 102 105 120 +f 99 118 120 +f 118 102 120 +f 116 102 121 +f 103 116 121 +f 106 98 122 +f 98 115 122 +f 115 102 122 +f 102 116 122 +f 116 106 122 +f 114 103 123 +f 102 118 123 +f 118 114 123 +f 121 102 123 +f 103 121 123 +f 105 102 124 +f 102 115 124 +f 124 115 125 +f 113 105 125 +f 107 113 125 +f 115 107 125 +o convex_4 +v 0.998497 0.643935 0.812320 +v -1.007715 -0.639005 -1.062411 +v -1.040655 -0.639005 -0.930724 +v -1.040655 0.643935 -1.029438 +v -1.040655 0.643935 1.009953 +v 0.932828 -0.639005 0.976980 +v 1.031651 -0.639005 -0.996258 +v -1.073384 -0.639005 1.042926 +v 0.998497 0.643935 -0.996258 +v 0.932828 0.643935 1.042720 +v 1.064592 -0.573200 0.582126 +v -1.106537 0.611032 -0.634584 +v 1.064592 0.512325 -0.601817 +v -0.514450 0.643935 -1.062411 +v -1.106537 -0.474368 -0.536077 +v -1.106537 0.446521 0.516592 +v 0.932828 -0.606103 1.009747 +v 1.064592 0.446521 0.615099 +v -0.251135 -0.639005 -1.062411 +v 0.735607 0.643935 -1.029232 +v 1.064592 -0.639005 -0.766065 +v -1.106537 -0.474368 0.582332 +v -1.073384 -0.244052 1.042926 +v -1.007715 0.643935 -1.062411 +v 1.031651 0.413618 -0.996465 +v 0.965769 -0.112442 0.976980 +v 0.570902 -0.606103 -1.029232 +v 1.031651 0.643935 -0.864984 +v 1.031651 -0.639005 0.614893 +v 0.932828 0.545228 1.042720 +f 142 151 155 +f 127 128 129 +f 126 129 130 +f 128 127 131 +f 131 127 132 +f 128 131 133 +f 129 126 134 +f 126 130 135 +f 129 128 137 +f 130 129 137 +f 129 134 139 +f 128 133 140 +f 137 128 140 +f 137 140 141 +f 130 137 141 +f 133 131 142 +f 131 136 142 +f 126 135 143 +f 136 138 143 +f 132 127 144 +f 127 139 144 +f 144 139 145 +f 139 134 145 +f 131 132 146 +f 138 136 146 +f 140 133 147 +f 141 140 147 +f 141 147 148 +f 135 130 148 +f 133 135 148 +f 130 141 148 +f 147 133 148 +f 127 129 149 +f 139 127 149 +f 129 139 149 +f 132 145 150 +f 145 134 150 +f 146 132 150 +f 138 146 150 +f 142 136 151 +f 136 143 151 +f 143 135 151 +f 132 144 152 +f 144 145 152 +f 145 132 152 +f 134 126 153 +f 126 143 153 +f 143 138 153 +f 150 134 153 +f 138 150 153 +f 136 131 154 +f 131 146 154 +f 146 136 154 +f 135 133 155 +f 133 142 155 +f 151 135 155 +o convex_5 +v 3.071196 -0.441556 -0.174151 +v 1.064592 0.446469 -0.601869 +v 1.064592 -0.573213 -0.437334 +v 1.064592 0.446469 0.615280 +v 2.972373 0.479410 -0.535983 +v 3.005314 -0.540272 0.483628 +v 3.005314 0.479410 0.450626 +v 1.064592 -0.573213 0.582277 +v 3.104137 -0.441556 -0.568866 +v 1.064592 0.512351 -0.601869 +v 1.985741 -0.573213 0.549394 +v 2.281411 0.479410 0.516511 +v 1.294979 -0.573213 -0.437334 +v 3.071196 -0.145512 -0.568866 +v 2.939632 -0.441556 -0.568866 +v 1.492425 -0.573213 0.582277 +v 3.005314 0.479410 -0.174151 +v 3.038255 -0.507331 0.055911 +v 1.196356 0.512351 -0.601869 +v 1.064592 0.512351 -0.535983 +v 1.097732 0.446469 0.615280 +v 2.741986 -0.474497 -0.535983 +f 173 168 177 +f 157 158 159 +f 161 156 162 +f 159 158 163 +f 156 161 164 +f 162 156 164 +f 157 159 165 +f 163 158 166 +f 161 162 167 +f 166 158 168 +f 161 166 168 +f 158 157 170 +f 157 164 170 +f 159 163 171 +f 166 161 171 +f 163 166 171 +f 162 164 172 +f 169 160 172 +f 164 169 172 +f 164 161 173 +f 161 168 173 +f 164 157 174 +f 157 165 174 +f 160 169 174 +f 169 164 174 +f 162 172 174 +f 172 160 174 +f 165 159 175 +f 159 167 175 +f 167 162 175 +f 174 165 175 +f 162 174 175 +f 167 159 176 +f 161 167 176 +f 159 171 176 +f 171 161 176 +f 168 158 177 +f 158 170 177 +f 170 164 177 +f 164 173 177 +o convex_6 +v -2.948547 1.532201 -0.305764 +v -1.172448 2.617688 -0.141165 +v -1.073651 2.584767 0.055950 +v -2.981603 2.551729 0.483651 +v -1.073651 1.499279 0.516592 +v -1.073651 1.499279 -0.568973 +v -2.948547 2.551729 -0.503091 +v -2.981603 1.433436 0.450710 +v -1.073651 2.518924 0.450710 +v -1.139578 2.617573 -0.470256 +v -2.981603 1.696693 -0.470256 +v -1.172448 1.466474 -0.535925 +v -2.521050 2.584767 -0.503091 +v -2.586603 2.584767 0.319052 +v -2.981603 1.861186 0.483651 +v -2.849937 1.565239 -0.470256 +v -1.073651 2.617573 -0.437315 +v -2.521050 1.433436 0.154666 +v -2.257717 2.551729 0.483651 +v -1.830594 2.617688 -0.239882 +v -1.665871 1.466474 0.483651 +v -2.948547 2.255782 -0.503091 +v -1.073651 1.598044 -0.568973 +v -1.205318 1.499395 -0.568973 +v -2.981603 2.551729 0.055950 +v -1.073651 1.466358 -0.503091 +v -2.422067 1.466474 0.483651 +v -1.073651 2.124095 0.483651 +v -2.553733 1.433436 0.417769 +v -2.981603 1.433436 0.319052 +f 189 195 207 +f 180 182 183 +f 182 180 186 +f 185 181 188 +f 190 184 191 +f 182 181 192 +f 181 185 192 +f 178 188 193 +f 189 178 193 +f 179 180 194 +f 180 183 194 +f 187 179 194 +f 180 179 196 +f 181 182 196 +f 186 180 196 +f 179 191 196 +f 191 181 196 +f 179 187 197 +f 187 190 197 +f 191 179 197 +f 190 191 197 +f 182 185 198 +f 188 184 199 +f 184 190 200 +f 190 187 200 +f 194 183 200 +f 187 194 200 +f 183 189 201 +f 193 188 201 +f 189 193 201 +f 199 184 201 +f 188 199 201 +f 200 183 201 +f 184 200 201 +f 184 188 202 +f 188 181 202 +f 181 191 202 +f 191 184 202 +f 183 182 203 +f 189 183 203 +f 195 189 203 +f 182 198 203 +f 185 182 204 +f 182 192 204 +f 192 185 204 +f 182 186 205 +f 196 182 205 +f 186 196 205 +f 185 195 206 +f 198 185 206 +f 195 203 206 +f 203 198 206 +f 188 178 207 +f 185 188 207 +f 178 189 207 +f 195 185 207 +o convex_7 +v 0.801220 0.907205 -1.029470 +v 0.932771 3.045335 1.108718 +v 0.965711 3.012426 1.075565 +v 0.932771 0.643935 1.042624 +v -1.073642 1.499563 0.516418 +v -1.040701 2.946374 -1.062198 +v -1.040701 0.643935 -1.029257 +v 0.965711 2.946374 -1.029470 +v -1.007760 2.979517 0.976954 +v -1.040701 0.643935 1.009895 +v 1.031593 0.643935 -0.864765 +v 1.097474 2.584612 0.647969 +v 1.097474 2.617521 -0.568721 +v 1.097474 1.466654 0.549359 +v -0.514286 0.643935 -1.062411 +v -1.073642 2.814739 -1.029257 +v -1.073642 0.643935 -0.831824 +v -0.941878 3.012426 0.911072 +v 0.900042 3.045335 0.713639 +v 0.998652 0.643935 -0.996316 +v -1.073642 2.518795 0.450536 +v 1.097474 1.400837 -0.568721 +v 0.998652 0.643935 0.812462 +v -1.040701 1.532472 1.009895 +v -1.040701 2.979517 -0.371288 +v -1.040701 0.775805 -1.062198 +v 0.965711 2.979517 -0.601662 +v 0.965711 0.808479 1.009895 +v 0.373627 3.045335 1.075565 +v 0.900042 2.880791 1.108718 +v 1.097474 1.860854 -0.634603 +v -1.040701 2.979517 0.253315 +v -1.073642 0.643935 -0.371288 +v -0.612896 3.012426 1.009895 +v 0.998652 1.926437 -0.996316 +v 0.965711 2.025163 -1.029470 +v 0.340687 3.045335 0.976954 +v 0.735551 0.643935 -1.029470 +v 1.031593 0.643935 -0.601662 +v 0.867101 3.045335 1.108718 +f 217 237 247 +f 210 209 211 +f 214 211 217 +f 211 214 218 +f 210 219 220 +f 220 219 221 +f 213 215 222 +f 218 214 222 +f 214 217 224 +f 212 223 224 +f 218 222 227 +f 223 212 228 +f 220 221 229 +f 211 218 230 +f 212 217 231 +f 228 212 231 +f 216 228 231 +f 213 223 232 +f 226 213 232 +f 213 222 233 +f 222 214 233 +f 223 213 233 +f 214 224 233 +f 224 223 233 +f 209 210 234 +f 215 213 234 +f 210 220 234 +f 220 215 234 +f 226 209 234 +f 213 226 234 +f 210 211 235 +f 219 210 235 +f 221 219 235 +f 211 230 235 +f 230 221 235 +f 209 226 236 +f 211 209 237 +f 217 211 237 +f 218 227 238 +f 229 218 238 +f 220 229 238 +f 216 225 239 +f 228 216 239 +f 223 228 239 +f 232 223 239 +f 225 232 239 +f 217 212 240 +f 224 217 240 +f 212 224 240 +f 225 216 241 +f 216 231 241 +f 236 225 241 +f 231 236 241 +f 215 220 242 +f 227 215 242 +f 220 238 242 +f 238 227 242 +f 208 222 243 +f 222 215 243 +f 227 208 243 +f 215 227 243 +f 232 225 244 +f 226 232 244 +f 225 236 244 +f 236 226 244 +f 222 208 245 +f 208 227 245 +f 227 222 245 +f 218 229 246 +f 229 221 246 +f 230 218 246 +f 221 230 246 +f 231 217 247 +f 209 236 247 +f 236 231 247 +f 237 209 247 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/538/538.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/538/538.urdf new file mode 100644 index 000000000..59d29dafd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/538/538.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/539/539.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/539/539.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/539/539.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/539/539.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/539/539.obj new file mode 100644 index 000000000..4f99131c1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/539/539.obj @@ -0,0 +1,849 @@ +o convex_0 +v -1.276450 -2.189887 -0.030990 +v -1.212492 -1.423552 0.064727 +v -1.212492 -1.423552 0.000916 +v -3.032539 -1.806719 -0.030990 +v -1.212492 -1.870556 0.384059 +v -1.212492 -1.774914 -0.318416 +v -2.744994 -1.806719 -0.254536 +v -2.713104 -2.062140 0.000916 +v -2.681214 -1.711002 0.160513 +v -1.212492 -2.125901 0.320179 +v -2.713104 -1.615211 -0.126775 +v -1.212492 -2.062140 -0.254536 +v -1.244560 -1.519343 -0.254536 +v -1.340230 -1.519343 0.288204 +v -2.713104 -1.838525 0.192419 +v -2.744994 -1.615211 0.032822 +v -2.649324 -2.030184 -0.126775 +v -1.244560 -1.742883 0.384059 +v -1.212492 -2.189887 0.160513 +v -2.617256 -1.998153 0.128539 +v -3.032539 -1.870556 -0.030990 +v -2.744994 -1.838525 -0.254536 +v -1.372298 -2.094020 -0.222561 +v -2.042701 -1.583255 -0.222561 +v -2.649324 -1.583255 -0.062964 +v -1.308340 -1.838525 -0.318416 +v -2.840842 -1.838525 0.160513 +v -1.212492 -1.519343 0.288204 +v -2.489518 -1.998153 -0.190656 +v -1.244560 -2.189887 -0.062964 +v -1.276450 -1.487463 -0.190656 +v -1.244560 -2.125901 0.320179 +f 15 20 32 +f 3 2 5 +f 3 5 6 +f 6 5 10 +f 7 4 11 +f 6 10 12 +f 3 6 13 +f 6 7 13 +f 11 4 16 +f 14 2 16 +f 9 14 16 +f 14 9 18 +f 9 15 18 +f 15 5 18 +f 8 1 19 +f 12 10 19 +f 4 7 21 +f 17 8 21 +f 21 7 22 +f 17 21 22 +f 7 11 24 +f 13 7 24 +f 2 3 25 +f 16 2 25 +f 11 16 25 +f 7 6 26 +f 6 12 26 +f 22 7 26 +f 12 22 26 +f 15 9 27 +f 16 4 27 +f 9 16 27 +f 8 20 27 +f 20 15 27 +f 4 21 27 +f 21 8 27 +f 5 2 28 +f 2 14 28 +f 18 5 28 +f 14 18 28 +f 22 12 29 +f 17 22 29 +f 12 23 29 +f 23 17 29 +f 1 8 30 +f 8 17 30 +f 19 1 30 +f 12 19 30 +f 23 12 30 +f 17 23 30 +f 3 13 31 +f 24 11 31 +f 13 24 31 +f 25 3 31 +f 11 25 31 +f 10 5 32 +f 5 15 32 +f 8 19 32 +f 19 10 32 +f 20 8 32 +o convex_1 +v 0.000711 2.057046 0.958645 +v -0.382194 2.439802 -1.020890 +v -0.797268 1.801538 -0.924798 +v 1.278100 1.418446 -0.094626 +v 0.032620 3.142195 0.096574 +v -1.372145 1.418446 0.032578 +v 0.894935 1.418446 -0.861196 +v 0.767040 2.887025 -0.062923 +v 0.926844 1.418446 0.831047 +v -0.733450 2.950817 -0.031024 +v -0.956812 1.418446 0.830850 +v -0.031198 3.014610 0.703253 +v -0.031198 2.950648 -0.797200 +v -1.084706 1.418446 -0.829100 +v -0.797268 2.344113 0.703056 +v 0.607496 2.663413 0.671353 +v 0.543679 2.663413 -0.765301 +v -0.829177 2.344113 -0.765104 +v -0.158574 1.418446 -1.020890 +v -0.254559 2.471867 0.958645 +v -0.062847 1.418446 0.990741 +v 1.245931 1.450342 0.128473 +v -0.510089 2.823063 -0.637506 +v 0.543679 2.663413 0.735152 +v -1.372145 1.450342 -0.062727 +v 0.000711 3.110299 -0.286416 +v -0.414103 2.854959 0.607358 +v -0.318377 2.503763 -1.020890 +v -0.382194 2.503763 0.926746 +v -0.126665 2.982713 -0.765301 +v 0.767040 2.887025 0.000678 +v 0.894935 1.482407 -0.861196 +v 1.245931 1.546199 -0.094626 +v -0.956812 1.609992 0.798951 +v -0.031198 1.514303 -1.020890 +v 0.511511 2.631517 -0.797200 +v -0.924903 2.057046 -0.797200 +v -1.372145 1.450342 0.032578 +v -0.382194 2.503763 -1.020890 +v -0.094756 3.014610 0.703253 +v -0.573906 2.823063 0.479760 +v -0.733450 2.950817 -0.062727 +v 0.575328 2.599452 -0.765301 +v 0.926844 1.450342 0.831047 +v 0.064528 1.450511 0.990741 +v -0.031198 2.982713 -0.765301 +v -0.190482 3.110299 -0.062923 +v 0.192423 3.110299 -0.062923 +v -0.829177 2.312048 0.671353 +v -0.861085 2.312048 -0.733402 +v 1.214023 1.673784 0.000678 +v -1.052538 1.450342 -0.861196 +v -0.222650 2.599621 0.926746 +v -0.477921 2.280320 0.926746 +v 1.086387 1.450342 -0.509712 +v -0.829177 2.216696 0.735152 +v -0.605815 2.790998 -0.573708 +v 0.767040 1.450511 -0.893095 +v 0.607496 2.695309 0.639454 +v 0.671314 2.790998 -0.382114 +v -0.190482 2.407905 0.958645 +v -0.094756 1.897396 -1.020890 +v 0.926844 1.514303 0.798951 +v -0.062847 3.142195 0.000875 +f 79 42 96 +f 36 38 39 +f 38 36 41 +f 38 41 43 +f 39 38 46 +f 35 34 51 +f 39 46 51 +f 43 41 53 +f 41 36 54 +f 46 38 57 +f 51 34 60 +f 59 47 61 +f 37 44 63 +f 51 60 67 +f 45 49 68 +f 60 45 68 +f 64 60 68 +f 46 57 69 +f 38 43 70 +f 57 38 70 +f 42 57 70 +f 43 66 70 +f 34 35 71 +f 50 55 71 +f 45 60 71 +f 60 34 71 +f 55 62 71 +f 62 45 71 +f 69 50 71 +f 44 37 72 +f 59 61 72 +f 42 47 73 +f 47 59 73 +f 72 42 73 +f 59 72 73 +f 57 42 74 +f 62 55 74 +f 68 49 75 +f 64 68 75 +f 41 54 76 +f 48 56 76 +f 53 41 77 +f 52 53 77 +f 76 33 77 +f 41 76 77 +f 49 45 78 +f 62 58 78 +f 45 62 78 +f 58 62 79 +f 74 42 79 +f 62 74 79 +f 58 37 80 +f 63 40 80 +f 37 63 80 +f 40 78 80 +f 78 58 80 +f 47 42 81 +f 42 70 81 +f 50 69 82 +f 69 57 82 +f 74 50 82 +f 57 74 82 +f 54 36 83 +f 48 54 83 +f 40 63 83 +f 65 40 83 +f 36 65 83 +f 35 51 84 +f 51 46 84 +f 46 69 84 +f 71 35 84 +f 69 71 84 +f 56 44 85 +f 61 52 85 +f 44 72 85 +f 72 61 85 +f 43 53 86 +f 53 52 86 +f 52 61 86 +f 66 43 86 +f 36 39 87 +f 39 64 87 +f 65 36 87 +f 75 65 87 +f 64 75 87 +f 61 47 88 +f 70 66 88 +f 47 81 88 +f 81 70 88 +f 86 61 88 +f 66 86 88 +f 55 50 89 +f 50 74 89 +f 74 55 89 +f 39 51 90 +f 64 39 90 +f 60 64 90 +f 51 67 90 +f 56 48 91 +f 44 56 91 +f 63 44 91 +f 48 83 91 +f 83 63 91 +f 40 65 92 +f 75 49 92 +f 65 75 92 +f 78 40 92 +f 49 78 92 +f 33 76 93 +f 76 56 93 +f 77 33 93 +f 52 77 93 +f 56 85 93 +f 85 52 93 +f 67 60 94 +f 60 90 94 +f 90 67 94 +f 54 48 95 +f 76 54 95 +f 48 76 95 +f 37 58 96 +f 72 37 96 +f 42 72 96 +f 58 79 96 +o convex_2 +v 1.022604 -2.413133 0.511597 +v 0.064741 -1.711177 -1.084751 +v -0.350195 -1.168212 -1.020881 +v -1.212491 -2.221737 0.160413 +v 0.990668 -1.104245 0.958482 +v -0.893122 -1.104414 0.926652 +v 1.022604 -1.104245 -0.892930 +v 0.128615 -2.668666 -0.829059 +v -0.286321 -2.572968 0.799120 +v -1.052563 -1.104414 -0.797229 +v 1.278100 -2.189668 -0.286263 +v -0.669564 -2.509000 -0.860890 +v 0.415803 -2.189837 1.022353 +v 0.799046 -2.764533 -0.030990 +v -0.733438 -2.732465 0.000841 +v 0.799046 -2.509000 -0.797019 +v -0.733438 -2.445201 0.830950 +v 1.278100 -1.487544 0.256114 +v 0.415803 -2.157769 -1.084751 +v 0.160552 -2.668666 0.767080 +v -1.212491 -1.487713 0.319985 +v -1.212491 -2.093970 -0.254432 +v -0.062763 -1.104245 1.054602 +v -0.094700 -2.828500 -0.094651 +v 0.830983 -2.572968 0.671169 +v 1.278100 -2.157769 0.288154 +v 0.926794 -1.934473 0.926652 +v -1.212491 -1.902574 0.415896 +v 0.862920 -1.870843 -0.988631 +v 0.192489 -1.104245 -1.052502 +v -0.765375 -1.551512 0.958482 +v 1.086478 -1.104245 0.862781 +v 1.278100 -1.455645 -0.254432 +v -0.733438 -1.551512 -0.956801 +v 0.256119 -1.998272 1.054602 +v -0.988933 -1.104414 0.830950 +v -1.212491 -1.391677 0.000841 +v -0.733438 -2.445201 -0.860890 +v 1.278100 -2.285535 -0.062820 +v -1.180311 -2.285367 -0.030780 +v 0.256119 -2.189837 -1.084751 +v 0.799046 -2.764533 -0.126691 +v 0.926794 -1.200281 -0.956801 +v -0.956752 -1.104414 -0.892930 +v 1.278100 -1.902743 -0.381964 +v -1.084500 -1.104414 0.064502 +v 0.001111 -2.828500 0.032671 +v 0.288056 -1.104245 1.054602 +v -0.733438 -2.732465 -0.062820 +v -1.212491 -1.519444 -0.286263 +v 1.278100 -1.838775 0.383855 +v 0.096678 -2.700734 0.671378 +v -1.180311 -2.189668 0.351815 +v 0.799046 -2.540899 -0.765189 +v -0.446006 -2.381402 0.894821 +v -0.222447 -2.604867 -0.860890 +v 0.862920 -2.604867 0.543428 +v 0.192489 -2.828500 -0.094651 +v -0.765375 -2.477101 -0.765398 +v 0.543551 -1.966373 1.022353 +v 1.278100 -1.423745 -0.158522 +v 0.001111 -1.711177 1.054602 +v 1.054541 -1.200281 0.926652 +v -0.637627 -2.445201 -0.892930 +f 152 108 160 +f 111 105 113 +f 112 104 115 +f 100 117 118 +f 101 103 119 +f 109 116 121 +f 107 114 122 +f 121 97 123 +f 109 121 123 +f 97 122 123 +f 117 100 124 +f 107 112 125 +f 112 115 125 +f 98 99 126 +f 115 98 126 +f 119 103 126 +f 106 119 126 +f 102 113 127 +f 119 102 127 +f 103 101 128 +f 114 107 129 +f 99 98 130 +f 113 102 132 +f 102 119 132 +f 124 113 132 +f 117 124 132 +f 118 117 133 +f 117 132 133 +f 118 106 134 +f 122 97 135 +f 107 122 135 +f 111 100 136 +f 100 118 136 +f 98 115 137 +f 115 104 137 +f 130 98 137 +f 135 110 138 +f 103 125 139 +f 125 115 139 +f 115 126 139 +f 126 103 139 +f 126 99 140 +f 106 126 140 +f 99 130 140 +f 134 106 140 +f 130 134 140 +f 125 103 141 +f 107 125 141 +f 103 129 141 +f 129 107 141 +f 119 106 142 +f 132 119 142 +f 106 133 142 +f 133 132 142 +f 111 120 143 +f 101 119 144 +f 119 131 144 +f 120 111 145 +f 111 136 145 +f 106 118 146 +f 133 106 146 +f 118 133 146 +f 122 114 147 +f 123 122 147 +f 114 128 147 +f 105 111 148 +f 116 105 148 +f 110 116 148 +f 143 110 148 +f 111 143 148 +f 100 111 149 +f 111 113 149 +f 124 100 149 +f 113 124 149 +f 104 112 150 +f 112 107 150 +f 107 135 150 +f 138 104 150 +f 135 138 150 +f 113 105 151 +f 116 109 151 +f 105 116 151 +f 127 113 151 +f 109 131 151 +f 104 120 152 +f 137 104 152 +f 145 108 152 +f 120 145 152 +f 116 110 153 +f 97 121 153 +f 121 116 153 +f 110 135 153 +f 135 97 153 +f 120 104 154 +f 104 138 154 +f 138 110 154 +f 110 143 154 +f 143 120 154 +f 134 108 155 +f 118 134 155 +f 136 118 155 +f 108 145 155 +f 145 136 155 +f 123 101 156 +f 109 123 156 +f 131 109 156 +f 101 144 156 +f 144 131 156 +f 103 128 157 +f 128 114 157 +f 129 103 157 +f 114 129 157 +f 119 127 158 +f 131 119 158 +f 127 151 158 +f 151 131 158 +f 101 123 159 +f 128 101 159 +f 123 147 159 +f 147 128 159 +f 108 134 160 +f 134 130 160 +f 130 137 160 +f 137 152 160 +o convex_3 +v 1.278100 -2.253749 0.000866 +v 1.501899 -1.423552 -0.031040 +v 1.501899 -1.423552 -0.062945 +v 3.033942 -1.870506 -0.031040 +v 1.278100 -1.902443 -0.382277 +v 1.278100 -1.711065 0.320197 +v 2.746716 -1.838650 0.192437 +v 2.810487 -1.583236 -0.062945 +v 1.278100 -1.487425 -0.318397 +v 2.810487 -1.870506 -0.190637 +v 1.310243 -2.126001 0.256317 +v 2.650974 -2.094064 0.000866 +v 1.310243 -2.157938 -0.286422 +v 1.342214 -1.519362 0.256317 +v 2.778687 -1.583236 0.032772 +v 2.076523 -1.551380 -0.254517 +v 2.746716 -2.062046 0.064746 +v 1.405985 -1.774858 -0.382277 +v 1.278100 -1.934380 0.320197 +v 1.278100 -1.423552 0.032772 +v 2.650974 -2.030109 -0.126757 +v 2.778687 -1.742921 -0.190637 +v 2.650974 -1.647110 0.128557 +v 3.033942 -1.806794 0.032772 +v 1.310243 -2.253749 -0.062945 +v 2.746716 -1.806794 0.192437 +v 2.619003 -1.966235 0.160532 +v 1.310243 -2.157938 0.224343 +v 2.714745 -2.062046 -0.062945 +v 2.650974 -1.551380 -0.062945 +v 1.374186 -1.487425 -0.318397 +v 3.033942 -1.774858 -0.031040 +v 1.310243 -2.062046 0.288223 +v 2.587032 -1.615173 -0.190637 +f 182 176 194 +f 165 161 166 +f 165 166 169 +f 161 165 173 +f 165 170 173 +f 161 172 177 +f 165 169 178 +f 170 165 178 +f 166 161 179 +f 167 166 179 +f 161 171 179 +f 162 163 180 +f 163 169 180 +f 169 166 180 +f 166 174 180 +f 175 162 180 +f 174 175 180 +f 173 170 181 +f 170 178 182 +f 178 176 182 +f 175 174 183 +f 177 164 184 +f 167 177 184 +f 172 161 185 +f 161 173 185 +f 166 167 186 +f 174 166 186 +f 183 174 186 +f 175 183 186 +f 167 184 186 +f 184 175 186 +f 177 167 187 +f 171 177 187 +f 171 161 188 +f 161 177 188 +f 177 171 188 +f 170 164 189 +f 164 177 189 +f 177 172 189 +f 181 170 189 +f 173 181 189 +f 172 185 189 +f 185 173 189 +f 163 162 190 +f 175 168 190 +f 162 175 190 +f 168 176 190 +f 190 176 191 +f 169 163 191 +f 178 169 191 +f 176 178 191 +f 163 190 191 +f 164 170 192 +f 168 175 192 +f 182 168 192 +f 170 182 192 +f 184 164 192 +f 175 184 192 +f 167 179 193 +f 179 171 193 +f 187 167 193 +f 171 187 193 +f 176 168 194 +f 168 182 194 +o convex_4 +v -0.063015 -1.104245 1.054603 +v -0.158818 -0.944598 -1.052821 +v -0.158818 -0.912661 -1.052821 +v 1.246125 -0.912661 -0.126800 +v -0.956846 -0.912661 0.894731 +v -0.956846 -1.104245 -0.893155 +v 1.022421 -1.104245 -0.892949 +v 1.086372 -1.008453 0.926705 +v -1.084500 -0.912661 -0.829206 +v -0.988697 -1.104245 0.830782 +v 0.990569 -0.912661 0.958679 +v 1.086372 -1.104245 0.894731 +v 1.054520 -0.912661 -0.924923 +v -1.276353 -0.944598 0.064427 +v 0.192294 -1.104245 -1.052821 +v -0.158818 -0.912661 1.054603 +v -1.116599 -1.104245 0.000891 +v 1.214026 -0.944598 -0.765257 +v -1.052648 -1.104245 -0.797232 +v -0.892895 -1.104245 0.926499 +v 0.288097 -1.104245 1.054603 +v -1.276353 -0.912661 -0.030877 +v 1.246125 -0.944598 0.160350 +v 1.086372 -1.104245 -0.094620 +v 1.086372 -0.912661 0.926705 +v -0.350177 -1.104245 -1.020846 +v 0.160195 -0.912661 -1.052821 +v 0.255998 -0.912661 1.054603 +v -0.956846 -0.912661 -0.893155 +v 0.990569 -1.104245 0.958679 +v 0.862914 -1.104245 -0.956897 +f 209 207 225 +f 198 197 199 +f 195 200 201 +f 199 197 203 +f 200 195 204 +f 198 199 205 +f 195 201 206 +f 197 198 207 +f 204 199 208 +f 196 197 209 +f 201 200 209 +f 205 199 210 +f 200 204 211 +f 204 208 211 +f 207 198 212 +f 201 207 212 +f 203 200 213 +f 200 211 213 +f 211 208 213 +f 204 195 214 +f 199 204 214 +f 195 210 214 +f 210 199 214 +f 195 206 215 +f 210 195 215 +f 199 203 216 +f 208 199 216 +f 203 213 216 +f 213 208 216 +f 202 206 217 +f 212 198 217 +f 212 217 218 +f 206 201 218 +f 201 212 218 +f 217 206 218 +f 198 205 219 +f 205 202 219 +f 217 198 219 +f 202 217 219 +f 197 196 220 +f 196 209 220 +f 209 200 220 +f 197 207 221 +f 209 197 221 +f 207 209 221 +f 205 210 222 +f 215 205 222 +f 210 215 222 +f 203 197 223 +f 200 203 223 +f 197 220 223 +f 220 200 223 +f 202 205 224 +f 206 202 224 +f 205 215 224 +f 215 206 224 +f 207 201 225 +f 201 209 225 +o convex_5 +v -1.467587 -0.912661 0.032659 +v 1.341511 1.418277 0.000891 +v 1.341511 1.418277 -0.062852 +v 2.810571 -0.625173 0.000891 +v -0.158155 -0.912661 -1.052821 +v -2.042489 0.907186 0.767039 +v -2.106100 0.939129 -0.733283 +v 2.107846 0.045405 1.022422 +v 2.076041 0.939129 -0.829206 +v -0.158155 -0.912661 1.054603 +v -2.808824 -0.561058 0.032659 +v -0.062738 1.418277 0.990654 +v -0.158155 1.418277 -1.020846 +v 2.842376 0.907186 0.000891 +v 2.076041 0.173178 -1.052821 +v -2.808824 0.109292 -0.765257 +v -2.808824 0.204893 0.735065 +v -2.744613 0.939129 0.032659 +v 1.181883 -0.912661 -0.893155 +v 1.150077 -0.912661 0.926499 +v -1.467587 1.418277 0.000891 +v 2.810571 0.141235 -0.765257 +v 2.810571 0.141235 0.767039 +v 0.926837 1.418277 0.830782 +v -2.042489 0.237064 0.990654 +v -2.138505 0.173178 -0.988872 +v -2.106100 -0.625173 -0.733283 +v -2.010683 -0.561286 0.767039 +v -3.064469 0.204893 -0.030877 +v 3.066216 0.077349 -0.062645 +v -1.052313 1.418277 -0.860974 +v -0.956896 1.418277 0.830988 +v 0.926837 1.418277 -0.861180 +v 2.076041 0.907186 0.766833 +v 2.267475 -0.561286 0.735065 +v -0.892685 -0.912661 0.926705 +v 0.000873 0.237064 1.054603 +v 2.012429 -0.593230 -0.797232 +v 2.044235 -0.848547 0.064427 +v -1.084119 -0.912661 -0.829206 +v -2.106100 -0.816832 -0.030877 +v 2.076041 0.236836 1.022422 +v -0.062738 0.332209 -1.052821 +v -2.681001 0.747470 -0.477900 +v 1.852801 0.109292 1.054603 +v 2.650943 0.683812 -0.637566 +v -2.649196 -0.433514 -0.541849 +v -2.584985 0.747470 0.575399 +v 2.587331 -0.401571 -0.605591 +v 2.650943 0.683812 0.575399 +v -2.617390 -0.337684 0.575399 +v -2.840630 0.875243 -0.030877 +v 2.650943 -0.433514 0.575399 +v 2.810571 0.907186 -0.126800 +v -2.106100 -0.529343 -0.797232 +v 2.044235 0.268551 -1.052821 +v 0.255918 -0.912661 1.054603 +v -2.840630 0.204893 -0.733283 +v 2.874182 0.077349 0.671116 +v 0.160502 -0.912661 -1.052821 +v 1.501139 -0.912661 -0.509875 +v 2.778765 0.236836 -0.797232 +v -2.808824 -0.561058 -0.062852 +v 3.066216 0.204893 -0.062645 +f 287 279 289 +f 226 230 235 +f 227 228 237 +f 237 228 238 +f 228 227 239 +f 235 230 244 +f 235 244 245 +f 237 238 246 +f 227 237 249 +f 239 227 249 +f 231 242 250 +f 250 242 253 +f 236 242 254 +f 229 247 255 +f 246 238 256 +f 243 246 256 +f 238 251 256 +f 251 232 256 +f 237 246 257 +f 246 243 257 +f 231 250 257 +f 250 237 257 +f 238 228 258 +f 239 249 259 +f 245 229 260 +f 233 245 260 +f 248 233 260 +f 226 235 261 +f 235 250 261 +f 253 236 261 +f 250 253 261 +f 237 250 262 +f 250 235 262 +f 229 244 263 +f 244 240 263 +f 240 247 263 +f 229 245 264 +f 230 226 265 +f 252 265 266 +f 226 261 266 +f 261 236 266 +f 265 226 266 +f 233 248 267 +f 249 237 267 +f 248 259 267 +f 259 249 267 +f 240 230 268 +f 230 251 268 +f 251 238 268 +f 262 235 270 +f 237 262 270 +f 233 267 270 +f 267 237 270 +f 242 231 273 +f 231 257 273 +f 257 243 273 +f 247 229 274 +f 229 263 274 +f 263 247 274 +f 248 239 275 +f 259 248 275 +f 239 259 275 +f 242 236 276 +f 236 253 276 +f 253 242 276 +f 254 242 277 +f 256 232 277 +f 243 256 277 +f 232 269 277 +f 242 273 277 +f 273 243 277 +f 260 229 278 +f 248 260 278 +f 228 239 279 +f 258 228 279 +f 234 258 279 +f 271 234 279 +f 251 230 280 +f 241 251 280 +f 230 265 280 +f 265 252 280 +f 272 241 280 +f 252 272 280 +f 238 258 281 +f 258 234 281 +f 240 268 281 +f 268 238 281 +f 245 233 282 +f 235 245 282 +f 233 270 282 +f 270 235 282 +f 232 251 283 +f 251 241 283 +f 241 254 283 +f 269 232 283 +f 254 277 283 +f 277 269 283 +f 239 248 284 +f 229 255 284 +f 278 229 284 +f 248 278 284 +f 230 240 285 +f 244 230 285 +f 240 244 285 +f 244 229 286 +f 245 244 286 +f 229 264 286 +f 264 245 286 +f 247 240 287 +f 234 271 287 +f 271 279 287 +f 281 234 287 +f 240 281 287 +f 236 254 288 +f 254 241 288 +f 252 266 288 +f 266 236 288 +f 241 272 288 +f 272 252 288 +f 255 247 289 +f 279 239 289 +f 239 284 289 +f 284 255 289 +f 247 287 289 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/539/539.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/539/539.urdf new file mode 100644 index 000000000..1f5a29400 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/539/539.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/540/540.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/540/540.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/540/540.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/540/540.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/540/540.obj new file mode 100644 index 000000000..4b5709864 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/540/540.obj @@ -0,0 +1,507 @@ +o convex_0 +v -0.432875 -0.333447 -1.038340 +v -1.483163 -3.157676 1.098729 +v -1.519358 -3.157676 1.098729 +v -1.809128 -4.063532 -1.038340 +v 0.110470 -4.063532 1.062349 +v -1.809128 -0.115872 0.881299 +v 0.110470 -0.115872 0.989801 +v 0.110470 -3.918610 -0.965792 +v -1.845324 -0.115872 -1.074720 +v -1.881519 -3.990878 1.098729 +v 0.182861 -0.115872 -1.002172 +v 0.219262 -0.731884 0.700037 +v -1.881519 -0.115872 0.627702 +v -1.772933 -0.224853 0.953634 +v -1.845324 -2.072118 -1.074720 +v -0.179300 -0.478369 1.025969 +v -1.881519 -3.990878 0.410272 +v -1.519358 -4.063532 -1.038340 +v 0.219262 -0.115872 0.700037 +v 0.146665 -3.049082 -0.603692 +v 0.110470 -4.027205 0.229009 +v 0.110470 -3.266657 1.062349 +v -1.193393 -4.027205 1.098729 +v 0.182861 -0.623290 -1.002172 +v -1.809128 -4.063532 -0.531358 +v -1.881519 -3.447519 1.098729 +v 0.219262 -0.731884 0.301557 +v -1.265784 -0.188526 -1.074720 +v 0.110470 -3.954551 -0.784742 +v 0.146665 -3.121736 0.953634 +v -0.722645 -0.115872 0.989801 +v -0.360484 -4.063532 1.062349 +v -1.410566 -3.882283 -1.038340 +v -1.881519 -0.115872 0.446652 +v 0.146665 -1.202589 -1.002172 +v 0.110470 -0.949073 1.025969 +v -0.939818 -3.954551 1.098729 +v 0.074274 -4.063532 0.700037 +v -1.845324 -4.027205 -0.422643 +f 17 15 39 +f 6 7 9 +f 2 3 10 +f 9 7 11 +f 6 9 13 +f 3 2 16 +f 4 10 17 +f 10 13 17 +f 9 15 17 +f 5 4 18 +f 4 15 18 +f 11 7 19 +f 2 10 23 +f 1 11 24 +f 20 8 24 +f 4 5 25 +f 10 4 25 +f 23 10 25 +f 10 3 26 +f 6 13 26 +f 13 10 26 +f 14 6 26 +f 3 16 26 +f 11 19 27 +f 19 12 27 +f 24 11 27 +f 20 24 27 +f 11 1 28 +f 9 11 28 +f 15 9 28 +f 18 8 29 +f 8 20 29 +f 21 18 29 +f 20 21 29 +f 12 19 30 +f 5 21 30 +f 21 20 30 +f 22 5 30 +f 19 22 30 +f 27 12 30 +f 20 27 30 +f 7 6 31 +f 6 14 31 +f 16 7 31 +f 14 26 31 +f 26 16 31 +f 5 23 32 +f 25 5 32 +f 23 25 32 +f 8 18 33 +f 18 15 33 +f 28 1 33 +f 15 28 33 +f 13 9 34 +f 9 17 34 +f 17 13 34 +f 1 24 35 +f 24 8 35 +f 33 1 35 +f 8 33 35 +f 7 16 36 +f 19 7 36 +f 16 22 36 +f 22 19 36 +f 16 2 37 +f 5 22 37 +f 22 16 37 +f 23 5 37 +f 2 23 37 +f 5 18 38 +f 21 5 38 +f 18 21 38 +f 15 4 39 +f 4 17 39 +o convex_1 +v 0.183240 -0.115485 0.808901 +v 0.219439 2.130412 -1.002123 +v 0.219439 2.130412 -1.074720 +v 4.276381 -0.042718 -0.929731 +v 4.203547 2.057864 1.026281 +v -0.179190 2.057644 0.953684 +v -0.179190 -0.115485 -1.002123 +v 4.131147 -0.079212 0.917282 +v 4.094948 1.985317 -0.929731 +v -0.179190 -0.115485 0.989879 +v -0.179190 2.094138 -1.074720 +v -0.179190 1.768114 1.026281 +v -0.142554 0.391688 -1.074720 +v 3.913952 -0.042718 -0.965927 +v 4.203547 1.514417 1.026281 +v 2.754701 2.094138 1.026281 +v 0.726666 2.094138 -1.074720 +v 4.167347 2.057864 0.337738 +v -0.070156 2.094138 0.953684 +v 4.094948 0.029610 0.953684 +v 1.632085 0.790260 1.026281 +v 4.203547 -0.079212 -0.096405 +v 4.276381 0.210759 -0.929731 +v 3.551522 1.985317 -0.965927 +v 4.203547 2.057864 0.627510 +v 4.276381 -0.042718 -0.712145 +v 0.183240 -0.115485 -1.002123 +v 3.370525 2.021371 -0.965927 +v 4.131147 1.767894 -0.929731 +v 3.008096 2.094138 0.989879 +v 1.414889 0.029610 0.989879 +v 3.660120 -0.079212 0.953684 +v 4.203547 -0.079212 0.156759 +v -0.179190 2.094138 0.591520 +f 45 58 73 +f 46 40 49 +f 45 46 49 +f 40 47 49 +f 41 42 50 +f 46 45 50 +f 45 49 51 +f 50 42 52 +f 46 50 52 +f 44 51 54 +f 51 44 55 +f 52 42 56 +f 53 52 56 +f 45 51 58 +f 55 41 58 +f 51 55 58 +f 47 54 59 +f 59 54 60 +f 51 49 60 +f 54 51 60 +f 43 53 62 +f 48 53 63 +f 53 56 63 +f 48 57 64 +f 44 62 64 +f 44 54 65 +f 61 43 65 +f 43 62 65 +f 62 44 65 +f 40 46 66 +f 46 52 66 +f 53 43 66 +f 52 53 66 +f 43 61 66 +f 61 40 66 +f 56 42 67 +f 42 57 67 +f 57 48 67 +f 48 63 67 +f 63 56 67 +f 53 48 68 +f 62 53 68 +f 48 64 68 +f 64 62 68 +f 42 41 69 +f 41 55 69 +f 55 44 69 +f 57 42 69 +f 44 64 69 +f 64 57 69 +f 59 60 70 +f 60 49 70 +f 49 47 71 +f 47 59 71 +f 70 49 71 +f 59 70 71 +f 47 40 72 +f 54 47 72 +f 40 61 72 +f 65 54 72 +f 61 65 72 +f 41 50 73 +f 50 45 73 +f 58 41 73 +o convex_2 +v -3.040806 0.753962 0.591474 +v -3.837553 1.369627 -0.603689 +v -3.873869 0.536649 -0.458739 +v -1.990582 0.500375 -0.567422 +v -1.990582 1.478338 0.410375 +v -3.873869 1.405900 0.518941 +v -1.990582 1.550666 -0.567422 +v -1.990582 0.572812 0.518941 +v -3.837553 0.572812 0.591474 +v -3.837553 1.587050 -0.567422 +v -3.873869 0.464101 -0.132807 +v -1.990582 1.442064 0.518941 +v -2.787513 0.464101 -0.531156 +v -3.728972 1.442064 0.518941 +v -3.873869 0.971274 0.591474 +v -2.823645 1.550666 -0.603689 +v -2.099346 0.572812 0.555207 +v -1.990582 0.536649 0.265425 +v -3.873869 0.464101 -0.422589 +v -3.873869 1.478338 -0.024124 +v -2.099346 1.550666 -0.422589 +v -2.678748 0.464101 -0.458739 +v -3.873869 0.500375 0.156859 +f 91 90 96 +f 78 77 80 +f 77 78 81 +f 75 76 83 +f 79 76 84 +f 81 78 85 +f 76 75 86 +f 75 77 86 +f 78 83 87 +f 83 79 87 +f 85 78 87 +f 85 87 88 +f 82 74 88 +f 79 84 88 +f 74 85 88 +f 87 79 88 +f 77 75 89 +f 80 77 89 +f 75 83 89 +f 83 80 89 +f 74 82 90 +f 85 74 90 +f 81 85 90 +f 77 81 91 +f 81 90 91 +f 84 76 92 +f 76 86 92 +f 86 84 92 +f 76 79 93 +f 83 76 93 +f 79 83 93 +f 78 80 94 +f 83 78 94 +f 80 83 94 +f 86 77 95 +f 84 86 95 +f 77 91 95 +f 91 84 95 +f 82 88 96 +f 88 84 96 +f 90 82 96 +f 84 91 96 +o convex_3 +v -0.469061 1.007406 3.054833 +v -0.396623 0.427990 1.062895 +v -0.976015 0.500488 1.062895 +v -0.324186 1.586936 1.062895 +v -1.338203 1.478246 2.982098 +v -1.374587 0.464296 3.054833 +v -1.338203 1.478246 1.062895 +v -0.251638 0.427990 3.054833 +v -0.324186 1.550631 3.018368 +v -1.374587 0.572873 1.062895 +v -0.324186 0.427990 1.207586 +v -1.265875 1.514438 2.982098 +v -1.374587 1.115983 3.018368 +v -0.614046 1.586936 1.135240 +v -0.251638 0.935135 3.054833 +v -0.251638 0.427990 2.438824 +v -0.324186 1.586936 2.149052 +v -0.758812 0.427990 3.054833 +v -1.084616 1.514438 3.018368 +v -0.287912 1.441940 3.018368 +v -1.374587 0.898943 1.062895 +v -1.374587 0.536680 1.352472 +v -1.157164 1.514438 1.062895 +f 108 110 119 +f 98 99 100 +f 100 99 103 +f 97 102 104 +f 103 99 106 +f 98 100 107 +f 104 98 107 +f 103 101 108 +f 101 103 109 +f 106 102 109 +f 97 104 111 +f 105 97 111 +f 107 100 112 +f 104 107 112 +f 100 111 112 +f 111 104 112 +f 108 105 113 +f 100 110 113 +f 110 108 113 +f 102 98 114 +f 98 104 114 +f 104 102 114 +f 102 97 115 +f 97 105 115 +f 108 101 115 +f 105 108 115 +f 109 102 115 +f 101 109 115 +f 111 100 116 +f 105 111 116 +f 113 105 116 +f 100 113 116 +f 103 106 117 +f 109 103 117 +f 106 109 117 +f 99 98 118 +f 98 102 118 +f 106 99 118 +f 102 106 118 +f 100 103 119 +f 103 108 119 +f 110 100 119 +o convex_4 +v -1.193328 1.514438 -2.233716 +v -0.215531 0.609178 -2.777120 +v -0.215531 0.572873 -2.777120 +v -0.324214 1.514438 -1.074720 +v -1.302011 0.536680 -1.074720 +v -1.374427 0.427990 -3.030824 +v -0.396630 1.441940 -2.958255 +v -1.410694 1.586936 -1.074720 +v -0.324214 0.572873 -1.074720 +v -1.338161 1.441940 -2.994253 +v -0.251798 0.536680 -2.958255 +v -0.360481 1.586936 -1.183477 +v -1.374427 0.427990 -2.523417 +v -1.084645 0.427990 -3.030824 +v -1.120911 1.441940 -3.030824 +v -0.288064 0.572873 -1.183477 +v -0.432897 1.478246 -2.777120 +v -1.302011 1.586936 -1.364612 +v -0.215531 0.645371 -2.958255 +v -1.338161 0.645371 -1.111100 +v -1.374427 0.790253 -3.030824 +v -0.360481 1.514438 -2.161147 +v -1.048495 0.427990 -2.958255 +v -0.541580 0.898943 -2.994253 +f 138 133 143 +f 124 123 127 +f 123 124 128 +f 127 123 131 +f 127 125 132 +f 128 124 132 +f 132 125 133 +f 133 125 134 +f 122 121 135 +f 121 123 135 +f 123 128 135 +f 130 122 135 +f 129 120 136 +f 126 134 136 +f 134 129 136 +f 120 129 137 +f 129 127 137 +f 127 131 137 +f 136 120 137 +f 131 136 137 +f 121 122 138 +f 123 121 138 +f 122 130 138 +f 130 133 138 +f 124 127 139 +f 132 124 139 +f 127 132 139 +f 125 127 140 +f 127 129 140 +f 129 134 140 +f 134 125 140 +f 131 123 141 +f 136 131 141 +f 126 136 141 +f 123 138 141 +f 138 126 141 +f 128 132 142 +f 133 130 142 +f 132 133 142 +f 135 128 142 +f 130 135 142 +f 134 126 143 +f 133 134 143 +f 126 138 143 +o convex_5 +v -1.447000 1.731677 -1.074720 +v -0.324214 1.586759 1.062505 +v -0.179190 1.768014 1.026103 +v -0.179190 -0.115485 -1.002126 +v -1.809206 -0.115485 0.845142 +v -1.954052 1.985391 0.953719 +v -1.845373 -0.115485 -1.074720 +v -0.179190 2.094188 -1.074720 +v -0.179190 -0.115485 0.989911 +v -1.881540 2.021513 -1.002126 +v -0.179190 2.057634 0.953510 +v -1.990397 0.500524 -0.567192 +v -1.410832 0.464402 1.062505 +v -1.990397 0.572983 0.518785 +v -1.990397 1.550637 -0.567192 +v -0.179190 0.391727 -1.074720 +v -0.215534 2.094188 0.446400 +v -1.736693 -0.078931 0.953719 +v -1.664181 2.057850 -0.965934 +v -1.881540 -0.115485 0.591378 +v -1.338320 1.478179 1.062505 +v -0.360381 0.428065 1.062505 +v -1.591846 2.021513 0.953719 +v -1.881540 0.536645 -1.074720 +v -1.990397 1.441841 0.518785 +v -0.758755 2.094188 -1.038109 +v -1.881540 0.971399 0.953719 +v -1.917885 2.021513 -0.530999 +v -0.396726 -0.115485 -1.038109 +v -1.917885 2.021513 0.265439 +v -0.831267 2.057850 0.953719 +v -0.686420 -0.115485 0.989911 +f 165 156 175 +f 147 148 150 +f 146 147 151 +f 150 144 151 +f 147 146 152 +f 148 147 152 +f 151 144 153 +f 146 151 154 +f 155 157 158 +f 151 147 159 +f 150 151 159 +f 154 151 160 +f 150 148 163 +f 155 150 163 +f 148 157 163 +f 157 155 163 +f 145 149 164 +f 156 145 164 +f 149 156 164 +f 146 145 165 +f 152 146 165 +f 145 156 165 +f 145 146 166 +f 149 145 166 +f 144 150 167 +f 153 144 167 +f 150 155 167 +f 155 158 167 +f 158 153 167 +f 157 149 168 +f 158 157 168 +f 149 158 168 +f 151 153 169 +f 160 151 169 +f 153 162 169 +f 162 160 169 +f 156 149 170 +f 157 148 170 +f 149 157 170 +f 148 161 170 +f 161 156 170 +f 158 149 171 +f 153 158 171 +f 162 153 171 +f 147 150 172 +f 159 147 172 +f 150 159 172 +f 149 166 173 +f 171 149 173 +f 162 171 173 +f 146 154 174 +f 154 160 174 +f 160 162 174 +f 166 146 174 +f 162 173 174 +f 173 166 174 +f 148 152 175 +f 161 148 175 +f 156 161 175 +f 152 165 175 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/540/540.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/540/540.urdf new file mode 100644 index 000000000..22b9b3086 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/540/540.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/541/541.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/541/541.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/541/541.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/541/541.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/541/541.obj new file mode 100644 index 000000000..6bd925102 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/541/541.obj @@ -0,0 +1,633 @@ +o convex_0 +v 0.915163 -1.060338 1.299416 +v -0.025563 -3.143397 -1.219221 +v 0.007882 -3.143397 -1.219221 +v -0.059211 -1.295305 -2.765099 +v -1.033790 -2.067766 2.072651 +v 0.814218 -2.773522 2.106398 +v 0.982256 -2.067980 -2.093107 +v -1.033790 -0.959424 -0.110287 +v -0.798455 -2.807303 -1.991864 +v -0.092860 -1.295305 2.845294 +v -0.798455 -2.840869 2.005748 +v 0.847867 -0.959210 -1.252969 +v 0.747126 -2.840656 -2.058767 +v -1.033790 -2.135113 -2.025612 +v 0.780570 -2.067766 2.845294 +v -0.059211 -2.807303 -2.731351 +v -0.025563 -2.807303 2.744643 +v 1.049553 -2.135113 2.005156 +v -0.832104 -0.959210 1.131862 +v 0.747126 -2.001060 -2.765099 +v 1.049553 -0.959210 0.123578 +v 0.646181 -3.109617 0.157326 +v -0.697714 -3.143397 0.089831 +v -0.764807 -2.034841 2.811546 +v -0.764807 -1.967494 -2.731351 +v -0.865752 -0.959210 -1.118571 +v 0.948608 -2.840656 0.023520 +v -0.966493 -2.807089 -0.009636 +v 0.041326 -3.042270 2.072651 +v 0.007882 -0.959210 1.904505 +v -0.092860 -2.101333 -3.000740 +v -0.059211 -2.135113 3.047779 +v -0.025563 -3.109403 -1.958709 +v -0.059211 -0.959210 -1.891805 +v 0.579088 -1.463566 2.610244 +v -0.731159 -1.396218 2.274544 +v 1.049553 -2.101547 -0.144034 +v 0.579088 -1.429785 -2.496302 +v -0.798455 -1.362652 -2.059359 +v -0.798455 -2.135113 -2.731351 +v 0.511791 -3.143397 -0.412831 +v 0.881515 -0.959210 1.199357 +v 1.049553 -1.900147 2.005156 +v 0.511791 -2.672608 -2.563797 +v -0.798455 -2.975136 -1.118571 +v 0.108623 -2.773736 2.778390 +v 0.780570 -2.874436 -1.857466 +v -0.529676 -2.639256 2.610244 +v -0.865752 -2.975350 0.896813 +v 0.780570 -1.295518 2.072651 +v -1.033790 -2.202247 1.938252 +v -0.563325 -3.143397 0.459870 +v -0.563325 -2.672608 -2.530050 +v 0.747126 -1.261738 -2.025612 +v 0.579088 -2.605475 2.643992 +v 0.747126 -2.101547 -2.765099 +v -0.630418 -1.496919 -2.530050 +v -0.932845 -2.908003 -0.210938 +v -0.025563 -1.295305 2.845294 +v -0.832104 -2.067766 2.745235 +v -0.059211 -1.933927 3.047779 +v -0.731159 -2.874436 -1.991864 +v -0.630418 -1.496919 2.610244 +v 0.814218 -2.975136 -0.916677 +f 41 47 64 +f 5 8 14 +f 15 6 18 +f 8 5 19 +f 7 12 21 +f 12 19 21 +f 2 3 23 +f 14 8 26 +f 8 19 26 +f 19 12 26 +f 18 6 27 +f 6 22 27 +f 17 11 29 +f 22 6 29 +f 19 10 30 +f 21 19 30 +f 4 20 31 +f 25 4 31 +f 24 17 32 +f 3 2 33 +f 16 13 33 +f 2 23 33 +f 12 4 34 +f 4 26 34 +f 26 12 34 +f 19 5 36 +f 10 19 36 +f 7 21 37 +f 21 18 37 +f 27 7 37 +f 18 27 37 +f 20 4 38 +f 25 14 39 +f 26 4 39 +f 14 26 39 +f 9 14 40 +f 14 25 40 +f 31 16 40 +f 25 31 40 +f 23 3 41 +f 22 29 41 +f 3 33 41 +f 1 21 42 +f 21 30 42 +f 15 18 43 +f 21 1 43 +f 18 21 43 +f 13 16 44 +f 33 23 45 +f 29 6 46 +f 17 29 46 +f 15 32 46 +f 32 17 46 +f 13 7 47 +f 7 27 47 +f 33 13 47 +f 41 33 47 +f 11 17 48 +f 17 24 48 +f 35 15 50 +f 1 42 50 +f 15 43 50 +f 43 1 50 +f 5 14 51 +f 14 28 51 +f 49 11 51 +f 28 49 51 +f 29 11 52 +f 23 41 52 +f 41 29 52 +f 11 49 52 +f 49 23 52 +f 9 40 53 +f 40 16 53 +f 4 12 54 +f 12 7 54 +f 7 20 54 +f 38 4 54 +f 20 38 54 +f 6 15 55 +f 46 6 55 +f 15 46 55 +f 7 13 56 +f 20 7 56 +f 31 20 56 +f 16 31 56 +f 13 44 56 +f 44 16 56 +f 4 25 57 +f 39 4 57 +f 25 39 57 +f 14 9 58 +f 28 14 58 +f 9 45 58 +f 45 23 58 +f 23 49 58 +f 49 28 58 +f 30 10 59 +f 15 35 59 +f 42 30 59 +f 35 50 59 +f 50 42 59 +f 36 5 60 +f 11 48 60 +f 48 24 60 +f 5 51 60 +f 51 11 60 +f 10 24 61 +f 32 15 61 +f 24 32 61 +f 59 10 61 +f 15 59 61 +f 16 33 62 +f 45 9 62 +f 33 45 62 +f 9 53 62 +f 53 16 62 +f 24 10 63 +f 10 36 63 +f 36 60 63 +f 60 24 63 +f 27 22 64 +f 22 41 64 +f 47 27 64 +o convex_1 +v -1.033809 -0.959174 -0.010083 +v 1.049569 -0.589614 0.124150 +v 1.049569 -0.959174 0.124150 +v 0.007880 -0.925564 -1.858242 +v -0.865769 -0.589614 0.896991 +v 0.041325 -0.959174 1.838075 +v -0.865769 -0.589614 -1.018104 +v 0.847880 -0.589614 -0.984093 +v 0.881529 -0.589614 1.031224 +v 0.847880 -0.959174 -1.219274 +v -0.865769 -0.959174 -1.051753 +v 0.914974 -0.959174 1.098522 +v -0.831916 -0.959174 1.031224 +v -0.025565 -0.589614 1.300416 +v 0.041325 -0.589614 -1.353870 +v -1.033809 -0.589614 -0.110668 +v -0.059418 -0.959174 -1.858242 +v -0.025565 -0.925564 1.838075 +v 1.049569 -0.589614 -0.043371 +v -0.899214 -0.959174 -0.984455 +v 1.049569 -0.959174 -0.043371 +v -0.025565 -0.623224 -1.421168 +v 0.780582 -0.925564 -1.286572 +v 0.041325 -0.925564 1.838075 +v -0.059418 -0.925564 -1.858242 +v 0.948623 -0.589614 0.829693 +v 0.041325 -0.623224 1.366990 +v -0.932863 -0.589614 0.594150 +v -0.932863 -0.589614 -0.782924 +v -0.865769 -0.959174 0.930278 +v 0.881529 -0.589614 -0.916796 +v 0.847880 -0.925564 1.165458 +v -1.033809 -0.959174 -0.110668 +f 93 84 97 +f 65 67 70 +f 69 66 71 +f 71 66 72 +f 66 69 73 +f 67 65 74 +f 74 65 75 +f 67 66 76 +f 70 67 76 +f 65 70 77 +f 73 69 78 +f 72 68 79 +f 71 72 79 +f 69 71 80 +f 68 74 81 +f 74 75 81 +f 69 77 82 +f 77 70 82 +f 78 69 82 +f 66 67 83 +f 72 66 83 +f 71 75 84 +f 75 65 84 +f 67 74 85 +f 83 67 85 +f 74 83 85 +f 79 68 86 +f 71 79 86 +f 68 72 87 +f 74 68 87 +f 72 74 87 +f 82 70 88 +f 75 71 89 +f 68 81 89 +f 81 75 89 +f 86 68 89 +f 71 86 89 +f 66 73 90 +f 76 66 90 +f 73 76 90 +f 73 78 91 +f 78 82 91 +f 88 73 91 +f 82 88 91 +f 80 65 92 +f 69 80 92 +f 80 71 93 +f 71 84 93 +f 65 77 94 +f 77 69 94 +f 92 65 94 +f 69 92 94 +f 74 72 95 +f 72 83 95 +f 83 74 95 +f 70 76 96 +f 76 73 96 +f 88 70 96 +f 73 88 96 +f 65 80 97 +f 84 65 97 +f 80 93 97 +o convex_2 +v -1.033810 -0.354233 0.056695 +v 1.049553 -0.085436 0.090633 +v 1.049553 -0.589578 0.090633 +v 0.007872 -0.589578 -1.320596 +v -0.798473 0.922552 -0.782647 +v -0.025573 0.888804 1.031537 +v 0.780568 0.922552 -0.782647 +v -0.025573 -0.589578 1.266826 +v 0.780568 0.922552 0.796248 +v -0.798473 0.922552 0.728877 +v -0.865770 -0.589578 -0.984252 +v 0.881310 -0.589578 1.031537 +v 0.847865 -0.589578 -0.984505 +v -0.832121 -0.589578 0.930481 +v -1.033810 0.922552 0.090380 +v 0.007872 0.888804 -1.051369 +v 1.015904 0.922552 -0.110718 +v 1.015904 0.888804 0.157750 +v -1.033810 0.619859 -0.211520 +v -1.033810 -0.589578 -0.110465 +v 0.074965 -0.488631 1.266826 +v -0.798473 0.888804 0.762562 +v 0.780568 0.855205 -0.816079 +v 0.948607 -0.455032 0.829933 +v -0.899215 -0.421432 0.762562 +v 0.948607 -0.018237 -0.581043 +v -0.865770 -0.421432 -0.984252 +v -0.025573 -0.555830 -1.320596 +v -0.025573 -0.488631 1.266826 +v 1.049553 -0.589578 -0.043348 +v -0.932864 -0.589578 -0.782647 +v 0.847865 -0.455032 -0.984505 +v 0.243005 0.922552 0.964167 +v 0.847865 0.082562 0.930735 +v -0.832121 0.048962 0.863365 +v 1.049553 0.586408 -0.010169 +v -0.092870 0.922552 -1.017937 +v -1.033810 0.888804 -0.144150 +v 0.814216 0.888804 -0.748962 +v -0.932864 -0.589578 0.594390 +v 0.007872 -0.555830 -1.320596 +v -0.126315 0.922552 0.997852 +v -0.059222 0.855205 -1.051369 +v 0.881310 -0.555830 -0.917135 +v -1.033810 0.788005 0.124065 +v -0.731175 0.888804 -0.816333 +v -0.832121 -0.522231 -1.017937 +v 1.015904 0.452009 0.292237 +v 0.108614 0.922552 -1.017937 +v 0.814216 0.754406 0.796248 +v -0.832121 0.888804 0.695192 +v 1.015904 0.888804 -0.144403 +v -0.966512 -0.119036 -0.614728 +v -0.832121 -0.488631 0.930481 +f 126 132 151 +f 101 100 105 +f 104 102 106 +f 106 102 107 +f 101 105 108 +f 105 100 109 +f 100 101 110 +f 108 105 111 +f 107 102 112 +f 104 106 114 +f 114 106 115 +f 98 112 116 +f 108 111 117 +f 98 116 117 +f 105 109 118 +f 100 99 121 +f 109 100 121 +f 101 108 125 +f 111 105 126 +f 118 103 126 +f 105 118 126 +f 99 100 127 +f 100 110 127 +f 108 117 128 +f 124 108 128 +f 110 101 129 +f 106 107 130 +f 103 118 130 +f 130 118 131 +f 118 109 131 +f 109 121 131 +f 106 130 131 +f 126 119 132 +f 114 115 133 +f 99 127 133 +f 127 123 133 +f 102 104 134 +f 112 102 135 +f 116 112 135 +f 102 124 135 +f 104 114 136 +f 120 104 136 +f 129 120 136 +f 98 117 137 +f 117 111 137 +f 111 122 137 +f 101 125 138 +f 125 113 138 +f 129 101 138 +f 120 129 138 +f 107 119 139 +f 126 103 139 +f 119 126 139 +f 103 130 139 +f 130 107 139 +f 113 125 140 +f 134 113 140 +f 127 110 141 +f 123 127 141 +f 110 129 141 +f 136 123 141 +f 129 136 141 +f 112 98 142 +f 98 137 142 +f 137 122 142 +f 102 134 143 +f 140 125 143 +f 134 140 143 +f 124 102 144 +f 108 124 144 +f 125 108 144 +f 102 143 144 +f 143 125 144 +f 121 99 145 +f 115 121 145 +f 133 115 145 +f 99 133 145 +f 104 120 146 +f 134 104 146 +f 113 134 146 +f 138 113 146 +f 120 138 146 +f 115 106 147 +f 121 115 147 +f 106 131 147 +f 131 121 147 +f 107 112 148 +f 119 107 148 +f 132 119 148 +f 122 132 148 +f 112 142 148 +f 142 122 148 +f 114 133 149 +f 133 123 149 +f 136 114 149 +f 123 136 149 +f 117 116 150 +f 128 117 150 +f 124 128 150 +f 116 135 150 +f 135 124 150 +f 122 111 151 +f 111 126 151 +f 132 122 151 +o convex_3 +v 0.982282 4.013593 -0.010084 +v -1.067413 1.359767 -0.010084 +v -1.067413 1.359767 0.023467 +v 1.015930 0.922943 0.124117 +v 0.075000 0.922943 -1.018170 +v -0.798430 4.047255 -0.715626 +v -0.193575 3.946269 0.998003 +v 0.108648 0.922943 0.998003 +v 0.780596 3.946660 -0.782726 +v -0.798430 4.685660 0.056820 +v 0.713503 3.979931 0.762756 +v -0.798430 0.922943 0.729009 +v -0.798430 0.922943 -0.782726 +v 0.041352 4.921295 -0.010084 +v -0.832078 3.946269 0.796109 +v -0.025741 3.979931 -1.018170 +v 0.780596 0.922943 -0.782726 +v 0.780596 0.922943 0.796307 +v -1.067413 3.946269 -0.043436 +v 0.007703 4.685660 0.762756 +v -0.059185 4.685660 -0.782924 +v 0.713503 4.686052 -0.076987 +v 1.015930 0.922943 -0.110734 +v 0.041352 3.979931 0.998003 +v -0.126482 1.057591 0.998003 +v -1.033764 0.922943 -0.110734 +v 1.015930 3.308255 -0.010084 +v -0.092834 0.922943 -1.018170 +v 0.713503 4.686052 0.057017 +v -0.563299 4.517350 0.628358 +v -0.798430 3.980322 -0.749176 +v -1.067413 3.946269 0.090567 +v -0.832078 1.964511 0.762756 +v 0.511817 4.517350 -0.614778 +v -0.596743 4.517350 -0.581030 +v 0.713503 3.946660 -0.816474 +v 0.545465 4.450418 0.594611 +v -0.126482 4.921295 0.023467 +v -0.260872 3.946269 -0.950872 +v -0.092834 4.651999 0.796307 +v 0.948634 3.946660 0.157865 +v -0.832078 3.946269 -0.715626 +v 0.041352 3.946269 -1.018170 +v -0.798430 4.652390 -0.077184 +v 0.007703 4.685660 -0.782924 +v 0.948634 3.946660 -0.245133 +v -1.067413 2.434997 0.090567 +v -1.067413 1.527686 -0.043436 +v 0.310131 0.922943 -0.950872 +v -0.832078 3.307863 0.796109 +v 0.814244 3.005687 -0.715626 +v -1.033764 0.922943 0.090567 +v -0.798430 1.158186 0.762756 +v 0.814244 1.326105 0.695459 +v -0.832078 4.652390 0.056820 +v 1.015930 2.871430 -0.076987 +v 0.747151 3.979931 0.695459 +v -0.092834 4.685660 0.762756 +v 0.747151 4.651999 -0.076987 +v -0.731337 4.719323 -0.010084 +v 0.814244 0.922943 -0.715626 +v 0.713503 0.922943 -0.816474 +v -0.731337 3.946269 -0.782726 +v 1.015930 3.072620 0.023269 +f 192 205 215 +f 156 155 159 +f 156 159 163 +f 156 163 164 +f 155 156 168 +f 159 155 169 +f 153 154 170 +f 155 168 174 +f 158 159 175 +f 159 169 175 +f 169 162 175 +f 162 171 175 +f 159 158 176 +f 163 159 176 +f 154 153 177 +f 164 163 177 +f 155 174 178 +f 156 164 179 +f 167 156 179 +f 165 171 180 +f 173 165 180 +f 157 172 182 +f 170 154 183 +f 172 157 186 +f 160 168 187 +f 171 162 188 +f 162 180 188 +f 180 171 188 +f 171 165 189 +f 165 172 189 +f 172 167 190 +f 179 164 190 +f 167 179 190 +f 182 172 190 +f 166 158 191 +f 158 175 191 +f 175 171 191 +f 181 166 191 +f 178 152 192 +f 152 180 192 +f 170 157 193 +f 182 164 193 +f 157 182 193 +f 156 167 194 +f 157 170 195 +f 186 157 195 +f 172 165 196 +f 167 172 196 +f 165 173 196 +f 185 160 196 +f 173 185 196 +f 160 187 196 +f 194 167 196 +f 187 194 196 +f 152 178 197 +f 183 154 198 +f 166 183 198 +f 154 184 198 +f 153 170 199 +f 177 153 199 +f 164 177 199 +f 170 193 199 +f 193 164 199 +f 168 156 200 +f 156 194 200 +f 194 187 200 +f 158 166 201 +f 176 158 201 +f 166 198 201 +f 198 184 201 +f 168 160 202 +f 154 177 203 +f 177 163 203 +f 184 154 203 +f 184 203 204 +f 163 176 204 +f 176 201 204 +f 201 184 204 +f 203 163 204 +f 169 155 205 +f 181 161 206 +f 166 181 206 +f 183 166 206 +f 170 183 206 +f 195 170 206 +f 161 195 206 +f 178 174 207 +f 160 197 207 +f 197 178 207 +f 202 160 207 +f 174 202 207 +f 162 169 208 +f 180 162 208 +f 192 180 208 +f 169 205 208 +f 205 192 208 +f 161 181 209 +f 171 189 209 +f 189 161 209 +f 191 171 209 +f 181 191 209 +f 180 152 210 +f 173 180 210 +f 160 185 210 +f 185 173 210 +f 152 197 210 +f 197 160 210 +f 172 186 211 +f 161 189 211 +f 189 172 211 +f 195 161 211 +f 186 195 211 +f 174 168 212 +f 168 202 212 +f 202 174 212 +f 187 168 213 +f 168 200 213 +f 200 187 213 +f 164 182 214 +f 190 164 214 +f 182 190 214 +f 155 178 215 +f 178 192 215 +f 205 155 215 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/541/541.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/541/541.urdf new file mode 100644 index 000000000..06b8bba70 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/541/541.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/542/542.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/542/542.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/542/542.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/542/542.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/542/542.obj new file mode 100644 index 000000000..4d493454b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/542/542.obj @@ -0,0 +1,387 @@ +o convex_0 +v 0.068919 4.119402 0.632296 +v -0.265874 0.139317 0.000066 +v -0.228721 0.177108 -0.780792 +v 1.816987 0.139317 -0.334500 +v 1.779834 4.044990 -1.004040 +v 1.779834 0.511379 1.041482 +v -0.265874 3.970578 -0.929624 +v 1.854140 4.007589 0.967066 +v -0.191568 0.177108 1.004172 +v 1.779834 0.139317 -1.041350 +v -0.228721 4.119402 1.041482 +v -0.191568 0.139317 -1.041350 +v 1.742680 0.139317 1.041482 +v -0.265874 3.561115 1.004172 +v 1.073093 2.705958 -1.041350 +v 1.742680 4.044990 1.004172 +v 0.366352 0.139317 1.041482 +v -0.265874 3.747341 -0.966934 +v 1.816987 1.664964 -0.743686 +v -0.265874 0.139317 0.632296 +v 1.854140 4.007589 0.409048 +v 1.854140 3.115031 1.004172 +v -0.191568 1.330304 -1.041350 +v 0.552326 4.082002 1.041482 +v -0.191568 0.735005 1.041482 +v -0.265874 2.519732 -0.966934 +v 1.816987 0.139317 -0.743686 +v 1.519346 4.044990 -1.004040 +v -0.265874 4.119402 0.818234 +v 1.779834 1.404716 1.041482 +v 1.779834 1.367315 -1.041350 +v 1.110246 4.007979 -1.004040 +v 1.073093 4.082391 -0.297394 +v 0.143226 4.119402 1.041482 +v 1.816987 4.044990 0.967066 +v -0.265874 1.739377 -0.780792 +f 2 26 36 +f 4 2 10 +f 2 3 12 +f 10 2 12 +f 2 4 13 +f 4 6 13 +f 6 11 13 +f 7 2 14 +f 10 12 15 +f 2 13 17 +f 13 11 17 +f 2 7 18 +f 14 2 20 +f 9 14 20 +f 2 17 20 +f 17 9 20 +f 19 5 21 +f 6 4 22 +f 8 16 22 +f 21 8 22 +f 15 12 23 +f 12 18 23 +f 11 6 24 +f 14 9 25 +f 11 14 25 +f 9 17 25 +f 17 11 25 +f 12 3 26 +f 2 18 26 +f 18 12 26 +f 4 10 27 +f 10 19 27 +f 19 21 27 +f 22 4 27 +f 21 22 27 +f 7 1 28 +f 5 15 28 +f 1 7 29 +f 11 1 29 +f 7 14 29 +f 14 11 29 +f 6 22 30 +f 22 16 30 +f 24 6 30 +f 16 24 30 +f 15 5 31 +f 10 15 31 +f 5 19 31 +f 19 10 31 +f 18 7 32 +f 15 23 32 +f 23 18 32 +f 7 28 32 +f 28 15 32 +f 28 1 33 +f 5 28 33 +f 1 11 34 +f 11 24 34 +f 24 16 34 +f 33 1 34 +f 33 34 35 +f 16 8 35 +f 21 5 35 +f 8 21 35 +f 5 33 35 +f 34 16 35 +f 3 2 36 +f 26 3 36 +o convex_1 +v -0.228928 -0.456055 3.012620 +v -0.266071 -2.092726 -1.077855 +v -1.865597 -1.980861 -2.566120 +v -0.303432 0.027671 -2.938036 +v -2.311960 0.064813 2.938718 +v -2.349321 -1.981080 2.938718 +v -2.237676 -0.083975 -3.013140 +v -0.154644 -2.018222 3.087725 +v -0.303432 -1.943719 -3.049791 +v -0.117283 0.139317 1.004034 +v -2.237676 -1.943719 -2.975888 +v -0.117501 -2.092726 -1.040603 +v -0.154644 0.101956 2.975369 +v -0.117283 0.139317 -1.041204 +v -2.274818 -0.047051 -2.045197 +v -2.349321 -1.720427 1.375950 +v -2.311960 0.064813 1.896872 +v -2.088669 -0.046832 -3.013140 +v -1.902739 -2.018222 2.119782 +v -0.266071 -1.720646 -2.938036 +v -0.117501 -1.981080 1.115789 +v -0.117283 0.027452 1.971376 +v -1.307587 -0.902419 -3.050392 +v -0.786938 0.027452 -2.975287 +v -0.415077 -1.943719 3.087725 +v -1.679666 0.064813 2.975970 +v -2.311960 -1.981080 0.632118 +v -2.311960 -1.720427 -0.483030 +v -0.266071 -1.981080 -2.789029 +v -0.191786 0.139317 -1.040603 +v -2.349321 -1.125274 2.938718 +v -0.303432 -1.571857 -3.049791 +v -0.303432 -2.092726 -0.817694 +v -0.786938 -1.943719 -3.049791 +v -2.237676 -0.976704 -3.013140 +v -0.154644 -1.683285 3.087725 +v -1.977242 -1.980861 2.975970 +v -2.237676 -0.047051 -2.677875 +v -0.266071 0.139317 0.632118 +v -0.266071 0.027671 -2.640623 +v -2.349321 -1.981080 2.008027 +v -0.340574 -2.018004 3.087725 +v -0.117283 0.064595 -1.078456 +v -0.303432 -0.269906 -2.975888 +v -1.642524 -0.046832 -3.013140 +v -0.340574 0.101956 2.975369 +v -1.679666 -1.980861 -2.640623 +f 47 65 83 +f 51 52 53 +f 44 48 57 +f 57 48 58 +f 46 49 58 +f 50 46 58 +f 44 57 58 +f 43 54 59 +f 50 40 60 +f 41 61 62 +f 47 39 63 +f 51 47 64 +f 52 51 64 +f 48 38 65 +f 45 56 65 +f 56 48 65 +f 46 50 66 +f 60 54 66 +f 50 60 66 +f 52 42 67 +f 53 52 67 +f 41 53 67 +f 56 45 68 +f 45 59 68 +f 39 38 69 +f 38 48 69 +f 48 44 69 +f 63 39 69 +f 55 63 69 +f 59 45 70 +f 65 47 70 +f 45 65 70 +f 47 51 71 +f 51 43 71 +f 43 59 71 +f 59 70 71 +f 70 47 71 +f 49 37 72 +f 44 58 72 +f 58 49 72 +f 61 44 72 +f 37 62 72 +f 62 61 72 +f 61 41 73 +f 67 42 73 +f 41 67 73 +f 43 51 74 +f 51 53 74 +f 54 43 74 +f 53 66 74 +f 66 54 74 +f 41 46 75 +f 53 41 75 +f 46 66 75 +f 66 53 75 +f 40 50 76 +f 56 40 76 +f 42 52 77 +f 55 42 77 +f 47 63 77 +f 63 55 77 +f 64 47 77 +f 52 64 77 +f 42 55 78 +f 44 61 78 +f 69 44 78 +f 55 69 78 +f 73 42 78 +f 61 73 78 +f 48 56 79 +f 58 48 79 +f 50 58 79 +f 76 50 79 +f 56 76 79 +f 40 56 80 +f 60 40 80 +f 56 68 80 +f 68 59 80 +f 59 54 81 +f 54 60 81 +f 80 59 81 +f 60 80 81 +f 46 41 82 +f 37 49 82 +f 49 46 82 +f 62 37 82 +f 41 62 82 +f 38 39 83 +f 39 47 83 +f 65 38 83 +o convex_2 +v 0.701255 -2.092726 -1.041553 +v -0.042706 -1.645924 1.116087 +v -0.117199 -1.645924 1.116087 +v -0.117199 0.139317 -1.041553 +v 1.742609 0.139317 1.041322 +v 1.779855 -2.092726 -1.041342 +v 1.779855 0.139317 -1.041342 +v 1.705362 -1.943719 1.078705 +v -0.117199 0.139317 1.004362 +v -0.117199 -2.092726 -1.041553 +v -0.117199 -1.981080 1.116087 +v 1.854347 -1.422851 0.557880 +v 1.854347 -0.567701 -0.483346 +v 1.854347 -0.530340 0.520709 +v 1.742609 -2.092726 -0.780930 +v 1.817101 0.139317 -0.334660 +v 0.329178 0.139317 1.041533 +v 0.552463 -1.981080 1.116087 +v -0.117199 -2.018222 0.706778 +v 1.854347 -1.571639 -0.483346 +v 1.705362 -0.976704 1.078705 +v 1.742609 -2.018222 0.185953 +v -0.117199 -0.121117 1.041533 +v -0.117199 -2.092726 -0.929616 +v 1.742609 -0.790774 1.041322 +v 1.817101 0.139317 -0.743758 +f 99 97 109 +f 84 87 90 +f 87 88 90 +f 89 84 90 +f 87 86 92 +f 88 87 92 +f 86 87 93 +f 87 84 93 +f 84 89 93 +f 85 86 94 +f 86 93 94 +f 89 90 96 +f 95 96 97 +f 88 95 97 +f 93 89 98 +f 90 88 99 +f 88 97 99 +f 86 85 100 +f 85 88 100 +f 88 92 100 +f 85 94 101 +f 98 101 102 +f 94 93 102 +f 101 94 102 +f 95 89 103 +f 89 96 103 +f 96 95 103 +f 88 85 104 +f 91 88 104 +f 85 101 104 +f 101 91 104 +f 89 95 105 +f 95 91 105 +f 98 89 105 +f 91 101 105 +f 101 98 105 +f 92 86 106 +f 86 100 106 +f 100 92 106 +f 93 98 107 +f 98 102 107 +f 102 93 107 +f 88 91 108 +f 95 88 108 +f 91 95 108 +f 96 90 109 +f 97 96 109 +f 90 99 109 +o convex_3 +v 3.825643 -1.311398 -0.483543 +v 3.714161 -0.456004 0.520862 +v 3.751321 -0.530500 0.520862 +v 1.854555 -1.460171 0.520862 +v 1.854555 -0.567639 -0.483543 +v 1.854555 -1.571915 -0.483543 +v 3.825643 -1.460171 0.409114 +v 1.854555 -0.530500 0.520862 +v 3.788482 -0.530500 -0.483543 +v 3.602482 -1.571915 -0.446327 +v 2.077912 -1.422923 0.558077 +v 3.863000 -1.534558 -0.148707 +v 3.825643 -1.385785 0.446431 +v 3.825643 -0.679273 -0.371897 +v 1.854555 -0.939573 0.558077 +v 3.863000 -1.385785 0.223140 +v 2.970161 -0.530500 -0.483543 +v 3.863000 -1.534558 -0.446327 +v 1.854555 -1.571915 -0.371897 +v 2.561394 -1.088237 0.558077 +v 3.677000 -0.456004 0.446431 +v 3.230482 -1.571915 -0.483543 +v 3.863000 -1.237011 -0.483543 +v 3.677000 -0.716412 0.520862 +f 129 120 133 +f 114 110 115 +f 113 114 115 +f 114 113 117 +f 111 112 118 +f 110 114 118 +f 113 116 120 +f 116 113 121 +f 120 116 122 +f 118 112 123 +f 111 117 124 +f 117 113 124 +f 113 120 124 +f 116 121 125 +f 112 122 125 +f 122 116 125 +f 123 112 125 +f 118 114 126 +f 121 119 127 +f 125 121 127 +f 113 115 128 +f 115 119 128 +f 121 113 128 +f 119 121 128 +f 112 111 129 +f 111 124 129 +f 124 120 129 +f 117 111 130 +f 114 117 130 +f 111 118 130 +f 126 114 130 +f 118 126 130 +f 115 110 131 +f 119 115 131 +f 110 127 131 +f 127 119 131 +f 110 118 132 +f 118 123 132 +f 123 125 132 +f 127 110 132 +f 125 127 132 +f 122 112 133 +f 120 122 133 +f 112 129 133 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/542/542.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/542/542.urdf new file mode 100644 index 000000000..1772dd235 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/542/542.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/543/543.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/543/543.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/543/543.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/543/543.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/543/543.obj new file mode 100644 index 000000000..2707737df --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/543/543.obj @@ -0,0 +1,654 @@ +o convex_0 +v -0.114096 -0.917955 -0.377241 +v -0.011607 -0.917955 1.884008 +v -0.114096 -0.917955 1.884008 +v 0.056924 -4.377675 0.650680 +v 0.981986 -0.917955 0.547976 +v -1.073526 -2.425803 0.685209 +v 0.844924 -3.830013 0.582284 +v 0.056924 -3.863882 -0.171613 +v -0.902097 -0.917955 -0.137305 +v -0.011607 -3.863882 1.403913 +v 0.776394 -1.432086 -0.240008 +v -0.936464 -0.917955 1.541368 +v 0.810557 -0.986709 1.541146 +v -0.799403 -3.864220 0.582284 +v -0.833566 -2.425803 1.404134 +v -0.765035 -2.391596 -0.137305 +v 0.776394 -2.425803 1.369826 +v 1.016353 -2.528426 0.616593 +v 0.776394 -2.425803 -0.171392 +v -0.011607 -2.562973 -0.377241 +v -1.073526 -0.917955 0.582284 +v 0.810557 -0.917955 -0.205700 +v 0.570802 -3.555674 1.198506 +v -0.628179 -3.555674 1.164419 +v -0.559648 -3.487258 0.034237 +v 0.605169 -3.486919 -0.000293 +v -0.799403 -3.864220 0.685209 +v 0.091087 -3.898089 1.369826 +v -0.696709 -1.123878 -0.240008 +v 0.776394 -3.932636 0.547976 +v -1.073526 -2.322841 0.582284 +v 0.570802 -0.917955 -0.308403 +v 1.016353 -2.425465 0.513668 +v 0.844924 -0.917955 1.438443 +v -0.011607 -4.343467 0.513668 +v 0.125454 -2.391596 -0.377241 +v -0.045770 -3.932636 1.369826 +v -0.799403 -2.425803 -0.102996 +v -0.867934 -0.986709 1.609763 +v -0.114096 -2.391596 -0.377241 +v -0.011607 -3.829674 -0.171613 +v 0.776394 -3.932636 0.616593 +v 1.016353 -2.288295 0.684767 +v -0.011607 -4.377675 0.650680 +v 0.776394 -1.020917 1.575454 +v -1.073526 -0.917955 0.719296 +v 0.742231 -2.357388 -0.205700 +v 0.844924 -3.830013 0.616593 +v 0.159617 -4.309259 0.547976 +v -0.867934 -2.425803 1.335739 +v 0.879292 -0.952501 -0.000071 +v 0.125454 -1.089671 -0.377241 +v -0.011607 -0.952840 1.884008 +v -0.114096 -0.952840 1.884008 +v -0.970627 -1.089671 1.404134 +v 0.810557 -3.830013 0.479581 +v 0.022556 -3.658297 1.438443 +v 0.810557 -1.295256 -0.205700 +v -0.011607 -3.932636 -0.068688 +v -0.628179 -3.418843 1.232814 +v -0.902097 -2.391596 0.136719 +v 0.981986 -1.020917 0.650680 +v 0.707863 -2.391596 1.404134 +v -0.045770 -3.829674 1.403913 +f 60 37 64 +f 3 2 1 +f 1 2 5 +f 3 1 9 +f 3 9 12 +f 12 9 21 +f 1 5 22 +f 6 14 27 +f 24 15 27 +f 23 17 28 +f 9 1 29 +f 16 9 29 +f 14 6 31 +f 6 21 31 +f 21 9 31 +f 1 22 32 +f 22 11 32 +f 18 7 33 +f 5 2 34 +f 2 13 34 +f 20 1 36 +f 8 20 36 +f 32 11 36 +f 24 27 37 +f 4 28 37 +f 28 10 37 +f 9 16 38 +f 25 14 38 +f 16 25 38 +f 3 12 39 +f 12 15 39 +f 1 20 40 +f 29 1 40 +f 16 29 40 +f 20 8 41 +f 14 25 41 +f 25 16 41 +f 16 40 41 +f 40 20 41 +f 28 4 42 +f 23 28 42 +f 4 30 42 +f 30 7 42 +f 13 17 43 +f 17 18 43 +f 33 5 43 +f 18 33 43 +f 34 13 43 +f 27 14 44 +f 14 35 44 +f 35 4 44 +f 4 37 44 +f 37 27 44 +f 13 2 45 +f 17 13 45 +f 21 6 46 +f 12 21 46 +f 11 19 47 +f 26 8 47 +f 19 26 47 +f 8 36 47 +f 36 11 47 +f 18 17 48 +f 7 18 48 +f 17 23 48 +f 42 7 48 +f 23 42 48 +f 30 4 49 +f 8 30 49 +f 35 8 49 +f 4 35 49 +f 15 12 50 +f 6 27 50 +f 27 15 50 +f 22 5 51 +f 5 33 51 +f 1 32 52 +f 36 1 52 +f 32 36 52 +f 2 3 53 +f 45 2 53 +f 3 39 54 +f 39 15 54 +f 53 3 54 +f 46 6 55 +f 12 46 55 +f 6 50 55 +f 50 12 55 +f 8 26 56 +f 26 19 56 +f 30 8 56 +f 7 30 56 +f 33 7 56 +f 19 33 56 +f 10 28 57 +f 54 10 57 +f 53 54 57 +f 19 11 58 +f 11 22 58 +f 33 19 58 +f 22 51 58 +f 51 33 58 +f 8 35 59 +f 35 14 59 +f 41 8 59 +f 14 41 59 +f 15 24 60 +f 24 37 60 +f 14 31 61 +f 31 9 61 +f 9 38 61 +f 38 14 61 +f 5 34 62 +f 43 5 62 +f 34 43 62 +f 28 17 63 +f 17 45 63 +f 45 53 63 +f 57 28 63 +f 53 57 63 +f 37 10 64 +f 10 54 64 +f 54 15 64 +f 15 60 64 +o convex_1 +v -1.073589 -0.472601 0.616532 +v 0.982092 -0.849382 0.616532 +v 0.982092 -0.917955 0.616532 +v -0.045749 -0.472601 2.603497 +v -0.902148 -0.917955 1.609723 +v 0.810651 -0.472601 -0.274246 +v -0.867739 -0.917955 -0.171251 +v 0.810651 -0.917955 1.541156 +v 0.810651 -0.472601 1.780993 +v 0.810651 -0.917955 -0.240109 +v -0.902148 -0.472601 -0.205388 +v -0.902148 -0.472601 1.918125 +v -0.045749 -0.917955 1.952262 +v -0.114365 -0.917955 -0.377242 +v -1.073589 -0.917955 0.582395 +v -0.114365 -0.472601 -0.377242 +v 0.947683 -0.472601 0.753665 +v -0.079956 -0.506866 2.603497 +v 0.605204 -0.506866 2.054966 +v 0.091082 -0.917955 -0.377242 +v -1.073589 -0.917955 0.719236 +v 0.947683 -0.472601 0.445262 +v -0.045749 -0.506866 2.603497 +v -0.936356 -0.506866 1.780993 +v -0.833532 -0.506866 1.986691 +v -0.970564 -0.917955 1.404315 +v -0.936356 -0.917955 -0.034118 +v 0.982092 -0.917955 0.548258 +v 0.091082 -0.472601 -0.377242 +v 0.776443 -0.917955 1.575294 +f 83 87 94 +f 65 68 70 +f 67 69 71 +f 69 67 72 +f 67 66 73 +f 70 68 73 +f 72 67 73 +f 67 71 74 +f 65 70 75 +f 68 65 76 +f 69 72 77 +f 74 71 78 +f 71 75 78 +f 71 69 79 +f 65 75 79 +f 75 70 80 +f 78 75 80 +f 73 66 81 +f 70 73 81 +f 68 76 82 +f 69 77 82 +f 73 68 83 +f 72 73 83 +f 70 74 84 +f 74 78 84 +f 78 80 84 +f 79 69 85 +f 65 79 85 +f 81 66 86 +f 70 81 86 +f 68 82 87 +f 82 77 87 +f 83 68 87 +f 76 65 88 +f 65 85 88 +f 76 69 89 +f 82 76 89 +f 69 82 89 +f 69 76 90 +f 85 69 90 +f 76 88 90 +f 88 85 90 +f 75 71 91 +f 71 79 91 +f 79 75 91 +f 66 67 92 +f 67 74 92 +f 74 70 92 +f 86 66 92 +f 70 86 92 +f 80 70 93 +f 70 84 93 +f 84 80 93 +f 77 72 94 +f 72 83 94 +f 87 77 94 +o convex_2 +v 1.975309 1.069029 -0.480247 +v -1.141978 -0.026965 -2.432923 +v -1.141978 0.007343 -2.432923 +v -2.717544 0.657953 -0.548703 +v 0.707854 -0.472349 -0.274457 +v 2.112442 1.343080 -2.158466 +v 2.215145 -0.266707 -2.055783 +v -2.066894 1.583030 -1.370593 +v 0.022774 1.651647 -0.274457 +v -2.135168 -0.163990 -2.090011 +v -2.032465 1.343080 -2.090011 +v 2.763092 0.555444 -0.685614 +v -0.422469 -0.472557 -0.274457 +v 0.262027 -0.403941 -2.398484 +v 2.043583 1.617338 -1.404820 +v 2.797521 0.623645 -2.158678 +v -2.717544 0.657953 -2.090011 +v -2.477708 -0.163990 -1.302348 +v 2.626543 -0.163990 -1.199665 +v 2.043583 0.657746 -2.398484 +v 2.763092 1.377388 -1.370804 +v -2.717544 1.377388 -1.302348 +v -1.895915 0.589545 -2.398484 +v -2.032465 1.377388 -0.548703 +v -2.101323 0.657953 -0.308897 +v 1.975309 1.377180 -0.582930 +v 2.043583 0.623645 -0.377352 +v -2.957964 0.555444 -1.370593 +v -2.409433 0.041444 -0.720053 +v 3.003512 0.555444 -1.336787 +v -1.004845 -0.403733 -1.439048 +v 1.530066 -0.198299 -2.398484 +v 1.940880 -0.163990 -0.548703 +v 1.632769 -0.403941 -1.096981 +v 0.741699 1.411697 -0.274457 +v -1.518363 -0.164198 -2.398484 +v -0.182633 -0.403941 -2.398484 +v -2.683699 0.521344 -2.124450 +v -0.799438 1.411697 -0.274457 +v 2.557685 1.171746 -0.788509 +v -0.319766 0.692054 -2.398484 +v -1.827057 -0.129890 -0.548703 +v 1.187526 1.377388 -2.124450 +v 2.729247 0.623645 -0.617158 +v 2.592114 -0.198299 -1.370804 +v -2.512137 1.206055 -0.720053 +v 2.489410 0.007343 -0.754281 +v -2.580411 1.171746 -1.850205 +v 2.626543 1.206055 -1.884644 +v 0.056620 0.418419 -2.432923 +v 2.797521 0.555444 -2.158678 +v -1.792628 0.589545 -0.274457 +v -1.964190 1.308772 -2.124450 +v 0.091049 -0.301224 -2.432923 +v -2.683699 0.487036 -0.582930 +v -2.032465 1.583030 -1.233893 +v -2.957964 0.692262 -1.336787 +v 0.981535 0.521136 -0.274457 +v -2.101323 0.589545 -0.308897 +v 1.564495 -0.403941 -0.822736 +v 2.043583 1.617338 -1.336787 +v 3.003512 0.555444 -1.473487 +v -2.032465 -0.198299 -2.055994 +v 2.112442 -0.301016 -1.953099 +f 139 128 158 +f 99 103 107 +f 99 107 108 +f 102 103 109 +f 100 110 114 +f 100 109 115 +f 102 105 116 +f 97 96 117 +f 111 105 117 +f 118 98 119 +f 106 113 124 +f 107 112 125 +f 101 108 126 +f 121 99 127 +f 99 108 128 +f 103 99 129 +f 95 120 129 +f 120 103 129 +f 121 95 129 +f 117 96 130 +f 108 107 131 +f 107 125 131 +f 104 112 132 +f 111 117 132 +f 122 111 132 +f 112 122 132 +f 130 104 132 +f 117 130 132 +f 107 103 133 +f 103 118 133 +f 118 119 133 +f 115 120 134 +f 100 114 135 +f 112 107 136 +f 123 112 136 +f 105 102 137 +f 102 109 137 +f 109 100 137 +f 120 95 138 +f 95 121 138 +f 106 124 138 +f 124 115 138 +f 121 127 138 +f 115 134 138 +f 134 120 138 +f 116 98 140 +f 98 118 140 +f 118 116 140 +f 113 106 141 +f 127 113 141 +f 106 138 141 +f 138 127 141 +f 105 111 142 +f 116 105 142 +f 111 116 142 +f 110 100 143 +f 100 115 143 +f 115 110 143 +f 96 97 144 +f 97 117 144 +f 135 114 144 +f 117 135 144 +f 114 110 145 +f 101 126 145 +f 126 114 145 +f 139 101 145 +f 107 133 146 +f 133 119 146 +f 117 105 147 +f 100 135 147 +f 135 117 147 +f 137 100 147 +f 105 137 147 +f 126 108 148 +f 114 126 148 +f 130 96 148 +f 108 131 148 +f 131 130 148 +f 96 144 148 +f 144 114 148 +f 98 122 149 +f 122 112 149 +f 112 123 149 +f 123 136 149 +f 103 102 150 +f 102 116 150 +f 118 103 150 +f 116 118 150 +f 98 116 151 +f 116 111 151 +f 111 122 151 +f 122 98 151 +f 99 121 152 +f 129 99 152 +f 121 129 152 +f 119 98 153 +f 136 107 153 +f 107 146 153 +f 146 119 153 +f 98 149 153 +f 149 136 153 +f 127 99 154 +f 113 127 154 +f 99 128 154 +f 139 113 154 +f 128 139 154 +f 109 103 155 +f 115 109 155 +f 103 120 155 +f 120 115 155 +f 110 115 156 +f 124 113 156 +f 115 124 156 +f 113 139 156 +f 145 110 156 +f 139 145 156 +f 112 104 157 +f 125 112 157 +f 104 130 157 +f 131 125 157 +f 130 131 157 +f 108 101 158 +f 128 108 158 +f 101 139 158 +o convex_3 +v -0.593868 1.171646 3.219889 +v 0.707825 -0.472557 -0.274092 +v 0.810725 -0.472557 -0.274092 +v 0.056876 1.651469 -0.273703 +v -1.004853 -0.472557 0.273945 +v 0.776357 0.521106 3.425646 +v -0.079982 -0.198101 3.425257 +v -0.833626 1.342996 -0.274092 +v 0.810725 1.342996 2.603007 +v -1.039221 0.521106 2.671852 +v 0.981952 0.692034 -0.274092 +v 0.810725 -0.472557 1.849212 +v -0.011655 1.617241 2.637235 +v -0.902158 -0.472557 1.986125 +v -1.039221 0.418422 -0.274092 +v 1.016320 0.555334 2.671852 +v 0.707825 1.445891 -0.239864 +v 0.056876 1.377224 3.425257 +v -0.765095 1.377435 2.637235 +v -0.765095 0.555334 3.459486 +v 0.947788 -0.472557 0.445475 +v -0.833626 -0.472557 -0.239864 +v 0.056876 0.555545 3.699471 +v -1.073589 -0.472557 0.650843 +v -0.045614 1.685908 -0.068335 +v -0.011655 -0.472346 2.637235 +v 0.707825 -0.164084 2.774536 +v -0.799463 -0.164084 2.774536 +v -1.039221 0.726473 -0.171019 +v 0.776357 0.692034 3.425646 +v -1.039221 0.623578 2.671852 +v -0.730931 1.445891 -0.205636 +v 0.056876 -0.164084 3.459486 +v 0.056876 1.617241 2.637235 +v 0.776357 1.377435 -0.205636 +v 0.605130 1.205873 3.185272 +v -0.628031 0.075933 3.288345 +v 0.570762 0.007266 3.254117 +v -0.765095 0.692034 3.425646 +v 0.536598 1.514347 -0.102563 +v -0.045614 0.657806 3.699471 +v -0.079982 1.377435 3.391029 +v 1.016320 0.623578 2.637235 +v 0.742193 -0.472557 2.020741 +v -0.867994 -0.335435 -0.274092 +v 0.947788 -0.472557 0.753527 +v 0.981952 0.521106 -0.274092 +v 0.570762 1.445891 2.603007 +v 0.022508 1.685908 -0.068335 +v -0.045614 -0.129645 3.493713 +v 0.056876 1.411663 3.391029 +v -0.970690 -0.266768 1.952285 +v -0.936321 -0.335435 -0.205636 +v 0.056876 0.657806 3.699471 +v -0.799463 0.555334 3.425646 +v -0.833626 -0.198312 2.671852 +v -0.114146 -0.472346 2.637235 +v 0.776357 -0.095417 2.671852 +v -0.045614 0.555545 3.699471 +v 0.742193 1.411663 -0.274092 +v 0.776357 1.342996 2.706080 +v -0.799463 1.411663 -0.274092 +v -0.970690 0.829156 2.637235 +v 1.016320 0.555334 2.363022 +f 179 205 222 +f 160 161 163 +f 161 160 166 +f 161 166 169 +f 163 161 170 +f 163 170 172 +f 166 160 173 +f 170 161 179 +f 160 163 180 +f 163 172 182 +f 173 163 182 +f 177 171 183 +f 166 173 187 +f 173 182 187 +f 164 174 188 +f 181 164 188 +f 182 168 189 +f 187 182 189 +f 177 183 190 +f 164 181 191 +f 165 184 191 +f 183 171 192 +f 167 169 193 +f 176 188 194 +f 186 165 195 +f 185 164 196 +f 164 191 196 +f 191 185 196 +f 159 177 197 +f 177 189 197 +f 197 178 199 +f 197 199 200 +f 171 177 200 +f 177 159 200 +f 159 197 200 +f 199 176 200 +f 169 167 201 +f 188 174 201 +f 167 188 201 +f 172 170 202 +f 170 185 202 +f 191 184 202 +f 185 191 202 +f 173 160 203 +f 160 180 203 +f 174 170 204 +f 170 179 204 +f 179 174 204 +f 161 169 205 +f 179 161 205 +f 167 175 206 +f 175 198 206 +f 206 198 207 +f 175 162 207 +f 162 183 207 +f 183 192 207 +f 198 175 207 +f 192 206 207 +f 191 181 208 +f 165 191 208 +f 195 165 208 +f 178 195 208 +f 192 171 209 +f 176 194 209 +f 171 200 209 +f 200 176 209 +f 206 192 209 +f 168 182 210 +f 182 172 210 +f 163 173 211 +f 180 163 211 +f 173 203 211 +f 203 180 211 +f 188 176 212 +f 181 188 212 +f 199 181 212 +f 176 199 212 +f 189 168 213 +f 195 178 213 +f 186 195 213 +f 178 197 213 +f 197 189 213 +f 172 165 214 +f 165 186 214 +f 168 210 214 +f 210 172 214 +f 213 168 214 +f 186 213 214 +f 165 172 215 +f 184 165 215 +f 172 202 215 +f 202 184 215 +f 174 164 216 +f 170 174 216 +f 164 185 216 +f 185 170 216 +f 199 178 217 +f 181 199 217 +f 208 181 217 +f 178 208 217 +f 169 166 218 +f 162 175 218 +f 175 167 218 +f 167 193 218 +f 193 169 218 +f 188 167 219 +f 194 188 219 +f 167 206 219 +f 209 194 219 +f 206 209 219 +f 166 177 220 +f 183 162 220 +f 177 190 220 +f 190 183 220 +f 162 218 220 +f 218 166 220 +f 177 166 221 +f 166 187 221 +f 189 177 221 +f 187 189 221 +f 174 179 222 +f 169 201 222 +f 201 174 222 +f 205 169 222 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/543/543.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/543/543.urdf new file mode 100644 index 000000000..71f9ddd2c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/543/543.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/544/544.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/544/544.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/544/544.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/544/544.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/544/544.obj new file mode 100644 index 000000000..9c66a811f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/544/544.obj @@ -0,0 +1,354 @@ +o convex_0 +v -0.632167 -3.348078 0.386647 +v 0.342193 1.406720 1.066170 +v -0.396014 1.406720 1.066170 +v 0.253560 1.406720 -1.089732 +v 0.962425 -3.259182 1.066170 +v -0.927612 -3.229860 -1.089732 +v 0.991969 -3.288969 -0.942010 +v -1.075335 1.406720 -1.060188 +v -1.075335 -3.348078 1.036626 +v 0.991969 1.406720 -0.942010 +v -1.045790 1.406720 0.977325 +v 0.991969 1.406720 0.977325 +v 0.519258 -3.348078 -0.528598 +v 0.666980 -0.926464 -1.030643 +v -1.075335 -0.631849 1.007081 +v -0.720801 -1.457050 1.066170 +v -0.986701 -1.634843 -1.089732 +v -0.336925 -3.259182 -1.060188 +v 0.371738 1.052065 -1.089732 +v 0.991969 -0.277194 1.007081 +v -1.075335 -3.348078 0.918237 +v 0.696524 -3.288969 1.066170 +v -0.957157 -3.259182 -0.823832 +v 0.932880 -2.904992 -0.971555 +v 0.991969 -3.258717 -0.380876 +v -0.396014 -3.348078 0.741181 +v -0.927612 -3.259182 -0.971343 +v 0.991969 0.195214 1.007081 +v -0.750345 -3.229860 -1.089732 +v 0.342193 -3.288969 1.066170 +v 0.962425 -2.845418 1.066170 +v -1.075335 -2.402797 1.036626 +v 0.637435 1.406720 -1.030643 +v -1.075335 1.347611 -1.060188 +v 0.283104 -3.348078 -0.439965 +v 0.371738 1.376933 1.066170 +v 0.844247 -3.259182 -0.971555 +v 0.519258 -3.348078 -0.439965 +v 0.932880 -1.900602 -0.971555 +v -1.075335 1.406720 -0.971343 +f 15 11 40 +f 3 2 4 +f 2 3 5 +f 3 4 8 +f 4 2 10 +f 3 8 11 +f 10 2 12 +f 7 10 12 +f 9 1 13 +f 8 9 15 +f 5 3 16 +f 4 6 17 +f 8 4 17 +f 7 13 18 +f 14 18 19 +f 6 4 19 +f 7 12 20 +f 9 8 21 +f 1 9 21 +f 5 16 22 +f 17 6 23 +f 21 17 23 +f 10 7 24 +f 5 7 25 +f 20 5 25 +f 7 20 25 +f 9 13 26 +f 22 9 26 +f 6 18 27 +f 18 13 27 +f 1 21 27 +f 23 6 27 +f 21 23 27 +f 5 20 28 +f 20 12 28 +f 18 6 29 +f 19 18 29 +f 6 19 29 +f 16 9 30 +f 9 22 30 +f 22 16 30 +f 2 5 31 +f 5 28 31 +f 3 11 32 +f 15 9 32 +f 11 15 32 +f 16 3 32 +f 9 16 32 +f 4 10 33 +f 14 19 33 +f 19 4 33 +f 8 17 34 +f 21 8 34 +f 17 21 34 +f 13 1 35 +f 1 27 35 +f 27 13 35 +f 12 2 36 +f 28 12 36 +f 2 31 36 +f 31 28 36 +f 7 18 37 +f 18 14 37 +f 24 7 37 +f 14 24 37 +f 7 5 38 +f 13 7 38 +f 5 22 38 +f 26 13 38 +f 22 26 38 +f 10 24 39 +f 24 14 39 +f 33 10 39 +f 14 33 39 +f 11 8 40 +f 8 15 40 +o convex_1 +v -0.277914 2.115544 -1.119265 +v 0.991969 1.820201 0.977392 +v 0.726170 2.440351 1.006699 +v -1.045755 1.406862 0.947871 +v 0.991969 1.406862 -0.941923 +v -1.104867 2.853691 -1.030487 +v 0.991969 2.735554 -0.912402 +v -1.075311 1.406862 -1.060009 +v -1.045755 2.705948 0.947871 +v 0.991969 2.794622 0.947871 +v 0.991969 1.406862 0.977392 +v -0.366377 1.406862 1.066170 +v -0.632176 2.853691 0.475315 +v 0.312591 1.554462 -1.119265 +v 0.371703 2.056476 1.066170 +v 0.814633 2.765017 -0.941709 +v -1.104867 2.824227 -0.469368 +v -0.189246 2.853691 0.504837 +v 0.312591 1.997407 -1.119265 +v -1.075311 2.824227 -1.060009 +v -0.277914 2.086081 1.066170 +v -0.248358 1.406862 -1.119265 +v 0.342147 1.406862 1.066170 +v -1.075311 2.735554 0.652443 +v -0.868419 2.853691 -1.030487 +v 0.873745 2.617416 -0.971231 +v 0.991969 2.794622 0.534358 +v -1.104867 2.322214 -1.060009 +v -1.016199 1.643136 0.977392 +v -0.750400 2.735554 0.947871 +v 0.371703 1.406862 -1.089530 +v 0.696409 2.794622 0.947657 +v -0.986643 2.824227 -1.060009 +v -1.016199 2.735554 0.888828 +v 0.991969 2.765159 -0.616975 +v 0.460371 2.647021 0.977178 +v 0.519278 2.824227 0.770529 +v -0.927531 2.381283 0.977392 +f 69 52 78 +f 42 45 47 +f 45 44 48 +f 43 42 50 +f 42 47 50 +f 44 45 51 +f 45 42 51 +f 44 51 52 +f 42 43 55 +f 51 42 55 +f 53 46 57 +f 46 53 58 +f 54 41 59 +f 45 54 59 +f 55 43 61 +f 52 55 61 +f 48 41 62 +f 45 48 62 +f 41 54 62 +f 52 51 63 +f 51 55 63 +f 55 52 63 +f 44 49 64 +f 57 44 64 +f 46 58 65 +f 60 46 65 +f 47 45 66 +f 56 47 66 +f 45 59 66 +f 50 47 67 +f 41 48 68 +f 48 44 68 +f 44 57 68 +f 57 46 68 +f 60 41 68 +f 46 60 68 +f 49 44 69 +f 44 52 69 +f 49 61 70 +f 54 45 71 +f 45 62 71 +f 62 54 71 +f 53 70 72 +f 59 41 73 +f 41 60 73 +f 65 56 73 +f 60 65 73 +f 56 66 73 +f 66 59 73 +f 53 57 74 +f 64 49 74 +f 57 64 74 +f 49 70 74 +f 70 53 74 +f 47 56 75 +f 56 65 75 +f 67 47 75 +f 65 67 75 +f 43 50 76 +f 61 43 76 +f 70 61 76 +f 50 72 76 +f 72 70 76 +f 58 53 77 +f 65 58 77 +f 50 67 77 +f 67 65 77 +f 53 72 77 +f 72 50 77 +f 61 49 78 +f 52 61 78 +f 49 69 78 +o convex_2 +v -0.189295 1.967799 3.103741 +v 0.253629 1.495319 1.066370 +v 0.283179 1.495319 1.066370 +v -0.159800 2.085977 1.066370 +v 0.194529 2.085977 3.014995 +v -0.189295 1.583952 2.955964 +v 0.253629 1.554408 3.074026 +v -0.189295 1.554408 1.066370 +v 0.283179 1.938312 1.066370 +v -0.277946 2.085977 1.361725 +v -0.159800 1.554408 2.808386 +v -0.277946 1.997343 1.066370 +v 0.224079 2.056375 2.365453 +v 0.253629 1.672528 3.074026 +v 0.283179 1.524863 2.158844 +v 0.105933 2.085977 3.014995 +v -0.218845 1.997343 2.749355 +v 0.224079 1.524863 2.454000 +v -0.100699 1.554408 2.985479 +v 0.135483 1.997343 1.066370 +v -0.218845 1.672528 1.184631 +v 0.224079 1.938312 3.014995 +f 83 92 100 +f 81 80 82 +f 82 80 86 +f 81 82 87 +f 83 82 88 +f 86 80 89 +f 84 86 89 +f 82 86 90 +f 88 82 90 +f 84 88 90 +f 82 83 91 +f 83 79 92 +f 79 85 92 +f 92 85 93 +f 81 87 93 +f 87 92 93 +f 79 83 94 +f 83 88 94 +f 94 88 95 +f 84 79 95 +f 88 84 95 +f 79 94 95 +f 80 81 96 +f 93 85 96 +f 81 93 96 +f 79 84 97 +f 85 79 97 +f 84 89 97 +f 89 80 97 +f 80 96 97 +f 96 85 97 +f 87 82 98 +f 82 91 98 +f 91 87 98 +f 86 84 99 +f 90 86 99 +f 84 90 99 +f 91 83 100 +f 87 91 100 +f 92 87 100 +o convex_3 +v 0.194575 1.997355 -1.178470 +v -0.248410 1.406720 -1.650996 +v -0.218845 1.406720 -1.650996 +v -0.307479 1.997355 -3.009372 +v 0.253643 1.436276 -2.979769 +v -0.218845 2.115510 -1.119265 +v 0.312712 1.554431 -1.119265 +v 0.194575 1.938312 -3.009372 +v -0.159777 1.465832 -3.009372 +v -0.248410 1.406720 -1.119265 +v 0.283147 1.967799 -1.119265 +v -0.218845 1.524875 -3.009372 +v -0.159777 2.115510 -1.207887 +v -0.159777 1.406720 -1.119265 +v -0.307479 1.997355 -2.625282 +v -0.307479 1.879200 -3.009372 +v 0.283147 1.938312 -1.444150 +v -0.248410 1.761115 -1.119265 +v 0.312712 1.613473 -1.444150 +v 0.224079 1.761115 -3.009372 +v -0.248410 1.997355 -3.009372 +v 0.253643 1.436276 -2.861545 +f 107 114 122 +f 103 102 105 +f 105 102 109 +f 104 108 109 +f 102 103 110 +f 107 106 110 +f 106 107 111 +f 108 101 111 +f 109 102 112 +f 104 109 112 +f 104 106 113 +f 101 108 113 +f 111 101 113 +f 106 111 113 +f 103 105 114 +f 110 103 114 +f 107 110 114 +f 106 104 115 +f 110 115 116 +f 102 110 116 +f 112 102 116 +f 104 112 116 +f 115 104 116 +f 108 111 117 +f 110 106 118 +f 106 115 118 +f 115 110 118 +f 107 105 119 +f 111 107 119 +f 117 111 119 +f 117 119 120 +f 105 109 120 +f 109 108 120 +f 108 117 120 +f 119 105 120 +f 108 104 121 +f 104 113 121 +f 113 108 121 +f 105 107 122 +f 114 105 122 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/544/544.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/544/544.urdf new file mode 100644 index 000000000..748cf91d1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/544/544.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/545/545.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/545/545.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/545/545.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/545/545.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/545/545.obj new file mode 100644 index 000000000..76927b647 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/545/545.obj @@ -0,0 +1,645 @@ +o convex_0 +v 2.661443 -0.070385 -2.798695 +v -2.824384 -2.233760 -3.301041 +v -2.824384 -2.156366 -3.301041 +v -3.095357 -2.156366 -1.253487 +v 2.970778 -2.272350 -1.214879 +v -3.056386 -0.109190 -1.253487 +v 3.125446 -2.233760 -3.262214 +v -2.979052 -0.224958 -3.184997 +v 3.086474 -0.147564 -1.137443 +v 2.931807 -0.070385 -3.262214 +v -0.313168 -1.383717 -1.060007 +v -2.979052 -2.272350 -3.262214 +v -0.274196 -1.113807 -3.301041 +v -0.390501 -0.108974 -1.176051 +v -3.018023 -0.186153 -2.837084 +v -0.235834 -0.920429 -1.060007 +v 3.009140 -1.963419 -1.176051 +v 0.226951 -2.233545 -1.214659 +v 0.265922 -0.070385 -2.412174 +v 3.009140 -2.272350 -2.296349 +v 0.343256 -1.460895 -1.060007 +v 0.961317 -1.770257 -3.301041 +v 1.231681 -0.108974 -3.262214 +v -3.095357 -1.770041 -1.639789 +v 2.970778 -0.108974 -3.146170 +v -3.056386 -0.109190 -1.639789 +v -2.283657 -0.418120 -3.223605 +v 3.048112 -1.036197 -1.137443 +v -2.979052 -2.195171 -1.678397 +v 2.198049 -2.272350 -1.214879 +v 3.048112 -0.108974 -1.871658 +v -3.095357 -0.804445 -1.253487 +v 2.352717 -0.070385 -3.262214 +v 3.086474 -0.456710 -1.137443 +v 1.425320 -0.147564 -1.137443 +v -1.858626 -2.272350 -3.262214 +v -3.018023 -2.233760 -2.837084 +v -2.322019 -0.186153 -3.146389 +v -3.018023 -0.456710 -2.953128 +v -2.901718 -2.272350 -3.146389 +v 3.086474 -0.147564 -1.369312 +v 3.125446 -2.117777 -3.030345 +v -2.167961 -0.109190 -1.214879 +v 3.125446 -2.156366 -3.262214 +v -0.351530 -1.228928 -1.060007 +v -2.979052 -1.460895 -3.262214 +v 3.009140 -2.272350 -1.446528 +v 0.226951 -0.959234 -1.060007 +v -1.974322 -2.195171 -1.292095 +f 40 30 49 +f 3 2 12 +f 2 3 13 +f 1 10 19 +f 14 1 19 +f 5 12 20 +f 11 4 21 +f 16 11 21 +f 5 17 21 +f 4 18 21 +f 7 2 22 +f 2 13 22 +f 13 10 22 +f 6 19 26 +f 13 3 27 +f 8 23 27 +f 23 13 27 +f 21 17 28 +f 4 12 29 +f 12 5 30 +f 5 21 30 +f 21 18 30 +f 10 1 31 +f 1 14 31 +f 14 9 31 +f 25 10 31 +f 24 4 32 +f 6 26 32 +f 26 15 32 +f 10 13 33 +f 19 10 33 +f 13 23 33 +f 9 21 34 +f 28 17 34 +f 21 28 34 +f 9 14 35 +f 16 9 35 +f 14 16 35 +f 2 7 36 +f 12 2 36 +f 7 20 36 +f 20 12 36 +f 12 4 37 +f 4 24 37 +f 8 15 38 +f 23 8 38 +f 26 19 38 +f 15 26 38 +f 19 33 38 +f 33 23 38 +f 15 8 39 +f 24 32 39 +f 32 15 39 +f 12 37 39 +f 37 24 39 +f 29 12 40 +f 12 30 40 +f 31 9 41 +f 25 31 41 +f 9 34 42 +f 34 17 42 +f 41 9 42 +f 6 16 43 +f 16 14 43 +f 14 19 43 +f 19 6 43 +f 7 22 44 +f 22 10 44 +f 10 25 44 +f 25 41 44 +f 42 7 44 +f 41 42 44 +f 4 11 45 +f 16 6 45 +f 11 16 45 +f 32 4 45 +f 6 32 45 +f 3 12 46 +f 27 3 46 +f 8 27 46 +f 39 8 46 +f 12 39 46 +f 17 5 47 +f 5 20 47 +f 20 7 47 +f 7 42 47 +f 42 17 47 +f 9 16 48 +f 16 21 48 +f 21 9 48 +f 18 4 49 +f 4 29 49 +f 30 18 49 +f 29 40 49 +o convex_1 +v -0.313292 1.436733 0.137485 +v -0.351984 0.238939 -0.480263 +v 0.266059 0.238939 -0.480263 +v -0.467831 1.243510 -1.330477 +v 0.613941 1.282084 0.678727 +v -0.545214 0.238939 0.678727 +v 0.459176 1.243510 -1.252988 +v 0.575250 0.316322 -1.252988 +v 0.459289 0.316322 0.678727 +v -0.467831 1.359350 0.678727 +v -0.429027 0.316322 -1.252988 +v 0.227367 1.436733 -0.441518 +v 0.343441 1.436733 -0.055844 +v 0.343441 0.238939 0.098741 +v -0.274714 1.436733 -0.441518 +v -0.506523 1.166127 0.639589 +v -0.467831 0.277630 -0.905271 +v 0.420597 1.282084 -1.252988 +v 0.613941 1.127553 0.678727 +v -0.467831 0.972904 -1.330477 +v -0.081484 1.243510 -1.330477 +v -0.467831 1.282084 -1.252988 +v 0.575250 0.509545 -1.175892 +v -0.390562 0.277630 -1.137148 +v 0.575250 0.316322 -0.982563 +v -0.545214 0.238939 0.446654 +v -0.158753 0.238939 0.678727 +v -0.429253 1.398042 0.485201 +v 0.536445 1.282084 -0.325875 +v -0.545214 0.470853 0.639589 +f 53 75 79 +f 51 52 55 +f 54 55 58 +f 55 54 59 +f 61 50 62 +f 55 52 63 +f 52 57 63 +f 50 61 64 +f 55 59 65 +f 61 62 67 +f 64 61 67 +f 57 54 68 +f 54 58 68 +f 57 60 69 +f 60 66 69 +f 56 57 70 +f 53 67 70 +f 67 56 70 +f 69 53 70 +f 57 69 70 +f 65 59 71 +f 67 53 71 +f 64 67 71 +f 54 57 72 +f 57 56 72 +f 52 51 73 +f 57 52 73 +f 60 57 73 +f 51 66 73 +f 66 60 73 +f 63 57 74 +f 58 63 74 +f 57 68 74 +f 68 58 74 +f 51 55 75 +f 66 51 75 +f 53 69 75 +f 69 66 75 +f 58 55 76 +f 55 63 76 +f 63 58 76 +f 59 54 77 +f 54 62 77 +f 62 50 77 +f 50 64 77 +f 71 59 77 +f 64 71 77 +f 62 54 78 +f 56 67 78 +f 67 62 78 +f 54 72 78 +f 72 56 78 +f 55 65 79 +f 71 53 79 +f 65 71 79 +f 75 55 79 +o convex_2 +v -0.081371 0.277683 2.881123 +v 0.613941 1.359403 4.851389 +v 0.188887 1.359403 4.851389 +v 0.459387 1.398095 2.881123 +v -0.506546 1.320594 2.958604 +v -0.506546 0.432215 4.851389 +v 0.536604 0.200300 4.696820 +v 0.497995 0.200300 2.881123 +v -0.622491 1.320594 4.890130 +v -0.467937 0.354949 2.881123 +v -0.197316 0.316258 4.812845 +v 0.536604 0.354949 3.035889 +v -0.390600 1.359403 2.881123 +v -0.506546 0.470789 3.113173 +v 0.150279 1.398095 3.345027 +v 0.613941 1.088915 4.426422 +v 0.613941 1.166180 4.851389 +v -0.622491 1.204872 4.696820 +v 0.536604 1.398095 3.654166 +v 0.420658 0.200300 4.233309 +v -0.467937 0.354949 4.039999 +v 0.072941 1.282138 4.890130 +v 0.536604 0.200300 3.731450 +v 0.497995 0.934266 2.881123 +f 98 95 103 +f 80 83 87 +f 81 82 88 +f 83 80 89 +f 84 88 92 +f 83 89 92 +f 89 84 92 +f 89 85 93 +f 84 89 93 +f 88 82 94 +f 83 92 94 +f 92 88 94 +f 85 90 96 +f 90 86 96 +f 95 81 96 +f 86 95 96 +f 88 84 97 +f 85 88 97 +f 84 93 97 +f 93 85 97 +f 82 81 98 +f 94 82 98 +f 83 94 98 +f 81 95 98 +f 80 87 99 +f 87 86 99 +f 86 90 99 +f 99 90 100 +f 85 89 100 +f 89 80 100 +f 90 85 100 +f 80 99 100 +f 81 88 101 +f 88 85 101 +f 96 81 101 +f 85 96 101 +f 86 87 102 +f 87 91 102 +f 95 86 102 +f 91 95 102 +f 87 83 103 +f 91 87 103 +f 95 91 103 +f 83 98 103 +o convex_3 +v -0.892905 -1.305884 0.717744 +v 0.459209 1.397573 2.880907 +v 0.111403 1.397573 2.880907 +v -0.815523 3.793275 0.678942 +v 1.000262 -2.117996 0.678727 +v -1.047462 -2.233329 2.726565 +v 1.000262 3.870363 0.794915 +v -1.086154 3.755030 2.726565 +v 0.961571 -2.194487 2.880907 +v 1.038954 3.832118 2.687764 +v -1.086154 -2.195084 0.794915 +v -1.047462 2.672811 0.678727 +v -0.467926 0.355391 2.880907 +v 0.613766 1.281642 0.678942 +v -1.008771 3.754432 0.678942 +v 1.038954 1.707120 2.765151 +v 1.038954 3.870363 1.722262 +v -1.008771 3.522571 2.764935 +v -0.506617 -1.344726 0.678942 +v -0.274469 -2.194487 0.756329 +v 1.000262 -1.228796 2.842322 +v -0.235986 -2.233329 2.803521 +v -1.086154 -2.117399 1.413146 +v 0.459209 3.792677 2.726349 +v -1.086154 -1.035179 0.756114 +v 0.961571 -2.194487 2.146703 +v -0.545100 3.793275 2.726349 +v -0.506617 3.793275 0.678942 +v -1.008771 -2.233329 1.606290 +v 1.000262 -0.610299 0.678727 +v 0.729632 -2.155644 0.678942 +v 0.652457 3.870363 0.949473 +v -0.467926 1.319887 2.880907 +v -1.047462 3.754432 1.104031 +v -1.008771 -2.117399 0.756329 +v 1.038954 3.368395 2.726349 +v -0.931389 -1.730764 2.764935 +v 0.768323 -2.194487 2.880907 +v 0.961571 -1.731361 2.880907 +v 0.652457 3.754432 0.756329 +v -1.086154 3.136533 2.726565 +v 0.343343 3.831520 2.687548 +v -1.086154 3.716187 2.571792 +v -1.008771 1.551749 2.764935 +v 0.382034 -2.155644 0.678942 +v 1.000262 2.749898 0.756114 +v -1.047462 2.092559 0.678727 +v 1.000262 -2.117996 0.910672 +v 0.961571 3.561414 2.726349 +f 139 113 152 +f 105 106 112 +f 112 106 116 +f 107 115 118 +f 113 119 120 +f 119 108 120 +f 106 105 121 +f 111 114 126 +f 114 109 126 +f 121 105 127 +f 114 111 128 +f 108 112 129 +f 112 125 129 +f 107 111 130 +f 111 121 130 +f 127 113 130 +f 121 127 130 +f 107 110 131 +f 115 107 131 +f 109 114 132 +f 114 123 132 +f 125 109 132 +f 123 129 132 +f 129 125 132 +f 108 115 133 +f 120 108 133 +f 115 131 133 +f 131 117 133 +f 108 129 134 +f 129 123 134 +f 110 107 135 +f 120 110 135 +f 107 130 135 +f 116 106 136 +f 106 121 136 +f 121 116 136 +f 111 107 137 +f 107 118 137 +f 118 115 137 +f 104 122 138 +f 114 128 138 +f 119 113 139 +f 109 125 140 +f 125 116 140 +f 112 116 141 +f 116 125 141 +f 125 112 141 +f 105 112 142 +f 112 124 142 +f 124 119 142 +f 139 105 142 +f 119 139 142 +f 131 110 143 +f 117 131 143 +f 121 111 144 +f 126 109 144 +f 111 126 144 +f 113 120 145 +f 130 113 145 +f 120 135 145 +f 135 130 145 +f 128 111 146 +f 115 128 146 +f 111 137 146 +f 137 115 146 +f 116 121 147 +f 109 140 147 +f 140 116 147 +f 144 109 147 +f 121 144 147 +f 122 108 148 +f 123 114 148 +f 108 134 148 +f 134 123 148 +f 138 122 148 +f 114 138 148 +f 110 120 149 +f 133 117 149 +f 120 133 149 +f 143 110 149 +f 117 143 149 +f 115 108 150 +f 122 104 150 +f 108 122 150 +f 128 115 150 +f 104 138 150 +f 138 128 150 +f 112 108 151 +f 108 119 151 +f 124 112 151 +f 119 124 151 +f 127 105 152 +f 113 127 152 +f 105 139 152 +o convex_4 +v 0.034333 3.677321 0.060510 +v -0.313383 2.634959 -0.441775 +v -0.313383 2.634959 -0.403122 +v 0.343472 1.436733 -0.094104 +v 0.304829 3.948237 -0.403122 +v -0.236099 1.436733 -0.016850 +v 0.188902 1.436733 -0.480429 +v -0.236099 3.870552 -0.016850 +v -0.313383 3.754761 -0.403122 +v -0.274741 1.436733 -0.441775 +v 0.227545 3.793604 0.021804 +v 0.304829 1.784843 -0.016850 +v -0.197456 3.909395 0.060510 +v 0.227545 2.093618 -0.480429 +v -0.313383 3.715918 -0.287214 +v 0.227545 3.407143 -0.441775 +v -0.236099 2.364289 0.021804 +v 0.227545 1.514173 -0.480429 +v 0.266187 3.059279 0.021804 +v -0.313383 3.059279 -0.441775 +v -0.042887 1.436733 -0.480429 +v -0.274741 1.436733 -0.209959 +f 158 167 174 +f 156 158 159 +f 154 155 161 +f 155 154 162 +f 159 158 162 +f 158 156 164 +f 157 161 165 +f 161 160 165 +f 153 163 165 +f 163 157 165 +f 161 155 167 +f 160 161 167 +f 161 157 168 +f 157 166 168 +f 164 153 169 +f 158 164 169 +f 153 165 169 +f 165 160 169 +f 167 158 169 +f 160 167 169 +f 157 156 170 +f 156 159 170 +f 166 157 170 +f 159 166 170 +f 156 157 171 +f 163 153 171 +f 157 163 171 +f 153 164 171 +f 164 156 171 +f 154 161 172 +f 161 168 172 +f 168 166 172 +f 162 154 173 +f 159 162 173 +f 166 159 173 +f 154 172 173 +f 172 166 173 +f 155 162 174 +f 162 158 174 +f 167 155 174 +o convex_5 +v 0.072979 -1.499795 0.021868 +v -0.352022 -2.156540 -0.094059 +v -0.352022 -2.156540 -0.016774 +v 0.304833 -2.272490 -0.403069 +v -0.120104 -1.499795 -0.519060 +v -0.236031 -2.272490 -0.557702 +v 0.266191 -1.499795 -0.596344 +v 0.188906 -2.156540 0.021868 +v 0.304833 -1.499795 -0.055416 +v -0.236031 -1.499795 0.060510 +v 0.304833 -2.272490 -0.557702 +v -0.197388 -1.499795 -0.480418 +v -0.081461 -1.924717 -0.596344 +v -0.352022 -1.963367 0.021868 +f 184 186 188 +f 177 176 180 +f 178 177 180 +f 179 175 181 +f 177 178 182 +f 181 175 183 +f 175 182 183 +f 182 178 183 +f 175 179 184 +f 182 175 184 +f 178 180 185 +f 183 178 185 +f 181 183 185 +f 180 176 186 +f 184 179 186 +f 179 181 187 +f 185 180 187 +f 181 185 187 +f 180 186 187 +f 186 179 187 +f 176 177 188 +f 177 182 188 +f 182 184 188 +f 186 176 188 +o convex_6 +v -0.352048 -0.417916 0.678723 +v -0.545214 0.045727 0.640088 +v -0.545214 0.045727 0.678723 +v -0.313406 0.238939 0.640088 +v -0.390691 -0.417916 0.640088 +f 190 192 193 +f 190 191 192 +f 191 189 192 +f 192 189 193 +f 189 191 193 +f 191 190 193 +o convex_7 +v -0.313353 -1.383815 -1.060007 +v 0.343472 -1.190622 0.678727 +v 0.304803 -0.843004 -0.403046 +v -0.274684 -0.958920 0.678727 +v 0.343472 -1.461092 -1.060007 +v -0.197415 -1.499731 0.678727 +v -0.236084 -0.920281 -1.060007 +v -0.352022 -0.843004 -0.055674 +v 0.227533 -0.881643 0.678727 +v 0.343472 -1.383815 0.639752 +v 0.227533 -0.920281 -1.060007 +v -0.197415 -1.499731 -0.480315 +v 0.304803 -1.499731 -0.055674 +v -0.352022 -1.074835 0.060231 +v -0.352022 -0.843004 -0.480315 +v 0.343472 -1.113474 -0.943932 +v -0.352022 -1.306538 -1.060007 +v -0.236084 -1.422454 0.678727 +v 0.227533 -0.843004 0.408113 +f 201 202 212 +f 195 197 199 +f 198 194 200 +f 195 196 202 +f 197 195 202 +f 201 197 202 +f 198 195 203 +f 195 199 203 +f 198 200 204 +f 194 198 205 +f 199 194 205 +f 199 205 206 +f 198 203 206 +f 203 199 206 +f 205 198 206 +f 197 201 207 +f 207 201 208 +f 201 196 208 +f 196 204 208 +f 204 200 208 +f 196 195 209 +f 195 198 209 +f 204 196 209 +f 198 204 209 +f 200 194 210 +f 207 208 210 +f 208 200 210 +f 199 197 211 +f 194 199 211 +f 197 207 211 +f 210 194 211 +f 207 210 211 +f 196 201 212 +f 202 196 212 +o convex_8 +v 0.188865 0.238939 0.099119 +v -0.352022 -0.842864 -0.480429 +v 0.304803 -0.842864 -0.480429 +v 0.227533 -0.842864 0.137787 +v 0.266134 0.238939 -0.480429 +v -0.313285 0.238939 -0.016827 +v -0.352022 -0.842864 -0.055435 +v -0.236084 0.238939 -0.441700 +v 0.343472 0.238939 0.099119 +v 0.343472 -0.263418 -0.209868 +v -0.158746 0.200182 -0.480429 +v -0.352022 -0.417810 -0.325814 +f 218 220 224 +f 214 215 216 +f 215 214 217 +f 216 213 218 +f 213 217 218 +f 214 216 219 +f 216 218 219 +f 218 217 220 +f 213 216 221 +f 217 213 221 +f 217 221 222 +f 216 215 222 +f 215 217 222 +f 221 216 222 +f 217 214 223 +f 214 220 223 +f 220 217 223 +f 214 219 224 +f 219 218 224 +f 220 214 224 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/545/545.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/545/545.urdf new file mode 100644 index 000000000..aef184e90 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/545/545.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/546/546.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/546/546.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/546/546.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/546/546.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/546/546.obj new file mode 100644 index 000000000..4cb03a5d0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/546/546.obj @@ -0,0 +1,1857 @@ +o convex_0 +v -0.969205 -2.581134 -0.760417 +v -1.080397 -3.982029 -1.071648 +v -1.080397 -3.803957 -1.071648 +v -1.013678 -3.892919 1.040583 +v -0.969205 -3.982029 -1.071648 +v -0.969216 -3.982029 1.040583 +v -0.991463 -3.314887 1.018455 +v -0.991463 -2.469821 -1.027186 +v -0.969216 -3.314887 1.018455 +v -1.080397 -3.982029 -0.738083 +v -0.969205 -2.469821 -1.027186 +v -1.013678 -3.982029 1.040583 +f 4 10 12 +f 2 3 5 +f 2 5 6 +f 5 1 6 +f 3 7 8 +f 8 7 9 +f 4 6 9 +f 6 1 9 +f 7 4 9 +f 3 2 10 +f 2 6 10 +f 7 3 10 +f 4 7 10 +f 1 5 11 +f 5 3 11 +f 3 8 11 +f 8 9 11 +f 9 1 11 +f 6 4 12 +f 10 6 12 +o convex_1 +v 0.587371 2.244368 0.996313 +v 0.276143 -0.556991 0.951812 +v 0.431898 -0.556991 0.885132 +v 0.854340 -0.556991 0.951812 +v 0.854340 2.822373 0.951845 +v 0.276143 2.822373 0.974057 +v 0.276143 -0.556991 0.996313 +v 0.854340 1.799697 0.929622 +v 0.454084 2.822373 0.951845 +v 0.276143 2.822373 0.996313 +v 0.854340 2.822373 0.974057 +v 0.854340 -0.556991 0.929622 +v 0.409656 -0.401489 0.996313 +v 0.854340 1.666693 0.974057 +v 0.476327 -0.423656 0.885132 +v 0.276143 1.510860 0.951845 +f 14 18 28 +f 14 15 16 +f 14 16 19 +f 18 14 19 +f 17 16 20 +f 17 20 21 +f 15 18 21 +f 18 17 21 +f 17 18 22 +f 19 13 22 +f 18 19 22 +f 16 17 23 +f 22 13 23 +f 17 22 23 +f 16 15 24 +f 20 16 24 +f 13 19 25 +f 19 16 25 +f 23 13 26 +f 16 23 26 +f 13 25 26 +f 25 16 26 +f 21 20 27 +f 15 21 27 +f 24 15 27 +f 20 24 27 +f 15 14 28 +f 18 15 28 +o convex_2 +v -0.146397 -0.624146 -1.894992 +v -0.213088 -1.179942 -1.472289 +v -0.190876 -1.179942 -1.472289 +v -0.257567 -1.113235 -3.140022 +v -0.213088 -0.624146 -1.427954 +v -0.146397 -0.646345 -3.140022 +v -0.257567 -0.646345 -3.140022 +v -0.168642 -1.179942 -1.071855 +v -0.146397 -0.624146 -1.071855 +v -0.213088 -1.135434 -1.138864 +v -0.213088 -1.135434 -2.605975 +v -0.257567 -0.690798 -2.672984 +v -0.257567 -1.135434 -2.583909 +v -0.146397 -0.690798 -3.140022 +v -0.190876 -0.624146 -1.071855 +f 38 36 43 +f 33 29 35 +f 29 34 35 +f 34 32 35 +f 30 31 36 +f 29 33 37 +f 34 29 37 +f 30 36 38 +f 31 30 39 +f 36 31 39 +f 33 35 40 +f 35 32 40 +f 38 33 40 +f 38 40 41 +f 30 38 41 +f 39 30 41 +f 32 39 41 +f 40 32 41 +f 32 34 42 +f 34 37 42 +f 37 36 42 +f 39 32 42 +f 36 39 42 +f 36 37 43 +f 37 33 43 +f 33 38 43 +o convex_3 +v -0.124096 -0.601834 -1.094529 +v 0.298364 -0.712956 -2.806395 +v 0.298364 -0.735229 -2.806395 +v -0.146386 -0.690717 -3.140022 +v 0.187176 -0.735229 -1.071855 +v 0.187176 -0.557322 -1.094529 +v -0.146386 -0.646275 -3.117551 +v 0.298364 -0.690700 -3.140022 +v -0.146386 -0.646275 -1.071855 +v 0.276074 -0.735229 -3.140022 +v 0.209379 -0.690700 -1.071855 +v -0.146386 -0.668496 -1.627968 +f 48 52 55 +f 44 49 50 +f 50 49 51 +f 45 46 51 +f 49 45 51 +f 47 50 51 +f 49 44 52 +f 50 47 52 +f 44 50 52 +f 48 47 53 +f 46 48 53 +f 51 46 53 +f 47 51 53 +f 46 45 54 +f 48 46 54 +f 45 49 54 +f 52 48 54 +f 49 52 54 +f 47 48 55 +f 52 47 55 +o convex_4 +v 0.276143 -0.735279 -3.140022 +v 0.276143 -1.246611 -1.650237 +v 0.298381 -1.246611 -1.650237 +v 0.187189 -0.735279 -1.071855 +v 0.320619 -0.779784 -3.073013 +v 0.320619 -1.202156 -2.984140 +v 0.298381 -1.202156 -1.249803 +v 0.365096 -1.202156 -2.984140 +v 0.187189 -0.868744 -1.094326 +v 0.231666 -0.735279 -1.383214 +v 0.253939 -1.246611 -1.071855 +v 0.209428 -0.757556 -1.939530 +v 0.231666 -0.824239 -1.071855 +f 59 66 68 +f 58 57 61 +f 56 60 63 +f 58 61 63 +f 61 56 63 +f 62 58 63 +f 60 62 63 +f 61 57 64 +f 56 59 65 +f 60 56 65 +f 57 58 66 +f 58 62 66 +f 59 64 66 +f 64 57 66 +f 59 56 67 +f 56 61 67 +f 64 59 67 +f 61 64 67 +f 62 60 68 +f 65 59 68 +f 60 65 68 +f 66 62 68 +o convex_5 +v -0.791252 -2.447315 -1.071842 +v 0.431757 -1.246835 -1.027398 +v 0.431757 -1.647243 -0.982923 +v -0.880252 -1.246835 -0.960663 +v 0.431757 -2.514050 -0.982923 +v -0.124203 -1.736181 -1.116316 +v -0.880252 -2.491722 -1.005153 +v -0.590906 -2.514050 -1.116316 +v 0.342757 -1.246835 -1.071826 +v -0.880252 -1.246835 -0.982938 +v 0.431757 -2.514050 -1.005168 +v -0.146549 -1.246835 -0.960663 +v -0.880252 -1.824996 -0.960663 +v -0.479945 -1.980420 -1.116316 +v -0.457728 -2.491722 -1.116316 +v -0.880252 -2.514050 -1.049597 +v 0.076014 -1.424836 -1.094071 +v 0.053797 -2.514050 -0.982923 +f 75 84 86 +f 70 71 73 +f 72 70 77 +f 75 72 78 +f 72 77 78 +f 70 73 79 +f 73 76 79 +f 77 70 79 +f 74 77 79 +f 71 70 80 +f 70 72 80 +f 73 71 80 +f 73 80 81 +f 72 75 81 +f 80 72 81 +f 76 69 82 +f 74 76 82 +f 69 78 82 +f 76 74 83 +f 79 76 83 +f 74 79 83 +f 76 73 84 +f 69 76 84 +f 78 69 84 +f 75 78 84 +f 77 74 85 +f 78 77 85 +f 74 82 85 +f 82 78 85 +f 73 81 86 +f 81 75 86 +f 84 73 86 +o convex_6 +v -1.013682 -0.023327 -0.938401 +v -0.902490 -0.557117 0.996147 +v -0.946967 -0.557117 0.996147 +v -1.013665 2.044422 0.929302 +v -1.035903 2.266950 -0.938401 +v -0.924764 -1.246711 -0.515550 +v -1.080397 1.888619 -0.827054 +v -0.946967 -1.246711 0.973613 +v -0.969240 1.999711 0.907146 +v -0.969205 -1.179644 -0.426548 +v -0.969205 -0.000971 -0.938401 +v -0.902490 -1.246711 0.996147 +v -0.969205 -0.979472 0.506829 +v -1.080397 2.088446 -0.938401 +v -0.991461 -0.557117 -0.938401 +v -0.924764 -1.157288 -0.515550 +v -1.013665 1.932987 0.929302 +v -1.058124 2.266950 -0.693742 +f 100 90 104 +f 89 88 90 +f 90 88 95 +f 93 87 96 +f 92 94 96 +f 87 91 97 +f 91 95 97 +f 88 89 98 +f 92 88 98 +f 89 94 98 +f 94 92 98 +f 94 93 99 +f 93 96 99 +f 96 94 99 +f 91 87 100 +f 87 93 100 +f 93 90 100 +f 96 87 101 +f 92 96 101 +f 87 97 101 +f 97 92 101 +f 88 92 102 +f 95 88 102 +f 92 97 102 +f 97 95 102 +f 89 90 103 +f 90 93 103 +f 94 89 103 +f 93 94 103 +f 90 95 104 +f 95 91 104 +f 91 100 104 +o convex_7 +v -0.791177 4.157210 -0.693768 +v -0.279879 4.112727 0.929598 +v -0.324439 4.112727 0.929598 +v -0.902323 4.046019 -0.693768 +v -0.279879 4.068265 -1.116331 +v -0.924603 4.046019 0.929598 +v -0.279879 4.157210 -0.649108 +v -0.924603 4.157199 -1.116331 +v -0.302222 4.068265 0.929598 +v -0.924603 4.090502 0.840479 +v -0.924603 4.068265 -1.116331 +v -0.346655 4.134953 -1.116331 +v -0.302222 4.157210 -0.137626 +v -0.791177 4.046019 0.929598 +f 113 110 118 +f 106 107 110 +f 106 109 111 +f 105 111 112 +f 109 106 113 +f 106 110 113 +f 110 107 114 +f 105 112 114 +f 112 110 114 +f 109 108 115 +f 108 110 115 +f 112 109 115 +f 110 112 115 +f 111 109 116 +f 109 112 116 +f 112 111 116 +f 107 106 117 +f 111 105 117 +f 106 111 117 +f 105 114 117 +f 114 107 117 +f 108 109 118 +f 110 108 118 +f 109 113 118 +o convex_8 +v -0.969192 -3.225803 0.328944 +v -0.924737 -1.246711 0.907359 +v -0.946958 -1.246711 0.907359 +v -0.924737 -1.246711 -0.560372 +v -0.902490 -2.158721 0.907359 +v -0.902490 -1.891900 -0.560372 +v -0.969192 -2.380600 -0.560372 +v -0.946958 -3.314878 0.907359 +v -0.946958 -2.758765 -0.560372 +v -0.969192 -2.714430 0.907359 +v -0.902490 -1.313720 0.907359 +v -0.946958 -1.246711 -0.560372 +v -0.946958 -3.225803 0.328944 +v -0.969192 -3.314878 0.907359 +v -0.969192 -2.758765 -0.560372 +f 125 127 133 +f 121 120 122 +f 120 121 123 +f 122 124 125 +f 123 121 126 +f 125 124 127 +f 125 119 128 +f 121 125 128 +f 126 121 128 +f 122 120 129 +f 120 123 129 +f 123 124 129 +f 124 122 129 +f 121 122 130 +f 125 121 130 +f 122 125 130 +f 124 123 131 +f 126 119 131 +f 123 126 131 +f 127 124 131 +f 119 127 131 +f 119 126 132 +f 128 119 132 +f 126 128 132 +f 119 125 133 +f 127 119 133 +o convex_9 +v -0.902490 2.199643 1.063028 +v -1.013682 1.977329 0.929598 +v -1.013682 1.977329 0.951853 +v -0.835775 -0.557322 1.018529 +v -0.835775 4.068257 0.929598 +v -0.946950 -0.557322 0.929598 +v -0.991409 2.466782 1.063028 +v -0.835775 4.068257 1.040785 +v -0.924729 4.068257 0.929598 +v -0.969171 -0.067869 1.018529 +v -0.835775 -0.557322 0.974083 +v -0.924729 4.068257 1.040785 +v -0.858031 1.644990 1.063028 +v -0.991409 1.888584 1.063028 +f 137 146 147 +f 135 138 139 +f 137 138 141 +f 140 134 141 +f 135 136 142 +f 138 135 142 +f 141 138 142 +f 136 135 143 +f 135 139 143 +f 139 137 143 +f 138 137 144 +f 139 138 144 +f 137 139 144 +f 136 140 145 +f 140 141 145 +f 142 136 145 +f 141 142 145 +f 134 140 146 +f 141 134 146 +f 137 141 146 +f 140 136 147 +f 136 143 147 +f 143 137 147 +f 146 140 147 +o convex_10 +v 0.987653 4.112722 -0.071287 +v -0.279816 4.112707 -0.960574 +v -0.279816 4.134952 -0.960574 +v -0.279816 4.112707 -0.048979 +v 1.010000 4.001557 -0.960574 +v 0.965432 4.001557 -0.048979 +v 0.898517 4.068277 -0.960574 +v 0.253988 4.157182 -0.048979 +v -0.257469 4.090492 -0.960574 +v -0.279816 4.157182 -0.115725 +v -0.257469 4.157182 -0.627024 +f 150 157 158 +f 150 149 151 +f 149 150 152 +f 152 148 153 +f 148 152 154 +f 152 150 154 +f 151 153 155 +f 153 148 155 +f 151 149 156 +f 149 152 156 +f 152 153 156 +f 153 151 156 +f 150 151 157 +f 151 155 157 +f 157 155 158 +f 148 154 158 +f 154 150 158 +f 155 148 158 +o convex_11 +v 0.254218 4.112731 0.996295 +v -0.279816 4.112739 -0.048890 +v -0.279816 4.090503 0.395912 +v 0.921016 4.090503 -0.048890 +v 0.921016 4.157204 0.662563 +v 0.987770 4.068257 0.951784 +v -0.190728 4.157204 -0.048890 +v -0.279816 4.068257 1.018551 +v -0.279816 4.112731 0.996295 +v 0.720877 4.157195 0.974040 +v 0.276304 4.157204 -0.048890 +v 0.921016 4.112739 -0.048890 +v 0.987770 4.157195 0.951784 +v 0.587245 4.090503 -0.048890 +f 164 166 172 +f 162 160 165 +f 160 161 166 +f 164 159 166 +f 165 160 167 +f 160 166 167 +f 166 159 167 +f 159 164 168 +f 163 165 168 +f 167 159 168 +f 165 167 168 +f 162 165 169 +f 165 163 169 +f 164 162 170 +f 162 169 170 +f 169 163 170 +f 168 164 171 +f 163 168 171 +f 164 170 171 +f 170 163 171 +f 161 160 172 +f 160 162 172 +f 162 164 172 +f 166 161 172 +o convex_12 +v 0.431705 -3.804123 -0.982812 +v -0.969205 -3.981977 -1.071755 +v -0.969205 -3.981977 -0.560423 +v -0.969205 -3.804123 -1.071755 +v 1.010009 -3.870842 -0.649365 +v 0.987535 -3.804141 -0.649365 +v 0.765125 -3.893059 -1.005135 +v -0.902366 -3.937509 -0.560423 +v 1.010009 -3.804141 -0.982812 +v 0.342779 -3.915275 -0.560423 +v -0.857807 -3.981977 -1.071755 +f 179 182 183 +f 174 175 176 +f 173 176 178 +f 176 175 180 +f 178 176 180 +f 176 173 181 +f 178 177 181 +f 173 178 181 +f 179 176 181 +f 177 179 181 +f 177 178 182 +f 179 177 182 +f 180 175 182 +f 178 180 182 +f 175 174 183 +f 174 176 183 +f 176 179 183 +f 182 175 183 +o convex_13 +v 0.943259 3.156358 0.974074 +v 0.720910 2.822413 0.951836 +v 0.854362 -0.556486 0.929598 +v 0.987722 4.068135 0.885121 +v 1.032247 -2.179541 0.974074 +v 1.009969 -2.647591 0.885121 +v 0.720910 4.068135 0.974074 +v 0.743218 4.068135 0.929598 +v 0.987722 4.068135 0.951836 +v 0.876609 -0.556486 0.974074 +v 0.921073 1.332147 0.885121 +v 1.032247 -1.246071 0.885121 +v 0.987722 -2.624583 0.951836 +f 188 193 196 +f 188 184 190 +f 186 185 191 +f 189 186 191 +f 185 190 191 +f 190 187 191 +f 184 188 192 +f 187 190 192 +f 190 184 192 +f 185 186 193 +f 190 185 193 +f 188 190 193 +f 187 189 194 +f 189 191 194 +f 191 187 194 +f 188 189 195 +f 189 187 195 +f 192 188 195 +f 187 192 195 +f 186 189 196 +f 189 188 196 +f 193 186 196 +o convex_14 +v 0.342858 -1.024341 2.374804 +v 0.320602 -1.224473 2.530666 +v 0.342858 -1.224473 2.530666 +v 0.142713 -1.135493 1.040789 +v 0.142713 -0.979851 2.975527 +v 0.342858 -0.979851 1.040789 +v 0.142713 -1.224473 2.953179 +v 0.342858 -1.157738 1.063137 +v 0.298346 -0.979851 2.975527 +v 0.342858 -1.224473 2.953179 +v 0.142713 -1.113248 1.040789 +v 0.142713 -1.224473 2.708497 +f 200 204 208 +f 197 199 202 +f 198 199 203 +f 201 200 203 +f 199 198 204 +f 202 199 204 +f 200 202 204 +f 197 202 205 +f 202 201 205 +f 201 203 205 +f 205 203 206 +f 199 197 206 +f 203 199 206 +f 197 205 206 +f 200 201 207 +f 202 200 207 +f 201 202 207 +f 198 203 208 +f 203 200 208 +f 204 198 208 +o convex_15 +v -0.279816 2.199943 -0.982901 +v -1.080397 1.844158 -0.960685 +v -1.080397 1.844158 -0.938433 +v -0.279816 -0.557322 -1.005127 +v -0.346584 -0.557322 -0.938433 +v -0.991374 -0.557322 -0.982901 +v -0.391017 2.266843 -1.027369 +v -0.991374 -0.557322 -0.938433 +v -1.058141 2.266843 -0.982901 +v -0.413273 -0.023230 -1.027369 +v -0.813485 2.044305 -0.938433 +v -0.279816 -0.445914 -1.027369 +v -1.058141 2.266843 -0.938433 +v -0.279816 2.266843 -1.027369 +v -0.279816 -0.557322 -0.960685 +v -0.479961 2.066420 -0.960685 +f 221 219 224 +f 211 210 214 +f 212 213 214 +f 213 211 216 +f 211 214 216 +f 214 213 216 +f 210 211 217 +f 214 210 217 +f 217 215 218 +f 214 217 218 +f 211 213 219 +f 209 212 220 +f 212 214 220 +f 218 215 220 +f 214 218 220 +f 217 211 221 +f 215 217 221 +f 211 219 221 +f 209 220 222 +f 220 215 222 +f 221 209 222 +f 215 221 222 +f 212 209 223 +f 209 213 223 +f 213 212 223 +f 213 209 224 +f 219 213 224 +f 209 221 224 +o convex_16 +v -0.124115 -0.735209 1.040789 +v 0.209373 -0.601799 2.953288 +v 0.053731 -0.601799 2.953288 +v -0.302015 -0.757454 2.841901 +v 0.209373 -0.735209 1.241287 +v -0.346477 -0.690734 1.263565 +v -0.346477 -0.646304 2.841901 +v 0.209373 -0.690734 1.218822 +v -0.346477 -0.757454 1.041164 +v 0.209373 -0.646304 2.841901 +v -0.257554 -0.624044 2.797158 +v 0.142654 -0.601799 2.819810 +f 230 235 236 +f 226 227 228 +f 228 227 231 +f 229 225 232 +f 226 229 232 +f 225 230 232 +f 225 229 233 +f 229 228 233 +f 230 225 233 +f 228 231 233 +f 231 230 233 +f 226 228 234 +f 228 229 234 +f 229 226 234 +f 231 227 235 +f 230 231 235 +f 227 226 236 +f 226 232 236 +f 232 230 236 +f 235 227 236 +o convex_17 +v -1.013669 2.445000 -1.005116 +v -0.902523 4.068080 -0.693803 +v -0.880287 3.912418 -1.071787 +v -0.880287 2.267126 -0.960613 +v -1.058159 2.311727 -0.693803 +v -0.946978 4.023479 -1.116331 +v -1.058159 2.267126 -0.982823 +v -1.013669 2.267126 -0.693803 +v -0.946978 3.890206 -0.693803 +v -0.880287 2.356151 -1.005116 +v -0.880287 4.068080 -1.116331 +v -1.058159 2.422788 -0.938361 +f 245 242 248 +f 239 238 240 +f 242 237 243 +f 241 243 244 +f 240 238 244 +f 238 241 244 +f 243 240 244 +f 241 238 245 +f 238 242 245 +f 239 240 246 +f 237 242 246 +f 243 237 246 +f 240 243 246 +f 238 239 247 +f 242 238 247 +f 239 246 247 +f 246 242 247 +f 242 243 248 +f 243 241 248 +f 241 245 248 +o convex_18 +v -0.857919 3.890182 -1.071830 +v -0.880134 2.267153 -0.982924 +v -0.880134 2.267153 -0.960678 +v 0.921055 2.200235 -1.071830 +v 0.921055 3.712283 -1.094075 +v -0.880134 3.845570 -1.116305 +v 0.765197 2.200235 -1.094075 +v 0.921055 2.823155 -1.116305 +v -0.279797 4.068080 -1.116305 +v -0.880134 2.334070 -1.005154 +v 0.809627 2.222907 -1.049614 +v -0.813313 2.356194 -0.960678 +v 0.921055 3.712283 -1.116305 +v -0.279797 4.068080 -1.094060 +v 0.075998 2.200235 -1.005154 +v 0.009353 3.111852 -1.116305 +v -0.880134 4.068080 -1.094060 +f 262 257 265 +f 250 251 254 +f 252 255 256 +f 253 252 256 +f 256 254 257 +f 250 254 258 +f 255 250 258 +f 252 253 259 +f 249 251 260 +f 253 256 261 +f 256 257 261 +f 257 253 261 +f 253 257 262 +f 260 253 262 +f 249 260 262 +f 251 250 263 +f 250 255 263 +f 255 252 263 +f 252 259 263 +f 259 253 263 +f 253 260 263 +f 260 251 263 +f 256 255 264 +f 254 256 264 +f 258 254 264 +f 255 258 264 +f 251 249 265 +f 254 251 265 +f 257 254 265 +f 249 262 265 +o convex_19 +v -0.279871 4.112733 0.974092 +v -0.835721 3.467821 1.018531 +v -0.835721 3.467821 1.040789 +v -0.279871 3.467821 0.996295 +v -0.835721 4.068165 0.929598 +v -0.835721 4.068165 1.040789 +v -0.279871 4.090449 1.018531 +v -0.279871 4.068165 0.929598 +v -0.279871 3.467821 1.018531 +f 269 272 274 +f 268 267 269 +f 267 268 270 +f 269 267 270 +f 266 270 271 +f 270 268 271 +f 269 266 272 +f 271 268 272 +f 266 271 272 +f 266 269 273 +f 270 266 273 +f 269 270 273 +f 268 269 274 +f 272 268 274 +o convex_20 +v 1.009972 3.712295 -0.960663 +v 0.720910 -0.557052 -1.049597 +v 0.765430 -0.557052 -1.049597 +v 1.009972 3.712295 -1.116316 +v 1.032217 -0.557052 -0.960678 +v 0.720910 2.199886 -1.071826 +v 0.743185 -0.467620 -1.005168 +v 1.032217 -0.445471 -1.027398 +v 0.765430 1.154699 -1.094087 +v 0.921053 3.712295 -1.116316 +v 0.965512 3.445252 -0.960663 +v 0.987757 2.800838 -1.116316 +v 0.720910 2.199886 -1.049597 +v 0.943267 1.776963 -0.960678 +f 285 281 288 +f 276 277 279 +f 276 279 281 +f 278 275 282 +f 275 279 282 +f 279 277 282 +f 277 276 283 +f 276 280 283 +f 275 278 284 +f 283 280 284 +f 279 275 285 +f 275 284 285 +f 282 277 286 +f 278 282 286 +f 277 283 286 +f 284 278 286 +f 283 284 286 +f 280 276 287 +f 276 281 287 +f 284 280 287 +f 281 285 287 +f 285 284 287 +f 281 279 288 +f 279 285 288 +o convex_21 +v 0.965440 3.734694 -1.138570 +v -0.235248 4.134972 -0.960698 +v 0.142760 4.112679 -0.960698 +v 0.987661 3.712443 -0.960698 +v -0.279816 3.712443 -1.116316 +v 1.010009 4.045966 -1.138570 +v -0.079575 4.112679 -1.138570 +v 1.010009 4.045966 -0.960698 +v -0.279816 4.090469 -0.960698 +v -0.279816 4.112679 -1.116316 +v -0.279816 3.712443 -1.094080 +v 1.010009 3.712443 -1.116316 +f 294 296 300 +f 291 290 292 +f 294 289 295 +f 290 291 295 +f 289 293 295 +f 291 294 295 +f 291 292 296 +f 294 291 296 +f 292 290 297 +f 290 295 298 +f 295 293 298 +f 297 290 298 +f 293 297 298 +f 293 292 299 +f 292 297 299 +f 297 293 299 +f 293 289 300 +f 292 293 300 +f 289 294 300 +f 296 292 300 +o convex_22 +v 0.921066 1.910711 0.039960 +v 0.943311 2.155577 0.884940 +v 0.965556 2.311426 -0.048928 +v 1.032236 -0.557322 -0.226885 +v 0.965545 -0.379289 0.884940 +v 0.987746 -0.045687 -0.960393 +v 0.965556 2.311426 -0.960393 +v 1.009991 -0.334640 0.884940 +v 1.032236 -0.023503 -0.960393 +v 0.943322 2.311426 -0.960393 +v 0.921066 1.332244 0.862718 +v 1.009980 -0.557322 -0.960393 +v 0.921066 2.155577 0.884940 +v 0.943322 1.755143 -0.960393 +v 0.987746 -0.557322 -0.293551 +v 1.009991 -0.557322 0.884940 +v 0.987746 1.799792 -0.938171 +v 0.921055 2.311426 -0.071150 +v 1.032236 -0.557322 -0.960393 +f 312 309 319 +f 303 302 308 +f 302 305 308 +f 306 307 309 +f 303 308 309 +f 308 304 309 +f 303 307 310 +f 307 306 310 +f 306 309 312 +f 302 303 313 +f 305 302 313 +f 311 305 313 +f 310 306 314 +f 311 301 315 +f 305 311 315 +f 312 304 315 +f 306 312 315 +f 301 314 315 +f 314 306 315 +f 304 308 316 +f 308 305 316 +f 315 304 316 +f 305 315 316 +f 307 303 317 +f 303 309 317 +f 309 307 317 +f 303 310 318 +f 301 311 318 +f 313 303 318 +f 311 313 318 +f 314 301 318 +f 310 314 318 +f 309 304 319 +f 304 312 319 +o convex_23 +v 0.720910 0.109890 -1.071837 +v -0.279816 -0.557322 -1.005153 +v -0.279816 -0.557322 -0.982910 +v -0.279816 2.200056 -0.982910 +v 0.720910 -0.557322 -1.027378 +v 0.409310 2.200056 -1.071837 +v -0.168439 -0.557322 -1.049603 +v 0.720910 2.200056 -1.049603 +v -0.279816 2.200056 -1.027378 +v 0.342601 -0.557322 -1.071837 +v -0.146203 2.088854 -0.982910 +v 0.387073 0.176557 -1.005153 +v 0.542727 2.133119 -1.027378 +v 0.720910 2.200056 -1.071837 +v -0.279816 -0.534920 -1.027378 +f 328 326 334 +f 321 322 323 +f 322 321 324 +f 324 321 326 +f 324 320 327 +f 325 323 327 +f 321 323 328 +f 323 325 328 +f 325 326 328 +f 320 324 329 +f 325 320 329 +f 324 326 329 +f 326 325 329 +f 323 322 330 +f 322 324 331 +f 330 322 331 +f 331 324 332 +f 324 327 332 +f 327 323 332 +f 323 330 332 +f 330 331 332 +f 320 325 333 +f 327 320 333 +f 325 327 333 +f 326 321 334 +f 321 328 334 +o convex_24 +v 0.965523 2.289567 -0.048890 +v 0.987757 4.157210 0.885121 +v 0.987757 4.157210 0.729330 +v 0.921055 4.157210 0.885121 +v 0.921055 2.155758 0.885121 +v 0.921055 4.112542 -0.048890 +v 0.987757 4.112542 -0.048890 +v 0.921055 2.155758 -0.048890 +v 0.943302 2.155758 0.885121 +v 0.987757 3.178427 -0.026582 +v 0.987757 3.823570 0.840505 +f 335 344 345 +f 336 337 338 +f 336 338 339 +f 338 337 340 +f 339 338 340 +f 337 336 341 +f 335 340 341 +f 340 337 341 +f 340 335 342 +f 339 340 342 +f 336 339 343 +f 342 335 343 +f 339 342 343 +f 341 336 344 +f 335 341 344 +f 336 343 345 +f 343 335 345 +f 344 336 345 +o convex_25 +v 0.075969 2.311143 1.018551 +v -0.279762 -0.556991 0.951836 +v 0.276088 -0.556991 0.951836 +v -0.057389 2.822578 0.974079 +v -0.279762 1.288275 1.018551 +v 0.276088 1.466251 0.951836 +v 0.276088 -0.556991 0.974079 +v -0.279762 2.822578 0.996308 +v 0.276088 2.822578 0.996308 +v -0.279762 -0.556991 0.974079 +v -0.279762 2.822578 1.018551 +v -0.279762 0.243572 0.951836 +v 0.276088 2.822578 0.974079 +v 0.098168 2.111003 1.018551 +f 352 354 359 +f 348 347 351 +f 347 348 352 +f 348 351 352 +f 347 350 353 +f 352 351 354 +f 349 353 354 +f 350 347 355 +f 347 352 355 +f 352 350 355 +f 350 346 356 +f 353 350 356 +f 346 354 356 +f 354 353 356 +f 351 347 357 +f 349 351 357 +f 347 353 357 +f 353 349 357 +f 351 349 358 +f 349 354 358 +f 354 351 358 +f 346 350 359 +f 350 352 359 +f 354 346 359 +o convex_26 +v 0.431811 -1.246798 0.907368 +v -0.435485 -1.980366 0.996295 +v -0.324271 -1.869202 0.974063 +v -0.413157 -0.557389 1.040789 +v 0.342671 -1.135495 1.040789 +v 0.409399 -0.557389 0.885121 +v -0.390914 -0.557389 0.951862 +v 0.431811 -1.980366 0.951847 +v 0.231542 -1.246798 0.885121 +v 0.364913 -0.557389 0.996310 +v -0.213058 -1.980366 1.018542 +v 0.431811 -1.824765 0.907368 +v 0.320428 -0.713130 1.040789 +v -0.435485 -1.980366 1.018542 +v -0.235215 -1.157645 1.040789 +v 0.231542 -1.980366 0.929615 +v 0.431726 -0.557389 0.929600 +f 365 369 376 +f 362 361 366 +f 361 363 366 +f 363 365 366 +f 362 366 368 +f 366 365 368 +f 365 363 369 +f 361 367 370 +f 367 364 370 +f 365 360 371 +f 360 367 371 +f 368 365 371 +f 363 364 372 +f 369 363 372 +f 364 369 372 +f 363 361 373 +f 361 370 373 +f 373 370 374 +f 364 363 374 +f 370 364 374 +f 363 373 374 +f 361 362 375 +f 367 361 375 +f 362 368 375 +f 371 367 375 +f 368 371 375 +f 360 365 376 +f 367 360 376 +f 364 367 376 +f 369 364 376 +o convex_27 +v -0.924737 -3.625676 -1.094093 +v -0.946970 -0.557707 -0.515941 +v -0.969191 -0.557707 -0.515941 +v -0.991435 -0.557707 -0.982888 +v -0.880261 -1.246928 -0.982775 +v -0.969191 -2.736267 -0.560480 +v -0.902515 -1.892298 -0.560480 +v -0.880261 -3.803622 -1.049498 +v -0.969191 -3.803622 -1.071739 +v -0.902504 -0.557707 -0.982888 +v -0.991435 -0.579950 -0.538239 +v -0.880261 -3.358758 -1.094093 +v -0.946959 -2.736267 -0.560480 +v -0.924748 -1.157955 -0.515941 +f 389 383 390 +f 379 378 380 +f 381 383 384 +f 380 377 385 +f 377 384 385 +f 384 382 385 +f 380 378 386 +f 379 380 387 +f 382 379 387 +f 380 385 387 +f 385 382 387 +f 377 380 388 +f 384 377 388 +f 381 384 388 +f 380 386 388 +f 386 381 388 +f 382 384 389 +f 384 383 389 +f 378 379 390 +f 379 382 390 +f 383 381 390 +f 386 378 390 +f 381 386 390 +f 382 389 390 +o convex_28 +v -0.969205 -3.982029 -0.560372 +v 0.431811 -3.870837 0.885121 +v 0.209371 -3.870837 0.885121 +v 0.431811 -3.870837 -0.560372 +v -0.902418 -3.937546 -0.560372 +v -0.857985 -3.982029 0.885121 +v 0.320591 -3.915321 -0.560372 +v -0.880202 -3.937546 0.885121 +v 0.231450 -3.915321 0.885121 +v 0.187154 -3.870837 0.062339 +v 0.431811 -3.893095 0.885121 +v -0.969205 -3.959771 0.885121 +v -0.857985 -3.982029 -0.426803 +f 397 396 403 +f 393 392 394 +f 394 391 395 +f 392 393 396 +f 391 394 397 +f 396 393 398 +f 392 396 399 +f 396 397 399 +f 393 394 400 +f 394 395 400 +f 395 398 400 +f 398 393 400 +f 394 392 401 +f 397 394 401 +f 392 399 401 +f 399 397 401 +f 395 391 402 +f 391 396 402 +f 398 395 402 +f 396 398 402 +f 396 391 403 +f 391 397 403 +o convex_29 +v -0.969205 -3.981994 0.885121 +v 0.431811 -3.804123 0.929600 +v 0.431811 -3.893067 0.929600 +v -0.969205 -3.981994 1.040789 +v -0.969205 -3.804123 0.996310 +v -0.924635 -3.804123 1.040789 +v 0.187154 -3.804123 0.907383 +v 0.231450 -3.915286 0.885121 +f 410 405 411 +f 404 407 408 +f 405 408 409 +f 406 405 409 +f 407 406 409 +f 408 407 409 +f 404 408 410 +f 408 405 410 +f 405 406 411 +f 406 407 411 +f 407 404 411 +f 404 410 411 +o convex_30 +v 1.076598 -1.825250 -0.960672 +v 0.431866 -1.246928 -1.049602 +v 0.431992 -3.803622 -1.005148 +v 0.476426 -1.825250 -0.960672 +v 1.009947 -3.803622 -0.982926 +v 0.987667 -0.557707 -1.027381 +v 0.520859 -0.646680 -1.071846 +v 0.721001 -3.803622 -0.960672 +v 0.965450 -0.557707 -0.982915 +v 0.498579 -0.557707 -1.027381 +v 0.765372 -3.803622 -1.005148 +v 0.431992 -3.803622 -0.982926 +v 1.009947 -3.803622 -0.960672 +v 0.431866 -0.891037 -1.071846 +v 0.431992 -1.647623 -0.982926 +v 1.054381 -1.246928 -0.960672 +v 1.076598 -1.958709 -0.982926 +f 417 427 428 +f 417 416 418 +f 412 415 419 +f 414 416 419 +f 417 418 421 +f 415 420 421 +f 420 417 421 +f 416 414 422 +f 418 416 422 +f 413 414 423 +f 414 419 423 +f 419 415 423 +f 412 419 424 +f 419 416 424 +f 414 413 425 +f 421 418 425 +f 422 414 425 +f 418 422 425 +f 415 421 426 +f 413 423 426 +f 423 415 426 +f 425 413 426 +f 421 425 426 +f 415 412 427 +f 420 415 427 +f 417 420 427 +f 416 417 428 +f 412 424 428 +f 424 416 428 +f 427 412 428 +o convex_31 +v 1.032247 -3.492487 -0.960632 +v 1.054485 -1.246711 -0.649356 +v 1.076724 -1.980869 -0.693846 +v 0.987770 -3.803622 -0.649356 +v 1.032247 -1.246711 -0.960632 +v 1.076724 -1.825176 -0.960632 +v 0.987770 -3.803622 -0.960632 +v 1.032247 -1.246711 -0.649356 +v 1.010009 -3.803622 -0.649356 +v 1.010009 -1.980869 -0.960632 +v 0.987770 -3.292240 -0.649356 +f 438 435 439 +f 433 430 434 +f 431 429 434 +f 430 431 434 +f 429 433 434 +f 433 429 435 +f 432 430 436 +f 430 433 436 +f 429 431 437 +f 431 430 437 +f 430 432 437 +f 435 429 437 +f 432 435 437 +f 433 435 438 +f 436 433 438 +f 436 438 439 +f 435 432 439 +f 432 436 439 +o convex_32 +v 0.431866 -3.893069 -0.649171 +v 0.987716 -3.826361 0.884940 +v 0.787597 -3.826361 0.907192 +v 0.476373 -3.893069 0.929443 +v 0.987716 -3.870829 -0.649171 +v 0.431866 -3.826361 0.907192 +v 0.743089 -3.848608 -0.649171 +v 0.943209 -3.870829 0.884940 +v 0.765343 -3.893069 -0.649171 +v 0.987716 -3.826361 0.417970 +v 0.431866 -3.870829 -0.649171 +f 445 446 450 +f 442 441 445 +f 443 442 445 +f 440 443 445 +f 444 440 446 +f 441 442 447 +f 442 443 447 +f 444 441 447 +f 444 447 448 +f 443 440 448 +f 440 444 448 +f 447 443 448 +f 441 444 449 +f 445 441 449 +f 446 445 449 +f 444 446 449 +f 440 445 450 +f 446 440 450 +o convex_33 +v 1.010009 -3.070357 0.929443 +v 0.987770 -3.870837 -0.649171 +v 0.987770 -3.292446 -0.649171 +v 1.032247 -3.314715 -0.649171 +v 0.987770 -3.848569 0.884940 +v 0.987770 -2.647728 0.929443 +v 1.032247 -2.647728 -0.649171 +v 1.032247 -2.803610 0.929443 +v 1.010009 -3.848569 0.884940 +v 1.010009 -2.647728 -0.649171 +v 1.010009 -3.870837 -0.649171 +v 1.032247 -2.647728 0.929443 +f 458 457 462 +f 452 453 454 +f 453 452 455 +f 455 451 456 +f 453 455 456 +f 454 453 457 +f 456 451 458 +f 454 457 458 +f 454 458 459 +f 451 455 459 +f 455 452 459 +f 458 451 459 +f 453 456 460 +f 457 453 460 +f 456 457 460 +f 452 454 461 +f 454 459 461 +f 459 452 461 +f 457 456 462 +f 456 458 462 +o convex_34 +v 0.809676 -2.759135 0.885137 +v -0.435485 -3.803781 0.974044 +v -0.368755 -3.803781 0.951844 +v -0.435485 -1.980934 0.996290 +v 0.987716 -2.603603 0.951814 +v 0.987716 -3.826180 0.885137 +v -0.346465 -3.803781 0.996290 +v 0.454016 -2.158865 0.907368 +v -0.213005 -1.980934 1.018551 +v 0.765236 -3.826180 0.862891 +v 0.987716 -2.158865 0.929598 +v -0.413195 -2.958743 1.018551 +v 0.231675 -1.980934 0.929614 +v 0.987716 -3.448099 0.862891 +v 0.987716 -2.158865 0.951814 +v 0.787526 -3.826180 0.907368 +v 0.831966 -3.292206 0.862891 +v -0.435485 -2.848010 0.974044 +f 466 475 480 +f 464 465 472 +f 467 468 473 +f 463 470 473 +f 466 464 474 +f 464 469 474 +f 469 467 474 +f 467 471 474 +f 471 466 474 +f 470 465 475 +f 466 471 475 +f 473 470 475 +f 468 472 476 +f 473 468 476 +f 463 473 476 +f 471 467 477 +f 467 473 477 +f 475 471 477 +f 473 475 477 +f 468 467 478 +f 469 464 478 +f 467 469 478 +f 464 472 478 +f 472 468 478 +f 470 463 479 +f 465 470 479 +f 472 465 479 +f 463 476 479 +f 476 472 479 +f 465 464 480 +f 464 466 480 +f 475 465 480 +o convex_35 +v -0.191063 -1.179911 -1.071855 +v 0.431811 -0.557389 -1.049601 +v 0.431811 -0.868718 -1.027361 +v -0.902490 -0.557389 -0.960678 +v -0.191063 -1.157645 -0.938438 +v -0.902490 -1.246711 -0.960678 +v -0.324284 -0.557389 -0.938438 +v 0.431811 -1.246711 -1.049601 +v -0.191063 -0.624122 -1.071855 +v -0.902490 -1.246711 -0.982919 +v 0.431811 -0.557389 -1.071855 +v -0.902490 -0.557389 -0.982919 +v 0.342736 -1.246711 -1.071855 +v 0.276125 -0.557389 -1.005146 +v 0.431811 -1.246711 -1.027361 +f 486 488 495 +f 486 485 487 +f 482 484 487 +f 484 486 487 +f 482 483 488 +f 486 484 490 +f 488 486 490 +f 489 481 490 +f 484 482 491 +f 482 488 491 +f 481 489 491 +f 491 489 492 +f 490 484 492 +f 489 490 492 +f 484 491 492 +f 490 481 493 +f 488 490 493 +f 491 488 493 +f 481 491 493 +f 483 482 494 +f 485 483 494 +f 487 485 494 +f 482 487 494 +f 483 485 495 +f 485 486 495 +f 488 483 495 +o convex_36 +v 0.098208 -1.091067 1.040789 +v 0.142713 -1.202210 2.931050 +v 0.142713 -1.224473 2.931050 +v -0.190863 -1.202210 2.931050 +v 0.075939 -1.135545 1.040789 +v -0.190863 -1.068804 1.085382 +v -0.190863 -1.224473 2.819847 +v -0.190863 -1.113283 1.040789 +v 0.142713 -1.179994 2.753052 +v -0.190863 -1.179994 2.864254 +v 0.142713 -1.157732 1.418989 +f 504 498 506 +f 498 497 499 +f 498 499 502 +f 499 501 502 +f 496 500 503 +f 501 496 503 +f 500 502 503 +f 502 501 503 +f 497 498 504 +f 496 501 504 +f 504 501 505 +f 499 497 505 +f 501 499 505 +f 497 504 505 +f 500 496 506 +f 502 500 506 +f 498 502 506 +f 496 504 506 +o convex_37 +v -0.257579 -0.824208 2.063447 +v -0.235353 -1.224473 2.841681 +v -0.235353 -1.179948 2.130428 +v -0.324284 -0.824208 1.041159 +v -0.190874 -1.068820 1.040789 +v -0.324284 -0.757467 2.841866 +v -0.302032 -1.157732 2.931050 +v -0.190874 -1.202165 2.931050 +v -0.235353 -1.113207 1.107585 +v -0.302032 -0.757467 1.041159 +v -0.279805 -0.757467 2.508258 +v -0.279792 -1.202165 2.508443 +v -0.324284 -0.913121 2.841866 +f 513 512 519 +f 513 508 514 +f 508 509 514 +f 511 507 514 +f 512 513 514 +f 510 511 515 +f 514 509 515 +f 511 514 515 +f 507 511 516 +f 511 510 516 +f 510 512 516 +f 516 512 517 +f 514 507 517 +f 512 514 517 +f 507 516 517 +f 509 508 518 +f 513 510 518 +f 508 513 518 +f 510 515 518 +f 515 509 518 +f 512 510 519 +f 510 513 519 +o convex_38 +v 1.054479 -1.157645 -0.604686 +v 0.987783 -1.246711 -1.005140 +v 0.987783 -0.557389 -1.005140 +v 0.987770 -1.246711 0.974074 +v 1.010011 -0.557389 0.974074 +v 1.032238 -0.557389 -1.005140 +v 1.032245 -1.246711 0.929515 +v 0.987770 -0.557389 0.974074 +v 1.054479 -1.246711 -0.982666 +v 1.032245 -0.557389 -0.182146 +v 1.054479 -0.891052 -1.005140 +f 525 529 530 +f 522 521 523 +f 522 524 525 +f 521 522 525 +f 523 521 526 +f 524 523 526 +f 522 523 527 +f 523 524 527 +f 524 522 527 +f 526 521 528 +f 520 526 528 +f 525 524 529 +f 524 526 529 +f 529 526 530 +f 521 525 530 +f 526 520 530 +f 528 521 530 +f 520 528 530 +o convex_39 +v 0.987716 -0.557389 0.951836 +v 0.431866 -2.158327 0.929598 +v 0.454119 -2.158327 0.907359 +v 0.431866 -0.557389 0.885121 +v 0.987716 -2.158327 0.929598 +v 0.876502 -0.557389 0.974074 +v 0.987716 -2.136072 0.974074 +v 0.431866 -1.802563 0.951836 +v 0.431866 -0.557389 0.929598 +v 0.898701 -0.557389 0.929598 +v 0.476373 -1.313584 0.885121 +f 534 540 541 +f 533 532 534 +f 532 533 535 +f 531 534 536 +f 535 531 537 +f 532 535 537 +f 531 536 537 +f 537 536 538 +f 534 532 538 +f 532 537 538 +f 534 538 539 +f 536 534 539 +f 538 536 539 +f 534 531 540 +f 531 535 540 +f 540 535 541 +f 533 534 541 +f 535 533 541 +o convex_40 +v -0.813461 -3.381141 1.040789 +v -0.969197 -3.803371 0.996304 +v -0.657882 -3.803371 0.974087 +v -0.946941 -1.246711 0.907359 +v -0.435537 -1.246711 1.018534 +v -0.924686 -1.246711 0.996304 +v -0.435537 -3.803371 0.974087 +v -0.969197 -3.314315 0.907359 +v -0.502303 -1.358589 0.974087 +v -0.435537 -3.047511 1.018534 +v -0.969197 -3.803371 1.040789 +v -0.902483 -1.269487 0.907359 +v -0.591220 -1.246711 1.018534 +v -0.613476 -3.781346 1.018534 +v -0.435537 -2.936385 0.974087 +f 553 550 556 +f 546 545 547 +f 543 544 548 +f 544 543 549 +f 548 544 549 +f 546 542 551 +f 548 546 551 +f 547 545 552 +f 543 548 552 +f 549 543 552 +f 545 549 552 +f 545 546 553 +f 549 545 553 +f 548 549 553 +f 546 550 553 +f 542 546 554 +f 546 547 554 +f 552 542 554 +f 547 552 554 +f 551 542 555 +f 548 551 555 +f 552 548 555 +f 542 552 555 +f 546 548 556 +f 550 546 556 +f 548 553 556 +o convex_41 +v -0.346531 -0.757589 2.931063 +v 0.231555 -0.601799 3.019986 +v 0.276057 -0.824208 2.997739 +v -0.302029 -1.179979 3.019986 +v -0.279747 -0.979816 2.842097 +v 0.142614 -1.224473 2.931063 +v -0.124147 -0.624046 2.842097 +v -0.346531 -0.624046 3.064480 +v -0.346531 -0.646354 2.842097 +v 0.298340 -0.935261 2.953288 +v -0.279747 -1.224473 2.931063 +v 0.142614 -1.224473 2.975514 +v 0.231555 -0.601799 2.953288 +v -0.213088 -0.646354 3.064480 +f 560 568 570 +f 562 561 563 +f 557 560 564 +f 564 563 565 +f 560 557 565 +f 563 561 565 +f 557 564 565 +f 558 559 566 +f 562 563 566 +f 561 562 567 +f 560 565 567 +f 565 561 567 +f 566 559 568 +f 562 566 568 +f 567 562 568 +f 560 567 568 +f 564 558 569 +f 563 564 569 +f 558 566 569 +f 566 563 569 +f 559 558 570 +f 558 564 570 +f 564 560 570 +f 568 559 570 +o convex_42 +v -0.657807 -2.736925 -1.116320 +v 0.431811 -2.514550 -0.982923 +v 0.431811 -3.803870 -0.982923 +v -0.880252 -2.514550 -1.027402 +v -0.880252 -3.803870 -1.049628 +v 0.231585 -3.803870 -1.027389 +v -0.502019 -2.514550 -1.116320 +v -0.880252 -3.514858 -1.094068 +v 0.431811 -2.514550 -1.005149 +v -0.835686 -3.759319 -1.027402 +v 0.053835 -2.647950 -0.982923 +v 0.209367 -3.803870 -0.982923 +v -0.791120 -3.803870 -1.071841 +v 0.431811 -3.803870 -1.005149 +v -0.880252 -2.514550 -1.049628 +f 578 574 585 +f 573 575 576 +f 576 571 577 +f 574 572 577 +f 575 574 578 +f 571 576 578 +f 572 573 579 +f 577 572 579 +f 574 575 580 +f 573 572 581 +f 572 574 581 +f 574 580 581 +f 581 580 582 +f 575 573 582 +f 580 575 582 +f 573 581 582 +f 576 575 583 +f 575 578 583 +f 578 576 583 +f 573 576 584 +f 576 577 584 +f 579 573 584 +f 577 579 584 +f 577 571 585 +f 574 577 585 +f 571 578 585 +o convex_43 +v 0.720910 4.068135 0.974079 +v -0.279816 2.822909 0.996308 +v -0.146203 3.178827 0.974079 +v -0.279816 4.068135 1.018551 +v 0.476116 2.822909 0.996308 +v 0.720910 2.822909 0.951836 +v 0.231518 4.068135 0.951836 +v -0.279816 4.068135 0.974079 +v -0.035120 2.822909 1.018551 +v 0.720910 4.068135 0.951836 +v 0.431742 2.822909 0.951836 +v 0.720910 2.822909 0.974079 +v -0.279816 2.822909 1.018551 +f 594 589 598 +f 586 589 590 +f 590 587 591 +f 589 586 592 +f 588 587 593 +f 587 589 593 +f 592 588 593 +f 589 592 593 +f 590 589 594 +f 587 590 594 +f 586 591 595 +f 591 592 595 +f 592 586 595 +f 587 588 596 +f 591 587 596 +f 588 592 596 +f 592 591 596 +f 586 590 597 +f 590 591 597 +f 591 586 597 +f 589 587 598 +f 587 594 598 +o convex_44 +v 0.276149 -0.824167 2.953288 +v 0.320604 -0.979851 1.040789 +v 0.209454 -0.735279 1.040789 +v 0.320604 -0.690761 1.241287 +v 0.209454 -0.601799 2.953288 +v 0.253922 -0.957610 2.953288 +v 0.342858 -0.979851 2.063497 +v 0.342858 -0.779723 1.040789 +v 0.209454 -0.735279 2.953288 +v 0.253922 -0.624039 2.619687 +v 0.298364 -0.979851 2.953288 +v 0.209454 -0.690761 1.218822 +f 601 603 610 +f 601 600 604 +f 599 603 604 +f 602 605 606 +f 600 601 606 +f 601 602 606 +f 605 600 606 +f 603 601 607 +f 601 604 607 +f 604 603 607 +f 603 599 608 +f 602 603 608 +f 599 605 608 +f 605 602 608 +f 604 600 609 +f 599 604 609 +f 605 599 609 +f 600 605 609 +f 602 601 610 +f 603 602 610 +o convex_45 +v -1.013649 2.267312 -0.693803 +v -0.902490 4.045947 0.929598 +v -0.902490 4.045947 -0.693803 +v -0.969232 2.133704 0.929598 +v -1.058159 2.289449 -0.649308 +v -1.013649 2.156037 0.929598 +v -0.924753 4.045947 0.929598 +v -0.946969 3.890201 -0.693803 +v -0.902490 3.845731 -0.693803 +v -0.902490 3.601239 0.929598 +v -1.058159 2.044566 -0.182279 +v -1.035897 2.044566 -0.693803 +v -0.991448 2.044566 0.373580 +v -1.013649 2.044566 0.929598 +v -0.924753 3.267415 -0.226773 +f 623 611 625 +f 614 612 616 +f 612 613 617 +f 616 612 617 +f 613 611 618 +f 617 613 618 +f 615 617 618 +f 611 613 619 +f 613 612 619 +f 612 614 620 +f 619 612 620 +f 617 615 621 +f 616 617 621 +f 618 611 622 +f 615 618 622 +f 621 615 622 +f 621 622 623 +f 622 611 623 +f 614 616 624 +f 616 621 624 +f 621 623 624 +f 623 614 624 +f 611 619 625 +f 620 614 625 +f 619 620 625 +f 614 623 625 +o convex_46 +v 1.054485 -1.869538 0.573756 +v 1.010009 -2.647591 -0.649326 +v 1.010009 -2.625239 -0.649326 +v 1.010009 -2.647591 0.885121 +v 1.010009 -1.246848 0.885121 +v 1.054485 -1.246848 -0.649326 +v 1.054485 -2.647591 -0.649326 +v 1.010009 -1.246848 -0.538027 +v 1.032247 -2.647591 0.885121 +v 1.032247 -1.246848 0.885121 +v 1.054485 -1.980473 0.662524 +f 626 635 636 +f 628 627 629 +f 628 629 630 +f 627 628 631 +f 631 626 632 +f 629 627 632 +f 627 631 632 +f 628 630 633 +f 631 628 633 +f 630 631 633 +f 630 629 634 +f 629 632 634 +f 631 630 635 +f 626 631 635 +f 630 634 635 +f 635 634 636 +f 632 626 636 +f 634 632 636 +o convex_47 +v -0.391096 2.155819 1.040781 +v -0.902490 -1.246250 0.974092 +v -0.568996 -1.246250 0.974092 +v -0.680039 3.467360 0.996313 +v -0.279871 0.199122 0.951836 +v -0.835694 0.421096 1.040789 +v -0.324422 -0.556791 1.040789 +v -0.279871 3.467360 0.996313 +v -0.835694 3.467360 1.040781 +v -0.591181 -1.246250 1.018534 +v -0.279871 3.467360 1.018551 +v -0.279871 -0.556791 0.951836 +v -0.902490 -0.556791 0.974092 +v -0.457893 -0.156683 0.951836 +v -0.902490 -1.246250 0.996313 +v -0.413341 -1.246250 1.018534 +v -0.835694 3.467360 1.018551 +v -0.279871 1.243463 1.018525 +f 648 647 654 +f 641 640 644 +f 643 637 645 +f 642 643 645 +f 644 640 645 +f 638 639 646 +f 643 642 646 +f 637 643 647 +f 641 644 647 +f 645 637 647 +f 644 645 647 +f 639 638 648 +f 641 647 648 +f 640 641 650 +f 648 638 650 +f 641 648 650 +f 649 640 650 +f 638 649 650 +f 642 645 651 +f 638 646 651 +f 646 642 651 +f 649 638 651 +f 645 649 651 +f 646 639 652 +f 643 646 652 +f 639 648 652 +f 648 643 652 +f 645 640 653 +f 640 649 653 +f 649 645 653 +f 647 643 654 +f 643 648 654 +o convex_48 +v 0.943294 2.689746 -0.782645 +v 0.987761 4.001376 -0.048979 +v 1.010002 4.001376 -0.182471 +v 0.965541 2.311427 -0.048979 +v 1.010002 3.423227 -0.960574 +v 0.987761 4.001376 -0.960574 +v 0.943294 3.200734 -0.048979 +v 0.965541 2.311427 -0.960574 +v 0.965541 4.001376 -0.226908 +v 0.943294 2.311427 -0.048979 +v 0.987761 2.511753 -0.938266 +v 0.943294 2.311427 -0.960574 +v 1.010002 4.001376 -0.960574 +v 0.965541 3.445393 -0.960574 +f 660 666 668 +f 657 656 658 +f 656 657 660 +f 658 656 661 +f 660 659 662 +f 656 660 663 +f 655 661 663 +f 661 656 663 +f 661 655 664 +f 658 661 664 +f 662 658 664 +f 657 658 665 +f 659 657 665 +f 658 662 665 +f 662 659 665 +f 660 662 666 +f 664 655 666 +f 662 664 666 +f 657 659 667 +f 660 657 667 +f 659 660 667 +f 663 660 668 +f 655 663 668 +f 666 655 668 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/546/546.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/546/546.urdf new file mode 100644 index 000000000..2f7275ff9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/546/546.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/547/547.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/547/547.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/547/547.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/547/547.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/547/547.obj new file mode 100644 index 000000000..16bf6fef0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/547/547.obj @@ -0,0 +1,744 @@ +o convex_0 +v 0.887444 -0.335762 -0.424158 +v 0.339987 -0.335762 1.936322 +v -0.549162 -0.335762 1.936322 +v 0.066368 -3.996300 0.807174 +v -1.130877 -0.335762 -0.492606 +v 0.784892 -3.072208 -0.081674 +v -0.720228 -2.832854 1.559858 +v 0.784892 -2.764416 1.491410 +v -0.720228 -3.003770 0.054978 +v 0.989995 -0.746390 1.457186 +v -0.959589 -0.472996 1.594082 +v 1.127025 -0.335762 -0.218814 +v 0.032111 -3.482836 1.525634 +v 0.818929 -3.414398 0.772950 +v -0.754486 -3.345960 0.841398 +v -1.028104 -1.499208 0.875622 +v 0.339987 -0.370518 -0.561054 +v -0.036183 -3.482836 0.055223 +v 0.887444 -0.335762 1.593838 +v 1.024253 -1.772602 0.738726 +v -1.062362 -0.370518 -0.526830 +v -1.130877 -0.335762 0.294302 +v -0.959589 -1.020142 1.594082 +v -0.993847 -1.636084 0.054978 +v -0.001926 -3.996300 0.738726 +v 0.989995 -1.772602 0.020754 +v 0.477017 -0.438598 1.902098 +v 0.989995 -0.951704 1.491166 +v -0.070220 -0.575474 1.936322 +v 0.750635 -0.472638 -0.492606 +v -0.788744 -0.335762 1.799426 +v 1.127025 -0.335762 0.020754 +v 0.545311 -3.414398 0.191874 +v 0.750635 -2.867252 1.491410 +v -0.001926 -3.961544 0.875622 +v -0.514904 -0.438598 1.936322 +v 0.066368 -3.414398 0.020999 +v 1.058510 -0.370518 -0.321486 +v 1.058510 -1.430770 0.670522 +v 0.955959 -0.335762 1.491166 +v -0.993847 -1.054540 1.422962 +v -1.130877 -0.541434 0.294302 +v -0.754486 -3.345960 0.772950 +v -0.001926 -3.482836 1.525634 +v 0.134662 -3.927504 0.671011 +v 0.784892 -0.438598 1.696754 +v -0.754486 -2.695978 1.525634 +v 0.100626 -0.370518 -0.561054 +v 0.682120 -3.072208 -0.081674 +v -0.925553 -0.335762 1.628306 +v 0.100626 -3.551274 1.388738 +v -0.685971 -3.345960 0.944070 +v -0.549162 -3.141004 0.055223 +v 0.032111 -3.517234 0.089202 +v 1.024253 -1.259854 1.114946 +v 0.750635 -3.175044 -0.013225 +v 0.818929 -3.414398 0.738726 +v -0.720228 -3.038168 0.088958 +v 0.134662 -3.961544 0.807174 +v -1.130877 -0.370518 -0.492606 +v -1.028104 -1.499208 0.636542 +v 0.921701 -2.216912 -0.047694 +v 0.339987 -0.335762 -0.561054 +v 0.545311 -3.072208 1.491410 +f 51 14 64 +f 3 2 1 +f 3 1 5 +f 1 2 12 +f 12 2 19 +f 8 14 20 +f 3 5 22 +f 2 13 27 +f 19 2 27 +f 2 3 29 +f 13 2 29 +f 6 17 30 +f 7 3 31 +f 3 22 31 +f 23 7 31 +f 11 23 31 +f 12 19 32 +f 10 28 32 +f 14 8 34 +f 27 13 34 +f 8 27 34 +f 4 13 35 +f 25 4 35 +f 15 25 35 +f 3 7 36 +f 29 3 36 +f 1 12 38 +f 12 6 38 +f 30 1 38 +f 6 30 38 +f 26 12 39 +f 20 26 39 +f 12 32 39 +f 19 28 40 +f 28 10 40 +f 10 32 40 +f 32 19 40 +f 11 22 41 +f 23 11 41 +f 22 5 42 +f 16 41 42 +f 41 22 42 +f 15 16 43 +f 25 15 43 +f 13 29 44 +f 35 13 44 +f 36 7 44 +f 29 36 44 +f 4 25 45 +f 27 8 46 +f 19 27 46 +f 28 19 46 +f 8 28 46 +f 15 7 47 +f 16 15 47 +f 7 23 47 +f 41 16 47 +f 23 41 47 +f 17 6 48 +f 21 48 49 +f 6 37 49 +f 37 21 49 +f 48 6 49 +f 22 11 50 +f 31 22 50 +f 11 31 50 +f 13 4 51 +f 7 15 52 +f 15 35 52 +f 44 7 52 +f 35 44 52 +f 9 21 53 +f 18 25 53 +f 37 18 53 +f 21 37 53 +f 25 18 54 +f 37 6 54 +f 18 37 54 +f 45 25 54 +f 33 45 54 +f 8 20 55 +f 28 8 55 +f 32 28 55 +f 20 39 55 +f 39 32 55 +f 45 33 56 +f 54 6 56 +f 33 54 56 +f 20 14 57 +f 26 20 57 +f 56 6 57 +f 45 56 57 +f 24 9 58 +f 43 24 58 +f 25 43 58 +f 9 53 58 +f 53 25 58 +f 4 45 59 +f 51 4 59 +f 14 51 59 +f 57 14 59 +f 45 57 59 +f 5 21 60 +f 21 9 60 +f 9 24 60 +f 42 5 60 +f 42 60 61 +f 16 42 61 +f 43 16 61 +f 24 43 61 +f 60 24 61 +f 6 12 62 +f 12 26 62 +f 57 6 62 +f 26 57 62 +f 5 1 63 +f 21 5 63 +f 1 30 63 +f 30 17 63 +f 17 48 63 +f 48 21 63 +f 14 34 64 +f 34 13 64 +f 13 51 64 +o convex_1 +v -1.883447 0.006345 -0.629305 +v 0.168940 -0.027879 -1.211056 +v -1.746622 -0.027879 -1.176719 +v 1.127025 -0.335762 -0.013801 +v 1.127025 0.006345 -0.013801 +v -1.130448 -0.335762 -0.013801 +v 0.168940 -0.335762 -0.629305 +v -1.164579 0.006345 -0.013801 +v 0.476722 0.006345 -1.211056 +v -1.198709 -0.335762 -0.526994 +v 1.127025 -0.335762 -0.253346 +v -1.986143 0.006345 -1.005615 +v 1.092590 0.006345 -0.390112 +v 0.716243 -0.335762 -0.526994 +v -1.986143 -0.027879 -0.731967 +v 0.476722 -0.027879 -1.211056 +v -1.096623 -0.335762 -0.595436 +v -1.986143 -0.027879 -1.005615 +v 0.374331 -0.198899 -0.903070 +v -1.746622 0.006345 -1.176719 +f 67 76 84 +f 68 69 70 +f 68 70 71 +f 69 65 72 +f 65 70 72 +f 70 69 72 +f 65 69 73 +f 71 70 74 +f 69 68 75 +f 68 71 75 +f 65 73 76 +f 73 69 77 +f 69 75 77 +f 75 71 78 +f 70 65 79 +f 74 70 79 +f 65 76 79 +f 66 73 80 +f 73 77 80 +f 77 75 80 +f 75 78 80 +f 74 67 81 +f 71 74 81 +f 67 74 82 +f 76 67 82 +f 74 79 82 +f 79 76 82 +f 67 66 83 +f 78 71 83 +f 66 80 83 +f 80 78 83 +f 81 67 83 +f 71 81 83 +f 66 67 84 +f 73 66 84 +f 76 73 84 +o convex_2 +v 1.126908 1.716702 -0.013905 +v 1.400579 1.237546 -2.271376 +v 1.400579 1.579773 -2.271376 +v -2.978145 0.930280 -1.279202 +v 2.358131 0.006345 -0.869075 +v -1.165006 0.006345 -0.013905 +v -2.157134 0.074907 -1.963559 +v -2.328251 1.956184 -0.800794 +v 2.495259 1.956184 -1.074359 +v -2.191123 1.750886 -1.963559 +v 2.324142 0.211836 -1.963559 +v -0.959314 1.853632 -0.013905 +v -2.772452 0.930280 -0.424254 +v 2.700366 0.998453 -0.458505 +v 1.126908 0.006345 -0.013905 +v -1.370112 0.382950 -2.271155 +v 2.734354 1.066627 -1.997810 +v 0.100206 1.921806 -1.997589 +v -2.703888 0.177652 -1.074359 +v 2.255579 1.819448 -2.031840 +v 3.008611 0.998453 -1.279202 +v -2.635911 0.895902 -1.997810 +v -1.301548 1.511599 -2.237125 +v -2.841016 1.716702 -1.142640 +v 0.168770 1.956184 -0.013905 +v 0.202759 0.040723 -1.929308 +v 0.100206 0.211836 -2.237125 +v 2.837494 0.246020 -1.176891 +v 2.837494 1.785070 -1.245172 +v 2.324142 1.990562 -0.869075 +v -2.088570 0.006345 -1.347704 +v 1.400579 0.451123 -2.237125 +v -2.157134 1.716702 -0.355973 +v 2.153025 1.750886 -0.424475 +v -0.035750 1.750886 -2.237125 +v -1.917453 1.032443 -0.150909 +v 2.563824 0.417133 -0.595288 +v -2.464793 0.348766 -0.527007 +v 2.255579 1.990562 -1.176670 +v -2.328251 1.956184 -1.006078 +v 1.913344 0.998453 -2.237125 +v -1.814900 0.964464 -2.237125 +v -2.122559 0.006345 -0.800794 +v -2.635911 1.545589 -0.595509 +v 1.092333 1.819448 -0.013905 +v 1.263451 1.032637 -0.013905 +v 2.597813 1.545783 -0.629760 +v -2.259687 0.074907 -1.929308 +v 0.271323 1.682519 -2.271155 +v -2.635911 0.998453 -1.997810 +v 2.700366 0.964464 -2.031840 +v -1.301548 1.101005 -0.013905 +v 1.298026 1.990562 -1.210921 +v 2.050472 0.006345 -1.074359 +v 2.153025 0.246020 -0.424475 +v -2.978145 0.895902 -1.142640 +v 2.768929 1.032443 -0.561258 +v -2.020006 0.211836 -0.321722 +v 2.837494 0.280204 -1.074359 +v -0.959314 1.853632 -1.997589 +v 1.981908 1.032637 -0.219190 +v -2.703888 0.177652 -1.142640 +v 2.289567 1.853632 -1.929308 +v -0.891336 0.314582 -2.271155 +f 116 111 148 +f 90 85 96 +f 85 90 99 +f 90 89 99 +f 87 86 100 +f 100 91 106 +f 96 85 109 +f 92 96 109 +f 110 91 111 +f 95 110 111 +f 89 95 112 +f 101 104 113 +f 105 101 113 +f 92 109 114 +f 113 93 114 +f 89 90 115 +f 91 110 115 +f 95 111 116 +f 96 92 117 +f 102 104 119 +f 107 94 119 +f 97 90 120 +f 96 117 120 +f 117 97 120 +f 97 103 122 +f 114 93 123 +f 108 92 124 +f 94 108 124 +f 86 87 125 +f 87 104 125 +f 116 86 125 +f 95 116 125 +f 100 106 126 +f 107 100 126 +f 94 107 126 +f 115 90 127 +f 92 108 128 +f 108 97 128 +f 117 92 128 +f 97 117 128 +f 109 85 129 +f 114 109 129 +f 98 118 129 +f 118 114 129 +f 85 99 130 +f 113 114 131 +f 118 98 131 +f 114 118 131 +f 106 91 132 +f 91 115 132 +f 87 100 133 +f 104 87 133 +f 100 107 133 +f 119 104 133 +f 107 119 133 +f 106 88 134 +f 108 94 134 +f 88 108 134 +f 94 126 134 +f 126 106 134 +f 104 101 135 +f 101 105 135 +f 112 95 135 +f 105 112 135 +f 95 125 135 +f 125 104 135 +f 90 96 136 +f 120 90 136 +f 96 120 136 +f 92 114 137 +f 123 102 137 +f 114 123 137 +f 102 124 137 +f 124 92 137 +f 95 89 138 +f 110 95 138 +f 89 115 138 +f 115 110 138 +f 99 89 139 +f 98 99 139 +f 89 121 139 +f 121 98 139 +f 103 97 140 +f 108 88 140 +f 97 108 140 +f 105 113 141 +f 131 98 141 +f 113 131 141 +f 90 97 142 +f 97 122 142 +f 122 103 142 +f 127 90 142 +f 103 127 142 +f 89 112 143 +f 112 105 143 +f 121 89 143 +f 98 121 143 +f 141 98 143 +f 105 141 143 +f 119 94 144 +f 102 119 144 +f 94 124 144 +f 124 102 144 +f 99 98 145 +f 129 85 145 +f 98 129 145 +f 85 130 145 +f 130 99 145 +f 88 106 146 +f 115 127 146 +f 127 103 146 +f 106 132 146 +f 132 115 146 +f 140 88 146 +f 103 140 146 +f 104 102 147 +f 93 113 147 +f 113 104 147 +f 102 123 147 +f 123 93 147 +f 100 86 148 +f 91 100 148 +f 111 91 148 +f 86 116 148 +o convex_3 +v -0.309691 -0.061872 2.004744 +v 0.203181 1.956127 0.704897 +v 0.442749 1.921806 0.499616 +v -1.130823 -0.335320 -0.013684 +v 1.126741 -0.335544 -0.013684 +v -1.028151 1.819291 -0.013684 +v 0.408281 1.374460 2.004744 +v -0.857031 1.374460 1.559805 +v 1.092761 1.784969 -0.013684 +v 0.887417 -0.335544 1.594183 +v -0.891255 -0.335320 1.696724 +v -0.035899 1.921806 1.559805 +v -1.267720 1.134885 0.020694 +v -0.515035 1.340364 2.004744 +v 0.853193 1.374460 1.457263 +v 1.229657 1.169206 0.054875 +v 0.510953 -0.335320 1.901807 +v -0.104347 1.956127 -0.013684 +v 0.545177 0.622310 2.004744 +v 0.955865 -0.335544 1.457263 +v -0.651931 0.519795 2.004744 +v 0.818969 1.784969 0.739077 +v -0.754603 1.819291 0.773455 +v -0.549259 -0.335320 1.936185 +v -1.130823 -0.335320 0.294336 +v -0.070123 1.579715 2.004744 +v -0.925479 -0.335320 1.628165 +v 0.032061 1.921806 1.559805 +v -0.857031 1.442879 1.491246 +v -0.172795 1.956127 0.636338 +v 1.058537 1.819291 0.089253 +v 0.545177 0.895758 2.004744 +v 0.032061 -0.335320 1.970366 +v -0.925479 0.074965 1.594183 +v -0.925479 1.853612 0.089055 +v 0.168957 1.956127 -0.013684 +v 0.442749 0.143383 2.004744 +v 1.229657 0.998273 -0.013684 +v -1.267720 0.998273 -0.013684 +v -0.651931 0.725049 2.004744 +v 0.887417 0.929855 1.457263 +v 0.853193 1.408782 1.423083 +v 0.955865 -0.198708 1.457263 +v -0.378139 1.442879 2.004744 +v 0.716297 1.887709 -0.013684 +v -1.130823 1.545618 0.020694 +v -1.267720 0.998273 0.020694 +v -0.822807 0.074965 1.799463 +v -1.165047 -0.232805 -0.013684 +v 1.229657 0.998273 0.020694 +v -0.788827 -0.335320 1.799463 +v 1.195189 1.374460 0.020694 +v 0.374301 1.408782 2.004744 +v 1.126741 -0.335544 0.020694 +v -0.891255 0.861437 1.559805 +v 0.750521 -0.301223 1.730905 +v -0.720379 1.887709 -0.013684 +f 183 178 205 +f 153 152 154 +f 153 154 157 +f 152 153 158 +f 149 155 162 +f 157 154 166 +f 155 149 167 +f 158 153 168 +f 149 162 169 +f 149 169 172 +f 152 158 173 +f 162 155 174 +f 158 159 175 +f 173 158 175 +f 151 150 176 +f 150 160 176 +f 160 174 176 +f 161 156 177 +f 156 162 177 +f 171 154 177 +f 160 171 177 +f 160 150 178 +f 150 166 178 +f 151 176 179 +f 176 170 179 +f 163 155 180 +f 155 167 180 +f 167 158 180 +f 158 165 181 +f 172 158 181 +f 149 172 181 +f 175 159 182 +f 161 175 182 +f 154 171 183 +f 171 160 183 +f 160 178 183 +f 166 150 184 +f 157 166 184 +f 167 149 185 +f 165 167 185 +f 181 165 185 +f 149 181 185 +f 153 157 186 +f 154 152 187 +f 161 154 187 +f 162 156 188 +f 169 162 188 +f 164 163 189 +f 163 180 189 +f 180 158 189 +f 155 163 190 +f 170 176 190 +f 157 179 190 +f 179 170 190 +f 158 168 191 +f 168 164 191 +f 164 189 191 +f 189 158 191 +f 174 160 192 +f 162 174 192 +f 177 162 192 +f 160 177 192 +f 150 151 193 +f 179 157 193 +f 151 179 193 +f 184 150 193 +f 157 184 193 +f 154 161 194 +f 177 154 194 +f 161 177 194 +f 175 161 195 +f 173 175 195 +f 161 187 195 +f 182 159 196 +f 188 156 196 +f 169 188 196 +f 152 173 197 +f 187 152 197 +f 173 195 197 +f 195 187 197 +f 164 168 198 +f 153 186 198 +f 186 164 198 +f 159 158 199 +f 158 172 199 +f 172 169 199 +f 196 159 199 +f 169 196 199 +f 163 164 200 +f 186 157 200 +f 164 186 200 +f 190 163 200 +f 157 190 200 +f 174 155 201 +f 176 174 201 +f 155 190 201 +f 190 176 201 +f 168 153 202 +f 153 198 202 +f 198 168 202 +f 156 161 203 +f 161 182 203 +f 196 156 203 +f 182 196 203 +f 165 158 204 +f 158 167 204 +f 167 165 204 +f 166 154 205 +f 178 166 205 +f 154 183 205 +o convex_4 +v -0.002093 1.545823 2.415442 +v -0.138721 -0.027712 2.004744 +v 0.066335 -0.027712 2.004744 +v 0.066335 0.998259 3.749145 +v -0.617717 0.861483 2.004744 +v 0.545445 0.895677 2.004744 +v -0.412433 0.998259 3.475574 +v 0.408475 1.032453 3.544052 +v -0.446590 1.374546 2.004744 +v -0.002093 1.408740 3.509727 +v 0.374204 1.408740 2.004744 +v 0.442632 0.177605 2.039239 +v 0.066335 0.656474 3.509727 +v -0.480861 0.109218 2.039239 +v 0.374204 1.408740 2.860124 +v -0.412433 1.374546 2.791816 +v -0.583446 0.964065 2.586553 +v 0.511174 1.066647 2.860124 +v -0.036136 0.656474 3.509727 +v -0.104450 1.545823 2.004744 +v -0.617717 0.588086 2.039239 +v 0.340047 0.793096 3.372942 +v -0.309734 0.724862 3.304464 +v -0.309734 1.306158 3.304464 +v 0.545445 0.724862 2.176025 +v -0.515018 1.306158 2.039239 +v 0.305776 1.340352 3.304464 +v 0.442632 1.306158 2.107547 +v -0.036136 1.066647 3.749145 +v -0.070293 1.511322 2.791816 +v -0.070293 -0.027712 2.073393 +v -0.549289 1.066647 2.757492 +v 0.442632 1.032453 3.407096 +v 0.340047 1.442934 2.757492 +v 0.032064 1.545823 2.004744 +v -0.412433 1.066647 3.441420 +v 0.408475 0.143412 2.039239 +v 0.066335 -0.027712 2.039239 +v 0.408475 1.100841 3.509727 +v 0.032064 1.408740 3.509727 +v -0.549289 0.314381 2.004744 +v 0.476903 0.314381 2.004744 +v 0.066335 1.066647 3.749145 +v -0.515018 0.964065 2.996739 +v -0.515018 0.211799 2.073393 +v -0.036136 0.998259 3.749145 +v 0.032064 1.511322 2.791816 +v 0.511174 1.100841 2.791816 +f 244 223 253 +f 208 207 210 +f 208 210 211 +f 211 210 214 +f 211 214 216 +f 213 209 218 +f 218 209 224 +f 216 214 225 +f 214 221 225 +f 222 210 226 +f 217 213 227 +f 213 218 227 +f 212 219 228 +f 224 212 228 +f 219 224 228 +f 215 221 229 +f 211 223 230 +f 214 210 231 +f 221 214 231 +f 210 222 231 +f 211 216 233 +f 216 220 233 +f 221 215 235 +f 206 225 235 +f 225 221 235 +f 207 208 236 +f 219 207 236 +f 218 224 236 +f 224 219 236 +f 221 231 237 +f 231 222 237 +f 213 217 238 +f 217 230 238 +f 230 223 238 +f 220 216 239 +f 225 206 240 +f 216 225 240 +f 206 239 240 +f 239 216 240 +f 215 229 241 +f 229 221 241 +f 212 234 241 +f 234 215 241 +f 221 237 241 +f 217 227 242 +f 227 218 242 +f 236 208 243 +f 218 236 243 +f 208 242 243 +f 242 218 243 +f 220 232 244 +f 213 238 244 +f 238 223 244 +f 232 220 245 +f 215 234 245 +f 235 215 245 +f 220 239 245 +f 244 232 245 +f 210 207 246 +f 207 219 246 +f 226 210 246 +f 208 211 247 +f 211 230 247 +f 230 217 247 +f 242 208 247 +f 217 242 247 +f 209 213 248 +f 234 209 248 +f 213 244 248 +f 245 234 248 +f 244 245 248 +f 222 226 249 +f 237 222 249 +f 212 241 249 +f 241 237 249 +f 219 212 250 +f 246 219 250 +f 226 246 250 +f 212 249 250 +f 249 226 250 +f 224 209 251 +f 212 224 251 +f 234 212 251 +f 209 234 251 +f 206 235 252 +f 239 206 252 +f 235 245 252 +f 245 239 252 +f 223 211 253 +f 211 233 253 +f 233 220 253 +f 220 244 253 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/547/547.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/547/547.urdf new file mode 100644 index 000000000..400a0f96a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/547/547.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/548/548.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/548/548.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/548/548.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/548/548.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/548/548.obj new file mode 100644 index 000000000..61e228300 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/548/548.obj @@ -0,0 +1,417 @@ +o convex_0 +v -1.089390 -3.516799 -1.112364 +v 0.950496 0.934258 1.051344 +v 1.012292 -1.476441 1.051133 +v -1.089390 -3.423996 0.958366 +v -1.089390 0.934258 -1.112364 +v 0.981394 -3.516799 -0.988463 +v 0.950496 0.934258 -0.957753 +v -1.058284 0.934258 0.958366 +v 1.043399 -3.423996 1.051133 +v -0.378321 -3.423996 1.020422 +v 0.981394 0.933823 -0.524842 +v 0.734211 -3.362127 -1.019597 +v 0.517926 0.934258 1.051344 +v -0.872896 0.470244 0.989500 +v 0.950496 -3.516799 -0.648531 +v 0.734211 0.872390 -0.988463 +v -0.811100 -3.516799 -1.112364 +v 0.981394 0.933823 0.803755 +v -1.058284 -3.423996 0.989500 +v 0.332330 -3.423996 1.051133 +v -1.089390 -1.970954 0.958366 +v 0.981394 -2.001453 -0.988463 +v -1.089390 -3.454930 0.587299 +v -0.532811 0.934258 -1.081442 +v 1.012292 -0.456915 0.680066 +v 1.012292 -3.423996 -0.277676 +v -1.089390 -3.516799 -0.926619 +v 1.043399 -3.362127 0.958366 +v 1.012292 -3.454495 0.587511 +v 0.672415 -2.404035 -1.019597 +v -0.903794 -1.383638 -1.112364 +v -1.089390 0.934258 -0.957541 +v -0.841998 0.934258 0.989500 +v 0.950496 -1.137034 -0.988463 +v 0.981394 0.222769 1.051133 +v -1.027386 0.810521 -1.112364 +v -1.058284 -3.176521 0.989500 +f 21 19 37 +f 1 4 5 +f 5 2 7 +f 2 5 8 +f 3 2 9 +f 7 2 11 +f 2 8 13 +f 9 2 13 +f 1 6 15 +f 1 5 17 +f 6 1 17 +f 12 6 17 +f 11 2 18 +f 9 13 20 +f 13 10 20 +f 5 4 21 +f 4 19 21 +f 7 11 22 +f 6 12 22 +f 4 1 23 +f 19 4 23 +f 10 19 23 +f 9 20 23 +f 20 10 23 +f 5 7 24 +f 7 16 24 +f 3 9 25 +f 18 3 25 +f 11 18 25 +f 9 6 26 +f 6 22 26 +f 22 11 26 +f 1 15 27 +f 23 1 27 +f 15 23 27 +f 25 9 28 +f 11 25 28 +f 9 26 28 +f 26 11 28 +f 6 9 29 +f 15 6 29 +f 23 15 29 +f 9 23 29 +f 24 16 30 +f 12 24 30 +f 17 5 31 +f 12 17 31 +f 8 5 32 +f 5 21 32 +f 21 8 32 +f 13 8 33 +f 14 13 33 +f 8 14 33 +f 16 7 34 +f 7 22 34 +f 22 12 34 +f 12 30 34 +f 30 16 34 +f 2 3 35 +f 3 18 35 +f 18 2 35 +f 5 24 36 +f 24 12 36 +f 31 5 36 +f 12 31 36 +f 10 13 37 +f 13 14 37 +f 14 8 37 +f 19 10 37 +f 8 21 37 +o convex_1 +v -2.727485 0.996085 -0.524921 +v -2.758465 2.170663 0.525836 +v -2.233152 2.139629 0.556764 +v -1.460382 2.077915 -0.494107 +v -1.089584 0.965168 0.556764 +v -2.974748 1.119749 0.587692 +v -3.067302 2.139629 -0.586892 +v -1.089584 1.058035 -0.432251 +v -1.089584 2.046999 0.587692 +v -3.067302 0.965168 -0.524921 +v -3.067302 2.170663 0.525836 +v -1.089584 2.046999 -0.463179 +v -1.244099 0.965168 0.587692 +v -2.758465 2.046999 -0.586892 +v -1.182332 2.077915 -0.370394 +v -1.182332 1.027119 -0.432251 +v -3.005728 1.521659 0.587692 +v -3.067302 0.965168 -0.432136 +v -1.151351 2.077915 0.556764 +v -1.089584 0.965168 0.402123 +v -3.005728 2.170663 0.093070 +v -3.005728 1.305246 0.587692 +v -2.820233 0.965168 -0.524921 +v -3.005728 1.768753 -0.586892 +v -1.553130 1.027119 -0.463179 +v -2.912981 2.139629 -0.586892 +v -3.067302 2.016082 0.525836 +v -3.067302 0.996085 -0.308538 +v -2.974748 1.954132 0.556764 +f 48 54 66 +f 42 45 46 +f 40 39 48 +f 44 47 48 +f 45 41 49 +f 46 45 49 +f 42 46 50 +f 46 43 50 +f 47 42 50 +f 41 45 51 +f 49 41 52 +f 43 46 54 +f 48 47 55 +f 50 43 55 +f 47 50 55 +f 39 40 56 +f 40 46 56 +f 46 49 56 +f 52 39 56 +f 49 52 56 +f 45 42 57 +f 42 47 57 +f 53 45 57 +f 48 39 58 +f 44 48 58 +f 39 52 58 +f 43 54 59 +f 54 48 59 +f 57 47 60 +f 53 57 60 +f 47 44 61 +f 44 51 61 +f 38 60 61 +f 60 47 61 +f 51 45 62 +f 45 53 62 +f 60 38 62 +f 53 60 62 +f 38 61 62 +f 61 51 62 +f 41 51 63 +f 51 44 63 +f 52 41 63 +f 44 58 63 +f 58 52 63 +f 48 55 64 +f 59 48 64 +f 59 64 65 +f 55 43 65 +f 43 59 65 +f 64 55 65 +f 46 40 66 +f 40 48 66 +f 54 46 66 +o convex_2 +v -1.089390 0.934258 -1.112364 +v 1.043408 2.077724 0.525666 +v 1.012301 2.232305 0.680278 +v -1.058283 0.934258 0.958366 +v -1.089390 2.633982 -1.081230 +v 0.950505 0.934425 -0.957753 +v -1.058283 2.510517 0.958366 +v 0.950505 0.934425 1.051344 +v 0.919607 2.479568 -0.957753 +v 0.919607 2.510517 1.051344 +v -0.069338 2.633982 0.401978 +v 1.043408 1.027107 -0.524842 +v 1.043408 2.170573 -0.493920 +v -1.089390 1.181688 0.587299 +v -0.841997 0.934258 0.989500 +v 1.043408 0.996157 0.464034 +v -0.872895 2.633982 -1.081230 +v 0.610627 2.510517 1.051344 +v 0.826913 2.510517 -0.834064 +v -1.089390 2.572250 0.092967 +v -0.532808 1.058056 -1.081442 +v 0.826913 2.541467 0.989288 +v 0.517933 0.934425 1.051344 +v -0.687507 2.510517 -1.081230 +v -0.749303 2.510517 0.989500 +v 0.703321 1.150905 -0.988675 +v 0.950505 2.479568 0.989288 +v -0.192721 2.633982 0.401978 +v 0.146948 2.603199 -0.092143 +v -0.903793 2.541300 0.865811 +v -1.089390 2.633982 -0.833852 +v 0.950505 2.448618 -0.864774 +v -1.089390 2.046775 0.587299 +v -1.089390 0.965374 0.556589 +v 0.950505 1.521799 -0.957753 +v 0.919607 2.510517 -0.153987 +v 0.950505 1.954093 1.051344 +v -1.058283 1.274536 -1.112364 +v 0.579729 2.324987 -0.988675 +v 0.301438 0.934258 -1.019386 +v 0.610627 2.541467 -0.617608 +v 0.981403 0.934425 -0.493920 +v 1.043408 2.139623 -0.524842 +f 101 98 109 +f 69 68 79 +f 68 78 79 +f 71 67 80 +f 70 73 80 +f 70 67 81 +f 73 70 81 +f 68 74 82 +f 78 68 82 +f 71 77 83 +f 74 76 84 +f 75 83 85 +f 71 80 86 +f 84 76 88 +f 81 74 89 +f 74 84 89 +f 83 75 90 +f 73 81 91 +f 84 88 91 +f 81 89 91 +f 89 84 91 +f 69 79 93 +f 77 71 94 +f 88 77 94 +f 83 77 95 +f 77 88 95 +f 86 73 96 +f 73 91 96 +f 91 88 96 +f 88 94 96 +f 96 94 97 +f 71 86 97 +f 94 71 97 +f 86 96 97 +f 93 79 98 +f 80 73 99 +f 73 86 99 +f 86 80 99 +f 67 70 100 +f 80 67 100 +f 70 80 100 +f 78 72 101 +f 72 92 101 +f 92 75 101 +f 75 98 101 +f 75 85 102 +f 88 76 102 +f 76 93 102 +f 98 75 102 +f 93 98 102 +f 68 69 103 +f 74 68 103 +f 76 74 103 +f 69 93 103 +f 93 76 103 +f 67 71 104 +f 71 83 104 +f 87 67 104 +f 83 90 104 +f 90 87 104 +f 90 75 105 +f 87 90 105 +f 75 92 105 +f 92 87 105 +f 81 67 106 +f 74 81 106 +f 67 87 106 +f 92 72 106 +f 87 92 106 +f 85 83 107 +f 83 95 107 +f 95 88 107 +f 102 85 107 +f 88 102 107 +f 72 78 108 +f 82 74 108 +f 78 82 108 +f 106 72 108 +f 74 106 108 +f 79 78 109 +f 98 79 109 +f 78 101 109 +o convex_3 +v 2.125192 1.089009 0.525872 +v 1.723636 2.170663 -0.123095 +v 1.723636 2.170663 -0.184964 +v 3.114183 2.139653 0.247681 +v 3.021548 1.119795 -0.463155 +v 1.043565 1.026989 -0.525023 +v 1.043565 2.015949 0.433069 +v 3.052561 2.108755 -0.586892 +v 1.043565 2.170663 -0.525023 +v 1.043565 1.026989 0.464004 +v 2.959723 1.181703 0.525872 +v 3.114183 2.139653 0.494938 +v 1.507149 1.026989 0.494938 +v 2.928912 1.119795 0.494938 +v 2.805263 1.089009 -0.463155 +v 1.723636 2.077745 0.464004 +v 1.785461 1.397989 -0.555958 +v 2.990737 1.706857 0.525872 +v 1.043565 2.077745 0.216747 +v 2.836074 1.181703 -0.494089 +v 1.043565 1.583377 0.464004 +v 3.114183 1.954265 0.371310 +v 1.290864 1.026989 -0.525023 +v 2.836074 2.139653 0.494938 +v 3.052561 1.336193 -0.277767 +v 1.630798 1.428999 -0.555958 +v 1.105390 2.170663 -0.339526 +v 3.052561 2.046959 -0.586892 +v 3.021548 1.119795 -0.277767 +v 2.310463 2.139653 -0.525023 +v 3.052561 2.139653 0.031250 +v 1.321877 1.089009 0.494938 +v 2.897898 2.077857 -0.586892 +v 2.187017 1.181703 0.525872 +f 130 141 143 +f 112 111 113 +f 111 112 118 +f 115 116 118 +f 116 115 119 +f 113 111 121 +f 119 115 122 +f 120 110 123 +f 110 122 123 +f 123 122 124 +f 110 120 127 +f 120 121 127 +f 118 116 128 +f 116 125 128 +f 116 119 130 +f 125 116 130 +f 113 121 131 +f 121 120 131 +f 122 115 132 +f 124 122 132 +f 114 124 132 +f 115 126 132 +f 129 114 132 +f 126 129 132 +f 121 111 133 +f 127 121 133 +f 125 127 133 +f 128 125 133 +f 113 131 134 +f 115 118 135 +f 126 115 135 +f 111 118 136 +f 118 128 136 +f 133 111 136 +f 128 133 136 +f 117 113 137 +f 114 129 137 +f 129 126 137 +f 113 134 137 +f 134 114 137 +f 120 123 138 +f 123 124 138 +f 124 114 138 +f 131 120 138 +f 114 134 138 +f 134 131 138 +f 117 118 139 +f 118 112 139 +f 112 113 140 +f 113 117 140 +f 139 112 140 +f 117 139 140 +f 122 110 141 +f 119 122 141 +f 130 119 141 +f 118 117 142 +f 135 118 142 +f 126 135 142 +f 117 137 142 +f 137 126 142 +f 110 127 143 +f 127 125 143 +f 125 130 143 +f 141 110 143 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/548/548.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/548/548.urdf new file mode 100644 index 000000000..cb379eb7e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/548/548.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/549/549.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/549/549.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/549/549.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/549/549.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/549/549.obj new file mode 100644 index 000000000..fce71752e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/549/549.obj @@ -0,0 +1,987 @@ +o convex_0 +v -0.892123 -1.016116 0.730880 +v 1.239086 -1.016116 0.011162 +v 1.239086 -1.016116 -0.043957 +v 0.021080 -3.230309 0.011162 +v -0.725976 -1.016116 -0.818795 +v 0.768377 -2.261179 -0.735852 +v 0.712915 -2.233651 0.675409 +v -0.753707 -2.925546 -0.043957 +v -0.698486 -2.261396 0.703233 +v 0.712915 -1.016116 0.841647 +v 0.796109 -1.016116 -0.874266 +v -0.034141 -2.510236 -0.763499 +v -1.224415 -1.043861 -0.099252 +v 0.740646 -2.898017 -0.016310 +v -0.725976 -2.288925 -0.680557 +v 0.048811 -2.454962 0.730704 +v -0.172315 -1.043644 0.896942 +v -1.168953 -1.043861 0.426404 +v 1.155892 -1.071390 0.454052 +v -1.168953 -1.016116 -0.431376 +v 1.155892 -1.043644 -0.514495 +v 0.021080 -1.209682 -0.901914 +v 0.048811 -3.202564 -0.071429 +v -0.753707 -2.925546 0.038986 +v -0.753707 -1.016116 0.841647 +v -0.781439 -2.205906 0.675585 +v 0.740646 -2.898017 -0.071605 +v 0.159495 -2.482924 -0.763499 +v -0.172315 -2.427434 0.730704 +v 0.048811 -1.126663 0.896942 +v -0.061873 -3.230309 -0.043781 +v -0.725976 -1.652737 -0.763499 +v -1.196684 -1.043861 0.343286 +v -1.113490 -1.182153 -0.486671 +v 0.879061 -1.016116 0.730880 +v -0.200047 -3.064055 0.121929 +v 0.768377 -2.150632 -0.763499 +v -0.587802 -2.482707 -0.569790 +v 0.740646 -2.178161 0.675409 +v -0.089363 -1.016116 -0.901914 +v 0.934524 -1.126663 -0.763499 +v 1.183623 -1.099135 0.343286 +v 0.740646 -2.316670 -0.708204 +v -0.864391 -1.043861 -0.735852 +v -0.753707 -2.399688 0.564819 +v -1.224415 -1.071606 0.011162 +v 1.155892 -1.126880 -0.431376 +v 0.740646 -1.237427 0.813823 +v -0.587802 -1.043861 -0.846618 +v -1.058269 -1.016116 0.564819 +v -0.061873 -2.676707 0.536995 +v -0.753707 -2.205906 -0.680557 +v 1.239086 -1.043644 -0.043957 +v 0.768377 -1.099135 -0.874266 +v -0.725976 -2.953291 0.038986 +v -0.753707 -1.542190 0.786352 +v 0.796109 -2.178161 -0.735852 +v 0.021080 -2.288925 0.758528 +v -1.168953 -1.154625 -0.292962 +v 0.380863 -2.731980 0.343462 +v 1.100670 -1.237427 0.481876 +v 1.183623 -1.016116 0.398757 +v -0.781439 -2.095576 0.703233 +v 0.491788 -2.288925 0.703233 +f 48 58 64 +f 1 2 3 +f 1 3 5 +f 2 1 10 +f 5 3 11 +f 1 5 20 +f 11 3 21 +f 10 1 25 +f 17 10 25 +f 14 4 27 +f 4 23 27 +f 12 22 28 +f 23 12 28 +f 10 17 30 +f 23 4 31 +f 12 23 31 +f 12 15 32 +f 20 13 33 +f 26 18 33 +f 24 26 33 +f 2 10 35 +f 6 28 37 +f 15 12 38 +f 8 15 38 +f 31 8 38 +f 12 31 38 +f 7 14 39 +f 5 11 40 +f 11 22 40 +f 11 21 41 +f 37 11 41 +f 6 27 43 +f 27 23 43 +f 28 6 43 +f 23 28 43 +f 20 5 44 +f 5 32 44 +f 34 20 44 +f 9 26 45 +f 26 24 45 +f 29 9 45 +f 13 8 46 +f 8 24 46 +f 33 13 46 +f 24 33 46 +f 10 30 48 +f 35 10 48 +f 7 39 48 +f 39 35 48 +f 22 12 49 +f 12 32 49 +f 32 5 49 +f 5 40 49 +f 40 22 49 +f 1 20 50 +f 33 18 50 +f 20 33 50 +f 4 16 51 +f 16 29 51 +f 36 4 51 +f 29 45 51 +f 45 36 51 +f 15 8 52 +f 32 15 52 +f 8 34 52 +f 44 32 52 +f 34 44 52 +f 3 2 53 +f 21 3 53 +f 14 27 53 +f 2 42 53 +f 42 14 53 +f 47 21 53 +f 27 47 53 +f 22 11 54 +f 28 22 54 +f 11 37 54 +f 37 28 54 +f 24 8 55 +f 8 31 55 +f 31 4 55 +f 4 36 55 +f 45 24 55 +f 36 45 55 +f 25 1 56 +f 17 25 56 +f 29 17 56 +f 9 29 56 +f 27 6 57 +f 6 37 57 +f 41 21 57 +f 37 41 57 +f 21 47 57 +f 47 27 57 +f 29 16 58 +f 17 29 58 +f 30 17 58 +f 48 30 58 +f 8 13 59 +f 13 20 59 +f 34 8 59 +f 20 34 59 +f 4 14 60 +f 14 7 60 +f 16 4 60 +f 7 16 60 +f 19 35 61 +f 39 14 61 +f 35 39 61 +f 14 42 61 +f 42 19 61 +f 2 35 62 +f 35 19 62 +f 42 2 62 +f 19 42 62 +f 18 26 63 +f 26 9 63 +f 1 50 63 +f 50 18 63 +f 56 1 63 +f 9 56 63 +f 16 7 64 +f 7 48 64 +f 58 16 64 +o convex_1 +v -1.085762 0.728154 -0.542086 +v 0.353220 3.080758 0.038856 +v 0.408556 2.914610 0.398648 +v 1.266760 0.617469 -0.514395 +v -0.006463 0.617228 0.980159 +v -0.753746 2.111840 0.786132 +v -0.698411 2.222526 -0.763424 +v 0.823824 2.139572 0.814013 +v 0.879160 2.139572 -0.763424 +v 0.021205 0.617228 -0.957450 +v -1.196683 0.617228 0.398648 +v 1.155839 0.617469 0.509412 +v -0.836750 2.499118 0.066547 +v 0.962164 2.471628 0.066547 +v 0.021205 3.080758 -0.348438 +v -0.227806 3.080758 0.343267 +v -0.753746 0.617228 0.869205 +v -0.006463 2.056136 0.924777 +v 0.768488 0.617469 0.897086 +v -0.753746 0.617228 -0.846496 +v 0.048873 2.028887 -0.902068 +v 0.851492 0.617469 -0.874377 +v -0.006463 2.803684 0.647867 +v 1.322096 0.645200 0.011354 +v 0.546896 2.803684 -0.486704 +v 0.131877 2.803684 -0.625158 +v -0.421482 2.803684 -0.459202 +v -1.224350 0.645200 -0.126911 +v -0.310810 3.080758 0.011354 +v -0.753746 2.250016 -0.652660 +v 0.962164 2.416165 -0.126911 +v -0.449150 2.776193 0.509223 +v 0.851492 2.139572 0.786132 +v 0.159545 2.028887 0.924587 +v 0.491560 2.803684 0.509412 +v -0.836750 2.443896 -0.126911 +v 0.325552 3.080758 -0.292867 +v -1.141097 0.728154 0.509412 +v -1.168765 0.617228 -0.403631 +v -0.726078 0.977256 -0.846496 +v 0.048873 3.080758 0.370957 +v -0.753746 0.866571 0.869205 +v -0.753746 2.056377 -0.763424 +v 0.906828 1.226358 0.786132 +v 0.851492 0.755886 -0.874377 +v 0.021205 2.803684 -0.625158 +v -1.224350 0.700664 0.011354 +v 0.851492 2.610044 0.038856 +v -0.283142 3.080758 0.315576 +v -0.006463 2.692757 0.703249 +v -0.061799 2.028887 0.924777 +v -1.196683 0.672932 0.371147 +v -0.864418 0.838839 -0.763424 +v -0.864418 0.894303 0.786132 +v -1.141097 0.672932 -0.486704 +v 0.962164 0.838839 -0.791304 +v 0.104209 0.672691 -0.957450 +v 1.266760 0.645200 -0.514395 +v -0.864418 2.416165 0.038856 +v -0.781414 2.222526 0.592485 +v 0.104209 2.001155 -0.901878 +v -0.643075 2.111840 0.814013 +v 1.322096 0.645200 -0.071529 +v 1.183507 0.645200 0.454030 +f 88 97 128 +f 68 69 74 +f 74 69 75 +f 69 68 76 +f 66 79 80 +f 75 69 81 +f 69 76 83 +f 74 75 84 +f 68 74 86 +f 76 68 88 +f 73 85 90 +f 89 73 90 +f 80 79 93 +f 79 91 93 +f 91 71 94 +f 73 89 95 +f 87 80 96 +f 70 87 96 +f 88 78 97 +f 82 69 98 +f 69 83 98 +f 83 72 98 +f 66 67 99 +f 87 72 99 +f 72 97 99 +f 97 78 99 +f 77 93 100 +f 93 91 100 +f 91 94 100 +f 79 66 101 +f 90 79 101 +f 89 90 101 +f 75 81 102 +f 84 75 103 +f 75 92 103 +f 74 84 104 +f 85 74 104 +f 71 85 104 +f 67 66 105 +f 66 80 105 +f 80 87 105 +f 99 67 105 +f 87 99 105 +f 81 69 106 +f 94 71 107 +f 71 104 107 +f 83 76 108 +f 72 83 108 +f 97 72 108 +f 76 97 108 +f 85 71 110 +f 79 90 110 +f 90 85 110 +f 71 91 110 +f 91 79 110 +f 92 75 111 +f 78 95 112 +f 95 89 112 +f 66 99 112 +f 99 78 112 +f 101 66 112 +f 89 101 112 +f 93 77 113 +f 80 93 113 +f 77 96 113 +f 96 80 113 +f 72 87 114 +f 87 70 114 +f 82 98 114 +f 98 72 114 +f 69 82 115 +f 106 69 115 +f 102 70 116 +f 75 102 116 +f 111 75 116 +f 104 84 117 +f 65 107 117 +f 107 104 117 +f 70 102 118 +f 102 81 118 +f 81 106 118 +f 106 70 118 +f 92 100 119 +f 100 94 119 +f 84 103 119 +f 103 92 119 +f 107 65 119 +f 94 107 119 +f 65 117 119 +f 117 84 119 +f 68 86 120 +f 109 73 120 +f 86 109 120 +f 74 85 121 +f 86 74 121 +f 109 86 121 +f 73 95 122 +f 68 120 122 +f 120 73 122 +f 77 100 123 +f 100 92 123 +f 92 111 123 +f 111 116 123 +f 123 116 124 +f 70 96 124 +f 96 77 124 +f 116 70 124 +f 77 123 124 +f 85 73 125 +f 73 109 125 +f 121 85 125 +f 109 121 125 +f 70 106 126 +f 114 70 126 +f 82 114 126 +f 115 82 126 +f 106 115 126 +f 88 68 127 +f 78 88 127 +f 95 78 127 +f 68 122 127 +f 122 95 127 +f 76 88 128 +f 97 76 128 +o convex_2 +v 0.131802 3.080759 -0.348417 +v -0.034084 3.330029 0.371125 +v -0.061785 3.330029 0.371125 +v 0.021190 4.796758 0.011354 +v -0.310971 3.080759 0.011354 +v 0.353351 3.080759 0.011354 +v -0.172527 4.602919 0.038899 +v -0.006447 4.547656 0.260383 +v -0.283270 3.080759 0.315754 +v 0.021190 4.575203 -0.182374 +v -0.200229 3.219335 -0.210060 +v 0.325650 3.108642 -0.293116 +v 0.159569 4.547656 0.038899 +v 0.214908 3.080759 0.288069 +v -0.172527 4.326101 0.232698 +v 0.159569 4.381532 -0.154688 +v 0.048827 3.080759 -0.348417 +v 0.214908 3.191788 0.288069 +v -0.006447 4.547656 -0.182374 +v -0.061785 4.547656 0.260383 +v -0.310971 3.164073 0.121956 +v 0.021190 3.080759 0.371125 +v 0.187271 4.409247 -0.016261 +v 0.131802 4.381532 0.149641 +v 0.214908 3.855948 -0.237745 +v -0.117189 4.409247 -0.099317 +v -0.227801 3.080759 -0.182374 +v -0.034084 4.796758 0.011354 +v -0.227801 3.108642 0.343510 +v 0.353351 3.136357 -0.043946 +v 0.048827 3.164073 -0.348417 +v 0.242609 3.136357 0.260383 +v 0.187271 4.381532 0.038899 +v -0.172527 4.547656 0.121956 +v 0.021190 4.769043 0.094270 +v 0.048827 4.575203 -0.182374 +v -0.172527 3.164073 -0.237745 +v 0.021190 3.191788 0.371125 +f 150 146 166 +f 133 129 134 +f 131 130 136 +f 133 134 137 +f 134 129 140 +f 137 134 142 +f 132 141 144 +f 129 133 145 +f 131 136 148 +f 135 133 149 +f 133 137 149 +f 130 131 150 +f 137 142 150 +f 142 146 150 +f 140 144 151 +f 144 141 151 +f 141 136 152 +f 136 146 152 +f 140 129 153 +f 144 140 153 +f 139 135 154 +f 135 147 154 +f 147 139 154 +f 133 135 155 +f 135 139 155 +f 145 133 155 +f 132 138 156 +f 147 135 156 +f 138 147 156 +f 143 137 157 +f 131 148 157 +f 148 143 157 +f 150 131 157 +f 137 150 157 +f 134 140 158 +f 140 151 158 +f 129 145 159 +f 147 138 159 +f 142 134 160 +f 146 142 160 +f 152 146 160 +f 152 160 161 +f 151 141 161 +f 141 152 161 +f 134 158 161 +f 158 151 161 +f 160 134 161 +f 137 143 162 +f 143 148 162 +f 135 149 162 +f 149 137 162 +f 156 135 162 +f 148 156 162 +f 136 141 163 +f 141 132 163 +f 148 136 163 +f 132 156 163 +f 156 148 163 +f 138 132 164 +f 132 144 164 +f 153 129 164 +f 144 153 164 +f 129 159 164 +f 159 138 164 +f 139 147 165 +f 155 139 165 +f 145 155 165 +f 159 145 165 +f 147 159 165 +f 136 130 166 +f 146 136 166 +f 130 150 166 +o convex_3 +v 1.516052 -0.545205 -0.514536 +v 1.405348 0.617068 -0.016326 +v 1.405348 0.617068 -0.071632 +v 3.010643 -0.157940 -0.016326 +v 1.294476 -0.821868 0.426464 +v 1.349912 0.340245 0.454231 +v 1.294476 0.506307 -0.486882 +v 2.761348 -0.240731 -0.459116 +v 2.733799 -0.655966 -0.071518 +v 2.761348 -0.185591 0.371044 +v 2.816785 0.229484 -0.016326 +v 1.294476 -1.015740 -0.043979 +v 1.294476 -0.185591 0.564957 +v 1.294476 -0.766567 -0.459116 +v 1.294476 -0.047179 -0.597608 +v 2.567658 0.146533 -0.376043 +v 2.540108 -0.545205 0.288085 +v 2.014305 -0.240731 0.509537 +v 2.069573 -0.157940 -0.569842 +v 2.484672 0.146533 0.288085 +v 1.294476 0.478656 0.315738 +v 2.512390 -0.545205 -0.348390 +v 2.733799 -0.655966 0.011213 +v 2.789067 0.229484 -0.099285 +v 1.349912 -0.849678 0.398811 +v 2.789067 -0.185591 -0.459116 +v 3.010643 -0.268382 -0.016326 +v 2.733799 -0.268382 0.371044 +v 2.125009 0.229484 -0.459116 +v 1.322362 0.617068 0.066633 +v 1.488334 0.367895 0.426464 +v 1.848165 -0.683616 0.398811 +v 1.322362 -1.015740 0.011327 +v 1.294476 -0.240731 -0.597608 +v 1.349912 -0.766567 -0.459116 +v 1.958869 -0.157940 0.509537 +v 2.069573 -0.213081 -0.569842 +v 1.322362 0.506307 -0.486882 +v 1.349912 -0.268382 0.564957 +v 3.010643 -0.240731 -0.099285 +v 1.322362 -0.877328 -0.293084 +v 2.789067 0.229484 0.011213 +v 3.010643 -0.185591 -0.099285 +v 2.014305 0.174183 0.398811 +v 1.294476 0.617068 -0.126938 +v 1.931151 -0.628156 -0.431463 +v 2.706080 -0.074830 0.343391 +v 1.931151 -0.296192 0.509537 +v 1.626756 -0.130290 -0.597608 +v 2.789067 -0.240731 0.343391 +v 2.733799 0.257294 -0.071518 +v 1.405348 0.395546 0.426464 +v 1.294476 0.340245 0.454231 +v 2.650644 -0.185591 0.398811 +f 213 210 220 +f 176 170 177 +f 171 173 178 +f 173 171 179 +f 178 173 180 +f 180 173 181 +f 173 179 187 +f 174 175 188 +f 189 183 191 +f 182 190 192 +f 189 175 193 +f 183 189 194 +f 182 192 195 +f 192 185 195 +f 168 169 196 +f 177 168 196 +f 171 191 198 +f 191 183 198 +f 183 194 198 +f 171 178 199 +f 178 175 199 +f 175 189 199 +f 191 171 199 +f 189 191 199 +f 180 181 200 +f 200 167 201 +f 180 200 201 +f 172 179 202 +f 179 184 202 +f 197 172 202 +f 192 174 203 +f 185 192 203 +f 167 200 203 +f 201 167 203 +f 181 173 204 +f 190 182 204 +f 182 195 204 +f 195 185 204 +f 179 171 205 +f 184 179 205 +f 175 174 206 +f 174 192 206 +f 193 175 206 +f 170 193 206 +f 175 178 207 +f 178 180 207 +f 188 175 207 +f 180 201 207 +f 201 188 207 +f 177 196 208 +f 177 170 209 +f 190 177 209 +f 192 190 209 +f 170 206 209 +f 206 192 209 +f 186 197 210 +f 197 202 210 +f 173 187 211 +f 196 169 211 +f 187 196 211 +f 169 204 211 +f 204 173 211 +f 174 188 212 +f 188 201 212 +f 203 174 212 +f 201 203 212 +f 176 177 213 +f 177 208 213 +f 208 186 213 +f 186 210 213 +f 194 184 214 +f 171 198 214 +f 198 194 214 +f 205 171 214 +f 184 205 214 +f 200 181 215 +f 185 203 215 +f 203 200 215 +f 181 204 215 +f 204 185 215 +f 170 176 216 +f 193 170 216 +f 189 193 216 +f 176 194 216 +f 194 189 216 +f 169 168 217 +f 168 177 217 +f 177 190 217 +f 204 169 217 +f 190 204 217 +f 196 187 218 +f 172 197 218 +f 197 186 218 +f 186 208 218 +f 208 196 218 +f 179 172 219 +f 187 179 219 +f 172 218 219 +f 218 187 219 +f 194 176 220 +f 184 194 220 +f 202 184 220 +f 210 202 220 +f 176 213 220 +o convex_4 +v -1.252095 -1.015740 -0.043963 +v -1.252095 0.617068 0.011203 +v -1.252095 0.617068 -0.043963 +v -2.968263 -0.157940 0.011203 +v -1.252095 -0.296192 0.537168 +v -1.418236 -0.157940 -0.569928 +v -2.663700 -0.213081 0.371131 +v -2.691250 -0.157940 -0.376037 +v -1.307532 0.395546 0.426404 +v -1.252095 -0.821868 -0.431528 +v -2.691250 -0.572855 -0.043854 +v -1.335250 -0.794217 0.398768 +v -2.746686 0.146533 0.011203 +v -1.252095 0.423196 -0.459164 +v -2.691250 -0.240731 -0.376037 +v -2.525278 -0.489744 0.260367 +v -2.027361 -0.213081 0.481895 +v -2.580546 0.035772 0.288004 +v -2.552828 0.091072 -0.265382 +v -1.971925 -0.213081 -0.514546 +v -2.497560 -0.489744 -0.293019 +v -2.691250 -0.572855 0.011203 +v -1.252095 -0.268382 -0.569928 +v -2.746686 -0.240731 0.343386 +v -1.252095 0.201834 0.481786 +v -1.307532 0.423196 -0.459164 +v -1.279814 -1.015740 0.011203 +v -2.663700 0.146533 -0.099236 +v -2.968263 -0.240731 -0.043854 +v -2.718968 -0.130290 0.343386 +v -1.252095 -0.794217 0.398768 +v -1.279814 -0.821868 -0.431528 +v -2.691250 0.146533 0.066585 +v -1.473672 -0.240731 0.537277 +v -1.916657 -0.130290 -0.514546 +v -1.501390 0.229484 0.454150 +v -1.279814 0.617068 -0.043963 +v -1.279814 0.617068 0.011203 +v -1.999643 -0.545205 -0.403782 +v -1.279814 -1.015740 -0.043963 +v -1.307532 -0.102480 0.537168 +v -1.418236 0.284944 -0.486801 +v -2.940377 -0.130290 -0.043854 +v -2.968263 -0.240731 0.011203 +v -1.279814 0.423196 0.398768 +v -2.580546 0.091072 0.232730 +v -1.279814 -0.074830 -0.569928 +v -2.027361 -0.185591 0.481895 +v -1.944207 -0.268382 0.481895 +v -2.718968 -0.268382 0.343386 +v -2.580546 0.008121 -0.320764 +f 248 239 271 +f 223 222 221 +f 221 222 225 +f 223 221 230 +f 223 230 234 +f 235 228 240 +f 231 235 241 +f 232 236 242 +f 234 230 243 +f 240 226 243 +f 225 222 245 +f 223 234 246 +f 242 231 247 +f 232 242 247 +f 246 239 248 +f 228 235 249 +f 235 231 249 +f 231 242 249 +f 233 224 250 +f 229 238 250 +f 244 227 250 +f 224 244 250 +f 221 225 251 +f 225 232 251 +f 247 221 251 +f 232 247 251 +f 230 221 252 +f 231 241 252 +f 243 230 252 +f 240 243 252 +f 233 250 253 +f 232 225 254 +f 226 240 255 +f 240 228 255 +f 245 229 256 +f 229 250 256 +f 222 223 257 +f 223 246 257 +f 248 233 257 +f 246 248 257 +f 233 253 258 +f 222 257 258 +f 257 233 258 +f 235 240 259 +f 241 235 259 +f 240 252 259 +f 252 241 259 +f 221 247 260 +f 247 231 260 +f 252 221 260 +f 231 252 260 +f 225 245 261 +f 254 225 261 +f 245 256 261 +f 228 246 262 +f 255 228 262 +f 224 233 263 +f 233 248 263 +f 248 228 263 +f 249 224 263 +f 228 249 263 +f 244 224 264 +f 242 244 264 +f 224 249 264 +f 249 242 264 +f 245 222 265 +f 229 245 265 +f 222 258 265 +f 258 253 265 +f 238 229 266 +f 250 238 266 +f 253 250 266 +f 229 265 266 +f 265 253 266 +f 243 226 267 +f 234 243 267 +f 246 234 267 +f 226 255 267 +f 262 246 267 +f 255 262 267 +f 227 237 268 +f 250 227 268 +f 237 254 268 +f 256 250 268 +f 254 261 268 +f 261 256 268 +f 237 227 269 +f 232 254 269 +f 254 237 269 +f 236 232 270 +f 242 236 270 +f 227 244 270 +f 244 242 270 +f 269 227 270 +f 232 269 270 +f 239 246 271 +f 246 228 271 +f 228 248 271 +o convex_5 +v 0.297865 -0.268382 0.980159 +v -0.089501 -0.268382 -0.985130 +v -0.089501 -0.185591 -0.985130 +v -1.252095 -0.185591 0.564632 +v 1.294446 0.617068 0.066576 +v 1.294446 -1.015740 -0.043846 +v -1.252095 -1.015740 0.038875 +v -1.252095 0.617068 -0.071548 +v 0.851493 0.617068 -0.874323 +v -0.006494 0.617068 0.980159 +v 0.796155 -1.015740 -0.874323 +v -0.753805 -1.015740 0.841457 +v -0.781474 -1.015740 -0.791218 +v -0.753805 0.617068 -0.846621 +v 0.740817 -1.015740 0.841650 +v 1.294446 -0.185591 0.564824 +v 1.294446 -0.019529 -0.597305 +v -1.252095 -0.268382 -0.569795 +v 0.823824 0.617068 0.869351 +v -0.809143 0.617068 0.841457 +v -0.753805 -0.323842 0.924563 +v 0.796155 -0.296192 -0.957428 +v 0.104182 0.617068 -0.957428 +v 1.294446 -0.849678 0.426315 +v -1.196508 0.589258 0.481719 +v 1.294446 0.589258 -0.486690 +v -0.726136 -0.351493 -0.901832 +v 1.294446 -0.766567 -0.459181 +v 0.021175 -0.932629 -0.929726 +v -1.168839 -1.015740 -0.458988 +v -1.252095 0.423196 -0.458988 +v 0.768486 -0.323842 0.924755 +v -1.141171 -1.015740 0.481719 +v -0.034163 -0.904978 0.924755 +v 1.294446 0.423196 0.426315 +v -0.283183 -0.268382 0.980159 +v 0.768486 0.174183 0.924755 +v 1.238858 -0.213081 -0.652901 +v 1.155852 -1.015740 -0.514392 +v -0.642880 -0.185591 -0.929726 +v 1.183521 -1.015740 0.426315 +v -0.726136 0.506307 0.897053 +v -1.141171 0.617068 -0.486690 +v -0.615211 -1.015740 -0.846621 +v -1.252095 -0.821868 0.398806 +v 1.183521 0.617068 0.481719 +v -1.252095 -0.821868 -0.431287 +v -1.252095 0.451006 0.454017 +v 0.325534 -0.268382 -0.985130 +v -0.615211 -0.240731 0.952457 +v -1.252095 -0.074830 -0.569795 +v 0.823824 0.146533 -0.929726 +v 0.962169 -0.960279 -0.763516 +v -0.698467 0.589258 -0.874323 +v 0.159520 -1.015740 0.897053 +v 1.294446 -0.268382 0.564824 +v 0.989838 0.533957 -0.791218 +v -0.006494 0.589258 -0.957428 +v -0.919819 -0.932629 0.730842 +v 0.657561 -0.240731 0.952457 +v -0.781474 -0.130290 -0.874323 +v -0.642880 -0.268382 -0.929726 +v 1.266777 0.617068 -0.514392 +v 0.768486 0.617068 0.897053 +f 308 290 335 +f 278 275 279 +f 279 276 280 +f 276 279 281 +f 277 278 282 +f 278 277 283 +f 282 278 284 +f 279 280 285 +f 283 277 286 +f 277 276 287 +f 276 277 288 +f 278 279 289 +f 276 281 290 +f 281 279 291 +f 291 275 292 +f 285 280 294 +f 277 287 295 +f 291 279 296 +f 276 288 297 +f 284 289 298 +f 288 277 299 +f 293 282 300 +f 284 278 301 +f 289 284 301 +f 289 279 302 +f 278 283 304 +f 287 276 306 +f 290 287 306 +f 272 281 307 +f 305 272 307 +f 287 290 308 +f 303 287 308 +f 288 299 309 +f 277 282 310 +f 299 277 310 +f 274 273 311 +f 286 277 312 +f 277 295 312 +f 295 286 312 +f 281 291 313 +f 291 292 313 +f 279 285 314 +f 302 279 314 +f 285 302 314 +f 282 284 315 +f 284 298 315 +f 300 282 315 +f 275 278 316 +f 304 275 316 +f 278 304 316 +f 276 290 317 +f 306 276 317 +f 290 306 317 +f 278 289 318 +f 301 278 318 +f 289 301 318 +f 279 275 319 +f 275 291 319 +f 296 279 319 +f 291 296 319 +f 273 274 320 +f 274 294 320 +f 294 293 320 +f 300 273 320 +f 293 300 320 +f 292 283 321 +f 283 305 321 +f 307 281 321 +f 305 307 321 +f 281 313 321 +f 313 292 321 +f 302 285 322 +f 289 302 322 +f 294 280 323 +f 293 294 323 +f 309 293 323 +f 282 293 324 +f 293 309 324 +f 309 299 324 +f 310 282 324 +f 299 310 324 +f 285 294 325 +f 283 286 326 +f 272 305 326 +f 305 283 326 +f 286 295 327 +f 295 287 327 +f 303 286 327 +f 287 303 327 +f 288 309 328 +f 323 280 328 +f 309 323 328 +f 294 274 329 +f 274 311 329 +f 325 294 329 +f 311 325 329 +f 283 292 330 +f 292 275 330 +f 275 304 330 +f 304 283 330 +f 281 272 331 +f 286 303 331 +f 308 281 331 +f 303 308 331 +f 272 326 331 +f 326 286 331 +f 298 289 332 +f 311 298 332 +f 322 285 332 +f 289 322 332 +f 285 325 332 +f 325 311 332 +f 273 300 333 +f 311 273 333 +f 298 311 333 +f 315 298 333 +f 300 315 333 +f 280 276 334 +f 276 297 334 +f 297 288 334 +f 328 280 334 +f 288 328 334 +f 290 281 335 +f 281 308 335 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/549/549.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/549/549.urdf new file mode 100644 index 000000000..91beabcde --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/549/549.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/550/550.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/550/550.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/550/550.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/550/550.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/550/550.obj new file mode 100644 index 000000000..95b7c9c09 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/550/550.obj @@ -0,0 +1,1023 @@ +o convex_0 +v -0.572784 -1.433511 1.236293 +v 0.431290 -1.470788 -1.403610 +v 0.431290 -1.433511 -1.403610 +v 0.989018 -1.656638 0.976156 +v -0.089310 -3.255620 -0.064659 +v -1.502330 -1.433511 -0.064659 +v 0.840236 -2.846287 -0.697067 +v -0.795547 -2.734992 -0.845603 +v -0.721293 -2.846287 0.715753 +v 0.765709 -2.883743 0.790154 +v 1.286582 -1.433511 -0.213461 +v -0.981457 -1.433511 -1.068540 +v 0.245381 -1.433511 1.310960 +v 1.100673 -1.508065 -1.031605 +v -0.832675 -2.995217 -0.101860 +v 0.022071 -2.995217 -0.808403 +v 1.026146 -2.697715 0.344014 +v -1.055984 -1.507887 0.938956 +v 0.802836 -3.106869 0.009210 +v -0.089310 -3.032494 0.752953 +v 0.989018 -1.433511 0.976156 +v -0.647038 -2.214542 -1.068540 +v 1.026146 -2.362936 0.790154 +v -1.502330 -1.470788 0.046411 +v -0.237819 -1.470788 -1.328943 +v 0.840236 -2.771912 -0.771202 +v -0.795547 -2.697715 0.752953 +v -0.981457 -2.214542 -0.845603 +v -0.572784 -2.177444 1.013091 +v 0.802836 -3.106869 0.158012 +v 0.877364 -2.102890 0.976156 +v 1.286582 -1.470788 -0.064925 +v -0.684165 -2.809367 -0.845603 +v -0.795547 -1.433511 1.161893 +v 0.505545 -1.470788 -1.403610 +v 0.096599 -3.255620 -0.064659 +v 0.133726 -1.470788 1.310960 +v 0.133726 -3.032494 0.752953 +v -0.832675 -1.991416 -1.068540 +v 1.137800 -1.433511 -0.957204 +v -1.018584 -2.065792 0.752953 +v -0.795547 -2.958118 0.232413 +v -0.052183 -3.255620 0.046411 +v -1.502330 -1.470788 -0.064659 +v 1.026146 -2.028515 -0.882803 +v 1.026146 -2.660617 0.158012 +v -0.795547 -3.032494 -0.101860 +v 1.286582 -1.470788 -0.213461 +v -0.089310 -2.995217 -0.808403 +v -0.832675 -2.028515 0.975890 +v 0.802836 -2.883743 -0.659867 +v -1.055984 -1.433511 0.938956 +v -0.758693 -2.846287 0.678552 +v -0.758693 -2.809367 -0.808403 +v 0.245381 -1.470788 1.310960 +v 0.691454 -2.846287 -0.771202 +v 0.022071 -3.218343 0.195212 +v -0.758693 -2.771912 0.752953 +v -0.572784 -1.470788 1.236293 +v 0.951618 -2.511687 0.827354 +f 4 31 60 +f 1 3 6 +f 3 1 11 +f 6 3 12 +f 11 1 13 +f 13 4 21 +f 11 13 21 +f 3 2 25 +f 12 3 25 +f 2 22 25 +f 17 10 30 +f 19 17 30 +f 21 4 32 +f 11 21 32 +f 4 23 32 +f 23 17 32 +f 22 2 33 +f 8 22 33 +f 1 6 34 +f 2 3 35 +f 16 2 35 +f 14 26 35 +f 5 16 36 +f 19 30 36 +f 13 1 37 +f 29 20 37 +f 30 10 38 +f 37 20 38 +f 22 8 39 +f 12 25 39 +f 25 22 39 +f 8 28 39 +f 28 12 39 +f 3 11 40 +f 35 3 40 +f 14 35 40 +f 18 24 41 +f 27 18 41 +f 24 27 41 +f 24 15 42 +f 5 36 43 +f 6 12 44 +f 8 15 44 +f 24 6 44 +f 15 24 44 +f 28 8 44 +f 12 28 44 +f 26 14 45 +f 7 26 45 +f 14 40 45 +f 19 7 46 +f 17 19 46 +f 42 15 47 +f 5 43 47 +f 43 42 47 +f 11 32 48 +f 32 17 48 +f 40 11 48 +f 7 45 48 +f 45 40 48 +f 46 7 48 +f 17 46 48 +f 2 16 49 +f 16 5 49 +f 33 2 49 +f 18 27 50 +f 34 18 50 +f 7 19 51 +f 36 16 51 +f 19 36 51 +f 6 24 52 +f 24 18 52 +f 34 6 52 +f 18 34 52 +f 20 9 53 +f 27 24 53 +f 24 42 53 +f 43 20 53 +f 42 43 53 +f 15 8 54 +f 8 33 54 +f 47 15 54 +f 5 47 54 +f 49 5 54 +f 33 49 54 +f 4 13 55 +f 10 31 55 +f 31 4 55 +f 13 37 55 +f 38 10 55 +f 37 38 55 +f 26 7 56 +f 16 35 56 +f 35 26 56 +f 7 51 56 +f 51 16 56 +f 36 30 57 +f 30 38 57 +f 38 20 57 +f 20 43 57 +f 43 36 57 +f 9 20 58 +f 20 29 58 +f 50 27 58 +f 29 50 58 +f 53 9 58 +f 27 53 58 +f 1 34 59 +f 37 1 59 +f 29 37 59 +f 50 29 59 +f 34 50 59 +f 10 17 60 +f 23 4 60 +f 17 23 60 +f 31 10 60 +o convex_1 +v -0.535561 2.917052 0.120964 +v -0.535561 1.020943 -1.217680 +v -0.535561 1.058253 -1.217680 +v 1.249397 1.020757 0.158034 +v -0.981611 1.020943 1.050626 +v 0.765924 2.396388 -0.845523 +v 0.840265 2.470821 0.752851 +v -0.795506 2.433511 -0.845767 +v 0.840265 1.020943 1.199148 +v 0.988949 1.020943 -1.031602 +v -1.316401 1.058253 -0.064870 +v -0.758335 2.470821 0.753095 +v 0.505476 2.917052 -0.510923 +v -0.014917 2.507945 0.901617 +v -1.055953 1.020943 -1.031602 +v 0.096596 2.917052 0.567017 +v -0.275113 1.058253 1.273774 +v 0.914607 2.545069 -0.176323 +v 0.096596 2.470821 -0.957219 +v -0.907019 2.507945 0.083651 +v -0.461219 2.917052 -0.548236 +v 1.100462 1.058067 0.976000 +v 0.654160 2.917052 0.046582 +v 0.542647 1.058253 1.273774 +v 0.728753 1.058253 -1.105740 +v 0.951778 1.801847 -0.771140 +v -0.981611 1.690289 0.753095 +v 0.059425 2.879742 -0.696758 +v -0.907019 2.507945 -0.176323 +v -0.795506 1.132501 -1.180367 +v 0.542647 2.917052 0.418251 +v -0.163600 2.470821 -0.957219 +v -0.386626 2.917052 0.418495 +v -0.683993 2.470821 0.790165 +v 1.249397 1.058067 0.083651 +v -1.316401 1.020943 0.009512 +v -0.683993 2.470821 -0.882836 +v -1.055953 1.244058 -0.957219 +v 0.914607 2.545069 0.009756 +v -0.572731 2.917052 -0.176323 +v -1.018782 1.058253 1.013069 +v -0.386626 1.058253 -1.217680 +v 0.059425 2.507945 0.901617 +v 1.249397 1.058067 0.158034 +v 0.840265 1.095376 1.199148 +v 0.951778 2.321954 -0.287775 +v 0.988949 1.206934 -0.994288 +v -1.316401 1.058253 0.009512 +v -0.795506 2.396388 0.753095 +v 0.765924 2.061714 -0.919906 +v -0.795506 2.210582 0.827478 +v -0.275113 1.020943 1.273774 +v 0.877436 2.507945 0.455565 +v -0.795506 2.470821 -0.808454 +v 0.654160 2.470821 -0.845523 +v 0.691331 2.470821 0.790165 +v -0.051836 2.917052 -0.659688 +v -0.795506 2.359263 -0.882836 +v 0.877436 2.284830 0.790165 +v 0.022254 2.917052 0.567017 +f 94 74 120 +f 64 62 70 +f 62 64 75 +f 73 61 76 +f 66 73 78 +f 72 61 80 +f 61 73 81 +f 69 64 82 +f 73 76 83 +f 78 73 83 +f 74 77 84 +f 70 62 85 +f 71 80 89 +f 63 62 90 +f 62 75 90 +f 76 67 91 +f 67 83 91 +f 83 76 91 +f 79 63 92 +f 88 79 92 +f 63 90 92 +f 61 72 93 +f 76 61 93 +f 77 74 94 +f 93 72 94 +f 64 70 95 +f 64 65 96 +f 75 64 96 +f 71 75 96 +f 92 90 97 +f 75 71 98 +f 78 83 99 +f 95 78 99 +f 80 61 100 +f 61 81 100 +f 89 80 100 +f 96 65 101 +f 62 63 102 +f 63 79 102 +f 85 62 102 +f 79 85 102 +f 76 74 103 +f 74 84 103 +f 82 64 104 +f 64 95 104 +f 95 99 104 +f 69 82 105 +f 84 69 105 +f 66 78 106 +f 86 66 106 +f 78 95 106 +f 95 86 106 +f 66 86 107 +f 95 70 107 +f 86 95 107 +f 80 71 108 +f 71 96 108 +f 101 87 108 +f 96 101 108 +f 72 80 109 +f 87 101 109 +f 80 108 109 +f 108 87 109 +f 79 66 110 +f 70 85 110 +f 85 79 110 +f 66 107 110 +f 107 70 110 +f 65 77 111 +f 94 72 111 +f 77 94 111 +f 101 65 111 +f 72 109 111 +f 109 101 111 +f 65 64 112 +f 64 69 112 +f 77 65 112 +f 69 84 112 +f 84 77 112 +f 83 67 113 +f 99 83 113 +f 104 99 113 +f 71 89 114 +f 97 68 114 +f 81 97 114 +f 68 98 114 +f 98 71 114 +f 100 81 114 +f 89 100 114 +f 73 66 115 +f 66 79 115 +f 88 73 115 +f 79 88 115 +f 67 76 116 +f 76 103 116 +f 103 84 116 +f 105 67 116 +f 84 105 116 +f 81 73 117 +f 73 88 117 +f 88 92 117 +f 97 81 117 +f 92 97 117 +f 90 75 118 +f 68 97 118 +f 97 90 118 +f 98 68 118 +f 75 98 118 +f 82 104 119 +f 67 105 119 +f 105 82 119 +f 113 67 119 +f 104 113 119 +f 74 76 120 +f 76 93 120 +f 93 94 120 +o convex_2 +v 0.580021 3.549634 -0.102067 +v -0.535497 2.917238 -0.213552 +v -0.535497 2.917238 0.046542 +v -0.126307 4.701894 0.009418 +v 0.133791 2.917238 0.530056 +v 0.133791 2.917238 -0.622706 +v -0.051877 4.404422 -0.436747 +v -0.014720 4.516063 0.381222 +v 0.542864 2.917238 0.344098 +v 0.394121 4.516063 -0.064830 +v -0.423910 4.478790 0.046542 +v -0.386637 3.400898 0.381222 +v 0.505708 2.954689 -0.473871 +v -0.423910 3.326530 -0.473871 +v 0.468434 3.735466 0.381222 +v 0.394121 3.809834 -0.436747 +v 0.654451 2.917238 0.009418 +v -0.126307 2.917238 -0.622706 +v -0.386637 2.917238 0.381222 +v -0.349364 4.292959 -0.288026 +v 0.022437 3.772739 0.492820 +v -0.498224 3.958213 -0.027819 +v 0.356964 4.292959 0.269737 +v -0.312207 4.218591 0.306861 +v -0.051877 3.809834 -0.548232 +v 0.022437 4.739168 -0.027819 +v 0.208221 4.367327 -0.362387 +v -0.460951 2.917238 -0.473871 +v 0.542864 3.883845 0.009418 +v 0.096634 4.478790 0.381222 +v -0.051877 4.590431 -0.288026 +v -0.423910 3.735466 -0.399511 +v 0.022437 3.177794 0.530056 +v 0.505708 2.917238 0.418459 +v 0.394121 4.516063 0.009418 +v -0.423910 4.478790 -0.027819 +v 0.059477 3.772739 -0.548232 +v -0.498224 3.698371 0.083779 +v -0.349364 3.698371 0.381222 +v -0.535497 3.549634 -0.064830 +v 0.431278 3.698371 -0.436747 +v 0.133791 3.624002 0.492820 +v 0.022437 4.739168 0.046542 +v -0.386637 3.735466 -0.436747 +v -0.386637 3.735466 0.344098 +v 0.468434 4.255686 -0.064830 +v -0.126307 4.441695 -0.399511 +f 164 140 167 +f 123 122 125 +f 125 122 126 +f 125 126 129 +f 128 124 131 +f 129 126 137 +f 126 133 137 +f 133 121 137 +f 135 129 137 +f 126 122 138 +f 123 125 139 +f 132 123 139 +f 128 131 144 +f 126 138 145 +f 138 134 145 +f 136 127 147 +f 130 136 147 +f 138 122 148 +f 134 138 148 +f 137 121 149 +f 135 137 149 +f 128 141 150 +f 135 143 150 +f 124 146 151 +f 146 130 151 +f 130 147 151 +f 147 127 151 +f 134 148 152 +f 139 125 153 +f 132 139 153 +f 125 129 154 +f 129 135 154 +f 143 135 155 +f 130 146 155 +f 135 149 155 +f 150 143 155 +f 131 124 156 +f 142 131 156 +f 124 151 156 +f 140 152 156 +f 152 142 156 +f 136 126 157 +f 127 136 157 +f 145 127 157 +f 126 145 157 +f 123 132 158 +f 131 142 158 +f 141 128 159 +f 128 144 159 +f 132 153 159 +f 153 141 159 +f 122 123 160 +f 148 122 160 +f 142 152 160 +f 152 148 160 +f 123 158 160 +f 158 142 160 +f 133 126 161 +f 121 133 161 +f 126 136 161 +f 136 130 161 +f 150 141 162 +f 135 150 162 +f 153 125 162 +f 141 153 162 +f 125 154 162 +f 154 135 162 +f 124 128 163 +f 146 124 163 +f 128 150 163 +f 155 146 163 +f 150 155 163 +f 127 145 164 +f 145 134 164 +f 152 140 164 +f 134 152 164 +f 144 131 165 +f 131 158 165 +f 158 132 165 +f 132 159 165 +f 159 144 165 +f 149 121 166 +f 130 155 166 +f 155 149 166 +f 121 161 166 +f 161 130 166 +f 151 127 167 +f 156 151 167 +f 140 156 167 +f 127 164 167 +o convex_3 +v 1.770051 0.611640 0.864555 +v 1.249426 -1.433511 -0.287862 +v 1.249426 -1.284691 -0.771202 +v 3.034053 -0.317716 -0.064659 +v 1.249426 0.685931 -1.031605 +v 1.249426 -0.317480 1.310960 +v 2.588027 -0.763940 0.604152 +v 2.662452 -0.689648 -0.696801 +v 2.811128 0.499966 -0.027990 +v 1.249426 0.983571 0.120811 +v 1.286813 -1.284691 0.938956 +v 2.736703 -1.061343 -0.064659 +v 2.773915 -0.243661 0.752953 +v 1.286813 -0.317480 -1.403610 +v 2.811128 -0.280570 -0.808403 +v 1.249426 0.723077 1.013356 +v 1.770051 -1.098726 -0.920004 +v 2.067751 0.499966 -0.808403 +v 2.550815 0.351146 0.604152 +v 1.472701 0.797606 -0.659867 +v 2.067751 -1.284455 -0.101860 +v 1.249426 -1.135871 -1.068806 +v 1.286813 -0.169370 -1.403610 +v 1.249426 -1.358983 0.752953 +v 2.104789 0.760223 0.009210 +v 2.662452 0.202562 -0.622400 +v 2.736703 -1.024197 0.083611 +v 1.881689 -1.098489 0.790154 +v 1.286813 -0.243425 1.310960 +v 2.067751 -1.024197 -0.845603 +v 2.811128 0.499966 0.046411 +v 2.736703 -0.355099 0.752953 +v 1.361063 0.723077 -0.994405 +v 1.398276 0.760223 0.827354 +v 1.398276 -1.433511 -0.064659 +v 2.699490 -0.206752 0.790154 +v 3.034053 -0.317716 0.009210 +v 2.736703 -1.024197 -0.176261 +v 1.844476 -1.321837 0.158012 +v 2.811128 -0.317716 -0.808403 +v 1.286813 -0.317480 1.310960 +v 1.249426 -0.169370 -1.403610 +v 1.286813 0.983571 0.009210 +v 2.625065 -0.875614 -0.585200 +v 1.324025 -1.210163 -0.994405 +v 1.286813 0.723077 1.013356 +v 2.736703 -1.061343 0.009210 +v 2.997016 -0.095078 0.009210 +v 1.324025 -1.358983 0.715753 +v 2.327889 -0.949906 0.641352 +v 2.030539 0.537111 0.790154 +v 1.249426 0.797606 -0.845603 +v 2.625065 0.276854 0.604152 +v 2.662452 0.314000 -0.510799 +v 2.736703 0.537111 -0.027990 +v 2.848340 -0.838468 0.009210 +v 3.034053 -0.243661 -0.064659 +v 1.361063 -1.284691 0.901755 +v 2.067751 -1.061343 -0.771202 +f 212 184 226 +f 170 169 172 +f 172 169 173 +f 172 173 177 +f 177 173 183 +f 170 172 189 +f 181 184 189 +f 182 181 190 +f 185 182 190 +f 173 169 191 +f 178 173 191 +f 176 182 193 +f 182 185 193 +f 183 173 196 +f 184 181 197 +f 174 194 199 +f 190 172 200 +f 185 190 200 +f 192 177 201 +f 168 198 201 +f 198 192 201 +f 169 188 202 +f 191 169 202 +f 199 180 203 +f 180 199 204 +f 179 188 205 +f 202 188 206 +f 181 182 207 +f 182 171 207 +f 175 197 207 +f 197 181 207 +f 171 205 207 +f 173 178 208 +f 178 195 208 +f 196 173 208 +f 195 199 208 +f 203 196 208 +f 199 203 208 +f 189 172 209 +f 181 189 209 +f 190 181 209 +f 172 190 209 +f 177 192 210 +f 192 187 210 +f 197 175 211 +f 205 197 211 +f 175 207 211 +f 207 205 211 +f 169 170 212 +f 188 169 212 +f 170 189 212 +f 189 184 212 +f 177 183 213 +f 183 196 213 +f 168 201 213 +f 201 177 213 +f 196 203 213 +f 188 179 214 +f 194 195 214 +f 206 188 214 +f 176 198 215 +f 198 180 215 +f 180 204 215 +f 178 191 216 +f 191 202 216 +f 202 206 216 +f 206 214 216 +f 194 174 217 +f 195 194 217 +f 174 199 217 +f 199 195 217 +f 198 168 218 +f 186 198 218 +f 168 213 218 +f 213 203 218 +f 172 177 219 +f 200 172 219 +f 187 200 219 +f 177 210 219 +f 210 187 219 +f 180 198 220 +f 198 186 220 +f 203 180 220 +f 186 218 220 +f 218 203 220 +f 185 176 221 +f 176 193 221 +f 193 185 221 +f 176 185 222 +f 187 192 222 +f 198 176 222 +f 192 198 222 +f 185 200 222 +f 200 187 222 +f 199 194 223 +f 171 204 223 +f 204 199 223 +f 205 171 223 +f 179 205 223 +f 214 179 223 +f 194 214 223 +f 182 176 224 +f 171 182 224 +f 204 171 224 +f 176 215 224 +f 215 204 224 +f 195 178 225 +f 214 195 225 +f 178 216 225 +f 216 214 225 +f 184 197 226 +f 205 188 226 +f 197 205 226 +f 188 212 226 +o convex_4 +v -1.242029 0.834573 0.752975 +v -1.279368 -1.433511 -0.399361 +v -1.279368 -1.396034 -0.510854 +v -2.952580 -0.169380 0.046356 +v -1.242029 0.760340 -1.031402 +v -1.242029 -1.284324 0.901632 +v -2.692046 -0.317607 -0.771253 +v -2.543360 -0.838443 0.604319 +v -2.729384 0.537159 0.009192 +v -2.655042 -0.169380 0.827304 +v -1.242029 -0.466554 -1.254386 +v -2.729384 -1.024146 0.009192 +v -1.242029 -0.206377 1.273523 +v -1.428053 -1.173094 -0.957073 +v -1.428053 1.020757 -0.064885 +v -1.539567 0.685866 0.938796 +v -2.431846 0.388452 -0.659761 +v -1.613910 -1.433511 0.009443 +v -1.316539 -0.169621 -1.291801 +v -2.506189 0.388452 0.604319 +v -2.729384 -0.280611 0.790139 +v -2.431846 -0.875439 -0.585182 +v -2.692046 -0.169380 -0.771253 +v -1.390882 -1.247327 0.901632 +v -1.242029 -1.210330 -0.994237 +v -1.688252 0.648869 -0.919909 +v -1.279368 0.537159 1.087452 +v -1.279368 -0.317847 1.273523 +v -1.279368 1.020757 0.158099 +v -2.729384 -1.024146 0.083520 +v -1.242029 -1.433511 0.418248 +v -1.948786 -1.061383 0.790139 +v -2.952580 -0.317607 0.009192 +v -2.655042 0.574155 -0.064634 +v -2.729384 -0.169380 0.790139 +v -1.242029 1.020757 -0.213541 +v -1.985958 0.574155 0.790139 +v -1.948786 -0.280611 -1.068565 +v -2.060300 0.797336 0.009192 +v -1.279368 -0.949913 -1.105730 +v -1.911448 -1.061383 -0.771253 +v -2.952580 -0.206377 -0.064634 +v -1.985958 0.537159 -0.845581 +v -1.242029 0.723103 1.013124 +v -2.543360 0.351215 -0.585182 +v -1.613910 -1.433511 -0.064885 +v -1.539567 0.797576 -0.659761 +v -2.655042 -0.280611 0.827304 +v -1.279368 0.685866 -1.068565 +v -1.279368 -0.206377 1.273523 +v -2.729384 0.537159 -0.027470 +v -1.353710 -1.433511 0.343920 +v -2.878070 -0.280611 0.343920 +v -2.543360 -0.875439 -0.473690 +v -2.246157 -0.206377 -0.957073 +v -1.242029 -0.132144 -1.291801 +v -2.692046 0.537159 0.083520 +f 263 265 283 +f 231 227 232 +f 231 232 237 +f 232 227 239 +f 228 229 251 +f 237 232 251 +f 229 240 251 +f 242 236 253 +f 232 239 254 +f 250 232 254 +f 242 227 255 +f 238 244 256 +f 234 247 256 +f 244 228 257 +f 228 251 257 +f 251 232 257 +f 247 234 258 +f 250 254 258 +f 234 256 258 +f 256 250 258 +f 233 238 259 +f 238 256 259 +f 235 230 261 +f 247 236 261 +f 227 231 262 +f 231 241 262 +f 255 227 262 +f 241 255 262 +f 236 242 263 +f 261 236 263 +f 246 261 263 +f 245 237 264 +f 255 241 265 +f 242 255 265 +f 260 235 265 +f 241 260 265 +f 263 242 265 +f 240 233 266 +f 237 251 266 +f 251 240 266 +f 264 237 266 +f 233 264 266 +f 240 229 267 +f 233 240 267 +f 248 233 267 +f 249 233 268 +f 233 259 268 +f 259 230 268 +f 249 243 269 +f 243 260 269 +f 260 252 269 +f 239 227 270 +f 227 242 270 +f 253 239 270 +f 242 253 270 +f 243 249 271 +f 260 243 271 +f 229 228 272 +f 228 244 272 +f 244 238 272 +f 267 229 272 +f 238 267 272 +f 241 231 273 +f 231 252 273 +f 260 241 273 +f 252 260 273 +f 236 247 274 +f 254 236 274 +f 247 258 274 +f 258 254 274 +f 252 231 275 +f 269 252 275 +f 239 253 276 +f 253 236 276 +f 254 239 276 +f 236 254 276 +f 230 235 277 +f 235 260 277 +f 268 230 277 +f 249 268 277 +f 271 249 277 +f 260 271 277 +f 232 250 278 +f 256 244 278 +f 250 256 278 +f 244 257 278 +f 257 232 278 +f 256 247 279 +f 230 259 279 +f 259 256 279 +f 261 230 279 +f 247 261 279 +f 238 233 280 +f 233 248 280 +f 267 238 280 +f 248 267 280 +f 233 249 281 +f 264 233 281 +f 245 264 281 +f 249 269 281 +f 275 245 281 +f 269 275 281 +f 231 237 282 +f 237 245 282 +f 275 231 282 +f 245 275 282 +f 235 261 283 +f 261 246 283 +f 246 263 283 +f 265 235 283 +o convex_5 +v -0.758396 -0.763969 -2.815931 +v 1.249182 -0.243133 1.422445 +v 1.249182 -0.317847 1.422445 +v -0.944473 -0.429318 2.797828 +v -1.093236 1.020757 -0.994026 +v 1.249182 1.020757 0.009454 +v 1.137731 -1.433511 -1.031634 +v 0.728753 0.425688 -2.815931 +v -1.241756 -1.433511 0.454782 +v 0.022247 0.685866 2.835436 +v 0.096385 -1.173094 2.909459 +v 0.431225 -1.210330 -2.778920 +v -1.241756 1.020757 0.195107 +v 0.840203 0.611392 2.760220 +v -0.721327 0.648869 -2.704300 +v 1.249182 -1.359038 0.789674 +v -1.241756 -0.280611 -1.365929 +v 1.249182 -0.280611 -1.514570 +v 0.951898 -0.317847 2.797828 +v -0.981542 -1.433511 -1.068645 +v 0.951898 1.020757 -1.068048 +v -0.721327 0.462685 2.797828 +v 0.579989 1.020757 1.347826 +v -0.832778 -1.098620 2.797828 +v 0.691440 -0.317847 -3.002181 +v 0.505607 -0.726732 3.058697 +v -0.498182 -1.433511 1.347826 +v -1.241756 0.723103 1.049946 +v -0.981542 1.020757 1.049946 +v 0.171011 0.685866 -2.816528 +v 0.765822 -1.173094 -2.704897 +v -0.646945 -0.169621 3.058697 +v -0.126273 -1.247327 -2.778920 +v -0.349418 -0.801206 -3.039789 +v -1.241756 -1.210330 -0.994026 +v -0.907160 -0.169621 -2.778920 +v 1.249182 0.760340 -0.994026 +v 0.691440 -0.987150 2.797828 +v -1.241756 0.723103 -1.068645 +v 0.951898 -0.317847 -2.704897 +v 0.988967 -1.433511 0.975923 +v -0.498182 0.313978 -2.965169 +v -1.241756 -0.317847 1.384837 +v 0.542676 0.202508 3.021089 +v 1.249182 0.723103 1.012935 +v 1.249182 -1.210330 -1.031634 +v -0.684258 -0.987150 -2.778920 +v 1.100662 1.020757 0.975923 +v -0.535251 -0.801206 3.058697 +v 0.505607 -1.433511 -1.515167 +v -1.241756 -1.247327 0.938315 +v 0.505607 0.276981 -3.002181 +v 0.245393 -1.284324 2.499948 +v -0.795709 1.020757 -1.217287 +v 0.505607 -0.801206 -3.039789 +v -0.944473 -0.169621 2.797828 +v -0.423800 0.276981 3.021089 +v -0.275036 0.760340 2.499948 +v -0.646945 -0.169621 -3.002181 +v -0.758396 -1.135857 2.797828 +v -0.795709 0.537159 -2.704300 +v 0.765822 0.462685 -2.741312 +v -1.093236 -1.433511 0.901304 +v 1.249182 -1.284324 0.938912 +f 302 321 347 +f 285 286 289 +f 289 288 296 +f 289 286 299 +f 292 296 300 +f 289 299 301 +f 286 285 302 +f 290 292 303 +f 288 289 304 +f 289 296 306 +f 293 297 306 +f 292 290 310 +f 296 292 311 +f 311 305 312 +f 306 296 312 +f 296 311 312 +f 290 295 314 +f 287 307 315 +f 292 300 318 +f 303 292 318 +f 284 318 319 +f 318 300 319 +f 289 301 320 +f 304 289 320 +f 309 294 321 +f 302 309 321 +f 296 288 322 +f 300 296 322 +f 319 300 322 +f 308 291 323 +f 314 308 323 +f 320 301 323 +f 290 299 324 +f 310 290 324 +f 299 321 324 +f 298 313 325 +f 311 292 326 +f 297 293 327 +f 302 297 327 +f 309 302 327 +f 315 309 327 +f 285 289 328 +f 302 285 328 +f 297 302 328 +f 299 290 329 +f 301 299 329 +f 290 314 329 +f 323 301 329 +f 314 323 329 +f 316 303 330 +f 284 317 330 +f 317 316 330 +f 318 284 330 +f 303 318 330 +f 289 306 331 +f 306 297 331 +f 328 289 331 +f 297 328 331 +f 294 309 332 +f 315 307 332 +f 309 315 332 +f 295 290 333 +f 290 303 333 +f 316 295 333 +f 303 316 333 +f 307 287 334 +f 292 307 334 +f 287 326 334 +f 326 292 334 +f 291 308 335 +f 313 291 335 +f 325 313 335 +f 321 294 336 +f 310 324 336 +f 324 321 336 +f 298 288 337 +f 288 304 337 +f 313 298 337 +f 304 313 337 +f 314 295 338 +f 308 314 338 +f 295 316 338 +f 316 317 338 +f 335 308 338 +f 317 335 338 +f 305 311 339 +f 287 315 339 +f 315 305 339 +f 326 287 339 +f 311 326 339 +f 293 305 340 +f 305 315 340 +f 327 293 340 +f 315 327 340 +f 305 293 341 +f 293 306 341 +f 312 305 341 +f 306 312 341 +f 317 284 342 +f 284 319 342 +f 335 317 342 +f 325 335 342 +f 294 332 343 +f 332 307 343 +f 336 294 343 +f 310 336 343 +f 288 298 344 +f 322 288 344 +f 319 322 344 +f 298 325 344 +f 342 319 344 +f 325 342 344 +f 313 304 345 +f 291 313 345 +f 304 320 345 +f 323 291 345 +f 320 323 345 +f 307 292 346 +f 292 310 346 +f 343 307 346 +f 310 343 346 +f 299 286 347 +f 286 302 347 +f 321 299 347 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/550/550.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/550/550.urdf new file mode 100644 index 000000000..f76b78c02 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/550/550.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/551/551.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/551/551.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/551/551.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/551/551.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/551/551.obj new file mode 100644 index 000000000..0e3d9b158 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/551/551.obj @@ -0,0 +1,219 @@ +o convex_0 +v -0.919029 -5.029823 0.430860 +v 0.185421 0.934558 1.057159 +v 1.032248 0.934558 1.020158 +v -0.919029 0.934558 -1.078445 +v 1.069227 -5.029240 -0.967861 +v 1.032248 -4.771188 0.983157 +v 1.069227 0.934558 -1.041444 +v -1.029557 -4.955677 -1.078445 +v -0.919029 0.934558 1.057159 +v -1.029557 -5.029823 1.057159 +v 1.069227 -4.918312 0.467861 +v 1.032248 0.897193 -1.078445 +v -0.955803 0.676507 -1.041444 +v 0.553571 -2.047632 1.057159 +v 1.069227 0.934558 0.541654 +v -1.029557 -4.366595 0.983157 +v -0.771728 -4.955093 -1.078445 +v -1.029557 -3.924638 -1.041444 +v 0.995474 -3.740148 1.020158 +v -0.771728 -5.029240 1.057159 +v 0.664098 -4.918312 0.983157 +v 1.069227 -5.029240 -0.746691 +v -0.108976 -4.991875 -1.041444 +v -1.029557 -3.961419 0.136316 +v 0.627324 -5.029240 -0.967861 +v -0.624427 -4.991875 1.057159 +v 1.032248 -4.881531 0.946575 +v -1.029557 -4.992458 -0.415563 +v 0.516797 -4.991875 -1.004653 +v -0.955803 0.676507 -1.078445 +f 18 13 30 +f 2 3 4 +f 4 3 7 +f 2 4 9 +f 2 9 10 +f 5 7 11 +f 4 7 12 +f 7 5 12 +f 8 4 12 +f 9 4 13 +f 3 2 14 +f 2 10 14 +f 3 6 15 +f 7 3 15 +f 6 11 15 +f 11 7 15 +f 8 10 16 +f 10 9 16 +f 9 13 16 +f 8 12 17 +f 8 16 18 +f 6 3 19 +f 3 14 19 +f 14 10 20 +f 21 20 22 +f 1 5 22 +f 10 1 22 +f 5 11 22 +f 20 10 22 +f 8 17 23 +f 17 12 23 +f 16 13 24 +f 13 18 24 +f 18 16 24 +f 5 1 25 +f 23 5 25 +f 8 23 25 +f 6 19 26 +f 19 14 26 +f 14 20 26 +f 21 6 26 +f 20 21 26 +f 11 6 27 +f 6 21 27 +f 21 22 27 +f 22 11 27 +f 1 10 28 +f 10 8 28 +f 25 1 28 +f 8 25 28 +f 12 5 29 +f 5 23 29 +f 23 12 29 +f 4 8 30 +f 13 4 30 +f 8 18 30 +o convex_1 +v -0.366694 1.708602 3.082302 +v -0.918987 0.935362 -1.078071 +v -1.029362 1.119383 -2.881982 +v 1.032227 1.082447 -3.066767 +v -1.029362 3.107337 -3.029449 +v 1.069018 3.070401 3.008268 +v 1.032227 0.972078 2.934835 +v -0.992571 3.144273 2.934233 +v 0.995435 3.107557 -2.992733 +v -1.066363 0.972298 3.082302 +v 1.069018 3.181209 -1.446437 +v 1.069228 0.935362 -1.078071 +v -1.066363 3.070401 -0.930604 +v -1.029362 1.156319 -2.992733 +v 1.069228 0.935362 0.577772 +v -1.029362 2.886380 2.971551 +v -0.256110 3.144053 2.971551 +v -1.066363 2.407749 -1.704052 +v -0.992571 3.144273 0.356873 +v -0.918987 0.935362 1.056889 +v 1.032227 1.855687 -3.066767 +v 0.553517 1.082447 -3.066767 +v 1.069018 3.181209 -0.709704 +v 1.069018 1.855906 2.971551 +v 1.069018 1.929559 -2.330034 +v -1.066363 1.450709 3.082302 +v 0.885060 3.107557 -3.029449 +v -0.587653 0.972298 3.082302 +v 0.737684 3.181209 -1.077469 +v 0.590517 3.107557 2.970949 +v 1.032227 0.935362 1.019571 +v 1.069018 3.107337 -1.777485 +v 1.069228 1.082447 -2.035101 +v 0.921852 2.113360 -3.066767 +v 0.259183 1.745318 -3.066767 +v -1.066363 1.634949 3.044984 +v -1.066363 0.972298 2.786766 +v -1.029362 2.739075 -3.029449 +v 1.032227 2.739295 3.008268 +v 0.737684 0.972078 2.970949 +v -0.845404 1.119603 -2.992733 +v -1.066363 3.070401 -1.556586 +v 0.811477 3.070621 3.008268 +v -0.403485 1.229971 -3.029449 +v 1.032227 3.107557 -2.476899 +f 62 51 75 +f 32 34 42 +f 32 42 45 +f 38 43 46 +f 38 46 47 +f 40 43 48 +f 44 33 48 +f 43 38 49 +f 40 32 50 +f 32 45 50 +f 34 32 52 +f 51 34 52 +f 38 47 53 +f 45 36 54 +f 37 45 54 +f 34 51 55 +f 40 31 56 +f 43 40 56 +f 31 46 56 +f 35 41 57 +f 41 39 57 +f 39 51 57 +f 31 40 58 +f 40 50 58 +f 41 35 59 +f 35 49 59 +f 49 38 59 +f 38 53 59 +f 53 41 59 +f 47 36 60 +f 36 53 60 +f 53 47 60 +f 45 37 61 +f 50 45 61 +f 58 50 61 +f 55 51 62 +f 55 62 63 +f 42 34 63 +f 36 45 63 +f 45 42 63 +f 41 53 63 +f 53 36 63 +f 34 55 63 +f 62 41 63 +f 51 52 64 +f 35 57 64 +f 57 51 64 +f 35 64 65 +f 64 52 65 +f 46 43 66 +f 43 56 66 +f 56 46 66 +f 33 32 67 +f 32 40 67 +f 48 33 67 +f 40 48 67 +f 48 35 68 +f 44 48 68 +f 35 65 68 +f 36 31 69 +f 54 36 69 +f 31 58 69 +f 69 58 70 +f 37 54 70 +f 61 37 70 +f 58 61 70 +f 54 69 70 +f 32 33 71 +f 33 44 71 +f 52 32 71 +f 44 52 71 +f 35 48 72 +f 48 43 72 +f 49 35 72 +f 43 49 72 +f 31 36 73 +f 46 31 73 +f 36 47 73 +f 47 46 73 +f 52 44 74 +f 65 52 74 +f 44 68 74 +f 68 65 74 +f 39 41 75 +f 51 39 75 +f 41 62 75 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/551/551.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/551/551.urdf new file mode 100644 index 000000000..2c955f4f4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/551/551.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/552/552.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/552/552.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/552/552.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/552/552.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/552/552.obj new file mode 100644 index 000000000..803add7ec --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/552/552.obj @@ -0,0 +1,1941 @@ +o convex_0 +v -1.697306 -0.522125 -0.695279 +v -1.392257 -0.441820 -0.775539 +v -1.392257 -0.602411 -0.614964 +v -1.857944 -0.441820 -0.614964 +v -1.392257 -0.602411 -0.743416 +v -1.520759 -0.441820 -0.807642 +v -1.520759 -0.634537 -0.614964 +v -1.520759 -0.586358 -0.759468 +f 7 1 8 +f 3 2 4 +f 2 3 5 +f 2 5 6 +f 4 2 6 +f 1 4 6 +f 3 4 7 +f 4 1 7 +f 5 3 7 +f 5 7 8 +f 6 5 8 +f 1 6 8 +o convex_1 +v -1.536787 -0.811134 0.059476 +v -1.889925 -0.457907 -0.614964 +v -1.906072 -0.457907 -0.598848 +v -2.211069 -0.441856 -0.052919 +v -2.243364 -0.554321 0.027383 +v -1.552859 -0.746895 0.091639 +v -1.520866 -0.634466 -0.614964 +v -1.825937 -0.441856 -0.598848 +v -1.504718 -0.602473 -0.582801 +v -2.259436 -0.506096 0.091639 +v -1.520715 -0.811134 -0.004710 +v -2.146855 -0.441856 -0.309871 +v -1.488570 -0.811134 0.091639 +v -1.954214 -0.441856 -0.390035 +v -1.569007 -0.618488 -0.614964 +v -2.227292 -0.554321 0.091639 +f 21 18 24 +f 15 10 16 +f 16 14 17 +f 15 16 17 +f 14 12 18 +f 9 13 19 +f 10 11 20 +f 11 13 20 +f 16 10 20 +f 12 16 20 +f 13 18 20 +f 18 12 20 +f 17 14 21 +f 15 17 21 +f 14 18 21 +f 9 19 21 +f 19 15 21 +f 12 14 22 +f 14 16 22 +f 16 12 22 +f 11 10 23 +f 13 11 23 +f 10 15 23 +f 19 13 23 +f 15 19 23 +f 13 9 24 +f 18 13 24 +f 9 21 24 +o convex_2 +v -1.488570 -0.714792 0.236217 +v -2.243377 -0.538245 0.091664 +v -2.243377 -0.538245 0.107790 +v -1.649270 -0.409720 0.749999 +v -1.520710 -0.554277 0.814285 +v -2.146883 -0.409720 0.300503 +v -1.536891 -0.795068 0.107790 +v -1.857994 -0.425790 0.701839 +v -1.569031 -0.730824 0.091664 +v -1.488570 -0.506104 0.830411 +v -2.211237 -0.506104 0.091664 +v -2.130850 -0.409720 0.429003 +v -1.488570 -0.795068 0.139969 +f 34 29 37 +f 26 27 30 +f 27 26 31 +f 29 27 31 +f 27 29 32 +f 28 25 33 +f 30 28 33 +f 31 26 33 +f 25 28 34 +f 28 32 34 +f 32 29 34 +f 26 30 35 +f 33 26 35 +f 30 33 35 +f 30 27 36 +f 28 30 36 +f 32 28 36 +f 27 32 36 +f 29 31 37 +f 33 25 37 +f 31 33 37 +f 25 34 37 +o convex_3 +v -0.075262 0.634130 0.846492 +v 0.470661 0.746599 0.990978 +v 0.470661 0.521662 1.007068 +v -0.075262 0.264821 1.007068 +v 0.454577 0.248791 0.974926 +v 0.101404 0.746599 0.814389 +v -0.075262 0.746599 0.846492 +v -0.075262 0.248791 0.974926 +v 0.470661 0.216628 1.007068 +v 0.422460 0.746599 0.942804 +v 0.438545 0.746599 0.990978 +f 44 41 48 +f 42 38 43 +f 38 41 44 +f 39 43 44 +f 43 38 44 +f 41 38 45 +f 38 42 45 +f 45 42 46 +f 39 40 46 +f 40 41 46 +f 42 39 46 +f 41 45 46 +f 39 42 47 +f 43 39 47 +f 42 43 47 +f 40 39 48 +f 41 40 48 +f 39 44 48 +o convex_4 +v -0.412569 -0.811150 -0.036814 +v -1.392155 -0.618521 -0.663143 +v -1.392155 -0.634581 -0.647080 +v -1.504608 -0.762971 -0.036814 +v -0.412569 -0.634581 -0.631017 +v -0.557198 -0.827209 -0.085002 +v -0.412569 -0.666678 -0.647080 +v -1.504608 -0.795112 -0.069001 +v -1.504608 -0.618477 -0.550641 +v -0.412569 -0.795090 -0.068940 +v -1.247526 -0.602461 -0.631017 +v -0.412569 -0.827209 -0.036814 +v -0.541164 -0.666678 -0.647080 +v -1.504608 -0.634559 -0.614954 +v -1.247526 -0.811150 -0.052877 +f 61 54 63 +f 53 49 55 +f 50 53 55 +f 56 52 57 +f 52 49 58 +f 49 53 58 +f 58 53 59 +f 53 50 59 +f 50 57 59 +f 57 52 59 +f 52 58 59 +f 49 52 60 +f 55 49 60 +f 54 55 60 +f 51 50 61 +f 50 55 61 +f 55 54 61 +f 50 51 62 +f 51 56 62 +f 57 50 62 +f 56 57 62 +f 56 51 63 +f 52 56 63 +f 60 52 63 +f 54 60 63 +f 51 61 63 +o convex_5 +v -0.958612 1.164151 -0.036881 +v -0.541179 1.099925 -0.727314 +v -0.541179 1.115983 -0.727314 +v -1.649167 1.099925 -0.052966 +v -0.492942 1.132035 -0.036881 +v -1.504455 1.164151 -0.052966 +v -0.284092 1.132035 -0.727314 +v -0.412635 1.099925 -0.711229 +v -0.380566 1.148087 -0.438260 +v -1.536525 1.115983 -0.165358 +v -0.782098 1.148087 -0.502464 +v -1.552693 1.099925 -0.036881 +v -0.492942 1.148087 -0.036881 +f 70 72 76 +f 65 66 70 +f 67 65 71 +f 65 70 71 +f 70 68 71 +f 66 65 73 +f 65 67 73 +f 69 66 73 +f 67 69 73 +f 69 64 74 +f 66 69 74 +f 70 66 74 +f 64 72 74 +f 72 70 74 +f 68 64 75 +f 64 69 75 +f 69 67 75 +f 67 71 75 +f 71 68 75 +f 64 68 76 +f 68 70 76 +f 72 64 76 +o convex_6 +v -1.488570 -0.570292 0.750112 +v 3.409643 -0.506059 0.846470 +v 3.409643 -0.522122 0.846470 +v 3.409643 -0.570292 0.750112 +v 0.888617 -0.506059 0.766175 +v -1.488570 -0.506059 0.830408 +v -0.701289 -0.586355 0.798291 +v 3.409643 -0.602417 0.766175 +v 3.264844 -0.570292 0.830408 +v -1.488570 -0.538185 0.830408 +v 2.606539 -0.506059 0.782238 +v -1.231577 -0.586355 0.750112 +v -1.488570 -0.554238 0.750112 +v 3.409643 -0.586355 0.814345 +v 1.642815 -0.538185 0.750112 +v 3.409643 -0.602417 0.750112 +v -1.199453 -0.570292 0.814345 +f 90 85 93 +f 78 79 80 +f 78 81 82 +f 79 78 82 +f 80 79 84 +f 82 77 86 +f 79 82 86 +f 85 79 86 +f 78 80 87 +f 81 78 87 +f 77 80 88 +f 84 83 88 +f 80 77 89 +f 82 81 89 +f 77 82 89 +f 83 84 90 +f 84 79 90 +f 79 85 90 +f 87 80 91 +f 81 87 91 +f 80 89 91 +f 89 81 91 +f 80 84 92 +f 88 80 92 +f 84 88 92 +f 86 77 93 +f 85 86 93 +f 77 88 93 +f 88 83 93 +f 83 90 93 +o convex_7 +v -1.424193 1.003560 0.669814 +v -0.027136 1.212330 0.766172 +v -0.027136 1.083846 0.766172 +v -1.568831 0.875076 0.766172 +v -0.043300 0.907197 0.750109 +v -0.235928 1.196220 0.669814 +v -1.665145 0.875076 0.669814 +v -1.472184 0.971439 0.766172 +v -0.235928 1.148088 0.669814 +v -0.348406 1.196220 0.685876 +v -0.043300 0.907197 0.766172 +v -1.729466 0.891186 0.685876 +f 101 94 105 +f 96 95 97 +f 95 96 98 +f 95 98 99 +f 98 97 100 +f 94 99 100 +f 97 95 101 +f 99 98 102 +f 98 100 102 +f 100 99 102 +f 95 99 103 +f 99 94 103 +f 101 95 103 +f 94 101 103 +f 96 97 104 +f 97 98 104 +f 98 96 104 +f 94 100 105 +f 100 97 105 +f 97 101 105 +o convex_8 +v -2.195124 0.071963 0.766199 +v -1.472587 0.216628 1.039160 +v -1.472587 0.152254 1.039160 +v -1.520803 -0.489860 0.782257 +v -1.809863 -0.104606 0.766199 +v -1.520803 -0.506059 0.830431 +v -2.227242 0.200499 0.830431 +v -2.227242 0.216628 0.766199 +v -1.472587 0.184441 1.007044 +v -1.617156 -0.506059 0.766199 +v -1.504705 0.104080 1.023102 +v -1.472587 -0.506059 0.814373 +v -1.504705 -0.377453 0.878606 +v -2.195124 0.071963 0.782257 +f 115 111 119 +f 108 107 112 +f 110 106 113 +f 112 107 113 +f 106 112 113 +f 107 108 114 +f 109 110 114 +f 110 113 114 +f 113 107 114 +f 106 110 115 +f 110 109 115 +f 108 112 116 +f 114 108 117 +f 109 114 117 +f 115 109 117 +f 111 115 117 +f 112 111 118 +f 108 116 118 +f 116 112 118 +f 117 108 118 +f 111 117 118 +f 112 106 119 +f 111 112 119 +f 106 115 119 +o convex_9 +v -1.392212 -0.602432 -0.663143 +v 0.101046 -0.602432 -0.807666 +v -0.444483 -0.618490 -0.791595 +v 1.418238 -0.666656 -0.663143 +v 1.418238 -0.586358 -0.775539 +v 1.418238 -0.634524 -0.791595 +v 0.020716 -0.666656 -0.679228 +v -1.392212 -0.586358 -0.759482 +v 1.418238 -0.634524 -0.679228 +v -1.311882 -0.586358 -0.679228 +v -1.151222 -0.634524 -0.663143 +v 1.418238 -0.586358 -0.807666 +v -0.541044 -0.634524 -0.759482 +v 0.084815 -0.634524 -0.791595 +v 1.418238 -0.666656 -0.695284 +v -1.392212 -0.602432 -0.759482 +f 132 130 135 +f 124 123 125 +f 121 122 127 +f 120 123 128 +f 123 124 128 +f 128 124 129 +f 127 120 129 +f 124 127 129 +f 120 128 129 +f 123 120 130 +f 126 123 130 +f 125 121 131 +f 124 125 131 +f 121 127 131 +f 127 124 131 +f 126 130 132 +f 122 121 133 +f 121 125 133 +f 132 122 133 +f 126 132 133 +f 125 123 134 +f 123 126 134 +f 133 125 134 +f 126 133 134 +f 127 122 135 +f 120 127 135 +f 130 120 135 +f 122 132 135 +o convex_10 +v -1.134991 -0.506069 -0.807655 +v 1.418238 -0.441849 -0.823727 +v 1.418238 -0.473959 -0.807655 +v 0.727180 -0.570274 -0.823727 +v -1.375981 -0.586344 -0.727382 +v -1.392212 -0.457904 -0.775586 +v 0.213288 -0.441849 -0.855859 +v 1.418238 -0.586344 -0.791620 +v -0.781759 -0.586344 -0.791620 +v 1.160742 -0.457904 -0.855859 +v -1.392212 -0.441849 -0.807655 +v -0.653286 -0.473959 -0.839800 +v -1.392212 -0.586344 -0.759513 +v -1.375981 -0.570274 -0.727382 +v 1.418238 -0.522109 -0.791620 +v 1.418238 -0.586344 -0.807655 +f 139 145 151 +f 138 137 141 +f 137 138 143 +f 143 140 144 +f 142 137 145 +f 139 142 145 +f 141 137 146 +f 137 142 146 +f 146 142 147 +f 142 139 147 +f 144 136 147 +f 139 144 147 +f 136 146 147 +f 144 140 148 +f 136 144 148 +f 146 136 148 +f 141 146 148 +f 138 141 149 +f 140 143 149 +f 148 140 149 +f 141 148 149 +f 143 138 150 +f 138 149 150 +f 149 143 150 +f 137 143 151 +f 143 144 151 +f 144 139 151 +f 145 137 151 +o convex_11 +v 3.409253 -0.827250 -0.036814 +v 1.418238 -0.634542 -0.791620 +v 1.418238 -0.618477 -0.791620 +v 1.643577 -0.843293 -0.036814 +v 3.409253 -0.618521 -0.630995 +v 3.377284 -0.650628 -0.663135 +v 1.739678 -0.811164 -0.068954 +v 1.755857 -0.843293 -0.101167 +v 3.409253 -0.795099 -0.036814 +v 1.418238 -0.618477 -0.727341 +v 2.750974 -0.843293 -0.052921 +v 2.494057 -0.650606 -0.711308 +v 3.377284 -0.779034 -0.085061 +v 3.361300 -0.618477 -0.695201 +v 1.418238 -0.666671 -0.695201 +v 1.514729 -0.634542 -0.663135 +v 3.393269 -0.811164 -0.117200 +v 1.643577 -0.827228 -0.036814 +f 161 166 169 +f 156 152 157 +f 155 152 160 +f 152 156 160 +f 154 153 161 +f 152 155 162 +f 155 159 162 +f 162 159 163 +f 153 157 163 +f 157 162 163 +f 160 156 164 +f 158 160 164 +f 153 154 165 +f 156 157 165 +f 157 153 165 +f 154 161 165 +f 161 156 165 +f 159 155 166 +f 161 153 166 +f 163 159 166 +f 153 163 166 +f 161 158 167 +f 156 161 167 +f 164 156 167 +f 158 164 167 +f 157 152 168 +f 152 162 168 +f 162 157 168 +f 155 160 169 +f 160 158 169 +f 158 161 169 +f 166 155 169 +o convex_12 +v 1.418238 -0.602413 -0.807653 +v 3.409643 -0.441820 -0.727383 +v 3.409643 -0.473966 -0.711336 +v 1.434417 -0.457902 -0.807653 +v 3.345316 -0.618477 -0.663143 +v 3.409643 -0.457902 -0.759477 +v 1.787630 -0.441820 -0.839800 +v 3.200678 -0.618477 -0.711336 +v 1.595040 -0.618477 -0.759477 +v 2.445909 -0.618477 -0.759477 +v 3.136546 -0.441820 -0.727383 +v 3.345316 -0.602413 -0.663143 +v 1.418238 -0.441820 -0.839800 +v 1.787630 -0.457902 -0.839800 +v 1.434417 -0.570284 -0.775559 +f 173 182 184 +f 172 174 175 +f 171 172 175 +f 171 175 176 +f 175 174 177 +f 177 174 178 +f 177 178 179 +f 175 177 179 +f 178 170 179 +f 172 171 180 +f 171 176 180 +f 174 172 181 +f 178 174 181 +f 172 180 181 +f 180 173 181 +f 173 180 182 +f 180 176 182 +f 176 175 183 +f 179 170 183 +f 175 179 183 +f 170 182 183 +f 182 176 183 +f 170 178 184 +f 181 173 184 +f 178 181 184 +f 182 170 184 +o convex_13 +v 0.518207 -0.473792 0.782266 +v 1.145223 0.216611 1.023117 +v 1.145223 0.184428 1.023117 +v -1.472511 0.152317 1.039162 +v -0.524684 0.216611 0.991002 +v -1.472511 -0.489848 0.846496 +v -1.472511 -0.409568 0.830451 +v 1.096538 -0.473792 0.814407 +v 1.144710 -0.281192 0.830451 +v -1.472511 0.216611 1.023117 +v -0.492398 -0.473792 0.846496 +v 1.145223 0.200484 0.991002 +v 1.144710 -0.505974 0.782266 +v -1.472511 -0.505974 0.814381 +v -0.123671 -0.505974 0.830451 +v 1.080395 -0.441680 0.782266 +v -0.765805 -0.377457 0.878612 +v 0.486690 0.216611 0.991002 +v -0.893924 0.216611 1.039162 +v -1.472511 0.072108 0.974932 +f 191 194 204 +f 190 188 191 +f 186 189 194 +f 191 188 194 +f 186 187 196 +f 193 196 197 +f 187 192 197 +f 196 187 197 +f 191 185 198 +f 190 191 198 +f 185 197 198 +f 198 197 199 +f 192 187 199 +f 187 195 199 +f 195 190 199 +f 197 192 199 +f 190 198 199 +f 185 191 200 +f 191 189 200 +f 189 193 200 +f 193 197 200 +f 197 185 200 +f 187 188 201 +f 188 190 201 +f 195 187 201 +f 190 195 201 +f 189 186 202 +f 193 189 202 +f 186 196 202 +f 196 193 202 +f 187 186 203 +f 188 187 203 +f 186 194 203 +f 194 188 203 +f 189 191 204 +f 194 189 204 +o convex_14 +v 1.642964 -0.843289 -0.036814 +v -0.412569 -0.650620 -0.663143 +v -0.412569 -0.634557 -0.663143 +v -0.412569 -0.811163 -0.036814 +v 1.642964 -0.650598 -0.614954 +v 0.454634 -0.843289 -0.101127 +v 1.642964 -0.682747 -0.631017 +v -0.316191 -0.666683 -0.663143 +v -0.267700 -0.843289 -0.052877 +v 1.642964 -0.779037 -0.181380 +v -0.364280 -0.795100 -0.068940 +v 1.626868 -0.859330 -0.052877 +v 0.486827 -0.682747 -0.647080 +v -0.412569 -0.634557 -0.631017 +v 1.642964 -0.827226 -0.036814 +v 1.642964 -0.650598 -0.663143 +v -0.412569 -0.811163 -0.149254 +f 212 213 221 +f 207 206 208 +f 209 205 211 +f 206 207 212 +f 205 208 213 +f 212 210 213 +f 205 209 214 +f 214 209 215 +f 211 205 216 +f 205 213 216 +f 213 210 216 +f 210 212 217 +f 211 216 217 +f 216 210 217 +f 207 208 218 +f 209 207 218 +f 215 209 218 +f 208 215 218 +f 208 205 219 +f 205 214 219 +f 214 215 219 +f 215 208 219 +f 207 209 220 +f 209 211 220 +f 212 207 220 +f 217 212 220 +f 211 217 220 +f 208 206 221 +f 206 212 221 +f 213 208 221 +o convex_15 +v 3.152448 -0.506059 0.846524 +v 3.457822 0.216628 1.039148 +v 3.457822 0.200499 1.055247 +v 1.145223 0.216628 1.023077 +v 1.675382 -0.489860 0.766199 +v 1.145223 -0.506059 0.798340 +v 1.145223 0.200499 0.990964 +v 3.297099 -0.489860 0.814383 +v 3.457822 0.216628 1.023105 +v 1.145223 0.184441 1.023077 +v 3.425451 -0.313220 0.910723 +v 1.161521 -0.489860 0.766199 +v 2.462019 -0.489860 0.782269 +v 3.409379 0.120067 1.039148 +v 1.434524 0.200499 0.990964 +v 3.409379 -0.506059 0.830454 +v 3.345089 -0.473801 0.862539 +v 1.145223 -0.281104 0.830454 +v 1.675382 -0.506059 0.766199 +f 234 237 240 +f 224 223 225 +f 227 225 228 +f 223 224 230 +f 225 223 230 +f 224 225 231 +f 225 227 231 +f 230 224 232 +f 226 230 234 +f 230 229 234 +f 224 231 235 +f 232 224 235 +f 228 225 236 +f 230 226 236 +f 225 230 236 +f 222 227 237 +f 229 230 237 +f 230 232 237 +f 234 229 237 +f 227 222 238 +f 231 227 238 +f 235 231 238 +f 232 235 238 +f 222 237 238 +f 237 232 238 +f 227 228 239 +f 226 233 239 +f 233 227 239 +f 236 226 239 +f 228 236 239 +f 233 226 240 +f 227 233 240 +f 226 234 240 +f 237 227 240 +o convex_16 +v -1.552812 -0.393613 -0.823778 +v -1.488570 0.168449 -1.000357 +v -1.488570 0.168449 -1.016428 +v -2.275496 0.168449 -0.727410 +v -1.809857 -0.136686 -0.727410 +v -1.617054 0.120241 -1.000357 +v -1.601109 -0.441820 -0.727410 +v -2.275496 0.136311 -0.743481 +v -2.195078 0.168449 -0.727410 +v -1.488570 -0.393613 -0.791664 +v -1.665351 -0.441820 -0.743481 +v -1.504669 0.168449 -0.984287 +v -1.488570 0.039955 -1.000357 +f 243 250 253 +f 242 243 244 +f 244 243 246 +f 245 244 247 +f 246 241 248 +f 244 246 248 +f 242 244 249 +f 244 245 249 +f 243 242 250 +f 247 241 250 +f 245 247 250 +f 241 247 251 +f 247 244 251 +f 248 241 251 +f 244 248 251 +f 242 249 252 +f 249 245 252 +f 250 242 252 +f 245 250 252 +f 241 246 253 +f 246 243 253 +f 250 241 253 +o convex_17 +v 2.976021 -0.441820 -0.743441 +v 3.393464 0.152389 -0.952177 +v 3.409643 0.072064 -0.920063 +v 3.409643 -0.329388 -0.807715 +v 2.413940 -0.008261 -0.952177 +v 2.478365 0.136278 -0.952177 +v 2.413940 -0.441820 -0.807715 +v 3.361398 0.088117 -0.968233 +v 3.409643 -0.393602 -0.743441 +v 2.413940 -0.393602 -0.791658 +v 2.413940 0.152389 -0.984313 +v 3.409643 -0.441820 -0.759545 +v 2.478365 -0.409655 -0.823771 +v 3.120562 -0.393602 -0.743441 +v 3.265102 0.136278 -0.984313 +f 258 264 268 +f 256 255 259 +f 255 256 261 +f 256 257 261 +f 257 256 262 +f 260 254 263 +f 258 260 263 +f 259 255 264 +f 258 263 264 +f 263 259 264 +f 254 260 265 +f 257 262 265 +f 262 254 265 +f 260 258 266 +f 261 257 266 +f 258 261 266 +f 265 260 266 +f 257 265 266 +f 256 259 267 +f 262 256 267 +f 254 262 267 +f 259 263 267 +f 263 254 267 +f 255 261 268 +f 261 258 268 +f 264 255 268 +o convex_18 +v -2.034566 -0.409657 -0.550660 +v -2.098795 0.056031 -0.711254 +v -2.082714 -0.425739 -0.309897 +v -1.633108 -0.425739 -0.711254 +v -2.130959 0.007834 -0.727339 +v -1.825845 -0.152837 -0.711254 +v -1.697386 -0.441820 -0.727339 +v -2.130959 -0.441820 -0.358066 +v -2.114828 -0.313313 -0.566745 +v -2.130959 -0.441820 -0.293812 +f 276 275 278 +f 273 270 274 +f 270 271 274 +f 271 272 274 +f 274 272 275 +f 273 274 275 +f 269 275 276 +f 275 269 277 +f 273 275 277 +f 269 276 277 +f 276 273 277 +f 271 270 278 +f 272 271 278 +f 270 273 278 +f 275 272 278 +f 273 276 278 +o convex_19 +v -2.243377 0.794775 -0.052966 +v -2.275540 0.184509 -0.727314 +v -2.195210 0.184509 -0.727314 +v -2.468175 0.184509 -0.036881 +v -2.275540 0.810837 -0.085068 +v -2.163078 0.810837 -0.293834 +v -2.163078 0.216634 -0.711229 +v -2.468175 0.200571 -0.149340 +v -2.179176 0.489703 -0.630940 +v -2.419977 0.264823 -0.036881 +v -2.291606 0.200571 -0.711229 +v -2.163078 0.602020 -0.374123 +v -2.484272 0.232697 -0.036881 +f 282 288 291 +f 280 281 282 +f 283 279 284 +f 282 281 285 +f 280 282 286 +f 281 280 287 +f 283 284 287 +f 285 281 287 +f 284 285 287 +f 282 285 288 +f 280 286 289 +f 286 283 289 +f 287 280 289 +f 283 287 289 +f 284 279 290 +f 285 284 290 +f 279 288 290 +f 288 285 290 +f 279 283 291 +f 286 282 291 +f 283 286 291 +f 288 279 291 +o convex_20 +v -1.938167 0.810781 -0.390137 +v -2.163078 0.232744 -0.727382 +v -2.146930 0.232744 -0.727382 +v -1.697409 0.810781 -0.727382 +v -2.098789 0.714404 -0.550671 +v -2.163078 0.810781 -0.245590 +v -1.841884 0.473659 -0.711253 +v -2.163078 0.537778 -0.614951 +v -1.649167 0.778636 -0.711253 +v -2.114836 0.794709 -0.261719 +v -2.163078 0.810781 -0.309870 +v -2.114836 0.248817 -0.711253 +v -2.163078 0.297033 -0.727382 +f 299 295 304 +f 294 293 295 +f 292 295 297 +f 294 295 298 +f 296 295 299 +f 293 297 299 +f 295 292 300 +f 298 295 300 +f 292 298 300 +f 292 297 301 +f 298 292 301 +f 295 296 302 +f 297 295 302 +f 296 299 302 +f 299 297 302 +f 293 294 303 +f 297 293 303 +f 294 298 303 +f 301 297 303 +f 298 301 303 +f 295 293 304 +f 293 299 304 +o convex_21 +v -1.601068 1.099884 -0.036881 +v -1.697405 0.810866 -0.727314 +v -2.162981 0.810866 -0.277749 +v -2.243286 0.810866 -0.036881 +v -2.243286 0.907233 -0.052966 +v -1.536869 1.019587 -0.422175 +v -1.520690 0.875120 -0.679127 +v -1.520690 1.083813 -0.117171 +v -1.569006 0.891163 -0.727314 +v -1.841983 0.810866 -0.454344 +v -1.697405 1.099884 -0.052966 +v -2.195117 0.826936 -0.245647 +v -1.520690 1.099884 -0.197460 +f 310 315 317 +f 307 306 308 +f 308 305 309 +f 305 308 312 +f 309 310 313 +f 311 306 313 +f 310 311 313 +f 308 306 314 +f 306 311 314 +f 311 312 314 +f 312 308 314 +f 309 305 315 +f 310 309 315 +f 306 307 316 +f 307 308 316 +f 308 309 316 +f 313 306 316 +f 309 313 316 +f 311 310 317 +f 312 311 317 +f 305 312 317 +f 315 305 317 +o convex_22 +v -0.541156 1.099890 -0.679165 +v -1.520689 0.875120 -0.727382 +v -1.520689 0.875120 -0.695237 +v -1.520689 1.099890 -0.213521 +v -1.488397 1.083827 -0.149232 +v -0.765995 1.067765 -0.727382 +v -1.520689 0.907224 -0.727382 +v -0.557251 1.067765 -0.711253 +v -0.605438 1.099890 -0.727382 +v -1.504493 0.891161 -0.647077 +f 325 322 327 +f 319 320 321 +f 318 321 322 +f 321 320 322 +f 321 323 324 +f 319 321 324 +f 323 319 324 +f 320 319 325 +f 318 322 325 +f 321 318 326 +f 319 323 326 +f 323 321 326 +f 325 319 326 +f 318 325 326 +f 322 320 327 +f 320 325 327 +o convex_23 +v 2.670190 -0.859373 -0.004669 +v -1.488570 -0.795140 -0.036814 +v -1.488570 -0.811198 -0.020742 +v 1.915621 -0.795140 0.107724 +v 3.408939 -0.811206 -0.036814 +v -0.701402 -0.827241 0.107724 +v 3.408939 -0.859373 0.107724 +v 0.310603 -0.859373 -0.036814 +v -1.488570 -0.779074 0.107724 +v -1.231135 -0.779074 -0.036814 +v -0.187010 -0.859373 0.027447 +v 3.408939 -0.827249 0.107724 +v -1.375912 -0.827241 0.059521 +v 2.991385 -0.843299 -0.036814 +f 335 332 341 +f 331 333 334 +f 330 329 335 +f 329 332 335 +f 328 334 335 +f 329 330 336 +f 333 331 336 +f 331 332 337 +f 332 329 337 +f 329 336 337 +f 336 331 337 +f 334 333 338 +f 330 335 338 +f 335 334 338 +f 332 331 339 +f 331 334 339 +f 334 332 339 +f 336 330 340 +f 333 336 340 +f 330 338 340 +f 338 333 340 +f 334 328 341 +f 332 334 341 +f 328 335 341 +o convex_24 +v -2.146949 0.088150 0.766084 +v -2.163078 -0.409701 0.316500 +v -2.163078 -0.409701 0.364737 +v -1.665324 -0.409701 0.750064 +v -2.034534 -0.361504 0.637657 +v -1.841962 -0.120668 0.750064 +v -2.146949 -0.377489 0.316500 +v -2.163078 0.023872 0.766084 +v -1.729548 -0.409701 0.766084 +v -2.146949 -0.200833 0.445015 +v -1.665324 -0.377489 0.750064 +f 347 350 352 +f 344 343 345 +f 345 343 348 +f 343 344 349 +f 344 346 349 +f 349 346 350 +f 344 345 350 +f 346 344 350 +f 347 342 350 +f 342 349 350 +f 342 347 351 +f 347 348 351 +f 348 343 351 +f 343 349 351 +f 349 342 351 +f 345 348 352 +f 348 347 352 +f 350 345 352 +o convex_25 +v 3.409643 -0.714826 0.477069 +v 1.482845 -0.811142 0.107786 +v 1.482845 -0.795099 0.107786 +v 1.048865 -0.570324 0.750085 +v 3.200510 -0.570324 0.733989 +v 3.409643 -0.811142 0.123820 +v 3.136268 -0.843285 0.139917 +v 1.048865 -0.602439 0.717955 +v 3.409181 -0.618510 0.733989 +v 1.482845 -0.586395 0.637660 +v 1.611329 -0.779055 0.123820 +v 1.595153 -0.811142 0.155951 +v 1.048865 -0.650596 0.477069 +v 3.409643 -0.811142 0.236309 +v 1.145459 -0.554281 0.733989 +v 1.048865 -0.650596 0.589495 +v 2.413892 -0.795099 0.107786 +v 2.493848 -0.570324 0.701858 +v 3.393236 -0.586395 0.701858 +v 3.409643 -0.843285 0.107786 +v 3.409181 -0.586395 0.750085 +v 1.048865 -0.682711 0.493166 +f 368 365 374 +f 356 360 361 +f 354 359 364 +f 355 354 365 +f 360 356 365 +f 363 355 365 +f 362 363 365 +f 358 353 366 +f 361 360 366 +f 353 361 366 +f 365 356 367 +f 362 365 367 +f 364 359 368 +f 360 365 368 +f 359 366 368 +f 366 360 368 +f 354 355 369 +f 355 363 369 +f 369 363 370 +f 363 362 370 +f 367 357 370 +f 362 367 370 +f 357 369 370 +f 369 357 371 +f 358 369 371 +f 359 354 372 +f 358 366 372 +f 366 359 372 +f 354 369 372 +f 369 358 372 +f 353 358 373 +f 356 361 373 +f 361 353 373 +f 367 356 373 +f 357 367 373 +f 371 357 373 +f 358 371 373 +f 354 364 374 +f 365 354 374 +f 364 368 374 +o convex_26 +v 1.482477 -0.682734 0.477069 +v -1.488570 -0.795083 0.107786 +v -1.488570 -0.795083 0.139917 +v -1.488279 -0.554238 0.750085 +v -0.524492 -0.618499 0.717955 +v 1.482477 -0.779037 0.123820 +v 0.952016 -0.811180 0.155951 +v 1.048860 -0.570310 0.701858 +v -1.488570 -0.714852 0.252280 +v 0.807768 -0.602452 0.733989 +v -1.488279 -0.586381 0.750085 +v -0.669322 -0.811154 0.155951 +v -1.472284 -0.554238 0.717955 +v 1.482477 -0.682734 0.380740 +v 1.482477 -0.811180 0.107786 +v -1.295464 -0.762990 0.123820 +v 1.048860 -0.570310 0.750085 +v 1.482477 -0.779037 0.236309 +v 0.277888 -0.602452 0.750085 +v 0.117354 -0.730873 0.396837 +v -1.118934 -0.811154 0.107786 +v 1.048860 -0.602452 0.605592 +f 382 388 396 +f 376 377 383 +f 383 377 385 +f 378 383 385 +f 385 377 386 +f 379 385 386 +f 383 378 387 +f 375 380 388 +f 382 375 388 +f 380 375 389 +f 376 383 390 +f 383 388 390 +f 388 380 390 +f 380 389 390 +f 389 376 390 +f 375 382 391 +f 384 375 391 +f 378 385 391 +f 387 378 391 +f 382 387 391 +f 375 384 392 +f 389 375 392 +f 381 389 392 +f 385 379 393 +f 384 391 393 +f 391 385 393 +f 392 384 393 +f 392 393 394 +f 386 381 394 +f 379 386 394 +f 381 392 394 +f 393 379 394 +f 377 376 395 +f 386 377 395 +f 381 386 395 +f 376 389 395 +f 389 381 395 +f 387 382 396 +f 383 387 396 +f 388 383 396 +o convex_27 +v -0.251972 1.196250 0.669814 +v -1.408045 1.148071 -0.036814 +v -1.408272 0.987515 0.605487 +v -0.476984 1.132011 -0.036814 +v -1.135156 1.180190 0.220148 +v -1.359942 1.019655 0.669814 +v -0.476984 1.164131 -0.020698 +v -1.311838 0.987515 0.669814 +v -0.332334 1.164110 0.669814 +v -0.380551 1.196250 0.669814 +v -1.408045 1.164131 0.091771 +v -0.316261 1.196250 0.461062 +v -0.974546 1.132011 -0.036814 +v -1.408045 1.164131 -0.036814 +f 401 408 410 +f 399 400 404 +f 397 402 404 +f 402 399 404 +f 400 397 405 +f 404 400 405 +f 397 404 405 +f 401 402 406 +f 402 397 406 +f 402 401 407 +f 399 402 407 +f 397 400 408 +f 400 403 408 +f 406 397 408 +f 401 406 408 +f 399 398 409 +f 400 399 409 +f 398 400 409 +f 398 399 410 +f 400 398 410 +f 403 400 410 +f 399 407 410 +f 407 401 410 +f 408 403 410 +o convex_28 +v 1.225465 1.196167 1.023121 +v 0.470715 0.216829 0.991005 +v 0.486819 0.216829 0.991005 +v 0.470715 1.244249 0.958889 +v 1.305820 0.216829 1.007057 +v 0.470715 0.248917 1.023121 +v 1.289716 1.244249 0.991005 +v 0.567092 1.244249 0.991005 +v 1.305820 0.216829 1.023121 +v 0.486819 0.955255 0.958889 +v 1.305820 1.244249 1.023121 +v 0.470715 1.131890 0.991005 +v 0.486819 0.505822 0.974953 +f 420 415 423 +f 412 413 415 +f 414 412 416 +f 417 414 418 +f 412 415 419 +f 416 412 419 +f 411 416 419 +f 412 414 420 +f 414 417 420 +f 417 415 420 +f 415 417 421 +f 418 411 421 +f 417 418 421 +f 419 415 421 +f 411 419 421 +f 414 416 422 +f 416 411 422 +f 418 414 422 +f 411 418 422 +f 413 412 423 +f 415 413 423 +f 412 420 423 +o convex_29 +v 3.296916 0.794715 1.007068 +v 2.044636 1.244249 1.023127 +v 2.510082 1.083708 1.039187 +v 1.306031 0.216829 1.023127 +v 3.457611 0.216829 1.039187 +v 1.306031 0.216829 1.007068 +v 1.306031 1.244249 1.007068 +v 1.306031 1.244249 1.023127 +v 1.980611 0.216829 1.039187 +v 3.457611 0.216829 1.023127 +v 3.264904 0.955255 1.023127 +v 2.526299 1.228255 1.007068 +v 3.296916 0.810809 1.039187 +v 1.996617 0.216829 1.007068 +v 2.526299 1.228255 1.023127 +v 2.044636 0.666363 1.039187 +f 431 432 439 +f 428 427 429 +f 424 429 430 +f 429 427 430 +f 426 425 431 +f 425 430 431 +f 430 427 431 +f 427 428 432 +f 428 426 432 +f 431 427 432 +f 428 429 433 +f 433 424 434 +f 428 433 434 +f 430 425 435 +f 424 430 435 +f 434 424 435 +f 426 428 436 +f 428 434 436 +f 429 424 437 +f 424 433 437 +f 433 429 437 +f 425 426 438 +f 435 425 438 +f 434 435 438 +f 426 436 438 +f 436 434 438 +f 426 431 439 +f 432 426 439 +o convex_30 +v -1.488570 0.441448 0.926775 +v -0.493094 0.955375 0.782232 +v -0.091639 0.939249 0.782232 +v -1.376102 0.264861 1.039170 +v -0.075315 0.216628 0.990962 +v -1.488570 0.874963 0.766172 +v -0.075315 0.874963 0.766172 +v -0.075315 0.264861 1.007023 +v -1.488570 0.891089 0.798292 +v -0.525189 0.248807 0.974929 +v -1.488570 0.216628 1.023083 +v -1.022788 0.216628 1.039170 +v -1.295728 0.939249 0.766172 +v -1.488570 0.264861 1.039170 +v -0.701845 0.874963 0.814379 +v -1.488570 0.232754 1.007023 +f 450 440 455 +f 442 443 447 +f 446 442 447 +f 444 446 447 +f 445 440 448 +f 440 445 449 +f 446 444 449 +f 445 446 449 +f 448 440 450 +f 447 443 451 +f 444 447 451 +f 450 444 451 +f 441 442 452 +f 442 446 452 +f 446 445 452 +f 448 441 452 +f 445 448 452 +f 448 450 453 +f 451 443 453 +f 450 451 453 +f 442 441 454 +f 443 442 454 +f 441 448 454 +f 453 443 454 +f 448 453 454 +f 440 449 455 +f 449 444 455 +f 444 450 455 +o convex_31 +v -1.520529 0.168513 -1.016402 +v -0.252184 0.826897 -0.871963 +v -0.252184 0.778562 -0.871963 +v -1.520529 0.826897 -0.775561 +v -0.252184 0.168513 -1.016428 +v -0.685644 0.826897 -0.888009 +v -0.252184 0.232766 -1.032499 +v -1.456212 0.168513 -0.984285 +v -1.520529 0.826897 -0.807703 +v -1.504388 0.794674 -0.775561 +v -1.472353 0.200672 -1.016402 +v -0.396588 0.794674 -0.904055 +v -0.252184 0.345161 -0.968264 +v -0.733944 0.216719 -1.032474 +v -0.252184 0.794674 -0.904055 +f 462 467 470 +f 457 458 460 +f 459 457 461 +f 457 460 462 +f 456 460 463 +f 456 459 464 +f 459 461 464 +f 458 457 465 +f 457 459 465 +f 459 456 465 +f 456 463 465 +f 463 460 465 +f 456 464 466 +f 464 461 466 +f 466 461 467 +f 460 458 468 +f 458 465 468 +f 465 460 468 +f 460 456 469 +f 462 460 469 +f 456 466 469 +f 467 462 469 +f 466 467 469 +f 461 457 470 +f 457 462 470 +f 467 461 470 +o convex_32 +v -1.135188 -0.297258 -0.888029 +v 0.374254 0.168449 -1.016406 +v 0.277795 -0.024321 -0.952167 +v -1.488570 -0.393613 -0.791620 +v -1.488570 0.168449 -1.016456 +v 0.374254 -0.409682 -0.871957 +v -0.589068 0.088103 -1.048525 +v 0.229656 -0.425751 -0.823765 +v -1.472342 -0.425751 -0.823765 +v 0.213610 0.120241 -1.048525 +v -1.488570 0.168449 -1.000384 +v -1.424021 0.072034 -1.016456 +v -0.701574 -0.425751 -0.855859 +v -0.540929 0.168449 -1.048525 +v -1.006818 0.168449 -1.000384 +v 0.374254 -0.441820 -0.839837 +v -1.488570 -0.441820 -0.791620 +v 0.374254 0.088103 -1.032478 +f 476 480 488 +f 473 472 474 +f 472 473 478 +f 473 474 478 +f 476 477 480 +f 475 474 481 +f 472 475 481 +f 475 477 482 +f 471 479 482 +f 479 475 482 +f 477 476 483 +f 479 471 483 +f 471 482 483 +f 482 477 483 +f 475 472 484 +f 477 475 484 +f 472 480 484 +f 480 477 484 +f 474 472 485 +f 472 481 485 +f 481 474 485 +f 476 472 486 +f 472 478 486 +f 483 476 486 +f 483 486 487 +f 474 475 487 +f 478 474 487 +f 475 479 487 +f 479 483 487 +f 486 478 487 +f 472 476 488 +f 480 472 488 +o convex_33 +v -2.002412 0.875076 0.300448 +v -1.697346 0.875076 0.685873 +v -1.697346 0.875076 0.669743 +v -2.179067 0.377225 0.669743 +v -2.066641 0.762650 0.605562 +v -2.195198 0.875076 0.252300 +v -2.179067 0.537847 0.444891 +v -2.195198 0.441503 0.685873 +v -1.874099 0.858995 0.396890 +v -2.163034 0.858995 0.188022 +v -1.793739 0.858995 0.685873 +v -2.130919 0.569962 0.685873 +v -1.697346 0.858995 0.669743 +f 492 497 501 +f 489 490 491 +f 490 489 494 +f 492 490 496 +f 495 492 496 +f 494 495 496 +f 489 491 497 +f 492 495 497 +f 497 495 498 +f 494 489 498 +f 495 494 498 +f 489 497 498 +f 490 494 499 +f 494 493 499 +f 496 490 499 +f 496 499 500 +f 493 494 500 +f 494 496 500 +f 499 493 500 +f 491 490 501 +f 490 492 501 +f 497 491 501 +o convex_34 +v -1.745633 0.168520 -0.936131 +v -1.520690 0.891136 -0.727382 +v -1.520690 0.858878 -0.727382 +v -2.259364 0.184648 -0.727382 +v -1.552938 0.858878 -0.791647 +v -1.536886 0.168520 -0.968251 +v -1.906079 0.377346 -0.727382 +v -1.536886 0.232823 -1.000370 +v -2.179033 0.184648 -0.775587 +v -2.179033 0.168520 -0.727382 +v -1.665301 0.826762 -0.743468 +v -1.809840 0.425521 -0.743468 +f 508 507 513 +f 504 503 505 +f 504 505 508 +f 503 504 509 +f 506 503 509 +f 504 507 509 +f 507 502 509 +f 509 502 510 +f 506 509 510 +f 502 507 511 +f 508 505 511 +f 507 508 511 +f 510 502 511 +f 505 510 511 +f 505 503 512 +f 503 506 512 +f 510 505 512 +f 506 510 512 +f 507 504 513 +f 504 508 513 +o convex_35 +v 0.438595 1.164151 -0.968265 +v -0.251972 0.168532 -1.032460 +v 0.374383 0.152389 -1.032504 +v -0.251972 1.051546 -0.807680 +v 0.454592 0.184576 -1.000373 +v 0.486736 1.131964 -1.016438 +v -0.219828 1.131865 -0.839832 +v -0.203756 0.200719 -1.000351 +v -0.251972 0.232906 -1.032460 +v 0.518880 0.570028 -1.032504 +v -0.203756 1.051546 -0.807680 +v 0.518880 1.067689 -0.984330 +v 0.422523 1.164151 -1.000373 +v 0.518880 0.152389 -1.016438 +v -0.203756 1.131865 -0.807680 +v 0.518880 0.521797 -1.000373 +f 527 525 529 +f 517 515 521 +f 518 517 521 +f 516 515 522 +f 515 517 522 +f 517 520 522 +f 516 522 523 +f 522 519 523 +f 517 518 524 +f 519 514 525 +f 523 519 525 +f 514 519 526 +f 519 522 526 +f 522 520 526 +f 515 516 527 +f 521 515 527 +f 518 521 527 +f 516 523 527 +f 524 518 527 +f 523 525 527 +f 520 517 528 +f 517 524 528 +f 525 514 528 +f 524 525 528 +f 514 526 528 +f 526 520 528 +f 525 524 529 +f 524 527 529 +o convex_36 +v -1.488524 0.907213 -0.727397 +v -0.252096 1.132032 -0.775575 +v -0.252096 1.132032 -0.823721 +v -0.252096 0.826897 -0.871899 +v -1.472504 0.842996 -0.807672 +v -0.268241 1.115933 -0.727397 +v -0.589394 0.842996 -0.887963 +v -1.440339 0.875105 -0.727397 +v -0.428818 1.132032 -0.727397 +v -1.408174 0.907213 -0.791639 +v -1.520689 0.826897 -0.775575 +v -0.252096 0.842996 -0.855834 +v -0.364612 1.115933 -0.823721 +v -0.252096 0.859065 -0.887963 +f 533 536 543 +f 532 531 533 +f 535 530 537 +f 531 532 538 +f 535 531 538 +f 530 535 538 +f 534 530 539 +f 530 538 539 +f 530 534 540 +f 536 533 540 +f 534 536 540 +f 537 530 540 +f 533 537 540 +f 533 531 541 +f 531 535 541 +f 537 533 541 +f 535 537 541 +f 532 536 542 +f 536 534 542 +f 538 532 542 +f 534 539 542 +f 539 538 542 +f 532 533 543 +f 536 532 543 +o convex_37 +v 1.032945 -0.441820 -0.855906 +v 2.413805 0.152389 -0.968224 +v 2.413805 0.120224 -0.952168 +v 0.374556 0.152389 -1.016437 +v 0.374556 -0.393602 -0.839804 +v 0.599343 0.088117 -1.032516 +v 2.365494 -0.425709 -0.823772 +v 2.349324 -0.393602 -0.791661 +v 2.301212 0.136278 -1.000358 +v 0.374556 -0.409655 -0.871938 +v 1.755416 -0.409655 -0.855906 +v 1.338184 0.152389 -0.984303 +v 2.413805 -0.441820 -0.791661 +v 0.374556 0.152389 -1.032516 +v 1.065086 -0.409655 -0.871962 +v 0.374556 -0.441820 -0.839804 +v 2.397635 0.088117 -0.984303 +v 0.374556 -0.233009 -0.887994 +v 0.374556 0.088117 -1.032516 +f 549 558 562 +f 548 547 553 +f 550 544 554 +f 546 545 555 +f 545 547 555 +f 551 546 555 +f 545 546 556 +f 544 550 556 +f 546 551 556 +f 547 545 557 +f 545 552 557 +f 552 549 557 +f 553 547 557 +f 544 553 558 +f 554 544 558 +f 549 554 558 +f 551 548 559 +f 553 544 559 +f 548 553 559 +f 544 556 559 +f 556 551 559 +f 552 545 560 +f 549 552 560 +f 554 549 560 +f 550 554 560 +f 545 556 560 +f 556 550 560 +f 547 548 561 +f 548 551 561 +f 555 547 561 +f 551 555 561 +f 557 549 562 +f 553 557 562 +f 558 553 562 +o convex_38 +v -1.408272 1.019600 0.621603 +v -1.906113 1.003586 -0.036814 +v -2.259306 0.875076 -0.036745 +v -2.259306 0.939359 0.043560 +v -1.681229 0.875133 0.637581 +v -1.408272 1.148052 -0.036814 +v -1.536839 1.164095 -0.004581 +v -1.520757 0.987515 0.669814 +v -1.745556 0.891175 0.669814 +v -1.857868 0.875133 0.364641 +v -1.408272 0.971472 0.653697 +v -2.227229 0.875076 0.188054 +v -2.227229 0.875076 -0.036745 +v -1.408272 1.164095 0.075724 +v -2.227229 0.923289 -0.036745 +f 566 569 577 +f 569 566 570 +f 563 569 570 +f 570 566 571 +f 572 568 573 +f 568 563 573 +f 563 570 573 +f 571 567 573 +f 570 571 573 +f 567 572 573 +f 566 565 574 +f 567 571 574 +f 571 566 574 +f 565 564 575 +f 564 568 575 +f 572 567 575 +f 568 572 575 +f 574 565 575 +f 567 574 575 +f 563 568 576 +f 569 563 576 +f 568 569 576 +f 564 565 577 +f 565 566 577 +f 568 564 577 +f 569 568 577 +o convex_39 +v 2.221104 1.212330 -0.952227 +v 1.611044 0.152389 -1.000392 +v 2.349585 0.152389 -1.000392 +v 2.285345 0.152389 -0.968283 +v 2.510141 1.196249 -0.984331 +v 1.611044 1.212330 -0.952227 +v 1.611044 0.489690 -1.000392 +v 1.627172 0.794621 -0.952227 +v 2.526358 0.152389 -0.968283 +v 1.611044 1.212330 -0.968283 +v 1.611044 0.152389 -0.984331 +v 2.526358 1.180167 -0.968283 +v 1.996487 0.650404 -0.952227 +v 2.205067 1.212330 -0.984331 +v 2.526358 0.152389 -0.984331 +f 589 586 592 +f 579 580 581 +f 580 579 584 +f 582 580 584 +f 579 583 584 +f 578 583 585 +f 581 580 586 +f 583 578 587 +f 584 583 587 +f 579 581 588 +f 583 579 588 +f 581 585 588 +f 585 583 588 +f 582 578 589 +f 578 586 589 +f 585 581 590 +f 578 585 590 +f 581 586 590 +f 586 578 590 +f 578 582 591 +f 582 584 591 +f 587 578 591 +f 584 587 591 +f 580 582 592 +f 586 580 592 +f 582 589 592 +o convex_40 +v 3.120437 0.955350 -0.984331 +v 2.526528 0.152389 -0.984331 +v 2.542570 0.264870 -1.000392 +v 2.526528 1.180211 -0.968283 +v 3.393583 0.152389 -0.952227 +v 3.377371 0.200581 -0.984331 +v 2.783376 1.083827 -1.000392 +v 2.526528 0.152389 -0.968283 +v 3.248946 0.634206 -1.000392 +v 2.526528 1.180211 -0.984331 +v 2.751292 1.099724 -0.968283 +v 3.248946 0.152389 -0.952227 +f 600 597 604 +f 597 594 598 +f 594 595 598 +f 596 594 600 +f 594 597 600 +f 593 597 601 +f 597 598 601 +f 598 595 601 +f 595 599 601 +f 599 593 601 +f 595 594 602 +f 594 596 602 +f 599 595 602 +f 599 602 603 +f 597 593 603 +f 596 597 603 +f 593 599 603 +f 602 596 603 +f 597 596 604 +f 596 600 604 +o convex_41 +v -2.484155 0.184373 0.059545 +v -2.243485 -0.505991 -0.036819 +v -2.147142 -0.441781 -0.341852 +v -2.291581 0.136317 -0.727382 +v -2.130959 0.072039 -0.711205 +v -2.227378 -0.489905 0.027346 +v -2.516294 0.168287 0.043445 +v -2.275587 -0.505991 0.027346 +v -2.227378 0.184509 -0.711205 +v -2.147066 -0.200890 -0.614920 +v -2.131034 -0.425694 -0.261666 +v -2.468123 0.168355 -0.149358 +v -2.436021 0.120095 0.011324 +v -2.291581 0.184509 -0.727382 +v -2.130959 0.023847 -0.727382 +v -2.275587 -0.505991 0.059545 +f 612 606 620 +f 607 606 612 +f 608 607 612 +f 605 609 613 +f 607 608 614 +f 606 607 615 +f 610 606 615 +f 607 614 615 +f 608 612 616 +f 612 611 616 +f 609 605 617 +f 605 610 617 +f 615 609 617 +f 610 615 617 +f 611 605 618 +f 605 613 618 +f 616 611 618 +f 608 616 618 +f 613 609 619 +f 614 608 619 +f 609 615 619 +f 615 614 619 +f 608 618 619 +f 618 613 619 +f 606 610 620 +f 610 605 620 +f 605 611 620 +f 611 612 620 +o convex_42 +v -2.259436 0.216628 0.766213 +v -1.488570 0.923186 0.782258 +v -1.488570 0.923186 0.766213 +v -1.488570 0.216628 1.007035 +v -1.905997 0.601998 0.685881 +v -2.211220 0.248858 0.830464 +v -1.536787 0.232812 1.039160 +v -2.146930 0.537885 0.701961 +v -2.178999 0.377360 0.685881 +v -1.681438 0.842889 0.685881 +v -1.745651 0.874980 0.701961 +v -1.504642 0.891026 0.798338 +v -1.488570 0.762592 0.798338 +f 624 630 633 +f 623 622 624 +f 624 622 627 +f 621 624 627 +f 626 621 627 +f 621 626 628 +f 624 621 629 +f 625 624 629 +f 621 628 629 +f 629 628 630 +f 624 625 630 +f 625 629 630 +f 622 623 631 +f 628 626 631 +f 630 628 631 +f 623 630 631 +f 627 622 632 +f 626 627 632 +f 622 631 632 +f 631 626 632 +f 623 624 633 +f 630 623 633 +o convex_43 +v -2.195226 0.826822 0.188063 +v -2.500269 0.184576 -0.036814 +v -2.500269 0.200661 -0.036814 +v -2.259479 0.184576 0.766172 +v -2.307637 0.858924 0.043516 +v -2.516332 0.200661 0.091698 +v -2.419985 0.280950 -0.036814 +v -2.227384 0.184576 0.733946 +v -2.227384 0.329137 0.766172 +v -2.243416 0.842839 -0.036814 +v -2.195226 0.505733 0.444930 +v -2.195226 0.875009 0.236245 +v -2.323700 0.232763 0.621547 +v -2.195226 0.361307 0.766172 +v -2.275542 0.875009 -0.036814 +v -2.468174 0.184576 -0.036814 +v -2.211321 0.875009 0.236245 +f 645 648 650 +f 638 636 639 +f 636 635 639 +f 635 637 639 +f 635 636 640 +f 637 635 641 +f 640 636 643 +f 641 640 644 +f 643 634 644 +f 640 643 644 +f 634 643 645 +f 644 634 645 +f 638 639 646 +f 639 637 646 +f 642 638 646 +f 637 642 646 +f 637 641 647 +f 642 637 647 +f 641 644 647 +f 644 645 647 +f 636 638 648 +f 643 636 648 +f 645 643 648 +f 635 640 649 +f 641 635 649 +f 640 641 649 +f 638 642 650 +f 642 647 650 +f 647 645 650 +f 648 638 650 +o convex_44 +v 0.101404 1.212264 0.798320 +v 0.470661 1.228343 0.974923 +v 0.470661 1.228343 0.958860 +v 0.470661 0.746693 0.974923 +v -0.075262 0.794834 0.830423 +v 0.101404 0.746693 0.814382 +v -0.043146 1.212264 0.782257 +v 0.438545 0.746693 0.990964 +v -0.075262 0.875133 0.766216 +v 0.470661 0.778803 0.958860 +v 0.438545 1.228343 0.974923 +v 0.021087 1.164076 0.766216 +v -0.075262 0.746693 0.830423 +v 0.422460 1.131966 0.926757 +f 660 662 664 +f 653 652 654 +f 653 651 657 +f 654 652 658 +f 656 654 658 +f 655 657 659 +f 653 654 660 +f 654 656 660 +f 652 653 661 +f 657 655 661 +f 653 657 661 +f 658 652 661 +f 655 658 661 +f 657 651 662 +f 656 659 662 +f 659 657 662 +f 660 656 662 +f 658 655 663 +f 656 658 663 +f 659 656 663 +f 655 659 663 +f 651 653 664 +f 653 660 664 +f 662 651 664 +o convex_45 +v 0.647467 0.313115 -1.000392 +v 1.514491 1.228390 -0.952225 +v 1.514491 1.228390 -0.968289 +v 1.610791 0.152389 -0.984337 +v 0.535134 1.083673 -1.016440 +v 1.578727 0.168504 -1.016448 +v 0.518995 0.152494 -1.032496 +v 0.518995 1.179940 -0.984345 +v 1.273686 0.971292 -0.952225 +v 1.610791 1.212275 -0.968289 +v 0.968539 0.152494 -1.032496 +v 1.610791 0.810776 -0.952225 +v 0.518995 0.152494 -1.016440 +v 1.466287 0.152389 -0.984337 +v 1.129182 1.180151 -0.952225 +v 0.518995 0.537984 -1.032496 +v 0.518995 1.051549 -0.984345 +f 665 679 681 +f 666 667 672 +f 667 669 672 +f 667 666 674 +f 669 667 674 +f 670 669 674 +f 668 670 674 +f 669 670 675 +f 670 668 675 +f 668 671 675 +f 666 673 676 +f 674 666 676 +f 668 674 676 +f 672 671 677 +f 671 668 678 +f 673 665 678 +f 676 673 678 +f 668 676 678 +f 665 677 678 +f 677 671 678 +f 666 672 679 +f 673 666 679 +f 665 673 679 +f 672 669 680 +f 671 672 680 +f 669 675 680 +f 675 671 680 +f 677 665 681 +f 672 677 681 +f 679 672 681 +o convex_46 +v -2.195238 0.152271 0.766172 +v -2.275535 -0.505992 0.059544 +v -2.243410 -0.505992 0.059544 +v -2.516392 0.184441 0.059544 +v -2.259490 0.168356 0.750056 +v -2.163147 -0.489907 0.156035 +v -2.468151 0.184441 0.075730 +v -2.179193 -0.425702 0.332692 +v -2.163147 -0.120698 0.493094 +v -2.163147 0.007778 0.750056 +v -2.500277 0.120169 0.075730 +v -2.275535 -0.505992 0.075730 +v -2.211318 0.184441 0.750056 +f 690 688 694 +f 684 683 685 +f 684 685 688 +f 687 684 688 +f 687 688 690 +f 682 686 691 +f 686 689 691 +f 689 687 691 +f 687 690 691 +f 690 682 691 +f 685 683 692 +f 686 685 692 +f 686 692 693 +f 683 684 693 +f 684 687 693 +f 689 686 693 +f 687 689 693 +f 692 683 693 +f 686 682 694 +f 685 686 694 +f 688 685 694 +f 682 690 694 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/552/552.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/552/552.urdf new file mode 100644 index 000000000..c1a6d172e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/552/552.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/553/553.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/553/553.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/553/553.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/553/553.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/553/553.obj new file mode 100644 index 000000000..0e0be4c80 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/553/553.obj @@ -0,0 +1,528 @@ +o convex_0 +v -1.742561 1.351675 -0.782079 +v -1.837667 0.876406 -3.063369 +v -2.027762 0.908136 -3.063369 +v -1.742561 1.541782 -3.063369 +v -2.312787 1.478391 -0.623496 +v -2.186038 0.876406 -0.623496 +v -2.312787 1.478391 -3.063369 +v -2.344490 0.971528 -3.031605 +v -1.774263 1.003190 -0.623496 +v -1.742561 1.573513 -0.623496 +v -1.742561 0.876406 -2.746444 +v -2.281085 1.510121 -3.063369 +v -2.312787 1.288283 -0.623496 +v -2.217740 0.876406 -0.687025 +v -2.249383 1.510121 -0.623496 +v -1.742561 0.939798 -1.510745 +v -1.805965 1.573513 -1.257347 +v -1.742561 0.876406 -3.063369 +v -2.344490 1.161636 -2.176121 +v -2.122692 0.876406 -0.623496 +v -1.996060 1.541782 -3.063369 +f 12 17 21 +f 2 3 4 +f 4 3 7 +f 7 3 8 +f 5 6 9 +f 1 4 10 +f 9 1 10 +f 5 9 10 +f 4 1 11 +f 6 2 11 +f 4 7 12 +f 7 5 12 +f 6 5 13 +f 13 8 14 +f 3 2 14 +f 2 6 14 +f 8 3 14 +f 6 13 14 +f 5 10 15 +f 12 5 15 +f 1 9 16 +f 11 1 16 +f 10 4 17 +f 15 10 17 +f 12 15 17 +f 2 4 18 +f 11 2 18 +f 4 11 18 +f 5 7 19 +f 7 8 19 +f 13 5 19 +f 8 13 19 +f 9 6 20 +f 6 11 20 +f 16 9 20 +f 11 16 20 +f 4 12 21 +f 17 4 21 +o convex_1 +v 1.109298 0.084410 -0.591760 +v -1.077082 0.654156 -0.528064 +v -1.077082 0.654156 -0.084513 +v -1.013519 -3.813087 0.643772 +v 1.109298 2.301701 0.928927 +v 1.045735 -3.781031 -0.940189 +v 0.950712 -3.844538 1.055897 +v -0.950171 2.175292 0.960775 +v -0.728451 2.270250 -1.035311 +v -0.981845 -3.781031 -1.098796 +v 1.077409 2.270250 -0.940189 +v -1.045194 -3.781031 0.960775 +v -0.950171 2.270250 -1.035100 +v -1.077082 1.763406 0.485376 +v -0.601754 -3.781031 -1.098796 +v -0.284798 -3.876594 -0.306605 +v 0.982387 -3.654623 1.055897 +v 1.109298 0.654156 0.485376 +v 0.950712 -3.781031 -0.972037 +v -1.077082 1.794857 -0.591549 +v 0.760667 2.270250 -0.972037 +v -0.981845 -1.753050 -1.098796 +v -0.823474 2.206743 0.960775 +v -0.569866 -3.812482 0.992412 +v -1.013519 -3.781031 -0.496427 +v 1.109298 2.301701 0.105098 +v -0.475057 -3.876594 0.421891 +v 0.633970 2.302306 0.928927 +v 1.077409 1.224506 0.960775 +v -0.950171 2.270250 -0.433153 +v -1.077082 0.844071 0.612135 +v 0.792341 -3.844538 1.055897 +v -0.379820 2.206743 0.960775 +v 0.380362 -3.876594 0.707046 +v 1.109298 1.382971 -0.686671 +v -0.855148 -3.813087 -0.971826 +v 1.109298 1.541435 0.928927 +v 0.982387 -3.844538 0.548861 +v 1.045735 -3.781031 -0.845067 +v 0.982387 -3.527609 1.055897 +v -0.918497 -1.815952 -1.098796 +v -1.013519 -3.813087 0.960775 +v -0.981845 0.812620 0.960775 +v 1.045735 2.301701 -0.147998 +v 1.077409 0.654156 -0.940189 +v 0.190316 -3.749580 -1.035311 +v 1.109298 1.858364 -0.655034 +f 47 56 68 +f 24 23 33 +f 23 24 35 +f 22 26 39 +f 27 37 40 +f 31 23 41 +f 23 35 41 +f 32 40 42 +f 34 30 43 +f 36 31 43 +f 31 41 43 +f 41 34 43 +f 23 31 46 +f 31 25 46 +f 33 23 46 +f 25 33 46 +f 26 22 47 +f 26 47 49 +f 35 29 51 +f 34 41 51 +f 41 35 51 +f 29 44 51 +f 49 34 51 +f 44 49 51 +f 24 33 52 +f 35 24 52 +f 29 35 52 +f 28 38 53 +f 29 45 53 +f 49 44 54 +f 26 49 54 +f 50 26 54 +f 48 37 55 +f 28 53 55 +f 22 27 56 +f 47 22 56 +f 25 31 57 +f 31 36 57 +f 36 40 57 +f 40 37 57 +f 48 25 57 +f 37 48 57 +f 26 38 58 +f 39 26 58 +f 38 39 58 +f 37 27 59 +f 38 28 59 +f 28 55 59 +f 55 37 59 +f 27 22 60 +f 22 39 60 +f 39 38 60 +f 59 27 60 +f 38 59 60 +f 38 26 61 +f 44 29 61 +f 26 50 61 +f 53 38 61 +f 29 53 61 +f 54 44 61 +f 50 54 61 +f 30 42 62 +f 42 36 62 +f 43 30 62 +f 36 43 62 +f 33 25 63 +f 45 33 63 +f 25 48 63 +f 53 45 63 +f 48 55 63 +f 55 53 63 +f 45 29 64 +f 33 45 64 +f 52 33 64 +f 29 52 64 +f 30 34 65 +f 42 30 65 +f 32 42 65 +f 47 32 65 +f 34 49 65 +f 49 47 65 +f 27 40 66 +f 40 32 66 +f 56 27 66 +f 32 56 66 +f 40 36 67 +f 36 42 67 +f 42 40 67 +f 32 47 68 +f 56 32 68 +o convex_2 +v -1.932681 1.478347 0.643970 +v -3.009748 0.654711 -0.623496 +v -3.041508 0.654711 -0.243232 +v -1.077141 0.686419 0.548811 +v -1.077141 1.795208 -0.591735 +v -3.105028 1.763499 -0.496700 +v -1.077141 0.654711 -0.528337 +v -3.073070 0.686419 0.548811 +v -3.041508 1.763499 0.485537 +v -1.077141 1.763499 0.485413 +v -1.077141 0.718128 0.612209 +v -2.249488 1.510056 -0.623496 +v -1.774475 1.003280 -0.623496 +v -2.281050 1.003280 0.643970 +v -3.073070 0.654711 0.422139 +v -2.281050 1.541652 0.643970 +v -1.108901 1.795208 0.263581 +v -1.806037 1.795208 -0.560098 +v -1.077141 0.654711 -0.084674 +v -3.105028 1.763499 -0.243232 +v -1.393949 0.686419 0.612209 +v -3.105028 1.573361 -0.496700 +v -1.774475 1.414930 0.643970 +v -1.077141 1.510056 -0.591735 +v -1.077141 0.844850 0.612209 +f 91 79 93 +f 71 70 75 +f 73 72 75 +f 72 73 78 +f 72 78 79 +f 70 74 80 +f 75 70 81 +f 70 80 81 +f 80 73 81 +f 71 75 83 +f 77 76 84 +f 78 77 84 +f 69 78 84 +f 76 82 84 +f 82 69 84 +f 78 73 85 +f 77 78 85 +f 73 80 86 +f 80 74 86 +f 85 73 86 +f 77 85 86 +f 75 72 87 +f 83 75 87 +f 72 83 87 +f 76 77 88 +f 86 74 88 +f 77 86 88 +f 72 79 89 +f 82 76 89 +f 79 82 89 +f 83 72 89 +f 76 83 89 +f 70 71 90 +f 74 70 90 +f 71 83 90 +f 83 76 90 +f 76 88 90 +f 88 74 90 +f 78 69 91 +f 69 82 91 +f 82 79 91 +f 73 75 92 +f 75 81 92 +f 81 73 92 +f 79 78 93 +f 78 91 93 +o convex_3 +v -2.186010 1.573513 1.467929 +v -2.217712 0.876406 2.608335 +v -2.154366 0.876406 2.608335 +v -2.281116 1.003190 0.643970 +v -1.774294 1.003190 0.643970 +v -1.742592 1.573513 3.083843 +v -1.679129 0.939798 3.052079 +v -1.774294 1.446729 0.707499 +v -2.186010 1.573513 2.925261 +v -2.281116 1.541782 0.643970 +v -2.249414 0.876406 3.020315 +v -2.249414 1.098244 2.988551 +v -2.154366 1.541782 0.675735 +v -2.281116 0.939798 1.562983 +v -1.679129 1.034852 2.893497 +v -1.869342 0.971528 0.960896 +v -1.742592 1.573513 2.893497 +v -1.774294 1.415067 0.643970 +v -2.281116 1.541782 0.834317 +f 107 105 112 +f 99 94 102 +f 98 97 103 +f 102 94 103 +f 95 96 104 +f 96 100 104 +f 100 99 104 +f 104 99 105 +f 99 102 105 +f 103 94 106 +f 103 97 107 +f 95 104 107 +f 104 105 107 +f 100 98 108 +f 99 100 108 +f 96 95 109 +f 97 98 109 +f 100 96 109 +f 98 100 109 +f 95 107 109 +f 107 97 109 +f 94 99 110 +f 106 94 110 +f 101 106 110 +f 99 108 110 +f 108 101 110 +f 98 103 111 +f 106 101 111 +f 103 106 111 +f 108 98 111 +f 101 108 111 +f 102 103 112 +f 105 102 112 +f 103 107 112 +o convex_4 +v 2.281704 1.795319 -0.370003 +v 2.123147 4.234721 0.295417 +v 1.996475 4.234721 0.295417 +v 2.249943 1.795319 0.295417 +v 1.647971 1.795319 -0.338217 +v 1.806404 4.330252 -0.338217 +v 1.647971 1.795319 0.263631 +v 2.218306 4.139934 -0.338217 +v 1.679670 4.330252 0.232040 +v 2.281704 4.171695 0.295417 +v 1.647971 2.809441 -0.116497 +v 2.281704 4.171695 0.136943 +v 1.647971 2.904725 0.263631 +v 2.281704 2.397539 0.105288 +v 1.901501 2.809441 0.295417 +v 2.186545 2.524336 -0.370003 +v 2.281704 2.175708 -0.370003 +v 1.869802 4.330252 -0.338217 +v 2.059811 1.922115 -0.370003 +f 118 128 131 +f 114 115 116 +f 113 116 117 +f 117 116 119 +f 115 114 121 +f 114 116 122 +f 118 117 123 +f 117 119 123 +f 121 118 123 +f 114 122 124 +f 122 113 124 +f 115 121 125 +f 123 119 125 +f 121 123 125 +f 116 113 126 +f 122 116 126 +f 113 122 126 +f 116 115 127 +f 119 116 127 +f 115 125 127 +f 125 119 127 +f 128 120 129 +f 124 113 129 +f 120 124 129 +f 113 128 129 +f 121 114 130 +f 118 121 130 +f 114 124 130 +f 124 120 130 +f 128 118 130 +f 120 128 130 +f 113 117 131 +f 117 118 131 +f 128 113 131 +o convex_5 +v 2.186539 0.210763 -0.338316 +v 1.679658 -1.785224 -0.338316 +v 1.996586 -1.816737 -0.338316 +v 1.711453 0.242524 0.295417 +v 2.281583 -1.912020 0.263718 +v 2.344969 0.622913 0.232019 +v 1.679658 0.622913 -0.274918 +v 2.376696 -1.816737 -0.338316 +v 1.679658 -1.753463 0.263718 +v 2.281583 0.622913 -0.306617 +v 1.679658 0.622913 0.232019 +v 2.313310 -1.721702 0.263718 +v 2.218266 0.622913 0.263718 +v 1.679658 -0.739589 -0.338316 +v 2.344969 0.622913 0.041886 +v 2.313310 0.084215 -0.338316 +v 1.774839 0.622913 0.295417 +v 1.869883 0.622913 -0.306617 +v 2.344969 -0.296174 0.232019 +v 2.376696 -1.436596 -0.211520 +f 137 150 151 +f 134 133 132 +f 133 134 136 +f 134 132 139 +f 136 134 139 +f 136 135 140 +f 133 136 140 +f 138 133 140 +f 138 137 141 +f 137 138 142 +f 140 135 142 +f 138 140 142 +f 135 136 143 +f 136 139 143 +f 137 142 144 +f 143 137 144 +f 132 133 145 +f 133 138 145 +f 141 137 146 +f 141 146 147 +f 139 132 147 +f 132 141 147 +f 146 139 147 +f 142 135 148 +f 135 143 148 +f 144 142 148 +f 143 144 148 +f 141 132 149 +f 138 141 149 +f 132 145 149 +f 145 138 149 +f 137 143 150 +f 150 143 151 +f 143 139 151 +f 146 137 151 +f 139 146 151 +o convex_6 +v 1.616495 0.622913 0.263647 +v 2.946972 1.795319 -0.338251 +v 2.978811 1.763530 -0.148075 +v 1.109447 1.700182 0.517106 +v 1.109447 1.478232 -0.560014 +v 2.946972 0.781399 -0.528427 +v 2.946972 0.781399 0.548910 +v 1.109447 0.718050 -0.528318 +v 2.978811 1.636718 0.485518 +v 1.109447 0.654702 0.485410 +v 2.598387 1.795319 -0.528318 +v 1.141103 1.700182 -0.433231 +v 2.313115 0.622913 -0.338143 +v 1.553000 1.795319 0.295234 +v 1.109447 1.668507 0.548693 +v 2.344954 0.622913 0.231951 +v 2.946972 1.795319 -0.528427 +v 2.249986 1.795319 0.295234 +v 1.806615 0.749725 -0.560014 +v 1.648151 1.795319 -0.338143 +v 2.471579 1.541810 -0.560014 +v 1.838272 1.668507 0.548693 +v 1.679808 0.622913 -0.274859 +v 1.109447 1.288187 0.548693 +v 1.109447 1.668507 -0.528318 +v 2.978811 1.098256 0.453714 +v 1.679808 0.686376 0.517106 +v 2.978811 1.446673 0.517106 +v 2.883659 0.749725 -0.496622 +v 1.109447 0.749725 -0.560014 +v 2.883659 1.668507 0.485518 +v 2.978811 1.731856 -0.338251 +f 177 157 183 +f 155 156 159 +f 155 159 161 +f 153 162 165 +f 163 155 165 +f 155 161 166 +f 161 152 167 +f 152 164 167 +f 153 154 168 +f 162 153 168 +f 154 153 169 +f 153 165 169 +f 165 155 169 +f 164 159 170 +f 165 162 171 +f 163 165 171 +f 156 162 172 +f 168 157 172 +f 162 168 172 +f 170 156 172 +f 157 170 172 +f 155 166 173 +f 166 158 173 +f 169 155 173 +f 152 161 174 +f 161 159 174 +f 164 152 174 +f 159 164 174 +f 158 166 175 +f 166 161 175 +f 156 155 176 +f 162 156 176 +f 155 163 176 +f 171 162 176 +f 163 171 176 +f 158 157 177 +f 154 160 177 +f 167 158 178 +f 161 167 178 +f 158 175 178 +f 175 161 178 +f 173 158 179 +f 160 173 179 +f 158 177 179 +f 177 160 179 +f 157 158 180 +f 158 167 180 +f 167 164 180 +f 170 157 180 +f 164 170 180 +f 159 156 181 +f 156 170 181 +f 170 159 181 +f 160 154 182 +f 154 169 182 +f 173 160 182 +f 169 173 182 +f 168 154 183 +f 157 168 183 +f 154 177 183 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/553/553.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/553/553.urdf new file mode 100644 index 000000000..a45bd2906 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/553/553.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/554/554.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/554/554.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/554/554.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/554/554.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/554/554.obj new file mode 100644 index 000000000..58bcdac3e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/554/554.obj @@ -0,0 +1,420 @@ +o convex_0 +v -0.599408 0.207794 2.553528 +v 0.697192 0.531927 1.113461 +v 0.697192 0.423844 1.113461 +v 0.553140 0.351827 3.022033 +v 0.445005 -0.584506 2.661720 +v -0.563236 -0.512490 1.077134 +v -0.491274 0.567994 1.077134 +v -0.455229 -0.620573 3.094095 +v -0.599408 0.531927 3.094095 +v 0.481050 -0.476307 1.077134 +v 0.553140 0.567994 3.022033 +v 0.445005 -0.584506 2.949970 +v -0.491274 -0.548440 3.094095 +v 0.372915 0.567994 3.057966 +v 0.697192 0.531927 1.077134 +v -0.527191 0.567994 1.545442 +v -0.563236 -0.224306 1.077134 +v -0.419184 -0.620573 2.841580 +v -0.095034 0.567994 3.057966 +v -0.131078 0.531927 3.094095 +v 0.481050 -0.296323 2.985903 +v -0.563236 -0.512490 1.365384 +v 0.408833 0.567994 2.337735 +v -0.599408 0.531927 2.877710 +v 0.336870 0.279811 3.057966 +v 0.228863 -0.512490 1.401317 +v -0.167123 -0.620573 3.057966 +v -0.599408 0.387777 3.094095 +f 22 13 28 +f 3 2 4 +f 6 7 10 +f 4 2 11 +f 10 3 12 +f 5 10 12 +f 8 9 13 +f 4 11 14 +f 11 7 14 +f 2 3 15 +f 3 10 15 +f 10 7 15 +f 11 2 15 +f 14 7 16 +f 6 1 17 +f 7 6 17 +f 16 7 17 +f 8 6 18 +f 9 14 19 +f 16 9 19 +f 14 16 19 +f 9 8 20 +f 14 9 20 +f 3 4 21 +f 12 3 21 +f 1 6 22 +f 6 8 22 +f 8 13 22 +f 7 11 23 +f 15 7 23 +f 11 15 23 +f 1 9 24 +f 9 16 24 +f 17 1 24 +f 16 17 24 +f 4 14 25 +f 20 8 25 +f 14 20 25 +f 21 4 25 +f 10 5 26 +f 6 10 26 +f 5 18 26 +f 18 6 26 +f 5 12 27 +f 18 5 27 +f 8 18 27 +f 12 21 27 +f 25 8 27 +f 21 25 27 +f 9 1 28 +f 13 9 28 +f 1 22 28 +o convex_1 +v -0.527208 0.171692 -1.732395 +v 0.625169 0.495931 -3.028604 +v 0.625169 0.459829 -3.028604 +v 0.589102 -0.548539 -1.084094 +v -0.563391 -0.548539 -3.100857 +v 0.372937 0.495818 -1.084094 +v -0.455308 0.604011 -3.100857 +v -0.455308 -0.476448 -1.084094 +v 0.553036 -0.440346 -3.028604 +v -0.455308 0.567796 -1.084094 +v 0.516970 0.459829 -1.120220 +v 0.625169 0.423840 -3.100660 +v -0.131061 0.567796 -1.408245 +v -0.563391 -0.548539 -2.632398 +v -0.383176 -0.548539 -3.100857 +v -0.491258 0.531920 -1.084094 +v -0.563391 -0.260401 -3.100857 +v -0.455308 -0.512324 -1.300260 +v 0.372937 0.531920 -2.848564 +v 0.589102 -0.116332 -3.064533 +v -0.383176 0.604011 -2.380302 +v 0.589102 -0.440346 -1.084094 +v 0.589102 -0.548539 -1.192276 +v 0.589102 0.495931 -2.380500 +v -0.563391 -0.188310 -2.560343 +v 0.445070 -0.548539 -1.084094 +v -0.491258 0.315874 -1.084094 +v 0.372937 0.531920 -3.100857 +v -0.203077 0.567796 -1.084094 +f 41 49 57 +f 31 30 32 +f 32 34 36 +f 36 34 38 +f 30 31 40 +f 31 32 40 +f 33 32 42 +f 32 33 43 +f 33 35 43 +f 38 35 44 +f 36 38 44 +f 35 33 45 +f 33 42 45 +f 36 42 46 +f 37 43 48 +f 43 40 48 +f 35 38 49 +f 41 47 49 +f 32 30 50 +f 34 32 50 +f 39 34 50 +f 40 32 51 +f 32 43 51 +f 43 37 51 +f 37 48 51 +f 48 40 51 +f 34 39 52 +f 41 34 52 +f 30 47 52 +f 47 41 52 +f 50 30 52 +f 39 50 52 +f 42 29 53 +f 29 44 53 +f 44 35 53 +f 35 45 53 +f 45 42 53 +f 32 36 54 +f 42 32 54 +f 36 46 54 +f 46 42 54 +f 29 42 55 +f 42 36 55 +f 44 29 55 +f 36 44 55 +f 30 40 56 +f 43 35 56 +f 40 43 56 +f 47 30 56 +f 35 49 56 +f 49 47 56 +f 38 34 57 +f 34 41 57 +f 49 38 57 +o convex_2 +v -0.527289 -1.052779 -1.083896 +v -1.103649 -5.086702 0.752641 +v -1.031604 -5.086702 0.752641 +v -1.103649 -1.052779 1.077134 +v 1.021139 -5.050375 1.005001 +v -1.103649 -4.942577 -1.047724 +v 0.985224 -1.053174 -1.011552 +v 1.093399 -4.906250 -0.975591 +v 1.021139 -1.053174 0.932868 +v -0.959559 -1.052779 -1.011552 +v -1.103649 -5.086702 1.040750 +v 0.805004 -2.565895 -1.047724 +v -0.707294 -1.052779 1.077134 +v 1.093399 -4.942182 -0.939630 +v 1.021139 -1.557414 0.968829 +v -1.067519 -3.357596 1.077134 +v -1.031604 -1.052779 -0.291279 +v 1.021139 -1.053174 -0.255106 +v -0.887514 -3.069740 -1.083896 +v 1.021139 -4.366076 -1.011552 +v 0.913179 -1.053174 -1.047724 +v -1.103649 -1.089106 0.752641 +v 1.093399 -4.869922 -0.687482 +v 1.021139 -3.897768 1.005001 +v 1.093399 -4.510201 -0.975591 +v -1.103649 -4.689864 -1.047724 +v -0.383199 -5.086702 1.040962 +v -0.995474 -1.449221 -1.011552 +v 1.021139 -1.701539 -1.011552 +v -0.779339 -1.196904 -1.083896 +v -0.851384 -4.942577 -1.047724 +v 1.021139 -5.050375 0.896907 +v 1.057269 -4.978115 0.248556 +v 0.372950 -4.942182 -1.011552 +v 0.877264 -1.053174 0.968829 +v 0.228860 -3.069740 1.040962 +v -0.311155 -5.086702 0.969040 +v -0.815254 -3.034203 -1.083896 +v -1.031604 -4.978509 -0.651521 +v 0.624999 -4.906250 -1.011552 +v 1.057269 -4.150086 -1.011552 +f 86 82 98 +f 59 61 63 +f 61 58 67 +f 59 60 68 +f 61 59 68 +f 58 61 70 +f 66 58 70 +f 61 68 73 +f 70 61 73 +f 61 67 74 +f 64 58 75 +f 58 66 75 +f 58 64 78 +f 69 58 78 +f 63 61 79 +f 61 74 79 +f 71 65 80 +f 66 72 80 +f 72 70 81 +f 75 66 82 +f 80 65 82 +f 66 80 82 +f 76 63 83 +f 63 79 83 +f 79 74 83 +f 68 60 84 +f 73 68 84 +f 62 73 84 +f 74 67 85 +f 83 74 85 +f 64 75 86 +f 78 64 86 +f 75 82 86 +f 67 58 87 +f 58 76 87 +f 76 83 87 +f 85 67 87 +f 83 85 87 +f 63 76 88 +f 71 62 89 +f 62 71 90 +f 71 80 90 +f 80 72 90 +f 81 62 90 +f 72 81 90 +f 71 60 91 +f 65 71 91 +f 66 70 92 +f 72 66 92 +f 70 72 92 +f 73 62 93 +f 70 73 93 +f 62 81 93 +f 81 70 93 +f 60 71 94 +f 84 60 94 +f 62 84 94 +f 71 89 94 +f 89 62 94 +f 58 69 95 +f 76 58 95 +f 69 77 95 +f 88 76 95 +f 60 59 96 +f 59 63 96 +f 63 88 96 +f 91 60 96 +f 88 91 96 +f 77 65 97 +f 65 91 97 +f 91 88 97 +f 95 77 97 +f 88 95 97 +f 77 69 98 +f 65 77 98 +f 69 78 98 +f 82 65 98 +f 78 86 98 +o convex_3 +v 1.057269 0.424609 0.788813 +v -1.103638 -1.052180 0.788813 +v -1.067508 -1.052180 0.248556 +v -1.067508 5.070140 -1.011763 +v 0.949095 -1.016219 -1.047724 +v 1.021354 5.033580 0.932868 +v -0.995464 4.925697 1.077134 +v 0.949095 4.997619 -0.939630 +v -0.959549 -1.052180 -1.011763 +v 0.985224 -1.016219 0.969040 +v 1.093399 1.504630 -1.083896 +v -1.103638 -1.052180 1.077134 +v 0.877265 0.748855 1.077134 +v -1.067508 0.676934 -1.083896 +v 1.021354 -1.052779 -0.255318 +v -0.743415 -1.052180 -1.083896 +v -1.067508 5.033580 -0.399373 +v 1.057269 -0.944298 0.824774 +v 0.913180 5.032980 0.969040 +v -1.067508 2.332327 -1.083896 +v -0.419107 5.070140 -1.011763 +v 1.093399 0.676934 -1.083896 +v 0.480912 -0.475609 1.077134 +v 1.093399 1.036541 -0.399373 +v -1.103638 -0.151363 1.040962 +v 1.021354 0.928659 1.040962 +v 1.021354 5.033580 0.500704 +v 0.589087 5.032980 -0.975802 +v 1.021354 -1.052779 0.932868 +v -1.031594 4.277205 -1.047724 +v 0.985224 -1.052779 -1.011763 +v -0.815460 4.925697 1.077134 +v -1.031379 4.997619 0.356650 +v -1.067508 5.070140 -0.723654 +v 0.589087 -0.547530 -1.083896 +v -0.995464 -1.052180 -0.795575 +v 0.949095 5.032980 -0.903669 +v -0.059099 5.070140 -0.939630 +v -0.671371 -1.052180 1.077134 +v 0.949095 4.673373 -0.975802 +v 0.733176 5.032980 0.969040 +v 1.021354 4.673373 0.968829 +v 1.093399 0.316127 -0.435333 +v -0.707285 4.961658 1.040962 +v 1.057269 0.964620 0.752852 +v 1.021354 -0.584090 -1.047724 +f 113 129 144 +f 105 110 111 +f 101 100 112 +f 107 112 114 +f 112 109 114 +f 100 102 118 +f 112 100 118 +f 109 112 118 +f 114 109 120 +f 108 111 121 +f 111 110 121 +f 109 104 122 +f 99 116 122 +f 120 109 122 +f 102 100 123 +f 100 110 123 +f 110 105 123 +f 111 108 124 +f 104 109 125 +f 109 106 125 +f 113 116 127 +f 124 108 127 +f 116 124 127 +f 118 102 128 +f 109 118 128 +f 119 109 128 +f 102 119 128 +f 100 101 129 +f 110 100 129 +f 114 103 129 +f 107 114 129 +f 127 110 129 +f 113 127 129 +f 105 111 130 +f 111 117 130 +f 123 105 131 +f 115 123 131 +f 117 104 132 +f 119 102 132 +f 102 123 132 +f 123 115 132 +f 115 131 132 +f 103 114 133 +f 120 103 133 +f 114 120 133 +f 101 112 134 +f 112 107 134 +f 129 101 134 +f 107 129 134 +f 125 106 135 +f 126 119 135 +f 106 126 135 +f 104 125 136 +f 132 104 136 +f 119 132 136 +f 125 135 136 +f 135 119 136 +f 108 121 137 +f 121 110 137 +f 127 108 137 +f 110 127 137 +f 106 109 138 +f 109 119 138 +f 119 126 138 +f 126 106 138 +f 117 132 139 +f 132 131 139 +f 116 99 140 +f 104 117 140 +f 117 111 140 +f 111 124 140 +f 124 116 140 +f 116 113 141 +f 113 120 141 +f 122 116 141 +f 120 122 141 +f 105 130 142 +f 130 117 142 +f 131 105 142 +f 117 139 142 +f 139 131 142 +f 99 122 143 +f 122 104 143 +f 140 99 143 +f 104 140 143 +f 103 120 144 +f 120 113 144 +f 129 103 144 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/554/554.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/554/554.urdf new file mode 100644 index 000000000..969bbb2ef --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/554/554.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/555/555.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/555/555.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/555/555.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/555/555.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/555/555.obj new file mode 100644 index 000000000..661bcc4e5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/555/555.obj @@ -0,0 +1,411 @@ +o convex_0 +v -1.021519 3.682991 -1.115685 +v 1.019006 1.193803 1.098001 +v 0.984309 1.193803 1.098001 +v 1.053703 -0.052154 -0.977005 +v -1.056216 -0.052154 0.924867 +v 1.019006 3.890910 1.063330 +v 0.949818 3.925563 -1.115685 +v -1.056216 3.890910 0.924867 +v -1.056216 -0.052154 -0.942552 +v 1.019006 -0.051375 1.098001 +v -0.987029 3.855868 -1.115685 +v 0.984309 3.440808 -1.115685 +v 1.053703 2.092060 0.129188 +v -0.883144 -0.052154 0.959537 +v -0.744768 3.890910 0.959537 +v 1.053703 0.640131 -1.011892 +v 0.984309 3.925563 -1.011892 +v 0.811442 0.086459 1.098001 +v -1.021519 3.890910 -0.319790 +v 1.053703 -0.052154 0.025611 +v 0.569388 -0.051375 -0.977222 +v 0.949818 3.925563 -0.250666 +v 0.465503 3.925563 -1.115685 +v -1.056216 0.640131 -0.942552 +v -1.021519 3.614074 -1.115685 +v 0.880630 3.890910 1.063330 +v 1.019006 3.890910 0.440569 +v 1.053703 0.985884 -1.011892 +v -0.502714 3.890910 -1.115685 +v -0.053096 -0.052154 1.028660 +v 0.949818 1.124107 1.098001 +v 1.053703 1.781349 0.164075 +v -1.021519 3.855868 -1.011675 +f 19 11 33 +f 3 2 6 +f 4 5 9 +f 5 8 9 +f 2 3 10 +f 7 1 11 +f 1 7 12 +f 5 4 14 +f 8 5 14 +f 8 14 15 +f 13 4 16 +f 12 7 17 +f 10 3 18 +f 4 13 20 +f 14 4 20 +f 4 9 21 +f 16 4 21 +f 8 15 22 +f 17 7 22 +f 6 17 22 +f 7 11 23 +f 19 8 23 +f 22 7 23 +f 8 22 23 +f 8 1 24 +f 1 9 24 +f 9 8 24 +f 9 1 25 +f 1 12 25 +f 12 16 25 +f 21 9 25 +f 16 21 25 +f 3 6 26 +f 6 22 26 +f 22 15 26 +f 6 13 27 +f 17 6 27 +f 17 27 28 +f 16 12 28 +f 13 16 28 +f 12 17 28 +f 27 13 28 +f 11 19 29 +f 23 11 29 +f 19 23 29 +f 15 14 30 +f 10 18 30 +f 18 15 30 +f 20 10 30 +f 14 20 30 +f 18 3 31 +f 15 18 31 +f 3 26 31 +f 26 15 31 +f 6 2 32 +f 2 10 32 +f 13 6 32 +f 10 20 32 +f 20 13 32 +f 1 8 33 +f 11 1 33 +f 8 19 33 +o convex_1 +v 0.085192 -3.096223 -0.285533 +v -0.226023 -3.718416 0.337046 +v -0.260673 -3.718416 0.337046 +v 0.085192 -2.231251 0.233219 +v 0.327337 -4.064250 0.198674 +v 0.327337 -4.133533 -0.320142 +v -0.191431 -2.231251 -0.216315 +v -0.191431 -4.167885 -0.147161 +v 0.292745 -2.231251 -0.181770 +v -0.191431 -2.300534 0.267828 +v -0.260673 -4.202816 0.337046 +v 0.223561 -2.265989 0.198674 +v -0.191431 -3.268754 -0.216315 +v 0.327337 -3.061485 0.025692 +v -0.260673 -4.202816 0.164065 +v -0.156839 -4.202816 0.337046 +v 0.258153 -2.231251 -0.216315 +v -0.156839 -2.335079 -0.250924 +v 0.223561 -3.960423 -0.320142 +v -0.087654 -4.167885 -0.216315 +v 0.327337 -3.649326 0.198674 +v -0.260673 -3.510761 0.267828 +v -0.191431 -2.231251 0.233219 +v -0.156839 -3.856595 0.337046 +v 0.327337 -3.476409 -0.285533 +v 0.292745 -2.231251 -0.078007 +f 45 54 59 +f 40 37 42 +f 36 35 43 +f 35 36 44 +f 38 39 47 +f 44 36 48 +f 40 46 48 +f 46 41 48 +f 39 38 49 +f 35 44 49 +f 48 39 49 +f 44 48 49 +f 40 42 50 +f 46 40 51 +f 50 34 51 +f 40 50 51 +f 51 34 52 +f 46 51 52 +f 41 46 53 +f 39 48 53 +f 48 41 53 +f 52 39 53 +f 46 52 53 +f 38 47 54 +f 49 38 54 +f 36 43 55 +f 48 36 55 +f 40 48 55 +f 37 40 56 +f 43 37 56 +f 55 43 56 +f 40 55 56 +f 43 35 57 +f 37 43 57 +f 45 37 57 +f 35 49 57 +f 54 45 57 +f 49 54 57 +f 47 39 58 +f 42 47 58 +f 34 50 58 +f 50 42 58 +f 52 34 58 +f 39 52 58 +f 42 37 59 +f 37 45 59 +f 47 42 59 +f 54 47 59 +o convex_2 +v -2.992990 -1.193471 -1.046508 +v -1.263750 -1.746811 1.028823 +v -1.298561 -1.746811 1.028823 +v -2.923906 -0.052154 0.994085 +v -1.263750 -0.086790 -0.942498 +v -1.263750 -2.127390 -1.046508 +v -3.096705 -2.058117 0.959347 +v -1.263750 -0.121637 0.924813 +v -2.992990 -0.121427 -1.011567 +v -3.096705 -2.196662 -1.046508 +v -1.263750 -2.058117 1.028823 +v -2.716476 -2.196662 -0.631279 +v -2.958538 -0.052154 0.302173 +v -1.333013 -2.161816 -1.011770 +v -1.263750 -1.643112 -1.046508 +v -3.096705 -1.850720 0.959347 +v -3.096705 -2.092754 0.855743 +v -2.370521 -0.052154 0.959347 +v -2.370521 -0.121427 -1.011567 +v -1.471359 -0.121637 0.959550 +v -1.402276 -2.092754 0.682867 +v -1.609705 -2.058117 1.028823 +v -3.096705 -1.989055 -1.046508 +v -2.059376 -0.086790 -0.977235 +v -1.263750 -0.086790 -0.458403 +v -3.096705 -2.196662 -0.596745 +v -2.958538 -0.259762 0.959347 +v -1.713600 -0.086790 -0.977235 +v -2.301258 -2.196662 -1.046508 +v -2.958538 -0.086790 -0.562007 +v -3.062253 -1.331596 -1.046508 +v -2.992990 -0.121427 -0.838894 +v -2.405152 -2.058117 0.994085 +f 76 81 92 +f 62 61 63 +f 64 61 65 +f 61 64 67 +f 60 65 69 +f 61 62 70 +f 65 61 70 +f 65 70 73 +f 64 65 74 +f 65 60 74 +f 66 63 75 +f 69 66 75 +f 66 69 76 +f 72 63 77 +f 64 72 77 +f 60 68 78 +f 74 60 78 +f 63 61 79 +f 61 67 79 +f 77 63 79 +f 67 77 79 +f 73 70 80 +f 71 73 80 +f 70 76 80 +f 76 71 80 +f 62 63 81 +f 70 62 81 +f 76 70 81 +f 60 69 82 +f 69 75 82 +f 78 68 83 +f 67 64 84 +f 77 67 84 +f 64 77 84 +f 69 71 85 +f 76 69 85 +f 71 76 85 +f 63 72 86 +f 75 63 86 +f 72 75 86 +f 72 64 87 +f 64 74 87 +f 74 78 87 +f 83 72 87 +f 78 83 87 +f 69 65 88 +f 71 69 88 +f 65 73 88 +f 73 71 88 +f 68 72 89 +f 72 83 89 +f 83 68 89 +f 68 60 90 +f 75 68 90 +f 60 82 90 +f 82 75 90 +f 72 68 91 +f 68 75 91 +f 75 72 91 +f 63 66 92 +f 66 76 92 +f 81 63 92 +o convex_3 +v 0.604353 -1.781397 1.028677 +v 1.053568 -0.052154 0.025729 +v 1.053568 -0.052154 -0.977218 +v 3.024908 -2.092818 0.925012 +v -1.263750 -2.127373 -1.081097 +v -1.263750 -0.121477 0.924799 +v 3.024908 -2.092818 -1.046328 +v 3.094445 -0.190801 1.028677 +v -1.263750 -2.058050 1.028677 +v -1.263750 -0.086922 -0.942450 +v 3.024908 -0.121477 -1.011773 +v 0.050620 -2.231251 0.233059 +v 0.811683 -0.052154 1.098001 +v 1.157233 -2.231251 -1.011773 +v -0.917773 -0.052154 0.959354 +v 3.094445 -0.744107 1.028677 +v 3.059463 -0.121477 -0.527364 +v -0.294930 -2.231251 -0.319820 +v 3.024908 -1.090083 -1.046328 +v 0.604353 -0.605674 1.098001 +v -1.055993 -0.052154 -0.908108 +v 2.644377 -2.092605 0.959354 +v 2.783023 -0.156246 1.063232 +v -0.675462 -1.608408 1.063232 +v 2.506157 -0.121477 -1.011773 +v 3.094445 -0.225356 0.267828 +v -0.883218 -1.988940 -1.081097 +v 3.094445 -0.156246 0.925012 +v 1.019013 -0.052154 1.098001 +v -1.263750 -2.127373 -0.285479 +v -0.191265 -2.231251 0.233059 +v 3.059463 -1.746841 0.959354 +v 0.569798 -2.231251 -1.011773 +v -1.263750 -1.746628 1.028677 +v -0.122155 -2.058263 1.028677 +v 0.604353 -0.052154 -0.977218 +v 3.094445 -0.951650 0.925012 +v -1.055993 -0.052154 0.924799 +v 1.537764 -0.225142 1.098001 +v 3.059463 -0.121477 -0.250924 +v 0.223821 -2.231251 0.163949 +v 1.883740 -2.092605 0.959354 +v -1.263750 -0.502009 0.959354 +v 2.955798 -0.225356 1.063232 +v -1.263750 -2.092605 0.509713 +v 2.091070 -2.161928 -1.046328 +v -0.917773 -2.092605 0.890244 +v -0.640907 -1.677732 1.063232 +v -0.779553 -2.127373 -1.081097 +f 138 106 141 +f 98 97 101 +f 97 98 102 +f 94 95 105 +f 99 96 106 +f 105 95 107 +f 95 94 109 +f 103 95 109 +f 106 104 110 +f 103 109 111 +f 109 99 111 +f 107 95 113 +f 104 96 114 +f 112 105 116 +f 95 103 117 +f 100 108 118 +f 99 109 118 +f 97 102 119 +f 103 111 119 +f 117 103 119 +f 115 100 120 +f 100 118 120 +f 118 109 120 +f 94 105 121 +f 105 112 121 +f 115 120 121 +f 101 97 122 +f 97 110 122 +f 122 110 123 +f 110 104 123 +f 104 114 123 +f 96 99 124 +f 114 96 124 +f 108 114 124 +f 97 106 125 +f 110 97 125 +f 106 110 125 +f 98 101 126 +f 101 116 126 +f 116 105 126 +f 114 93 127 +f 113 95 128 +f 102 113 128 +f 95 117 128 +f 119 102 128 +f 117 119 128 +f 99 118 129 +f 118 108 129 +f 124 99 129 +f 108 124 129 +f 102 98 130 +f 98 107 130 +f 113 102 130 +f 107 113 130 +f 112 93 131 +f 121 112 131 +f 115 121 131 +f 109 94 132 +f 120 109 132 +f 94 121 132 +f 121 120 132 +f 96 104 133 +f 106 96 133 +f 104 106 133 +f 123 114 134 +f 114 127 134 +f 127 101 134 +f 107 98 135 +f 105 107 135 +f 98 126 135 +f 126 105 135 +f 108 100 136 +f 93 114 136 +f 114 108 136 +f 100 115 136 +f 131 93 136 +f 115 131 136 +f 101 122 137 +f 122 123 137 +f 123 101 137 +f 99 106 138 +f 101 123 139 +f 134 101 139 +f 123 134 139 +f 93 112 140 +f 116 101 140 +f 112 116 140 +f 127 93 140 +f 101 127 140 +f 106 97 141 +f 111 99 141 +f 97 119 141 +f 119 111 141 +f 99 138 141 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/555/555.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/555/555.urdf new file mode 100644 index 000000000..00815cc79 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/555/555.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/556/556.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/556/556.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/556/556.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/556/556.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/556/556.obj new file mode 100644 index 000000000..c13910d6c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/556/556.obj @@ -0,0 +1,375 @@ +o convex_0 +v -3.105993 -1.451450 -3.522430 +v 2.966918 -0.749470 -3.803145 +v 2.966918 -0.749470 -3.838249 +v -3.000165 -0.784536 -3.346910 +v 2.966918 -1.346106 -3.276702 +v 3.036862 -1.381244 -3.803145 +v -3.000165 -0.889880 -3.803145 +v 3.107414 -0.889880 -3.241539 +v -3.105993 -1.381172 -3.276702 +v -3.105993 -1.486516 -3.768041 +v -2.754451 -0.784536 -3.241539 +v 2.685929 -1.416311 -3.311806 +v -1.841538 -0.854813 -3.838249 +v -0.297309 -1.135490 -3.241539 +v 2.404939 -1.416311 -3.803145 +v 2.896367 -1.100423 -3.838249 +v 2.720596 -0.854813 -3.276702 +v -3.070109 -1.205695 -3.803145 +v 3.036862 -1.135490 -3.241539 +v 0.754883 -1.416311 -3.803145 +v 2.404939 -0.749470 -3.732937 +v -2.894947 -1.486516 -3.697833 +v -2.754451 -1.416311 -3.346910 +v 2.650653 -0.749470 -3.838249 +v -2.929614 -0.854813 -3.732937 +v -2.332966 -0.784536 -3.241539 +v -1.350110 -0.925019 -3.838249 +f 20 18 27 +f 3 2 8 +f 6 3 8 +f 1 9 10 +f 4 9 11 +f 6 5 12 +f 5 9 12 +f 8 11 14 +f 11 9 14 +f 6 12 15 +f 3 6 16 +f 13 3 16 +f 6 15 16 +f 8 2 17 +f 4 7 18 +f 9 4 18 +f 10 9 18 +f 7 13 18 +f 5 6 19 +f 6 8 19 +f 9 5 19 +f 8 14 19 +f 14 9 19 +f 15 10 20 +f 16 15 20 +f 10 18 20 +f 2 3 21 +f 4 11 21 +f 17 2 21 +f 1 10 22 +f 12 1 22 +f 15 12 22 +f 10 15 22 +f 9 1 23 +f 1 12 23 +f 12 9 23 +f 3 13 24 +f 21 3 24 +f 4 21 24 +f 7 4 25 +f 13 7 25 +f 24 13 25 +f 4 24 25 +f 11 8 26 +f 8 17 26 +f 21 11 26 +f 17 21 26 +f 13 16 27 +f 18 13 27 +f 16 20 27 +o convex_1 +v 0.334109 3.462738 -0.608523 +v -0.894353 0.374604 1.602595 +v -0.929430 0.374604 1.602595 +v -0.332737 3.918743 1.462100 +v 0.965878 0.023653 1.427031 +v -0.999582 0.023653 -0.503314 +v -1.034857 3.918743 -0.573454 +v 0.965878 0.023653 -0.503314 +v 1.001153 3.813689 1.497386 +v 0.965878 3.954146 -0.608523 +v -0.929430 3.954146 1.427247 +v -0.929430 0.023653 1.602595 +v -1.034857 3.954146 -0.116899 +v -0.894353 0.058671 -0.538384 +v 1.001153 2.865891 1.497386 +v -0.964506 0.550079 1.216396 +v -0.964506 3.954146 1.321605 +v 0.965878 0.690536 -0.538384 +v -0.718773 0.023653 1.602595 +v -1.034857 2.619995 -0.573454 +v 0.965878 3.954146 -0.152185 +v -0.999582 0.058671 -0.011690 +v 0.965878 0.690536 1.462100 +v 0.965878 3.322281 -0.608523 +v 0.790497 3.848707 1.497386 +v -1.034857 3.111403 -0.116899 +v -0.016852 3.954146 -0.608523 +v 1.001153 3.848707 1.216396 +v 1.001153 2.444520 1.427031 +v -0.718773 3.954146 1.427247 +v -1.034857 1.918863 -0.503314 +v -0.929430 3.462738 1.462100 +v 0.579841 3.848707 1.497386 +v 0.790497 0.023653 1.462100 +v -0.964506 3.954146 -0.573454 +f 40 54 62 +f 32 33 35 +f 29 30 39 +f 33 32 39 +f 38 37 40 +f 35 33 41 +f 39 30 44 +f 38 40 44 +f 43 39 44 +f 35 41 45 +f 36 29 46 +f 29 39 46 +f 39 32 46 +f 42 36 46 +f 40 34 47 +f 28 41 47 +f 41 33 47 +f 37 38 48 +f 33 39 49 +f 39 43 49 +f 32 42 50 +f 42 46 50 +f 28 37 51 +f 41 28 51 +f 45 41 51 +f 30 29 52 +f 29 36 52 +f 44 40 53 +f 43 44 53 +f 40 47 53 +f 49 43 53 +f 37 28 54 +f 40 37 54 +f 28 47 54 +f 47 34 54 +f 36 42 55 +f 35 45 55 +f 37 48 55 +f 51 37 55 +f 45 51 55 +f 52 36 55 +f 48 52 55 +f 32 35 56 +f 42 32 56 +f 35 55 56 +f 55 42 56 +f 38 31 57 +f 48 38 57 +f 31 52 57 +f 52 48 57 +f 47 33 58 +f 33 49 58 +f 53 47 58 +f 49 53 58 +f 31 38 59 +f 44 30 59 +f 38 44 59 +f 30 52 60 +f 52 31 60 +f 59 30 60 +f 31 59 60 +f 46 32 61 +f 32 50 61 +f 50 46 61 +f 34 40 62 +f 54 34 62 +o convex_2 +v -1.069779 -2.223555 -2.258325 +v 1.106269 -0.012653 -2.223496 +v 1.106269 -0.012653 -2.504245 +v 1.036130 -2.223339 -0.573636 +v -0.999640 -0.152702 -0.573636 +v -1.069779 -0.117852 -2.539459 +v 0.930921 -2.083074 -2.504245 +v 0.965991 -0.047719 -0.573636 +v -1.069779 -2.048008 -0.573636 +v -1.104849 -2.223555 -2.434010 +v -1.104849 -2.083291 -0.784342 +v -1.069779 -0.117852 -1.872319 +v -1.104849 -1.240620 -2.504245 +v 1.036130 -2.188273 -1.065284 +v 0.158740 -0.117635 -2.539459 +v 0.895852 -2.118140 -2.398988 +v 0.720071 -2.223555 -0.573636 +v 1.036130 -1.486299 -0.573636 +v 1.106269 -0.258333 -2.504245 +v -1.069779 -0.679560 -2.539459 +v 0.860566 -2.223555 -0.959835 +v -0.648727 -0.082569 -2.504245 +v -1.069779 -1.310752 -0.573636 +v 1.001061 -0.047719 -0.819556 +v -0.543302 -0.117852 -0.608850 +v -0.929501 -2.223555 -2.434010 +v 0.930921 -0.012653 -2.293539 +v -1.104849 -0.995373 -2.469224 +v -1.034710 -0.152702 -1.030070 +v 0.895852 -0.047719 -0.608850 +v 0.965991 -2.118140 -2.083025 +f 69 81 93 +f 67 66 70 +f 66 67 71 +f 72 63 73 +f 69 72 75 +f 72 73 75 +f 68 65 77 +f 76 66 78 +f 66 71 79 +f 63 72 79 +f 73 63 79 +f 71 73 79 +f 66 64 80 +f 70 66 80 +f 65 64 81 +f 64 66 81 +f 66 76 81 +f 77 65 81 +f 69 77 81 +f 75 68 82 +f 69 75 82 +f 68 77 82 +f 77 69 82 +f 78 66 83 +f 66 79 83 +f 79 72 83 +f 65 68 84 +f 68 74 84 +f 71 67 85 +f 73 71 85 +f 74 73 85 +f 64 70 86 +f 80 64 86 +f 70 80 86 +f 67 70 87 +f 74 67 87 +f 84 74 87 +f 72 69 88 +f 69 78 88 +f 78 83 88 +f 83 72 88 +f 64 65 89 +f 70 64 89 +f 65 84 89 +f 74 68 90 +f 73 74 90 +f 75 73 90 +f 68 75 90 +f 67 74 91 +f 85 67 91 +f 74 85 91 +f 87 70 92 +f 84 87 92 +f 70 89 92 +f 89 84 92 +f 78 69 93 +f 76 78 93 +f 81 76 93 +o convex_3 +v -0.051818 -0.117642 3.568635 +v 0.755394 -2.223772 -0.573636 +v -0.051818 -2.153179 -0.573636 +v 0.965879 0.022883 -0.502679 +v 0.965879 -2.223772 3.533359 +v -1.069941 -2.118433 3.463213 +v -0.999637 0.022883 -0.502679 +v 1.071334 -0.082456 3.568635 +v -1.069941 -2.048059 -0.573636 +v -0.999637 -0.187795 3.568635 +v 1.071334 -2.223772 -0.573636 +v -0.929547 0.022883 1.602516 +v 1.106486 -2.188365 1.532370 +v -1.034789 -0.609153 -0.573636 +v 0.965879 0.022883 1.427759 +v 0.965879 -0.082456 -0.573636 +v -1.034789 -0.468847 3.568635 +v -1.069941 -1.310903 -0.573636 +v 1.036182 -1.310903 3.568635 +v -0.683698 -2.153399 3.498083 +v 1.071334 -0.082456 3.006655 +v 0.369151 -1.661888 3.568635 +v -1.069941 -1.661888 3.498083 +v -0.999637 -0.152829 -0.573636 +v 1.106486 -1.696855 1.918376 +v -1.034789 -2.118433 2.866363 +v 1.071334 -2.083246 -0.502679 +v 1.001031 -2.223772 3.357791 +v -0.999637 -0.152829 3.393067 +v -0.824092 -2.083246 -0.573636 +v 1.071334 -0.644340 3.533359 +v 0.860637 -2.223772 3.533359 +v 1.001031 -0.609153 -0.502679 +v 0.685091 -0.082456 3.568635 +v -0.999637 -1.942720 3.498083 +v 0.193605 -2.188365 3.533359 +f 115 128 129 +f 95 96 102 +f 101 94 103 +f 98 95 104 +f 95 102 104 +f 97 100 105 +f 104 102 107 +f 101 97 108 +f 97 105 108 +f 105 101 108 +f 100 97 109 +f 104 107 109 +f 101 103 110 +f 100 107 110 +f 110 107 111 +f 102 99 111 +f 107 102 111 +f 101 110 112 +f 97 101 114 +f 98 112 115 +f 112 110 115 +f 110 111 116 +f 111 99 116 +f 107 100 117 +f 100 109 117 +f 109 107 117 +f 114 101 118 +f 96 95 119 +f 99 102 119 +f 95 113 119 +f 113 99 119 +f 106 104 120 +f 118 106 120 +f 114 118 120 +f 98 104 121 +f 104 106 121 +f 112 98 121 +f 106 112 121 +f 103 94 122 +f 105 100 122 +f 94 105 122 +f 100 110 122 +f 110 103 122 +f 102 96 123 +f 96 119 123 +f 119 102 123 +f 112 106 124 +f 101 112 124 +f 106 118 124 +f 118 101 124 +f 95 98 125 +f 113 95 125 +f 98 115 125 +f 109 97 126 +f 104 109 126 +f 97 114 126 +f 120 104 126 +f 114 120 126 +f 94 101 127 +f 101 105 127 +f 105 94 127 +f 99 113 128 +f 115 110 128 +f 110 116 128 +f 116 99 128 +f 113 125 129 +f 125 115 129 +f 128 113 129 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/556/556.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/556/556.urdf new file mode 100644 index 000000000..0e788310c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/556/556.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/557/557.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/557/557.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/557/557.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/557/557.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/557/557.obj new file mode 100644 index 000000000..7d793e505 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/557/557.obj @@ -0,0 +1,813 @@ +o convex_0 +v -0.033558 0.510661 -2.164675 +v 0.075225 0.510661 -1.429989 +v -0.060780 0.510661 -1.429989 +v 0.020783 -1.611766 -1.756628 +v 0.265673 0.401797 -1.865292 +v -0.251227 -0.496536 -1.783740 +v 0.048004 -1.285174 -2.028611 +v 0.211230 -1.312183 -1.756628 +v -0.033558 -1.339606 -1.538868 +v -0.196785 0.510661 -2.055795 +v -0.196785 -1.257959 -1.838036 +v -0.196785 0.510661 -1.511685 +v 0.184009 0.156854 -2.082979 +v 0.211230 0.510661 -1.511685 +v -0.196785 -0.659208 -1.566052 +v 0.156838 -1.067447 -1.593308 +v -0.142393 -1.040231 -1.974171 +v -0.251227 0.510661 -1.702116 +v 0.184009 -0.740856 -2.001355 +v 0.184009 0.510661 -2.082979 +v -0.196785 -1.230743 -1.702116 +v 0.265673 0.510661 -1.729372 +v -0.006337 -1.285174 -2.028611 +v 0.211230 -1.312183 -1.810924 +v 0.020783 -1.312183 -1.538868 +v 0.211230 -0.006442 -1.538868 +v -0.196785 -0.033658 -1.511685 +v -0.196785 0.020774 -2.028611 +v -0.060780 -1.557334 -1.783740 +v 0.020783 0.483445 -2.164675 +v 0.238452 -0.849720 -1.810924 +v 0.048004 0.265717 -1.429989 +v -0.251227 0.510661 -1.810924 +v 0.238452 0.211285 -1.593308 +v 0.211230 -0.278601 -2.001355 +v -0.251227 -0.414681 -1.729372 +v 0.020783 -1.611766 -1.810924 +v -0.060780 -1.285174 -1.538868 +v -0.224006 -1.067447 -1.810924 +f 21 36 39 +f 3 2 1 +f 3 1 10 +f 3 10 12 +f 1 2 14 +f 12 10 18 +f 7 13 19 +f 5 13 20 +f 1 14 20 +f 5 20 22 +f 20 14 22 +f 17 1 23 +f 11 17 23 +f 8 4 24 +f 7 19 24 +f 4 8 25 +f 9 4 25 +f 8 16 25 +f 25 16 26 +f 14 2 26 +f 16 8 26 +f 3 12 27 +f 12 18 27 +f 10 1 28 +f 6 10 28 +f 1 17 28 +f 17 11 28 +f 4 9 29 +f 9 21 29 +f 21 11 29 +f 11 23 29 +f 13 7 30 +f 1 20 30 +f 20 13 30 +f 7 23 30 +f 23 1 30 +f 5 22 31 +f 8 24 31 +f 2 3 32 +f 9 25 32 +f 25 26 32 +f 26 2 32 +f 10 6 33 +f 6 18 33 +f 18 10 33 +f 22 14 34 +f 14 26 34 +f 26 8 34 +f 31 22 34 +f 8 31 34 +f 13 5 35 +f 19 13 35 +f 24 19 35 +f 5 31 35 +f 31 24 35 +f 18 6 36 +f 21 15 36 +f 15 27 36 +f 27 18 36 +f 23 7 37 +f 24 4 37 +f 7 24 37 +f 4 29 37 +f 29 23 37 +f 21 9 38 +f 15 21 38 +f 3 27 38 +f 27 15 38 +f 32 3 38 +f 9 32 38 +f 11 21 39 +f 6 28 39 +f 28 11 39 +f 36 6 39 +o convex_1 +v 0.156756 -3.515772 0.230334 +v -0.006377 1.979510 1.508755 +v -0.060625 1.979510 1.508755 +v -0.060820 1.898060 -1.021830 +v -1.013174 -0.768131 0.284334 +v 0.973199 -0.605230 0.202838 +v 0.020650 -3.025896 1.046036 +v -0.060820 -2.971987 -0.559112 +v -0.795404 1.789068 -0.586359 +v 0.728208 -2.563561 -0.640855 +v 0.646544 1.625581 -0.531616 +v 0.592101 1.136291 1.508755 +v -0.604856 1.190201 1.508755 +v 0.700986 -2.373119 0.991540 +v -0.713741 -2.427615 1.045789 +v -0.822626 -0.904077 -0.504616 +v -0.740962 -2.862995 0.230086 +v 0.564880 0.945263 -1.021830 +v -0.360059 0.755406 -1.021830 +v -0.060820 2.360981 0.175838 +v -0.768183 1.626167 1.018541 +v 0.673765 1.653122 0.910045 +v -0.985953 -0.414787 0.964293 +v 0.918756 -0.333337 -0.504616 +v -0.360059 0.211035 1.508755 +v 0.891535 -0.224345 1.018788 +v 0.755429 -2.808499 0.256839 +v -0.006377 -3.625350 0.203086 +v 0.401747 1.843564 -1.021830 +v 0.483216 0.509883 1.508755 +v -0.523192 1.544130 -1.021830 +v -0.087846 2.305899 0.937292 +v -0.087846 2.305899 -0.477368 +v 0.700986 1.625581 0.039846 +v -0.604856 2.006465 -0.722103 +v -0.577634 -2.345578 -0.341129 +v 0.428968 1.762113 1.481507 +v -0.360059 -1.148429 -0.776847 +v -0.441723 1.789068 1.508755 +v -0.822626 1.680077 -0.559112 +v 0.510438 0.618874 -1.021830 +v -0.849847 -0.740590 -0.504616 +v -0.822626 1.598626 0.392830 +v -1.013174 -0.469283 0.202838 +v 0.891535 -0.578275 0.991540 +v -0.904289 -0.170435 1.127532 +v -0.550413 -0.387833 1.399763 +v -0.006377 -3.625350 0.284086 +v 0.020650 -0.033903 1.481507 +v 0.564880 1.217741 -1.021830 +v 0.102313 -1.175970 -0.804095 +v 0.592101 -3.053437 0.256839 +v 0.020650 -3.080978 1.018788 +v -0.740962 -2.862995 0.311334 +v 0.728208 1.489634 0.256839 +v 0.673765 -2.182677 1.046036 +v -0.142289 -2.917491 -0.531616 +v -0.523192 1.353688 -1.021830 +v 0.020650 2.251989 0.937292 +v 0.864314 -1.093934 -0.559112 +v -0.468944 1.816023 -1.021830 +v -0.115068 -2.971987 1.046036 +v -0.795404 1.544130 0.991540 +v 0.156756 2.169952 0.230334 +f 98 61 103 +f 41 42 51 +f 51 42 52 +f 43 57 58 +f 51 52 64 +f 61 51 65 +f 49 45 66 +f 49 40 67 +f 47 49 67 +f 57 43 68 +f 51 64 69 +f 43 58 70 +f 42 41 71 +f 68 43 72 +f 59 68 72 +f 63 50 73 +f 50 68 73 +f 48 60 74 +f 71 59 74 +f 60 71 74 +f 59 72 74 +f 56 55 75 +f 41 51 76 +f 51 61 76 +f 52 42 78 +f 60 52 78 +f 42 71 78 +f 71 60 78 +f 48 70 79 +f 57 49 80 +f 58 57 80 +f 56 44 81 +f 55 56 81 +f 60 48 82 +f 48 79 82 +f 82 79 83 +f 44 62 83 +f 81 44 83 +f 79 81 83 +f 62 82 83 +f 45 65 84 +f 65 51 84 +f 66 45 84 +f 53 66 84 +f 62 54 85 +f 64 52 86 +f 52 85 86 +f 85 54 86 +f 67 40 87 +f 56 67 87 +f 64 46 88 +f 46 69 88 +f 69 64 88 +f 50 63 89 +f 63 57 89 +f 57 68 89 +f 68 50 89 +f 49 47 90 +f 47 77 90 +f 77 58 90 +f 80 49 90 +f 58 80 90 +f 40 49 91 +f 49 66 91 +f 66 53 91 +f 53 46 92 +f 87 40 92 +f 40 91 92 +f 91 53 92 +f 44 56 93 +f 62 44 93 +f 54 62 93 +f 87 54 93 +f 56 87 93 +f 45 63 94 +f 65 45 94 +f 61 65 94 +f 73 61 94 +f 63 73 94 +f 46 53 95 +f 69 46 95 +f 51 69 95 +f 84 51 95 +f 53 84 95 +f 47 67 96 +f 67 56 96 +f 75 55 96 +f 56 75 96 +f 77 47 96 +f 55 77 96 +f 70 58 97 +f 58 77 97 +f 77 55 97 +f 79 70 97 +f 55 81 97 +f 81 79 97 +f 71 41 98 +f 59 71 98 +f 41 76 98 +f 76 61 98 +f 45 49 99 +f 49 57 99 +f 63 45 99 +f 57 63 99 +f 43 70 100 +f 70 48 100 +f 72 43 100 +f 48 74 100 +f 74 72 100 +f 46 64 101 +f 86 54 101 +f 64 86 101 +f 54 87 101 +f 92 46 101 +f 87 92 101 +f 52 60 102 +f 60 82 102 +f 82 62 102 +f 85 52 102 +f 62 85 102 +f 68 59 103 +f 61 73 103 +f 73 68 103 +f 59 98 103 +o convex_2 +v 0.020828 1.898321 -1.021830 +v -0.033508 0.510661 -2.164395 +v 0.047996 0.510661 -2.164395 +v -0.033508 1.789494 -2.627194 +v -0.523384 1.354189 -1.021830 +v 0.510598 0.619652 -1.021830 +v 0.347270 1.762247 -2.327835 +v -0.305614 2.197717 -1.838356 +v -0.360056 1.327271 -2.490938 +v 0.320102 2.170469 -1.702268 +v -0.360056 0.755561 -1.021830 +v 0.320102 0.973379 -2.463922 +v 0.565040 1.218445 -1.021830 +v -0.251171 0.510661 -1.811004 +v -0.033508 0.946131 -2.681394 +v -0.468835 1.816742 -1.021830 +v 0.184049 2.197717 -1.403077 +v -0.360056 1.789494 -2.382203 +v -0.332888 0.918883 -2.382203 +v 0.401713 1.843825 -1.021830 +v 0.238492 2.197717 -2.001292 +v 0.483323 0.946131 -1.783988 +v 0.265660 0.510661 -1.892388 +v -0.468835 1.762247 -1.811004 +v -0.441667 1.054958 -1.783988 +v 0.020828 1.435767 -2.736097 +v -0.006340 0.510661 -1.403077 +v 0.456155 1.734999 -1.702268 +v 0.347270 1.463015 -2.491106 +v -0.251171 2.197717 -1.484461 +v -0.224003 2.197717 -2.028476 +v 0.483323 1.435767 -1.783988 +v 0.238492 1.816742 -2.463922 +v -0.468835 1.300023 -1.811004 +v -0.060782 2.197717 -1.375725 +v -0.414499 0.918883 -1.783988 +v -0.196835 0.510661 -2.055659 +v -0.088057 1.408354 -2.708578 +v 0.184049 0.510661 -2.110195 +v -0.278339 0.918883 -2.490938 +v 0.047996 0.973379 -2.681394 +v 0.565040 1.136536 -1.158085 +v 0.075164 0.646735 -1.021830 +v -0.196835 0.510661 -1.511812 +v 0.020828 2.197717 -2.082843 +v 0.428881 1.816742 -1.103550 +v 0.047996 1.816742 -2.599842 +v 0.238492 0.510661 -1.484629 +v -0.523384 1.408354 -1.239805 +v 0.347270 0.973379 -2.409386 +v 0.510598 0.728479 -1.294173 +v -0.115225 1.816742 -2.572826 +v 0.320102 1.843825 -2.355019 +v 0.347270 1.300023 -2.491106 +v -0.523384 1.517346 -1.076366 +v 0.428881 1.816742 -1.811172 +v -0.332888 0.728479 -1.021830 +v -0.332888 1.734999 -2.436738 +v -0.033508 1.054958 -2.708578 +v 0.292934 2.197717 -1.647900 +v 0.510598 1.354189 -1.620716 +v 0.565040 1.000462 -1.049182 +v -0.305614 2.197717 -1.675084 +f 133 111 166 +f 104 108 109 +f 109 108 114 +f 104 109 116 +f 105 106 117 +f 106 105 118 +f 108 104 119 +f 104 116 123 +f 120 104 123 +f 111 120 124 +f 117 106 126 +f 119 111 127 +f 111 121 127 +f 121 112 127 +f 117 126 130 +f 120 111 133 +f 121 111 134 +f 111 124 134 +f 125 132 135 +f 132 110 135 +f 132 129 136 +f 112 122 137 +f 127 112 137 +f 122 128 137 +f 119 104 138 +f 104 120 138 +f 133 119 138 +f 120 133 138 +f 114 108 139 +f 117 114 139 +f 122 117 139 +f 108 128 139 +f 128 122 139 +f 105 117 140 +f 117 122 140 +f 107 129 141 +f 126 106 142 +f 118 105 143 +f 122 112 143 +f 105 140 143 +f 140 122 143 +f 106 118 144 +f 142 106 144 +f 115 142 144 +f 109 114 146 +f 130 109 146 +f 117 130 147 +f 134 124 148 +f 123 116 149 +f 113 123 149 +f 131 113 149 +f 116 131 149 +f 129 107 150 +f 124 136 150 +f 136 129 150 +f 107 148 150 +f 148 124 150 +f 126 109 151 +f 109 130 151 +f 130 126 151 +f 128 108 152 +f 127 137 152 +f 137 128 152 +f 142 115 153 +f 126 142 153 +f 109 126 154 +f 153 125 154 +f 126 153 154 +f 121 134 155 +f 107 141 155 +f 148 107 155 +f 134 148 155 +f 124 113 156 +f 110 132 156 +f 136 124 156 +f 132 136 156 +f 132 125 157 +f 129 132 157 +f 144 129 157 +f 115 144 157 +f 125 153 157 +f 153 115 157 +f 108 119 158 +f 119 127 158 +f 152 108 158 +f 127 152 158 +f 113 131 159 +f 135 110 159 +f 131 135 159 +f 156 113 159 +f 110 156 159 +f 114 117 160 +f 146 114 160 +f 130 146 160 +f 147 130 160 +f 117 147 160 +f 112 121 161 +f 141 112 161 +f 121 155 161 +f 155 141 161 +f 112 141 162 +f 141 129 162 +f 118 143 162 +f 143 112 162 +f 144 118 162 +f 129 144 162 +f 123 113 163 +f 120 123 163 +f 113 124 163 +f 124 120 163 +f 131 116 164 +f 125 135 164 +f 135 131 164 +f 116 145 164 +f 145 125 164 +f 116 109 165 +f 145 116 165 +f 125 145 165 +f 109 154 165 +f 154 125 165 +f 111 119 166 +f 119 133 166 +o convex_3 +v -0.115198 2.197717 -2.055768 +v -0.006382 2.361252 -1.402906 +v -0.033572 2.361252 -1.402906 +v 0.020807 4.401775 -1.729337 +v 0.292934 2.197717 -1.783668 +v -0.305699 2.197717 -1.674943 +v 0.238497 4.075136 -1.729337 +v -0.196825 3.966400 -1.729337 +v 0.211249 2.197717 -1.430071 +v 0.075244 4.102104 -1.511695 +v 0.047996 3.966400 -1.919686 +v 0.211249 2.225117 -2.001310 +v -0.251262 2.334069 -2.001310 +v -0.224014 2.306669 -1.484530 +v -0.115198 3.884633 -1.892521 +v 0.238497 3.258970 -1.538924 +v 0.020807 4.102104 -1.511695 +v 0.292934 3.232002 -1.729337 +v 0.238497 2.959731 -1.919686 +v 0.020807 2.443020 -2.055768 +v -0.278451 3.041283 -1.729337 +v -0.169635 4.047952 -1.674943 +v 0.238497 4.047952 -1.647777 +v 0.292934 2.197717 -1.647777 +v -0.060761 2.197717 -1.402906 +v -0.224014 3.014315 -1.946915 +v -0.305699 2.197717 -1.838062 +v -0.251262 2.361252 -1.511695 +v -0.006382 3.993584 -1.919686 +v -0.169635 4.129288 -1.756439 +v 0.211249 3.693913 -1.538924 +v -0.169635 3.449258 -1.566154 +v 0.075244 4.401775 -1.729337 +v 0.184060 3.775897 -1.865292 +v -0.278451 3.041283 -1.783668 +v 0.292934 3.232002 -1.674943 +v 0.020807 4.401775 -1.674943 +v 0.238497 2.197717 -1.974145 +v 0.047996 4.102104 -1.892521 +v 0.075244 2.252301 -2.055768 +f 178 204 206 +f 167 171 172 +f 172 171 175 +f 169 168 176 +f 168 175 176 +f 169 176 183 +f 180 169 183 +f 178 177 185 +f 173 184 185 +f 174 187 188 +f 175 171 190 +f 171 184 190 +f 168 169 191 +f 175 168 191 +f 172 175 191 +f 180 172 191 +f 169 180 191 +f 167 179 192 +f 167 172 193 +f 179 167 193 +f 172 187 193 +f 172 180 194 +f 187 172 194 +f 188 187 194 +f 186 167 195 +f 177 186 195 +f 167 192 195 +f 192 181 195 +f 174 188 196 +f 181 192 196 +f 170 195 196 +f 195 181 196 +f 176 175 197 +f 175 182 197 +f 189 176 197 +f 182 189 197 +f 180 183 198 +f 183 188 198 +f 194 180 198 +f 188 194 198 +f 189 173 199 +f 176 189 199 +f 173 185 200 +f 185 177 200 +f 187 174 201 +f 192 179 201 +f 193 187 201 +f 179 193 201 +f 174 196 201 +f 196 192 201 +f 182 175 202 +f 184 173 202 +f 173 189 202 +f 189 182 202 +f 175 190 202 +f 190 184 202 +f 183 176 203 +f 188 183 203 +f 170 196 203 +f 196 188 203 +f 199 170 203 +f 176 199 203 +f 171 167 204 +f 184 171 204 +f 178 185 204 +f 185 184 204 +f 195 170 205 +f 177 195 205 +f 170 199 205 +f 199 173 205 +f 173 200 205 +f 200 177 205 +f 177 178 206 +f 167 186 206 +f 186 177 206 +f 204 167 206 +o convex_4 +v 0.102271 0.918708 2.243369 +v -0.523384 0.782689 1.508755 +v -0.523384 0.918708 1.508755 +v 0.537829 0.918708 1.508755 +v 0.075055 0.347397 1.536080 +v -0.414520 0.891526 2.052884 +v 0.456182 0.891526 2.080065 +v -0.441736 0.429109 1.536080 +v 0.483294 0.537946 1.508755 +v 0.020623 0.837108 2.188935 +v -0.468952 0.456290 1.508755 +v -0.468952 0.918708 1.916834 +v -0.006281 0.374690 1.590515 +v 0.483294 0.565127 1.590515 +v 0.510510 0.918708 1.835362 +v 0.102271 0.891526 2.243369 +v -0.033497 0.347397 1.508755 +v -0.142361 0.891526 2.188935 +f 216 222 224 +f 208 209 210 +f 209 207 210 +f 208 210 215 +f 214 212 217 +f 208 215 217 +f 207 209 218 +f 209 208 218 +f 212 207 218 +f 208 217 218 +f 217 212 218 +f 216 214 219 +f 213 211 220 +f 215 210 220 +f 211 215 220 +f 210 207 221 +f 207 213 221 +f 220 210 221 +f 213 220 221 +f 213 207 222 +f 211 213 222 +f 219 211 222 +f 216 219 222 +f 215 211 223 +f 214 217 223 +f 217 215 223 +f 211 219 223 +f 219 214 223 +f 207 212 224 +f 212 214 224 +f 214 216 224 +f 222 207 224 +o convex_5 +v -0.496141 1.462826 2.515501 +v 0.565040 1.272626 1.862631 +v 0.565040 1.245410 1.862631 +v 0.075169 1.436026 3.250089 +v -0.006382 1.980032 1.508755 +v -0.550509 0.918819 1.508755 +v 0.537744 0.918819 1.508928 +v 0.020690 1.054899 3.032465 +v -0.006382 1.816737 2.977930 +v -0.441661 1.789417 1.508755 +v 0.401713 1.462930 2.977930 +v 0.401713 1.762201 1.508928 +v -0.387182 1.408810 3.059474 +v -0.414477 1.816737 2.325406 +v 0.456080 0.918819 2.107609 +v 0.347345 1.789417 2.352414 +v -0.414477 0.918819 2.080428 +v -0.577805 1.299842 1.508755 +v 0.320049 1.109435 2.841850 +v 0.537744 1.408602 2.243689 +v -0.033566 1.925497 2.325406 +v -0.142302 1.789417 2.977930 +v 0.020690 0.918819 2.352414 +v 0.401713 1.381386 3.005111 +v -0.033566 1.436026 3.277443 +v -0.278334 1.136547 2.841850 +v -0.550509 1.408810 2.134617 +v 0.565040 1.245410 1.508928 +v -0.359998 1.626122 2.923394 +v 0.265569 1.707769 2.841850 +v -0.060862 1.980032 1.617653 +v 0.075169 1.054899 3.032465 +v -0.496141 0.918819 1.862804 +v 0.510560 0.918819 1.862631 +v 0.374529 1.789417 2.134790 +v -0.006382 1.735089 3.086828 +v -0.577805 1.218194 1.781087 +v -0.468845 1.735089 1.808268 +v -0.414477 1.408810 2.977930 +v -0.387182 1.462826 3.059474 +v -0.088046 1.925497 2.298051 +v 0.020690 1.000467 2.814842 +v 0.238385 1.843953 2.270697 +v -0.060862 1.735089 3.086828 +v -0.496141 1.599010 2.270697 +v 0.428896 1.707769 1.563291 +v 0.565040 1.000571 1.536109 +v -0.006382 1.272730 3.195726 +v -0.332814 1.735089 2.787488 +v 0.428896 1.381386 2.896386 +v 0.456080 1.599010 2.270870 +v -0.060862 1.816737 3.005111 +v -0.441661 1.462826 2.841850 +f 238 269 277 +f 230 229 231 +f 229 230 234 +f 230 231 239 +f 230 239 241 +f 234 230 242 +f 227 226 244 +f 241 239 247 +f 235 228 248 +f 243 239 248 +f 232 237 250 +f 237 241 250 +f 241 232 250 +f 226 227 252 +f 231 229 252 +f 229 236 252 +f 244 226 252 +f 240 233 254 +f 235 240 254 +f 229 234 255 +f 234 238 255 +f 245 229 255 +f 239 243 256 +f 248 228 256 +f 243 248 256 +f 230 241 257 +f 241 237 257 +f 239 231 258 +f 227 244 258 +f 236 229 259 +f 228 235 260 +f 249 228 260 +f 254 233 260 +f 235 254 260 +f 242 230 261 +f 251 242 261 +f 230 257 261 +f 238 234 262 +f 234 242 262 +f 242 251 262 +f 225 251 263 +f 257 237 263 +f 251 261 263 +f 261 257 263 +f 237 249 264 +f 246 253 264 +f 263 237 264 +f 255 238 265 +f 245 255 265 +f 232 241 266 +f 247 239 266 +f 241 247 266 +f 239 256 266 +f 256 232 266 +f 233 240 267 +f 245 233 267 +f 229 245 267 +f 259 229 267 +f 240 259 267 +f 249 260 268 +f 264 249 268 +f 246 264 268 +f 251 225 269 +f 238 262 269 +f 262 251 269 +f 252 236 270 +f 244 252 270 +f 236 259 270 +f 252 227 271 +f 231 252 271 +f 227 258 271 +f 258 231 271 +f 237 232 272 +f 228 249 272 +f 249 237 272 +f 232 256 272 +f 256 228 272 +f 246 238 273 +f 238 253 273 +f 253 246 273 +f 244 235 274 +f 235 248 274 +f 248 239 274 +f 239 258 274 +f 258 244 274 +f 240 235 275 +f 235 244 275 +f 259 240 275 +f 244 270 275 +f 270 259 275 +f 233 245 276 +f 238 246 276 +f 260 233 276 +f 245 265 276 +f 265 238 276 +f 246 268 276 +f 268 260 276 +f 253 238 277 +f 225 263 277 +f 264 253 277 +f 263 264 277 +f 269 225 277 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/557/557.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/557/557.urdf new file mode 100644 index 000000000..6f9dc2204 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/557/557.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/558/558.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/558/558.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/558/558.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/558/558.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/558/558.obj new file mode 100644 index 000000000..9bf67159b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/558/558.obj @@ -0,0 +1,558 @@ +o convex_0 +v -0.046620 -1.508066 -1.734617 +v -0.239625 -2.119300 -1.606128 +v -0.207395 -2.119300 -1.606128 +v 0.242915 -1.572384 -0.608820 +v 0.210631 -2.054802 -2.539001 +v 0.242915 -2.054862 -0.608820 +v -0.207449 -1.701081 -0.608820 +v -0.271855 -1.508066 -2.474568 +v 0.275091 -1.508066 -2.506879 +v -0.271802 -2.119300 -0.608820 +v -0.239625 -2.086991 -2.474568 +v -0.175219 -1.604633 -0.801932 +v 0.178455 -2.087051 -0.608820 +v 0.275091 -1.540315 -1.187969 +v 0.275091 -1.701141 -2.506879 +v -0.271855 -2.119300 -1.509760 +v 0.049856 -2.086991 -2.506879 +v -0.271855 -1.508066 -2.281455 +v 0.081925 -1.572384 -0.608820 +v -0.078796 -2.119300 -0.673254 +v -0.271855 -1.797648 -2.474568 +f 11 16 21 +f 6 4 7 +f 8 1 9 +f 5 8 9 +f 2 3 10 +f 6 7 10 +f 5 6 13 +f 6 10 13 +f 1 4 14 +f 4 6 14 +f 9 1 14 +f 9 14 15 +f 6 5 15 +f 5 9 15 +f 14 6 15 +f 2 10 16 +f 11 2 16 +f 3 2 17 +f 2 11 17 +f 11 5 17 +f 5 13 17 +f 1 8 18 +f 10 7 18 +f 12 1 18 +f 7 12 18 +f 16 10 18 +f 8 16 18 +f 4 1 19 +f 7 4 19 +f 1 12 19 +f 12 7 19 +f 10 3 20 +f 13 10 20 +f 3 17 20 +f 17 13 20 +f 8 5 21 +f 5 11 21 +f 16 8 21 +o convex_1 +v 0.275091 -0.028034 -2.217511 +v -0.304029 0.357946 -2.442623 +v -0.304029 0.357946 -2.378270 +v -0.239632 -0.188900 -2.346094 +v -0.271830 0.390131 -2.088805 +v 0.275091 0.357946 -2.474800 +v 0.210694 0.454566 -2.088805 +v -0.239632 -0.188900 -2.088805 +v -0.143149 -0.188900 -2.506976 +v 0.210694 -0.124528 -2.088805 +v 0.242893 -0.060157 -2.442623 +v -0.304029 0.422380 -2.442623 +v -0.239632 0.036338 -2.506976 +v 0.275091 0.164893 -2.088805 +f 28 31 35 +f 24 23 25 +f 24 25 29 +f 26 24 29 +f 28 26 29 +f 29 25 30 +f 29 30 31 +f 28 29 31 +f 27 22 32 +f 30 27 32 +f 31 30 32 +f 22 31 32 +f 23 24 33 +f 24 26 33 +f 26 28 33 +f 28 27 33 +f 25 23 34 +f 30 25 34 +f 27 30 34 +f 23 33 34 +f 33 27 34 +f 22 27 35 +f 27 28 35 +f 31 22 35 +o convex_2 +v -0.014228 -0.349676 -1.123709 +v -1.429812 0.776299 -1.316674 +v -1.429812 0.776299 -1.348834 +v 2.945189 0.744022 -1.992165 +v -3.006466 -0.414114 -1.992165 +v 3.106258 -0.349676 -0.994950 +v 2.977403 -0.285354 -1.960005 +v 2.816334 0.615379 -0.994950 +v -2.974252 0.454459 -1.027111 +v -2.942039 0.776299 -1.959888 +v -2.813183 -0.285354 -1.027111 +v 2.912975 0.744022 -2.088764 +v -0.593469 0.454459 -0.898351 +v -3.103107 0.776299 -1.059271 +v -0.239117 -0.188755 -2.088764 +v -0.078655 -0.124434 -0.898351 +v -0.271938 0.390138 -2.088764 +v 3.009617 0.583102 -0.994950 +v 2.237093 -0.381720 -1.188031 +v -2.974252 -0.253193 -1.059271 +v 0.435550 0.422298 -0.898351 +v -1.139888 -0.381720 -1.992049 +v 2.945189 0.357977 -2.056487 +v -2.974252 0.165129 -1.992165 +v -2.845397 -0.414114 -1.895683 +v -1.719737 0.744022 -1.027111 +v 2.945189 0.744022 -1.927727 +v 1.529605 -0.349676 -0.994950 +v 3.106258 -0.349676 -1.155870 +v 0.210661 -0.156595 -2.088764 +v 3.009617 -0.317515 -1.702602 +v 2.269307 0.744022 -2.088764 +v -2.974252 0.776299 -1.927844 +v -3.006466 0.744022 -1.027111 +v -2.974252 -0.317398 -1.220191 +v 3.009617 -0.221033 -1.895683 +v -3.103107 0.615379 -1.059271 +v -3.103107 0.776299 -1.188031 +v 3.074045 0.132968 -1.059271 +v 1.915563 -0.381720 -1.155870 +v -0.271938 -0.124434 -0.898351 +v 0.306695 -0.027952 -0.898351 +v -2.619900 -0.414114 -1.992165 +v 2.269307 0.550941 -0.962789 +v 2.912975 0.615379 -2.088764 +v -1.300957 -0.317398 -1.027111 +f 75 63 81 +f 38 37 39 +f 37 38 45 +f 38 39 47 +f 45 38 47 +f 44 46 48 +f 37 45 49 +f 50 40 52 +f 47 50 52 +f 46 44 55 +f 48 51 56 +f 50 42 57 +f 47 39 58 +f 52 40 59 +f 45 52 59 +f 48 43 61 +f 37 49 61 +f 39 37 62 +f 53 39 62 +f 43 53 62 +f 37 61 62 +f 61 43 62 +f 41 51 63 +f 41 54 64 +f 42 50 65 +f 50 47 65 +f 58 42 65 +f 57 42 66 +f 42 64 66 +f 64 54 66 +f 45 47 67 +f 52 45 67 +f 47 52 67 +f 49 45 68 +f 59 40 68 +f 45 59 68 +f 44 48 69 +f 48 61 69 +f 61 49 69 +f 55 40 70 +f 46 55 70 +f 40 60 70 +f 58 39 71 +f 42 58 71 +f 39 64 71 +f 64 42 71 +f 40 55 72 +f 55 44 72 +f 44 69 72 +f 69 49 72 +f 68 40 73 +f 49 68 73 +f 40 72 73 +f 72 49 73 +f 39 53 74 +f 53 41 74 +f 64 39 74 +f 41 64 74 +f 54 41 75 +f 36 60 75 +f 60 54 75 +f 41 63 75 +f 48 46 76 +f 51 48 76 +f 46 63 76 +f 63 51 76 +f 51 41 77 +f 41 56 77 +f 56 51 77 +f 40 50 78 +f 50 57 78 +f 60 40 78 +f 54 60 78 +f 57 66 78 +f 66 54 78 +f 43 48 79 +f 41 53 79 +f 53 43 79 +f 48 56 79 +f 56 41 79 +f 47 58 80 +f 65 47 80 +f 58 65 80 +f 60 36 81 +f 63 46 81 +f 46 70 81 +f 70 60 81 +f 36 75 81 +o convex_3 +v 1.047129 1.966234 0.260122 +v -1.076179 -2.923633 1.256903 +v -1.043842 -2.859009 0.774548 +v -1.043842 3.189299 -0.351367 +v 0.950546 -2.794385 -0.544224 +v 0.982883 3.124675 1.514538 +v 1.111588 -2.794385 1.546611 +v -1.043842 3.124675 1.482466 +v 1.015006 3.124675 -0.544435 +v -0.947260 -2.730360 -0.447796 +v -1.011719 3.189299 -0.576508 +v -0.496900 -1.957866 1.546611 +v -0.271614 -2.118827 -0.608791 +v -1.011719 -2.859009 1.449971 +v 0.564432 1.451038 -0.608791 +v -0.368410 0.679143 1.546611 +v 1.047129 2.352181 -0.318872 +v 0.982883 -2.344412 -0.544224 +v 0.757596 3.156987 1.256903 +v -1.076179 -0.767711 1.449971 +v 1.079251 -0.800023 1.546611 +v -0.979597 -2.794385 -0.158088 +v 0.403605 -2.215164 -0.608791 +v 0.950546 2.866778 -0.576508 +v -1.011719 0.937040 -0.511941 +v 1.111588 -2.311502 1.321470 +v -0.786647 -2.923633 1.449971 +v -0.529023 0.260884 -0.608791 +v 1.015006 3.124675 0.677909 +v 0.661014 -2.826697 -0.254727 +v -1.043842 3.156987 1.160474 +v 0.532309 1.193740 1.546611 +v 0.757596 -2.826697 1.546611 +v -1.011719 2.674103 -0.576508 +v 0.178532 -2.794385 -0.512152 +v 1.015006 2.352181 1.514327 +v -0.754310 3.189299 -0.576508 +v 0.757596 -2.568800 -0.576508 +v -1.076179 -1.893841 1.449971 +v 0.982883 -2.794385 -0.447585 +v -0.561360 -0.478101 1.546611 +v 1.015006 0.743767 -0.544435 +v 1.111588 -2.183451 1.385826 +v 0.307237 3.156987 -0.544435 +v -0.915137 -2.923633 1.160685 +v 1.047129 -0.027530 1.546822 +v -1.076179 -2.923633 1.417898 +v -0.850892 -2.794385 -0.254727 +v -1.043842 2.159507 1.482466 +v -0.722187 1.998546 1.514327 +v 0.017705 3.156987 -0.576508 +v -0.657728 3.189299 -0.190371 +v 0.628892 -2.826697 1.546611 +v 1.047129 2.449117 -0.286800 +v -0.915137 -2.762671 -0.447796 +v 1.111588 -2.729761 1.385826 +f 88 121 137 +f 89 87 100 +f 85 83 101 +f 83 84 103 +f 94 96 104 +f 84 83 106 +f 83 85 106 +f 103 84 106 +f 91 103 106 +f 92 96 109 +f 96 94 109 +f 100 87 110 +f 90 100 110 +f 89 100 112 +f 85 101 112 +f 101 89 112 +f 87 97 113 +f 111 88 114 +f 108 111 114 +f 85 92 115 +f 94 91 115 +f 106 85 115 +f 91 106 115 +f 92 109 115 +f 109 94 115 +f 86 111 116 +f 87 102 117 +f 82 110 117 +f 110 87 117 +f 92 85 118 +f 96 92 118 +f 99 86 119 +f 94 104 119 +f 104 96 119 +f 105 99 119 +f 96 105 119 +f 86 116 119 +f 116 94 119 +f 95 93 120 +f 101 83 120 +f 89 101 120 +f 86 99 121 +f 111 86 121 +f 88 111 121 +f 120 93 122 +f 90 98 123 +f 99 105 123 +f 105 90 123 +f 98 107 123 +f 107 99 123 +f 102 88 124 +f 88 107 124 +f 82 117 124 +f 117 102 124 +f 100 90 125 +f 108 83 126 +f 111 108 126 +f 116 111 126 +f 102 87 127 +f 88 102 127 +f 87 113 127 +f 113 97 127 +f 114 88 127 +f 97 122 127 +f 122 93 127 +f 83 108 128 +f 108 95 128 +f 120 83 128 +f 95 120 128 +f 83 103 129 +f 126 83 129 +f 116 126 129 +f 89 120 130 +f 122 89 130 +f 120 122 130 +f 87 89 131 +f 97 87 131 +f 89 122 131 +f 122 97 131 +f 90 105 132 +f 105 96 132 +f 96 118 132 +f 125 90 132 +f 118 125 132 +f 112 100 133 +f 85 112 133 +f 118 85 133 +f 100 125 133 +f 125 118 133 +f 93 95 134 +f 95 108 134 +f 108 114 134 +f 114 127 134 +f 127 93 134 +f 98 90 135 +f 107 98 135 +f 110 82 135 +f 90 110 135 +f 82 124 135 +f 124 107 135 +f 91 94 136 +f 103 91 136 +f 94 116 136 +f 129 103 136 +f 116 129 136 +f 99 107 137 +f 107 88 137 +f 121 99 137 +o convex_4 +v -0.239679 -1.861876 1.546822 +v 0.371611 -1.733201 3.605914 +v 0.371611 -1.990550 3.605914 +v -0.304029 -1.668930 3.412622 +v 0.242845 -1.604593 1.546822 +v -0.271821 -1.379380 1.546822 +v 0.307195 -2.022686 1.546822 +v -0.207471 -2.054821 3.412622 +v 0.371611 -1.540256 3.573464 +v -0.304029 -1.508054 3.412622 +v -0.175329 -2.022686 1.546822 +v -0.304029 -1.668930 1.546822 +v 0.274987 -1.572391 1.772161 +v 0.114146 -1.508054 3.541416 +v 0.049796 -2.054821 2.544522 +v 0.339403 -1.829674 2.094045 +v -0.207471 -1.379380 1.546822 +v 0.307195 -2.022686 3.573464 +v 0.339403 -1.540256 2.833351 +v -0.304029 -1.443717 1.546822 +v -0.078771 -2.054821 3.476918 +f 152 155 158 +f 142 138 143 +f 138 142 144 +f 139 140 146 +f 138 144 148 +f 145 138 148 +f 143 138 149 +f 145 141 149 +f 138 145 149 +f 141 147 149 +f 144 142 150 +f 140 139 151 +f 139 146 151 +f 147 141 151 +f 143 147 151 +f 148 144 152 +f 145 148 152 +f 140 144 153 +f 146 140 153 +f 144 150 153 +f 142 143 154 +f 150 142 154 +f 151 146 154 +f 143 151 154 +f 144 140 155 +f 152 144 155 +f 146 153 156 +f 153 150 156 +f 150 154 156 +f 154 146 156 +f 147 143 157 +f 143 149 157 +f 149 147 157 +f 141 145 158 +f 140 151 158 +f 151 141 158 +f 145 152 158 +f 155 140 158 +o convex_5 +v -0.207496 -0.092317 2.479990 +v 0.339438 0.454547 2.897783 +v 0.242786 0.486695 3.509202 +v -0.368375 0.422261 1.547014 +v 0.275072 -0.156683 1.547014 +v 0.307220 -0.124535 3.412581 +v -0.207496 0.518913 3.444852 +v 0.339438 0.422261 1.547014 +v -0.175279 -0.156683 3.444852 +v -0.175279 -0.188900 1.547014 +v -0.207496 0.518913 2.962133 +v 0.339438 0.229233 1.547014 +v 0.307220 0.325747 3.509202 +v 0.339438 0.454547 1.965383 +v 0.017610 0.518913 3.509202 +v -0.336158 0.454547 1.740063 +v -0.014469 -0.188900 1.579284 +v -0.368375 0.390113 1.611363 +v -0.175279 0.261451 3.509202 +v 0.307220 -0.124535 2.286940 +f 163 170 178 +f 163 162 166 +f 162 163 168 +f 167 159 168 +f 160 164 170 +f 166 160 170 +f 163 166 170 +f 160 161 171 +f 164 160 171 +f 167 164 171 +f 161 160 172 +f 160 166 172 +f 172 169 173 +f 169 165 173 +f 171 161 173 +f 161 172 173 +f 162 165 174 +f 166 162 174 +f 165 169 174 +f 172 166 174 +f 169 172 174 +f 163 164 175 +f 164 167 175 +f 168 163 175 +f 167 168 175 +f 165 162 176 +f 159 167 176 +f 167 165 176 +f 168 159 176 +f 162 168 176 +f 165 167 177 +f 167 171 177 +f 173 165 177 +f 171 173 177 +f 164 163 178 +f 170 164 178 +o convex_6 +v -0.271855 0.100672 -0.898323 +v 0.339438 0.486740 -0.608820 +v 0.339438 0.486740 -0.641015 +v 0.307246 -0.027977 -0.898323 +v -0.239663 -0.092361 -0.608820 +v -0.175279 0.422355 -0.898323 +v -0.239663 0.358030 -0.608820 +v 0.307246 -0.027977 -0.608820 +v 0.339438 0.390163 -0.898323 +v -0.271855 -0.124554 -0.898323 +v 0.081960 0.486740 -0.608820 +f 185 180 189 +f 182 179 184 +f 184 179 185 +f 179 183 185 +f 183 180 185 +f 180 183 186 +f 181 180 187 +f 184 181 187 +f 182 184 187 +f 180 186 187 +f 186 182 187 +f 179 182 188 +f 183 179 188 +f 182 186 188 +f 186 183 188 +f 180 181 189 +f 181 184 189 +f 184 185 189 +o convex_7 +v -0.014469 -0.446303 1.546828 +v -0.271855 -1.379313 1.546828 +v -0.207509 -1.379313 1.546828 +v -0.110989 -0.221177 1.611162 +v -0.207509 -0.285499 1.546828 +f 191 193 194 +f 192 191 190 +f 191 192 193 +f 192 190 193 +f 193 190 194 +f 190 191 194 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/558/558.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/558/558.urdf new file mode 100644 index 000000000..7598fb58d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/558/558.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/559/559.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/559/559.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/559/559.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/559/559.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/559/559.obj new file mode 100644 index 000000000..2142e13b9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/559/559.obj @@ -0,0 +1,423 @@ +o convex_0 +v 0.832578 4.413048 -2.094675 +v -0.319672 2.145400 -0.346877 +v -0.133964 2.145400 -0.346877 +v -0.988865 4.375757 3.035242 +v 0.981144 2.368702 2.998016 +v -1.100505 4.301175 -3.097963 +v 1.055428 2.331633 -3.060738 +v -0.951724 2.331411 3.035242 +v -1.063149 2.182691 -3.097963 +v 0.906861 4.375535 2.960190 +v 1.092784 4.375535 -3.097963 +v 0.237667 2.145400 0.284155 +v -1.026007 4.375757 2.142429 +v 1.018286 2.740280 2.067978 +v 0.944003 4.078095 2.998016 +v -1.063149 2.294342 -2.242977 +v 0.126028 2.331633 3.035242 +v 1.092784 4.152677 -2.242977 +v 0.200526 4.412827 -0.421328 +v 0.274809 2.145400 -0.272426 +v -0.951724 2.294342 2.625761 +v -0.988865 3.223731 2.960190 +v -0.542736 4.338466 -3.098564 +v 0.944003 4.375535 2.736837 +v 0.758080 2.294120 -3.061338 +v -1.026007 4.375757 1.250218 +v 0.683796 2.442840 3.035242 +v -0.170891 4.375535 3.035242 +v 1.018286 2.331633 -0.198575 +v -0.988865 2.294342 1.770775 +v -0.282530 2.145400 0.172479 +v -0.914582 2.182691 -3.098564 +v 0.906861 4.413048 -2.540181 +v 1.018286 2.368702 1.250218 +v -1.063149 2.182691 -2.689083 +v -1.026007 3.892528 1.808000 +v 1.092784 4.041026 -3.097963 +v 0.981144 3.075011 2.998016 +v 0.274809 4.412827 -0.160750 +v -1.063149 4.338466 -1.387991 +v 1.092784 3.892528 -2.726308 +v 1.092784 4.375535 -2.502955 +v 0.312165 4.375757 -3.098564 +f 37 32 43 +f 2 3 12 +f 4 8 17 +f 12 5 17 +f 13 4 19 +f 12 3 20 +f 5 12 20 +f 17 8 21 +f 12 17 21 +f 8 4 22 +f 4 13 22 +f 10 15 24 +f 7 20 25 +f 6 13 26 +f 13 19 26 +f 4 17 27 +f 17 5 27 +f 15 10 28 +f 4 27 28 +f 27 15 28 +f 5 20 29 +f 20 7 29 +f 21 8 30 +f 8 22 30 +f 22 16 30 +f 2 12 31 +f 12 21 31 +f 3 2 32 +f 2 9 32 +f 9 6 32 +f 20 3 32 +f 6 23 32 +f 7 25 32 +f 25 20 32 +f 1 10 33 +f 19 1 33 +f 23 19 33 +f 10 24 33 +f 14 5 34 +f 5 29 34 +f 29 7 34 +f 9 2 35 +f 6 9 35 +f 16 6 35 +f 30 16 35 +f 21 30 35 +f 2 31 35 +f 31 21 35 +f 13 6 36 +f 6 16 36 +f 22 13 36 +f 16 22 36 +f 11 18 37 +f 7 32 37 +f 5 14 38 +f 24 15 38 +f 15 27 38 +f 27 5 38 +f 10 1 39 +f 1 19 39 +f 19 4 39 +f 28 10 39 +f 4 28 39 +f 23 6 40 +f 19 23 40 +f 6 26 40 +f 26 19 40 +f 18 14 41 +f 14 34 41 +f 34 7 41 +f 7 37 41 +f 37 18 41 +f 18 11 42 +f 14 18 42 +f 11 33 42 +f 33 24 42 +f 38 14 42 +f 24 38 42 +f 32 23 43 +f 33 11 43 +f 23 33 43 +f 11 37 43 +o convex_1 +v 2.579596 -5.029236 -0.236121 +v 1.539221 -4.434559 0.209967 +v 1.539221 -4.434559 0.172785 +v 1.092795 -5.029236 0.172785 +v 3.025636 -4.917705 0.247148 +v 3.062855 -4.508893 -0.161757 +v 1.092795 -4.583286 -0.236121 +v 2.988418 -4.508893 0.209967 +v 1.204643 -4.917705 -0.236121 +v 3.062855 -5.029236 -0.236121 +v 1.092795 -4.434559 0.209967 +v 1.092795 -4.508893 -0.198939 +v 1.539221 -5.029236 0.209967 +v 2.913982 -4.508893 -0.198939 +v 3.062855 -5.029236 -0.087394 +v 1.092795 -5.029236 0.061192 +v 3.025636 -4.694759 0.247148 +v 2.282236 -4.954843 0.247148 +v 3.062855 -4.806174 -0.236121 +f 50 57 62 +f 46 45 49 +f 49 45 51 +f 50 44 52 +f 47 44 53 +f 44 50 53 +f 45 46 54 +f 50 47 54 +f 50 54 55 +f 54 46 55 +f 47 53 56 +f 54 47 56 +f 46 49 57 +f 50 55 57 +f 55 46 57 +f 53 49 58 +f 56 53 58 +f 48 56 58 +f 44 47 59 +f 47 50 59 +f 52 44 59 +f 50 52 59 +f 51 45 60 +f 49 51 60 +f 45 54 60 +f 48 58 60 +f 58 49 60 +f 56 48 61 +f 54 56 61 +f 60 54 61 +f 48 60 61 +f 49 53 62 +f 53 50 62 +f 57 49 62 +o convex_2 +v 0.943974 -0.122272 0.953262 +v -1.100487 -2.947066 0.098275 +v -1.100487 -2.947066 0.172726 +v 1.055620 -4.360151 1.064938 +v 0.943974 -4.360151 -0.942238 +v -1.063131 0.323845 -0.942438 +v -1.100487 0.323845 1.064938 +v 0.943974 0.323845 -0.942238 +v -1.025986 -4.360151 -0.942438 +v -0.988841 -4.360151 1.102164 +v 0.906829 0.323845 0.916236 +v 1.055620 -3.541736 -0.347430 +v -1.100487 -0.717400 1.102164 +v -1.100487 0.174834 -0.719285 +v 1.055620 -3.690747 1.064938 +v 0.981119 -0.159868 -0.867787 +v -1.063131 -4.360151 0.544381 +v -0.654323 0.323845 1.064938 +v -1.063131 -4.360151 -0.793536 +v 1.055620 -4.360151 -0.347430 +v 0.943974 0.323845 0.581407 +v -1.025986 -4.210681 1.102164 +v -1.063131 -3.504598 -0.942438 +v -1.100487 -2.389076 0.656058 +v -0.877194 -3.839300 1.102164 +v 0.758248 0.323845 0.953262 +v 0.981119 -3.914035 -0.793536 +f 78 82 89 +f 64 65 69 +f 68 69 70 +f 70 67 71 +f 67 66 71 +f 68 70 71 +f 71 66 72 +f 70 69 73 +f 69 65 75 +f 64 69 76 +f 69 68 76 +f 66 74 77 +f 67 70 78 +f 77 74 78 +f 65 64 79 +f 71 72 79 +f 73 69 80 +f 69 75 80 +f 75 77 80 +f 64 76 81 +f 79 64 81 +f 71 79 81 +f 66 67 82 +f 74 66 82 +f 78 74 82 +f 73 63 83 +f 70 73 83 +f 63 77 83 +f 78 70 83 +f 77 78 83 +f 72 75 84 +f 79 72 84 +f 68 71 85 +f 76 68 85 +f 71 81 85 +f 81 76 85 +f 75 65 86 +f 65 79 86 +f 84 75 86 +f 79 84 86 +f 72 66 87 +f 75 72 87 +f 66 77 87 +f 77 75 87 +f 63 73 88 +f 77 63 88 +f 73 80 88 +f 80 77 88 +f 67 78 89 +f 82 67 89 +o convex_3 +v -0.282635 0.807227 -0.310467 +v 0.237750 2.145399 0.284323 +v 0.274954 2.145399 -0.050219 +v 0.237750 0.323845 0.209967 +v -0.282635 2.145399 0.172788 +v -0.208286 0.323845 0.209967 +v 0.237750 0.323845 -0.198932 +v -0.319839 2.145399 -0.347645 +v 0.237750 2.145399 -0.273226 +v -0.282635 0.323845 -0.273226 +v -0.245490 0.732875 0.209967 +v -0.171141 1.959250 -0.347645 +v 0.274954 1.513312 -0.236110 +v -0.319839 1.587486 -0.273226 +v 0.237750 0.732875 0.247145 +v 0.089052 0.323845 -0.236110 +v 0.163401 2.033781 0.284323 +f 95 104 106 +f 91 92 94 +f 93 95 96 +f 94 92 97 +f 97 92 98 +f 96 95 99 +f 97 90 99 +f 99 95 100 +f 90 97 101 +f 97 98 101 +f 92 93 102 +f 93 96 102 +f 96 98 102 +f 98 92 102 +f 94 97 103 +f 97 99 103 +f 100 94 103 +f 99 100 103 +f 92 91 104 +f 93 92 104 +f 95 93 104 +f 98 96 105 +f 99 90 105 +f 96 99 105 +f 90 101 105 +f 101 98 105 +f 91 94 106 +f 94 100 106 +f 100 95 106 +f 104 91 106 +o convex_4 +v -1.249422 -4.546039 0.284294 +v -1.100749 -4.954821 -0.384819 +v -1.100749 -4.917748 -0.384819 +v -3.107732 -4.880479 -0.310441 +v -1.063731 -4.360151 -0.310441 +v -1.063731 -5.029294 0.284294 +v -2.996078 -4.508966 0.358672 +v -2.959059 -4.954821 0.247105 +v -3.033296 -4.508966 -0.198946 +v -2.847405 -4.917748 -0.347630 +v -1.063731 -4.508966 0.247105 +v -1.063731 -4.992025 -0.347630 +v -1.212203 -4.360151 -0.198946 +v -2.884623 -4.843407 -0.347630 +v -2.996078 -4.620446 0.358672 +v -2.624496 -4.508966 0.358672 +v -2.959059 -4.954821 0.098421 +v -2.810387 -4.471697 -0.198946 +f 113 119 124 +f 110 113 115 +f 107 112 117 +f 112 111 117 +f 108 109 118 +f 109 111 118 +f 111 112 118 +f 116 108 118 +f 117 111 119 +f 109 108 120 +f 111 109 120 +f 110 115 120 +f 115 111 120 +f 108 116 120 +f 116 110 120 +f 113 110 121 +f 114 112 121 +f 110 114 121 +f 112 107 122 +f 107 117 122 +f 119 113 122 +f 117 119 122 +f 113 121 122 +f 121 112 122 +f 112 114 123 +f 114 110 123 +f 110 116 123 +f 118 112 123 +f 116 118 123 +f 111 115 124 +f 115 113 124 +f 119 111 124 +o convex_5 +v 1.092711 -4.434668 0.209952 +v -1.025975 -5.029418 -0.942438 +v -1.025975 -4.360290 -0.942438 +v -0.988832 -5.623890 1.102164 +v 0.943924 -5.772647 -0.942438 +v 1.092711 -5.772647 1.102164 +v -0.988832 -4.360290 1.102164 +v -1.025975 -5.772647 -0.905012 +v 0.943924 -4.360290 -0.942438 +v 1.055356 -4.360290 1.064938 +v -1.063331 -4.360290 0.544381 +v 1.092711 -4.880661 -0.235754 +v -0.877399 -5.661079 1.102164 +v -1.063331 -5.326516 -0.459107 +v 1.092711 -4.955039 1.102164 +v -1.025975 -5.772647 -0.607809 +v -1.063331 -4.360290 -0.756511 +v 0.795137 -5.772647 1.102164 +v -0.840044 -5.772647 -0.942438 +v 1.092711 -5.772647 0.804760 +v -1.063331 -5.103519 0.284203 +v 1.055356 -4.360290 -0.347430 +v -1.025975 -4.471857 1.027713 +f 135 145 147 +f 126 127 129 +f 128 130 131 +f 129 130 132 +f 129 127 133 +f 127 131 133 +f 133 131 134 +f 131 127 135 +f 125 130 136 +f 129 133 136 +f 130 128 137 +f 130 125 139 +f 131 130 139 +f 134 131 139 +f 125 134 139 +f 132 130 140 +f 137 128 140 +f 138 132 140 +f 127 126 141 +f 126 132 141 +f 135 127 141 +f 132 138 141 +f 138 135 141 +f 130 137 142 +f 140 130 142 +f 137 140 142 +f 126 129 143 +f 132 126 143 +f 129 132 143 +f 130 129 144 +f 136 130 144 +f 129 136 144 +f 135 138 145 +f 140 128 145 +f 138 140 145 +f 133 134 146 +f 134 125 146 +f 125 136 146 +f 136 133 146 +f 128 131 147 +f 131 135 147 +f 145 128 147 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/559/559.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/559/559.urdf new file mode 100644 index 000000000..5f43574da --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/559/559.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/560/560.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/560/560.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/560/560.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/560/560.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/560/560.obj new file mode 100644 index 000000000..2c92ffc31 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/560/560.obj @@ -0,0 +1,492 @@ +o convex_0 +v -0.348663 -4.929515 -0.300444 +v 0.322616 -4.364344 -0.088358 +v 0.322616 -4.435122 -0.088358 +v -0.348663 -4.964935 0.229492 +v 0.251914 -5.000293 -0.300444 +v -0.242610 -4.364344 -0.265024 +v 0.216562 -4.364344 0.335505 +v 0.216562 -5.000293 0.123480 +v -0.277961 -4.364344 0.229492 +v 0.322616 -4.364344 -0.265024 +v -0.348663 -5.000293 -0.300444 +v 0.181277 -4.929515 0.229492 +v -0.207324 -4.435122 -0.300444 +v 0.039938 -4.399702 0.335505 +v 0.287265 -4.964935 -0.300444 +f 13 10 15 +f 3 2 7 +f 2 6 7 +f 3 7 8 +f 1 4 9 +f 6 1 9 +f 7 6 9 +f 2 3 10 +f 6 2 10 +f 4 1 11 +f 1 5 11 +f 8 4 11 +f 5 8 11 +f 4 8 12 +f 8 7 12 +f 5 1 13 +f 1 6 13 +f 6 10 13 +f 9 4 14 +f 7 9 14 +f 4 12 14 +f 12 7 14 +f 8 5 15 +f 3 8 15 +f 10 3 15 +f 5 13 15 +o convex_1 +v 0.499089 -2.703770 -1.042018 +v -0.984467 0.828799 1.112776 +v 0.958371 0.828799 1.006670 +v 0.993750 -3.127607 0.935860 +v 1.099673 0.828799 -1.112828 +v -1.090389 -2.986182 -0.936130 +v -1.019846 0.828799 -0.971426 +v -0.949088 -2.986182 0.971156 +v 0.145943 -3.657734 -0.229558 +v 0.923207 -2.950606 -1.042236 +v -1.090389 0.334248 0.724085 +v -0.277961 -3.657734 0.193992 +v -0.984467 -2.738906 1.006670 +v -0.949088 0.758086 -1.006940 +v 1.099673 -0.054014 -0.547657 +v 0.287244 -3.657734 0.335176 +v -0.242582 -3.657734 -0.300150 +v 1.029129 -2.703330 0.723867 +v -0.878545 -2.986182 -0.971426 +v -1.055225 0.828799 1.112776 +v 1.099673 0.404961 -1.112828 +v -1.090389 -2.986182 -0.653545 +v 0.958371 -3.021318 -0.512144 +v 0.993750 0.828799 0.723867 +v -1.090389 -2.208779 -0.936130 +v 0.993750 -1.607940 0.971156 +v 0.251865 -3.657734 -0.194263 +v 0.145943 -3.056895 0.971156 +v 0.923207 0.758086 -1.113046 +v -0.984467 -2.986182 0.900564 +v -1.055225 -0.160303 1.077262 +v 1.099673 0.828799 -0.689059 +v -1.055225 -2.208779 -0.971426 +v 0.958371 -2.561904 -1.042236 +v -0.136660 -2.986182 -1.006722 +v -0.984467 0.758086 1.112776 +v -1.055225 0.828799 0.017513 +v 0.993750 -3.092031 0.405986 +v 1.029129 -2.632617 0.582465 +v 0.923207 -1.679092 -1.077532 +v 0.993750 -0.937705 0.971156 +v -0.065902 -3.056895 0.971156 +v -1.055225 -3.021318 -0.936130 +f 34 50 58 +f 17 18 20 +f 17 20 22 +f 22 20 29 +f 23 27 31 +f 27 24 31 +f 25 24 32 +f 24 27 32 +f 17 22 35 +f 20 30 36 +f 26 21 37 +f 20 18 39 +f 21 26 40 +f 19 33 41 +f 24 25 42 +f 19 31 42 +f 31 24 42 +f 25 38 42 +f 29 20 44 +f 20 36 44 +f 27 23 45 +f 23 28 45 +f 37 27 45 +f 37 45 46 +f 35 26 46 +f 28 35 46 +f 26 37 46 +f 45 28 46 +f 30 20 47 +f 20 39 47 +f 39 30 47 +f 22 29 48 +f 34 21 48 +f 21 40 48 +f 40 22 48 +f 29 44 48 +f 44 34 48 +f 25 36 49 +f 38 25 49 +f 16 25 50 +f 25 32 50 +f 34 16 50 +f 18 17 51 +f 17 35 51 +f 35 28 51 +f 41 18 51 +f 19 41 51 +f 43 19 51 +f 28 43 51 +f 35 22 52 +f 26 35 52 +f 40 26 52 +f 22 40 52 +f 33 19 53 +f 19 42 53 +f 42 38 53 +f 30 33 54 +f 36 30 54 +f 49 36 54 +f 38 49 54 +f 33 53 54 +f 53 38 54 +f 25 16 55 +f 16 34 55 +f 36 25 55 +f 34 44 55 +f 44 36 55 +f 33 30 56 +f 39 18 56 +f 30 39 56 +f 18 41 56 +f 41 33 56 +f 28 23 57 +f 31 19 57 +f 23 31 57 +f 19 43 57 +f 43 28 57 +f 32 27 58 +f 21 34 58 +f 37 21 58 +f 27 37 58 +f 50 32 58 +o convex_2 +v 0.287230 -3.657734 0.123331 +v 0.287230 -4.364344 -1.748275 +v 0.251934 -4.329000 -2.914589 +v -0.278002 -4.364344 0.830132 +v -0.242644 -3.799112 -2.914589 +v -0.278002 -3.657734 0.193823 +v 0.357947 -3.834387 -2.985458 +v -0.278002 -4.258311 -2.985458 +v 0.216514 -4.329000 0.830132 +v 0.287230 -3.799112 0.759263 +v 0.322526 -4.364344 -0.053463 +v -0.242644 -3.763767 0.830132 +v 0.357947 -4.329000 -2.914589 +v -0.242644 -4.364344 -0.265314 +v 0.357947 -3.799112 -2.738172 +v -0.101336 -3.657734 -0.300749 +v -0.207286 -3.799112 -3.020892 +v 0.322526 -4.011039 0.123331 +v 0.287230 -3.657734 0.335183 +v -0.278002 -4.046245 -2.985458 +v 0.251934 -3.799112 0.830132 +v 0.251934 -3.657734 -0.194823 +v -0.278002 -3.657734 -0.229880 +v 0.004676 -4.258311 -2.985458 +f 75 65 82 +f 62 64 66 +f 68 67 69 +f 62 60 69 +f 67 62 69 +f 64 62 70 +f 62 67 70 +f 60 61 71 +f 61 66 71 +f 69 60 71 +f 61 60 72 +f 60 62 72 +f 66 61 72 +f 62 66 72 +f 71 65 73 +f 64 59 74 +f 73 65 75 +f 68 69 76 +f 69 71 76 +f 71 73 76 +f 76 73 77 +f 59 64 77 +f 64 70 77 +f 73 59 77 +f 68 76 77 +f 66 64 78 +f 63 75 78 +f 75 66 78 +f 67 68 79 +f 70 67 79 +f 77 70 79 +f 68 77 79 +f 59 73 80 +f 74 59 80 +f 73 75 80 +f 75 74 80 +f 64 74 81 +f 74 75 81 +f 75 63 81 +f 63 78 81 +f 78 64 81 +f 65 71 82 +f 71 66 82 +f 66 75 82 +o convex_3 +v -0.277999 -3.940475 3.020622 +v 0.287286 -4.152327 3.020622 +v 0.287286 -4.187626 3.020622 +v -0.242665 -3.799057 0.830132 +v -0.277999 -4.364289 0.830132 +v 0.251893 -3.799057 0.830132 +v 0.216559 -4.328934 0.830132 +v -0.313333 -4.328934 2.879106 +v 0.181225 -3.834466 2.985243 +v -0.242665 -3.799057 3.020622 +v 0.287286 -4.222980 2.985243 +v -0.313333 -4.258280 1.995920 +v -0.313333 -4.293580 2.985243 +v 0.216559 -3.834466 2.879106 +v 0.216559 -4.328934 1.112948 +v 0.251893 -4.046429 0.830132 +v -0.242665 -4.364289 1.536852 +v 0.251893 -3.799057 1.289629 +v -0.313333 -4.152327 2.773184 +f 95 83 101 +f 85 84 83 +f 87 86 88 +f 87 88 89 +f 83 84 92 +f 86 83 92 +f 88 86 92 +f 84 91 92 +f 84 85 93 +f 88 84 93 +f 86 87 94 +f 87 90 94 +f 94 90 95 +f 85 83 95 +f 93 85 95 +f 90 93 95 +f 91 84 96 +f 92 91 96 +f 89 93 97 +f 93 90 97 +f 89 88 98 +f 88 93 98 +f 93 89 98 +f 87 89 99 +f 90 87 99 +f 89 97 99 +f 97 90 99 +f 84 88 100 +f 88 92 100 +f 96 84 100 +f 92 96 100 +f 83 86 101 +f 86 94 101 +f 94 95 101 +o convex_4 +v -1.055470 2.913616 -0.794946 +v -3.033557 0.864569 0.865268 +v -2.962989 0.864569 0.865268 +v -1.832512 3.019729 1.041966 +v -3.069038 3.019729 -1.113045 +v -1.055470 0.970681 -1.006940 +v -1.055470 1.041564 1.112776 +v -2.998273 0.935240 -1.113045 +v -2.998273 3.019729 0.971374 +v -1.055470 3.019729 1.041966 +v -3.033557 0.864569 1.006670 +v -1.055470 2.878175 -0.936130 +v -3.033557 1.889409 1.006670 +v -2.892223 3.019729 -1.113045 +v -1.161323 1.006122 1.112558 +v -3.069038 2.171673 -0.370960 +v -3.033557 3.019729 0.935860 +v -3.033557 1.429940 -1.113045 +v -1.090754 2.948847 1.077262 +v -1.550041 0.935451 -0.441552 +v -2.821654 0.935240 -1.113045 +v -1.302657 2.913616 -0.971426 +v -1.267373 1.076794 1.112558 +v -2.362368 0.935240 -1.077532 +v -1.055470 3.019729 0.900564 +v -2.609752 3.019729 1.006670 +v -1.055470 1.182695 -1.006940 +v -2.645036 0.900010 1.041966 +v -3.069038 3.019729 -0.406256 +v -1.055470 0.970681 -0.441552 +v -2.927704 0.864569 1.006670 +v -3.033557 0.900010 0.264584 +v -3.069038 2.454358 -1.113045 +v -1.585325 1.006122 -1.042236 +v -2.856939 2.984288 -1.113045 +f 135 122 136 +f 107 102 108 +f 104 103 109 +f 105 106 110 +f 106 105 111 +f 108 102 111 +f 103 104 112 +f 102 107 113 +f 109 106 115 +f 106 111 115 +f 103 112 117 +f 112 114 117 +f 110 106 118 +f 114 110 118 +f 106 109 119 +f 111 105 120 +f 108 111 120 +f 104 109 122 +f 109 115 122 +f 102 113 123 +f 115 102 123 +f 116 108 124 +f 120 105 124 +f 108 120 124 +f 121 104 125 +f 107 121 125 +f 104 122 125 +f 122 107 125 +f 111 102 126 +f 102 115 126 +f 115 111 126 +f 105 110 127 +f 110 114 127 +f 124 105 127 +f 114 124 127 +f 113 107 128 +f 123 113 128 +f 114 112 129 +f 124 114 129 +f 116 124 129 +f 106 117 130 +f 117 114 130 +f 114 118 130 +f 118 106 130 +f 107 108 131 +f 108 116 131 +f 121 107 131 +f 121 131 132 +f 112 104 132 +f 104 121 132 +f 129 112 132 +f 116 129 132 +f 131 116 132 +f 109 103 133 +f 103 117 133 +f 119 109 133 +f 119 133 134 +f 117 106 134 +f 106 119 134 +f 133 117 134 +f 107 122 135 +f 128 107 135 +f 128 135 136 +f 122 115 136 +f 115 123 136 +f 123 128 136 +o convex_5 +v 3.078222 3.055059 -0.123671 +v 0.888029 0.970841 -1.113045 +v -1.055273 0.970841 -1.006940 +v -0.949171 0.829453 1.112776 +v -1.055273 2.878161 -0.936130 +v -1.055273 3.019331 1.077262 +v 3.078222 1.006133 0.971156 +v 3.113725 0.900038 -1.042236 +v 2.936616 3.019549 1.006452 +v 3.113725 3.055059 -1.006722 +v -0.949171 0.829453 -1.006940 +v 0.958627 0.829453 1.006670 +v 0.393429 2.454215 1.112558 +v -1.055273 0.829453 1.112776 +v 2.936616 2.948746 -1.042018 +v 3.078222 3.019549 0.971374 +v 1.099825 0.829453 -1.113045 +v 3.113725 0.900038 -0.476848 +v -1.055273 2.913454 -0.794947 +v 1.558921 2.984256 1.077262 +v 0.958627 2.878161 -1.006722 +v 2.830922 3.055059 -1.006940 +v 1.241022 1.253399 -1.113045 +v -1.055273 3.019331 0.900564 +v 3.113725 3.055059 -0.370960 +v -1.055273 1.500664 1.112776 +v -1.055273 2.171657 -0.971426 +v 3.078222 0.970623 0.617979 +v 1.382220 1.006133 -1.113045 +v 3.113725 2.065562 -1.042236 +v -0.207272 2.878161 -0.971426 +v -1.019770 0.829453 -0.936130 +v 0.888029 1.041426 -1.113045 +v 0.393429 2.383630 1.112558 +f 156 149 170 +f 141 139 142 +f 137 142 145 +f 139 138 147 +f 143 140 148 +f 140 147 148 +f 142 139 150 +f 147 140 150 +f 137 145 152 +f 145 143 152 +f 147 138 153 +f 148 147 153 +f 144 146 154 +f 153 144 154 +f 148 153 154 +f 141 142 155 +f 145 142 156 +f 143 145 156 +f 142 149 156 +f 151 157 158 +f 142 137 158 +f 137 146 158 +f 146 151 158 +f 141 155 158 +f 153 138 159 +f 157 151 159 +f 155 142 160 +f 142 158 160 +f 158 155 160 +f 146 137 161 +f 137 152 161 +f 152 143 161 +f 154 146 161 +f 143 154 161 +f 140 149 162 +f 149 142 162 +f 142 150 162 +f 150 140 162 +f 139 141 163 +f 143 148 164 +f 154 143 164 +f 148 154 164 +f 144 153 165 +f 159 151 165 +f 153 159 165 +f 146 144 166 +f 151 146 166 +f 144 165 166 +f 165 151 166 +f 158 157 167 +f 141 158 167 +f 157 159 167 +f 139 147 168 +f 150 139 168 +f 147 150 168 +f 138 139 169 +f 159 138 169 +f 139 163 169 +f 163 141 169 +f 141 167 169 +f 167 159 169 +f 140 143 170 +f 149 140 170 +f 143 156 170 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/560/560.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/560/560.urdf new file mode 100644 index 000000000..03e9a78ff --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/560/560.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/561/561.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/561/561.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/561/561.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/561/561.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/561/561.obj new file mode 100644 index 000000000..a4d85f5ef --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/561/561.obj @@ -0,0 +1,717 @@ +o convex_0 +v -1.604791 1.237051 0.582436 +v -1.711182 0.211794 -0.619683 +v -2.064657 0.211794 -0.584265 +v -3.584365 1.378556 -0.478126 +v -3.443091 0.211794 0.511598 +v -1.604791 1.272342 -0.548846 +v -3.478361 1.378556 0.582318 +v -1.604791 0.353299 0.511598 +v -3.478361 0.317894 -0.548964 +v -1.604791 0.211794 -0.372105 +v -3.336894 0.317894 0.546900 +v -1.746452 1.060255 -0.584265 +v -3.513825 0.565386 -0.548964 +v -1.923190 0.883459 0.582318 +v -3.124887 1.378556 -0.478126 +v -3.301624 1.378556 0.582318 +v -3.584365 1.343152 -0.266084 +v -1.781916 0.317894 0.511598 +v -1.604791 0.211794 -0.619683 +v -3.478361 1.095660 0.582318 +v -3.478361 0.282603 -0.336686 +v -2.241394 1.307632 -0.548964 +v -3.230891 0.211794 0.511598 +v -2.877416 0.353299 -0.584265 +v -1.604791 0.565386 0.546900 +v -1.604791 1.272342 -0.372105 +v -3.443091 0.211794 0.370159 +v -3.584365 1.201760 -0.407524 +f 13 21 28 +f 3 2 5 +f 6 1 8 +f 2 3 9 +f 5 2 10 +f 6 8 10 +f 4 7 15 +f 15 7 16 +f 7 1 16 +f 7 4 17 +f 10 8 18 +f 10 2 19 +f 6 10 19 +f 2 12 19 +f 12 6 19 +f 1 7 20 +f 5 11 20 +f 14 1 20 +f 11 14 20 +f 7 17 20 +f 17 5 20 +f 9 3 21 +f 13 9 21 +f 6 12 22 +f 13 4 22 +f 12 13 22 +f 4 15 22 +f 15 6 22 +f 5 10 23 +f 11 5 23 +f 10 18 23 +f 18 11 23 +f 2 9 24 +f 12 2 24 +f 9 13 24 +f 13 12 24 +f 8 1 25 +f 1 14 25 +f 14 11 25 +f 18 8 25 +f 11 18 25 +f 1 6 26 +f 6 15 26 +f 15 16 26 +f 16 1 26 +f 3 5 27 +f 21 3 27 +f 5 21 27 +f 4 13 28 +f 17 4 28 +f 5 17 28 +f 21 5 28 +o convex_1 +v 0.551904 -0.495605 -0.902396 +v -1.604791 -4.242946 0.900450 +v -1.604791 -4.242946 0.971260 +v -1.569386 -0.106414 -0.725476 +v 0.516499 -0.106414 1.006353 +v 0.587094 -4.278475 -1.008300 +v 0.587094 -4.278475 0.935959 +v -1.463172 -4.207417 -1.043808 +v -1.498576 -0.106414 0.971260 +v 0.481094 -0.106414 -1.043808 +v -1.463172 -0.106414 -0.937697 +v 0.445689 -2.227566 1.042070 +v 0.587094 -0.106414 0.617626 +v 0.551904 -2.510577 -1.079317 +v -0.579336 -3.253021 -1.079317 +v -1.498576 -4.242946 -0.760984 +v 0.587094 -0.106414 -0.654874 +v -1.569386 -0.106414 -0.018624 +v -1.180362 -0.106414 -0.972999 +v -0.685551 -0.106414 1.006561 +v -0.296741 -4.278475 0.405405 +v 0.056879 -0.106414 -1.043601 +v -1.463172 -3.606274 -1.043808 +v -1.569386 -0.778616 -0.725476 +v -0.084526 -4.242946 -1.043601 +v 0.516499 -1.308700 -1.079317 +v -0.084526 -4.278475 -1.008300 +v 0.516499 -1.839192 1.042070 +v 0.587094 -3.747983 -1.043808 +v -0.756146 -2.157732 1.006561 +v -1.498576 -0.531135 -0.937697 +v 0.551904 -1.733012 -1.079317 +v 0.339689 -2.157324 1.042070 +v -0.296741 -4.278475 0.935751 +v -1.427981 -4.242946 -1.043808 +v 0.551904 -0.106414 0.865149 +f 41 33 64 +f 30 31 32 +f 33 32 37 +f 32 33 38 +f 32 38 39 +f 31 35 40 +f 35 34 41 +f 38 33 41 +f 29 38 45 +f 41 34 45 +f 38 41 45 +f 32 31 46 +f 31 37 46 +f 37 32 46 +f 39 38 47 +f 33 37 48 +f 31 30 49 +f 34 35 49 +f 30 44 49 +f 47 38 50 +f 47 50 51 +f 36 32 51 +f 43 36 51 +f 39 47 51 +f 50 43 51 +f 30 32 52 +f 32 36 52 +f 44 30 52 +f 36 44 52 +f 43 42 53 +f 42 43 54 +f 50 38 54 +f 43 50 54 +f 34 49 55 +f 49 44 55 +f 35 33 56 +f 40 35 56 +f 33 48 56 +f 45 34 57 +f 34 53 57 +f 53 42 57 +f 37 31 58 +f 48 37 58 +f 32 39 59 +f 51 32 59 +f 39 51 59 +f 38 29 60 +f 29 45 60 +f 54 38 60 +f 42 54 60 +f 57 42 60 +f 45 57 60 +f 31 40 61 +f 40 56 61 +f 56 48 61 +f 58 31 61 +f 48 58 61 +f 35 31 62 +f 31 49 62 +f 49 35 62 +f 36 43 63 +f 44 36 63 +f 53 34 63 +f 43 53 63 +f 55 44 63 +f 34 55 63 +f 33 35 64 +f 35 41 64 +o convex_2 +v 1.506459 -2.333870 0.087252 +v 2.072217 0.176437 0.582315 +v 2.107636 0.176437 -0.053866 +v 0.905517 0.176437 0.263982 +v 1.223815 -1.378990 -0.654919 +v 0.905517 -2.192088 0.440713 +v 1.965961 -2.262856 -0.513437 +v 1.930542 -2.333870 0.511574 +v 1.011655 0.176437 -0.548808 +v 0.976472 -2.298241 -0.478067 +v 2.107636 0.176437 -0.478188 +v 0.905517 0.176437 0.582315 +v 1.824404 -0.990502 -0.654919 +v 1.188396 -1.555911 0.547066 +v 2.072217 -0.212788 0.582315 +v 2.001379 -2.015168 -0.513437 +v 1.011891 -2.298241 -0.548808 +v 1.754037 -1.520527 -0.654919 +v 0.976236 0.176437 -0.478188 +v 0.905517 -2.227718 0.193363 +v 0.905517 -0.353833 0.582315 +v 1.965961 -2.298241 0.051882 +v 1.259233 -2.262856 0.476204 +v 1.294770 0.176437 -0.548808 +v 1.329836 -0.990502 -0.654919 +v 2.001379 -1.378990 0.547066 +v 0.905517 -1.980029 0.476204 +f 70 87 91 +f 66 67 68 +f 65 71 72 +f 68 67 73 +f 73 67 75 +f 66 68 76 +f 68 70 76 +f 67 66 79 +f 66 76 79 +f 75 67 80 +f 77 75 80 +f 67 79 80 +f 71 65 81 +f 73 69 81 +f 65 74 81 +f 69 77 82 +f 80 71 82 +f 77 80 82 +f 81 69 82 +f 71 81 82 +f 68 73 83 +f 73 81 83 +f 81 74 83 +f 70 68 84 +f 68 83 84 +f 83 74 84 +f 76 70 85 +f 79 76 85 +f 78 79 85 +f 72 71 86 +f 80 79 86 +f 71 80 86 +f 65 72 87 +f 74 65 87 +f 72 78 87 +f 70 84 87 +f 84 74 87 +f 73 75 88 +f 77 73 88 +f 75 77 88 +f 69 73 89 +f 77 69 89 +f 73 77 89 +f 78 72 90 +f 79 78 90 +f 72 86 90 +f 86 79 90 +f 85 70 91 +f 78 85 91 +f 87 78 91 +o convex_3 +v 1.117795 2.510184 -0.513427 +v 1.930725 3.747175 0.582436 +v 1.966161 3.782539 0.370277 +v 2.036812 1.378799 0.511598 +v 0.905731 3.711812 0.547017 +v 2.036812 3.853266 -0.619683 +v 0.940946 1.378799 -0.478126 +v 1.966161 1.378799 -0.548846 +v 1.011708 1.378799 0.476297 +v 1.047033 3.711812 -0.513427 +v 1.753987 3.853266 -0.301385 +v 2.036812 1.378799 0.087280 +v 1.011708 3.676449 -0.478126 +v 1.153121 1.873886 0.511598 +v 2.036812 1.944613 0.511598 +v 0.976382 1.414162 0.334740 +v 2.001487 1.661706 -0.548846 +v 0.976382 3.747175 0.476297 +v 1.966161 3.747175 -0.619683 +v 2.036812 3.853266 -0.407406 +v 0.905731 3.358178 0.334740 +v 1.895399 3.570359 0.582436 +v 1.117795 3.747175 -0.442707 +v 0.940946 1.414162 -0.230665 +v 0.905731 3.605722 0.547017 +v 2.036812 3.181604 -0.584265 +v 1.188446 1.838522 -0.513427 +f 110 99 118 +f 95 98 99 +f 98 95 100 +f 92 98 101 +f 97 95 103 +f 95 99 103 +f 96 101 104 +f 101 98 104 +f 100 95 105 +f 94 93 106 +f 93 95 106 +f 95 97 106 +f 98 100 107 +f 99 97 108 +f 103 99 108 +f 93 94 109 +f 96 93 109 +f 101 96 109 +f 94 102 109 +f 97 99 110 +f 92 101 110 +f 101 97 110 +f 102 94 111 +f 97 102 111 +f 94 106 111 +f 106 97 111 +f 96 104 112 +f 104 98 112 +f 95 93 113 +f 93 96 113 +f 105 95 113 +f 97 101 114 +f 102 97 114 +f 101 109 114 +f 109 102 114 +f 98 107 115 +f 112 98 115 +f 112 115 116 +f 100 105 116 +f 107 100 116 +f 96 112 116 +f 113 96 116 +f 105 113 116 +f 115 107 116 +f 97 103 117 +f 108 97 117 +f 103 108 117 +f 98 92 118 +f 99 98 118 +f 92 110 118 +o convex_4 +v -1.604694 1.201624 0.582166 +v 0.056798 -0.106082 -1.043961 +v -1.180367 -0.106082 -0.973102 +v 0.516467 -0.106082 1.006713 +v 0.445786 1.626052 -1.043961 +v 0.516467 1.626052 0.971184 +v -1.498672 1.626052 -0.902445 +v -1.534013 -0.106082 0.971184 +v 0.834773 0.247297 -0.513427 +v -1.569354 1.626052 0.971184 +v -1.604694 -0.070812 -0.654943 +v 0.834773 1.307603 0.511508 +v 0.516467 -0.106082 -1.008431 +v 0.834773 1.307603 -0.478098 +v 0.834773 0.282567 0.582367 +v -1.604694 1.378313 -0.654943 +v -1.463093 -0.106082 -0.937774 +v -1.463093 1.626052 -0.937774 +v -0.650017 0.070607 1.006713 +v 0.587149 -0.106252 0.617695 +v -1.604694 0.353446 0.511709 +v 0.834773 0.600845 0.617695 +v 0.516467 0.318006 1.006713 +v 0.304184 1.626052 -1.043961 +v 0.481126 1.024765 -1.043961 +v 0.587149 -0.106252 -0.654742 +v 0.481126 -0.106082 -1.043961 +v -1.569354 0.777365 0.971184 +v -1.534013 -0.106082 -0.831587 +f 144 126 147 +f 124 123 125 +f 124 125 128 +f 123 124 132 +f 124 130 132 +f 130 127 132 +f 127 130 133 +f 128 125 134 +f 119 128 134 +f 129 119 134 +f 125 123 136 +f 121 135 136 +f 135 125 136 +f 126 122 137 +f 122 126 138 +f 133 122 138 +f 127 133 138 +f 119 129 139 +f 129 126 139 +f 130 124 140 +f 122 133 140 +f 133 130 140 +f 124 128 141 +f 137 122 141 +f 128 137 141 +f 122 140 141 +f 140 124 141 +f 120 121 142 +f 123 120 142 +f 121 136 142 +f 136 123 142 +f 120 123 143 +f 127 131 143 +f 132 127 143 +f 123 132 143 +f 121 120 144 +f 131 127 144 +f 135 121 144 +f 138 126 144 +f 127 138 144 +f 120 143 145 +f 143 131 145 +f 144 120 145 +f 131 144 145 +f 128 119 146 +f 126 137 146 +f 137 128 146 +f 119 139 146 +f 139 126 146 +f 126 129 147 +f 134 125 147 +f 129 134 147 +f 125 135 147 +f 135 144 147 +o convex_5 +v 0.375094 3.853425 0.016577 +v -1.604791 1.626052 0.511429 +v -1.498576 1.626052 -0.902403 +v 0.516499 1.626052 0.971236 +v -1.427981 3.711888 1.041959 +v 0.375094 3.782767 -1.079317 +v -1.427981 3.853425 -1.008383 +v 0.445689 1.626052 -1.043850 +v 0.587094 3.888864 1.077426 +v -1.604791 1.661713 0.971025 +v -1.604791 2.156537 0.299259 +v 0.445689 3.782767 -0.902403 +v -0.508741 3.817985 1.077426 +v -1.109766 3.853425 -1.043850 +v 0.587094 3.499694 1.077426 +v -1.463172 1.626052 -0.937659 +v -1.463172 3.676670 1.041959 +v -1.463172 3.711888 -0.902403 +v 0.445689 2.651804 -1.079317 +v -1.427981 3.853425 -0.619510 +v 0.587094 3.888864 0.900512 +v -0.579336 3.888864 -0.053935 +v -1.427981 3.747106 0.971025 +v -1.569172 1.626052 0.971025 +v 0.551904 2.333291 0.935980 +v -0.367336 3.747328 -1.079317 +v 0.339689 1.626052 -1.043850 +v -1.427981 3.287500 -1.008383 +v -1.463172 3.287500 1.041959 +v -1.604791 2.156537 0.617619 +v 0.198284 3.888864 0.935980 +v -0.508741 3.888864 -0.124658 +v -0.543932 3.747328 1.077426 +v 0.587094 3.676449 0.900512 +f 162 172 181 +f 149 150 151 +f 151 150 155 +f 150 149 158 +f 149 157 158 +f 156 160 162 +f 155 150 163 +f 160 152 164 +f 154 150 165 +f 150 158 165 +f 153 159 166 +f 154 165 167 +f 165 164 167 +f 153 148 168 +f 159 153 168 +f 156 162 168 +f 166 159 168 +f 154 167 169 +f 156 168 169 +f 152 160 170 +f 164 152 170 +f 167 164 170 +f 169 167 170 +f 149 151 171 +f 157 149 171 +f 151 162 171 +f 151 155 172 +f 162 151 172 +f 161 153 173 +f 153 166 173 +f 173 166 174 +f 155 163 174 +f 166 155 174 +f 150 154 175 +f 154 161 175 +f 163 150 175 +f 161 173 175 +f 173 174 175 +f 174 163 175 +f 164 157 176 +f 157 171 176 +f 158 157 177 +f 157 164 177 +f 165 158 177 +f 164 165 177 +f 160 156 178 +f 156 169 178 +f 170 160 178 +f 169 170 178 +f 148 153 179 +f 153 161 179 +f 161 154 179 +f 168 148 179 +f 154 169 179 +f 169 168 179 +f 162 160 180 +f 160 164 180 +f 171 162 180 +f 164 176 180 +f 176 171 180 +f 155 166 181 +f 168 162 181 +f 166 168 181 +f 172 155 181 +o convex_6 +v 1.541926 -1.025800 3.092744 +v 1.471220 -1.591254 2.067351 +v 1.188458 -1.555946 0.547080 +v 1.789428 -0.990426 0.547080 +v 1.153012 -1.025800 0.617848 +v 1.223780 -1.555946 3.057359 +v 1.718660 -1.591254 3.092744 +v 1.718660 -1.555946 0.547080 +v 1.294548 -0.919613 2.986591 +v 1.718660 -1.025800 3.092744 +v 1.188458 -1.520572 2.774536 +v 1.259102 -0.919613 2.597615 +v 1.435898 -0.919613 3.021976 +v 1.153012 -1.414517 0.547080 +v 1.789428 -1.167163 0.617848 +v 1.789428 -0.990426 1.112977 +v 1.153012 -1.061108 0.547080 +v 1.471220 -1.591254 3.092744 +v 1.259102 -1.061108 3.021976 +v 1.683338 -0.990426 3.092744 +f 197 194 201 +f 183 184 189 +f 184 185 189 +f 188 183 189 +f 182 188 191 +f 184 187 192 +f 185 186 193 +f 190 182 194 +f 193 190 194 +f 185 193 194 +f 185 184 195 +f 184 192 195 +f 192 186 195 +f 189 185 196 +f 188 189 196 +f 191 188 197 +f 185 194 197 +f 196 185 197 +f 188 196 197 +f 186 185 198 +f 185 195 198 +f 195 186 198 +f 184 183 199 +f 187 184 199 +f 182 187 199 +f 188 182 199 +f 183 188 199 +f 187 182 200 +f 182 190 200 +f 186 192 200 +f 192 187 200 +f 190 193 200 +f 193 186 200 +f 182 191 201 +f 194 182 201 +f 191 197 201 +o convex_7 +v 1.647919 -0.884256 -2.847001 +v 1.294548 -1.556029 -1.221034 +v 1.223787 -1.520586 -1.786557 +v 1.860141 -1.449831 -3.059278 +v 1.824698 -0.990454 -0.655040 +v 1.294548 -0.884256 -2.953140 +v 1.329867 -0.990454 -0.655040 +v 1.789317 -1.520586 -0.725877 +v 1.223787 -1.449831 -2.988441 +v 1.223787 -1.556029 -0.655040 +v 1.824698 -0.919699 -2.988441 +v 1.223787 -1.379208 -0.655040 +v 1.294548 -0.884256 -2.422682 +v 1.259167 -0.955011 -2.953140 +v 1.860141 -1.273143 -1.998128 +v 1.294548 -0.955011 -1.150196 +v 1.789317 -1.485274 -2.634724 +v 1.860141 -1.096519 -3.023507 +v 1.506645 -1.556029 -0.655040 +v 1.824698 -1.202585 -0.655040 +v 1.718618 -1.343765 -3.059278 +f 207 219 222 +f 203 204 210 +f 204 203 211 +f 206 208 211 +f 210 204 211 +f 202 206 212 +f 207 202 212 +f 210 211 213 +f 211 208 213 +f 206 202 214 +f 202 207 214 +f 207 210 215 +f 210 213 215 +f 214 207 215 +f 209 205 216 +f 208 206 217 +f 213 208 217 +f 206 214 217 +f 215 213 217 +f 214 215 217 +f 205 209 218 +f 203 210 218 +f 210 205 218 +f 212 206 219 +f 207 212 219 +f 206 216 219 +f 216 205 219 +f 211 203 220 +f 206 211 220 +f 203 218 220 +f 218 209 220 +f 216 206 221 +f 209 216 221 +f 206 220 221 +f 220 209 221 +f 205 210 222 +f 210 207 222 +f 219 205 222 +o convex_8 +v 2.531747 0.530119 0.158055 +v 2.496367 0.176555 -0.584327 +v 2.496367 0.211970 -0.584327 +v 0.834970 0.317981 0.617792 +v 0.941112 1.378556 -0.478188 +v 2.496367 1.307726 0.511654 +v 0.870350 0.211970 -0.548908 +v 2.496367 1.343024 -0.442887 +v 0.834970 1.272311 0.511654 +v 2.072131 0.176555 0.582374 +v 2.531747 0.247268 0.511654 +v 1.930608 1.307726 -0.548908 +v 1.930608 1.378556 0.511654 +v 0.905731 0.176555 0.582374 +v 0.834970 1.307726 -0.478188 +v 1.011873 1.378556 0.476353 +v 2.142726 1.378556 -0.513607 +v 1.011873 0.176555 -0.548908 +v 0.870350 0.530119 0.617792 +v 2.531747 0.812736 -0.513607 +v 0.834970 0.247268 -0.513607 +v 2.531747 0.176555 -0.266029 +v 2.178107 0.317981 0.582374 +v 0.976492 0.494822 -0.548908 +v 2.496367 1.343024 0.052034 +v 0.834970 1.130885 0.547073 +f 241 235 248 +f 225 224 229 +f 223 228 233 +f 224 232 236 +f 232 226 236 +f 226 231 237 +f 231 227 237 +f 227 234 237 +f 227 231 238 +f 235 227 238 +f 231 235 238 +f 225 234 239 +f 234 227 239 +f 227 235 239 +f 229 224 240 +f 224 236 240 +f 236 229 240 +f 228 235 241 +f 224 225 242 +f 228 223 242 +f 223 233 242 +f 225 239 242 +f 239 230 242 +f 229 236 243 +f 236 226 243 +f 226 237 243 +f 237 229 243 +f 232 224 244 +f 233 232 244 +f 224 242 244 +f 242 233 244 +f 226 232 245 +f 233 228 245 +f 232 233 245 +f 241 226 245 +f 228 241 245 +f 225 229 246 +f 234 225 246 +f 229 237 246 +f 237 234 246 +f 235 228 247 +f 230 239 247 +f 239 235 247 +f 228 242 247 +f 242 230 247 +f 231 226 248 +f 235 231 248 +f 226 241 248 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/561/561.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/561/561.urdf new file mode 100644 index 000000000..20fa4df62 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/561/561.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/562/562.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/562/562.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/562/562.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/562/562.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/562/562.obj new file mode 100644 index 000000000..1efcf579d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/562/562.obj @@ -0,0 +1,504 @@ +o convex_0 +v -0.284884 -0.625443 -2.853403 +v 0.308362 -0.656618 -1.917116 +v 0.308362 -0.687915 -1.917116 +v -0.347334 -0.719150 -1.104947 +v -0.066275 -0.157150 -1.104947 +v 0.245912 -0.188386 -3.040812 +v -0.222433 -0.125914 -2.978089 +v 0.308362 -0.750386 -3.040812 +v 0.245912 -0.157150 -1.104947 +v 0.277041 -0.656618 -1.104947 +v -0.253626 -0.188386 -1.104947 +v -0.253626 -0.687915 -3.009545 +v 0.308362 -0.500561 -3.040812 +v 0.089690 -0.750386 -3.040812 +v 0.308362 -0.750386 -2.572384 +v 0.245912 -0.157150 -2.572384 +v -0.159983 -0.719150 -1.104947 +v -0.316077 -0.719150 -2.072879 +v -0.347334 -0.687915 -1.261090 +v -0.284884 -0.313268 -1.167480 +v -0.097533 -0.625443 -3.040812 +v 0.277041 -0.282032 -3.040812 +v 0.277041 -0.344504 -1.542108 +f 22 9 23 +f 2 3 8 +f 5 4 9 +f 7 5 9 +f 3 2 10 +f 9 4 10 +f 4 5 11 +f 5 7 11 +f 1 7 12 +f 2 8 13 +f 8 6 13 +f 6 8 14 +f 8 3 15 +f 3 10 15 +f 4 14 15 +f 14 8 15 +f 6 7 16 +f 7 9 16 +f 10 4 17 +f 15 10 17 +f 4 15 17 +f 1 12 18 +f 14 4 18 +f 12 14 18 +f 7 1 19 +f 1 18 19 +f 18 4 19 +f 4 11 20 +f 11 7 20 +f 7 19 20 +f 19 4 20 +f 7 6 21 +f 12 7 21 +f 6 14 21 +f 14 12 21 +f 13 6 22 +f 6 16 22 +f 16 9 22 +f 10 2 23 +f 9 10 23 +f 2 13 23 +f 13 22 23 +o convex_1 +v 0.277004 2.153279 -1.198826 +v -0.284801 0.998137 -1.417297 +v -0.253553 0.998137 -1.417297 +v 0.464382 2.215858 -3.103259 +v -0.534676 2.184628 -2.946985 +v 0.464382 1.029485 -2.915691 +v 0.589375 1.091945 -1.105335 +v -0.440931 2.184628 -1.105139 +v -0.534676 1.060715 -2.978083 +v -0.440931 1.060715 -1.105139 +v 0.589375 2.215858 -3.009377 +v 0.495631 2.122049 -1.105335 +v 0.589375 2.059590 -3.103259 +v -0.472180 2.184628 -1.292316 +v 0.589375 1.060715 -1.355100 +v -0.128671 1.029485 -2.978083 +v -0.440931 0.998137 -1.136433 +v 0.495631 1.123175 -2.946789 +v -0.534676 1.997130 -2.978083 +v 0.589375 1.247974 -1.105335 +v -0.534676 1.091945 -2.822004 +v -0.503318 1.029485 -2.790906 +v -0.159919 2.184628 -1.105139 +v 0.558127 2.153279 -2.135102 +v 0.558127 1.060715 -1.105335 +v 0.495631 1.029485 -2.822004 +v -0.534676 2.184628 -2.790906 +v -0.472180 1.934790 -1.292316 +v 0.495631 1.029485 -2.478553 +v -0.316049 0.998137 -1.105139 +f 52 48 53 +f 27 31 34 +f 34 24 35 +f 32 27 36 +f 27 34 36 +f 34 30 36 +f 31 27 37 +f 33 31 37 +f 36 30 38 +f 26 25 39 +f 29 26 39 +f 32 36 39 +f 25 26 40 +f 29 39 41 +f 39 36 41 +f 28 27 42 +f 27 32 42 +f 32 28 42 +f 30 34 43 +f 28 32 44 +f 40 33 44 +f 32 40 44 +f 39 25 45 +f 32 39 45 +f 25 40 45 +f 40 32 45 +f 31 33 46 +f 24 34 46 +f 34 31 46 +f 35 24 46 +f 30 43 46 +f 43 35 46 +f 34 35 47 +f 43 34 47 +f 35 43 47 +f 38 30 48 +f 26 29 49 +f 36 38 49 +f 29 41 49 +f 41 36 49 +f 27 28 50 +f 37 27 50 +f 28 44 50 +f 50 44 51 +f 33 37 51 +f 44 33 51 +f 37 50 51 +f 38 48 52 +f 26 49 52 +f 49 38 52 +f 40 26 53 +f 33 40 53 +f 30 46 53 +f 46 33 53 +f 48 30 53 +f 26 52 53 +o convex_2 +v -1.065453 -0.686860 -0.043164 +v 0.589389 2.183953 1.111930 +v 0.495682 2.183953 1.111930 +v 1.088943 2.621077 -1.010986 +v 0.964001 -3.434844 1.049434 +v 1.088943 -3.466756 -0.948707 +v -0.971747 2.527149 -0.979955 +v -1.002982 -3.498065 -0.948707 +v -0.971747 -3.341519 1.018186 +v -1.096689 2.590370 1.018186 +v 1.026472 2.652988 1.080682 +v -0.347250 -0.718771 -1.104947 +v 0.495682 2.121334 -1.104947 +v -0.191072 -0.656153 1.111930 +v -0.565898 2.121936 1.111930 +v -0.440956 2.183953 -1.104947 +v -1.002982 2.090025 -0.979955 +v 0.651646 1.216378 -1.104947 +v 0.995237 -1.530402 1.080682 +v -0.909275 2.621679 0.986938 +v 0.277033 -0.655551 -1.104947 +v -0.097365 -3.403535 1.049434 +v -1.034218 -2.841776 -0.729970 +v -1.096689 1.496956 0.643426 +v 1.088943 2.621077 -0.698939 +v 0.745353 -2.903792 1.080682 +v 1.088943 -2.841776 -0.979738 +v -0.909275 -3.122957 -0.979955 +v 1.088943 -3.466756 -0.854962 +v -0.815569 -2.904394 1.049434 +v -1.002982 -3.498065 -0.698722 +v 0.277033 2.652988 1.080682 +v -1.034218 2.558459 -0.386675 +v -1.002982 -1.468386 -0.979955 +v 0.839059 2.059318 1.111930 +v 0.058385 -3.498065 -0.917459 +v -1.065453 0.497470 1.018186 +v 1.026472 2.433824 -1.042451 +v -0.503427 2.558459 -1.011203 +v 0.995237 -3.434844 0.768201 +v -0.971747 -3.372828 0.986938 +v -0.472192 1.059832 -1.104947 +v -0.940511 2.433824 -1.011203 +v 0.308269 -0.687462 1.111930 +v 1.026472 2.153245 1.080682 +v -1.002982 -3.278901 0.112643 +v -1.096689 2.590370 0.705922 +v 0.995237 2.652988 0.268666 +v 1.026472 -3.466756 -0.074412 +v 0.964001 -2.373342 1.080682 +v 1.057708 2.527752 0.237418 +v -0.534663 1.185069 1.111930 +v 0.682881 -3.434844 1.049434 +v -1.034218 -2.373342 -0.729970 +v -1.096689 1.872065 1.018186 +v -1.002982 -2.216796 1.018186 +v -0.846804 -2.404651 1.049434 +v -1.065453 2.590370 0.299914 +v 1.026472 2.621077 -1.010986 +v -0.347250 -3.372828 1.049434 +v -0.628156 2.621679 1.049434 +v -1.002982 2.527149 -0.948707 +v -1.034218 -2.685230 -0.542699 +v 1.088943 0.310217 -1.010986 +f 71 91 117 +f 56 55 64 +f 55 56 67 +f 67 56 68 +f 57 66 69 +f 66 65 69 +f 65 66 71 +f 65 71 74 +f 76 54 77 +f 59 57 78 +f 57 64 78 +f 57 59 80 +f 59 74 80 +f 74 71 80 +f 59 61 81 +f 74 59 81 +f 65 74 81 +f 59 78 82 +f 76 61 84 +f 56 64 85 +f 68 56 85 +f 61 76 87 +f 76 70 87 +f 81 61 87 +f 64 55 88 +f 55 67 88 +f 61 59 89 +f 59 82 89 +f 58 84 89 +f 84 61 89 +f 66 57 91 +f 71 66 91 +f 72 58 93 +f 82 72 93 +f 75 62 94 +f 84 75 94 +f 69 65 95 +f 65 81 95 +f 81 87 95 +f 95 87 96 +f 70 60 96 +f 87 70 96 +f 92 69 96 +f 60 92 96 +f 69 95 96 +f 67 79 97 +f 88 67 97 +f 72 82 98 +f 64 88 98 +f 88 72 98 +f 76 84 99 +f 94 62 99 +f 84 94 99 +f 63 73 100 +f 77 63 100 +f 64 57 101 +f 85 64 101 +f 73 85 101 +f 58 89 102 +f 89 82 102 +f 93 58 102 +f 82 93 102 +f 58 72 103 +f 79 58 103 +f 72 88 103 +f 97 79 103 +f 88 97 103 +f 78 64 104 +f 82 78 104 +f 64 98 104 +f 98 82 104 +f 67 68 105 +f 83 67 105 +f 58 79 106 +f 79 75 106 +f 84 58 106 +f 75 84 106 +f 70 76 107 +f 76 77 107 +f 100 70 107 +f 77 100 107 +f 68 63 108 +f 63 77 108 +f 90 99 109 +f 99 62 109 +f 62 83 110 +f 105 68 110 +f 83 105 110 +f 68 108 110 +f 108 90 110 +f 109 62 110 +f 90 109 110 +f 92 86 111 +f 100 73 111 +f 86 100 111 +f 57 69 112 +f 69 92 112 +f 101 57 112 +f 73 101 112 +f 111 73 112 +f 92 111 112 +f 62 75 113 +f 79 67 113 +f 75 79 113 +f 83 62 113 +f 67 83 113 +f 63 68 114 +f 73 63 114 +f 68 85 114 +f 85 73 114 +f 60 70 115 +f 92 60 115 +f 86 92 115 +f 70 100 115 +f 100 86 115 +f 54 76 116 +f 77 54 116 +f 76 99 116 +f 99 90 116 +f 108 77 116 +f 90 108 116 +f 57 80 117 +f 80 71 117 +f 91 57 117 +o convex_3 +v -0.284868 -0.219646 1.642948 +v 0.339586 -0.531745 3.110242 +v 0.277120 -0.313304 3.047458 +v 0.308319 -0.219646 1.112321 +v 0.027325 -0.687939 1.112321 +v -0.284868 -0.625403 2.985066 +v -0.347334 -0.094806 3.016360 +v 0.308319 -0.687939 1.112321 +v -0.253602 -0.157226 1.112321 +v -0.191204 -0.656642 1.112321 +v 0.339586 -0.625403 3.110242 +v 0.214655 -0.188465 2.985066 +v -0.035073 -0.125987 2.142086 +v -0.316068 -0.562983 2.922674 +v 0.339586 -0.656642 2.516831 +v 0.277120 -0.188465 1.112321 +v 0.339586 -0.625403 1.580556 +v -0.035073 -0.125987 3.016360 +v -0.222403 -0.125987 1.580556 +v 0.277120 -0.188465 2.080085 +v -0.222403 -0.656642 1.486870 +v -0.128738 -0.656642 2.329459 +v -0.347334 -0.094806 2.797694 +v -0.253602 -0.157226 3.047458 +v 0.277120 -0.687939 1.518164 +v -0.222403 -0.094806 2.610517 +v 0.214655 -0.594164 3.110242 +v -0.253602 -0.250885 1.112321 +v -0.316068 -0.438086 3.016360 +f 144 141 146 +f 122 121 125 +f 121 122 126 +f 126 122 127 +f 128 123 132 +f 119 128 132 +f 121 126 133 +f 121 119 134 +f 125 121 134 +f 119 132 134 +f 132 125 134 +f 120 129 135 +f 133 130 135 +f 133 126 136 +f 130 133 136 +f 120 119 137 +f 119 121 137 +f 129 120 137 +f 121 133 137 +f 135 129 137 +f 133 135 137 +f 127 122 138 +f 123 131 138 +f 132 123 139 +f 138 122 139 +f 123 138 139 +f 126 118 140 +f 118 131 140 +f 131 124 140 +f 136 126 140 +f 119 120 141 +f 120 135 141 +f 135 124 141 +f 122 125 142 +f 125 132 142 +f 139 122 142 +f 132 139 142 +f 124 135 143 +f 135 130 143 +f 130 136 143 +f 140 124 143 +f 136 140 143 +f 123 128 144 +f 128 119 144 +f 119 141 144 +f 118 126 145 +f 126 127 145 +f 131 118 145 +f 127 138 145 +f 138 131 145 +f 124 131 146 +f 131 123 146 +f 141 124 146 +f 123 144 146 +o convex_4 +v -0.534575 1.216754 1.143508 +v 0.589375 1.185582 2.922860 +v 0.526839 2.122083 2.235650 +v -0.409616 2.090807 3.079018 +v 0.589375 2.184530 1.111930 +v -0.565899 2.122083 1.112315 +v 0.526839 1.123031 1.111930 +v -0.409616 1.123031 3.016439 +v 0.464416 2.059636 2.922668 +v -0.503363 1.123031 1.112315 +v 0.589375 1.123031 2.922860 +v -0.534575 2.122083 1.767754 +v -0.440941 1.123031 2.828896 +v -0.440941 2.090807 3.016439 +v 0.589375 1.872294 1.111930 +v -0.315982 2.090807 3.079018 +v -0.565899 2.090807 1.362052 +v -0.284771 2.153255 1.143508 +v 0.589375 2.153255 1.424438 +v 0.401880 2.059636 2.954053 +v -0.503363 2.122083 2.048684 +v -0.378518 1.903570 3.079018 +v 0.464416 2.090807 2.766510 +v 0.558050 1.123031 1.861526 +v 0.339457 1.123031 2.954053 +v -0.565899 1.809847 1.143508 +v 0.495627 1.903466 2.922860 +f 155 166 173 +f 152 151 153 +f 147 152 156 +f 152 153 156 +f 153 154 156 +f 151 148 157 +f 154 153 157 +f 147 156 159 +f 156 154 159 +f 154 150 160 +f 159 154 160 +f 153 151 161 +f 151 157 161 +f 151 150 162 +f 149 151 162 +f 157 148 162 +f 158 152 163 +f 160 158 163 +f 159 160 163 +f 151 152 164 +f 152 158 164 +f 149 148 165 +f 148 151 165 +f 151 149 165 +f 162 148 166 +f 150 151 167 +f 158 160 167 +f 160 150 167 +f 151 164 167 +f 164 158 167 +f 150 154 168 +f 162 150 168 +f 157 162 168 +f 155 149 169 +f 149 162 169 +f 166 155 169 +f 162 166 169 +f 157 153 170 +f 153 161 170 +f 161 157 170 +f 154 157 171 +f 168 154 171 +f 157 168 171 +f 152 147 172 +f 147 159 172 +f 163 152 172 +f 159 163 172 +f 148 149 173 +f 149 155 173 +f 166 148 173 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/562/562.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/562/562.urdf new file mode 100644 index 000000000..009a8153f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/562/562.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/563/563.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/563/563.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/563/563.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/563/563.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/563/563.obj new file mode 100644 index 000000000..157fb985e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/563/563.obj @@ -0,0 +1,189 @@ +o convex_0 +v 0.061355 -2.469926 -1.066715 +v 0.032072 -0.612683 1.055344 +v 0.002790 2.274407 0.996144 +v 1.034144 3.069530 0.023603 +v -0.763608 3.069530 -0.683473 +v -0.970000 -2.970668 0.082595 +v 0.827752 -4.414213 0.023603 +v -0.763608 3.069530 0.730887 +v 0.827752 3.009871 -0.742258 +v 0.032072 5.015773 0.052891 +v 0.798268 -3.000009 0.789879 +v -0.734123 -2.970668 0.819375 +v -0.527731 -4.119832 -0.565489 +v 0.827752 -3.000009 -0.801250 +v 0.002790 -4.473872 0.789671 +v 0.709814 3.040190 0.760383 +v 0.032072 3.335549 -0.919235 +v -0.999485 3.128211 0.053099 +v -0.734123 -2.911010 -0.771962 +v 0.090839 -4.503212 -0.771962 +v 1.063629 -2.970668 -0.064470 +v -0.734123 -4.473872 0.053099 +v -0.056180 4.514053 0.730887 +v -0.763608 4.543393 -0.005686 +v 0.768783 4.514053 -0.034974 +v 0.002790 4.543393 -0.712970 +v 0.090839 -4.975592 0.052891 +v 0.061355 -3.030327 1.055344 +v 0.032072 -0.701682 -1.066715 +v 0.827752 -1.113425 -0.830746 +v -0.734123 -0.642023 -0.801250 +v 0.798268 -0.465003 0.789879 +v -0.999485 1.094925 -0.034974 +v 1.063629 -2.970668 0.053099 +v -0.115149 3.010849 0.966856 +v 0.562391 4.130672 0.554118 +v 0.591876 -4.090491 0.613110 +v 0.650845 -4.090491 -0.565489 +v 0.591876 4.130672 -0.565489 +v 0.032072 -3.089008 -1.037219 +v -0.557216 -4.061151 0.613110 +v -0.970000 -2.911010 -0.064470 +v -0.586700 4.071992 0.583614 +v -0.557216 4.130672 -0.535993 +v -0.675154 2.951191 -0.742258 +v 1.063629 -0.700704 -0.064470 +v 0.120324 3.070508 -0.948731 +v 0.768783 3.040190 0.701598 +v 0.120324 -1.114403 -1.066715 +v -0.704639 -3.000009 -0.801250 +v -0.026695 3.040190 -0.948731 +v 0.090839 -1.054744 1.055344 +v 0.061355 3.040190 0.966648 +v -0.115149 -1.114403 1.025848 +v -0.734123 3.010849 0.760383 +v 0.768783 4.455372 0.082595 +v -0.763608 -2.970668 0.760383 +v -0.999485 2.657787 0.082595 +v -0.734123 -4.473872 -0.005686 +v -0.999485 3.069530 -0.034974 +v -0.763608 -1.407806 -0.742258 +v 0.739299 -4.532553 0.023603 +v -0.763608 4.543393 0.053099 +v 0.061355 4.455372 0.730887 +f 36 56 64 +f 7 14 21 +f 4 9 25 +f 24 10 26 +f 10 25 26 +f 15 22 27 +f 15 11 28 +f 12 15 28 +f 14 1 30 +f 21 14 30 +f 11 7 34 +f 7 21 34 +f 4 32 34 +f 32 11 34 +f 2 3 35 +f 7 11 37 +f 11 15 37 +f 14 7 38 +f 20 14 38 +f 25 9 39 +f 9 26 39 +f 26 25 39 +f 1 14 40 +f 14 20 40 +f 15 12 41 +f 12 22 41 +f 22 15 41 +f 6 33 42 +f 5 24 44 +f 26 5 44 +f 24 26 44 +f 5 26 45 +f 31 5 45 +f 29 31 45 +f 9 4 46 +f 30 9 46 +f 21 30 46 +f 4 34 46 +f 34 21 46 +f 17 26 47 +f 26 9 47 +f 16 32 48 +f 32 4 48 +f 36 16 48 +f 1 29 49 +f 30 1 49 +f 9 30 49 +f 47 9 49 +f 29 47 49 +f 20 13 50 +f 29 1 50 +f 19 31 50 +f 31 29 50 +f 1 40 50 +f 40 20 50 +f 26 17 51 +f 45 26 51 +f 29 45 51 +f 17 47 51 +f 47 29 51 +f 3 2 52 +f 2 28 52 +f 28 11 52 +f 32 16 52 +f 11 32 52 +f 35 3 53 +f 23 35 53 +f 3 52 53 +f 52 16 53 +f 28 2 54 +f 12 28 54 +f 2 35 54 +f 54 35 55 +f 8 12 55 +f 35 23 55 +f 43 8 55 +f 23 43 55 +f 12 54 55 +f 4 25 56 +f 25 10 56 +f 48 4 56 +f 36 48 56 +f 12 8 57 +f 6 22 57 +f 22 12 57 +f 8 18 58 +f 18 33 58 +f 33 6 58 +f 57 8 58 +f 6 57 58 +f 13 20 59 +f 22 6 59 +f 20 27 59 +f 27 22 59 +f 6 42 59 +f 42 19 59 +f 50 13 59 +f 19 50 59 +f 24 5 60 +f 18 24 60 +f 33 18 60 +f 33 60 61 +f 5 31 61 +f 31 19 61 +f 19 42 61 +f 42 33 61 +f 60 5 61 +f 15 27 62 +f 27 20 62 +f 7 37 62 +f 37 15 62 +f 38 7 62 +f 20 38 62 +f 18 8 63 +f 23 10 63 +f 10 24 63 +f 24 18 63 +f 8 43 63 +f 43 23 63 +f 10 23 64 +f 16 36 64 +f 53 16 64 +f 23 53 64 +f 56 10 64 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/563/563.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/563/563.urdf new file mode 100644 index 000000000..e898fc573 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/563/563.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/564/564.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/564/564.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/564/564.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/564/564.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/564/564.obj new file mode 100644 index 000000000..548467032 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/564/564.obj @@ -0,0 +1,609 @@ +o convex_0 +v -2.186624 -1.274264 -0.301060 +v -2.070073 -1.186889 0.310801 +v -2.070073 -0.924661 0.252526 +v -2.477980 -1.245034 0.019425 +v -2.070073 -1.769597 0.019425 +v -2.070073 -0.779037 -0.271892 +v -2.419685 -1.332408 -0.213557 +v -2.099221 -1.623762 0.281633 +v -2.099221 -0.691557 -0.009623 +v -2.390497 -1.216120 0.194250 +v -2.419685 -1.478032 0.048532 +v -2.070073 -1.623762 -0.213557 +v -2.419685 -1.070496 -0.097006 +v -2.419685 -1.478032 -0.038731 +v -2.390497 -1.128745 -0.213557 +v -2.390497 -1.128745 0.135975 +v -2.070073 -1.332408 -0.301060 +v -2.099221 -0.866411 0.223358 +v -2.215771 -1.216120 0.281633 +v -2.099221 -0.779037 -0.271892 +v -2.390497 -1.390658 0.165083 +v -2.099221 -1.769597 0.019425 +v -2.099221 -1.623762 -0.213557 +f 12 22 23 +f 3 2 5 +f 3 5 6 +f 5 2 8 +f 3 6 9 +f 6 5 12 +f 7 4 13 +f 4 7 14 +f 11 4 14 +f 1 7 15 +f 7 13 15 +f 4 10 16 +f 13 4 16 +f 9 13 16 +f 1 6 17 +f 6 12 17 +f 3 9 18 +f 9 16 18 +f 16 10 18 +f 2 3 19 +f 8 2 19 +f 10 8 19 +f 3 18 19 +f 18 10 19 +f 6 1 20 +f 9 6 20 +f 13 9 20 +f 1 15 20 +f 15 13 20 +f 8 10 21 +f 10 4 21 +f 4 11 21 +f 11 8 21 +f 5 8 22 +f 8 11 22 +f 12 5 22 +f 11 14 22 +f 22 14 23 +f 7 1 23 +f 14 7 23 +f 1 17 23 +f 17 12 23 +o convex_1 +v -0.642430 -0.808672 0.019328 +v -2.070042 -1.798163 0.019433 +v -2.070042 -1.798163 0.106808 +v -1.632926 1.668021 -0.009692 +v -1.487314 -1.506298 -0.534149 +v -1.341702 -3.516721 0.427181 +v -1.487314 0.852344 0.427181 +v -1.429042 -3.605110 -0.388420 +v -0.642430 -1.303417 -0.300940 +v -1.924290 0.677344 -0.388314 +v -1.924290 0.618615 0.398161 +v -1.108611 0.764547 -0.388420 +v -1.836951 -3.371382 -0.388314 +v -1.836951 -3.313246 0.427181 +v -1.079545 -3.982991 0.048452 +v -0.642430 -0.954604 0.281556 +v -1.079545 1.405818 0.019328 +v -1.341702 -1.245875 0.543891 +v -1.836951 -3.983585 0.048452 +v -1.866017 -1.274349 0.543891 +v -2.070042 -0.429604 -0.300940 +v -1.079545 0.619208 0.398161 +v -1.050339 -3.196382 0.398161 +v -1.108611 -3.313246 -0.359189 +v -1.895223 -0.954604 -0.504919 +v -1.487314 -4.333584 0.048452 +v -1.924290 1.376157 0.019433 +v -2.070042 -1.158078 0.310681 +v -1.487314 0.968615 -0.417545 +v -1.166884 -1.332485 -0.504919 +v -1.108611 -1.332485 0.514660 +v -0.642430 -1.390027 0.223307 +v -2.070042 -1.331892 -0.300940 +v -1.516381 1.056412 0.398056 +v -1.458108 1.726750 -0.009692 +v -2.040835 0.298276 -0.009586 +v -1.982563 -2.409772 0.369036 +v -1.079545 -3.954517 -0.038711 +v -0.642430 -1.477824 -0.271815 +v -0.642430 -0.924943 -0.184440 +v -1.895223 -1.565027 -0.504919 +v -1.487314 -4.245194 -0.067941 +v -1.458108 -3.459178 -0.417545 +v -1.458108 -1.129011 -0.534149 +v -1.953496 -2.584772 -0.330065 +v -1.079545 0.968615 0.281556 +v -1.458108 -3.605110 0.427181 +v -1.079545 1.405818 -0.038711 +v -1.982563 -1.303417 0.456411 +v -1.895223 0.764547 0.398161 +v -2.040835 0.007006 -0.330065 +v -2.011769 -1.303417 -0.417439 +v -1.545587 1.697089 0.048452 +v -1.458108 -1.565620 0.543891 +v -1.079545 -0.983078 -0.475794 +v -2.011769 0.036073 0.310681 +v -0.642430 -1.535959 -0.009586 +v -1.050339 -3.400450 0.339806 +v -1.836951 -3.983585 -0.009586 +v -1.924290 1.172683 -0.155210 +v -1.778538 -1.331892 -0.534149 +v -1.953496 -3.021975 0.019433 +v -1.108611 -2.119095 -0.446669 +v -0.642430 -1.216214 0.281556 +f 81 55 87 +f 32 24 39 +f 39 24 40 +f 41 30 43 +f 25 26 44 +f 30 41 45 +f 38 29 49 +f 37 42 49 +f 44 26 51 +f 48 33 52 +f 39 45 54 +f 45 41 54 +f 29 46 54 +f 32 39 55 +f 25 44 56 +f 30 45 57 +f 52 27 58 +f 35 52 58 +f 44 51 59 +f 42 37 60 +f 51 26 60 +f 31 47 61 +f 38 49 61 +f 47 32 62 +f 32 55 62 +f 38 61 62 +f 61 47 62 +f 24 32 63 +f 32 35 63 +f 36 31 65 +f 31 61 65 +f 61 49 65 +f 31 36 66 +f 47 31 66 +f 28 53 66 +f 52 35 67 +f 53 28 67 +f 25 56 68 +f 39 40 69 +f 45 39 69 +f 57 45 69 +f 43 37 70 +f 49 29 70 +f 37 49 70 +f 40 24 71 +f 35 58 71 +f 58 40 71 +f 24 63 71 +f 63 35 71 +f 43 34 72 +f 37 43 72 +f 60 37 72 +f 51 60 72 +f 34 43 73 +f 43 30 73 +f 50 34 73 +f 30 57 73 +f 33 48 74 +f 59 50 74 +f 44 59 74 +f 56 44 75 +f 64 36 75 +f 48 64 75 +f 36 68 75 +f 68 56 75 +f 74 48 75 +f 44 74 75 +f 27 50 76 +f 40 58 76 +f 58 27 76 +f 69 40 76 +f 57 69 76 +f 50 73 76 +f 73 57 76 +f 41 43 77 +f 29 54 77 +f 54 41 77 +f 70 29 77 +f 43 70 77 +f 35 32 78 +f 32 53 78 +f 67 35 78 +f 53 67 78 +f 34 50 79 +f 50 59 79 +f 59 51 79 +f 72 34 79 +f 51 72 79 +f 55 38 80 +f 62 55 80 +f 38 62 80 +f 29 38 81 +f 46 29 81 +f 38 55 81 +f 49 42 82 +f 36 65 82 +f 65 49 82 +f 68 36 82 +f 50 27 83 +f 27 52 83 +f 52 33 83 +f 33 74 83 +f 74 50 83 +f 48 52 84 +f 36 64 84 +f 64 48 84 +f 66 36 84 +f 28 66 84 +f 67 28 84 +f 52 67 84 +f 26 25 85 +f 60 26 85 +f 42 60 85 +f 25 68 85 +f 82 42 85 +f 68 82 85 +f 32 47 86 +f 53 32 86 +f 47 66 86 +f 66 53 86 +f 39 54 87 +f 54 46 87 +f 55 39 87 +f 46 81 87 +o convex_2 +v 1.309589 3.620148 0.164989 +v -0.642159 -1.535988 -0.155236 +v -0.642159 -1.535988 -0.009697 +v 1.804773 -1.652778 0.135841 +v 0.639522 0.706982 -1.029465 +v -0.292631 2.891856 0.834985 +v -0.205189 2.978700 -0.737989 +v 1.309589 -1.768969 0.806037 +v 1.397031 3.299724 -0.766937 +v 1.338817 -1.856412 -0.825432 +v -0.380073 -1.915107 -0.796284 +v -0.263404 -1.827065 0.747742 +v 1.280362 2.921204 0.747542 +v 1.076491 -2.293627 0.456265 +v 0.668749 0.474600 1.010070 +v -0.030306 3.736938 -0.475660 +v 1.804773 -0.399829 -0.359070 +v 0.435651 3.678843 0.660299 +v -0.001318 -2.352321 -0.446513 +v -0.409300 2.833162 -0.096941 +v 1.484473 3.066742 0.194136 +v 0.406663 2.978700 -0.941823 +v 1.804773 -1.303006 0.368822 +v 0.610295 2.949952 0.951775 +v -0.642159 -0.836445 0.281380 +v -0.350846 -2.264279 -0.009697 +v -0.205189 0.241618 0.922627 +v 1.309589 0.822574 0.864133 +v 1.076491 -2.293627 -0.504808 +v 1.338817 0.416504 -0.912875 +v 0.523093 3.736938 -0.737789 +v -0.263404 1.056155 -0.854579 +v 0.552320 -1.331755 -0.970970 +v -0.642159 -1.244312 -0.300774 +v 0.464878 -1.565335 0.893480 +v 0.406663 -2.322974 0.572856 +v -0.117748 3.706992 0.048398 +v 1.804773 -1.011330 -0.417365 +v 1.484473 -2.206184 0.019251 +v 1.426258 -1.856412 0.776889 +v 1.047504 3.678244 0.543708 +v 0.435651 0.474001 -1.029465 +v 0.464878 -2.352321 -0.621199 +v 0.843393 3.765687 -0.533756 +v -0.438288 -0.341135 0.660299 +v 0.086123 3.706992 0.514561 +v 0.406663 0.764479 1.010070 +v 1.804773 -1.535988 -0.271826 +v -0.321858 -1.914508 -0.825232 +v 1.280362 0.503348 -0.941823 +v 0.581307 3.008048 -0.941823 +v -0.496502 1.143598 -0.329922 +v 0.086123 -2.322974 0.485413 +v -0.380073 3.066143 -0.096941 +v 1.804773 -0.370482 -0.096941 +v 1.484473 3.096090 -0.038645 +v 0.377436 3.706992 -0.766937 +v 1.280362 3.707591 0.164989 +v 0.202553 3.766285 0.019251 +v -0.642159 -1.244312 0.281380 +v 0.814166 -2.206184 0.660299 +v 0.668749 -1.622832 -0.941823 +v -0.642159 -0.836445 -0.155236 +v -0.350846 2.308505 0.776889 +f 132 114 151 +f 91 104 110 +f 108 100 110 +f 105 93 111 +f 89 90 112 +f 90 89 113 +f 89 98 113 +f 99 90 113 +f 98 106 113 +f 110 100 115 +f 111 102 115 +f 100 111 115 +f 94 109 119 +f 98 89 121 +f 89 112 121 +f 119 98 121 +f 95 102 122 +f 114 99 122 +f 96 104 125 +f 104 91 125 +f 117 96 125 +f 97 117 125 +f 116 97 126 +f 101 116 126 +f 102 95 127 +f 91 110 127 +f 115 102 127 +f 110 115 127 +f 95 122 127 +f 126 91 127 +f 101 126 127 +f 111 100 128 +f 105 111 128 +f 109 92 129 +f 119 109 129 +f 92 120 129 +f 97 116 130 +f 116 101 130 +f 101 123 130 +f 123 106 130 +f 96 118 131 +f 118 103 131 +f 99 114 132 +f 93 105 133 +f 124 93 133 +f 105 128 133 +f 111 93 134 +f 102 111 134 +f 93 114 134 +f 122 102 134 +f 114 122 134 +f 125 91 135 +f 97 125 135 +f 91 126 135 +f 126 97 135 +f 106 98 136 +f 98 119 136 +f 119 129 136 +f 129 120 136 +f 130 106 136 +f 96 117 137 +f 117 97 137 +f 120 92 137 +f 92 109 138 +f 137 92 138 +f 96 137 138 +f 107 94 139 +f 94 119 139 +f 119 121 139 +f 99 113 140 +f 113 106 140 +f 106 123 140 +f 123 99 140 +f 103 94 141 +f 107 93 141 +f 94 107 141 +f 93 124 141 +f 124 103 141 +f 110 104 142 +f 108 110 142 +f 104 96 143 +f 88 108 143 +f 142 104 143 +f 108 142 143 +f 94 103 144 +f 109 94 144 +f 118 96 144 +f 103 118 144 +f 138 109 144 +f 96 138 144 +f 108 88 145 +f 100 108 145 +f 128 100 145 +f 96 131 145 +f 88 143 145 +f 143 96 145 +f 103 124 146 +f 131 103 146 +f 124 133 146 +f 133 128 146 +f 128 145 146 +f 145 131 146 +f 90 99 147 +f 112 90 147 +f 99 132 147 +f 132 112 147 +f 122 99 148 +f 123 101 148 +f 99 123 148 +f 127 122 148 +f 101 127 148 +f 97 130 149 +f 136 120 149 +f 130 136 149 +f 137 97 149 +f 120 137 149 +f 112 107 150 +f 121 112 150 +f 107 139 150 +f 139 121 150 +f 93 107 151 +f 107 112 151 +f 114 93 151 +f 112 132 151 +o convex_3 +v 1.805045 -1.216009 -0.359252 +v 1.863397 -1.332485 0.369073 +v 1.805045 -1.332485 0.369073 +v 1.834258 -0.487603 -0.097049 +v 2.562438 -1.449075 -0.242759 +v 2.562438 -1.099418 0.223364 +v 1.863397 -1.653052 0.106796 +v 2.562438 -1.507371 0.223364 +v 2.562438 -1.070327 -0.242759 +v 1.805045 -0.545898 -0.330184 +v 1.805045 -0.778965 0.223364 +v 1.805045 -1.507371 -0.271826 +v 1.805045 -1.594757 0.310790 +v 2.358539 -1.244985 -0.330184 +v 2.533373 -1.565552 -0.009697 +v 2.533373 -0.983056 -0.009697 +v 2.533373 -1.216009 0.281648 +v 1.921675 -1.653052 -0.009697 +v 1.834258 -0.924760 -0.388468 +v 2.562438 -1.244985 -0.301042 +v 2.562438 -1.507371 -0.184475 +v 2.533373 -1.041237 0.194222 +v 2.387678 -1.332485 0.310790 +v 1.834258 -0.516808 -0.271826 +v 1.863397 -1.478166 -0.301042 +v 1.921675 -1.594757 0.310790 +v 1.921675 -0.808170 0.223364 +v 1.805045 -1.653052 -0.009697 +v 2.562438 -1.012260 -0.097049 +v 2.533373 -1.565552 0.048512 +f 159 177 181 +f 156 157 159 +f 157 156 160 +f 152 154 161 +f 154 153 162 +f 161 154 162 +f 155 161 162 +f 154 152 163 +f 153 154 164 +f 154 163 164 +f 159 157 168 +f 152 161 170 +f 165 152 170 +f 165 170 171 +f 160 156 171 +f 161 160 171 +f 156 165 171 +f 170 161 171 +f 156 159 172 +f 159 166 172 +f 169 163 172 +f 166 169 172 +f 167 155 173 +f 157 167 173 +f 168 153 174 +f 159 168 174 +f 161 155 175 +f 160 161 175 +f 163 152 176 +f 165 156 176 +f 152 165 176 +f 156 172 176 +f 172 163 176 +f 164 158 177 +f 153 164 177 +f 174 153 177 +f 159 174 177 +f 162 153 178 +f 155 162 178 +f 153 168 178 +f 168 157 178 +f 157 173 178 +f 173 155 178 +f 158 164 179 +f 164 163 179 +f 163 169 179 +f 169 158 179 +f 157 160 180 +f 155 167 180 +f 167 157 180 +f 175 155 180 +f 160 175 180 +f 166 159 181 +f 158 169 181 +f 169 166 181 +f 177 158 181 +o convex_4 +v 2.621021 -1.245225 0.281665 +v 2.562675 -1.303337 -0.301060 +v 2.562675 -1.478189 -0.213617 +v 3.465721 -1.303337 -0.067936 +v 2.562675 -1.012055 -0.097026 +v 2.562675 -1.507297 0.194222 +v 3.261773 -1.070373 -0.038731 +v 3.261773 -1.274281 0.194222 +v 3.261773 -1.478189 0.019336 +v 3.261773 -1.274281 -0.242764 +v 2.562675 -1.070373 0.194222 +v 2.621021 -1.070373 -0.242764 +v 3.116083 -1.449081 -0.155378 +v 2.737537 -1.536507 -0.038731 +v 3.086910 -1.128640 0.165017 +v 2.679279 -1.478189 0.223370 +v 3.465721 -1.245225 0.019336 +v 3.057825 -1.128640 -0.213617 +v 2.766622 -1.012055 -0.009697 +v 3.057825 -1.449081 0.165017 +v 3.174341 -1.070373 0.048541 +v 3.261773 -1.303337 -0.242764 +v 3.261773 -1.478189 -0.038731 +v 3.203515 -1.070373 -0.097026 +v 2.562675 -1.536507 0.106836 +v 3.465721 -1.245225 -0.067936 +v 2.708364 -1.070373 0.194222 +f 202 200 208 +f 183 184 186 +f 186 184 187 +f 187 182 192 +f 186 187 192 +f 183 186 193 +f 191 183 193 +f 184 194 195 +f 182 189 196 +f 182 187 197 +f 189 182 197 +f 190 185 198 +f 189 190 198 +f 191 193 199 +f 186 192 200 +f 187 190 201 +f 190 189 201 +f 197 187 201 +f 189 197 201 +f 196 189 202 +f 198 188 202 +f 189 198 202 +f 188 200 202 +f 184 183 203 +f 183 191 203 +f 191 185 203 +f 194 184 203 +f 194 203 204 +f 185 190 204 +f 190 195 204 +f 195 194 204 +f 203 185 204 +f 193 186 205 +f 191 199 205 +f 199 193 205 +f 186 200 205 +f 200 188 205 +f 187 184 206 +f 190 187 206 +f 184 195 206 +f 195 190 206 +f 185 191 207 +f 198 185 207 +f 188 198 207 +f 205 188 207 +f 191 205 207 +f 192 182 208 +f 182 196 208 +f 200 192 208 +f 196 202 208 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/564/564.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/564/564.urdf new file mode 100644 index 000000000..17922dbd7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/564/564.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/565/565.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/565/565.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/565/565.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/565/565.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/565/565.obj new file mode 100644 index 000000000..d86bb2509 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/565/565.obj @@ -0,0 +1,249 @@ +o convex_0 +v 0.270481 -1.177473 -1.077459 +v -0.833834 2.657994 1.073040 +v 1.026284 1.436874 0.985978 +v -0.950144 -3.328825 1.073040 +v -0.921066 2.831920 -1.106480 +v 0.939052 2.803437 -1.106480 +v 0.997206 -3.213077 -0.466963 +v -1.066453 -3.357914 -0.932144 +v 0.909974 -3.299737 0.985978 +v 1.055361 2.686476 0.956958 +v 0.997206 -3.213077 -1.048439 +v -0.950144 2.105308 0.869470 +v 0.241403 2.831920 0.317228 +v 0.619201 -3.357914 0.520798 +v 0.735510 -3.299737 1.014999 +v -1.066453 -2.718569 -0.699554 +v -0.921066 2.687082 1.043806 +v 0.997206 -1.293828 -1.077459 +v 0.939052 -3.299737 0.927724 +v -0.484907 1.378697 -1.106480 +v -0.950144 2.105308 -1.077246 +v -0.194341 2.831920 0.288208 +v -0.746602 -3.329432 1.073040 +v 0.968129 2.774348 -0.728574 +v 0.939052 1.582318 -1.106480 +v -1.037376 -3.357914 -0.234587 +v 0.764588 -3.183382 -1.048439 +v 0.909974 2.657387 0.985978 +v -0.921066 2.279234 -1.106480 +v 1.055361 2.483461 0.956958 +v 1.055361 2.686476 0.869683 +v -0.862912 -3.357308 -0.931930 +v -0.019877 -3.357308 0.724368 +v -0.281573 2.831920 -1.106480 +v -0.921066 2.657387 1.073040 +v 0.444945 -1.497449 -1.077459 +v -1.066453 -2.718569 -0.932144 +v 0.939052 2.803437 -0.902910 +v -0.921066 2.831920 -0.960951 +v -0.950144 1.814421 0.898490 +v -1.066453 -2.893101 -0.670533 +v 0.561046 -3.357914 0.404503 +v 0.939052 -3.154293 0.985978 +v -0.950144 -2.834924 1.073040 +v 0.270481 2.831920 -0.321648 +v 0.735510 -3.009456 1.014999 +v 0.793665 -3.329432 0.840449 +v -0.107109 -3.299737 -0.990185 +v 0.968129 1.116898 -1.077459 +v 1.026284 1.087810 0.985978 +v -0.979221 0.913883 -1.048225 +v 0.502892 -2.660391 -1.048439 +v 0.997206 -1.410789 -1.077459 +v -0.717525 1.844116 -1.106480 +v -1.066453 -3.357914 -0.670533 +v 0.474022 -3.357914 0.666113 +f 47 23 56 +f 2 10 17 +f 10 13 17 +f 11 7 19 +f 14 11 19 +f 5 6 20 +f 12 5 21 +f 13 5 22 +f 17 13 22 +f 2 4 23 +f 6 18 25 +f 20 6 25 +f 8 14 26 +f 2 3 28 +f 3 10 28 +f 10 2 28 +f 5 20 29 +f 10 3 30 +f 7 11 30 +f 24 10 31 +f 18 24 31 +f 10 30 31 +f 30 11 31 +f 23 4 33 +f 4 26 33 +f 6 5 34 +f 5 13 34 +f 4 2 35 +f 2 17 35 +f 17 12 35 +f 1 20 36 +f 20 25 36 +f 27 1 36 +f 11 27 36 +f 8 16 37 +f 13 10 38 +f 24 6 38 +f 10 24 38 +f 5 12 39 +f 12 17 39 +f 22 5 39 +f 17 22 39 +f 35 12 40 +f 16 8 41 +f 12 16 41 +f 40 12 41 +f 14 8 42 +f 11 14 42 +f 8 32 42 +f 15 9 43 +f 9 19 43 +f 26 4 44 +f 4 35 44 +f 35 40 44 +f 41 26 44 +f 40 41 44 +f 6 34 45 +f 34 13 45 +f 38 6 45 +f 13 38 45 +f 3 2 46 +f 15 3 46 +f 2 23 46 +f 23 15 46 +f 9 15 47 +f 19 9 47 +f 14 19 47 +f 15 23 47 +f 8 27 48 +f 27 11 48 +f 32 8 48 +f 11 42 48 +f 42 32 48 +f 18 6 49 +f 6 24 49 +f 24 18 49 +f 3 15 50 +f 19 7 50 +f 30 3 50 +f 7 30 50 +f 15 43 50 +f 43 19 50 +f 16 12 51 +f 21 5 51 +f 12 21 51 +f 29 8 51 +f 5 29 51 +f 8 37 51 +f 37 16 51 +f 1 27 52 +f 27 8 52 +f 25 18 53 +f 31 11 53 +f 18 31 53 +f 11 36 53 +f 36 25 53 +f 20 1 54 +f 8 29 54 +f 29 20 54 +f 1 52 54 +f 52 8 54 +f 8 26 55 +f 41 8 55 +f 26 41 55 +f 26 14 56 +f 23 33 56 +f 33 26 56 +f 14 47 56 +o convex_1 +v 0.241395 4.808632 0.288441 +v -0.310739 4.314556 -0.205615 +v -0.281633 3.530356 -0.263749 +v 0.328712 4.808632 -0.292847 +v 0.241395 2.832722 0.317538 +v -0.252590 4.838076 0.230306 +v 0.241395 2.832722 -0.292847 +v -0.194441 2.832722 0.259404 +v -0.252590 2.832722 -0.292847 +v -0.310739 4.721477 -0.205615 +v 0.299607 4.808632 0.201269 +v 0.270501 2.978177 0.230306 +v -0.223484 4.372856 0.259404 +v -0.281633 4.838076 0.172172 +v 0.125160 2.891022 0.317538 +v 0.328712 4.605270 -0.205615 +v -0.252590 3.152487 -0.292847 +v -0.136292 4.838076 0.259404 +v -0.310739 4.372856 -0.147480 +v -0.107248 2.832722 0.288441 +v -0.020056 4.838076 -0.031210 +v 0.270501 3.181539 0.288441 +v 0.270501 4.808632 0.288441 +v -0.252590 2.891022 -0.205615 +v -0.281633 4.750528 -0.205615 +v 0.270501 4.750528 -0.292847 +v 0.270501 3.356046 -0.292847 +v -0.252590 4.198349 0.230306 +v 0.212352 3.356046 0.317538 +f 61 79 85 +f 63 61 64 +f 60 63 65 +f 63 64 65 +f 59 58 66 +f 61 63 68 +f 60 67 72 +f 65 59 73 +f 60 65 73 +f 59 66 73 +f 62 69 74 +f 70 62 74 +f 69 71 74 +f 58 59 75 +f 66 58 75 +f 70 66 75 +f 64 61 76 +f 69 64 76 +f 61 71 76 +f 71 69 76 +f 67 60 77 +f 70 74 77 +f 61 68 78 +f 72 67 78 +f 68 72 78 +f 74 57 79 +f 67 77 79 +f 77 74 79 +f 61 78 79 +f 78 67 79 +f 59 65 80 +f 65 64 80 +f 75 59 80 +f 64 75 80 +f 60 66 81 +f 66 70 81 +f 77 60 81 +f 70 77 81 +f 66 60 82 +f 60 73 82 +f 73 66 82 +f 63 60 83 +f 68 63 83 +f 60 72 83 +f 72 68 83 +f 69 62 84 +f 64 69 84 +f 62 70 84 +f 75 64 84 +f 70 75 84 +f 71 61 85 +f 57 74 85 +f 74 71 85 +f 79 57 85 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/565/565.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/565/565.urdf new file mode 100644 index 000000000..4f6e784fb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/565/565.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/566/566.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/566/566.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/566/566.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/566/566.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/566/566.obj new file mode 100644 index 000000000..ec9ea3a86 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/566/566.obj @@ -0,0 +1,441 @@ +o convex_0 +v -1.595309 1.549108 1.810409 +v -2.090055 0.983669 2.764664 +v -2.054791 0.983669 2.764664 +v -2.125485 1.019103 1.103389 +v -2.054791 1.619788 3.012092 +v -1.630629 1.019103 2.976634 +v -2.090055 1.619788 1.103389 +v -1.559935 1.125154 1.103389 +v -1.559935 1.584479 3.047356 +v -1.630629 1.549108 1.103389 +v -2.090055 0.983669 3.082813 +v -1.913404 1.619788 1.174111 +v -2.019361 1.019103 1.103389 +v -2.090055 1.619788 1.704424 +v -1.807391 1.619788 3.047356 +v -1.595309 1.195833 3.012092 +v -1.630629 1.019103 2.658485 +v -1.559935 1.266513 1.103389 +v -2.054791 1.443120 3.082813 +v -2.125485 1.160462 1.174111 +f 11 14 20 +f 3 2 4 +f 4 7 8 +f 8 7 10 +f 9 1 10 +f 2 3 11 +f 4 2 11 +f 3 6 11 +f 7 5 12 +f 10 7 12 +f 9 10 12 +f 3 4 13 +f 4 8 13 +f 5 7 14 +f 11 5 14 +f 12 5 15 +f 9 12 15 +f 6 8 16 +f 8 9 16 +f 11 6 16 +f 9 11 16 +f 6 3 17 +f 8 6 17 +f 3 13 17 +f 13 8 17 +f 1 9 18 +f 9 8 18 +f 10 1 18 +f 8 10 18 +f 5 11 19 +f 11 9 19 +f 15 5 19 +f 9 15 19 +f 7 4 20 +f 4 11 20 +f 14 7 20 +o convex_1 +v 2.893673 2.468237 -0.628334 +v 2.893673 0.347426 -0.946608 +v 3.282585 0.347426 -0.946608 +v 1.267814 0.418424 1.103389 +v 1.267814 2.361948 -0.981854 +v 3.211784 2.432738 1.032685 +v 1.267814 2.397239 0.961981 +v 3.176482 0.418424 0.961770 +v 1.267814 0.383132 -1.052769 +v 3.211784 2.468237 -1.052769 +v 3.247086 2.185283 0.784904 +v 3.211784 0.382925 0.573003 +v 1.904037 2.432738 0.997227 +v 1.267814 1.089793 -1.052769 +v 3.211784 2.468237 0.926523 +v 1.586123 0.383132 -1.052769 +v 1.586123 2.397239 -0.981854 +v 3.282585 0.877629 -0.451679 +v 1.303313 2.256073 0.997227 +v 1.267814 2.397239 0.078285 +v 1.798131 2.361948 -1.017101 +v 3.247086 0.842545 -0.981854 +v 1.374114 0.559590 1.103389 +v 2.858371 2.468237 -1.017101 +v 3.211784 1.054501 0.961770 +v 3.282585 0.347426 -0.699038 +v 1.267814 0.383132 -0.734284 +v 3.282585 0.736463 -0.946608 +f 31 38 48 +f 25 24 27 +f 23 22 29 +f 24 25 29 +f 28 24 32 +f 29 25 34 +f 30 29 34 +f 30 21 35 +f 31 30 35 +f 26 31 35 +f 21 33 35 +f 33 26 35 +f 23 29 36 +f 29 30 36 +f 30 25 37 +f 27 24 39 +f 26 33 39 +f 33 27 39 +f 25 27 40 +f 27 33 40 +f 37 25 40 +f 25 30 41 +f 34 25 41 +f 30 34 41 +f 30 23 42 +f 23 36 42 +f 36 30 42 +f 24 28 43 +f 28 26 43 +f 39 24 43 +f 26 39 43 +f 21 30 44 +f 33 21 44 +f 30 37 44 +f 40 33 44 +f 37 40 44 +f 26 28 45 +f 31 26 45 +f 28 32 45 +f 38 31 45 +f 38 45 46 +f 22 23 46 +f 24 22 46 +f 32 24 46 +f 23 38 46 +f 45 32 46 +f 22 24 47 +f 29 22 47 +f 24 29 47 +f 23 30 48 +f 30 31 48 +f 38 23 48 +o convex_2 +v -1.701388 1.619826 -1.158917 +v -1.701388 1.019078 -3.067388 +v -1.878022 1.089820 -3.102887 +v -2.054711 1.089820 -1.088116 +v -2.019396 1.549146 -2.925786 +v -1.630701 1.019078 -1.088116 +v -1.595385 1.549146 -2.961285 +v -2.090138 1.655259 -1.088116 +v -1.524699 1.584455 -1.088116 +v -2.019396 1.160500 -3.102887 +v -1.630701 1.054449 -3.067388 +v -2.090138 1.655259 -1.477029 +v -2.090138 1.160500 -1.123616 +v -2.054711 1.266489 -2.678673 +v -1.524699 1.513775 -1.158917 +v -1.560014 1.513775 -2.466270 +v -1.595385 1.125129 -1.512331 +v -1.913338 1.655259 -1.194219 +f 60 56 66 +f 51 50 52 +f 52 50 54 +f 52 54 56 +f 55 49 57 +f 56 54 57 +f 51 52 58 +f 55 51 58 +f 53 55 58 +f 50 51 59 +f 54 50 59 +f 51 55 59 +f 55 53 60 +f 52 56 61 +f 58 52 61 +f 56 60 61 +f 53 58 62 +f 60 53 62 +f 58 61 62 +f 61 60 62 +f 57 54 63 +f 63 59 64 +f 55 57 64 +f 59 55 64 +f 57 63 64 +f 54 59 65 +f 63 54 65 +f 59 63 65 +f 49 55 66 +f 57 49 66 +f 56 57 66 +f 55 60 66 +o convex_3 +v -1.489310 1.690392 1.103389 +v -2.832162 0.276732 -1.017326 +v -2.832162 0.700957 -1.017326 +v -0.923889 0.347436 -1.052721 +v -0.923889 2.361975 -1.052721 +v -2.938462 2.397222 0.926413 +v -2.832162 0.276732 0.961808 +v -0.923889 0.418351 0.961808 +v -2.761559 2.432890 -1.017326 +v -0.923889 2.397433 0.961808 +v -2.408145 1.796342 -1.088116 +v -2.125336 1.019230 1.103389 +v -1.312604 0.312401 -0.557830 +v -2.867661 0.312189 0.961808 +v -2.867661 2.432890 -0.062940 +v -2.302239 0.771661 -1.088116 +v -2.231439 2.432890 -1.017326 +v -1.524809 1.584230 -1.088116 +v -2.832162 2.326729 0.961808 +v -2.125336 0.276732 -1.017326 +v -2.938462 1.937962 0.891017 +v -2.726257 2.362186 -1.052506 +v -2.090034 1.619688 1.103389 +v -0.923889 2.256025 0.997203 +v -2.938462 2.397222 0.714255 +v -1.560111 1.125392 1.103389 +v -1.312604 2.397433 -1.052506 +v -0.923889 0.383105 0.396127 +v -2.655653 0.276732 0.820441 +v -1.206501 0.312401 -1.052506 +v -2.796860 2.432890 -0.804954 +v -2.796860 2.432890 0.077998 +v -1.277302 0.382894 0.961808 +v -1.630715 1.019230 -1.088116 +v -2.620154 0.488844 -1.052506 +f 82 96 101 +f 70 71 74 +f 74 71 76 +f 68 73 80 +f 73 78 80 +f 75 81 83 +f 71 70 84 +f 77 71 84 +f 82 77 84 +f 76 72 85 +f 72 80 85 +f 80 78 85 +f 73 68 86 +f 68 80 87 +f 80 72 87 +f 68 69 88 +f 69 75 88 +f 78 67 89 +f 67 85 89 +f 85 78 89 +f 67 74 90 +f 74 76 90 +f 76 85 90 +f 85 67 90 +f 69 68 91 +f 81 69 91 +f 72 81 91 +f 68 87 91 +f 87 72 91 +f 74 67 92 +f 67 78 92 +f 78 74 92 +f 76 71 93 +f 71 77 93 +f 75 83 93 +f 83 76 93 +f 88 75 93 +f 77 88 93 +f 70 74 94 +f 79 94 95 +f 73 86 95 +f 86 79 95 +f 82 70 96 +f 86 68 96 +f 79 86 96 +f 70 94 96 +f 94 79 96 +f 75 69 97 +f 69 81 97 +f 81 75 97 +f 72 76 98 +f 81 72 98 +f 76 83 98 +f 83 81 98 +f 78 73 99 +f 74 78 99 +f 94 74 99 +f 95 94 99 +f 73 95 99 +f 70 82 100 +f 84 70 100 +f 82 84 100 +f 77 82 101 +f 68 88 101 +f 88 77 101 +f 96 68 101 +o convex_4 +v -0.004656 -5.732038 -0.381179 +v 0.454729 -3.717858 0.361105 +v -0.146060 -3.717858 0.361105 +v -0.039958 -3.717858 -0.310482 +v -0.146060 -5.661243 0.290408 +v 0.419427 -5.661243 -0.310482 +v 0.419427 -5.732038 0.184326 +v 0.384059 -3.717858 -0.275024 +v 0.525530 -3.717858 0.184326 +v -0.110693 -5.555151 -0.204327 +v -0.146060 -3.823753 0.113629 +v 0.419427 -4.601305 -0.310482 +v 0.313390 -4.212627 0.361105 +v -0.075259 -5.732038 -0.381179 +v 0.278088 -3.717858 -0.310482 +v -0.075259 -4.777599 -0.345721 +v 0.419427 -5.519852 0.219711 +v 0.348758 -5.625945 -0.345721 +v -0.146060 -4.141833 0.361105 +v -0.039958 -4.247926 -0.345721 +v -0.146060 -5.661243 0.113629 +f 111 115 122 +f 104 103 105 +f 102 107 108 +f 105 103 109 +f 108 107 110 +f 109 103 110 +f 104 105 112 +f 106 104 112 +f 110 107 113 +f 109 110 113 +f 103 104 114 +f 102 108 115 +f 108 106 115 +f 105 109 116 +f 109 113 116 +f 111 112 117 +f 112 105 117 +f 115 111 117 +f 106 108 118 +f 110 103 118 +f 108 110 118 +f 103 114 118 +f 114 106 118 +f 107 102 119 +f 113 107 119 +f 102 116 119 +f 116 113 119 +f 104 106 120 +f 114 104 120 +f 106 114 120 +f 102 115 121 +f 116 102 121 +f 105 116 121 +f 117 105 121 +f 115 117 121 +f 106 112 122 +f 112 111 122 +f 115 106 122 +o convex_5 +v 1.267814 2.220366 0.997227 +v -0.923684 -3.081182 -1.017101 +v -0.888289 -3.681549 -1.017101 +v -0.888289 -3.717463 1.103389 +v 1.197024 -3.717463 -1.017101 +v -0.923684 2.361629 -1.052769 +v -0.923684 2.397544 0.961981 +v 1.267814 2.361629 -0.981854 +v 1.197024 -3.681549 0.926523 +v 1.267814 0.276206 1.103389 +v 1.267814 0.382153 -1.052769 +v 1.267814 2.397544 0.961981 +v -0.923684 2.255682 0.997227 +v -0.888289 -2.020513 -1.052769 +v 1.232419 -2.479617 0.997227 +v 1.197024 -2.974636 -1.052769 +v -0.711528 -3.717463 -1.017101 +v 1.197024 0.523416 1.103389 +v 1.267814 2.397544 0.113532 +v -0.923684 0.418068 0.961981 +v 1.267814 -0.677318 0.997227 +v 0.914291 -3.717463 0.679164 +v 1.267814 1.053751 -1.052769 +v 1.091052 -3.646233 0.961981 +v -0.640737 -3.399023 1.103389 +v -0.888289 -3.540286 1.103389 +v 1.267814 1.937242 -1.017101 +v -0.570162 2.361629 -1.052769 +v -0.923684 2.397544 0.679164 +v 1.232419 -2.621479 0.926523 +v 1.197024 -3.717463 0.008003 +f 152 131 153 +f 124 125 126 +f 128 124 129 +f 130 123 132 +f 130 132 133 +f 123 130 134 +f 129 124 135 +f 123 134 135 +f 134 129 135 +f 125 124 136 +f 124 128 136 +f 128 133 136 +f 133 127 138 +f 125 136 138 +f 136 133 138 +f 126 125 139 +f 127 126 139 +f 125 138 139 +f 138 127 139 +f 132 123 140 +f 126 132 140 +f 123 135 140 +f 129 134 141 +f 134 130 141 +f 124 126 142 +f 135 124 142 +f 126 135 142 +f 133 132 143 +f 127 133 143 +f 132 137 143 +f 126 127 144 +f 131 126 144 +f 130 133 145 +f 133 128 145 +f 126 131 146 +f 131 137 146 +f 137 132 146 +f 132 126 147 +f 126 146 147 +f 146 132 147 +f 135 126 148 +f 126 140 148 +f 140 135 148 +f 130 145 149 +f 149 145 150 +f 128 141 150 +f 141 130 150 +f 145 128 150 +f 130 149 150 +f 128 129 151 +f 141 128 151 +f 129 141 151 +f 137 131 152 +f 127 143 152 +f 143 137 152 +f 144 127 153 +f 131 144 153 +f 127 152 153 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/566/566.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/566/566.urdf new file mode 100644 index 000000000..b7280cdea --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/566/566.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/567/567.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/567/567.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/567/567.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/567/567.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/567/567.obj new file mode 100644 index 000000000..f073b4596 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/567/567.obj @@ -0,0 +1,321 @@ +o convex_0 +v 0.700354 1.108296 -3.095488 +v 1.084553 1.457365 3.014782 +v 1.049449 2.539752 3.050881 +v -1.115548 0.549406 3.050881 +v -1.010668 2.400082 -3.025096 +v -1.115548 2.539752 3.015384 +v 1.014561 2.539752 -3.059991 +v -1.045556 0.444494 -2.954704 +v 1.049449 0.409524 0.919867 +v 1.084553 0.514647 -3.059991 +v 1.084553 0.479465 3.014782 +v -0.975780 0.409524 1.094945 +v 0.141499 2.574722 -0.475941 +v 1.049449 0.409524 -1.418713 +v -1.115548 2.539752 1.758555 +v 1.049449 2.260201 -3.059991 +v 1.014561 2.574722 1.549184 +v -0.870901 2.434841 -3.025096 +v -0.975780 0.409524 -0.999369 +v -0.975780 0.514435 3.050881 +v 0.770130 0.514435 -3.095488 +v 1.084553 0.793987 -3.095488 +v -0.905789 0.549406 -2.990201 +v -1.045556 0.898686 -2.954704 +v 0.211490 2.539752 3.050881 +v 0.176602 0.479465 3.015384 +v 0.839906 2.539752 -3.059991 +v 1.014561 1.806221 3.050881 +v -1.080444 2.539752 1.374106 +v -1.115548 0.549406 2.806013 +v 0.525698 2.574722 -0.615522 +v 0.351042 2.504781 -3.059991 +v 0.490810 2.574722 1.025154 +v -1.115548 0.968415 3.050881 +v 1.049449 1.492123 -3.095488 +v -0.870901 0.444706 -2.955306 +v -1.010668 2.190472 -3.025096 +v 1.049449 2.539752 2.282585 +v 1.014561 2.574722 0.745391 +v -1.010668 2.434841 -2.570857 +v 1.084553 0.479465 -2.536563 +v 0.071723 2.574722 -0.126388 +v -0.731348 0.514435 3.050881 +v 0.595474 0.898474 -3.095488 +v -1.080444 2.469811 0.081780 +f 24 15 45 +f 2 3 11 +f 10 2 11 +f 4 8 12 +f 9 11 12 +f 11 9 14 +f 9 12 14 +f 4 6 15 +f 12 8 19 +f 8 14 19 +f 14 12 19 +f 3 4 20 +f 4 12 20 +f 2 10 22 +f 16 2 22 +f 21 1 22 +f 10 21 22 +f 21 8 23 +f 5 8 24 +f 8 15 24 +f 4 3 25 +f 3 17 25 +f 17 6 25 +f 12 11 26 +f 20 12 26 +f 18 13 27 +f 11 3 28 +f 3 20 28 +f 13 18 29 +f 8 4 30 +f 4 15 30 +f 15 8 30 +f 13 17 31 +f 7 27 31 +f 27 13 31 +f 1 5 32 +f 5 18 32 +f 18 27 32 +f 6 17 33 +f 17 13 33 +f 6 4 34 +f 4 25 34 +f 25 6 34 +f 7 16 35 +f 22 1 35 +f 16 22 35 +f 27 7 35 +f 1 32 35 +f 32 27 35 +f 14 8 36 +f 8 21 36 +f 21 10 36 +f 8 5 37 +f 23 8 37 +f 3 2 38 +f 2 16 38 +f 16 7 38 +f 17 3 38 +f 17 38 39 +f 7 31 39 +f 31 17 39 +f 38 7 39 +f 5 15 40 +f 18 5 40 +f 15 29 40 +f 29 18 40 +f 10 11 41 +f 11 14 41 +f 14 36 41 +f 36 10 41 +f 15 6 42 +f 29 15 42 +f 13 29 42 +f 6 33 42 +f 33 13 42 +f 26 11 43 +f 20 26 43 +f 11 28 43 +f 28 20 43 +f 5 1 44 +f 1 21 44 +f 21 23 44 +f 37 5 44 +f 23 37 44 +f 15 5 45 +f 5 24 45 +o convex_1 +v 0.176498 -5.492176 -0.196903 +v -0.172645 -3.606570 0.257077 +v -0.207571 -3.606570 0.257077 +v 0.351186 -3.606570 -0.371529 +v -0.242497 -3.606570 -0.371529 +v -0.207571 -5.352445 -0.336579 +v 0.246350 -5.561850 0.222127 +v -0.207571 -5.527013 0.187177 +v 0.211424 -3.606570 0.222127 +v 0.316202 -5.387282 -0.301629 +v -0.067868 -5.177876 -0.371529 +v -0.172645 -5.457148 -0.336579 +v 0.351186 -3.606570 -0.301629 +v 0.316202 -5.492176 -0.127064 +v -0.137719 -5.492176 0.222127 +v 0.246350 -4.653980 0.222127 +v 0.351186 -3.886224 -0.371529 +v -0.242497 -3.641790 -0.231791 +v 0.246350 -3.606570 0.152289 +v 0.141572 -5.561850 0.117339 +v 0.281276 -5.527013 0.082450 +f 58 61 66 +f 48 47 49 +f 48 49 50 +f 47 48 52 +f 50 51 53 +f 49 47 54 +f 50 49 56 +f 51 50 56 +f 56 55 57 +f 53 51 57 +f 55 46 57 +f 51 56 57 +f 49 54 58 +f 46 55 59 +f 52 48 60 +f 48 53 60 +f 53 52 60 +f 47 52 61 +f 54 47 61 +f 56 49 62 +f 55 56 62 +f 49 58 62 +f 59 55 62 +f 58 59 62 +f 48 50 63 +f 53 48 63 +f 50 53 63 +f 58 54 64 +f 54 61 64 +f 61 58 64 +f 52 53 65 +f 57 46 65 +f 53 57 65 +f 46 59 65 +f 59 52 65 +f 52 59 66 +f 59 58 66 +f 61 52 66 +o convex_2 +v -0.696389 -3.571192 -0.301472 +v -0.731360 0.409524 1.095003 +v 1.049582 -0.743378 0.955463 +v 1.049582 0.409524 -0.930047 +v -0.975728 0.409524 -0.999817 +v 0.944672 -3.606176 -1.104903 +v -1.080639 -3.501224 1.025018 +v 1.084553 -3.501617 0.955463 +v -0.975728 -3.466633 -1.104687 +v 1.049582 0.409524 0.920363 +v -0.975728 0.409524 1.095003 +v -0.417051 -3.606176 0.501313 +v 1.014612 -3.501224 0.990348 +v -0.696389 -0.010285 -1.034702 +v -1.080639 -2.488651 1.059903 +v 1.014612 -1.650606 -1.034917 +v -1.080639 -3.396665 0.501313 +v 1.084553 -3.501617 0.536413 +v -0.975728 -2.488651 -1.104687 +v 1.084553 -1.581031 0.955463 +v 0.630363 -2.802722 -1.104903 +v -1.010698 -0.184419 1.095003 +v -0.417051 -3.606176 -0.441012 +v 0.246325 -3.606176 0.222018 +v -0.975728 -0.743378 1.095003 +v 1.049582 -0.149828 -0.965148 +v -0.242411 -3.501224 1.025018 +v -0.905999 -3.501224 -1.069587 +v -1.010698 -3.466633 -0.685637 +v 0.979642 -3.571192 -0.825177 +v -0.626449 -3.606176 0.256903 +v 0.839973 0.409524 0.955248 +v -0.242411 0.339163 -0.999817 +v -0.975728 0.025092 -1.034702 +v 1.049582 -3.536208 0.536198 +v -1.045668 -2.803115 1.059903 +v 1.049582 -0.498883 -0.965148 +v 0.770244 -3.536208 0.850378 +v -1.080639 -3.501224 0.571083 +v 0.944672 -3.117186 -1.104903 +v -1.080639 -2.488651 0.990133 +v 0.839973 -3.606176 -1.104903 +v 0.979642 -2.907674 -1.069803 +v -0.940757 -3.501224 -0.999817 +f 97 105 110 +f 68 70 71 +f 70 68 76 +f 68 71 77 +f 69 68 79 +f 73 81 83 +f 76 69 86 +f 70 76 86 +f 79 74 86 +f 69 79 86 +f 84 70 86 +f 74 84 86 +f 75 85 87 +f 85 80 87 +f 68 77 88 +f 77 71 88 +f 72 78 89 +f 78 72 90 +f 79 68 91 +f 68 88 91 +f 88 81 91 +f 70 84 92 +f 73 78 93 +f 85 75 95 +f 84 72 96 +f 78 73 97 +f 67 89 97 +f 89 78 97 +f 68 69 98 +f 69 76 98 +f 76 68 98 +f 71 70 99 +f 87 80 99 +f 70 92 99 +f 92 87 99 +f 83 71 100 +f 80 85 100 +f 95 83 100 +f 85 95 100 +f 71 99 100 +f 99 80 100 +f 84 74 101 +f 72 84 101 +f 90 72 101 +f 81 73 102 +f 79 91 102 +f 91 81 102 +f 73 93 102 +f 93 79 102 +f 92 84 103 +f 82 92 103 +f 74 79 104 +f 78 90 104 +f 93 78 104 +f 79 93 104 +f 101 74 104 +f 90 101 104 +f 73 83 105 +f 83 95 105 +f 95 75 105 +f 97 73 105 +f 82 72 106 +f 72 87 106 +f 92 82 106 +f 87 92 106 +f 71 83 107 +f 83 81 107 +f 88 71 107 +f 81 88 107 +f 87 72 108 +f 75 87 108 +f 72 89 108 +f 94 75 108 +f 89 94 108 +f 72 82 109 +f 96 72 109 +f 84 96 109 +f 82 103 109 +f 103 84 109 +f 89 67 110 +f 75 94 110 +f 94 89 110 +f 67 97 110 +f 105 75 110 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/567/567.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/567/567.urdf new file mode 100644 index 000000000..a76c18112 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/567/567.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/568/568.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/568/568.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/568/568.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/568/568.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/568/568.obj new file mode 100644 index 000000000..9be5c8c5e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/568/568.obj @@ -0,0 +1,492 @@ +o convex_0 +v -0.268258 1.860218 -1.593187 +v 0.005766 1.129487 -2.233051 +v 0.036192 1.129487 -2.233051 +v -0.298685 1.799336 -3.390001 +v 0.310404 1.829813 -3.298311 +v 0.249489 1.860218 -1.379899 +v -0.298685 1.159964 -3.237512 +v -0.329174 1.281800 -1.410397 +v 0.310404 1.129487 -1.379899 +v 0.249489 1.281800 -3.328809 +v -0.298685 1.860218 -1.379899 +v -0.329174 1.190441 -2.598041 +v -0.329174 1.616617 -1.379899 +v 0.279853 1.373159 -3.328809 +v -0.298685 1.829813 -3.054722 +v 0.188511 1.129487 -1.410397 +v 0.310404 1.829813 -2.902626 +v 0.036192 1.220846 -3.298311 +v 0.310404 1.129487 -1.532388 +v -0.024598 1.829813 -3.359503 +v -0.329174 1.220846 -2.872128 +v 0.310404 1.647094 -3.298311 +v 0.310404 1.220846 -1.379899 +v -0.298685 1.707977 -3.390001 +v -0.298685 1.281800 -1.379899 +v -0.176854 1.159964 -3.176713 +f 19 3 26 +f 5 1 6 +f 3 2 7 +f 2 3 9 +f 6 1 11 +f 9 6 11 +f 7 2 12 +f 12 8 13 +f 9 11 13 +f 11 1 15 +f 4 13 15 +f 13 11 15 +f 2 9 16 +f 12 2 16 +f 8 12 16 +f 5 6 17 +f 9 5 17 +f 18 10 19 +f 9 3 19 +f 5 9 19 +f 10 14 19 +f 1 5 20 +f 14 4 20 +f 5 14 20 +f 15 1 20 +f 4 15 20 +f 7 12 21 +f 12 13 21 +f 13 4 21 +f 14 5 22 +f 5 19 22 +f 19 14 22 +f 6 9 23 +f 17 6 23 +f 9 17 23 +f 4 14 24 +f 14 10 24 +f 18 7 24 +f 10 18 24 +f 21 4 24 +f 7 21 24 +f 13 8 25 +f 9 13 25 +f 16 9 25 +f 8 16 25 +f 3 7 26 +f 7 18 26 +f 18 19 26 +o convex_1 +v 0.888991 -3.438168 -1.349419 +v -0.390029 2.560443 0.812940 +v 0.584522 2.591308 0.782460 +v -1.060111 2.438801 -1.379899 +v -0.968708 -3.591280 0.782460 +v 0.980395 2.591308 -1.288244 +v 1.071798 -3.499897 0.660541 +v -0.938240 -3.591280 -1.257764 +v -1.060111 2.530184 0.812940 +v 1.041330 2.591308 0.751980 +v 1.041330 -3.438168 -1.318939 +v 0.462651 2.072663 -1.379684 +v 0.310312 1.159436 0.812940 +v -0.999176 -3.317130 0.751766 +v 1.071798 1.311338 0.690806 +v -0.877304 -3.591280 -1.288244 +v -1.060111 1.707735 -1.349419 +v 0.919459 -3.530156 0.629846 +v -1.029643 -0.605894 0.812940 +v -0.755433 -3.591280 0.782460 +v 1.071798 -3.377649 -0.253214 +v -0.055092 0.245604 -1.379899 +v 1.010862 -2.646584 -1.349419 +v 1.041330 2.529579 0.112331 +v 0.767120 2.591308 -1.288244 +v 1.041330 1.494709 0.751980 +v -1.060111 2.530184 0.416701 +v -0.724966 -3.591280 -1.288244 +v 0.888991 2.499319 -1.318724 +v -1.060111 2.103527 -1.379899 +v -0.968708 -3.591280 -0.253214 +v 0.675717 -3.530156 0.691021 +v -0.603303 2.560443 0.751766 +v 1.071798 -3.499897 0.051371 +v -1.060111 2.103527 0.812940 +v 1.010862 -0.241571 -1.318724 +v 1.071798 -2.037766 0.690806 +v -0.968708 -2.372434 -1.288244 +v 0.310312 1.799118 0.812940 +v -0.633562 -3.591280 0.751766 +v -0.755433 2.469060 -1.349419 +v 1.010862 -3.438168 -1.349419 +v 0.858523 -3.438168 -1.349204 +v -0.968708 -0.728142 0.812940 +v 0.462651 2.591308 0.721501 +v 1.010862 2.591308 -0.618329 +v -0.938240 -3.469032 -1.288244 +v 0.310312 1.129176 -1.379899 +v 1.041330 -3.377649 -1.318939 +v 0.949927 -2.616324 0.690806 +v 0.736652 2.012144 0.782460 +f 65 39 77 +f 32 29 36 +f 28 35 39 +f 31 34 42 +f 35 30 43 +f 39 35 45 +f 40 31 45 +f 43 40 45 +f 31 42 46 +f 41 33 47 +f 36 41 50 +f 29 32 51 +f 32 30 51 +f 41 36 52 +f 30 35 53 +f 42 27 54 +f 46 42 54 +f 30 32 55 +f 38 30 55 +f 49 38 55 +f 43 30 56 +f 30 48 56 +f 34 31 57 +f 31 40 57 +f 40 43 57 +f 44 33 58 +f 39 46 58 +f 46 44 58 +f 28 29 59 +f 35 28 59 +f 53 35 59 +f 51 53 59 +f 33 44 60 +f 47 33 60 +f 37 47 60 +f 54 37 60 +f 44 54 60 +f 35 43 61 +f 45 35 61 +f 43 45 61 +f 55 32 62 +f 49 55 62 +f 33 41 63 +f 52 39 63 +f 41 52 63 +f 34 57 64 +f 57 43 64 +f 29 28 65 +f 28 39 65 +f 44 46 66 +f 54 44 66 +f 46 54 66 +f 51 30 67 +f 30 53 67 +f 53 51 67 +f 27 48 68 +f 49 37 68 +f 38 49 68 +f 54 27 68 +f 37 54 68 +f 27 42 69 +f 48 27 69 +f 42 56 69 +f 56 48 69 +f 45 31 70 +f 39 45 70 +f 46 39 70 +f 31 46 70 +f 29 51 71 +f 59 29 71 +f 51 59 71 +f 32 36 72 +f 36 50 72 +f 62 32 72 +f 50 62 72 +f 42 34 73 +f 56 42 73 +f 43 56 73 +f 34 64 73 +f 64 43 73 +f 30 38 74 +f 48 30 74 +f 68 48 74 +f 38 68 74 +f 47 37 75 +f 41 47 75 +f 37 49 75 +f 50 41 75 +f 49 62 75 +f 62 50 75 +f 58 33 76 +f 39 58 76 +f 33 63 76 +f 63 39 76 +f 36 29 77 +f 39 52 77 +f 52 36 77 +f 29 65 77 +o convex_2 +v -0.268258 1.281752 0.934848 +v 0.310404 1.799324 0.873948 +v 0.310404 1.738477 1.361096 +v 0.310404 1.159871 0.812994 +v 0.218938 1.159871 1.361096 +v -0.207343 1.707992 1.361096 +v -0.237770 1.707992 0.812994 +v -0.329174 1.251329 1.361096 +v -0.237770 1.281752 0.812994 +v 0.188511 1.799324 0.812994 +v -0.298685 1.220843 1.330619 +v -0.176854 1.738477 1.361096 +v 0.310404 1.555750 1.361096 +v 0.188511 1.159871 0.873948 +f 88 86 91 +f 79 80 81 +f 82 80 83 +f 82 83 85 +f 84 78 85 +f 83 84 85 +f 78 84 86 +f 84 81 86 +f 79 81 87 +f 81 84 87 +f 85 78 88 +f 82 85 88 +f 78 86 88 +f 80 79 89 +f 83 80 89 +f 84 83 89 +f 79 87 89 +f 87 84 89 +f 81 80 90 +f 82 81 90 +f 80 82 90 +f 81 82 91 +f 86 81 91 +f 82 88 91 +o convex_3 +v -0.298718 0.885799 2.000728 +v -0.237805 1.220751 2.213900 +v -0.268261 1.220751 2.213900 +v -0.176893 1.220751 2.000728 +v -0.298718 1.220751 2.000728 +v -0.207361 0.946723 2.031214 +f 92 95 97 +f 92 93 94 +f 94 93 95 +f 95 92 96 +f 92 94 96 +f 94 95 96 +f 93 92 97 +f 95 93 97 +o convex_4 +v 0.188532 1.768895 2.701132 +v -0.298718 1.220783 2.000728 +v -0.298718 1.464444 2.000728 +v 0.249492 1.677553 2.000728 +v 0.249492 1.251272 2.792509 +v -0.237704 1.860361 2.670673 +v -0.207278 1.251272 2.701132 +v 0.219012 1.312250 2.000728 +v -0.237704 1.829873 2.000728 +v 0.249492 1.768895 2.000728 +v 0.127626 1.768895 2.792509 +v -0.298718 1.220783 2.183560 +v -0.115892 1.220783 2.000728 +v -0.237704 1.220783 2.579296 +v 0.249492 1.434018 2.792509 +v -0.146371 1.860361 2.548836 +v -0.176798 1.251272 2.731591 +v 0.127626 1.799446 2.762050 +v 0.249492 1.281698 2.396619 +f 102 110 116 +f 99 100 101 +f 99 101 105 +f 101 100 106 +f 100 103 106 +f 102 101 107 +f 101 106 107 +f 100 99 109 +f 103 100 109 +f 99 105 110 +f 109 99 110 +f 109 110 111 +f 104 103 111 +f 103 109 111 +f 110 102 111 +f 107 98 112 +f 102 107 112 +f 98 108 112 +f 108 102 112 +f 106 103 113 +f 107 106 113 +f 103 104 114 +f 102 108 114 +f 108 103 114 +f 111 102 114 +f 104 111 114 +f 98 107 115 +f 108 98 115 +f 103 108 115 +f 113 103 115 +f 107 113 115 +f 101 102 116 +f 105 101 116 +f 110 105 116 +o convex_5 +v -0.115955 1.829774 2.000666 +v -0.329174 -1.611634 1.848361 +v -0.298676 -1.581046 1.696120 +v 0.279920 -1.550459 1.848361 +v 0.310351 1.707765 1.361150 +v -0.329174 1.311490 1.361150 +v 0.340849 -1.550459 1.361150 +v 0.249488 1.768600 2.000666 +v -0.329174 -0.210397 2.000666 +v -0.237747 -1.520212 1.422122 +v 0.218991 -1.581046 1.939756 +v -0.268179 1.798847 1.970180 +v -0.207316 1.860361 1.361150 +v 0.310351 1.860361 1.604850 +v -0.329174 -1.611634 1.939756 +v -0.329174 1.250655 1.848361 +v 0.340849 -1.397862 1.483031 +v -0.024660 0.002695 2.000666 +v 0.310351 1.860361 1.391699 +v -0.268179 -1.306780 1.970180 +v 0.249488 -1.550459 1.361150 +v -0.298676 1.464086 2.000666 +v 0.249488 1.860361 1.909271 +v 0.158062 -0.910845 1.970180 +v -0.329174 0.824473 1.391699 +v -0.237747 1.860361 1.909271 +v 0.249488 -1.550459 1.939756 +v 0.218991 1.068491 2.000666 +f 143 124 144 +f 122 121 123 +f 122 118 125 +f 124 117 125 +f 118 123 127 +f 123 120 127 +f 121 122 129 +f 122 128 129 +f 125 118 131 +f 118 127 131 +f 122 125 132 +f 128 122 132 +f 120 123 133 +f 124 120 133 +f 130 124 133 +f 124 125 134 +f 123 121 135 +f 121 129 135 +f 129 130 135 +f 133 123 135 +f 130 133 135 +f 125 131 136 +f 131 127 136 +f 134 125 136 +f 118 119 137 +f 123 118 137 +f 122 123 137 +f 119 126 137 +f 126 122 137 +f 125 117 138 +f 117 128 138 +f 132 125 138 +f 128 132 138 +f 117 124 139 +f 124 130 139 +f 130 129 139 +f 136 127 140 +f 134 136 140 +f 119 118 141 +f 118 122 141 +f 126 119 141 +f 122 126 141 +f 128 117 142 +f 129 128 142 +f 117 139 142 +f 139 129 142 +f 120 124 143 +f 127 120 143 +f 140 127 143 +f 140 143 144 +f 124 134 144 +f 134 140 144 +o convex_6 +v 0.340828 4.449011 1.878817 +v -0.268261 4.326930 1.513475 +v -0.268261 4.326930 1.543940 +v 0.310401 1.860362 1.604871 +v -0.237773 1.860362 1.909282 +v -0.207346 1.860362 1.361150 +v 0.340828 4.479330 1.452605 +v -0.207346 4.601410 1.970212 +v 0.249486 1.860362 1.909282 +v 0.310401 1.860362 1.391675 +v -0.268261 4.601410 1.513475 +v 0.371317 4.326930 1.878817 +v -0.055027 2.560917 1.361150 +v -0.237773 3.626374 1.970212 +v -0.055027 4.570823 1.970212 +v 0.279913 4.174798 1.422140 +v 0.310401 2.835398 1.909282 +v 0.340828 2.560917 1.513475 +v -0.237773 1.860362 1.635336 +v -0.237773 3.261205 1.422140 +v 0.127656 4.479330 1.452605 +v 0.066741 2.073668 1.361150 +v 0.340828 3.809093 1.422140 +v -0.268261 4.601410 1.604871 +v -0.115942 4.601410 1.970212 +v 0.279913 2.073668 1.909282 +v 0.371317 4.449011 1.817887 +f 151 169 171 +f 147 146 149 +f 148 149 150 +f 149 148 153 +f 148 150 154 +f 146 147 155 +f 149 153 158 +f 156 145 159 +f 158 153 159 +f 152 158 159 +f 148 156 161 +f 156 159 161 +f 148 154 162 +f 156 148 162 +f 149 146 163 +f 146 150 163 +f 150 149 163 +f 150 146 164 +f 146 155 164 +f 157 150 164 +f 155 151 165 +f 151 160 165 +f 160 157 165 +f 164 155 165 +f 157 164 165 +f 154 150 166 +f 150 157 166 +f 157 160 166 +f 166 160 167 +f 160 151 167 +f 162 154 167 +f 154 166 167 +f 147 149 168 +f 155 147 168 +f 152 155 168 +f 149 158 168 +f 158 152 168 +f 151 155 169 +f 155 152 169 +f 159 145 169 +f 152 159 169 +f 153 148 170 +f 159 153 170 +f 148 161 170 +f 161 159 170 +f 145 156 171 +f 156 162 171 +f 167 151 171 +f 162 167 171 +f 169 145 171 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/568/568.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/568/568.urdf new file mode 100644 index 000000000..bc5f5b9e0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/568/568.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/569/569.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/569/569.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/569/569.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/569/569.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/569/569.obj new file mode 100644 index 000000000..20ba4ba20 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/569/569.obj @@ -0,0 +1,489 @@ +o convex_0 +v 0.376429 -4.938695 -0.199901 +v -0.343820 -3.780509 0.144486 +v -0.343820 -3.780509 0.207119 +v 0.345056 -3.310707 -0.199901 +v -0.249770 -5.157859 -0.325232 +v -0.124488 -5.189140 0.332386 +v 0.282450 -3.310707 0.238404 +v -0.249770 -3.310707 -0.293819 +v -0.343820 -3.310707 0.332386 +v 0.188471 -5.157859 0.238404 +v 0.345056 -5.283177 -0.231186 +v -0.187164 -5.189140 0.332386 +v -0.093185 -5.032540 -0.325232 +v -0.124488 -3.373463 0.332386 +v 0.376429 -5.283177 -0.168552 +v 0.251147 -3.310707 -0.231186 +v 0.219844 -3.843071 0.269753 +v -0.218467 -5.189140 0.081853 +v -0.187164 -4.281398 -0.325232 +v 0.282450 -3.561345 0.238404 +v -0.343820 -3.310707 0.144486 +v -0.312446 -3.999672 0.332386 +v 0.313753 -3.310707 0.081853 +v 0.251147 -5.283177 -0.231186 +v -0.281073 -4.625494 -0.199901 +f 21 8 25 +f 3 2 5 +f 7 4 8 +f 7 8 9 +f 2 3 9 +f 4 1 11 +f 6 9 12 +f 11 5 13 +f 7 9 14 +f 9 6 14 +f 10 6 15 +f 11 1 15 +f 6 12 15 +f 8 4 16 +f 4 11 16 +f 11 13 16 +f 6 10 17 +f 14 6 17 +f 7 14 17 +f 3 5 18 +f 5 8 19 +f 13 5 19 +f 8 16 19 +f 16 13 19 +f 15 7 20 +f 10 15 20 +f 17 10 20 +f 7 17 20 +f 9 8 21 +f 2 9 21 +f 9 3 22 +f 12 9 22 +f 3 18 22 +f 18 12 22 +f 1 4 23 +f 4 7 23 +f 15 1 23 +f 7 15 23 +f 5 11 24 +f 11 15 24 +f 15 12 24 +f 18 5 24 +f 12 18 24 +f 5 2 25 +f 8 5 25 +f 2 21 25 +o convex_1 +v 0.595436 1.198872 -0.199880 +v -1.095384 -3.216495 0.801814 +v -1.064044 -3.216495 0.363573 +v 1.065314 -3.185155 0.645299 +v 1.002635 -3.247835 -0.951361 +v -1.032705 1.198430 -0.951361 +v -1.095384 1.198430 1.052449 +v 1.002635 1.198430 1.021146 +v 1.127994 1.198430 -1.013967 +v -0.938686 -3.310514 -1.045482 +v -0.876006 -3.185155 1.115266 +v 1.033975 -3.185155 0.989843 +v 1.127994 1.198430 0.520087 +v 1.096654 -3.247835 -0.920058 +v 0.219795 -3.310514 0.269664 +v 0.282475 1.167532 -1.045270 +v -1.095384 -2.308085 1.115266 +v -1.032705 0.603417 -0.982664 +v 0.814814 1.167091 -1.045482 +v 1.002635 -1.118059 1.021146 +v -0.375006 -3.310514 0.363573 +v 1.096654 -3.216495 -0.168365 +v -1.064044 -3.216495 1.052449 +v 1.127994 0.415379 -1.013967 +v -0.970025 -3.279175 -0.857241 +v -1.064044 -0.179634 1.083751 +v 1.065314 -2.527463 0.895722 +v 0.344936 -3.310514 -0.199880 +v 1.127994 0.540738 0.332270 +v -0.907346 1.198872 -0.982664 +v -0.813327 -3.185155 -1.045482 +v 0.658116 -3.185155 1.021146 +v -1.095384 -3.184714 1.115266 +v -0.907346 -2.965336 -1.045482 +v -1.095384 1.198430 0.989843 +v 1.033975 -0.805986 0.989843 +v 1.096654 -3.247835 -0.732029 +v -0.876006 1.198872 1.052449 +v -0.938686 -3.310514 -0.857241 +v 0.282475 -3.310514 0.238150 +v -1.032705 0.822354 -0.982664 +v -0.970025 -2.652380 -1.013967 +v 0.251135 -3.279175 -0.982664 +v 1.096654 -2.997117 -0.951361 +v 1.096654 0.885033 0.676602 +f 61 52 70 +f 26 33 38 +f 34 26 38 +f 32 27 42 +f 36 33 42 +f 28 27 43 +f 41 34 44 +f 33 36 45 +f 37 33 45 +f 35 40 46 +f 40 37 46 +f 29 37 47 +f 46 37 48 +f 34 38 49 +f 44 34 49 +f 27 28 50 +f 35 27 50 +f 32 42 51 +f 42 33 51 +f 37 29 52 +f 29 47 52 +f 40 35 53 +f 49 38 54 +f 47 49 54 +f 38 52 54 +f 52 47 54 +f 26 34 55 +f 34 41 55 +f 30 35 56 +f 35 44 56 +f 45 36 57 +f 37 45 57 +f 36 48 57 +f 48 37 57 +f 42 27 58 +f 36 42 58 +f 27 48 58 +f 48 36 58 +f 44 35 59 +f 41 44 59 +f 27 32 60 +f 32 55 60 +f 55 31 60 +f 33 37 61 +f 37 52 61 +f 47 37 62 +f 39 49 62 +f 49 47 62 +f 53 39 62 +f 33 26 63 +f 32 51 63 +f 51 33 63 +f 26 55 63 +f 55 32 63 +f 27 35 64 +f 35 46 64 +f 48 27 64 +f 46 48 64 +f 37 40 65 +f 40 53 65 +f 62 37 65 +f 53 62 65 +f 43 27 66 +f 35 43 66 +f 31 55 66 +f 55 41 66 +f 59 35 66 +f 41 59 66 +f 27 60 66 +f 60 31 66 +f 28 43 67 +f 43 35 67 +f 50 28 67 +f 35 50 67 +f 35 30 68 +f 30 39 68 +f 53 35 68 +f 39 53 68 +f 39 30 69 +f 49 39 69 +f 44 49 69 +f 30 56 69 +f 56 44 69 +f 38 33 70 +f 52 38 70 +f 33 61 70 +o convex_2 +v -2.222786 2.013017 0.520189 +v -1.439900 2.138155 -0.575754 +v -1.439900 2.294854 -0.575754 +v -3.068241 2.200835 -0.544224 +v -2.974001 1.230187 -0.450315 +v -1.095384 1.355656 0.426280 +v -3.068241 1.355546 0.582908 +v -1.095384 1.261527 -0.544338 +v -1.095384 2.357533 0.426280 +v -3.068241 2.232175 0.520189 +v -1.095384 2.294854 -0.575754 +v -3.068241 2.294854 -0.544224 +v -1.158146 1.230187 -0.419126 +v -3.068241 1.324206 0.520189 +v -1.095384 1.386885 0.457583 +v -1.126862 2.294854 0.457583 +v -2.723531 1.512134 0.582908 +v -3.005478 1.230187 -0.293801 +v -1.408616 2.357533 0.269652 +v -1.095384 2.326194 -0.387710 +v -2.755009 2.263514 0.488886 +v -2.035079 2.232175 -0.575640 +v -3.005478 1.261527 -0.450315 +v -2.723531 1.355546 0.582908 +v -1.095384 1.825090 -0.575754 +v -3.068241 1.324206 0.363674 +v -1.721847 1.230187 -0.512921 +v -1.126862 2.357533 0.144440 +v -2.942716 1.324206 0.520189 +v -2.942716 1.606043 0.582908 +v -3.005478 2.294854 -0.387710 +f 91 89 101 +f 76 78 79 +f 74 77 80 +f 72 73 81 +f 79 78 81 +f 74 80 82 +f 78 76 83 +f 77 74 84 +f 76 79 85 +f 85 79 86 +f 80 71 86 +f 79 80 86 +f 85 86 87 +f 75 83 88 +f 81 73 90 +f 79 81 90 +f 73 82 90 +f 80 79 91 +f 79 89 91 +f 73 72 92 +f 78 74 92 +f 82 73 92 +f 74 82 92 +f 74 75 93 +f 75 88 93 +f 77 84 94 +f 76 85 94 +f 87 77 94 +f 85 87 94 +f 72 81 95 +f 81 78 95 +f 92 72 95 +f 78 92 95 +f 84 74 96 +f 88 84 96 +f 74 93 96 +f 93 88 96 +f 75 74 97 +f 74 78 97 +f 83 75 97 +f 78 83 97 +f 89 79 98 +f 82 89 98 +f 90 82 98 +f 79 90 98 +f 83 76 99 +f 88 83 99 +f 84 88 99 +f 94 84 99 +f 76 94 99 +f 71 80 100 +f 80 77 100 +f 86 71 100 +f 77 87 100 +f 87 86 100 +f 82 80 101 +f 89 82 101 +f 80 91 101 +o convex_3 +v 0.000853 2.858276 0.488880 +v 0.313597 1.198872 -1.045482 +v 0.313597 1.292891 -1.045482 +v -1.063827 2.232089 -0.951214 +v -1.095384 1.198872 1.052430 +v 1.002635 1.198872 1.021008 +v 1.127994 2.858442 -1.045482 +v -1.063827 2.858276 1.021008 +v 0.971295 2.764422 1.052636 +v -1.032705 2.889892 -0.951214 +v -1.032705 1.198872 -0.951214 +v 1.127994 1.198872 -1.013854 +v 1.127994 2.294823 0.457457 +v 1.127994 1.198872 0.520097 +v -1.095384 2.294823 -0.575582 +v -1.095384 1.230487 -0.512943 +v 0.188456 2.889892 -1.013854 +v -1.063827 2.889892 0.332178 +v -1.095384 1.856674 1.052430 +v 1.096654 2.858442 -0.575582 +v 0.971295 1.731371 1.052636 +v -0.907346 1.198872 -0.982637 +v 0.658116 2.795707 1.052636 +v -1.063827 2.889892 -0.919997 +v 0.877276 1.324341 -1.045482 +v -0.562827 2.858276 1.021008 +v -1.095384 2.357227 0.426035 +v 0.752135 2.827157 -1.045482 +v 0.031975 2.795872 1.052636 +v 1.002635 2.576550 0.989996 +v 1.002635 2.795707 0.708015 +v 0.313597 2.889892 -0.951420 +v 1.127994 2.013263 -1.045482 +f 113 126 134 +f 106 103 107 +f 103 104 108 +f 103 106 112 +f 107 103 113 +f 113 108 114 +f 107 113 115 +f 113 114 115 +f 105 112 117 +f 112 106 117 +f 106 116 117 +f 116 105 117 +f 118 111 119 +f 116 106 120 +f 114 108 121 +f 106 107 122 +f 107 110 122 +f 104 103 123 +f 111 104 123 +f 105 111 123 +f 103 112 123 +f 112 105 123 +f 121 102 124 +f 122 110 124 +f 111 105 125 +f 105 116 125 +f 119 111 125 +f 103 108 126 +f 113 103 126 +f 119 109 127 +f 124 102 127 +f 109 119 128 +f 120 109 128 +f 116 120 128 +f 125 116 128 +f 119 125 128 +f 108 104 129 +f 104 111 129 +f 118 108 129 +f 111 118 129 +f 120 106 130 +f 109 120 130 +f 106 122 130 +f 122 124 130 +f 127 109 130 +f 124 127 130 +f 110 107 131 +f 114 110 131 +f 107 115 131 +f 115 114 131 +f 110 114 132 +f 114 121 132 +f 121 124 132 +f 124 110 132 +f 108 118 133 +f 118 119 133 +f 102 121 133 +f 121 108 133 +f 127 102 133 +f 119 127 133 +f 108 113 134 +f 126 108 134 +o convex_4 +v 1.128144 1.198872 0.081709 +v 1.284744 2.388732 -0.544350 +v 1.284744 2.388732 -0.575653 +v 3.100804 1.292980 0.520176 +v 2.912923 1.230202 -0.607069 +v 2.944204 2.357518 0.551593 +v 1.128144 2.294741 0.457457 +v 3.038048 2.232080 -0.544350 +v 1.128144 1.261649 -0.481744 +v 1.128144 1.198872 0.520176 +v 1.128144 2.388732 -0.607069 +v 2.474403 2.357402 0.551593 +v 2.411841 1.198872 -0.293813 +v 1.754351 1.637383 0.551593 +v 3.100804 1.637383 0.144314 +v 1.284744 1.261649 -0.513047 +v 1.629226 1.198872 0.520176 +v 2.944204 1.261533 -0.607069 +v 3.038048 1.856347 0.551593 +v 1.472626 2.326071 0.488873 +v 2.944204 2.357518 0.426154 +v 2.286522 1.230319 -0.575653 +v 2.818885 2.263410 -0.544350 +v 1.128144 2.388732 -0.450441 +v 2.975486 1.230202 -0.293813 +v 1.128144 1.512177 0.520176 +v 3.100804 1.355641 0.269639 +v 1.128144 2.326071 -0.607069 +v 2.944204 1.355641 -0.607069 +v 3.038048 2.232080 -0.387835 +v 1.629226 1.230319 -0.450441 +v 3.038048 2.138205 -0.544350 +v 3.006767 1.700043 0.551593 +v 3.100804 1.512060 0.520176 +f 164 153 168 +f 137 136 140 +f 135 141 143 +f 141 135 144 +f 136 137 145 +f 143 141 145 +f 144 135 147 +f 140 146 148 +f 144 147 151 +f 148 144 151 +f 139 145 152 +f 140 148 153 +f 137 140 155 +f 140 142 155 +f 139 147 156 +f 145 137 157 +f 142 145 157 +f 137 155 157 +f 155 142 157 +f 140 136 158 +f 136 145 158 +f 145 141 158 +f 146 140 158 +f 141 154 158 +f 154 146 158 +f 147 139 159 +f 138 151 159 +f 151 147 159 +f 139 152 159 +f 141 144 160 +f 144 148 160 +f 148 146 160 +f 154 141 160 +f 146 154 160 +f 149 138 161 +f 138 159 161 +f 159 152 161 +f 145 139 162 +f 143 145 162 +f 150 143 162 +f 139 156 162 +f 156 150 162 +f 145 142 163 +f 152 145 163 +f 142 152 163 +f 142 140 164 +f 149 142 164 +f 140 153 164 +f 135 143 165 +f 147 135 165 +f 143 150 165 +f 156 147 165 +f 150 156 165 +f 142 149 166 +f 152 142 166 +f 149 161 166 +f 161 152 166 +f 151 138 167 +f 148 151 167 +f 138 153 167 +f 153 148 167 +f 138 149 168 +f 153 138 168 +f 149 164 168 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/569/569.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/569/569.urdf new file mode 100644 index 000000000..6e2118322 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/569/569.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/570/570.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/570/570.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/570/570.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/570/570.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/570/570.obj new file mode 100644 index 000000000..979c9c30b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/570/570.obj @@ -0,0 +1,1626 @@ +o convex_0 +v 3.479042 -1.894064 -1.218920 +v 4.353495 -1.809440 0.699465 +v 4.353495 -1.950494 0.699465 +v 3.422447 -1.894064 0.699465 +v 4.184164 -1.809440 -1.388340 +v 3.422447 -1.837676 -1.190718 +v 3.422447 -1.950494 -0.429045 +v 4.268738 -1.894064 -0.485450 +v 3.704696 -1.809440 -1.388340 +v 3.422447 -1.950494 0.191615 +v 4.184164 -1.837676 -1.388340 +v 4.325243 -1.950494 0.360830 +f 11 8 12 +f 3 2 4 +f 4 2 6 +f 6 1 7 +f 4 6 7 +f 2 3 8 +f 5 2 8 +f 2 5 9 +f 6 2 9 +f 1 6 9 +f 3 4 10 +f 7 3 10 +f 4 7 10 +f 5 8 11 +f 1 9 11 +f 9 5 11 +f 7 1 12 +f 3 7 12 +f 8 3 12 +f 1 11 12 +o convex_1 +v 0.178007 4.059028 0.022033 +v 2.293904 4.087233 -0.175520 +v 2.068062 4.115417 0.530056 +v 0.262592 4.256478 -1.416341 +v 0.431973 4.059028 -1.416341 +v 2.293904 4.059009 -1.219000 +v 0.149882 4.058990 0.727397 +v 2.265568 4.059009 0.755679 +v 0.178007 4.115417 0.473491 +v 2.011392 4.115417 -1.219000 +v 0.262592 4.059028 -1.416341 +v 0.319053 4.087213 0.755679 +v 2.265568 4.087233 0.755679 +v 0.657605 4.228216 -0.993165 +f 22 16 26 +f 17 16 18 +f 16 13 19 +f 18 14 20 +f 19 18 20 +f 16 19 21 +f 15 14 22 +f 14 18 22 +f 18 16 22 +f 13 16 23 +f 16 17 23 +f 17 18 23 +f 18 19 23 +f 19 13 23 +f 19 20 24 +f 15 21 24 +f 21 19 24 +f 14 15 25 +f 20 14 25 +f 15 24 25 +f 24 20 25 +f 21 15 26 +f 16 21 26 +f 15 22 26 +o convex_2 +v 0.149396 0.193713 0.389116 +v -2.671686 0.109094 -1.247272 +v -2.671686 0.109094 -0.542004 +v 0.149396 0.080883 -0.542004 +v -2.671686 0.137305 0.389116 +v -1.796863 0.221938 0.106880 +v 0.149396 0.109094 -1.021420 +v -2.671686 0.137291 -1.247272 +v 0.149396 0.137305 0.360764 +v -2.502134 0.193713 0.389116 +v -1.796863 0.080883 -0.542004 +v -1.852920 0.080883 -1.247272 +v -1.825030 0.137291 -1.247272 +v -0.894426 0.221938 0.360764 +v 0.149396 0.080883 -1.021420 +v -2.671686 0.165502 -0.570036 +f 36 32 42 +f 28 29 31 +f 27 30 33 +f 28 31 34 +f 30 27 35 +f 27 31 35 +f 31 30 35 +f 31 27 36 +f 30 31 37 +f 31 29 37 +f 29 28 38 +f 28 34 38 +f 37 29 38 +f 30 37 38 +f 34 32 39 +f 38 34 39 +f 27 33 40 +f 36 27 40 +f 32 36 40 +f 39 32 40 +f 33 39 40 +f 33 30 41 +f 30 38 41 +f 39 33 41 +f 38 39 41 +f 32 34 42 +f 34 31 42 +f 31 36 42 +o convex_3 +v 1.165316 -0.934783 0.699457 +v 2.350331 0.080870 0.671234 +v 2.350331 -0.455359 0.699457 +v 0.544861 -1.809440 0.586622 +v -0.245064 0.080870 0.671245 +v 2.321874 -1.809440 0.671234 +v -0.245064 -1.809440 0.643034 +v 0.149771 -0.229618 0.614833 +v 2.350331 0.080870 0.643045 +v 1.729367 -1.809440 0.699457 +v -0.160457 -1.753005 0.586622 +v -0.245064 -0.962723 0.671245 +v 2.152659 0.080870 0.699457 +v -0.245064 0.080870 0.643034 +v 2.350331 -0.765847 0.643045 +v 0.206176 -1.244715 0.586622 +v 2.321874 -1.809440 0.699457 +f 48 57 59 +f 46 48 49 +f 44 45 51 +f 47 44 51 +f 45 43 52 +f 49 48 52 +f 46 49 53 +f 43 47 54 +f 47 49 54 +f 52 43 54 +f 49 52 54 +f 43 45 55 +f 45 44 55 +f 47 43 55 +f 44 47 55 +f 49 47 56 +f 51 50 56 +f 47 51 56 +f 53 49 56 +f 50 53 56 +f 48 46 57 +f 46 51 57 +f 51 45 57 +f 51 46 58 +f 50 51 58 +f 46 53 58 +f 53 50 58 +f 45 52 59 +f 52 48 59 +f 57 45 59 +o convex_4 +v 4.353483 -1.301493 0.642856 +v 4.127787 -1.809244 -1.388340 +v 4.184233 -1.809244 -1.388340 +v 4.184233 0.193528 -1.218716 +v 4.268869 0.193528 0.473640 +v 4.240635 0.193528 -1.106110 +v 4.297059 -1.809244 0.586450 +v 4.325249 0.193528 0.699465 +v 4.325249 -1.809244 0.163208 +v 4.212423 -1.160343 -1.331730 +v 4.297059 -1.329527 0.699465 +v 4.325249 0.165298 0.417235 +v 4.353483 -1.809244 0.699465 +v 4.184233 0.193528 -1.077908 +v 4.212423 0.137068 -1.275325 +v 4.127787 -1.781014 -1.359933 +v 4.212423 -1.781014 -1.247123 +f 69 68 76 +f 63 64 65 +f 61 62 66 +f 65 64 67 +f 65 60 68 +f 66 62 68 +f 65 68 69 +f 67 64 70 +f 60 65 71 +f 67 60 71 +f 65 67 71 +f 60 67 72 +f 68 60 72 +f 66 68 72 +f 70 66 72 +f 67 70 72 +f 64 63 73 +f 62 61 74 +f 61 63 74 +f 63 65 74 +f 69 62 74 +f 65 69 74 +f 63 61 75 +f 61 66 75 +f 70 64 75 +f 66 70 75 +f 73 63 75 +f 64 73 75 +f 68 62 76 +f 62 69 76 +o convex_5 +v -2.756326 -0.652976 0.586611 +v -0.245318 0.080870 0.671234 +v -0.245318 -1.019344 0.671234 +v -2.671282 -1.780760 0.699435 +v -0.245318 -1.809440 0.614833 +v -2.756326 0.080870 0.586611 +v -0.414914 0.080870 0.614833 +v -2.756326 -1.809440 0.643034 +v -1.317462 -1.809440 0.699457 +v -2.756326 0.080870 0.614844 +v -1.599631 0.080870 0.586611 +v -0.781636 -0.878163 0.699457 +v -0.584265 0.024434 0.671234 +v -0.245318 -1.809440 0.643045 +v -0.753615 -1.809440 0.614833 +f 81 84 91 +f 78 79 81 +f 78 81 83 +f 82 78 83 +f 82 77 84 +f 84 81 85 +f 80 84 85 +f 78 82 86 +f 84 80 86 +f 82 84 86 +f 81 77 87 +f 77 82 87 +f 83 81 87 +f 82 83 87 +f 79 78 88 +f 85 79 88 +f 80 85 88 +f 78 86 89 +f 86 80 89 +f 88 78 89 +f 80 88 89 +f 81 79 90 +f 79 85 90 +f 85 81 90 +f 77 81 91 +f 84 77 91 +o convex_6 +v 4.240403 -1.809440 2.166527 +v 2.293931 -1.894050 0.699465 +v 2.293931 -1.894050 0.727701 +v 4.325060 -1.950494 0.699664 +v 2.152836 -1.865870 2.730842 +v 2.293931 -1.809440 0.699465 +v 4.353495 -1.809440 0.699664 +v 2.152836 -1.809440 2.730842 +v 3.422480 -1.837676 2.561229 +v 4.043085 -1.950494 0.953785 +v 4.240403 -1.837676 2.166527 +v 2.660995 -1.894050 2.250637 +v 3.112285 -1.809440 2.674371 +f 96 100 104 +f 93 94 96 +f 93 96 97 +f 95 93 98 +f 93 97 98 +f 97 92 98 +f 92 97 99 +f 97 96 99 +f 94 93 101 +f 93 95 101 +f 100 101 102 +f 95 98 102 +f 98 92 102 +f 92 100 102 +f 101 95 102 +f 96 94 103 +f 100 96 103 +f 94 101 103 +f 101 100 103 +f 92 99 104 +f 99 96 104 +f 100 92 104 +o convex_7 +v 0.149691 0.193713 0.332572 +v 0.347167 0.137308 -0.908654 +v 0.318926 0.137308 -0.570036 +v 0.149691 0.080870 -1.021420 +v 0.318926 0.250151 -1.247272 +v 0.234338 0.137308 0.360764 +v 0.234338 0.250151 0.389116 +v 0.347167 0.080870 -1.247272 +f 110 108 112 +f 108 105 109 +f 105 108 110 +f 107 106 111 +f 109 105 111 +f 106 109 111 +f 110 107 111 +f 105 110 111 +f 106 107 112 +f 108 109 112 +f 109 106 112 +f 107 110 112 +o convex_8 +v 4.155812 -0.680897 2.646207 +v 3.084166 0.193638 2.618007 +v 3.084166 0.193638 2.589786 +v 2.237477 -0.680897 2.589786 +v 2.266019 0.193638 2.674407 +v 2.237477 -0.680897 2.674407 +v 4.155812 0.137219 2.702629 +v 4.155812 0.137219 2.589786 +v 2.266019 0.193638 2.589786 +v 4.155812 -0.680897 2.618007 +v 4.155812 -0.624392 2.674407 +v 3.168665 -0.680897 2.589786 +v 3.337665 0.165472 2.702629 +v 4.155812 -0.173213 2.702629 +f 125 118 126 +f 114 115 117 +f 116 113 118 +f 117 116 118 +f 115 114 119 +f 116 115 120 +f 119 113 120 +f 115 119 120 +f 115 116 121 +f 116 117 121 +f 117 115 121 +f 113 116 122 +f 120 113 122 +f 118 113 123 +f 113 119 123 +f 116 120 124 +f 122 116 124 +f 120 122 124 +f 114 117 125 +f 117 118 125 +f 119 114 125 +f 119 125 126 +f 118 123 126 +f 123 119 126 +o convex_9 +v 3.873670 0.165494 2.589697 +v 2.350331 0.109100 0.699661 +v 2.350331 0.109100 1.123154 +v 2.350331 0.193724 1.827801 +v 4.325240 0.193724 0.699661 +v 4.353476 0.109100 2.702433 +v 4.325240 0.109100 0.699661 +v 2.350331 0.165494 2.589697 +v 3.112294 0.193724 2.589697 +v 2.773666 0.165494 0.699661 +v 4.325240 0.193724 1.292356 +v 3.817199 0.109100 2.589697 +v 4.353476 0.137313 2.702433 +v 3.676218 0.193724 0.727894 +v 2.350331 0.193724 2.589697 +f 139 135 141 +f 128 129 130 +f 129 128 132 +f 128 131 133 +f 132 128 133 +f 131 132 133 +f 130 129 134 +f 131 130 135 +f 128 130 136 +f 131 128 136 +f 135 127 137 +f 131 135 137 +f 129 132 138 +f 134 129 138 +f 132 134 138 +f 132 131 139 +f 134 132 139 +f 127 135 139 +f 131 137 139 +f 137 127 139 +f 130 131 140 +f 136 130 140 +f 131 136 140 +f 130 134 141 +f 135 130 141 +f 134 139 141 +o convex_10 +v 0.234313 0.250151 0.586569 +v 0.234313 4.058984 0.727679 +v 0.149680 4.058984 0.727679 +v 0.206088 4.058984 0.417329 +v 0.177897 0.250151 0.417329 +v 0.177897 0.250151 0.614821 +v 0.177897 4.058984 0.417329 +v 0.206088 0.250151 0.417329 +v 0.234313 3.240249 0.727679 +f 147 142 150 +f 144 143 145 +f 143 142 145 +f 144 146 147 +f 146 142 147 +f 144 145 148 +f 145 146 148 +f 146 144 148 +f 145 142 149 +f 142 146 149 +f 146 145 149 +f 142 143 150 +f 143 144 150 +f 144 147 150 +o convex_11 +v 2.209263 3.494519 0.755892 +v 0.234506 0.250151 0.586611 +v 0.855061 0.250151 0.586611 +v 0.234506 4.058984 0.699454 +v 2.209263 3.550444 0.699454 +v 1.842343 0.250151 0.671251 +v 0.375436 4.030649 0.755892 +v 2.209263 0.250151 0.643065 +v 0.234506 0.730356 0.643049 +v 0.290955 0.758691 0.586611 +v 2.209263 4.058984 0.755892 +v 2.209263 1.040178 0.699454 +v 1.870567 0.306821 0.614830 +v 2.039722 3.720081 0.699454 +v 0.234506 3.239876 0.727673 +v 0.798612 0.250151 0.643049 +v 2.209263 4.058984 0.727640 +v 2.209263 1.125183 0.643065 +f 158 163 168 +f 152 153 156 +f 155 151 158 +f 156 153 158 +f 154 152 159 +f 153 152 160 +f 152 154 160 +f 151 155 161 +f 157 151 161 +f 154 157 161 +f 151 157 162 +f 157 156 162 +f 158 151 162 +f 156 158 162 +f 153 155 163 +f 158 153 163 +f 155 153 164 +f 153 160 164 +f 160 154 164 +f 156 157 165 +f 157 154 165 +f 154 159 165 +f 165 159 166 +f 152 156 166 +f 159 152 166 +f 156 165 166 +f 161 155 167 +f 154 161 167 +f 155 164 167 +f 164 154 167 +f 155 158 168 +f 163 155 168 +o convex_12 +v 2.293904 2.986600 -1.275480 +v 1.080720 0.250419 -1.275480 +v 1.080720 0.250419 -1.247277 +v 1.080720 2.986600 -1.303699 +v 2.265522 0.250419 -1.303699 +v 2.293904 2.986600 -1.219058 +v 2.265522 0.250419 -1.219058 +v 1.080720 2.253006 -1.247277 +v 1.306470 0.250419 -1.303699 +v 2.265522 1.970978 -1.303699 +v 1.419286 2.986600 -1.247277 +f 176 174 179 +f 170 171 172 +f 171 170 173 +f 169 172 174 +f 173 169 174 +f 173 174 175 +f 171 173 175 +f 171 175 176 +f 172 171 176 +f 175 174 176 +f 170 172 177 +f 172 173 177 +f 173 170 177 +f 172 169 178 +f 169 173 178 +f 173 172 178 +f 174 172 179 +f 172 176 179 +o convex_13 +v 1.137365 3.889631 -1.360126 +v 1.334733 4.171838 -1.219072 +v 2.011627 4.115234 -1.219072 +v 1.447549 2.986868 -1.247294 +v 2.293904 2.986868 -1.275502 +v 2.293904 4.087164 -1.275502 +v 1.080720 3.015170 -1.331890 +v 2.293904 2.986868 -1.219072 +v 1.080720 4.171838 -1.219072 +v 1.080720 4.171838 -1.360126 +v 1.080720 2.986868 -1.275502 +v 2.293904 4.087164 -1.219072 +f 187 185 191 +f 181 182 185 +f 184 180 185 +f 180 184 186 +f 182 181 187 +f 183 184 187 +f 184 185 187 +f 187 181 188 +f 183 187 188 +f 181 185 189 +f 185 180 189 +f 180 186 189 +f 188 181 189 +f 186 188 189 +f 184 183 190 +f 186 184 190 +f 188 186 190 +f 183 188 190 +f 185 182 191 +f 182 187 191 +o convex_14 +v -4.646415 0.193724 -0.513575 +v -4.985199 0.165499 -1.275485 +v -4.985199 0.137308 -0.260040 +v -2.671686 0.109100 -1.275485 +v -2.671686 0.165499 0.389116 +v -2.812770 0.165499 -1.275485 +v -4.985199 0.137308 0.389116 +v -2.671686 0.137308 0.389116 +v -3.941219 0.193724 -1.275485 +v -4.985199 0.165499 0.389116 +v -3.630969 0.109100 -0.457198 +v -4.985199 0.193724 -1.275485 +v -4.985199 0.193724 -0.203662 +v -2.671686 0.109100 -0.541927 +v -2.869385 0.109100 -1.275485 +f 195 202 206 +f 195 193 197 +f 196 195 197 +f 193 194 198 +f 196 198 199 +f 195 196 199 +f 192 196 200 +f 197 193 200 +f 196 197 200 +f 193 198 201 +f 198 196 201 +f 198 194 202 +f 199 198 202 +f 200 193 203 +f 192 200 203 +f 193 201 203 +f 203 201 204 +f 196 192 204 +f 201 196 204 +f 192 203 204 +f 195 199 205 +f 202 195 205 +f 199 202 205 +f 194 193 206 +f 193 195 206 +f 202 194 206 +o convex_15 +v -4.364309 -1.809266 -1.388323 +v -2.417764 -0.032159 -1.388334 +v -2.417764 -0.032159 -1.416553 +v -2.417764 -1.809266 -1.303732 +v -4.364309 -0.032159 -1.331918 +v -4.364309 -1.809266 -1.303732 +v -4.364309 -0.934805 -1.416553 +v -2.417764 -1.611790 -1.360137 +v -2.446535 -0.032159 -1.360137 +v -4.194730 -0.201448 -1.388334 +v -3.771733 -1.019537 -1.416553 +v -2.417764 -1.555244 -1.303732 +v -3.743534 -0.032159 -1.331918 +v -2.417764 -0.342552 -1.416553 +v -2.813132 -1.809266 -1.360137 +f 217 214 221 +f 209 208 210 +f 208 209 211 +f 207 210 212 +f 211 207 212 +f 207 211 213 +f 209 210 214 +f 208 211 215 +f 211 209 216 +f 209 213 216 +f 213 211 216 +f 207 213 217 +f 213 209 217 +f 210 208 218 +f 212 210 218 +f 211 212 218 +f 208 215 218 +f 218 215 219 +f 215 211 219 +f 211 218 219 +f 209 214 220 +f 217 209 220 +f 214 217 220 +f 210 207 221 +f 214 210 221 +f 207 217 221 +o convex_16 +v 2.293882 0.080795 2.589775 +v 2.293882 -1.809219 0.699650 +v 2.265676 -1.583513 0.699650 +v 2.181061 -1.809219 2.561464 +v 2.152836 0.080795 0.699465 +v 2.350331 -1.414233 0.699650 +v 2.322106 0.080795 2.561464 +v 2.209285 0.080795 0.727775 +v 2.322087 -1.809219 1.094698 +v 2.237490 -0.342312 2.589775 +v 2.209285 -1.809219 2.561464 +v 2.181061 -1.809219 2.194541 +v 2.181061 -1.357806 2.561464 +v 2.265676 0.080795 2.589775 +v 2.152836 -0.003937 0.699465 +v 2.152836 0.080795 0.784211 +f 226 236 237 +f 226 222 228 +f 227 226 229 +f 226 228 229 +f 228 227 229 +f 225 223 230 +f 223 227 230 +f 227 228 230 +f 228 222 232 +f 225 230 232 +f 230 228 232 +f 222 231 232 +f 231 225 232 +f 224 223 233 +f 223 225 233 +f 225 231 234 +f 222 226 235 +f 231 222 235 +f 223 224 236 +f 227 223 236 +f 226 227 236 +f 224 233 236 +f 233 225 236 +f 225 234 237 +f 234 231 237 +f 235 226 237 +f 231 235 237 +f 236 225 237 +o convex_17 +v 2.152836 -1.668068 2.674404 +v 4.212427 -0.680897 2.646202 +v 4.212427 -1.104239 2.646202 +v 2.181262 -1.809109 2.561561 +v 2.237510 -0.681007 2.561561 +v 4.212427 -1.583687 2.561577 +v 2.237510 -0.681007 2.702623 +v 2.209285 -1.809109 2.730842 +v 3.112271 -1.809109 2.674404 +v 4.212427 -0.680897 2.617982 +v 4.212427 -1.555303 2.617982 +v 3.252991 -1.809109 2.589780 +f 246 241 249 +f 241 238 242 +f 239 240 243 +f 241 242 243 +f 242 238 244 +f 239 242 244 +f 240 239 245 +f 238 241 245 +f 244 238 245 +f 239 244 245 +f 240 245 246 +f 245 241 246 +f 242 239 247 +f 239 243 247 +f 243 242 247 +f 243 240 248 +f 240 246 248 +f 246 243 248 +f 241 243 249 +f 243 246 249 +o convex_18 +v 4.240664 -1.555358 2.617621 +v 4.325252 -1.809219 0.699656 +v 4.297070 -0.680929 0.699465 +v 4.353489 0.109006 2.392023 +v 4.212427 -0.680929 2.617621 +v 4.325279 0.109006 0.699465 +v 4.212427 -1.809219 1.940445 +v 4.353475 -1.809219 0.869045 +v 4.297070 0.109006 0.699465 +v 4.353489 -0.370550 2.392023 +v 4.353475 -1.217003 0.699656 +v 4.297070 0.109006 1.630438 +v 4.297042 -0.850294 2.646011 +v 4.353489 0.109006 1.602239 +v 4.212427 -1.809219 2.363823 +v 4.297042 -1.809219 0.812645 +v 4.325279 0.109006 2.392023 +f 261 254 266 +f 256 251 257 +f 255 252 258 +f 253 255 258 +f 252 256 258 +f 256 254 258 +f 251 252 260 +f 252 255 260 +f 257 251 260 +f 253 258 261 +f 258 254 261 +f 254 250 262 +f 253 254 262 +f 250 257 262 +f 259 253 262 +f 257 259 262 +f 255 253 263 +f 253 259 263 +f 259 257 263 +f 257 260 263 +f 260 255 263 +f 250 254 264 +f 254 256 264 +f 257 250 264 +f 256 257 264 +f 252 251 265 +f 251 256 265 +f 256 252 265 +f 254 253 266 +f 253 261 266 +o convex_19 +v 1.249880 -1.639993 -1.416553 +v 1.560351 -0.031985 -1.331923 +v 1.560351 -0.455602 -1.331923 +v -0.414600 -1.272915 -1.303710 +v -0.414600 -0.031985 -1.388340 +v 0.403721 -1.809266 -1.303710 +v -0.414600 -1.809266 -1.331923 +v 1.560351 -0.850515 -1.416553 +v 1.560351 -1.809266 -1.388329 +v -0.301701 -0.314339 -1.331923 +v 0.629325 -0.286155 -1.416553 +v -0.414600 -0.399236 -1.388340 +v 1.560351 -0.031985 -1.360126 +v 1.390810 -1.809266 -1.360126 +v -0.414600 -1.329456 -1.360126 +v 1.362585 -1.809266 -1.416553 +v -0.414600 -0.031985 -1.360126 +f 270 276 283 +f 269 268 272 +f 268 270 272 +f 272 270 273 +f 270 271 273 +f 268 269 274 +f 272 273 275 +f 274 269 275 +f 270 268 276 +f 274 267 277 +f 273 271 278 +f 277 267 278 +f 271 277 278 +f 271 268 279 +f 268 274 279 +f 277 271 279 +f 274 277 279 +f 269 272 280 +f 275 269 280 +f 272 275 280 +f 273 278 281 +f 281 278 282 +f 267 274 282 +f 275 273 282 +f 274 275 282 +f 278 267 282 +f 273 281 282 +f 271 270 283 +f 268 271 283 +f 276 268 283 +o convex_20 +v -5.746938 -0.962723 -1.388273 +v -5.718752 0.080870 0.389116 +v -5.662336 0.080870 -1.303611 +v -5.690555 -1.809440 0.389116 +v -5.662336 -1.809440 -1.416553 +v -5.775156 -1.809440 -0.767531 +v -5.746938 0.080870 -0.739427 +v -5.746949 -1.809440 0.389116 +v -5.746949 0.080870 0.389116 +v -5.775156 -1.809440 -1.416553 +v -5.746938 -0.201307 -1.331890 +v -5.775156 -1.244715 -1.388273 +v -5.662336 -1.809440 -0.739427 +v -5.690555 -1.273211 0.389116 +f 287 296 297 +f 284 286 288 +f 288 287 289 +f 285 286 290 +f 287 285 291 +f 289 287 291 +f 285 290 292 +f 289 291 292 +f 291 285 292 +f 284 288 293 +f 288 289 293 +f 286 284 294 +f 290 286 294 +f 292 290 295 +f 289 292 295 +f 284 293 295 +f 293 289 295 +f 294 284 295 +f 290 294 295 +f 287 288 296 +f 288 286 296 +f 286 285 297 +f 285 287 297 +f 296 286 297 +o convex_21 +v 4.156000 -0.680897 2.617963 +v 4.353476 0.109006 2.702629 +v 4.156000 0.109006 2.702629 +v 4.353476 0.109006 2.392279 +v 4.297051 -0.680897 2.674407 +v 4.325254 -0.680897 2.392279 +v 4.268829 -0.652598 2.392279 +f 301 303 304 +f 300 299 301 +f 300 298 302 +f 299 300 302 +f 299 302 303 +f 301 299 303 +f 302 298 303 +f 303 298 304 +f 298 300 304 +f 300 301 304 +o convex_22 +v 0.347167 0.560719 -1.303724 +v 0.290751 4.058984 -1.219058 +v 0.375381 4.002314 -1.360110 +v 0.262526 3.776752 -1.416534 +v 0.318953 0.250151 -1.219058 +v 0.375381 0.673686 -1.247299 +v 0.262526 2.563562 -1.219058 +v 0.375381 4.058984 -1.416534 +f 307 310 312 +f 308 305 309 +f 306 309 310 +f 307 306 310 +f 309 305 310 +f 306 308 311 +f 308 309 311 +f 309 306 311 +f 306 307 312 +f 308 306 312 +f 305 308 312 +f 310 305 312 +o convex_23 +v 0.770304 4.058984 -1.331913 +v 0.375381 0.250151 -1.275491 +v 0.375381 0.250151 -1.247272 +v 1.080720 0.250151 -1.275491 +v 0.375381 3.973979 -1.416553 +v 1.080720 2.196324 -1.247272 +v 1.080720 4.058984 -1.360115 +v 0.375381 4.058984 -1.360115 +v 0.375381 0.758691 -1.247272 +v 1.080720 0.250151 -1.247272 +v 0.375381 0.645351 -1.303710 +v 1.052482 3.861384 -1.303710 +v 1.080720 3.776752 -1.360115 +f 317 319 325 +f 315 314 316 +f 314 315 317 +f 318 316 319 +f 319 317 320 +f 317 315 320 +f 313 319 320 +f 315 318 321 +f 320 315 321 +f 315 316 322 +f 318 315 322 +f 316 318 322 +f 316 314 323 +f 317 316 323 +f 314 317 323 +f 318 319 324 +f 319 313 324 +f 313 320 324 +f 321 318 324 +f 320 321 324 +f 316 317 325 +f 319 316 325 +o convex_24 +v 0.177902 1.266113 0.163285 +v 0.206119 4.058984 0.417329 +v 0.234319 3.861384 0.078711 +v 0.234336 4.058984 -1.190546 +v 0.347153 0.250151 -0.965014 +v 0.234319 0.250151 0.388978 +v 0.290720 0.250151 -0.993206 +v 0.290720 4.058984 -1.219058 +v 0.177902 4.058984 0.022328 +v 0.177902 0.250151 0.360786 +v 0.347153 1.266113 -1.219058 +v 0.318920 0.250151 -1.219058 +v 0.234336 3.692119 -1.190546 +v 0.177902 4.058984 0.417329 +v 0.177902 0.250151 0.417329 +v 0.234319 4.058984 0.050520 +f 336 333 341 +f 328 327 330 +f 330 327 331 +f 330 331 332 +f 329 327 333 +f 327 329 334 +f 332 331 335 +f 334 326 335 +f 333 336 337 +f 330 332 337 +f 336 330 337 +f 329 333 338 +f 326 334 338 +f 334 329 338 +f 335 326 338 +f 332 335 338 +f 333 337 338 +f 337 332 338 +f 327 334 339 +f 334 335 339 +f 339 335 340 +f 331 327 340 +f 335 331 340 +f 327 339 340 +f 327 328 341 +f 328 330 341 +f 333 327 341 +f 330 336 341 +o convex_25 +v -4.392954 -1.781224 -1.275427 +v -5.662197 -1.809434 -1.416490 +v -5.662197 -1.753013 -1.416490 +v -5.662197 -1.809434 -0.767641 +v -4.364627 -1.809434 -1.388227 +v -4.364627 -1.753013 -1.360027 +v -5.577471 -1.781224 -0.767641 +f 342 347 348 +f 344 343 345 +f 342 345 346 +f 343 344 346 +f 345 343 346 +f 342 346 347 +f 346 344 347 +f 344 345 348 +f 345 342 348 +f 347 344 348 +o convex_26 +v 2.237477 0.278486 -0.852138 +v 2.265710 4.058984 0.614824 +v 2.237477 4.058984 0.614824 +v 2.293898 4.058984 -1.219058 +v 2.350320 0.250151 0.614824 +v 2.293887 0.250151 -0.908684 +v 2.237488 2.394297 -1.219058 +v 2.293898 1.040178 0.614824 +v 2.350320 1.125183 0.614824 +v 2.350320 0.250151 0.163355 +v 2.265710 0.250151 -1.219058 +v 2.293898 4.058984 -0.175203 +v 2.265699 4.058984 -1.219058 +v 2.237477 3.239876 0.614824 +v 2.293898 2.309665 -1.219058 +v 2.237488 4.058984 -0.231749 +v 2.322087 0.250151 0.614824 +v 2.237477 0.250151 -1.219058 +v 2.293898 3.324881 0.614824 +f 357 360 367 +f 351 350 352 +f 350 351 353 +f 353 351 356 +f 350 353 357 +f 357 353 358 +f 353 354 358 +f 352 357 358 +f 354 353 359 +f 355 352 359 +f 352 350 360 +f 357 352 360 +f 351 352 361 +f 352 355 361 +f 351 349 362 +f 349 356 362 +f 356 351 362 +f 352 358 363 +f 358 354 363 +f 359 352 363 +f 354 359 363 +f 355 351 364 +f 351 361 364 +f 361 355 364 +f 356 349 365 +f 353 356 365 +f 359 353 365 +f 359 365 366 +f 349 351 366 +f 351 355 366 +f 355 359 366 +f 365 349 366 +f 350 357 367 +f 360 350 367 +o convex_27 +v -4.421154 -0.314234 -1.388331 +v -5.662197 -1.753013 -1.416553 +v -5.295346 -1.753013 -1.416553 +v -5.662197 -0.342417 -1.303721 +v -4.364627 -1.753013 -1.360132 +v -4.364627 0.080870 -1.331932 +v -5.662197 0.080870 -1.331932 +v -5.380073 -1.753013 -1.360132 +v -4.364627 -1.301543 -1.416553 +v -4.816077 0.080870 -1.303721 +v -5.633871 -1.527188 -1.416553 +v -4.900677 0.080870 -1.360132 +v -5.662197 -1.583555 -1.360132 +v -4.364627 -0.934623 -1.416553 +f 376 378 381 +f 369 370 372 +f 369 371 374 +f 372 371 375 +f 369 372 375 +f 370 369 376 +f 372 370 376 +f 373 372 376 +f 371 372 377 +f 372 373 377 +f 374 371 377 +f 373 374 377 +f 369 374 378 +f 376 369 378 +f 373 368 379 +f 374 373 379 +f 378 374 379 +f 368 378 379 +f 371 369 380 +f 369 375 380 +f 375 371 380 +f 368 373 381 +f 373 376 381 +f 378 368 381 +o convex_28 +v 3.393336 0.165510 0.699404 +v -5.746457 0.080870 0.389116 +v -5.746457 0.193713 0.389116 +v -5.774282 0.080870 0.671185 +v 2.349481 0.109138 0.389176 +v -1.796322 0.250151 0.699404 +v 2.349481 0.250151 0.389176 +v 2.180740 0.080870 0.699404 +v 2.349481 0.250151 0.671185 +v -5.774282 0.165510 0.671185 +v -1.796322 0.250151 0.417396 +v -5.774282 0.193713 0.586558 +v 2.349481 0.080870 0.642966 +v 3.393336 0.137308 0.671185 +f 394 386 395 +f 383 384 386 +f 386 384 388 +f 385 383 389 +f 387 385 389 +f 382 387 389 +f 387 382 390 +f 382 388 390 +f 388 387 390 +f 385 387 391 +f 388 384 392 +f 387 388 392 +f 384 383 393 +f 383 385 393 +f 385 391 393 +f 391 387 393 +f 392 384 393 +f 387 392 393 +f 383 386 394 +f 389 383 394 +f 389 394 395 +f 388 382 395 +f 386 388 395 +f 382 389 395 +o convex_29 +v 2.293882 3.550444 0.755892 +v 2.209263 0.250151 0.643063 +v 2.322092 0.250151 0.614824 +v 2.237501 4.058984 0.614824 +v 2.209263 4.058984 0.755892 +v 2.350331 0.899248 0.699457 +v 2.350331 1.181854 0.614824 +v 2.209263 1.012589 0.699457 +f 401 396 403 +f 398 397 399 +f 396 399 400 +f 399 397 400 +f 397 398 401 +f 396 401 402 +f 398 399 402 +f 399 396 402 +f 401 398 402 +f 396 400 403 +f 400 397 403 +f 397 401 403 +o convex_30 +v -0.697155 -1.837659 -0.316356 +v -4.307432 -1.837659 -1.388340 +v -3.771706 -1.865862 -0.767729 +v 0.572875 -1.894081 -1.360060 +v 0.572875 -1.809440 -1.360060 +v -5.746965 -1.809440 -0.259797 +v 0.572875 -1.894081 -0.259797 +v -2.755929 -1.894081 -0.259797 +v -4.307432 -1.809440 -1.388340 +v -5.746965 -1.837659 -0.767729 +v -4.872234 -1.865862 -0.259797 +v 0.572875 -1.865862 -0.259797 +v -0.048221 -1.894081 -1.331890 +v -4.787483 -1.809440 -0.259797 +v -5.746965 -1.809440 -0.767729 +f 412 413 418 +f 407 405 408 +f 407 408 410 +f 410 409 411 +f 407 410 411 +f 408 405 412 +f 409 408 412 +f 405 406 413 +f 412 405 413 +f 406 411 414 +f 411 409 414 +f 409 413 414 +f 413 406 414 +f 408 404 415 +f 409 410 415 +f 410 408 415 +f 406 405 416 +f 405 407 416 +f 411 406 416 +f 407 411 416 +f 404 408 417 +f 408 409 417 +f 415 404 417 +f 409 415 417 +f 409 412 418 +f 413 409 418 +o convex_31 +v 2.322043 -0.031985 -1.331934 +v 1.560425 -1.809266 -1.416531 +v 1.645116 -1.442362 -1.444767 +v 1.588680 -0.031985 -1.303713 +v 2.237352 -1.809266 -1.303713 +v 2.209172 -1.809266 -1.444767 +v 2.322043 -0.173249 -1.388323 +v 1.560425 -0.031985 -1.360143 +v 2.293788 -0.031985 -1.303713 +v 1.560425 -1.809266 -1.388323 +f 422 426 428 +f 423 420 424 +f 420 421 424 +f 424 421 425 +f 419 423 425 +f 423 424 425 +f 421 420 426 +f 422 419 426 +f 425 421 426 +f 419 425 426 +f 419 422 427 +f 423 419 427 +f 422 423 427 +f 423 422 428 +f 420 423 428 +f 426 420 428 +o convex_32 +v 3.055651 -1.922272 -1.162631 +v 1.870747 -1.865884 -1.444767 +v 0.883327 -1.865884 -1.388318 +v 1.927370 -1.950494 -1.444767 +v 3.422447 -1.837676 -1.388318 +v 0.572875 -1.865884 -1.162631 +v 2.237264 -1.809440 -1.303699 +v 3.422447 -1.837676 -1.190856 +v 1.758058 -1.950494 -1.162631 +v 0.572875 -1.809440 -1.360121 +v 0.572875 -1.894064 -1.360121 +v 2.208813 -1.809440 -1.444767 +v 3.309479 -1.894064 -1.360121 +f 433 436 441 +f 431 430 432 +f 435 434 436 +f 434 429 436 +f 433 435 436 +f 432 429 437 +f 429 434 437 +f 430 431 438 +f 434 435 438 +f 431 432 439 +f 432 437 439 +f 437 434 439 +f 438 431 439 +f 434 438 439 +f 432 430 440 +f 433 432 440 +f 435 433 440 +f 430 438 440 +f 438 435 440 +f 429 432 441 +f 432 433 441 +f 436 429 441 +o convex_33 +v 3.167953 -1.950508 -0.683014 +v 0.572911 -1.894086 -1.162631 +v -0.639911 -1.894086 -0.259833 +v 3.026391 -1.865867 0.558397 +v 3.422447 -1.865867 -1.162631 +v -0.639911 -1.865867 0.558397 +v 3.422049 -1.950508 0.163181 +v 1.757898 -1.950508 -1.162631 +v -0.639911 -1.894086 0.558397 +v 0.572911 -1.865867 -1.162631 +v 3.422049 -1.922289 0.558397 +v 0.601542 -1.922289 0.163181 +v 2.631925 -1.950508 -1.162631 +v -0.639911 -1.865867 -0.259833 +v 1.870432 -1.922289 0.558397 +v 3.422447 -1.894086 -1.162631 +v 3.422049 -1.894086 0.558397 +v 1.701432 -1.950508 -0.936889 +f 453 450 459 +f 445 446 447 +f 444 443 449 +f 443 446 449 +f 442 448 449 +f 447 444 450 +f 445 447 450 +f 443 444 451 +f 446 443 451 +f 447 446 451 +f 445 450 452 +f 442 449 454 +f 449 446 454 +f 444 447 455 +f 451 444 455 +f 447 451 455 +f 448 452 456 +f 452 450 456 +f 453 448 456 +f 450 453 456 +f 448 442 457 +f 446 452 457 +f 452 448 457 +f 442 454 457 +f 454 446 457 +f 446 445 458 +f 445 452 458 +f 452 446 458 +f 444 449 459 +f 449 448 459 +f 450 444 459 +f 448 453 459 +o convex_34 +v 1.729175 -1.837670 0.699465 +v -0.640132 -1.894053 0.558397 +v -0.640132 -1.865856 0.558397 +v -5.717857 -1.865856 0.643030 +v 3.421154 -1.922261 0.699465 +v -2.699854 -1.922261 0.699437 +v 3.421154 -1.922261 0.558397 +v 0.544522 -1.809440 0.586622 +v -5.069160 -1.809440 0.671227 +v -5.717857 -1.809440 0.586622 +v 2.321502 -1.809440 0.699465 +v -2.558483 -1.922261 0.586622 +v 3.054305 -1.865856 0.558397 +v -4.815051 -1.894053 0.586622 +v -2.756223 -1.809440 0.699437 +f 470 468 474 +f 464 460 465 +f 461 462 466 +f 464 465 466 +f 463 465 468 +f 468 467 469 +f 462 461 469 +f 467 462 469 +f 463 468 469 +f 460 464 470 +f 467 468 470 +f 461 466 471 +f 466 465 471 +f 466 462 472 +f 464 466 472 +f 462 467 472 +f 470 464 472 +f 467 470 472 +f 465 463 473 +f 469 461 473 +f 463 469 473 +f 471 465 473 +f 461 471 473 +f 465 460 474 +f 468 465 474 +f 460 470 474 +o convex_35 +v 1.982872 0.080870 -1.303702 +v -1.768222 0.080870 -1.444767 +v -1.768222 0.109122 -1.444767 +v -4.984517 0.165510 -1.275496 +v 1.982872 0.250151 -1.303702 +v -1.852807 0.080870 -1.247272 +v -4.674143 0.193713 -1.360112 +v 1.334156 0.250151 -1.247272 +v -4.984517 0.080870 -1.331926 +v 1.249571 0.080870 -1.247272 +v 0.713408 0.080870 -1.388337 +v -4.984517 0.193713 -1.275496 +f 481 483 486 +f 476 475 480 +f 477 476 481 +f 479 477 481 +f 479 481 482 +f 475 479 482 +f 476 480 483 +f 480 478 483 +f 481 476 483 +f 480 475 484 +f 475 482 484 +f 482 480 484 +f 475 476 485 +f 476 477 485 +f 479 475 485 +f 477 479 485 +f 478 480 486 +f 482 481 486 +f 480 482 486 +f 483 478 486 +o convex_36 +v -2.417567 -1.583452 -1.360143 +v -0.414796 -0.031985 -1.360143 +v -0.414796 -0.370705 -1.331934 +v -0.414796 -1.809266 -1.331934 +v -1.543021 -0.060516 -1.444767 +v -2.389337 -1.527086 -1.303713 +v -2.417567 -0.031985 -1.388323 +v -0.555947 -0.031985 -1.416531 +v -0.414796 -1.809266 -1.303713 +v -1.909817 -0.031985 -1.360143 +v -1.007237 -1.075633 -1.303713 +v -2.417567 -1.809266 -1.303713 +v -2.417567 -0.342522 -1.416531 +v -1.712206 -0.116882 -1.444767 +v -0.414796 -1.301446 -1.360143 +f 490 500 501 +f 488 489 490 +f 491 493 494 +f 493 488 494 +f 490 489 495 +f 489 488 496 +f 493 492 496 +f 488 493 496 +f 495 489 497 +f 492 495 497 +f 489 496 497 +f 496 492 497 +f 487 490 498 +f 493 487 498 +f 492 493 498 +f 490 495 498 +f 495 492 498 +f 487 493 499 +f 499 493 500 +f 490 487 500 +f 493 491 500 +f 487 499 500 +f 500 491 501 +f 488 490 501 +f 491 494 501 +f 494 488 501 +o convex_37 +v -5.775167 -0.060311 0.558364 +v -5.662336 0.080870 0.671196 +v -5.662336 0.080870 0.643002 +v -5.662336 -1.809440 0.614780 +v -5.718746 0.080870 0.389116 +v -5.746946 -1.809440 0.389116 +v -5.746946 -1.357956 0.671196 +v -5.690557 -1.809440 0.389116 +v -5.775167 0.080870 0.671196 +f 507 508 510 +f 504 503 505 +f 503 504 506 +f 502 506 507 +f 505 503 508 +f 507 505 508 +f 504 505 509 +f 506 504 509 +f 505 507 509 +f 507 506 509 +f 506 502 510 +f 503 506 510 +f 502 507 510 +f 508 503 510 +o convex_38 +v -3.969480 -0.962908 0.586611 +v -3.179941 0.080870 0.643032 +v -2.756730 -1.216775 0.671251 +v -5.662040 -1.273211 0.671251 +v -5.662040 0.080870 0.671251 +v -5.662040 -1.809440 0.614830 +v -2.756445 0.080685 0.586611 +v -2.756730 -1.809440 0.643032 +v -5.662040 0.080870 0.643032 +v -4.956404 -1.809440 0.671251 +v -2.784887 -0.680731 0.586611 +v -4.787176 -0.003876 0.614830 +v -2.756730 -1.809440 0.671251 +v -4.674263 0.080870 0.671251 +v -5.662040 -1.188650 0.614830 +v -4.815333 -1.809440 0.614830 +v -3.236255 0.080685 0.586611 +v -2.756445 0.080685 0.614830 +f 523 517 528 +f 514 513 515 +f 514 515 516 +f 515 512 519 +f 516 515 519 +f 512 517 519 +f 513 514 520 +f 514 516 520 +f 516 518 520 +f 511 517 521 +f 517 518 521 +f 518 517 523 +f 513 520 523 +f 520 518 523 +f 513 512 524 +f 512 515 524 +f 515 513 524 +f 511 516 525 +f 516 519 525 +f 519 522 525 +f 516 511 526 +f 518 516 526 +f 511 521 526 +f 521 518 526 +f 517 511 527 +f 519 517 527 +f 522 519 527 +f 511 525 527 +f 525 522 527 +f 512 513 528 +f 517 512 528 +f 513 523 528 +o convex_39 +v 3.535423 -1.696575 2.646152 +v 4.155900 -1.809396 2.138358 +v 4.155900 -1.781207 2.138358 +v 4.212427 -1.781207 2.589686 +v 4.212427 -1.583731 2.533270 +v 3.253165 -1.583731 2.617919 +v 3.253165 -1.809396 2.561503 +v 3.253165 -1.809396 2.646152 +f 535 530 536 +f 529 532 533 +f 530 531 533 +f 532 530 533 +f 529 533 534 +f 533 531 534 +f 531 530 535 +f 534 531 535 +f 534 535 536 +f 530 532 536 +f 532 529 536 +f 529 534 536 +o convex_40 +v 0.346764 0.080870 -0.993438 +v -1.768658 0.052656 -1.444767 +v -1.768658 0.080870 -1.444767 +v 2.322117 0.080870 -1.360068 +v 2.293318 -0.031985 -1.303646 +v -4.364500 -0.031985 -1.331879 +v -4.364500 0.080870 -1.331879 +v -1.457759 -0.031985 -1.444767 +v -0.105512 0.052656 -0.993438 +v -1.824947 0.080870 -1.049860 +v 2.322117 -0.031985 -1.360068 +v -3.771501 -0.031985 -1.388301 +v 2.264519 0.080870 -1.275458 +f 541 540 549 +f 539 537 540 +f 537 539 543 +f 538 539 544 +f 539 540 544 +f 541 542 544 +f 541 537 545 +f 542 541 545 +f 543 542 546 +f 537 543 546 +f 545 537 546 +f 542 545 546 +f 540 541 547 +f 544 540 547 +f 541 544 547 +f 539 538 548 +f 543 539 548 +f 542 543 548 +f 538 544 548 +f 544 542 548 +f 540 537 549 +f 537 541 549 +o convex_41 +v -5.746965 0.165494 -0.823825 +v -4.985199 0.165494 0.389116 +v -4.985199 0.137313 0.389116 +v -4.985199 0.193702 -1.331913 +v -4.985199 0.080897 -1.331913 +v -5.746965 0.080897 0.389116 +v -5.746965 0.193702 0.389116 +v -5.718630 0.080897 -1.331913 +v -5.718630 0.221924 -1.331913 +v -5.013534 0.221924 -1.303611 +v -5.746965 0.221924 -0.598083 +v -5.069981 0.193702 -0.062368 +f 559 560 561 +f 551 552 553 +f 553 552 554 +f 554 552 555 +f 552 551 555 +f 550 555 556 +f 555 551 556 +f 553 554 557 +f 554 555 557 +f 555 550 557 +f 557 550 558 +f 553 557 558 +f 551 553 559 +f 553 558 559 +f 559 558 560 +f 550 556 560 +f 558 550 560 +f 560 556 561 +f 556 551 561 +f 551 559 561 +o convex_42 +v 2.293821 0.080870 -1.360126 +v 2.350331 0.193713 2.589775 +v 2.265638 0.193713 2.589775 +v 1.983554 0.250151 -1.303290 +v 1.983554 0.080870 -1.303290 +v 2.293821 0.250151 -0.936757 +v 2.322076 0.080870 2.589775 +v 2.350331 0.193713 -1.360126 +v 2.350331 0.250151 0.389414 +v 2.350331 0.080870 -1.360126 +v 2.265638 0.080870 2.589775 +f 566 568 572 +f 565 562 566 +f 564 565 566 +f 563 564 568 +f 566 562 568 +f 562 565 569 +f 565 567 569 +f 564 563 570 +f 565 564 570 +f 567 565 570 +f 563 569 570 +f 569 567 570 +f 563 568 571 +f 568 562 571 +f 562 569 571 +f 569 563 571 +f 564 566 572 +f 568 564 572 +o convex_43 +v -0.866431 -1.922283 0.586611 +v -5.746171 -1.837665 -0.259797 +v -5.746171 -1.809440 -0.259797 +v -0.641012 -1.894070 -0.259797 +v -0.641012 -1.865867 0.586611 +v -5.718181 -1.809440 0.586611 +v -4.759027 -1.894070 0.558358 +v -2.813229 -1.894070 -0.259797 +v -0.641012 -1.865867 -0.259797 +v -4.843496 -1.809440 -0.259797 +v -5.746171 -1.865867 0.078816 +v -1.769105 -1.922283 0.247998 +v -5.718181 -1.865867 0.586611 +v -2.502341 -1.922283 0.586611 +f 585 579 586 +f 574 575 576 +f 573 576 577 +f 573 577 578 +f 574 576 580 +f 576 575 581 +f 577 576 581 +f 575 578 582 +f 578 577 582 +f 581 575 582 +f 577 581 582 +f 575 574 583 +f 578 575 583 +f 574 580 583 +f 580 579 583 +f 576 573 584 +f 580 576 584 +f 579 580 584 +f 573 578 585 +f 578 583 585 +f 583 579 585 +f 584 573 586 +f 579 584 586 +f 573 585 586 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/570/570.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/570/570.urdf new file mode 100644 index 000000000..5be0f3f74 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/570/570.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/571/571.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/571/571.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/571/571.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/571/571.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/571/571.obj new file mode 100644 index 000000000..e2fef0086 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/571/571.obj @@ -0,0 +1,321 @@ +o convex_0 +v -0.608926 -3.436709 -1.057343 +v 1.119160 -1.593279 0.939655 +v 1.119160 -1.823756 0.939655 +v -0.992922 -3.475058 1.093562 +v -0.992922 -1.593471 -1.057343 +v 1.042444 -3.552140 -0.980285 +v -0.992922 -1.593471 0.978184 +v 0.965521 -1.593279 -1.018814 +v 1.042444 -3.552140 0.939655 +v -0.992922 -3.398360 -1.057343 +v -0.608926 -3.090994 1.093562 +v 0.811881 -1.670169 0.978184 +v 1.080905 -3.398360 0.939655 +v 1.080905 -2.822361 -0.404029 +v 0.773626 -3.552140 -0.980285 +v 0.811881 -3.552140 0.978184 +v -0.071290 -2.553535 -1.057343 +v 1.003982 -1.631820 -0.826799 +v -0.992922 -1.862296 1.016714 +v -0.992922 -3.475058 0.632473 +v -0.340108 -3.513407 1.055033 +v 0.581524 -3.436901 -1.018814 +v 1.119160 -1.593279 0.671002 +v 1.042444 -2.975756 -0.980285 +v -0.340108 -1.631820 -1.057343 +v -0.608926 -3.475058 1.093562 +v -0.992922 -3.014105 1.093562 +v 1.080905 -2.975756 -0.327392 +v 0.543269 -1.593279 0.978184 +v -0.301646 -3.436709 -1.057343 +f 17 22 30 +f 5 4 7 +f 5 1 10 +f 4 5 10 +f 3 2 12 +f 9 6 13 +f 1 6 15 +f 6 9 15 +f 15 9 16 +f 12 11 16 +f 3 12 16 +f 13 3 16 +f 9 13 16 +f 1 5 17 +f 7 4 19 +f 10 1 20 +f 4 10 20 +f 1 15 20 +f 20 15 21 +f 15 16 21 +f 4 20 21 +f 8 6 22 +f 17 8 22 +f 2 3 23 +f 8 2 23 +f 18 8 23 +f 18 23 24 +f 6 8 24 +f 14 6 24 +f 8 18 24 +f 23 14 24 +f 5 8 25 +f 17 5 25 +f 8 17 25 +f 11 4 26 +f 16 11 26 +f 4 21 26 +f 21 16 26 +f 4 11 27 +f 19 4 27 +f 11 19 27 +f 3 13 28 +f 13 6 28 +f 6 14 28 +f 23 3 28 +f 14 23 28 +f 5 7 29 +f 8 5 29 +f 2 8 29 +f 11 12 29 +f 12 2 29 +f 7 19 29 +f 19 11 29 +f 6 1 30 +f 1 17 30 +f 22 6 30 +o convex_1 +v -2.990200 -1.593279 0.862912 +v 3.116637 0.557419 1.016744 +v 3.116637 0.403948 1.016744 +v 1.195919 0.518894 -1.095546 +v 2.962642 -1.516228 -0.980379 +v -2.913203 0.557209 -0.941921 +v -3.028698 0.557209 0.939621 +v -2.913203 -1.439387 -0.980379 +v 2.962642 -1.554543 0.939828 +v 3.001141 0.557419 -0.941921 +v -0.993086 -1.593279 -1.057294 +v -3.028698 -1.593279 0.978286 +v -1.299872 0.557209 1.016744 +v 0.350755 -1.593279 0.978079 +v 0.965529 -1.593279 -1.018630 +v 0.081866 -0.325933 -1.095546 +v -0.262816 -0.748031 1.016537 +v -2.951702 -1.439387 -0.941921 +v 3.001141 -1.132024 0.978079 +v 0.658142 0.557209 -1.095546 +v -2.951702 0.442053 -0.788296 +v 2.962642 -1.554543 -0.250506 +v -2.990200 -1.516228 -0.173590 +v 3.001141 -0.441300 -0.941921 +v 1.118922 -1.593279 0.939621 +v 3.078138 -0.057096 1.016744 +v 2.962642 -0.594560 -0.980379 +v -1.299872 -1.400862 -1.057294 +v -0.378312 -1.593279 -1.057088 +v 0.888532 0.058060 -1.095546 +v -2.990200 -0.594350 -0.250506 +v -1.491763 -0.095622 1.016744 +v 3.039639 0.557419 -0.557755 +v 3.116637 0.519104 0.824454 +v -2.951702 -0.133937 -0.941921 +v -2.951702 -1.477702 -0.672922 +v -2.299030 0.442053 0.978286 +v 0.081866 -0.249303 -1.095546 +v -3.028698 0.557209 0.862912 +v -2.990200 -1.324231 0.978286 +v -3.028698 -1.593279 0.901370 +f 69 61 71 +f 37 32 40 +f 31 41 42 +f 33 32 43 +f 32 37 43 +f 42 41 44 +f 44 41 45 +f 42 44 47 +f 35 33 49 +f 44 39 49 +f 47 44 49 +f 40 34 50 +f 36 40 50 +f 34 46 50 +f 45 35 52 +f 35 49 52 +f 49 39 52 +f 41 31 53 +f 35 40 54 +f 39 44 55 +f 44 45 55 +f 45 52 55 +f 52 39 55 +f 33 43 56 +f 49 33 56 +f 47 49 56 +f 35 34 57 +f 34 40 57 +f 40 35 57 +f 38 36 58 +f 41 38 58 +f 46 41 58 +f 35 45 59 +f 45 41 59 +f 41 46 59 +f 59 46 60 +f 34 35 60 +f 46 34 60 +f 35 59 60 +f 48 53 61 +f 42 47 62 +f 56 43 62 +f 47 56 62 +f 40 32 63 +f 54 40 63 +f 54 63 64 +f 32 33 64 +f 33 35 64 +f 35 54 64 +f 63 32 64 +f 36 38 65 +f 38 48 65 +f 51 36 65 +f 48 61 65 +f 38 41 66 +f 48 38 66 +f 41 53 66 +f 53 48 66 +f 43 37 67 +f 36 50 68 +f 50 46 68 +f 58 36 68 +f 46 58 68 +f 40 36 69 +f 37 40 69 +f 42 37 69 +f 36 51 69 +f 51 65 69 +f 65 61 69 +f 37 42 70 +f 42 62 70 +f 62 43 70 +f 67 37 70 +f 43 67 70 +f 31 42 71 +f 53 31 71 +f 61 53 71 +f 42 69 71 +o convex_2 +v 3.116636 0.557626 0.785974 +v -3.105626 2.362707 -1.095546 +v -3.105626 2.631713 -1.095546 +v -3.028274 0.557626 0.939614 +v 3.116636 2.593139 0.978076 +v 3.000913 0.557626 -0.941906 +v 3.039285 2.631713 -1.057291 +v -2.989902 2.554768 0.939614 +v -2.913159 0.557626 -0.941906 +v 1.195629 0.557626 -1.095339 +v 3.116636 0.557626 1.016537 +v -0.954389 1.057064 1.016330 +v 0.927029 2.247390 1.016330 +v -2.951531 0.711315 -0.980367 +v 3.000913 2.631713 -0.020480 +v -1.261970 0.557626 1.016330 +v 1.771809 1.326070 -1.095339 +v -3.105626 2.631713 -0.903651 +v 3.077656 2.209019 1.016537 +v 0.696800 0.557626 -1.095339 +v -0.877647 2.554768 -1.095339 +v -3.028274 2.593139 0.171621 +v 3.116636 2.593139 0.517156 +v 3.039285 2.439450 -1.057291 +v -0.800904 2.554768 0.978076 +v -3.105626 2.362707 -0.672881 +v 3.039285 0.557626 -0.557703 +v -2.951531 0.557626 -0.788266 +v 2.809056 2.593139 0.978076 +v -3.028274 2.478025 0.478694 +v 3.039285 2.055533 -1.018622 +v -2.221865 0.596201 0.978282 +v 2.732313 0.749686 -0.980367 +v -3.066645 1.364238 0.056236 +v 3.077656 2.631713 -0.327346 +v 2.424733 2.285964 1.016537 +v 3.116636 0.596201 0.747719 +v -3.066645 2.324336 -1.095546 +v 1.771809 1.402813 -1.095339 +f 88 109 110 +f 72 75 77 +f 77 75 80 +f 77 80 81 +f 75 72 82 +f 72 76 82 +f 78 74 86 +f 75 82 87 +f 83 79 87 +f 74 73 89 +f 86 74 89 +f 82 76 90 +f 81 80 91 +f 80 85 91 +f 74 78 92 +f 89 79 93 +f 86 89 93 +f 76 72 94 +f 88 78 95 +f 79 83 96 +f 83 84 96 +f 89 73 97 +f 72 77 98 +f 80 75 99 +f 73 85 99 +f 85 80 99 +f 76 86 100 +f 93 79 100 +f 86 93 100 +f 79 96 100 +f 75 79 101 +f 79 89 101 +f 97 75 101 +f 89 97 101 +f 77 95 102 +f 98 77 102 +f 79 75 103 +f 75 87 103 +f 87 79 103 +f 77 81 104 +f 81 88 104 +f 95 77 104 +f 88 95 104 +f 97 73 105 +f 75 97 105 +f 73 99 105 +f 99 75 105 +f 78 86 106 +f 86 76 106 +f 76 94 106 +f 95 78 106 +f 102 95 106 +f 84 83 107 +f 87 82 107 +f 83 87 107 +f 90 76 107 +f 82 90 107 +f 96 84 107 +f 76 100 107 +f 100 96 107 +f 94 72 108 +f 72 98 108 +f 98 102 108 +f 106 94 108 +f 102 106 108 +f 73 74 109 +f 85 73 109 +f 88 81 109 +f 81 91 109 +f 91 85 109 +f 78 88 110 +f 74 92 110 +f 92 78 110 +f 109 74 110 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/571/571.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/571/571.urdf new file mode 100644 index 000000000..48d5a0ec9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/571/571.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/572/572.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/572/572.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/572/572.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/572/572.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/572/572.obj new file mode 100644 index 000000000..3879f9a69 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/572/572.obj @@ -0,0 +1,591 @@ +o convex_0 +v -0.591222 0.607168 -2.455051 +v 0.043671 -0.595960 -4.760576 +v 0.043671 -0.529067 -4.760576 +v 0.411346 0.373161 -0.750540 +v -0.724890 -0.462175 -0.750148 +v -0.624551 0.573722 -4.592952 +v 0.244114 0.473383 -4.693448 +v 0.277560 -0.529067 -0.950748 +v -0.657997 -0.562514 -4.660080 +v -0.758218 0.506829 -0.750148 +v 0.411346 -0.428846 -2.922202 +v 0.411346 0.540275 -0.750540 +v -0.791783 0.607168 -2.821705 +v 0.244114 -0.595960 -4.760576 +v 0.143892 -0.562514 -0.750540 +v 0.377899 0.439936 -2.721994 +v -0.390661 0.573722 -4.626712 +v -0.758218 -0.328389 -0.783908 +v -0.624551 -0.529067 -2.387923 +v -0.657997 -0.228285 -4.660080 +v 0.110446 0.506829 -4.693448 +v 0.411346 -0.428846 -2.554762 +v -0.758218 0.206047 -3.323009 +v -0.791783 0.573722 -1.919987 +v 0.010342 0.573722 -1.385316 +v -0.657997 0.607168 -3.790945 +v 0.411346 -0.127946 -2.755362 +v -0.624551 0.473383 -4.626712 +v 0.210667 -0.562514 -0.750540 +v 0.411346 0.540275 -0.950748 +v 0.277560 -0.495621 -4.492848 +v 0.277560 0.473383 -4.325616 +v -0.657997 0.573722 -4.358984 +v -0.624551 -0.495621 -4.693448 +v -0.524329 -0.495621 -0.750148 +v -0.089997 0.540275 -0.783908 +v -0.657997 -0.562514 -4.426112 +v -0.691443 -0.328389 -4.292248 +v -0.791783 0.506829 -2.855073 +v 0.143892 0.172601 -4.726816 +f 34 28 40 +f 4 11 12 +f 2 3 14 +f 2 14 15 +f 9 5 18 +f 5 10 18 +f 4 8 22 +f 11 4 22 +f 8 14 22 +f 14 11 22 +f 1 13 24 +f 18 10 24 +f 1 24 25 +f 13 1 26 +f 17 6 26 +f 1 25 26 +f 25 17 26 +f 12 11 27 +f 6 17 28 +f 20 6 28 +f 17 21 28 +f 8 4 29 +f 14 8 29 +f 15 14 29 +f 21 17 30 +f 7 21 30 +f 25 12 30 +f 17 25 30 +f 12 27 30 +f 27 16 30 +f 14 7 31 +f 11 14 31 +f 27 11 32 +f 16 27 32 +f 7 30 32 +f 30 16 32 +f 31 7 32 +f 11 31 32 +f 6 20 33 +f 20 13 33 +f 13 26 33 +f 26 6 33 +f 3 2 34 +f 2 9 34 +f 9 20 34 +f 20 28 34 +f 10 5 35 +f 4 12 35 +f 12 10 35 +f 5 19 35 +f 19 15 35 +f 29 4 35 +f 15 29 35 +f 10 12 36 +f 24 10 36 +f 12 25 36 +f 25 24 36 +f 9 2 37 +f 5 9 37 +f 2 15 37 +f 19 5 37 +f 15 19 37 +f 9 18 38 +f 20 9 38 +f 18 23 38 +f 38 23 39 +f 13 20 39 +f 23 18 39 +f 24 13 39 +f 18 24 39 +f 20 38 39 +f 14 3 40 +f 7 14 40 +f 21 7 40 +f 28 21 40 +f 3 34 40 +o convex_1 +v 1.881738 0.306314 -0.382840 +v 1.848409 -0.328533 -1.952936 +v 1.915125 -0.328533 -1.952936 +v 1.948631 0.339741 -2.621158 +v 1.480793 0.206034 -2.654604 +v 1.514240 -0.328533 -0.282265 +v 2.015465 -0.194826 -0.282265 +v 1.581074 0.339741 -0.282265 +v 1.614520 -0.295106 -2.688522 +v 2.048911 -0.295106 -2.688522 +v 2.082357 0.339741 -2.053276 +v 2.048911 0.239461 -0.282265 +v 2.082357 -0.027757 -2.654604 +v 1.948631 -0.261679 -0.282265 +v 1.480793 0.239461 -2.019829 +v 1.480793 0.072392 -2.654604 +v 2.082357 0.339741 -2.621158 +v 1.547804 -0.328533 -1.385525 +v 2.048911 -0.295106 -1.952936 +v 1.714800 -0.328533 -0.315711 +v 1.514240 -0.161399 -0.282265 +v 1.547804 0.072392 -2.688522 +v 1.581074 0.339741 -0.616493 +f 55 48 63 +f 42 43 46 +f 46 47 48 +f 43 42 49 +f 43 49 50 +f 48 41 51 +f 44 48 51 +f 48 47 52 +f 41 48 52 +f 51 41 52 +f 51 52 53 +f 47 46 54 +f 44 45 55 +f 55 45 56 +f 46 55 56 +f 44 51 57 +f 53 50 57 +f 51 53 57 +f 42 46 58 +f 49 42 58 +f 56 49 58 +f 46 56 58 +f 43 50 59 +f 52 47 59 +f 50 53 59 +f 53 52 59 +f 47 54 59 +f 59 54 60 +f 46 43 60 +f 54 46 60 +f 43 59 60 +f 46 48 61 +f 55 46 61 +f 48 55 61 +f 45 44 62 +f 50 49 62 +f 56 45 62 +f 49 56 62 +f 44 57 62 +f 57 50 62 +f 48 44 63 +f 44 55 63 +o convex_2 +v -0.758254 0.272776 1.522625 +v 0.411336 0.439982 3.327015 +v -0.090113 0.439874 3.360337 +v -0.724824 -0.495572 3.360337 +v 0.344362 -0.562389 1.389136 +v 0.411336 0.506908 1.388937 +v -0.624535 -0.595852 1.389136 +v 0.310932 -0.462109 3.293493 +v -0.657965 0.439874 3.360337 +v -0.724824 0.473337 1.389136 +v -0.758254 -0.462109 3.427381 +v -0.557675 0.473337 3.159805 +v -0.657965 -0.595852 1.823523 +v 0.411336 0.206067 3.327015 +v -0.023253 0.506692 2.057377 +v -0.758254 -0.295011 3.427381 +v -0.758254 0.439874 1.455781 +v -0.758254 -0.495572 3.092961 +v 0.310932 -0.495572 2.858907 +v -0.591219 -0.462109 3.427381 +v -0.123543 -0.595852 1.422458 +v 0.411336 0.339702 1.388937 +v 0.411336 0.506908 1.890367 +v -0.156859 0.506692 1.389136 +v -0.724824 0.473337 2.057377 +v -0.657965 -0.428754 1.389136 +f 73 85 89 +f 66 65 75 +f 72 66 75 +f 69 65 77 +f 71 68 77 +f 66 72 79 +f 64 74 79 +f 64 79 80 +f 74 64 81 +f 67 74 81 +f 76 67 81 +f 71 67 82 +f 68 71 82 +f 67 76 82 +f 65 66 83 +f 67 71 83 +f 74 67 83 +f 77 65 83 +f 71 77 83 +f 66 79 83 +f 79 74 83 +f 70 68 84 +f 76 70 84 +f 68 82 84 +f 82 76 84 +f 68 70 85 +f 73 69 85 +f 69 77 85 +f 77 68 85 +f 65 69 86 +f 75 65 86 +f 78 75 86 +f 78 86 87 +f 69 73 87 +f 75 78 87 +f 86 69 87 +f 75 87 88 +f 72 75 88 +f 79 72 88 +f 73 80 88 +f 80 79 88 +f 87 73 88 +f 70 76 89 +f 64 80 89 +f 80 73 89 +f 81 64 89 +f 76 81 89 +f 85 70 89 +o convex_3 +v 1.480793 -0.094585 1.021249 +v 2.182618 0.239428 0.921056 +v 2.182618 0.206004 0.921056 +v 1.982018 0.306386 3.427381 +v 2.048862 -0.228223 3.126055 +v 1.480793 -0.261758 3.360254 +v 2.149024 -0.228279 0.887493 +v 1.581093 0.272907 0.887493 +v 1.614549 0.239483 3.293375 +v 1.547637 -0.194800 0.887493 +v 1.982018 -0.228223 3.393569 +v 1.514249 -0.027738 3.226497 +v 2.015337 0.272907 3.393569 +v 1.581231 0.272907 1.856857 +v 1.815149 -0.228279 0.887493 +v 2.048862 -0.194800 3.293375 +v 1.480793 -0.194800 0.987935 +v 1.915174 0.306386 2.825475 +v 1.547637 0.206004 0.887493 +f 99 106 108 +f 94 95 96 +f 91 92 96 +f 91 96 97 +f 95 93 98 +f 97 96 99 +f 93 95 100 +f 95 94 100 +f 90 95 101 +f 95 98 101 +f 91 93 102 +f 93 100 102 +f 98 93 103 +f 101 98 103 +f 96 95 104 +f 99 96 104 +f 92 91 105 +f 94 96 105 +f 96 92 105 +f 100 94 105 +f 91 102 105 +f 102 100 105 +f 95 90 106 +f 104 95 106 +f 99 104 106 +f 93 91 107 +f 91 97 107 +f 103 93 107 +f 97 103 107 +f 97 99 108 +f 90 101 108 +f 103 97 108 +f 101 103 108 +f 106 90 108 +o convex_4 +v -1.426950 0.540141 0.854010 +v -1.928254 -0.462142 -0.282265 +v -1.928254 -0.428682 -0.282265 +v -3.298300 0.473329 0.820577 +v -2.729868 -0.495493 0.887443 +v -3.264539 0.439977 -0.115098 +v -1.293282 0.506789 -0.115098 +v -1.293282 -0.462142 0.787143 +v -3.231172 -0.428682 -0.248831 +v -1.293282 -0.495493 -0.282265 +v -3.298300 0.606952 0.653410 +v -3.131068 -0.495493 0.854010 +v -1.293282 0.506789 0.887443 +v -3.164436 -0.194787 0.887443 +v -2.796800 0.606952 0.820577 +v -3.131068 -0.495493 0.519791 +v -3.298300 0.606952 0.820577 +v -2.763236 0.473329 -0.115098 +v -1.894886 -0.495493 0.820577 +v -1.360214 -0.194787 -0.248831 +v -2.963836 -0.295059 -0.248831 +v -1.360018 0.339706 0.887443 +f 116 121 130 +f 111 110 117 +f 110 111 118 +f 115 116 118 +f 117 110 118 +f 117 112 119 +f 114 117 119 +f 112 117 120 +f 118 113 120 +f 115 109 121 +f 116 115 121 +f 112 120 122 +f 120 113 122 +f 113 121 122 +f 109 115 123 +f 115 119 123 +f 121 109 123 +f 117 118 124 +f 120 117 124 +f 118 120 124 +f 119 112 125 +f 112 122 125 +f 122 121 125 +f 123 119 125 +f 121 123 125 +f 119 115 126 +f 114 119 126 +f 116 113 127 +f 113 118 127 +f 118 116 127 +f 118 111 128 +f 115 118 128 +f 126 115 128 +f 126 128 129 +f 111 117 129 +f 117 114 129 +f 114 126 129 +f 128 111 129 +f 113 116 130 +f 121 113 130 +o convex_5 +v 0.511489 3.113686 1.254752 +v -1.292870 -2.935115 -0.750148 +v -1.292870 -2.935115 0.820315 +v 0.812251 -3.035637 -0.282003 +v -1.192688 3.046270 -0.649861 +v 0.778785 3.079978 -0.716649 +v 0.778785 -2.935115 1.355248 +v -1.192688 2.779012 1.355248 +v -1.259620 -2.935115 1.388747 +v 0.912434 0.573539 0.887313 +v 0.812251 -3.001929 -0.616153 +v 0.745535 3.113686 1.288251 +v -1.292870 0.673459 0.920602 +v 0.411307 0.506122 1.388747 +v 0.912434 -1.263554 -0.382499 +v 0.277658 -0.428074 -0.750148 +v -0.758277 0.506122 -0.750148 +v -1.159222 2.945747 1.355248 +v -1.292870 0.506724 -0.115137 +v 0.912434 0.573539 -0.215215 +v -1.059040 3.079978 -0.449288 +v 0.611671 -2.032219 1.388747 +v 0.745535 2.645384 1.321750 +v 0.912434 -0.428676 0.853814 +v -0.891926 -2.935115 -0.750148 +v -0.758277 0.439910 1.388747 +v 0.845717 -2.900805 -0.582864 +v 0.210726 3.079978 -0.716649 +v -1.292870 -1.932298 1.254752 +v 0.778785 2.812721 1.254752 +v 0.478023 -3.035637 -0.616362 +v 0.812251 -2.667858 1.121176 +v -0.925392 2.979455 1.355248 +v 0.712069 3.113686 0.252721 +v 0.411307 0.406202 -0.750148 +v -1.259620 -1.598227 -0.750148 +v 0.778785 -0.661623 1.355248 +v 0.778785 1.876719 -0.716649 +v 0.478023 3.079978 1.321540 +v -1.192688 3.046270 -0.115137 +v -0.758277 -2.968221 0.887103 +v -1.292870 -2.533627 -0.750148 +v 0.912434 0.272573 -0.349001 +v 0.778785 2.946349 0.686739 +v 0.912434 -1.063712 0.052147 +v -0.524231 3.079978 -0.683151 +v -1.259620 -2.333184 1.388747 +v 0.812251 2.343817 -0.649652 +v 0.210726 3.113686 0.720028 +v -0.758277 2.979455 1.355248 +v 0.812251 -2.968221 0.619741 +f 175 162 181 +f 132 133 143 +f 146 132 147 +f 132 143 149 +f 143 135 149 +f 136 140 150 +f 140 145 150 +f 139 137 152 +f 144 139 152 +f 140 137 154 +f 145 140 154 +f 132 146 155 +f 146 141 155 +f 139 144 156 +f 148 138 156 +f 134 141 157 +f 136 147 158 +f 133 139 159 +f 143 133 159 +f 138 143 159 +f 142 153 160 +f 141 134 161 +f 132 155 161 +f 155 141 161 +f 154 137 162 +f 142 131 163 +f 131 151 163 +f 156 144 163 +f 148 156 163 +f 131 142 164 +f 142 136 164 +f 136 158 164 +f 141 146 165 +f 147 136 165 +f 146 147 165 +f 147 132 166 +f 135 147 166 +f 137 140 167 +f 152 137 167 +f 144 152 167 +f 153 144 167 +f 140 160 167 +f 160 153 167 +f 157 141 168 +f 136 157 168 +f 165 136 168 +f 141 165 168 +f 144 153 169 +f 153 142 169 +f 142 163 169 +f 135 143 170 +f 143 138 170 +f 138 148 170 +f 151 135 170 +f 163 151 170 +f 148 163 170 +f 133 132 171 +f 134 137 171 +f 137 139 171 +f 139 133 171 +f 132 161 171 +f 161 134 171 +f 132 149 172 +f 149 135 172 +f 166 132 172 +f 135 166 172 +f 150 145 173 +f 140 136 174 +f 136 142 174 +f 160 140 174 +f 142 160 174 +f 145 154 175 +f 157 145 175 +f 154 162 175 +f 147 135 176 +f 135 151 176 +f 158 147 176 +f 151 164 176 +f 164 158 176 +f 156 138 177 +f 139 156 177 +f 138 159 177 +f 159 139 177 +f 136 150 178 +f 157 136 178 +f 145 157 178 +f 173 145 178 +f 150 173 178 +f 151 131 179 +f 131 164 179 +f 164 151 179 +f 163 144 180 +f 144 169 180 +f 169 163 180 +f 137 134 181 +f 134 157 181 +f 162 137 181 +f 157 175 181 +o convex_6 +v 2.850903 0.540249 0.252668 +v 0.912846 -0.495700 -0.282265 +v 0.912846 -0.462201 -0.282265 +v 0.912846 0.573748 0.887443 +v 2.783972 -0.462201 0.820577 +v 0.912846 0.573748 -0.215398 +v 2.783972 -0.361914 -0.181965 +v 0.912846 -0.428807 0.854010 +v 2.817535 0.573748 -0.282265 +v 2.917638 0.473356 0.854010 +v 2.783972 -0.462201 -0.148531 +v 2.149010 -0.228338 0.887443 +v 2.182377 -0.261627 -0.282265 +v 1.280476 -0.462201 0.854010 +v 1.380774 0.573748 0.887443 +v 1.581371 0.339780 -0.282265 +v 2.783972 0.373070 0.887443 +v 2.015344 -0.495700 -0.215398 +v 0.912846 -0.495700 0.152254 +v 2.917638 0.373070 0.787143 +v 2.817535 0.373070 -0.282265 +v 0.912846 0.072418 0.887443 +v 2.817535 -0.361914 0.820577 +f 192 201 204 +f 184 183 185 +f 184 185 187 +f 185 183 189 +f 183 184 190 +f 187 185 190 +f 190 182 191 +f 183 190 194 +f 188 192 194 +f 193 189 195 +f 186 193 195 +f 182 190 196 +f 190 185 196 +f 191 182 196 +f 185 193 196 +f 184 187 197 +f 190 184 197 +f 187 190 197 +f 193 186 198 +f 191 196 198 +f 196 193 198 +f 192 186 199 +f 183 194 199 +f 194 192 199 +f 189 183 200 +f 186 195 200 +f 195 189 200 +f 199 186 200 +f 183 199 200 +f 190 191 201 +f 201 192 202 +f 192 188 202 +f 194 190 202 +f 188 194 202 +f 190 201 202 +f 185 189 203 +f 193 185 203 +f 189 193 203 +f 186 192 204 +f 198 186 204 +f 191 198 204 +f 201 191 204 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/572/572.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/572/572.urdf new file mode 100644 index 000000000..081d115a8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/572/572.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/573/573.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/573/573.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/573/573.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/573/573.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/573/573.obj new file mode 100644 index 000000000..9a0fd3419 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/573/573.obj @@ -0,0 +1,807 @@ +o convex_0 +v -0.687605 -3.395870 -0.632505 +v 0.300253 -0.827281 1.264152 +v 0.181536 -0.827281 1.264152 +v -0.727033 -0.827281 -1.265054 +v 1.011683 -2.053042 -0.790457 +v 0.695396 -3.475063 0.790050 +v -1.122393 -0.946069 0.908637 +v 1.090755 -0.827625 0.987613 +v -0.766677 -3.435467 0.750438 +v 0.260608 -3.712296 -0.830068 +v 0.932612 -0.827625 -0.988267 +v -0.094674 -4.344802 -0.000451 +v -1.122393 -0.827281 -0.711481 +v 0.735040 -3.475063 -0.869680 +v -0.845749 -3.672699 -0.079179 +v 0.774468 -3.791144 0.078525 +v -0.094674 -3.830396 0.789802 +v -0.173746 -3.791144 -0.830068 +v 0.300253 -0.866877 -1.225195 +v -0.687605 -0.827281 1.145812 +v -0.924821 -2.250334 -0.869680 +v -1.043321 -2.447971 -0.000451 +v 1.011683 -2.329527 0.276088 +v 0.774468 -0.985665 1.224788 +v -0.410962 -2.289931 -1.106855 +v -0.648178 -2.250334 0.987613 +v 0.892967 -1.736616 -1.027632 +v -0.924821 -0.906817 -1.225195 +v -0.766677 -3.869992 -0.079179 +v 1.011683 -0.827625 -0.909292 +v 0.023609 -4.344802 -0.039568 +v 0.972039 -2.211082 0.790050 +v 0.655968 -2.171486 1.066589 +v -1.003676 -2.171486 0.750438 +v 1.011683 -2.250679 -0.711481 +v -1.043321 -0.827281 0.987613 +v 1.090755 -1.222898 0.552875 +v 0.695396 -3.909933 0.039161 +v 0.853540 -1.973849 1.026977 +v -0.410962 -1.064514 -1.265054 +v 0.063253 -3.830396 0.789802 +v -0.015819 -2.408719 1.026977 +v -1.082748 -1.894657 -0.276742 +v 0.023609 -4.344802 0.038913 +v -0.885177 -1.697020 0.987613 +v -0.806105 -3.791144 0.117889 +v -1.122393 -1.341687 0.473651 +v 1.011683 -2.447627 -0.000203 +v -0.134318 -4.028377 -0.553282 +v 0.735040 -3.435467 0.790050 +v -1.082748 -0.906817 -0.909044 +v -0.766677 -3.317022 0.789802 +v -0.766677 -3.712296 -0.276742 +v 0.774468 -3.791144 -0.039568 +v 0.774468 -2.131890 -1.027632 +v 0.735040 -3.514659 -0.830068 +v 0.695396 -0.827625 -1.106855 +v -0.094674 -4.265265 0.157501 +v 0.814112 -0.827625 1.224788 +v -0.885177 -2.369123 -0.869680 +v -1.043321 -2.329527 -0.197767 +v 0.142109 -1.143706 1.224540 +v -0.845749 -3.672699 0.038913 +v 1.051111 -1.973849 0.276088 +f 48 35 64 +f 3 2 4 +f 3 4 13 +f 14 10 18 +f 3 13 20 +f 14 18 25 +f 5 14 27 +f 13 4 28 +f 4 25 28 +f 4 2 30 +f 2 8 30 +f 11 4 30 +f 5 27 30 +f 27 11 30 +f 16 23 32 +f 24 2 33 +f 14 5 35 +f 13 7 36 +f 20 13 36 +f 30 8 37 +f 5 30 37 +f 35 5 37 +f 32 8 39 +f 24 33 39 +f 4 19 40 +f 19 14 40 +f 14 25 40 +f 25 4 40 +f 33 17 41 +f 6 33 41 +f 26 17 42 +f 17 33 42 +f 12 31 44 +f 38 6 44 +f 31 38 44 +f 6 41 44 +f 26 20 45 +f 36 7 45 +f 20 36 45 +f 29 12 46 +f 15 29 46 +f 7 13 47 +f 34 7 47 +f 22 34 47 +f 13 43 47 +f 43 22 47 +f 23 16 48 +f 18 10 49 +f 12 29 49 +f 29 18 49 +f 10 31 49 +f 31 12 49 +f 16 32 50 +f 33 6 50 +f 6 38 50 +f 38 16 50 +f 32 39 50 +f 39 33 50 +f 13 28 51 +f 28 21 51 +f 43 13 51 +f 21 43 51 +f 9 17 52 +f 17 26 52 +f 7 34 52 +f 34 9 52 +f 45 7 52 +f 26 45 52 +f 1 18 53 +f 21 1 53 +f 15 21 53 +f 29 15 53 +f 18 29 53 +f 16 38 54 +f 48 16 54 +f 35 48 54 +f 14 19 55 +f 27 14 55 +f 19 27 55 +f 10 14 56 +f 31 10 56 +f 14 35 56 +f 38 31 56 +f 35 54 56 +f 54 38 56 +f 4 11 57 +f 19 4 57 +f 11 27 57 +f 27 19 57 +f 17 9 58 +f 41 17 58 +f 12 44 58 +f 44 41 58 +f 9 46 58 +f 46 12 58 +f 8 2 59 +f 2 24 59 +f 39 8 59 +f 24 39 59 +f 18 1 60 +f 1 21 60 +f 25 18 60 +f 21 28 60 +f 28 25 60 +f 21 15 61 +f 15 22 61 +f 43 21 61 +f 22 43 61 +f 2 3 62 +f 3 20 62 +f 20 26 62 +f 33 2 62 +f 26 42 62 +f 42 33 62 +f 22 15 63 +f 9 34 63 +f 34 22 63 +f 46 9 63 +f 15 46 63 +f 8 32 64 +f 32 23 64 +f 37 8 64 +f 35 37 64 +f 23 48 64 +o convex_1 +v -1.082873 -0.827250 -0.909160 +v 1.090783 -0.511130 1.066418 +v 1.090783 -0.550680 1.066418 +v -0.845491 -0.550680 1.343317 +v -1.043142 -0.511130 -1.581236 +v 1.011571 -0.827250 -0.909160 +v 0.774441 -0.827250 1.264160 +v 1.011571 -0.511130 -0.909160 +v -1.122101 -0.827250 0.908409 +v -1.478174 -0.511130 -1.343763 +v -1.161833 -0.511130 0.948140 +v 0.418619 -0.511130 1.541059 +v 0.339659 -0.827250 -1.225485 +v 1.090783 -0.827250 0.987566 +v -0.964182 -0.827250 -1.225485 +v -0.687571 -0.827250 1.185308 +v -0.055391 -0.511130 -1.422615 +v -1.438443 -0.590198 -1.422615 +v 0.023569 -0.550680 1.541059 +v -0.884971 -0.550680 -1.581236 +v 0.537310 -0.629717 -1.185753 +v 1.090783 -0.511130 0.513232 +v -0.845491 -0.511130 1.343317 +v 0.695481 -0.550680 1.422475 +v -1.122101 -0.827250 -0.750845 +v -0.253041 -0.827250 -1.264605 +v 0.142009 -0.827250 1.264160 +f 83 80 91 +f 65 70 71 +f 69 66 72 +f 65 71 73 +f 66 69 74 +f 74 73 75 +f 73 68 75 +f 66 74 75 +f 66 75 76 +f 70 65 77 +f 66 67 78 +f 71 70 78 +f 77 65 79 +f 68 73 80 +f 73 71 80 +f 69 72 81 +f 74 69 82 +f 73 74 82 +f 79 65 82 +f 71 76 83 +f 68 80 83 +f 69 81 84 +f 81 77 84 +f 82 69 84 +f 79 82 84 +f 72 70 85 +f 70 77 85 +f 81 72 85 +f 77 81 85 +f 72 66 86 +f 70 72 86 +f 66 78 86 +f 78 70 86 +f 75 68 87 +f 76 75 87 +f 68 83 87 +f 83 76 87 +f 67 66 88 +f 66 76 88 +f 76 71 88 +f 78 67 88 +f 71 78 88 +f 65 73 89 +f 82 65 89 +f 73 82 89 +f 77 79 90 +f 84 77 90 +f 79 84 90 +f 80 71 91 +f 71 83 91 +o convex_2 +v -2.782341 0.753562 -2.608656 +v 2.434142 1.741696 -1.620937 +v 2.434142 1.741696 -1.779031 +v 1.011196 -0.511099 -0.909404 +v 2.118063 0.002925 -2.806328 +v -1.003658 1.623058 -0.869827 +v -0.094488 1.662531 -2.845905 +v -1.557092 -0.511099 -1.383688 +v -1.991552 -0.234130 -2.806328 +v 2.829536 0.674397 -1.265170 +v -2.347288 1.741696 -1.739667 +v -2.742683 0.674397 -1.225806 +v 2.750221 0.832728 -2.766751 +v -1.399052 1.306838 -3.043576 +v 1.090512 1.583586 -0.869827 +v -1.122039 -0.511099 -0.869827 +v -2.703025 -0.115713 -1.858185 +v 2.592182 -0.036768 -1.976277 +v 0.300315 -0.234351 -2.845905 +v 1.367524 1.346090 -3.003999 +v -0.134145 0.002704 -3.043576 +v -2.228907 1.543893 -2.806328 +v 2.276103 1.583365 -2.727174 +v 2.908260 1.543893 -1.937126 +v -2.821406 1.504420 -2.015854 +v -1.873170 0.674397 -3.043576 +v 1.762327 0.674617 -0.869827 +v 3.066892 0.714090 -2.094795 +v 0.220999 1.741696 -0.869827 +v 1.485906 0.161035 -3.003999 +v -2.980038 0.634924 -1.976490 +v -2.663367 0.595673 -2.845905 +v 2.196787 1.464727 -1.146652 +v -0.924342 -0.511099 -1.620937 +v -2.110525 1.504420 -1.225806 +v 0.062960 1.702003 -2.806328 +v -2.268565 -0.194878 -2.806328 +v 1.130169 -0.313296 -2.134159 +v -1.951894 0.753562 -0.988558 +v 2.513458 0.121562 -1.423265 +v -2.505328 0.081870 -1.344324 +v 1.011196 -0.511099 -0.869827 +v 1.881300 0.793035 -3.003999 +v -0.252527 1.425475 -3.043576 +v -1.359394 0.121342 -3.043576 +v -1.754789 1.741696 -2.094795 +v 2.434142 -0.036768 -2.331831 +v -2.624301 1.346310 -1.502419 +v 2.671497 1.306838 -1.383688 +v -2.663367 0.792814 -2.845905 +v 2.671497 0.595673 -2.766751 +v 0.458354 -0.273823 -2.687810 +v -2.703025 -0.115713 -1.976490 +v 0.102618 1.741696 -2.371408 +v -0.134145 -0.511099 -1.463055 +v 0.339381 1.504420 -3.003787 +v -2.268565 1.622838 -2.529715 +v -2.742683 0.753562 -1.225806 +v -1.280079 0.832507 -0.869827 +v 2.157721 0.674617 -0.988558 +v 3.066892 0.714090 -1.937126 +v 2.315761 1.623058 -2.608656 +v -2.980038 0.634924 -2.094795 +v -2.228907 -0.234130 -2.766751 +f 144 128 155 +f 93 94 102 +f 99 95 107 +f 106 97 107 +f 99 107 108 +f 110 100 112 +f 94 93 115 +f 104 114 115 +f 105 112 117 +f 106 107 118 +f 104 115 119 +f 93 102 120 +f 102 97 120 +f 106 93 120 +f 97 106 120 +f 96 110 121 +f 110 112 121 +f 108 103 122 +f 93 106 124 +f 106 118 124 +f 95 99 125 +f 97 102 126 +f 98 113 127 +f 123 117 128 +f 103 107 130 +f 109 101 131 +f 107 103 132 +f 103 108 132 +f 108 107 132 +f 107 95 133 +f 95 109 133 +f 118 107 133 +f 131 101 133 +f 109 131 133 +f 114 104 134 +f 111 114 134 +f 121 112 134 +f 112 105 135 +f 113 98 135 +f 105 113 135 +f 111 134 135 +f 134 112 135 +f 112 100 136 +f 117 112 136 +f 100 128 136 +f 128 117 136 +f 102 94 137 +f 109 95 138 +f 119 109 138 +f 95 129 138 +f 129 96 138 +f 102 116 139 +f 126 102 139 +f 115 93 140 +f 101 115 140 +f 93 124 140 +f 124 101 140 +f 113 105 141 +f 92 116 141 +f 116 113 141 +f 105 117 141 +f 123 92 141 +f 117 123 141 +f 104 119 142 +f 96 121 142 +f 134 104 142 +f 121 134 142 +f 138 96 142 +f 119 138 142 +f 110 96 143 +f 100 110 143 +f 125 100 143 +f 96 129 143 +f 99 108 144 +f 108 122 144 +f 123 128 144 +f 94 127 145 +f 137 94 145 +f 127 137 145 +f 95 125 146 +f 129 95 146 +f 125 143 146 +f 143 129 146 +f 114 111 147 +f 98 127 147 +f 127 114 147 +f 135 98 147 +f 111 135 147 +f 116 102 148 +f 113 116 148 +f 127 113 148 +f 102 137 148 +f 137 127 148 +f 122 103 149 +f 116 122 149 +f 97 126 149 +f 130 97 149 +f 103 130 149 +f 139 116 149 +f 126 139 149 +f 107 97 150 +f 97 130 150 +f 130 107 150 +f 101 124 151 +f 124 118 151 +f 133 101 151 +f 118 133 151 +f 101 109 152 +f 115 101 152 +f 109 119 152 +f 119 115 152 +f 94 115 153 +f 115 114 153 +f 127 94 153 +f 114 127 153 +f 116 92 154 +f 122 116 154 +f 92 123 154 +f 144 122 154 +f 123 144 154 +f 125 99 155 +f 100 125 155 +f 128 100 155 +f 99 144 155 +o convex_3 +v -1.122381 -0.511099 -0.632598 +v 0.102630 1.781219 -0.039850 +v 0.458045 1.702011 -0.118899 +v -1.003724 1.623027 -0.869827 +v 1.604508 0.674327 -0.869827 +v 1.011779 -0.511099 -0.039850 +v -1.082550 0.161159 -0.039850 +v 1.011779 -0.511099 -0.869827 +v 1.090605 1.583311 -0.869827 +v 1.051053 1.267152 -0.039850 +v -1.122381 -0.511099 -0.869827 +v -1.043276 1.267377 -0.039850 +v -1.043276 -0.511099 -0.039850 +v -1.241038 0.911502 -0.830262 +v 0.221009 1.741502 -0.869827 +v -0.805961 1.623027 -0.039850 +v 1.604508 0.792803 -0.830262 +v 0.814017 1.583311 -0.039850 +v 1.051053 -0.392175 -0.039850 +v -0.094853 1.781219 -0.237514 +v -1.241038 0.595792 -0.869827 +v -0.213232 1.741502 -0.869827 +v 1.090605 1.583311 -0.790778 +v -1.082550 -0.511099 -0.197949 +v 0.972227 1.623027 -0.790778 +v -0.845514 1.662519 -0.751131 +v -0.094853 1.781219 -0.039850 +v 0.063356 1.781219 -0.513983 +f 180 170 183 +f 161 157 162 +f 159 160 163 +f 160 161 163 +f 161 156 163 +f 160 159 164 +f 157 161 165 +f 163 156 166 +f 159 163 166 +f 162 157 167 +f 156 161 168 +f 161 162 168 +f 167 159 169 +f 162 167 169 +f 164 159 170 +f 167 157 171 +f 159 167 171 +f 160 164 172 +f 158 157 173 +f 157 165 173 +f 161 160 174 +f 165 161 174 +f 160 172 174 +f 172 165 174 +f 166 156 176 +f 159 166 176 +f 162 169 176 +f 169 159 176 +f 170 159 177 +f 172 164 178 +f 165 172 178 +f 173 165 178 +f 156 168 179 +f 168 162 179 +f 176 156 179 +f 162 176 179 +f 157 158 180 +f 164 170 180 +f 158 173 180 +f 178 164 180 +f 173 178 180 +f 159 171 181 +f 177 159 181 +f 175 177 181 +f 171 157 182 +f 157 175 182 +f 181 171 182 +f 175 181 182 +f 175 157 183 +f 170 177 183 +f 177 175 183 +f 157 180 183 +o convex_4 +v 1.051009 -0.511099 0.118314 +v 0.062871 1.820741 0.789965 +v 0.062871 1.820741 0.671443 +v -1.122102 -0.511099 0.789965 +v -1.043368 1.306942 -0.039850 +v 1.090624 -0.511099 0.789965 +v 1.090624 1.227510 -0.039850 +v -1.043368 -0.511099 -0.039850 +v -1.082735 1.623073 0.789965 +v 1.130238 1.583357 0.789965 +v 0.102486 1.781025 -0.039850 +v -1.280561 0.713939 0.750484 +v 1.011642 -0.511099 -0.039850 +v 1.248835 0.595703 0.711004 +v -0.726946 1.662561 -0.000207 +v 0.853679 1.583357 -0.039850 +v 1.090624 1.623073 0.711004 +v 1.051009 -0.392179 -0.039850 +v 1.248835 0.792915 0.789965 +v -0.213441 1.781025 0.355439 +v -1.122102 -0.511099 0.513360 +v -1.003754 1.662561 0.711004 +v -0.806175 1.623073 -0.039850 +v -1.280561 0.674451 0.789965 +v -0.094845 1.781025 -0.039850 +v -1.082735 1.425406 0.315959 +v 1.090624 -0.511099 0.513360 +v -0.055478 1.820741 0.789965 +f 208 203 211 +f 185 187 189 +f 187 184 189 +f 184 187 191 +f 188 190 191 +f 187 185 192 +f 185 189 193 +f 190 188 194 +f 188 191 195 +f 184 191 196 +f 191 190 196 +f 190 194 199 +f 199 194 200 +f 186 185 200 +f 185 193 200 +f 193 190 200 +f 194 186 200 +f 190 199 200 +f 184 196 201 +f 196 190 201 +f 190 197 201 +f 193 189 202 +f 190 193 202 +f 189 197 202 +f 197 190 202 +f 191 187 204 +f 195 191 204 +f 194 188 206 +f 192 205 206 +f 205 198 206 +f 187 192 207 +f 192 195 207 +f 204 187 207 +f 195 204 207 +f 186 194 208 +f 198 205 208 +f 205 203 208 +f 194 206 208 +f 206 198 208 +f 188 195 209 +f 195 192 209 +f 206 188 209 +f 192 206 209 +f 189 184 210 +f 197 189 210 +f 184 201 210 +f 201 197 210 +f 185 186 211 +f 192 185 211 +f 205 192 211 +f 203 205 211 +f 186 208 211 +o convex_5 +v -1.952147 0.398264 2.924029 +v 2.434556 1.820741 1.699335 +v 2.671532 1.702049 1.818035 +v 1.090320 -0.511099 0.790127 +v -2.149725 1.543869 1.146002 +v 2.276376 -0.076275 2.805553 +v -0.292139 1.504153 3.042728 +v -2.347303 -0.234227 1.620352 +v 0.063032 1.820741 0.790127 +v -2.347303 1.623074 2.528887 +v -1.161835 -0.511099 0.790127 +v 2.710930 0.714167 1.225210 +v 2.196992 1.623074 2.805553 +v -2.307905 -0.115763 2.687078 +v -2.821843 0.713939 1.343685 +v 2.829712 0.002929 2.015269 +v 1.248500 0.121392 3.082444 +v 0.379392 -0.511099 1.620127 +v -2.426099 1.781025 1.739051 +v 1.130306 1.583586 0.790127 +v -3.019421 0.674451 2.054537 +v 2.671532 0.871891 2.845045 +v -0.133958 1.741309 2.766062 +v -2.663663 0.792915 2.766062 +v -1.082451 1.623074 0.790127 +v -0.292139 -0.036788 3.042728 +v 1.367282 1.346430 3.082444 +v -1.319427 1.306942 3.042728 +v -2.900639 1.504382 1.857527 +v 2.908508 1.504382 1.975778 +v -0.213343 -0.194739 2.805553 +v 2.315774 -0.273943 1.699335 +v 2.196992 1.583586 1.146002 +v -2.821843 0.002929 1.975553 +v -1.912749 0.792915 0.948543 +v -1.675773 1.820741 1.897018 +v 2.987892 0.635191 2.054761 +v -1.319427 0.160880 3.042728 +v 1.960016 0.871891 0.948318 +v -0.884873 -0.511099 1.343685 +v -2.307905 1.583357 2.687078 +v 1.841234 0.713711 3.082444 +v 2.592148 0.200596 1.422668 +v -2.781857 0.713939 1.264477 +v -0.569101 1.109046 3.082444 +v 1.723040 1.820741 2.015269 +v -2.624265 0.240084 1.383177 +v -2.386701 1.781025 1.580860 +v 2.671532 1.267226 1.343685 +v 2.671532 0.674451 2.845045 +v -1.873351 0.753427 3.003237 +v 0.418202 -0.194739 2.805553 +v 2.355172 1.623074 2.726345 +v 2.789726 0.714167 1.304193 +v -2.663663 1.306714 1.383177 +v -2.742459 0.713939 2.687078 +v -2.821843 1.543869 2.054537 +v 2.236390 -0.115763 2.726345 +v -1.359413 0.753199 0.790127 +v -0.133958 -0.511099 1.580860 +v 2.394570 1.820741 1.580636 +v 1.327884 0.635191 0.790127 +v 2.315774 -0.273943 1.817810 +v -2.347303 -0.234227 1.818035 +f 251 225 275 +f 220 215 222 +f 222 215 229 +f 215 220 231 +f 218 224 234 +f 225 212 235 +f 220 222 236 +f 217 228 237 +f 224 218 238 +f 233 224 238 +f 226 232 240 +f 237 225 242 +f 231 220 244 +f 232 226 245 +f 216 236 246 +f 213 220 247 +f 230 221 247 +f 221 234 247 +f 241 233 248 +f 212 225 249 +f 225 237 249 +f 237 228 249 +f 223 215 250 +f 231 244 250 +f 244 223 250 +f 222 229 251 +f 218 234 252 +f 234 221 252 +f 239 218 252 +f 235 239 252 +f 228 217 253 +f 238 228 253 +f 233 238 253 +f 215 223 254 +f 243 215 254 +f 227 243 254 +f 226 240 255 +f 245 226 255 +f 216 246 255 +f 246 222 255 +f 238 218 256 +f 228 238 256 +f 218 239 256 +f 249 228 256 +f 239 249 256 +f 224 213 257 +f 234 224 257 +f 213 247 257 +f 247 234 257 +f 222 219 258 +f 219 245 258 +f 255 222 258 +f 245 255 258 +f 220 236 259 +f 236 216 259 +f 240 230 259 +f 247 220 259 +f 230 247 259 +f 214 241 260 +f 223 244 260 +f 217 227 261 +f 227 248 261 +f 248 233 261 +f 253 217 261 +f 233 253 261 +f 235 212 262 +f 239 235 262 +f 212 249 262 +f 249 239 262 +f 217 237 263 +f 242 229 263 +f 237 242 263 +f 214 213 264 +f 213 224 264 +f 224 233 264 +f 241 214 264 +f 233 241 264 +f 248 227 265 +f 241 248 265 +f 254 223 265 +f 227 254 265 +f 260 241 265 +f 223 260 265 +f 216 255 266 +f 255 240 266 +f 259 216 266 +f 240 259 266 +f 225 235 267 +f 245 225 267 +f 232 245 267 +f 221 230 268 +f 230 240 268 +f 240 232 268 +f 252 221 268 +f 235 252 268 +f 267 235 268 +f 232 267 268 +f 227 217 269 +f 217 263 269 +f 263 229 269 +f 236 222 270 +f 222 246 270 +f 246 236 270 +f 229 242 271 +f 242 225 271 +f 225 251 271 +f 251 229 271 +f 213 214 272 +f 220 213 272 +f 244 220 272 +f 214 260 272 +f 260 244 272 +f 215 231 273 +f 250 215 273 +f 231 250 273 +f 229 215 274 +f 215 243 274 +f 243 227 274 +f 227 269 274 +f 269 229 274 +f 219 222 275 +f 245 219 275 +f 225 245 275 +f 222 251 275 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/573/573.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/573/573.urdf new file mode 100644 index 000000000..d4c3b065f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/573/573.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/574/574.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/574/574.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/574/574.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/574/574.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/574/574.obj new file mode 100644 index 000000000..a65177853 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/574/574.obj @@ -0,0 +1,537 @@ +o convex_0 +v -1.758763 -4.070062 -1.116477 +v -1.126590 1.935686 1.096226 +v -1.758763 1.974653 1.056590 +v -2.627832 -3.950762 1.016954 +v -2.667282 1.974653 -1.037205 +v -0.810600 -4.109628 -1.116477 +v -0.810600 1.975253 -0.997785 +v -0.810600 -3.911795 0.977534 +v -2.786020 -3.990928 -1.116261 +v -2.706926 1.974653 1.017170 +v -0.810600 1.896119 1.096226 +v -2.786020 -0.237486 0.740366 +v -0.810600 0.236715 -1.076841 +v -2.667475 -3.990928 0.977317 +v -0.850051 -2.726592 1.056590 +v -0.810600 -4.070062 0.582470 +v -0.810600 2.014820 -0.523665 +v -2.627832 1.816986 1.056590 +v -2.746376 0.117416 -0.721197 +v -2.706926 2.014220 0.463778 +v -1.600768 1.816986 1.096226 +v -2.786020 -3.990928 -0.721197 +v -2.706926 -2.844692 1.017170 +v -2.351292 -4.030495 0.700946 +v -1.600768 -2.963392 1.056590 +v -1.087140 -4.030495 0.977534 +v -2.390743 2.014220 0.977534 +v -1.758763 1.974653 -1.037421 +v -1.047496 -4.109628 -0.721197 +v -2.746376 0.631184 1.017170 +v -2.786020 -3.358460 -1.076625 +v -2.786020 -1.342956 0.503197 +v -0.810600 1.935686 1.056590 +v -2.786020 -0.435919 0.305666 +v -2.706926 -3.990928 0.582254 +v -2.667282 2.014220 0.068714 +v -2.786020 -3.872228 -1.116261 +v -2.746376 -1.106155 1.017170 +v -0.850051 2.014820 -0.681561 +v -2.430193 -4.030495 -1.116477 +v -1.956208 -4.030495 0.977534 +v -0.810600 -3.872228 -1.116477 +v -0.810600 -2.687025 1.056590 +v -0.810600 -4.030495 0.938114 +v -2.706926 -3.318893 0.898478 +f 38 32 45 +f 6 7 8 +f 2 3 10 +f 8 7 11 +f 7 6 13 +f 6 8 16 +f 11 7 17 +f 2 10 18 +f 12 10 20 +f 5 19 20 +f 11 2 21 +f 2 18 21 +f 18 4 21 +f 12 9 22 +f 14 4 23 +f 4 18 23 +f 4 15 25 +f 15 11 25 +f 11 21 25 +f 21 4 25 +f 15 4 26 +f 8 15 26 +f 10 3 27 +f 20 10 27 +f 17 20 27 +f 13 5 28 +f 7 13 28 +f 1 6 29 +f 6 16 29 +f 24 1 29 +f 10 12 30 +f 18 10 30 +f 9 12 31 +f 19 5 31 +f 12 22 32 +f 3 2 33 +f 2 11 33 +f 11 17 33 +f 27 3 33 +f 17 27 33 +f 12 20 34 +f 20 19 34 +f 31 12 34 +f 19 31 34 +f 24 14 35 +f 22 24 35 +f 5 20 36 +f 5 13 37 +f 31 5 37 +f 9 31 37 +f 23 18 38 +f 30 12 38 +f 18 30 38 +f 12 32 38 +f 17 7 39 +f 20 17 39 +f 28 5 39 +f 7 28 39 +f 5 36 39 +f 36 20 39 +f 6 1 40 +f 22 9 40 +f 1 24 40 +f 24 22 40 +f 9 37 40 +f 4 14 41 +f 14 24 41 +f 26 4 41 +f 16 26 41 +f 29 16 41 +f 24 29 41 +f 13 6 42 +f 37 13 42 +f 6 40 42 +f 40 37 42 +f 8 11 43 +f 15 8 43 +f 11 15 43 +f 16 8 44 +f 8 26 44 +f 26 16 44 +f 14 23 45 +f 32 22 45 +f 35 14 45 +f 22 35 45 +f 23 38 45 +o convex_1 +v 1.441809 -1.541161 -0.602698 +v 3.259325 -0.474588 0.424327 +v 3.298683 -0.632724 0.345325 +v 1.441809 -1.620170 0.582447 +v 3.338412 -1.659733 -0.563139 +v 1.441809 -0.593161 -0.405135 +v 3.298683 -0.553714 -0.444578 +v 3.259325 -1.541161 0.463886 +v 1.441809 -0.514151 0.503329 +v 1.837059 -1.304132 -0.602698 +v 3.101337 -0.593161 0.463886 +v 3.259325 -0.632724 -0.484137 +v 3.338412 -1.659733 -0.326133 +v 2.903434 -1.659733 -0.563139 +v 1.560440 -0.593161 -0.444578 +v 1.441809 -0.514151 0.305882 +v 1.441809 -1.620170 0.226880 +v 1.520896 -1.501598 0.582447 +v 1.915960 -1.620170 0.542888 +v 1.481353 -1.304132 -0.602698 +v 1.757972 -1.580607 -0.602698 +v 3.338412 -1.185559 -0.523580 +v 3.298683 -1.580607 0.226880 +v 2.390111 -1.541161 -0.602698 +v 3.259325 -1.027772 0.463886 +v 3.061608 -0.474588 0.384884 +v 3.338412 -1.541161 -0.563139 +v 2.864076 -0.632724 -0.484137 +v 3.140509 -0.553714 -0.444578 +f 73 60 74 +f 46 49 51 +f 47 48 52 +f 51 49 54 +f 47 54 56 +f 58 49 59 +f 50 58 59 +f 51 54 61 +f 60 51 61 +f 49 46 62 +f 59 49 62 +f 49 53 63 +f 54 49 63 +f 56 54 63 +f 53 49 64 +f 49 58 64 +f 46 51 65 +f 55 46 65 +f 57 55 65 +f 51 60 65 +f 46 55 66 +f 50 59 66 +f 62 46 66 +f 59 62 66 +f 52 48 67 +f 57 52 67 +f 58 50 67 +f 48 58 67 +f 48 53 68 +f 58 48 68 +f 53 64 68 +f 64 58 68 +f 55 57 69 +f 66 55 69 +f 50 66 69 +f 48 47 70 +f 53 48 70 +f 47 56 70 +f 63 53 70 +f 56 63 70 +f 47 52 71 +f 54 47 71 +f 61 54 71 +f 67 50 72 +f 57 67 72 +f 50 69 72 +f 69 57 72 +f 52 57 73 +f 57 65 73 +f 65 60 73 +f 60 61 74 +f 71 52 74 +f 61 71 74 +f 52 73 74 +o convex_2 +v 1.560449 -0.158372 -0.879290 +v 3.338153 1.224549 1.056714 +v 3.298705 1.224549 1.056714 +v 1.837170 2.014819 -1.076698 +v 3.377795 -0.039672 -1.116477 +v 1.441910 -0.118805 0.977580 +v 1.441910 1.896119 1.016934 +v 3.417244 2.014819 -0.958423 +v 3.377795 -0.158372 1.056714 +v 3.338153 1.896119 1.017147 +v 1.441910 2.014819 -1.076698 +v 1.441910 -0.118805 -1.037344 +v 2.113504 1.935686 0.938014 +v 1.876619 -0.158372 1.016934 +v 3.377795 2.014819 -0.523615 +v 1.797528 -0.118805 -1.076698 +v 3.377795 -0.158372 0.582551 +v 3.417244 1.856765 -0.997777 +v 1.441910 1.935686 0.898447 +v 3.377795 0.513412 1.056714 +v 3.022177 -0.158372 1.056714 +v 2.943087 -0.079238 -1.076911 +v 3.377795 1.975253 0.147743 +v 1.560449 2.014819 -0.800156 +v 1.441910 0.869087 1.016934 +v 3.377795 0.118383 -1.116477 +v 3.417244 1.501090 -0.958423 +v 1.521001 -0.158372 0.977580 +v 1.441910 1.105636 -1.076698 +v 3.101075 -0.039672 -1.116477 +v 2.785099 1.935686 0.938014 +v 3.417244 2.014819 -0.760802 +v 1.441910 -0.158372 -0.918644 +v 3.377795 -0.079238 -0.721236 +f 101 91 108 +f 76 77 83 +f 77 76 84 +f 81 77 84 +f 80 81 85 +f 82 78 85 +f 80 85 86 +f 81 84 87 +f 75 83 88 +f 82 85 89 +f 83 75 91 +f 78 82 92 +f 85 81 93 +f 81 87 93 +f 87 89 93 +f 76 83 94 +f 84 76 94 +f 77 81 95 +f 83 77 95 +f 88 83 95 +f 90 79 96 +f 91 75 96 +f 84 94 97 +f 89 85 98 +f 85 93 98 +f 93 89 98 +f 81 80 99 +f 80 88 99 +f 95 81 99 +f 88 95 99 +f 85 78 100 +f 78 92 100 +f 92 79 100 +f 83 91 101 +f 79 92 101 +f 92 82 101 +f 75 88 102 +f 88 80 102 +f 86 85 103 +f 90 86 103 +f 90 103 104 +f 79 90 104 +f 100 79 104 +f 85 100 104 +f 103 85 104 +f 87 84 105 +f 89 87 105 +f 84 97 105 +f 97 89 105 +f 82 89 106 +f 94 83 106 +f 89 97 106 +f 97 94 106 +f 101 82 106 +f 83 101 106 +f 80 86 107 +f 86 90 107 +f 96 75 107 +f 90 96 107 +f 75 102 107 +f 102 80 107 +f 96 79 108 +f 91 96 108 +f 79 101 108 +o convex_3 +v -0.810384 -4.109628 -1.116477 +v -0.573355 2.093063 1.135519 +v -0.573355 3.831570 1.056381 +v -0.810384 1.895470 1.096060 +v -0.810384 3.950285 -1.116477 +v -0.573355 1.934510 -1.116037 +v -0.612875 -3.477010 0.977464 +v -0.810384 -3.911238 0.977464 +v -0.573332 -2.093853 -0.997661 +v -0.573355 3.950285 -1.076578 +v -0.652372 -4.109628 -0.681553 +v -0.652372 4.029960 1.016923 +v -0.573332 -2.054812 1.056381 +v -0.691869 -4.109628 -1.116037 +v -0.652372 -4.029953 0.937786 +v -0.810384 -2.686635 1.056381 +v -0.810384 -4.068994 0.621677 +v -0.573355 4.029960 0.463844 +v -0.810384 3.950285 -0.997661 +v -0.652372 -3.872197 -1.076578 +v -0.612875 -2.607756 1.056381 +v -0.652372 1.935307 1.135519 +v -0.573355 -0.987169 -1.076578 +v -0.573355 3.911245 -1.116037 +v -0.770887 3.990123 -0.760470 +v -0.652372 3.792529 1.056381 +v -0.573355 4.029960 1.016923 +f 121 126 135 +f 109 112 113 +f 109 113 114 +f 112 109 116 +f 117 115 119 +f 111 110 121 +f 115 117 121 +f 109 114 122 +f 119 109 122 +f 119 115 123 +f 112 116 124 +f 116 109 125 +f 109 119 125 +f 123 116 125 +f 119 123 125 +f 117 118 126 +f 121 117 126 +f 113 112 127 +f 112 120 127 +f 117 119 128 +f 119 122 128 +f 121 110 129 +f 115 121 129 +f 116 123 129 +f 123 115 129 +f 124 116 129 +f 124 129 130 +f 112 124 130 +f 129 110 130 +f 114 117 131 +f 122 114 131 +f 117 128 131 +f 128 122 131 +f 114 113 132 +f 117 114 132 +f 113 118 132 +f 118 117 132 +f 118 113 133 +f 126 118 133 +f 120 126 133 +f 113 127 133 +f 127 120 133 +f 110 111 134 +f 111 120 134 +f 120 112 134 +f 130 110 134 +f 112 130 134 +f 120 111 135 +f 111 121 135 +f 126 120 135 +o convex_4 +v 1.362711 0.829721 -1.076799 +v -0.415134 2.212027 1.135519 +v -0.494233 2.212027 1.135519 +v -0.020036 -2.054356 1.056381 +v -0.573134 -1.817234 -1.037120 +v -0.573134 3.950920 -1.076578 +v 1.323260 4.029357 1.096060 +v 1.323260 -2.015137 0.938006 +v 1.441809 3.871275 -0.997661 +v 1.244161 -2.133999 -0.958203 +v -0.573332 4.029960 1.016923 +v -0.573134 -2.054356 1.056381 +v 1.441809 -1.619934 0.582219 +v 1.441809 1.895261 1.016923 +v 1.441809 -1.540893 -0.602416 +v -0.573134 -2.094178 -0.997661 +v 0.651415 2.014727 -1.116477 +v -0.573134 3.713194 -1.116037 +v 1.244161 -2.054959 0.977464 +v 1.441809 -0.118163 -1.037340 +v -0.494233 -0.947787 -1.076578 +v 1.323260 3.318595 1.096060 +v 1.362711 2.606626 -1.076799 +v 1.283612 -2.133999 -0.484040 +v -0.573134 3.871275 1.056381 +v 1.441809 -0.118163 0.977464 +v 1.402161 3.950316 -0.128474 +v -0.533684 3.990138 -0.562957 +v -0.573134 1.935083 -1.116037 +v 0.611964 -0.197807 -1.076799 +v -0.099134 3.950316 -1.076578 +v 0.414513 -2.133999 -0.918524 +v 0.611964 4.029357 1.096060 +v 1.283612 4.029357 0.858869 +v 1.362711 3.990138 0.819410 +v -0.573134 2.014123 1.135519 +v 1.441809 3.871275 -0.721232 +v -0.573332 4.029960 0.503302 +v 0.177415 3.911098 -1.076578 +v 1.165063 -0.671447 -1.037340 +v -0.573134 -2.094178 -0.207391 +v 1.441809 2.014123 -1.076578 +v 0.296161 -2.094178 -0.997661 +v 1.283612 -2.094178 -0.918744 +v 1.441809 0.869543 1.016923 +v 0.809415 3.911098 -1.037340 +v 1.323260 -1.738797 0.977464 +v 1.402161 3.357813 -1.037340 +v -0.415134 2.132986 1.135519 +f 171 139 184 +f 138 137 142 +f 148 144 149 +f 144 148 150 +f 144 150 155 +f 142 137 157 +f 149 142 157 +f 139 154 157 +f 152 153 158 +f 139 147 159 +f 148 143 159 +f 150 148 159 +f 154 139 159 +f 143 154 159 +f 143 148 161 +f 148 149 161 +f 153 152 164 +f 156 140 164 +f 152 156 164 +f 152 136 165 +f 156 152 165 +f 153 141 166 +f 141 163 166 +f 151 145 167 +f 159 147 167 +f 145 159 167 +f 138 142 168 +f 142 146 168 +f 160 138 168 +f 146 160 168 +f 142 162 169 +f 166 163 169 +f 142 149 170 +f 162 142 170 +f 137 138 171 +f 147 139 171 +f 146 147 171 +f 138 160 171 +f 160 146 171 +f 149 144 172 +f 144 162 172 +f 170 149 172 +f 162 170 172 +f 146 142 173 +f 140 151 173 +f 151 146 173 +f 141 153 173 +f 163 141 173 +f 164 140 173 +f 153 164 173 +f 142 169 173 +f 169 163 173 +f 158 153 174 +f 153 166 174 +f 136 155 175 +f 155 145 175 +f 165 136 175 +f 156 165 175 +f 147 146 176 +f 146 151 176 +f 151 167 176 +f 167 147 176 +f 136 152 177 +f 155 136 177 +f 144 155 177 +f 152 158 177 +f 151 140 178 +f 145 151 178 +f 140 156 178 +f 175 145 178 +f 156 175 178 +f 145 155 179 +f 155 150 179 +f 159 145 179 +f 150 159 179 +f 149 157 180 +f 161 149 180 +f 162 144 181 +f 169 162 181 +f 166 169 181 +f 174 166 181 +f 154 143 182 +f 157 154 182 +f 143 161 182 +f 180 157 182 +f 161 180 182 +f 158 174 183 +f 144 177 183 +f 177 158 183 +f 181 144 183 +f 174 181 183 +f 157 137 184 +f 139 157 184 +f 137 171 184 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/574/574.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/574/574.urdf new file mode 100644 index 000000000..b06803456 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/574/574.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/575/575.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/575/575.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/575/575.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/575/575.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/575/575.obj new file mode 100644 index 000000000..0a8b083d8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/575/575.obj @@ -0,0 +1,1038 @@ +o convex_0 +v -0.729965 -0.015213 -1.066997 +v 0.168229 0.041374 1.263264 +v 0.112054 0.041374 1.263264 +v 0.027792 4.055859 -0.084764 +v 0.954474 0.237834 -0.786124 +v -0.870401 1.136052 0.701517 +v 0.673601 2.988677 0.785614 +v 0.757863 2.848405 -0.814156 +v -0.729965 2.848405 -0.758091 +v 0.027792 -0.015213 -1.544372 +v 0.898299 -0.015213 0.729549 +v -0.140331 3.353703 0.701517 +v -0.982751 -0.015213 0.055947 +v -0.758052 3.297514 -0.000392 +v 1.038536 1.079864 -0.028425 +v -0.028182 3.522268 -0.786124 +v -0.336942 -0.014815 1.178892 +v 0.757863 3.353703 -0.056457 +v -1.010638 0.995780 -0.224651 +v 0.617426 -0.015213 -1.179127 +v -0.954664 0.714838 -0.786124 +v 0.449102 -0.015213 1.234957 +v -0.870401 -0.015213 0.729549 +v 0.926387 0.939592 0.729549 +v -0.505466 0.125457 -1.291531 +v 0.982561 0.939592 -0.786124 +v 0.982561 -0.015213 -0.168587 +v -0.617615 2.736028 0.532773 +v -0.393117 1.557665 0.954083 +v -1.010638 1.080262 0.027640 +v -0.056269 0.013080 -1.544372 +v -0.028182 4.055859 -0.028425 +v -0.870401 -0.015213 -0.842188 +v 0.392928 3.185138 -0.814156 +v 0.701688 2.876300 0.785614 +v 0.112054 3.297514 0.729549 +v 0.477190 0.041374 -1.291531 +v 0.083967 3.971377 0.055947 +v 0.757863 0.265729 0.954083 +v -0.758052 2.707735 -0.758091 +v 1.010448 0.153751 -0.000392 +v 0.954474 0.883404 0.673484 +v -0.084156 3.999671 -0.084764 +v 0.926387 -0.015213 -0.786124 +v 0.785950 3.213431 -0.028425 +v 0.757863 2.707735 -0.842188 +v -0.954664 0.855509 -0.786124 +v -0.758052 3.128949 -0.308749 +v -0.954664 -0.015213 0.364578 +v -0.084156 3.662540 0.420918 +v 0.027792 0.013080 -1.544372 +v -0.140331 3.240927 0.729549 +v 0.954474 1.809915 -0.084489 +v 0.027792 3.522268 -0.786124 +v -0.280768 3.269619 -0.786124 +v 0.982561 0.602860 -0.786124 +v -0.982751 -0.015213 -0.084764 +v 0.757863 2.904594 -0.758091 +v -0.842314 2.623652 -0.000392 +v -0.533353 0.041374 1.038455 +v 0.505277 3.297514 0.561080 +v 0.729775 2.791818 -0.842188 +v 1.010448 1.248429 0.055947 +v -0.365030 0.406001 1.122552 +f 60 17 64 +f 3 2 7 +f 1 10 11 +f 1 11 13 +f 11 10 20 +f 2 3 22 +f 7 2 22 +f 13 11 22 +f 3 17 22 +f 22 17 23 +f 13 22 23 +f 11 20 27 +f 14 6 28 +f 12 14 28 +f 28 6 29 +f 19 13 30 +f 10 1 31 +f 1 25 31 +f 25 9 31 +f 1 13 33 +f 21 1 33 +f 18 7 35 +f 7 22 35 +f 3 7 36 +f 20 10 37 +f 18 4 38 +f 4 32 38 +f 22 11 39 +f 11 24 39 +f 35 22 39 +f 24 35 39 +f 9 25 40 +f 27 5 41 +f 11 27 41 +f 24 11 42 +f 35 24 42 +f 41 15 42 +f 11 41 42 +f 4 16 43 +f 16 9 43 +f 32 4 43 +f 14 32 43 +f 20 5 44 +f 5 27 44 +f 27 20 44 +f 18 35 45 +f 8 26 46 +f 26 20 46 +f 20 37 46 +f 1 21 47 +f 21 19 47 +f 25 1 47 +f 19 40 47 +f 40 25 47 +f 9 40 48 +f 40 19 48 +f 43 9 48 +f 14 43 48 +f 23 6 49 +f 13 23 49 +f 6 30 49 +f 30 13 49 +f 14 12 50 +f 32 14 50 +f 12 36 50 +f 38 32 50 +f 36 38 50 +f 10 31 51 +f 31 16 51 +f 37 10 51 +f 46 37 51 +f 12 28 52 +f 29 3 52 +f 28 29 52 +f 3 36 52 +f 36 12 52 +f 15 26 53 +f 45 15 53 +f 16 4 54 +f 4 34 54 +f 51 16 54 +f 34 51 54 +f 9 16 55 +f 31 9 55 +f 16 31 55 +f 5 20 56 +f 26 15 56 +f 20 26 56 +f 15 41 56 +f 41 5 56 +f 13 19 57 +f 19 21 57 +f 33 13 57 +f 21 33 57 +f 4 18 58 +f 26 8 58 +f 34 4 58 +f 8 34 58 +f 18 45 58 +f 53 26 58 +f 45 53 58 +f 6 14 59 +f 30 6 59 +f 19 30 59 +f 14 48 59 +f 48 19 59 +f 23 17 60 +f 6 23 60 +f 7 18 61 +f 36 7 61 +f 18 38 61 +f 38 36 61 +f 34 8 62 +f 8 46 62 +f 51 34 62 +f 46 51 62 +f 42 15 63 +f 35 42 63 +f 15 45 63 +f 45 35 63 +f 17 3 64 +f 3 29 64 +f 29 6 64 +f 6 60 64 +o convex_1 +v -0.056236 -3.917706 -0.000079 +v 0.336827 -3.384484 0.055936 +v 0.308712 -3.300148 0.196329 +v -0.196569 -3.300148 -0.365124 +v -0.000067 -3.300148 0.589382 +v 0.084096 -3.328320 -0.589776 +v 0.252543 -3.861603 -0.000079 +v -0.280853 -3.665061 0.083944 +v -0.028122 -3.833491 -0.224731 +v 0.308712 -3.300148 -0.336998 +v -0.224684 -3.300148 0.252463 +v -0.028122 -3.833491 0.224337 +v 0.252543 -3.328320 0.505122 +v -0.224684 -3.749276 -0.168598 +v 0.308712 -3.693173 -0.140472 +v -0.224684 -3.833491 0.083944 +v 0.252543 -3.777388 0.168203 +v 0.027987 -3.328320 0.617508 +v -0.224684 -3.412535 0.308596 +v 0.084096 -3.833491 0.224337 +v 0.224489 -3.805439 -0.140472 +v -0.252738 -3.300148 -0.056212 +v 0.027987 -3.300148 -0.589776 +v 0.336827 -3.552915 -0.000079 +v 0.027987 -3.833491 -0.224731 +f 85 71 89 +f 67 68 69 +f 67 66 74 +f 68 67 74 +f 69 68 75 +f 66 67 77 +f 67 69 77 +f 72 68 78 +f 73 65 78 +f 70 74 79 +f 65 76 80 +f 78 65 80 +f 72 78 80 +f 77 69 82 +f 80 76 82 +f 69 75 83 +f 75 72 83 +f 72 80 83 +f 82 69 83 +f 80 82 83 +f 65 71 84 +f 76 65 84 +f 71 81 84 +f 81 77 84 +f 77 82 84 +f 82 76 84 +f 79 71 85 +f 70 79 85 +f 68 72 86 +f 75 68 86 +f 72 75 86 +f 70 73 87 +f 68 74 87 +f 74 70 87 +f 78 68 87 +f 73 78 87 +f 74 66 88 +f 66 77 88 +f 71 79 88 +f 79 74 88 +f 81 71 88 +f 77 81 88 +f 71 65 89 +f 73 70 89 +f 65 73 89 +f 70 85 89 +o convex_2 +v 0.027870 -0.857265 2.947807 +v -0.140403 -1.503260 1.235358 +v 0.084032 -1.503260 1.235358 +v 0.027870 -0.015213 1.235358 +v 0.561413 -0.604984 1.263302 +v -0.533540 -1.053904 1.263302 +v -0.393134 -0.913489 2.666999 +v 0.224439 -1.194173 2.554710 +v 0.280494 -0.661209 2.610770 +v -0.084348 -1.278363 2.695114 +v -0.336971 -0.296043 1.235358 +v -0.028185 -0.520794 2.723059 +v 0.421007 -0.043471 1.235188 +v 0.449088 -1.278509 1.235188 +v -0.421108 -1.446890 1.235358 +v 0.336764 -0.913489 2.723229 +v 0.364845 -1.278509 1.993266 +v -0.364946 -1.306621 2.105555 +v 0.477170 -0.913489 1.993266 +v -0.280809 -0.632951 2.526596 +v -0.000104 -1.418924 2.049495 +v -0.477270 -0.941455 1.993266 +v 0.449088 -0.071583 1.263302 +v -0.364946 -0.941455 2.751173 +v -0.533540 -1.166061 1.235358 +v -0.028185 -1.278363 2.723059 +v -0.056266 -0.913489 2.975922 +v 0.027870 -0.520794 2.723059 +v 0.364845 -0.857410 2.610770 +v 0.140195 -0.015213 1.291417 +v -0.336971 -0.296043 1.291417 +v -0.308783 -1.194173 2.554710 +v 0.561413 -0.689175 1.235188 +v 0.336764 -1.306621 1.965321 +v 0.027870 -0.015213 1.263302 +v 0.336764 -0.857410 2.723229 +v -0.000104 -0.969713 2.947807 +v -0.056266 -0.548760 2.751173 +v 0.421007 -0.043471 1.263302 +v 0.252520 -0.604984 2.582825 +v -0.421108 -0.661209 1.712628 +v -0.140403 -1.418924 1.880977 +v 0.027870 -1.475148 1.656399 +v -0.393134 -1.306621 1.965321 +v -0.393134 -0.885523 2.638885 +v -0.393134 -0.941455 2.666999 +v -0.364946 -0.913489 2.751173 +v 0.280494 -0.015213 1.263302 +f 117 128 137 +f 100 93 102 +f 92 91 103 +f 103 91 104 +f 105 97 106 +f 106 103 108 +f 105 106 108 +f 95 100 114 +f 100 102 114 +f 102 103 114 +f 103 104 114 +f 111 95 114 +f 97 105 115 +f 99 110 115 +f 113 99 116 +f 99 115 116 +f 108 94 118 +f 105 108 118 +f 94 112 118 +f 101 117 119 +f 93 100 120 +f 100 95 120 +f 107 99 121 +f 99 113 121 +f 103 102 122 +f 94 108 122 +f 108 103 122 +f 102 112 122 +f 112 94 122 +f 92 103 123 +f 106 97 123 +f 103 106 123 +f 97 115 123 +f 115 110 123 +f 119 93 124 +f 101 119 124 +f 93 120 124 +f 120 109 124 +f 90 105 125 +f 112 98 125 +f 117 90 125 +f 98 117 125 +f 105 118 125 +f 118 112 125 +f 105 90 126 +f 115 105 126 +f 90 116 126 +f 116 115 126 +f 116 90 127 +f 90 117 127 +f 117 101 127 +f 101 124 127 +f 124 109 127 +f 112 102 128 +f 98 112 129 +f 117 98 129 +f 112 128 129 +f 128 117 129 +f 95 111 130 +f 120 95 130 +f 104 91 131 +f 99 107 131 +f 107 104 131 +f 110 99 131 +f 110 131 132 +f 91 92 132 +f 92 123 132 +f 123 110 132 +f 131 91 132 +f 104 107 133 +f 114 104 133 +f 111 96 134 +f 109 120 134 +f 130 111 134 +f 120 130 134 +f 96 111 135 +f 113 96 135 +f 111 114 135 +f 107 121 135 +f 121 113 135 +f 133 107 135 +f 114 133 135 +f 96 113 136 +f 113 116 136 +f 127 109 136 +f 116 127 136 +f 134 96 136 +f 109 134 136 +f 102 93 137 +f 93 119 137 +f 119 117 137 +f 128 102 137 +o convex_3 +v -0.000106 -2.598238 1.066405 +v 0.056050 -3.300147 -0.617740 +v 0.084099 -3.300147 -0.617740 +v 0.028001 -2.682473 -2.694676 +v 0.336827 -2.598238 0.055450 +v -0.196563 -2.991241 2.666840 +v 0.308721 -3.300147 0.224040 +v -0.224670 -2.935245 -1.683721 +v 0.196410 -2.935245 2.581959 +v 0.252565 -2.963140 -2.638479 +v -0.252776 -2.598238 -0.111384 +v -0.252776 -3.300147 -0.055187 +v 0.028001 -3.159642 -2.694676 +v -0.000106 -3.159642 2.638741 +v -0.028155 -2.766776 2.666840 +v -0.140465 -2.935245 -2.723360 +v 0.336827 -2.935245 -1.628109 +v 0.308721 -3.300147 -0.364855 +v 0.224458 -2.738744 -2.217589 +v -0.224670 -2.935245 2.413955 +v 0.028001 -3.300147 0.925913 +v 0.280614 -2.991241 1.627786 +v 0.084099 -2.935245 -3.004343 +v -0.000106 -2.991241 2.975922 +v 0.336827 -3.131609 0.083548 +v 0.168361 -3.131609 2.245365 +v -0.168514 -2.794808 2.385856 +v 0.224458 -3.103577 -2.414278 +v -0.112359 -2.766776 -2.469889 +v 0.308721 -2.598238 -0.392953 +v -0.252776 -2.935245 1.599688 +v -0.140465 -3.131609 2.413955 +v 0.140254 -2.794808 2.357758 +v -0.112359 -3.103577 -2.357496 +v 0.252565 -2.879112 -2.610966 +v 0.112205 -3.159642 -2.638479 +v -0.196563 -2.598238 0.420728 +v -0.224670 -2.598238 -0.392368 +v -0.196563 -3.300147 0.392630 +v 0.196410 -2.991241 2.581959 +v 0.028001 -2.766776 2.610643 +v 0.084099 -2.682473 -2.638479 +v 0.280614 -3.131609 -1.739918 +v 0.056050 -3.187812 -2.414278 +v 0.280614 -2.598238 0.363946 +v 0.252565 -3.300147 0.532536 +v -0.140465 -2.850942 -2.582283 +v -0.056203 -2.935245 2.975922 +v -0.168514 -2.963140 -2.442376 +v -0.196563 -3.300147 -0.364269 +v 0.336827 -2.879112 -1.571913 +v -0.056203 -3.159642 2.582545 +v -0.000106 -2.935245 -2.975659 +v 0.028001 -2.598238 -0.560958 +v -0.252776 -2.598238 0.055450 +v -0.252776 -3.300147 0.055450 +v 0.028001 -2.935245 2.947823 +v -0.084310 -2.766776 2.554446 +v 0.028001 -3.159642 2.610643 +v 0.084099 -2.850942 -2.947561 +v -0.196563 -2.935245 2.666840 +v -0.000106 -2.682473 -2.638479 +v -0.056203 -3.131609 -2.526086 +v -0.056203 -2.991241 2.975922 +f 143 189 201 +f 139 140 144 +f 138 142 148 +f 148 145 149 +f 139 144 149 +f 144 140 155 +f 149 144 158 +f 142 146 159 +f 154 142 162 +f 155 154 162 +f 144 155 162 +f 142 159 162 +f 159 144 162 +f 148 142 167 +f 148 149 168 +f 146 142 170 +f 154 147 172 +f 147 160 172 +f 160 147 173 +f 150 160 173 +f 147 165 173 +f 165 155 173 +f 138 148 174 +f 166 148 175 +f 148 167 175 +f 149 158 176 +f 144 159 177 +f 159 146 177 +f 163 144 177 +f 138 152 178 +f 146 170 178 +f 141 167 179 +f 167 156 179 +f 156 172 179 +f 147 154 180 +f 154 155 180 +f 165 147 180 +f 155 165 180 +f 140 139 181 +f 155 140 181 +f 150 173 181 +f 173 155 181 +f 142 138 182 +f 170 142 182 +f 138 178 182 +f 178 170 182 +f 158 144 183 +f 144 163 183 +f 145 148 184 +f 148 166 184 +f 149 145 186 +f 171 149 186 +f 153 171 186 +f 145 184 186 +f 184 153 186 +f 139 149 187 +f 181 139 187 +f 150 181 187 +f 142 154 188 +f 167 142 188 +f 156 167 188 +f 154 172 188 +f 172 156 188 +f 158 151 189 +f 143 169 189 +f 176 158 189 +f 169 176 189 +f 153 141 190 +f 150 153 190 +f 160 150 190 +f 167 141 191 +f 141 175 191 +f 175 167 191 +f 157 164 192 +f 148 168 192 +f 168 157 192 +f 174 148 192 +f 164 174 192 +f 143 157 193 +f 168 149 193 +f 157 168 193 +f 169 143 193 +f 149 176 193 +f 176 169 193 +f 177 146 194 +f 161 177 194 +f 178 152 194 +f 146 178 194 +f 185 161 194 +f 152 185 194 +f 152 138 195 +f 138 174 195 +f 174 164 195 +f 185 152 195 +f 151 158 196 +f 161 151 196 +f 177 161 196 +f 163 177 196 +f 158 183 196 +f 183 163 196 +f 172 160 197 +f 141 179 197 +f 179 172 197 +f 190 141 197 +f 160 190 197 +f 157 143 198 +f 164 157 198 +f 143 185 198 +f 195 164 198 +f 185 195 198 +f 141 153 199 +f 175 141 199 +f 166 175 199 +f 153 184 199 +f 184 166 199 +f 153 150 200 +f 149 171 200 +f 171 153 200 +f 187 149 200 +f 150 187 200 +f 151 161 201 +f 185 143 201 +f 161 185 201 +f 189 151 201 +o convex_4 +v -0.000106 -0.604924 -2.892015 +v -0.000106 -1.531188 -1.347915 +v 0.027816 -1.531188 -1.347915 +v 0.392886 -0.015361 -1.291685 +v -0.505333 -0.071602 -1.291685 +v -0.421129 -0.913431 -2.695382 +v 0.364854 -0.941626 -2.807671 +v 0.449059 -1.250430 -1.291685 +v -0.421129 -1.250430 -1.291685 +v -0.028137 -1.306522 -2.695382 +v 0.561405 -0.745303 -1.460374 +v 0.364854 -1.334717 -1.965760 +v -0.028137 -0.015361 -1.600607 +v -0.561616 -0.773201 -1.628893 +v -0.365066 -1.306522 -2.021989 +v -0.056279 -0.913431 -3.032419 +v -0.028137 -0.520785 -2.835786 +v 0.449059 -0.043407 -1.319970 +v -0.336924 -0.604924 -2.611208 +v 0.280650 -0.604924 -2.639152 +v -0.477302 -0.015361 -1.319800 +v 0.505232 -0.941626 -1.993704 +v -0.561616 -0.773201 -1.291685 +v -0.533475 -0.885385 -1.993874 +v 0.561405 -0.801098 -1.291685 +v 0.252508 -1.222236 -2.583093 +v 0.392886 -0.885385 -2.695382 +v -0.028137 -1.446901 -2.021989 +v 0.392886 -1.362763 -1.291685 +v -0.393097 -0.857339 -2.779556 +v -0.252610 -1.222236 -2.583093 +v 0.027816 -1.278476 -2.751612 +v -0.112342 -1.474948 -1.291685 +v -0.000106 -0.492739 -2.779556 +v 0.027816 -0.913431 -3.032419 +v -0.056279 -1.222236 -2.807671 +v -0.112342 -0.520785 -2.779556 +v 0.364854 -0.885385 -2.807671 +v -0.393097 -0.941626 -2.751612 +v -0.393097 -1.306522 -1.600607 +v -0.421129 -0.857339 -2.695382 +v 0.280650 -1.362763 -2.021819 +v 0.280650 -0.015361 -1.404144 +v -0.561616 -0.464545 -1.319800 +v -0.056279 -0.857339 -3.032419 +v 0.477091 -1.025764 -2.049934 +v -0.421129 -0.015361 -1.376029 +v -0.477302 -1.053810 -1.993874 +v -0.505333 -0.071602 -1.319800 +v -0.533475 -0.773201 -1.909530 +v 0.421027 -1.334717 -1.404144 +v 0.055957 -0.520785 -2.779556 +v 0.027816 -1.446901 -1.993874 +v 0.533264 -0.492591 -1.347915 +f 228 219 255 +f 205 206 209 +f 209 206 210 +f 206 205 222 +f 205 214 222 +f 210 206 224 +f 224 215 225 +f 210 224 225 +f 205 209 226 +f 219 205 226 +f 223 212 226 +f 209 223 226 +f 208 213 227 +f 223 208 228 +f 212 223 228 +f 204 203 229 +f 203 216 229 +f 216 211 229 +f 209 210 230 +f 204 213 230 +f 211 216 232 +f 208 227 233 +f 203 204 234 +f 216 203 234 +f 204 230 234 +f 230 210 234 +f 218 214 235 +f 208 233 236 +f 236 233 237 +f 211 232 237 +f 233 211 237 +f 217 236 237 +f 220 222 238 +f 231 220 238 +f 221 219 239 +f 219 228 239 +f 228 208 239 +f 236 202 239 +f 208 236 239 +f 216 207 240 +f 207 231 240 +f 231 217 240 +f 232 216 240 +f 217 237 240 +f 237 232 240 +f 234 210 241 +f 216 234 241 +f 207 225 242 +f 231 207 242 +f 220 231 242 +f 213 204 243 +f 227 213 243 +f 233 227 243 +f 214 205 244 +f 205 219 244 +f 235 214 244 +f 219 235 244 +f 224 206 245 +f 215 224 245 +f 218 202 246 +f 217 231 246 +f 202 236 246 +f 236 217 246 +f 238 218 246 +f 231 238 246 +f 213 208 247 +f 208 223 247 +f 214 218 248 +f 222 214 248 +f 218 238 248 +f 238 222 248 +f 207 216 249 +f 225 207 249 +f 210 225 249 +f 241 210 249 +f 216 241 249 +f 206 222 250 +f 222 220 250 +f 220 242 250 +f 245 206 250 +f 245 250 251 +f 225 215 251 +f 242 225 251 +f 215 245 251 +f 250 242 251 +f 223 209 252 +f 209 230 252 +f 230 213 252 +f 213 247 252 +f 247 223 252 +f 202 218 253 +f 219 221 253 +f 218 235 253 +f 235 219 253 +f 239 202 253 +f 221 239 253 +f 204 229 254 +f 229 211 254 +f 211 233 254 +f 243 204 254 +f 233 243 254 +f 219 226 255 +f 226 212 255 +f 212 228 255 +o convex_5 +v 0.617419 -0.015213 1.066499 +v 0.027787 -2.148808 -0.308985 +v 0.083961 -2.148808 -0.308985 +v -0.505285 -0.015422 -1.291438 +v -0.870414 -1.559171 0.813712 +v 0.926374 -0.015213 -0.786113 +v 0.814027 -1.474997 0.757565 +v -0.870414 -0.015213 0.729615 +v 0.421003 -1.362626 -1.291438 +v -0.758067 -1.474997 -0.842260 +v -0.084368 -1.530974 1.234940 +v 0.814027 -1.531183 -0.701768 +v -0.982762 -0.015213 -0.084149 +v -0.336957 -0.296142 1.234940 +v 0.308656 -2.148808 0.280190 +v 0.982548 -0.015213 0.111748 +v 0.477177 -0.015422 -1.291438 +v -0.112262 -1.474788 -1.291438 +v -0.280783 -2.148808 0.196093 +v 0.561245 -0.689233 1.234940 +v 0.954461 -1.222266 -0.084149 +v -0.870414 -0.015213 -0.842260 +v -0.533372 -1.222266 1.234940 +v 0.701679 -1.924274 -0.000299 +v -0.645720 -1.924065 -0.140296 +v 0.055874 -1.896077 -0.926604 +v -0.926588 -1.250463 -0.140296 +v 0.898287 -0.015213 0.729615 +v -0.589546 -0.661244 -1.291438 +v 0.027787 -1.896077 0.869860 +v -0.056088 -0.015422 1.234940 +v 0.449090 -1.278243 1.234940 +v 0.561245 -0.801395 -1.291438 +v 0.561245 -1.924065 -0.449229 +v -0.449112 -1.924065 -0.561524 +v -0.561459 -1.643554 1.010351 +v 0.533351 -1.924065 0.504779 +v -0.392938 -1.306440 -1.291438 +v 0.449090 -0.015422 1.234940 +v 0.954461 -1.222266 0.083798 +v 0.814027 -1.447009 -0.786113 +v -0.954483 -0.296142 0.392732 +v -0.224609 -2.148808 -0.252838 +v 0.308656 -2.148808 -0.196690 +v -0.392938 -0.015422 1.150596 +v 0.757853 -0.099596 -1.066849 +v -0.870414 -0.043619 0.757565 +v -0.701893 -1.868088 0.083798 +v -0.449112 -1.502985 1.206743 +v -0.926588 -1.306440 0.196093 +v -0.533372 -1.026138 1.234940 +v -0.729980 -1.531183 -0.842260 +v 0.982548 -0.745418 -0.000299 +v -0.870414 -1.587368 0.785762 +v 0.055874 -1.530974 -1.291438 +v 0.701679 -0.071608 1.038301 +v -0.056088 -1.896077 0.869860 +v -0.028002 -2.148808 0.336337 +v -0.729980 -0.071608 -1.094799 +v 0.112048 -1.502985 1.234940 +v -0.898501 -1.306440 0.729615 +v -0.870414 -0.211968 -0.814062 +v 0.870200 -0.829593 -0.786113 +v 0.701679 -1.924274 0.083798 +f 279 295 319 +f 256 261 263 +f 263 261 268 +f 257 258 270 +f 261 256 271 +f 264 259 272 +f 259 264 273 +f 257 270 274 +f 269 266 275 +f 268 261 277 +f 272 259 277 +f 261 272 277 +f 266 269 278 +f 267 276 279 +f 258 257 281 +f 271 256 283 +f 275 262 283 +f 259 273 284 +f 256 263 286 +f 269 275 286 +f 262 275 287 +f 275 266 287 +f 264 272 288 +f 264 267 289 +f 267 279 289 +f 281 264 289 +f 285 270 292 +f 262 287 292 +f 284 273 293 +f 265 284 293 +f 256 286 294 +f 286 275 294 +f 279 276 295 +f 283 262 295 +f 267 264 296 +f 276 267 296 +f 264 288 296 +f 257 274 298 +f 274 280 298 +f 281 257 298 +f 280 290 298 +f 290 281 298 +f 270 258 299 +f 279 270 299 +f 258 281 299 +f 289 279 299 +f 281 289 299 +f 286 263 300 +f 269 286 300 +f 272 261 301 +f 288 272 301 +f 263 268 302 +f 268 297 302 +f 300 263 302 +f 265 280 303 +f 280 274 303 +f 282 265 303 +f 278 260 304 +f 266 278 304 +f 260 291 304 +f 268 282 305 +f 297 268 305 +f 260 278 306 +f 278 269 306 +f 269 300 306 +f 302 260 306 +f 300 302 306 +f 280 265 307 +f 273 281 307 +f 290 280 307 +f 281 290 307 +f 293 273 307 +f 265 293 307 +f 261 271 308 +f 276 261 308 +f 271 283 308 +f 295 276 308 +f 283 295 308 +f 291 260 309 +f 274 291 309 +f 303 274 309 +f 282 303 309 +f 305 282 309 +f 273 264 310 +f 264 281 310 +f 281 273 310 +f 283 256 311 +f 275 283 311 +f 256 294 311 +f 294 275 311 +f 285 266 312 +f 291 274 312 +f 266 304 312 +f 304 291 312 +f 274 270 313 +f 270 285 313 +f 312 274 313 +f 285 312 313 +f 277 259 314 +f 259 284 314 +f 284 277 314 +f 266 285 315 +f 287 266 315 +f 285 292 315 +f 292 287 315 +f 260 302 316 +f 302 297 316 +f 297 305 316 +f 309 260 316 +f 305 309 316 +f 268 277 317 +f 282 268 317 +f 265 282 317 +f 284 265 317 +f 277 284 317 +f 261 276 318 +f 276 296 318 +f 296 288 318 +f 301 261 318 +f 288 301 318 +f 270 279 319 +f 292 270 319 +f 262 292 319 +f 295 262 319 +o convex_6 +v -0.252776 -2.514009 -0.224701 +v 0.336827 -2.373627 0.084087 +v 0.336827 -2.570118 0.084087 +v 0.000010 -2.570118 0.842119 +v -0.196621 -2.373627 0.252284 +v 0.056050 -2.598238 -0.533623 +v -0.224612 -2.373627 -0.252846 +v -0.196621 -2.598238 0.392740 +v 0.308720 -2.373627 -0.224701 +v 0.308720 -2.598238 -0.365157 +v 0.056050 -2.373627 0.420750 +v 0.280672 -2.598238 0.336585 +v -0.224612 -2.598238 -0.365157 +v 0.056050 -2.598238 0.813973 +v -0.252776 -2.373627 0.112232 +v 0.084099 -2.373627 -0.309001 +v -0.252776 -2.598238 0.056077 +v 0.056050 -2.570118 -0.533623 +v 0.308720 -2.373627 0.168118 +f 333 331 338 +f 324 321 326 +f 323 324 327 +f 326 321 328 +f 321 322 329 +f 327 325 329 +f 328 321 329 +f 324 323 330 +f 321 324 330 +f 322 321 331 +f 329 322 331 +f 327 329 331 +f 320 326 332 +f 325 327 332 +f 323 327 333 +f 327 331 333 +f 326 320 334 +f 324 326 334 +f 327 324 334 +f 326 328 335 +f 320 332 336 +f 332 327 336 +f 334 320 336 +f 327 334 336 +f 329 325 337 +f 328 329 337 +f 332 326 337 +f 325 332 337 +f 326 335 337 +f 335 328 337 +f 321 330 338 +f 330 323 338 +f 331 321 338 +f 323 333 338 +o convex_7 +v -0.280853 -2.345507 -0.000139 +v 0.336827 -2.149017 0.084007 +v 0.308712 -2.149017 0.252432 +v 0.336827 -2.373627 0.084007 +v -0.084291 -2.149017 -0.280870 +v -0.252738 -2.149017 0.224406 +v -0.000067 -2.373627 0.392831 +v 0.280658 -2.373627 -0.224684 +v -0.252738 -2.373627 -0.224684 +v 0.308712 -2.149017 -0.196591 +v -0.252738 -2.149017 -0.168565 +v -0.000067 -2.149017 0.336645 +v -0.252738 -2.373627 0.140193 +v 0.084096 -2.373627 -0.280870 +v 0.252543 -2.373627 0.252432 +v 0.112211 -2.149017 -0.280870 +f 352 343 354 +f 340 341 342 +f 341 340 343 +f 341 343 344 +f 342 345 346 +f 346 345 347 +f 340 342 348 +f 343 340 348 +f 342 346 348 +f 339 344 349 +f 344 343 349 +f 347 339 349 +f 343 347 349 +f 341 344 350 +f 345 341 350 +f 344 345 350 +f 344 339 351 +f 345 344 351 +f 347 345 351 +f 339 347 351 +f 346 347 352 +f 347 343 352 +f 342 341 353 +f 341 345 353 +f 345 342 353 +f 343 348 354 +f 348 346 354 +f 346 352 354 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/575/575.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/575/575.urdf new file mode 100644 index 000000000..7add69d8a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/575/575.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/576/576.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/576/576.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/576/576.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/576/576.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/576/576.obj new file mode 100644 index 000000000..7a8d23738 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/576/576.obj @@ -0,0 +1,837 @@ +o convex_0 +v 1.243895 -2.339906 0.519246 +v 1.243895 -2.489630 -0.650757 +v 1.243895 -2.429871 -0.650757 +v 2.983899 -2.489630 0.009259 +v 1.243895 -2.999758 0.039036 +v 1.544172 -1.889755 -0.080644 +v 2.743746 -2.429871 0.429113 +v 2.713769 -2.489630 -0.410710 +v 2.683793 -2.879696 0.009030 +v 1.544172 -2.849708 0.429113 +v 2.713769 -2.039805 -0.020976 +v 1.243895 -1.979829 0.369101 +v 1.274042 -2.879696 -0.500727 +v 1.243895 -2.009817 -0.470721 +v 2.053944 -2.069902 -0.440715 +v 2.053944 -2.039805 0.369101 +v 2.023967 -2.849708 -0.410710 +v 2.533740 -2.759634 0.339095 +v 2.053944 -2.459642 0.519246 +v 2.053944 -2.969661 0.039036 +v 1.243895 -2.849708 0.429113 +v 1.993991 -2.489630 -0.560739 +v 1.993991 -2.849708 0.399107 +v 2.713769 -2.849708 0.129054 +v 2.563886 -2.159759 -0.320692 +v 2.533740 -2.129879 0.309090 +v 1.243895 -1.889755 0.039036 +v 1.964014 -1.919852 -0.020976 +v 2.563886 -2.759634 -0.290686 +v 1.243895 -2.939672 -0.350698 +v 2.713769 -2.519619 0.429113 +v 1.243895 -2.549607 0.519246 +v 2.713769 -2.369894 -0.380704 +v 2.953752 -2.369894 0.039151 +v 1.993991 -2.969661 -0.050982 +v 1.993991 -2.069902 0.399107 +v 1.364142 -2.909684 0.339095 +v 2.773893 -2.819611 0.009259 +v 2.773893 -2.099782 0.039151 +v 2.023967 -1.949841 -0.140656 +v 2.023967 -2.339906 -0.530733 +v 2.023967 -2.399883 0.519246 +v 2.983899 -2.489630 0.069156 +v 1.274042 -2.099891 -0.530733 +v 1.274042 -2.999758 -0.110650 +v 2.803869 -2.489630 -0.320692 +v 1.394119 -1.979829 0.369101 +v 1.243895 -1.889755 -0.140656 +v 2.683793 -2.039805 0.039036 +v 2.743916 -2.069902 -0.050753 +v 2.923776 -2.429871 -0.110650 +v 1.274042 -2.009817 0.399107 +v 1.993991 -2.789622 0.429113 +f 23 31 53 +f 3 2 1 +f 1 2 5 +f 3 1 12 +f 3 12 14 +f 1 5 21 +f 2 3 22 +f 13 2 22 +f 8 17 22 +f 17 13 22 +f 23 20 24 +f 20 9 24 +f 18 23 24 +f 15 11 25 +f 16 7 26 +f 14 12 27 +f 6 27 28 +f 17 8 29 +f 9 17 29 +f 5 2 30 +f 2 13 30 +f 13 17 30 +f 7 19 31 +f 23 18 31 +f 18 24 31 +f 10 19 32 +f 19 1 32 +f 1 21 32 +f 21 10 32 +f 15 25 33 +f 17 9 35 +f 9 20 35 +f 30 17 35 +f 7 16 36 +f 5 20 37 +f 21 5 37 +f 10 21 37 +f 23 10 37 +f 20 23 37 +f 24 9 38 +f 9 29 38 +f 26 7 39 +f 7 34 39 +f 14 6 40 +f 11 15 40 +f 15 14 40 +f 6 28 40 +f 28 11 40 +f 3 15 41 +f 22 3 41 +f 8 22 41 +f 33 8 41 +f 15 33 41 +f 1 19 42 +f 19 7 42 +f 7 36 42 +f 7 31 43 +f 31 24 43 +f 4 34 43 +f 34 7 43 +f 38 4 43 +f 24 38 43 +f 3 14 44 +f 15 3 44 +f 14 15 44 +f 20 5 45 +f 5 30 45 +f 35 20 45 +f 30 35 45 +f 29 8 46 +f 8 33 46 +f 4 38 46 +f 38 29 46 +f 27 12 47 +f 16 28 47 +f 28 27 47 +f 36 16 47 +f 6 14 48 +f 27 6 48 +f 14 27 48 +f 16 26 49 +f 11 28 49 +f 28 16 49 +f 26 39 49 +f 39 11 49 +f 25 11 50 +f 33 25 50 +f 11 39 50 +f 39 34 50 +f 34 4 51 +f 46 33 51 +f 4 46 51 +f 33 50 51 +f 50 34 51 +f 12 1 52 +f 1 42 52 +f 42 36 52 +f 47 12 52 +f 36 47 52 +f 19 10 53 +f 10 23 53 +f 31 19 53 +o convex_1 +v 0.913806 -1.529537 0.549125 +v -1.006110 -1.559755 -0.170483 +v -0.976069 -1.559755 -0.590604 +v -0.976069 0.540251 -0.140515 +v 0.703712 0.540251 -0.740634 +v -0.075999 0.540251 0.969247 +v 0.853724 -1.559755 -0.800569 +v -0.826058 -1.559755 0.789058 +v -0.135888 0.540251 -0.980758 +v 0.973889 0.540251 0.039101 +v 0.823877 -1.559755 0.789058 +v 0.763795 0.540251 0.759091 +v -0.885946 -1.559755 -0.830537 +v -0.735934 0.510239 0.729123 +v -0.796016 0.540251 -0.770602 +v -0.016111 -1.559755 0.969247 +v -0.016111 -1.559755 -0.980758 +v 0.973889 -1.559755 -0.170674 +v -0.915987 -1.529537 0.639220 +v 0.073625 0.420203 -0.980758 +v 0.133707 0.540251 0.969247 +v -0.976069 0.450215 0.099036 +v -1.006110 0.090073 0.009133 +v -0.946028 -1.499731 -0.770602 +v 0.973889 0.540251 -0.020644 +v 0.793836 -1.469719 -0.830537 +v 0.883765 -1.529537 -0.740634 +v -1.006110 -1.559755 0.069068 +v 0.973889 -1.559755 0.099036 +v 0.883765 -1.529537 0.699155 +v -0.676046 0.540251 0.759091 +v 0.043778 -1.559755 0.969247 +v 0.733754 0.480227 -0.710666 +v -0.106040 0.450215 0.969247 +v -0.165929 0.450215 -0.980758 +v -0.075999 -1.559755 -0.980758 +v -0.735934 -1.559755 0.819026 +v 0.673671 0.420203 -0.770602 +v -0.826058 -1.379478 0.789058 +v -0.885946 -1.529537 0.729123 +v 0.133707 -0.029768 0.969247 +v -0.706087 0.450215 0.759091 +v 0.943847 0.540251 0.159163 +v -0.976069 0.540251 0.069068 +v 0.253678 0.330168 0.939088 +v 0.043778 0.540251 -0.980758 +v 0.913806 0.540251 -0.200641 +v -0.826058 0.540251 -0.680698 +v -0.735934 0.390191 -0.800569 +v -1.006110 0.000243 -0.050612 +v 0.703712 0.330168 0.789058 +f 74 98 104 +f 58 57 59 +f 55 56 60 +f 55 60 61 +f 57 58 62 +f 58 59 63 +f 61 60 64 +f 63 59 65 +f 60 56 66 +f 57 62 68 +f 61 64 69 +f 60 66 70 +f 64 60 71 +f 70 62 73 +f 65 59 74 +f 59 69 74 +f 72 75 76 +f 56 57 77 +f 66 56 77 +f 68 66 77 +f 58 63 78 +f 63 71 78 +f 60 70 79 +f 70 73 79 +f 71 60 80 +f 78 71 80 +f 55 61 81 +f 61 72 81 +f 72 76 81 +f 76 55 81 +f 63 54 82 +f 71 63 82 +f 64 71 82 +f 54 63 83 +f 65 64 83 +f 82 54 83 +f 64 82 83 +f 59 57 84 +f 69 64 85 +f 74 69 85 +f 60 58 86 +f 80 60 86 +f 69 59 87 +f 68 62 88 +f 62 70 88 +f 88 70 89 +f 70 66 89 +f 66 88 89 +f 61 69 90 +f 69 87 90 +f 58 60 91 +f 60 79 91 +f 79 73 91 +f 61 90 92 +f 90 87 92 +f 72 61 93 +f 67 75 93 +f 75 72 93 +f 61 92 93 +f 92 67 93 +f 85 64 94 +f 74 85 94 +f 59 84 95 +f 84 67 95 +f 87 59 95 +f 67 92 95 +f 92 87 95 +f 63 65 96 +f 83 63 96 +f 65 83 96 +f 75 67 97 +f 76 75 97 +f 57 76 97 +f 84 57 97 +f 67 84 97 +f 94 64 98 +f 74 94 98 +f 62 58 99 +f 73 62 99 +f 58 91 99 +f 91 73 99 +f 58 78 100 +f 78 80 100 +f 86 58 100 +f 80 86 100 +f 57 68 101 +f 77 57 101 +f 68 77 101 +f 66 68 102 +f 68 88 102 +f 88 66 102 +f 56 55 103 +f 57 56 103 +f 55 76 103 +f 76 57 103 +f 64 65 104 +f 65 74 104 +f 98 64 104 +o convex_2 +v 0.163769 4.380148 -0.920400 +v 0.043751 2.520458 1.029247 +v 0.013845 2.520458 1.029247 +v 0.043751 0.540647 -0.980376 +v -1.005914 4.139906 -0.080726 +v 0.973792 4.319889 0.069215 +v -0.945905 0.540251 0.158978 +v 0.763859 0.540647 0.729161 +v 0.703850 0.540647 -0.740470 +v -0.735972 4.289760 0.698970 +v -0.795981 0.540251 -0.770661 +v 0.643841 4.470140 0.668982 +v -0.675963 0.540647 0.759149 +v -0.735972 4.319889 -0.770458 +v 0.793765 4.409881 -0.770661 +v 0.973792 0.540647 -0.020547 +v -0.766075 4.560131 -0.050738 +v -0.076070 3.720079 -1.040758 +v 0.763859 3.629691 0.789138 +v 0.043751 0.540647 0.999056 +v 0.013845 4.260027 0.939079 +v 0.073854 4.590260 0.609208 +v -0.225994 4.530002 -0.860423 +v 0.853774 4.560131 0.069013 +v -0.766075 3.779941 0.729161 +v -0.766075 3.779941 -0.830637 +v 1.003698 3.270122 0.069215 +v -0.976008 0.540251 -0.110512 +v -0.076070 0.870484 -1.010567 +v 0.763859 1.530553 0.789138 +v 0.043751 3.479837 -1.040758 +v -0.615954 4.560131 0.549028 +v -0.045967 3.689553 0.999056 +v 0.133666 4.559734 -0.680493 +v -1.005914 3.329984 -0.140501 +v -1.005914 3.239993 0.009036 +v -0.076070 4.260027 -1.010567 +v -0.706066 3.180130 -0.860626 +v 1.003698 3.630087 -0.020547 +v -0.766075 0.540251 0.638993 +v 0.733756 4.260027 0.728958 +v 0.673747 4.260027 -0.830637 +v -0.976008 4.289760 0.039024 +v -0.076070 4.559734 0.759149 +v -0.795981 3.540096 -0.800649 +v -0.675963 4.499872 -0.650707 +v 0.943689 0.660372 0.159180 +v 0.793765 2.280613 0.759149 +v -0.646057 3.569829 0.789138 +v 0.073854 3.629691 0.999056 +v -0.795981 3.419579 0.669184 +v 0.553729 4.590260 0.519040 +v 0.163769 2.280613 0.999056 +v 0.643841 0.540647 -0.770661 +v 0.613738 4.590260 0.009036 +v -0.495936 4.560131 -0.560540 +v 0.643841 4.499872 -0.650505 +v -0.255900 4.590260 0.279133 +v -0.976008 4.289760 -0.140501 +v 0.763859 0.660372 0.759149 +v 0.853774 4.560131 0.219157 +v -0.766075 4.169640 -0.800649 +v 0.793765 3.629691 0.729161 +v 0.823868 0.540647 -0.440586 +f 119 120 168 +f 106 107 124 +f 107 117 124 +f 119 105 127 +f 110 119 128 +f 115 111 132 +f 108 115 133 +f 108 133 135 +f 133 122 135 +f 107 106 137 +f 125 114 137 +f 114 129 137 +f 115 132 139 +f 139 132 140 +f 132 111 140 +f 109 139 140 +f 105 119 141 +f 127 105 141 +f 118 127 141 +f 122 130 141 +f 135 122 141 +f 115 130 142 +f 130 122 142 +f 133 115 142 +f 122 133 142 +f 119 110 143 +f 120 119 143 +f 110 131 143 +f 131 120 143 +f 111 115 144 +f 120 112 144 +f 115 120 144 +f 112 124 144 +f 124 117 144 +f 117 129 144 +f 116 125 145 +f 119 113 146 +f 141 119 146 +f 135 141 146 +f 129 114 147 +f 114 136 147 +f 136 121 147 +f 109 140 147 +f 114 125 148 +f 125 116 148 +f 136 114 148 +f 126 136 148 +f 130 115 149 +f 139 109 149 +f 115 139 149 +f 127 118 150 +f 112 120 151 +f 120 131 151 +f 123 134 152 +f 151 131 152 +f 117 107 153 +f 129 117 153 +f 107 137 153 +f 137 129 153 +f 137 106 154 +f 125 137 154 +f 123 145 154 +f 145 125 154 +f 140 111 155 +f 111 144 155 +f 144 129 155 +f 129 147 155 +f 147 140 155 +f 148 116 156 +f 126 148 156 +f 106 124 157 +f 134 123 157 +f 124 134 157 +f 154 106 157 +f 123 154 157 +f 115 108 158 +f 113 115 158 +f 108 135 158 +f 146 113 158 +f 135 146 158 +f 126 156 159 +f 138 127 160 +f 127 150 160 +f 150 121 160 +f 159 138 160 +f 119 127 161 +f 128 119 161 +f 127 138 161 +f 138 159 161 +f 159 128 161 +f 121 136 162 +f 136 126 162 +f 126 159 162 +f 160 121 162 +f 159 160 162 +f 109 147 163 +f 147 121 163 +f 150 118 163 +f 121 150 163 +f 124 112 164 +f 134 124 164 +f 112 151 164 +f 152 134 164 +f 151 152 164 +f 110 128 165 +f 145 110 165 +f 116 145 165 +f 156 116 165 +f 128 159 165 +f 159 156 165 +f 118 141 166 +f 141 130 166 +f 149 109 166 +f 130 149 166 +f 163 118 166 +f 109 163 166 +f 131 110 167 +f 110 145 167 +f 145 123 167 +f 123 152 167 +f 152 131 167 +f 115 113 168 +f 113 119 168 +f 120 115 168 +o convex_3 +v -1.816324 -2.909629 -0.320753 +v -1.276111 -1.889755 -0.020762 +v -1.276111 -1.889755 -0.050641 +v -2.956115 -2.399921 0.069203 +v -1.276111 -2.879626 0.399184 +v -1.276111 -2.399921 -0.590757 +v -2.056254 -2.099891 0.399184 +v -2.536114 -2.159897 -0.260668 +v -2.476090 -2.759614 0.309219 +v -2.686091 -2.519589 -0.350742 +v -1.276111 -3.059529 -0.080738 +v -1.276111 -2.429924 0.519246 +v -2.686091 -2.849622 -0.020762 +v -2.746114 -2.459927 0.399184 +v -2.716021 -2.069888 0.099192 +v -1.546299 -2.039885 -0.440707 +v -1.336135 -2.909629 -0.470695 +v -1.276111 -2.039885 0.399184 +v -1.816324 -2.879626 0.369195 +v -2.056254 -2.429924 -0.500683 +v -2.146043 -2.819620 -0.380730 +v -2.086183 -2.489587 0.489149 +v -1.996395 -1.949876 -0.020762 +v -1.276111 -2.009882 -0.440707 +v -2.086183 -2.969635 0.009227 +v -2.686091 -2.399921 -0.350742 +v -1.996395 -2.069888 -0.380730 +v -2.716021 -2.069888 0.009227 +v -1.996395 -2.039885 0.309219 +v -2.686091 -2.819620 0.099192 +v -2.566044 -2.189900 0.339207 +v -2.956115 -2.489587 0.009227 +v -1.426252 -2.489587 -0.590757 +v -1.336135 -2.939631 0.339207 +v -2.566044 -2.759614 -0.260668 +v -1.276111 -2.909629 -0.470695 +v -2.026324 -2.729610 -0.440707 +v -1.456182 -2.519589 0.519246 +v -2.086183 -2.969635 -0.050750 +v -1.996395 -2.849622 0.369195 +v -2.746114 -2.819620 -0.020762 +v -1.996395 -1.949876 0.039215 +v -2.686091 -2.369918 0.399184 +v -2.956115 -2.489587 0.069203 +v -2.056254 -2.429924 0.489149 +v -2.956115 -2.399921 0.009227 +v -1.306205 -3.059529 -0.020762 +v -1.966300 -2.879626 0.339207 +v -2.686091 -2.519589 0.399184 +v -2.026324 -2.519589 -0.500683 +v -2.056254 -2.849622 -0.380730 +v -2.716021 -2.489587 -0.350742 +f 188 218 220 +f 171 170 173 +f 171 173 174 +f 174 173 179 +f 173 170 180 +f 172 182 183 +f 179 169 185 +f 180 170 186 +f 175 180 186 +f 184 174 188 +f 170 171 191 +f 184 191 192 +f 171 174 192 +f 174 184 192 +f 191 171 192 +f 188 194 195 +f 184 188 195 +f 191 184 195 +f 194 176 195 +f 191 195 196 +f 172 183 196 +f 183 191 196 +f 176 194 196 +f 195 176 196 +f 183 175 197 +f 186 170 197 +f 175 186 197 +f 181 193 198 +f 175 183 199 +f 188 174 201 +f 173 187 202 +f 178 189 203 +f 174 179 204 +f 179 185 204 +f 201 174 204 +f 185 201 204 +f 185 189 205 +f 189 178 205 +f 201 185 205 +f 173 180 206 +f 187 173 206 +f 169 179 207 +f 193 181 207 +f 187 206 208 +f 206 190 208 +f 181 198 209 +f 203 181 209 +f 170 191 210 +f 191 183 210 +f 183 197 210 +f 197 170 210 +f 183 182 211 +f 175 199 211 +f 199 183 211 +f 182 172 212 +f 198 182 212 +f 172 200 212 +f 209 198 212 +f 200 209 212 +f 180 175 213 +f 182 190 213 +f 206 180 213 +f 190 206 213 +f 211 182 213 +f 175 211 213 +f 172 196 214 +f 196 194 214 +f 200 172 214 +f 179 173 215 +f 173 202 215 +f 207 179 215 +f 193 207 215 +f 177 198 216 +f 198 193 216 +f 202 187 216 +f 208 177 216 +f 187 208 216 +f 215 202 216 +f 193 215 216 +f 190 182 217 +f 182 198 217 +f 198 177 217 +f 177 208 217 +f 208 190 217 +f 188 201 218 +f 205 178 218 +f 201 205 218 +f 185 169 219 +f 189 185 219 +f 181 203 219 +f 203 189 219 +f 169 207 219 +f 207 181 219 +f 194 188 220 +f 178 203 220 +f 209 200 220 +f 203 209 220 +f 214 194 220 +f 200 214 220 +f 218 178 220 +o convex_4 +v 0.193810 -2.459896 0.969247 +v -0.285968 -2.429928 -0.980758 +v -0.285968 -2.399961 -0.980758 +v 1.243648 -2.399776 -0.650731 +v 0.223658 -3.449759 -0.020644 +v -0.915969 -1.559937 0.668996 +v -1.275864 -2.999687 0.219098 +v -0.886122 -1.559937 -0.830537 +v 0.883753 -1.559937 0.698964 +v 0.763870 -3.179494 0.728932 +v 0.823812 -1.559937 -0.830537 +v -0.765992 -3.149711 -0.740634 +v 0.793718 -3.149711 -0.680507 +v -0.796086 -3.179494 0.668996 +v 1.243648 -2.879631 0.429063 +v -1.275864 -2.099912 -0.500510 +v 1.243648 -1.859800 0.009133 +v -0.016108 -1.560122 0.969247 +v -0.736145 -2.460081 0.909120 +v -1.275864 -2.369807 0.518967 +v -0.765992 -3.389638 -0.110547 +v 0.733776 -2.519462 -0.920441 +v -1.275864 -2.879631 -0.500510 +v 0.763870 -2.310057 0.908929 +v 1.183707 -3.089590 -0.020644 +v -0.016108 -1.560122 -0.980758 +v -0.796086 -2.429928 -0.950599 +v -1.275864 -1.889953 -0.020644 +v 0.793718 -3.389638 -0.020644 +v 0.043833 -3.179494 -0.770602 +v -0.076049 -3.209461 0.758900 +v 1.243648 -2.339840 0.519158 +v 1.243648 -2.909598 -0.500510 +v -0.796086 -1.589904 0.819026 +v 1.243648 -2.009824 -0.500701 +v 0.793718 -1.589904 0.819026 +v -0.016108 -3.449759 0.068878 +v -1.215923 -2.429928 -0.650540 +v -0.975911 -1.559937 -0.680698 +v -1.215923 -3.119558 -0.080580 +v -1.275864 -2.939566 0.398905 +v 0.973789 -1.559937 -0.170483 +v -1.275864 -2.010009 0.369128 +v 0.763870 -2.489864 0.908929 +v 1.243648 -1.979856 0.369128 +v -0.765992 -3.389638 0.039101 +v 0.133622 -2.459896 -0.980758 +v -0.135991 -2.459896 0.969247 +v -1.186075 -2.489864 0.609061 +v 0.763870 -2.340025 -0.920441 +v -1.006005 -1.559937 0.069068 +v 1.063824 -2.489864 -0.770602 +v -0.045955 -3.239429 0.728932 +v 0.793718 -3.389638 0.069068 +v 0.883753 -1.559937 -0.770602 +v -0.135991 -3.449759 -0.050612 +v -0.765992 -3.089590 -0.770602 +v 1.243648 -3.029469 0.039101 +v -0.105897 -2.489864 -0.980758 +v -0.076049 -3.209461 -0.710666 +v -0.975911 -3.059622 -0.650540 +v 0.043833 -1.560122 0.969247 +v 1.243648 -2.549614 0.519158 +v 1.243648 -1.859800 -0.110547 +f 275 262 284 +f 228 226 229 +f 228 229 231 +f 235 224 237 +f 229 226 238 +f 236 227 240 +f 227 236 243 +f 222 223 246 +f 228 231 246 +f 223 222 247 +f 246 223 247 +f 228 246 247 +f 236 240 248 +f 225 233 249 +f 233 225 250 +f 242 233 250 +f 230 221 251 +f 239 234 251 +f 235 237 252 +f 224 235 253 +f 249 233 253 +f 245 249 253 +f 238 226 254 +f 239 238 254 +f 226 240 254 +f 237 224 255 +f 252 229 256 +f 244 252 256 +f 236 228 258 +f 243 236 258 +f 228 247 258 +f 247 243 258 +f 226 228 259 +f 228 236 259 +f 236 248 259 +f 227 243 260 +f 227 234 261 +f 240 227 261 +f 231 229 262 +f 229 237 262 +f 240 226 263 +f 226 248 263 +f 248 240 263 +f 221 230 264 +f 244 221 264 +f 252 244 264 +f 237 229 265 +f 229 252 265 +f 252 237 265 +f 234 227 266 +f 227 260 266 +f 260 241 266 +f 222 246 267 +f 242 250 267 +f 221 238 268 +f 238 239 268 +f 251 221 268 +f 239 251 268 +f 234 239 269 +f 239 254 269 +f 254 240 269 +f 261 234 269 +f 240 261 269 +f 246 231 270 +f 267 246 270 +f 242 267 270 +f 248 226 271 +f 226 259 271 +f 259 248 271 +f 231 224 272 +f 233 242 272 +f 224 253 272 +f 253 233 272 +f 270 231 272 +f 242 270 272 +f 230 251 273 +f 251 234 273 +f 257 230 273 +f 234 266 273 +f 266 257 273 +f 225 249 274 +f 249 245 274 +f 257 225 274 +f 230 257 274 +f 224 231 275 +f 255 224 275 +f 231 262 275 +f 225 257 276 +f 266 241 276 +f 257 266 276 +f 250 232 277 +f 235 230 278 +f 253 235 278 +f 245 253 278 +f 230 274 278 +f 274 245 278 +f 247 222 279 +f 222 267 279 +f 267 250 279 +f 277 247 279 +f 250 277 279 +f 241 232 280 +f 232 250 280 +f 250 225 280 +f 276 241 280 +f 225 276 280 +f 232 241 281 +f 243 247 281 +f 241 260 281 +f 260 243 281 +f 277 232 281 +f 247 277 281 +f 238 221 282 +f 229 238 282 +f 221 244 282 +f 256 229 282 +f 244 256 282 +f 230 235 283 +f 235 252 283 +f 264 230 283 +f 252 264 283 +f 237 255 284 +f 262 237 284 +f 255 275 284 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/576/576.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/576/576.urdf new file mode 100644 index 000000000..da01a57fc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/576/576.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/577/577.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/577/577.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/577/577.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/577/577.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/577/577.obj new file mode 100644 index 000000000..e0d57bb93 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/577/577.obj @@ -0,0 +1,654 @@ +o convex_0 +v 0.711632 2.542904 -2.070736 +v -1.414698 0.416889 -2.803624 +v -1.414698 0.416889 -2.693943 +v 0.528263 0.380071 -2.913886 +v 0.528263 0.453493 -1.044462 +v -1.341225 2.432878 -1.044462 +v -1.267961 2.432878 -3.023955 +v -1.414698 0.526915 -1.044462 +v 0.711632 2.469697 -1.044462 +v 0.674792 2.579722 -2.986942 +v -1.377857 0.416889 -3.023955 +v 0.564687 0.636725 -3.023955 +v -1.377857 2.066413 -3.023955 +v -1.157856 2.469481 -1.081087 +v 0.711632 2.066413 -1.044462 +v -1.414698 1.186854 -1.044462 +v 0.674792 2.139620 -2.950511 +v 0.564687 0.600122 -1.044462 +v -1.414698 0.490312 -1.301031 +v 0.491423 2.579722 -2.767192 +v -1.341225 2.432878 -2.767192 +v 0.601527 1.443293 -3.023955 +v 0.528263 0.380071 -3.023955 +v 0.564687 0.563519 -2.877261 +v 0.638160 2.506300 -1.374281 +v 0.381526 0.453493 -1.044462 +v 0.711632 2.432878 -2.327305 +v -1.377857 1.919569 -1.044462 +v 0.491423 2.579722 -2.950511 +f 7 21 29 +f 3 2 4 +f 2 3 8 +f 5 6 8 +f 6 5 9 +f 11 7 12 +f 7 11 13 +f 11 2 13 +f 6 9 14 +f 1 9 15 +f 9 5 15 +f 2 8 16 +f 8 6 16 +f 13 2 16 +f 12 10 17 +f 5 4 18 +f 15 5 18 +f 8 3 19 +f 1 10 20 +f 13 6 21 +f 7 13 21 +f 6 14 21 +f 7 10 22 +f 10 12 22 +f 12 7 22 +f 4 2 23 +f 2 11 23 +f 11 12 23 +f 12 17 24 +f 18 4 24 +f 15 18 24 +f 4 23 24 +f 23 12 24 +f 9 1 25 +f 14 9 25 +f 1 20 25 +f 20 14 25 +f 3 4 26 +f 4 5 26 +f 5 8 26 +f 19 3 26 +f 8 19 26 +f 10 1 27 +f 1 15 27 +f 17 10 27 +f 24 17 27 +f 15 24 27 +f 6 13 28 +f 16 6 28 +f 13 16 28 +f 10 7 29 +f 20 10 29 +f 14 20 29 +f 21 14 29 +o convex_1 +v 0.638210 2.432821 3.098409 +v -1.414598 0.086784 -1.044268 +v -1.414598 1.186839 -1.044268 +v 0.711632 1.956488 -1.044268 +v 0.674813 0.086784 1.009228 +v -1.488020 0.527001 3.098409 +v -1.451201 2.542875 2.951210 +v -1.341391 2.432821 -1.044268 +v 0.674813 0.416947 2.988111 +v 0.528184 0.086784 -1.044268 +v 0.711632 2.506271 -0.750680 +v -1.414598 0.086784 1.009228 +v 0.711632 2.579478 1.484890 +v -1.451201 2.432821 0.495854 +v 0.711632 2.506271 3.061508 +v 0.711632 0.930127 -0.677283 +v 0.418374 2.579722 0.752541 +v 0.711632 2.469668 -1.044268 +v -0.937891 2.469668 -1.044268 +v -1.488020 2.139505 2.988111 +v -1.451201 0.453550 0.239167 +v 0.674813 0.270289 -0.493587 +v 0.711632 1.772738 3.061508 +v 0.234926 0.416947 2.988111 +v -1.157943 0.527001 3.098409 +v -1.414598 0.856920 3.098409 +v -1.488020 0.527001 2.585035 +v -1.157943 2.469668 -0.787581 +v -1.451201 0.197082 0.422457 +v 0.638210 0.086784 -0.493587 +v 0.564788 2.432821 3.098409 +v 0.711632 2.579478 0.679550 +v -1.377994 1.956244 -1.044268 +v -1.451201 2.542875 2.878218 +f 46 57 63 +f 31 32 33 +f 33 32 37 +f 31 33 39 +f 34 31 39 +f 31 34 41 +f 34 38 41 +f 33 40 42 +f 42 36 44 +f 33 42 44 +f 38 34 45 +f 39 33 45 +f 33 44 45 +f 36 42 46 +f 33 37 47 +f 40 33 47 +f 40 47 48 +f 46 40 48 +f 47 37 48 +f 32 31 50 +f 43 32 50 +f 45 34 51 +f 39 45 51 +f 44 30 52 +f 38 45 52 +f 45 44 52 +f 38 35 53 +f 35 41 53 +f 41 38 53 +f 30 35 54 +f 35 38 54 +f 52 30 54 +f 38 52 54 +f 35 30 55 +f 49 35 55 +f 35 49 56 +f 49 43 56 +f 43 50 56 +f 48 37 57 +f 46 48 57 +f 31 41 58 +f 41 35 58 +f 50 31 58 +f 35 56 58 +f 56 50 58 +f 34 39 59 +f 51 34 59 +f 39 51 59 +f 30 44 60 +f 44 36 60 +f 36 49 60 +f 55 30 60 +f 49 55 60 +f 42 40 61 +f 40 46 61 +f 46 42 61 +f 37 32 62 +f 32 43 62 +f 43 37 62 +f 37 43 63 +f 36 46 63 +f 49 36 63 +f 43 49 63 +f 57 37 63 +o convex_2 +v -1.488020 -0.866399 -0.201047 +v -2.990936 -0.169910 -0.127732 +v -2.990936 -0.169910 -0.201047 +v -3.357630 -0.829652 -0.274361 +v -3.431045 -0.499883 0.348845 +v -1.488020 -0.279947 0.312155 +v -1.488020 -0.316557 -0.311051 +v -1.488020 -0.792973 0.275401 +v -3.357630 -0.792973 0.275401 +v -3.320923 -0.169910 -0.274361 +v -3.431045 -0.316557 0.348845 +v -2.477601 -0.646326 -0.311051 +v -1.561435 -0.866399 0.018897 +v -2.147994 -0.353236 0.348845 +v -1.598142 -0.279947 -0.311051 +v -1.561435 -0.866399 -0.237607 +v -1.744782 -0.243268 0.202086 +v -2.441464 -0.866399 -0.201047 +v -3.394148 -0.609715 -0.164293 +v -3.357630 -0.279947 0.275401 +f 69 80 83 +f 69 64 70 +f 64 69 71 +f 68 67 72 +f 71 68 72 +f 65 66 73 +f 67 73 75 +f 64 71 76 +f 71 72 76 +f 68 71 77 +f 71 69 77 +f 74 68 77 +f 69 74 77 +f 69 70 78 +f 73 66 78 +f 70 75 78 +f 75 73 78 +f 70 64 79 +f 67 75 79 +f 75 70 79 +f 64 76 79 +f 66 65 80 +f 78 66 80 +f 69 78 80 +f 72 67 81 +f 76 72 81 +f 67 79 81 +f 79 76 81 +f 67 68 82 +f 73 67 82 +f 68 74 82 +f 74 73 82 +f 65 73 83 +f 74 69 83 +f 73 74 83 +f 80 65 83 +o convex_3 +v 2.398096 -0.206589 0.128818 +v 2.214774 -0.866399 0.055522 +v 2.251438 -0.866399 0.055522 +v 2.654608 -0.536358 -0.347712 +v 2.617943 -0.646326 0.312162 +v 2.214774 -0.279947 -0.311029 +v 2.214774 -0.169910 0.348845 +v 2.691319 -0.829652 -0.347712 +v 2.617943 -0.243268 0.348845 +v 2.214774 -0.792973 -0.311029 +v 2.214774 -0.829652 0.312162 +v 2.617943 -0.316557 -0.311029 +v 2.581279 -0.792973 0.275480 +v 2.251438 -0.719683 0.348845 +f 96 88 97 +f 89 85 90 +f 84 89 90 +f 86 85 91 +f 84 90 92 +f 91 87 92 +f 88 91 92 +f 85 89 93 +f 89 87 93 +f 91 85 93 +f 87 91 93 +f 85 86 94 +f 90 85 94 +f 89 84 95 +f 87 89 95 +f 84 92 95 +f 92 87 95 +f 86 91 96 +f 91 88 96 +f 94 86 96 +f 94 96 97 +f 92 90 97 +f 88 92 97 +f 90 94 97 +o convex_4 +v -0.534686 -3.579288 -0.860914 +v 0.601501 -3.359237 1.118723 +v 0.564870 -3.359237 1.118723 +v -0.974674 -0.939982 -1.044268 +v -1.414663 -3.469262 0.971785 +v 0.638132 -0.939720 1.008414 +v 0.564870 -0.939720 -1.007428 +v -1.414663 -0.939982 1.008625 +v -1.451294 -3.505938 -1.044268 +v 0.564870 -3.615963 -0.933959 +v -1.451294 -0.939982 -1.044268 +v 0.454977 -3.579288 1.118723 +v 0.674971 -1.489849 -0.457364 +v -1.451294 -3.505938 0.605288 +v 0.601501 -3.615963 0.275207 +v 0.638132 -1.013071 1.045042 +v -1.121407 -3.542613 -1.044268 +v -1.194669 -3.505938 1.008625 +v 0.638132 -2.515969 1.081671 +v 0.674971 -0.939720 -0.164124 +v 0.564870 -1.379823 -1.007428 +v 0.601501 -3.212536 -0.824073 +v 0.088250 -3.579288 1.045042 +v 0.161512 -3.579288 -0.970588 +v 0.601501 -3.579288 1.118723 +v -1.451294 -3.432325 0.752014 +v 0.161512 -3.615963 -0.897542 +v -1.267931 -3.542613 -0.970799 +v 0.674971 -0.939720 -0.384107 +v 0.601501 -3.615963 -0.017610 +f 119 110 127 +f 103 104 105 +f 104 101 108 +f 105 104 108 +f 101 106 108 +f 99 100 109 +f 100 105 109 +f 108 106 111 +f 100 99 113 +f 105 100 113 +f 103 105 113 +f 106 101 114 +f 105 102 115 +f 109 105 115 +f 102 111 115 +f 112 110 116 +f 113 99 116 +f 113 116 117 +f 104 103 117 +f 103 113 117 +f 116 110 117 +f 101 104 118 +f 104 110 118 +f 114 101 118 +f 118 110 119 +f 107 118 119 +f 111 98 120 +f 112 109 120 +f 109 115 120 +f 115 111 120 +f 107 114 121 +f 118 107 121 +f 114 118 121 +f 99 109 122 +f 109 112 122 +f 116 99 122 +f 112 116 122 +f 102 105 123 +f 105 108 123 +f 111 102 123 +f 108 111 123 +f 107 112 124 +f 114 107 124 +f 120 98 124 +f 112 120 124 +f 98 111 125 +f 111 106 125 +f 106 114 125 +f 124 98 125 +f 114 124 125 +f 110 104 126 +f 104 117 126 +f 117 110 126 +f 112 107 127 +f 110 112 127 +f 107 119 127 +o convex_5 +v 0.638120 0.086784 -0.457666 +v -1.451165 -0.939720 -1.044268 +v -1.451165 -0.939720 -0.970918 +v 0.674742 -0.939720 -0.164264 +v -1.414544 0.086784 1.008740 +v 0.638120 -0.939720 1.008740 +v -1.414544 0.086784 -1.044268 +v -1.414544 -0.939720 1.008740 +v 0.674742 0.086784 1.008740 +v 0.564877 -0.939720 -1.007493 +v 0.528256 0.086784 -1.044268 +v 0.894936 -0.316543 -0.310965 +v 0.894936 -0.793019 0.275437 +v -1.488020 -0.279868 0.312011 +v 0.894936 -0.756344 -0.274189 +v -1.488020 -0.829695 0.238862 +v 0.894936 -0.316543 0.275437 +v -1.488020 -0.316543 -0.310965 +v -0.974620 -0.939720 -1.044268 +v -1.488020 -0.903045 -0.201040 +v -1.451165 -0.389894 -1.044268 +f 145 134 148 +f 130 129 131 +f 130 131 133 +f 132 128 134 +f 130 133 135 +f 133 132 135 +f 128 132 136 +f 132 133 136 +f 131 129 137 +f 129 134 138 +f 134 128 138 +f 137 138 139 +f 128 136 139 +f 138 128 139 +f 133 131 140 +f 136 133 140 +f 132 134 141 +f 135 132 141 +f 131 137 142 +f 137 139 142 +f 139 140 142 +f 140 131 142 +f 135 141 143 +f 139 136 144 +f 136 140 144 +f 140 139 144 +f 141 134 145 +f 143 141 145 +f 137 129 146 +f 129 138 146 +f 138 137 146 +f 129 130 147 +f 130 135 147 +f 135 143 147 +f 145 129 147 +f 143 145 147 +f 134 129 148 +f 129 145 148 +o convex_6 +v 1.884667 -1.086364 0.679180 +v 2.214587 -0.096607 2.988215 +v 2.031391 -0.059974 3.024858 +v 1.298247 0.050037 0.385771 +v 1.078340 -1.049617 3.098144 +v 1.151642 0.086784 3.061235 +v 1.041630 -1.049617 0.385771 +v 2.177995 -0.059974 0.385505 +v 2.031391 -1.086364 3.061235 +v 2.067983 -1.086364 0.385505 +v 1.005038 -0.279997 0.495965 +v 2.214587 -0.279997 0.385505 +v 1.151642 0.050037 0.385771 +v 1.261655 -1.086364 3.098144 +v 1.041630 -0.976352 2.694806 +v 2.067983 -1.012985 3.024858 +v 1.261655 0.086784 3.061235 +v 1.005038 -0.902973 0.385771 +v 1.005038 -0.279997 0.825752 +v 2.177995 -0.059974 1.522233 +v 1.078340 -0.719698 3.098144 +v 2.214587 -0.169986 2.988215 +v 1.188353 0.086784 1.815110 +v 1.005038 -0.866341 1.229089 +v 1.115050 0.013405 2.584877 +v 2.067983 -1.086364 1.448947 +v 1.041630 -1.049617 2.438305 +v 1.151642 -0.609686 3.098144 +f 154 169 176 +f 150 151 157 +f 149 155 158 +f 157 149 158 +f 156 150 160 +f 158 156 160 +f 152 156 161 +f 155 149 162 +f 149 157 162 +f 158 155 166 +f 156 158 166 +f 161 156 166 +f 159 161 166 +f 159 166 167 +f 151 150 168 +f 150 156 168 +f 165 151 168 +f 156 165 168 +f 153 162 169 +f 163 153 169 +f 167 163 169 +f 150 157 170 +f 160 150 170 +f 157 164 170 +f 156 152 171 +f 152 161 171 +f 161 154 171 +f 154 165 171 +f 165 156 171 +f 163 167 172 +f 167 166 172 +f 154 161 173 +f 161 159 173 +f 159 167 173 +f 169 154 173 +f 167 169 173 +f 157 158 174 +f 158 160 174 +f 164 157 174 +f 160 170 174 +f 170 164 174 +f 162 153 175 +f 155 162 175 +f 153 163 175 +f 166 155 175 +f 163 172 175 +f 172 166 175 +f 157 151 176 +f 162 157 176 +f 165 154 176 +f 151 165 176 +f 169 162 176 +o convex_7 +v 1.004919 -0.902955 -1.667589 +v 2.214727 -0.243175 -0.347981 +v 2.178016 -0.059989 -0.347981 +v 2.104712 0.013419 -3.023531 +v 2.104712 -1.049660 -2.877118 +v 1.114934 0.013308 -3.097276 +v 1.151763 0.050012 -0.347712 +v 2.068002 -1.049549 -0.347712 +v 1.041749 -1.086253 -3.023800 +v 1.041749 -1.086253 -0.347712 +v 2.104712 -1.012956 -3.060404 +v 1.004919 -0.792955 -0.347712 +v 2.178016 -0.829659 -0.421457 +v 2.141305 0.013419 -2.913721 +v 1.114934 0.050012 -2.326989 +v 2.141305 -0.023285 -0.347981 +v 1.921275 -0.829659 -3.097276 +v 2.214727 -0.426583 -0.604743 +v 1.114934 0.050012 -0.788030 +v 1.078341 -0.243286 -3.060404 +v 2.141305 -0.976252 -2.290386 +v 1.224949 -1.086253 -3.023800 +v 2.141305 0.013419 -2.143703 +v 1.261660 0.050012 -0.347712 +v 1.041749 -0.682954 -3.023800 +v 1.408386 0.013308 -3.097276 +v 1.114934 -0.243286 -3.097276 +v 1.004919 -0.976252 -1.960417 +v 2.141305 -0.829659 -2.510545 +f 194 197 205 +f 178 179 184 +f 184 183 186 +f 186 183 188 +f 178 184 189 +f 179 178 190 +f 187 180 190 +f 190 180 191 +f 180 187 193 +f 187 185 193 +f 178 189 194 +f 190 178 194 +f 188 183 195 +f 191 188 195 +f 183 191 195 +f 177 188 196 +f 191 182 196 +f 188 191 196 +f 184 181 197 +f 181 187 197 +f 189 184 197 +f 194 189 197 +f 181 184 198 +f 184 186 198 +f 186 185 198 +f 187 181 198 +f 185 187 198 +f 179 190 199 +f 192 179 199 +f 192 199 200 +f 184 179 200 +f 183 184 200 +f 191 183 200 +f 190 191 200 +f 179 192 200 +f 199 190 200 +f 182 185 201 +f 177 196 201 +f 196 182 201 +f 191 180 202 +f 182 191 202 +f 180 193 202 +f 193 182 202 +f 185 182 203 +f 182 193 203 +f 193 185 203 +f 185 186 204 +f 188 177 204 +f 186 188 204 +f 177 201 204 +f 201 185 204 +f 187 190 205 +f 190 194 205 +f 197 187 205 +o convex_8 +v 2.214727 -0.829659 -0.164336 +v 1.298393 0.050012 0.385434 +v 1.298393 0.050012 -0.090985 +v 1.041824 -1.086253 -0.347640 +v 1.994719 -1.086253 0.385434 +v 2.178038 -0.059989 -0.347640 +v 2.178038 -0.059989 0.385434 +v 0.894937 -0.792955 0.312083 +v 0.894937 -0.316583 -0.310965 +v 2.067840 -1.049549 -0.347640 +v 1.041824 -1.049549 0.385434 +v 1.151763 0.050012 -0.347640 +v 0.894937 -0.316583 0.275408 +v 2.214727 -0.829659 0.312083 +v 1.151763 0.050012 0.385434 +v 2.141348 -0.023396 -0.347640 +v 0.894937 -0.792955 -0.237614 +v 2.214727 -0.206582 -0.347640 +v 2.067840 -1.086253 0.385434 +v 2.214727 -0.206582 0.385434 +v 1.005005 -0.316583 0.385434 +v 2.214727 -0.792955 -0.310965 +f 215 223 227 +f 207 210 212 +f 209 211 215 +f 209 210 216 +f 210 207 216 +f 213 209 216 +f 207 208 217 +f 211 209 217 +f 209 214 217 +f 217 214 218 +f 214 213 218 +f 216 207 220 +f 207 217 220 +f 217 218 220 +f 208 207 221 +f 212 211 221 +f 207 212 221 +f 217 208 221 +f 211 217 221 +f 209 213 222 +f 214 209 222 +f 213 214 222 +f 211 212 223 +f 215 211 223 +f 219 206 223 +f 210 209 224 +f 212 210 224 +f 215 206 224 +f 209 215 224 +f 206 219 224 +f 224 219 225 +f 223 212 225 +f 219 223 225 +f 212 224 225 +f 213 216 226 +f 218 213 226 +f 216 220 226 +f 220 218 226 +f 206 215 227 +f 223 206 227 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/577/577.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/577/577.urdf new file mode 100644 index 000000000..1244b8172 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/577/577.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/578/578.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/578/578.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/578/578.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/578/578.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/578/578.obj new file mode 100644 index 000000000..f9d602295 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/578/578.obj @@ -0,0 +1,645 @@ +o convex_0 +v 0.060105 -0.279401 4.745006 +v -0.215606 0.175754 4.767441 +v -0.212389 0.092434 4.761031 +v 0.306975 0.172561 4.773851 +v 0.262104 -0.343502 4.754621 +v 0.175526 0.201418 4.780265 +v -0.205957 -0.055046 4.757830 +v -0.199524 -0.202467 4.741794 +v -0.215606 0.201418 4.773855 +v 0.268537 -0.340309 4.748211 +v -0.119378 0.233527 4.770646 +v 0.319840 0.159787 4.780265 +v -0.199524 -0.234518 4.745002 +f 10 5 13 +f 4 1 8 +f 5 6 9 +f 2 7 9 +f 7 5 9 +f 1 4 10 +f 3 2 11 +f 6 4 11 +f 8 3 11 +f 4 8 11 +f 2 9 11 +f 9 6 11 +f 6 5 12 +f 4 6 12 +f 10 4 12 +f 5 10 12 +f 2 3 13 +f 7 2 13 +f 5 7 13 +f 3 8 13 +f 8 1 13 +f 1 10 13 +o convex_1 +v 0.246057 -0.135112 -1.318166 +v -0.270085 0.121294 -1.366241 +v -0.270085 0.121294 -1.363039 +v -0.234801 -0.289019 -1.350218 +v 0.024846 0.259209 -1.308541 +v 0.246057 -0.250542 -1.308541 +v 0.223636 -0.250542 -1.330987 +v -0.260425 0.246330 -1.369455 +v -0.193111 -0.282633 -1.353420 +v 0.047318 0.252770 -1.311755 +v -0.270085 0.236724 -1.363039 +v 0.249311 -0.083809 -1.308541 +v 0.249311 -0.228111 -1.327778 +f 25 19 26 +f 16 15 17 +f 18 17 19 +f 19 17 20 +f 21 20 22 +f 17 15 22 +f 20 17 22 +f 15 21 22 +f 14 21 23 +f 21 18 23 +f 15 16 24 +f 16 17 24 +f 17 18 24 +f 21 15 24 +f 18 21 24 +f 18 19 25 +f 14 23 25 +f 23 18 25 +f 19 20 26 +f 21 14 26 +f 20 21 26 +f 14 25 26 +o convex_2 +v -0.266902 0.089231 -1.366255 +v -0.273315 0.121338 -1.321371 +v -0.276522 0.121338 -1.321371 +v -0.241261 -0.292278 -1.321371 +v -0.234848 0.121338 -1.359836 +v -0.247674 -0.260213 -1.356629 +v -0.234848 -0.244180 -1.356629 +f 30 32 33 +f 28 29 30 +f 27 29 31 +f 29 28 31 +f 28 30 31 +f 29 27 32 +f 30 29 32 +f 27 31 33 +f 31 30 33 +f 32 27 33 +o convex_3 +v 0.226872 -0.061443 -0.936561 +v 0.246102 -0.266628 -0.612814 +v 0.249311 -0.266628 -0.612814 +v 0.249311 -0.256987 -0.994280 +v 0.210839 -0.083897 -0.580747 +v 0.230073 -0.180023 -0.994280 +v 0.233278 -0.061443 -0.933354 +v 0.217253 -0.061443 -0.577541 +v 0.249311 -0.260201 -0.574293 +v 0.242897 -0.263394 -0.574293 +v 0.233278 -0.061443 -0.994280 +f 40 37 44 +f 36 35 37 +f 38 34 39 +f 34 38 41 +f 40 34 41 +f 40 41 42 +f 36 37 42 +f 37 40 42 +f 35 36 43 +f 37 35 43 +f 38 39 43 +f 39 37 43 +f 41 38 43 +f 42 41 43 +f 36 42 43 +f 37 39 44 +f 39 34 44 +f 34 40 44 +o convex_4 +v -0.302180 0.105237 0.788134 +v -0.334235 -0.359611 0.624766 +v -0.331027 -0.359611 0.624766 +v -0.279736 -0.311497 -0.625455 +v -0.305388 0.121338 0.650348 +v -0.276529 -0.077520 -0.125339 +v -0.337443 -0.330705 0.676070 +v -0.276529 -0.317900 -0.548428 +v -0.279736 -0.074271 -0.208622 +v -0.331027 -0.340356 0.676070 +v -0.308590 0.111687 0.791471 +v -0.276529 -0.074271 -0.208622 +f 53 49 56 +f 48 46 51 +f 49 48 51 +f 47 46 52 +f 46 48 52 +f 48 49 53 +f 46 47 54 +f 50 45 54 +f 51 46 54 +f 47 52 54 +f 52 50 54 +f 45 49 55 +f 49 51 55 +f 54 45 55 +f 51 54 55 +f 49 45 56 +f 45 50 56 +f 52 48 56 +f 50 52 56 +f 48 53 56 +o convex_5 +v -0.305383 0.127764 0.794808 +v -0.276531 0.121338 -1.250613 +v -0.273324 0.121338 -1.250613 +v -0.286146 0.265622 -1.369461 +v -0.270117 0.134176 0.791418 +v -0.270113 0.265622 -1.366072 +v -0.270113 0.121366 -1.366072 +v -0.305383 0.121338 0.634437 +v -0.276531 0.121366 -1.366072 +v -0.270117 0.127764 0.791418 +v -0.286146 0.246344 -1.356538 +f 65 64 67 +f 60 57 61 +f 60 61 62 +f 60 62 63 +f 59 58 63 +f 62 61 63 +f 58 59 64 +f 57 60 64 +f 59 63 64 +f 60 63 65 +f 63 58 65 +f 58 64 65 +f 61 57 66 +f 63 61 66 +f 64 63 66 +f 57 64 66 +f 64 60 67 +f 60 65 67 +o convex_6 +v 0.210813 0.182190 -1.289306 +v 0.024894 0.249543 -1.250835 +v 0.024894 0.249543 -1.247627 +v 0.226840 -0.061392 -1.305327 +v 0.024894 0.259178 -1.308535 +v 0.153111 0.252744 -1.247627 +v 0.230073 0.252744 -1.273278 +v 0.230073 -0.022882 -1.308541 +v 0.060161 0.259178 -1.308535 +f 68 75 76 +f 70 69 71 +f 69 70 72 +f 71 69 72 +f 70 71 73 +f 72 70 73 +f 73 71 74 +f 74 71 75 +f 71 72 75 +f 68 74 75 +f 75 72 76 +f 72 73 76 +f 73 74 76 +f 74 68 76 +o convex_7 +v -0.048900 0.182254 -0.195848 +v 0.024869 0.198285 0.243320 +v 0.018450 0.198285 0.243320 +v -0.138643 0.159813 0.243320 +v -0.138643 0.201492 -0.407564 +v 0.024869 0.198285 -0.407564 +v -0.138643 0.166227 0.243320 +v 0.021651 0.191875 0.243320 +v -0.135442 0.159813 0.166356 +v -0.138643 0.195082 -0.381824 +v 0.024869 0.201492 -0.058102 +v 0.015233 0.195082 -0.401129 +v -0.138643 0.201492 -0.375453 +f 87 81 89 +f 78 79 80 +f 80 79 83 +f 81 80 83 +f 78 80 84 +f 82 78 84 +f 84 80 85 +f 85 80 86 +f 80 81 86 +f 77 85 86 +f 79 78 87 +f 78 82 87 +f 82 81 87 +f 81 82 88 +f 82 84 88 +f 84 85 88 +f 85 77 88 +f 86 81 88 +f 77 86 88 +f 83 79 89 +f 81 83 89 +f 79 87 89 +o convex_8 +v -0.231599 0.265621 -1.356618 +v -0.270084 0.249592 -1.369461 +v -0.270084 0.249592 -1.363028 +v 0.024869 0.249592 -1.311735 +v -0.270084 0.259208 -1.250827 +v 0.024869 0.256005 -1.250827 +v -0.270084 0.252799 -1.250827 +f 93 95 96 +f 92 91 93 +f 91 90 93 +f 90 91 94 +f 91 92 94 +f 93 90 95 +f 90 94 95 +f 95 94 96 +f 92 93 96 +f 94 92 96 +o convex_9 +v 0.191595 0.025162 0.720943 +v 0.207627 -0.061396 -0.423595 +v 0.204418 -0.054979 -0.356119 +v 0.207627 0.217527 -0.423479 +v 0.153130 0.217527 0.701564 +v 0.204418 -0.061396 0.698528 +v 0.159542 0.204666 0.765772 +v 0.194798 -0.032534 0.704949 +v 0.210830 -0.061396 -0.038697 +v 0.201209 -0.035756 -0.368960 +v 0.207627 0.217527 -0.356119 +v 0.204418 0.217527 -0.423479 +v 0.153130 0.201472 0.724095 +v 0.207621 -0.058201 0.550967 +v 0.210830 -0.048562 -0.423595 +v 0.204418 -0.045368 0.701680 +f 110 107 112 +f 99 98 102 +f 99 102 104 +f 102 97 104 +f 97 103 104 +f 102 98 105 +f 98 99 106 +f 100 101 107 +f 101 103 107 +f 101 100 108 +f 98 106 108 +f 106 101 108 +f 103 101 109 +f 99 104 109 +f 104 103 109 +f 106 99 109 +f 101 106 109 +f 102 105 110 +f 105 107 110 +f 105 98 111 +f 100 107 111 +f 107 105 111 +f 98 108 111 +f 108 100 111 +f 97 102 112 +f 103 97 112 +f 107 103 112 +f 102 110 112 +o convex_10 +v 0.220457 -0.096704 -0.554980 +v 0.242898 -0.292278 0.538258 +v 0.242898 -0.285861 0.249685 +v 0.201216 -0.067848 0.653638 +v 0.242898 -0.260191 0.647283 +v 0.242898 -0.263400 -0.574293 +v 0.207633 -0.061431 0.656877 +v 0.207633 -0.067848 -0.510124 +v 0.249310 -0.260191 -0.574293 +v 0.239692 -0.282630 0.576760 +v 0.214045 -0.061431 -0.574293 +v 0.201216 -0.061431 0.698618 +v 0.246099 -0.292278 0.640804 +f 124 122 125 +f 117 113 119 +f 113 117 121 +f 115 118 121 +f 115 114 122 +f 118 115 122 +f 116 120 122 +f 120 118 122 +f 119 113 123 +f 118 120 123 +f 113 121 123 +f 121 118 123 +f 117 119 124 +f 120 116 124 +f 116 122 124 +f 119 123 124 +f 123 120 124 +f 114 115 125 +f 115 121 125 +f 121 117 125 +f 122 114 125 +f 117 124 125 +o convex_11 +v -0.270072 0.246376 -1.157662 +v 0.024840 0.201506 -0.407664 +v -0.138641 0.163028 0.243320 +v -0.154694 0.156607 0.217579 +v 0.024840 0.249576 -1.250827 +v -0.270072 0.255997 -1.202563 +v -0.270100 0.163028 0.239956 +v 0.021606 0.255997 -1.244246 +v -0.270100 0.156607 0.236885 +v 0.024840 0.198305 -0.455782 +v -0.270072 0.252787 -1.250827 +f 134 132 136 +f 128 131 132 +f 128 127 133 +f 127 130 133 +f 131 128 133 +f 129 128 134 +f 126 129 134 +f 128 132 134 +f 127 128 135 +f 128 129 135 +f 129 126 135 +f 126 130 135 +f 130 127 135 +f 130 126 136 +f 132 131 136 +f 133 130 136 +f 131 133 136 +f 126 134 136 +o convex_12 +v 0.031306 0.207914 -0.606399 +v 0.230053 0.249588 -0.994289 +v 0.226839 0.249588 -0.994289 +v 0.153105 0.230344 -0.494135 +v 0.024879 0.252784 -1.196242 +v 0.230053 0.246376 -1.231477 +v 0.024879 0.249583 -1.247570 +v 0.044141 0.201496 -0.507024 +v 0.024879 0.207914 -0.500617 +v 0.153105 0.223947 -0.494135 +v 0.191589 0.256001 -1.273271 +v 0.230053 0.243180 -1.000696 +f 138 146 148 +f 138 139 140 +f 140 139 141 +f 142 137 143 +f 137 142 144 +f 140 141 145 +f 141 143 145 +f 143 137 145 +f 137 144 145 +f 145 144 146 +f 138 140 146 +f 140 145 146 +f 139 138 147 +f 141 139 147 +f 138 142 147 +f 143 141 147 +f 142 143 147 +f 142 138 148 +f 144 142 148 +f 146 144 148 +o convex_13 +v 0.024881 0.198291 -0.455606 +v 0.153121 0.220734 0.768983 +v 0.143492 0.220734 0.768983 +v 0.153121 0.230353 -0.494010 +v 0.024881 0.198291 0.522027 +v 0.146706 0.214320 0.733685 +v 0.037699 0.191877 0.775570 +v 0.153121 0.223939 -0.494010 +v 0.024881 0.204701 -0.439573 +v 0.031296 0.198291 -0.442805 +v 0.149908 0.230353 -0.404152 +v 0.024881 0.195085 0.775570 +f 155 150 160 +f 154 150 155 +f 152 150 156 +f 149 152 156 +f 150 154 156 +f 152 149 157 +f 149 153 157 +f 155 149 158 +f 154 155 158 +f 149 156 158 +f 156 154 158 +f 151 150 159 +f 150 152 159 +f 153 151 159 +f 152 157 159 +f 157 153 159 +f 150 151 160 +f 153 149 160 +f 151 153 160 +f 149 155 160 +o convex_14 +v 0.233280 -0.029303 -1.308541 +v 0.236487 0.249553 -0.994383 +v 0.242899 0.252797 -1.135423 +v 0.249311 -0.257009 -0.994383 +v 0.230075 -0.180009 -0.994383 +v 0.249311 -0.250571 -1.308541 +v 0.230075 0.252797 -1.276433 +v 0.249309 0.166216 -1.282892 +v 0.230075 0.249553 -0.994383 +v 0.230075 -0.067778 -1.308541 +v 0.242899 -0.240940 -1.295686 +v 0.246104 0.252797 -1.205913 +f 168 167 172 +f 163 162 164 +f 164 162 165 +f 166 161 168 +f 164 166 168 +f 161 167 168 +f 162 163 169 +f 165 162 169 +f 163 167 169 +f 167 165 169 +f 161 166 170 +f 167 161 170 +f 165 167 170 +f 164 165 171 +f 166 164 171 +f 170 166 171 +f 165 170 171 +f 163 164 172 +f 167 163 172 +f 164 168 172 +o convex_15 +v 0.153122 0.217527 0.769157 +v 0.233272 0.249591 -0.923720 +v 0.233272 0.217527 -0.923720 +v 0.153122 0.236760 -0.994321 +v 0.153122 0.227147 -0.888333 +v 0.159540 0.223942 0.685610 +v 0.230070 0.217527 -0.994321 +v 0.226861 0.249591 -0.994321 +f 179 176 180 +f 173 176 177 +f 173 175 178 +f 175 174 178 +f 176 173 178 +f 175 173 179 +f 174 175 179 +f 173 177 179 +f 177 176 179 +f 178 174 180 +f 176 178 180 +f 174 179 180 +o convex_16 +v 0.204423 0.217527 -0.423680 +v 0.230071 -0.061396 -0.994231 +v 0.233277 -0.061396 -0.994231 +v 0.230071 0.217527 -0.994231 +v 0.210838 -0.061396 -0.423680 +v 0.233277 0.217527 -0.923736 +v 0.204423 -0.051758 -0.439656 +v 0.210838 0.217527 -0.426809 +v 0.233277 -0.061396 -0.933344 +f 186 185 189 +f 183 182 184 +f 182 183 185 +f 183 184 186 +f 184 181 186 +f 184 182 187 +f 181 184 187 +f 185 181 187 +f 182 185 187 +f 181 185 188 +f 185 186 188 +f 186 181 188 +f 185 183 189 +f 183 186 189 +o convex_17 +v -0.266905 -0.106332 -0.407627 +v -0.276526 -0.314723 -0.692965 +v -0.273315 -0.314723 -0.692965 +v -0.260494 -0.074248 -1.321366 +v -0.241258 -0.289042 -1.314904 +v -0.276526 -0.074248 -0.356365 +v -0.247672 -0.292266 -1.321257 +v -0.257290 -0.074248 -1.231438 +v -0.273315 -0.314723 -0.615962 +v -0.273315 -0.077473 -0.202359 +v -0.263698 -0.074248 -1.250716 +v -0.260494 -0.106332 -1.321366 +v -0.241258 -0.276213 -1.308441 +f 193 197 202 +f 192 191 196 +f 193 194 196 +f 194 192 196 +f 193 195 197 +f 191 192 198 +f 192 194 198 +f 194 190 199 +f 195 191 199 +f 190 197 199 +f 197 195 199 +f 191 198 199 +f 198 194 199 +f 191 195 200 +f 195 193 200 +f 196 191 201 +f 193 196 201 +f 191 200 201 +f 200 193 201 +f 190 194 202 +f 194 193 202 +f 197 190 202 +o convex_18 +v -0.282939 0.060399 -0.135157 +v -0.260499 -0.074248 -1.321250 +v -0.276525 0.111708 -1.321366 +v -0.279732 -0.074248 -0.205715 +v -0.257288 -0.071032 -1.247548 +v -0.270114 0.114924 -1.311586 +v -0.292554 0.121338 -0.247397 +v -0.273321 -0.061421 -0.183127 +v -0.263703 -0.074248 -1.270020 +v -0.286143 0.121338 -0.224926 +f 209 203 212 +f 206 204 207 +f 207 204 208 +f 204 205 208 +f 208 205 209 +f 205 206 209 +f 206 203 209 +f 203 206 210 +f 207 203 210 +f 206 207 210 +f 205 204 211 +f 206 205 211 +f 204 206 211 +f 203 207 212 +f 207 208 212 +f 208 209 212 +o convex_19 +v -0.302177 0.111708 0.714650 +v -0.279735 -0.074248 -0.131820 +v -0.276529 -0.074248 -0.131820 +v -0.289351 0.121338 -0.131820 +v -0.302177 -0.074248 0.317101 +v -0.295764 0.121338 -0.022780 +v -0.298968 0.111708 0.714650 +v -0.298968 -0.074248 0.400372 +v -0.276529 -0.029353 -0.118977 +v -0.292558 0.095683 -0.131820 +v -0.302177 0.121338 0.425975 +v -0.282941 -0.074248 -0.128589 +v -0.289351 0.121338 -0.003557 +f 223 219 225 +f 215 214 216 +f 214 215 217 +f 213 217 220 +f 217 215 220 +f 219 213 220 +f 215 219 220 +f 215 216 221 +f 219 215 221 +f 216 214 222 +f 217 218 222 +f 218 216 222 +f 217 213 223 +f 218 217 223 +f 216 218 223 +f 213 219 223 +f 214 217 224 +f 222 214 224 +f 217 222 224 +f 221 216 225 +f 219 221 225 +f 216 223 225 +o convex_20 +v -0.218804 0.140579 0.477455 +v 0.024865 0.195080 0.775502 +v 0.018426 0.195080 0.775502 +v 0.018426 0.198283 0.243320 +v -0.270113 0.159818 0.288290 +v -0.270113 0.134166 0.791548 +v -0.148264 0.156608 0.243320 +v 0.021660 0.188667 0.775502 +v 0.021660 0.191876 0.243320 +v -0.257264 0.130957 0.695329 +v -0.270113 0.156608 0.243320 +f 235 231 236 +f 228 227 229 +f 228 229 230 +f 228 230 231 +f 227 228 231 +f 227 231 233 +f 229 227 234 +f 232 229 234 +f 227 233 234 +f 226 232 235 +f 233 231 235 +f 232 234 235 +f 234 233 235 +f 230 229 236 +f 231 230 236 +f 232 226 236 +f 229 232 236 +f 226 235 236 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/578/578.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/578/578.urdf new file mode 100644 index 000000000..118ed205a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/578/578.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/579/579.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/579/579.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/579/579.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/579/579.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/579/579.obj new file mode 100644 index 000000000..d6a8af555 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/579/579.obj @@ -0,0 +1,621 @@ +o convex_0 +v -0.007856 2.175148 -1.006284 +v -0.205112 1.517923 -2.583428 +v -0.237988 1.682280 -2.616336 +v 0.353457 1.813739 -2.715057 +v 0.189013 1.616551 -0.677613 +v -0.237988 1.517923 -0.677613 +v -0.303804 2.142250 -2.681950 +v 0.287705 2.175148 -2.616336 +v -0.270928 2.175148 -0.677613 +v 0.189013 2.076453 -0.677613 +v 0.287705 1.616551 -2.681950 +v 0.254829 2.208047 -2.715057 +v 0.353457 1.649449 -2.419093 +v -0.303804 2.175148 -1.236634 +v -0.303804 1.977893 -2.649243 +v -0.237988 1.517923 -2.550521 +v -0.270928 1.715178 -0.677613 +v -0.073672 2.208047 -1.499292 +v -0.172300 1.517923 -0.940470 +v 0.221953 2.010724 -0.907563 +v 0.254829 1.649449 -2.715057 +v 0.254829 1.616551 -1.302248 +f 13 20 22 +f 6 5 9 +f 1 9 10 +f 9 5 10 +f 8 4 12 +f 1 10 12 +f 10 8 12 +f 11 4 13 +f 7 3 15 +f 14 7 15 +f 3 2 16 +f 2 6 16 +f 15 3 16 +f 15 16 17 +f 6 9 17 +f 9 14 17 +f 14 15 17 +f 16 6 17 +f 9 1 18 +f 12 7 18 +f 1 12 18 +f 7 14 18 +f 14 9 18 +f 6 2 19 +f 5 6 19 +f 2 11 19 +f 4 8 20 +f 10 5 20 +f 8 10 20 +f 13 4 20 +f 2 3 21 +f 3 7 21 +f 11 2 21 +f 4 11 21 +f 12 4 21 +f 7 12 21 +f 11 13 22 +f 5 19 22 +f 19 11 22 +f 20 5 22 +o convex_1 +v -0.500943 -0.683855 -2.255058 +v -0.468067 0.367717 -2.189296 +v -0.468067 0.367717 -2.287914 +v 0.550635 -0.716763 -2.255058 +v 0.452007 -0.388107 -2.682145 +v -0.566695 -0.716763 -2.649240 +v 0.484883 0.334809 -2.616384 +v -0.599571 0.334809 -2.649240 +v 0.550635 0.301901 -2.189296 +v -0.500943 -0.650947 -2.189296 +v 0.452007 -0.683855 -2.682145 +v -0.599571 0.334809 -2.189296 +v 0.550635 -0.716763 -2.189296 +v -0.172297 -0.683855 -2.682145 +v -0.566695 -0.716763 -2.517814 +v 0.517759 0.334809 -2.189296 +v -0.599571 -0.322397 -2.649240 +v -0.073669 0.334809 -2.649240 +v 0.550635 -0.683855 -2.320771 +f 33 29 41 +f 24 25 30 +f 31 24 32 +f 26 28 33 +f 27 29 33 +f 24 30 34 +f 32 24 34 +f 28 26 35 +f 26 31 35 +f 32 23 35 +f 31 32 35 +f 30 27 36 +f 33 28 36 +f 27 33 36 +f 23 32 37 +f 32 34 37 +f 35 23 37 +f 28 35 37 +f 25 24 38 +f 29 25 38 +f 24 31 38 +f 31 29 38 +f 34 30 39 +f 36 28 39 +f 30 36 39 +f 28 37 39 +f 37 34 39 +f 29 27 40 +f 25 29 40 +f 30 25 40 +f 27 30 40 +f 31 26 41 +f 29 31 41 +f 26 33 41 +o convex_2 +v -2.702342 -0.585272 -1.072066 +v -1.125534 0.400580 -1.926164 +v -0.960395 0.400464 -1.926164 +v 0.451866 -0.716712 -2.189248 +v 3.015362 0.269025 -1.072066 +v 2.949070 -0.782489 -1.170607 +v 2.982216 0.301914 -2.123477 +v -2.965143 -0.618045 -2.156363 +v -3.031435 0.367576 -1.137721 +v 3.015362 -0.683823 -2.123477 +v -3.031435 0.400580 -2.024820 +v -0.467939 -0.749600 -1.006295 +v 0.517566 0.367691 -1.006295 +v -0.566193 0.367691 -2.189248 +v -2.932589 -0.618045 -1.104836 +v -0.763294 0.334803 -1.006295 +v 0.583266 -0.650934 -1.006295 +v 2.751969 0.334803 -2.024820 +v 1.273416 0.301914 -2.189132 +v 1.207716 0.367691 -1.104836 +v -0.434793 0.400464 -2.123361 +v 2.982216 -0.322278 -1.104951 +v -3.031435 0.301914 -2.057706 +v 2.883370 -0.782489 -1.302033 +v -0.500493 -0.749600 -1.104951 +v -2.965143 -0.453833 -2.156363 +v -2.570941 -0.650934 -1.104836 +v -2.702342 0.367576 -1.104836 +v -0.467939 -0.650934 -2.189248 +v 1.635064 0.367691 -1.597771 +v -2.439540 -0.650934 -1.926164 +v -3.031435 0.400580 -1.860508 +v 2.620568 0.301914 -1.071950 +v 2.193221 -0.782373 -1.203376 +v 2.982216 0.006031 -1.072066 +v -2.998289 -0.289389 -1.860508 +v -2.768042 -0.519495 -1.072066 +v 2.719415 -0.749600 -1.137721 +v 1.372262 -0.716712 -2.123477 +v 3.015362 -0.322278 -2.123477 +v 3.015362 -0.683823 -1.926280 +f 46 63 82 +f 53 42 56 +f 53 54 57 +f 46 54 58 +f 54 53 58 +f 46 48 59 +f 51 45 60 +f 55 48 60 +f 45 55 60 +f 44 54 61 +f 43 44 62 +f 52 43 62 +f 48 55 62 +f 55 52 62 +f 59 48 62 +f 44 61 62 +f 50 52 64 +f 52 55 64 +f 51 47 65 +f 55 49 67 +f 49 64 67 +f 64 55 67 +f 56 49 68 +f 53 56 68 +f 66 53 68 +f 57 54 69 +f 45 49 70 +f 55 45 70 +f 49 55 70 +f 61 59 71 +f 59 62 71 +f 62 61 71 +f 49 45 72 +f 45 66 72 +f 68 49 72 +f 66 68 72 +f 44 43 73 +f 43 52 73 +f 52 50 73 +f 54 44 73 +f 50 69 73 +f 69 54 73 +f 54 46 74 +f 46 59 74 +f 61 54 74 +f 59 61 74 +f 47 53 75 +f 45 65 75 +f 65 47 75 +f 53 66 75 +f 66 45 75 +f 46 58 76 +f 63 46 76 +f 58 63 76 +f 56 50 77 +f 49 56 77 +f 64 49 77 +f 50 64 77 +f 42 53 78 +f 56 42 78 +f 50 56 78 +f 53 57 78 +f 69 50 78 +f 57 69 78 +f 53 47 79 +f 58 53 79 +f 47 63 79 +f 63 58 79 +f 45 51 80 +f 65 45 80 +f 51 65 80 +f 48 46 81 +f 46 51 81 +f 51 60 81 +f 60 48 81 +f 47 51 82 +f 51 46 82 +f 63 47 82 +o convex_3 +v -0.599465 0.006121 2.707057 +v 0.583485 -0.158092 2.116121 +v 0.583485 -0.519405 2.116121 +v 0.517667 -0.420854 3.463000 +v -0.500916 -0.749626 1.491412 +v -0.270848 0.433443 1.491412 +v 0.517667 0.433443 3.397191 +v -0.435216 -0.716737 3.397191 +v -0.632434 0.433443 3.463000 +v 0.583485 0.301888 1.491412 +v 0.583485 -0.650960 1.491412 +v 0.517667 -0.650960 3.463000 +v -0.467947 0.433443 1.491412 +v -0.172299 -0.749626 1.524606 +v 0.550516 0.433443 3.232956 +v -0.533766 -0.716737 1.491412 +v -0.467947 -0.716737 3.364382 +v 0.550516 -0.650960 3.167146 +v 0.583485 0.334777 1.623224 +v -0.435216 -0.749626 2.641441 +v 0.320449 -0.683849 3.265764 +v 0.484817 -0.683849 1.491412 +v 0.550516 0.433443 2.937102 +v 0.320449 0.433443 3.429999 +v -0.533766 -0.453743 1.524606 +v -0.270848 -0.618071 3.429999 +v -0.599465 0.433443 3.002912 +f 95 107 109 +f 89 88 91 +f 84 85 92 +f 87 88 92 +f 92 85 93 +f 87 92 93 +f 86 91 94 +f 88 87 95 +f 91 88 95 +f 85 84 97 +f 88 89 97 +f 89 86 97 +f 86 94 97 +f 95 87 98 +f 91 83 99 +f 90 91 99 +f 83 98 99 +f 98 87 99 +f 93 85 100 +f 85 97 100 +f 97 94 100 +f 84 92 101 +f 92 88 101 +f 97 84 101 +f 87 96 102 +f 99 87 102 +f 90 99 102 +f 94 90 103 +f 100 94 103 +f 90 102 103 +f 102 96 103 +f 87 93 104 +f 96 87 104 +f 93 100 104 +f 103 96 104 +f 100 103 104 +f 88 97 105 +f 101 88 105 +f 97 101 105 +f 86 89 106 +f 89 91 106 +f 91 86 106 +f 98 83 107 +f 95 98 107 +f 91 90 108 +f 90 94 108 +f 94 91 108 +f 83 91 109 +f 91 95 109 +f 107 83 109 +o convex_4 +v -0.205208 1.583688 1.491412 +v 0.353457 1.583688 3.496057 +v 0.353457 1.550805 3.496057 +v -0.336667 1.879384 3.496057 +v 0.287728 2.142321 1.491412 +v 0.353457 1.517923 1.491412 +v -0.336667 1.517923 3.462894 +v 0.189100 2.109377 3.331619 +v -0.205208 2.109377 1.524378 +v -0.336667 2.076556 3.496057 +v -0.336667 1.517923 3.002941 +v -0.073750 2.109377 3.430125 +v -0.238039 1.550805 1.721585 +v 0.221998 2.076556 3.364585 +v 0.353457 1.517923 2.444481 +v 0.353457 1.649452 1.491412 +v 0.123371 1.517923 1.491412 +v -0.238039 2.109377 2.575560 +v -0.336667 2.076556 3.331619 +v -0.008020 1.517923 3.462894 +v 0.156269 2.142321 1.491412 +f 127 121 130 +f 112 111 113 +f 111 112 115 +f 110 114 115 +f 112 113 116 +f 113 111 119 +f 116 113 119 +f 115 116 120 +f 116 119 120 +f 117 114 121 +f 119 111 121 +f 118 110 122 +f 120 118 122 +f 111 114 123 +f 114 117 123 +f 121 111 123 +f 117 121 123 +f 115 112 124 +f 116 115 124 +f 114 111 125 +f 111 115 125 +f 115 114 125 +f 110 115 126 +f 115 120 126 +f 122 110 126 +f 120 122 126 +f 119 121 127 +f 118 120 128 +f 120 119 128 +f 127 118 128 +f 119 127 128 +f 112 116 129 +f 124 112 129 +f 116 124 129 +f 114 110 130 +f 110 118 130 +f 121 114 130 +f 118 127 130 +o convex_5 +v -0.303701 -0.749626 -1.006147 +v -0.369453 0.400580 -0.677613 +v 0.550622 0.367704 -0.677613 +v -0.303701 -0.749626 -0.677613 +v -0.533832 0.334828 -1.006147 +v 0.583498 -0.650998 -1.006147 +v 0.517746 0.367704 -1.006147 +v 0.583498 -0.716750 -0.677613 +v -0.533832 -0.716750 -0.776167 +v -0.566708 -0.716750 -1.006147 +v -0.468080 0.038945 -0.677613 +v -0.500956 -0.716750 -0.677613 +v -0.533832 0.268964 -0.907561 +v 0.353254 -0.749626 -0.710453 +v 0.550622 0.334828 -1.006147 +f 137 133 145 +f 133 132 134 +f 131 135 136 +f 136 135 137 +f 132 133 137 +f 135 132 137 +f 133 134 138 +f 136 133 138 +f 131 134 140 +f 135 131 140 +f 134 139 140 +f 134 132 141 +f 141 139 142 +f 139 134 142 +f 134 141 142 +f 132 135 143 +f 135 140 143 +f 140 139 143 +f 141 132 143 +f 139 141 143 +f 134 131 144 +f 131 136 144 +f 138 134 144 +f 136 138 144 +f 133 136 145 +f 136 137 145 +o convex_6 +v 1.076234 0.695679 0.439898 +v -1.059444 -3.115674 0.965491 +v -1.059444 -3.115674 1.392658 +v -0.993789 2.864619 0.439898 +v 0.977751 2.798803 1.425685 +v 1.043407 -3.180892 0.374171 +v 1.076234 -3.180892 1.327041 +v -0.928134 2.930436 1.491412 +v -1.026617 -3.115674 0.374281 +v 1.010579 2.798803 0.374171 +v 0.583402 -0.650561 1.491412 +v -0.993789 2.831712 0.374281 +v -0.533784 -0.748686 1.491412 +v -1.059444 -2.030306 1.425576 +v 0.287535 2.141240 1.491412 +v -0.007914 -3.181490 0.374281 +v -0.960961 2.372195 1.491412 +v 1.076234 -1.570790 0.374171 +v -0.533784 -3.115076 1.392658 +v -0.993789 2.864619 0.801448 +v 1.043407 2.732987 0.374171 +v 1.076234 -2.391697 1.327041 +v -0.730959 2.931034 1.491412 +v 0.616229 -3.181490 1.326931 +v 0.977751 1.879172 1.425685 +v -0.960961 1.517184 1.491412 +v 0.714712 2.832310 1.425576 +v 1.010579 2.732987 0.965491 +v -0.665094 -3.148582 1.031217 +v -0.336609 2.897528 1.491412 +v 0.583402 0.301380 1.491412 +v 0.386227 -3.147984 1.359849 +v 1.076234 -3.180892 0.998299 +v -0.862478 2.930436 1.326931 +v 1.043407 -1.997996 1.359849 +v -1.059444 -2.260663 1.425576 +f 171 159 181 +f 151 154 155 +f 154 147 157 +f 155 154 157 +f 149 155 157 +f 156 153 158 +f 147 148 159 +f 157 147 159 +f 149 157 159 +f 153 156 160 +f 154 151 161 +f 158 153 162 +f 146 152 163 +f 151 155 163 +f 158 148 164 +f 156 158 164 +f 153 149 165 +f 149 159 165 +f 162 153 165 +f 159 162 165 +f 155 150 166 +f 146 163 166 +f 163 155 166 +f 152 146 167 +f 150 152 167 +f 153 160 168 +f 161 151 169 +f 152 150 170 +f 150 156 170 +f 158 162 171 +f 162 159 171 +f 150 155 172 +f 155 168 172 +f 146 166 173 +f 166 150 173 +f 167 146 173 +f 150 167 173 +f 148 147 174 +f 147 154 174 +f 154 161 174 +f 169 148 174 +f 161 169 174 +f 160 150 175 +f 168 160 175 +f 150 172 175 +f 172 168 175 +f 156 150 176 +f 150 160 176 +f 160 156 176 +f 152 156 177 +f 164 148 177 +f 156 164 177 +f 169 152 177 +f 148 169 177 +f 163 152 178 +f 151 163 178 +f 169 151 178 +f 152 169 178 +f 149 153 179 +f 155 149 179 +f 153 168 179 +f 168 155 179 +f 156 152 180 +f 152 170 180 +f 170 156 180 +f 148 158 181 +f 159 148 181 +f 158 171 181 +o convex_7 +v 1.076234 -0.716557 0.045316 +v -1.059444 1.484108 -0.644509 +v -1.059444 1.484108 -0.611675 +v -0.993789 -3.115507 0.373863 +v -0.993789 2.832444 0.373863 +v 0.682094 -3.214354 -0.578840 +v 1.076234 2.799298 -0.644612 +v 1.043407 2.799298 0.374068 +v -0.960962 -3.115507 -0.677446 +v 1.043407 -3.181207 0.374068 +v -1.059444 2.766152 -0.644509 +v 1.010579 -3.148061 -0.545904 +v 0.583402 -0.716557 -0.677446 +v -0.829442 2.437650 -0.677446 +v -1.026617 2.832444 0.275360 +v 1.076234 0.925359 0.374068 +v 1.076234 1.385853 -0.644612 +v 0.189052 2.076003 -0.677446 +v -0.993789 -3.115507 -0.184523 +v -1.059444 2.798707 -0.217357 +v 1.043407 -3.214354 0.242526 +v -0.730959 -3.114915 -0.677446 +v -0.007914 -3.180615 0.373863 +v -1.026617 -0.125846 -0.677446 +v -1.026617 2.832444 0.012482 +v 1.076234 -1.472407 0.374068 +v 1.076234 2.799298 -0.184523 +v -0.632267 -3.148061 -0.315962 +v -0.566612 2.832444 0.373863 +v 1.010579 -2.161964 -0.578840 +v 1.010579 -3.214354 -0.513069 +v 0.451882 2.799298 -0.644509 +v 1.076234 1.024206 -0.611778 +v 0.550574 0.366610 -0.677446 +f 194 199 215 +f 184 183 185 +f 186 185 189 +f 189 185 191 +f 183 184 192 +f 193 187 194 +f 194 190 195 +f 185 186 196 +f 182 188 197 +f 189 191 197 +f 188 182 198 +f 194 188 198 +f 195 188 199 +f 194 195 199 +f 185 183 200 +f 184 185 201 +f 192 184 201 +f 185 196 201 +f 193 182 202 +f 187 190 203 +f 194 187 203 +f 190 194 203 +f 191 185 204 +f 187 202 204 +f 202 191 204 +f 183 192 205 +f 192 195 205 +f 195 190 205 +f 200 183 205 +f 190 200 205 +f 196 186 206 +f 192 201 206 +f 201 196 206 +f 182 197 207 +f 197 191 207 +f 191 202 207 +f 202 182 207 +f 197 188 208 +f 189 197 208 +f 190 187 209 +f 185 200 209 +f 200 190 209 +f 187 204 209 +f 204 185 209 +f 186 189 210 +f 206 186 210 +f 188 206 210 +f 208 188 210 +f 189 208 210 +f 193 194 211 +f 198 193 211 +f 194 198 211 +f 187 193 212 +f 202 187 212 +f 193 202 212 +f 188 195 213 +f 195 192 213 +f 206 188 213 +f 192 206 213 +f 182 193 214 +f 198 182 214 +f 193 198 214 +f 188 194 215 +f 199 188 215 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/579/579.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/579/579.urdf new file mode 100644 index 000000000..698653ed6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/579/579.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/580/580.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/580/580.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/580/580.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/580/580.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/580/580.obj new file mode 100644 index 000000000..8f8061321 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/580/580.obj @@ -0,0 +1,1629 @@ +o convex_0 +v 2.926672 1.054565 -1.445175 +v -3.050291 1.054565 -2.708413 +v -3.074767 1.054565 -2.611213 +v 0.472487 1.103151 -2.635451 +v 2.999503 1.054565 -2.586851 +v 2.926672 1.078855 -1.445175 +v 2.999503 1.103151 -2.586851 +v -3.050291 1.078855 -2.562612 +v -1.713653 1.078855 -2.222410 +v 2.999503 1.103151 -2.198172 +v -1.713653 1.054565 -2.222410 +v -2.394210 1.078855 -2.708413 +v 3.023979 1.054565 -1.445175 +f 7 10 13 +f 3 2 1 +f 1 2 5 +f 2 3 8 +f 1 6 9 +f 4 8 9 +f 7 4 10 +f 9 6 10 +f 4 9 10 +f 3 1 11 +f 8 3 11 +f 1 9 11 +f 9 8 11 +f 5 2 12 +f 7 5 12 +f 4 7 12 +f 2 8 12 +f 8 4 12 +f 1 5 13 +f 6 1 13 +f 5 7 13 +f 10 6 13 +o convex_1 +v -0.596380 0.568604 -0.327277 +v -0.499220 -0.500499 -0.497438 +v -0.474915 -0.500499 -0.497438 +v -0.499220 0.544116 1.106217 +v -0.474915 0.544116 -0.497438 +v -0.474915 0.568604 1.106217 +v -0.596380 0.447105 -0.497438 +v -0.499220 -0.500499 -0.400113 +f 17 20 21 +f 16 15 18 +f 16 18 19 +f 14 17 19 +f 18 14 19 +f 17 14 20 +f 14 18 20 +f 18 15 20 +f 15 16 21 +f 16 19 21 +f 19 17 21 +f 20 15 21 +o convex_2 +v 0.351144 0.422841 1.275987 +v 0.521307 0.495711 -0.181471 +v 0.521209 0.471411 -0.084223 +v -0.474903 0.519996 -0.497438 +v -0.328923 0.568580 1.349195 +v -0.474903 0.471425 1.349195 +v 0.496928 0.422841 -0.497438 +v 0.035294 0.544281 -0.497438 +v 0.472647 0.447126 1.349195 +v 0.521307 0.519996 -0.302941 +v -0.474903 0.568580 0.182939 +v -0.474903 0.471425 0.935980 +v 0.496928 0.471411 1.033228 +v -0.474903 0.568580 1.349195 +v 0.521307 0.519996 -0.497438 +v 0.496928 0.422841 1.154698 +v -0.474903 0.544281 -0.497438 +f 32 29 38 +f 28 25 29 +f 27 22 30 +f 26 27 30 +f 25 27 32 +f 26 29 32 +f 22 27 33 +f 27 25 33 +f 28 22 33 +f 25 28 33 +f 24 23 34 +f 26 30 34 +f 23 31 34 +f 31 26 34 +f 27 26 35 +f 32 27 35 +f 26 32 35 +f 23 24 36 +f 24 28 36 +f 29 26 36 +f 28 29 36 +f 31 23 36 +f 26 31 36 +f 22 28 37 +f 28 24 37 +f 30 22 37 +f 24 34 37 +f 34 30 37 +f 29 25 38 +f 25 32 38 +o convex_3 +v 0.569893 0.495653 4.556237 +v 0.424115 -0.597690 3.341942 +v 0.424115 -0.354636 3.341942 +v 0.472730 -0.549057 4.896404 +v 0.472730 0.568604 3.609087 +v 0.521278 -0.549057 4.872118 +v 0.497037 0.228397 3.414800 +v 0.545585 0.349867 4.993547 +v 0.594200 0.252714 4.993547 +v 0.448423 -0.597690 3.341942 +v 0.424115 -0.549057 3.852110 +v 0.521278 0.568604 3.584801 +v 0.497037 -0.281800 5.018162 +v 0.448423 0.277030 3.414800 +v 0.569893 0.447020 5.018162 +v 0.521278 -0.549057 5.018162 +f 47 53 54 +f 40 41 48 +f 41 45 48 +f 47 44 48 +f 45 47 48 +f 41 40 49 +f 40 42 49 +f 42 43 49 +f 43 39 50 +f 39 47 50 +f 47 45 50 +f 43 42 51 +f 46 43 51 +f 45 41 52 +f 41 49 52 +f 49 43 52 +f 43 50 52 +f 50 45 52 +f 39 43 53 +f 43 46 53 +f 47 39 53 +f 46 51 53 +f 53 51 54 +f 42 40 54 +f 44 47 54 +f 40 48 54 +f 48 44 54 +f 51 42 54 +o convex_4 +v 0.569807 -0.913525 -0.594600 +v 2.027275 -0.208995 -0.570310 +v 2.076080 -0.257648 -0.570310 +v -0.498763 -0.500600 -0.497447 +v -0.620518 -0.209073 -0.594600 +v -2.807491 -1.010674 -0.594600 +v 2.440832 -0.840545 -0.570310 +v -0.523422 -0.209073 -0.497447 +v 0.861095 -0.427699 -0.497447 +v -2.807491 -1.010674 -0.570310 +v 2.027275 -0.208995 -0.594600 +v 2.440832 -0.840545 -0.594600 +v 0.666903 -0.500600 -0.497447 +v 0.569807 -0.208995 -0.497447 +v -2.150937 -1.010674 -0.570310 +f 67 64 69 +f 59 55 60 +f 57 56 63 +f 61 57 63 +f 62 58 63 +f 59 60 64 +f 62 59 64 +f 58 62 64 +f 56 57 65 +f 55 59 65 +f 61 55 66 +f 57 61 66 +f 65 57 66 +f 55 65 66 +f 61 63 67 +f 63 58 67 +f 58 64 67 +f 59 62 68 +f 63 56 68 +f 62 63 68 +f 56 65 68 +f 65 59 68 +f 60 55 69 +f 55 61 69 +f 64 60 69 +f 61 67 69 +o convex_5 +v -0.353091 -0.913571 -0.594629 +v 2.951086 -0.816389 -0.618931 +v 2.951086 -0.816389 -0.643220 +v 2.221748 -0.986419 -0.643220 +v -0.353091 -0.986419 -0.667522 +v 0.667336 -1.010753 -0.594629 +v 2.951086 -0.962143 -0.594629 +v 2.951086 -0.962143 -0.667522 +v 1.905755 -0.816389 -0.594629 +v -0.134127 -0.889295 -0.618931 +v -0.353091 -1.010753 -0.667522 +f 74 77 80 +f 72 71 76 +f 70 75 76 +f 75 73 76 +f 74 72 77 +f 72 76 77 +f 76 73 77 +f 71 72 78 +f 76 71 78 +f 70 76 78 +f 74 70 79 +f 72 74 79 +f 70 78 79 +f 78 72 79 +f 70 74 80 +f 75 70 80 +f 73 75 80 +f 77 73 80 +o convex_6 +v -3.050224 0.665833 -2.708537 +v -0.985361 1.054560 -2.635663 +v -0.985361 0.933023 -2.611355 +v -3.074563 1.054560 -2.587048 +v -0.985361 0.568604 -2.587048 +v -3.050224 0.568604 -2.587048 +v -3.050224 1.054560 -2.708537 +v -1.228334 1.030205 -2.684230 +v -2.053993 0.568604 -2.684230 +v -0.985361 0.714400 -2.635663 +v -3.050224 0.568604 -2.684230 +v -0.985361 0.738707 -2.587048 +f 85 83 92 +f 83 82 84 +f 82 83 85 +f 85 84 86 +f 84 82 87 +f 81 84 87 +f 87 82 88 +f 81 87 88 +f 85 86 89 +f 81 88 89 +f 89 88 90 +f 82 85 90 +f 88 82 90 +f 85 89 90 +f 84 81 91 +f 86 84 91 +f 81 89 91 +f 89 86 91 +f 83 84 92 +f 84 85 92 +o convex_7 +v -0.523489 0.422772 6.329690 +v -0.547782 0.155579 3.366464 +v -0.547782 0.179894 3.342090 +v -0.474903 0.519954 3.366464 +v -0.474903 0.155579 7.399345 +v -0.547782 0.544306 3.317316 +v -0.474903 0.519954 6.888692 +v -0.547782 0.155579 5.965681 +v -0.523489 0.155579 3.366464 +v -0.547782 0.447086 5.576497 +v -0.499210 0.519954 6.888692 +v -0.474903 0.155579 6.621778 +v -0.499210 0.179894 7.399345 +f 103 93 105 +f 95 94 98 +f 96 95 98 +f 96 98 99 +f 97 96 99 +f 94 97 100 +f 98 94 100 +f 94 95 101 +f 95 96 101 +f 97 94 101 +f 98 100 102 +f 99 98 103 +f 98 102 103 +f 102 93 103 +f 96 97 104 +f 101 96 104 +f 97 101 104 +f 97 99 105 +f 100 97 105 +f 93 102 105 +f 102 100 105 +f 99 103 105 +o convex_8 +v 0.399818 0.398512 5.091409 +v 0.618498 0.349940 6.208913 +v 0.618498 0.325626 6.208913 +v 0.399818 0.398512 7.447703 +v 0.545590 0.471398 7.423208 +v 0.594181 0.447098 5.018637 +v 0.399818 0.325626 7.447703 +v 0.569886 0.325626 5.018637 +v 0.399818 0.471398 7.204654 +v 0.594181 0.325626 7.447703 +v 0.399818 0.447098 5.018637 +v 0.594181 0.447098 7.423208 +f 110 115 117 +f 107 108 111 +f 109 106 112 +f 111 108 113 +f 112 106 113 +f 108 112 113 +f 106 109 114 +f 109 110 114 +f 110 111 114 +f 108 107 115 +f 110 109 115 +f 112 108 115 +f 109 112 115 +f 113 106 116 +f 111 113 116 +f 106 114 116 +f 114 111 116 +f 107 111 117 +f 111 110 117 +f 115 107 117 +o convex_9 +v -2.977595 -1.035051 -2.587058 +v -3.026162 0.568528 -2.489857 +v -3.050469 0.568528 -2.489857 +v -3.050469 0.568528 -2.684220 +v -2.928980 0.568528 -2.684220 +v -3.001854 -0.864741 -2.659906 +v -2.953287 -1.035051 -2.538467 +v -3.001854 -1.035051 -2.538467 +v -2.953287 -0.864741 -2.659906 +f 124 118 126 +f 120 119 121 +f 121 119 122 +f 121 122 123 +f 119 120 124 +f 122 119 124 +f 120 121 125 +f 123 118 125 +f 121 123 125 +f 118 124 125 +f 124 120 125 +f 118 123 126 +f 123 122 126 +f 122 124 126 +o convex_10 +v -2.175525 0.228387 -2.684239 +v -0.183598 0.568528 -2.562750 +v -0.183598 -0.208849 -2.562750 +v -2.928711 -0.208849 -2.635624 +v -0.645237 -0.208849 -2.635624 +v -2.928711 0.568528 -2.659932 +v -2.029617 0.568528 -2.684239 +v -0.766693 0.568528 -2.562750 +v -2.928711 -0.063053 -2.684239 +v -0.183598 0.568528 -2.587057 +v -1.373971 -0.208849 -2.659932 +v -0.208050 -0.208849 -2.611365 +v -2.928711 0.568528 -2.684239 +v -2.928711 -0.038779 -2.635624 +v -1.155512 -0.063053 -2.659932 +f 136 138 141 +f 129 130 131 +f 132 128 133 +f 129 128 134 +f 130 129 134 +f 128 132 134 +f 130 132 135 +f 133 127 135 +f 128 129 136 +f 133 128 136 +f 131 130 137 +f 135 127 137 +f 130 135 137 +f 129 131 138 +f 136 129 138 +f 132 133 139 +f 135 132 139 +f 133 135 139 +f 132 130 140 +f 130 134 140 +f 134 132 140 +f 127 133 141 +f 133 136 141 +f 131 137 141 +f 137 127 141 +f 138 131 141 +o convex_11 +v -3.001884 -0.621850 -1.032213 +v -3.001884 -0.889264 -2.538267 +v -3.026169 -0.427497 -2.538267 +v -3.050463 -0.889264 -0.643224 +v -3.026178 0.568528 -0.813697 +v -3.074767 0.568528 -0.862297 +v -3.001893 0.325515 -2.489852 +v -3.050453 0.568528 -2.489852 +v -2.977590 -0.889264 -1.857862 +v -2.977590 -0.403238 -2.538267 +v -3.050463 -0.889264 -0.935012 +v -3.050453 0.276998 -2.489852 +v -3.001884 -0.889264 -0.886412 +v -3.074767 0.301257 -0.692010 +v -3.026169 -0.208885 -0.643224 +v -3.026178 0.568528 -2.489852 +v -2.977590 -0.500415 -2.076378 +v -2.977590 -0.889264 -2.538267 +f 151 150 159 +f 147 146 149 +f 145 143 150 +f 143 144 151 +f 144 149 151 +f 144 143 152 +f 143 145 152 +f 149 144 153 +f 147 149 153 +f 144 152 153 +f 142 146 154 +f 145 150 154 +f 150 142 154 +f 146 147 155 +f 152 145 155 +f 147 153 155 +f 153 152 155 +f 154 146 156 +f 145 154 156 +f 155 145 156 +f 146 155 156 +f 146 148 157 +f 149 146 157 +f 148 151 157 +f 151 149 157 +f 146 142 158 +f 148 146 158 +f 142 150 158 +f 151 148 158 +f 150 151 158 +f 150 143 159 +f 143 151 159 +o convex_12 +v 0.521766 0.009921 -2.611320 +v 3.023920 0.568452 -2.538453 +v 3.048277 0.179839 -2.538453 +v 0.108641 -0.087251 -2.538462 +v -0.183329 0.568452 -2.562767 +v 0.885859 0.568452 -2.635625 +v 3.048277 -0.208773 -2.587043 +v -0.183329 -0.208773 -2.587043 +v 3.023920 0.568452 -2.587043 +v 3.048277 -0.208773 -2.538453 +v -0.134615 0.544178 -2.611320 +v 0.521766 0.398457 -2.635625 +v 0.205754 -0.208773 -2.538462 +f 167 169 172 +f 163 161 164 +f 164 161 165 +f 163 164 167 +f 160 166 167 +f 161 162 168 +f 165 161 168 +f 162 166 168 +f 166 165 168 +f 162 161 169 +f 161 163 169 +f 166 162 169 +f 167 166 169 +f 164 165 170 +f 167 164 170 +f 167 170 171 +f 166 160 171 +f 165 166 171 +f 160 167 171 +f 170 165 171 +f 163 167 172 +f 169 163 172 +o convex_13 +v 2.951086 -0.962102 -0.594629 +v 2.951086 -1.107915 -2.538452 +v 2.951086 -1.083540 -2.538452 +v 3.096873 -1.107915 -2.538452 +v 3.048254 -0.209013 -2.538452 +v 2.999705 -0.209013 -0.667693 +v 2.951086 -0.209013 -1.347918 +v 2.999705 -0.962102 -0.643339 +v 3.096873 -1.034965 -2.271120 +v 3.072570 -0.306252 -2.513907 +v 3.023979 -0.209013 -2.538452 +v 2.975389 -0.209013 -0.667693 +f 178 179 184 +f 175 174 173 +f 174 175 176 +f 173 174 176 +f 176 175 177 +f 175 173 179 +f 178 177 179 +f 173 176 180 +f 178 173 180 +f 178 180 181 +f 180 176 181 +f 176 177 182 +f 177 178 182 +f 178 181 182 +f 181 176 182 +f 177 175 183 +f 175 179 183 +f 179 177 183 +f 173 178 184 +f 179 173 184 +o convex_14 +v 2.999682 0.349890 -0.643224 +v 3.023970 -0.208849 -2.538147 +v 2.951115 0.568538 -2.587048 +v 3.048277 1.054560 -1.105016 +v 2.951086 -0.208849 -0.643224 +v 2.951086 1.054560 -0.716289 +v 2.999672 1.054560 -2.587048 +v 3.023970 -0.135884 -0.643224 +v 3.048277 -0.208849 -2.538147 +v 3.048277 0.932993 -0.667579 +v 2.951115 1.054560 -2.587048 +v 2.951086 -0.208849 -1.372539 +v 3.048277 0.155605 -2.538147 +v 3.048277 0.617140 -0.667579 +v 3.048277 -0.208849 -2.197940 +f 193 198 199 +f 189 185 190 +f 190 188 191 +f 185 189 192 +f 186 187 193 +f 189 186 193 +f 187 191 193 +f 193 188 194 +f 188 190 194 +f 190 185 194 +f 185 192 194 +f 191 187 195 +f 190 191 195 +f 187 186 196 +f 186 189 196 +f 189 190 196 +f 195 187 196 +f 190 195 196 +f 191 188 197 +f 193 191 197 +f 188 193 197 +f 193 194 198 +f 194 192 198 +f 192 189 199 +f 189 193 199 +f 198 192 199 +o convex_15 +v -3.001887 0.957331 -0.789235 +v -3.050459 0.568604 -2.587048 +v -3.074767 1.005945 -2.513817 +v -3.074767 0.568604 -0.570528 +v -3.001887 1.054560 -2.587048 +v -3.001887 0.568604 -0.570528 +v -3.074767 0.933023 -0.570528 +v -3.026181 0.568604 -2.587048 +v -3.074767 1.054560 -2.222274 +f 202 206 208 +f 202 201 203 +f 201 202 204 +f 203 201 205 +f 204 200 205 +f 205 200 206 +f 202 203 206 +f 203 205 206 +f 201 204 207 +f 205 201 207 +f 204 205 207 +f 200 204 208 +f 204 202 208 +f 206 200 208 +o convex_16 +v -0.985157 0.908764 -2.659932 +v 2.951086 1.054560 -2.562760 +v 2.951086 1.054560 -2.587055 +v 2.951086 0.568604 -2.562760 +v -0.790579 0.568604 -2.562760 +v 0.934417 0.568604 -2.635627 +v -0.985157 1.054560 -2.635627 +v -0.013040 1.054560 -2.659932 +v 2.634753 0.981638 -2.611341 +v -0.985157 0.568604 -2.611341 +v 2.270643 1.054560 -2.562760 +v 2.951086 0.568604 -2.587055 +v -0.985157 0.763015 -2.587055 +f 219 215 221 +f 211 210 212 +f 212 210 213 +f 212 213 214 +f 210 211 215 +f 214 209 216 +f 209 215 216 +f 215 211 216 +f 214 216 217 +f 216 211 217 +f 209 214 218 +f 214 213 218 +f 215 209 218 +f 213 210 219 +f 210 215 219 +f 211 212 220 +f 212 214 220 +f 217 211 220 +f 214 217 220 +f 218 213 221 +f 215 218 221 +f 213 219 221 +o convex_17 +v -1.471131 -1.010753 -2.368149 +v -2.953023 -1.035055 -2.538267 +v -2.564418 -1.059337 -1.736283 +v -0.353668 -1.083646 -2.027913 +v -2.297204 -1.035055 -0.643410 +v -0.353668 -1.035062 -1.032065 +v -1.859482 -1.083646 -1.032065 +v -0.353668 -1.035062 -2.538267 +v -2.953023 -1.010760 -1.445394 +v -2.953023 -1.059337 -0.643410 +v -0.378099 -1.083646 -1.275091 +v -2.953023 -1.010760 -2.538267 +v -1.325309 -1.059337 -2.538267 +v -2.297204 -1.059337 -0.643410 +v -2.953023 -1.059337 -1.469697 +v -1.252779 -1.010753 -2.538267 +v -2.953023 -1.035055 -0.643410 +v -0.353668 -1.059337 -1.032065 +v -0.353668 -1.059337 -2.538267 +f 234 229 240 +f 224 225 228 +f 227 225 229 +f 227 222 230 +f 226 227 230 +f 230 223 231 +f 228 225 232 +f 229 223 233 +f 223 230 233 +f 230 222 233 +f 224 223 234 +f 225 224 234 +f 223 229 234 +f 227 226 235 +f 226 231 235 +f 231 228 235 +f 228 232 235 +f 223 224 236 +f 224 228 236 +f 231 223 236 +f 228 231 236 +f 222 227 237 +f 227 229 237 +f 229 233 237 +f 233 222 237 +f 226 230 238 +f 231 226 238 +f 230 231 238 +f 225 227 239 +f 232 225 239 +f 227 235 239 +f 235 232 239 +f 229 225 240 +f 225 234 240 +o convex_18 +v 2.003662 -1.107944 -2.125495 +v -0.353414 -1.059353 -2.538305 +v -0.353414 -1.035051 -2.538305 +v -0.353414 -1.083641 -1.785295 +v 2.951086 -1.035051 -1.785295 +v 2.951086 -1.083634 -2.538305 +v -0.353414 -1.035051 -2.004010 +v 2.149221 -1.107944 -2.538305 +v 2.951086 -1.035051 -2.076916 +v 2.951086 -1.059360 -1.785295 +v 2.951086 -1.107944 -2.343915 +v 2.197740 -1.059360 -2.538305 +v 1.857457 -1.083634 -1.785295 +v 0.327153 -1.083641 -2.489652 +v -0.353414 -1.059353 -1.785295 +v 1.371615 -1.107944 -2.004010 +v 0.473035 -1.035051 -2.538305 +v -0.304571 -1.083641 -2.076916 +f 256 244 258 +f 243 242 244 +f 242 243 246 +f 243 244 247 +f 245 243 247 +f 242 246 248 +f 243 245 249 +f 245 246 249 +f 245 244 250 +f 246 245 250 +f 246 250 251 +f 241 248 251 +f 248 246 251 +f 246 243 252 +f 249 246 252 +f 250 244 253 +f 251 250 253 +f 241 251 253 +f 242 248 254 +f 244 245 255 +f 247 244 255 +f 245 247 255 +f 248 241 256 +f 241 253 256 +f 253 244 256 +f 243 249 257 +f 252 243 257 +f 249 252 257 +f 244 242 258 +f 242 254 258 +f 254 248 258 +f 248 256 258 +o convex_19 +v -0.450562 -0.524797 1.154715 +v 0.569902 -0.403308 -0.181400 +v 0.569902 -0.427627 -0.181400 +v -0.474903 -0.476194 -0.497438 +v -0.426222 -0.427615 1.422088 +v 0.448199 -0.524785 1.324759 +v 0.448199 -0.403308 1.324759 +v -0.474903 -0.427615 -0.400109 +v -0.061726 -0.524785 0.207353 +v 0.569902 -0.427627 -0.497438 +v -0.474903 -0.500490 -0.497438 +v 0.278122 -0.403308 -0.497438 +v 0.472540 -0.524785 0.911768 +v -0.426222 -0.524797 1.422088 +v -0.256144 -0.500490 -0.448773 +v -0.450562 -0.524797 0.328920 +f 271 272 274 +f 261 260 264 +f 264 260 265 +f 263 264 265 +f 259 263 266 +f 260 261 268 +f 262 268 269 +f 266 262 269 +f 259 266 269 +f 265 260 270 +f 263 265 270 +f 262 266 270 +f 266 263 270 +f 260 268 270 +f 268 262 270 +f 261 264 271 +f 268 261 271 +f 263 259 272 +f 264 263 272 +f 271 264 272 +f 269 268 273 +f 267 269 273 +f 271 267 273 +f 268 271 273 +f 259 269 274 +f 269 267 274 +f 267 271 274 +f 272 259 274 +o convex_20 +v -0.474903 0.471413 0.911682 +v -0.474903 -0.427606 -0.375949 +v -0.474903 -0.403229 -0.375949 +v -0.402010 -0.427606 1.203318 +v -0.450600 -0.378941 1.324759 +v -0.426312 0.374172 1.324759 +v -0.450600 -0.354653 -0.327196 +v -0.474903 0.349883 1.373336 +v -0.474903 -0.427606 0.474493 +v -0.402010 -0.427606 1.422088 +v -0.450600 0.447036 0.862930 +f 280 281 285 +f 277 276 275 +f 277 275 281 +f 276 277 281 +f 278 276 281 +f 280 278 281 +f 275 276 282 +f 280 275 282 +f 276 278 283 +f 282 276 283 +f 279 282 283 +f 278 280 284 +f 282 279 284 +f 280 282 284 +f 283 278 284 +f 279 283 284 +f 275 280 285 +f 281 275 285 +o convex_21 +v 0.618498 0.301295 6.305717 +v 0.497021 -0.403308 5.018162 +v 0.521326 -0.403308 5.018162 +v 0.569888 -0.403308 7.399345 +v 0.569888 0.325626 7.399345 +v 0.618498 -0.403308 7.399345 +v 0.594181 0.325626 5.018162 +v 0.545619 0.276964 5.018162 +v 0.618498 0.301295 5.406945 +v 0.545619 -0.403308 5.140065 +v 0.594181 0.325626 7.399345 +v 0.497021 -0.378977 5.212554 +v 0.497021 -0.306055 5.067109 +f 297 290 298 +f 287 288 289 +f 289 288 291 +f 290 289 291 +f 288 287 292 +f 292 287 293 +f 290 292 293 +f 286 291 294 +f 292 286 294 +f 292 294 295 +f 291 288 295 +f 288 292 295 +f 294 291 295 +f 291 286 296 +f 290 291 296 +f 286 292 296 +f 292 290 296 +f 287 289 297 +f 289 290 297 +f 293 287 298 +f 290 293 298 +f 287 297 298 +o convex_22 +v -0.596380 -0.573392 4.484150 +v -0.474915 -0.476211 7.472239 +v -0.474915 -0.500516 7.472239 +v -0.474915 -0.549088 3.536446 +v -0.572075 -0.476211 3.414507 +v -0.596380 -0.476211 5.722600 +v -0.474915 -0.573392 5.649119 +v -0.596380 -0.573392 5.771058 +v -0.572075 -0.573392 3.414507 +v -0.523513 -0.476211 7.472239 +f 304 306 308 +f 300 301 302 +f 300 302 303 +f 300 303 304 +f 303 299 304 +f 302 301 305 +f 304 299 306 +f 299 305 306 +f 305 301 306 +f 299 303 307 +f 303 302 307 +f 305 299 307 +f 302 305 307 +f 301 300 308 +f 300 304 308 +f 306 301 308 +o convex_23 +v -0.474903 -0.281757 7.423657 +v 0.594095 0.325474 7.447938 +v 0.594095 0.082581 7.472231 +v 0.594095 -0.451751 7.399364 +v -0.474903 0.155480 7.375059 +v -0.474903 -0.257483 7.472219 +v 0.618498 -0.451751 7.496524 +v 0.594095 0.325474 7.399364 +v -0.474903 0.155480 7.447927 +v -0.474903 -0.427553 7.472219 +v 0.351141 -0.330381 7.496536 +f 314 318 319 +f 312 309 313 +f 313 309 314 +f 310 311 315 +f 315 312 316 +f 312 313 316 +f 313 310 316 +f 310 315 316 +f 311 310 317 +f 310 313 317 +f 313 314 317 +f 309 312 318 +f 314 309 318 +f 312 315 318 +f 318 315 319 +f 315 311 319 +f 311 317 319 +f 317 314 319 +o convex_24 +v -3.001873 -0.889264 -0.886412 +v -2.977585 -1.059332 -1.469616 +v -3.001873 -1.035027 -2.538267 +v -3.050469 -1.059332 -0.643224 +v -3.001873 -0.889264 -2.538267 +v -2.953278 -1.035027 -0.643224 +v -3.050469 -0.889264 -0.643224 +v -2.953278 -1.010739 -2.538267 +v -2.977585 -0.889264 -1.833562 +f 327 324 328 +f 322 321 323 +f 322 323 324 +f 323 321 325 +f 325 320 326 +f 320 324 326 +f 324 323 326 +f 323 325 326 +f 321 322 327 +f 322 324 327 +f 325 321 327 +f 325 327 328 +f 324 320 328 +f 320 325 328 +o convex_25 +v 2.951086 -0.962176 -0.667632 +v -0.353091 -1.083646 -1.785111 +v -0.353091 -1.083646 -1.493543 +v -0.353091 -0.986479 -0.716208 +v 2.951086 -1.010753 -1.760823 +v 2.951086 -1.059329 -1.736535 +v -0.231480 -1.035027 -0.692029 +v 2.926182 -0.937874 -0.862047 +v -0.353091 -1.059329 -1.785111 +v 1.735954 -1.083646 -1.785111 +v 2.756380 -0.986479 -0.764894 +v -0.255738 -1.083618 -1.299127 +v 2.197491 -0.937874 -0.667632 +v -0.353091 -1.010753 -0.667632 +f 329 341 342 +f 330 331 332 +f 333 329 334 +f 329 333 336 +f 336 333 337 +f 330 332 337 +f 332 336 337 +f 331 330 338 +f 333 334 338 +f 337 333 338 +f 330 337 338 +f 334 329 339 +f 329 335 339 +f 339 335 340 +f 335 331 340 +f 331 338 340 +f 338 334 340 +f 334 339 340 +f 329 336 341 +f 336 332 341 +f 332 331 342 +f 331 335 342 +f 335 329 342 +f 341 332 342 +o convex_26 +v -2.953278 -0.937831 -2.635620 +v -0.353918 -0.208926 -2.587062 +v -0.353918 -0.597652 -2.562760 +v 0.691391 -1.083561 -2.611346 +v -1.422417 -0.208926 -2.659922 +v -2.953278 -0.208926 -2.635620 +v -2.053884 -0.913514 -2.587062 +v -2.953278 -0.840564 -2.659922 +v 0.691391 -1.083561 -2.587053 +v -0.183386 -0.209097 -2.611346 +v -0.912606 -0.694748 -2.562760 +v -2.953278 -0.208926 -2.659922 +v -2.953278 -0.937831 -2.611346 +v -0.378178 -0.864880 -2.562760 +v -0.353561 -1.059244 -2.587053 +v -0.670008 -0.208926 -2.587062 +v -0.621132 -0.208926 -2.635620 +f 344 352 359 +f 344 347 348 +f 346 343 350 +f 347 346 350 +f 343 348 350 +f 344 345 351 +f 344 351 352 +f 351 346 352 +f 348 349 353 +f 348 347 354 +f 347 350 354 +f 350 348 354 +f 348 343 355 +f 349 348 355 +f 351 345 356 +f 345 353 356 +f 353 349 356 +f 343 346 357 +f 346 351 357 +f 355 343 357 +f 349 355 357 +f 351 356 357 +f 356 349 357 +f 345 344 358 +f 344 348 358 +f 353 345 358 +f 348 353 358 +f 346 347 359 +f 347 344 359 +f 352 346 359 +o convex_27 +v 0.448962 -1.083568 -2.562750 +v 3.047906 -0.209013 -2.538452 +v 3.072221 -0.281878 -2.538452 +v 3.047906 -0.209013 -2.587048 +v -0.231504 -0.209013 -2.562750 +v 2.731818 -1.107944 -2.587048 +v -0.353076 -1.059279 -2.587048 +v -0.353076 -1.059279 -2.538452 +v 3.096873 -1.107944 -2.538452 +v -0.231504 -0.209013 -2.587048 +v 0.205818 -0.209013 -2.538452 +v 3.072221 -0.694867 -2.587048 +f 368 365 371 +f 361 362 363 +f 361 363 364 +f 365 360 366 +f 363 365 366 +f 362 361 367 +f 366 360 367 +f 364 366 367 +f 360 365 368 +f 362 367 368 +f 367 360 368 +f 364 363 369 +f 366 364 369 +f 363 366 369 +f 361 364 370 +f 367 361 370 +f 364 367 370 +f 363 362 371 +f 365 363 371 +f 362 368 371 +o convex_28 +v -3.074603 0.179839 -0.643210 +v -1.398219 0.568528 -0.618941 +v -1.398219 0.568528 -0.643210 +v -1.398219 -0.208849 -0.618941 +v -3.074603 0.568528 -0.570331 +v -3.074603 0.568528 -0.691808 +v -3.050153 -0.208849 -0.691808 +v -3.050153 -0.184499 -0.570331 +v -1.398219 -0.208849 -0.643210 +v -1.957287 0.568528 -0.594648 +f 376 379 381 +f 374 373 375 +f 373 374 376 +f 372 376 377 +f 376 374 377 +f 377 374 378 +f 372 377 378 +f 376 372 379 +f 378 375 379 +f 372 378 379 +f 374 375 380 +f 378 374 380 +f 375 378 380 +f 375 373 381 +f 373 376 381 +f 379 375 381 +o convex_29 +v -1.179406 0.155565 -0.667522 +v -0.183329 0.568528 -0.618908 +v -0.183329 0.544178 -0.497438 +v -0.499301 -0.208849 -0.618908 +v -1.373840 -0.208849 -0.594600 +v -1.398219 0.568528 -0.618908 +v -0.523560 -0.208849 -0.497438 +v -0.596458 0.568528 -0.497438 +v -0.183329 0.568528 -0.667522 +v -1.398219 -0.208849 -0.643215 +v -1.082129 0.568528 -0.667522 +f 387 390 392 +f 385 384 388 +f 386 385 388 +f 384 383 389 +f 387 386 389 +f 383 387 389 +f 388 384 389 +f 386 388 389 +f 383 384 390 +f 384 385 390 +f 385 382 390 +f 387 383 390 +f 382 385 391 +f 385 386 391 +f 386 387 391 +f 387 382 391 +f 382 387 392 +f 390 382 392 +o convex_30 +v 0.545490 -0.208849 -0.546052 +v 0.837178 0.568528 -0.594600 +v 0.837178 0.398457 -0.570360 +v -0.183329 0.544178 -0.497438 +v -0.183329 0.544178 -0.667522 +v 0.521116 0.519904 -0.497438 +v 0.837178 -0.111601 -0.570360 +v 0.569864 -0.208849 -0.497438 +v 0.667060 0.568528 -0.643215 +v 0.837178 -0.208849 -0.521745 +f 398 400 402 +f 393 396 397 +f 395 394 398 +f 394 396 398 +f 394 395 399 +f 393 397 399 +f 396 393 400 +f 398 396 400 +f 396 394 401 +f 397 396 401 +f 394 399 401 +f 399 397 401 +f 395 398 402 +f 399 395 402 +f 393 399 402 +f 400 393 402 +o convex_31 +v 0.837385 -0.208849 -0.521752 +v 2.950879 0.568528 -0.667498 +v 2.950879 0.568528 -0.691803 +v 2.950879 -0.208849 -0.667498 +v 1.104675 0.568528 -0.643210 +v 2.027570 0.447006 -0.594650 +v 2.902262 -0.208849 -0.618905 +v 0.837385 -0.111601 -0.570345 +v 0.837385 0.568528 -0.594650 +v 1.080470 -0.111601 -0.521752 +v 2.853645 0.568528 -0.643210 +v 0.861797 0.349833 -0.618905 +v 2.926467 0.349833 -0.691803 +v 2.877850 -0.208849 -0.667498 +f 415 406 416 +f 405 404 406 +f 404 405 407 +f 406 404 409 +f 403 406 409 +f 404 407 411 +f 410 403 411 +f 411 403 412 +f 403 409 412 +f 408 411 412 +f 408 412 413 +f 409 404 413 +f 404 411 413 +f 411 408 413 +f 412 409 413 +f 411 407 414 +f 410 411 414 +f 405 406 415 +f 407 405 415 +f 407 415 416 +f 406 403 416 +f 403 410 416 +f 414 407 416 +f 410 414 416 +o convex_32 +v -1.276471 0.981662 -0.692005 +v -3.001291 1.030235 -2.586862 +v -3.001291 1.054536 -2.586862 +v 2.950503 1.030235 -1.493462 +v -2.952926 0.908773 -0.813494 +v 2.950503 1.054550 -0.716303 +v -3.001291 1.054536 -2.198098 +v 2.950503 1.005948 -0.716303 +v -2.976817 0.957389 -0.764899 +v 2.950503 1.054550 -1.493462 +v -2.564259 0.908773 -0.692005 +v -2.928452 1.030235 -2.586862 +v -3.001291 0.933088 -0.692005 +v 2.877082 1.054550 -0.716303 +f 422 426 430 +f 419 418 423 +f 422 417 424 +f 420 422 424 +f 417 423 425 +f 422 420 426 +f 421 420 427 +f 424 417 427 +f 420 424 427 +f 418 419 428 +f 420 421 428 +f 421 418 428 +f 419 426 428 +f 426 420 428 +f 418 421 429 +f 423 418 429 +f 417 425 429 +f 425 423 429 +f 421 427 429 +f 427 417 429 +f 417 422 430 +f 419 423 430 +f 423 417 430 +f 426 419 430 +o convex_33 +v -2.880087 0.568649 -0.618947 +v 2.950503 1.030243 -0.691779 +v 2.950503 1.005932 -0.667506 +v 2.950503 0.568604 -0.691793 +v -3.001291 0.932999 -0.691807 +v -2.636515 0.932999 -0.570331 +v 1.128371 0.568604 -0.594646 +v -3.001291 0.568649 -0.570331 +v 1.540347 1.030243 -0.716108 +v -1.082429 0.568649 -0.667492 +v -0.985116 0.957310 -0.716108 +v 2.343320 0.641582 -0.618961 +v 2.950503 0.981621 -0.716108 +v -3.001291 0.932999 -0.570331 +v 2.829300 0.568604 -0.643220 +v 1.637659 1.030243 -0.667506 +v -2.588150 0.957310 -0.691807 +f 446 439 447 +f 432 433 434 +f 431 434 437 +f 435 431 438 +f 431 437 438 +f 437 436 438 +f 434 431 440 +f 431 435 440 +f 440 435 441 +f 434 440 441 +f 433 436 442 +f 436 437 442 +f 432 434 443 +f 439 432 443 +f 434 441 443 +f 441 439 443 +f 435 438 444 +f 438 436 444 +f 434 433 445 +f 437 434 445 +f 433 442 445 +f 442 437 445 +f 433 432 446 +f 436 433 446 +f 432 439 446 +f 444 436 446 +f 444 446 447 +f 441 435 447 +f 439 441 447 +f 435 444 447 +o convex_34 +v -3.050222 -1.059332 -0.643224 +v -0.523499 -0.208926 -0.594629 +v -0.523499 -0.233316 -0.594629 +v -3.050469 -0.889184 -0.594629 +v -3.050469 -0.208926 -0.643224 +v -3.050469 -0.208926 -0.594629 +v -1.349662 -0.208926 -0.643224 +v -2.297028 -1.059332 -0.643224 +v -2.297028 -1.059332 -0.594629 +v -0.523499 -0.233316 -0.618927 +f 455 454 457 +f 450 449 451 +f 448 451 452 +f 449 452 453 +f 451 449 453 +f 452 451 453 +f 448 452 454 +f 452 449 454 +f 448 454 455 +f 450 451 456 +f 451 448 456 +f 455 450 456 +f 448 455 456 +f 449 450 457 +f 454 449 457 +f 450 455 457 +o convex_35 +v 0.569902 -0.184485 -0.132847 +v 0.545600 -0.403308 -0.497438 +v 0.521297 -0.135885 -0.497438 +v 0.424115 -0.403308 1.324792 +v 0.448418 0.422817 1.349195 +v 0.497009 0.422817 -0.497438 +v 0.497009 0.422817 1.251946 +v 0.472735 -0.403308 1.275987 +v 0.545600 0.228416 -0.497438 +v 0.569902 -0.403308 -0.157249 +v 0.472735 0.422817 -0.035780 +v 0.424115 -0.403308 1.227544 +v 0.497009 0.204075 -0.497438 +v 0.521297 0.422817 0.085871 +v 0.569902 -0.087284 -0.497438 +f 471 458 472 +f 459 460 463 +f 463 462 464 +f 461 459 465 +f 462 461 465 +f 464 462 465 +f 459 463 466 +f 458 464 467 +f 465 459 467 +f 464 465 467 +f 462 463 468 +f 460 459 469 +f 459 461 469 +f 461 462 469 +f 462 468 469 +f 463 460 470 +f 468 463 470 +f 469 468 470 +f 460 469 470 +f 463 464 471 +f 464 458 471 +f 466 463 471 +f 466 471 472 +f 459 466 472 +f 458 467 472 +f 467 459 472 +o convex_36 +v 2.052132 -0.330522 -0.594629 +v 2.999682 -0.208926 -0.643220 +v 2.999682 -0.306202 -0.618931 +v 2.975303 -0.816370 -0.667522 +v 2.878179 -0.816370 -0.594629 +v 2.003472 -0.208926 -0.618931 +v 2.392263 -0.816370 -0.618931 +v 2.878179 -0.208926 -0.667522 +v 2.489485 -0.208926 -0.594629 +f 474 478 481 +f 474 475 476 +f 476 475 477 +f 478 476 479 +f 477 473 479 +f 476 477 479 +f 473 478 479 +f 474 476 480 +f 478 474 480 +f 476 478 480 +f 475 474 481 +f 473 477 481 +f 477 475 481 +f 478 473 481 +o convex_37 +v -0.523498 0.155480 5.503908 +v -0.572089 -0.476201 3.414883 +v -0.547801 -0.476201 3.414883 +v -0.523498 0.155480 3.366121 +v -0.596392 -0.330338 5.503908 +v -0.547801 -0.476201 4.993685 +v -0.547801 0.155480 3.366121 +v -0.572089 0.106879 5.455146 +v -0.523498 -0.233138 3.390607 +v -0.572089 -0.476201 5.503908 +v -0.572089 -0.208838 3.390607 +v -0.596392 -0.476201 4.872094 +v -0.523498 0.033979 5.503908 +f 491 487 494 +f 483 484 487 +f 482 485 488 +f 486 482 489 +f 482 488 489 +f 484 483 490 +f 485 482 490 +f 487 484 490 +f 488 485 490 +f 482 486 491 +f 483 487 491 +f 486 489 492 +f 489 488 492 +f 490 483 492 +f 488 490 492 +f 491 486 493 +f 483 491 493 +f 492 483 493 +f 486 492 493 +f 490 482 494 +f 487 490 494 +f 482 491 494 +o convex_38 +v -0.474915 0.131179 7.447773 +v -0.596380 -0.476201 5.504117 +v -0.596380 -0.354639 5.504117 +v -0.523513 0.009679 5.504117 +v -0.474915 -0.476201 7.472239 +v -0.523513 -0.354639 7.472239 +v -0.547782 0.155480 6.014450 +v -0.547782 -0.476201 5.625680 +v -0.474915 0.155480 6.645959 +v -0.499220 0.155480 7.423306 +v -0.547782 0.155480 5.504117 +v -0.523513 -0.476201 7.472239 +f 499 500 506 +f 496 497 498 +f 497 496 500 +f 499 495 500 +f 496 498 502 +f 498 499 502 +f 499 496 502 +f 495 499 503 +f 499 498 503 +f 503 501 504 +f 500 495 504 +f 497 500 504 +f 501 497 504 +f 495 503 504 +f 498 497 505 +f 497 501 505 +f 503 498 505 +f 501 503 505 +f 496 499 506 +f 500 496 506 +o convex_39 +v -0.401952 -0.573392 3.658113 +v 0.399818 -0.427606 7.496537 +v 0.132418 -0.427606 7.496537 +v -0.474903 -0.524787 7.180625 +v 0.351184 -0.549090 5.139644 +v -0.474903 -0.427606 7.447523 +v 0.351184 -0.500499 5.042381 +v -0.474903 -0.549090 3.584592 +v -0.474903 -0.573392 5.625191 +v 0.253917 -0.476211 7.496537 +v 0.399818 -0.427606 7.156118 +v 0.399818 -0.524787 5.941485 +v -0.474903 -0.500485 7.472030 +v -0.110407 -0.573392 4.192675 +v 0.302550 -0.549090 5.406924 +v 0.399818 -0.500499 5.115137 +f 511 520 522 +f 509 508 512 +f 510 512 514 +f 510 514 515 +f 514 507 515 +f 508 509 516 +f 512 508 517 +f 514 512 517 +f 513 514 517 +f 508 516 518 +f 517 508 518 +f 509 512 519 +f 512 510 519 +f 516 509 519 +f 510 516 519 +f 515 507 520 +f 515 520 521 +f 510 515 521 +f 516 510 521 +f 511 518 521 +f 518 516 521 +f 520 511 521 +f 514 513 522 +f 507 514 522 +f 513 517 522 +f 518 511 522 +f 517 518 522 +f 520 507 522 +o convex_40 +v -0.353414 -1.010724 -0.594629 +v -2.297047 -1.059322 -1.031989 +v -2.297047 -1.035048 -1.031989 +v -2.297047 -1.059322 -0.594629 +v -0.815350 -0.913562 -0.594629 +v -0.353414 -1.059322 -1.031989 +v -2.175475 -0.962176 -0.594629 +v -0.353414 -1.010724 -1.007672 +v -1.543832 -1.083646 -1.031989 +v -0.353414 -0.913562 -0.618946 +v -0.548044 -1.035048 -0.618946 +f 531 528 533 +f 525 524 526 +f 526 523 527 +f 524 525 528 +f 525 526 529 +f 526 527 529 +f 527 525 529 +f 528 525 530 +f 523 528 530 +f 526 524 531 +f 524 528 531 +f 527 523 532 +f 525 527 532 +f 523 530 532 +f 530 525 532 +f 523 526 533 +f 528 523 533 +f 526 531 533 +o convex_41 +v -0.450586 0.520004 3.414507 +v 0.399818 0.422822 5.528415 +v -0.450586 0.447139 5.236656 +v -0.474903 0.398519 5.188237 +v 0.399818 0.398519 5.090776 +v -0.353404 0.544306 3.609013 +v 0.399818 0.447139 4.969314 +v -0.474903 0.398519 5.528415 +v -0.353404 0.495687 3.584597 +v -0.474903 0.544306 3.633223 +v 0.399818 0.398519 5.528415 +f 541 538 544 +f 535 538 540 +f 539 535 540 +f 534 539 540 +f 535 536 541 +f 537 538 541 +f 537 534 542 +f 538 537 542 +f 534 540 542 +f 540 538 542 +f 536 535 543 +f 534 537 543 +f 535 539 543 +f 539 534 543 +f 541 536 543 +f 537 541 543 +f 538 535 544 +f 535 541 544 +o convex_42 +v -0.474903 0.398519 5.674416 +v 0.399818 0.447122 6.840368 +v -0.256223 0.520008 6.840368 +v 0.399818 0.422827 5.528543 +v 0.108101 0.422827 6.840368 +v -0.474903 0.447122 5.601480 +v -0.474903 0.495701 6.840368 +v 0.399818 0.398519 6.403008 +v -0.474903 0.520008 6.524483 +v 0.399818 0.398519 5.528543 +v -0.474903 0.398519 5.528543 +v 0.399818 0.447122 6.354469 +f 546 548 556 +f 546 547 549 +f 545 549 551 +f 549 547 551 +f 550 545 551 +f 548 546 552 +f 549 545 552 +f 546 549 552 +f 547 548 553 +f 548 550 553 +f 551 547 553 +f 550 551 553 +f 548 552 554 +f 552 545 554 +f 545 550 555 +f 550 548 555 +f 554 545 555 +f 548 554 555 +f 547 546 556 +f 548 547 556 +o convex_43 +v 0.399818 0.471409 7.423622 +v -0.474903 0.495667 6.840497 +v -0.474903 0.447110 6.889135 +v -0.474903 0.568604 7.423622 +v -0.474903 0.155565 7.447882 +v 0.399818 0.422811 6.840497 +v 0.399818 0.155565 7.447882 +v -0.474903 0.155565 7.326405 +v -0.450586 0.544265 6.840497 +v 0.326782 0.495667 7.375043 +v 0.399818 0.447110 6.840497 +v 0.399818 0.398512 7.447882 +v -0.280454 0.568604 7.399303 +v 0.132418 0.422811 6.840497 +f 562 564 570 +f 558 559 560 +f 560 559 561 +f 562 557 563 +f 563 561 564 +f 561 559 564 +f 562 563 564 +f 558 560 565 +f 562 558 565 +f 557 562 567 +f 562 565 567 +f 566 557 567 +f 557 560 568 +f 560 561 568 +f 563 557 568 +f 561 563 568 +f 560 557 569 +f 565 560 569 +f 557 566 569 +f 567 565 569 +f 566 567 569 +f 559 558 570 +f 558 562 570 +f 564 559 570 +o convex_44 +v -2.953278 -1.010738 -2.635634 +v -0.353668 -0.937871 -2.587043 +v -1.228517 -1.010738 -2.538462 +v -0.353668 -1.059348 -2.611329 +v -2.953278 -1.035032 -2.538462 +v -2.953278 -0.937871 -2.635634 +v -0.353668 -1.059348 -2.538462 +v -1.689607 -0.937871 -2.635634 +v -1.835415 -0.937871 -2.587043 +f 576 575 579 +f 571 574 575 +f 571 575 576 +f 572 573 577 +f 574 572 577 +f 575 574 577 +f 573 575 577 +f 572 574 578 +f 574 571 578 +f 576 572 578 +f 571 576 578 +f 573 572 579 +f 575 573 579 +f 572 576 579 +o convex_45 +v 0.399818 -0.524780 5.164072 +v 0.618498 -0.403308 7.399345 +v 0.618498 -0.427622 7.399345 +v 0.399818 -0.451923 7.399345 +v 0.497042 -0.403308 5.018162 +v 0.521273 -0.549080 5.018162 +v 0.399818 -0.427622 7.131999 +v 0.545590 -0.403308 5.188546 +v 0.594181 -0.476194 6.985855 +v 0.399818 -0.524780 5.917632 +f 588 583 589 +f 582 581 583 +f 580 584 585 +f 583 581 586 +f 580 583 586 +f 584 580 586 +f 581 584 586 +f 581 582 587 +f 584 581 587 +f 585 584 587 +f 582 585 587 +f 582 583 588 +f 585 582 588 +f 585 588 589 +f 583 580 589 +f 580 585 589 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/580/580.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/580/580.urdf new file mode 100644 index 000000000..8a59c90a6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/580/580.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/581/581.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/581/581.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/581/581.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/581/581.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/581/581.obj new file mode 100644 index 000000000..f58ed9029 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/581/581.obj @@ -0,0 +1,495 @@ +o convex_0 +v 3.093418 -1.066356 -1.845751 +v 0.613297 -1.543167 -2.259080 +v 0.613297 -1.574978 -2.004638 +v 0.613297 -1.002793 -1.591440 +v 3.093418 -1.543167 -1.686799 +v 3.029976 -1.002793 -2.259080 +v 3.125384 -1.574978 -2.195421 +v 0.613297 -1.066356 -2.195421 +v 0.613297 -1.606729 -1.623205 +v 3.125384 -1.098167 -1.782157 +v 2.330398 -1.002793 -2.259080 +v 1.090583 -1.606729 -1.623205 +v 3.061697 -1.002793 -2.099997 +v 2.934568 -1.193541 -2.259080 +v 0.868046 -1.034545 -2.195421 +v 0.676984 -1.320608 -2.259080 +v 0.645263 -1.415982 -1.591440 +v 2.775226 -1.066356 -1.750393 +v 3.093418 -1.479604 -1.686799 +v 1.217958 -1.543167 -2.259080 +v 0.613297 -1.606729 -1.750393 +f 12 9 21 +f 2 3 4 +f 3 2 7 +f 2 4 8 +f 4 3 9 +f 5 7 10 +f 6 2 11 +f 4 6 11 +f 7 5 12 +f 6 4 13 +f 7 6 13 +f 1 10 13 +f 10 7 13 +f 2 6 14 +f 6 7 14 +f 8 4 15 +f 4 11 15 +f 11 8 15 +f 2 8 16 +f 11 2 16 +f 8 11 16 +f 4 9 17 +f 12 5 17 +f 9 12 17 +f 10 1 18 +f 1 13 18 +f 13 4 18 +f 5 10 19 +f 4 17 19 +f 17 5 19 +f 18 4 19 +f 10 18 19 +f 7 2 20 +f 2 14 20 +f 14 7 20 +f 3 7 21 +f 9 3 21 +f 7 12 21 +o convex_1 +v 0.485909 -0.969989 -1.050734 +v -0.563077 -0.747841 1.175167 +v -0.594984 -0.747841 1.175167 +v 0.549516 3.766742 -0.923490 +v -1.040230 3.639280 -1.050734 +v 1.026669 3.576156 1.079734 +v 1.090275 -2.305912 0.984083 +v -1.008322 -2.273743 -1.050734 +v -1.008322 3.702404 1.111327 +v 0.994761 -2.401812 -0.955083 +v -0.944716 -2.401205 1.143356 +v 0.994761 3.766742 -0.891461 +v 0.581423 -0.906865 1.174949 +v 0.613331 3.798911 0.602568 +v 1.026669 3.194377 -0.700812 +v -1.008322 3.130646 1.143356 +v 1.090275 -1.065889 0.602568 +v -1.008322 -2.305912 -0.541757 +v 0.454210 -1.797278 1.175167 +v 0.485909 3.671449 1.111327 +v -0.594984 3.735180 -0.541757 +v 0.962853 3.289670 -0.923272 +v -1.040230 3.671449 0.030623 +v 1.026669 -2.369643 -0.700812 +v 0.549516 -1.892571 -1.050734 +v -1.008322 2.272401 1.143356 +v -1.040230 0.936478 -1.018705 +v -0.849410 3.639280 -1.050734 +v 0.009173 -2.401812 0.761406 +v 1.090275 -1.892571 1.016112 +v 0.994761 3.671449 0.984301 +v -0.594984 -2.338081 -0.637190 +v 0.899247 3.798911 -0.573568 +v 0.931154 -1.892571 -0.986894 +v -0.944716 -2.401205 0.857057 +v -0.658591 -2.401812 1.143356 +v 1.026669 2.049039 1.079734 +v 0.708636 -2.369643 0.602568 +v 1.090275 -2.305912 0.602568 +v 1.058367 -2.274350 1.016112 +v -0.436072 -1.765109 1.175167 +v 1.090275 -1.002158 1.016112 +v -0.976415 -1.383937 0.729812 +v 0.454210 -0.747841 -1.050734 +v 0.803941 -2.369643 -0.986894 +v -0.944716 3.670842 -0.955083 +v 0.994761 -0.015845 -0.955301 +v 0.009173 3.766742 -0.605379 +v 0.803941 3.766742 -0.923272 +v 0.549724 3.798911 0.602568 +v -1.008322 3.702404 0.411702 +v -0.340558 3.703011 1.111327 +v 0.994761 3.766742 -0.351109 +v 0.549516 -1.574523 -1.050734 +f 68 55 75 +f 26 22 29 +f 33 27 36 +f 24 23 37 +f 23 34 37 +f 36 27 38 +f 23 24 40 +f 34 23 40 +f 34 27 41 +f 37 34 41 +f 37 30 44 +f 36 38 45 +f 29 22 46 +f 32 24 47 +f 24 37 47 +f 37 44 47 +f 44 39 47 +f 26 29 48 +f 29 39 48 +f 44 26 48 +f 39 44 48 +f 22 26 49 +f 26 25 49 +f 28 38 51 +f 41 27 52 +f 35 41 52 +f 29 31 53 +f 31 46 55 +f 39 29 56 +f 32 39 56 +f 29 53 56 +f 53 31 56 +f 40 32 57 +f 50 28 57 +f 31 50 57 +f 32 56 57 +f 56 31 57 +f 27 34 58 +f 51 27 58 +f 34 51 58 +f 31 28 59 +f 28 50 59 +f 50 31 59 +f 28 31 60 +f 38 28 60 +f 31 45 60 +f 45 38 60 +f 34 40 61 +f 51 34 61 +f 28 51 61 +f 40 57 61 +f 57 28 61 +f 24 32 62 +f 40 24 62 +f 32 40 62 +f 38 27 63 +f 27 51 63 +f 51 38 63 +f 39 32 64 +f 32 47 64 +f 47 39 64 +f 43 22 65 +f 22 49 65 +f 49 43 65 +f 31 29 66 +f 29 46 66 +f 46 31 66 +f 25 26 67 +f 33 36 68 +f 43 33 68 +f 45 31 68 +f 36 45 68 +f 31 55 68 +f 54 25 69 +f 25 67 69 +f 67 42 69 +f 33 43 70 +f 49 25 70 +f 43 49 70 +f 25 54 70 +f 54 33 70 +f 42 30 71 +f 35 54 71 +f 69 42 71 +f 54 69 71 +f 30 42 72 +f 44 30 72 +f 26 44 72 +f 67 26 72 +f 42 67 72 +f 30 37 73 +f 41 35 73 +f 37 41 73 +f 71 30 73 +f 35 71 73 +f 27 33 74 +f 52 27 74 +f 35 52 74 +f 33 54 74 +f 54 35 74 +f 22 43 75 +f 46 22 75 +f 55 46 75 +f 43 68 75 +o convex_2 +v -0.944896 -1.511362 -1.686777 +v -3.075332 -1.129947 -2.290816 +v -3.075332 -1.002749 -2.290816 +v -0.626848 -0.970935 -2.195393 +v -3.011723 -1.034563 -1.686777 +v -2.852699 -1.511362 -2.227201 +v -0.626848 -1.575049 -2.195393 +v -3.107137 -1.575049 -1.718585 +v -0.626848 -0.970935 -1.654907 +v -0.626848 -1.479548 -1.654907 +v -1.103920 -1.575049 -2.227201 +v -1.835673 -0.970935 -2.259008 +v -0.754067 -1.575049 -1.972862 +v -3.043528 -1.002749 -2.004607 +v -3.043528 -1.479548 -2.227201 +v -1.008506 -0.970935 -1.654907 +v -3.107137 -1.575049 -1.813947 +v -2.502846 -1.034563 -2.290816 +f 87 86 93 +f 82 79 84 +f 82 84 85 +f 83 76 85 +f 80 83 85 +f 81 77 86 +f 79 82 86 +f 82 83 86 +f 84 79 87 +f 79 86 87 +f 83 82 88 +f 76 83 88 +f 82 85 88 +f 85 76 88 +f 78 83 89 +f 83 80 89 +f 87 78 89 +f 77 81 90 +f 85 84 91 +f 80 85 91 +f 84 87 91 +f 89 80 91 +f 87 89 91 +f 78 77 92 +f 83 78 92 +f 81 86 92 +f 86 83 92 +f 77 90 92 +f 90 81 92 +f 77 78 93 +f 86 77 93 +f 78 87 93 +o convex_3 +v 0.295248 -1.606826 -3.053848 +v 0.613297 -1.606708 -1.464455 +v 0.613297 -1.670336 -1.464455 +v -0.563117 -0.843760 -1.050734 +v 0.613297 -0.684807 -3.021888 +v -0.594922 -1.797474 -2.894830 +v -0.531312 -0.812064 -2.990124 +v -0.435898 -1.829288 -1.050734 +v 0.454272 -0.812064 -1.050734 +v 0.581492 -1.893035 -3.053848 +v 0.549687 -1.893035 -1.050734 +v -0.626848 -1.479569 -1.655237 +v -0.626848 -0.970898 -2.195231 +v 0.613297 -1.002830 -1.591512 +v 0.231639 -1.893035 -3.021888 +v 0.454272 -0.684807 -2.863066 +v -0.499629 -0.780249 -2.894830 +v -0.499629 -1.765660 -1.050734 +v 0.486077 -0.780249 -1.305437 +v 0.263444 -1.893035 -1.241712 +v 0.549687 -1.034644 -3.053848 +v 0.581492 -1.733846 -1.114655 +v 0.613297 -1.702032 -2.099938 +v -0.372410 -0.812064 -1.305437 +v -0.626848 -0.970898 -1.655237 +v -0.435898 -1.829288 -2.417777 +v -0.626848 -1.574893 -2.004841 +v -0.563117 -1.193597 -2.958359 +v 0.136224 -0.716621 -3.021888 +f 98 114 122 +f 95 96 98 +f 97 101 102 +f 102 101 104 +f 103 96 104 +f 97 100 106 +f 95 98 107 +f 94 103 108 +f 103 104 108 +f 100 97 110 +f 101 97 111 +f 99 101 111 +f 97 105 111 +f 97 102 112 +f 107 98 112 +f 102 107 112 +f 98 109 112 +f 104 101 113 +f 101 108 113 +f 108 104 113 +f 94 100 114 +f 103 94 114 +f 98 103 114 +f 96 95 115 +f 104 96 115 +f 102 104 115 +f 95 107 115 +f 107 102 115 +f 98 96 116 +f 103 98 116 +f 96 103 116 +f 110 97 117 +f 109 110 117 +f 97 112 117 +f 112 109 117 +f 105 97 118 +f 97 106 118 +f 106 105 118 +f 101 99 119 +f 99 108 119 +f 108 101 119 +f 106 99 120 +f 105 106 120 +f 99 111 120 +f 111 105 120 +f 100 94 121 +f 106 100 121 +f 99 106 121 +f 94 108 121 +f 108 99 121 +f 109 98 122 +f 100 110 122 +f 110 109 122 +f 114 100 122 +o convex_4 +v -0.595050 -0.907410 1.175357 +v 0.581482 -1.415975 3.082792 +v 0.549582 -1.129928 3.082792 +v 0.581482 -0.875589 1.175357 +v 0.486010 -1.797596 1.175357 +v -0.499577 -1.861236 2.987667 +v -0.595050 -0.716599 3.051273 +v -0.436006 -1.797484 1.175357 +v 0.581482 -1.733843 3.082792 +v 0.486010 -0.811949 3.082792 +v -0.563149 -0.748420 1.175357 +v -0.372319 -1.638494 3.114880 +v -0.531363 -1.765663 2.924060 +v 0.517796 -0.811949 2.510523 +v -0.117918 -1.002871 3.114880 +v -0.595050 -1.002871 3.051273 +v 0.581482 -1.733843 2.574130 +v 0.549582 -0.843769 1.238963 +v -0.467676 -1.797484 1.493199 +v 0.136252 -1.797484 3.051273 +v 0.326966 -1.670314 3.114880 +v 0.263395 -0.780240 2.987667 +v 0.486010 -1.797596 1.525097 +v -0.499577 -0.748420 3.082982 +v 0.517796 -0.811949 2.955579 +v -0.499577 -1.861236 2.796848 +v 0.358867 -1.066399 3.114880 +f 137 143 149 +f 125 124 126 +f 123 126 127 +f 123 127 130 +f 126 124 131 +f 126 123 133 +f 123 129 133 +f 129 123 138 +f 128 134 138 +f 123 135 138 +f 135 128 138 +f 127 126 139 +f 126 131 139 +f 131 127 139 +f 126 133 140 +f 136 126 140 +f 133 136 140 +f 123 130 141 +f 135 123 141 +f 134 128 142 +f 134 142 143 +f 137 134 143 +f 142 131 143 +f 129 132 144 +f 133 129 144 +f 136 133 144 +f 128 127 145 +f 127 131 145 +f 142 128 145 +f 131 142 145 +f 132 129 146 +f 137 132 146 +f 134 137 146 +f 129 138 146 +f 138 134 146 +f 125 126 147 +f 132 125 147 +f 126 136 147 +f 144 132 147 +f 136 144 147 +f 127 128 148 +f 130 127 148 +f 128 135 148 +f 141 130 148 +f 135 141 148 +f 124 125 149 +f 131 124 149 +f 125 132 149 +f 132 137 149 +f 143 131 149 +o convex_5 +v -0.149813 -1.575037 3.528595 +v 0.358908 -1.066371 3.464854 +v 0.327066 -1.066371 4.132335 +v -0.245134 -1.002687 3.115079 +v -0.277045 -0.970876 5.022509 +v 0.327066 -1.511352 5.149790 +v 0.231676 -1.606848 3.115079 +v -0.308819 -1.479541 5.022509 +v -0.340661 -1.575037 3.115079 +v 0.263381 -1.066371 5.054379 +v 0.358908 -1.066371 3.115079 +v 0.327066 -1.543226 4.768145 +v -0.308819 -1.129869 4.354829 +v 0.263381 -1.606848 3.369443 +v 0.358908 -1.161680 3.115079 +v 0.072671 -1.511352 5.117920 +v -0.117971 -1.002687 3.115079 +v 0.327066 -1.416044 5.149790 +v 0.168060 -1.034498 5.054379 +v -0.308819 -1.193491 5.022509 +v -0.245134 -0.970876 4.736275 +v 0.199903 -1.606848 3.464854 +f 161 165 171 +f 153 156 158 +f 150 157 158 +f 156 153 160 +f 154 153 162 +f 153 158 162 +f 161 163 164 +f 151 155 164 +f 160 151 164 +f 156 160 164 +f 155 161 164 +f 163 156 164 +f 157 150 165 +f 161 155 165 +f 160 153 166 +f 151 152 167 +f 155 151 167 +f 152 159 167 +f 154 165 167 +f 165 155 167 +f 152 151 168 +f 159 152 168 +f 151 160 168 +f 167 159 168 +f 154 167 168 +f 158 157 169 +f 154 162 169 +f 162 158 169 +f 165 154 169 +f 157 165 169 +f 153 154 170 +f 166 153 170 +f 160 166 170 +f 154 168 170 +f 168 160 170 +f 158 156 171 +f 150 158 171 +f 156 163 171 +f 163 161 171 +f 165 150 171 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/581/581.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/581/581.urdf new file mode 100644 index 000000000..725e6a54a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/581/581.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/582/582.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/582/582.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/582/582.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/582/582.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/582/582.obj new file mode 100644 index 000000000..ef646a4e5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/582/582.obj @@ -0,0 +1,747 @@ +o convex_0 +v 0.128357 -0.569703 -2.039755 +v -0.016352 -0.222062 -1.432107 +v -0.045143 -0.222062 -1.432107 +v -0.074096 1.658340 -1.750512 +v -0.305663 -0.569703 -1.837183 +v 0.215161 -0.569703 -1.576899 +v 0.157256 1.310699 -1.692664 +v -0.189906 -0.540478 -2.126562 +v -0.247758 1.368930 -1.721486 +v -0.045143 1.339705 -1.923990 +v -0.247758 -0.569703 -1.490024 +v -0.016352 1.397718 -1.547873 +v 0.186208 -0.337869 -1.490024 +v 0.244114 -0.540478 -1.779335 +v -0.218805 0.876911 -1.923990 +v 0.128357 1.137096 -1.837183 +v -0.247758 0.443341 -1.547873 +v 0.012600 -0.540478 -2.126562 +v 0.070452 -0.569703 -1.432107 +v -0.103049 1.310699 -1.547873 +v -0.305663 -0.077684 -1.808157 +v 0.186208 -0.511690 -1.981771 +v 0.157256 1.339705 -1.750512 +v 0.128357 0.992718 -1.576899 +v -0.247758 -0.569703 -2.039755 +v -0.247758 1.252904 -1.808157 +v 0.215161 0.356540 -1.692664 +v 0.099404 0.992718 -1.895032 +v -0.276710 -0.164267 -1.576899 +v -0.276710 0.934706 -1.721486 +v -0.160954 1.166321 -1.923990 +v -0.103049 -0.424889 -1.432107 +v -0.218805 1.137096 -1.605721 +v 0.215161 0.385328 -1.750512 +v -0.276710 0.414117 -1.866074 +v -0.305663 -0.569703 -1.721486 +v 0.012600 1.224116 -1.923990 +v -0.016352 1.629115 -1.750512 +v -0.074096 1.137096 -1.952948 +f 8 31 39 +f 5 1 6 +f 5 6 11 +f 3 2 12 +f 6 1 14 +f 1 8 18 +f 2 3 19 +f 11 6 19 +f 12 2 19 +f 6 13 19 +f 13 12 19 +f 4 9 20 +f 3 12 20 +f 12 4 20 +f 14 1 22 +f 22 16 23 +f 7 12 24 +f 13 7 24 +f 12 13 24 +f 1 5 25 +f 8 1 25 +f 15 8 25 +f 5 21 25 +f 9 4 26 +f 13 6 27 +f 7 13 27 +f 6 14 27 +f 23 7 27 +f 1 18 28 +f 22 1 28 +f 16 22 28 +f 11 17 29 +f 17 9 30 +f 9 26 30 +f 29 17 30 +f 4 10 31 +f 8 15 31 +f 26 4 31 +f 15 26 31 +f 17 11 32 +f 19 3 32 +f 11 19 32 +f 3 20 32 +f 20 17 32 +f 9 17 33 +f 20 9 33 +f 17 20 33 +f 14 22 34 +f 22 23 34 +f 27 14 34 +f 23 27 34 +f 15 25 35 +f 25 21 35 +f 26 15 35 +f 21 30 35 +f 30 26 35 +f 5 11 36 +f 21 5 36 +f 11 29 36 +f 30 21 36 +f 29 30 36 +f 18 10 37 +f 23 16 37 +f 10 23 37 +f 16 28 37 +f 28 18 37 +f 10 4 38 +f 12 7 38 +f 4 12 38 +f 7 23 38 +f 23 10 38 +f 18 8 39 +f 10 18 39 +f 31 10 39 +o convex_1 +v -0.189847 2.988721 -0.679314 +v 0.215093 -0.134575 1.490389 +v 0.157244 -0.134575 1.490389 +v 0.012623 -1.929088 -1.027009 +v -0.942074 -1.639420 0.303891 +v 0.938396 2.901880 0.217398 +v -0.681755 2.988721 0.998294 +v 0.793774 -1.987378 0.998294 +v 0.591304 -1.176665 -1.027009 +v -0.970998 0.385875 -0.534914 +v 0.822698 2.931025 1.171772 +v -0.768528 -1.987378 1.142941 +v 0.735925 3.220098 -0.592822 +v -0.623907 3.625751 0.245736 +v -0.566058 -1.148115 -1.027009 +v -0.566058 -2.334147 -0.274451 +v 0.996439 0.559556 0.217398 +v 0.620228 -2.421582 0.217645 +v 0.446487 -1.813696 1.490389 +v 0.562380 3.654897 0.737831 +v -0.566058 -1.408638 1.490389 +v -0.768528 2.844184 -0.534914 +v -0.913150 2.554516 0.332721 +v -0.074150 3.046416 1.229680 +v 0.735925 -1.929088 -0.477006 +v -0.016106 -2.363292 1.142695 +v -0.855301 -1.870797 -0.592822 +v 0.967320 0.240744 1.027371 +v -0.131998 3.596606 -0.505836 +v 0.909471 0.443570 -0.448175 +v -0.826377 0.905730 1.056202 +v 0.909471 -1.495478 0.217398 +v -1.000118 0.673758 0.361799 +v -0.450166 3.654897 0.795739 +v 0.620228 -1.176665 1.490389 +v 0.764850 3.625751 0.246229 +v 0.475607 -0.626475 -1.027009 +v -0.045226 -2.305596 -0.679314 +v -0.681755 -2.334741 0.332721 +v -0.016106 3.017866 -0.708391 +v -0.363393 -1.871392 1.490389 +v 0.446487 -1.813696 -1.027009 +v -0.450166 -0.685360 -1.027009 +v -0.363393 -1.842247 -1.027009 +v 0.764850 2.988721 -0.621653 +v 0.099396 3.654897 0.911555 +v -0.884225 2.931025 0.245982 +v 0.504336 -2.421582 0.709000 +v -0.797452 -1.987378 1.113864 +v -0.392317 -2.392437 0.737831 +v 0.562380 -0.337402 1.490389 +v -0.421241 -0.742461 1.490389 +v -0.479285 3.596606 -0.274451 +v 0.388639 -2.392437 -0.216789 +v 0.880547 0.125352 -0.534914 +v 0.967320 0.674353 1.027371 +v -0.768528 2.728198 -0.563744 +v -0.681755 2.872735 1.027125 +v 0.880547 -1.726856 0.448537 +v 0.272942 3.568056 -0.390267 +v -1.000118 0.558962 -0.042818 +v 0.938396 2.901880 0.332968 +v 0.070472 -1.987378 1.490389 +v 0.041547 3.047011 1.229680 +f 90 50 103 +f 48 43 54 +f 41 42 58 +f 58 42 60 +f 44 49 66 +f 49 54 66 +f 40 61 68 +f 45 56 69 +f 46 62 70 +f 56 67 71 +f 69 56 71 +f 70 62 72 +f 53 46 73 +f 46 63 73 +f 59 68 73 +f 68 53 73 +f 41 58 74 +f 58 47 74 +f 47 67 74 +f 45 52 75 +f 59 50 75 +f 68 59 75 +f 48 54 76 +f 44 66 78 +f 66 55 78 +f 40 68 79 +f 68 52 79 +f 60 51 80 +f 58 60 80 +f 51 65 80 +f 43 48 81 +f 48 64 81 +f 77 43 81 +f 76 54 82 +f 40 79 82 +f 79 76 82 +f 54 43 83 +f 66 54 83 +f 55 66 83 +f 77 55 83 +f 43 77 83 +f 52 45 84 +f 45 69 84 +f 48 76 84 +f 79 52 84 +f 76 79 84 +f 50 59 85 +f 73 63 85 +f 59 73 85 +f 46 53 86 +f 61 49 86 +f 53 61 86 +f 62 46 86 +f 57 47 87 +f 47 58 87 +f 58 65 87 +f 51 60 88 +f 60 70 88 +f 72 44 88 +f 70 72 88 +f 44 78 88 +f 88 78 89 +f 65 51 89 +f 78 55 89 +f 57 87 89 +f 87 65 89 +f 51 88 89 +f 41 74 90 +f 74 50 90 +f 60 42 91 +f 42 63 91 +f 61 53 92 +f 53 68 92 +f 68 61 92 +f 64 57 93 +f 55 77 93 +f 81 64 93 +f 77 81 93 +f 89 55 93 +f 57 89 93 +f 64 48 94 +f 71 64 94 +f 69 71 94 +f 84 69 94 +f 48 84 94 +f 67 56 95 +f 50 74 95 +f 74 67 95 +f 54 49 96 +f 49 61 96 +f 61 40 96 +f 40 82 96 +f 82 54 96 +f 63 46 97 +f 46 70 97 +f 70 60 97 +f 60 91 97 +f 91 63 97 +f 47 57 98 +f 57 64 98 +f 67 47 98 +f 64 71 98 +f 71 67 98 +f 52 68 99 +f 75 52 99 +f 68 75 99 +f 49 44 100 +f 44 72 100 +f 72 62 100 +f 86 49 100 +f 62 86 100 +f 56 45 101 +f 45 75 101 +f 75 50 101 +f 50 95 101 +f 95 56 101 +f 65 58 102 +f 58 80 102 +f 80 65 102 +f 42 41 103 +f 63 42 103 +f 50 85 103 +f 85 63 103 +f 41 90 103 +o convex_2 +v 0.186172 -0.280514 1.490390 +v -0.045265 -1.987548 1.490390 +v 0.041480 -1.987548 1.490390 +v 0.041480 -1.350752 3.255116 +v -0.566084 -1.437641 1.519586 +v 0.620245 -1.177141 1.548437 +v -0.421276 -1.379659 3.052644 +v 0.446639 -1.379659 2.908045 +v 0.012565 -1.784695 3.023793 +v -0.392361 -0.714624 1.490390 +v 0.446639 -1.813770 1.490390 +v -0.045265 -0.974957 2.994770 +v 0.533384 -0.483032 1.519413 +v -0.392361 -1.784695 2.242925 +v 0.388809 -1.813770 2.271603 +v 0.272917 -1.032772 2.850171 +v -0.421276 -1.003864 2.358673 +v -0.421276 -1.842677 1.490390 +v 0.562299 -1.408733 2.242925 +v -0.537053 -1.408566 2.329650 +v 0.128341 -0.280514 1.519586 +v -0.016234 -1.929399 2.213902 +v 0.417724 -1.321845 2.994942 +v -0.276585 -1.061846 2.850171 +v 0.041480 -0.974957 2.994770 +v -0.276585 -1.697973 2.850171 +v 0.330863 -1.640159 2.850171 +v -0.421276 -0.801346 1.751082 +v 0.620245 -1.119493 1.490390 +v -0.045265 -1.350752 3.255116 +v -0.566084 -1.495455 1.490390 +v -0.537053 -1.350752 2.300799 +v -0.421276 -1.408566 3.052644 +v 0.330863 -1.408566 3.052644 +v 0.244002 -0.309588 1.519586 +v 0.562299 -1.350752 2.242925 +v -0.016234 -1.784695 3.023793 +v 0.359778 -1.090586 2.821147 +v -0.016234 -1.524363 3.197415 +v 0.041480 -1.929399 2.185051 +v -0.450191 -0.888235 1.490390 +v -0.363446 -1.871584 1.548437 +v 0.533384 -0.483032 1.490390 +v 0.475554 -1.350752 2.763446 +v 0.041480 -1.987548 1.635334 +v -0.421276 -0.859328 1.953555 +v -0.334531 -1.061846 2.734423 +v 0.417724 -1.813770 2.011429 +v -0.392361 -0.714624 1.577460 +v 0.041480 -1.408566 3.255116 +v 0.041480 -1.032772 3.052644 +f 115 133 154 +f 106 105 104 +f 104 105 113 +f 106 104 114 +f 113 105 121 +f 114 109 122 +f 111 118 122 +f 104 113 124 +f 110 115 127 +f 115 124 127 +f 104 124 128 +f 124 115 128 +f 118 111 130 +f 112 118 130 +f 114 104 132 +f 109 114 132 +f 115 110 133 +f 113 121 134 +f 121 117 134 +f 123 108 134 +f 117 123 134 +f 110 120 135 +f 108 123 135 +f 123 110 135 +f 110 123 136 +f 123 117 136 +f 117 129 136 +f 133 110 136 +f 111 126 137 +f 130 111 137 +f 112 130 137 +f 119 116 138 +f 104 128 138 +f 128 119 138 +f 122 109 139 +f 109 132 139 +f 132 116 139 +f 117 125 140 +f 125 112 140 +f 129 117 140 +f 136 129 140 +f 116 119 141 +f 126 116 141 +f 119 126 141 +f 133 136 142 +f 140 112 142 +f 136 140 142 +f 118 112 143 +f 112 125 143 +f 131 113 144 +f 134 108 144 +f 113 134 144 +f 108 135 144 +f 135 131 144 +f 121 105 145 +f 117 121 145 +f 105 125 145 +f 125 117 145 +f 132 104 146 +f 116 132 146 +f 104 138 146 +f 138 116 146 +f 111 122 147 +f 126 111 147 +f 116 126 147 +f 139 116 147 +f 122 139 147 +f 105 106 148 +f 106 114 148 +f 125 105 148 +f 118 143 148 +f 143 125 148 +f 135 120 149 +f 131 135 149 +f 120 110 150 +f 110 127 150 +f 127 124 150 +f 149 120 150 +f 124 149 150 +f 114 122 151 +f 122 118 151 +f 148 114 151 +f 118 148 151 +f 124 113 152 +f 113 131 152 +f 149 124 152 +f 131 149 152 +f 126 107 153 +f 107 133 153 +f 112 137 153 +f 137 126 153 +f 133 142 153 +f 142 112 153 +f 107 126 154 +f 126 119 154 +f 128 115 154 +f 119 128 154 +f 133 107 154 +o convex_3 +v 0.012583 -4.186448 -1.866074 +v 0.041536 -2.190097 -1.432107 +v -0.045160 -2.190097 -1.432107 +v -0.103012 -2.190097 -2.126562 +v 0.273049 -2.190097 -1.808157 +v -0.247775 -3.116275 -1.750512 +v 0.128340 -3.983907 -1.547873 +v 0.186191 -3.868108 -1.866074 +v -0.160917 -4.099491 -1.692664 +v -0.247775 -2.190097 -1.605721 +v 0.244097 -2.797935 -1.519050 +v 0.244097 -4.099491 -1.692664 +v 0.041536 -2.277269 -2.126562 +v -0.189870 -2.219370 -2.097536 +v -0.160917 -3.549768 -1.576899 +v 0.215144 -2.479810 -1.981771 +v -0.131964 -3.810208 -1.895032 +v 0.012583 -4.099491 -1.547873 +v 0.041536 -4.041591 -1.923990 +v 0.070489 -4.388988 -1.692664 +v 0.244097 -2.190097 -1.519050 +v -0.276727 -2.190097 -1.837183 +v 0.273049 -3.549768 -1.750512 +v -0.218768 -2.335169 -1.519050 +v -0.189870 -3.983907 -1.750512 +v 0.012583 -3.926007 -1.519050 +v 0.215144 -2.190097 -1.981771 +v 0.273049 -2.913734 -1.634679 +v -0.247775 -3.058375 -1.808157 +v 0.244097 -4.070649 -1.750512 +v 0.215144 -3.839051 -1.576899 +v 0.070489 -3.926007 -1.519050 +v -0.103012 -4.215290 -1.750512 +v -0.218768 -3.000476 -1.605721 +v 0.012583 -4.041591 -1.923990 +v 0.012583 -4.388988 -1.692664 +f 163 187 190 +f 157 156 158 +f 158 156 159 +f 157 158 164 +f 162 167 170 +f 169 163 172 +f 167 162 173 +f 166 161 174 +f 161 172 174 +f 159 156 175 +f 156 165 175 +f 164 158 176 +f 160 164 176 +f 158 168 176 +f 170 159 177 +f 157 164 178 +f 168 171 179 +f 156 157 180 +f 169 172 180 +f 157 178 180 +f 178 169 180 +f 158 159 181 +f 167 158 181 +f 159 170 181 +f 170 167 181 +f 165 166 182 +f 159 175 182 +f 175 165 182 +f 166 177 182 +f 177 159 182 +f 160 176 183 +f 176 168 183 +f 179 160 183 +f 168 179 183 +f 162 170 184 +f 155 173 184 +f 173 162 184 +f 174 155 184 +f 166 174 184 +f 177 166 184 +f 170 177 184 +f 165 161 185 +f 161 166 185 +f 166 165 185 +f 165 156 186 +f 161 165 186 +f 172 161 186 +f 156 180 186 +f 180 172 186 +f 171 155 187 +f 163 179 187 +f 179 171 187 +f 164 160 188 +f 163 169 188 +f 178 164 188 +f 169 178 188 +f 179 163 188 +f 160 179 188 +f 158 167 189 +f 168 158 189 +f 155 171 189 +f 171 168 189 +f 173 155 189 +f 167 173 189 +f 172 163 190 +f 155 174 190 +f 174 172 190 +f 187 155 190 +o convex_4 +v -0.016276 -0.569861 -1.403475 +v -0.045215 -2.190097 -2.155353 +v 0.041493 -2.190097 -2.155353 +v 0.041493 -0.975079 -2.762897 +v 0.591341 -1.177450 -1.027184 +v -0.537074 -1.264361 -1.027184 +v 0.099371 -1.900497 -1.027184 +v -0.334499 -0.975079 -2.502496 +v 0.359826 -0.946055 -2.502496 +v -0.450256 -0.685638 -1.027184 +v -0.334499 -1.755856 -2.502496 +v 0.359826 -1.669103 -2.444726 +v -0.247680 -2.190097 -1.576958 +v 0.273008 -2.190097 -1.663876 +v 0.475583 -0.656773 -1.027184 +v -0.189802 -0.569861 -2.155353 +v 0.041493 -1.697968 -2.733924 +v 0.475583 -1.755856 -1.027184 +v 0.157250 -0.569861 -2.039639 +v -0.392377 -1.842609 -1.056157 +v 0.475583 -1.726991 -1.779414 +v -0.421317 -1.813744 -1.866331 +v -0.450256 -1.003944 -1.895304 +v 0.041493 -1.408685 -2.820666 +v 0.504412 -1.119720 -1.808562 +v -0.305559 -0.569861 -1.866331 +v -0.276620 -2.190097 -1.866331 +v 0.041493 -2.190097 -1.432272 +v 0.388765 -1.379979 -2.502496 +v -0.334499 -1.235338 -2.589237 +v -0.479196 -1.379979 -1.779590 +v 0.273008 -2.190097 -1.808562 +v -0.016276 -0.917191 -2.733924 +v -0.276620 -1.784721 -2.560441 +v 0.475583 -0.946055 -1.894953 +v -0.537074 -1.032808 -1.056157 +v 0.504412 -1.379979 -1.866156 +v 0.244068 -0.569861 -1.779414 +v -0.189802 -2.190097 -2.126381 +v -0.074155 -1.351114 -2.791869 +v -0.045215 -1.755856 -2.704952 +v 0.215018 -2.190097 -1.490217 +v 0.273008 -1.351114 -2.647182 +v 0.330886 -1.755856 -2.415754 +v 0.041493 -0.569861 -2.155353 +v 0.591341 -1.090697 -1.056157 +v -0.363438 -1.842609 -1.027184 +v -0.363438 -1.322250 -2.502496 +v 0.446644 -1.813744 -1.027184 +v -0.247680 -0.569861 -1.490217 +v 0.215018 -2.190097 -1.981694 +v 0.099371 -0.917191 -2.704952 +v 0.475583 -0.656773 -1.085129 +v -0.160973 -2.190097 -1.461244 +v -0.450256 -0.917191 -1.750617 +v -0.537074 -1.235338 -1.229816 +v -0.421317 -1.813744 -1.461244 +v -0.189802 -0.917191 -2.618210 +v 0.041493 -1.755856 -2.704952 +v -0.334499 -1.466574 -2.589237 +v -0.334499 -0.917191 -2.444551 +v -0.074155 -1.900497 -1.027184 +v 0.475583 -1.755856 -1.634728 +v 0.186189 -0.569861 -1.490217 +f 205 228 254 +f 195 196 197 +f 196 195 200 +f 192 193 203 +f 203 193 204 +f 191 200 205 +f 200 195 205 +f 195 197 208 +f 206 191 209 +f 191 206 216 +f 192 203 217 +f 203 210 217 +f 212 201 217 +f 203 204 218 +f 211 202 219 +f 199 215 219 +f 201 212 221 +f 204 193 222 +f 208 204 222 +f 215 199 225 +f 196 200 226 +f 195 211 227 +f 211 219 227 +f 219 215 227 +f 199 209 228 +f 209 191 228 +f 192 217 229 +f 217 201 229 +f 201 224 229 +f 194 214 230 +f 223 194 230 +f 224 230 231 +f 193 192 231 +f 214 207 231 +f 192 229 231 +f 229 224 231 +f 230 214 231 +f 218 204 232 +f 197 218 232 +f 194 199 233 +f 202 207 233 +f 214 194 233 +f 207 214 233 +f 219 202 233 +f 199 219 233 +f 202 211 234 +f 211 222 234 +f 209 199 235 +f 206 209 235 +f 223 206 235 +f 205 195 236 +f 215 225 236 +f 195 227 236 +f 227 215 236 +f 197 196 237 +f 196 210 237 +f 213 198 238 +f 198 220 238 +f 201 221 238 +f 221 213 238 +f 208 197 239 +f 204 208 239 +f 197 232 239 +f 232 204 239 +f 200 191 240 +f 191 216 240 +f 216 200 240 +f 222 193 241 +f 193 234 241 +f 234 222 241 +f 199 194 242 +f 194 223 242 +f 235 199 242 +f 223 235 242 +f 225 199 243 +f 228 205 243 +f 199 228 243 +f 205 236 243 +f 236 225 243 +f 210 203 244 +f 203 218 244 +f 237 210 244 +f 200 216 245 +f 226 200 245 +f 213 226 245 +f 212 196 246 +f 221 212 246 +f 213 221 246 +f 196 226 246 +f 226 213 246 +f 210 196 247 +f 196 212 247 +f 217 210 247 +f 212 217 247 +f 220 198 248 +f 206 223 248 +f 223 230 248 +f 230 220 248 +f 207 202 249 +f 193 231 249 +f 231 207 249 +f 234 193 249 +f 202 234 249 +f 224 201 250 +f 220 230 250 +f 230 224 250 +f 238 220 250 +f 201 238 250 +f 198 213 251 +f 216 206 251 +f 213 245 251 +f 245 216 251 +f 248 198 251 +f 206 248 251 +f 218 197 252 +f 197 237 252 +f 244 218 252 +f 237 244 252 +f 195 208 253 +f 211 195 253 +f 208 222 253 +f 222 211 253 +f 191 205 254 +f 228 191 254 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/582/582.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/582/582.urdf new file mode 100644 index 000000000..ac0266d7c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/582/582.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/583/583.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/583/583.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/583/583.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/583/583.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/583/583.obj new file mode 100644 index 000000000..626846ce7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/583/583.obj @@ -0,0 +1,513 @@ +o convex_0 +v -1.018166 0.034615 1.090703 +v 0.955506 -0.663441 -1.065386 +v 0.955506 0.429749 -1.065386 +v 1.046677 -0.572624 0.999529 +v -0.987775 -1.604870 -1.004392 +v -1.018166 0.429749 -1.065174 +v 1.046677 -1.604870 0.968927 +v -1.109337 -1.604870 1.090703 +v 1.016287 0.429749 0.999529 +v 1.077068 -1.604870 -1.065386 +v -1.109337 0.429749 1.060311 +v -1.109337 -1.452911 -0.427381 +v 1.046677 0.308062 -1.065386 +v -1.109337 0.065087 -0.609517 +v -0.228654 0.429749 1.090703 +v -0.532346 -1.544126 1.090703 +v -0.957385 -1.604870 -1.034783 +v 1.077068 -1.331423 -0.063109 +v 0.833943 0.399078 1.029920 +v -1.078947 0.429749 -0.791865 +v -0.987775 -0.147616 -1.065174 +v -1.109337 -1.604870 -0.396990 +v 1.077068 -1.027704 -1.065386 +v 0.712595 -1.604870 -1.065174 +v 1.016287 0.429749 -1.065386 +v 1.046677 -0.754457 0.999529 +v -1.018166 0.065087 -1.065174 +v -0.926994 0.429749 1.090703 +f 15 11 28 +f 3 2 6 +f 5 7 8 +f 3 6 9 +f 2 3 10 +f 7 5 10 +f 8 1 11 +f 9 6 11 +f 8 11 12 +f 9 4 13 +f 10 3 13 +f 12 11 14 +f 1 8 15 +f 9 11 15 +f 8 7 16 +f 15 8 16 +f 10 5 17 +f 7 10 18 +f 13 4 18 +f 4 9 19 +f 9 15 19 +f 15 16 19 +f 11 6 20 +f 14 11 20 +f 5 8 22 +f 12 5 22 +f 8 12 22 +f 10 13 23 +f 18 10 23 +f 13 18 23 +f 10 17 24 +f 21 10 24 +f 17 21 24 +f 3 9 25 +f 13 3 25 +f 9 13 25 +f 16 7 26 +f 18 4 26 +f 7 18 26 +f 4 19 26 +f 19 16 26 +f 6 2 27 +f 2 10 27 +f 5 12 27 +f 12 14 27 +f 17 5 27 +f 20 6 27 +f 14 20 27 +f 10 21 27 +f 21 17 27 +f 11 1 28 +f 1 15 28 +o convex_1 +v 0.317837 2.342808 3.033945 +v -0.350190 1.644517 2.791089 +v -0.350190 1.674902 2.669464 +v 0.226770 1.796372 1.091095 +v -0.319766 2.282037 1.091095 +v 0.196346 1.674902 3.094953 +v -0.228700 2.312423 3.064351 +v 0.317837 2.312423 1.091095 +v -0.289411 1.765987 1.091095 +v 0.348261 2.373193 2.912517 +v -0.350190 1.735602 3.064351 +v -0.228700 2.342808 3.003539 +v 0.317837 2.160639 2.365992 +v 0.105211 2.312423 1.091095 +v -0.319766 2.282037 1.424973 +v 0.257058 1.887457 1.091095 +v -0.350190 1.644517 3.064351 +v 0.348261 2.312423 3.003539 +v 0.317837 2.221338 1.091095 +v -0.258987 1.644517 2.821298 +v -0.319766 2.069554 1.091095 +v -0.137565 1.765987 1.091095 +v 0.226770 1.765987 1.516191 +f 50 32 51 +f 34 29 35 +f 32 33 36 +f 30 31 37 +f 33 32 37 +f 31 30 39 +f 33 31 39 +f 34 35 39 +f 39 35 40 +f 35 29 40 +f 29 38 40 +f 36 33 42 +f 38 36 42 +f 40 38 42 +f 33 40 42 +f 33 39 43 +f 39 40 43 +f 40 33 43 +f 32 36 44 +f 39 30 45 +f 34 39 45 +f 29 34 46 +f 38 29 46 +f 34 41 46 +f 46 41 47 +f 36 38 47 +f 44 36 47 +f 41 44 47 +f 38 46 47 +f 45 30 48 +f 34 45 48 +f 31 33 49 +f 37 31 49 +f 33 37 49 +f 30 37 50 +f 37 32 50 +f 48 30 50 +f 48 50 51 +f 41 34 51 +f 32 44 51 +f 44 41 51 +f 34 48 51 +o convex_2 +v -2.839972 -2.333688 0.301081 +v -2.414875 -1.635237 0.088538 +v -2.414875 -1.635237 0.058159 +v -1.109768 -2.272840 -0.093568 +v -2.931190 -2.333688 -0.215029 +v -1.109768 -1.787152 0.270701 +v -1.109768 -1.665661 -0.245352 +v -3.113626 -1.787152 -0.215029 +v -2.931190 -1.665661 0.209999 +v -1.109768 -2.212198 0.240322 +v -3.113626 -2.333688 0.331404 +v -1.109768 -2.272840 -0.215029 +v -2.354259 -2.151350 -0.245352 +v -1.413240 -1.908574 0.301081 +v -2.961596 -1.635237 0.118918 +v -2.141613 -1.726441 -0.245352 +v -3.113626 -2.272840 0.331404 +v -1.322218 -1.756796 0.270701 +v -1.109768 -2.090639 -0.245352 +v -1.170384 -1.665661 -0.123947 +v -1.716909 -2.303264 -0.093568 +v -2.961596 -1.635237 0.179620 +v -1.291812 -2.242485 0.240322 +v -3.113626 -1.878218 -0.215029 +f 59 64 75 +f 57 55 58 +f 54 53 58 +f 55 57 61 +f 56 52 62 +f 58 55 63 +f 63 56 64 +f 61 57 65 +f 62 61 65 +f 53 54 66 +f 54 58 66 +f 58 64 67 +f 64 59 67 +f 66 58 67 +f 59 66 67 +f 59 62 68 +f 65 60 68 +f 62 65 68 +f 65 57 69 +f 60 65 69 +f 58 63 70 +f 64 58 70 +f 63 64 70 +f 57 58 71 +f 58 53 71 +f 69 57 71 +f 53 69 71 +f 55 52 72 +f 52 56 72 +f 63 55 72 +f 56 63 72 +f 53 66 73 +f 66 59 73 +f 59 68 73 +f 68 60 73 +f 69 53 73 +f 60 69 73 +f 52 55 74 +f 55 61 74 +f 61 62 74 +f 62 52 74 +f 56 62 75 +f 62 59 75 +f 64 56 75 +o convex_3 +v 0.317831 2.342897 -1.095753 +v -0.228640 1.644446 -2.978391 +v -0.228640 1.705225 -2.978391 +v -0.319760 1.948206 -1.095753 +v 0.196379 1.674870 -1.186879 +v 0.317831 2.221406 -2.978391 +v -0.319760 2.312473 -1.126192 +v 0.287437 1.766005 -3.039269 +v -0.167914 2.190982 -3.039269 +v -0.289366 1.766005 -1.186879 +v 0.135653 1.674870 -1.095753 +v -0.107188 1.644446 -2.978391 +v 0.317831 2.251693 -1.156631 +v 0.257105 2.342897 -1.247757 +v -0.198308 2.190982 -2.887265 +v -0.259034 1.674870 -2.310450 +v 0.317831 2.008781 -2.826578 +v 0.226711 1.735649 -3.039269 +f 80 87 93 +f 78 77 82 +f 77 79 82 +f 79 76 82 +f 81 83 84 +f 77 78 84 +f 76 79 86 +f 80 76 86 +f 79 85 86 +f 80 86 87 +f 86 77 87 +f 76 80 88 +f 81 76 88 +f 80 83 88 +f 76 81 89 +f 82 76 89 +f 81 84 89 +f 84 82 89 +f 78 82 90 +f 84 78 90 +f 82 84 90 +f 79 77 91 +f 85 79 91 +f 77 86 91 +f 86 85 91 +f 83 81 92 +f 81 88 92 +f 88 83 92 +f 83 80 93 +f 84 83 93 +f 77 84 93 +f 87 77 93 +o convex_4 +v -1.018238 0.429749 -1.065361 +v 0.317620 2.312101 1.090703 +v 0.135552 2.312101 1.090703 +v -1.078997 3.102083 -1.095753 +v 1.016345 1.644541 -1.065361 +v -1.109376 0.429749 1.060311 +v 1.016345 0.430010 0.999315 +v 0.955378 3.041134 1.060311 +v -1.109376 3.010790 1.060311 +v 0.955378 3.071477 -1.034970 +v 1.016345 0.430010 -1.065361 +v -1.078997 0.429749 -0.792055 +v -0.198204 0.429749 1.090703 +v 0.499896 2.555112 -1.095753 +v 1.016345 0.642677 1.029920 +v 0.560863 3.102083 -1.065361 +v -1.048617 1.795998 -1.095753 +v 0.985965 2.980185 -0.973974 +v -0.927100 0.551385 1.090703 +v -1.078997 3.102083 -0.761663 +v -1.109376 0.429749 0.574052 +v 0.955378 1.795998 1.060311 +v 0.165931 1.674885 -1.095753 +v -0.623307 2.251414 1.090703 +v -1.109376 3.010790 0.665226 +v 0.894827 3.010790 -1.065361 +v 0.955378 3.071477 -0.002525 +v -0.319722 3.102083 -1.095753 +v 0.712551 3.041134 1.060311 +v -1.078997 2.707092 -1.095753 +f 105 114 123 +f 96 95 101 +f 98 100 104 +f 94 99 105 +f 95 96 106 +f 99 94 106 +f 94 104 106 +f 104 100 106 +f 98 104 107 +f 100 98 108 +f 106 100 108 +f 97 107 110 +f 98 103 111 +f 108 98 111 +f 101 108 111 +f 102 99 112 +f 106 96 112 +f 99 106 112 +f 97 102 113 +f 109 97 113 +f 99 102 114 +f 105 99 114 +f 101 95 115 +f 95 106 115 +f 108 101 115 +f 106 108 115 +f 104 94 116 +f 107 104 116 +f 94 110 116 +f 110 107 116 +f 96 102 117 +f 112 96 117 +f 102 112 117 +f 102 97 118 +f 114 102 118 +f 97 114 118 +f 103 98 119 +f 98 107 119 +f 109 103 119 +f 103 109 120 +f 111 103 120 +f 101 111 120 +f 113 101 120 +f 109 113 120 +f 107 97 121 +f 97 109 121 +f 119 107 121 +f 109 119 121 +f 96 101 122 +f 102 96 122 +f 113 102 122 +f 101 113 122 +f 94 105 123 +f 110 94 123 +f 97 110 123 +f 114 97 123 +o convex_5 +v 0.834033 -2.849789 0.968927 +v 0.591215 -3.031976 -1.065386 +v 0.257043 -3.032119 -1.065174 +v 0.712516 -1.605012 -1.065386 +v -1.109376 -1.604870 1.090703 +v -0.957479 -2.971342 -0.913429 +v -1.109376 -3.032119 1.090703 +v 1.046471 -1.605012 0.968927 +v -0.987859 -1.604870 -1.004603 +v 1.107447 -3.062364 -1.065386 +v 1.076850 -2.940811 0.938746 +v 1.076850 -1.605012 -1.065386 +v -1.109376 -2.181961 -0.336418 +v 1.107447 -1.756954 0.270562 +v -0.957479 -2.090796 -1.034994 +v -0.562765 -1.726423 1.090703 +v 1.107447 -2.971200 0.635045 +v -1.109376 -1.604870 -0.397201 +v -0.927100 -2.971342 -1.004603 +v 1.107447 -3.062364 -0.791865 +v -0.775203 -2.971342 1.090703 +v 1.076850 -2.030163 0.968927 +v -1.109376 -3.032119 0.938746 +v 0.773274 -3.062364 -1.065386 +v -0.957479 -1.604870 -1.034994 +v -0.107075 -3.001588 1.029920 +v 1.107447 -2.363863 -1.065386 +v -1.109376 -2.333617 -0.306027 +v -0.441248 -3.001588 -1.034994 +v -0.957479 -2.849789 -1.004603 +v 0.712516 -2.971200 0.968927 +v -0.957479 -3.032119 1.090703 +v 1.107447 -1.756954 -0.214854 +v -0.562765 -1.604870 1.090703 +v 1.076850 -1.787342 0.968927 +f 157 145 158 +f 125 126 127 +f 125 127 133 +f 133 127 135 +f 130 128 136 +f 135 131 137 +f 128 130 139 +f 133 137 140 +f 128 132 141 +f 136 128 141 +f 132 136 141 +f 133 140 143 +f 139 130 144 +f 139 144 145 +f 124 134 145 +f 134 140 145 +f 144 124 145 +f 130 136 146 +f 129 142 146 +f 126 125 147 +f 125 133 147 +f 143 130 147 +f 133 143 147 +f 130 146 147 +f 127 126 148 +f 132 128 148 +f 135 127 148 +f 126 138 148 +f 138 132 148 +f 133 135 150 +f 137 133 150 +f 146 136 151 +f 129 146 151 +f 138 126 152 +f 142 138 152 +f 146 142 152 +f 147 146 152 +f 126 147 152 +f 136 132 153 +f 132 138 153 +f 142 129 153 +f 138 142 153 +f 129 151 153 +f 151 136 153 +f 134 124 154 +f 140 134 154 +f 143 140 154 +f 124 144 154 +f 149 143 154 +f 144 149 154 +f 130 143 155 +f 144 130 155 +f 143 149 155 +f 149 144 155 +f 135 137 156 +f 150 135 156 +f 137 150 156 +f 131 135 157 +f 128 139 157 +f 139 145 157 +f 148 128 157 +f 135 148 157 +f 137 131 158 +f 140 137 158 +f 145 140 158 +f 131 157 158 +o convex_6 +v 1.927391 -2.272953 0.240408 +v 2.990085 -1.726340 0.210038 +v 2.990085 -1.726340 0.027917 +v 1.107447 -1.756731 0.270779 +v 1.107447 -2.272953 -0.215097 +v 2.990085 -2.181833 -0.184727 +v 1.107447 -1.756731 -0.215097 +v 3.050963 -2.272953 0.301149 +v 2.959836 -1.726340 -0.184727 +v 1.107447 -2.242562 0.210038 +v 2.990085 -1.847851 0.301149 +v 2.777585 -2.151442 -0.215097 +v 2.595332 -2.272953 0.301149 +v 2.990085 -2.272953 0.149297 +v 2.352393 -1.726340 -0.154306 +v 1.289699 -2.242562 0.240408 +v 1.471951 -2.272953 -0.215097 +v 1.988459 -1.756731 -0.215097 +v 1.107447 -1.908633 0.270779 +v 2.990085 -1.756731 0.270779 +f 169 166 178 +f 163 162 165 +f 161 160 166 +f 159 163 166 +f 164 161 166 +f 160 161 167 +f 161 164 167 +f 163 159 168 +f 162 163 168 +f 163 165 170 +f 167 164 170 +f 159 166 171 +f 169 162 171 +f 166 169 171 +f 166 163 172 +f 164 166 172 +f 162 160 173 +f 165 162 173 +f 160 167 173 +f 167 165 173 +f 168 159 174 +f 159 171 174 +f 163 170 175 +f 170 164 175 +f 172 163 175 +f 164 172 175 +f 165 167 176 +f 170 165 176 +f 167 170 176 +f 162 168 177 +f 171 162 177 +f 168 174 177 +f 174 171 177 +f 160 162 178 +f 166 160 178 +f 162 169 178 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/583/583.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/583/583.urdf new file mode 100644 index 000000000..029036c59 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/583/583.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/584/584.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/584/584.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/584/584.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/584/584.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/584/584.obj new file mode 100644 index 000000000..f3c94403e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/584/584.obj @@ -0,0 +1,627 @@ +o convex_0 +v -0.574168 -3.518134 -0.296245 +v -0.606516 -4.516429 -0.360800 +v -0.606516 -4.516429 0.057646 +v 0.553026 -4.645205 -0.199800 +v 0.456208 -3.163713 0.508645 +v 0.456208 -3.163713 -0.554243 +v -0.574168 -3.163713 0.508645 +v 0.488556 -4.645205 0.540757 +v -0.574168 -4.516429 0.540757 +v -0.509812 -3.163713 -0.554243 +v 0.553026 -4.645205 -0.554243 +v -0.606516 -4.355316 -0.554243 +v 0.101853 -3.228245 0.573090 +v -0.348638 -4.162298 0.573090 +v 0.553026 -4.290928 -0.521911 +v 0.327496 -4.645205 0.540757 +v 0.488443 -3.872265 0.540757 +v -0.477464 -4.516429 -0.554243 +v -0.606516 -3.743490 -0.167578 +v 0.198671 -4.323122 0.573090 +v 0.488443 -3.357165 -0.554243 +v -0.219927 -3.228245 0.573090 +v -0.574168 -3.163713 -0.006357 +v 0.327269 -3.679102 0.573090 +v -0.445456 -4.548623 0.540757 +v -0.574168 -4.001185 0.540757 +v 0.488556 -4.645205 -0.489688 +f 18 11 27 +f 5 6 7 +f 7 6 10 +f 4 8 11 +f 10 6 11 +f 10 11 12 +f 2 3 12 +f 1 10 12 +f 5 7 13 +f 4 11 15 +f 11 8 16 +f 8 4 17 +f 4 15 17 +f 15 5 17 +f 12 11 18 +f 2 12 18 +f 3 7 19 +f 12 3 19 +f 1 12 19 +f 14 9 20 +f 13 14 20 +f 16 8 20 +f 6 5 21 +f 11 6 21 +f 5 15 21 +f 15 11 21 +f 13 7 22 +f 14 13 22 +f 10 1 23 +f 7 10 23 +f 1 19 23 +f 19 7 23 +f 5 13 24 +f 8 17 24 +f 17 5 24 +f 13 20 24 +f 20 8 24 +f 3 2 25 +f 9 3 25 +f 2 16 25 +f 20 9 25 +f 16 20 25 +f 7 3 26 +f 3 9 26 +f 9 14 26 +f 22 7 26 +f 14 22 26 +f 16 2 27 +f 11 16 27 +f 2 18 27 +o convex_1 +v 0.971630 1.860478 -1.004955 +v -1.089659 -2.454965 0.798197 +v -1.089659 -2.454965 1.024013 +v 1.068378 -2.519396 -0.553956 +v 1.003950 1.860970 1.056122 +v -1.025230 1.860970 -1.069595 +v -0.928482 -2.583828 -1.069384 +v -1.025230 1.860970 0.991482 +v 0.939310 -2.486935 1.088230 +v 0.456202 -3.163713 0.508374 +v 1.068378 -2.519396 -0.940527 +v -0.509803 -3.163713 -0.521848 +v 1.068378 1.860970 -0.972847 +v -0.703088 1.860478 1.055910 +v -0.574231 -3.163713 0.508374 +v 0.456202 -3.163713 -0.554167 +v 1.068378 1.184192 0.315300 +v -0.477483 -2.583828 -1.069595 +v -1.057339 1.828508 -0.747242 +v -0.026695 0.282150 1.088442 +v 0.713916 1.441919 -1.037064 +v 0.971630 -1.649815 1.088230 +v -1.089659 -0.297735 0.315300 +v -0.670768 -2.454965 1.055910 +v 1.036058 1.860970 0.927265 +v -0.960591 -1.552922 -1.069384 +v -0.864053 -0.168872 1.055910 +v 0.230808 -2.454965 1.088230 +v -1.057339 1.860970 0.089906 +v 0.971630 -1.585384 -0.972847 +v -1.089659 -1.488490 1.024013 +v -0.735197 1.860478 -1.069384 +v 0.971630 -0.200842 1.088230 +v -0.574231 -3.163713 -0.006631 +v 0.971630 -2.486935 0.894945 +v -0.992910 -2.551366 -0.392991 +v 1.068378 1.860970 0.282980 +v 0.713916 1.860478 -1.037064 +v -1.089659 -1.939512 0.637231 +v -0.477483 -3.163713 -0.554167 +v 0.552950 -2.486935 1.088230 +v 0.681807 1.055329 -1.037064 +v 1.068378 -0.490538 -0.972847 +v 0.359665 -2.551366 -1.004955 +v -1.025230 1.505859 -1.069595 +v 1.068378 -2.358071 -0.489528 +v -1.057339 0.411013 0.959373 +f 58 35 74 +f 32 33 35 +f 31 37 38 +f 33 32 40 +f 31 38 40 +f 32 35 41 +f 30 29 42 +f 37 36 42 +f 39 37 42 +f 38 37 43 +f 37 39 43 +f 31 40 44 +f 32 41 47 +f 47 36 49 +f 29 30 50 +f 30 42 51 +f 40 32 52 +f 49 44 52 +f 32 49 52 +f 41 35 54 +f 47 41 54 +f 30 51 54 +f 51 47 54 +f 47 51 55 +f 35 33 56 +f 33 46 56 +f 46 50 56 +f 50 30 58 +f 30 54 58 +f 54 35 58 +f 45 33 59 +f 32 47 60 +f 49 32 60 +f 47 49 60 +f 34 39 61 +f 42 29 61 +f 39 42 61 +f 37 31 62 +f 36 37 62 +f 49 36 62 +f 53 34 63 +f 61 29 63 +f 34 61 63 +f 44 40 64 +f 40 52 64 +f 52 44 64 +f 33 40 65 +f 40 28 65 +f 28 48 65 +f 48 45 65 +f 59 33 65 +f 45 59 65 +f 29 50 66 +f 50 46 66 +f 53 63 66 +f 63 29 66 +f 39 34 67 +f 43 39 67 +f 34 45 67 +f 45 43 67 +f 42 36 68 +f 36 47 68 +f 51 42 68 +f 47 55 68 +f 55 51 68 +f 45 48 69 +f 57 45 69 +f 57 69 70 +f 28 40 70 +f 40 38 70 +f 48 28 70 +f 38 57 70 +f 69 48 70 +f 38 43 71 +f 43 45 71 +f 57 38 71 +f 45 57 71 +f 33 45 72 +f 45 34 72 +f 46 33 72 +f 34 53 72 +f 66 46 72 +f 53 66 72 +f 31 44 73 +f 44 49 73 +f 62 31 73 +f 49 62 73 +f 35 56 74 +f 56 50 74 +f 50 58 74 +o convex_2 +v -0.348840 -3.743382 -3.034034 +v 0.327559 -3.582350 -0.554243 +v 0.327559 -3.711226 -0.554243 +v 0.327559 -3.324851 -2.969773 +v -0.316596 -3.324851 -0.618754 +v 0.230893 -3.872321 -3.098794 +v -0.252174 -3.807820 -0.618754 +v -0.348840 -3.228194 -2.937642 +v 0.230893 -3.324851 -0.554243 +v 0.327559 -3.292632 -2.261154 +v -0.123263 -3.807820 -0.554243 +v -0.187686 -3.228194 -2.422057 +v -0.348840 -3.775601 -2.905262 +v 0.327559 -3.743382 -0.812036 +v -0.316596 -3.421445 -0.554243 +v 0.166471 -3.292632 -0.844166 +v 0.327559 -3.485883 -2.841001 +v 0.134293 -3.872321 -3.098794 +v 0.134293 -3.260413 -2.937642 +v -0.348840 -3.228194 -2.518947 +v 0.230893 -3.872321 -2.841001 +v 0.134293 -3.775601 -3.098794 +v 0.263137 -3.324851 -0.715395 +v -0.348840 -3.292632 -2.969773 +f 96 75 98 +f 76 77 78 +f 77 76 83 +f 76 78 84 +f 77 83 85 +f 82 75 87 +f 78 77 88 +f 77 85 88 +f 83 79 89 +f 81 85 89 +f 85 83 89 +f 87 81 89 +f 79 83 90 +f 84 86 90 +f 80 78 91 +f 78 88 91 +f 88 80 91 +f 87 75 92 +f 81 87 92 +f 78 82 93 +f 84 78 93 +f 82 86 93 +f 86 84 93 +f 86 82 94 +f 82 87 94 +f 89 79 94 +f 87 89 94 +f 79 90 94 +f 90 86 94 +f 85 81 95 +f 80 88 95 +f 88 85 95 +f 92 80 95 +f 81 92 95 +f 78 80 96 +f 80 92 96 +f 92 75 96 +f 83 76 97 +f 76 84 97 +f 90 83 97 +f 84 90 97 +f 75 82 98 +f 82 78 98 +f 78 96 98 +o convex_3 +v -0.606412 1.957614 1.314022 +v 0.553026 3.020512 3.085431 +v 0.456330 3.020512 3.085431 +v 0.424099 2.923855 1.088442 +v 0.456217 1.989944 3.020924 +v -0.445367 2.988293 3.085431 +v 0.424099 1.957614 1.088442 +v -0.574180 1.893287 2.924358 +v -0.445367 2.891526 1.088442 +v -0.606412 2.086491 1.088442 +v 0.520794 2.955964 1.539406 +v 0.456217 2.054382 1.088442 +v -0.380903 2.923855 1.152949 +v -0.445367 2.762760 3.085431 +v 0.327403 1.957614 2.988670 +v 0.553026 2.923745 2.859851 +v 0.488562 2.923745 1.088442 +v -0.606412 1.989944 1.088442 +v -0.574180 1.989944 2.892105 +v 0.520794 2.698322 3.085431 +v -0.413135 1.925506 2.956416 +v -0.509830 1.893287 2.892105 +v -0.606412 2.054382 1.410587 +v 0.488562 2.537337 1.120695 +v 0.037543 1.957614 1.088442 +v 0.456330 3.020512 3.020924 +f 109 111 124 +f 100 101 104 +f 102 105 107 +f 107 105 108 +f 104 107 108 +f 105 102 110 +f 103 105 110 +f 102 107 111 +f 107 104 111 +f 109 102 111 +f 100 104 112 +f 104 106 112 +f 105 103 113 +f 103 106 113 +f 100 103 114 +f 109 100 114 +f 103 110 114 +f 102 109 115 +f 110 102 115 +f 108 105 116 +f 99 108 116 +f 106 104 117 +f 103 100 118 +f 100 112 118 +f 112 103 118 +f 106 103 119 +f 103 112 119 +f 112 106 119 +f 106 99 120 +f 105 113 120 +f 113 106 120 +f 99 106 121 +f 108 99 121 +f 104 108 121 +f 117 104 121 +f 106 117 121 +f 109 114 122 +f 114 110 122 +f 115 109 122 +f 110 115 122 +f 99 116 123 +f 116 105 123 +f 120 99 123 +f 105 120 123 +f 101 100 124 +f 104 101 124 +f 100 109 124 +f 111 104 124 +o convex_4 +v -0.928372 3.471177 -0.038740 +v 1.068343 2.473219 0.250660 +v 1.068343 1.861131 0.250660 +v 1.068343 2.794939 -1.004955 +v -1.025128 1.860970 -1.069595 +v -1.025128 1.860970 0.991693 +v 1.036091 3.471177 1.023802 +v -1.057380 3.406866 -1.069595 +v -0.992876 3.503333 0.959585 +v 1.068343 3.439022 -1.004955 +v 1.003839 1.861131 1.056122 +v 1.068343 1.861131 -0.972636 +v -0.541971 2.988035 1.088442 +v 0.520682 1.925604 -1.069595 +v -0.606475 1.990076 1.088442 +v 0.584978 3.084663 -1.069595 +v 0.488430 2.923723 1.088442 +v -1.057380 1.893448 0.057586 +v -0.413171 3.503333 0.540694 +v 0.875039 3.406866 1.056122 +v -1.057380 1.860970 -0.747453 +v 1.036091 3.471177 0.122015 +v 1.036091 2.344274 1.056122 +v 1.068343 3.439022 0.186443 +v -1.025128 3.439022 0.218763 +v 0.424134 1.957759 1.088442 +v 0.069778 3.503333 0.991693 +v 0.391882 3.439022 -1.005167 +v -0.896328 3.439022 0.991693 +v -0.703023 1.860970 1.056122 +v 0.424134 3.471177 -0.360882 +v -0.992876 3.503333 0.605123 +v -1.025128 2.183333 0.959585 +v 0.746239 1.860970 -1.037275 +v -1.057380 3.374549 -0.811881 +v 0.005482 3.116980 1.088442 +v -0.638727 3.406866 -1.069595 +v 1.036091 1.861131 0.927265 +f 135 158 162 +f 126 127 128 +f 126 128 134 +f 128 127 136 +f 129 132 138 +f 137 130 139 +f 134 128 140 +f 138 132 140 +f 128 138 140 +f 137 139 141 +f 129 130 145 +f 132 129 145 +f 130 142 145 +f 142 132 145 +f 131 134 146 +f 127 126 147 +f 126 131 147 +f 131 144 147 +f 144 141 147 +f 131 126 148 +f 126 134 148 +f 134 131 148 +f 133 132 149 +f 141 139 150 +f 135 147 150 +f 147 141 150 +f 143 133 151 +f 144 131 151 +f 131 146 151 +f 146 143 151 +f 132 125 152 +f 133 130 153 +f 130 137 153 +f 151 133 153 +f 144 151 153 +f 130 129 154 +f 139 130 154 +f 135 150 154 +f 150 139 154 +f 146 134 155 +f 143 146 155 +f 134 152 155 +f 155 152 156 +f 125 132 156 +f 132 133 156 +f 133 143 156 +f 152 125 156 +f 143 155 156 +f 130 133 157 +f 142 130 157 +f 133 149 157 +f 136 127 158 +f 128 136 158 +f 129 138 158 +f 138 128 158 +f 154 129 158 +f 135 154 158 +f 132 142 159 +f 149 132 159 +f 142 157 159 +f 157 149 159 +f 137 141 160 +f 141 144 160 +f 153 137 160 +f 144 153 160 +f 134 140 161 +f 140 132 161 +f 132 152 161 +f 152 134 161 +f 127 147 162 +f 147 135 162 +f 158 127 162 +o convex_5 +v 0.230912 -3.324842 2.956489 +v -0.187742 -3.904462 0.573090 +v -0.123330 -3.904462 0.573090 +v 0.134264 -3.228239 0.573090 +v -0.252212 -3.195991 3.117640 +v 0.295325 -3.840036 2.956489 +v 0.327559 -3.807789 0.573090 +v -0.219977 -3.711186 3.085260 +v -0.219977 -3.228239 0.573090 +v 0.198620 -3.195991 2.280001 +v 0.327559 -3.679008 0.573090 +v -0.252212 -3.195991 1.797293 +v 0.198620 -3.195991 2.988619 +v 0.327559 -3.840036 2.280001 +v -0.219977 -3.807789 1.925816 +v -0.187742 -3.195991 0.734241 +v -0.219977 -3.614582 0.573090 +v 0.198620 -3.292664 0.573090 +v -0.252212 -3.485871 2.988619 +v 0.230912 -3.840036 2.956489 +v 0.295325 -3.679008 2.956489 +v -0.091152 -3.357020 3.085260 +v 0.327559 -3.775611 2.247870 +f 183 176 185 +f 165 164 166 +f 164 165 168 +f 165 166 169 +f 166 164 171 +f 169 166 173 +f 167 172 174 +f 172 167 175 +f 173 172 175 +f 163 173 175 +f 168 165 176 +f 165 169 176 +f 169 173 176 +f 166 171 178 +f 172 166 178 +f 171 174 178 +f 174 172 178 +f 171 164 179 +f 174 171 179 +f 164 177 179 +f 166 172 180 +f 173 166 180 +f 172 173 180 +f 170 167 181 +f 167 174 181 +f 177 170 181 +f 174 179 181 +f 179 177 181 +f 164 168 182 +f 168 170 182 +f 177 164 182 +f 170 177 182 +f 163 175 183 +f 168 176 183 +f 167 170 184 +f 170 168 184 +f 175 167 184 +f 168 183 184 +f 183 175 184 +f 173 163 185 +f 176 173 185 +f 163 183 185 +o convex_6 +v -0.542006 2.730541 -1.102095 +v 0.585235 2.054385 -2.486498 +v 0.585235 2.022055 -2.486498 +v -0.542006 1.893290 -2.937453 +v 0.198523 3.020402 -3.034183 +v 0.520725 1.925399 -1.069787 +v 0.456331 2.988183 -1.069787 +v -0.606516 1.893290 -1.069787 +v -0.445298 3.020402 -3.001875 +v 0.585235 2.988183 -3.034183 +v 0.585235 2.022055 -3.001875 +v -0.509809 2.955964 -1.102095 +v 0.424134 1.893290 -1.102095 +v 0.585235 2.988183 -2.583227 +v -0.542006 2.183150 -2.905338 +v -0.477612 2.569447 -3.001875 +v -0.445298 3.020402 -2.518805 +v -0.380905 1.893290 -2.937453 +v -0.606516 1.957728 -1.585165 +v -0.477612 2.891526 -2.969760 +v -0.509809 2.923745 -1.069787 +v 0.520725 2.215369 -1.069787 +v 0.552922 1.957728 -1.520743 +v 0.134129 2.988183 -1.069787 +v 0.520725 1.925399 -1.553050 +v 0.488528 2.988183 -1.327476 +v -0.252117 1.925509 -2.969760 +v -0.026739 2.955964 -3.034183 +v -0.606516 2.086604 -1.198632 +v -0.574203 1.893290 -2.583227 +v 0.295230 2.054385 -3.001875 +f 201 213 216 +f 191 192 193 +f 187 188 195 +f 195 188 196 +f 191 193 198 +f 193 189 198 +f 187 195 199 +f 195 190 199 +f 192 190 202 +f 190 194 202 +f 194 197 202 +f 198 189 203 +f 200 204 205 +f 186 197 205 +f 197 194 205 +f 189 200 205 +f 194 201 205 +f 201 189 205 +f 193 192 206 +f 186 193 206 +f 197 186 206 +f 192 191 207 +f 199 207 208 +f 188 187 208 +f 196 188 208 +f 187 199 208 +f 207 191 208 +f 192 202 209 +f 202 197 209 +f 206 192 209 +f 197 206 209 +f 191 198 210 +f 203 196 210 +f 198 203 210 +f 196 208 210 +f 208 191 210 +f 190 192 211 +f 199 190 211 +f 192 207 211 +f 207 199 211 +f 189 201 212 +f 203 189 212 +f 196 203 212 +f 194 190 213 +f 190 195 213 +f 195 196 213 +f 201 194 213 +f 193 186 214 +f 204 193 214 +f 205 204 214 +f 186 205 214 +f 189 193 215 +f 200 189 215 +f 193 204 215 +f 204 200 215 +f 212 201 216 +f 196 212 216 +f 213 196 216 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/584/584.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/584/584.urdf new file mode 100644 index 000000000..214e8387e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/584/584.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/585/585.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/585/585.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/585/585.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/585/585.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/585/585.obj new file mode 100644 index 000000000..1f7c784e7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/585/585.obj @@ -0,0 +1,819 @@ +o convex_0 +v 0.500258 -1.369360 -1.258090 +v -0.011328 -2.181822 -1.378394 +v -0.011328 -2.151722 -1.799972 +v -0.402571 -1.158662 -1.258090 +v 0.018577 -1.429559 -2.913302 +v -0.372563 -1.640027 -2.732674 +v 0.259366 -1.941024 -2.582294 +v -0.402571 -2.001223 -1.258090 +v 0.379812 -1.218861 -2.070657 +v 0.409820 -2.031323 -1.258090 +v -0.071448 -1.218861 -2.732674 +v 0.108912 -1.008163 -1.258090 +v -0.041439 -2.031323 -2.702427 +v 0.349597 -1.670127 -2.762750 +v -0.523120 -1.609927 -1.288166 +v 0.500258 -1.640027 -1.980600 +v -0.372563 -1.248961 -2.100904 +v 0.349597 -2.031323 -2.040752 +v -0.342348 -2.001223 -1.950353 +v -0.041439 -1.640027 -3.003701 +v 0.048689 -1.218861 -2.732674 +v 0.440035 -1.158662 -1.438546 +v -0.041439 -1.008163 -1.288166 +v -0.462897 -1.640027 -2.130810 +v 0.530369 -1.700226 -1.258090 +v 0.349597 -1.580057 -2.762750 +v 0.018577 -2.031323 -2.732674 +v 0.048689 -2.181822 -1.258090 +v -0.312340 -1.369360 -2.612370 +v -0.282228 -1.910924 -2.491894 +v 0.259366 -1.309160 -2.612370 +v -0.312340 -1.098462 -1.288166 +v -0.462897 -1.519858 -2.010505 +v -0.372563 -1.580057 -2.732674 +v 0.409820 -1.248961 -2.040752 +v 0.409820 -1.128562 -1.258090 +v 0.018577 -1.188761 -2.642275 +v 0.018577 -1.640027 -3.003701 +v 0.530369 -1.580057 -1.559193 +v 0.078697 -2.121622 -2.010505 +v -0.523120 -1.549958 -1.258090 +v 0.379812 -2.061423 -1.498869 +v -0.252117 -2.091522 -1.288166 +v -0.041439 -1.279060 -2.823073 +v -0.041439 -2.001223 -2.762750 +v -0.462897 -1.700226 -1.980600 +v -0.071448 -2.121622 -1.950353 +v 0.470146 -1.730326 -2.010505 +v -0.041439 -1.580057 -3.003701 +v -0.402571 -1.309160 -2.040752 +v 0.409820 -2.031323 -1.378394 +f 48 25 51 +f 1 4 8 +f 1 8 10 +f 4 1 12 +f 7 14 18 +f 9 12 22 +f 4 12 23 +f 1 10 25 +f 16 14 26 +f 5 21 26 +f 3 13 27 +f 14 7 27 +f 7 18 27 +f 2 3 28 +f 10 8 28 +f 17 11 29 +f 19 6 30 +f 13 19 30 +f 21 9 31 +f 26 21 31 +f 11 17 32 +f 17 4 32 +f 4 23 32 +f 23 11 32 +f 24 33 34 +f 20 6 34 +f 6 24 34 +f 17 29 34 +f 9 22 35 +f 16 26 35 +f 31 9 35 +f 26 31 35 +f 12 1 36 +f 22 12 36 +f 1 22 36 +f 12 9 37 +f 21 11 37 +f 9 21 37 +f 23 12 37 +f 11 23 37 +f 26 14 38 +f 5 26 38 +f 14 27 38 +f 22 1 39 +f 1 25 39 +f 25 16 39 +f 35 22 39 +f 16 35 39 +f 3 27 40 +f 27 18 40 +f 28 3 40 +f 8 4 41 +f 15 8 41 +f 24 15 41 +f 33 24 41 +f 10 28 42 +f 40 18 42 +f 28 40 42 +f 8 19 43 +f 2 28 43 +f 28 8 43 +f 21 5 44 +f 11 21 44 +f 29 11 44 +f 34 29 44 +f 6 20 45 +f 27 13 45 +f 30 6 45 +f 13 30 45 +f 20 38 45 +f 38 27 45 +f 8 15 46 +f 19 8 46 +f 6 19 46 +f 15 24 46 +f 24 6 46 +f 3 2 47 +f 13 3 47 +f 19 13 47 +f 2 43 47 +f 43 19 47 +f 14 16 48 +f 18 14 48 +f 16 25 48 +f 20 34 49 +f 5 38 49 +f 38 20 49 +f 44 5 49 +f 34 44 49 +f 4 17 50 +f 34 33 50 +f 17 34 50 +f 41 4 50 +f 33 41 50 +f 25 10 51 +f 10 42 51 +f 42 18 51 +f 18 48 51 +o convex_1 +v -0.402565 1.038725 -1.257919 +v 0.319509 -0.315755 -1.408632 +v 0.379835 -0.315755 -1.408632 +v -0.011537 0.376788 -3.033801 +v -0.492882 -0.225380 -1.257919 +v 0.409941 0.918176 -1.258092 +v 0.440047 0.346470 -2.672575 +v -0.402565 0.406673 -2.762621 +v 0.018568 -0.074946 -2.732721 +v 0.018568 0.767742 -2.732721 +v 0.560469 0.135834 -1.258092 +v -0.613419 0.496904 -1.288339 +v -0.011537 1.159130 -1.288339 +v 0.500258 -0.285438 -1.258092 +v -0.432671 0.767742 -2.070764 +v 0.319509 0.015430 -2.582008 +v -0.312363 0.135834 -2.672575 +v 0.319509 0.647338 -2.551935 +v 0.530248 0.346470 -2.010443 +v -0.553093 0.376788 -1.950297 +v -0.041528 -0.315755 -1.288339 +v -0.101739 0.737569 -2.732721 +v -0.492882 0.978523 -1.348312 +v 0.349730 0.346470 -2.822767 +v 0.409941 0.888147 -1.468779 +v 0.560469 0.376499 -1.258092 +v 0.048674 0.015430 -2.853014 +v -0.402565 0.346470 -2.762621 +v -0.613419 0.316441 -1.257919 +v -0.282258 0.677511 -2.642502 +v 0.470152 -0.285438 -1.438532 +v 0.409941 0.256239 -2.732548 +v -0.492882 -0.225380 -1.288339 +v 0.530248 0.256239 -2.010443 +v -0.071633 1.159130 -1.288339 +v -0.553093 0.436702 -1.950297 +v -0.041528 -0.044773 -2.762621 +v -0.342354 0.346470 -2.853014 +v 0.108885 0.376788 -3.003554 +v 0.108885 -0.044773 -2.762621 +v 0.018568 0.707540 -2.822767 +v -0.522987 -0.014744 -1.529099 +v -0.252152 0.045459 -2.612255 +v 0.440047 0.857974 -1.318239 +v -0.372574 0.406673 -2.822767 +v -0.011537 0.256239 -3.003554 +v 0.409941 0.376499 -2.762794 +v 0.168981 0.707540 -2.672575 +v -0.041528 0.767742 -2.732721 +v -0.252152 1.098927 -1.288339 +v 0.229308 1.038725 -1.288339 +v 0.500258 -0.285438 -1.318239 +v 0.409941 0.767742 -1.830004 +v 0.108885 0.316441 -3.003554 +v -0.011537 1.159130 -1.257919 +v -0.522987 0.888003 -1.257919 +v 0.349730 -0.014744 -2.461715 +v -0.041528 0.737569 -2.792694 +v -0.342354 -0.225380 -1.499026 +v -0.613419 0.376788 -1.438705 +v 0.560469 0.346470 -1.498852 +f 95 77 112 +f 54 53 60 +f 53 54 72 +f 60 53 72 +f 54 65 72 +f 65 56 72 +f 71 59 79 +f 56 52 80 +f 59 66 81 +f 66 74 81 +f 72 56 84 +f 79 68 84 +f 56 80 84 +f 58 70 85 +f 83 58 85 +f 64 61 86 +f 66 59 87 +f 59 71 87 +f 74 66 87 +f 63 74 87 +f 78 60 88 +f 60 84 88 +f 68 79 89 +f 88 68 89 +f 54 60 91 +f 60 78 91 +f 82 54 91 +f 83 67 91 +f 78 83 91 +f 90 55 92 +f 71 79 93 +f 79 84 93 +f 84 80 93 +f 84 68 94 +f 68 88 94 +f 88 84 94 +f 76 57 95 +f 57 77 95 +f 79 59 96 +f 59 81 96 +f 55 89 96 +f 89 79 96 +f 78 88 97 +f 89 55 97 +f 88 89 97 +f 58 83 98 +f 83 75 98 +f 75 90 98 +f 90 92 98 +f 98 92 99 +f 76 69 99 +f 92 61 99 +f 69 98 99 +f 73 81 100 +f 81 74 100 +f 86 61 100 +f 74 52 101 +f 52 86 101 +f 100 74 101 +f 86 100 101 +f 61 64 102 +f 57 76 102 +f 99 61 102 +f 76 99 102 +f 65 54 103 +f 62 65 103 +f 54 82 103 +f 85 62 103 +f 83 85 103 +f 70 58 104 +f 69 76 104 +f 76 95 104 +f 95 70 104 +f 58 98 104 +f 98 69 104 +f 75 83 105 +f 83 78 105 +f 55 90 105 +f 90 75 105 +f 78 97 105 +f 97 55 105 +f 52 56 106 +f 56 65 106 +f 65 62 106 +f 77 57 106 +f 62 77 106 +f 86 52 106 +f 64 86 106 +f 57 102 106 +f 102 64 106 +f 52 74 107 +f 74 63 107 +f 80 52 107 +f 63 80 107 +f 67 83 108 +f 82 91 108 +f 91 67 108 +f 103 82 108 +f 83 103 108 +f 81 73 109 +f 61 92 109 +f 92 55 109 +f 96 81 109 +f 55 96 109 +f 73 100 109 +f 100 61 109 +f 60 72 110 +f 84 60 110 +f 72 84 110 +f 80 63 111 +f 87 71 111 +f 63 87 111 +f 71 93 111 +f 93 80 111 +f 77 62 112 +f 62 85 112 +f 85 70 112 +f 70 95 112 +o convex_2 +v 0.048687 -2.723731 -0.053837 +v 0.018634 1.279269 1.330655 +v -0.011418 1.279269 1.330655 +v -0.071523 3.055375 -0.896593 +v -1.034800 -0.074899 0.036368 +v 1.011964 1.549742 0.036368 +v 0.379864 -2.061373 -1.257919 +v 0.470021 -2.061373 1.330655 +v -0.884138 -2.211636 -0.896339 +v -0.854085 -2.180982 0.939176 +v -0.703623 2.844406 0.788666 +v 0.801197 2.813753 0.818565 +v -0.824033 2.783700 -0.776235 +v 0.861302 2.994669 -0.775982 +v 0.801197 -2.211636 -0.775982 +v -0.492856 1.038248 -1.257919 +v 0.831250 -2.180982 0.909024 +v -0.011418 3.416607 0.638156 +v -0.553161 -1.670089 1.330655 +v 0.590430 0.346438 -1.257919 +v -0.553161 3.416006 -0.475215 +v 0.560378 0.526152 1.330655 +v 0.770945 3.385953 0.126320 +v -0.944443 0.435995 0.818819 +v -0.914390 2.693542 0.066267 +v -1.004547 0.466648 -0.776235 +v -0.462804 -2.663025 0.577850 +v 0.951659 0.106018 -0.746082 +v -0.553161 0.466047 1.330655 +v -0.523109 -1.639435 -1.257919 +v -0.101575 -2.602920 -0.926745 +v 0.590430 -2.693077 0.186625 +v 0.951659 -0.104350 0.818819 +v 0.921607 -1.790299 0.006469 +v -0.011418 3.115480 0.909024 +v 0.018634 -2.602920 0.939176 +v -0.643318 0.466047 -1.257919 +v -0.643318 -2.663025 -0.053837 +v 0.981712 2.633437 0.096420 +v 0.379864 1.008195 -1.257919 +v -0.643318 3.416006 0.036368 +v -0.974495 -1.850404 0.006215 +v -0.041470 3.385953 -0.715930 +v 1.011964 -0.135004 0.066267 +v -0.312342 -2.090824 1.330655 +v 0.409916 -2.723731 -0.445062 +v 0.560378 -1.640036 -1.227766 +v -0.402699 -2.030719 -1.257919 +v -0.402699 1.067699 1.330655 +v 0.500073 3.416607 0.517798 +v -1.034800 0.677016 0.036368 +v 0.439968 1.038248 1.330655 +v 0.951659 0.526753 0.818819 +v 0.439968 -2.693077 0.547951 +v -0.733676 2.723595 0.818819 +v -0.432752 3.416006 0.487646 +v 0.770945 -2.241688 -0.866187 +v -0.884138 -2.030719 0.909024 +v -0.492856 -2.663025 -0.475215 +v 0.891555 2.603385 -0.775982 +v 0.560378 -1.670089 1.300502 +v 0.139044 3.085428 0.909024 +v 0.861302 -2.120877 0.758513 +v -0.914390 2.693542 -0.113889 +f 138 163 176 +f 114 115 120 +f 125 116 128 +f 120 115 131 +f 119 128 132 +f 114 120 134 +f 131 115 141 +f 128 119 142 +f 127 140 146 +f 115 114 147 +f 122 139 148 +f 125 128 149 +f 121 138 149 +f 138 125 149 +f 142 121 149 +f 128 142 149 +f 122 121 150 +f 113 139 150 +f 139 122 150 +f 135 124 151 +f 126 135 151 +f 116 126 152 +f 128 116 152 +f 126 132 152 +f 132 128 152 +f 133 125 153 +f 130 133 153 +f 137 123 153 +f 121 122 154 +f 117 138 154 +f 138 121 154 +f 116 125 155 +f 126 116 155 +f 125 133 155 +f 135 126 155 +f 140 118 156 +f 146 140 156 +f 120 131 157 +f 131 122 157 +f 148 120 157 +f 122 148 157 +f 119 132 159 +f 132 140 159 +f 142 119 160 +f 121 142 160 +f 119 143 160 +f 143 121 160 +f 141 115 161 +f 115 147 161 +f 133 130 162 +f 124 135 162 +f 155 133 162 +f 135 155 162 +f 117 136 163 +f 136 137 163 +f 138 117 163 +f 114 134 164 +f 134 124 164 +f 124 134 165 +f 134 145 165 +f 118 151 165 +f 151 124 165 +f 156 118 165 +f 145 156 165 +f 129 120 166 +f 139 113 166 +f 144 129 166 +f 120 148 166 +f 148 139 166 +f 158 144 166 +f 113 158 166 +f 123 137 167 +f 137 136 167 +f 136 141 167 +f 147 123 167 +f 141 161 167 +f 161 147 167 +f 123 147 168 +f 147 130 168 +f 153 123 168 +f 130 153 168 +f 140 127 169 +f 143 119 169 +f 127 144 169 +f 158 143 169 +f 144 158 169 +f 119 159 169 +f 159 140 169 +f 122 131 170 +f 136 117 170 +f 131 141 170 +f 141 136 170 +f 117 154 170 +f 154 122 170 +f 121 143 171 +f 150 121 171 +f 113 150 171 +f 143 158 171 +f 158 113 171 +f 132 126 172 +f 118 140 172 +f 140 132 172 +f 151 118 172 +f 126 151 172 +f 120 129 173 +f 134 120 173 +f 145 134 173 +f 129 145 173 +f 147 114 174 +f 130 147 174 +f 162 130 174 +f 124 162 174 +f 114 164 174 +f 164 124 174 +f 129 144 175 +f 144 127 175 +f 145 129 175 +f 127 146 175 +f 156 145 175 +f 146 156 175 +f 125 138 176 +f 153 125 176 +f 137 153 176 +f 163 137 176 +o convex_3 +v -0.071462 -1.609986 3.016073 +v -0.041339 -2.181825 1.330820 +v 0.500240 -1.760447 1.330655 +v -0.402604 -1.158718 1.330820 +v 0.379748 -1.248949 1.932720 +v 0.319502 -1.941021 2.624706 +v -0.402604 -2.001138 2.083195 +v -0.342358 -1.339292 2.594677 +v -0.553220 -1.670103 1.330820 +v -0.011428 -1.038148 1.330820 +v -0.011428 -1.248949 2.805375 +v 0.409871 -1.609986 2.805375 +v -0.041339 -2.031253 2.775181 +v -0.462850 -1.639989 2.684929 +v 0.470117 -2.061367 1.421072 +v 0.530363 -1.549870 1.330655 +v -0.432727 -2.031253 1.330820 +v -0.432727 -1.248949 2.053166 +v 0.530363 -1.670215 2.113224 +v 0.048606 -2.151710 2.022972 +v 0.349625 -1.188832 1.330820 +v -0.553220 -1.639989 2.053166 +v 0.409871 -2.031253 2.143418 +v 0.289485 -1.339292 2.594677 +v 0.409871 -1.700218 2.805375 +v -0.553220 -1.519867 1.330820 +v -0.432727 -1.639989 2.775181 +v -0.342358 -1.941021 2.504261 +v -0.071462 -1.038148 1.390878 +v 0.048606 -1.670103 3.016073 +v 0.409871 -2.091481 1.330820 +v -0.041339 -2.151710 1.962914 +v 0.018589 -2.031253 2.775181 +v -0.071462 -1.248949 2.775181 +v 0.530363 -1.760447 1.330655 +v -0.432727 -2.031253 1.571547 +v 0.108852 -2.181825 1.360849 +v 0.439994 -2.061367 1.812274 +v -0.462850 -1.279064 1.932720 +v 0.500240 -1.549870 2.083195 +v -0.041339 -1.700218 3.016073 +v 0.018589 -1.580096 3.016073 +v 0.379748 -1.279064 2.113389 +v -0.523097 -1.760447 1.992943 +v -0.553220 -1.580096 2.022972 +v -0.011428 -1.038148 1.390878 +v -0.432727 -1.549981 2.714958 +v 0.530363 -1.730332 2.022972 +v -0.041339 -2.061367 2.654735 +v -0.432727 -1.188832 1.571547 +v 0.018589 -1.218947 2.594677 +v -0.372481 -1.850678 2.624706 +f 204 189 228 +f 180 186 192 +f 179 178 193 +f 185 179 193 +f 192 186 197 +f 181 192 197 +f 187 188 200 +f 195 188 201 +f 182 199 201 +f 179 185 202 +f 192 179 202 +f 180 192 202 +f 185 198 202 +f 186 180 205 +f 201 188 206 +f 178 196 208 +f 199 182 209 +f 196 199 209 +f 182 201 209 +f 201 206 209 +f 177 187 210 +f 194 184 210 +f 203 177 210 +f 187 205 210 +f 205 194 210 +f 178 179 211 +f 179 192 211 +f 192 195 211 +f 207 178 211 +f 191 207 211 +f 193 178 212 +f 208 183 212 +f 178 208 212 +f 196 178 213 +f 178 207 213 +f 213 207 214 +f 199 196 214 +f 207 191 214 +f 196 213 214 +f 192 181 216 +f 188 195 216 +f 195 192 216 +f 177 203 217 +f 203 189 217 +f 206 177 217 +f 189 209 217 +f 209 206 217 +f 187 177 218 +f 188 187 218 +f 177 206 218 +f 206 188 218 +f 187 200 219 +f 200 188 219 +f 216 181 219 +f 188 216 219 +f 183 190 220 +f 185 193 220 +f 198 185 220 +f 190 198 220 +f 193 212 220 +f 212 183 220 +f 198 190 221 +f 202 198 221 +f 215 202 221 +f 181 197 222 +f 197 186 222 +f 186 205 222 +f 205 187 222 +f 184 194 223 +f 190 203 223 +f 210 184 223 +f 203 210 223 +f 194 215 223 +f 221 190 223 +f 215 221 223 +f 195 201 224 +f 201 199 224 +f 191 211 224 +f 211 195 224 +f 214 191 224 +f 199 214 224 +f 204 183 225 +f 189 204 225 +f 183 208 225 +f 208 196 225 +f 209 189 225 +f 196 209 225 +f 180 202 226 +f 205 180 226 +f 194 205 226 +f 215 194 226 +f 202 215 226 +f 219 181 227 +f 187 219 227 +f 181 222 227 +f 222 187 227 +f 190 183 228 +f 189 203 228 +f 203 190 228 +f 183 204 228 +o convex_4 +v 0.440008 0.767804 1.872662 +v -0.402671 -0.285656 1.330820 +v 0.440008 -0.165004 1.330655 +v 0.018560 0.376826 3.016073 +v -0.402671 1.038719 1.330820 +v -0.402671 0.376826 2.654735 +v 0.048647 1.219329 1.330820 +v -0.011419 0.797857 2.775181 +v -0.041507 0.015459 2.745152 +v 0.379723 0.376826 2.775181 +v 0.560469 0.466837 1.330655 +v -0.553220 0.436931 1.330820 +v 0.409920 1.038719 1.360849 +v 0.440008 -0.195203 1.421072 +v 0.289460 0.707552 2.624706 +v -0.462847 -0.255456 1.390878 +v -0.312298 0.647299 2.624706 +v 0.500184 0.406732 2.113224 +v -0.492935 0.406879 2.113389 +v 0.259372 0.105911 2.594677 +v -0.372474 0.376826 2.775181 +v -0.282211 0.105911 2.594677 +v 0.139020 -0.255456 1.360849 +v -0.041507 1.219329 1.360849 +v 0.018560 0.015459 2.745152 +v 0.470096 -0.165004 1.391043 +v -0.402671 0.767804 2.053166 +v 0.108823 0.767804 2.745152 +v 0.379723 0.436931 2.775181 +v 0.048647 1.219329 1.390878 +v -0.372474 0.436931 2.775181 +v -0.432650 0.948414 1.451101 +v -0.553220 0.286521 1.390878 +v -0.011419 0.436931 3.016073 +v 0.560469 0.436784 1.481295 +v -0.402671 1.038719 1.360849 +v 0.440008 0.978467 1.330655 +v 0.409920 0.858109 1.902691 +v -0.492935 0.075712 1.722022 +v -0.252123 0.707552 2.624706 +v 0.409920 -0.225403 1.360849 +v -0.372474 -0.285656 1.360849 +v 0.500184 -0.044646 1.360849 +v -0.492935 -0.134951 1.330820 +v 0.500184 0.466837 2.053166 +v 0.048647 0.767804 2.805375 +v -0.071486 0.376826 2.985879 +v -0.372474 0.316574 2.714958 +v -0.492935 0.526942 1.902691 +v 0.078844 0.436931 2.985879 +f 274 262 278 +f 244 237 250 +f 235 233 252 +f 232 237 253 +f 238 232 253 +f 248 238 253 +f 242 248 253 +f 246 238 254 +f 238 248 254 +f 248 242 254 +f 243 241 256 +f 238 246 257 +f 241 235 258 +f 235 252 258 +f 252 236 258 +f 236 256 258 +f 256 241 258 +f 247 234 259 +f 234 249 259 +f 245 255 259 +f 255 247 259 +f 233 240 260 +f 247 240 261 +f 236 259 262 +f 252 233 264 +f 236 252 264 +f 255 245 264 +f 233 260 264 +f 260 255 264 +f 233 235 265 +f 239 231 265 +f 231 240 265 +f 240 233 265 +f 235 241 265 +f 263 239 265 +f 241 243 266 +f 243 257 266 +f 265 241 266 +f 229 265 266 +f 244 234 267 +f 234 247 267 +f 247 261 267 +f 259 236 268 +f 245 259 268 +f 236 264 268 +f 264 245 268 +f 230 231 269 +f 251 230 269 +f 242 253 269 +f 253 251 269 +f 231 254 269 +f 254 242 269 +f 244 230 270 +f 237 244 270 +f 230 251 270 +f 253 237 270 +f 251 253 270 +f 231 239 271 +f 254 231 271 +f 246 254 271 +f 239 263 271 +f 263 246 271 +f 231 230 272 +f 240 231 272 +f 230 244 272 +f 261 240 272 +f 244 267 272 +f 267 261 272 +f 257 246 273 +f 246 263 273 +f 265 229 273 +f 263 265 273 +f 229 266 273 +f 266 257 273 +f 256 236 274 +f 243 256 274 +f 257 243 274 +f 236 262 274 +f 237 232 275 +f 249 237 275 +f 259 249 275 +f 232 262 275 +f 262 259 275 +f 234 244 276 +f 237 249 276 +f 249 234 276 +f 250 237 276 +f 244 250 276 +f 240 247 277 +f 247 255 277 +f 260 240 277 +f 255 260 277 +f 232 238 278 +f 238 257 278 +f 262 232 278 +f 257 274 278 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/585/585.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/585/585.urdf new file mode 100644 index 000000000..dcd36b30a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/585/585.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/586/586.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/586/586.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/586/586.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/586/586.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/586/586.obj new file mode 100644 index 000000000..178b5aee4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/586/586.obj @@ -0,0 +1,1152 @@ +o convex_0 +v 0.506883 -2.185974 0.933585 +v -0.000853 -2.931439 -1.064752 +v -0.000853 -2.863685 -1.064752 +v -1.186525 -2.185974 0.086603 +v -0.034750 -3.743795 0.628607 +v 1.014858 -2.185974 -0.827524 +v 0.811716 -3.676041 -0.082470 +v -0.746105 -3.710005 -0.150221 +v -0.881454 -2.185974 -0.827524 +v -0.915351 -2.253728 0.797882 +v 0.947064 -2.220110 0.831858 +v 0.066702 -3.710005 -0.827524 +v 1.252136 -2.185974 0.019054 +v -0.034750 -2.999193 0.967157 +v 0.100599 -3.947229 -0.082470 +v 0.777819 -2.965057 0.730131 +v -0.746105 -2.965057 0.730131 +v 0.811716 -2.965057 -0.827524 +v -0.712208 -2.999193 -0.793750 +v 0.269844 -2.185974 -1.030775 +v -0.068647 -2.185974 1.001336 +v -0.746105 -3.710005 -0.014922 +v 0.506883 -3.540706 0.560654 +v -1.186525 -2.220110 -0.082268 +v 1.252136 -2.287691 -0.014922 +v 0.642232 -3.506916 -0.624272 +v 0.811716 -2.220110 -0.963025 +v -0.542963 -3.540706 0.527082 +v -0.509066 -3.540706 -0.658249 +v 0.032805 -3.710005 0.696155 +v -0.780002 -2.185974 0.865632 +v 0.100599 -2.965057 -1.064752 +v -0.034750 -3.947229 -0.116042 +v -0.068647 -2.185974 -1.030775 +v 0.100599 -2.931439 0.967359 +v -0.000853 -3.710005 -0.827524 +v -1.152628 -2.389408 0.052828 +v 0.811716 -3.676041 -0.048494 +v 1.218239 -2.355445 -0.116244 +v -0.034750 -3.574325 0.764108 +v 0.066702 -3.676041 -0.861500 +v -0.780002 -3.676041 -0.048494 +v 0.947064 -2.389408 -0.895274 +v 0.743922 -3.710005 -0.015124 +v -0.780002 -2.965057 0.662381 +v 0.743922 -3.710005 -0.116244 +v -0.881454 -2.355445 -0.793750 +v -0.170337 -3.913094 -0.048494 +v -0.170337 -2.795759 0.967157 +v 0.777819 -2.931439 -0.861500 +v -0.780002 -2.965057 -0.658249 +v 0.608335 -3.540706 0.459332 +v 0.710025 -2.965057 0.763905 +v 0.845612 -2.185974 0.865835 +v -0.678312 -2.287691 -0.895072 +v 0.066702 -3.947229 -0.015124 +v -0.881454 -3.337445 -0.082268 +v 0.032805 -3.574325 0.763905 +v 0.913167 -2.931439 -0.556522 +v 0.032805 -2.457162 1.001336 +v -0.000853 -3.642251 -0.861500 +f 41 36 61 +f 4 1 6 +f 4 6 9 +f 6 1 13 +f 9 6 20 +f 1 4 21 +f 4 9 24 +f 6 13 25 +f 13 11 25 +f 11 16 25 +f 18 7 26 +f 20 6 27 +f 22 5 28 +f 17 22 28 +f 8 19 29 +f 28 5 30 +f 4 10 31 +f 10 17 31 +f 21 4 31 +f 2 3 32 +f 3 20 32 +f 20 27 32 +f 12 15 33 +f 20 3 34 +f 9 20 34 +f 8 29 36 +f 33 8 36 +f 12 33 36 +f 10 4 37 +f 4 24 37 +f 7 25 38 +f 25 16 38 +f 6 25 39 +f 25 7 39 +f 14 17 40 +f 17 28 40 +f 28 30 40 +f 26 12 41 +f 18 26 41 +f 2 32 41 +f 12 36 41 +f 8 22 42 +f 22 17 42 +f 27 6 43 +f 32 27 43 +f 6 39 43 +f 7 38 44 +f 17 10 45 +f 10 37 45 +f 42 17 45 +f 37 42 45 +f 15 12 46 +f 26 7 46 +f 12 26 46 +f 7 44 46 +f 44 15 46 +f 9 19 47 +f 24 9 47 +f 22 8 48 +f 5 22 48 +f 8 33 48 +f 17 14 49 +f 31 17 49 +f 21 31 49 +f 18 41 50 +f 41 32 50 +f 43 18 50 +f 32 43 50 +f 19 8 51 +f 47 19 51 +f 24 47 51 +f 16 23 52 +f 23 30 52 +f 38 16 52 +f 30 44 52 +f 44 38 52 +f 16 11 53 +f 23 16 53 +f 30 23 53 +f 11 35 53 +f 13 1 54 +f 11 13 54 +f 1 35 54 +f 35 11 54 +f 3 2 55 +f 2 19 55 +f 19 9 55 +f 34 3 55 +f 9 34 55 +f 30 5 56 +f 33 15 56 +f 15 44 56 +f 44 30 56 +f 5 48 56 +f 48 33 56 +f 37 24 57 +f 8 42 57 +f 42 37 57 +f 51 8 57 +f 24 51 57 +f 35 14 58 +f 14 40 58 +f 40 30 58 +f 30 53 58 +f 53 35 58 +f 7 18 59 +f 39 7 59 +f 18 43 59 +f 43 39 59 +f 1 21 60 +f 35 1 60 +f 14 35 60 +f 49 14 60 +f 21 49 60 +f 19 2 61 +f 29 19 61 +f 36 29 61 +f 2 41 61 +o convex_1 +v -0.847580 2.657324 -0.827554 +v 0.981173 2.657324 0.120602 +v 0.845616 2.657324 0.798061 +v 0.981173 1.099596 0.086705 +v -0.779899 1.099596 0.831719 +v 0.066699 1.099596 -1.030696 +v -0.813740 2.657324 0.933410 +v 0.743899 2.657324 -0.929244 +v -1.017174 1.133602 0.018673 +v 0.066699 1.099596 1.035100 +v -0.068663 2.657324 -1.267973 +v -0.712218 1.099596 -0.793657 +v 0.777739 1.099596 -0.793657 +v -0.102699 2.657324 1.170687 +v 0.743899 1.099596 0.763925 +v -1.017174 2.657324 0.086467 +v 0.879456 2.657324 -0.691966 +v -0.881421 2.115360 0.899513 +v 0.710058 2.623318 0.933410 +v 0.981173 1.235163 -0.183992 +v 0.032663 2.623318 -1.267973 +v -0.441299 2.623318 -1.132386 +v -0.136540 1.099596 1.035100 +v -0.915457 2.657324 0.831719 +v 0.032663 2.623318 1.170687 +v -0.779899 1.709268 -0.827554 +v -0.034823 1.099596 -1.030696 +v -1.017174 2.657324 -0.048643 +v 0.981173 2.589464 -0.116198 +v 0.371458 2.623318 -1.132386 +v 0.811580 1.743121 -0.827554 +v -0.983138 1.099596 0.188157 +v -0.373618 2.623318 1.102894 +v 0.845616 2.487903 0.798061 +v -0.881421 2.623318 -0.725863 +v -0.779899 1.099596 -0.691966 +v -0.373618 2.623318 -1.166283 +v 0.710058 1.099596 -0.827554 +v 0.981173 1.133602 0.120602 +v -1.017174 1.946091 0.154260 +v 0.608341 1.133602 0.831958 +v -0.983138 1.167456 -0.116198 +v 0.845616 1.099596 -0.624411 +v 0.202060 1.099596 -0.996799 +v -1.017174 1.743121 -0.048643 +f 89 96 106 +f 64 63 62 +f 65 66 67 +f 64 62 68 +f 62 63 69 +f 66 65 71 +f 62 69 72 +f 67 66 73 +f 65 67 74 +f 64 68 75 +f 71 65 76 +f 68 62 77 +f 69 63 78 +f 64 75 80 +f 63 65 81 +f 62 72 83 +f 66 71 84 +f 79 66 84 +f 68 77 85 +f 79 68 85 +f 80 75 86 +f 71 80 86 +f 84 71 86 +f 75 84 86 +f 62 83 87 +f 83 73 87 +f 67 73 88 +f 82 67 88 +f 72 82 88 +f 77 62 89 +f 70 77 89 +f 78 63 90 +f 63 81 90 +f 81 78 90 +f 72 69 91 +f 82 72 91 +f 69 78 92 +f 78 81 92 +f 91 69 92 +f 74 91 92 +f 73 66 93 +f 66 79 93 +f 85 70 93 +f 79 85 93 +f 75 68 94 +f 68 79 94 +f 84 75 94 +f 79 84 94 +f 63 64 95 +f 64 80 95 +f 80 76 95 +f 62 87 96 +f 89 62 96 +f 87 73 97 +f 73 93 97 +f 93 70 97 +f 83 72 98 +f 73 83 98 +f 88 73 98 +f 72 88 98 +f 74 67 99 +f 91 74 99 +f 82 91 99 +f 65 63 100 +f 76 65 100 +f 63 95 100 +f 95 76 100 +f 77 70 101 +f 85 77 101 +f 70 85 101 +f 71 76 102 +f 80 71 102 +f 76 80 102 +f 96 87 103 +f 70 96 103 +f 87 97 103 +f 97 70 103 +f 65 74 104 +f 81 65 104 +f 74 92 104 +f 92 81 104 +f 67 82 105 +f 99 67 105 +f 82 99 105 +f 70 89 106 +f 96 70 106 +o convex_2 +v 0.202095 0.523721 1.035159 +v -0.136442 0.320427 -1.030881 +v -0.339564 0.320427 -0.996965 +v -0.034881 1.099443 -1.030881 +v 1.252049 0.320427 -0.048531 +v -0.949175 0.320427 0.899698 +v 0.608584 1.099443 0.831865 +v -1.016882 1.099443 0.052808 +v 0.777853 1.099443 -0.793670 +v -0.915321 0.320427 -0.827381 +v -0.779907 1.099443 0.831865 +v 0.947121 0.320427 -0.895215 +v 0.913267 0.320427 0.865576 +v 1.014828 1.099443 0.019097 +v -1.254103 0.354360 0.052808 +v -0.746053 1.099443 -0.759548 +v 0.066435 1.099443 1.035159 +v -0.034881 0.320427 1.069076 +v 0.777853 1.065510 0.730320 +v -0.204149 0.997720 1.035159 +v 1.252049 0.354360 0.052808 +v 0.269802 0.320427 -1.030881 +v -1.254103 0.320427 -0.014408 +v 0.134388 0.997720 -1.030881 +v -0.881468 0.388217 -0.861298 +v 0.777853 0.354360 0.933409 +v -0.813760 1.099443 0.797948 +v 1.014828 0.354360 -0.793670 +v 1.218196 0.489864 -0.048531 +v 0.845560 1.099443 -0.624292 +v 0.710145 0.422074 -0.962842 +v 0.845560 0.693083 0.831865 +v -0.712199 0.354360 0.967326 +v -1.254103 0.354360 -0.014408 +v -0.881468 0.523721 -0.827381 +v -0.712199 1.099443 -0.793465 +v -0.779907 1.099443 -0.691920 +v -0.949175 0.354360 0.899698 +v -0.678346 0.388217 -0.928926 +f 116 131 145 +f 108 109 110 +f 109 108 111 +f 109 111 112 +f 113 110 114 +f 110 113 115 +f 109 112 116 +f 113 114 117 +f 111 108 118 +f 112 111 119 +f 115 113 120 +f 114 110 122 +f 113 117 123 +f 112 119 124 +f 107 123 124 +f 120 113 125 +f 123 117 126 +f 124 123 126 +f 119 111 127 +f 120 125 127 +f 108 110 128 +f 118 108 128 +f 116 112 129 +f 112 121 129 +f 110 115 130 +f 128 110 130 +f 123 107 132 +f 113 123 132 +f 107 124 132 +f 124 119 132 +f 117 114 133 +f 114 121 133 +f 111 118 134 +f 118 115 134 +f 127 111 135 +f 120 127 135 +f 111 134 135 +f 135 134 136 +f 115 120 136 +f 134 115 136 +f 120 135 136 +f 115 118 137 +f 118 128 137 +f 130 115 137 +f 128 130 137 +f 125 113 138 +f 119 127 138 +f 127 125 138 +f 113 132 138 +f 132 119 138 +f 112 124 139 +f 124 126 139 +f 121 114 140 +f 116 129 140 +f 129 121 140 +f 131 116 141 +f 116 140 141 +f 122 110 142 +f 110 131 142 +f 131 141 142 +f 141 122 142 +f 114 122 143 +f 140 114 143 +f 122 141 143 +f 141 140 143 +f 121 112 144 +f 126 117 144 +f 117 133 144 +f 133 121 144 +f 112 139 144 +f 139 126 144 +f 110 109 145 +f 109 116 145 +f 131 110 145 +o convex_3 +v -0.407432 3.030175 1.238428 +v 0.371432 3.131561 1.407819 +v 0.371432 3.097790 1.407819 +v -0.001075 3.097790 3.033553 +v -0.068776 3.470363 1.238428 +v 0.066626 2.725217 1.238428 +v 0.066626 2.860738 2.830248 +v 0.235954 3.199394 2.694770 +v -0.136477 3.267082 2.593206 +v -0.170327 2.894582 2.593206 +v 0.269804 3.402603 1.238428 +v 0.303655 2.826894 1.238428 +v -0.238104 2.759134 1.272341 +v -0.339655 3.334842 1.340168 +v 0.066626 3.300998 2.728508 +v -0.204177 3.064019 2.796335 +v 0.269804 3.097790 2.762421 +v -0.339655 2.826894 1.272341 +v 0.235954 2.928498 2.423639 +v -0.271954 3.402603 1.238428 +v -0.034925 3.300998 2.728508 +v -0.001075 2.860738 2.830248 +v -0.238104 3.030175 2.626944 +v -0.407432 3.131561 1.306254 +v -0.001075 3.470363 1.306254 +v -0.204177 3.131561 2.728508 +v 0.235954 3.334842 2.017733 +v 0.371432 3.165405 1.238428 +v -0.068776 2.725217 1.238428 +f 167 158 174 +f 146 150 151 +f 151 150 156 +f 152 151 157 +f 151 156 157 +f 149 153 160 +f 148 147 162 +f 149 152 162 +f 153 149 162 +f 147 153 162 +f 157 148 162 +f 158 155 163 +f 152 157 164 +f 162 152 164 +f 157 162 164 +f 150 146 165 +f 159 154 165 +f 149 160 166 +f 150 165 166 +f 165 154 166 +f 151 152 167 +f 152 149 167 +f 155 158 167 +f 149 161 167 +f 161 155 167 +f 155 161 168 +f 146 163 168 +f 163 155 168 +f 165 146 169 +f 159 165 169 +f 146 168 169 +f 156 150 170 +f 166 160 170 +f 150 166 170 +f 154 159 171 +f 161 149 171 +f 149 166 171 +f 166 154 171 +f 168 161 171 +f 159 169 171 +f 169 168 171 +f 153 147 172 +f 160 153 172 +f 156 170 172 +f 170 160 172 +f 147 148 173 +f 148 157 173 +f 157 156 173 +f 172 147 173 +f 156 172 173 +f 146 151 174 +f 163 146 174 +f 158 163 174 +f 151 167 174 +o convex_4 +v -1.999476 -0.492633 -0.895009 +v -1.897914 -0.865305 1.069076 +v -1.118788 -0.695775 1.035159 +v -1.118970 -2.185974 -0.183786 +v -2.710409 -1.711731 -0.014408 +v -1.118788 0.320427 -0.251825 +v -2.744506 -0.187919 0.086725 +v -1.118970 -1.813302 -0.861298 +v -1.186617 -1.880770 0.831865 +v -1.152702 0.117039 0.899493 +v -2.710409 -1.000242 -0.793465 +v -2.710409 -0.966385 0.831865 +v -1.118788 0.015468 -0.861298 +v -2.981362 -1.000242 0.052808 +v -1.931829 -1.745342 -0.759548 +v -1.965744 -1.000242 -1.030881 +v -2.067123 -0.187919 -0.759548 +v -1.999476 -0.153817 0.831865 +v -1.965744 -1.643771 0.797948 +v -1.118970 -2.185974 0.188270 +v -1.356008 0.320427 0.052808 +v -1.118788 -1.034100 -0.996965 +v -2.744506 -0.187919 -0.048325 +v -2.574932 -0.357204 0.628570 +v -2.507285 -1.542200 -0.590170 +v -2.541200 -1.542200 0.527026 +v -2.574932 -0.357204 -0.556459 +v -1.118970 -1.711731 0.899698 +v -2.710409 -0.899162 -0.793465 +v -2.744506 -0.865305 0.797948 +v -2.710409 -1.711731 0.052808 +v -1.965744 -0.932774 1.069076 +v -2.981362 -0.865305 -0.014408 +v -1.118788 0.320427 0.323731 +v -1.254447 -1.914873 -0.793465 +v -1.965744 -1.711731 0.696404 +v -1.118788 -1.034100 1.035159 +v -1.254447 -0.221531 -0.928926 +v -1.254447 -2.185974 -0.048325 +v -2.033391 -0.120205 0.730320 +v -1.118788 -0.154062 0.967326 +v -1.118788 -0.729632 -0.996965 +v -1.220532 0.015468 -0.861298 +v -2.981362 -1.000242 -0.048325 +v -2.236515 0.015468 -0.014408 +v -1.965744 -0.865305 1.069076 +v -2.778238 -0.966385 0.730320 +v -1.931829 -0.898917 -1.030881 +v -1.999476 -0.153817 -0.759548 +v -1.152702 -2.185974 0.188270 +v -1.152702 0.320427 -0.251825 +v -1.152702 0.320427 0.323731 +v -2.710409 -0.153817 0.052808 +v -1.559132 -1.000488 -1.030881 +v -1.999476 -0.221776 0.865781 +v -2.574932 -1.372915 0.662487 +v -1.152702 -2.185974 -0.183786 +v -2.845885 -0.424918 0.052808 +v -1.931829 -0.221531 -0.827381 +v -2.744506 -0.932774 -0.759548 +f 218 207 234 +f 180 177 187 +f 189 185 190 +f 182 189 190 +f 178 182 196 +f 187 177 196 +f 194 178 196 +f 179 185 199 +f 189 179 199 +f 185 189 199 +f 197 191 201 +f 183 194 202 +f 190 185 203 +f 201 191 203 +f 198 181 204 +f 192 198 204 +f 188 179 205 +f 193 183 206 +f 186 193 206 +f 183 202 206 +f 188 204 207 +f 177 180 208 +f 180 195 208 +f 182 178 209 +f 189 182 209 +f 183 193 210 +f 193 200 210 +f 200 205 210 +f 177 176 211 +f 196 177 211 +f 194 196 211 +f 202 194 211 +f 176 206 211 +f 206 202 211 +f 178 194 213 +f 205 179 213 +f 192 184 214 +f 181 198 214 +f 198 192 214 +f 176 177 215 +f 177 208 215 +f 208 184 215 +f 187 196 216 +f 212 187 216 +f 180 187 217 +f 187 212 217 +f 185 179 218 +f 179 188 218 +f 188 207 218 +f 204 186 220 +f 206 176 220 +f 186 206 220 +f 176 215 220 +f 215 184 220 +f 186 204 221 +f 204 188 221 +f 188 205 221 +f 190 203 222 +f 203 175 222 +f 212 216 222 +f 191 197 223 +f 197 219 223 +f 194 183 224 +f 183 210 224 +f 210 205 224 +f 213 194 224 +f 205 213 224 +f 195 180 225 +f 180 217 225 +f 219 195 225 +f 217 223 225 +f 223 219 225 +f 184 208 226 +f 208 195 226 +f 214 184 226 +f 214 226 227 +f 197 181 227 +f 181 214 227 +f 195 219 227 +f 219 197 227 +f 226 195 227 +f 182 190 228 +f 196 182 228 +f 216 196 228 +f 190 222 228 +f 222 216 228 +f 184 192 229 +f 192 204 229 +f 220 184 229 +f 204 220 229 +f 193 186 230 +f 200 193 230 +f 205 200 230 +f 186 221 230 +f 221 205 230 +f 179 189 231 +f 209 178 231 +f 189 209 231 +f 178 213 231 +f 213 179 231 +f 181 197 232 +f 204 181 232 +f 197 207 232 +f 207 204 232 +f 175 203 233 +f 203 191 233 +f 217 212 233 +f 222 175 233 +f 212 222 233 +f 191 223 233 +f 223 217 233 +f 197 201 234 +f 203 185 234 +f 201 203 234 +f 207 197 234 +f 185 218 234 +o convex_5 +v -0.915334 -2.185974 0.797961 +v 1.353356 0.320427 0.018872 +v 1.353356 0.320427 -0.048385 +v 2.775888 -1.643771 -0.048385 +v -1.118784 -1.135916 -0.996869 +v -0.712289 0.320427 0.967356 +v 2.064824 -0.899162 1.035030 +v 0.270177 0.320427 -1.030706 +v 0.812171 -2.185974 -0.962823 +v 2.742317 -0.865305 -0.759800 +v 0.947265 -2.185974 0.831799 +v -1.118784 0.320427 -0.353337 +v 2.742317 -0.153817 0.086755 +v -1.118784 -1.000488 1.035030 +v -0.915334 -2.185974 -0.793637 +v 0.879718 0.320427 0.899473 +v 2.775888 -0.899162 0.797961 +v 2.030849 -0.966385 -1.064752 +v -0.068772 -2.185974 1.001193 +v 0.980836 0.320427 -0.895357 +v -0.915334 0.320427 -0.861311 +v -1.118784 -2.185974 0.289778 +v 0.032751 0.320427 1.069076 +v -0.068772 -2.185974 -1.030706 +v 3.013314 -0.865305 -0.014756 +v 2.267870 -1.609914 -0.725963 +v -1.118784 0.116794 0.899682 +v 1.353356 -2.185974 -0.048385 +v 1.996873 -0.154062 0.831799 +v 2.098800 -1.677628 0.730287 +v -0.000820 0.150896 -1.064752 +v 2.064824 -0.187919 -0.793428 +v -1.118784 -1.914873 -0.827474 +v -1.118784 -0.052246 -0.895357 +v 2.742317 -0.153817 -0.014756 +v 2.674365 -1.711731 0.018872 +v 0.980836 -2.185974 -0.895357 +v -0.000820 -0.221531 1.069076 +v -1.118784 -1.813302 0.865636 +v 2.505296 -0.289490 0.628567 +v 2.708341 -1.067957 -0.759800 +v 2.606818 -1.508343 0.493009 +v 0.236201 -0.966631 -1.064752 +v 2.606818 -0.323347 -0.488894 +v -1.118784 0.320427 0.425335 +v 1.963301 -1.711485 -0.827474 +v 1.929326 -1.034100 1.035030 +v 2.030849 -0.899162 -1.064752 +v -0.034796 -1.440629 1.035030 +v 2.742317 -1.677628 -0.082222 +v -1.118784 -0.729632 -0.996869 +v -0.745860 -0.966631 -1.030706 +v -1.118784 -0.696020 1.035030 +v 0.879718 -2.185974 0.865636 +v 2.572843 -1.508343 -0.590405 +v -0.339364 0.320427 -0.996869 +v -1.118784 -2.185974 -0.251825 +v 2.030849 -1.609914 0.797961 +v 0.270177 -2.185974 -1.030706 +v 3.013314 -0.932774 -0.014756 +v -0.644337 -2.185974 0.899682 +v 2.775888 -0.865305 0.797961 +v 0.066727 -2.185974 1.001193 +v 0.744219 0.320427 -0.962823 +f 266 282 298 +f 236 237 240 +f 240 237 242 +f 235 243 245 +f 240 242 246 +f 237 236 247 +f 246 239 248 +f 243 235 249 +f 236 240 250 +f 247 236 250 +f 235 245 253 +f 242 237 254 +f 246 242 255 +f 248 239 256 +f 249 235 256 +f 250 240 257 +f 243 249 258 +f 246 248 261 +f 245 243 262 +f 257 241 263 +f 250 257 263 +f 256 239 267 +f 239 258 267 +f 258 249 267 +f 239 246 268 +f 246 255 268 +f 237 247 269 +f 254 237 269 +f 259 244 269 +f 247 259 269 +f 266 254 269 +f 245 262 270 +f 264 245 270 +f 262 243 271 +f 241 257 272 +f 256 235 273 +f 248 256 273 +f 247 250 274 +f 250 263 274 +f 252 244 275 +f 238 251 276 +f 251 264 276 +f 270 238 276 +f 264 270 276 +f 265 252 277 +f 244 266 278 +f 269 244 278 +f 266 269 278 +f 240 246 279 +f 261 240 279 +f 246 261 279 +f 243 252 280 +f 260 271 280 +f 271 243 280 +f 252 275 280 +f 275 260 280 +f 251 241 281 +f 241 272 281 +f 244 252 282 +f 265 242 282 +f 252 265 282 +f 266 244 282 +f 248 253 283 +f 272 248 283 +f 281 272 283 +f 238 270 284 +f 270 262 284 +f 271 260 284 +f 262 271 284 +f 275 238 284 +f 239 268 285 +f 258 239 286 +f 277 258 286 +f 265 277 286 +f 239 285 286 +f 285 265 286 +f 257 240 287 +f 240 261 287 +f 261 248 287 +f 248 272 287 +f 272 257 287 +f 253 245 288 +f 245 264 288 +f 260 275 289 +f 284 260 289 +f 275 284 289 +f 255 242 290 +f 242 265 290 +f 268 255 290 +f 265 285 290 +f 285 268 290 +f 249 256 291 +f 256 267 291 +f 267 249 291 +f 264 251 292 +f 251 281 292 +f 288 264 292 +f 281 288 292 +f 252 243 293 +f 243 258 293 +f 258 277 293 +f 277 252 293 +f 251 238 294 +f 244 259 294 +f 259 251 294 +f 275 244 294 +f 238 275 294 +f 235 253 295 +f 253 248 295 +f 273 235 295 +f 248 273 295 +f 241 251 296 +f 259 247 296 +f 251 259 296 +f 263 241 296 +f 247 274 296 +f 274 263 296 +f 283 253 297 +f 281 283 297 +f 253 288 297 +f 288 281 297 +f 242 254 298 +f 254 266 298 +f 282 242 298 +o convex_6 +v -0.305805 3.300939 -1.640706 +v 0.371432 3.199311 -1.267973 +v 0.371432 2.996209 -1.267973 +v -0.034925 3.097760 -3.029228 +v -0.339655 2.759180 -1.267973 +v -0.001075 2.826881 -2.690287 +v 0.100476 3.436417 -1.267973 +v -0.271954 3.030060 -2.792004 +v 0.032775 2.657553 -1.267973 +v -0.034925 3.300939 -2.792004 +v 0.168177 3.097760 -2.792004 +v -0.407432 3.097760 -1.267973 +v 0.303655 2.793031 -1.302109 +v 0.303655 3.368640 -1.369690 +v -0.305805 3.368640 -1.267973 +v -0.102626 2.826881 -2.690287 +v -0.238104 3.199311 -2.622705 +v -0.034925 3.436417 -1.505198 +v 0.168177 2.996209 -2.690287 +v -0.238104 2.860807 -2.487198 +v -0.068776 2.657553 -1.302109 +v 0.100476 3.267088 -2.622705 +v -0.068776 3.300939 -2.792004 +v -0.407432 3.097760 -1.403481 +v -0.034925 2.962359 -2.961474 +v 0.134327 2.894658 -2.588742 +v 0.371432 3.030060 -1.403481 +v -0.271954 3.097760 -2.758040 +v 0.269804 2.759180 -1.302109 +v -0.407432 3.030060 -1.403481 +f 310 322 328 +f 301 300 303 +f 303 300 305 +f 301 303 307 +f 302 308 309 +f 303 305 310 +f 305 300 312 +f 308 305 312 +f 300 309 312 +f 310 305 313 +f 299 313 315 +f 305 308 316 +f 313 305 316 +f 303 306 318 +f 306 314 318 +f 314 303 318 +f 307 303 319 +f 304 307 319 +f 314 304 319 +f 303 314 319 +f 309 308 320 +f 308 312 320 +f 312 309 320 +f 308 302 321 +f 315 313 321 +f 316 308 321 +f 313 316 321 +f 313 299 322 +f 310 313 322 +f 306 302 323 +f 302 309 323 +f 304 314 323 +f 314 306 323 +f 309 317 323 +f 323 317 324 +f 317 311 324 +f 304 323 324 +f 300 301 325 +f 309 300 325 +f 301 311 325 +f 317 309 325 +f 311 317 325 +f 302 306 326 +f 299 315 326 +f 321 302 326 +f 315 321 326 +f 306 322 326 +f 322 299 326 +f 301 307 327 +f 307 304 327 +f 311 301 327 +f 304 324 327 +f 324 311 327 +f 306 303 328 +f 303 310 328 +f 322 306 328 +o convex_7 +v -0.983138 3.030242 -0.319486 +v 0.981173 3.097916 0.154512 +v 0.981173 3.030242 0.154512 +v -0.441299 3.131753 1.238428 +v -0.035018 4.045913 -0.522628 +v 0.100539 2.657476 -1.267973 +v -0.102699 2.657476 1.204325 +v 0.642377 3.741240 0.831898 +v -0.678378 3.775077 0.764184 +v 0.676218 3.809053 -0.726016 +v -0.915457 2.657476 0.831898 +v -0.644342 3.741240 -0.827341 +v 0.879456 2.657476 -0.726016 +v 0.845420 2.657476 0.797796 +v -0.847776 2.657476 -0.827341 +v 0.134380 3.436287 -1.267973 +v 0.269937 3.402450 1.238428 +v 0.066699 3.978239 0.764184 +v -0.407459 3.131753 -1.267973 +v -0.746059 3.842751 0.120655 +v -0.949297 3.131753 0.764184 +v 0.405299 3.131753 -1.267973 +v 0.710058 3.842751 0.154512 +v 0.913297 3.131753 -0.692159 +v -0.068663 4.012215 -0.759627 +v -0.001178 4.080029 0.154512 +v 0.405299 3.064079 1.238428 +v 0.879456 3.131753 0.797796 +v -0.102699 3.470264 1.238428 +v -0.915457 3.097916 -0.759627 +v -1.017174 2.657476 -0.048630 +v 0.981173 2.657476 0.120655 +v -0.712218 3.775077 -0.726016 +v -1.017174 3.097916 -0.048630 +v -0.339778 2.725290 -1.267973 +v -0.305937 3.368752 -1.267973 +v 0.303777 2.792964 1.238428 +v 0.743899 2.657476 -0.928913 +v -0.373618 2.792964 1.238428 +v 0.811580 3.639589 0.052941 +v 0.066699 4.080029 -0.014773 +v -0.746059 3.842751 -0.150201 +v -0.068663 3.978239 0.764184 +v 0.710058 3.673426 0.797796 +v -0.068663 4.080029 0.086553 +v 0.337618 2.792964 -1.267973 +v 0.032858 4.012215 -0.759627 +v 0.710058 3.131753 -0.963015 +v 0.337618 3.402450 -1.233871 +v -0.339778 3.368752 1.238428 +v 0.981173 3.131753 -0.048630 +v 0.913297 3.097916 0.730082 +v 0.710058 2.657476 0.933469 +v 0.981173 2.657476 -0.082487 +v 0.710058 3.842751 -0.184058 +v -0.813740 2.657476 0.933469 +v -0.407459 3.876588 0.764184 +v -0.712218 3.707263 -0.793730 +v -0.847776 3.605752 -0.048630 +v 0.371458 3.233404 1.238428 +v -1.017174 2.657476 0.086553 +v 0.676218 3.775077 0.696470 +v -0.373618 2.657476 -1.200014 +v 0.235901 3.470264 1.204325 +f 346 357 392 +f 334 335 339 +f 335 334 341 +f 335 341 342 +f 334 339 343 +f 344 334 347 +f 332 337 349 +f 337 348 349 +f 334 344 350 +f 345 332 355 +f 332 345 357 +f 347 343 358 +f 343 339 359 +f 329 358 359 +f 358 343 359 +f 330 331 360 +f 342 341 360 +f 353 340 361 +f 361 358 362 +f 358 329 362 +f 329 359 362 +f 347 334 363 +f 343 347 363 +f 344 347 364 +f 340 353 364 +f 353 344 364 +f 355 332 365 +f 341 334 366 +f 352 341 366 +f 365 332 367 +f 335 365 367 +f 346 351 369 +f 354 346 369 +f 333 353 370 +f 353 361 370 +f 346 354 371 +f 357 346 371 +f 368 351 372 +f 369 333 373 +f 354 369 373 +f 333 370 373 +f 370 348 373 +f 371 354 373 +f 334 350 374 +f 366 334 374 +f 350 366 374 +f 353 333 375 +f 344 353 375 +f 333 369 375 +f 369 338 375 +f 338 352 376 +f 366 350 376 +f 352 366 376 +f 350 344 377 +f 375 338 377 +f 344 375 377 +f 338 376 377 +f 376 350 377 +f 337 332 378 +f 332 357 378 +f 357 337 378 +f 352 338 379 +f 330 360 379 +f 338 368 379 +f 368 330 379 +f 331 330 380 +f 356 342 380 +f 360 331 380 +f 342 360 380 +f 330 368 380 +f 372 356 380 +f 368 372 380 +f 335 342 381 +f 342 356 381 +f 356 355 381 +f 365 335 381 +f 355 365 381 +f 341 352 382 +f 360 341 382 +f 352 379 382 +f 379 360 382 +f 351 368 383 +f 368 338 383 +f 338 369 383 +f 369 351 383 +f 339 335 384 +f 332 349 384 +f 349 339 384 +f 335 367 384 +f 367 332 384 +f 348 337 385 +f 337 357 385 +f 357 371 385 +f 373 348 385 +f 371 373 385 +f 347 358 386 +f 361 340 386 +f 358 361 386 +f 340 364 386 +f 364 347 386 +f 349 348 387 +f 361 362 387 +f 362 349 387 +f 348 370 387 +f 370 361 387 +f 336 345 388 +f 345 355 388 +f 355 356 388 +f 372 336 388 +f 356 372 388 +f 339 349 389 +f 359 339 389 +f 349 362 389 +f 362 359 389 +f 346 336 390 +f 351 346 390 +f 336 372 390 +f 372 351 390 +f 334 343 391 +f 363 334 391 +f 343 363 391 +f 345 336 392 +f 336 346 392 +f 357 345 392 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/586/586.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/586/586.urdf new file mode 100644 index 000000000..450172f53 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/586/586.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/587/587.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/587/587.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/587/587.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/587/587.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/587/587.obj new file mode 100644 index 000000000..585e0f20c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/587/587.obj @@ -0,0 +1,666 @@ +o convex_0 +v -0.725613 -0.256000 1.000226 +v -0.954944 -0.354251 -1.095658 +v -0.987736 -1.074705 -1.062832 +v 1.075183 -1.074705 -1.062832 +v -1.020527 -1.074705 0.934371 +v 1.042391 -0.256000 0.967196 +v 1.075183 -0.256000 -1.062832 +v 1.042391 -1.074705 0.967196 +v -1.086111 -0.256000 -0.211431 +v -1.053108 -0.256000 0.934371 +v -1.020527 -0.256000 -1.030007 +v -1.086111 -1.009151 0.476050 +v 1.075183 -0.256000 0.836101 +v 0.682105 -1.041848 1.000226 +v 0.322030 -1.074705 -1.095658 +v -1.053108 -1.074705 -0.669752 +v -0.954944 -1.074705 0.967196 +v 1.075183 -1.074705 0.705211 +v 0.780269 -0.256000 1.000226 +v -0.070836 -0.256000 -1.095658 +v -0.856780 -1.074705 -1.095658 +v -0.693033 -0.747175 1.000226 +v -1.086111 -0.256000 0.639765 +v -1.053108 -1.074705 0.901751 +v -1.053108 -0.256000 -0.800847 +f 16 9 25 +f 3 4 5 +f 1 6 7 +f 5 4 8 +f 1 7 9 +f 1 9 10 +f 2 3 11 +f 9 7 11 +f 4 7 13 +f 7 6 13 +f 6 8 13 +f 4 3 15 +f 7 4 15 +f 3 5 16 +f 11 3 16 +f 12 9 16 +f 5 8 17 +f 1 10 17 +f 10 5 17 +f 8 14 17 +f 8 4 18 +f 4 13 18 +f 13 8 18 +f 6 1 19 +f 8 6 19 +f 1 14 19 +f 14 8 19 +f 2 11 20 +f 11 7 20 +f 15 2 20 +f 7 15 20 +f 3 2 21 +f 15 3 21 +f 2 15 21 +f 14 1 22 +f 1 17 22 +f 17 14 22 +f 10 9 23 +f 9 12 23 +f 23 12 24 +f 5 10 24 +f 16 5 24 +f 12 16 24 +f 10 23 24 +f 9 11 25 +f 11 16 25 +o convex_1 +v 1.108008 1.021564 0.803644 +v -1.118859 3.444160 -1.095443 +v -1.118859 3.444160 -1.062589 +v -1.085944 0.988431 -0.833470 +v -1.085944 3.280689 0.967270 +v 1.009700 3.477293 -1.062804 +v 1.042397 0.988431 -1.062804 +v 1.108008 3.345980 1.000124 +v -1.053248 0.988431 0.967270 +v -0.430919 0.988431 1.098256 +v -1.020551 0.988431 -1.095443 +v 1.075093 0.988431 0.967270 +v -0.627536 3.411758 0.508817 +v -1.085944 0.988431 0.836283 +v -0.725844 1.446931 1.098256 +v -0.201824 3.477293 -1.095443 +v 1.108008 3.378869 0.541457 +v -1.020551 3.477293 -0.735123 +v 1.042397 2.920369 -1.062804 +v -1.053248 3.051195 0.999909 +v 0.944088 1.053966 1.000124 +v 0.682078 3.378869 0.869137 +v 0.387590 3.346223 1.000124 +v -1.085944 3.313090 0.901776 +v -0.594839 0.988431 -1.095443 +v 1.108008 0.988431 0.607165 +v 1.009700 3.477293 -0.964457 +v 1.108008 2.363444 1.000124 +v -0.332611 3.411758 0.541457 +v -1.053248 1.053966 -1.095443 +v 1.042397 3.444404 -0.866324 +v -1.118859 3.477293 -1.095443 +v -1.085944 1.709071 0.967270 +v -0.660233 0.988431 1.098256 +v 1.108008 3.378869 0.737936 +f 52 47 60 +f 28 27 29 +f 29 32 34 +f 34 32 35 +f 32 29 36 +f 35 32 37 +f 28 29 39 +f 29 34 39 +f 35 33 40 +f 36 27 41 +f 33 26 42 +f 31 41 43 +f 41 31 44 +f 32 41 44 +f 42 32 44 +f 35 37 46 +f 40 33 48 +f 30 45 48 +f 45 40 48 +f 33 47 48 +f 47 38 48 +f 38 43 49 +f 30 48 49 +f 48 38 49 +f 32 36 50 +f 41 32 50 +f 36 41 50 +f 26 37 51 +f 37 32 51 +f 42 26 51 +f 32 42 51 +f 42 31 52 +f 31 43 52 +f 26 33 53 +f 33 35 53 +f 37 26 53 +f 35 46 53 +f 46 37 53 +f 43 38 54 +f 38 47 54 +f 52 43 54 +f 47 52 54 +f 29 27 55 +f 27 36 55 +f 36 29 55 +f 31 42 56 +f 44 31 56 +f 42 44 56 +f 27 28 57 +f 28 30 57 +f 41 27 57 +f 43 41 57 +f 30 49 57 +f 49 43 57 +f 30 28 58 +f 28 39 58 +f 39 34 58 +f 34 40 58 +f 45 30 58 +f 40 45 58 +f 34 35 59 +f 40 34 59 +f 35 40 59 +f 33 42 60 +f 47 33 60 +f 42 52 60 +o convex_2 +v 3.072784 -1.598830 0.574397 +v 1.108191 -1.500556 -0.604316 +v 1.108191 -1.074705 -0.604316 +v 1.108191 -1.140333 0.508814 +v 1.108191 -2.155264 0.508814 +v 2.941785 -2.188021 -0.506120 +v 3.040132 -1.173090 -0.538852 +v 1.108191 -2.220779 -0.571466 +v 2.974632 -2.155264 0.607248 +v 3.105631 -1.140220 0.541665 +v 2.843438 -1.140333 -0.571466 +v 1.632186 -1.140333 0.541547 +v 1.402840 -2.155264 0.541547 +v 3.105631 -1.336767 0.574397 +v 2.941785 -1.860556 -0.538852 +v 3.072784 -1.140220 -0.276876 +v 2.646940 -2.122506 0.607129 +v 1.141038 -1.074705 -0.407805 +v 1.337537 -2.220779 -0.571466 +v 1.370188 -1.074705 -0.604316 +v 2.941785 -2.188021 -0.080365 +v 2.941785 -1.238494 -0.571584 +v 1.108191 -2.220779 -0.473269 +v 2.941785 -1.860556 0.607248 +v 3.007284 -2.089860 0.541665 +v 3.105631 -1.205848 0.181374 +v 3.040132 -1.336767 -0.538852 +f 76 86 87 +f 63 62 64 +f 64 62 65 +f 65 62 68 +f 64 65 73 +f 72 64 73 +f 69 61 74 +f 70 72 74 +f 67 71 76 +f 73 69 77 +f 72 73 77 +f 63 64 78 +f 64 72 78 +f 72 70 78 +f 68 62 79 +f 75 66 79 +f 62 63 80 +f 70 76 80 +f 76 71 80 +f 63 78 80 +f 78 70 80 +f 66 69 81 +f 79 66 81 +f 71 67 82 +f 79 62 82 +f 75 79 82 +f 62 80 82 +f 80 71 82 +f 65 68 83 +f 73 65 83 +f 69 73 83 +f 68 79 83 +f 81 69 83 +f 79 81 83 +f 69 74 84 +f 74 72 84 +f 77 69 84 +f 72 77 84 +f 69 66 85 +f 61 69 85 +f 74 61 86 +f 70 74 86 +f 76 70 86 +f 61 85 86 +f 85 66 86 +f 66 75 87 +f 67 76 87 +f 82 67 87 +f 75 82 87 +f 86 66 87 +o convex_3 +v -0.038196 0.922935 -2.962285 +v 0.616779 -0.124892 -1.095658 +v 0.616779 -0.190504 -1.095658 +v -0.529213 0.890129 -1.095658 +v -0.627636 -0.157698 -3.027791 +v 0.551245 -0.124892 -3.093297 +v 0.485711 0.890129 -1.128509 +v -0.463801 -0.092195 -1.095658 +v -0.562102 0.890129 -3.060446 +v 0.420299 0.922935 -3.060446 +v 0.518478 0.824517 -1.095658 +v -0.562102 0.791929 -1.226670 +v 0.551245 0.104422 -3.060446 +v -0.300088 0.922935 -1.554200 +v -0.529213 -0.125001 -1.750718 +v -0.005429 0.333627 -3.093297 +v 0.452944 0.922935 -2.569249 +v 0.420299 -0.190504 -1.095658 +v -0.594747 0.562615 -3.060446 +v 0.584012 -0.190504 -1.456038 +v 0.584012 -0.059389 -2.536398 +v -0.496568 0.104422 -1.095658 +v -0.627636 -0.157698 -2.962285 +v -0.562102 0.890129 -1.587050 +v -0.398267 -0.157698 -3.027791 +v -0.300088 -0.125001 -1.095658 +f 110 105 113 +f 90 89 91 +f 90 91 95 +f 96 88 97 +f 91 89 98 +f 94 91 98 +f 93 97 100 +f 91 94 101 +f 88 96 101 +f 97 88 101 +f 93 92 103 +f 97 93 103 +f 96 97 103 +f 94 98 104 +f 100 97 104 +f 98 100 104 +f 101 94 104 +f 97 101 104 +f 90 95 105 +f 103 92 106 +f 96 103 106 +f 93 90 107 +f 90 105 107 +f 105 92 107 +f 89 90 108 +f 90 93 108 +f 98 89 108 +f 93 100 108 +f 100 98 108 +f 95 91 109 +f 91 99 109 +f 102 95 109 +f 102 109 110 +f 92 105 110 +f 106 92 110 +f 109 99 110 +f 110 99 111 +f 99 91 111 +f 91 101 111 +f 101 96 111 +f 96 106 111 +f 106 110 111 +f 92 93 112 +f 93 107 112 +f 107 92 112 +f 95 102 113 +f 105 95 113 +f 102 110 113 +o convex_4 +v -1.479243 -2.188025 0.377940 +v -1.086303 -1.074705 -0.440681 +v -1.086303 -1.074705 -0.538881 +v -3.051002 -1.172979 -0.309567 +v -2.886940 -2.220782 -0.571687 +v -3.018113 -1.172979 0.476249 +v -1.086303 -1.173091 0.541752 +v -1.086303 -2.188025 -0.571687 +v -2.985416 -2.122509 0.541752 +v -1.086303 -2.155267 0.508946 +v -3.051002 -1.205849 -0.571687 +v -2.985416 -2.155379 -0.571687 +v -2.952527 -2.220782 -0.244064 +v -2.461304 -2.155379 0.541752 +v -1.806789 -2.220782 -0.506184 +v -1.151697 -1.140221 0.410746 +v -3.018113 -1.402284 0.508946 +v -2.330324 -1.140333 -0.571687 +v -3.018113 -1.860558 0.508946 +v -1.217475 -2.188025 0.410746 +v -1.086303 -1.729526 -0.571687 +v -3.051002 -1.172979 0.312437 +v -3.051002 -1.402284 -0.571687 +v -1.119000 -1.566073 0.541752 +v -2.133950 -2.220782 -0.113058 +v -2.985416 -2.155379 0.443443 +v -2.592476 -1.762284 0.541752 +v -1.184394 -1.074705 -0.538881 +v -2.526890 -1.172979 0.508946 +f 130 140 142 +f 116 115 120 +f 116 120 121 +f 121 120 123 +f 121 118 124 +f 124 118 125 +f 125 118 126 +f 120 122 127 +f 126 114 127 +f 118 121 128 +f 126 118 128 +f 115 119 129 +f 120 115 129 +f 124 117 131 +f 121 124 131 +f 122 130 132 +f 121 123 133 +f 123 127 133 +f 127 114 133 +f 128 121 133 +f 116 121 134 +f 131 116 134 +f 121 131 134 +f 117 124 135 +f 130 119 135 +f 132 130 135 +f 132 135 136 +f 124 125 136 +f 125 132 136 +f 135 124 136 +f 123 120 137 +f 120 127 137 +f 127 123 137 +f 114 126 138 +f 126 128 138 +f 133 114 138 +f 128 133 138 +f 125 126 139 +f 127 122 139 +f 126 127 139 +f 122 132 139 +f 132 125 139 +f 122 120 140 +f 130 122 140 +f 115 116 141 +f 119 115 141 +f 116 131 141 +f 131 117 141 +f 117 135 141 +f 135 119 141 +f 129 119 142 +f 120 129 142 +f 119 130 142 +f 140 120 142 +o convex_5 +v 1.042512 -1.074705 0.967478 +v -0.856733 -1.173106 -1.095658 +v -0.856733 -1.074705 -1.095658 +v -1.020390 -2.679100 0.934560 +v 1.107803 -2.646406 -1.095658 +v -1.020390 -1.074705 0.934560 +v 1.009651 -2.679100 0.934560 +v -0.922239 -2.679100 -1.062739 +v 1.075157 -1.074705 -1.062739 +v -1.085896 -1.140413 -0.538878 +v 1.107803 -2.155360 0.508644 +v -1.085896 -2.253441 -0.637026 +v -0.103521 -2.711954 -0.637026 +v -1.085896 -1.533378 0.541360 +v -0.987745 -1.074705 -1.062739 +v 1.107803 -1.140253 0.508644 +v -0.889593 -1.991410 0.967478 +v -0.758366 -2.711954 0.181281 +v 0.911285 -2.187893 0.967478 +v 1.107803 -1.173106 -1.062739 +v -0.954884 -1.074705 0.967478 +v 0.321946 -1.074705 -1.095658 +v 0.780273 -2.679100 -0.964591 +v -1.085896 -2.155200 0.508644 +v -0.954884 -2.646406 -1.062739 +v -1.053251 -1.074705 0.868926 +v -0.758366 -1.795409 -1.095658 +v 1.107803 -2.646406 -0.637026 +v -0.725721 -2.711954 -0.702660 +v -1.085896 -1.074705 -0.407811 +v -1.085896 -1.173106 0.541360 +v -1.053251 -2.515471 0.344862 +v 1.107803 -1.074705 -0.375095 +v -0.954884 -2.679100 -0.997307 +f 174 154 176 +f 144 145 147 +f 143 145 148 +f 145 143 151 +f 143 149 153 +f 152 154 156 +f 145 144 157 +f 148 145 157 +f 154 152 157 +f 143 153 158 +f 153 147 158 +f 149 146 160 +f 155 149 160 +f 149 143 161 +f 146 149 161 +f 143 159 161 +f 159 146 161 +f 147 151 162 +f 158 147 162 +f 143 148 163 +f 148 146 163 +f 159 143 163 +f 146 159 163 +f 147 145 164 +f 145 151 164 +f 151 147 164 +f 147 149 165 +f 150 147 165 +f 149 155 165 +f 156 154 166 +f 157 144 167 +f 154 157 167 +f 146 148 168 +f 148 157 168 +f 166 146 168 +f 156 166 168 +f 144 147 169 +f 147 150 169 +f 167 144 169 +f 150 167 169 +f 149 147 170 +f 153 149 170 +f 147 153 170 +f 155 160 171 +f 150 165 171 +f 165 155 171 +f 152 156 172 +f 157 152 172 +f 168 157 172 +f 168 172 173 +f 156 168 173 +f 172 156 173 +f 146 166 174 +f 166 154 174 +f 151 143 175 +f 143 158 175 +f 162 151 175 +f 158 162 175 +f 160 146 176 +f 167 150 176 +f 154 167 176 +f 150 171 176 +f 171 160 176 +f 146 174 176 +o convex_6 +v -0.529421 -0.256000 1.032763 +v -1.020390 0.202622 -1.095443 +v -1.020390 0.988431 -1.095443 +v 1.075145 0.890129 -1.062804 +v -1.053251 0.988431 0.967270 +v 1.042499 -0.256000 0.967270 +v 1.075145 -0.256000 -1.062804 +v 1.075145 0.988431 0.967270 +v -1.053251 -0.256000 -0.833470 +v -1.053251 -0.256000 0.934416 +v 0.518454 0.824594 1.098256 +v 1.042499 0.988431 -1.062804 +v -0.594711 -0.223233 1.098256 +v -0.954885 -0.256000 -1.095443 +v -1.086111 0.988431 -0.833470 +v -0.660217 0.988431 1.098256 +v 1.108005 0.300924 0.672658 +v 0.518454 -0.223233 1.098256 +v -1.086111 -0.256000 0.672443 +v 0.616605 -0.092041 -1.095443 +v -1.086111 0.988431 0.836283 +v 1.108005 0.988431 0.606950 +v 0.485594 0.857361 -1.095443 +v 1.075145 -0.256000 0.836283 +v -1.086111 -0.256000 -0.211393 +v -1.053251 0.137209 0.967270 +f 197 186 202 +f 182 177 183 +f 179 181 184 +f 183 177 185 +f 185 177 186 +f 179 184 188 +f 186 177 189 +f 178 179 190 +f 185 178 190 +f 183 185 190 +f 179 178 191 +f 181 179 191 +f 178 185 191 +f 184 181 192 +f 187 184 192 +f 189 187 192 +f 177 182 194 +f 182 184 194 +f 184 187 194 +f 189 177 194 +f 187 189 194 +f 185 186 195 +f 180 183 196 +f 190 179 196 +f 183 190 196 +f 181 191 197 +f 195 186 197 +f 191 195 197 +f 183 180 198 +f 180 188 198 +f 188 184 198 +f 193 183 198 +f 184 193 198 +f 179 188 199 +f 188 180 199 +f 180 196 199 +f 196 179 199 +f 182 183 200 +f 184 182 200 +f 183 193 200 +f 193 184 200 +f 191 185 201 +f 185 195 201 +f 195 191 201 +f 186 189 202 +f 192 181 202 +f 189 192 202 +f 181 197 202 +o convex_7 +v -0.136333 0.955683 3.030604 +v 0.453028 -0.223252 1.098471 +v -0.594763 -0.223137 1.098471 +v -0.300026 0.922909 1.098471 +v 0.321984 -0.124930 3.063259 +v 0.518550 0.824587 1.098471 +v -0.496480 0.824587 3.096110 +v -0.431070 -0.092157 2.965098 +v 0.453028 0.890135 2.932052 +v -0.627636 0.922909 1.098471 +v 0.453028 -0.124930 2.866741 +v 0.518550 -0.190363 1.131517 +v -0.594763 -0.223137 1.327840 +v -0.529353 0.955683 2.801235 +v 0.453028 0.268009 3.030604 +v 0.485789 0.562628 2.440855 +v -0.365548 0.955683 3.096110 +v -0.365548 -0.223137 1.557013 +v 0.453028 0.890135 2.473706 +v -0.529353 0.955683 1.491507 +v 0.485789 -0.223252 1.262334 +v -0.594763 0.006049 1.524358 +v -0.463831 -0.092157 2.768580 +v 0.420155 -0.124930 3.063259 +v -0.529353 0.726381 2.768580 +v 0.354745 0.857361 1.163977 +v -0.627636 0.693607 1.131322 +v 0.387394 0.890135 2.965098 +f 219 217 230 +f 204 205 206 +f 204 206 208 +f 207 209 210 +f 206 205 212 +f 204 208 214 +f 205 204 215 +f 208 211 218 +f 213 214 218 +f 214 208 218 +f 211 217 218 +f 217 213 218 +f 203 216 219 +f 216 209 219 +f 207 210 220 +f 210 215 220 +f 203 211 221 +f 211 208 221 +f 206 212 222 +f 212 216 222 +f 216 203 222 +f 203 221 222 +f 221 206 222 +f 214 213 223 +f 204 214 223 +f 215 204 223 +f 220 215 223 +f 210 209 225 +f 215 210 225 +f 224 215 225 +f 209 207 226 +f 213 217 226 +f 219 209 226 +f 217 219 226 +f 207 220 226 +f 223 213 226 +f 220 223 226 +f 209 216 227 +f 225 209 227 +f 224 225 227 +f 208 206 228 +f 206 221 228 +f 221 208 228 +f 212 205 229 +f 205 215 229 +f 216 212 229 +f 215 224 229 +f 227 216 229 +f 224 227 229 +f 211 203 230 +f 217 211 230 +f 203 219 230 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/587/587.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/587/587.urdf new file mode 100644 index 000000000..be582ffe4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/587/587.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/588/588.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/588/588.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/588/588.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/588/588.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/588/588.obj new file mode 100644 index 000000000..d7344b609 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/588/588.obj @@ -0,0 +1,519 @@ +o convex_0 +v 1.105885 0.113330 0.262141 +v -1.112683 -3.604285 0.855869 +v -0.956324 -3.666372 -0.831106 +v -1.081411 0.832639 -0.455985 +v 1.012069 -3.541313 -1.018667 +v 0.949525 -3.603842 0.949649 +v -0.393864 0.832639 1.106164 +v 1.012069 0.832639 -0.987192 +v -0.925052 0.832639 -1.049927 +v 1.012069 0.832639 0.981123 +v -1.081411 0.769666 0.980909 +v -1.112683 -3.604285 1.074904 +v -0.925052 -3.697858 -1.081187 +v 0.261977 0.832639 -1.081187 +v 0.605751 -3.697858 0.543482 +v 0.886981 -3.541313 -1.049713 +v 1.105885 0.832639 0.574742 +v 0.605751 -3.697858 -0.330944 +v -1.112683 -0.574050 1.012169 +v -0.612550 -1.042799 1.106164 +v 1.043341 -2.728874 -0.768586 +v -0.925052 -0.480478 -1.081187 +v -0.081362 -3.635329 -1.081187 +v 0.824437 0.738180 1.012169 +v -0.675094 -3.666372 0.699782 +v -0.831453 -3.603842 1.074904 +v -0.268993 0.707137 1.106164 +v -1.081411 0.832639 0.949649 +v 1.012069 -0.886253 -1.018667 +v -1.112683 -2.854377 1.074904 +v 0.574697 -3.603842 0.981123 +v 0.980797 -1.136371 0.981123 +v 0.668295 -3.666372 -0.643545 +v -1.018868 -1.073841 -0.737112 +v -0.018818 -3.697858 0.543482 +v 1.012069 -3.541313 -0.643545 +v -0.956324 0.832639 -0.987406 +v 1.105885 0.175859 0.199835 +v 1.012069 -2.041938 0.793563 +v -0.237721 0.832639 -1.081187 +v 1.105885 0.832639 0.324661 +v 1.105885 0.551035 0.574742 +v -1.112683 -0.448991 0.949649 +v 1.012069 0.488506 0.981123 +v -0.675094 -0.980269 1.106164 +v -0.956324 -2.947949 -0.987406 +v -0.050090 -3.697858 -0.799846 +v -0.925052 -3.697858 -0.924886 +f 35 25 48 +f 4 7 8 +f 4 8 9 +f 8 7 10 +f 2 3 13 +f 12 2 13 +f 9 8 14 +f 8 10 17 +f 5 6 18 +f 6 15 18 +f 15 13 18 +f 2 12 19 +f 14 13 22 +f 13 14 23 +f 16 5 23 +f 14 16 23 +f 10 7 24 +f 12 15 26 +f 20 12 26 +f 7 20 27 +f 24 7 27 +f 7 4 28 +f 11 7 28 +f 19 11 28 +f 14 8 29 +f 5 16 29 +f 16 14 29 +f 21 5 29 +f 8 21 29 +f 19 12 30 +f 15 6 31 +f 26 15 31 +f 20 26 31 +f 27 20 31 +f 27 31 32 +f 24 27 32 +f 31 6 32 +f 5 18 33 +f 23 5 33 +f 3 2 34 +f 2 4 34 +f 15 12 35 +f 13 15 35 +f 12 25 35 +f 6 5 36 +f 5 21 36 +f 21 1 36 +f 4 9 37 +f 9 22 37 +f 22 13 37 +f 34 4 37 +f 17 1 38 +f 1 21 38 +f 21 8 38 +f 6 36 39 +f 36 1 39 +f 9 14 40 +f 22 9 40 +f 14 22 40 +f 8 17 41 +f 17 38 41 +f 38 8 41 +f 1 17 42 +f 17 10 42 +f 39 1 42 +f 4 2 43 +f 2 19 43 +f 28 4 43 +f 19 28 43 +f 10 24 44 +f 32 6 44 +f 24 32 44 +f 6 39 44 +f 42 10 44 +f 39 42 44 +f 7 11 45 +f 11 19 45 +f 20 7 45 +f 12 20 45 +f 19 30 45 +f 30 12 45 +f 13 3 46 +f 3 34 46 +f 37 13 46 +f 34 37 46 +f 18 13 47 +f 13 23 47 +f 33 18 47 +f 23 33 47 +f 12 13 48 +f 25 12 48 +f 13 35 48 +o convex_1 +v -0.331502 1.738769 -2.174584 +v 0.043460 1.051374 -2.487179 +v 0.074668 1.051374 -2.487179 +v -0.019072 1.051374 -1.081383 +v 0.262207 1.676228 -1.081383 +v 0.230941 1.582521 -2.924459 +v -0.331502 1.145222 -3.080854 +v -0.331502 1.051374 -1.081383 +v 0.262207 1.082680 -1.081383 +v -0.331502 1.676228 -1.081383 +v -0.300236 1.770075 -3.049536 +v 0.230941 1.082680 -3.049536 +v 0.262207 1.644992 -1.862576 +v -0.237703 1.770075 -3.049536 +v -0.300236 1.113916 -2.955777 +v -0.331502 1.519979 -3.080854 +v -0.331502 1.051374 -1.612618 +v 0.262207 1.082680 -1.737695 +f 60 61 66 +f 50 51 52 +f 50 52 56 +f 52 53 56 +f 49 55 56 +f 52 51 57 +f 53 52 57 +f 53 49 58 +f 49 56 58 +f 56 53 58 +f 51 50 60 +f 53 57 61 +f 60 54 61 +f 61 54 62 +f 49 53 62 +f 59 49 62 +f 54 60 62 +f 53 61 62 +f 55 60 63 +f 60 50 63 +f 55 49 64 +f 49 59 64 +f 60 55 64 +f 59 62 64 +f 62 60 64 +f 50 56 65 +f 56 55 65 +f 63 50 65 +f 55 63 65 +f 57 51 66 +f 51 60 66 +f 61 57 66 +o convex_2 +v 0.293422 1.613799 3.074513 +v -0.300156 1.051374 1.106359 +v -0.206440 1.051374 1.106359 +v -0.018944 1.613799 1.106359 +v -0.331502 1.676313 2.980754 +v 0.324703 1.207626 2.980754 +v -0.175159 1.207626 3.105831 +v 0.199706 1.207626 1.106359 +v 0.230923 1.645023 1.418954 +v -0.268939 1.582576 1.106359 +v 0.262204 1.738827 3.105831 +v -0.206440 1.176402 2.886995 +v -0.300156 1.676313 2.574596 +v 0.199706 1.613799 1.106359 +v 0.230923 1.207626 1.325195 +v -0.206440 1.051374 1.325195 +v -0.112660 1.176402 3.012073 +v -0.331502 1.613799 2.949436 +v 0.324703 1.207626 2.824555 +v -0.300156 1.613799 1.731354 +v -0.143941 1.707537 3.043195 +f 77 79 87 +f 69 68 70 +f 72 67 73 +f 69 70 74 +f 70 68 76 +f 73 67 77 +f 67 75 77 +f 75 70 77 +f 70 76 79 +f 77 70 79 +f 74 70 80 +f 70 75 80 +f 80 75 81 +f 69 74 81 +f 74 80 81 +f 68 69 82 +f 69 72 82 +f 78 68 82 +f 78 82 83 +f 72 73 83 +f 73 78 83 +f 82 72 83 +f 71 68 84 +f 73 71 84 +f 68 78 84 +f 78 73 84 +f 72 69 85 +f 67 72 85 +f 75 67 85 +f 81 75 85 +f 69 81 85 +f 68 71 86 +f 76 68 86 +f 79 76 86 +f 71 79 86 +f 71 73 87 +f 73 77 87 +f 79 71 87 +o convex_3 +v 2.699455 1.769919 0.574950 +v 1.199834 1.894911 -0.612469 +v 2.480714 0.895291 -0.487404 +v 1.106062 0.895291 0.512418 +v 2.949392 1.926315 -0.612469 +v 1.106062 1.926315 0.543684 +v 2.918196 0.926487 0.481151 +v 1.106062 0.864095 -0.424871 +v 2.980772 1.863715 0.574950 +v 2.949392 0.926487 -0.487404 +v 1.106062 1.926315 -0.581203 +v 2.980772 1.894911 0.387353 +v 2.949392 1.082778 0.512418 +v 1.106062 0.895291 -0.456138 +v 2.949392 1.926315 -0.174974 +v 2.949392 1.332761 -0.549936 +v 1.106062 1.519936 0.543684 +v 2.980772 1.863715 -0.143708 +v 2.980772 1.488740 0.543684 +v 1.887252 1.238966 0.543684 +v 2.605683 0.895291 -0.424871 +f 90 97 108 +f 91 93 95 +f 94 91 95 +f 93 88 96 +f 92 89 98 +f 93 92 98 +f 95 93 98 +f 93 96 99 +f 91 94 100 +f 96 88 100 +f 94 97 100 +f 89 90 101 +f 90 95 101 +f 98 89 101 +f 95 98 101 +f 92 93 102 +f 99 92 102 +f 93 99 102 +f 90 89 103 +f 89 92 103 +f 97 90 103 +f 93 91 104 +f 88 93 104 +f 92 99 105 +f 99 96 105 +f 103 92 105 +f 97 103 105 +f 96 100 106 +f 100 97 106 +f 105 96 106 +f 97 105 106 +f 100 88 107 +f 91 100 107 +f 88 104 107 +f 104 91 107 +f 95 90 108 +f 94 95 108 +f 97 94 108 +o convex_4 +v -1.081686 1.988810 0.356200 +v -2.956142 0.989029 -0.549973 +v -2.956142 1.145305 -0.549973 +v -3.112397 0.926450 0.512378 +v -1.081686 0.832752 -0.456153 +v -2.987353 1.957465 -0.424804 +v -1.081686 1.863654 -0.549973 +v -1.081686 0.832752 0.449793 +v -3.049776 1.926232 0.449793 +v -1.081686 1.988810 0.606198 +v -1.393996 1.738723 0.606198 +v -2.831099 0.957796 -0.549973 +v -3.080987 0.926450 0.199795 +v -1.081686 1.644912 -0.549973 +v -1.550250 1.988810 0.574849 +v -2.862310 1.926232 0.481029 +v -2.706056 0.895218 0.449793 +v -2.987353 1.613680 -0.487389 +v -3.018564 1.926232 -0.268739 +v -1.362785 1.863654 -0.549973 +v -2.456168 0.989029 -0.549973 +v -1.175319 0.832752 -0.456153 +v -3.112397 1.176424 0.449793 +v -1.081686 1.769956 0.606198 +v -1.268953 0.832752 0.449793 +v -1.737716 0.895218 0.481029 +v -1.675294 1.988810 0.168560 +v -3.080987 1.082726 0.512378 +v -1.268953 1.988810 0.606198 +v -1.237742 0.957796 -0.487275 +f 129 122 138 +f 110 111 115 +f 109 113 115 +f 113 109 116 +f 116 109 118 +f 110 115 120 +f 110 120 121 +f 115 113 122 +f 120 115 122 +f 114 117 123 +f 118 109 123 +f 123 117 124 +f 112 121 125 +f 111 110 126 +f 110 121 126 +f 126 121 127 +f 117 114 127 +f 114 126 127 +f 115 111 128 +f 114 115 128 +f 111 126 128 +f 126 114 128 +f 113 120 129 +f 120 122 129 +f 113 116 130 +f 120 113 130 +f 121 120 130 +f 125 121 130 +f 112 117 131 +f 121 112 131 +f 127 121 131 +f 117 127 131 +f 116 118 132 +f 118 119 132 +f 119 112 132 +f 116 112 133 +f 112 125 133 +f 130 116 133 +f 125 130 133 +f 112 116 134 +f 132 112 134 +f 116 132 134 +f 109 115 135 +f 115 114 135 +f 123 109 135 +f 114 123 135 +f 117 112 136 +f 112 119 136 +f 124 117 136 +f 124 136 137 +f 119 118 137 +f 118 123 137 +f 123 124 137 +f 136 119 137 +f 122 113 138 +f 113 129 138 +o convex_5 +v 0.824559 0.832798 1.012169 +v -0.331422 1.051634 -1.081187 +v -0.925150 0.832798 -1.049927 +v -1.081451 2.332365 0.918389 +v 1.012120 2.457528 -0.955932 +v 1.012120 2.457528 1.012169 +v -0.925150 2.457528 -1.049927 +v -1.050191 0.832798 0.980909 +v 1.012120 0.832798 -0.987406 +v 1.105900 0.832798 0.574742 +v -0.362683 1.676176 1.106164 +v -1.081451 1.863681 -0.643331 +v 1.105900 1.926183 -0.581025 +v -1.081451 0.832798 -0.455985 +v 0.262091 1.676176 -1.081187 +v -0.268902 0.832798 1.106164 +v -0.612549 2.426039 0.355921 +v 1.012120 0.832798 0.981123 +v 1.105900 1.926183 0.543482 +v 0.199571 1.207809 1.106164 +v 1.105900 0.864129 -0.424725 +v 0.293351 0.832798 -1.081187 +v 0.980859 2.426039 -0.987406 +v -1.081451 0.832798 0.949863 +v 0.543432 2.457528 0.981123 +v -0.987670 2.301035 0.949863 +v 1.043380 2.332365 0.949649 +v -0.987670 2.426039 -0.487245 +v 0.387132 1.363984 -1.081187 +v 0.668258 2.269864 1.043644 +v -1.081451 1.957354 -0.643331 +v -0.987670 2.363537 0.793349 +v 0.199571 1.613992 1.106164 +v -0.643809 2.457528 -0.330944 +v 1.012120 1.863681 1.012169 +v -0.956410 0.832798 -0.987192 +v -0.393943 0.832798 1.106164 +v -1.081451 1.926183 0.949863 +v -0.331422 1.676176 -1.081187 +v 1.012120 2.144860 -0.987406 +v -1.081451 2.332365 0.668308 +f 166 169 179 +f 144 143 145 +f 140 141 145 +f 141 139 146 +f 139 141 147 +f 139 147 148 +f 141 146 152 +f 142 150 152 +f 146 139 154 +f 139 148 156 +f 148 151 157 +f 154 139 158 +f 149 154 158 +f 148 147 159 +f 147 151 159 +f 151 148 159 +f 141 140 160 +f 147 141 160 +f 140 153 160 +f 145 143 161 +f 153 145 161 +f 152 146 162 +f 142 152 162 +f 144 145 163 +f 163 142 164 +f 144 163 164 +f 143 144 165 +f 151 143 165 +f 156 148 165 +f 148 157 165 +f 157 151 165 +f 147 160 167 +f 160 153 167 +f 153 161 167 +f 144 164 168 +f 164 149 168 +f 150 142 169 +f 166 145 169 +f 142 163 170 +f 163 155 170 +f 166 142 170 +f 158 144 171 +f 149 158 171 +f 144 168 171 +f 168 149 171 +f 163 145 172 +f 155 163 172 +f 145 166 172 +f 170 155 172 +f 166 170 172 +f 139 156 173 +f 158 139 173 +f 144 158 173 +f 165 144 173 +f 156 165 173 +f 145 141 174 +f 141 152 174 +f 152 150 174 +f 169 145 174 +f 150 169 174 +f 149 146 175 +f 146 154 175 +f 154 149 175 +f 146 149 176 +f 142 162 176 +f 162 146 176 +f 164 142 176 +f 149 164 176 +f 140 145 177 +f 145 153 177 +f 153 140 177 +f 143 151 178 +f 151 147 178 +f 161 143 178 +f 147 167 178 +f 167 161 178 +f 142 166 179 +f 169 142 179 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/588/588.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/588/588.urdf new file mode 100644 index 000000000..69f5961e5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/588/588.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/589/589.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/589/589.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/589/589.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/589/589.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/589/589.obj new file mode 100644 index 000000000..a61ebea1d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/589/589.obj @@ -0,0 +1,573 @@ +o convex_0 +v -0.064839 3.481963 -1.160388 +v -1.104043 -2.557640 -1.225542 +v -0.194739 -2.590332 -1.225329 +v 0.746770 -2.297297 0.917306 +v -1.038985 3.449272 0.852365 +v 0.941513 3.416580 -0.706012 +v -1.104043 -2.557640 0.787423 +v 0.974150 -2.589737 -1.225542 +v 0.941513 3.383889 0.755059 +v -0.941506 3.481369 -1.225542 +v 1.104051 -2.524949 0.884942 +v 0.941513 3.221620 -1.160388 +v -0.714342 2.052454 0.917093 +v 0.551811 1.370688 -1.257906 +v -0.519383 -2.135028 0.917093 +v 0.486969 0.883287 0.917093 +v -0.584441 -2.070240 -1.257906 +v 1.104051 -2.557640 0.592600 +v -1.104043 -1.160822 0.820001 +v 0.681928 3.448677 -1.192965 +v 1.006571 -2.589737 -1.030505 +v 1.104051 -1.972760 0.820001 +v -1.038985 3.449272 0.624964 +v 0.616869 -2.070240 -1.257906 +v 0.032425 3.416580 0.819788 +v -0.519383 0.915979 -1.257906 +v 0.909092 3.448677 -0.738376 +v 0.974150 2.474471 0.787423 +v -1.071406 1.565648 0.852365 +v 0.876671 3.221620 -1.192965 +v -1.104043 -2.427469 -1.225542 +v -0.974143 3.481369 -0.673435 +v -0.746763 3.449272 0.852365 +v 1.006571 -2.589737 -0.575917 +v -0.292219 3.481963 -1.225329 +v -0.909084 3.091449 0.884942 +v 0.909092 3.448677 -1.160601 +v -1.104043 -1.907971 0.820001 +v 1.104051 -2.200411 0.884942 +v 0.649290 3.351792 0.787423 +v -0.616862 -0.024347 -1.257906 +v -0.551804 -2.070240 0.917093 +v 0.259589 3.416580 0.787423 +v -0.909084 -2.524949 0.819788 +v 0.974150 -0.284096 -1.192965 +v -0.974143 2.442374 -1.225542 +v 1.104051 -2.460160 0.592600 +v 0.941513 2.247414 -1.192965 +v -0.909084 3.481369 -0.381093 +v 0.844249 -2.264605 0.917306 +v 0.584448 1.175727 -1.257906 +v -0.551804 -2.167125 -1.257906 +v 0.876671 2.994563 0.787423 +v -1.071406 1.273208 0.852365 +v -1.071406 1.565648 0.787423 +v 0.941513 3.416580 0.105434 +v 0.909092 -2.524949 0.884942 +f 15 44 57 +f 2 3 7 +f 11 7 18 +f 2 7 19 +f 3 8 21 +f 12 6 22 +f 11 18 22 +f 17 14 24 +f 10 14 26 +f 14 17 26 +f 22 6 28 +f 5 23 29 +f 2 19 31 +f 23 5 32 +f 31 23 32 +f 27 1 33 +f 7 3 34 +f 18 7 34 +f 3 21 34 +f 21 18 34 +f 14 10 35 +f 30 14 35 +f 20 30 35 +f 10 32 35 +f 13 16 36 +f 16 25 36 +f 5 29 36 +f 33 5 36 +f 25 33 36 +f 6 12 37 +f 1 27 37 +f 27 6 37 +f 12 30 37 +f 30 20 37 +f 35 1 37 +f 20 35 37 +f 19 7 38 +f 29 19 38 +f 11 22 39 +f 28 16 39 +f 22 28 39 +f 9 25 40 +f 25 16 40 +f 17 2 41 +f 10 26 41 +f 26 17 41 +f 2 31 41 +f 4 13 42 +f 15 4 42 +f 7 15 42 +f 38 7 42 +f 25 9 43 +f 33 25 43 +f 27 33 43 +f 15 7 44 +f 21 8 45 +f 32 10 46 +f 31 32 46 +f 10 41 46 +f 41 31 46 +f 18 21 47 +f 12 22 47 +f 22 18 47 +f 45 12 47 +f 21 45 47 +f 30 12 48 +f 45 8 48 +f 12 45 48 +f 32 5 49 +f 5 33 49 +f 33 1 49 +f 1 35 49 +f 35 32 49 +f 4 11 50 +f 13 4 50 +f 16 13 50 +f 11 39 50 +f 39 16 50 +f 8 24 51 +f 24 14 51 +f 14 30 51 +f 48 8 51 +f 30 48 51 +f 3 2 52 +f 8 3 52 +f 2 17 52 +f 24 8 52 +f 17 24 52 +f 28 9 53 +f 16 28 53 +f 9 40 53 +f 40 16 53 +f 13 36 54 +f 36 29 54 +f 29 38 54 +f 42 13 54 +f 38 42 54 +f 19 29 55 +f 29 23 55 +f 31 19 55 +f 23 31 55 +f 6 27 56 +f 28 6 56 +f 9 28 56 +f 43 9 56 +f 27 43 56 +f 11 4 57 +f 7 11 57 +f 4 15 57 +f 44 7 57 +o convex_1 +v 0.584391 0.137439 2.216275 +v -0.454464 -0.187391 0.917516 +v -0.486980 -0.122355 0.917516 +v -0.421947 -0.154814 2.865845 +v -0.454464 1.014079 0.917516 +v 0.519463 0.981502 2.865845 +v 0.486946 0.884006 0.917516 +v -0.486980 0.948925 2.735779 +v 0.584391 -0.024859 0.917516 +v 0.584391 -0.122355 2.768391 +v 0.551980 0.884123 2.865845 +v 0.032447 0.981502 0.982549 +v 0.097271 0.981502 2.833233 +v -0.162233 -0.154814 2.865845 +v 0.584391 0.202357 1.144846 +v -0.454464 0.202357 2.833233 +v 0.584391 -0.122355 2.508639 +v 0.584391 -0.057436 2.800812 +v -0.421947 0.104861 2.865845 +v 0.519463 0.981502 2.605903 +v -0.486980 0.884006 2.768391 +v -0.486980 0.948925 2.281117 +v 0.551980 0.884123 2.605903 +v 0.551980 0.624213 2.865845 +v -0.421947 -0.187391 0.917516 +v 0.162199 0.851546 2.865845 +v -0.421947 -0.187391 1.274722 +v -0.454464 -0.154814 2.086399 +v -0.486980 0.754286 2.735779 +f 73 78 86 +f 59 60 62 +f 59 62 64 +f 59 64 66 +f 66 58 67 +f 63 61 68 +f 64 62 69 +f 63 62 70 +f 62 65 70 +f 68 61 71 +f 58 66 72 +f 66 64 72 +f 68 58 72 +f 66 67 74 +f 67 58 75 +f 58 68 75 +f 71 67 75 +f 61 63 76 +f 73 61 76 +f 62 63 77 +f 63 68 77 +f 69 62 77 +f 64 69 77 +f 65 60 78 +f 70 65 78 +f 73 76 78 +f 62 60 79 +f 60 65 79 +f 65 62 79 +f 72 64 80 +f 68 72 80 +f 77 68 80 +f 64 77 80 +f 68 71 81 +f 75 68 81 +f 71 75 81 +f 59 66 82 +f 66 74 82 +f 74 67 82 +f 63 70 83 +f 76 63 83 +f 70 78 83 +f 78 76 83 +f 61 59 84 +f 71 61 84 +f 67 71 84 +f 59 82 84 +f 82 67 84 +f 60 59 85 +f 59 61 85 +f 73 60 85 +f 61 73 85 +f 60 73 86 +f 78 60 86 +o convex_2 +v -0.584483 -1.843363 -2.654114 +v 0.616956 -1.648511 -1.258303 +v 0.616956 -2.070710 -1.258303 +v 0.519483 -2.168079 -3.141320 +v 0.486992 -0.999195 -3.141320 +v -0.616974 -1.129287 -1.258303 +v -0.551992 -2.168079 -1.258303 +v -0.487010 -1.031804 -3.141320 +v 0.584465 -1.129173 -1.258303 +v -0.551992 -2.070596 -3.141320 +v 0.292047 -0.999195 -2.816516 +v -0.227204 -2.168079 -1.258303 +v -0.454519 -1.096793 -1.420706 +v 0.519483 -1.031804 -2.848959 +v -0.551992 -2.168079 -1.680438 +v -0.584483 -2.038101 -1.258303 +v -0.519501 -1.031804 -2.784072 +v 0.584465 -1.096678 -1.485593 +v 0.551974 -2.070710 -2.719185 +v -0.422028 -2.103090 -3.108692 +v 0.584465 -2.103090 -1.615551 +v -0.616974 -1.291531 -1.583108 +v -0.551992 -1.810869 -3.141320 +v 0.616956 -2.038215 -1.518221 +v -0.129731 -0.999195 -3.108692 +v 0.519483 -1.648511 -3.141320 +v 0.422010 -2.168079 -3.141320 +v 0.486992 -0.999195 -2.816516 +f 99 104 114 +f 89 88 92 +f 89 92 93 +f 91 90 94 +f 92 88 95 +f 94 90 96 +f 89 93 98 +f 93 90 98 +f 92 95 99 +f 90 93 101 +f 96 101 102 +f 93 92 102 +f 87 96 102 +f 101 93 102 +f 92 99 103 +f 95 88 104 +f 99 95 104 +f 88 100 104 +f 100 91 104 +f 101 96 106 +f 90 89 107 +f 89 98 107 +f 98 90 107 +f 87 102 108 +f 102 92 108 +f 92 103 108 +f 108 103 109 +f 96 87 109 +f 94 96 109 +f 103 94 109 +f 87 108 109 +f 88 89 110 +f 89 90 110 +f 100 88 110 +f 90 105 110 +f 91 94 111 +f 97 91 111 +f 99 97 111 +f 94 103 111 +f 103 99 111 +f 90 91 112 +f 91 100 112 +f 105 90 112 +f 100 110 112 +f 110 105 112 +f 96 90 113 +f 90 101 113 +f 106 96 113 +f 101 106 113 +f 91 97 114 +f 97 99 114 +f 104 91 114 +o convex_3 +v -0.551905 0.591887 -1.258119 +v 0.552024 1.014079 -2.719058 +v 0.552024 0.981594 -2.719058 +v -0.487047 0.072462 -3.141142 +v 0.487054 -0.122447 -1.258119 +v 0.454458 -0.089962 -3.206169 +v -0.454451 0.916624 -3.141142 +v 0.487054 1.014079 -1.258119 +v -0.584502 -0.057477 -1.258119 +v -0.487047 0.981594 -1.258119 +v 0.552024 1.014079 -3.271196 +v -0.487047 -0.024992 -3.141142 +v -0.584502 -0.057477 -1.712914 +v 0.389600 -0.122447 -2.362001 +v -0.487047 0.949109 -2.589201 +v 0.552024 0.819170 -3.271196 +v 0.454569 1.014079 -3.271196 +v 0.162317 -0.122447 -1.258119 +v 0.032266 1.014079 -1.258119 +v 0.162317 -0.089962 -3.141142 +v 0.519539 1.014079 -1.648084 +v -0.324623 0.949109 -3.173656 +v 0.487054 -0.122447 -1.745427 +v -0.584502 0.267372 -1.323343 +v 0.421973 0.851654 -3.271196 +v -0.324623 -0.089962 -1.323343 +v 0.292145 -0.089962 -3.206169 +v -0.519421 0.884139 -1.323343 +v -0.584502 0.007493 -1.712914 +v -0.551905 -0.057477 -1.972825 +f 134 140 144 +f 115 119 122 +f 119 115 123 +f 115 122 124 +f 116 117 125 +f 122 116 125 +f 118 126 127 +f 117 119 130 +f 125 117 130 +f 122 125 131 +f 125 130 131 +f 119 123 132 +f 128 119 132 +f 124 122 133 +f 122 131 133 +f 131 124 133 +f 117 116 135 +f 119 117 135 +f 122 119 135 +f 116 122 135 +f 118 121 136 +f 126 118 136 +f 129 124 136 +f 121 129 136 +f 124 131 136 +f 119 128 137 +f 128 120 137 +f 130 119 137 +f 120 130 137 +f 123 115 138 +f 127 123 138 +f 115 129 138 +f 131 130 139 +f 126 136 139 +f 136 131 139 +f 123 127 140 +f 132 123 140 +f 128 132 140 +f 134 128 140 +f 120 128 141 +f 130 120 141 +f 134 126 141 +f 128 134 141 +f 126 139 141 +f 139 130 141 +f 115 124 142 +f 129 115 142 +f 124 129 142 +f 121 118 143 +f 118 127 143 +f 129 121 143 +f 127 138 143 +f 138 129 143 +f 127 126 144 +f 126 134 144 +f 140 127 144 +o convex_4 +v -0.551937 -1.745880 2.735836 +v 0.584496 -0.999195 1.242479 +v 0.584496 -1.129287 1.242479 +v -0.551937 -0.999195 0.917516 +v -0.292144 -2.135584 0.917516 +v 0.551919 -2.168079 2.833169 +v 0.487000 -1.031804 2.768216 +v 0.584496 -2.103090 0.917516 +v -0.616974 -1.096793 2.800790 +v -0.487018 -2.135584 2.865743 +v -0.551937 -2.070596 0.917516 +v 0.584496 -0.999195 0.917516 +v 0.292126 -1.291531 2.898317 +v 0.162288 -0.999195 2.281159 +v -0.422099 -1.194162 2.898317 +v 0.324585 -1.908238 2.898317 +v 0.551919 -1.810869 2.833169 +v -0.519478 -2.135584 0.917516 +v -0.584397 -1.031804 1.307239 +v 0.292126 -2.168079 2.378686 +v -0.551937 -0.999195 1.307239 +v -0.616974 -1.226656 2.540780 +v -0.324603 -1.064299 2.800790 +v -0.422099 -1.843363 2.898317 +v 0.292126 -2.168079 2.865743 +v 0.551919 -0.999195 1.794490 +v -0.519478 -2.135584 2.053917 +v 0.551919 -2.135584 1.632008 +v 0.584496 -2.103090 1.144951 +v 0.519460 -2.135584 2.865743 +f 160 169 174 +f 147 146 150 +f 146 147 152 +f 149 148 152 +f 153 145 154 +f 148 149 155 +f 148 146 156 +f 146 152 156 +f 152 148 156 +f 146 148 158 +f 157 151 159 +f 157 159 160 +f 150 146 161 +f 151 157 161 +f 155 149 162 +f 148 155 163 +f 162 149 164 +f 158 148 165 +f 148 163 165 +f 163 153 165 +f 145 153 166 +f 155 145 166 +f 153 163 166 +f 163 155 166 +f 151 158 167 +f 159 151 167 +f 153 159 167 +f 158 165 167 +f 165 153 167 +f 153 154 168 +f 159 153 168 +f 160 159 168 +f 154 160 168 +f 160 154 169 +f 164 150 169 +f 162 164 169 +f 146 158 170 +f 158 151 170 +f 161 146 170 +f 151 161 170 +f 154 145 171 +f 145 155 171 +f 155 162 171 +f 169 154 171 +f 162 169 171 +f 149 152 172 +f 152 150 172 +f 164 149 172 +f 150 164 172 +f 147 150 173 +f 152 147 173 +f 150 152 173 +f 157 160 174 +f 150 161 174 +f 161 157 174 +f 169 150 174 +o convex_5 +v -0.292249 -1.258973 4.326915 +v 0.324719 -1.875931 3.482902 +v 0.324719 -1.908416 3.482902 +v -0.357196 -1.421333 2.898317 +v -0.324689 -1.810897 4.814166 +v 0.259705 -1.388912 4.879119 +v 0.292212 -1.291457 2.898317 +v -0.227301 -1.908416 2.898317 +v 0.292212 -1.875931 4.749212 +v 0.324719 -1.908416 2.898317 +v -0.259742 -1.258973 4.846546 +v -0.357196 -1.258973 2.898317 +v 0.097303 -1.875931 4.781398 +v -0.162354 -1.258973 4.846546 +v 0.292212 -1.291457 3.223087 +v -0.227301 -1.908416 3.255661 +v -0.097406 -1.258973 2.898317 +v 0.292212 -1.746055 4.781398 +v 0.259705 -1.908416 3.937385 +v -0.324689 -1.713506 4.814166 +v 0.194757 -1.356491 4.879119 +v 0.324719 -1.681022 2.930891 +v 0.259705 -1.486367 4.879119 +f 195 185 197 +f 178 181 182 +f 179 178 182 +f 176 177 184 +f 182 181 184 +f 177 182 184 +f 178 179 186 +f 181 178 186 +f 175 185 186 +f 186 185 188 +f 179 182 190 +f 182 177 190 +f 187 179 190 +f 181 186 191 +f 186 188 191 +f 189 181 191 +f 188 189 191 +f 177 176 192 +f 183 177 192 +f 189 180 192 +f 177 183 193 +f 183 187 193 +f 190 177 193 +f 187 190 193 +f 185 175 194 +f 179 185 194 +f 175 186 194 +f 186 179 194 +f 188 185 195 +f 180 189 195 +f 189 188 195 +f 176 184 196 +f 184 181 196 +f 181 189 196 +f 192 176 196 +f 189 192 196 +f 185 179 197 +f 179 187 197 +f 187 183 197 +f 183 192 197 +f 192 180 197 +f 180 195 197 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/589/589.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/589/589.urdf new file mode 100644 index 000000000..d55bb6642 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/589/589.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/590/590.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/590/590.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/590/590.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/590/590.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/590/590.obj new file mode 100644 index 000000000..ea8ad928e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/590/590.obj @@ -0,0 +1,597 @@ +o convex_0 +v 1.063750 -2.584550 -0.031143 +v 1.063750 -1.394473 -0.427916 +v 2.286519 -1.460640 0.133886 +v 2.980876 -2.452215 -0.593286 +v 3.113183 -2.485299 0.563847 +v 1.030724 -1.526807 0.530659 +v 2.947851 -1.559774 -0.593286 +v 1.030724 -2.551350 -0.560212 +v 3.046928 -1.526691 0.464512 +v 1.030724 -2.584550 0.530659 +v 1.030724 -1.427557 -0.527138 +v 2.881595 -2.518383 0.563847 +v 3.113183 -2.286914 0.563847 +v 1.030724 -1.493724 0.497699 +v 1.460263 -1.460640 -0.560212 +v 2.914825 -1.493607 0.365290 +v 1.658622 -1.526807 0.530659 +v 2.451648 -1.758159 -0.593286 +v 3.113183 -2.452215 0.365290 +v 2.352571 -2.485183 0.563847 +v 1.592570 -2.584550 0.497699 +v 2.484878 -2.485183 -0.560212 +v 1.063750 -1.394473 -0.494064 +v 3.046928 -1.691992 0.497699 +f 9 17 24 +f 8 1 10 +f 6 8 10 +f 8 6 11 +f 4 5 12 +f 12 5 13 +f 3 2 14 +f 2 11 14 +f 11 6 14 +f 8 11 15 +f 2 3 16 +f 9 7 16 +f 3 14 16 +f 14 9 16 +f 6 13 17 +f 9 14 17 +f 14 6 17 +f 7 4 18 +f 4 8 18 +f 15 7 18 +f 8 15 18 +f 5 4 19 +f 4 7 19 +f 7 9 19 +f 13 5 19 +f 9 13 19 +f 6 10 20 +f 10 12 20 +f 13 6 20 +f 12 13 20 +f 10 1 21 +f 12 10 21 +f 12 21 22 +f 1 8 22 +f 8 4 22 +f 4 12 22 +f 21 1 22 +f 11 2 23 +f 7 15 23 +f 15 11 23 +f 2 16 23 +f 16 7 23 +f 13 9 24 +f 17 13 24 +o convex_1 +v -3.102269 -2.452141 0.596907 +v -1.317112 -1.526765 -0.560225 +v -1.317112 -1.493759 -0.560225 +v -1.085553 -1.559771 0.563834 +v -1.085553 -2.617610 -0.560225 +v -3.069105 -1.493759 -0.560112 +v -3.002776 -2.617610 -0.460890 +v -1.085553 -2.485257 0.563834 +v -3.035940 -1.592887 0.530760 +v -1.085553 -1.493759 -0.560225 +v -3.035940 -1.493759 -0.361668 +v -1.945264 -2.617610 -0.328594 +v -1.350277 -2.419135 0.596907 +v -3.102269 -2.253775 0.596907 +v -3.102269 -2.485257 0.464612 +v -3.002776 -1.758137 -0.560112 +v -3.035940 -1.559771 0.398464 +v -1.085553 -2.617610 -0.328708 +v -2.275527 -1.592887 0.563720 +v -3.002776 -2.617610 -0.361668 +v -1.085553 -1.493759 -0.427929 +v -1.250981 -2.617610 -0.560225 +v -3.035940 -2.419135 -0.394742 +v -1.680737 -2.485257 0.563720 +v -3.102269 -2.121531 0.133987 +f 47 39 49 +f 26 27 29 +f 27 26 30 +f 29 28 32 +f 28 29 34 +f 29 27 34 +f 27 30 34 +f 34 30 35 +f 31 29 36 +f 25 32 37 +f 32 28 37 +f 33 30 38 +f 25 37 38 +f 37 28 38 +f 25 38 39 +f 31 30 40 +f 33 28 41 +f 30 33 41 +f 35 30 41 +f 28 35 41 +f 29 32 42 +f 36 29 42 +f 32 36 42 +f 28 33 43 +f 38 28 43 +f 33 38 43 +f 31 36 44 +f 39 31 44 +f 28 34 45 +f 34 35 45 +f 35 28 45 +f 26 29 46 +f 30 26 46 +f 29 31 46 +f 40 30 46 +f 31 40 46 +f 30 31 47 +f 31 39 47 +f 32 25 48 +f 36 32 48 +f 25 39 48 +f 44 36 48 +f 39 44 48 +f 38 30 49 +f 39 38 49 +f 30 47 49 +o convex_2 +v -1.085485 -2.716534 -0.626165 +v 1.030346 -1.526652 0.530786 +v 1.030346 -2.584498 0.530786 +v -1.019417 -1.791308 1.059760 +v 1.030346 -1.063941 -1.056139 +v -0.986280 -1.063941 -0.989861 +v 0.997208 -3.047208 -1.056139 +v -0.754731 -2.981190 1.059760 +v 0.964070 -1.063941 1.059760 +v 0.930933 -3.047208 1.059760 +v -0.986280 -1.063941 1.059760 +v -0.853937 -2.981190 -0.989861 +v -1.019417 -2.947987 1.059760 +v -1.085485 -1.559855 0.563717 +v -1.085485 -1.493643 -0.559888 +v -0.986280 -2.947987 -0.956723 +v 0.534318 -3.047208 0.795066 +v 0.798797 -3.047208 -1.056139 +v -1.085485 -2.485082 0.563717 +v 1.030346 -2.551295 -0.559888 +v -1.019417 -1.063941 0.894274 +v -0.126568 -3.014199 -1.023000 +v -0.159706 -1.096951 -1.023000 +v 0.964070 -2.286833 1.059760 +v -0.986280 -2.518285 -0.989861 +v -1.052348 -2.881968 0.695857 +v -1.019417 -1.063941 0.001811 +v -0.887074 -2.981190 -0.824583 +v 0.964070 -3.047208 0.365093 +f 59 56 78 +f 51 52 54 +f 52 51 58 +f 51 54 58 +f 54 55 58 +f 53 57 58 +f 58 57 59 +f 58 55 60 +f 53 58 60 +f 57 53 62 +f 62 53 63 +f 55 50 64 +f 50 63 64 +f 59 57 66 +f 56 59 66 +f 54 56 67 +f 56 66 67 +f 63 50 68 +f 62 63 68 +f 54 52 69 +f 52 56 69 +f 56 54 69 +f 53 60 70 +f 60 55 70 +f 63 53 70 +f 64 63 70 +f 67 66 71 +f 67 71 72 +f 55 54 72 +f 54 67 72 +f 52 58 73 +f 58 59 73 +f 59 52 73 +f 50 55 74 +f 65 50 74 +f 61 65 74 +f 71 61 74 +f 72 71 74 +f 55 72 74 +f 50 65 75 +f 65 62 75 +f 68 50 75 +f 62 68 75 +f 55 64 76 +f 70 55 76 +f 64 70 76 +f 57 62 77 +f 65 61 77 +f 62 65 77 +f 66 57 77 +f 61 71 77 +f 71 66 77 +f 56 52 78 +f 52 59 78 +o convex_3 +v 0.038405 0.589299 -1.056139 +v 0.236846 -0.567834 -3.105916 +v 0.435173 -0.567834 -3.105916 +v -0.523392 -0.534760 -1.056139 +v -0.490318 0.523151 -3.105916 +v 0.600541 0.556225 -1.056339 +v 0.567467 -0.534647 -1.056339 +v 0.534394 0.490077 -2.874372 +v -0.556579 -0.468612 -3.072609 +v -0.457358 0.589299 -1.056139 +v 0.236846 0.523151 -3.006396 +v 0.534394 -0.567834 -1.783673 +v -0.523392 0.093304 -1.982110 +v -0.490318 0.556111 -2.940585 +v 0.600541 0.556225 -1.486118 +v -0.126623 -0.567834 -1.948803 +v -0.556579 -0.501686 -2.609924 +v 0.600541 -0.071726 -1.089445 +v 0.468133 -0.204134 -3.072609 +v -0.490318 0.390855 -1.155658 +v -0.523392 0.225599 -3.105916 +v -0.556579 -0.435538 -2.179945 +v 0.501320 0.456890 -2.973491 +v -0.225844 0.390855 -3.105916 +v 0.468133 -0.567834 -1.519024 +v 0.501320 0.523038 -2.775054 +v -0.358138 0.589299 -1.651248 +v -0.523392 -0.270282 -1.056139 +v -0.556579 -0.237208 -2.808361 +v 0.567467 -0.534647 -1.320788 +f 86 96 108 +f 81 80 83 +f 79 82 85 +f 84 79 85 +f 82 79 88 +f 80 81 90 +f 89 83 92 +f 79 84 93 +f 80 90 94 +f 87 80 95 +f 80 94 95 +f 94 82 95 +f 84 85 96 +f 93 84 96 +f 86 93 96 +f 90 81 97 +f 86 90 97 +f 88 92 98 +f 98 92 99 +f 83 80 99 +f 80 87 99 +f 92 83 99 +f 91 98 99 +f 87 95 100 +f 95 82 100 +f 98 91 100 +f 89 86 101 +f 86 97 101 +f 101 97 102 +f 81 83 102 +f 83 89 102 +f 97 81 102 +f 89 101 102 +f 85 82 103 +f 90 85 103 +f 82 94 103 +f 94 90 103 +f 86 89 104 +f 89 92 104 +f 93 86 104 +f 93 104 105 +f 88 79 105 +f 92 88 105 +f 79 93 105 +f 104 92 105 +f 82 88 106 +f 88 98 106 +f 100 82 106 +f 98 100 106 +f 99 87 107 +f 91 99 107 +f 100 91 107 +f 87 100 107 +f 85 90 108 +f 90 86 108 +f 96 85 108 +o convex_4 +v 0.732739 1.614666 1.059760 +v -1.085553 1.448895 -0.526957 +v -1.085553 1.448895 -0.493818 +v -1.085553 3.101928 -1.056139 +v 1.063397 0.589298 -1.056139 +v 1.129528 2.903201 -1.056139 +v -0.953290 3.035768 1.026415 +v -0.953290 0.589544 1.059760 +v 1.063397 3.068725 1.026622 +v -1.052379 0.589544 -1.022793 +v 1.030223 0.655459 1.026415 +v 0.567519 3.101928 -0.593234 +v 0.633433 0.589544 1.059760 +v -0.457195 3.101928 0.596856 +v -0.853985 2.903446 1.059760 +v -0.986248 0.589544 1.026415 +v -1.052379 1.151541 -1.056139 +v -1.085553 3.035768 -0.725374 +v 1.096354 2.969361 0.464508 +v 1.096354 1.250905 -1.022793 +v -1.052379 0.589544 0.100605 +v 0.997048 0.589544 1.026415 +v 0.468213 3.101928 0.563510 +v 1.129528 2.936404 -0.923791 +v 0.997048 2.936158 -1.056139 +v -1.085553 2.076807 -1.056139 +v 1.063397 2.142968 1.026622 +v -0.986248 0.721620 1.026415 +f 129 124 136 +f 110 111 112 +f 113 112 114 +f 111 110 118 +f 109 116 121 +f 116 113 121 +f 119 109 121 +f 112 115 122 +f 115 117 122 +f 120 112 122 +f 116 109 123 +f 115 116 123 +f 109 117 123 +f 117 115 123 +f 113 116 124 +f 112 113 125 +f 113 118 125 +f 112 111 126 +f 115 112 126 +f 127 119 128 +f 113 114 128 +f 119 113 128 +f 111 118 129 +f 118 113 129 +f 113 124 129 +f 113 119 130 +f 121 113 130 +f 119 121 130 +f 117 120 131 +f 122 117 131 +f 120 122 131 +f 120 117 132 +f 117 127 132 +f 127 128 132 +f 128 114 132 +f 114 112 133 +f 112 120 133 +f 132 114 133 +f 120 132 133 +f 110 112 134 +f 118 110 134 +f 112 125 134 +f 125 118 134 +f 117 109 135 +f 109 119 135 +f 127 117 135 +f 119 127 135 +f 116 115 136 +f 124 116 136 +f 126 111 136 +f 115 126 136 +f 111 129 136 +o convex_5 +v 0.170613 3.234535 -0.593286 +v -0.424212 3.597988 0.596907 +v 0.468135 5.019184 0.563821 +v -0.556579 5.085196 -0.560199 +v 0.468135 5.085196 -0.494025 +v 0.468135 3.101929 0.563821 +v -0.556579 3.101929 -0.560199 +v -0.490340 5.085196 0.497647 +v 0.567493 3.102123 -0.593286 +v -0.457331 3.101929 0.596907 +v 0.567493 3.630994 -0.196477 +v 0.501364 4.920166 -0.527112 +v -0.556579 3.101929 -0.295504 +v 0.501364 4.920166 0.530734 +v -0.523349 5.019184 0.266272 +v 0.567493 3.564982 -0.593286 +v 0.104595 5.052190 0.563821 +v 0.005457 3.101929 0.596907 +v -0.556579 5.085196 -0.196360 +v 0.567493 3.102123 -0.229447 +v -0.490340 4.820760 0.530734 +v -0.258946 5.085196 -0.560199 +v 0.468135 5.085196 -0.229447 +v -0.490340 4.358095 0.530734 +v 0.501364 3.101929 0.365416 +f 156 150 161 +f 140 137 143 +f 141 140 144 +f 143 137 145 +f 143 142 146 +f 140 143 149 +f 143 146 149 +f 139 142 150 +f 147 148 150 +f 148 141 150 +f 137 140 152 +f 145 137 152 +f 147 145 152 +f 148 147 152 +f 138 139 153 +f 139 138 154 +f 142 139 154 +f 138 146 154 +f 146 142 154 +f 144 140 155 +f 140 149 155 +f 151 144 155 +f 149 151 155 +f 145 147 156 +f 147 150 156 +f 146 138 157 +f 144 151 157 +f 138 153 157 +f 153 144 157 +f 140 141 158 +f 141 148 158 +f 152 140 158 +f 148 152 158 +f 141 144 159 +f 139 150 159 +f 150 141 159 +f 153 139 159 +f 144 153 159 +f 149 146 160 +f 151 149 160 +f 146 157 160 +f 157 151 160 +f 142 143 161 +f 143 145 161 +f 150 142 161 +f 145 156 161 +o convex_6 +v -1.052492 -1.030576 0.332161 +v 1.063380 0.589299 -0.890446 +v 1.063380 0.490109 -0.890446 +v 0.997104 -0.204215 1.059760 +v -0.986216 0.589299 1.059760 +v -1.052492 0.589299 -1.022793 +v 1.030242 -1.063747 -1.056139 +v 0.964173 -1.063747 1.059760 +v -0.986216 -1.063747 -0.989654 +v 0.997104 0.589299 1.026415 +v -0.986216 -1.063747 1.059760 +v 1.063380 0.589299 -1.056139 +v -0.523524 -0.534630 -1.056139 +v -1.052492 0.556128 0.133744 +v -1.019354 -0.964558 -1.022793 +v 0.997104 -0.799189 1.059760 +v -0.457248 0.589299 -1.056139 +v 1.063380 -0.204215 -1.022793 +v 0.633413 0.589299 1.059760 +v -1.019354 -1.063747 0.861343 +f 166 175 181 +f 164 163 165 +f 166 163 167 +f 165 166 169 +f 168 169 170 +f 165 163 171 +f 163 166 171 +f 169 166 172 +f 170 169 172 +f 163 164 173 +f 167 163 173 +f 173 168 174 +f 166 167 175 +f 167 162 175 +f 162 167 176 +f 168 170 176 +f 170 162 176 +f 174 168 176 +f 167 174 176 +f 164 165 177 +f 165 169 177 +f 169 168 177 +f 167 173 178 +f 173 174 178 +f 174 167 178 +f 173 164 179 +f 168 173 179 +f 164 177 179 +f 177 168 179 +f 166 165 180 +f 165 171 180 +f 171 166 180 +f 162 170 181 +f 172 166 181 +f 170 172 181 +f 175 162 181 +o convex_7 +v -0.457292 -0.402451 1.059761 +v 0.600554 -0.005905 3.010154 +v 0.567467 0.423942 3.076279 +v 0.600554 0.523164 1.059761 +v -0.589639 0.556238 2.910868 +v -0.424205 -0.468599 3.043118 +v 0.567467 -0.600895 1.059761 +v -0.589639 0.423942 1.059761 +v 0.600554 -0.534634 2.944029 +v -0.324945 -0.534747 1.059761 +v -0.424205 0.556238 2.976993 +v -0.589639 0.258686 1.159244 +v -0.358032 -0.402451 3.076279 +v 0.501293 -0.600895 1.258333 +v -0.589639 0.556238 2.679529 +v -0.457292 -0.336304 3.043118 +v 0.600554 -0.567821 2.216653 +v -0.424205 -0.501673 2.183689 +v 0.468206 0.126391 3.076279 +v 0.269919 0.423942 3.076279 +v -0.093570 -0.501673 2.976993 +v -0.556553 0.523164 2.976993 +v 0.600554 0.093317 1.059761 +v 0.600554 0.489977 1.754173 +v -0.589639 0.457016 1.390583 +v -0.589639 0.490090 2.811779 +f 193 197 207 +f 182 185 188 +f 185 182 189 +f 185 183 190 +f 182 188 191 +f 189 182 193 +f 186 189 193 +f 187 190 194 +f 191 188 195 +f 189 186 196 +f 192 185 196 +f 186 192 196 +f 193 182 197 +f 187 194 197 +f 185 190 198 +f 195 188 198 +f 182 191 199 +f 191 195 199 +f 197 182 199 +f 187 197 199 +f 183 184 200 +f 190 183 200 +f 184 194 200 +f 194 190 200 +f 184 192 201 +f 194 184 201 +f 190 187 202 +f 198 190 202 +f 195 198 202 +f 187 199 202 +f 199 195 202 +f 192 186 203 +f 186 197 203 +f 197 194 203 +f 201 192 203 +f 194 201 203 +f 188 185 204 +f 185 198 204 +f 198 188 204 +f 184 183 205 +f 183 185 205 +f 192 184 205 +f 185 192 205 +f 185 189 206 +f 196 185 206 +f 189 196 206 +f 186 193 207 +f 197 186 207 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/590/590.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/590/590.urdf new file mode 100644 index 000000000..98f1c92a9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/590/590.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/591/591.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/591/591.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/591/591.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/591/591.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/591/591.obj new file mode 100644 index 000000000..ac4f584f9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/591/591.obj @@ -0,0 +1,486 @@ +o convex_0 +v -0.871683 -3.972573 -1.073509 +v -0.944013 -0.035993 1.129481 +v -1.016131 -0.035993 1.129481 +v -1.088461 -0.035993 -1.109674 +v 1.042193 -0.035993 -1.037344 +v 1.006134 -3.936351 1.057151 +v -1.052190 -3.936351 1.057151 +v 1.078464 -0.035993 0.984821 +v 0.934016 -3.900130 -0.928850 +v -1.016131 -3.358349 -1.109674 +v 1.042193 -0.830939 -1.037344 +v -1.088461 -2.888626 0.515335 +v 1.042193 -3.322128 1.057151 +v 0.644909 -0.035993 1.057151 +v -0.257835 -0.035993 -1.109455 +v -0.546517 -3.972573 -1.073290 +v -1.016131 -3.972573 -0.567858 +v -1.088461 -0.035993 -0.314923 +v 1.078464 -0.072600 -0.351088 +v -1.052190 -2.708290 1.093316 +v 0.970075 -3.863908 -0.531693 +v -1.088461 -1.083718 -1.073509 +v 1.078464 -1.480998 0.984821 +v 0.970075 -3.177627 -0.965015 +v -0.907742 -3.972573 0.045849 +v 0.572579 -3.936351 -0.892904 +v 1.006134 -3.900130 0.370895 +v -1.052190 -3.936351 0.334730 +v -0.980072 -3.972573 -1.073509 +v -0.944013 -3.394571 -1.109674 +v -0.257835 -3.972573 -0.387253 +v -1.052190 -2.202730 1.093316 +v 1.042193 -3.322128 0.984821 +v -0.582788 -1.950721 -1.109455 +v 0.680968 -3.900130 -0.965015 +f 16 24 35 +f 3 2 4 +f 4 2 5 +f 5 2 8 +f 2 6 13 +f 8 2 14 +f 2 13 14 +f 13 8 14 +f 4 5 15 +f 5 11 15 +f 1 16 17 +f 3 4 18 +f 4 12 18 +f 5 8 19 +f 11 5 19 +f 2 3 20 +f 6 2 20 +f 7 6 20 +f 12 7 20 +f 4 10 22 +f 12 4 22 +f 8 13 23 +f 19 8 23 +f 16 11 24 +f 21 9 24 +f 11 21 24 +f 6 7 25 +f 7 17 25 +f 17 16 25 +f 9 6 26 +f 16 9 26 +f 6 9 27 +f 9 21 27 +f 21 11 27 +f 7 12 28 +f 17 7 28 +f 10 17 28 +f 22 10 28 +f 12 22 28 +f 1 17 29 +f 17 10 29 +f 10 4 30 +f 4 15 30 +f 16 1 30 +f 11 16 30 +f 1 29 30 +f 29 10 30 +f 6 25 31 +f 25 16 31 +f 26 6 31 +f 16 26 31 +f 3 18 32 +f 18 12 32 +f 20 3 32 +f 12 20 32 +f 13 6 33 +f 11 19 33 +f 23 13 33 +f 19 23 33 +f 6 27 33 +f 27 11 33 +f 15 11 34 +f 30 15 34 +f 11 30 34 +f 9 16 35 +f 24 9 35 +o convex_1 +v -0.582728 0.903036 1.201984 +v 0.608847 0.614113 2.971095 +v 0.608847 0.505738 2.971095 +v -0.546570 1.119672 3.007252 +v 0.500490 1.516970 1.165826 +v 0.572689 1.661431 2.934937 +v -0.438214 1.589031 1.129856 +v 0.500490 0.541938 1.129856 +v -0.510413 0.578026 3.043598 +v -0.546570 1.589031 2.934937 +v -0.510413 0.614113 1.129856 +v -0.402173 0.541938 3.043598 +v -0.582728 0.614113 1.743602 +v 0.500490 1.589031 2.971095 +v 0.211577 0.541938 1.129856 +v -0.582728 1.300107 2.285033 +v -0.329857 1.625231 2.934937 +v -0.004903 1.625231 1.743602 +v -0.149418 0.903036 3.043598 +v 0.464332 1.516970 1.129856 +v -0.474371 1.589031 1.382586 +v 0.572689 1.661431 2.790493 +v -0.582728 0.614113 1.238142 +v 0.536531 0.505738 2.609891 +v -0.402173 1.516970 2.971095 +v 0.355975 0.541938 3.007252 +v 0.608847 0.614113 2.898779 +v -0.185459 1.589031 1.129856 +f 53 57 63 +f 36 42 46 +f 42 43 46 +f 44 39 48 +f 37 41 49 +f 46 43 50 +f 39 45 51 +f 48 39 51 +f 36 48 51 +f 49 41 52 +f 42 52 53 +f 39 44 54 +f 44 47 54 +f 40 43 55 +f 43 42 55 +f 42 36 56 +f 36 51 56 +f 51 45 56 +f 52 42 56 +f 45 52 56 +f 41 37 57 +f 52 41 57 +f 53 52 57 +f 36 46 58 +f 47 44 58 +f 44 48 58 +f 48 36 58 +f 46 50 58 +f 50 47 58 +f 43 38 59 +f 38 47 59 +f 50 43 59 +f 47 50 59 +f 45 39 60 +f 52 45 60 +f 49 52 60 +f 39 54 60 +f 54 49 60 +f 38 37 61 +f 47 38 61 +f 37 49 61 +f 54 47 61 +f 49 54 61 +f 37 38 62 +f 43 40 62 +f 38 43 62 +f 57 37 62 +f 40 57 62 +f 42 53 63 +f 40 55 63 +f 55 42 63 +f 57 40 63 +o convex_2 +v -0.004998 0.505802 -2.265169 +v 0.608963 1.589130 -1.110063 +v 0.572784 1.625309 -1.110063 +v 0.464488 1.552951 -2.951391 +v -0.510543 1.697547 -1.110063 +v -0.582781 1.661368 -3.095828 +v -0.546722 0.578040 -1.110063 +v -0.618960 0.614219 -3.059670 +v 0.428309 0.469623 -2.915233 +v 0.464488 0.614219 -1.110063 +v -0.582781 1.625309 -2.445764 +v 0.608963 1.444534 -1.326621 +v 0.428309 0.505802 -2.951391 +v -0.582781 0.578040 -1.579337 +v -0.474485 1.661368 -3.095828 +v 0.464488 0.578040 -2.770796 +v 0.500547 1.589130 -2.554043 +v -0.257771 0.541861 -1.507216 +v -0.618960 1.119523 -3.023512 +v -0.546722 1.155702 -1.110063 +v 0.500547 0.722636 -1.110063 +v -0.402247 1.697547 -1.326621 +v 0.500547 1.516772 -2.698480 +v -0.438306 1.480833 -3.095828 +v -0.438306 0.578040 -3.023512 +v 0.464488 0.541861 -1.940527 +v 0.283833 1.589130 -2.987354 +v 0.320012 0.469623 -2.770796 +f 89 81 91 +f 65 66 68 +f 65 68 70 +f 65 70 73 +f 68 69 74 +f 72 71 76 +f 64 70 77 +f 76 67 79 +f 72 76 79 +f 66 65 80 +f 78 66 80 +f 70 64 81 +f 73 70 81 +f 69 71 82 +f 74 69 82 +f 71 77 82 +f 77 74 82 +f 70 68 83 +f 68 74 83 +f 77 70 83 +f 74 77 83 +f 65 73 84 +f 75 65 84 +f 79 75 84 +f 68 66 85 +f 69 68 85 +f 66 78 85 +f 78 69 85 +f 65 75 86 +f 79 67 86 +f 75 79 86 +f 80 65 86 +f 67 80 86 +f 71 69 87 +f 76 71 87 +f 69 78 87 +f 71 72 88 +f 64 77 88 +f 77 71 88 +f 72 79 89 +f 73 81 89 +f 84 73 89 +f 79 84 89 +f 67 76 90 +f 80 67 90 +f 78 80 90 +f 76 87 90 +f 87 78 90 +f 81 64 91 +f 88 72 91 +f 64 88 91 +f 72 89 91 +o convex_3 +v -1.087994 -0.035993 -0.314923 +v 1.078464 2.203162 0.948657 +v 1.078464 2.203162 0.732105 +v -2.966165 2.166997 -1.109674 +v -2.966165 0.253107 0.984821 +v 1.078464 0.000172 -1.037344 +v 1.078464 -0.035993 0.984821 +v -2.966165 2.094667 1.020986 +v -3.074426 0.000172 -1.073290 +v 1.078464 2.094667 -1.037344 +v -1.016230 -0.035993 1.129481 +v 0.464162 1.516906 1.129481 +v -0.221903 -0.035993 -1.109674 +v -3.110924 1.552852 0.551500 +v 0.681095 1.661346 -1.109674 +v -2.966165 0.108667 0.948657 +v 1.078464 2.130832 -1.001179 +v 0.500660 0.541988 1.129481 +v -2.966165 2.166997 -0.423418 +v -3.110924 0.325437 -0.784409 +v -0.438836 1.589016 1.129481 +v -2.605294 0.036556 -1.109674 +v 1.078464 2.166778 0.984821 +v 1.041966 -0.035993 -1.037344 +v -1.666208 2.166997 -1.073290 +v -2.966165 1.047639 1.020986 +v 1.005879 0.180777 -1.073509 +v -3.110924 0.867033 -0.603804 +v -3.074426 0.000172 -0.856520 +v 0.608921 -0.035993 1.057151 +v -3.038339 1.011474 -1.109674 +v -1.087994 -0.035993 -1.109674 +v -3.002252 2.058503 -0.820574 +v -3.110924 1.444576 0.551500 +v 0.464162 0.614098 -1.109674 +v 0.969792 2.203162 0.948876 +v -2.966165 0.072502 0.479170 +v -2.496622 2.166997 -1.109674 +v -2.533120 0.108667 1.020986 +v -3.038339 1.841732 0.840381 +v -3.110924 1.552852 0.370895 +v -3.002252 2.022338 0.768051 +f 105 131 133 +f 94 93 97 +f 97 93 98 +f 94 97 101 +f 92 98 102 +f 98 92 104 +f 104 95 106 +f 94 101 108 +f 103 102 109 +f 99 102 112 +f 102 103 112 +f 95 104 113 +f 98 93 114 +f 109 98 114 +f 103 109 114 +f 99 112 114 +f 112 103 114 +f 97 98 115 +f 98 104 115 +f 94 108 116 +f 102 99 117 +f 101 97 118 +f 106 101 118 +f 97 115 118 +f 115 104 118 +f 111 105 119 +f 100 92 120 +f 92 102 120 +f 111 100 120 +f 107 111 120 +f 102 98 121 +f 98 109 121 +f 109 102 121 +f 100 111 122 +f 95 113 122 +f 113 100 122 +f 119 95 122 +f 111 119 122 +f 92 100 123 +f 104 92 123 +f 100 113 123 +f 113 104 123 +f 110 95 124 +f 95 119 124 +f 107 96 125 +f 105 111 125 +f 111 107 125 +f 104 106 126 +f 106 118 126 +f 118 104 126 +f 93 94 127 +f 94 95 127 +f 95 110 127 +f 110 99 127 +f 114 93 127 +f 99 114 127 +f 102 107 128 +f 120 102 128 +f 107 120 128 +f 95 94 129 +f 106 95 129 +f 101 106 129 +f 108 101 129 +f 94 116 129 +f 116 108 129 +f 96 107 130 +f 107 102 130 +f 102 117 130 +f 117 96 130 +f 117 99 131 +f 96 117 131 +f 125 96 131 +f 105 125 131 +f 119 105 132 +f 105 124 132 +f 124 119 132 +f 99 110 133 +f 124 105 133 +f 110 124 133 +f 131 99 133 +o convex_4 +v 1.873163 0.000122 -0.531672 +v 2.703616 2.130712 1.057250 +v 2.631360 2.130712 1.057250 +v 1.114769 2.094487 -1.037132 +v 1.078739 0.108797 0.984708 +v 2.956216 0.000122 -1.109674 +v 2.920187 0.144807 1.057250 +v 2.920187 2.094703 -1.001286 +v 1.078739 2.202947 0.948650 +v 1.078739 0.000338 -1.037132 +v 3.100927 2.094703 1.057250 +v 1.078739 2.130712 -1.001073 +v 3.028671 1.625072 -0.423283 +v 2.956216 0.072572 0.226412 +v 2.450620 0.542203 -1.109674 +v 1.187025 0.000338 -1.073403 +v 3.100927 1.805766 0.984921 +v 1.114769 2.202947 0.984708 +v 1.800907 0.108797 1.020979 +v 2.956216 0.469753 -1.109674 +v 1.078739 0.036563 0.118023 +v 1.223054 2.202947 0.804202 +v 2.811902 0.000122 -0.640061 +v 2.956216 0.181032 1.057250 +v 2.956414 2.094703 -0.892897 +v 2.847931 1.769756 -1.037344 +v 2.992443 0.397735 0.226412 +v 3.100927 2.094703 0.804202 +v 1.367567 0.072572 0.695813 +v 2.558905 0.144807 1.057250 +v 1.367567 2.130712 -1.001073 +v 1.078739 0.000338 -0.495401 +v 2.920187 0.108582 0.732084 +v 2.234247 0.000122 -1.109674 +f 149 148 167 +f 135 136 140 +f 138 142 143 +f 135 140 144 +f 143 142 145 +f 137 143 145 +f 143 137 149 +f 137 148 149 +f 136 135 151 +f 142 138 151 +f 151 138 152 +f 146 139 153 +f 139 148 153 +f 148 137 153 +f 138 143 154 +f 145 142 155 +f 151 135 155 +f 142 151 155 +f 134 139 156 +f 139 147 156 +f 144 140 157 +f 140 147 157 +f 150 144 157 +f 153 141 158 +f 146 153 158 +f 155 135 158 +f 141 155 158 +f 137 141 159 +f 153 137 159 +f 141 153 159 +f 147 139 160 +f 139 150 160 +f 157 147 160 +f 150 157 160 +f 135 144 161 +f 139 146 161 +f 144 150 161 +f 150 139 161 +f 158 135 161 +f 146 158 161 +f 152 138 162 +f 138 154 162 +f 154 134 162 +f 134 156 162 +f 140 136 163 +f 136 151 163 +f 152 140 163 +f 151 152 163 +f 141 137 164 +f 137 145 164 +f 155 141 164 +f 145 155 164 +f 143 134 165 +f 154 143 165 +f 134 154 165 +f 147 140 166 +f 140 152 166 +f 156 147 166 +f 152 162 166 +f 162 156 166 +f 139 134 167 +f 134 143 167 +f 148 139 167 +f 143 149 167 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/591/591.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/591/591.urdf new file mode 100644 index 000000000..ef5a291b7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/591/591.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/592/592.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/592/592.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/592/592.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/592/592.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/592/592.obj new file mode 100644 index 000000000..d61927fdb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/592/592.obj @@ -0,0 +1,456 @@ +o convex_0 +v -1.054099 -2.076891 -0.964351 +v -0.221674 0.746742 1.087163 +v -0.251433 0.746742 1.087163 +v -0.697405 3.244338 -1.083554 +v 0.937894 -2.850623 -0.994311 +v 0.937894 3.155529 1.057415 +v 1.056724 -2.820817 0.968173 +v -1.054099 -2.760597 1.027668 +v -1.054099 3.333755 0.908465 +v 0.908135 3.185335 -0.964564 +v -1.054099 -2.879820 -0.994311 +v -0.935270 3.244338 -1.083554 +v 0.254057 -2.017280 -1.083554 +v 0.283609 -2.077499 1.087163 +v 0.937894 2.858080 -0.845361 +v 0.313575 0.330679 -1.083554 +v 0.967653 2.887278 1.057415 +v -0.221674 -2.136503 -1.083554 +v -0.994788 3.333755 0.938213 +v -1.054099 3.333755 0.640951 +v -0.965029 2.292989 -1.083554 +v 0.848617 -2.076891 -1.024059 +v -1.054099 -2.879820 -0.726371 +v -1.054099 -1.779442 1.027668 +v -0.221674 -1.927863 1.087163 +v 0.164780 -2.880428 -0.994311 +v 0.937894 3.185335 -0.310119 +v 1.056724 -2.761205 0.908678 +v -0.845993 3.333755 0.938213 +v -0.905511 3.274144 -0.964351 +v 0.937894 -1.065931 -0.994311 +v 0.343127 0.389682 1.087163 +v -1.054099 -2.790403 0.759728 +v -1.024547 -1.719831 -1.023846 +v 0.789306 3.185335 1.027668 +v 0.818858 3.155529 1.057415 +v -1.054099 3.184726 0.938213 +v -0.994788 3.333755 0.521961 +v -0.519057 -2.760597 1.027668 +v -0.965029 3.214532 -0.815826 +v 0.967653 -2.850623 -0.161382 +v -0.429780 1.252831 1.057415 +v 0.283609 0.538711 -1.083554 +v 0.372886 3.215141 -0.994311 +v 0.937894 3.185335 -0.548099 +v 1.027171 -1.095736 0.997708 +v 0.937894 2.471823 -0.875321 +v 0.967653 2.887278 0.997708 +v 0.848617 -2.552566 -1.024059 +v 0.967653 -2.850623 -0.548099 +v -0.370262 -2.790403 0.997920 +v 0.967653 2.739466 1.057415 +v 0.610752 1.847120 -1.024059 +f 16 43 53 +f 3 2 6 +f 1 8 9 +f 8 1 11 +f 12 4 13 +f 2 3 14 +f 13 4 16 +f 12 13 18 +f 1 9 20 +f 9 19 20 +f 11 1 21 +f 12 18 21 +f 8 11 23 +f 8 3 24 +f 9 8 24 +f 3 8 25 +f 14 3 25 +f 8 14 25 +f 18 5 26 +f 11 18 26 +f 7 23 26 +f 23 11 26 +f 6 17 27 +f 17 7 28 +f 19 6 29 +f 20 19 29 +f 4 12 30 +f 12 20 30 +f 5 22 31 +f 22 10 31 +f 6 2 32 +f 2 14 32 +f 17 6 32 +f 8 23 33 +f 18 11 34 +f 11 21 34 +f 21 18 34 +f 6 27 35 +f 29 6 35 +f 27 29 35 +f 3 6 36 +f 6 19 36 +f 19 9 37 +f 9 24 37 +f 29 10 38 +f 20 29 38 +f 30 20 38 +f 8 7 39 +f 7 14 39 +f 14 8 39 +f 1 20 40 +f 20 12 40 +f 12 21 40 +f 21 1 40 +f 7 26 41 +f 24 3 42 +f 3 36 42 +f 36 19 42 +f 19 37 42 +f 37 24 42 +f 16 4 43 +f 10 4 44 +f 4 30 44 +f 38 10 44 +f 30 38 44 +f 15 10 45 +f 27 17 45 +f 28 15 45 +f 10 29 45 +f 29 27 45 +f 14 7 46 +f 10 15 47 +f 15 28 47 +f 31 10 47 +f 28 31 47 +f 17 28 48 +f 45 17 48 +f 28 45 48 +f 13 16 49 +f 5 18 49 +f 18 13 49 +f 22 5 49 +f 16 22 49 +f 26 5 50 +f 28 7 50 +f 5 31 50 +f 31 28 50 +f 7 41 50 +f 41 26 50 +f 7 8 51 +f 23 7 51 +f 8 33 51 +f 33 23 51 +f 7 17 52 +f 32 14 52 +f 17 32 52 +f 46 7 52 +f 14 46 52 +f 4 10 53 +f 10 22 53 +f 22 16 53 +f 43 4 53 +o convex_1 +v -0.221667 -1.928829 1.087163 +v 0.313543 -1.601798 3.019736 +v 0.313543 -1.691000 3.019736 +v -0.340646 -1.453108 2.990047 +v 0.194564 -1.453108 1.087163 +v -0.191955 -2.107296 3.109200 +v 0.283766 -2.077519 1.087163 +v -0.251380 -1.572086 1.087163 +v 0.254054 -1.988318 3.109200 +v 0.313543 -1.512597 2.990047 +v -0.191955 -2.017966 1.087163 +v 0.313543 -1.512597 2.484736 +v -0.072977 -1.453108 2.990047 +v 0.224277 -1.453108 1.146739 +v -0.310869 -1.482884 2.187051 +v 0.164852 -2.077519 1.087163 +v -0.132466 -2.107296 3.109200 +v -0.281157 -1.750489 3.049623 +v 0.224277 -1.482884 2.990047 +v 0.313543 -1.750489 2.009312 +v -0.221667 -1.958605 1.146739 +v 0.135075 -1.928829 3.109200 +v 0.283766 -2.077519 1.236005 +v 0.283766 -1.958605 1.087163 +v -0.340646 -1.482884 2.871290 +v -0.251380 -1.720777 1.117050 +v -0.251380 -1.542373 1.265694 +v 0.164852 -1.453108 1.087163 +v -0.191955 -2.107296 2.990047 +f 71 74 82 +f 54 58 60 +f 58 54 61 +f 56 55 62 +f 55 56 63 +f 54 60 64 +f 63 56 65 +f 58 57 66 +f 63 65 67 +f 58 66 67 +f 64 60 69 +f 62 59 70 +f 55 63 72 +f 66 55 72 +f 63 67 72 +f 67 66 72 +f 65 56 73 +f 54 64 74 +f 62 55 75 +f 59 62 75 +f 66 57 75 +f 55 66 75 +f 57 71 75 +f 71 59 75 +f 56 62 76 +f 70 60 76 +f 62 70 76 +f 73 56 76 +f 60 73 76 +f 60 58 77 +f 58 67 77 +f 67 65 77 +f 73 60 77 +f 65 73 77 +f 57 68 78 +f 71 57 78 +f 74 71 78 +f 74 78 79 +f 61 54 79 +f 68 61 79 +f 54 74 79 +f 78 68 79 +f 61 68 80 +f 80 68 81 +f 57 58 81 +f 58 61 81 +f 68 57 81 +f 61 80 81 +f 69 60 82 +f 64 69 82 +f 70 59 82 +f 60 70 82 +f 59 71 82 +f 74 64 82 +o convex_2 +v -0.221656 0.033775 2.633182 +v 0.343279 0.449908 2.514425 +v 0.313519 0.479655 3.109200 +v -0.221656 0.509403 1.265694 +v 0.164864 0.004027 1.087163 +v -0.370382 0.449908 2.960160 +v 0.283690 0.063467 3.049623 +v -0.191967 -0.055468 1.087163 +v 0.343279 0.390468 1.087163 +v -0.102759 0.509403 1.087163 +v -0.191967 0.033775 2.930669 +v 0.343279 0.301281 1.087163 +v -0.221656 -0.025720 1.146739 +v -0.162138 -0.055468 1.533294 +v 0.254071 0.033775 1.979622 +v -0.370382 0.390468 2.841403 +v 0.343279 0.420160 1.265694 +v 0.135035 0.093214 3.049623 +v 0.254071 0.033775 2.692759 +v 0.135035 0.479655 3.079313 +v -0.072930 -0.055468 1.176627 +v -0.191967 0.509403 1.087163 +v 0.075586 0.033775 2.990047 +v 0.224312 0.033775 1.176627 +v 0.313519 0.241786 3.079313 +v -0.310793 0.479655 2.395272 +v -0.370382 0.390468 2.960160 +v 0.343279 0.449908 2.098181 +f 99 92 110 +f 87 90 91 +f 91 90 92 +f 86 85 92 +f 91 84 94 +f 87 91 94 +f 90 83 95 +f 83 90 96 +f 93 83 96 +f 94 89 97 +f 88 86 98 +f 86 95 98 +f 84 91 99 +f 91 92 99 +f 97 89 101 +f 87 97 101 +f 85 86 102 +f 100 85 102 +f 90 87 103 +f 96 90 103 +f 87 101 103 +f 101 96 103 +f 92 90 104 +f 86 92 104 +f 95 86 104 +f 90 95 104 +f 93 96 105 +f 89 100 105 +f 100 93 105 +f 101 89 105 +f 96 101 105 +f 87 94 106 +f 94 97 106 +f 97 87 106 +f 84 85 107 +f 94 84 107 +f 89 94 107 +f 85 100 107 +f 100 89 107 +f 86 88 108 +f 102 86 108 +f 88 102 108 +f 83 93 109 +f 95 83 109 +f 88 98 109 +f 98 95 109 +f 93 100 109 +f 102 88 109 +f 100 102 109 +f 85 84 110 +f 92 85 110 +f 84 99 110 +o convex_3 +v -0.132483 -2.137032 -1.291821 +v 0.283807 -1.542431 -1.083554 +v 0.135128 -1.542431 -1.083554 +v -0.162231 -1.542431 -2.986647 +v 0.224312 -2.017995 -2.956842 +v -0.310910 -1.572118 -1.083554 +v -0.221667 -2.017995 -2.986647 +v 0.254059 -2.017995 -1.083554 +v 0.283807 -1.572118 -2.956842 +v -0.221667 -2.137032 -1.083554 +v -0.251415 -1.988309 -2.808186 +v -0.191920 -1.542431 -2.927036 +v 0.135128 -1.542431 -2.986647 +v -0.310910 -1.691038 -1.083554 +v 0.283807 -1.661352 -2.956842 +v 0.283807 -1.720783 -1.083554 +v 0.194506 -2.047740 -1.083554 +v -0.251415 -2.047740 -1.589133 +v -0.221667 -1.542431 -2.213376 +v -0.281162 -1.780272 -2.064720 +v 0.135128 -2.047740 -2.629538 +f 115 127 131 +f 113 112 114 +f 112 113 116 +f 112 116 118 +f 117 111 120 +f 118 116 120 +f 117 120 121 +f 113 114 122 +f 114 117 122 +f 117 121 122 +f 114 112 123 +f 117 114 123 +f 115 117 123 +f 112 119 123 +f 120 116 124 +f 118 115 125 +f 119 112 125 +f 115 123 125 +f 123 119 125 +f 112 118 126 +f 118 125 126 +f 125 112 126 +f 115 118 127 +f 120 111 127 +f 118 120 127 +f 121 120 128 +f 120 124 128 +f 124 121 128 +f 116 113 129 +f 113 122 129 +f 122 116 129 +f 116 122 130 +f 122 121 130 +f 124 116 130 +f 121 124 130 +f 111 117 131 +f 117 115 131 +f 127 111 131 +o convex_4 +v -0.281119 -0.055442 -2.956699 +v 0.373014 0.390468 -2.897219 +v 0.373014 0.360683 -2.897219 +v -0.310910 0.509342 -1.083554 +v 0.194468 -0.025723 -1.083554 +v -0.191946 0.449905 -2.956699 +v 0.194468 -0.144664 -3.075855 +v -0.191946 -0.055442 -1.083554 +v 0.253984 0.420186 -1.083554 +v -0.162222 0.539127 -1.143229 +v 0.313432 0.420186 -2.986537 +v -0.221670 0.479623 -2.718778 +v -0.221670 -0.055442 -1.321670 +v 0.105296 -0.144664 -3.075855 +v 0.283775 0.420186 -1.291832 +v -0.221670 0.539127 -1.559397 +v 0.194468 -0.144664 -2.867576 +v -0.281119 0.003995 -2.956699 +v 0.224260 -0.085160 -2.897219 +v 0.283775 0.360683 -1.291832 +v 0.343156 0.330964 -3.016180 +v 0.194468 -0.055442 -1.410793 +v -0.191946 -0.085160 -2.927057 +v -0.281119 0.539127 -1.559397 +v -0.310910 0.479623 -1.083554 +v 0.313432 0.420186 -1.827156 +f 141 146 157 +f 136 135 139 +f 135 136 140 +f 135 140 141 +f 142 137 143 +f 139 144 145 +f 134 133 146 +f 141 140 146 +f 141 142 147 +f 142 143 147 +f 139 145 148 +f 145 138 148 +f 132 135 149 +f 143 137 149 +f 145 132 149 +f 137 145 149 +f 138 134 150 +f 148 138 150 +f 136 134 151 +f 140 136 151 +f 134 146 151 +f 146 140 151 +f 133 134 152 +f 134 138 152 +f 142 133 152 +f 137 142 152 +f 145 137 152 +f 138 145 152 +f 134 136 153 +f 136 139 153 +f 139 148 153 +f 150 134 153 +f 148 150 153 +f 144 132 154 +f 145 144 154 +f 132 145 154 +f 135 141 155 +f 141 147 155 +f 147 143 155 +f 149 135 155 +f 143 149 155 +f 135 132 156 +f 139 135 156 +f 132 144 156 +f 144 139 156 +f 142 141 157 +f 133 142 157 +f 146 133 157 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/592/592.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/592/592.urdf new file mode 100644 index 000000000..20ff4b9de --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/592/592.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/593/593.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/593/593.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/593/593.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/593/593.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/593/593.obj new file mode 100644 index 000000000..fbce1c1c9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/593/593.obj @@ -0,0 +1,492 @@ +o convex_0 +v 0.993289 -0.878176 0.909226 +v -1.131186 -2.661191 -0.987324 +v -1.131186 -2.661191 -0.949415 +v 1.107225 -4.785368 -0.759652 +v -1.017250 -4.785368 0.947350 +v 1.069100 -0.802146 -1.063143 +v -0.979344 -0.802146 1.023169 +v 0.955383 -4.785368 1.099204 +v -0.979344 -4.595097 -1.101268 +v -1.017250 -0.802146 -1.101268 +v 1.107225 -4.785368 -1.063143 +v -0.979344 -3.039784 1.099204 +v 0.651918 -0.802146 0.985260 +v -1.055155 -0.840356 0.757588 +v 1.031194 -0.802146 0.795497 +v 0.500076 -4.746768 -1.101268 +v -0.599848 -2.167967 1.099204 +v 0.955383 -3.988022 1.099204 +v 0.993289 -4.785368 0.947135 +v 0.500076 -4.785368 1.099204 +v -1.055155 -0.954207 -1.101268 +v -1.017250 -4.746768 0.378278 +v -0.486131 -0.802146 -1.101268 +v -1.017250 -4.557277 0.985260 +v -0.865407 -4.632917 -1.101268 +v 1.031194 -1.409221 0.833407 +v 0.955383 -1.219729 0.985260 +v -0.979344 -1.978475 1.099204 +v 0.613793 -4.708948 -1.101268 +v -1.017250 -4.177904 -1.101268 +v -0.486131 -0.802146 1.023169 +v -1.017250 -2.092326 1.023169 +v -1.131186 -2.547340 -0.911505 +v -0.182666 -4.785368 -0.001032 +v -1.055155 -0.802146 0.226425 +v 1.107225 -4.519066 -0.797562 +v 0.765635 -0.878176 0.985260 +v -1.017250 -4.708948 0.112696 +f 30 9 38 +f 3 2 5 +f 5 4 8 +f 7 6 10 +f 4 5 11 +f 6 7 13 +f 13 1 15 +f 6 13 15 +f 9 10 16 +f 12 8 17 +f 17 8 18 +f 8 4 19 +f 5 8 20 +f 8 12 20 +f 10 9 21 +f 5 2 22 +f 10 6 23 +f 16 10 23 +f 5 20 24 +f 20 12 24 +f 9 16 25 +f 22 9 25 +f 4 15 26 +f 15 1 26 +f 1 18 26 +f 18 8 26 +f 19 4 26 +f 8 19 26 +f 18 1 27 +f 12 17 28 +f 6 11 29 +f 11 16 29 +f 23 6 29 +f 16 23 29 +f 2 21 30 +f 21 9 30 +f 13 7 31 +f 17 13 31 +f 7 28 31 +f 28 17 31 +f 7 14 32 +f 14 24 32 +f 24 12 32 +f 28 7 32 +f 12 28 32 +f 2 3 33 +f 3 5 33 +f 21 2 33 +f 5 24 33 +f 24 14 33 +f 11 5 34 +f 16 11 34 +f 5 22 34 +f 25 16 34 +f 22 25 34 +f 7 10 35 +f 14 7 35 +f 10 21 35 +f 21 33 35 +f 33 14 35 +f 4 11 36 +f 11 6 36 +f 15 4 36 +f 6 15 36 +f 1 13 37 +f 13 17 37 +f 17 18 37 +f 27 1 37 +f 18 27 37 +f 22 2 38 +f 9 22 38 +f 2 30 38 +o convex_1 +v -1.054910 -0.801756 0.150613 +v 1.031038 1.436655 -0.228296 +v 1.031038 1.436655 -0.607840 +v -3.103934 1.322718 -0.759615 +v -3.065798 1.284813 1.061265 +v 3.003791 -0.611789 1.023162 +v 3.080061 -0.649914 -0.987172 +v 3.041926 1.360624 1.023162 +v -3.103934 -0.725726 -1.025063 +v -2.951997 -0.763631 1.061265 +v 2.965655 1.360624 -1.025275 +v -0.941109 1.436655 -1.063165 +v 1.069174 -0.801756 -1.063165 +v -0.979245 1.436655 0.947380 +v 0.955373 -0.801756 0.947168 +v -3.103934 1.322718 -1.025063 +v -1.016775 -0.801756 -1.101268 +v 1.486242 1.322718 -1.063165 +v -2.724395 -0.763631 -1.063165 +v 3.041926 1.056940 -0.759615 +v 0.955373 1.436655 0.985271 +v -1.016775 -0.004859 -1.101268 +v 3.041926 -0.649914 0.302177 +v 1.600043 -0.232513 -1.063165 +v -3.065798 0.829506 1.061265 +v -3.103934 1.246688 0.378170 +v -1.358783 1.436655 -0.380071 +v -2.913862 1.322718 0.909278 +v -2.344857 -0.687820 1.061265 +v -0.979245 -0.801756 1.023162 +v -3.065798 -0.763631 -0.380283 +v 0.955373 1.436655 -1.063165 +v 2.738053 -0.687820 -0.949281 +v -0.333969 -0.763631 -1.101268 +v -2.913862 -0.649695 -1.063165 +v -1.813382 1.284813 -1.063165 +v 3.080061 -0.460166 -0.418174 +v 3.003791 1.284594 -1.025275 +v 2.776189 -0.649695 1.023162 +v 3.080061 -0.270418 -0.987172 +v 1.031038 -0.801756 0.795605 +v 3.041926 -0.270418 0.605727 +v -1.472584 -0.687820 -1.101268 +v -2.989527 -0.346230 1.061265 +v 2.928125 -0.649695 0.909278 +v -0.372104 -0.118576 -1.101268 +v -3.103934 -0.725726 -0.911390 +v 1.410577 -0.687820 -1.063165 +v 3.003791 1.360624 -0.873499 +f 58 76 87 +f 41 40 46 +f 40 41 50 +f 40 50 52 +f 39 51 53 +f 47 42 54 +f 51 39 55 +f 46 40 59 +f 43 46 59 +f 52 43 59 +f 40 52 59 +f 48 43 63 +f 43 42 64 +f 42 47 64 +f 63 43 64 +f 52 50 65 +f 54 42 65 +f 50 54 65 +f 42 43 66 +f 43 52 66 +f 65 42 66 +f 52 65 66 +f 44 46 67 +f 46 43 67 +f 43 48 67 +f 48 39 68 +f 39 53 68 +f 39 48 69 +f 55 39 69 +f 47 57 69 +f 57 55 69 +f 50 41 70 +f 49 56 70 +f 60 50 70 +f 51 45 71 +f 45 61 71 +f 51 55 72 +f 55 60 72 +f 47 54 73 +f 57 47 73 +f 54 50 74 +f 50 60 74 +f 73 54 74 +f 61 45 75 +f 56 49 76 +f 45 62 76 +f 62 56 76 +f 44 67 77 +f 67 48 77 +f 48 68 77 +f 68 53 77 +f 58 46 78 +f 75 45 78 +f 46 75 78 +f 45 76 78 +f 76 58 78 +f 53 51 79 +f 51 71 79 +f 71 61 79 +f 46 44 80 +f 44 61 80 +f 75 46 80 +f 61 75 80 +f 55 57 81 +f 60 55 81 +f 57 73 81 +f 74 60 81 +f 73 74 81 +f 48 63 82 +f 69 48 82 +f 63 69 82 +f 61 44 83 +f 44 77 83 +f 77 53 83 +f 53 79 83 +f 79 61 83 +f 56 62 84 +f 70 56 84 +f 60 70 84 +f 72 60 84 +f 62 72 84 +f 64 47 85 +f 63 64 85 +f 47 69 85 +f 69 63 85 +f 45 51 86 +f 62 45 86 +f 51 72 86 +f 72 62 86 +f 41 46 87 +f 46 58 87 +f 70 41 87 +f 49 70 87 +f 76 49 87 +o convex_2 +v -0.600038 2.802320 -3.036165 +v 0.576077 1.816258 -2.087657 +v 0.576077 1.778271 -2.087657 +v -0.486179 2.916052 -1.101268 +v -0.486179 1.740168 -1.101268 +v 0.462218 2.840193 -1.101268 +v 0.538085 2.840193 -3.036165 +v -0.524055 1.778271 -2.960027 +v 0.576077 1.816258 -3.036165 +v 0.538085 1.778271 -1.101268 +v -0.600038 2.840193 -2.504902 +v 0.500094 2.840193 -1.291046 +v -0.600038 2.498766 -3.036165 +v 0.500094 1.778271 -2.998096 +v -0.600038 2.840193 -2.922148 +v 0.006900 1.740168 -1.139337 +v 0.576077 2.309404 -2.960027 +v -0.334445 2.916052 -1.215286 +v -0.486179 1.740168 -1.556583 +v -0.296454 1.778271 -2.998096 +v 0.196626 2.878180 -1.101268 +v -0.600038 2.460894 -2.922148 +f 98 100 109 +f 91 92 93 +f 89 90 96 +f 88 94 96 +f 90 89 97 +f 93 92 97 +f 92 91 98 +f 97 89 99 +f 93 97 99 +f 88 96 100 +f 98 88 100 +f 96 90 101 +f 94 88 102 +f 98 91 102 +f 88 98 102 +f 90 97 103 +f 97 92 103 +f 101 90 103 +f 89 96 104 +f 96 94 104 +f 94 99 104 +f 99 89 104 +f 102 91 105 +f 94 102 105 +f 92 95 106 +f 103 92 106 +f 101 103 106 +f 95 100 107 +f 100 96 107 +f 96 101 107 +f 106 95 107 +f 101 106 107 +f 91 93 108 +f 93 99 108 +f 99 94 108 +f 105 91 108 +f 94 105 108 +f 95 92 109 +f 92 98 109 +f 100 95 109 +o convex_3 +v -1.055308 2.840281 -0.911505 +v 1.031347 3.295496 1.099204 +v 1.031347 2.991823 1.099204 +v 0.955364 3.447234 -1.101268 +v 0.955364 1.436852 -1.063143 +v -0.941334 1.436655 0.947350 +v -1.055308 3.371463 1.023169 +v 0.955364 1.436852 0.985260 +v -0.941334 1.436655 -1.063143 +v -0.903343 3.295496 -0.987324 +v -0.599822 1.854279 1.099204 +v 1.031347 1.436852 -0.607799 +v -1.017316 1.740328 0.378278 +v -0.486257 2.916052 -1.101268 +v 0.424305 1.740525 1.099204 +v 0.803604 3.333283 1.099204 +v 0.537870 1.778311 -1.101268 +v -1.055308 3.257709 -0.949415 +v -0.827565 3.371463 1.061079 +v -0.979325 1.436655 -0.949415 +v 0.727826 3.447234 -1.101268 +v 0.955364 3.447234 -0.759652 +v -1.055308 3.371463 0.605950 +v 1.031347 3.333479 0.681553 +v 1.031347 1.436852 -0.190580 +v -0.486257 1.740328 -1.101268 +v -0.486257 2.878068 1.099204 +v -0.979325 1.436655 0.757588 +v -1.055308 3.105774 -0.987324 +v -1.055308 3.181741 1.023169 +v -0.334497 3.371463 1.061079 +v 0.993355 2.688347 -0.873596 +v -0.979325 1.664360 -1.063143 +v 0.993355 1.436852 -0.949415 +v -1.017316 1.930050 -0.759652 +f 129 122 144 +f 112 111 120 +f 111 112 121 +f 115 118 121 +f 117 112 124 +f 115 117 124 +f 112 120 124 +f 120 115 124 +f 120 111 125 +f 113 114 126 +f 123 113 126 +f 110 116 127 +f 116 120 128 +f 118 115 129 +f 113 123 130 +f 123 119 130 +f 116 128 131 +f 130 116 131 +f 113 130 131 +f 127 116 132 +f 119 127 132 +f 116 130 132 +f 130 119 132 +f 111 121 133 +f 125 111 133 +f 113 131 133 +f 131 125 133 +f 112 117 134 +f 117 115 134 +f 121 112 134 +f 115 121 134 +f 114 118 135 +f 126 114 135 +f 123 126 135 +f 120 125 136 +f 128 120 136 +f 125 128 136 +f 129 115 137 +f 122 129 137 +f 119 123 138 +f 110 127 138 +f 127 119 138 +f 116 110 139 +f 115 120 139 +f 120 116 139 +f 110 122 139 +f 137 115 139 +f 122 137 139 +f 128 125 140 +f 125 131 140 +f 131 128 140 +f 133 121 141 +f 113 133 141 +f 129 110 142 +f 118 129 142 +f 135 118 142 +f 123 135 142 +f 138 123 142 +f 110 138 142 +f 114 113 143 +f 118 114 143 +f 121 118 143 +f 113 141 143 +f 141 121 143 +f 122 110 144 +f 110 129 144 +o convex_4 +v 0.500198 2.802257 2.920060 +v 0.120781 1.740280 1.099597 +v -0.410275 1.816254 1.099597 +v 0.500198 2.878232 1.099597 +v -0.448184 2.802257 2.957847 +v 0.462181 1.892118 3.109979 +v -0.486201 2.878232 1.099597 +v -0.448184 1.854131 3.071799 +v 0.424272 1.740280 1.099597 +v -0.600038 1.854131 1.099597 +v -0.410275 1.816254 3.033815 +v -0.486201 2.878232 1.782320 +v 0.462181 1.778267 1.972042 +v -0.600038 2.081721 1.365089 +v 0.500198 2.422940 3.033815 +v 0.500198 2.536790 1.099597 +v 0.500198 2.878232 1.706549 +v 0.158690 1.740280 1.706549 +v 0.348345 2.043845 3.109979 +v -0.334456 2.840244 2.540617 +v 0.500198 2.233448 3.033815 +v 0.196599 1.854131 3.109979 +v -0.486201 1.854131 2.730339 +v -0.448184 2.005857 3.071799 +v -0.524111 2.726393 1.099597 +f 158 156 169 +f 146 147 148 +f 148 147 151 +f 146 148 153 +f 151 147 154 +f 147 146 155 +f 154 147 155 +f 148 151 156 +f 149 156 158 +f 148 145 159 +f 145 149 159 +f 153 148 160 +f 157 153 160 +f 148 159 160 +f 145 148 161 +f 148 156 161 +f 146 153 162 +f 155 146 162 +f 153 157 162 +f 159 149 163 +f 150 159 163 +f 149 145 164 +f 156 149 164 +f 145 161 164 +f 161 156 164 +f 150 157 165 +f 159 150 165 +f 157 160 165 +f 160 159 165 +f 152 155 166 +f 157 150 166 +f 155 162 166 +f 162 157 166 +f 150 163 166 +f 155 152 167 +f 154 155 167 +f 149 158 167 +f 158 154 167 +f 163 149 168 +f 152 166 168 +f 166 163 168 +f 149 167 168 +f 167 152 168 +f 151 154 169 +f 156 151 169 +f 154 158 169 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/593/593.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/593/593.urdf new file mode 100644 index 000000000..3089bbcf8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/593/593.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/594/594.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/594/594.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/594/594.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/594/594.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/594/594.obj new file mode 100644 index 000000000..8ed1a35ac --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/594/594.obj @@ -0,0 +1,1155 @@ +o convex_0 +v 0.950664 -1.566867 1.041779 +v -1.207962 -0.308122 0.430259 +v -1.207962 -0.308122 0.466178 +v 0.914632 0.015942 0.430259 +v 0.123027 -2.034459 0.430259 +v -0.955958 -0.200101 1.041779 +v -0.848082 -1.926687 1.041779 +v 0.338780 0.231734 1.041779 +v -0.848082 -1.890680 0.430259 +v 0.878600 -1.818916 0.430259 +v -0.020882 -2.286758 1.041779 +v -1.064053 0.051699 0.430259 +v 0.950664 -0.128087 1.041779 +v 1.022508 -0.919741 0.430259 +v -0.092727 0.267741 1.005800 +v 0.770723 -1.926687 1.041779 +v -0.955958 -1.638881 1.041779 +v 0.194872 0.087706 0.430259 +v 1.022508 -0.739706 1.041779 +v -0.812050 -0.020315 1.041779 +v 0.302967 -2.214494 1.005800 +v 0.806755 0.051949 0.969822 +v 0.806755 -1.890680 0.430259 +v -0.992208 -1.279061 1.041779 +v -0.884113 -1.854673 0.466178 +v -0.308480 -2.214494 1.005800 +v -0.164572 -2.034459 0.430259 +v 0.986695 -0.415893 0.430259 +v -0.344293 0.195727 1.041779 +v 0.158840 0.267741 1.005800 +v -0.920145 -1.854673 1.005800 +v 1.022508 -1.063269 0.502156 +v 0.914632 -1.782659 1.041779 +v -0.992208 -0.487907 1.041779 +v -0.056913 -2.286758 1.005800 +v 1.022508 -1.099026 1.041779 +v -0.452388 0.087706 0.430259 +v -1.207962 -0.236108 0.466178 +f 34 6 38 +f 2 4 5 +f 1 6 7 +f 6 1 8 +f 2 5 9 +f 5 4 10 +f 1 7 11 +f 4 2 12 +f 8 1 13 +f 10 4 14 +f 1 11 16 +f 7 6 17 +f 4 12 18 +f 13 1 19 +f 6 8 20 +f 12 6 20 +f 16 11 21 +f 4 8 22 +f 13 4 22 +f 8 13 22 +f 5 10 23 +f 10 16 23 +f 21 5 23 +f 16 21 23 +f 3 17 24 +f 17 6 24 +f 2 9 25 +f 7 9 26 +f 11 7 26 +f 9 5 27 +f 4 13 28 +f 14 4 28 +f 13 19 28 +f 19 14 28 +f 8 15 29 +f 15 12 29 +f 20 8 29 +f 12 20 29 +f 8 4 30 +f 15 8 30 +f 4 18 30 +f 18 15 30 +f 3 2 31 +f 9 7 31 +f 17 3 31 +f 7 17 31 +f 2 25 31 +f 25 9 31 +f 10 14 32 +f 14 19 32 +f 1 16 33 +f 16 10 33 +f 32 1 33 +f 10 32 33 +f 3 24 34 +f 24 6 34 +f 5 21 35 +f 21 11 35 +f 26 9 35 +f 11 26 35 +f 27 5 35 +f 9 27 35 +f 19 1 36 +f 1 32 36 +f 32 19 36 +f 12 15 37 +f 18 12 37 +f 15 18 37 +f 2 3 38 +f 12 2 38 +f 6 12 38 +f 3 34 38 +o convex_1 +v -0.848283 -0.307984 -2.699764 +v 1.202396 -0.271918 0.249843 +v 0.914650 -0.271745 0.430139 +v 0.123104 -2.034708 0.429741 +v 0.770776 -1.566874 -3.167817 +v -1.207965 -0.271745 0.429741 +v -0.776346 -1.782758 -2.663944 +v 1.166428 -0.271918 -2.268328 +v -0.848283 -1.890786 0.429741 +v 0.878681 -1.818825 0.430139 +v -0.056737 -0.271745 -3.419753 +v 0.014956 -1.998642 -2.699764 +v -0.812314 -1.063491 -3.347714 +v -1.064092 -1.027424 -2.628123 +v 1.058523 -1.315096 -2.304148 +v -0.056737 -1.782758 -3.383933 +v 0.734808 -0.883674 -3.419355 +v 0.770776 -1.818825 -2.592303 +v -1.279902 -0.271745 -0.181991 +v 0.014956 -1.099558 -3.635870 +v -1.064092 -0.271745 -2.088430 +v 0.590692 -0.379946 -3.167817 +v -0.164642 -2.034708 0.141586 +v 0.770776 -1.890786 0.393523 +v -0.884251 -1.818825 0.429741 +v -0.632473 -0.487801 -3.239855 +v 1.202396 -0.379773 -1.692416 +v -0.596262 -1.602941 -3.204035 +v 1.202396 -0.343879 0.249843 +v -0.740378 -1.063491 -3.419753 +v -0.056737 -1.998642 -2.664342 +v -1.279902 -0.307984 0.034125 +v 0.770776 -0.991530 -3.383535 +v -0.056737 -0.955635 -3.635870 +v -1.064092 -0.847607 -2.591905 +v 0.159072 -1.746864 -3.347714 +v 1.022554 -1.063318 -2.591905 +v -0.812314 -1.710797 -2.699764 +v 0.914650 -1.602941 -2.447828 +v 1.022554 -0.847607 0.429741 +v 0.051168 -1.998642 -2.664342 +v 0.014956 -0.271745 -3.419753 +v -0.776346 -0.955635 -3.383535 +v -0.812314 -0.271745 -2.735982 +v 0.662872 -1.854719 -2.592303 +v 0.770776 -0.847607 -3.383535 +v 0.123104 -2.034708 -0.002093 +v -0.884251 -1.818825 0.285664 +v 0.734808 -0.271745 -2.843842 +v 1.058523 -1.315096 -2.160469 +v -0.056737 -1.099558 -3.635870 +v 1.130459 -0.883502 -2.015993 +v -0.164642 -2.034708 0.429741 +v 0.014956 -0.955635 -3.635870 +v 0.806745 -1.782758 -2.592303 +v -1.279902 -0.307984 -0.181991 +v -1.243934 -0.271745 -0.577607 +v -0.021012 -2.034708 -0.613825 +v 0.734808 -0.955463 -3.419355 +f 74 58 97 +f 41 40 46 +f 41 44 48 +f 44 41 49 +f 44 49 57 +f 57 49 59 +f 48 42 62 +f 56 48 62 +f 48 44 63 +f 47 48 63 +f 46 40 65 +f 54 45 66 +f 65 40 67 +f 66 51 68 +f 54 66 68 +f 47 45 69 +f 54 50 69 +f 45 54 69 +f 61 47 69 +f 44 57 70 +f 63 44 70 +f 51 52 73 +f 59 39 73 +f 50 54 74 +f 43 56 74 +f 54 58 74 +f 46 53 75 +f 53 43 75 +f 71 46 75 +f 43 71 75 +f 52 51 76 +f 66 45 76 +f 51 66 76 +f 43 53 77 +f 53 48 77 +f 40 41 78 +f 41 48 78 +f 67 40 78 +f 48 67 78 +f 49 41 80 +f 72 49 80 +f 64 49 81 +f 68 51 81 +f 49 72 81 +f 72 68 81 +f 73 39 81 +f 51 73 81 +f 39 59 82 +f 59 49 82 +f 49 64 82 +f 81 39 82 +f 64 81 82 +f 56 62 83 +f 50 74 83 +f 74 56 83 +f 79 50 83 +f 62 79 83 +f 60 46 84 +f 46 71 84 +f 71 55 84 +f 80 60 84 +f 55 80 84 +f 42 61 85 +f 62 42 85 +f 79 62 85 +f 45 47 86 +f 47 63 86 +f 63 70 86 +f 76 45 86 +f 52 76 86 +f 41 46 87 +f 46 60 87 +f 80 41 87 +f 60 80 87 +f 48 53 88 +f 67 48 88 +f 58 54 89 +f 54 68 89 +f 72 58 89 +f 68 72 89 +f 53 46 90 +f 46 65 90 +f 65 67 90 +f 88 53 90 +f 67 88 90 +f 42 48 91 +f 48 47 91 +f 61 42 91 +f 47 61 91 +f 55 58 92 +f 58 72 92 +f 80 55 92 +f 72 80 92 +f 48 56 93 +f 56 43 93 +f 43 77 93 +f 77 48 93 +f 57 52 94 +f 70 57 94 +f 52 86 94 +f 86 70 94 +f 52 57 95 +f 57 59 95 +f 73 52 95 +f 59 73 95 +f 69 50 96 +f 61 69 96 +f 50 79 96 +f 85 61 96 +f 79 85 96 +f 58 55 97 +f 71 43 97 +f 55 71 97 +f 43 74 97 +o convex_2 +v 0.914611 -0.055851 0.429772 +v -0.057082 -0.271745 -3.312028 +v -0.057082 -0.235755 -3.312028 +v -2.071370 -0.091840 -0.145692 +v 0.950642 -0.271745 0.429772 +v 1.274153 -0.055851 -1.944247 +v -1.207772 -0.271745 0.430139 +v -0.956325 -0.055851 -2.160367 +v 1.166445 -0.271745 -2.232162 +v 1.885916 -0.091840 -0.110160 +v -0.848230 -0.271745 -2.627771 +v -1.099677 -0.055851 0.430139 +v 0.014981 -0.055851 -2.807993 +v -1.999306 -0.055851 -0.649360 +v -1.423962 -0.271745 -0.145692 +v 1.274153 -0.271745 -0.001734 +v 1.598050 -0.055851 -1.548638 +v 0.734840 -0.199766 -2.772095 +v 1.814240 -0.055851 -0.037998 +v 0.842547 -0.055851 -2.447916 +v -1.064032 -0.271745 -2.052307 +v -0.812198 -0.235755 -2.700299 +v -1.999306 -0.091840 -0.649360 +v -2.035338 -0.055851 -0.109794 +v 0.662776 -0.271745 -2.879788 +v 1.238508 -0.271745 -1.620434 +v 1.598050 -0.091840 -1.548638 +v 0.014981 -0.235755 -3.312028 +v 1.238508 -0.271745 0.249917 +v 1.885916 -0.091840 -0.217854 +f 124 114 127 +f 99 102 104 +f 98 103 105 +f 102 99 106 +f 99 104 108 +f 102 98 109 +f 104 102 109 +f 98 105 109 +f 100 105 110 +f 105 103 110 +f 109 105 111 +f 104 101 112 +f 108 104 112 +f 102 106 113 +f 103 98 114 +f 103 114 115 +f 114 106 115 +f 98 102 116 +f 114 98 116 +f 110 103 117 +f 103 115 117 +f 108 112 118 +f 100 99 119 +f 105 100 119 +f 99 108 119 +f 111 105 119 +f 111 119 120 +f 101 111 120 +f 112 101 120 +f 108 118 120 +f 118 112 120 +f 119 108 120 +f 101 104 121 +f 104 109 121 +f 111 101 121 +f 109 111 121 +f 106 99 122 +f 115 106 122 +f 113 106 123 +f 106 114 124 +f 99 100 125 +f 100 110 125 +f 110 117 125 +f 117 115 125 +f 122 99 125 +f 115 122 125 +f 102 113 126 +f 113 107 126 +f 116 102 126 +f 107 116 126 +f 107 113 127 +f 116 107 127 +f 114 116 127 +f 123 106 127 +f 113 123 127 +f 106 124 127 +o convex_3 +v 0.734752 2.391063 0.106114 +v -0.164512 2.750831 -1.692821 +v -0.164512 2.966725 -1.692821 +v -1.136046 2.247190 0.106114 +v -0.056980 3.758112 0.142273 +v 0.914554 2.247021 -1.476687 +v 0.734752 3.722101 -0.685082 +v -0.812201 3.758112 -0.685082 +v -1.028015 2.247190 -1.512846 +v -0.020970 3.722270 -1.440733 +v 1.202639 2.247021 -0.613582 +v -0.236533 2.247190 0.357998 +v 0.734752 2.966894 0.142069 +v -1.352110 2.283032 -0.721036 +v 0.015041 3.974175 -0.685082 +v -0.812201 3.074926 -1.440733 +v -0.776191 3.074926 0.142273 +v -0.056980 3.002905 0.394156 +v 0.698741 3.074757 -1.404779 +v -0.056980 2.247190 -1.692821 +v 0.662731 2.247021 0.178023 +v 0.554949 3.542217 -0.037702 +v -0.596388 3.578228 -0.037702 +v -0.596388 3.578228 -1.260758 +v -0.020970 3.002905 -1.692821 +v 0.734752 3.722101 -0.577628 +v 1.202639 2.283201 -0.721036 +v -0.812201 3.758112 -0.613378 +v 0.051051 3.758112 0.142069 +v 0.446917 3.578228 -1.260962 +v -0.128501 3.722270 -1.440733 +v -0.128501 3.974175 -0.613378 +v -1.352110 2.247190 -0.577424 +v -0.884223 2.283032 -1.584754 +v 0.015041 3.002905 0.394156 +v -0.884223 2.858862 -1.476687 +v 1.166378 2.427074 -0.613582 +v -1.136046 2.283032 0.106114 +v 0.698741 2.355222 -1.548596 +v -0.955994 2.283032 0.178227 +v -0.056980 3.722270 0.178227 +v 0.698741 3.002736 -1.440733 +v 0.015041 3.974175 -0.577424 +v -1.280089 2.283032 -0.325540 +v -0.848212 3.686260 -0.613378 +v 0.734752 3.038746 0.106114 +v -0.092741 3.902154 -0.936966 +v -0.848212 3.686260 -0.685082 +v 0.410907 2.283201 0.249931 +v -0.308554 2.391063 0.357998 +v 0.015041 3.506376 0.250135 +v 0.554949 3.578228 -1.152895 +v -0.848212 3.074926 -1.368825 +f 141 175 180 +f 128 138 140 +f 134 137 142 +f 129 130 147 +f 133 136 147 +f 138 128 148 +f 133 138 148 +f 139 131 148 +f 128 140 148 +f 143 135 151 +f 147 130 152 +f 134 142 153 +f 138 133 154 +f 133 146 154 +f 146 134 154 +f 150 132 155 +f 144 150 155 +f 140 149 156 +f 149 153 156 +f 146 137 157 +f 130 143 158 +f 151 135 158 +f 143 151 158 +f 152 130 158 +f 137 152 158 +f 135 155 159 +f 155 132 159 +f 136 133 160 +f 141 136 160 +f 133 148 160 +f 148 131 160 +f 130 129 161 +f 129 147 161 +f 147 136 161 +f 145 139 162 +f 148 140 162 +f 136 141 163 +f 143 130 163 +f 130 161 163 +f 161 136 163 +f 140 138 164 +f 134 153 164 +f 138 154 164 +f 154 134 164 +f 133 147 166 +f 147 152 166 +f 131 139 167 +f 145 144 167 +f 165 131 167 +f 144 165 167 +f 144 145 168 +f 132 150 168 +f 150 144 168 +f 156 132 168 +f 146 133 169 +f 137 146 169 +f 152 137 169 +f 133 166 169 +f 166 152 169 +f 153 142 170 +f 132 156 170 +f 156 153 170 +f 159 132 170 +f 142 159 170 +f 160 131 171 +f 131 165 171 +f 171 165 172 +f 155 135 172 +f 144 155 172 +f 141 160 172 +f 165 144 172 +f 160 171 172 +f 149 140 173 +f 153 149 173 +f 140 164 173 +f 164 153 173 +f 142 137 174 +f 158 135 174 +f 137 158 174 +f 135 159 174 +f 159 142 174 +f 172 135 175 +f 141 172 175 +f 139 148 176 +f 162 139 176 +f 148 162 176 +f 139 145 177 +f 167 139 177 +f 145 167 177 +f 140 156 178 +f 145 162 178 +f 162 140 178 +f 168 145 178 +f 156 168 178 +f 137 134 179 +f 134 146 179 +f 157 137 179 +f 146 157 179 +f 135 143 180 +f 163 141 180 +f 143 163 180 +f 175 135 180 +o convex_4 +v 0.303079 -2.250944 1.329769 +v -0.416568 -2.394972 1.329769 +v -0.416568 -2.394972 1.365649 +v -0.020818 -3.977929 1.293762 +v -0.020818 -2.394972 1.689395 +v -0.200660 -2.250944 1.041903 +v -0.272582 -3.761718 1.365649 +v -0.344575 -2.250944 1.617445 +v -0.020818 -3.725880 1.545494 +v 0.195020 -2.286951 1.077910 +v -0.164663 -3.653866 1.149860 +v 0.159094 -3.689873 1.401593 +v 0.159094 -2.250944 1.653452 +v 0.015178 -3.689873 1.149860 +v -0.344575 -2.250944 1.113917 +v 0.159094 -3.689873 1.293762 +v -0.128667 -3.653866 1.545494 +v 0.195020 -2.502824 1.617445 +v -0.272582 -3.689873 1.257818 +v -0.020818 -2.610845 1.041903 +v 0.303079 -2.286951 1.437600 +v -0.344575 -2.394972 1.617445 +v 0.267083 -2.250944 1.149860 +v -0.164663 -2.322958 1.689395 +v -0.236656 -3.545845 1.509550 +v -0.308508 -2.394972 1.077910 +v -0.092600 -3.581852 1.113917 +v -0.092600 -3.977929 1.365649 +f 199 184 208 +f 183 182 187 +f 182 183 188 +f 181 186 188 +f 181 188 193 +f 184 191 194 +f 182 188 195 +f 188 186 195 +f 192 184 196 +f 194 190 196 +f 184 194 196 +f 185 189 198 +f 189 192 198 +f 193 185 198 +f 187 182 199 +f 191 184 199 +f 182 195 199 +f 186 190 200 +f 190 194 200 +f 181 193 201 +f 196 181 201 +f 192 196 201 +f 198 192 201 +f 193 198 201 +f 183 187 202 +f 188 183 202 +f 186 181 203 +f 190 186 203 +f 181 196 203 +f 196 190 203 +f 189 185 204 +f 193 188 204 +f 185 193 204 +f 197 189 204 +f 188 202 204 +f 202 197 204 +f 187 197 205 +f 202 187 205 +f 197 202 205 +f 195 186 206 +f 191 199 206 +f 199 195 206 +f 194 191 207 +f 186 200 207 +f 200 194 207 +f 206 186 207 +f 191 206 207 +f 184 192 208 +f 192 189 208 +f 197 187 208 +f 189 197 208 +f 187 199 208 +o convex_5 +v -2.862806 0.340159 -0.685371 +v 1.310022 2.246796 -0.649706 +v 1.418308 2.210732 -0.613610 +v 1.382213 -0.055414 -1.764786 +v 0.914752 -0.055414 0.430139 +v -2.215461 1.850998 0.250093 +v -0.884085 2.246796 -1.584740 +v 2.497610 1.095466 0.142238 +v 2.569800 1.527327 -1.404694 +v -2.791208 1.059627 -1.476885 +v -0.236149 2.246796 0.358164 +v -1.172254 -0.055414 0.430139 +v -1.063969 -0.055414 -1.764786 +v 2.749684 0.196355 -0.505540 +v -0.056265 2.246796 -1.692811 +v -2.755112 1.814934 -0.757131 +v 2.785779 1.743032 -0.577515 +v -2.682922 0.843922 0.070048 +v 2.749684 0.807858 -1.404694 +v 2.173937 1.743032 0.142238 +v -2.179366 -0.055639 -0.217639 +v -1.243853 2.246796 0.106143 +v -2.071673 1.059627 -1.728691 +v -2.611324 0.196130 -1.260744 +v 0.914752 2.246796 -1.476885 +v 1.957959 -0.055414 -0.109783 +v -3.043281 1.059627 -0.649706 +v 3.001757 1.059627 -0.577515 +v 1.634286 0.232193 -1.764786 +v 2.569800 0.196355 -1.224864 +v -2.035578 1.814934 -1.476885 +v 2.497610 0.484188 -0.001713 +v 0.662678 2.246796 0.177903 +v -1.459831 2.246796 -0.721251 +v 0.626583 1.743032 0.358164 +v 1.705885 1.383073 -1.620835 +v -2.503039 0.304095 -0.037808 +v -0.092360 0.772020 -1.764786 +v -2.791208 0.160291 -0.505540 +v -0.920180 2.066703 0.358164 +v -2.071673 -0.055639 -0.721251 +v 3.001757 0.915824 -0.757131 +v 2.749684 1.743032 -0.757131 +v -2.791208 0.951887 -1.476885 +v -2.755112 1.814934 -0.613610 +v 1.130139 1.023789 0.358164 +v 1.670381 -0.055414 -1.512765 +v -2.359250 1.635067 0.214213 +v 2.569800 0.915824 0.105928 +v -2.611324 1.563165 -1.296839 +v -2.035578 0.088390 0.142023 +v 1.670381 1.958963 0.105928 +v -1.172254 0.160291 0.430139 +v 2.569800 1.599004 -1.368814 +v 1.921864 0.232193 0.178118 +v -1.027874 2.246796 -1.512765 +v -2.035578 0.376222 -1.584740 +v -3.043281 0.916049 -0.649706 +v 2.749684 0.987726 -1.404694 +v 2.030149 -0.019801 -0.721251 +v 3.001757 1.059627 -0.721251 +v 3.001757 0.879760 -0.577515 +v -2.575229 0.160291 -1.224864 +v 1.778075 0.268031 -1.728476 +f 267 227 272 +f 210 215 219 +f 215 210 223 +f 210 211 225 +f 216 225 228 +f 213 220 229 +f 214 219 230 +f 219 215 230 +f 215 223 231 +f 223 210 233 +f 217 223 233 +f 213 229 234 +f 224 218 235 +f 225 216 236 +f 212 221 237 +f 215 231 239 +f 231 218 239 +f 234 222 240 +f 211 210 241 +f 210 219 241 +f 219 228 241 +f 230 215 242 +f 219 213 243 +f 228 219 243 +f 223 217 244 +f 237 223 244 +f 221 231 246 +f 231 223 246 +f 237 221 246 +f 223 237 246 +f 209 232 247 +f 245 226 247 +f 219 214 248 +f 221 212 249 +f 234 229 249 +f 229 247 249 +f 222 238 250 +f 238 227 250 +f 210 225 251 +f 233 210 251 +f 218 231 252 +f 232 209 252 +f 235 218 252 +f 214 230 253 +f 224 235 253 +f 242 224 253 +f 230 242 253 +f 213 216 254 +f 216 228 254 +f 243 213 254 +f 228 243 254 +f 212 238 255 +f 249 212 255 +f 234 249 255 +f 220 214 256 +f 226 220 256 +f 235 226 256 +f 214 253 256 +f 253 235 256 +f 216 213 257 +f 236 216 257 +f 240 222 257 +f 218 224 258 +f 239 218 258 +f 224 239 258 +f 220 226 259 +f 229 220 259 +f 226 245 259 +f 247 229 259 +f 245 247 259 +f 225 211 260 +f 228 225 260 +f 211 241 260 +f 241 228 260 +f 213 219 261 +f 220 213 261 +f 214 220 261 +f 248 214 261 +f 219 248 261 +f 217 233 262 +f 233 251 262 +f 213 234 263 +f 234 240 263 +f 257 213 263 +f 240 257 263 +f 239 224 264 +f 215 239 264 +f 242 215 264 +f 224 242 264 +f 231 221 265 +f 221 232 265 +f 252 231 265 +f 232 252 265 +f 226 235 266 +f 209 247 266 +f 247 226 266 +f 252 209 266 +f 235 252 266 +f 250 227 267 +f 217 262 267 +f 222 234 268 +f 238 222 268 +f 234 255 268 +f 255 238 268 +f 225 236 269 +f 236 250 269 +f 251 225 269 +f 262 251 269 +f 250 267 269 +f 267 262 269 +f 222 250 270 +f 250 236 270 +f 236 257 270 +f 257 222 270 +f 232 221 271 +f 247 232 271 +f 221 249 271 +f 249 247 271 +f 212 237 272 +f 227 238 272 +f 238 212 272 +f 244 217 272 +f 237 244 272 +f 217 267 272 +o convex_6 +v 0.483041 0.087660 1.905208 +v -1.028152 -1.459043 1.581754 +v -0.992219 -1.531065 1.257779 +v 0.734773 -1.782888 2.013113 +v 1.022639 -0.739833 1.041970 +v -0.848286 -0.056132 1.041839 +v 0.231109 -2.250775 1.041970 +v -0.848286 -0.451998 2.085310 +v -0.128623 -1.782888 2.265022 +v 0.375042 0.267713 1.077938 +v 0.698840 -0.164164 2.085180 +v -0.272555 0.303973 1.725497 +v -0.380555 -2.250775 1.581754 +v -0.020623 -0.308206 2.337088 +v -0.920152 -1.854909 1.041839 +v -0.740287 -1.674857 2.121279 +v 0.914639 -1.782888 1.041970 +v 0.950572 -0.128153 1.041970 +v 0.734773 -1.027167 2.157247 +v 0.231109 -2.250775 1.617723 +v 1.022639 -1.099188 1.401783 +v -0.776220 -1.135198 2.229053 +v 0.051042 -1.171209 2.373187 +v -1.028152 -0.775843 1.041839 +v -0.848286 -0.272196 2.013113 +v -0.308488 0.303973 1.114036 +v 0.410975 0.303973 1.473719 +v -0.920152 -1.890920 1.509688 +v -0.344622 -2.250775 1.114036 +v 0.950572 -0.164164 1.365814 +v -0.092690 -0.200175 2.300990 +v -1.028152 -1.387022 1.725497 +v 0.914639 -1.782888 1.437751 +v 0.806639 -0.955896 2.085180 +v -0.740287 -1.818899 2.049342 +v 0.086975 -1.782888 2.265022 +v 0.086975 0.303973 1.797434 +v 0.338908 -2.250775 1.401783 +v -0.920152 -0.164164 1.329716 +v -0.416488 0.303973 1.401913 +v 0.123109 0.303973 1.041839 +v -0.164756 -2.250775 1.689529 +v -0.164756 -1.027167 2.373187 +v 0.086975 -0.919885 2.373187 +v 1.022639 -0.739833 1.365814 +v 0.195176 -0.200175 2.265152 +v 0.518974 -1.782888 2.121148 +v 0.770706 0.051649 1.041970 +v -0.416488 -2.250775 1.293878 +v 0.770706 -1.926930 1.041970 +v -0.668220 -0.272196 2.121279 +v -1.028152 -1.027167 1.437751 +v -0.272555 -2.250775 1.041839 +v 0.662706 -0.236185 2.121148 +v 1.022639 -1.099188 1.041970 +v -0.884219 -0.415988 1.977275 +v -0.956085 -0.236185 1.114036 +v -0.920152 -1.890920 1.077938 +v 0.950572 -1.710867 1.293878 +v -0.848286 -1.207220 2.121279 +v -0.596354 -1.818899 2.121279 +v 0.302975 0.303973 1.725367 +v 0.051042 -2.250775 1.689529 +v -0.128623 0.195691 1.905339 +f 323 303 336 +f 285 279 292 +f 288 281 294 +f 275 274 296 +f 287 275 296 +f 278 287 296 +f 298 284 299 +f 273 283 299 +f 279 285 301 +f 299 283 302 +f 294 286 303 +f 296 274 304 +f 274 300 304 +f 293 276 305 +f 291 276 306 +f 283 291 306 +f 276 293 306 +f 302 283 306 +f 300 285 307 +f 288 304 307 +f 304 300 307 +f 295 281 308 +f 299 284 309 +f 276 292 310 +f 292 279 310 +f 305 276 310 +f 297 284 312 +f 298 278 312 +f 284 298 312 +f 278 311 312 +f 311 297 312 +f 287 278 313 +f 290 277 313 +f 278 298 313 +f 298 299 313 +f 299 282 313 +f 285 292 314 +f 308 281 314 +f 294 281 315 +f 286 294 315 +f 281 295 315 +f 315 295 316 +f 295 291 316 +f 286 315 316 +f 277 290 317 +f 293 277 317 +f 290 302 317 +f 306 293 317 +f 302 306 317 +f 283 273 318 +f 303 286 318 +f 273 309 318 +f 309 303 318 +f 286 316 318 +f 276 291 319 +f 292 276 319 +f 291 295 319 +f 295 308 319 +f 282 299 320 +f 302 290 320 +f 299 302 320 +f 290 313 320 +f 313 282 320 +f 285 300 321 +f 301 285 321 +f 289 305 322 +f 310 279 322 +f 305 310 322 +f 280 294 323 +f 297 280 323 +f 284 297 323 +f 294 303 323 +f 296 304 324 +f 279 301 325 +f 287 313 325 +f 322 279 325 +f 289 322 325 +f 291 283 326 +f 316 291 326 +f 283 318 326 +f 318 316 326 +f 277 293 327 +f 313 277 327 +f 325 313 327 +f 289 325 327 +f 280 297 328 +f 304 280 328 +f 297 311 328 +f 324 304 328 +f 324 328 329 +f 278 296 329 +f 311 278 329 +f 296 324 329 +f 328 311 329 +f 274 275 330 +f 275 287 330 +f 300 274 330 +f 321 300 330 +f 301 321 330 +f 325 301 330 +f 287 325 330 +f 305 289 331 +f 293 305 331 +f 289 327 331 +f 327 293 331 +f 294 280 332 +f 288 294 332 +f 280 304 332 +f 304 288 332 +f 281 288 333 +f 307 285 333 +f 288 307 333 +f 285 314 333 +f 314 281 333 +f 273 299 334 +f 299 309 334 +f 309 273 334 +f 314 292 335 +f 308 314 335 +f 292 319 335 +f 319 308 335 +f 309 284 336 +f 303 309 336 +f 284 323 336 +o convex_7 +v 0.375044 0.412163 1.437550 +v -0.380586 0.303973 1.293790 +v -0.344565 0.303973 1.149889 +v -0.056617 2.030958 1.329783 +v -0.128660 0.303973 1.761416 +v 0.303076 0.303973 1.113896 +v -0.020670 1.814916 1.581452 +v -0.236649 1.779078 1.401628 +v 0.231108 0.303973 1.725423 +v 0.159139 1.814916 1.401628 +v -0.056617 1.814916 1.185882 +v -0.308617 0.412163 1.653438 +v -0.056617 0.448170 1.041839 +v 0.159139 1.743071 1.293790 +v -0.272596 1.095790 1.185882 +v -0.380586 0.303973 1.509536 +v 0.123118 1.635050 1.545529 +v 0.051076 1.707064 1.185882 +v -0.020670 0.520015 1.761416 +v 0.087171 0.303973 1.041839 +v -0.164681 1.635050 1.545529 +v -0.236649 1.779078 1.329783 +v 0.303076 0.412163 1.113896 +v 0.267055 0.412163 1.689431 +v -0.380586 0.556022 1.365776 +v 0.375044 0.303973 1.329783 +v -0.308617 0.412163 1.113896 +v -0.128660 1.707064 1.185882 +v 0.015129 1.814916 1.581452 +f 360 353 365 +f 338 339 341 +f 341 339 342 +f 343 340 344 +f 341 342 345 +f 340 346 350 +f 346 337 350 +f 338 341 352 +f 341 348 352 +f 348 344 352 +f 347 340 354 +f 349 347 354 +f 340 350 354 +f 343 341 355 +f 341 345 355 +f 342 339 356 +f 339 349 356 +f 349 354 356 +f 341 343 357 +f 343 344 357 +f 348 341 357 +f 344 348 357 +f 344 340 358 +f 340 347 358 +f 354 350 359 +f 342 356 359 +f 356 354 359 +f 345 337 360 +f 337 346 360 +f 346 353 360 +f 339 338 361 +f 351 339 361 +f 338 352 361 +f 352 344 361 +f 344 358 361 +f 358 351 361 +f 337 345 362 +f 345 342 362 +f 350 337 362 +f 342 359 362 +f 359 350 362 +f 349 339 363 +f 339 351 363 +f 363 351 364 +f 347 349 364 +f 358 347 364 +f 351 358 364 +f 349 363 364 +f 340 343 365 +f 346 340 365 +f 353 346 365 +f 343 355 365 +f 355 345 365 +f 345 360 365 +o convex_8 +v 1.238621 -0.019840 -1.908715 +v -0.056586 -0.055851 -2.700327 +v -0.128702 -0.055851 -2.664218 +v -0.092533 0.267991 -1.944824 +v -1.028268 -0.055851 -1.908715 +v 0.878484 0.196001 -1.908715 +v 0.842537 -0.055851 -2.376430 +v -0.056586 -0.019840 -2.700327 +v -0.956152 0.016139 -1.980701 +v 1.238621 -0.055851 -1.908715 +v 0.878484 0.052118 -2.232613 +v 0.878484 0.196001 -1.944824 +v -0.092533 0.267991 -1.908715 +v 0.015309 -0.019840 -2.700327 +v -0.884258 -0.019840 -2.124750 +v 0.051256 0.267991 -1.944824 +f 377 379 381 +f 368 367 370 +f 370 366 371 +f 370 367 372 +f 367 368 373 +f 366 370 375 +f 372 366 375 +f 370 372 375 +f 366 372 376 +f 371 366 377 +f 366 376 377 +f 370 371 378 +f 369 374 378 +f 374 370 378 +f 372 367 379 +f 367 373 379 +f 373 369 379 +f 376 372 379 +f 377 376 379 +f 368 370 380 +f 373 368 380 +f 369 373 380 +f 374 369 380 +f 370 374 380 +f 371 377 381 +f 369 378 381 +f 378 371 381 +f 379 369 381 +o convex_9 +v 1.310417 -0.055851 -1.872733 +v 0.015559 0.663797 -1.764786 +v 1.526480 0.160058 -1.764786 +v -1.064251 -0.055851 -1.764786 +v -1.028240 0.016142 -1.908715 +v 0.950565 0.196054 -1.908715 +v -0.056463 0.339829 -1.908715 +v 1.346427 -0.055851 -1.764786 +v -0.092473 0.663797 -1.800768 +v 1.274406 -0.055851 -1.908715 +v -1.028240 -0.055851 -1.908715 +v -1.064251 0.052209 -1.764786 +v 1.526480 0.160058 -1.800768 +v 0.015559 0.663797 -1.800768 +f 394 387 395 +f 384 383 385 +f 387 386 388 +f 384 385 389 +f 385 382 389 +f 388 386 390 +f 382 385 391 +f 386 387 391 +f 385 386 392 +f 391 385 392 +f 386 391 392 +f 385 383 393 +f 386 385 393 +f 383 390 393 +f 390 386 393 +f 383 384 394 +f 389 382 394 +f 384 389 394 +f 382 391 394 +f 391 387 394 +f 387 388 395 +f 390 383 395 +f 388 390 395 +f 383 394 395 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/594/594.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/594/594.urdf new file mode 100644 index 000000000..298875cc2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/594/594.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/595/595.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/595/595.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/595/595.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/595/595.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/595/595.obj new file mode 100644 index 000000000..cdbd525e3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/595/595.obj @@ -0,0 +1,483 @@ +o convex_0 +v 1.104815 -0.511704 0.682926 +v -1.060365 -3.375327 -1.082322 +v -1.026878 -3.841902 -1.082322 +v -0.993604 -4.108144 0.916061 +v -1.060365 0.188158 1.049371 +v 1.038054 -4.141967 1.082857 +v 0.971505 0.188158 -1.048624 +v 0.938230 -4.141967 -1.015349 +v -1.026878 0.188158 -1.048836 +v 1.071328 0.188158 0.949547 +v -1.026878 -4.241699 -1.048836 +v 1.071328 -0.378149 -0.682180 +v 0.971505 -2.709288 -1.082322 +v -1.060365 -1.211566 -1.082322 +v 1.071328 -3.608615 1.016096 +v 0.371926 -4.141967 1.049371 +v -0.660434 -4.241699 -0.715878 +v -0.860294 -4.108144 0.949547 +v 1.071328 0.188158 -0.615630 +v -1.060365 -0.112340 1.049371 +v 0.471750 -1.011667 -1.082322 +v -0.827019 0.188158 1.049371 +v 1.038054 -4.108578 0.549828 +v 1.038054 -3.808947 1.082857 +v -1.060365 -2.842409 -0.382496 +v 0.338440 -4.174922 -1.048836 +v -0.960329 -4.141533 0.816237 +v -1.060365 -0.078952 -0.782427 +v 1.004779 -1.977338 -1.048624 +v 0.771645 -4.141967 1.082857 +v 1.104815 0.188158 0.549828 +v 0.538511 -4.175355 -1.015349 +v 0.971505 -1.277910 -1.082322 +v 0.571786 -4.175355 0.583103 +v -1.026878 -4.208311 -0.482532 +v -1.026878 -3.508882 0.316482 +v -0.993604 -4.241699 -0.748941 +v 0.938230 -3.708781 -1.048624 +v 1.071328 -3.341938 1.049371 +v 0.971505 -4.108578 -0.549081 +v -0.693709 -4.241699 -1.048836 +v 0.405201 -4.175355 0.583103 +v 1.038054 -1.177744 -0.882251 +f 23 29 43 +f 5 7 9 +f 7 5 10 +f 2 3 11 +f 3 2 13 +f 2 5 14 +f 13 2 14 +f 12 1 15 +f 7 10 19 +f 12 7 19 +f 5 2 20 +f 4 18 20 +f 9 7 21 +f 14 9 21 +f 13 14 21 +f 10 5 22 +f 6 8 23 +f 15 6 23 +f 12 15 23 +f 22 5 24 +f 10 22 24 +f 20 2 25 +f 3 13 26 +f 18 4 27 +f 16 18 27 +f 5 9 28 +f 14 5 28 +f 9 14 28 +f 8 13 29 +f 18 16 30 +f 5 20 30 +f 20 18 30 +f 24 5 30 +f 6 24 30 +f 10 1 31 +f 1 12 31 +f 19 10 31 +f 12 19 31 +f 8 6 32 +f 26 8 32 +f 21 7 33 +f 13 21 33 +f 7 29 33 +f 29 13 33 +f 6 30 34 +f 32 6 34 +f 17 32 34 +f 2 11 35 +f 25 2 35 +f 27 4 35 +f 4 20 36 +f 20 25 36 +f 25 35 36 +f 35 4 36 +f 11 17 37 +f 35 11 37 +f 27 35 37 +f 13 8 38 +f 26 13 38 +f 8 26 38 +f 1 10 39 +f 6 15 39 +f 15 1 39 +f 24 6 39 +f 10 24 39 +f 23 8 40 +f 8 29 40 +f 29 23 40 +f 11 3 41 +f 17 11 41 +f 3 26 41 +f 32 17 41 +f 26 32 41 +f 16 27 42 +f 30 16 42 +f 17 34 42 +f 34 30 42 +f 37 17 42 +f 27 37 42 +f 7 12 43 +f 12 23 43 +f 29 7 43 +o convex_1 +v -0.427380 3.852308 0.849475 +v -1.093626 1.420883 0.916253 +v -1.026916 1.420883 -0.749009 +v 1.104815 1.420883 0.616381 +v 0.971393 3.785661 -0.982313 +v -0.927065 3.852308 -1.015701 +v 0.971393 1.420645 -1.015701 +v 1.004749 3.785661 1.049390 +v -1.026916 3.852308 1.082779 +v 0.671625 1.420645 0.982822 +v -1.093626 1.487292 1.116168 +v -0.993560 1.420883 -1.015701 +v -1.060271 2.086877 -0.715829 +v 1.038104 1.420883 0.949433 +v -1.093626 2.453436 1.116168 +v 0.238651 3.818747 -1.015701 +v 0.704981 3.818747 1.049390 +v 1.004749 3.785661 0.017053 +v -0.960205 3.619044 -0.982313 +v 1.071459 1.454207 0.050233 +v -0.727148 2.120201 1.116168 +v 0.971393 2.520082 -1.015701 +v -1.060271 1.653910 -0.682232 +v 1.071459 1.753880 0.916253 +v -1.093626 1.420883 1.082779 +v 1.104815 1.454207 0.549603 +v -1.093626 2.520082 1.049182 +v -0.960205 3.852308 -0.682232 +v -1.026916 3.852308 1.016210 +v -0.993560 2.253495 -1.015701 +v 1.004749 3.718776 1.049390 +v -0.793858 3.852308 -0.982313 +v 0.671625 3.818747 0.682949 +v -0.893709 3.852308 1.082779 +v -0.827214 2.320142 1.116168 +v 0.438568 3.752100 -1.015701 +f 65 59 79 +f 44 49 52 +f 45 46 53 +f 50 47 53 +f 49 50 55 +f 53 46 55 +f 50 53 55 +f 53 47 57 +f 45 54 58 +f 50 49 59 +f 48 60 61 +f 60 51 61 +f 47 50 63 +f 54 53 64 +f 58 54 64 +f 50 59 65 +f 48 63 65 +f 63 50 65 +f 46 45 66 +f 55 46 66 +f 45 56 66 +f 56 55 66 +f 47 51 67 +f 57 47 67 +f 45 53 68 +f 54 45 68 +f 53 54 68 +f 51 47 69 +f 48 61 69 +f 61 51 69 +f 47 63 69 +f 63 48 69 +f 56 45 70 +f 58 52 70 +f 45 58 70 +f 52 49 71 +f 49 62 71 +f 62 56 71 +f 56 70 72 +f 70 52 72 +f 52 71 72 +f 71 56 72 +f 49 55 73 +f 55 56 73 +f 62 49 73 +f 56 62 73 +f 53 57 74 +f 51 64 74 +f 64 53 74 +f 67 51 74 +f 57 67 74 +f 49 44 75 +f 59 49 75 +f 48 59 76 +f 60 48 76 +f 44 60 76 +f 75 44 76 +f 59 75 76 +f 44 52 77 +f 52 58 77 +f 51 60 77 +f 60 44 77 +f 64 51 78 +f 58 64 78 +f 51 77 78 +f 77 58 78 +f 59 48 79 +f 48 65 79 +o convex_2 +v -1.493626 0.288116 0.083488 +v -1.526907 1.387335 0.483223 +v -1.526907 1.387335 0.449867 +v -3.058992 0.621351 0.449867 +v -3.058992 1.287364 -0.582665 +v -1.093675 1.354011 -0.582665 +v -3.025519 0.221469 -0.482705 +v -1.093675 0.321553 0.449867 +v -1.093675 0.388200 -0.515953 +v -3.058992 1.387335 0.449867 +v -1.093675 1.354011 0.516580 +v -3.025519 0.321439 0.449867 +v -2.725604 0.454733 0.483223 +v -3.058992 1.020890 -0.582665 +v -3.058992 1.387335 0.183449 +v -1.327028 0.321439 -0.482705 +v -1.093675 0.388200 0.483223 +v -3.025519 0.288116 0.383263 +v -1.093675 1.087423 -0.582665 +v -2.825640 0.221469 -0.382744 +v -1.593469 1.354011 -0.582665 +v -1.560188 0.288116 0.283302 +v -1.293747 1.187394 0.516580 +v -3.025519 0.421410 -0.515953 +v -1.093675 0.321553 -0.082969 +v -2.226002 1.387335 0.483223 +v -3.058992 1.320573 -0.382744 +f 94 100 106 +f 82 81 85 +f 85 87 88 +f 81 82 89 +f 84 83 89 +f 85 81 90 +f 87 85 90 +f 89 83 92 +f 83 91 92 +f 83 84 93 +f 84 85 93 +f 86 83 93 +f 82 85 94 +f 89 82 94 +f 84 89 94 +f 86 88 95 +f 87 90 96 +f 91 87 96 +f 92 91 96 +f 83 86 97 +f 91 83 97 +f 87 91 97 +f 85 88 98 +f 93 85 98 +f 88 93 98 +f 95 80 99 +f 86 95 99 +f 97 86 99 +f 85 84 100 +f 94 85 100 +f 80 87 101 +f 87 97 101 +f 99 80 101 +f 97 99 101 +f 96 90 102 +f 92 96 102 +f 88 86 103 +f 86 93 103 +f 93 88 103 +f 87 80 104 +f 88 87 104 +f 80 95 104 +f 95 88 104 +f 81 89 105 +f 90 81 105 +f 89 92 105 +f 102 90 105 +f 92 102 105 +f 84 94 106 +f 100 84 106 +o convex_3 +v 1.104815 1.420645 0.616459 +v -1.026868 0.188158 -1.049012 +v -1.060223 0.188158 0.949511 +v -1.093577 1.420645 0.949511 +v 1.071245 0.188158 0.949511 +v 0.971396 1.420645 -1.015623 +v 0.971396 0.188158 -1.048803 +v -0.993514 1.420645 -1.015415 +v -0.660613 1.420645 1.082857 +v 1.037890 1.420645 0.949511 +v 1.104815 0.388063 -0.515836 +v -1.060223 0.188158 1.049469 +v -1.093577 1.087309 -0.582405 +v -0.693752 1.320632 -1.049012 +v 1.104815 1.254037 -0.515836 +v -1.093577 0.354766 -0.482447 +v -1.093577 0.854348 1.082857 +v 1.104815 0.188158 0.649639 +v -1.093577 1.353930 -0.582405 +v -1.026868 0.654563 1.082857 +v -1.093577 1.420645 1.082857 +v 1.071245 0.188158 -0.582613 +v -1.093577 0.321468 0.449933 +v 0.971396 0.454658 -1.048803 +v 1.071245 1.087309 0.949511 +v -1.026868 0.654563 -1.049012 +v -0.826956 0.188158 1.049469 +f 126 118 133 +f 109 108 111 +f 110 107 112 +f 111 108 113 +f 110 112 114 +f 107 110 115 +f 107 115 116 +f 109 111 118 +f 113 108 120 +f 114 112 120 +f 112 107 121 +f 107 117 121 +f 117 113 121 +f 108 109 122 +f 119 108 122 +f 110 119 122 +f 110 122 123 +f 111 113 124 +f 117 107 124 +f 110 114 125 +f 108 119 125 +f 119 110 125 +f 111 115 126 +f 115 123 126 +f 123 118 126 +f 115 110 127 +f 110 123 127 +f 123 115 127 +f 113 117 128 +f 124 113 128 +f 117 124 128 +f 109 118 129 +f 122 109 129 +f 118 123 129 +f 123 122 129 +f 113 120 130 +f 120 112 130 +f 112 121 130 +f 121 113 130 +f 115 111 131 +f 116 115 131 +f 107 116 131 +f 124 107 131 +f 111 124 131 +f 120 108 132 +f 114 120 132 +f 108 125 132 +f 125 114 132 +f 118 111 133 +f 111 126 133 +o convex_4 +v 1.138464 0.288116 0.283406 +v 3.036730 1.387335 -0.182783 +v 3.036730 1.387335 -0.449371 +v 3.069988 0.221469 0.383260 +v 1.204981 1.254041 0.449933 +v 1.105010 0.388086 -0.516044 +v 3.103246 0.354763 -0.449371 +v 1.138464 1.287364 -0.516044 +v 2.936759 1.287364 0.516397 +v 1.105010 0.288116 0.549890 +v 3.069988 0.221469 0.549890 +v 1.105010 1.254041 0.416544 +v 1.871125 0.854273 -0.516044 +v 1.671379 1.320573 0.183449 +v 3.069988 0.454733 0.549890 +v 1.371664 0.554590 0.549890 +v 2.570331 1.387335 -0.449267 +v 3.069988 1.354011 -0.449371 +v 1.105010 1.254041 -0.516044 +v 2.670302 1.254041 -0.482551 +v 2.370390 0.221469 0.516397 +v 1.804412 0.388086 -0.516044 +v 3.103246 0.321439 0.216629 +v 1.204981 1.287364 0.349975 +v 2.770077 1.320573 0.349975 +v 3.003276 0.687883 0.549890 +v 2.570331 1.387335 -0.216172 +v 2.503619 0.354763 -0.449267 +v 1.304756 0.254792 0.549890 +v 2.803530 1.287364 0.516397 +v 1.504697 1.287364 -0.516044 +v 1.105010 0.354763 -0.282845 +v 1.105010 0.721321 0.516397 +f 149 163 166 +f 139 143 145 +f 139 141 146 +f 135 142 148 +f 143 144 148 +f 143 148 149 +f 135 136 150 +f 136 141 150 +f 136 135 151 +f 135 148 151 +f 141 139 152 +f 139 145 152 +f 145 141 152 +f 136 151 153 +f 151 140 153 +f 137 144 154 +f 140 139 155 +f 139 146 155 +f 153 140 155 +f 146 153 155 +f 137 140 156 +f 144 137 156 +f 148 144 156 +f 140 151 156 +f 151 148 156 +f 145 138 157 +f 141 145 157 +f 142 135 158 +f 147 157 158 +f 148 142 159 +f 149 148 159 +f 135 150 160 +f 150 141 160 +f 141 157 160 +f 157 147 160 +f 158 135 160 +f 147 158 160 +f 137 139 161 +f 140 137 161 +f 139 140 161 +f 143 134 162 +f 144 143 162 +f 134 154 162 +f 154 144 162 +f 157 138 163 +f 142 158 163 +f 158 157 163 +f 159 142 163 +f 149 159 163 +f 141 136 164 +f 146 141 164 +f 136 153 164 +f 153 146 164 +f 139 137 165 +f 134 143 165 +f 143 139 165 +f 137 154 165 +f 154 134 165 +f 138 145 166 +f 145 143 166 +f 143 149 166 +f 163 138 166 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/595/595.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/595/595.urdf new file mode 100644 index 000000000..c29fa2da1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/595/595.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/596/596.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/596/596.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/596/596.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/596/596.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/596/596.obj new file mode 100644 index 000000000..cb70f32d0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/596/596.obj @@ -0,0 +1,1212 @@ +o convex_0 +v 1.296371 -2.587898 0.046864 +v 1.359434 -1.167590 0.015388 +v 1.359434 -1.167590 -0.173801 +v 3.000395 -2.019691 0.046864 +v 1.296371 -1.987993 0.583511 +v 2.022425 -2.051250 -0.521037 +v 2.747978 -1.956573 0.425687 +v 1.296371 -1.230847 -0.457863 +v 1.296371 -2.429962 -0.426275 +v 2.716447 -2.366704 -0.079151 +v 2.779509 -1.641257 0.015388 +v 2.716447 -1.987993 -0.394800 +v 1.296371 -1.420203 0.457163 +v 1.485726 -2.429962 0.425687 +v 2.085320 -2.398403 -0.394800 +v 2.621686 -1.704237 0.330926 +v 1.296371 -1.893315 -0.552735 +v 2.589988 -2.272027 0.267863 +v 2.053789 -2.019552 0.551813 +v 1.927664 -2.524640 0.015388 +v 1.832904 -1.546579 0.457163 +v 1.359434 -1.199288 -0.426275 +v 1.990727 -2.366704 0.394100 +v 1.296371 -2.272027 0.520226 +v 2.589988 -1.704237 -0.236975 +v 2.747978 -1.641257 0.141625 +v 2.684749 -2.082671 -0.394800 +v 2.716447 -2.366704 0.015388 +v 1.390965 -2.587898 -0.047564 +v 2.747978 -2.051250 0.394100 +v 1.327902 -1.672817 -0.552735 +v 1.990727 -1.925013 0.551813 +v 2.968864 -2.019691 -0.079262 +v 1.327902 -1.167590 0.046864 +v 2.558457 -2.303725 -0.300038 +v 1.359434 -1.230847 -0.457863 +v 2.211446 -1.987993 -0.489450 +v 2.116852 -1.641257 0.457163 +v 1.296371 -2.461382 0.394100 +v 1.927664 -2.524640 -0.047564 +v 1.895966 -2.429962 -0.394800 +v 3.000395 -1.956573 0.046864 +v 1.422663 -1.514881 0.488750 +v 1.422663 -2.114369 0.583511 +f 19 32 44 +f 1 5 8 +f 1 8 9 +f 3 2 11 +f 8 5 13 +f 6 9 17 +f 9 8 17 +f 14 1 20 +f 8 3 22 +f 3 11 22 +f 19 14 23 +f 14 20 23 +f 5 1 24 +f 11 12 25 +f 22 11 25 +f 11 2 26 +f 16 7 26 +f 6 12 27 +f 15 6 27 +f 10 4 28 +f 20 10 28 +f 18 23 28 +f 23 20 28 +f 1 9 29 +f 20 1 29 +f 4 7 30 +f 7 19 30 +f 23 18 30 +f 19 23 30 +f 28 4 30 +f 18 28 30 +f 6 17 31 +f 17 8 31 +f 19 7 32 +f 4 10 33 +f 12 11 33 +f 10 27 33 +f 27 12 33 +f 2 3 34 +f 3 8 34 +f 8 13 34 +f 13 21 34 +f 21 16 34 +f 26 2 34 +f 16 26 34 +f 10 15 35 +f 27 10 35 +f 15 27 35 +f 8 22 36 +f 25 12 36 +f 22 25 36 +f 31 8 36 +f 31 36 37 +f 12 6 37 +f 6 31 37 +f 36 12 37 +f 7 16 38 +f 16 21 38 +f 32 7 38 +f 1 14 39 +f 24 1 39 +f 14 24 39 +f 15 10 40 +f 10 20 40 +f 20 29 40 +f 40 29 41 +f 9 6 41 +f 6 15 41 +f 29 9 41 +f 15 40 41 +f 7 4 42 +f 26 7 42 +f 11 26 42 +f 4 33 42 +f 33 11 42 +f 13 5 43 +f 21 13 43 +f 5 32 43 +f 38 21 43 +f 32 38 43 +f 14 19 44 +f 5 24 44 +f 24 14 44 +f 32 5 44 +o convex_1 +v -1.449873 -2.272187 -0.521117 +v -1.291913 -1.009778 0.046870 +v -1.291913 -1.167658 0.362562 +v -3.059234 -1.988098 0.046870 +v -1.292086 -2.430067 0.457188 +v -1.291913 -1.199328 -0.457955 +v -2.522550 -2.366884 -0.331749 +v -2.775148 -2.051281 0.394026 +v -2.806636 -1.609627 -0.016174 +v -2.806636 -2.019611 -0.394911 +v -2.049534 -2.587790 0.015289 +v -1.292086 -2.619460 -0.079219 +v -1.323574 -1.735679 0.583511 +v -2.838298 -2.430067 0.015289 +v -1.291913 -1.767349 -0.615860 +v -2.081022 -2.461580 0.394026 +v -2.017873 -2.461580 -0.426374 +v -1.386724 -1.262512 0.457188 +v -2.049534 -2.082794 0.520350 +v -1.292086 -2.398397 -0.489536 +v -2.585700 -1.704324 0.299400 +v -2.081022 -2.114307 -0.521117 +v -1.355062 -1.199328 -0.457955 +v -2.617361 -1.735994 -0.300168 +v -1.323574 -1.009778 -0.047638 +v -2.775148 -1.988098 0.394026 +v -1.292086 -2.587790 0.141613 +v -1.291913 -1.956585 0.583511 +v -2.775148 -1.609627 0.046870 +v -2.617361 -2.335371 0.299400 +v -3.059234 -1.988098 -0.047638 +v -2.775148 -2.461580 -0.016174 +v -2.049534 -2.587790 -0.047638 +v -2.806636 -2.051281 -0.394911 +v -1.355062 -1.325538 0.488769 +v -1.323574 -1.009778 0.046870 +v -1.355062 -1.799020 -0.615860 +v -2.680337 -1.672811 -0.205542 +v -1.323574 -1.167658 0.362562 +v -2.869786 -2.366884 -0.047638 +v -1.670810 -2.619460 0.015289 +f 77 56 85 +f 46 47 50 +f 52 48 58 +f 50 47 59 +f 60 49 63 +f 52 60 63 +f 59 56 64 +f 61 45 64 +f 56 61 64 +f 45 61 66 +f 50 59 67 +f 67 54 68 +f 46 50 69 +f 50 67 69 +f 67 53 69 +f 48 52 70 +f 63 57 70 +f 52 63 70 +f 62 65 70 +f 49 60 71 +f 47 57 72 +f 59 47 72 +f 56 59 72 +f 63 49 72 +f 57 63 72 +f 71 56 72 +f 49 71 72 +f 53 48 73 +f 65 62 73 +f 48 70 73 +f 70 65 73 +f 52 58 74 +f 60 52 74 +f 58 60 74 +f 48 53 75 +f 53 54 75 +f 58 48 75 +f 55 60 76 +f 60 58 76 +f 51 61 76 +f 76 61 77 +f 61 56 77 +f 55 76 77 +f 61 51 78 +f 54 66 78 +f 66 61 78 +f 75 54 78 +f 57 47 79 +f 47 62 79 +f 70 57 79 +f 62 70 79 +f 47 46 80 +f 46 69 80 +f 69 53 80 +f 53 73 80 +f 64 45 81 +f 59 64 81 +f 45 66 81 +f 66 54 81 +f 54 67 81 +f 67 59 81 +f 54 53 82 +f 53 67 82 +f 68 54 82 +f 67 68 82 +f 62 47 83 +f 73 62 83 +f 47 80 83 +f 80 73 83 +f 58 75 84 +f 51 76 84 +f 76 58 84 +f 78 51 84 +f 75 78 84 +f 60 55 85 +f 56 71 85 +f 71 60 85 +f 55 77 85 +o convex_2 +v 0.822687 -0.915304 0.930550 +v -0.155698 -0.946854 -1.215546 +v -0.313274 -0.946854 -1.183612 +v 0.633192 -3.092896 -0.331749 +v -1.291913 -2.429706 0.457188 +v -1.165498 -0.915304 0.551578 +v 1.264506 -0.915304 -0.489536 +v 0.917435 -2.619432 0.835689 +v -0.818427 -2.556119 -0.899736 +v -0.786760 -2.587669 0.898851 +v 0.822687 -2.682319 -0.836574 +v -1.260246 -0.915304 -0.489301 +v -0.187112 -0.915304 1.183197 +v 1.296173 -2.461469 0.394026 +v -0.628931 -2.998033 0.614975 +v -0.471102 -3.061133 -0.647089 +v -1.291913 -2.429706 -0.489301 +v 0.507030 -0.915304 -1.183612 +v 1.296173 -2.429919 -0.426374 +v -0.944588 -0.915304 0.962013 +v 0.064958 -2.745632 -0.962663 +v 1.296173 -1.420317 0.457188 +v -0.913175 -0.915304 -0.962663 +v 0.601778 -3.029583 0.520115 +v 0.096625 -2.714082 0.930550 +v -0.944588 -2.934933 -0.047638 +v 1.296173 -1.893568 -0.552698 +v 0.064958 -3.092896 -0.804876 +v -1.291913 -1.199467 0.457188 +v 0.885768 -3.029583 -0.016174 +v 0.286121 -0.946854 1.151499 +v 1.296173 -2.145755 0.583277 +v -1.291913 -1.862231 -0.615625 +v 0.096625 -2.998033 0.772762 +v 1.138345 -0.915304 0.457188 +v -1.291913 -1.956881 0.583277 +v 0.570111 -3.092896 -0.615625 +v -0.881507 -2.493019 0.898851 +v -0.502769 -3.061133 0.015289 +v -1.291913 -2.619219 0.046753 +v 0.917435 -1.230804 -0.899501 +v 0.380868 -0.946854 -1.215546 +v -0.439435 -0.946854 1.151499 +v 1.296173 -2.587882 -0.079101 +v 1.011930 -0.915304 -0.805111 +v 0.948849 -0.915304 0.835689 +v -1.291913 -0.978404 0.046753 +v 1.296173 -1.136367 0.015289 +v -0.250193 -2.682319 0.930550 +v -0.124031 -2.714082 -0.962663 +v 0.759353 -2.650982 0.867388 +v 0.033544 -0.978404 1.183197 +v -0.124031 -2.998033 0.772762 +v -0.597264 -2.966483 -0.678552 +v 0.917435 -2.966483 0.141378 +v -0.755346 -3.029583 0.078216 +v -0.534183 -0.915304 -1.120451 +v 0.412282 -0.915304 1.119800 +v -0.849840 -2.650769 0.835924 +v 0.885768 -1.230804 0.898851 +v -1.291913 -1.073054 -0.489301 +v -0.944588 -1.104604 0.962013 +v -0.344941 -3.029583 0.520349 +v -0.029283 -1.041504 -1.215546 +f 106 135 149 +f 91 86 92 +f 88 87 94 +f 91 92 97 +f 86 91 98 +f 97 92 103 +f 98 91 105 +f 99 104 107 +f 97 103 108 +f 104 96 112 +f 107 104 112 +f 106 96 113 +f 102 90 114 +f 105 91 114 +f 109 89 115 +f 93 99 117 +f 99 107 117 +f 94 102 118 +f 108 94 118 +f 102 114 118 +f 109 93 119 +f 92 86 120 +f 114 90 121 +f 105 114 121 +f 96 104 122 +f 89 113 122 +f 113 96 122 +f 115 89 122 +f 121 90 123 +f 113 89 124 +f 101 113 124 +f 100 90 125 +f 90 102 125 +f 111 100 125 +f 102 111 125 +f 96 103 126 +f 112 96 126 +f 87 103 127 +f 103 96 127 +f 96 106 127 +f 95 98 128 +f 98 105 128 +f 123 95 128 +f 104 99 129 +f 122 104 129 +f 115 122 129 +f 103 92 130 +f 92 112 130 +f 126 103 130 +f 112 126 130 +f 117 107 131 +f 120 86 131 +f 107 120 131 +f 91 97 132 +f 114 91 132 +f 118 114 132 +f 112 92 133 +f 107 112 133 +f 92 120 133 +f 120 107 133 +f 98 95 134 +f 94 87 135 +f 113 94 135 +f 106 113 135 +f 93 116 136 +f 119 93 136 +f 110 119 136 +f 116 98 137 +f 98 134 137 +f 134 110 137 +f 136 116 137 +f 110 136 137 +f 119 110 138 +f 134 95 138 +f 110 134 138 +f 102 94 139 +f 101 111 139 +f 111 102 139 +f 94 113 139 +f 113 101 139 +f 99 93 140 +f 93 109 140 +f 109 115 140 +f 129 99 140 +f 115 129 140 +f 100 111 141 +f 111 101 141 +f 124 100 141 +f 101 124 141 +f 87 88 142 +f 88 94 142 +f 103 87 142 +f 94 108 142 +f 108 103 142 +f 86 98 143 +f 116 93 143 +f 98 116 143 +f 90 100 144 +f 95 123 144 +f 123 90 144 +f 138 95 144 +f 100 138 144 +f 93 117 145 +f 131 86 145 +f 117 131 145 +f 86 143 145 +f 143 93 145 +f 97 108 146 +f 108 118 146 +f 132 97 146 +f 118 132 146 +f 105 121 147 +f 121 123 147 +f 128 105 147 +f 123 128 147 +f 89 109 148 +f 109 119 148 +f 124 89 148 +f 100 124 148 +f 138 100 148 +f 119 138 148 +f 87 127 149 +f 127 106 149 +f 135 87 149 +o convex_3 +v 0.570142 0.189479 -1.625983 +v -0.029420 -0.788841 -1.342061 +v 0.033597 -0.788841 -1.342061 +v -0.029420 -0.062624 -2.982873 +v -0.502828 0.662962 -1.278837 +v 0.475557 0.662962 -1.278837 +v -0.565965 -0.094295 -2.004825 +v -0.029420 0.378872 -2.761841 +v 0.412299 -0.031112 -2.698784 +v 0.475557 -0.599448 -1.278837 +v -0.471139 -0.567777 -1.278837 +v -0.060988 -0.409897 -2.730312 +v -0.439691 0.000401 -2.761841 +v -0.029420 0.820842 -1.405118 +v -0.628982 -0.031112 -1.278837 +v 0.317714 0.347359 -2.477918 +v -0.344865 -0.315201 -2.572504 +v 0.601711 -0.094295 -1.278837 +v 0.317714 -0.283530 -2.540975 +v -0.344865 0.284176 -2.572504 +v 0.538574 0.063270 -2.130772 +v -0.597413 0.031757 -1.878544 +v 0.002028 -0.409897 -2.730312 +v 0.412299 0.063270 -2.698784 +v 0.096734 0.820842 -1.310532 +v 0.033597 0.378872 -2.761841 +v 0.443989 -0.630803 -1.310532 +v -0.471139 -0.567777 -1.373589 +v -0.439691 -0.094295 -2.730312 +v 0.002028 0.031757 -2.982873 +v 0.570142 0.000401 -1.909906 +v 0.475557 0.631291 -1.405118 +v -0.502828 0.662962 -1.310532 +v -0.060988 -0.788841 -1.278837 +v 0.601711 0.157809 -1.278837 +v -0.628982 0.094783 -1.373589 +v -0.471139 0.000401 -2.667255 +v -0.029420 0.410385 -2.698784 +v 0.443989 0.410385 -2.004658 +v -0.124005 0.820842 -1.278837 +v 0.128303 0.378872 -2.667255 +v -0.376554 -0.062624 -2.825064 +v 0.443989 -0.504751 -1.657679 +f 180 159 192 +f 155 154 159 +f 159 154 160 +f 152 151 161 +f 160 154 164 +f 161 151 166 +f 155 159 167 +f 157 162 169 +f 156 164 171 +f 153 158 172 +f 152 161 172 +f 161 153 172 +f 158 168 172 +f 170 158 173 +f 163 174 175 +f 152 172 176 +f 172 168 176 +f 164 156 177 +f 160 164 177 +f 166 151 177 +f 166 177 178 +f 177 156 178 +f 158 153 179 +f 162 157 179 +f 173 158 179 +f 157 175 179 +f 175 173 179 +f 167 159 180 +f 170 150 180 +f 158 170 180 +f 150 170 181 +f 174 155 181 +f 151 152 183 +f 159 160 183 +f 152 176 183 +f 176 159 183 +f 177 151 183 +f 160 177 183 +f 155 167 184 +f 180 150 184 +f 167 180 184 +f 150 181 184 +f 181 155 184 +f 164 154 185 +f 171 164 185 +f 154 182 185 +f 182 171 185 +f 169 162 186 +f 156 171 186 +f 162 178 186 +f 178 156 186 +f 182 169 186 +f 171 182 186 +f 157 169 187 +f 175 157 187 +f 163 175 187 +f 182 163 187 +f 169 182 187 +f 173 165 188 +f 170 173 188 +f 181 170 188 +f 165 181 188 +f 154 155 189 +f 155 174 189 +f 174 163 189 +f 182 154 189 +f 163 182 189 +f 165 173 190 +f 175 174 190 +f 173 175 190 +f 181 165 190 +f 174 181 190 +f 153 161 191 +f 161 166 191 +f 166 178 191 +f 178 162 191 +f 179 153 191 +f 162 179 191 +f 168 158 192 +f 159 176 192 +f 176 168 192 +f 158 180 192 +o convex_4 +v -0.376478 0.884004 1.214540 +v -0.061043 0.821076 -1.310233 +v 0.033567 0.821076 -1.310233 +v 0.033567 3.219584 -0.584257 +v 1.012088 0.821076 0.457033 +v -0.944547 2.367016 -0.868041 +v 0.002166 2.998635 0.804380 +v 0.980483 2.272626 -0.804978 +v -0.944547 0.821076 0.962038 +v 0.822664 2.367016 0.867193 +v -0.881542 2.461642 0.867193 +v -1.039361 0.821076 -0.710133 +v 0.980483 0.821076 -0.868291 +v -0.660513 3.219584 0.046873 +v 0.601635 3.219584 0.015092 +v 0.475420 0.821076 1.183008 +v 0.033567 2.682591 -0.931354 +v -1.007756 2.493575 0.046873 +v 0.065171 2.682591 0.993819 +v 0.980483 2.335788 0.172999 +v 0.507025 3.219584 0.425502 +v -0.565903 0.821076 -1.183856 +v -0.471089 3.219584 0.488815 +v 0.917274 0.821076 0.867193 +v -0.534298 3.187651 -0.457881 +v 0.380810 3.219584 -0.489413 +v 1.043693 0.852540 -0.710383 +v -1.039361 0.821076 0.236062 +v -0.913146 2.209464 0.930506 +v 0.507025 0.852540 -1.183856 +v 0.822664 2.872311 0.046873 +v -0.818332 3.029864 -0.016190 +v -0.976152 0.821076 -0.899823 +v 0.096776 0.821076 1.246322 +v 1.012088 1.925587 0.204531 +v -0.155450 2.651127 0.993819 +v -0.218659 2.619899 -0.931354 +v 0.633240 2.935473 0.614941 +v 0.854269 2.335788 -0.836509 +v -0.565903 3.093026 0.583159 +v -0.534298 0.821076 1.183008 +v -1.039361 1.704638 0.046873 +v -0.849937 2.398949 0.930506 +v 0.128177 3.219584 0.583409 +v -0.124049 3.219584 -0.584257 +v -0.818332 3.029864 0.078155 +v -0.913146 2.272626 -0.899823 +v -1.007756 2.461642 -0.110534 +v -0.976152 1.168115 0.741317 +v -0.755327 2.777686 -0.678602 +v -0.092444 0.884004 1.246322 +v 0.601635 3.219584 -0.047721 +v -0.944547 1.357835 -0.931354 +v 0.791059 2.272626 0.898975 +v -0.976152 2.430413 0.393970 +v 0.033567 0.852540 -1.310233 +v -0.502693 0.852540 -1.215388 +v -0.061043 0.852540 -1.310233 +v 0.917274 0.947165 0.867193 +v 0.948879 2.335788 -0.804978 +v 0.096776 2.651127 -0.931354 +v 0.822664 2.872311 -0.079002 +v 0.980483 1.893889 -0.836509 +v -0.786727 2.398949 -0.899823 +f 229 250 256 +f 194 195 197 +f 194 197 201 +f 194 201 204 +f 197 195 205 +f 196 206 207 +f 201 197 208 +f 207 206 213 +f 194 204 214 +f 213 206 215 +f 208 197 216 +f 196 207 218 +f 209 196 218 +f 197 205 219 +f 204 201 220 +f 205 195 222 +f 202 212 223 +f 207 213 223 +f 206 217 224 +f 204 198 225 +f 214 204 225 +f 201 208 226 +f 208 211 226 +f 200 212 227 +f 212 202 227 +f 197 219 227 +f 219 200 227 +f 211 199 228 +f 199 211 230 +f 211 202 230 +f 202 223 230 +f 223 213 230 +f 200 222 231 +f 199 215 232 +f 215 206 232 +f 228 199 232 +f 221 201 233 +f 201 226 233 +f 204 220 234 +f 203 221 235 +f 193 228 235 +f 232 203 235 +f 228 232 235 +f 233 193 235 +f 221 233 235 +f 215 199 236 +f 213 215 236 +f 199 230 236 +f 230 213 236 +f 206 196 237 +f 196 209 237 +f 217 206 237 +f 209 229 237 +f 206 224 238 +f 224 210 238 +f 232 206 238 +f 203 232 238 +f 198 204 240 +f 210 224 240 +f 224 198 240 +f 204 234 240 +f 234 210 240 +f 220 201 241 +f 201 221 241 +f 234 220 241 +f 198 224 242 +f 224 217 242 +f 217 237 242 +f 237 229 242 +f 226 211 243 +f 211 228 243 +f 228 193 243 +f 193 233 243 +f 233 226 243 +f 218 207 244 +f 207 223 244 +f 225 198 245 +f 214 225 245 +f 239 214 245 +f 198 239 245 +f 202 211 246 +f 211 208 246 +f 221 203 247 +f 210 234 247 +f 203 238 247 +f 238 210 247 +f 241 221 247 +f 234 241 247 +f 195 194 248 +f 222 195 248 +f 231 222 248 +f 194 214 249 +f 214 239 249 +f 249 239 250 +f 229 209 250 +f 248 194 250 +f 209 248 250 +f 194 249 250 +f 216 197 251 +f 208 216 251 +f 227 202 251 +f 197 227 251 +f 202 246 251 +f 246 208 251 +f 200 231 252 +f 218 244 252 +f 209 218 253 +f 248 209 253 +f 231 248 253 +f 218 252 253 +f 252 231 253 +f 212 200 254 +f 223 212 254 +f 244 223 254 +f 200 252 254 +f 252 244 254 +f 219 205 255 +f 200 219 255 +f 222 200 255 +f 205 222 255 +f 239 198 256 +f 198 242 256 +f 242 229 256 +f 250 239 256 +o convex_5 +v 0.475437 3.377708 -0.331783 +v -0.628982 3.219760 -0.016168 +v -0.628982 3.219760 0.078368 +v 0.002028 5.018466 -0.079268 +v 0.443868 3.219760 0.457083 +v -0.092436 3.219760 -0.584298 +v -0.344985 4.040315 0.393983 +v 0.380731 4.608188 0.204568 +v -0.029299 4.734265 -0.426433 +v -0.376554 4.702745 -0.110818 +v 0.443868 4.765960 -0.079268 +v 0.002028 4.734265 0.362433 +v 0.002028 3.219760 0.583511 +v -0.471139 3.693252 -0.394883 +v 0.601711 3.219760 0.015268 +v 0.380731 3.914238 -0.457983 +v -0.408122 3.219760 0.488747 +v 0.443868 4.072010 0.362433 +v -0.408122 4.671227 0.046818 +v 0.380731 3.219760 -0.489533 +v -0.502707 3.219760 -0.394883 +v 0.065166 3.882543 0.520297 +v 0.538574 4.134696 -0.079268 +v 0.254577 4.639707 -0.363333 +v -0.439570 4.072010 -0.363333 +v -0.060868 4.103529 -0.521083 +v 0.096734 4.734265 0.362433 +v -0.534276 4.040315 0.046818 +v 0.002028 5.018466 0.015268 +v 0.507005 3.282975 0.425533 +v -0.471139 3.251456 0.425533 +v -0.250159 4.576493 0.299332 +v 0.538574 3.977277 0.078368 +v 0.443868 4.765960 -0.016168 +v -0.344985 4.797479 0.015268 +v 0.033597 4.828998 -0.363333 +v -0.313296 4.576493 -0.300233 +v -0.029299 3.346013 -0.584298 +v 0.380731 4.134696 -0.426433 +v 0.096734 3.251456 0.583511 +v -0.534276 4.040315 -0.016168 +v 0.065166 4.008796 -0.521083 +v -0.029299 4.008796 0.488747 +v 0.601711 3.219760 -0.047718 +v 0.065166 5.018466 0.015268 +v -0.029299 4.828998 -0.363333 +v -0.376554 4.040315 0.362433 +v 0.159871 3.945757 0.488747 +v 0.475437 4.008796 -0.268568 +f 279 300 305 +f 259 258 261 +f 261 258 262 +f 259 261 269 +f 261 262 271 +f 259 269 273 +f 271 262 276 +f 272 257 276 +f 262 258 277 +f 258 270 277 +f 270 262 277 +f 270 258 281 +f 262 270 282 +f 281 265 282 +f 270 281 282 +f 274 264 283 +f 268 278 283 +f 258 259 284 +f 268 283 285 +f 261 271 286 +f 259 273 287 +f 273 263 287 +f 284 259 287 +f 263 268 288 +f 271 279 289 +f 286 271 289 +f 274 286 289 +f 264 274 290 +f 279 267 290 +f 283 264 290 +f 274 289 290 +f 289 279 290 +f 260 266 291 +f 266 275 291 +f 285 260 291 +f 268 285 291 +f 288 268 291 +f 275 288 291 +f 260 267 292 +f 280 265 292 +f 267 280 292 +f 265 281 293 +f 281 266 293 +f 276 262 294 +f 272 276 294 +f 262 282 294 +f 265 280 295 +f 280 267 295 +f 269 261 296 +f 278 269 296 +f 275 266 297 +f 266 281 297 +f 281 258 297 +f 258 284 297 +f 284 275 297 +f 282 265 298 +f 272 294 298 +f 294 282 298 +f 295 272 298 +f 265 295 298 +f 268 263 299 +f 263 273 299 +f 273 269 299 +f 278 268 299 +f 269 278 299 +f 276 257 300 +f 271 276 300 +f 279 271 300 +f 267 260 301 +f 260 285 301 +f 285 283 301 +f 290 267 301 +f 283 290 301 +f 266 260 302 +f 260 292 302 +f 292 265 302 +f 265 293 302 +f 293 266 302 +f 275 284 303 +f 287 263 303 +f 284 287 303 +f 263 288 303 +f 288 275 303 +f 274 283 304 +f 283 278 304 +f 261 286 304 +f 286 274 304 +f 296 261 304 +f 278 296 304 +f 257 272 305 +f 267 279 305 +f 272 295 305 +f 295 267 305 +f 300 257 305 +o convex_6 +v -1.228621 -0.504557 0.015215 +v 1.233079 -0.851879 -0.047811 +v 1.233079 -0.915090 -0.047811 +v -0.628939 -0.031491 -1.278670 +v 0.380783 0.820842 1.214685 +v 0.980466 0.820842 -0.868137 +v -1.039222 0.820842 -0.710448 +v -0.313355 -0.915090 1.183049 +v 0.033470 -0.915090 -1.247034 +v -0.944522 0.820842 0.962087 +v -1.260350 -0.915090 -0.489487 +v 0.948737 0.473519 0.867425 +v 0.885766 -0.915090 0.899061 +v 0.128170 0.820842 -1.278670 +v 0.948737 -0.915090 -0.899773 +v -0.944522 -0.915090 0.962087 +v 0.601668 -0.125969 -1.278670 +v -0.597453 0.126367 1.246322 +v 0.443998 -0.536332 1.246322 +v 1.011951 0.820842 0.457138 +v -0.944522 -0.851879 -0.963046 +v -0.976008 0.757630 -0.931410 +v 1.233079 -0.788838 -0.521123 +v -1.197136 -0.915090 0.488775 +v -0.250140 0.820842 1.246322 +v 0.570182 0.031720 1.246322 +v -0.534239 0.820842 -1.215397 +v 1.043680 0.820842 -0.710201 +v 1.138136 -0.820273 0.457138 +v -1.039222 0.820842 0.236177 +v 0.475483 -0.662585 -1.278670 +v 0.475483 0.662983 -1.278670 +v -0.471025 -0.599204 -1.278670 +v 0.885766 0.820842 0.899061 +v -0.439539 -0.630979 1.246322 +v -0.976008 -0.410080 0.993724 +v 0.317569 -0.915090 1.151412 +v 0.948737 -0.883485 0.867425 +v 0.980466 -0.567768 -0.899773 +v -0.976008 -0.567768 -0.963046 +v -0.471025 -0.915090 -1.152371 +v -0.502754 0.662983 1.246322 +v -0.502754 0.662983 -1.278670 +v -1.260350 -0.788838 0.078488 +v 0.475483 0.568336 1.246322 +v 0.506968 -0.915090 -1.183761 +v 0.033470 -0.820273 1.246322 +v -1.260350 -0.788838 -0.489487 +v -0.976008 0.410478 -0.963046 +v 1.233079 -0.915090 -0.521123 +v 0.601668 0.157973 -1.278670 +v -0.976008 0.000114 0.993724 +v -0.597453 -0.125969 1.246322 +v 1.043680 0.757630 -0.142226 +v 0.980466 0.221014 -0.899773 +v -1.102436 0.442084 -0.079200 +v 0.506968 0.820842 -1.183761 +v -1.007737 0.789236 0.583437 +v -0.913037 -0.915090 -0.963046 +v -1.260350 -0.725626 -0.363188 +v -0.628939 0.126367 -1.278670 +v 1.233079 -0.757232 -0.426214 +v 1.138136 -0.915090 0.457138 +v 0.412268 -0.630979 1.246322 +f 352 342 369 +f 310 311 312 +f 308 313 314 +f 310 312 315 +f 314 313 316 +f 313 308 318 +f 312 311 319 +f 308 314 320 +f 316 313 321 +f 309 319 322 +f 311 310 325 +f 307 308 328 +f 316 321 329 +f 310 315 330 +f 323 324 330 +f 330 324 331 +f 312 319 332 +f 327 312 332 +f 311 325 333 +f 328 311 333 +f 308 307 334 +f 307 325 334 +f 325 317 334 +f 315 312 335 +f 309 322 336 +f 322 320 336 +f 322 319 337 +f 326 309 338 +f 309 336 338 +f 336 314 338 +f 325 310 339 +f 317 325 339 +f 331 317 339 +f 321 313 340 +f 324 323 340 +f 329 321 341 +f 313 318 342 +f 331 324 343 +f 317 331 343 +f 334 317 343 +f 320 322 344 +f 309 326 345 +f 326 316 345 +f 314 316 346 +f 338 314 346 +f 315 323 347 +f 330 315 347 +f 323 330 347 +f 319 309 348 +f 332 319 348 +f 327 332 348 +f 329 315 349 +f 316 329 349 +f 335 306 349 +f 310 330 350 +f 330 331 350 +f 339 310 350 +f 331 339 350 +f 320 314 351 +f 314 336 351 +f 336 320 351 +f 340 313 352 +f 324 340 352 +f 313 342 352 +f 312 327 353 +f 345 316 353 +f 316 349 353 +f 309 345 354 +f 353 327 354 +f 345 353 354 +f 308 320 355 +f 328 308 355 +f 320 344 355 +f 344 328 355 +f 337 311 356 +f 322 337 356 +f 344 322 356 +f 323 315 357 +f 315 329 357 +f 341 323 357 +f 329 341 357 +f 321 340 358 +f 340 323 358 +f 323 341 358 +f 341 321 358 +f 325 307 359 +f 333 325 359 +f 311 328 360 +f 328 344 360 +f 356 311 360 +f 344 356 360 +f 306 335 361 +f 335 312 361 +f 319 311 362 +f 311 337 362 +f 337 319 362 +f 315 335 363 +f 349 315 363 +f 335 349 363 +f 316 326 364 +f 326 338 364 +f 346 316 364 +f 338 346 364 +f 349 306 365 +f 312 353 365 +f 353 349 365 +f 306 361 365 +f 361 312 365 +f 348 309 366 +f 327 348 366 +f 309 354 366 +f 354 327 366 +f 307 328 367 +f 328 333 367 +f 359 307 367 +f 333 359 367 +f 318 308 368 +f 308 334 368 +f 343 318 368 +f 334 343 368 +f 342 318 369 +f 318 343 369 +f 343 324 369 +f 324 352 369 +o convex_7 +v 0.443954 0.063245 2.634774 +v -0.092396 -0.788841 1.246624 +v 0.065125 -0.788841 1.246624 +v -0.029410 0.789279 1.246624 +v -0.439561 -0.062807 2.729578 +v -0.597540 0.031732 1.246624 +v 0.570269 0.031732 1.246451 +v 0.033575 -0.378400 2.761064 +v 0.002025 0.347325 2.792723 +v -0.471225 0.568225 1.309596 +v 0.443954 0.599738 1.278110 +v 0.412404 -0.630967 1.278110 +v -0.439561 -0.599300 1.309596 +v 0.065125 -0.031294 3.013816 +v 0.443954 -0.062807 2.697919 +v -0.313361 -0.315374 2.571802 +v -0.344911 0.252632 2.540143 +v 0.538605 -0.031294 2.098475 +v -0.534325 -0.062807 2.161447 +v 0.317640 0.284145 2.571802 +v 0.317640 -0.315374 2.540143 +v -0.376461 0.000219 2.824209 +v 0.096790 0.757612 1.278110 +v 0.033575 -0.410067 2.697919 +v 0.475505 0.536712 1.246451 +v -0.502775 0.442019 1.467545 +v -0.565875 -0.189013 1.246624 +v 0.443954 0.378838 1.972358 +v -0.439561 0.000219 2.729578 +v 0.349304 0.031732 2.792723 +v 0.538605 -0.189013 1.246451 +v -0.250261 0.694586 1.278110 +v -0.502775 0.505199 1.246624 +v -0.060960 -0.378400 2.729578 +v -0.029410 -0.031294 3.013816 +v -0.250261 0.284145 2.634774 +v 0.065125 0.347325 2.761064 +v 0.538605 0.126426 1.814582 +v -0.092396 -0.788841 1.278110 +v -0.376461 -0.062807 2.824209 +v -0.565875 0.000219 1.846241 +v 0.538605 -0.125987 1.846241 +v -0.439561 -0.599300 1.246624 +f 396 400 412 +f 383 377 384 +f 374 382 385 +f 370 384 387 +f 382 374 388 +f 381 384 390 +f 384 377 390 +f 380 373 392 +f 372 381 393 +f 390 377 393 +f 381 390 393 +f 373 380 394 +f 382 388 396 +f 389 370 397 +f 380 389 397 +f 394 380 397 +f 386 379 398 +f 388 374 398 +f 374 391 398 +f 391 386 398 +f 379 395 398 +f 384 370 399 +f 383 384 399 +f 370 389 399 +f 372 371 400 +f 381 372 400 +f 375 394 400 +f 394 376 400 +f 396 375 400 +f 378 373 401 +f 373 394 402 +f 394 375 402 +f 375 395 402 +f 395 379 402 +f 401 373 402 +f 379 401 402 +f 393 377 403 +f 377 383 404 +f 383 378 404 +f 378 391 404 +f 403 377 404 +f 379 386 405 +f 391 378 405 +f 386 391 405 +f 378 401 405 +f 401 379 405 +f 373 378 406 +f 378 383 406 +f 389 380 406 +f 392 373 406 +f 380 392 406 +f 383 399 406 +f 399 389 406 +f 387 376 407 +f 370 387 407 +f 376 394 407 +f 397 370 407 +f 394 397 407 +f 371 372 408 +f 382 371 408 +f 385 382 408 +f 372 393 408 +f 403 385 408 +f 393 403 408 +f 374 385 409 +f 391 374 409 +f 385 403 409 +f 404 391 409 +f 403 404 409 +f 395 375 410 +f 375 396 410 +f 396 388 410 +f 388 398 410 +f 398 395 410 +f 384 381 411 +f 376 387 411 +f 387 384 411 +f 381 400 411 +f 400 376 411 +f 371 382 412 +f 382 396 412 +f 400 371 412 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/596/596.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/596/596.urdf new file mode 100644 index 000000000..9d2bf2d39 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/596/596.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/597/597.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/597/597.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/597/597.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/597/597.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/597/597.obj new file mode 100644 index 000000000..19d6e8456 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/597/597.obj @@ -0,0 +1,279 @@ +o convex_0 +v 0.285480 -3.439431 0.296666 +v -0.334708 -4.088724 -0.264335 +v -0.334708 -4.088724 -0.234825 +v 0.374079 -4.767897 0.178501 +v 0.344523 -2.819035 -0.293908 +v -0.216554 -2.848718 0.326240 +v -0.186998 -4.679438 0.355813 +v 0.255924 -4.827263 -0.293908 +v -0.334708 -2.819035 -0.234825 +v 0.344523 -2.819035 0.267093 +v -0.305152 -4.709121 -0.264335 +v 0.374079 -4.767897 0.237583 +v -0.039357 -4.325206 0.355813 +v 0.374079 -3.852439 -0.028067 +v 0.314967 -2.819035 0.296666 +v -0.305152 -2.819035 -0.264335 +v 0.049172 -4.797580 -0.293908 +v -0.216554 -4.679438 0.296666 +v -0.334708 -2.819035 -0.146233 +v 0.196882 -4.827263 -0.175742 +v -0.305152 -4.649755 -0.116660 +v 0.285480 -4.413666 -0.293908 +v -0.216554 -4.265840 0.326240 +v -0.216554 -2.819035 0.296666 +v 0.344523 -3.203342 -0.293908 +v -0.127955 -4.000068 0.355813 +v 0.019685 -4.590978 -0.293908 +v -0.068913 -4.649755 0.355813 +v 0.078728 -4.738607 0.296666 +v -0.334708 -3.114490 -0.146233 +v 0.374079 -4.295523 0.237583 +v 0.255924 -2.937177 -0.293908 +v 0.374079 -3.734886 0.001443 +f 31 14 33 +f 2 3 9 +f 5 9 10 +f 3 2 11 +f 8 4 12 +f 12 4 14 +f 10 9 15 +f 1 12 15 +f 13 1 15 +f 2 9 16 +f 9 5 16 +f 5 8 17 +f 9 3 19 +f 15 9 19 +f 8 12 20 +f 17 8 20 +f 11 17 20 +f 7 18 20 +f 18 11 20 +f 3 11 21 +f 11 18 21 +f 4 8 22 +f 8 5 22 +f 14 4 22 +f 7 6 23 +f 18 7 23 +f 6 19 23 +f 21 18 23 +f 6 15 24 +f 19 6 24 +f 15 19 24 +f 5 14 25 +f 22 5 25 +f 14 22 25 +f 6 7 26 +f 7 13 26 +f 15 6 26 +f 13 15 26 +f 11 2 27 +f 2 16 27 +f 5 17 27 +f 17 11 27 +f 12 1 28 +f 1 13 28 +f 13 7 28 +f 7 20 29 +f 20 12 29 +f 12 28 29 +f 28 7 29 +f 19 3 30 +f 3 21 30 +f 23 19 30 +f 21 23 30 +f 12 14 31 +f 10 15 31 +f 15 12 31 +f 16 5 32 +f 5 27 32 +f 27 16 32 +f 5 10 33 +f 14 5 33 +f 10 31 33 +o convex_1 +v -0.452773 -2.700655 1.064397 +v -1.102344 1.757708 -1.032037 +v -1.102344 1.757708 -1.002516 +v 1.112181 3.264470 1.005355 +v 0.964532 -2.729794 -1.061558 +v -1.043370 3.294217 0.975834 +v 1.023722 3.293609 -0.972781 +v -1.043370 -2.700048 -1.091293 +v 1.023722 -2.789288 0.946099 +v -0.954694 -2.700048 1.094132 +v -1.102344 3.263863 -1.032037 +v -0.068797 3.382850 -0.648047 +v -0.629909 -2.819035 0.355460 +v 0.964532 -1.312273 -1.061558 +v -1.013884 -2.700048 0.030727 +v 0.344448 -2.819035 -0.293793 +v 1.023722 2.348393 -1.002302 +v 1.053208 -1.814324 0.887056 +v 0.285258 -2.730402 -1.091293 +v -0.009608 3.263863 1.005355 +v 1.053208 3.294217 -0.648261 +v 1.082695 1.788062 1.005355 +v -1.013884 0.754212 1.034876 +v -0.423069 3.382850 -0.411878 +v -1.013884 -1.459792 -1.091293 +v 0.728423 3.353103 -0.589005 +v -1.072857 -1.193893 -1.032037 +v -0.925208 -2.256882 1.094132 +v 0.285258 -2.819035 0.768971 +v -1.013884 -2.730402 -0.943473 +v -0.954694 3.263863 -1.032037 +v 1.023722 -2.789288 0.444024 +v -1.102344 3.175837 -0.589219 +v -0.984397 -2.552528 0.798492 +v -0.275637 -2.819035 -0.264057 +v 0.167312 3.382850 -0.500441 +v -0.275637 3.294217 0.975834 +v 0.994235 3.323356 -0.943259 +v -1.043370 3.057457 0.975834 +v -0.511746 3.382850 -0.618526 +v -0.836531 -2.700048 1.094132 +v -1.043370 -2.641161 -0.677568 +v -0.600422 -2.819035 0.591844 +v 1.023722 1.905835 -1.002302 +v -1.013884 2.348393 1.005355 +v 0.344448 3.293609 -1.002516 +v 0.669233 -2.789288 0.975834 +v 1.112181 3.204977 0.975834 +v -0.984397 -1.637665 1.064397 +v 1.023722 -2.670908 0.384981 +v 0.285258 -2.670908 -1.091293 +v 1.053208 -1.843464 0.946099 +v 0.580773 3.323356 -0.943473 +v 1.082695 3.294217 0.267110 +v -1.043370 3.294217 0.503280 +v -0.452773 3.382850 -0.648047 +v -0.895721 -2.729794 0.857749 +v 1.053208 3.264470 -0.648261 +v 0.964532 -2.758934 -0.470920 +v -0.954694 -2.256882 1.094132 +v 0.373934 -2.819035 0.768971 +v 0.580773 3.353103 -0.293793 +f 59 69 95 +f 35 36 44 +f 41 35 44 +f 38 47 50 +f 47 38 52 +f 38 49 52 +f 37 39 53 +f 50 40 54 +f 41 44 58 +f 52 41 58 +f 36 35 60 +f 35 41 60 +f 46 49 62 +f 48 41 63 +f 43 48 63 +f 41 52 63 +f 50 47 64 +f 58 44 64 +f 44 36 66 +f 39 44 66 +f 36 60 66 +f 48 43 67 +f 56 48 67 +f 49 46 68 +f 52 49 68 +f 46 63 68 +f 63 52 68 +f 45 57 69 +f 39 37 70 +f 57 39 70 +f 37 69 70 +f 69 57 70 +f 54 40 71 +f 45 69 71 +f 69 59 71 +f 56 39 72 +f 39 66 72 +f 66 60 72 +f 39 57 73 +f 57 45 73 +f 34 55 74 +f 55 37 74 +f 37 61 74 +f 61 43 74 +f 41 48 75 +f 48 56 75 +f 60 41 75 +f 56 72 75 +f 72 60 75 +f 62 43 76 +f 46 62 76 +f 38 50 77 +f 50 54 77 +f 53 39 78 +f 39 56 78 +f 40 50 79 +f 64 44 79 +f 50 64 79 +f 71 40 79 +f 55 34 80 +f 42 55 80 +f 43 62 80 +f 34 74 80 +f 74 43 80 +f 54 37 81 +f 67 43 82 +f 56 67 82 +f 65 38 83 +f 51 65 83 +f 38 77 83 +f 77 51 83 +f 47 52 84 +f 52 58 84 +f 64 47 84 +f 58 64 84 +f 55 42 85 +f 37 55 85 +f 42 65 85 +f 65 51 85 +f 81 37 85 +f 51 81 85 +f 45 71 86 +f 79 44 86 +f 71 79 86 +f 37 54 87 +f 59 37 87 +f 54 71 87 +f 71 59 87 +f 44 39 88 +f 39 73 88 +f 73 44 88 +f 44 73 89 +f 73 45 89 +f 45 86 89 +f 86 44 89 +f 43 63 90 +f 63 46 90 +f 76 43 90 +f 46 76 90 +f 77 54 91 +f 51 77 91 +f 81 51 91 +f 54 81 91 +f 49 38 92 +f 38 65 92 +f 65 49 92 +f 37 53 93 +f 61 37 93 +f 43 61 93 +f 53 78 93 +f 78 56 93 +f 82 43 93 +f 56 82 93 +f 62 49 94 +f 49 65 94 +f 65 42 94 +f 42 80 94 +f 80 62 94 +f 37 59 95 +f 69 37 95 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/597/597.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/597/597.urdf new file mode 100644 index 000000000..d84a1dafe --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/597/597.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/598/598.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/598/598.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/598/598.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/598/598.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/598/598.obj new file mode 100644 index 000000000..5cc9b97d8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/598/598.obj @@ -0,0 +1,909 @@ +o convex_0 +v 0.061728 -1.542912 0.872308 +v 0.026481 -2.462037 0.872308 +v 0.132486 -2.462037 0.872308 +v -0.008897 -2.143785 2.604844 +v -0.291795 -1.967248 0.872308 +v 0.380005 -2.108423 1.084635 +v 0.238556 -2.037701 2.392516 +v -0.220972 -1.578273 0.907752 +v -0.150346 -2.285230 2.180359 +v 0.380005 -2.391314 0.872308 +v 0.061728 -1.896525 2.357242 +v 0.273869 -1.684357 0.978471 +v 0.061728 -2.285230 2.357242 +v -0.220972 -2.355953 0.872308 +v -0.150346 -2.108423 2.357242 +v 0.238556 -2.108423 2.392516 +v 0.309182 -1.755080 0.872308 +v 0.132486 -1.896525 2.286522 +v 0.061728 -1.542912 0.943027 +v 0.026481 -2.320592 2.215803 +v -0.150346 -1.542912 0.907752 +f 11 19 21 +f 3 2 1 +f 1 2 5 +f 1 5 8 +f 3 1 10 +f 4 7 11 +f 4 9 13 +f 5 2 14 +f 2 9 14 +f 9 5 14 +f 8 5 15 +f 9 4 15 +f 5 9 15 +f 4 11 15 +f 11 8 15 +f 7 4 16 +f 6 7 16 +f 10 6 16 +f 4 13 16 +f 13 10 16 +f 7 6 17 +f 10 1 17 +f 6 10 17 +f 12 7 17 +f 1 12 17 +f 11 7 18 +f 7 12 18 +f 18 12 19 +f 12 1 19 +f 11 18 19 +f 2 3 20 +f 9 2 20 +f 3 10 20 +f 13 9 20 +f 10 13 20 +f 1 8 21 +f 8 11 21 +f 19 1 21 +o convex_1 +v 0.273910 2.205020 -1.708991 +v 0.026460 1.321167 -1.779762 +v 0.061784 1.321167 -1.779762 +v 0.061784 1.922129 -3.476712 +v -0.221052 2.134297 -1.708991 +v 0.309233 1.533425 -1.708991 +v -0.185666 1.851407 -3.122856 +v -0.221052 1.462702 -1.708991 +v 0.273910 1.886768 -3.122856 +v 0.026460 2.134297 -3.193627 +v 0.061784 1.674870 -3.264399 +v 0.380005 2.028214 -1.815061 +v -0.008925 2.240381 -1.779762 +v 0.238525 2.028214 -3.052258 +v -0.150343 2.098936 -2.804646 +v -0.256437 1.957491 -1.956603 +v 0.203201 1.710231 -3.016786 +v -0.044248 1.674870 -3.122856 +v 0.380005 1.851407 -1.708991 +v -0.150343 1.922129 -3.264399 +v -0.221052 1.462702 -1.815061 +v 0.309233 2.169659 -1.956603 +v -0.256437 1.710231 -1.744463 +v -0.185666 2.169659 -1.991902 +v 0.061784 2.134297 -3.193627 +f 43 35 46 +f 22 26 27 +f 23 24 29 +f 27 26 29 +f 24 27 29 +f 24 23 32 +f 25 30 32 +f 26 22 34 +f 30 25 35 +f 33 30 35 +f 26 36 37 +f 36 28 37 +f 27 24 38 +f 30 27 38 +f 24 32 38 +f 32 30 38 +f 32 23 39 +f 22 27 40 +f 27 30 40 +f 33 22 40 +f 30 33 40 +f 31 25 41 +f 25 32 41 +f 28 36 41 +f 36 31 41 +f 39 28 41 +f 32 39 41 +f 23 29 42 +f 28 39 42 +f 39 23 42 +f 22 33 43 +f 33 35 43 +f 29 26 44 +f 26 37 44 +f 37 28 44 +f 42 29 44 +f 28 42 44 +f 26 34 45 +f 34 31 45 +f 36 26 45 +f 31 36 45 +f 25 31 46 +f 34 22 46 +f 31 34 46 +f 35 25 46 +f 22 43 46 +o convex_2 +v -0.008776 1.250686 -1.708818 +v 1.051789 2.912271 0.341770 +v 1.157698 2.841230 0.341770 +v -0.963432 0.578651 0.341569 +v -0.963432 2.876865 -0.117886 +v 1.051789 0.578651 0.341770 +v 0.945634 2.416811 -1.355144 +v 0.981019 0.578651 -1.248961 +v -0.821893 0.578651 -1.213634 +v -0.715984 2.452217 -1.284288 +v -0.998817 2.876865 0.341569 +v 0.132518 2.770646 -1.213634 +v 1.334622 1.604293 0.306443 +v -1.175742 1.639699 0.235587 +v -0.220840 2.204830 -1.708818 +v -0.433150 0.578651 -1.531780 +v 0.379966 1.851452 -1.708818 +v 0.768709 0.578651 -1.425597 +v 0.910249 2.876636 -0.294723 +v -0.786508 2.487852 -1.142779 +v 1.087174 0.578651 -0.647996 +v -0.291610 1.957442 -1.708818 +v 0.167657 2.240236 -1.708818 +v -1.175742 1.498302 0.341569 +v 1.016404 0.578651 -1.178307 +v -0.928047 0.578651 -0.542215 +v 1.193083 2.735468 0.306443 +v 0.026609 2.770646 -1.213634 +v -0.928047 2.770646 -0.436233 +v 0.203042 2.876865 -0.400705 +v 0.874864 0.755683 -1.390270 +v -0.821893 1.003299 -1.213634 +v 1.051789 2.876636 -0.153213 +v -0.574690 0.578651 -1.461125 +v 0.981019 1.780639 -1.284288 +v 0.309197 1.533480 -1.708818 +v 1.087174 0.578651 -0.047232 +v -0.786508 1.710283 -1.248961 +v 1.334622 1.604293 0.341770 +v 0.344581 2.169423 -1.708818 +v 0.910249 1.639699 -1.390471 +v -0.220840 1.427489 -1.708818 +v 0.203042 0.578651 -1.496453 +v 0.521260 2.452217 -1.461125 +v -0.326995 2.417039 -1.496453 +v -0.715984 2.487852 -1.248961 +v -0.857278 0.578651 -1.072124 +v -0.998817 2.876865 0.094278 +v 0.874864 2.452217 -1.354943 +v 0.061993 2.805824 -1.001469 +v 0.061993 1.250686 -1.708818 +v 1.334622 1.639699 0.306443 +f 85 59 98 +f 49 48 52 +f 52 50 54 +f 54 50 55 +f 54 55 62 +f 47 61 63 +f 54 62 64 +f 52 54 67 +f 61 47 68 +f 56 61 68 +f 63 61 69 +f 52 48 70 +f 50 52 70 +f 48 57 70 +f 57 60 70 +f 67 54 71 +f 59 67 71 +f 55 50 72 +f 50 70 72 +f 58 69 74 +f 69 61 74 +f 66 60 75 +f 51 74 75 +f 51 48 76 +f 48 65 76 +f 54 64 77 +f 64 63 77 +f 60 66 78 +f 48 49 79 +f 65 48 79 +f 49 73 79 +f 73 53 79 +f 62 55 80 +f 55 78 80 +f 71 54 81 +f 47 63 82 +f 63 64 82 +f 52 67 83 +f 67 59 83 +f 66 56 84 +f 56 68 84 +f 78 66 84 +f 68 80 84 +f 80 78 84 +f 49 52 85 +f 73 49 85 +f 52 83 85 +f 83 59 85 +f 53 63 86 +f 63 69 86 +f 63 53 87 +f 54 77 87 +f 77 63 87 +f 53 81 87 +f 81 54 87 +f 47 62 88 +f 68 47 88 +f 62 80 88 +f 80 68 88 +f 64 62 89 +f 69 58 90 +f 86 69 90 +f 61 56 91 +f 74 61 91 +f 74 91 92 +f 56 66 92 +f 66 75 92 +f 75 74 92 +f 91 56 92 +f 70 60 93 +f 55 72 93 +f 72 70 93 +f 78 55 93 +f 60 78 93 +f 48 51 94 +f 57 48 94 +f 60 57 94 +f 51 75 94 +f 75 60 94 +f 58 65 95 +f 65 79 95 +f 79 53 95 +f 53 86 95 +f 90 58 95 +f 86 90 95 +f 65 58 96 +f 74 51 96 +f 58 74 96 +f 51 76 96 +f 76 65 96 +f 62 47 97 +f 47 82 97 +f 82 64 97 +f 89 62 97 +f 64 89 97 +f 59 71 98 +f 53 73 98 +f 81 53 98 +f 71 81 98 +f 73 85 98 +o convex_3 +v -1.670687 0.896810 1.190342 +v -1.034165 0.861459 0.342209 +v -1.034165 0.896810 0.342209 +v 1.193187 0.896810 1.614678 +v 1.016183 0.578682 0.624965 +v -0.857476 0.578682 0.837133 +v 1.087048 0.896810 0.342209 +v -0.963301 0.578682 0.342209 +v 0.698080 0.861459 1.720762 +v 1.016183 0.578682 0.342209 +v 1.440741 0.861459 0.695688 +v -1.564547 0.861459 1.296426 +v 0.238563 0.578682 0.907856 +v -1.776826 0.861459 1.013940 +v 1.157598 0.861459 1.650039 +v -1.493683 0.896810 0.624965 +v -1.069440 0.578682 0.624965 +v 0.698080 0.896810 1.720762 +v 1.440741 0.896810 0.695688 +v -0.963301 0.614064 0.907856 +v 1.016183 0.861459 1.720762 +f 116 107 119 +f 101 99 102 +f 100 101 105 +f 101 102 105 +f 103 104 106 +f 100 105 106 +f 103 106 108 +f 106 105 108 +f 103 108 109 +f 108 105 109 +f 104 103 111 +f 107 104 111 +f 110 99 112 +f 109 102 113 +f 103 109 113 +f 99 101 114 +f 101 100 114 +f 100 106 114 +f 112 99 114 +f 106 112 114 +f 106 104 115 +f 112 106 115 +f 110 112 115 +f 102 99 116 +f 99 110 116 +f 110 107 116 +f 105 102 117 +f 102 109 117 +f 109 105 117 +f 104 107 118 +f 107 110 118 +f 115 104 118 +f 110 115 118 +f 111 103 119 +f 107 111 119 +f 113 102 119 +f 103 113 119 +f 102 116 119 +o convex_4 +v 1.970683 1.179915 2.463142 +v -1.281456 1.639408 0.342168 +v -1.281456 1.745599 0.342168 +v -2.660434 1.851590 2.392565 +v 2.430540 2.912098 1.473461 +v 1.121990 0.896872 0.342168 +v -0.998558 2.876768 0.342168 +v -0.326824 2.770777 2.463142 +v -2.377536 1.003264 2.286356 +v 2.748948 1.922250 0.766317 +v 2.500968 2.770777 2.427739 +v -2.554495 1.392097 0.943103 +v -2.554495 2.664586 1.614615 +v 1.051562 2.912098 0.342168 +v -1.245946 2.381744 2.675331 +v 2.571989 1.073724 1.649790 +v -1.034068 0.896872 0.342168 +v 0.768664 0.896872 1.968187 +v -2.766373 1.922250 0.837123 +v 1.440398 1.568949 2.675331 +v 3.031846 1.816260 1.685421 +v -0.928130 2.947629 0.660565 +v -1.140007 1.356566 2.604525 +v -3.014352 1.851590 1.649790 +v 2.713438 1.816260 2.427968 +v 2.889805 2.664586 1.473689 +v -2.094639 2.558595 2.427968 +v -2.695944 1.144585 1.402883 +v -0.928130 2.876768 1.826804 +v 1.334460 2.417074 2.675331 +v -1.847251 0.896872 1.155292 +v 0.344318 0.967733 2.392337 +v 2.500968 1.250575 1.049311 +v 2.147643 2.699916 0.731142 +v -0.043927 1.250776 2.639928 +v -2.483475 2.487734 1.049311 +v 2.253581 2.841438 2.321759 +v 1.510827 1.710269 0.377571 +v 0.414746 2.947629 1.332306 +v 1.440398 0.896872 1.614615 +v -1.635374 1.851791 2.639928 +v 2.147643 1.144585 2.392337 +v -0.079437 2.558595 2.675331 +v 1.723296 1.957380 2.675560 +v 2.783866 1.816260 0.801720 +v 2.359520 2.912098 1.190695 +v -1.599864 0.932403 0.625162 +v 1.510827 0.896872 0.731142 +v -2.624924 1.992710 2.392565 +v -3.014352 1.957380 1.649790 +v 3.031846 1.816260 1.508864 +v 2.677927 2.417074 0.943103 +v 1.193011 2.770777 0.342168 +v -2.554495 2.664586 1.685421 +v 2.466050 2.805907 2.427739 +v -1.211028 2.876768 1.650018 +v 3.031846 1.992911 1.650018 +v -0.114355 0.896872 1.861979 +v 1.404888 1.356566 2.639928 +v -2.342618 1.038594 2.321759 +v -2.483475 1.109254 2.215779 +v 2.819376 1.922250 0.837123 +v 2.713438 1.957581 2.427968 +v 2.819376 2.699916 1.720596 +f 130 182 183 +f 121 122 125 +f 125 122 126 +f 125 126 133 +f 121 125 136 +f 136 125 137 +f 122 121 138 +f 126 122 138 +f 121 136 138 +f 126 132 141 +f 133 126 141 +f 135 140 144 +f 138 131 147 +f 143 138 147 +f 146 127 148 +f 136 137 150 +f 128 147 150 +f 139 134 154 +f 132 126 155 +f 126 138 155 +f 148 127 156 +f 129 125 157 +f 133 141 158 +f 141 148 158 +f 156 124 158 +f 148 156 158 +f 137 125 159 +f 154 134 160 +f 142 154 160 +f 144 120 161 +f 135 144 161 +f 120 151 161 +f 151 137 161 +f 159 135 161 +f 137 159 161 +f 127 146 162 +f 146 134 162 +f 149 162 163 +f 134 139 163 +f 139 144 163 +f 130 149 163 +f 162 134 163 +f 125 129 164 +f 152 125 164 +f 124 145 165 +f 153 133 165 +f 158 124 165 +f 133 158 165 +f 131 138 166 +f 138 136 166 +f 147 131 166 +f 136 150 166 +f 150 147 166 +f 125 152 167 +f 152 135 167 +f 135 159 167 +f 159 125 167 +f 134 146 168 +f 123 160 168 +f 160 134 168 +f 143 123 169 +f 138 143 169 +f 132 155 169 +f 155 138 169 +f 123 168 169 +f 140 135 170 +f 135 152 170 +f 152 164 170 +f 129 153 171 +f 165 145 171 +f 153 165 171 +f 125 133 172 +f 133 153 172 +f 153 129 172 +f 157 125 172 +f 129 157 172 +f 141 132 173 +f 168 146 173 +f 132 169 173 +f 169 168 173 +f 149 130 174 +f 156 127 174 +f 124 156 174 +f 127 162 174 +f 162 149 174 +f 148 141 175 +f 146 148 175 +f 141 173 175 +f 173 146 175 +f 140 170 176 +f 170 145 176 +f 128 150 177 +f 150 137 177 +f 137 151 177 +f 151 128 177 +f 120 144 178 +f 144 139 178 +f 151 120 178 +f 139 154 178 +f 154 151 178 +f 123 128 179 +f 128 151 179 +f 154 142 179 +f 151 154 179 +f 160 123 179 +f 142 160 179 +f 128 123 180 +f 123 143 180 +f 147 128 180 +f 143 147 180 +f 164 129 181 +f 145 170 181 +f 170 164 181 +f 129 171 181 +f 171 145 181 +f 144 140 182 +f 163 144 182 +f 130 163 182 +f 140 176 182 +f 182 176 183 +f 145 124 183 +f 124 174 183 +f 174 130 183 +f 176 145 183 +o convex_5 +v -0.256437 -2.108579 -2.451458 +v 0.309289 -2.073232 -2.380618 +v 0.273903 -2.002537 -2.380618 +v 0.097142 -2.108579 -3.370638 +v 0.061756 -2.391359 -2.380618 +v -0.185722 -1.896494 -2.380618 +v 0.097142 -2.320612 -3.193683 +v -0.150336 -2.214570 -3.087665 +v 0.026426 -1.931842 -3.017018 +v 0.273903 -2.179222 -3.158311 +v 0.309289 -2.285265 -2.380618 +v -0.185722 -2.320612 -2.380618 +v -0.150336 -2.108579 -3.158311 +v 0.026426 -1.861095 -2.380618 +v 0.238573 -2.037884 -3.017018 +v 0.026426 -2.355960 -3.017018 +v 0.273903 -2.320612 -2.592945 +f 199 190 200 +f 185 186 188 +f 188 186 189 +f 187 190 191 +f 190 187 193 +f 185 188 194 +f 193 185 194 +f 189 184 195 +f 188 189 195 +f 184 191 195 +f 184 189 196 +f 191 184 196 +f 187 191 196 +f 189 192 196 +f 192 187 196 +f 189 186 197 +f 192 189 197 +f 192 197 198 +f 186 185 198 +f 187 192 198 +f 193 187 198 +f 185 193 198 +f 197 186 198 +f 191 190 199 +f 188 195 199 +f 195 191 199 +f 190 193 200 +f 193 194 200 +f 194 188 200 +f 188 199 200 +o convex_6 +v 0.450720 -1.896539 -1.638102 +v -0.327153 -2.285172 -1.673571 +v -0.327153 -2.285172 -1.638102 +v -0.185680 -1.507686 -1.638102 +v 0.309247 -2.285172 -2.380618 +v -0.185680 -1.896539 -2.380618 +v 0.344577 -1.366033 -1.673571 +v 0.238511 -2.426603 -1.638102 +v -0.150350 -2.355943 -2.380618 +v 0.309247 -2.037639 -2.380618 +v -0.008877 -2.497485 -1.673571 +v -0.256416 -2.073080 -2.380618 +v 0.379984 -2.320612 -1.638102 +v 0.061784 -1.861209 -2.380618 +v 0.097114 -2.391384 -2.380618 +v -0.256416 -2.426603 -1.779613 +v -0.327153 -2.073080 -1.708894 +v 0.061784 -1.401474 -1.673571 +v 0.450720 -1.719778 -1.673571 +v -0.221010 -1.542905 -1.673571 +v -0.221010 -2.285172 -2.380618 +v 0.344577 -1.366033 -1.638102 +v 0.344577 -2.073080 -2.345222 +f 207 219 223 +f 203 201 204 +f 201 203 208 +f 206 205 209 +f 205 206 210 +f 208 203 211 +f 206 209 212 +f 205 201 213 +f 201 208 213 +f 208 205 213 +f 210 206 214 +f 207 210 214 +f 205 208 215 +f 209 205 215 +f 208 211 215 +f 211 209 215 +f 203 202 216 +f 211 203 216 +f 209 211 216 +f 202 203 217 +f 212 202 217 +f 214 206 218 +f 207 214 218 +f 203 204 220 +f 206 212 220 +f 217 203 220 +f 212 217 220 +f 204 218 220 +f 218 206 220 +f 202 212 221 +f 212 209 221 +f 216 202 221 +f 209 216 221 +f 204 201 222 +f 218 204 222 +f 207 218 222 +f 201 219 222 +f 219 207 222 +f 201 205 223 +f 205 210 223 +f 210 207 223 +f 219 201 223 +o convex_7 +v 0.026526 -3.593867 -0.718797 +v 0.097086 -3.416956 -0.011640 +v 0.273914 -3.416956 -0.047011 +v 0.061905 -5.113636 -0.365218 +v -0.256437 -3.416956 -0.329985 +v 0.344605 -3.416956 -0.612682 +v -0.008853 -4.866293 -0.577241 +v -0.044165 -4.760147 -0.188567 +v 0.203156 -4.901509 -0.365218 +v -0.185614 -3.416956 -0.647985 +v -0.114923 -4.901509 -0.400452 +v 0.415362 -3.452338 -0.329985 +v -0.185614 -3.487720 -0.117755 +v 0.061905 -4.795529 -0.153196 +v 0.132465 -4.760147 -0.577241 +v 0.309227 -3.593867 -0.082452 +v 0.132465 -3.416956 -0.718797 +v 0.026526 -3.487720 -0.011640 +v -0.114923 -4.795529 -0.294544 +v 0.203156 -4.795529 -0.471264 +v -0.256437 -3.487720 -0.435893 +v 0.132465 -4.795529 -0.188567 +v -0.114923 -4.795529 -0.471264 +v 0.309227 -3.558485 -0.647985 +v 0.061905 -4.760147 -0.612682 +f 247 238 248 +f 225 226 228 +f 228 226 229 +f 228 229 233 +f 224 230 233 +f 230 227 234 +f 229 226 235 +f 225 228 236 +f 226 225 237 +f 231 227 237 +f 227 230 238 +f 235 226 239 +f 232 235 239 +f 226 237 239 +f 224 233 240 +f 233 229 240 +f 225 236 241 +f 236 231 241 +f 237 225 241 +f 231 237 241 +f 227 231 242 +f 234 227 242 +f 228 234 242 +f 236 228 242 +f 231 236 242 +f 232 227 243 +f 229 235 243 +f 235 232 243 +f 227 238 243 +f 228 233 244 +f 234 228 244 +f 227 232 245 +f 237 227 245 +f 232 239 245 +f 239 237 245 +f 233 230 246 +f 230 234 246 +f 244 233 246 +f 234 244 246 +f 240 229 247 +f 229 243 247 +f 243 238 247 +f 230 224 248 +f 238 230 248 +f 224 240 248 +f 240 247 248 +o convex_8 +v -0.044286 -2.532130 -1.638102 +v 0.344511 0.578260 0.872308 +v 0.486022 0.578260 0.836922 +v 0.875023 -2.921271 0.553837 +v -0.715900 -2.744495 0.377155 +v -0.822084 0.578651 -1.213721 +v 1.016329 0.543061 -1.213721 +v -0.822084 0.578651 0.801536 +v 0.981003 -2.638508 -1.142950 +v -0.786758 -2.779694 -1.284246 +v 1.016329 0.578651 0.589223 +v 0.167878 -3.416790 -0.753954 +v -0.220919 -2.390944 0.872308 +v -0.433083 0.578260 -1.531945 +v -0.963595 -0.553182 0.270999 +v 1.122513 -1.966604 0.023545 +v 0.486022 -1.613444 -1.638102 +v -0.185593 -3.416790 -0.117997 +v 0.415164 -2.390944 0.872308 +v 0.768839 0.578651 -1.425789 +v -0.857411 -2.779694 -0.330065 +v 0.026571 -3.062848 0.553837 +v 1.122513 0.189510 -0.365204 +v 0.450491 -3.416790 -0.294925 +v -0.928064 0.578651 -0.541887 +v -0.362430 -2.178970 -1.638102 +v 0.132347 -3.062848 -1.355018 +v 1.051656 -2.815284 -0.294679 +v -0.963595 0.578651 0.589223 +v -0.928064 -1.931406 -0.188768 +v 0.415164 -2.320547 -1.638102 +v -0.185593 -3.416790 -0.648043 +v 0.592001 -3.204033 -0.824725 +v 1.051656 -1.401470 0.483066 +v 0.238531 -3.416790 -0.012086 +v 0.379837 -1.154297 -1.638102 +v 1.122513 -1.118707 -0.365204 +v -0.857411 0.047933 -1.178090 +v -0.574594 -3.133636 -0.294925 +v -0.680574 -2.815284 0.412541 +v -0.574594 0.578260 -1.461174 +v 0.910349 -2.885681 0.553837 +v 0.804165 -0.128842 -1.425789 +v 0.981003 0.224709 0.624609 +v 0.768839 -3.169226 -0.365204 +v 1.086982 0.578260 -0.683429 +v -0.574594 0.578260 0.836922 +v 0.945676 -2.532521 -1.213721 +v -0.291572 -2.143771 0.872308 +v 1.122513 -1.365880 0.094316 +v 1.016329 -0.270419 -1.213721 +v -0.822084 -2.532521 -1.142704 +v -0.928064 -0.906733 -0.435730 +v -0.928064 -1.789829 -0.011840 +v -0.857411 -1.260284 0.447681 +v -0.680574 -0.729958 -1.390403 +v 0.167878 -2.496931 0.872308 +v 1.122513 -1.931406 -0.188522 +v -0.220919 -1.507457 -1.638102 +v 0.945676 -2.673707 -1.178090 +v 0.167878 0.578260 -1.496314 +v -0.291572 -2.461732 -1.638102 +v 0.061898 -3.098437 -1.319878 +v 1.086982 0.542670 -0.011840 +f 298 271 312 +f 250 251 259 +f 256 250 259 +f 254 256 259 +f 251 250 267 +f 250 261 267 +f 254 259 268 +f 262 254 268 +f 266 260 272 +f 256 254 273 +f 265 249 274 +f 256 273 277 +f 273 263 277 +f 249 265 279 +f 275 249 279 +f 260 266 280 +f 272 260 281 +f 260 275 281 +f 270 266 283 +f 252 270 283 +f 272 252 283 +f 266 272 283 +f 268 265 284 +f 265 274 284 +f 271 264 285 +f 273 254 286 +f 269 258 287 +f 280 266 287 +f 258 280 287 +f 253 269 288 +f 270 261 288 +f 266 270 288 +f 287 266 288 +f 269 287 288 +f 254 262 289 +f 262 274 289 +f 267 252 290 +f 276 264 290 +f 264 282 290 +f 268 255 291 +f 265 268 291 +f 259 251 292 +f 251 267 292 +f 282 259 292 +f 267 290 292 +f 290 282 292 +f 252 272 293 +f 257 276 293 +f 272 281 293 +f 290 252 293 +f 276 290 293 +f 268 259 294 +f 255 268 294 +f 271 285 294 +f 250 256 295 +f 279 265 296 +f 265 291 296 +f 261 250 297 +f 256 288 297 +f 288 261 297 +f 250 295 297 +f 295 256 297 +f 264 271 298 +f 259 282 298 +f 282 264 298 +f 285 257 299 +f 291 255 299 +f 255 294 299 +f 294 285 299 +f 257 296 299 +f 296 291 299 +f 258 269 300 +f 269 278 300 +f 286 258 300 +f 286 300 301 +f 263 273 301 +f 278 263 301 +f 273 286 301 +f 300 278 301 +f 269 253 302 +f 263 278 302 +f 278 269 302 +f 256 277 303 +f 277 263 303 +f 253 288 303 +f 288 256 303 +f 302 253 303 +f 263 302 303 +f 274 258 304 +f 286 254 304 +f 258 286 304 +f 254 289 304 +f 289 274 304 +f 252 267 305 +f 267 261 305 +f 261 270 305 +f 270 252 305 +f 264 276 306 +f 276 257 306 +f 257 285 306 +f 285 264 306 +f 274 262 307 +f 262 284 307 +f 284 274 307 +f 275 279 308 +f 281 275 308 +f 257 293 308 +f 293 281 308 +f 296 257 308 +f 279 296 308 +f 262 268 309 +f 284 262 309 +f 268 284 309 +f 274 249 310 +f 258 274 310 +f 249 275 310 +f 310 275 311 +f 275 260 311 +f 260 280 311 +f 280 258 311 +f 258 310 311 +f 294 259 312 +f 271 294 312 +f 259 298 312 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/598/598.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/598/598.urdf new file mode 100644 index 000000000..8ea080f73 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/598/598.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/599/599.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/599/599.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/599/599.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/599/599.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/599/599.obj new file mode 100644 index 000000000..25f7eaf07 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/599/599.obj @@ -0,0 +1,459 @@ +o convex_0 +v 1.099914 -3.275899 1.052231 +v -1.086323 -3.011338 -1.034284 +v -1.086323 -3.011338 -0.968158 +v 1.100128 0.499617 -1.067668 +v -1.053150 0.500068 1.019275 +v 0.934475 -4.104286 -1.100411 +v -0.953629 -4.070934 0.952934 +v 1.100128 0.499617 1.019275 +v -1.019976 0.400012 -1.067454 +v 0.967434 -4.070934 1.085401 +v -1.053150 -4.038033 -0.934987 +v 1.099914 -2.249204 -1.067454 +v -0.390537 0.102099 1.085401 +v -1.086323 -1.421718 -1.100839 +v -1.053150 -2.215852 0.787297 +v -1.086323 0.500068 0.091578 +v 1.066954 -4.070934 0.588490 +v -1.019976 0.500068 -1.034284 +v 0.006902 0.500068 1.085401 +v -1.019976 -4.070934 0.091578 +v -1.086323 -2.315457 -1.100839 +v 1.033781 -3.044239 -1.100411 +v -0.490057 -4.070934 -1.001328 +v -1.086323 0.433364 0.522149 +v 1.066954 -3.805923 1.085401 +v -0.986803 -3.905527 0.952934 +v 0.868128 -4.070934 1.085401 +v 1.099914 -3.805923 0.754127 +v 0.934475 -4.104286 -0.371735 +v 0.735648 -4.104286 -1.100411 +v -1.053150 -4.004682 -0.537373 +v -1.053150 -1.520872 0.986105 +v -0.589364 -4.004682 0.985891 +v 0.337995 -2.017093 -1.100411 +v -1.053150 0.102099 -0.934987 +v -0.390537 -0.030406 1.085401 +v 0.437515 -4.104286 -1.067454 +v -1.019976 -1.256311 -1.100839 +v 0.967434 -4.104286 -0.802306 +v -1.053150 0.102099 1.019275 +v -1.053150 -3.905527 -0.968158 +v 1.066954 -4.038033 1.085401 +v -1.086323 -2.050445 -0.404906 +v 0.602954 0.499617 1.052231 +v -1.019976 -4.070934 -0.206312 +v -1.053150 -2.646722 0.522149 +v -0.291017 0.500068 1.085401 +f 13 19 47 +f 3 2 11 +f 2 3 14 +f 14 3 16 +f 4 9 18 +f 16 5 18 +f 8 4 19 +f 13 10 19 +f 4 18 19 +f 18 5 19 +f 2 14 21 +f 4 12 22 +f 6 21 22 +f 5 16 24 +f 16 3 24 +f 1 8 25 +f 19 10 25 +f 20 7 26 +f 10 13 27 +f 8 1 28 +f 4 8 28 +f 12 4 28 +f 22 12 28 +f 17 22 28 +f 17 10 29 +f 27 7 29 +f 10 27 29 +f 21 6 30 +f 23 21 30 +f 6 29 30 +f 3 11 31 +f 11 20 31 +f 20 26 31 +f 24 15 32 +f 15 26 32 +f 7 27 33 +f 4 22 34 +f 9 14 35 +f 14 16 35 +f 18 9 35 +f 16 18 35 +f 13 5 36 +f 26 7 36 +f 27 13 36 +f 7 33 36 +f 33 27 36 +f 7 20 37 +f 29 7 37 +f 23 30 37 +f 30 29 37 +f 9 4 38 +f 14 9 38 +f 21 14 38 +f 22 21 38 +f 4 34 38 +f 34 22 38 +f 6 22 39 +f 22 17 39 +f 17 29 39 +f 29 6 39 +f 5 24 40 +f 24 32 40 +f 32 26 40 +f 36 5 40 +f 26 36 40 +f 11 2 41 +f 2 21 41 +f 23 11 41 +f 21 23 41 +f 10 17 42 +f 1 25 42 +f 25 10 42 +f 28 1 42 +f 17 28 42 +f 3 15 43 +f 24 3 43 +f 15 24 43 +f 8 19 44 +f 25 8 44 +f 19 25 44 +f 20 11 45 +f 11 23 45 +f 37 20 45 +f 23 37 45 +f 15 3 46 +f 26 15 46 +f 3 31 46 +f 31 26 46 +f 5 13 47 +f 19 5 47 +o convex_1 +v 0.702477 3.978517 0.555157 +v 0.503650 1.957911 1.118743 +v 0.901304 2.289140 1.085285 +v 1.099917 1.195757 -1.067597 +v -1.053149 3.911781 -0.968090 +v -1.053149 1.195757 1.019019 +v -0.986803 3.945285 0.952970 +v -0.986803 1.195757 -1.034573 +v 0.934477 3.912053 -1.067597 +v 1.099917 1.195757 1.052477 +v 1.066957 3.978517 1.052477 +v -1.086109 1.991143 1.052260 +v 0.205517 1.858488 -1.100839 +v 1.099917 2.090294 -1.067597 +v -1.086109 1.195757 0.522350 +v -0.655496 2.189989 1.085285 +v 0.967437 3.945285 -0.835775 +v 1.099917 3.547320 1.019236 +v -1.019976 1.195757 -1.001331 +v 1.066957 3.978517 0.621423 +v -1.019976 3.315787 -1.001331 +v 0.039863 1.825528 1.118743 +v -1.053149 3.911781 -0.437962 +v 0.801784 3.978517 1.052260 +v 0.603171 2.619824 -1.100839 +v 0.338211 1.295181 1.085285 +v 0.437517 1.527259 -1.100839 +v -0.688669 3.911781 -1.001331 +v -0.986803 2.024375 -1.034573 +v -1.053149 3.282555 -0.968090 +v -0.788190 1.858488 1.085502 +v 0.768610 1.858488 -1.100839 +v 0.801784 3.216363 1.085285 +v -1.019976 3.414937 0.952970 +v 0.901304 3.945285 -0.902041 +v 0.371170 3.978517 0.952970 +v 0.172343 1.195757 -1.067597 +v 0.967437 3.713480 -1.067597 +v 0.503650 1.825256 1.118743 +v -1.086109 1.195757 0.787197 +f 59 62 87 +f 51 53 55 +f 53 51 57 +f 50 57 58 +f 57 51 61 +f 55 53 62 +f 59 52 62 +f 54 59 63 +f 58 57 65 +f 57 61 65 +f 55 62 66 +f 48 58 67 +f 61 64 67 +f 65 61 67 +f 58 65 67 +f 54 52 70 +f 52 59 70 +f 58 48 71 +f 54 63 71 +f 60 68 72 +f 53 57 73 +f 69 53 73 +f 55 60 74 +f 60 72 74 +f 68 52 75 +f 56 72 75 +f 72 68 75 +f 55 52 76 +f 60 55 76 +f 52 68 76 +f 68 60 76 +f 52 55 77 +f 62 52 77 +f 55 66 77 +f 66 62 77 +f 59 53 78 +f 63 59 78 +f 53 69 78 +f 69 63 78 +f 61 51 79 +f 72 56 79 +f 51 74 79 +f 74 72 79 +f 49 50 80 +f 50 58 80 +f 69 49 80 +f 63 69 80 +f 58 71 80 +f 71 63 80 +f 59 54 81 +f 54 70 81 +f 70 59 81 +f 52 48 82 +f 64 56 82 +f 48 67 82 +f 67 64 82 +f 75 52 82 +f 56 75 82 +f 48 52 83 +f 52 54 83 +f 71 48 83 +f 54 71 83 +f 51 55 84 +f 74 51 84 +f 55 74 84 +f 56 64 85 +f 64 61 85 +f 79 56 85 +f 61 79 85 +f 50 49 86 +f 57 50 86 +f 49 69 86 +f 73 57 86 +f 69 73 86 +f 53 59 87 +f 62 53 87 +o convex_2 +v 0.073095 1.129427 -1.067711 +v 0.040000 0.533257 -3.055007 +v 0.205653 0.533257 -3.055007 +v 0.205653 1.162568 -3.021934 +v -0.224882 1.096286 -3.055007 +v -0.258036 0.698901 -1.067711 +v 0.271844 0.599539 -1.067711 +v -0.291249 0.566398 -2.988861 +v -0.291249 1.129427 -1.067711 +v 0.305057 1.129427 -1.299805 +v 0.305057 1.096286 -2.558134 +v 0.006904 0.566398 -1.796678 +v 0.305057 0.765121 -1.067711 +v 0.271844 0.566398 -1.598046 +v 0.271844 1.162568 -3.021934 +v -0.224882 0.665760 -1.067711 +v -0.291249 1.129427 -1.465559 +v -0.291249 0.566398 -2.690815 +v 0.305057 1.096286 -1.067711 +v 0.271844 0.930704 -3.021934 +v -0.125537 1.129427 -3.021934 +v -0.291249 0.930704 -1.101173 +v -0.291249 0.665760 -2.988861 +v 0.106249 0.599539 -1.067711 +f 103 99 111 +f 90 89 92 +f 88 93 94 +f 92 89 95 +f 88 91 96 +f 93 88 96 +f 88 94 100 +f 98 97 100 +f 98 100 101 +f 89 90 101 +f 99 89 101 +f 100 94 101 +f 91 88 102 +f 92 91 102 +f 90 92 102 +f 88 97 102 +f 97 98 102 +f 94 93 103 +f 95 96 104 +f 96 91 104 +f 95 89 105 +f 96 95 105 +f 89 99 105 +f 103 93 105 +f 99 103 105 +f 97 88 106 +f 88 100 106 +f 100 97 106 +f 98 101 107 +f 101 90 107 +f 90 102 107 +f 102 98 107 +f 91 92 108 +f 104 91 108 +f 92 104 108 +f 93 96 109 +f 96 105 109 +f 105 93 109 +f 92 95 110 +f 104 92 110 +f 95 104 110 +f 99 101 111 +f 101 94 111 +f 94 103 111 +o convex_3 +v 0.006974 0.500136 1.085615 +v -0.291355 0.963770 -1.067711 +v -1.019841 0.500136 -1.034407 +v -1.053012 1.195689 1.019009 +v 1.100131 1.195689 -1.067711 +v 1.100131 0.500136 -1.067711 +v 1.100131 1.195689 1.052312 +v -1.019841 1.195689 -1.001315 +v 1.100131 0.500136 1.019009 +v -1.053012 0.500136 1.019009 +v -1.086184 0.533296 0.091367 +v -0.258183 1.195689 1.085615 +v -1.086184 1.195689 0.787151 +v -0.986883 1.195689 -1.034407 +v 0.338045 0.599549 1.085615 +v -0.291355 0.500136 1.085615 +v -1.086184 1.195689 0.488898 +v -1.086184 0.500136 0.522201 +v -0.224798 0.665802 -1.067711 +v -1.053012 0.500136 -0.669969 +v 0.338045 1.096276 1.085615 +v -0.291355 1.129436 -1.067711 +f 125 116 133 +f 113 116 117 +f 112 114 117 +f 116 115 118 +f 117 116 118 +f 115 116 119 +f 112 117 120 +f 117 118 120 +f 114 112 121 +f 118 115 123 +f 115 119 124 +f 121 115 124 +f 114 119 125 +f 119 116 125 +f 112 120 126 +f 120 118 126 +f 123 112 126 +f 121 112 127 +f 115 121 127 +f 112 123 127 +f 123 115 127 +f 119 122 128 +f 124 119 128 +f 122 124 128 +f 114 121 129 +f 121 124 129 +f 124 122 129 +f 114 113 130 +f 113 117 130 +f 117 114 130 +f 119 114 131 +f 122 119 131 +f 114 129 131 +f 129 122 131 +f 118 123 132 +f 126 118 132 +f 123 126 132 +f 113 114 133 +f 116 113 133 +f 114 125 133 +o convex_4 +v -0.291171 0.698901 1.880868 +v 0.338185 1.129407 2.211825 +v 0.305044 1.162552 3.039981 +v -0.258030 1.195696 1.085807 +v 0.338185 0.599530 1.085807 +v -0.324377 0.665818 2.940503 +v 0.205621 0.632674 2.940503 +v -0.324377 1.096263 2.874312 +v -0.224889 0.566324 1.085807 +v 0.338185 1.096263 1.085807 +v -0.059249 1.195696 1.085807 +v -0.258030 0.566324 1.582816 +v -0.324377 1.129407 2.410590 +v 0.305044 1.030036 2.973599 +v 0.338185 1.129407 1.251476 +v -0.258030 1.096263 2.973599 +v 0.139403 0.665818 3.006694 +v -0.258030 1.195696 1.516433 +v 0.073121 0.566324 1.119094 +v -0.258030 0.798272 1.085807 +v 0.172544 1.162552 3.006694 +v -0.324377 1.063180 2.278016 +v 0.338185 0.698901 1.516433 +v 0.238762 0.732045 2.973599 +v 0.305044 1.162552 2.410590 +f 148 144 158 +f 137 138 142 +f 138 137 143 +f 135 138 143 +f 143 137 144 +f 139 134 145 +f 140 139 145 +f 139 141 146 +f 135 136 147 +f 136 135 148 +f 135 143 148 +f 143 144 148 +f 141 139 149 +f 139 140 150 +f 136 149 150 +f 149 139 150 +f 136 144 151 +f 144 137 151 +f 137 146 151 +f 138 140 152 +f 142 138 152 +f 140 145 152 +f 145 142 152 +f 137 142 153 +f 145 134 153 +f 142 145 153 +f 146 141 154 +f 149 136 154 +f 141 149 154 +f 136 151 154 +f 151 146 154 +f 134 139 155 +f 146 137 155 +f 139 146 155 +f 137 153 155 +f 153 134 155 +f 138 135 156 +f 135 147 156 +f 156 147 157 +f 140 138 157 +f 147 136 157 +f 150 140 157 +f 136 150 157 +f 138 156 157 +f 144 136 158 +f 136 148 158 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/599/599.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/599/599.urdf new file mode 100644 index 000000000..9c4a62db7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/599/599.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/600/600.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/600/600.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/600/600.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/600/600.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/600/600.obj new file mode 100644 index 000000000..d0dbdc760 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/600/600.obj @@ -0,0 +1,555 @@ +o convex_0 +v -0.537851 -1.249602 -4.066052 +v 0.604943 -1.173423 -1.476004 +v 0.566758 -0.792527 -1.476004 +v 0.566758 -0.335569 -5.398860 +v -0.575917 -0.259390 -1.475613 +v 0.414378 -1.364044 -5.360880 +v -0.499667 -0.373716 -5.322509 +v -0.575917 -1.364044 -1.475613 +v 0.490508 -0.183095 -1.476004 +v -0.461601 -1.364044 -5.475602 +v 0.604943 -1.249717 -1.476004 +v -0.614101 -0.982917 -1.818603 +v -0.461601 -0.335569 -4.903559 +v -0.271155 -1.364044 -1.475613 +v 0.452443 -0.183095 -1.933325 +v 0.566758 -0.525958 -5.398860 +v -0.575917 -0.259390 -2.085243 +v 0.566758 -0.297421 -4.751250 +v 0.566758 -1.287749 -2.466213 +v -0.499667 -0.792527 -5.399251 +v -0.614101 -0.602253 -1.513984 +v 0.452443 -1.249717 -5.360880 +v -0.537851 -0.335569 -4.255949 +v -0.499667 -1.364044 -5.170591 +v 0.033486 -0.335569 -5.361271 +v 0.528693 -0.221242 -2.618914 +v -0.575917 -1.364044 -2.352274 +v -0.309221 -1.364044 -5.475602 +f 16 6 28 +f 6 8 10 +f 4 2 11 +f 2 3 14 +f 5 8 14 +f 8 6 14 +f 3 9 14 +f 9 5 14 +f 11 2 14 +f 5 9 15 +f 4 11 16 +f 5 15 17 +f 15 13 17 +f 2 4 18 +f 14 6 19 +f 11 14 19 +f 16 11 19 +f 4 10 20 +f 1 12 20 +f 8 5 21 +f 12 8 21 +f 5 17 21 +f 6 16 22 +f 19 6 22 +f 16 19 22 +f 13 7 23 +f 17 13 23 +f 7 20 23 +f 20 12 23 +f 12 21 23 +f 21 17 23 +f 10 8 24 +f 20 10 24 +f 1 20 24 +f 7 13 25 +f 13 15 25 +f 18 4 25 +f 15 18 25 +f 4 20 25 +f 20 7 25 +f 3 2 26 +f 9 3 26 +f 15 9 26 +f 2 18 26 +f 18 15 26 +f 12 1 27 +f 8 12 27 +f 1 24 27 +f 24 8 27 +f 10 4 28 +f 6 10 28 +f 4 16 28 +o convex_1 +v 0.223813 4.235486 0.010097 +v -1.109338 -0.411211 -0.523339 +v 1.061898 -0.411665 -0.675749 +v -0.956860 4.235486 -1.399408 +v 1.100180 4.197730 -1.437510 +v -0.652122 -0.411211 -1.475613 +v 1.023833 -0.258823 0.010097 +v -0.956860 4.159064 0.010097 +v 1.061898 -0.411211 -1.399408 +v 1.023833 4.197275 0.010097 +v -0.994926 -0.411211 0.010097 +v -0.994926 -0.411211 -1.361305 +v 1.100180 -0.411665 -0.637647 +v 0.490486 -0.411211 -1.475613 +v -1.109338 0.122375 -0.218518 +v 0.985768 -0.411211 0.010097 +v -0.652122 0.541328 -1.475613 +v 1.100180 4.197730 -1.056484 +v 1.100180 0.160131 -1.399262 +v -1.071056 0.807893 0.010097 +v 0.528768 4.197275 -1.437510 +v -0.956860 4.197275 -0.028005 +v -0.994926 1.608044 -1.361305 +v -0.994926 3.359368 0.010097 +v 0.566833 4.235486 -0.066108 +v 1.100180 2.673395 -1.437510 +v -0.309101 4.235486 -1.399408 +v 1.061898 4.197730 -0.447279 +v -0.918795 -0.411211 -1.399408 +v -0.956860 4.235486 -1.018382 +f 52 50 58 +f 35 29 36 +f 29 35 38 +f 30 31 39 +f 35 36 39 +f 31 30 40 +f 31 37 41 +f 38 35 41 +f 39 31 41 +f 31 34 42 +f 37 31 42 +f 32 30 43 +f 30 39 43 +f 35 39 44 +f 41 35 44 +f 39 41 44 +f 34 32 45 +f 42 34 45 +f 33 42 45 +f 41 33 46 +f 41 37 47 +f 33 41 47 +f 39 36 48 +f 43 39 48 +f 32 33 49 +f 45 32 49 +f 33 45 49 +f 36 29 50 +f 30 32 51 +f 40 30 51 +f 32 40 51 +f 32 43 52 +f 48 36 52 +f 43 48 52 +f 36 50 52 +f 32 29 53 +f 29 38 53 +f 46 33 53 +f 42 33 54 +f 37 42 54 +f 33 47 54 +f 47 37 54 +f 33 32 55 +f 32 53 55 +f 53 33 55 +f 38 41 56 +f 41 46 56 +f 53 38 56 +f 46 53 56 +f 34 31 57 +f 32 34 57 +f 31 40 57 +f 40 32 57 +f 29 32 58 +f 50 29 58 +f 32 52 58 +o convex_2 +v 0.909525 2.445231 0.733834 +v -1.071194 -2.353935 0.657614 +v -1.071194 -2.353935 0.733834 +v 0.947671 -3.916418 0.733834 +v 1.023963 4.197637 0.010168 +v -1.071194 -1.859176 0.010168 +v -0.956756 4.158535 0.619504 +v 1.023963 -1.859176 0.010168 +v -0.956756 4.158535 0.010168 +v -0.956756 -3.878114 0.543355 +v 0.985817 4.197637 0.619504 +v -1.033048 1.644838 0.733834 +v 0.947671 -3.916418 0.543355 +v 1.023963 -2.125708 0.733834 +v -0.956756 -3.878114 0.733834 +v -1.071194 0.997660 0.086388 +v -0.652204 2.521041 0.733834 +v 0.262069 4.235940 0.010168 +v -0.994902 4.045218 0.619504 +v -0.537766 -1.895884 0.010168 +v -0.880669 3.777889 0.657614 +v 0.909525 4.235940 0.581465 +v -1.071194 -0.372504 0.733834 +v -0.385387 -3.915620 0.543355 +v 1.023963 -1.172897 0.733834 +v -0.880669 4.197637 0.048278 +v -0.994902 3.435547 0.010168 +v 1.023963 4.197637 0.162538 +v 0.528681 3.740383 0.657614 +v -0.994902 -3.572480 0.581465 +v -0.994902 2.139597 0.733834 +v -1.071194 0.882749 0.010168 +f 74 85 90 +f 59 61 62 +f 60 61 64 +f 64 63 66 +f 63 64 67 +f 61 59 70 +f 59 62 72 +f 66 63 72 +f 62 71 72 +f 71 66 72 +f 62 61 73 +f 64 61 74 +f 70 59 75 +f 63 67 76 +f 65 67 77 +f 64 66 78 +f 68 64 78 +f 66 71 78 +f 69 65 79 +f 65 77 79 +f 65 69 80 +f 63 76 80 +f 61 70 81 +f 74 61 81 +f 70 77 81 +f 77 74 81 +f 71 62 82 +f 62 73 82 +f 73 68 82 +f 68 78 82 +f 78 71 82 +f 69 59 83 +f 59 72 83 +f 72 63 83 +f 67 65 84 +f 76 67 84 +f 65 80 84 +f 80 76 84 +f 67 64 85 +f 77 67 85 +f 74 77 85 +f 80 69 86 +f 63 80 86 +f 69 83 86 +f 83 63 86 +f 59 69 87 +f 75 59 87 +f 69 79 87 +f 79 75 87 +f 61 60 88 +f 60 64 88 +f 64 68 88 +f 73 61 88 +f 68 73 88 +f 70 75 89 +f 77 70 89 +f 75 79 89 +f 79 77 89 +f 64 74 90 +f 85 64 90 +o convex_3 +v 1.023982 -0.603181 0.924515 +v -1.071232 -2.773105 1.419751 +v -1.071232 -2.773105 1.533962 +v -1.033085 2.178210 2.562247 +v 1.023982 -3.724954 2.638647 +v 1.023982 2.293089 2.600253 +v -0.956791 2.178210 0.733905 +v 0.947688 -3.916418 0.734099 +v -1.033085 -3.878125 2.638647 +v 0.947688 2.216503 0.734099 +v -0.956791 -3.877517 0.733905 +v -0.499847 0.273297 2.714852 +v -1.071232 -0.335740 0.734099 +v -0.956791 1.797714 2.676652 +v -1.071232 1.149776 2.143216 +v 1.023982 -2.163460 0.734099 +v -0.156729 -0.602574 2.714852 +v -1.033085 2.139918 1.153130 +v -0.614083 2.216503 0.772104 +v -1.071232 -2.392001 0.734099 +v 0.985835 2.254188 1.267341 +v 1.023982 -3.763854 2.524242 +v -0.423553 -1.173318 2.714852 +v 0.376304 2.254796 2.638647 +v -0.309317 -3.916418 0.733905 +v -1.033085 2.139918 2.638647 +v 0.185774 -3.916418 1.419751 +v -0.994938 -3.878125 1.153130 +v -1.033085 1.682836 0.734099 +v 1.023982 -2.543956 2.638647 +v 1.023982 2.254188 2.105210 +v 0.909541 2.254796 0.924515 +v 0.985835 -3.839832 1.343740 +v 0.985835 0.997213 0.734099 +v 0.909541 2.293089 2.524242 +v -0.842555 -3.877517 2.638647 +v -0.156729 -0.412326 2.714852 +f 107 120 127 +f 95 91 96 +f 93 92 99 +f 92 93 103 +f 97 101 103 +f 99 102 104 +f 93 99 105 +f 103 93 105 +f 91 95 106 +f 94 97 108 +f 105 94 108 +f 103 105 108 +f 97 94 109 +f 100 97 109 +f 92 103 110 +f 103 101 110 +f 106 95 112 +f 102 99 113 +f 95 107 113 +f 107 102 113 +f 104 102 114 +f 97 100 115 +f 101 97 115 +f 106 98 115 +f 99 104 116 +f 94 105 116 +f 105 99 116 +f 114 94 116 +f 104 114 116 +f 98 112 117 +f 115 98 117 +f 99 115 117 +f 99 92 118 +f 92 110 118 +f 110 101 118 +f 115 99 118 +f 101 115 118 +f 97 103 119 +f 108 97 119 +f 103 108 119 +f 95 96 120 +f 107 95 120 +f 96 91 121 +f 111 96 121 +f 100 109 122 +f 96 111 122 +f 111 100 122 +f 98 106 123 +f 112 98 123 +f 106 112 123 +f 91 106 124 +f 100 111 124 +f 115 100 124 +f 106 115 124 +f 121 91 124 +f 111 121 124 +f 109 94 125 +f 94 114 125 +f 114 96 125 +f 96 122 125 +f 122 109 125 +f 112 95 126 +f 95 113 126 +f 113 99 126 +f 99 117 126 +f 117 112 126 +f 102 107 127 +f 96 114 127 +f 114 102 127 +f 120 96 127 +o convex_4 +v -0.994985 -1.135473 0.010097 +v -0.575622 -1.364133 -1.475613 +v -0.575622 -1.135473 -1.475613 +v 1.023613 -1.859266 0.010097 +v 1.062085 -1.135473 -1.399408 +v -1.033032 -1.744861 -1.361305 +v 1.062085 -1.897376 -1.361305 +v -1.070866 -1.859266 0.010097 +v 0.985779 -1.135473 0.010097 +v -1.070866 -1.135473 -0.980134 +v -0.499741 -1.897376 0.010097 +v 0.604675 -1.249878 -1.475613 +v -0.994985 -1.135473 -1.361305 +v -0.804327 -1.782971 -1.361305 +v -1.109338 -1.135473 -0.675895 +v 1.062085 -1.897376 -0.827723 +v 1.062085 -1.135473 -0.865971 +v 0.909685 -1.897376 -1.361305 +v 0.071596 -1.897376 -0.028005 +f 138 143 146 +f 130 128 132 +f 130 129 133 +f 131 128 135 +f 128 131 136 +f 132 128 136 +f 128 130 137 +f 131 135 138 +f 129 130 139 +f 130 132 139 +f 132 134 139 +f 134 129 139 +f 130 133 140 +f 137 130 140 +f 133 137 140 +f 133 129 141 +f 135 133 141 +f 135 128 142 +f 133 135 142 +f 128 137 142 +f 137 133 142 +f 134 132 143 +f 138 134 143 +f 136 131 144 +f 132 136 144 +f 131 143 144 +f 143 132 144 +f 129 134 145 +f 134 138 145 +f 138 135 145 +f 141 129 145 +f 135 141 145 +f 131 138 146 +f 143 131 146 +o convex_5 +v -1.071243 -1.135473 -0.980488 +v 1.061708 -0.411807 -0.904260 +v 1.061708 -0.411807 -1.399314 +v 1.061708 -1.135473 -1.399314 +v -0.918844 -0.411807 -1.399314 +v 1.023874 -1.135473 -0.751947 +v -0.994937 -0.411807 -0.751947 +v -0.613833 -1.135473 -1.475613 +v -1.071243 -1.135473 -0.751947 +v 1.100180 -0.564121 -0.751947 +v 0.490583 -0.411807 -1.475613 +v -0.994937 -1.135473 -1.361201 +v 0.566464 -1.135473 -1.475613 +v -0.651879 -0.411807 -1.475613 +v -0.994937 -0.411807 -1.361201 +v 1.023874 -0.411807 -0.751947 +v -1.071243 -0.716505 -0.751947 +v 1.100180 -1.021061 -0.980488 +f 156 152 164 +f 148 149 151 +f 147 150 152 +f 148 151 153 +f 150 147 154 +f 147 152 155 +f 152 153 155 +f 149 148 156 +f 153 152 156 +f 151 149 157 +f 154 147 158 +f 151 154 158 +f 149 150 159 +f 150 154 159 +f 157 149 159 +f 154 157 159 +f 154 151 160 +f 151 157 160 +f 157 154 160 +f 153 151 161 +f 158 147 161 +f 151 158 161 +f 148 153 162 +f 156 148 162 +f 153 156 162 +f 147 155 163 +f 155 153 163 +f 161 147 163 +f 153 161 163 +f 150 149 164 +f 152 150 164 +f 149 156 164 +o convex_6 +v 3.042856 -0.526007 -0.218563 +v -1.108541 -0.868748 -0.751805 +v -3.051862 -0.564121 -0.713621 +v -3.090285 -1.021061 -0.028013 +v -0.994475 -0.411807 0.010097 +v 0.985468 -1.135473 0.010097 +v 1.023891 -1.135473 -0.751805 +v 1.023891 -0.411807 -0.751805 +v -2.823130 -1.097288 -0.637475 +v 2.966612 -0.983018 -0.599365 +v -3.051862 -0.602234 -0.104233 +v 0.985468 -0.411807 0.010097 +v 2.928190 -0.983018 -0.142343 +v 2.966612 -0.487893 -0.561330 +v -0.994475 -0.411807 -0.751805 +v -0.994475 -1.135473 0.010097 +v 3.042856 -0.449850 -0.180453 +v -1.032296 -1.135473 -0.751805 +v -3.051862 -0.526078 -0.485110 +v 2.775702 -0.526007 -0.637401 +v -3.013440 -1.059175 -0.599365 +v 1.252022 -1.135473 -0.485110 +v -3.090285 -0.830634 -0.028013 +v -1.946624 -1.135473 -0.599365 +v 3.004434 -0.983018 -0.180453 +v 3.042856 -0.678391 -0.599365 +v -3.051862 -0.526078 -0.713621 +v -3.051862 -0.564121 -0.180378 +f 183 187 192 +f 171 166 172 +f 169 170 176 +f 172 169 176 +f 176 170 177 +f 172 166 179 +f 169 172 179 +f 169 168 180 +f 170 169 180 +f 171 170 180 +f 168 173 180 +f 172 176 181 +f 176 177 181 +f 178 172 181 +f 167 166 182 +f 166 171 182 +f 173 167 182 +f 171 180 182 +f 169 179 183 +f 171 172 184 +f 174 171 184 +f 172 178 184 +f 168 167 185 +f 167 173 185 +f 173 168 185 +f 170 171 186 +f 171 174 186 +f 167 168 187 +f 168 169 187 +f 169 175 187 +f 180 173 188 +f 173 182 188 +f 182 180 188 +f 177 170 189 +f 165 181 189 +f 181 177 189 +f 170 186 189 +f 186 174 189 +f 181 165 190 +f 178 181 190 +f 174 184 190 +f 184 178 190 +f 165 189 190 +f 189 174 190 +f 166 167 191 +f 179 166 191 +f 183 179 191 +f 167 187 191 +f 187 183 191 +f 175 169 192 +f 169 183 192 +f 187 175 192 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/600/600.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/600/600.urdf new file mode 100644 index 000000000..4284f409a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/600/600.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/601/601.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/601/601.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/601/601.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/601/601.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/601/601.obj new file mode 100644 index 000000000..cf683478b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/601/601.obj @@ -0,0 +1,741 @@ +o convex_0 +v 0.023109 -2.283109 1.457649 +v -0.093744 -3.101443 1.253062 +v 0.081499 -3.101443 1.253062 +v -0.006048 -2.750591 3.006291 +v 0.403050 -2.663118 1.253062 +v -0.356831 -2.604643 1.253062 +v 0.256816 -2.663118 2.655474 +v -0.210672 -2.750591 2.772356 +v -0.006048 -2.487692 2.801705 +v 0.315354 -2.370902 1.253062 +v -0.006048 -2.955174 2.743178 +v 0.315354 -3.013649 1.282412 +v -0.298367 -3.013649 1.282412 +v -0.269135 -2.370902 1.370116 +v 0.256816 -2.429377 2.100585 +v 0.198427 -2.838384 2.597119 +v -0.181440 -2.926017 2.538592 +v -0.064512 -2.283109 1.253062 +v -0.356831 -2.750591 1.428471 +v -0.152208 -2.546168 2.597119 +v 0.081499 -2.487692 2.772356 +v -0.239904 -2.750591 2.626296 +v 0.227658 -2.721433 2.772356 +v 0.403050 -2.721433 1.282412 +v 0.052193 -3.101443 1.428471 +v 0.052193 -2.955174 2.626296 +v 0.227658 -2.575485 2.684823 +v 0.023109 -2.692276 3.006291 +v 0.110731 -2.283109 1.282412 +v -0.210672 -2.838384 2.684823 +v -0.035280 -2.955174 2.743178 +v -0.239904 -2.984492 1.895999 +v 0.256816 -2.721433 2.597119 +v -0.269135 -2.370902 1.253062 +v -0.239904 -2.721433 2.597119 +v -0.006048 -2.458535 2.655474 +f 9 21 36 +f 3 2 5 +f 5 2 6 +f 5 6 10 +f 3 5 12 +f 6 2 13 +f 7 5 15 +f 5 10 15 +f 10 6 18 +f 6 13 19 +f 8 9 20 +f 9 14 20 +f 15 1 21 +f 4 11 23 +f 11 16 23 +f 5 7 24 +f 12 5 24 +f 2 3 25 +f 3 12 25 +f 25 12 26 +f 16 11 26 +f 12 16 26 +f 11 25 26 +f 7 15 27 +f 15 21 27 +f 23 7 27 +f 23 27 28 +f 8 4 28 +f 9 8 28 +f 21 9 28 +f 4 23 28 +f 27 21 28 +f 1 15 29 +f 15 10 29 +f 18 1 29 +f 10 18 29 +f 4 8 30 +f 19 13 30 +f 8 22 30 +f 22 19 30 +f 11 4 31 +f 2 25 31 +f 25 11 31 +f 4 30 31 +f 30 17 31 +f 13 2 32 +f 17 30 32 +f 30 13 32 +f 2 31 32 +f 31 17 32 +f 16 12 33 +f 7 23 33 +f 23 16 33 +f 24 7 33 +f 12 24 33 +f 6 14 34 +f 18 6 34 +f 14 18 34 +f 14 6 35 +f 6 19 35 +f 8 20 35 +f 20 14 35 +f 22 8 35 +f 19 22 35 +f 14 9 36 +f 1 18 36 +f 18 14 36 +f 21 1 36 +o convex_1 +v -0.561215 -2.078525 -0.968289 +v -0.035546 0.288797 1.048307 +v 0.403070 0.288797 0.902119 +v 0.607573 -2.078525 0.989632 +v 0.724432 0.288797 -0.734388 +v -1.058063 0.288797 0.083665 +v -0.882774 -2.078525 0.843644 +v 0.812077 -2.078525 -0.792864 +v -0.093778 0.288797 -0.997527 +v 0.958151 0.288797 0.054427 +v -0.882774 -2.078525 -0.763426 +v -0.795130 0.288797 -0.763426 +v -0.824345 0.259368 0.814406 +v 0.958151 -2.078525 0.083665 +v 0.724432 -0.033072 0.814406 +v 0.490517 -2.078525 -0.968289 +v -1.028848 -2.078525 0.083665 +v -0.619841 -2.078525 0.989832 +v 0.782862 -2.078525 0.902119 +v 0.081510 -2.078525 1.048307 +v -1.058063 0.288797 -0.032885 +v 0.958151 0.288797 -0.032885 +v -1.058063 -1.464681 0.054427 +v -0.181423 -2.078525 -0.997527 +v 0.023081 0.288797 -0.997527 +v 0.724432 0.171543 -0.763626 +v 0.724432 0.288797 0.755730 +v -0.678271 -2.049096 -0.938852 +v -0.882774 -1.406286 0.843644 +v -0.093778 0.288797 1.048307 +v 0.666003 -1.990469 -0.909614 +v -0.152208 -2.078525 1.048307 +v 0.958151 -2.078525 -0.003647 +v -0.853560 0.288797 0.755730 +v -0.795130 -1.961271 0.931156 +v -0.824345 -0.588289 -0.792864 +v 0.695218 -1.932074 0.960394 +v -0.911989 -2.078525 0.755730 +v 0.812077 -2.049096 0.814206 +v -1.058063 -1.464681 -0.003647 +v 0.110725 -2.078525 -0.997527 +v -0.122993 0.230170 -0.997527 +v -0.911989 0.259368 -0.471249 +v -1.028848 -0.033072 0.229653 +v -1.028848 -2.078525 -0.032885 +v 0.958151 -0.149862 0.083665 +v 0.461302 0.288797 -0.851339 +v 0.782862 -1.961271 0.902119 +v -0.736700 -1.990469 -0.909614 +v -0.853560 0.171543 0.784968 +v 0.928936 0.171543 0.171378 +v -1.028848 0.142346 -0.149836 +v -0.298282 0.200741 0.989832 +v 0.490517 -0.909231 0.960394 +v -1.058063 -0.617487 -0.032885 +f 76 57 91 +f 38 39 41 +f 38 41 42 +f 37 40 43 +f 40 37 44 +f 42 41 45 +f 41 39 46 +f 37 43 47 +f 42 45 48 +f 40 44 50 +f 44 37 52 +f 47 43 53 +f 43 40 54 +f 40 50 55 +f 40 38 56 +f 54 40 56 +f 42 48 57 +f 41 46 58 +f 46 50 58 +f 42 57 59 +f 52 37 60 +f 45 41 61 +f 60 45 61 +f 41 58 62 +f 58 44 62 +f 46 39 63 +f 39 51 63 +f 37 47 64 +f 38 42 66 +f 56 38 66 +f 44 52 67 +f 52 61 67 +f 62 44 67 +f 54 56 68 +f 66 54 68 +f 56 66 68 +f 50 44 69 +f 44 58 69 +f 58 50 69 +f 66 42 70 +f 49 66 70 +f 43 54 71 +f 65 43 71 +f 49 65 71 +f 38 40 73 +f 40 55 73 +f 53 43 74 +f 59 53 74 +f 43 65 74 +f 55 50 75 +f 53 59 76 +f 59 57 76 +f 52 60 77 +f 61 52 77 +f 60 61 77 +f 48 45 78 +f 60 37 78 +f 45 60 78 +f 37 64 78 +f 64 48 78 +f 57 48 79 +f 48 72 79 +f 72 47 79 +f 42 59 80 +f 59 74 80 +f 74 65 80 +f 47 53 81 +f 76 47 81 +f 53 76 81 +f 50 46 82 +f 46 75 82 +f 75 50 82 +f 61 41 83 +f 41 62 83 +f 67 61 83 +f 62 67 83 +f 51 73 84 +f 73 55 84 +f 55 75 84 +f 64 47 85 +f 48 64 85 +f 72 48 85 +f 47 72 85 +f 65 49 86 +f 70 42 86 +f 49 70 86 +f 42 80 86 +f 80 65 86 +f 46 63 87 +f 63 51 87 +f 75 46 87 +f 51 84 87 +f 84 75 87 +f 47 57 88 +f 57 79 88 +f 79 47 88 +f 66 49 89 +f 54 66 89 +f 71 54 89 +f 49 71 89 +f 39 38 90 +f 51 39 90 +f 38 73 90 +f 73 51 90 +f 57 47 91 +f 47 76 91 +o convex_2 +v -0.064585 3.357231 -1.026730 +v -0.035347 0.786189 1.048307 +v -0.064585 0.786189 1.048307 +v -0.093622 0.289586 -0.997481 +v 0.987566 3.035900 -0.120627 +v -0.795123 3.327624 0.785065 +v -1.058260 0.289192 -0.032879 +v 0.958328 0.289192 0.054456 +v 0.724428 3.386443 0.726773 +v -0.795123 3.357231 -0.763489 +v 0.052165 4.321619 -0.032879 +v 0.753665 3.298807 -0.821987 +v -0.795123 0.289192 0.814314 +v 0.695190 0.289192 0.785065 +v 0.724428 0.289192 -0.734445 +v -1.028822 3.386443 0.054456 +v -0.006310 3.357231 1.019058 +v -0.795123 0.289192 -0.763695 +v 0.782903 4.058712 -0.003836 +v -0.064585 4.087529 0.756022 +v -0.765885 4.087923 -0.003836 +v 0.052165 4.058317 -0.792944 +v -0.824360 2.101119 0.814314 +v -0.035347 2.392843 -1.055979 +v 0.987566 3.298807 0.025207 +v -0.093622 0.289586 1.048307 +v 0.052165 0.494070 -0.997481 +v -0.999585 0.289192 0.288243 +v -0.590460 3.883440 -0.587994 +v -1.058260 2.801810 0.025207 +v 0.052165 4.087529 0.756022 +v 0.607478 3.883045 -0.558951 +v -0.795123 2.217967 -0.792738 +v -0.619697 3.912257 0.522030 +v -0.093622 3.328019 1.019058 +v 0.724428 2.947870 0.755816 +v 0.753665 2.743386 -0.821987 +v 0.724428 0.289192 0.755816 +v 0.022928 3.298412 -1.055979 +v 0.958328 0.289192 -0.033085 +v 0.607478 3.912257 0.463531 +v -0.824360 3.152353 -0.734240 +v 0.110640 3.328019 0.989809 +v -0.035347 4.058317 -0.792944 +v 0.782903 3.269595 -0.792738 +v -0.064585 4.321619 -0.032879 +v -0.619697 3.327624 -0.851236 +v 0.636715 0.347615 -0.792738 +v 0.403015 0.288797 0.902062 +v 0.782903 4.058712 -0.062128 +v -0.122860 1.721364 -1.026730 +v -0.853598 0.289192 0.755816 +v 0.987566 3.298807 -0.120627 +v -0.765885 3.327624 0.814314 +v -1.058260 1.633334 0.083705 +v -0.970548 3.298807 -0.266666 +v -1.028822 3.328019 0.112954 +v -0.824360 1.400033 -0.734240 +v -1.058260 2.217967 -0.032879 +v 0.753665 3.328019 0.697318 +v -0.795123 4.029500 0.054456 +v 0.636715 0.756582 0.814314 +v 0.081403 2.217967 -1.026730 +v -0.298285 3.298412 -0.968232 +f 142 124 155 +f 94 93 108 +f 95 106 109 +f 99 96 116 +f 93 94 117 +f 114 104 117 +f 95 115 118 +f 101 112 120 +f 110 102 122 +f 102 111 122 +f 111 108 122 +f 103 113 123 +f 111 112 125 +f 94 108 126 +f 108 111 126 +f 117 94 126 +f 114 117 126 +f 99 116 129 +f 127 105 129 +f 113 103 130 +f 103 128 130 +f 96 99 131 +f 100 110 132 +f 122 100 132 +f 110 122 132 +f 101 124 133 +f 108 93 134 +f 100 122 134 +f 122 108 134 +f 127 100 134 +f 102 113 135 +f 101 120 135 +f 120 112 135 +f 130 92 135 +f 113 130 135 +f 128 103 136 +f 106 128 136 +f 96 131 136 +f 131 106 136 +f 111 102 137 +f 112 111 137 +f 102 135 137 +f 135 112 137 +f 124 101 138 +f 135 92 138 +f 101 135 138 +f 106 95 139 +f 95 118 139 +f 128 106 139 +f 118 128 139 +f 98 109 140 +f 109 106 140 +f 93 117 140 +f 117 104 140 +f 119 98 140 +f 99 129 140 +f 129 105 140 +f 131 99 140 +f 106 131 140 +f 134 93 140 +f 102 110 141 +f 113 102 141 +f 110 116 141 +f 103 123 141 +f 123 113 141 +f 136 103 141 +f 95 109 142 +f 115 95 142 +f 109 124 142 +f 104 114 143 +f 140 104 143 +f 119 140 143 +f 116 96 144 +f 96 136 144 +f 141 116 144 +f 136 141 144 +f 97 114 145 +f 125 97 145 +f 111 125 145 +f 126 111 145 +f 114 126 145 +f 98 119 146 +f 121 98 146 +f 143 114 146 +f 119 143 146 +f 112 101 147 +f 107 112 147 +f 121 107 147 +f 101 133 147 +f 97 107 148 +f 114 97 148 +f 107 121 148 +f 121 146 148 +f 146 114 148 +f 109 98 149 +f 124 109 149 +f 98 133 149 +f 133 124 149 +f 98 121 150 +f 133 98 150 +f 121 147 150 +f 147 133 150 +f 110 100 151 +f 116 110 151 +f 100 127 151 +f 129 116 151 +f 127 129 151 +f 107 97 152 +f 112 107 152 +f 97 125 152 +f 125 112 152 +f 105 127 153 +f 127 134 153 +f 140 105 153 +f 134 140 153 +f 118 115 154 +f 128 118 154 +f 115 130 154 +f 130 128 154 +f 92 130 155 +f 130 115 155 +f 124 138 155 +f 138 92 155 +f 115 142 155 +o convex_3 +v -0.415284 -2.750619 -1.260732 +v 0.315371 -2.663158 -1.260732 +v 0.315371 -2.750619 -1.260732 +v -0.006257 -2.633909 -2.984909 +v -0.093727 -2.341704 -1.260732 +v -0.035437 -3.072145 -1.406888 +v -0.269095 -2.692336 -2.750822 +v -0.006257 -2.896793 -2.721624 +v -0.327599 -3.013646 -1.260732 +v -0.006257 -2.458558 -2.750822 +v -0.327599 -2.429308 -1.523848 +v 0.198364 -2.721442 -2.721624 +v 0.256796 -2.458558 -1.319296 +v 0.169112 -3.013646 -1.260732 +v -0.181411 -2.487807 -2.634032 +v -0.093727 -2.896793 -2.663229 +v 0.198364 -2.955220 -1.640638 +v 0.169112 -2.516984 -2.341718 +v -0.386032 -2.546233 -1.260732 +v -0.006257 -2.341704 -1.260732 +v -0.269095 -2.633909 -2.750822 +v -0.064546 -2.458558 -2.780020 +v -0.064546 -2.692336 -2.984909 +v 0.198364 -2.663158 -2.663229 +v -0.210663 -2.838295 -2.546270 +v 0.140003 -2.867544 -2.458677 +v 0.227687 -2.429308 -1.260732 +v -0.122979 -3.072145 -1.319296 +v -0.415284 -2.750619 -1.348493 +v -0.298347 -2.400131 -1.260732 +v 0.256796 -2.896793 -1.348493 +v 0.022995 -3.072145 -1.290098 +v -0.415284 -2.663158 -1.319296 +f 176 184 188 +f 158 157 156 +f 156 157 160 +f 158 156 164 +f 157 158 167 +f 158 164 169 +f 163 161 171 +f 156 160 174 +f 160 157 175 +f 166 170 176 +f 165 159 177 +f 166 160 177 +f 170 166 177 +f 160 175 177 +f 175 165 177 +f 176 170 177 +f 176 177 178 +f 159 167 178 +f 167 163 178 +f 171 162 178 +f 163 171 178 +f 162 176 178 +f 177 159 178 +f 159 165 179 +f 157 167 179 +f 167 159 179 +f 168 157 179 +f 165 173 179 +f 173 168 179 +f 164 162 180 +f 162 171 180 +f 171 164 180 +f 163 167 181 +f 172 163 181 +f 167 172 181 +f 157 168 182 +f 173 165 182 +f 168 173 182 +f 175 157 182 +f 165 175 182 +f 171 161 183 +f 164 171 183 +f 162 164 184 +f 164 156 184 +f 176 162 184 +f 160 166 185 +f 174 160 185 +f 166 174 185 +f 167 158 186 +f 158 169 186 +f 172 167 186 +f 169 172 186 +f 161 163 187 +f 169 164 187 +f 163 172 187 +f 172 169 187 +f 183 161 187 +f 164 183 187 +f 156 174 188 +f 174 166 188 +f 166 176 188 +f 184 156 188 +o convex_4 +v -0.122848 -3.276625 -1.085143 +v 0.958348 -2.078689 0.083505 +v 0.373591 -2.078526 1.018915 +v -0.882876 -2.078689 -0.763580 +v -0.064490 -3.685721 0.784939 +v -0.912056 -2.780135 0.784939 +v 0.695149 -3.481255 0.639043 +v 0.753703 -2.078689 -0.851167 +v -0.678231 -3.393533 -0.734302 +v 0.607611 -3.422882 -0.792612 +v -0.824323 -2.078689 0.901804 +v -0.035310 -3.130532 1.252645 +v 0.227500 -2.400225 -1.260563 +v -0.678231 -3.451905 0.784939 +v 0.870615 -2.838507 0.814217 +v -0.035310 -3.744256 -0.091423 +v -0.444406 -2.721762 -1.260563 +v 0.870615 -2.721762 -0.734302 +v -0.999594 -2.750785 -0.032868 +v 0.315233 -2.371039 1.252645 +v 0.812062 -2.078689 0.872526 +v -0.386047 -2.750785 1.252645 +v 0.227500 -2.984438 -1.260563 +v -1.028968 -2.078689 0.083505 +v -0.006131 -3.627348 -0.763580 +v 0.724329 -3.510441 -0.061899 +v -0.912056 -2.750785 -0.734302 +v 0.519878 -3.276625 1.018915 +v 0.958348 -2.750785 -0.032868 +v -0.736590 -3.481255 -0.062146 +v -0.590498 -2.078689 -0.968278 +v -0.239761 -2.312504 1.252645 +v 0.402965 -2.721762 1.252890 +v -0.093669 -2.312504 -1.260563 +v -0.327494 -3.013624 -1.260563 +v 0.081408 -3.685721 0.784939 +v 0.461519 -2.721762 -1.143206 +v 0.519878 -2.078689 -0.968032 +v 0.665970 -3.451905 0.814217 +v 0.052228 -3.744256 -0.032868 +v -0.122848 -2.078526 1.077224 +v -0.736590 -3.481255 0.171092 +v -0.912056 -2.195596 0.814217 +v -0.327494 -3.042810 1.223613 +v -0.356673 -2.400225 -1.260563 +v 0.665970 -3.334998 -0.792612 +v 0.812062 -2.078689 -0.792612 +v -0.941235 -2.721762 0.726384 +v 0.286053 -3.042810 1.252645 +v 0.023049 -3.071996 -1.260563 +v -1.028968 -2.078689 -0.032868 +v 0.052228 -2.254132 1.252645 +v 0.812062 -2.721762 -0.821889 +v -0.093669 -2.078526 -1.026587 +v 0.958348 -2.750785 0.083505 +v -0.999594 -2.721762 0.200370 +v -0.064490 -3.744256 0.054227 +v 0.315233 -2.604855 -1.260563 +v 0.724329 -3.510441 0.112783 +v 0.958348 -2.078689 -0.003836 +v 0.052228 -3.364347 1.077224 +v 0.695149 -2.078689 0.960360 +v 0.899794 -2.721762 0.668075 +v -0.561319 -3.247439 -0.939000 +f 205 223 252 +f 193 200 202 +f 190 191 209 +f 199 194 210 +f 205 201 211 +f 204 197 213 +f 192 205 215 +f 214 206 217 +f 197 204 218 +f 215 197 218 +f 207 215 218 +f 199 210 220 +f 220 210 221 +f 203 209 221 +f 210 200 221 +f 216 203 221 +f 201 205 222 +f 205 211 223 +f 196 201 226 +f 201 222 226 +f 195 203 227 +f 203 216 227 +f 224 195 227 +f 216 224 227 +f 204 213 228 +f 213 198 228 +f 198 214 228 +f 212 199 229 +f 199 220 229 +f 193 202 230 +f 207 218 230 +f 194 199 231 +f 199 212 231 +f 194 202 232 +f 202 200 232 +f 210 194 232 +f 200 210 232 +f 205 192 233 +f 192 219 233 +f 222 205 233 +f 219 222 233 +f 198 211 234 +f 214 198 234 +f 206 214 234 +f 211 225 234 +f 202 194 236 +f 230 202 236 +f 194 231 236 +f 231 212 236 +f 221 200 237 +f 216 221 237 +f 211 198 238 +f 213 189 238 +f 198 213 238 +f 189 223 238 +f 223 211 238 +f 207 212 239 +f 192 215 239 +f 215 207 239 +f 212 229 239 +f 220 221 240 +f 221 208 240 +f 191 229 240 +f 229 220 240 +f 225 196 241 +f 206 234 241 +f 234 225 241 +f 196 235 241 +f 235 206 241 +f 219 192 242 +f 222 219 242 +f 196 226 242 +f 226 222 242 +f 229 191 242 +f 191 235 242 +f 235 196 242 +f 192 239 242 +f 239 229 242 +f 203 195 243 +f 217 190 243 +f 214 217 243 +f 212 207 244 +f 207 230 244 +f 236 212 244 +f 230 236 244 +f 218 204 245 +f 224 193 245 +f 204 228 245 +f 228 224 245 +f 193 230 245 +f 230 218 245 +f 201 196 246 +f 211 201 246 +f 196 225 246 +f 225 211 246 +f 195 224 247 +f 228 214 247 +f 224 228 247 +f 243 195 247 +f 214 243 247 +f 191 190 248 +f 190 217 248 +f 217 206 248 +f 235 191 248 +f 206 235 248 +f 200 193 249 +f 193 224 249 +f 224 216 249 +f 237 200 249 +f 216 237 249 +f 209 191 250 +f 221 209 250 +f 208 221 250 +f 191 240 250 +f 240 208 250 +f 209 203 251 +f 190 209 251 +f 243 190 251 +f 203 243 251 +f 189 213 252 +f 213 197 252 +f 197 215 252 +f 215 205 252 +f 223 189 252 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/601/601.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/601/601.urdf new file mode 100644 index 000000000..eaab6a9ba --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/601/601.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/602/602.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/602/602.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/602/602.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/602/602.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/602/602.obj new file mode 100644 index 000000000..9131207c3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/602/602.obj @@ -0,0 +1,2976 @@ +o convex_0 +v 0.016886 0.486424 -0.023082 +v -0.026684 0.367821 -0.122348 +v -0.029107 0.370248 -0.383787 +v 0.016886 0.469481 -0.025480 +v -0.019418 0.372664 -0.018216 +v -0.026684 0.387204 -0.347395 +v -0.021842 0.382349 -0.018216 +v -0.026684 0.370248 -0.383787 +v 0.021734 0.491267 -0.040044 +v 0.012044 0.479166 -0.064234 +v -0.021842 0.367821 -0.095688 +v -0.029107 0.379934 -0.383787 +v -0.026684 0.370248 -0.069101 +v -0.016994 0.394462 -0.325602 +v -0.024260 0.370248 -0.282053 +v 0.021734 0.484009 -0.023082 +v 0.012044 0.479166 -0.078763 +v -0.024260 0.382349 -0.376487 +v -0.024260 0.367821 -0.018216 +v 0.002365 0.450134 -0.023082 +v -0.029107 0.379934 -0.337733 +v -0.007320 0.404135 -0.018216 +v -0.029107 0.370248 -0.255394 +v -0.024260 0.377519 -0.047272 +v 0.021734 0.486424 -0.040044 +f 16 14 25 +f 2 3 8 +f 2 8 11 +f 8 3 12 +f 8 4 15 +f 4 11 15 +f 11 8 15 +f 4 8 16 +f 9 1 16 +f 8 14 16 +f 1 9 17 +f 6 10 17 +f 10 1 17 +f 12 6 17 +f 12 17 18 +f 8 12 18 +f 14 8 18 +f 9 14 18 +f 17 9 18 +f 5 7 19 +f 11 5 19 +f 2 11 19 +f 13 2 19 +f 7 13 19 +f 7 1 20 +f 10 6 20 +f 1 10 20 +f 12 3 21 +f 6 12 21 +f 1 7 22 +f 7 5 22 +f 11 4 22 +f 5 11 22 +f 4 16 22 +f 16 1 22 +f 3 2 23 +f 2 13 23 +f 21 3 23 +f 13 21 23 +f 13 7 24 +f 20 6 24 +f 7 20 24 +f 6 21 24 +f 21 13 24 +f 14 9 25 +f 9 16 25 +o convex_1 +v 0.016890 -0.251968 -0.032761 +v 0.002366 -0.351215 0.013235 +v 0.004787 -0.351215 0.013235 +v 0.002366 -0.302811 -0.153775 +v 0.007209 -0.251968 -0.083569 +v 0.012048 -0.288276 -0.146507 +v 0.012048 -0.254397 0.008407 +v 0.012048 -0.251968 -0.146507 +v 0.016890 -0.268922 0.001122 +v 0.002366 -0.336690 0.020520 +v 0.007208 -0.341528 0.020520 +v 0.002367 -0.295533 -0.146507 +v 0.012048 -0.295533 -0.124720 +v 0.016890 -0.251968 0.008407 +v 0.004787 -0.302811 -0.153775 +v 0.009628 -0.251968 -0.146507 +v 0.009628 -0.300391 0.020520 +v 0.007208 -0.341528 -0.003706 +v 0.002366 -0.329422 0.005967 +f 37 29 44 +f 28 27 29 +f 30 26 33 +f 26 31 33 +f 31 26 34 +f 29 27 35 +f 27 28 36 +f 35 27 36 +f 31 34 38 +f 26 30 39 +f 30 32 39 +f 34 26 39 +f 36 34 39 +f 28 29 40 +f 29 33 40 +f 33 31 40 +f 31 38 40 +f 30 33 41 +f 33 29 41 +f 37 30 41 +f 29 37 41 +f 32 35 42 +f 35 36 42 +f 39 32 42 +f 36 39 42 +f 36 28 43 +f 34 36 43 +f 38 34 43 +f 28 40 43 +f 40 38 43 +f 32 30 44 +f 35 32 44 +f 29 35 44 +f 30 37 44 +o convex_2 +v -0.012160 -0.300388 0.238384 +v 0.002362 -0.348803 0.020542 +v 0.002362 -0.339107 0.020542 +v 0.009629 -0.300388 0.032640 +v -0.000057 -0.300388 0.061708 +v -0.009738 -0.346379 0.119780 +v -0.000057 -0.348803 0.085903 +v -0.007315 -0.295545 0.219019 +v -0.009738 -0.336693 0.187557 +v -0.012160 -0.295545 0.214167 +v 0.007206 -0.341531 0.025372 +v 0.007206 -0.300388 0.020542 +v -0.012160 -0.334269 0.160947 +v 0.009629 -0.319761 0.022957 +v -0.002475 -0.295545 0.122217 +v -0.009738 -0.300388 0.238384 +v -0.012160 -0.336693 0.187557 +v -0.009738 -0.348803 0.122217 +f 53 61 62 +f 49 47 50 +f 47 46 50 +f 45 52 54 +f 51 46 55 +f 46 47 56 +f 47 49 56 +f 49 50 57 +f 54 49 57 +f 45 54 57 +f 48 52 58 +f 55 46 58 +f 52 55 58 +f 46 56 58 +f 56 48 58 +f 52 48 59 +f 49 54 59 +f 54 52 59 +f 56 49 59 +f 48 56 59 +f 52 45 60 +f 45 53 60 +f 53 51 60 +f 51 55 60 +f 55 52 60 +f 53 45 61 +f 45 57 61 +f 61 57 62 +f 50 46 62 +f 46 51 62 +f 51 53 62 +f 57 50 62 +o convex_3 +v -0.031523 -0.343964 0.369107 +v -0.038791 -0.438380 0.083495 +v -0.038791 -0.435932 0.081046 +v -0.002476 -0.356087 0.081046 +v -0.009740 -0.336698 0.134357 +v -0.043633 -0.336698 0.432072 +v -0.036362 -0.428686 0.129566 +v -0.038791 -0.431105 0.081046 +v -0.041208 -0.346383 0.434450 +v -0.004898 -0.336698 0.141597 +v -0.007323 -0.351250 0.083495 +v -0.029094 -0.423839 0.085909 +v -0.043633 -0.373028 0.335211 +v -0.038791 -0.336698 0.439313 +v -0.004902 -0.351250 0.122254 +v -0.038791 -0.348831 0.415106 +v -0.041208 -0.419002 0.144047 +v -0.002476 -0.348811 0.081046 +v -0.041208 -0.423829 0.146496 +v -0.033945 -0.435932 0.083495 +v -0.043633 -0.341546 0.446553 +f 71 76 83 +f 66 65 70 +f 68 67 70 +f 67 68 72 +f 70 67 73 +f 69 71 75 +f 63 72 76 +f 72 68 76 +f 72 63 77 +f 66 72 77 +f 74 66 77 +f 74 77 78 +f 71 69 78 +f 69 74 78 +f 76 71 78 +f 63 76 78 +f 77 63 78 +f 70 65 79 +f 68 70 79 +f 75 68 79 +f 66 70 80 +f 72 66 80 +f 67 72 80 +f 70 73 80 +f 73 67 80 +f 65 64 81 +f 64 69 81 +f 69 75 81 +f 79 65 81 +f 75 79 81 +f 64 65 82 +f 65 66 82 +f 69 64 82 +f 66 74 82 +f 74 69 82 +f 68 75 83 +f 75 71 83 +f 76 68 83 +o convex_4 +v -0.000056 -0.101861 -0.008532 +v -0.009738 -0.007442 0.059257 +v -0.012160 -0.007442 0.059257 +v -0.009738 -0.007442 -0.018216 +v -0.007317 -0.089753 0.059257 +v 0.004787 -0.097018 -0.006105 +v -0.012160 -0.017128 -0.015789 +v -0.000056 -0.101861 0.054403 +v -0.002478 -0.043773 -0.018216 +v -0.007317 -0.019549 0.059257 +v 0.004787 -0.101861 -0.018216 +v -0.009738 -0.065529 0.042308 +v -0.007317 -0.012285 -0.018216 +v -0.004895 -0.101861 0.047138 +v -0.000056 -0.097018 -0.018216 +v -0.012160 -0.021971 0.059257 +f 90 95 99 +f 86 85 87 +f 85 86 88 +f 86 87 90 +f 85 88 93 +f 88 91 93 +f 91 89 93 +f 89 92 93 +f 91 84 94 +f 89 91 94 +f 87 92 94 +f 92 89 94 +f 87 85 96 +f 92 87 96 +f 85 93 96 +f 93 92 96 +f 84 91 97 +f 91 88 97 +f 88 95 97 +f 95 90 97 +f 90 87 98 +f 87 94 98 +f 94 84 98 +f 84 97 98 +f 97 90 98 +f 88 86 99 +f 86 90 99 +f 95 88 99 +o convex_5 +v -0.043633 -0.331840 0.436943 +v -0.021849 -0.213239 0.473248 +v -0.024269 -0.213239 0.473248 +v -0.026690 -0.213239 0.412723 +v -0.033947 -0.322160 0.412723 +v -0.031531 -0.215668 0.417570 +v -0.038788 -0.331840 0.449029 +v -0.041209 -0.312468 0.453875 +v -0.041209 -0.336698 0.415146 +v -0.026690 -0.213239 0.470825 +v -0.026690 -0.230194 0.412723 +v -0.021849 -0.218085 0.473248 +v -0.036368 -0.336698 0.419987 +v -0.031531 -0.222931 0.412723 +v -0.043633 -0.336698 0.449029 +f 112 106 114 +f 102 101 103 +f 105 100 107 +f 102 103 109 +f 103 105 109 +f 107 102 109 +f 105 107 109 +f 103 101 110 +f 104 103 110 +f 104 110 111 +f 101 102 111 +f 102 107 111 +f 110 101 111 +f 108 104 112 +f 104 111 112 +f 111 106 112 +f 103 104 113 +f 100 105 113 +f 105 103 113 +f 104 108 113 +f 108 100 113 +f 107 100 114 +f 100 108 114 +f 106 111 114 +f 111 107 114 +f 108 112 114 +o convex_6 +v -0.026683 -0.174471 0.412733 +v 0.007208 -0.007442 0.516826 +v 0.007208 -0.007442 0.487767 +v -0.021838 -0.213227 0.461153 +v -0.000062 -0.012296 0.412733 +v -0.004900 -0.009879 0.417583 +v -0.026683 -0.210790 0.468397 +v -0.026683 -0.213227 0.412733 +v 0.002363 -0.019548 0.511966 +v -0.016997 -0.186577 0.480502 +v 0.007208 -0.021985 0.504711 +v -0.024262 -0.213227 0.475662 +v -0.024262 -0.198683 0.412733 +v -0.029107 -0.210790 0.441783 +v 0.007208 -0.024402 0.514391 +v 0.004783 -0.007442 0.516826 +v -0.002479 -0.007442 0.412733 +v 0.002363 -0.012296 0.436943 +f 125 127 132 +f 115 119 122 +f 124 118 125 +f 117 116 125 +f 122 118 126 +f 118 124 126 +f 118 122 127 +f 122 119 127 +f 125 118 127 +f 120 115 128 +f 115 122 128 +f 123 120 128 +f 121 123 128 +f 122 126 128 +f 126 121 128 +f 124 125 129 +f 125 116 129 +f 126 124 129 +f 126 129 130 +f 116 117 130 +f 120 123 130 +f 123 121 130 +f 121 126 130 +f 129 116 130 +f 119 115 131 +f 117 119 131 +f 115 120 131 +f 130 117 131 +f 120 130 131 +f 119 117 132 +f 117 125 132 +f 127 119 132 +o convex_7 +v 0.045936 0.324218 0.364303 +v 0.012050 0.016777 0.521668 +v 0.009627 0.016777 0.521668 +v -0.000053 0.019212 0.364303 +v -0.002476 0.040996 0.366768 +v 0.048365 0.307239 0.376426 +v 0.009627 -0.007442 0.511980 +v 0.038675 0.270944 0.400641 +v 0.004789 -0.002572 0.514398 +v -0.000053 -0.007442 0.403044 +v 0.007208 0.014375 0.516816 +v -0.002476 -0.007442 0.436948 +v 0.048365 0.312076 0.366737 +v 0.043512 0.319349 0.366737 +v 0.048365 0.316914 0.378844 +v 0.014474 0.026452 0.514398 +v -0.002476 0.019212 0.364303 +v -0.002476 0.040996 0.364303 +f 149 137 150 +f 134 135 141 +f 139 134 141 +f 135 140 143 +f 140 137 143 +f 141 135 143 +f 137 141 143 +f 141 137 144 +f 139 141 144 +f 142 139 144 +f 136 133 145 +f 138 139 145 +f 142 136 145 +f 139 142 145 +f 137 140 146 +f 146 140 147 +f 135 134 147 +f 140 135 147 +f 145 133 147 +f 138 145 147 +f 133 146 147 +f 139 138 148 +f 134 139 148 +f 147 134 148 +f 138 147 148 +f 133 136 149 +f 136 142 149 +f 144 137 149 +f 142 144 149 +f 146 133 150 +f 137 146 150 +f 133 149 150 +o convex_8 +v -0.002480 -0.300387 -0.207008 +v -0.036370 -0.414170 0.013217 +v -0.036370 -0.411731 0.005976 +v -0.000057 -0.346397 0.015662 +v -0.021841 -0.305232 -0.282078 +v 0.002366 -0.356076 0.015662 +v -0.017002 -0.310077 -0.284460 +v -0.000057 -0.300387 -0.141687 +v -0.036370 -0.409314 0.018075 +v -0.031528 -0.414170 0.015662 +v 0.002366 -0.305232 -0.163408 +v -0.019418 -0.300387 -0.303894 +v 0.002366 -0.348814 0.020489 +v -0.021841 -0.310077 -0.286905 +v -0.012160 -0.314922 -0.236064 +v 0.002366 -0.300387 -0.141687 +v -0.014583 -0.302815 -0.294177 +v 0.002366 -0.351242 -0.003741 +v -0.031528 -0.411731 0.005976 +v -0.031528 -0.414170 0.020489 +v -0.029106 -0.397208 0.020489 +f 159 170 171 +f 153 152 159 +f 155 153 159 +f 158 155 159 +f 158 151 162 +f 155 158 162 +f 156 161 163 +f 153 155 164 +f 155 162 164 +f 162 157 164 +f 158 154 166 +f 151 158 166 +f 161 151 166 +f 154 163 166 +f 163 161 166 +f 151 161 167 +f 157 162 167 +f 162 151 167 +f 165 157 167 +f 161 165 167 +f 156 160 168 +f 161 156 168 +f 165 161 168 +f 165 168 169 +f 152 153 169 +f 160 152 169 +f 153 164 169 +f 164 157 169 +f 157 165 169 +f 168 160 169 +f 159 152 170 +f 152 160 170 +f 160 156 170 +f 156 163 170 +f 170 163 171 +f 154 158 171 +f 158 159 171 +f 163 154 171 +o convex_9 +v -0.014581 -0.288250 -0.299049 +v 0.012050 -0.201137 -0.260326 +v 0.012050 -0.201137 -0.267584 +v -0.014581 -0.130929 -0.320839 +v -0.002473 -0.271311 -0.260326 +v -0.012160 -0.138221 -0.328104 +v -0.000056 -0.130929 -0.289375 +v 0.009625 -0.259212 -0.262747 +v 0.002365 -0.130929 -0.301470 +v -0.014581 -0.297962 -0.289375 +v -0.012160 -0.288250 -0.299049 +v 0.012050 -0.239837 -0.262747 +v -0.014581 -0.135785 -0.318417 +v 0.009625 -0.201137 -0.260326 +v -0.014581 -0.285814 -0.289375 +v 0.002363 -0.273748 -0.260326 +v -0.012160 -0.297962 -0.294212 +v -0.014581 -0.130929 -0.328104 +f 175 180 189 +f 173 174 180 +f 175 178 180 +f 178 173 180 +f 175 172 181 +f 172 177 182 +f 182 177 183 +f 174 173 183 +f 173 179 183 +f 177 180 183 +f 180 174 183 +f 179 182 183 +f 178 175 184 +f 176 178 184 +f 175 181 184 +f 176 173 185 +f 173 178 185 +f 178 176 185 +f 181 176 186 +f 176 184 186 +f 184 181 186 +f 173 176 187 +f 179 173 187 +f 176 181 187 +f 187 181 188 +f 181 172 188 +f 182 179 188 +f 172 182 188 +f 179 187 188 +f 172 175 189 +f 177 172 189 +f 180 177 189 +o convex_10 +v -0.026682 -0.406902 0.020520 +v -0.000063 -0.348803 0.081046 +v -0.004904 -0.348803 0.081046 +v -0.038791 -0.435959 0.081046 +v 0.004782 -0.353649 0.022944 +v -0.036365 -0.411748 0.020520 +v -0.000063 -0.348803 0.020520 +v -0.033942 -0.433537 0.081046 +v -0.038791 -0.428691 0.076199 +v -0.033942 -0.428691 0.054403 +v -0.021841 -0.406902 0.081046 +v 0.004782 -0.353649 0.032630 +v -0.009745 -0.358495 0.081046 +v -0.004904 -0.348803 0.068936 +f 196 195 203 +f 191 192 193 +f 192 191 196 +f 194 190 196 +f 191 194 196 +f 190 195 196 +f 191 193 197 +f 195 193 198 +f 190 194 199 +f 193 195 199 +f 195 190 199 +f 197 193 199 +f 194 197 199 +f 191 197 200 +f 200 197 201 +f 194 191 201 +f 197 194 201 +f 191 200 201 +f 193 192 202 +f 192 195 202 +f 198 193 202 +f 195 198 202 +f 195 192 203 +f 192 196 203 +o convex_11 +v -0.038791 0.193528 -0.122319 +v -0.024267 0.329071 -0.054531 +v -0.024267 0.329071 -0.059375 +v -0.033948 0.326643 -0.122319 +v -0.041212 0.215302 -0.054531 +v -0.029108 0.241920 -0.117475 +v -0.038791 0.193528 -0.054531 +v -0.029108 0.329071 -0.056953 +v -0.029108 0.329071 -0.122319 +v -0.033950 0.195943 -0.122319 +v -0.024267 0.314542 -0.054531 +v -0.041212 0.195943 -0.093255 +v -0.031528 0.329071 -0.086016 +f 211 212 216 +f 205 208 210 +f 205 206 211 +f 208 205 211 +f 204 207 212 +f 206 209 212 +f 211 206 212 +f 210 204 213 +f 204 212 213 +f 212 209 213 +f 206 205 214 +f 209 206 214 +f 205 210 214 +f 210 213 214 +f 213 209 214 +f 207 204 215 +f 208 207 215 +f 204 210 215 +f 210 208 215 +f 207 208 216 +f 208 211 216 +f 212 207 216 +o convex_12 +v 0.014466 -0.181754 -0.146529 +v -0.009735 -0.007442 -0.018216 +v -0.012155 -0.007442 -0.018216 +v -0.009735 -0.007442 -0.146529 +v 0.016886 -0.174485 -0.018216 +v 0.012047 -0.176908 -0.018216 +v -0.012155 -0.017133 -0.146529 +v 0.016886 -0.174485 -0.146529 +v -0.007316 -0.012287 -0.018216 +v 0.009627 -0.162371 -0.146529 +v -0.007316 -0.014710 -0.146529 +v -0.009735 -0.031671 -0.018216 +v -0.002474 -0.043768 -0.064223 +v -0.009735 -0.034076 -0.110193 +v 0.016886 -0.181754 -0.018216 +v 0.009627 -0.162371 -0.061811 +f 228 230 232 +f 219 218 220 +f 218 219 221 +f 221 219 222 +f 219 220 223 +f 220 217 223 +f 217 220 224 +f 220 218 225 +f 218 221 225 +f 217 222 226 +f 223 217 226 +f 224 220 227 +f 220 225 227 +f 222 219 228 +f 219 223 228 +f 221 224 229 +f 225 221 229 +f 224 227 229 +f 227 225 229 +f 223 226 230 +f 228 223 230 +f 222 217 231 +f 221 222 231 +f 217 224 231 +f 224 221 231 +f 226 222 232 +f 222 228 232 +f 230 226 232 +o convex_13 +v -0.000055 -0.021973 0.325551 +v -0.002476 -0.082493 0.255358 +v -0.004897 -0.080068 0.255358 +v -0.009739 -0.082493 0.354609 +v -0.007317 -0.007442 0.255358 +v -0.004897 -0.007442 0.354609 +v -0.004897 -0.082493 0.344923 +v -0.000055 -0.082493 0.255358 +v -0.002476 -0.007442 0.289264 +v -0.009739 -0.058279 0.354609 +v -0.002476 -0.034087 0.354609 +v -0.007317 -0.041345 0.255358 +v -0.000055 -0.082493 0.274740 +v -0.004897 -0.007442 0.255358 +v -0.007317 -0.007442 0.296522 +v -0.009739 -0.082493 0.342504 +v -0.002476 -0.007442 0.354609 +f 238 243 249 +f 234 235 237 +f 236 234 239 +f 234 237 240 +f 239 234 240 +f 237 238 241 +f 233 240 241 +f 236 238 242 +f 238 236 243 +f 236 239 243 +f 237 235 244 +f 240 233 245 +f 239 240 245 +f 233 243 245 +f 243 239 245 +f 240 237 246 +f 237 241 246 +f 241 240 246 +f 238 237 247 +f 237 242 247 +f 242 238 247 +f 235 234 248 +f 234 236 248 +f 236 242 248 +f 242 237 248 +f 244 235 248 +f 237 244 248 +f 233 241 249 +f 241 238 249 +f 243 233 249 +o convex_14 +v -0.029107 -0.205935 0.405445 +v -0.000055 -0.007442 0.412718 +v -0.004898 -0.007442 0.412718 +v -0.002478 -0.007442 0.354625 +v -0.017001 -0.213227 0.354625 +v -0.007321 -0.009879 0.361898 +v -0.024265 -0.203518 0.412718 +v -0.021844 -0.208352 0.354625 +v -0.026685 -0.172054 0.410289 +v -0.002478 -0.031674 0.354625 +v -0.009738 -0.019548 0.376415 +v -0.000055 -0.012296 0.412718 +v -0.024265 -0.213227 0.407867 +v -0.029107 -0.213227 0.412718 +v -0.007321 -0.024402 0.354625 +v -0.017001 -0.210770 0.359475 +f 261 262 265 +f 252 251 253 +f 252 253 255 +f 251 252 256 +f 253 254 257 +f 250 255 257 +f 253 251 259 +f 254 253 259 +f 255 250 260 +f 252 255 260 +f 250 258 260 +f 258 252 260 +f 251 256 261 +f 259 251 261 +f 254 259 261 +f 261 256 262 +f 256 252 263 +f 250 257 263 +f 257 254 263 +f 258 250 263 +f 252 258 263 +f 262 256 263 +f 254 262 263 +f 255 253 264 +f 253 257 264 +f 257 255 264 +f 254 261 265 +f 262 254 265 +o convex_15 +v -0.002478 0.198344 0.269880 +v -0.014579 0.113617 0.211780 +v -0.014579 0.176548 0.211780 +v -0.004899 0.113617 0.318304 +v -0.009738 0.113617 0.223886 +v -0.007320 0.198344 0.214209 +v -0.002478 0.116039 0.294092 +v -0.004899 0.198344 0.269880 +v -0.012159 0.116039 0.265042 +v -0.002478 0.193492 0.250517 +v -0.012159 0.198344 0.219058 +v -0.002478 0.113617 0.318304 +v -0.014579 0.137826 0.235992 +f 269 276 278 +f 269 267 270 +f 270 267 271 +f 267 268 271 +f 269 266 273 +f 266 271 273 +f 267 269 274 +f 270 271 275 +f 271 266 275 +f 266 272 275 +f 272 270 275 +f 271 268 276 +f 269 273 276 +f 273 271 276 +f 266 269 277 +f 269 270 277 +f 272 266 277 +f 270 272 277 +f 268 267 278 +f 267 274 278 +f 274 269 278 +f 276 268 278 +o convex_16 +v -0.014584 -0.000178 -0.361997 +v -0.026684 0.113609 -0.330525 +v -0.029107 0.113609 -0.330525 +v -0.019426 0.113609 -0.364419 +v -0.012164 -0.005013 -0.330525 +v -0.019426 -0.007442 -0.364419 +v -0.021842 0.021612 -0.330525 +v -0.017004 0.101499 -0.361997 +v -0.024264 0.113609 -0.357150 +v -0.029107 0.094223 -0.332947 +v -0.024264 0.113609 -0.332947 +v -0.017004 -0.007442 -0.330525 +v -0.019426 0.113609 -0.352310 +f 289 283 291 +f 281 280 282 +f 280 281 283 +f 282 279 284 +f 279 283 284 +f 283 281 285 +f 279 282 286 +f 283 279 286 +f 281 282 287 +f 282 284 287 +f 287 284 288 +f 284 285 288 +f 285 281 288 +f 281 287 288 +f 282 280 289 +f 280 283 289 +f 284 283 290 +f 283 285 290 +f 285 284 290 +f 286 282 291 +f 283 286 291 +f 282 289 291 +o convex_17 +v -0.017002 0.014361 -0.081162 +v -0.024265 0.113609 -0.001269 +v -0.024265 0.113609 -0.008534 +v -0.009739 0.019207 -0.003693 +v -0.012160 -0.007442 -0.001269 +v -0.009739 0.002251 -0.081162 +v -0.029107 0.096653 -0.081162 +v -0.029107 0.103916 -0.013375 +v -0.026686 0.113609 -0.081162 +v -0.014581 -0.000178 -0.027905 +v -0.029107 0.113609 -0.003693 +v -0.012160 -0.007442 -0.081162 +v -0.009739 -0.007442 -0.001269 +v -0.021844 0.101499 -0.003693 +v -0.029107 0.113609 -0.081162 +f 302 300 306 +f 297 292 298 +f 293 294 300 +f 297 298 300 +f 298 292 301 +f 296 299 301 +f 299 298 301 +f 296 293 302 +f 299 296 302 +f 298 299 302 +f 293 300 302 +f 292 297 303 +f 301 292 303 +f 296 301 303 +f 295 293 304 +f 293 296 304 +f 297 295 304 +f 303 297 304 +f 296 303 304 +f 294 293 305 +f 293 295 305 +f 295 297 305 +f 300 294 305 +f 297 300 305 +f 300 298 306 +f 298 302 306 +o convex_18 +v -0.014581 0.053083 0.199658 +v -0.012159 -0.007442 0.102862 +v -0.009740 -0.007442 0.102862 +v -0.014581 0.113609 0.102862 +v -0.007319 0.050666 0.243253 +v -0.009740 -0.007442 0.243253 +v -0.012159 0.113609 0.243253 +v -0.012159 0.113609 0.102862 +v -0.014581 0.113609 0.226293 +v -0.009740 0.113609 0.223861 +v -0.007319 -0.007442 0.197239 +v -0.009740 0.040997 0.102862 +v -0.014581 0.038568 0.102862 +v -0.012159 -0.007442 0.202077 +v -0.012159 0.043403 0.243253 +v -0.007319 -0.007442 0.243253 +v -0.014581 0.038568 0.192402 +f 320 321 323 +f 309 308 310 +f 308 309 312 +f 312 311 313 +f 309 310 314 +f 310 313 314 +f 310 307 315 +f 313 310 315 +f 313 311 316 +f 314 313 316 +f 312 309 317 +f 309 314 318 +f 316 311 318 +f 314 316 318 +f 317 309 318 +f 311 317 318 +f 310 308 319 +f 307 310 319 +f 308 312 320 +f 319 308 320 +f 312 313 321 +f 315 307 321 +f 313 315 321 +f 320 312 321 +f 311 312 322 +f 312 317 322 +f 317 311 322 +f 307 319 323 +f 319 320 323 +f 321 307 323 +o convex_19 +v -0.000054 0.241890 0.281988 +v 0.004785 0.072452 0.364303 +v 0.004785 0.079725 0.361874 +v -0.000054 0.241890 0.240836 +v -0.002475 0.024031 0.364303 +v 0.004785 0.249185 0.286834 +v 0.004785 0.050721 0.361874 +v -0.002475 0.244336 0.240836 +v -0.002475 0.120872 0.332808 +v 0.004785 0.239466 0.277154 +v 0.002365 0.239488 0.294098 +v -0.000054 0.024031 0.361874 +v 0.002365 0.079725 0.361874 +v -0.002475 0.244336 0.262639 +v -0.002475 0.045828 0.364303 +f 336 332 338 +f 326 325 329 +f 325 328 330 +f 329 325 330 +f 329 327 331 +f 331 328 332 +f 327 329 333 +f 330 327 333 +f 329 330 333 +f 329 324 334 +f 326 329 334 +f 324 332 334 +f 327 330 335 +f 330 328 335 +f 328 331 335 +f 331 327 335 +f 325 326 336 +f 326 334 336 +f 334 332 336 +f 324 329 337 +f 329 331 337 +f 332 324 337 +f 331 332 337 +f 328 325 338 +f 332 328 338 +f 325 336 338 +o convex_20 +v 0.009627 0.319380 0.274708 +v -0.002476 0.244343 0.240827 +v -0.002476 0.249192 0.235990 +v 0.019313 0.314539 0.284402 +v -0.000054 0.324236 0.185149 +v -0.000054 0.246775 0.279555 +v -0.002476 0.319380 0.214202 +v -0.000054 0.244343 0.240827 +v 0.007209 0.246775 0.286831 +v 0.016890 0.324236 0.286831 +v 0.002367 0.307274 0.262615 +v 0.002367 0.256449 0.286831 +v -0.002476 0.324236 0.185149 +v -0.002476 0.258881 0.255349 +v 0.009627 0.321804 0.231153 +f 343 348 353 +f 341 340 345 +f 340 341 346 +f 341 343 346 +f 344 340 347 +f 340 346 347 +f 346 342 347 +f 345 339 348 +f 347 342 348 +f 339 345 349 +f 344 347 350 +f 348 339 350 +f 347 348 350 +f 339 349 350 +f 349 344 350 +f 343 341 351 +f 341 345 351 +f 348 343 351 +f 345 348 351 +f 340 344 352 +f 345 340 352 +f 344 349 352 +f 349 345 352 +f 342 346 353 +f 346 343 353 +f 348 342 353 +o convex_21 +v -0.033953 0.285492 -0.122319 +v -0.043632 0.244347 -0.257895 +v -0.041211 0.244347 -0.257895 +v -0.033950 0.321807 -0.257895 +v -0.031530 0.244347 -0.146538 +v -0.033950 0.321807 -0.122319 +v -0.043632 0.273397 -0.236104 +v -0.031530 0.319381 -0.253025 +v -0.036373 0.244347 -0.144110 +v -0.031530 0.321807 -0.122319 +v -0.036371 0.321807 -0.257895 +v -0.031530 0.244347 -0.122319 +v -0.038790 0.244347 -0.238519 +v -0.036371 0.312124 -0.146538 +v -0.043632 0.275816 -0.257895 +v -0.043632 0.244347 -0.236104 +f 362 360 369 +f 356 355 357 +f 355 356 358 +f 356 357 361 +f 355 358 362 +f 354 359 362 +f 359 354 363 +f 357 359 363 +f 361 357 363 +f 358 361 363 +f 357 355 364 +f 359 357 364 +f 354 362 365 +f 362 358 365 +f 363 354 365 +f 358 363 365 +f 358 356 366 +f 356 361 366 +f 361 358 366 +f 362 359 367 +f 360 362 367 +f 359 364 367 +f 367 364 368 +f 355 360 368 +f 364 355 368 +f 360 367 368 +f 360 355 369 +f 355 362 369 +o convex_22 +v -0.029107 0.118459 -0.337798 +v -0.033949 0.321815 -0.323271 +v -0.021844 0.244329 -0.366830 +v -0.031528 0.312114 -0.364413 +v -0.026686 0.125715 -0.323271 +v -0.038791 0.273391 -0.323271 +v -0.021844 0.113609 -0.369252 +v -0.019423 0.125715 -0.354725 +v -0.026686 0.321815 -0.369252 +v -0.038791 0.309709 -0.332950 +v -0.031528 0.113609 -0.323271 +v -0.019423 0.113609 -0.369252 +v -0.036370 0.321815 -0.345051 +v -0.024265 0.297603 -0.366830 +v -0.019423 0.186244 -0.369252 +v -0.026686 0.113609 -0.323271 +v -0.029107 0.283031 -0.369252 +f 378 376 386 +f 374 371 375 +f 372 371 377 +f 371 374 377 +f 375 371 379 +f 373 376 379 +f 376 370 379 +f 374 375 380 +f 370 376 380 +f 375 379 380 +f 379 370 380 +f 376 378 381 +f 380 376 381 +f 371 378 382 +f 378 373 382 +f 379 371 382 +f 373 379 382 +f 371 372 383 +f 378 371 383 +f 378 383 384 +f 372 377 384 +f 377 381 384 +f 381 378 384 +f 383 372 384 +f 377 374 385 +f 374 380 385 +f 381 377 385 +f 380 381 385 +f 376 373 386 +f 373 378 386 +o convex_23 +v 0.016892 -0.201133 -0.194964 +v 0.007208 -0.256800 -0.260316 +v 0.007208 -0.237430 -0.260316 +v 0.009629 -0.256800 -0.146540 +v 0.016892 -0.249535 -0.248199 +v 0.009629 -0.201133 -0.260316 +v 0.012050 -0.201133 -0.146540 +v 0.014471 -0.256800 -0.161074 +v 0.014471 -0.220497 -0.260316 +v 0.014471 -0.201133 -0.146540 +v 0.009629 -0.235010 -0.146540 +v 0.012050 -0.256800 -0.257877 +v 0.009629 -0.201133 -0.233676 +v 0.014471 -0.239850 -0.146540 +v 0.016892 -0.251955 -0.231248 +v 0.016892 -0.203553 -0.211881 +f 395 392 402 +f 389 388 390 +f 388 389 392 +f 387 392 393 +f 390 388 394 +f 388 392 395 +f 387 393 396 +f 393 390 396 +f 389 390 397 +f 390 393 397 +f 394 388 398 +f 395 391 398 +f 388 395 398 +f 392 389 399 +f 393 392 399 +f 389 397 399 +f 397 393 399 +f 390 394 400 +f 387 396 400 +f 396 390 400 +f 391 387 401 +f 394 398 401 +f 398 391 401 +f 400 394 401 +f 387 400 401 +f 387 391 402 +f 392 387 402 +f 391 395 402 +o convex_24 +v -0.002476 0.372656 0.078625 +v -0.002476 0.324236 0.180296 +v -0.000054 0.324236 0.180296 +v 0.041102 0.372656 0.279568 +v 0.014471 0.329080 0.277109 +v 0.033837 0.372656 0.272290 +v -0.002476 0.370234 0.102838 +v 0.002369 0.370234 0.088322 +v 0.019313 0.326658 0.267432 +v -0.002476 0.326658 0.199651 +v 0.041102 0.370234 0.274710 +v 0.019313 0.324236 0.279568 +v -0.000054 0.348446 0.124632 +v 0.014471 0.324236 0.279568 +f 414 406 416 +f 406 403 408 +f 407 406 408 +f 407 408 409 +f 403 404 409 +f 408 403 409 +f 403 406 410 +f 407 409 412 +f 409 404 412 +f 410 406 413 +f 411 413 414 +f 404 405 414 +f 405 411 414 +f 413 406 414 +f 404 403 415 +f 405 404 415 +f 403 410 415 +f 411 405 415 +f 410 413 415 +f 413 411 415 +f 406 407 416 +f 412 404 416 +f 407 412 416 +f 404 414 416 +o convex_25 +v 0.048365 0.399306 0.274681 +v -0.024265 0.365393 -0.018200 +v -0.024265 0.375091 -0.018200 +v 0.024143 0.484002 -0.018171 +v 0.016891 0.486430 -0.020599 +v 0.036250 0.377519 0.274681 +v 0.041092 0.372676 0.272253 +v -0.021841 0.365393 -0.018200 +v -0.012158 0.367821 0.061676 +v 0.048365 0.396879 0.260169 +v 0.036250 0.428352 0.180292 +v 0.021733 0.491273 -0.023028 +v -0.004892 0.365393 0.095588 +v -0.024265 0.367821 0.001169 +v -0.012158 0.367821 0.022967 +v 0.043516 0.394463 0.277110 +v 0.036250 0.372676 0.277110 +v 0.024143 0.488845 -0.013343 +v -0.002475 0.365393 0.076218 +v 0.019315 0.491273 -0.020599 +v 0.002367 0.430767 -0.023028 +v -0.002475 0.435585 -0.023028 +f 437 418 438 +f 417 423 426 +f 421 425 427 +f 425 422 427 +f 418 424 429 +f 429 425 430 +f 419 418 430 +f 425 421 430 +f 418 429 430 +f 424 420 431 +f 420 426 431 +f 426 423 431 +f 417 427 432 +f 427 422 432 +f 423 417 433 +f 422 425 433 +f 429 423 433 +f 425 429 433 +f 417 432 433 +f 432 422 433 +f 417 426 434 +f 426 420 434 +f 420 428 434 +f 423 429 435 +f 429 424 435 +f 424 431 435 +f 431 423 435 +f 427 417 436 +f 421 427 436 +f 428 421 436 +f 417 434 436 +f 434 428 436 +f 420 424 437 +f 424 418 437 +f 428 420 437 +f 428 437 438 +f 418 419 438 +f 421 428 438 +f 419 430 438 +f 430 421 438 +o convex_26 +v 0.055628 0.375065 0.342510 +v 0.038683 0.324241 0.337667 +v 0.043521 0.324241 0.337667 +v 0.048364 0.396859 0.279574 +v 0.014475 0.326672 0.282004 +v 0.050781 0.375065 0.347353 +v 0.045943 0.326672 0.373987 +v 0.021738 0.326672 0.279574 +v 0.048364 0.387163 0.279574 +v 0.048360 0.324241 0.349774 +v 0.045939 0.394428 0.289259 +v 0.050781 0.326672 0.371557 +v 0.038679 0.362960 0.279574 +v 0.055628 0.375065 0.349774 +v 0.050777 0.389587 0.286847 +v 0.014475 0.324248 0.279574 +v 0.038679 0.358140 0.327973 +f 444 449 455 +f 446 442 447 +f 440 441 448 +f 445 440 448 +f 441 446 448 +f 442 443 449 +f 448 439 450 +f 445 448 450 +f 446 447 451 +f 448 446 451 +f 447 448 451 +f 439 442 452 +f 444 445 452 +f 442 449 452 +f 449 444 452 +f 450 439 452 +f 445 450 452 +f 442 439 453 +f 447 442 453 +f 448 447 453 +f 439 448 453 +f 441 440 454 +f 443 442 454 +f 445 443 454 +f 440 445 454 +f 446 441 454 +f 442 446 454 +f 443 445 455 +f 445 444 455 +f 449 443 455 +o convex_27 +v -0.024265 0.217699 0.105243 +v -0.029109 0.113609 -0.010949 +v -0.031532 0.123313 -0.010949 +v -0.038791 0.222540 -0.013374 +v -0.043633 0.212858 -0.001266 +v -0.026686 0.198344 0.114940 +v -0.024269 0.116051 -0.006101 +v -0.024265 0.222540 0.081040 +v -0.026690 0.120881 0.027786 +v -0.029107 0.222540 0.085851 +v -0.024269 0.191061 0.107667 +v -0.043633 0.217699 -0.013374 +v -0.024269 0.113609 0.018102 +v -0.043633 0.220120 -0.003677 +v -0.041211 0.200765 0.006019 +f 464 461 470 +f 457 459 462 +f 462 459 463 +f 456 462 463 +f 458 457 464 +f 461 456 465 +f 463 459 465 +f 456 463 465 +f 456 461 466 +f 461 464 466 +f 457 458 467 +f 459 457 467 +f 458 460 467 +f 462 456 468 +f 457 462 468 +f 464 457 468 +f 456 466 468 +f 466 464 468 +f 460 461 469 +f 465 459 469 +f 461 465 469 +f 459 467 469 +f 467 460 469 +f 460 458 470 +f 461 460 470 +f 458 464 470 +o convex_28 +v -0.026685 -0.075238 -0.412825 +v -0.014581 -0.295509 -0.289377 +v -0.017005 -0.295509 -0.289377 +v -0.017003 -0.007482 -0.354751 +v -0.024265 -0.012300 -0.441891 +v -0.019424 -0.007482 -0.354751 +v -0.021843 -0.278563 -0.313592 +v -0.014581 -0.300383 -0.301485 +v -0.017003 -0.017145 -0.378936 +v -0.026685 -0.012300 -0.417677 +v -0.014581 -0.135797 -0.323281 +v -0.019423 -0.297917 -0.291811 +v -0.017005 -0.278563 -0.316026 +v -0.021843 -0.254362 -0.316026 +v -0.026685 -0.007482 -0.441891 +v -0.026685 -0.092184 -0.398284 +v -0.014581 -0.130951 -0.332970 +v -0.021844 -0.014737 -0.422499 +v -0.017003 -0.007482 -0.378936 +v -0.019424 -0.046220 -0.345077 +f 486 484 490 +f 473 472 481 +f 472 478 481 +f 472 473 482 +f 478 472 482 +f 477 478 482 +f 471 475 483 +f 477 471 483 +f 475 478 483 +f 478 477 483 +f 477 482 484 +f 475 471 485 +f 476 474 485 +f 471 480 485 +f 480 476 485 +f 471 477 486 +f 480 471 486 +f 477 484 486 +f 478 479 487 +f 474 481 487 +f 481 478 487 +f 478 475 488 +f 479 478 488 +f 479 488 489 +f 475 485 489 +f 485 474 489 +f 474 487 489 +f 487 479 489 +f 488 475 489 +f 474 476 490 +f 476 480 490 +f 473 481 490 +f 481 474 490 +f 482 473 490 +f 484 482 490 +f 480 486 490 +o convex_29 +v -0.007315 -0.101869 0.081023 +v 0.014466 -0.181742 -0.018216 +v 0.016887 -0.181742 -0.018216 +v 0.004789 -0.181742 0.122203 +v -0.002474 -0.104285 0.122203 +v 0.004786 -0.101869 -0.018216 +v -0.000050 -0.174478 0.119770 +v 0.002365 -0.116389 -0.013364 +v 0.016887 -0.176902 -0.008525 +v 0.012046 -0.181742 -0.010945 +v 0.007205 -0.109125 -0.013364 +v -0.007315 -0.101869 0.122203 +v 0.007203 -0.179318 0.110093 +v -0.004895 -0.143021 0.119770 +v -0.000055 -0.104285 -0.006106 +v 0.002369 -0.181742 0.102822 +f 504 498 506 +f 492 493 494 +f 493 492 496 +f 496 492 498 +f 492 494 500 +f 498 492 500 +f 493 496 501 +f 496 495 501 +f 499 493 501 +f 495 499 501 +f 494 495 502 +f 495 496 502 +f 496 491 502 +f 494 493 503 +f 495 494 503 +f 493 499 503 +f 499 495 503 +f 497 494 504 +f 494 502 504 +f 502 491 504 +f 491 496 505 +f 496 498 505 +f 504 491 505 +f 498 504 505 +f 494 497 506 +f 500 494 506 +f 498 500 506 +f 497 504 506 +o convex_30 +v -0.002480 0.329052 0.182706 +v -0.024263 0.198357 0.110135 +v -0.024263 0.324203 0.010836 +v -0.002480 0.200800 0.245643 +v -0.004900 0.270953 0.231138 +v -0.019420 0.321785 0.027800 +v -0.024263 0.203218 0.131866 +v -0.024263 0.329052 0.030235 +v -0.004900 0.198357 0.269884 +v -0.002480 0.324203 0.163384 +v -0.021842 0.198357 0.110135 +v -0.004900 0.319367 0.194827 +v -0.021842 0.329052 0.010836 +v -0.002480 0.198357 0.269884 +v -0.014581 0.205637 0.153673 +v -0.002480 0.270953 0.231138 +v -0.004900 0.329052 0.182706 +f 514 518 523 +f 509 508 513 +f 509 513 514 +f 513 508 515 +f 511 513 515 +f 507 510 516 +f 510 512 516 +f 508 509 517 +f 515 508 517 +f 513 511 518 +f 514 513 518 +f 514 507 519 +f 509 514 519 +f 507 516 519 +f 516 512 519 +f 517 509 519 +f 512 517 519 +f 510 507 520 +f 511 515 520 +f 517 510 520 +f 515 517 520 +f 512 510 521 +f 517 512 521 +f 510 517 521 +f 507 518 522 +f 518 511 522 +f 520 507 522 +f 511 520 522 +f 507 514 523 +f 518 507 523 +o convex_31 +v -0.000055 -0.101852 -0.303896 +v -0.012160 -0.007454 -0.301473 +v -0.014580 -0.007454 -0.301473 +v -0.014580 -0.007454 -0.359577 +v -0.017002 -0.130901 -0.325691 +v -0.000055 -0.130901 -0.301473 +v -0.014580 -0.123638 -0.335360 +v -0.017002 -0.007454 -0.359577 +v -0.004898 -0.130901 -0.301473 +v -0.000055 -0.130901 -0.306319 +v -0.009738 -0.021978 -0.332937 +v -0.017002 -0.007454 -0.330525 +v -0.004898 -0.051028 -0.301473 +v -0.002477 -0.087327 -0.318428 +f 527 534 537 +f 526 525 527 +f 525 526 529 +f 530 528 531 +f 526 527 531 +f 527 530 531 +f 526 528 532 +f 529 526 532 +f 528 529 532 +f 529 528 533 +f 524 529 533 +f 530 527 533 +f 528 530 533 +f 527 525 534 +f 528 526 535 +f 531 528 535 +f 526 531 535 +f 525 529 536 +f 529 524 536 +f 534 525 536 +f 524 534 536 +f 524 533 537 +f 533 527 537 +f 534 524 537 +o convex_32 +v 0.007206 -0.130901 -0.228843 +v -0.009738 -0.007454 -0.146529 +v -0.012160 -0.007454 -0.146529 +v -0.009738 -0.007454 -0.228843 +v 0.009629 -0.126055 -0.146529 +v 0.002364 -0.121210 -0.219158 +v 0.004785 -0.128472 -0.146529 +v -0.012160 -0.021978 -0.228843 +v -0.012160 -0.019562 -0.156214 +v 0.007206 -0.116376 -0.221567 +v -0.007315 -0.014716 -0.158639 +v -0.007315 -0.017145 -0.221567 +v 0.004785 -0.130901 -0.228843 +v 0.009629 -0.128472 -0.197355 +f 549 542 551 +f 540 539 541 +f 539 540 542 +f 542 540 544 +f 540 541 545 +f 541 538 545 +f 544 540 546 +f 543 544 546 +f 545 543 546 +f 540 545 546 +f 538 541 547 +f 541 539 548 +f 539 542 548 +f 541 548 549 +f 547 541 549 +f 548 542 549 +f 538 544 550 +f 544 543 550 +f 543 545 550 +f 545 538 550 +f 544 538 551 +f 542 544 551 +f 538 547 551 +f 547 549 551 +o convex_33 +v 0.002366 -0.181754 0.122203 +v 0.016890 -0.215648 0.008415 +v 0.019313 -0.215648 0.008415 +v -0.000055 -0.215648 0.122203 +v 0.009629 -0.181754 0.020523 +v 0.007209 -0.186601 0.119775 +v 0.014469 -0.181754 0.027785 +v 0.004787 -0.215648 0.119775 +v 0.019313 -0.208382 0.018106 +v 0.014469 -0.215648 0.013261 +v -0.000055 -0.215648 0.114929 +v 0.014469 -0.181754 0.008415 +v 0.002366 -0.181754 0.107667 +f 562 552 564 +f 553 554 555 +f 552 555 557 +f 556 552 558 +f 552 557 558 +f 555 554 559 +f 557 555 559 +f 557 559 560 +f 558 557 560 +f 559 554 560 +f 553 555 561 +f 556 561 562 +f 555 552 562 +f 561 555 562 +f 554 553 563 +f 556 558 563 +f 560 554 563 +f 558 560 563 +f 553 561 563 +f 561 556 563 +f 552 556 564 +f 556 562 564 +o convex_34 +v -0.012165 -0.222923 0.320747 +v -0.014585 -0.283436 0.255358 +v -0.014585 -0.278585 0.255358 +v -0.033949 -0.283436 0.412723 +v -0.029104 -0.213234 0.403019 +v -0.014585 -0.283436 0.303788 +v -0.026684 -0.235024 0.412723 +v -0.014585 -0.213234 0.303788 +v -0.033949 -0.281004 0.398182 +v -0.029104 -0.283436 0.403019 +v -0.024263 -0.213234 0.405437 +v -0.012165 -0.278585 0.255358 +v -0.014585 -0.254375 0.267481 +v -0.012165 -0.213234 0.303788 +v -0.031525 -0.227761 0.410274 +v -0.012165 -0.273740 0.294099 +f 576 565 580 +f 568 566 570 +f 567 566 573 +f 566 568 573 +f 568 570 574 +f 571 568 574 +f 571 565 575 +f 572 569 575 +f 566 567 576 +f 570 566 576 +f 569 572 577 +f 567 573 577 +f 576 567 577 +f 575 565 578 +f 572 575 578 +f 565 576 578 +f 577 572 578 +f 576 577 578 +f 568 571 579 +f 573 568 579 +f 571 575 579 +f 575 569 579 +f 569 577 579 +f 577 573 579 +f 565 571 580 +f 574 570 580 +f 571 574 580 +f 570 576 580 +o convex_35 +v -0.038791 0.174143 -0.301465 +v -0.041211 0.263702 -0.257895 +v -0.033951 0.261280 -0.318413 +v -0.033951 0.169292 -0.265170 +v -0.046052 0.239489 -0.286954 +v -0.031528 0.169292 -0.323256 +v -0.038791 0.263702 -0.323256 +v -0.038791 0.169292 -0.257895 +v -0.046052 0.261280 -0.267588 +v -0.036372 0.169292 -0.315988 +v -0.031528 0.220119 -0.323256 +v -0.043632 0.212883 -0.257895 +v -0.046052 0.263702 -0.291785 +f 587 590 593 +f 583 582 584 +f 582 583 587 +f 584 582 588 +f 586 584 588 +f 581 585 590 +f 587 586 590 +f 588 581 590 +f 586 588 590 +f 583 584 591 +f 584 586 591 +f 587 583 591 +f 586 587 591 +f 585 581 592 +f 588 582 592 +f 581 588 592 +f 582 589 592 +f 589 585 592 +f 582 587 593 +f 589 582 593 +f 585 589 593 +f 590 585 593 +o convex_36 +v 0.004787 -0.179319 0.139160 +v -0.000056 -0.213227 0.122216 +v 0.002365 -0.213227 0.122216 +v -0.009739 -0.213227 0.255358 +v -0.004896 -0.138183 0.122216 +v -0.002476 -0.138183 0.255358 +v -0.007317 -0.140615 0.255358 +v -0.004896 -0.213227 0.233565 +v -0.000056 -0.140615 0.122216 +v -0.009739 -0.213227 0.231128 +v 0.004787 -0.208372 0.124640 +v -0.002476 -0.213227 0.134324 +v -0.000056 -0.138183 0.221444 +v -0.009739 -0.184167 0.252921 +v -0.004896 -0.189008 0.255358 +v 0.004787 -0.172084 0.122216 +v -0.002476 -0.147880 0.255358 +f 608 604 610 +f 595 596 597 +f 596 595 598 +f 599 598 600 +f 597 599 600 +f 597 596 601 +f 596 598 602 +f 595 597 603 +f 601 596 604 +f 598 595 605 +f 595 603 605 +f 603 598 605 +f 598 599 606 +f 602 598 606 +f 600 598 607 +f 597 600 607 +f 603 597 607 +f 598 603 607 +f 599 597 608 +f 597 601 608 +f 601 604 608 +f 596 602 609 +f 594 604 609 +f 604 596 609 +f 606 594 609 +f 602 606 609 +f 604 594 610 +f 594 606 610 +f 606 599 610 +f 599 608 610 +o convex_37 +v 0.021734 -0.210817 -0.006114 +v 0.009629 -0.251959 -0.146529 +v 0.009629 -0.230168 -0.146529 +v 0.012051 -0.181757 0.008415 +v 0.016890 -0.181757 -0.146529 +v 0.014471 -0.251959 0.008415 +v 0.021734 -0.232587 -0.018217 +v 0.009629 -0.251959 -0.059411 +v 0.014471 -0.237425 -0.146529 +v 0.012051 -0.191446 -0.146529 +v 0.019312 -0.251959 -0.008541 +v 0.016890 -0.181757 -0.001276 +v 0.019312 -0.191446 -0.117469 +v 0.009629 -0.213236 -0.127161 +v 0.019312 -0.232587 0.008415 +v 0.021734 -0.213236 -0.054542 +v 0.012051 -0.251959 -0.146529 +v 0.019312 -0.203540 0.008415 +v 0.014473 -0.181757 -0.146529 +f 615 620 629 +f 612 613 615 +f 613 612 618 +f 612 616 618 +f 616 614 618 +f 612 615 619 +f 615 613 620 +f 616 612 621 +f 619 617 621 +f 615 614 622 +f 615 622 623 +f 619 615 623 +f 622 611 623 +f 613 618 624 +f 618 614 624 +f 620 613 624 +f 614 620 624 +f 614 616 625 +f 617 611 625 +f 616 621 625 +f 621 617 625 +f 611 617 626 +f 617 619 626 +f 623 611 626 +f 619 623 626 +f 612 619 627 +f 621 612 627 +f 619 621 627 +f 611 622 628 +f 622 614 628 +f 614 625 628 +f 625 611 628 +f 614 615 629 +f 620 614 629 +o convex_38 +v -0.000056 -0.099440 0.255358 +v -0.004896 -0.138172 0.122203 +v -0.007318 -0.106708 0.122203 +v -0.004896 -0.138172 0.255358 +v -0.000056 -0.138172 0.180308 +v -0.002477 -0.104285 0.122203 +v -0.004896 -0.099440 0.255358 +v -0.007318 -0.099440 0.182746 +v -0.000056 -0.138172 0.223868 +v -0.002477 -0.138172 0.122203 +v -0.004896 -0.099440 0.122203 +v -0.000056 -0.099440 0.226305 +f 635 640 641 +f 632 631 633 +f 633 631 634 +f 631 632 635 +f 633 630 636 +f 636 630 637 +f 632 633 637 +f 633 636 637 +f 630 633 638 +f 634 630 638 +f 633 634 638 +f 634 631 639 +f 631 635 639 +f 635 634 639 +f 635 632 640 +f 637 630 640 +f 632 637 640 +f 630 634 641 +f 634 635 641 +f 640 630 641 +o convex_39 +v -0.007319 -0.213227 0.255358 +v -0.007321 -0.082518 0.354609 +v -0.004900 -0.082518 0.344922 +v -0.002480 -0.082518 0.255358 +v -0.019423 -0.181727 0.352190 +v -0.014578 -0.213227 0.342503 +v -0.012159 -0.210770 0.267474 +v -0.012161 -0.089786 0.352190 +v -0.000057 -0.101889 0.257787 +v -0.009740 -0.210770 0.311032 +v -0.004900 -0.092204 0.257787 +v -0.019423 -0.213227 0.354609 +v -0.009740 -0.181727 0.255358 +v -0.012161 -0.159938 0.354609 +v -0.007319 -0.213227 0.272323 +v -0.002480 -0.084949 0.311032 +v -0.019423 -0.213227 0.337664 +v -0.000057 -0.082518 0.255358 +f 657 650 659 +f 643 644 645 +f 643 645 649 +f 649 645 652 +f 646 649 652 +f 642 647 653 +f 643 649 653 +f 649 646 653 +f 645 642 654 +f 642 648 654 +f 652 645 654 +f 646 652 654 +f 644 643 655 +f 647 651 655 +f 651 644 655 +f 643 653 655 +f 653 647 655 +f 647 642 656 +f 642 650 656 +f 651 647 656 +f 651 656 657 +f 644 651 657 +f 656 650 657 +f 648 642 658 +f 642 653 658 +f 653 646 658 +f 654 648 658 +f 646 654 658 +f 645 644 659 +f 642 645 659 +f 650 642 659 +f 644 657 659 +o convex_40 +v -0.009738 -0.060690 0.177886 +v -0.004899 -0.007442 0.255358 +v -0.004899 -0.007442 0.243247 +v -0.000055 -0.099440 0.255358 +v -0.002477 -0.097008 0.180312 +v -0.009738 -0.009864 0.248093 +v -0.009738 -0.007442 0.177886 +v -0.004899 -0.099440 0.233556 +v -0.007317 -0.099440 0.185151 +v -0.007317 -0.014709 0.177886 +v -0.000055 -0.077638 0.252931 +v -0.012160 -0.014709 0.194835 +v -0.004899 -0.082492 0.255358 +v -0.012160 -0.007442 0.177886 +f 671 665 673 +f 661 662 666 +f 660 664 668 +f 664 663 668 +f 663 667 668 +f 664 660 669 +f 666 662 669 +f 660 666 669 +f 662 661 670 +f 661 663 670 +f 663 664 670 +f 664 669 670 +f 669 662 670 +f 660 668 671 +f 671 668 672 +f 663 661 672 +f 661 665 672 +f 667 663 672 +f 668 667 672 +f 665 671 672 +f 665 661 673 +f 661 666 673 +f 666 660 673 +f 660 671 673 +o convex_41 +v -0.029106 0.116037 -0.449153 +v -0.017007 0.038592 -0.364429 +v -0.017007 0.094251 -0.364439 +v -0.029106 0.321815 -0.369266 +v -0.024265 0.316949 -0.391051 +v -0.026684 -0.007430 -0.420072 +v -0.024263 0.048261 -0.453970 +v -0.019426 -0.007430 -0.364429 +v -0.029104 -0.002596 -0.446714 +v -0.017007 -0.007430 -0.381388 +v -0.029106 0.321815 -0.398317 +v -0.024265 0.321815 -0.371694 +v -0.026684 0.048261 -0.466101 +v -0.024263 -0.007430 -0.444296 +v -0.029106 0.295162 -0.369266 +v -0.021847 -0.007430 -0.376551 +v -0.017007 0.021640 -0.383806 +v -0.029104 0.038592 -0.466101 +v -0.026686 0.321815 -0.398317 +v -0.021845 0.268509 -0.376541 +v -0.029104 -0.002596 -0.441878 +f 679 688 694 +f 675 676 681 +f 676 677 681 +f 676 675 683 +f 681 679 683 +f 675 681 683 +f 674 677 684 +f 677 676 685 +f 684 677 685 +f 678 680 686 +f 674 684 686 +f 679 682 687 +f 680 683 687 +f 683 679 687 +f 686 680 687 +f 677 674 688 +f 681 677 688 +f 679 681 689 +f 688 679 689 +f 681 688 689 +f 680 678 690 +f 676 683 690 +f 683 680 690 +f 682 674 691 +f 674 686 691 +f 687 682 691 +f 686 687 691 +f 685 678 692 +f 684 685 692 +f 678 686 692 +f 686 684 692 +f 678 685 693 +f 685 676 693 +f 676 690 693 +f 690 678 693 +f 674 682 694 +f 682 679 694 +f 688 674 694 +o convex_42 +v 0.007202 -0.297960 -0.146529 +v -0.017002 -0.300383 -0.289354 +v -0.017002 -0.295533 -0.289354 +v 0.012048 -0.256805 -0.250614 +v 0.009626 -0.256805 -0.146543 +v -0.000062 -0.297960 -0.151394 +v -0.012157 -0.276176 -0.289354 +v -0.007314 -0.290696 -0.284489 +v 0.014469 -0.273753 -0.182864 +v 0.004787 -0.256805 -0.260303 +v -0.017002 -0.297960 -0.274814 +v 0.014469 -0.256805 -0.161083 +v 0.002359 -0.300383 -0.180446 +v 0.012048 -0.288277 -0.146529 +v 0.009626 -0.261651 -0.260303 +v -0.012157 -0.300383 -0.284489 +v -0.007314 -0.273753 -0.289354 +v 0.014469 -0.259228 -0.231237 +v 0.002359 -0.300383 -0.146529 +f 708 699 713 +f 696 697 701 +f 699 698 704 +f 701 699 704 +f 697 696 705 +f 700 699 705 +f 701 697 705 +f 699 701 705 +f 698 699 706 +f 707 703 708 +f 706 699 708 +f 703 706 708 +f 695 707 708 +f 704 698 709 +f 707 702 709 +f 703 707 709 +f 696 702 710 +f 707 696 710 +f 702 707 710 +f 696 701 711 +f 702 696 711 +f 701 704 711 +f 709 702 711 +f 704 709 711 +f 698 706 712 +f 706 703 712 +f 709 698 712 +f 703 709 712 +f 699 700 713 +f 705 696 713 +f 700 705 713 +f 696 707 713 +f 707 695 713 +f 695 708 713 +o convex_43 +v -0.021843 0.021623 -0.330525 +v -0.029105 0.113603 -0.240974 +v -0.026684 0.113603 -0.313562 +v -0.012163 0.009514 -0.240974 +v -0.031528 0.096648 -0.240974 +v -0.012163 -0.005013 -0.330525 +v -0.014583 -0.007442 -0.240974 +v -0.031528 0.113603 -0.325660 +v -0.024266 0.096648 -0.330525 +v -0.017004 -0.007442 -0.318401 +v -0.012163 -0.007442 -0.240974 +v -0.031528 0.113603 -0.240974 +v -0.029105 0.089385 -0.330525 +f 721 722 726 +f 716 715 717 +f 717 715 718 +f 717 718 720 +f 715 716 721 +f 716 717 722 +f 719 714 722 +f 717 719 722 +f 721 716 722 +f 718 714 723 +f 714 719 723 +f 720 718 723 +f 720 723 724 +f 719 717 724 +f 717 720 724 +f 723 719 724 +f 718 715 725 +f 715 721 725 +f 721 718 725 +f 714 718 726 +f 718 721 726 +f 722 714 726 +o convex_44 +v -0.041212 0.193486 -0.098107 +v -0.031530 0.113609 -0.122319 +v -0.033950 0.125721 -0.122319 +v -0.031530 0.123305 -0.010953 +v -0.036369 0.193486 -0.122319 +v -0.026688 0.125721 -0.010953 +v -0.041212 0.193486 -0.010953 +v -0.036369 0.193486 -0.010953 +v -0.026688 0.113609 -0.090836 +v -0.041212 0.176541 -0.122319 +v -0.029109 0.113609 -0.010953 +v -0.029109 0.128145 -0.122319 +v -0.031530 0.113609 -0.069056 +v -0.041212 0.188646 -0.020644 +f 736 739 740 +f 728 729 731 +f 731 727 733 +f 730 732 733 +f 733 732 734 +f 732 731 734 +f 731 733 734 +f 731 732 735 +f 727 731 736 +f 731 729 736 +f 733 727 736 +f 732 730 737 +f 728 735 737 +f 735 732 737 +f 728 731 738 +f 735 728 738 +f 731 735 738 +f 729 728 739 +f 736 729 739 +f 728 737 739 +f 737 730 739 +f 730 733 740 +f 733 736 740 +f 739 730 740 +o convex_45 +v -0.029106 0.113609 -0.081162 +v -0.014581 -0.007442 -0.240948 +v -0.021845 0.036139 -0.240948 +v -0.026683 0.101487 -0.238508 +v -0.009739 0.002251 -0.081162 +v -0.014581 -0.000166 -0.081162 +v -0.031528 0.096653 -0.236099 +v -0.009739 -0.005013 -0.240948 +v -0.026683 0.113609 -0.110238 +v -0.031528 0.111180 -0.088435 +v -0.031528 0.113609 -0.240948 +v -0.009739 -0.007442 -0.081162 +v -0.012162 0.014349 -0.214312 +v -0.024264 0.099070 -0.081162 +v -0.024264 0.060347 -0.086010 +v -0.026683 0.108762 -0.187676 +v -0.014581 -0.002595 -0.110238 +v -0.029106 0.113609 -0.240948 +v -0.009739 -0.000166 -0.194917 +f 754 745 759 +f 745 741 746 +f 742 743 748 +f 743 747 751 +f 748 743 751 +f 741 749 751 +f 750 741 751 +f 747 750 751 +f 745 746 752 +f 742 748 752 +f 748 745 752 +f 748 744 753 +f 741 745 754 +f 749 741 754 +f 746 741 755 +f 741 750 755 +f 750 747 755 +f 753 744 756 +f 749 753 756 +f 743 742 757 +f 747 743 757 +f 742 752 757 +f 752 746 757 +f 746 755 757 +f 755 747 757 +f 744 748 758 +f 748 751 758 +f 751 749 758 +f 756 744 758 +f 749 756 758 +f 745 748 759 +f 748 753 759 +f 753 749 759 +f 749 754 759 +o convex_46 +v -0.014582 0.198344 0.199654 +v -0.024264 0.113617 0.013257 +v -0.021842 0.113617 0.013257 +v -0.014582 0.113617 0.211780 +v -0.024264 0.198344 0.131854 +v -0.012164 0.113617 0.088306 +v -0.009739 0.198344 0.197244 +v -0.021842 0.198344 0.107661 +v -0.012162 0.113617 0.211780 +v -0.024264 0.113617 0.037490 +v -0.009739 0.174118 0.211780 +v -0.017002 0.166853 0.202083 +v -0.017002 0.113617 0.177890 +v -0.021842 0.123304 0.020545 +v -0.024264 0.193484 0.100412 +v -0.012162 0.198344 0.211780 +f 771 763 775 +f 761 762 763 +f 763 762 765 +f 764 760 766 +f 764 766 767 +f 763 765 768 +f 761 763 769 +f 764 761 769 +f 765 766 770 +f 763 768 770 +f 768 765 770 +f 760 764 771 +f 764 763 771 +f 763 764 772 +f 769 763 772 +f 764 769 772 +f 762 761 773 +f 765 762 773 +f 766 765 773 +f 767 766 773 +f 767 773 774 +f 761 764 774 +f 764 767 774 +f 773 761 774 +f 766 760 775 +f 763 770 775 +f 770 766 775 +f 760 771 775 +o convex_47 +v -0.026683 0.099070 -0.001269 +v -0.012163 0.113609 0.102835 +v -0.012163 0.113609 0.085858 +v -0.009740 -0.007442 0.102835 +v -0.009740 0.021612 -0.001269 +v -0.012162 -0.007442 -0.001269 +v -0.012162 -0.007442 0.102835 +v -0.017005 0.113609 0.090729 +v -0.024263 0.113609 -0.001269 +v -0.026683 0.111180 0.015688 +v -0.014582 0.038557 0.102835 +v -0.009740 0.040986 0.102835 +v -0.021842 0.106333 0.001157 +v -0.009740 -0.007442 -0.001269 +v -0.009740 0.040986 0.022943 +f 787 780 790 +f 776 780 781 +f 779 777 782 +f 776 781 782 +f 781 779 782 +f 777 778 783 +f 780 776 784 +f 783 778 784 +f 783 784 785 +f 776 782 785 +f 784 776 785 +f 785 782 786 +f 782 777 786 +f 777 783 786 +f 783 785 786 +f 778 777 787 +f 777 779 787 +f 779 780 787 +f 778 780 788 +f 780 784 788 +f 784 778 788 +f 780 779 789 +f 779 781 789 +f 781 780 789 +f 780 778 790 +f 778 787 790 +o convex_48 +v -0.043633 0.275820 -0.257895 +v -0.038791 0.263711 -0.323256 +v -0.038791 0.314552 -0.323256 +v -0.033949 0.321815 -0.257895 +v -0.033949 0.263711 -0.320831 +v -0.033949 0.321815 -0.323256 +v -0.041212 0.263711 -0.257895 +v -0.043633 0.266134 -0.303889 +v -0.036371 0.321815 -0.257895 +v -0.033949 0.304860 -0.257895 +v -0.043633 0.280666 -0.303889 +f 793 798 801 +f 792 793 796 +f 794 795 796 +f 795 792 796 +f 794 791 797 +f 792 795 797 +f 793 792 798 +f 792 797 798 +f 797 791 798 +f 793 791 799 +f 791 794 799 +f 796 793 799 +f 794 796 799 +f 795 794 800 +f 794 797 800 +f 797 795 800 +f 791 793 801 +f 798 791 801 +o convex_49 +v -0.002478 0.021607 0.371552 +v -0.009739 -0.007442 0.243286 +v -0.007317 -0.007442 0.243286 +v -0.004898 -0.007442 0.410286 +v -0.009739 0.024031 0.282003 +v -0.002478 -0.005020 0.294118 +v -0.007317 0.024031 0.243286 +v -0.007317 -0.005020 0.383651 +v -0.002478 -0.007442 0.410286 +v -0.004898 0.024031 0.366696 +v -0.002478 0.024031 0.325576 +v -0.004898 -0.007442 0.245705 +f 808 812 813 +f 803 804 805 +f 804 803 808 +f 803 806 808 +f 803 805 809 +f 806 803 809 +f 805 804 810 +f 802 805 810 +f 807 802 810 +f 805 802 811 +f 808 806 811 +f 809 805 811 +f 806 809 811 +f 802 807 812 +f 811 802 812 +f 808 811 812 +f 804 808 813 +f 810 804 813 +f 807 810 813 +f 812 807 813 +o convex_50 +v -0.002477 0.077285 0.340077 +v -0.009739 0.024031 0.243265 +v -0.012160 0.048256 0.243265 +v -0.004899 0.024031 0.366712 +v -0.012160 0.113600 0.265054 +v -0.002477 0.113600 0.296523 +v -0.002477 0.024031 0.327968 +v -0.009739 0.113600 0.243265 +v -0.007319 0.024031 0.243265 +v -0.004899 0.111171 0.320717 +v -0.007319 0.026469 0.332814 +v -0.002477 0.024031 0.366712 +v -0.012160 0.108751 0.269900 +v -0.007319 0.055515 0.243265 +v -0.012160 0.113600 0.243265 +f 818 821 828 +f 819 814 820 +f 817 815 820 +f 815 816 821 +f 818 819 821 +f 819 820 822 +f 820 815 822 +f 815 821 822 +f 817 814 823 +f 819 818 823 +f 814 819 823 +f 816 815 824 +f 815 817 824 +f 814 817 825 +f 820 814 825 +f 817 820 825 +f 818 816 826 +f 817 823 826 +f 823 818 826 +f 816 824 826 +f 824 817 826 +f 821 819 827 +f 819 822 827 +f 822 821 827 +f 816 818 828 +f 821 816 828 +o convex_51 +v -0.029108 0.321820 -0.352319 +v -0.029108 0.321820 -0.395887 +v -0.029108 0.331507 -0.395887 +v -0.036370 0.321820 -0.345060 +v -0.026687 0.370230 -0.340215 +v -0.031528 0.367809 -0.374098 +v -0.024265 0.348440 -0.383782 +v -0.024265 0.321820 -0.374098 +v -0.026687 0.370230 -0.386202 +v -0.031528 0.362965 -0.340215 +v -0.033949 0.321820 -0.340215 +f 833 838 839 +f 831 830 832 +f 830 829 832 +f 831 832 834 +f 830 831 835 +f 829 830 836 +f 833 829 836 +f 830 835 836 +f 835 833 836 +f 831 834 837 +f 834 833 837 +f 835 831 837 +f 833 835 837 +f 833 834 838 +f 834 832 838 +f 832 829 839 +f 829 833 839 +f 838 832 839 +o convex_52 +v -0.021846 0.355706 -0.018216 +v -0.036369 0.321820 -0.340209 +v -0.036369 0.331510 -0.340209 +v -0.026687 0.360540 -0.340209 +v -0.026687 0.367814 -0.044880 +v -0.024267 0.329079 -0.027923 +v -0.033948 0.321820 -0.122321 +v -0.029107 0.370230 -0.340209 +v -0.031528 0.321820 -0.279662 +v -0.024266 0.370230 -0.257851 +v -0.029106 0.329079 -0.018216 +v -0.021846 0.367814 -0.018216 +v -0.031528 0.362961 -0.318398 +v -0.024267 0.329079 -0.059379 +v -0.031528 0.329089 -0.340209 +v -0.036369 0.324246 -0.250602 +v -0.029106 0.338765 -0.018216 +v -0.033948 0.326667 -0.122321 +v -0.029107 0.370230 -0.231250 +v -0.021846 0.350863 -0.030350 +f 853 849 859 +f 841 842 843 +f 843 842 847 +f 845 846 848 +f 846 841 848 +f 843 847 849 +f 845 840 850 +f 846 845 850 +f 850 840 851 +f 847 842 852 +f 845 848 853 +f 843 849 853 +f 841 843 854 +f 848 841 854 +f 843 853 854 +f 853 848 854 +f 842 841 855 +f 841 846 855 +f 852 842 855 +f 844 852 855 +f 846 850 856 +f 851 844 856 +f 850 851 856 +f 844 855 857 +f 855 846 857 +f 856 844 857 +f 846 856 857 +f 849 847 858 +f 851 849 858 +f 844 851 858 +f 852 844 858 +f 847 852 858 +f 840 845 859 +f 851 840 859 +f 849 851 859 +f 845 853 859 +o convex_53 +v -0.012160 -0.213251 0.308620 +v -0.002477 -0.295541 0.122220 +v -0.000057 -0.295541 0.122220 +v 0.002366 -0.213251 0.122220 +v -0.007317 -0.215668 0.192412 +v -0.012160 -0.295541 0.216624 +v -0.009738 -0.215668 0.308620 +v -0.009738 -0.293100 0.248098 +v -0.002477 -0.230193 0.124646 +v -0.012160 -0.213251 0.265012 +v 0.002366 -0.239876 0.127073 +v -0.004896 -0.290684 0.127073 +v -0.000057 -0.293100 0.131908 +v -0.012160 -0.285842 0.257787 +v 0.002366 -0.213251 0.136743 +v -0.002477 -0.213251 0.134317 +v -0.007318 -0.295541 0.221459 +f 862 872 876 +f 862 861 863 +f 861 862 865 +f 863 861 868 +f 860 863 869 +f 864 865 869 +f 865 860 869 +f 862 863 870 +f 861 865 871 +f 865 864 871 +f 868 861 871 +f 864 868 871 +f 862 870 872 +f 870 866 872 +f 860 865 873 +f 866 860 873 +f 867 866 873 +f 865 867 873 +f 863 860 874 +f 860 866 874 +f 870 863 874 +f 866 870 874 +f 863 868 875 +f 868 864 875 +f 869 863 875 +f 864 869 875 +f 865 862 876 +f 866 867 876 +f 867 865 876 +f 872 866 876 +o convex_54 +v -0.038791 0.159597 -0.122330 +v -0.031529 0.113614 -0.323262 +v -0.033949 0.116045 -0.245788 +v -0.029107 0.128148 -0.122330 +v -0.029107 0.166856 -0.323262 +v -0.038791 0.169286 -0.267581 +v -0.036370 0.169286 -0.122330 +v -0.031529 0.113614 -0.122330 +v -0.029107 0.113614 -0.323262 +v -0.036370 0.169286 -0.315985 +v -0.038791 0.149913 -0.187688 +v -0.033949 0.162017 -0.122330 +v -0.029107 0.113614 -0.122330 +v -0.033949 0.120884 -0.144122 +v -0.036370 0.154752 -0.313546 +v -0.033949 0.113614 -0.223976 +v -0.038791 0.169286 -0.122330 +v -0.031529 0.169286 -0.323262 +f 886 883 894 +f 877 880 883 +f 880 877 884 +f 881 880 885 +f 878 881 885 +f 884 878 885 +f 882 883 886 +f 877 882 887 +f 880 881 888 +f 883 880 888 +f 881 883 888 +f 880 884 889 +f 885 880 889 +f 884 885 889 +f 884 877 890 +f 877 887 890 +f 878 879 891 +f 886 878 891 +f 882 886 891 +f 887 882 891 +f 879 887 891 +f 879 878 892 +f 878 884 892 +f 887 879 892 +f 884 890 892 +f 890 887 892 +f 882 877 893 +f 877 883 893 +f 883 882 893 +f 881 878 894 +f 883 881 894 +f 878 886 894 +o convex_55 +v -0.000053 -0.215656 0.122188 +v 0.009628 -0.300383 0.008427 +v 0.012046 -0.300383 0.008427 +v 0.016888 -0.215656 0.008427 +v -0.000053 -0.300383 0.122188 +v 0.019313 -0.220500 0.015688 +v -0.000055 -0.295523 0.064093 +v 0.004787 -0.215656 0.117354 +v 0.014467 -0.218078 0.010843 +v -0.002475 -0.300383 0.093152 +v -0.000053 -0.218078 0.112509 +v 0.014467 -0.283423 0.010843 +v -0.002475 -0.242295 0.122188 +v 0.007211 -0.295523 0.013272 +v -0.002475 -0.300383 0.122188 +f 907 904 909 +f 897 896 898 +f 896 897 899 +f 898 895 902 +f 895 899 902 +f 899 900 902 +f 900 898 902 +f 898 896 903 +f 895 898 903 +f 896 899 904 +f 901 896 904 +f 895 903 905 +f 903 901 905 +f 897 898 906 +f 899 897 906 +f 900 899 906 +f 898 900 906 +f 899 895 907 +f 901 904 907 +f 905 901 907 +f 895 905 907 +f 896 901 908 +f 903 896 908 +f 901 903 908 +f 904 899 909 +f 899 907 909 +o convex_56 +v -0.041210 0.244336 -0.204639 +v -0.038792 0.169292 -0.257888 +v -0.041210 0.186246 -0.253031 +v -0.038791 0.169292 -0.122330 +v -0.031528 0.244336 -0.146546 +v -0.033952 0.169292 -0.173164 +v -0.043632 0.244336 -0.257888 +v -0.036371 0.191094 -0.257888 +v -0.033952 0.244336 -0.122330 +v -0.031528 0.215283 -0.122330 +v -0.038792 0.244336 -0.238501 +v -0.043632 0.208018 -0.233671 +v -0.038791 0.198351 -0.122330 +v -0.036371 0.169292 -0.257888 +v -0.041210 0.176564 -0.202210 +v -0.031528 0.208018 -0.146546 +v -0.043632 0.244336 -0.236086 +v -0.036370 0.169292 -0.122330 +f 919 913 927 +f 913 911 915 +f 911 912 916 +f 910 914 916 +f 911 916 917 +f 914 910 918 +f 914 918 919 +f 918 913 919 +f 916 914 920 +f 914 917 920 +f 917 916 920 +f 916 912 921 +f 918 910 922 +f 913 918 922 +f 921 913 922 +f 915 911 923 +f 917 914 923 +f 911 917 923 +f 912 911 924 +f 911 913 924 +f 921 912 924 +f 913 921 924 +f 914 919 925 +f 919 915 925 +f 915 923 925 +f 923 914 925 +f 910 916 926 +f 916 921 926 +f 922 910 926 +f 921 922 926 +f 913 915 927 +f 915 919 927 +o convex_57 +v -0.012161 0.358124 0.083463 +v -0.029107 0.329078 -0.018216 +v -0.029107 0.341189 -0.018216 +v -0.002476 0.362965 0.081044 +v -0.004898 0.329078 0.177886 +v -0.002476 0.329078 0.158518 +v -0.024261 0.365393 0.001153 +v -0.024261 0.336347 -0.018216 +v -0.021842 0.365393 -0.018216 +v -0.004898 0.365393 0.100413 +v -0.019421 0.329078 0.022959 +v -0.007320 0.331506 0.165754 +v -0.029107 0.331506 -0.003685 +v -0.002476 0.365393 0.100413 +f 936 937 941 +f 932 929 933 +f 929 930 935 +f 930 934 936 +f 935 930 936 +f 931 935 936 +f 934 928 937 +f 936 934 937 +f 933 929 938 +f 931 933 938 +f 929 935 938 +f 935 931 938 +f 928 934 939 +f 937 928 939 +f 932 937 939 +f 930 929 940 +f 929 932 940 +f 934 930 940 +f 932 939 940 +f 939 934 940 +f 932 933 941 +f 933 931 941 +f 931 936 941 +f 937 932 941 +o convex_58 +v -0.024270 -0.300396 0.361877 +v -0.014586 -0.336698 0.180360 +v -0.014586 -0.334264 0.180360 +v -0.038791 -0.336698 0.393336 +v -0.033948 -0.283436 0.398181 +v -0.012162 -0.283436 0.250533 +v -0.012162 -0.336698 0.206974 +v -0.033948 -0.336698 0.400592 +v -0.012162 -0.285871 0.279558 +v -0.031527 -0.283436 0.412716 +v -0.014586 -0.283436 0.250533 +v -0.036367 -0.288290 0.410282 +v -0.033948 -0.327011 0.412716 +v -0.038791 -0.336698 0.412716 +v -0.026686 -0.283436 0.386080 +v -0.012162 -0.334264 0.180360 +f 948 943 957 +f 944 943 945 +f 945 943 948 +f 945 948 949 +f 948 947 950 +f 949 948 950 +f 947 946 951 +f 944 946 952 +f 947 944 952 +f 946 947 952 +f 944 945 953 +f 946 944 953 +f 951 946 953 +f 950 942 954 +f 949 950 954 +f 945 949 955 +f 953 945 955 +f 951 953 955 +f 954 951 955 +f 949 954 955 +f 942 950 956 +f 950 947 956 +f 947 951 956 +f 951 954 956 +f 954 942 956 +f 943 944 957 +f 944 947 957 +f 947 948 957 +o convex_59 +v 0.004791 0.200785 0.303792 +v 0.048365 0.324236 0.364302 +v 0.048365 0.324236 0.349766 +v 0.007214 0.065214 0.361876 +v 0.004791 0.087019 0.364302 +v 0.014477 0.316934 0.289264 +v 0.021741 0.321777 0.286837 +v 0.043515 0.319343 0.364302 +v 0.004791 0.263664 0.289264 +v 0.007214 0.241884 0.286837 +v 0.043515 0.292720 0.349766 +v 0.016896 0.324236 0.286837 +v 0.045933 0.299997 0.364302 +v 0.004791 0.065214 0.364302 +v 0.007214 0.120918 0.337656 +v 0.019318 0.307248 0.286837 +f 972 967 973 +f 962 959 965 +f 965 963 966 +f 958 962 966 +f 962 965 966 +f 958 966 967 +f 964 960 968 +f 959 960 969 +f 960 964 969 +f 965 959 969 +f 963 965 969 +f 966 963 969 +f 964 967 969 +f 967 966 969 +f 960 959 970 +f 959 962 970 +f 968 960 970 +f 961 968 970 +f 958 961 971 +f 962 958 971 +f 961 970 971 +f 970 962 971 +f 961 958 972 +f 958 967 972 +f 968 961 972 +f 968 972 973 +f 967 964 973 +f 964 968 973 +o convex_60 +v -0.043633 0.205618 -0.032744 +v -0.026686 0.329078 -0.013374 +v -0.024265 0.329078 -0.032744 +v -0.038791 0.193502 -0.013374 +v -0.038791 0.193502 -0.054531 +v -0.029107 0.319377 -0.054531 +v -0.031530 0.321806 -0.013374 +v -0.024265 0.316948 -0.054531 +v -0.043633 0.217721 -0.013374 +v -0.041211 0.217721 -0.054531 +v -0.029107 0.329078 -0.039999 +f 983 980 984 +f 976 975 977 +f 977 974 978 +f 977 975 980 +f 976 977 981 +f 977 978 981 +f 978 979 981 +f 974 977 982 +f 977 980 982 +f 982 980 983 +f 978 974 983 +f 979 978 983 +f 974 982 983 +f 979 983 984 +f 975 976 984 +f 980 975 984 +f 976 981 984 +f 981 979 984 +o convex_61 +v -0.012160 -0.007442 0.122191 +v -0.004899 -0.101861 0.059268 +v -0.002477 -0.101861 0.059268 +v -0.004899 -0.099439 0.177880 +v -0.007319 -0.014715 0.177880 +v -0.007319 -0.019549 0.059268 +v -0.009739 -0.065529 0.059268 +v -0.007319 -0.099439 0.177880 +v -0.012159 -0.017137 0.177880 +v -0.012160 -0.007442 0.059268 +v -0.002477 -0.087323 0.061683 +v -0.004899 -0.058265 0.177880 +v -0.007319 -0.101861 0.076221 +v -0.009739 -0.007442 0.059268 +v -0.009738 -0.007442 0.177880 +v -0.012160 -0.021971 0.059268 +v -0.002477 -0.101861 0.083478 +f 992 997 1001 +f 987 986 990 +f 990 986 991 +f 988 989 992 +f 991 992 993 +f 992 989 993 +f 990 991 994 +f 987 990 995 +f 990 989 995 +f 989 988 996 +f 995 989 996 +f 986 987 997 +f 991 986 997 +f 992 991 997 +f 989 990 998 +f 994 985 998 +f 990 994 998 +f 985 993 999 +f 993 989 999 +f 998 985 999 +f 989 998 999 +f 991 993 1000 +f 993 985 1000 +f 985 994 1000 +f 994 991 1000 +f 988 992 1001 +f 987 995 1001 +f 996 988 1001 +f 995 996 1001 +f 997 987 1001 +o convex_62 +v 0.007207 -0.172058 -0.284521 +v 0.007207 -0.130913 -0.238527 +v 0.007207 -0.130913 -0.248212 +v -0.002475 -0.193858 -0.284521 +v 0.012048 -0.201122 -0.238527 +v -0.000054 -0.130913 -0.289368 +v 0.002368 -0.133346 -0.240956 +v 0.012048 -0.201122 -0.267576 +v -0.000054 -0.201122 -0.289368 +v 0.004787 -0.140603 -0.289368 +v 0.009628 -0.201122 -0.238527 +v 0.012048 -0.176910 -0.240956 +v -0.002475 -0.201122 -0.284521 +f 1010 1012 1014 +f 1003 1004 1007 +f 1007 1005 1008 +f 1003 1007 1008 +f 1009 1006 1010 +f 1005 1007 1010 +f 1002 1009 1010 +f 1010 1007 1011 +f 1007 1004 1011 +f 1009 1002 1011 +f 1002 1010 1011 +f 1006 1003 1012 +f 1003 1008 1012 +f 1010 1006 1012 +f 1004 1003 1013 +f 1003 1006 1013 +f 1006 1009 1013 +f 1011 1004 1013 +f 1009 1011 1013 +f 1008 1005 1014 +f 1005 1010 1014 +f 1012 1008 1014 +o convex_63 +v 0.012049 -0.143029 -0.146529 +v 0.009629 -0.201122 -0.238518 +v 0.007210 -0.179323 -0.238518 +v 0.012049 -0.201122 -0.146529 +v 0.016892 -0.198689 -0.204625 +v 0.004787 -0.130913 -0.238518 +v 0.007210 -0.145441 -0.146529 +v 0.009629 -0.138177 -0.226407 +v 0.016892 -0.174484 -0.146529 +v 0.014468 -0.201122 -0.236096 +v 0.009629 -0.130913 -0.146529 +v 0.004787 -0.155125 -0.236096 +v 0.016892 -0.174484 -0.175595 +v 0.009629 -0.130913 -0.209461 +v 0.004787 -0.130913 -0.194937 +v 0.016892 -0.193858 -0.146529 +f 1019 1023 1030 +f 1017 1016 1018 +f 1016 1017 1020 +f 1018 1015 1021 +f 1015 1018 1023 +f 1018 1016 1024 +f 1019 1018 1024 +f 1016 1020 1024 +f 1022 1019 1024 +f 1020 1022 1024 +f 1021 1015 1025 +f 1017 1018 1026 +f 1020 1017 1026 +f 1018 1021 1026 +f 1019 1022 1027 +f 1015 1023 1027 +f 1023 1019 1027 +f 1022 1020 1028 +f 1025 1015 1028 +f 1020 1025 1028 +f 1015 1027 1028 +f 1027 1022 1028 +f 1021 1025 1029 +f 1025 1020 1029 +f 1020 1026 1029 +f 1026 1021 1029 +f 1018 1019 1030 +f 1023 1018 1030 +o convex_64 +v 0.004785 -0.130908 -0.274832 +v -0.009737 -0.007442 -0.228857 +v -0.009737 -0.007442 -0.255484 +v -0.002477 -0.130908 -0.299035 +v -0.014580 -0.007442 -0.301473 +v -0.012159 -0.021981 -0.228857 +v 0.007208 -0.130908 -0.228857 +v -0.004900 -0.051010 -0.301473 +v 0.002364 -0.130908 -0.238546 +v 0.007208 -0.118798 -0.233705 +v -0.014580 -0.009871 -0.238546 +v 0.002364 -0.126062 -0.301473 +v -0.014580 -0.019551 -0.301473 +v -0.009737 -0.014717 -0.296611 +v 0.002364 -0.121215 -0.228857 +f 1039 1037 1045 +f 1032 1033 1035 +f 1034 1031 1037 +f 1032 1036 1037 +f 1036 1034 1039 +f 1034 1037 1039 +f 1033 1032 1040 +f 1037 1031 1040 +f 1032 1037 1040 +f 1032 1035 1041 +f 1036 1032 1041 +f 1034 1036 1041 +f 1031 1034 1042 +f 1035 1038 1042 +f 1040 1031 1042 +f 1038 1040 1042 +f 1034 1041 1043 +f 1041 1035 1043 +f 1042 1034 1043 +f 1035 1042 1043 +f 1035 1033 1044 +f 1038 1035 1044 +f 1033 1040 1044 +f 1040 1038 1044 +f 1037 1036 1045 +f 1036 1039 1045 +o convex_65 +v -0.024269 0.326638 0.015689 +v -0.041212 0.222564 -0.013374 +v -0.041212 0.239517 -0.013374 +v -0.026689 0.224994 0.097993 +v -0.024269 0.227412 0.073770 +v -0.026689 0.316963 -0.013374 +v -0.031531 0.321801 -0.010943 +v -0.036369 0.234669 -0.013374 +v -0.041212 0.227412 0.005998 +v -0.026689 0.319382 0.022949 +v -0.024269 0.326638 -0.006103 +v -0.024269 0.222564 0.097993 +v -0.038789 0.222564 -0.013374 +f 1057 1047 1058 +f 1047 1048 1051 +f 1051 1048 1052 +f 1047 1051 1053 +f 1048 1047 1054 +f 1047 1049 1054 +f 1052 1048 1054 +f 1052 1054 1055 +f 1049 1046 1055 +f 1046 1052 1055 +f 1054 1049 1055 +f 1046 1050 1056 +f 1051 1052 1056 +f 1052 1046 1056 +f 1050 1053 1056 +f 1053 1051 1056 +f 1049 1047 1057 +f 1046 1049 1057 +f 1050 1046 1057 +f 1050 1057 1058 +f 1047 1053 1058 +f 1053 1050 1058 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/602/602.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/602/602.urdf new file mode 100644 index 000000000..785927910 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/602/602.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/603/603.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/603/603.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/603/603.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/603/603.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/603/603.obj new file mode 100644 index 000000000..d8e0439f7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/603/603.obj @@ -0,0 +1,615 @@ +o convex_0 +v -0.063345 -1.576146 2.703265 +v -0.029947 -3.282082 -1.711081 +v 0.003450 -3.282082 -1.711081 +v 0.036847 -1.409060 -2.681053 +v -1.033434 -2.144861 -0.172282 +v 0.638978 -3.014331 2.034299 +v 0.939946 -1.476101 -0.072144 +v -0.732270 -3.014331 1.934162 +v 0.672376 -3.047748 -2.012086 +v -0.732270 -3.014331 -2.045268 +v -0.665476 -1.174726 0.027401 +v -0.732270 -1.509312 -2.079042 +v 0.705773 -1.409060 2.000525 +v -0.698873 -1.442477 2.000525 +v 0.672376 -1.375642 -1.945723 +v 0.003450 -2.278530 -3.049014 +v -0.029947 -2.244906 3.004271 +v 0.873151 -3.047748 0.194494 +v -0.565088 -3.282082 0.997372 +v 0.672376 -1.174726 -0.072144 +v 0.638978 -3.248458 0.094357 +v 0.772763 -2.244906 2.168211 +v -0.029947 -1.208349 1.632564 +v 0.739366 -2.145067 -2.279910 +v -0.933046 -3.047748 -0.038962 +v -0.063345 -3.047748 -2.681053 +v -0.063345 -3.014331 2.636310 +v 0.003450 -1.174726 -1.744263 +v -0.799261 -2.245112 2.201393 +v -0.799261 -2.311741 -2.313092 +v -0.933046 -1.442477 0.094357 +v 0.973539 -2.479034 -0.038370 +v 0.237623 -3.248458 1.465471 +v -0.531494 -3.282082 -1.175434 +v 0.505193 -3.282082 -1.242983 +v 0.003450 -1.442477 2.669491 +v -0.498294 -1.174726 -1.276165 +v -0.999841 -2.679744 -0.005781 +v -0.063345 -2.178278 -3.049014 +v 0.505193 -1.208349 1.298377 +v 0.505193 -1.174726 -1.343120 +v 0.705773 -1.542935 -2.112224 +v -0.698873 -1.409060 -2.012086 +v 0.973539 -1.843898 -0.005781 +v 0.739366 -2.145067 2.268348 +v 0.739366 -2.345365 -2.279910 +v -0.096742 -3.248458 1.699520 +v -0.063345 -1.409060 -2.681053 +v -1.033434 -2.211901 0.127539 +v -0.531494 -1.241767 1.265196 +v 0.873151 -3.047748 -0.206056 +v -0.665476 -3.282082 -0.206056 +v -0.799261 -2.144861 -2.313092 +v -0.933046 -1.442477 -0.206056 +v 0.036847 -2.145067 2.970496 +v -0.765864 -2.245112 2.268941 +v 0.973539 -2.211695 -0.306193 +v 0.438202 -3.248458 1.264603 +v 0.036847 -2.278530 2.970496 +v 0.906549 -1.409060 0.261450 +v 0.003450 -3.047748 -2.681053 +v 0.973539 -2.244906 0.295224 +v -0.096742 -2.311741 -3.015239 +v 0.003450 -3.014331 2.636310 +f 59 17 64 +f 2 3 19 +f 7 15 20 +f 18 6 21 +f 6 18 22 +f 20 11 23 +f 19 8 25 +f 3 2 26 +f 11 20 28 +f 14 11 31 +f 29 14 31 +f 2 19 34 +f 26 2 34 +f 10 26 34 +f 19 3 35 +f 14 1 36 +f 1 17 36 +f 23 14 36 +f 11 28 37 +f 25 8 38 +f 10 25 38 +f 8 29 38 +f 5 30 38 +f 30 10 38 +f 4 16 39 +f 13 20 40 +f 20 23 40 +f 36 13 40 +f 23 36 40 +f 15 4 41 +f 20 15 41 +f 4 28 41 +f 28 20 41 +f 4 15 42 +f 15 7 42 +f 16 4 42 +f 7 24 42 +f 24 16 42 +f 11 37 43 +f 22 13 45 +f 6 22 45 +f 9 16 46 +f 16 24 46 +f 32 9 46 +f 8 19 47 +f 27 8 47 +f 19 33 47 +f 28 4 48 +f 37 28 48 +f 4 39 48 +f 39 12 48 +f 12 43 48 +f 43 37 48 +f 31 5 49 +f 29 31 49 +f 5 38 49 +f 38 29 49 +f 11 14 50 +f 23 11 50 +f 14 23 50 +f 18 21 51 +f 9 32 51 +f 32 18 51 +f 35 9 51 +f 21 35 51 +f 25 10 52 +f 19 25 52 +f 34 19 52 +f 10 34 52 +f 30 5 53 +f 12 39 53 +f 39 30 53 +f 5 31 54 +f 31 11 54 +f 43 12 54 +f 11 43 54 +f 53 5 54 +f 12 53 54 +f 36 17 55 +f 13 36 55 +f 45 13 55 +f 1 14 56 +f 17 1 56 +f 27 17 56 +f 8 27 56 +f 14 29 56 +f 29 8 56 +f 24 7 57 +f 7 44 57 +f 44 32 57 +f 46 24 57 +f 32 46 57 +f 21 6 58 +f 6 33 58 +f 33 19 58 +f 19 35 58 +f 35 21 58 +f 6 45 59 +f 55 17 59 +f 45 55 59 +f 7 20 60 +f 20 13 60 +f 13 22 60 +f 44 7 60 +f 22 44 60 +f 16 9 61 +f 3 26 61 +f 26 16 61 +f 35 3 61 +f 9 35 61 +f 22 18 62 +f 18 32 62 +f 44 22 62 +f 32 44 62 +f 26 10 63 +f 16 26 63 +f 10 30 63 +f 39 16 63 +f 30 39 63 +f 17 27 64 +f 33 6 64 +f 27 47 64 +f 47 33 64 +f 6 59 64 +o convex_1 +v 1.274944 0.966242 -0.239660 +v 1.341772 2.538236 0.094586 +v 1.341772 2.538236 0.027804 +v 3.080896 1.735296 0.094586 +v 1.274944 1.702065 0.596344 +v 1.943756 1.768691 -0.507234 +v 2.813052 1.768691 0.462557 +v 1.341772 1.100147 0.429054 +v 1.274944 2.303820 -0.406950 +v 2.813052 2.170079 0.027804 +v 2.813052 1.367630 0.027804 +v 1.274944 2.370773 0.495948 +v 2.846467 1.735296 -0.340056 +v 1.308358 1.100147 -0.440341 +v 1.274944 0.865895 0.027804 +v 2.578977 2.103126 0.362161 +v 1.274944 1.869038 -0.540737 +v 2.578977 2.036337 -0.273162 +v 2.645805 1.467977 0.328769 +v 2.077589 1.768691 0.562842 +v 2.645805 1.467977 -0.273162 +v 1.375186 2.303820 -0.406950 +v 2.813052 1.835643 0.462557 +v 2.813052 1.401188 0.128088 +v 2.578977 1.768691 -0.406950 +v 1.274944 1.568324 -0.540737 +v 3.047128 1.869038 0.027804 +v 1.341772 2.370773 0.495948 +v 1.308358 0.865895 -0.038979 +v 2.746224 1.702065 -0.373447 +v 2.746224 2.136684 0.194982 +v 1.274944 2.538236 -0.005588 +v 1.943756 1.702065 -0.507234 +v 1.274944 1.100147 0.429054 +v 1.308358 0.999800 -0.306553 +v 2.779638 1.835643 -0.340056 +v 2.044175 1.835643 0.562842 +v 1.375186 1.802085 0.596344 +v 1.308358 0.865895 0.027804 +v 1.308358 2.437726 -0.206269 +v 1.308358 2.404167 0.462557 +v 3.047128 1.735296 -0.038979 +f 91 68 106 +f 65 69 73 +f 67 66 74 +f 73 69 76 +f 69 65 79 +f 65 73 81 +f 71 72 83 +f 69 72 84 +f 72 71 84 +f 77 75 85 +f 81 73 86 +f 70 81 86 +f 74 82 86 +f 71 68 87 +f 84 71 87 +f 68 71 88 +f 75 68 88 +f 71 83 88 +f 83 72 88 +f 70 86 89 +f 78 65 90 +f 65 81 90 +f 81 70 90 +f 87 68 91 +f 87 80 92 +f 79 65 93 +f 77 85 94 +f 85 78 94 +f 74 66 95 +f 80 87 95 +f 91 74 95 +f 87 91 95 +f 66 67 96 +f 73 76 96 +f 70 89 97 +f 78 90 97 +f 90 70 97 +f 94 78 97 +f 89 94 97 +f 72 69 98 +f 69 79 98 +f 79 72 98 +f 65 78 99 +f 85 75 99 +f 78 85 99 +f 93 65 99 +f 75 93 99 +f 82 74 100 +f 86 82 100 +f 89 86 100 +f 74 91 100 +f 91 77 100 +f 77 94 100 +f 94 89 100 +f 84 87 101 +f 87 92 101 +f 101 92 102 +f 76 69 102 +f 69 84 102 +f 92 76 102 +f 84 101 102 +f 72 79 103 +f 75 88 103 +f 88 72 103 +f 79 93 103 +f 93 75 103 +f 67 74 104 +f 86 73 104 +f 74 86 104 +f 96 67 104 +f 73 96 104 +f 76 92 105 +f 92 80 105 +f 95 66 105 +f 80 95 105 +f 66 96 105 +f 96 76 105 +f 68 75 106 +f 75 77 106 +f 77 91 106 +o convex_2 +v -2.037131 1.367623 -0.406956 +v -1.267618 2.538236 -0.005705 +v -1.267618 2.538236 -0.105879 +v -2.772594 2.170033 0.061188 +v -1.267618 1.200415 0.395656 +v -1.267618 1.869090 -0.607637 +v -2.772594 1.702196 0.395656 +v -1.267618 2.404187 0.395656 +v -1.301327 0.932788 -0.072488 +v -2.739226 1.768671 -0.373454 +v -2.772594 1.334307 0.027686 +v -1.301327 2.337398 -0.507241 +v -1.267618 1.133626 -0.473850 +v -1.334695 1.802144 0.529444 +v -3.006853 1.768671 -0.005705 +v -2.538506 2.069771 0.328763 +v -1.936856 1.735512 -0.540743 +v -2.571874 2.069771 -0.273169 +v -1.435140 1.166942 0.362154 +v -2.037131 1.768671 0.495941 +v -2.772594 1.334307 -0.039097 +v -2.571874 1.434569 0.295260 +v -1.368233 1.133626 -0.473850 +v -2.605412 1.434569 -0.273169 +v -2.739226 2.170033 -0.005705 +v -1.334695 1.635250 -0.607637 +v -1.267618 0.932788 -0.005705 +v -1.267618 1.702196 0.529444 +v -2.705688 1.835617 0.395656 +v -2.973315 1.768671 0.128082 +v -2.003762 1.702196 0.495941 +v -2.070669 2.136717 0.395656 +v -2.772594 1.702196 -0.340062 +v -1.301327 2.404187 0.395656 +v -1.368233 1.200415 0.395656 +v -2.806133 1.802144 -0.306560 +v -1.936856 2.136717 -0.440347 +v -1.903317 1.802144 -0.540743 +v -2.739226 1.334307 0.061188 +f 133 125 145 +f 108 109 110 +f 109 108 111 +f 109 111 112 +f 111 108 114 +f 109 112 118 +f 112 111 119 +f 107 116 123 +f 115 117 127 +f 117 121 127 +f 119 115 129 +f 107 123 129 +f 115 127 129 +f 129 127 130 +f 107 129 130 +f 110 109 131 +f 109 118 131 +f 121 110 131 +f 118 124 131 +f 112 119 132 +f 123 112 132 +f 119 129 132 +f 129 123 132 +f 117 115 133 +f 119 111 133 +f 115 119 133 +f 111 125 133 +f 111 114 134 +f 114 120 134 +f 122 110 135 +f 113 126 135 +f 117 113 136 +f 110 121 136 +f 121 117 136 +f 135 110 136 +f 113 135 136 +f 126 113 137 +f 120 126 137 +f 134 120 137 +f 122 135 138 +f 135 126 138 +f 116 107 139 +f 127 121 139 +f 130 127 139 +f 107 130 139 +f 108 110 140 +f 114 108 140 +f 120 114 140 +f 110 122 140 +f 126 120 140 +f 122 138 140 +f 138 126 140 +f 125 111 141 +f 113 128 141 +f 128 125 141 +f 111 134 141 +f 137 113 141 +f 134 137 141 +f 124 116 142 +f 121 131 142 +f 131 124 142 +f 116 139 142 +f 139 121 142 +f 116 124 143 +f 124 118 143 +f 118 112 144 +f 123 116 144 +f 112 123 144 +f 116 143 144 +f 143 118 144 +f 113 117 145 +f 128 113 145 +f 125 128 145 +f 117 133 145 +o convex_3 +v 1.274590 2.537634 -0.038874 +v -1.267578 0.866438 -0.105709 +v -1.267578 0.866438 0.027755 +v 0.705738 -1.174725 0.027548 +v -0.063184 1.801731 1.031307 +v -0.732320 3.741471 -0.774675 +v 0.070196 -0.539095 -0.975591 +v -0.765664 3.808895 0.730138 +v -0.765664 -0.638790 0.730138 +v 0.806270 3.741471 -0.741257 +v 0.806270 3.741471 0.729932 +v 0.806270 -0.605366 0.796973 +v -0.799258 -0.638790 -0.808298 +v 1.274590 1.033558 -0.473712 +v 0.103789 4.712493 -0.039080 +v -1.267578 2.337090 -0.507130 +v 0.739331 1.768884 -1.009009 +v -0.765664 1.735460 -1.008803 +v -1.267578 1.801731 0.562845 +v 0.806270 -0.605366 -0.841716 +v 1.274590 1.702612 0.596262 +v -0.498159 -1.174725 -0.607588 +v -0.799258 4.343678 -0.005869 +v -0.096777 -1.174725 0.663097 +v 0.806270 4.410525 0.027548 +v 0.772676 1.835155 0.964266 +v -0.765664 1.702036 0.964266 +v -0.029839 -0.472247 0.930848 +v -0.866197 -0.973606 -0.005869 +v 0.103789 3.976591 -0.808298 +v 0.036851 3.976591 0.796766 +v 0.906553 -0.906758 -0.005869 +v -1.267578 2.504210 0.428969 +v 1.274590 1.801731 -0.574171 +v 0.003506 1.801731 -1.076050 +v 1.274590 1.000134 0.428969 +v 0.204072 -1.174725 -0.708046 +v -1.267578 1.601764 -0.607588 +v 1.274590 2.403938 0.495804 +v -0.531504 -1.174725 0.462593 +v 0.538516 -1.174725 0.529221 +v -0.799258 3.708047 0.763555 +v -1.267578 1.100406 0.395552 +v -0.029839 4.712493 0.027548 +v -1.267578 1.033558 -0.473712 +v 1.274590 2.337090 -0.406877 +v 0.505171 -1.174725 -0.574171 +v -0.063184 -0.539095 -0.975591 +v 0.772676 1.535493 0.964266 +v 1.274590 0.765590 -0.072291 +v -0.732320 3.608351 -0.808298 +v -0.899541 -0.906758 -0.005869 +v 0.839615 4.343678 -0.038874 +v -0.698726 4.443949 -0.039080 +v -1.267578 2.571058 -0.105709 +v 0.939898 1.801731 -0.875133 +v -0.799258 -0.505095 -0.841716 +v 0.639048 -0.672214 0.830390 +v -0.063184 4.611645 -0.139332 +v -0.063184 -1.174725 -0.741464 +v -1.167046 1.735460 -0.707840 +v 0.103789 4.678493 0.060966 +v -0.698726 -1.174725 -0.105709 +v 0.103789 1.768884 1.031307 +f 173 194 209 +f 147 148 161 +f 161 148 164 +f 152 162 165 +f 159 146 166 +f 151 161 168 +f 167 149 169 +f 166 156 171 +f 164 154 172 +f 154 169 173 +f 150 172 173 +f 172 154 173 +f 160 155 175 +f 155 162 175 +f 171 156 176 +f 165 159 177 +f 161 164 178 +f 146 159 179 +f 159 165 179 +f 162 152 180 +f 175 162 180 +f 166 157 181 +f 159 166 181 +f 157 177 181 +f 152 165 182 +f 149 167 182 +f 147 161 183 +f 166 146 184 +f 156 166 184 +f 170 156 184 +f 169 154 185 +f 167 169 185 +f 154 174 185 +f 169 149 186 +f 149 177 186 +f 177 157 186 +f 153 168 187 +f 172 150 187 +f 164 172 187 +f 150 176 187 +f 176 153 187 +f 178 164 187 +f 168 178 187 +f 164 148 188 +f 154 164 188 +f 153 176 189 +f 147 183 190 +f 146 179 191 +f 179 155 191 +f 177 149 192 +f 165 177 192 +f 149 182 192 +f 182 165 192 +f 180 152 193 +f 163 180 193 +f 157 166 194 +f 166 171 194 +f 177 159 195 +f 159 181 195 +f 181 177 195 +f 161 151 196 +f 151 175 196 +f 180 163 196 +f 175 180 196 +f 148 147 197 +f 174 154 197 +f 158 174 197 +f 188 148 197 +f 154 188 197 +f 147 190 197 +f 190 158 197 +f 155 160 198 +f 160 170 198 +f 184 146 198 +f 170 184 198 +f 146 191 198 +f 191 155 198 +f 151 168 199 +f 168 153 199 +f 153 189 199 +f 168 161 200 +f 161 178 200 +f 178 168 200 +f 162 155 201 +f 165 162 201 +f 155 179 201 +f 179 165 201 +f 158 190 202 +f 190 183 202 +f 193 158 202 +f 163 193 202 +f 173 169 203 +f 169 186 203 +f 186 157 203 +f 157 194 203 +f 194 173 203 +f 175 151 204 +f 160 175 204 +f 189 160 204 +f 151 199 204 +f 199 189 204 +f 167 158 205 +f 152 182 205 +f 182 167 205 +f 158 193 205 +f 193 152 205 +f 183 161 206 +f 161 196 206 +f 196 163 206 +f 163 202 206 +f 202 183 206 +f 156 170 207 +f 170 160 207 +f 176 156 207 +f 160 189 207 +f 189 176 207 +f 158 167 208 +f 174 158 208 +f 167 185 208 +f 185 174 208 +f 150 173 209 +f 176 150 209 +f 171 176 209 +f 194 171 209 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/603/603.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/603/603.urdf new file mode 100644 index 000000000..553364a24 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/603/603.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/604/604.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/604/604.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/604/604.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/604/604.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/604/604.obj new file mode 100644 index 000000000..c1de4dcb3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/604/604.obj @@ -0,0 +1,294 @@ +o convex_0 +v -0.214329 -2.002786 1.009474 +v 0.745974 -3.987411 -1.103490 +v 0.745974 -3.827525 -1.103490 +v -1.046620 -2.195147 -0.911154 +v -1.110842 -4.019472 1.041600 +v 1.098221 -3.955558 0.977348 +v 0.969994 -2.002786 -1.071154 +v -0.982614 -4.083799 -0.943070 +v 0.937991 -2.002786 0.945222 +v -0.950611 -2.002786 1.041600 +v -0.982614 -2.002786 -0.975406 +v 0.617962 -4.115859 0.593096 +v 1.001997 -3.955765 -0.911154 +v -1.110842 -3.603311 0.625012 +v -0.854602 -4.083799 -0.975406 +v 0.969994 -2.707281 -1.103490 +v -0.598579 -4.083799 0.593096 +v 0.969994 -2.002786 0.305013 +v -0.630582 -4.019472 1.041600 +v 1.098221 -3.795465 0.977348 +v 0.617962 -4.115859 0.336929 +v 0.969994 -3.955765 -1.103490 +v -1.014617 -2.002786 -0.270945 +v -1.014617 -4.083799 -0.591155 +v 1.098221 -3.955558 0.753306 +v 0.105484 -4.115859 0.529054 +v -0.758594 -2.163086 1.041600 +v 0.969994 -3.987411 -0.975196 +v 0.585959 -2.002786 -1.071154 +v -1.110842 -3.763611 1.009264 +v -0.726591 -4.083799 -0.975406 +v -1.046620 -2.098966 -0.847112 +v 0.937991 -4.019679 0.849264 +v 0.969994 -2.194940 0.945222 +v -1.110842 -3.987618 0.753306 +v -0.950611 -4.051532 0.881390 +v 0.233711 -3.059322 1.009474 +v 0.905988 -2.803255 -1.103490 +v 0.841982 -3.987411 -1.103490 +v -0.982614 -2.355033 -0.975406 +v -0.982614 -2.323180 1.041600 +v -1.014617 -3.251270 -0.943070 +v 0.297717 -3.731551 1.009474 +v 1.033999 -3.539190 0.977558 +v 1.066002 -3.923705 0.177139 +v 1.033999 -3.987411 0.529054 +v 0.745974 -4.083799 0.593096 +f 28 46 47 +f 7 1 9 +f 1 7 10 +f 10 7 11 +f 3 2 11 +f 2 3 16 +f 7 13 16 +f 7 9 18 +f 10 5 19 +f 5 12 19 +f 7 18 20 +f 8 15 21 +f 2 16 22 +f 16 13 22 +f 10 11 23 +f 7 20 25 +f 20 6 25 +f 21 12 26 +f 8 21 26 +f 24 8 26 +f 17 24 26 +f 1 10 27 +f 10 19 27 +f 22 13 28 +f 13 25 28 +f 11 7 29 +f 7 16 29 +f 14 5 30 +f 15 2 31 +f 21 15 31 +f 11 4 32 +f 4 14 32 +f 23 11 32 +f 14 30 32 +f 30 23 32 +f 6 19 33 +f 19 12 33 +f 18 9 34 +f 9 20 34 +f 20 18 34 +f 14 4 35 +f 5 14 35 +f 24 5 35 +f 12 5 36 +f 5 24 36 +f 24 17 36 +f 26 12 36 +f 17 26 36 +f 1 27 37 +f 3 11 38 +f 16 3 38 +f 11 29 38 +f 29 16 38 +f 2 22 39 +f 28 21 39 +f 22 28 39 +f 31 2 39 +f 21 31 39 +f 11 2 40 +f 4 11 40 +f 2 15 40 +f 15 8 40 +f 5 10 41 +f 10 23 41 +f 30 5 41 +f 23 30 41 +f 8 24 42 +f 35 4 42 +f 24 35 42 +f 4 40 42 +f 40 8 42 +f 19 6 43 +f 6 20 43 +f 27 19 43 +f 20 37 43 +f 37 27 43 +f 9 1 44 +f 20 9 44 +f 1 37 44 +f 37 20 44 +f 13 7 45 +f 7 25 45 +f 25 13 45 +f 25 6 46 +f 28 25 46 +f 6 33 46 +f 46 33 47 +f 12 21 47 +f 21 28 47 +f 33 12 47 +o convex_1 +v 0.649928 4.080305 1.009364 +v -1.046869 -1.809861 -0.975096 +v -1.014743 -2.002786 -0.975096 +v 1.098222 3.983843 -0.975306 +v 0.938012 -2.002786 0.945322 +v -0.950701 3.983247 1.073616 +v -1.014743 4.048151 -0.975096 +v 0.969928 -2.002786 -1.071474 +v -0.950701 -2.002786 1.041490 +v 1.098222 4.080305 1.041490 +v -1.046869 2.030775 -1.071474 +v 1.098222 1.390669 1.009364 +v -1.046869 2.062334 -0.559138 +v 1.002054 -1.554414 -0.847222 +v -0.886659 0.334941 1.073616 +v -0.982617 4.015401 0.657029 +v 0.969928 -1.842610 0.945322 +v -0.982617 1.711020 0.817239 +v 0.585886 -2.002786 -1.071474 +v 0.969928 -1.234063 -1.071474 +v -1.046869 3.567625 -1.007222 +v 0.137592 4.048151 1.073616 +v 1.098222 3.023386 1.041490 +v 1.098222 1.294802 0.625113 +v -0.790701 -1.937882 1.041490 +v 0.969928 4.080305 0.625113 +v 0.489718 3.407449 -1.007222 +v -1.046869 1.742579 -1.071474 +v -1.046869 -1.777707 -0.911054 +v -0.918575 2.030775 -1.071474 +v -0.854743 4.015401 1.073616 +v -1.014743 4.048151 -0.687012 +v -0.822617 4.048151 -0.975306 +v 1.002054 -0.497495 0.977238 +v -1.046869 3.727800 -0.943180 +v 0.969928 -2.002786 0.433197 +v 0.297802 4.080305 0.272987 +v 1.098222 3.887380 -0.975306 +v -0.982827 -1.874169 0.433197 +v -0.950701 0.302787 1.073616 +v -0.374323 1.870600 1.073616 +v -1.014743 -2.002786 -0.270845 +v -1.046869 1.646712 -0.559138 +v 1.066096 1.230494 1.009364 +v -1.046869 -0.753537 -1.007222 +v 0.809928 4.015997 -0.622970 +v 0.425886 -1.938478 0.977448 +v 1.098222 1.326956 0.849365 +v -0.982617 2.030775 0.817239 +v -1.014743 4.015401 -0.206803 +v 1.098222 4.080305 0.721281 +v 1.002054 -1.522260 -0.655096 +v -0.886659 3.567625 -1.007432 +f 54 80 100 +f 52 50 55 +f 50 52 56 +f 51 57 59 +f 58 49 60 +f 55 50 66 +f 58 55 66 +f 51 55 67 +f 55 58 67 +f 58 60 68 +f 57 48 69 +f 53 62 69 +f 59 57 70 +f 57 69 70 +f 51 59 71 +f 56 52 72 +f 70 62 72 +f 48 57 73 +f 51 67 74 +f 49 58 75 +f 58 66 75 +f 60 49 76 +f 67 58 77 +f 74 67 77 +f 63 53 78 +f 69 48 78 +f 53 69 78 +f 78 48 79 +f 63 78 79 +f 52 64 81 +f 64 59 81 +f 60 63 82 +f 54 68 82 +f 68 60 82 +f 79 54 82 +f 52 55 83 +f 55 61 83 +f 64 52 83 +f 48 73 84 +f 79 48 84 +f 54 79 84 +f 80 54 84 +f 73 80 84 +f 55 51 85 +f 61 55 85 +f 51 71 85 +f 71 61 85 +f 56 65 86 +f 65 76 86 +f 62 53 87 +f 65 56 87 +f 53 65 87 +f 56 72 87 +f 72 62 87 +f 69 62 88 +f 62 70 88 +f 70 69 88 +f 49 50 89 +f 50 56 89 +f 76 49 89 +f 56 86 89 +f 86 76 89 +f 65 60 90 +f 60 76 90 +f 76 65 90 +f 59 70 91 +f 70 72 91 +f 81 59 91 +f 72 81 91 +f 50 49 92 +f 66 50 92 +f 49 75 92 +f 75 66 92 +f 73 51 93 +f 51 80 93 +f 80 73 93 +f 72 52 94 +f 52 81 94 +f 81 72 94 +f 59 64 95 +f 71 59 95 +f 61 71 95 +f 64 83 95 +f 53 63 96 +f 63 60 96 +f 65 53 96 +f 60 65 96 +f 63 79 97 +f 82 63 97 +f 79 82 97 +f 57 51 98 +f 51 73 98 +f 73 57 98 +f 83 61 99 +f 61 95 99 +f 95 83 99 +f 68 54 100 +f 58 68 100 +f 51 74 100 +f 77 58 100 +f 74 77 100 +f 80 51 100 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/604/604.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/604/604.urdf new file mode 100644 index 000000000..c277fb284 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/604/604.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/605/605.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/605/605.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/605/605.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/605/605.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/605/605.obj new file mode 100644 index 000000000..8fbb77d12 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/605/605.obj @@ -0,0 +1,738 @@ +o convex_0 +v 1.075390 -0.382151 0.883169 +v -1.217696 -0.543847 0.011316 +v -1.217696 -0.543847 0.043487 +v 0.106306 -3.837975 -0.053026 +v 0.816870 -0.382151 -0.989424 +v -0.345496 -1.835721 1.012662 +v 0.784494 -2.933087 -0.925082 +v -0.959176 -0.382151 -0.860537 +v 0.752362 -2.965562 0.818827 +v -0.700900 -3.353226 -0.020855 +v -1.056060 -0.382151 0.883372 +v -0.054843 -3.321090 -0.795791 +v 1.269158 -0.576321 0.011114 +v -0.054843 -3.321090 0.786252 +v -0.280987 -1.900670 -1.021999 +v 0.816870 -3.321090 0.011316 +v -0.797784 -1.964943 0.818625 +v -0.765408 -1.964943 -0.763620 +v 0.752362 -0.382151 1.012662 +v 1.107522 -0.382151 -0.828164 +v 0.558594 -0.382151 -1.054373 +v -0.539264 -0.382151 1.012662 +v -0.474756 -0.382151 -1.021999 +v 0.816870 -2.998036 -0.860537 +v -0.571640 -2.998036 0.592417 +v 0.655478 -1.448396 -1.054373 +v -0.539264 -2.998036 -0.569582 +v -0.087219 -1.964943 1.012662 +v -0.700900 -3.353226 0.075860 +v 1.269158 -0.382151 0.172778 +v 0.655478 -1.448396 0.980289 +v 0.009665 -3.837975 0.011316 +v -1.185320 -0.382151 -0.182115 +v 0.784494 -2.836341 0.818827 +v 0.171057 -3.288277 -0.828164 +v 0.849246 -3.191868 0.011114 +v -0.991552 -0.511711 -0.827962 +v 0.203190 -3.708415 0.140607 +v -0.733032 -3.288615 0.011316 +v 1.107522 -0.511711 -0.828164 +v -0.894668 -0.543847 0.947916 +v -0.830159 -1.835721 0.818625 +v -0.151727 -2.029553 -1.021999 +v 0.752362 -3.385700 -0.085399 +v -0.022711 -3.449973 -0.666702 +v 0.009665 -3.385700 0.721707 +v 1.269158 -0.576321 0.075860 +v 1.269158 -0.414625 -0.117570 +v -0.797784 -1.868196 -0.731247 +v 1.075390 -0.544185 0.850998 +v -1.217696 -0.447100 0.140607 +v -0.894668 -0.479574 -0.892708 +v 0.009665 -3.837975 -0.053026 +v -1.023684 -1.641889 0.075860 +v 0.849246 -3.191868 -0.085197 +v 0.752362 -3.030173 -0.892708 +v -0.054843 -3.385700 0.721707 +v -0.054843 -3.224005 -0.828164 +v 0.752362 -2.707458 0.850998 +v 0.849246 -2.707119 -0.892708 +v -0.991552 -0.802289 0.883372 +v -0.216479 -3.224005 -0.731247 +v 0.687610 -0.834764 1.012662 +v -0.636148 -3.417836 -0.020855 +f 62 12 64 +f 1 5 8 +f 1 8 11 +f 14 6 17 +f 1 11 19 +f 5 1 20 +f 8 5 21 +f 6 19 22 +f 19 11 22 +f 8 21 23 +f 14 17 25 +f 21 5 26 +f 15 23 26 +f 23 21 26 +f 10 18 27 +f 6 14 28 +f 14 9 28 +f 19 6 28 +f 25 17 29 +f 20 1 30 +f 11 8 33 +f 9 16 36 +f 34 9 36 +f 2 33 37 +f 33 8 37 +f 4 16 38 +f 16 9 38 +f 32 4 38 +f 3 2 39 +f 18 10 39 +f 10 29 39 +f 5 20 40 +f 7 26 40 +f 26 5 40 +f 6 22 41 +f 22 11 41 +f 29 17 42 +f 39 29 42 +f 26 7 43 +f 15 26 43 +f 16 4 44 +f 24 16 44 +f 35 4 45 +f 12 35 45 +f 9 14 46 +f 38 9 46 +f 32 38 46 +f 13 30 47 +f 36 13 47 +f 34 36 47 +f 30 13 48 +f 20 30 48 +f 40 20 48 +f 2 37 49 +f 37 18 49 +f 39 2 49 +f 18 39 49 +f 30 1 50 +f 1 34 50 +f 47 30 50 +f 34 47 50 +f 2 3 51 +f 33 2 51 +f 11 33 51 +f 15 18 52 +f 8 23 52 +f 23 15 52 +f 37 8 52 +f 18 37 52 +f 4 32 53 +f 45 4 53 +f 3 39 54 +f 39 42 54 +f 51 3 54 +f 42 51 54 +f 16 24 55 +f 24 13 55 +f 36 16 55 +f 13 36 55 +f 7 24 56 +f 4 35 56 +f 35 7 56 +f 44 4 56 +f 24 44 56 +f 14 25 57 +f 25 29 57 +f 29 32 57 +f 46 14 57 +f 32 46 57 +f 18 15 58 +f 35 12 58 +f 7 35 58 +f 15 43 58 +f 43 7 58 +f 28 9 59 +f 31 28 59 +f 9 34 59 +f 34 1 59 +f 24 7 60 +f 13 24 60 +f 7 40 60 +f 48 13 60 +f 40 48 60 +f 17 6 61 +f 41 11 61 +f 6 41 61 +f 42 17 61 +f 11 51 61 +f 51 42 61 +f 10 27 62 +f 27 18 62 +f 58 12 62 +f 18 58 62 +f 1 19 63 +f 19 28 63 +f 28 31 63 +f 59 1 63 +f 31 59 63 +f 29 10 64 +f 32 29 64 +f 12 45 64 +f 53 32 64 +f 45 53 64 +f 10 62 64 +o convex_1 +v 0.623289 -0.156081 1.044960 +v 0.429280 -0.026904 -1.086670 +v 0.429280 0.005418 -1.086670 +v -1.734455 -0.026904 0.075753 +v -0.959108 -0.382151 -0.860487 +v 1.107450 -0.382151 -0.828145 +v -1.023548 -0.382151 0.915593 +v 1.785964 0.005418 0.075961 +v 1.075058 -0.382151 0.883460 +v -1.152772 0.005418 0.915593 +v -1.152772 0.005418 -0.828145 +v 1.043010 0.005418 0.947935 +v 1.107450 0.005418 -0.860278 +v -0.474947 -0.382151 -1.021987 +v -1.249604 -0.382151 0.011278 +v 1.301114 -0.382151 0.075961 +v 0.623289 -0.382151 -1.054120 +v -0.539387 -0.382151 1.012618 +v -0.571434 0.005418 1.012618 +v -0.539387 0.005418 -1.021987 +v -1.701718 0.005418 -0.052988 +v 0.752513 -0.382151 1.012409 +v 1.785964 -0.026904 0.011278 +v 0.494064 0.005418 1.044960 +v 1.107450 -0.091512 0.915384 +v -1.701718 -0.059189 0.011278 +v -1.055940 -0.382151 0.883251 +v -0.991500 -0.382151 -0.828145 +v -1.217557 -0.026904 0.851118 +v 1.753227 -0.059189 0.075961 +v 1.139842 -0.252936 -0.828145 +v 0.720121 0.005418 -1.021987 +v 0.978570 -0.285259 -0.925170 +v -1.346437 -0.317505 0.075753 +f 79 91 98 +f 69 70 71 +f 71 70 73 +f 72 67 74 +f 74 67 75 +f 72 74 76 +f 67 72 77 +f 70 69 78 +f 69 75 78 +f 69 71 79 +f 73 70 80 +f 66 67 81 +f 78 66 81 +f 70 78 81 +f 71 73 82 +f 74 71 82 +f 74 82 83 +f 76 74 83 +f 67 66 84 +f 75 67 84 +f 66 78 84 +f 78 75 84 +f 68 74 85 +f 74 75 85 +f 76 65 86 +f 82 73 86 +f 65 82 86 +f 77 72 87 +f 80 70 87 +f 65 76 88 +f 82 65 88 +f 83 82 88 +f 76 83 88 +f 73 72 89 +f 72 76 89 +f 86 73 89 +f 76 86 89 +f 68 85 90 +f 79 71 91 +f 75 69 92 +f 69 79 92 +f 85 75 92 +f 79 90 92 +f 90 85 92 +f 74 68 93 +f 71 74 93 +f 68 91 93 +f 91 71 93 +f 72 73 94 +f 73 80 94 +f 87 72 94 +f 80 87 94 +f 87 70 95 +f 77 87 95 +f 67 77 96 +f 81 67 96 +f 81 96 97 +f 70 81 97 +f 77 95 97 +f 95 70 97 +f 96 77 97 +f 68 90 98 +f 90 79 98 +f 91 68 98 +o convex_2 +v 2.593202 1.393967 0.915628 +v -0.539496 0.942081 -1.118967 +v -0.539496 1.329473 -1.118967 +v -2.735312 1.168239 0.947913 +v 1.042687 0.005418 0.947913 +v 2.722262 1.943023 -0.601975 +v -2.703047 2.136934 0.075787 +v -0.539496 0.005418 -1.021677 +v 2.786792 0.457949 -0.634259 +v -2.767578 0.522228 -0.634259 +v 0.913626 2.007517 0.850840 +v -1.249925 0.005418 0.883343 +v -1.249925 2.007732 -0.892538 +v 2.786792 0.199329 0.076006 +v 2.754527 2.104472 0.108072 +v -0.054325 1.749327 1.109555 +v -2.767578 1.232518 -0.860471 +v 2.205424 1.232518 -0.957107 +v -3.026296 0.716139 0.527992 +v 0.493583 0.005418 -1.086464 +v 3.045510 0.651430 0.495708 +v -2.767578 1.943023 0.689634 +v -2.735312 0.296285 -0.020631 +v 0.041872 1.749327 -1.118967 +v 0.461318 0.296285 1.077052 +v 0.106403 2.104472 -0.795901 +v -2.993433 1.717080 -0.408048 +v 2.786792 1.071499 0.947694 +v -2.089414 2.201643 0.075787 +v 3.013245 1.297227 -0.601975 +v 2.786792 1.813821 0.754204 +v 2.754527 0.393240 0.721701 +v -1.249925 0.005418 -0.763399 +v 2.237689 2.169181 0.011436 +v -2.767578 1.878530 -0.634259 +v 3.013245 1.846068 0.108072 +v -0.054325 2.104472 0.721919 +v 1.850508 0.005418 0.011436 +v -3.026296 0.748600 -0.440551 +v -2.735312 0.522228 0.721701 +v 2.786792 1.168024 -0.860253 +v 2.205424 1.103531 1.044767 +v -2.993433 1.749112 0.495708 +v 3.045510 0.683677 -0.472836 +v -2.283004 1.232518 1.012264 +v -0.571164 0.005418 1.012482 +v -1.766166 0.005418 -0.020631 +v 1.139482 0.005418 -0.860471 +v -2.089414 1.200056 -0.989610 +v -0.409838 0.942081 1.109555 +v 3.045510 1.135777 0.657131 +v -2.024884 2.201643 -0.085200 +v 0.525848 1.135562 -1.118967 +v 1.850508 1.975485 -0.763399 +v 0.623241 0.005418 1.044767 +v 0.429053 1.652587 1.109555 +v -2.767578 1.878530 0.754204 +v 0.299993 2.201643 0.011436 +v -1.184797 1.975485 0.851058 +v -3.058560 1.103531 0.075787 +v 2.044098 1.910776 0.818555 +v -2.703047 1.071284 -0.860471 +v -0.409838 1.684834 -1.118967 +v 3.013245 1.717080 -0.408048 +f 149 142 162 +f 106 103 110 +f 103 106 118 +f 106 100 118 +f 100 101 122 +f 122 111 124 +f 105 120 127 +f 99 126 129 +f 103 112 130 +f 112 119 130 +f 119 126 130 +f 108 106 131 +f 106 110 131 +f 121 108 131 +f 113 104 132 +f 109 113 132 +f 111 115 133 +f 125 105 133 +f 115 125 133 +f 113 129 134 +f 127 120 135 +f 109 132 135 +f 112 103 136 +f 103 118 136 +f 115 108 137 +f 108 121 137 +f 121 117 137 +f 125 115 137 +f 110 102 138 +f 102 117 138 +f 121 110 138 +f 117 121 138 +f 116 104 139 +f 107 118 139 +f 118 116 139 +f 104 128 139 +f 126 99 140 +f 117 102 141 +f 120 105 141 +f 105 125 141 +f 112 107 142 +f 119 112 142 +f 107 139 142 +f 139 128 142 +f 102 110 144 +f 110 103 144 +f 143 102 144 +f 110 121 145 +f 131 110 145 +f 121 131 145 +f 107 112 146 +f 118 107 146 +f 112 136 146 +f 136 118 146 +f 101 100 147 +f 100 106 147 +f 115 111 147 +f 114 143 148 +f 144 123 148 +f 143 144 148 +f 126 119 149 +f 129 126 149 +f 134 129 149 +f 119 142 149 +f 124 111 150 +f 105 127 150 +f 133 105 150 +f 111 133 150 +f 118 100 151 +f 116 118 151 +f 100 122 151 +f 122 116 151 +f 104 116 152 +f 116 122 152 +f 122 124 152 +f 132 104 152 +f 124 132 152 +f 103 130 153 +f 130 126 153 +f 140 123 153 +f 126 140 153 +f 123 144 153 +f 144 103 153 +f 140 99 154 +f 123 140 154 +f 114 148 154 +f 148 123 154 +f 141 102 155 +f 120 141 155 +f 102 143 155 +f 143 114 155 +f 132 124 156 +f 127 135 156 +f 135 132 156 +f 124 150 156 +f 150 127 156 +f 114 109 157 +f 109 135 157 +f 135 120 157 +f 155 114 157 +f 120 155 157 +f 137 117 158 +f 125 137 158 +f 117 141 158 +f 141 125 158 +f 113 109 159 +f 109 114 159 +f 129 113 159 +f 99 129 159 +f 154 99 159 +f 114 154 159 +f 106 108 160 +f 108 115 160 +f 147 106 160 +f 115 147 160 +f 122 101 161 +f 111 122 161 +f 101 147 161 +f 147 111 161 +f 104 113 162 +f 128 104 162 +f 113 134 162 +f 142 128 162 +f 134 149 162 +o convex_3 +v 0.138612 0.845237 1.109555 +v 0.041979 1.717096 1.141858 +v 0.041979 1.717096 1.109555 +v -0.442558 1.297255 1.109555 +v -0.281045 1.006720 1.303339 +v 0.364710 1.297255 1.303339 +v -0.313289 1.458739 1.303339 +v 0.558662 1.265078 1.109555 +v 0.332467 0.909847 1.303339 +v -0.410216 1.620137 1.109555 +v 0.300223 1.523264 1.271035 +v -0.345631 0.974458 1.109555 +v 0.429394 1.587875 1.141858 +v -0.087191 1.555612 1.303339 +v 0.332467 0.877584 1.109555 +v -0.022606 0.845237 1.141858 +v -0.442558 1.329518 1.174181 +f 174 167 179 +f 165 163 166 +f 167 168 169 +f 163 165 170 +f 170 168 171 +f 168 167 171 +f 164 165 172 +f 165 166 172 +f 166 163 174 +f 165 164 175 +f 170 165 175 +f 168 170 175 +f 164 173 175 +f 173 168 175 +f 169 168 176 +f 164 172 176 +f 172 169 176 +f 173 164 176 +f 168 173 176 +f 163 170 177 +f 170 171 177 +f 171 163 177 +f 163 171 178 +f 171 167 178 +f 174 163 178 +f 167 174 178 +f 167 169 179 +f 172 166 179 +f 169 172 179 +f 166 174 179 +o convex_4 +v -0.281052 1.135878 1.884873 +v 0.364878 1.232638 1.432848 +v 0.364878 1.200505 1.432848 +v 0.041878 1.232638 3.014935 +v -0.087210 1.523397 1.303507 +v 0.009606 0.909806 1.303507 +v 0.074150 1.006746 2.756420 +v 0.332536 0.909806 1.303507 +v 0.235650 1.491024 1.303507 +v -0.087210 1.394144 2.756420 +v -0.345666 1.297264 1.303507 +v 0.203378 1.232638 2.756420 +v -0.184096 1.200505 2.821090 +v -0.281052 1.006746 1.368177 +v -0.184096 1.006746 2.143221 +v -0.281052 1.426397 1.465016 +v 0.009606 1.394144 2.788755 +v 0.203378 1.168192 2.756420 +v 0.009606 1.006746 2.756420 +v -0.184096 1.297264 2.724252 +v -0.022596 1.523397 1.465016 +v 0.267922 1.458710 1.368177 +v 0.203378 0.909806 1.562022 +v 0.138764 1.361831 2.530407 +v 0.171036 1.038999 2.595078 +v 0.364878 1.264951 1.303507 +v -0.022596 1.168192 3.014935 +f 192 198 206 +f 185 184 187 +f 187 184 188 +f 184 185 190 +f 182 181 191 +f 190 180 192 +f 190 185 193 +f 180 190 193 +f 192 180 194 +f 193 185 194 +f 180 193 194 +f 189 184 195 +f 184 190 195 +f 189 183 196 +f 183 191 196 +f 183 186 197 +f 187 182 197 +f 182 191 197 +f 191 183 197 +f 194 185 198 +f 192 194 198 +f 192 189 199 +f 190 192 199 +f 189 195 199 +f 195 190 199 +f 188 184 200 +f 184 189 200 +f 196 188 200 +f 189 196 200 +f 191 181 201 +f 185 187 202 +f 187 186 202 +f 198 185 202 +f 186 198 202 +f 188 196 203 +f 196 191 203 +f 201 188 203 +f 191 201 203 +f 186 187 204 +f 197 186 204 +f 187 197 204 +f 181 182 205 +f 182 187 205 +f 187 188 205 +f 201 181 205 +f 188 201 205 +f 186 183 206 +f 183 189 206 +f 189 192 206 +f 198 186 206 +o convex_5 +v -0.054957 1.523397 -1.377517 +v 0.138761 0.780702 -1.409900 +v 0.041872 0.812983 -1.603704 +v 0.138761 1.200363 -2.765867 +v -0.313368 0.942110 -1.442119 +v -0.184163 1.168081 -2.798250 +v 0.300283 1.297207 -1.312916 +v -0.313368 1.297207 -1.312916 +v -0.054957 0.974464 -2.765867 +v -0.022641 1.394125 -2.636665 +v 0.235650 0.780702 -1.312916 +v 0.235650 1.458688 -1.442119 +v -0.248735 1.426407 -1.409900 +v 0.171077 1.135872 -2.669048 +v -0.087273 0.812983 -1.312916 +v 0.009556 1.200363 -2.992054 +v 0.300283 1.103590 -1.506720 +v 0.106445 0.974464 -2.572064 +v -0.184163 1.264926 -2.669048 +v 0.074188 1.523397 -1.312916 +v 0.074188 1.361843 -2.636665 +v -0.216419 0.974464 -2.184621 +v -0.313368 1.232644 -1.571321 +v -0.087273 0.812983 -1.474501 +v -0.313368 0.942110 -1.312916 +v 0.009556 0.974464 -2.765867 +v -0.087273 1.361843 -2.669048 +v 0.138761 1.297207 -2.604446 +f 227 218 234 +f 208 209 215 +f 213 214 217 +f 214 207 219 +f 208 217 221 +f 217 214 221 +f 215 212 222 +f 210 220 222 +f 213 217 223 +f 220 213 223 +f 217 220 223 +f 220 217 224 +f 207 214 226 +f 214 213 226 +f 216 207 226 +f 213 218 226 +f 218 216 226 +f 216 218 227 +f 210 222 227 +f 222 216 227 +f 211 212 228 +f 212 215 228 +f 212 211 229 +f 211 214 229 +f 214 219 229 +f 225 212 229 +f 219 225 229 +f 209 208 230 +f 215 209 230 +f 208 221 230 +f 221 211 230 +f 211 228 230 +f 228 215 230 +f 214 211 231 +f 211 221 231 +f 221 214 231 +f 208 215 232 +f 217 208 232 +f 215 222 232 +f 222 220 232 +f 224 217 232 +f 220 224 232 +f 207 216 233 +f 219 207 233 +f 222 212 233 +f 216 222 233 +f 212 225 233 +f 225 219 233 +f 218 213 234 +f 220 210 234 +f 213 220 234 +f 210 227 234 +o convex_6 +v -0.087201 0.780645 -1.280432 +v 0.009530 1.717182 -1.118967 +v 0.009530 1.717182 -1.151287 +v 0.494067 1.135913 -1.118967 +v -0.474811 0.877474 -1.118967 +v -0.248713 1.458742 -1.312733 +v 0.267970 1.426400 -1.312733 +v 0.235628 0.780645 -1.312733 +v 0.106457 0.715962 -1.118967 +v -0.377884 1.652498 -1.118967 +v -0.345640 1.168255 -1.312733 +v 0.364799 1.587815 -1.118967 +v -0.474811 1.458742 -1.151287 +v -0.313298 0.942059 -1.312733 +v 0.332555 1.135913 -1.312733 +v 0.106457 1.523229 -1.312733 +v 0.267970 0.780645 -1.118967 +v -0.119542 0.715962 -1.151287 +v 0.494067 1.200499 -1.151287 +f 242 249 253 +f 238 236 239 +f 240 241 242 +f 238 239 243 +f 236 237 244 +f 239 236 244 +f 237 240 244 +f 240 242 245 +f 237 236 246 +f 236 238 246 +f 239 244 247 +f 244 240 247 +f 240 245 247 +f 245 239 247 +f 235 239 248 +f 242 235 248 +f 239 245 248 +f 245 242 248 +f 242 241 249 +f 240 237 250 +f 241 240 250 +f 237 246 250 +f 246 241 250 +f 242 238 251 +f 238 243 251 +f 243 242 251 +f 239 235 252 +f 235 242 252 +f 243 239 252 +f 242 243 252 +f 238 242 253 +f 246 238 253 +f 241 246 253 +f 249 241 253 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/605/605.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/605/605.urdf new file mode 100644 index 000000000..5a5f6dec8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/605/605.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/606/606.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/606/606.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/606/606.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/606/606.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/606/606.obj new file mode 100644 index 000000000..7158502e6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/606/606.obj @@ -0,0 +1,279 @@ +o convex_0 +v 0.485176 -4.462163 -0.473204 +v -0.531205 -4.342613 0.603068 +v -0.591126 -4.342613 0.603068 +v -0.321994 -2.549169 -0.473087 +v 0.455272 -2.549169 0.423612 +v -0.441608 -4.522228 -0.592842 +v 0.514965 -4.462163 0.513282 +v -0.591126 -2.549169 0.453580 +v 0.485176 -2.638976 -0.443236 +v -0.531205 -2.549169 -0.473087 +v 0.574886 -4.522228 -0.443236 +v -0.591126 -4.492099 0.393761 +v 0.485176 -2.937948 0.453463 +v 0.455272 -2.549169 -0.443236 +v -0.052975 -4.492099 0.573101 +v -0.531205 -2.848140 -0.503055 +v 0.574886 -4.522228 -0.234045 +v -0.531205 -2.728590 0.483431 +v -0.561108 -2.549169 -0.233928 +v -0.471397 -4.342613 -0.562757 +v -0.591126 -4.492099 0.603068 +v 0.514965 -4.103320 0.513282 +v 0.574886 -4.252806 -0.413385 +v 0.335658 -2.728590 0.453463 +v -0.411590 -4.462163 -0.592842 +v 0.485176 -2.818398 0.423612 +v -0.591126 -2.549169 0.274123 +v 0.514965 -4.492099 0.423612 +v 0.455272 -4.522228 -0.144258 +v -0.531205 -2.937948 -0.503055 +v 0.036621 -2.579104 0.453580 +v -0.471397 -2.848140 -0.503055 +v 0.335658 -4.402291 0.543250 +f 24 2 33 +f 5 4 8 +f 8 4 10 +f 6 1 11 +f 1 9 11 +f 3 8 12 +f 4 5 14 +f 5 9 14 +f 10 4 16 +f 6 11 17 +f 3 2 18 +f 8 3 18 +f 8 10 19 +f 10 16 19 +f 6 12 20 +f 2 3 21 +f 3 12 21 +f 12 6 21 +f 15 2 21 +f 7 17 22 +f 11 9 23 +f 17 11 23 +f 13 5 24 +f 1 6 25 +f 9 1 25 +f 14 9 25 +f 6 16 25 +f 9 5 26 +f 5 13 26 +f 13 22 26 +f 22 17 26 +f 23 9 26 +f 17 23 26 +f 12 8 27 +f 8 19 27 +f 19 12 27 +f 7 15 28 +f 17 7 28 +f 17 28 29 +f 6 17 29 +f 21 6 29 +f 15 21 29 +f 28 15 29 +f 16 6 30 +f 12 19 30 +f 19 16 30 +f 6 20 30 +f 20 12 30 +f 5 8 31 +f 18 2 31 +f 8 18 31 +f 24 5 31 +f 2 24 31 +f 4 14 32 +f 16 4 32 +f 14 25 32 +f 25 16 32 +f 2 15 33 +f 15 7 33 +f 22 13 33 +f 7 22 33 +f 13 24 33 +o convex_1 +v 0.724326 -2.338764 -1.070995 +v -0.889927 3.459938 1.111330 +v 0.126329 3.549596 1.111117 +v -0.650771 3.519306 -1.041089 +v -0.979690 -2.429028 1.081210 +v 1.053245 -2.489002 0.961798 +v 0.933561 3.489622 -1.070995 +v -0.949769 -2.458712 -0.921462 +v 0.933561 3.639860 1.081210 +v -1.099373 3.519912 -1.011396 +v 0.933561 -2.548370 -1.070995 +v -0.979690 3.459938 1.081210 +v -0.591140 -2.548976 0.453386 +v 0.963482 2.921383 -0.861863 +v 0.993403 1.067640 1.051517 +v -1.039531 0.559981 -0.981489 +v -0.591140 -2.428422 1.081210 +v 1.053245 -1.651789 0.662732 +v -1.099373 3.519912 -0.742236 +v -0.979690 -0.096704 1.111330 +v 0.395407 3.519912 -1.070995 +v -1.099373 2.891699 -1.011396 +v 0.963482 -2.488396 0.991490 +v -0.531298 -2.548976 -0.473077 +v -0.979690 -1.681473 -0.951369 +v 0.664484 3.639860 0.812265 +v 0.903640 2.473698 1.081210 +v 0.455248 -2.548370 0.423479 +v -0.979690 -2.429028 0.214133 +v -0.591140 1.875169 -1.041089 +v -0.860006 3.489622 1.081210 +v 0.963482 -2.548370 -0.682423 +v 0.933561 3.519912 -1.041089 +v -0.411614 -2.488396 -0.981275 +v 1.053245 -1.711157 0.991490 +v 0.545011 -1.262260 -1.070995 +v 0.963482 2.503382 1.051517 +v 1.053245 -2.489002 0.692638 +v -0.740533 3.549596 -0.652517 +v -0.979690 2.712383 1.111330 +v 0.963482 2.174434 -0.861863 +v 0.724326 3.639860 1.081210 +v -1.009611 1.994512 -1.011396 +v -0.889927 0.022638 1.111330 +v 0.933561 3.639860 0.812265 +v -0.291931 -2.458712 1.051304 +v 0.963482 -2.189132 -0.712330 +v 0.604642 -2.548370 -1.041089 +v 1.023324 -2.518080 0.393573 +v -1.069453 3.519912 -0.562797 +v -0.949769 -2.458712 0.064600 +v -0.979690 -1.771131 -0.921462 +v 1.053245 -2.070395 0.662732 +v -0.830085 -2.369054 -0.951369 +v -1.009611 3.489622 0.632612 +v 0.903640 3.519912 -1.070995 +v 0.574721 -2.488396 0.991490 +v -0.561219 -2.488396 -0.951369 +v 1.053245 -1.681473 0.961798 +v -0.291931 3.579886 -0.174225 +v 1.053245 -2.189738 0.991490 +v -1.099373 2.921989 -0.951369 +f 52 55 95 +f 34 40 44 +f 44 40 47 +f 38 50 53 +f 52 38 53 +f 40 34 54 +f 43 37 55 +f 52 43 55 +f 46 41 57 +f 42 36 60 +f 48 42 60 +f 50 56 60 +f 56 46 61 +f 39 56 61 +f 41 38 62 +f 55 49 62 +f 38 55 62 +f 55 37 63 +f 45 35 64 +f 57 44 65 +f 46 57 65 +f 61 46 65 +f 47 40 66 +f 34 44 67 +f 39 51 68 +f 54 34 69 +f 37 54 69 +f 34 63 69 +f 63 37 69 +f 47 42 70 +f 42 48 70 +f 48 68 70 +f 51 39 71 +f 37 43 72 +f 43 52 72 +f 54 37 72 +f 35 45 73 +f 52 53 73 +f 53 35 73 +f 44 47 74 +f 47 51 74 +f 35 36 75 +f 36 42 75 +f 42 59 75 +f 64 35 75 +f 49 55 76 +f 58 49 76 +f 63 34 76 +f 55 63 76 +f 36 35 77 +f 35 53 77 +f 53 50 77 +f 60 36 77 +f 50 60 77 +f 42 47 78 +f 59 42 78 +f 47 66 78 +f 38 46 79 +f 50 38 79 +f 56 50 79 +f 65 44 80 +f 71 65 80 +f 44 74 80 +f 44 57 81 +f 67 44 81 +f 39 61 82 +f 61 65 82 +f 71 39 82 +f 65 71 82 +f 72 52 83 +f 38 41 84 +f 46 38 84 +f 41 46 84 +f 58 41 85 +f 49 58 85 +f 41 62 85 +f 62 49 85 +f 51 71 86 +f 74 51 86 +f 71 80 86 +f 80 74 86 +f 41 58 87 +f 34 67 87 +f 67 41 87 +f 76 34 87 +f 58 76 87 +f 45 64 88 +f 73 45 88 +f 52 73 88 +f 64 75 88 +f 83 52 88 +f 75 83 88 +f 40 54 89 +f 66 40 89 +f 54 72 89 +f 78 66 89 +f 46 56 90 +f 79 46 90 +f 56 79 90 +f 57 41 91 +f 41 67 91 +f 81 57 91 +f 67 81 91 +f 51 47 92 +f 68 51 92 +f 47 70 92 +f 70 68 92 +f 75 59 93 +f 59 78 93 +f 72 83 93 +f 83 75 93 +f 89 72 93 +f 78 89 93 +f 56 39 94 +f 48 60 94 +f 60 56 94 +f 68 48 94 +f 39 68 94 +f 38 52 95 +f 55 38 95 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/606/606.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/606/606.urdf new file mode 100644 index 000000000..2b217e7f9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/606/606.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/607/607.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/607/607.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/607/607.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/607/607.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/607/607.obj new file mode 100644 index 000000000..dc718b31a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/607/607.obj @@ -0,0 +1,888 @@ +o convex_0 +v -1.044799 -1.594074 0.039428 +v -2.124532 -0.855322 -0.017247 +v -2.124532 -0.855322 0.011091 +v -1.584610 -3.014666 0.039528 +v -1.527981 -1.764809 -0.528725 +v -1.158502 -0.770065 0.408918 +v -1.101650 -0.770065 -0.471850 +v -1.556240 -2.531467 0.437356 +v -1.158502 -2.673416 0.011091 +v -1.953978 -0.769845 0.408918 +v -1.953978 -2.673636 -0.017247 +v -1.897126 -0.769845 -0.443412 +v -1.527981 -2.730328 -0.386637 +v -1.953978 -1.821281 -0.386637 +v -1.953978 -1.793155 0.352143 +v -1.186872 -1.906319 0.380480 +v -1.471018 -1.310175 0.494231 +v -0.987947 -0.770065 0.011091 +v -1.186872 -1.849627 -0.386537 +v -1.499500 -2.673636 0.408918 +v -1.527981 -0.769845 -0.528725 +v -1.073280 -0.940580 0.380480 +v -1.840275 -2.474336 0.295267 +v -1.641461 -1.736243 0.494231 +v -1.698202 -2.645070 -0.358199 +v -2.067569 -1.793155 0.011091 +v -1.158502 -2.673416 0.067866 +v -1.073280 -0.968926 -0.386537 +v -1.613091 -0.769845 0.465793 +v -1.471018 -1.764809 0.494231 +v -1.584610 -1.793155 -0.528725 +v -2.124532 -0.769845 -0.045585 +v -1.300575 -2.502901 -0.301324 +v -1.584610 -2.673636 0.408918 +v -1.243724 -2.474555 0.295267 +v -1.868645 -2.446209 -0.301324 +v -1.044799 -1.622420 -0.045585 +v -1.414278 -2.929189 0.039528 +v -1.925607 -1.821281 0.380480 +v -1.925607 -2.673636 0.067966 +v -2.067569 -1.793155 -0.045585 +v -1.584610 -2.957535 -0.102460 +v -1.925607 -1.793155 -0.414974 +v -1.925607 -2.730328 -0.045585 +v -1.953978 -0.769845 -0.386637 +v -0.987947 -0.798411 -0.102360 +v -1.215242 -0.997491 -0.500287 +v -1.953978 -1.139441 0.408918 +v -2.124532 -0.826757 0.039528 +v -1.613091 -2.701762 -0.386637 +v -1.044799 -0.826757 0.323605 +v -1.897126 -0.826757 0.437356 +v -1.385797 -0.769845 0.465793 +v -1.527981 -3.014666 -0.017247 +v -1.414278 -0.769845 -0.528725 +v -1.556240 -1.196352 0.494231 +v -1.215242 -1.764589 0.408918 +v -1.186872 -1.679332 -0.414974 +v -1.982348 -0.912014 0.380480 +v -1.811793 -1.082749 -0.471850 +v -1.527981 -2.957535 0.124741 +v -1.953978 -2.673636 0.011091 +f 44 40 62 +f 12 10 21 +f 3 2 26 +f 22 16 27 +f 19 7 28 +f 9 19 28 +f 21 10 29 +f 6 17 30 +f 8 20 30 +f 22 6 30 +f 24 8 30 +f 17 24 30 +f 5 13 31 +f 21 5 31 +f 2 3 32 +f 10 12 32 +f 9 13 33 +f 19 9 33 +f 13 19 33 +f 20 8 34 +f 16 20 35 +f 20 27 35 +f 27 16 35 +f 11 14 36 +f 18 1 37 +f 27 9 37 +f 1 27 37 +f 9 28 37 +f 9 27 38 +f 15 23 39 +f 8 24 39 +f 34 8 39 +f 23 34 39 +f 23 15 40 +f 4 34 40 +f 34 23 40 +f 14 11 41 +f 26 2 41 +f 11 26 41 +f 2 32 41 +f 32 14 41 +f 36 14 43 +f 25 36 43 +f 11 36 44 +f 36 25 44 +f 4 40 44 +f 42 4 44 +f 32 12 45 +f 14 32 45 +f 12 43 45 +f 43 14 45 +f 7 18 46 +f 28 7 46 +f 18 37 46 +f 37 28 46 +f 15 39 48 +f 39 24 48 +f 3 26 49 +f 26 15 49 +f 32 3 49 +f 10 32 49 +f 31 13 50 +f 13 42 50 +f 43 31 50 +f 25 43 50 +f 44 25 50 +f 42 44 50 +f 1 18 51 +f 18 6 51 +f 6 22 51 +f 27 1 51 +f 22 27 51 +f 29 10 52 +f 10 48 52 +f 48 24 52 +f 17 6 53 +f 6 18 53 +f 21 29 53 +f 13 9 54 +f 9 38 54 +f 4 42 54 +f 42 13 54 +f 18 7 55 +f 5 21 55 +f 47 5 55 +f 7 47 55 +f 53 18 55 +f 21 53 55 +f 24 17 56 +f 29 52 56 +f 52 24 56 +f 17 53 56 +f 53 29 56 +f 20 16 57 +f 16 22 57 +f 30 20 57 +f 22 30 57 +f 13 5 58 +f 7 19 58 +f 19 13 58 +f 5 47 58 +f 47 7 58 +f 48 10 59 +f 15 48 59 +f 49 15 59 +f 10 49 59 +f 12 21 60 +f 21 31 60 +f 43 12 60 +f 31 43 60 +f 27 20 61 +f 34 4 61 +f 20 34 61 +f 38 27 61 +f 4 54 61 +f 54 38 61 +f 26 11 62 +f 15 26 62 +f 40 15 62 +f 11 44 62 +o convex_1 +v 1.711537 0.906182 0.010985 +v -0.789006 -0.570801 -0.073906 +v -0.789006 -0.570801 -0.017247 +v 1.228366 -2.672821 -0.017247 +v -0.135232 0.025206 0.977294 +v 0.262514 2.298445 -0.755949 +v 1.228366 -1.905596 -0.755949 +v -0.277442 2.071536 0.721454 +v 1.285152 1.986222 0.664407 +v -0.305835 -2.048377 -0.727522 +v 0.461265 -2.275286 0.749881 +v 1.285152 -0.144235 0.891819 +v 1.228366 2.043098 -0.727327 +v -0.391014 2.042506 -0.698901 +v 0.489414 3.037825 0.010985 +v -0.277442 -2.644976 0.124691 +v 0.234121 0.053644 -1.011788 +v 1.711537 -0.655522 0.465615 +v 1.711537 -0.683959 -0.471683 +v -0.789006 0.195832 0.437189 +v -0.277442 -2.019346 0.749686 +v -0.789006 -0.115798 -0.585389 +v -0.362621 2.725010 -0.017247 +v 1.228366 0.138957 -0.954740 +v 0.489414 -3.014666 -0.045284 +v 1.256759 -2.019346 0.664407 +v 1.228366 2.724418 -0.045479 +v -0.334228 0.138957 -0.954935 +v 0.518051 2.242162 0.749881 +v 0.518051 -2.247440 -0.784375 +v 1.711537 0.082081 -0.585389 +v 1.711537 0.110519 0.579322 +v -0.789006 0.451771 -0.471878 +v 0.716802 0.025206 0.977294 +v -0.533224 0.053644 0.778308 +v -0.533224 -1.366464 0.579322 +v -0.305835 -2.672821 -0.017247 +v 0.745196 2.241569 -0.755949 +v 1.711537 0.792431 0.408762 +v -0.789006 0.451771 0.380336 +v 1.711537 0.621805 -0.443451 +v 0.631624 0.025206 -1.011788 +v -0.789006 -0.456458 -0.443256 +v -0.561617 1.360593 0.550895 +v 1.256759 -2.644976 -0.045479 +v -0.561617 1.872472 -0.073906 +v 0.518051 -2.986228 0.039411 +v -0.305835 0.138957 0.948867 +v 1.711537 -0.883023 0.067838 +v -0.789006 -0.456458 0.351909 +v 0.461265 3.037825 -0.045284 +v -0.334228 -0.087360 -0.954935 +v 0.518051 -0.257986 0.977294 +v 1.285152 0.366458 0.863587 +v 0.603230 -2.246848 0.749881 +v 0.319300 -2.219003 -0.784375 +v 1.228366 -1.991501 -0.727327 +v -0.533224 -1.792437 0.010985 +v 1.256759 2.496916 0.209971 +v 1.256759 2.668135 -0.073906 +v 0.376086 3.009387 0.039411 +v 1.199973 -0.115205 -0.954740 +v 0.461265 0.195832 -1.011788 +v -0.334228 1.957192 0.721454 +f 97 110 126 +f 63 80 81 +f 64 65 82 +f 78 73 83 +f 64 82 84 +f 68 76 85 +f 76 68 90 +f 68 79 90 +f 84 76 90 +f 70 67 91 +f 81 69 93 +f 63 81 93 +f 86 75 93 +f 80 63 94 +f 74 88 94 +f 88 80 94 +f 76 84 95 +f 84 82 95 +f 91 67 96 +f 83 97 98 +f 78 83 98 +f 72 87 99 +f 87 78 99 +f 78 98 99 +f 75 86 100 +f 89 75 100 +f 94 63 101 +f 71 94 101 +f 95 82 102 +f 63 93 103 +f 93 75 103 +f 92 79 104 +f 64 84 105 +f 84 72 105 +f 72 99 105 +f 82 97 106 +f 102 82 106 +f 66 87 107 +f 88 66 107 +f 80 88 107 +f 85 76 108 +f 76 95 108 +f 95 102 108 +f 106 85 108 +f 102 106 108 +f 73 78 109 +f 87 66 109 +f 78 87 109 +f 66 88 109 +f 67 70 110 +f 83 67 110 +f 97 83 110 +f 81 80 111 +f 107 81 111 +f 80 107 111 +f 82 65 112 +f 97 82 112 +f 98 97 112 +f 68 85 113 +f 77 89 113 +f 100 68 113 +f 89 100 113 +f 72 84 114 +f 90 79 114 +f 84 90 114 +f 67 83 115 +f 83 73 115 +f 96 67 115 +f 74 96 115 +f 71 91 116 +f 94 71 116 +f 74 94 116 +f 96 74 116 +f 91 96 116 +f 88 74 117 +f 73 109 117 +f 109 88 117 +f 115 73 117 +f 74 115 117 +f 87 72 118 +f 79 92 118 +f 92 87 118 +f 72 114 118 +f 114 79 118 +f 69 81 119 +f 92 69 119 +f 87 92 119 +f 81 107 119 +f 107 87 119 +f 65 64 120 +f 99 98 120 +f 64 105 120 +f 105 99 120 +f 112 65 120 +f 98 112 120 +f 89 77 121 +f 91 71 121 +f 77 91 121 +f 71 101 121 +f 121 101 122 +f 75 89 122 +f 101 63 122 +f 63 103 122 +f 103 75 122 +f 89 121 122 +f 85 70 123 +f 70 91 123 +f 91 77 123 +f 113 85 123 +f 77 113 123 +f 69 92 124 +f 93 69 124 +f 86 93 124 +f 104 86 124 +f 92 104 124 +f 79 68 125 +f 68 100 125 +f 100 86 125 +f 104 79 125 +f 86 104 125 +f 70 85 126 +f 85 106 126 +f 106 97 126 +f 110 70 126 +o convex_2 +v 1.711831 -0.542399 -0.471850 +v 1.740111 0.849835 0.011124 +v 1.740111 0.849835 -0.045618 +v 3.473242 -0.030999 0.011124 +v 1.711831 -0.570793 0.465727 +v 3.160619 -0.002445 -0.414997 +v 2.507268 0.082412 0.494209 +v 3.245802 -0.400272 0.039495 +v 1.711831 0.622367 -0.443479 +v 3.189071 0.395060 0.011124 +v 1.711831 0.707708 0.380502 +v 1.740111 -0.798261 -0.017247 +v 3.217523 0.054019 0.352132 +v 1.740111 0.025787 -0.585556 +v 3.075437 -0.343486 -0.272919 +v 1.711831 0.139199 0.551062 +v 3.160619 0.366667 -0.130731 +v 3.046986 -0.286699 0.295167 +v 1.740111 -0.627740 -0.443479 +v 3.046986 0.309881 0.266796 +v 2.422086 -0.002606 -0.528703 +v 3.189071 -0.059231 -0.414997 +v 2.961803 0.281326 -0.329661 +v 3.217523 -0.400272 -0.073989 +v 2.507268 -0.343324 0.408985 +v 1.711831 -0.798261 0.039495 +v 1.768562 -0.570793 0.465727 +v 3.444790 -0.002445 -0.102360 +v 1.768562 -0.059392 0.551062 +v 1.740111 0.707708 0.380502 +v 3.217523 -0.002445 0.352132 +v 1.740111 0.622367 -0.443479 +v 2.393634 -0.059392 -0.528703 +v 3.189071 0.395060 -0.073989 +v 3.245802 -0.030999 -0.386626 +v 2.393634 0.480240 0.352132 +v 2.450365 -0.002606 0.494209 +v 2.933352 -0.343486 -0.329661 +v 1.740111 0.650922 0.408985 +v 1.711831 -0.002606 -0.585556 +v 1.740111 -0.798261 0.039495 +v 3.416339 -0.144572 -0.045618 +v 1.740111 0.792888 -0.159324 +v 1.711831 0.849835 -0.045618 +v 3.132168 0.054019 0.380502 +v 3.444790 0.025787 0.039495 +v 3.245802 -0.059231 -0.386626 +v 2.251549 0.196146 -0.500221 +v 3.245802 0.338274 -0.073989 +v 1.853744 0.110967 0.551062 +f 165 142 176 +f 127 131 135 +f 129 128 136 +f 135 131 137 +f 137 131 142 +f 139 136 146 +f 147 132 148 +f 134 138 150 +f 138 145 150 +f 145 141 150 +f 131 127 152 +f 127 145 152 +f 145 138 152 +f 134 144 153 +f 144 151 153 +f 131 152 153 +f 142 131 155 +f 131 153 155 +f 136 128 156 +f 128 137 156 +f 146 136 156 +f 134 130 157 +f 130 139 157 +f 144 134 157 +f 151 144 157 +f 140 135 158 +f 149 132 158 +f 143 149 158 +f 145 127 159 +f 140 147 159 +f 148 145 159 +f 147 148 159 +f 129 136 160 +f 143 158 160 +f 148 132 161 +f 132 149 161 +f 149 143 161 +f 146 156 162 +f 153 151 163 +f 133 155 163 +f 155 153 163 +f 141 145 164 +f 148 141 164 +f 145 148 164 +f 137 142 165 +f 156 137 165 +f 133 162 165 +f 162 156 165 +f 127 135 166 +f 135 140 166 +f 159 127 166 +f 140 159 166 +f 138 134 167 +f 152 138 167 +f 134 153 167 +f 153 152 167 +f 130 134 168 +f 134 150 168 +f 154 130 168 +f 158 135 169 +f 129 160 169 +f 160 158 169 +f 128 129 170 +f 137 128 170 +f 135 137 170 +f 129 169 170 +f 169 135 170 +f 139 146 171 +f 157 139 171 +f 151 157 171 +f 162 133 171 +f 146 162 171 +f 163 151 171 +f 133 163 171 +f 139 130 172 +f 136 139 172 +f 130 154 172 +f 141 148 173 +f 150 141 173 +f 148 161 173 +f 161 154 173 +f 168 150 173 +f 154 168 173 +f 132 147 174 +f 147 140 174 +f 140 158 174 +f 158 132 174 +f 160 136 175 +f 143 160 175 +f 161 143 175 +f 154 161 175 +f 136 172 175 +f 172 154 175 +f 142 155 176 +f 155 133 176 +f 133 165 176 +o convex_3 +v -2.550655 -0.087838 -0.045573 +v -0.959610 0.792851 0.039512 +v -0.874255 0.679209 0.011079 +v -1.385866 -0.769692 0.465677 +v -1.186877 -0.769692 -0.500171 +v -1.840401 0.792851 -0.471738 +v -2.010593 0.792851 0.465677 +v -0.789245 -0.315123 0.437244 +v -0.789245 0.366578 -0.528603 +v -1.897132 -0.769692 -0.443306 +v -2.408570 -0.258225 0.408918 +v -2.408570 0.139293 -0.500171 +v -1.243780 0.792851 0.465677 +v -2.522204 0.395027 0.011079 +v -0.789245 -0.315123 -0.557141 +v -2.152851 -0.769692 0.039512 +v -2.351667 0.167742 0.522646 +v -0.959610 -0.769692 -0.017247 +v -0.789245 0.395027 0.408812 +v -2.408570 -0.343419 -0.386548 +v -2.095948 0.792851 -0.386548 +v -1.556403 0.792851 0.522646 +v -1.954035 -0.769692 0.408918 +v -1.215329 0.792851 -0.414980 +v -1.527951 -0.769692 -0.528708 +v -2.522204 0.167742 0.352054 +v -2.465473 -0.400317 0.067944 +v -2.209581 0.792851 0.039512 +v -1.073243 -0.769692 0.380486 +v -1.044964 0.025651 -0.557141 +v -2.408570 0.423476 0.380486 +v -0.789245 -0.542408 -0.017247 +v -1.840401 -0.030941 0.522646 +v -0.789245 -0.457061 -0.443412 +v -2.522204 0.025651 -0.329789 +v -2.493752 0.309833 -0.244387 +v -1.101695 0.792851 0.408812 +v -2.522204 -0.002492 0.380486 +v -0.789245 -0.457061 0.352054 +v -1.073243 -0.769692 -0.443412 +v -1.613133 -0.769692 0.465677 +v -0.789245 0.224640 0.437244 +v -2.152851 -0.769692 -0.045573 +v -0.789245 0.537118 -0.045573 +v -2.437021 0.224640 0.494109 +v -0.845976 0.167742 -0.557141 +v -2.095948 0.792851 0.408918 +v -2.238033 -0.002492 0.522646 +v -0.789245 0.423476 -0.471738 +v -2.465473 -0.400317 -0.074006 +v -1.499499 0.792851 -0.471738 +v -2.408570 0.082549 -0.500171 +v -2.323388 0.252936 -0.500171 +v -2.437021 -0.315123 0.295295 +v -2.522204 0.395027 -0.045573 +v -2.380118 0.395027 -0.386548 +v -2.493752 -0.059390 -0.414980 +v -0.959610 0.792851 -0.017247 +v -2.550655 0.196191 -0.017247 +v -2.550655 -0.002492 0.209893 +v -1.669864 0.792851 0.522646 +v -0.931158 -0.741244 -0.074006 +v -2.095948 0.764403 -0.414980 +v -1.954035 -0.769692 -0.386548 +f 219 196 240 +f 178 182 183 +f 181 180 186 +f 178 183 189 +f 185 184 191 +f 186 180 192 +f 180 181 194 +f 179 178 195 +f 184 185 195 +f 183 182 197 +f 189 183 198 +f 192 180 199 +f 182 178 200 +f 181 186 201 +f 191 181 201 +f 183 197 204 +f 184 180 205 +f 180 194 205 +f 191 201 206 +f 190 202 207 +f 204 190 207 +f 191 184 208 +f 180 184 209 +f 184 198 209 +f 198 193 209 +f 191 208 210 +f 188 211 212 +f 178 189 213 +f 195 178 213 +f 189 195 213 +f 184 205 215 +f 205 194 215 +f 208 184 215 +f 194 208 215 +f 181 191 216 +f 194 181 216 +f 191 210 216 +f 199 180 217 +f 180 209 217 +f 184 195 218 +f 195 189 218 +f 198 184 218 +f 189 198 218 +f 186 192 219 +f 192 203 219 +f 179 195 220 +f 195 185 220 +f 187 193 221 +f 193 183 221 +f 207 202 221 +f 214 187 221 +f 202 214 221 +f 185 191 222 +f 191 206 222 +f 183 204 223 +f 204 207 223 +f 221 183 223 +f 207 221 223 +f 193 187 224 +f 187 199 224 +f 209 193 224 +f 199 217 224 +f 217 209 224 +f 185 200 225 +f 179 220 225 +f 220 185 225 +f 203 177 226 +f 196 219 226 +f 219 203 226 +f 182 200 227 +f 200 185 227 +f 222 182 227 +f 185 222 227 +f 186 196 228 +f 201 186 228 +f 188 206 228 +f 206 201 228 +f 206 188 229 +f 182 222 229 +f 222 206 229 +f 192 199 230 +f 199 187 230 +f 203 192 230 +f 187 214 230 +f 214 203 230 +f 190 204 231 +f 204 197 231 +f 212 211 231 +f 212 231 232 +f 188 212 232 +f 231 197 232 +f 177 211 233 +f 211 188 233 +f 226 177 233 +f 196 226 233 +f 228 196 233 +f 188 228 233 +f 178 179 234 +f 200 178 234 +f 179 225 234 +f 225 200 234 +f 202 190 235 +f 211 177 235 +f 190 231 235 +f 231 211 235 +f 177 203 236 +f 214 202 236 +f 203 214 236 +f 202 235 236 +f 235 177 236 +f 183 193 237 +f 198 183 237 +f 193 198 237 +f 208 194 238 +f 210 208 238 +f 194 216 238 +f 216 210 238 +f 197 182 239 +f 182 229 239 +f 229 188 239 +f 188 232 239 +f 232 197 239 +f 196 186 240 +f 186 219 240 +o convex_4 +v -1.101690 2.497614 0.011168 +v -2.181279 0.793004 -0.045607 +v -2.096006 0.793004 -0.386559 +v -0.988031 0.793221 0.096281 +v -1.584597 2.696778 0.380558 +v -1.584597 2.611515 -0.443434 +v -1.669870 0.793004 0.522646 +v -1.215233 0.793221 -0.414997 +v -1.982346 2.725199 -0.017169 +v -2.067620 0.963530 0.437333 +v -1.130076 1.787740 0.408896 +v -1.499557 3.009409 -0.045607 +v -1.158462 1.759319 -0.358121 +v -2.010732 1.787740 -0.414997 +v -1.698256 0.793004 -0.500310 +v -1.130076 0.793221 0.437333 +v -1.527942 1.787740 0.522646 +v -1.130076 2.696561 -0.017169 +v -1.953961 1.844582 0.380558 +v -1.556328 2.014457 -0.500310 +v -2.124391 1.702694 -0.017169 +v -0.988031 1.247957 -0.017169 +v -1.385897 2.611515 0.352120 +v -1.897073 2.497831 -0.329784 +v -1.556328 2.725199 -0.414997 +v -2.096006 0.793004 0.408896 +v -1.243735 2.440772 -0.301246 +v -1.868687 2.497831 0.266907 +v -1.613099 3.009409 -0.017169 +v -1.016417 0.793221 -0.102382 +v -1.016417 1.787740 0.011168 +v -1.982346 2.725199 -0.074045 +v -1.215233 2.469193 0.295245 +v -1.726759 1.731115 -0.500310 +v -2.010732 0.821425 -0.443434 +v -1.186847 1.816161 -0.386559 +v -1.499557 1.361424 -0.500310 +v -1.130076 2.696561 0.039506 +v -1.527942 2.725199 0.380558 +v -1.584597 1.731115 0.522646 +v -1.556328 0.793004 0.522646 +v -2.181279 0.821425 0.067944 +v -2.096006 1.787740 0.067944 +v -2.010732 0.793004 0.465771 +v -1.527942 2.980988 0.067944 +v -2.096006 1.759319 -0.130820 +v -1.101690 1.105852 0.408896 +v -1.499557 1.759319 0.522646 +v -1.584597 2.924146 -0.187695 +v -1.016417 1.787740 0.039506 +v -1.669870 2.639719 -0.414997 +v -1.130076 2.668140 -0.045607 +v -1.499557 1.787740 -0.500310 +v -1.499557 2.639719 -0.414997 +v -1.499557 2.554456 0.408896 +v -1.016417 1.759319 -0.017169 +v -1.101690 1.702477 0.352020 +v -2.096006 0.878267 -0.386559 +v -1.584597 2.810245 0.266907 +v -1.300507 0.821642 -0.443334 +v -1.982346 1.702694 0.380558 +f 283 250 301 +f 242 243 247 +f 247 243 255 +f 252 258 265 +f 242 247 266 +f 245 249 268 +f 259 245 268 +f 249 259 268 +f 248 253 270 +f 244 255 270 +f 255 248 270 +f 262 244 270 +f 253 262 270 +f 261 249 272 +f 264 254 272 +f 249 269 272 +f 263 251 273 +f 254 246 274 +f 246 260 274 +f 260 255 274 +f 255 243 275 +f 254 274 275 +f 274 255 275 +f 253 248 276 +f 267 253 276 +f 255 260 277 +f 241 258 278 +f 258 252 278 +f 273 251 278 +f 263 273 278 +f 263 278 279 +f 247 257 280 +f 257 245 280 +f 245 259 280 +f 259 250 280 +f 247 255 281 +f 255 244 281 +f 244 256 281 +f 257 247 281 +f 261 242 282 +f 242 266 282 +f 282 266 283 +f 249 261 283 +f 266 250 283 +f 261 282 283 +f 266 247 284 +f 250 266 284 +f 247 280 284 +f 280 250 284 +f 252 269 285 +f 278 252 285 +f 279 278 285 +f 242 261 286 +f 261 272 286 +f 272 254 286 +f 256 244 287 +f 251 256 287 +f 256 251 288 +f 281 256 288 +f 257 281 288 +f 252 265 289 +f 269 252 289 +f 272 269 289 +f 244 262 290 +f 271 241 290 +f 262 271 290 +f 241 278 290 +f 246 254 291 +f 254 264 291 +f 265 246 291 +f 264 272 291 +f 289 265 291 +f 272 289 291 +f 258 241 292 +f 265 258 292 +f 253 267 292 +f 267 265 292 +f 276 248 293 +f 260 276 293 +f 277 260 293 +f 260 246 294 +f 246 265 294 +f 265 267 294 +f 276 260 294 +f 267 276 294 +f 245 257 295 +f 251 263 295 +f 279 245 295 +f 263 279 295 +f 288 251 295 +f 257 288 295 +f 262 253 296 +f 241 271 296 +f 271 262 296 +f 292 241 296 +f 253 292 296 +f 278 251 297 +f 287 244 297 +f 251 287 297 +f 244 290 297 +f 290 278 297 +f 243 242 298 +f 275 243 298 +f 254 275 298 +f 242 286 298 +f 286 254 298 +f 249 245 299 +f 269 249 299 +f 245 279 299 +f 285 269 299 +f 279 285 299 +f 248 255 300 +f 255 277 300 +f 293 248 300 +f 277 293 300 +f 259 249 301 +f 250 259 301 +f 249 283 301 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/607/607.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/607/607.urdf new file mode 100644 index 000000000..5360539c3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/607/607.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/608/608.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/608/608.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/608/608.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/608/608.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/608/608.obj new file mode 100644 index 000000000..001b84274 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/608/608.obj @@ -0,0 +1,666 @@ +o convex_0 +v -2.980433 -0.499673 -2.103221 +v -0.626361 0.441861 -1.766852 +v -0.626361 0.408214 -1.094338 +v -0.626361 -0.735316 -1.800545 +v -3.081614 -0.701669 -1.094338 +v -3.014081 0.441861 -1.195304 +v -3.081614 0.307158 -2.204188 +v -0.626361 0.441861 -2.237881 +v -0.626361 -0.600729 -1.161723 +v -0.626361 -0.701669 -2.136914 +v -2.913380 -0.701669 -2.103221 +v -2.980433 0.441861 -1.094338 +v -0.626361 -0.735316 -1.430707 +v -2.072451 0.374452 -2.237881 +v -2.442326 -0.735316 -1.968673 +v -2.139985 -0.667907 -1.094338 +v -3.081614 0.139040 -2.204188 +v -3.047727 0.408214 -1.632640 +v -0.861888 0.441861 -1.094338 +v -0.660248 -0.533435 -1.128031 +v -1.097416 0.239980 -2.237881 +v -1.231762 -0.701669 -2.136914 +v -3.081614 -0.701669 -1.296159 +v -3.081614 -0.398963 -1.094338 +v -0.626361 0.038215 -1.094338 +v -3.081614 0.340921 -2.136914 +v -3.014081 0.441861 -1.363545 +v -3.047727 0.105508 -2.204188 +f 22 11 28 +f 2 3 4 +f 2 4 8 +f 6 2 8 +f 4 3 9 +f 8 4 10 +f 5 3 12 +f 2 6 12 +f 4 9 13 +f 10 4 15 +f 4 13 15 +f 13 5 15 +f 3 5 16 +f 5 13 16 +f 13 9 16 +f 5 7 17 +f 11 1 17 +f 7 14 17 +f 3 2 19 +f 12 3 19 +f 2 12 19 +f 16 9 20 +f 8 10 21 +f 14 8 21 +f 10 15 22 +f 15 11 22 +f 21 10 22 +f 1 11 23 +f 15 5 23 +f 11 15 23 +f 17 1 23 +f 5 17 23 +f 7 5 24 +f 5 12 24 +f 12 6 24 +f 6 18 24 +f 9 3 25 +f 3 16 25 +f 20 9 25 +f 16 20 25 +f 14 7 26 +f 8 14 26 +f 18 8 26 +f 7 24 26 +f 24 18 26 +f 6 8 27 +f 18 6 27 +f 8 18 27 +f 11 17 28 +f 17 14 28 +f 14 21 28 +f 21 22 28 +o convex_1 +v 0.147153 -0.735316 1.697423 +v 0.584443 0.239983 3.143182 +v 0.550797 0.340805 3.311481 +v -0.525434 0.340805 1.428183 +v -0.458140 -0.735316 3.345062 +v -0.525434 0.374594 3.345062 +v 0.550797 0.273555 1.428381 +v 0.550797 -0.667848 3.446200 +v -0.592727 -0.667848 1.428183 +v 0.584443 -0.735207 1.428381 +v -0.491672 0.374594 1.697423 +v 0.584443 -0.701527 2.975079 +v -0.558965 0.139053 3.008660 +v 0.012566 0.374594 3.345062 +v 0.550797 0.340805 2.638875 +v 0.348917 -0.466095 3.446200 +v 0.584443 -0.062808 1.428381 +v -0.592727 -0.331702 2.000244 +v -0.054497 0.340805 1.428183 +v -0.390847 0.239983 3.378841 +v 0.517035 0.340805 3.345062 +v 0.584443 -0.735207 1.966466 +v -0.289907 -0.701527 1.428183 +v -0.592727 -0.331702 1.461962 +v -0.558965 0.206412 2.840558 +v 0.382564 -0.701527 3.378841 +v 0.550797 0.307234 1.731202 +v -0.525434 -0.701527 2.537935 +f 41 46 56 +f 30 31 36 +f 32 34 39 +f 30 36 40 +f 38 30 40 +f 33 34 41 +f 39 34 42 +f 39 42 43 +f 31 30 43 +f 42 31 43 +f 33 36 44 +f 35 30 45 +f 30 38 45 +f 37 32 47 +f 32 39 47 +f 39 43 47 +f 35 45 47 +f 45 38 47 +f 34 33 48 +f 42 34 48 +f 33 44 48 +f 48 44 49 +f 36 31 49 +f 31 42 49 +f 44 36 49 +f 42 48 49 +f 33 29 50 +f 29 38 50 +f 38 40 50 +f 29 33 51 +f 33 37 51 +f 38 29 51 +f 37 47 51 +f 47 38 51 +f 32 37 52 +f 37 46 52 +f 52 46 53 +f 34 32 53 +f 41 34 53 +f 46 41 53 +f 32 52 53 +f 36 33 54 +f 40 36 54 +f 33 50 54 +f 50 40 54 +f 30 35 55 +f 43 30 55 +f 47 43 55 +f 35 47 55 +f 37 33 56 +f 33 41 56 +f 46 37 56 +o convex_2 +v -0.525377 -0.701629 -2.607831 +v 0.618083 0.441861 -1.027321 +v 0.550721 0.441861 -0.690734 +v 0.618083 -0.768949 -1.161674 +v -0.558998 -0.735289 -0.690734 +v -0.626361 0.441861 -2.237706 +v 0.550721 0.408201 -2.674907 +v -0.491635 0.374541 -0.690734 +v 0.449859 -0.735289 -2.674907 +v -0.558998 0.374541 -2.742385 +v 0.483480 -0.600768 -0.690734 +v -0.626361 -0.735289 -1.800305 +v -0.626361 0.408201 -1.061060 +v 0.618083 -0.701629 -2.136690 +v -0.592618 -0.667969 -2.607831 +v 0.618083 0.441861 -1.800305 +v -0.491635 0.441861 -1.027120 +v -0.188929 -0.735289 -2.641369 +v -0.626361 -0.600768 -1.161674 +v 0.483480 0.408201 -2.708646 +v 0.584341 0.105380 -0.758212 +v 0.618083 0.408201 -2.136690 +v -0.592618 0.004519 -2.708445 +v 0.315256 -0.768949 -1.027120 +v -0.626361 -0.634309 -2.237706 +v 0.550721 0.071720 -2.674907 +v -0.188929 -0.735289 -0.690734 +v -0.188929 0.340881 -2.742385 +v 0.147032 -0.735289 -2.675108 +f 66 84 85 +f 59 58 62 +f 61 59 64 +f 59 61 67 +f 61 64 69 +f 62 68 69 +f 58 60 70 +f 60 65 70 +f 57 68 71 +f 62 58 72 +f 58 70 72 +f 59 62 73 +f 64 59 73 +f 62 69 73 +f 69 64 73 +f 68 57 74 +f 57 71 74 +f 68 61 75 +f 61 69 75 +f 69 68 75 +f 66 62 76 +f 62 72 76 +f 72 63 76 +f 58 59 77 +f 60 58 77 +f 59 67 77 +f 67 60 77 +f 70 63 78 +f 63 72 78 +f 72 70 78 +f 62 66 79 +f 74 71 79 +f 61 68 80 +f 74 60 80 +f 68 74 80 +f 68 62 81 +f 71 68 81 +f 62 79 81 +f 79 71 81 +f 63 70 82 +f 70 65 82 +f 76 63 82 +f 65 76 82 +f 60 67 83 +f 67 61 83 +f 80 60 83 +f 61 80 83 +f 76 65 84 +f 66 76 84 +f 65 60 85 +f 60 74 85 +f 79 66 85 +f 74 79 85 +f 84 65 85 +o convex_3 +v 0.618505 -0.768949 -1.228951 +v 2.434095 0.441861 -1.128126 +v 2.972164 0.441742 -1.161773 +v 0.618505 0.408201 -2.136838 +v 3.073097 -0.667969 -2.204247 +v 2.938760 -0.634309 -1.161773 +v 0.618505 0.441861 -1.027071 +v 0.618505 -0.701629 -2.136838 +v 3.005808 0.374422 -2.136838 +v 0.651909 -0.768949 -1.161658 +v 1.728046 0.441861 -1.699661 +v 0.786486 -0.667969 -2.170600 +v 2.635961 0.408082 -2.136838 +v 0.685553 0.307103 -1.027071 +v 2.972164 -0.600649 -1.161773 +v 2.467740 -0.701629 -1.968719 +v 3.005808 0.273561 -1.329892 +v 0.618505 0.441861 -1.800486 +v 3.073097 -0.567108 -2.204247 +v 0.618505 -0.567108 -1.128126 +v 0.853774 0.408201 -1.027071 +v 3.005808 0.038178 -2.170485 +v 3.073097 -0.667969 -2.069545 +v 3.005808 0.408082 -2.036013 +f 102 104 109 +f 89 86 92 +f 86 89 93 +f 87 88 96 +f 92 87 96 +f 93 89 97 +f 90 93 97 +f 86 93 101 +f 93 90 101 +f 95 86 101 +f 91 95 101 +f 88 100 102 +f 89 92 103 +f 92 96 103 +f 98 89 103 +f 96 98 103 +f 97 89 104 +f 90 97 104 +f 92 86 105 +f 86 95 105 +f 95 91 105 +f 91 99 105 +f 99 92 105 +f 88 87 106 +f 87 92 106 +f 99 91 106 +f 92 99 106 +f 100 88 106 +f 91 100 106 +f 89 98 107 +f 98 94 107 +f 104 89 107 +f 94 104 107 +f 100 91 108 +f 101 90 108 +f 91 101 108 +f 102 100 108 +f 90 104 108 +f 104 102 108 +f 96 88 109 +f 94 98 109 +f 98 96 109 +f 88 102 109 +f 104 94 109 +o convex_4 +v 0.348953 0.306977 1.428183 +v -1.097231 -3.089228 -0.623326 +v -0.794427 -3.089228 -0.623326 +v -0.996225 2.829564 -0.690734 +v 1.088951 2.828965 -0.690734 +v -1.063420 2.964382 1.394375 +v 1.088737 -3.055074 1.428183 +v -0.929030 -3.156936 1.394375 +v 1.088737 -3.122782 -0.556124 +v 1.055139 2.896674 1.360775 +v 0.483556 -0.600195 -0.690734 +v -1.097231 2.122521 0.015710 +v -1.097231 -0.297005 0.755132 +v 1.088951 1.819930 1.394375 +v -0.592629 -0.667904 1.428183 +v -0.559031 -0.735013 -0.690734 +v -1.097231 2.795411 1.293366 +v -0.962628 -2.820192 1.360775 +v 1.088951 2.862520 -0.387913 +v 0.247947 -3.122782 1.428183 +v -1.063420 -3.122782 0.015710 +v -0.996225 2.964382 1.058161 +v 0.247947 2.930228 1.394375 +v -0.996225 2.863119 -0.522524 +v -0.088027 -3.156936 0.587336 +v -1.063420 -3.122782 -0.387913 +v -1.063420 -0.499531 -0.656926 +v 1.088951 -1.037004 1.428183 +v 1.088737 -3.088629 1.259972 +v -0.323636 -3.122782 1.428183 +v 0.315356 -3.122782 -0.589725 +v -1.063420 1.685712 1.394375 +v 1.088951 -2.080193 -0.589725 +v -0.996225 1.215348 -0.690734 +v -0.559031 2.964382 1.327174 +v -0.525434 0.340532 1.428183 +v -1.097231 -3.089228 -0.387913 +v 1.088737 -3.122782 -0.085092 +v -0.962628 -3.156936 0.788940 +v -1.097231 -2.247966 -0.623326 +v 1.088951 2.123120 1.360775 +v -1.063420 2.930228 0.755132 +v 0.550751 0.273423 1.428183 +v -0.491837 -3.156936 1.394375 +f 147 129 153 +f 113 114 120 +f 121 111 122 +f 116 110 124 +f 112 111 125 +f 120 112 125 +f 113 120 125 +f 121 122 126 +f 123 114 128 +f 116 124 129 +f 127 122 130 +f 117 127 130 +f 123 119 132 +f 114 113 133 +f 128 114 133 +f 131 128 133 +f 130 111 135 +f 121 113 136 +f 110 116 137 +f 114 123 137 +f 116 129 138 +f 124 117 139 +f 117 129 139 +f 129 124 139 +f 111 112 140 +f 112 120 140 +f 120 118 140 +f 118 134 140 +f 135 111 140 +f 134 135 140 +f 124 115 141 +f 117 124 141 +f 115 126 141 +f 126 122 141 +f 122 127 141 +f 127 117 141 +f 120 114 142 +f 118 120 142 +f 137 116 142 +f 114 137 142 +f 116 138 142 +f 125 111 143 +f 113 125 143 +f 111 136 143 +f 136 113 143 +f 119 128 144 +f 131 115 144 +f 128 131 144 +f 115 132 144 +f 132 119 144 +f 124 110 145 +f 115 124 145 +f 110 132 145 +f 132 115 145 +f 122 111 146 +f 111 130 146 +f 130 122 146 +f 134 118 147 +f 138 129 147 +f 118 142 147 +f 142 138 147 +f 117 130 148 +f 134 117 148 +f 130 135 148 +f 135 134 148 +f 111 121 149 +f 136 111 149 +f 121 136 149 +f 119 123 150 +f 128 119 150 +f 123 128 150 +f 113 121 151 +f 126 115 151 +f 121 126 151 +f 115 131 151 +f 133 113 151 +f 131 133 151 +f 132 110 152 +f 123 132 152 +f 110 137 152 +f 137 123 152 +f 129 117 153 +f 117 134 153 +f 134 147 153 +o convex_5 +v 1.088954 -0.499818 0.284670 +v 2.972054 0.139096 0.116561 +v 2.972054 0.139096 0.049268 +v 3.073192 -0.499818 0.688181 +v 1.088954 0.038155 0.620888 +v 3.006031 -0.432524 0.082914 +v 1.122732 0.071802 0.150208 +v 3.106971 0.038155 0.553657 +v 1.088954 -0.432524 0.654534 +v 1.088954 -0.499818 0.116561 +v 2.366807 -0.096307 0.049268 +v 3.073192 -0.365293 0.688181 +v 1.257254 0.071802 0.553657 +v 1.391775 -0.398877 0.688181 +v 2.501526 -0.466171 0.082914 +v 3.006031 -0.298000 0.049268 +v 2.703209 0.139096 0.049268 +v 3.073192 -0.499818 0.587241 +f 163 168 171 +f 156 155 161 +f 154 157 162 +f 158 154 162 +f 157 154 163 +f 154 158 163 +f 158 160 163 +f 163 160 164 +f 157 161 165 +f 161 158 165 +f 160 158 166 +f 161 155 166 +f 158 161 166 +f 162 157 167 +f 158 162 167 +f 157 165 167 +f 165 158 167 +f 156 161 169 +f 161 159 169 +f 163 164 169 +f 164 156 169 +f 159 168 169 +f 168 163 169 +f 155 156 170 +f 164 160 170 +f 156 164 170 +f 166 155 170 +f 160 166 170 +f 161 157 171 +f 159 161 171 +f 157 163 171 +f 168 159 171 +o convex_6 +v 1.223870 1.652720 0.183832 +v 1.189894 2.157109 0.587251 +v 1.189894 2.157109 0.520036 +v 3.106971 2.123466 0.150192 +v 2.972054 1.484503 0.688171 +v 3.039611 1.585499 0.049271 +v 1.223870 1.518212 0.721812 +v 2.972054 2.022536 0.721812 +v 1.088954 2.123466 0.116551 +v 1.088954 1.652720 0.721812 +v 3.106971 2.123466 0.082911 +v 2.703209 1.585499 0.049271 +v 1.088954 1.686364 0.183832 +v 2.770569 2.056179 0.721812 +v 3.006031 1.955314 0.049271 +v 2.938671 1.518212 0.351967 +v 1.088954 2.157109 0.553611 +v 1.257254 1.518212 0.654531 +v 3.073192 2.123466 0.284687 +v 2.972054 1.787295 0.721812 +f 175 179 191 +f 174 173 175 +f 175 176 177 +f 178 179 181 +f 174 175 182 +f 175 177 182 +f 180 174 182 +f 183 172 184 +f 178 181 184 +f 181 180 184 +f 180 183 184 +f 173 181 185 +f 181 179 185 +f 182 177 186 +f 180 182 186 +f 183 180 186 +f 177 183 186 +f 177 176 187 +f 183 177 187 +f 173 174 188 +f 174 180 188 +f 181 173 188 +f 180 181 188 +f 176 178 189 +f 172 183 189 +f 184 172 189 +f 178 184 189 +f 187 176 189 +f 183 187 189 +f 175 173 190 +f 179 175 190 +f 173 185 190 +f 185 179 190 +f 176 175 191 +f 178 176 191 +f 179 178 191 +o convex_7 +v -3.047889 -0.466184 0.217386 +v -1.097231 0.172729 0.217386 +v -1.097231 0.172729 0.116525 +v -1.097231 -0.466184 0.049205 +v -1.097231 -0.466184 0.620891 +v -2.946948 0.105436 0.587231 +v -3.081470 0.038205 0.183786 +v -3.115248 -0.466184 0.654610 +v -1.097231 0.071789 0.620891 +v -3.014110 -0.466184 0.150126 +v -1.837197 -0.096320 0.654610 +v -1.265531 -0.398891 0.049205 +v -2.341306 0.105436 0.150126 +v -3.047889 -0.197135 0.654610 +v -1.904556 0.105436 0.620891 +v -3.047889 -0.264366 0.150126 +v -1.332890 0.172729 0.116525 +v -2.106240 -0.466184 0.654610 +f 202 199 209 +f 194 193 195 +f 192 195 196 +f 195 193 196 +f 198 192 199 +f 192 196 199 +f 196 193 200 +f 195 192 201 +f 196 200 202 +f 194 195 203 +f 195 201 203 +f 198 197 204 +f 197 198 205 +f 198 199 205 +f 199 202 205 +f 205 202 206 +f 193 197 206 +f 200 193 206 +f 202 200 206 +f 197 205 206 +f 192 198 207 +f 201 192 207 +f 203 201 207 +f 198 204 207 +f 204 203 207 +f 193 194 208 +f 197 193 208 +f 194 203 208 +f 204 197 208 +f 203 204 208 +f 199 196 209 +f 196 202 209 +o convex_8 +v -2.879589 1.787258 0.620937 +v -2.610744 2.123463 0.015572 +v -2.610744 2.157103 0.015572 +v -1.097231 2.056182 0.721877 +v -1.097231 1.652763 0.049241 +v -3.047889 1.518202 0.183782 +v -1.097231 1.518202 0.620937 +v -1.097231 2.123463 0.015572 +v -3.047889 2.123463 0.553666 +v -3.115248 2.190743 0.049241 +v -2.778846 1.619123 0.620937 +v -1.400052 1.619123 0.049241 +v -2.576965 2.190743 0.082842 +v -3.115248 2.022542 0.049241 +v -2.913367 2.089822 0.620937 +v -2.980332 1.585483 0.486396 +v -1.097231 1.518202 0.520066 +v -1.400052 2.157103 0.049241 +v -1.467214 1.518202 0.620937 +v -3.014110 1.551842 0.150113 +v -1.097231 1.888047 0.015572 +v -1.232147 1.619123 0.654607 +f 220 228 231 +f 214 213 216 +f 211 212 217 +f 213 214 217 +f 212 211 219 +f 213 210 220 +f 218 213 222 +f 219 218 222 +f 215 218 223 +f 219 211 223 +f 218 219 223 +f 211 221 223 +f 210 213 224 +f 218 210 224 +f 213 218 224 +f 210 218 225 +f 218 215 225 +f 220 210 225 +f 214 216 226 +f 216 215 226 +f 215 221 226 +f 221 214 226 +f 217 212 227 +f 213 217 227 +f 212 219 227 +f 222 213 227 +f 219 222 227 +f 215 216 228 +f 225 215 228 +f 220 225 228 +f 221 215 229 +f 215 223 229 +f 223 221 229 +f 211 217 230 +f 217 214 230 +f 221 211 230 +f 214 221 230 +f 216 213 231 +f 213 220 231 +f 228 216 231 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/608/608.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/608/608.urdf new file mode 100644 index 000000000..0253d963d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/608/608.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/609/609.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/609/609.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/609/609.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/609/609.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/609/609.obj new file mode 100644 index 000000000..8ba4a63d1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/609/609.obj @@ -0,0 +1,477 @@ +o convex_0 +v -1.072069 -0.115330 -0.443390 +v 0.999129 0.707589 1.079496 +v 1.060072 0.768442 1.079284 +v -0.980655 3.843857 1.018530 +v 0.938187 3.813430 -1.083113 +v 1.029601 -0.876928 -1.052629 +v -1.041597 -0.876928 1.079284 +v -1.041597 3.905178 -1.052418 +v 1.029601 3.752577 1.049013 +v -1.011126 -0.876928 -1.052418 +v 1.060072 -0.876928 1.079284 +v -0.127674 0.524562 -1.083113 +v -0.706416 3.752577 1.049013 +v 0.907716 3.843857 -1.022146 +v 0.999129 1.285692 -1.083113 +v -1.072069 -0.846034 0.256875 +v -1.011126 2.229381 1.049013 +v 1.029601 3.752577 0.835631 +v 1.060072 -0.389169 0.256875 +v 0.816303 3.783004 1.049013 +v -0.828300 3.905178 -0.747798 +v 0.207090 3.843857 -1.083113 +v -1.041597 -0.876928 -0.900214 +v -1.041597 3.874283 -0.839248 +v 0.968658 3.813430 -0.687044 +v -1.041597 -0.297889 1.079284 +v 1.029601 -0.389169 -1.052418 +v 1.060072 1.468719 1.018530 +v -1.011126 3.813430 0.317841 +v -0.980655 3.447844 1.049013 +v -1.072069 -0.876928 -0.382424 +v 0.999129 0.798868 -1.083113 +v -1.041597 2.412408 -1.052418 +v 1.060072 -0.876928 0.165425 +v -1.072069 0.311109 -0.412907 +v 0.968658 3.783004 0.896597 +v -0.036261 3.813430 1.049013 +v -0.615003 3.905178 -0.991663 +v 0.968658 2.930126 -1.083113 +v -0.980655 3.905178 -0.595383 +f 37 21 40 +f 6 7 10 +f 3 2 11 +f 7 6 11 +f 2 7 11 +f 6 10 12 +f 12 5 15 +f 3 11 19 +f 3 9 20 +f 5 12 22 +f 12 8 22 +f 8 14 22 +f 14 5 22 +f 10 7 23 +f 4 8 24 +f 5 14 25 +f 9 18 25 +f 18 15 25 +f 2 3 26 +f 7 2 26 +f 3 13 26 +f 16 7 26 +f 17 16 26 +f 6 15 27 +f 15 18 27 +f 19 27 28 +f 9 3 28 +f 18 9 28 +f 3 19 28 +f 27 18 28 +f 17 4 29 +f 16 17 29 +f 4 24 29 +f 24 16 29 +f 13 4 30 +f 4 17 30 +f 26 13 30 +f 17 26 30 +f 7 16 31 +f 16 1 31 +f 1 23 31 +f 23 7 31 +f 6 12 32 +f 15 6 32 +f 12 15 32 +f 1 8 33 +f 8 12 33 +f 12 10 33 +f 23 1 33 +f 10 23 33 +f 11 6 34 +f 19 11 34 +f 6 27 34 +f 27 19 34 +f 8 1 35 +f 1 16 35 +f 24 8 35 +f 16 24 35 +f 20 9 36 +f 25 14 36 +f 9 25 36 +f 13 3 37 +f 4 13 37 +f 3 20 37 +f 20 36 37 +f 36 21 37 +f 14 8 38 +f 8 21 38 +f 36 14 38 +f 21 36 38 +f 15 5 39 +f 5 25 39 +f 25 15 39 +f 8 4 40 +f 21 8 40 +f 4 37 40 +o convex_1 +v -0.005896 -6.115554 -0.291172 +v -0.158252 -5.476064 0.348473 +v 0.115810 -4.197305 0.256997 +v -0.249606 -3.983995 -0.199758 +v 0.329049 -6.237540 -0.291172 +v 0.207164 -4.105981 -0.291172 +v 0.176753 -6.237540 0.226630 +v -0.219194 -6.176436 -0.260679 +v -0.280136 -3.983995 0.256997 +v 0.237576 -3.983995 0.226630 +v -0.188663 -6.145995 0.287552 +v -0.066898 -6.176436 0.348473 +v 0.237576 -5.171650 0.226630 +v -0.280136 -4.440836 0.287552 +v -0.280136 -4.166864 -0.169328 +v 0.329049 -6.237540 -0.169328 +v 0.207164 -3.983995 -0.260679 +v 0.329049 -5.811140 -0.291172 +v -0.249606 -4.105981 0.287552 +v -0.219194 -5.719816 -0.260679 +v 0.146222 -4.136423 -0.291172 +v -0.158252 -6.206878 -0.108407 +v 0.237576 -6.237540 0.135217 +v -0.188663 -6.024230 0.348473 +v 0.237576 -3.983995 0.043866 +v -0.219194 -6.176436 -0.108407 +v -0.249606 -5.354299 -0.230250 +f 66 54 67 +f 45 41 46 +f 41 45 48 +f 43 42 50 +f 44 49 50 +f 50 42 52 +f 52 47 53 +f 50 52 53 +f 49 44 55 +f 54 49 55 +f 47 45 56 +f 50 53 56 +f 44 50 57 +f 45 46 58 +f 56 45 58 +f 50 56 58 +f 46 57 58 +f 42 43 59 +f 43 50 59 +f 50 49 59 +f 54 42 59 +f 49 54 59 +f 41 48 60 +f 46 41 61 +f 57 46 61 +f 44 57 61 +f 60 44 61 +f 41 60 61 +f 45 47 62 +f 48 45 62 +f 47 52 62 +f 52 51 62 +f 53 47 63 +f 47 56 63 +f 56 53 63 +f 52 42 64 +f 51 52 64 +f 42 54 64 +f 54 51 64 +f 57 50 65 +f 50 58 65 +f 58 57 65 +f 51 54 66 +f 48 62 66 +f 62 51 66 +f 55 44 67 +f 54 55 67 +f 44 60 67 +f 60 48 67 +f 48 66 67 +o convex_2 +v 0.268131 -2.582892 -0.230229 +v -0.310596 -3.283092 0.196159 +v -0.310596 -3.283092 0.226588 +v 0.237653 -3.983774 0.226588 +v -0.249641 -3.983774 -0.199692 +v 0.207120 -2.338974 0.287555 +v -0.188744 -2.338974 -0.230229 +v 0.207120 -3.983774 -0.260712 +v -0.310596 -2.338974 0.196159 +v -0.280118 -3.983774 0.257071 +v 0.268131 -2.338974 -0.199692 +v 0.237653 -3.892325 0.257071 +v -0.310596 -2.338974 0.104763 +v 0.085268 -2.338974 0.287555 +v -0.219164 -2.643590 -0.230229 +v 0.237653 -3.587708 -0.260712 +v 0.054847 -3.983774 -0.260712 +v -0.280118 -3.404809 0.257071 +v 0.268131 -2.338974 -0.077867 +v 0.207120 -2.948207 0.287555 +f 81 77 87 +f 71 72 75 +f 69 70 76 +f 73 74 76 +f 70 69 77 +f 72 71 77 +f 69 72 77 +f 68 74 78 +f 74 73 78 +f 77 71 79 +f 72 69 80 +f 69 76 80 +f 76 74 80 +f 73 76 81 +f 72 80 82 +f 80 74 82 +f 68 71 83 +f 74 68 83 +f 71 75 83 +f 75 72 84 +f 72 82 84 +f 82 74 84 +f 74 83 84 +f 83 75 84 +f 76 70 85 +f 70 77 85 +f 81 76 85 +f 77 81 85 +f 71 68 86 +f 68 78 86 +f 78 73 86 +f 79 71 86 +f 73 79 86 +f 77 79 87 +f 79 73 87 +f 73 81 87 +o convex_3 +v 1.669263 -1.151068 -0.352090 +v 2.034882 -0.907388 0.226576 +v 2.034882 -0.907388 0.196141 +v 3.100843 -1.577492 0.318014 +v 1.090531 -1.486054 0.226576 +v 2.948535 -1.486054 -0.321589 +v 3.100843 -0.998825 -0.291154 +v 1.090531 -0.937954 -0.352090 +v 1.090531 -1.486054 -0.199716 +v 1.090531 -0.907388 0.226576 +v 3.039841 -0.937954 0.257077 +v 2.430608 -0.968324 -0.321589 +v 2.917837 -1.486054 0.318014 +v 3.100843 -1.577492 0.226576 +v 1.364843 -1.486054 0.257077 +v 2.674026 -1.486054 -0.321589 +v 1.121032 -1.059762 -0.352090 +v 1.182034 -0.907388 -0.077843 +v 3.039841 -0.937954 0.135205 +v 3.009143 -1.303311 -0.321589 +v 2.948535 -1.577492 0.318014 +v 3.100843 -1.455553 0.318014 +f 97 100 109 +f 92 95 96 +f 89 90 97 +f 95 92 97 +f 90 89 98 +f 89 97 98 +f 88 95 99 +f 94 91 101 +f 97 92 102 +f 100 97 102 +f 88 93 103 +f 93 101 103 +f 101 96 103 +f 95 88 104 +f 96 95 104 +f 88 103 104 +f 103 96 104 +f 97 90 105 +f 95 97 105 +f 99 95 105 +f 99 105 106 +f 90 98 106 +f 98 94 106 +f 94 99 106 +f 105 90 106 +f 93 88 107 +f 88 99 107 +f 99 94 107 +f 94 101 107 +f 101 93 107 +f 92 96 108 +f 91 100 108 +f 101 91 108 +f 96 101 108 +f 102 92 108 +f 100 102 108 +f 91 94 109 +f 94 98 109 +f 98 97 109 +f 100 91 109 +o convex_4 +v -2.990887 -1.547032 -0.017053 +v -1.072078 -0.876928 -0.138833 +v -1.072078 -0.876928 -0.260677 +v -3.051692 -0.907495 -0.321598 +v -2.960386 -0.968366 0.287555 +v -1.072078 -1.516466 0.226633 +v -1.072078 -1.486096 -0.352090 +v -1.072078 -0.998867 0.287555 +v -3.082390 -1.516466 -0.260677 +v -2.869079 -1.547032 0.226633 +v -1.133080 -1.211980 0.287555 +v -1.072078 -1.516466 -0.321598 +v -3.051692 -1.151109 -0.321598 +v -1.742313 -1.547032 0.165712 +v -2.320848 -0.907495 -0.321598 +v -1.650810 -0.876928 -0.108404 +v -2.625268 -0.937865 0.196141 +v -2.930081 -1.516466 0.226633 +v -2.899384 -1.059803 0.287555 +v -1.590201 -0.876928 -0.291169 +v -3.082390 -1.516466 -0.199755 +v -3.051692 -0.907495 -0.260677 +v -1.072078 -1.425094 -0.352090 +v -1.255084 -1.486096 -0.352090 +v -2.047126 -1.547032 -0.047482 +f 121 123 134 +f 112 111 115 +f 112 115 116 +f 115 111 117 +f 117 114 120 +f 115 117 120 +f 119 115 120 +f 116 115 121 +f 118 113 122 +f 119 110 123 +f 115 119 123 +f 121 115 123 +f 111 112 125 +f 117 111 126 +f 114 117 126 +f 111 125 126 +f 110 119 127 +f 127 119 128 +f 120 114 128 +f 119 120 128 +f 114 127 128 +f 124 113 129 +f 125 112 129 +f 113 125 129 +f 118 110 130 +f 113 118 130 +f 110 127 130 +f 127 114 130 +f 125 113 131 +f 114 126 131 +f 126 125 131 +f 113 130 131 +f 130 114 131 +f 112 116 132 +f 113 124 132 +f 129 112 132 +f 124 129 132 +f 116 121 133 +f 121 118 133 +f 122 113 133 +f 118 122 133 +f 132 116 133 +f 113 132 133 +f 110 118 134 +f 118 121 134 +f 123 110 134 +o convex_5 +v -0.493322 -2.308493 1.018357 +v -1.011111 -2.216909 -1.052445 +v -0.188490 -2.338974 -0.230092 +v 1.060048 -0.877209 1.079287 +v -1.041383 -0.877209 1.079287 +v 1.029565 -0.877209 -1.052445 +v 1.060048 -2.186572 -1.052445 +v -1.011111 -0.877209 -1.052445 +v 1.090531 -2.216909 1.079287 +v -1.041383 -2.308493 1.079287 +v -1.072078 -1.120621 -0.382418 +v 1.090531 -0.938026 -0.351953 +v 0.267910 -2.338974 -0.077766 +v -1.041383 -2.277870 -0.077766 +v -1.072078 -0.877209 0.256934 +v 0.206944 -2.338974 0.287400 +v 0.420325 -2.216909 -1.052445 +v -1.072078 -1.516722 -0.321488 +v 1.090531 -1.608019 1.079287 +v 1.090531 -2.216909 0.713704 +v -1.041383 -0.877209 -0.900119 +v 0.267910 -2.338974 -0.199627 +v 1.090531 -0.907546 0.226469 +v -1.041383 -1.881913 -0.839188 +v -1.072078 -1.181582 0.378795 +v -1.041383 -2.308493 0.622309 +v 1.090531 -1.486241 -0.199627 +v -1.011111 -2.247533 -0.778258 +v -0.310423 -2.338974 0.196004 +v 1.060048 -2.216909 0.165539 +v 0.907632 -2.247390 0.896496 +f 156 154 165 +f 139 138 140 +f 136 140 141 +f 140 136 142 +f 139 140 142 +f 138 139 143 +f 135 143 144 +f 143 139 144 +f 141 140 146 +f 139 142 149 +f 135 144 150 +f 137 147 150 +f 137 136 151 +f 136 141 151 +f 149 145 152 +f 138 143 153 +f 143 146 153 +f 146 143 154 +f 142 136 155 +f 149 142 155 +f 145 149 155 +f 147 137 156 +f 137 151 156 +f 151 141 156 +f 140 138 157 +f 146 140 157 +f 138 153 157 +f 153 146 157 +f 136 148 158 +f 152 145 158 +f 148 152 158 +f 155 136 158 +f 145 155 158 +f 144 139 159 +f 139 149 159 +f 152 144 159 +f 149 152 159 +f 148 137 160 +f 152 148 160 +f 144 152 160 +f 141 146 161 +f 154 141 161 +f 146 154 161 +f 136 137 162 +f 137 148 162 +f 148 136 162 +f 150 144 163 +f 137 150 163 +f 160 137 163 +f 144 160 163 +f 141 154 164 +f 156 141 164 +f 154 156 164 +f 143 135 165 +f 135 150 165 +f 150 147 165 +f 154 143 165 +f 147 156 165 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/609/609.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/609/609.urdf new file mode 100644 index 000000000..ea0c448c1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/609/609.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/610/610.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/610/610.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/610/610.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/610/610.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/610/610.obj new file mode 100644 index 000000000..9c891ece4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/610/610.obj @@ -0,0 +1,720 @@ +o convex_0 +v 0.486179 2.592039 -2.315193 +v -0.598675 0.747572 -1.338881 +v -0.598675 0.747572 -1.266604 +v -0.598675 3.460367 -1.266604 +v 0.558458 2.628153 -1.194100 +v -0.490258 0.747572 -2.279054 +v 0.558458 0.747572 -1.628218 +v -0.526510 3.423987 -2.242916 +v 0.558458 3.387608 -2.279168 +v 0.558458 0.747572 -2.279168 +v 0.558458 3.315380 -1.194100 +v 0.486179 0.747572 -1.230352 +v -0.056361 0.747572 -2.351445 +v -0.562650 3.460367 -2.170525 +v -0.454119 0.892294 -1.230465 +v -0.526510 2.845102 -1.230465 +v 0.341509 1.796736 -2.351445 +v 0.413901 3.423987 -2.279168 +v 0.160587 3.351759 -1.194100 +v 0.522319 1.652014 -1.194100 +v -0.598675 3.460367 -1.700608 +v 0.522319 3.351494 -1.230352 +v -0.526510 1.688128 -2.242916 +v 0.269118 0.747572 -2.351445 +v 0.450040 2.845367 -2.315193 +v 0.522319 1.037281 -1.230352 +v -0.490258 1.833115 -2.279054 +v 0.341509 3.423987 -1.989718 +v -0.454119 3.423987 -1.230465 +v -0.417866 0.747572 -1.230465 +v 0.269118 1.760622 -2.351445 +v -0.381727 3.460367 -2.242916 +f 18 8 32 +f 2 3 4 +f 3 2 6 +f 3 6 7 +f 5 7 9 +f 7 6 10 +f 1 9 10 +f 9 7 10 +f 5 9 11 +f 3 7 12 +f 10 6 13 +f 4 3 16 +f 3 15 16 +f 1 10 17 +f 5 11 19 +f 16 15 19 +f 5 19 20 +f 19 15 20 +f 2 4 21 +f 14 2 21 +f 4 14 21 +f 11 9 22 +f 9 18 22 +f 19 11 22 +f 6 2 23 +f 8 6 23 +f 2 14 23 +f 14 8 23 +f 10 13 24 +f 17 10 24 +f 13 17 24 +f 9 1 25 +f 1 17 25 +f 18 9 25 +f 8 18 25 +f 7 5 26 +f 12 7 26 +f 5 20 26 +f 20 12 26 +f 6 8 27 +f 8 13 27 +f 13 6 27 +f 18 4 28 +f 22 18 28 +f 4 22 28 +f 4 16 29 +f 16 19 29 +f 22 4 29 +f 19 22 29 +f 3 12 30 +f 15 3 30 +f 12 20 30 +f 20 15 30 +f 13 8 31 +f 17 13 31 +f 25 17 31 +f 8 25 31 +f 14 4 32 +f 8 14 32 +f 4 18 32 +o convex_1 +v -0.381704 1.001024 -0.868564 +v -0.309480 0.784164 1.374013 +v -0.345592 0.784164 1.374013 +v 0.015954 3.459945 1.265352 +v 0.992466 0.784164 -0.759684 +v -1.105220 3.496537 -0.759904 +v 1.064903 3.496537 -0.795904 +v 0.992466 0.748110 1.265352 +v -0.996671 0.748110 1.265133 +v -1.105220 3.459945 1.229132 +v 0.992466 3.459945 1.265352 +v -1.068895 0.748110 -0.687463 +v -1.032783 0.748110 -0.832344 +v 1.028578 3.496537 0.505826 +v -1.105220 3.279138 -0.795904 +v -1.105220 2.483534 0.758928 +v -0.164819 0.748110 -0.868564 +v 1.064903 2.809094 -0.795904 +v 0.956354 0.748110 -0.759684 +v -1.068895 0.748110 -0.072599 +v 1.064903 3.459945 -0.253480 +v -0.345592 3.496537 0.433386 +v -0.020158 1.182101 -0.868564 +v -0.960346 2.989901 1.265133 +v 1.028578 1.796898 -0.795904 +v -0.345592 3.496537 -0.796124 +v -1.032783 1.326585 1.229132 +v -1.068895 1.398961 -0.832344 +v -1.105220 2.989901 -0.795904 +v -1.105220 2.989901 1.229132 +v -1.105220 3.496537 -0.181259 +v 0.558484 2.447211 -0.832344 +v -0.345592 0.748110 1.374013 +v -0.381704 1.109724 -0.868564 +f 60 47 66 +f 35 34 36 +f 36 34 43 +f 34 40 43 +f 40 41 44 +f 40 44 45 +f 39 38 46 +f 42 36 46 +f 36 43 46 +f 42 38 47 +f 42 47 48 +f 45 33 49 +f 40 45 49 +f 40 37 50 +f 37 40 51 +f 49 37 51 +f 40 49 51 +f 44 41 52 +f 48 44 52 +f 43 40 53 +f 39 46 53 +f 46 43 53 +f 40 50 53 +f 50 39 53 +f 46 38 54 +f 42 46 54 +f 49 33 55 +f 35 36 56 +f 41 35 56 +f 36 42 56 +f 42 41 56 +f 37 49 57 +f 50 37 57 +f 49 55 57 +f 38 39 58 +f 47 38 58 +f 52 41 59 +f 33 45 60 +f 45 44 60 +f 47 60 61 +f 44 48 61 +f 48 47 61 +f 60 44 61 +f 41 42 62 +f 42 48 62 +f 48 52 62 +f 59 41 62 +f 52 59 62 +f 38 42 63 +f 54 38 63 +f 42 54 63 +f 39 50 64 +f 50 57 64 +f 57 55 64 +f 58 39 64 +f 55 58 64 +f 34 35 65 +f 40 34 65 +f 35 41 65 +f 41 40 65 +f 55 33 66 +f 47 58 66 +f 58 55 66 +f 33 60 66 +o convex_2 +v 0.920079 -0.626932 -0.832394 +v -1.105276 -2.579998 -2.495951 +v -1.105276 -2.579998 -2.206678 +v 1.064959 -2.579782 -2.315275 +v -1.068950 -0.518728 -2.749279 +v -1.105276 -2.543715 -0.832394 +v 1.064959 -0.554796 -2.785606 +v -1.032836 -0.518728 -0.832394 +v 1.064959 -2.543715 -0.832394 +v 1.028633 -2.579782 -2.712953 +v 0.666856 -2.688634 -1.194128 +v -1.068950 -2.579998 -2.676818 +v 0.486074 -0.482228 -1.266589 +v 0.449748 -1.169894 -2.785606 +v -0.200941 -2.688634 -1.338860 +v -1.032836 -0.482228 -2.640683 +v 0.449748 -2.652350 -2.387545 +v 1.064959 -2.073536 -0.832394 +v 0.558302 -0.482228 -2.279140 +v -0.851841 -2.326659 -2.713144 +v 0.992519 -0.590864 -1.483783 +v -1.068950 -2.579998 -0.832394 +v -1.105276 -2.109820 -0.832394 +v 0.558302 -0.518512 -0.832394 +v -0.562717 -0.482228 -1.049587 +v -1.068950 -0.518728 -1.700785 +v 1.064959 -1.314166 -2.785606 +v -0.200941 -0.518512 -2.785606 +v -0.707173 -2.652350 -1.700785 +v -0.056272 -2.579998 -2.712953 +v 0.992519 -2.579782 -0.832394 +v -1.068950 -0.952623 -2.749279 +v 1.064959 -0.590864 -2.496142 +v 0.666856 -2.688634 -1.556053 +v -0.707173 -2.652350 -1.157993 +v 0.956405 -0.627148 -0.977126 +v 0.956405 -2.109820 -2.749279 +v 0.956193 -2.616282 -2.423872 +v 0.088396 -0.518512 -2.785606 +v -1.068950 -1.169678 -0.832394 +v 1.064959 -1.928832 -2.749279 +f 103 93 107 +f 68 69 72 +f 72 67 74 +f 67 72 75 +f 70 73 75 +f 67 75 84 +f 75 73 84 +f 79 73 85 +f 82 79 85 +f 73 79 87 +f 72 69 88 +f 75 72 88 +f 71 68 89 +f 68 72 89 +f 72 74 89 +f 74 67 90 +f 67 87 90 +f 87 79 90 +f 82 74 91 +f 79 82 91 +f 74 90 91 +f 90 79 91 +f 82 71 92 +f 74 82 92 +f 71 89 92 +f 73 70 93 +f 80 73 93 +f 73 80 94 +f 71 82 94 +f 69 68 95 +f 68 78 95 +f 78 83 95 +f 83 81 95 +f 76 83 96 +f 83 78 96 +f 78 86 96 +f 86 80 96 +f 70 75 97 +f 75 88 97 +f 88 77 97 +f 68 71 98 +f 78 68 98 +f 86 78 98 +f 80 86 98 +f 94 80 98 +f 71 94 98 +f 84 73 99 +f 73 87 99 +f 87 84 99 +f 77 81 100 +f 81 83 100 +f 81 77 101 +f 88 69 101 +f 77 88 101 +f 69 95 101 +f 95 81 101 +f 67 84 102 +f 87 67 102 +f 84 87 102 +f 80 93 103 +f 76 96 103 +f 96 80 103 +f 76 70 104 +f 83 76 104 +f 70 97 104 +f 97 77 104 +f 77 100 104 +f 100 83 104 +f 85 73 105 +f 82 85 105 +f 73 94 105 +f 94 82 105 +f 89 74 106 +f 74 92 106 +f 92 89 106 +f 70 76 107 +f 93 70 107 +f 76 103 107 +o convex_3 +v -1.105276 -2.109604 -0.795841 +v 1.101130 -2.399227 3.290700 +v 1.100914 -2.037468 3.290700 +v 1.101130 -2.507431 -0.832394 +v 0.920142 -0.482228 -0.759698 +v -0.924289 -0.663432 3.218005 +v -0.996641 -2.688634 3.290700 +v -1.032924 -0.482228 -0.831983 +v 0.992494 -0.627148 3.363395 +v -1.105276 -2.543931 -0.831983 +v 1.101130 -2.652350 1.012916 +v 1.028562 -0.482228 1.265501 +v -1.105276 -2.362943 1.482354 +v -0.924289 -0.482228 1.265501 +v 1.101130 -2.543715 3.290700 +v -0.960573 -2.579998 -0.687414 +v -0.960573 -0.771851 3.109578 +v 0.956426 -0.844203 -0.832394 +v 1.101130 -2.543715 -0.832394 +v 0.269192 -0.627148 3.326842 +v 1.101130 -2.652350 1.554639 +v 1.100914 -1.965116 1.229769 +v -0.454110 -2.688634 2.820440 +v -1.032924 -0.482228 -0.470150 +v -0.960573 -1.097542 3.254558 +v -1.105276 -2.579998 1.554639 +v 0.992494 -0.952623 3.363395 +v 0.956426 -0.482228 -0.398276 +v 0.630735 -0.482228 -0.832394 +v -0.996641 -2.399011 3.290700 +v 0.775439 -2.652350 0.940220 +v 1.028562 -0.482228 1.121342 +v 0.775439 -0.627148 3.363395 +v -0.056283 -0.626932 3.290700 +v -1.068992 -1.169894 -0.831983 +v 0.811723 -0.590864 2.893135 +v -0.598814 -2.688634 2.820440 +v 1.028562 -1.024975 3.326842 +v -0.345690 -2.652350 3.290700 +v -0.779585 -0.482228 1.301232 +v -0.743301 -0.663432 3.254558 +v -0.996641 -2.688634 3.146131 +v 1.101130 -2.435295 -0.723556 +v -0.960573 -2.182172 3.290700 +v -0.092567 -2.616282 0.108127 +v -0.960573 -0.482228 1.048647 +f 121 131 153 +f 109 110 116 +f 111 109 118 +f 112 115 119 +f 108 117 120 +f 119 115 121 +f 109 116 122 +f 118 109 122 +f 111 118 126 +f 123 117 126 +f 125 111 126 +f 118 122 128 +f 110 109 129 +f 119 110 129 +f 118 128 130 +f 121 115 131 +f 124 113 131 +f 120 124 131 +f 113 124 132 +f 120 117 133 +f 122 116 134 +f 112 119 135 +f 125 112 135 +f 111 125 135 +f 115 112 136 +f 112 125 136 +f 126 117 136 +f 125 126 136 +f 124 120 137 +f 132 124 137 +f 133 114 137 +f 120 133 137 +f 118 130 138 +f 119 129 139 +f 135 119 139 +f 127 132 140 +f 114 134 140 +f 134 116 140 +f 137 114 140 +f 121 113 141 +f 117 108 142 +f 108 120 142 +f 131 115 142 +f 120 131 142 +f 115 136 142 +f 136 117 142 +f 116 119 143 +f 140 116 143 +f 127 140 143 +f 130 114 144 +f 138 130 144 +f 116 110 145 +f 110 119 145 +f 119 116 145 +f 128 122 146 +f 114 130 146 +f 130 128 146 +f 134 114 146 +f 122 134 146 +f 119 121 147 +f 121 141 147 +f 141 127 147 +f 143 119 147 +f 127 143 147 +f 113 132 148 +f 132 127 148 +f 141 113 148 +f 127 141 148 +f 117 123 149 +f 114 133 149 +f 133 117 149 +f 144 114 149 +f 123 144 149 +f 109 111 150 +f 129 109 150 +f 111 135 150 +f 139 129 150 +f 135 139 150 +f 132 137 151 +f 140 132 151 +f 137 140 151 +f 126 118 152 +f 123 126 152 +f 118 138 152 +f 144 123 152 +f 138 144 152 +f 113 121 153 +f 131 113 153 +o convex_4 +v 0.305349 0.602805 3.218628 +v -0.309523 0.060331 1.374012 +v -0.092457 0.060331 1.374012 +v 0.305349 0.747572 1.374012 +v -0.273324 0.747572 3.218628 +v -0.237125 0.096523 3.327225 +v 0.269086 0.096523 1.627532 +v -0.309523 0.638997 1.374012 +v 0.269086 0.168906 3.218628 +v 0.341547 0.711380 3.001434 +v 0.341547 0.530488 1.374012 +v -0.309523 0.711380 2.603756 +v -0.056322 0.096523 3.327225 +v -0.273324 0.060331 2.676027 +v 0.269086 0.096523 1.374012 +v -0.273324 0.349731 3.290898 +v -0.309523 0.675121 1.663668 +v 0.341547 0.747572 1.518744 +v 0.305349 0.385923 3.254763 +v 0.305349 0.711380 3.182493 +v 0.269086 0.313539 3.290898 +v -0.164791 0.747572 3.218628 +v -0.309523 0.313539 2.097481 +f 167 169 176 +f 156 155 157 +f 157 155 161 +f 156 157 164 +f 161 155 165 +f 160 162 166 +f 155 156 167 +f 156 160 167 +f 166 159 167 +f 160 166 167 +f 160 156 168 +f 156 164 168 +f 164 160 168 +f 158 165 169 +f 159 166 169 +f 167 159 169 +f 158 157 170 +f 157 161 170 +f 165 158 170 +f 161 165 170 +f 157 158 171 +f 164 157 171 +f 163 164 171 +f 162 160 172 +f 163 154 172 +f 164 163 172 +f 160 164 172 +f 154 163 173 +f 163 171 173 +f 166 162 174 +f 169 166 174 +f 162 172 174 +f 172 154 174 +f 158 169 175 +f 171 158 175 +f 154 173 175 +f 173 171 175 +f 174 154 175 +f 169 174 175 +f 165 155 176 +f 155 167 176 +f 169 165 176 +o convex_5 +v -1.069106 0.602876 -0.217295 +v 1.028789 0.060565 1.265161 +v 1.028789 -0.482228 1.265161 +v 0.956299 0.747572 -0.760042 +v -1.032758 -0.482228 -0.832394 +v -0.996616 0.747572 1.265161 +v -0.924331 -0.482228 1.265161 +v 0.920157 -0.482228 -0.760042 +v 0.992441 0.747572 1.265161 +v -1.032758 0.747572 -0.832394 +v -0.092443 0.060565 1.374013 +v 0.594671 -0.482228 -0.832394 +v 0.341470 0.747572 1.374013 +v -0.960474 -0.482228 1.084389 +v 0.305327 0.638869 -0.832394 +v -0.345644 0.747572 1.374013 +v 0.956299 -0.192715 -0.760042 +v -0.779557 -0.482228 1.301661 +v -1.032758 -0.482228 -0.434351 +v -1.069106 0.747572 -0.579054 +v 0.269185 0.096679 1.374013 +v 1.028789 -0.482228 1.120673 +v -0.996616 0.530407 1.265161 +v 0.992441 0.747572 0.614427 +v -0.454071 -0.265063 1.337729 +v -0.309502 0.060565 1.374013 +v 0.956299 -0.482228 -0.398283 +v -0.020159 0.747572 -0.832394 +f 191 186 204 +f 181 179 183 +f 179 181 184 +f 180 182 185 +f 182 180 186 +f 184 181 188 +f 181 186 188 +f 179 178 189 +f 178 185 189 +f 185 182 189 +f 181 183 190 +f 180 188 191 +f 188 186 191 +f 189 182 192 +f 187 189 192 +f 188 180 193 +f 184 188 193 +f 183 179 194 +f 192 182 194 +f 177 181 195 +f 181 190 195 +f 181 177 196 +f 177 182 196 +f 186 181 196 +f 182 186 196 +f 179 189 197 +f 189 187 197 +f 178 179 198 +f 180 178 198 +f 179 184 198 +f 193 180 198 +f 182 177 199 +f 190 183 199 +f 194 182 199 +f 183 194 199 +f 177 195 199 +f 195 190 199 +f 178 180 200 +f 185 178 200 +f 180 185 200 +f 194 179 201 +f 179 197 201 +f 197 187 201 +f 187 192 202 +f 192 194 202 +f 201 187 202 +f 194 201 202 +f 184 193 203 +f 198 184 203 +f 193 198 203 +f 186 180 204 +f 180 191 204 +o convex_6 +v 0.522351 -0.301287 -1.519819 +v -0.490277 -0.012109 -2.315388 +v -0.562717 -0.482228 -1.592047 +v -0.562717 0.060331 -1.266490 +v 0.558571 0.060331 -2.279168 +v 0.558571 -0.482228 -2.279168 +v 0.486131 0.060331 -1.230270 +v 0.450020 -0.482228 -1.230270 +v -0.454167 -0.482228 -2.315388 +v -0.490277 -0.482228 -1.266490 +v -0.490277 0.060331 -2.315388 +v -0.381836 -0.120611 -1.230270 +v 0.558571 0.060331 -1.772829 +v 0.558571 -0.482228 -1.881171 +v -0.562717 0.060331 -1.628161 +v -0.164735 -0.446008 -2.315388 +v -0.562717 -0.482228 -1.302817 +v 0.486131 -0.482228 -1.266490 +v -0.490277 -0.446008 -2.242841 +f 206 213 223 +f 209 208 211 +f 207 210 212 +f 210 207 213 +f 207 212 214 +f 208 209 215 +f 213 206 215 +f 211 208 216 +f 212 211 216 +f 208 214 216 +f 214 212 216 +f 210 209 217 +f 211 205 217 +f 209 211 217 +f 212 210 218 +f 210 217 218 +f 217 205 218 +f 206 207 219 +f 207 208 219 +f 215 206 219 +f 208 215 219 +f 209 210 220 +f 210 213 220 +f 215 209 220 +f 213 215 220 +f 208 207 221 +f 207 214 221 +f 214 208 221 +f 205 211 222 +f 211 212 222 +f 218 205 222 +f 212 218 222 +f 207 206 223 +f 213 207 223 +o convex_7 +v -0.598888 0.421980 -1.339086 +v 0.558571 0.747572 -1.628263 +v 0.522315 0.747572 -1.302671 +v 0.558571 0.060331 -1.772949 +v -0.164841 0.711380 -2.713116 +v -0.345665 0.060331 -2.821776 +v -0.237125 0.168906 -0.832394 +v -0.598888 0.747572 -1.266451 +v 0.341491 0.349731 -2.749141 +v -0.562632 0.060331 -1.266451 +v 0.305349 0.638997 -0.832394 +v 0.486173 0.060331 -1.230426 +v 0.558571 0.747572 -2.279058 +v -0.490348 0.747572 -2.279058 +v -0.309523 0.747572 -0.832394 +v 0.558571 0.060331 -2.279058 +v 0.305349 0.168906 -0.832394 +v -0.490348 0.060331 -2.315084 +v 0.269093 0.602805 -2.785556 +v 0.341491 0.205031 -2.749141 +v -0.345665 0.205031 -2.821776 +v -0.309523 0.205031 -0.832394 +v -0.164841 0.096523 -2.821776 +v -0.562632 0.060331 -1.628263 +v -0.128585 0.747572 -0.832394 +f 238 234 248 +f 225 226 227 +f 226 225 231 +f 229 227 233 +f 231 224 233 +f 227 226 235 +f 233 227 235 +f 230 233 235 +f 225 227 236 +f 231 225 236 +f 224 231 237 +f 231 236 237 +f 236 228 237 +f 226 231 238 +f 230 234 238 +f 227 229 239 +f 236 227 239 +f 232 236 239 +f 226 234 240 +f 234 230 240 +f 235 226 240 +f 230 235 240 +f 229 233 241 +f 224 237 241 +f 228 236 242 +f 236 232 242 +f 232 239 243 +f 242 232 243 +f 237 228 244 +f 229 241 244 +f 241 237 244 +f 228 242 244 +f 233 230 245 +f 231 233 245 +f 238 231 245 +f 230 238 245 +f 239 229 246 +f 243 239 246 +f 242 243 246 +f 229 244 246 +f 244 242 246 +f 233 224 247 +f 224 241 247 +f 241 233 247 +f 234 226 248 +f 226 238 248 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/610/610.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/610/610.urdf new file mode 100644 index 000000000..d19411f67 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/610/610.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/611/611.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/611/611.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/611/611.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/611/611.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/611/611.obj new file mode 100644 index 000000000..69530065a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/611/611.obj @@ -0,0 +1,468 @@ +o convex_0 +v 0.052972 -3.992570 0.426142 +v -0.810011 -0.073578 1.109694 +v -0.270594 -0.073578 1.109475 +v -0.810011 -0.073578 -1.011891 +v 1.095900 -0.073578 -0.975881 +v -1.025651 -3.884548 -1.047902 +v 0.987974 -3.884548 0.965650 +v 0.987974 -4.028577 -1.119924 +v -0.989746 -3.992957 0.965650 +v 1.023879 -0.073578 1.073683 +v -1.061767 -0.073578 -0.472383 +v -0.953841 -0.468885 1.109694 +v -1.061767 -1.403914 -1.047902 +v -0.917936 -3.956563 1.001661 +v 1.023879 -1.799607 1.037454 +v -1.061767 -0.073578 -1.011673 +v 1.095900 -0.613301 -0.939870 +v -0.378308 -3.956563 -1.083695 +v 0.951858 -3.309205 1.001661 +v -0.018838 -0.073578 -1.011891 +v -1.061767 -1.296279 -0.364351 +v -0.953841 -0.073578 1.109694 +v 1.059784 -0.109586 0.641989 +v 0.017067 -4.028577 -0.148722 +v -1.025651 -3.920555 -0.939870 +v 1.059784 -0.648921 -1.011891 +v 1.023879 -3.129555 -1.083695 +v 0.987974 -4.028577 -0.832055 +v 0.915954 -3.884548 -1.119924 +v -0.630064 -3.884548 -1.083695 +v 1.023879 -0.613301 1.073683 +v 1.095900 -0.109586 -0.472383 +v -1.061767 -2.086504 -1.011673 +v -0.630064 -3.992570 0.965650 +v -0.989746 -3.992957 0.569967 +v 0.592177 -4.028577 -1.011891 +v -0.989746 -0.181600 0.641989 +v -1.025651 -3.884548 -0.652219 +v 0.987974 -3.920555 0.605978 +v -0.989746 -3.597264 0.965650 +f 22 37 40 +f 2 3 4 +f 4 3 5 +f 5 3 10 +f 2 4 11 +f 3 2 12 +f 12 9 14 +f 11 4 16 +f 13 11 16 +f 3 12 19 +f 14 7 19 +f 12 14 19 +f 7 15 19 +f 4 5 20 +f 11 13 21 +f 2 11 22 +f 9 12 22 +f 12 2 22 +f 5 10 23 +f 6 18 25 +f 20 5 26 +f 5 17 27 +f 17 7 27 +f 26 5 27 +f 8 26 27 +f 24 8 28 +f 8 27 28 +f 16 4 29 +f 13 16 29 +f 4 20 29 +f 26 8 29 +f 20 26 29 +f 6 13 30 +f 18 6 30 +f 8 18 30 +f 13 29 30 +f 29 8 30 +f 10 3 31 +f 3 19 31 +f 19 15 31 +f 23 10 31 +f 15 23 31 +f 15 7 32 +f 17 5 32 +f 7 17 32 +f 5 23 32 +f 23 15 32 +f 13 6 33 +f 21 13 33 +f 6 25 33 +f 7 14 34 +f 14 9 34 +f 9 24 34 +f 28 1 34 +f 24 28 34 +f 24 9 35 +f 9 25 35 +f 35 25 36 +f 18 8 36 +f 8 24 36 +f 25 18 36 +f 24 35 36 +f 22 11 37 +f 9 21 38 +f 25 9 38 +f 21 33 38 +f 33 25 38 +f 27 7 39 +f 1 28 39 +f 28 27 39 +f 34 1 39 +f 7 34 39 +f 21 9 40 +f 11 21 40 +f 9 22 40 +f 37 11 40 +o convex_1 +v -0.558333 1.508981 2.224372 +v 0.592438 0.610276 3.087580 +v 0.556392 0.933814 3.051379 +v 0.592438 0.574268 1.109887 +v -0.558333 0.574268 2.979365 +v 0.520458 1.616897 1.109887 +v -0.486240 0.538261 1.109887 +v 0.448592 1.616897 2.979365 +v -0.522174 1.616897 1.109887 +v -0.558333 1.544882 3.015372 +v 0.592438 0.538261 3.087580 +v -0.558333 0.538261 2.260186 +v 0.556392 1.580890 1.145895 +v 0.304745 0.538261 1.109887 +v -0.306461 1.580890 3.015372 +v -0.018768 0.538261 3.051379 +v 0.484525 1.616897 2.799715 +v -0.522174 1.616897 1.577402 +v 0.520458 0.789995 3.087580 +v -0.522174 0.538261 1.505581 +v 0.196832 1.616897 2.943551 +f 58 55 61 +f 46 44 47 +f 48 46 49 +f 46 47 49 +f 41 45 50 +f 49 41 50 +f 44 42 51 +f 45 41 52 +f 41 49 52 +f 47 51 52 +f 43 42 53 +f 42 44 53 +f 44 46 53 +f 47 44 54 +f 44 51 54 +f 51 47 54 +f 50 45 56 +f 45 52 56 +f 52 51 56 +f 48 43 57 +f 46 48 57 +f 43 53 57 +f 53 46 57 +f 48 49 58 +f 49 50 58 +f 50 55 58 +f 42 43 59 +f 43 48 59 +f 51 42 59 +f 48 55 59 +f 55 50 59 +f 50 56 59 +f 56 51 59 +f 49 47 60 +f 52 49 60 +f 47 52 60 +f 55 48 61 +f 48 58 61 +o convex_2 +v 0.016961 0.574263 -3.061800 +v 0.592438 1.437114 -1.119924 +v 0.592438 1.221401 -1.119924 +v -0.522272 1.652827 -1.119924 +v 0.556427 1.545029 -3.061800 +v 0.520416 0.466348 -1.119924 +v -0.594294 0.682177 -3.025789 +v -0.594294 1.545029 -3.097811 +v -0.486378 0.610273 -1.119924 +v 0.556427 0.502359 -3.061800 +v 0.592438 1.652943 -1.227957 +v -0.558283 0.574263 -2.989584 +v 0.592438 1.580923 -2.666068 +v -0.594294 1.545029 -2.306540 +v 0.196783 0.502359 -3.061800 +v -0.558283 0.574263 -2.378368 +v 0.016961 0.897890 -3.097811 +v 0.592438 1.005805 -2.055045 +v 0.448511 0.466348 -1.119924 +v -0.522272 1.257295 -1.119924 +v 0.556427 0.502359 -1.983217 +v 0.592438 1.652943 -1.120118 +v -0.270429 0.538369 -3.025789 +v 0.592438 1.509018 -2.917950 +v -0.594294 1.580923 -2.522218 +v -0.594294 1.293306 -3.097811 +f 69 78 87 +f 64 63 65 +f 64 65 67 +f 67 65 70 +f 63 64 72 +f 66 69 74 +f 72 64 74 +f 65 72 74 +f 69 68 75 +f 71 67 76 +f 68 73 77 +f 75 68 77 +f 69 66 78 +f 66 71 78 +f 76 62 78 +f 71 76 78 +f 74 64 79 +f 67 70 80 +f 76 67 80 +f 70 77 80 +f 70 65 81 +f 65 75 81 +f 77 70 81 +f 75 77 81 +f 64 67 82 +f 67 71 82 +f 79 64 82 +f 71 79 82 +f 65 63 83 +f 63 72 83 +f 72 65 83 +f 68 62 84 +f 73 68 84 +f 62 76 84 +f 77 73 84 +f 76 80 84 +f 80 77 84 +f 71 66 85 +f 66 74 85 +f 79 71 85 +f 74 79 85 +f 74 69 86 +f 65 74 86 +f 75 65 86 +f 69 75 86 +f 62 68 87 +f 68 69 87 +f 78 62 87 +o convex_3 +v -1.673015 -0.001124 -1.011891 +v -2.644033 2.192173 -0.652219 +v -2.644033 2.192173 -0.688230 +v 1.095492 2.156250 -0.939870 +v 1.023625 -0.073191 1.073683 +v -3.039301 2.156250 0.965650 +v -3.075643 0.070722 0.965650 +v 1.095492 2.156250 0.965650 +v 1.095900 -0.073191 -0.975881 +v -3.039301 0.610454 -0.975881 +v -3.003367 2.192173 -0.975881 +v 0.592424 1.652885 -1.119924 +v -0.953938 -0.073191 1.109694 +v -3.075643 0.035021 -0.724023 +v 0.556490 1.616740 1.109694 +v -0.486395 0.610454 -1.119924 +v -1.061738 -0.073191 -1.011891 +v 1.095900 0.142790 1.073683 +v -3.075643 2.012336 0.965650 +v -0.486395 1.616740 1.109694 +v 0.556490 0.466318 -1.119924 +v -3.039301 0.035021 -0.939870 +v -3.039301 2.192173 0.426360 +v -0.522737 1.652663 -1.119924 +v -1.169538 0.178713 1.109694 +v -3.039301 1.724509 -0.975881 +v 0.736158 0.394694 1.109694 +v -2.751834 0.106867 1.001661 +v -1.277339 2.084404 1.001661 +v -2.715900 0.035021 -0.975881 +v 1.095900 0.610232 1.073683 +v -3.039301 2.192173 -0.580198 +v -3.075643 0.035021 -0.400580 +v -0.019261 -0.073191 -1.011673 +v 1.095492 1.005828 -0.975881 +v 0.915825 2.084404 -0.975881 +v -0.198928 -0.073191 1.109694 +f 114 100 124 +f 90 89 91 +f 91 89 95 +f 89 90 98 +f 90 91 98 +f 96 92 100 +f 96 100 104 +f 92 96 105 +f 101 94 106 +f 100 102 107 +f 99 96 108 +f 88 103 108 +f 103 99 108 +f 104 88 108 +f 101 97 109 +f 104 101 109 +f 95 89 110 +f 93 95 110 +f 89 98 110 +f 106 93 110 +f 98 99 111 +f 103 97 111 +f 99 103 111 +f 93 106 112 +f 107 93 112 +f 100 107 112 +f 97 101 113 +f 111 97 113 +f 98 111 113 +f 102 100 114 +f 92 105 114 +f 94 100 115 +f 106 94 115 +f 100 112 115 +f 112 106 115 +f 95 93 116 +f 102 95 116 +f 93 107 116 +f 107 102 116 +f 103 88 117 +f 97 103 117 +f 88 104 117 +f 109 97 117 +f 104 109 117 +f 91 95 118 +f 96 91 118 +f 95 102 118 +f 105 96 118 +f 102 114 118 +f 114 105 118 +f 101 106 119 +f 110 98 119 +f 106 110 119 +f 113 101 119 +f 98 113 119 +f 100 94 120 +f 94 101 120 +f 104 100 120 +f 101 104 120 +f 96 104 121 +f 108 96 121 +f 104 108 121 +f 91 96 122 +f 96 99 122 +f 99 91 122 +f 98 91 123 +f 99 98 123 +f 91 99 123 +f 100 92 124 +f 92 114 124 +o convex_4 +v 1.851160 2.120352 1.037672 +v 2.785893 -0.037230 -1.083695 +v 3.001765 1.976270 -1.119924 +v 1.095900 2.156426 -0.939870 +v 1.095900 0.142712 1.073464 +v 3.037776 -0.037230 0.929639 +v 1.095900 0.070993 -0.975881 +v 2.929743 2.048418 1.109475 +v 1.095900 2.156426 0.965650 +v 3.073786 -0.037230 -1.083695 +v 3.037776 2.048418 -0.436372 +v 2.893926 2.084278 -1.083695 +v 3.073786 1.976270 -1.083695 +v 1.707310 0.826189 1.109694 +v 3.073786 0.070778 0.462153 +v 1.599471 2.156426 0.534175 +v 3.001571 0.969842 1.037672 +v 1.239943 0.106852 1.073464 +v 1.239943 2.156426 -0.975881 +v 1.491632 0.034704 -1.011891 +v 2.893926 -0.037230 0.929639 +v 1.095900 0.070993 -0.436372 +v 2.642043 2.084278 1.073464 +v 3.037776 0.502595 0.965650 +v 1.635288 2.156426 -0.975881 +v 1.131911 0.718181 1.073464 +v 2.534204 2.012344 1.109475 +v 2.965754 1.760683 1.073464 +v 1.455621 0.718181 -1.011891 +v 2.893926 1.688750 1.109475 +v 2.821904 0.034919 0.965650 +v 1.419611 2.156426 1.001661 +v 1.455621 0.034704 -0.903859 +v 3.037776 2.048418 -1.119924 +v 1.095900 1.257148 -0.975881 +v 2.893926 2.084278 -0.724241 +v 1.419611 0.178786 1.073464 +f 142 155 161 +f 129 128 131 +f 128 129 133 +f 126 127 134 +f 130 126 134 +f 130 134 139 +f 134 137 139 +f 128 133 140 +f 138 129 142 +f 128 140 143 +f 127 126 144 +f 126 130 145 +f 130 142 145 +f 129 131 146 +f 142 129 146 +f 145 142 146 +f 137 135 148 +f 130 139 148 +f 139 137 148 +f 141 130 148 +f 136 143 149 +f 143 140 149 +f 133 129 150 +f 129 138 150 +f 150 138 151 +f 132 125 151 +f 138 132 151 +f 135 132 152 +f 132 141 152 +f 148 135 152 +f 141 148 152 +f 143 127 153 +f 127 144 153 +f 144 131 153 +f 132 138 154 +f 141 132 154 +f 130 141 155 +f 142 130 155 +f 125 132 156 +f 140 133 156 +f 132 147 156 +f 147 140 156 +f 133 150 156 +f 150 151 156 +f 151 125 156 +f 144 126 157 +f 131 144 157 +f 126 145 157 +f 145 146 157 +f 146 131 157 +f 134 127 158 +f 136 135 158 +f 137 134 158 +f 135 137 158 +f 127 143 158 +f 143 136 158 +f 131 128 159 +f 128 143 159 +f 143 153 159 +f 153 131 159 +f 132 135 160 +f 135 136 160 +f 147 132 160 +f 140 147 160 +f 136 149 160 +f 149 140 160 +f 138 142 161 +f 154 138 161 +f 141 154 161 +f 155 141 161 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/611/611.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/611/611.urdf new file mode 100644 index 000000000..d3991ffc4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/611/611.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/612/612.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/612/612.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/612/612.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/612/612.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/612/612.obj new file mode 100644 index 000000000..ec11a1c93 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/612/612.obj @@ -0,0 +1,1068 @@ +o convex_0 +v -3.150570 -0.598589 0.022246 +v -2.890055 0.573814 0.087431 +v -2.890055 0.508630 0.347939 +v -4.681052 0.052682 -0.010231 +v -2.890055 -0.044750 -0.596433 +v -2.890055 -0.435628 0.478194 +v -4.452795 0.020090 -0.433472 +v -4.420362 -0.012387 0.347939 +v -4.387753 0.410968 -0.107779 +v -4.387753 -0.403035 -0.042594 +v -2.890055 -0.500697 -0.433472 +v -3.280828 0.410968 -0.465949 +v -2.922663 0.052682 0.575970 +v -3.573951 0.443445 0.347939 +v -3.671600 -0.435628 -0.400879 +v -3.769425 -0.370443 0.380532 +v -2.890055 0.573814 -0.140371 +v -4.387753 0.085275 0.347939 +v -3.639167 0.541107 -0.075186 +v -2.890055 0.378376 -0.498541 +v -3.573951 0.378376 -0.465949 +v -3.834115 -0.044750 -0.531134 +v -4.485403 -0.370443 -0.010231 +v -2.890055 -0.598589 0.120023 +v -4.290104 -0.305259 -0.303103 +v -3.736816 -0.533290 0.022246 +v -4.355145 0.410968 -0.010231 +v -3.736816 0.052682 0.478194 +v -4.192279 0.313191 -0.368287 +v -4.257496 -0.272781 0.282755 +v -2.987880 0.476038 0.413124 +v -4.192279 0.345783 0.217685 +v -3.671600 -0.044750 0.478194 +v -4.648268 0.052682 -0.140371 +v -2.922663 -0.468105 0.445601 +v -3.443693 -0.077342 -0.563726 +v -4.420362 -0.044750 -0.433472 +v -2.922663 -0.598589 -0.107779 +v -3.671600 0.085275 -0.531134 +v -2.890055 -0.012387 0.575970 +v -4.615660 -0.142527 -0.075186 +v -3.704208 -0.533290 -0.042594 +v -3.639167 0.410968 -0.400879 +v -3.736816 -0.403035 0.347939 +v -3.573951 0.541107 -0.010231 +v -4.681052 -0.012387 -0.010231 +v -3.606559 0.117867 0.478194 +v -4.420362 -0.370443 0.054839 +f 44 16 48 +f 2 3 5 +f 5 3 6 +f 5 6 11 +f 2 5 17 +f 4 8 18 +f 2 17 19 +f 17 5 20 +f 12 17 20 +f 12 20 21 +f 11 6 24 +f 15 10 25 +f 10 23 25 +f 1 24 26 +f 9 4 27 +f 4 18 27 +f 19 9 27 +f 18 8 28 +f 7 9 29 +f 21 7 29 +f 16 8 30 +f 13 3 31 +f 3 14 31 +f 18 14 32 +f 27 18 32 +f 14 27 32 +f 16 6 33 +f 8 16 33 +f 28 8 33 +f 4 9 34 +f 9 7 34 +f 6 16 35 +f 24 6 35 +f 26 24 35 +f 5 11 36 +f 11 15 36 +f 15 22 36 +f 7 22 37 +f 22 15 37 +f 15 25 37 +f 25 23 37 +f 15 11 38 +f 24 1 38 +f 11 24 38 +f 20 5 39 +f 7 21 39 +f 21 20 39 +f 22 7 39 +f 5 36 39 +f 36 22 39 +f 6 3 40 +f 3 13 40 +f 13 28 40 +f 33 6 40 +f 28 33 40 +f 34 7 41 +f 7 37 41 +f 37 23 41 +f 10 15 42 +f 1 26 42 +f 26 10 42 +f 15 38 42 +f 38 1 42 +f 17 12 43 +f 9 19 43 +f 19 17 43 +f 12 21 43 +f 29 9 43 +f 21 29 43 +f 35 16 44 +f 26 35 44 +f 3 2 45 +f 14 3 45 +f 2 19 45 +f 27 14 45 +f 19 27 45 +f 8 4 46 +f 23 8 46 +f 4 34 46 +f 41 23 46 +f 34 41 46 +f 14 18 47 +f 28 13 47 +f 18 28 47 +f 13 31 47 +f 31 14 47 +f 8 23 48 +f 23 10 48 +f 10 26 48 +f 30 8 48 +f 16 30 48 +f 26 44 48 +o convex_1 +v -0.903327 -0.012244 -0.987234 +v -1.033606 0.182758 1.031905 +v -1.098940 0.182758 1.031905 +v -0.935994 -1.347624 0.054749 +v -2.889791 -0.500675 -0.433433 +v -0.903327 1.355417 -0.009881 +v -2.726845 0.052580 0.738600 +v -2.466287 0.703734 -0.726541 +v -2.401341 -0.695942 0.771212 +v -2.433814 0.736543 0.705989 +v -2.466287 -0.728751 -0.693929 +v -0.903327 -0.891473 0.836434 +v -0.903327 1.094796 0.869046 +v -0.903327 1.029708 -0.856591 +v -0.903327 -0.924017 -0.824177 +v -2.889791 0.606101 -0.075103 +v -2.401341 -0.044788 -0.954623 +v -2.238395 0.052580 0.999294 +v -2.889791 -0.630853 0.087361 +v -2.433814 0.964354 0.022336 +v -2.466287 -0.924017 0.087361 +v -2.889791 0.313201 -0.531070 +v -2.889791 0.475923 0.413079 +v -2.889791 -0.403042 0.510518 +v -1.685001 -0.044788 1.031905 +v -2.433814 0.085125 0.966485 +v -0.935994 1.127341 0.836434 +v -1.945365 -0.044788 -0.987234 +v -2.889791 -0.109877 -0.596293 +v -0.903327 -0.044788 0.999294 +v -0.935994 0.769087 -0.922011 +v -2.466287 0.215303 -0.889400 +v -2.466287 -0.924017 -0.010078 +v -2.401341 0.736543 -0.726541 +v -0.903327 -1.347624 0.022336 +v -1.131412 -0.565764 -0.922011 +v -2.433814 0.964354 -0.042690 +v -0.935994 1.355417 -0.009881 +v -0.935994 -0.696206 0.901460 +v -2.401341 -0.174966 0.934071 +v -0.903327 0.280656 -0.987234 +v -2.368869 0.736543 0.738600 +v -0.935994 0.997163 0.901460 +v -2.889791 0.117669 0.575741 +v -2.498954 -0.011979 -0.921814 +v -2.889791 0.443114 -0.466045 +v -0.935994 -1.347624 0.022336 +v -2.759512 -0.533220 0.575741 +v -0.935994 1.029708 -0.856591 +v -2.401341 0.019771 -0.954623 +v -2.889791 -0.598308 -0.172938 +v -1.587195 0.117669 1.031905 +v -0.935994 -0.924017 -0.824177 +v -0.935994 1.355417 0.022336 +v -1.587195 -0.174966 -0.987234 +v -1.587195 0.150214 -0.987234 +v -0.903327 0.410834 0.999294 +v -2.433814 -0.011979 0.966485 +v -2.824651 0.573556 0.315245 +v -2.498954 0.703734 -0.693929 +v -2.466287 0.703734 0.705989 +v -0.935994 -0.891473 0.836434 +v -0.903327 -0.533220 -0.922011 +v -2.401341 0.117669 0.966485 +f 91 90 112 +f 49 54 60 +f 60 54 61 +f 54 49 62 +f 49 60 63 +f 64 53 67 +f 52 57 69 +f 53 64 70 +f 64 67 71 +f 71 67 72 +f 50 51 73 +f 61 54 75 +f 68 58 75 +f 59 53 77 +f 53 70 77 +f 60 61 78 +f 50 73 78 +f 70 56 80 +f 52 69 81 +f 69 67 81 +f 80 56 82 +f 60 52 83 +f 63 60 83 +f 64 68 85 +f 82 85 86 +f 54 62 86 +f 85 68 86 +f 60 78 87 +f 78 73 87 +f 57 87 88 +f 87 73 88 +f 62 49 89 +f 49 76 89 +f 79 62 89 +f 75 58 90 +f 61 75 90 +f 61 90 91 +f 72 55 92 +f 71 72 92 +f 65 59 93 +f 59 77 93 +f 77 70 93 +f 70 80 93 +f 70 64 94 +f 56 70 94 +f 52 81 95 +f 81 59 95 +f 83 52 95 +f 63 83 95 +f 69 57 96 +f 67 69 96 +f 72 67 96 +f 62 79 97 +f 80 82 97 +f 82 86 97 +f 86 62 97 +f 76 65 98 +f 65 93 98 +f 93 80 98 +f 97 79 98 +f 80 97 98 +f 53 59 99 +f 67 53 99 +f 59 81 99 +f 81 67 99 +f 73 51 100 +f 66 73 100 +f 91 66 100 +f 59 65 101 +f 84 63 101 +f 65 84 101 +f 95 59 101 +f 63 95 101 +f 75 54 102 +f 68 75 102 +f 54 86 102 +f 86 68 102 +f 76 49 103 +f 65 76 103 +f 84 65 103 +f 89 76 104 +f 79 89 104 +f 76 98 104 +f 98 79 104 +f 51 50 105 +f 50 78 105 +f 78 61 105 +f 61 91 105 +f 100 51 105 +f 91 100 105 +f 55 72 106 +f 73 66 106 +f 74 55 106 +f 66 74 106 +f 57 88 106 +f 88 73 106 +f 96 57 106 +f 72 96 106 +f 58 68 107 +f 68 64 107 +f 71 58 107 +f 64 71 107 +f 82 56 108 +f 64 85 108 +f 85 82 108 +f 56 94 108 +f 94 64 108 +f 58 71 109 +f 55 74 109 +f 90 58 109 +f 74 90 109 +f 92 55 109 +f 71 92 109 +f 57 52 110 +f 52 60 110 +f 87 57 110 +f 60 87 110 +f 49 63 111 +f 63 84 111 +f 103 49 111 +f 84 103 111 +f 74 66 112 +f 90 74 112 +f 66 91 112 +o convex_2 +v 1.571941 -0.468207 -0.954530 +v 2.288325 0.150185 1.031905 +v 2.060401 0.150185 1.031905 +v 1.604376 1.290031 -0.010215 +v 3.134802 0.020011 -0.759120 +v 1.571941 -1.021638 0.901565 +v 3.134802 -0.793769 0.054654 +v 3.102367 0.736349 0.087389 +v 1.571941 0.834042 -0.824391 +v 1.604376 -0.989157 -0.791655 +v 3.102367 -0.077180 0.803759 +v 1.571941 0.866523 0.836495 +v 1.571941 -1.282239 0.022119 +v 2.353547 0.769081 -0.759120 +v 2.386158 0.769081 0.771024 +v 3.362902 -0.012218 0.087389 +v 2.386158 -0.793769 -0.791655 +v 2.386158 0.020011 -1.019801 +v 2.320936 -0.761289 0.836495 +v 1.571941 -0.012218 1.031905 +v 2.939488 -0.598382 -0.596245 +v 3.102367 0.736349 -0.042549 +v 2.320936 -0.142393 1.031905 +v 1.604376 -0.044699 -1.019801 +v 2.939488 0.508480 0.608148 +v 2.874267 -0.598382 0.640884 +v 3.134802 -0.793769 -0.042549 +v 2.939488 0.573693 -0.531175 +v 3.102367 0.020011 0.803759 +v 3.134802 -0.077180 -0.759120 +v 1.571941 -0.826250 -0.889460 +v 3.330291 -0.012218 -0.172890 +v 2.353547 -0.077432 -1.019801 +v 1.604376 -1.282239 0.022119 +v 1.571941 -0.337781 1.031905 +v 1.571941 1.290031 0.022119 +v 1.636987 0.671135 -0.889460 +v 1.604376 -1.021638 0.901565 +v 3.102367 0.020011 -0.791655 +v 1.636987 0.703868 0.901565 +v 2.451204 0.020011 1.031905 +v 3.362902 -0.109912 -0.010014 +v 1.604376 1.290031 0.022119 +v 3.069756 0.768829 -0.010014 +v 1.669598 0.866523 0.836495 +v 1.604376 -1.282239 0.054654 +v 1.636987 -0.793769 0.966635 +v 1.604376 0.866523 -0.791655 +v 2.971924 0.801562 0.054654 +v 1.962569 -0.891463 -0.824391 +v 2.353547 0.475748 0.901565 +v 3.167413 0.606174 -0.010014 +v 2.939488 -0.630862 0.543079 +v 2.516250 -0.044699 -0.987065 +v 2.711388 0.638655 0.673419 +v 2.353547 0.052491 -1.019801 +v 3.004534 0.345825 -0.661515 +v 1.636987 -1.086851 0.673419 +v 1.571941 0.508480 -0.921995 +v 3.134802 -0.077180 0.738690 +v 3.102367 -0.044699 -0.791655 +v 3.362902 -0.044699 0.087389 +v 3.069756 -0.826250 -0.010014 +f 158 146 175 +f 113 118 121 +f 121 118 124 +f 118 113 125 +f 114 115 132 +f 124 118 132 +f 131 123 135 +f 114 132 135 +f 123 131 138 +f 129 133 139 +f 126 134 140 +f 128 120 141 +f 120 137 141 +f 133 129 142 +f 139 133 142 +f 125 113 143 +f 122 125 143 +f 142 117 144 +f 113 136 145 +f 136 130 145 +f 143 113 145 +f 125 122 146 +f 132 118 147 +f 135 132 147 +f 116 121 148 +f 121 124 148 +f 121 126 149 +f 119 131 150 +f 131 135 150 +f 117 142 151 +f 115 114 152 +f 132 115 152 +f 124 132 152 +f 114 135 153 +f 135 123 153 +f 123 141 153 +f 119 139 154 +f 139 142 154 +f 144 128 154 +f 142 144 154 +f 116 148 155 +f 148 124 155 +f 126 116 156 +f 120 134 156 +f 134 126 156 +f 116 155 156 +f 152 114 157 +f 124 152 157 +f 127 155 157 +f 155 124 157 +f 118 125 158 +f 125 146 158 +f 150 118 158 +f 147 118 159 +f 135 147 159 +f 150 135 159 +f 118 150 159 +f 121 116 160 +f 116 126 160 +f 126 121 160 +f 127 120 161 +f 155 127 161 +f 120 156 161 +f 156 155 161 +f 122 143 162 +f 145 129 162 +f 143 145 162 +f 146 122 162 +f 129 146 162 +f 141 127 163 +f 114 153 163 +f 153 141 163 +f 157 114 163 +f 127 157 163 +f 120 128 164 +f 134 120 164 +f 117 134 164 +f 144 117 164 +f 128 144 164 +f 119 123 165 +f 131 119 165 +f 123 138 165 +f 138 131 165 +f 145 130 166 +f 129 145 166 +f 130 151 166 +f 120 127 167 +f 137 120 167 +f 127 141 167 +f 141 137 167 +f 130 136 168 +f 149 126 168 +f 126 151 168 +f 151 130 168 +f 134 117 169 +f 126 140 169 +f 140 134 169 +f 151 126 169 +f 117 151 169 +f 119 150 170 +f 158 119 170 +f 150 158 170 +f 113 121 171 +f 136 113 171 +f 121 149 171 +f 168 136 171 +f 149 168 171 +f 123 119 172 +f 128 141 172 +f 141 123 172 +f 142 129 173 +f 151 142 173 +f 129 166 173 +f 166 151 173 +f 119 154 174 +f 154 128 174 +f 172 119 174 +f 128 172 174 +f 139 119 175 +f 129 139 175 +f 146 129 175 +f 119 158 175 +o convex_3 +v 0.822539 2.462546 0.901536 +v -0.056419 2.202286 -1.052367 +v -0.056419 2.332177 -1.052367 +v -0.675181 1.420709 0.836453 +v 1.538963 1.420709 -0.042670 +v -0.381959 3.048569 0.185016 +v 1.148315 2.918360 -0.824069 +v -0.642627 1.420709 -0.856712 +v 1.180869 1.420709 -0.791629 +v 1.213423 2.983544 0.250099 +v 1.180869 1.420709 0.803606 +v 0.236803 2.853334 0.966618 +v -0.251979 3.048569 -0.661260 +v -0.870505 1.518407 -0.042466 +v 0.269121 1.551079 1.031905 +v -0.349641 2.853334 0.738728 +v -0.577519 2.853334 -0.042466 +v 0.366783 1.420709 -1.019520 +v 1.050417 2.690453 0.836453 +v 0.269121 2.918360 -1.019520 +v -0.414749 2.853334 -0.726343 +v 0.431891 3.016057 0.771371 +v -0.088973 2.267152 1.031905 +v 0.529553 3.048569 -0.726343 +v 1.311085 2.820822 0.087290 +v 1.050417 2.918360 -0.889151 +v 1.538963 1.453222 0.054647 +v 0.073797 3.048569 0.673645 +v 1.180869 3.016216 -0.010231 +v -0.610073 1.420709 0.901536 +v -0.870505 1.420709 0.119934 +v 0.985309 2.983544 0.608359 +v 0.138905 2.527571 1.031905 +v -0.577519 2.820662 0.054851 +v 0.431891 1.420709 0.999058 +v -0.381959 2.820662 -0.791629 +v -0.414749 1.518407 -0.954642 +v 0.138905 3.048569 -0.889151 +v 1.311085 2.788150 -0.107753 +v -0.675181 1.485894 0.836453 +v 0.204013 2.072077 -1.052367 +v 1.343639 1.453222 -0.498452 +v -0.186871 3.048569 0.608359 +v 1.148315 2.885847 -0.856712 +v 1.278531 1.453222 0.641002 +v 0.366783 2.853334 0.966618 +v -0.414749 3.048569 -0.140192 +v 1.050417 2.592756 -0.889151 +v -0.414749 2.592756 0.771371 +v 0.952755 3.016057 -0.596178 +v 0.757431 3.048569 -0.335644 +v 1.538963 1.485735 -0.042670 +v -0.870505 1.453381 -0.107549 +v 0.171695 2.885847 -1.019520 +v 1.083207 2.690453 0.771371 +v 0.204013 1.420709 -1.019520 +v -0.023865 2.429874 1.031905 +v -0.642627 1.453381 -0.856712 +v 1.180869 3.016216 0.119730 +v 0.041243 1.420709 0.999058 +v 1.245977 2.983544 0.087290 +v -0.870505 1.453381 0.119934 +v 0.269121 1.974379 1.031905 +v 1.245977 2.755637 0.315181 +f 230 202 239 +f 180 179 183 +f 180 183 184 +f 179 180 186 +f 184 183 193 +f 176 186 194 +f 188 181 199 +f 186 180 202 +f 187 197 203 +f 199 181 203 +f 179 186 205 +f 183 179 206 +f 194 185 207 +f 198 190 208 +f 191 181 209 +f 181 192 209 +f 192 189 209 +f 186 176 210 +f 205 186 210 +f 196 188 211 +f 178 177 212 +f 188 199 213 +f 201 195 213 +f 199 201 213 +f 211 188 213 +f 179 205 215 +f 206 179 215 +f 177 178 216 +f 178 195 216 +f 195 201 216 +f 180 184 217 +f 191 187 218 +f 181 191 218 +f 187 203 218 +f 203 181 218 +f 201 182 219 +f 182 214 219 +f 217 184 219 +f 194 186 220 +f 186 202 220 +f 176 194 221 +f 197 187 221 +f 194 207 221 +f 207 197 221 +f 208 176 221 +f 187 208 221 +f 181 188 222 +f 192 181 222 +f 188 196 222 +f 196 192 222 +f 184 193 223 +f 193 216 223 +f 216 201 223 +f 201 219 223 +f 219 184 223 +f 205 198 224 +f 191 209 224 +f 215 205 224 +f 209 215 224 +f 182 201 225 +f 201 199 225 +f 204 182 225 +f 204 225 226 +f 199 203 226 +f 225 199 226 +f 202 180 227 +f 200 202 227 +f 214 200 227 +f 180 217 227 +f 219 214 227 +f 217 219 227 +f 189 192 228 +f 192 196 228 +f 183 206 228 +f 206 189 228 +f 195 178 229 +f 178 211 229 +f 213 195 229 +f 211 213 229 +f 185 194 230 +f 194 220 230 +f 220 202 230 +f 193 183 231 +f 212 177 231 +f 183 212 231 +f 177 216 231 +f 216 193 231 +f 187 191 232 +f 208 187 232 +f 198 208 232 +f 191 224 232 +f 224 198 232 +f 211 178 233 +f 196 211 233 +f 178 212 233 +f 212 183 233 +f 183 228 233 +f 228 196 233 +f 203 197 234 +f 207 185 234 +f 197 207 234 +f 204 226 234 +f 226 203 234 +f 190 198 235 +f 198 205 235 +f 210 190 235 +f 205 210 235 +f 185 200 236 +f 182 204 236 +f 214 182 236 +f 200 214 236 +f 234 185 236 +f 204 234 236 +f 189 206 237 +f 209 189 237 +f 206 215 237 +f 215 209 237 +f 176 208 238 +f 208 190 238 +f 210 176 238 +f 190 210 238 +f 200 185 239 +f 202 200 239 +f 185 230 239 +o convex_4 +v 1.115538 -2.975704 0.185045 +v 0.171625 -1.901476 -0.954667 +v 0.138870 -1.836336 -0.954473 +v -0.479647 -2.780284 0.543235 +v 1.246079 -1.380191 0.934093 +v -0.903308 -1.380357 0.054759 +v 1.278595 -1.380191 -0.791518 +v -0.186766 -3.073497 -0.596283 +v 0.269172 -2.878077 0.966762 +v -0.512402 -1.380357 0.803807 +v 1.017991 -2.910564 -0.661232 +v -0.544917 -1.380357 -0.791712 +v 1.539199 -1.478150 0.022479 +v 1.050506 -2.845424 0.803807 +v -0.609949 -2.845424 -0.042470 +v 0.334203 -2.812937 -0.921998 +v -0.056464 -3.040844 0.771333 +v 0.366719 -1.575776 1.031905 +v -0.382099 -2.747797 -0.693900 +v 1.278595 -2.747797 -0.075138 +v -0.382099 -2.747797 0.803807 +v 0.985475 -3.040844 -0.596089 +v 0.627323 -1.380357 -0.954667 +v 0.692355 -2.356958 1.031905 +v -0.349584 -3.073497 0.347805 +v 1.083022 -2.780284 -0.694095 +v 0.171386 -3.040844 0.836281 +v 0.464266 -3.073497 -0.759044 +v -0.903308 -1.445497 -0.009995 +v 1.050506 -1.413010 -0.889524 +v 1.311110 -1.445497 0.868950 +v 1.278595 -2.747797 0.119902 +v 1.539199 -1.380191 0.119902 +v -0.284552 -1.413010 -0.889330 +v 0.269172 -1.380357 0.999236 +v -0.414615 -3.073497 -0.042470 +v -0.609949 -2.845424 0.054759 +v 1.115538 -3.008357 0.022673 +v 0.952959 -2.975704 0.510760 +v 1.017991 -2.845424 0.836476 +v 0.529537 -3.073497 -0.465997 +v 1.115538 -2.780284 -0.628952 +v 0.399235 -2.780284 -0.921998 +v -0.089219 -2.389611 0.901424 +v -0.544917 -1.445497 0.771333 +v -0.903308 -1.445497 0.054759 +v 1.539199 -1.413010 -0.042664 +v -0.284552 -3.040844 0.640852 +v 1.148293 -1.510637 0.966762 +v -0.349584 -2.878077 -0.661426 +v 0.366719 -2.747797 0.999236 +v 0.138870 -1.380357 -0.954473 +v -0.414615 -2.715144 0.771333 +v 0.399235 -2.291818 -0.954667 +v 1.311110 -1.413010 -0.726569 +v -0.544917 -1.445497 -0.791712 +v 0.366719 -1.868823 1.031905 +v 1.180808 -2.780284 0.445617 +v 1.539199 -1.413010 0.119902 +v -0.414615 -2.812937 -0.596283 +v 0.757386 -2.096895 1.031905 +v 0.692355 -1.380357 0.999236 +v 1.017991 -3.040844 -0.400659 +v 0.334203 -3.040844 -0.791712 +f 289 255 303 +f 245 244 246 +f 244 245 249 +f 245 246 251 +f 242 241 255 +f 256 248 260 +f 261 250 265 +f 248 256 266 +f 256 264 266 +f 250 261 267 +f 264 247 267 +f 245 251 268 +f 262 246 269 +f 246 265 269 +f 259 252 271 +f 246 244 272 +f 244 270 272 +f 242 255 273 +f 255 258 273 +f 244 249 274 +f 249 257 274 +f 247 264 275 +f 275 264 276 +f 268 254 276 +f 254 275 276 +f 261 259 277 +f 271 240 277 +f 259 271 277 +f 240 253 278 +f 277 240 278 +f 266 277 278 +f 248 266 279 +f 270 244 279 +f 253 270 279 +f 278 253 279 +f 266 278 279 +f 266 264 280 +f 264 267 280 +f 267 261 280 +f 259 261 281 +f 261 265 281 +f 265 250 282 +f 250 267 282 +f 267 255 282 +f 269 265 282 +f 249 260 283 +f 260 248 283 +f 249 245 284 +f 260 249 284 +f 245 268 285 +f 276 243 285 +f 268 276 285 +f 284 245 285 +f 252 259 286 +f 272 252 286 +f 246 272 286 +f 259 281 286 +f 260 243 287 +f 256 260 287 +f 264 256 287 +f 276 264 287 +f 243 276 287 +f 263 279 288 +f 279 244 288 +f 258 255 289 +f 247 275 289 +f 275 254 289 +f 248 279 290 +f 279 263 290 +f 283 248 290 +f 241 242 291 +f 251 246 291 +f 262 241 291 +f 246 262 291 +f 242 273 291 +f 273 251 291 +f 243 260 292 +f 260 284 292 +f 284 285 292 +f 285 243 292 +f 255 241 293 +f 241 262 293 +f 262 269 293 +f 282 255 293 +f 269 282 293 +f 265 246 294 +f 281 265 294 +f 246 286 294 +f 286 281 294 +f 268 251 295 +f 258 268 295 +f 251 273 295 +f 273 258 295 +f 257 249 296 +f 263 257 296 +f 249 283 296 +f 290 263 296 +f 283 290 296 +f 253 240 297 +f 270 253 297 +f 240 271 297 +f 271 252 298 +f 252 272 298 +f 272 270 298 +f 270 297 298 +f 297 271 298 +f 254 268 299 +f 268 258 299 +f 289 254 299 +f 258 289 299 +f 257 263 300 +f 263 288 300 +f 300 288 301 +f 244 274 301 +f 274 257 301 +f 288 244 301 +f 257 300 301 +f 261 277 302 +f 277 266 302 +f 266 280 302 +f 280 261 302 +f 255 267 303 +f 267 247 303 +f 247 289 303 +o convex_5 +v 1.539021 1.420550 0.087189 +v -0.903308 -1.380191 -0.042750 +v -0.577454 -1.380191 -0.726585 +v 1.311044 -1.380191 0.901364 +v -0.675331 1.420550 0.869030 +v -0.544990 1.420550 -0.921995 +v 1.571728 -0.826403 -0.889260 +v 1.571728 0.703642 0.901364 +v -0.903308 -0.044795 0.999169 +v 1.213409 1.420550 -0.791655 +v -0.903308 0.280350 -0.987065 +v -0.544990 -1.380191 0.803759 +v 0.855091 -1.380191 -0.921995 +v 1.571728 0.117504 -0.987065 +v 0.431845 1.420550 0.999169 +v 1.571728 -0.337864 1.031905 +v -0.903308 1.420550 -0.042750 +v 1.571728 -1.380191 0.022320 +v 0.269039 -1.380191 0.999169 +v 0.334210 1.420550 -1.019801 +v 0.399381 -1.184720 -0.987065 +v -0.903308 -0.761155 -0.889260 +v 1.213409 1.420550 0.803759 +v -0.903308 -0.891652 0.836294 +v 1.571728 0.768890 -0.856725 +v -0.903308 0.996710 0.901364 +v -0.903308 1.029335 -0.856925 +v 1.278580 -1.380191 -0.824190 +v 1.571728 -1.021874 0.901364 +v 0.138940 -1.380191 -0.954530 +v 0.041305 1.420550 0.999169 +v 0.692528 -0.728805 1.031905 +v 1.571728 1.387652 -0.042549 +v 1.571728 -0.272889 -0.987065 +v 1.571728 -0.012170 1.031905 +v -0.903308 0.410573 0.999169 +v -0.903308 -0.012170 -0.987065 +v 1.083068 -1.380191 0.966635 +v 1.571728 0.866488 0.836294 +v -0.903308 -0.696181 0.901364 +v -0.903308 -0.924001 -0.824190 +v -0.284307 -1.380191 -0.889260 +v 1.571728 -0.988976 -0.824190 +v -0.642625 1.420550 -0.856925 +v -0.903308 -1.380191 0.087189 +v -0.903308 1.159557 0.771224 +v 0.301746 1.159557 -1.019801 +v 0.692528 -1.380191 0.999169 +v 0.204111 1.420550 -1.019801 +v -0.610160 1.420550 0.901364 +v 1.571728 0.671017 -0.889260 +v 1.571728 0.866488 -0.791655 +v 0.627357 -1.380191 -0.954530 +v 1.571728 -0.793779 0.966635 +v 0.497016 1.420550 -0.987065 +v -0.479819 -1.380191 -0.824190 +v -0.903308 1.420550 0.054855 +v 1.213409 -0.142393 1.031905 +v -0.903308 0.768890 -0.921995 +f 314 330 362 +f 305 306 307 +f 308 304 309 +f 309 304 313 +f 305 312 314 +f 305 307 315 +f 307 306 316 +f 311 310 317 +f 304 308 318 +f 310 311 319 +f 308 309 320 +f 314 312 320 +f 307 316 321 +f 310 319 321 +f 315 307 322 +f 309 313 323 +f 305 314 325 +f 304 318 326 +f 318 311 326 +f 312 305 327 +f 311 317 328 +f 320 312 329 +f 314 320 330 +f 316 310 331 +f 321 316 331 +f 307 321 332 +f 321 319 332 +f 316 306 333 +f 318 308 334 +f 312 322 335 +f 313 304 336 +f 311 328 336 +f 310 316 337 +f 317 310 337 +f 323 317 337 +f 311 318 338 +f 319 311 338 +f 318 334 338 +f 335 319 338 +f 329 312 339 +f 312 335 339 +f 325 314 340 +f 324 333 340 +f 333 325 340 +f 322 307 341 +f 304 326 342 +f 326 311 342 +f 336 304 342 +f 311 336 342 +f 315 322 343 +f 322 312 343 +f 312 327 343 +f 327 315 343 +f 306 305 344 +f 305 325 344 +f 333 306 345 +f 325 333 345 +f 310 321 346 +f 331 310 346 +f 321 331 346 +f 320 309 347 +f 309 330 347 +f 330 320 347 +f 305 315 348 +f 327 305 348 +f 315 327 348 +f 329 308 349 +f 320 329 349 +f 323 337 350 +f 337 324 350 +f 324 340 350 +f 335 322 351 +f 319 335 351 +f 322 341 351 +f 341 319 351 +f 314 309 352 +f 309 323 352 +f 340 314 352 +f 323 350 352 +f 350 340 352 +f 308 329 353 +f 334 308 353 +f 329 339 353 +f 339 334 353 +f 313 328 354 +f 328 317 354 +f 328 313 355 +f 313 336 355 +f 336 328 355 +f 316 333 356 +f 333 324 356 +f 337 316 356 +f 324 337 356 +f 307 332 357 +f 332 319 357 +f 341 307 357 +f 319 341 357 +f 323 313 358 +f 317 323 358 +f 313 354 358 +f 354 317 358 +f 306 344 359 +f 344 325 359 +f 345 306 359 +f 325 345 359 +f 308 320 360 +f 349 308 360 +f 320 349 360 +f 338 334 361 +f 335 338 361 +f 334 339 361 +f 339 335 361 +f 309 314 362 +f 330 309 362 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/612/612.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/612/612.urdf new file mode 100644 index 000000000..76afe50ea --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/612/612.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/613/613.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/613/613.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/613/613.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/613/613.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/613/613.obj new file mode 100644 index 000000000..544a1493f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/613/613.obj @@ -0,0 +1,480 @@ +o convex_0 +v -0.582277 -3.656929 -0.612788 +v 0.016558 -0.188745 1.310451 +v -0.046234 -0.188745 1.310451 +v 0.016558 -0.188745 -1.243535 +v 0.930961 -3.278339 0.080708 +v -1.055327 -0.188745 -0.045041 +v -0.739961 -3.278691 0.711204 +v 0.994155 -0.189097 0.238207 +v 0.584299 -3.656578 0.647955 +v 0.710285 -3.215358 -0.675788 +v 0.836472 -0.188745 -0.959536 +v 0.867968 -0.252078 0.994953 +v -0.897644 -0.188745 0.963453 +v -0.865947 -0.188745 -0.896537 +v -0.960637 -3.215358 -0.013542 +v -0.014938 -3.751225 0.805954 +v 0.079752 -3.751225 -0.739038 +v -0.739961 -3.783243 0.048958 +v -0.676767 -3.246672 -0.707288 +v 0.678788 -3.278339 0.742704 +v 0.773278 -3.719911 -0.013542 +v 0.048256 -3.278691 -0.896537 +v -0.046234 -3.152377 0.963453 +v 0.994155 -2.237919 0.017958 +v -1.055327 -1.355479 -0.013542 +v -0.550781 -3.783243 0.584955 +v 0.994155 -0.189097 -0.171291 +v -0.046234 -0.220411 -1.243535 +v 0.615795 -3.719911 -0.518289 +v -0.960637 -0.409706 0.742704 +v 0.804775 -0.220763 -0.991036 +v 0.930961 -3.215358 -0.045291 +v 0.079752 -3.783243 -0.423539 +v 0.899465 -0.189097 0.900203 +v -0.046234 -3.246672 -0.896537 +v 0.205738 -3.246672 0.900453 +v -0.834450 -0.220411 -0.928037 +v -0.739961 -3.215358 -0.612788 +v -0.645270 -3.783243 -0.328790 +v -0.929140 -0.472688 -0.675788 +v 0.741781 -3.215358 -0.644038 +v 0.741781 -3.215358 0.647955 +v 0.867968 -0.252078 -0.865037 +v 0.584299 -3.719911 0.616455 +v -0.140924 -3.246672 0.931953 +v 0.994155 -1.387146 0.238207 +v -0.960637 -3.120710 0.048958 +v 0.079752 -3.246672 -0.896537 +v 0.994155 -1.481793 -0.139791 +v 0.615795 -3.247024 0.774204 +v -1.023630 -2.143623 0.048958 +v 0.930961 -3.246672 0.112208 +v -1.055327 -0.188745 0.112208 +v -0.897644 -0.252078 0.963453 +v -0.582277 -3.751225 0.616705 +v 0.016558 -0.252078 -1.243535 +v -0.487587 -3.751225 -0.612788 +v -0.046234 -0.220411 1.310451 +v -0.929140 -3.246672 -0.108291 +v 0.016558 -0.220411 1.310451 +v -0.771457 -3.215358 0.648205 +v -1.023630 -2.048623 -0.045041 +v 0.741781 -3.719911 0.206707 +v -1.055327 -1.324164 0.048958 +f 30 53 64 +f 3 2 4 +f 3 4 6 +f 4 2 11 +f 3 6 13 +f 6 4 14 +f 7 15 18 +f 11 8 27 +f 8 24 27 +f 14 4 28 +f 17 10 29 +f 4 11 31 +f 5 21 32 +f 24 5 32 +f 21 29 32 +f 16 26 33 +f 26 18 33 +f 17 29 33 +f 29 21 33 +f 11 2 34 +f 8 11 34 +f 2 12 34 +f 1 19 35 +f 22 17 35 +f 19 28 35 +f 23 16 36 +f 19 14 37 +f 14 28 37 +f 28 19 37 +f 14 19 38 +f 19 1 38 +f 17 33 39 +f 33 18 39 +f 6 14 40 +f 25 6 40 +f 14 38 40 +f 29 10 41 +f 31 11 41 +f 10 31 41 +f 32 29 41 +f 12 20 42 +f 11 27 43 +f 41 11 43 +f 32 41 43 +f 9 16 44 +f 20 9 44 +f 16 33 44 +f 42 20 44 +f 16 23 45 +f 24 8 46 +f 8 34 46 +f 10 17 48 +f 17 22 48 +f 31 10 48 +f 27 24 49 +f 24 32 49 +f 43 27 49 +f 32 43 49 +f 16 9 50 +f 9 20 50 +f 20 12 50 +f 36 16 50 +f 15 47 51 +f 47 30 51 +f 5 24 52 +f 34 12 52 +f 12 42 52 +f 24 46 52 +f 46 34 52 +f 13 6 53 +f 6 25 53 +f 30 13 53 +f 3 13 54 +f 13 30 54 +f 7 18 55 +f 26 16 55 +f 18 26 55 +f 45 7 55 +f 16 45 55 +f 28 4 56 +f 4 31 56 +f 22 35 56 +f 35 28 56 +f 48 22 56 +f 31 48 56 +f 1 35 57 +f 35 17 57 +f 39 1 57 +f 17 39 57 +f 2 3 58 +f 7 45 58 +f 45 23 58 +f 3 54 58 +f 54 7 58 +f 18 15 59 +f 38 1 59 +f 1 39 59 +f 39 18 59 +f 15 40 59 +f 40 38 59 +f 12 2 60 +f 23 36 60 +f 50 12 60 +f 36 50 60 +f 2 58 60 +f 58 23 60 +f 15 7 61 +f 47 15 61 +f 30 47 61 +f 7 54 61 +f 54 30 61 +f 25 40 62 +f 40 15 62 +f 15 51 62 +f 51 25 62 +f 21 5 63 +f 33 21 63 +f 44 33 63 +f 42 44 63 +f 5 52 63 +f 52 42 63 +f 25 51 64 +f 51 30 64 +f 53 25 64 +o convex_1 +v -1.023630 0.158093 -0.234460 +v 0.994167 0.158093 0.237960 +v 0.899477 0.158093 0.963450 +v 0.994167 -0.188745 0.237960 +v 0.048062 0.158093 -1.810732 +v -0.929140 -0.188745 0.900271 +v -0.834449 -0.188745 -0.928006 +v -0.014932 0.158093 1.814587 +v 0.836483 -0.188745 -0.959240 +v 0.867980 -0.188745 0.994684 +v -0.929140 0.158093 1.026628 +v 0.836483 0.158093 -1.085597 +v -0.046429 -0.188745 1.341812 +v -0.014932 -0.188745 -1.306013 +v -0.865946 0.158093 -0.959595 +v -1.055327 -0.188745 -0.045279 +v -0.046429 0.126553 -1.810732 +v 0.994167 -0.188745 -0.171282 +v 0.048062 0.126553 1.814587 +v 0.804786 0.158093 1.183865 +v -1.055327 0.126553 0.143547 +v -0.897643 -0.188745 0.963450 +v 0.994167 0.158093 -0.171282 +v -0.077925 0.126553 1.783353 +v -0.929140 -0.188745 -0.707235 +v 0.048062 0.126553 -1.810732 +v -0.834449 0.126553 1.152631 +v 0.016565 -0.157205 1.404991 +v -1.055327 -0.188745 0.111958 +v -0.865946 -0.125665 -0.928006 +v -0.046429 -0.094125 1.499404 +v 0.804786 -0.188745 -0.991184 +v 0.710296 0.126553 -1.211600 +v 0.899477 -0.062619 0.963450 +v 0.867980 -0.157205 -0.896061 +f 76 82 99 +f 67 66 65 +f 66 67 68 +f 65 66 69 +f 68 70 71 +f 67 65 72 +f 68 71 73 +f 70 68 74 +f 72 65 75 +f 69 66 76 +f 70 74 77 +f 73 71 78 +f 65 69 79 +f 71 70 80 +f 78 71 81 +f 79 69 81 +f 66 68 82 +f 68 73 82 +f 67 72 84 +f 72 83 84 +f 83 74 84 +f 75 65 85 +f 65 80 85 +f 75 70 86 +f 70 77 86 +f 76 66 87 +f 66 82 87 +f 82 76 87 +f 83 72 88 +f 65 79 89 +f 71 80 89 +f 80 65 89 +f 81 69 90 +f 78 81 90 +f 72 75 91 +f 75 86 91 +f 88 72 91 +f 86 88 91 +f 77 74 92 +f 74 83 92 +f 70 75 93 +f 80 70 93 +f 75 85 93 +f 85 80 93 +f 81 71 94 +f 79 81 94 +f 89 79 94 +f 71 89 94 +f 86 77 95 +f 83 88 95 +f 88 86 95 +f 77 92 95 +f 92 83 95 +f 73 78 96 +f 78 90 96 +f 96 90 97 +f 69 76 97 +f 76 73 97 +f 90 69 97 +f 73 96 97 +f 68 67 98 +f 74 68 98 +f 67 84 98 +f 84 74 98 +f 73 76 99 +f 82 73 99 +o convex_2 +v 0.741792 2.207424 0.773836 +v -0.046228 0.158093 -1.873852 +v 0.048262 0.158093 -1.873852 +v 0.016565 0.536739 2.792196 +v -0.929140 2.112869 -0.139344 +v 0.930973 1.292966 -2.283924 +v 0.994167 0.158306 0.206136 +v -1.055327 0.158306 0.111914 +v -0.582274 1.860722 -2.535774 +v -0.645268 1.923759 2.444938 +v 0.741792 1.356216 2.823603 +v 0.048262 2.301766 -1.968667 +v -0.771455 1.198624 -2.756218 +v -0.014932 2.301766 2.004052 +v -1.023630 1.261448 2.034866 +v 0.994167 1.356216 2.003459 +v 0.615605 0.757580 -2.629996 +v 0.867980 0.158306 1.183908 +v 0.584108 1.892241 -2.472960 +v -1.023630 1.292966 -1.968074 +v -0.897643 0.158306 1.152501 +v -0.771455 2.333710 -0.107936 +v -0.708462 1.293179 2.791603 +v -0.582274 0.662599 -2.567182 +v 0.836483 2.112656 -0.612230 +v 0.048262 1.293179 -3.009254 +v -0.014932 2.049619 2.792196 +v 0.836483 0.158306 -1.148523 +v 0.710296 2.049619 2.035459 +v 0.079759 0.473702 -2.788218 +v -0.771455 2.081351 -1.936667 +v -0.865946 0.190037 -1.117116 +v -0.802952 2.081351 1.940052 +v 0.994167 1.324484 -2.062888 +v -0.077725 2.049619 -2.724811 +v -0.077725 1.293179 3.044639 +v -0.014932 0.158093 1.877830 +v 0.678799 2.301766 0.048507 +v 0.741792 2.049619 -2.031481 +v 0.741792 1.292966 -2.788218 +v 0.773289 0.568257 2.161088 +v -0.739959 0.568044 2.129681 +v -1.055327 1.324484 1.530573 +v 0.899477 2.049619 0.048507 +v 0.773289 0.505220 -2.062296 +v 0.300437 2.333710 0.647615 +v 0.741792 1.198837 2.823603 +v -0.046228 0.473702 -2.788218 +v 0.994167 1.167106 2.003459 +v -0.960636 2.049832 0.080507 +v -0.771455 0.505220 -2.000074 +v -0.645268 2.333710 0.552801 +v -0.077725 2.301766 -2.000074 +v -1.055327 1.324484 0.300950 +v 0.521115 0.694331 2.665381 +v -0.582274 0.789099 2.602567 +v 0.552611 1.860722 2.571160 +v -0.739959 1.387734 2.760196 +v 0.994167 0.158306 -0.170751 +v -0.771455 1.293179 -2.756218 +v -1.023630 1.387734 2.004052 +v 0.111256 1.324697 3.044639 +v 0.994167 1.198624 -2.031481 +v -0.077725 1.261661 -3.009254 +f 159 134 163 +f 114 107 120 +f 100 113 128 +f 110 115 128 +f 113 126 128 +f 102 101 129 +f 127 102 129 +f 119 104 130 +f 104 121 130 +f 101 107 131 +f 107 119 131 +f 109 126 132 +f 126 113 132 +f 115 106 133 +f 108 130 134 +f 122 103 135 +f 101 102 136 +f 102 106 136 +f 107 101 136 +f 106 117 136 +f 117 103 136 +f 120 107 136 +f 103 120 136 +f 113 100 137 +f 137 124 138 +f 133 105 138 +f 124 133 138 +f 134 111 138 +f 118 134 138 +f 111 137 138 +f 129 125 139 +f 116 129 139 +f 134 118 139 +f 125 134 139 +f 138 105 139 +f 118 138 139 +f 103 117 140 +f 120 103 141 +f 114 120 141 +f 122 114 141 +f 107 114 142 +f 100 128 143 +f 128 115 143 +f 115 133 143 +f 133 124 143 +f 137 100 143 +f 124 137 143 +f 129 116 144 +f 127 129 144 +f 139 105 144 +f 116 139 144 +f 111 121 145 +f 113 137 145 +f 137 111 145 +f 115 110 146 +f 123 112 147 +f 129 101 147 +f 101 131 147 +f 106 115 148 +f 117 106 148 +f 140 117 148 +f 115 146 148 +f 146 140 148 +f 104 119 149 +f 121 104 149 +f 132 121 149 +f 119 112 150 +f 112 123 150 +f 131 119 150 +f 123 147 150 +f 147 131 150 +f 121 132 151 +f 132 113 151 +f 145 121 151 +f 113 145 151 +f 121 111 152 +f 130 121 152 +f 111 134 152 +f 134 130 152 +f 119 107 153 +f 107 142 153 +f 149 119 153 +f 142 149 153 +f 103 140 154 +f 146 103 154 +f 140 146 154 +f 103 122 155 +f 141 103 155 +f 122 141 155 +f 126 110 156 +f 110 128 156 +f 128 126 156 +f 114 122 157 +f 126 109 157 +f 109 132 157 +f 122 135 157 +f 135 126 157 +f 106 102 158 +f 102 127 158 +f 133 106 158 +f 112 119 159 +f 130 108 159 +f 119 130 159 +f 108 134 159 +f 142 114 160 +f 132 149 160 +f 149 142 160 +f 114 157 160 +f 157 132 160 +f 110 126 161 +f 135 103 161 +f 126 135 161 +f 146 110 161 +f 103 146 161 +f 105 133 162 +f 127 144 162 +f 144 105 162 +f 158 127 162 +f 133 158 162 +f 125 129 163 +f 134 125 163 +f 147 112 163 +f 129 147 163 +f 112 159 163 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/613/613.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/613/613.urdf new file mode 100644 index 000000000..32a66821d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/613/613.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/614/614.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/614/614.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/614/614.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/614/614.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/614/614.obj new file mode 100644 index 000000000..0c266b5bd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/614/614.obj @@ -0,0 +1,1170 @@ +o convex_0 +v 0.433726 -0.544126 -2.263900 +v -1.046703 -0.332829 -0.994901 +v -1.046703 -0.332829 -0.959789 +v -0.376927 -2.447484 -0.395789 +v 1.033064 0.266407 -0.395789 +v 0.786325 -2.517916 -0.430902 +v -0.799761 -1.671886 -1.911126 +v -0.729323 0.301903 -2.193125 +v -0.976061 0.301903 -0.395789 +v 0.750903 -1.671886 -1.981717 +v 0.891983 0.301624 -1.981717 +v -0.976061 -1.953896 -0.395789 +v 0.010688 -1.989392 -1.946421 +v 0.962422 -1.742319 -0.889197 +v -0.940842 0.301903 -2.017013 +v -0.059547 -1.002777 -2.228421 +v 0.539384 0.301624 -2.263900 +v 0.962422 -1.953896 -0.395789 +v -0.588446 -2.271122 -0.854084 +v 0.997641 0.301624 -1.382422 +v -0.976061 -1.495525 -1.100788 +v -0.553023 -0.438757 -2.228421 +v 0.680464 -2.235906 -1.241788 +v 0.151769 -2.271402 -1.241788 +v 0.962422 -1.460309 -1.171380 +v 0.856764 -2.200690 -1.030197 +v -1.046703 0.301903 -1.312197 +v -1.011280 -1.812752 -0.395789 +v 0.997641 0.301624 -0.395789 +v -0.059547 -1.883464 -2.017013 +v 0.680464 -2.553412 -0.395607 +v -1.011280 0.231191 -0.395789 +v -0.271066 -2.271402 -1.136084 +v 1.033064 0.125263 -0.713085 +v 0.081330 0.301624 -2.263900 +v -0.764542 -1.460309 -1.981717 +v 0.645245 -0.015602 -2.193308 +v -0.870403 -2.095041 -0.431085 +v -0.940842 0.090326 -1.981717 +v -0.623665 -1.742319 -1.946421 +v 0.891983 -1.671886 -1.417718 +v -0.940842 -1.636670 -1.241971 +v 0.997641 -1.248732 -0.430902 +v 0.997641 -0.509190 -1.206675 +v -0.376927 -2.447484 -0.466198 +v 0.680464 -2.553412 -0.430902 +v -0.658884 0.301903 -2.228421 +v 0.186988 -1.918680 -1.981717 +v 0.222207 -0.650055 -2.263900 +v 0.715683 -1.566238 -2.017013 +v 0.081330 -1.883464 -2.017013 +v 0.363288 -2.271402 -1.241788 +v 0.856764 -2.377051 -0.395789 +v -1.046703 0.195975 -1.312197 +v -0.658884 -1.601454 -1.981717 +v -0.517804 -0.544406 -2.228421 +v 0.856764 0.019614 -2.017013 +f 37 11 57 +f 9 8 15 +f 14 18 26 +f 6 23 26 +f 23 10 26 +f 2 3 27 +f 9 15 27 +f 3 2 28 +f 2 21 28 +f 5 20 29 +f 12 4 31 +f 18 5 31 +f 28 12 31 +f 5 29 31 +f 29 9 31 +f 27 3 32 +f 9 27 32 +f 3 28 32 +f 31 9 32 +f 28 31 32 +f 13 24 33 +f 20 5 34 +f 17 1 35 +f 7 15 36 +f 15 8 36 +f 8 22 36 +f 1 17 37 +f 17 11 37 +f 12 7 38 +f 4 12 38 +f 7 19 38 +f 15 7 39 +f 19 7 40 +f 30 13 40 +f 13 33 40 +f 33 19 40 +f 10 11 41 +f 11 25 41 +f 25 14 41 +f 14 26 41 +f 26 10 41 +f 7 12 42 +f 12 28 42 +f 28 21 42 +f 39 7 42 +f 21 39 42 +f 5 18 43 +f 18 14 43 +f 34 5 43 +f 34 43 44 +f 11 20 44 +f 25 11 44 +f 14 25 44 +f 20 34 44 +f 43 14 44 +f 31 4 45 +f 19 33 45 +f 4 38 45 +f 38 19 45 +f 23 6 46 +f 6 31 46 +f 33 24 46 +f 31 45 46 +f 45 33 46 +f 8 9 47 +f 11 17 47 +f 20 11 47 +f 22 8 47 +f 9 29 47 +f 29 20 47 +f 17 35 47 +f 35 22 47 +f 10 23 48 +f 23 13 48 +f 1 16 49 +f 35 1 49 +f 22 35 49 +f 16 1 50 +f 1 37 50 +f 37 10 50 +f 13 30 51 +f 30 16 51 +f 10 48 51 +f 48 13 51 +f 16 50 51 +f 50 10 51 +f 13 23 52 +f 24 13 52 +f 23 46 52 +f 46 24 52 +f 6 26 53 +f 26 18 53 +f 18 31 53 +f 31 6 53 +f 21 2 54 +f 2 27 54 +f 27 15 54 +f 15 39 54 +f 39 21 54 +f 16 30 55 +f 7 36 55 +f 40 7 55 +f 30 40 55 +f 36 22 56 +f 49 16 56 +f 22 49 56 +f 16 55 56 +f 55 36 56 +f 11 10 57 +f 10 37 57 +o convex_1 +v -0.165322 -3.222791 -0.219094 +v 0.468895 -0.755959 1.895696 +v 0.363226 -0.755959 1.895696 +v 0.257356 -0.755621 -0.395382 +v -1.046703 -0.755959 1.119892 +v 0.750881 -3.363801 1.648758 +v -0.799740 -3.328633 1.331618 +v 0.997844 -1.284493 -0.395607 +v -1.011280 -1.848534 -0.395607 +v 0.821528 -3.786832 -0.007817 +v -0.764717 -4.068852 0.626912 +v 0.997844 -0.755959 1.190542 +v -1.011280 -0.755959 -0.395607 +v -0.764717 -1.249326 1.683970 +v 0.997844 -3.540318 0.556262 +v -1.011280 -3.610654 0.380198 +v 0.046017 -4.210200 0.837965 +v -0.130099 -3.505150 1.578108 +v 0.750881 -2.658751 -0.395607 +v -0.094876 -3.963010 0.027621 +v 0.997844 -0.755959 -0.395607 +v 0.750881 -4.033684 0.767315 +v -0.799740 -3.363801 -0.078018 +v 0.856751 -0.755959 1.719408 +v -0.270992 -0.755621 1.860035 +v -1.046703 -2.764593 0.802752 +v -0.341639 -1.460672 1.825046 +v -0.870387 -0.755959 1.648758 +v 0.750881 -3.328633 1.683970 +v 0.962421 -3.293127 -0.043029 +v -0.412085 -2.448081 -0.395382 +v -0.764717 -4.068852 0.697113 +v 0.786305 -2.940771 1.683970 +v 0.046017 -4.139526 0.485836 +v -0.588401 -3.857506 0.168696 +v -0.870387 -1.249326 1.613545 +v 0.398449 -3.892674 -0.007817 +v 0.856751 -2.482911 -0.395607 +v -1.011280 -3.575148 0.521273 +v -0.764717 -3.081781 1.402043 +v -1.046703 -2.693919 0.591699 +v 0.891974 -0.967305 1.648758 +v 0.962421 -2.623583 0.979041 +v 0.997844 -3.223129 0.027621 +v 0.468895 -0.896969 1.895696 +v -0.059653 -3.892674 1.190542 +v 0.856751 -3.716158 -0.043029 +v -1.046703 -0.755959 0.767315 +v 0.962421 -1.954376 -0.395607 +v -0.835164 -2.130554 -0.395607 +v 0.786305 -3.998516 0.767315 +v 0.786305 -3.363801 1.578332 +v 0.081240 -4.210200 0.732551 +v 0.116463 -2.623245 -0.395382 +v 0.680435 -3.328633 1.683970 +v -0.835164 -3.187623 1.296180 +v -0.165322 -3.539979 1.542895 +v -0.094876 -3.469644 -0.148668 +v 0.750881 -3.892674 0.978816 +v -0.376862 -1.637188 1.789609 +v -0.024430 -3.998516 0.063058 +v -0.694071 -4.104020 0.697113 +v 0.186910 -3.505150 1.578108 +v -0.694071 -3.328633 -0.113455 +f 115 77 121 +f 65 66 70 +f 65 69 72 +f 66 65 76 +f 61 69 78 +f 69 65 78 +f 70 61 78 +f 65 70 78 +f 73 66 80 +f 81 69 82 +f 60 59 82 +f 69 61 82 +f 61 70 82 +f 59 81 82 +f 82 71 84 +f 82 62 85 +f 71 82 85 +f 73 68 89 +f 68 73 92 +f 77 68 92 +f 73 80 92 +f 80 77 92 +f 62 83 93 +f 71 85 93 +f 85 62 93 +f 76 65 95 +f 83 73 96 +f 89 64 96 +f 73 89 96 +f 64 75 97 +f 93 64 97 +f 71 93 97 +f 70 66 98 +f 66 73 98 +f 83 62 98 +f 73 83 98 +f 69 81 99 +f 81 90 99 +f 99 90 100 +f 72 69 100 +f 69 99 100 +f 65 72 101 +f 59 60 102 +f 81 59 102 +f 60 82 102 +f 82 84 102 +f 90 81 102 +f 86 90 102 +f 94 76 104 +f 67 94 104 +f 76 95 104 +f 95 87 104 +f 101 72 104 +f 87 101 104 +f 82 70 105 +f 62 82 105 +f 98 62 105 +f 70 98 105 +f 95 65 106 +f 87 95 106 +f 65 101 106 +f 101 87 106 +f 66 76 107 +f 80 66 107 +f 76 88 107 +f 79 67 108 +f 104 72 108 +f 67 104 108 +f 86 63 109 +f 90 86 109 +f 100 90 109 +f 72 100 109 +f 108 72 109 +f 67 79 110 +f 79 74 110 +f 94 67 110 +f 91 94 110 +f 76 58 111 +f 58 88 111 +f 88 76 111 +f 84 75 112 +f 75 86 112 +f 102 84 112 +f 86 102 112 +f 64 93 113 +f 93 83 113 +f 96 64 113 +f 83 96 113 +f 75 64 114 +f 64 89 114 +f 103 75 114 +f 58 76 115 +f 76 94 115 +f 94 77 115 +f 63 74 116 +f 74 79 116 +f 79 108 116 +f 109 63 116 +f 108 109 116 +f 84 71 117 +f 75 84 117 +f 97 75 117 +f 71 97 117 +f 68 77 118 +f 77 94 118 +f 94 91 118 +f 89 68 119 +f 74 103 119 +f 110 74 119 +f 91 110 119 +f 114 89 119 +f 103 114 119 +f 68 118 119 +f 118 91 119 +f 74 63 120 +f 63 86 120 +f 86 75 120 +f 103 74 120 +f 75 103 120 +f 77 80 121 +f 88 58 121 +f 80 107 121 +f 107 88 121 +f 58 115 121 +o convex_2 +v -1.081844 -0.438343 1.119875 +v 1.279850 0.301903 0.732464 +v 1.174015 0.301903 1.049225 +v 0.891788 -0.755621 1.648585 +v 0.997623 -0.755621 -0.395348 +v -0.976008 0.301903 -0.395606 +v 0.045841 0.301903 2.212750 +v -1.011287 -0.755621 -0.395606 +v -0.870173 -0.755621 1.648844 +v 0.997623 0.301903 -0.395348 +v -1.152400 0.301903 1.049483 +v 0.468937 -0.755621 1.895472 +v -0.834895 0.301903 1.719235 +v 0.856754 0.301903 1.718976 +v -1.222957 0.231305 0.415445 +v 1.032902 -0.755621 1.119875 +v 0.222233 0.266604 2.248204 +v -0.271175 -0.755621 1.860276 +v -1.046565 -0.755621 1.155329 +v 1.279850 0.266604 0.591423 +v 0.856754 -0.755621 1.718976 +v 1.032902 -0.121272 -0.395348 +v -1.222957 0.301903 0.732723 +v -0.870173 -0.367848 1.684039 +v -1.011287 0.196110 -0.395606 +v -1.046565 -0.755621 0.697269 +v 1.032902 0.266604 -0.395348 +v -0.623469 -0.755621 1.754431 +v 0.363347 -0.685023 1.930926 +v -0.905451 0.301903 1.613648 +f 145 134 151 +f 123 124 125 +f 124 123 127 +f 124 127 128 +f 126 125 129 +f 129 125 130 +f 127 123 131 +f 128 127 132 +f 122 130 132 +f 130 125 133 +f 128 132 134 +f 125 124 135 +f 124 128 135 +f 123 125 137 +f 125 126 137 +f 135 128 138 +f 130 133 139 +f 138 128 139 +f 130 122 140 +f 129 130 140 +f 131 123 141 +f 123 137 141 +f 137 126 141 +f 133 125 142 +f 125 135 142 +f 138 133 142 +f 135 138 142 +f 126 129 143 +f 129 127 143 +f 141 126 143 +f 132 127 144 +f 122 132 144 +f 127 136 144 +f 140 122 144 +f 136 140 144 +f 130 128 145 +f 132 130 145 +f 128 134 145 +f 127 129 146 +f 129 136 146 +f 136 127 146 +f 136 129 147 +f 129 140 147 +f 140 136 147 +f 127 131 148 +f 131 141 148 +f 143 127 148 +f 141 143 148 +f 128 130 149 +f 139 128 149 +f 130 139 149 +f 133 138 150 +f 139 133 150 +f 138 139 150 +f 134 132 151 +f 132 145 151 +o convex_3 +v 0.046017 0.301986 -2.263900 +v 1.068346 0.442989 0.238908 +v 1.068346 0.301986 0.238908 +v -1.046703 0.301986 0.238908 +v -0.940702 1.147757 -2.016951 +v 0.997747 1.147757 0.238908 +v 0.891953 1.147757 -1.981672 +v -0.940702 1.147757 0.238908 +v -0.940702 0.301986 -2.016951 +v 0.891953 0.301986 -1.981672 +v 0.574779 1.147757 -2.263900 +v -0.658723 1.147757 -2.263900 +v 1.032943 1.147757 -1.206037 +v -1.046703 0.654453 -1.241315 +v -0.623528 0.337258 -2.263900 +v 0.574779 0.337258 -2.263900 +v -1.011300 1.147757 -1.029645 +v 0.997747 0.337258 -1.417708 +v -1.046703 0.301986 -1.312117 +v -0.976105 0.583993 -2.016951 +v -1.046703 0.442989 0.238908 +v 0.891953 0.865834 -2.016951 +v 1.032943 0.654453 -1.206037 +v -0.693919 0.689724 -2.263900 +v -1.011300 1.147757 -1.347151 +v 0.927149 0.689724 -1.875837 +v 0.609975 0.583993 -2.263900 +f 173 161 178 +f 154 153 155 +f 152 154 155 +f 155 153 157 +f 156 157 158 +f 155 157 159 +f 157 156 159 +f 152 155 160 +f 154 152 161 +f 156 158 162 +f 156 162 163 +f 162 152 163 +f 153 154 164 +f 157 153 164 +f 158 157 164 +f 152 160 166 +f 163 152 166 +f 161 152 167 +f 152 162 167 +f 159 156 168 +f 154 161 169 +f 160 155 170 +f 155 165 170 +f 170 165 171 +f 160 170 171 +f 155 159 172 +f 165 155 172 +f 159 168 172 +f 168 165 172 +f 162 158 173 +f 164 154 174 +f 154 169 174 +f 156 163 175 +f 166 160 175 +f 163 166 175 +f 171 156 175 +f 160 171 175 +f 168 156 176 +f 165 168 176 +f 171 165 176 +f 156 171 176 +f 158 164 177 +f 169 161 177 +f 173 158 177 +f 161 173 177 +f 164 174 177 +f 174 169 177 +f 161 167 178 +f 167 162 178 +f 162 173 178 +o convex_4 +v 0.504110 1.923896 -2.263489 +v 0.962402 1.817951 0.097677 +v 0.081242 2.804242 -0.184330 +v -0.905585 1.147923 0.097442 +v -0.835140 3.086414 -1.946289 +v 0.786290 3.650496 -1.206313 +v -0.658828 1.147923 -2.263489 +v 1.033046 1.147923 -1.206313 +v -0.729273 3.615355 -1.065544 +v 0.010797 3.438867 -2.052101 +v 0.997824 1.147923 0.097677 +v -0.024225 3.580215 -0.466338 +v 0.821512 3.051273 -1.946289 +v 1.033046 3.192097 -0.818964 +v 0.891957 1.147923 -1.981716 +v -1.011452 1.147923 -1.347082 +v -0.976030 3.121554 -0.889348 +v -0.835140 1.747670 0.097442 +v -0.553161 2.099860 -2.299150 +v -0.094870 3.826984 -1.276698 +v -0.940807 1.289009 -2.016908 +v 0.574755 1.147923 -2.263489 +v -0.729273 2.910187 -0.395953 +v 0.786290 2.980730 -0.360761 +v 0.010797 2.452575 -2.299150 +v -0.764495 3.615355 -1.276698 +v 1.033046 2.382033 -1.241271 +v 0.609978 3.438867 -0.607341 +v -1.011452 2.276349 -1.206079 +v -0.835140 3.016133 -2.016908 +v 0.010797 1.923896 0.097442 +v -0.553161 3.438867 -0.642533 +v -0.024225 3.509410 -1.981482 +v 0.010797 1.253869 -2.299150 +v 0.081242 3.580215 -0.466338 +v 0.116464 3.826984 -1.276698 +v -0.905585 1.641724 0.097442 +v -1.011452 1.147923 -1.030352 +v 0.751067 3.650496 -1.065544 +v 1.033046 3.156957 -0.995160 +v -0.976030 3.156957 -1.030352 +v 1.033046 2.769101 -0.607341 +v 0.292776 3.333446 -2.016908 +v 0.010797 3.685636 -0.713153 +v -0.940807 1.147923 -2.016908 +v 0.856734 2.170403 -1.981716 +v 0.715845 2.769101 -2.052335 +v -0.694051 3.685898 -1.170887 +v -0.059448 3.438867 -2.052101 +v 0.997824 1.747670 0.097677 +v -0.870363 2.945590 -1.875905 +v 0.856734 3.051273 -1.840713 +v -0.764495 1.817951 -2.157912 +v 0.010797 3.121554 -0.290142 +v -0.588384 1.430095 -2.299150 +v 1.033046 1.183326 -0.959733 +v -1.011452 2.311490 -1.135694 +v 0.468888 2.099860 -2.263489 +v -0.553161 3.721039 -1.241271 +v 0.046019 3.826984 -1.170887 +v -0.764495 2.980730 -2.052101 +v -0.130092 2.417173 -2.299150 +v 0.821512 2.945590 -0.360761 +v 0.715845 1.888231 -2.122720 +f 225 191 242 +f 182 185 186 +f 180 182 189 +f 182 186 189 +f 186 185 193 +f 185 182 194 +f 193 185 200 +f 196 190 201 +f 179 200 203 +f 195 187 204 +f 192 186 205 +f 186 193 205 +f 199 194 207 +f 180 181 209 +f 196 180 209 +f 190 187 210 +f 187 195 210 +f 201 190 210 +f 195 201 210 +f 200 185 212 +f 197 203 212 +f 203 200 212 +f 180 202 213 +f 202 206 213 +f 184 211 214 +f 211 198 214 +f 182 180 215 +f 180 196 215 +f 201 195 215 +f 196 201 215 +f 194 182 216 +f 207 194 216 +f 182 215 216 +f 192 184 217 +f 206 192 217 +f 213 206 217 +f 184 214 217 +f 184 192 218 +f 192 205 218 +f 204 183 219 +f 195 204 219 +f 183 208 219 +f 186 192 220 +f 184 191 221 +f 203 188 221 +f 211 184 221 +f 188 211 221 +f 190 213 222 +f 213 217 222 +f 185 194 223 +f 199 185 223 +f 194 199 223 +f 205 193 224 +f 221 191 225 +f 203 221 225 +f 187 190 226 +f 204 187 226 +f 190 222 226 +f 188 203 227 +f 183 204 227 +f 208 183 227 +f 211 188 227 +f 204 211 227 +f 180 189 228 +f 189 220 228 +f 220 192 228 +f 199 207 229 +f 208 199 229 +f 207 219 229 +f 219 208 229 +f 191 184 230 +f 184 218 230 +f 218 205 230 +f 224 191 230 +f 205 224 230 +f 197 185 231 +f 185 199 231 +f 199 208 231 +f 208 197 231 +f 181 180 232 +f 190 196 232 +f 209 181 232 +f 196 209 232 +f 180 213 232 +f 213 190 232 +f 185 197 233 +f 212 185 233 +f 197 212 233 +f 189 186 234 +f 220 189 234 +f 186 220 234 +f 215 195 235 +f 207 216 235 +f 216 215 235 +f 195 219 235 +f 219 207 235 +f 179 203 236 +f 225 179 236 +f 203 225 236 +f 198 211 237 +f 211 204 237 +f 204 226 237 +f 226 198 237 +f 214 198 238 +f 217 214 238 +f 222 217 238 +f 198 226 238 +f 226 222 238 +f 197 208 239 +f 208 227 239 +f 239 227 240 +f 203 197 240 +f 227 203 240 +f 197 239 240 +f 202 180 241 +f 192 206 241 +f 206 202 241 +f 180 228 241 +f 228 192 241 +f 200 179 242 +f 193 200 242 +f 191 224 242 +f 224 193 242 +f 179 225 242 +o convex_5 +v 0.010794 2.064444 1.190328 +v -0.940639 1.148013 0.097905 +v -1.187472 1.148013 0.732471 +v 1.173864 1.147923 1.120296 +v -0.024401 1.148013 2.177703 +v 0.962461 1.817640 0.097905 +v -0.835055 1.747035 0.097905 +v -0.870249 1.571015 1.754658 +v 0.856876 1.570926 1.719235 +v 0.997656 1.147923 0.097905 +v -0.341389 2.064444 0.450510 +v 0.045988 1.782292 1.754658 +v -0.905444 1.148013 1.684015 +v 0.398171 2.064444 0.873757 +v -0.447208 2.064444 0.803114 +v 0.856876 1.147923 1.719235 +v -0.905444 1.711777 0.873757 +v 0.927266 1.782382 0.908977 +v 1.209059 1.183270 0.662032 +v -1.187472 1.183181 1.155108 +v 0.045988 2.064444 0.380070 +v 0.292587 2.064444 1.120499 +v 0.010794 1.888066 0.097905 +v -0.306194 2.064444 1.085280 +v 0.010794 1.183181 2.177703 +v -0.059596 1.782292 1.754658 +v 1.209059 1.218528 0.838334 +v -0.905444 1.641262 0.097905 +v 0.327781 2.064444 0.485729 +v -1.187472 1.218438 0.767895 +v 0.468795 1.676519 1.754658 +v -0.905444 1.571015 1.684015 +v 0.997656 1.747125 0.097905 +v -0.870249 1.288954 1.754658 +v 0.962461 1.817640 0.274207 +v -0.905444 1.711777 0.556169 +f 270 272 278 +f 248 244 249 +f 245 244 252 +f 244 248 252 +f 253 243 256 +f 243 253 257 +f 253 249 257 +f 246 251 258 +f 245 252 258 +f 252 246 258 +f 255 245 258 +f 247 255 258 +f 246 252 261 +f 245 255 262 +f 253 256 263 +f 243 254 264 +f 256 243 264 +f 251 260 264 +f 260 256 264 +f 248 249 265 +f 249 253 265 +f 263 248 265 +f 253 263 265 +f 243 257 266 +f 257 250 266 +f 250 247 267 +f 258 251 267 +f 247 258 267 +f 254 243 268 +f 243 266 268 +f 266 250 268 +f 250 267 268 +f 267 254 268 +f 251 246 269 +f 260 251 269 +f 246 261 269 +f 244 245 270 +f 249 244 270 +f 256 248 271 +f 248 263 271 +f 263 256 271 +f 245 262 272 +f 262 259 272 +f 270 245 272 +f 264 254 273 +f 251 264 273 +f 254 267 273 +f 267 251 273 +f 250 257 274 +f 257 259 274 +f 262 250 274 +f 259 262 274 +f 252 248 275 +f 261 252 275 +f 269 261 275 +f 247 250 276 +f 255 247 276 +f 262 255 276 +f 250 262 276 +f 248 256 277 +f 256 260 277 +f 260 269 277 +f 275 248 277 +f 269 275 277 +f 257 249 278 +f 259 257 278 +f 249 270 278 +f 272 259 278 +o convex_6 +v 0.363329 2.240967 0.767725 +v -0.412189 2.064610 0.697227 +v -0.412189 2.064610 0.802866 +v -0.024430 3.756317 0.802866 +v 0.081316 2.064610 1.155429 +v 0.046017 2.064610 0.415235 +v 0.010794 3.474311 0.556231 +v -0.059653 3.474311 1.014360 +v 0.222285 3.509582 0.838079 +v -0.235921 3.474311 0.697227 +v -0.306367 2.276239 0.485733 +v -0.306367 2.205696 1.049573 +v 0.292807 2.064610 0.521018 +v 0.292807 2.135153 1.084858 +v -0.235921 3.439039 0.838079 +v 0.187061 3.403768 0.662014 +v -0.094876 2.064610 1.155429 +v 0.151762 3.333390 0.979075 +v 0.363329 2.064610 0.908577 +v -0.094876 2.064610 0.415235 +v 0.292807 2.205696 0.521018 +v -0.165398 3.368496 0.591516 +v 0.257508 2.099881 1.120071 +v 0.010794 3.579960 0.591516 +f 300 288 302 +f 281 280 283 +f 283 280 284 +f 282 286 287 +f 280 281 288 +f 280 288 289 +f 283 284 291 +f 286 282 293 +f 288 281 293 +f 282 288 293 +f 281 290 293 +f 290 286 293 +f 287 279 294 +f 281 283 295 +f 283 286 295 +f 290 281 295 +f 286 290 295 +f 287 286 296 +f 292 287 296 +f 279 287 297 +f 291 279 297 +f 283 291 297 +f 287 292 297 +f 284 280 298 +f 285 284 298 +f 280 289 298 +f 289 285 298 +f 284 285 299 +f 279 291 299 +f 291 284 299 +f 285 294 299 +f 294 279 299 +f 285 289 300 +f 289 288 300 +f 286 283 301 +f 296 286 301 +f 292 296 301 +f 283 297 301 +f 297 292 301 +f 282 287 302 +f 288 282 302 +f 294 285 302 +f 287 294 302 +f 285 300 302 +o convex_7 +v 2.795466 0.760102 0.908594 +v -1.081712 0.301986 0.238994 +v -1.117115 0.301986 0.274273 +v -0.940692 1.147757 0.238994 +v -2.808771 0.830645 1.049535 +v 1.103220 0.301986 1.120178 +v 1.174025 1.147757 1.120178 +v 1.068408 0.301986 0.238994 +v 0.997602 1.147757 0.238994 +v -1.117115 0.301986 1.120178 +v -1.222733 1.147757 1.120178 +v -2.879576 0.830645 0.626798 +v 2.795466 0.830645 0.556241 +v 2.795466 0.548721 0.697096 +v -2.808771 0.619264 0.838037 +v 2.689258 1.006837 0.802845 +v -2.879576 0.971565 0.802845 +v 2.689258 0.689724 0.943786 +v 1.315046 0.301986 0.661990 +v -2.808771 0.795373 0.591520 +v 1.420664 1.147757 0.767567 +v -1.257545 0.301986 0.697096 +v -3.055999 0.795373 0.873316 +v -1.716009 0.795373 1.120178 +v -2.808771 0.760102 1.049535 +v 2.971889 0.795373 0.767567 +v 2.724661 0.689724 0.556241 +v 2.513425 0.760102 0.979065 +v -1.222733 1.147757 0.732288 +v 2.583641 0.971565 0.626798 +v 2.583641 0.865834 0.943786 +v 2.760064 0.548721 0.767567 +v 1.279643 0.830645 1.120178 +v -2.667750 0.971565 0.661990 +v -2.808771 0.619264 0.802845 +v 1.103220 0.513532 0.238994 +v -2.737966 0.971565 0.908594 +f 319 307 339 +f 305 304 308 +f 304 306 310 +f 308 304 310 +f 306 309 311 +f 310 306 311 +f 305 308 312 +f 308 309 312 +f 312 309 313 +f 309 306 313 +f 308 310 321 +f 316 308 321 +f 310 316 321 +f 306 304 322 +f 314 306 322 +f 311 309 323 +f 309 318 323 +f 318 311 323 +f 305 312 324 +f 312 317 324 +f 307 319 325 +f 319 314 325 +f 312 313 326 +f 313 307 326 +f 317 312 327 +f 307 325 327 +f 325 317 327 +f 326 307 327 +f 312 326 327 +f 316 315 328 +f 318 303 328 +f 315 318 328 +f 310 315 329 +f 316 310 329 +f 315 316 329 +f 308 320 330 +f 320 303 330 +f 313 306 331 +f 306 319 331 +f 319 313 331 +f 315 311 332 +f 311 318 332 +f 318 315 332 +f 303 318 333 +f 318 309 333 +f 309 330 333 +f 330 303 333 +f 308 316 334 +f 320 308 334 +f 303 320 334 +f 328 303 334 +f 316 328 334 +f 309 308 335 +f 308 330 335 +f 330 309 335 +f 306 314 336 +f 319 306 336 +f 314 319 336 +f 304 305 337 +f 322 304 337 +f 314 322 337 +f 305 324 337 +f 324 317 337 +f 317 325 337 +f 325 314 337 +f 310 311 338 +f 315 310 338 +f 311 315 338 +f 307 313 339 +f 313 319 339 +o convex_8 +v -0.835033 0.301986 1.719366 +v 1.138820 1.147757 1.190811 +v 1.173843 1.112568 1.155495 +v -1.222943 1.147757 1.120178 +v -0.376834 1.147757 1.930947 +v 1.103314 0.301986 1.120178 +v 0.468792 0.301986 1.930947 +v -1.081885 0.301986 1.120178 +v 0.856461 1.147757 1.719366 +v 0.856461 0.301986 1.719366 +v -0.835033 1.147757 1.754603 +v 0.362998 1.112568 1.930947 +v -0.165246 0.301986 1.930947 +v -1.258208 0.830645 1.155495 +v 1.209349 1.006837 1.120178 +v 1.209349 0.830645 1.155495 +v 1.138820 1.147757 1.120178 +v -0.870297 0.478261 1.719366 +v -0.905562 1.147757 1.684129 +v -0.376834 0.936294 1.930947 +v -0.905562 0.301986 1.613655 +f 357 353 360 +f 341 343 344 +f 340 345 346 +f 343 345 347 +f 345 340 347 +f 342 341 348 +f 341 344 348 +f 348 346 349 +f 346 345 349 +f 344 343 350 +f 344 346 351 +f 348 344 351 +f 346 348 351 +f 340 346 352 +f 346 344 352 +f 343 347 353 +f 345 343 354 +f 342 348 354 +f 348 349 355 +f 349 345 355 +f 345 354 355 +f 354 348 355 +f 341 342 356 +f 343 341 356 +f 342 354 356 +f 354 343 356 +f 353 357 358 +f 350 343 358 +f 343 353 358 +f 357 350 358 +f 344 350 359 +f 340 352 359 +f 352 344 359 +f 357 340 359 +f 350 357 359 +f 347 340 360 +f 353 347 360 +f 340 357 360 +o convex_9 +v 0.222188 1.042026 2.776884 +v -0.094897 0.301986 1.931030 +v -0.165419 0.372529 1.931030 +v 0.363309 1.077297 1.931030 +v -0.341687 1.147757 1.931030 +v -0.235865 0.795373 2.776884 +v 0.433831 0.301986 2.001580 +v 0.116443 0.548721 2.741609 +v -0.024374 1.112568 2.776884 +v 0.292710 0.795373 2.776884 +v 0.046072 0.301986 2.283531 +v 0.257487 1.147757 1.966305 +v -0.235865 1.042026 2.741609 +v -0.165419 0.619264 2.741609 +v -0.341687 0.901105 1.966305 +v 0.433831 0.548721 1.931030 +v 0.257487 0.301986 2.283531 +v 0.257487 0.654453 2.776884 +v -0.271165 0.830645 2.635867 +v -0.024374 1.147757 2.459657 +v -0.165419 0.372529 2.036855 +v 0.433831 0.301986 1.931030 +v 0.292710 0.865834 2.776884 +f 367 376 383 +f 362 363 364 +f 364 363 365 +f 366 361 369 +f 361 366 370 +f 362 367 371 +f 361 364 372 +f 364 365 372 +f 369 361 372 +f 369 365 373 +f 366 369 373 +f 371 368 374 +f 365 363 375 +f 362 364 376 +f 371 367 377 +f 368 371 377 +f 370 366 378 +f 367 370 378 +f 366 374 378 +f 374 368 378 +f 377 367 378 +f 368 377 378 +f 373 365 379 +f 366 373 379 +f 365 375 379 +f 365 369 380 +f 372 365 380 +f 369 372 380 +f 363 362 381 +f 362 371 381 +f 374 366 381 +f 371 374 381 +f 375 363 381 +f 366 379 381 +f 379 375 381 +f 367 362 382 +f 362 376 382 +f 376 367 382 +f 364 361 383 +f 361 370 383 +f 370 367 383 +f 376 364 383 +o convex_10 +v -0.165388 0.654474 2.777067 +v 0.292828 0.865875 2.918146 +v 0.257529 0.901133 3.305663 +v -0.130141 1.077325 2.777067 +v -0.200635 0.865875 3.552401 +v 0.081292 0.654474 3.587621 +v 0.222281 0.619216 2.777067 +v 0.046044 1.042115 3.552401 +v 0.222281 1.042115 2.777067 +v 0.257529 0.795456 3.517081 +v 0.046044 0.865875 3.799140 +v -0.235934 1.006858 2.812387 +v -0.094893 1.042115 3.446642 +v 0.010901 0.584006 2.953365 +v -0.130141 0.689731 3.340883 +v -0.235934 0.795456 2.918146 +v 0.046044 1.077325 3.270543 +v 0.222281 0.936390 3.446642 +f 394 393 401 +f 384 387 390 +f 386 385 392 +f 385 390 392 +f 390 387 392 +f 385 386 393 +f 389 390 393 +f 390 385 393 +f 388 389 394 +f 389 393 394 +f 387 384 395 +f 394 391 396 +f 388 394 396 +f 387 395 396 +f 395 388 396 +f 384 390 397 +f 390 389 397 +f 389 388 398 +f 384 397 398 +f 397 389 398 +f 395 384 399 +f 388 395 399 +f 384 398 399 +f 398 388 399 +f 392 387 400 +f 391 392 400 +f 387 396 400 +f 396 391 400 +f 386 392 401 +f 392 391 401 +f 393 386 401 +f 391 394 401 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/614/614.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/614/614.urdf new file mode 100644 index 000000000..448139d4a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/614/614.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/615/615.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/615/615.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/615/615.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/615/615.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/615/615.obj new file mode 100644 index 000000000..219303784 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/615/615.obj @@ -0,0 +1,570 @@ +o convex_0 +v 1.078425 3.249190 0.721350 +v -1.101646 1.034535 0.932566 +v -1.066436 1.034535 -0.157315 +v -1.066436 3.671091 0.229214 +v 1.043215 1.034535 -1.071673 +v -1.031225 3.635780 -1.071673 +v 0.972793 3.706402 -1.036190 +v 0.972793 1.034535 0.967628 +v -1.066436 3.671091 1.037964 +v -1.031225 1.034535 -1.071673 +v 1.043215 3.670829 1.002691 +v -0.855385 1.034535 1.073236 +v 1.078425 1.034273 -0.016855 +v 0.621327 2.264928 1.037964 +v 1.078425 1.069584 -0.860457 +v -1.066436 3.635780 -0.614389 +v -1.101646 1.913387 1.073236 +v 1.043215 3.706402 0.967628 +v 0.269434 3.706402 -1.036190 +v 0.128805 3.670829 -1.071673 +v 0.445274 1.034535 1.037964 +v 1.043215 2.721617 1.002691 +v -0.644548 3.671091 1.037964 +v 1.043215 1.737616 -1.071673 +v -1.101646 1.034535 1.073236 +v 1.008004 1.104634 0.791895 +v 1.043215 3.706402 0.369674 +v 1.008004 2.159518 -1.071673 +v -1.031225 1.983747 1.073236 +v 0.796953 1.069584 1.002691 +v -0.468495 3.670829 -1.071673 +v 1.078425 3.108469 0.756623 +f 22 26 32 +f 6 5 10 +f 2 3 13 +f 3 10 13 +f 10 5 13 +f 7 1 15 +f 1 13 15 +f 13 5 15 +f 3 2 16 +f 4 6 16 +f 10 3 16 +f 6 10 16 +f 9 4 17 +f 16 2 17 +f 4 16 17 +f 11 1 18 +f 4 9 19 +f 18 7 19 +f 9 18 19 +f 5 6 20 +f 19 7 20 +f 13 8 21 +f 12 13 21 +f 14 12 21 +f 14 21 22 +f 11 14 22 +f 14 11 23 +f 18 9 23 +f 11 18 23 +f 7 15 24 +f 15 5 24 +f 5 20 24 +f 13 12 25 +f 2 13 25 +f 17 2 25 +f 12 17 25 +f 8 13 26 +f 22 8 26 +f 1 7 27 +f 18 1 27 +f 7 18 27 +f 20 7 28 +f 7 24 28 +f 24 20 28 +f 12 14 29 +f 9 17 29 +f 17 12 29 +f 14 23 29 +f 23 9 29 +f 21 8 30 +f 22 21 30 +f 8 22 30 +f 6 4 31 +f 4 19 31 +f 20 6 31 +f 19 20 31 +f 1 11 32 +f 13 1 32 +f 11 22 32 +f 26 13 32 +o convex_1 +v 0.656273 -2.447025 -2.899820 +v 1.043115 -0.231791 -2.970245 +v 1.043115 -0.231791 -3.040473 +v -1.031173 -0.302264 -1.353027 +v 1.007987 -2.059967 -1.107031 +v -0.996045 -2.341424 -3.075784 +v -1.101646 -2.270952 -1.106835 +v 1.113588 -0.372520 -1.107031 +v -0.960917 -0.231791 -3.040473 +v 0.937514 -2.447025 -3.110702 +v 0.972859 -2.306296 -1.107031 +v -1.031173 -0.337609 -1.106835 +v 0.410160 -0.267136 -1.247685 +v -0.996045 -0.231791 -2.899820 +v 1.043115 -0.653978 -3.075588 +v 0.515761 -1.919454 -3.110702 +v -0.855316 -2.306296 -1.247685 +v 0.972859 -2.200696 -2.864706 +v -1.031173 -2.341424 -2.583400 +v -1.101646 -1.919238 -1.177260 +v -0.468691 -0.231791 -2.337404 +v 1.113588 -0.513249 -1.142342 +v 0.726529 -0.302264 -1.107031 +v -0.785060 -2.376553 -3.005555 +v -0.996045 -1.813854 -3.075784 +v -1.101646 -2.235824 -1.388338 +v 0.937731 -0.513249 -3.075588 +v 0.128919 -2.411680 -3.110702 +v 0.972859 -2.376553 -1.986065 +v -0.996045 -0.759579 -3.040473 +v 1.078243 -0.267136 -2.442746 +v -0.292617 -1.005475 -3.075588 +v 0.972859 -2.024838 -3.110702 +v -1.066301 -2.306296 -1.493681 +v -0.996045 -0.231791 -2.618710 +v 0.867258 -2.411680 -2.407632 +v 0.550889 -2.447025 -3.110702 +v 1.078243 -0.337609 -2.513171 +f 63 40 70 +f 39 37 40 +f 34 35 41 +f 37 39 43 +f 39 40 44 +f 36 44 45 +f 34 41 46 +f 43 39 49 +f 44 36 52 +f 39 44 52 +f 36 46 52 +f 45 34 53 +f 36 45 53 +f 34 46 53 +f 40 37 54 +f 37 50 54 +f 44 40 55 +f 45 44 55 +f 34 45 55 +f 51 38 56 +f 38 51 57 +f 51 39 58 +f 39 52 58 +f 52 46 58 +f 41 35 59 +f 35 47 59 +f 48 42 60 +f 38 57 60 +f 57 48 60 +f 37 43 61 +f 50 37 61 +f 42 50 61 +f 46 41 62 +f 41 57 62 +f 57 51 62 +f 51 58 62 +f 58 46 62 +f 35 34 63 +f 34 55 63 +f 55 40 63 +f 57 41 64 +f 48 57 64 +f 41 59 64 +f 59 48 64 +f 42 48 65 +f 50 42 65 +f 47 50 65 +f 59 47 65 +f 48 59 65 +f 33 49 66 +f 49 39 66 +f 39 51 66 +f 56 33 66 +f 51 56 66 +f 46 36 67 +f 36 53 67 +f 53 46 67 +f 33 42 68 +f 49 33 68 +f 43 49 68 +f 42 61 68 +f 61 43 68 +f 42 33 69 +f 33 56 69 +f 56 38 69 +f 60 42 69 +f 38 60 69 +f 47 35 70 +f 50 47 70 +f 40 54 70 +f 54 50 70 +f 35 63 70 +o convex_2 +v -1.066301 -2.341442 0.230054 +v 1.113588 -0.231791 -0.895489 +v 1.113588 -0.302213 -0.895489 +v 1.043115 -0.337423 3.042271 +v -1.101646 -0.231791 1.108206 +v 1.078243 -2.341442 2.971413 +v -0.996045 -2.306231 2.936598 +v 0.972859 -2.271020 -1.106835 +v -1.031173 -0.337423 -1.106835 +v -1.066301 -0.337423 3.077495 +v -1.101646 -2.271020 -1.106835 +v 1.113588 -0.513477 -1.106835 +v -0.785060 -2.411863 2.408641 +v -1.031173 -0.231791 -1.071611 +v -1.101646 -2.306231 0.299683 +v 0.902386 -0.231791 0.968127 +v 0.656273 -2.306231 -0.684552 +v -0.960917 -2.411863 2.936598 +v -1.066301 -0.618682 3.077495 +v 1.078243 -2.306018 1.986768 +v 1.078243 -1.497453 3.006637 +v 0.937731 -0.302213 2.690436 +v 0.621145 -0.231791 -1.106835 +v 1.007987 -2.059970 -1.106835 +v -1.101646 -0.442842 2.128075 +v -1.066301 -2.376652 1.424816 +v -1.101646 -1.778925 -1.071611 +v -0.433346 -2.411863 2.866149 +v -1.066301 -0.899940 3.042271 +v -0.152105 -0.372634 3.077495 +v -1.101646 -0.231791 0.756781 +v -0.996045 -2.411863 2.197705 +v 1.113588 -0.231791 -1.071201 +v -1.066301 -2.306231 -0.614103 +v 1.078243 -1.356824 3.006637 +v -0.996045 -2.024973 2.971822 +v 1.078243 -2.341442 2.830925 +v -1.066301 -0.231791 -0.297493 +v 1.043115 -0.654106 3.042271 +v -1.066301 -2.376652 1.143021 +v 1.007987 -2.271020 -0.438391 +v 0.972859 -0.231791 0.651518 +f 86 92 112 +f 79 78 81 +f 72 73 82 +f 73 76 82 +f 78 79 82 +f 75 72 84 +f 75 81 85 +f 72 75 86 +f 81 78 87 +f 73 72 91 +f 76 73 91 +f 75 80 92 +f 80 74 92 +f 86 75 92 +f 82 79 93 +f 84 72 93 +f 79 84 93 +f 78 82 94 +f 82 90 94 +f 80 75 95 +f 75 85 95 +f 89 80 95 +f 88 77 96 +f 81 75 97 +f 79 81 97 +f 84 79 97 +f 83 87 98 +f 76 88 98 +f 88 83 98 +f 77 89 99 +f 95 85 99 +f 89 95 99 +f 85 96 99 +f 96 77 99 +f 74 80 100 +f 89 76 100 +f 80 89 100 +f 76 91 100 +f 75 84 101 +f 97 75 101 +f 87 83 102 +f 83 88 102 +f 88 96 102 +f 72 82 103 +f 93 72 103 +f 82 93 103 +f 71 81 104 +f 87 71 104 +f 81 87 104 +f 72 74 105 +f 91 72 105 +f 74 91 105 +f 88 76 106 +f 77 88 106 +f 76 89 106 +f 89 77 106 +f 82 76 107 +f 87 78 107 +f 90 82 107 +f 76 98 107 +f 98 87 107 +f 84 97 108 +f 101 84 108 +f 97 101 108 +f 91 74 109 +f 74 100 109 +f 100 91 109 +f 81 71 110 +f 85 81 110 +f 71 87 110 +f 96 85 110 +f 87 102 110 +f 102 96 110 +f 78 94 111 +f 94 90 111 +f 107 78 111 +f 90 107 111 +f 74 72 112 +f 72 86 112 +f 92 74 112 +o convex_3 +v 0.656490 0.154975 1.002798 +v 0.128919 0.049594 -1.106835 +v 0.128919 0.084643 -1.106835 +v -1.101646 0.014428 1.108399 +v 0.937731 -0.231792 0.932325 +v -1.031173 -0.231792 -1.071490 +v -1.031173 0.365970 -1.071490 +v 1.078243 0.365970 -1.071490 +v 1.113588 -0.231792 -1.071490 +v -1.101646 0.365970 1.073054 +v 0.972859 0.365970 0.862069 +v -1.101646 -0.231792 1.108399 +v 0.339904 0.365970 1.037926 +v 1.113588 0.190141 -0.754904 +v 0.937731 -0.196626 0.967453 +v 0.550889 -0.231792 -1.106835 +v 0.937731 0.365970 0.967453 +v -1.066301 -0.231792 -0.297806 +v 1.113588 -0.196626 -0.860505 +v -1.101646 0.365970 0.826941 +v 1.078243 0.365970 -0.297806 +v 0.972859 -0.231792 0.686212 +v -0.996045 -0.231792 1.108399 +v -1.101646 -0.231792 0.791596 +f 132 130 136 +f 115 114 118 +f 115 118 119 +f 115 119 120 +f 117 118 121 +f 120 119 122 +f 120 122 123 +f 118 117 124 +f 116 122 124 +f 122 116 125 +f 123 122 125 +f 121 120 126 +f 113 125 127 +f 114 115 128 +f 118 114 128 +f 115 120 128 +f 120 121 128 +f 121 118 128 +f 123 125 129 +f 125 113 129 +f 127 123 129 +f 113 127 129 +f 119 118 130 +f 118 124 130 +f 121 126 131 +f 122 119 132 +f 124 122 132 +f 119 130 132 +f 120 123 133 +f 126 120 133 +f 131 126 133 +f 131 133 134 +f 117 121 134 +f 123 127 134 +f 127 117 134 +f 121 131 134 +f 133 123 134 +f 116 124 135 +f 124 117 135 +f 125 116 135 +f 117 127 135 +f 127 125 135 +f 130 124 136 +f 124 132 136 +o convex_4 +v -0.292869 0.506692 2.831276 +v 0.304851 0.998808 2.971981 +v -0.152136 1.033994 3.042333 +v -0.327986 0.963621 1.073236 +v 0.199302 0.471567 1.073236 +v 0.234485 0.998808 1.073236 +v -0.363235 0.401132 1.073236 +v 0.199302 0.471567 2.936708 +v -0.292869 1.033994 3.042333 +v -0.187320 0.471567 2.971981 +v -0.011666 1.033994 1.846920 +v -0.363235 0.577003 1.354839 +v 0.304851 0.928497 2.901628 +v -0.222503 0.998808 1.143589 +v 0.129001 0.471567 2.971981 +v -0.257620 0.541879 3.007060 +v -0.292869 0.401132 1.178861 +v 0.234485 0.612190 1.460078 +v 0.234485 0.822999 1.073236 +f 154 141 155 +f 141 140 142 +f 140 141 143 +f 137 143 146 +f 139 138 147 +f 138 142 147 +f 145 139 147 +f 143 137 148 +f 140 143 148 +f 145 140 148 +f 137 145 148 +f 142 138 149 +f 138 144 149 +f 142 140 150 +f 140 145 150 +f 147 142 150 +f 145 147 150 +f 138 139 151 +f 144 138 151 +f 146 151 152 +f 139 145 152 +f 145 137 152 +f 137 146 152 +f 151 139 152 +f 143 141 153 +f 141 144 153 +f 146 143 153 +f 144 151 153 +f 151 146 153 +f 144 141 154 +f 149 144 154 +f 149 154 155 +f 141 142 155 +f 142 149 155 +o convex_5 +v -0.222468 0.401132 -3.005497 +v 0.339952 0.928562 -1.071673 +v 0.304824 0.963728 -1.071673 +v 0.304824 0.998894 -2.935144 +v -0.292848 0.998894 -1.071673 +v 0.199316 0.436298 -1.071673 +v 0.339952 0.471464 -3.040769 +v -0.187340 0.928562 -3.040769 +v -0.222468 0.436298 -1.071673 +v -0.257658 0.401132 -2.900064 +v -0.222468 0.963728 -2.829712 +v 0.058680 0.401132 -1.071673 +v 0.269634 0.436298 -1.810277 +v -0.011514 0.401132 -3.005497 +v 0.339952 0.858172 -2.970417 +v -0.292848 0.752733 -1.739924 +v 0.058680 0.998894 -1.071673 +v -0.292848 0.998894 -1.493787 +v -0.187340 0.401132 -1.071673 +v 0.339952 0.858172 -1.142025 +v -0.257658 0.998894 -1.950789 +v 0.234506 0.471464 -1.106945 +v -0.292848 0.823065 -1.177298 +v 0.339952 0.471464 -2.794440 +f 175 168 179 +f 158 157 159 +f 157 158 160 +f 157 160 161 +f 162 156 163 +f 161 160 164 +f 163 156 165 +f 159 163 166 +f 163 165 166 +f 161 164 167 +f 165 156 167 +f 161 167 168 +f 168 167 169 +f 156 162 169 +f 167 156 169 +f 162 168 169 +f 159 157 170 +f 157 162 170 +f 163 159 170 +f 162 163 170 +f 158 159 172 +f 159 160 172 +f 160 158 172 +f 160 159 173 +f 166 165 173 +f 171 160 173 +f 165 171 173 +f 164 165 174 +f 167 164 174 +f 165 167 174 +f 162 157 175 +f 159 166 176 +f 173 159 176 +f 166 173 176 +f 157 161 177 +f 161 168 177 +f 175 157 177 +f 168 175 177 +f 164 160 178 +f 165 164 178 +f 160 171 178 +f 171 165 178 +f 168 162 179 +f 162 175 179 +o convex_6 +v 0.234224 0.858158 1.073236 +v -1.031225 0.365970 -1.071673 +v -1.066222 0.365970 -0.227650 +v 1.078425 0.365970 -0.262713 +v 1.043215 1.033991 -1.071673 +v -1.031225 1.033991 -1.071673 +v -1.101646 1.033991 1.073236 +v -1.101646 0.365970 1.073236 +v 0.972793 1.033991 0.967418 +v 0.937583 0.365970 0.967418 +v 1.078425 0.365970 -1.071673 +v 1.078425 1.033991 -0.051707 +v 0.199226 0.471574 1.073236 +v 0.972793 0.541868 0.967418 +v 0.234224 0.998811 1.073236 +v 1.078425 1.033991 -0.895730 +v -1.101646 0.998811 0.897293 +v 0.339856 0.365970 1.037964 +f 189 192 197 +f 182 181 183 +f 184 181 185 +f 181 182 185 +f 184 185 186 +f 182 183 187 +f 180 186 187 +f 184 186 188 +f 187 183 189 +f 183 181 190 +f 181 184 190 +f 184 188 191 +f 183 190 191 +f 180 187 192 +f 192 189 193 +f 188 180 193 +f 189 183 193 +f 183 191 193 +f 191 188 193 +f 180 192 193 +f 186 180 194 +f 180 188 194 +f 188 186 194 +f 190 184 195 +f 184 191 195 +f 191 190 195 +f 185 182 196 +f 186 185 196 +f 182 187 196 +f 187 186 196 +f 187 189 197 +f 192 187 197 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/615/615.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/615/615.urdf new file mode 100644 index 000000000..3b4834c3e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/615/615.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/616/616.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/616/616.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/616/616.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/616/616.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/616/616.obj new file mode 100644 index 000000000..630ea1ad1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/616/616.obj @@ -0,0 +1,684 @@ +o convex_0 +v -1.770283 -1.322690 -0.938955 +v 0.315029 -1.608932 1.064395 +v 0.315029 -1.813414 1.064395 +v 0.274026 -1.813414 -0.979901 +v 0.233024 -0.055002 -0.979901 +v -1.729489 -0.055002 1.064608 +v -1.811286 -1.813414 0.982505 +v 0.274026 -0.055002 0.982717 +v -1.688486 -0.055002 -1.061791 +v -1.770283 -1.813414 -1.102737 +v 0.274026 -0.464140 -0.979901 +v -1.770283 -0.627657 1.064608 +v -1.443094 -1.608932 -1.102737 +v 0.315029 -1.731311 -0.407303 +v 0.315029 -0.709415 1.023450 +v -1.729489 -0.177726 -0.611817 +v -1.811286 -1.526829 1.023662 +v -1.034523 -0.055002 1.064608 +v -0.175755 -0.341588 -1.020634 +v -1.811286 -1.486208 0.451064 +v 0.274026 -0.055002 -0.488981 +v -0.175755 -1.690690 -1.020634 +v -1.811286 -1.813414 0.001090 +v -1.729489 -0.423346 -1.061791 +v 0.069429 -1.813414 1.064395 +v 0.274026 -0.545726 1.023450 +v -1.729489 -0.055002 -0.039219 +f 20 12 27 +f 4 3 7 +f 5 6 8 +f 6 5 9 +f 4 7 10 +f 10 9 13 +f 2 3 14 +f 3 4 14 +f 4 11 14 +f 2 14 15 +f 3 2 18 +f 8 6 18 +f 12 3 18 +f 6 12 18 +f 9 5 19 +f 11 4 19 +f 5 11 19 +f 13 9 19 +f 17 12 20 +f 7 17 20 +f 5 8 21 +f 11 5 21 +f 14 11 21 +f 15 14 21 +f 8 15 21 +f 4 10 22 +f 10 13 22 +f 19 4 22 +f 13 19 22 +f 10 7 23 +f 1 10 23 +f 7 20 23 +f 20 1 23 +f 10 1 24 +f 9 10 24 +f 16 9 24 +f 1 20 24 +f 20 16 24 +f 7 3 25 +f 3 12 25 +f 12 17 25 +f 17 7 25 +f 2 15 26 +f 15 8 26 +f 18 2 26 +f 8 18 26 +f 6 9 27 +f 12 6 27 +f 9 16 27 +f 16 20 27 +o convex_1 +v 0.028492 4.197900 0.696320 +v -1.688738 2.194324 -1.102737 +v -1.729467 2.194324 -0.816115 +v 0.273968 2.194129 1.023578 +v -1.770417 4.115913 1.105501 +v 0.396816 4.034122 -1.061667 +v -1.729467 4.075116 -0.938891 +v -1.852315 2.194324 0.941656 +v 0.273968 2.194129 -1.061667 +v 0.314917 4.197900 1.105501 +v -1.606840 4.115913 -0.816115 +v -1.198007 3.502582 1.105501 +v -1.770417 3.829744 -0.693556 +v -0.093916 2.194129 -1.102737 +v -1.565890 4.034122 -0.979745 +v 0.314917 2.398899 -1.061667 +v -1.852315 2.439500 0.655467 +v -0.993480 2.766859 -1.102737 +v -1.770417 4.115913 -0.080324 +v 0.314917 3.911535 1.105501 +v 0.396816 3.911535 -0.979745 +v -0.175815 2.194129 1.023578 +v -1.811146 3.625170 1.064432 +v -0.175815 4.197900 1.105501 +v -1.729467 3.747757 1.105501 +v 0.028492 2.766663 1.064432 +v -1.729467 3.379994 -1.020814 +v 0.192069 4.034122 -1.061667 +v -0.625597 4.075116 -0.979745 +v 0.314917 4.197900 0.818880 +f 37 33 57 +f 37 32 39 +f 30 29 41 +f 35 30 41 +f 36 31 41 +f 31 36 43 +f 41 33 43 +f 36 41 43 +f 30 35 44 +f 40 30 44 +f 41 29 45 +f 33 41 45 +f 38 34 46 +f 34 40 46 +f 40 44 46 +f 37 39 47 +f 33 37 48 +f 31 43 48 +f 43 33 48 +f 47 31 48 +f 37 47 48 +f 35 41 49 +f 41 31 49 +f 44 35 50 +f 32 46 50 +f 46 44 50 +f 37 28 51 +f 32 37 51 +f 28 38 51 +f 46 32 51 +f 38 46 51 +f 39 32 52 +f 49 39 52 +f 35 49 52 +f 50 35 52 +f 32 50 52 +f 31 47 53 +f 47 39 53 +f 49 31 53 +f 39 49 53 +f 29 30 54 +f 30 40 54 +f 40 34 54 +f 34 42 54 +f 45 29 54 +f 42 45 54 +f 42 34 55 +f 33 45 55 +f 45 42 55 +f 28 33 56 +f 38 28 56 +f 34 38 56 +f 33 55 56 +f 55 34 56 +f 33 28 57 +f 28 37 57 +o convex_2 +v -3.119993 -2.304213 1.064404 +v -3.733288 -4.021652 0.246423 +v -3.692297 -4.021652 0.246423 +v -2.015984 -1.936414 -1.102737 +v -1.811618 -3.939641 0.941791 +v -3.815073 -1.936206 -0.938971 +v -1.811618 -3.858047 -0.938971 +v -1.811618 -1.895409 0.982521 +v -3.692297 -3.980438 -0.979912 +v -3.774082 -4.021652 1.064404 +v -3.692297 -1.977211 1.064404 +v -1.811618 -1.936414 -1.102737 +v -2.629475 -3.980438 1.023462 +v -3.365350 -3.980438 -0.979912 +v -3.774082 -1.936206 -0.039319 +v -1.811618 -2.222619 -1.102737 +v -3.569716 -1.936206 -0.979912 +v -2.220546 -2.468027 1.023674 +v -3.242573 -3.980438 1.064404 +v -3.815073 -2.345219 -0.611651 +v -1.811618 -3.939641 0.655413 +v -1.811618 -3.203626 0.982521 +v -1.811618 -3.612639 -0.979912 +v -3.733288 -3.530836 -0.938971 +v -2.138761 -3.898844 -0.938971 +v -1.852413 -1.895409 0.614684 +v -3.733288 -2.508824 0.982733 +v -3.038207 -1.936206 1.023462 +v -2.261341 -1.936414 1.023674 +v -3.815073 -2.181613 -0.570922 +v -2.506698 -3.980646 0.941791 +v -3.283565 -3.980438 -0.938971 +v -3.774082 -4.021652 0.941791 +v -3.692297 -3.244631 -0.979912 +v -3.733288 -1.936206 0.246423 +v -3.774082 -3.857838 1.064404 +v -2.015984 -3.939641 0.982521 +f 79 70 94 +f 62 64 65 +f 60 59 66 +f 59 60 67 +f 67 58 68 +f 65 64 69 +f 60 66 71 +f 66 61 73 +f 69 64 73 +f 61 69 73 +f 71 66 73 +f 70 75 76 +f 58 67 76 +f 67 70 76 +f 75 58 76 +f 64 62 78 +f 62 65 79 +f 65 75 79 +f 75 70 79 +f 64 71 80 +f 73 64 80 +f 71 73 80 +f 63 66 81 +f 77 63 81 +f 71 64 82 +f 64 78 82 +f 65 69 83 +f 69 61 83 +f 63 72 83 +f 72 65 83 +f 74 63 83 +f 61 74 83 +f 68 72 84 +f 68 58 86 +f 75 65 86 +f 58 75 86 +f 65 85 86 +f 85 68 86 +f 72 63 87 +f 63 77 87 +f 77 67 87 +f 84 72 87 +f 67 60 88 +f 62 70 88 +f 70 67 88 +f 78 62 88 +f 78 88 89 +f 60 71 89 +f 71 82 89 +f 82 78 89 +f 88 60 89 +f 66 59 90 +f 59 67 90 +f 67 77 90 +f 81 66 90 +f 77 81 90 +f 66 63 91 +f 61 66 91 +f 63 74 91 +f 74 61 91 +f 65 72 92 +f 72 68 92 +f 85 65 92 +f 68 85 92 +f 67 68 93 +f 68 84 93 +f 87 67 93 +f 84 87 93 +f 70 62 94 +f 62 79 94 +o convex_3 +v -1.402313 -3.898660 -0.898038 +v 0.601178 -1.813414 -0.611633 +v 0.601178 -1.813414 -0.693556 +v 2.277627 -4.021652 0.941656 +v -1.811422 -1.813630 0.982509 +v -1.811422 -3.939729 0.941872 +v 2.359694 -1.895337 1.105501 +v 2.318456 -3.898660 -0.938891 +v -1.770185 -1.813630 -1.102737 +v 2.318456 -1.977259 -0.939107 +v 0.069989 -4.021652 -1.020598 +v -1.811422 -3.857806 -0.939107 +v 0.029160 -1.813414 1.064215 +v 1.868926 -3.939729 -0.979745 +v -0.134565 -3.857806 0.982725 +v -1.811422 -2.181526 -1.102737 +v 2.277627 -1.854700 0.941656 +v 2.359694 -3.121799 -0.161815 +v -1.443142 -1.813630 -1.102737 +v 0.559940 -4.021652 -1.020598 +v 2.318456 -3.203506 1.023578 +v -1.811422 -3.039876 0.982509 +v 0.233306 -2.222379 1.064215 +v 0.396623 -1.813414 -0.979745 +v -0.052498 -4.021652 -0.693556 +v 2.277627 -4.021652 0.573544 +v 2.359694 -1.895337 0.328208 +v -0.339120 -3.980366 -1.020598 +v 2.359694 -2.018113 1.105501 +v 1.051116 -3.898660 0.982725 +v 2.318456 -3.939729 -0.693556 +v 1.950585 -4.021652 0.941656 +v -1.811422 -3.612471 -0.979745 +v 0.887391 -3.980366 -1.020598 +v -1.811422 -3.939729 0.696320 +v -1.197759 -1.977259 1.023578 +v 2.318456 -3.939729 0.001382 +v 2.359694 -2.467931 1.023578 +v 2.073072 -1.936406 -0.816115 +v 0.314557 -1.813414 1.064215 +v -1.811422 -1.936406 -1.102737 +v -1.811422 -3.898660 -0.284591 +v 2.277627 -3.776100 0.982725 +v 1.950585 -1.936406 1.105285 +v 2.359694 -2.018113 0.001382 +v -0.052498 -1.977259 1.064215 +f 117 138 140 +f 100 99 106 +f 105 95 106 +f 96 97 107 +f 103 99 107 +f 104 102 108 +f 106 99 110 +f 97 96 111 +f 102 104 112 +f 104 108 113 +f 110 103 113 +f 98 105 114 +f 105 110 114 +f 99 100 116 +f 100 109 116 +f 116 109 117 +f 107 97 118 +f 103 107 118 +f 113 103 118 +f 104 113 118 +f 105 98 119 +f 98 114 120 +f 111 101 121 +f 101 112 121 +f 105 106 122 +f 110 105 122 +f 112 101 123 +f 109 100 124 +f 123 109 124 +f 115 123 124 +f 108 102 125 +f 102 112 125 +f 114 108 125 +f 98 120 125 +f 120 114 125 +f 119 98 126 +f 100 119 126 +f 98 124 126 +f 124 100 126 +f 106 110 127 +f 122 106 127 +f 110 122 127 +f 113 108 128 +f 110 113 128 +f 114 110 128 +f 108 114 128 +f 100 106 129 +f 119 100 129 +f 105 119 129 +f 107 99 130 +f 99 116 130 +f 98 125 131 +f 125 112 131 +f 115 98 132 +f 112 123 132 +f 123 115 132 +f 98 131 132 +f 131 112 132 +f 97 111 133 +f 118 97 133 +f 104 118 133 +f 111 121 133 +f 121 104 133 +f 96 107 134 +f 107 101 134 +f 111 96 134 +f 101 111 134 +f 99 103 135 +f 110 99 135 +f 103 110 135 +f 95 105 136 +f 106 95 136 +f 105 129 136 +f 129 106 136 +f 98 115 137 +f 124 98 137 +f 115 124 137 +f 101 107 138 +f 117 109 138 +f 123 101 138 +f 109 123 138 +f 112 104 139 +f 121 112 139 +f 104 121 139 +f 116 117 140 +f 107 130 140 +f 130 116 140 +f 138 107 140 +o convex_4 +v 2.359886 0.517504 0.451004 +v 3.995233 1.621622 -0.407347 +v 3.995233 1.621622 -0.489269 +v 4.281462 0.517504 0.491966 +v 2.359886 1.580553 0.573888 +v 2.359886 0.599426 -0.448308 +v 4.322379 0.640280 -0.530231 +v 4.240544 1.580553 0.491966 +v 2.359886 1.621622 -0.489269 +v 4.281462 1.580553 -0.489269 +v 2.359886 1.621622 0.410151 +v 2.359886 0.763056 0.532927 +v 2.891426 1.539700 0.573888 +v 4.322379 0.967430 -0.202972 +v 4.281462 0.517504 0.410151 +v 2.973261 0.640280 -0.489269 +v 2.441720 1.253511 0.573888 +v 4.281462 1.376070 0.287591 +v 2.359886 0.517504 0.491966 +v 4.322379 0.803909 -0.530231 +v 2.809784 0.599426 -0.448308 +v 3.668087 1.580553 0.532927 +f 153 144 162 +f 141 145 146 +f 142 143 149 +f 146 145 149 +f 143 142 150 +f 142 148 150 +f 148 142 151 +f 142 149 151 +f 149 145 151 +f 145 141 152 +f 144 147 154 +f 144 141 155 +f 141 146 155 +f 147 144 155 +f 147 146 156 +f 146 149 156 +f 149 147 156 +f 152 144 157 +f 145 152 157 +f 153 145 157 +f 144 153 157 +f 148 144 158 +f 150 148 158 +f 144 154 158 +f 154 150 158 +f 141 144 159 +f 152 141 159 +f 144 152 159 +f 149 143 160 +f 147 149 160 +f 143 150 160 +f 154 147 160 +f 150 154 160 +f 146 147 161 +f 155 146 161 +f 147 155 161 +f 144 148 162 +f 148 151 162 +f 151 145 162 +f 145 153 162 +o convex_5 +v -3.692250 -0.014053 -0.489073 +v 0.273793 2.194129 1.023578 +v 0.314621 2.153179 1.023578 +v 0.273793 2.194129 -1.061667 +v -3.855970 2.152959 -0.489073 +v 0.273793 -0.055002 -0.407367 +v -3.733078 0.149524 0.941656 +v 0.273793 -0.055002 0.982509 +v -3.773906 2.112010 1.105501 +v -1.688814 -0.055002 -1.061667 +v -3.855970 2.152959 -1.061667 +v 0.315029 0.068066 -0.979745 +v -1.730051 -0.055002 1.064432 +v -3.692250 -0.014053 -0.938891 +v -1.647986 0.068066 1.105501 +v -2.547021 2.194129 0.941656 +v -1.688814 2.194129 -1.102737 +v 0.069244 2.071060 -1.102737 +v -3.773906 0.231643 0.941656 +v -3.855970 1.866754 -1.061667 +v 0.315029 0.026896 0.982509 +v -0.339445 1.457701 1.064432 +v 0.314621 2.112230 -1.020814 +v -3.079011 2.071280 -1.102737 +v 0.232965 -0.055002 -0.979745 +v -3.733078 0.108795 0.859733 +v -3.773906 1.866754 1.105501 +v -1.688814 1.457701 -1.102737 +v -2.915291 2.194129 -0.120962 +v -3.773906 1.621498 -1.061667 +v 0.151308 0.681425 1.023578 +v -0.462338 -0.055002 -1.020814 +v -3.814734 2.071280 0.614613 +v -3.733078 0.027116 -0.039471 +v -3.324389 2.152959 1.064432 +v -2.792806 0.108795 1.023578 +v -3.733078 0.435949 -0.979745 +v -3.569765 2.112010 1.105501 +v -1.566330 0.272152 1.105501 +v -0.135305 -0.014053 1.023578 +v -3.773906 0.517848 0.982509 +v -1.730051 0.068066 1.105501 +v 0.314621 1.130767 1.023578 +f 184 193 205 +f 164 165 166 +f 168 170 172 +f 172 170 175 +f 172 175 176 +f 175 163 176 +f 164 166 178 +f 178 166 179 +f 166 174 180 +f 179 166 180 +f 167 173 182 +f 181 167 182 +f 170 168 183 +f 174 165 183 +f 168 174 183 +f 165 164 184 +f 166 165 185 +f 165 174 185 +f 174 166 185 +f 173 179 186 +f 179 180 186 +f 182 173 186 +f 168 172 187 +f 174 168 187 +f 180 174 187 +f 175 169 188 +f 169 181 188 +f 177 171 189 +f 180 172 190 +f 172 186 190 +f 186 180 190 +f 173 167 191 +f 179 173 191 +f 178 179 191 +f 186 172 192 +f 182 186 192 +f 172 180 194 +f 187 172 194 +f 180 187 194 +f 171 167 195 +f 167 181 195 +f 189 171 195 +f 163 175 196 +f 176 163 196 +f 181 182 196 +f 175 188 196 +f 188 181 196 +f 171 164 197 +f 167 171 197 +f 164 178 197 +f 191 167 197 +f 178 191 197 +f 169 175 198 +f 172 176 199 +f 192 172 199 +f 182 192 199 +f 176 196 199 +f 196 182 199 +f 164 171 200 +f 171 177 200 +f 184 164 200 +f 184 200 201 +f 177 193 201 +f 193 184 201 +f 200 177 201 +f 175 170 202 +f 177 175 202 +f 170 183 202 +f 193 177 202 +f 183 193 202 +f 181 169 203 +f 195 181 203 +f 189 195 203 +f 169 198 203 +f 203 198 204 +f 175 177 204 +f 177 189 204 +f 198 175 204 +f 189 203 204 +f 183 165 205 +f 165 184 205 +f 193 183 205 +o convex_6 +v 2.359694 1.621418 0.451064 +v 1.950601 0.026784 -1.061791 +v 2.155147 0.026784 -1.061791 +v 0.805981 0.026784 1.023662 +v 0.315029 2.071108 -0.938955 +v 0.315029 2.112138 1.023662 +v 0.315029 0.068018 -0.979901 +v 2.318664 2.112138 -1.020634 +v 2.359694 0.149668 1.064608 +v 2.318664 2.112138 1.023662 +v 0.315029 0.026784 0.982505 +v 2.236805 0.190698 -1.102737 +v 2.359694 0.599562 -0.448036 +v 1.868942 0.149668 -1.102737 +v 2.359694 0.108843 0.900826 +v 2.359694 1.989458 -0.898222 +v 0.315029 0.026784 -0.898010 +v 2.359694 1.089874 1.064608 +v 1.827913 0.108843 1.064608 +v 0.887639 2.071108 -0.979901 +v 0.315029 1.008427 -0.979901 +v 2.236805 1.498739 -1.061791 +v 0.315029 1.130699 1.023662 +v 2.277835 0.068018 -0.489193 +v 0.315029 2.112138 0.614421 +v 0.601434 0.068018 -1.020634 +v 0.969298 0.026784 0.982505 +v 2.073288 2.112138 -1.020634 +v 2.359694 0.108843 0.573688 +v 2.195976 0.558737 -1.102737 +f 225 227 235 +f 207 208 209 +f 211 210 212 +f 213 211 215 +f 207 209 216 +f 211 212 216 +f 206 214 218 +f 208 207 219 +f 217 208 219 +f 218 214 220 +f 215 206 221 +f 213 215 221 +f 217 213 221 +f 218 217 221 +f 206 218 221 +f 207 216 222 +f 216 212 222 +f 214 206 223 +f 206 215 223 +f 215 211 223 +f 220 214 224 +f 214 223 224 +f 223 211 224 +f 225 219 226 +f 212 210 226 +f 210 225 226 +f 216 209 228 +f 211 216 228 +f 209 224 228 +f 224 211 228 +f 208 217 229 +f 217 218 229 +f 220 208 229 +f 210 211 230 +f 211 213 230 +f 219 207 231 +f 207 222 231 +f 222 212 231 +f 226 219 231 +f 212 226 231 +f 209 208 232 +f 208 220 232 +f 224 209 232 +f 220 224 232 +f 225 210 233 +f 213 227 233 +f 227 225 233 +f 210 230 233 +f 230 213 233 +f 218 220 234 +f 229 218 234 +f 220 229 234 +f 213 217 235 +f 217 219 235 +f 219 225 235 +f 227 213 235 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/616/616.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/616/616.urdf new file mode 100644 index 000000000..5897062e0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/616/616.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/617/617.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/617/617.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/617/617.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/617/617.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/617/617.obj new file mode 100644 index 000000000..2386ba522 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/617/617.obj @@ -0,0 +1,456 @@ +o convex_0 +v -0.440310 -2.889707 -2.282582 +v 0.545466 0.978224 -1.069100 +v 0.204204 0.978224 -1.069100 +v -0.137058 -2.927123 -1.069100 +v 0.507574 -2.964929 -2.244572 +v -0.592114 0.978224 -2.244572 +v 0.621368 0.978224 -2.244572 +v -0.554104 0.598992 -1.107110 +v 0.469564 -2.927123 -1.069100 +v -0.440310 -2.964929 -1.107110 +v -0.554104 0.978224 -1.145002 +v -0.554104 -0.577289 -2.282582 +v 0.431672 -3.003515 -2.282582 +v 0.507574 -1.827234 -1.069100 +v -0.478202 -2.813314 -2.282582 +v -0.554104 0.219761 -1.107110 +v 0.621368 0.825830 -2.168789 +v -0.478202 -2.206466 -1.182893 +v -0.592114 0.939638 -1.675841 +v -0.440310 -2.927123 -2.206680 +v 0.469564 -3.003515 -1.865418 +v -0.478202 -0.387088 -2.282582 +v 0.242095 -3.003515 -2.282582 +v -0.592114 0.560407 -2.168789 +v 0.431672 -2.964929 -1.296687 +f 10 21 25 +f 2 3 4 +f 3 2 6 +f 6 2 7 +f 4 3 8 +f 2 4 9 +f 9 4 10 +f 3 6 11 +f 8 3 11 +f 7 5 13 +f 1 12 13 +f 2 9 14 +f 9 5 14 +f 12 1 15 +f 4 8 16 +f 10 4 16 +f 5 7 17 +f 7 2 17 +f 14 5 17 +f 2 14 17 +f 15 10 18 +f 10 16 18 +f 18 16 19 +f 11 6 19 +f 8 11 19 +f 16 8 19 +f 15 1 20 +f 10 15 20 +f 5 9 21 +f 13 5 21 +f 6 7 22 +f 12 6 22 +f 7 13 22 +f 13 12 22 +f 1 13 23 +f 20 1 23 +f 10 20 23 +f 21 10 23 +f 13 21 23 +f 6 12 24 +f 12 15 24 +f 15 18 24 +f 18 19 24 +f 19 6 24 +f 9 10 25 +f 21 9 25 +o convex_1 +v 0.204085 -4.937502 0.523448 +v 0.924672 0.978224 1.433708 +v 0.924672 0.978224 -0.651839 +v -1.009093 0.978224 1.205928 +v -0.971201 -4.444139 -0.689731 +v -1.085092 -4.899284 1.395601 +v 1.038347 -4.936924 -0.727407 +v -1.009093 0.978224 -0.765729 +v 1.114345 -4.936924 1.319818 +v -1.009093 0.864149 1.395601 +v -0.971201 -4.899284 -0.651839 +v 0.962564 -1.752646 -0.727407 +v 1.000455 -4.936924 1.357709 +v -1.046985 -0.121999 -0.120926 +v 1.114345 -4.595275 0.978578 +v -1.085092 -2.510062 1.395601 +v 0.962564 0.294928 -0.272492 +v -1.085092 -4.899284 1.092253 +v 0.962564 0.256710 1.395386 +v -1.009093 0.294928 -0.765729 +v -1.009093 -4.899284 -0.234600 +v -0.781528 0.978224 -0.765729 +v 0.734998 -4.937502 -0.727622 +v 0.583432 0.978224 1.433708 +v 1.114345 -4.444139 1.319818 +v -0.857527 -4.899284 -0.689731 +v 1.076238 -4.861066 -0.007035 +v 0.014627 -4.937502 1.357709 +v -0.895418 -4.899284 1.395601 +v -0.971201 0.978224 1.395601 +v 0.924672 0.788291 1.433708 +v 0.962564 -0.728859 -0.689731 +v -1.085092 -2.433626 1.168036 +v 1.114345 -4.898705 0.788904 +v 0.621324 -4.861066 -0.727622 +v 1.038347 -4.746990 -0.727407 +v 0.393758 0.978224 -0.689515 +f 37 47 62 +f 27 28 29 +f 29 28 33 +f 29 33 39 +f 35 29 41 +f 29 39 41 +f 28 27 42 +f 31 41 43 +f 42 27 44 +f 30 36 45 +f 39 33 45 +f 43 39 46 +f 45 36 46 +f 39 45 46 +f 33 28 47 +f 32 45 47 +f 45 33 47 +f 32 34 48 +f 26 36 48 +f 45 32 48 +f 27 29 49 +f 41 31 49 +f 35 41 49 +f 27 34 50 +f 34 40 50 +f 40 42 50 +f 44 27 50 +f 42 44 50 +f 36 30 51 +f 30 45 51 +f 48 36 51 +f 36 26 53 +f 34 38 53 +f 31 43 53 +f 46 36 53 +f 43 46 53 +f 26 48 53 +f 48 34 53 +f 31 53 54 +f 53 38 54 +f 29 35 55 +f 49 29 55 +f 35 49 55 +f 34 27 56 +f 38 34 56 +f 27 49 56 +f 49 31 56 +f 31 54 56 +f 54 38 56 +f 37 28 57 +f 28 42 57 +f 42 52 57 +f 41 39 58 +f 39 43 58 +f 43 41 58 +f 34 32 59 +f 40 34 59 +f 42 40 59 +f 32 52 59 +f 52 42 59 +f 45 48 60 +f 51 45 60 +f 48 51 60 +f 47 37 61 +f 32 47 61 +f 52 32 61 +f 37 57 61 +f 57 52 61 +f 28 37 62 +f 47 28 62 +o convex_2 +v 0.279961 5.149277 -1.827508 +v -0.364586 3.215583 -1.524234 +v -0.364586 3.215583 -1.448320 +v 0.355919 3.215583 -1.600021 +v -0.212883 3.215583 -1.979208 +v -0.288629 5.187106 -1.448320 +v -0.288629 5.073427 -2.017133 +v 0.355919 3.746727 -1.372470 +v 0.317975 3.215583 -1.979208 +v 0.355919 5.111448 -1.979208 +v 0.279961 5.035598 -1.486309 +v 0.128328 3.215583 -1.372470 +v 0.204215 5.111448 -2.017133 +v -0.250756 4.087955 -2.017133 +v 0.355919 3.215583 -1.372470 +v 0.317975 4.770027 -1.448320 +v -0.288629 4.504648 -2.017133 +v -0.364586 3.519176 -1.448320 +v 0.355919 5.111448 -1.789583 +v -0.288629 5.187106 -1.600021 +v -0.174868 5.187106 -1.448320 +v 0.355919 4.352948 -1.979208 +f 75 72 84 +f 65 64 66 +f 66 64 67 +f 66 67 71 +f 70 66 72 +f 65 66 74 +f 70 68 74 +f 63 72 75 +f 71 67 76 +f 69 75 76 +f 75 71 76 +f 66 70 77 +f 74 66 77 +f 70 74 77 +f 67 64 79 +f 64 69 79 +f 76 67 79 +f 69 76 79 +f 64 65 80 +f 69 64 80 +f 65 74 80 +f 74 68 80 +f 72 63 81 +f 70 72 81 +f 78 70 81 +f 73 78 81 +f 63 75 82 +f 75 69 82 +f 80 68 82 +f 69 80 82 +f 68 70 83 +f 70 78 83 +f 78 73 83 +f 81 63 83 +f 73 81 83 +f 63 82 83 +f 82 68 83 +f 66 71 84 +f 72 66 84 +f 71 75 84 +o convex_3 +v 1.076424 3.177475 1.433303 +v -0.629954 0.978443 -2.319869 +v -0.971229 1.016550 -2.699312 +v -0.971229 1.016550 1.433303 +v -1.085058 3.177475 -2.623262 +v 0.962595 1.130214 -2.623262 +v 0.924722 0.978443 1.433303 +v 1.000467 3.063812 -2.699312 +v -0.971229 3.063593 1.433303 +v 0.507490 3.215364 -2.206198 +v -1.009102 0.978443 1.129910 +v 0.621108 0.978443 -2.244223 +v 0.848766 3.215364 1.433303 +v -1.085058 3.025705 -0.386649 +v 1.076424 2.798158 -0.879359 +v -1.046974 1.585307 -0.841334 +v -0.933357 3.101481 1.433303 +v -0.364423 3.215364 -1.448120 +v -1.009102 1.243878 -2.699312 +v 1.000467 1.471424 -2.244223 +v 1.076424 2.912041 1.357253 +v 1.076424 3.215582 1.243582 +v 0.924722 0.978443 -0.879359 +v -0.592081 1.016550 -2.699312 +v -1.009102 0.978443 -0.765688 +v -1.085058 2.646607 -0.576371 +v 0.962595 1.357541 1.433303 +v -1.009102 1.243878 1.281607 +v 1.000467 2.760270 -2.699312 +v -1.085058 2.912041 -2.509591 +v 0.393873 2.798377 -2.699312 +v 0.962595 1.054438 -1.372069 +v 1.076424 3.025705 -0.955005 +v -1.085058 3.177475 -2.206198 +v -1.009102 1.016550 -2.092526 +v -1.009102 1.471424 -2.699312 +v 1.000467 2.267289 -2.661287 +v -1.085058 3.101481 -0.424675 +v -0.971229 0.978443 1.395278 +v -0.212933 3.215364 -1.978855 +v -0.819528 3.177475 -2.623262 +v 0.355789 1.168102 -2.661287 +v 1.038340 2.949929 -1.978855 +f 121 113 127 +f 85 88 91 +f 88 85 93 +f 86 91 95 +f 91 86 96 +f 93 85 97 +f 93 97 101 +f 101 97 102 +f 92 87 103 +f 104 99 105 +f 99 85 105 +f 92 94 106 +f 97 85 106 +f 85 99 106 +f 102 97 106 +f 96 90 107 +f 91 96 107 +f 86 87 108 +f 87 92 108 +f 96 86 108 +f 90 96 108 +f 87 86 109 +f 86 95 109 +f 95 100 109 +f 98 89 110 +f 100 95 110 +f 85 91 111 +f 104 105 111 +f 105 85 111 +f 88 93 112 +f 95 88 112 +f 93 98 112 +f 98 110 112 +f 110 95 112 +f 108 92 113 +f 89 103 114 +f 110 89 114 +f 100 110 114 +f 89 92 115 +f 92 103 115 +f 90 104 116 +f 107 90 116 +f 91 107 116 +f 111 91 116 +f 104 111 116 +f 92 106 117 +f 106 99 117 +f 89 98 118 +f 101 102 118 +f 102 89 118 +f 103 87 119 +f 87 109 119 +f 109 100 119 +f 114 103 119 +f 100 114 119 +f 103 89 120 +f 89 115 120 +f 115 103 120 +f 104 90 121 +f 99 104 121 +f 90 113 121 +f 98 93 122 +f 93 101 122 +f 118 98 122 +f 101 118 122 +f 91 88 123 +f 95 91 123 +f 88 95 123 +f 94 89 124 +f 89 102 124 +f 106 94 124 +f 102 106 124 +f 92 89 125 +f 89 94 125 +f 94 92 125 +f 90 108 126 +f 113 90 126 +f 108 113 126 +f 113 92 127 +f 92 117 127 +f 117 99 127 +f 99 121 127 +o convex_4 +v -0.705661 1.016146 1.433893 +v 0.962557 3.215367 1.471937 +v 0.469562 3.177264 2.419507 +v 1.114115 1.016146 3.253687 +v -1.009209 3.215367 3.329403 +v -1.084773 1.130240 3.291545 +v -0.971104 3.101488 1.433893 +v 0.924667 1.092352 1.433893 +v 0.962557 3.025712 3.329403 +v -1.009209 1.016146 1.433893 +v 1.076226 3.177479 1.433893 +v 1.000447 2.229420 3.329403 +v 1.000447 3.063600 3.064024 +v -1.084773 1.623214 3.215828 +v 1.000447 1.054464 2.002695 +v 0.583230 1.016146 3.253687 +v -1.047098 2.191532 3.329403 +v 1.076226 2.987824 1.433893 +v -1.084773 1.168128 2.874547 +v 0.810783 3.215367 1.433893 +v 1.076226 3.177479 1.661414 +v 1.076226 1.016146 2.798645 +v -0.857435 3.215367 3.329403 +v -1.009209 1.016146 1.623556 +v 1.076226 1.433559 3.291730 +v -1.009209 3.215367 3.215828 +v 0.810783 3.063600 3.329403 +v 0.962557 1.092352 1.585698 +v 1.076226 1.660886 3.291730 +v -1.009209 3.177264 2.912406 +f 153 134 157 +f 128 134 135 +f 128 131 137 +f 134 128 137 +f 135 134 138 +f 136 132 139 +f 128 135 142 +f 131 133 143 +f 137 131 143 +f 133 139 144 +f 139 132 144 +f 132 141 144 +f 141 133 144 +f 135 138 145 +f 138 131 145 +f 137 133 146 +f 134 137 146 +f 133 141 146 +f 141 134 146 +f 132 129 147 +f 129 138 147 +f 138 134 147 +f 138 129 148 +f 131 138 148 +f 129 140 148 +f 131 128 149 +f 128 142 149 +f 145 131 149 +f 130 129 150 +f 129 132 150 +f 132 136 150 +f 133 137 151 +f 143 133 151 +f 137 143 151 +f 133 131 152 +f 139 133 152 +f 141 132 153 +f 132 147 153 +f 147 134 153 +f 129 130 154 +f 140 129 154 +f 136 140 154 +f 130 150 154 +f 150 136 154 +f 142 135 155 +f 135 145 155 +f 149 142 155 +f 145 149 155 +f 136 139 156 +f 140 136 156 +f 131 148 156 +f 148 140 156 +f 152 131 156 +f 139 152 156 +f 134 141 157 +f 141 153 157 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/617/617.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/617/617.urdf new file mode 100644 index 000000000..d1c1bbfaa --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/617/617.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/618/618.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/618/618.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/618/618.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/618/618.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/618/618.obj new file mode 100644 index 000000000..e1bef984a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/618/618.obj @@ -0,0 +1,372 @@ +o convex_0 +v 0.500467 -5.056590 -1.038269 +v -0.893104 -2.888860 1.129813 +v -0.970572 -2.888860 1.129813 +v 1.081369 -1.068560 -1.077155 +v 1.081369 -4.939869 1.090928 +v -1.009412 -4.978516 -0.960930 +v -0.931944 -1.068950 -1.077155 +v 1.042529 -1.068560 0.936034 +v -0.970572 -4.978516 1.052258 +v -1.009412 -1.068950 1.013589 +v 1.042529 -5.056590 -1.077155 +v -1.086880 -2.927506 -0.999600 +v 1.003901 -2.888860 1.090928 +v -0.893104 -5.017162 0.974919 +v -0.970572 -1.765762 -1.077155 +v -1.009412 -4.553011 0.587577 +v 1.081369 -4.978906 0.742471 +v -0.467138 -4.978516 1.090928 +v -1.086880 -3.197643 -0.806036 +v 1.003901 -1.223537 0.974703 +v -0.467138 -5.017162 -0.999600 +v -0.970572 -1.107987 -0.651142 +v 1.042529 -5.056590 -0.651142 +v 1.081369 -4.978906 0.394013 +v 0.848966 -5.056590 -1.077155 +v -1.009412 -4.978516 -0.031351 +v -1.009412 -1.068950 0.587577 +v -1.048040 -4.398034 -0.960930 +v -0.970572 -4.553011 1.090928 +v -0.544605 -4.978516 -0.999600 +v -0.893104 -1.068950 1.013589 +v 1.081369 -4.746635 1.090928 +v 0.384371 -4.978516 1.090928 +v 0.500467 -5.056590 -0.380024 +v -1.048040 -1.843446 0.161780 +v -0.970572 -1.340258 -1.077155 +v -0.854477 -3.004800 1.129813 +f 18 33 37 +f 3 2 10 +f 7 4 11 +f 7 11 15 +f 6 12 15 +f 9 10 16 +f 4 5 17 +f 9 14 18 +f 13 8 20 +f 1 14 21 +f 14 6 21 +f 1 11 23 +f 11 17 23 +f 11 4 24 +f 4 17 24 +f 17 11 24 +f 11 1 25 +f 15 11 25 +f 1 21 25 +f 6 14 26 +f 14 9 26 +f 9 16 26 +f 16 19 26 +f 4 7 27 +f 8 4 27 +f 10 8 27 +f 7 22 27 +f 22 12 27 +f 12 6 28 +f 19 12 28 +f 6 26 28 +f 26 19 28 +f 10 9 29 +f 3 10 29 +f 9 18 29 +f 6 15 30 +f 21 6 30 +f 15 25 30 +f 25 21 30 +f 10 2 31 +f 8 10 31 +f 2 13 31 +f 20 8 31 +f 13 20 31 +f 5 4 32 +f 4 8 32 +f 8 13 32 +f 17 5 33 +f 18 14 33 +f 14 1 34 +f 1 23 34 +f 23 17 34 +f 17 33 34 +f 33 14 34 +f 16 10 35 +f 12 19 35 +f 19 16 35 +f 10 27 35 +f 27 12 35 +f 7 15 36 +f 15 12 36 +f 22 7 36 +f 12 22 36 +f 2 3 37 +f 13 2 37 +f 3 29 37 +f 29 18 37 +f 5 32 37 +f 32 13 37 +f 33 5 37 +o convex_1 +v -1.589980 1.099689 -0.341226 +v -0.970504 -0.952252 -1.115873 +v -0.970504 -0.913624 -1.115873 +v 3.094050 0.596043 0.974620 +v -2.945233 -0.913624 0.974840 +v 3.094050 -1.068560 -1.076965 +v 2.978350 0.944542 -0.999588 +v 2.978350 -0.952252 1.013528 +v -2.945233 1.022009 1.129813 +v -2.983800 0.944542 -0.960900 +v -3.060933 -1.068560 -1.038057 +v 3.094050 1.022222 0.935932 +v 0.965055 1.099689 -1.115873 +v -1.009071 -1.068560 0.974840 +v 1.003622 1.099689 1.052217 +v 1.042188 -1.068560 0.935932 +v -1.318809 1.099689 -0.960900 +v -1.086807 1.099689 0.974840 +v 3.094050 1.022222 0.510139 +v 3.094050 -1.068560 -0.689861 +v -3.060933 -1.068560 -0.767238 +v 1.506795 0.944754 1.052217 +v -3.022366 0.170076 -0.999588 +v -2.635495 1.060849 0.703801 +v -2.790364 -0.952040 0.974840 +v 3.094050 -0.758688 -1.076965 +v 2.978350 -0.990880 0.858555 +v 0.771017 1.099689 -1.115873 +v -2.983800 0.983382 -0.457511 +v 1.003622 0.247756 -1.115873 +v -3.060933 -0.526285 -0.960900 +v 3.016917 0.983169 -0.534888 +v 3.016917 -0.526285 1.013528 +v -3.060933 -0.874784 -1.038057 +v 1.236226 0.944754 -1.115873 +v -2.906064 0.983382 1.129813 +v 2.552310 -0.952252 1.013528 +v 2.900615 1.022222 0.974620 +v 3.016917 0.828446 -0.805926 +v -0.777069 -0.991092 -1.115873 +v 3.055484 -1.068560 -0.496199 +v -2.983800 -0.952040 0.510139 +v -2.983800 0.983382 0.006970 +v -3.060933 -0.990880 -0.689641 +v 2.475177 0.944542 -1.038057 +v 3.055484 1.022222 0.277789 +v -2.712629 0.983382 -0.960900 +v -3.022366 0.402479 -0.960900 +v -0.931938 -1.068560 -1.076965 +v -2.945233 -0.952040 0.858555 +v 3.094050 -0.642381 -1.038057 +f 76 56 88 +f 40 39 48 +f 41 43 49 +f 39 40 50 +f 48 43 51 +f 50 38 52 +f 45 51 53 +f 51 43 53 +f 38 50 54 +f 52 38 55 +f 46 52 55 +f 49 43 56 +f 52 49 56 +f 50 52 56 +f 43 41 57 +f 53 43 57 +f 48 51 58 +f 52 46 59 +f 38 54 61 +f 55 38 61 +f 46 55 61 +f 56 43 63 +f 45 53 64 +f 57 45 64 +f 50 40 65 +f 54 50 65 +f 60 47 65 +f 46 61 66 +f 61 54 66 +f 39 50 67 +f 48 58 68 +f 44 50 69 +f 57 41 70 +f 45 57 70 +f 59 45 70 +f 40 48 71 +f 65 40 71 +f 60 65 71 +f 48 68 71 +f 63 43 72 +f 43 67 72 +f 67 50 72 +f 46 42 73 +f 45 59 73 +f 59 46 73 +f 42 62 73 +f 73 62 74 +f 51 45 74 +f 62 51 74 +f 45 73 74 +f 41 49 75 +f 49 52 75 +f 52 59 75 +f 70 41 75 +f 59 70 75 +f 44 69 76 +f 69 56 76 +f 48 39 77 +f 39 67 77 +f 67 43 77 +f 53 57 78 +f 64 53 78 +f 57 64 78 +f 42 46 79 +f 46 66 80 +f 68 46 80 +f 46 68 81 +f 68 58 81 +f 79 46 81 +f 58 79 81 +f 50 44 82 +f 44 63 82 +f 72 50 82 +f 63 72 82 +f 50 56 83 +f 69 50 83 +f 56 69 83 +f 65 47 84 +f 54 65 84 +f 47 66 84 +f 66 54 84 +f 47 60 85 +f 66 47 85 +f 60 71 85 +f 71 68 85 +f 80 66 85 +f 68 80 85 +f 43 48 86 +f 48 77 86 +f 77 43 86 +f 58 51 87 +f 62 42 87 +f 51 62 87 +f 42 79 87 +f 79 58 87 +f 63 44 88 +f 56 63 88 +f 44 76 88 +o convex_2 +v 1.042533 4.584141 0.703877 +v -1.086880 1.099689 -0.418663 +v -1.086880 1.099689 0.974696 +v -1.047994 5.009645 1.013324 +v -0.544643 5.087719 -1.077033 +v 0.964978 1.099689 -1.115873 +v 1.003864 1.099689 1.052376 +v 1.042533 5.087719 -1.115873 +v -1.047994 1.409644 -0.999565 +v 0.964978 5.087719 1.013536 +v -0.970656 5.087719 -0.844630 +v 1.120088 3.035929 0.974908 +v -1.047994 1.099689 -0.960725 +v -0.931986 5.087719 -1.038193 +v 1.081203 4.506457 -0.573811 +v 0.423173 1.216020 1.052376 +v 1.003864 1.293314 -0.689907 +v -1.047994 4.970999 0.510101 +v 0.810300 1.099689 -1.115873 +v 1.042533 1.525975 1.052376 +v 0.500512 5.087719 -1.115873 +v -1.047994 1.835539 -0.999565 +v 1.003864 5.048292 1.013536 +v -0.970656 3.693314 -1.038193 +v -1.086880 1.680952 0.239070 +v -0.970656 5.087719 -0.573599 +v -1.009325 4.119209 1.013324 +v 1.042533 5.087719 -0.263940 +v -0.428419 1.099689 1.013536 +v 1.120088 3.151479 0.974908 +v 1.042533 1.719599 1.052376 +v 1.003864 1.099689 -0.109004 +v 1.042533 4.506457 -1.077033 +v 0.810300 5.087719 1.013536 +v -0.970656 4.622397 -1.038193 +v -0.931986 1.099689 -0.999565 +v 1.081203 2.455448 0.355166 +v 1.003864 1.332351 -0.728534 +v -1.086880 1.448291 0.974696 +f 92 113 127 +f 91 90 94 +f 91 94 95 +f 96 93 98 +f 98 93 99 +f 94 90 101 +f 90 97 101 +f 99 93 102 +f 92 99 106 +f 96 94 107 +f 94 101 107 +f 104 95 108 +f 93 96 109 +f 107 93 109 +f 96 107 109 +f 97 90 110 +f 90 106 110 +f 106 99 110 +f 93 107 112 +f 107 97 112 +f 97 110 112 +f 90 91 113 +f 106 90 113 +f 92 106 113 +f 99 92 114 +f 98 99 114 +f 92 91 115 +f 104 92 115 +f 96 98 116 +f 103 96 116 +f 98 111 116 +f 111 89 116 +f 91 95 117 +f 95 104 117 +f 115 91 117 +f 104 115 117 +f 100 103 118 +f 108 100 118 +f 89 111 118 +f 116 89 118 +f 103 116 118 +f 92 104 119 +f 104 108 119 +f 111 98 119 +f 108 118 119 +f 118 111 119 +f 95 94 120 +f 94 105 120 +f 108 95 120 +f 94 96 121 +f 96 103 121 +f 114 92 122 +f 98 114 122 +f 92 119 122 +f 119 98 122 +f 102 93 123 +f 99 102 123 +f 110 99 123 +f 93 112 123 +f 112 110 123 +f 101 97 124 +f 97 107 124 +f 107 101 124 +f 103 100 125 +f 100 108 125 +f 120 105 125 +f 108 120 125 +f 105 94 126 +f 94 121 126 +f 121 103 126 +f 103 125 126 +f 125 105 126 +f 91 92 127 +f 113 91 127 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/618/618.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/618/618.urdf new file mode 100644 index 000000000..5ebaf9ba7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/618/618.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/619/619.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/619/619.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/619/619.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/619/619.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/619/619.obj new file mode 100644 index 000000000..5026ba143 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/619/619.obj @@ -0,0 +1,771 @@ +o convex_0 +v -0.285969 -1.194689 -3.487655 +v 0.347685 -0.525811 -1.481021 +v 0.347685 -0.596326 -1.481021 +v -0.321193 -0.701935 -1.481021 +v -0.039461 -0.631551 -3.487655 +v 0.242010 -1.088949 -1.481021 +v 0.312460 -1.088949 -3.487655 +v -0.215454 -1.088949 -1.586695 +v -0.285969 -0.631551 -3.135473 +v 0.206851 -0.631551 -3.381784 +v -0.321193 -0.596326 -1.481021 +v -0.180294 -1.194689 -3.100117 +v -0.285969 -0.842769 -3.487655 +v 0.312460 -0.983406 -3.487655 +v 0.312460 -1.088949 -2.924320 +v 0.242010 -0.525811 -1.551536 +v -0.285969 -1.194689 -3.135473 +v -0.074685 -1.088949 -1.481021 +v -0.321193 -0.596326 -1.762688 +v 0.136402 -1.124174 -1.868559 +f 6 18 20 +f 3 2 4 +f 3 4 6 +f 2 3 7 +f 1 5 7 +f 4 2 11 +f 1 7 12 +f 5 1 13 +f 9 5 13 +f 2 7 14 +f 7 5 14 +f 10 2 14 +f 5 10 14 +f 3 6 15 +f 7 3 15 +f 12 7 15 +f 5 9 16 +f 2 10 16 +f 10 5 16 +f 11 2 16 +f 4 1 17 +f 8 4 17 +f 1 12 17 +f 6 4 18 +f 4 8 18 +f 8 17 18 +f 1 4 19 +f 4 11 19 +f 13 1 19 +f 9 13 19 +f 16 9 19 +f 11 16 19 +f 15 6 20 +f 12 15 20 +f 17 12 20 +f 18 17 20 +o convex_1 +v 1.086961 2.748420 0.490120 +v -1.025179 3.698434 -1.410612 +v -1.060431 2.255503 -1.058247 +v -1.060431 4.121042 0.631226 +v 1.051708 4.191350 -1.375236 +v 0.981204 2.255314 -1.375236 +v -1.095684 2.255503 0.560673 +v 0.981204 4.120852 0.560473 +v 1.086961 2.255314 0.525496 +v -1.025179 4.085793 -1.410612 +v -1.025179 2.255503 -1.339860 +v -0.250700 2.255503 0.631226 +v 0.910700 2.255314 -1.410413 +v 1.086961 3.839241 -1.058447 +v 1.086961 2.255314 -0.178634 +v -1.095684 3.065281 0.419967 +v 0.664362 3.663185 0.595850 +v -0.708337 4.121042 -1.410612 +v 1.051708 4.191350 -0.882365 +v 1.016456 2.396309 -1.375236 +v -0.778628 2.290563 0.631226 +v 0.699614 4.191350 -1.375236 +v -1.095684 2.290563 -0.213811 +v 1.016456 3.839241 0.560673 +v 0.875661 3.065281 -1.410413 +v 0.910700 2.361250 0.560473 +v -1.025179 2.678111 -1.375236 +v -1.060431 4.121042 0.208708 +v -0.813880 4.121042 0.631226 +v 0.629110 2.255314 -1.410413 +v 1.016456 4.156102 -0.037728 +v -1.095684 2.678111 0.595850 +v 0.488314 4.120852 0.595850 +f 51 49 53 +f 22 23 30 +f 27 29 32 +f 26 29 33 +f 21 29 34 +f 34 29 35 +f 29 26 35 +f 22 30 38 +f 33 22 38 +f 34 25 39 +f 33 25 40 +f 26 33 40 +f 25 34 40 +f 34 35 40 +f 35 26 40 +f 32 24 41 +f 27 32 41 +f 25 38 42 +f 24 39 42 +f 39 25 42 +f 23 27 43 +f 30 23 43 +f 27 36 43 +f 36 30 43 +f 29 21 44 +f 21 34 44 +f 28 37 44 +f 34 39 44 +f 25 33 45 +f 38 25 45 +f 33 38 45 +f 32 29 46 +f 37 32 46 +f 29 44 46 +f 44 37 46 +f 23 22 47 +f 31 23 47 +f 36 24 48 +f 30 36 48 +f 38 30 48 +f 24 42 48 +f 42 38 48 +f 24 32 49 +f 32 37 49 +f 27 23 50 +f 29 27 50 +f 23 31 50 +f 33 29 50 +f 22 33 50 +f 47 22 50 +f 31 47 50 +f 39 24 51 +f 28 44 51 +f 44 39 51 +f 24 49 51 +f 36 27 52 +f 24 36 52 +f 41 24 52 +f 27 41 52 +f 37 28 53 +f 49 37 53 +f 28 51 53 +o convex_2 +v 0.770084 -3.905406 -0.213859 +v 0.065902 0.213351 0.701634 +v 0.382678 0.530312 0.666382 +v -1.025055 0.530312 -1.340011 +v -1.025055 -3.905406 0.631130 +v 1.016443 0.529878 -1.410302 +v -1.025055 -3.834632 -1.304759 +v 0.981338 -2.321035 0.701634 +v 1.051757 -3.834632 -1.304973 +v -1.060369 0.530312 0.595877 +v 1.051757 0.529878 0.595877 +v 0.946024 -3.905406 0.560625 +v -0.039410 -1.265511 -1.481021 +v -1.095684 0.318860 -0.917410 +v -0.426606 -0.173949 -1.481021 +v 0.629247 -1.476963 -1.481021 +v -0.285979 -1.124398 0.701634 +v 1.051757 0.459539 -1.093672 +v 1.051757 -3.869802 -0.882372 +v 1.051757 -3.130371 -1.375264 +v 1.016443 -1.335850 0.701634 +v 0.734770 0.530312 -1.445768 +v -0.778697 -3.869802 -0.988129 +v -0.602756 0.459539 -1.445768 +v 1.016443 -1.862961 -1.445768 +v -0.285979 -3.905406 0.631130 +v -1.025055 -1.265511 0.631130 +v 0.981338 -3.729123 -1.340011 +v -0.426606 -0.843041 -1.481021 +v 1.051757 0.283256 0.631130 +v 0.453097 -0.103610 -1.481021 +v 0.946024 -3.764293 0.595877 +v -1.095684 0.530312 -0.741576 +v -1.025055 -3.905406 0.173490 +v -0.285979 -0.526080 0.701634 +v -0.989951 -1.968904 -1.340011 +v -1.060369 -0.209119 0.595877 +v 1.051757 -3.869802 -1.058206 +v 1.051757 -0.209553 0.631130 +v 0.277156 -1.898130 0.701634 +v 0.981338 -3.905406 0.138237 +v -0.180247 0.530312 0.666382 +f 63 55 95 +f 56 57 63 +f 58 54 65 +f 57 60 67 +f 66 68 69 +f 60 66 69 +f 61 55 70 +f 59 64 71 +f 64 62 71 +f 62 64 72 +f 59 71 73 +f 71 62 73 +f 55 61 74 +f 57 56 75 +f 56 64 75 +f 64 59 75 +f 57 75 77 +f 59 73 78 +f 73 69 78 +f 75 59 78 +f 69 75 78 +f 61 58 79 +f 58 65 79 +f 63 58 80 +f 58 70 80 +f 62 60 81 +f 60 69 81 +f 73 62 81 +f 69 73 81 +f 66 60 82 +f 68 66 82 +f 77 68 82 +f 56 55 83 +f 64 56 83 +f 72 64 83 +f 55 74 83 +f 69 68 84 +f 75 69 84 +f 68 77 84 +f 77 75 84 +f 74 61 85 +f 65 74 85 +f 61 79 85 +f 79 65 85 +f 63 57 86 +f 57 67 86 +f 67 58 86 +f 54 58 87 +f 67 60 87 +f 58 67 87 +f 76 54 87 +f 60 76 87 +f 55 63 88 +f 70 55 88 +f 63 80 88 +f 80 70 88 +f 60 57 89 +f 57 77 89 +f 82 60 89 +f 77 82 89 +f 58 63 90 +f 63 86 90 +f 86 58 90 +f 60 62 91 +f 62 72 91 +f 54 76 91 +f 76 60 91 +f 74 72 92 +f 72 83 92 +f 83 74 92 +f 58 61 93 +f 61 70 93 +f 70 58 93 +f 65 54 94 +f 74 65 94 +f 72 74 94 +f 54 91 94 +f 91 72 94 +f 55 56 95 +f 56 63 95 +o convex_3 +v 0.382761 -0.455403 1.124243 +v -0.250530 0.037482 2.215411 +v -0.285669 0.037482 2.215411 +v -0.602826 2.220110 0.983384 +v 0.558909 2.220110 2.109647 +v -0.567574 -0.455403 1.018478 +v -0.461931 2.184492 2.144741 +v 0.558909 -0.455403 2.074432 +v 0.418014 2.114305 1.159578 +v -0.497069 -0.455403 2.144982 +v 0.453266 -0.455403 1.159457 +v 0.382761 -0.455403 2.144982 +v -0.426792 2.043855 2.180196 +v 0.558909 2.220110 2.004003 +v -0.602826 2.220110 1.089149 +v -0.532322 2.220110 0.983384 +v -0.144887 -0.455403 2.215411 +v -0.497183 0.741716 2.144741 +v 0.453266 0.495274 1.159457 +v 0.382761 0.530367 1.124243 +v -0.074723 2.220110 2.144741 +v -0.567574 -0.455403 1.159457 +v -0.497069 -0.455403 1.018478 +v 0.558909 -0.455403 2.004124 +v -0.285896 2.220110 1.053813 +v -0.532322 1.726963 0.983384 +v 0.488405 2.149398 1.511603 +v 0.418014 0.248569 2.144982 +v -0.602826 1.726963 1.053813 +f 117 105 124 +f 101 96 103 +f 101 103 105 +f 103 96 106 +f 105 103 107 +f 98 97 108 +f 97 100 108 +f 105 98 108 +f 99 100 109 +f 100 103 109 +f 100 99 110 +f 99 109 111 +f 97 98 112 +f 100 97 112 +f 98 105 112 +f 105 107 112 +f 108 102 113 +f 105 108 113 +f 102 110 113 +f 110 105 113 +f 106 96 114 +f 109 106 114 +f 96 111 115 +f 111 104 115 +f 114 96 115 +f 104 114 115 +f 108 100 116 +f 102 108 116 +f 100 110 116 +f 110 102 116 +f 101 105 117 +f 96 101 118 +f 103 106 119 +f 109 103 119 +f 106 109 119 +f 109 104 120 +f 104 111 120 +f 111 109 120 +f 101 99 121 +f 111 96 121 +f 99 111 121 +f 96 118 121 +f 118 101 121 +f 104 109 122 +f 114 104 122 +f 109 114 122 +f 103 100 123 +f 107 103 123 +f 100 112 123 +f 112 107 123 +f 99 101 124 +f 110 99 124 +f 105 110 124 +f 101 117 124 +o convex_4 +v -0.426720 -3.975814 1.018471 +v -0.109876 -1.230162 2.145003 +v -0.461972 -1.230162 2.145003 +v -0.567622 -1.230162 1.018471 +v 0.453201 -1.230162 1.159398 +v 0.523705 -3.940338 2.039253 +v -0.567622 -3.905130 2.074429 +v 0.488453 -3.975814 1.159398 +v 0.523705 -1.230162 2.039253 +v -0.532370 -3.975814 1.018471 +v -0.145021 -1.230162 1.018471 +v -0.532370 -1.230162 2.109606 +v -0.039585 -1.934313 2.145003 +v 0.523705 -3.975814 1.546671 +v -0.180274 -3.940338 2.074429 +v -0.567622 -2.427219 2.109606 +v 0.523705 -1.230162 1.792907 +v -0.567622 -3.940338 1.440921 +v 0.382803 -3.553054 1.124111 +v -0.426720 -2.286389 2.145003 +v 0.418055 -1.265370 1.124111 +v 0.488453 -2.884111 1.159398 +v -0.567622 -3.940338 1.968900 +v 0.453201 -3.975814 1.687156 +f 139 147 148 +f 127 126 128 +f 128 126 129 +f 129 126 133 +f 128 125 134 +f 125 132 134 +f 125 128 135 +f 128 129 135 +f 127 128 136 +f 126 127 137 +f 130 133 137 +f 133 126 137 +f 133 130 138 +f 134 132 138 +f 130 137 139 +f 128 131 140 +f 127 136 140 +f 136 128 140 +f 129 133 141 +f 133 138 141 +f 131 128 142 +f 128 134 142 +f 132 125 143 +f 125 135 143 +f 137 127 144 +f 131 139 144 +f 139 137 144 +f 127 140 144 +f 140 131 144 +f 135 129 145 +f 132 143 145 +f 143 135 145 +f 138 132 146 +f 129 141 146 +f 141 138 146 +f 145 129 146 +f 132 145 146 +f 139 131 147 +f 131 142 147 +f 142 134 147 +f 138 130 148 +f 134 138 148 +f 130 139 148 +f 147 134 148 +o convex_5 +v -1.131081 1.656796 0.067881 +v -3.031696 0.635925 -0.952959 +v -3.031696 0.741578 -0.952959 +v -2.996385 0.812083 0.138272 +v -1.131081 0.635925 0.208777 +v -1.131081 0.635925 -0.882454 +v -3.102125 1.586394 -0.882454 +v -1.131081 1.621440 -0.917707 +v -2.996385 1.692048 0.032742 +v -2.996385 0.706429 0.138272 +v -1.201510 0.847232 0.208777 +v -1.131081 1.692048 -0.248935 +v -2.186743 1.621440 -0.917707 +v -3.031696 0.635925 -0.600890 +v -3.102125 1.410236 -0.706420 +v -1.131081 1.128837 -0.917707 +v -3.102125 1.551142 -0.917707 +v -1.166392 1.656796 -0.741559 +v -2.925956 1.692048 -0.072901 +v -2.327600 0.671177 0.173524 +v -1.131081 1.692048 0.032742 +v -1.624083 0.741578 0.208777 +v -2.644434 0.812083 -0.952959 +v -3.066814 1.621440 -0.741559 +f 157 167 172 +f 153 150 154 +f 149 153 154 +f 149 154 156 +f 153 149 159 +f 149 157 159 +f 149 156 160 +f 150 153 162 +f 162 158 163 +f 152 157 163 +f 157 155 163 +f 158 152 163 +f 150 162 163 +f 156 154 164 +f 151 150 165 +f 155 161 165 +f 150 163 165 +f 163 155 165 +f 160 156 166 +f 156 161 166 +f 166 161 167 +f 157 160 167 +f 160 166 167 +f 152 158 168 +f 162 153 168 +f 158 162 168 +f 157 149 169 +f 149 160 169 +f 160 157 169 +f 157 152 170 +f 153 159 170 +f 159 157 170 +f 152 168 170 +f 168 153 170 +f 150 151 171 +f 154 150 171 +f 161 156 171 +f 164 154 171 +f 156 164 171 +f 151 165 171 +f 165 161 171 +f 155 157 172 +f 161 155 172 +f 167 161 172 +o convex_6 +v 0.347685 -1.089077 2.532227 +v -0.321111 -0.490666 2.567442 +v -0.321111 -0.490666 2.532227 +v -0.285962 -1.089077 2.321054 +v 0.347685 -0.666686 2.215411 +v 0.277249 -0.561074 2.567442 +v -0.215526 -1.089077 2.602656 +v -0.250744 -0.631482 2.215411 +v 0.277249 -1.053814 2.215411 +v -0.285962 -1.089077 2.215411 +v -0.356398 -0.596278 2.567442 +v 0.347685 -0.842589 2.567442 +f 178 179 184 +f 177 175 178 +f 175 174 178 +f 176 173 179 +f 178 174 179 +f 175 177 180 +f 180 177 181 +f 177 173 181 +f 173 176 182 +f 180 181 182 +f 181 173 182 +f 174 175 183 +f 179 174 183 +f 176 179 183 +f 175 180 183 +f 182 176 183 +f 180 182 183 +f 173 177 184 +f 177 178 184 +f 179 173 184 +o convex_7 +v -0.215609 1.304858 0.666430 +v 0.558775 0.530481 -1.445817 +v 0.558775 0.600879 -1.445817 +v -1.025162 0.530481 -1.339956 +v -1.025162 2.255145 -1.339956 +v 1.086971 2.255145 0.525421 +v 1.051584 0.530481 0.595925 +v 0.981245 2.255145 -1.375105 +v -1.095501 2.255145 0.560570 +v -1.060331 0.530481 0.595719 +v 1.086971 0.530481 -0.988053 +v -1.130888 0.636162 -0.882399 +v 1.016415 0.530481 -1.410461 +v -0.743370 2.255145 0.630868 +v -1.130888 2.149464 0.560570 +v -0.778757 1.058550 -1.410461 +v 0.629114 2.255145 -1.410254 +v -1.130888 1.621564 -0.917548 +v 1.086971 1.656678 -0.847250 +v 0.347540 0.530481 0.666430 +v -1.130888 0.636162 0.208666 +v 1.086971 1.023266 0.595925 +v 0.312587 2.255145 0.595925 +v 1.016415 2.255145 -1.269658 +v -0.743370 0.530481 -1.410461 +v 0.910906 2.255145 -1.410254 +v -0.215391 0.600879 0.666430 +v -1.060331 2.255145 -1.093500 +v 1.086971 2.255145 -0.143444 +v 0.664284 0.882470 -1.445817 +v 0.875519 2.255145 0.560776 +v -0.250778 2.255145 0.630868 +v -1.095501 0.530481 -0.917548 +v 1.086971 0.600879 0.138162 +f 206 191 218 +f 188 186 191 +f 189 190 192 +f 190 189 193 +f 188 191 194 +f 191 186 195 +f 195 186 197 +f 190 193 198 +f 194 198 199 +f 198 193 199 +f 187 186 200 +f 188 189 200 +f 189 192 201 +f 200 189 201 +f 189 188 202 +f 188 196 202 +f 196 199 202 +f 190 195 203 +f 194 191 204 +f 194 199 205 +f 199 196 205 +f 195 190 206 +f 204 191 206 +f 190 198 207 +f 192 190 208 +f 197 192 208 +f 195 197 208 +f 203 195 208 +f 186 188 209 +f 200 186 209 +f 188 200 209 +f 192 197 210 +f 201 192 210 +f 185 198 211 +f 198 194 211 +f 204 185 211 +f 194 204 211 +f 193 189 212 +f 199 193 212 +f 189 202 212 +f 202 199 212 +f 190 203 213 +f 208 190 213 +f 203 208 213 +f 186 187 214 +f 197 186 214 +f 187 200 214 +f 200 201 214 +f 210 197 214 +f 201 210 214 +f 206 190 215 +f 204 206 215 +f 207 204 215 +f 190 207 215 +f 198 185 216 +f 185 204 216 +f 204 207 216 +f 207 198 216 +f 188 194 217 +f 196 188 217 +f 194 205 217 +f 205 196 217 +f 191 195 218 +f 195 206 218 +o convex_8 +v 1.509583 0.530429 -0.917658 +v 2.002439 1.727252 0.103068 +v 2.002439 1.727252 0.067929 +v 3.058391 0.565696 0.032677 +v 2.952448 1.621571 -0.952911 +v 1.087164 0.600845 0.138320 +v 1.087164 1.656720 -0.847267 +v 3.023077 1.656720 0.138320 +v 2.917327 0.600845 -0.847267 +v 1.087164 1.691986 0.067929 +v 1.087164 0.530429 -0.988163 +v 1.157599 0.706526 0.173573 +v 2.107802 1.163931 -0.988163 +v 2.917327 0.565696 0.067929 +v 1.087164 1.727252 -0.213748 +v 2.635778 0.565696 -0.882520 +v 3.023077 1.339911 0.138320 +v 2.987956 1.691986 -0.002462 +v 1.087164 0.812090 -0.988163 +v 2.987956 0.565696 -0.565703 +v 2.389351 1.691986 0.138320 +v 1.087164 0.530429 -0.776876 +v 1.333591 1.621571 -0.882520 +v 3.058391 0.671260 -0.108219 +v 2.952448 1.445475 -0.952911 +v 1.404027 0.530429 -0.988163 +v 2.987956 1.656720 -0.530451 +v 1.122478 0.776941 0.173573 +f 239 228 246 +f 225 224 228 +f 224 225 229 +f 230 224 232 +f 220 221 233 +f 223 225 233 +f 228 220 233 +f 225 228 233 +f 222 226 235 +f 226 230 235 +f 232 222 235 +f 230 232 235 +f 221 220 236 +f 220 226 236 +f 229 225 237 +f 231 229 237 +f 222 219 238 +f 219 234 238 +f 234 227 238 +f 226 220 239 +f 220 228 239 +f 219 222 240 +f 229 219 240 +f 224 229 240 +f 222 232 240 +f 232 224 240 +f 225 223 241 +f 223 231 241 +f 237 225 241 +f 231 237 241 +f 226 222 242 +f 222 238 242 +f 242 238 243 +f 231 223 243 +f 227 234 243 +f 238 227 243 +f 223 242 243 +f 243 234 244 +f 219 229 244 +f 229 231 244 +f 234 219 244 +f 231 243 244 +f 233 221 245 +f 223 233 245 +f 221 236 245 +f 236 226 245 +f 226 242 245 +f 242 223 245 +f 228 224 246 +f 224 230 246 +f 230 226 246 +f 226 239 246 +o convex_9 +v -0.567622 -1.229893 1.089079 +v 0.558909 -0.455403 2.074360 +v 0.558909 -1.088960 2.074360 +v 0.277277 -0.631437 0.701930 +v -0.497159 -0.455403 2.144737 +v -0.567622 -0.455403 1.018702 +v -0.532225 -1.229893 2.109623 +v 0.453270 -1.229893 1.159456 +v -0.250592 -1.159389 0.701930 +v 0.453270 -0.455403 1.159456 +v 0.277277 -1.053859 2.215411 +v 0.523623 -1.229893 2.039246 +v 0.241990 -1.194641 0.701930 +v -0.285769 -0.525832 0.701930 +v -0.250592 -0.455403 2.215411 +v -0.285769 -1.088960 2.215411 +v 0.347630 -0.666690 2.215411 +v -0.567622 -1.229893 1.018702 +v -0.250592 -1.229893 2.180000 +v -0.532225 -0.842648 2.109623 +v 0.558909 -1.124136 2.003983 +f 258 254 267 +f 251 248 252 +f 253 247 254 +f 252 248 256 +f 254 250 256 +f 253 254 258 +f 249 257 258 +f 250 254 259 +f 255 250 259 +f 250 255 260 +f 252 256 260 +f 256 250 260 +f 248 251 261 +f 257 261 262 +f 251 253 262 +f 261 251 262 +f 249 248 263 +f 257 249 263 +f 248 261 263 +f 261 257 263 +f 247 252 264 +f 254 247 264 +f 259 254 264 +f 255 259 264 +f 260 255 264 +f 252 260 264 +f 253 258 265 +f 258 257 265 +f 257 262 265 +f 262 253 265 +f 251 252 266 +f 252 247 266 +f 247 253 266 +f 253 251 266 +f 248 249 267 +f 256 248 267 +f 254 256 267 +f 249 258 267 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/619/619.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/619/619.urdf new file mode 100644 index 000000000..1f1714d33 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/619/619.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/620/620.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/620/620.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/620/620.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/620/620.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/620/620.obj new file mode 100644 index 000000000..e4429fbe2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/620/620.obj @@ -0,0 +1,693 @@ +o convex_0 +v -3.079420 -3.118216 0.427857 +v -1.090849 -1.976688 0.869932 +v -1.090849 -2.234527 0.869932 +v -1.090849 -2.124124 -0.271711 +v -3.116301 -2.013605 -0.271711 +v -1.090849 -3.007813 -0.234910 +v -3.079420 -2.087207 0.796099 +v -1.090849 -3.044614 0.796099 +v -3.042540 -2.970896 -0.308628 +v -2.932097 -3.155248 0.722497 +v -1.164610 -2.050406 -0.198109 +v -2.342802 -1.976688 0.170249 +v -3.116301 -2.897294 0.538260 +v -2.158598 -2.565968 -0.308628 +v -1.311934 -3.081415 0.722497 +v -1.532820 -3.007813 -0.271711 +v -2.858336 -2.050406 0.796099 +v -3.079420 -2.271444 -0.308628 +v -3.079420 -3.081415 0.722497 +v -1.090849 -1.976688 0.538260 +v -1.496138 -1.976688 0.869932 +v -3.116301 -2.013605 0.059730 +v -2.416365 -2.013605 -0.271711 +v -2.858336 -3.155248 0.648779 +v -3.042540 -2.234527 0.796099 +v -3.116301 -2.234527 -0.271711 +f 18 9 26 +f 2 3 4 +f 4 3 6 +f 6 3 8 +f 8 3 10 +f 9 1 13 +f 6 8 15 +f 8 10 15 +f 4 6 16 +f 1 9 16 +f 14 4 16 +f 9 14 16 +f 4 14 18 +f 14 9 18 +f 1 10 19 +f 7 13 19 +f 13 1 19 +f 2 4 20 +f 4 11 20 +f 12 2 20 +f 3 2 21 +f 2 12 21 +f 17 7 21 +f 17 21 22 +f 12 5 22 +f 5 13 22 +f 13 7 22 +f 7 17 22 +f 21 12 22 +f 11 4 23 +f 5 12 23 +f 4 18 23 +f 18 5 23 +f 20 11 23 +f 12 20 23 +f 10 1 24 +f 6 15 24 +f 15 10 24 +f 1 16 24 +f 16 6 24 +f 10 3 25 +f 7 19 25 +f 19 10 25 +f 3 21 25 +f 21 7 25 +f 13 5 26 +f 9 13 26 +f 5 18 26 +o convex_1 +v 0.971915 -1.645100 1.311935 +v -0.243374 -1.645100 -0.787580 +v -0.243374 -1.571404 -0.787580 +v -1.090651 -3.486693 1.237951 +v 1.082531 -3.597136 -0.713801 +v 1.045517 -3.634085 1.311935 +v -0.980035 -3.560389 -0.713801 +v -1.053637 -1.571404 1.274943 +v 1.008716 -1.571404 -0.713801 +v -0.980035 -1.571404 -0.750588 +v -1.090651 -3.634085 0.943451 +v 1.045517 -1.571404 0.796099 +v -1.090651 -2.087074 -0.234957 +v 1.082531 -2.013580 0.722526 +v -0.943234 -2.492301 -0.787374 +v 0.493074 -3.634085 1.311935 +v 1.082531 -2.087074 -0.345317 +v -1.090651 -1.571404 0.059748 +v -1.090651 -3.007568 -0.234957 +v -0.243374 -3.560389 -0.750588 +v 0.971915 -1.571404 1.274943 +v -1.016836 -3.634085 1.237951 +v 1.082531 -3.118415 0.759107 +v 1.045517 -3.634085 0.611754 +v -1.053637 -2.308364 1.274943 +v -1.090651 -1.976631 0.869672 +v -0.980035 -3.523238 -0.750588 +v 1.008716 -1.976631 1.311935 +v 1.045517 -1.792492 -0.713801 +v -0.538209 -3.634085 0.648747 +v 0.566677 -2.566199 -0.750588 +v -0.943234 -1.571404 -0.787374 +v 1.082531 -3.597136 0.280674 +v -1.053637 -1.571404 -0.419096 +v 1.082531 -2.713187 -0.713801 +f 57 55 61 +f 29 34 35 +f 34 29 36 +f 35 34 38 +f 37 30 39 +f 29 28 41 +f 32 27 42 +f 27 34 42 +f 37 32 42 +f 40 31 43 +f 38 40 43 +f 34 36 44 +f 39 30 44 +f 33 37 45 +f 37 39 45 +f 31 33 46 +f 41 28 46 +f 34 27 47 +f 38 34 47 +f 30 37 48 +f 37 42 48 +f 40 32 49 +f 31 40 49 +f 31 32 50 +f 32 37 50 +f 34 30 51 +f 42 34 51 +f 30 48 51 +f 48 42 51 +f 30 34 52 +f 44 30 52 +f 34 44 52 +f 36 41 53 +f 33 45 53 +f 46 33 53 +f 41 46 53 +f 27 32 54 +f 32 40 54 +f 40 38 54 +f 47 27 54 +f 38 47 54 +f 35 38 55 +f 38 43 55 +f 33 31 56 +f 37 33 56 +f 31 50 56 +f 50 37 56 +f 28 29 57 +f 29 35 57 +f 46 28 57 +f 31 46 57 +f 35 55 57 +f 36 29 58 +f 29 41 58 +f 41 36 58 +f 32 31 59 +f 31 49 59 +f 49 32 59 +f 44 36 60 +f 39 44 60 +f 45 39 60 +f 36 53 60 +f 53 45 60 +f 43 31 61 +f 55 43 61 +f 31 57 61 +o convex_2 +v 1.561580 -3.118415 0.354247 +v 2.997539 -1.939739 0.317363 +v 2.997539 -1.939739 -0.161264 +v 1.082729 -2.013580 0.722547 +v 1.082729 -2.087074 -0.345577 +v 3.108181 -3.044574 -0.234924 +v 3.071300 -3.044574 0.722547 +v 1.082729 -3.118415 0.759431 +v 1.082729 -2.934160 -0.198040 +v 3.071300 -1.976660 0.722547 +v 2.960857 -1.939739 -0.234924 +v 2.297801 -2.381974 0.759431 +v 2.297801 -1.939739 -0.013944 +v 1.082729 -3.007885 -0.124489 +v 1.082729 -2.123994 0.759431 +v 2.850215 -3.081495 0.722547 +v 3.071300 -2.197603 -0.124489 +v 1.451137 -1.976660 0.538343 +v 2.702892 -3.044574 -0.234924 +v 1.119610 -2.197603 -0.345577 +v 2.592449 -1.976660 -0.271809 +v 1.745784 -3.118415 0.759431 +v 2.739772 -3.081495 -0.050720 +v 3.108181 -3.044574 0.354247 +v 1.303814 -2.123994 -0.345577 +v 3.108181 -2.823515 -0.234924 +v 1.082729 -2.013580 0.427907 +v 1.082729 -3.118415 0.464683 +v 2.518886 -1.939739 -0.234924 +f 72 82 90 +f 65 66 69 +f 69 66 70 +f 64 63 71 +f 63 64 72 +f 68 71 73 +f 63 72 74 +f 69 70 75 +f 65 69 76 +f 71 65 76 +f 69 73 76 +f 73 71 76 +f 64 71 78 +f 72 64 78 +f 71 63 79 +f 65 71 79 +f 63 74 79 +f 62 75 80 +f 75 70 80 +f 70 66 81 +f 67 80 81 +f 80 70 81 +f 69 62 83 +f 73 69 83 +f 68 73 83 +f 77 68 83 +f 77 83 84 +f 67 77 84 +f 80 67 84 +f 62 80 84 +f 83 62 84 +f 71 68 85 +f 77 67 85 +f 68 77 85 +f 81 66 86 +f 67 81 86 +f 66 82 86 +f 82 67 86 +f 78 71 87 +f 72 78 87 +f 82 72 87 +f 67 82 87 +f 85 67 87 +f 71 85 87 +f 66 65 88 +f 74 66 88 +f 65 79 88 +f 79 74 88 +f 62 69 89 +f 75 62 89 +f 69 75 89 +f 66 74 90 +f 74 72 90 +f 82 66 90 +o convex_3 +v 0.014414 2.591070 -2.223960 +v -0.206566 4.469306 -1.192861 +v -0.427546 4.469306 -1.192861 +v 0.493042 4.432238 -2.334479 +v 0.603694 2.517316 -1.303380 +v -0.501314 2.517316 -1.229738 +v -0.501314 4.432238 -2.223960 +v 0.566810 4.432238 -1.303380 +v -0.501314 2.517316 -2.223960 +v 0.493042 2.517316 -2.150318 +v -0.427546 3.033019 -1.192861 +v 0.529926 4.432238 -2.113441 +v 0.382498 2.517316 -1.266615 +v -0.280226 2.848826 -2.260725 +v 0.087858 4.469306 -1.818874 +v 0.456158 2.517316 -2.187083 +v -0.464430 4.469306 -1.561182 +v 0.566810 4.432238 -1.634825 +v 0.419382 4.284922 -2.334479 +v 0.603694 2.517316 -1.377022 +v 0.382498 4.432238 -1.266615 +v -0.501314 2.775263 -1.229738 +f 107 97 112 +f 95 96 99 +f 96 97 99 +f 95 99 100 +f 92 93 101 +f 93 96 101 +f 100 94 102 +f 96 95 103 +f 92 101 103 +f 101 96 103 +f 91 99 104 +f 99 97 104 +f 93 92 105 +f 94 97 105 +f 92 98 105 +f 102 94 105 +f 99 91 106 +f 94 100 106 +f 100 99 106 +f 93 105 107 +f 105 97 107 +f 98 95 108 +f 105 98 108 +f 102 105 108 +f 97 94 109 +f 91 104 109 +f 104 97 109 +f 106 91 109 +f 94 106 109 +f 95 100 110 +f 100 102 110 +f 108 95 110 +f 102 108 110 +f 98 92 111 +f 95 98 111 +f 103 95 111 +f 92 103 111 +f 96 93 112 +f 97 96 112 +f 93 107 112 +o convex_4 +v -0.722214 0.269966 1.348769 +v -0.943234 -0.650528 -0.824413 +v -0.943234 0.380586 -0.824413 +v 1.008716 -0.908258 -0.713797 +v -1.053637 -1.571213 1.274954 +v 1.045517 0.380586 1.127536 +v 0.971915 -1.571213 1.274741 +v -0.943234 -1.571213 -0.787399 +v 0.934901 0.380586 -0.713797 +v 1.008716 -1.571213 -0.713797 +v -1.090651 0.380586 1.090523 +v -1.090651 -1.571213 -0.013937 +v 0.934901 0.380586 1.274741 +v 1.082531 -0.724083 0.906517 +v 1.082531 0.380586 0.685497 +v -1.016836 0.343713 -0.566380 +v -0.980035 0.380586 1.348769 +v -0.022354 -1.423720 -0.787399 +v 1.045517 -1.571213 0.832915 +v -1.016836 -1.165989 1.311755 +v -0.611811 0.380586 -0.824413 +v -1.016836 -1.497466 -0.603394 +v -1.090651 0.380586 0.796113 +v -1.016836 0.012236 1.348769 +v 1.082531 0.159537 1.053934 +v 0.971915 0.049109 -0.676996 +v 0.235254 0.380586 1.311755 +v -1.053637 -0.908258 -0.419175 +v -1.090651 -0.098193 1.016920 +v -0.132758 -1.571213 -0.787399 +v -0.980035 0.380586 -0.750598 +f 140 128 143 +f 119 117 120 +f 115 118 121 +f 119 120 122 +f 118 115 123 +f 120 117 124 +f 119 118 125 +f 118 123 125 +f 126 122 127 +f 121 118 127 +f 122 116 127 +f 125 123 129 +f 116 122 130 +f 119 122 131 +f 126 119 131 +f 122 126 131 +f 117 119 132 +f 114 115 133 +f 115 121 133 +f 121 116 133 +f 130 114 133 +f 116 130 133 +f 114 120 134 +f 120 124 134 +f 123 115 135 +f 124 123 135 +f 119 113 136 +f 123 117 136 +f 113 129 136 +f 129 123 136 +f 132 119 136 +f 117 132 136 +f 118 119 137 +f 119 126 137 +f 126 127 137 +f 127 118 137 +f 116 121 138 +f 127 116 138 +f 121 127 138 +f 113 119 139 +f 119 125 139 +f 129 113 139 +f 125 129 139 +f 134 124 140 +f 124 135 140 +f 135 128 140 +f 117 123 141 +f 124 117 141 +f 123 124 141 +f 120 114 142 +f 122 120 142 +f 114 130 142 +f 130 122 142 +f 115 114 143 +f 114 134 143 +f 135 115 143 +f 128 135 143 +f 134 140 143 +o convex_5 +v -0.980107 0.380986 -0.750137 +v 1.119365 0.565219 1.054803 +v 1.119365 0.528205 1.054803 +v -1.090651 2.185464 3.263748 +v 1.045596 2.443098 -1.155916 +v 1.082372 2.443098 3.374616 +v -0.943115 0.454596 3.263748 +v -1.016883 2.443098 -1.155916 +v 0.971828 0.454596 -1.155916 +v 1.082372 0.454596 3.190131 +v -1.090651 2.517125 3.263748 +v -1.090651 0.380986 1.091168 +v -0.980107 0.418000 -1.155916 +v 1.082372 0.380777 1.091611 +v 1.082372 2.480112 1.643293 +v 0.161677 2.480112 -1.155916 +v 1.082372 1.816999 -1.155916 +v 0.898276 0.380777 -0.713772 +v -0.759019 0.380986 1.790527 +v -0.685467 2.517125 3.300556 +v -0.685467 2.480112 -1.155916 +v 0.787732 2.148450 3.374616 +v -1.016883 0.970280 -1.155916 +v 1.082372 2.443098 -0.787389 +v -1.090651 0.418000 0.796701 +v 1.045596 2.480112 0.281384 +v -1.090651 2.517125 2.932029 +v -0.537931 0.859657 3.300556 +v 0.898276 0.380777 1.569676 +v 1.082372 2.480112 2.453520 +v 1.008821 0.712647 -1.155916 +v 1.045596 0.675633 3.226939 +v -0.464379 2.517125 3.300556 +v -0.943115 0.418000 2.674371 +v 1.119365 0.491400 0.981186 +v -0.501155 0.454596 3.263748 +v 1.082372 2.222269 3.374616 +v -1.053659 2.517125 2.600754 +v 1.082372 0.380777 0.649467 +f 174 178 182 +f 146 145 149 +f 151 148 152 +f 150 147 155 +f 147 154 155 +f 151 152 156 +f 144 155 156 +f 148 151 159 +f 152 148 160 +f 155 144 161 +f 144 156 161 +f 156 152 161 +f 147 150 163 +f 154 147 163 +f 159 151 164 +f 149 163 165 +f 151 156 166 +f 158 145 167 +f 160 148 167 +f 155 154 168 +f 156 155 168 +f 151 166 168 +f 166 156 168 +f 148 159 169 +f 158 167 169 +f 167 148 169 +f 154 163 170 +f 151 168 170 +f 168 154 170 +f 163 150 171 +f 165 163 171 +f 157 153 172 +f 155 161 172 +f 161 157 172 +f 162 155 172 +f 149 145 173 +f 145 158 173 +f 152 160 174 +f 163 149 176 +f 169 159 176 +f 158 169 176 +f 170 163 176 +f 149 173 176 +f 173 158 176 +f 150 155 177 +f 155 162 177 +f 172 153 177 +f 162 172 177 +f 145 146 178 +f 146 153 178 +f 153 157 178 +f 167 145 178 +f 160 167 178 +f 174 160 178 +f 171 150 179 +f 153 175 179 +f 150 177 179 +f 177 153 179 +f 146 149 180 +f 153 146 180 +f 149 165 180 +f 165 171 180 +f 175 153 180 +f 171 179 180 +f 179 175 180 +f 164 151 181 +f 159 164 181 +f 151 170 181 +f 176 159 181 +f 170 176 181 +f 161 152 182 +f 157 161 182 +f 152 174 182 +f 178 157 182 +o convex_6 +v 0.603582 -1.055459 -2.150329 +v -0.538036 -1.571404 -1.855581 +v -0.538036 -1.571404 -1.303401 +v -0.464282 0.417611 -2.223989 +v 0.603582 0.417611 -1.192749 +v -0.464282 0.417611 -1.192749 +v 0.529829 -1.460816 -1.266517 +v 0.456187 0.417611 -2.297757 +v -0.501159 -1.571404 -2.260873 +v 0.493064 -1.497614 -2.223989 +v 0.603582 -1.460816 -1.929241 +v -0.538036 -0.834479 -1.303401 +v 0.603582 -0.134937 -1.192749 +v 0.493064 0.307023 -2.297757 +v -0.243356 -1.571404 -1.303401 +v -0.464282 -0.134937 -2.260873 +v 0.603582 0.417611 -1.450613 +v -0.501159 -1.129249 -1.266517 +v 0.603582 -1.424019 -2.223989 +v -0.022430 -1.534411 -2.260873 +v 0.566706 -1.460816 -1.377061 +v 0.235261 0.417611 -2.297757 +v 0.529829 -0.208726 -1.192749 +v 0.493064 0.086043 -2.297757 +v -0.316998 -1.571404 -2.260873 +f 191 206 207 +f 187 186 188 +f 186 187 190 +f 185 184 191 +f 184 186 191 +f 183 187 193 +f 184 185 194 +f 186 184 194 +f 185 188 194 +f 188 186 194 +f 187 188 195 +f 193 187 195 +f 189 185 197 +f 185 191 197 +f 191 186 198 +f 187 183 199 +f 190 187 199 +f 183 196 199 +f 196 190 199 +f 188 185 200 +f 185 189 200 +f 183 193 201 +f 193 192 201 +f 196 183 201 +f 201 192 202 +f 192 193 203 +f 195 189 203 +f 193 195 203 +f 189 197 203 +f 197 192 203 +f 186 190 204 +f 190 196 204 +f 198 186 204 +f 191 198 204 +f 195 188 205 +f 189 195 205 +f 188 200 205 +f 200 189 205 +f 196 201 206 +f 201 202 206 +f 204 196 206 +f 191 204 206 +f 197 191 207 +f 192 197 207 +f 202 192 207 +f 206 202 207 +o convex_7 +v -1.090539 0.675709 -2.223888 +v 0.677101 2.517125 -2.334461 +v 0.677101 2.517125 -2.408229 +v 1.082531 0.491588 -2.260693 +v 1.045519 2.443148 -1.155916 +v -0.979929 0.417816 -1.155916 +v -1.016728 2.443148 -1.155916 +v -0.979929 2.517125 -2.702826 +v 0.971920 0.454805 -1.155916 +v 1.082531 0.491588 -2.739472 +v -1.090539 0.528371 -2.702826 +v 0.971920 2.443148 -2.776594 +v 0.198498 0.417816 -2.297656 +v -0.501326 2.517125 -1.229843 +v 1.082531 1.007168 -2.776594 +v 1.082531 2.148472 -1.155916 +v -1.053740 1.927568 -1.155916 +v 0.529904 2.479931 -2.776594 +v -1.090539 0.970385 -2.702826 +v 0.603503 2.517125 -1.303452 +v 0.603503 0.417816 -1.193038 +v -0.464314 0.417816 -2.223888 +v -0.132908 0.491588 -2.739630 +v 1.082531 1.780230 -1.155916 +v 1.008720 2.406365 -2.334461 +v 1.008720 0.491588 -1.303452 +v -1.016728 2.185255 -2.481680 +v -1.090539 0.491588 -2.481680 +v 1.045519 0.638926 -2.776594 +v -1.016728 0.528371 -1.340098 +v 0.493105 0.417816 -2.223888 +v 0.898109 2.479931 -2.702826 +f 219 225 239 +f 213 212 214 +f 209 210 215 +f 212 213 216 +f 211 216 217 +f 214 212 221 +f 209 215 221 +f 215 214 221 +f 211 217 222 +f 212 216 223 +f 211 222 223 +f 213 214 224 +f 215 210 225 +f 219 222 225 +f 218 208 226 +f 208 224 226 +f 215 225 226 +f 225 218 226 +f 212 209 227 +f 209 221 227 +f 221 212 227 +f 216 213 228 +f 213 220 228 +f 220 213 229 +f 220 229 230 +f 217 220 230 +f 218 225 230 +f 229 218 230 +f 211 223 231 +f 223 216 231 +f 219 212 232 +f 222 219 232 +f 223 222 232 +f 212 223 232 +f 216 211 233 +f 211 231 233 +f 231 216 233 +f 214 215 234 +f 224 214 234 +f 226 224 234 +f 215 226 234 +f 208 218 235 +f 229 213 235 +f 218 229 235 +f 222 217 236 +f 225 222 236 +f 217 230 236 +f 230 225 236 +f 224 208 237 +f 213 224 237 +f 208 235 237 +f 235 213 237 +f 217 216 238 +f 220 217 238 +f 216 228 238 +f 228 220 238 +f 210 209 239 +f 209 212 239 +f 212 219 239 +f 225 210 239 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/620/620.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/620/620.urdf new file mode 100644 index 000000000..d4563be08 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/620/620.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/621/621.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/621/621.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/621/621.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/621/621.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/621/621.obj new file mode 100644 index 000000000..3a1d03c22 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/621/621.obj @@ -0,0 +1,453 @@ +o convex_0 +v -1.106732 -2.441705 1.862591 +v 1.111102 -0.822550 2.532068 +v 1.111102 -0.928265 2.532068 +v 1.075716 -0.259677 -3.030014 +v -1.071346 -0.365175 2.918969 +v -1.071346 -2.406322 -2.959072 +v 1.075716 -2.371156 -2.501825 +v -1.036176 -0.294843 -2.994245 +v 0.970208 -2.335990 2.954142 +v 1.075716 -0.330009 3.060257 +v -1.071346 -2.335990 2.989315 +v -1.071346 -0.224512 -0.036744 +v 1.075716 -2.335990 -2.959072 +v 1.075716 -2.441705 -0.670451 +v 0.935038 -0.224512 0.982673 +v 1.111102 -2.371156 1.405344 +v -1.001007 -0.224512 0.947500 +v -1.071346 -0.365175 -2.501825 +v -1.106732 -1.350474 2.954142 +v 0.758975 -2.371156 2.954142 +v -1.001007 -0.365175 2.989315 +v -1.071346 -0.224512 -0.952430 +v -1.106732 -2.441705 0.806809 +v 1.075716 -0.224512 -0.670451 +v -1.106732 -2.406322 2.954142 +v 1.005377 -2.124777 2.989315 +v 1.111102 -2.406322 0.137928 +v 0.336510 -0.259677 -3.030014 +v 1.111102 -0.893099 0.666117 +v 1.075716 -0.717269 -3.030014 +v 1.075716 -2.441705 -1.057949 +v 0.794144 -0.611554 3.060257 +v -0.472817 -2.406322 -2.959072 +v 0.195833 -0.330009 3.024488 +v -1.071346 -0.822767 -2.959072 +v -0.296971 -0.259677 -2.994245 +v -1.071346 -2.441705 0.313793 +v 1.075716 -0.224512 0.595772 +v 1.040546 -2.371156 2.214916 +v -1.071346 -0.400341 2.989315 +v 1.075716 -0.893316 3.024488 +v -1.106732 -1.808066 1.581208 +v 1.040546 -0.224512 -0.916661 +v -0.684267 -2.406322 2.953546 +v -0.754605 -2.441705 1.546035 +v 0.758975 -0.330009 3.060257 +v 0.618081 -2.441705 -0.916661 +v 0.512573 -2.371156 -2.959072 +f 31 33 48 +f 3 2 10 +f 2 3 16 +f 12 5 17 +f 15 12 17 +f 5 12 19 +f 17 5 21 +f 12 15 22 +f 8 18 22 +f 19 12 22 +f 18 19 22 +f 14 1 23 +f 1 19 23 +f 2 4 24 +f 22 15 24 +f 11 19 25 +f 19 1 25 +f 16 3 26 +f 20 9 26 +f 11 20 26 +f 7 13 27 +f 2 16 27 +f 16 14 27 +f 6 8 28 +f 22 4 28 +f 4 2 29 +f 2 27 29 +f 27 4 29 +f 4 27 30 +f 27 13 30 +f 28 4 30 +f 6 28 30 +f 14 23 31 +f 7 27 31 +f 27 14 31 +f 26 10 32 +f 11 26 32 +f 6 30 33 +f 31 6 33 +f 17 21 34 +f 8 6 35 +f 18 8 35 +f 6 23 35 +f 23 18 35 +f 8 22 36 +f 28 8 36 +f 22 28 36 +f 23 6 37 +f 31 23 37 +f 10 2 38 +f 15 10 38 +f 2 24 38 +f 24 15 38 +f 14 16 39 +f 9 20 39 +f 20 14 39 +f 16 26 39 +f 26 9 39 +f 5 19 40 +f 19 11 40 +f 21 5 40 +f 3 10 41 +f 26 3 41 +f 10 26 41 +f 19 18 42 +f 18 23 42 +f 23 19 42 +f 4 22 43 +f 24 4 43 +f 22 24 43 +f 20 11 44 +f 11 25 44 +f 25 1 44 +f 1 14 45 +f 14 20 45 +f 20 44 45 +f 44 1 45 +f 10 15 46 +f 15 17 46 +f 32 10 46 +f 11 32 46 +f 17 34 46 +f 34 21 46 +f 40 11 46 +f 21 40 46 +f 6 31 47 +f 37 6 47 +f 31 37 47 +f 13 7 48 +f 30 13 48 +f 7 31 48 +f 33 30 48 +o convex_1 +v -0.472937 2.451149 -1.023393 +v 0.758891 3.648091 1.088840 +v -0.895331 3.753961 0.138170 +v -1.000981 1.043262 0.947831 +v 1.040694 1.043528 -0.812087 +v 0.934837 3.648091 -0.952682 +v 0.970192 1.043528 1.018129 +v -1.000981 1.043262 -0.987831 +v -1.000981 3.718671 0.982980 +v -0.930479 3.753961 -1.023186 +v 1.005340 3.331276 1.018129 +v 0.970192 1.043528 -0.952682 +v -1.071483 1.325052 -0.389475 +v -0.789887 1.043262 0.982980 +v 0.653448 3.683381 -0.988037 +v 1.040694 1.043528 0.631079 +v -1.071483 1.043262 0.490071 +v 0.970192 3.648091 -0.565632 +v 0.970192 3.612801 1.088840 +v 1.040694 1.818051 -0.565632 +v -0.754533 3.718671 1.018129 +v -1.000981 1.923390 -1.023186 +v -1.000981 3.718671 0.490071 +v 0.758891 3.260962 1.088840 +v -1.036129 2.979438 0.842178 +v 0.970192 3.436881 -0.952682 +v 1.040694 2.169890 0.701377 +v -0.578587 3.753961 -1.023186 +v -0.155986 1.360342 1.018129 +v -0.085690 1.043262 -0.987831 +v -1.000981 1.817786 0.982980 +v -0.155986 3.542486 -1.023393 +v -0.965833 3.225672 -0.882384 +v 0.970192 3.648091 0.349269 +v -1.071483 1.043262 -0.354326 +v 0.512443 1.043262 1.018129 +v 1.005340 2.099575 -0.952682 +v -0.543439 3.718671 1.018129 +v 0.230847 1.430657 -0.987831 +v -1.071483 1.325052 0.525426 +v 0.688596 3.683381 -0.882384 +v -1.036129 1.289762 0.807030 +f 73 88 90 +f 57 51 58 +f 52 56 62 +f 59 55 64 +f 56 52 65 +f 55 59 67 +f 64 53 68 +f 66 59 68 +f 51 57 69 +f 58 49 70 +f 56 61 70 +f 57 58 71 +f 67 50 72 +f 55 67 72 +f 50 69 72 +f 57 71 73 +f 71 61 73 +f 63 54 74 +f 54 66 74 +f 66 68 74 +f 59 64 75 +f 64 68 75 +f 68 59 75 +f 58 51 76 +f 72 62 77 +f 60 53 78 +f 62 56 78 +f 70 49 78 +f 56 70 78 +f 52 62 79 +f 69 57 79 +f 62 72 79 +f 72 69 79 +f 57 73 79 +f 49 58 80 +f 63 60 80 +f 58 76 80 +f 76 63 80 +f 58 70 81 +f 70 61 81 +f 71 58 81 +f 61 71 81 +f 59 66 82 +f 50 67 82 +f 67 59 82 +f 61 56 83 +f 56 65 83 +f 65 61 83 +f 53 64 84 +f 64 55 84 +f 55 72 84 +f 77 62 84 +f 72 77 84 +f 78 53 84 +f 62 78 84 +f 53 60 85 +f 60 63 85 +f 68 53 85 +f 63 74 85 +f 74 68 85 +f 50 51 86 +f 51 69 86 +f 69 50 86 +f 60 78 87 +f 78 49 87 +f 49 80 87 +f 80 60 87 +f 61 65 88 +f 73 61 88 +f 51 50 89 +f 54 63 89 +f 66 54 89 +f 76 51 89 +f 63 76 89 +f 50 82 89 +f 82 66 89 +f 65 52 90 +f 52 79 90 +f 79 73 90 +f 88 65 90 +o convex_2 +v 3.117723 0.444817 0.279058 +v 1.075898 0.796759 -0.319250 +v 1.251980 0.444817 -0.284032 +v 1.075898 0.831929 0.349493 +v 2.976818 0.867222 -0.213597 +v 1.075898 0.339185 0.243840 +v 2.941642 0.409647 -0.319250 +v 3.011994 0.937561 0.243840 +v 1.075898 0.972854 -0.319250 +v 3.117723 0.339185 0.314275 +v 1.146451 0.902391 0.349493 +v 1.639319 0.339185 -0.002422 +v 2.906465 0.374416 -0.284032 +v 1.393085 0.972854 -0.319250 +v 1.075898 0.444817 -0.248814 +v 2.695208 0.937561 0.279058 +v 1.075898 0.409647 0.279058 +v 1.075898 0.972854 -0.178445 +v 2.976818 0.937561 0.067883 +v 2.941642 0.656019 -0.284032 +v 3.117723 0.339185 0.208688 +f 103 97 111 +f 94 92 96 +f 93 92 97 +f 91 95 98 +f 92 94 99 +f 97 92 99 +f 91 98 100 +f 94 100 101 +f 100 96 102 +f 93 97 103 +f 102 93 103 +f 97 99 104 +f 92 93 105 +f 96 92 105 +f 93 102 105 +f 102 96 105 +f 100 98 106 +f 101 100 106 +f 94 96 107 +f 100 94 107 +f 96 100 107 +f 99 94 108 +f 94 101 108 +f 98 104 108 +f 104 99 108 +f 106 98 108 +f 101 106 108 +f 98 95 109 +f 95 104 109 +f 104 98 109 +f 95 97 110 +f 104 95 110 +f 97 104 110 +f 95 91 111 +f 97 95 111 +f 91 100 111 +f 100 102 111 +f 102 103 111 +o convex_3 +v -3.007452 0.550490 -0.213649 +v -2.549957 1.007993 0.208636 +v -1.071732 0.444903 0.314289 +v -1.071732 0.867188 -0.284018 +v -1.071732 0.374468 -0.248801 +v -2.937024 0.374468 0.208636 +v -3.042956 0.867188 -0.354454 +v -1.071732 0.867188 0.208636 +v -2.972334 0.902340 0.208636 +v -2.972334 0.480055 -0.284018 +v -1.423874 0.339315 0.314289 +v -2.972334 1.007993 0.067896 +v -2.444218 0.796752 -0.354454 +v -1.071732 0.339315 -0.002539 +v -2.937024 0.374468 0.103049 +v -3.042956 0.726382 -0.354454 +v -2.268243 0.339315 0.208636 +v -1.071732 0.339315 0.314289 +v -1.071732 0.796752 0.243854 +f 119 113 130 +f 115 114 116 +f 114 115 119 +f 115 113 119 +f 114 113 120 +f 114 120 122 +f 120 117 122 +f 113 115 123 +f 115 118 123 +f 120 113 123 +f 118 120 123 +f 115 116 124 +f 118 115 124 +f 116 114 125 +f 117 112 126 +f 121 116 126 +f 112 121 126 +f 112 117 127 +f 117 120 127 +f 120 118 127 +f 116 121 127 +f 121 112 127 +f 124 116 127 +f 118 124 127 +f 122 117 128 +f 116 125 128 +f 125 122 128 +f 117 126 128 +f 126 116 128 +f 114 122 129 +f 125 114 129 +f 122 125 129 +f 113 114 130 +f 114 119 130 +o convex_4 +v 1.075805 1.008031 0.419746 +v -1.071539 -0.012689 -0.988189 +v -1.071539 -0.224078 -0.952833 +v -1.000913 1.043262 0.947721 +v 0.934975 -0.224078 0.983077 +v 0.934975 1.043262 -0.952833 +v 1.040492 -0.224078 -0.917478 +v -1.000913 -0.224078 0.947721 +v -1.000913 1.043262 -0.988189 +v 0.970077 1.043262 1.018432 +v 1.075805 -0.224078 0.595737 +v -1.071539 1.043262 0.490260 +v 1.040492 1.043262 -0.847160 +v 1.075805 -0.188846 -0.776645 +v -1.071539 0.128113 0.454905 +v -0.613736 0.409592 0.983077 +v -1.071539 1.043262 -0.318988 +v 0.406967 -0.224078 -0.952833 +v -0.121041 1.008031 -0.988189 +v -0.789668 1.043262 0.983077 +v 1.075805 0.972799 -0.389502 +v -1.071539 -0.224078 -0.002360 +v -1.036226 1.008031 -0.988189 +v 0.582900 1.008031 1.018432 +v 0.794145 0.198576 -0.952833 +v 1.040492 0.867229 -0.917478 +f 151 144 156 +f 135 133 137 +f 133 135 138 +f 134 136 139 +f 136 134 140 +f 135 137 141 +f 131 140 141 +f 140 135 141 +f 132 133 142 +f 138 134 142 +f 134 139 142 +f 140 131 143 +f 136 140 143 +f 131 141 144 +f 141 137 144 +f 142 133 145 +f 138 142 145 +f 138 135 146 +f 132 142 147 +f 142 139 147 +f 133 132 148 +f 137 133 148 +f 132 139 149 +f 139 136 149 +f 148 132 149 +f 134 138 150 +f 140 134 150 +f 138 146 150 +f 143 131 151 +f 131 144 151 +f 133 138 152 +f 145 133 152 +f 138 145 152 +f 139 132 153 +f 132 147 153 +f 147 139 153 +f 135 140 154 +f 146 135 154 +f 140 150 154 +f 150 146 154 +f 136 137 155 +f 137 148 155 +f 149 136 155 +f 148 149 155 +f 137 136 156 +f 136 143 156 +f 144 137 156 +f 143 151 156 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/621/621.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/621/621.urdf new file mode 100644 index 000000000..91fcb290f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/621/621.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/622/622.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/622/622.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/622/622.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/622/622.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/622/622.obj new file mode 100644 index 000000000..7c7e8d37f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/622/622.obj @@ -0,0 +1,543 @@ +o convex_0 +v 1.080478 -1.247167 0.265025 +v -1.064668 -2.015735 -0.118989 +v -1.064668 -2.015735 -0.023038 +v -0.328062 2.370316 0.200778 +v 0.984308 2.049997 -1.015304 +v 1.016435 1.954049 1.033475 +v -0.968498 -2.655880 0.969437 +v 1.048352 -2.655880 -1.015514 +v -1.064668 1.954049 -1.047638 +v -0.936371 1.953557 0.969227 +v 0.984308 -2.655880 1.097302 +v -1.000625 -2.655880 -0.951477 +v 0.280038 2.370316 -0.343016 +v 1.016435 1.857609 -0.983390 +v 1.080478 -2.655880 0.489051 +v -1.000625 -2.559932 -0.983390 +v 0.311955 2.370316 0.264815 +v -0.199974 -0.350177 1.033475 +v 0.568129 1.986032 1.033265 +v -1.064668 1.025077 -1.047638 +v 1.080478 -2.559932 -0.663203 +v -1.064668 1.954049 -0.759364 +v -1.000625 -2.655880 0.905190 +v -0.232101 1.986032 -1.047428 +v -0.296145 2.370316 -0.278978 +v -1.032542 -2.623897 -0.663413 +v 0.247911 -2.655880 1.065389 +v 0.536003 -2.655880 -1.015514 +v 1.080478 -1.311133 -0.438967 +v -0.648280 1.057059 1.001141 +v 0.984308 2.017523 0.680954 +v -0.968498 1.089042 0.744991 +v 1.080478 -1.247167 0.553089 +v 0.920264 -2.432001 1.097302 +v -1.032542 -2.655880 0.489051 +v -1.064668 -1.791364 -0.438967 +v -0.008053 2.370316 0.264815 +v 1.048352 -1.471538 -1.015514 +v 0.984308 0.352457 1.065389 +v 0.984308 1.986032 1.033265 +v -0.968498 -0.319179 0.969227 +v -0.424232 1.986032 -1.047428 +v -1.032542 -1.631451 0.360767 +v -1.064668 1.889592 -0.727240 +v 1.016435 -2.079700 0.937314 +v -1.032542 -1.247167 -0.983390 +v -0.360188 1.921575 1.001141 +v 1.016435 1.729679 -1.015514 +v -0.968498 1.953557 0.585003 +f 44 32 49 +f 2 3 9 +f 7 8 11 +f 8 7 12 +f 6 1 14 +f 5 6 14 +f 11 8 15 +f 13 4 17 +f 5 13 17 +f 2 9 20 +f 1 15 21 +f 15 8 21 +f 9 3 22 +f 4 9 22 +f 12 7 23 +f 20 9 24 +f 8 20 24 +f 9 4 25 +f 4 13 25 +f 13 9 25 +f 16 12 26 +f 7 11 27 +f 8 12 28 +f 12 16 28 +f 20 8 28 +f 16 20 28 +f 14 1 29 +f 1 21 29 +f 18 19 30 +f 7 27 30 +f 27 18 30 +f 6 5 31 +f 5 17 31 +f 1 6 33 +f 15 1 33 +f 19 18 34 +f 27 11 34 +f 18 27 34 +f 3 2 35 +f 12 23 35 +f 2 26 35 +f 26 12 35 +f 2 20 36 +f 26 2 36 +f 4 10 37 +f 17 4 37 +f 19 17 37 +f 10 19 37 +f 21 8 38 +f 8 24 38 +f 11 6 39 +f 34 11 39 +f 19 34 39 +f 17 19 40 +f 6 31 40 +f 31 17 40 +f 39 6 40 +f 19 39 40 +f 23 7 41 +f 7 30 41 +f 30 10 41 +f 10 32 41 +f 13 5 42 +f 9 13 42 +f 5 24 42 +f 24 9 42 +f 3 35 43 +f 35 23 43 +f 23 41 43 +f 41 32 43 +f 22 3 44 +f 3 43 44 +f 43 32 44 +f 6 11 45 +f 11 15 45 +f 33 6 45 +f 15 33 45 +f 20 16 46 +f 16 26 46 +f 36 20 46 +f 26 36 46 +f 19 10 47 +f 10 30 47 +f 30 19 47 +f 5 14 48 +f 24 5 48 +f 14 29 48 +f 29 21 48 +f 21 38 48 +f 38 24 48 +f 10 4 49 +f 4 22 49 +f 32 10 49 +f 22 44 49 +o convex_1 +v -1.192187 2.370316 0.072864 +v 3.033047 3.554949 -0.119088 +v 3.065539 3.522828 0.265023 +v -3.081568 3.426699 0.393060 +v -3.017185 3.490824 -0.535364 +v 2.937374 2.370316 -0.503303 +v 3.065539 2.466445 0.521201 +v -2.953403 2.434441 -0.503199 +v -3.017185 2.498566 0.457079 +v 3.033047 3.554949 -0.471242 +v 3.065539 3.490824 0.521201 +v -0.231852 3.554949 0.328939 +v -2.280687 3.426699 0.489140 +v 0.567826 2.370316 0.296981 +v 0.760374 2.754602 -0.535260 +v 0.792265 2.466445 0.521098 +v 2.552879 3.554949 -0.503303 +v -0.968349 3.554949 -0.279186 +v -2.728964 2.402436 -0.439284 +v -2.825238 2.466445 0.457079 +v 2.841100 2.434441 0.521201 +v -0.328126 3.522828 -0.535364 +v -2.889019 2.946630 -0.535364 +v -3.081568 3.170662 0.457079 +v -2.088740 2.498566 0.489140 +v 0.727882 2.370316 -0.503303 +v 2.969265 2.370316 -0.215064 +v 3.001156 2.946746 -0.503303 +v 2.264658 3.490824 0.521201 +v -2.985294 2.434441 -0.311144 +v -0.840184 2.370316 0.265023 +v 3.065539 2.434441 0.425121 +v 0.920430 3.554949 -0.503303 +v -3.049076 2.530454 0.457079 +v -3.017185 3.298680 -0.535364 +v -1.384735 2.370316 -0.087027 +v 2.969265 2.370316 -0.439181 +v 1.848273 3.458819 0.521098 +v 3.065539 3.458819 -0.054966 +v -3.081568 3.394694 0.457079 +v 0.215823 3.554949 0.328939 +v 3.001156 3.266676 -0.503303 +v -2.953403 2.434441 -0.055069 +v -2.408852 2.402436 -0.503199 +f 75 85 93 +f 51 52 59 +f 56 52 60 +f 54 53 61 +f 51 59 61 +f 61 53 62 +f 50 55 63 +f 61 59 66 +f 54 61 67 +f 61 66 67 +f 56 60 70 +f 65 69 70 +f 54 71 72 +f 71 64 72 +f 65 62 74 +f 58 69 74 +f 69 65 74 +f 55 50 75 +f 64 55 75 +f 63 55 76 +f 70 63 76 +f 55 64 77 +f 60 61 78 +f 61 62 78 +f 70 60 78 +f 65 70 78 +f 57 68 79 +f 50 63 80 +f 69 50 80 +f 63 70 80 +f 70 69 80 +f 52 56 81 +f 56 70 81 +f 70 76 81 +f 77 59 81 +f 54 67 82 +f 67 66 82 +f 71 54 82 +f 66 71 82 +f 62 73 83 +f 58 74 83 +f 74 62 83 +f 79 58 83 +f 79 83 84 +f 53 54 84 +f 54 72 84 +f 72 57 84 +f 73 53 84 +f 57 79 84 +f 83 73 84 +f 50 68 85 +f 75 50 85 +f 76 55 86 +f 55 77 86 +f 81 76 86 +f 77 81 86 +f 62 65 87 +f 78 62 87 +f 65 78 87 +f 59 52 88 +f 52 81 88 +f 81 59 88 +f 62 53 89 +f 53 73 89 +f 73 62 89 +f 52 51 90 +f 60 52 90 +f 51 61 90 +f 61 60 90 +f 66 59 91 +f 64 71 91 +f 71 66 91 +f 59 77 91 +f 77 64 91 +f 68 50 92 +f 69 58 92 +f 50 69 92 +f 79 68 92 +f 58 79 92 +f 68 57 93 +f 57 72 93 +f 72 64 93 +f 64 75 93 +f 85 68 93 +o convex_2 +v 0.151973 4.003098 0.329098 +v 0.183958 3.554949 -0.343261 +v 0.183958 4.035205 -0.343261 +v -0.328275 3.554949 -0.215186 +v 0.216010 3.554949 0.329098 +v -0.264237 4.035205 0.329098 +v -0.296223 4.003098 -0.247172 +v -0.232186 3.554949 0.329098 +v 0.344085 4.035205 -0.215186 +v 0.312033 3.554949 -0.343261 +v 0.216010 3.971083 0.329098 +v 0.344085 4.035205 -0.343261 +v -0.264237 4.035205 -0.247172 +v -0.328275 3.619071 -0.087112 +f 101 99 107 +f 97 95 98 +f 98 94 99 +f 96 95 100 +f 95 97 100 +f 97 98 101 +f 98 99 101 +f 99 94 102 +f 96 99 102 +f 95 96 103 +f 98 95 103 +f 102 98 103 +f 94 98 104 +f 102 94 104 +f 98 102 104 +f 96 102 105 +f 103 96 105 +f 102 103 105 +f 99 96 106 +f 96 100 106 +f 100 99 106 +f 100 97 107 +f 99 100 107 +f 97 101 107 +o convex_3 +v 1.208804 -3.360748 -0.119107 +v 3.065179 -2.688454 0.136942 +v 3.097557 -2.720503 0.265027 +v 3.065179 -3.360748 -0.215155 +v 2.969231 -3.296651 0.329098 +v 1.080873 -2.784534 0.297062 +v 2.200858 -2.720503 -0.215155 +v 1.080873 -3.104558 -0.247191 +v 1.080873 -3.232620 0.201014 +v 2.937248 -2.688454 -0.215155 +v 1.144838 -2.816516 -0.183119 +v 1.080873 -3.360748 -0.279227 +v 2.873086 -3.328634 -0.247191 +v 2.041142 -3.072509 0.329098 +v 2.937248 -2.816516 0.297062 +v 2.553062 -2.688454 -0.151143 +v 3.097557 -3.168589 -0.087071 +v 1.336932 -3.296651 -0.279227 +v 1.080873 -2.912596 0.297062 +v 1.785084 -2.752485 0.297062 +v 3.001214 -3.232620 0.329098 +v 1.080873 -2.816516 -0.119107 +f 118 115 129 +f 108 111 112 +f 113 115 116 +f 108 112 116 +f 114 115 118 +f 111 108 119 +f 116 115 119 +f 108 116 119 +f 117 111 120 +f 111 119 120 +f 116 112 121 +f 114 113 123 +f 109 117 123 +f 117 114 123 +f 109 110 124 +f 117 109 124 +f 111 117 124 +f 115 114 125 +f 114 117 125 +f 119 115 125 +f 117 120 125 +f 120 119 125 +f 113 116 126 +f 121 113 126 +f 116 121 126 +f 110 109 127 +f 113 121 127 +f 122 110 127 +f 121 122 127 +f 109 123 127 +f 123 113 127 +f 112 111 128 +f 121 112 128 +f 110 122 128 +f 122 121 128 +f 124 110 128 +f 111 124 128 +f 113 114 129 +f 115 113 129 +f 114 118 129 +o convex_4 +v -1.032651 -3.104561 0.297047 +v -3.081546 -3.328731 -0.343261 +v -3.081546 -3.328731 -0.183135 +v -3.081546 -2.720524 -0.279224 +v -1.032651 -3.296638 -0.279224 +v -3.017368 -2.752498 0.329098 +v -1.032651 -2.816563 -0.119097 +v -3.017368 -3.328731 0.233009 +v -1.032651 -3.264605 0.329098 +v -1.032651 -2.784530 0.168972 +v -1.032651 -2.848536 -0.247172 +v -2.825234 -3.200599 -0.343261 +v -2.185055 -3.328731 0.072949 +v -2.088988 -2.752498 0.265061 +v -3.049457 -2.720524 0.104935 +v -2.921301 -2.720524 -0.279224 +v -1.449209 -3.296638 0.297047 +v -3.017368 -2.816563 0.329098 +v -1.513187 -2.944575 -0.279224 +v -1.032651 -3.296638 0.040897 +v -1.833277 -3.296638 0.297047 +f 138 147 150 +f 131 132 133 +f 130 134 136 +f 132 131 137 +f 134 130 138 +f 130 135 138 +f 130 136 139 +f 136 134 140 +f 131 133 141 +f 134 131 141 +f 131 134 142 +f 137 131 142 +f 135 130 143 +f 130 139 143 +f 143 139 144 +f 133 132 144 +f 135 143 144 +f 139 136 145 +f 136 140 145 +f 141 133 145 +f 144 139 145 +f 133 144 145 +f 137 142 146 +f 132 137 147 +f 138 135 147 +f 144 132 147 +f 135 144 147 +f 140 134 148 +f 134 141 148 +f 145 140 148 +f 141 145 148 +f 134 138 149 +f 142 134 149 +f 138 146 149 +f 146 142 149 +f 137 146 150 +f 146 138 150 +f 147 137 150 +o convex_5 +v 0.824186 -2.720663 1.097302 +v 0.440077 -4.000865 -1.015414 +v 0.440077 -3.776855 -1.015414 +v -1.000384 -2.752664 0.937236 +v 0.952223 -4.096869 1.097302 +v 1.048405 -2.656516 -1.015414 +v -0.968530 -4.128870 -0.951511 +v -1.000384 -2.656372 -0.951511 +v -1.000384 -4.064867 0.937236 +v 1.048405 -3.968863 -1.015414 +v 1.080466 -2.656516 0.489090 +v -0.968530 -2.656372 0.969290 +v 0.984284 -2.656516 1.097302 +v -1.032651 -3.328834 -0.471104 +v 0.279980 -4.096869 1.065248 +v 0.984284 -4.096869 1.001138 +v 1.080466 -3.712852 -0.791237 +v -1.032651 -2.656372 0.520938 +v -0.200105 -4.128870 -0.215080 +v -1.000384 -4.096869 0.681212 +v 0.856247 -4.000865 -1.015414 +v 1.080466 -3.136682 0.489090 +v -0.936469 -4.064867 0.969290 +v -1.032651 -3.584702 0.649157 +v 1.080466 -2.656516 -0.663225 +v 0.503992 -2.656516 -1.015414 +v 0.664089 -3.232830 1.097302 +v -1.032651 -2.656372 -0.631171 +v -1.000384 -3.840858 -0.791237 +v -0.744311 -4.128870 -0.951511 +v -0.968530 -4.128870 -0.375146 +v 1.048405 -4.001009 -0.439049 +v 0.984284 -4.096869 0.905181 +v 0.984284 -3.680706 1.097302 +v 0.247919 -2.656516 1.065248 +v -1.000384 -4.096869 0.136902 +v -0.232165 -4.128870 -0.086861 +f 170 181 187 +f 152 153 156 +f 153 152 158 +f 152 157 158 +f 152 156 160 +f 154 159 162 +f 161 162 163 +f 151 155 163 +f 160 156 167 +f 154 162 168 +f 162 158 168 +f 157 152 171 +f 152 160 171 +f 161 163 172 +f 167 161 172 +f 162 159 173 +f 159 170 173 +f 170 165 173 +f 159 154 174 +f 154 168 174 +f 168 164 174 +f 170 159 174 +f 156 158 175 +f 158 162 175 +f 162 161 175 +f 167 156 175 +f 161 167 175 +f 156 153 176 +f 153 158 176 +f 158 156 176 +f 155 151 177 +f 165 155 177 +f 162 173 177 +f 173 165 177 +f 168 158 178 +f 164 168 178 +f 158 157 179 +f 178 158 179 +f 164 178 179 +f 169 157 180 +f 157 171 180 +f 171 169 180 +f 157 169 181 +f 170 157 181 +f 160 167 182 +f 172 166 182 +f 167 172 182 +f 166 169 183 +f 171 160 183 +f 169 171 183 +f 160 182 183 +f 182 166 183 +f 163 155 184 +f 155 166 184 +f 172 163 184 +f 166 172 184 +f 163 162 185 +f 151 163 185 +f 177 151 185 +f 162 177 185 +f 157 170 186 +f 174 164 186 +f 170 174 186 +f 179 157 186 +f 164 179 186 +f 155 165 187 +f 166 155 187 +f 169 166 187 +f 165 170 187 +f 181 169 187 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/622/622.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/622/622.urdf new file mode 100644 index 000000000..7ffdc3daa --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/622/622.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/623/623.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/623/623.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/623/623.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/623/623.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/623/623.obj new file mode 100644 index 000000000..347011dfc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/623/623.obj @@ -0,0 +1,303 @@ +o convex_0 +v -0.993267 -0.475008 3.009952 +v 0.367634 0.990809 1.125913 +v 0.367634 0.990809 1.090670 +v 1.065771 -1.103274 1.090670 +v 0.960924 0.920705 3.079659 +v -1.028216 0.990809 1.090670 +v -1.028216 -1.103274 1.090670 +v 0.995873 -1.068018 3.009952 +v -1.098115 0.920910 3.044806 +v 1.065771 0.955757 1.090670 +v -1.028216 -0.998529 2.975099 +v 0.995873 0.955757 2.661027 +v 0.297948 -1.103274 2.346956 +v -0.923369 0.886064 3.079659 +v -1.098115 0.955757 2.835490 +v -1.063166 -0.614600 1.405131 +v 0.995873 -0.579549 3.044806 +v 1.065771 0.955757 1.509691 +v -1.063166 -0.754192 2.975099 +v -0.993267 0.990809 1.893665 +v 0.402372 -1.068223 3.009952 +v -1.028216 -1.103274 1.405131 +v 0.995873 0.920705 2.975099 +v 0.960924 0.257593 3.079659 +v -1.098115 0.467288 2.556272 +v 1.030822 -1.103274 2.137445 +v -1.098115 0.432236 3.044806 +v 0.158363 -0.335417 3.044806 +v -0.923369 -1.033171 2.626173 +v -1.063166 0.886064 1.823763 +f 16 25 30 +f 2 3 6 +f 3 4 6 +f 6 4 7 +f 3 2 10 +f 4 3 10 +f 7 4 13 +f 5 9 14 +f 9 5 15 +f 5 12 15 +f 6 7 16 +f 10 2 18 +f 4 10 18 +f 2 12 18 +f 17 8 18 +f 16 7 19 +f 2 6 20 +f 12 2 20 +f 6 15 20 +f 15 12 20 +f 1 11 21 +f 13 8 21 +f 8 17 21 +f 7 13 22 +f 19 7 22 +f 11 19 22 +f 13 21 22 +f 12 5 23 +f 5 17 23 +f 18 12 23 +f 17 18 23 +f 5 14 24 +f 17 5 24 +f 9 15 25 +f 16 19 25 +f 13 4 26 +f 8 13 26 +f 4 18 26 +f 18 8 26 +f 11 1 27 +f 1 14 27 +f 14 9 27 +f 19 11 27 +f 9 25 27 +f 25 19 27 +f 14 1 28 +f 1 21 28 +f 21 17 28 +f 24 14 28 +f 17 24 28 +f 21 11 29 +f 11 22 29 +f 22 21 29 +f 15 6 30 +f 6 16 30 +f 25 15 30 +o convex_1 +v -1.098115 -0.125872 -1.980858 +v 1.030870 1.025710 -1.108118 +v 1.030870 0.851067 -1.108118 +v 1.030870 0.013515 -2.957892 +v 0.960849 -0.998475 -1.108118 +v -1.098115 1.025710 -1.108118 +v -1.028093 0.990659 -2.922946 +v -1.063104 -1.068373 -2.922946 +v -0.993291 -0.998475 -1.108118 +v 0.995859 -1.033321 -2.957892 +v 1.030870 0.990659 -2.922765 +v -1.063104 -0.684444 -1.143245 +v -0.469797 -1.068373 -2.399302 +v -1.063104 1.025710 -2.050206 +v -1.063104 0.816220 -2.922946 +v 0.088498 -0.963628 -2.957892 +v 0.995859 -0.544647 -1.108118 +v 1.030870 1.025710 -2.050387 +v 0.472366 -1.033321 -1.492341 +v -1.063104 -1.033321 -1.806310 +v 0.995859 -1.033321 -2.538904 +v -1.098115 1.025710 -1.562051 +v -0.155535 -1.068373 -2.922765 +v -1.098115 0.362393 -1.108118 +v 1.030870 -0.056178 -2.887819 +v -0.993291 -1.068373 -2.469194 +v 0.926046 -1.033321 -2.189989 +v -1.063104 0.990659 -2.853054 +v -1.028093 -0.963628 -1.108118 +f 54 42 59 +f 32 33 34 +f 33 32 35 +f 35 32 36 +f 35 36 39 +f 32 34 41 +f 34 37 41 +f 36 32 44 +f 38 31 45 +f 37 34 46 +f 34 40 46 +f 40 38 46 +f 45 37 46 +f 38 45 46 +f 33 35 47 +f 32 41 48 +f 41 37 48 +f 44 32 48 +f 37 44 48 +f 35 39 49 +f 31 38 50 +f 42 31 50 +f 47 35 51 +f 31 36 52 +f 36 44 52 +f 45 31 52 +f 38 40 53 +f 43 38 53 +f 40 51 53 +f 36 31 54 +f 39 36 54 +f 31 42 54 +f 34 33 55 +f 40 34 55 +f 33 47 55 +f 51 40 55 +f 47 51 55 +f 38 43 56 +f 49 39 56 +f 43 49 56 +f 50 38 56 +f 39 50 56 +f 35 49 57 +f 49 43 57 +f 51 35 57 +f 43 53 57 +f 53 51 57 +f 44 37 58 +f 37 45 58 +f 52 44 58 +f 45 52 58 +f 42 50 59 +f 50 39 59 +f 39 54 59 +o convex_2 +v 0.472270 -3.022305 -0.375045 +v -0.085858 3.049991 1.090670 +v -1.098115 3.049991 1.090670 +v -0.085858 3.049991 -1.073035 +v -0.923369 -2.952556 -1.038168 +v -1.098115 -3.092654 0.985853 +v 1.065771 -1.103029 1.090670 +v 1.030822 3.049390 -1.073035 +v -1.063166 3.014516 -1.073035 +v 0.960924 -2.951955 -0.968434 +v 1.030822 3.014516 1.090670 +v 1.030822 -2.917682 1.055587 +v -1.098115 0.361682 -1.108118 +v 0.960924 -0.998406 -1.108118 +v -1.028216 -1.103029 1.090670 +v 1.030822 0.885394 -1.108118 +v -1.028216 -1.347147 -1.108118 +v 1.030822 -2.952556 0.287862 +v 1.065771 0.990618 0.218128 +v -1.098115 2.561153 -1.038168 +v 1.065771 1.828197 1.090670 +v -0.958318 -2.987430 -0.828750 +v -0.399978 -3.057178 1.020720 +v 1.065771 -1.974880 0.985853 +v 0.925974 -2.987430 -0.968434 +v 0.995873 -2.951955 -0.619331 +v -0.749046 -3.092654 0.671832 +v -1.063166 3.049991 -0.933567 +v -1.098115 1.024891 -1.108118 +v 0.925974 -2.951955 1.055587 +v -1.098115 -3.092654 0.881251 +v 1.030822 3.049390 -0.200494 +v -0.714097 -2.952556 -1.038168 +v -1.063166 -0.649064 -1.108118 +v -0.016172 -2.987430 -0.968434 +v -1.098115 3.049991 0.148178 +v 0.681754 -2.951955 1.055587 +v 0.960924 -2.987430 -0.514729 +v -0.504614 -3.057178 1.020720 +v 1.030822 1.025492 -1.108118 +v -1.028216 -3.092654 0.671832 +v -0.888631 -2.219600 -1.073035 +v -0.818733 -3.092654 0.985853 +v 0.472270 -3.022305 -0.479862 +v 1.030822 -2.952556 0.741567 +f 102 97 104 +f 62 61 63 +f 61 62 66 +f 63 61 67 +f 61 66 70 +f 65 62 72 +f 62 65 74 +f 66 62 74 +f 69 73 75 +f 73 72 75 +f 72 73 76 +f 72 62 79 +f 70 66 80 +f 66 78 80 +f 78 67 80 +f 76 64 81 +f 66 71 83 +f 77 75 83 +f 75 78 83 +f 78 66 83 +f 73 69 84 +f 69 75 85 +f 75 77 85 +f 84 69 85 +f 62 63 87 +f 63 68 87 +f 68 63 88 +f 75 72 88 +f 79 68 88 +f 72 79 88 +f 71 66 89 +f 66 74 89 +f 65 72 90 +f 76 81 90 +f 86 65 90 +f 67 61 91 +f 61 70 91 +f 70 80 91 +f 80 67 91 +f 84 64 92 +f 73 84 92 +f 72 76 93 +f 90 72 93 +f 76 90 93 +f 81 64 94 +f 64 84 94 +f 79 62 95 +f 68 79 95 +f 62 87 95 +f 87 68 95 +f 89 74 96 +f 82 89 96 +f 85 77 97 +f 84 85 97 +f 74 65 98 +f 65 82 98 +f 96 74 98 +f 82 96 98 +f 63 67 99 +f 78 75 99 +f 67 78 99 +f 88 63 99 +f 75 88 99 +f 90 81 100 +f 86 90 100 +f 81 94 100 +f 64 76 101 +f 76 73 101 +f 92 64 101 +f 73 92 101 +f 82 65 102 +f 65 86 102 +f 86 60 102 +f 89 82 102 +f 60 97 102 +f 60 86 103 +f 94 84 103 +f 97 60 103 +f 84 97 103 +f 86 100 103 +f 100 94 103 +f 83 71 104 +f 77 83 104 +f 71 89 104 +f 97 77 104 +f 89 102 104 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/623/623.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/623/623.urdf new file mode 100644 index 000000000..7022c1ce4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/623/623.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/624/624.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/624/624.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/624/624.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/624/624.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/624/624.obj new file mode 100644 index 000000000..3332ccb54 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/624/624.obj @@ -0,0 +1,438 @@ +o convex_0 +v -0.751903 -3.588109 -0.789299 +v -1.001177 0.865951 1.079425 +v -1.592991 0.865951 1.079425 +v 0.213395 0.865951 -1.007204 +v 0.369191 -3.556498 1.017106 +v -1.655309 0.865951 -0.945098 +v -1.530672 -3.463422 1.048052 +v 0.493615 -3.432250 -1.100896 +v 0.431510 0.865511 0.923627 +v -1.592991 -3.619281 -0.976257 +v 0.431510 0.865511 -1.007204 +v -1.686468 0.585404 0.487605 +v 0.493615 0.523060 0.674350 +v 0.275713 0.865951 1.017106 +v -1.655309 0.305297 -0.976257 +v -1.063496 -3.588109 0.580871 +v -1.561831 -3.214047 1.016892 +v -1.499513 -3.619281 -1.007417 +v 0.493615 -2.746469 -1.100896 +v 0.493615 -3.463422 -0.789299 +v -1.530672 -1.812632 1.079425 +v 0.493615 0.865511 0.331594 +v 0.151076 -3.588109 0.611817 +v 0.182235 -3.401078 -1.100682 +v 0.462669 -0.038033 -1.038363 +v 0.493615 -0.069204 0.643190 +v -0.534215 -3.494593 1.048052 +v -0.191463 -1.999224 1.048265 +v 0.493615 -3.463422 -1.069523 +v -1.686468 0.865951 0.518552 +v -1.250238 0.865951 -0.976044 +v 0.369191 -0.411655 1.017106 +v -1.592991 -3.619281 -0.851405 +v 0.400350 -3.525765 0.643190 +v 0.493615 -1.284028 -0.758140 +v -1.063496 -3.619281 -0.259799 +v -1.592991 -0.037593 1.079425 +v -0.004720 -3.588109 0.206955 +v -1.655309 0.087094 -0.976257 +v 0.431510 -2.746469 -1.100896 +v -1.001177 -3.619281 -0.633288 +v -1.561831 -3.494593 0.674350 +v 0.400350 -2.684565 0.954573 +v 0.400350 0.865951 0.985733 +v -0.720744 -3.588109 0.674136 +v -0.970018 0.554232 1.079425 +v -1.561831 -3.089360 1.048052 +v 0.400350 -0.038033 -1.038363 +v 0.493615 0.865511 0.674350 +v -1.624150 -1.843804 -0.976257 +v -1.374876 -3.619281 -1.007417 +f 41 18 51 +f 3 2 4 +f 3 4 6 +f 4 2 14 +f 12 6 15 +f 13 8 19 +f 8 13 20 +f 2 3 21 +f 13 19 22 +f 8 18 24 +f 18 15 24 +f 4 11 25 +f 11 22 25 +f 20 13 26 +f 7 5 27 +f 21 7 27 +f 27 5 28 +f 20 5 29 +f 8 20 29 +f 5 23 29 +f 3 6 30 +f 6 12 30 +f 6 4 31 +f 15 6 31 +f 28 5 32 +f 12 10 33 +f 10 18 33 +f 5 20 34 +f 20 26 34 +f 22 19 35 +f 19 25 35 +f 25 22 35 +f 16 33 36 +f 33 18 36 +f 21 3 37 +f 3 30 37 +f 1 29 38 +f 29 23 38 +f 12 15 39 +f 15 18 39 +f 19 8 40 +f 8 24 40 +f 24 15 40 +f 25 19 40 +f 15 31 40 +f 23 36 41 +f 36 18 41 +f 1 38 41 +f 38 23 41 +f 16 7 42 +f 7 17 42 +f 17 12 42 +f 12 33 42 +f 33 16 42 +f 9 5 43 +f 13 9 43 +f 26 13 43 +f 5 34 43 +f 34 26 43 +f 5 9 44 +f 11 4 44 +f 4 14 44 +f 22 11 44 +f 32 5 44 +f 14 32 44 +f 5 7 45 +f 7 16 45 +f 23 5 45 +f 16 36 45 +f 36 23 45 +f 14 2 46 +f 2 21 46 +f 21 27 46 +f 27 28 46 +f 32 14 46 +f 28 32 46 +f 17 7 47 +f 12 17 47 +f 7 21 47 +f 30 12 47 +f 21 37 47 +f 37 30 47 +f 4 25 48 +f 31 4 48 +f 25 40 48 +f 40 31 48 +f 9 13 49 +f 13 22 49 +f 44 9 49 +f 22 44 49 +f 10 12 50 +f 18 10 50 +f 12 39 50 +f 39 18 50 +f 18 8 51 +f 29 1 51 +f 8 29 51 +f 1 41 51 +o convex_1 +v 4.355719 2.018281 0.549906 +v 0.525521 0.959521 -0.602537 +v 0.525521 0.897220 -0.415497 +v 0.525521 2.080701 0.487480 +v 4.511460 2.018281 -0.602537 +v 4.449321 0.990553 0.612213 +v 4.542922 1.021822 -0.540230 +v 0.525521 0.866070 0.549906 +v 0.525521 1.987131 -0.508957 +v 1.584243 2.080701 0.518634 +v 4.511460 0.990553 -0.228694 +v 0.556591 1.271026 -0.602537 +v 3.732756 0.990672 -0.571264 +v 4.075701 2.049550 0.549906 +v 0.525521 2.080701 0.300678 +v 3.795289 2.018281 -0.602537 +v 1.521711 0.897220 -0.135234 +v 4.449321 1.115273 0.612213 +v 3.857428 0.959402 0.581060 +v 4.511460 1.706895 -0.602537 +v 4.480391 1.021822 0.549906 +v 0.525521 1.021822 0.549906 +v 1.895724 0.990672 -0.602537 +v 1.989326 0.959521 0.581060 +v 4.106770 0.990553 -0.540230 +v 4.324650 1.706895 0.581060 +v 0.618730 1.831378 -0.540111 +v 1.802123 2.080701 0.456327 +v 0.743401 0.866070 0.518634 +v 4.387182 2.018281 0.425292 +v 4.542922 1.052973 -0.291001 +v 4.511460 2.018281 -0.540230 +v 4.542922 1.208725 -0.571383 +v 4.418251 1.582174 0.581060 +v 1.241692 0.959521 -0.602537 +f 74 64 86 +f 53 54 55 +f 55 54 59 +f 53 55 60 +f 56 53 63 +f 53 60 63 +f 60 55 66 +f 55 61 66 +f 56 63 67 +f 60 66 67 +f 66 56 67 +f 57 59 70 +f 62 57 70 +f 68 62 70 +f 53 56 71 +f 57 62 72 +f 69 57 72 +f 55 59 73 +f 61 55 73 +f 53 71 74 +f 59 57 75 +f 57 69 75 +f 73 59 75 +f 61 73 75 +f 58 62 76 +f 54 64 76 +f 64 58 76 +f 68 54 76 +f 62 68 76 +f 52 65 77 +f 65 61 77 +f 75 69 77 +f 61 75 77 +f 63 60 78 +f 67 63 78 +f 60 67 78 +f 65 56 79 +f 61 65 79 +f 56 66 79 +f 66 61 79 +f 59 54 80 +f 54 68 80 +f 70 59 80 +f 68 70 80 +f 65 52 81 +f 62 58 82 +f 72 62 82 +f 72 82 83 +f 56 65 83 +f 65 81 83 +f 58 64 84 +f 71 56 84 +f 64 74 84 +f 74 71 84 +f 82 58 84 +f 83 82 84 +f 56 83 84 +f 69 72 85 +f 52 77 85 +f 77 69 85 +f 81 52 85 +f 72 83 85 +f 83 81 85 +f 54 53 86 +f 64 54 86 +f 53 74 86 +o convex_2 +v -1.717631 1.675726 0.269558 +v -3.679920 1.675726 -0.353357 +v -3.679920 1.551142 -0.322152 +v -1.717631 1.146342 -0.259881 +v -3.555068 1.270925 0.363034 +v -1.717631 1.738018 -0.228746 +v -3.523951 1.800374 0.176082 +v -1.717631 1.177520 0.363034 +v -3.617302 1.177520 -0.197611 +v -3.679920 1.769132 -0.353357 +v -1.748940 1.146342 0.331829 +v -3.181472 1.146342 -0.228746 +v -3.617302 1.177520 -0.041864 +v -3.555068 1.333217 0.363034 +v -3.212589 1.800374 0.176082 +v -1.717631 1.426687 -0.259881 +v -3.399483 1.239811 0.363034 +v -3.461717 1.738018 -0.353357 +v -1.842291 1.706840 0.238423 +v -2.434281 1.146342 -0.259881 +v -3.523951 1.800374 -0.041864 +v -1.998068 1.270925 0.363034 +v -3.274823 1.769132 0.207288 +v -3.679920 1.769132 -0.259881 +f 100 93 110 +f 87 90 92 +f 90 87 94 +f 88 89 96 +f 90 94 97 +f 95 89 98 +f 90 97 98 +f 89 95 99 +f 95 98 99 +f 98 97 99 +f 91 94 100 +f 92 90 102 +f 94 91 103 +f 97 94 103 +f 91 99 103 +f 99 97 103 +f 90 88 104 +f 88 96 104 +f 96 92 104 +f 102 90 104 +f 92 102 104 +f 87 92 105 +f 101 87 105 +f 92 101 105 +f 89 88 106 +f 88 90 106 +f 98 89 106 +f 90 98 106 +f 92 96 107 +f 96 93 107 +f 101 92 107 +f 93 101 107 +f 94 87 108 +f 87 100 108 +f 100 94 108 +f 100 87 109 +f 93 100 109 +f 87 101 109 +f 101 93 109 +f 96 89 110 +f 93 96 110 +f 89 99 110 +f 99 91 110 +f 91 100 110 +o convex_3 +v -1.001076 0.866277 1.079425 +v 0.213494 0.866277 -1.007453 +v 0.213494 0.897391 -1.007453 +v -1.686399 1.987203 -0.944945 +v 0.400301 2.454242 0.985663 +v -1.592886 2.485520 1.079425 +v 0.400301 2.454242 -0.975995 +v -1.655228 0.866277 -0.944945 +v 0.431472 0.866277 0.923563 +v -1.686399 2.485520 -0.944945 +v -1.624057 0.866277 0.923563 +v 0.524765 0.959619 -0.602375 +v 0.026469 2.547748 -0.633425 +v 0.524765 2.080545 0.487435 +v -1.717350 1.177581 0.362827 +v 0.431472 0.866277 -1.007453 +v 0.275617 0.866277 1.017121 +v -1.592886 0.866277 1.079425 +v 0.524765 0.866277 0.549739 +v -1.094589 2.485355 1.079425 +v 0.524765 1.987038 -0.509021 +v -1.686399 2.049431 0.580789 +v -0.689586 2.547748 -0.446513 +v -0.067044 2.547748 -0.259601 +v -1.250225 0.866277 -0.976199 +v -1.624057 2.454242 1.048171 +v -1.717350 1.146467 -0.259601 +v -1.686399 0.866277 0.518485 +v 0.431472 1.333316 -1.007453 +v 0.151152 2.454242 1.017121 +v 0.431472 2.392014 0.954613 +v -1.717350 1.675898 0.269473 +v -0.191509 2.454242 -0.976199 +v 0.337959 2.485355 -0.882641 +v 0.431472 2.142773 -0.975995 +v -1.686399 2.485520 -0.695729 +v 0.400301 0.866277 0.985663 +v -1.717350 1.737962 -0.228551 +v -1.250225 2.516634 -0.571121 +v -0.876392 2.485355 1.048171 +f 134 130 150 +f 112 111 118 +f 111 112 119 +f 118 111 121 +f 112 113 126 +f 119 112 126 +f 111 119 127 +f 111 116 128 +f 121 111 128 +f 122 124 129 +f 119 126 129 +f 126 122 129 +f 116 111 130 +f 111 127 130 +f 117 124 131 +f 124 122 131 +f 123 120 133 +f 115 123 134 +f 116 130 134 +f 133 116 134 +f 123 133 134 +f 113 112 135 +f 112 118 135 +f 118 114 135 +f 114 120 135 +f 125 121 136 +f 128 116 136 +f 121 128 136 +f 132 125 136 +f 114 118 137 +f 120 114 137 +f 125 137 138 +f 118 121 138 +f 121 125 138 +f 137 118 138 +f 126 113 139 +f 122 126 139 +f 113 135 139 +f 135 120 139 +f 127 115 140 +f 115 130 140 +f 130 127 140 +f 117 115 141 +f 124 117 141 +f 119 129 141 +f 129 124 141 +f 125 132 142 +f 137 125 142 +f 120 117 143 +f 117 139 143 +f 139 120 143 +f 115 117 144 +f 117 120 144 +f 123 115 144 +f 120 123 144 +f 117 131 145 +f 131 122 145 +f 139 117 145 +f 122 139 145 +f 136 116 146 +f 132 136 146 +f 142 132 146 +f 115 127 147 +f 127 119 147 +f 141 115 147 +f 119 141 147 +f 120 137 148 +f 137 142 148 +f 146 120 148 +f 142 146 148 +f 116 133 149 +f 133 120 149 +f 146 116 149 +f 120 146 149 +f 130 115 150 +f 115 134 150 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/624/624.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/624/624.urdf new file mode 100644 index 000000000..fcb8797cc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/624/624.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/625/625.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/625/625.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/625/625.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/625/625.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/625/625.obj new file mode 100644 index 000000000..a42b93fbb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/625/625.obj @@ -0,0 +1,360 @@ +o convex_0 +v -0.094125 2.627129 -1.045816 +v 0.022265 -2.699155 1.020900 +v -0.006832 -2.699155 1.020900 +v -0.006832 -4.241790 -0.812967 +v 0.982879 2.830043 -0.055950 +v -0.792664 3.237501 0.642392 +v -1.025641 -3.543407 -0.085082 +v 0.982879 -3.571929 -0.114214 +v 0.691707 3.325512 0.671319 +v -0.705371 3.266838 -0.783630 +v 0.778999 -3.601266 0.787846 +v 0.749902 3.208164 -0.754498 +v -0.734469 -3.601266 0.758714 +v -0.821762 -3.514071 -0.812967 +v 0.720804 -3.571929 -0.812761 +v -1.025641 2.597792 -0.114214 +v -0.065028 2.597792 0.962637 +v 0.022265 -4.328985 0.787846 +v -0.035930 -3.048754 -1.074947 +v -0.065028 3.791643 -0.609044 +v -0.763566 -4.300464 -0.027024 +v 0.778999 -4.300464 -0.027024 +v -0.472394 3.791643 0.438469 +v 0.575316 3.791643 0.001903 +v -0.821762 2.568455 0.700656 +v 0.749902 2.655651 -0.812967 +v -0.006832 -4.533529 -0.055950 +v -0.734469 2.597792 -0.841893 +v -0.065028 3.296175 0.904373 +v 0.051363 3.151120 -1.016684 +v -0.850859 3.441230 -0.085082 +v 0.720804 1.898595 0.729582 +v 0.109558 -3.601266 1.020900 +v -1.025641 -3.543407 0.031035 +v 0.982879 -3.601266 0.089298 +v 0.022265 2.568455 -1.074947 +v 0.953585 3.266838 0.031035 +v 0.051363 3.791643 0.554997 +v -0.472394 3.791643 -0.434458 +v -0.152320 -3.514071 -1.045816 +v -0.094125 1.316746 -1.074947 +v 0.633511 -0.573857 -0.871025 +v -1.025641 2.509782 0.001903 +v -0.297808 -3.572744 0.933300 +v 0.633511 3.499903 -0.638176 +v 0.982879 2.713511 0.001903 +v -0.588981 -4.095920 -0.609044 +v -0.821762 -1.476783 -0.812967 +v 0.604414 -4.125257 0.584128 +v -0.559883 -4.125257 0.584128 +v -0.967250 3.266838 -0.114214 +v 0.749902 2.568455 0.671524 +v 0.546219 -4.095920 -0.609044 +v 0.749902 -3.571929 -0.783630 +v 0.808097 2.597792 -0.667308 +v 0.167753 2.539933 0.904373 +v -0.530589 -1.651175 -0.929289 +v -0.850859 -3.514071 -0.754703 +v -0.792664 2.509782 -0.754703 +v 0.080460 3.296175 -0.987552 +v 0.429632 3.791643 -0.463385 +v 0.429632 3.791643 0.409338 +v -0.763566 2.539119 0.729582 +v -0.705371 -3.571929 0.787846 +f 63 25 64 +f 3 2 17 +f 20 23 24 +f 21 4 27 +f 18 21 27 +f 22 18 27 +f 4 22 27 +f 10 1 28 +f 23 6 29 +f 1 10 30 +f 12 26 30 +f 6 23 31 +f 2 3 33 +f 17 2 33 +f 18 11 33 +f 11 32 33 +f 16 7 34 +f 7 21 34 +f 21 13 34 +f 13 25 34 +f 8 5 35 +f 22 8 35 +f 11 22 35 +f 1 30 36 +f 30 26 36 +f 5 12 37 +f 24 9 37 +f 24 23 38 +f 29 9 38 +f 23 29 38 +f 20 10 39 +f 23 20 39 +f 31 23 39 +f 4 14 40 +f 15 4 40 +f 19 15 40 +f 28 1 41 +f 1 36 41 +f 36 19 41 +f 19 40 41 +f 15 19 42 +f 26 15 42 +f 19 36 42 +f 36 26 42 +f 25 6 43 +f 16 34 43 +f 34 25 43 +f 3 17 44 +f 33 3 44 +f 18 33 44 +f 37 12 45 +f 24 37 45 +f 35 5 46 +f 11 35 46 +f 5 37 46 +f 14 4 47 +f 4 21 47 +f 21 14 47 +f 11 18 49 +f 18 22 49 +f 22 11 49 +f 18 13 50 +f 13 21 50 +f 21 18 50 +f 6 31 51 +f 39 10 51 +f 31 39 51 +f 43 6 51 +f 16 43 51 +f 9 32 52 +f 32 11 52 +f 37 9 52 +f 11 46 52 +f 46 37 52 +f 4 15 53 +f 22 4 53 +f 22 53 54 +f 8 22 54 +f 15 26 54 +f 53 15 54 +f 5 8 55 +f 12 5 55 +f 26 12 55 +f 8 54 55 +f 54 26 55 +f 9 29 56 +f 29 17 56 +f 32 9 56 +f 17 33 56 +f 33 32 56 +f 40 14 57 +f 28 41 57 +f 41 40 57 +f 14 48 57 +f 48 28 57 +f 7 16 58 +f 21 7 58 +f 14 21 58 +f 48 14 58 +f 16 48 58 +f 10 28 59 +f 48 16 59 +f 28 48 59 +f 51 10 59 +f 16 51 59 +f 10 20 60 +f 30 10 60 +f 12 30 60 +f 45 12 60 +f 45 60 61 +f 20 24 61 +f 24 45 61 +f 60 20 61 +f 9 24 62 +f 24 38 62 +f 38 9 62 +f 6 25 63 +f 17 29 63 +f 29 6 63 +f 44 17 63 +f 44 63 64 +f 13 18 64 +f 25 13 64 +f 18 44 64 +o convex_1 +v -0.239630 3.791934 -0.550963 +v -0.006935 3.995670 0.555156 +v -0.065053 3.995670 0.555156 +v -0.065053 5.509073 -0.056087 +v 0.546244 3.791934 -0.085150 +v -0.589007 3.791934 0.060281 +v 0.342441 5.275918 -0.027024 +v -0.443322 5.275918 -0.027024 +v -0.035938 5.217756 -0.434481 +v 0.400671 3.879177 -0.463659 +v -0.065053 5.275918 0.380434 +v 0.400671 3.791934 0.409611 +v -0.472548 3.791934 0.438675 +v -0.443322 4.519469 -0.434481 +v 0.371445 4.519469 0.380434 +v -0.414318 4.635962 0.380434 +v 0.022180 3.791934 -0.609204 +v 0.342441 4.577800 -0.405418 +v -0.472548 3.791934 -0.434481 +v -0.559781 4.519469 0.002040 +v 0.487904 4.519469 0.002040 +v -0.035938 4.548551 -0.550963 +v 0.254986 5.101263 0.293130 +v -0.356089 5.043100 -0.347177 +v -0.006935 4.635962 0.496915 +v 0.022180 3.791934 0.555156 +v -0.589007 3.937340 -0.085150 +v 0.225983 5.101263 -0.318114 +v 0.546244 3.820847 0.031103 +v 0.342441 5.275918 0.031103 +v -0.297860 5.130512 0.293130 +v -0.152175 5.217756 -0.405418 +v -0.006935 5.275918 0.380434 +v -0.035938 5.509073 0.031103 +v 0.429785 3.791934 -0.434481 +v 0.487904 4.490220 -0.056087 +v -0.123171 4.519469 0.496915 +v -0.472548 3.908258 0.438675 +v -0.035938 5.275918 -0.405418 +v -0.559781 4.519469 -0.056087 +v -0.443322 5.275918 -0.056087 +v -0.385093 4.519469 -0.463659 +v -0.035938 3.879177 -0.609204 +v -0.414318 3.908258 -0.492722 +v -0.006935 5.509073 -0.056087 +v -0.006935 4.519469 -0.550963 +v 0.371445 5.188675 0.031103 +v 0.342441 5.217756 -0.085150 +v 0.371445 4.519469 -0.376240 +v 0.400671 3.908258 0.409611 +v -0.065053 4.548551 -0.550963 +v -0.094057 5.509073 0.002040 +v 0.051294 4.548551 0.496915 +v -0.443322 4.548551 0.351370 +v 0.429785 3.850096 -0.434481 +v -0.094057 3.791934 0.555156 +v -0.385093 4.548551 0.409611 +v 0.400671 5.043269 -0.027024 +f 100 113 122 +f 65 69 70 +f 70 69 76 +f 70 76 77 +f 69 65 81 +f 65 70 83 +f 67 66 89 +f 66 67 90 +f 77 76 90 +f 83 70 91 +f 78 83 91 +f 70 84 91 +f 82 73 92 +f 76 69 93 +f 69 85 93 +f 85 79 93 +f 75 72 95 +f 72 80 95 +f 80 75 95 +f 79 87 97 +f 75 89 97 +f 87 94 97 +f 97 94 98 +f 75 97 98 +f 69 81 99 +f 81 74 99 +f 85 69 100 +f 67 89 101 +f 89 75 101 +f 70 77 102 +f 84 70 102 +f 67 101 102 +f 71 92 103 +f 92 73 103 +f 96 68 103 +f 73 96 103 +f 84 72 104 +f 78 91 104 +f 91 84 104 +f 88 78 105 +f 68 96 105 +f 96 88 105 +f 104 72 105 +f 78 104 105 +f 78 88 106 +f 88 96 106 +f 81 65 107 +f 106 107 108 +f 65 83 108 +f 83 78 108 +f 78 106 108 +f 107 65 108 +f 94 71 109 +f 98 94 109 +f 68 98 109 +f 103 68 109 +f 71 103 109 +f 74 81 110 +f 73 82 110 +f 82 74 110 +f 86 73 110 +f 81 107 110 +f 107 86 110 +f 79 85 111 +f 87 79 111 +f 71 94 111 +f 94 87 111 +f 92 71 112 +f 82 92 112 +f 82 112 113 +f 79 66 114 +f 66 90 114 +f 90 76 114 +f 76 93 114 +f 93 79 114 +f 73 86 115 +f 96 73 115 +f 106 96 115 +f 86 107 115 +f 107 106 115 +f 72 75 116 +f 98 68 116 +f 75 98 116 +f 68 105 116 +f 105 72 116 +f 66 79 117 +f 89 66 117 +f 79 97 117 +f 97 89 117 +f 80 72 118 +f 72 84 118 +f 84 102 118 +f 102 80 118 +f 74 82 119 +f 69 99 119 +f 99 74 119 +f 100 69 119 +f 82 113 119 +f 113 100 119 +f 90 67 120 +f 77 90 120 +f 67 102 120 +f 102 77 120 +f 75 80 121 +f 101 75 121 +f 80 102 121 +f 102 101 121 +f 85 100 122 +f 111 85 122 +f 71 111 122 +f 112 71 122 +f 113 112 122 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/625/625.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/625/625.urdf new file mode 100644 index 000000000..3eac0ba4d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/625/625.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/626/626.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/626/626.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/626/626.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/626/626.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/626/626.obj new file mode 100644 index 000000000..319c2620c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/626/626.obj @@ -0,0 +1,840 @@ +o convex_0 +v 1.013908 0.307098 -1.491232 +v -1.036975 -0.141110 -2.036219 +v -0.972734 -0.461512 -1.747633 +v 0.597147 -0.685870 -2.997097 +v -0.075573 0.947904 -2.932907 +v -0.908694 1.012187 -1.427221 +v 0.020386 -1.262900 -1.427221 +v -0.716374 -0.653855 -2.933086 +v 0.885628 1.108232 -1.427221 +v 0.500987 0.531202 -3.253677 +v -0.780614 0.627755 -2.901081 +v 0.789467 -0.813930 -1.427221 +v 0.917748 -0.013050 -2.836891 +v -0.844654 -0.942243 -1.427221 +v -0.043453 1.332844 -1.459405 +v -0.107493 -0.942243 -2.900902 +v -0.524254 -0.493527 -3.157482 +v 0.693307 0.723800 -2.997276 +v -0.972734 -0.013050 -2.836891 +v -0.492134 0.499442 -3.189487 +v 0.468866 -0.429497 -3.221314 +v 0.661388 -0.749900 -2.804886 +v -1.036975 0.243069 -1.427221 +v 0.981788 -0.141110 -2.068045 +v 0.885628 0.082994 -2.965092 +v 0.084627 0.018965 -3.253677 +v -0.684454 -0.013050 -3.157482 +v -0.716374 0.723800 -2.868896 +v 0.020386 0.947904 -2.932907 +v -0.043453 -0.621841 -3.189487 +v -1.036975 0.243069 -1.972029 +v -0.171533 -1.230631 -1.459405 +v -0.716374 -0.717885 -2.836891 +v 0.821588 1.140247 -1.459227 +v -0.075573 0.659516 -3.221314 +v 0.020386 -0.942243 -2.900902 +v 1.013908 0.082994 -2.068045 +v 0.981788 -0.044811 -1.427221 +v 0.629267 -0.077080 -3.221493 +v -1.036975 -0.141110 -1.427221 +v 0.757548 -0.813930 -1.843828 +v 0.885628 -0.077080 -2.965092 +v 0.020386 -1.262900 -1.491411 +v 0.020386 1.332844 -1.427221 +v -0.812534 -0.974258 -1.459227 +v -0.908694 0.211054 -2.901081 +v -0.908694 1.012187 -1.459227 +v 0.949668 0.787829 -1.555422 +v 0.853507 -0.685870 -1.459227 +v -0.844654 -0.365214 -2.901081 +v -0.428094 0.819844 -2.933086 +v 0.597147 0.146770 -3.253677 +v 0.629267 -0.750154 -2.900902 +v -0.972734 0.787829 -1.459227 +v -0.011533 0.339113 -3.253677 +v 0.661388 0.755815 -2.965092 +v 0.308867 1.268306 -1.459405 +v 0.340787 -0.557811 -3.189487 +v -1.036975 0.050980 -2.324268 +v 0.885628 1.108232 -1.459227 +v 1.013908 0.147024 -1.427221 +v -0.075573 -0.717885 -3.125298 +v -0.684454 -0.717885 -2.901081 +v 0.725428 0.659770 -2.965092 +f 60 25 64 +f 6 7 9 +f 9 7 12 +f 7 6 14 +f 3 2 19 +f 14 6 23 +f 10 18 25 +f 17 8 27 +f 26 17 27 +f 20 11 28 +f 5 15 29 +f 18 10 29 +f 17 26 30 +f 26 21 30 +f 2 23 31 +f 7 14 32 +f 5 29 35 +f 29 10 35 +f 24 13 37 +f 13 25 37 +f 9 12 38 +f 4 21 39 +f 2 3 40 +f 3 14 40 +f 23 2 40 +f 14 23 40 +f 22 24 41 +f 13 24 42 +f 24 22 42 +f 25 13 42 +f 4 39 42 +f 12 7 43 +f 7 32 43 +f 32 16 43 +f 16 36 43 +f 41 12 43 +f 22 41 43 +f 6 9 44 +f 15 6 44 +f 29 15 44 +f 9 34 44 +f 32 14 45 +f 14 33 45 +f 11 20 46 +f 27 19 46 +f 20 27 46 +f 6 15 47 +f 28 11 47 +f 11 46 47 +f 9 1 48 +f 1 37 48 +f 37 25 48 +f 38 12 49 +f 24 38 49 +f 12 41 49 +f 41 24 49 +f 14 3 50 +f 3 19 50 +f 27 8 50 +f 19 27 50 +f 33 14 50 +f 8 33 50 +f 15 5 51 +f 20 28 51 +f 35 20 51 +f 5 35 51 +f 47 15 51 +f 28 47 51 +f 10 25 52 +f 26 10 52 +f 21 26 52 +f 39 21 52 +f 25 42 52 +f 42 39 52 +f 36 4 53 +f 4 42 53 +f 42 22 53 +f 43 36 53 +f 22 43 53 +f 23 6 54 +f 31 23 54 +f 47 46 54 +f 6 47 54 +f 10 26 55 +f 27 20 55 +f 26 27 55 +f 20 35 55 +f 35 10 55 +f 18 29 56 +f 29 34 56 +f 34 29 57 +f 29 44 57 +f 44 34 57 +f 21 4 58 +f 30 21 58 +f 4 36 58 +f 19 2 59 +f 2 31 59 +f 46 19 59 +f 31 54 59 +f 54 46 59 +f 34 9 60 +f 9 48 60 +f 48 25 60 +f 18 56 60 +f 56 34 60 +f 1 9 61 +f 37 1 61 +f 24 37 61 +f 9 38 61 +f 38 24 61 +f 17 30 62 +f 36 16 62 +f 30 58 62 +f 58 36 62 +f 8 17 63 +f 16 32 63 +f 33 8 63 +f 32 45 63 +f 45 33 63 +f 62 16 63 +f 17 62 63 +f 25 18 64 +f 18 60 64 +o convex_1 +v 0.404900 -0.077080 3.059429 +v -1.005004 -0.173124 1.104973 +v 0.629344 -1.134586 1.104782 +v 0.821466 0.916143 1.104782 +v -0.620357 0.723546 2.610564 +v -0.652277 -0.717885 2.578420 +v -0.844600 0.948158 1.104973 +v 0.789546 0.723800 2.738948 +v 0.789546 -0.653855 2.546468 +v 0.020453 1.332844 1.136925 +v -0.812680 -0.942243 1.104973 +v 1.045911 -0.237154 1.104782 +v -0.876721 -0.012796 2.610564 +v 0.052574 -0.942243 2.546468 +v -0.363993 -0.012796 3.059429 +v 0.981669 0.050726 2.610755 +v -0.011467 0.947904 2.642516 +v -0.011467 -1.262900 1.136925 +v 0.853587 -1.070303 1.168878 +v 0.084494 -0.429497 3.059429 +v -0.107628 0.723546 2.866949 +v -1.005004 -0.044811 1.841792 +v 1.045911 0.147024 1.809840 +v 0.244697 0.274830 3.059429 +v 0.917628 0.755815 1.104782 +v 0.981669 -0.077080 2.610755 +v -0.299952 -0.397482 3.027094 +v -0.940762 0.659516 1.168878 +v 0.757425 -0.685616 2.578612 +v 0.757425 0.755815 2.738948 +v 1.045911 -0.205139 1.713791 +v -0.684398 0.627501 2.610564 +v -0.203790 0.274830 3.059429 +v -0.011467 1.332844 1.104973 +v 0.340859 -0.301438 3.059429 +v 0.917628 -0.910228 1.168878 +v -0.876721 -0.781915 1.136925 +v 0.693385 -1.134586 1.136734 +v 0.244697 -0.878213 2.578420 +v -1.005004 0.211054 1.104973 +v 0.789546 0.755815 2.674660 +v -0.524195 0.499442 2.802853 +v 0.084494 -1.262900 1.104973 +v -0.908842 0.018965 2.450228 +v 0.052574 0.947904 2.642516 +v -0.011467 1.332844 1.136925 +v -0.844600 0.915889 1.265118 +v 0.821466 0.691531 2.642516 +v 1.045911 -0.045065 1.136734 +v 0.180656 0.755561 2.834805 +v 1.045911 0.050726 2.097986 +v 0.949749 -0.781915 1.104782 +v -0.363993 -0.813930 2.578420 +v 0.853587 0.883874 1.264926 +v -0.299952 -0.333453 3.059429 +v 0.340859 0.242815 3.059429 +v 0.757425 -0.717885 2.514324 +v -1.005004 0.018965 1.841792 +v 0.084494 -0.942243 2.546468 +v -0.812680 0.243069 2.610564 +v -0.812680 -0.942243 1.136925 +v -0.716519 -0.557811 2.546468 +v 0.789546 0.243069 2.770709 +v -0.075507 -0.429497 3.059429 +f 119 91 128 +f 66 67 75 +f 67 68 76 +f 65 79 84 +f 81 69 85 +f 79 65 88 +f 76 68 89 +f 73 90 93 +f 76 87 95 +f 79 88 97 +f 88 85 97 +f 68 71 98 +f 74 68 98 +f 65 84 99 +f 90 65 99 +f 84 93 99 +f 93 90 99 +f 73 83 100 +f 90 73 100 +f 95 90 100 +f 66 75 101 +f 86 66 101 +f 67 83 102 +f 102 83 103 +f 93 84 103 +f 67 66 104 +f 68 67 104 +f 71 68 104 +f 66 86 104 +f 92 71 104 +f 94 72 105 +f 74 94 105 +f 85 69 106 +f 69 96 106 +f 97 85 106 +f 79 97 106 +f 75 67 107 +f 82 75 107 +f 67 102 107 +f 86 77 108 +f 74 81 109 +f 81 85 109 +f 94 74 109 +f 69 81 110 +f 81 74 110 +f 98 71 110 +f 74 98 110 +f 71 92 111 +f 96 69 111 +f 69 110 111 +f 110 71 111 +f 72 80 112 +f 87 89 112 +f 105 72 112 +f 87 76 113 +f 76 89 113 +f 89 87 113 +f 85 88 114 +f 109 85 114 +f 94 109 114 +f 80 90 115 +f 95 87 115 +f 90 95 115 +f 112 80 115 +f 87 112 115 +f 67 76 116 +f 83 67 116 +f 76 95 116 +f 100 83 116 +f 95 100 116 +f 70 82 117 +f 82 78 117 +f 91 70 117 +f 68 74 118 +f 89 68 118 +f 74 105 118 +f 112 89 118 +f 105 112 118 +f 77 70 119 +f 79 77 119 +f 84 79 119 +f 70 91 119 +f 65 72 120 +f 88 65 120 +f 72 94 120 +f 114 88 120 +f 94 114 120 +f 83 73 121 +f 73 93 121 +f 103 83 121 +f 93 103 121 +f 104 86 122 +f 92 104 122 +f 86 108 122 +f 108 92 122 +f 78 82 123 +f 84 78 123 +f 102 103 123 +f 103 84 123 +f 82 107 123 +f 107 102 123 +f 77 79 124 +f 79 106 124 +f 106 96 124 +f 108 77 124 +f 92 108 124 +f 111 92 124 +f 96 111 124 +f 75 82 125 +f 82 70 125 +f 101 75 125 +f 70 101 125 +f 70 77 126 +f 77 86 126 +f 101 70 126 +f 86 101 126 +f 72 65 127 +f 80 72 127 +f 65 90 127 +f 90 80 127 +f 78 84 128 +f 117 78 128 +f 91 117 128 +f 84 119 128 +o convex_2 +v -0.332033 -0.109179 3.059429 +v 0.372984 0.018921 3.219879 +v 0.372984 -0.045162 3.219879 +v -0.075588 0.050929 4.821971 +v -0.203742 0.275187 3.059429 +v 0.084518 -0.397520 3.059429 +v 0.340894 0.243179 3.059429 +v -0.011477 -0.205337 4.597340 +v -0.267853 0.050929 4.597340 +v 0.020475 0.211170 4.533332 +v -0.267853 -0.333503 3.091519 +v 0.180650 -0.045162 4.501415 +v 0.308873 -0.269420 3.091519 +v -0.107609 -0.205337 4.565423 +v -0.235763 0.211170 3.892910 +v 0.020475 0.275187 3.668624 +v 0.180650 0.018921 4.533332 +v -0.107609 0.211170 4.533332 +v -0.267853 -0.013154 4.597340 +v -0.332033 -0.013154 3.251797 +v -0.075588 -0.397520 3.091519 +v 0.244761 0.275187 3.091519 +v -0.203742 -0.173262 4.405317 +v 0.148629 0.147087 4.373227 +v 0.244761 -0.269420 3.412075 +v -0.043498 -0.013154 4.821971 +v 0.372984 -0.077171 3.059429 +v 0.340894 0.243179 3.123781 +v 0.116608 -0.173262 4.373227 +f 153 140 157 +f 129 133 134 +f 134 133 135 +f 129 134 139 +f 131 140 141 +f 131 130 145 +f 138 132 145 +f 140 131 145 +f 137 132 146 +f 132 138 146 +f 133 143 146 +f 143 137 146 +f 138 144 146 +f 144 133 146 +f 132 137 147 +f 129 139 147 +f 133 129 148 +f 143 133 148 +f 137 143 148 +f 129 147 148 +f 147 137 148 +f 134 136 149 +f 139 134 149 +f 136 142 149 +f 142 139 149 +f 135 133 150 +f 144 138 150 +f 133 144 150 +f 139 142 151 +f 147 139 151 +f 142 147 151 +f 138 145 152 +f 136 134 153 +f 134 141 153 +f 141 140 153 +f 136 140 154 +f 142 136 154 +f 145 132 154 +f 140 145 154 +f 132 147 154 +f 147 142 154 +f 130 131 155 +f 135 130 155 +f 134 135 155 +f 131 141 155 +f 141 134 155 +f 130 135 156 +f 145 130 156 +f 135 150 156 +f 150 138 156 +f 138 152 156 +f 152 145 156 +f 140 136 157 +f 136 153 157 +o convex_3 +v -0.588224 -2.608766 -0.721768 +v 1.013880 -1.839883 -0.017238 +v 1.013880 -1.968118 -0.017238 +v -0.812522 -1.231030 0.783940 +v -0.107612 -1.231030 -1.427042 +v 0.020445 -2.768796 0.623853 +v 0.853610 -1.230854 0.880091 +v 0.757370 -2.544649 -0.753736 +v 0.789582 -1.230854 -1.074405 +v -0.876748 -1.231030 -0.978254 +v -0.780508 -2.737001 -0.145357 +v 0.725355 -2.864885 -0.049205 +v -0.011371 -2.800943 -0.978254 +v -0.043386 -1.263000 1.104609 +v 0.757370 -2.096177 0.720004 +v -0.075598 -3.025267 -0.145604 +v -1.005004 -2.032235 -0.177077 +v -0.748493 -2.064206 0.591637 +v -0.748493 -2.064206 -0.946038 +v 0.981668 -2.384267 0.207033 +v 1.013880 -1.230854 -0.177077 +v -1.005004 -1.231030 -0.081173 +v 0.052460 -1.263000 -1.427042 +v -0.075598 -2.768796 0.623853 +v 0.533071 -2.640561 0.463518 +v -0.620238 -2.608766 0.335152 +v -0.812522 -1.295147 -1.106373 +v 0.116489 -1.263000 1.104609 +v -0.716479 -2.800943 -0.209044 +v 0.725355 -2.864885 -0.145604 +v 0.885625 -1.263000 0.848123 +v 0.084474 -3.025267 -0.145604 +v -0.908763 -1.359089 0.495486 +v 0.180715 -2.736825 -0.946286 +v 1.013880 -1.871854 -0.113389 +v -0.780508 -1.839883 0.655821 +v 0.693341 -1.263000 -1.138589 +v 0.981668 -2.384267 0.078914 +v 0.661326 -2.512502 -0.817919 +v -0.780508 -2.737001 -0.209044 +v -0.716479 -2.800943 -0.145357 +v -0.107612 -1.263000 -1.427042 +v -0.043386 -2.320149 0.783940 +v -1.005004 -1.231030 -0.241260 +v -0.844734 -2.000089 0.399335 +v -0.043386 -1.231030 1.104609 +v -0.043386 -2.961149 -0.465530 +v -0.684464 -2.064206 -0.978254 +v -0.460166 -2.640737 -0.817919 +v -0.588224 -2.000089 0.687789 +v -0.972792 -2.032235 -0.305196 +v 0.437028 -2.096177 0.783940 +v -0.492180 -2.608766 0.463518 +v -0.043386 -2.384267 -1.106373 +v 0.789582 -1.295147 -1.074405 +v -1.005004 -2.032235 -0.145357 +v 0.020445 -2.800943 -0.978254 +v -0.812522 -1.455353 -1.074405 +v 0.020445 -3.025267 -0.241260 +v 0.981668 -2.256207 0.271216 +v 1.013880 -1.230854 -0.081421 +v 0.725355 -2.191914 0.687789 +v -0.844734 -1.263000 0.751724 +v 0.052460 -2.159943 -1.170557 +f 214 211 221 +f 166 162 167 +f 159 160 178 +f 166 164 178 +f 161 164 179 +f 164 166 179 +f 162 166 180 +f 173 163 181 +f 163 169 182 +f 169 177 182 +f 175 168 183 +f 167 162 184 +f 172 164 185 +f 177 169 187 +f 164 172 188 +f 169 163 189 +f 163 173 189 +f 187 169 189 +f 165 187 191 +f 178 160 192 +f 171 161 193 +f 180 166 194 +f 160 177 195 +f 187 165 195 +f 177 187 195 +f 165 192 195 +f 192 160 195 +f 165 191 196 +f 180 194 196 +f 168 174 197 +f 176 158 197 +f 158 186 197 +f 186 168 197 +f 173 181 198 +f 183 168 198 +f 181 183 198 +f 168 186 198 +f 186 173 198 +f 162 180 199 +f 184 162 199 +f 181 163 200 +f 185 171 200 +f 166 167 201 +f 167 174 201 +f 179 166 201 +f 174 179 201 +f 168 175 202 +f 175 193 202 +f 164 161 203 +f 161 171 203 +f 171 185 203 +f 185 164 203 +f 186 170 204 +f 173 186 204 +f 170 176 205 +f 158 176 206 +f 176 170 206 +f 186 158 206 +f 170 186 206 +f 175 181 207 +f 171 193 207 +f 193 175 207 +f 181 200 207 +f 200 171 207 +f 174 167 208 +f 197 174 208 +f 176 197 208 +f 163 172 209 +f 172 185 209 +f 200 163 209 +f 185 200 209 +f 181 175 210 +f 175 183 210 +f 183 181 210 +f 170 205 211 +f 205 199 211 +f 166 178 212 +f 192 165 212 +f 178 192 212 +f 194 166 212 +f 165 196 212 +f 196 194 212 +f 174 168 213 +f 179 174 213 +f 190 179 213 +f 168 202 213 +f 202 190 213 +f 191 187 214 +f 204 170 214 +f 170 211 214 +f 167 184 215 +f 184 199 215 +f 205 176 215 +f 199 205 215 +f 208 167 215 +f 176 208 215 +f 189 173 216 +f 187 189 216 +f 173 204 216 +f 214 187 216 +f 204 214 216 +f 160 159 217 +f 177 160 217 +f 172 177 217 +f 188 172 217 +f 188 217 218 +f 159 178 218 +f 178 164 218 +f 164 188 218 +f 217 159 218 +f 172 163 219 +f 177 172 219 +f 163 182 219 +f 182 177 219 +f 161 179 220 +f 179 190 220 +f 193 161 220 +f 190 202 220 +f 202 193 220 +f 196 191 221 +f 180 196 221 +f 199 180 221 +f 211 199 221 +f 191 214 221 +o convex_4 +v 0.148466 -1.198312 -1.427042 +v 0.020312 1.428817 1.104609 +v 0.020312 1.941142 0.944274 +v -1.037006 -0.141119 -1.427042 +v 0.821531 2.197722 -0.946286 +v 0.885504 -1.038106 1.104609 +v -0.844672 -0.877900 1.104609 +v -0.812582 2.742589 -0.176829 +v 1.013865 0.147168 -1.427042 +v 0.757557 2.614508 0.431551 +v -0.075544 2.774297 -0.946286 +v -1.004916 -1.230437 -0.081173 +v -1.004916 0.211835 1.104609 +v 1.013865 -1.230854 -0.176829 +v 1.045954 -0.076870 1.104609 +v 1.013865 2.421760 -0.497498 +v -0.908853 1.012030 -1.427042 +v -1.069096 2.037516 -0.209044 +v -0.043454 2.806422 0.655821 +v 0.853621 1.140112 -1.427042 +v -0.844672 -1.230437 -1.106373 +v -0.107634 -1.230437 1.104609 +v 0.148466 3.031294 -0.176829 +v -0.876763 0.915657 1.104609 +v 0.789440 -1.230437 -1.074405 +v 0.885504 0.852242 1.104609 +v 0.725467 2.902795 -0.272980 +v -0.812582 2.101765 -0.946286 +v -0.780492 2.037516 0.623853 +v -0.043454 1.428817 -1.427042 +v -1.069096 0.403748 -0.145604 +v -0.812582 -0.974274 -1.427042 +v 0.821531 -0.781943 -1.427042 +v -0.844672 -1.230437 0.751972 +v 0.885504 -1.230437 0.848123 +v -1.037006 -0.012621 0.944274 +v -0.139517 3.031294 -0.176829 +v -0.588365 2.614508 0.431551 +v -0.652339 2.614508 -0.689800 +v 0.533133 2.646215 -0.785952 +v 1.013865 2.421760 -0.401347 +v 0.020312 2.806422 0.655821 +v -0.972826 0.787992 -1.427042 +v -0.780492 2.774714 -0.081173 +v -1.069096 2.037516 -0.145604 +v -0.171608 -1.230437 -1.427042 +v 0.917594 1.012030 -1.427042 +v -1.004916 -0.172827 1.104609 +v 1.045954 -0.333450 0.720004 +v 0.917594 0.756702 1.104609 +v 0.789440 2.165597 -1.010222 +v 0.725467 2.870671 -0.081173 +v 1.045954 -0.237076 1.104609 +v -0.011571 2.710048 -0.978254 +v -0.780492 2.774714 -0.241260 +v -0.972826 -1.230437 -0.465530 +v -0.075544 2.806422 -0.914071 +v -1.037006 0.243542 -1.427042 +v -0.908853 -0.781943 -1.427042 +v 0.725467 2.614508 0.463518 +v -0.844672 2.005391 -0.978254 +v 0.020312 2.838546 0.623853 +v 1.013865 0.339916 -1.427042 +v 0.885504 -0.557488 -1.427042 +f 246 254 285 +f 227 223 228 +f 222 225 230 +f 228 223 234 +f 223 227 236 +f 230 225 238 +f 230 238 241 +f 227 228 243 +f 223 224 245 +f 234 223 245 +f 224 240 245 +f 224 223 247 +f 223 236 247 +f 232 238 249 +f 245 240 250 +f 238 232 251 +f 241 238 251 +f 225 233 252 +f 239 225 252 +f 225 222 253 +f 222 230 254 +f 246 222 254 +f 233 235 255 +f 243 228 255 +f 235 243 255 +f 227 243 256 +f 243 235 256 +f 252 233 257 +f 250 240 259 +f 232 249 260 +f 237 226 261 +f 248 237 261 +f 236 237 262 +f 237 248 262 +f 240 224 263 +f 224 247 263 +f 238 225 264 +f 240 258 265 +f 259 240 265 +f 250 259 265 +f 229 239 266 +f 234 245 266 +f 245 250 266 +f 239 252 266 +f 257 234 266 +f 252 257 266 +f 265 229 266 +f 250 265 266 +f 235 242 267 +f 222 246 267 +f 246 235 267 +f 253 222 267 +f 242 253 267 +f 226 237 268 +f 230 241 268 +f 228 234 269 +f 255 228 269 +f 233 255 269 +f 257 233 269 +f 234 257 269 +f 235 230 270 +f 237 236 270 +f 247 236 271 +f 231 247 271 +f 236 262 271 +f 262 231 271 +f 261 226 272 +f 226 268 272 +f 268 241 272 +f 248 244 273 +f 231 262 273 +f 262 248 273 +f 236 227 274 +f 227 256 274 +f 256 235 274 +f 235 270 274 +f 270 236 274 +f 251 232 275 +f 241 251 275 +f 232 261 275 +f 272 241 275 +f 261 272 275 +f 260 249 276 +f 229 265 276 +f 265 258 276 +f 233 225 277 +f 235 233 277 +f 242 235 277 +f 244 248 278 +f 258 244 278 +f 232 260 278 +f 261 232 278 +f 248 261 278 +f 276 258 278 +f 260 276 278 +f 225 239 279 +f 264 225 279 +f 239 264 279 +f 225 253 280 +f 253 242 280 +f 277 225 280 +f 242 277 280 +f 247 231 281 +f 263 247 281 +f 231 273 281 +f 239 229 282 +f 249 238 282 +f 238 264 282 +f 264 239 282 +f 229 276 282 +f 276 249 282 +f 258 240 283 +f 244 258 283 +f 240 263 283 +f 273 244 283 +f 263 281 283 +f 281 273 283 +f 268 237 284 +f 230 268 284 +f 270 230 284 +f 237 270 284 +f 230 235 285 +f 235 246 285 +f 254 230 285 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/626/626.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/626/626.urdf new file mode 100644 index 000000000..a5a4fe1e6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/626/626.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/627/627.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/627/627.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/627/627.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/627/627.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/627/627.obj new file mode 100644 index 000000000..0c580e9e0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/627/627.obj @@ -0,0 +1,663 @@ +o convex_0 +v -0.269662 -2.746203 -3.005450 +v 0.997978 -0.609047 -0.977126 +v 1.034173 -0.681639 -0.977126 +v -0.994177 -2.746203 -0.977126 +v -0.921788 -0.645239 -3.005450 +v 1.070576 -2.673403 -3.041832 +v -1.030371 -0.645239 -0.977126 +v 0.961784 -2.637212 -0.977126 +v 0.961784 -0.754021 -3.041832 +v -1.066775 -2.746203 -3.005450 +v 1.034173 -2.709803 -2.933089 +v -1.066775 -1.369688 -1.665563 +v -0.088481 -1.514661 -3.041832 +v 0.889395 -0.717830 -3.041832 +v 1.070576 -1.912763 -2.208471 +v -0.632024 -2.746203 -0.977126 +v 0.816797 -2.673403 -1.013306 +v -0.957982 -0.645239 -2.715603 +v -1.030371 -1.948954 -0.977126 +v -0.016092 -2.709803 -3.041832 +v 1.070576 -2.311283 -3.041832 +v 0.997978 -0.609047 -1.158230 +v 0.490839 -0.609047 -1.013306 +v -1.066775 -2.746203 -2.643040 +v 1.070576 -2.673403 -2.643242 +v -1.066775 -2.564830 -3.005450 +v -0.668218 -0.645239 -3.005450 +v -1.030371 -0.645239 -1.484257 +v 0.273672 -0.717830 -3.041832 +v 0.997978 -1.840381 -1.013306 +v -0.342260 -2.746203 -1.556618 +v -0.957982 -0.898785 -3.005450 +v -1.030371 -2.746203 -1.629181 +v 0.997978 -2.673403 -1.520438 +v -1.066775 -1.405879 -1.593001 +f 24 19 35 +f 3 2 4 +f 4 2 7 +f 3 4 8 +f 1 4 10 +f 1 6 11 +f 9 6 13 +f 9 13 14 +f 4 1 16 +f 8 4 16 +f 8 16 17 +f 4 7 19 +f 6 1 20 +f 1 10 20 +f 13 6 20 +f 10 13 20 +f 9 3 21 +f 6 9 21 +f 3 15 21 +f 15 6 21 +f 2 3 22 +f 3 9 22 +f 9 14 22 +f 7 2 23 +f 5 18 23 +f 2 22 23 +f 22 5 23 +f 10 4 24 +f 12 10 24 +f 11 6 25 +f 6 15 25 +f 10 12 26 +f 13 10 26 +f 14 5 27 +f 5 22 27 +f 22 14 27 +f 12 7 28 +f 7 23 28 +f 23 18 28 +f 26 12 28 +f 13 5 29 +f 5 14 29 +f 14 13 29 +f 3 8 30 +f 15 3 30 +f 25 15 30 +f 1 11 31 +f 16 1 31 +f 11 17 31 +f 17 16 31 +f 5 13 32 +f 18 5 32 +f 13 26 32 +f 28 18 32 +f 26 28 32 +f 4 19 33 +f 24 4 33 +f 19 24 33 +f 17 11 34 +f 8 17 34 +f 11 25 34 +f 30 8 34 +f 25 30 34 +f 7 12 35 +f 19 7 35 +f 12 24 35 +o convex_1 +v 0.998003 -0.428174 1.123967 +v -0.994198 -2.818656 0.435958 +v -0.958074 -2.818656 0.435958 +v 1.070466 -2.782383 2.971612 +v -0.958074 -0.754159 3.116667 +v -1.030538 -0.428174 -0.940460 +v 0.961879 -2.637293 -0.976924 +v -0.994198 -2.673332 2.971612 +v 0.998003 -0.428174 -0.940460 +v 0.998003 -0.681614 3.116667 +v -0.994198 -2.745877 -0.976924 +v -1.103001 -0.428174 1.051840 +v 1.106806 -2.456164 0.834659 +v 1.034343 -0.681614 -0.976924 +v 1.106806 -2.528709 3.007676 +v 0.708150 -0.645341 3.116667 +v -1.103001 -1.080145 0.943249 +v 0.309709 -2.818656 2.210676 +v 0.780613 -2.673566 -0.976924 +v -1.030538 -2.782150 0.943249 +v -1.030538 -0.645341 -0.976924 +v -1.066661 -0.609069 -0.795405 +v -0.994198 -2.818656 1.196494 +v 1.106806 -2.782383 2.572912 +v -0.958074 -1.007599 3.116667 +v 1.106806 -2.383619 3.007676 +v -0.994198 -1.731648 3.044140 +v -1.103001 -0.645341 1.269022 +v 1.106806 -2.637293 0.870722 +v -0.631881 -0.717887 3.116667 +v -0.595758 -2.709604 2.971612 +v 1.034343 -0.862743 0.943249 +v -1.030538 -1.876504 -0.976924 +v 0.998003 -0.862743 3.116667 +v -0.631881 -2.745877 -0.976924 +v 0.237246 -0.428174 -0.976924 +v 0.635686 -2.782150 2.971612 +v -1.103001 -0.681614 0.399895 +v 0.998003 -0.645341 3.044140 +v 0.309709 -2.818656 2.138549 +v 1.034343 -0.645341 -0.831869 +v -1.066661 -0.428174 -0.795405 +v -0.994198 -0.717887 2.717967 +v -0.921735 -2.782150 -0.469633 +v 0.889416 -2.528475 3.007676 +v -1.030538 -2.782150 0.834659 +v -1.103001 -1.080145 1.015777 +v -0.994198 -2.709604 2.645039 +f 58 66 83 +f 41 36 44 +f 36 41 47 +f 42 46 49 +f 40 45 51 +f 36 47 51 +f 37 38 53 +f 46 42 54 +f 49 46 56 +f 37 53 58 +f 55 37 58 +f 50 39 59 +f 48 50 59 +f 39 53 59 +f 54 42 59 +f 45 40 60 +f 45 50 61 +f 50 48 61 +f 60 40 62 +f 43 60 62 +f 47 52 63 +f 43 62 63 +f 49 48 64 +f 42 49 64 +f 59 42 64 +f 48 59 64 +f 47 40 65 +f 40 51 65 +f 51 47 65 +f 56 46 68 +f 57 56 68 +f 50 45 69 +f 45 60 69 +f 60 50 69 +f 46 54 70 +f 41 44 71 +f 44 49 71 +f 56 41 71 +f 49 56 71 +f 39 50 72 +f 53 39 72 +f 58 53 72 +f 66 58 72 +f 52 47 73 +f 68 52 73 +f 57 68 73 +f 36 51 74 +f 51 45 74 +f 45 61 74 +f 61 67 74 +f 53 38 75 +f 59 53 75 +f 54 59 75 +f 44 36 76 +f 48 49 76 +f 49 44 76 +f 61 48 76 +f 67 61 76 +f 36 74 76 +f 74 67 76 +f 47 41 77 +f 41 56 77 +f 56 57 77 +f 73 47 77 +f 57 73 77 +f 40 47 78 +f 62 40 78 +f 47 63 78 +f 63 62 78 +f 38 37 79 +f 37 46 79 +f 46 70 79 +f 70 54 79 +f 75 38 79 +f 54 75 79 +f 60 43 80 +f 50 60 80 +f 43 66 80 +f 72 50 80 +f 66 72 80 +f 46 37 81 +f 37 55 81 +f 55 52 81 +f 68 46 81 +f 52 68 81 +f 55 43 82 +f 52 55 82 +f 43 63 82 +f 63 52 82 +f 43 55 83 +f 55 58 83 +f 66 43 83 +o convex_2 +v -0.269828 0.079784 -1.085603 +v 0.925532 3.230859 1.124211 +v 0.454545 3.230859 1.124211 +v 0.998134 -0.427709 1.124211 +v -1.103001 -0.427709 1.051532 +v -1.066597 3.376070 -0.940460 +v 0.925532 3.303464 -1.085603 +v -1.066597 3.339581 1.087871 +v 0.998134 -0.427709 -0.940676 +v -1.030399 -0.427709 -0.940460 +v -0.559413 2.868204 -1.085603 +v 0.998134 2.035290 1.124211 +v -0.306026 0.224995 1.124211 +v 0.961730 2.904693 -1.085603 +v 0.273555 0.007179 -1.085603 +v -1.103001 1.166631 0.145845 +v -1.066597 -0.354732 -0.831872 +v -0.740609 2.578899 1.124211 +v 0.961730 3.230859 1.087871 +v 0.998134 1.094026 -0.976800 +v -0.595611 1.781729 -1.085603 +v 0.961730 3.266975 -0.614482 +v 0.925532 3.303464 -0.831872 +v -1.103001 -0.427709 0.363236 +v -1.103001 0.840465 1.051532 +v -1.066597 0.333344 -0.940460 +v -0.632015 -0.427709 -0.976800 +v -0.994201 3.267348 -0.976583 +v -0.885607 3.376070 -0.904336 +v -0.958003 3.339581 1.051532 +v 0.998134 0.224622 -0.976800 +v 0.744336 -0.427709 -0.976800 +v 0.671940 3.303092 -1.085603 +v -0.269828 0.115901 1.124211 +v -1.066597 2.614644 1.087871 +f 88 101 118 +f 85 86 87 +f 86 85 91 +f 87 88 92 +f 92 88 93 +f 90 84 94 +f 85 87 95 +f 87 92 95 +f 87 86 96 +f 84 90 97 +f 84 97 98 +f 91 89 99 +f 86 91 101 +f 96 86 101 +f 88 96 101 +f 85 95 102 +f 95 92 103 +f 84 93 104 +f 94 84 104 +f 97 90 105 +f 102 95 105 +f 95 103 105 +f 103 97 105 +f 105 90 106 +f 102 105 106 +f 93 88 107 +f 88 99 107 +f 100 93 107 +f 88 91 108 +f 99 88 108 +f 91 99 108 +f 99 89 109 +f 93 100 109 +f 104 93 109 +f 107 99 109 +f 100 107 109 +f 93 84 110 +f 92 93 110 +f 84 98 110 +f 94 104 111 +f 109 89 111 +f 104 109 111 +f 90 89 112 +f 89 91 112 +f 106 90 112 +f 106 112 113 +f 91 85 113 +f 85 102 113 +f 102 106 113 +f 112 91 113 +f 92 98 114 +f 98 97 114 +f 103 92 114 +f 97 103 114 +f 98 92 115 +f 92 110 115 +f 110 98 115 +f 89 90 116 +f 90 94 116 +f 111 89 116 +f 94 111 116 +f 88 87 117 +f 87 96 117 +f 96 88 117 +f 91 88 118 +f 101 91 118 +o convex_3 +v 0.092359 -0.029154 2.283317 +v 0.382284 0.622858 3.044214 +v 0.273562 0.622858 3.044214 +v -0.088632 0.550285 1.124587 +v -0.306005 0.043355 3.007757 +v 0.345972 -0.029154 1.124587 +v -0.269764 0.115801 1.124587 +v -0.342245 0.550285 1.414363 +v 0.345972 0.514094 1.124587 +v 0.201081 -0.029154 2.935219 +v -0.197283 0.514094 3.044214 +v -0.342245 0.405393 1.124587 +v 0.345972 0.441648 3.044214 +v -0.233523 0.079546 1.233206 +v -0.306005 0.188247 3.007757 +v 0.345972 0.550285 1.341825 +v -0.342245 0.550285 1.124587 +v -0.306005 0.079546 1.921378 +v 0.020019 -0.029154 2.971488 +v 0.345972 0.622858 2.826600 +v -0.233523 0.151992 3.044214 +v 0.273562 -0.029154 1.124587 +v -0.088632 0.550285 3.044214 +f 126 129 141 +f 122 124 125 +f 120 124 127 +f 124 122 127 +f 119 124 128 +f 120 121 129 +f 122 125 130 +f 123 126 130 +f 124 120 131 +f 128 124 131 +f 120 129 131 +f 119 123 132 +f 126 123 133 +f 129 126 133 +f 120 127 134 +f 127 122 134 +f 126 121 135 +f 122 130 135 +f 130 126 135 +f 123 130 136 +f 130 125 136 +f 132 123 136 +f 125 132 136 +f 123 119 137 +f 119 128 137 +f 128 131 137 +f 121 120 138 +f 120 134 138 +f 134 122 138 +f 135 121 138 +f 122 135 138 +f 131 129 139 +f 133 123 139 +f 129 133 139 +f 123 137 139 +f 137 131 139 +f 124 119 140 +f 125 124 140 +f 119 132 140 +f 132 125 140 +f 121 126 141 +f 129 121 141 +o convex_4 +v 0.382220 2.905009 1.885155 +v 0.599643 1.818470 3.116277 +v 0.599643 1.709769 3.116277 +v -0.595831 2.723880 2.971577 +v -0.559555 1.818470 1.124407 +v 0.563367 1.709769 1.124407 +v -0.414684 2.868736 1.124407 +v 0.563367 2.905009 2.971577 +v -0.450843 1.818470 2.935304 +v 0.490931 2.868736 1.124407 +v -0.378408 1.746042 1.486742 +v -0.595831 2.397778 1.124407 +v -0.595831 1.854742 1.414197 +v 0.599643 2.687724 3.007849 +v -0.595831 2.760036 2.717864 +v -0.016115 1.709769 1.124407 +v -0.595831 2.542751 2.971577 +v 0.527091 2.905009 1.631637 +v 0.490931 1.709769 3.116277 +v 0.418496 2.905009 2.935304 +v -0.487119 2.832464 1.124407 +v 0.563367 2.035871 1.124407 +v 0.599643 1.709769 2.030051 +v -0.414684 1.818470 2.971577 +v 0.563367 2.905009 2.283178 +v 0.418496 1.709769 3.080199 +v 0.527091 2.760036 3.007654 +v -0.487119 1.927171 2.899032 +v -0.414684 2.868736 1.233224 +v 0.527091 2.615179 1.160679 +f 166 163 171 +f 147 146 148 +f 147 148 151 +f 150 146 152 +f 148 146 153 +f 146 150 154 +f 145 153 154 +f 153 146 154 +f 143 144 155 +f 153 145 156 +f 147 144 157 +f 146 147 157 +f 152 146 157 +f 145 154 158 +f 148 142 159 +f 142 149 159 +f 151 148 159 +f 144 143 160 +f 143 145 160 +f 157 144 160 +f 145 158 160 +f 145 149 161 +f 149 142 161 +f 156 145 161 +f 148 153 162 +f 153 156 162 +f 147 151 163 +f 144 147 164 +f 155 144 164 +f 147 163 164 +f 163 155 164 +f 158 150 165 +f 160 158 165 +f 149 155 166 +f 159 149 166 +f 155 163 166 +f 150 152 167 +f 152 157 167 +f 157 160 167 +f 165 150 167 +f 160 165 167 +f 145 143 168 +f 149 145 168 +f 143 155 168 +f 155 149 168 +f 154 150 169 +f 150 158 169 +f 158 154 169 +f 142 148 170 +f 161 142 170 +f 156 161 170 +f 148 162 170 +f 162 156 170 +f 151 159 171 +f 163 151 171 +f 159 166 171 +o convex_5 +v 0.273548 0.550295 -1.665397 +v 0.201102 -0.065445 -3.114285 +v 0.309803 -0.065445 -3.114285 +v 0.273548 0.007118 -1.086000 +v -0.306019 0.514048 -1.086000 +v -0.161063 0.550295 -3.114285 +v -0.233509 0.043298 -2.570629 +v 0.201102 0.622858 -2.969138 +v -0.269764 0.079479 -1.086000 +v 0.346058 0.477935 -1.086000 +v -0.161063 -0.029197 -3.041612 +v 0.346058 0.188155 -2.280931 +v -0.306019 0.405372 -1.593121 +v 0.092465 0.007118 -1.158276 +v -0.197318 0.333011 -3.077750 +v 0.128656 0.622858 -2.679241 +v 0.309803 0.115727 -3.077750 +v 0.309803 -0.029197 -1.955293 +v 0.056210 0.622858 -3.005276 +v 0.237357 -0.065445 -2.715578 +v 0.346058 0.369191 -1.086000 +v -0.306019 0.514048 -1.520647 +v 0.128656 0.514048 -1.086000 +v -0.197318 0.152042 -3.077750 +v 0.309803 0.514048 -1.737871 +v -0.306019 0.296763 -1.339561 +f 184 178 197 +f 174 173 177 +f 175 176 180 +f 176 175 181 +f 179 172 181 +f 180 178 182 +f 175 180 185 +f 180 182 185 +f 172 179 187 +f 174 177 188 +f 177 179 188 +f 183 174 188 +f 174 183 189 +f 179 177 190 +f 176 187 190 +f 187 179 190 +f 173 174 191 +f 182 173 191 +f 175 185 191 +f 185 182 191 +f 174 189 191 +f 189 175 191 +f 181 175 192 +f 183 181 192 +f 175 189 192 +f 189 183 192 +f 184 176 193 +f 177 186 193 +f 186 184 193 +f 176 190 193 +f 190 177 193 +f 181 172 194 +f 176 181 194 +f 172 187 194 +f 187 176 194 +f 177 173 195 +f 173 182 195 +f 182 178 195 +f 178 184 195 +f 186 177 195 +f 184 186 195 +f 179 181 196 +f 181 183 196 +f 188 179 196 +f 183 188 196 +f 180 176 197 +f 178 180 197 +f 176 184 197 +o convex_6 +v -0.342217 2.832474 -1.085795 +v -0.342217 1.709652 -2.969074 +v -0.269665 1.709652 -2.969074 +v 0.309796 2.832474 -2.969074 +v 0.490963 1.782275 -1.085795 +v -0.595831 1.782275 -1.085795 +v -0.523278 2.760191 -3.041641 +v 0.454687 2.868899 -1.085795 +v 0.454687 1.854558 -3.005262 +v 0.490963 2.832474 -2.932887 +v -0.523278 2.796276 -1.085795 +v -0.523278 1.709652 -2.932887 +v 0.490963 2.868899 -2.570629 +v 0.490963 1.818360 -2.389501 +v -0.487109 1.709652 -2.208372 +v -0.052434 2.325474 -3.041641 +v -0.523278 2.796276 -2.099809 +v -0.559555 2.470266 -1.158361 +v 0.092458 2.832474 -2.932887 +v 0.418411 1.818360 -3.005262 +v 0.490963 1.782275 -1.810310 +v 0.490963 2.144597 -1.085795 +v 0.128628 2.868899 -1.122174 +v -0.595831 1.818360 -1.266923 +v 0.490963 2.144597 -2.969074 +v -0.523278 2.542776 -3.041641 +v -0.559555 1.746077 -1.520619 +v 0.490963 2.868899 -2.208372 +v 0.454687 2.108285 -3.005262 +v -0.233495 2.687682 -3.041641 +v -0.305941 2.832474 -1.448052 +f 220 210 228 +f 202 198 203 +f 198 202 205 +f 203 198 208 +f 199 200 209 +f 207 201 210 +f 202 207 210 +f 207 202 211 +f 200 202 212 +f 209 200 212 +f 208 198 214 +f 203 208 215 +f 214 204 215 +f 208 214 215 +f 201 204 216 +f 210 201 216 +f 204 214 216 +f 200 199 217 +f 206 211 217 +f 199 213 217 +f 213 206 217 +f 202 200 218 +f 211 202 218 +f 200 217 218 +f 217 211 218 +f 205 202 219 +f 202 210 219 +f 198 205 220 +f 205 210 220 +f 209 203 221 +f 203 215 221 +f 215 204 221 +f 211 206 222 +f 207 211 222 +f 199 209 223 +f 213 199 223 +f 204 213 223 +f 209 221 223 +f 221 204 223 +f 202 203 224 +f 203 209 224 +f 212 202 224 +f 209 212 224 +f 210 205 225 +f 205 219 225 +f 219 210 225 +f 201 207 226 +f 206 213 226 +f 222 206 226 +f 207 222 226 +f 204 201 227 +f 213 204 227 +f 201 226 227 +f 226 213 227 +f 214 198 228 +f 210 216 228 +f 216 214 228 +f 198 220 228 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/627/627.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/627/627.urdf new file mode 100644 index 000000000..e5b5d5f1c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/627/627.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/628/628.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/628/628.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/628/628.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/628/628.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/628/628.obj new file mode 100644 index 000000000..4abf12d5b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/628/628.obj @@ -0,0 +1,450 @@ +o convex_0 +v 3.169006 -0.060924 -0.983853 +v 0.445467 -2.061155 -2.473370 +v 0.445467 -1.890787 -2.473370 +v 4.403312 -0.827183 -2.473370 +v 4.360628 -2.018363 -0.388338 +v 0.445467 -0.188701 -0.345429 +v 0.445467 -0.018332 -2.387969 +v 0.445467 -2.018563 -0.388338 +v 4.445995 -0.103516 -0.345429 +v 4.445995 -2.061155 -2.387969 +v 4.360628 -0.146308 -2.473370 +v 0.956498 -2.061155 -0.685991 +v 4.403312 -1.124728 -0.345429 +v 4.403312 -2.061155 -0.941361 +v 3.467009 -0.103716 -2.473370 +v 0.530835 -0.146308 -0.473114 +v 1.467137 -0.018332 -1.792037 +v 4.445995 -0.103516 -0.856168 +v 1.169133 -0.103516 -2.430461 +v 2.275779 -1.167320 -0.345429 +v 3.424325 -1.975971 -2.430461 +v 4.445995 -0.657014 -0.345429 +v 0.445467 -0.018332 -2.005123 +v 3.722329 -0.103516 -0.345429 +v 2.956370 -0.103716 -2.473370 +v 1.211817 -0.018332 -2.302985 +v 0.445467 -0.614222 -0.345429 +v 4.360628 -2.061155 -0.728483 +v 0.445467 -2.061155 -1.239223 +v 4.403312 -0.359069 -2.218000 +v 0.488151 -0.571630 -2.430461 +v 4.360628 -1.678026 -2.430461 +f 10 21 32 +f 2 3 4 +f 3 2 6 +f 3 6 7 +f 6 2 8 +f 4 3 11 +f 5 8 12 +f 2 10 12 +f 9 6 13 +f 12 10 14 +f 11 3 15 +f 1 9 18 +f 9 10 18 +f 11 15 18 +f 8 5 20 +f 5 13 20 +f 13 6 20 +f 2 4 21 +f 10 2 21 +f 10 9 22 +f 13 5 22 +f 9 13 22 +f 14 10 22 +f 5 14 22 +f 7 6 23 +f 6 16 23 +f 17 7 23 +f 16 17 23 +f 9 1 24 +f 6 9 24 +f 16 6 24 +f 1 17 24 +f 17 16 24 +f 7 15 25 +f 15 3 25 +f 19 7 25 +f 15 7 26 +f 17 1 26 +f 7 17 26 +f 1 18 26 +f 18 15 26 +f 6 8 27 +f 8 20 27 +f 20 6 27 +f 5 12 28 +f 14 5 28 +f 12 14 28 +f 8 2 29 +f 2 12 29 +f 12 8 29 +f 10 4 30 +f 4 11 30 +f 18 10 30 +f 11 18 30 +f 3 7 31 +f 7 19 31 +f 25 3 31 +f 19 25 31 +f 4 10 32 +f 21 4 32 +o convex_1 +v -3.129211 -1.720685 -1.707145 +v -1.810342 -0.571597 -0.898694 +v -1.810342 -0.656743 -0.898694 +v -3.767855 -0.742003 -0.941261 +v -1.895609 -0.614226 -2.005223 +v -1.810342 -1.635538 -0.983828 +v -3.597320 -0.614226 -1.877413 +v -3.639858 -1.592908 -0.983828 +v -1.810342 -1.635538 -1.877413 +v -3.639858 -1.720685 -1.877413 +v -3.767855 -0.571597 -1.068962 +v -1.810342 -0.699373 -2.005223 +v -3.682396 -0.571597 -1.494417 +v -3.469706 -0.614226 -1.920089 +v -3.767855 -0.571597 -0.941261 +v -2.150837 -1.678055 -1.239231 +v -1.810342 -0.571597 -1.281798 +v -3.639858 -1.720685 -1.707145 +v -3.682396 -1.507761 -1.707145 +v -3.724934 -0.997331 -0.941261 +f 36 40 52 +f 35 34 36 +f 34 35 38 +f 38 35 40 +f 34 38 41 +f 41 33 42 +f 34 41 44 +f 42 37 44 +f 41 42 44 +f 43 34 45 +f 42 39 46 +f 37 42 46 +f 45 37 46 +f 39 45 46 +f 36 34 47 +f 34 43 47 +f 43 36 47 +f 38 40 48 +f 41 38 48 +f 33 41 48 +f 34 44 49 +f 44 37 49 +f 45 34 49 +f 37 45 49 +f 42 33 50 +f 48 40 50 +f 33 48 50 +f 40 36 51 +f 39 42 51 +f 36 43 51 +f 45 39 51 +f 43 45 51 +f 50 40 51 +f 42 50 51 +f 35 36 52 +f 40 35 52 +o convex_2 +v 0.445467 -0.060803 -1.494634 +v -1.810150 -1.635025 -1.877413 +v -1.810150 -1.635025 -0.983991 +v -1.767537 1.853668 -2.175383 +v 0.445467 -2.060647 -2.473353 +v 0.360241 1.854081 -0.898694 +v 0.275236 1.981520 -2.558487 +v 0.445467 -2.018167 -0.898694 +v -1.682311 1.896561 -0.898694 +v -1.597306 -2.231390 -2.388056 +v -1.639698 -2.231390 -0.898694 +v -1.767537 1.258128 -2.473191 +v -1.682311 -0.826674 -2.473191 +v 0.445467 -0.018736 -2.388219 +v -1.554693 1.853668 -2.473191 +v -0.278070 1.385567 -2.558487 +v -1.810150 -0.570972 -0.898694 +v -0.916161 -2.188498 -0.898694 +v 0.360241 1.896148 -1.239231 +v 0.402854 1.300608 -0.898694 +v -1.299457 0.279034 -2.515920 +v 0.317628 1.726230 -2.558487 +v -1.639698 -1.890728 -2.430624 +v 0.402854 -2.060647 -0.898694 +v -1.810150 -0.613451 -2.004952 +v -1.426854 -2.231390 -2.388056 +v 0.445467 -0.145350 -0.898694 +v 0.104784 1.981932 -2.558487 +v -1.682311 1.896561 -1.494634 +v 0.275236 1.981520 -2.345489 +v -1.767537 1.811189 -2.430624 +v -1.724924 -0.230722 -2.473191 +v 0.275236 -2.060647 -2.473353 +v -1.001387 1.896561 -0.898694 +v -1.639698 -2.231390 -1.962547 +v -1.767537 1.853668 -2.047519 +v 0.360241 1.896148 -1.409662 +v -1.214231 -2.188498 -2.430624 +v -1.384462 -2.231390 -0.898694 +f 63 78 91 +f 57 53 60 +f 60 58 61 +f 55 54 63 +f 60 61 63 +f 53 57 66 +f 64 67 68 +f 54 55 69 +f 55 63 69 +f 63 61 69 +f 60 63 70 +f 58 60 72 +f 53 66 72 +f 71 58 72 +f 64 68 73 +f 66 57 74 +f 57 68 74 +f 68 59 74 +f 62 54 75 +f 57 60 76 +f 70 57 76 +f 60 70 76 +f 64 54 77 +f 54 69 77 +f 69 56 77 +f 63 62 78 +f 60 53 79 +f 53 72 79 +f 72 60 79 +f 67 56 80 +f 68 67 80 +f 59 68 80 +f 56 61 81 +f 80 56 81 +f 61 80 81 +f 71 59 82 +f 80 61 82 +f 59 80 82 +f 56 67 83 +f 67 64 83 +f 64 77 83 +f 77 56 83 +f 54 64 84 +f 73 65 84 +f 64 73 84 +f 75 54 84 +f 65 75 84 +f 68 57 85 +f 65 73 85 +f 73 68 85 +f 61 58 86 +f 58 71 86 +f 82 61 86 +f 71 82 86 +f 54 62 87 +f 63 54 87 +f 62 63 87 +f 61 56 88 +f 56 69 88 +f 69 61 88 +f 59 71 89 +f 72 66 89 +f 71 72 89 +f 66 74 89 +f 74 59 89 +f 62 75 90 +f 75 65 90 +f 57 78 90 +f 78 62 90 +f 85 57 90 +f 65 85 90 +f 57 70 91 +f 70 63 91 +f 78 57 91 +o convex_3 +v 0.360333 1.981583 2.462715 +v -1.639781 -2.231390 -0.898694 +v -1.724916 -0.358402 -0.898694 +v -1.724916 -2.103497 3.655099 +v 0.445467 -2.018096 -0.898694 +v 0.445467 -2.145989 3.484822 +v -1.767591 1.939090 3.612307 +v 0.360333 1.854106 -0.898694 +v -1.639781 1.938674 -0.855902 +v 0.445250 1.896598 3.612307 +v 0.402792 2.024491 -0.515348 +v 0.402792 -0.400895 3.655099 +v -1.639781 2.024491 1.526638 +v -1.724916 -2.145989 0.846422 +v -1.682457 1.896181 -0.898694 +v 0.445467 -0.145525 -0.898694 +v -1.639781 2.024491 -0.473001 +v -0.873790 1.002596 3.655099 +v 0.402792 -2.060588 -0.898694 +v -1.724916 0.960104 -0.898694 +v 0.360333 2.024491 1.696915 +v -1.639781 -2.231390 -0.132448 +v -1.384379 -2.231390 -0.898694 +v -1.171651 -2.103497 3.655099 +v -1.043841 1.981583 2.973546 +v -1.767591 1.513335 3.442030 +v 0.232523 -2.145989 3.526723 +v 0.445250 1.939090 3.186615 +v 0.402792 0.534350 3.655099 +v -0.107798 -2.145989 3.526723 +v -1.767591 1.939090 3.271753 +v -0.703521 1.939090 3.612307 +v 0.445467 0.278980 -0.473001 +v 0.402792 -2.145989 3.059130 +v -1.724916 -1.464865 3.655099 +v 0.445250 1.939090 2.888853 +f 119 124 127 +f 93 94 96 +f 96 94 99 +f 99 100 102 +f 97 101 103 +f 94 93 105 +f 99 94 106 +f 100 99 106 +f 97 96 107 +f 96 99 107 +f 99 102 107 +f 102 100 108 +f 98 104 108 +f 104 102 108 +f 100 106 108 +f 95 103 109 +f 93 96 110 +f 96 97 110 +f 106 94 111 +f 102 104 112 +f 105 93 113 +f 95 105 113 +f 93 110 114 +f 113 93 114 +f 97 113 114 +f 103 95 115 +f 104 98 116 +f 112 104 116 +f 95 98 117 +f 94 105 117 +f 105 95 117 +f 97 103 118 +f 113 97 118 +f 115 95 118 +f 103 115 118 +f 112 92 119 +f 102 112 119 +f 103 101 120 +f 101 109 120 +f 109 103 120 +f 95 113 121 +f 113 118 121 +f 118 95 121 +f 98 108 122 +f 108 106 122 +f 111 94 122 +f 106 111 122 +f 117 98 122 +f 94 117 122 +f 98 109 123 +f 109 101 123 +f 92 112 123 +f 116 98 123 +f 112 116 123 +f 101 119 123 +f 119 92 123 +f 101 97 124 +f 97 107 124 +f 107 102 124 +f 119 101 124 +f 110 97 125 +f 114 110 125 +f 97 114 125 +f 98 95 126 +f 95 109 126 +f 109 98 126 +f 102 119 127 +f 124 102 127 +o convex_4 +v -0.958951 3.981880 0.165560 +v 0.062409 3.769068 -0.558011 +v 0.062409 3.896716 -0.558011 +v 0.360261 3.215993 1.612276 +v -1.639786 2.024874 -0.472822 +v 0.402718 2.024679 -0.515311 +v -1.639786 2.024874 1.526875 +v -1.767591 3.854232 1.569576 +v -1.682243 4.024559 -0.430334 +v 0.360261 2.024679 1.569363 +v 0.317587 3.854232 1.612276 +v 0.445392 3.854232 -0.558011 +v 0.275129 2.322654 1.612276 +v 0.147540 3.896716 1.441687 +v -1.171671 3.811748 1.612276 +v -1.767591 3.896716 1.484387 +v 0.360261 3.896716 -0.558011 +v -1.767591 3.641420 1.399199 +v -1.724917 3.896716 0.080371 +v -1.682243 2.322654 1.526875 +v 0.360261 3.173313 -0.558011 +v 0.445392 3.854232 -0.387634 +v -1.554654 4.024559 -0.302658 +v -1.724917 3.088345 1.569576 +v 0.360261 3.854232 1.356711 +v -1.682243 3.130829 -0.430334 +v -0.618642 2.024874 1.569576 +v -1.639786 2.322654 -0.472822 +f 132 136 155 +f 130 129 132 +f 132 133 137 +f 134 132 137 +f 129 130 139 +f 137 131 140 +f 131 138 140 +f 138 135 142 +f 140 138 142 +f 135 138 143 +f 138 141 143 +f 130 136 144 +f 139 130 144 +f 128 141 144 +f 135 143 145 +f 145 143 146 +f 143 136 146 +f 132 134 147 +f 145 132 147 +f 132 129 148 +f 133 132 148 +f 129 139 148 +f 139 133 148 +f 137 133 149 +f 131 137 149 +f 133 139 149 +f 139 144 149 +f 141 128 150 +f 136 143 150 +f 143 141 150 +f 128 144 150 +f 144 136 150 +f 142 135 151 +f 140 142 151 +f 135 145 151 +f 147 134 151 +f 145 147 151 +f 138 131 152 +f 141 138 152 +f 144 141 152 +f 131 149 152 +f 149 144 152 +f 136 132 153 +f 132 145 153 +f 145 146 153 +f 146 136 153 +f 134 137 154 +f 137 140 154 +f 151 134 154 +f 140 151 154 +f 130 132 155 +f 136 130 155 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/628/628.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/628/628.urdf new file mode 100644 index 000000000..243e3166d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/628/628.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/629/629.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/629/629.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/629/629.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/629/629.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/629/629.obj new file mode 100644 index 000000000..9e8ff8dc0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/629/629.obj @@ -0,0 +1,558 @@ +o convex_0 +v 1.047201 0.164158 -1.334593 +v -1.101917 -1.188823 -0.220675 +v -1.101917 -1.188823 -0.140977 +v 1.007231 -2.104356 -1.533838 +v 0.967472 -2.104356 0.535426 +v -0.982428 -2.104356 -1.454140 +v -1.101917 0.164158 0.535426 +v -0.982428 0.164158 -1.414291 +v 0.967472 0.164158 0.495783 +v -1.022188 -2.104356 0.575482 +v 1.047201 0.164158 -1.493989 +v 0.648975 -1.745959 0.575482 +v 0.967472 -0.671657 -1.533838 +v -1.061947 -2.104356 -0.857022 +v -1.022188 -0.671657 0.575482 +v 1.007231 0.164158 0.217252 +v 1.007231 -2.064386 -0.618134 +v -1.101917 0.164158 -0.021636 +v -1.022188 -1.944920 -1.374442 +v -0.982428 -1.387562 -1.454140 +v 0.489937 0.164158 -1.493783 +v -1.061947 -1.586967 0.575482 +v -0.465134 0.164158 0.535426 +v -1.061947 -2.104356 -0.101334 +v -1.022188 0.124188 -1.056062 +v 0.609215 -2.104356 0.575482 +v -1.101917 -0.671657 0.535426 +v 0.887742 -2.104356 -1.533838 +f 20 13 28 +f 4 5 6 +f 2 3 7 +f 7 1 8 +f 1 7 9 +f 6 5 10 +f 1 4 11 +f 8 1 11 +f 5 9 12 +f 11 4 13 +f 3 2 14 +f 6 10 14 +f 10 12 15 +f 1 9 16 +f 9 5 16 +f 4 1 17 +f 5 4 17 +f 1 16 17 +f 16 5 17 +f 2 7 18 +f 7 8 18 +f 14 2 19 +f 6 14 19 +f 2 18 19 +f 6 19 20 +f 19 8 20 +f 8 11 21 +f 11 13 21 +f 13 20 21 +f 20 8 21 +f 15 7 22 +f 10 15 22 +f 9 7 23 +f 12 9 23 +f 7 15 23 +f 15 12 23 +f 3 14 24 +f 14 10 24 +f 22 3 24 +f 10 22 24 +f 18 8 25 +f 8 19 25 +f 19 18 25 +f 10 5 26 +f 5 12 26 +f 12 10 26 +f 7 3 27 +f 3 22 27 +f 22 7 27 +f 4 6 28 +f 13 4 28 +f 6 20 28 +o convex_1 +v 0.569553 2.392656 -1.295632 +v 0.489847 0.164591 -1.494620 +v 1.047147 0.164591 -1.494620 +v -0.982358 2.273346 -3.563176 +v -1.101917 0.164591 0.376489 +v -1.022211 2.352959 0.376489 +v 1.087000 2.273346 0.376489 +v 1.047147 0.243985 -3.563176 +v -0.942505 0.323380 -3.364187 +v 1.047147 2.233649 -3.443628 +v 0.967441 0.164591 0.376489 +v -0.982358 0.164591 -1.414793 +v -0.982358 0.681746 -3.443628 +v 1.007294 2.392656 -1.613011 +v 1.087000 1.318211 -0.380130 +v -0.982358 2.313043 -3.085372 +v 0.131813 2.273128 -3.523069 +v 0.569553 0.204288 -3.085372 +v -1.101917 0.283901 0.017847 +v 1.007294 0.243985 0.376489 +v -0.226222 2.352740 0.376489 +v 0.768390 0.243985 -3.563176 +v -0.982358 2.352959 -1.295632 +v 1.047147 0.681746 -3.563176 +v 1.087000 2.313261 -0.061594 +v -0.982358 2.034508 -3.563176 +v 0.330649 2.392656 -0.817828 +v 1.047147 2.114120 -3.483735 +v 1.047147 2.273346 -3.245025 +v 1.087000 1.636662 0.376489 +v -1.101917 0.164591 0.017847 +v -0.584471 2.273346 -3.563176 +v -1.022211 2.352959 0.097288 +v -0.624324 0.323380 -3.443628 +v 1.007294 2.392656 -1.375073 +v 0.489847 0.243985 -3.523069 +f 62 50 64 +f 30 31 33 +f 34 33 35 +f 33 31 39 +f 35 33 39 +f 30 33 40 +f 31 36 43 +f 29 42 44 +f 44 42 45 +f 31 30 46 +f 36 31 46 +f 30 40 46 +f 33 34 47 +f 39 31 48 +f 35 39 48 +f 31 43 48 +f 34 35 49 +f 32 36 50 +f 36 46 50 +f 29 44 51 +f 36 32 52 +f 43 36 52 +f 35 43 53 +f 49 35 53 +f 47 32 54 +f 32 50 54 +f 50 41 54 +f 42 29 55 +f 34 49 55 +f 29 51 55 +f 45 38 56 +f 43 52 56 +f 38 53 56 +f 53 43 56 +f 45 42 57 +f 38 45 57 +f 53 38 57 +f 42 53 57 +f 43 35 58 +f 35 48 58 +f 48 43 58 +f 40 33 59 +f 37 40 59 +f 41 37 59 +f 33 47 59 +f 47 54 59 +f 54 41 59 +f 32 44 60 +f 44 45 60 +f 52 32 60 +f 45 56 60 +f 56 52 60 +f 44 32 61 +f 32 47 61 +f 47 34 61 +f 51 44 61 +f 34 55 61 +f 55 51 61 +f 37 41 62 +f 41 50 62 +f 53 42 63 +f 49 53 63 +f 42 55 63 +f 55 49 63 +f 40 37 64 +f 46 40 64 +f 50 46 64 +f 37 62 64 +o convex_2 +v 2.997134 1.755911 2.645003 +v 0.848194 0.283916 0.376704 +v 0.848194 2.273116 0.376704 +v -3.051934 0.761202 2.485583 +v -2.972144 2.352955 0.575646 +v -2.972144 2.352955 2.565293 +v 3.036729 0.283916 2.565071 +v -2.932549 0.323617 0.416448 +v 3.076924 2.273335 0.495936 +v 2.519592 2.392874 2.604815 +v 2.956939 0.243997 0.615390 +v -2.972144 0.243779 2.485583 +v -1.101570 0.164376 0.376925 +v 0.807999 0.164376 2.485583 +v -1.022380 2.352736 0.376925 +v -1.459727 2.392656 2.645003 +v -1.340341 0.243997 2.565071 +v 2.956939 2.352736 2.645003 +v -0.504642 2.392656 0.854299 +v 0.967580 0.164376 0.376704 +v -1.061975 0.164376 2.525327 +v -3.051934 0.243779 2.047732 +v 3.036729 0.602179 2.604815 +v -1.022380 1.914934 2.645003 +v 3.036729 1.278625 0.535902 +v -2.972144 1.795612 2.565293 +v -2.972144 0.283698 0.734844 +v 3.076924 1.119603 1.689591 +v 2.638977 0.243997 2.565071 +v -1.022380 0.841040 2.604815 +v 3.076924 2.273335 0.973753 +v 2.081645 0.204296 1.610103 +v 1.086965 2.273116 0.376704 +v -2.932549 0.522559 0.416448 +v 2.877748 0.283916 0.575646 +v -1.658903 2.392656 2.047732 +v -2.972144 0.323617 0.535902 +v 3.076924 1.994772 0.495936 +v 2.956939 2.352736 1.968243 +v 3.036729 0.283916 2.047954 +v -0.265871 2.352736 0.376925 +v -3.011739 1.755911 2.485583 +v -2.534197 2.273335 2.605037 +v 2.997134 2.352736 2.286640 +v -3.051934 0.243779 2.445838 +v 2.956939 0.243997 1.411604 +v 3.036729 0.920661 2.565071 +v -1.022380 0.204296 2.565071 +v 0.927384 0.164376 2.445838 +v 2.797958 2.313035 1.053241 +v -2.772968 0.283698 0.416448 +v 2.997134 0.442939 0.894043 +f 92 104 116 +f 67 66 77 +f 67 77 79 +f 80 65 82 +f 74 80 82 +f 79 69 83 +f 66 67 84 +f 77 66 84 +f 78 77 84 +f 77 78 85 +f 68 69 86 +f 65 80 88 +f 87 65 88 +f 70 68 90 +f 68 76 90 +f 76 81 90 +f 77 86 91 +f 87 71 92 +f 85 78 93 +f 71 87 93 +f 87 88 94 +f 92 73 95 +f 84 75 96 +f 67 79 97 +f 84 67 97 +f 77 72 98 +f 69 79 98 +f 79 77 98 +f 75 84 99 +f 89 75 99 +f 69 70 100 +f 70 80 100 +f 80 74 100 +f 74 83 100 +f 83 69 100 +f 86 69 101 +f 72 91 101 +f 91 86 101 +f 69 98 101 +f 98 72 101 +f 73 92 102 +f 92 89 102 +f 97 73 102 +f 84 97 102 +f 99 84 102 +f 89 99 102 +f 83 74 103 +f 71 75 104 +f 92 71 104 +f 83 73 105 +f 79 83 105 +f 97 79 105 +f 73 97 105 +f 69 68 106 +f 68 70 106 +f 70 69 106 +f 80 70 107 +f 88 80 107 +f 70 90 107 +f 90 81 107 +f 81 94 107 +f 94 88 107 +f 82 65 108 +f 74 82 108 +f 95 73 108 +f 73 103 108 +f 103 74 108 +f 76 68 109 +f 85 76 109 +f 77 85 109 +f 68 86 109 +f 86 77 109 +f 75 71 110 +f 71 93 110 +f 96 75 110 +f 93 96 110 +f 65 87 111 +f 87 92 111 +f 92 95 111 +f 108 65 111 +f 95 108 111 +f 81 76 112 +f 76 85 112 +f 85 93 112 +f 93 87 112 +f 94 81 112 +f 87 94 112 +f 78 84 113 +f 93 78 113 +f 84 96 113 +f 96 93 113 +f 73 83 114 +f 103 73 114 +f 83 103 114 +f 72 77 115 +f 91 72 115 +f 77 91 115 +f 75 89 116 +f 89 92 116 +f 104 75 116 +o convex_3 +v -0.624215 -2.979720 -3.205157 +v 0.609297 -3.178782 -2.886683 +v 0.609297 -3.218663 -2.886683 +v -0.504800 -2.741003 -1.573637 +v 0.609297 -2.263682 -3.563561 +v 0.489882 -2.263682 -1.573637 +v -0.584369 -2.263682 -3.483894 +v -0.226245 -3.298310 -1.573637 +v -0.504800 -2.144154 -1.573637 +v 0.489882 -3.218663 -3.523436 +v 0.529607 -3.178782 -1.573637 +v -0.624215 -3.138902 -3.483894 +v -0.425230 -3.298310 -1.573637 +v 0.529607 -2.263682 -1.653304 +v -0.226245 -2.144154 -1.852569 +v -0.624215 -3.178782 -3.364296 +v 0.609297 -3.218663 -3.523436 +v -0.544524 -2.263682 -1.653304 +v 0.370467 -3.258430 -3.125489 +v 0.410312 -2.223802 -1.573637 +v -0.385385 -2.263682 -3.523436 +v 0.609297 -2.263682 -3.165421 +v -0.464954 -3.258430 -1.613568 +v 0.569452 -3.099248 -2.011708 +f 138 130 140 +f 118 119 121 +f 122 120 124 +f 120 122 125 +f 124 119 127 +f 122 124 127 +f 117 123 128 +f 121 126 128 +f 124 120 129 +f 122 127 130 +f 123 125 131 +f 117 128 132 +f 128 126 132 +f 121 119 133 +f 126 121 133 +f 123 117 134 +f 120 125 134 +f 125 123 134 +f 117 132 134 +f 132 120 134 +f 119 124 135 +f 124 129 135 +f 132 126 135 +f 129 132 135 +f 133 119 135 +f 126 133 135 +f 125 122 136 +f 122 130 136 +f 121 131 136 +f 131 125 136 +f 128 123 137 +f 121 128 137 +f 131 121 137 +f 123 131 137 +f 118 121 138 +f 121 136 138 +f 136 130 138 +f 129 120 139 +f 120 132 139 +f 132 129 139 +f 119 118 140 +f 127 119 140 +f 130 127 140 +f 118 138 140 +o convex_4 +v -1.061998 -2.621884 -0.777573 +v 1.007403 -2.104356 -0.658022 +v 1.007403 -2.144442 -0.658022 +v -0.942485 -3.696209 0.655079 +v 1.007403 -3.775892 -1.573637 +v 0.927592 -3.775892 0.575451 +v -0.584351 -2.104356 0.655079 +v -1.022093 -3.775892 -1.494009 +v -0.504743 -2.144442 -1.573637 +v 0.967497 -2.104356 0.535527 +v 1.007403 -2.104356 -1.533714 +v -1.022093 -2.104356 0.575451 +v -1.022093 -2.104356 -1.374457 +v -0.982390 -3.775892 0.217233 +v 0.569458 -2.263721 0.655079 +v -0.425337 -3.298287 -1.573637 +v 0.450147 -3.298287 0.655079 +v 0.967497 -3.775892 0.018272 +v -0.942485 -3.775892 0.655079 +v -1.022093 -2.502442 0.615155 +v -0.982390 -2.104356 -1.454085 +v 0.490053 -2.263721 -1.573637 +v -1.061998 -2.104356 -0.140985 +v 0.688971 -3.775892 0.615155 +v -1.061998 -2.184038 -0.896907 +v -1.022093 -3.775892 -1.055945 +v 0.967497 -2.542365 0.535527 +v 1.007403 -3.775892 -1.334752 +f 143 167 168 +f 142 143 145 +f 145 146 148 +f 143 142 150 +f 142 147 150 +f 142 145 151 +f 147 142 151 +f 147 151 152 +f 152 151 153 +f 148 146 154 +f 147 144 155 +f 146 150 155 +f 150 147 155 +f 145 148 156 +f 149 145 156 +f 148 149 156 +f 155 144 157 +f 146 145 158 +f 154 146 159 +f 157 144 159 +f 144 147 160 +f 147 152 160 +f 141 154 160 +f 159 144 160 +f 154 159 160 +f 149 148 161 +f 151 149 161 +f 148 153 161 +f 153 151 161 +f 145 149 162 +f 151 145 162 +f 149 151 162 +f 152 153 163 +f 141 160 163 +f 160 152 163 +f 146 155 164 +f 155 157 164 +f 159 146 164 +f 157 159 164 +f 148 141 165 +f 153 148 165 +f 141 163 165 +f 163 153 165 +f 141 148 166 +f 154 141 166 +f 148 154 166 +f 143 150 167 +f 150 146 167 +f 146 158 167 +f 167 158 168 +f 145 143 168 +f 158 145 168 +o convex_5 +v 0.012425 -2.144322 1.649994 +v 0.251142 -3.298193 0.655079 +v 0.450204 -3.298193 0.655079 +v -0.465122 -3.258344 2.605205 +v -0.584537 -2.104356 0.655079 +v 0.569619 -3.218495 2.485517 +v 0.569619 -2.263752 0.655079 +v -0.504776 -2.263752 2.525604 +v 0.529626 -2.263752 2.485517 +v -0.465122 -3.178763 0.655079 +v -0.504776 -3.138914 2.605205 +v 0.410324 -2.184171 2.286801 +v 0.489972 -3.298193 0.814280 +v 0.529626 -2.223903 0.774575 +v 0.012425 -3.258344 2.565309 +v -0.067110 -2.223903 2.525604 +v -0.584537 -2.263752 0.814280 +v -0.345707 -2.104356 0.655079 +v -0.544544 -2.184171 1.809005 +v 0.489972 -3.298193 1.331972 +v -0.465122 -3.258344 2.047999 +v 0.330789 -2.422915 2.525604 +v 0.569619 -3.218495 2.167305 +v 0.569619 -2.900170 2.485517 +f 177 190 192 +f 171 170 173 +f 171 173 175 +f 173 170 178 +f 170 171 181 +f 171 175 181 +f 177 175 182 +f 180 177 182 +f 176 179 184 +f 180 169 184 +f 177 180 184 +f 173 178 185 +f 178 179 185 +f 173 169 186 +f 175 173 186 +f 169 180 186 +f 182 175 186 +f 180 182 186 +f 169 173 187 +f 179 176 187 +f 184 169 187 +f 176 184 187 +f 173 185 187 +f 185 179 187 +f 172 170 188 +f 170 181 188 +f 181 174 188 +f 174 183 188 +f 183 172 188 +f 170 172 189 +f 178 170 189 +f 179 178 189 +f 172 179 189 +f 179 172 190 +f 183 174 190 +f 172 183 190 +f 184 179 190 +f 177 184 190 +f 175 174 191 +f 174 181 191 +f 181 175 191 +f 174 175 192 +f 175 177 192 +f 190 174 192 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/629/629.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/629/629.urdf new file mode 100644 index 000000000..e12967391 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/629/629.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/630/630.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/630/630.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/630/630.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/630/630.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/630/630.obj new file mode 100644 index 000000000..118b83507 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/630/630.obj @@ -0,0 +1,639 @@ +o convex_0 +v -0.543385 3.655827 0.502042 +v 0.491713 4.262542 -0.283128 +v 0.491713 3.655827 -0.283128 +v -0.507619 3.655827 -0.533007 +v -0.543385 4.405307 0.180679 +v 0.455946 4.226814 0.430453 +v -0.507619 4.369579 -0.533007 +v 0.420281 3.655827 0.466195 +v 0.420281 4.298197 -0.568749 +v -0.471954 4.405307 0.466195 +v 0.491713 3.691628 -0.568749 +v 0.170322 3.691628 0.502042 +v -0.364756 4.405307 0.394816 +v 0.063225 4.262542 -0.568749 +v -0.543385 4.405307 0.466195 +v -0.293426 4.369579 -0.497265 +v 0.455946 3.655827 0.394816 +f 6 8 17 +f 3 1 4 +f 4 1 5 +f 3 2 6 +f 4 5 7 +f 1 3 8 +f 6 2 9 +f 2 3 11 +f 3 4 11 +f 9 2 11 +f 1 8 12 +f 8 6 12 +f 6 10 12 +f 6 9 13 +f 5 10 13 +f 10 6 13 +f 4 7 14 +f 7 9 14 +f 11 4 14 +f 9 11 14 +f 5 1 15 +f 10 5 15 +f 1 12 15 +f 12 10 15 +f 7 5 16 +f 9 7 16 +f 5 13 16 +f 13 9 16 +f 3 6 17 +f 8 3 17 +o convex_1 +v 1.098495 -3.089871 -0.354189 +v -1.114474 -3.732588 -1.068246 +v -1.114474 -3.732588 -0.711218 +v -1.078732 -1.805398 0.930041 +v 0.991269 -1.805590 -1.068246 +v 0.920001 -3.696657 1.037231 +v 1.062753 -1.805590 1.037231 +v -0.935764 -1.805398 -0.996717 +v -1.078732 -3.661111 0.965702 +v 1.098495 -3.768135 -1.032378 +v -1.078732 -3.125610 -1.068246 +v 0.991269 -3.732396 0.430572 +v 0.741292 -3.768135 -1.068246 +v -1.078732 -1.805398 0.466027 +v -0.293492 -2.804539 1.001570 +v -0.828755 -1.841136 0.965702 +v 0.241771 -1.805590 -1.068246 +v -1.114474 -2.840086 -0.211543 +v 1.062753 -1.805590 0.466027 +v 1.062753 -2.875824 -1.068246 +v 1.062753 -2.055375 1.037231 +v 0.634282 -3.696657 1.037231 +v 0.170503 -3.768135 -0.961055 +v -0.971506 -1.876875 -0.925394 +v 0.955527 -3.660919 1.001570 +v 0.777034 -1.948160 1.037231 +v 1.098495 -3.768135 -0.889732 +v 0.134761 -3.696657 0.930041 +v -1.078732 -2.697708 0.965702 +v 1.027011 -1.876875 -0.604233 +v -1.007248 -2.340707 -1.032378 +f 31 41 48 +f 21 24 25 +f 22 19 28 +f 19 22 30 +f 21 25 31 +f 24 21 33 +f 25 22 34 +f 22 28 34 +f 19 20 35 +f 20 26 35 +f 28 19 35 +f 21 31 35 +f 31 28 35 +f 24 18 36 +f 22 25 36 +f 25 24 36 +f 18 27 37 +f 27 30 37 +f 30 22 37 +f 36 18 37 +f 18 24 38 +f 24 23 38 +f 23 24 39 +f 29 23 39 +f 32 26 39 +f 20 19 40 +f 30 27 40 +f 19 30 40 +f 31 25 41 +f 23 29 42 +f 38 23 42 +f 33 32 43 +f 24 33 43 +f 39 24 43 +f 32 39 43 +f 27 18 44 +f 18 38 44 +f 29 40 44 +f 40 27 44 +f 42 29 44 +f 38 42 44 +f 26 20 45 +f 29 39 45 +f 39 26 45 +f 20 40 45 +f 40 29 45 +f 26 32 46 +f 32 33 46 +f 33 21 46 +f 35 26 46 +f 21 35 46 +f 22 36 47 +f 37 22 47 +f 36 37 47 +f 28 31 48 +f 25 34 48 +f 34 28 48 +f 41 25 48 +o convex_2 +v -0.935901 0.407760 -0.961177 +v 1.098495 1.228864 1.001598 +v 1.098495 0.836087 1.001598 +v -1.042906 0.407760 1.073082 +v -1.114387 2.299393 0.716095 +v 1.062754 2.263651 -1.068403 +v 0.991273 0.407760 -1.104145 +v -1.007382 2.299393 -1.032661 +v 1.062754 2.370877 1.108824 +v 1.098495 0.407760 0.930114 +v -1.114387 2.299393 1.001598 +v -0.471923 2.370877 -0.532707 +v -1.078646 0.407760 1.001598 +v 0.563036 2.370877 -0.497182 +v 1.062754 1.799774 -1.104145 +v 0.598560 2.370877 1.108824 +v -0.971641 0.871829 -0.996703 +v -0.578928 2.370877 0.573128 +v 0.134799 1.371639 1.108824 +v 1.098495 1.264606 -0.068928 +v 1.062754 2.299393 -1.032661 +v -0.614669 0.407760 1.073082 +v -0.221956 2.299393 -1.068403 +v 0.848527 0.407760 -1.104145 +v -1.007382 2.120683 -1.032661 +v 1.098495 0.407760 0.608870 +v 1.062754 2.049392 1.108824 +v 1.062754 2.370877 0.394634 +v 1.062754 0.407760 0.965639 +v -0.971641 0.407760 -0.746942 +v -0.971641 1.835324 -1.032661 +v 1.027013 0.514986 -0.711417 +v -1.114387 1.763840 0.930114 +f 73 61 81 +f 52 49 55 +f 51 50 57 +f 50 51 58 +f 52 55 58 +f 49 52 61 +f 52 59 61 +f 60 57 62 +f 59 52 64 +f 57 60 64 +f 56 53 66 +f 53 59 66 +f 60 56 66 +f 59 64 66 +f 64 60 66 +f 64 52 67 +f 57 64 67 +f 57 50 68 +f 50 58 68 +f 63 54 68 +f 60 62 69 +f 68 54 69 +f 52 58 70 +f 67 52 70 +f 56 60 71 +f 54 63 71 +f 69 54 71 +f 60 69 71 +f 55 49 72 +f 63 55 72 +f 49 65 72 +f 71 63 72 +f 53 56 73 +f 65 61 73 +f 56 71 73 +f 58 55 74 +f 68 58 74 +f 51 57 75 +f 57 67 75 +f 70 51 75 +f 67 70 75 +f 62 57 76 +f 57 68 76 +f 69 62 76 +f 68 69 76 +f 58 51 77 +f 51 70 77 +f 70 58 77 +f 49 61 78 +f 65 49 78 +f 61 65 78 +f 72 65 79 +f 71 72 79 +f 73 71 79 +f 65 73 79 +f 55 63 80 +f 63 68 80 +f 74 55 80 +f 68 74 80 +f 59 53 81 +f 61 59 81 +f 53 73 81 +o convex_3 +v -0.114985 2.620798 -0.568686 +v 0.277331 3.512943 0.609121 +v 0.420103 3.655827 0.466216 +v -0.507636 3.655827 -0.533049 +v -0.579078 2.370877 0.573365 +v 0.563099 2.370877 -0.497056 +v 0.491545 3.655827 -0.533049 +v -0.543302 3.655827 0.501972 +v 0.420215 2.370877 0.466216 +v -0.471971 2.370877 -0.532812 +v 0.312996 3.619980 -0.604442 +v 0.348773 3.013352 0.609121 +v 0.455768 3.655827 0.394823 +v -0.293422 2.977757 -0.604442 +v -0.186315 3.477222 0.609121 +v 0.277331 2.977757 -0.604442 +v 0.527322 3.512943 -0.533049 +v -0.507636 2.906440 -0.533049 +v -0.400529 2.763431 0.609121 +v -0.186315 3.619980 -0.604442 +v 0.491657 2.406724 -0.532812 +v -0.579078 2.370877 0.466216 +v -0.364864 2.370877 0.573365 +v -0.543302 3.655827 0.216281 +f 103 89 105 +f 85 84 88 +f 83 84 89 +f 84 85 89 +f 86 87 90 +f 87 86 91 +f 85 88 92 +f 84 83 93 +f 93 90 94 +f 88 84 94 +f 90 87 94 +f 84 93 94 +f 82 91 95 +f 83 89 96 +f 93 83 96 +f 82 95 97 +f 95 92 97 +f 92 88 98 +f 94 87 98 +f 88 94 98 +f 95 91 99 +f 85 95 99 +f 89 86 100 +f 96 89 100 +f 93 96 100 +f 85 92 101 +f 95 85 101 +f 92 95 101 +f 91 82 102 +f 87 91 102 +f 82 97 102 +f 97 92 102 +f 92 98 102 +f 98 87 102 +f 86 89 103 +f 91 86 103 +f 85 99 103 +f 99 91 103 +f 86 90 104 +f 90 93 104 +f 100 86 104 +f 93 100 104 +f 89 85 105 +f 85 103 105 +o convex_4 +v 0.277513 3.548706 0.894966 +v -0.293513 2.941966 0.609610 +v -0.293513 3.049087 0.609610 +v -0.329227 3.084794 3.107389 +v 0.277513 3.049087 3.071689 +v -0.222019 3.548706 2.928889 +v 0.348941 3.049087 0.609610 +v 0.313227 3.655827 3.071689 +v -0.186438 3.477222 0.609610 +v -0.329227 2.977673 2.928889 +v -0.222019 3.512999 1.358822 +v 0.277513 3.512999 0.609610 +v -0.186438 2.941966 0.823566 +v 0.241732 3.655827 2.786089 +v 0.313227 3.013380 0.609610 +v -0.257799 3.512999 2.678989 +v 0.313227 3.334464 3.071689 +v -0.043648 3.512999 0.609610 +v 0.313227 3.620120 2.072333 +v 0.206151 3.655827 3.071689 +v -0.079296 3.013380 3.107389 +f 122 113 126 +f 107 108 112 +f 112 108 114 +f 108 107 115 +f 109 108 115 +f 114 108 116 +f 112 114 117 +f 115 107 118 +f 110 115 118 +f 107 112 120 +f 112 110 120 +f 118 107 120 +f 110 118 120 +f 108 109 121 +f 109 111 121 +f 116 108 121 +f 111 116 121 +f 110 112 122 +f 112 113 122 +f 114 116 123 +f 106 117 123 +f 117 114 123 +f 116 119 123 +f 123 119 124 +f 113 112 124 +f 112 117 124 +f 117 106 124 +f 119 113 124 +f 106 123 124 +f 111 109 125 +f 109 113 125 +f 116 111 125 +f 113 119 125 +f 119 116 125 +f 113 109 126 +f 109 115 126 +f 115 110 126 +f 110 122 126 +o convex_5 +v -2.042535 0.336199 -0.425726 +v -1.114584 -1.733823 -0.854210 +v -1.078977 -1.733823 -0.854210 +v -2.970486 -1.697955 1.037074 +v -1.078977 0.229214 1.073131 +v -3.077504 0.300331 -0.961331 +v -2.934682 0.229214 1.073131 +v -2.934682 -1.626632 -1.068452 +v -1.078977 0.372067 -0.961121 +v -1.078977 -1.662294 0.930163 +v -1.078977 -1.697955 -0.996758 +v -2.898879 0.264876 1.001437 +v -2.970486 -1.662087 -0.533056 +v -3.077504 0.014832 -0.996968 +v -1.971124 -1.697955 1.001437 +v -3.006094 -1.448118 0.751558 +v -1.364620 -0.020623 -0.996758 +v -3.041701 0.300331 -0.247330 +v -1.864105 -1.733823 -0.104572 +v -1.364620 -0.199137 1.073131 +v -1.078977 0.264876 0.787405 +v -2.863271 0.229214 -0.996968 +v -1.114584 0.372067 -0.782726 +v -2.649234 0.336199 -0.925484 +v -1.078977 -1.483779 0.965800 +v -2.970486 -1.483779 -1.068452 +v -1.078977 -1.697955 0.430404 +v -2.970486 -1.697955 0.251799 +v -1.078977 -0.805591 -0.996968 +v -3.077504 0.050700 -0.604331 +v -2.970486 -0.734061 1.037074 +v -2.934682 -0.234799 1.073131 +v -2.791861 -1.483779 -1.068452 +v -2.613431 -1.697955 1.037074 +v -2.970486 0.264876 0.715921 +v -2.470805 -1.662087 -1.032605 +f 139 134 162 +f 131 129 135 +f 129 131 136 +f 129 128 137 +f 135 129 137 +f 133 131 138 +f 140 139 142 +f 128 129 145 +f 139 128 145 +f 131 133 146 +f 131 135 147 +f 138 131 147 +f 132 135 148 +f 140 132 148 +f 135 143 148 +f 127 138 149 +f 147 135 149 +f 138 147 149 +f 135 132 150 +f 138 127 150 +f 132 144 150 +f 144 138 150 +f 149 135 150 +f 127 149 150 +f 136 131 151 +f 141 136 151 +f 131 146 151 +f 146 141 151 +f 134 139 152 +f 139 140 152 +f 140 148 152 +f 129 136 153 +f 136 141 153 +f 145 129 153 +f 141 145 153 +f 130 142 154 +f 142 139 154 +f 139 145 154 +f 145 130 154 +f 135 137 155 +f 143 135 155 +f 132 140 156 +f 140 142 156 +f 144 132 156 +f 130 133 157 +f 142 130 157 +f 156 142 157 +f 133 130 158 +f 146 133 158 +f 137 134 159 +f 148 143 159 +f 134 152 159 +f 152 148 159 +f 155 137 159 +f 143 155 159 +f 130 145 160 +f 145 141 160 +f 141 146 160 +f 158 130 160 +f 146 158 160 +f 133 138 161 +f 138 144 161 +f 144 156 161 +f 156 157 161 +f 157 133 161 +f 137 128 162 +f 134 137 162 +f 128 139 162 +o convex_6 +v -1.078781 -1.805209 0.537550 +v 1.348140 0.407760 0.965929 +v 1.348140 0.407760 0.894320 +v 2.954233 -1.805209 -0.425771 +v -1.078781 0.372018 -0.961139 +v 3.097305 0.229050 -0.961139 +v -0.935709 -1.805209 -0.996731 +v 2.990205 -1.733725 1.037326 +v -1.042809 0.407760 1.073131 +v 2.990205 0.372018 1.001521 +v 2.632932 -1.769250 -1.032748 +v -0.793045 -1.805209 0.965929 +v 0.991684 0.407760 -1.104145 +v 0.849021 -1.805209 1.037326 +v -1.078781 -1.697983 -0.996731 +v 0.313520 -1.805209 -1.068340 +v 2.954233 -1.805209 -0.996731 +v -1.078781 0.086299 1.073131 +v -1.078781 -1.805209 0.930124 +v 2.990205 -0.341955 1.037326 +v -0.650381 0.407760 -0.996731 +v 3.061333 -0.377480 -0.996944 +v 1.669440 -1.733508 -1.068127 +v 3.061333 0.300534 -0.211581 +v 0.813457 0.157783 -1.104145 +v 2.419141 -1.769250 1.037326 +v -1.078781 -0.912743 -0.996731 +v -0.650381 0.407760 1.073131 +v 0.991684 -0.448964 -1.104145 +v 2.990205 -1.519490 -0.996731 +v 2.990205 0.229050 -0.996944 +v 2.990205 0.372018 0.751740 +v 3.025769 0.300534 0.608946 +v 1.098376 0.336059 -1.104145 +v 1.277012 -1.805209 1.037326 +v 3.061333 0.264792 -0.746949 +v -0.935709 0.407760 -0.961139 +v 3.097305 0.157783 -0.925547 +f 195 170 200 +f 166 163 169 +f 164 165 171 +f 165 164 172 +f 163 166 174 +f 171 165 175 +f 174 166 176 +f 163 167 177 +f 169 163 177 +f 166 169 178 +f 169 177 178 +f 178 173 179 +f 170 166 179 +f 166 178 179 +f 167 163 180 +f 171 167 180 +f 174 176 180 +f 163 174 181 +f 180 163 181 +f 174 180 181 +f 171 175 183 +f 173 178 185 +f 178 177 187 +f 183 175 187 +f 166 170 188 +f 170 180 188 +f 177 167 189 +f 167 183 189 +f 187 177 189 +f 183 187 189 +f 164 171 190 +f 172 164 190 +f 171 180 190 +f 180 170 190 +f 170 182 190 +f 182 172 190 +f 173 185 191 +f 185 178 191 +f 178 187 191 +f 187 175 191 +f 179 173 192 +f 170 179 192 +f 173 184 192 +f 175 168 193 +f 168 184 193 +f 184 173 193 +f 165 172 194 +f 175 165 194 +f 172 186 194 +f 182 170 195 +f 172 182 195 +f 168 186 195 +f 186 172 195 +f 173 191 196 +f 191 175 196 +f 175 193 196 +f 193 173 196 +f 176 166 197 +f 180 176 197 +f 166 188 197 +f 188 180 197 +f 168 175 198 +f 186 168 198 +f 175 194 198 +f 194 186 198 +f 167 171 199 +f 183 167 199 +f 171 183 199 +f 184 168 200 +f 170 192 200 +f 192 184 200 +f 168 195 200 +o convex_7 +v 0.241854 3.548643 -2.567350 +v 0.027675 2.977722 -1.318338 +v 0.134765 2.977722 -1.318338 +v 0.313248 3.620071 -0.604443 +v -0.186385 3.620071 -0.604443 +v -0.257778 3.049150 -3.102955 +v -0.293534 2.977722 -0.604443 +v -0.222082 3.548643 -3.102955 +v 0.241854 3.084801 -2.995834 +v 0.277551 2.977722 -0.604443 +v 0.277551 3.477278 -2.995834 +v -0.293534 3.191880 -1.425459 +v -0.114992 3.584357 -2.710178 +v 0.206158 3.084801 -3.102955 +v -0.114992 3.013436 -2.603057 +v 0.313248 3.620071 -0.925806 +v -0.293534 3.191880 -0.782978 +v -0.222082 3.584357 -2.531643 +v -0.293534 2.977722 -1.211462 +v 0.277551 2.977722 -0.961513 +v -0.007902 3.548643 -3.067248 +f 211 214 221 +f 202 203 207 +f 204 205 207 +f 207 203 210 +f 204 207 210 +f 208 206 212 +f 206 208 214 +f 211 209 214 +f 203 202 215 +f 206 214 215 +f 205 204 216 +f 204 210 216 +f 211 201 216 +f 201 213 216 +f 213 205 216 +f 207 205 217 +f 212 207 217 +f 212 217 218 +f 208 212 218 +f 205 213 218 +f 213 208 218 +f 217 205 218 +f 202 207 219 +f 207 212 219 +f 212 206 219 +f 215 202 219 +f 206 215 219 +f 210 203 220 +f 209 211 220 +f 214 209 220 +f 203 215 220 +f 215 214 220 +f 216 210 220 +f 211 216 220 +f 201 211 221 +f 213 201 221 +f 208 213 221 +f 214 208 221 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/630/630.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/630/630.urdf new file mode 100644 index 000000000..036a13ad9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/630/630.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/631/631.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/631/631.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/631/631.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/631/631.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/631/631.obj new file mode 100644 index 000000000..d3c780675 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/631/631.obj @@ -0,0 +1,669 @@ +o convex_0 +v -1.107464 -2.455358 -0.806811 +v 0.663734 1.529263 1.280545 +v 0.916581 2.604506 1.248501 +v 1.011531 -2.866498 -0.901662 +v -0.917565 3.205822 -0.901875 +v -1.044094 -2.834500 1.185480 +v -1.107464 3.174428 1.122247 +v 0.948372 3.079038 -0.838428 +v 0.979951 -2.865894 1.280545 +v 1.043321 3.142430 1.217097 +v -1.107464 -2.897892 -0.775194 +v -0.537977 0.612196 1.280545 +v -0.316499 -2.170397 -0.901875 +v 0.284146 3.237819 -0.079409 +v 0.821842 -2.929286 1.280545 +v 1.043321 3.142430 0.679397 +v 0.979951 -0.303663 -0.901662 +v 1.043321 1.307694 1.217097 +v -0.949144 2.857469 -0.901875 +v -1.107464 -2.897892 -0.269110 +v -0.190180 -2.201791 1.280545 +v 0.726893 3.111036 -0.869831 +v 0.568784 -2.929286 -0.047792 +v 0.979951 3.079038 -0.553662 +v -1.075673 -0.904978 1.153864 +v -0.221760 3.173824 -0.901875 +v -0.632927 3.174428 1.153864 +v 0.031088 -2.897892 -0.869831 +v -1.107464 3.110432 1.027182 +v -0.949144 1.971797 -0.901875 +v 0.126038 3.237819 0.142123 +v 0.094458 -2.929889 0.552929 +v 0.979951 -2.929889 0.521312 +v 1.011531 -2.391362 -0.901662 +v 1.011531 -2.866498 -0.648727 +v 0.663734 3.142430 1.217097 +v -0.980724 3.205822 -0.395578 +v -1.107464 -2.359968 -0.806811 +v -1.075673 -2.834500 0.679397 +v 0.916581 -2.897892 -0.711960 +v 0.758473 3.142430 -0.616896 +v 0.537205 -2.929286 1.217097 +v -1.075673 1.022733 1.153864 +v -0.506398 -0.304266 1.280545 +v -0.949144 -2.897892 -0.806811 +v 0.979951 1.244302 -0.870045 +v 0.790052 3.174428 0.964162 +v -1.107464 2.826075 1.122247 +v 0.948372 2.446329 -0.869831 +v -1.075673 -2.897892 -0.110812 +v 0.505625 -2.866498 -0.901875 +v -1.044094 -2.138399 1.185480 +v 0.979951 -2.929889 1.217097 +v -0.632927 -2.866498 1.122247 +v 0.979951 -2.391362 1.280545 +v -0.822615 -2.486148 1.217097 +v 0.979951 3.111036 -0.490428 +v -1.012514 0.770374 -0.870045 +v -0.158600 3.142430 -0.901875 +v -0.696086 3.205822 -0.901875 +v 0.031088 -2.929889 0.331611 +f 32 50 61 +f 7 1 11 +f 2 3 12 +f 9 2 12 +f 9 12 15 +f 10 9 18 +f 4 16 18 +f 16 10 18 +f 5 13 19 +f 7 11 20 +f 6 15 21 +f 15 12 21 +f 13 5 26 +f 7 12 27 +f 1 7 29 +f 13 1 30 +f 19 13 30 +f 14 5 31 +f 7 27 31 +f 16 4 34 +f 24 16 34 +f 4 18 35 +f 18 9 35 +f 33 4 35 +f 3 10 36 +f 12 3 36 +f 10 27 36 +f 27 12 36 +f 5 19 37 +f 29 7 37 +f 19 29 37 +f 31 5 37 +f 7 31 37 +f 1 29 38 +f 20 6 39 +f 6 25 39 +f 25 20 39 +f 28 4 40 +f 23 28 40 +f 33 23 40 +f 4 33 40 +f 14 16 41 +f 8 22 41 +f 22 26 41 +f 15 6 42 +f 12 7 43 +f 12 6 44 +f 21 12 44 +f 11 1 45 +f 1 13 45 +f 23 11 45 +f 13 28 45 +f 28 23 45 +f 8 24 46 +f 34 17 46 +f 24 34 46 +f 10 16 47 +f 16 14 47 +f 27 10 47 +f 14 31 47 +f 31 27 47 +f 6 7 48 +f 7 20 48 +f 25 6 48 +f 20 25 48 +f 22 8 49 +f 8 46 49 +f 46 17 49 +f 6 20 50 +f 32 42 50 +f 13 26 51 +f 4 28 51 +f 28 13 51 +f 34 4 51 +f 17 34 51 +f 7 6 52 +f 6 12 52 +f 43 7 52 +f 12 43 52 +f 9 15 53 +f 32 33 53 +f 35 9 53 +f 33 35 53 +f 15 42 53 +f 42 32 53 +f 42 6 54 +f 6 50 54 +f 50 42 54 +f 3 2 55 +f 2 9 55 +f 10 3 55 +f 9 10 55 +f 6 21 56 +f 44 6 56 +f 21 44 56 +f 24 8 57 +f 16 24 57 +f 8 41 57 +f 41 16 57 +f 29 19 58 +f 30 1 58 +f 19 30 58 +f 1 38 58 +f 38 29 58 +f 26 22 59 +f 22 49 59 +f 49 17 59 +f 51 26 59 +f 17 51 59 +f 5 14 60 +f 26 5 60 +f 14 41 60 +f 41 26 60 +f 20 11 61 +f 11 23 61 +f 23 33 61 +f 33 32 61 +f 50 20 61 +o convex_1 +v 0.157627 -1.506640 1.438716 +v -0.190205 -2.202416 1.280545 +v -0.221794 -1.854528 1.280545 +v -0.316738 -2.044204 3.241560 +v 0.252512 -2.170678 3.146350 +v -0.190205 -1.633182 3.209888 +v 0.284218 -2.075806 1.280545 +v 0.189216 -1.664783 3.241560 +v -0.221794 -1.633182 1.280545 +v 0.189216 -1.506640 1.280545 +v -0.316738 -2.075806 3.209888 +v 0.284218 -1.980934 1.312217 +v 0.157627 -1.601580 2.956890 +v -0.221794 -1.633182 2.672221 +v -0.095320 -2.202416 1.280545 +v 0.125979 -2.170678 3.146350 +v -0.316738 -1.980934 3.241560 +v -0.316738 -2.075806 3.020044 +v 0.252512 -2.170678 2.735374 +v -0.190205 -2.202416 1.533926 +v -0.063673 -1.569911 2.387359 +v 0.252512 -2.075806 3.083389 +v 0.220864 -1.633182 1.470389 +v -0.190205 -2.075806 3.241560 +v -0.158557 -1.601580 1.280545 +f 75 82 86 +f 63 64 68 +f 68 64 70 +f 68 70 71 +f 66 68 73 +f 68 71 73 +f 67 69 74 +f 69 71 74 +f 71 62 74 +f 63 68 76 +f 65 69 78 +f 69 67 78 +f 72 65 78 +f 67 75 78 +f 75 70 78 +f 64 63 79 +f 70 64 79 +f 63 72 79 +f 72 78 79 +f 78 70 79 +f 68 66 80 +f 66 76 80 +f 76 68 80 +f 72 63 81 +f 63 76 81 +f 76 66 81 +f 66 77 81 +f 77 72 81 +f 74 62 82 +f 67 74 82 +f 75 67 82 +f 69 66 83 +f 66 73 83 +f 73 69 83 +f 71 69 84 +f 69 73 84 +f 73 71 84 +f 66 69 85 +f 69 65 85 +f 65 72 85 +f 77 66 85 +f 72 77 85 +f 71 70 86 +f 62 71 86 +f 70 75 86 +f 82 62 86 +o convex_2 +v 0.537253 0.549158 2.988421 +v 0.094400 -0.367918 2.482327 +v -0.285084 -0.336264 1.692029 +v -0.506352 0.675774 3.209742 +v 0.442198 0.644120 1.280545 +v -0.538143 0.612577 1.280545 +v 0.537253 -0.304610 1.280734 +v -0.538143 -0.304610 3.114755 +v 0.442198 -0.336264 3.178017 +v -0.506352 -0.304610 1.280545 +v 0.537253 0.770736 3.114755 +v -0.506352 0.644120 1.312459 +v 0.473988 0.675774 1.407257 +v -0.538143 0.675774 2.387341 +v 0.537253 0.075016 1.280734 +v 0.315773 -0.367918 3.178017 +v 0.410618 0.770736 3.146481 +v 0.473988 -0.367918 2.608662 +v -0.316663 -0.336264 3.146481 +v -0.538143 0.201409 1.280545 +v -0.411508 0.707428 3.209742 +v 0.537253 0.770736 2.956696 +v 0.537253 -0.304610 1.628578 +v -0.538143 0.138324 3.146481 +v 0.505568 -0.336264 1.786827 +v 0.410618 0.770736 3.019957 +v -0.538143 -0.304610 2.671924 +v -0.506352 0.580923 3.209742 +v 0.410618 0.675774 1.375721 +v 0.473988 0.770736 3.146669 +f 103 107 116 +f 92 91 96 +f 93 89 96 +f 91 93 96 +f 87 93 97 +f 95 87 97 +f 91 92 98 +f 92 94 100 +f 98 92 100 +f 93 91 101 +f 97 93 101 +f 91 99 101 +f 87 95 104 +f 102 88 104 +f 95 102 104 +f 89 88 105 +f 88 102 105 +f 94 92 106 +f 92 96 106 +f 100 90 107 +f 97 101 108 +f 101 99 108 +f 103 97 108 +f 93 87 109 +f 104 93 109 +f 87 104 109 +f 90 100 110 +f 100 94 110 +f 88 89 111 +f 89 93 111 +f 104 88 111 +f 93 104 111 +f 98 100 112 +f 100 107 112 +f 107 103 112 +f 103 108 112 +f 96 89 113 +f 89 105 113 +f 105 94 113 +f 94 106 113 +f 106 96 113 +f 102 95 114 +f 94 105 114 +f 105 102 114 +f 107 90 114 +f 95 107 114 +f 90 110 114 +f 110 94 114 +f 91 98 115 +f 99 91 115 +f 108 99 115 +f 98 112 115 +f 112 108 115 +f 95 97 116 +f 97 103 116 +f 107 95 116 +o convex_3 +v 0.220855 3.142777 -1.502831 +v -0.348367 0.770736 -2.167046 +v -0.158536 0.770736 -2.167046 +v 0.031091 3.142777 -2.167046 +v -0.253417 3.142777 -1.661083 +v 0.189318 0.770736 -1.502831 +v 0.347477 3.079602 -2.167046 +v 0.220855 0.770736 -2.103720 +v -0.221813 0.770736 -1.629355 +v -0.316694 3.110832 -2.167046 +v 0.315804 3.206190 -1.534560 +v -0.158536 3.142777 -1.597821 +v -0.348367 0.992206 -2.040523 +v 0.220855 0.802443 -1.692681 +v 0.094369 0.770736 -1.502831 +v 0.252459 1.181969 -2.135318 +v 0.315804 3.174484 -2.072121 +v -0.253417 0.770736 -1.692681 +v 0.125973 3.206190 -1.566093 +v 0.220855 1.024151 -1.502831 +v -0.316694 2.952775 -2.072121 +v 0.347477 3.079602 -2.103720 +v 0.252459 1.087326 -2.072121 +v 0.284132 2.478606 -1.502831 +f 136 138 140 +f 119 118 120 +f 118 119 122 +f 119 120 123 +f 122 119 124 +f 118 122 125 +f 120 118 126 +f 121 125 128 +f 126 118 129 +f 122 124 130 +f 122 117 131 +f 125 122 131 +f 117 128 131 +f 128 125 131 +f 119 123 132 +f 124 119 132 +f 123 120 133 +f 127 123 133 +f 125 121 134 +f 118 125 134 +f 121 129 134 +f 129 118 134 +f 120 126 135 +f 126 121 135 +f 117 127 135 +f 128 117 135 +f 121 128 135 +f 133 120 135 +f 127 133 135 +f 117 122 136 +f 122 130 136 +f 121 126 137 +f 129 121 137 +f 126 129 137 +f 123 127 138 +f 136 130 138 +f 130 124 139 +f 132 123 139 +f 124 132 139 +f 123 138 139 +f 138 130 139 +f 127 117 140 +f 117 136 140 +f 138 127 140 +o convex_4 +v 0.347398 0.675709 -0.933641 +v -0.221807 -0.462806 -2.008652 +v -0.474812 -0.367899 -2.609596 +v 0.505553 -0.336143 -2.799632 +v -0.569772 0.770736 -2.767866 +v -0.538007 -0.304628 -0.901875 +v 0.568860 -0.431170 -0.901875 +v 0.537207 0.675830 -2.799632 +v -0.569772 0.738980 -0.901875 +v 0.505553 0.644194 -0.901875 +v 0.189242 0.770736 -1.503191 +v -0.285002 -0.367899 -2.767866 +v 0.220895 -0.462806 -1.977072 +v -0.253349 -0.462806 -1.629510 +v 0.568860 -0.431170 -1.439660 +v 0.568860 -0.019909 -0.901875 +v 0.220895 0.770736 -2.103763 +v 0.220895 -0.367899 -2.799632 +v 0.537207 0.675830 -1.977072 +v -0.569772 0.675709 -2.767866 +v -0.569772 0.327719 -0.901875 +v -0.538007 -0.304628 -1.249995 +v -0.443158 -0.367899 -2.736287 +v 0.347398 -0.431170 -0.901875 +v 0.505553 -0.367779 -2.767866 +v 0.537207 0.327839 -2.799632 +v -0.253349 0.770736 -1.661089 +v 0.031086 0.138268 -2.799632 +v 0.537207 0.644194 -1.344735 +v -0.285002 0.738980 -0.901875 +v 0.347398 0.707465 -2.767866 +v 0.284091 -0.462806 -1.629510 +v -0.506354 0.138268 -2.767866 +f 160 168 173 +f 146 147 149 +f 149 147 150 +f 141 150 151 +f 143 142 154 +f 146 143 154 +f 142 153 154 +f 150 147 156 +f 155 148 156 +f 147 155 156 +f 145 151 157 +f 148 144 158 +f 142 152 158 +f 153 142 158 +f 151 150 159 +f 156 148 159 +f 148 157 159 +f 157 151 159 +f 149 145 160 +f 146 149 161 +f 149 160 161 +f 161 160 162 +f 143 146 162 +f 160 143 162 +f 146 161 162 +f 142 143 163 +f 152 142 163 +f 147 146 164 +f 146 154 164 +f 154 147 164 +f 144 155 165 +f 155 153 165 +f 158 144 165 +f 153 158 165 +f 144 148 166 +f 155 144 166 +f 148 155 166 +f 145 149 167 +f 151 145 167 +f 149 151 167 +f 145 148 168 +f 148 158 168 +f 160 145 168 +f 150 156 169 +f 159 150 169 +f 156 159 169 +f 149 150 170 +f 150 141 170 +f 141 151 170 +f 151 149 170 +f 148 145 171 +f 145 157 171 +f 157 148 171 +f 147 154 172 +f 154 153 172 +f 155 147 172 +f 153 155 172 +f 158 152 173 +f 143 160 173 +f 163 143 173 +f 152 163 173 +f 168 158 173 +o convex_5 +v -0.158542 -1.506572 -2.736234 +v 0.220910 -2.170722 -2.767968 +v 0.252552 -2.170722 -2.767968 +v -0.285108 -2.075806 -2.103788 +v 0.315835 -1.633148 -2.103788 +v -0.285108 -2.139061 -2.799626 +v 0.284194 -1.569892 -2.799626 +v -0.190183 -1.569892 -2.103788 +v 0.252552 -2.075806 -2.103788 +v -0.253467 -1.538297 -2.894520 +v 0.315835 -2.170722 -2.704654 +v 0.347477 -1.822914 -2.135522 +v -0.158542 -1.601553 -2.894520 +v -0.031975 -1.569892 -2.103788 +v -0.285108 -1.980955 -2.103788 +v 0.315835 -2.139061 -2.767968 +v -0.285108 -2.107466 -2.293653 +v 0.062702 -1.538297 -2.862785 +v -0.285108 -2.012551 -2.831205 +f 188 183 192 +f 176 175 179 +f 177 178 181 +f 178 177 182 +f 181 174 183 +f 175 176 184 +f 182 184 185 +f 180 178 185 +f 178 182 185 +f 180 174 187 +f 178 180 187 +f 174 181 187 +f 181 178 187 +f 179 177 188 +f 177 181 188 +f 181 183 188 +f 184 176 189 +f 185 184 189 +f 180 185 189 +f 176 186 189 +f 179 175 190 +f 177 179 190 +f 182 177 190 +f 175 184 190 +f 184 182 190 +f 174 180 191 +f 183 174 191 +f 186 183 191 +f 180 189 191 +f 189 186 191 +f 176 179 192 +f 186 176 192 +f 183 186 192 +f 179 188 192 +o convex_6 +v 0.347477 -1.570084 -1.819041 +v -0.285108 -2.297103 -2.040449 +v -0.253467 -2.897938 -2.103788 +v -0.253467 -2.961274 -1.471264 +v -0.253467 -0.463050 -1.629457 +v 0.252552 -2.897938 -1.471264 +v 0.347477 -1.696512 -2.103788 +v 0.284194 -0.494841 -1.597818 +v -0.221825 -0.526386 -2.040449 +v 0.189331 -2.929484 -2.072087 +v -0.285108 -1.570084 -1.471264 +v 0.220910 -0.494841 -2.008810 +v 0.347477 -1.538294 -1.471264 +v -0.285108 -1.980912 -2.103788 +v 0.284194 -0.463050 -1.755949 +v -0.285108 -0.969249 -1.661034 +v 0.220910 -2.961274 -1.471264 +v -0.221825 -0.463050 -2.008810 +v -0.000334 -2.929484 -2.103788 +v -0.158542 -1.570084 -2.103788 +v 0.347477 -1.759359 -2.103788 +v -0.253467 -2.961274 -1.661034 +v 0.315835 -0.874367 -1.692672 +f 207 200 215 +f 194 196 203 +f 196 198 203 +f 200 197 203 +f 199 201 204 +f 199 193 205 +f 203 198 205 +f 200 203 205 +f 195 194 206 +f 199 195 206 +f 194 203 206 +f 197 200 207 +f 199 204 207 +f 203 197 208 +f 201 206 208 +f 206 203 208 +f 198 196 209 +f 202 198 209 +f 204 201 210 +f 197 207 210 +f 207 204 210 +f 208 197 210 +f 201 208 210 +f 195 199 211 +f 201 199 212 +f 199 206 212 +f 206 201 212 +f 198 202 213 +f 199 205 213 +f 205 198 213 +f 211 199 213 +f 202 211 213 +f 194 195 214 +f 196 194 214 +f 209 196 214 +f 202 209 214 +f 195 211 214 +f 211 202 214 +f 193 199 215 +f 205 193 215 +f 200 205 215 +f 199 207 215 +o convex_7 +v -0.190171 -2.170787 -1.471146 +v 0.315848 -1.538263 -1.376249 +v 0.315848 -1.538263 -1.471146 +v -0.285096 -1.569902 -1.471146 +v -0.316738 -2.170787 -0.901931 +v -0.253454 -1.569902 -0.901931 +v 0.220923 -2.107448 -0.901931 +v 0.252564 -2.107448 -1.471146 +v 0.252564 -1.601540 -0.901931 +v -0.031963 -2.170787 -1.028479 +v 0.315848 -1.791310 -1.439496 +v -0.000445 -1.538263 -1.123320 +v -0.316738 -2.170787 -0.996828 +v 0.189281 -2.139086 -1.471146 +v -0.316738 -2.012594 -0.901931 +v 0.189281 -2.139086 -0.901931 +f 225 229 231 +f 218 216 219 +f 221 220 222 +f 216 218 223 +f 221 222 224 +f 220 216 225 +f 218 217 226 +f 223 218 226 +f 222 223 226 +f 217 224 226 +f 224 222 226 +f 217 218 227 +f 218 219 227 +f 219 221 227 +f 224 217 227 +f 221 224 227 +f 219 216 228 +f 216 220 228 +f 216 223 229 +f 225 216 229 +f 220 221 230 +f 221 219 230 +f 219 228 230 +f 228 220 230 +f 222 220 231 +f 223 222 231 +f 220 225 231 +f 229 223 231 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/631/631.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/631/631.urdf new file mode 100644 index 000000000..02f39ee3c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/631/631.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/632/632.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/632/632.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/632/632.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/632/632.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/632/632.obj new file mode 100644 index 000000000..835f8a6ab --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/632/632.obj @@ -0,0 +1,696 @@ +o convex_0 +v -0.486715 -1.831700 -1.274758 +v 0.655291 -1.760263 0.867106 +v 0.619650 -1.760263 0.867106 +v -0.807910 0.238248 -1.203055 +v -1.093674 -2.295795 0.831255 +v 0.941055 0.238248 0.831045 +v 1.012339 -2.295795 -1.167623 +v -1.057822 0.238248 0.795403 +v 0.976697 0.238248 -1.131771 +v -1.093674 -2.295795 -1.203055 +v 1.048190 -2.295795 0.866897 +v -1.093674 0.238248 -1.203055 +v -1.093674 -0.511349 0.831255 +v 1.012339 -1.224978 -1.167623 +v -0.272444 -2.295795 -1.274758 +v 0.548366 0.238248 -1.167623 +v 0.976697 0.238248 -0.239468 +v 0.941055 -0.939725 0.866897 +v 0.976697 -0.547067 -1.167623 +v 1.048190 -2.152920 0.866897 +v 0.334096 0.238248 0.831255 +v -1.093674 0.238248 -0.168184 +v 0.441231 -2.295795 0.867106 +v -1.057822 -0.333003 0.831255 +f 23 3 24 +f 6 4 8 +f 4 6 9 +f 7 5 10 +f 5 7 11 +f 4 1 12 +f 8 4 12 +f 1 10 12 +f 10 5 12 +f 12 5 13 +f 11 7 14 +f 10 1 15 +f 7 10 15 +f 14 7 15 +f 1 4 16 +f 4 9 16 +f 9 6 17 +f 3 2 18 +f 9 14 19 +f 15 1 19 +f 14 15 19 +f 1 16 19 +f 16 9 19 +f 2 11 20 +f 14 9 20 +f 11 14 20 +f 17 6 20 +f 9 17 20 +f 18 2 20 +f 6 18 20 +f 6 8 21 +f 18 6 21 +f 8 12 22 +f 13 8 22 +f 12 13 22 +f 2 3 23 +f 11 2 23 +f 5 11 23 +f 13 5 23 +f 13 23 24 +f 8 13 24 +f 3 18 24 +f 21 8 24 +f 18 21 24 +o convex_1 +v 0.334235 -2.367477 2.223334 +v -0.129776 -3.081393 2.330689 +v -0.094123 -3.081393 2.330689 +v 0.191427 -3.009994 0.902804 +v -0.201213 -2.367477 0.902804 +v -0.344021 -2.546011 2.937575 +v 0.191427 -2.938522 2.865872 +v -0.236865 -2.902859 0.938655 +v 0.334235 -2.331741 2.937575 +v 0.262798 -2.403140 0.902804 +v -0.236865 -3.045657 2.865872 +v 0.298517 -2.653073 2.045072 +v 0.155708 -3.045657 0.938655 +v -0.308303 -2.474612 2.401994 +v 0.191427 -2.974258 2.794766 +v -0.308303 -2.760061 2.937575 +v 0.262798 -2.617410 0.902804 +v 0.334235 -2.474612 2.901723 +v -0.129776 -3.081393 2.865872 +v 0.227079 -2.938522 1.081464 +v 0.012900 -3.009994 0.902804 +v 0.155708 -2.938522 2.901723 +v 0.298517 -2.331741 2.937575 +v -0.236865 -2.438876 1.152768 +f 30 38 48 +f 28 29 34 +f 33 25 34 +f 29 33 34 +f 32 26 35 +f 27 26 37 +f 37 28 39 +f 30 32 40 +f 33 30 40 +f 32 35 40 +f 34 25 41 +f 28 34 41 +f 25 36 41 +f 25 33 42 +f 36 25 42 +f 31 39 42 +f 39 36 42 +f 26 27 43 +f 35 26 43 +f 27 37 43 +f 37 39 43 +f 40 35 43 +f 39 28 44 +f 36 39 44 +f 28 41 44 +f 41 36 44 +f 29 28 45 +f 26 32 45 +f 32 29 45 +f 37 26 45 +f 28 37 45 +f 39 31 46 +f 33 40 46 +f 42 33 46 +f 31 42 46 +f 43 39 46 +f 40 43 46 +f 33 29 47 +f 30 33 47 +f 29 38 47 +f 38 30 47 +f 29 32 48 +f 32 30 48 +f 38 29 48 +o convex_2 +v -1.129372 0.988376 -2.060278 +v 0.976672 2.416058 -3.059371 +v 0.976672 2.416058 -3.095186 +v 1.047996 0.309891 -2.381323 +v -0.950621 0.309891 -3.238016 +v 0.976672 2.344107 -1.810290 +v -1.021945 2.344313 -3.273688 +v -1.057607 0.309891 -1.810290 +v -0.986283 2.272980 -1.810290 +v 1.012334 0.345764 -3.166529 +v 1.012334 0.309891 -1.810290 +v 1.119540 1.594496 -1.953120 +v -0.986063 0.596046 -3.273688 +v 1.119540 0.952709 -2.488482 +v -1.129372 1.594496 -1.917449 +v 1.012334 1.916111 -3.130858 +v -1.129372 1.059914 -2.416995 +v 0.226888 2.344107 -1.810290 +v -0.879297 2.344313 -3.273688 +v 1.012334 2.344519 -3.059371 +v 1.047776 0.345764 -3.130858 +v -0.272381 0.309891 -3.238016 +v 1.119540 1.487497 -2.488482 +v -1.022165 2.308440 -2.381323 +v 1.119540 1.095787 -1.953120 +v 1.083878 1.773240 -1.810290 +v -0.986063 0.309891 -3.095186 +v -1.057827 2.201648 -3.023700 +v 1.047776 1.202373 -3.130858 +v -1.021945 1.630575 -3.273688 +v -1.021945 2.344313 -3.095186 +v 0.869465 2.380185 -3.130858 +v -1.129372 0.988376 -1.846105 +v 0.905348 2.380185 -2.095950 +v -1.022165 2.237314 -1.810290 +v -1.129372 1.487497 -2.452810 +v 0.262550 0.309891 -3.202344 +f 70 58 85 +f 50 51 55 +f 53 52 56 +f 56 54 57 +f 56 52 59 +f 54 56 59 +f 56 49 65 +f 49 63 65 +f 57 54 66 +f 55 51 67 +f 61 55 67 +f 64 58 67 +f 51 50 68 +f 50 54 68 +f 64 51 68 +f 62 52 69 +f 52 53 70 +f 53 61 70 +f 61 67 70 +f 67 58 70 +f 60 62 71 +f 68 60 71 +f 62 69 71 +f 57 66 72 +f 59 52 73 +f 52 62 73 +f 62 60 73 +f 54 59 74 +f 68 54 74 +f 60 68 74 +f 59 73 74 +f 73 60 74 +f 53 56 75 +f 61 53 75 +f 56 65 75 +f 65 61 75 +f 58 64 77 +f 64 68 77 +f 69 58 77 +f 68 71 77 +f 71 69 77 +f 55 61 78 +f 61 65 78 +f 76 55 78 +f 50 55 79 +f 72 66 79 +f 55 76 79 +f 76 72 79 +f 51 64 80 +f 67 51 80 +f 64 67 80 +f 49 56 81 +f 63 49 81 +f 54 50 82 +f 66 54 82 +f 50 79 82 +f 79 66 82 +f 56 57 83 +f 57 72 83 +f 76 63 83 +f 72 76 83 +f 81 56 83 +f 63 81 83 +f 65 63 84 +f 63 76 84 +f 78 65 84 +f 76 78 84 +f 69 52 85 +f 58 69 85 +f 52 70 85 +o convex_3 +v 0.548338 1.880557 4.900838 +v 0.262756 0.702682 2.937575 +v -0.522426 0.809793 2.937575 +v -0.129835 0.738424 4.900838 +v -0.558208 1.737704 2.937575 +v -0.522426 1.737704 4.900838 +v 0.476998 1.809073 2.937575 +v 0.441329 0.738424 4.936648 +v 0.512668 0.702682 2.937575 +v -0.522426 0.774166 4.829219 +v 0.584120 1.416371 4.186996 +v 0.512668 1.844815 3.259078 +v 0.476998 0.702682 4.365261 +v -0.486756 1.773446 4.900838 +v 0.584120 1.630708 4.900838 +v 0.584120 1.880557 4.401070 +v 0.548338 0.916904 3.151845 +v -0.308296 1.773446 2.937575 +v 0.441329 1.880442 4.757992 +v -0.558208 1.416371 2.973384 +v -0.558208 1.737704 3.508962 +v -0.522426 1.273864 4.900838 +v -0.522426 0.774166 4.222610 +v 0.405547 0.702682 4.793801 +v 0.476998 1.131010 4.936648 +f 93 100 110 +f 87 88 90 +f 87 90 92 +f 87 92 94 +f 87 94 98 +f 93 98 100 +f 98 96 100 +f 86 100 101 +f 100 96 101 +f 94 92 102 +f 92 97 102 +f 98 94 102 +f 96 98 102 +f 101 96 102 +f 97 101 102 +f 92 90 103 +f 97 92 103 +f 90 99 103 +f 99 86 104 +f 101 97 104 +f 86 101 104 +f 97 103 104 +f 103 99 104 +f 90 88 105 +f 105 95 106 +f 99 90 106 +f 91 99 106 +f 90 105 106 +f 89 93 107 +f 93 91 107 +f 95 89 107 +f 106 95 107 +f 91 106 107 +f 88 87 108 +f 87 89 108 +f 89 95 108 +f 105 88 108 +f 95 105 108 +f 89 87 109 +f 93 89 109 +f 87 98 109 +f 98 93 109 +f 91 93 110 +f 86 99 110 +f 99 91 110 +f 100 86 110 +o convex_4 +v -0.272598 -2.831495 -3.273831 +v 0.334235 -2.724381 -1.274758 +v 0.334235 -2.938483 -1.274758 +v -0.308324 -2.474553 -1.274758 +v 0.334235 -2.438953 -3.095175 +v 0.334235 -2.974272 -3.202212 +v -0.308324 -2.938483 -1.524642 +v -0.201210 -2.367439 -3.202212 +v 0.298447 -2.438953 -1.274758 +v -0.308324 -3.009998 -3.273831 +v -0.308324 -2.902884 -1.274758 +v -0.094095 -3.009998 -2.666634 +v -0.022707 -2.367439 -2.595406 +v -0.308324 -2.438953 -1.667489 +v 0.191333 -2.974272 -1.667489 +v 0.227121 -2.403164 -3.130984 +v -0.236872 -2.367439 -2.809677 +f 120 124 127 +f 113 112 114 +f 112 113 115 +f 115 113 116 +f 116 111 118 +f 114 112 119 +f 112 115 119 +f 111 116 120 +f 117 114 120 +f 118 111 120 +f 113 114 121 +f 117 113 121 +f 114 117 121 +f 120 116 122 +f 117 120 122 +f 119 123 124 +f 114 119 124 +f 120 114 124 +f 116 113 125 +f 113 117 125 +f 122 116 125 +f 117 122 125 +f 115 116 126 +f 116 118 126 +f 119 115 126 +f 118 123 126 +f 123 119 126 +f 118 120 127 +f 123 118 127 +f 124 123 127 +o convex_5 +v 1.012269 -2.367662 0.902804 +v -0.415424 -2.331853 -1.274758 +v -0.415424 -2.296043 -1.274758 +v -1.093674 -2.296043 0.831398 +v -1.093674 -3.795348 -0.917728 +v 1.083888 -3.723729 0.902591 +v 1.012269 -3.723729 -1.203352 +v -1.093674 -3.652550 0.831398 +v 1.012269 -2.296043 -1.167542 +v -1.093674 -2.474651 -1.238948 +v -1.093674 -3.795348 -1.238948 +v 1.048078 -2.296190 0.866995 +v -0.486617 -3.152684 0.902804 +v -1.093674 -2.296043 -1.203352 +v 0.334232 -2.938854 -1.274758 +v -0.700835 -3.688213 0.866995 +v 1.083888 -3.652403 0.224341 +v -0.593832 -3.795348 -1.238948 +v -0.201206 -2.367516 0.902804 +v 1.083888 -2.974370 0.902591 +v 0.298422 -2.438988 -1.274758 +v -1.022055 -3.580931 0.866995 +v 0.084418 -3.688066 0.902804 +v 1.048078 -3.723729 -0.632104 +v -1.093674 -3.688213 0.723969 +v 1.012269 -3.188347 -1.203352 +f 136 151 153 +f 131 132 135 +f 130 131 136 +f 130 129 137 +f 132 131 137 +f 137 129 138 +f 132 137 138 +f 136 131 139 +f 131 130 141 +f 130 137 141 +f 137 131 141 +f 129 130 142 +f 138 129 142 +f 132 133 143 +f 133 132 145 +f 132 138 145 +f 142 134 145 +f 138 142 145 +f 128 139 146 +f 139 131 146 +f 140 128 146 +f 131 140 146 +f 128 133 147 +f 139 128 147 +f 136 139 147 +f 133 144 147 +f 144 136 147 +f 130 136 148 +f 142 130 148 +f 131 135 149 +f 140 131 149 +f 135 143 149 +f 149 143 150 +f 133 128 150 +f 128 140 150 +f 143 133 150 +f 140 149 150 +f 144 133 151 +f 136 144 151 +f 133 145 151 +f 145 134 151 +f 135 132 152 +f 132 143 152 +f 143 135 152 +f 134 142 153 +f 148 136 153 +f 142 148 153 +f 151 134 153 +o convex_6 +v 3.047075 1.452114 -2.095865 +v 1.119774 0.952451 -2.488421 +v 1.119774 1.487836 -2.488421 +v 1.119774 1.095284 -1.953074 +v 2.939908 1.095284 -2.452724 +v 3.011227 0.988229 -1.881679 +v 1.119774 1.487836 -1.953074 +v 3.047075 1.487836 -2.345630 +v 3.011227 1.523503 -1.953074 +v 2.511619 0.988229 -1.881679 +v 1.869374 1.523503 -2.274235 +v 3.011227 1.202394 -1.881679 +v 2.939908 0.988229 -2.060167 +v 1.155622 0.952451 -2.381328 +v 1.690889 0.988229 -2.488421 +v 1.833715 1.523503 -1.953074 +v 1.334107 1.487836 -2.488421 +v 1.119774 1.059617 -1.988772 +f 167 163 171 +f 156 155 157 +f 156 157 160 +f 159 158 161 +f 154 159 161 +f 154 161 162 +f 160 157 163 +f 162 161 164 +f 159 154 165 +f 154 162 165 +f 163 159 165 +f 160 163 165 +f 159 155 166 +f 158 159 166 +f 155 159 167 +f 159 163 167 +f 155 156 168 +f 166 155 168 +f 158 166 168 +f 156 160 169 +f 164 156 169 +f 162 164 169 +f 165 162 169 +f 160 165 169 +f 161 158 170 +f 156 164 170 +f 164 161 170 +f 168 156 170 +f 158 168 170 +f 157 155 171 +f 163 157 171 +f 155 167 171 +o convex_7 +v -1.093674 0.238496 -0.168603 +v 1.083836 1.737717 -1.738678 +v 1.083836 1.666384 -1.738678 +v 0.941027 2.344662 0.867106 +v -0.986461 2.273124 -1.810224 +v 1.012431 0.310035 -1.810224 +v 0.941027 0.238496 0.831203 +v -0.986461 2.344662 0.867106 +v -1.057865 0.310035 -1.810224 +v -1.057865 0.238496 0.867106 +v 0.976623 2.344662 -1.810224 +v -1.057865 1.987381 -1.810224 +v 0.976623 0.238496 -1.131719 +v -1.093674 0.238496 -1.203264 +v 0.941027 0.310035 0.867106 +v 0.262793 2.344662 -1.810224 +v -1.057865 0.916774 0.867106 +v 1.012431 0.310035 -1.310452 +v -0.986461 2.344662 0.617089 +v -1.022269 1.773177 0.795561 +v -1.022269 2.237457 -1.810224 +v 1.083836 1.594846 -1.810224 +v -1.057865 1.951921 -1.560207 +f 188 191 194 +f 174 173 175 +f 176 177 180 +f 172 178 181 +f 175 179 181 +f 175 173 182 +f 177 176 182 +f 179 175 182 +f 176 180 183 +f 178 172 184 +f 180 177 185 +f 172 183 185 +f 183 180 185 +f 184 172 185 +f 177 184 185 +f 174 175 186 +f 178 174 186 +f 181 178 186 +f 175 181 186 +f 182 176 187 +f 179 182 187 +f 172 181 188 +f 181 179 188 +f 178 184 189 +f 184 177 189 +f 187 176 190 +f 179 187 190 +f 188 179 191 +f 183 179 192 +f 176 183 192 +f 179 190 192 +f 190 176 192 +f 173 174 193 +f 174 178 193 +f 182 173 193 +f 177 182 193 +f 189 177 193 +f 178 189 193 +f 183 172 194 +f 179 183 194 +f 172 188 194 +f 191 179 194 +o convex_8 +v -0.379703 2.273015 2.937575 +v -1.057976 0.238496 0.867309 +v 0.905306 0.702888 0.867106 +v 1.048176 0.345631 2.830363 +v 0.940972 2.344508 0.867106 +v -0.986438 2.344508 0.867309 +v -0.986438 0.345841 2.901702 +v 0.976638 2.380360 2.866033 +v -1.022104 2.237373 2.937575 +v 0.940972 0.310199 0.867309 +v 0.512567 0.702678 2.937575 +v -1.057976 0.238496 1.331421 +v 0.976638 2.380360 1.688322 +v 1.048176 0.452766 2.366250 +v -1.057976 1.309428 1.938010 +v 0.691103 2.380360 2.865830 +v 1.012304 2.094596 2.866033 +v -0.486701 0.238496 0.902979 +v 0.476901 1.809042 2.937575 +v -1.022104 2.273015 2.473260 +v -1.057976 0.952800 0.902979 +v -1.022104 1.666265 2.937575 +v 0.905306 2.380360 1.116997 +v 1.048176 1.166861 2.794693 +v -0.986438 2.344508 1.153072 +v -0.915106 0.310199 2.509132 +v -0.486701 0.809813 2.937575 +v -1.022104 1.773191 0.867309 +v 0.940972 0.310199 1.188540 +v 0.655437 2.344299 2.901702 +f 213 202 224 +f 197 196 199 +f 196 197 204 +f 197 199 204 +f 201 198 205 +f 195 203 205 +f 198 204 208 +f 204 199 208 +f 199 207 208 +f 196 206 209 +f 203 195 210 +f 202 207 210 +f 205 198 211 +f 207 202 211 +f 196 204 212 +f 198 206 212 +f 206 196 212 +f 195 205 213 +f 205 211 213 +f 211 202 213 +f 209 203 214 +f 203 210 214 +f 196 209 215 +f 205 203 216 +f 206 201 216 +f 203 209 216 +f 209 206 216 +f 199 200 217 +f 207 199 217 +f 200 210 217 +f 210 207 217 +f 208 207 218 +f 198 208 218 +f 211 198 218 +f 207 211 218 +f 210 200 219 +f 200 214 219 +f 214 210 219 +f 198 201 220 +f 206 198 220 +f 201 206 220 +f 201 205 221 +f 216 201 221 +f 205 216 221 +f 199 196 222 +f 200 199 222 +f 214 200 222 +f 209 214 222 +f 196 215 222 +f 215 209 222 +f 204 198 223 +f 212 204 223 +f 198 212 223 +f 210 195 224 +f 202 210 224 +f 195 213 224 +o convex_9 +v -2.949953 1.059617 -2.309932 +v -1.129371 1.594947 -1.917376 +v -1.129371 1.380740 -1.881678 +v -1.129371 1.059617 -2.417026 +v -2.949953 0.952514 -1.881678 +v -3.021061 1.523503 -2.381328 +v -3.092747 1.523503 -1.846040 +v -1.129371 0.988236 -1.846040 +v -1.129371 1.487843 -2.452783 +v -3.021061 1.130999 -2.417026 +v -2.949953 1.559225 -1.846040 +v -1.308105 0.952514 -1.846040 +v -1.165310 1.594947 -2.060167 +v -2.878459 0.952514 -1.953074 +v -2.985507 1.095339 -1.846040 +v -1.807981 1.309358 -2.452783 +v -2.450076 1.559225 -1.846040 +v -1.807981 1.594947 -1.953074 +f 237 230 242 +f 226 227 228 +f 228 227 232 +f 226 228 233 +f 228 225 234 +f 225 229 234 +f 231 230 234 +f 230 231 235 +f 231 232 235 +f 228 232 236 +f 232 231 236 +f 226 233 237 +f 233 230 237 +f 225 228 238 +f 229 225 238 +f 228 236 238 +f 236 229 238 +f 234 229 239 +f 231 234 239 +f 229 236 239 +f 236 231 239 +f 233 228 240 +f 230 233 240 +f 234 230 240 +f 228 234 240 +f 227 226 241 +f 232 227 241 +f 226 235 241 +f 235 232 241 +f 235 226 242 +f 230 235 242 +f 226 237 242 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/632/632.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/632/632.urdf new file mode 100644 index 000000000..9c02fbf54 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/632/632.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/633/633.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/633/633.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/633/633.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/633/633.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/633/633.obj new file mode 100644 index 000000000..2c912fd6f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/633/633.obj @@ -0,0 +1,471 @@ +o convex_0 +v 3.009056 0.826171 -1.945343 +v 1.105181 0.861439 -2.474071 +v 1.105181 0.826171 -2.156729 +v 2.374367 1.319728 -1.874860 +v 3.079599 1.319728 -2.403522 +v 1.105181 1.249144 -2.438796 +v 3.079599 0.826171 -2.474071 +v 1.105181 0.861439 -1.804310 +v 3.079599 1.319728 -1.839585 +v 1.105181 1.284412 -1.980618 +v 1.140549 1.213876 -2.474071 +v 1.140549 0.826171 -1.804310 +v 1.598785 1.284412 -2.438796 +v 2.938321 1.002462 -2.474071 +v 3.079599 1.249144 -1.839585 +v 2.127371 1.319728 -1.980618 +v 1.246459 1.284412 -1.945343 +f 10 8 17 +f 2 3 6 +f 1 3 7 +f 3 2 7 +f 6 3 8 +f 5 4 9 +f 7 5 9 +f 4 8 9 +f 6 8 10 +f 2 6 11 +f 7 2 11 +f 3 1 12 +f 8 3 12 +f 9 8 12 +f 6 10 13 +f 11 6 13 +f 5 11 13 +f 5 7 14 +f 11 5 14 +f 7 11 14 +f 1 7 15 +f 7 9 15 +f 12 1 15 +f 9 12 15 +f 4 5 16 +f 10 4 16 +f 5 13 16 +f 13 10 16 +f 8 4 17 +f 4 10 17 +o convex_1 +v 0.329513 -1.323775 0.875323 +v -1.080782 1.812590 -1.275383 +v -1.080782 1.812590 -1.240015 +v -1.045414 -3.968516 -1.204857 +v 1.069923 0.437373 -1.275172 +v -1.010257 2.130273 0.875323 +v 0.964030 2.165907 0.875323 +v 0.999398 -4.004150 0.804797 +v -1.010257 -3.897249 0.839955 +v 1.069923 -3.967912 -1.098964 +v 0.964030 2.024580 -1.275383 +v -1.080782 2.094640 -1.275383 +v -1.045414 -3.897249 0.099545 +v 0.999398 -3.615803 0.839955 +v -1.010257 -2.557665 0.875323 +v -1.045414 2.130273 0.240595 +v -0.939521 0.084660 -1.275383 +v 1.034555 1.953313 -1.275172 +v 1.034555 -4.004150 0.205227 +v 0.999398 1.706897 0.416803 +v 1.034555 0.014601 -1.275172 +v -0.692788 -3.968516 -1.204857 +v 0.082569 -3.968516 0.839955 +v 0.681929 -3.968516 -1.134332 +v -0.516580 2.094640 -1.275383 +v -1.080782 2.059006 -0.922756 +v 0.964030 2.165907 0.663747 +v 0.928662 -0.655795 0.875323 +v 0.047412 2.165907 0.769430 +v 0.223620 -4.004150 0.029019 +v 1.069923 -3.862219 -0.852231 +v -0.974889 -3.968516 -0.852231 +v 1.069923 0.261621 -1.204647 +v 0.681929 -3.968516 0.839955 +v 0.999398 2.095243 0.134702 +v 1.034555 -4.004150 -0.041506 +v 0.611404 -4.004150 0.769430 +v -1.045414 2.130273 -0.112031 +v -0.587105 -3.932883 0.769430 +f 49 54 56 +f 20 19 21 +f 23 18 24 +f 19 20 29 +f 28 19 29 +f 20 21 30 +f 21 26 30 +f 18 23 32 +f 30 26 32 +f 32 23 33 +f 30 32 33 +f 21 19 34 +f 19 28 34 +f 22 28 35 +f 31 25 36 +f 31 36 37 +f 24 31 37 +f 22 27 38 +f 28 22 38 +f 21 34 38 +f 34 28 38 +f 21 38 39 +f 32 26 40 +f 38 27 41 +f 39 38 41 +f 28 29 42 +f 29 20 43 +f 20 30 43 +f 33 29 43 +f 30 33 43 +f 28 42 44 +f 42 29 44 +f 24 18 45 +f 18 31 45 +f 31 24 45 +f 23 24 46 +f 33 23 46 +f 24 44 46 +f 44 29 46 +f 36 25 47 +f 27 22 48 +f 36 27 48 +f 26 21 49 +f 21 47 49 +f 37 36 50 +f 22 37 50 +f 48 22 50 +f 36 48 50 +f 31 18 51 +f 25 31 51 +f 18 32 51 +f 40 25 51 +f 32 40 51 +f 22 35 52 +f 35 28 52 +f 24 37 52 +f 37 22 52 +f 44 24 52 +f 28 44 52 +f 27 36 53 +f 21 39 53 +f 41 27 53 +f 39 41 53 +f 36 47 53 +f 47 21 53 +f 25 40 54 +f 47 25 54 +f 49 47 54 +f 29 33 55 +f 33 46 55 +f 46 29 55 +f 40 26 56 +f 26 49 56 +f 54 40 56 +o convex_2 +v -2.984361 0.826230 -2.015886 +v -2.526190 1.425500 -2.333048 +v -2.526190 1.425500 -2.368267 +v -1.151487 0.826230 -1.980604 +v -1.750867 0.826230 -2.509394 +v -1.151487 1.390156 -1.874884 +v -1.151487 1.354878 -2.368267 +v -3.019663 0.755608 -2.474050 +v -2.913946 1.284453 -1.980604 +v -2.984361 0.861508 -1.910103 +v -2.984361 1.425500 -2.368267 +v -1.151487 1.002424 -2.509394 +v -3.090457 0.755608 -2.368267 +v -1.186789 0.861508 -2.509394 +v -1.151487 1.178684 -1.874884 +v -1.504131 1.390156 -1.874884 +v -1.222092 1.390156 -2.368267 +v -1.363111 0.826230 -1.945385 +v -2.984361 1.425500 -2.297766 +v -1.927189 0.896655 -2.509394 +v -1.151487 0.826230 -2.192108 +v -2.103511 1.143340 -1.874884 +f 72 65 78 +f 59 58 62 +f 62 60 63 +f 58 59 67 +f 63 60 68 +f 67 59 68 +f 64 60 69 +f 57 66 69 +f 67 64 69 +f 61 68 70 +f 60 62 71 +f 71 62 72 +f 59 62 73 +f 62 63 73 +f 63 68 73 +f 68 59 73 +f 66 57 74 +f 57 69 74 +f 69 60 74 +f 60 71 74 +f 71 66 74 +f 62 58 75 +f 66 65 75 +f 58 67 75 +f 69 66 75 +f 67 69 75 +f 72 62 75 +f 65 72 75 +f 61 64 76 +f 64 67 76 +f 68 61 76 +f 67 68 76 +f 60 64 77 +f 64 61 77 +f 68 60 77 +f 61 70 77 +f 70 68 77 +f 65 66 78 +f 66 71 78 +f 71 72 78 +o convex_3 +v -1.010158 0.861597 -1.275383 +v 1.105160 2.201164 -3.002985 +v 1.105160 1.072984 -1.698617 +v -1.080617 0.015409 -3.179286 +v -1.115957 2.130345 -3.108654 +v -1.080617 2.095043 -1.275383 +v 1.034480 0.050497 -1.275383 +v 0.964021 0.156404 -3.179286 +v 0.999361 2.024652 -1.275383 +v -0.939699 0.086013 -1.275383 +v 1.105160 2.201164 -3.143877 +v -1.151297 0.861597 -1.945364 +v 1.105160 0.790992 -2.579564 +v 1.034480 0.050497 -1.734027 +v -0.587183 2.130345 -1.592762 +v -1.045498 0.015409 -2.650383 +v -0.728101 0.015409 -3.179286 +v 1.034480 2.024652 -1.310792 +v -1.080617 1.531060 -3.143877 +v 0.928681 0.967291 -3.179286 +v -1.151297 0.896900 -2.509304 +v -1.151297 1.390064 -1.874918 +v 1.069820 0.191707 -1.275383 +v 0.012051 0.050497 -1.275383 +v 0.787542 2.201164 -3.143877 +v 0.752423 0.121102 -3.179286 +v 0.999361 0.262098 -3.108654 +v -0.446044 2.095043 -1.275383 +v -1.115957 2.130345 -2.861907 +v 0.294108 2.165648 -3.143877 +v 1.105160 0.579606 -1.592762 +v -1.080617 1.777963 -1.275383 +f 84 100 110 +f 84 79 85 +f 84 85 87 +f 85 79 88 +f 80 81 89 +f 88 79 90 +f 89 81 91 +f 90 82 94 +f 88 90 94 +f 82 86 95 +f 92 85 95 +f 85 94 95 +f 94 82 95 +f 81 80 96 +f 80 87 96 +f 82 83 97 +f 86 82 98 +f 89 86 98 +f 82 97 98 +f 83 82 99 +f 82 90 99 +f 99 90 100 +f 83 99 100 +f 87 85 101 +f 85 92 101 +f 92 91 101 +f 96 87 101 +f 85 88 102 +f 94 85 102 +f 88 94 102 +f 80 89 103 +f 93 80 103 +f 89 98 103 +f 86 92 104 +f 95 86 104 +f 92 95 104 +f 86 89 105 +f 89 91 105 +f 92 86 105 +f 91 92 105 +f 87 80 106 +f 84 87 106 +f 80 93 106 +f 93 84 106 +f 84 93 107 +f 83 100 107 +f 100 84 107 +f 93 103 107 +f 103 83 107 +f 97 83 108 +f 98 97 108 +f 83 103 108 +f 103 98 108 +f 91 81 109 +f 81 96 109 +f 101 91 109 +f 96 101 109 +f 79 84 110 +f 90 79 110 +f 100 90 110 +o convex_4 +v 1.069923 2.165693 2.884826 +v -1.010188 0.156259 0.875323 +v -0.974759 0.085861 0.875323 +v 0.964044 2.165693 0.875323 +v -0.974759 2.165693 2.743906 +v 0.999269 0.121167 2.779136 +v -0.939534 0.015250 2.743906 +v 0.928819 -0.019842 0.875323 +v -1.010188 2.130387 0.875323 +v -0.446180 0.473797 2.920256 +v -0.446180 1.531045 2.920256 +v 1.069923 1.707360 2.426638 +v 0.470486 0.579500 2.920256 +v -0.974759 0.015250 2.497097 +v -1.010188 2.165693 1.510261 +v -0.516630 0.015250 2.743906 +v 0.999269 2.095295 1.122332 +v 0.858166 1.813063 2.920256 +v 0.646612 -0.019842 0.875323 +v 0.928819 -0.019842 1.086902 +v 0.964044 0.332788 1.157562 +v 0.646612 0.085861 2.778936 +v 1.034495 0.685204 2.814366 +v -0.974759 0.015250 2.215058 +v -0.798634 2.165693 2.778936 +v 1.069923 2.165693 2.285518 +v -0.022868 2.165479 0.875323 +v 0.999269 0.121167 2.461667 +v 0.822941 2.165479 2.884826 +v -0.974759 1.495739 2.743906 +v 0.964044 1.143323 0.875323 +v 1.069923 1.425341 2.779136 +f 133 138 142 +f 113 112 114 +f 111 114 115 +f 113 114 118 +f 114 112 119 +f 115 120 121 +f 120 116 123 +f 121 120 123 +f 115 114 125 +f 119 112 125 +f 112 124 125 +f 121 123 128 +f 113 118 129 +f 117 124 129 +f 118 116 130 +f 126 117 130 +f 117 129 130 +f 129 118 130 +f 127 122 131 +f 116 120 132 +f 120 117 132 +f 117 126 132 +f 130 116 132 +f 126 130 132 +f 123 116 133 +f 111 128 133 +f 128 123 133 +f 112 113 134 +f 124 112 134 +f 113 129 134 +f 129 124 134 +f 111 115 135 +f 115 121 135 +f 114 111 136 +f 111 122 136 +f 127 114 136 +f 122 127 136 +f 114 119 137 +f 125 114 137 +f 119 125 137 +f 116 118 138 +f 118 131 138 +f 133 116 138 +f 128 111 139 +f 121 128 139 +f 111 135 139 +f 135 121 139 +f 120 115 140 +f 117 120 140 +f 124 117 140 +f 115 125 140 +f 125 124 140 +f 118 114 141 +f 114 127 141 +f 131 118 141 +f 127 131 141 +f 122 111 142 +f 131 122 142 +f 111 133 142 +f 138 131 142 +o convex_5 +v -0.058295 1.636983 4.788581 +v -0.445961 0.473548 2.920256 +v -0.410766 0.473548 2.920256 +v -0.516559 0.508868 4.894481 +v 0.470360 0.473548 4.823945 +v 0.540958 1.601780 2.920256 +v -0.445961 1.531259 2.920256 +v 0.470360 0.579390 2.920256 +v 0.435165 1.672302 4.823945 +v -0.481260 1.566461 4.753409 +v 0.223682 1.672302 4.400731 +v -0.516559 0.544070 4.259853 +v -0.340272 1.566461 2.990985 +v 0.470360 1.672302 4.471267 +v 0.470360 0.544070 3.167228 +v -0.516559 0.931999 4.859117 +v 0.294176 0.544070 4.859117 +v -0.481260 1.566461 4.295024 +v 0.540958 1.495939 2.955814 +v -0.516559 1.072925 4.788581 +v -0.234479 0.544070 4.894481 +f 159 151 163 +f 144 145 147 +f 146 144 147 +f 145 144 148 +f 148 144 149 +f 145 148 150 +f 143 151 153 +f 144 146 154 +f 149 144 154 +f 148 149 155 +f 143 153 155 +f 153 148 155 +f 151 147 156 +f 148 153 156 +f 153 151 156 +f 147 145 157 +f 145 150 157 +f 151 143 158 +f 146 151 158 +f 143 152 158 +f 154 146 158 +f 147 151 159 +f 152 143 160 +f 155 149 160 +f 143 155 160 +f 150 148 161 +f 156 147 161 +f 148 156 161 +f 147 157 161 +f 157 150 161 +f 149 154 162 +f 158 152 162 +f 154 158 162 +f 152 160 162 +f 160 149 162 +f 146 147 163 +f 151 146 163 +f 147 159 163 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/633/633.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/633/633.urdf new file mode 100644 index 000000000..e311fa80d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/633/633.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/634/634.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/634/634.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/634/634.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/634/634.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/634/634.obj new file mode 100644 index 000000000..08257a6e1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/634/634.obj @@ -0,0 +1,681 @@ +o convex_0 +v 0.716987 -3.338307 -0.636606 +v -0.674302 2.732595 1.070791 +v 0.432424 2.701208 1.007578 +v -0.800613 2.732595 -0.984492 +v -0.832346 -3.274930 1.039184 +v 1.254587 2.795368 -0.952885 +v 1.254587 -3.369693 1.007578 +v -0.863872 -3.274930 -1.047705 +v 1.191535 -3.337703 -1.110918 +v 1.191535 2.637831 0.912545 +v -0.863872 2.290164 0.564872 +v -0.769087 2.764585 1.039184 +v 1.254587 2.194797 0.596265 +v 1.254587 1.087814 -1.015885 +v 0.938498 -2.357474 1.038971 +v -0.863872 2.290164 -0.573392 +v 1.191535 1.847130 0.975971 +v 1.128276 -2.673755 -1.110705 +v -0.863872 -1.947033 0.628085 +v -0.294746 -3.211553 -1.079098 +v -0.800613 1.562839 1.070791 +v 0.242646 -3.338307 1.038971 +v -0.452791 2.764585 -0.952885 +v 1.254587 2.795368 -0.699819 +v -0.863872 -2.357474 -1.047705 +v 0.653728 -3.274930 -1.110705 +v 1.254587 2.321551 -0.984492 +v 1.001757 2.669218 0.975971 +v 0.622202 2.796576 -0.257113 +v 1.254587 0.740147 -1.015885 +v 1.001757 -3.369693 0.722905 +v 0.716987 -3.338307 1.038971 +v -0.800613 2.637831 1.039184 +v 1.223061 -0.997587 1.007578 +v -0.863872 -3.274930 -0.478359 +v -0.452791 -3.306920 0.722905 +v -0.326480 -3.306920 -0.573392 +v 1.223061 -3.337703 -0.130687 +v 0.653728 2.796576 -0.921065 +v -0.579309 2.732595 -0.984492 +v -0.863872 2.194797 0.596265 +v 1.254587 2.763982 -0.351933 +v 1.001757 -3.337703 -1.110705 +v -0.832346 0.297716 -1.016098 +v -0.832346 -2.610981 1.039184 +v 1.096543 2.669218 0.944365 +v 1.191535 -2.673755 -1.110918 +v -0.800613 2.732595 -0.098866 +v -0.705828 2.764585 1.039184 +v -0.579309 2.226787 1.070578 +v 1.223061 -3.369693 0.406625 +v 1.254587 -3.337703 0.944365 +f 38 30 52 +f 7 6 13 +f 6 7 14 +f 11 4 16 +f 8 11 16 +f 7 13 17 +f 13 10 17 +f 11 8 19 +f 21 5 22 +f 6 4 23 +f 4 12 23 +f 13 6 24 +f 8 16 25 +f 20 8 25 +f 4 18 26 +f 8 20 26 +f 6 14 27 +f 3 2 28 +f 2 17 28 +f 14 7 30 +f 9 14 30 +f 7 22 31 +f 7 15 32 +f 21 22 32 +f 22 7 32 +f 2 12 33 +f 21 2 33 +f 2 15 34 +f 15 7 34 +f 17 2 34 +f 7 17 34 +f 5 19 35 +f 19 8 35 +f 22 5 36 +f 5 35 36 +f 35 8 36 +f 1 31 37 +f 31 22 37 +f 22 36 37 +f 36 8 37 +f 7 9 38 +f 9 30 38 +f 6 23 39 +f 23 12 39 +f 24 6 39 +f 29 24 39 +f 12 29 39 +f 4 6 40 +f 6 27 40 +f 27 14 40 +f 11 19 41 +f 33 11 41 +f 10 13 42 +f 13 24 42 +f 8 26 43 +f 26 9 43 +f 31 1 43 +f 1 37 43 +f 37 8 43 +f 16 4 44 +f 25 16 44 +f 20 25 44 +f 4 26 44 +f 26 20 44 +f 19 5 45 +f 5 21 45 +f 21 33 45 +f 41 19 45 +f 33 41 45 +f 17 10 46 +f 3 28 46 +f 28 17 46 +f 24 29 46 +f 10 42 46 +f 42 24 46 +f 14 9 47 +f 18 4 47 +f 9 26 47 +f 26 18 47 +f 4 40 47 +f 40 14 47 +f 4 11 48 +f 12 4 48 +f 11 33 48 +f 33 12 48 +f 2 3 49 +f 12 2 49 +f 29 12 49 +f 3 46 49 +f 46 29 49 +f 15 2 50 +f 2 21 50 +f 32 15 50 +f 21 32 50 +f 9 7 51 +f 7 31 51 +f 43 9 51 +f 31 43 51 +f 30 7 52 +f 7 38 52 +o convex_1 +v 3.183683 -0.523961 0.027321 +v 1.286655 0.108309 0.280303 +v 1.286655 0.108309 0.248665 +v 1.254794 -0.618781 -0.257180 +v 3.152207 -0.081400 -0.288817 +v 1.254794 -0.492355 0.311940 +v 3.152207 -0.113007 0.311940 +v 1.254794 -0.018116 -0.257180 +v 3.152207 -0.555568 -0.257180 +v 3.215544 -0.492355 0.248665 +v 2.235169 -0.334252 -0.288817 +v 1.412944 -0.618781 -0.193905 +v 2.835907 -0.049723 -0.288817 +v 2.994057 -0.492355 0.280303 +v 3.152207 -0.397465 -0.288817 +v 3.152207 -0.081400 -0.035836 +v 1.254794 0.013490 -0.193905 +v 3.183683 -0.176220 0.311940 +v 1.254794 0.108309 0.280303 +v 1.286655 -0.365858 0.311940 +v 3.215544 -0.365858 0.122175 +v 2.930912 -0.049723 -0.225542 +f 68 57 74 +f 56 58 60 +f 53 61 62 +f 56 60 63 +f 58 56 64 +f 61 53 64 +f 56 61 64 +f 53 62 64 +f 63 60 65 +f 57 63 65 +f 58 64 66 +f 64 62 66 +f 61 56 67 +f 56 63 67 +f 63 57 67 +f 54 59 68 +f 60 58 69 +f 55 65 69 +f 65 60 69 +f 59 58 70 +f 58 66 70 +f 66 62 70 +f 57 68 70 +f 68 59 70 +f 54 55 71 +f 59 54 71 +f 55 69 71 +f 69 58 71 +f 58 59 72 +f 59 71 72 +f 71 58 72 +f 62 61 73 +f 61 67 73 +f 67 57 73 +f 57 70 73 +f 70 62 73 +f 55 54 74 +f 65 55 74 +f 57 65 74 +f 54 68 74 +o convex_2 +v 3.215352 2.069071 0.469944 +v 1.254794 1.183831 -0.573501 +v 1.254794 1.183831 0.596624 +v 1.254794 2.195534 0.596624 +v 3.120538 2.290353 -0.541659 +v 3.183875 1.215475 -0.478548 +v 3.120538 1.152188 0.596509 +v 1.254794 2.195534 -0.478548 +v 3.215352 2.227177 0.533284 +v 2.740902 2.290353 -0.541774 +v 3.152207 2.258821 0.438446 +v 3.152207 1.847789 -0.541659 +v 2.393127 1.152188 0.122091 +v 1.824248 2.227177 0.564897 +v 1.539617 1.183831 -0.573501 +v 1.254794 1.341938 -0.573501 +v 3.152207 1.183831 -0.193920 +v 3.183875 1.405225 -0.510161 +v 1.571286 2.195534 0.596624 +v 3.152207 2.290353 -0.130581 +v 3.183875 1.215475 -0.193920 +v 3.215352 2.227177 0.375106 +v 2.456271 2.258821 -0.541774 +v 3.120538 1.278762 0.596509 +v 2.456271 1.152188 0.596624 +v 3.088870 1.152188 0.280269 +v 3.152207 2.132358 -0.415209 +v 1.760912 2.227177 -0.510046 +f 97 90 102 +f 76 77 78 +f 76 78 82 +f 81 75 83 +f 82 78 84 +f 77 76 87 +f 84 78 88 +f 83 85 88 +f 79 86 89 +f 87 76 89 +f 76 82 90 +f 84 79 90 +f 89 76 90 +f 79 89 90 +f 89 80 91 +f 89 86 92 +f 80 89 92 +f 78 77 93 +f 88 78 93 +f 83 88 93 +f 79 84 94 +f 85 83 94 +f 84 88 94 +f 88 85 94 +f 80 75 95 +f 75 81 95 +f 91 80 95 +f 81 91 95 +f 75 80 96 +f 83 75 96 +f 80 92 96 +f 79 94 96 +f 94 83 96 +f 84 90 97 +f 81 83 98 +f 83 93 98 +f 98 93 99 +f 77 87 99 +f 87 81 99 +f 93 77 99 +f 81 98 99 +f 81 87 100 +f 87 89 100 +f 91 81 100 +f 89 91 100 +f 86 79 101 +f 92 86 101 +f 79 96 101 +f 96 92 101 +f 82 84 102 +f 90 82 102 +f 84 97 102 +o convex_3 +v -1.496688 -0.618923 -0.099083 +v -2.160704 -0.745503 0.185459 +v -2.160704 -0.745503 0.217118 +v -1.465022 -3.370296 -0.162336 +v -1.465022 -3.370296 0.343624 +v -2.065708 -3.338517 -0.320501 +v -2.034111 -0.618923 -0.320501 +v -2.034111 -3.243716 0.280371 +v -1.623144 -0.618923 0.185459 +v -1.528285 -0.618923 -0.288842 +v -2.128971 -0.903594 0.248712 +v -1.939252 -3.180426 -0.320501 +v -1.465022 -3.085625 0.343624 +v -2.160704 -0.618923 0.217118 +v -2.065708 -1.188266 -0.320501 +v -1.496688 -3.370296 -0.193995 +v -1.623144 -3.338517 0.343624 +v -1.496688 -0.618923 -0.035830 +v -2.065708 -3.307006 -0.099083 +v -1.875989 -0.618923 0.217118 +v -1.465022 -2.800954 -0.162336 +v -1.844392 -1.188266 -0.320501 +v -1.781266 -3.370296 0.058953 +v -1.496688 -2.516013 0.311965 +v -2.097373 -0.618923 -0.130742 +v -1.591547 -0.618923 0.153865 +v -2.128971 -1.441426 0.248712 +f 121 110 129 +f 105 104 108 +f 103 109 111 +f 109 103 112 +f 108 109 114 +f 107 106 115 +f 104 105 116 +f 111 109 116 +f 105 113 116 +f 108 104 117 +f 109 108 117 +f 106 107 118 +f 112 106 118 +f 108 114 118 +f 114 112 118 +f 113 110 119 +f 107 115 119 +f 115 113 119 +f 103 111 120 +f 105 108 121 +f 111 116 122 +f 116 113 122 +f 112 103 123 +f 106 112 123 +f 115 106 123 +f 103 120 123 +f 120 115 123 +f 109 112 124 +f 114 109 124 +f 112 114 124 +f 118 107 125 +f 108 118 125 +f 107 119 125 +f 119 110 125 +f 121 108 125 +f 110 121 125 +f 113 115 126 +f 115 120 126 +f 111 122 126 +f 122 113 126 +f 104 116 127 +f 116 109 127 +f 117 104 127 +f 109 117 127 +f 120 111 128 +f 111 126 128 +f 126 120 128 +f 113 105 129 +f 110 113 129 +f 105 121 129 +o convex_4 +v -2.919703 1.563350 0.058866 +v -0.864132 2.290576 0.564897 +v -0.864132 2.290576 -0.573501 +v -0.895722 1.152250 -0.383596 +v -2.919703 2.227301 -0.415209 +v -0.864132 1.247100 0.596624 +v -2.761350 2.163903 0.564897 +v -2.887912 1.088851 0.501671 +v -2.887912 1.183701 -0.415209 +v -1.465149 1.025576 0.185316 +v -0.864132 1.183825 -0.541774 +v -2.034174 1.025576 -0.320371 +v -2.065764 2.290576 0.280269 +v -1.148846 2.069052 -0.573501 +v -2.887912 1.310374 0.533284 +v -2.729760 1.278799 -0.446821 +v -1.465149 1.025576 0.311881 +v -0.895722 2.163903 0.596624 +v -1.401969 1.215524 0.596509 +v -2.350276 2.258877 -0.478548 +v -1.559920 1.025576 -0.351983 +v -2.887912 2.227301 -0.162193 +v -2.002584 1.025576 0.311881 +v -2.002584 2.290576 -0.225533 +v -2.666580 1.183701 -0.446821 +v -2.002584 1.152250 0.564897 +v -0.864132 1.215524 0.406719 +v -0.959104 1.183825 -0.541774 +v -2.761350 2.227301 -0.446821 +v -1.085665 2.290576 -0.573501 +v -2.919703 1.595049 0.153818 +v -2.887912 1.120674 0.122206 +f 138 141 161 +f 132 131 135 +f 130 134 138 +f 132 135 140 +f 131 132 142 +f 136 131 142 +f 132 140 143 +f 139 133 146 +f 141 139 146 +f 135 131 147 +f 131 136 147 +f 147 136 148 +f 136 144 148 +f 135 147 148 +f 133 139 150 +f 140 133 150 +f 139 141 150 +f 142 134 151 +f 136 142 151 +f 137 141 152 +f 146 137 152 +f 141 146 152 +f 142 132 153 +f 134 142 153 +f 149 134 153 +f 141 138 154 +f 138 145 154 +f 145 143 154 +f 150 141 154 +f 144 137 155 +f 146 135 155 +f 137 146 155 +f 148 144 155 +f 135 148 155 +f 140 135 156 +f 133 140 156 +f 146 133 156 +f 135 146 156 +f 143 140 157 +f 140 150 157 +f 154 143 157 +f 150 154 157 +f 138 134 158 +f 145 138 158 +f 143 145 158 +f 134 149 158 +f 149 143 158 +f 132 143 159 +f 143 149 159 +f 153 132 159 +f 149 153 159 +f 134 130 160 +f 130 137 160 +f 144 136 160 +f 137 144 160 +f 151 134 160 +f 136 151 160 +f 137 130 161 +f 130 138 161 +f 141 137 161 +o convex_5 +v -2.034130 2.417076 -0.288857 +v -1.465013 2.322275 0.248619 +v -1.465013 2.290576 0.248619 +v -2.065829 2.290576 0.280287 +v -2.002489 2.796575 0.248619 +v -1.559934 2.764876 -0.193988 +v -1.559934 2.290576 -0.225589 +v -1.654797 2.764876 0.343624 +v -2.065829 2.638376 -0.352126 +v -2.002489 2.290576 -0.225589 +v -2.065829 2.701676 -0.193988 +v -1.970849 2.322275 0.311956 +v -1.718019 2.764876 -0.225589 +v -2.034130 2.764876 0.248619 +v -1.623157 2.733325 0.343624 +f 169 173 176 +f 163 164 168 +f 164 165 168 +f 167 163 168 +f 167 166 169 +f 162 165 170 +f 168 162 170 +f 167 168 170 +f 165 162 171 +f 168 165 171 +f 162 168 171 +f 170 165 172 +f 165 164 173 +f 166 167 174 +f 167 170 174 +f 172 166 174 +f 170 172 174 +f 169 166 175 +f 172 165 175 +f 166 172 175 +f 165 173 175 +f 173 169 175 +f 164 163 176 +f 163 167 176 +f 167 169 176 +f 173 164 176 +o convex_6 +v -2.887843 -0.555586 -0.099120 +v -1.433475 0.013577 0.122206 +v -1.433475 0.013577 0.027368 +v -1.433475 -0.618923 -0.225552 +v -1.433475 -0.587286 0.217099 +v -2.919558 -0.049698 0.248749 +v -2.034309 0.013577 -0.320501 +v -2.919558 -0.587286 0.185449 +v -2.792990 -0.049698 -0.193958 +v -2.034309 -0.618923 -0.320501 +v -1.433475 -0.018061 -0.257201 +v -1.528473 0.013577 0.248749 +v -2.824559 -0.555586 -0.225552 +v -2.160877 -0.618923 0.217099 +v -1.433475 -0.555586 -0.288851 +v -2.034309 -0.429099 0.248749 +v -2.223870 0.013577 0.217099 +v -2.919558 -0.271160 0.248749 +v -1.433475 -0.144548 0.248749 +v -1.591612 0.013577 -0.288851 +v -2.919558 -0.587286 0.058962 +v -1.623327 -0.618923 0.185449 +v -2.729706 -0.112973 -0.225552 +v -2.856274 -0.397461 -0.193958 +f 185 189 200 +f 179 178 180 +f 180 178 181 +f 178 179 183 +f 179 180 187 +f 178 183 188 +f 183 186 189 +f 186 180 190 +f 186 183 191 +f 180 186 191 +f 187 180 191 +f 188 182 192 +f 190 181 192 +f 185 182 193 +f 183 185 193 +f 182 188 193 +f 188 183 193 +f 182 184 194 +f 184 190 194 +f 192 182 194 +f 190 192 194 +f 181 178 195 +f 178 188 195 +f 192 181 195 +f 188 192 195 +f 183 179 196 +f 179 187 196 +f 191 183 196 +f 187 191 196 +f 182 177 197 +f 184 182 197 +f 177 189 197 +f 189 186 197 +f 190 184 197 +f 186 190 197 +f 180 181 198 +f 190 180 198 +f 181 190 198 +f 185 183 199 +f 189 185 199 +f 183 189 199 +f 177 182 200 +f 182 185 200 +f 189 177 200 +o convex_7 +v -2.065758 0.013676 -0.225620 +v -1.464954 1.025477 0.311999 +v -1.464954 1.025477 0.185493 +v -2.034124 1.025477 -0.004266 +v -1.591553 1.025477 -0.352126 +v -1.528285 0.013676 0.280340 +v -1.496651 0.013676 -0.257214 +v -2.097392 0.013676 0.185493 +v -2.002489 1.025477 0.311999 +v -2.034124 1.025477 -0.320467 +v -2.034124 0.013676 -0.320467 +v -1.528285 1.025477 -0.320467 +v -2.002489 0.804121 0.311999 +v -1.496651 0.140250 -0.288873 +v -1.464954 0.740834 0.311999 +v -2.097392 0.235032 0.090581 +v -1.496651 0.108557 0.280340 +v -2.034124 0.045369 0.217087 +f 213 208 218 +f 202 203 204 +f 204 203 205 +f 206 201 207 +f 201 206 208 +f 202 204 209 +f 204 205 210 +f 207 201 211 +f 201 210 211 +f 210 205 211 +f 205 203 212 +f 209 208 213 +f 202 209 213 +f 203 207 214 +f 207 211 214 +f 211 205 214 +f 212 203 214 +f 205 212 214 +f 203 202 215 +f 207 203 215 +f 202 213 215 +f 213 206 215 +f 201 208 216 +f 208 209 216 +f 209 204 216 +f 210 201 216 +f 204 210 216 +f 206 207 217 +f 215 206 217 +f 207 215 217 +f 208 206 218 +f 206 213 218 +o convex_8 +v -1.433274 -0.018110 0.248656 +v -1.433274 -0.618923 -0.257195 +v -1.306743 -0.618923 -0.257195 +v -0.895782 0.045072 -0.257195 +v -0.864135 -0.587202 0.311943 +v -0.864135 0.045072 0.311943 +v -1.433274 -0.018110 -0.257195 +v -0.864135 -0.555611 -0.225552 +v -1.433274 -0.587202 0.217068 +v -1.433274 0.013481 0.153837 +v -0.864135 0.045072 -0.257195 +f 224 226 229 +f 221 220 222 +f 220 221 223 +f 219 223 224 +f 220 219 225 +f 222 220 225 +f 223 221 226 +f 224 223 226 +f 219 220 227 +f 223 219 227 +f 220 223 227 +f 219 224 228 +f 224 222 228 +f 225 219 228 +f 222 225 228 +f 221 222 229 +f 222 224 229 +f 226 221 229 +o convex_9 +v -0.864080 0.709326 0.406803 +v -0.895705 0.045202 -0.257146 +v -0.864080 0.045202 -0.257146 +v -0.864080 0.045202 0.311912 +v -0.927330 0.045202 0.217022 +v -0.895705 0.329938 -0.320430 +v -0.895705 0.709326 0.406803 +v -0.864080 0.329938 -0.320430 +f 232 235 237 +f 231 232 233 +f 232 230 233 +f 231 233 234 +f 231 234 235 +f 232 231 235 +f 233 230 236 +f 234 233 236 +f 235 234 236 +f 230 235 236 +f 230 232 237 +f 235 230 237 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/634/634.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/634/634.urdf new file mode 100644 index 000000000..039b06258 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/634/634.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/635/635.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/635/635.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/635/635.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/635/635.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/635/635.obj new file mode 100644 index 000000000..83d944378 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/635/635.obj @@ -0,0 +1,762 @@ +o convex_0 +v -1.049690 0.790719 2.039660 +v -1.019166 0.179260 1.153035 +v -0.896951 0.179260 1.153035 +v -0.988702 0.332172 2.834175 +v -1.324822 0.546047 1.153035 +v -0.774677 0.729567 1.153035 +v -0.774677 0.515503 2.742424 +v -1.202548 0.454539 2.742424 +v -0.744093 0.240412 1.183738 +v -1.263715 0.760174 1.153035 +v -1.049690 0.729567 2.681377 +v -0.927535 0.240412 2.589626 +v -1.202548 0.271019 1.214262 +v -0.805260 0.729567 2.161575 +v -0.713450 0.515503 1.947909 +v -0.927535 0.821326 1.153035 +v -1.233131 0.699022 2.070184 +v -0.774677 0.271019 2.192279 +v -1.019166 0.515503 2.987153 +v -1.110857 0.301564 2.497875 +v -0.713450 0.576655 1.153035 +v -0.958118 0.699022 2.742424 +v -1.324822 0.485021 1.153035 +v -0.774677 0.454539 2.742424 +v -0.988702 0.209867 2.131052 +v -1.202548 0.546047 2.681377 +v -1.110857 0.821326 1.183738 +f 16 10 27 +f 3 2 5 +f 3 5 6 +f 6 5 10 +f 1 11 14 +f 14 7 15 +f 6 10 16 +f 1 14 16 +f 14 6 16 +f 1 10 17 +f 10 5 17 +f 11 1 17 +f 3 9 18 +f 12 3 18 +f 9 15 18 +f 8 4 19 +f 4 8 20 +f 12 4 20 +f 8 13 20 +f 3 6 21 +f 9 3 21 +f 6 14 21 +f 15 9 21 +f 14 15 21 +f 7 14 22 +f 14 11 22 +f 19 7 22 +f 11 19 22 +f 5 2 23 +f 8 5 23 +f 2 13 23 +f 13 8 23 +f 4 12 24 +f 15 7 24 +f 12 18 24 +f 18 15 24 +f 19 4 24 +f 7 19 24 +f 2 3 25 +f 3 12 25 +f 13 2 25 +f 12 20 25 +f 20 13 25 +f 5 8 26 +f 17 5 26 +f 11 17 26 +f 8 19 26 +f 19 11 26 +f 10 1 27 +f 1 16 27 +o convex_1 +v 2.283033 -0.462571 -0.222787 +v 2.558189 1.096498 0.021499 +v 2.558189 1.096498 -0.008980 +v 4.025573 0.546089 -0.008980 +v 2.283033 0.301498 0.571938 +v 2.283033 0.301498 -0.589897 +v 3.689177 0.576703 -0.406342 +v 3.719712 0.546089 0.388382 +v 2.344103 -0.309821 0.449568 +v 3.780952 0.148748 -0.008980 +v 2.283033 0.912975 0.418975 +v 3.750417 0.943430 0.052092 +v 2.283033 0.882362 -0.436821 +v 2.374808 -0.309821 -0.467413 +v 3.016725 0.943589 -0.345157 +v 3.108330 0.943589 0.357904 +v 2.344103 -0.523957 0.021499 +v 3.658642 0.332112 -0.345271 +v 2.955655 0.546089 0.510753 +v 2.283033 1.096498 -0.039345 +v 3.047260 0.607158 -0.498006 +v 3.628107 0.240588 0.235533 +v 3.689177 0.943430 -0.070051 +v 2.283033 -0.340275 0.418975 +v 3.750417 0.179361 -0.131123 +v 3.047260 1.065885 -0.008980 +v 3.842022 0.576703 -0.314678 +v 3.566866 0.851748 -0.283972 +v 3.566866 0.851748 0.296718 +v 2.925120 0.454407 -0.528712 +v 3.780952 0.485021 -0.375863 +v 2.313568 -0.523957 -0.069937 +v 2.283033 -0.340275 -0.467413 +v 3.811487 0.607158 0.296718 +v 2.313568 -0.218139 0.480160 +v 2.863880 0.943589 0.388382 +v 3.016725 0.912975 -0.375749 +f 42 55 64 +f 28 32 33 +f 31 35 37 +f 33 32 38 +f 33 38 40 +f 37 36 44 +f 38 32 46 +f 35 43 46 +f 29 30 47 +f 38 29 47 +f 40 38 47 +f 30 42 47 +f 42 40 47 +f 33 40 48 +f 35 36 49 +f 37 35 49 +f 36 37 49 +f 39 31 50 +f 32 28 51 +f 44 36 51 +f 31 37 52 +f 41 45 52 +f 30 29 53 +f 42 30 53 +f 29 43 53 +f 43 39 53 +f 39 50 53 +f 50 42 53 +f 50 31 54 +f 42 50 55 +f 54 34 55 +f 50 54 55 +f 43 35 56 +f 39 43 56 +f 41 33 57 +f 33 48 57 +f 48 34 57 +f 45 41 58 +f 31 52 58 +f 52 45 58 +f 34 54 58 +f 54 31 58 +f 41 57 58 +f 57 34 58 +f 28 41 59 +f 37 44 59 +f 51 28 59 +f 44 51 59 +f 52 37 59 +f 41 52 59 +f 28 33 60 +f 41 28 60 +f 33 41 60 +f 35 31 61 +f 31 39 61 +f 56 35 61 +f 39 56 61 +f 36 35 62 +f 46 32 62 +f 35 46 62 +f 32 51 62 +f 51 36 62 +f 29 38 63 +f 43 29 63 +f 38 46 63 +f 46 43 63 +f 40 42 64 +f 34 48 64 +f 48 40 64 +f 55 34 64 +o convex_2 +v -1.538909 0.515389 -2.700042 +v -0.468853 0.546080 -0.804333 +v -0.499498 0.760081 -0.834896 +v -0.621838 0.484907 -4.563951 +v -1.569434 -0.065337 -0.803920 +v -1.477739 0.974187 -0.803920 +v -0.468853 0.026422 -1.079397 +v -0.988618 0.087596 -4.350425 +v -0.988618 0.882428 -4.472676 +v -1.355519 0.546080 -4.502825 +v -0.560668 0.943601 -1.262772 +v -1.447214 0.118182 -3.769322 +v -1.691774 0.759977 -0.865458 +v -0.468853 0.515494 -3.157656 +v -0.988618 0.454530 -5.023216 +v -1.386044 0.913014 -2.761168 +v -0.958093 1.004669 -2.852443 +v -0.621838 0.851736 -3.341445 +v -0.927568 -0.034751 -2.577379 +v -0.621838 0.148769 -3.647071 +v -0.530142 -0.004059 -0.803920 +v -0.896923 1.004669 -0.803920 +v -1.661129 0.209837 -0.865458 +v -0.560668 0.424048 -4.411551 +v -1.538909 -0.034751 -1.752188 +v -0.560668 0.057114 -2.546816 +v -0.621838 0.698908 -4.167049 +v -1.386044 0.118182 -4.013823 +v -1.508264 0.698908 -2.974280 +v -1.630604 0.913014 -0.803920 +v -1.294349 0.759977 -4.105511 +v -0.896923 0.087596 -4.289300 +v -0.927568 0.882428 -4.472676 +v -0.591313 0.882428 -2.913568 +v -0.530023 0.913014 -0.804333 +v -0.774703 -0.034751 -0.803920 +v -0.896923 0.454530 -4.992240 +v -1.049788 1.004669 -2.699630 +v -0.560668 0.515494 -4.441700 +v -0.468853 0.637735 -2.210627 +v -1.691774 0.546080 -0.834896 +v -1.233179 1.004774 -0.803920 +v -0.927568 0.515494 -5.023216 +v -1.386044 -0.034751 -2.088377 +v -1.386044 0.576667 -4.319862 +v -1.447214 0.974187 -1.323898 +v -1.538909 0.026422 -2.332878 +v -0.621838 0.912910 -2.760755 +v -0.988618 0.515494 -5.023216 +v -0.468853 0.454530 -3.157656 +v -1.508264 -0.065337 -1.202060 +v -0.805228 -0.034751 -1.935564 +v -0.988618 0.057114 -4.013823 +v -1.416569 0.240424 -4.105511 +v -0.652363 0.179355 -3.983674 +v -1.508264 0.729600 -2.883005 +v -0.682888 0.974083 -0.803920 +v -0.652363 0.790668 -3.983674 +v -0.468853 0.026422 -0.804333 +v -0.560668 0.087596 -2.821880 +f 88 114 124 +f 65 76 77 +f 66 71 78 +f 70 69 85 +f 70 85 86 +f 71 85 90 +f 79 72 92 +f 89 76 92 +f 65 77 93 +f 69 70 94 +f 73 74 95 +f 80 73 95 +f 90 83 96 +f 84 90 96 +f 73 81 97 +f 82 97 98 +f 66 67 99 +f 98 75 99 +f 85 69 100 +f 72 79 101 +f 68 88 101 +f 96 72 101 +f 88 96 101 +f 73 80 102 +f 81 73 102 +f 88 68 103 +f 97 91 103 +f 98 78 103 +f 91 98 103 +f 67 66 104 +f 66 78 104 +f 78 98 104 +f 99 67 104 +f 98 99 104 +f 77 76 105 +f 87 69 105 +f 76 87 105 +f 69 94 105 +f 94 77 105 +f 70 86 106 +f 86 81 106 +f 81 102 106 +f 73 97 107 +f 101 79 107 +f 68 101 107 +f 103 68 107 +f 97 103 107 +f 89 92 108 +f 95 74 109 +f 80 94 110 +f 94 70 110 +f 102 80 110 +f 70 106 110 +f 106 102 110 +f 69 87 111 +f 87 76 111 +f 76 89 111 +f 89 69 111 +f 81 75 112 +f 97 81 112 +f 75 98 112 +f 98 97 112 +f 74 73 113 +f 79 74 113 +f 73 107 113 +f 107 79 113 +f 78 71 114 +f 103 78 114 +f 88 103 114 +f 69 89 115 +f 100 69 115 +f 108 83 115 +f 89 108 115 +f 83 90 116 +f 90 85 116 +f 85 100 116 +f 100 115 116 +f 115 83 116 +f 92 72 117 +f 72 96 117 +f 96 83 117 +f 83 108 117 +f 108 92 117 +f 76 65 118 +f 74 79 118 +f 92 76 118 +f 79 92 118 +f 65 93 118 +f 109 74 118 +f 93 109 118 +f 88 84 119 +f 96 88 119 +f 84 96 119 +f 93 77 120 +f 94 80 120 +f 77 94 120 +f 80 95 120 +f 109 93 120 +f 95 109 120 +f 75 81 121 +f 85 66 121 +f 81 86 121 +f 86 85 121 +f 66 99 121 +f 99 75 121 +f 97 82 122 +f 91 97 122 +f 82 98 122 +f 98 91 122 +f 71 66 123 +f 66 85 123 +f 85 71 123 +f 84 88 124 +f 90 84 124 +f 71 90 124 +f 114 71 124 +o convex_3 +v -1.997583 0.454437 -0.192260 +v -0.224322 0.974113 0.541196 +v -1.019304 1.035349 0.785745 +v -0.897106 -0.034676 0.877474 +v -0.468891 0.026449 -0.803728 +v -1.233150 1.004675 -0.803728 +v -1.569369 -0.065238 -0.803728 +v -1.875211 0.087575 0.449466 +v -0.224322 -0.034676 0.418825 +v -0.224322 0.974113 -0.497898 +v -1.783389 1.035349 0.357736 +v -1.294250 0.729501 1.152664 +v -0.744184 0.209936 1.152664 +v -1.661018 0.882425 -0.803728 +v -0.224322 -0.004113 -0.467449 +v -1.538819 -0.095912 0.388376 +v -0.774734 0.760064 1.152664 +v -1.202601 0.240499 1.152664 +v -0.530164 0.912987 -0.803728 +v -1.905761 0.882425 0.327287 +v -1.936311 0.148700 -0.345079 +v -1.936311 0.851862 -0.375719 +v -1.691567 -0.065238 0.480106 +v -0.438342 -0.065238 0.204917 +v -1.080403 1.004675 0.938564 +v -1.722290 0.576688 -0.803728 +v -0.224322 1.004675 -0.039441 +v -1.936311 0.515562 0.388376 +v -1.783389 0.974113 -0.375719 +v -1.752840 -0.065238 0.021649 +v -1.324973 0.454437 1.152664 +v -1.416621 0.882425 0.969204 +v -1.233150 1.035349 -0.008800 +v -0.774734 -0.034676 -0.803728 +v -0.224322 0.851751 -0.558988 +v -0.682912 0.423985 1.122023 +v -1.477720 -0.004113 0.755104 +v -1.936311 0.087575 0.113379 +v -0.897106 1.004675 -0.803728 +v -1.538819 0.637813 0.907923 +v -0.560714 0.026449 0.877474 +v -1.997583 0.515562 0.113379 +v -0.988754 0.148700 1.152664 +v -0.988754 0.851862 1.152664 +v -1.966860 0.393312 -0.375719 +v -1.508270 -0.095912 -0.008800 +v -0.224322 0.698938 0.541196 +v -1.966860 0.821300 0.021649 +v -0.224322 -0.034676 -0.253349 +v -1.661018 0.179263 -0.803728 +v -1.752840 -0.034676 -0.375719 +v -1.752840 1.035349 0.144019 +v -1.508270 0.974113 -0.773088 +v -1.049853 -0.034676 0.877474 +f 128 167 178 +f 130 129 131 +f 126 133 134 +f 130 131 138 +f 134 133 139 +f 136 137 141 +f 137 136 142 +f 129 130 143 +f 133 128 148 +f 128 140 148 +f 126 127 149 +f 127 135 149 +f 138 131 150 +f 146 138 150 +f 127 126 151 +f 126 134 151 +f 138 146 153 +f 146 135 153 +f 140 147 154 +f 132 142 155 +f 142 136 155 +f 135 144 156 +f 149 135 156 +f 135 127 157 +f 127 151 157 +f 131 129 158 +f 129 139 158 +f 148 131 158 +f 139 129 159 +f 134 139 159 +f 129 143 159 +f 143 134 159 +f 126 141 160 +f 141 137 160 +f 142 132 161 +f 132 147 161 +f 125 145 162 +f 147 132 162 +f 154 147 162 +f 143 130 163 +f 134 143 163 +f 151 134 163 +f 130 157 163 +f 157 151 163 +f 152 132 164 +f 144 152 164 +f 132 155 164 +f 155 136 164 +f 156 144 164 +f 136 156 164 +f 128 133 165 +f 133 160 165 +f 160 137 165 +f 132 152 166 +f 152 144 166 +f 125 162 166 +f 162 132 166 +f 137 142 167 +f 142 161 167 +f 128 165 167 +f 165 137 167 +f 141 126 168 +f 136 141 168 +f 126 149 168 +f 149 156 168 +f 156 136 168 +f 145 125 169 +f 125 146 169 +f 146 150 169 +f 131 148 170 +f 148 140 170 +f 154 131 170 +f 140 154 170 +f 133 126 171 +f 126 160 171 +f 160 133 171 +f 144 135 172 +f 135 146 172 +f 146 125 172 +f 125 166 172 +f 166 144 172 +f 139 133 173 +f 133 148 173 +f 158 139 173 +f 148 158 173 +f 131 145 174 +f 150 131 174 +f 145 169 174 +f 169 150 174 +f 145 131 175 +f 131 154 175 +f 162 145 175 +f 154 162 175 +f 153 135 176 +f 157 130 176 +f 135 157 176 +f 130 138 177 +f 138 153 177 +f 176 130 177 +f 153 176 177 +f 140 128 178 +f 147 140 178 +f 161 147 178 +f 167 161 178 +o convex_4 +v -0.010234 1.035130 -0.559221 +v -0.010234 0.240520 0.663662 +v -0.040841 0.240520 0.663662 +v -0.071407 -0.095885 -0.406330 +v -0.224256 0.973924 0.541324 +v -0.224256 -0.034679 -0.467560 +v -0.224256 -0.065206 0.418987 +v -0.224256 0.943550 -0.528667 +v -0.010234 -0.371083 0.082651 +v -0.010234 1.157390 0.143881 +v -0.010234 0.576466 -0.589897 +v -0.010234 0.851665 0.571878 +v -0.040841 0.026527 0.663662 +v -0.040841 1.188222 -0.008887 +v -0.010234 -0.095885 -0.406330 +v -0.010234 -0.248671 0.418987 +v -0.040841 -0.371083 0.021667 +v -0.224256 1.004604 -0.100671 +f 183 192 196 +f 183 184 185 +f 184 183 186 +f 179 180 187 +f 180 179 188 +f 186 179 189 +f 184 186 189 +f 179 187 189 +f 181 180 190 +f 183 181 190 +f 180 188 190 +f 188 183 190 +f 180 181 191 +f 181 183 191 +f 183 185 191 +f 179 186 192 +f 188 179 192 +f 183 188 192 +f 182 184 193 +f 184 189 193 +f 189 187 193 +f 187 180 194 +f 180 191 194 +f 191 185 194 +f 184 182 195 +f 185 184 195 +f 182 193 195 +f 193 187 195 +f 187 194 195 +f 194 185 195 +f 186 183 196 +f 192 186 196 +o convex_5 +v 1.518351 1.555117 0.021347 +v -0.010221 -1.136023 0.541292 +v -0.010221 -1.136023 0.571770 +v 1.793539 -4.498154 -0.039411 +v 0.264966 -1.684906 -0.864746 +v 0.876620 -4.437100 0.908241 +v 1.854592 0.759627 0.816203 +v 2.282862 0.301127 -0.589634 +v -0.010221 1.126546 -0.559155 +v 0.418048 -4.528082 -0.620313 +v 0.234440 1.003840 0.846882 +v 1.793539 -3.703261 -0.803788 +v 1.885344 -3.916949 0.846882 +v 1.243163 0.821279 -0.956784 +v 0.112109 -3.764315 0.846882 +v 2.282862 0.912859 0.418975 +v 1.060004 -0.830158 1.030557 +v 0.051056 -3.825368 -0.131048 +v 0.968200 -3.397396 -0.987263 +v 1.824066 1.004439 -0.864946 +v 0.907147 1.493465 0.755044 +v 0.448575 1.523992 -0.620313 +v 1.976923 -3.886422 -0.008731 +v 1.763013 -1.288657 -0.987062 +v 2.282862 -0.310006 0.480133 +v 0.234440 -1.350309 0.999677 +v 0.234440 1.003840 -0.834267 +v 0.051056 1.401885 0.052026 +v 1.029477 -4.528082 -0.803788 +v 0.387297 -4.528082 0.602249 +v 1.793539 -1.288657 0.969198 +v 0.998951 -3.856493 0.999878 +v 1.090531 0.759627 0.969399 +v -0.010221 0.790153 0.632929 +v 0.937673 -0.799631 -1.017942 +v 1.610155 1.523992 -0.620313 +v 0.264966 -3.764315 -0.742630 +v 2.282862 1.096019 -0.069890 +v 1.610155 1.493465 0.571570 +v 2.282862 -0.463238 -0.467318 +v 1.671209 -4.498154 0.602249 +v -0.010221 0.697974 -0.650792 +v 0.968200 1.523992 -0.803788 +v 2.282862 0.331654 0.571770 +v 1.548878 -4.528082 -0.559155 +v -0.010221 -0.463238 0.785924 +v 0.234440 -4.498154 0.052226 +v 0.418048 1.493465 0.571770 +v 1.976923 1.431813 -0.008731 +v 1.854592 1.034966 0.785724 +v 0.998951 0.729100 -0.987263 +v 2.282862 0.882332 -0.436839 +v 1.304441 -4.559805 -0.131248 +v 1.029477 -2.999949 1.030557 +v 0.020530 -2.571378 -0.284043 +v 0.479101 1.555117 0.021547 +v 1.029477 -3.825967 -0.956784 +v 2.282862 -0.676925 0.052026 +v 0.876620 -1.532871 -1.017942 +v 1.640682 -3.887020 0.908241 +v 0.693012 -3.764315 -0.895425 +v 0.142860 1.065492 -0.803788 +v 1.243163 -4.498154 0.816403 +v 1.365494 -1.411363 -1.017942 +f 255 231 260 +f 198 199 205 +f 211 199 214 +f 200 208 219 +f 209 200 219 +f 204 208 220 +f 210 216 220 +f 216 204 220 +f 204 212 221 +f 209 219 221 +f 218 205 224 +f 202 211 226 +f 211 202 228 +f 222 211 228 +f 217 207 229 +f 207 222 229 +f 222 213 229 +f 227 203 229 +f 213 227 229 +f 205 199 230 +f 224 205 230 +f 207 224 230 +f 206 214 233 +f 212 204 234 +f 197 217 235 +f 208 204 236 +f 219 208 236 +f 204 221 236 +f 200 209 237 +f 198 205 238 +f 201 233 238 +f 216 210 239 +f 197 232 239 +f 232 216 239 +f 209 221 240 +f 221 212 240 +f 227 209 240 +f 203 227 240 +f 208 200 241 +f 225 208 241 +f 199 211 242 +f 222 207 242 +f 211 222 242 +f 230 199 242 +f 207 230 242 +f 214 206 243 +f 211 214 243 +f 226 211 243 +f 206 226 243 +f 207 217 244 +f 224 207 244 +f 232 197 245 +f 212 234 245 +f 234 232 245 +f 235 212 245 +f 197 235 245 +f 229 203 246 +f 217 229 246 +f 212 235 246 +f 235 217 246 +f 203 240 246 +f 240 212 246 +f 210 220 247 +f 231 223 247 +f 239 210 247 +f 223 239 247 +f 204 216 248 +f 216 232 248 +f 234 204 248 +f 232 234 248 +f 206 225 249 +f 226 206 249 +f 200 237 249 +f 241 200 249 +f 225 241 249 +f 213 222 250 +f 227 213 250 +f 222 228 250 +f 199 198 251 +f 214 199 251 +f 233 214 251 +f 198 238 251 +f 238 233 251 +f 217 197 252 +f 218 224 252 +f 197 239 252 +f 239 218 252 +f 244 217 252 +f 224 244 252 +f 220 208 253 +f 215 220 253 +f 208 225 253 +f 221 219 254 +f 219 236 254 +f 236 221 254 +f 215 201 255 +f 201 223 255 +f 223 231 255 +f 209 227 256 +f 228 202 256 +f 227 250 256 +f 250 228 256 +f 201 215 257 +f 225 206 257 +f 233 201 257 +f 206 233 257 +f 215 253 257 +f 253 225 257 +f 205 218 258 +f 223 201 258 +f 238 205 258 +f 201 238 258 +f 218 239 258 +f 239 223 258 +f 202 226 259 +f 237 209 259 +f 226 249 259 +f 249 237 259 +f 256 202 259 +f 209 256 259 +f 220 215 260 +f 247 220 260 +f 231 247 260 +f 215 255 260 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/635/635.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/635/635.urdf new file mode 100644 index 000000000..29b93da0f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/635/635.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/636/636.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/636/636.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/636/636.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/636/636.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/636/636.obj new file mode 100644 index 000000000..52f095f8e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/636/636.obj @@ -0,0 +1,447 @@ +o convex_0 +v 0.532282 1.886661 -1.461338 +v -0.611606 1.636425 -1.246923 +v -0.611606 1.636425 -1.211130 +v 0.496485 -0.007844 -1.747108 +v -0.540012 1.958185 -2.283203 +v -0.575809 -0.007844 -1.139658 +v -0.504330 -0.007844 -2.176053 +v 0.568079 1.994045 -2.211847 +v 0.460804 -0.007844 -1.103864 +v 0.496485 -0.007844 -2.176053 +v 0.389325 1.886661 -1.175452 +v -0.540012 1.922325 -1.211130 +v 0.496485 1.564901 -1.139658 +v 0.568079 1.278804 -2.211731 +v -0.468533 1.421852 -2.283203 +v -0.575809 -0.007844 -1.461338 +v -0.468533 1.958185 -1.318395 +v -0.146822 1.886661 -2.283203 +v 0.139092 0.171064 -1.103864 +v 0.568079 1.958185 -1.854489 +v -0.611606 1.922325 -1.246923 +v -0.504330 0.278252 -2.211731 +v 0.460804 1.994045 -2.032995 +v 0.532282 0.885912 -2.211731 +v -0.289779 0.564152 -1.139658 +v 0.496485 1.135756 -1.139658 +v 0.496485 1.850801 -1.175452 +v 0.568079 1.278804 -2.140260 +v 0.246252 1.994045 -2.211731 +v -0.540012 1.815137 -2.283203 +v 0.031817 1.886661 -1.175452 +f 25 13 31 +f 3 2 6 +f 4 6 7 +f 6 4 9 +f 4 7 10 +f 3 6 12 +f 4 10 14 +f 6 2 16 +f 7 6 16 +f 12 11 17 +f 5 8 18 +f 8 14 18 +f 15 5 18 +f 6 9 19 +f 9 13 19 +f 14 8 20 +f 2 3 21 +f 5 2 21 +f 3 12 21 +f 17 5 21 +f 12 17 21 +f 10 7 22 +f 15 10 22 +f 17 11 23 +f 11 20 23 +f 20 8 23 +f 14 10 24 +f 10 15 24 +f 18 14 24 +f 15 18 24 +f 12 6 25 +f 6 19 25 +f 19 13 25 +f 1 13 26 +f 13 9 26 +f 20 1 26 +f 11 13 27 +f 13 1 27 +f 1 20 27 +f 20 11 27 +f 9 4 28 +f 4 14 28 +f 14 20 28 +f 26 9 28 +f 20 26 28 +f 8 5 29 +f 5 17 29 +f 23 8 29 +f 17 23 29 +f 2 5 30 +f 5 15 30 +f 16 2 30 +f 7 16 30 +f 22 7 30 +f 15 22 30 +f 11 12 31 +f 13 11 31 +f 12 25 31 +o convex_1 +v 0.746754 3.959822 0.040275 +v -1.112064 -2.081104 1.076646 +v -1.112064 -2.081104 1.362865 +v 0.996896 -2.152726 -0.245744 +v -0.968878 3.709446 -0.674773 +v 1.104285 3.816578 1.291260 +v -1.076267 3.995934 1.362865 +v 0.996896 -2.116614 1.362865 +v -0.968878 -2.044390 -0.674773 +v 0.961099 3.959822 -0.674773 +v 0.996896 -2.152726 -0.674773 +v -1.040471 0.350433 -0.674773 +v -0.933298 3.923710 -0.674773 +v 1.032692 0.064547 -0.567466 +v -1.076267 3.995934 0.862231 +v 1.104285 3.066051 0.897934 +v 0.961099 -0.043187 1.362865 +v 1.104285 3.888200 1.183754 +v -1.076267 1.779263 0.218987 +v -0.861705 3.995934 1.362865 +v -1.040471 -0.400695 -0.674773 +v -0.718736 -2.081104 -0.674773 +v -0.397001 3.959822 -0.638871 +v -0.111062 3.995934 0.433203 +v 0.067487 -2.116614 1.362865 +v 1.104285 3.852088 1.005241 +v -0.968878 3.959220 -0.388753 +v 1.104285 3.316427 1.291260 +v 0.996896 3.566202 -0.352852 +v 1.032692 3.888200 1.291260 +v 0.925520 -2.152726 -0.674773 +v -0.718736 3.995934 1.326763 +v -1.040471 -2.044390 0.147582 +v 0.961099 3.959822 -0.281446 +v -1.112064 -1.759106 1.291260 +v 0.996896 -0.114207 -0.674773 +f 45 42 67 +f 38 34 39 +f 40 36 41 +f 40 41 42 +f 36 40 43 +f 41 36 44 +f 39 35 47 +f 35 42 47 +f 42 45 47 +f 39 37 48 +f 38 39 48 +f 37 47 49 +f 43 33 50 +f 36 43 50 +f 33 46 50 +f 46 36 50 +f 46 38 51 +f 48 37 51 +f 38 48 51 +f 33 43 52 +f 43 40 52 +f 33 40 53 +f 40 42 53 +f 41 44 54 +f 54 46 55 +f 46 51 55 +f 41 54 55 +f 34 35 56 +f 39 34 56 +f 35 39 56 +f 47 45 57 +f 41 49 57 +f 49 47 57 +f 44 36 58 +f 36 46 58 +f 54 44 58 +f 46 54 58 +f 37 39 59 +f 47 37 59 +f 39 47 59 +f 45 41 60 +f 41 57 60 +f 57 45 60 +f 37 49 61 +f 51 37 61 +f 34 33 62 +f 35 34 62 +f 42 35 62 +f 33 53 62 +f 53 42 62 +f 32 55 63 +f 55 51 63 +f 61 32 63 +f 51 61 63 +f 40 33 64 +f 33 52 64 +f 52 40 64 +f 49 41 65 +f 55 32 65 +f 41 55 65 +f 32 61 65 +f 61 49 65 +f 33 34 66 +f 34 38 66 +f 46 33 66 +f 38 46 66 +f 42 41 67 +f 41 45 67 +o convex_2 +v 0.818125 -2.116978 2.292481 +v -0.361214 0.027904 1.434389 +v -0.361214 0.027904 1.362865 +v -1.112078 -2.081076 1.362865 +v -0.968891 -0.008208 3.364754 +v 0.961312 -0.043900 1.362865 +v 1.104282 -2.080866 3.328698 +v -1.040484 -2.045174 3.328894 +v 0.925298 -0.079592 3.328894 +v 0.996892 -2.116768 1.362865 +v -0.968891 0.027904 1.362865 +v -1.004688 -0.079592 3.293230 +v 0.317839 -1.294591 3.364754 +v 0.961312 -0.043900 2.363809 +v -1.112078 -1.759218 1.648961 +v 1.104282 -1.759218 3.293034 +v 1.104282 -2.045174 2.864086 +v -1.076281 -1.973790 3.042994 +v -0.575778 -0.008208 3.364754 +v 0.996892 -0.830385 1.362865 +v -1.004688 -0.222571 1.362865 +v -1.004688 -1.080019 3.364754 +v 0.067695 -2.116978 1.398725 +v -0.968891 0.027904 2.363809 +v 0.961312 -0.258263 3.328698 +v 1.032688 -2.116768 1.684821 +v 0.639358 -0.008208 1.398725 +v 0.424795 -2.080866 3.328894 +v -0.039478 -0.043900 3.364754 +v -1.040484 -1.151613 3.328894 +v -1.112078 -1.759218 1.362865 +v 0.389215 -0.043900 3.293230 +v 1.068485 -2.116768 2.470997 +f 74 95 100 +f 71 70 73 +f 71 73 77 +f 69 70 78 +f 70 71 78 +f 73 81 83 +f 83 74 84 +f 73 83 84 +f 71 75 85 +f 82 71 85 +f 72 80 86 +f 77 73 87 +f 73 84 87 +f 78 71 88 +f 79 78 88 +f 80 72 89 +f 75 80 89 +f 68 75 90 +f 75 71 90 +f 77 68 90 +f 71 77 90 +f 69 78 91 +f 79 72 91 +f 78 79 91 +f 86 69 91 +f 72 86 91 +f 80 74 92 +f 76 80 92 +f 81 76 92 +f 74 83 92 +f 83 81 92 +f 68 77 93 +f 77 87 93 +f 87 84 93 +f 70 69 94 +f 73 70 94 +f 81 73 94 +f 69 86 94 +f 75 68 95 +f 80 75 95 +f 74 80 95 +f 80 76 96 +f 86 80 96 +f 76 86 96 +f 72 79 97 +f 79 82 97 +f 85 75 97 +f 82 85 97 +f 89 72 97 +f 75 89 97 +f 71 82 98 +f 82 79 98 +f 88 71 98 +f 79 88 98 +f 76 81 99 +f 86 76 99 +f 81 94 99 +f 94 86 99 +f 84 74 100 +f 68 93 100 +f 93 84 100 +f 95 68 100 +o convex_3 +v -0.575858 -3.582371 -2.140365 +v 0.568030 -2.188474 -1.103749 +v 0.568030 -2.188474 -1.675892 +v 0.532233 -4.190167 -1.246874 +v -0.575858 -2.188474 -1.103749 +v 0.603827 -4.082794 -2.283252 +v -0.575858 -2.188474 -2.247679 +v -0.575858 -3.975616 -1.139560 +v 0.532233 -2.188474 -2.283371 +v -0.539945 -4.047133 -2.319182 +v 0.353479 -4.190167 -1.175252 +v 0.532233 -3.761065 -1.139560 +v -0.539945 -4.047133 -1.175252 +v -0.361307 -2.832128 -1.103749 +v 0.603827 -3.546710 -2.283252 +v 0.603827 -4.082794 -2.068861 +v 0.139043 -2.188474 -2.283371 +v -0.218234 -4.011277 -2.319182 +v 0.389161 -4.190167 -1.354069 +v 0.568030 -2.474738 -1.103749 +v 0.568030 -2.403221 -2.283252 +v -0.539945 -3.796922 -2.319182 +v -0.575858 -2.867984 -2.283371 +v -0.575858 -4.011277 -1.782849 +v 0.282000 -4.082794 -2.283371 +v 0.568030 -2.760806 -1.139560 +f 116 120 126 +f 102 103 105 +f 101 105 107 +f 105 103 107 +f 105 101 108 +f 107 103 109 +f 111 104 112 +f 108 111 112 +f 111 108 113 +f 110 111 113 +f 102 105 114 +f 105 108 114 +f 108 112 114 +f 103 102 115 +f 104 106 116 +f 115 102 116 +f 106 115 116 +f 107 109 117 +f 106 110 118 +f 115 106 118 +f 106 104 119 +f 111 110 119 +f 104 111 119 +f 102 114 120 +f 114 112 120 +f 116 102 120 +f 109 103 121 +f 103 115 121 +f 115 118 121 +f 118 109 121 +f 117 109 122 +f 118 110 122 +f 109 118 122 +f 101 107 123 +f 110 101 123 +f 107 117 123 +f 122 110 123 +f 117 122 123 +f 108 101 124 +f 101 110 124 +f 113 108 124 +f 110 113 124 +f 110 106 125 +f 106 119 125 +f 119 110 125 +f 112 104 126 +f 104 116 126 +f 120 112 126 +o convex_4 +v -1.040582 -1.973762 -2.640795 +v -0.861670 -0.079557 -0.674773 +v -1.004680 -0.079557 -0.674773 +v 0.997055 -2.152404 -0.674773 +v 0.961153 -0.043914 -2.676515 +v 0.961153 -2.188474 -2.748158 +v -1.040582 -0.008058 -2.712235 +v -0.968977 -2.045261 -0.674773 +v 0.997055 -0.115200 -0.674773 +v -0.575851 -2.188474 -2.247672 +v 0.568027 -0.008058 -0.996659 +v -0.575851 -2.188474 -1.103819 +v -1.040582 -0.437055 -0.674773 +v 0.997055 -2.188474 -2.426272 +v -1.004680 -2.045261 -2.676312 +v -0.575851 -0.008058 -1.139539 +v 0.961153 -0.294056 -2.712235 +v 0.997055 -0.115200 -2.068869 +v 0.746739 -0.008058 -2.068869 +v 0.532125 -2.152404 -2.748158 +v 0.961153 -1.544765 -2.748158 +v 0.568027 -2.188474 -1.103819 +v -0.933075 -2.080904 -0.746416 +v -1.040582 -0.079557 -0.746416 +v 0.711036 -2.188474 -2.748158 +v 0.961153 -0.043914 -2.068869 +v -1.040582 -1.973762 -2.533432 +v -0.718661 -2.080904 -0.674773 +f 149 138 154 +f 128 129 130 +f 130 129 134 +f 128 130 135 +f 129 128 137 +f 128 135 137 +f 136 132 138 +f 133 127 139 +f 134 129 139 +f 135 130 140 +f 138 132 140 +f 127 133 141 +f 129 137 142 +f 137 133 142 +f 133 131 143 +f 131 140 143 +f 131 135 144 +f 140 131 144 +f 135 140 144 +f 131 133 145 +f 133 137 145 +f 141 133 146 +f 140 132 147 +f 133 143 147 +f 143 140 147 +f 132 146 147 +f 146 133 147 +f 130 138 148 +f 140 130 148 +f 138 140 148 +f 136 138 149 +f 134 141 149 +f 141 136 149 +f 133 139 150 +f 139 129 150 +f 129 142 150 +f 142 133 150 +f 132 136 151 +f 136 141 151 +f 146 132 151 +f 141 146 151 +f 135 131 152 +f 137 135 152 +f 131 145 152 +f 145 137 152 +f 139 127 153 +f 134 139 153 +f 127 141 153 +f 141 134 153 +f 130 134 154 +f 138 130 154 +f 134 149 154 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/636/636.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/636/636.urdf new file mode 100644 index 000000000..29f5a5d93 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/636/636.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/637/637.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/637/637.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/637/637.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/637/637.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/637/637.obj new file mode 100644 index 000000000..710fe1ff7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/637/637.obj @@ -0,0 +1,534 @@ +o convex_0 +v -2.829954 -0.749174 0.283820 +v -2.968464 -0.991075 -0.269350 +v -2.968464 -0.956580 -0.269350 +v -3.867357 -1.025679 0.076360 +v -2.829954 -1.233194 0.145513 +v -3.590540 -0.783724 0.007264 +v -2.829954 -0.749174 -0.131043 +v -3.625269 -1.025679 -0.200196 +v -3.625269 -1.025679 0.249243 +v -3.590540 -1.198536 -0.061889 +v -2.829954 -1.163986 -0.234773 +v -2.829954 -1.025679 0.318397 +v -3.625269 -0.783724 0.110937 +v -2.864582 -0.680021 0.041783 +v -3.452335 -1.163986 0.180090 +v -3.625269 -0.956580 -0.200196 +v -3.002990 -0.749174 0.283820 +v -2.829954 -1.233194 -0.096466 +v -3.867357 -0.956580 0.007264 +v -3.625269 -1.198536 0.041783 +v -3.072042 -1.198536 0.214667 +v -2.829954 -0.852877 -0.234773 +v -3.383080 -0.818327 -0.131043 +v -3.521387 -0.887481 0.249243 +v -3.417707 -1.025679 0.283820 +v -2.968464 -1.163986 -0.234773 +f 11 18 26 +f 1 5 7 +f 3 2 8 +f 4 8 10 +f 2 3 11 +f 7 5 11 +f 5 1 12 +f 1 7 14 +f 7 6 14 +f 6 13 14 +f 3 8 16 +f 12 1 17 +f 1 14 17 +f 14 13 17 +f 11 5 18 +f 8 4 19 +f 4 13 19 +f 13 6 19 +f 6 16 19 +f 16 8 19 +f 9 4 20 +f 4 10 20 +f 15 9 20 +f 18 5 20 +f 10 18 20 +f 5 12 21 +f 15 20 21 +f 20 5 21 +f 11 3 22 +f 7 11 22 +f 3 16 22 +f 22 16 23 +f 6 7 23 +f 16 6 23 +f 7 22 23 +f 4 9 24 +f 13 4 24 +f 17 13 24 +f 17 24 25 +f 9 15 25 +f 12 17 25 +f 21 12 25 +f 15 21 25 +f 24 9 25 +f 8 2 26 +f 10 8 26 +f 2 11 26 +f 18 10 26 +o convex_1 +v -2.622339 -1.163952 -0.269383 +v -2.069193 -0.956418 0.387614 +v -2.069193 -0.749208 0.352970 +v -2.829954 -0.852650 0.318403 +v -2.069193 -0.230371 -0.269383 +v -2.069193 -1.336934 -0.061906 +v -2.795327 -1.233058 0.214704 +v -2.829954 -0.818097 -0.234817 +v -2.069193 -0.714655 -0.407727 +v -2.103820 -0.230371 0.007227 +v -2.795327 -0.645332 0.076360 +v -2.069193 -1.267720 0.318403 +v -2.069193 -1.163952 -0.338517 +v -2.138448 -0.437906 0.283837 +v -2.829954 -1.233058 -0.096473 +v -2.829954 -0.714655 0.283837 +v -2.622339 -1.025632 0.352970 +v -2.829954 -1.060293 -0.269383 +v -2.103820 -0.576335 -0.407727 +v -2.103820 -0.230371 -0.269383 +v -2.103820 -1.336934 0.145493 +v -2.829954 -0.679994 -0.027340 +v -2.069193 -0.437906 0.283837 +v -2.760700 -1.267720 0.007227 +v -2.829954 -1.025632 0.318403 +v -2.829954 -0.887312 -0.269383 +v -2.103820 -0.265141 -0.303950 +v -2.103820 -1.094846 0.387614 +f 43 38 54 +f 28 29 30 +f 29 28 31 +f 31 28 32 +f 31 32 35 +f 32 28 38 +f 32 27 39 +f 35 32 39 +f 30 29 40 +f 27 32 41 +f 30 34 41 +f 34 30 42 +f 36 37 42 +f 30 40 42 +f 40 36 42 +f 28 30 43 +f 39 27 44 +f 35 39 44 +f 27 41 44 +f 41 34 44 +f 31 35 45 +f 35 44 45 +f 36 31 46 +f 37 36 46 +f 32 38 47 +f 38 33 47 +f 34 42 48 +f 42 37 48 +f 46 34 48 +f 37 46 48 +f 29 31 49 +f 31 36 49 +f 40 29 49 +f 36 40 49 +f 41 32 50 +f 33 41 50 +f 32 47 50 +f 47 33 50 +f 33 38 51 +f 30 41 51 +f 41 33 51 +f 43 30 51 +f 38 43 51 +f 44 34 52 +f 45 44 52 +f 31 45 53 +f 46 31 53 +f 34 46 53 +f 52 34 53 +f 45 52 53 +f 38 28 54 +f 28 43 54 +o convex_2 +v 0.005502 3.952665 -0.372877 +v -2.069159 -1.370501 -0.096290 +v -2.034400 -1.439899 -0.027448 +v 0.109353 -2.235924 -0.857005 +v 0.109353 -0.298928 0.975330 +v -1.515788 3.468926 0.802311 +v -1.723275 3.365511 -0.926253 +v -1.723275 -1.578693 0.837037 +v -0.029043 3.745154 0.871356 +v 0.109353 -2.858457 0.041597 +v -1.688730 -1.509296 -0.822482 +v 0.109353 0.116093 -1.064749 +v -0.755356 3.953345 -0.960775 +v -1.342846 4.091459 0.421954 +v 0.109353 -1.993715 0.836834 +v -0.651506 3.400209 1.009853 +v -2.069159 -0.402344 0.283661 +v -1.066267 0.531115 -1.064749 +v -1.792367 3.434908 0.076119 +v 0.109353 2.500769 0.940604 +v -0.063589 4.022062 -0.753234 +v -1.792367 -1.889619 -0.061768 +v -2.069159 -0.437042 -0.442125 +v -1.377392 4.056760 -0.614941 +v 0.109353 1.878236 -0.960775 +v -0.513110 3.434227 -1.029820 +v -0.893539 -0.194833 0.975330 +v -0.962843 -1.336483 -0.960775 +v -1.654184 0.668549 -0.995298 +v -0.132894 4.091459 0.076119 +v -1.412151 -1.993715 -0.476850 +v -0.824447 3.918647 0.871559 +v -2.069159 -1.128972 0.421954 +v 0.074594 3.814551 0.110845 +v -0.928085 2.604864 -1.064749 +v -1.757821 3.468926 -0.891730 +v -1.654184 1.014174 0.837037 +v 0.005502 2.707599 1.009853 +v -0.755356 -1.509296 0.906082 +v -2.069159 -0.022020 -0.338354 +v -1.584879 3.434908 0.733063 +v -1.515788 4.056760 -0.061768 +v -0.789689 2.673581 1.009853 +v -0.997176 4.091459 -0.787756 +v -1.377392 -1.958336 0.560247 +v 0.074594 -2.789060 -0.200061 +v -0.374927 4.056760 0.560247 +v -1.031722 -1.959016 0.698541 +v 0.109353 3.227397 -0.096290 +v -1.827126 3.088603 0.110845 +v -2.069159 -1.162990 -0.372877 +v -2.069159 -1.336483 0.318386 +v 0.109353 -2.097130 -0.891527 +v -1.792367 -1.889619 0.041597 +v -1.792367 3.434908 -0.407602 +v 0.074594 -2.858457 0.041597 +v -1.031722 0.081395 0.975330 +v -1.723275 -0.713950 0.837037 +v -1.031722 3.849249 -0.960775 +v -0.858993 3.883948 0.906082 +v -1.792367 2.051048 -0.857005 +v -0.893539 -1.025557 0.940604 +v -0.029043 3.987363 -0.684189 +v 0.074594 -2.858457 -0.061768 +f 110 76 118 +f 58 59 64 +f 59 58 66 +f 64 59 69 +f 59 66 74 +f 57 56 76 +f 56 65 76 +f 56 71 77 +f 74 66 79 +f 75 79 80 +f 67 75 80 +f 79 66 80 +f 58 65 82 +f 72 66 82 +f 72 82 83 +f 65 77 83 +f 82 65 83 +f 55 75 84 +f 65 58 85 +f 76 65 85 +f 71 56 87 +f 63 74 88 +f 55 84 88 +f 84 63 88 +f 66 72 89 +f 80 66 89 +f 72 83 89 +f 83 61 89 +f 61 83 90 +f 63 70 92 +f 74 63 92 +f 59 74 92 +f 69 59 93 +f 62 69 93 +f 77 71 94 +f 90 77 94 +f 60 68 95 +f 71 87 95 +f 91 60 95 +f 87 91 95 +f 68 78 96 +f 78 90 96 +f 95 68 96 +f 73 95 96 +f 70 60 97 +f 81 59 97 +f 60 91 97 +f 92 70 97 +f 59 92 97 +f 75 67 98 +f 78 68 98 +f 68 84 98 +f 84 75 98 +f 90 78 98 +f 58 64 100 +f 85 58 100 +f 63 84 101 +f 84 68 101 +f 68 86 101 +f 86 63 101 +f 69 62 102 +f 62 99 102 +f 74 79 103 +f 88 74 103 +f 94 71 104 +f 95 73 104 +f 71 95 104 +f 65 56 105 +f 56 77 105 +f 77 65 105 +f 56 57 106 +f 87 56 106 +f 62 87 106 +f 66 58 107 +f 58 82 107 +f 82 66 107 +f 57 76 108 +f 99 62 108 +f 106 57 108 +f 62 106 108 +f 90 94 109 +f 73 96 109 +f 96 90 109 +f 104 73 109 +f 94 104 109 +f 64 69 110 +f 69 102 110 +f 102 99 110 +f 108 76 110 +f 99 108 110 +f 81 97 111 +f 111 97 112 +f 87 62 112 +f 91 87 112 +f 97 91 112 +f 62 111 112 +f 67 80 113 +f 89 61 113 +f 80 89 113 +f 61 90 113 +f 98 67 113 +f 90 98 113 +f 68 60 114 +f 60 70 114 +f 70 63 114 +f 86 68 114 +f 63 86 114 +f 83 77 115 +f 77 90 115 +f 90 83 115 +f 59 81 116 +f 93 59 116 +f 62 93 116 +f 111 62 116 +f 81 111 116 +f 75 55 117 +f 79 75 117 +f 55 88 117 +f 103 79 117 +f 88 103 117 +f 76 85 118 +f 100 64 118 +f 85 100 118 +f 64 110 118 +o convex_3 +v 2.045851 0.840853 0.352784 +v 0.109556 -3.030789 -0.027462 +v 0.109556 -3.030789 0.007088 +v 0.109556 2.950996 -0.096161 +v 1.872815 -0.818422 -0.960900 +v 0.939396 -3.376049 0.975476 +v 0.109556 2.085817 0.975476 +v 1.941867 -3.583881 0.006888 +v 0.213337 -2.269865 -0.926351 +v 0.109556 2.016765 -0.926351 +v 1.803763 1.463674 -0.787953 +v 1.872815 1.463674 0.767779 +v 1.077703 -3.721985 -0.753203 +v 1.872815 -1.508941 0.906177 +v 2.183954 -2.269865 -0.511156 +v 0.109556 -2.097235 0.837078 +v 2.114902 -2.269865 0.560481 +v 0.973922 -3.826239 0.767779 +v 1.907341 -3.203419 -0.787953 +v 1.803763 -3.272471 0.836878 +v 0.904870 -3.030789 -0.995250 +v 0.109556 0.010877 -1.064749 +v 0.351440 -3.687459 -0.027462 +v 1.872815 1.740558 -0.027262 +v 0.144082 2.673435 0.802528 +v 1.077703 1.428471 0.975476 +v 2.114902 0.046080 -0.580455 +v 1.008448 1.462997 -0.960701 +v 0.282388 -3.134367 0.733229 +v 2.114902 0.080606 0.560481 +v 0.247862 -2.996263 -0.753203 +v 1.146755 -3.965020 -0.027462 +v 1.285062 -0.438637 -1.030000 +v 0.662783 -3.237945 0.975476 +v 2.183954 -2.615801 0.041638 +v 0.109556 -2.408646 -0.822502 +v 2.114902 0.668224 -0.027262 +v 1.769034 -0.714844 0.940726 +v 0.109556 -0.299856 0.975476 +v 2.149428 -0.852271 -0.684104 +v 2.080377 -0.956526 0.733229 +v 1.907341 -3.652933 0.006888 +v 0.801090 -3.307674 -0.960701 +v 0.144082 2.915793 -0.165460 +v 1.872815 1.740558 0.076187 +v 0.109556 2.535331 0.906177 +v 2.183954 -1.508941 -0.130911 +v 1.043177 -3.791713 -0.684104 +v 1.077703 -3.826239 0.767779 +v 1.077703 -1.682247 -1.030000 +v 1.907341 -0.610590 0.906177 +v 1.457894 -0.680318 0.975476 +v 0.144082 2.950996 -0.027462 +v 0.489747 -3.550032 -0.476607 +v 0.489747 -3.583881 0.560481 +v 1.215807 -3.721985 -0.718654 +v 2.149428 -2.235339 0.491182 +v 1.803763 1.463674 0.802528 +v 0.178608 1.843459 -0.960900 +v 1.769034 1.497523 -0.787953 +v 1.907341 -3.619084 0.145286 +v 1.146755 -3.965020 0.145286 +v 0.385966 -3.722662 0.041638 +v 2.114902 0.391339 0.491182 +f 165 155 182 +f 120 121 122 +f 122 121 125 +f 120 122 128 +f 125 121 134 +f 133 126 137 +f 132 124 138 +f 123 137 139 +f 120 128 140 +f 121 120 141 +f 125 124 144 +f 129 123 146 +f 134 121 147 +f 121 141 147 +f 141 120 149 +f 146 123 151 +f 140 146 151 +f 124 125 152 +f 136 124 152 +f 134 147 152 +f 126 133 153 +f 120 140 154 +f 140 127 154 +f 149 120 154 +f 127 149 154 +f 129 142 155 +f 145 129 155 +f 124 132 156 +f 125 134 157 +f 152 125 157 +f 134 152 157 +f 123 129 158 +f 137 123 158 +f 133 137 158 +f 129 145 158 +f 145 155 158 +f 132 138 159 +f 138 135 159 +f 148 130 159 +f 137 126 160 +f 137 131 161 +f 139 137 161 +f 127 140 161 +f 140 139 161 +f 149 127 161 +f 128 122 162 +f 130 119 163 +f 143 130 163 +f 119 155 163 +f 155 142 163 +f 122 125 164 +f 143 122 164 +f 125 144 164 +f 153 133 165 +f 133 158 165 +f 158 155 165 +f 161 131 166 +f 124 136 167 +f 138 124 167 +f 123 139 168 +f 139 140 168 +f 151 123 168 +f 140 151 168 +f 156 132 169 +f 144 156 169 +f 159 130 169 +f 132 159 169 +f 144 124 170 +f 124 156 170 +f 156 144 170 +f 122 143 171 +f 162 122 171 +f 142 162 171 +f 163 142 171 +f 143 163 171 +f 141 149 172 +f 149 161 172 +f 166 141 172 +f 161 166 172 +f 136 152 173 +f 152 147 173 +f 131 137 174 +f 137 160 174 +f 160 150 174 +f 166 131 174 +f 150 166 174 +f 135 138 175 +f 138 153 175 +f 159 135 175 +f 148 159 175 +f 153 165 175 +f 165 148 175 +f 130 143 176 +f 143 164 176 +f 164 144 176 +f 169 130 176 +f 144 169 176 +f 140 128 177 +f 128 146 177 +f 146 140 177 +f 142 129 178 +f 129 146 178 +f 146 128 178 +f 128 162 178 +f 162 142 178 +f 126 153 179 +f 153 138 179 +f 160 126 179 +f 138 167 179 +f 179 167 180 +f 150 160 180 +f 167 136 180 +f 160 179 180 +f 147 141 181 +f 141 166 181 +f 166 150 181 +f 136 173 181 +f 173 147 181 +f 180 136 181 +f 150 180 181 +f 119 130 182 +f 130 148 182 +f 155 119 182 +f 148 165 182 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/637/637.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/637/637.urdf new file mode 100644 index 000000000..77d585466 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/637/637.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/638/638.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/638/638.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/638/638.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/638/638.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/638/638.obj new file mode 100644 index 000000000..e7b94edf9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/638/638.obj @@ -0,0 +1,486 @@ +o convex_0 +v -3.370440 0.447025 -0.346946 +v -1.408220 -1.590683 0.218920 +v -1.370432 -1.590683 0.218920 +v -2.766620 0.371722 1.087111 +v -3.370440 -1.552826 0.973552 +v -3.370440 -1.552826 -1.101792 +v -1.370432 0.333865 -0.988448 +v -1.370432 0.484882 1.011476 +v -1.370432 -1.552826 -0.988448 +v -1.370432 -1.590683 0.973766 +v -3.370440 0.522740 -1.026158 +v -3.294865 0.333865 1.087111 +v -1.747722 0.484882 1.049187 +v -3.030743 -1.213139 -1.101792 +v -3.332653 0.069687 1.087111 +v -2.389134 0.447025 -1.026158 +v -1.370432 0.484882 0.633946 +v -2.162800 -1.590683 0.973766 +v -3.332653 0.371722 0.860422 +v -1.710130 -0.005822 -1.026158 +v -3.332653 0.220704 -1.063868 +v -1.370432 -0.684783 1.011476 +v -1.483599 0.371516 -0.988448 +v -3.370440 -1.062121 1.011262 +v -3.370440 0.484882 -0.460077 +v -1.861085 -1.552826 -1.026158 +v -3.143910 0.371722 1.087111 +f 25 19 27 +f 3 2 6 +f 5 1 6 +f 3 7 8 +f 7 3 9 +f 2 3 10 +f 3 8 10 +f 6 1 11 +f 8 11 13 +f 10 4 15 +f 4 12 15 +f 8 7 17 +f 11 8 17 +f 16 11 17 +f 6 2 18 +f 5 6 18 +f 2 10 18 +f 15 12 19 +f 7 9 20 +f 16 7 20 +f 16 20 21 +f 6 11 21 +f 14 6 21 +f 11 16 21 +f 20 14 21 +f 4 10 22 +f 10 8 22 +f 13 4 22 +f 8 13 22 +f 7 16 23 +f 17 7 23 +f 16 17 23 +f 1 5 24 +f 10 15 24 +f 5 18 24 +f 18 10 24 +f 19 1 24 +f 15 19 24 +f 11 1 25 +f 13 11 25 +f 1 19 25 +f 3 6 26 +f 9 3 26 +f 6 14 26 +f 20 9 26 +f 14 20 26 +f 12 4 27 +f 4 13 27 +f 19 12 27 +f 13 25 27 +o convex_1 +v -0.200365 2.069307 -1.101792 +v 0.705322 2.748389 1.087111 +v 0.705322 4.031100 1.011262 +v -1.370236 2.937420 0.935842 +v -1.370236 -3.627834 0.935842 +v 0.818667 -3.628628 -1.025944 +v -1.219181 -3.552380 -1.063868 +v -1.332312 4.333709 -0.988448 +v 0.818667 -3.590504 0.973766 +v 0.780742 4.447286 -0.950737 +v -1.294602 4.485410 0.935842 +v -1.370236 -1.552464 -0.988448 +v 0.818667 0.410123 1.087111 +v -0.879576 0.635690 1.049187 +v 0.743032 2.899297 -1.101792 +v 0.667612 4.371038 0.973552 +v -1.370236 3.050204 -1.063868 +v 0.818667 -1.589793 -1.063868 +v -1.370236 -0.684350 1.011476 +v 0.780742 -0.156176 1.087111 +v 0.139241 -3.589710 -1.063868 +v -0.766231 2.484699 -1.101792 +v -1.143761 4.145472 -1.026158 +v 0.101531 1.842947 1.087111 +v 0.818667 0.334670 -0.950737 +v 0.780742 4.409162 -0.573422 +v -0.502260 4.485410 0.218706 +v -1.370236 -3.627834 0.747291 +v 0.101531 -3.589710 0.973766 +v 0.365716 4.409162 0.973552 +v -1.332312 4.371832 -0.686338 +v 0.328006 -3.628628 -1.026158 +v 0.818667 -3.628628 -0.233387 +v -1.294602 1.163865 1.011476 +v 0.743032 2.069307 -1.101792 +v 0.780742 -2.646143 -1.063868 +v 0.780742 4.182801 -0.988448 +v -0.539970 -3.628628 0.936056 +v -1.256892 -3.590504 -0.460077 +v 0.101531 3.012080 -1.101792 +v -0.879576 0.937504 1.049187 +v 0.705322 4.371038 0.860422 +v -1.294602 4.485410 0.633946 +v 0.591977 4.447286 -0.950737 +v -1.256892 -3.552380 -0.724262 +v 0.365716 0.372794 1.087111 +v -1.370236 3.352812 -0.950523 +v 0.780742 4.447286 -0.724048 +v -0.879576 4.485410 0.898346 +v -1.370236 1.804823 -1.063868 +v -0.879576 4.371832 -0.988448 +v -1.294602 -2.345123 0.973766 +v -1.332312 -3.627834 0.445181 +v 0.139241 1.880276 -1.101792 +v -1.370236 0.483988 1.011476 +v 0.403426 2.446575 1.087111 +f 38 51 83 +f 29 30 38 +f 32 31 39 +f 30 29 40 +f 36 33 40 +f 39 31 44 +f 40 33 45 +f 31 32 46 +f 40 29 47 +f 36 40 47 +f 28 34 49 +f 42 28 49 +f 49 44 50 +f 44 35 50 +f 47 29 51 +f 37 40 52 +f 40 45 52 +f 32 39 55 +f 36 47 56 +f 38 30 57 +f 30 43 57 +f 31 38 58 +f 34 48 59 +f 48 33 59 +f 33 36 60 +f 59 33 60 +f 28 42 62 +f 42 45 62 +f 48 62 63 +f 45 33 63 +f 33 48 63 +f 62 45 63 +f 45 42 64 +f 50 37 64 +f 42 50 64 +f 37 52 64 +f 52 45 64 +f 32 55 65 +f 56 32 65 +f 36 56 65 +f 60 36 65 +f 59 60 65 +f 55 34 66 +f 34 59 66 +f 42 49 67 +f 49 50 67 +f 50 42 67 +f 46 41 68 +f 51 38 68 +f 41 51 68 +f 38 61 68 +f 30 40 69 +f 43 30 69 +f 40 53 69 +f 38 54 70 +f 58 38 70 +f 54 37 71 +f 70 54 71 +f 39 34 72 +f 34 55 72 +f 55 39 72 +f 41 46 73 +f 46 47 73 +f 51 41 73 +f 47 51 73 +f 44 31 74 +f 35 44 74 +f 58 35 74 +f 31 58 74 +f 40 37 75 +f 53 40 75 +f 37 54 75 +f 57 43 75 +f 43 69 75 +f 69 53 75 +f 54 38 76 +f 38 57 76 +f 75 54 76 +f 57 75 76 +f 34 39 77 +f 39 44 77 +f 49 34 77 +f 44 49 77 +f 50 35 78 +f 37 50 78 +f 35 58 78 +f 58 70 78 +f 70 71 78 +f 71 37 78 +f 46 32 79 +f 47 46 79 +f 32 56 79 +f 56 47 79 +f 65 55 80 +f 59 65 80 +f 55 66 80 +f 66 59 80 +f 34 28 81 +f 48 34 81 +f 28 62 81 +f 62 48 81 +f 38 31 82 +f 31 46 82 +f 61 38 82 +f 46 68 82 +f 68 61 82 +f 29 38 83 +f 51 29 83 +o convex_2 +v 1.309398 -0.043470 1.124851 +v 1.347211 -1.213172 2.860737 +v 1.384918 -1.213172 2.860737 +v 2.139368 -0.156719 3.125055 +v 2.214888 -1.062135 1.162638 +v 2.290408 -0.156719 1.124851 +v 2.290408 -1.099923 3.049284 +v 1.196064 -1.024462 1.124851 +v 1.309398 -0.119045 3.011496 +v 1.271691 -1.213172 3.087267 +v 2.214888 -0.156719 2.936312 +v 1.196064 -0.760292 1.540124 +v 2.101662 -1.099923 1.200426 +v 2.290408 -0.873540 3.087267 +v 1.196064 -1.099923 1.653487 +v 1.271691 -0.835753 3.087267 +v 2.290408 -1.099923 2.596418 +v 2.177182 -1.062135 1.124851 +v 1.271691 -0.232180 2.634206 +v 1.384918 -0.043470 1.276001 +v 2.290408 -0.156719 1.615504 +v 1.762089 -0.119045 3.049284 +v 2.290408 -0.383101 1.124851 +v 1.271691 -0.194506 1.124851 +v 1.347211 -1.062135 1.124851 +v 2.026249 -1.137596 3.087267 +v 1.233985 -1.137596 2.634206 +v 2.063955 -0.119045 1.124851 +f 104 89 111 +f 84 89 91 +f 85 86 93 +f 86 85 96 +f 90 89 97 +f 94 87 97 +f 85 93 98 +f 95 91 98 +f 87 92 99 +f 93 87 99 +f 89 90 100 +f 86 96 100 +f 96 88 100 +f 91 89 101 +f 88 96 101 +f 92 84 102 +f 99 92 102 +f 84 92 103 +f 97 89 104 +f 94 97 104 +f 92 87 105 +f 87 94 105 +f 103 92 105 +f 94 103 105 +f 100 88 106 +f 89 100 106 +f 88 101 106 +f 101 89 106 +f 84 91 107 +f 91 95 107 +f 102 84 107 +f 95 102 107 +f 96 85 108 +f 85 98 108 +f 98 91 108 +f 91 101 108 +f 101 96 108 +f 93 86 109 +f 87 93 109 +f 90 97 109 +f 97 87 109 +f 100 90 109 +f 86 100 109 +f 98 93 110 +f 95 98 110 +f 93 99 110 +f 102 95 110 +f 99 102 110 +f 89 84 111 +f 84 103 111 +f 103 94 111 +f 94 104 111 +o convex_3 +v 1.196226 -1.099857 -3.064209 +v 2.328026 -0.043518 -2.460389 +v 1.347148 -0.005730 -1.101792 +v 2.177104 -1.099857 -1.101792 +v 1.234014 -0.043518 -3.064209 +v 2.214892 -1.175318 -2.950846 +v 1.271687 -1.175318 -1.101792 +v 2.214892 -0.081306 -1.101792 +v 1.158439 -0.005730 -1.101792 +v 2.290353 -0.043518 -2.950846 +v 1.158439 -0.986723 -2.875466 +v 1.422609 -0.043518 -3.101997 +v 1.234014 -1.175318 -1.668021 +v 2.328026 -0.307689 -2.875466 +v 1.158439 -0.005730 -1.630429 +v 1.158439 -0.307689 -1.101792 +v 1.573646 -1.175318 -1.101792 +v 2.252565 -0.118979 -1.215351 +v 1.196226 -1.137645 -2.648936 +v 1.309475 -0.420937 -3.101997 +f 123 117 131 +f 115 114 118 +f 113 114 119 +f 114 115 119 +f 118 114 120 +f 114 113 121 +f 116 112 122 +f 121 117 123 +f 117 118 124 +f 113 115 125 +f 115 117 125 +f 121 113 125 +f 117 121 125 +f 120 114 126 +f 114 121 126 +f 116 122 126 +f 122 120 126 +f 123 116 126 +f 121 123 126 +f 118 120 127 +f 120 122 127 +f 124 118 127 +f 122 124 127 +f 117 115 128 +f 118 117 128 +f 115 118 128 +f 115 113 129 +f 113 119 129 +f 119 115 129 +f 112 117 130 +f 122 112 130 +f 117 124 130 +f 124 122 130 +f 112 116 131 +f 117 112 131 +f 116 123 131 +o convex_4 +v 2.818668 -0.986527 -0.573351 +v 0.818862 -1.666163 0.860303 +v 0.818862 -1.628168 -0.422337 +v 0.818862 0.409521 1.086716 +v 0.818862 0.333938 -0.950560 +v 2.705501 0.333938 1.124633 +v 2.705501 -1.628168 1.011317 +v 2.781076 0.409521 -0.988259 +v 2.818668 -1.590580 -1.063875 +v 0.818862 -1.590377 -1.063657 +v 1.196151 -1.024318 1.124633 +v 1.082984 0.032013 -1.101574 +v 2.290425 -0.194329 -1.101574 +v 0.818862 -1.552585 0.973618 +v 2.177258 -1.062110 1.124633 +v 2.743289 0.409521 -0.044911 +v 1.271726 -1.175484 -1.101574 +v 2.781076 -1.628168 -0.158226 +v 1.988516 0.409521 -0.950560 +v 1.875349 -1.666163 0.973618 +v 2.441380 0.371526 1.086716 +v 1.309318 -0.043366 1.124633 +v 2.743289 -0.043366 0.671808 +v 0.818862 0.409521 0.671808 +v 2.818668 -1.477206 -0.535434 +v 2.818668 -1.062110 -1.063875 +v 2.177258 -1.099698 -1.101574 +v 1.233939 -1.666163 0.973618 +v 1.196151 0.371526 -0.950560 +v 2.781076 0.409521 -0.724366 +v 0.818862 -0.232120 1.086716 +v 0.818862 -0.873356 -1.063657 +v 2.365804 0.333938 -1.025958 +v 1.271726 0.409521 1.086716 +v 2.705501 -1.213072 1.049016 +v 2.818668 -0.534046 -1.026176 +f 139 161 167 +f 134 133 135 +f 134 135 136 +f 134 136 141 +f 140 134 141 +f 135 133 145 +f 137 142 146 +f 142 138 146 +f 139 135 147 +f 140 141 148 +f 141 143 148 +f 143 144 148 +f 134 140 149 +f 135 139 150 +f 133 134 151 +f 134 149 151 +f 149 138 151 +f 137 147 152 +f 137 135 153 +f 135 142 153 +f 142 137 153 +f 136 135 155 +f 135 150 155 +f 140 132 156 +f 138 149 156 +f 149 140 156 +f 132 154 156 +f 154 138 156 +f 132 140 157 +f 144 139 157 +f 140 144 157 +f 144 140 158 +f 140 148 158 +f 148 144 158 +f 138 142 159 +f 145 133 159 +f 142 145 159 +f 133 151 159 +f 151 138 159 +f 150 139 160 +f 136 155 160 +f 155 150 160 +f 147 137 161 +f 139 147 161 +f 154 132 161 +f 137 154 161 +f 142 135 162 +f 135 145 162 +f 145 142 162 +f 141 136 163 +f 136 143 163 +f 143 141 163 +f 143 136 164 +f 144 143 164 +f 139 144 164 +f 136 160 164 +f 160 139 164 +f 135 137 165 +f 147 135 165 +f 137 152 165 +f 152 147 165 +f 137 146 166 +f 146 138 166 +f 138 154 166 +f 154 137 166 +f 132 157 167 +f 157 139 167 +f 161 132 167 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/638/638.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/638/638.urdf new file mode 100644 index 000000000..faa0b6f66 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/638/638.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/639/639.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/639/639.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/639/639.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/639/639.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/639/639.obj new file mode 100644 index 000000000..12cb5ce91 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/639/639.obj @@ -0,0 +1,378 @@ +o convex_0 +v 0.564909 -3.184183 0.024260 +v -0.634558 -2.834215 -0.025597 +v -0.634558 -2.834215 -0.000613 +v -0.284674 -4.508208 0.224124 +v -0.009933 -4.208235 -0.450309 +v -0.034824 -2.759050 0.573997 +v 0.064975 -2.759050 -0.550351 +v 0.364959 -4.408217 0.299073 +v 0.364959 -4.383219 -0.300410 +v -0.384590 -4.258230 -0.325393 +v 0.464875 -2.759050 -0.425436 +v 0.414858 -2.759050 0.424099 +v -0.484624 -2.759050 -0.425326 +v -0.484624 -2.759050 0.423989 +v 0.014958 -4.258230 0.448972 +v -0.484624 -4.258230 0.024260 +v 0.514892 -4.233232 -0.050580 +v 0.114992 -4.508208 -0.325503 +v -0.334691 -4.283228 0.349040 +v 0.414858 -4.183237 0.349150 +v 0.564909 -2.759050 0.099099 +v 0.414858 -4.483210 0.024260 +v -0.309683 -4.458212 -0.250444 +v 0.364959 -4.233232 -0.350487 +v 0.064975 -4.483210 0.374023 +v -0.059833 -2.834215 -0.550351 +v -0.409599 -4.033422 -0.350377 +v -0.084841 -2.784219 0.573997 +v 0.339950 -2.834215 0.474065 +v 0.114992 -4.233232 0.448972 +v 0.514892 -4.208235 0.074116 +v 0.564909 -2.834215 -0.075563 +v -0.509633 -2.834215 0.374023 +v 0.414858 -4.133242 -0.325503 +v 0.339950 -4.508208 -0.225571 +v -0.084841 -4.483210 -0.350377 +v -0.634558 -2.759050 -0.050580 +v -0.359699 -4.483210 -0.050580 +v -0.434607 -2.784219 -0.450309 +v -0.109732 -4.233232 -0.425326 +v -0.234775 -4.508208 0.299073 +v -0.284674 -4.258230 0.374023 +v -0.484624 -4.233232 -0.025597 +v 0.064975 -2.809217 -0.550351 +v 0.089983 -4.258230 -0.425326 +v 0.489884 -2.859213 -0.350487 +v 0.289933 -4.508208 -0.300410 +v -0.634558 -2.809217 0.024260 +v 0.439867 -4.183237 0.299073 +v -0.509633 -2.784219 -0.375360 +v -0.484624 -2.809217 0.423989 +v 0.414858 -2.934206 0.424099 +v 0.039966 -4.458212 -0.375360 +v 0.539901 -3.958429 -0.000613 +v -0.409599 -4.208235 -0.300410 +v 0.439867 -4.458212 -0.025597 +v -0.034824 -2.809217 0.573997 +v 0.489884 -4.233232 -0.125529 +v -0.384590 -4.458212 0.049243 +v -0.034824 -4.183237 0.448972 +v 0.389850 -4.458212 0.174158 +v -0.359699 -4.233232 -0.350377 +v -0.634558 -2.784219 -0.050580 +v -0.409599 -4.258230 0.199141 +f 19 33 64 +f 7 6 11 +f 11 6 12 +f 6 7 13 +f 6 13 14 +f 3 2 16 +f 11 12 21 +f 6 14 28 +f 12 6 29 +f 20 29 30 +f 8 20 30 +f 15 25 30 +f 25 8 30 +f 1 21 31 +f 21 1 32 +f 11 21 32 +f 24 11 34 +f 9 24 34 +f 4 18 35 +f 22 25 35 +f 23 10 36 +f 2 3 37 +f 14 13 37 +f 18 4 38 +f 10 23 38 +f 36 18 38 +f 23 36 38 +f 13 7 39 +f 7 26 39 +f 27 13 39 +f 26 5 40 +f 5 36 40 +f 39 26 40 +f 19 4 41 +f 25 15 41 +f 4 35 41 +f 35 25 41 +f 19 41 42 +f 41 15 42 +f 16 2 43 +f 10 38 43 +f 38 16 43 +f 7 11 44 +f 11 24 44 +f 5 26 44 +f 26 7 44 +f 5 44 45 +f 44 24 45 +f 11 32 46 +f 34 11 46 +f 24 9 47 +f 9 35 47 +f 35 18 47 +f 45 24 47 +f 3 16 48 +f 33 14 48 +f 16 33 48 +f 37 3 48 +f 14 37 48 +f 20 8 49 +f 8 31 49 +f 31 21 49 +f 13 27 50 +f 37 13 50 +f 28 14 51 +f 14 33 51 +f 33 19 51 +f 19 42 51 +f 42 28 51 +f 21 12 52 +f 12 29 52 +f 29 20 52 +f 20 49 52 +f 49 21 52 +f 36 5 53 +f 18 36 53 +f 5 45 53 +f 47 18 53 +f 45 47 53 +f 1 31 54 +f 31 17 54 +f 32 1 54 +f 17 46 54 +f 46 32 54 +f 27 10 55 +f 10 43 55 +f 17 31 56 +f 35 9 56 +f 22 35 56 +f 6 28 57 +f 28 15 57 +f 29 6 57 +f 30 29 57 +f 15 30 57 +f 9 34 58 +f 46 17 58 +f 34 46 58 +f 56 9 58 +f 17 56 58 +f 4 19 59 +f 19 16 59 +f 16 38 59 +f 38 4 59 +f 15 28 60 +f 28 42 60 +f 42 15 60 +f 8 25 61 +f 25 22 61 +f 31 8 61 +f 56 31 61 +f 22 56 61 +f 10 27 62 +f 36 10 62 +f 27 39 62 +f 39 40 62 +f 40 36 62 +f 2 37 63 +f 43 2 63 +f 50 27 63 +f 37 50 63 +f 27 55 63 +f 55 43 63 +f 16 19 64 +f 33 16 64 +o convex_1 +v -0.384658 -2.483644 -0.650178 +v -0.009760 0.639272 1.023935 +v -0.034834 0.639272 1.023935 +v 0.065059 2.813431 -0.775346 +v 0.989565 -1.684039 -0.050619 +v -0.734482 -1.758925 0.774001 +v -0.784428 2.813431 0.024401 +v 0.789780 2.763301 -0.025746 +v 0.814653 -0.084210 -0.800219 +v 0.714761 -1.809055 0.698981 +v -0.734482 0.413996 -0.750272 +v 0.015113 2.813431 0.774001 +v 0.464829 -2.758431 -0.425318 +v -0.959340 -1.659284 0.024401 +v -0.784428 0.589142 0.823948 +v 0.764707 0.589142 0.723854 +v 0.065059 -1.408633 -0.975132 +v -0.484550 -2.759050 0.423974 +v 0.039985 3.563525 -0.000672 +v -0.009760 -2.509019 0.774001 +v 1.039712 0.589142 -0.025545 +v -1.009487 0.664028 0.049274 +v 0.039985 0.639272 -1.025279 +v 0.764707 -1.809055 -0.750272 +v 0.414883 -2.758431 0.423974 +v -0.684536 -1.783680 -0.700125 +v -0.034834 -1.784299 0.973788 +v 0.814653 0.589142 -0.800219 +v -0.659462 -2.733676 -0.025345 +v -0.559570 2.263238 -0.550285 +v 0.789780 -2.483026 0.024201 +v -0.584643 2.238482 0.623961 +v 0.039985 -2.483644 -0.775346 +v 0.614868 2.188353 -0.625305 +v 0.589795 2.138841 0.548941 +v -0.484550 -2.759050 -0.450191 +v -0.809502 -2.483644 -0.000672 +v -0.034834 2.762682 -0.775346 +v 0.789780 2.763301 -0.100365 +v 0.564922 -2.483644 0.598887 +v -0.009760 -1.784299 -0.950259 +v -0.634590 -2.509019 0.573814 +v 0.639741 -2.434133 -0.600232 +v -0.059707 2.788057 0.774001 +v 1.039712 0.488882 -0.125438 +v -0.734482 0.563768 -0.750272 +v 0.039985 0.539631 1.023935 +v -0.059707 3.538151 -0.025545 +v -0.984414 0.563768 0.199114 +v 0.764707 -0.009324 0.723854 +v -0.784428 2.788057 0.074147 +v -0.584643 -2.558530 -0.550285 +v 0.964693 -1.783680 0.049074 +v -0.009760 0.539631 -1.025279 +v 0.364937 0.539012 -0.950259 +v -0.734482 0.539012 0.848821 +v 0.015113 -1.784299 0.973788 +v -1.009487 0.539012 -0.000672 +v -0.709609 -1.534268 -0.700125 +v 0.589795 -2.758431 0.024201 +v -0.084780 -2.759050 0.574014 +v -0.934468 -1.783680 0.124094 +v 0.689687 -1.633909 0.723854 +v 0.065059 -2.759050 -0.550285 +f 124 125 128 +f 67 66 76 +f 76 72 83 +f 72 80 85 +f 73 69 88 +f 81 73 88 +f 70 84 91 +f 92 68 98 +f 72 76 99 +f 80 72 99 +f 76 80 99 +f 82 93 100 +f 78 90 101 +f 68 87 102 +f 94 71 102 +f 68 83 103 +f 83 72 103 +f 72 85 103 +f 98 68 103 +f 92 98 103 +f 84 89 104 +f 95 74 104 +f 81 88 105 +f 65 90 105 +f 97 65 105 +f 88 97 105 +f 84 70 106 +f 93 82 106 +f 101 93 106 +f 88 69 107 +f 69 95 107 +f 95 77 107 +f 77 97 107 +f 97 88 107 +f 67 76 108 +f 76 83 108 +f 96 79 108 +f 69 73 109 +f 85 69 109 +f 73 92 109 +f 103 85 109 +f 92 103 109 +f 71 94 110 +f 94 102 110 +f 66 67 111 +f 76 66 111 +f 80 76 111 +f 67 91 111 +f 83 68 112 +f 68 102 112 +f 102 71 112 +f 108 83 112 +f 70 79 113 +f 86 78 113 +f 85 80 114 +f 80 111 114 +f 71 86 115 +f 79 96 115 +f 96 108 115 +f 112 71 115 +f 108 112 115 +f 113 79 115 +f 86 113 115 +f 90 65 116 +f 65 97 116 +f 100 93 116 +f 97 100 116 +f 101 90 116 +f 93 101 116 +f 69 85 117 +f 95 69 117 +f 74 95 117 +f 114 74 117 +f 85 114 117 +f 87 81 118 +f 102 87 118 +f 81 105 118 +f 75 110 118 +f 110 102 118 +f 73 81 119 +f 87 68 119 +f 81 87 119 +f 68 92 119 +f 92 73 119 +f 79 70 120 +f 91 67 120 +f 70 91 120 +f 67 108 120 +f 108 79 120 +f 91 84 121 +f 84 104 121 +f 104 74 121 +f 111 91 121 +f 86 71 122 +f 78 86 122 +f 71 110 122 +f 110 75 122 +f 90 78 123 +f 105 90 123 +f 75 118 123 +f 118 105 123 +f 122 75 123 +f 78 122 123 +f 77 95 124 +f 104 89 124 +f 95 104 124 +f 89 84 125 +f 82 100 125 +f 84 106 125 +f 106 82 125 +f 124 89 125 +f 78 101 126 +f 106 70 126 +f 101 106 126 +f 70 113 126 +f 113 78 126 +f 74 114 127 +f 114 111 127 +f 121 74 127 +f 111 121 127 +f 97 77 128 +f 100 97 128 +f 77 124 128 +f 125 100 128 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/639/639.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/639/639.urdf new file mode 100644 index 000000000..ccf79bd26 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/639/639.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/640/640.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/640/640.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/640/640.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/640/640.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/640/640.obj new file mode 100644 index 000000000..8c880314f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/640/640.obj @@ -0,0 +1,1158 @@ +o convex_0 +v -0.600097 -1.614013 1.220498 +v 0.589341 -1.746075 1.518147 +v 0.589341 -1.779063 1.518147 +v -0.038411 -1.680099 2.806717 +v -0.071444 -2.307751 1.220498 +v -0.005497 -1.184399 1.220498 +v -0.005497 -2.109493 2.575212 +v 0.060569 -1.316571 2.575212 +v 0.457088 -2.175579 1.220498 +v 0.424055 -1.779063 2.575212 +v -0.401897 -1.746075 2.476151 +v -0.468083 -2.175579 1.253726 +v 0.457088 -1.349669 1.220498 +v -0.435050 -1.349669 1.782569 +v 0.424055 -1.349669 1.848558 +v 0.424055 -2.142481 1.848558 +v -0.401897 -2.109493 1.914702 +v -0.468083 -1.316571 1.220498 +v -0.633369 -1.779063 1.253726 +v -0.302677 -1.415755 2.376935 +v 0.424055 -1.647001 2.575212 +v -0.038411 -1.217497 1.848558 +v 0.589341 -1.680099 1.220498 +v 0.060569 -2.241665 1.881630 +v 0.324955 -2.010309 2.442924 +v -0.401897 -1.680099 2.509068 +v 0.093602 -1.746075 2.806717 +v -0.038411 -1.316571 2.542140 +v -0.534150 -1.713087 1.914702 +v -0.302677 -2.010309 2.376935 +v 0.556188 -1.713087 1.914702 +v -0.302677 -1.713087 2.641201 +v 0.324955 -1.415755 2.410162 +v 0.060569 -2.109493 2.575212 +v 0.060569 -2.307751 1.253726 +v -0.038411 -2.241665 1.848558 +v 0.258769 -1.283583 1.848558 +v 0.457088 -2.076395 1.881630 +v 0.060569 -1.580915 2.773490 +v 0.424055 -1.316571 1.452003 +v 0.589341 -1.845149 1.253726 +v -0.468083 -2.175579 1.220498 +v 0.457088 -2.175579 1.452003 +v -0.368864 -1.316571 1.815641 +v -0.534150 -1.779063 1.881630 +f 29 19 45 +f 5 1 6 +f 5 6 9 +f 9 6 13 +f 6 1 18 +f 1 14 18 +f 12 17 19 +f 6 18 22 +f 2 3 23 +f 9 13 23 +f 13 15 23 +f 20 14 26 +f 4 7 27 +f 10 21 27 +f 8 22 28 +f 14 1 29 +f 1 19 29 +f 11 26 29 +f 26 14 29 +f 17 7 30 +f 11 17 30 +f 3 2 31 +f 21 10 31 +f 15 21 31 +f 2 23 31 +f 23 15 31 +f 7 4 32 +f 26 11 32 +f 20 26 32 +f 4 28 32 +f 28 20 32 +f 30 7 32 +f 11 30 32 +f 15 8 33 +f 8 21 33 +f 21 15 33 +f 7 24 34 +f 24 16 34 +f 25 10 34 +f 16 25 34 +f 27 7 34 +f 10 27 34 +f 5 9 35 +f 24 5 35 +f 12 5 36 +f 7 17 36 +f 17 12 36 +f 5 24 36 +f 24 7 36 +f 8 15 37 +f 22 8 37 +f 6 22 37 +f 10 25 38 +f 25 16 38 +f 3 31 38 +f 31 10 38 +f 21 8 39 +f 4 27 39 +f 27 21 39 +f 28 4 39 +f 8 28 39 +f 13 6 40 +f 15 13 40 +f 6 37 40 +f 37 15 40 +f 23 3 41 +f 9 23 41 +f 3 38 41 +f 1 5 42 +f 5 12 42 +f 19 1 42 +f 12 19 42 +f 16 24 43 +f 35 9 43 +f 24 35 43 +f 38 16 43 +f 9 41 43 +f 41 38 43 +f 18 14 44 +f 14 20 44 +f 22 18 44 +f 20 28 44 +f 28 22 44 +f 17 11 45 +f 19 17 45 +f 11 29 45 +o convex_1 +v -0.567115 -1.845110 -1.588618 +v 0.523029 -1.647092 -1.390321 +v 0.490041 -1.547824 -1.390321 +v 0.093525 -1.647092 -3.108557 +v -0.269783 -1.217413 -1.390321 +v 0.027439 -2.241769 -1.390321 +v -0.005549 -1.283454 -2.876958 +v 0.093525 -2.043336 -2.843993 +v -0.368857 -1.647092 -2.843993 +v 0.423955 -1.713029 -2.843993 +v 0.390967 -2.109480 -1.654717 +v 0.390967 -1.316474 -2.018177 +v -0.468041 -2.109480 -1.390321 +v -0.501029 -1.316474 -1.489554 +v -0.401955 -2.076460 -2.051311 +v 0.027439 -1.184289 -1.390321 +v -0.434943 -1.316474 -2.051311 +v -0.600103 -1.614071 -1.390321 +v 0.423955 -1.614071 -2.876958 +v -0.038537 -2.043336 -2.810860 +v 0.423955 -2.076460 -1.390321 +v 0.357869 -1.283454 -1.390321 +v -0.534127 -1.713029 -2.117410 +v -0.005549 -1.184289 -1.952078 +v 0.390967 -2.043336 -2.183508 +v 0.027439 -2.175624 -2.150375 +v 0.523029 -1.713029 -1.853014 +v 0.324881 -1.349598 -2.579597 +v -0.104513 -2.241769 -1.423455 +v -0.302771 -1.911255 -2.678830 +v -0.302771 -1.415742 -2.678830 +v 0.060537 -1.283454 -2.876958 +v -0.038537 -1.680009 -3.075255 +v 0.324881 -1.283454 -2.150375 +v 0.324881 -1.977399 -2.612731 +v -0.071525 -1.184289 -1.919113 +v 0.490041 -1.647092 -2.348335 +v -0.038537 -2.175624 -2.150375 +v -0.368857 -1.713029 -2.810860 +v -0.600103 -1.647092 -1.588618 +v -0.468041 -1.283454 -1.390321 +v -0.434943 -2.010316 -2.084276 +v -0.468041 -2.109480 -1.555653 +v -0.600103 -1.811987 -1.390321 +f 88 58 89 +f 47 48 50 +f 47 50 51 +f 53 49 55 +f 51 50 58 +f 50 48 61 +f 58 50 63 +f 55 49 64 +f 47 51 66 +f 51 56 66 +f 48 57 67 +f 61 48 67 +f 62 54 68 +f 66 56 70 +f 56 51 71 +f 53 70 71 +f 70 56 71 +f 47 66 72 +f 70 55 72 +f 66 70 72 +f 57 64 73 +f 51 58 74 +f 71 51 74 +f 65 60 75 +f 52 54 76 +f 62 52 76 +f 54 62 76 +f 49 52 77 +f 64 49 77 +f 52 69 77 +f 73 64 77 +f 52 49 78 +f 49 53 78 +f 54 52 78 +f 53 65 78 +f 67 57 79 +f 61 67 79 +f 69 61 79 +f 57 73 79 +f 77 69 79 +f 73 77 79 +f 53 55 80 +f 55 70 80 +f 70 53 80 +f 50 61 81 +f 52 62 81 +f 69 52 81 +f 61 69 81 +f 48 47 82 +f 57 48 82 +f 55 64 82 +f 64 57 82 +f 47 72 82 +f 72 55 82 +f 65 53 83 +f 60 65 83 +f 53 71 83 +f 74 60 83 +f 71 74 83 +f 68 54 84 +f 65 75 84 +f 54 78 84 +f 78 65 84 +f 59 62 85 +f 63 59 85 +f 62 68 85 +f 62 59 86 +f 59 63 86 +f 63 50 86 +f 50 81 86 +f 81 62 86 +f 46 68 87 +f 75 60 87 +f 68 84 87 +f 84 75 87 +f 74 58 88 +f 60 74 88 +f 46 87 88 +f 87 60 88 +f 58 63 89 +f 68 46 89 +f 63 85 89 +f 85 68 89 +f 46 88 89 +o convex_2 +v 1.018745 0.302981 -1.985056 +v -0.996680 0.237099 -2.084321 +v -0.996680 0.237099 -1.885963 +v -0.038298 1.624640 -1.390153 +v 0.060559 0.963692 -2.943074 +v 0.060559 -0.787735 -1.390153 +v 0.027410 -0.456907 -2.877069 +v 0.820438 1.294048 -1.390153 +v -0.831524 -0.622439 -1.390325 +v 0.853588 -0.622439 -1.390153 +v 0.787486 0.237099 -2.910157 +v -0.798374 1.294048 -1.390325 +v -0.765421 0.336277 -2.877069 +v -0.765421 1.062634 -2.183586 +v -0.005345 0.237099 -3.141603 +v 0.754336 0.996752 -2.282337 +v 0.754336 -0.490202 -2.183586 +v -0.732272 -0.424084 -2.150326 +v -0.005345 -0.688557 -2.183586 +v -0.071448 1.029575 -2.910157 +v -0.996680 0.369100 -1.390325 +v 0.985792 0.600042 -1.390325 +v 1.018745 0.302981 -2.183243 +v -0.534163 -0.258788 -2.678882 +v 0.589179 -0.291611 -2.711798 +v 0.589179 0.831456 -2.744715 +v 0.027410 1.062634 -2.877069 +v 0.787486 1.327107 -1.456501 +v -0.996680 0.369100 -2.150326 +v -0.600067 0.831456 -2.711798 +v 0.787486 0.336277 -2.910157 +v -0.600067 -0.721380 -1.423413 +v -0.765421 0.270158 -2.877069 +v -0.005345 0.369336 -3.141603 +v 0.027410 1.624640 -1.423241 +v 0.919690 -0.424084 -1.456330 +v -0.864476 1.128752 -1.456330 +v 0.126662 -0.688557 -2.117238 +v -0.897626 -0.456907 -1.423413 +v 1.018745 0.236863 -2.183243 +v -0.005345 -0.456907 -2.877069 +v -0.038298 1.624640 -1.423241 +v 0.985792 0.170745 -1.390325 +v 0.754336 0.237099 -2.943074 +v 0.589179 -0.688557 -1.489418 +v 0.787486 1.128752 -1.952140 +v -0.798374 1.029575 -2.150326 +v -0.765421 1.095693 -2.117409 +v 0.886738 1.062634 -1.522506 +v -0.765421 -0.622439 -1.555595 +v 0.060559 -0.390789 -2.910157 +v 0.192764 0.336277 -3.108344 +v 0.820438 -0.357730 -2.150498 +v 0.060559 0.237099 -3.141603 +v -0.038298 -0.787735 -1.456501 +v -0.666367 0.963456 -2.480523 +v -0.600067 -0.159611 -2.711798 +f 122 130 146 +f 93 95 97 +f 97 95 99 +f 91 92 110 +f 95 93 110 +f 98 95 110 +f 93 101 110 +f 97 99 111 +f 111 90 112 +f 106 96 114 +f 100 106 114 +f 105 115 116 +f 94 109 116 +f 115 94 116 +f 91 110 118 +f 109 102 119 +f 105 112 120 +f 112 100 120 +f 94 115 120 +f 115 105 120 +f 95 98 121 +f 102 104 122 +f 107 91 122 +f 91 118 122 +f 118 102 122 +f 104 102 123 +f 102 109 123 +f 109 94 123 +f 93 97 124 +f 97 117 124 +f 117 116 124 +f 110 101 126 +f 118 110 126 +f 96 106 127 +f 108 96 127 +f 92 91 128 +f 91 107 128 +f 107 98 128 +f 110 92 128 +f 98 110 128 +f 112 90 129 +f 100 112 129 +f 96 108 130 +f 107 113 130 +f 122 104 130 +f 101 93 131 +f 116 109 131 +f 93 124 131 +f 124 116 131 +f 90 111 132 +f 111 99 132 +f 99 125 132 +f 129 90 132 +f 125 129 132 +f 100 114 133 +f 120 100 133 +f 99 95 134 +f 106 99 134 +f 95 127 134 +f 127 106 134 +f 112 105 135 +f 105 116 135 +f 117 97 135 +f 116 117 135 +f 102 118 136 +f 126 101 136 +f 118 126 136 +f 101 131 137 +f 131 109 137 +f 136 101 137 +f 103 136 137 +f 97 111 138 +f 111 112 138 +f 135 97 138 +f 112 135 138 +f 98 107 139 +f 121 98 139 +f 108 121 139 +f 130 108 139 +f 107 130 139 +f 114 96 140 +f 96 130 140 +f 130 104 140 +f 133 114 140 +f 94 120 141 +f 123 94 141 +f 120 133 141 +f 99 106 142 +f 106 100 142 +f 125 99 142 +f 100 129 142 +f 129 125 142 +f 104 123 143 +f 140 104 143 +f 133 140 143 +f 123 141 143 +f 141 133 143 +f 95 121 144 +f 121 108 144 +f 127 95 144 +f 108 127 144 +f 119 102 145 +f 109 119 145 +f 136 103 145 +f 102 136 145 +f 103 137 145 +f 137 109 145 +f 113 107 146 +f 107 122 146 +f 130 113 146 +o convex_3 +v -0.633227 -2.440011 -0.861174 +v 1.018942 -1.878195 0.294913 +v 1.018942 -2.043294 0.294913 +v -0.633227 -1.713268 1.220498 +v -0.831575 -0.986183 -1.125664 +v 0.919667 -0.986183 -1.059478 +v 0.919667 -0.986183 0.922788 +v -0.996632 -0.986183 0.790671 +v 0.390805 -2.142559 -1.390153 +v 0.027400 -2.704374 0.625589 +v 0.853685 -2.406922 -0.894395 +v 0.456988 -2.175476 1.220498 +v -0.798484 -2.440011 0.592368 +v -1.029924 -1.746185 -0.266520 +v -0.633227 -1.713268 -1.390153 +v -0.005491 -2.671114 -0.828209 +v 0.787502 -2.572021 -0.035507 +v -0.005491 -1.184542 1.220498 +v 0.060492 -1.184542 -1.390153 +v -0.468170 -2.175476 1.220498 +v -0.435079 -2.142559 -1.390153 +v 0.721519 -2.472927 0.658554 +v -1.029924 -1.779274 0.592368 +v -0.765392 -2.506016 -0.200334 +v 1.018942 -0.986183 -0.464568 +v -0.930649 -1.713268 -0.894395 +v -1.029924 -0.986183 -0.266520 +v 0.952759 -1.845107 0.757706 +v 0.556262 -1.680009 -1.390153 +v 0.589153 -1.680009 1.220498 +v -0.071473 -2.737462 -0.200334 +v 0.952759 -1.647092 -0.927361 +v -0.765392 -2.506016 0.592368 +v -0.699410 -2.406751 -0.894395 +v -0.071473 -2.307657 1.220498 +v 0.126675 -2.638197 -0.927361 +v -0.468170 -1.316723 1.220498 +v 0.820593 -0.986183 -1.158629 +v 1.018942 -0.986183 0.196017 +v -0.468170 -1.283464 -1.390153 +v 1.018942 -2.109471 0.129831 +v 0.093583 -2.737462 -0.200334 +v 0.456988 -1.316552 1.220498 +v -0.104565 -2.704374 0.625589 +v -0.104565 -2.241481 -1.390153 +v -0.038382 -2.638197 -0.927361 +v -0.897558 -0.986183 -1.026257 +v 0.390805 -1.283635 -1.390153 +v -0.963741 -0.986183 0.823892 +v -0.633227 -1.779274 1.220498 +v 0.688428 -2.605109 -0.100927 +v 0.192657 -2.274740 1.220498 +v 0.589153 -1.845450 1.220498 +v -0.963741 -1.977289 -0.167369 +v 0.622245 -2.506016 0.691519 +v 0.952759 -0.986183 0.790671 +v -1.029924 -0.986183 0.261948 +v 0.556262 -1.746185 -1.390153 +v -0.071473 -1.052360 -1.257781 +v -0.930649 -1.614175 -0.927361 +v 0.985850 -1.349640 -0.762023 +v -0.864667 -2.274569 0.592368 +v -0.104565 -0.986012 0.889823 +v 1.018942 -2.109471 0.228727 +f 187 149 210 +f 150 158 164 +f 155 161 165 +f 158 150 166 +f 161 155 167 +f 147 162 170 +f 148 149 171 +f 160 169 173 +f 158 168 174 +f 155 165 175 +f 164 158 176 +f 170 162 177 +f 166 159 179 +f 159 170 179 +f 170 177 179 +f 161 167 180 +f 147 170 180 +f 160 172 180 +f 172 161 180 +f 158 166 181 +f 155 157 182 +f 150 164 183 +f 148 171 185 +f 161 151 186 +f 151 165 186 +f 165 161 186 +f 163 157 187 +f 171 149 187 +f 157 178 187 +f 156 177 188 +f 177 162 188 +f 162 182 188 +f 153 164 189 +f 176 153 189 +f 164 176 189 +f 177 156 190 +f 166 179 190 +f 179 177 190 +f 156 181 190 +f 181 166 190 +f 167 155 191 +f 155 182 191 +f 191 182 192 +f 162 147 192 +f 147 180 192 +f 180 167 192 +f 182 162 192 +f 167 191 192 +f 151 161 193 +f 175 165 194 +f 165 184 194 +f 184 175 194 +f 154 150 195 +f 150 183 195 +f 183 164 195 +f 150 154 196 +f 166 150 196 +f 159 166 196 +f 154 169 196 +f 157 163 197 +f 163 156 197 +f 182 157 197 +f 156 188 197 +f 188 182 197 +f 181 156 198 +f 158 181 198 +f 174 153 199 +f 158 174 199 +f 153 176 199 +f 176 158 199 +f 169 160 200 +f 160 180 200 +f 180 170 200 +f 156 163 201 +f 168 158 201 +f 163 168 201 +f 158 198 201 +f 198 156 201 +f 149 148 202 +f 174 149 202 +f 153 174 202 +f 148 185 202 +f 169 154 203 +f 173 169 203 +f 157 155 204 +f 155 175 204 +f 178 157 204 +f 152 178 204 +f 184 152 204 +f 175 184 204 +f 165 151 205 +f 151 184 205 +f 184 165 205 +f 172 160 206 +f 161 172 206 +f 160 173 206 +f 193 161 206 +f 173 193 206 +f 152 171 207 +f 178 152 207 +f 171 187 207 +f 187 178 207 +f 170 159 208 +f 159 196 208 +f 196 169 208 +f 169 200 208 +f 200 170 208 +f 164 153 209 +f 171 152 209 +f 184 151 209 +f 152 184 209 +f 185 171 209 +f 151 193 209 +f 193 173 209 +f 154 195 209 +f 195 164 209 +f 153 202 209 +f 202 185 209 +f 203 154 209 +f 173 203 209 +f 168 163 210 +f 149 174 210 +f 174 168 210 +f 163 187 210 +o convex_4 +v -0.633334 -0.721086 -1.390153 +v 0.093576 1.491678 1.220498 +v -0.038478 1.491678 1.220498 +v -0.038478 3.045491 -0.894395 +v 1.018771 -0.985591 -0.431603 +v -0.996687 -0.655065 1.220498 +v -0.963674 2.351217 -0.100927 +v 1.051988 0.600601 1.220243 +v 0.985757 0.600601 -1.390153 +v 0.787472 3.111513 -0.035507 +v -0.996687 0.369317 -1.390153 +v 0.919730 -0.753886 1.220498 +v 0.027345 3.078292 0.658554 +v -0.930660 1.161993 1.220498 +v -1.029904 -0.985591 0.261948 +v 0.853703 -0.986012 -1.158629 +v 0.985757 2.648943 -0.530754 +v -0.831619 1.260814 -1.390153 +v -0.732375 3.012270 -0.035507 +v 0.820486 1.326836 -1.390153 +v -0.897646 -0.985591 -1.026257 +v 0.919730 -0.985591 0.923044 +v 0.820486 2.879807 0.427286 +v -0.038478 3.309997 -0.134148 +v 1.018771 1.029529 1.220243 +v -0.732375 2.351637 -0.894395 +v 0.886717 -0.556243 -1.390153 +v -1.029904 0.303295 1.088126 +v -0.963674 -0.985591 0.823892 +v -0.038478 1.690583 -1.390153 +v 1.051988 0.369317 -0.134148 +v 0.589187 2.913028 -0.729057 +v -0.567103 2.780986 0.493472 +v 0.754459 3.177534 -0.266520 +v 1.018771 -0.423780 1.220498 +v -0.170533 -0.820749 1.220498 +v 0.721445 2.417238 -0.993547 +v 1.018771 2.285195 -0.266520 +v -1.029904 0.303295 -0.134148 +v 1.051988 -0.721086 -0.134148 +v -1.029904 -0.985591 -0.266520 +v -0.567103 2.880228 -0.629906 +v -0.897646 -0.489801 -1.390153 +v 0.919730 1.161993 1.220498 +v 0.093576 3.078292 0.658554 +v 0.060562 -0.787528 -1.390153 +v -0.831619 -0.986012 -1.125664 +v -0.963674 2.285195 -0.233299 +v -0.732375 3.012270 -0.134148 +v 1.018771 -0.985591 0.196017 +v 0.985757 0.204053 -1.390153 +v -0.996687 1.591341 -0.167369 +v 0.985757 2.681744 -0.398637 +v 0.126589 3.309997 -0.068728 +v -0.996687 0.732644 1.220498 +v 0.919730 -0.985591 -1.059478 +v 1.018771 0.765865 -0.861174 +v 1.051988 0.038790 1.220243 +v -0.864633 1.227593 1.220498 +v -0.137519 -0.986012 0.923044 +v 0.027345 1.888647 -1.323967 +v -0.302791 2.946249 0.559403 +v -0.005465 3.045491 -0.894395 +v 0.093576 3.011850 0.691519 +f 223 269 274 +f 212 213 216 +f 219 211 221 +f 212 216 222 +f 216 213 224 +f 219 221 228 +f 217 224 229 +f 227 219 230 +f 219 228 230 +f 229 223 234 +f 214 228 236 +f 211 219 237 +f 225 216 238 +f 216 225 239 +f 228 214 240 +f 230 228 240 +f 229 224 243 +f 227 242 244 +f 212 222 245 +f 222 232 245 +f 222 216 246 +f 232 222 246 +f 216 239 246 +f 227 230 247 +f 242 227 247 +f 219 227 248 +f 235 218 248 +f 218 241 248 +f 225 238 249 +f 241 218 250 +f 249 221 251 +f 225 249 251 +f 214 236 252 +f 221 211 253 +f 251 221 253 +f 231 251 253 +f 218 235 254 +f 235 233 254 +f 245 218 254 +f 212 245 254 +f 233 220 255 +f 211 237 256 +f 237 226 256 +f 239 225 257 +f 225 251 257 +f 251 231 257 +f 253 211 257 +f 231 253 257 +f 211 256 257 +f 256 226 257 +f 228 221 258 +f 236 228 258 +f 217 229 259 +f 234 214 259 +f 229 234 259 +f 214 252 259 +f 252 236 259 +f 258 217 259 +f 236 258 259 +f 226 215 260 +f 232 226 260 +f 245 232 260 +f 215 250 260 +f 250 245 260 +f 237 219 261 +f 250 215 261 +f 238 217 262 +f 221 249 262 +f 249 238 262 +f 258 221 262 +f 217 258 262 +f 220 233 263 +f 233 235 263 +f 244 220 263 +f 227 244 263 +f 248 227 263 +f 235 248 263 +f 234 223 264 +f 220 244 264 +f 244 234 264 +f 223 255 264 +f 255 220 264 +f 216 224 265 +f 224 217 265 +f 217 238 265 +f 238 216 265 +f 215 226 266 +f 226 237 266 +f 237 261 266 +f 261 215 266 +f 219 248 267 +f 248 241 267 +f 241 250 267 +f 261 219 267 +f 250 261 267 +f 218 245 268 +f 250 218 268 +f 245 250 268 +f 224 213 269 +f 226 232 270 +f 232 246 270 +f 246 239 270 +f 257 226 270 +f 239 257 270 +f 240 214 271 +f 230 240 271 +f 223 229 272 +f 243 224 272 +f 229 243 272 +f 269 223 272 +f 224 269 272 +f 214 234 273 +f 234 244 273 +f 244 242 273 +f 247 230 273 +f 242 247 273 +f 271 214 273 +f 230 271 273 +f 213 212 274 +f 212 254 274 +f 254 233 274 +f 255 223 274 +f 233 255 274 +f 269 213 274 +o convex_5 +v 2.076641 0.500964 2.112650 +v 1.316523 0.203720 1.517915 +v 1.316523 0.368805 1.517915 +v 2.836264 0.335750 1.650196 +v 1.316523 0.038505 2.112650 +v 2.737126 0.071561 1.848441 +v 1.316523 0.633253 1.947422 +v 2.803273 0.534020 1.815424 +v 2.803273 0.302823 2.046544 +v 1.316523 0.368805 2.244860 +v 1.349679 0.005449 1.650196 +v 1.448818 0.567076 1.617179 +v 2.604996 0.137673 1.650196 +v 1.349679 0.567076 2.178755 +v 1.316523 -0.027542 1.947422 +v 3.001715 0.269832 1.815424 +v 2.538848 0.335750 1.584091 +v 2.770117 0.534020 1.914405 +v 1.481809 0.071561 2.145667 +v 2.373727 0.500964 1.650196 +v 2.704134 0.302823 2.079633 +v 2.538848 0.137673 2.013527 +v 1.547956 0.633253 1.848441 +v 1.349679 0.269832 2.244860 +v 1.316523 0.534020 1.584091 +v 1.944346 0.071561 1.617179 +v 2.704134 0.071561 1.782336 +v 1.481809 -0.027542 1.848441 +v 2.637987 0.500964 2.013527 +v 1.580948 0.534020 1.584091 +f 299 286 304 +f 277 276 279 +f 277 279 281 +f 281 279 284 +f 284 275 288 +f 281 284 288 +f 279 276 289 +f 280 279 289 +f 276 285 289 +f 278 282 290 +f 283 280 290 +f 287 278 290 +f 276 277 291 +f 287 276 291 +f 278 287 291 +f 281 288 292 +f 290 282 292 +f 283 290 292 +f 279 280 293 +f 282 278 294 +f 286 282 294 +f 278 291 294 +f 275 284 295 +f 295 293 296 +f 280 283 296 +f 293 280 296 +f 283 295 296 +f 286 281 297 +f 282 286 297 +f 281 292 297 +f 292 282 297 +f 284 279 298 +f 279 293 298 +f 295 284 298 +f 293 295 298 +f 277 281 299 +f 281 286 299 +f 285 276 300 +f 276 287 300 +f 300 287 301 +f 290 280 301 +f 287 290 301 +f 285 300 301 +f 280 289 302 +f 289 285 302 +f 301 280 302 +f 285 301 302 +f 288 275 303 +f 283 292 303 +f 292 288 303 +f 295 283 303 +f 275 295 303 +f 291 277 304 +f 286 294 304 +f 294 291 304 +f 277 299 304 +o convex_6 +v -1.261416 -0.060718 1.815418 +v -1.261416 0.666299 1.914392 +v -1.261416 0.633208 2.079607 +v -2.979651 0.302791 1.848344 +v -1.261416 0.368831 1.517915 +v -1.294549 0.071506 2.112663 +v -2.781186 0.302791 2.079607 +v -2.748053 0.501055 1.815418 +v -2.715087 0.203658 1.650203 +v -2.715087 0.071506 1.914392 +v -1.294549 0.567096 1.551035 +v -1.327515 0.005394 1.617147 +v -1.261416 0.401923 2.178774 +v -2.781186 0.368831 2.079607 +v -1.459713 0.666299 1.782362 +v -2.516791 0.501055 2.013495 +v -2.681954 0.302791 1.650203 +v -1.261416 0.236750 1.517915 +v -2.318494 0.071506 1.716250 +v -1.261416 0.269770 2.178774 +v -1.294549 -0.060718 1.881336 +v -2.582890 0.170638 2.046551 +v -2.549924 0.434943 1.683194 +v -1.294549 0.600187 2.112663 +v -2.979651 0.236750 1.881336 +v -1.261416 0.600187 1.584091 +f 315 327 330 +f 305 306 307 +f 306 305 309 +f 305 307 317 +f 311 317 318 +f 312 308 318 +f 307 306 320 +f 312 318 320 +f 306 319 320 +f 319 312 320 +f 308 312 321 +f 309 313 321 +f 313 308 321 +f 315 309 321 +f 309 305 322 +f 313 309 322 +f 305 316 322 +f 316 313 322 +f 305 314 323 +f 314 313 323 +f 316 305 323 +f 313 316 323 +f 310 305 324 +f 311 310 324 +f 305 317 324 +f 317 311 324 +f 305 310 325 +f 314 305 325 +f 310 314 325 +f 310 311 326 +f 314 310 326 +f 311 314 326 +f 321 312 327 +f 315 321 327 +f 317 307 328 +f 318 317 328 +f 307 320 328 +f 320 318 328 +f 308 313 329 +f 314 311 329 +f 313 314 329 +f 311 318 329 +f 318 308 329 +f 306 309 330 +f 309 315 330 +f 319 306 330 +f 312 319 330 +f 327 312 330 +o convex_7 +v -0.864525 -0.324667 2.443031 +v 0.093711 1.492455 1.253625 +v 0.093711 1.492455 1.220815 +v 1.316358 -0.027587 1.782549 +v -0.930628 -0.721377 1.220498 +v 0.787537 0.930449 2.575222 +v -1.261141 0.665976 2.079584 +v 0.886691 -0.754663 1.220815 +v 0.820588 -0.391012 2.509285 +v -0.765371 0.930449 2.575222 +v 0.985845 1.095745 1.220657 +v -0.930628 1.161863 1.220498 +v -0.005443 0.236886 2.839763 +v -0.071545 -0.721604 1.881455 +v 1.316358 0.599857 2.178648 +v -1.261141 0.005472 1.617231 +v 0.820588 0.236886 2.740382 +v -0.798422 0.269945 2.740541 +v -0.038242 -0.457130 2.575222 +v 0.225917 1.029626 2.608349 +v 0.820588 1.194696 1.881455 +v -1.261141 0.005472 2.112552 +v 1.316358 0.401729 1.518167 +v -0.765371 1.194922 1.881614 +v 1.316358 0.038531 2.112552 +v -1.261141 0.401729 1.518008 +v -0.798422 -0.622426 1.881614 +v -0.137648 -0.820781 1.253625 +v -0.170447 1.029626 2.608349 +v 1.018896 -0.456904 1.220657 +v 0.060408 0.368670 2.839763 +v 0.820588 -0.655485 1.782549 +v -0.732320 -0.391012 2.509126 +v -0.996730 -0.622426 1.220498 +v -1.261141 0.401729 2.211775 +v 0.820588 0.996567 2.509285 +v 1.316358 0.665976 1.848487 +v 1.316358 0.269719 2.244744 +v 0.027609 1.492455 1.286752 +v -1.029782 0.368670 1.220498 +v 0.853639 0.434562 2.707414 +v 0.390921 -0.787722 1.452071 +v -0.864525 1.227981 1.286752 +v -1.261141 0.699035 1.782549 +v -0.699521 0.269945 2.773509 +v 1.051947 0.732094 1.220657 +v 1.316358 0.005698 1.584104 +v 0.985845 -0.622426 1.385975 +v -0.732320 0.996567 2.509126 +v 0.060408 -0.721604 1.881455 +v 0.919742 1.161863 1.385975 +v 0.093711 -0.457130 2.575222 +v 0.985845 0.864331 2.443031 +v 1.283054 0.269719 1.451912 +v -0.897576 0.897390 2.443031 +v -0.699521 0.335837 2.773509 +v 0.655331 -0.655485 1.881455 +v 0.787537 -0.787722 1.253625 +v 0.853639 -0.357953 2.509285 +v 1.316358 0.567025 1.584104 +v -0.930628 -0.721377 1.253625 +v 0.754485 -0.357953 2.542095 +v -1.261141 0.567025 1.551135 +v 0.688383 0.335837 2.773668 +f 347 371 394 +f 333 341 342 +f 337 346 352 +f 331 348 352 +f 345 334 353 +f 334 345 355 +f 346 337 356 +f 335 338 358 +f 338 335 360 +f 336 350 361 +f 350 359 361 +f 348 331 363 +f 344 349 363 +f 357 344 363 +f 331 357 363 +f 342 335 364 +f 352 346 364 +f 346 356 364 +f 348 340 365 +f 337 352 365 +f 352 348 365 +f 350 336 366 +f 351 345 367 +f 345 353 367 +f 355 345 368 +f 332 333 369 +f 351 332 369 +f 359 350 369 +f 350 366 369 +f 366 351 369 +f 356 342 370 +f 342 364 370 +f 364 356 370 +f 347 368 371 +f 368 345 371 +f 333 342 373 +f 342 337 373 +f 337 354 373 +f 369 333 373 +f 354 369 373 +f 337 342 374 +f 356 337 374 +f 349 343 375 +f 348 363 375 +f 363 349 375 +f 335 342 376 +f 342 341 376 +f 341 353 376 +f 360 335 376 +f 353 334 377 +f 338 360 377 +f 334 355 378 +f 362 338 378 +f 377 334 378 +f 338 377 378 +f 340 359 379 +f 369 354 379 +f 359 369 379 +f 349 344 380 +f 344 358 380 +f 358 372 380 +f 333 332 381 +f 341 333 381 +f 332 351 381 +f 367 341 381 +f 351 367 381 +f 343 349 382 +f 349 380 382 +f 345 351 383 +f 366 336 383 +f 351 366 383 +f 336 371 383 +f 371 345 383 +f 376 353 384 +f 360 376 384 +f 353 377 384 +f 377 360 384 +f 354 337 385 +f 337 365 385 +f 365 340 385 +f 340 379 385 +f 379 354 385 +f 340 348 386 +f 359 340 386 +f 343 361 386 +f 361 359 386 +f 348 375 386 +f 375 343 386 +f 362 339 387 +f 380 372 387 +f 339 382 387 +f 382 380 387 +f 358 338 388 +f 338 362 388 +f 372 358 388 +f 362 387 388 +f 387 372 388 +f 347 339 389 +f 339 362 389 +f 368 347 389 +f 355 368 389 +f 378 355 389 +f 362 378 389 +f 353 341 390 +f 341 367 390 +f 367 353 390 +f 331 352 391 +f 344 357 391 +f 357 331 391 +f 335 358 391 +f 358 344 391 +f 364 335 391 +f 352 364 391 +f 339 347 392 +f 347 343 392 +f 382 339 392 +f 343 382 392 +f 342 356 393 +f 374 342 393 +f 356 374 393 +f 343 347 394 +f 361 343 394 +f 336 361 394 +f 371 336 394 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/640/640.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/640/640.urdf new file mode 100644 index 000000000..2b5533a0c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/640/640.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/641/641.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/641/641.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/641/641.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/641/641.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/641/641.obj new file mode 100644 index 000000000..c87856a85 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/641/641.obj @@ -0,0 +1,378 @@ +o convex_0 +v 0.024987 3.781879 -0.303387 +v 0.218451 5.683771 0.309256 +v 0.186187 5.683771 0.309256 +v -0.297413 5.845359 -0.335645 +v -0.232885 3.878630 0.244741 +v 0.282979 5.748406 -0.303387 +v 0.250715 3.781879 0.180226 +v -0.329677 5.683771 0.212483 +v -0.329677 3.781879 -0.206614 +v 0.218451 3.910948 -0.303387 +v -0.039421 3.781879 0.244741 +v 0.282979 4.491251 -0.013194 +v 0.250715 5.683771 0.276999 +v -0.297413 4.942284 0.244741 +v -0.007277 4.717070 -0.335645 +v -0.329677 3.878630 -0.238872 +v -0.103949 4.201200 0.276999 +v -0.232885 5.845359 -0.238872 +v 0.282979 5.103468 -0.303387 +v 0.250715 3.781879 -0.013194 +v -0.329677 3.781879 -0.142162 +v 0.282979 5.716089 -0.013194 +v -0.297413 5.651656 0.244741 +v 0.250715 4.555886 0.244741 +v -0.007277 5.812840 -0.335645 +v -0.329677 5.651656 0.019000 +v -0.297413 5.619338 -0.335645 +v 0.186187 3.781879 -0.303387 +v -0.200681 3.781879 0.244741 +v -0.329677 5.329287 0.212483 +v -0.007277 4.330067 0.276999 +f 24 2 31 +f 1 7 9 +f 9 7 11 +f 9 8 16 +f 1 9 16 +f 2 3 17 +f 14 5 17 +f 3 2 18 +f 8 3 18 +f 4 8 18 +f 2 13 18 +f 6 12 19 +f 15 6 19 +f 10 15 19 +f 7 1 20 +f 12 7 20 +f 19 12 20 +f 10 19 20 +f 8 9 21 +f 9 11 21 +f 12 6 22 +f 13 12 22 +f 18 13 22 +f 3 8 23 +f 8 14 23 +f 17 3 23 +f 14 17 23 +f 11 7 24 +f 7 12 24 +f 13 2 24 +f 12 13 24 +f 15 4 25 +f 6 15 25 +f 4 18 25 +f 22 6 25 +f 18 22 25 +f 8 4 26 +f 4 16 26 +f 16 8 26 +f 15 1 27 +f 4 15 27 +f 1 16 27 +f 16 4 27 +f 1 15 28 +f 15 10 28 +f 20 1 28 +f 10 20 28 +f 11 17 29 +f 17 5 29 +f 5 21 29 +f 21 11 29 +f 5 14 30 +f 14 8 30 +f 8 21 30 +f 21 5 30 +f 2 17 31 +f 17 11 31 +f 11 24 31 +o convex_1 +v -0.684189 -2.087157 -1.109525 +v -0.974535 -4.085938 1.115382 +v -1.039033 -4.085938 1.115382 +v 0.992332 -1.474264 1.082932 +v 0.927834 -4.343791 -1.044843 +v -0.974535 -1.474264 0.954002 +v 1.088973 -1.474264 -0.980378 +v 0.927834 -4.214584 0.953784 +v -0.942180 -4.279469 -1.012610 +v -0.974535 -1.474264 -1.109525 +v -1.039033 -4.214865 1.115382 +v 1.121328 -2.280687 -0.819216 +v 0.992332 -2.925038 1.050699 +v -0.974535 -2.635445 -1.109525 +v 0.669843 -4.343791 -0.786766 +v -1.006678 -2.700049 -0.657836 +v -0.974535 -4.279469 -0.883681 +v 0.959978 -4.182844 -1.044843 +v 0.218358 -1.474545 1.050699 +v -0.200772 -1.474264 -1.077075 +v -0.684189 -4.311770 -0.980378 +v 0.992332 -2.409613 1.082932 +v 1.121328 -1.571170 -0.948146 +v 1.024475 -2.312989 0.921770 +v 0.057008 -4.311770 -1.044843 +v 0.734341 -4.214584 0.986235 +v -0.748687 -1.474264 0.986235 +v -1.039033 -3.924710 0.760608 +v -0.910037 -4.214865 1.115382 +v 0.959978 -3.828085 -1.044843 +v 0.927834 -4.279188 0.179989 +v 0.959978 -3.795503 0.986235 +v 1.088973 -2.699768 -0.980378 +v -0.974535 -3.828085 -1.044625 +v -0.652046 -1.700096 -1.109525 +v 0.798839 -1.474545 1.082932 +v 1.024475 -1.474264 0.631460 +v -0.974535 -4.279469 -0.399759 +v 0.379708 -4.343791 -1.044843 +v 1.024475 -2.377311 0.921770 +v 0.927834 -4.246886 0.631460 +v -1.039033 -4.182563 0.857305 +v 1.121328 -1.571170 -0.915695 +v 0.250713 -1.474545 -1.044843 +v 0.927834 -4.343791 -0.786766 +v 1.121328 -2.312989 -0.883681 +f 64 54 77 +f 34 33 35 +f 37 35 38 +f 37 38 41 +f 33 34 42 +f 32 36 45 +f 41 32 45 +f 41 45 47 +f 36 32 49 +f 41 38 51 +f 48 40 52 +f 35 53 55 +f 37 34 58 +f 35 37 58 +f 34 50 58 +f 50 35 58 +f 34 37 59 +f 37 41 59 +f 42 34 59 +f 41 47 59 +f 35 33 60 +f 33 42 60 +f 53 35 60 +f 44 53 60 +f 57 44 60 +f 38 49 61 +f 42 46 62 +f 60 42 62 +f 57 39 63 +f 44 57 63 +f 49 38 64 +f 39 49 64 +f 38 54 64 +f 47 45 65 +f 48 47 65 +f 40 48 65 +f 45 56 65 +f 56 40 65 +f 32 41 66 +f 49 32 66 +f 41 51 66 +f 61 49 66 +f 51 61 66 +f 34 35 67 +f 50 34 67 +f 35 50 67 +f 38 35 68 +f 35 55 68 +f 46 42 69 +f 42 48 69 +f 52 46 69 +f 48 52 69 +f 45 36 70 +f 36 46 70 +f 52 40 70 +f 46 52 70 +f 56 45 70 +f 40 56 70 +f 53 44 71 +f 43 55 71 +f 55 53 71 +f 63 43 71 +f 44 63 71 +f 49 39 72 +f 39 57 72 +f 57 60 72 +f 62 49 72 +f 60 62 72 +f 47 48 73 +f 48 42 73 +f 42 59 73 +f 59 47 73 +f 54 38 74 +f 43 54 74 +f 55 43 74 +f 38 68 74 +f 68 55 74 +f 51 38 75 +f 38 61 75 +f 61 51 75 +f 46 36 76 +f 36 49 76 +f 62 46 76 +f 49 62 76 +f 54 43 77 +f 63 39 77 +f 43 63 77 +f 39 64 77 +o convex_2 +v -0.587636 2.974970 -1.012513 +v 1.024527 3.716853 1.083137 +v 1.056816 3.716853 1.082922 +v 0.992238 -1.474264 1.083137 +v -1.039058 1.943435 1.018533 +v 1.089105 -1.474264 -0.980318 +v -0.974480 -1.474264 -1.109525 +v 0.959949 3.749265 -1.044922 +v -0.974480 -1.474264 0.953930 +v -1.039058 3.684440 0.760333 +v -0.942191 3.749265 -0.915929 +v -1.039058 3.684440 0.986339 +v 1.089105 1.362586 -0.980318 +v -0.974480 1.169655 -1.077116 +v -0.265162 3.781677 0.308966 +v 1.089105 -1.474264 -0.496541 +v 0.379578 1.781888 1.083137 +v -1.006769 -1.247892 0.953930 +v -0.168294 -1.441852 -1.077116 +v -1.039058 1.749990 0.470153 +v 0.186260 -1.409440 1.050728 +v 0.992238 3.394273 -1.044922 +v -0.974480 2.104468 -1.044922 +v 0.734342 3.716338 1.083137 +v -1.006769 1.781888 -0.496756 +v 0.637683 3.749265 -1.044922 +v 0.218341 3.781677 -0.238771 +v -1.006769 -0.474112 0.986339 +v -1.039058 0.783280 0.953930 +v 0.766631 -1.441337 1.083137 +v 0.992238 2.878248 -1.044922 +v -0.780954 -1.441337 -1.109525 +v 1.056816 2.330325 -0.883734 +v -0.490769 3.781677 -0.432152 +v -0.877613 3.716338 0.824937 +v 1.056816 3.684440 0.857131 +v 0.250630 3.781677 0.179973 +v -1.039058 1.652753 1.018533 +v -0.974480 -1.151170 -1.109525 +v -0.716584 3.749265 -0.948123 +v 1.024527 -1.474264 0.599360 +v -0.974480 2.427048 -1.012513 +v -0.748665 -1.474264 0.986339 +v 1.056816 3.555305 1.082922 +v 0.702053 -1.474264 -1.012727 +v 0.992238 3.716853 -0.657943 +v -0.942191 3.749265 -0.593340 +v -0.361821 1.717064 1.050728 +v -0.942191 3.523407 -0.948123 +v 1.056816 2.201190 -1.012727 +v -0.974480 3.716338 -0.399958 +v -0.103925 -0.216357 1.050728 +f 125 115 129 +f 83 81 84 +f 84 81 86 +f 88 87 89 +f 87 82 89 +f 79 80 92 +f 81 83 93 +f 90 80 93 +f 83 90 93 +f 81 79 94 +f 84 86 95 +f 82 87 97 +f 89 82 101 +f 79 92 101 +f 94 79 101 +f 97 87 102 +f 84 97 102 +f 100 91 102 +f 100 78 103 +f 91 100 103 +f 95 86 105 +f 84 95 106 +f 82 97 106 +f 97 84 106 +f 81 94 107 +f 99 108 109 +f 96 84 109 +f 85 99 109 +f 108 96 109 +f 85 103 111 +f 104 85 111 +f 92 104 111 +f 89 101 112 +f 101 92 112 +f 80 90 113 +f 90 110 113 +f 80 85 114 +f 92 80 114 +f 85 104 114 +f 104 92 114 +f 95 105 115 +f 82 106 115 +f 106 95 115 +f 84 102 116 +f 102 91 116 +f 103 85 116 +f 91 103 116 +f 109 84 116 +f 85 109 116 +f 88 111 117 +f 111 103 117 +f 81 93 118 +f 102 87 119 +f 100 102 119 +f 86 81 120 +f 105 86 120 +f 98 105 120 +f 81 107 120 +f 107 98 120 +f 80 79 121 +f 79 81 121 +f 93 80 121 +f 81 118 121 +f 118 93 121 +f 83 84 122 +f 84 96 122 +f 108 83 122 +f 96 108 122 +f 85 80 123 +f 99 85 123 +f 110 99 123 +f 80 113 123 +f 113 110 123 +f 88 89 124 +f 111 88 124 +f 92 111 124 +f 89 112 124 +f 112 92 124 +f 101 82 125 +f 94 101 125 +f 107 94 125 +f 82 115 125 +f 78 100 126 +f 103 78 126 +f 88 117 126 +f 117 103 126 +f 119 88 126 +f 100 119 126 +f 90 83 127 +f 83 108 127 +f 108 99 127 +f 110 90 127 +f 99 110 127 +f 87 88 128 +f 119 87 128 +f 88 119 128 +f 105 98 129 +f 98 107 129 +f 115 105 129 +f 107 125 129 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/641/641.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/641/641.urdf new file mode 100644 index 000000000..b2a9e042a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/641/641.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/642/642.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/642/642.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/642/642.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/642/642.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/642/642.obj new file mode 100644 index 000000000..a7e883375 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/642/642.obj @@ -0,0 +1,369 @@ +o convex_0 +v 0.594590 -3.081494 -1.993971 +v 0.297805 -1.078959 0.194983 +v 0.260733 -1.078959 0.194983 +v 1.076946 -0.076922 -1.993971 +v -1.000553 -0.076922 -1.845484 +v -0.926410 -3.935323 0.157486 +v 1.002591 -3.897983 0.194983 +v -1.074908 -4.009620 -1.845484 +v -0.963482 -0.076922 0.120632 +v 1.039663 -0.076922 0.157701 +v 1.076946 -3.897983 -1.993971 +v -0.295556 -0.076922 -1.993971 +v -1.074908 -3.118834 -1.437305 +v 1.076946 -1.932404 -0.917921 +v -1.037625 -0.411062 -1.845484 +v -0.889338 -0.076922 0.157486 +v -1.000553 -3.972279 -0.547239 +v -0.666696 -4.009620 -1.808202 +v 1.076946 -0.076922 -0.843999 +v 0.779950 -3.935323 -1.956689 +v 1.039663 -1.746855 0.157701 +v 1.076946 -3.897983 -1.548510 +v 0.075163 -3.935323 0.157701 +v -0.926410 -3.155790 -1.882338 +v -1.074908 -4.009620 -1.474373 +v -1.000553 -0.114262 -0.769862 +v -0.963482 -0.930751 0.120632 +v 0.631662 -3.786731 0.194983 +v 0.854093 -3.897983 -1.993971 +v -1.074908 -2.488278 -1.845484 +v -0.926410 -3.972279 -0.250479 +v -0.963482 -3.638523 -0.064923 +v 1.002591 -3.156175 0.194983 +v -0.703768 -0.076922 -1.919406 +v 1.039663 -3.860642 -0.547239 +v -1.000553 -0.856070 -0.361683 +v -1.000553 -4.009620 -1.289032 +f 31 25 37 +f 2 3 7 +f 4 5 9 +f 3 2 10 +f 4 9 10 +f 1 4 11 +f 4 1 12 +f 5 4 12 +f 11 4 14 +f 6 3 16 +f 9 6 16 +f 3 10 16 +f 10 9 16 +f 4 10 19 +f 14 4 19 +f 7 18 20 +f 18 8 20 +f 10 7 21 +f 19 10 21 +f 14 19 21 +f 11 14 22 +f 7 20 22 +f 20 11 22 +f 14 21 22 +f 7 6 23 +f 18 7 23 +f 12 1 24 +f 13 8 25 +f 8 18 25 +f 9 5 26 +f 5 15 26 +f 15 13 26 +f 6 9 27 +f 25 17 27 +f 3 6 28 +f 7 3 28 +f 6 7 28 +f 1 11 29 +f 11 20 29 +f 20 8 29 +f 24 1 29 +f 8 24 29 +f 8 13 30 +f 13 15 30 +f 24 8 30 +f 15 24 30 +f 6 17 31 +f 23 6 31 +f 17 25 31 +f 17 6 32 +f 6 27 32 +f 27 17 32 +f 2 7 33 +f 10 2 33 +f 7 10 33 +f 5 12 34 +f 15 5 34 +f 12 24 34 +f 24 15 34 +f 21 7 35 +f 7 22 35 +f 22 21 35 +f 13 25 36 +f 9 26 36 +f 26 13 36 +f 27 9 36 +f 25 27 36 +f 18 23 37 +f 25 18 37 +f 23 31 37 +o convex_1 +v -3.114762 1.258363 0.009656 +v 2.968605 2.149134 2.086989 +v 2.968605 1.815095 2.086989 +v -3.078155 0.628199 2.161332 +v 3.116861 0.071685 0.083786 +v 3.043038 2.074830 0.009656 +v -3.114762 2.037570 2.086774 +v 3.116861 0.071685 2.049710 +v -3.078155 -0.039661 0.009656 +v -3.114762 2.000527 0.009656 +v -3.078155 0.071685 2.161332 +v 1.039450 -0.076922 -0.027408 +v -1.074567 2.111873 -0.027408 +v 0.780155 1.629445 2.161332 +v -3.078155 0.034643 1.975581 +v 0.520250 0.628417 2.161332 +v 2.894783 0.034643 1.864387 +v -2.632778 2.074830 1.641785 +v -0.963528 -0.076922 -0.027408 +v 3.043038 2.111873 0.380731 +v 1.410395 2.149134 1.270710 +v -2.855466 1.963484 2.123839 +v 3.080255 1.889398 0.009656 +v 2.709310 0.145989 2.086774 +v 1.039450 -0.076922 0.158129 +v 0.928411 2.074612 -0.027408 +v 1.930205 2.149134 2.086774 +v -1.408905 1.666705 2.161332 +v -1.890889 0.071685 2.161332 +v -1.371689 2.111873 0.343666 +v -0.889095 -0.076922 0.158129 +v 3.080255 1.481056 0.009656 +v -3.114762 1.406752 2.123839 +v -2.336266 2.074830 2.086774 +v -3.078155 2.037570 0.862999 +v 3.116861 0.702503 0.083786 +v -3.078155 -0.039661 0.269323 +v 2.968605 2.149134 1.493312 +v 3.043038 2.111873 0.640398 +v 2.560444 0.034643 1.901451 +v -2.743817 2.037570 0.084000 +v 2.449405 0.071685 2.086774 +v 3.116861 0.108728 2.049710 +v -1.000744 1.963484 2.123839 +f 59 65 81 +f 39 40 45 +f 38 44 47 +f 46 38 50 +f 38 47 50 +f 40 39 51 +f 41 48 51 +f 51 48 53 +f 42 45 54 +f 49 42 54 +f 46 50 56 +f 50 49 56 +f 43 50 57 +f 57 50 58 +f 43 57 60 +f 45 40 61 +f 40 51 61 +f 51 53 61 +f 49 54 62 +f 56 49 62 +f 50 43 63 +f 49 50 63 +f 60 49 63 +f 43 60 63 +f 39 58 64 +f 59 39 64 +f 41 51 65 +f 59 41 65 +f 48 52 66 +f 53 48 66 +f 58 50 67 +f 64 58 67 +f 62 52 68 +f 56 62 68 +f 42 49 69 +f 60 42 69 +f 49 60 69 +f 44 38 70 +f 48 41 70 +f 38 52 70 +f 52 48 70 +f 59 44 70 +f 41 59 70 +f 55 44 71 +f 44 59 71 +f 59 64 71 +f 67 55 71 +f 64 67 71 +f 47 44 72 +f 44 55 72 +f 55 67 72 +f 45 42 73 +f 42 60 73 +f 38 46 74 +f 52 38 74 +f 46 56 74 +f 68 52 74 +f 56 68 74 +f 39 57 75 +f 57 58 75 +f 58 39 75 +f 57 39 76 +f 60 57 76 +f 54 45 77 +f 62 54 77 +f 52 62 77 +f 66 52 77 +f 50 47 78 +f 67 50 78 +f 47 72 78 +f 72 67 78 +f 45 61 79 +f 61 53 79 +f 53 66 79 +f 77 45 79 +f 66 77 79 +f 39 45 80 +f 45 73 80 +f 73 60 80 +f 76 39 80 +f 60 76 80 +f 51 39 81 +f 39 59 81 +f 65 51 81 +o convex_2 +v -0.295745 1.110232 -3.069742 +v 0.334927 0.776505 -1.994153 +v 0.334927 0.702267 -1.994153 +v 0.297805 1.295689 -3.849017 +v -0.184446 1.407046 -1.994153 +v 0.112260 0.702267 -3.849017 +v -0.221568 0.702267 -1.994153 +v -0.369990 0.813624 -3.849017 +v -0.184446 1.332808 -3.849017 +v 0.223559 1.332808 -1.994153 +v 0.223559 0.702267 -3.700316 +v -0.221568 1.332808 -2.105452 +v -0.184446 1.369927 -3.551978 +v -0.073147 1.407046 -2.031374 +v 0.260682 1.332808 -2.699168 +v -0.221568 1.295689 -3.849017 +v 0.112260 1.332808 -3.849017 +v 0.297805 1.221520 -3.849017 +f 92 87 99 +f 83 84 85 +f 84 83 86 +f 84 86 88 +f 87 84 88 +f 87 88 89 +f 85 87 89 +f 85 89 90 +f 86 83 91 +f 84 87 92 +f 88 86 93 +f 89 88 93 +f 82 89 93 +f 86 91 95 +f 94 86 95 +f 83 85 96 +f 91 83 96 +f 95 91 96 +f 89 82 97 +f 90 89 97 +f 93 86 97 +f 82 93 97 +f 86 94 97 +f 94 90 97 +f 85 90 98 +f 90 94 98 +f 94 95 98 +f 96 85 98 +f 95 96 98 +f 85 84 99 +f 87 85 99 +f 84 92 99 +o convex_3 +v 1.076946 1.926477 -1.622682 +v -1.074908 1.889409 -0.064770 +v -1.074908 1.889409 -0.027622 +v 1.076946 -0.076922 -0.843919 +v -1.000553 -0.076922 -1.845186 +v -0.963482 1.963546 -1.845186 +v 0.928448 2.074750 -0.027622 +v -0.963482 -0.076922 -0.027622 +v 1.076946 -0.076922 -1.993971 +v 1.039663 -0.076922 -0.027622 +v 1.076946 1.963331 -1.956631 +v -1.074908 2.112033 -0.064770 +v -0.332838 0.925206 -1.993971 +v -1.000553 2.000614 -1.734127 +v -0.295767 -0.076922 -1.993971 +v 1.039663 0.665300 -0.027622 +v 1.039663 2.000614 -1.660023 +v -0.184551 1.407094 -1.993971 +v 1.076946 1.592435 -1.993971 +v -1.000553 -0.076922 -0.806771 +v 0.965520 2.037468 -0.101919 +v 0.520236 1.963331 -1.956823 +v 1.076946 0.924992 -0.769815 +v -1.000553 1.703854 -1.845186 +v -1.074908 2.074750 -0.250319 +v -0.703768 -0.076922 -1.919675 +v -1.074908 2.112033 -0.027622 +v 0.928448 2.074750 -0.139067 +f 116 111 127 +f 102 101 104 +f 104 103 107 +f 106 102 107 +f 100 103 108 +f 103 104 108 +f 107 103 109 +f 106 107 109 +f 100 108 110 +f 101 102 111 +f 108 104 114 +f 112 108 114 +f 106 109 115 +f 110 113 116 +f 113 111 116 +f 112 105 117 +f 108 112 117 +f 110 108 118 +f 108 117 118 +f 102 104 119 +f 104 107 119 +f 107 102 119 +f 100 110 120 +f 106 115 120 +f 116 106 120 +f 110 116 120 +f 105 113 121 +f 113 110 121 +f 117 105 121 +f 110 118 121 +f 118 117 121 +f 103 100 122 +f 109 103 122 +f 115 109 122 +f 100 120 122 +f 120 115 122 +f 105 112 123 +f 113 105 123 +f 113 123 124 +f 104 101 124 +f 101 111 124 +f 111 113 124 +f 123 104 124 +f 114 104 125 +f 112 114 125 +f 104 123 125 +f 123 112 125 +f 102 106 126 +f 111 102 126 +f 106 111 126 +f 111 106 127 +f 106 116 127 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/642/642.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/642/642.urdf new file mode 100644 index 000000000..7804af3b0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/642/642.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/643/643.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/643/643.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/643/643.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/643/643.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/643/643.obj new file mode 100644 index 000000000..5fd98e626 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/643/643.obj @@ -0,0 +1,270 @@ +o convex_0 +v -1.602109 -1.560583 -1.087081 +v 1.087781 -0.970814 1.050217 +v 1.235090 -1.044455 1.050217 +v -2.928491 -3.144934 0.939543 +v 3.003998 -3.034259 -1.050048 +v 3.003998 -3.071079 1.013397 +v 2.930343 -1.007635 -0.939586 +v -2.928491 -1.044668 1.087251 +v -3.039272 -3.107900 -1.013015 +v -3.076399 -1.007635 -1.050048 +v 3.041124 -1.118309 0.976576 +v 0.092545 -3.034046 1.087251 +v -0.459565 -0.970814 -1.087081 +v 2.561471 -3.070867 -1.050048 +v -1.012274 -0.970814 1.087251 +v -1.528455 -3.070867 1.050004 +v 1.197963 -2.960405 1.087251 +v -2.928491 -3.144934 -0.055040 +v 3.003998 -2.628806 -1.050048 +v -3.076399 -1.007635 -0.755057 +v 0.718909 -0.970814 -1.050048 +v -2.560218 -2.628806 -1.050048 +v 3.003998 -2.297208 1.013397 +v -2.450035 -3.144934 0.976363 +v -3.076399 -2.039464 -1.050048 +v -0.275129 -1.818540 -1.087081 +v -2.928491 -1.265592 1.087251 +v -2.965617 -3.107900 0.534090 +v -2.965617 -1.118309 0.829081 +v 2.966871 -1.486728 -0.976407 +v 0.829690 -3.071079 -1.050048 +v -0.275129 -0.970814 1.087251 +v -2.117691 -1.044668 -1.087081 +v 2.930343 -1.007635 -0.718237 +v -0.975746 -0.970814 -1.087081 +v -3.039272 -3.107900 -0.681416 +v 3.003998 -2.223354 -1.013227 +v -2.928491 -2.812909 0.976363 +v 0.976999 -0.970814 -1.013015 +v 2.966871 -1.044455 -0.570954 +v 3.003998 -1.081276 0.497482 +v -2.560218 -3.107900 -1.013015 +v 2.303979 -3.034259 1.050217 +v -3.039272 -1.007635 -0.534134 +v 2.303979 -1.118309 1.013184 +v -3.076399 -1.155130 -0.755057 +v -1.085928 -2.444490 1.087251 +v 3.041124 -1.228771 0.939755 +v 3.041124 -1.118309 0.902722 +f 11 48 49 +f 5 6 14 +f 8 12 15 +f 2 13 15 +f 15 12 17 +f 4 9 18 +f 15 10 20 +f 13 2 21 +f 19 13 21 +f 6 11 23 +f 3 17 23 +f 6 12 24 +f 14 6 24 +f 12 16 24 +f 4 18 24 +f 18 14 24 +f 20 10 25 +f 22 9 25 +f 1 13 26 +f 5 14 26 +f 19 5 26 +f 13 19 26 +f 22 1 26 +f 12 8 27 +f 8 20 29 +f 27 8 29 +f 28 4 29 +f 21 7 30 +f 19 21 30 +f 9 22 31 +f 26 14 31 +f 22 26 31 +f 3 2 32 +f 2 15 32 +f 17 3 32 +f 15 17 32 +f 13 1 33 +f 1 22 33 +f 25 10 33 +f 22 25 33 +f 7 2 34 +f 11 7 34 +f 10 15 35 +f 15 13 35 +f 13 33 35 +f 33 10 35 +f 9 4 36 +f 25 9 36 +f 4 28 36 +f 19 30 37 +f 4 24 38 +f 24 16 38 +f 16 27 38 +f 27 29 38 +f 29 4 38 +f 2 7 39 +f 21 2 39 +f 7 21 39 +f 30 7 40 +f 37 30 40 +f 2 11 41 +f 34 2 41 +f 11 34 41 +f 18 9 42 +f 14 18 42 +f 9 31 42 +f 31 14 42 +f 12 6 43 +f 17 12 43 +f 6 23 43 +f 23 17 43 +f 8 15 44 +f 20 8 44 +f 15 20 44 +f 2 3 45 +f 11 2 45 +f 3 23 45 +f 23 11 45 +f 20 25 46 +f 29 20 46 +f 28 29 46 +f 25 36 46 +f 36 28 46 +f 16 12 47 +f 12 27 47 +f 27 16 47 +f 6 5 48 +f 11 6 48 +f 7 11 49 +f 5 19 49 +f 19 37 49 +f 40 7 49 +f 37 40 49 +f 48 5 49 +o convex_1 +v 0.977222 -0.970601 -1.013015 +v -0.828408 4.925320 1.087251 +v -1.049561 4.925320 1.087251 +v -1.012528 -0.970601 1.087251 +v -1.012528 4.962364 -0.976194 +v 1.014046 4.925320 0.976363 +v 1.087903 -0.970601 1.050217 +v -0.975704 -0.970601 -1.086869 +v 1.014046 4.741274 -0.976194 +v 0.977222 2.971969 -1.087082 +v 1.087903 3.414736 1.050217 +v 0.977222 5.036452 0.681585 +v -1.049561 3.598781 -0.202322 +v 1.014046 4.925320 -0.791878 +v 0.203291 2.714423 1.087251 +v 1.050870 4.446684 -0.497313 +v -1.012528 0.393569 -0.976194 +v 0.977222 -0.748923 -1.049835 +v 0.571949 5.036452 0.976363 +v -1.012528 -0.970601 -0.460280 +v 1.014046 -0.748923 -0.570954 +v 1.087903 3.340647 0.386808 +v -1.049561 4.962364 0.681585 +v -0.201773 4.961776 -0.976194 +v -0.238597 -0.932969 1.087251 +v -0.496574 4.409639 -1.013015 +v 1.014046 3.340647 -1.049835 +v -0.496574 -0.970601 -1.086869 +v -0.975704 -0.601334 -1.086869 +v -1.049561 3.635238 1.087251 +v 0.829717 2.971969 -1.087082 +v 0.535125 4.998820 1.013184 +v 1.087903 -0.970601 0.939755 +v 0.977222 2.309288 -1.087082 +v -1.049561 4.962364 0.128850 +v 1.014046 4.888863 -0.939373 +v 0.977222 5.036452 0.976363 +v -0.902056 4.962364 1.050004 +v 1.050870 4.262051 -0.497313 +v -0.312245 4.225006 1.087251 +v -1.012528 1.389061 -1.013228 +v 1.014046 4.998820 0.644765 +v 1.087903 3.561737 0.534303 +f 65 91 92 +f 51 52 53 +f 53 50 56 +f 50 53 57 +f 51 53 64 +f 56 60 64 +f 52 51 68 +f 61 54 68 +f 57 53 69 +f 53 62 69 +f 66 57 69 +f 62 66 69 +f 50 67 70 +f 60 56 71 +f 62 52 72 +f 58 59 73 +f 54 61 73 +f 61 63 73 +f 53 56 74 +f 64 53 74 +f 56 64 74 +f 54 73 75 +f 73 59 75 +f 59 58 76 +f 58 65 76 +f 70 67 76 +f 50 57 77 +f 67 50 77 +f 54 75 78 +f 53 52 79 +f 52 62 79 +f 62 53 79 +f 75 59 80 +f 57 78 80 +f 78 75 80 +f 51 60 81 +f 56 50 82 +f 50 70 82 +f 71 56 82 +f 59 76 83 +f 76 67 83 +f 77 57 83 +f 67 77 83 +f 57 80 83 +f 80 59 83 +f 54 62 84 +f 68 54 84 +f 62 72 84 +f 72 68 84 +f 65 58 85 +f 63 65 85 +f 58 73 85 +f 73 63 85 +f 60 55 86 +f 68 51 86 +f 61 68 86 +f 51 81 86 +f 81 60 86 +f 52 68 87 +f 72 52 87 +f 68 72 87 +f 65 71 88 +f 76 65 88 +f 70 76 88 +f 82 70 88 +f 71 82 88 +f 60 51 89 +f 51 64 89 +f 64 60 89 +f 62 54 90 +f 57 66 90 +f 66 62 90 +f 54 78 90 +f 78 57 90 +f 63 61 91 +f 65 63 91 +f 86 55 91 +f 61 86 91 +f 55 60 92 +f 60 71 92 +f 71 65 92 +f 91 55 92 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/643/643.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/643/643.urdf new file mode 100644 index 000000000..a2dc05390 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/643/643.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/644/644.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/644/644.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/644/644.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/644/644.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/644/644.obj new file mode 100644 index 000000000..2ca928564 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/644/644.obj @@ -0,0 +1,525 @@ +o convex_0 +v -3.446372 -0.552165 -0.594334 +v -3.118649 0.594685 0.355870 +v -3.118649 0.594685 0.323077 +v -1.611714 -0.584959 0.323077 +v -1.611714 0.496305 -0.627012 +v -3.610331 -0.584959 0.421458 +v -3.610331 0.496305 -0.659806 +v -1.611714 -0.486578 -0.725393 +v -1.611714 0.496305 0.355870 +v -3.446372 0.594685 0.355870 +v -3.446372 -0.486578 -0.758187 +v -2.103199 -0.453785 -0.758187 +v -1.644388 -0.584959 0.355870 +v -3.282413 -0.388313 0.421458 +v -1.677063 -0.584959 0.126431 +v -3.544590 -0.584959 -0.070215 +v -1.775477 0.529098 0.355870 +v -2.496466 -0.519372 -0.758187 +v -3.577460 0.529098 -0.463160 +v -3.511720 0.201393 0.388664 +v -3.479046 0.266981 -0.692600 +v -1.611714 -0.224345 -0.725393 +v -3.380827 0.594685 0.191903 +v -3.610331 0.398039 -0.659806 +v -3.610331 0.496305 -0.561541 +v -3.610331 -0.453785 0.421458 +v -3.446372 -0.355404 -0.758187 +v -3.085779 0.496305 -0.659806 +v -3.610331 -0.584959 0.290168 +f 24 11 29 +f 5 4 8 +f 4 5 9 +f 2 3 10 +f 6 4 13 +f 4 9 13 +f 13 9 14 +f 6 13 14 +f 4 6 15 +f 8 4 15 +f 11 1 16 +f 1 15 16 +f 15 6 16 +f 3 2 17 +f 5 3 17 +f 9 5 17 +f 14 9 17 +f 1 11 18 +f 12 8 18 +f 11 12 18 +f 15 1 18 +f 8 15 18 +f 2 10 20 +f 17 2 20 +f 14 17 20 +f 12 21 22 +f 5 8 22 +f 8 12 22 +f 3 5 23 +f 10 3 23 +f 5 19 23 +f 19 10 23 +f 6 7 24 +f 7 11 24 +f 7 6 25 +f 19 7 25 +f 10 19 25 +f 20 10 25 +f 20 25 26 +f 6 14 26 +f 14 20 26 +f 25 6 26 +f 11 7 27 +f 12 11 27 +f 7 21 27 +f 21 12 27 +f 19 5 28 +f 7 19 28 +f 21 7 28 +f 22 21 28 +f 5 22 28 +f 16 6 29 +f 11 16 29 +f 6 24 29 +o convex_1 +v 0.583745 0.626828 0.355733 +v -1.611274 -3.108087 -1.085622 +v -1.578609 -3.009274 -1.118287 +v -1.414853 3.051703 0.814550 +v 0.551080 3.085046 -1.151167 +v 0.551080 -3.009274 0.814335 +v 0.485534 -3.108087 -1.282258 +v -1.414853 3.051703 -1.216928 +v -1.611274 -3.009274 0.912761 +v 0.485534 2.952890 0.847431 +v -1.611274 0.495884 -0.627019 +v 0.583745 -0.485584 -0.659684 +v -1.611274 0.495884 0.355733 +v -0.857825 -0.912362 0.912761 +v -1.447518 2.658267 0.847216 +v -1.447518 2.920760 -1.216928 +v -0.857825 1.183943 -1.249593 +v 0.190687 3.084439 -1.183833 +v 0.256233 -2.911066 0.847216 +v -1.218217 -3.042009 0.683460 +v -0.005949 1.576773 0.880096 +v 0.223352 -3.108087 -0.856105 +v -1.218217 3.051703 0.847216 +v -1.545944 -1.206985 0.912761 +v -1.021581 -3.008667 0.912761 +v 0.551080 3.085046 -0.954531 +v -1.447518 2.888024 0.617914 +v 0.518414 0.856585 0.847216 +v 0.583745 -1.206985 0.486823 +v 0.518414 -3.074745 -0.528593 +v -1.447518 2.003551 -1.216928 +v 0.387323 -2.976538 -1.282258 +v 0.518414 2.396381 0.716125 +v 0.518414 2.527324 -1.183833 +v -0.792279 3.018968 -1.216713 +v 0.583745 0.528620 -0.692564 +v -0.235251 3.084439 -1.151167 +v -1.611274 -2.714651 0.912761 +v 0.518414 -0.879020 -1.216713 +v 0.452654 -2.911066 -1.282258 +v 0.583745 0.823849 0.323067 +v 0.551080 -3.009274 0.585034 +v -1.447518 2.952890 -0.594139 +v -1.611274 -3.042009 0.683245 +v 0.518414 0.004847 0.847216 +v -1.545944 -0.585004 -1.151167 +v -1.480398 -3.107481 -0.921866 +v 0.518414 3.018968 -0.004875 +f 39 62 77 +f 31 32 36 +f 31 38 40 +f 40 38 42 +f 45 37 46 +f 31 36 51 +f 35 49 51 +f 33 44 52 +f 50 39 52 +f 50 52 53 +f 38 43 53 +f 43 50 53 +f 52 44 53 +f 43 38 54 +f 35 48 54 +f 49 35 54 +f 38 49 54 +f 50 43 54 +f 33 52 55 +f 44 33 56 +f 42 44 56 +f 39 50 57 +f 41 30 58 +f 30 57 58 +f 57 35 58 +f 36 41 59 +f 35 51 59 +f 51 36 59 +f 45 46 60 +f 60 46 61 +f 36 32 61 +f 32 60 61 +f 57 30 62 +f 39 57 62 +f 34 36 63 +f 47 34 63 +f 47 63 64 +f 46 37 64 +f 37 47 64 +f 30 41 65 +f 41 34 65 +f 37 33 66 +f 34 47 66 +f 47 37 66 +f 55 34 66 +f 33 55 66 +f 42 38 67 +f 44 42 67 +f 38 53 67 +f 53 44 67 +f 36 34 68 +f 34 41 68 +f 41 36 68 +f 61 46 69 +f 36 61 69 +f 63 36 69 +f 64 63 69 +f 46 64 69 +f 34 55 70 +f 62 30 70 +f 55 62 70 +f 30 65 70 +f 65 34 70 +f 41 58 71 +f 58 35 71 +f 35 59 71 +f 59 41 71 +f 33 37 72 +f 40 42 72 +f 37 45 72 +f 45 40 72 +f 56 33 72 +f 42 56 72 +f 38 31 73 +f 49 38 73 +f 51 49 73 +f 48 35 74 +f 54 48 74 +f 50 54 74 +f 35 57 74 +f 57 50 74 +f 32 31 75 +f 31 40 75 +f 40 45 75 +f 60 32 75 +f 45 60 75 +f 31 51 76 +f 73 31 76 +f 51 73 76 +f 52 39 77 +f 55 52 77 +f 62 55 77 +o convex_2 +v 0.944407 0.496324 -1.184323 +v 1.894547 -0.584959 -1.249885 +v 1.927289 -0.584959 -1.249885 +v 1.534075 0.463498 -3.183011 +v 0.944407 -0.453766 -3.149996 +v 1.992979 0.529149 -0.790955 +v 1.960134 -0.486482 -3.183011 +v 1.042838 -0.486591 -0.790955 +v 1.042838 0.463498 -3.183011 +v 1.960134 0.430781 -3.149996 +v 1.927289 -0.584959 -0.790955 +v 0.944407 0.496324 -0.790955 +v 0.977251 -0.486591 -1.807157 +v 1.042838 0.496324 -2.920531 +v 1.992979 0.004812 -1.971061 +v 0.944407 -0.257248 -3.183011 +v 1.992979 0.463498 -2.592724 +v 0.944407 0.234155 -0.823735 +v 1.730733 -0.584959 -0.856516 +v 1.960134 -0.322681 -0.823735 +v 1.566919 -0.486591 -3.183011 +v 1.992979 0.529149 -1.118762 +v 1.960134 -0.519417 -2.035920 +v 1.010096 -0.486591 -0.987639 +v 0.944407 -0.453766 -2.527631 +v 1.992979 0.201329 -0.790955 +f 97 92 103 +f 81 84 86 +f 84 81 87 +f 79 80 88 +f 83 85 88 +f 78 82 89 +f 83 78 89 +f 85 83 89 +f 86 78 91 +f 81 86 91 +f 82 78 93 +f 78 86 93 +f 86 84 93 +f 87 81 94 +f 84 87 94 +f 83 92 94 +f 92 84 94 +f 89 82 95 +f 85 89 95 +f 82 79 96 +f 79 88 96 +f 88 85 96 +f 90 82 96 +f 80 79 98 +f 79 82 98 +f 84 80 98 +f 82 93 98 +f 93 84 98 +f 78 83 99 +f 91 78 99 +f 81 91 99 +f 94 81 99 +f 83 94 99 +f 80 84 100 +f 88 80 100 +f 84 92 100 +f 97 88 100 +f 92 97 100 +f 85 95 101 +f 96 85 101 +f 90 96 101 +f 82 90 102 +f 95 82 102 +f 101 95 102 +f 90 101 102 +f 83 88 103 +f 92 83 103 +f 88 97 103 +o convex_3 +v 2.582756 -0.519285 0.060802 +v 0.944549 0.267003 -0.790955 +v 0.944549 0.496356 -0.790955 +v 0.583960 -0.453836 0.355771 +v 2.517212 0.496356 0.454219 +v 2.451669 -0.420943 -0.790955 +v 0.583960 0.561917 0.257448 +v 0.583960 -0.486617 -0.659732 +v 2.418799 0.496356 -0.626958 +v 2.582756 -0.552178 0.355771 +v 1.730685 -0.584959 -0.790955 +v 0.911875 -0.453836 0.486993 +v 0.583960 0.529137 -0.692632 +v 0.944549 0.496356 0.486993 +v 2.025535 0.529137 -0.790955 +v 1.959991 -0.453836 0.486993 +v 1.501575 -0.584959 -0.594309 +v 2.484343 0.430794 -0.463086 +v 1.042767 -0.486617 -0.790955 +v 2.025535 -0.584959 -0.659732 +v 2.549886 0.463463 0.388545 +v 1.992665 0.463575 0.486993 +v 2.287906 -0.552178 0.355771 +v 0.682373 -0.519398 -0.659732 +v 2.484343 -0.420943 -0.758055 +v 0.583960 -0.388275 -0.692632 +v 2.123949 0.529137 -0.758180 +f 118 110 130 +f 105 106 109 +f 107 110 111 +f 105 109 114 +f 106 105 116 +f 111 110 116 +f 110 107 117 +f 108 110 117 +f 107 115 117 +f 109 106 118 +f 106 116 118 +f 116 110 118 +f 113 108 119 +f 115 113 119 +f 117 115 119 +f 105 114 122 +f 104 113 123 +f 114 109 123 +f 113 120 123 +f 120 114 123 +f 112 108 124 +f 113 104 124 +f 108 113 124 +f 104 121 124 +f 121 112 124 +f 108 117 125 +f 119 108 125 +f 117 119 125 +f 115 107 126 +f 113 115 126 +f 107 120 126 +f 120 113 126 +f 107 111 127 +f 120 107 127 +f 114 120 127 +f 111 122 127 +f 122 114 127 +f 109 112 128 +f 121 104 128 +f 112 121 128 +f 104 123 128 +f 123 109 128 +f 116 105 129 +f 111 116 129 +f 105 122 129 +f 122 111 129 +f 110 108 130 +f 108 112 130 +f 112 109 130 +f 109 118 130 +o convex_4 +v 1.403239 0.299771 2.977353 +v 1.042864 -0.552191 2.485668 +v 0.977245 -0.519410 1.699508 +v 1.960154 -0.453737 0.486993 +v 0.944541 0.496343 0.486993 +v 1.992963 0.463450 0.486993 +v 1.927344 -0.486517 2.944444 +v 1.927344 0.463450 2.878870 +v 1.042864 0.594685 2.649482 +v 0.911837 -0.453849 0.486993 +v 1.042864 -0.552191 2.878870 +v 1.141080 -0.060593 2.977353 +v 1.992963 0.463450 1.339215 +v 1.173890 0.594685 2.747965 +v 0.911837 0.037525 0.519902 +v 1.763508 -0.519410 2.846205 +v 1.992963 0.037525 0.520146 +v 1.206699 0.332439 2.977353 +v 1.763508 0.201429 2.977353 +v 1.010054 0.529124 0.978679 +v 1.829021 0.496343 2.878870 +v 1.010054 -0.421068 2.419850 +v 0.944541 0.463562 0.978679 +v 1.141080 -0.257277 2.977353 +v 1.960154 0.463450 2.387429 +v 1.042864 0.168648 2.813296 +v 1.305022 -0.552191 2.813296 +v 1.108377 0.594685 2.485668 +f 150 139 158 +f 132 133 134 +f 134 135 136 +f 134 133 140 +f 135 134 140 +f 133 132 141 +f 135 140 145 +f 134 137 146 +f 137 141 146 +f 134 136 147 +f 137 134 147 +f 136 143 147 +f 143 137 147 +f 142 131 148 +f 144 139 148 +f 137 138 149 +f 131 142 149 +f 136 135 150 +f 135 139 150 +f 143 136 151 +f 136 144 151 +f 148 131 151 +f 144 148 151 +f 149 138 151 +f 131 149 151 +f 140 133 152 +f 133 141 152 +f 145 140 152 +f 145 152 153 +f 139 135 153 +f 135 145 153 +f 141 137 154 +f 142 141 154 +f 137 149 154 +f 149 142 154 +f 138 137 155 +f 137 143 155 +f 143 151 155 +f 151 138 155 +f 141 142 156 +f 148 139 156 +f 142 148 156 +f 152 141 156 +f 153 152 156 +f 139 153 156 +f 132 134 157 +f 141 132 157 +f 134 146 157 +f 146 141 157 +f 144 136 158 +f 139 144 158 +f 136 150 158 +o convex_5 +v 1.436011 -0.289974 3.469016 +v 1.796308 0.234152 4.943427 +v 1.697975 0.234152 4.943427 +v 1.370456 0.299713 2.977546 +v 1.173856 0.135870 4.779283 +v 1.730752 -0.322755 4.943427 +v 1.763530 0.037589 2.977546 +v 1.141014 -0.257194 2.977546 +v 1.272188 -0.289974 4.779283 +v 1.206633 0.299713 3.436303 +v 1.730752 -0.224413 3.108784 +v 1.763530 0.234152 3.239830 +v 1.173856 0.234152 2.977546 +v 1.173856 0.201371 4.779283 +v 1.796308 0.004809 4.779283 +v 1.468661 -0.322755 4.091340 +v 1.796308 0.234152 3.632968 +v 1.141014 -0.126132 3.600255 +v 1.730752 -0.322755 4.451764 +v 1.763530 0.201371 2.977546 +v 1.632420 -0.224413 2.977546 +v 1.566929 -0.322755 4.910329 +v 1.239411 -0.289974 3.206924 +f 179 159 181 +f 160 161 164 +f 162 165 166 +f 161 160 168 +f 160 162 168 +f 162 166 171 +f 168 162 171 +f 168 171 172 +f 161 168 172 +f 160 164 173 +f 169 165 173 +f 162 160 175 +f 170 162 175 +f 160 173 175 +f 173 165 175 +f 166 167 176 +f 167 163 176 +f 171 166 176 +f 172 171 176 +f 163 172 176 +f 159 169 177 +f 173 164 177 +f 169 173 177 +f 174 159 177 +f 164 174 177 +f 165 162 178 +f 162 170 178 +f 170 175 178 +f 175 165 178 +f 166 165 179 +f 169 159 179 +f 165 169 179 +f 164 161 180 +f 163 167 180 +f 161 172 180 +f 172 163 180 +f 167 174 180 +f 174 164 180 +f 167 166 181 +f 159 174 181 +f 174 167 181 +f 166 179 181 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/644/644.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/644/644.urdf new file mode 100644 index 000000000..c7253a0f1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/644/644.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/645/645.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/645/645.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/645/645.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/645/645.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/645/645.obj new file mode 100644 index 000000000..f91f8162b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/645/645.obj @@ -0,0 +1,471 @@ +o convex_0 +v -2.440366 -1.431335 0.018272 +v -0.586470 -2.379230 0.018272 +v -0.504011 -2.379230 0.018272 +v -0.504011 -2.296754 -1.053079 +v -0.504011 -0.401351 1.089623 +v -2.440366 -0.401351 -0.970442 +v -0.504011 -0.401351 -0.970442 +v -2.358097 -2.379230 1.048304 +v -2.399231 -0.401351 1.048304 +v -2.440366 -2.255516 -0.970442 +v -0.504011 -2.296754 1.089623 +v -2.399231 -2.379230 0.759702 +v -1.657862 -2.296754 -1.011761 +v -0.504011 -2.379230 0.842339 +v -0.545335 -1.843522 -1.053079 +v -0.998573 -0.978297 1.089623 +v -1.080842 -2.296754 -1.053079 +v -2.440366 -0.401351 0.347773 +v -2.399231 -2.214278 1.048304 +v -2.440366 -2.296754 -0.682050 +v -2.028452 -2.255516 -1.011761 +v -2.440366 -2.255516 -0.269911 +f 20 12 22 +f 3 2 4 +f 3 4 5 +f 6 5 7 +f 5 4 7 +f 2 3 8 +f 5 6 9 +f 1 6 10 +f 3 5 11 +f 2 8 12 +f 2 12 13 +f 8 3 14 +f 3 11 14 +f 11 8 14 +f 6 7 15 +f 7 4 15 +f 5 9 16 +f 11 5 16 +f 8 11 16 +f 4 2 17 +f 2 13 17 +f 6 15 17 +f 15 4 17 +f 6 1 18 +f 9 6 18 +f 12 8 19 +f 16 9 19 +f 8 16 19 +f 18 1 19 +f 9 18 19 +f 1 10 20 +f 10 13 20 +f 13 12 20 +f 10 6 21 +f 13 10 21 +f 6 17 21 +f 17 13 21 +f 19 1 22 +f 12 19 22 +f 1 20 22 +o convex_1 +v 0.402602 -0.524985 1.089623 +v -0.504011 -4.356843 0.635996 +v -0.133114 -4.398314 -0.599614 +v 1.597381 -4.356843 1.006893 +v 1.556122 -0.401351 -1.094071 +v -0.504011 -0.401351 -0.970510 +v 1.638639 -4.315371 -1.052813 +v 1.679897 -0.401351 1.048365 +v -0.504011 -0.401351 1.089409 +v -0.462753 -4.027414 -0.970510 +v -0.504011 -4.356843 1.048151 +v -0.504011 -2.296935 -1.053027 +v 1.638639 -2.914712 1.048365 +v 1.638639 -1.143544 -0.723175 +v -0.462753 -4.315762 -0.929252 +v 0.155480 -1.596606 -1.094285 +v -0.462753 -2.832159 1.089409 +v 1.638639 -4.356843 0.224055 +v 1.061665 -4.356843 1.048365 +v 1.597381 -2.625973 -1.094071 +v 1.144181 -4.232818 -1.052813 +v 0.979148 -0.401351 -1.094285 +v 1.679897 -1.308258 1.048365 +v -0.421494 -2.749997 -1.053027 +v 1.638639 -2.708525 -1.052813 +v 0.361557 -4.398314 -0.146414 +v 1.679897 -0.401351 0.801029 +v -0.504011 -3.326302 -0.888208 +v 1.597381 -0.401351 -0.887994 +v 0.320299 -4.398314 -0.517097 +v -0.504011 -1.802401 -1.053027 +v 1.638639 -4.356843 -0.146414 +v -0.174372 -4.315762 -0.970510 +v 0.196738 -1.761320 -1.094285 +f 43 46 56 +f 27 28 30 +f 28 24 31 +f 23 30 31 +f 30 28 31 +f 24 25 33 +f 31 24 33 +f 24 28 34 +f 25 24 37 +f 34 32 37 +f 23 31 39 +f 31 33 39 +f 35 23 39 +f 35 26 40 +f 26 35 41 +f 39 33 41 +f 35 39 41 +f 42 29 43 +f 28 27 44 +f 27 42 44 +f 30 23 45 +f 23 35 45 +f 35 40 45 +f 32 34 46 +f 34 38 46 +f 42 27 47 +f 29 42 47 +f 33 25 48 +f 40 26 48 +f 26 41 48 +f 41 33 48 +f 27 30 49 +f 30 45 49 +f 45 29 49 +f 29 47 49 +f 47 36 49 +f 24 34 50 +f 37 24 50 +f 34 37 50 +f 47 27 51 +f 36 47 51 +f 27 49 51 +f 49 36 51 +f 25 29 52 +f 48 25 52 +f 34 28 53 +f 38 34 53 +f 28 44 53 +f 44 38 53 +f 29 45 54 +f 45 40 54 +f 40 48 54 +f 52 29 54 +f 48 52 54 +f 29 25 55 +f 25 37 55 +f 37 32 55 +f 43 29 55 +f 32 46 55 +f 46 43 55 +f 42 43 56 +f 38 44 56 +f 44 42 56 +f 46 38 56 +o convex_2 +v -1.204732 2.730299 1.089623 +v -2.440445 1.823763 -1.011873 +v -2.440445 1.823763 1.048276 +v -2.481761 3.760436 0.388987 +v -0.339397 1.823763 -1.011873 +v -0.421610 3.719109 -0.970527 +v -0.380504 1.823763 1.089623 +v -0.462927 3.760436 0.965993 +v -2.399338 3.760436 -1.011873 +v -2.481761 3.760436 1.048276 +v -0.380504 3.595318 -0.929385 +v -0.339397 1.865090 0.759875 +v -2.481761 2.524613 1.048276 +v -0.462927 3.636456 1.007134 +v -1.163416 3.719109 -1.011873 +v -2.440445 3.760436 -0.846897 +v -0.380504 2.400822 1.089623 +v -0.462927 3.760436 0.265357 +v -0.339397 2.277220 -1.011873 +v -1.369578 1.947743 1.089623 +v -1.575320 2.853900 1.089623 +v -2.069647 3.760436 -1.011873 +v -2.481761 2.895037 0.512616 +f 69 60 79 +f 59 58 61 +f 59 61 63 +f 61 58 65 +f 60 64 65 +f 64 60 66 +f 62 64 67 +f 63 61 68 +f 58 59 69 +f 66 60 69 +f 66 57 70 +f 64 66 70 +f 61 65 71 +f 58 60 72 +f 65 58 72 +f 60 65 72 +f 57 63 73 +f 67 64 73 +f 68 67 73 +f 63 68 73 +f 70 57 73 +f 64 70 73 +f 64 62 74 +f 65 64 74 +f 62 67 75 +f 67 68 75 +f 68 61 75 +f 61 71 75 +f 71 62 75 +f 63 57 76 +f 59 63 76 +f 57 66 77 +f 69 59 77 +f 66 69 77 +f 76 57 77 +f 59 76 77 +f 62 71 78 +f 71 65 78 +f 74 62 78 +f 65 74 78 +f 60 58 79 +f 58 69 79 +o convex_3 +v 1.679897 0.134381 -0.599815 +v 1.927132 1.329293 -0.228786 +v 2.833402 1.288031 0.595153 +v 3.575300 1.164365 -0.599815 +v 3.616538 0.175643 0.430225 +v 1.679897 0.175643 0.471516 +v 3.657776 0.134381 -0.434770 +v 1.679897 1.288031 0.595153 +v 3.575300 1.288031 0.553863 +v 1.679897 1.288031 -0.476061 +v 2.257037 0.093119 -0.558525 +v 1.762373 0.958417 0.595153 +v 3.616538 0.299188 0.471516 +v 3.534062 1.205627 -0.517234 +v 3.657776 0.216785 -0.476061 +v 1.679897 0.093119 -0.434770 +v 2.009608 0.505379 -0.599815 +v 1.721135 1.329293 -0.434770 +v 3.575300 1.288031 0.347878 +v 3.657776 0.134381 -0.146322 +v 2.956922 0.175643 0.471516 +v 3.534062 1.040699 -0.599815 +v 3.328065 1.164365 -0.599815 +v 3.534062 1.040699 0.553863 +v 1.679897 0.340450 0.512689 +f 100 91 104 +f 82 81 87 +f 80 85 87 +f 81 82 88 +f 80 87 89 +f 82 87 91 +f 86 90 94 +f 85 80 95 +f 80 90 95 +f 83 80 96 +f 80 89 96 +f 87 81 97 +f 89 87 97 +f 93 83 97 +f 93 97 98 +f 81 88 98 +f 83 93 98 +f 94 83 98 +f 88 94 98 +f 97 81 98 +f 90 86 99 +f 92 84 99 +f 88 92 99 +f 94 88 99 +f 86 94 99 +f 84 95 99 +f 95 90 99 +f 84 92 100 +f 92 91 100 +f 95 84 100 +f 85 95 100 +f 80 83 101 +f 90 80 101 +f 83 94 101 +f 94 90 101 +f 83 96 102 +f 96 89 102 +f 97 83 102 +f 89 97 102 +f 88 82 103 +f 82 91 103 +f 92 88 103 +f 91 92 103 +f 87 85 104 +f 91 87 104 +f 85 100 104 +o convex_4 +v -2.440684 -0.401351 -0.970345 +v -0.504281 1.823763 1.130829 +v -0.586552 1.823763 1.130829 +v -2.440684 1.823763 -1.011873 +v -0.504281 1.040748 -1.011873 +v -2.399359 -0.401351 1.048401 +v -0.504281 -0.401351 1.089510 +v -2.440684 1.823763 1.048401 +v -0.504281 -0.401351 -0.970345 +v -0.504281 1.823763 -1.011873 +v -2.440684 -0.030426 -1.011873 +v -2.440684 0.175619 1.048401 +v -0.998476 -0.401351 1.089510 +v -1.039801 0.340499 -1.011873 +v -2.440684 -0.401351 0.347660 +f 116 105 119 +f 107 106 108 +f 110 105 111 +f 106 107 111 +f 109 106 111 +f 107 108 112 +f 108 105 112 +f 111 105 113 +f 109 111 113 +f 108 106 114 +f 109 108 114 +f 106 109 114 +f 105 108 115 +f 108 109 115 +f 113 105 115 +f 110 107 116 +f 107 112 116 +f 112 105 116 +f 107 110 117 +f 110 111 117 +f 111 107 117 +f 109 113 118 +f 115 109 118 +f 113 115 118 +f 105 110 119 +f 110 116 119 +o convex_5 +v 1.638639 1.782380 -0.269096 +v -0.504011 -0.401351 -1.258197 +v -0.504011 -0.318802 -2.576795 +v -0.504011 1.823763 1.130506 +v 1.638639 -0.359968 3.108708 +v 1.638639 -0.236471 -3.071954 +v -0.504011 1.700049 -3.029930 +v -0.380236 -0.277637 3.025877 +v 1.679897 1.699831 3.025877 +v 1.556122 1.658883 -2.947708 +v -0.380236 1.823763 2.984461 +v -0.504011 -0.277637 -3.113370 +v 1.679897 -0.401351 0.800400 +v 1.679897 1.782380 -1.093144 +v -0.504011 -0.401351 1.089091 +v 1.556122 -0.401351 -1.093753 +v -0.504011 1.823763 -1.011531 +v 1.309000 1.823763 0.512318 +v 0.443860 1.700049 -3.030539 +v 1.597381 1.700049 -2.741848 +v -0.050598 1.452620 3.025877 +v -0.421494 -0.401351 1.583641 +v -0.462753 1.576334 -3.071345 +v 0.196524 -0.277637 -3.113370 +v 1.679897 0.917033 3.067292 +v 0.855587 -0.359968 3.067292 +v 1.679897 1.370289 -1.464666 +v 1.597381 1.411673 -2.989123 +v 1.185439 1.741214 3.025268 +v 1.638639 -0.071592 -3.071954 +v 1.679897 0.093506 -0.558396 +v 1.350259 1.823763 -0.146067 +v 1.679897 -0.318802 1.871723 +v -0.380236 -0.318802 2.820017 +v -0.421494 0.381882 -3.113370 +v 1.514864 -0.277637 3.108708 +v 1.638639 0.381882 -3.029930 +v -0.256675 1.823763 2.984461 +v 1.473820 1.658883 -2.989123 +v -0.380236 0.216785 3.025877 +v 1.679897 -0.401351 1.047675 +v -0.338978 1.823763 -1.011531 +v 1.350259 1.700049 -2.865486 +v 0.649724 1.741214 3.025877 +f 148 157 163 +f 122 121 123 +f 122 123 126 +f 122 126 131 +f 128 132 133 +f 120 128 133 +f 123 121 134 +f 127 123 134 +f 121 132 134 +f 121 122 135 +f 132 121 135 +f 125 132 135 +f 126 123 136 +f 123 130 136 +f 128 120 137 +f 136 130 137 +f 126 136 138 +f 134 132 141 +f 131 126 142 +f 126 138 142 +f 122 131 143 +f 135 122 143 +f 125 135 143 +f 132 128 144 +f 124 127 145 +f 141 124 145 +f 133 132 146 +f 139 133 146 +f 139 146 147 +f 129 139 147 +f 128 137 148 +f 144 128 148 +f 142 138 149 +f 125 143 149 +f 146 125 149 +f 132 125 150 +f 125 146 150 +f 146 132 150 +f 120 133 151 +f 136 137 151 +f 137 120 151 +f 144 124 152 +f 132 144 152 +f 127 134 153 +f 134 141 153 +f 145 127 153 +f 141 145 153 +f 131 142 154 +f 143 131 154 +f 142 149 154 +f 149 143 154 +f 127 124 155 +f 124 144 155 +f 147 146 156 +f 146 149 156 +f 149 147 156 +f 137 130 157 +f 148 137 157 +f 139 129 158 +f 129 147 158 +f 149 138 158 +f 147 149 158 +f 123 127 159 +f 130 123 159 +f 140 130 159 +f 127 155 159 +f 155 140 159 +f 124 141 160 +f 141 132 160 +f 152 124 160 +f 132 152 160 +f 138 136 161 +f 151 133 161 +f 136 151 161 +f 133 139 162 +f 158 138 162 +f 139 158 162 +f 138 161 162 +f 161 133 162 +f 130 140 163 +f 144 148 163 +f 140 155 163 +f 155 144 163 +f 157 130 163 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/645/645.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/645/645.urdf new file mode 100644 index 000000000..b1c007ebf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/645/645.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/646/646.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/646/646.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/646/646.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/646/646.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/646/646.obj new file mode 100644 index 000000000..ed1150122 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/646/646.obj @@ -0,0 +1,936 @@ +o convex_0 +v -0.948931 -2.577789 -0.305766 +v 1.049647 -1.778576 0.959641 +v 0.982934 -1.612114 1.059568 +v 0.816352 -1.612114 -1.171967 +v 0.716281 -3.110765 -0.039378 +v -0.782349 -1.612114 1.159495 +v -0.416031 -2.977562 0.759536 +v -0.815504 -1.612114 -0.972113 +v -0.049510 -3.077506 -0.705725 +v 0.782995 -2.911045 0.726143 +v 1.049647 -2.144923 -0.705474 +v -0.782349 -3.144024 0.093440 +v 0.083513 -1.645373 1.326207 +v -0.982288 -2.111665 0.859463 +v 0.050156 -3.310818 0.060047 +v 0.749638 -2.811101 -0.738867 +v -0.782349 -2.877619 -0.605547 +v 0.017001 -1.678632 -1.238753 +v -1.015645 -1.612114 -0.472478 +v -0.882217 -2.777676 0.792928 +v 1.049647 -1.612114 -0.905328 +v 1.049647 -2.344810 0.493147 +v -1.015645 -2.677733 0.027407 +v 0.083513 -3.077506 0.726143 +v -0.982288 -1.612114 0.926248 +v 0.816352 -2.311551 0.992782 +v 0.816352 -3.010988 -0.072771 +v 0.083513 -3.044080 -0.738867 +v 1.049647 -2.111831 0.926248 +v 0.017001 -3.310818 -0.072771 +v -0.782349 -3.110765 -0.105912 +v -1.015645 -2.311551 0.526540 +v 0.882863 -1.711891 1.125851 +v 1.049647 -2.378069 -0.105912 +v -1.015645 -2.278292 -0.305766 +v 0.816352 -2.744417 -0.738867 +v -0.815504 -1.678632 -0.972113 +v -0.016153 -1.645373 1.326207 +v 0.816352 -1.645373 -1.171967 +v -0.049510 -3.110765 0.659609 +v -0.848861 -2.910878 0.659609 +v -0.748992 -2.844194 -0.638940 +v -0.049510 -3.044080 -0.738867 +v 1.049647 -1.612114 0.926248 +v 0.050156 -2.944304 0.792928 +v -0.016153 -1.612114 -1.238753 +v -1.015645 -1.612114 0.193367 +v -1.015645 -2.677733 0.193367 +v 0.782995 -3.077506 0.060047 +v 0.083513 -1.612114 1.326207 +v -0.782349 -2.844194 0.792928 +v 0.782995 -2.844194 -0.672332 +v -0.049510 -3.310818 0.060047 +v -0.649124 -1.645373 1.192887 +v -0.082867 -3.310818 -0.039378 +v 0.050156 -3.077506 -0.705725 +v 0.216738 -1.645373 -1.238753 +v 0.982934 -2.478012 0.659609 +v 0.816352 -2.811101 -0.638940 +v -0.249449 -3.010821 0.759536 +v -0.815504 -2.744251 -0.605547 +f 35 37 61 +f 3 4 6 +f 6 4 8 +f 6 8 19 +f 6 14 20 +f 4 3 21 +f 2 11 21 +f 11 2 22 +f 1 17 23 +f 15 10 24 +f 14 6 25 +f 6 19 25 +f 2 3 29 +f 22 2 29 +f 26 10 29 +f 5 15 30 +f 17 9 31 +f 23 17 31 +f 12 23 31 +f 20 14 32 +f 19 23 32 +f 14 25 32 +f 13 26 33 +f 29 3 33 +f 26 29 33 +f 11 22 34 +f 22 27 34 +f 1 23 35 +f 23 19 35 +f 19 8 37 +f 35 19 37 +f 4 21 39 +f 21 11 39 +f 16 28 39 +f 11 36 39 +f 36 16 39 +f 15 24 40 +f 40 7 41 +f 12 40 41 +f 37 18 42 +f 17 37 42 +f 9 17 43 +f 28 9 43 +f 18 28 43 +f 17 42 43 +f 42 18 43 +f 3 2 44 +f 21 3 44 +f 2 21 44 +f 24 10 45 +f 10 26 45 +f 26 13 45 +f 13 38 45 +f 8 4 46 +f 37 8 46 +f 18 37 46 +f 25 19 47 +f 19 32 47 +f 32 25 47 +f 23 12 48 +f 20 32 48 +f 32 23 48 +f 41 20 48 +f 12 41 48 +f 15 5 49 +f 10 15 49 +f 5 27 49 +f 27 22 49 +f 3 6 50 +f 33 3 50 +f 13 33 50 +f 6 38 50 +f 38 13 50 +f 38 20 51 +f 41 7 51 +f 20 41 51 +f 27 5 52 +f 28 16 52 +f 16 36 52 +f 30 15 53 +f 40 12 53 +f 15 40 53 +f 6 20 54 +f 38 6 54 +f 20 38 54 +f 9 30 55 +f 31 9 55 +f 12 31 55 +f 53 12 55 +f 30 53 55 +f 9 28 56 +f 30 9 56 +f 5 30 56 +f 52 5 56 +f 28 52 56 +f 28 18 57 +f 4 39 57 +f 39 28 57 +f 46 4 57 +f 18 46 57 +f 22 29 58 +f 29 10 58 +f 10 49 58 +f 49 22 58 +f 11 34 59 +f 34 27 59 +f 36 11 59 +f 27 52 59 +f 52 36 59 +f 7 40 60 +f 40 24 60 +f 24 45 60 +f 45 38 60 +f 51 7 60 +f 38 51 60 +f 17 1 61 +f 1 35 61 +f 37 17 61 +o convex_1 +v -2.081726 1.153067 -0.072797 +v -1.215512 2.285458 0.026863 +v -1.215512 2.185352 0.260224 +v -2.780859 2.118697 -0.039460 +v -1.215512 1.785670 -0.605841 +v -1.215512 1.119740 0.460012 +v -2.747584 1.685687 0.360001 +v -2.747584 1.685687 -0.439272 +v -1.215512 1.186395 -0.472492 +v -1.615520 2.185352 -0.472492 +v -1.215512 1.685687 0.593361 +v -2.747584 1.286253 -0.039460 +v -2.048451 2.085369 0.360001 +v -3.014139 1.685687 -0.006240 +v -1.215512 1.019758 -0.039460 +v -1.948625 1.286253 -0.439272 +v -2.614307 1.386236 0.260224 +v -1.215512 2.218679 -0.472492 +v -2.514481 2.052166 -0.372597 +v -1.948625 1.719015 -0.572503 +v -2.015175 2.252007 -0.039460 +v -1.215512 2.085369 0.426792 +v -1.748621 1.186395 0.393455 +v -1.981900 1.619404 0.493350 +v -2.747584 1.785670 -0.439272 +v -2.048451 2.152024 -0.439272 +v -2.547756 2.018838 0.260224 +v -1.315690 1.319581 -0.539166 +v -2.581032 1.386236 -0.306040 +v -3.014139 1.719015 -0.106134 +v -1.615520 1.119740 0.260224 +v -2.714309 2.152024 -0.039460 +v -2.747584 1.719015 0.360001 +v -1.981900 1.885528 -0.539166 +v -2.747584 1.319581 0.060200 +v -1.249139 1.586077 0.593361 +v -1.249139 1.852325 -0.605841 +v -1.981900 2.252007 -0.106134 +v -2.814135 1.352908 -0.072797 +v -1.249139 1.019758 0.060200 +v -1.249139 2.285458 -0.139471 +v -1.981900 1.685687 0.493350 +v -2.814135 1.752342 0.293443 +v -1.981900 2.185352 0.160094 +v -2.114825 1.153067 -0.006240 +v -3.014139 1.785670 -0.072797 +v -1.448967 2.085369 0.426792 +v -2.681034 2.152024 -0.106134 +v -1.282414 1.186395 -0.472492 +f 77 89 110 +f 63 64 66 +f 66 64 67 +f 66 67 70 +f 67 64 72 +f 70 67 76 +f 62 73 77 +f 63 66 79 +f 77 69 81 +f 72 64 83 +f 68 78 84 +f 84 67 85 +f 68 84 85 +f 81 69 86 +f 86 80 87 +f 66 70 89 +f 81 66 89 +f 77 81 89 +f 69 77 90 +f 77 73 90 +f 86 69 91 +f 67 84 92 +f 65 88 93 +f 88 74 93 +f 68 85 94 +f 74 88 94 +f 81 86 95 +f 86 87 95 +f 87 71 95 +f 68 75 96 +f 78 68 96 +f 73 84 96 +f 84 78 96 +f 67 72 97 +f 85 67 97 +f 79 66 98 +f 71 79 98 +f 66 81 98 +f 95 71 98 +f 81 95 98 +f 79 71 99 +f 71 87 99 +f 93 82 99 +f 69 90 100 +f 90 73 100 +f 91 69 100 +f 75 91 100 +f 96 75 100 +f 73 96 100 +f 76 67 101 +f 67 92 101 +f 63 79 102 +f 82 63 102 +f 79 99 102 +f 99 82 102 +f 72 74 103 +f 74 94 103 +f 94 85 103 +f 97 72 103 +f 85 97 103 +f 75 68 104 +f 88 65 104 +f 68 94 104 +f 94 88 104 +f 64 63 105 +f 74 64 105 +f 63 82 105 +f 93 74 105 +f 82 93 105 +f 73 62 106 +f 62 76 106 +f 84 73 106 +f 92 84 106 +f 76 101 106 +f 101 92 106 +f 65 86 107 +f 91 75 107 +f 86 91 107 +f 104 65 107 +f 75 104 107 +f 64 74 108 +f 74 72 108 +f 83 64 108 +f 72 83 108 +f 86 65 109 +f 80 86 109 +f 87 80 109 +f 65 93 109 +f 99 87 109 +f 93 99 109 +f 76 62 110 +f 70 76 110 +f 62 77 110 +f 89 70 110 +o convex_2 +v 0.583193 0.253314 2.624925 +v -0.049461 -1.611948 -1.238257 +v 0.350054 -1.611948 -1.238257 +v 0.050153 0.453210 -2.770571 +v -1.015504 -0.379800 2.091555 +v 1.049471 -1.611948 0.925821 +v -1.082267 0.619900 -0.671889 +v 1.049471 0.619900 -0.739085 +v -1.015504 -1.611948 -0.505698 +v 0.050153 -1.145524 2.858312 +v 0.816332 -0.413007 -2.803569 +v -0.782365 -0.346375 -2.770571 +v -0.049461 0.486636 2.758117 +v -1.015504 -1.611948 0.925821 +v -0.049461 -1.112098 -2.804169 +v 0.816332 -0.313168 2.824714 +v 1.049471 -1.611948 -0.904676 +v -0.982229 0.619900 1.059013 +v 1.082958 0.619900 0.193262 +v -0.715603 -0.379800 2.857712 +v 1.082958 -0.379800 -2.071010 +v 0.816332 0.453210 -2.037412 +v 0.816332 0.619900 1.458591 +v 1.016196 -0.313168 2.158151 +v -1.015504 -0.346375 -2.071010 +v -0.815641 0.619900 -1.471044 +v 0.083640 -0.279743 3.091699 +v -0.049461 -0.279743 -3.037556 +v -0.782365 0.453210 2.125153 +v 0.016877 -1.611948 1.459191 +v -0.749090 -1.078891 -2.104608 +v 0.050153 0.619900 -2.271399 +v 0.649744 -0.978834 2.591327 +v 0.616469 -0.945627 -2.603780 +v -0.782365 0.453210 -2.004414 +v -0.549226 -0.945627 2.624325 +v -0.049461 0.619900 2.358540 +v 1.082958 -1.478684 0.226260 +v -1.082267 0.619900 0.659436 +v -0.815641 -1.611948 -0.971272 +v -0.482464 0.319946 -2.603780 +v 0.050153 0.453210 2.824714 +v 0.649744 0.153257 -2.637378 +v 0.949645 -1.611948 1.125610 +v -0.615777 0.186463 2.658523 +v 0.949645 0.619900 -1.304853 +v 0.816332 -1.611948 -1.171661 +v -0.782365 -0.246536 -2.770571 +v 0.749782 0.420003 2.091555 +v 0.050153 -1.112098 -2.804169 +v -0.615777 -0.845788 -2.604380 +v -0.782365 -0.379800 2.758117 +v 0.816332 -0.379800 2.824714 +v -0.782365 -1.611948 1.159208 +v -0.715603 -1.145524 2.125153 +v 0.083640 -0.313168 -3.037556 +v 0.083640 -0.413007 3.091699 +v 0.783057 -0.279743 -2.803569 +v 1.016196 0.619900 0.659436 +v 1.082958 -0.313168 -2.071010 +v -0.016186 0.453210 -2.770571 +v -0.948954 -0.013433 2.058557 +v -0.049461 0.453210 2.824714 +v -1.015504 -0.179904 -1.970816 +f 145 158 174 +f 112 113 116 +f 112 116 119 +f 119 116 124 +f 117 119 124 +f 113 112 125 +f 116 113 127 +f 118 117 128 +f 118 128 129 +f 127 121 131 +f 129 128 133 +f 119 117 135 +f 117 118 136 +f 125 122 138 +f 124 116 140 +f 119 135 141 +f 135 122 141 +f 132 114 142 +f 136 118 142 +f 121 127 144 +f 117 136 145 +f 120 130 146 +f 133 128 147 +f 128 139 147 +f 139 123 147 +f 116 127 148 +f 127 131 148 +f 131 129 148 +f 129 134 148 +f 134 116 148 +f 124 115 149 +f 117 124 149 +f 128 117 149 +f 139 128 149 +f 112 119 150 +f 125 112 150 +f 119 141 150 +f 141 125 150 +f 126 111 152 +f 137 126 152 +f 147 123 152 +f 133 147 152 +f 114 132 153 +f 140 116 154 +f 120 140 154 +f 116 143 154 +f 143 120 154 +f 132 142 156 +f 142 118 156 +f 127 113 157 +f 144 127 157 +f 122 135 158 +f 138 122 158 +f 145 151 158 +f 111 126 159 +f 126 134 159 +f 152 111 159 +f 133 152 159 +f 113 125 160 +f 121 144 160 +f 157 113 160 +f 144 157 160 +f 122 125 161 +f 125 141 161 +f 141 122 161 +f 115 124 162 +f 146 130 162 +f 155 139 162 +f 130 155 162 +f 116 134 163 +f 134 126 163 +f 126 137 163 +f 143 116 163 +f 120 143 163 +f 140 120 164 +f 124 140 164 +f 120 146 165 +f 162 124 165 +f 146 162 165 +f 164 120 165 +f 124 164 165 +f 138 114 166 +f 125 138 166 +f 160 125 166 +f 121 160 166 +f 130 120 167 +f 137 130 167 +f 120 163 167 +f 163 137 167 +f 114 153 168 +f 153 132 168 +f 166 114 168 +f 121 166 168 +f 129 133 169 +f 134 129 169 +f 133 159 169 +f 159 134 169 +f 118 129 170 +f 131 121 170 +f 129 131 170 +f 156 118 170 +f 132 156 170 +f 121 168 170 +f 168 132 170 +f 114 138 171 +f 142 114 171 +f 136 142 171 +f 145 136 171 +f 151 145 171 +f 138 158 171 +f 158 151 171 +f 149 115 172 +f 139 149 172 +f 115 162 172 +f 162 139 172 +f 130 137 173 +f 123 139 173 +f 152 123 173 +f 137 152 173 +f 139 155 173 +f 155 130 173 +f 135 117 174 +f 117 145 174 +f 158 135 174 +o convex_3 +v -1.148878 0.786456 0.493010 +v 1.149477 0.953011 0.326481 +v 1.116154 0.953011 0.459618 +v 1.016186 0.619900 0.692933 +v 0.050283 0.619900 -2.171465 +v -0.049456 0.619900 2.258919 +v -0.915619 0.953011 -1.004890 +v -0.915619 0.953011 1.092777 +v -1.082232 0.619900 -0.671831 +v 0.982863 0.953011 -1.038283 +v 0.982863 0.619900 -1.105068 +v 0.882895 0.953011 0.992599 +v -0.982264 0.619900 1.059385 +v -0.016362 0.953011 -1.271598 +v -0.016362 0.953011 1.292700 +v -1.182201 0.953011 0.526403 +v 0.782927 0.619900 1.392444 +v -0.815651 0.619900 -1.371342 +v -0.016362 0.653224 -2.171465 +v -1.115555 0.953011 -0.605045 +v -0.016362 0.653224 2.258919 +v 1.082831 0.653224 -0.672264 +v 1.116154 0.619900 0.126558 +v -1.115555 0.653224 0.593188 +v 1.082831 0.953011 -0.672264 +v -0.282715 0.653224 2.025604 +v 0.749604 0.653224 -1.438128 +v -0.982264 0.853071 1.059385 +v 0.250220 0.653224 -2.004502 +v -1.115555 0.719840 -0.605045 +v -0.216070 0.653224 -2.004068 +v -0.016362 0.886363 1.526015 +v 0.782927 0.653224 1.392444 +v 0.949540 0.953011 -1.072109 +v 0.050283 0.653224 -2.171465 +v 0.949540 0.619900 -1.205246 +f 203 201 210 +f 176 177 178 +f 179 178 180 +f 177 176 181 +f 177 181 182 +f 179 180 183 +f 181 176 184 +f 178 179 185 +f 177 182 186 +f 183 180 187 +f 181 184 188 +f 186 182 189 +f 182 181 190 +f 178 177 191 +f 180 178 191 +f 179 183 192 +f 181 188 193 +f 190 181 194 +f 181 192 194 +f 180 191 195 +f 185 196 197 +f 176 178 197 +f 178 185 197 +f 196 176 197 +f 183 187 198 +f 190 175 198 +f 187 190 198 +f 184 176 199 +f 185 184 199 +f 176 196 199 +f 196 185 199 +f 187 180 200 +f 180 195 200 +f 195 182 200 +f 182 190 202 +f 190 187 202 +f 200 182 202 +f 187 200 202 +f 184 201 203 +f 175 190 204 +f 192 183 204 +f 190 194 204 +f 194 192 204 +f 198 175 204 +f 183 198 204 +f 179 192 205 +f 192 181 205 +f 193 179 205 +f 181 193 205 +f 189 182 206 +f 186 189 206 +f 182 195 206 +f 195 186 206 +f 177 186 207 +f 191 177 207 +f 186 195 207 +f 195 191 207 +f 188 184 208 +f 184 203 208 +f 208 203 209 +f 179 193 209 +f 193 188 209 +f 203 179 209 +f 188 208 209 +f 185 179 210 +f 184 185 210 +f 201 184 210 +f 179 203 210 +o convex_4 +v -1.015482 1.918970 -0.772240 +v 1.249514 1.785869 0.593068 +v 1.249514 1.619365 0.593068 +v -0.882289 0.986583 1.092833 +v 0.949590 0.953011 -1.072001 +v 0.216790 2.685192 0.060295 +v -0.749097 2.418481 0.759575 +v -0.915587 0.953181 -1.005496 +v 0.849696 2.351846 -0.705490 +v 0.816398 0.953011 1.026328 +v -0.815693 2.418481 -0.805492 +v 0.749560 2.385248 0.759575 +v -1.215512 2.118706 0.459813 +v 1.249514 2.285210 -0.105968 +v -0.049354 1.053049 1.259340 +v -1.215512 0.986583 -0.039218 +v 0.083598 1.019647 -1.238508 +v 1.249514 1.119684 -0.172473 +v -1.215512 2.218575 -0.472479 +v -0.749097 2.651789 0.027042 +v 1.249514 1.952203 -0.572236 +v -1.181972 0.953181 0.526563 +v 0.783099 2.618556 0.093547 +v 1.149379 0.953011 0.359811 +v 0.050300 2.418650 0.826324 +v 0.816398 1.686170 -0.971999 +v -1.215512 1.219722 -0.505731 +v 1.249514 2.152109 0.459813 +v 0.716503 1.752636 0.959579 +v -0.815693 1.652767 0.992831 +v -1.215512 1.686000 0.626320 +v -0.016055 2.451883 -0.738743 +v 1.249514 1.219722 -0.505731 +v -0.149489 0.953011 1.259340 +v 1.249514 1.119684 0.426561 +v -1.181972 2.318613 0.027042 +v 0.083598 2.685192 -0.039463 +v -1.215512 1.918970 -0.605489 +v 0.083598 2.485286 0.726322 +v -0.049354 0.953011 -1.238508 +v -0.982184 0.953181 1.026328 +v -0.815693 2.451883 -0.772240 +v 0.783099 2.618556 -0.006210 +v 1.116081 0.953011 -0.572236 +v 1.249514 2.152109 -0.505731 +v -0.815693 1.053049 -1.038749 +v 0.882994 0.953011 0.992831 +v -1.115376 0.953181 -0.605489 +v -0.149489 2.685192 0.093547 +v 0.783099 2.385248 -0.705490 +v 0.682964 2.352015 0.793072 +v -0.115950 2.418650 -0.772240 +v 0.749560 2.418650 0.726322 +v 1.182677 2.351846 0.060295 +v -0.749097 1.719403 0.992831 +v -0.082893 2.418650 0.826324 +v 1.249514 1.586132 -0.605489 +v 0.949590 1.019816 -1.072001 +v -0.649202 2.651789 -0.072471 +v 0.816398 1.053049 1.026328 +v 0.916292 1.719403 -0.905494 +v -1.215512 1.053049 0.459813 +v 0.017001 0.986414 1.259340 +v -0.682500 2.418481 -0.805492 +f 242 262 274 +f 218 211 221 +f 212 213 224 +f 224 213 228 +f 226 223 229 +f 224 228 231 +f 220 215 234 +f 226 229 237 +f 222 212 238 +f 212 224 238 +f 212 222 239 +f 217 223 241 +f 223 226 241 +f 240 217 241 +f 231 228 243 +f 215 220 244 +f 240 214 244 +f 228 213 245 +f 234 228 245 +f 223 217 246 +f 229 223 246 +f 217 230 246 +f 230 229 246 +f 211 218 248 +f 221 211 248 +f 229 221 248 +f 218 237 248 +f 237 229 248 +f 233 216 249 +f 227 215 250 +f 221 227 250 +f 215 244 250 +f 244 232 250 +f 214 240 251 +f 241 232 251 +f 240 241 251 +f 232 244 251 +f 244 214 251 +f 221 229 252 +f 229 230 252 +f 247 242 252 +f 224 219 253 +f 216 233 253 +f 247 216 253 +f 234 215 254 +f 228 234 254 +f 215 243 254 +f 243 228 254 +f 219 224 255 +f 224 231 255 +f 218 221 256 +f 250 218 256 +f 221 250 256 +f 213 212 257 +f 220 234 257 +f 245 213 257 +f 234 245 257 +f 232 226 258 +f 237 218 258 +f 226 237 258 +f 218 250 258 +f 250 232 258 +f 230 217 259 +f 216 247 259 +f 249 216 259 +f 217 249 259 +f 219 236 260 +f 242 247 260 +f 253 219 260 +f 247 253 260 +f 222 235 261 +f 235 225 261 +f 239 222 261 +f 225 239 261 +f 260 236 262 +f 242 260 262 +f 235 222 263 +f 222 238 263 +f 233 249 263 +f 249 235 263 +f 238 224 264 +f 224 253 264 +f 253 233 264 +f 263 238 264 +f 233 263 264 +f 217 240 265 +f 244 225 265 +f 240 244 265 +f 225 235 266 +f 249 217 266 +f 235 249 266 +f 217 265 266 +f 265 225 266 +f 243 215 267 +f 231 243 267 +f 215 227 268 +f 227 236 268 +f 267 215 268 +f 231 267 268 +f 252 230 269 +f 247 252 269 +f 230 259 269 +f 259 247 269 +f 212 239 270 +f 257 212 270 +f 220 257 270 +f 236 219 271 +f 219 255 271 +f 255 231 271 +f 268 236 271 +f 231 268 271 +f 226 232 272 +f 241 226 272 +f 232 241 272 +f 239 225 273 +f 244 220 273 +f 225 244 273 +f 220 270 273 +f 270 239 273 +f 227 221 274 +f 236 227 274 +f 221 252 274 +f 252 242 274 +f 262 236 274 +o convex_5 +v 2.948133 1.718946 0.160094 +v 1.249687 1.652754 -0.605841 +v 1.249687 1.486019 -0.572503 +v 1.249687 1.686079 0.593361 +v 1.249687 2.285458 -0.039460 +v 1.283038 1.119567 0.426792 +v 2.748204 1.686079 -0.372597 +v 2.681676 1.319512 -0.039460 +v 2.781554 2.085513 0.026863 +v 1.283038 2.152161 -0.472492 +v 1.249687 1.186330 -0.472492 +v 2.049230 2.085513 0.393455 +v 2.715026 1.686079 0.393455 +v 2.115758 2.085513 -0.405934 +v 1.249687 2.152161 0.426792 +v 2.614976 1.419371 0.293443 +v 2.015880 1.186330 -0.039460 +v 3.014661 1.652754 -0.006240 +v 2.015880 2.218695 -0.006240 +v 2.315341 1.386275 -0.339260 +v 1.916002 1.718946 -0.539166 +v 2.748204 1.785709 -0.372597 +v 1.249687 1.119567 -0.139471 +v 2.148763 1.652754 0.493350 +v 2.614976 1.985654 0.293443 +v 2.715026 1.319512 0.026863 +v 2.748204 2.085513 -0.072797 +v 1.482967 1.319512 -0.505829 +v 1.982530 1.286188 0.393455 +v 3.014661 1.752271 -0.039460 +v 2.814904 1.686079 0.360001 +v 1.249687 2.085513 -0.505829 +v 2.614976 1.985654 -0.306040 +v 2.148763 1.718946 0.493350 +v 1.349738 2.118837 0.460012 +v 1.249687 1.119567 0.426792 +v 2.049230 2.185485 -0.139471 +v 1.283038 2.285458 0.026863 +v 2.781554 1.352951 0.026863 +v 2.614976 1.419371 -0.239366 +v 2.648326 1.686079 -0.405934 +v 1.649545 1.252978 -0.439272 +v 1.416266 1.119567 0.293443 +v 1.283038 1.652754 0.593361 +f 310 280 318 +f 276 277 278 +f 276 278 279 +f 278 277 285 +f 279 278 289 +f 286 283 293 +f 277 276 295 +f 295 288 296 +f 278 285 297 +f 285 291 297 +f 283 286 299 +f 286 287 299 +f 291 282 300 +f 293 283 301 +f 285 277 302 +f 277 295 302 +f 290 287 303 +f 298 280 303 +f 287 298 303 +f 280 300 303 +f 300 290 303 +f 283 275 304 +f 292 281 304 +f 275 292 304 +f 281 296 304 +f 301 283 304 +f 296 301 304 +f 275 283 305 +f 287 290 305 +f 292 275 305 +f 283 299 305 +f 299 287 305 +f 276 279 306 +f 279 284 306 +f 284 288 306 +f 295 276 306 +f 288 295 306 +f 296 288 307 +f 288 301 307 +f 301 296 307 +f 287 286 308 +f 298 287 308 +f 289 278 309 +f 286 289 309 +f 278 308 309 +f 308 286 309 +f 278 297 310 +f 297 280 310 +f 284 279 311 +f 288 284 311 +f 279 293 311 +f 293 301 311 +f 301 288 311 +f 279 289 312 +f 289 286 312 +f 293 279 312 +f 286 293 312 +f 281 292 313 +f 290 300 313 +f 300 282 313 +f 305 290 313 +f 292 305 313 +f 294 281 314 +f 282 294 314 +f 281 313 314 +f 313 282 314 +f 281 294 315 +f 295 296 315 +f 296 281 315 +f 302 295 315 +f 302 315 316 +f 282 291 316 +f 291 285 316 +f 294 282 316 +f 285 302 316 +f 315 294 316 +f 280 297 317 +f 297 291 317 +f 300 280 317 +f 291 300 317 +f 280 298 318 +f 308 278 318 +f 298 308 318 +f 278 310 318 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/646/646.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/646/646.urdf new file mode 100644 index 000000000..b322cdf70 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/646/646.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/647/647.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/647/647.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/647/647.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/647/647.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/647/647.obj new file mode 100644 index 000000000..17c55d704 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/647/647.obj @@ -0,0 +1,573 @@ +o convex_0 +v -3.215946 0.970130 0.568901 +v -3.151134 1.487634 -0.596117 +v -2.892279 0.517118 -0.466569 +v -1.306940 1.552440 0.439353 +v -1.306940 0.484820 -0.498956 +v -1.306940 0.484820 0.439353 +v -1.306940 1.552440 -0.596117 +v -3.313164 1.487634 0.471740 +v -3.313164 0.549521 0.568901 +v -3.183540 1.552440 -0.434296 +v -3.151134 0.581820 -0.466569 +v -2.568612 1.520037 0.504127 +v -2.503997 0.517118 0.536514 +v -1.306940 1.293531 -0.596117 +v -1.727628 0.484820 -0.498956 +v -3.313164 1.455336 0.536514 +v -1.760034 0.484820 0.439353 +v -1.630607 1.390635 0.471740 +v -1.954274 1.552440 0.471740 +v -3.313164 0.549521 0.504127 +v -3.151134 1.552440 -0.596117 +v -2.924685 0.743624 0.568901 +v -3.183540 0.549521 -0.304862 +v -3.313164 1.422933 0.374693 +v -1.339150 0.678923 -0.531343 +v -2.957091 0.517118 -0.337135 +v -2.665830 0.517118 0.536514 +v -3.183540 1.293531 -0.434296 +v -1.630607 0.484820 0.471740 +f 27 17 29 +f 5 4 6 +f 4 5 7 +f 4 7 10 +f 2 3 11 +f 2 7 14 +f 7 5 14 +f 3 2 15 +f 5 6 15 +f 9 1 16 +f 8 9 16 +f 1 12 16 +f 12 8 16 +f 15 6 17 +f 6 4 18 +f 12 1 18 +f 10 8 19 +f 4 10 19 +f 8 12 19 +f 18 4 19 +f 12 18 19 +f 9 8 20 +f 7 2 21 +f 2 10 21 +f 10 7 21 +f 1 9 22 +f 9 13 22 +f 18 1 22 +f 11 3 23 +f 8 10 24 +f 20 8 24 +f 2 14 25 +f 14 5 25 +f 15 2 25 +f 5 15 25 +f 3 15 26 +f 15 17 26 +f 9 20 26 +f 23 3 26 +f 20 23 26 +f 13 9 27 +f 9 26 27 +f 26 17 27 +f 10 2 28 +f 2 11 28 +f 11 23 28 +f 23 20 28 +f 20 24 28 +f 24 10 28 +f 17 6 29 +f 6 18 29 +f 22 13 29 +f 18 22 29 +f 13 27 29 +o convex_1 +v -0.271069 0.516745 -1.113903 +v 0.731853 2.102337 1.086687 +v 0.893836 1.519676 0.504013 +v -1.209584 -3.980937 1.054160 +v 0.829000 -4.013172 -0.984228 +v -1.306731 2.167415 -1.113903 +v -1.274205 -3.915859 -1.049066 +v 0.796689 -4.046015 0.989539 +v -1.177273 1.972789 0.989539 +v 0.893836 2.070102 -1.113903 +v -1.306731 1.648616 0.536324 +v 0.829000 -3.980329 -1.049066 +v -0.659442 2.167415 0.568635 +v 0.376005 2.167415 -0.563540 +v -0.432837 -4.013172 1.054160 +v -1.274205 -3.074710 -1.081376 +v 0.893836 0.516137 0.439391 +v -1.177273 -1.715370 1.054160 +v -1.306731 0.484510 0.439176 +v 0.829000 -2.330266 -1.081376 +v 0.796689 -2.880692 1.021850 +v -1.306731 0.386589 -1.113903 +v 0.829000 -4.013172 -0.110541 +v -0.821210 2.005024 1.021850 +v 0.893836 0.451667 -0.531229 +v -1.274205 -3.915859 -0.692999 +v 0.376005 2.167415 0.568635 +v -1.306731 -0.551265 -1.049066 +v 0.861310 0.808075 -1.113903 +v 0.343479 -4.046015 1.021850 +v -1.177273 -3.980937 0.860080 +v 0.861310 -1.683136 -1.081376 +v -1.241894 2.069494 0.083325 +v 0.667231 2.102337 1.086687 +v 0.764379 -4.013172 -0.984444 +v 0.796689 -2.168484 1.021850 +v -1.177273 0.807467 1.021850 +v 0.764379 2.102337 0.730620 +v 0.731853 1.940554 1.086687 +v -0.918358 -3.041867 -1.081376 +v 0.731853 -4.046015 0.342243 +v -1.209584 1.907711 0.892175 +v 0.893836 1.422363 -1.113903 +v -1.306731 2.167415 -0.984228 +v 0.893836 2.070102 -0.984228 +v 0.764379 0.289884 1.054160 +v -1.112437 2.005024 0.957012 +v -1.144747 2.167415 -1.113903 +v -0.594821 -3.948702 -1.049066 +f 64 60 78 +f 30 35 39 +f 35 42 43 +f 32 37 46 +f 39 32 46 +f 33 40 48 +f 40 35 48 +f 37 32 50 +f 35 30 51 +f 45 36 51 +f 48 35 51 +f 37 34 52 +f 46 37 52 +f 39 46 54 +f 52 34 54 +f 46 52 54 +f 36 33 55 +f 33 48 55 +f 42 31 56 +f 43 42 56 +f 51 36 57 +f 48 51 57 +f 36 55 57 +f 55 48 57 +f 30 39 58 +f 44 33 59 +f 37 50 59 +f 50 44 59 +f 33 36 60 +f 59 33 60 +f 34 41 61 +f 41 49 61 +f 54 34 61 +f 31 42 63 +f 47 33 63 +f 41 34 64 +f 50 32 65 +f 33 47 66 +f 53 38 66 +f 47 63 66 +f 63 53 66 +f 31 32 67 +f 39 43 67 +f 56 31 67 +f 43 56 67 +f 33 44 68 +f 44 50 68 +f 31 63 68 +f 63 33 68 +f 41 45 69 +f 49 41 69 +f 51 30 69 +f 45 51 69 +f 30 58 69 +f 58 49 69 +f 34 37 70 +f 37 59 70 +f 59 60 70 +f 64 34 70 +f 60 64 70 +f 40 33 71 +f 62 40 71 +f 38 62 71 +f 33 66 71 +f 66 38 71 +f 39 54 72 +f 58 39 72 +f 49 58 72 +f 61 49 72 +f 54 61 72 +f 35 40 73 +f 42 35 73 +f 40 62 73 +f 62 42 73 +f 32 39 74 +f 67 32 74 +f 39 67 74 +f 32 31 75 +f 65 32 75 +f 50 65 75 +f 31 68 75 +f 68 50 75 +f 38 53 76 +f 62 38 76 +f 42 62 76 +f 63 42 76 +f 53 63 76 +f 39 35 77 +f 43 39 77 +f 35 43 77 +f 36 45 78 +f 45 41 78 +f 60 36 78 +f 41 64 78 +o convex_2 +v 0.343582 3.073642 -0.110515 +v -0.821320 2.749962 -0.466522 +v -0.821320 2.749962 -0.434258 +v -0.821320 4.076421 -0.466522 +v -0.691808 2.232227 0.568901 +v 0.246536 4.011989 0.471778 +v 0.343582 2.167415 -0.563756 +v 0.376047 2.167415 0.568901 +v 0.278884 4.109112 -0.498896 +v -0.756505 4.011989 0.439404 +v -0.788854 2.167415 -0.434258 +v -0.821320 4.076421 -0.563756 +v -0.788854 2.167415 -0.110515 +v -0.497599 2.588408 0.568901 +v 0.278884 4.044300 0.277643 +v -0.756505 2.264538 -0.466522 +v -0.659342 2.167415 0.568901 +v 0.019978 4.109112 -0.531270 +v -0.788854 3.202885 0.148146 +v -0.756505 4.044300 0.277643 +v 0.311233 3.882555 -0.401884 +v -0.821320 3.817743 -0.563756 +v 0.376047 2.264538 0.568901 +v -0.497599 4.076421 -0.563756 +v -0.756505 3.688119 0.471778 +v 0.343582 2.717651 -0.531270 +v -0.432902 4.109112 -0.498896 +v 0.376047 2.199916 0.115772 +v 0.214187 2.232227 -0.563756 +v 0.278884 4.109112 -0.401884 +v -0.788854 4.044300 0.148146 +v 0.278884 3.979298 0.439404 +v 0.311233 3.494064 -0.531270 +v 0.019978 3.590997 0.504152 +v 0.376047 2.393972 0.407030 +f 110 101 113 +f 80 81 82 +f 81 80 89 +f 85 86 89 +f 80 82 90 +f 81 89 91 +f 89 86 91 +f 83 86 92 +f 89 80 94 +f 85 89 94 +f 86 83 95 +f 83 91 95 +f 91 86 95 +f 91 83 97 +f 81 91 97 +f 88 84 98 +f 84 93 98 +f 80 90 100 +f 90 85 100 +f 94 80 100 +f 92 86 101 +f 85 90 102 +f 90 96 102 +f 84 88 103 +f 83 92 103 +f 97 83 103 +f 99 79 104 +f 90 82 105 +f 87 96 105 +f 96 90 105 +f 82 98 105 +f 86 85 106 +f 101 86 106 +f 85 104 106 +f 104 79 106 +f 85 94 107 +f 100 85 107 +f 94 100 107 +f 98 93 108 +f 99 87 108 +f 93 99 108 +f 87 105 108 +f 105 98 108 +f 82 81 109 +f 81 97 109 +f 98 82 109 +f 88 98 109 +f 103 88 109 +f 97 103 109 +f 93 84 110 +f 99 93 110 +f 84 101 110 +f 96 87 111 +f 87 99 111 +f 85 102 111 +f 102 96 111 +f 104 85 111 +f 99 104 111 +f 101 84 112 +f 92 101 112 +f 84 103 112 +f 103 92 112 +f 79 99 113 +f 106 79 113 +f 101 106 113 +f 99 110 113 +o convex_3 +v 1.864669 2.814945 -0.272501 +v 1.994065 4.011724 0.374731 +v 1.961728 4.011724 0.374731 +v 2.026502 1.649630 0.212860 +v 1.541154 1.649630 0.212860 +v 1.508717 4.011724 -0.272501 +v 1.573491 1.649630 -0.272501 +v 1.961728 4.141230 -0.272501 +v 1.541154 3.979286 0.245234 +v 2.026502 1.649630 -0.207689 +v 1.573491 1.714749 0.245234 +v 2.026502 2.879577 0.051115 +v 1.508717 3.979286 0.180549 +v 1.508717 3.235171 -0.272501 +v 1.864669 4.141230 -0.207689 +v 1.541154 1.649630 -0.078255 +v 1.994065 4.076355 0.180549 +v 1.929392 1.649630 -0.240063 +v 2.026502 2.555932 0.277609 +v 1.994065 3.396872 -0.240063 +v 1.541154 2.394232 0.245234 +v 1.541154 4.011724 0.180549 +v 1.832333 3.720516 0.342357 +f 134 124 136 +f 119 114 120 +f 117 118 120 +f 114 119 121 +f 117 120 123 +f 115 116 124 +f 118 117 124 +f 117 123 125 +f 119 120 127 +f 118 126 127 +f 126 119 127 +f 121 119 128 +f 120 118 129 +f 127 120 129 +f 118 127 129 +f 116 115 130 +f 115 125 130 +f 121 128 130 +f 120 114 131 +f 114 121 131 +f 123 120 131 +f 121 123 131 +f 115 124 132 +f 124 117 132 +f 125 115 132 +f 117 125 132 +f 123 121 133 +f 125 123 133 +f 130 125 133 +f 121 130 133 +f 118 124 134 +f 126 118 134 +f 122 126 134 +f 122 116 135 +f 119 126 135 +f 126 122 135 +f 128 119 135 +f 116 130 135 +f 130 128 135 +f 116 122 136 +f 124 116 136 +f 122 134 136 +o convex_4 +v 1.573478 -1.359773 -0.272498 +v 2.058826 0.419888 0.342370 +v 1.929303 0.419888 0.342370 +v 2.091207 -1.877590 0.309973 +v 2.123587 0.419888 -0.272498 +v 1.508717 0.096164 0.212917 +v 1.508717 -1.942288 0.245247 +v 2.026445 -1.974871 -0.207771 +v 1.573478 0.419888 -0.337224 +v 1.508717 -1.974871 -0.240101 +v 1.573478 0.419888 0.245247 +v 2.123587 -1.262726 0.180520 +v 1.767641 0.322607 -0.337224 +v 1.573478 -1.812892 0.277643 +v 2.123587 -0.097929 -0.272498 +v 2.091207 0.257909 0.309973 +v 2.058826 -1.974871 -0.143045 +v 2.091207 -0.939236 0.342370 +v 1.541097 0.419888 -0.110648 +v 2.123587 0.419888 -0.013592 +v 1.605919 -0.033232 -0.337224 +v 1.897043 0.096164 0.342370 +v 1.897043 -1.877590 0.309973 +v 1.508717 -0.583398 0.245247 +v 2.091207 -1.909939 0.083464 +v 2.058826 -1.974871 -0.045922 +f 161 140 162 +f 139 138 141 +f 139 141 145 +f 143 142 146 +f 137 144 146 +f 139 145 147 +f 145 141 149 +f 141 148 151 +f 144 149 151 +f 149 141 151 +f 146 144 153 +f 144 151 153 +f 138 139 154 +f 140 148 154 +f 152 138 154 +f 148 152 154 +f 146 142 155 +f 145 146 155 +f 142 147 155 +f 147 145 155 +f 141 138 156 +f 148 141 156 +f 138 152 156 +f 152 148 156 +f 144 137 157 +f 137 146 157 +f 146 145 157 +f 149 144 157 +f 145 149 157 +f 139 147 158 +f 154 139 158 +f 154 158 159 +f 143 140 159 +f 150 143 159 +f 140 154 159 +f 158 150 159 +f 142 143 160 +f 147 142 160 +f 143 150 160 +f 158 147 160 +f 150 158 160 +f 148 140 161 +f 151 148 161 +f 153 151 161 +f 153 161 162 +f 140 143 162 +f 143 146 162 +f 146 153 162 +o convex_5 +v 1.541367 0.419888 -0.110591 +v 2.608974 1.649629 0.407030 +v 2.608974 1.649629 0.374719 +v 0.893846 1.520107 0.504178 +v 0.893846 1.487606 -0.596117 +v 2.867904 0.549410 -0.596117 +v 2.835442 0.484649 0.504178 +v 0.893846 0.517030 0.439448 +v 0.893846 0.452269 -0.531387 +v 2.770709 1.487726 -0.401928 +v 2.802979 1.617128 0.504178 +v 1.573636 1.649629 -0.272469 +v 2.123381 0.419888 -0.272469 +v 1.929376 0.419888 0.342300 +v 1.541367 1.649629 0.212841 +v 2.835442 1.002498 -0.531387 +v 1.217703 0.484649 0.471759 +v 2.835442 1.422965 0.504178 +v 2.382312 0.517030 -0.596117 +v 2.026379 1.649629 -0.207740 +v 0.893846 0.484649 0.342300 +v 2.479315 1.455346 -0.466658 +v 2.867904 0.517030 -0.337199 +v 2.867904 0.678933 -0.596117 +v 2.802979 1.552367 -0.045970 +v 0.893846 1.261182 -0.596117 +v 2.285117 0.484649 0.504178 +v 1.541367 0.419888 0.212841 +v 2.867904 0.549410 0.051071 +v 1.088044 1.552487 0.504178 +v 1.088044 1.455346 -0.596117 +v 0.893846 1.325823 0.504178 +v 2.835442 0.484649 0.083382 +v 0.893846 1.520107 0.212841 +v 2.608974 1.487726 -0.434239 +f 178 184 197 +f 166 167 170 +f 170 167 171 +f 165 164 173 +f 166 169 173 +f 164 165 174 +f 163 171 175 +f 163 175 176 +f 175 169 176 +f 164 174 177 +f 173 169 180 +f 167 168 181 +f 168 175 181 +f 175 171 181 +f 174 165 182 +f 170 171 183 +f 179 170 183 +f 175 168 185 +f 168 167 186 +f 185 168 186 +f 186 178 187 +f 165 173 187 +f 178 172 187 +f 173 180 187 +f 182 165 187 +f 172 182 187 +f 180 186 187 +f 171 167 188 +f 167 181 188 +f 181 171 188 +f 169 166 189 +f 176 169 189 +f 179 176 189 +f 171 163 190 +f 163 176 190 +f 176 179 190 +f 183 171 190 +f 179 183 190 +f 180 169 191 +f 169 185 191 +f 186 180 191 +f 185 186 191 +f 173 164 192 +f 166 173 192 +f 164 177 192 +f 177 166 192 +f 167 184 193 +f 184 178 193 +f 186 167 193 +f 178 186 193 +f 166 170 194 +f 170 179 194 +f 189 166 194 +f 179 189 194 +f 169 175 195 +f 185 169 195 +f 175 185 195 +f 167 166 196 +f 174 167 196 +f 166 177 196 +f 177 174 196 +f 167 174 197 +f 172 178 197 +f 182 172 197 +f 174 182 197 +f 184 167 197 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/647/647.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/647/647.urdf new file mode 100644 index 000000000..2dadfa0bd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/647/647.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/648/648.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/648/648.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/648/648.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/648/648.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/648/648.obj new file mode 100644 index 000000000..1e4216a39 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/648/648.obj @@ -0,0 +1,1191 @@ +o convex_0 +v -0.902387 -4.070740 0.075167 +v 1.242016 -2.406726 0.043484 +v 1.242016 -2.438682 0.043484 +v -0.166203 -2.406961 -0.980776 +v -0.838239 -2.406961 0.875445 +v 0.761722 -4.551006 0.139333 +v 0.089687 -3.814630 1.067745 +v -0.006184 -4.582726 -0.724711 +v -0.934344 -2.406961 -0.756593 +v 0.921742 -2.406726 0.843362 +v 0.729765 -3.814630 -0.724510 +v -0.486243 -4.358806 0.651463 +v 0.825871 -2.406726 -0.788677 +v 0.825871 -3.846585 0.811479 +v -0.774325 -3.814630 -0.724510 +v 0.089687 -4.550771 0.811479 +v -1.158513 -2.438682 -0.052364 +v -0.678454 -4.582962 0.011602 +v -0.038141 -3.814630 -0.980776 +v -0.742368 -3.718529 0.811479 +v 0.089687 -4.807117 0.075167 +v 0.153601 -2.406961 1.035461 +v 1.017847 -3.846585 0.011602 +v 0.761722 -4.551006 -0.020281 +v -0.838239 -2.470637 -0.852442 +v -0.998493 -3.750720 0.043484 +v -0.934344 -2.470637 0.747312 +v -0.582348 -4.390996 -0.500528 +v 1.242016 -2.438682 -0.052364 +v 0.569745 -4.358806 -0.532411 +v 0.633894 -4.390761 0.587497 +v 0.089687 -2.406961 -0.980776 +v -0.710411 -4.550771 0.107250 +v -0.070098 -2.406961 1.035461 +v 0.025773 -3.814630 1.067745 +v -0.038141 -4.807117 0.075167 +v 0.921742 -2.726747 0.843362 +v -0.678454 -3.782675 0.843562 +v 0.825871 -2.598692 -0.788677 +v 0.057730 -4.518816 0.843562 +v -1.158513 -2.406961 0.011602 +v -0.838239 -2.758702 0.875445 +v 1.017847 -3.782675 0.139333 +v -0.742368 -4.518816 0.011602 +v -0.006184 -3.814630 -0.980776 +v -0.038141 -4.582726 -0.724711 +v -0.966301 -3.750720 0.171417 +v -0.934344 -3.814630 -0.180297 +v -0.806282 -3.270923 -0.788476 +v 0.889785 -2.438682 -0.724510 +v 0.057730 -4.807117 -0.020482 +v 0.089687 -3.207013 1.067745 +v -0.070098 -3.782675 -0.980776 +v 0.985890 -2.470637 0.747513 +v -0.742368 -3.782675 0.779596 +v 0.057730 -4.582726 -0.692427 +v -0.294266 -3.367023 1.003578 +v 0.793914 -4.518816 0.107250 +v 0.025773 -4.582726 0.715430 +v -0.006184 -4.807117 -0.020482 +v 0.761722 -3.814630 -0.660544 +v 0.089687 -4.518816 0.843562 +v -0.710411 -3.814630 -0.756593 +v -0.486243 -4.422716 -0.564495 +f 46 18 64 +f 4 9 13 +f 10 2 13 +f 9 15 17 +f 6 16 21 +f 6 21 24 +f 9 4 25 +f 2 3 29 +f 13 2 29 +f 3 23 29 +f 11 24 30 +f 6 14 31 +f 16 6 31 +f 4 13 32 +f 19 4 32 +f 10 5 34 +f 22 10 34 +f 21 16 36 +f 33 18 36 +f 10 7 37 +f 7 14 37 +f 32 13 39 +f 7 35 40 +f 38 12 40 +f 35 38 40 +f 5 10 41 +f 13 9 41 +f 10 13 41 +f 9 17 41 +f 17 26 41 +f 27 5 41 +f 27 20 42 +f 5 27 42 +f 20 38 42 +f 3 14 43 +f 23 3 43 +f 15 28 44 +f 28 18 44 +f 33 1 44 +f 18 33 44 +f 11 8 45 +f 8 19 45 +f 19 32 45 +f 39 11 45 +f 32 39 45 +f 19 8 46 +f 26 1 47 +f 20 27 47 +f 41 26 47 +f 27 41 47 +f 17 15 48 +f 1 26 48 +f 26 17 48 +f 44 1 48 +f 15 44 48 +f 15 9 49 +f 9 25 49 +f 13 29 50 +f 29 11 50 +f 11 39 50 +f 39 13 50 +f 24 21 51 +f 21 36 51 +f 46 8 51 +f 7 10 52 +f 10 22 52 +f 22 34 52 +f 35 7 52 +f 34 35 52 +f 4 19 53 +f 25 4 53 +f 19 46 53 +f 49 25 53 +f 3 2 54 +f 2 10 54 +f 14 3 54 +f 10 37 54 +f 37 14 54 +f 33 12 55 +f 1 33 55 +f 12 38 55 +f 38 20 55 +f 47 1 55 +f 20 47 55 +f 8 11 56 +f 11 30 56 +f 30 24 56 +f 51 8 56 +f 24 51 56 +f 34 5 57 +f 35 34 57 +f 38 35 57 +f 5 42 57 +f 42 38 57 +f 14 6 58 +f 6 24 58 +f 24 23 58 +f 43 14 58 +f 23 43 58 +f 12 33 59 +f 36 16 59 +f 33 36 59 +f 16 40 59 +f 40 12 59 +f 36 18 60 +f 18 46 60 +f 51 36 60 +f 46 51 60 +f 24 11 61 +f 23 24 61 +f 11 29 61 +f 29 23 61 +f 14 7 62 +f 31 14 62 +f 16 31 62 +f 7 40 62 +f 40 16 62 +f 46 15 63 +f 15 49 63 +f 53 46 63 +f 49 53 63 +f 28 15 64 +f 18 28 64 +f 15 46 64 +o convex_1 +v -0.006295 5.659266 -0.500604 +v 0.025584 4.027650 0.651639 +v -0.006295 4.027650 0.651639 +v -0.038291 6.811342 0.427432 +v -0.582448 3.675385 -0.052440 +v 0.601853 3.675037 -0.020356 +v -0.454350 6.683372 0.075267 +v 0.345656 6.747357 0.075392 +v -0.422354 3.675385 -0.500604 +v -0.454350 3.675385 0.491473 +v 0.441759 3.675037 -0.468520 +v 0.473755 3.675037 0.491473 +v -0.070286 6.715365 -0.372521 +v -0.454350 5.147734 0.459390 +v 0.377768 5.372029 0.459390 +v 0.345656 5.466963 -0.372521 +v -0.422354 5.211719 -0.404604 +v -0.070286 7.227592 0.011476 +v -0.070286 3.707726 -0.628686 +v -0.070286 6.587395 0.491473 +v 0.505750 5.243711 0.075392 +v -0.550336 5.307696 0.011476 +v -0.358363 6.299115 -0.276522 +v -0.358363 6.331108 0.363390 +v 0.249670 6.363448 -0.276522 +v -0.038291 3.675385 0.651639 +v 0.217790 6.395441 0.395474 +v -0.038291 5.435667 0.587472 +v 0.057696 3.675385 -0.628686 +v -0.454350 6.683372 0.011476 +v -0.390358 5.211719 -0.436562 +v -0.582448 3.995658 0.043309 +v 0.377768 5.051757 -0.404479 +v 0.345656 6.715713 0.011476 +v 0.601853 3.707378 0.107350 +v 0.505750 5.243711 0.011476 +v -0.006295 6.683372 -0.372521 +v -0.070286 5.307696 -0.532562 +v -0.102282 7.227592 0.075267 +v -0.134278 6.683372 0.459390 +v 0.441759 4.379567 0.491473 +v 0.057696 5.211719 0.587472 +v 0.121687 5.243711 -0.500478 +v -0.102282 5.243711 0.587472 +v -0.454350 4.283590 0.491473 +v 0.025584 7.163260 0.075267 +v 0.441759 3.771363 0.523431 +v -0.102282 6.683372 -0.372521 +v 0.025584 6.651380 0.459390 +v -0.550336 5.275704 -0.020482 +v -0.550336 5.179727 0.075267 +v 0.473755 3.707378 -0.404479 +v -0.454350 3.707726 -0.436562 +v -0.038291 7.227592 0.011476 +v -0.518341 3.675385 0.299349 +v 0.377768 3.707378 -0.500478 +v 0.025584 4.859802 -0.564645 +v 0.409764 5.179727 0.427432 +v 0.281781 6.171493 0.395474 +v -0.326251 3.707726 0.555514 +v 0.313777 6.779698 0.107350 +v -0.230380 7.035290 0.011476 +v 0.057696 3.675385 0.651639 +v 0.345656 5.179727 0.491473 +f 113 106 128 +f 69 73 75 +f 75 70 76 +f 69 75 76 +f 71 78 88 +f 66 67 90 +f 74 76 90 +f 67 66 92 +f 75 73 93 +f 73 83 93 +f 86 71 94 +f 87 81 94 +f 73 81 95 +f 83 73 95 +f 81 87 95 +f 80 89 98 +f 76 70 99 +f 85 99 100 +f 72 85 100 +f 97 80 100 +f 98 72 100 +f 80 98 100 +f 99 70 100 +f 65 77 101 +f 89 80 101 +f 98 89 101 +f 83 95 102 +f 84 68 104 +f 71 88 104 +f 88 78 104 +f 68 103 104 +f 103 71 104 +f 76 99 105 +f 92 66 106 +f 84 92 106 +f 80 97 107 +f 65 101 107 +f 101 80 107 +f 90 67 108 +f 67 92 108 +f 92 84 108 +f 84 104 108 +f 104 78 108 +f 108 78 109 +f 103 68 110 +f 76 105 111 +f 106 66 111 +f 77 65 112 +f 82 77 112 +f 87 94 112 +f 95 87 112 +f 65 102 112 +f 102 95 112 +f 68 84 113 +f 84 106 113 +f 86 94 114 +f 94 81 114 +f 69 96 114 +f 96 86 114 +f 78 71 115 +f 71 86 115 +f 96 78 115 +f 86 96 115 +f 70 75 116 +f 75 97 116 +f 100 70 116 +f 97 100 116 +f 73 69 117 +f 81 73 117 +f 69 114 117 +f 114 81 117 +f 77 82 118 +f 72 98 118 +f 101 77 118 +f 98 101 118 +f 82 103 118 +f 110 72 118 +f 103 110 118 +f 76 74 119 +f 69 76 119 +f 96 69 119 +f 78 96 119 +f 74 109 119 +f 109 78 119 +f 75 93 120 +f 97 75 120 +f 107 97 120 +f 107 120 121 +f 93 83 121 +f 102 65 121 +f 83 102 121 +f 65 107 121 +f 120 93 121 +f 72 79 122 +f 85 72 122 +f 99 85 122 +f 79 105 122 +f 105 99 122 +f 79 72 123 +f 91 113 123 +f 113 79 123 +f 74 90 124 +f 90 108 124 +f 109 74 124 +f 108 109 124 +f 110 68 125 +f 72 110 125 +f 68 113 125 +f 113 91 125 +f 123 72 125 +f 91 123 125 +f 94 71 126 +f 71 103 126 +f 103 82 126 +f 82 112 126 +f 112 94 126 +f 66 90 127 +f 90 76 127 +f 111 66 127 +f 76 111 127 +f 105 79 128 +f 111 105 128 +f 106 111 128 +f 79 113 128 +o convex_2 +v -1.318635 -2.278243 -0.180410 +v -1.318635 -0.998278 0.043296 +v -1.318635 -0.998278 -0.116368 +v -3.079082 -1.766257 0.043296 +v -1.318635 -1.702162 0.523606 +v -1.478723 -1.670179 -0.596678 +v -2.822838 -2.246260 0.011276 +v -2.822838 -1.734145 0.395524 +v -2.822838 -1.766257 -0.372534 +v -1.318635 -2.150311 0.395524 +v -2.854718 -1.382460 -0.020635 +v -1.350859 -1.126339 0.395524 +v -1.318635 -1.158322 -0.468596 +v -2.118901 -2.182294 -0.404445 +v -2.183177 -2.182294 0.363503 +v -1.318635 -2.150311 -0.468596 +v -1.318635 -2.310483 0.043296 +v -2.598819 -1.446426 0.299462 +v -2.118901 -1.798240 0.491586 +v -2.854718 -1.830223 0.395524 +v -2.566767 -1.478409 -0.308492 +v -2.214540 -2.310483 -0.020635 +v -2.790959 -1.894189 -0.372534 +v -2.054969 -1.830223 -0.532637 +v -2.822838 -1.382460 0.075427 +v -1.382739 -1.158322 -0.468596 +v -2.662923 -2.118199 0.299462 +v -1.318635 -1.734145 -0.596678 +v -2.630699 -2.118199 -0.308492 +v -3.079082 -1.862206 0.011276 +v -1.542999 -1.638453 0.523606 +v -2.086849 -2.214277 -0.372534 +v -1.446671 -1.254399 -0.500507 +v -2.086849 -2.246260 0.235420 +v -2.054969 -1.766257 -0.532637 +v -2.822838 -2.246260 -0.020635 +v -1.414791 -0.998278 -0.020635 +v -2.118901 -1.734145 0.491586 +v -2.086849 -2.310483 -0.084348 +v -3.079082 -1.766257 -0.020635 +v -2.854718 -2.214277 0.043296 +v -1.991037 -2.150311 0.395524 +v -1.382739 -1.030389 -0.180410 +v -1.318635 -2.182294 0.363503 +v -1.318635 -1.126339 0.395524 +v -2.822838 -1.382460 -0.052437 +f 139 171 174 +f 131 130 129 +f 129 130 133 +f 129 133 138 +f 131 129 141 +f 141 129 144 +f 129 138 145 +f 136 140 146 +f 143 147 148 +f 136 132 148 +f 142 151 152 +f 144 142 152 +f 151 137 152 +f 132 136 153 +f 139 132 153 +f 136 146 153 +f 146 140 153 +f 131 141 154 +f 135 143 155 +f 143 148 155 +f 134 141 156 +f 141 144 156 +f 152 134 156 +f 144 152 156 +f 151 142 157 +f 148 132 158 +f 137 151 158 +f 147 133 159 +f 144 129 160 +f 142 144 160 +f 157 142 160 +f 141 134 161 +f 137 149 161 +f 154 141 161 +f 149 154 161 +f 143 135 162 +f 135 150 162 +f 150 145 162 +f 134 152 163 +f 152 137 163 +f 161 134 163 +f 137 161 163 +f 150 135 164 +f 151 157 164 +f 158 151 164 +f 157 160 164 +f 130 131 165 +f 140 130 165 +f 139 153 165 +f 153 140 165 +f 140 136 166 +f 148 147 166 +f 136 148 166 +f 159 140 166 +f 147 159 166 +f 129 145 167 +f 145 150 167 +f 160 129 167 +f 150 164 167 +f 164 160 167 +f 132 139 168 +f 139 137 168 +f 158 132 168 +f 137 158 168 +f 135 155 169 +f 155 148 169 +f 148 158 169 +f 164 135 169 +f 158 164 169 +f 138 133 170 +f 143 138 170 +f 133 147 170 +f 147 143 170 +f 131 154 171 +f 165 131 171 +f 139 165 171 +f 138 143 172 +f 145 138 172 +f 143 162 172 +f 162 145 172 +f 133 130 173 +f 130 140 173 +f 159 133 173 +f 140 159 173 +f 137 139 174 +f 149 137 174 +f 154 149 174 +f 171 154 174 +o convex_3 +v -0.070393 -0.838084 1.035736 +v -0.038310 -0.229970 -1.044792 +v -0.038310 -0.005897 -1.044792 +v 1.242016 -0.998052 0.523547 +v -1.254468 -0.998149 -0.532602 +v -0.774472 -0.005897 0.875664 +v 0.985850 -0.005897 0.843487 +v 0.857768 -0.998149 -0.884720 +v 0.953767 -0.005897 -0.788595 +v -0.966470 -0.005897 -0.820569 +v -1.254468 -0.998149 0.427422 +v -0.806304 -0.998149 -0.980641 +v 0.857768 -0.998149 0.971585 +v -0.774472 -0.998149 0.939612 +v 0.121606 -0.005897 1.035736 +v -1.030386 -0.005897 0.011357 +v 1.209932 -0.998149 -0.372530 +v 1.049766 -0.005897 -0.020413 +v 0.761768 -0.998149 -0.948667 +v -0.902304 -0.005897 0.779540 +v -1.318635 -0.966097 -0.084360 +v 0.793601 -0.005897 -0.916694 +v -0.806304 -0.070001 -0.948667 +v 0.089522 -0.998149 -1.012615 +v 0.857768 -0.134008 0.939612 +v 1.242016 -0.870039 0.011357 +v -0.710305 -0.870039 0.971585 +v 1.049766 -0.070001 0.587494 +v 0.121606 -0.998149 1.035736 +v -0.966470 -0.005897 0.587494 +v -0.998303 -0.005897 -0.724648 +v -0.998303 -0.806032 0.747566 +v 1.049766 -0.998149 0.811513 +v 1.145766 -0.998149 -0.532602 +v 0.985850 -0.005897 -0.692674 +v 0.025606 -0.005897 1.035736 +v -0.966470 -0.262022 -0.852543 +v -1.286301 -0.966097 0.299527 +v -0.774472 -0.229970 0.907638 +v -0.486474 -0.870039 -1.012615 +v -0.806304 -0.677921 -0.980641 +v -0.934387 -0.998149 -0.884720 +v 1.242016 -0.934045 0.523547 +v 0.025606 -0.005897 -1.044792 +v 0.025606 -0.390133 -1.044792 +v 0.985850 -0.998149 -0.756622 +v 0.825684 -0.101956 -0.916694 +v -0.870220 -0.005897 -0.916694 +v -1.254468 -0.934045 0.427422 +v 0.761768 -0.645966 -0.948667 +v -1.030386 -0.005897 -0.180485 +v 0.793601 -0.005897 0.939612 +f 189 199 226 +f 177 180 181 +f 177 181 183 +f 180 177 184 +f 179 182 185 +f 182 179 186 +f 185 182 187 +f 185 187 188 +f 181 180 189 +f 180 184 190 +f 187 182 191 +f 183 181 192 +f 182 186 193 +f 180 190 194 +f 179 185 195 +f 177 183 196 +f 193 186 198 +f 187 181 199 +f 189 187 199 +f 178 191 200 +f 192 181 202 +f 200 192 202 +f 188 187 203 +f 187 189 203 +f 189 175 203 +f 175 201 203 +f 201 188 203 +f 194 190 204 +f 184 179 205 +f 190 184 205 +f 179 195 205 +f 185 188 206 +f 181 187 207 +f 191 178 207 +f 187 191 207 +f 183 191 208 +f 191 182 208 +f 191 183 209 +f 183 192 209 +f 200 191 209 +f 192 200 209 +f 189 180 210 +f 175 189 210 +f 201 175 210 +f 179 184 211 +f 195 185 212 +f 190 195 212 +f 204 190 212 +f 180 194 213 +f 188 201 213 +f 206 188 213 +f 194 206 213 +f 210 180 213 +f 201 210 213 +f 177 176 214 +f 198 186 214 +f 197 177 215 +f 177 214 215 +f 214 186 215 +f 186 179 216 +f 179 211 216 +f 215 186 216 +f 211 215 216 +f 178 200 217 +f 202 181 217 +f 200 202 217 +f 207 178 217 +f 181 207 217 +f 176 177 218 +f 177 196 218 +f 193 198 219 +f 214 176 219 +f 198 214 219 +f 176 218 219 +f 218 193 219 +f 182 183 220 +f 208 182 220 +f 183 208 220 +f 183 182 221 +f 182 193 221 +f 196 183 221 +f 218 196 221 +f 184 177 222 +f 177 197 222 +f 211 184 222 +f 197 215 222 +f 215 211 222 +f 194 204 223 +f 185 206 223 +f 206 194 223 +f 212 185 223 +f 204 212 223 +f 193 218 224 +f 221 193 224 +f 218 221 224 +f 195 190 225 +f 190 205 225 +f 205 195 225 +f 181 189 226 +f 199 181 226 +o convex_4 +v 0.025588 3.642612 -0.660582 +v 0.089739 2.234258 1.067745 +v 0.089739 2.810354 1.035693 +v -1.030562 0.218463 -0.020576 +v 0.953842 -0.005274 -0.788583 +v 0.985816 -0.005274 0.843381 +v 0.985816 2.970320 0.075373 +v -0.870490 -0.005274 -0.916584 +v -0.934437 2.938255 0.075373 +v -0.870490 -0.005274 0.811535 +v -0.454221 3.675038 0.491429 +v 0.025588 2.970320 -0.948636 +v -0.742391 2.970680 -0.692634 +v 0.729823 3.002385 -0.692634 +v 0.473626 3.675038 0.523481 +v -0.678444 2.938255 0.779483 +v 0.761796 2.906189 0.779483 +v 0.057561 0.026431 -1.044792 +v 0.025588 -0.005274 1.035693 +v 0.889895 1.082787 -0.852480 +v 0.473626 3.675038 -0.436631 +v -0.454221 3.675038 -0.468270 +v -0.998384 -0.005274 -0.724479 +v 1.049967 2.138422 -0.084473 +v -0.038156 2.394224 -1.012740 +v 1.049967 -0.005635 -0.020369 +v 0.921869 0.986591 0.875433 +v -0.998384 2.202192 -0.020576 +v -0.870490 0.986591 -0.884532 +v -0.774365 0.218463 0.875639 +v -0.070333 3.675038 0.651275 +v 0.761796 -0.005274 0.939537 +v -0.934437 0.058136 0.683327 +v 1.049967 2.106356 0.171529 +v -0.582319 3.675038 -0.052214 +v 0.761796 -0.005274 -0.916584 +v 0.025588 1.723013 -1.044792 +v 0.633698 3.642612 0.011476 +v 0.025588 2.874484 1.035693 +v -0.646267 2.938255 -0.756531 +v 1.017789 0.122627 0.747431 +v 0.089739 2.266323 -1.012740 +v 0.793770 2.362159 -0.756531 +v -0.966411 -0.005274 0.555326 +v -0.742391 -0.005274 -0.948636 +v -0.934437 2.938255 -0.020576 +v 0.697849 2.938255 0.811535 +v 0.985816 0.122627 -0.660375 +v 0.889895 3.002385 -0.244526 +v -0.614293 2.938255 0.811329 +v 0.121712 2.938255 1.003641 +v -0.038156 -0.005274 -1.044792 +v 0.121712 -0.005274 1.035693 +v 0.921869 1.050721 -0.788583 +v 0.057561 2.074291 1.067745 +v -0.134281 2.106356 -1.012533 +v -0.070333 1.274819 -1.044792 +v 0.825744 2.266323 -0.724479 +v -0.070333 3.675038 -0.628323 +v -0.870490 1.146917 -0.852687 +v 0.857718 0.538756 -0.884532 +v 0.889895 0.410495 0.907485 +v -0.774365 2.298388 -0.788376 +v -1.030562 -0.005274 -0.116525 +f 252 270 290 +f 238 227 240 +f 237 235 242 +f 233 241 243 +f 240 227 247 +f 237 241 247 +f 237 247 248 +f 245 236 252 +f 249 234 252 +f 229 228 253 +f 234 249 255 +f 242 236 256 +f 236 245 256 +f 241 237 257 +f 252 232 258 +f 236 242 259 +f 242 235 259 +f 235 254 259 +f 233 243 260 +f 250 233 260 +f 252 250 260 +f 243 253 260 +f 235 237 261 +f 237 248 261 +f 248 239 261 +f 231 252 262 +f 262 244 263 +f 241 233 264 +f 247 241 264 +f 228 229 265 +f 239 248 266 +f 238 251 266 +f 232 252 267 +f 253 232 267 +f 252 260 267 +f 260 253 267 +f 251 238 268 +f 263 251 268 +f 238 240 269 +f 268 238 269 +f 246 268 269 +f 252 236 270 +f 254 230 270 +f 236 259 270 +f 259 254 270 +f 252 234 271 +f 234 255 271 +f 254 235 272 +f 235 261 272 +f 261 239 272 +f 243 241 273 +f 229 253 273 +f 253 243 273 +f 252 231 274 +f 250 252 274 +f 240 247 275 +f 233 250 275 +f 264 233 275 +f 247 264 275 +f 237 242 276 +f 242 256 276 +f 257 237 276 +f 256 265 276 +f 265 257 276 +f 241 257 277 +f 265 229 277 +f 257 265 277 +f 273 241 277 +f 229 273 277 +f 244 262 278 +f 262 252 278 +f 263 244 278 +f 252 271 278 +f 245 252 279 +f 258 228 279 +f 252 258 279 +f 231 246 280 +f 274 231 280 +f 250 274 280 +f 256 245 281 +f 228 265 281 +f 265 256 281 +f 279 228 281 +f 245 279 281 +f 251 263 282 +f 271 255 282 +f 271 282 283 +f 263 278 283 +f 278 271 283 +f 282 263 283 +f 269 240 284 +f 246 269 284 +f 240 275 284 +f 275 250 284 +f 280 246 284 +f 250 280 284 +f 227 238 285 +f 247 227 285 +f 248 247 285 +f 238 266 285 +f 266 248 285 +f 249 254 286 +f 255 249 286 +f 254 272 286 +f 272 239 286 +f 246 231 287 +f 231 262 287 +f 262 263 287 +f 268 246 287 +f 263 268 287 +f 253 228 288 +f 232 253 288 +f 228 258 288 +f 258 232 288 +f 239 266 289 +f 266 251 289 +f 251 282 289 +f 282 255 289 +f 255 286 289 +f 286 239 289 +f 249 252 290 +f 230 254 290 +f 254 249 290 +f 270 230 290 +o convex_5 +v 0.121590 -0.998287 1.035736 +v -0.134224 -1.158325 -1.012784 +v -0.774522 -1.094365 -0.980500 +v -0.902429 -2.406507 0.811554 +v 1.274024 -2.406507 -0.084373 +v -0.838221 -2.406507 -0.852568 +v -1.286404 -0.998287 0.363190 +v 1.209816 -0.998287 -0.404404 +v 0.921771 -2.406507 0.843437 +v 0.857818 -2.374252 -0.788602 +v 1.209816 -0.998287 0.587372 +v -1.318635 -2.150254 -0.468570 +v 0.729657 -0.998287 -0.948617 +v -0.774522 -0.998287 0.939486 +v -0.070017 -2.406507 1.035736 +v -1.254427 -0.998287 -0.532537 +v 0.089613 -2.406507 -0.980701 +v -1.318635 -1.734239 0.523406 +v 0.825841 -0.998287 0.971570 +v 1.274024 -1.734239 -0.564419 +v 1.274024 -1.702397 0.619455 +v -1.318635 -2.310292 0.075242 +v -1.318635 -1.574477 -0.596503 +v 1.274024 -0.998287 -0.020206 +v -0.902429 -0.998287 -0.916734 +v 1.274024 -2.246332 0.427356 +v 0.153567 -2.406507 1.035736 +v -0.806498 -2.150254 0.907604 +v -0.038040 -2.086294 -1.012784 +v -1.190474 -2.406507 -0.084373 +v 1.274024 -2.246332 -0.404404 +v -1.318635 -2.182234 0.395474 +v -1.318635 -0.998287 -0.148339 +v -0.678338 -1.030405 0.971369 +v 0.857818 -0.998287 -0.884651 +v 0.089613 -0.998287 -1.012784 +v -1.254427 -1.478400 0.587372 +v 0.889795 -1.894277 0.907403 +v -0.166201 -2.406507 -0.980701 +v 1.274024 -1.190443 -0.436487 +v -0.902429 -2.406507 -0.820484 +v 1.017956 -0.998287 0.843437 +v 0.793864 -1.286382 -0.916734 +v 1.274024 -1.094365 0.523406 +v -1.318635 -1.126345 0.395474 +v 0.889795 -2.406507 -0.724435 +v -1.286404 -1.670417 -0.628386 +v -0.998359 -0.998287 0.747388 +v -0.902429 -2.310292 0.843638 +v -0.038040 -1.158325 1.035736 +v -0.870452 -2.374252 -0.852568 +v -1.318635 -2.310292 -0.116456 +v 0.825841 -2.246332 -0.820685 +v -1.030336 -0.998287 -0.820484 +v -0.838221 -2.406507 0.875520 +v 1.274024 -2.406507 0.075242 +v 0.985725 -0.998287 -0.756518 +v -1.318635 -1.190443 -0.500453 +v 1.177840 -1.478400 0.715505 +v 0.025660 -1.990217 -1.012784 +v -0.774522 -0.998287 -0.980500 +v 0.825841 -1.126345 0.971570 +f 328 332 352 +f 295 294 296 +f 297 291 298 +f 294 295 299 +f 298 291 301 +f 297 298 303 +f 291 297 304 +f 294 299 305 +f 297 303 306 +f 295 296 307 +f 301 291 309 +f 295 310 311 +f 308 302 312 +f 302 308 313 +f 298 301 314 +f 311 310 314 +f 306 303 315 +f 295 311 316 +f 311 299 316 +f 291 305 317 +f 305 299 317 +f 309 291 317 +f 293 292 319 +f 296 294 320 +f 294 312 320 +f 310 295 321 +f 300 310 321 +f 312 294 322 +f 308 312 322 +f 297 306 323 +f 313 308 323 +f 291 304 324 +f 318 305 324 +f 304 318 324 +f 303 298 325 +f 315 303 326 +f 319 292 326 +f 317 299 328 +f 307 296 329 +f 293 319 329 +f 319 307 329 +f 298 314 330 +f 314 310 330 +f 296 320 331 +f 301 309 332 +f 307 303 333 +f 303 325 333 +f 325 310 333 +f 314 301 334 +f 311 314 334 +f 301 332 334 +f 297 323 335 +f 323 308 335 +f 308 327 335 +f 295 307 336 +f 307 300 336 +f 321 295 336 +f 300 321 336 +f 302 313 337 +f 331 302 337 +f 304 297 338 +f 327 304 338 +f 297 335 338 +f 335 327 338 +f 318 304 339 +f 322 294 339 +f 308 322 339 +f 304 327 339 +f 327 308 339 +f 305 291 340 +f 291 324 340 +f 324 305 340 +f 315 293 341 +f 293 329 341 +f 329 296 341 +f 296 331 341 +f 337 315 341 +f 331 337 341 +f 312 302 342 +f 320 312 342 +f 302 331 342 +f 331 320 342 +f 300 307 343 +f 310 300 343 +f 307 333 343 +f 333 310 343 +f 306 315 344 +f 337 313 344 +f 315 337 344 +f 294 305 345 +f 305 318 345 +f 339 294 345 +f 318 339 345 +f 299 295 346 +f 295 316 346 +f 316 299 346 +f 325 298 347 +f 310 325 347 +f 298 330 347 +f 330 310 347 +f 323 306 348 +f 313 323 348 +f 306 344 348 +f 344 313 348 +f 299 311 349 +f 328 299 349 +f 332 328 349 +f 311 334 349 +f 334 332 349 +f 303 307 350 +f 307 319 350 +f 326 303 350 +f 319 326 350 +f 292 293 351 +f 293 315 351 +f 326 292 351 +f 315 326 351 +f 309 317 352 +f 317 328 352 +f 332 309 352 +o convex_6 +v 1.274353 -2.342272 -0.212531 +v 1.306229 -0.998287 0.075430 +v 1.306229 -0.998287 0.011476 +v 3.034471 -1.862297 -0.020444 +v 1.274353 -1.766219 0.587623 +v 1.274353 -1.702397 -0.564670 +v 2.682275 -1.830179 0.427569 +v 2.746201 -1.798199 -0.404617 +v 2.746201 -2.278312 0.011476 +v 1.274353 -2.246332 0.395536 +v 2.778250 -1.382460 0.075430 +v 1.274353 -1.158325 0.491523 +v 1.370155 -1.190443 -0.404617 +v 2.106252 -2.246332 -0.404617 +v 2.074375 -2.246332 0.363390 +v 1.626204 -2.406507 0.011476 +v 2.554078 -1.478400 -0.276597 +v 2.554078 -1.510380 0.363390 +v 1.274353 -2.246332 -0.404617 +v 2.650226 -2.182234 -0.276597 +v 1.850376 -1.798199 0.555589 +v 1.274353 -1.222422 -0.436537 +v 2.106252 -1.798199 -0.500604 +v 1.434254 -1.190443 0.491523 +v 2.618176 -2.118274 0.299437 +v 2.842176 -1.830179 0.299437 +v 2.714324 -1.382460 -0.020444 +v 1.274353 -2.406507 0.043397 +v 2.138301 -2.374252 -0.052477 +v 2.874397 -1.798199 -0.308517 +v 2.810299 -2.246332 -0.084398 +v 1.338106 -2.150254 0.459490 +v 2.778250 -1.926257 -0.372584 +v 1.978400 -1.382460 0.459490 +v 1.306229 -1.574477 0.587623 +v 1.978400 -1.894277 0.523556 +v 2.970372 -1.670417 0.043397 +v 2.042326 -2.278312 -0.372584 +v 2.810299 -2.246332 0.011476 +v 2.042326 -1.894277 -0.500604 +v 2.746201 -1.766219 0.395536 +v 1.370155 -2.086294 -0.468570 +v 1.338106 -1.222422 -0.436537 +v 2.042326 -2.374252 0.043397 +v 2.778250 -1.734239 -0.372584 +v 1.498352 -2.406507 -0.052477 +v 2.746201 -2.278312 -0.084398 +v 1.978400 -1.670417 0.523556 +v 1.306229 -1.062385 0.267516 +v 1.274353 -0.998287 0.011476 +v 2.746201 -1.382460 0.107350 +v 3.034471 -1.830317 0.043397 +f 389 393 404 +f 353 357 358 +f 357 353 362 +f 355 354 363 +f 358 357 364 +f 353 358 371 +f 358 364 374 +f 359 367 377 +f 367 361 377 +f 359 377 378 +f 355 363 379 +f 365 355 379 +f 369 365 379 +f 362 353 380 +f 367 362 380 +f 368 367 380 +f 357 362 384 +f 362 367 384 +f 372 366 385 +f 382 356 385 +f 360 382 385 +f 356 383 385 +f 383 372 385 +f 370 376 386 +f 364 357 387 +f 357 373 387 +f 376 364 387 +f 367 359 388 +f 373 357 388 +f 359 373 388 +f 357 384 388 +f 384 367 388 +f 356 382 389 +f 382 363 389 +f 353 371 390 +f 371 366 390 +f 377 361 391 +f 378 377 391 +f 383 356 391 +f 361 383 391 +f 358 375 392 +f 375 360 392 +f 385 366 392 +f 360 385 392 +f 359 378 393 +f 386 359 393 +f 370 386 393 +f 389 363 393 +f 371 358 394 +f 366 371 394 +f 358 392 394 +f 392 366 394 +f 365 369 395 +f 358 374 395 +f 374 365 395 +f 375 358 395 +f 360 375 395 +f 361 367 396 +f 367 368 396 +f 381 361 396 +f 368 381 396 +f 379 363 397 +f 369 379 397 +f 363 382 397 +f 382 360 397 +f 360 395 397 +f 395 369 397 +f 380 353 398 +f 368 380 398 +f 381 368 398 +f 353 390 398 +f 390 381 398 +f 366 372 399 +f 361 381 399 +f 383 361 399 +f 372 383 399 +f 390 366 399 +f 381 390 399 +f 373 359 400 +f 359 386 400 +f 386 376 400 +f 376 387 400 +f 387 373 400 +f 354 364 401 +f 364 376 401 +f 354 355 402 +f 364 354 402 +f 355 365 402 +f 374 364 402 +f 365 374 402 +f 363 354 403 +f 376 370 403 +f 393 363 403 +f 370 393 403 +f 354 401 403 +f 401 376 403 +f 356 389 404 +f 391 356 404 +f 378 391 404 +f 393 378 404 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/648/648.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/648/648.urdf new file mode 100644 index 000000000..43783dd70 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/648/648.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/649/649.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/649/649.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/649/649.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/649/649.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/649/649.obj new file mode 100644 index 000000000..46f9d23d3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/649/649.obj @@ -0,0 +1,189 @@ +o convex_0 +v 1.010703 1.050946 0.004654 +v -0.994141 -0.369118 -0.020595 +v -0.994141 -0.369118 0.004654 +v 0.756761 -3.008689 0.029902 +v 0.020841 -0.572669 -0.985023 +v -0.004279 3.030175 0.740312 +v -0.232708 3.004432 -0.832574 +v 0.046156 -2.297460 0.943641 +v -0.588109 -2.932657 -0.629627 +v 0.807589 2.700304 -0.731196 +v -0.714883 2.344689 0.664374 +v -0.562597 -2.957801 0.588245 +v 0.731445 2.116593 0.689814 +v 0.706130 -2.272315 -0.680316 +v -0.740199 2.319544 -0.705756 +v 0.731445 -2.323203 0.689814 +v 0.858416 3.055918 0.207600 +v -0.765711 3.030175 -0.020404 +v -0.689568 -2.297460 0.740503 +v 0.020841 0.593556 0.969081 +v 0.046156 -3.034432 -0.756445 +v -0.689568 -2.221427 -0.756445 +v -0.917997 -2.323203 -0.045844 +v 0.959875 -2.247171 -0.020595 +v 0.096984 -3.008689 0.740503 +v -0.943313 2.370432 -0.020595 +v -0.765711 0.061331 0.740503 +v -0.029791 2.065705 -0.959583 +v 0.782273 -0.217054 0.715063 +v -0.740199 0.365460 -0.781885 +v 0.020841 -2.323802 -0.934143 +v -0.740199 -3.034432 0.004462 +v -0.029791 2.370432 0.892761 +v 0.604475 3.081661 0.613494 +v -0.562597 3.081063 0.512116 +v 0.503016 3.055320 -0.528058 +v 0.985191 2.320143 0.055343 +v 0.782273 0.390604 -0.731005 +v 0.579159 -3.008689 -0.553498 +v -0.613425 3.030175 -0.629627 +v 1.010703 -0.698990 0.004654 +v 0.579159 -3.008689 0.562805 +v -0.080422 0.060733 0.969081 +v -0.994141 -0.090134 -0.071284 +v 0.782273 2.700304 -0.756445 +v 0.756761 -0.115279 0.740503 +v -0.740199 0.035588 0.765943 +v -0.055106 -0.014102 -0.985023 +v 0.071668 -0.039247 -0.985023 +v 1.010703 -0.014102 -0.071284 +v 1.010703 -0.115279 0.080591 +v 0.071668 -2.272315 -0.934143 +v -0.765711 -0.039247 -0.756445 +v -0.664056 2.344689 -0.756445 +v -0.968629 1.787320 -0.020595 +v 0.071668 0.289428 0.969081 +v 0.731445 -2.094508 -0.680316 +v 0.959875 -2.247171 0.055343 +v 0.046156 2.344689 0.892761 +v -0.917997 -2.247171 0.055343 +v -0.029791 -2.272315 0.943641 +v 0.020841 2.979287 -0.832574 +v 0.782273 -2.044219 0.613494 +v 0.452384 -3.034432 -0.020595 +f 42 25 64 +f 3 2 23 +f 22 9 23 +f 16 8 25 +f 11 18 26 +f 21 9 31 +f 9 22 31 +f 12 19 32 +f 9 21 32 +f 23 9 32 +f 25 12 32 +f 6 11 33 +f 13 17 34 +f 11 6 35 +f 18 11 35 +f 6 34 35 +f 35 34 36 +f 17 10 36 +f 34 17 36 +f 1 10 37 +f 10 17 37 +f 17 13 37 +f 13 29 37 +f 24 4 39 +f 14 24 39 +f 15 26 40 +f 26 18 40 +f 18 35 40 +f 35 36 40 +f 36 7 40 +f 4 16 42 +f 16 25 42 +f 20 33 43 +f 2 3 44 +f 23 2 44 +f 22 23 44 +f 36 10 45 +f 10 38 45 +f 8 16 46 +f 29 13 46 +f 16 29 46 +f 27 19 47 +f 11 27 47 +f 33 11 47 +f 43 33 47 +f 22 30 48 +f 30 28 48 +f 5 31 48 +f 31 22 48 +f 28 45 49 +f 45 38 49 +f 5 48 49 +f 48 28 49 +f 10 1 50 +f 38 10 50 +f 1 41 50 +f 41 24 50 +f 1 37 51 +f 37 29 51 +f 41 1 51 +f 31 5 52 +f 21 31 52 +f 39 21 52 +f 14 39 52 +f 5 49 52 +f 49 38 52 +f 15 30 53 +f 30 22 53 +f 22 44 53 +f 44 15 53 +f 7 28 54 +f 30 15 54 +f 28 30 54 +f 40 7 54 +f 15 40 54 +f 11 26 55 +f 26 15 55 +f 3 27 55 +f 27 11 55 +f 44 3 55 +f 15 44 55 +f 43 8 56 +f 20 43 56 +f 8 46 56 +f 46 13 56 +f 24 14 57 +f 38 50 57 +f 50 24 57 +f 14 52 57 +f 52 38 57 +f 16 4 58 +f 4 24 58 +f 24 41 58 +f 41 51 58 +f 6 33 59 +f 33 20 59 +f 13 34 59 +f 34 6 59 +f 56 13 59 +f 20 56 59 +f 3 23 60 +f 27 3 60 +f 19 27 60 +f 32 19 60 +f 23 32 60 +f 19 12 61 +f 25 8 61 +f 12 25 61 +f 8 43 61 +f 47 19 61 +f 43 47 61 +f 28 7 62 +f 7 36 62 +f 45 28 62 +f 36 45 62 +f 29 16 63 +f 51 29 63 +f 16 58 63 +f 58 51 63 +f 32 21 64 +f 25 32 64 +f 39 4 64 +f 21 39 64 +f 4 42 64 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/649/649.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/649/649.urdf new file mode 100644 index 000000000..1857be921 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/649/649.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/650/650.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/650/650.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/650/650.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/650/650.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/650/650.obj new file mode 100644 index 000000000..b456060fd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/650/650.obj @@ -0,0 +1,561 @@ +o convex_0 +v 1.092083 -1.235144 0.289708 +v -1.026596 -1.395607 -0.961962 +v -1.026596 -1.395607 0.931632 +v -1.026596 1.396516 0.931632 +v 1.027586 1.396516 -1.026315 +v 0.995440 1.396516 1.028162 +v -0.994244 1.396516 -1.026315 +v 1.059731 -1.395607 -1.026315 +v 0.995440 -1.395607 1.028162 +v -0.641061 0.273270 0.995985 +v -1.026596 -1.235144 -0.993938 +v 0.289283 -1.395607 1.028162 +v -0.641061 1.396516 0.995985 +v -1.026596 0.433734 -0.993938 +v 0.225200 -1.395607 -1.026315 +v 1.092083 -1.395607 -0.448343 +v -0.930160 -1.395607 0.963607 +v 1.059938 0.337237 -0.127381 +v 1.092083 -1.395607 0.418214 +v -0.994244 0.465990 -1.026315 +v 0.193055 -0.593562 1.028162 +v 1.092083 -1.138920 -0.480520 +v 1.027586 1.396516 -0.480520 +v 1.059731 -0.400842 -1.026315 +v -0.930160 1.396516 0.963607 +v 1.059938 0.401477 -0.673177 +f 22 24 26 +f 2 3 4 +f 5 4 6 +f 4 5 7 +f 7 5 8 +f 3 2 8 +f 3 8 9 +f 2 4 11 +f 9 6 12 +f 3 9 12 +f 6 4 13 +f 4 7 14 +f 11 4 14 +f 7 11 14 +f 7 8 15 +f 8 2 15 +f 2 11 15 +f 9 8 16 +f 4 3 17 +f 3 12 17 +f 12 10 17 +f 10 13 17 +f 6 1 18 +f 1 6 19 +f 6 9 19 +f 16 1 19 +f 9 16 19 +f 11 7 20 +f 7 15 20 +f 15 11 20 +f 12 6 21 +f 10 12 21 +f 13 10 21 +f 6 13 21 +f 1 16 22 +f 16 8 22 +f 18 1 22 +f 5 6 23 +f 6 18 23 +f 8 5 24 +f 22 8 24 +f 13 4 25 +f 4 17 25 +f 17 13 25 +f 18 22 26 +f 5 23 26 +f 23 18 26 +f 24 5 26 +o convex_1 +v -0.994346 2.937487 -0.962012 +v 1.027661 1.429158 -0.480400 +v 1.027661 1.396790 -0.480400 +v -0.930197 1.396790 0.963824 +v 0.995687 3.033630 1.028162 +v 0.995687 2.905279 -1.026146 +v -0.994346 1.396790 -1.026146 +v -0.994346 2.937487 0.931758 +v 0.995687 1.396790 1.028162 +v 1.027661 1.396790 -1.026146 +v -0.962171 2.969535 -1.058417 +v -1.026320 1.396790 0.931758 +v -0.577074 2.584481 1.028162 +v 0.578416 1.461205 -1.058417 +v 0.963512 2.937487 -0.994079 +v -0.512925 1.428998 1.028162 +v 0.770863 3.033630 0.803083 +v 0.578416 2.552273 -1.058417 +v -0.577074 1.557509 -1.058417 +v 1.027661 1.942724 -0.897675 +v -0.480750 2.969535 0.963824 +v -0.994346 2.167379 -1.058417 +v -1.026320 1.621605 0.899691 +v 0.995687 3.033630 0.835353 +v 0.449916 3.001583 1.028162 +v -0.159602 2.937487 -1.058417 +f 44 37 52 +f 29 28 31 +f 29 30 33 +f 30 29 35 +f 29 31 35 +f 28 29 36 +f 29 33 36 +f 27 34 37 +f 33 30 38 +f 30 34 38 +f 34 30 39 +f 35 31 39 +f 36 33 40 +f 30 35 42 +f 39 30 42 +f 35 39 42 +f 32 36 44 +f 36 40 44 +f 40 37 44 +f 40 33 45 +f 37 40 45 +f 31 28 46 +f 28 36 46 +f 36 32 46 +f 37 34 47 +f 31 43 47 +f 43 37 47 +f 27 37 48 +f 45 33 48 +f 37 45 48 +f 34 27 49 +f 33 38 49 +f 38 34 49 +f 27 48 49 +f 48 33 49 +f 32 41 50 +f 41 37 50 +f 43 31 50 +f 37 43 50 +f 31 46 50 +f 46 32 50 +f 39 31 51 +f 34 39 51 +f 47 34 51 +f 31 47 51 +f 41 32 52 +f 37 41 52 +f 32 44 52 +o convex_2 +v 2.985982 -2.615626 -0.480507 +v 1.670131 -1.396016 0.418107 +v 1.670131 -1.396016 0.353920 +v 1.092083 -2.615626 -0.480507 +v 2.921843 -2.551512 0.514542 +v 3.082192 -1.524603 -0.544797 +v 1.092083 -2.519395 0.514542 +v 1.092083 -1.396016 -0.448465 +v 2.985982 -1.428133 0.450148 +v 1.092083 -1.396016 0.418107 +v 2.536412 -2.615626 -0.544797 +v 3.114460 -1.588718 -0.384279 +v 1.413177 -2.326812 -0.512652 +v 1.316968 -2.230461 0.514542 +v 2.953913 -2.166347 0.514542 +v 2.729028 -1.556720 -0.544797 +v 2.985982 -2.615626 -0.544797 +v 1.894818 -1.428252 0.450148 +v 2.215516 -2.583629 0.129215 +v 1.541654 -1.396016 -0.255802 +v 2.953913 -2.391046 0.514542 +v 2.985982 -1.717067 0.482294 +v 1.092083 -1.556720 0.450148 +v 3.114460 -1.684950 -0.480507 +v 1.092083 -2.615626 -0.416320 +v 3.018052 -1.460369 0.385962 +v 2.953913 -2.583629 0.129215 +v 1.124351 -1.941886 -0.480507 +f 68 65 80 +f 54 55 60 +f 56 59 60 +f 55 54 61 +f 54 60 62 +f 60 59 62 +f 61 54 62 +f 53 56 63 +f 63 56 65 +f 59 57 66 +f 66 57 67 +f 60 58 68 +f 58 63 68 +f 63 65 68 +f 53 63 69 +f 63 58 69 +f 61 62 70 +f 57 59 71 +f 60 55 72 +f 58 60 72 +f 55 61 72 +f 61 58 72 +f 67 57 73 +f 67 73 74 +f 66 67 74 +f 61 70 74 +f 70 66 74 +f 62 59 75 +f 59 66 75 +f 70 62 75 +f 66 70 75 +f 58 64 76 +f 53 69 76 +f 69 58 76 +f 64 73 76 +f 56 53 77 +f 59 56 77 +f 71 59 77 +f 58 61 78 +f 64 58 78 +f 73 64 78 +f 74 73 78 +f 61 74 78 +f 57 71 79 +f 73 57 79 +f 53 76 79 +f 76 73 79 +f 77 53 79 +f 71 77 79 +f 56 60 80 +f 65 56 80 +f 60 68 80 +o convex_3 +v -0.512855 2.520174 2.215536 +v 0.514228 1.428997 2.697374 +v 0.546341 1.428997 2.697374 +v -0.512855 1.429110 1.028162 +v 0.546341 2.423917 1.028162 +v 0.578455 2.520287 3.018072 +v -0.416514 1.429110 3.050538 +v -0.545078 2.584534 1.028162 +v 0.514228 1.461121 1.028162 +v -0.448738 2.488051 3.050538 +v 0.546341 1.428997 3.050538 +v -0.545078 1.557491 1.060627 +v -0.480741 2.520174 2.793584 +v 0.546341 2.456040 1.253046 +v -0.448738 1.461121 2.825654 +v -0.545078 2.584534 1.445663 +v 0.546341 1.461121 1.991443 +v -0.416514 2.584534 1.028162 +v 0.353660 1.429110 1.285116 +v 0.578455 2.520287 2.761316 +v 0.546341 2.070786 3.050538 +v 0.578455 2.167043 2.954131 +v -0.448738 1.846375 3.050538 +v 0.096862 2.520174 3.018072 +f 96 93 104 +f 83 82 84 +f 84 82 87 +f 85 84 88 +f 84 85 89 +f 82 83 91 +f 87 82 91 +f 90 87 91 +f 88 84 92 +f 84 87 95 +f 92 84 95 +f 92 81 96 +f 88 92 96 +f 81 93 96 +f 83 89 97 +f 89 85 97 +f 85 88 98 +f 94 85 98 +f 96 86 98 +f 88 96 98 +f 83 84 99 +f 89 83 99 +f 84 89 99 +f 85 94 100 +f 94 98 100 +f 98 86 100 +f 86 90 101 +f 91 86 101 +f 90 91 101 +f 91 83 102 +f 86 91 102 +f 83 97 102 +f 97 85 102 +f 100 86 102 +f 85 100 102 +f 87 90 103 +f 81 92 103 +f 93 81 103 +f 90 93 103 +f 95 87 103 +f 92 95 103 +f 90 86 104 +f 93 90 104 +f 86 96 104 +o convex_4 +v -1.058930 -1.460375 0.546486 +v -3.048822 -2.551659 -0.609000 +v -3.048822 -2.487413 -0.609000 +v -3.080999 -1.973894 0.482246 +v -1.058930 -2.423053 0.610846 +v -1.058930 -1.396129 -0.512640 +v -3.048822 -1.556632 -0.416279 +v -1.058930 -2.551659 -0.416279 +v -3.080999 -2.487413 0.450246 +v -3.112974 -1.492385 0.450246 +v -2.278405 -1.460262 0.514367 +v -3.048822 -1.588755 -0.480519 +v -1.315535 -1.620878 -0.544760 +v -1.155056 -2.551659 -0.255798 +v -1.379686 -1.396129 -0.352039 +v -1.058930 -2.455176 -0.448399 +v -3.112974 -1.492385 0.257525 +v -1.090905 -1.524622 0.578607 +v -3.080999 -2.455290 0.482246 +v -1.187232 -2.358920 0.610846 +v -1.058930 -1.428252 0.353886 +v -1.219207 -2.455176 0.514367 +v -2.888143 -2.551659 -0.416279 +v -2.792017 -1.460262 0.257525 +v -2.952495 -2.551659 -0.609000 +v -2.920319 -1.492385 0.482246 +v -1.540365 -1.428252 -0.512520 +v -3.112974 -1.845514 0.418126 +v -1.058930 -1.749258 -0.512640 +f 120 129 133 +f 105 109 110 +f 110 109 112 +f 106 112 118 +f 112 109 118 +f 110 112 120 +f 107 106 121 +f 116 107 121 +f 111 116 121 +f 109 105 122 +f 105 115 122 +f 113 109 123 +f 108 114 123 +f 109 122 124 +f 122 115 124 +f 108 123 124 +f 123 109 124 +f 105 110 125 +f 115 105 125 +f 110 119 125 +f 119 115 125 +f 109 113 126 +f 118 109 126 +f 113 118 126 +f 113 106 127 +f 106 118 127 +f 118 113 127 +f 114 115 128 +f 119 111 128 +f 115 119 128 +f 121 114 128 +f 111 121 128 +f 106 107 129 +f 112 106 129 +f 107 117 129 +f 120 112 129 +f 114 108 130 +f 115 114 130 +f 108 124 130 +f 124 115 130 +f 107 116 131 +f 116 111 131 +f 117 107 131 +f 110 117 131 +f 119 110 131 +f 111 119 131 +f 106 113 132 +f 121 106 132 +f 114 121 132 +f 113 123 132 +f 123 114 132 +f 117 110 133 +f 110 120 133 +f 129 117 133 +o convex_5 +v -0.962205 -2.166759 0.963808 +v 0.225147 -1.428324 -1.026315 +v 0.225147 -1.396182 -1.026315 +v 1.027663 -2.968812 1.028162 +v -1.058625 -3.097380 -0.929786 +v 1.092083 -2.968812 -1.026315 +v 0.995664 -1.396182 1.028162 +v -1.026415 -1.396349 -0.961962 +v -1.026415 -1.396349 0.931632 +v -1.026415 -2.936669 0.931632 +v 1.059873 -1.396182 -1.026315 +v 1.092083 -1.428324 0.450189 +v -0.737577 -3.097380 -0.961962 +v -1.058625 -1.460300 0.546518 +v -1.058625 -3.000953 0.449988 +v 0.289357 -1.396182 1.028162 +v 1.092083 -2.519489 0.514542 +v 0.513986 -2.968812 1.028162 +v 0.995664 -3.000787 -1.026315 +v -1.058625 -2.936669 -0.961962 +v -1.058625 -3.097380 -0.705153 +v -1.058625 -1.396349 -0.512495 +v 1.092083 -1.396182 -0.448343 +v -0.159690 -2.968812 0.995985 +v -0.705577 -1.396349 -0.993938 +v -0.930206 -1.396349 0.963808 +v 1.027663 -1.973907 1.028162 +v -1.058625 -2.968812 0.674822 +v -1.058625 -2.006215 -0.961962 +v -0.833786 -2.936669 0.963808 +v 0.899454 -3.000787 -1.026315 +v 1.092083 -2.423063 -1.026315 +f 144 156 165 +f 135 136 139 +f 134 142 143 +f 139 136 144 +f 136 140 144 +f 147 138 148 +f 137 140 149 +f 140 136 149 +f 136 142 149 +f 137 139 150 +f 139 145 150 +f 149 134 151 +f 137 149 151 +f 135 139 152 +f 139 137 152 +f 137 146 152 +f 146 138 153 +f 138 147 153 +f 146 137 154 +f 138 146 154 +f 148 138 154 +f 137 151 154 +f 136 141 155 +f 142 136 155 +f 147 142 155 +f 153 147 155 +f 144 140 156 +f 140 145 156 +f 145 139 156 +f 143 148 157 +f 151 134 157 +f 148 154 157 +f 154 151 157 +f 136 135 158 +f 141 136 158 +f 135 153 158 +f 142 134 159 +f 134 149 159 +f 149 142 159 +f 140 137 160 +f 145 140 160 +f 137 150 160 +f 150 145 160 +f 143 142 161 +f 142 147 161 +f 148 143 161 +f 147 148 161 +f 155 141 162 +f 153 155 162 +f 141 158 162 +f 158 153 162 +f 134 143 163 +f 157 134 163 +f 143 157 163 +f 135 152 164 +f 152 146 164 +f 146 153 164 +f 153 135 164 +f 139 144 165 +f 156 139 165 +o convex_6 +v -0.609281 1.493168 -2.149687 +v 0.610550 2.295422 -1.411782 +v 0.610550 2.263522 -1.411782 +v 0.514191 2.102890 -3.016549 +v -0.545041 2.552433 -1.187177 +v 0.578430 1.461042 -1.058608 +v -0.448682 2.456054 -3.016355 +v 0.610550 1.429029 -2.920123 +v -0.609281 1.557421 -1.058803 +v 0.578430 2.552433 -1.058608 +v -0.577042 1.396789 -2.952070 +v 0.449951 2.456054 -3.048692 +v -0.545041 2.552433 -1.058803 +v -0.577042 1.653800 -2.952070 +v 0.482071 2.552433 -1.508013 +v 0.610550 1.429029 -1.829045 +v -0.384443 1.396789 -2.534807 +v 0.225233 1.396789 -2.952070 +v 0.225233 2.231282 -3.048692 +v 0.385712 1.461042 -1.058803 +v -0.480802 2.488180 -2.534807 +v 0.610550 1.557421 -2.952265 +v 0.578430 2.552433 -1.379640 +v -0.191845 2.391801 -3.048692 +v 0.546310 1.396789 -2.887981 +v -0.545041 1.621561 -2.984212 +v -0.480802 2.359788 -2.984212 +v -0.609281 1.685700 -1.219124 +v -0.577042 2.006511 -2.021703 +f 193 170 194 +f 168 167 171 +f 167 168 173 +f 174 171 175 +f 171 167 175 +f 174 166 176 +f 174 175 178 +f 175 170 178 +f 176 166 179 +f 170 175 180 +f 168 171 181 +f 173 168 181 +f 174 176 182 +f 181 171 182 +f 182 176 183 +f 177 169 184 +f 171 174 185 +f 182 171 185 +f 174 182 185 +f 177 172 186 +f 170 180 186 +f 180 177 186 +f 167 173 187 +f 173 183 187 +f 183 184 187 +f 184 169 187 +f 175 167 188 +f 169 177 188 +f 180 175 188 +f 177 180 188 +f 167 187 188 +f 187 169 188 +f 172 177 189 +f 177 184 189 +f 173 181 190 +f 181 182 190 +f 182 183 190 +f 183 173 190 +f 179 172 191 +f 176 179 191 +f 183 176 191 +f 184 183 191 +f 172 189 191 +f 189 184 191 +f 172 179 192 +f 186 172 192 +f 170 186 192 +f 166 174 193 +f 178 170 193 +f 174 178 193 +f 179 166 194 +f 170 192 194 +f 192 179 194 +f 166 193 194 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/650/650.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/650/650.urdf new file mode 100644 index 000000000..c589a7b4f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/650/650.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/651/651.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/651/651.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/651/651.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/651/651.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/651/651.obj new file mode 100644 index 000000000..65dfd01ee --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/651/651.obj @@ -0,0 +1,849 @@ +o convex_0 +v -1.453458 -0.241788 -0.986334 +v -1.453458 0.293478 1.029035 +v -1.453458 0.545247 0.997376 +v -3.248445 -0.052705 0.084068 +v -1.485084 1.143710 -0.797180 +v -1.453458 -1.249632 -0.009908 +v -2.996486 -0.021234 -0.765721 +v -3.027937 0.765545 0.021150 +v -2.996486 -0.052705 0.776763 +v -1.453458 1.112239 0.871540 +v -2.965035 -0.808524 -0.010108 +v -1.705592 -0.808269 0.808422 +v -2.240785 -0.777053 -0.765721 +v -1.453458 1.364264 0.084068 +v -2.272412 0.041708 -1.017993 +v -2.461118 0.734329 -0.702803 +v -2.272412 -0.021234 1.029035 +v -2.366765 -0.745326 0.713845 +v -2.429667 0.734329 0.745304 +v -1.453458 -0.808524 -0.860298 +v -1.453458 -0.777053 0.839881 +v -1.453458 0.419362 -1.017993 +v -2.713076 -0.619442 -0.608427 +v -2.839056 0.576718 0.587810 +v -2.807429 -0.587971 0.587810 +v -3.027937 0.765545 -0.041567 +v -1.453458 1.080768 -0.860298 +v -1.579613 1.080768 0.871540 +v -2.839056 0.545247 -0.576768 +v -1.485084 -1.249632 -0.072825 +v -2.996486 0.041452 0.776763 +v -3.248445 -0.052705 -0.041567 +v -2.240785 0.828743 -0.765721 +v -1.485084 1.364264 -0.009908 +v -2.240785 -0.052705 -1.017993 +v -2.209334 0.104395 1.029035 +v -2.240785 -0.745582 0.776964 +v -2.996486 -0.777053 -0.010108 +v -2.240785 0.797016 0.808422 +v -1.453458 -0.052705 0.997376 +v -1.485084 0.986099 0.934458 +v -1.516535 -0.651169 -0.923216 +v -1.611064 0.828743 -0.923216 +v -2.996486 0.010237 -0.765721 +v -1.485084 1.364264 0.084068 +v -2.996486 0.765545 0.084068 +v -2.335314 -0.997351 0.021150 +v -2.240785 -0.777053 0.745505 +v -3.027937 -0.084176 0.713845 +v -2.240785 0.104395 -1.017993 +v -2.209334 -0.745582 -0.797180 +v -2.870507 -0.682384 -0.356356 +v -1.579613 -0.588226 0.902999 +v -3.216994 0.135866 -0.041567 +v -3.248445 0.010237 0.084068 +v -1.516535 1.143710 0.776964 +v -2.240785 0.765801 -0.797180 +v -1.485084 -0.021234 -1.017993 +v -2.901958 -0.808524 0.084068 +v -1.516535 1.175181 -0.671345 +v -2.996486 -0.777053 0.021150 +v -2.996486 0.104139 0.745304 +v -1.547986 1.111983 -0.828839 +v -1.485084 -1.249632 -0.009908 +f 48 47 64 +f 3 2 1 +f 1 2 6 +f 3 1 10 +f 10 1 14 +f 1 6 20 +f 6 2 21 +f 12 6 21 +f 14 1 22 +f 5 14 27 +f 14 22 27 +f 26 16 29 +f 11 13 30 +f 20 6 30 +f 13 20 30 +f 9 17 31 +f 16 26 33 +f 14 5 34 +f 26 8 34 +f 7 15 35 +f 15 22 35 +f 2 3 36 +f 17 2 36 +f 31 17 36 +f 17 9 37 +f 9 25 37 +f 25 18 37 +f 4 32 38 +f 32 7 38 +f 19 31 39 +f 31 36 39 +f 2 17 40 +f 21 2 40 +f 3 10 41 +f 10 28 41 +f 36 3 41 +f 28 39 41 +f 39 36 41 +f 1 20 42 +f 35 1 42 +f 27 22 43 +f 15 7 44 +f 29 16 44 +f 26 29 44 +f 7 32 44 +f 14 34 45 +f 34 8 45 +f 8 24 46 +f 24 19 46 +f 19 39 46 +f 39 28 46 +f 45 8 46 +f 11 30 47 +f 12 37 48 +f 37 18 48 +f 25 9 49 +f 9 31 49 +f 22 15 50 +f 43 22 50 +f 15 44 50 +f 20 13 51 +f 23 7 51 +f 13 23 51 +f 7 35 51 +f 42 20 51 +f 35 42 51 +f 13 11 52 +f 7 23 52 +f 23 13 52 +f 38 7 52 +f 11 38 52 +f 12 21 53 +f 37 12 53 +f 17 37 53 +f 40 17 53 +f 21 40 53 +f 8 26 54 +f 26 44 54 +f 44 32 54 +f 32 4 55 +f 4 49 55 +f 49 31 55 +f 8 54 55 +f 54 32 55 +f 10 14 56 +f 28 10 56 +f 14 45 56 +f 46 28 56 +f 45 46 56 +f 16 33 57 +f 44 16 57 +f 43 50 57 +f 50 44 57 +f 22 1 58 +f 1 35 58 +f 35 22 58 +f 18 25 59 +f 11 47 59 +f 48 18 59 +f 47 48 59 +f 34 5 60 +f 26 34 60 +f 4 38 61 +f 38 11 61 +f 25 49 61 +f 49 4 61 +f 11 59 61 +f 59 25 61 +f 24 8 62 +f 19 24 62 +f 31 19 62 +f 8 55 62 +f 55 31 62 +f 5 27 63 +f 33 26 63 +f 27 43 63 +f 57 33 63 +f 43 57 63 +f 60 5 63 +f 26 60 63 +f 6 12 64 +f 30 6 64 +f 47 30 64 +f 12 48 64 +o convex_1 +v 2.766463 0.734144 -0.230514 +v 1.034523 -1.312618 -0.041669 +v 1.066058 -1.312618 -0.041669 +v 1.727462 0.104216 0.934557 +v 1.034523 0.891374 -0.797420 +v 2.608996 -0.651092 -0.640018 +v 2.577462 -0.714034 0.682455 +v 1.034523 0.797340 0.776970 +v 1.034523 -1.060596 0.808413 +v 1.034523 -1.028998 -0.797420 +v 3.112729 0.293296 0.304579 +v 2.546131 0.072871 -0.891935 +v 1.066058 1.269786 -0.010225 +v 2.640530 0.639605 0.651011 +v 3.112729 -0.241840 -0.324844 +v 2.577462 0.734144 -0.671462 +v 2.577462 -0.903114 -0.041484 +v 2.608996 -0.147048 0.871300 +v 1.034523 -0.273185 -0.955007 +v 2.608996 0.923224 0.021033 +v 3.112729 -0.273185 0.272950 +v 3.112729 0.324893 -0.293401 +v 1.034523 -0.399323 0.934557 +v 1.191991 0.608260 -0.891935 +v 1.979329 0.041274 -0.955007 +v 2.546131 -0.903114 0.146992 +v 1.066058 -1.123285 0.714083 +v 2.608996 0.041526 0.871300 +v 2.577462 -0.084105 -0.860307 +v 2.577462 0.671202 0.651011 +v 2.168127 -0.084105 0.934557 +v 3.112729 -0.367472 -0.041484 +v 2.829328 0.072871 -0.671462 +v 2.577462 -0.682689 -0.640018 +v 3.049864 0.482375 0.021033 +v 1.034523 -0.052508 0.934557 +v 1.034523 1.269786 -0.041669 +v 3.112729 -0.052761 0.367651 +v 2.577462 -0.588149 -0.702905 +v 1.097592 -0.808574 -0.860492 +v 2.640530 0.891627 -0.135999 +v 1.034523 0.072618 -0.955007 +v 2.577462 -0.745632 0.651011 +v 1.066058 -1.312618 0.052662 +v 2.703598 0.671202 -0.608390 +v 2.577462 -0.588149 0.745341 +v 1.066058 -0.966056 0.840041 +v 2.640530 0.702800 0.556496 +v 3.112729 0.072871 -0.387916 +v 1.066058 0.860029 -0.828864 +v 1.034523 0.576915 0.840041 +v 1.066058 -1.028998 -0.797420 +v 1.066058 1.269786 -0.041669 +v 3.112729 -0.304530 -0.261957 +v 1.097592 0.891374 -0.797420 +v 2.766463 0.797087 0.021033 +v 2.829328 -0.021416 -0.671462 +v 1.758996 0.167158 -0.955007 +v 1.066058 0.797340 0.776970 +v 2.608996 0.135813 -0.860307 +v 2.546131 -0.871516 -0.167442 +v 2.483063 0.639605 0.682455 +v 3.112729 -0.367472 0.021033 +v 1.066058 1.237936 0.052662 +f 123 94 128 +f 69 66 72 +f 72 66 73 +f 67 66 74 +f 66 69 74 +f 74 69 83 +f 79 75 85 +f 75 79 86 +f 72 73 87 +f 73 66 91 +f 75 78 92 +f 89 76 93 +f 68 87 95 +f 92 68 95 +f 82 92 95 +f 79 85 96 +f 75 86 99 +f 86 65 99 +f 87 68 100 +f 72 87 100 +f 69 72 101 +f 85 75 102 +f 75 92 102 +f 92 82 102 +f 79 70 103 +f 70 98 103 +f 74 83 104 +f 83 89 104 +f 89 93 104 +f 83 69 106 +f 89 83 106 +f 71 73 107 +f 85 71 107 +f 73 91 107 +f 91 90 107 +f 66 67 108 +f 67 81 108 +f 81 90 108 +f 91 66 108 +f 90 91 108 +f 65 86 109 +f 105 65 109 +f 80 105 109 +f 73 71 110 +f 71 85 110 +f 102 82 110 +f 85 102 110 +f 87 73 111 +f 82 95 111 +f 95 87 111 +f 73 110 111 +f 110 82 111 +f 78 75 112 +f 84 77 112 +f 77 94 112 +f 94 78 112 +f 86 79 113 +f 109 86 113 +f 97 109 113 +f 80 76 114 +f 76 88 114 +f 106 69 114 +f 88 106 114 +f 100 68 115 +f 72 100 115 +f 67 74 116 +f 93 103 116 +f 103 98 116 +f 74 104 116 +f 104 93 116 +f 77 84 117 +f 69 101 117 +f 101 77 117 +f 105 80 117 +f 84 105 117 +f 70 79 118 +f 79 96 118 +f 96 81 118 +f 81 98 118 +f 98 70 118 +f 80 114 119 +f 114 69 119 +f 69 117 119 +f 117 80 119 +f 75 99 120 +f 99 65 120 +f 65 105 120 +f 105 84 120 +f 112 75 120 +f 84 112 120 +f 79 103 121 +f 103 93 121 +f 113 79 121 +f 97 113 121 +f 88 76 122 +f 76 89 122 +f 106 88 122 +f 89 106 122 +f 68 92 123 +f 115 68 123 +f 72 115 123 +f 76 80 124 +f 93 76 124 +f 80 109 124 +f 109 97 124 +f 121 93 124 +f 97 121 124 +f 81 67 125 +f 98 81 125 +f 67 116 125 +f 116 98 125 +f 92 78 126 +f 78 94 126 +f 123 92 126 +f 94 123 126 +f 90 81 127 +f 81 96 127 +f 96 85 127 +f 85 107 127 +f 107 90 127 +f 94 77 128 +f 101 72 128 +f 77 101 128 +f 72 123 128 +o convex_2 +v 3.144752 0.010077 0.367687 +v 3.113167 -0.021323 -0.388138 +v 3.113167 0.041545 -0.388138 +v 4.876415 0.010077 -0.010225 +v 3.113167 -0.336275 0.115696 +v 3.113167 0.356429 0.052736 +v 3.302160 -0.273271 -0.293660 +v 4.561426 -0.178799 0.084253 +v 4.561426 0.199021 0.021218 +v 3.176165 0.293425 -0.293660 +v 4.624424 -0.021323 -0.167664 +v 4.498428 0.104549 0.178731 +v 3.113167 0.261957 0.273209 +v 3.144752 -0.241736 0.304653 +v 4.624424 -0.052792 0.178731 +v 4.624424 -0.178799 -0.041669 +v 3.113167 -0.336275 -0.136147 +v 4.624424 0.041545 -0.167664 +v 3.113167 0.356429 -0.104703 +v 3.365158 -0.336275 0.021218 +v 4.467015 0.167485 -0.104703 +v 3.113167 -0.052792 0.367687 +v 4.467015 -0.115795 -0.167664 +v 4.876415 0.010077 0.052736 +v 3.207750 -0.273271 0.273209 +v 4.498428 -0.021323 0.210175 +v 4.530013 0.199021 0.052736 +v 3.113167 -0.241736 -0.325103 +v 3.176165 0.261957 0.273209 +v 4.561426 0.199021 -0.010225 +v 4.435430 -0.210268 -0.041669 +v 3.239162 0.356429 0.021218 +f 158 147 160 +f 131 130 133 +f 131 133 134 +f 130 131 139 +f 134 133 141 +f 139 132 144 +f 133 130 145 +f 131 138 146 +f 139 131 146 +f 132 139 146 +f 131 134 147 +f 138 131 147 +f 136 133 148 +f 133 145 148 +f 146 138 149 +f 129 141 150 +f 141 133 150 +f 133 142 150 +f 135 130 151 +f 130 139 151 +f 144 135 151 +f 139 144 151 +f 132 137 152 +f 143 136 152 +f 140 143 152 +f 136 144 152 +f 144 132 152 +f 133 136 153 +f 142 133 153 +f 136 143 153 +f 143 142 153 +f 140 129 154 +f 143 140 154 +f 142 143 154 +f 129 150 154 +f 150 142 154 +f 152 137 155 +f 140 152 155 +f 130 135 156 +f 145 130 156 +f 135 145 156 +f 129 140 157 +f 141 129 157 +f 134 141 157 +f 140 155 157 +f 137 132 158 +f 132 146 158 +f 138 147 158 +f 149 138 158 +f 146 149 158 +f 135 144 159 +f 144 136 159 +f 145 135 159 +f 136 148 159 +f 148 145 159 +f 147 134 160 +f 155 137 160 +f 134 157 160 +f 157 155 160 +f 137 158 160 +o convex_3 +v 0.687928 -2.446085 -0.041468 +v -0.256491 -1.281230 -0.986306 +v -0.256491 -1.186826 -0.986306 +v -1.106905 -1.186826 0.808419 +v 0.845493 -1.186647 0.808419 +v -0.917924 -2.761123 0.052705 +v -0.067997 -2.824238 0.808419 +v -0.067997 -2.855706 -0.765727 +v 0.845493 -1.186647 -0.797377 +v -1.138321 -1.249762 -0.828833 +v -1.453452 -1.186826 0.084161 +v 0.215475 -2.351859 0.997348 +v -0.729187 -2.509200 0.776964 +v -0.729187 -2.540668 -0.765921 +v 0.247134 -2.288744 -0.986306 +v 0.562021 -2.761123 0.084161 +v 1.034474 -1.407281 0.052511 +v -0.193903 -3.013225 0.084161 +v 0.687928 -2.037000 -0.765921 +v -0.225075 -1.186826 0.965698 +v 0.656512 -2.099936 0.776964 +v -1.453452 -1.344345 -0.041662 +v 0.435872 -2.603783 -0.576798 +v 0.026737 -2.320212 -0.986306 +v 0.058153 -2.383327 0.997348 +v -0.917924 -2.761123 -0.073118 +v 1.034474 -1.186647 -0.230591 +v -1.106905 -1.186826 -0.860288 +v 0.435872 -2.603783 0.587841 +v 0.562021 -2.761123 -0.073118 +v -0.130828 -2.855706 0.776769 +v 1.034474 -1.218294 0.304545 +v -0.036337 -1.186826 -0.986306 +v -0.162244 -3.013225 -0.073118 +v -1.453452 -1.281409 0.052705 +v -1.453452 -1.218294 -0.167485 +v -0.036337 -1.218294 0.965698 +v 0.719343 -1.312877 -0.860288 +v -0.130828 -2.855706 -0.765727 +v -0.949340 -2.729655 0.052705 +v -0.067997 -1.974243 0.997348 +v 1.034474 -1.407281 -0.041468 +v 0.247134 -2.162693 0.997348 +v -1.138321 -1.249762 0.745508 +v -0.067997 -2.855706 0.776769 +v 0.687928 -2.099936 0.682402 +v -0.792018 -2.603604 0.556385 +v -0.130828 -3.013225 0.084161 +v -0.760602 -2.509200 -0.734465 +v -0.949340 -2.729655 -0.041662 +v 0.593437 -2.729655 0.021055 +v 0.845493 -1.249762 0.808419 +v -0.319565 -2.981578 -0.041662 +v 0.278550 -2.131404 -0.986306 +v -0.792018 -2.509200 0.650946 +v 0.530362 -2.792770 -0.010207 +v 0.624853 -2.194340 -0.734271 +v 0.152400 -2.446264 -0.954656 +v 0.719343 -1.186647 0.839875 +v -0.792018 -2.824059 0.021055 +v -0.666112 -2.572136 0.776964 +v 0.782418 -1.533153 -0.797377 +v -1.106905 -1.218294 -0.860288 +v 0.026737 -2.446264 -0.954656 +f 218 199 224 +f 162 163 175 +f 162 175 184 +f 167 172 185 +f 164 173 185 +f 169 165 187 +f 163 162 188 +f 169 163 188 +f 171 169 188 +f 172 167 189 +f 181 172 189 +f 176 181 189 +f 179 161 190 +f 168 183 190 +f 187 165 192 +f 177 187 192 +f 163 169 193 +f 175 163 193 +f 171 182 195 +f 182 171 196 +f 171 188 196 +f 188 170 196 +f 193 169 198 +f 186 174 199 +f 168 194 199 +f 186 166 200 +f 195 182 200 +f 180 164 201 +f 185 172 201 +f 164 185 201 +f 197 180 201 +f 161 179 202 +f 187 177 202 +f 179 187 202 +f 201 172 203 +f 197 201 203 +f 164 171 204 +f 173 164 204 +f 171 195 204 +f 189 167 205 +f 176 189 205 +f 167 191 205 +f 191 178 205 +f 181 176 206 +f 192 181 206 +f 177 192 206 +f 200 166 207 +f 178 194 208 +f 205 178 208 +f 170 174 209 +f 196 170 209 +f 196 209 210 +f 174 186 210 +f 182 196 210 +f 186 200 210 +f 200 182 210 +f 209 174 210 +f 190 161 211 +f 176 190 211 +f 161 202 211 +f 202 177 211 +f 206 176 211 +f 177 206 211 +f 172 181 212 +f 192 165 212 +f 181 192 212 +f 165 203 212 +f 203 172 212 +f 194 178 213 +f 186 199 213 +f 199 194 213 +f 175 193 214 +f 198 175 214 +f 193 198 214 +f 195 200 215 +f 173 204 215 +f 204 195 215 +f 207 173 215 +f 200 207 215 +f 190 176 216 +f 168 190 216 +f 194 168 216 +f 176 205 216 +f 208 194 216 +f 205 208 216 +f 175 179 217 +f 179 190 217 +f 190 183 217 +f 183 168 218 +f 184 175 218 +f 168 199 218 +f 175 217 218 +f 217 183 218 +f 165 169 219 +f 171 164 219 +f 169 171 219 +f 164 180 219 +f 180 197 219 +f 203 165 219 +f 197 203 219 +f 166 186 220 +f 191 166 220 +f 178 191 220 +f 213 178 220 +f 186 213 220 +f 167 185 221 +f 185 173 221 +f 191 167 221 +f 166 191 221 +f 173 207 221 +f 207 166 221 +f 179 175 222 +f 169 187 222 +f 187 179 222 +f 175 198 222 +f 198 169 222 +f 174 170 223 +f 162 184 223 +f 184 174 223 +f 188 162 223 +f 170 188 223 +f 174 184 224 +f 199 174 224 +f 184 218 224 +o convex_4 +v -0.004910 2.970178 -0.041570 +v -1.453424 -1.186647 -0.167353 +v -1.390350 -1.186647 -0.324943 +v 1.034474 -1.060245 0.808342 +v 1.034474 -0.304308 -0.954890 +v -1.453424 0.797377 0.965932 +v -1.453424 1.017548 -0.891895 +v 0.341389 2.466220 0.745347 +v 0.309974 2.592210 -0.828901 +v -0.980977 2.780987 0.084006 +v -0.036325 -1.186234 -0.986284 +v -1.106881 -1.186234 0.808342 +v 1.034474 1.332315 -0.010176 +v -0.539945 2.403019 -1.049485 +v -0.603019 2.371212 1.060528 +v 1.034474 -0.052329 0.934538 +v -1.453424 -0.241520 -0.986284 +v -0.067741 -1.186234 0.965932 +v 0.845495 -1.186647 -0.797507 +v 0.530368 2.781400 -0.010176 +v -1.453424 0.136449 1.028720 +v 1.034474 0.860578 -0.828694 +v -0.319550 2.875169 0.776948 +v -0.319550 2.875169 -0.797300 +v 1.034474 0.797377 0.776948 +v -1.138297 -1.186234 -0.860295 +v -1.453424 1.458305 0.052612 +v -1.075466 2.213828 0.808342 +v -1.043807 2.151040 -0.765699 +v -1.421765 0.231044 -1.049279 +v -1.453424 -0.840073 0.808342 +v 1.034474 -1.186234 -0.324943 +v -0.225061 0.671800 -1.049485 +v -0.256720 3.033379 -0.009969 +v 1.034474 0.073247 -0.954890 +v 0.845495 -1.186647 0.808549 +v -0.980977 2.780987 -0.041364 +v -1.453424 1.111731 0.902731 +v -1.453424 -0.776872 -0.891895 +v 1.034474 -0.398903 0.934538 +v -0.256720 1.994070 -1.049485 +v 1.034474 -0.966062 -0.828694 +v -1.453424 1.143538 -0.828901 +v -0.760582 2.686392 0.650959 +v 0.530368 2.781400 -0.072964 +v -0.539945 2.339818 1.060528 +v -0.823413 2.623604 -0.576922 +v -0.193889 -0.745477 -1.017678 +v -0.256720 -1.186647 -0.986284 +v 0.341389 2.560402 0.682353 +v 1.034474 0.576792 0.839943 +v -1.453424 -1.186647 0.115607 +v -1.453424 -0.556287 0.902731 +v -0.225061 -1.186647 0.965932 +v -0.256720 2.875169 -0.797300 +v 0.656516 -0.335702 -0.986284 +v 0.341389 2.592210 -0.797300 +v 0.309974 -0.682689 0.965932 +v -1.075466 0.294245 1.028720 +v 0.058164 2.497614 0.839943 +v 1.034474 0.608599 -0.891895 +v -0.445455 2.403019 -1.049485 +v -1.138297 2.119646 0.682353 +v 1.034474 -1.186234 0.461975 +f 260 256 288 +f 226 230 231 +f 228 229 237 +f 228 237 240 +f 226 231 241 +f 226 227 243 +f 230 226 245 +f 239 230 245 +f 237 229 246 +f 244 225 247 +f 240 237 249 +f 237 244 249 +f 231 230 251 +f 238 231 253 +f 231 238 254 +f 241 231 254 +f 245 226 255 +f 229 228 256 +f 254 238 257 +f 247 225 258 +f 234 247 258 +f 246 229 259 +f 228 242 260 +f 226 243 260 +f 243 256 260 +f 251 234 261 +f 234 258 261 +f 258 248 261 +f 230 239 262 +f 251 230 262 +f 239 252 262 +f 227 226 263 +f 226 241 263 +f 250 227 263 +f 228 240 264 +f 242 228 264 +f 257 238 265 +f 235 229 266 +f 243 235 266 +f 229 256 266 +f 256 243 266 +f 231 251 267 +f 253 231 267 +f 251 261 267 +f 261 253 267 +f 247 234 268 +f 239 247 268 +f 234 252 268 +f 252 239 268 +f 225 244 269 +f 244 237 269 +f 237 246 269 +f 239 245 270 +f 247 239 270 +f 264 240 270 +f 248 238 271 +f 238 253 271 +f 253 261 271 +f 261 248 271 +f 254 257 272 +f 243 227 273 +f 235 243 273 +f 227 250 273 +f 241 254 273 +f 263 241 273 +f 250 263 273 +f 272 235 273 +f 254 272 273 +f 247 232 274 +f 244 247 274 +f 232 249 274 +f 249 244 274 +f 240 249 275 +f 249 232 275 +f 270 240 275 +f 255 226 276 +f 236 255 276 +f 226 260 276 +f 255 236 277 +f 245 255 277 +f 242 245 278 +f 260 242 278 +f 236 276 278 +f 276 260 278 +f 277 236 278 +f 245 277 278 +f 238 248 279 +f 258 225 279 +f 248 258 279 +f 225 269 279 +f 229 235 280 +f 259 229 280 +f 257 265 280 +f 265 259 280 +f 235 272 280 +f 272 257 280 +f 246 233 281 +f 269 246 281 +f 233 279 281 +f 279 269 281 +f 242 264 282 +f 270 242 282 +f 264 270 282 +f 245 242 283 +f 270 245 283 +f 242 270 283 +f 232 247 284 +f 247 270 284 +f 275 232 284 +f 270 275 284 +f 233 246 285 +f 246 259 285 +f 265 238 286 +f 259 265 286 +f 279 233 286 +f 238 279 286 +f 233 285 286 +f 285 259 286 +f 234 251 287 +f 252 234 287 +f 251 262 287 +f 262 252 287 +f 256 228 288 +f 228 260 288 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/651/651.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/651/651.urdf new file mode 100644 index 000000000..43e59e2f3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/651/651.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/652/652.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/652/652.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/652/652.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/652/652.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/652/652.obj new file mode 100644 index 000000000..b75a60543 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/652/652.obj @@ -0,0 +1,822 @@ +o convex_0 +v 0.358055 -1.127869 -1.782572 +v -0.342281 -2.783001 -1.782572 +v -0.278596 -2.432322 -1.814415 +v -0.342281 -0.077155 -1.368927 +v 0.198807 -2.750952 -1.273399 +v -0.278596 -0.077155 -1.814415 +v 0.230684 -0.077155 -1.368927 +v 0.358055 -2.687385 -1.750730 +v 0.326178 -0.077155 -1.909944 +v -0.214910 -2.655602 -1.337084 +v -0.342281 -0.364002 -1.337084 +v 0.358055 -2.241620 -1.655263 +v 0.198807 -0.077155 -1.337084 +v -0.342281 -0.077155 -1.655263 +v 0.358055 -2.528202 -1.782572 +v 0.198807 -0.364002 -1.909944 +v -0.342281 -2.750952 -1.687106 +v -0.151156 -2.655602 -1.305241 +v -0.246719 -2.655602 -1.368927 +v 0.326178 -0.140987 -1.750730 +v -0.342281 -1.223220 -1.782572 +v 0.198807 -1.096350 -1.305241 +f 13 11 22 +f 3 2 6 +f 6 4 7 +f 5 2 8 +f 6 7 9 +f 4 2 11 +f 7 5 12 +f 5 8 12 +f 8 1 12 +f 7 4 13 +f 4 11 13 +f 2 4 14 +f 4 6 14 +f 2 3 15 +f 1 8 15 +f 8 2 15 +f 9 1 15 +f 9 15 16 +f 3 6 16 +f 6 9 16 +f 15 3 16 +f 2 5 17 +f 5 10 17 +f 11 2 17 +f 10 5 18 +f 5 11 18 +f 11 10 18 +f 10 11 19 +f 17 10 19 +f 11 17 19 +f 9 7 20 +f 1 9 20 +f 12 1 20 +f 7 12 20 +f 6 2 21 +f 2 14 21 +f 14 6 21 +f 5 7 22 +f 11 5 22 +f 7 13 22 +o convex_1 +v -3.111794 -2.146138 -0.031753 +v -2.920593 -1.063993 1.050507 +v -2.920593 -1.063993 0.986750 +v -1.042618 -2.114404 0.923108 +v -1.042618 -1.223254 -0.031753 +v -3.111794 -2.273665 0.923108 +v -1.042618 -2.114404 -0.031753 +v -2.984394 -1.191520 -0.063574 +v -1.042618 -1.191402 0.923108 +v -3.111794 -2.018848 -0.127331 +v -2.984394 -1.095963 1.050507 +v -2.952595 -1.127697 -0.031753 +v -1.106419 -1.191402 -0.031753 +v -2.761395 -2.273665 0.859466 +v -1.392814 -1.382396 -0.063574 +v -2.888794 -2.114404 -0.127331 +v -3.047993 -2.114404 0.954929 +v -3.016193 -2.273665 0.732067 +v -2.825196 -1.127697 1.050507 +v -1.361015 -2.114404 -0.063574 +v -3.111794 -2.114404 0.923108 +v -1.615813 -2.178108 0.923108 +v -1.392814 -1.159668 0.891287 +f 31 35 45 +f 27 26 29 +f 26 27 31 +f 23 28 32 +f 30 32 33 +f 24 25 33 +f 30 33 34 +f 33 25 34 +f 31 27 35 +f 34 25 35 +f 30 34 35 +f 32 30 37 +f 35 27 37 +f 30 35 37 +f 23 32 38 +f 32 37 38 +f 33 28 39 +f 28 23 40 +f 36 28 40 +f 29 36 40 +f 31 24 41 +f 26 31 41 +f 24 33 41 +f 39 26 41 +f 33 39 41 +f 27 29 42 +f 37 27 42 +f 23 38 42 +f 38 37 42 +f 40 23 42 +f 29 40 42 +f 32 28 43 +f 33 32 43 +f 28 33 43 +f 29 26 44 +f 28 36 44 +f 36 29 44 +f 26 39 44 +f 39 28 44 +f 25 24 45 +f 24 31 45 +f 35 25 45 +o convex_2 +v 0.230696 2.437646 -1.814481 +v -0.342281 3.201512 -1.464424 +v -0.342281 3.201512 -1.368887 +v -0.246744 0.718682 -1.878172 +v 0.262480 0.718682 -1.241503 +v 0.166942 3.297128 -1.241503 +v -0.342281 3.392478 -1.750789 +v 0.294388 0.718682 -1.878172 +v -0.183052 0.718682 -1.368887 +v 0.198788 3.360695 -1.750789 +v -0.342281 3.424527 -1.368887 +v 0.166942 1.260062 -1.241503 +v 0.198788 2.819314 -1.241503 +v 0.294388 1.005529 -1.878172 +v -0.246744 0.718682 -1.719005 +v 0.039621 3.424527 -1.591559 +v -0.246744 0.910178 -1.878172 +v -0.214898 0.973480 -1.368887 +v 0.103312 3.106161 -1.241503 +v -0.278590 1.260062 -1.846326 +v -0.023947 0.718682 -1.305195 +f 63 54 66 +f 47 48 52 +f 50 49 53 +f 49 50 54 +f 46 52 55 +f 52 48 56 +f 50 51 57 +f 51 50 58 +f 55 51 58 +f 55 58 59 +f 53 49 59 +f 50 53 59 +f 46 55 59 +f 58 50 59 +f 49 54 60 +f 51 55 61 +f 55 52 61 +f 56 51 61 +f 52 56 61 +f 52 46 62 +f 46 59 62 +f 59 49 62 +f 48 60 63 +f 60 54 63 +f 56 48 64 +f 51 56 64 +f 48 57 64 +f 57 51 64 +f 48 47 65 +f 47 52 65 +f 60 48 65 +f 49 60 65 +f 52 62 65 +f 62 49 65 +f 54 50 66 +f 57 48 66 +f 50 57 66 +f 48 63 66 +o convex_3 +v -0.946952 3.360695 -0.509159 +v 0.517127 1.514861 1.496176 +v 0.485325 1.514861 1.496176 +v 1.026356 0.718682 -0.604721 +v -0.978755 0.718682 1.368618 +v 1.026356 3.328646 1.432397 +v 1.026356 3.392478 -0.668500 +v -0.946952 3.424527 1.336834 +v -0.946952 0.718682 -0.509159 +v 0.994553 0.718682 1.464180 +v 0.708137 2.851362 -0.668500 +v -0.978755 2.532732 -0.413808 +v 0.071307 0.878129 1.496176 +v -0.915150 3.360695 1.368618 +v -0.787941 0.718682 -0.541154 +v 0.962751 3.360695 1.432397 +v -0.310319 3.392478 -0.572938 +v -0.978755 0.718682 -0.413808 +v 0.899147 3.074112 1.464180 +v -0.978755 2.469429 1.336834 +v 0.994553 1.132928 -0.636505 +v 1.026356 2.342030 1.464180 +v 1.026356 3.392478 0.127361 +v -0.946952 3.392478 -0.286461 +v 0.326118 0.718682 1.496176 +v 0.708137 3.392478 -0.668500 +v -0.183110 0.718682 -0.572938 +v 0.994553 2.309981 -0.668500 +v 0.421721 3.360695 1.432397 +f 85 82 95 +f 72 70 73 +f 70 71 75 +f 71 70 76 +f 67 75 78 +f 68 69 79 +f 79 69 80 +f 71 79 80 +f 75 67 81 +f 70 75 81 +f 81 67 83 +f 75 71 84 +f 71 78 84 +f 78 75 84 +f 69 68 85 +f 72 82 85 +f 74 78 86 +f 78 71 86 +f 80 74 86 +f 71 80 86 +f 70 72 88 +f 68 76 88 +f 76 70 88 +f 85 68 88 +f 72 85 88 +f 72 73 89 +f 73 74 89 +f 82 72 89 +f 74 82 89 +f 67 78 90 +f 78 74 90 +f 74 83 90 +f 83 67 90 +f 76 68 91 +f 71 76 91 +f 68 79 91 +f 79 71 91 +f 74 73 92 +f 73 77 92 +f 77 81 92 +f 83 74 92 +f 81 83 92 +f 70 81 93 +f 81 77 93 +f 87 70 93 +f 87 93 94 +f 73 70 94 +f 77 73 94 +f 70 87 94 +f 93 77 94 +f 80 69 95 +f 74 80 95 +f 82 74 95 +f 69 85 95 +o convex_4 +v -0.342185 -2.750952 0.954795 +v 0.994588 -0.077155 1.496176 +v 0.930912 -0.077155 1.496176 +v 0.167012 -0.077155 -0.668500 +v -1.010676 -0.077155 1.368618 +v 1.026530 -2.655602 -0.509159 +v -0.947000 -2.719169 -0.540942 +v 0.962855 -2.655602 1.496176 +v -1.042618 -2.783001 1.368618 +v -0.978733 -0.077155 -0.413808 +v 1.026530 -0.077155 -0.572938 +v 1.090206 -2.273403 0.922799 +v -1.042618 -1.223220 -0.031557 +v -0.947000 -0.140987 -0.540942 +v 1.090206 -1.191701 -0.127119 +v 0.517125 -2.687120 1.496176 +v 0.994588 -2.528202 -0.540942 +v -0.819648 -2.432322 -0.572938 +v 1.090206 -1.255268 0.891016 +v -1.042618 -2.114485 -0.031557 +v 0.389773 -0.268387 -0.668500 +v 1.090206 -2.336971 -0.222682 +v -1.042618 -1.064301 1.368618 +v 0.835294 -2.687120 1.496176 +v -0.469536 -2.719169 -0.540942 +v -1.010676 -0.077155 -0.190687 +v -1.042618 -2.783001 1.050358 +v 1.058264 -2.591769 -0.477375 +v 0.644476 -2.687120 -0.158903 +v -0.755973 -2.687385 1.400613 +v 1.026530 -1.191701 -0.572938 +v -0.978733 -2.400538 -0.445379 +v -1.010676 -2.750952 0.254920 +v -0.883324 -2.783001 1.209487 +f 120 124 129 +f 98 97 99 +f 98 99 100 +f 97 98 103 +f 100 99 105 +f 99 97 106 +f 97 103 107 +f 105 99 109 +f 98 100 111 +f 103 98 111 +f 109 99 113 +f 102 109 113 +f 106 97 114 +f 97 107 114 +f 110 106 114 +f 107 110 114 +f 104 108 115 +f 99 106 116 +f 113 99 116 +f 112 113 116 +f 106 110 117 +f 110 107 117 +f 108 104 118 +f 101 103 119 +f 103 111 119 +f 111 104 119 +f 112 101 120 +f 102 113 120 +f 113 112 120 +f 100 105 121 +f 105 108 121 +f 118 100 121 +f 108 118 121 +f 104 115 122 +f 102 120 122 +f 103 101 123 +f 107 103 123 +f 106 117 123 +f 117 107 123 +f 119 96 124 +f 101 119 124 +f 120 101 124 +f 111 100 125 +f 104 111 125 +f 100 118 125 +f 118 104 125 +f 101 112 126 +f 116 106 126 +f 112 116 126 +f 123 101 126 +f 106 123 126 +f 108 105 127 +f 109 102 127 +f 105 109 127 +f 102 115 127 +f 115 108 127 +f 115 102 128 +f 102 122 128 +f 122 115 128 +f 96 119 129 +f 119 104 129 +f 104 122 129 +f 122 120 129 +f 124 96 129 +o convex_5 +v 2.267892 -2.305380 0.986750 +v 3.063735 -1.064115 -0.031753 +v 3.063735 -1.064115 -0.127331 +v 1.090225 -1.191449 0.286688 +v 1.090225 -2.241713 -0.095395 +v 3.095734 -2.178046 -0.095395 +v 3.031933 -1.159615 0.859466 +v 1.090225 -1.255116 0.891172 +v 1.090225 -2.273547 0.922993 +v 3.000131 -2.305259 1.050507 +v 1.090225 -1.191449 -0.127331 +v 3.095734 -1.987045 -0.127331 +v 1.122224 -1.223282 0.859466 +v 3.095734 -2.209880 0.000183 +v 1.185828 -2.241713 0.954929 +v 2.904724 -2.209880 1.050507 +v 1.090225 -1.923378 -0.127331 +v 3.031933 -1.255116 0.891287 +v 3.000131 -2.305259 0.923108 +v 2.936526 -1.064115 -0.031753 +v 1.281431 -1.159615 -0.127331 +v 3.095734 -2.146213 0.095531 +v 1.377035 -2.241713 -0.095395 +v 1.090225 -2.273547 0.604667 +f 138 134 153 +f 133 134 137 +f 137 134 138 +f 138 130 139 +f 134 133 140 +f 132 131 141 +f 140 132 141 +f 133 137 142 +f 137 136 142 +f 135 141 143 +f 137 138 144 +f 138 139 144 +f 144 139 145 +f 137 144 145 +f 134 140 146 +f 141 134 146 +f 140 141 146 +f 136 137 147 +f 145 139 147 +f 137 145 147 +f 130 134 148 +f 139 130 148 +f 143 139 148 +f 131 132 149 +f 136 131 149 +f 133 142 149 +f 142 136 149 +f 132 140 150 +f 140 133 150 +f 149 132 150 +f 133 149 150 +f 131 136 151 +f 141 131 151 +f 139 143 151 +f 143 141 151 +f 136 147 151 +f 147 139 151 +f 134 141 152 +f 141 135 152 +f 135 143 152 +f 148 134 152 +f 143 148 152 +f 134 130 153 +f 130 138 153 +o convex_6 +v 0.326222 0.463958 -1.910078 +v -0.246744 -0.045253 -2.482943 +v -0.246744 -0.013445 -2.514761 +v -0.342281 0.495835 -1.910078 +v -0.183074 0.655015 -2.610215 +v 0.326222 0.145804 -2.546579 +v 0.230684 -0.013445 -1.910078 +v -0.278611 0.018432 -1.910078 +v 0.198881 0.591329 -2.642104 +v 0.198881 0.591329 -1.973785 +v -0.246744 0.655015 -2.610215 +v 0.326222 0.050309 -2.164764 +v -0.278611 0.018432 -2.419236 +v 0.071541 0.495835 -2.642104 +f 164 162 167 +f 155 156 159 +f 154 157 160 +f 160 157 161 +f 155 160 161 +f 154 159 162 +f 157 154 163 +f 154 162 163 +f 162 158 163 +f 158 162 164 +f 157 163 164 +f 163 158 164 +f 155 159 165 +f 159 154 165 +f 154 160 165 +f 160 155 165 +f 156 155 166 +f 161 157 166 +f 155 161 166 +f 164 156 166 +f 157 164 166 +f 159 156 167 +f 162 159 167 +f 156 164 167 +o convex_7 +v -0.024056 0.655015 2.992128 +v -0.310429 -0.013488 2.864825 +v -0.246725 0.050182 1.846596 +v 0.230643 -0.013488 3.342162 +v 0.262555 0.591279 1.496176 +v -0.214932 0.495807 1.496176 +v 0.198791 0.113852 1.496176 +v -0.214932 0.655015 3.469658 +v 0.262555 0.527674 3.405910 +v -0.342281 -0.013488 3.374036 +v -0.246725 0.082049 1.496176 +v -0.342281 0.113852 3.246733 +v -0.214932 0.655015 3.119431 +v 0.262555 0.400334 1.496176 +v 0.103294 0.623147 1.973899 +v 0.198791 0.018379 3.374036 +v 0.230643 0.082049 1.942025 +v -0.342281 0.018379 2.928380 +v 0.198791 0.559411 3.437784 +f 175 183 186 +f 169 170 171 +f 173 172 174 +f 169 171 177 +f 170 169 178 +f 174 170 178 +f 173 174 178 +f 177 175 179 +f 179 175 180 +f 175 168 180 +f 173 179 180 +f 174 172 181 +f 172 176 181 +f 176 171 181 +f 168 172 182 +f 172 173 182 +f 180 168 182 +f 173 180 182 +f 171 176 183 +f 177 171 183 +f 175 177 183 +f 171 170 184 +f 170 174 184 +f 181 171 184 +f 174 181 184 +f 169 177 185 +f 178 169 185 +f 173 178 185 +f 177 179 185 +f 179 173 185 +f 172 168 186 +f 168 175 186 +f 176 172 186 +f 183 176 186 +o convex_8 +v -0.915409 -0.045322 -1.750782 +v -2.856789 0.686848 -1.750782 +v -2.856789 0.686848 -1.782575 +v -0.374115 0.591313 -1.241503 +v -3.048127 0.082034 -1.305266 +v -0.374115 0.559492 -1.846339 +v -2.856789 -0.045322 -1.782575 +v -0.374115 0.050213 -1.337059 +v -2.825118 0.591313 -1.337059 +v -0.374115 -0.013429 -1.814487 +v -3.048127 -0.045322 -1.655226 +v -3.015932 0.686848 -1.782575 +v -1.551978 0.050213 -1.305266 +v -3.015932 0.336674 -1.305266 +v -0.819871 0.400316 -1.846339 +v -0.533519 0.018392 -1.368912 +v -0.374115 0.591313 -1.655226 +v -0.692662 0.591313 -1.241503 +v -3.015932 0.686848 -1.718930 +v -0.406048 0.241211 -1.846339 +v -3.048127 -0.045322 -1.750782 +v -3.048127 0.050213 -1.337059 +v -0.628795 0.591313 -1.846339 +f 203 192 209 +f 189 188 190 +f 192 190 194 +f 187 193 196 +f 192 194 196 +f 193 187 197 +f 188 189 198 +f 194 190 199 +f 193 198 201 +f 187 196 202 +f 196 194 202 +f 197 187 202 +f 194 199 202 +f 189 190 203 +f 190 192 203 +f 199 190 204 +f 191 199 204 +f 200 191 204 +f 195 200 204 +f 190 188 205 +f 188 198 205 +f 198 191 205 +f 191 200 205 +f 200 195 205 +f 204 190 205 +f 195 204 205 +f 196 193 206 +f 192 196 206 +f 193 201 206 +f 201 192 206 +f 197 191 207 +f 193 197 207 +f 198 193 207 +f 191 198 207 +f 191 197 208 +f 199 191 208 +f 197 202 208 +f 202 199 208 +f 198 189 209 +f 192 201 209 +f 201 198 209 +f 189 203 209 +o convex_9 +v 0.198825 0.623122 -0.732242 +v -0.278615 0.018379 -1.209669 +v 0.167042 -0.077155 -0.668597 +v 0.294363 0.018379 -1.209669 +v -0.214923 0.527659 -0.604833 +v -0.183014 0.623122 -1.209669 +v 0.262517 0.623122 -1.209669 +v 0.358055 -0.013442 -0.604833 +v -0.119447 -0.077155 -0.604833 +v 0.167042 0.591301 -0.604833 +v -0.214923 0.082021 -0.604833 +f 211 218 220 +f 212 211 213 +f 211 214 215 +f 213 211 215 +f 214 210 215 +f 215 210 216 +f 213 215 216 +f 213 216 217 +f 212 213 217 +f 216 210 217 +f 217 214 218 +f 211 212 218 +f 212 217 218 +f 210 214 219 +f 217 210 219 +f 214 217 219 +f 214 211 220 +f 218 214 220 +o convex_10 +v -0.946968 -0.077155 -0.508997 +v 1.026558 0.718681 -0.477325 +v 0.994650 0.718681 1.464299 +v -1.010785 0.718681 1.336996 +v 0.994650 -0.077155 1.496176 +v 1.026558 -0.077155 -0.572957 +v -0.946968 0.718681 -0.508997 +v -1.010785 -0.077155 1.368667 +v -0.214873 0.495807 1.496176 +v 0.708074 0.718681 -0.604834 +v -0.278490 -0.077155 -0.604834 +v -1.010785 -0.077155 -0.190843 +v -0.246781 0.082074 1.496176 +v 0.103213 0.718681 1.496176 +v -1.010785 0.463945 -0.190843 +v -0.214873 0.527668 -0.604834 +v 1.026558 -0.045294 -0.604834 +v -1.010785 0.718681 1.368667 +v 1.026558 0.718681 -0.604834 +v -0.915060 0.050213 -0.541079 +v -0.978876 0.718681 -0.413777 +v -0.787826 0.718681 -0.541079 +f 236 240 242 +f 223 222 224 +f 222 223 225 +f 225 221 226 +f 222 225 226 +f 224 222 227 +f 221 225 228 +f 227 222 230 +f 226 221 231 +f 221 228 232 +f 228 224 232 +f 228 225 233 +f 225 229 233 +f 223 224 234 +f 225 223 234 +f 229 225 234 +f 232 224 235 +f 230 231 236 +f 222 226 237 +f 231 230 237 +f 226 231 237 +f 224 228 238 +f 228 233 238 +f 233 229 238 +f 234 224 238 +f 229 234 238 +f 230 222 239 +f 222 237 239 +f 237 230 239 +f 221 227 240 +f 231 221 240 +f 236 231 240 +f 224 227 241 +f 227 221 241 +f 221 232 241 +f 235 224 241 +f 232 235 241 +f 227 230 242 +f 230 236 242 +f 240 227 242 +o convex_11 +v -0.374115 -0.045294 -1.368849 +v 0.294357 0.718681 -1.655263 +v 0.294357 0.718681 -1.878060 +v 0.453555 0.018351 -1.368849 +v 0.326197 -0.077155 -1.910006 +v -0.342275 0.527668 -1.910006 +v -0.310436 0.623175 -1.241615 +v 0.453555 0.654958 -1.209669 +v -0.374115 -0.013432 -1.814375 +v 0.294357 0.018351 -1.209669 +v 0.453555 0.177581 -1.910006 +v -0.246756 0.718681 -1.878060 +v -0.310436 0.050213 -1.209669 +v -0.119397 0.718681 -1.337109 +v -0.374115 0.591313 -1.241615 +v 0.198838 -0.077155 -1.337109 +v 0.453555 0.559452 -1.750826 +v -0.278596 0.018351 -1.910006 +v -0.310436 -0.077155 -1.782566 +v -0.374115 0.559452 -1.846320 +v 0.262517 0.718681 -1.241615 +v -0.183077 0.623175 -1.209669 +f 250 263 264 +f 245 244 250 +f 246 250 252 +f 246 247 253 +f 248 245 253 +f 247 248 253 +f 250 246 253 +f 244 245 254 +f 245 248 254 +f 252 250 255 +f 244 254 256 +f 254 249 256 +f 251 243 257 +f 249 254 257 +f 243 255 257 +f 247 246 258 +f 246 252 258 +f 255 243 258 +f 252 255 258 +f 245 250 259 +f 253 245 259 +f 250 253 259 +f 248 247 260 +f 251 248 260 +f 251 260 261 +f 243 251 261 +f 258 243 261 +f 247 258 261 +f 260 247 261 +f 248 251 262 +f 254 248 262 +f 251 257 262 +f 257 254 262 +f 250 244 263 +f 244 256 263 +f 263 256 264 +f 255 250 264 +f 256 249 264 +f 249 257 264 +f 257 255 264 +o convex_12 +v 1.186046 0.082034 -1.305301 +v 2.968091 0.686848 -1.687140 +v 2.968091 0.686848 -1.750826 +v 0.453811 0.654955 -1.273355 +v 0.453811 0.113855 -1.910006 +v 2.999772 -0.045322 -1.368849 +v 3.063900 0.050213 -1.814375 +v 0.453811 0.559492 -1.750826 +v 2.872538 0.591313 -1.368849 +v 0.453811 0.018392 -1.368849 +v 0.485747 0.654955 -1.209669 +v 0.453811 0.050213 -1.814375 +v 0.740471 0.209390 -1.910006 +v 3.063900 0.241211 -1.814375 +v 2.808921 -0.045322 -1.464412 +v 0.485747 0.050213 -1.305301 +v 2.968091 0.591313 -1.400795 +v 0.453811 0.559492 -1.209669 +v 2.204175 0.686848 -1.623455 +v 2.808921 0.623134 -1.400795 +v 0.867705 0.591313 -1.750826 +v 1.790281 0.082034 -1.878060 +v 3.063900 0.082034 -1.591578 +f 278 281 287 +f 269 268 272 +f 268 269 274 +f 270 273 275 +f 274 269 276 +f 269 272 277 +f 267 266 278 +f 277 267 278 +f 271 270 279 +f 270 274 279 +f 276 271 279 +f 274 276 279 +f 270 265 280 +f 274 270 280 +f 273 270 281 +f 278 266 281 +f 265 270 282 +f 268 274 282 +f 275 268 282 +f 270 275 282 +f 280 265 282 +f 274 280 282 +f 266 267 283 +f 275 266 283 +f 268 275 283 +f 266 275 284 +f 275 273 284 +f 281 266 284 +f 273 281 284 +f 272 268 285 +f 267 277 285 +f 277 272 285 +f 283 267 285 +f 268 283 285 +f 276 269 286 +f 271 276 286 +f 269 277 286 +f 278 271 286 +f 277 278 286 +f 270 271 287 +f 271 278 287 +f 281 270 287 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/652/652.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/652/652.urdf new file mode 100644 index 000000000..7d79fdb7d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/652/652.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/653/653.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/653/653.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/653/653.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/653/653.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/653/653.obj new file mode 100644 index 000000000..1d91dcc82 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/653/653.obj @@ -0,0 +1,438 @@ +o convex_0 +v -0.116323 -0.793195 -3.485097 +v -0.578070 -1.965102 -4.656976 +v -0.578070 -1.716275 -4.656976 +v 0.593907 -1.893941 -4.656976 +v 0.593907 -1.965102 -2.774686 +v 0.487217 -0.757496 -4.692647 +v -0.542507 -1.858361 -2.774686 +v 0.522780 -0.935280 -2.774686 +v -0.578070 -0.864238 -2.774686 +v -0.400484 -0.793195 -4.621493 +v 0.416206 -0.864238 -2.846027 +v -0.471495 -0.828657 -4.337441 +v 0.593907 -1.716394 -4.479373 +v -0.578070 -1.929521 -3.875411 +v 0.558229 -1.965102 -3.342978 +v -0.542507 -0.828657 -2.846027 +v 0.345194 -1.965102 -2.810357 +v 0.167608 -0.757496 -4.195134 +v 0.593907 -1.716394 -2.774686 +v 0.203057 -0.757496 -4.692647 +v 0.522780 -1.041667 -4.692647 +v 0.345194 -1.929521 -4.550527 +v 0.487217 -0.757496 -4.337441 +v -0.364921 -1.965102 -4.656976 +v -0.542507 -1.467686 -4.656976 +v -0.542507 -0.828657 -3.307682 +v -0.578070 -1.965102 -4.408407 +f 17 14 27 +f 7 5 8 +f 3 2 9 +f 7 8 9 +f 9 8 11 +f 5 4 13 +f 9 2 14 +f 7 9 14 +f 4 5 15 +f 5 2 15 +f 11 1 16 +f 9 11 16 +f 2 5 17 +f 5 7 17 +f 7 14 17 +f 16 1 18 +f 10 16 18 +f 8 5 19 +f 5 13 19 +f 13 8 19 +f 2 3 20 +f 18 6 20 +f 10 18 20 +f 6 8 21 +f 13 4 21 +f 8 13 21 +f 2 20 21 +f 20 6 21 +f 4 15 22 +f 8 6 23 +f 1 11 23 +f 11 8 23 +f 6 18 23 +f 18 1 23 +f 15 2 24 +f 2 21 24 +f 21 4 24 +f 4 22 24 +f 22 15 24 +f 12 10 25 +f 20 3 25 +f 10 20 25 +f 3 9 26 +f 10 12 26 +f 16 10 26 +f 9 16 26 +f 25 3 26 +f 12 25 26 +f 14 2 27 +f 2 17 27 +o convex_1 +v -1.110948 -2.426569 1.096344 +v 1.126673 -0.260247 1.344976 +v 1.126673 -0.366947 1.344976 +v 0.664956 -2.000418 -2.774686 +v -1.039763 -0.331596 -2.525449 +v -1.004280 -0.295814 3.369115 +v 1.090971 -2.320085 3.298337 +v -1.075246 -2.426569 -2.632524 +v 0.949039 -0.366947 -2.667611 +v 0.984522 -2.426785 -2.596833 +v -0.933314 -2.320085 3.298337 +v 0.949039 -0.438080 3.298337 +v -1.110948 -2.462135 1.664386 +v -0.578045 -0.864446 -2.774686 +v 1.090971 -2.391002 -0.927190 +v -1.004280 -0.260247 -1.069352 +v -0.364928 -1.858367 3.404807 +v 0.984522 -0.260247 -0.714250 +v 0.771405 -2.391002 1.380667 +v -1.075246 -1.077414 -2.596228 +v -0.968797 -0.260247 2.303810 +v -1.110948 -2.107117 1.770856 +v -0.151811 -0.793313 3.404807 +v -0.578045 -2.462351 1.024961 +v -0.507079 -1.858367 -2.774686 +v 1.126673 -0.757747 0.741243 +v -0.968797 -2.035984 3.333423 +v -1.039763 -0.295814 -1.175822 +v 0.487322 -0.899797 -2.774686 +v 1.020005 -2.426785 -1.530923 +v -0.968797 -0.402513 -2.631919 +v 0.949039 -2.426785 -2.667611 +v 0.913337 -0.402513 3.191866 +v -1.039763 -0.793098 2.943235 +v 0.700439 -2.355651 2.978927 +v -0.826646 -0.508997 3.405411 +v 1.090971 -2.142468 3.298337 +v -0.720196 -2.426785 -2.667006 +v 0.735922 -0.509213 3.334028 +v -0.791162 -2.462351 1.664386 +v -0.897612 -0.295814 3.369115 +v -1.075246 -1.219464 -2.632524 +v 1.055488 -2.355651 2.268119 +v 1.126673 -0.260247 1.131431 +v -0.897612 -2.248952 3.333423 +v -1.004280 -0.757747 3.369720 +v 0.877854 -2.355651 -2.703302 +v -0.471377 -1.893718 3.404807 +v 1.090971 -2.320085 -0.927190 +v 0.274205 -1.645184 3.369720 +v 1.126673 -0.828664 0.776329 +v -0.968797 -2.320085 3.226954 +v -0.968797 -2.355436 2.943235 +v -0.400411 -0.331380 3.369720 +v -0.649230 -2.462351 0.918491 +v 0.593771 -2.035769 -2.774686 +v 1.090971 -2.391002 0.173806 +v -1.110948 -2.462135 1.131431 +f 82 67 85 +f 30 29 34 +f 36 32 45 +f 43 29 45 +f 32 43 45 +f 29 43 48 +f 43 33 48 +f 28 40 49 +f 47 28 49 +f 35 41 52 +f 41 31 52 +f 29 30 53 +f 33 43 55 +f 43 32 55 +f 32 47 55 +f 47 49 55 +f 36 31 56 +f 31 41 56 +f 41 36 56 +f 37 42 57 +f 51 37 57 +f 32 36 58 +f 36 41 58 +f 36 37 59 +f 37 51 59 +f 39 29 60 +f 33 55 61 +f 55 49 61 +f 34 38 62 +f 44 50 63 +f 34 29 64 +f 29 39 64 +f 35 52 65 +f 34 64 66 +f 64 39 66 +f 57 46 67 +f 51 57 67 +f 62 40 67 +f 29 48 68 +f 48 33 68 +f 60 29 68 +f 33 63 68 +f 35 28 69 +f 41 35 69 +f 47 32 69 +f 28 47 69 +f 32 58 69 +f 58 41 69 +f 46 57 70 +f 34 62 70 +f 67 46 70 +f 62 67 70 +f 45 29 71 +f 36 45 71 +f 29 53 71 +f 53 36 71 +f 38 34 72 +f 54 38 72 +f 49 40 73 +f 40 54 73 +f 61 49 73 +f 33 61 73 +f 63 33 73 +f 54 63 73 +f 31 36 74 +f 36 59 74 +f 59 65 74 +f 34 44 75 +f 44 63 75 +f 63 54 75 +f 72 34 75 +f 54 72 75 +f 37 36 76 +f 42 37 76 +f 36 53 76 +f 53 42 76 +f 44 34 77 +f 50 44 77 +f 34 66 77 +f 66 50 77 +f 30 34 78 +f 53 30 78 +f 42 53 78 +f 38 54 79 +f 54 40 79 +f 62 38 80 +f 40 62 80 +f 38 79 80 +f 79 40 80 +f 39 60 81 +f 63 50 81 +f 66 39 81 +f 50 66 81 +f 60 68 81 +f 68 63 81 +f 59 51 82 +f 35 65 82 +f 65 59 82 +f 51 67 82 +f 52 31 83 +f 65 52 83 +f 31 74 83 +f 74 65 83 +f 57 42 84 +f 34 70 84 +f 70 57 84 +f 78 34 84 +f 42 78 84 +f 28 35 85 +f 40 28 85 +f 67 40 85 +f 35 82 85 +o convex_2 +v -1.039888 1.551609 0.209094 +v 1.020000 3.682229 1.416415 +v 1.020000 3.682229 1.025615 +v 1.126462 -0.260247 1.273933 +v 0.984583 -0.260247 -0.714556 +v -0.933214 -0.260247 1.345066 +v -0.968843 3.646339 -0.607857 +v -1.039888 3.646339 1.380848 +v -1.004259 -0.260247 -0.785689 +v 0.984583 3.575331 -0.643423 +v 0.487266 0.450217 1.416415 +v -1.004259 3.326804 -0.643423 +v 1.020000 3.575331 -0.430240 +v -0.897798 3.682229 -0.536724 +v 1.055416 3.113780 1.416415 +v 0.060995 3.682229 1.416415 +v 0.984583 0.770138 -0.714556 +v 0.522683 -0.260247 1.380633 +v -0.187345 3.646339 -0.643423 +v -1.004259 -0.260247 -0.039655 +v 1.126462 -0.224357 1.131883 +v 0.700402 2.758741 -0.678774 +v -0.968843 3.682229 1.309715 +v 0.309759 3.682229 0.066829 +v -1.039888 3.255796 1.345066 +v -0.222974 -0.260247 1.380848 +v -1.039888 3.646339 0.989833 +v -0.968843 0.663240 1.345066 +v 1.126673 0.059674 1.238798 +v -0.968843 3.575331 -0.643423 +v 1.020000 3.610835 -0.323756 +v -1.004259 3.646339 -0.501373 +v -0.968843 -0.224357 -0.785689 +v 1.055416 0.166185 1.309715 +v 0.984583 2.509828 -0.678774 +v -1.039888 3.468433 1.380848 +v 0.664773 3.610835 -0.643423 +v -0.613617 3.646339 -0.643423 +v 0.416221 0.628122 1.416415 +v 1.055416 2.971765 1.416415 +f 119 89 125 +f 90 89 91 +f 90 91 94 +f 94 86 97 +f 87 88 99 +f 88 87 100 +f 87 96 100 +f 96 87 101 +f 87 99 101 +f 98 90 102 +f 91 89 103 +f 86 94 105 +f 94 91 105 +f 89 90 106 +f 90 98 106 +f 93 101 108 +f 101 99 108 +f 99 88 109 +f 104 99 109 +f 93 86 110 +f 86 105 110 +f 91 103 111 +f 103 96 111 +f 86 93 112 +f 97 86 112 +f 93 108 112 +f 105 91 113 +f 110 105 113 +f 100 89 114 +f 98 100 114 +f 89 106 114 +f 106 98 114 +f 94 97 115 +f 98 95 116 +f 88 100 116 +f 100 98 116 +f 109 88 116 +f 99 92 117 +f 108 99 117 +f 97 112 117 +f 112 108 117 +f 92 115 117 +f 115 97 117 +f 90 94 118 +f 102 90 118 +f 94 115 118 +f 103 89 119 +f 96 103 119 +f 95 98 120 +f 98 102 120 +f 107 95 120 +f 102 118 120 +f 118 107 120 +f 101 93 121 +f 93 110 121 +f 91 111 121 +f 113 91 121 +f 110 113 121 +f 95 107 122 +f 107 104 122 +f 104 109 122 +f 116 95 122 +f 109 116 122 +f 92 99 123 +f 99 104 123 +f 104 107 123 +f 115 92 123 +f 107 118 123 +f 118 115 123 +f 96 101 124 +f 111 96 124 +f 101 121 124 +f 121 111 124 +f 100 96 125 +f 89 100 125 +f 96 119 125 +o convex_3 +v 0.203148 5.173671 0.634915 +v -0.365074 3.682229 0.031220 +v -0.365074 3.682229 0.173309 +v 0.309764 3.682229 0.066759 +v 0.061126 5.670885 0.066759 +v -0.222919 5.706372 0.706059 +v 0.167675 3.682229 0.670520 +v -0.329535 3.682229 0.599377 +v 0.309764 5.706372 0.066759 +v -0.258392 5.635399 0.102298 +v 0.167675 5.741858 0.634915 +v 0.309764 3.682229 0.208848 +v -0.293931 5.315818 0.066759 +v -0.045292 4.499427 0.031220 +v 0.309764 5.706372 0.173309 +v -0.329535 4.108672 0.528365 +v -0.080831 5.102698 0.706059 +v 0.203148 3.682229 0.634915 +v -0.258392 5.670885 0.386277 +v -0.009952 3.860065 0.670520 +v -0.009952 3.682229 0.031220 +v 0.061126 5.741858 0.492827 +v -0.222919 5.670885 0.137836 +v -0.222919 5.422278 0.706059 +v -0.329535 4.357279 0.031220 +f 130 139 150 +f 128 127 129 +f 128 129 132 +f 128 132 133 +f 132 126 136 +f 132 129 137 +f 129 134 137 +f 127 128 138 +f 135 130 138 +f 130 134 139 +f 136 126 140 +f 134 136 140 +f 126 137 140 +f 137 134 140 +f 128 133 141 +f 133 131 141 +f 138 128 141 +f 136 131 142 +f 132 136 142 +f 126 132 143 +f 132 137 143 +f 137 126 143 +f 135 138 144 +f 141 131 144 +f 138 141 144 +f 133 132 145 +f 132 142 145 +f 129 127 146 +f 134 129 146 +f 127 139 146 +f 139 134 146 +f 131 136 147 +f 136 134 147 +f 134 130 148 +f 130 135 148 +f 144 131 148 +f 135 144 148 +f 147 134 148 +f 131 147 148 +f 131 133 149 +f 142 131 149 +f 133 145 149 +f 145 142 149 +f 127 138 150 +f 138 130 150 +f 139 127 150 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/653/653.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/653/653.urdf new file mode 100644 index 000000000..a5093e8ae --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/653/653.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/654/654.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/654/654.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/654/654.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/654/654.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/654/654.obj new file mode 100644 index 000000000..b7445e6f0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/654/654.obj @@ -0,0 +1,456 @@ +o convex_0 +v 0.684105 4.555878 -1.044075 +v -1.073233 -1.546164 0.936852 +v -0.529781 -1.802658 -0.532528 +v 1.035700 -1.482979 1.033021 +v -1.073020 4.555878 1.000897 +v -1.073020 4.555878 -0.980030 +v 0.971890 4.555878 0.968976 +v 0.971890 -1.290922 -0.948109 +v -1.073233 -1.386638 -0.916189 +v 1.099723 4.555878 -1.044075 +v 0.524366 -1.802658 0.489755 +v -1.073233 -1.546164 1.033021 +v 0.524366 -1.802658 -0.596573 +v -1.009210 -1.163301 -0.947906 +v 1.003795 4.588409 0.649360 +v 1.099723 3.693184 -1.044075 +v 1.003795 -1.418543 -0.532731 +v -0.497876 -1.802658 0.489552 +v 1.099723 4.555878 -0.756381 +v 1.035700 -0.938713 1.033021 +v -1.073233 0.753519 1.033021 +v -0.657615 4.555878 1.000897 +v 1.035700 -1.450448 0.457631 +v 1.035700 -0.012208 1.000897 +v 0.204889 4.588409 0.968976 +v 0.971890 -1.386638 -0.916189 +v 1.003795 -0.875528 -0.948109 +v 0.748128 3.756995 -1.044075 +v 0.971890 4.588409 0.170139 +v -1.073020 4.140484 -0.980030 +v 0.652200 -0.332512 1.033021 +v -1.073233 -0.811091 -0.948109 +v 0.939772 4.588409 0.968976 +v 1.003795 2.766680 0.968976 +f 20 24 34 +f 3 2 9 +f 2 3 12 +f 9 2 12 +f 11 4 12 +f 3 9 13 +f 11 3 13 +f 4 11 13 +f 8 9 14 +f 1 10 16 +f 8 14 16 +f 3 11 18 +f 12 3 18 +f 11 12 18 +f 10 15 19 +f 4 16 19 +f 16 10 19 +f 12 4 20 +f 4 19 20 +f 5 6 21 +f 9 12 21 +f 12 20 21 +f 20 7 22 +f 5 21 22 +f 4 13 23 +f 16 4 23 +f 13 17 23 +f 19 15 24 +f 20 19 24 +f 6 5 25 +f 5 22 25 +f 9 8 26 +f 13 9 26 +f 17 13 26 +f 17 26 27 +f 8 16 27 +f 16 23 27 +f 23 17 27 +f 26 8 27 +f 1 16 28 +f 16 14 28 +f 1 6 29 +f 10 1 29 +f 15 10 29 +f 6 25 29 +f 25 15 29 +f 6 1 30 +f 1 28 30 +f 21 20 31 +f 20 22 31 +f 22 21 31 +f 14 9 32 +f 21 6 32 +f 9 21 32 +f 28 14 32 +f 6 30 32 +f 30 28 32 +f 7 15 33 +f 22 7 33 +f 15 25 33 +f 25 22 33 +f 15 7 34 +f 7 20 34 +f 24 15 34 +o convex_1 +v 0.204968 -3.560201 0.297961 +v -0.338260 -5.541432 -0.181244 +v -0.178402 -5.509433 -0.213212 +v -0.242263 -3.560201 -0.245180 +v 0.364757 -3.560201 -0.181244 +v 0.236898 -5.509433 0.329929 +v -0.306192 -5.157636 0.329929 +v 0.268828 -5.477434 -0.277148 +v -0.210333 -3.560201 0.202120 +v 0.141038 -3.560201 0.361959 +v -0.306192 -5.541432 0.329929 +v -0.274331 -3.624199 -0.245180 +v 0.364757 -3.688198 -0.117371 +v 0.204968 -3.816000 0.361959 +v 0.300828 -5.221634 -0.213212 +v -0.050544 -3.560201 -0.245180 +v 0.172969 -4.742424 0.361959 +v -0.338260 -5.477434 0.106216 +v -0.274331 -4.167603 -0.245180 +v -0.242263 -3.592200 0.106216 +v -0.178402 -5.541432 -0.181244 +f 45 36 55 +f 38 35 39 +f 36 37 42 +f 35 38 43 +f 43 41 44 +f 35 43 44 +f 44 41 45 +f 38 42 46 +f 39 35 47 +f 35 44 48 +f 47 35 48 +f 40 47 48 +f 42 39 49 +f 40 42 49 +f 39 47 49 +f 47 40 49 +f 38 39 50 +f 42 38 50 +f 39 42 50 +f 45 40 51 +f 44 45 51 +f 48 44 51 +f 40 48 51 +f 36 45 52 +f 45 41 52 +f 46 36 52 +f 41 46 52 +f 37 36 53 +f 42 37 53 +f 36 46 53 +f 46 42 53 +f 43 38 54 +f 41 43 54 +f 46 41 54 +f 38 46 54 +f 36 42 55 +f 42 40 55 +f 40 45 55 +o convex_2 +v -0.370203 -3.112877 0.489624 +v 0.460610 -3.528221 -0.564533 +v 0.364669 -3.528221 -0.532634 +v -0.465919 -3.048916 -0.468730 +v 0.588419 -3.048916 0.457725 +v -0.465919 -3.496190 0.521523 +v 0.588419 -3.048916 -0.564533 +v 0.620400 -3.464310 0.457725 +v -0.242282 -3.560201 -0.245117 +v -0.529992 -3.048916 0.457725 +v -0.434051 -3.368419 -0.468730 +v 0.173012 -3.560201 0.361815 +v 0.588419 -3.528221 -0.468730 +v -0.498012 -3.496190 0.457725 +v 0.364669 -3.048916 0.489624 +v -0.529992 -3.080896 0.074298 +v 0.364669 -3.560201 -0.117308 +v -0.210301 -3.560201 0.202107 +v -0.274150 -3.048916 -0.500735 +v -0.274150 -3.400349 -0.500735 +f 59 74 75 +f 59 60 62 +f 62 60 63 +f 58 57 64 +f 60 59 65 +f 61 56 65 +f 63 61 67 +f 57 62 68 +f 62 63 68 +f 61 65 69 +f 66 64 69 +f 56 61 70 +f 63 60 70 +f 61 63 70 +f 65 56 70 +f 60 65 70 +f 65 59 71 +f 59 66 71 +f 69 65 71 +f 66 69 71 +f 64 57 72 +f 63 67 72 +f 67 64 72 +f 57 68 72 +f 68 63 72 +f 67 61 73 +f 64 67 73 +f 61 69 73 +f 69 64 73 +f 62 57 74 +f 59 62 74 +f 57 58 75 +f 58 64 75 +f 66 59 75 +f 64 66 75 +f 74 57 75 +o convex_3 +v 0.588444 -2.889073 -0.532700 +v 3.112916 -1.834613 -0.500757 +v 3.112916 -1.834613 -0.564642 +v 3.017037 -3.016960 0.202101 +v 0.588444 -1.994443 0.489702 +v 2.984913 -1.930557 0.585646 +v 0.588444 -2.984902 0.457644 +v 0.588444 -1.994443 -0.596701 +v 2.984913 -2.984902 -0.500757 +v 3.017037 -3.016960 0.489702 +v 0.844203 -2.889073 -0.564642 +v 3.080791 -2.282044 -0.564642 +v 2.889034 -2.186331 0.585646 +v 0.588444 -2.984902 0.202101 +v 1.099961 -1.962500 0.521645 +v 1.898372 -1.898614 -0.596701 +v 1.962373 -3.016845 0.489702 +v 2.473643 -2.984902 -0.500757 +v 3.017037 -2.825072 -0.532700 +v 0.780448 -1.962500 -0.532700 +v 3.017037 -2.505644 0.553588 +v 2.473643 -1.994443 0.585646 +v 1.355472 -2.984902 0.489702 +v 3.112916 -1.898614 -0.372870 +v 0.588444 -2.250101 -0.596701 +v 0.588444 -2.314103 0.489702 +v 2.026128 -1.962500 -0.596701 +v 3.112916 -2.026501 -0.564642 +v 3.017037 -1.834613 -0.532700 +v 1.035960 -1.962500 0.489702 +v 3.017037 -1.930557 0.457644 +v 0.620569 -2.889073 -0.564642 +v 2.569522 -2.952959 -0.532700 +v 2.953036 -2.825072 0.521645 +f 88 98 109 +f 80 76 82 +f 76 80 83 +f 82 76 89 +f 81 77 90 +f 79 85 92 +f 82 89 92 +f 92 89 93 +f 84 79 93 +f 79 92 93 +f 79 84 94 +f 83 80 95 +f 91 83 95 +f 81 88 96 +f 88 81 97 +f 81 90 97 +f 82 92 98 +f 88 97 98 +f 97 82 98 +f 78 77 99 +f 96 85 99 +f 76 83 100 +f 83 91 100 +f 80 82 101 +f 90 80 101 +f 82 97 101 +f 97 90 101 +f 87 86 102 +f 91 78 102 +f 86 100 102 +f 100 91 102 +f 85 79 103 +f 79 94 103 +f 94 87 103 +f 78 99 103 +f 99 85 103 +f 87 102 103 +f 102 78 103 +f 77 78 104 +f 90 77 104 +f 78 91 104 +f 91 95 104 +f 104 95 105 +f 80 90 105 +f 95 80 105 +f 90 104 105 +f 77 81 106 +f 81 96 106 +f 99 77 106 +f 96 99 106 +f 89 76 107 +f 93 89 107 +f 76 100 107 +f 100 86 107 +f 86 87 108 +f 84 93 108 +f 94 84 108 +f 87 94 108 +f 93 107 108 +f 107 86 108 +f 92 85 109 +f 85 96 109 +f 96 88 109 +f 98 92 109 +o convex_4 +v -2.990396 -2.793123 0.457666 +v -0.593903 -1.834613 -0.309050 +v -0.593903 -1.834613 -0.532790 +v -0.593903 -2.985005 0.457666 +v -2.926330 -2.857084 -0.500675 +v -3.054464 -1.962535 0.553585 +v -2.990396 -1.898686 -0.532684 +v -0.593903 -1.866593 0.489674 +v -0.593903 -2.857084 -0.468773 +v -2.958363 -2.920932 0.521576 +v -2.670784 -2.346074 0.553585 +v -3.022189 -1.898686 -0.213131 +v -0.690004 -2.985005 0.329844 +v -1.105235 -2.154304 -0.532790 +v -1.169302 -2.953025 0.489674 +v -2.990396 -2.218265 -0.532684 +v -2.511098 -1.866593 -0.500675 +v -2.319138 -1.930554 0.553585 +v -2.255311 -2.952912 0.457666 +v -0.849690 -1.866593 0.489674 +v -0.593903 -2.601353 -0.500675 +v -2.000006 -2.857084 -0.500675 +v -3.054464 -2.090343 0.361853 +v -2.990396 -2.601353 0.553585 +v -2.894537 -2.409809 -0.532684 +v -2.958363 -2.920932 0.329844 +v -1.137269 -2.985005 0.425763 +f 119 128 136 +f 112 111 113 +f 113 111 117 +f 112 113 118 +f 118 113 122 +f 116 112 123 +f 113 117 124 +f 119 113 124 +f 114 110 125 +f 121 116 125 +f 116 123 125 +f 111 112 126 +f 112 116 126 +f 116 121 126 +f 115 120 127 +f 121 115 127 +f 124 117 127 +f 120 124 127 +f 117 111 129 +f 111 126 129 +f 126 121 129 +f 121 127 129 +f 127 117 129 +f 112 118 130 +f 123 112 130 +f 123 130 131 +f 118 122 131 +f 122 114 131 +f 130 118 131 +f 110 115 132 +f 115 121 132 +f 125 110 132 +f 121 125 132 +f 115 110 133 +f 110 119 133 +f 120 115 133 +f 119 124 133 +f 124 120 133 +f 114 125 134 +f 125 123 134 +f 123 131 134 +f 131 114 134 +f 110 114 135 +f 119 110 135 +f 114 128 135 +f 128 119 135 +f 113 119 136 +f 122 113 136 +f 114 122 136 +f 128 114 136 +o convex_5 +v 0.332786 -1.834738 -0.596488 +v -0.593903 -2.984877 0.329860 +v -0.593903 -2.984877 0.457669 +v 0.588444 -3.048794 -0.564589 +v 0.588444 -1.994531 0.489568 +v -0.593903 -1.834738 -0.532690 +v -0.497959 -1.802780 0.489568 +v 0.556386 -3.048794 0.457669 +v -0.466016 -3.048794 -0.468786 +v 0.524443 -1.802780 -0.596488 +v 0.524443 -1.802780 0.489568 +v -0.593903 -1.866697 0.489568 +v -0.593903 -2.857043 -0.468786 +v 0.588444 -1.994531 -0.596488 +v -0.561845 -3.048794 0.457669 +v -0.529902 -1.802780 -0.532690 +v 0.588444 -3.048794 0.393764 +v -0.593903 -2.026489 -0.532690 +v 0.588444 -2.282157 0.489568 +v 0.492500 -3.048794 -0.564589 +v -0.274243 -3.048794 -0.500685 +v 0.300843 -2.026489 -0.596488 +f 156 154 158 +f 138 139 142 +f 140 144 145 +f 146 143 147 +f 143 141 147 +f 141 146 147 +f 142 139 148 +f 143 142 148 +f 141 143 148 +f 138 142 149 +f 145 138 149 +f 141 140 150 +f 137 146 150 +f 146 141 150 +f 139 138 151 +f 138 145 151 +f 145 144 151 +f 148 139 151 +f 137 142 152 +f 142 143 152 +f 146 137 152 +f 143 146 152 +f 140 141 153 +f 144 140 153 +f 149 142 154 +f 141 148 155 +f 151 144 155 +f 148 151 155 +f 153 141 155 +f 144 153 155 +f 140 145 156 +f 154 156 157 +f 145 149 157 +f 149 154 157 +f 156 145 157 +f 142 137 158 +f 137 150 158 +f 150 140 158 +f 154 142 158 +f 140 156 158 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/654/654.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/654/654.urdf new file mode 100644 index 000000000..c737f1e98 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/654/654.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/655/655.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/655/655.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/655/655.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/655/655.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/655/655.obj new file mode 100644 index 000000000..0c3b7cbd5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/655/655.obj @@ -0,0 +1,501 @@ +o convex_0 +v 1.000989 1.096960 -0.339234 +v 0.064869 0.192029 1.314228 +v 0.002784 0.192029 1.314228 +v 0.064869 3.686406 0.034865 +v -0.839804 0.161041 -0.963339 +v -0.777316 1.689918 0.721277 +v 0.813725 0.160693 -0.963339 +v 0.002784 3.186761 -0.838466 +v 0.907256 0.160693 0.970763 +v 0.813725 3.249435 0.003712 +v -0.746273 3.155773 -0.058595 +v 0.096114 3.186761 0.721277 +v -0.902091 0.161041 0.814737 +v 0.002582 0.192377 -1.337958 +v -0.995824 1.752243 -0.027441 +v 0.782480 1.783231 -0.776160 +v -0.746273 1.783231 -0.776160 +v 0.844969 1.721254 0.752430 +v 1.063478 1.783231 0.003712 +v 1.032233 0.160693 -0.120901 +v -0.995824 0.161041 -0.152055 +v -0.839804 0.317027 1.001916 +v 0.626662 2.906125 -0.588721 +v 0.002784 3.186761 0.721277 +v -0.559009 2.843800 0.502684 +v -0.559009 2.812464 -0.619874 +v 0.657705 2.875137 0.502684 +v 0.033827 3.717742 -0.120901 +v 0.813725 3.218098 -0.120901 +v -0.746273 1.689918 0.783583 +v 0.127358 3.186761 -0.807313 +v 1.032233 0.160693 0.222045 +v -0.715029 3.218098 -0.027441 +v -0.995824 1.689918 0.066019 +v -0.995824 0.161041 0.222045 +v 0.876213 0.192377 -0.869620 +v 0.033827 0.160693 -1.337958 +v 0.002784 3.312108 -0.745006 +v -0.028460 0.192377 -1.337958 +v 1.063478 1.751894 -0.058595 +v 0.938500 0.192377 0.908456 +v -0.746273 1.658581 -0.807313 +v -0.902091 0.473014 -0.713593 +v -0.808560 0.161041 1.033070 +v 0.876213 0.192377 1.001916 +v 1.063478 1.689569 0.066019 +v 0.064869 3.312108 -0.745006 +v 0.158602 3.686406 -0.089748 +v 0.096114 2.749790 0.814737 +v 0.002784 3.717742 -0.027182 +v -0.746273 3.155773 -0.027441 +v -0.715029 3.218098 -0.058595 +v 0.064869 0.160693 1.314228 +v -0.839804 0.254702 -0.963339 +v 0.033827 0.192029 -1.337958 +v -0.995824 1.720906 -0.058595 +v -0.496520 2.843800 0.564991 +v 0.844969 3.124437 0.003712 +v -0.215725 3.093448 -0.745006 +v 0.782480 3.280771 -0.089488 +v -0.777316 1.565268 -0.776160 +v 0.096114 3.249435 0.658970 +v 0.033827 3.093100 0.752430 +v 0.595418 2.843800 0.564991 +f 18 27 64 +f 9 7 20 +f 17 11 26 +f 10 12 27 +f 18 10 27 +f 16 23 29 +f 22 3 30 +f 6 22 30 +f 23 16 31 +f 29 23 31 +f 9 20 32 +f 25 24 33 +f 15 21 34 +f 22 6 34 +f 13 22 34 +f 13 34 35 +f 34 21 35 +f 7 16 36 +f 1 20 36 +f 20 7 36 +f 7 9 37 +f 21 5 37 +f 35 21 37 +f 8 14 39 +f 37 5 39 +f 14 37 39 +f 20 1 40 +f 16 29 40 +f 1 36 40 +f 36 16 40 +f 18 9 41 +f 9 32 41 +f 8 39 42 +f 5 21 43 +f 3 22 44 +f 22 13 44 +f 18 2 45 +f 9 18 45 +f 32 20 46 +f 20 40 46 +f 40 19 46 +f 18 41 46 +f 41 32 46 +f 31 8 47 +f 29 31 47 +f 8 38 47 +f 38 28 47 +f 4 10 48 +f 47 28 48 +f 2 18 49 +f 18 12 49 +f 24 4 50 +f 33 24 50 +f 4 48 50 +f 48 28 50 +f 11 15 51 +f 6 30 51 +f 30 25 51 +f 33 11 51 +f 25 33 51 +f 34 6 51 +f 15 34 51 +f 26 11 52 +f 11 33 52 +f 28 38 52 +f 33 50 52 +f 50 28 52 +f 2 3 53 +f 13 35 53 +f 37 9 53 +f 35 37 53 +f 3 44 53 +f 44 13 53 +f 45 2 53 +f 9 45 53 +f 39 5 54 +f 42 39 54 +f 5 43 54 +f 14 8 55 +f 16 7 55 +f 8 31 55 +f 31 16 55 +f 7 37 55 +f 37 14 55 +f 15 11 56 +f 11 17 56 +f 21 15 56 +f 43 21 56 +f 24 25 57 +f 30 24 57 +f 25 30 57 +f 10 18 58 +f 29 10 58 +f 40 29 58 +f 19 40 58 +f 18 46 58 +f 46 19 58 +f 17 26 59 +f 38 8 59 +f 8 42 59 +f 42 17 59 +f 26 52 59 +f 52 38 59 +f 10 29 60 +f 29 47 60 +f 48 10 60 +f 47 48 60 +f 17 42 61 +f 42 54 61 +f 54 43 61 +f 56 17 61 +f 43 56 61 +f 10 4 62 +f 12 10 62 +f 4 24 62 +f 24 12 62 +f 3 2 63 +f 12 24 63 +f 30 3 63 +f 24 30 63 +f 2 49 63 +f 49 12 63 +f 12 18 64 +f 27 12 64 +o convex_1 +v -0.964451 -1.368044 -2.585126 +v 1.063462 -1.243528 2.031796 +v 1.063462 -1.274608 2.031796 +v -0.902243 -1.274608 2.748873 +v 0.002645 -0.276333 -2.335579 +v 0.688984 -2.023265 -2.741764 +v 0.002645 -2.210527 2.748873 +v -0.122182 -0.307609 2.873944 +v 1.032153 -0.276333 -0.058088 +v -1.027069 -0.276333 0.003852 +v -0.808521 -2.023265 -2.023496 +v 0.969740 -1.243528 -2.772734 +v 0.782501 -1.960910 2.779843 +v -0.558869 -0.682133 -3.022281 +v 0.720088 -0.432320 2.842378 +v -0.059564 -2.241803 -2.710198 +v -0.558869 -1.898554 2.967450 +v 0.751397 -0.525951 -2.741764 +v -0.590177 -0.681937 3.061551 +v -0.715004 -2.023265 2.062171 +v -1.027069 -1.305688 0.127733 +v 0.813810 -2.023265 1.407035 +v -0.621282 -1.867279 -2.959745 +v 0.595262 -1.867279 3.029985 +v 0.813810 -1.336768 -2.991311 +v -0.839830 -0.276333 -1.336794 +v -0.028460 -2.273078 -0.931206 +v -0.808521 -0.276333 1.470166 +v 0.938636 -0.276333 1.220023 +v 0.969740 -1.212252 2.780438 +v 1.001049 -1.305688 -2.242074 +v 0.096162 -0.494871 -3.022281 +v 0.283196 -1.991990 -2.990716 +v -0.964451 -1.274608 -2.741764 +v 0.813810 -0.276333 -1.524997 +v -0.090873 -0.401240 3.061551 +v 0.158575 -2.241803 2.062171 +v 0.720088 -2.054541 -2.055062 +v -0.715004 -0.588306 -2.741168 +v -1.027069 -1.305688 -2.086032 +v -0.964451 -1.305688 2.187242 +v -0.028460 -0.338884 -2.772138 +v -0.683695 -0.557226 2.811409 +v 0.751397 -1.118817 2.999015 +v 0.064853 -0.276333 2.811409 +v -0.746108 -1.991990 -2.710198 +v 0.033749 -2.273078 -2.054466 +v -0.028460 -2.054345 3.029985 +v -0.652591 -1.991990 2.779843 +v -0.090873 -2.273078 -1.492836 +v -0.059564 -2.241803 1.843594 +v 0.532849 -0.650662 -3.022877 +v -0.715004 -1.336768 3.029985 +v 0.751397 -2.023265 -2.148568 +v -0.808521 -1.991990 -0.557182 +v -0.777417 -1.336768 -2.990716 +v 0.813810 -2.023265 2.125302 +v -0.870934 -0.307609 1.282559 +v -0.995760 -1.305688 1.532106 +v 1.063462 -1.274608 1.501136 +v 0.127266 -2.210527 2.748873 +v -0.465351 -1.305688 -3.022281 +v 0.595262 -1.898359 -2.991311 +v 0.096162 -0.338884 -2.772138 +f 96 106 128 +f 73 69 74 +f 73 76 82 +f 76 70 89 +f 82 76 89 +f 74 69 90 +f 73 74 92 +f 66 73 93 +f 73 92 93 +f 67 66 94 +f 77 67 94 +f 88 77 94 +f 66 93 94 +f 93 79 94 +f 76 73 95 +f 70 80 97 +f 80 87 97 +f 74 90 98 +f 69 73 99 +f 73 82 99 +f 83 88 100 +f 78 98 103 +f 98 90 103 +f 65 75 104 +f 85 74 104 +f 75 85 104 +f 98 65 104 +f 74 98 104 +f 68 74 105 +f 90 69 106 +f 96 78 106 +f 103 90 106 +f 78 103 106 +f 68 83 107 +f 72 92 107 +f 100 72 107 +f 83 100 107 +f 88 94 108 +f 94 79 108 +f 79 100 108 +f 100 88 108 +f 92 72 109 +f 79 93 109 +f 93 92 109 +f 72 100 109 +f 100 79 109 +f 75 65 110 +f 80 75 110 +f 87 80 110 +f 65 98 110 +f 98 87 110 +f 80 70 111 +f 101 91 111 +f 102 101 111 +f 70 102 111 +f 88 83 112 +f 84 71 113 +f 68 105 113 +f 105 84 113 +f 71 112 113 +f 112 81 113 +f 75 80 114 +f 84 75 114 +f 80 111 114 +f 111 91 114 +f 71 84 115 +f 101 71 115 +f 91 101 115 +f 84 114 115 +f 114 91 115 +f 82 89 116 +f 78 96 116 +f 96 82 116 +f 83 68 117 +f 81 112 117 +f 112 83 117 +f 68 113 117 +f 113 81 117 +f 70 76 118 +f 76 95 118 +f 95 86 118 +f 102 70 118 +f 86 102 118 +f 75 84 119 +f 85 75 119 +f 87 98 120 +f 98 78 120 +f 67 77 121 +f 86 67 121 +f 101 102 121 +f 102 86 121 +f 74 68 122 +f 92 74 122 +f 68 107 122 +f 107 92 122 +f 74 85 123 +f 105 74 123 +f 84 105 123 +f 119 84 123 +f 85 119 123 +f 66 67 124 +f 73 66 124 +f 67 86 124 +f 95 73 124 +f 86 95 124 +f 77 88 125 +f 71 101 125 +f 112 71 125 +f 88 112 125 +f 121 77 125 +f 101 121 125 +f 97 87 126 +f 78 116 126 +f 120 78 126 +f 87 120 126 +f 89 70 127 +f 70 97 127 +f 116 89 127 +f 97 126 127 +f 126 116 127 +f 82 96 128 +f 69 99 128 +f 99 82 128 +f 106 69 128 +o convex_2 +v 0.033697 -0.276095 -1.993204 +v 1.032275 0.160693 0.221852 +v 1.001032 0.160693 0.221852 +v 0.064940 -0.276095 2.031879 +v -0.995722 0.160650 0.221852 +v -1.026965 -0.276095 0.065829 +v 1.032275 -0.276095 -0.058280 +v -0.839707 0.160650 -0.963293 +v 0.844815 0.160650 -0.932168 +v 0.002655 0.160650 1.376266 +v -0.808463 -0.244884 1.376266 +v 0.876059 -0.244884 1.376266 +v -0.808463 -0.276095 -1.368717 +v 0.813572 -0.276095 -1.462489 +v 0.876059 0.160650 1.001968 +v -0.839707 0.160650 1.033094 +v 0.033697 0.160650 -1.399843 +v 0.938545 -0.276095 1.157991 +v 0.002655 -0.244884 2.031879 +v 1.032275 0.160693 -0.089800 +v 0.002655 -0.244884 -1.993204 +v -0.870950 -0.276095 1.189117 +v -0.995722 0.160650 -0.151658 +v -0.870950 -0.244884 -1.181174 +v 0.064940 -0.244884 2.031879 +v 0.096184 -0.244884 -1.961684 +v 0.938545 0.160650 0.908197 +v 0.813572 -0.244884 -1.462489 +v 0.876059 -0.276095 -1.181568 +v -0.777421 -0.244884 -1.400237 +v -0.028588 0.160650 -1.400237 +v 0.064940 0.160650 1.376266 +v 1.032275 -0.276095 0.159601 +v -0.902193 0.160650 0.814819 +v 0.813572 0.160650 -0.963293 +v -0.870950 0.160650 -0.901042 +v -1.026965 -0.120081 0.003971 +v -0.714935 -0.244884 1.469644 +v 0.876059 0.160650 -0.869522 +v 0.782530 -0.244884 1.470038 +v -0.714935 -0.276095 1.469644 +v 0.782530 -0.276095 1.470038 +f 168 132 170 +f 129 132 134 +f 132 129 135 +f 130 131 138 +f 129 134 141 +f 135 129 142 +f 138 131 144 +f 132 135 146 +f 138 144 147 +f 131 130 148 +f 130 135 148 +f 129 141 149 +f 134 132 150 +f 133 134 150 +f 139 144 150 +f 133 131 151 +f 131 148 151 +f 141 134 152 +f 147 132 153 +f 138 147 153 +f 142 129 154 +f 129 149 154 +f 149 145 154 +f 130 143 155 +f 143 140 155 +f 146 130 155 +f 140 146 155 +f 142 154 156 +f 135 142 157 +f 148 135 157 +f 142 156 157 +f 141 136 158 +f 149 141 158 +f 136 149 158 +f 136 148 159 +f 148 145 159 +f 149 136 159 +f 145 149 159 +f 130 138 160 +f 143 130 160 +f 138 153 160 +f 153 143 160 +f 135 130 161 +f 130 146 161 +f 146 135 161 +f 131 133 162 +f 144 131 162 +f 133 150 162 +f 150 144 162 +f 148 137 163 +f 145 148 163 +f 154 145 163 +f 137 156 163 +f 156 154 163 +f 136 141 164 +f 148 136 164 +f 151 148 164 +f 141 152 164 +f 152 151 164 +f 134 133 165 +f 133 151 165 +f 152 134 165 +f 151 152 165 +f 144 139 166 +f 147 144 166 +f 137 148 167 +f 156 137 167 +f 148 157 167 +f 157 156 167 +f 140 143 168 +f 153 132 168 +f 143 153 168 +f 132 147 169 +f 150 132 169 +f 139 150 169 +f 166 139 169 +f 147 166 169 +f 132 146 170 +f 146 140 170 +f 140 168 170 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/655/655.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/655/655.urdf new file mode 100644 index 000000000..1448c7436 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/655/655.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/656/656.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/656/656.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/656/656.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/656/656.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/656/656.obj new file mode 100644 index 000000000..48213b0b6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/656/656.obj @@ -0,0 +1,438 @@ +o convex_0 +v 1.056499 -1.541670 1.061477 +v -1.097832 -3.271967 -1.092855 +v -1.097832 -3.271967 -0.774639 +v -1.062405 -1.259101 -0.139264 +v 1.056499 -1.259101 -1.092855 +v 0.915000 -3.165954 1.061477 +v -0.956333 -3.271967 1.061477 +v 1.056499 -3.130486 -1.022210 +v -1.062405 -1.259101 0.990833 +v -1.026977 -1.259101 -1.092855 +v 1.056499 -1.259101 1.025838 +v -0.320746 -3.236498 -1.092855 +v 0.985644 -3.165954 0.496323 +v -0.991761 -3.024670 1.061477 +v -1.097832 -1.930253 0.248963 +v 0.703278 -3.201029 0.990833 +v -0.673967 -1.294373 1.025838 +v -0.815256 -3.271967 -1.092855 +v -1.097832 -2.742100 -1.092855 +v 1.056499 -3.130486 -0.492274 +v -0.709184 -3.271967 1.061477 +v 0.985644 -2.636087 -1.057216 +v 0.950427 -1.365113 1.061477 +v 0.950427 -3.095213 1.061477 +v 0.985644 -3.165954 0.072458 +v -1.062405 -1.682758 0.990833 +v 1.056499 -1.541670 -1.092855 +v -0.991761 -2.883385 1.061477 +v -0.991761 -3.271967 0.884761 +v -1.026977 -1.612214 1.025838 +f 28 17 30 +f 6 1 7 +f 3 2 7 +f 5 1 8 +f 5 4 9 +f 4 5 10 +f 5 2 10 +f 1 5 11 +f 5 9 11 +f 2 5 12 +f 7 1 14 +f 2 3 15 +f 9 4 15 +f 13 6 16 +f 11 9 17 +f 7 2 18 +f 2 12 18 +f 10 2 19 +f 4 10 19 +f 2 15 19 +f 15 4 19 +f 8 1 20 +f 13 8 20 +f 1 13 20 +f 6 7 21 +f 16 6 21 +f 7 18 21 +f 18 16 21 +f 8 12 22 +f 1 11 23 +f 14 1 23 +f 11 17 23 +f 1 6 24 +f 13 1 24 +f 6 13 24 +f 12 8 25 +f 8 13 25 +f 13 16 25 +f 18 12 25 +f 16 18 25 +f 14 9 26 +f 9 15 26 +f 5 8 27 +f 12 5 27 +f 8 22 27 +f 22 12 27 +f 9 14 28 +f 14 23 28 +f 23 17 28 +f 3 7 29 +f 7 14 29 +f 15 3 29 +f 14 26 29 +f 26 15 29 +f 17 9 30 +f 9 28 30 +o convex_1 +v 0.915000 0.930745 3.074541 +v -1.027188 -1.258904 -1.092550 +v -1.027188 -1.152808 -3.105918 +v 1.056499 -1.223538 -3.070225 +v -0.921117 0.789284 -3.035136 +v -1.097832 -1.258904 3.038847 +v 0.985644 -1.188173 2.968064 +v 0.985644 0.754133 -3.034531 +v -0.921117 0.789284 3.074541 +v -1.097832 0.930745 -1.021163 +v 1.056499 0.930745 -1.092550 +v 1.056499 0.542155 3.074541 +v 1.056499 -1.258904 1.025479 +v -1.062405 0.930745 0.990390 +v -0.921117 0.754133 -3.105918 +v 0.455918 -1.223538 3.038847 +v 1.056499 0.930745 3.074541 +v -1.097832 0.471424 -1.375075 +v 1.056499 -1.258904 -1.092550 +v -0.709184 -1.188173 -3.105918 +v 1.056499 -0.693702 -3.070225 +v -0.709184 0.824649 3.074541 +v 0.703278 0.754133 -3.070225 +v -1.097832 -1.223538 2.367926 +v -0.956544 0.754133 -2.893571 +v -0.956544 0.789284 2.791411 +v -1.097832 0.860014 -0.103411 +v 1.056499 -1.117442 1.661311 +v 0.985644 0.789284 -2.822788 +v 0.208769 -1.223538 -3.070225 +v -0.355963 -1.258904 3.038242 +v -0.285530 -1.011561 -3.105918 +v 0.985644 -0.905679 3.038847 +v -1.062405 -0.411208 -2.328521 +v -1.062405 0.824649 1.237221 +v 1.021071 0.648037 -2.575957 +v 1.021071 0.330178 3.074541 +v -1.097832 -1.188173 3.038847 +v -1.027188 -0.905679 -3.070225 +v -1.097832 0.860014 -1.198422 +v 0.597206 -1.223538 3.003153 +v -0.603323 0.789284 -3.035136 +v -1.062405 -1.258904 -0.067717 +f 36 54 73 +f 35 40 41 +f 40 31 41 +f 31 39 42 +f 34 41 42 +f 36 32 43 +f 34 42 43 +f 31 40 44 +f 41 31 47 +f 31 42 47 +f 42 41 47 +f 36 40 48 +f 32 34 49 +f 43 32 49 +f 34 43 49 +f 32 33 50 +f 33 45 50 +f 41 34 51 +f 39 31 52 +f 31 44 52 +f 44 39 52 +f 38 51 53 +f 36 48 54 +f 40 35 55 +f 35 45 55 +f 39 44 56 +f 40 36 57 +f 44 40 57 +f 42 37 58 +f 37 43 58 +f 43 42 58 +f 41 38 59 +f 34 32 60 +f 32 50 60 +f 50 34 60 +f 36 43 61 +f 46 36 61 +f 34 50 62 +f 50 45 62 +f 51 34 62 +f 45 53 62 +f 53 51 62 +f 37 42 63 +f 46 37 63 +f 33 54 64 +f 54 48 64 +f 56 44 65 +f 44 57 65 +f 38 41 66 +f 41 51 66 +f 51 38 66 +f 39 36 67 +f 42 39 67 +f 36 46 67 +f 63 42 67 +f 46 63 67 +f 36 39 68 +f 39 56 68 +f 57 36 68 +f 56 65 68 +f 65 57 68 +f 45 33 69 +f 55 45 69 +f 33 64 69 +f 69 64 70 +f 48 40 70 +f 40 55 70 +f 64 48 70 +f 55 69 70 +f 43 37 71 +f 37 46 71 +f 61 43 71 +f 46 61 71 +f 35 41 72 +f 45 35 72 +f 38 53 72 +f 53 45 72 +f 59 38 72 +f 41 59 72 +f 33 32 73 +f 32 36 73 +f 54 33 73 +o convex_2 +v 1.445289 1.601873 -0.174567 +v 1.445289 2.166705 0.072596 +v 1.445289 2.166705 0.001970 +v 3.104880 2.060779 0.178506 +v 3.033948 2.060779 -0.315883 +v 2.927946 1.495881 0.319822 +v 1.092210 1.531212 0.213850 +v 1.092210 2.166705 -0.315883 +v 2.927946 1.637138 -0.245193 +v 1.092210 2.025514 0.213850 +v 1.092210 1.637138 -0.245193 +v 2.927946 1.495881 0.178506 +v 1.092210 2.166705 0.143223 +v 1.304018 1.495881 0.178506 +v 2.751406 1.601873 0.319822 +v 3.104880 1.990183 0.213850 +v 1.092210 2.025514 -0.315883 +v 2.468864 1.495881 0.319822 +v 3.104880 1.954852 0.072596 +f 89 79 92 +f 76 75 77 +f 76 77 78 +f 75 76 81 +f 76 78 81 +f 81 80 83 +f 80 81 84 +f 82 74 84 +f 74 82 85 +f 77 75 86 +f 75 81 86 +f 81 83 86 +f 84 74 87 +f 80 84 87 +f 85 79 87 +f 74 85 87 +f 83 88 89 +f 77 86 89 +f 86 83 89 +f 88 79 89 +f 81 78 90 +f 78 82 90 +f 84 81 90 +f 82 84 90 +f 83 80 91 +f 87 79 91 +f 80 87 91 +f 79 88 91 +f 88 83 91 +f 78 77 92 +f 82 78 92 +f 79 85 92 +f 85 82 92 +f 77 89 92 +o convex_3 +v -1.769013 1.495815 -0.033313 +v -2.157271 2.202153 0.249136 +v -1.097832 2.166754 0.284450 +v -1.097832 2.060831 -0.280507 +v -3.004897 1.884246 -0.245193 +v -3.040262 1.531215 0.319763 +v -1.097832 1.495815 0.213823 +v -2.969342 2.202153 0.143196 +v -2.969342 1.601807 -0.280507 +v -1.097832 1.495815 -0.209880 +v -2.969342 2.131423 -0.209880 +v -2.969342 2.202153 0.249136 +v -1.981014 1.848984 0.319763 +v -3.040262 1.566546 -0.209880 +v -1.239104 1.495815 0.249136 +v -1.168753 2.166754 0.143196 +v -1.133198 1.848984 -0.280507 +v -3.040262 1.672469 0.319763 +v -2.157271 2.166754 0.284450 +v -1.557011 2.060831 -0.280507 +v -1.097832 1.884246 0.284450 +v -2.016190 1.495815 0.284450 +f 113 105 114 +f 96 95 99 +f 96 99 102 +f 99 93 102 +f 97 100 103 +f 95 94 104 +f 94 100 104 +f 93 98 106 +f 97 101 106 +f 102 93 106 +f 101 102 106 +f 93 99 107 +f 94 95 108 +f 95 96 108 +f 100 94 108 +f 96 103 108 +f 103 100 108 +f 101 96 109 +f 96 102 109 +f 102 101 109 +f 100 97 110 +f 104 100 110 +f 98 105 110 +f 106 98 110 +f 97 106 110 +f 95 104 111 +f 105 95 111 +f 104 110 111 +f 110 105 111 +f 96 101 112 +f 101 97 112 +f 103 96 112 +f 97 103 112 +f 99 95 113 +f 95 105 113 +f 107 99 113 +f 107 113 114 +f 98 93 114 +f 105 98 114 +f 93 107 114 +o convex_4 +v -0.956371 2.378472 0.955222 +v 0.667861 1.036955 -1.092855 +v 0.667861 1.178043 -1.092855 +v 1.021085 2.873068 1.026160 +v -1.062467 2.837795 -1.021917 +v -1.062467 0.930745 0.990483 +v 0.950355 0.930942 0.990483 +v 0.950355 2.943809 -0.986862 +v -1.097832 0.930745 -1.021917 +v 1.056450 0.930942 -1.092855 +v -0.921220 2.908340 0.919960 +v -1.097832 2.272656 0.249160 +v 1.091816 2.131371 0.319476 +v 1.091816 2.166446 -0.315648 +v 1.091816 1.531156 0.213484 +v -1.097832 2.837795 -0.633624 +v -0.567996 2.307928 -1.057178 +v 0.985720 0.930942 0.884491 +v 0.632495 2.943809 -0.986862 +v 0.950355 2.943809 -0.527632 +v -0.956371 2.908340 0.778706 +v 1.091816 1.178043 -0.633624 +v 1.021085 2.519954 1.026160 +v 0.809108 2.873068 1.026160 +v -0.214771 2.908340 0.955429 +v -1.097832 1.495884 0.213484 +v -0.179406 2.873068 -1.022124 +v -1.097832 2.802327 -1.021917 +v -1.027102 1.390069 0.990483 +v -0.956371 2.908340 0.566929 +v 0.950355 2.449213 -1.022124 +v -0.391384 0.966214 -1.057178 +v -0.991736 2.131371 0.955222 +v 0.950355 2.378472 1.026160 +v -0.532631 2.908340 0.955222 +v 1.021085 2.873068 0.778706 +v -1.097832 2.201915 0.319683 +f 147 135 151 +f 116 117 124 +f 120 123 124 +f 124 122 128 +f 118 127 128 +f 128 127 129 +f 123 126 130 +f 117 116 131 +f 121 120 132 +f 120 124 132 +f 133 125 134 +f 118 122 134 +f 122 133 134 +f 130 126 135 +f 125 133 135 +f 124 128 136 +f 128 129 136 +f 132 124 136 +f 129 132 136 +f 127 118 137 +f 129 127 137 +f 121 132 137 +f 132 129 137 +f 137 118 138 +f 118 134 139 +f 138 118 139 +f 123 120 140 +f 126 123 140 +f 117 131 141 +f 131 119 141 +f 119 133 141 +f 133 122 141 +f 130 119 142 +f 123 130 142 +f 119 131 142 +f 131 123 142 +f 138 115 143 +f 120 138 143 +f 119 130 144 +f 133 119 144 +f 130 135 144 +f 135 133 144 +f 124 117 145 +f 122 124 145 +f 117 141 145 +f 141 122 145 +f 116 124 146 +f 124 123 146 +f 131 116 146 +f 123 131 146 +f 115 125 147 +f 125 135 147 +f 143 115 147 +f 120 143 147 +f 120 121 148 +f 121 137 148 +f 138 120 148 +f 137 138 148 +f 125 115 149 +f 134 125 149 +f 115 138 149 +f 139 134 149 +f 138 139 149 +f 122 118 150 +f 118 128 150 +f 128 122 150 +f 135 126 151 +f 140 120 151 +f 126 140 151 +f 120 147 151 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/656/656.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/656/656.urdf new file mode 100644 index 000000000..9cda010ba --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/656/656.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/657/657.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/657/657.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/657/657.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/657/657.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/657/657.obj new file mode 100644 index 000000000..79630aa92 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/657/657.obj @@ -0,0 +1,375 @@ +o convex_0 +v -0.963898 -0.511159 3.006506 +v 0.965108 -2.577941 0.664232 +v 1.068605 -2.577941 0.664232 +v 0.930609 -0.510947 -2.952427 +v -0.963898 -2.405426 -3.056275 +v -1.032895 -2.474474 3.076138 +v 0.930609 -0.442111 2.937474 +v -0.998396 -0.545577 -2.986643 +v 0.930609 -2.474474 -3.020859 +v 0.965108 -2.543311 3.040722 +v -1.032895 -0.407480 -0.954111 +v 1.034106 -0.476529 -2.435590 +v -1.067394 -2.474474 -1.298669 +v -1.067394 -2.508893 2.455453 +v 0.965108 -0.407480 -0.919895 +v -0.998396 -0.407480 1.042405 +v 1.068605 -2.233336 1.284316 +v 1.034106 -0.993224 -2.952427 +v 0.965108 -0.407480 1.559842 +v -0.688325 -0.752086 3.040722 +v 0.482752 -2.577941 0.905542 +v 1.034106 -2.474474 -1.402516 +v -1.067394 -1.337829 -0.058500 +v -0.860610 -2.439844 -3.056275 +v -0.619537 -2.543311 0.904942 +v -1.032895 -0.511159 -2.297527 +v 0.965108 -2.095451 3.040722 +v -0.998396 -1.131109 -3.021459 +v 0.930609 -2.577941 2.282574 +v -1.067394 -2.440056 2.903259 +v 0.965108 -2.095451 -3.020859 +v -1.032895 -0.407480 -0.230179 +v 0.965108 -0.717667 2.661948 +v -0.826111 -2.508893 3.075538 +v -0.447252 -0.476529 3.006506 +v 1.068605 -2.508893 -0.230779 +v 0.207180 -0.510947 -2.951827 +v -0.998396 -1.062273 3.040722 +v 1.034106 -0.510947 -2.952427 +v -0.137181 -2.474474 3.075538 +v -0.102682 -2.371008 -3.056275 +v -1.067394 -2.508893 0.112579 +v 0.965108 -2.474474 -2.814364 +v 0.517251 -0.442111 2.937474 +v 0.551750 -0.510947 2.971690 +v 1.034106 -0.476529 -2.229095 +v 1.068605 -2.577941 1.353348 +v -0.998396 -1.509707 -3.021459 +v -1.067394 -1.716428 -1.057958 +v 0.172890 -2.543311 3.040722 +v -1.032895 -2.095451 3.076138 +v 1.068605 -2.095451 0.560984 +v -0.447252 -0.545577 -2.986643 +v -0.929399 -1.957566 -3.056275 +v -0.998396 -2.440056 -2.573053 +v -0.963898 -0.648831 3.040722 +v 0.999607 -1.268993 -2.987243 +v -0.963898 -2.439844 -2.951827 +v 0.965108 -0.683249 2.592916 +v 1.068605 -2.164500 1.112037 +f 59 17 60 +f 3 2 9 +f 12 11 15 +f 15 11 16 +f 12 15 19 +f 15 16 19 +f 2 3 21 +f 9 2 21 +f 13 14 23 +f 9 21 24 +f 11 8 26 +f 23 11 26 +f 26 8 28 +f 21 3 29 +f 25 21 29 +f 14 6 30 +f 23 14 30 +f 1 16 32 +f 16 11 32 +f 11 23 32 +f 23 30 32 +f 27 17 33 +f 7 27 33 +f 6 14 34 +f 16 1 35 +f 17 3 36 +f 3 22 36 +f 22 18 36 +f 4 8 37 +f 8 11 37 +f 12 4 37 +f 11 12 37 +f 1 32 38 +f 32 30 38 +f 8 4 39 +f 4 12 39 +f 36 18 39 +f 10 27 40 +f 27 20 40 +f 6 34 40 +f 34 10 40 +f 24 5 41 +f 9 24 41 +f 31 9 41 +f 14 13 42 +f 25 14 42 +f 3 9 43 +f 22 3 43 +f 18 22 43 +f 31 18 43 +f 9 31 43 +f 7 19 44 +f 19 16 44 +f 16 35 44 +f 35 7 44 +f 27 7 45 +f 20 27 45 +f 7 35 45 +f 35 20 45 +f 12 19 46 +f 3 17 47 +f 27 10 47 +f 17 27 47 +f 29 3 47 +f 10 29 47 +f 13 26 48 +f 28 5 48 +f 26 28 48 +f 13 23 49 +f 26 13 49 +f 23 26 49 +f 14 25 50 +f 29 10 50 +f 25 29 50 +f 34 14 50 +f 10 34 50 +f 30 6 51 +f 38 30 51 +f 6 40 51 +f 40 20 51 +f 17 36 52 +f 39 12 52 +f 36 39 52 +f 12 46 52 +f 28 8 53 +f 8 39 53 +f 5 28 54 +f 41 5 54 +f 28 53 54 +f 48 5 55 +f 13 48 55 +f 35 1 56 +f 20 35 56 +f 1 38 56 +f 51 20 56 +f 38 51 56 +f 18 31 57 +f 39 18 57 +f 31 41 57 +f 53 39 57 +f 41 54 57 +f 54 53 57 +f 5 24 58 +f 24 21 58 +f 21 25 58 +f 42 13 58 +f 25 42 58 +f 55 5 58 +f 13 55 58 +f 19 7 59 +f 33 17 59 +f 7 33 59 +f 46 19 59 +f 46 59 60 +f 17 52 60 +f 52 46 60 +o convex_1 +v 0.586115 0.764136 1.077936 +v -1.101856 2.555007 -0.989169 +v -1.101856 2.555007 -0.919969 +v 1.068605 3.554107 0.974338 +v 0.965138 -0.407480 -0.920172 +v -0.998389 -0.407480 1.043336 +v 0.930720 3.588923 -0.989169 +v -0.963971 3.485258 0.974338 +v -1.032807 -0.407480 -0.954367 +v 0.965138 -0.407480 1.077936 +v -1.101856 3.519683 -0.989169 +v -0.206137 3.588923 0.319768 +v -0.895135 3.278318 1.008736 +v 0.930720 2.279217 -0.989169 +v 1.068605 3.450833 0.526559 +v 1.068605 2.486157 1.008736 +v -1.101856 3.519683 -0.713380 +v 0.965138 3.588923 -0.816776 +v 1.068605 3.037344 1.008736 +v -0.171507 -0.372664 1.077936 +v 0.965138 0.453922 -0.954569 +v -0.998389 3.416408 0.733148 +v -1.032807 -0.407480 -0.196604 +v 0.172886 3.588923 -0.989169 +v 0.999556 0.351038 1.077936 +v -0.998389 0.350647 1.043336 +v -1.067225 1.693605 -0.989169 +v -0.412858 -0.407480 -0.954569 +v -1.032807 0.385463 0.526559 +v 0.999556 3.588923 -0.058810 +v -0.343809 3.588923 -0.093208 +v 0.965138 1.900545 -0.954569 +v -1.067225 0.695286 -0.885571 +v 0.310558 0.729711 1.077936 +v -1.101856 2.899254 -0.644382 +v 0.138468 1.797270 -0.989169 +v -0.722833 3.554107 -0.989169 +v -1.067225 3.519683 -0.231002 +v 0.999556 0.695286 1.077936 +v -0.102671 3.519683 0.974540 +v -0.619366 3.278709 1.008736 +v 1.068605 3.554107 0.526559 +f 75 92 102 +f 65 66 69 +f 66 65 70 +f 62 63 71 +f 67 62 71 +f 62 67 74 +f 75 64 76 +f 65 75 76 +f 71 63 77 +f 67 72 78 +f 76 64 79 +f 70 61 80 +f 66 70 80 +f 74 67 81 +f 75 65 81 +f 69 66 83 +f 67 71 84 +f 72 67 84 +f 61 70 85 +f 70 65 85 +f 65 76 85 +f 76 79 85 +f 73 68 86 +f 66 80 86 +f 80 73 86 +f 68 82 86 +f 69 62 87 +f 62 74 87 +f 65 69 88 +f 81 65 88 +f 74 81 88 +f 69 87 88 +f 83 66 89 +f 66 86 89 +f 72 64 90 +f 78 72 90 +f 71 77 91 +f 72 84 91 +f 67 78 92 +f 81 67 92 +f 75 81 92 +f 63 62 93 +f 62 69 93 +f 69 83 93 +f 89 63 93 +f 83 89 93 +f 61 73 94 +f 80 61 94 +f 73 80 94 +f 77 63 95 +f 86 82 95 +f 63 89 95 +f 89 86 95 +f 87 74 96 +f 74 88 96 +f 88 87 96 +f 84 71 97 +f 71 91 97 +f 91 84 97 +f 68 72 98 +f 82 68 98 +f 72 91 98 +f 91 77 98 +f 77 95 98 +f 95 82 98 +f 79 61 99 +f 61 85 99 +f 85 79 99 +f 72 68 100 +f 64 72 100 +f 73 64 100 +f 68 73 100 +f 73 61 101 +f 64 73 101 +f 61 79 101 +f 79 64 101 +f 64 75 102 +f 90 64 102 +f 78 90 102 +f 92 78 102 +o convex_2 +v 0.310653 4.932221 0.078754 +v -0.343917 3.589123 -0.231227 +v -0.343917 3.589123 -0.093407 +v -0.309452 5.483507 -0.162317 +v 0.345118 3.589123 -0.265683 +v -0.206056 3.589123 0.319997 +v 0.276187 5.621378 -0.265683 +v -0.137193 5.552343 0.251087 +v 0.345118 3.795830 0.216632 +v 0.276187 5.449089 0.285542 +v -0.240522 5.517925 0.147722 +v 0.345118 3.589123 0.182177 +v 0.103929 5.586761 -0.265683 +v 0.138394 4.897803 0.319997 +v 0.310653 5.207963 -0.231227 +v -0.068263 3.623739 0.319997 +v -0.343917 4.691096 -0.196772 +v -0.206056 5.552343 0.216632 +v 0.172859 3.589123 -0.265683 +v -0.343917 4.105990 -0.093407 +v 0.276187 5.621378 -0.162317 +v 0.276187 4.794549 0.285542 +v -0.309452 5.483507 -0.093407 +v 0.034998 5.483507 0.285542 +v -0.102728 5.586761 0.044299 +v -0.309452 5.104510 -0.196772 +f 119 106 128 +f 105 104 107 +f 105 107 108 +f 111 103 112 +f 108 107 114 +f 107 111 114 +f 109 107 115 +f 107 109 117 +f 103 111 117 +f 111 107 117 +f 112 103 117 +f 108 114 118 +f 114 111 118 +f 116 108 118 +f 104 105 119 +f 108 110 120 +f 113 108 120 +f 107 104 121 +f 104 115 121 +f 115 107 121 +f 105 108 122 +f 108 113 122 +f 119 105 122 +f 110 112 123 +f 117 109 123 +f 112 117 123 +f 111 112 124 +f 112 116 124 +f 118 111 124 +f 116 118 124 +f 106 119 125 +f 120 106 125 +f 113 120 125 +f 122 113 125 +f 119 122 125 +f 110 108 126 +f 112 110 126 +f 108 116 126 +f 116 112 126 +f 115 106 127 +f 109 115 127 +f 120 110 127 +f 106 120 127 +f 110 123 127 +f 123 109 127 +f 115 104 128 +f 106 115 128 +f 104 119 128 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/657/657.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/657/657.urdf new file mode 100644 index 000000000..3670fbda2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/657/657.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/658/658.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/658/658.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/658/658.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/658/658.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/658/658.obj new file mode 100644 index 000000000..27f93817f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/658/658.obj @@ -0,0 +1,648 @@ +o convex_0 +v -0.427433 0.576955 -1.084965 +v 1.057009 -1.723742 1.067940 +v 1.019919 -1.723742 1.067940 +v 1.057009 -3.097830 -1.010574 +v -1.021294 -3.097830 0.956459 +v 1.094310 0.576955 0.993549 +v -1.058594 0.576955 0.956459 +v -1.058594 -3.097830 -1.010574 +v 1.057009 0.576955 -1.010574 +v 1.094310 -3.097830 1.067940 +v -0.984204 0.576955 -1.084965 +v -0.984204 -1.650002 -1.084965 +v 1.094310 0.539545 -0.342322 +v 0.982829 -0.796773 -1.047664 +v -1.058594 0.576955 0.102547 +v 1.019919 0.242785 1.030639 +v 0.834258 -3.097830 1.067729 +v -0.427433 -1.538133 -1.084965 +v -0.835844 -2.874810 -1.047664 +v -1.058594 -0.165484 0.956459 +v 1.094310 -3.097830 0.659529 +v -0.538702 -3.097830 0.993338 +v 0.797168 0.576955 -1.047664 +v 0.129128 -2.763660 -1.047664 +v -0.130502 -0.611163 -1.084965 +v -1.021294 0.576955 -0.565073 +f 15 11 26 +f 6 1 7 +f 4 5 8 +f 1 6 9 +f 2 3 10 +f 5 4 10 +f 6 2 10 +f 7 1 11 +f 8 11 12 +f 11 1 12 +f 4 9 13 +f 9 6 13 +f 6 10 13 +f 9 4 14 +f 8 7 15 +f 7 11 15 +f 3 2 16 +f 2 6 16 +f 7 3 16 +f 6 7 16 +f 3 7 17 +f 10 3 17 +f 5 10 17 +f 12 1 18 +f 4 8 19 +f 8 12 19 +f 8 5 20 +f 7 8 20 +f 10 4 21 +f 4 13 21 +f 13 10 21 +f 5 17 22 +f 17 7 22 +f 20 5 22 +f 7 20 22 +f 1 9 23 +f 9 14 23 +f 14 4 24 +f 12 18 24 +f 18 14 24 +f 4 19 24 +f 19 12 24 +f 18 1 25 +f 14 18 25 +f 1 23 25 +f 23 14 25 +f 11 8 26 +f 8 15 26 +o convex_1 +v -0.501823 5.030858 1.067940 +v -1.058594 2.878822 0.585348 +v -1.021294 2.878822 -1.047453 +v 1.094310 2.878822 0.993549 +v 1.057009 5.290825 -1.047664 +v -1.058594 5.216584 -1.010574 +v 1.094310 2.878822 -1.047664 +v 1.057009 5.365311 0.993549 +v -1.021294 5.327825 1.067940 +v -0.984204 2.878822 1.030639 +v -0.687273 3.732236 -1.084965 +v 0.092038 2.878822 1.067940 +v 1.094310 4.585407 -0.713643 +v -0.613093 5.365311 0.993549 +v 0.797168 4.845375 -1.084965 +v -1.058594 4.066446 1.030639 +v -1.058594 5.105099 -1.047453 +v -0.019021 2.878822 -1.084965 +v -1.058594 5.290825 -0.045392 +v 0.834258 4.511409 1.030639 +v 1.094310 4.474166 0.993549 +v 1.019919 5.327825 -0.565073 +v 0.500238 5.290825 -1.047453 +v -1.058594 3.992204 -1.047453 +v -0.650183 2.878822 1.067940 +v -0.872934 2.878822 -1.084965 +v 1.057009 5.365311 0.436567 +v -1.058594 2.878822 0.993549 +v 0.500238 5.365311 1.030639 +v 0.834258 2.878822 1.030639 +v -0.427433 5.253583 -1.047453 +v 1.094310 4.177200 -1.047664 +v -1.021294 5.327825 0.510958 +f 49 57 59 +f 28 29 30 +f 30 29 33 +f 28 30 36 +f 27 35 38 +f 36 30 38 +f 30 33 39 +f 32 28 42 +f 36 35 42 +f 28 32 43 +f 41 37 43 +f 33 29 44 +f 41 33 44 +f 37 41 44 +f 32 42 45 +f 42 35 45 +f 27 38 46 +f 30 39 47 +f 39 34 47 +f 34 46 47 +f 46 30 47 +f 31 41 49 +f 48 31 49 +f 40 48 49 +f 29 28 50 +f 28 43 50 +f 35 36 51 +f 38 35 51 +f 36 38 51 +f 43 37 52 +f 44 29 52 +f 37 44 52 +f 29 50 52 +f 50 43 52 +f 39 31 53 +f 34 39 53 +f 40 34 53 +f 31 48 53 +f 48 40 53 +f 28 36 54 +f 42 28 54 +f 36 42 54 +f 35 27 55 +f 34 40 55 +f 40 35 55 +f 27 46 55 +f 46 34 55 +f 38 30 56 +f 30 46 56 +f 46 38 56 +f 43 32 57 +f 41 43 57 +f 32 45 57 +f 49 41 57 +f 39 33 58 +f 31 39 58 +f 41 31 58 +f 33 41 58 +f 35 40 59 +f 45 35 59 +f 40 49 59 +f 57 45 59 +o convex_2 +v 1.465816 -4.248379 -0.268277 +v 3.061619 -3.134949 0.511052 +v 3.061619 -3.394993 0.548222 +v 2.987185 -4.174166 -0.565298 +v 1.131807 -3.246448 -0.565298 +v 1.168835 -4.285425 0.548222 +v 2.949967 -4.359757 0.585392 +v 1.131807 -3.246448 0.473995 +v 2.949967 -3.209402 -0.565298 +v 1.131807 -4.174166 -0.565298 +v 2.541712 -3.134949 0.214031 +v 1.131807 -3.951408 0.548222 +v 1.948316 -3.172235 0.511052 +v 2.987185 -4.322591 0.251314 +v 3.061619 -3.543418 0.065577 +v 1.131807 -4.211212 -0.528128 +v 1.428599 -3.209402 -0.342504 +v 2.801476 -4.359757 0.473995 +v 3.024213 -4.025621 -0.416731 +v 3.061619 -3.134949 0.251314 +v 2.652986 -4.211212 -0.453901 +f 73 75 80 +f 63 64 68 +f 64 63 69 +f 67 64 69 +f 65 66 71 +f 66 62 71 +f 67 69 71 +f 62 61 72 +f 61 70 72 +f 71 62 72 +f 67 71 72 +f 62 66 73 +f 61 62 74 +f 62 73 74 +f 60 65 75 +f 69 63 75 +f 65 71 75 +f 71 69 75 +f 64 67 76 +f 68 64 76 +f 70 68 76 +f 67 72 76 +f 72 70 76 +f 65 60 77 +f 66 65 77 +f 73 66 77 +f 60 75 77 +f 75 73 77 +f 63 68 78 +f 73 63 78 +f 74 73 78 +f 74 78 79 +f 70 61 79 +f 68 70 79 +f 61 74 79 +f 78 68 79 +f 63 73 80 +f 75 63 80 +o convex_3 +v 0.723105 1.356433 1.030639 +v -0.984095 0.576955 -1.084965 +v -0.984095 1.690526 -1.084965 +v 1.094150 1.690526 -1.010574 +v -1.095713 1.690526 0.993549 +v 1.094150 0.576955 0.993549 +v -1.058434 0.576955 0.956459 +v 1.057089 0.576955 -1.010574 +v 1.094150 1.690526 0.993549 +v -0.798572 1.541846 1.067940 +v 1.131429 1.245032 0.436778 +v 0.797227 0.576955 -1.047664 +v -1.095713 1.022449 0.696618 +v 1.094150 0.873987 -1.010574 +v 0.203162 1.690526 1.067940 +v 1.131429 1.653247 0.993549 +v -0.538710 1.319263 -1.084965 +v -1.021374 1.356433 -0.676343 +v -1.058434 0.576955 0.102757 +v 1.094150 0.576955 -0.416502 +v 0.685826 1.356433 -1.047664 +v 0.500304 0.576955 0.993549 +v 1.131429 1.096789 0.993549 +v -0.427309 0.576955 -1.084965 +v 0.277502 1.541846 1.067940 +f 96 95 105 +f 84 83 85 +f 82 86 87 +f 86 82 88 +f 84 85 89 +f 85 87 90 +f 88 82 92 +f 87 85 93 +f 84 91 94 +f 92 84 94 +f 88 92 94 +f 89 85 95 +f 85 90 95 +f 84 89 96 +f 91 84 96 +f 89 95 96 +f 82 83 97 +f 83 82 98 +f 85 83 98 +f 93 85 98 +f 93 98 99 +f 82 87 99 +f 87 93 99 +f 98 82 99 +f 86 88 100 +f 88 94 100 +f 94 91 100 +f 83 84 101 +f 84 92 101 +f 97 83 101 +f 87 86 102 +f 86 90 102 +f 90 87 102 +f 81 86 103 +f 96 81 103 +f 91 96 103 +f 86 100 103 +f 100 91 103 +f 92 82 104 +f 82 97 104 +f 101 92 104 +f 97 101 104 +f 86 81 105 +f 90 86 105 +f 95 90 105 +f 81 96 105 +o convex_4 +v -2.097662 -3.134949 0.548113 +v -2.988690 -3.840095 -0.565182 +v -3.025664 -3.246448 -0.416618 +v -1.095713 -3.172228 -0.490900 +v -1.095713 -4.285527 0.585196 +v -2.988690 -4.248361 0.436749 +v -1.207212 -4.248361 -0.527983 +v -3.063022 -3.134949 0.622395 +v -1.095713 -3.172228 0.511031 +v -2.988690 -4.285527 -0.527983 +v -2.914165 -3.209394 -0.565182 +v -1.095713 -4.211194 -0.527983 +v -1.578297 -3.134949 -0.194006 +v -3.063022 -3.134949 0.251219 +v -2.394607 -3.209394 -0.565182 +v -3.063022 -3.246448 0.622395 +v -2.988690 -4.285527 0.139855 +v -1.429825 -3.172228 0.548113 +v -2.134828 -4.285527 -0.527983 +v -2.988690 -4.136974 0.473832 +v -2.802858 -3.134949 0.622395 +v -1.095713 -3.802928 -0.527983 +v -3.063022 -3.394888 0.511031 +f 115 122 128 +f 110 109 114 +f 108 107 115 +f 107 108 116 +f 109 110 117 +f 112 107 117 +f 110 112 117 +f 113 106 118 +f 106 114 118 +f 114 109 118 +f 109 116 118 +f 118 116 119 +f 108 115 119 +f 116 108 119 +f 113 118 119 +f 107 116 120 +f 116 109 120 +f 117 107 120 +f 113 119 121 +f 110 111 122 +f 115 110 122 +f 114 106 123 +f 110 114 123 +f 107 112 124 +f 112 110 124 +f 115 107 124 +f 110 115 124 +f 111 110 125 +f 110 121 125 +f 121 111 125 +f 106 113 126 +f 121 110 126 +f 113 121 126 +f 123 106 126 +f 110 123 126 +f 109 117 127 +f 120 109 127 +f 117 120 127 +f 119 115 128 +f 111 121 128 +f 121 119 128 +f 122 111 128 +o convex_5 +v -0.019203 -4.768187 1.030704 +v -1.058434 -4.062830 -1.010726 +v -1.095713 -4.656513 -0.973491 +v 1.094150 -4.693792 -0.973491 +v 1.094150 -3.097830 1.067940 +v -1.021156 -3.097830 0.956437 +v 1.057089 -3.097830 -1.010726 +v -1.058434 -3.097830 -1.010726 +v 1.131211 -4.730744 1.067940 +v -1.021156 -4.768187 0.882170 +v 1.131429 -3.246455 -0.565124 +v -1.095713 -3.172224 0.511038 +v -1.095713 -4.285523 0.585305 +v -0.984313 -4.768187 0.956437 +v -1.095713 -4.693792 -0.750690 +v 1.094150 -4.730744 -0.305290 +v 0.834288 -3.097830 1.067940 +v -1.021156 -4.768187 0.585305 +v 1.131429 -3.246455 0.473803 +v 1.131211 -4.211129 -0.528092 +v -1.095713 -3.172224 -0.490856 +v 0.685826 -3.914532 -1.010726 +v -0.353405 -4.693792 -0.973491 +v -0.687389 -4.545167 0.993469 +v 0.500303 -4.768187 0.993469 +v 0.648765 -4.730744 1.067940 +v -0.538928 -3.097830 0.993469 +f 154 145 155 +f 134 133 135 +f 134 135 136 +f 130 131 136 +f 135 130 136 +f 132 135 139 +f 135 133 139 +f 134 136 140 +f 138 134 141 +f 134 140 141 +f 140 131 141 +f 138 129 142 +f 134 138 142 +f 141 131 143 +f 138 141 143 +f 132 137 144 +f 133 134 145 +f 137 133 145 +f 129 138 146 +f 138 143 146 +f 133 137 147 +f 139 133 147 +f 137 139 147 +f 137 132 148 +f 132 139 148 +f 139 137 148 +f 136 131 149 +f 140 136 149 +f 131 140 149 +f 132 130 150 +f 130 135 150 +f 135 132 150 +f 131 130 151 +f 130 132 151 +f 143 131 151 +f 132 144 151 +f 146 143 151 +f 144 146 151 +f 142 129 152 +f 134 142 152 +f 137 129 153 +f 144 137 153 +f 129 146 153 +f 146 144 153 +f 129 137 154 +f 137 145 154 +f 152 129 154 +f 152 154 155 +f 145 134 155 +f 134 152 155 +o convex_6 +v -0.613166 2.395653 2.441082 +v 0.611762 2.173240 3.109487 +v 0.611762 1.839147 3.109487 +v 0.500373 1.839147 1.105451 +v 0.463203 2.803919 1.105451 +v -0.575876 1.839147 1.105451 +v -0.464606 1.764975 3.109487 +v 0.611762 2.841216 3.072015 +v -0.538826 2.766833 1.105451 +v -0.613166 2.729746 3.072015 +v 0.351813 1.802061 1.290846 +v 0.500373 2.841216 1.402280 +v 0.574473 1.802061 3.109487 +v -0.575876 2.766833 1.402280 +v -0.538826 1.802061 1.142530 +v 0.611762 2.729746 2.775186 +v 0.426153 2.841216 3.072015 +v -0.538826 2.098962 3.109487 +v 0.537423 2.061876 1.476438 +v -0.390386 2.766833 3.072015 +v -0.130437 2.803919 1.105451 +f 169 172 176 +f 160 159 161 +f 158 157 162 +f 157 158 163 +f 160 161 164 +f 159 160 167 +f 159 158 168 +f 158 162 168 +f 166 159 168 +f 162 166 168 +f 161 156 169 +f 164 161 169 +f 156 165 169 +f 161 159 170 +f 162 161 170 +f 159 166 170 +f 166 162 170 +f 163 158 171 +f 167 163 171 +f 157 163 172 +f 163 167 172 +f 156 161 173 +f 162 157 173 +f 161 162 173 +f 165 156 173 +f 157 172 173 +f 158 159 174 +f 159 167 174 +f 171 158 174 +f 167 171 174 +f 169 165 175 +f 172 169 175 +f 165 173 175 +f 173 172 175 +f 160 164 176 +f 167 160 176 +f 164 169 176 +f 172 167 176 +o convex_7 +v -0.279025 1.876150 -3.052274 +v 0.574643 2.804046 -2.829468 +v 0.574643 2.766876 -2.829468 +v -0.538877 1.839093 -1.084965 +v -0.538877 2.766876 -3.052274 +v 0.351849 2.841216 -1.084965 +v 0.537473 1.839093 -1.084965 +v 0.463246 1.764866 -2.940775 +v -0.464650 2.729819 -1.084965 +v -0.576047 1.690526 -3.052274 +v 0.574643 2.804046 -3.052274 +v 0.500303 2.841216 -1.345128 +v -0.576047 1.764866 -1.753380 +v 0.537473 1.801923 -1.530575 +v -0.538877 2.173172 -1.122323 +v -0.093401 2.804046 -3.052274 +v 0.537473 2.173172 -1.084965 +v -0.576047 2.284231 -2.977941 +v 0.351849 1.801923 -1.270603 +v -0.241968 2.804046 -2.346885 +v 0.574643 2.692649 -3.052274 +v -0.501707 1.690526 -2.903416 +v -0.538877 1.801923 -1.159297 +v -0.501707 2.729819 -1.493601 +v 0.463246 2.841216 -1.084965 +v 0.463246 2.841216 -1.901660 +v -0.316195 2.766876 -1.159297 +v 0.129055 1.727696 -2.903416 +f 190 198 204 +f 182 180 183 +f 179 178 183 +f 180 182 185 +f 181 177 186 +f 177 184 186 +f 178 179 187 +f 177 181 187 +f 178 187 188 +f 180 185 191 +f 189 180 191 +f 187 181 192 +f 182 183 193 +f 183 178 193 +f 178 188 193 +f 181 186 194 +f 186 189 194 +f 191 181 194 +f 189 191 194 +f 190 183 195 +f 192 181 196 +f 179 183 197 +f 184 177 197 +f 187 179 197 +f 177 187 197 +f 183 190 197 +f 190 184 197 +f 189 186 198 +f 190 195 198 +f 198 195 199 +f 183 180 199 +f 180 189 199 +f 195 183 199 +f 189 198 199 +f 185 181 200 +f 191 185 200 +f 181 191 200 +f 188 182 201 +f 182 193 201 +f 193 188 201 +f 182 188 202 +f 188 187 202 +f 187 192 202 +f 196 182 202 +f 192 196 202 +f 181 185 203 +f 185 182 203 +f 196 181 203 +f 182 196 203 +f 186 184 204 +f 184 190 204 +f 198 186 204 +o convex_8 +v -0.130611 2.803930 1.104844 +v -0.984240 1.690642 -1.084750 +v -1.021326 1.690642 -0.527921 +v 1.094095 1.690642 0.993393 +v 1.094095 2.878219 -1.047457 +v -1.021326 2.878219 -1.047457 +v -1.095499 1.690642 0.993393 +v 1.094095 1.690642 -1.010378 +v 1.094095 2.878219 0.993393 +v -1.058413 2.878219 0.993393 +v -0.650034 1.727845 1.104844 +v 0.500285 1.839220 1.104844 +v 0.537372 2.210316 -1.084750 +v -0.872767 2.878219 -1.084750 +v 0.463199 2.803930 1.104844 +v 0.537372 1.839220 -1.084750 +v -0.984240 2.878219 1.030472 +v -1.021326 2.284489 -1.047457 +v 0.463199 2.841016 -1.084750 +v -0.538775 2.766844 1.104844 +v -1.095499 1.950479 0.919235 +f 222 211 225 +f 207 206 208 +f 207 208 211 +f 208 206 212 +f 209 208 212 +f 208 209 213 +f 209 210 213 +f 213 210 214 +f 211 208 215 +f 208 213 216 +f 205 215 216 +f 215 208 216 +f 206 210 218 +f 210 209 218 +f 217 206 218 +f 205 216 219 +f 216 213 219 +f 212 206 220 +f 209 212 220 +f 206 217 220 +f 217 209 220 +f 213 214 221 +f 214 211 221 +f 211 215 221 +f 205 219 221 +f 219 213 221 +f 206 207 222 +f 210 206 222 +f 207 211 222 +f 209 217 223 +f 218 209 223 +f 217 218 223 +f 215 205 224 +f 205 221 224 +f 221 215 224 +f 214 210 225 +f 211 214 225 +f 210 222 225 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/658/658.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/658/658.urdf new file mode 100644 index 000000000..38cb6d4eb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/658/658.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/659/659.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/659/659.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/659/659.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/659/659.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/659/659.obj new file mode 100644 index 000000000..ee847bdd0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/659/659.obj @@ -0,0 +1,588 @@ +o convex_0 +v 1.194652 -3.447975 -1.116756 +v 3.037043 -1.401063 0.970839 +v 3.037043 -1.523978 1.011955 +v -3.103860 -1.565093 0.930156 +v -2.939758 -3.529557 1.052854 +v -3.103860 -1.524194 -0.952726 +v 3.037043 -3.488874 1.093970 +v 2.954691 -1.564877 -1.075640 +v -3.103860 -3.570673 -0.993841 +v 3.037043 -3.611789 -0.952726 +v -0.811240 -1.401063 -1.034741 +v 0.130092 -1.401063 1.052638 +v -1.015617 -1.401063 1.011738 +v 1.030550 -1.401063 -1.034741 +v 2.995566 -3.611789 -0.502401 +v -3.021509 -3.570673 0.193103 +v 2.422712 -2.097217 -1.116756 +v -2.653030 -1.483078 -0.993841 +v 3.037043 -3.529774 0.970839 +v 0.702947 -3.161247 1.093970 +v 3.037043 -2.833837 1.093970 +v 0.867049 -3.529557 -1.116756 +v -2.980634 -3.243046 1.052854 +v 3.037043 -1.442179 0.315801 +v -2.898883 -1.483078 -0.911826 +v -1.793448 -1.565093 1.011738 +v 2.995566 -2.097217 -1.075640 +v -3.103860 -2.260814 -0.993841 +v 1.399028 -1.401063 1.052638 +v -3.103860 -1.892720 0.930156 +v -3.103860 -1.524194 0.193103 +v -0.483637 -1.524194 1.052854 +v 0.948799 -3.202147 -1.116756 +v -2.980634 -3.529557 0.971055 +v 1.317277 -1.483078 -1.075640 +v -3.103860 -3.570673 -0.789129 +v -2.735382 -1.565093 0.971055 +v 2.995566 -1.523978 -0.707114 +v 3.037043 -2.915635 -0.993625 +v -1.056492 -1.401063 -0.993625 +v 2.586213 -3.611789 -0.952942 +v 0.744423 -3.447975 1.093970 +f 7 20 42 +f 2 3 7 +f 4 6 9 +f 2 7 10 +f 2 11 12 +f 12 11 13 +f 11 2 14 +f 15 5 16 +f 7 5 19 +f 10 7 19 +f 5 15 19 +f 15 10 19 +f 12 20 21 +f 7 3 21 +f 20 7 21 +f 1 10 22 +f 17 1 22 +f 5 20 23 +f 2 10 24 +f 14 2 24 +f 18 6 25 +f 10 1 27 +f 17 8 27 +f 1 17 27 +f 9 6 28 +f 6 18 28 +f 22 9 28 +f 3 2 29 +f 2 12 29 +f 12 21 29 +f 21 3 29 +f 4 9 30 +f 23 4 30 +f 6 4 31 +f 4 13 31 +f 25 6 31 +f 13 25 31 +f 12 13 32 +f 20 12 32 +f 23 20 32 +f 13 26 32 +f 26 23 32 +f 11 17 33 +f 18 11 33 +f 17 22 33 +f 28 18 33 +f 22 28 33 +f 16 5 34 +f 5 23 34 +f 23 30 34 +f 14 8 35 +f 11 14 35 +f 8 17 35 +f 17 11 35 +f 30 9 36 +f 16 34 36 +f 34 30 36 +f 13 4 37 +f 4 23 37 +f 26 13 37 +f 23 26 37 +f 8 14 38 +f 14 24 38 +f 27 8 38 +f 27 38 39 +f 24 10 39 +f 10 27 39 +f 38 24 39 +f 13 11 40 +f 11 18 40 +f 25 13 40 +f 18 25 40 +f 10 15 41 +f 15 16 41 +f 22 10 41 +f 9 22 41 +f 36 9 41 +f 16 36 41 +f 5 7 42 +f 20 5 42 +o convex_1 +v 0.048438 4.575983 -0.011313 +v 1.071954 2.897878 1.093757 +v 0.212143 3.757156 1.093970 +v -1.015953 2.610994 -0.993833 +v 1.030874 2.610994 -1.034613 +v 1.071954 4.493904 -0.952842 +v -0.974874 2.610994 0.929791 +v -0.974874 4.494100 -1.075816 +v -0.933794 4.534944 1.093970 +v 0.989999 4.617023 0.930004 +v 1.071954 2.610994 1.093757 +v -1.015953 4.002804 -0.993833 +v -0.974874 3.184369 1.011774 +v 0.498679 2.610994 1.093757 +v 1.071954 4.535140 -0.748097 +v -1.015953 2.652033 0.274778 +v 1.030874 4.617023 0.725259 +v -1.015953 2.938721 -1.034825 +v 1.071954 3.798195 -0.993621 +v 0.703259 4.617023 0.970995 +v -0.647463 4.494100 -1.075816 +v -0.974874 4.494100 0.070245 +v -0.933794 4.125530 1.093970 +v 1.071954 2.610994 0.111024 +v -0.974874 4.002804 -1.075816 +v 1.071954 3.471057 1.011987 +v -0.974874 2.652033 0.970783 +v -0.565304 4.534944 1.093970 +v -0.933794 4.534944 0.520514 +v 0.662384 4.617023 0.561505 +v 1.071954 4.535140 -0.133863 +v -0.974874 3.511900 1.011774 +v -0.524429 4.534944 -0.625335 +v 1.071954 3.389174 -0.993621 +v 1.030874 2.856642 -1.034613 +f 63 61 77 +f 46 47 49 +f 44 45 53 +f 48 44 53 +f 49 47 53 +f 53 45 56 +f 49 53 56 +f 44 48 57 +f 46 49 58 +f 54 46 58 +f 47 46 60 +f 46 54 60 +f 54 50 60 +f 48 53 61 +f 45 44 62 +f 44 52 62 +f 52 59 62 +f 57 48 63 +f 50 57 63 +f 48 61 63 +f 51 50 64 +f 50 54 64 +f 45 51 65 +f 51 55 65 +f 56 45 65 +f 53 47 66 +f 61 53 66 +f 47 60 67 +f 60 50 67 +f 63 47 67 +f 50 63 67 +f 52 44 68 +f 44 57 68 +f 59 52 68 +f 49 56 69 +f 58 49 69 +f 55 58 69 +f 65 55 69 +f 56 65 69 +f 51 45 70 +f 45 62 70 +f 62 51 70 +f 50 51 71 +f 59 57 72 +f 51 62 72 +f 62 59 72 +f 43 71 72 +f 71 51 72 +f 57 59 73 +f 68 57 73 +f 59 68 73 +f 55 51 74 +f 54 58 74 +f 58 55 74 +f 51 64 74 +f 64 54 74 +f 57 50 75 +f 71 43 75 +f 50 71 75 +f 43 72 75 +f 72 57 75 +f 47 61 76 +f 66 47 76 +f 61 66 76 +f 61 47 77 +f 47 63 77 +o convex_2 +v 0.130325 -0.172915 1.912797 +v 0.294098 -0.868852 2.977076 +v 0.375985 -0.868852 2.977076 +v 0.253155 -0.827880 1.093970 +v -0.319984 -0.705038 2.977076 +v -0.319984 -0.786909 1.093970 +v -0.319984 -0.131943 3.058959 +v -0.279041 -0.295757 1.093970 +v 0.212211 -0.172915 2.977076 +v 0.171268 -0.213886 1.093970 +v 0.375985 -0.786909 3.099998 +v 0.212211 -0.336656 1.175852 +v -0.319984 -0.213886 1.994680 +v 0.375985 -0.745937 3.018116 +v -0.197154 -0.745937 3.018116 +v 0.212211 -0.172915 2.403701 +v 0.048438 -0.213886 1.093970 +v -0.074324 -0.827880 1.912797 +v 0.253155 -0.664139 1.093970 +f 89 91 96 +f 80 79 81 +f 83 82 84 +f 81 83 85 +f 81 85 87 +f 79 80 88 +f 86 84 88 +f 83 84 90 +f 85 83 90 +f 86 88 91 +f 88 80 91 +f 82 83 92 +f 84 82 92 +f 79 88 92 +f 88 84 92 +f 78 84 93 +f 84 86 93 +f 87 78 93 +f 89 87 93 +f 86 91 93 +f 91 89 93 +f 84 78 94 +f 78 87 94 +f 87 85 94 +f 90 84 94 +f 85 90 94 +f 81 79 95 +f 83 81 95 +f 79 92 95 +f 92 83 95 +f 80 81 96 +f 81 87 96 +f 87 89 96 +f 91 80 96 +o convex_3 +v -1.097672 -0.868563 -0.502617 +v 1.030963 -0.582388 0.274902 +v 1.030963 -0.705110 0.274902 +v -1.097463 -0.091148 1.052854 +v 1.030754 0.400268 -0.993625 +v 1.030963 -1.401063 -1.034524 +v -1.015785 -1.401063 1.011955 +v -1.015577 0.400268 -1.075640 +v 0.989707 0.400268 0.970623 +v 0.989915 -1.401063 1.052854 +v -1.056624 -1.401063 -0.993841 +v -1.097463 0.400268 1.052854 +v 0.334614 -0.868563 -1.116756 +v 0.375662 -0.091148 1.093970 +v -0.319853 -0.786749 1.093970 +v -1.056624 -1.359803 -1.034741 +v -0.483627 -0.009157 -1.116756 +v -1.097463 0.400268 0.192887 +v 0.703208 -1.195998 1.093753 +v -1.015785 -1.277989 1.052638 +v -1.056624 -1.401063 0.111088 +v 0.211889 -0.296037 -1.116756 +v 1.030754 0.400268 0.110872 +v -0.279014 -0.746018 -1.116756 +v 1.030963 -0.582388 -1.034524 +v 0.498387 0.400268 -1.034741 +v -1.056624 -0.541305 -1.034741 +v -0.524466 0.400268 1.052854 +f 108 110 124 +f 98 99 102 +f 101 104 105 +f 99 98 106 +f 102 99 106 +f 103 102 106 +f 98 105 106 +f 102 103 107 +f 97 100 108 +f 105 104 108 +f 110 108 111 +f 108 100 111 +f 107 97 112 +f 102 107 112 +f 109 102 112 +f 112 104 113 +f 97 108 114 +f 108 104 114 +f 106 105 115 +f 105 110 115 +f 110 111 115 +f 115 111 116 +f 100 103 116 +f 103 106 116 +f 111 100 116 +f 106 115 116 +f 100 97 117 +f 103 100 117 +f 97 107 117 +f 107 103 117 +f 109 113 118 +f 98 101 119 +f 105 98 119 +f 101 105 119 +f 109 112 120 +f 113 109 120 +f 112 113 120 +f 101 98 121 +f 98 102 121 +f 102 109 121 +f 118 101 121 +f 109 118 121 +f 104 101 122 +f 113 104 122 +f 101 118 122 +f 118 113 122 +f 112 97 123 +f 104 112 123 +f 97 114 123 +f 114 104 123 +f 105 108 124 +f 110 105 124 +o convex_4 +v -0.278909 -0.541225 -2.140131 +v 0.375985 -0.131943 -2.836004 +v 0.335013 -0.131943 -2.590425 +v 0.335013 -0.868852 -1.116944 +v -0.360924 -0.131943 -1.116944 +v -0.074268 -0.868852 -3.040906 +v -0.197038 -0.213886 -2.958795 +v -0.278909 -0.745937 -1.116944 +v 0.212171 -0.254857 -1.158000 +v 0.335013 -0.745937 -2.958795 +v -0.197038 -0.868852 -3.040906 +v 0.171272 -0.131943 -2.958795 +v -0.278909 -0.786909 -1.444447 +v 0.375985 -0.541225 -2.958795 +v -0.197038 -0.131943 -1.116944 +v 0.335013 -0.745937 -1.116944 +v -0.238009 -0.172915 -2.590425 +v 0.253143 -0.786909 -2.999662 +v 0.375985 -0.131943 -2.958795 +v -0.319880 -0.623095 -1.198867 +f 135 137 144 +f 127 126 129 +f 128 129 132 +f 126 127 133 +f 130 128 135 +f 129 126 136 +f 130 135 136 +f 135 131 136 +f 128 132 137 +f 135 128 137 +f 126 128 138 +f 128 134 138 +f 129 128 139 +f 127 129 139 +f 133 127 139 +f 133 139 140 +f 128 126 140 +f 126 133 140 +f 139 128 140 +f 125 129 141 +f 135 125 141 +f 131 135 141 +f 129 136 141 +f 136 131 141 +f 128 130 142 +f 134 128 142 +f 138 134 142 +f 138 142 143 +f 136 126 143 +f 130 136 143 +f 126 138 143 +f 142 130 143 +f 129 125 144 +f 132 129 144 +f 125 135 144 +f 137 132 144 +o convex_5 +v 2.300193 2.529115 1.093970 +v 2.873181 0.400477 -1.116756 +v 3.077982 0.400477 -1.116756 +v 1.727205 0.441316 0.970839 +v 1.522403 2.447020 -0.993625 +v 3.077982 2.487859 -0.952726 +v 3.077982 0.564250 0.970839 +v 1.522403 0.482364 -0.993625 +v 1.522403 2.529115 1.093970 +v 2.955101 2.528907 1.052854 +v 1.522403 0.441316 0.970839 +v 3.077982 0.891797 1.011955 +v 2.709492 2.487859 -0.993625 +v 1.727205 0.441316 -1.034741 +v 1.522403 2.201360 1.093970 +v 2.996062 2.528907 0.602529 +v 3.077982 0.400477 -0.911826 +v 2.914141 2.528907 -0.011393 +v 3.077982 0.605298 -1.116756 +v 3.077982 1.096410 1.011955 +v 1.563364 2.487859 -0.297688 +v 3.077982 2.487859 -0.666214 +v 1.604324 0.523203 -1.034741 +v 2.750452 0.523411 0.970839 +v 3.077982 2.324086 -0.993625 +v 2.996062 2.160312 1.052854 +f 164 166 170 +f 147 150 151 +f 149 152 153 +f 153 152 155 +f 151 150 156 +f 155 148 156 +f 146 155 158 +f 155 152 158 +f 145 153 159 +f 153 155 159 +f 155 156 159 +f 156 145 159 +f 145 154 160 +f 146 147 161 +f 147 151 161 +f 155 146 161 +f 148 155 161 +f 153 145 162 +f 150 157 162 +f 145 160 162 +f 160 150 162 +f 147 146 163 +f 146 149 163 +f 150 147 163 +f 149 157 163 +f 156 150 164 +f 149 153 165 +f 157 149 165 +f 153 162 165 +f 162 157 165 +f 150 160 166 +f 164 150 166 +f 149 146 167 +f 152 149 167 +f 146 158 167 +f 158 152 167 +f 156 148 168 +f 151 156 168 +f 161 151 168 +f 148 161 168 +f 157 150 169 +f 150 163 169 +f 163 157 169 +f 154 145 170 +f 145 156 170 +f 160 154 170 +f 156 164 170 +f 166 160 170 +o convex_6 +v -1.056618 0.400269 -0.502361 +v 1.071681 2.610994 1.093577 +v 1.522247 2.528762 1.093577 +v 1.030927 2.610994 -1.034484 +v -3.021899 2.528762 1.093577 +v 1.522247 0.441384 0.970879 +v -3.021899 2.528762 -1.075816 +v -3.103861 0.523399 1.134909 +v 1.522247 0.482283 -0.993801 +v -2.980691 0.564298 -1.075816 +v 1.522247 2.447180 -1.034484 +v -0.565750 0.400269 -1.075816 +v -1.547938 2.610994 0.970879 +v -0.524996 0.400269 1.052894 +v 1.030927 0.400269 -0.993801 +v -1.015863 2.610994 -0.993801 +v 1.522247 2.160453 1.093577 +v -3.062653 2.406065 1.093577 +v -3.062653 0.523399 0.152028 +v 1.235606 0.400485 0.970879 +v -1.097825 0.400269 1.052894 +v -3.103861 0.850810 1.134909 +v -1.015863 0.400269 -1.075816 +v -0.443034 0.973508 -1.075816 +v -3.062653 1.792143 -0.256965 +v -0.647713 0.891709 1.093793 +v -2.735257 0.523399 -0.993801 +v -3.021899 1.914624 -1.075816 +v -2.653295 2.528762 -1.075816 +v -3.103861 0.809911 0.807065 +v -2.898729 0.523399 1.134909 +v -2.366654 2.569878 1.052894 +v -3.021899 0.564298 -0.625275 +f 200 198 203 +f 172 173 174 +f 173 176 179 +f 174 173 181 +f 173 179 181 +f 180 177 182 +f 181 179 182 +f 172 174 183 +f 171 182 184 +f 184 182 185 +f 179 176 185 +f 182 179 185 +f 174 177 186 +f 183 174 186 +f 177 183 186 +f 176 173 187 +f 175 177 188 +f 171 178 189 +f 176 184 190 +f 184 185 190 +f 185 176 190 +f 178 171 191 +f 184 178 191 +f 171 184 191 +f 173 172 192 +f 172 175 192 +f 175 188 192 +f 182 171 193 +f 180 182 193 +f 171 189 193 +f 182 177 194 +f 181 182 194 +f 188 177 195 +f 184 176 196 +f 176 187 196 +f 189 180 197 +f 180 193 197 +f 193 189 197 +f 177 180 198 +f 195 177 198 +f 177 174 199 +f 174 181 199 +f 194 177 199 +f 181 194 199 +f 189 178 200 +f 178 192 200 +f 192 188 200 +f 188 195 200 +f 195 198 200 +f 178 184 201 +f 187 173 201 +f 173 192 201 +f 192 178 201 +f 184 196 201 +f 196 187 201 +f 175 172 202 +f 177 175 202 +f 172 183 202 +f 183 177 202 +f 180 189 203 +f 198 180 203 +f 189 200 203 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/659/659.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/659/659.urdf new file mode 100644 index 000000000..620cbaf17 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/659/659.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/660/660.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/660/660.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/660/660.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/660/660.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/660/660.obj new file mode 100644 index 000000000..bf881ac9b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/660/660.obj @@ -0,0 +1,582 @@ +o convex_0 +v -0.226132 -0.041426 -2.208982 +v 0.309713 0.060605 -1.979417 +v 0.309713 -0.015895 -1.979417 +v 0.054536 0.009542 -2.999874 +v -0.047430 0.239229 -1.979417 +v -0.073026 -0.245583 -1.979417 +v 0.054536 -0.194472 -2.744635 +v 0.003606 0.188119 -2.693587 +v 0.233134 0.009542 -2.744635 +v -0.175097 -0.041426 -2.693587 +v 0.233134 -0.168988 -2.055939 +v 0.207642 0.213698 -2.004891 +v -0.175097 0.188119 -1.979417 +v -0.200588 -0.194472 -1.979417 +v -0.149553 0.060605 -2.693587 +v -0.124009 -0.168988 -2.566018 +v 0.080028 -0.245583 -1.979417 +v 0.131063 0.162635 -2.616966 +v 0.233134 -0.143504 -2.336552 +v 0.003606 -0.015895 -2.999874 +v 0.233134 0.188119 -2.132461 +v 0.054536 0.239229 -2.183508 +v -0.175097 -0.220051 -2.106987 +v -0.226132 0.035073 -2.055939 +v 0.233134 -0.015895 -2.744635 +v -0.073026 0.162635 -2.642539 +v 0.080028 -0.194472 -2.719061 +v 0.054536 0.162635 -2.770109 +v 0.003606 0.035073 -2.974200 +v -0.124009 -0.041426 -2.821157 +v 0.233134 0.035073 -2.719061 +f 28 18 31 +f 3 2 5 +f 3 5 6 +f 2 3 9 +f 5 2 12 +f 6 5 13 +f 1 10 14 +f 6 13 14 +f 3 6 17 +f 6 7 17 +f 11 3 17 +f 3 11 19 +f 4 7 20 +f 12 2 21 +f 18 12 21 +f 8 5 22 +f 5 12 22 +f 18 8 22 +f 12 18 22 +f 7 6 23 +f 6 14 23 +f 14 10 23 +f 16 7 23 +f 10 16 23 +f 10 1 24 +f 1 14 24 +f 14 13 24 +f 15 10 24 +f 13 15 24 +f 9 3 25 +f 4 9 25 +f 3 19 25 +f 5 8 26 +f 13 5 26 +f 15 13 26 +f 7 4 27 +f 17 7 27 +f 11 17 27 +f 19 11 27 +f 4 25 27 +f 25 19 27 +f 8 18 28 +f 4 20 29 +f 26 8 29 +f 15 26 29 +f 28 4 29 +f 8 28 29 +f 10 15 30 +f 7 16 30 +f 16 10 30 +f 20 7 30 +f 29 20 30 +f 15 29 30 +f 2 9 31 +f 9 4 31 +f 21 2 31 +f 18 21 31 +f 4 28 31 +o convex_1 +v 0.105576 -0.577091 -1.213725 +v 0.105576 0.672759 -1.213725 +v 0.029072 0.672759 -1.213725 +v 0.156604 0.239120 -1.979218 +v -0.328198 -0.041316 -1.417911 +v 0.437295 0.086041 -1.213725 +v -0.226067 -0.117856 -1.979218 +v 0.284061 -0.117856 -1.979218 +v -0.277095 -0.500552 -1.213725 +v -0.175039 0.188052 -1.979218 +v 0.360641 0.570748 -1.239276 +v -0.251544 0.392198 -1.213725 +v -0.149563 -0.245463 -1.979218 +v 0.335164 -0.424013 -1.239276 +v 0.309688 0.086041 -1.979218 +v 0.079950 -0.245463 -1.979218 +v 0.003521 -0.602563 -1.239276 +v -0.251544 0.009627 -1.953666 +v 0.003521 0.264591 -1.979218 +v -0.328198 0.086041 -1.213725 +v 0.360641 0.009627 -1.749555 +v -0.226067 0.443266 -1.264828 +v 0.258585 -0.168923 -1.953666 +v -0.200591 -0.270934 -1.902638 +v 0.258585 0.213648 -1.953666 +v 0.207557 0.647287 -1.239276 +v 0.029072 0.672759 -1.239276 +v -0.251544 -0.066913 -1.953666 +v 0.437295 0.009627 -1.239276 +v 0.105576 -0.577091 -1.239276 +v -0.328198 -0.194395 -1.264828 +v 0.335164 0.060570 -1.902638 +v 0.360641 -0.347473 -1.213725 +v -0.277095 -0.500552 -1.239276 +v 0.360641 0.570748 -1.213725 +v -0.251544 0.341130 -1.366883 +v 0.054549 -0.475080 -1.519967 +v 0.335164 -0.322002 -1.443388 +v 0.105576 0.672759 -1.239276 +f 50 58 70 +f 32 33 34 +f 33 32 37 +f 38 35 39 +f 32 34 40 +f 35 38 41 +f 40 34 43 +f 38 39 44 +f 39 35 46 +f 44 39 47 +f 32 40 48 +f 41 38 49 +f 35 41 50 +f 40 43 51 +f 49 36 51 +f 43 34 53 +f 47 39 54 +f 38 44 55 +f 44 48 55 +f 46 35 56 +f 42 46 56 +f 56 35 57 +f 42 56 57 +f 34 33 58 +f 50 41 58 +f 53 34 58 +f 41 53 58 +f 36 49 59 +f 49 38 59 +f 38 55 59 +f 45 32 61 +f 32 48 61 +f 54 45 61 +f 51 36 62 +f 40 51 62 +f 36 59 62 +f 42 37 63 +f 39 46 63 +f 46 42 63 +f 52 39 63 +f 37 60 63 +f 60 52 63 +f 37 32 64 +f 32 45 64 +f 60 37 64 +f 48 40 65 +f 55 48 65 +f 59 55 65 +f 40 62 65 +f 62 59 65 +f 33 37 66 +f 37 42 66 +f 57 33 66 +f 42 57 66 +f 41 49 67 +f 51 43 67 +f 49 51 67 +f 53 41 67 +f 43 53 67 +f 44 47 68 +f 48 44 68 +f 47 54 68 +f 61 48 68 +f 54 61 68 +f 39 52 69 +f 45 54 69 +f 54 39 69 +f 52 60 69 +f 64 45 69 +f 60 64 69 +f 35 50 70 +f 33 57 70 +f 57 35 70 +f 58 33 70 +o convex_2 +v -0.098542 -0.602782 -1.213725 +v 0.156477 0.646863 1.261368 +v 0.079933 0.748839 1.235687 +v -0.634352 -2.107662 0.750892 +v 0.794410 -2.336960 0.011223 +v -0.021998 2.612107 -0.805247 +v -0.761862 2.177678 0.011223 +v 0.743445 2.203614 -0.090775 +v -0.634352 -2.082315 -0.779808 +v 0.921920 0.059765 -0.805247 +v 0.896533 -0.219636 0.776331 +v 0.079933 -2.720106 0.776331 +v -0.863985 0.035008 -0.779808 +v 0.003581 2.612107 0.725453 +v -0.914950 -0.041621 0.699772 +v 0.079933 -2.720106 -0.779808 +v 0.692287 1.948380 0.750892 +v -0.710897 1.897098 0.725211 +v -0.379141 -0.066967 1.261368 +v 0.743445 -2.031033 -0.779566 +v 0.666900 1.923034 -0.830929 +v -0.659739 1.948380 -0.779808 +v 0.386110 0.621516 -1.213725 +v 0.692287 -2.056379 0.776331 +v 0.028967 -3.077905 -0.039897 +v 0.437267 -0.091725 1.261368 +v -0.710897 -2.260920 -0.039655 +v -0.353562 0.034419 -1.213725 +v 0.003581 2.943970 -0.039897 +v 0.998656 -0.041621 0.138418 +v -0.966108 -0.117661 -0.116214 +v -0.047385 -0.678822 1.261368 +v 0.360723 -0.398241 -1.213725 +v -0.123929 0.646863 -1.213725 +v 0.998656 -0.092314 -0.218455 +v -0.277018 0.468258 1.261368 +v 0.284179 -0.576257 1.261368 +v -0.634352 -2.005686 0.801770 +v 0.360723 0.570234 1.261368 +v 0.590356 -0.016274 -1.111484 +v -0.761862 2.177678 -0.090775 +v 0.921920 -0.117661 0.750892 +v 0.692287 1.973727 -0.779566 +v -0.047385 2.612107 0.725453 +v -0.277018 -0.551500 -1.213725 +v 0.079933 -3.077905 -0.039897 +v -0.889372 -0.244983 0.750892 +v 0.003581 -2.720106 0.776331 +v -0.506650 -2.541501 0.011223 +v -0.302596 -0.500217 1.261368 +v -0.966108 -0.092314 0.138418 +v -0.863985 -0.194290 -0.779808 +v 0.717866 -2.082315 0.725211 +v 0.743445 2.203614 0.011223 +v -0.889372 0.111048 0.750892 +v 0.921920 -0.168943 -0.805247 +v 0.768831 -2.184291 -0.448132 +v 0.054354 2.585581 -0.805247 +v 0.003581 -2.694759 -0.779808 +v 0.692287 0.009072 1.006009 +v -0.047385 2.918034 -0.116456 +v 0.130898 0.774185 -1.213725 +v -0.736283 2.025009 0.470094 +v -0.072964 2.867341 0.087540 +f 77 133 134 +f 73 72 84 +f 72 89 96 +f 94 81 96 +f 83 92 98 +f 93 71 98 +f 84 87 99 +f 79 97 101 +f 96 89 102 +f 86 71 103 +f 90 86 103 +f 71 93 103 +f 92 76 104 +f 98 92 104 +f 93 98 104 +f 80 78 105 +f 100 75 105 +f 78 100 105 +f 72 73 106 +f 88 89 106 +f 89 72 106 +f 82 94 107 +f 94 96 107 +f 102 82 107 +f 96 102 107 +f 84 72 109 +f 87 84 109 +f 72 96 109 +f 91 80 110 +f 93 91 110 +f 90 103 110 +f 103 93 110 +f 76 92 111 +f 92 83 111 +f 83 101 111 +f 75 100 112 +f 100 87 112 +f 78 80 113 +f 80 91 113 +f 73 84 114 +f 84 99 114 +f 106 73 114 +f 88 106 114 +f 71 86 115 +f 98 71 115 +f 79 98 115 +f 75 82 116 +f 82 95 116 +f 95 86 116 +f 97 74 117 +f 74 108 117 +f 108 89 117 +f 95 82 118 +f 82 102 118 +f 108 74 118 +f 79 95 119 +f 97 79 119 +f 74 97 119 +f 118 74 119 +f 95 118 119 +f 102 89 120 +f 89 108 120 +f 118 102 120 +f 108 118 120 +f 85 77 121 +f 101 97 121 +f 77 111 121 +f 111 101 121 +f 117 85 121 +f 97 117 121 +f 98 79 122 +f 83 98 122 +f 101 83 122 +f 79 101 122 +f 82 75 123 +f 81 94 123 +f 94 82 123 +f 112 81 123 +f 75 112 123 +f 78 99 124 +f 99 87 124 +f 100 78 124 +f 87 100 124 +f 88 85 125 +f 89 88 125 +f 85 117 125 +f 117 89 125 +f 80 105 126 +f 110 80 126 +f 90 110 126 +f 86 90 127 +f 105 75 127 +f 75 116 127 +f 116 86 127 +f 126 105 127 +f 90 126 127 +f 91 93 128 +f 76 99 128 +f 99 78 128 +f 78 113 128 +f 113 91 128 +f 95 79 129 +f 86 95 129 +f 115 86 129 +f 79 115 129 +f 96 81 130 +f 87 109 130 +f 109 96 130 +f 81 112 130 +f 112 87 130 +f 99 76 131 +f 76 111 131 +f 111 77 131 +f 104 76 132 +f 93 104 132 +f 76 128 132 +f 128 93 132 +f 77 85 133 +f 85 88 133 +f 88 114 133 +f 133 114 134 +f 114 99 134 +f 99 131 134 +f 131 77 134 +o convex_3 +v 0.233151 0.137044 2.026860 +v -0.379231 -0.041351 1.261368 +v -0.328128 -0.347548 1.261368 +v 0.360676 0.366752 1.261368 +v 0.284176 -0.475230 1.261368 +v -0.200526 -0.245523 2.026860 +v -0.251551 0.468777 1.286919 +v -0.200526 0.213653 2.026860 +v 0.054524 0.596459 1.261368 +v -0.047372 -0.628329 1.286919 +v 0.182126 -0.219986 2.026860 +v 0.411778 -0.092424 1.286919 +v -0.277025 0.035018 2.026860 +v 0.028972 0.290142 2.001309 +v 0.309650 0.519850 1.286919 +v -0.302654 -0.475230 1.312471 +v 0.284176 -0.041351 1.950281 +v -0.021898 -0.296595 2.001309 +v 0.028972 -0.628329 1.286919 +v -0.302654 0.366752 1.261368 +v -0.277025 -0.117960 1.975758 +v 0.003653 0.596459 1.286919 +v 0.284176 -0.449694 1.363573 +v 0.182126 0.213653 2.026860 +v -0.379231 0.035018 1.286919 +v 0.411778 0.035018 1.261368 +v -0.277025 0.392288 1.414526 +v -0.047372 -0.628329 1.261368 +v 0.258625 0.060555 2.026860 +v -0.251551 -0.296595 1.848226 +v 0.335202 0.494314 1.286919 +v 0.258625 -0.092424 2.001309 +v -0.328128 -0.041351 1.695142 +f 147 159 167 +f 137 136 138 +f 137 138 139 +f 140 135 142 +f 138 136 143 +f 135 140 145 +f 140 142 147 +f 143 148 149 +f 138 143 149 +f 136 137 150 +f 140 144 152 +f 145 140 152 +f 145 152 153 +f 152 144 153 +f 141 143 154 +f 143 136 154 +f 140 147 155 +f 141 142 156 +f 143 141 156 +f 142 148 156 +f 148 143 156 +f 139 146 157 +f 145 153 157 +f 153 139 157 +f 142 135 158 +f 148 142 158 +f 149 148 158 +f 154 136 159 +f 139 138 160 +f 146 139 160 +f 151 146 160 +f 142 141 161 +f 147 142 161 +f 141 154 161 +f 154 159 161 +f 159 147 161 +f 137 139 162 +f 150 137 162 +f 144 150 162 +f 139 153 162 +f 153 144 162 +f 135 145 163 +f 160 138 163 +f 151 160 163 +f 144 140 164 +f 150 144 164 +f 140 155 164 +f 155 150 164 +f 138 149 165 +f 158 135 165 +f 149 158 165 +f 135 163 165 +f 163 138 165 +f 146 151 166 +f 157 146 166 +f 145 157 166 +f 163 145 166 +f 151 163 166 +f 136 150 167 +f 155 147 167 +f 150 155 167 +f 159 136 167 +o convex_4 +v -0.277165 -0.066958 2.026861 +v 0.258680 0.009569 2.103582 +v 0.258680 -0.015922 2.103582 +v -0.047427 0.009569 3.047418 +v -0.021936 0.264746 2.026861 +v 0.028995 -0.271099 2.026861 +v -0.021936 -0.220064 2.766705 +v -0.047427 0.188167 2.843226 +v 0.156609 0.035061 2.817752 +v 0.207645 0.188167 2.026861 +v -0.226130 -0.015922 2.741230 +v -0.200586 0.188167 2.154530 +v -0.226130 -0.220064 2.205578 +v 0.182101 -0.194520 2.154530 +v 0.028995 0.188167 2.792179 +v 0.156609 -0.015922 2.817752 +v -0.200586 -0.245555 2.026861 +v -0.200586 -0.143484 2.639135 +v 0.207645 -0.169028 2.026861 +v -0.251569 0.086096 2.026861 +v -0.175042 0.137131 2.613661 +v -0.047427 -0.092449 2.970796 +v 0.207645 0.188167 2.103582 +v 0.105574 -0.169028 2.613661 +v 0.028995 0.264746 2.052535 +v -0.047427 -0.271099 2.205578 +v -0.072971 -0.220064 2.715657 +v -0.200586 0.009569 2.817752 +v -0.175042 -0.041414 2.868800 +v 0.131065 0.162675 2.588087 +v -0.175042 0.213711 2.026861 +v -0.277165 0.009569 2.129056 +f 179 187 199 +f 168 172 173 +f 170 169 176 +f 169 170 177 +f 173 172 177 +f 178 168 180 +f 174 173 181 +f 175 171 182 +f 171 176 182 +f 170 176 183 +f 176 171 183 +f 181 170 183 +f 168 173 184 +f 180 168 184 +f 178 180 185 +f 177 170 186 +f 173 177 186 +f 170 181 186 +f 181 173 186 +f 172 168 187 +f 175 179 188 +f 179 178 188 +f 183 171 189 +f 174 183 189 +f 176 169 190 +f 169 177 190 +f 174 181 191 +f 183 174 191 +f 181 183 191 +f 172 175 192 +f 177 172 192 +f 175 182 192 +f 190 177 192 +f 182 190 192 +f 173 174 193 +f 184 173 193 +f 184 193 194 +f 180 184 194 +f 185 180 194 +f 174 189 194 +f 193 174 194 +f 171 175 195 +f 175 188 195 +f 188 178 195 +f 178 185 196 +f 189 171 196 +f 185 194 196 +f 194 189 196 +f 171 195 196 +f 195 178 196 +f 182 176 197 +f 176 190 197 +f 190 182 197 +f 175 172 198 +f 179 175 198 +f 172 187 198 +f 187 179 198 +f 168 178 199 +f 178 179 199 +f 187 168 199 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/660/660.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/660/660.urdf new file mode 100644 index 000000000..acb2d88bf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/660/660.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/661/661.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/661/661.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/661/661.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/661/661.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/661/661.obj new file mode 100644 index 000000000..9c56dd0a8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/661/661.obj @@ -0,0 +1,453 @@ +o convex_0 +v 1.100359 -2.442751 -0.130541 +v -0.974161 -2.156383 -1.096606 +v -1.009981 -2.585838 -1.060723 +v -1.081621 -1.870209 1.085424 +v -0.974161 -3.837612 1.013872 +v 1.064539 -3.837612 -1.096606 +v 1.100359 -3.730152 0.942106 +v 1.064539 -1.870209 -1.024840 +v 0.992899 -1.870209 1.049541 +v -1.117441 -3.730152 -0.953501 +v -0.938341 -1.870209 -1.096606 +v -1.009981 -3.622885 1.049541 +v 1.100359 -3.801792 0.083476 +v 1.028719 -2.120756 1.049541 +v 1.064539 -2.013296 -1.060509 +v -1.081621 -2.335483 1.085424 +v -1.081621 -1.870209 0.691779 +v -0.044144 -3.801792 -1.025053 +v 1.100359 -2.156383 -0.631408 +v -0.974161 -1.906029 -1.096606 +v -0.616613 -3.837612 1.013872 +v -1.009981 -3.837612 0.727662 +v -1.117441 -3.730152 -0.631408 +v -1.117441 -3.515618 -0.953501 +v -0.258847 -1.870209 -1.096606 +v 1.100359 -3.229250 0.977989 +v 1.028719 -1.870209 0.906223 +v 1.028719 -3.765972 0.942106 +v -0.115784 -1.906029 1.085424 +v 1.100359 -3.801792 -0.416750 +v -0.330487 -3.801792 1.013872 +v 1.064539 -3.837612 -0.667077 +v -1.081621 -3.765972 -0.631408 +v 0.670954 -3.837612 -1.060723 +v -1.009981 -3.837612 0.942319 +v -0.652433 -3.765972 -0.989170 +v 0.992899 -3.837612 -1.096606 +v 1.064539 -1.870209 -0.094871 +v -0.938341 -3.622885 1.049541 +v -1.009981 -2.550211 1.085424 +f 39 29 40 +f 8 4 9 +f 2 3 10 +f 6 2 11 +f 4 8 11 +f 1 7 13 +f 4 11 17 +f 1 13 19 +f 6 15 19 +f 15 8 19 +f 2 10 20 +f 11 2 20 +f 17 11 20 +f 5 6 21 +f 12 5 21 +f 6 5 22 +f 16 4 23 +f 10 22 23 +f 4 17 24 +f 20 10 24 +f 17 20 24 +f 23 4 24 +f 10 23 24 +f 6 11 25 +f 11 8 25 +f 15 6 25 +f 8 15 25 +f 7 1 26 +f 14 26 27 +f 8 9 27 +f 9 14 27 +f 26 1 27 +f 13 7 28 +f 9 4 29 +f 14 9 29 +f 4 16 29 +f 13 6 30 +f 6 19 30 +f 19 13 30 +f 7 26 31 +f 26 14 31 +f 28 7 31 +f 21 28 31 +f 6 13 32 +f 21 6 32 +f 13 28 32 +f 28 21 32 +f 22 10 33 +f 18 22 33 +f 6 22 34 +f 22 18 34 +f 5 12 35 +f 12 16 35 +f 22 5 35 +f 16 23 35 +f 23 22 35 +f 10 3 36 +f 33 10 36 +f 18 33 36 +f 3 2 37 +f 2 6 37 +f 6 34 37 +f 34 18 37 +f 36 3 37 +f 18 36 37 +f 19 8 38 +f 1 19 38 +f 8 27 38 +f 27 1 38 +f 12 21 39 +f 14 29 39 +f 31 14 39 +f 21 31 39 +f 16 12 40 +f 29 16 40 +f 12 39 40 +o convex_1 +v -1.081608 -0.189084 -2.884777 +v 1.100349 -1.583648 2.981160 +v 1.064529 -0.153370 2.981160 +v 1.100349 -1.548144 -3.099781 +v -1.009969 -1.762643 2.945025 +v -1.081608 0.168695 3.052828 +v 1.064529 0.168695 -2.955842 +v -1.009969 -1.870209 -3.028113 +v 1.028710 -1.870209 0.834131 +v -1.081608 0.132770 -3.028113 +v 1.028710 0.276050 2.981160 +v -1.117427 0.276050 -0.952752 +v 1.100349 -1.870209 -3.099781 +v -1.081608 -1.870209 1.084668 +v 1.100349 -1.798568 2.981160 +v 0.992890 0.276050 -0.988887 +v -1.045788 0.276050 1.049135 +v 1.100349 -0.832584 -2.991978 +v -0.258842 -0.618294 3.052828 +v -1.081608 -0.618294 3.016091 +v -0.974149 -1.870209 -3.063646 +v 0.670948 0.168695 -2.991978 +v 0.062883 -1.798568 2.980558 +v -1.117427 -0.081730 -1.310490 +v -1.045788 -1.512219 2.980558 +v 0.849829 -1.583648 3.016693 +v 0.599526 0.276050 2.980558 +v -1.081608 -1.762643 1.871811 +v -1.045788 -1.369149 -2.562572 +v -1.117427 0.276050 -0.344477 +v -1.081608 -1.870209 0.655262 +v 0.384825 -1.834073 -3.099179 +v -0.473326 0.204410 3.052828 +v -1.045788 -0.367869 3.052828 +v 0.992890 -1.870209 1.049135 +v 0.241764 0.168695 -2.991978 +v -0.544965 -1.762643 2.980558 +v 1.064529 0.025625 -2.991978 +v 1.064529 0.168695 -2.312035 +v -0.795268 0.132770 -3.027511 +v 1.028710 0.276050 -0.094542 +v -1.117427 0.204410 -1.704363 +f 64 52 82 +f 48 41 50 +f 44 42 53 +f 49 48 53 +f 48 49 54 +f 53 42 55 +f 49 53 55 +f 52 51 56 +f 51 52 57 +f 43 42 58 +f 42 44 58 +f 48 50 61 +f 53 48 61 +f 56 47 62 +f 45 54 63 +f 54 55 63 +f 42 43 66 +f 43 51 66 +f 55 42 66 +f 63 55 66 +f 57 46 67 +f 51 57 67 +f 54 45 68 +f 64 54 68 +f 45 65 68 +f 65 60 68 +f 41 48 69 +f 64 41 69 +f 46 57 70 +f 57 52 70 +f 60 46 70 +f 52 64 70 +f 64 68 70 +f 68 60 70 +f 48 54 71 +f 54 64 71 +f 69 48 71 +f 64 69 71 +f 50 44 72 +f 44 53 72 +f 61 50 72 +f 53 61 72 +f 46 59 73 +f 66 51 73 +f 59 66 73 +f 67 46 73 +f 51 67 73 +f 59 46 74 +f 46 60 74 +f 60 65 74 +f 54 49 75 +f 49 55 75 +f 55 54 75 +f 50 52 76 +f 52 56 76 +f 62 50 76 +f 56 62 76 +f 45 63 77 +f 65 45 77 +f 63 66 77 +f 66 59 77 +f 59 74 77 +f 74 65 77 +f 58 44 78 +f 47 58 78 +f 44 62 78 +f 62 47 78 +f 51 43 79 +f 47 51 79 +f 43 58 79 +f 58 47 79 +f 44 50 80 +f 62 44 80 +f 50 62 80 +f 51 47 81 +f 47 56 81 +f 56 51 81 +f 50 41 82 +f 52 50 82 +f 41 64 82 +o convex_2 +v -0.187172 1.456348 1.085424 +v 0.957177 0.776989 -0.989293 +v 0.957177 2.243346 -0.989293 +v -1.117441 0.276439 -0.953144 +v 1.028817 0.276243 1.049478 +v -1.010086 2.135903 -0.989090 +v -1.045801 0.276439 1.049275 +v -1.117441 2.135903 1.085424 +v 1.028817 2.135903 0.977992 +v 0.992892 0.276439 -0.989090 +v -0.437807 2.279225 0.476981 +v 1.028817 2.207466 -0.381053 +v -0.509237 2.279225 -0.559768 +v 0.563683 2.279225 0.405495 +v -1.045801 1.813967 -0.989090 +v -1.081516 0.276439 0.727385 +v 1.028817 0.276243 -0.094906 +v -1.081516 1.134804 1.085424 +v 0.670828 2.135903 1.013735 +v 0.742467 2.279225 -0.774429 +v 0.992892 2.243346 -0.989293 +v -1.117441 0.276439 -0.309364 +v -1.117441 0.634058 -0.881658 +v -1.045801 1.242051 -0.989090 +v 1.028817 0.741305 1.049478 +v -0.938446 2.171587 -0.953144 +v 0.635113 2.171587 0.942046 +v -1.010086 2.171587 0.977789 +v 0.241828 0.276439 -0.989090 +v -1.117441 2.100024 0.870560 +v -0.723737 2.135903 1.085424 +v 0.027118 1.098924 1.085424 +v 1.028817 2.171783 0.691642 +v -1.117441 1.921214 1.085424 +v 0.670828 2.243150 -0.989090 +v -1.045801 2.100024 -0.666997 +v -0.974161 2.171587 -0.810172 +v -1.081516 0.669742 1.049275 +v 0.992892 2.243346 -0.738686 +f 96 115 121 +f 91 87 94 +f 95 93 96 +f 85 84 97 +f 88 85 97 +f 87 89 98 +f 87 86 99 +f 94 87 99 +f 92 94 99 +f 83 90 100 +f 95 96 102 +f 84 85 103 +f 92 84 103 +f 94 92 103 +f 85 102 103 +f 86 87 104 +f 90 86 104 +f 87 98 104 +f 86 90 105 +f 97 86 105 +f 97 84 106 +f 86 97 106 +f 87 91 107 +f 101 83 107 +f 91 101 107 +f 96 93 109 +f 91 96 109 +f 101 91 109 +f 93 95 110 +f 109 93 110 +f 84 92 111 +f 99 86 111 +f 92 99 111 +f 106 84 111 +f 86 106 111 +f 105 90 112 +f 90 83 113 +f 83 101 113 +f 101 109 113 +f 110 90 113 +f 109 110 113 +f 89 87 114 +f 83 100 114 +f 100 89 114 +f 107 83 114 +f 87 107 114 +f 91 94 115 +f 96 91 115 +f 100 90 116 +f 90 104 116 +f 104 98 116 +f 85 88 117 +f 102 85 117 +f 95 102 117 +f 88 108 117 +f 108 95 117 +f 90 88 118 +f 88 97 118 +f 97 105 118 +f 112 90 118 +f 105 112 118 +f 88 90 119 +f 108 88 119 +f 95 108 119 +f 110 95 119 +f 90 110 119 +f 98 89 120 +f 89 100 120 +f 100 116 120 +f 116 98 120 +f 102 96 121 +f 103 102 121 +f 94 103 121 +f 115 94 121 +o convex_3 +v 0.277655 2.279225 -0.560041 +v -0.330340 6.177902 0.620402 +v 0.313370 6.213270 0.513057 +v -0.509335 6.177902 -0.452581 +v -0.437695 2.279225 0.477237 +v 0.563795 2.422642 0.441417 +v 0.456440 6.213270 -0.488285 +v -0.437695 2.279225 -0.488401 +v 0.563795 6.142145 0.441417 +v 0.492155 2.279225 -0.488285 +v -0.437695 5.748429 0.620402 +v -0.473515 2.458399 0.441417 +v 0.563795 2.279225 0.155204 +v 0.527975 6.249804 0.083679 +v -0.473515 6.177902 0.262548 +v -0.401875 2.601427 0.513057 +v 0.456440 4.997144 -0.524221 +v -0.509335 5.140561 -0.166483 +v 0.527975 2.279225 0.441417 +v 0.527975 6.249804 0.477237 +v -0.223090 2.422642 -0.524221 +v 0.456440 2.279225 -0.560041 +v -0.473515 3.674913 -0.452581 +v 0.313370 6.249804 0.477237 +v -0.437695 6.177902 0.620402 +v 0.098660 6.142145 -0.488401 +v 0.492155 2.744843 -0.488285 +v -0.366160 5.784575 0.620402 +v 0.384905 2.780212 -0.560041 +v -0.509335 6.142145 -0.202188 +v -0.509335 5.462374 -0.452581 +v -0.437695 3.960969 -0.488401 +v 0.492155 5.784186 -0.273712 +v 0.563795 5.677304 0.369893 +f 148 135 155 +f 124 123 127 +f 122 126 129 +f 126 122 131 +f 129 126 133 +f 126 132 133 +f 130 127 134 +f 126 131 134 +f 128 125 135 +f 132 126 137 +f 126 134 140 +f 134 127 140 +f 137 126 140 +f 123 124 141 +f 124 127 141 +f 127 130 141 +f 130 135 141 +f 122 129 142 +f 131 122 143 +f 129 133 144 +f 135 125 145 +f 125 136 145 +f 123 141 145 +f 141 135 145 +f 132 123 146 +f 133 132 146 +f 136 133 146 +f 123 145 146 +f 145 136 146 +f 125 128 147 +f 128 138 147 +f 134 131 148 +f 138 128 148 +f 131 143 148 +f 143 138 148 +f 127 123 149 +f 123 132 149 +f 132 137 149 +f 140 127 149 +f 137 140 149 +f 122 125 150 +f 143 122 150 +f 138 143 150 +f 125 147 150 +f 147 138 150 +f 136 125 151 +f 133 136 151 +f 125 139 151 +f 139 133 151 +f 125 129 152 +f 139 125 152 +f 133 139 152 +f 129 144 152 +f 144 133 152 +f 125 122 153 +f 129 125 153 +f 122 142 153 +f 142 129 153 +f 128 135 154 +f 135 148 154 +f 148 128 154 +f 130 134 155 +f 135 130 155 +f 134 148 155 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/661/661.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/661/661.urdf new file mode 100644 index 000000000..73a6d5a3b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/661/661.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/662/662.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/662/662.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/662/662.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/662/662.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/662/662.obj new file mode 100644 index 000000000..53d9bd4e1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/662/662.obj @@ -0,0 +1,885 @@ +o convex_0 +v 0.948980 -1.793414 1.764164 +v -1.259935 -1.035168 1.500057 +v -1.259935 -0.969485 1.500057 +v -0.105902 -1.034961 3.775028 +v 0.850077 -0.145349 1.500280 +v -0.699319 -1.991082 1.500057 +v -0.798222 -0.310176 2.983598 +v -0.831273 -1.760366 3.049291 +v 0.718124 -0.277335 2.983376 +v 0.718124 -1.760572 2.983376 +v -0.732370 -0.013363 1.500057 +v 1.278740 -1.068009 1.500280 +v 0.718124 -1.101057 3.412048 +v 0.487267 -2.024337 1.500057 +v -0.006999 -1.826255 3.280440 +v -0.798222 -1.002326 3.478186 +v -0.138704 -0.309969 3.280440 +v -0.270657 0.052526 1.566195 +v -1.193834 -0.507845 1.566195 +v -1.193834 -1.496601 1.566195 +v -0.039801 -2.057385 1.928730 +v 1.179588 -0.573941 1.566195 +v 1.212639 -1.463760 1.533238 +v 0.751174 -1.991289 1.764164 +v -0.798222 -1.958241 1.928952 +v -0.864075 -0.046411 1.566195 +v -0.039801 -1.166947 3.741848 +v -0.666517 -1.793414 3.115429 +v 0.718124 -0.244080 2.884725 +v -0.006999 -1.034961 3.775028 +v -0.798222 -1.101057 3.478186 +v 0.784225 -1.991289 1.500280 +v 0.718124 -0.771816 3.280218 +v 1.278740 -1.002326 1.533238 +v -0.930176 -1.859510 1.500057 +v 0.223609 -0.013363 1.500057 +v -0.204556 -0.277335 3.181345 +v 0.718124 -1.496601 3.181345 +v -0.369560 0.052526 1.566195 +v -1.226884 -0.606989 1.533238 +v 0.256411 -0.277335 3.148387 +v -0.072851 -2.057385 1.500057 +v -0.864075 -1.068009 3.247260 +v -0.798222 -0.409114 3.082471 +v -0.105902 -1.760572 3.346356 +v -0.105902 -1.100851 3.775028 +v 0.850077 -0.145349 1.599153 +v -1.259935 -1.035168 1.533238 +v -0.765172 -1.991082 1.764164 +v -0.831273 -1.793414 2.950641 +v 0.157757 -2.057385 1.829857 +v 0.157757 -1.793414 3.247483 +v 0.751174 -0.277335 2.884725 +v -0.831273 -1.002326 3.379091 +v 0.718124 -1.035374 3.412048 +v -1.193834 -0.507845 1.500057 +v 0.487267 -1.100851 3.544102 +v 1.113736 -1.628587 1.500280 +v -0.831273 -0.145142 2.159656 +v -0.105902 -1.826255 3.280440 +v -0.105902 -0.969485 3.741848 +v 0.784225 -1.727524 2.818810 +v 0.388365 -0.606782 3.346356 +v 1.179588 -0.573941 1.500280 +f 12 36 64 +f 2 3 6 +f 6 3 11 +f 6 11 14 +f 1 10 24 +f 10 15 24 +f 4 16 31 +f 8 28 31 +f 1 24 32 +f 13 23 34 +f 23 12 34 +f 2 6 35 +f 20 2 35 +f 14 11 36 +f 12 14 36 +f 11 18 36 +f 18 29 36 +f 7 17 37 +f 23 13 38 +f 18 11 39 +f 11 26 39 +f 7 37 39 +f 37 18 39 +f 7 19 40 +f 9 29 41 +f 29 18 41 +f 17 30 41 +f 37 17 41 +f 18 37 41 +f 6 14 42 +f 8 31 43 +f 17 7 44 +f 7 40 44 +f 15 27 45 +f 28 45 46 +f 30 4 46 +f 27 30 46 +f 4 31 46 +f 31 28 46 +f 45 27 46 +f 22 5 47 +f 5 36 47 +f 36 29 47 +f 3 2 48 +f 2 20 48 +f 20 8 48 +f 40 3 48 +f 8 43 48 +f 21 28 49 +f 35 6 49 +f 25 35 49 +f 6 42 49 +f 42 21 49 +f 8 20 50 +f 28 8 50 +f 20 35 50 +f 35 25 50 +f 49 28 50 +f 25 49 50 +f 15 21 51 +f 24 15 51 +f 14 32 51 +f 32 24 51 +f 42 14 51 +f 21 42 51 +f 15 10 52 +f 27 15 52 +f 10 38 52 +f 29 9 53 +f 9 33 53 +f 34 22 53 +f 33 34 53 +f 22 47 53 +f 47 29 53 +f 31 16 54 +f 43 31 54 +f 16 44 54 +f 44 40 54 +f 40 48 54 +f 48 43 54 +f 33 30 55 +f 13 34 55 +f 34 33 55 +f 11 3 56 +f 26 11 56 +f 19 26 56 +f 3 40 56 +f 40 19 56 +f 30 27 57 +f 38 13 57 +f 27 52 57 +f 52 38 57 +f 13 55 57 +f 55 30 57 +f 14 12 58 +f 12 23 58 +f 32 14 58 +f 1 32 58 +f 19 7 59 +f 26 19 59 +f 39 26 59 +f 7 39 59 +f 21 15 60 +f 28 21 60 +f 15 45 60 +f 45 28 60 +f 16 4 61 +f 4 30 61 +f 30 17 61 +f 17 44 61 +f 44 16 61 +f 10 1 62 +f 38 10 62 +f 23 38 62 +f 1 58 62 +f 58 23 62 +f 33 9 63 +f 30 33 63 +f 9 41 63 +f 41 30 63 +f 5 22 64 +f 22 34 64 +f 34 12 64 +f 36 5 64 +o convex_1 +v 0.157704 -0.738562 -2.522523 +v -0.007046 -1.364941 -2.687460 +v 0.058889 -1.364941 -2.687460 +v -0.007046 -1.068184 -4.236659 +v -0.237846 -1.002394 -2.522523 +v 0.355624 -1.134157 -2.522523 +v 0.223639 -1.101170 -3.873898 +v -0.171796 -1.035381 -4.005781 +v -0.204850 -1.331955 -2.522523 +v -0.007046 -1.265981 -4.005781 +v -0.007046 -0.903495 -3.972894 +v 0.289573 -0.771610 -2.588464 +v -0.171796 -0.870508 -2.654406 +v 0.256635 -1.298968 -2.621519 +v 0.091769 -0.903495 -3.939839 +v -0.171796 -1.134157 -3.972894 +v 0.355624 -1.002394 -2.687460 +v -0.237846 -1.167082 -2.918170 +v -0.007046 -0.771610 -2.522523 +v -0.171796 -0.903495 -3.247876 +v 0.190758 -0.969407 -3.841012 +v 0.025951 -1.265981 -4.005781 +v 0.091769 -1.364941 -2.522523 +v 0.289573 -1.265981 -2.720347 +v -0.138915 -1.233056 -3.775070 +f 80 74 89 +f 65 69 70 +f 70 69 73 +f 67 66 74 +f 66 73 74 +f 68 72 75 +f 65 70 76 +f 75 65 79 +f 68 75 79 +f 65 76 79 +f 72 68 80 +f 68 74 80 +f 70 71 81 +f 76 70 81 +f 69 72 82 +f 73 69 82 +f 72 80 82 +f 80 73 82 +f 69 65 83 +f 65 75 83 +f 77 69 83 +f 77 83 84 +f 72 69 84 +f 75 72 84 +f 69 77 84 +f 83 75 84 +f 71 68 85 +f 68 79 85 +f 79 76 85 +f 81 71 85 +f 76 81 85 +f 68 71 86 +f 67 74 86 +f 74 68 86 +f 78 67 86 +f 66 67 87 +f 73 66 87 +f 70 73 87 +f 78 70 87 +f 67 78 87 +f 71 70 88 +f 70 78 88 +f 86 71 88 +f 78 86 88 +f 74 73 89 +f 73 80 89 +o convex_2 +v 0.388550 -1.035326 -2.489375 +v -0.303788 -1.364912 -2.423466 +v -0.303788 -1.364912 -2.390486 +v -0.007001 -0.705665 -2.390486 +v -0.204811 -0.903521 -2.522343 +v 0.355534 -1.331961 -2.390486 +v 0.124707 -1.364912 -2.522343 +v 0.289644 -0.738691 -2.522343 +v 0.289644 -0.738691 -2.390486 +v -0.204811 -1.364912 -2.522343 +v 0.091763 -1.463840 -2.390486 +v -0.204811 -0.870495 -2.390486 +v 0.322518 -1.265984 -2.522343 +v 0.421565 -1.002375 -2.390486 +f 97 98 103 +f 93 92 95 +f 94 93 97 +f 96 94 97 +f 93 95 98 +f 97 93 98 +f 91 94 99 +f 94 96 99 +f 99 96 100 +f 92 91 100 +f 95 92 100 +f 96 95 100 +f 91 99 100 +f 91 92 101 +f 92 93 101 +f 93 94 101 +f 94 91 101 +f 90 95 102 +f 95 96 102 +f 97 90 102 +f 96 97 102 +f 95 90 103 +f 90 97 103 +f 98 95 103 +o convex_3 +v 0.850132 -1.166572 -2.027655 +v 0.322602 1.403769 -0.082531 +v 0.289554 1.403769 -0.082531 +v -0.138831 3.514374 -2.027655 +v -0.996015 -1.067460 -0.082531 +v -0.732250 -1.694373 -2.060638 +v 0.882973 -1.891999 -0.082531 +v 0.784035 3.481536 -1.203745 +v -0.831188 3.184200 -0.478334 +v -0.897078 2.030084 -1.994445 +v 0.652256 1.766781 -2.258313 +v -0.138831 -1.496746 -2.390473 +v 1.048007 -0.770722 -0.082531 +v -0.732250 -1.859161 -0.082531 +v 0.058837 3.579454 -0.478334 +v 1.014959 1.964408 -1.335227 +v 0.025789 -1.958273 -1.895495 +v -1.062111 1.766781 -1.335227 +v -0.831188 3.547213 -1.302243 +v 0.850132 2.063519 -0.445350 +v 0.718146 3.151362 -2.093396 +v -0.007052 4.042175 -1.302017 +v -0.336707 2.095761 -2.258539 +v -0.930126 -0.935510 -1.862737 +v 0.685304 -1.760049 -1.994671 +v 1.014959 -1.133734 -1.335227 +v -0.732250 1.008515 -0.082531 +v 0.454381 -1.167169 -2.390473 +v 0.916021 1.667669 -1.994671 +v -0.039894 -2.057385 -0.082531 +v -0.336707 -1.200007 -2.390473 +v -0.798140 3.151362 -0.379609 +v -0.996015 1.964408 -0.511317 +v -0.996015 -1.034622 -1.236502 +v 0.025789 -2.057385 -1.203745 +v 0.981911 0.086059 -0.082531 +v -0.897078 -0.210680 -2.027655 +v 0.619208 3.151362 -0.643251 +v -0.831188 -1.792888 -0.148724 +v 1.014959 1.997246 -1.104794 +v -0.666361 3.085685 -1.862737 +v -1.062111 2.096358 -1.236502 +v -0.831188 2.062922 -2.060638 +v -0.963174 0.119494 -0.082531 +v -0.072942 4.042175 -1.203745 +v 1.048007 -1.133734 -0.741976 +v 0.916021 -1.133734 -1.961688 +v 0.784035 -1.858564 -1.170761 +v 0.091679 -0.672207 -2.390473 +v 0.685304 0.679536 -2.258313 +v 0.718146 3.580051 -1.203745 +v -0.765299 3.250474 -0.412367 +v 0.058837 3.514374 -0.445576 +v -1.029063 -0.177842 -1.269260 +v 0.850132 -1.924838 -0.181708 +v 1.048007 -1.200007 -0.082531 +v 0.091679 -1.496746 -2.390473 +v -0.007052 -1.925435 -1.994671 +v -0.930126 0.646698 -1.961688 +v 0.256506 2.195470 -0.214465 +v 0.751194 3.348989 -1.697819 +v -0.699409 -1.727211 -2.027655 +v -0.105990 2.129196 -2.258539 +v -0.534582 1.206142 -0.082531 +f 135 130 167 +f 105 106 108 +f 105 108 110 +f 105 110 116 +f 110 108 117 +f 107 122 125 +f 124 107 125 +f 108 106 130 +f 104 128 131 +f 114 124 132 +f 124 119 132 +f 119 129 132 +f 110 117 133 +f 115 109 134 +f 131 115 134 +f 135 112 136 +f 127 109 137 +f 133 117 138 +f 105 116 139 +f 109 127 140 +f 134 109 140 +f 123 111 141 +f 117 108 142 +f 108 137 142 +f 137 109 142 +f 119 111 143 +f 116 119 143 +f 111 123 143 +f 139 116 143 +f 123 139 143 +f 113 122 144 +f 122 107 144 +f 121 108 145 +f 113 121 145 +f 122 113 145 +f 112 122 145 +f 108 136 145 +f 136 112 145 +f 107 126 146 +f 126 134 146 +f 140 113 146 +f 134 140 146 +f 144 107 146 +f 113 144 146 +f 108 130 147 +f 130 135 147 +f 136 108 147 +f 135 136 147 +f 125 122 148 +f 119 116 149 +f 110 129 149 +f 129 119 149 +f 128 104 150 +f 132 129 150 +f 120 128 151 +f 129 110 151 +f 138 120 151 +f 128 150 151 +f 150 129 151 +f 114 131 152 +f 134 126 152 +f 131 134 152 +f 104 131 153 +f 131 114 153 +f 114 132 153 +f 150 104 153 +f 132 150 153 +f 141 111 154 +f 118 141 154 +f 148 118 154 +f 125 148 154 +f 122 112 155 +f 112 135 155 +f 118 148 155 +f 148 122 155 +f 141 118 156 +f 123 141 156 +f 155 135 156 +f 118 155 156 +f 108 121 157 +f 121 127 157 +f 137 108 157 +f 127 137 157 +f 110 133 158 +f 133 138 158 +f 151 110 158 +f 138 151 158 +f 116 110 159 +f 110 149 159 +f 149 116 159 +f 115 131 160 +f 131 128 160 +f 109 115 161 +f 128 120 161 +f 115 160 161 +f 160 128 161 +f 121 113 162 +f 127 121 162 +f 113 140 162 +f 140 127 162 +f 106 105 163 +f 135 106 163 +f 105 139 163 +f 139 123 163 +f 123 156 163 +f 156 135 163 +f 111 119 164 +f 119 124 164 +f 124 125 164 +f 154 111 164 +f 125 154 164 +f 138 117 165 +f 120 138 165 +f 117 142 165 +f 142 109 165 +f 109 161 165 +f 161 120 165 +f 107 124 166 +f 124 114 166 +f 126 107 166 +f 114 152 166 +f 152 126 166 +f 130 106 167 +f 106 135 167 +o convex_4 +v 1.047768 -1.232736 -0.082531 +v -1.193994 -1.001732 0.148263 +v -1.193994 -1.001732 0.181233 +v 0.355442 1.206704 -0.082531 +v 0.981855 -0.046405 0.181233 +v -0.830994 -1.793472 -0.082531 +v 0.882985 -1.925109 0.181233 +v -0.732363 0.942791 -0.049535 +v -0.633255 0.481102 0.181233 +v -0.765081 -1.859291 0.181233 +v 0.124507 -2.057385 -0.082531 +v -0.963059 0.118142 -0.082531 +v 0.981855 0.019414 -0.082531 +v 1.245746 -1.134008 0.181233 +v 0.882985 -1.892200 -0.082531 +v 0.157702 0.580149 0.181233 +v -0.963059 0.085232 0.181233 +v -0.040037 -2.057385 0.181233 +v 0.355442 1.206704 -0.049535 +v -0.996016 -1.067870 -0.082531 +v -0.501429 1.107656 -0.082531 +v -0.501429 1.107656 -0.049535 +v -0.040037 -2.057385 -0.082531 +v 1.245746 -1.034961 0.148263 +v -0.930103 -1.661196 0.181233 +v 0.454311 0.414964 0.181233 +v 0.981855 -1.793152 0.148263 +f 182 181 194 +f 171 168 173 +f 172 170 174 +f 170 172 176 +f 174 170 177 +f 173 168 178 +f 169 170 179 +f 171 173 179 +f 168 171 180 +f 172 174 181 +f 174 178 182 +f 178 168 182 +f 168 181 182 +f 176 172 183 +f 170 176 184 +f 176 175 184 +f 179 170 184 +f 175 179 184 +f 174 177 185 +f 178 174 185 +f 180 171 186 +f 172 180 186 +f 173 169 187 +f 169 179 187 +f 179 173 187 +f 171 179 188 +f 179 175 188 +f 186 171 188 +f 186 188 189 +f 175 176 189 +f 176 183 189 +f 183 186 189 +f 188 175 189 +f 177 173 190 +f 173 178 190 +f 185 177 190 +f 178 185 190 +f 168 180 191 +f 180 172 191 +f 172 181 191 +f 181 168 191 +f 170 169 192 +f 169 173 192 +f 177 170 192 +f 173 177 192 +f 183 172 193 +f 172 186 193 +f 186 183 193 +f 181 174 194 +f 174 182 194 +o convex_5 +v 0.717914 -0.111978 1.499928 +v -0.995856 -0.408855 0.181233 +v -1.226964 -0.408855 0.873496 +v 0.091459 0.547292 0.181233 +v 1.014988 -0.408855 0.181233 +v -0.864149 -0.045995 1.499928 +v 1.014988 -0.408855 1.499928 +v -0.633267 0.415325 0.181233 +v 0.982005 -0.046182 0.280368 +v -1.094806 -0.408855 1.499928 +v -0.369402 0.085691 1.466883 +v -0.963099 0.085691 0.181233 +v 0.421291 0.415325 0.181233 +v 0.850072 -0.144923 1.499928 +v 0.157652 0.547292 0.214407 +v 1.080955 -0.375817 1.236086 +v -1.226964 -0.375817 1.005288 +v -0.171728 0.052839 1.499928 +v 0.982005 -0.046182 0.181233 +v -0.633267 0.415325 0.214407 +v 0.883056 -0.112072 1.236086 +v -0.864149 -0.013050 1.400923 +v 0.091459 0.547292 0.214407 +v 0.949022 -0.013237 0.346199 +v 0.223618 -0.013050 1.499928 +f 209 212 219 +f 197 196 199 +f 196 198 199 +f 197 199 201 +f 195 200 201 +f 198 196 202 +f 197 201 204 +f 201 200 204 +f 196 197 206 +f 202 196 206 +f 199 198 207 +f 195 201 208 +f 207 198 209 +f 208 207 209 +f 195 208 209 +f 201 199 210 +f 208 201 210 +f 197 204 211 +f 204 200 211 +f 206 197 211 +f 200 195 212 +f 205 200 212 +f 209 205 212 +f 199 207 213 +f 210 199 213 +f 203 210 213 +f 198 202 214 +f 202 206 214 +f 207 208 215 +f 208 210 215 +f 200 205 216 +f 211 200 216 +f 206 211 216 +f 205 214 216 +f 214 206 216 +f 205 209 217 +f 209 198 217 +f 198 214 217 +f 214 205 217 +f 210 203 218 +f 213 207 218 +f 203 213 218 +f 207 215 218 +f 215 210 218 +f 195 209 219 +f 212 195 219 +o convex_6 +v 0.883047 -1.925464 1.499928 +v -0.929916 -1.694783 0.181233 +v -1.193994 -1.628822 0.939457 +v 1.278801 -1.595842 0.840581 +v 0.124701 -2.057385 0.181233 +v -0.666080 -1.991379 1.499928 +v -1.094995 -1.595842 1.499928 +v 1.014965 -1.595842 0.181233 +v 1.113722 -1.595842 1.499928 +v 0.883047 -1.925464 0.181233 +v -0.929916 -1.595842 0.181233 +v -0.798240 -1.859504 0.181233 +v 0.091782 -2.057385 1.499928 +v 0.784048 -1.991379 1.499928 +v -0.798240 -1.958399 1.236086 +v -0.039652 -2.057385 0.181233 +v -0.897239 -1.892484 1.499928 +v 1.278801 -1.628822 0.939457 +v -0.072571 -2.057385 1.499928 +v 0.982046 -1.793679 0.181233 +v 0.784048 -1.991379 1.236086 +v -0.864078 -1.826614 0.214407 +v -1.193994 -1.595842 1.071249 +f 236 226 242 +f 225 220 226 +f 224 221 227 +f 226 223 227 +f 223 226 228 +f 226 220 228 +f 224 227 229 +f 221 222 230 +f 227 221 230 +f 226 227 230 +f 221 224 231 +f 220 225 232 +f 229 220 233 +f 220 232 233 +f 232 224 233 +f 234 231 235 +f 231 224 235 +f 224 232 235 +f 225 234 235 +f 225 226 236 +f 234 225 236 +f 222 234 236 +f 228 220 237 +f 223 228 237 +f 220 229 237 +f 232 225 238 +f 235 232 238 +f 225 235 238 +f 227 223 239 +f 229 227 239 +f 223 237 239 +f 237 229 239 +f 224 229 240 +f 229 233 240 +f 233 224 240 +f 222 221 241 +f 221 231 241 +f 234 222 241 +f 231 234 241 +f 230 222 242 +f 226 230 242 +f 222 236 242 +o convex_7 +v 3.025778 -1.002326 0.873496 +v -1.226480 -1.035090 0.181233 +v -2.051019 -1.035090 0.280368 +v -0.996015 -0.408856 0.181233 +v -1.127965 -0.408856 1.499928 +v -1.127965 -1.595797 1.499928 +v 1.014881 -1.595797 0.181233 +v 1.146832 -1.595797 1.499928 +v 1.047720 -0.408856 1.499928 +v 1.014881 -0.408856 0.181233 +v -2.809285 -1.430931 0.741834 +v -2.809285 -0.672711 0.774878 +v 2.663363 -1.331942 0.511036 +v -0.929742 -1.595797 0.181233 +v -2.809285 -1.068087 1.104294 +v 2.828151 -0.639714 0.708789 +v 2.828151 -0.969446 0.379244 +v 2.795313 -1.101199 1.137210 +v 2.795313 -1.430931 0.807794 +v -2.743011 -1.035090 0.379244 +v -1.919069 -0.474848 0.741834 +v -3.039750 -1.035090 0.708918 +v 1.377296 -1.002326 1.499928 +v 2.630524 -0.738587 1.038333 +v 1.937935 -1.562801 0.741834 +v -2.611061 -0.738587 0.478120 +v -1.325592 -0.969446 1.499928 +v -2.149534 -1.529804 0.741834 +v 2.003612 -1.035090 0.247323 +v -2.545385 -1.364938 0.478120 +v -2.611061 -1.331942 1.038333 +v 2.828151 -1.068203 0.379244 +v -2.611061 -0.771700 1.038333 +v 2.696201 -0.606718 0.774878 +v 3.058616 -1.068203 0.708789 +v 2.795313 -1.002326 1.137210 +v 2.597089 -0.705591 0.478120 +v 2.663363 -1.364938 1.005288 +v -2.743011 -0.639714 0.741834 +v -2.743011 -1.463695 0.774878 +v 1.146832 -0.408856 1.005288 +v -1.391866 -0.408856 0.840581 +v 2.795313 -1.430931 0.741834 +v 1.311620 -1.035090 0.181233 +v 1.575520 -1.595797 0.807794 +v 2.795313 -0.639714 0.807665 +v -3.039750 -1.101083 0.807794 +v -1.226480 -1.595797 0.873496 +v -2.710173 -1.167076 0.412160 +v -2.710173 -1.035090 1.137210 +v -2.809285 -0.672711 0.708918 +v 1.212508 -0.606718 1.499928 +v -1.226480 -1.430931 1.499928 +v -1.226480 -0.540957 1.499928 +v -2.842124 -1.035090 0.445205 +v 3.025778 -0.903569 0.741834 +v -2.809285 -1.035090 1.104294 +v -2.743011 -1.430931 0.840581 +v -2.677335 -1.397935 0.576997 +v 2.465139 -0.573721 0.708918 +v 2.201836 -1.529804 0.741834 +f 285 261 303 +f 244 245 246 +f 244 246 249 +f 247 248 250 +f 248 249 250 +f 246 247 251 +f 247 250 251 +f 249 246 252 +f 246 251 252 +f 245 244 256 +f 249 248 256 +f 244 249 256 +f 243 260 261 +f 246 245 262 +f 245 256 262 +f 251 250 265 +f 250 260 265 +f 246 262 268 +f 248 247 269 +f 252 259 271 +f 248 257 273 +f 255 249 274 +f 249 271 274 +f 271 259 274 +f 247 254 275 +f 243 261 277 +f 274 259 277 +f 260 243 278 +f 265 260 278 +f 266 251 278 +f 252 258 279 +f 259 252 279 +f 258 259 279 +f 260 250 280 +f 250 261 280 +f 261 260 280 +f 254 247 281 +f 263 246 281 +f 247 263 281 +f 270 248 282 +f 256 270 282 +f 252 251 283 +f 247 246 284 +f 246 263 284 +f 263 247 284 +f 249 255 285 +f 255 274 285 +f 277 261 285 +f 274 277 285 +f 249 252 286 +f 271 249 286 +f 252 271 286 +f 250 249 287 +f 249 267 287 +f 267 250 287 +f 251 266 288 +f 276 251 288 +f 258 276 288 +f 278 243 288 +f 266 278 288 +f 264 253 289 +f 254 264 289 +f 256 248 290 +f 248 270 290 +f 270 256 290 +f 262 256 291 +f 256 272 291 +f 264 254 293 +f 246 268 293 +f 254 281 293 +f 281 246 293 +f 251 265 294 +f 278 251 294 +f 265 278 294 +f 257 248 295 +f 248 269 295 +f 292 257 295 +f 269 292 295 +f 269 247 296 +f 247 292 296 +f 292 269 296 +f 253 264 297 +f 268 262 297 +f 262 291 297 +f 291 253 297 +f 264 293 297 +f 293 268 297 +f 259 258 298 +f 243 277 298 +f 277 259 298 +f 288 243 298 +f 258 288 298 +f 247 275 299 +f 275 254 299 +f 289 257 299 +f 254 289 299 +f 257 292 299 +f 292 247 299 +f 248 273 300 +f 273 257 300 +f 282 248 300 +f 253 282 300 +f 289 253 300 +f 257 289 300 +f 272 256 301 +f 256 282 301 +f 282 253 301 +f 253 291 301 +f 291 272 301 +f 258 252 302 +f 251 276 302 +f 276 258 302 +f 283 251 302 +f 252 283 302 +f 261 250 303 +f 267 249 303 +f 250 267 303 +f 249 285 303 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/662/662.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/662/662.urdf new file mode 100644 index 000000000..53e8b5bbf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/662/662.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/663/663.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/663/663.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/663/663.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/663/663.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/663/663.obj new file mode 100644 index 000000000..cbd9ae169 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/663/663.obj @@ -0,0 +1,546 @@ +o convex_0 +v -2.803419 1.971992 -1.028074 +v -1.697791 2.604017 1.104482 +v -1.105418 2.643564 1.064866 +v -1.105418 0.234584 1.025467 +v -1.105418 2.564231 -0.988458 +v -2.803419 0.234584 -1.107089 +v -2.763861 0.234584 0.985851 +v -1.105418 0.234584 -0.988458 +v -2.763861 2.524924 1.104482 +v -2.803419 2.603777 -0.949058 +v -1.105418 0.392770 1.104482 +v -1.105418 1.103648 -1.067473 +v -1.342434 2.683110 0.511973 +v -2.368947 0.234584 1.064866 +v -2.250605 1.064101 -1.107089 +v -2.803419 1.222048 -0.238134 +v -1.105418 0.590023 -1.067473 +v -2.329555 2.643564 -0.514580 +v -2.763861 1.971992 1.104482 +v -2.526846 2.564471 1.104482 +v -1.144976 2.604017 -0.751627 +v -1.105418 2.208792 -1.028074 +v -1.105418 2.683110 0.946451 +v -2.803419 1.024555 -1.107089 +v -1.855690 0.629809 -1.107089 +v -2.763861 2.603777 -0.317149 +v -2.803419 2.445831 -0.988458 +v -2.803419 0.234584 -0.396165 +v -1.697791 2.604017 -0.949058 +v -1.105418 2.683110 0.551589 +f 29 18 30 +f 3 4 5 +f 6 4 7 +f 5 4 8 +f 4 6 8 +f 1 6 10 +f 3 2 11 +f 4 3 11 +f 2 9 11 +f 5 8 12 +f 7 4 14 +f 4 11 14 +f 9 10 16 +f 10 6 16 +f 8 6 17 +f 12 8 17 +f 11 9 19 +f 7 14 19 +f 14 11 19 +f 16 7 19 +f 9 16 19 +f 9 2 20 +f 5 12 22 +f 12 15 22 +f 2 3 23 +f 3 5 23 +f 20 2 23 +f 13 20 23 +f 6 1 24 +f 15 6 24 +f 1 22 24 +f 22 15 24 +f 6 15 25 +f 15 12 25 +f 17 6 25 +f 12 17 25 +f 10 9 26 +f 18 10 26 +f 13 18 26 +f 9 20 26 +f 20 13 26 +f 1 10 27 +f 10 5 27 +f 22 1 27 +f 5 22 27 +f 6 7 28 +f 16 6 28 +f 7 16 28 +f 5 10 29 +f 10 18 29 +f 21 5 29 +f 21 29 30 +f 18 13 30 +f 5 21 30 +f 23 5 30 +f 13 23 30 +o convex_1 +v -0.118098 -3.398515 -1.027934 +v 1.303696 -3.359088 0.116849 +v 1.303696 -3.398515 0.116849 +v -0.749774 -1.582327 1.064990 +v 1.224580 -1.503277 -0.948818 +v -0.749774 -1.503079 -0.948818 +v -0.710321 -3.477368 0.985874 +v 1.264034 -1.503277 0.946212 +v 1.264034 -3.437942 0.985874 +v -0.828891 -3.516992 -0.988481 +v 1.303696 -3.359088 -1.067597 +v -0.749774 -1.503079 1.064990 +v 1.027103 -3.477566 0.669827 +v 1.224580 -2.885180 -1.067597 +v -0.789228 -3.516992 -0.040757 +v -0.473390 -3.516992 -0.909365 +v -0.828891 -3.082510 -0.909365 +v 1.264034 -1.503277 -0.001303 +v 1.224580 -1.779854 -0.988481 +v 0.632357 -3.359088 -1.067597 +v 0.829626 -3.477566 0.985874 +v 1.264034 -2.964034 0.985874 +v 1.303696 -3.161561 -1.067597 +v -0.828891 -3.516992 -0.672434 +v -0.749774 -2.332616 1.025328 +v 1.264034 -2.016809 -0.988481 +v -0.710321 -3.516992 0.195965 +v -0.197005 -3.516992 -0.356595 +v 1.264034 -3.437942 0.274873 +v -0.670658 -1.503079 1.064990 +v -0.828891 -3.240414 -0.988481 +v -0.789228 -2.214139 -0.948818 +f 61 47 62 +f 33 32 39 +f 32 33 41 +f 40 41 46 +f 45 40 46 +f 35 36 48 +f 36 35 49 +f 44 36 49 +f 40 31 50 +f 41 40 50 +f 36 44 50 +f 44 41 50 +f 34 37 51 +f 39 34 51 +f 43 39 51 +f 32 38 52 +f 39 32 52 +f 38 32 53 +f 32 41 53 +f 41 44 53 +f 48 38 53 +f 44 49 53 +f 34 42 54 +f 40 45 54 +f 47 40 54 +f 42 47 54 +f 37 34 55 +f 45 37 55 +f 34 54 55 +f 54 45 55 +f 35 48 56 +f 49 35 56 +f 48 53 56 +f 53 49 56 +f 37 45 57 +f 45 46 57 +f 51 37 57 +f 51 57 58 +f 46 43 58 +f 43 51 58 +f 57 46 58 +f 33 39 59 +f 41 33 59 +f 39 43 59 +f 43 46 59 +f 46 41 59 +f 34 39 60 +f 36 42 60 +f 42 34 60 +f 48 36 60 +f 38 48 60 +f 52 38 60 +f 39 52 60 +f 31 40 61 +f 40 47 61 +f 50 31 61 +f 36 50 61 +f 42 36 62 +f 47 42 62 +f 36 61 62 +o convex_2 +v -1.104862 -1.463332 -0.948958 +v -0.354836 2.683110 1.064723 +v -0.354836 2.683110 0.590804 +v 3.357287 -1.463332 0.946297 +v 3.357287 2.564277 -1.067597 +v -1.104862 -1.384246 1.025177 +v -1.104862 2.564277 -0.988291 +v 3.278222 -1.384246 -0.909411 +v 3.278222 2.524530 0.946297 +v -1.104862 2.643363 1.064723 +v -1.104862 0.590015 -1.067597 +v -0.631345 -1.503079 1.064723 +v 1.224280 -1.503079 -0.948958 +v -0.552280 0.511340 1.104482 +v 3.317536 0.432255 -1.027838 +v 3.278222 1.063707 0.985843 +v 3.317536 2.564277 0.274857 +v 1.264031 2.604025 -1.028050 +v 1.658919 2.564277 1.025389 +v 3.357287 1.774245 -1.067597 +v -1.104862 2.209009 -1.027838 +v -1.104862 -1.503079 -0.830531 +v 3.278222 -0.041437 0.985843 +v -1.104862 0.432255 1.104482 +v -1.026233 -0.397116 -1.027838 +v -1.104862 2.683110 0.590804 +v 3.317536 2.524530 0.748989 +v 1.264031 -1.503079 0.946297 +v 3.238472 -1.226486 -0.948958 +v 2.211937 2.564277 -1.067597 +v 3.317536 -1.463332 0.195977 +v 3.317536 -0.278693 -0.988504 +v 3.357287 2.564277 -0.632798 +v -1.104862 2.604025 -0.712104 +v -1.104862 1.063707 -1.067597 +v 3.317536 1.458314 -1.067597 +v 3.357287 -1.463332 0.709230 +v 2.606825 2.564277 0.985843 +v 0.593070 1.853330 1.064936 +v 3.278222 -1.423584 -0.632798 +v -0.749724 0.984622 1.104482 +v -0.749724 -1.503079 1.064723 +v -1.104862 -1.108063 -0.988291 +v -0.709973 0.590015 -1.067597 +v 3.278222 0.392917 -1.027838 +v -1.104862 -1.503079 -0.395945 +v -1.104862 -1.108063 1.064723 +v -0.709973 0.234747 1.104482 +v 3.357287 -1.265824 0.946297 +v 1.501226 2.604025 -1.028050 +v -1.065547 2.683110 1.064723 +v -1.026233 -1.503079 -0.948958 +v 3.317536 -1.423584 -0.238184 +f 93 102 115 +f 65 64 67 +f 63 68 69 +f 69 68 72 +f 63 69 73 +f 67 66 82 +f 73 67 82 +f 73 69 83 +f 68 63 84 +f 75 74 84 +f 74 66 85 +f 66 78 85 +f 78 76 85 +f 72 68 86 +f 64 65 88 +f 69 72 88 +f 65 80 88 +f 79 71 89 +f 66 74 90 +f 74 75 90 +f 70 75 91 +f 75 87 91 +f 67 73 92 +f 80 67 92 +f 69 80 92 +f 83 69 92 +f 77 82 94 +f 70 91 94 +f 91 77 94 +f 66 67 95 +f 67 64 95 +f 64 79 95 +f 79 89 95 +f 80 69 96 +f 69 88 96 +f 88 80 96 +f 73 83 97 +f 92 73 97 +f 83 92 97 +f 73 82 98 +f 82 77 98 +f 82 66 99 +f 66 90 99 +f 90 75 99 +f 75 93 99 +f 94 82 99 +f 78 71 100 +f 79 64 100 +f 71 79 100 +f 64 81 100 +f 81 78 100 +f 76 78 101 +f 81 64 101 +f 78 81 101 +f 75 70 102 +f 93 75 102 +f 72 86 103 +f 86 76 103 +f 101 64 103 +f 76 101 103 +f 84 74 104 +f 63 73 105 +f 73 87 105 +f 87 75 105 +f 87 73 106 +f 73 98 106 +f 106 98 107 +f 77 91 107 +f 91 87 107 +f 98 77 107 +f 87 106 107 +f 68 84 108 +f 104 68 108 +f 84 104 108 +f 86 68 109 +f 68 104 109 +f 104 86 109 +f 74 85 110 +f 85 76 110 +f 76 86 110 +f 104 74 110 +f 86 104 110 +f 71 78 111 +f 78 66 111 +f 89 71 111 +f 66 95 111 +f 95 89 111 +f 65 67 112 +f 80 65 112 +f 67 80 112 +f 64 88 113 +f 88 72 113 +f 103 64 113 +f 72 103 113 +f 84 63 114 +f 75 84 114 +f 63 105 114 +f 105 75 114 +f 70 94 115 +f 99 93 115 +f 94 99 115 +f 102 70 115 +o convex_3 +v -2.210907 -1.463529 -0.238130 +v -1.105499 -0.989679 1.064990 +v -1.184561 -0.989679 1.064990 +v -2.684792 -0.989679 -1.107089 +v -1.105499 -1.463529 -0.949116 +v -2.724241 -1.463529 0.946138 +v -1.105499 -0.989679 -0.988450 +v -2.724241 -0.989679 0.985685 +v -1.105499 -1.384579 1.025444 +v -2.724241 -1.384579 -1.107089 +v -1.105499 -1.503079 -0.396103 +v -2.764016 -0.989679 -0.435650 +v -2.329418 -1.463529 0.985685 +v -1.145111 -1.503079 -0.791143 +v -2.764016 -1.345029 0.827711 +v -1.145111 -1.463529 -0.988450 +v -2.724241 -1.463529 0.472218 +v -1.658446 -1.503079 -0.040610 +v -1.618997 -1.424029 1.025444 +v -2.645342 -1.463529 0.985685 +v -2.764016 -0.989679 0.867258 +f 127 130 136 +f 118 117 119 +f 119 117 122 +f 117 120 122 +f 118 119 123 +f 120 117 124 +f 120 124 126 +f 123 119 127 +f 119 125 127 +f 116 125 129 +f 120 126 129 +f 127 125 130 +f 119 122 131 +f 122 120 131 +f 125 119 131 +f 129 125 131 +f 120 129 131 +f 125 116 132 +f 116 129 132 +f 121 130 132 +f 130 125 132 +f 126 128 133 +f 129 126 133 +f 132 129 133 +f 121 132 133 +f 117 118 134 +f 124 117 134 +f 126 124 134 +f 128 126 134 +f 128 134 135 +f 118 123 135 +f 123 121 135 +f 121 133 135 +f 133 128 135 +f 134 118 135 +f 121 123 136 +f 123 127 136 +f 130 121 136 +o convex_4 +v -2.329646 0.234584 1.064990 +v -2.724469 -0.989679 -1.107089 +v -2.763942 -0.871159 -0.988450 +v -2.724469 -0.989679 0.985685 +v -2.803462 0.234584 -1.107089 +v -2.329646 -0.989679 -0.988450 +v -2.329646 0.234584 -0.949116 +v -2.763942 0.234584 0.985685 +v -2.329646 -0.989679 0.946138 +v -2.763942 -0.989679 0.867258 +v -2.645477 0.234584 -1.107089 +v -2.803462 -0.042001 -0.435650 +v -2.763942 -0.989679 -0.554076 +v -2.329646 0.076398 -0.988450 +f 147 143 150 +f 138 139 141 +f 140 138 142 +f 141 137 143 +f 137 142 143 +f 140 137 144 +f 137 141 144 +f 137 140 145 +f 140 142 145 +f 142 137 145 +f 138 140 146 +f 140 144 146 +f 138 141 147 +f 142 138 147 +f 141 143 147 +f 141 139 148 +f 144 141 148 +f 146 144 148 +f 146 148 149 +f 139 138 149 +f 138 146 149 +f 148 139 149 +f 143 142 150 +f 142 147 150 +o convex_5 +v -2.171534 -0.120974 3.038900 +v -2.171534 -0.989679 -1.698887 +v -2.132107 -0.989679 -1.698887 +v -1.263403 0.194918 -2.962577 +v -1.144884 -0.871159 2.999354 +v -1.144884 -0.871159 -2.963176 +v -2.211080 0.036972 -2.962577 +v -1.184430 0.155372 2.880714 +v -2.329480 0.234584 1.063973 +v -2.329480 -0.989679 1.222759 +v -1.105337 0.234584 -0.988249 +v -2.171534 -0.950012 -3.002722 +v -1.105337 -0.989679 -0.988249 +v -2.211080 -0.831613 2.920261 +v -2.250507 0.194918 3.038900 +v -2.329480 0.234584 -0.948702 +v -1.105337 0.234584 1.025026 +v -2.329480 -0.989679 -0.987650 +v -1.105337 -0.989679 1.064573 +v -1.184430 0.115945 3.118593 +v -2.329480 -0.555147 1.775211 +v -1.144884 -0.515720 -2.963176 +v -1.500322 0.194918 -2.923030 +v -2.211080 -0.871159 2.841168 +v -1.144884 -0.752639 3.038900 +v -1.855641 0.194918 3.079046 +v -2.290053 -0.081548 2.644035 +v -1.579296 -0.910586 -3.002123 +v -2.171534 0.076398 -2.923030 +v -1.105337 -0.831613 1.775211 +v -1.144884 -0.358014 3.038900 +v -1.223857 0.115945 -2.962577 +v -2.250507 -0.002575 -2.488618 +v -2.211080 -0.397201 -2.962577 +v -2.171534 -0.476174 -3.002722 +v -2.053134 -0.831613 2.959807 +v -1.421349 0.076398 3.118593 +v -1.342376 -0.831613 -3.002123 +f 162 185 188 +f 152 153 160 +f 153 152 162 +f 160 153 163 +f 156 161 163 +f 153 162 163 +f 164 151 165 +f 160 159 166 +f 161 154 166 +f 159 161 166 +f 161 159 167 +f 163 161 167 +f 152 160 168 +f 162 152 168 +f 160 166 168 +f 155 160 169 +f 160 163 169 +f 163 167 169 +f 167 158 170 +f 159 160 171 +f 160 164 171 +f 161 156 172 +f 154 157 173 +f 166 154 173 +f 160 155 174 +f 164 160 174 +f 165 151 176 +f 159 165 176 +f 158 167 176 +f 167 159 176 +f 170 158 176 +f 164 165 177 +f 165 159 177 +f 159 171 177 +f 171 164 177 +f 156 163 178 +f 163 162 178 +f 157 166 179 +f 173 157 179 +f 166 173 179 +f 155 169 180 +f 169 167 180 +f 175 155 180 +f 175 180 181 +f 167 170 181 +f 170 175 181 +f 180 167 181 +f 154 161 182 +f 161 172 182 +f 166 157 183 +f 168 166 183 +f 168 183 184 +f 157 162 184 +f 162 168 184 +f 183 157 184 +f 157 154 185 +f 162 157 185 +f 151 164 186 +f 174 155 186 +f 164 174 186 +f 175 151 186 +f 155 175 186 +f 151 175 187 +f 175 170 187 +f 176 151 187 +f 170 176 187 +f 172 156 188 +f 178 162 188 +f 156 178 188 +f 154 182 188 +f 182 172 188 +f 185 154 188 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/663/663.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/663/663.urdf new file mode 100644 index 000000000..9c963c62a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/663/663.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/664/664.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/664/664.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/664/664.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/664/664.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/664/664.obj new file mode 100644 index 000000000..05bab45f3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/664/664.obj @@ -0,0 +1,450 @@ +o convex_0 +v 0.537362 -4.394735 -0.295598 +v -0.628210 -2.861327 -0.571680 +v -0.628210 -2.861327 -0.540906 +v -0.597520 -4.670923 0.471211 +v 0.506671 -2.830492 0.501875 +v -0.444179 -4.763048 -0.540906 +v 0.506671 -2.830492 -0.479579 +v 0.445289 -4.763048 0.501875 +v -0.444179 -2.830492 0.563313 +v 0.537362 -4.732213 -0.571680 +v -0.597520 -4.670923 0.532427 +v -0.014847 -3.628220 0.563313 +v 0.537362 -3.137515 0.471211 +v -0.321415 -2.830492 -0.571680 +v -0.474756 -4.763048 -0.510242 +v 0.383907 -4.640088 0.532538 +v 0.537362 -2.830492 -0.111506 +v -0.505447 -3.444158 0.563313 +v -0.536252 -3.873384 -0.571680 +v -0.076115 -4.732213 0.532427 +v -0.597520 -2.830492 -0.326150 +v -0.106806 -2.830492 0.563313 +v 0.475980 -4.763048 0.195129 +v 0.506671 -3.290742 -0.510242 +v -0.474756 -4.763048 -0.387588 +v 0.537362 -4.609443 -0.571680 +v -0.505447 -3.750802 0.563313 +v -0.137497 -4.763048 -0.540906 +v 0.291834 -4.732213 -0.571680 +v -0.597520 -4.609443 0.532427 +v -0.474756 -2.861327 0.471211 +v 0.230566 -4.763048 0.501764 +v 0.537362 -2.830492 0.471211 +f 13 17 33 +f 3 2 4 +f 5 7 9 +f 3 4 11 +f 5 8 13 +f 1 10 13 +f 9 7 14 +f 10 2 14 +f 4 2 15 +f 6 8 15 +f 11 4 15 +f 8 5 16 +f 5 12 16 +f 7 5 17 +f 13 10 17 +f 12 9 18 +f 2 10 19 +f 15 2 19 +f 6 15 19 +f 8 16 20 +f 2 3 21 +f 14 2 21 +f 9 14 21 +f 5 9 22 +f 9 12 22 +f 12 5 22 +f 8 6 23 +f 10 1 23 +f 1 13 23 +f 13 8 23 +f 14 7 24 +f 15 8 25 +f 11 15 25 +f 20 11 25 +f 10 14 26 +f 7 17 26 +f 17 10 26 +f 24 7 26 +f 14 24 26 +f 16 12 27 +f 18 11 27 +f 12 18 27 +f 11 20 27 +f 20 16 27 +f 6 10 28 +f 23 6 28 +f 10 23 28 +f 10 6 29 +f 19 10 29 +f 6 19 29 +f 3 11 30 +f 11 18 30 +f 21 3 30 +f 18 21 30 +f 18 9 31 +f 9 21 31 +f 21 18 31 +f 8 20 32 +f 25 8 32 +f 20 25 32 +f 5 13 33 +f 17 5 33 +o convex_1 +v 0.598719 1.923967 1.084586 +v -1.026878 -2.769130 -0.939540 +v -0.781588 -2.738214 -0.970224 +v -0.996400 1.954883 -1.062278 +v 1.119986 -2.615488 -1.031803 +v -0.965503 -2.830492 1.053901 +v 1.119986 -2.738214 1.054111 +v 0.966759 1.954415 -1.031803 +v -1.026878 1.954883 1.084796 +v 1.028134 1.954415 1.023217 +v 0.506656 -2.830492 -0.479272 +v -0.996400 -1.755938 1.084796 +v 1.119986 -2.738214 -1.000909 +v 1.058821 1.157164 1.054111 +v 0.844009 -1.357781 1.084586 +v 0.997446 1.555321 -1.031803 +v -1.026878 1.954883 -0.080584 +v -0.689525 -2.830492 -0.632695 +v 0.537344 -2.830492 0.471106 +v -0.996400 1.525342 -1.062278 +v 1.119986 -2.400952 -1.031803 +v 1.028134 1.954415 0.563160 +v -0.996400 -2.830492 0.747267 +v -1.026878 1.371232 1.084796 +v -1.026878 -2.400952 -0.970224 +v 1.058821 -2.676851 -1.031803 +v -0.413548 -2.830492 1.053901 +v -0.597463 -1.878664 1.084796 +v -1.026878 -2.615488 -0.724748 +v 0.598719 -2.769130 -0.939540 +v 0.905384 -2.769130 1.053901 +v 1.119986 -2.615488 1.054111 +v -0.904338 1.954883 -1.062278 +v 0.936071 1.954883 1.053901 +v -0.750900 -2.769130 -0.970224 +v -0.996400 -2.830492 0.379053 +v -0.996400 -2.155500 1.053901 +f 57 62 70 +f 38 40 46 +f 47 34 48 +f 35 42 50 +f 42 37 50 +f 44 39 51 +f 39 44 52 +f 46 40 52 +f 44 46 52 +f 40 38 54 +f 54 49 55 +f 43 47 55 +f 49 41 55 +f 47 54 55 +f 51 39 56 +f 42 35 57 +f 45 42 57 +f 36 35 58 +f 35 50 58 +f 50 37 58 +f 37 53 58 +f 58 53 59 +f 38 46 59 +f 53 38 59 +f 36 58 59 +f 39 52 60 +f 34 42 61 +f 45 39 61 +f 42 45 61 +f 48 34 61 +f 40 48 61 +f 39 60 61 +f 35 56 62 +f 57 35 62 +f 46 44 63 +f 44 51 63 +f 52 40 64 +f 60 52 64 +f 40 61 64 +f 61 60 64 +f 48 40 65 +f 47 48 65 +f 40 54 65 +f 54 47 65 +f 37 42 66 +f 41 49 66 +f 53 37 66 +f 38 53 66 +f 54 38 66 +f 49 54 66 +f 42 34 67 +f 34 47 67 +f 47 43 67 +f 55 41 67 +f 43 55 67 +f 66 42 67 +f 41 66 67 +f 35 36 68 +f 51 35 68 +f 36 59 68 +f 59 46 68 +f 46 63 68 +f 63 51 68 +f 35 51 69 +f 56 35 69 +f 51 56 69 +f 39 45 70 +f 56 39 70 +f 45 57 70 +f 62 56 70 +o convex_2 +v -0.321519 1.954883 1.821194 +v 0.291958 2.599005 3.047838 +v 0.169187 2.599005 3.047838 +v -0.045457 2.476309 1.115661 +v 0.199833 1.985652 1.238420 +v -0.352227 1.985652 3.047838 +v -0.321519 2.476309 1.115661 +v 0.230604 2.077642 2.925079 +v -0.198811 2.506952 3.017006 +v 0.230604 2.445604 1.146492 +v -0.321519 1.954883 1.115661 +v 0.169187 1.985652 1.115661 +v 0.261187 2.108348 2.832963 +v -0.352227 2.169696 2.495706 +v 0.291958 2.599005 2.802320 +v 0.169187 2.047000 2.955721 +v -0.260165 2.506952 1.238420 +v -0.260165 1.985652 3.047838 +v 0.199833 1.985652 1.575865 +v -0.260165 2.506952 2.219546 +v -0.014875 1.954883 1.146492 +v 0.291958 2.506952 2.771677 +v -0.352227 1.985652 2.281020 +v -0.321519 2.169696 2.986364 +v -0.137457 2.537657 3.017006 +v -0.321519 2.476309 1.422463 +f 94 90 96 +f 72 73 76 +f 76 73 79 +f 71 76 81 +f 77 74 81 +f 81 74 82 +f 74 80 82 +f 80 75 82 +f 72 78 83 +f 73 72 85 +f 80 74 85 +f 78 72 86 +f 74 77 87 +f 73 85 87 +f 85 74 87 +f 72 76 88 +f 76 71 88 +f 86 72 88 +f 86 88 89 +f 83 78 89 +f 75 83 89 +f 78 86 89 +f 87 77 90 +f 71 81 91 +f 81 82 91 +f 82 75 91 +f 88 71 91 +f 89 88 91 +f 75 89 91 +f 75 80 92 +f 72 83 92 +f 83 75 92 +f 85 72 92 +f 80 85 92 +f 81 76 93 +f 77 81 93 +f 76 84 93 +f 84 77 93 +f 76 79 94 +f 84 76 94 +f 79 90 94 +f 79 73 95 +f 73 87 95 +f 90 79 95 +f 87 90 95 +f 77 84 96 +f 90 77 96 +f 84 94 96 +o convex_3 +v -0.321519 2.292262 -3.056037 +v 0.291958 2.016303 -1.430816 +v 0.291958 1.985615 -1.430816 +v -0.290873 2.445643 -1.093163 +v 0.261187 2.568336 -3.087070 +v 0.261187 2.506961 -1.124196 +v 0.291958 2.016303 -3.087070 +v -0.229519 2.016303 -1.093163 +v -0.352227 2.046990 -3.056037 +v -0.229519 2.506961 -3.025394 +v 0.261187 1.985615 -1.093163 +v -0.229519 2.476273 -1.124196 +v -0.290873 2.016303 -2.473245 +v 0.169187 2.568336 -2.902825 +v -0.290873 2.476273 -3.025394 +v 0.291958 2.200314 -2.933467 +v -0.137457 2.016303 -3.056037 +v -0.014875 1.985615 -1.124196 +v -0.321519 2.231001 -1.921681 +v 0.261187 2.476273 -1.093163 +v 0.230604 1.985615 -1.737631 +v 0.107833 2.537648 -3.087070 +f 111 106 118 +f 98 99 103 +f 100 97 105 +f 99 98 107 +f 100 104 107 +f 100 102 108 +f 106 100 108 +f 104 105 109 +f 102 101 110 +f 101 106 110 +f 108 102 110 +f 106 108 110 +f 97 100 111 +f 100 106 111 +f 102 98 112 +f 101 102 112 +f 98 103 112 +f 103 101 112 +f 105 103 113 +f 109 105 113 +f 109 113 114 +f 99 107 114 +f 107 104 114 +f 104 109 114 +f 104 100 115 +f 100 105 115 +f 105 104 115 +f 98 102 116 +f 102 100 116 +f 107 98 116 +f 100 107 116 +f 103 99 117 +f 113 103 117 +f 114 113 117 +f 99 114 117 +f 101 103 118 +f 105 97 118 +f 103 105 118 +f 106 101 118 +f 97 111 118 +o convex_4 +v -0.505629 3.335280 -0.479606 +v 1.028170 3.028420 1.023157 +v 1.028170 1.955018 1.023157 +v -1.027088 3.212319 1.115471 +v -0.996307 1.954883 -1.062464 +v 0.966609 2.537795 -1.031764 +v -1.027088 1.954883 1.084772 +v -0.996307 3.181782 -1.093163 +v 0.936029 3.212455 -1.031764 +v 0.966609 1.955018 -1.031764 +v 0.997389 3.212455 1.023157 +v 0.199911 2.047035 1.115471 +v 0.261069 1.985826 -1.093163 +v -0.536208 3.304337 0.624279 +v 0.567869 3.273664 0.501914 +v -1.027088 1.954883 -0.080728 +v 0.813309 3.243127 -0.970149 +v 0.905450 3.059092 1.054072 +v -1.027088 3.212319 0.194919 +v 1.028170 1.955018 0.563097 +v -0.229408 3.335280 -0.510305 +v 0.261069 2.476585 -1.093163 +v 0.997389 1.955018 1.054072 +v 0.199911 2.445778 1.115471 +v -0.321549 1.954883 1.115471 +v -0.505629 3.335280 0.011154 +v 0.997389 3.212455 0.287017 +v -0.934947 3.243127 0.992673 +v -0.198829 2.016498 -1.093163 +v 0.782730 3.212455 1.054072 +v 0.169130 3.212319 -1.062464 +v -0.720288 3.273664 -0.755469 +v -0.996307 2.813577 -1.093163 +v -0.168048 3.304337 0.532613 +v -1.027088 2.813577 1.115471 +v 0.844090 3.243127 -0.724769 +v 0.966609 3.212455 -0.510089 +f 127 154 155 +f 128 123 131 +f 124 128 131 +f 125 122 134 +f 123 125 134 +f 120 129 136 +f 134 122 137 +f 126 134 137 +f 120 121 138 +f 124 120 138 +f 128 124 138 +f 127 124 140 +f 131 126 140 +f 124 131 140 +f 121 120 141 +f 120 136 141 +f 141 136 142 +f 122 130 142 +f 130 141 142 +f 125 123 143 +f 123 128 143 +f 130 122 143 +f 138 121 143 +f 128 138 143 +f 121 141 143 +f 141 130 143 +f 139 119 144 +f 133 139 144 +f 120 124 145 +f 129 120 145 +f 119 137 146 +f 137 122 146 +f 144 119 146 +f 132 144 146 +f 131 123 147 +f 126 131 147 +f 129 132 148 +f 136 129 148 +f 142 136 148 +f 122 142 148 +f 146 122 148 +f 132 146 148 +f 135 127 149 +f 127 140 149 +f 140 126 149 +f 137 119 150 +f 126 137 150 +f 119 139 150 +f 139 135 150 +f 135 149 150 +f 149 126 150 +f 123 134 151 +f 134 126 151 +f 147 123 151 +f 126 147 151 +f 132 129 152 +f 129 133 152 +f 144 132 152 +f 133 144 152 +f 122 125 153 +f 143 122 153 +f 125 143 153 +f 133 129 154 +f 127 135 154 +f 139 133 154 +f 135 139 154 +f 129 145 154 +f 154 145 155 +f 124 127 155 +f 145 124 155 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/664/664.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/664/664.urdf new file mode 100644 index 000000000..6bcd98dd8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/664/664.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/665/665.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/665/665.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/665/665.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/665/665.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/665/665.obj new file mode 100644 index 000000000..bbe868ef5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/665/665.obj @@ -0,0 +1,531 @@ +o convex_0 +v -0.239633 -3.182474 -0.369934 +v 0.074468 -0.197856 1.860837 +v 0.954390 -0.197496 1.075223 +v -0.773664 -0.197856 -0.715465 +v 0.922800 -0.197856 -0.558169 +v 0.828630 -3.402371 0.384162 +v -0.679494 -3.214145 0.509651 +v -0.836644 -0.197856 1.295265 +v 0.074468 -3.402371 1.106741 +v 0.105858 -0.229167 -1.092513 +v 0.074468 -3.370700 -0.432390 +v 0.797240 -1.894766 1.169486 +v -0.962405 -1.957028 0.258672 +v 1.080150 -1.894766 0.415390 +v 0.011888 -3.873835 0.290189 +v 0.828630 -1.957388 -0.369934 +v -0.710884 -2.020010 1.075223 +v -0.710884 -1.831784 -0.495424 +v -0.710884 -3.371060 0.258672 +v -0.962405 -0.197856 0.227155 +v 0.891410 -0.292149 1.358010 +v 1.048560 -0.197496 0.227155 +v -0.019502 -0.229167 1.860837 +v 0.640089 -2.993889 -0.212638 +v 0.608699 -3.025559 0.949734 +v 0.011888 -0.229167 -1.092513 +v -0.459563 -3.056870 0.917927 +v -0.962405 -1.863095 0.384162 +v -0.553734 -2.836614 -0.306900 +v 0.828630 -3.402371 0.321706 +v 0.011888 -3.370700 1.106741 +v -0.019502 -3.339389 -0.432390 +v -0.805254 -0.574667 1.295265 +v 0.105858 -3.873835 0.321706 +v -0.836644 -0.449064 -0.526941 +v 0.860020 -1.549266 -0.432679 +v 1.048560 -0.197496 0.572396 +v 1.080150 -1.863095 0.352934 +v 0.137248 -3.308438 -0.432390 +v -0.742474 -3.308078 0.258672 +v -0.962405 -0.197856 0.415390 +v 0.828630 -1.863455 1.138258 +v -0.679494 -3.402371 0.321417 +v 0.891410 -0.354771 -0.589686 +v -0.742474 -1.800473 1.106741 +v -0.742474 -3.308078 0.321417 +v -0.962405 -1.706180 0.164410 +v 0.011888 -3.779542 0.509651 +v 0.860020 -0.543356 1.358010 +v 0.105858 -0.197856 -1.092513 +v 0.074468 -0.229167 1.860837 +v 0.922800 -0.197856 1.263747 +v -0.773664 -1.863095 -0.338417 +v -0.773664 -0.292149 -0.715465 +v -0.868034 -0.480734 1.137969 +v 0.954390 -0.354771 -0.432679 +v 1.080150 -1.831784 0.446907 +v 0.734459 -3.213785 0.666948 +v 0.828630 -1.831784 -0.401162 +v -0.585324 -2.711010 0.949734 +v 0.105858 -3.873835 0.353223 +v 0.860020 -3.276767 0.384162 +v -0.553734 -3.025559 -0.212638 +v 0.860020 -1.800473 -0.369934 +f 56 38 64 +f 2 3 8 +f 20 3 22 +f 4 20 22 +f 2 8 23 +f 12 9 25 +f 10 11 26 +f 20 13 28 +f 18 1 29 +f 24 16 30 +f 9 23 31 +f 23 17 31 +f 11 15 32 +f 1 18 32 +f 19 1 32 +f 15 19 32 +f 26 11 32 +f 18 26 32 +f 23 8 33 +f 15 11 34 +f 30 6 34 +f 11 30 34 +f 20 4 35 +f 22 3 37 +f 11 10 39 +f 16 24 39 +f 30 11 39 +f 24 30 39 +f 18 29 40 +f 8 3 41 +f 3 20 41 +f 20 28 41 +f 12 25 42 +f 19 15 43 +f 27 7 43 +f 31 27 43 +f 5 36 44 +f 36 10 44 +f 17 23 45 +f 23 33 45 +f 7 17 46 +f 28 13 46 +f 13 40 46 +f 40 19 46 +f 19 43 46 +f 43 7 46 +f 17 45 46 +f 45 28 46 +f 13 20 47 +f 20 35 47 +f 9 31 48 +f 43 15 48 +f 31 43 48 +f 12 42 49 +f 42 21 49 +f 4 22 50 +f 22 5 50 +f 26 4 50 +f 10 26 50 +f 5 44 50 +f 44 10 50 +f 9 12 51 +f 21 2 51 +f 2 23 51 +f 23 9 51 +f 12 49 51 +f 49 21 51 +f 3 2 52 +f 2 21 52 +f 37 3 52 +f 40 13 53 +f 18 40 53 +f 13 47 53 +f 47 35 53 +f 4 26 54 +f 26 18 54 +f 35 4 54 +f 18 53 54 +f 53 35 54 +f 33 8 55 +f 8 41 55 +f 41 28 55 +f 28 45 55 +f 45 33 55 +f 5 22 56 +f 36 5 56 +f 22 38 56 +f 22 37 57 +f 38 22 57 +f 14 38 57 +f 21 42 57 +f 52 21 57 +f 37 52 57 +f 9 6 58 +f 25 9 58 +f 42 25 58 +f 10 36 59 +f 36 16 59 +f 39 10 59 +f 16 39 59 +f 17 7 60 +f 7 27 60 +f 31 17 60 +f 27 31 60 +f 6 9 61 +f 34 6 61 +f 15 34 61 +f 9 48 61 +f 48 15 61 +f 6 30 62 +f 38 14 62 +f 30 38 62 +f 14 57 62 +f 57 42 62 +f 58 6 62 +f 42 58 62 +f 1 19 63 +f 29 1 63 +f 19 40 63 +f 40 29 63 +f 30 16 64 +f 16 36 64 +f 38 30 64 +f 36 56 64 +o convex_1 +v -0.333900 0.871036 -4.140969 +v 0.577369 1.247948 -2.915440 +v 0.545926 1.373586 -2.915440 +v -0.616772 1.153834 -2.915440 +v -0.019701 1.593566 -4.329333 +v 0.011508 0.588237 -2.915440 +v 0.420036 1.153834 -4.360727 +v -0.019701 1.750726 -2.915440 +v -0.428113 1.562156 -3.607105 +v 0.388710 0.776807 -3.638499 +v 0.420036 1.593566 -3.638499 +v -0.396670 1.185130 -4.392121 +v 0.043068 0.776807 -4.360727 +v -0.459439 0.713989 -2.947000 +v 0.043068 1.216539 -4.612377 +v 0.451479 0.776807 -2.915440 +v -0.459439 1.624975 -2.915440 +v 0.545926 1.153834 -3.669893 +v -0.396670 0.776807 -3.732681 +v 0.420036 1.624975 -2.915440 +v 0.325823 1.499337 -4.203757 +v -0.522326 1.122425 -3.795136 +v -0.019701 0.651170 -3.669893 +v -0.019701 1.687794 -3.732681 +v -0.302457 1.467928 -4.235151 +v 0.420036 1.247948 -4.360727 +v -0.019701 1.499337 -4.455241 +v -0.396670 1.122425 -4.392121 +v 0.325823 0.871036 -4.109575 +v -0.019701 0.776807 -4.360727 +v -0.050911 1.153834 -4.612377 +v 0.545926 1.247948 -3.638499 +v 0.577369 1.091015 -2.947000 +v 0.105838 1.562156 -4.360727 +v 0.420036 0.808217 -3.638499 +v -0.522326 1.247948 -3.701287 +v 0.043068 1.750726 -2.978394 +v 0.388710 0.713989 -2.947000 +v 0.043068 0.651170 -3.638499 +v 0.043068 1.687794 -3.732681 +v 0.451479 1.593566 -3.418242 +v 0.043068 1.091015 -4.580817 +v -0.428113 1.185130 -4.329333 +v -0.616772 1.185130 -2.947000 +v -0.050911 0.588237 -2.915440 +v -0.365226 0.745398 -3.638499 +v -0.522326 1.059606 -3.669893 +v -0.428113 1.122425 -4.329333 +v -0.396670 1.562156 -3.732681 +v 0.451479 1.530747 -3.669893 +v -0.459439 0.713989 -2.915440 +v -0.270897 0.839626 -4.203757 +f 92 94 116 +f 66 67 68 +f 66 68 70 +f 68 67 72 +f 66 70 80 +f 68 72 81 +f 72 67 84 +f 81 72 88 +f 71 79 90 +f 82 71 90 +f 89 69 91 +f 76 89 91 +f 74 77 93 +f 77 71 93 +f 77 87 94 +f 94 92 95 +f 76 91 95 +f 91 79 95 +f 92 76 95 +f 67 66 96 +f 66 82 96 +f 82 90 96 +f 66 80 97 +f 82 66 97 +f 75 85 98 +f 90 79 98 +f 85 90 98 +f 79 91 98 +f 91 69 98 +f 71 82 99 +f 93 71 99 +f 74 93 99 +f 97 80 99 +f 82 97 99 +f 72 84 101 +f 88 72 101 +f 80 70 102 +f 74 99 102 +f 99 80 102 +f 77 74 103 +f 70 87 103 +f 87 77 103 +f 102 70 103 +f 74 102 103 +f 69 88 104 +f 75 98 104 +f 98 69 104 +f 101 75 104 +f 88 101 104 +f 84 67 105 +f 67 96 105 +f 101 84 105 +f 75 101 105 +f 71 77 106 +f 79 71 106 +f 77 94 106 +f 94 95 106 +f 95 79 106 +f 89 76 107 +f 76 92 107 +f 100 73 107 +f 86 100 107 +f 68 81 108 +f 81 73 108 +f 86 68 108 +f 73 100 108 +f 100 86 108 +f 70 68 109 +f 87 70 109 +f 87 109 110 +f 78 83 110 +f 83 94 110 +f 94 87 110 +f 109 78 110 +f 78 68 111 +f 83 78 111 +f 68 86 111 +f 111 86 112 +f 65 83 112 +f 92 65 112 +f 107 92 112 +f 86 107 112 +f 83 111 112 +f 73 81 113 +f 88 69 113 +f 81 88 113 +f 69 89 113 +f 107 73 113 +f 89 107 113 +f 85 75 114 +f 90 85 114 +f 96 90 114 +f 105 96 114 +f 75 105 114 +f 68 78 115 +f 109 68 115 +f 78 109 115 +f 83 65 116 +f 65 92 116 +f 94 83 116 +o convex_2 +v 0.577275 1.687806 2.929187 +v 0.011839 -0.197265 -1.155563 +v 0.074421 -0.197265 -1.155563 +v 0.043030 2.127525 -2.443487 +v -0.993869 1.153499 2.362966 +v 1.048538 -0.197265 0.571871 +v -0.962278 1.122123 -2.474705 +v 0.922974 1.247856 -2.412268 +v -0.836715 -0.197265 1.326016 +v 0.074421 0.368418 3.086504 +v -0.742342 1.907665 2.363578 +v 0.797211 1.876290 2.394797 +v 0.451511 0.745616 -2.915440 +v 1.048738 1.122123 2.363578 +v -0.710951 0.399793 -2.475317 +v -0.710951 1.876290 -2.475317 +v 0.703038 1.939272 -2.412268 +v -0.962278 -0.197265 0.226629 +v 0.105811 2.127525 2.363578 +v -0.742342 1.059372 3.085892 +v 0.891583 -0.197265 1.357847 +v 0.922974 -0.197265 -0.558123 +v -0.459624 1.656200 -2.915440 +v 0.765820 1.090747 3.117723 +v 1.048738 1.216480 -0.683610 +v -0.019552 1.844914 3.117723 +v 0.011839 0.242685 -2.506536 +v 0.451511 1.624824 -2.915440 +v -0.019552 -0.197265 1.923456 +v -0.491015 0.745616 -2.915440 +v 0.011839 1.027996 3.338090 +v 0.671647 0.493920 -2.474705 +v -0.050943 2.159362 -2.003977 +v -0.805124 -0.197265 -0.683610 +v -0.742342 1.907665 -1.752391 +v 0.765820 1.939272 -1.721172 +v -0.553797 0.525526 2.897356 +v 0.608666 0.556902 2.897356 +v 0.074421 2.159362 1.483946 +v -0.993869 1.185105 0.980774 +v 0.828602 1.876290 1.703089 +v 1.017147 1.216480 -1.595073 +v -0.050943 0.368418 3.086504 +v 0.200184 2.127525 -1.721172 +v 1.048538 -0.197265 0.226629 +v -0.616779 1.970647 1.577602 +v -0.050943 2.127525 2.363578 +v -0.553797 1.687806 2.897356 +v -0.773733 0.336811 2.300529 +v 0.797211 0.368187 2.362966 +v -0.773733 1.876290 1.766750 +v -0.082334 0.588508 -2.915440 +v 0.797211 1.907896 1.734919 +v -0.993869 1.059372 2.362966 +v 0.577275 1.090747 -2.915440 +v -0.648170 1.247856 -2.882997 +v 0.922974 1.184874 -2.412268 +v -0.145316 0.242685 -2.475317 +v -0.962278 1.216480 -2.003977 +v -0.742342 0.431399 -2.475317 +v 0.137402 1.844914 3.086504 +v 0.105811 1.750788 -2.915440 +v 1.048738 1.247856 0.792850 +v 0.828602 1.876290 0.257847 +f 179 141 180 +f 118 119 122 +f 118 122 125 +f 118 125 134 +f 127 121 136 +f 125 122 137 +f 122 130 137 +f 122 119 138 +f 132 120 139 +f 128 117 140 +f 130 128 140 +f 119 118 143 +f 138 119 143 +f 133 124 144 +f 129 139 144 +f 125 137 145 +f 137 126 145 +f 139 129 146 +f 126 140 147 +f 142 136 147 +f 143 129 148 +f 138 143 148 +f 120 132 149 +f 118 134 150 +f 149 132 151 +f 126 137 154 +f 140 126 154 +f 123 134 156 +f 128 130 157 +f 124 133 158 +f 133 152 158 +f 152 141 158 +f 125 145 159 +f 145 126 159 +f 126 147 159 +f 147 136 159 +f 153 125 159 +f 136 153 159 +f 133 120 160 +f 120 149 160 +f 152 133 160 +f 149 155 160 +f 155 152 160 +f 130 122 161 +f 122 138 161 +f 141 130 161 +f 158 141 161 +f 151 127 162 +f 149 151 162 +f 127 142 163 +f 142 135 163 +f 135 155 163 +f 155 149 163 +f 162 127 163 +f 149 162 163 +f 127 136 164 +f 142 127 164 +f 136 142 164 +f 125 153 165 +f 153 136 165 +f 137 130 166 +f 130 140 166 +f 154 137 166 +f 140 154 166 +f 121 127 167 +f 127 151 167 +f 156 121 167 +f 151 156 167 +f 129 143 168 +f 131 146 168 +f 146 129 168 +f 135 128 169 +f 155 135 169 +f 152 155 169 +f 128 157 169 +f 134 125 170 +f 136 121 170 +f 121 156 170 +f 156 134 170 +f 125 165 170 +f 165 136 170 +f 144 124 171 +f 129 144 171 +f 148 129 171 +f 123 132 172 +f 132 139 172 +f 146 123 172 +f 139 146 172 +f 138 148 173 +f 124 158 173 +f 161 138 173 +f 158 161 173 +f 171 124 173 +f 148 171 173 +f 143 118 174 +f 118 150 174 +f 150 131 174 +f 131 168 174 +f 168 143 174 +f 132 123 175 +f 151 132 175 +f 123 156 175 +f 156 151 175 +f 134 123 176 +f 123 146 176 +f 146 131 176 +f 150 134 176 +f 131 150 176 +f 117 128 177 +f 128 135 177 +f 140 117 177 +f 135 142 177 +f 147 140 177 +f 142 147 177 +f 120 133 178 +f 139 120 178 +f 133 144 178 +f 144 139 178 +f 130 141 179 +f 157 130 179 +f 157 179 180 +f 141 152 180 +f 152 169 180 +f 169 157 180 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/665/665.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/665/665.urdf new file mode 100644 index 000000000..d02f0da45 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/665/665.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/666/666.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/666/666.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/666/666.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/666/666.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/666/666.obj new file mode 100644 index 000000000..d099b09d6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/666/666.obj @@ -0,0 +1,444 @@ +o convex_0 +v -0.978661 -2.017319 3.033148 +v 0.625214 -3.112886 -3.031295 +v -0.548416 -3.034386 -2.795910 +v -0.431096 -0.961002 -2.991268 +v 1.016638 -0.921966 2.916053 +v 0.977389 -3.073636 3.033148 +v 0.938353 -1.078537 -2.991865 +v -1.096195 -3.073636 1.154850 +v -1.056946 -0.921752 -1.074136 +v -1.017911 -1.039502 2.954886 +v -0.939626 -2.956100 -2.991268 +v 0.977389 -3.112886 -2.756480 +v -0.900376 -3.034386 3.071981 +v 1.094923 -0.921966 0.959492 +v -0.978661 -0.961002 -2.991865 +v -1.056946 -3.073636 -1.308924 +v 0.977389 -0.921966 -1.543711 +v -0.939626 -0.921752 1.076587 +v -0.548416 -3.112886 -1.504281 +v 1.016638 -2.916851 -0.917612 +v 0.586179 -0.921752 2.954886 +v -0.470131 -1.509000 -3.030698 +v 0.938353 -3.112886 -3.031295 +v 1.016638 -1.782677 2.994316 +v -0.978661 -2.995350 2.915456 +v 0.116470 -3.073636 3.033148 +v -1.056946 -1.782891 2.250524 +v 0.938353 -1.469535 -3.031295 +v -0.548416 -2.995350 -3.030698 +v 1.094923 -1.039287 1.037755 +v -1.017911 -3.073636 1.976306 +v -1.056946 -1.039502 -1.347756 +v -1.017911 -1.195858 2.993718 +v -0.431096 -2.956100 3.071981 +v -1.096195 -3.073636 0.567582 +v -0.978661 -1.587071 -2.991865 +v -1.017911 -0.961002 -2.365766 +v -0.939626 -2.995350 -2.913005 +v -1.056946 -0.921752 -0.683422 +v -1.096195 -2.878029 1.194279 +v 0.938353 -1.039287 -2.756480 +v 0.938353 -0.921752 2.954886 +v 0.938353 -2.564888 3.033148 +v 1.055674 -0.921966 2.250524 +v 1.016638 -2.017319 2.994316 +v -1.017911 -1.509000 2.993718 +v -0.939626 -3.073636 -1.700236 +v 0.899104 -3.112886 -2.522290 +v -0.978661 -2.721459 3.033148 +v 0.977389 -3.034386 -2.756480 +v -0.587451 -1.000252 2.876026 +v -0.861341 -1.196072 2.993718 +f 34 42 52 +f 14 7 17 +f 4 15 17 +f 15 9 17 +f 2 12 19 +f 6 12 20 +f 9 18 21 +f 12 2 23 +f 6 13 26 +f 19 6 26 +f 4 7 28 +f 15 4 28 +f 2 22 28 +f 22 15 28 +f 23 2 28 +f 12 23 28 +f 22 2 29 +f 15 22 29 +f 12 14 30 +f 6 20 30 +f 20 12 30 +f 8 19 31 +f 25 8 31 +f 13 25 31 +f 26 13 31 +f 19 26 31 +f 21 10 33 +f 10 27 33 +f 1 13 34 +f 13 6 34 +f 19 8 35 +f 16 19 35 +f 9 32 35 +f 32 16 35 +f 11 16 36 +f 29 11 36 +f 15 29 36 +f 9 15 37 +f 32 9 37 +f 16 32 37 +f 36 16 37 +f 15 36 37 +f 2 3 38 +f 16 11 38 +f 29 2 38 +f 11 29 38 +f 18 9 39 +f 10 18 39 +f 27 10 39 +f 27 39 40 +f 8 27 40 +f 35 8 40 +f 9 35 40 +f 39 9 40 +f 7 4 41 +f 4 17 41 +f 17 7 41 +f 14 17 42 +f 17 9 42 +f 9 21 42 +f 24 5 42 +f 21 33 42 +f 42 34 43 +f 6 24 43 +f 34 6 43 +f 24 42 43 +f 5 24 44 +f 30 14 44 +f 42 5 44 +f 14 42 44 +f 24 6 45 +f 6 30 45 +f 44 24 45 +f 30 44 45 +f 8 25 46 +f 27 8 46 +f 1 33 46 +f 33 27 46 +f 3 2 47 +f 2 19 47 +f 19 16 47 +f 38 3 47 +f 16 38 47 +f 12 6 48 +f 6 19 48 +f 19 12 48 +f 13 1 49 +f 25 13 49 +f 46 25 49 +f 1 46 49 +f 7 14 50 +f 14 12 50 +f 28 7 50 +f 12 28 50 +f 18 10 51 +f 10 21 51 +f 21 18 51 +f 33 1 52 +f 1 34 52 +f 42 33 52 +o convex_1 +v 1.055673 -0.178059 1.037831 +v 0.899102 -0.921752 -1.114053 +v 0.899102 -0.882456 -1.114053 +v -1.096211 0.799685 1.037831 +v 0.977388 0.838981 -0.996517 +v -1.056961 -0.921752 -1.074803 +v -0.939425 -0.921752 1.077081 +v -1.056961 0.838981 -1.035553 +v 1.055673 0.838981 0.998581 +v 1.094923 -0.921752 1.037831 +v -0.470142 0.838981 1.077081 +v 0.977388 -0.921752 -1.114053 +v -0.391856 0.447573 -1.074803 +v 0.547140 -0.921752 1.077081 +v -1.096211 0.838981 -0.135807 +v -1.056961 -0.921752 -0.644340 +v -1.056961 0.838981 1.077081 +v -1.056961 -0.022082 -1.074803 +v 1.055673 0.838981 0.685654 +v -1.096211 0.212659 0.176906 +v 0.155713 0.838981 -1.035553 +v 1.016638 -0.882456 -0.566269 +v 1.094923 -0.882456 0.959546 +v -0.978675 -0.569467 1.077081 +v 0.899102 0.447573 -1.035553 +f 64 73 77 +f 55 54 58 +f 58 54 59 +f 57 60 61 +f 59 54 62 +f 61 53 62 +f 53 61 63 +f 61 60 63 +f 54 55 64 +f 62 54 64 +f 64 55 65 +f 59 62 66 +f 62 53 66 +f 63 59 66 +f 53 63 66 +f 63 60 67 +f 58 59 68 +f 59 63 69 +f 67 56 69 +f 63 67 69 +f 55 58 70 +f 65 55 70 +f 60 65 70 +f 58 67 70 +f 67 60 70 +f 57 61 71 +f 56 67 72 +f 67 58 72 +f 68 56 72 +f 58 68 72 +f 60 57 73 +f 65 60 73 +f 64 65 73 +f 64 57 74 +f 62 64 74 +f 61 62 75 +f 57 71 75 +f 71 61 75 +f 74 57 75 +f 62 74 75 +f 56 68 76 +f 68 59 76 +f 69 56 76 +f 59 69 76 +f 57 64 77 +f 73 57 77 +o convex_2 +v 1.016607 2.990635 0.646370 +v -0.744004 0.838981 -1.035496 +v 0.077530 0.838981 -1.035496 +v 0.742552 3.069051 -3.109550 +v -0.978668 3.108370 1.077081 +v 1.055788 0.838981 0.998807 +v -1.057030 3.108370 -2.913660 +v 1.055788 1.034687 -3.031276 +v -1.096211 0.838981 1.077081 +v -1.096211 0.995590 -3.031276 +v 1.055788 3.108370 -1.896099 +v 1.016607 2.951761 1.077081 +v 1.016607 3.069051 -3.109550 +v 0.977426 0.838981 -0.996973 +v -1.096211 1.426099 1.077081 +v 1.055788 3.108370 -0.801084 +v 1.055788 1.034687 1.077081 +v -0.626462 1.543389 -3.070208 +v -1.057030 3.029954 -2.952592 +v 0.351375 0.995590 -3.031276 +v 1.055788 1.426099 -3.069798 +v -1.057030 3.108370 -2.052647 +v -1.057030 0.838981 -1.035086 +v -1.017849 2.716958 1.077081 +v 1.055788 3.029954 -0.018754 +v 0.429737 2.481933 -3.109550 +v -0.822155 3.108370 1.077081 +v -1.096211 1.152421 -3.031276 +v 1.055788 0.995590 -2.756703 +v 1.055788 1.621804 1.077081 +v 1.055788 1.934801 -3.069798 +v -0.626462 1.426099 -3.070208 +v 1.016607 2.481933 -3.109550 +v -1.057030 1.543389 -3.031276 +v -0.469949 0.838981 1.077081 +v 1.055788 3.029954 -2.170263 +f 108 90 113 +f 79 80 83 +f 79 83 86 +f 80 79 87 +f 84 82 88 +f 83 85 88 +f 82 86 89 +f 81 84 90 +f 84 88 90 +f 83 80 91 +f 86 82 92 +f 87 86 92 +f 88 82 93 +f 83 88 93 +f 78 89 93 +f 89 86 94 +f 83 93 94 +f 84 81 96 +f 81 95 96 +f 80 87 97 +f 91 80 97 +f 88 85 98 +f 85 97 98 +f 82 84 99 +f 84 92 99 +f 79 86 100 +f 86 87 100 +f 87 79 100 +f 92 82 101 +f 82 99 101 +f 99 92 101 +f 93 89 102 +f 94 93 102 +f 81 90 103 +f 95 81 103 +f 89 78 104 +f 82 89 104 +f 78 93 104 +f 93 82 104 +f 92 84 105 +f 87 92 105 +f 95 87 105 +f 84 96 105 +f 85 83 106 +f 83 91 106 +f 91 97 106 +f 97 85 106 +f 89 94 107 +f 102 89 107 +f 94 102 107 +f 88 98 108 +f 98 90 108 +f 87 95 109 +f 97 87 109 +f 98 97 109 +f 95 103 109 +f 109 103 110 +f 90 98 110 +f 103 90 110 +f 98 109 110 +f 96 95 111 +f 95 105 111 +f 105 96 111 +f 86 83 112 +f 83 94 112 +f 94 86 112 +f 90 88 113 +f 88 108 113 +o convex_3 +v 1.055670 1.700090 1.077273 +v -1.096211 0.995736 1.781637 +v -1.096211 0.995736 2.211585 +v -0.978676 3.108370 1.077472 +v 1.094919 2.990834 2.994212 +v -1.096211 3.029870 3.072275 +v 1.016420 1.034771 2.915949 +v 1.016420 2.951584 1.077273 +v -1.056961 0.917236 3.111506 +v 0.625208 0.995736 1.077273 +v -1.096211 1.074021 1.077472 +v 1.055670 1.034771 1.077273 +v 0.038390 0.956486 3.033443 +v 1.094919 2.990834 2.329078 +v 1.094705 2.090873 2.954981 +v -0.352608 0.917236 2.368110 +v 1.016420 0.995736 1.155535 +v 0.116675 3.030084 3.033443 +v -1.096211 1.856661 1.468586 +v -0.822105 0.917236 3.111506 +v 1.055670 1.113271 2.915949 +v 1.094705 1.895696 1.859900 +v -0.822105 3.108370 1.116504 +v -1.017925 1.699875 3.111506 +v -1.056961 3.069120 2.524635 +v -1.017925 2.795228 1.116504 +v 1.055670 1.504269 2.954981 +v -1.096211 3.029870 2.759224 +v -1.096211 2.012803 3.072275 +v -1.056961 0.917236 2.641930 +v 1.094705 2.755978 2.994013 +v -0.900390 1.034771 1.233798 +v -1.096211 1.465019 1.077472 +v -0.861355 3.029870 3.072275 +v -0.470143 0.917236 2.994013 +v 0.625208 0.995736 2.876718 +v -0.939640 3.108370 1.351292 +v 1.055670 1.034771 2.446373 +v 0.860064 1.034771 2.954981 +f 134 140 152 +f 115 116 119 +f 116 115 122 +f 121 114 123 +f 117 121 123 +f 115 119 124 +f 123 114 125 +f 114 121 127 +f 123 125 130 +f 129 123 130 +f 124 119 132 +f 122 129 133 +f 128 134 135 +f 125 114 135 +f 127 118 135 +f 114 127 135 +f 118 128 135 +f 121 117 136 +f 118 127 136 +f 127 121 136 +f 119 122 137 +f 118 131 137 +f 122 133 137 +f 133 118 137 +f 134 128 140 +f 132 119 141 +f 138 117 141 +f 119 138 141 +f 117 139 141 +f 139 132 141 +f 119 116 142 +f 116 122 142 +f 122 119 142 +f 122 115 143 +f 129 122 143 +f 123 129 143 +f 128 118 144 +f 118 133 144 +f 133 126 144 +f 126 140 144 +f 140 128 144 +f 115 124 145 +f 124 123 145 +f 143 115 145 +f 123 143 145 +f 117 123 146 +f 123 124 146 +f 124 132 146 +f 139 117 146 +f 132 139 146 +f 119 137 147 +f 137 131 147 +f 138 119 147 +f 131 138 147 +f 129 130 148 +f 126 133 148 +f 133 129 148 +f 120 126 149 +f 130 120 149 +f 126 148 149 +f 148 130 149 +f 131 118 150 +f 136 117 150 +f 118 136 150 +f 117 138 150 +f 138 131 150 +f 120 130 151 +f 130 125 151 +f 134 120 151 +f 135 134 151 +f 125 135 151 +f 126 120 152 +f 120 134 152 +f 140 126 152 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/666/666.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/666/666.urdf new file mode 100644 index 000000000..ee12bbad8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/666/666.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/667/667.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/667/667.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/667/667.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/667/667.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/667/667.obj new file mode 100644 index 000000000..5940e5c0d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/667/667.obj @@ -0,0 +1,750 @@ +o convex_0 +v 0.146913 0.000623 -1.049263 +v -1.275408 0.065233 -0.014629 +v -1.242916 -1.195714 0.308251 +v 0.825796 1.487443 1.084331 +v 0.890349 -1.195714 1.019379 +v -1.210639 1.487443 1.051960 +v 0.825796 1.487443 -0.951940 +v -1.113595 1.487443 -1.016892 +v 0.890349 -1.195714 -1.016892 +v -1.113595 -1.195714 -0.984521 +v -1.210639 -1.195714 0.987008 +v 0.922841 1.487443 0.502062 +v 0.761028 -1.195714 1.084331 +v -1.275408 1.487443 -0.531737 +v -0.790399 1.487443 -1.049263 +v -0.014685 -1.195714 -1.049263 +v 0.922841 -1.195714 0.631548 +v 0.793305 1.390265 -0.984521 +v -1.210639 0.646724 1.051960 +v -1.113595 -0.031682 -1.016892 +v 0.890349 -0.775223 -1.016892 +v 0.340787 1.487443 1.084331 +v -1.275408 0.808512 -0.467203 +v -1.210639 -0.581393 1.019588 +v -0.434926 1.487443 -1.049263 +v 0.567153 -1.130841 -1.049263 +v 0.858073 0.743902 1.084331 +v 0.858073 0.646724 -0.984312 +v -1.210639 -0.678308 -0.402669 +v -1.275408 1.487443 -0.241020 +v -1.145871 1.390265 -0.984521 +v 0.922841 1.487443 0.437528 +v 0.922841 -1.195714 0.437528 +v -0.790399 -1.130841 -1.016683 +v 0.858073 -1.195714 1.084331 +v -1.145871 -1.195714 -0.758129 +v -1.275408 0.193928 0.017534 +v 0.858073 1.422570 1.019379 +f 27 5 38 +f 6 4 7 +f 6 7 8 +f 5 3 9 +f 9 3 10 +f 2 3 11 +f 3 5 11 +f 7 4 12 +f 11 5 13 +f 6 8 14 +f 8 7 15 +f 9 10 16 +f 15 1 16 +f 5 9 17 +f 12 5 17 +f 8 15 20 +f 15 16 20 +f 4 6 22 +f 13 4 22 +f 6 19 22 +f 19 13 22 +f 3 2 23 +f 2 14 23 +f 14 10 23 +f 11 13 24 +f 13 19 24 +f 1 15 25 +f 15 7 25 +f 18 1 25 +f 7 18 25 +f 16 1 26 +f 9 16 26 +f 1 18 26 +f 21 9 26 +f 18 21 26 +f 4 13 27 +f 18 7 28 +f 21 18 28 +f 3 23 29 +f 14 2 30 +f 6 14 30 +f 14 8 31 +f 10 14 31 +f 8 20 31 +f 20 10 31 +f 7 12 32 +f 12 17 32 +f 9 21 32 +f 28 7 32 +f 21 28 32 +f 17 9 33 +f 9 32 33 +f 32 17 33 +f 16 10 34 +f 10 20 34 +f 20 16 34 +f 13 5 35 +f 5 27 35 +f 27 13 35 +f 10 3 36 +f 23 10 36 +f 3 29 36 +f 29 23 36 +f 2 11 37 +f 19 6 37 +f 11 24 37 +f 24 19 37 +f 30 2 37 +f 6 30 37 +f 12 4 38 +f 5 12 38 +f 4 27 38 +o convex_1 +v -3.279694 -2.197750 -0.240907 +v -1.275408 -1.357350 0.470038 +v -1.275408 -2.294677 0.470038 +v -1.275408 -2.294677 -0.532029 +v -3.150012 -1.454493 -0.467222 +v -3.150012 -1.454493 0.502442 +v -3.214951 -2.391713 0.470038 +v -1.275408 -1.422112 -0.434920 +v -3.182383 -2.391713 -0.499524 +v -1.275408 -2.456367 0.437737 +v -1.275408 -2.359332 -0.532029 +v -3.279694 -1.583802 -0.079296 +v -3.020918 -1.422112 -0.435022 +v -2.180632 -1.389839 0.502442 +v -1.404894 -2.456367 0.211421 +v -3.182383 -1.939132 0.502442 +v -1.986992 -2.456367 0.437737 +v -3.247322 -2.391713 0.437737 +v -1.469441 -1.422112 0.502442 +v -2.083714 -1.454493 -0.467222 +v -1.501812 -1.357350 0.308428 +v -1.954621 -2.391713 -0.499524 +v -3.279694 -1.680730 -0.273310 +v -3.182383 -1.454493 0.437737 +v -2.891432 -1.422112 0.502442 +v -3.182383 -2.197750 -0.499524 +v -2.826885 -2.423986 0.405435 +v -3.214951 -2.391713 -0.467222 +f 55 65 66 +f 40 41 42 +f 40 42 46 +f 42 41 48 +f 41 45 48 +f 42 48 49 +f 47 42 49 +f 49 48 53 +f 45 41 54 +f 52 44 54 +f 48 45 55 +f 47 53 55 +f 53 48 55 +f 50 39 56 +f 45 54 56 +f 54 44 56 +f 41 40 57 +f 40 52 57 +f 54 41 57 +f 52 54 57 +f 42 43 58 +f 46 42 58 +f 43 51 58 +f 51 46 58 +f 40 46 59 +f 46 51 59 +f 52 40 59 +f 47 49 60 +f 53 47 60 +f 49 53 60 +f 39 50 61 +f 50 43 61 +f 43 50 62 +f 51 43 62 +f 50 56 62 +f 56 44 62 +f 44 52 63 +f 59 51 63 +f 52 59 63 +f 51 62 63 +f 62 44 63 +f 43 42 64 +f 42 47 64 +f 55 45 65 +f 45 56 65 +f 65 56 66 +f 47 55 66 +f 56 39 66 +f 39 61 66 +f 61 43 66 +f 43 64 66 +f 64 47 66 +o convex_2 +v -0.144025 -2.973710 -0.919778 +v 0.017571 -1.293002 -1.049263 +v 0.017571 -1.195888 -1.049263 +v 0.858039 -1.195714 1.084331 +v -1.210641 -1.195888 0.987217 +v 0.890315 -2.844223 1.051751 +v 0.922807 -2.941338 -1.049263 +v -1.113597 -2.973710 -0.952149 +v -1.178149 -2.876421 0.954845 +v -1.113597 -1.195888 -0.984521 +v 0.890315 -1.195714 -1.016683 +v -1.275408 -2.359173 -0.531946 +v 0.922807 -1.195714 0.631339 +v -1.275408 -1.357397 0.469899 +v -1.275408 -2.585600 0.566805 +v 0.437805 -2.844223 1.051960 +v -1.016554 -2.941164 -0.984521 +v -1.275408 -1.422140 -0.434832 +v 0.922807 -2.908792 -0.014629 +v 0.922807 -2.197664 -1.049263 +v -1.178149 -2.908792 0.502271 +v 0.502357 -2.941164 -1.049263 +v 0.793487 -2.876595 0.696082 +v -1.178149 -1.777705 0.987217 +v -1.242917 -1.195888 0.340622 +v -0.984278 -2.973710 -0.661223 +v 0.825763 -1.745507 1.084331 +v 0.922807 -1.422140 -0.596480 +v -0.758130 -1.260631 -1.016892 +v -1.210641 -2.844223 0.922474 +v 0.922807 -2.488659 0.469899 +v 0.599400 -1.228260 -1.049263 +v 0.890315 -1.454512 1.051751 +v -1.113597 -2.617797 -0.984521 +v 0.922807 -2.941338 -0.661223 +v -0.499492 -2.876421 0.954845 +v -1.145873 -2.908792 -0.758129 +v 0.760996 -1.195714 1.084331 +f 90 93 104 +f 68 69 73 +f 73 67 74 +f 69 76 77 +f 77 70 79 +f 80 78 81 +f 71 80 81 +f 76 78 84 +f 78 80 84 +f 73 79 85 +f 73 69 86 +f 79 73 86 +f 68 73 88 +f 73 74 88 +f 74 83 88 +f 85 72 89 +f 71 75 90 +f 75 82 90 +f 77 76 91 +f 80 71 91 +f 76 84 91 +f 84 80 91 +f 74 67 92 +f 87 74 92 +f 67 89 92 +f 72 70 93 +f 82 72 93 +f 90 82 93 +f 77 79 94 +f 86 77 94 +f 79 86 94 +f 69 68 95 +f 76 69 95 +f 68 88 95 +f 75 71 96 +f 71 81 96 +f 87 75 96 +f 79 72 97 +f 72 85 97 +f 85 79 97 +f 69 77 98 +f 86 69 98 +f 77 86 98 +f 70 72 99 +f 79 70 99 +f 72 79 99 +f 74 78 100 +f 78 76 100 +f 83 74 100 +f 88 83 100 +f 76 95 100 +f 95 88 100 +f 67 73 101 +f 73 85 101 +f 89 67 101 +f 85 89 101 +f 72 82 102 +f 82 75 102 +f 75 87 102 +f 89 72 102 +f 87 92 102 +f 92 89 102 +f 78 74 103 +f 81 78 103 +f 74 87 103 +f 96 81 103 +f 87 96 103 +f 70 77 104 +f 71 90 104 +f 91 71 104 +f 77 91 104 +f 93 70 104 +o convex_3 +v 1.311103 -2.488688 -0.208655 +v 2.668351 -1.357486 -0.629010 +v 2.668351 -1.325023 -0.629010 +v 2.862384 -1.906855 0.534769 +v 0.923037 -1.422185 0.502416 +v 0.923037 -1.422185 -0.596658 +v 2.862384 -2.359405 -0.499600 +v 0.923037 -2.488688 0.470064 +v 0.923037 -2.488688 -0.564305 +v 2.894755 -2.423989 0.502416 +v 2.797641 -1.422071 0.470064 +v 2.926931 -1.616053 -0.370304 +v 0.955213 -1.422185 0.534655 +v 2.830012 -1.325023 -0.629010 +v 1.052327 -2.391640 0.502416 +v 2.830012 -1.486770 0.534769 +v 2.926931 -1.648402 0.276063 +v 2.830012 -2.391754 -0.402656 +v 2.830012 -1.325023 -0.402656 +v 2.926931 -2.230121 -0.337838 +v 1.472568 -2.133073 -0.596658 +v 1.181813 -1.389836 -0.596658 +v 2.441947 -1.325023 -0.564305 +v 1.117070 -2.488688 -0.564305 +v 2.797641 -2.036139 0.534769 +v 0.923037 -1.874734 -0.596658 +v 2.377400 -1.422185 0.534655 +v 2.086449 -2.456339 0.502416 +v 2.830012 -1.389722 -0.629010 +v 2.894755 -2.423989 0.373120 +v 2.926931 -2.133073 0.308415 +v 2.086449 -2.423989 -0.531953 +v 1.828066 -1.842385 0.534655 +f 129 117 137 +f 107 106 110 +f 109 110 112 +f 105 112 113 +f 112 110 113 +f 109 112 117 +f 106 107 118 +f 117 112 119 +f 108 114 121 +f 120 108 121 +f 118 107 123 +f 116 118 123 +f 115 120 123 +f 120 121 123 +f 121 116 123 +f 111 116 124 +f 116 121 124 +f 107 110 126 +f 110 109 126 +f 109 117 127 +f 123 107 127 +f 117 123 127 +f 107 126 127 +f 126 109 127 +f 105 113 128 +f 113 125 128 +f 114 108 129 +f 108 120 129 +f 120 117 129 +f 110 106 130 +f 113 110 130 +f 106 125 130 +f 125 113 130 +f 117 120 131 +f 120 115 131 +f 123 117 131 +f 115 123 131 +f 112 105 132 +f 105 114 132 +f 119 112 132 +f 114 129 132 +f 129 119 132 +f 116 111 133 +f 106 118 133 +f 118 116 133 +f 125 106 133 +f 114 105 134 +f 122 111 134 +f 111 124 134 +f 124 114 134 +f 105 128 134 +f 128 122 134 +f 121 114 135 +f 114 124 135 +f 124 121 135 +f 111 122 136 +f 122 128 136 +f 128 125 136 +f 133 111 136 +f 125 133 136 +f 117 119 137 +f 119 129 137 +o convex_4 +v 3.767755 -2.262477 -0.208706 +v 3.703208 -1.615968 -0.111750 +v 3.703208 -1.615968 -0.144026 +v 4.866569 -2.003780 0.308478 +v 2.927127 -2.133162 0.308478 +v 4.737096 -2.294839 -0.338065 +v 2.927127 -1.615968 -0.338065 +v 2.927127 -1.648329 0.276075 +v 4.801832 -1.712987 -0.176429 +v 2.927127 -2.230181 -0.338065 +v 4.737096 -1.680625 0.211396 +v 4.866569 -2.100866 0.308478 +v 4.543265 -1.712987 -0.273322 +v 4.737096 -2.294839 -0.273322 +v 2.992054 -2.262477 -0.305662 +v 4.575539 -1.648329 0.146842 +v 3.282894 -1.615968 -0.338065 +v 4.801832 -1.842369 -0.273322 +v 4.058405 -1.874664 0.308478 +v 2.927127 -1.615968 0.017483 +v 2.959780 -2.165457 0.211396 +v 3.509188 -2.133162 0.308478 +v 4.737096 -2.230181 -0.338065 +f 150 155 160 +f 139 140 144 +f 144 142 145 +f 142 144 147 +f 144 143 147 +f 141 146 148 +f 141 142 149 +f 143 149 151 +f 142 147 152 +f 147 143 152 +f 151 138 152 +f 143 151 152 +f 140 139 153 +f 146 140 153 +f 145 148 153 +f 148 146 153 +f 144 140 154 +f 143 144 154 +f 140 146 154 +f 146 150 154 +f 146 141 155 +f 141 149 155 +f 149 143 155 +f 150 146 155 +f 142 141 156 +f 145 142 156 +f 148 145 156 +f 141 148 156 +f 139 144 157 +f 144 145 157 +f 153 139 157 +f 145 153 157 +f 138 151 158 +f 152 138 158 +f 142 152 158 +f 149 142 159 +f 151 149 159 +f 142 158 159 +f 158 151 159 +f 143 154 160 +f 154 150 160 +f 155 143 160 +o convex_5 +v 0.922841 1.487443 -0.305526 +v 2.830115 2.651111 -0.370206 +v 2.830115 2.651111 -0.467225 +v 2.894778 1.519792 -0.564356 +v 2.830115 1.810823 0.470076 +v 0.955269 2.521713 0.502416 +v 0.922841 2.586412 -0.467225 +v 0.922841 1.616955 0.470076 +v 2.765452 2.586526 0.567096 +v 0.922841 1.487443 -0.499565 +v 2.830115 1.616841 0.373057 +v 1.020126 2.618762 -0.402546 +v 2.118820 2.230796 0.567096 +v 0.922841 1.649190 0.502416 +v 2.765452 2.586526 -0.499565 +v 2.894778 1.519792 -0.370206 +v 2.377280 2.586412 0.567096 +v 2.700788 2.651111 -0.111598 +v 1.472575 1.487443 -0.531905 +v 0.955269 1.584605 0.405397 +v 2.894778 1.649190 -0.564356 +v 0.922841 2.521713 0.470076 +v 2.474371 1.616955 0.437736 +v 2.862350 1.681540 0.243808 +v 1.957066 2.650997 -0.467225 +v 2.765452 2.360194 0.567096 +v 0.922841 1.940107 -0.499565 +v 1.537238 2.554063 0.534756 +v 1.989494 1.487443 -0.467225 +v 2.894778 1.746238 -0.467225 +v 1.860361 1.616955 0.470076 +f 180 183 191 +f 167 161 168 +f 161 167 170 +f 167 168 174 +f 173 169 177 +f 162 163 178 +f 169 162 178 +f 177 169 178 +f 172 177 178 +f 161 170 179 +f 168 161 180 +f 175 163 181 +f 167 175 181 +f 176 164 181 +f 164 179 181 +f 172 167 182 +f 166 172 182 +f 174 166 182 +f 167 174 182 +f 171 165 183 +f 176 171 183 +f 180 161 183 +f 169 165 184 +f 162 169 184 +f 165 171 184 +f 171 176 184 +f 167 172 185 +f 163 175 185 +f 175 167 185 +f 178 163 185 +f 172 178 185 +f 165 169 186 +f 173 165 186 +f 169 173 186 +f 170 167 187 +f 179 170 187 +f 167 181 187 +f 181 179 187 +f 172 166 188 +f 166 174 188 +f 174 173 188 +f 177 172 188 +f 173 177 188 +f 164 176 189 +f 179 164 189 +f 161 179 189 +f 183 161 189 +f 176 183 189 +f 163 162 190 +f 181 163 190 +f 176 181 190 +f 162 184 190 +f 184 176 190 +f 165 173 191 +f 174 168 191 +f 173 174 191 +f 168 180 191 +f 183 165 191 +o convex_6 +v -2.180702 1.552300 -0.467273 +v -1.275601 2.683432 0.502391 +v -1.275601 2.489446 0.534743 +v -3.150081 2.489446 0.437686 +v -3.214745 2.521758 -0.596683 +v -3.214745 1.584611 0.437686 +v -1.275601 2.521758 -0.564330 +v -1.275601 1.487560 0.567096 +v -1.275601 1.519988 -0.467273 +v -3.214745 1.616922 -0.434920 +v -3.117846 2.651003 0.437686 +v -1.663391 2.683432 0.308390 +v -1.663391 1.584611 0.567096 +v -3.214745 2.360084 -0.596683 +v -3.247173 1.649234 0.437686 +v -1.275601 1.649234 -0.499625 +v -1.307836 1.487560 0.114389 +v -3.117846 2.651003 0.276151 +v -2.309837 2.457135 -0.596683 +v -1.857383 2.683432 0.502391 +v -1.275601 2.618692 -0.079271 +v -2.600728 2.586380 -0.273272 +v -3.214745 1.681545 -0.467273 +v -2.956283 1.584611 0.470038 +v -3.214745 2.521758 -0.402568 +v -1.663391 1.519988 -0.467273 +v -1.469592 1.487560 0.567096 +v -1.307836 1.972465 0.567096 +v -2.632963 2.651003 0.470038 +v -2.438972 2.683432 0.405447 +v -1.275601 2.392512 -0.564330 +v -1.275601 2.554069 -0.434920 +f 196 213 223 +f 193 194 198 +f 198 194 199 +f 198 199 200 +f 192 197 201 +f 201 197 206 +f 196 205 206 +f 198 200 207 +f 192 205 207 +f 200 199 208 +f 196 202 209 +f 196 198 210 +f 205 196 210 +f 207 205 210 +f 194 193 211 +f 193 203 211 +f 193 198 212 +f 203 193 212 +f 203 212 213 +f 196 209 213 +f 192 201 214 +f 205 192 214 +f 201 206 214 +f 206 205 214 +f 202 195 215 +f 204 202 215 +f 195 206 215 +f 206 197 215 +f 195 202 216 +f 202 196 216 +f 206 195 216 +f 196 206 216 +f 197 192 217 +f 207 200 217 +f 192 207 217 +f 208 197 217 +f 200 208 217 +f 199 204 218 +f 197 208 218 +f 208 199 218 +f 215 197 218 +f 204 215 218 +f 199 194 219 +f 204 199 219 +f 194 211 219 +f 219 211 220 +f 202 204 220 +f 211 202 220 +f 204 219 220 +f 209 202 221 +f 211 203 221 +f 202 211 221 +f 203 213 221 +f 213 209 221 +f 198 207 222 +f 210 198 222 +f 207 210 222 +f 198 196 223 +f 212 198 223 +f 213 212 223 +o convex_7 +v 0.890315 1.487753 0.760901 +v -1.145873 2.683413 -1.049263 +v -1.178365 2.748064 -0.952162 +v 0.793487 3.038917 -0.919724 +v -1.210641 3.071475 1.084008 +v -1.145873 1.487753 -0.984600 +v -1.210641 1.487753 1.051994 +v 0.793487 3.071475 1.116658 +v 0.825763 1.487753 -0.951950 +v -1.145873 3.071475 -1.049263 +v 0.825763 1.487753 1.084008 +v 0.922807 2.586359 -0.467289 +v -1.275408 1.520001 -0.564178 +v -1.275408 2.683413 0.502033 +v -0.434724 1.487753 -1.049263 +v -0.887450 3.038917 1.116658 +v 0.793487 2.942018 -0.951950 +v 0.922807 1.487753 -0.499515 +v 0.922807 2.521707 0.469807 +v -1.275408 2.521707 -0.564178 +v -1.275408 1.487753 0.566697 +v -0.079472 3.071475 -0.984600 +v -1.210641 1.843257 1.084008 +v 0.825763 2.360157 1.116658 +v 0.825763 3.038917 1.084008 +v 0.728720 1.552249 -0.984600 +v 0.922807 1.487753 0.502245 +v -0.790406 1.487753 -1.049263 +v -0.952002 2.942018 -1.049263 +v 0.793487 3.071475 0.308254 +v -1.210641 3.071475 0.566697 +v 0.825763 2.069459 -0.951950 +v -1.145873 1.746203 -1.016826 +v 0.340762 1.487753 1.084008 +v 0.858039 1.746203 0.987118 +f 248 247 258 +f 229 224 230 +f 224 229 232 +f 225 226 233 +f 228 231 233 +f 230 224 234 +f 232 229 238 +f 225 233 238 +f 231 228 239 +f 227 235 240 +f 224 232 241 +f 241 235 242 +f 233 226 243 +f 226 236 243 +f 236 237 243 +f 229 230 244 +f 236 229 244 +f 237 236 244 +f 228 237 244 +f 233 231 245 +f 227 240 245 +f 240 233 245 +f 239 228 246 +f 244 230 246 +f 228 244 246 +f 231 239 247 +f 239 246 247 +f 235 227 248 +f 242 235 248 +f 231 247 248 +f 232 238 249 +f 224 241 250 +f 241 242 250 +f 242 224 250 +f 225 238 251 +f 238 229 251 +f 238 233 252 +f 233 240 252 +f 249 238 252 +f 240 249 252 +f 227 245 253 +f 245 231 253 +f 248 227 253 +f 231 248 253 +f 228 233 254 +f 237 228 254 +f 233 243 254 +f 243 237 254 +f 240 235 255 +f 241 232 255 +f 235 241 255 +f 232 249 255 +f 249 240 255 +f 226 225 256 +f 236 226 256 +f 229 236 256 +f 225 251 256 +f 251 229 256 +f 230 234 257 +f 246 230 257 +f 234 247 257 +f 247 246 257 +f 234 224 258 +f 224 242 258 +f 247 234 258 +f 242 248 258 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/667/667.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/667/667.urdf new file mode 100644 index 000000000..417381c42 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/667/667.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/668/668.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/668/668.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/668/668.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/668/668.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/668/668.obj new file mode 100644 index 000000000..40b6eafb9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/668/668.obj @@ -0,0 +1,669 @@ +o convex_0 +v 0.577245 1.594998 3.397169 +v -0.600948 -4.480256 3.507655 +v -0.527354 -4.517579 2.587327 +v -0.600948 1.632321 2.624117 +v 0.577245 -4.517579 2.587212 +v -0.600948 1.521555 3.728510 +v 0.503651 -4.480256 3.655046 +v 0.540448 1.484232 2.697697 +v -0.600948 -4.480256 3.765416 +v 0.429942 1.594998 3.654930 +v 0.577245 0.011170 3.618140 +v -0.527354 -0.835224 3.765416 +v 0.319551 -4.480256 3.691720 +v -0.564151 -2.564733 2.587327 +v 0.540448 -4.517579 3.323474 +v 0.540448 0.527073 2.660907 +v -0.269545 1.558276 3.728626 +v -0.600948 -0.172436 2.624117 +v 0.577245 1.594998 3.618140 +v 0.577245 -4.185884 2.587212 +v 0.540448 -0.872547 3.655046 +v -0.527354 -1.497410 2.587327 +v 0.577245 -4.406814 2.881878 +v -0.490557 1.594998 2.624117 +v -0.453645 -4.480256 3.765416 +v 0.540448 -3.007194 3.655046 +v 0.577245 -2.675498 2.624117 +v 0.172248 1.558276 2.660907 +v -0.600948 1.632321 2.844973 +v -0.159039 -0.467410 3.728626 +v 0.577245 1.558276 3.286684 +v -0.600948 -0.540852 3.765416 +v 0.319551 -3.743424 3.691720 +v -0.527354 -4.517579 2.918668 +v -0.564151 -4.406814 2.955458 +f 18 14 35 +f 4 2 6 +f 2 3 9 +f 6 2 9 +f 5 1 11 +f 5 3 14 +f 3 5 15 +f 7 13 15 +f 2 4 18 +f 4 14 18 +f 1 4 19 +f 11 1 19 +f 1 5 20 +f 5 14 20 +f 19 10 21 +f 11 19 21 +f 14 4 22 +f 20 14 22 +f 5 11 23 +f 15 5 23 +f 16 20 24 +f 22 4 24 +f 20 22 24 +f 12 9 25 +f 9 15 25 +f 15 13 25 +f 13 7 26 +f 7 15 26 +f 11 21 26 +f 21 13 26 +f 23 11 26 +f 15 23 26 +f 16 8 27 +f 1 20 27 +f 20 16 27 +f 4 1 28 +f 1 8 28 +f 8 16 28 +f 24 4 28 +f 16 24 28 +f 4 6 29 +f 6 17 29 +f 17 10 29 +f 19 4 29 +f 10 19 29 +f 10 17 30 +f 17 12 30 +f 21 10 30 +f 8 1 31 +f 1 27 31 +f 27 8 31 +f 6 9 32 +f 9 12 32 +f 17 6 32 +f 12 17 32 +f 13 21 33 +f 12 25 33 +f 25 13 33 +f 30 12 33 +f 21 30 33 +f 9 3 34 +f 3 15 34 +f 15 9 34 +f 3 2 35 +f 14 3 35 +f 2 18 35 +o convex_1 +v -1.006082 1.669147 -1.942460 +v 0.982436 2.626847 -0.911184 +v 0.982436 2.516283 -0.911184 +v -0.932319 2.000643 0.230259 +v -1.116624 3.583963 -1.868660 +v 0.945452 3.657737 0.082661 +v 0.908673 1.669147 0.230259 +v 0.908673 3.620558 -1.794861 +v 0.982436 1.669147 -1.868660 +v -1.006082 3.583963 0.156460 +v -0.932319 1.669147 0.230259 +v 0.614033 1.779710 -1.942460 +v 0.356376 3.657737 0.119667 +v -1.116624 3.326046 -1.721487 +v -0.674457 3.620752 -1.831867 +v 0.945452 1.706131 0.156460 +v 0.945452 3.547173 -1.794861 +v -0.711441 3.620752 0.156460 +v -1.042861 2.000643 -1.942460 +v 0.945452 3.657737 -0.801017 +v 0.945452 3.547173 0.119667 +v 0.834911 3.326046 -1.831867 +v 0.982436 2.332334 -1.868660 +v -0.969098 2.295350 0.193253 +v -0.969098 1.669147 -0.432871 +v -0.969098 2.332140 -1.942460 +v -0.858762 3.583963 -1.868660 +v 0.982436 1.669147 -1.058357 +v -1.079640 3.546978 -0.911184 +v 0.908673 1.743115 0.230259 +v -0.932319 2.957954 0.193253 +v -0.564121 3.620752 0.156460 +v 0.614033 1.669147 -1.942460 +v -1.006082 3.326046 0.156460 +f 64 59 69 +f 37 38 44 +f 42 36 44 +f 42 39 46 +f 36 42 46 +f 39 45 46 +f 38 37 51 +f 40 45 53 +f 50 40 53 +f 48 50 53 +f 47 36 54 +f 49 40 54 +f 41 37 55 +f 48 41 55 +f 43 50 55 +f 50 48 55 +f 37 52 55 +f 52 43 55 +f 37 41 56 +f 41 48 56 +f 51 37 56 +f 43 52 57 +f 57 52 58 +f 37 44 58 +f 44 47 58 +f 52 37 58 +f 47 57 58 +f 59 49 60 +f 36 46 60 +f 54 36 60 +f 49 54 60 +f 46 59 60 +f 47 54 61 +f 54 40 61 +f 40 50 62 +f 50 43 62 +f 43 57 62 +f 57 47 62 +f 61 40 62 +f 47 61 62 +f 44 38 63 +f 42 44 63 +f 38 51 63 +f 51 42 63 +f 45 40 64 +f 40 49 64 +f 49 59 64 +f 39 42 65 +f 42 51 65 +f 51 56 65 +f 45 39 66 +f 53 45 66 +f 39 65 66 +f 66 65 67 +f 48 53 67 +f 56 48 67 +f 65 56 67 +f 53 66 67 +f 44 36 68 +f 36 47 68 +f 47 44 68 +f 46 45 69 +f 59 46 69 +f 45 64 69 +o convex_2 +v 0.061793 -1.129610 0.488213 +v -0.232784 -1.792474 0.709145 +v -0.195930 -1.792474 0.709145 +v 0.172227 -1.129610 2.255675 +v -0.343283 -1.277029 2.218496 +v 0.319580 -1.681910 2.145112 +v 0.319580 -1.240174 0.267085 +v -0.306429 -1.203319 0.267085 +v 0.209081 -1.718765 0.267085 +v -0.195930 -1.792474 2.181707 +v 0.319580 -1.129610 2.218496 +v -0.269509 -1.681910 0.267085 +v 0.319580 -1.129610 0.267085 +v -0.048576 -1.792474 2.181707 +v -0.343283 -1.240174 1.997758 +v -0.269509 -1.608266 2.218496 +v -0.343283 -1.350673 1.703246 +v -0.159140 -1.166530 0.819515 +v -0.232784 -1.755554 0.267085 +v 0.245806 -1.681910 0.488213 +v 0.282726 -1.203319 2.255675 +v -0.306429 -1.424317 0.340859 +v -0.269509 -1.718765 0.414438 +v -0.232784 -1.755554 2.181707 +v -0.343283 -1.350673 2.218496 +f 93 85 94 +f 77 76 78 +f 71 72 79 +f 70 73 80 +f 75 76 80 +f 77 78 81 +f 77 70 82 +f 76 77 82 +f 70 80 82 +f 80 76 82 +f 72 78 83 +f 78 75 83 +f 79 72 83 +f 74 73 84 +f 79 83 85 +f 74 84 86 +f 84 77 86 +f 73 70 87 +f 70 77 87 +f 84 73 87 +f 77 84 87 +f 72 71 88 +f 78 72 88 +f 81 78 88 +f 76 75 89 +f 78 76 89 +f 75 78 89 +f 80 73 90 +f 75 80 90 +f 83 75 90 +f 73 85 90 +f 85 83 90 +f 77 81 91 +f 86 77 91 +f 86 91 92 +f 88 71 92 +f 81 88 92 +f 91 81 92 +f 71 79 93 +f 79 85 93 +f 92 71 93 +f 92 93 94 +f 73 74 94 +f 85 73 94 +f 74 86 94 +f 86 92 94 +o convex_3 +v 0.982263 1.669147 -2.678355 +v -1.042821 -0.650876 -1.941955 +v -0.785034 -0.650876 -1.941955 +v -0.932430 1.669147 0.229849 +v 0.982263 -0.650876 0.119306 +v -0.969227 1.631903 -3.967465 +v 0.982263 -0.429910 -3.930481 +v 0.908670 1.669147 0.229849 +v -1.042821 -0.466700 0.229849 +v -1.116624 -0.429910 -3.930481 +v 1.019269 1.668919 -3.967465 +v -1.006024 1.669147 -1.537593 +v -1.042821 -0.650876 0.119306 +v 0.982263 -0.650876 -1.795251 +v 0.982263 -0.282297 0.229849 +v 0.982263 1.668919 -1.059262 +v 0.945467 -0.466700 -3.893496 +v 0.982263 -0.024769 -3.967465 +v -1.042821 -0.024769 0.229849 +v -1.006024 1.447954 -3.967465 +v 1.019269 0.969234 -3.967465 +v 1.019269 1.668919 -2.752323 +v -1.116624 -0.282297 -3.746381 +v 0.024917 -0.650876 0.229849 +v 0.945467 1.669147 0.119306 +v 0.356298 1.669147 -3.967465 +v -1.042821 1.116393 -2.383713 +v -1.006024 0.895654 -3.967465 +v -1.006024 1.669147 -1.941955 +v -0.969227 -0.466700 -3.672823 +v -0.969227 1.669147 -0.469978 +v -1.006024 1.631903 -2.972997 +v 0.982263 -0.392666 0.229849 +v 0.540282 -0.650876 -1.868808 +v -0.527246 -0.650876 0.229849 +v -1.116624 -0.282297 -3.930481 +f 121 126 130 +f 96 97 99 +f 95 98 102 +f 102 98 103 +f 98 95 106 +f 96 99 107 +f 104 96 107 +f 99 97 108 +f 102 103 109 +f 97 96 111 +f 104 101 111 +f 101 108 111 +f 101 104 112 +f 100 105 112 +f 103 98 113 +f 100 112 114 +f 99 108 115 +f 108 101 115 +f 101 112 115 +f 112 105 115 +f 105 95 116 +f 110 109 116 +f 99 115 116 +f 115 105 116 +f 107 103 117 +f 104 107 117 +f 103 113 117 +f 107 99 118 +f 109 103 118 +f 95 102 119 +f 102 109 119 +f 109 110 119 +f 116 95 119 +f 110 116 119 +f 95 105 120 +f 105 100 120 +f 106 95 120 +f 113 106 121 +f 117 113 121 +f 112 104 122 +f 104 114 122 +f 114 112 122 +f 120 100 123 +f 106 120 123 +f 121 106 123 +f 96 104 124 +f 111 96 124 +f 104 111 124 +f 98 106 125 +f 113 98 125 +f 106 113 125 +f 100 114 126 +f 123 100 126 +f 121 123 126 +f 99 116 127 +f 116 109 127 +f 118 99 127 +f 109 118 127 +f 108 97 128 +f 97 111 128 +f 111 108 128 +f 103 107 129 +f 107 118 129 +f 118 103 129 +f 114 104 130 +f 104 117 130 +f 117 121 130 +f 126 114 130 +o convex_4 +v 0.209133 1.595102 0.230259 +v -1.079798 -0.540398 1.703015 +v -1.079798 -0.540398 2.108091 +v 1.056084 -0.393012 2.218850 +v -0.969199 1.632321 2.108091 +v -1.042792 -0.466599 0.230259 +v 0.982282 -0.393012 0.230259 +v 0.945485 1.558522 2.145076 +v -0.932402 1.484722 0.230259 +v 0.945485 1.411136 0.230259 +v -0.122247 -0.503392 0.561951 +v -0.601023 1.632321 0.230259 +v -1.079798 0.048933 1.887158 +v 0.945485 1.558522 0.525161 +v 0.687699 1.595102 2.145076 +v 0.908688 -0.429806 1.923948 +v -1.042792 0.012139 0.267244 +v -1.005996 1.411348 2.108091 +v -0.527429 -0.503392 0.230259 +v -0.453627 1.116364 2.145076 +v -0.858600 -0.540398 2.108091 +v 0.393116 -0.466386 0.230259 +v 0.982282 0.969191 2.181865 +v -1.079798 -0.429806 0.709109 +v -0.380033 1.632321 2.108091 +v -0.969199 1.595315 1.334729 +v 1.056084 -0.282420 2.145076 +v 0.982282 1.153582 2.145076 +v 0.908688 1.558522 0.230259 +v 0.061737 1.595102 2.145076 +v 0.982282 -0.282420 2.218850 +v 1.019079 -0.356006 1.077590 +v 0.798089 -0.429806 0.230259 +v 0.650902 1.595102 1.666226 +v -0.969199 1.079783 0.230259 +v -1.005996 1.263962 1.666420 +v -1.079798 0.085726 2.108091 +v 0.871892 -0.429806 2.181671 +f 151 146 168 +f 136 131 137 +f 131 136 139 +f 137 131 140 +f 131 139 142 +f 132 133 143 +f 138 144 145 +f 137 134 146 +f 132 136 149 +f 136 137 149 +f 141 132 149 +f 135 148 150 +f 133 132 151 +f 134 133 151 +f 132 141 151 +f 141 146 151 +f 146 141 152 +f 149 137 152 +f 141 149 152 +f 138 145 153 +f 136 132 154 +f 132 143 154 +f 147 136 154 +f 142 135 155 +f 135 145 155 +f 135 142 156 +f 142 139 156 +f 148 135 156 +f 140 144 157 +f 144 138 158 +f 138 153 158 +f 153 134 158 +f 134 157 158 +f 157 144 158 +f 140 131 159 +f 144 140 159 +f 145 135 160 +f 135 150 160 +f 153 145 160 +f 153 160 161 +f 133 134 161 +f 150 133 161 +f 134 153 161 +f 160 150 161 +f 134 137 162 +f 137 140 162 +f 157 134 162 +f 140 157 162 +f 137 146 163 +f 152 137 163 +f 146 152 163 +f 131 142 164 +f 145 144 164 +f 142 155 164 +f 155 145 164 +f 159 131 164 +f 144 159 164 +f 139 136 165 +f 136 147 165 +f 156 139 165 +f 156 165 166 +f 143 148 166 +f 154 143 166 +f 147 154 166 +f 148 156 166 +f 165 147 166 +f 143 133 167 +f 148 143 167 +f 133 150 167 +f 150 148 167 +f 146 134 168 +f 134 151 168 +o convex_5 +v -0.232673 -1.718779 -1.942460 +v 0.356406 -1.129632 -3.562634 +v 0.356406 -1.166479 -3.562634 +v -0.343283 -1.092785 -3.820371 +v -0.122199 -1.645153 -3.967876 +v -0.343283 -1.129632 -1.942460 +v 0.245864 -1.645153 -1.942460 +v 0.209085 -1.166479 -1.942460 +v 0.209085 -1.645153 -3.599510 +v 0.356406 -1.166479 -3.967876 +v -0.085420 -1.792474 -2.016212 +v -0.195894 -1.645153 -3.967876 +v -0.306436 -1.092785 -2.421454 +v -0.343283 -1.203395 -3.820371 +v 0.282711 -1.460984 -3.857247 +v 0.282711 -1.129632 -2.605438 +v -0.122199 -1.092785 -3.857247 +v -0.195894 -1.792474 -2.126841 +v 0.098611 -1.129632 -1.942460 +v -0.343283 -1.203395 -1.942460 +v 0.356406 -1.240106 -3.931000 +v 0.245864 -1.645153 -2.826299 +v 0.319559 -1.129632 -3.967876 +v 0.209085 -1.608305 -3.820371 +f 189 183 192 +f 171 170 175 +f 174 169 175 +f 174 175 176 +f 170 171 178 +f 175 169 179 +f 173 177 179 +f 178 173 180 +f 172 174 181 +f 174 172 182 +f 180 169 182 +f 172 180 182 +f 175 170 184 +f 176 175 184 +f 181 184 185 +f 172 181 185 +f 184 170 185 +f 179 169 186 +f 173 179 186 +f 169 180 186 +f 180 173 186 +f 174 176 187 +f 181 174 187 +f 176 184 187 +f 184 181 187 +f 169 174 188 +f 182 169 188 +f 174 182 188 +f 171 175 189 +f 178 171 189 +f 173 178 189 +f 183 189 190 +f 175 179 190 +f 179 177 190 +f 177 183 190 +f 189 175 190 +f 170 178 191 +f 180 172 191 +f 178 180 191 +f 185 170 191 +f 172 185 191 +f 177 173 192 +f 183 177 192 +f 173 189 192 +o convex_6 +v -1.079712 -1.203446 -1.279553 +v 1.092921 -2.455092 -1.647666 +v 1.092921 -2.528805 -1.647666 +v 0.319442 -1.129917 0.267085 +v -1.079712 -2.528805 0.267085 +v 0.982333 -0.650876 -1.794955 +v -0.932332 -2.344615 -1.905475 +v -1.042920 -0.650876 0.119364 +v 0.982333 -2.381379 0.082812 +v -1.042920 -0.650876 -1.942460 +v 0.982333 -0.650876 0.119580 +v 0.245858 -1.644987 -1.942460 +v 1.092921 -2.528805 -1.794955 +v -0.969124 -2.418328 -1.721419 +v -0.490617 -0.650876 0.229884 +v -1.079712 -2.528805 -0.174997 +v 0.209066 -1.718700 0.267085 +v -1.079712 -1.056204 0.156565 +v 0.245858 -2.455092 0.156565 +v 0.209066 -1.166681 -1.942460 +v 1.019125 -0.908962 -1.794955 +v 1.019125 -2.418328 -0.248749 +v -1.005915 -1.498113 -1.942460 +v -0.232649 -2.455092 -1.868707 +v -0.711368 -2.528805 0.229884 +v 0.503613 -0.650876 -1.868707 +v 0.982333 -1.718700 0.119364 +v -0.306445 -1.203446 0.267085 +v -0.048477 -0.650876 0.229884 +v 0.908536 -2.528805 -1.794955 +v 0.834953 -2.381379 0.119364 +v -0.895540 -2.528805 0.267085 +v -1.079712 -2.307850 0.267085 +v -0.085269 -1.792229 -1.942460 +v -1.042920 -0.835249 0.156565 +v -1.079712 -2.491857 -0.285517 +v -1.042920 -0.945727 -1.942460 +v 1.092921 -2.381379 -1.721419 +f 205 213 230 +f 200 198 202 +f 198 200 203 +f 194 195 205 +f 195 197 205 +f 203 200 207 +f 197 193 208 +f 205 197 208 +f 196 197 209 +f 193 197 210 +f 202 193 210 +f 200 202 210 +f 204 202 212 +f 204 212 213 +f 198 203 213 +f 205 204 213 +f 212 198 213 +f 195 194 214 +f 194 203 214 +f 211 195 214 +f 201 211 214 +f 202 204 215 +f 199 206 215 +f 206 199 216 +f 208 206 216 +f 197 195 217 +f 195 211 217 +f 202 198 218 +f 198 212 218 +f 212 202 218 +f 203 196 219 +f 196 209 219 +f 214 203 219 +f 201 214 219 +f 197 196 220 +f 196 207 220 +f 196 203 221 +f 207 196 221 +f 203 207 221 +f 205 208 222 +f 216 205 222 +f 208 216 222 +f 211 201 223 +f 219 209 223 +f 201 219 223 +f 209 197 224 +f 197 217 224 +f 217 211 224 +f 223 209 224 +f 211 223 224 +f 210 197 225 +f 197 220 225 +f 220 207 225 +f 204 205 226 +f 199 215 226 +f 215 204 226 +f 216 199 226 +f 205 216 226 +f 207 200 227 +f 200 210 227 +f 210 225 227 +f 225 207 227 +f 208 193 228 +f 206 208 228 +f 193 202 229 +f 202 215 229 +f 215 206 229 +f 228 193 229 +f 206 228 229 +f 203 194 230 +f 194 205 230 +f 213 203 230 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/668/668.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/668/668.urdf new file mode 100644 index 000000000..affec09cf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/668/668.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/669/669.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/669/669.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/669/669.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/669/669.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/669/669.obj new file mode 100644 index 000000000..02bc1117b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/669/669.obj @@ -0,0 +1,609 @@ +o convex_0 +v -1.289007 -1.971661 0.469429 +v -2.947181 -2.986897 -0.579713 +v -2.980983 -2.986897 -0.376563 +v -2.980983 -1.836393 -0.444280 +v -1.085819 -1.903971 -0.579597 +v -1.085819 -2.885194 0.571004 +v -3.014784 -2.749814 0.604862 +v -1.119810 -2.885194 -0.511996 +v -3.014784 -1.870182 0.503287 +v -1.085819 -1.870069 0.435571 +v -3.014784 -2.986897 0.604862 +v -2.540993 -2.986897 -0.579713 +v -1.627591 -1.836393 0.164821 +v -2.845587 -1.971661 0.537146 +v -2.710191 -1.836393 -0.478138 +v -1.085819 -2.851405 -0.511996 +v -1.085819 -2.783715 0.571004 +v -2.473390 -2.986897 -0.241130 +v -2.947181 -2.851405 -0.579713 +v -3.014784 -1.971661 0.130963 +v -2.980983 -1.836393 0.063246 +v -1.085819 -2.039351 -0.579597 +v -1.221404 -1.903971 -0.579713 +v -2.879577 -2.986897 0.604862 +v -3.014784 -2.986897 0.266396 +f 11 20 25 +f 2 3 4 +f 6 5 10 +f 3 2 11 +f 7 9 11 +f 11 2 12 +f 10 5 13 +f 9 10 13 +f 9 7 14 +f 1 10 14 +f 10 9 14 +f 4 13 15 +f 13 5 15 +f 5 6 16 +f 6 8 16 +f 6 10 17 +f 10 1 17 +f 1 14 17 +f 14 7 17 +f 8 6 18 +f 12 8 18 +f 11 12 18 +f 2 4 19 +f 12 2 19 +f 4 15 19 +f 4 3 20 +f 9 4 20 +f 11 9 20 +f 4 9 21 +f 13 4 21 +f 9 13 21 +f 8 12 22 +f 5 16 22 +f 16 8 22 +f 15 5 23 +f 12 19 23 +f 19 15 23 +f 5 22 23 +f 22 12 23 +f 7 11 24 +f 6 17 24 +f 17 7 24 +f 18 6 24 +f 11 18 24 +f 3 11 25 +f 20 3 25 +o convex_1 +v -1.051939 -1.870093 -0.782491 +v 1.114065 -1.294648 0.976918 +v 1.080043 -1.802456 1.010843 +v 1.012429 -3.460727 -1.019326 +v -1.051939 -3.426803 1.010631 +v 0.944816 -1.294648 -1.019326 +v -1.051939 -1.294648 0.942994 +v -0.916497 -3.426803 -1.087387 +v 0.944816 -3.460727 1.078692 +v -0.984111 -1.294648 -1.087387 +v 1.114065 -2.986633 -0.511731 +v -1.085746 -2.851359 -0.511943 +v 1.114065 -1.836168 -0.444094 +v 0.944816 -1.430134 -1.053463 +v 1.114065 -2.885283 0.536960 +v 0.030955 -3.359166 1.078692 +v -0.713441 -1.294648 0.976918 +v 0.098569 -3.460727 -1.053463 +v -1.085746 -1.870093 0.435399 +v -0.984111 -3.392666 1.044767 +v 0.944816 -2.885283 1.078692 +v 1.046236 -3.426803 -0.985614 +v -1.085746 -1.904017 -0.579580 +v -0.577998 -3.426803 -1.087387 +v -1.085746 -2.986633 0.672446 +v -0.273306 -1.362709 -1.087387 +v -0.950304 -3.358954 -1.053251 +v 0.369454 -3.460727 1.078692 +v 0.437068 -3.460727 -1.053463 +v -1.017917 -1.396422 -0.985614 +v 1.080043 -1.294648 0.300125 +v 1.114065 -1.633257 0.976918 +v -0.950304 -3.426803 -0.951901 +v -1.051939 -1.294648 0.503036 +v -0.984111 -2.107140 -1.087387 +f 26 55 60 +f 27 31 32 +f 32 31 35 +f 27 36 38 +f 31 38 39 +f 36 27 40 +f 28 27 42 +f 27 32 42 +f 29 34 43 +f 32 30 45 +f 42 32 45 +f 41 42 45 +f 34 28 46 +f 41 34 46 +f 28 42 46 +f 42 41 46 +f 34 29 47 +f 38 36 47 +f 29 39 47 +f 39 38 47 +f 40 34 47 +f 36 40 47 +f 26 37 48 +f 37 44 48 +f 33 35 49 +f 43 33 49 +f 30 32 50 +f 37 30 50 +f 32 44 50 +f 44 37 50 +f 35 31 51 +f 31 39 51 +f 49 35 51 +f 39 49 51 +f 34 41 53 +f 30 43 53 +f 43 34 53 +f 45 30 53 +f 41 45 53 +f 39 29 54 +f 29 43 54 +f 49 39 54 +f 43 49 54 +f 26 48 55 +f 31 27 56 +f 27 38 56 +f 38 31 56 +f 27 28 57 +f 28 34 57 +f 40 27 57 +f 34 40 57 +f 30 37 58 +f 43 30 58 +f 33 43 58 +f 52 33 58 +f 37 52 58 +f 32 35 59 +f 44 32 59 +f 48 44 59 +f 35 55 59 +f 55 48 59 +f 35 33 60 +f 37 26 60 +f 33 52 60 +f 52 37 60 +f 55 35 60 +o convex_2 +v 3.043150 -1.937759 0.367755 +v 2.332316 -2.952884 -0.545867 +v 2.332316 -2.885194 -0.545867 +v 1.114304 -2.885194 0.537165 +v 1.114304 -1.836393 -0.444266 +v 3.043150 -2.919095 0.604862 +v 3.110969 -1.870069 -0.511963 +v 1.114304 -1.971661 0.503261 +v 1.114304 -2.986897 -0.511963 +v 2.975330 -2.919095 -0.545867 +v 3.043150 -2.073252 0.503261 +v 1.351183 -1.836393 -0.478171 +v 1.283559 -1.836393 -0.275081 +v 2.873699 -1.836393 -0.444266 +v 2.501572 -2.919095 0.604862 +v 3.043150 -2.749926 0.604862 +v 1.114304 -2.310111 0.537165 +v 2.298309 -1.971661 0.503261 +v 1.114304 -1.937872 0.401772 +v 2.670827 -2.952884 -0.478171 +v 1.114304 -2.986897 -0.376570 +v 3.009142 -2.817504 -0.545867 +v 1.114304 -2.682124 -0.511963 +v 1.114304 -2.919095 0.367868 +v 3.076962 -2.512955 0.198683 +v 1.452814 -2.885194 0.570957 +v 2.840082 -1.870182 -0.511963 +f 83 72 87 +f 65 64 68 +f 63 62 69 +f 64 65 69 +f 62 63 70 +f 67 61 71 +f 72 65 73 +f 72 73 74 +f 61 67 74 +f 67 72 74 +f 73 61 74 +f 75 66 76 +f 75 76 77 +f 68 64 77 +f 76 68 77 +f 71 61 78 +f 76 71 78 +f 68 76 78 +f 65 68 79 +f 61 73 79 +f 73 65 79 +f 78 61 79 +f 68 78 79 +f 69 62 80 +f 62 70 80 +f 70 66 80 +f 64 69 81 +f 66 75 81 +f 69 80 81 +f 80 66 81 +f 70 63 82 +f 66 70 82 +f 63 69 83 +f 69 65 83 +f 65 72 83 +f 75 64 84 +f 64 81 84 +f 81 75 84 +f 67 71 85 +f 76 66 85 +f 71 76 85 +f 82 67 85 +f 66 82 85 +f 64 75 86 +f 75 77 86 +f 77 64 86 +f 72 67 87 +f 82 63 87 +f 67 82 87 +f 63 83 87 +o convex_3 +v -0.239645 -0.617689 1.078692 +v 0.335680 -0.414679 3.007720 +v 0.301822 -0.177863 3.075546 +v -0.341219 -0.719224 3.041535 +v -0.239645 -0.110193 2.939894 +v 0.301822 -0.143998 1.078692 +v 0.234106 -0.651494 1.315984 +v -0.307361 -0.211668 1.078692 +v 0.335680 -0.651494 2.939894 +v 0.200247 -0.651494 1.078692 +v -0.239645 -0.719224 2.499906 +v -0.239645 -0.651494 1.112702 +v -0.104278 -0.719224 3.007720 +v -0.239645 -0.110193 2.533917 +v -0.070420 -0.110193 2.973905 +v 0.335680 -0.651494 2.635558 +v -0.307361 -0.414679 2.973905 +v 0.132597 -0.143998 1.078692 +v 0.301822 -0.143998 2.026494 +f 93 102 106 +f 91 90 92 +f 93 88 95 +f 88 93 97 +f 93 94 97 +f 95 88 99 +f 91 95 99 +f 88 97 99 +f 97 98 99 +f 98 91 99 +f 89 90 100 +f 90 91 100 +f 96 89 100 +f 97 94 100 +f 98 97 100 +f 91 98 100 +f 95 92 101 +f 92 90 102 +f 101 92 102 +f 93 101 102 +f 93 89 103 +f 94 93 103 +f 89 96 103 +f 96 100 103 +f 100 94 103 +f 91 92 104 +f 95 91 104 +f 92 95 104 +f 93 95 105 +f 101 93 105 +f 95 101 105 +f 90 89 106 +f 89 93 106 +f 102 90 106 +o convex_4 +v 1.114115 1.480117 -0.579583 +v -0.070318 0.228575 1.044847 +v -0.104129 0.228575 1.044847 +v 0.978662 2.699060 0.943203 +v -0.950242 2.699060 -1.087387 +v -0.984053 -0.076229 -1.087387 +v -0.984053 2.699060 0.943203 +v 1.012473 -0.076229 -1.019555 +v 1.080095 -0.076229 0.977014 +v 1.080095 2.699060 -1.019555 +v -1.018073 -0.076229 0.943203 +v -1.018073 2.021809 0.875370 +v -0.408847 -0.076229 -1.087387 +v 1.114115 -0.076229 0.130883 +v 0.877020 2.428214 0.977014 +v 1.080095 2.699060 -0.477939 +v 0.572511 2.529815 -1.053367 +v -0.239582 -0.076229 1.044847 +v -1.018073 -0.008314 -0.038176 +v -0.984053 2.563501 -0.241047 +v 1.114115 2.258698 -0.884099 +v 1.114115 -0.042271 0.469210 +v -0.984053 0.600750 -1.087387 +v -0.510280 2.529815 -1.087387 +v 0.606322 1.548304 -1.053367 +v 1.046284 0.905554 0.977014 +v 1.080095 1.615676 -1.019555 +v 1.012473 2.699060 0.537043 +v -1.018073 2.055495 0.943203 +f 113 126 135 +f 110 111 113 +f 112 114 115 +f 111 110 116 +f 112 115 117 +f 112 111 119 +f 114 112 119 +f 114 107 120 +f 115 114 120 +f 109 108 121 +f 113 109 121 +f 110 113 121 +f 116 110 122 +f 111 116 123 +f 108 109 124 +f 109 113 124 +f 115 108 124 +f 117 115 124 +f 112 117 125 +f 117 118 125 +f 125 118 126 +f 113 111 126 +f 120 107 127 +f 116 122 127 +f 127 122 128 +f 115 120 128 +f 120 127 128 +f 111 112 129 +f 112 125 129 +f 125 126 129 +f 126 111 129 +f 119 111 130 +f 111 123 130 +f 123 119 130 +f 114 119 131 +f 123 116 131 +f 119 123 131 +f 108 115 132 +f 121 108 132 +f 110 121 132 +f 115 128 132 +f 107 114 133 +f 127 107 133 +f 116 127 133 +f 114 131 133 +f 131 116 133 +f 122 110 134 +f 128 122 134 +f 110 132 134 +f 132 128 134 +f 118 117 135 +f 124 113 135 +f 117 124 135 +f 126 118 135 +o convex_5 +v 0.911048 4.627893 0.807614 +v -0.950360 2.699060 -1.087387 +v -0.950360 2.766886 -1.087387 +v -0.950360 4.628088 1.112537 +v 0.978665 2.699060 0.976872 +v 1.114115 4.627893 -0.951722 +v -1.085809 4.594078 -0.985746 +v -0.984168 2.699060 0.943279 +v 1.080091 2.699060 -1.019555 +v 1.012474 4.594078 1.112537 +v -0.984168 4.695914 0.773805 +v 1.114115 2.834712 -0.951722 +v 0.504700 4.695914 0.536930 +v -1.085809 4.628088 -0.647230 +v -1.085809 4.154089 -0.985746 +v -0.611844 4.695914 1.112537 +v 1.046282 4.526447 0.773805 +v 0.944857 4.661903 -0.545589 +v -0.984168 2.766886 -1.053363 +v -0.984168 3.342330 1.010681 +v 0.809407 4.357176 1.112537 +v 1.114115 2.970168 -1.019555 +v 1.012474 3.748112 1.044704 +v -0.814910 2.868527 0.976872 +v -0.171902 4.628088 -0.951938 +v 1.114115 4.627893 -0.748656 +v -1.085809 4.560458 -0.545804 +v -0.984168 4.695914 0.705973 +v 1.080091 2.699060 -0.477972 +f 147 158 164 +f 138 137 142 +f 141 138 142 +f 137 140 143 +f 140 137 144 +f 145 136 148 +f 142 137 150 +f 149 142 150 +f 139 145 151 +f 146 139 151 +f 145 148 151 +f 148 146 151 +f 148 136 153 +f 137 143 154 +f 143 150 154 +f 150 137 154 +f 139 146 155 +f 145 139 156 +f 140 145 156 +f 137 138 157 +f 138 141 157 +f 144 137 157 +f 147 144 157 +f 141 147 157 +f 145 140 158 +f 152 145 158 +f 147 152 158 +f 143 140 159 +f 139 155 159 +f 155 143 159 +f 156 139 159 +f 140 156 159 +f 141 142 160 +f 142 149 160 +f 153 141 160 +f 136 145 161 +f 147 141 161 +f 145 152 161 +f 152 147 161 +f 141 153 161 +f 153 136 161 +f 146 149 162 +f 150 143 162 +f 149 150 162 +f 143 155 162 +f 155 146 162 +f 146 148 163 +f 149 146 163 +f 148 153 163 +f 160 149 163 +f 153 160 163 +f 140 144 164 +f 144 147 164 +f 158 140 164 +o convex_6 +v 0.098736 -0.110150 -1.087387 +v -0.239595 -0.753129 -2.948749 +v 0.200247 -0.753129 -2.948749 +v 0.132531 -0.110150 -3.050396 +v 0.301759 -0.651497 -1.087387 +v -0.307312 -0.549999 -1.087387 +v -0.205737 -0.144005 -2.982567 +v 0.335617 -0.076361 -2.745646 +v -0.307312 -0.719207 -1.087387 +v 0.335617 -0.076361 -1.087387 +v -0.205737 -0.211715 -1.087387 +v 0.335617 -0.177860 -3.050396 +v 0.064877 -0.753129 -2.170347 +v -0.104225 -0.110150 -3.016386 +v -0.307312 -0.685352 -1.764333 +v 0.335617 -0.380923 -1.087387 +v 0.301759 -0.651497 -1.493593 +v -0.205737 -0.144005 -2.407269 +v 0.200247 -0.076361 -1.087387 +v 0.234043 -0.651497 -2.982567 +f 181 167 184 +f 169 165 170 +f 169 170 173 +f 165 169 174 +f 170 165 175 +f 166 168 176 +f 168 172 176 +f 172 174 176 +f 166 167 177 +f 167 169 177 +f 173 166 177 +f 169 173 177 +f 168 166 178 +f 166 171 178 +f 172 168 178 +f 171 166 179 +f 170 171 179 +f 166 173 179 +f 173 170 179 +f 174 169 180 +f 176 174 180 +f 176 180 181 +f 169 167 181 +f 180 169 181 +f 171 170 182 +f 175 165 182 +f 170 175 182 +f 178 171 182 +f 178 182 183 +f 165 174 183 +f 174 172 183 +f 172 178 183 +f 182 165 183 +f 167 166 184 +f 166 176 184 +f 176 181 184 +o convex_7 +v 0.403185 -1.023676 1.044767 +v -0.984115 -1.294648 -1.087387 +v -0.984115 -0.076229 -1.087387 +v 1.012341 -0.076229 -0.985826 +v -1.018040 -0.076229 0.943206 +v 0.944704 -1.294648 -1.019326 +v 1.080190 -0.076229 0.977130 +v -1.051964 -1.294648 0.943206 +v 1.114115 -1.294648 0.977130 +v -0.307321 -0.211834 1.078692 +v 0.335548 -0.076229 -1.087387 +v 1.114115 -0.177843 0.164851 +v 0.301835 -0.144091 1.078692 +v 1.114115 -1.294648 0.672446 +v -0.307321 -0.719072 1.078692 +v -1.051964 -0.414824 0.875569 +v -1.018040 -1.294648 -0.579368 +v 0.301835 -0.651806 -1.087387 +v 0.978629 -0.922181 -1.019326 +v -0.882554 -1.294648 0.977130 +v 1.114115 -0.076348 0.469323 +v -0.239685 -0.076229 1.044767 +v -0.578081 -1.294648 -1.087387 +v 0.809218 -1.260658 1.010631 +v 0.978629 -0.076229 -1.019326 +v -1.018040 -0.076229 -0.071985 +v -1.051964 -1.226905 0.503036 +f 200 210 211 +f 188 187 189 +f 188 189 191 +f 186 190 192 +f 192 190 193 +f 186 187 195 +f 187 188 195 +f 193 191 197 +f 193 190 198 +f 196 193 198 +f 185 197 199 +f 197 194 199 +f 192 189 200 +f 187 186 201 +f 186 192 201 +f 186 195 202 +f 202 195 203 +f 188 196 203 +f 198 190 203 +f 196 198 203 +f 190 202 203 +f 189 192 204 +f 192 193 204 +f 194 189 204 +f 185 199 204 +f 199 194 204 +f 188 191 205 +f 191 193 205 +f 196 188 205 +f 193 196 205 +f 191 189 206 +f 189 194 206 +f 197 191 206 +f 194 197 206 +f 190 186 207 +f 186 202 207 +f 202 190 207 +f 193 197 208 +f 197 185 208 +f 204 193 208 +f 185 204 208 +f 195 188 209 +f 203 195 209 +f 188 203 209 +f 189 187 210 +f 200 189 210 +f 187 201 210 +f 210 201 211 +f 192 200 211 +f 201 192 211 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/669/669.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/669/669.urdf new file mode 100644 index 000000000..e8a895936 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/669/669.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/670/670.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/670/670.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/670/670.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/670/670.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/670/670.obj new file mode 100644 index 000000000..99a2cc647 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/670/670.obj @@ -0,0 +1,411 @@ +o convex_0 +v 0.777643 4.462950 0.663602 +v -1.080219 3.855431 -1.122409 +v -1.080219 3.855431 -1.051217 +v 1.063533 0.568617 0.520597 +v -0.937274 0.568617 0.949611 +v 0.956431 0.568617 -1.158522 +v 0.956431 4.462950 -1.086916 +v -0.937274 4.498275 0.949611 +v -0.972903 0.568617 -1.086916 +v 1.099376 4.427237 0.878006 +v -1.080219 4.534377 -1.158522 +v 1.063533 0.568617 0.842100 +v -1.008533 4.534377 0.234794 +v 1.027691 4.462950 -0.408005 +v 0.277548 0.854714 0.913705 +v -0.329863 4.498275 0.949611 +v 0.884959 4.498663 -1.051010 +v 0.349020 0.568617 -1.158522 +v 0.956431 3.355052 -1.122616 +v 1.099376 3.927246 0.663602 +v 0.992061 0.997568 -0.800907 +v 1.099376 2.890776 0.878006 +v -1.080219 3.998285 -0.836606 +v 0.992061 4.462950 -0.943911 +v -0.972903 4.248280 0.770907 +v -0.972903 0.605107 -0.515104 +v 0.920588 0.640432 0.877800 +v -0.901431 4.534377 -1.158522 +v 0.527595 4.069712 0.913705 +v 0.956431 1.069383 -1.158522 +v -0.258390 4.534377 -1.122616 +v -0.901431 4.534377 0.377799 +v 0.349020 4.498663 -1.122409 +v -1.080219 4.283994 -1.158522 +v -0.436965 2.747922 0.949611 +v -0.972903 1.355092 0.520804 +v -1.080219 4.534377 -0.801113 +v -1.008533 1.462233 -1.015517 +f 26 23 38 +f 4 5 6 +f 6 5 9 +f 2 3 11 +f 5 4 12 +f 8 5 16 +f 10 1 16 +f 1 10 17 +f 10 14 17 +f 6 9 18 +f 11 6 18 +f 14 10 20 +f 4 6 21 +f 20 4 21 +f 12 4 22 +f 4 20 22 +f 20 10 22 +f 11 3 23 +f 7 17 24 +f 17 14 24 +f 19 7 24 +f 14 20 24 +f 20 21 24 +f 21 6 24 +f 5 8 25 +f 8 13 25 +f 9 5 26 +f 5 12 27 +f 15 5 27 +f 12 22 27 +f 22 15 27 +f 6 11 28 +f 11 13 28 +f 10 16 29 +f 15 22 29 +f 22 10 29 +f 24 6 30 +f 19 24 30 +f 6 28 30 +f 28 19 30 +f 28 13 31 +f 13 8 32 +f 8 16 32 +f 16 1 32 +f 1 17 32 +f 17 31 32 +f 31 13 32 +f 17 7 33 +f 7 19 33 +f 19 28 33 +f 31 17 33 +f 28 31 33 +f 9 2 34 +f 2 11 34 +f 18 9 34 +f 11 18 34 +f 5 15 35 +f 16 5 35 +f 29 16 35 +f 15 29 35 +f 5 25 36 +f 25 23 36 +f 26 5 36 +f 23 26 36 +f 13 11 37 +f 11 23 37 +f 25 13 37 +f 23 25 37 +f 3 2 38 +f 2 9 38 +f 23 3 38 +f 9 26 38 +o convex_1 +v -0.472658 -0.181848 4.879581 +v 0.599141 -0.038958 1.450014 +v 0.599141 -0.074738 1.450014 +v -0.472658 0.068382 1.021074 +v -0.436983 -1.110744 1.021074 +v 0.527553 -1.074964 4.915229 +v -0.615715 -1.074964 4.986523 +v 0.491878 -0.003178 5.022954 +v 0.563347 -1.110744 1.021074 +v 0.599141 -0.038958 1.021074 +v -0.436983 -0.038843 4.843935 +v 0.527553 -1.110744 4.629268 +v -0.544127 -1.110744 2.879425 +v -0.472658 0.068382 1.771622 +v -0.222694 0.068382 1.021074 +v -0.615715 -0.967739 4.807896 +v 0.527553 -0.003178 4.164680 +v -0.472658 -1.110744 1.164446 +v 0.170327 -0.003178 4.986915 +v 0.563347 -1.110744 2.450876 +v 0.527553 -0.574620 4.950876 +v 0.491878 -1.003404 4.950876 +v -0.472658 0.032602 2.807739 +v 0.527553 -0.003178 3.057661 +v -0.615715 -1.074964 4.629660 +v 0.456084 -0.253292 5.022954 +v -0.472658 -0.681960 1.021074 +v -0.579921 -0.753405 4.950876 +f 61 54 66 +f 43 42 47 +f 40 41 48 +f 41 47 48 +f 47 42 48 +f 44 45 50 +f 43 47 50 +f 43 50 51 +f 50 45 51 +f 48 42 53 +f 42 52 53 +f 52 46 53 +f 52 42 54 +f 40 48 55 +f 53 46 55 +f 43 51 56 +f 45 46 57 +f 49 39 57 +f 46 52 57 +f 41 44 58 +f 47 41 58 +f 44 50 58 +f 50 47 58 +f 41 40 59 +f 44 41 59 +f 46 44 59 +f 40 55 59 +f 55 46 59 +f 45 44 60 +f 44 46 60 +f 39 49 61 +f 52 54 61 +f 49 57 61 +f 57 52 61 +f 48 53 62 +f 55 48 62 +f 53 55 62 +f 51 45 63 +f 45 54 63 +f 54 42 63 +f 46 45 64 +f 45 60 64 +f 60 46 64 +f 42 43 65 +f 43 56 65 +f 56 51 65 +f 63 42 65 +f 51 63 65 +f 54 45 66 +f 57 39 66 +f 45 57 66 +f 39 61 66 +o convex_2 +v -0.186942 -0.753391 -2.516246 +v 0.349024 -0.217509 -1.158522 +v 0.313279 -0.181757 -1.373188 +v 0.349024 -0.789143 -3.159461 +v -0.258362 -0.253261 -3.016481 +v -0.294107 -0.753391 -1.158522 +v 0.241789 -0.824895 -1.158522 +v -0.365597 -0.324699 -1.158522 +v 0.205974 -0.146005 -3.087971 +v -0.258362 -0.717639 -3.123619 +v 0.349024 -0.646201 -3.159461 +v -0.294107 -0.288947 -1.158522 +v -0.294107 -0.324699 -3.051933 +v 0.134554 -0.146005 -2.909148 +v 0.349024 -0.753391 -2.516246 +v 0.241789 -0.146005 -2.980638 +v 0.134554 -0.824895 -1.301502 +v -0.186942 -0.681953 -3.159461 +v 0.205974 -0.789143 -3.123619 +v -0.294107 -0.753391 -1.730443 +v 0.349024 -0.360451 -1.230012 +v 0.349024 -0.217509 -1.444482 +f 77 82 88 +f 68 72 73 +f 72 68 74 +f 68 70 77 +f 68 69 78 +f 74 68 78 +f 71 74 78 +f 74 71 79 +f 71 75 79 +f 76 74 79 +f 75 71 80 +f 78 69 80 +f 71 78 80 +f 70 68 81 +f 73 70 81 +f 77 75 82 +f 80 69 82 +f 75 80 82 +f 73 72 83 +f 70 73 83 +f 70 76 84 +f 75 77 84 +f 77 70 84 +f 79 75 84 +f 76 79 84 +f 67 76 85 +f 76 70 85 +f 83 67 85 +f 70 83 85 +f 72 74 86 +f 76 67 86 +f 74 76 86 +f 67 83 86 +f 83 72 86 +f 68 73 87 +f 81 68 87 +f 73 81 87 +f 69 68 88 +f 68 77 88 +f 82 69 88 +o convex_3 +v -0.972645 0.568617 0.949601 +v -0.615593 -1.039072 -1.158522 +v -0.615593 -0.931836 -1.158522 +v 2.992607 -1.432127 0.806442 +v 3.028491 0.532732 -1.122679 +v -2.973812 -1.539363 0.842285 +v -2.973812 0.532522 -1.051206 +v 3.100260 -1.503478 -1.050993 +v -3.009696 -1.539363 -1.122679 +v 2.957320 0.461172 0.913545 +v -2.937927 0.496847 0.913758 +v -0.543824 -1.539363 1.021074 +v 2.849666 -1.467803 0.985231 +v 1.599087 -1.575248 0.341977 +v 0.348507 0.568617 -1.158522 +v -0.472653 0.175351 1.021074 +v 1.063209 0.568617 0.842285 +v 2.778495 -1.539363 -1.050993 +v -1.151470 -1.503478 1.021074 +v -3.009696 -0.753251 -1.122679 +v -2.402050 0.568617 -0.443582 +v 0.348507 -1.575248 0.949601 +v 3.100260 -0.789136 -1.086836 +v 0.599101 -0.038909 1.021074 +v 0.956154 -1.575248 -0.408166 +v -2.973812 0.246701 0.699340 +v 3.028491 0.532732 -0.479425 +v 2.957320 0.246701 0.949388 +v 0.241451 -0.824601 -1.158522 +v 3.064376 -1.503478 -0.193748 +v -3.009696 -1.539363 0.020457 +v -2.866158 -1.539363 0.877915 +v -2.973812 0.282586 -1.086836 +v 0.956154 0.568617 -1.158522 +v 2.671439 0.496847 0.913545 +v 2.957320 -1.253332 0.985231 +v -3.009696 -0.289055 -1.015363 +v 1.206150 -1.575248 0.913758 +v -1.473236 0.568617 0.913758 +v 3.100260 -1.467803 -0.658213 +v 0.563217 -1.110632 1.021074 +v -2.973812 0.532522 -0.193748 +v 1.456146 0.389821 -1.158522 +v -0.972645 0.568617 -1.087049 +v 3.028491 0.354146 -1.122679 +v -2.937927 0.175351 0.913758 +v 3.064376 0.354146 -1.050993 +v 2.921435 -1.539363 -0.836575 +v -0.579709 0.175351 1.021074 +v -2.973812 0.032441 0.877915 +v 3.100260 -0.717366 -1.015363 +v 2.957320 0.496847 0.699127 +v -2.152054 -1.503478 -1.122679 +f 106 97 141 +f 91 90 97 +f 90 91 103 +f 103 89 105 +f 100 104 107 +f 91 97 108 +f 103 91 108 +f 89 103 109 +f 101 100 110 +f 104 100 112 +f 97 106 113 +f 106 102 113 +f 110 97 113 +f 102 110 113 +f 93 105 115 +f 92 98 116 +f 104 112 116 +f 96 90 117 +f 90 103 117 +f 111 96 117 +f 92 101 118 +f 101 102 118 +f 108 97 119 +f 110 94 119 +f 97 110 119 +f 100 107 120 +f 94 110 120 +f 110 100 120 +f 95 103 121 +f 108 95 121 +f 103 108 121 +f 105 93 122 +f 103 105 122 +f 117 103 122 +f 89 104 123 +f 105 89 123 +f 116 98 123 +f 104 116 123 +f 101 92 124 +f 92 116 124 +f 116 112 124 +f 95 108 125 +f 108 119 125 +f 102 101 126 +f 101 110 126 +f 110 102 126 +f 99 89 127 +f 89 109 127 +f 98 92 128 +f 96 111 128 +f 92 118 128 +f 118 96 128 +f 100 101 129 +f 112 100 129 +f 101 124 129 +f 124 112 129 +f 109 95 130 +f 114 99 130 +f 95 125 130 +f 125 114 130 +f 99 127 130 +f 127 109 130 +f 122 93 131 +f 117 122 131 +f 103 95 132 +f 95 109 132 +f 109 103 132 +f 93 111 133 +f 111 117 133 +f 131 93 133 +f 117 131 133 +f 107 99 134 +f 94 120 134 +f 120 107 134 +f 111 93 135 +f 93 115 135 +f 106 96 136 +f 102 106 136 +f 118 102 136 +f 96 118 136 +f 89 99 137 +f 104 89 137 +f 99 107 137 +f 107 104 137 +f 99 114 138 +f 119 94 138 +f 114 125 138 +f 125 119 138 +f 94 134 138 +f 134 99 138 +f 115 98 139 +f 98 128 139 +f 128 111 139 +f 111 135 139 +f 135 115 139 +f 98 115 140 +f 115 105 140 +f 105 123 140 +f 123 98 140 +f 90 96 141 +f 97 90 141 +f 96 106 141 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/670/670.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/670/670.urdf new file mode 100644 index 000000000..9832671ab --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/670/670.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/671/671.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/671/671.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/671/671.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/671/671.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/671/671.obj new file mode 100644 index 000000000..0a3a998fe --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/671/671.obj @@ -0,0 +1,477 @@ +o convex_0 +v 0.600554 -4.925663 0.405806 +v -0.537189 -4.166958 0.026416 +v -0.537189 -4.166958 0.089616 +v 0.474151 -3.061172 -0.415694 +v 0.221232 -5.051982 -0.542285 +v -0.505449 -3.061370 0.437454 +v -0.537189 -3.156010 -0.447437 +v -0.505449 -5.083661 0.437454 +v 0.442522 -3.061172 0.437454 +v -0.473820 -5.051982 -0.478893 +v 0.474151 -5.020303 -0.542285 +v 0.252750 -3.061370 -0.542285 +v 0.474151 -3.061172 -0.542285 +v 0.600554 -4.893984 0.437454 +v -0.537189 -3.061370 -0.415694 +v -0.221013 -5.083661 0.216111 +v -0.537189 -3.061370 0.121360 +v -0.505449 -4.609470 -0.447437 +v 0.474151 -3.282527 0.437454 +v 0.316007 -5.051982 -0.352494 +v -0.473820 -5.083661 -0.257838 +v 0.505668 -4.957342 0.374062 +v -0.505449 -5.083661 0.121360 +v -0.537189 -3.756520 -0.447437 +v 0.158086 -4.388313 -0.542285 +v -0.347416 -5.083661 0.437454 +f 20 22 26 +f 2 3 7 +f 3 2 8 +f 6 8 9 +f 10 7 12 +f 11 5 12 +f 11 12 13 +f 9 4 13 +f 1 11 13 +f 9 8 14 +f 1 13 14 +f 13 4 14 +f 7 3 15 +f 12 7 15 +f 13 12 15 +f 9 13 15 +f 3 8 17 +f 8 6 17 +f 6 9 17 +f 15 3 17 +f 9 15 17 +f 4 9 19 +f 9 14 19 +f 14 4 19 +f 5 11 20 +f 16 5 20 +f 10 5 21 +f 16 8 21 +f 5 16 21 +f 11 1 22 +f 20 11 22 +f 8 2 23 +f 2 18 23 +f 18 10 23 +f 10 21 23 +f 21 8 23 +f 2 7 24 +f 7 10 24 +f 18 2 24 +f 10 18 24 +f 5 10 25 +f 10 12 25 +f 12 5 25 +f 1 14 26 +f 14 8 26 +f 8 16 26 +f 16 20 26 +f 22 1 26 +o convex_1 +v 0.537155 -3.061172 -0.952992 +v 0.600475 1.363455 1.069543 +v 0.537155 1.363455 1.069543 +v 0.410935 1.363455 -1.111166 +v -1.042693 -2.997938 0.974554 +v -1.074459 1.363022 -1.016176 +v 1.074640 -2.997505 0.942962 +v -1.074459 1.363022 1.037738 +v -1.042693 -2.965888 -0.984370 +v 1.042875 1.363455 -1.016176 +v 1.042875 -3.061172 -0.921186 +v 1.042875 1.363455 1.006146 +v 1.074640 1.363455 -0.700041 +v -1.074459 -0.880042 -1.016176 +v -0.505419 -3.061172 0.437274 +v -0.979584 -2.808237 -1.016176 +v -1.074459 0.193632 1.037738 +v 1.074640 -3.029555 0.911369 +v 1.042875 -2.586486 -0.952992 +v -0.537184 -3.061172 -0.415712 +v 1.074640 -2.966321 0.279100 +v 1.074640 -1.417095 0.911369 +v -0.537184 -2.997505 0.974554 +v 0.979765 1.331838 -1.047768 +v 0.726905 -3.061172 -0.952992 +v 1.042875 -3.061172 -0.067986 +v 0.947999 1.204938 1.037738 +v 1.074640 1.331405 -0.289131 +v 0.600475 1.268605 1.069543 +v -1.074459 -0.311805 1.006146 +v 0.442490 1.331838 -1.111166 +v -1.042693 -1.638413 1.006146 +v -1.042693 -2.997938 0.026364 +v 0.442490 -3.061172 0.437274 +v 1.042875 0.099214 -1.016176 +v 0.979765 -1.954149 0.974554 +v -0.631849 -3.029122 0.816593 +v -0.947818 -2.808237 -1.016176 +v 1.042875 0.004364 1.006146 +f 53 62 65 +f 29 28 30 +f 29 30 34 +f 30 32 34 +f 30 28 36 +f 36 28 38 +f 36 38 39 +f 32 30 40 +f 34 32 40 +f 27 37 41 +f 40 30 42 +f 35 40 42 +f 29 34 43 +f 34 40 43 +f 39 33 44 +f 39 37 45 +f 35 27 46 +f 41 31 46 +f 27 41 46 +f 37 39 47 +f 39 44 47 +f 44 37 47 +f 38 33 48 +f 33 39 48 +f 31 44 49 +f 44 33 49 +f 30 36 50 +f 27 35 51 +f 37 27 51 +f 45 37 51 +f 41 37 52 +f 37 44 52 +f 38 28 53 +f 39 38 54 +f 38 48 54 +f 48 39 54 +f 28 29 55 +f 29 43 55 +f 53 28 55 +f 40 31 56 +f 31 43 56 +f 43 40 56 +f 42 30 57 +f 30 50 57 +f 45 51 57 +f 43 31 58 +f 31 49 58 +f 55 43 58 +f 49 55 58 +f 31 40 59 +f 40 35 59 +f 35 46 59 +f 46 31 59 +f 44 41 60 +f 41 52 60 +f 52 44 60 +f 36 39 61 +f 39 45 61 +f 50 36 61 +f 57 50 61 +f 45 57 61 +f 49 33 62 +f 55 49 62 +f 53 55 62 +f 31 41 63 +f 44 31 63 +f 41 44 63 +f 35 42 64 +f 51 35 64 +f 42 57 64 +f 57 51 64 +f 33 38 65 +f 38 53 65 +f 62 33 65 +o convex_2 +v -0.600398 1.584798 -2.943873 +v 0.600573 2.564289 -2.754388 +v 0.600573 2.532784 -2.754388 +v -0.568657 1.584798 -1.111166 +v 0.505704 1.395060 -2.912420 +v -0.442282 2.596030 -3.070260 +v 0.474081 2.469420 -1.111357 +v 0.505704 1.553175 -1.111357 +v -0.442282 2.501043 -1.111166 +v 0.600573 2.596030 -3.007354 +v -0.410659 1.490047 -2.943873 +v 0.537327 1.553175 -2.944065 +v -0.442282 2.596030 -2.564712 +v 0.505704 1.521552 -1.174647 +v 0.442457 2.501043 -1.301034 +v -0.410659 1.553175 -1.237936 +v -0.315790 2.437915 -3.070260 +v 0.600573 2.343163 -3.007354 +v -0.600398 1.521670 -2.564712 +v -0.568657 1.711173 -1.395776 +v 0.505704 1.932534 -1.111357 +v -0.473905 2.437915 -2.754388 +v 0.600573 2.596030 -2.849131 +v 0.474081 1.458423 -2.943873 +v -0.568657 1.647927 -2.975518 +v 0.474081 1.395060 -2.880775 +v -0.094664 2.501043 -1.111166 +v 0.379211 2.564289 -3.038807 +v -0.600398 1.584798 -2.533067 +f 85 87 94 +f 68 67 73 +f 67 68 75 +f 75 71 78 +f 73 69 79 +f 70 77 79 +f 79 69 81 +f 68 73 83 +f 75 68 83 +f 73 79 83 +f 79 77 83 +f 66 76 84 +f 81 69 84 +f 69 74 85 +f 67 72 86 +f 73 67 86 +f 71 66 87 +f 78 71 87 +f 74 78 87 +f 85 74 87 +f 72 67 88 +f 67 75 88 +f 75 78 88 +f 80 72 88 +f 70 76 89 +f 77 70 89 +f 83 77 89 +f 66 71 90 +f 76 66 90 +f 71 82 90 +f 89 76 90 +f 82 89 90 +f 76 70 91 +f 70 79 91 +f 79 81 91 +f 84 76 91 +f 81 84 91 +f 69 73 92 +f 74 69 92 +f 78 74 92 +f 72 80 92 +f 86 72 92 +f 73 86 92 +f 88 78 92 +f 80 88 92 +f 71 75 93 +f 82 71 93 +f 75 83 93 +f 89 82 93 +f 83 89 93 +f 66 84 94 +f 84 69 94 +f 69 85 94 +f 87 66 94 +o convex_3 +v -1.106069 3.070072 -0.415595 +v 1.074640 1.395332 -0.320744 +v 1.074640 1.363629 -0.320744 +v -0.505392 1.426862 1.101148 +v 1.011242 3.038196 1.037914 +v 1.074640 3.006665 -1.079332 +v -1.074264 1.363455 -1.016099 +v -1.106069 3.133306 1.069531 +v 1.042834 1.363629 1.006297 +v 0.979650 1.363629 -1.047716 +v -1.074264 1.363455 1.037698 +v -1.106069 3.006665 -1.016099 +v -0.568790 1.584687 -1.110949 +v 0.632137 2.753904 1.101148 +v -1.106069 1.711154 -1.016099 +v -0.442208 2.500969 -1.111166 +v 0.473963 1.363455 -1.111166 +v 1.042834 3.038196 0.753362 +v 0.568953 1.584860 1.101148 +v -0.726750 3.133306 1.037698 +v 1.042834 1.426862 -1.047716 +v 0.979650 2.975135 1.069531 +v -1.042671 3.133306 0.753362 +v -1.106069 3.038369 -0.984482 +v -0.442208 2.532672 1.101148 +v 0.473963 2.469439 -1.111166 +v 0.979650 1.363629 1.037914 +v 1.042834 2.406378 1.037914 +v 1.074640 1.363629 -0.699930 +v -1.074264 2.027323 1.069531 +v 1.042834 3.038196 0.437410 +v 0.537361 3.069899 1.069531 +v -0.347432 3.006665 -1.047716 +v 0.600545 1.711327 -1.111166 +v 0.632137 1.363629 1.069531 +v -1.106069 2.974962 1.006081 +v 1.042834 1.648094 1.037914 +f 97 122 131 +f 96 97 100 +f 102 95 106 +f 101 105 109 +f 102 106 109 +f 107 101 109 +f 106 107 109 +f 107 106 110 +f 107 110 111 +f 97 103 111 +f 105 101 111 +f 103 105 111 +f 101 107 111 +f 96 100 112 +f 108 98 113 +f 104 111 115 +f 108 113 116 +f 100 95 117 +f 95 102 117 +f 114 100 117 +f 102 114 117 +f 95 100 118 +f 106 95 118 +f 102 98 119 +f 98 108 119 +f 108 102 119 +f 110 100 120 +f 111 110 120 +f 105 103 121 +f 97 96 122 +f 96 112 122 +f 112 99 122 +f 99 116 122 +f 100 97 123 +f 97 111 123 +f 111 104 123 +f 115 100 123 +f 104 115 123 +f 98 102 124 +f 105 98 124 +f 102 105 124 +f 112 100 125 +f 100 114 125 +f 125 114 126 +f 102 108 126 +f 99 112 126 +f 114 102 126 +f 116 99 126 +f 108 116 126 +f 112 125 126 +f 100 110 127 +f 110 106 127 +f 118 100 127 +f 106 118 127 +f 100 115 128 +f 115 111 128 +f 120 100 128 +f 111 120 128 +f 98 105 129 +f 113 98 129 +f 105 121 129 +f 121 113 129 +f 105 102 130 +f 109 105 130 +f 102 109 130 +f 103 97 131 +f 116 113 131 +f 121 103 131 +f 113 121 131 +f 122 116 131 +o convex_4 +v 0.537262 2.216653 2.270344 +v -0.505507 1.426664 1.101148 +v -0.505507 1.837529 1.101148 +v -0.600397 2.469519 3.092230 +v -0.221063 1.426664 3.028888 +v 0.442485 2.627635 1.101343 +v 0.568968 1.584780 1.101343 +v 0.474077 2.595894 3.028693 +v 0.474077 1.553274 2.965741 +v -0.442208 2.532765 1.101148 +v -0.473800 1.426664 3.028888 +v 0.442485 2.627635 2.428211 +v -0.315840 1.426664 1.101148 +v 0.410893 1.521533 2.617847 +v 0.474077 2.627635 1.259405 +v -0.473800 2.532765 1.196063 +v 0.505669 2.595894 2.997314 +v -0.568691 2.121901 3.092230 +v -0.537099 1.647908 1.417273 +v 0.505669 1.553274 2.649616 +v -0.284248 2.564389 1.227637 +v 0.284410 2.596012 3.028888 +v -0.600397 2.374768 2.870826 +v -0.379138 1.553156 3.060267 +v -0.221063 2.469519 3.092230 +v 0.284410 2.627517 1.101148 +v 0.568968 1.711272 1.132916 +v 0.474077 1.900892 2.997314 +v -0.505507 2.501143 2.617847 +v 0.505669 2.153406 2.997314 +v 0.505669 2.595894 2.491553 +v -0.505507 1.426664 1.606909 +v -0.600397 2.343027 3.092230 +f 163 142 164 +f 133 134 141 +f 133 136 142 +f 136 133 144 +f 133 141 144 +f 140 136 145 +f 136 144 145 +f 144 138 145 +f 137 143 146 +f 141 134 147 +f 143 139 148 +f 146 143 148 +f 134 133 150 +f 138 132 151 +f 145 138 151 +f 140 145 151 +f 141 147 152 +f 139 143 153 +f 143 152 153 +f 147 134 154 +f 135 147 154 +f 134 150 154 +f 136 140 155 +f 142 136 155 +f 149 142 155 +f 149 155 156 +f 135 149 156 +f 153 135 156 +f 139 153 156 +f 137 138 157 +f 143 137 157 +f 138 144 157 +f 144 141 157 +f 141 152 157 +f 152 143 157 +f 132 138 158 +f 138 137 158 +f 137 146 158 +f 155 140 159 +f 156 155 159 +f 139 156 159 +f 147 135 160 +f 152 147 160 +f 135 153 160 +f 153 152 160 +f 132 148 161 +f 148 139 161 +f 151 132 161 +f 140 151 161 +f 159 140 161 +f 139 159 161 +f 148 132 162 +f 146 148 162 +f 132 158 162 +f 158 146 162 +f 133 142 163 +f 150 133 163 +f 150 163 164 +f 149 135 164 +f 142 149 164 +f 135 154 164 +f 154 150 164 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/671/671.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/671/671.urdf new file mode 100644 index 000000000..e7b6a852e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/671/671.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/672/672.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/672/672.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/672/672.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/672/672.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/672/672.obj new file mode 100644 index 000000000..9ff5b364d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/672/672.obj @@ -0,0 +1,525 @@ +o convex_0 +v -1.673332 0.698661 1.718489 +v -1.156813 1.731582 3.109057 +v -1.196599 1.771368 2.314114 +v -2.348762 1.850707 2.949796 +v -2.308976 1.890610 1.122476 +v -2.348762 0.778233 3.109057 +v -1.276055 0.698661 1.122476 +v -2.348762 0.817903 1.122476 +v -1.315841 0.817903 2.949796 +v -1.156813 1.771368 1.122476 +v -1.156813 1.572671 3.109057 +v -2.030824 1.850707 2.989855 +v -1.315841 1.810921 1.162339 +v -1.236385 0.857689 1.559811 +v -2.348762 1.850707 1.440414 +v -1.951252 0.778233 3.069194 +v -1.156813 1.572671 1.122476 +v -1.276055 0.698661 1.519948 +v -1.633780 1.771368 3.069194 +v -2.110279 0.738447 2.632247 +v -1.554324 0.698661 1.122476 +v -2.348762 0.897358 3.109057 +f 19 4 22 +f 6 4 8 +f 5 7 8 +f 3 2 10 +f 7 5 10 +f 2 6 11 +f 10 2 11 +f 2 3 12 +f 5 4 12 +f 3 10 13 +f 10 5 13 +f 12 3 13 +f 5 12 13 +f 11 9 14 +f 4 5 15 +f 8 4 15 +f 5 8 15 +f 11 6 16 +f 9 11 16 +f 7 10 17 +f 10 11 17 +f 14 7 17 +f 11 14 17 +f 1 7 18 +f 7 14 18 +f 14 9 18 +f 9 16 18 +f 2 12 19 +f 12 4 19 +f 8 1 20 +f 6 8 20 +f 16 6 20 +f 1 18 20 +f 18 16 20 +f 7 1 21 +f 1 8 21 +f 8 7 21 +f 6 2 22 +f 4 6 22 +f 2 19 22 +o convex_1 +v 3.293045 2.247884 -0.307671 +v 1.346579 0.221882 0.327772 +v 1.386213 0.221882 0.327772 +v 1.584766 0.301360 -1.102290 +v 1.346579 2.248086 -1.062601 +v 1.346579 2.287926 0.963425 +v 3.213585 0.301563 0.963425 +v 3.253220 0.380839 -0.983013 +v 3.213585 2.208245 1.043013 +v 3.293045 2.287926 -1.062601 +v 1.386213 0.341201 1.002904 +v 1.346579 0.301360 -1.102290 +v 3.253220 0.301563 0.565905 +v 1.346579 0.221882 0.963425 +v 3.253220 0.341201 -0.863946 +v 3.054667 2.247884 1.043013 +v 3.293045 0.619276 -0.983013 +v 1.346579 1.811054 -1.102290 +v 2.220440 2.287926 -1.062601 +v 3.253220 2.287926 -0.188394 +v 3.253220 0.420882 0.804459 +v 1.743685 2.248086 1.002904 +v 2.697005 1.691734 1.043013 +v 1.823144 0.221882 0.883837 +v 1.386213 0.261722 -0.704980 +v 3.293045 1.373819 -0.109016 +v 1.982062 0.937191 -1.102290 +v 3.293045 2.049490 -1.062601 +v 1.346579 2.287926 0.049529 +v 3.173760 0.937191 1.003114 +v 1.862969 2.287926 0.923526 +f 38 42 53 +f 27 24 28 +f 24 27 34 +f 24 25 36 +f 28 24 36 +f 33 28 36 +f 29 33 36 +f 26 30 37 +f 32 23 39 +f 37 30 39 +f 35 37 39 +f 26 34 40 +f 34 27 40 +f 28 32 41 +f 32 40 41 +f 40 27 41 +f 31 23 42 +f 32 28 42 +f 23 32 42 +f 38 31 42 +f 23 31 43 +f 31 29 43 +f 29 35 43 +f 35 39 43 +f 28 33 44 +f 38 28 44 +f 38 44 45 +f 31 38 45 +f 44 33 45 +f 35 29 46 +f 36 25 46 +f 29 36 46 +f 25 37 46 +f 37 35 46 +f 25 24 47 +f 24 34 47 +f 34 26 47 +f 37 25 47 +f 26 37 47 +f 39 23 48 +f 23 43 48 +f 43 39 48 +f 26 40 49 +f 40 32 49 +f 30 26 50 +f 39 30 50 +f 32 39 50 +f 26 49 50 +f 49 32 50 +f 27 28 51 +f 41 27 51 +f 28 41 51 +f 29 31 52 +f 33 29 52 +f 31 45 52 +f 45 33 52 +f 28 38 53 +f 42 28 53 +o convex_2 +v -2.308976 0.698661 -1.817821 +v -1.156813 1.771368 -2.929871 +v -1.156813 1.612458 -2.929871 +v -1.276055 1.294636 -1.102496 +v -2.308976 1.890610 -1.102496 +v -2.269190 1.731582 -3.009330 +v -1.196599 0.738447 -3.048965 +v -2.150065 0.698661 -1.102496 +v -1.276055 1.890610 -1.142512 +v -2.229521 0.738447 -2.890237 +v -1.276055 0.857689 -1.102496 +v -2.348762 0.698661 -1.102496 +v -1.156813 1.771368 -3.048965 +v -2.269190 1.771368 -2.969696 +v -1.196599 0.738447 -2.651859 +v -2.070493 0.738447 -2.969696 +v -2.308976 1.850707 -1.778187 +v -1.474752 1.890610 -1.301430 +v -2.269190 1.533002 -3.009330 +v -1.673332 1.771368 -3.048965 +v -1.276055 0.817903 -1.341065 +v -2.348762 1.135725 -1.142512 +v -1.315841 1.890610 -1.102496 +f 62 58 76 +f 56 55 57 +f 57 58 61 +f 54 60 61 +f 57 55 62 +f 56 57 64 +f 57 61 64 +f 54 61 65 +f 61 58 65 +f 55 56 66 +f 56 60 66 +f 62 55 66 +f 60 56 68 +f 61 60 68 +f 56 64 68 +f 60 54 69 +f 54 63 69 +f 67 59 70 +f 67 70 71 +f 58 62 71 +f 62 66 71 +f 70 58 71 +f 63 54 72 +f 54 65 72 +f 60 69 72 +f 69 63 72 +f 66 60 73 +f 59 67 73 +f 67 71 73 +f 71 66 73 +f 72 59 73 +f 60 72 73 +f 64 61 74 +f 61 68 74 +f 68 64 74 +f 65 58 75 +f 58 70 75 +f 70 59 75 +f 59 72 75 +f 72 65 75 +f 58 57 76 +f 57 62 76 +o convex_3 +v -1.117270 2.367390 0.605871 +v -1.236369 0.222301 0.566233 +v -1.037808 0.222301 0.566233 +v -1.315832 1.890283 -1.102496 +v -2.785606 2.248113 0.923631 +v -2.785606 0.341158 -1.023001 +v -2.706144 2.287802 -0.983145 +v -2.825243 0.341158 0.963487 +v -0.878692 0.341368 -1.102496 +v -0.878692 0.500333 1.122476 +v -0.878692 2.208214 -0.943507 +v -0.878692 2.367390 0.963487 +v -2.308830 1.890283 1.122476 +v -0.878692 0.261990 1.122476 +v -2.308830 1.890283 -1.102496 +v -2.745970 2.327491 0.923631 +v -2.348657 0.857743 1.122476 +v -1.156907 1.771217 1.122476 +v -2.547218 0.301469 -0.784518 +v -2.348657 0.698988 -1.102496 +v -2.507582 0.301469 1.002908 +v -0.878692 2.247903 -0.824374 +v -2.745970 1.890283 -0.983145 +v -2.825243 1.016708 0.963487 +v -2.745970 2.327491 0.049628 +v -0.878692 0.222301 1.082620 +v -1.593856 2.367390 0.963487 +v -2.825243 0.381057 0.208617 +v -2.388293 2.287802 -0.983145 +v -0.918518 2.367390 0.605871 +v -0.878692 0.301679 -0.625529 +v -2.785606 0.579711 -1.023001 +v -0.918518 2.049249 1.042981 +v -1.236369 0.222301 1.082620 +f 102 90 110 +f 86 85 87 +f 85 80 87 +f 86 87 88 +f 85 86 90 +f 86 89 90 +f 83 80 91 +f 80 85 91 +f 81 89 92 +f 90 89 93 +f 89 86 94 +f 88 89 94 +f 79 78 95 +f 84 82 95 +f 82 85 95 +f 85 82 96 +f 91 85 96 +f 93 84 97 +f 90 93 97 +f 84 95 97 +f 88 87 98 +f 89 81 100 +f 84 93 100 +f 93 89 100 +f 77 83 101 +f 81 92 101 +f 99 81 101 +f 83 99 101 +f 78 79 102 +f 85 90 102 +f 88 77 103 +f 89 88 103 +f 92 89 103 +f 77 101 103 +f 101 92 103 +f 82 84 104 +f 81 99 104 +f 84 100 104 +f 100 81 104 +f 80 83 105 +f 83 77 105 +f 87 80 105 +f 98 87 105 +f 98 105 106 +f 77 88 106 +f 88 98 106 +f 105 77 106 +f 79 95 107 +f 95 85 107 +f 102 79 107 +f 85 102 107 +f 83 91 108 +f 96 82 108 +f 91 96 108 +f 99 83 108 +f 82 104 108 +f 104 99 108 +f 86 88 109 +f 94 86 109 +f 88 94 109 +f 95 78 110 +f 90 97 110 +f 97 95 110 +f 78 102 110 +o convex_4 +v 1.306334 -5.300750 -0.983137 +v -0.878478 -4.029520 0.884028 +v -0.878478 -4.029520 0.963386 +v 1.266762 -2.757991 -0.228271 +v -0.799120 -2.757991 -0.983137 +v -0.679975 -5.817327 -1.102282 +v 1.147618 -5.817327 1.082530 +v 1.226976 -2.757991 0.963386 +v -0.759333 -5.658011 1.002958 +v -0.838906 -2.757991 0.963386 +v 1.266762 -2.757991 -1.062710 +v 1.306334 -5.817327 -0.943351 +v -0.878478 -3.751317 -0.705063 +v 1.187190 -5.260921 1.082530 +v 0.432324 -5.777498 1.082530 +v 0.472110 -2.757991 -1.062710 +v 1.266762 -3.711788 -1.062710 +v -0.759333 -5.141734 -1.062496 +v -0.481259 -5.697841 1.042958 +v 1.306334 -5.817327 -0.784421 +v 1.226976 -3.989691 0.963386 +v -0.441473 -2.757991 -1.022710 +v -0.878478 -3.235039 0.963386 +v -0.838906 -3.076023 -0.983137 +v -0.520831 -5.817327 -1.102282 +v 1.306334 -4.386782 -0.943351 +v -0.719548 -5.777498 -0.386988 +v 1.187190 -5.817327 0.963386 +v 0.789971 -5.817327 1.002958 +v -0.679975 -5.618482 -1.102282 +v -0.759333 -5.658011 0.764669 +v -0.838906 -4.188536 -0.983137 +v -0.679975 -5.697841 0.884028 +v -0.838906 -2.757991 0.287878 +f 134 133 144 +f 114 115 118 +f 113 112 119 +f 118 115 120 +f 115 114 121 +f 117 116 122 +f 112 113 123 +f 118 120 124 +f 117 124 125 +f 124 120 125 +f 115 121 126 +f 121 111 127 +f 125 120 129 +f 122 111 130 +f 117 122 130 +f 118 124 131 +f 130 118 131 +f 115 126 132 +f 113 119 133 +f 123 113 133 +f 119 129 133 +f 129 120 133 +f 123 133 134 +f 111 122 135 +f 122 116 135 +f 127 111 135 +f 121 127 135 +f 114 118 136 +f 111 121 136 +f 121 114 136 +f 130 111 136 +f 118 130 136 +f 128 116 137 +f 124 117 138 +f 117 130 138 +f 131 124 138 +f 130 131 138 +f 116 117 139 +f 117 125 139 +f 137 116 139 +f 126 121 140 +f 116 128 140 +f 115 132 140 +f 132 126 140 +f 134 115 140 +f 128 134 140 +f 135 116 140 +f 121 135 140 +f 119 112 141 +f 112 123 141 +f 128 137 141 +f 137 119 141 +f 134 128 142 +f 123 134 142 +f 141 123 142 +f 128 141 142 +f 129 119 143 +f 125 129 143 +f 119 137 143 +f 139 125 143 +f 137 139 143 +f 120 115 144 +f 133 120 144 +f 115 134 144 +o convex_5 +v 1.266785 1.969521 -1.102278 +v -0.878692 0.222231 0.605871 +v -0.838836 -2.757991 0.288111 +v 1.266785 -2.677688 0.963269 +v 1.147435 4.234629 1.082402 +v -0.838836 4.274088 -1.023001 +v 0.432421 -2.757991 -1.062640 +v -0.838836 4.274088 1.082620 +v 1.346280 4.314240 -1.023001 +v -0.799197 -2.757991 -0.983145 +v -0.838836 -2.757991 0.963487 +v 1.266785 -2.757991 -1.062640 +v -0.878692 0.222231 1.122476 +v -0.878692 0.341302 -1.102496 +v 1.346280 2.287273 0.963487 +v 1.346280 0.301842 -1.102496 +v 1.346280 -0.214591 0.963487 +v -0.878692 2.763555 -0.903651 +v 1.226929 -2.757991 0.963269 +v 1.226929 -1.525751 -1.102278 +v -0.640209 0.182772 1.122476 +v 1.187291 4.035948 1.082402 +v -0.878692 2.366884 0.963487 +v 1.306424 3.718195 -1.062640 +v -0.759341 -2.439547 -1.023001 +v 0.273432 4.314240 -1.022784 +v 1.306424 4.314240 -0.546035 +v 1.187291 3.797114 1.082402 +v 0.273432 1.453088 -1.102278 +v 0.909170 -1.763891 1.003125 +v 1.346280 4.314240 -0.903651 +v -0.322449 4.274088 1.082620 +v 1.187291 4.234629 0.963269 +v -0.759341 0.103161 1.122476 +v -0.759341 -1.366529 -1.062640 +v -0.878692 0.461065 1.122476 +v 1.306424 0.222924 1.003125 +f 166 172 181 +f 151 147 154 +f 146 147 155 +f 147 151 155 +f 155 151 156 +f 146 155 157 +f 147 146 158 +f 154 147 158 +f 146 157 158 +f 158 145 160 +f 153 159 160 +f 160 159 161 +f 148 156 161 +f 156 160 161 +f 152 150 162 +f 150 158 162 +f 158 157 162 +f 156 148 163 +f 155 156 163 +f 156 151 164 +f 151 158 164 +f 160 156 164 +f 158 160 164 +f 149 165 166 +f 152 162 167 +f 162 157 167 +f 160 145 168 +f 153 160 168 +f 151 154 169 +f 154 158 169 +f 150 152 170 +f 168 150 170 +f 153 168 170 +f 170 152 171 +f 153 170 171 +f 166 165 172 +f 145 158 173 +f 158 150 173 +f 168 145 173 +f 150 168 173 +f 163 148 174 +f 165 163 174 +f 148 172 174 +f 172 165 174 +f 159 153 175 +f 153 171 175 +f 149 171 176 +f 171 152 176 +f 149 166 177 +f 166 159 177 +f 171 149 177 +f 159 175 177 +f 175 171 177 +f 157 155 178 +f 155 163 178 +f 165 157 178 +f 163 165 178 +f 158 151 179 +f 151 169 179 +f 169 158 179 +f 165 149 180 +f 157 165 180 +f 152 167 180 +f 167 157 180 +f 149 176 180 +f 176 152 180 +f 161 159 181 +f 148 161 181 +f 159 166 181 +f 172 148 181 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/672/672.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/672/672.urdf new file mode 100644 index 000000000..f8bfa2ec9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/672/672.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/673/673.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/673/673.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/673/673.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/673/673.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/673/673.obj new file mode 100644 index 000000000..30e10a740 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/673/673.obj @@ -0,0 +1,687 @@ +o convex_0 +v 0.293083 0.775294 1.098149 +v -0.319748 0.595282 -1.101964 +v -0.968911 0.162452 -1.029818 +v 0.942027 -0.306559 -1.101964 +v -0.968911 -0.306559 0.989823 +v -0.968911 1.208273 0.989823 +v 0.978360 1.208273 -1.029818 +v 1.086480 -0.306559 1.061969 +v 1.050367 1.208273 1.061754 +v -0.968911 1.208273 -1.029818 +v -0.968911 -0.306559 -0.993638 +v -1.113364 0.054207 -0.308364 +v 1.122594 0.414973 -0.596945 +v -1.113364 1.135912 0.448625 +v 1.122594 1.172092 -0.416474 +v -0.391974 0.198484 1.098149 +v 0.942246 1.208273 -1.101964 +v -1.113145 -0.018005 0.628881 +v -1.113364 1.135912 -0.560765 +v -0.428088 1.208273 1.098149 +v 0.905914 -0.306559 1.098149 +v 1.122594 1.027667 0.484590 +v 1.122594 0.126420 -0.488620 +v 0.364872 -0.306559 -1.101964 +v -1.041137 -0.270379 -0.055962 +v 1.086480 -0.306559 0.485021 +v -0.860790 -0.306559 -1.029818 +v 1.122594 0.126420 0.520770 +v -0.319748 0.883391 -1.101964 +v -1.113364 0.162452 -0.488620 +v -1.005024 -0.306559 0.953858 +v -0.824677 -0.198314 1.026004 +v 0.978141 -0.234346 -1.029818 +v -1.041137 1.208273 -0.128108 +v 1.086480 1.208273 -0.632910 +v -0.860571 1.208273 1.026004 +f 32 20 36 +f 5 4 8 +f 7 6 9 +f 2 3 10 +f 6 7 10 +f 4 5 11 +f 4 2 17 +f 7 4 17 +f 10 7 17 +f 6 14 18 +f 14 12 18 +f 10 3 19 +f 12 14 19 +f 1 9 20 +f 9 6 20 +f 16 1 20 +f 5 8 21 +f 9 1 21 +f 8 9 21 +f 1 16 21 +f 9 8 22 +f 15 9 22 +f 13 15 22 +f 13 22 23 +f 2 4 24 +f 4 11 24 +f 12 11 25 +f 18 12 25 +f 8 4 26 +f 23 8 26 +f 3 2 27 +f 11 3 27 +f 2 24 27 +f 24 11 27 +f 22 8 28 +f 8 23 28 +f 23 22 28 +f 2 10 29 +f 17 2 29 +f 10 17 29 +f 3 11 30 +f 11 12 30 +f 19 3 30 +f 12 19 30 +f 5 6 31 +f 11 5 31 +f 6 18 31 +f 25 11 31 +f 18 25 31 +f 16 20 32 +f 5 21 32 +f 21 16 32 +f 4 7 33 +f 7 13 33 +f 13 23 33 +f 26 4 33 +f 23 26 33 +f 6 10 34 +f 14 6 34 +f 10 19 34 +f 19 14 34 +f 7 9 35 +f 13 7 35 +f 9 15 35 +f 15 13 35 +f 6 5 36 +f 20 6 36 +f 5 32 36 +o convex_1 +v 0.653781 1.208273 -1.101752 +v -0.392086 1.461045 1.097937 +v -0.428122 1.461045 1.097937 +v 0.942274 3.552355 -0.993662 +v -0.969073 3.516348 -1.065578 +v 0.978310 3.660617 0.989848 +v 1.050381 1.208273 1.061764 +v -0.969073 1.208273 -1.029620 +v -0.933037 3.660617 1.025806 +v -0.969073 1.208273 0.989848 +v 1.086625 1.208273 -0.632789 +v -1.041353 1.857846 -0.091695 +v 0.942274 3.516348 -1.101752 +v 0.942274 1.208273 -1.101752 +v 0.978310 3.588362 1.025806 +v 1.086625 1.821599 -0.200000 +v -0.933037 3.660617 0.593017 +v -1.041353 1.208273 -0.741094 +v 0.978310 3.335830 -1.065578 +v 0.978310 3.660617 0.520670 +v -0.969073 3.552355 -0.957489 +v 1.014346 3.227808 0.737280 +v -0.969073 3.227808 0.737280 +v 0.365079 3.516348 -1.101752 +v -0.428122 1.208273 1.097937 +v 1.050381 1.497052 1.061764 +v -1.041353 1.965869 -0.741094 +v -1.041353 1.208273 -0.128084 +v -0.969073 2.146386 0.989848 +v 1.086625 1.713577 -0.632789 +v -0.860966 1.208273 1.025806 +v 0.978310 3.588362 -0.236173 +v 1.086625 1.821599 -0.055737 +v 0.978310 1.208273 -1.029620 +v -0.969073 3.335830 -1.065578 +v 1.086625 1.208273 -0.127868 +f 47 69 72 +f 37 43 44 +f 39 38 45 +f 44 43 46 +f 43 37 47 +f 47 37 50 +f 37 49 50 +f 45 38 51 +f 42 45 51 +f 45 42 53 +f 44 46 54 +f 49 40 55 +f 50 49 55 +f 53 42 56 +f 53 56 57 +f 45 53 57 +f 56 40 57 +f 42 51 58 +f 56 42 58 +f 57 48 59 +f 45 57 59 +f 49 37 60 +f 40 49 60 +f 41 57 60 +f 57 40 60 +f 38 39 61 +f 43 38 61 +f 39 45 61 +f 46 43 61 +f 38 43 62 +f 51 38 62 +f 58 51 62 +f 41 54 63 +f 54 48 63 +f 57 41 63 +f 48 57 63 +f 46 48 64 +f 54 46 64 +f 48 54 64 +f 46 45 65 +f 48 46 65 +f 45 59 65 +f 59 48 65 +f 52 47 66 +f 47 55 66 +f 45 46 67 +f 61 45 67 +f 46 61 67 +f 55 40 68 +f 40 56 68 +f 58 52 68 +f 56 58 68 +f 52 66 68 +f 66 55 68 +f 47 52 69 +f 52 58 69 +f 62 43 69 +f 58 62 69 +f 47 50 70 +f 55 47 70 +f 50 55 70 +f 37 44 71 +f 54 41 71 +f 44 54 71 +f 60 37 71 +f 41 60 71 +f 43 47 72 +f 69 43 72 +o convex_2 +v 1.014307 -0.703431 -1.895680 +v -1.041353 -2.506672 -2.941219 +v -0.752631 -2.506672 -2.977332 +v 1.014307 -2.470219 -1.101964 +v -0.969070 -0.378694 -1.101964 +v 1.050551 -0.487009 -2.977332 +v -0.933031 -0.378694 -3.013251 +v -0.933031 -2.434184 -1.101964 +v 1.014307 -2.398356 -3.085478 +v 0.942229 -0.451182 -1.101964 +v 1.050551 -1.713054 -1.679194 +v 1.050551 -1.316454 -3.049559 +v -0.464318 -0.378694 -2.580474 +v -0.969070 -2.470219 -1.535129 +v 0.725790 -2.398356 -3.085478 +v -0.211635 -2.506672 -2.219923 +v 0.437272 -0.415146 -1.643275 +v -0.969070 -0.378694 -1.679388 +v 1.014307 -1.677019 -1.102158 +v -0.067274 -0.415146 -3.013251 +v 0.978268 -2.001548 -3.085478 +v -0.572435 -0.378694 -1.101964 +v 1.050551 -1.821369 -3.049559 +v -1.041353 -2.326285 -2.941219 +v -1.041353 -2.506672 -2.760846 +v 0.040638 -2.470219 -1.101964 +v 0.761829 -2.434184 -2.760846 +v -0.933031 -0.703640 -3.013251 +v -0.969070 -0.920062 -1.101964 +v 1.050551 -0.487009 -2.688814 +v -0.969070 -0.884026 -2.977332 +v 1.050551 -0.667396 -3.013251 +v 0.978268 -0.451182 -1.534935 +v -0.969070 -2.434184 -1.426789 +v -1.005109 -2.506672 -2.436215 +v 1.014307 -2.470219 -1.282530 +f 88 99 108 +f 76 77 80 +f 77 76 82 +f 78 83 84 +f 79 77 85 +f 81 75 87 +f 74 75 88 +f 78 85 89 +f 77 79 90 +f 82 76 91 +f 83 73 91 +f 76 83 91 +f 79 85 92 +f 85 78 92 +f 84 81 93 +f 87 79 93 +f 81 87 93 +f 92 84 93 +f 79 92 93 +f 77 82 94 +f 85 77 94 +f 82 89 94 +f 89 85 94 +f 83 76 95 +f 81 84 95 +f 84 83 95 +f 79 74 96 +f 77 90 96 +f 74 88 97 +f 96 74 97 +f 77 96 97 +f 76 80 98 +f 80 86 98 +f 88 76 98 +f 75 81 99 +f 88 75 99 +f 75 74 100 +f 74 79 100 +f 87 75 100 +f 79 87 100 +f 80 77 101 +f 77 97 101 +f 73 83 102 +f 83 78 102 +f 90 79 103 +f 79 96 103 +f 96 90 103 +f 78 84 104 +f 92 78 104 +f 84 92 104 +f 89 82 105 +f 78 89 105 +f 91 73 105 +f 82 91 105 +f 73 102 105 +f 102 78 105 +f 86 80 106 +f 97 86 106 +f 80 101 106 +f 101 97 106 +f 86 97 107 +f 97 88 107 +f 98 86 107 +f 88 98 107 +f 76 88 108 +f 95 76 108 +f 81 95 108 +f 99 81 108 +o convex_3 +v -1.113487 -0.631505 2.901252 +v 1.086625 -0.378793 1.314299 +v 1.014480 -0.342782 2.540451 +v 0.942334 -2.398371 3.044999 +v -0.933016 -2.434381 -1.101964 +v -0.969197 -0.306559 -0.993436 +v 1.014480 -2.470604 -1.101964 +v -0.969197 -2.362148 2.972921 +v 0.942334 -0.306559 -1.101964 +v 0.834009 -0.306559 3.081857 +v -1.113487 -0.487037 3.081857 +v -0.933016 -2.434381 1.494495 +v 1.050445 -2.398371 1.422007 +v -1.005162 -0.306559 0.989947 +v -0.969197 -0.379005 -1.101964 +v 1.086410 -0.883793 0.124597 +v -1.005162 -2.254115 3.009369 +v 0.978299 -0.306559 3.081857 +v 0.978299 -2.326137 2.864803 +v 1.050445 -2.181669 -0.777201 +v 1.086625 -0.306559 0.449359 +v -0.969197 -0.956027 -1.101964 +v 0.148735 -2.470604 -1.065105 +v 1.014480 -2.470604 -0.596596 +v -0.969197 -2.398159 2.721056 +v 1.086410 -1.316772 1.061616 +v -0.788725 -0.847782 3.081857 +v -0.860871 -0.451026 3.081857 +v 1.014480 -1.713104 -1.101964 +v -1.005162 -0.306559 -0.343912 +v 1.050445 -2.434381 -0.380361 +v 0.581607 -2.398371 3.044999 +v -0.211777 -2.398159 3.009369 +v 0.978299 -1.244538 3.044999 +v -1.113487 -0.667516 2.972921 +f 125 119 143 +f 115 113 117 +f 117 114 118 +f 118 114 122 +f 117 113 123 +f 114 117 123 +f 111 110 126 +f 117 118 126 +f 118 119 126 +f 112 121 127 +f 124 117 129 +f 126 110 129 +f 117 126 129 +f 113 109 130 +f 123 113 130 +f 113 115 131 +f 120 113 131 +f 120 131 132 +f 112 120 132 +f 121 112 132 +f 131 115 132 +f 113 120 133 +f 125 113 133 +f 116 125 133 +f 110 127 134 +f 127 121 134 +f 129 110 134 +f 124 129 134 +f 119 125 135 +f 112 126 135 +f 126 119 135 +f 119 118 136 +f 118 122 136 +f 122 119 136 +f 115 117 137 +f 117 124 137 +f 128 115 137 +f 124 128 137 +f 109 119 138 +f 122 114 138 +f 119 122 138 +f 114 123 138 +f 130 109 138 +f 123 130 138 +f 115 128 139 +f 128 124 139 +f 121 132 139 +f 132 115 139 +f 134 121 139 +f 124 134 139 +f 120 112 140 +f 112 135 140 +f 135 125 140 +f 125 116 141 +f 116 133 141 +f 133 120 141 +f 120 140 141 +f 140 125 141 +f 110 111 142 +f 111 126 142 +f 126 112 142 +f 127 110 142 +f 112 127 142 +f 109 113 143 +f 119 109 143 +f 113 125 143 +o convex_4 +v -0.139589 0.919733 2.865453 +v 0.148858 0.270520 2.901238 +v 0.221000 0.270520 2.901238 +v 0.112727 0.342711 1.098149 +v -0.320004 0.306615 3.117925 +v -0.247862 0.847478 1.098149 +v 0.293142 0.775414 1.098149 +v 0.221000 0.883638 3.081547 +v -0.211731 0.378743 1.098149 +v -0.247862 0.847478 2.973598 +v 0.257071 0.342711 1.098149 +v 0.257071 0.883638 2.720929 +v -0.320004 0.306615 2.756912 +v 0.293142 0.523062 1.206493 +v 0.221000 0.414839 3.009383 +v -0.247862 0.523062 1.098149 +v -0.320004 0.414839 3.081547 +v 0.257071 0.847478 2.901238 +v -0.211731 0.919733 2.937220 +f 153 151 162 +f 146 145 147 +f 145 146 148 +f 147 149 150 +f 149 147 152 +f 148 151 153 +f 146 147 154 +f 147 150 154 +f 149 144 155 +f 150 149 155 +f 144 151 155 +f 147 145 156 +f 145 148 156 +f 152 147 156 +f 146 154 157 +f 154 150 157 +f 148 146 158 +f 151 148 158 +f 149 152 159 +f 156 149 159 +f 152 156 159 +f 153 149 160 +f 148 153 160 +f 156 148 160 +f 149 156 160 +f 150 155 161 +f 155 151 161 +f 146 157 161 +f 157 150 161 +f 158 146 161 +f 151 158 161 +f 144 149 162 +f 151 144 162 +f 149 153 162 +o convex_5 +v 0.004659 0.919733 -1.931793 +v 0.184901 0.198385 -3.013251 +v 0.257011 0.198385 -3.013251 +v 0.365277 0.306630 -1.101964 +v -0.283916 0.342711 -1.101964 +v -0.247827 0.739396 -3.085478 +v 0.293100 0.919733 -2.977138 +v -0.320004 0.883652 -1.101964 +v -0.320004 0.270619 -3.013251 +v 0.293100 0.811418 -1.101964 +v -0.175717 0.811418 -3.013251 +v 0.293100 0.559059 -2.977138 +v -0.320004 0.486967 -2.868992 +v 0.148745 0.919733 -2.905105 +v -0.320004 0.559059 -1.174384 +v 0.257011 0.270619 -1.534935 +v 0.365277 0.450885 -1.138271 +v 0.365277 0.306630 -1.390676 +v 0.293100 0.919733 -2.544360 +v -0.103473 0.883652 -1.138271 +v -0.103473 0.631152 -3.085478 +f 164 171 183 +f 167 166 170 +f 164 167 171 +f 170 166 172 +f 169 168 173 +f 168 170 173 +f 165 169 174 +f 170 168 175 +f 168 171 175 +f 171 170 175 +f 163 169 176 +f 170 163 176 +f 169 173 176 +f 173 170 176 +f 167 170 177 +f 170 171 177 +f 171 167 177 +f 164 165 178 +f 165 166 178 +f 166 167 178 +f 167 164 178 +f 172 166 179 +f 166 165 180 +f 165 174 180 +f 174 169 180 +f 179 166 180 +f 169 179 180 +f 169 163 181 +f 172 179 181 +f 179 169 181 +f 163 170 182 +f 170 172 182 +f 181 163 182 +f 172 181 182 +f 165 164 183 +f 169 165 183 +f 168 169 183 +f 171 168 183 +o convex_6 +v 1.339373 1.172205 -0.380559 +v 1.122693 0.162455 -0.597020 +v 1.231227 0.126451 -0.560867 +v 1.122693 0.126451 0.520873 +v 3.106207 0.054225 0.448907 +v 3.070093 1.172205 -0.272328 +v 2.997867 1.027752 0.557138 +v 3.033980 0.126451 -0.524828 +v 1.122693 1.027752 0.484946 +v 1.122693 1.172205 -0.488789 +v 3.070093 1.099869 -0.452750 +v 1.483632 0.342803 -0.597020 +v 2.601203 1.063865 0.484946 +v 1.952522 0.559154 0.557138 +v 1.375486 0.090338 0.448907 +v 3.106207 0.054225 0.232333 +v 2.745462 0.126451 -0.560867 +v 2.997867 0.739283 0.557138 +v 2.853608 1.172205 -0.452750 +v 2.276571 1.027752 0.557138 +v 3.070093 0.090338 -0.272328 +v 1.159000 0.703170 -0.560867 +v 2.745462 0.054225 0.268486 +v 3.106207 0.234572 0.448907 +v 1.122693 0.451033 0.520873 +v 3.070093 0.739283 -0.488789 +v 1.122693 0.126451 -0.524828 +f 206 198 210 +f 185 187 192 +f 184 189 193 +f 185 192 193 +f 192 184 193 +f 189 184 196 +f 190 189 196 +f 184 192 196 +f 188 187 198 +f 186 185 200 +f 185 195 200 +f 187 188 201 +f 188 190 201 +f 197 187 201 +f 190 197 201 +f 193 189 202 +f 189 194 202 +f 194 195 202 +f 190 196 203 +f 196 192 203 +f 197 190 203 +f 186 200 204 +f 200 191 204 +f 185 193 205 +f 195 185 205 +f 193 202 205 +f 202 195 205 +f 188 198 206 +f 199 188 206 +f 186 204 206 +f 204 199 206 +f 190 188 207 +f 189 190 207 +f 194 189 207 +f 188 199 207 +f 199 194 207 +f 192 187 208 +f 187 197 208 +f 203 192 208 +f 197 203 208 +f 195 194 209 +f 194 199 209 +f 191 200 209 +f 200 195 209 +f 204 191 209 +f 199 204 209 +f 185 186 210 +f 187 185 210 +f 198 187 210 +f 186 206 210 +o convex_7 +v -1.113682 0.054165 0.593205 +v -2.772370 0.270647 -0.560952 +v -2.772370 0.342662 -0.560952 +v -3.060888 1.136138 0.593205 +v -1.113682 1.136138 -0.560952 +v -3.097002 0.090391 0.448936 +v -1.113682 1.136138 0.448936 +v -1.113682 0.090391 -0.452722 +v -2.952743 1.063904 -0.488761 +v -3.060888 0.126398 -0.524800 +v -1.654799 0.018048 0.557053 +v -1.690718 1.136138 -0.560952 +v -1.113682 0.054165 -0.308452 +v -3.097002 0.090391 -0.091991 +v -1.294054 0.090391 -0.488761 +v -1.149795 0.811524 -0.560952 +v -3.060888 0.991780 0.593205 +v -2.916629 1.063904 -0.524800 +v -3.060888 0.342662 -0.524800 +v -2.844403 1.136138 0.593205 +v -2.736257 0.054165 0.484975 +v -3.060888 1.100021 0.340705 +v -1.149795 0.018048 0.268514 +v -3.097002 0.739181 0.484975 +v -2.916629 0.054165 0.376744 +v -2.123107 0.090391 -0.488761 +v -2.159220 1.100021 -0.560952 +f 228 222 237 +f 212 213 215 +f 211 215 217 +f 215 214 217 +f 215 211 218 +f 213 212 220 +f 214 215 222 +f 215 213 222 +f 218 211 223 +f 220 212 225 +f 218 223 225 +f 212 215 226 +f 215 218 226 +f 225 212 226 +f 218 225 226 +f 211 214 227 +f 221 211 227 +f 219 214 228 +f 214 222 228 +f 213 220 229 +f 220 224 229 +f 219 228 229 +f 228 213 229 +f 214 211 230 +f 211 217 230 +f 217 214 230 +f 227 216 231 +f 221 227 231 +f 214 219 232 +f 219 229 232 +f 211 221 233 +f 223 211 233 +f 224 216 234 +f 227 214 234 +f 216 227 234 +f 229 224 234 +f 214 232 234 +f 232 229 234 +f 216 224 235 +f 221 231 235 +f 231 216 235 +f 233 221 235 +f 223 233 235 +f 224 220 236 +f 220 225 236 +f 225 223 236 +f 223 235 236 +f 235 224 236 +f 222 213 237 +f 213 228 237 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/673/673.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/673/673.urdf new file mode 100644 index 000000000..d1588c1fa --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/673/673.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/674/674.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/674/674.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/674/674.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/674/674.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/674/674.obj new file mode 100644 index 000000000..817cb1ee1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/674/674.obj @@ -0,0 +1,453 @@ +o convex_0 +v 0.622599 -3.888451 0.447389 +v -0.580418 -4.073633 -0.570657 +v -0.580418 -4.073633 0.077170 +v -0.580418 -3.364023 -0.570657 +v -0.549566 -3.364023 0.570872 +v 0.560894 -3.364023 -0.508915 +v 0.560894 -3.364023 0.601743 +v 0.591746 -3.919291 -0.478045 +v -0.580418 -4.042723 0.601743 +v 0.591746 -3.981042 0.601743 +v -0.457008 -4.073633 -0.570657 +v -0.580418 -3.610955 0.601743 +v 0.499188 -3.950132 -0.478045 +v 0.591746 -3.456614 0.601743 +v 0.591746 -3.672567 -0.478045 +v -0.302745 -4.042723 0.601743 +v 0.406630 -3.950132 -0.508915 +v -0.580418 -3.364023 0.447389 +v -0.364450 -4.042723 -0.570657 +f 17 11 19 +f 2 3 4 +f 4 5 6 +f 6 5 7 +f 4 3 9 +f 7 9 10 +f 8 1 10 +f 3 2 11 +f 2 4 11 +f 10 3 11 +f 7 5 12 +f 4 9 12 +f 9 7 12 +f 8 10 13 +f 10 11 13 +f 6 7 14 +f 7 10 14 +f 10 1 14 +f 1 8 15 +f 8 6 15 +f 14 1 15 +f 6 14 15 +f 9 3 16 +f 10 9 16 +f 3 10 16 +f 6 8 17 +f 8 13 17 +f 13 11 17 +f 5 4 18 +f 4 12 18 +f 12 5 18 +f 4 6 19 +f 11 4 19 +f 6 17 19 +o convex_1 +v 0.499218 -2.253379 0.570890 +v -0.580536 -2.592656 -0.570657 +v -0.580536 -2.592656 0.015537 +v -0.580536 -2.068212 -0.570657 +v 0.561011 -2.592656 -0.508864 +v 0.561011 -2.068212 -0.539705 +v -0.487903 -2.068212 0.509098 +v 0.499218 -2.592656 0.570890 +v -0.518743 -2.592656 0.539938 +v 0.468378 -2.068212 0.570890 +v -0.580536 -2.068212 -0.262028 +v 0.561011 -2.068212 -0.323821 +v 0.190701 -2.068212 0.570890 +v 0.561011 -2.376687 -0.539705 +v 0.561011 -2.592656 -0.262028 +v -0.487903 -2.222527 0.539938 +v -0.302748 -2.068212 -0.570657 +f 25 33 36 +f 21 22 23 +f 22 21 24 +f 25 23 26 +f 22 24 27 +f 22 27 28 +f 25 26 29 +f 27 20 29 +f 23 22 30 +f 26 23 30 +f 28 26 30 +f 22 28 30 +f 24 25 31 +f 29 20 31 +f 25 29 31 +f 28 27 32 +f 27 29 32 +f 29 26 32 +f 24 21 33 +f 25 24 33 +f 20 27 34 +f 27 24 34 +f 24 31 34 +f 31 20 34 +f 26 28 35 +f 32 26 35 +f 28 32 35 +f 21 23 36 +f 23 25 36 +f 33 21 36 +o convex_2 +v -0.672934 -2.068212 -0.632193 +v 0.529936 4.008917 1.095385 +v 0.992904 4.040609 1.095174 +v 0.715123 3.947925 -1.064299 +v 1.054633 -2.006024 1.002580 +v -1.012443 3.947327 1.033445 +v 1.085497 -2.037118 -0.971494 +v -1.012443 3.978421 -0.971705 +v -1.074172 -1.913339 1.095174 +v -1.074172 -2.006024 -1.064299 +v 0.992904 3.422910 -1.064299 +v -1.074172 -0.587050 -1.064299 +v 1.085497 -0.679137 -1.002358 +v -0.580552 -2.068212 0.601339 +v 1.023768 -2.006024 1.033445 +v 0.962039 3.978421 -0.755652 +v -0.426229 -2.006024 -1.064299 +v 0.992904 2.466763 1.095174 +v -1.074172 -1.049876 1.095174 +v 1.085497 -2.037118 -0.015110 +v 0.992904 -2.037118 -1.002570 +v 0.776852 -2.068212 0.231173 +v 0.468419 4.040609 0.570685 +v -0.703798 -1.944433 1.095174 +v -1.043308 2.219803 -0.909976 +v -0.611205 3.978421 -1.002570 +v 0.992904 4.009515 0.169444 +v 0.869446 -2.068212 -0.786517 +v -0.395365 3.978421 1.064309 +v -0.487958 4.009515 -0.416352 +v 0.962039 3.947925 -1.064299 +v 1.023768 -2.037118 0.940850 +v 1.023768 1.478923 1.064521 +v -1.043308 1.633796 1.064309 +v -1.043308 -1.944433 1.064309 +v 0.992904 3.145454 -1.064299 +v -0.950714 -2.037118 -0.663058 +v -1.012443 2.991179 -1.002570 +v 0.344961 3.824146 1.095385 +v 0.653394 4.040609 1.095174 +v -1.012443 3.978421 -0.262028 +v 0.992904 4.040609 0.693933 +v -0.919850 -2.037118 -0.940840 +v -1.012443 1.972843 1.064309 +v 1.085497 -1.944433 -0.015110 +v 0.375825 -2.006024 1.033445 +v 0.098045 3.978421 -1.002358 +v 0.468419 -2.068212 0.570685 +v 1.085497 -1.666977 -1.002358 +v -1.012443 -0.648641 1.095174 +v -1.043308 1.263655 -1.033435 +f 44 74 87 +f 46 40 47 +f 46 45 48 +f 40 46 48 +f 46 47 53 +f 39 38 54 +f 48 45 55 +f 43 49 56 +f 46 53 57 +f 50 37 58 +f 54 38 60 +f 51 54 60 +f 44 48 61 +f 48 55 61 +f 49 47 63 +f 43 56 64 +f 57 43 64 +f 58 37 64 +f 62 44 66 +f 47 40 67 +f 40 62 67 +f 63 47 67 +f 52 63 67 +f 41 51 68 +f 56 41 68 +f 64 56 68 +f 58 64 68 +f 51 41 69 +f 39 54 69 +f 54 51 69 +f 42 61 70 +f 61 55 70 +f 45 46 71 +f 60 45 71 +f 47 49 72 +f 53 47 72 +f 57 53 72 +f 37 50 73 +f 71 46 73 +f 50 71 73 +f 62 40 74 +f 44 62 74 +f 55 45 75 +f 60 38 75 +f 45 60 75 +f 38 65 75 +f 38 39 76 +f 39 59 76 +f 65 38 76 +f 42 65 76 +f 59 66 76 +f 76 66 77 +f 61 42 77 +f 44 61 77 +f 66 44 77 +f 42 76 77 +f 39 49 78 +f 59 39 78 +f 49 63 78 +f 63 52 78 +f 66 59 78 +f 46 57 79 +f 64 37 79 +f 57 64 79 +f 37 73 79 +f 73 46 79 +f 65 42 80 +f 42 70 80 +f 70 55 80 +f 75 65 80 +f 49 39 81 +f 41 56 81 +f 56 49 81 +f 69 41 81 +f 39 69 81 +f 51 60 82 +f 68 51 82 +f 50 68 82 +f 71 50 82 +f 60 71 82 +f 62 66 83 +f 67 62 83 +f 52 67 83 +f 78 52 83 +f 66 78 83 +f 50 58 84 +f 68 50 84 +f 58 68 84 +f 49 43 85 +f 43 57 85 +f 72 49 85 +f 57 72 85 +f 55 75 86 +f 80 55 86 +f 75 80 86 +f 40 48 87 +f 48 44 87 +f 74 40 87 +o convex_3 +v 0.283253 -3.117153 -2.297936 +v -0.271992 -3.364023 -2.977009 +v -0.302820 -3.086349 -2.915364 +v -0.271992 -3.147958 -0.570657 +v 0.252425 -2.623559 -3.069721 +v 0.252425 -2.654509 -0.570657 +v -0.333715 -2.716117 -2.514183 +v 0.190701 -3.209711 -0.570657 +v -0.333715 -2.777871 -0.601969 +v 0.252425 -3.209711 -2.945941 +v 0.345043 -2.747067 -0.570657 +v -0.241097 -3.271465 -0.663369 +v -0.333715 -2.716117 -2.945941 +v -0.333715 -2.962987 -0.848548 +v -0.210268 -3.364023 -2.730185 +v 0.221530 -3.209711 -0.848548 +v 0.345043 -2.654509 -0.663369 +v 0.190701 -2.623559 -3.069721 +v 0.283253 -2.839625 -2.606895 +v 0.005664 -3.302269 -2.977009 +v -0.210268 -2.685313 -2.915364 +v 0.252425 -2.747067 -3.069721 +v 0.283253 -3.117153 -2.545005 +v -0.333715 -2.808675 -0.570657 +v -0.179440 -3.271465 -0.663369 +f 99 102 112 +f 93 91 95 +f 93 94 96 +f 93 95 98 +f 95 91 99 +f 89 90 100 +f 96 94 100 +f 96 100 101 +f 90 89 101 +f 89 99 101 +f 99 91 101 +f 100 90 101 +f 99 89 102 +f 97 88 103 +f 88 98 103 +f 98 95 103 +f 95 102 103 +f 92 93 104 +f 93 98 104 +f 93 92 105 +f 89 100 105 +f 92 104 106 +f 102 89 107 +f 97 103 107 +f 103 102 107 +f 94 93 108 +f 100 94 108 +f 93 105 108 +f 105 100 108 +f 89 105 109 +f 105 92 109 +f 92 106 109 +f 107 89 109 +f 97 107 109 +f 88 97 110 +f 98 88 110 +f 104 98 110 +f 106 104 110 +f 97 109 110 +f 109 106 110 +f 91 93 111 +f 93 96 111 +f 96 101 111 +f 101 91 111 +f 95 99 112 +f 102 95 112 +o convex_4 +v -0.580536 -3.271393 0.416510 +v 0.561011 -3.055406 0.601625 +v 0.530059 -2.654536 0.601625 +v 0.345016 -2.654536 -0.570539 +v 0.561011 -3.363947 -0.508834 +v -0.580536 -2.592707 -0.570539 +v -0.580536 -3.363947 -0.570539 +v -0.518743 -2.592707 0.539920 +v 0.561011 -3.363947 0.601625 +v 0.561011 -2.592707 -0.508834 +v -0.549472 -3.363947 0.570773 +v -0.333700 -2.654536 0.632478 +v 0.499218 -2.592707 0.570773 +v -0.148433 -3.333071 0.632478 +v 0.190701 -3.209639 -0.570539 +v -0.580536 -2.592707 0.015661 +v 0.314175 -3.117084 0.632478 +f 124 126 129 +f 113 118 119 +f 118 116 119 +f 117 114 121 +f 119 117 121 +f 115 114 122 +f 117 116 122 +f 114 117 122 +f 116 118 122 +f 118 120 122 +f 113 119 123 +f 120 113 123 +f 119 121 123 +f 120 123 124 +f 120 124 125 +f 115 122 125 +f 122 120 125 +f 124 115 125 +f 123 121 126 +f 124 123 126 +f 116 117 127 +f 117 119 127 +f 119 116 127 +f 118 113 128 +f 113 120 128 +f 120 118 128 +f 114 115 129 +f 121 114 129 +f 115 124 129 +f 126 121 129 +o convex_5 +v 0.190734 -2.747061 2.946423 +v -0.210259 -3.302254 0.632596 +v -0.333652 -2.777880 0.632596 +v -0.271955 -3.271371 3.038715 +v 0.314127 -3.240552 0.632596 +v 0.314127 -3.240552 3.100806 +v 0.252431 -2.808763 0.632596 +v -0.241076 -2.747061 3.100806 +v -0.333652 -2.654413 0.972289 +v 0.067342 -3.302254 1.774409 +v -0.210259 -2.654413 0.725371 +v 0.159855 -2.716178 2.822964 +v -0.271955 -2.870465 3.100806 +v 0.283247 -3.271371 2.884572 +v 0.314127 -3.147967 2.545362 +v -0.241076 -3.302254 1.465641 +v 0.036462 -3.302254 0.632596 +v 0.314127 -3.117147 0.632596 +v -0.271955 -2.716178 2.637655 +v -0.333652 -2.654413 0.632596 +v -0.271955 -3.271371 2.267761 +v -0.333652 -2.685359 1.218965 +v 0.283247 -3.055445 3.038715 +v -0.241076 -3.302254 2.051527 +v 0.252431 -3.271371 1.126431 +v -0.148563 -2.747061 3.100806 +v -0.210259 -3.271371 3.069881 +v 0.252431 -2.808763 1.002972 +f 152 144 157 +f 131 132 134 +f 134 132 136 +f 140 138 141 +f 136 140 141 +f 135 137 142 +f 134 135 143 +f 135 134 144 +f 132 131 145 +f 131 139 145 +f 131 134 146 +f 139 131 146 +f 134 136 147 +f 144 134 147 +f 141 138 148 +f 137 141 148 +f 142 137 148 +f 136 132 149 +f 132 138 149 +f 140 136 149 +f 138 140 149 +f 133 132 150 +f 132 145 150 +f 145 133 150 +f 132 133 151 +f 138 132 151 +f 133 142 151 +f 148 138 151 +f 142 148 151 +f 135 144 152 +f 139 143 153 +f 133 145 153 +f 145 139 153 +f 134 143 154 +f 143 139 154 +f 146 134 154 +f 139 146 154 +f 137 135 155 +f 130 141 155 +f 141 137 155 +f 152 130 155 +f 135 152 155 +f 142 133 156 +f 135 142 156 +f 143 135 156 +f 133 153 156 +f 153 143 156 +f 141 130 157 +f 136 141 157 +f 147 136 157 +f 144 147 157 +f 130 152 157 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/674/674.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/674/674.urdf new file mode 100644 index 000000000..a9e426565 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/674/674.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/675/675.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/675/675.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/675/675.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/675/675.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/675/675.obj new file mode 100644 index 000000000..35dee505a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/675/675.obj @@ -0,0 +1,699 @@ +o convex_0 +v 0.312667 -0.698266 -1.072934 +v 0.042214 0.600144 1.469607 +v 0.448092 0.600543 1.307306 +v -0.038803 -3.483369 0.036432 +v -0.904174 0.545777 -0.775338 +v -0.795953 -2.157777 0.766126 +v 0.691341 -2.293294 0.820138 +v 0.799562 0.600543 -0.829086 +v -0.768947 -2.320078 -0.883362 +v -1.012395 -0.130211 0.766126 +v 0.583120 -2.184960 -0.586031 +v 0.961993 -0.346080 0.333499 +v -0.390273 0.600144 -1.207965 +v -0.092814 -2.942099 0.793132 +v 0.745551 -2.672263 0.009162 +v 0.069418 -2.779798 -0.802344 +v -0.795953 0.600543 0.982439 +v -0.823157 -2.726230 0.009162 +v -1.066605 -0.427630 -0.126134 +v 0.745551 0.600543 1.063457 +v 0.826568 -0.643899 -0.775073 +v 0.420888 0.600543 -1.180959 +v -0.985389 -0.211362 -0.775338 +v -0.958384 0.600543 0.170933 +v 0.961993 -0.508381 -0.153140 +v 0.880777 0.600543 -0.153140 +v 0.907783 -0.076244 0.793132 +v -0.038803 0.572960 1.469607 +v -0.065809 0.518993 -1.235236 +v 0.718545 -2.780198 0.009162 +v -0.714936 0.600543 -1.018393 +v -0.119820 -3.402219 -0.098863 +v -0.741942 -2.239327 -0.910368 +v 0.393882 -0.833383 -1.045664 +v -1.066605 -0.400847 0.170933 +v -0.768947 -2.266111 0.766126 +v -0.011797 -2.942099 0.793397 +v -0.498494 0.518993 1.199017 +v -0.011797 -3.429002 -0.099127 +v -1.012395 -0.292113 0.766126 +v -0.931378 0.572960 0.739120 +v -0.850163 -2.563529 0.009162 +v 0.907783 -0.427630 0.766126 +v 0.583120 -0.725049 1.090728 +v 0.826568 0.600543 0.766126 +v 0.961993 -0.725049 0.009162 +v 0.907783 0.411059 -0.315441 +v 0.015208 -3.456186 0.036168 +v -0.768947 -2.130993 -0.910368 +v -0.282052 -3.239918 0.090180 +v -0.011797 -2.779798 -0.802344 +v -0.525500 0.545777 -1.153953 +v -0.255047 -1.320287 -1.018657 +v 0.718545 -2.699047 -0.071857 +v 0.853772 -0.535964 -0.721061 +v -1.012395 0.194391 -0.017844 +v -0.823157 -2.699047 -0.099127 +v 0.745551 -2.645080 0.090180 +v -0.795953 0.302725 0.982439 +v 0.042214 0.572960 1.469607 +v 0.745551 0.465026 1.063457 +v -0.255047 -2.779798 0.793132 +v 0.420888 0.491810 -1.180959 +v -1.039401 -0.806200 -0.044851 +f 57 42 64 +f 2 3 17 +f 3 8 17 +f 8 3 20 +f 17 8 22 +f 9 19 23 +f 17 22 24 +f 8 20 26 +f 12 26 27 +f 2 17 28 +f 13 22 29 +f 22 13 31 +f 23 5 31 +f 5 24 31 +f 24 22 31 +f 4 18 32 +f 13 29 33 +f 16 1 34 +f 11 16 34 +f 21 11 34 +f 6 18 36 +f 28 6 36 +f 14 4 37 +f 28 14 37 +f 6 28 38 +f 28 17 38 +f 16 30 39 +f 4 32 39 +f 17 10 40 +f 10 35 40 +f 10 17 41 +f 24 10 41 +f 17 24 41 +f 18 6 42 +f 6 40 42 +f 40 35 42 +f 12 27 43 +f 26 20 45 +f 20 27 45 +f 27 26 45 +f 25 12 46 +f 15 25 46 +f 12 43 46 +f 12 25 47 +f 8 26 47 +f 26 12 47 +f 30 7 48 +f 37 4 48 +f 7 37 48 +f 4 39 48 +f 39 30 48 +f 9 23 49 +f 23 31 49 +f 33 9 49 +f 13 33 49 +f 4 14 50 +f 18 4 50 +f 36 18 50 +f 32 9 51 +f 33 16 51 +f 9 33 51 +f 16 39 51 +f 39 32 51 +f 31 13 52 +f 13 49 52 +f 49 31 52 +f 1 16 53 +f 29 1 53 +f 16 33 53 +f 33 29 53 +f 16 11 54 +f 11 21 54 +f 21 15 54 +f 15 30 54 +f 30 16 54 +f 21 8 55 +f 15 21 55 +f 25 15 55 +f 8 47 55 +f 47 25 55 +f 5 23 56 +f 23 19 56 +f 24 5 56 +f 10 24 56 +f 35 10 56 +f 19 35 56 +f 9 32 57 +f 32 18 57 +f 18 42 57 +f 7 30 58 +f 30 15 58 +f 43 7 58 +f 15 46 58 +f 46 43 58 +f 6 38 59 +f 38 17 59 +f 17 40 59 +f 40 6 59 +f 3 2 60 +f 2 28 60 +f 37 7 60 +f 28 37 60 +f 44 3 60 +f 7 44 60 +f 20 3 61 +f 27 20 61 +f 7 43 61 +f 43 27 61 +f 3 44 61 +f 44 7 61 +f 14 28 62 +f 28 36 62 +f 50 14 62 +f 36 50 62 +f 8 21 63 +f 22 8 63 +f 1 29 63 +f 29 22 63 +f 34 1 63 +f 21 34 63 +f 19 9 64 +f 35 19 64 +f 42 35 64 +f 9 57 64 +o convex_1 +v -0.011715 2.142164 -1.451883 +v -0.092837 0.708737 -1.289370 +v -0.011715 0.708737 -1.289370 +v -0.011715 1.520021 -3.047480 +v 0.556243 1.736382 -1.262459 +v -0.525663 1.412121 -1.262284 +v -0.417324 1.574181 -2.803886 +v 0.366888 1.547101 -2.749715 +v 0.421005 0.952319 -1.262459 +v 0.015290 1.925663 -2.776975 +v -0.390319 1.979823 -1.262284 +v 0.015290 1.195760 -2.803886 +v -0.417324 0.790118 -1.262284 +v 0.421005 2.033983 -1.289544 +v -0.390319 1.952743 -2.046890 +v 0.339883 1.925803 -2.154882 +v 0.393893 1.195760 -2.100711 +v -0.309197 1.276860 -2.587551 +v 0.502126 1.547101 -1.992893 +v -0.065832 1.952743 -2.749889 +v -0.498551 1.601121 -2.019979 +v -0.038826 2.142164 -1.262284 +v 0.204539 1.249920 -2.668633 +v -0.038826 1.195760 -2.803886 +v -0.011715 2.060923 -2.127971 +v 0.339883 1.628342 -2.776800 +v -0.336308 1.871642 -2.506469 +v -0.065832 1.601121 -3.047480 +v -0.525663 1.331021 -1.316630 +v 0.421005 0.952319 -1.316630 +v -0.417324 1.547101 -2.803886 +v 0.556243 1.601121 -1.289544 +v -0.417324 0.790118 -1.289370 +v 0.339883 1.520021 -2.803886 +v 0.448010 1.709442 -2.073801 +v 0.231544 1.844562 -2.641722 +v -0.417324 1.925663 -1.316630 +v -0.092837 2.060923 -2.046890 +v -0.363313 0.763038 -1.289370 +v -0.065832 1.925663 -2.803886 +v -0.444435 1.547101 -2.587551 +v -0.065832 1.520021 -3.047480 +v 0.258761 1.979823 -2.073801 +v 0.285766 1.276860 -2.587551 +v -0.092837 1.195760 -2.749889 +v 0.042189 1.574181 -3.020395 +v 0.150422 0.790118 -1.289370 +v -0.011715 0.708737 -1.262284 +v 0.015290 2.088003 -1.911462 +v 0.069301 2.142164 -1.262284 +v -0.119842 2.115083 -1.289370 +v -0.200964 1.898723 -2.695544 +v -0.444435 0.898299 -1.289370 +v 0.475015 1.466001 -2.073801 +v 0.475015 1.574181 -2.181793 +v -0.390319 1.466001 -2.749889 +v 0.366888 1.952883 -1.938548 +f 107 78 121 +f 67 66 76 +f 75 70 77 +f 79 71 85 +f 75 77 86 +f 76 66 88 +f 68 76 88 +f 74 84 89 +f 71 79 91 +f 70 85 93 +f 71 92 95 +f 69 73 96 +f 83 69 96 +f 73 94 96 +f 94 83 96 +f 76 68 98 +f 72 81 98 +f 87 76 98 +f 90 72 98 +f 90 80 99 +f 74 80 100 +f 90 74 100 +f 80 90 100 +f 70 75 101 +f 75 79 101 +f 85 70 101 +f 79 85 101 +f 79 65 102 +f 84 79 102 +f 65 89 102 +f 89 84 102 +f 66 77 103 +f 88 66 103 +f 77 97 103 +f 84 74 104 +f 92 71 104 +f 74 92 104 +f 85 71 105 +f 93 85 105 +f 71 95 105 +f 95 97 105 +f 68 88 106 +f 92 68 106 +f 88 95 106 +f 95 92 106 +f 80 74 107 +f 74 89 107 +f 81 94 108 +f 94 87 108 +f 98 81 108 +f 87 98 108 +f 97 82 109 +f 88 103 109 +f 103 97 109 +f 74 90 110 +f 68 92 110 +f 92 74 110 +f 98 68 110 +f 90 98 110 +f 67 76 111 +f 76 87 111 +f 94 73 111 +f 87 94 111 +f 66 67 112 +f 73 69 112 +f 77 66 112 +f 86 77 112 +f 67 111 112 +f 111 73 112 +f 89 65 113 +f 78 107 113 +f 107 89 113 +f 69 78 114 +f 65 86 114 +f 112 69 114 +f 86 112 114 +f 113 65 114 +f 78 113 114 +f 65 79 115 +f 79 75 115 +f 75 86 115 +f 86 65 115 +f 79 84 116 +f 71 91 116 +f 91 79 116 +f 84 104 116 +f 104 71 116 +f 77 70 117 +f 70 93 117 +f 97 77 117 +f 93 105 117 +f 105 97 117 +f 81 72 118 +f 83 94 118 +f 94 81 118 +f 69 83 119 +f 72 90 119 +f 99 69 119 +f 90 99 119 +f 118 72 119 +f 83 118 119 +f 95 88 120 +f 82 97 120 +f 97 95 120 +f 109 82 120 +f 88 109 120 +f 78 69 121 +f 69 99 121 +f 99 80 121 +f 80 107 121 +o convex_2 +v -0.363224 0.600739 1.279900 +v -0.228013 0.600739 -1.235119 +v 0.042227 0.600739 -1.235119 +v -0.011785 2.602127 0.089674 +v 0.826663 0.600739 0.766030 +v 0.718459 1.979865 -0.964727 +v -0.741849 1.898556 -0.748163 +v 0.448038 1.925789 1.307065 +v -0.769035 1.844676 0.792944 +v -0.958437 0.600739 -0.072058 +v -0.011785 2.169130 -1.262032 +v 0.799657 0.600739 -0.829406 +v -0.363224 1.898556 1.307065 +v -0.769035 0.600739 -0.964727 +v -0.877239 0.600739 0.847022 +v 0.448038 0.600739 1.307065 +v 0.583249 1.709487 -1.262032 +v 0.691453 1.844676 0.630709 +v -0.038791 2.520622 0.766030 +v -0.525620 1.411875 -1.262032 +v -0.038791 2.547856 -0.775327 +v 0.529057 2.250439 -1.045719 +v 0.880856 0.708891 -0.369614 +v -0.552626 1.303919 1.307065 +v -0.823047 1.844676 -0.017979 +v -0.390230 1.979865 -1.262032 +v 0.420852 0.925193 -1.262032 +v 0.583249 1.331153 1.307065 +v -0.065797 2.602127 0.116839 +v -0.877239 0.762966 -0.775327 +v 0.745465 2.006903 -0.748163 +v -0.011785 2.115250 1.307065 +v -0.904245 0.790004 0.766030 +v -0.417416 0.762966 -1.262032 +v 0.745465 0.600739 1.063587 +v -0.011785 2.520622 0.738865 +v -0.444422 0.681853 1.307065 +v 0.420852 0.600739 -1.181041 +v 0.772471 1.871714 -0.829406 +v 0.637441 1.871714 0.847022 +v 0.448038 2.033941 -1.262032 +v -0.065797 2.602127 -0.207379 +v -0.065797 2.520622 0.766030 +v -0.687837 1.952827 0.684787 +v 0.745465 1.898752 -0.315536 +v -0.092803 2.520622 -0.775327 +v 0.880856 0.600739 -0.423693 +v -0.769035 0.600739 1.009509 +v -0.011785 2.574697 -0.667171 +v 0.691453 1.736329 0.766030 +v -0.904245 0.627777 -0.694084 +v 0.664447 2.115054 -0.910649 +v -0.958437 0.627777 0.116839 +v 0.420852 1.979865 1.279900 +v 0.826663 0.654815 0.738865 +v -0.417416 1.844676 1.307065 +v -0.796041 1.844676 0.522552 +v -0.796041 1.871518 0.333152 +v -0.336218 2.277281 0.766030 +v -0.769035 1.898556 -0.396528 +v -0.038791 2.520622 -0.829406 +v 0.069233 2.115054 1.307065 +v -0.444422 0.600739 -1.207954 +v 0.718459 0.735929 1.117665 +f 171 149 185 +f 122 123 124 +f 122 124 126 +f 123 122 131 +f 126 124 133 +f 123 131 135 +f 131 122 136 +f 122 126 137 +f 129 134 137 +f 127 133 138 +f 132 138 141 +f 137 134 145 +f 141 128 147 +f 132 141 147 +f 138 133 148 +f 141 138 148 +f 129 137 149 +f 140 125 150 +f 128 141 151 +f 141 135 151 +f 134 129 153 +f 145 130 154 +f 136 145 154 +f 124 123 155 +f 135 141 155 +f 148 124 155 +f 141 148 155 +f 137 126 156 +f 125 140 157 +f 122 137 158 +f 137 145 158 +f 133 124 159 +f 124 148 159 +f 148 133 159 +f 133 127 160 +f 127 152 160 +f 129 149 161 +f 139 152 161 +f 138 132 162 +f 127 138 162 +f 132 143 162 +f 143 127 162 +f 150 125 163 +f 146 150 163 +f 140 150 164 +f 134 153 164 +f 153 140 164 +f 152 139 166 +f 144 160 166 +f 160 152 166 +f 147 128 167 +f 128 163 167 +f 126 133 168 +f 144 126 168 +f 133 160 168 +f 160 144 168 +f 136 122 169 +f 145 136 169 +f 122 158 169 +f 158 145 169 +f 143 142 170 +f 125 143 170 +f 163 125 170 +f 142 167 170 +f 167 163 170 +f 139 161 171 +f 161 149 171 +f 135 131 172 +f 146 128 172 +f 131 146 172 +f 151 135 172 +f 128 151 172 +f 127 143 173 +f 143 125 173 +f 152 127 173 +f 125 157 173 +f 161 152 173 +f 157 161 173 +f 131 136 174 +f 146 131 174 +f 136 154 174 +f 157 140 175 +f 129 161 175 +f 161 157 175 +f 126 144 176 +f 166 139 176 +f 144 166 176 +f 171 126 176 +f 139 171 176 +f 134 130 177 +f 130 145 177 +f 145 134 177 +f 154 130 178 +f 146 174 178 +f 174 154 178 +f 150 146 179 +f 130 165 179 +f 165 150 179 +f 178 130 179 +f 146 178 179 +f 130 134 180 +f 134 164 180 +f 164 150 180 +f 165 130 180 +f 150 165 180 +f 128 146 181 +f 163 128 181 +f 146 163 181 +f 143 132 182 +f 142 143 182 +f 132 147 182 +f 147 167 182 +f 167 142 182 +f 153 129 183 +f 140 153 183 +f 129 175 183 +f 175 140 183 +f 123 135 184 +f 155 123 184 +f 135 155 184 +f 149 137 185 +f 156 126 185 +f 137 156 185 +f 126 171 185 +o convex_3 +v -0.011694 2.033864 2.010814 +v 0.258705 0.600684 1.307481 +v -0.282094 0.600832 1.307317 +v -0.011694 1.465899 2.984155 +v 0.448018 1.925638 1.307481 +v -0.417348 1.844542 1.307317 +v 0.366930 1.520012 2.686572 +v -0.336261 1.520012 2.767657 +v 0.556243 1.168648 1.334564 +v 0.042255 1.114684 2.713655 +v -0.552711 1.249892 1.334564 +v -0.011694 1.898655 2.713655 +v 0.448018 0.681928 1.388565 +v -0.444378 0.708910 1.334564 +v -0.011694 2.115256 1.307317 +v 0.366930 1.952768 1.983731 +v -0.336261 1.871673 2.064816 +v 0.502076 1.547143 1.983731 +v -0.092890 1.141666 2.686572 +v 0.069284 0.600832 1.496897 +v -0.471515 1.520012 1.983731 +v 0.285734 1.222761 2.551322 +v -0.336261 1.438917 2.740738 +v 0.285734 1.817560 2.524403 +v 0.556243 1.438917 1.307481 +v -0.255065 1.790429 2.578405 +v 0.366930 0.600684 1.334564 +v 0.015226 1.871673 2.767657 +v -0.255065 1.195779 2.551322 +v -0.092890 0.600832 1.469814 +v -0.552711 1.304005 1.307317 +v 0.042255 2.115256 1.388729 +v 0.042255 1.493030 2.984155 +v 0.366930 1.492882 2.686572 +v 0.069284 2.033864 2.010814 +v 0.393959 1.898803 2.010650 +v 0.448018 0.654797 1.307481 +v 0.393959 1.979899 1.307481 +v -0.390319 1.871673 1.577981 +v 0.042255 1.898655 2.713655 +v -0.390319 1.465899 2.497321 +v -0.011694 1.114684 2.713655 +v -0.282094 0.600832 1.334564 +v -0.011694 1.574125 2.957072 +v 0.556243 1.411786 1.550898 +v 0.285734 1.547143 2.767821 +v 0.258705 1.465899 2.794739 +v -0.309232 1.898655 2.010814 +v -0.011694 1.871673 2.767657 +v -0.417348 0.708910 1.388729 +v -0.011694 2.115256 1.388729 +v -0.363290 1.520012 2.659489 +f 226 208 237 +f 188 191 200 +f 195 198 207 +f 189 193 208 +f 204 189 208 +f 200 190 210 +f 197 202 211 +f 198 195 212 +f 195 205 212 +f 208 199 214 +f 204 208 214 +f 187 212 215 +f 212 205 215 +f 191 188 216 +f 188 199 216 +f 199 196 216 +f 206 191 216 +f 196 206 216 +f 189 195 218 +f 198 194 219 +f 194 203 219 +f 203 192 219 +f 207 198 219 +f 186 197 220 +f 217 186 220 +f 201 217 220 +f 190 201 221 +f 203 190 221 +f 192 203 221 +f 209 192 221 +f 201 209 221 +f 187 188 222 +f 194 198 222 +f 188 200 222 +f 210 194 222 +f 200 210 222 +f 198 212 222 +f 212 187 222 +f 190 200 223 +f 201 190 223 +f 200 217 223 +f 217 201 223 +f 200 191 224 +f 191 206 224 +f 206 202 224 +f 209 201 225 +f 197 213 225 +f 213 209 225 +f 220 197 225 +f 201 220 225 +f 196 199 226 +f 206 196 226 +f 199 208 226 +f 195 189 227 +f 189 204 227 +f 205 195 227 +f 215 205 227 +f 215 227 228 +f 188 187 228 +f 199 188 228 +f 187 215 228 +f 227 204 228 +f 193 189 229 +f 189 218 229 +f 218 213 229 +f 190 203 230 +f 203 194 230 +f 194 210 230 +f 210 190 230 +f 192 209 231 +f 209 213 231 +f 213 218 231 +f 219 192 231 +f 219 231 232 +f 195 207 232 +f 218 195 232 +f 207 219 232 +f 231 218 232 +f 197 186 233 +f 202 197 233 +f 224 202 233 +f 211 193 234 +f 197 211 234 +f 213 197 234 +f 193 229 234 +f 229 213 234 +f 214 199 235 +f 204 214 235 +f 199 228 235 +f 228 204 235 +f 186 217 236 +f 217 200 236 +f 200 224 236 +f 233 186 236 +f 224 233 236 +f 202 206 237 +f 208 193 237 +f 193 211 237 +f 211 202 237 +f 206 226 237 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/675/675.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/675/675.urdf new file mode 100644 index 000000000..321dbff50 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/675/675.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/676/676.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/676/676.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/676/676.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/676/676.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/676/676.obj new file mode 100644 index 000000000..01f4804be --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/676/676.obj @@ -0,0 +1,531 @@ +o convex_0 +v -2.350749 -1.061378 0.291609 +v -2.381849 -1.247083 -0.389635 +v -2.381849 -1.185254 -0.389635 +v -4.115808 -1.216241 0.012898 +v -2.350749 -1.587650 0.322527 +v -2.350749 -0.875528 -0.234745 +v -3.836778 -1.463774 -0.018020 +v -2.350749 -1.494762 -0.327649 +v -3.867877 -1.185254 -0.234745 +v -3.867877 -0.999476 -0.018020 +v -3.898977 -1.216241 0.198706 +v -2.629779 -0.968489 0.229623 +v -2.381849 -1.618637 -0.048937 +v -2.381849 -1.277997 0.384513 +v -2.381849 -0.875528 0.074808 +v -3.805851 -1.339899 0.198706 +v -3.805851 -1.277997 -0.234745 +v -3.713072 -1.061378 -0.203827 +v -2.381849 -1.463774 0.384513 +v -3.836778 -1.463774 0.043815 +v -2.536654 -0.906588 -0.265738 +v -3.713072 -1.061378 0.136719 +v -3.527167 -1.401873 -0.203827 +v -4.115808 -1.277997 -0.048937 +v -3.713072 -1.216241 0.229623 +v -3.836778 -0.999476 -0.079930 +v -2.381849 -1.618637 0.074808 +v -3.651219 -1.185254 -0.265738 +v -3.743999 -1.432860 0.136719 +v -2.381849 -1.556663 0.353520 +v -4.115808 -1.277997 0.012898 +f 24 20 31 +f 1 5 6 +f 2 3 8 +f 6 5 8 +f 3 6 8 +f 10 4 11 +f 8 5 13 +f 7 8 13 +f 5 1 14 +f 1 12 14 +f 1 6 15 +f 6 10 15 +f 10 12 15 +f 12 1 15 +f 2 8 17 +f 5 14 19 +f 7 13 20 +f 6 3 21 +f 10 11 22 +f 12 10 22 +f 8 7 23 +f 7 17 23 +f 17 8 23 +f 4 9 24 +f 17 7 24 +f 9 17 24 +f 7 20 24 +f 14 12 25 +f 11 16 25 +f 19 14 25 +f 16 19 25 +f 22 11 25 +f 12 22 25 +f 9 4 26 +f 4 10 26 +f 10 6 26 +f 18 9 26 +f 6 21 26 +f 21 18 26 +f 13 5 27 +f 5 20 27 +f 20 13 27 +f 3 2 28 +f 2 17 28 +f 17 9 28 +f 9 18 28 +f 21 3 28 +f 18 21 28 +f 20 5 29 +f 16 20 29 +f 5 19 30 +f 19 16 30 +f 29 5 30 +f 16 29 30 +f 11 4 31 +f 16 11 31 +f 20 16 31 +f 4 24 31 +o convex_1 +v -1.638212 -2.052027 -0.482509 +v 0.467405 0.146348 0.384195 +v 0.467405 0.146348 -0.265587 +v 3.470771 -1.928321 0.105605 +v -1.979097 -1.680448 0.848775 +v -1.916951 0.146348 -0.946892 +v 3.377858 -1.154294 -0.699037 +v 3.377858 -1.092095 0.817842 +v -1.916951 0.146348 0.910837 +v 3.036972 -0.442235 -0.482312 +v 1.953398 -1.990059 0.786910 +v 1.922016 -1.928091 -0.699037 +v -1.916951 -1.277770 -0.946892 +v -2.350134 -1.525412 -0.327452 +v 1.953398 -1.339738 1.003832 +v -1.112115 -2.207063 0.074475 +v 3.439390 -0.442235 0.198402 +v 0.033607 0.146348 0.941573 +v 1.643278 -1.153833 -0.946892 +v -0.059306 0.146348 -0.885027 +v 1.922016 -2.207063 0.013004 +v 3.934721 -1.154294 0.043936 +v -1.235794 -1.308639 1.003832 +v -1.979097 -1.897222 0.786910 +v -2.350134 -0.937520 0.291594 +v -1.235794 -1.990289 -0.761099 +v -2.164924 0.146348 -0.668104 +v -1.112115 0.146348 -1.008954 +v -1.328707 0.146348 1.003832 +v -1.112115 -1.339968 -0.977824 +v 3.408624 -1.278000 0.817842 +v 2.913293 -0.597040 0.693915 +v -1.854803 -2.145095 -0.017732 +v -1.854803 -1.958960 -0.729970 +v -2.350134 -1.618480 0.353262 +v -2.133543 0.146348 0.508122 +v 3.036972 -1.742416 -0.513441 +v 2.169990 -1.185163 1.003832 +v 1.643278 -0.473334 -0.822964 +v 3.067738 -1.773285 0.632050 +v -1.916951 -1.184932 0.941770 +v 3.439390 -1.959190 0.043936 +v -1.112115 -2.207063 -0.079597 +v 1.984164 -0.473104 0.879708 +v -1.173647 -0.844683 -1.008954 +v 3.377858 -0.411136 0.198402 +v 2.882527 -0.442235 -0.575109 +v -1.205028 -1.990289 0.693915 +v -2.350134 -1.184932 -0.420249 +v 2.046310 -1.123425 -0.915959 +v -2.350134 -1.308869 0.415128 +v 3.377858 -1.278000 -0.668301 +v 1.891250 -1.277770 -0.915959 +v 3.903955 -1.215801 0.167667 +v -1.979097 -1.866122 0.817842 +v -0.709082 0.146348 1.003832 +v -2.350134 -1.649579 -0.048861 +v -2.195689 0.084150 -0.544177 +v 1.922016 -2.175733 0.167667 +v -0.987821 -1.990289 -0.761099 +v 0.374492 0.146348 0.662982 +v 2.913293 -0.411136 -0.513441 +v 3.439390 -1.959190 0.105605 +v 3.903955 -1.278000 0.043936 +f 53 85 95 +f 33 34 37 +f 33 37 40 +f 33 40 49 +f 37 34 51 +f 38 41 53 +f 41 48 53 +f 40 37 58 +f 37 44 58 +f 37 51 59 +f 49 40 60 +f 54 46 60 +f 57 44 61 +f 46 42 62 +f 39 48 63 +f 47 55 64 +f 45 44 65 +f 57 32 65 +f 44 57 65 +f 32 64 65 +f 56 45 66 +f 64 55 66 +f 40 58 67 +f 60 46 69 +f 62 39 69 +f 46 62 69 +f 59 51 70 +f 62 42 71 +f 60 40 72 +f 54 60 72 +f 52 43 73 +f 43 68 73 +f 52 47 74 +f 32 57 74 +f 64 32 74 +f 47 64 74 +f 39 63 75 +f 63 49 75 +f 69 39 75 +f 49 69 75 +f 44 37 76 +f 37 59 76 +f 59 50 76 +f 50 61 76 +f 61 44 76 +f 34 33 77 +f 48 41 77 +f 63 48 77 +f 49 63 77 +f 41 38 78 +f 38 70 78 +f 70 51 78 +f 47 42 79 +f 55 47 79 +f 42 55 79 +f 44 45 80 +f 45 56 80 +f 58 44 80 +f 50 59 81 +f 70 38 81 +f 59 70 81 +f 56 66 82 +f 40 67 82 +f 67 56 82 +f 36 72 82 +f 72 40 82 +f 38 53 83 +f 68 43 83 +f 73 68 83 +f 61 50 84 +f 81 38 84 +f 50 81 84 +f 38 83 84 +f 83 43 84 +f 48 39 85 +f 53 48 85 +f 62 35 85 +f 39 62 85 +f 42 46 86 +f 46 54 86 +f 55 42 86 +f 66 55 86 +f 72 36 86 +f 54 72 86 +f 36 82 86 +f 82 66 86 +f 49 60 87 +f 69 49 87 +f 60 69 87 +f 45 65 88 +f 65 64 88 +f 66 45 88 +f 64 66 88 +f 56 67 89 +f 67 58 89 +f 80 56 89 +f 58 80 89 +f 42 47 90 +f 47 52 90 +f 43 52 91 +f 57 61 91 +f 52 74 91 +f 74 57 91 +f 84 43 91 +f 61 84 91 +f 33 49 92 +f 77 33 92 +f 49 77 92 +f 51 34 93 +f 34 77 93 +f 77 41 93 +f 41 78 93 +f 78 51 93 +f 35 62 94 +f 71 42 94 +f 62 71 94 +f 73 35 94 +f 52 73 94 +f 42 90 94 +f 90 52 94 +f 35 73 95 +f 83 53 95 +f 73 83 95 +f 85 35 95 +o convex_2 +v 0.033612 0.703959 -0.420307 +v -2.164918 0.146348 -0.668274 +v -2.164918 0.146348 -0.358569 +v -1.204890 3.800329 0.012873 +v -0.276067 0.146348 0.972857 +v -1.947991 1.787349 0.817903 +v -1.947991 2.932973 -0.823025 +v -0.307056 2.932973 0.786831 +v -0.090345 0.146348 -0.884966 +v -0.585746 2.964091 -0.636999 +v -1.886228 0.146348 0.910916 +v -1.173900 1.942936 -1.039920 +v 0.033612 0.146348 0.910713 +v -1.917217 0.146348 -0.946907 +v -1.731280 2.902214 0.601008 +v -1.173900 1.756589 1.034798 +v -0.400025 3.335355 -0.110805 +v -2.133928 1.942221 0.229565 +v -1.111922 3.335355 -0.822822 +v -1.204890 3.304237 0.755962 +v -1.917217 3.304595 0.043742 +v -2.133928 0.146348 0.508198 +v -0.400025 1.818466 -0.853894 +v 0.033612 0.951469 0.539270 +v -1.111922 0.146348 -1.008645 +v -0.369035 1.663952 0.972857 +v -1.917217 1.509438 -0.977979 +v -2.133928 1.354565 -0.699143 +v -1.328848 0.146348 1.003726 +v 0.033612 0.146348 -0.668071 +v -1.173900 3.800329 -0.110602 +v -1.019384 3.707334 0.105683 +v -1.142911 1.137458 -1.039920 +v 0.033612 0.765837 0.786831 +v -1.111922 3.242718 -0.853894 +v -1.050158 1.726187 -1.039920 +v -1.204890 3.211958 0.787034 +v -2.164918 0.765837 -0.699143 +v -1.917217 1.725829 0.848975 +v -1.978981 2.840336 -0.730215 +v 0.002623 0.270461 0.941785 +v -0.709704 0.146348 1.003726 +v -1.173900 3.397232 -0.760881 +v -0.307056 2.964091 0.755962 +v -0.214303 0.301220 -0.915835 +v -2.133928 1.725829 0.322375 +v -1.050158 3.768854 -0.079733 +v -2.133928 1.942221 0.074814 +v -0.245293 1.168576 0.972857 +v -1.390827 3.676217 -0.079733 +v -0.307056 1.416443 -0.853894 +v -1.947991 1.540197 0.848975 +v -1.142911 3.304237 0.755962 +v -0.585746 3.459467 -0.017792 +v -1.328848 0.301578 -1.008848 +v -1.328848 1.756947 -1.039717 +v 0.002623 0.920709 -0.389438 +v -1.111922 3.397232 -0.760881 +v -1.947991 0.146348 0.848975 +v -1.917217 3.304595 -0.017996 +v -1.731280 0.580205 0.941785 +v -1.824249 3.087846 -0.699143 +v -0.895426 3.180840 -0.760881 +v -1.452590 3.118605 0.694021 +f 132 115 159 +f 98 97 100 +f 100 97 104 +f 98 100 106 +f 100 104 108 +f 104 97 109 +f 101 110 116 +f 113 101 116 +f 115 99 116 +f 98 106 117 +f 105 112 118 +f 108 96 119 +f 104 109 120 +f 103 111 121 +f 102 122 123 +f 106 100 124 +f 96 108 125 +f 108 104 125 +f 108 119 129 +f 107 102 130 +f 102 114 130 +f 130 118 131 +f 128 107 131 +f 107 130 131 +f 111 103 132 +f 97 98 133 +f 109 97 133 +f 98 113 133 +f 122 109 133 +f 123 122 133 +f 132 101 134 +f 111 132 134 +f 102 123 135 +f 100 108 136 +f 129 103 136 +f 108 129 136 +f 124 100 137 +f 111 124 137 +f 114 102 138 +f 119 112 139 +f 103 129 139 +f 129 119 139 +f 118 104 140 +f 104 120 140 +f 120 128 140 +f 131 118 140 +f 128 131 140 +f 113 98 141 +f 101 113 141 +f 98 117 141 +f 126 99 142 +f 99 127 142 +f 113 116 143 +f 133 113 143 +f 123 133 143 +f 135 123 143 +f 103 121 144 +f 121 111 144 +f 100 136 144 +f 136 103 144 +f 137 100 144 +f 111 137 144 +f 116 99 145 +f 99 126 145 +f 104 118 146 +f 118 112 146 +f 96 125 146 +f 125 104 146 +f 134 101 147 +f 111 134 147 +f 101 141 147 +f 141 117 147 +f 99 115 148 +f 127 99 148 +f 132 103 148 +f 115 132 148 +f 103 139 148 +f 139 127 148 +f 139 112 149 +f 127 139 149 +f 112 142 149 +f 142 127 149 +f 120 109 150 +f 109 122 150 +f 128 120 150 +f 128 150 151 +f 102 107 151 +f 122 102 151 +f 107 128 151 +f 150 122 151 +f 119 96 152 +f 112 119 152 +f 96 146 152 +f 146 112 152 +f 112 114 153 +f 114 138 153 +f 138 126 153 +f 142 112 153 +f 126 142 153 +f 117 106 154 +f 106 147 154 +f 147 117 154 +f 102 135 155 +f 143 116 155 +f 135 143 155 +f 116 145 155 +f 106 124 156 +f 124 111 156 +f 147 106 156 +f 111 147 156 +f 138 102 157 +f 126 138 157 +f 145 126 157 +f 102 155 157 +f 155 145 157 +f 112 105 158 +f 114 112 158 +f 105 118 158 +f 130 114 158 +f 118 130 158 +f 110 101 159 +f 116 110 159 +f 115 116 159 +f 101 132 159 +o convex_3 +v 0.033628 0.146348 -0.606397 +v 0.436185 0.177320 -0.172974 +v 0.281325 0.332180 -0.110996 +v 0.033628 0.146348 0.105820 +v 0.033628 0.548905 -0.420534 +v 0.033628 0.517933 -0.018065 +v 0.374201 0.146348 -0.358627 +v 0.064600 0.548905 -0.420534 +v 0.064600 0.270276 0.105820 +v 0.095572 0.177320 -0.606397 +f 167 166 169 +f 160 163 164 +f 164 163 165 +f 161 163 166 +f 163 160 166 +f 162 161 167 +f 165 162 167 +f 164 165 167 +f 161 166 167 +f 161 162 168 +f 163 161 168 +f 162 165 168 +f 165 163 168 +f 160 164 169 +f 166 160 169 +f 164 167 169 +o convex_4 +v 0.064606 0.734680 0.756071 +v 0.033628 0.146348 0.105820 +v 0.033628 0.270233 0.105820 +v 0.343287 0.146348 0.291703 +v 0.033628 0.146348 0.879968 +v 0.033628 0.858565 0.477435 +v 0.343287 0.208326 0.663092 +v 0.064606 0.858565 0.477435 +v 0.095584 0.146348 0.879968 +v 0.343287 0.177372 0.291703 +v 0.343287 0.146348 0.663092 +v 0.064606 0.270233 0.105820 +v 0.033628 0.734680 0.756071 +f 175 174 182 +f 172 171 174 +f 171 173 174 +f 172 174 175 +f 172 175 177 +f 175 170 177 +f 170 176 177 +f 170 174 178 +f 174 173 178 +f 176 170 178 +f 176 173 179 +f 177 176 179 +f 173 176 180 +f 178 173 180 +f 176 178 180 +f 171 172 181 +f 173 171 181 +f 172 177 181 +f 179 173 181 +f 177 179 181 +f 174 170 182 +f 170 175 182 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/676/676.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/676/676.urdf new file mode 100644 index 000000000..9b7ecfd5f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/676/676.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/677/677.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/677/677.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/677/677.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/677/677.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/677/677.obj new file mode 100644 index 000000000..fb4e739c1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/677/677.obj @@ -0,0 +1,450 @@ +o convex_0 +v 0.963106 -1.985411 0.980220 +v -1.105638 -3.445906 -0.997085 +v -0.831607 -3.445906 -0.997085 +v -0.983846 0.965579 -1.027664 +v -1.014294 0.965579 0.980220 +v 1.084898 0.965579 -0.966708 +v -0.983846 -3.384599 1.041176 +v 1.054450 -3.415470 -0.936332 +v 1.054450 0.965579 1.041176 +v 0.932659 -3.384599 0.919265 +v -0.223291 -3.476342 0.554140 +v -1.044742 0.965579 0.736804 +v 0.871763 -3.415035 -0.966708 +v -0.436212 0.874271 -1.027664 +v 1.054450 -3.415470 -0.662539 +v -1.044742 -0.616660 -1.027664 +v 1.084898 -2.015413 -0.905753 +v -0.588237 -3.385034 1.041176 +v -0.983846 -2.076285 1.041176 +v -1.105638 -3.445906 -0.753668 +v 0.902211 -3.445906 -0.905753 +v 0.963106 -3.415035 0.614893 +v -1.044742 0.965579 0.189217 +v -0.770925 -3.476342 -0.358167 +v -1.014294 -2.198029 0.888888 +v -1.014294 -1.285383 -1.027664 +v -1.105638 -2.958495 -0.997085 +v 1.024002 0.295986 1.041176 +v 0.750185 0.965579 1.041176 +v 0.810867 -3.384599 0.949641 +v -0.618685 -3.476342 0.554342 +v -0.162395 -3.476342 -0.601583 +v 0.963106 -2.654569 0.949641 +v -1.014294 0.569911 -1.027664 +v -1.014294 -0.464914 1.010597 +v 0.871763 -3.415035 0.888888 +v 1.084898 -0.099682 -0.966708 +v -1.014294 -3.384599 0.736804 +v 1.054450 0.873836 1.041176 +v 0.567498 -3.445906 0.432634 +v -1.044742 -0.251862 0.645472 +v 1.084898 0.965579 -0.814624 +v 1.054450 -3.385034 -0.631960 +v 0.963106 -3.384599 0.675848 +v -0.710029 -3.476342 -0.662539 +f 32 24 45 +f 4 5 6 +f 6 5 9 +f 5 4 12 +f 4 6 14 +f 4 14 16 +f 15 8 17 +f 9 7 18 +f 7 9 19 +f 3 13 21 +f 13 8 21 +f 8 15 21 +f 21 15 22 +f 12 4 23 +f 20 2 24 +f 3 2 26 +f 13 3 26 +f 14 13 26 +f 2 16 26 +f 16 14 26 +f 16 2 27 +f 2 20 27 +f 20 12 27 +f 12 23 27 +f 23 16 27 +f 18 1 28 +f 9 18 28 +f 9 5 29 +f 19 9 29 +f 1 18 30 +f 18 7 31 +f 7 20 31 +f 24 11 31 +f 20 24 31 +f 21 11 32 +f 11 24 32 +f 28 1 33 +f 1 30 33 +f 30 10 33 +f 4 16 34 +f 23 4 34 +f 16 23 34 +f 5 12 35 +f 7 19 35 +f 25 7 35 +f 12 25 35 +f 29 5 35 +f 19 29 35 +f 22 10 36 +f 10 30 36 +f 30 18 36 +f 18 31 36 +f 31 11 36 +f 8 13 37 +f 14 6 37 +f 13 14 37 +f 6 17 37 +f 17 8 37 +f 20 7 38 +f 7 25 38 +f 9 28 39 +f 28 33 39 +f 11 21 40 +f 21 22 40 +f 36 11 40 +f 22 36 40 +f 12 20 41 +f 25 12 41 +f 20 38 41 +f 38 25 41 +f 6 9 42 +f 17 6 42 +f 9 39 42 +f 39 17 42 +f 15 17 43 +f 17 39 43 +f 43 39 44 +f 22 15 44 +f 10 22 44 +f 33 10 44 +f 39 33 44 +f 15 43 44 +f 2 3 45 +f 3 21 45 +f 24 2 45 +f 21 32 45 +o convex_1 +v 1.906492 2.121564 0.523838 +v 2.970979 0.996003 -0.601726 +v 2.970979 1.056887 -0.601726 +v 1.115513 1.209097 -0.479890 +v 1.450202 1.026445 0.493408 +v 1.115513 2.121564 -0.449460 +v 2.970979 2.030351 0.493524 +v 3.001474 1.148213 0.584814 +v 3.001474 1.999909 -0.480006 +v 1.115513 2.152119 0.584814 +v 1.115513 1.026445 0.462978 +v 1.115513 1.087442 -0.479890 +v 3.062465 0.996003 -0.480006 +v 2.940674 1.117771 0.584814 +v 3.001474 2.030351 -0.053985 +v 3.062465 1.391636 -0.540866 +v 1.115513 1.026445 0.189223 +v 3.001474 1.939025 0.371804 +v 2.970979 1.300310 0.584814 +v 1.480507 1.057000 -0.510320 +v 2.666976 2.030351 -0.480006 +v 1.176313 2.152119 0.189223 +v 1.115513 2.060680 0.584814 +v 2.879873 2.060793 0.402234 +v 2.758081 1.117771 0.584814 +v 1.267610 2.152119 0.584814 +v 3.062465 1.056887 -0.266996 +v 3.031970 1.939025 -0.419146 +v 1.328410 2.121564 -0.327856 +v 2.179999 2.030351 -0.479890 +v 2.788577 0.996003 -0.571296 +v 3.062465 1.056887 -0.601726 +v 1.875997 2.121564 0.554268 +v 3.031970 1.817257 -0.510436 +f 61 77 79 +f 51 49 55 +f 55 49 56 +f 56 49 57 +f 50 56 58 +f 53 55 59 +f 50 58 59 +f 58 53 59 +f 56 57 62 +f 52 53 63 +f 60 52 63 +f 53 52 64 +f 55 53 64 +f 48 47 65 +f 51 48 65 +f 49 51 65 +f 57 49 65 +f 62 57 65 +f 60 54 66 +f 51 55 67 +f 56 50 68 +f 55 56 68 +f 59 55 68 +f 52 60 69 +f 60 66 69 +f 67 46 69 +f 50 59 70 +f 68 50 70 +f 59 68 70 +f 55 64 71 +f 46 67 71 +f 67 55 71 +f 53 58 72 +f 58 61 72 +f 63 53 72 +f 61 63 72 +f 54 60 73 +f 60 63 73 +f 63 61 73 +f 66 51 74 +f 51 67 74 +f 69 66 74 +f 67 69 74 +f 48 51 75 +f 51 66 75 +f 47 58 76 +f 58 56 76 +f 56 62 76 +f 65 47 76 +f 62 65 76 +f 47 48 77 +f 58 47 77 +f 61 58 77 +f 64 52 78 +f 69 46 78 +f 52 69 78 +f 46 71 78 +f 71 64 78 +f 66 54 79 +f 54 73 79 +f 73 61 79 +f 48 75 79 +f 75 66 79 +f 77 48 79 +o convex_2 +v -2.261719 1.422024 0.523948 +v -1.105796 2.121567 -0.631912 +v -1.105796 2.182543 -0.631912 +v -2.991933 1.391594 -0.540792 +v -1.075214 1.056863 -0.388567 +v -1.075214 2.121567 0.584695 +v -2.961351 2.121567 0.554322 +v -2.991933 0.996003 0.463082 +v -1.075214 1.087409 0.432470 +v -2.991933 2.091137 -0.479926 +v -2.991933 1.117839 -0.540792 +v -1.075214 1.087409 -0.449433 +v -2.626826 2.152113 0.341350 +v -2.352901 0.996003 0.189125 +v -2.991933 1.087409 -0.510418 +v -1.075214 2.182543 -0.510299 +v -1.227373 1.939103 0.584695 +v -2.596244 1.117839 -0.540792 +v -2.991933 1.604372 0.523948 +v -2.474479 0.996003 0.463082 +v -2.991933 2.121567 -0.023609 +v -1.075214 2.151997 0.280365 +v -2.809379 2.091137 -0.510418 +v -2.839586 0.996003 0.189125 +v -1.987982 2.091137 0.584695 +v -1.379532 1.056863 0.432470 +v -2.505061 1.361280 -0.571284 +v -1.075214 2.121567 -0.631912 +v -2.961351 1.939103 0.554322 +v -1.075214 1.239443 0.462963 +v -2.505061 2.121567 -0.510418 +v -1.075214 1.056863 -0.206088 +v -2.809379 1.178699 0.493455 +f 108 98 112 +f 84 85 88 +f 83 87 89 +f 87 83 90 +f 85 84 91 +f 86 85 92 +f 87 90 94 +f 91 84 94 +f 85 91 95 +f 82 92 95 +f 94 90 97 +f 91 94 97 +f 89 87 98 +f 87 93 99 +f 96 80 99 +f 92 82 100 +f 86 92 100 +f 98 86 100 +f 89 98 100 +f 92 85 101 +f 85 95 101 +f 95 92 101 +f 82 83 102 +f 83 89 102 +f 84 93 103 +f 93 87 103 +f 87 94 103 +f 94 84 103 +f 85 86 104 +f 80 96 104 +f 96 85 104 +f 88 99 105 +f 82 81 106 +f 83 82 106 +f 90 83 106 +f 97 90 106 +f 97 106 107 +f 81 82 107 +f 82 95 107 +f 95 91 107 +f 91 97 107 +f 106 81 107 +f 86 98 108 +f 104 86 108 +f 80 104 108 +f 88 85 109 +f 85 96 109 +f 99 88 109 +f 96 99 109 +f 100 82 110 +f 89 100 110 +f 82 102 110 +f 102 89 110 +f 84 88 111 +f 93 84 111 +f 99 93 111 +f 88 105 111 +f 105 99 111 +f 98 87 112 +f 99 80 112 +f 87 99 112 +f 80 108 112 +o convex_3 +v 1.115322 2.152000 0.584621 +v -0.983870 1.239586 -1.057877 +v -0.983870 1.726229 -1.057877 +v -1.014318 0.965746 0.980232 +v 1.084874 0.965579 -0.966744 +v -1.014318 2.517066 0.949784 +v 1.115322 2.547418 -0.966533 +v 1.054426 0.965579 1.040917 +v 1.084874 2.669329 1.101813 +v -0.953422 2.517066 -1.057877 +v -0.983870 0.965746 -1.027429 +v 0.293657 2.669329 -0.571132 +v -1.075214 2.243225 -0.723161 +v -1.075214 1.087490 0.432592 +v 1.115322 1.026451 0.463040 +v -0.710053 2.577938 0.645305 +v -1.075214 2.121481 0.584621 +v -1.075214 1.056970 -0.388656 +v -0.618709 2.425841 -1.057877 +v 0.506578 2.669329 -0.601580 +v 0.811057 2.669329 1.071365 +v 1.023978 1.452388 1.071365 +v 1.115322 1.483075 -0.966744 +v 0.232761 2.669329 -0.357997 +v -1.044551 2.456194 0.858441 +v -0.953422 2.547585 0.888889 +v 1.023978 2.669329 1.101813 +v 1.115322 2.577938 -0.632028 +v 1.084874 2.669329 0.827993 +v -0.253548 2.577771 1.010469 +v -1.014318 2.517066 0.219668 +v -1.044551 0.965746 0.736860 +v 1.084874 2.060776 1.071365 +v 1.115322 1.087490 -0.479789 +v -1.014318 1.148362 0.980232 +v 0.750161 0.965579 1.040917 +v -0.436236 0.965746 -1.027429 +v -0.831630 2.547585 -0.388656 +v -0.344892 2.608457 0.554173 +v -0.922974 1.269939 -1.057877 +v -1.075214 1.087490 -0.449341 +v 1.115322 2.577938 -0.206180 +f 140 121 154 +f 114 115 122 +f 115 114 125 +f 122 115 125 +f 114 123 125 +f 119 113 127 +f 120 117 127 +f 125 126 129 +f 126 125 130 +f 114 122 131 +f 122 119 131 +f 119 122 132 +f 124 121 132 +f 122 124 132 +f 121 124 133 +f 120 121 134 +f 119 127 135 +f 117 131 135 +f 131 119 135 +f 124 122 136 +f 133 124 136 +f 129 116 137 +f 125 129 137 +f 133 128 138 +f 121 133 139 +f 116 134 139 +f 134 121 139 +f 113 119 140 +f 119 132 140 +f 140 132 141 +f 132 121 141 +f 121 140 141 +f 138 118 142 +f 133 138 142 +f 139 133 142 +f 122 125 143 +f 137 118 143 +f 125 137 143 +f 118 138 143 +f 138 122 143 +f 116 129 144 +f 129 126 144 +f 130 123 144 +f 126 130 144 +f 113 121 145 +f 121 120 145 +f 127 113 145 +f 120 127 145 +f 127 117 146 +f 135 127 146 +f 117 135 146 +f 137 116 147 +f 118 137 147 +f 116 139 147 +f 142 118 147 +f 139 142 147 +f 117 120 148 +f 123 117 148 +f 134 116 148 +f 120 134 148 +f 116 144 148 +f 144 123 148 +f 123 114 149 +f 117 123 149 +f 136 122 150 +f 128 136 150 +f 122 138 150 +f 138 128 150 +f 128 133 151 +f 136 128 151 +f 133 136 151 +f 114 131 152 +f 131 117 152 +f 149 114 152 +f 117 149 152 +f 125 123 153 +f 123 130 153 +f 130 125 153 +f 121 113 154 +f 113 140 154 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/677/677.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/677/677.urdf new file mode 100644 index 000000000..7425e9fde --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/677/677.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/678/678.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/678/678.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/678/678.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/678/678.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/678/678.obj new file mode 100644 index 000000000..782fc8537 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/678/678.obj @@ -0,0 +1,444 @@ +o convex_0 +v -0.727883 -1.251954 -1.069528 +v 0.320506 3.583406 1.095059 +v 0.591079 3.381271 1.094847 +v 1.030733 4.699601 -0.934135 +v -1.066046 4.835629 -1.001726 +v 1.030733 -1.658132 0.959455 +v -0.964554 -1.658132 0.959455 +v 0.996832 -1.658132 -1.001514 +v -0.998243 4.800669 1.061158 +v 1.064634 4.835629 1.027257 +v -1.099946 -1.454726 -1.069528 +v -1.099946 1.149517 0.824274 +v 1.064634 0.675961 -0.934135 +v -1.099946 -1.658132 -0.054613 +v 1.064634 2.738632 1.095059 +v -1.099946 4.496830 -0.967824 +v -1.066046 -1.658132 -1.069528 +v -0.490999 4.800669 -1.001726 +v -1.066046 3.279567 1.027045 +v 1.064634 4.665912 -0.934135 +v -1.099946 -1.658132 0.621291 +v 1.030733 -1.454726 -1.001514 +v -1.032144 3.989584 1.061158 +v 1.064634 0.777664 0.858175 +v -1.066046 4.835629 -0.223907 +v 1.064634 4.835629 0.756684 +v -1.099946 -0.169449 -1.069528 +v -0.795473 4.835629 -1.001726 +v 0.151425 4.800669 1.060946 +v 0.016033 4.835629 0.993356 +v -1.099946 2.704308 0.317028 +v -1.066046 1.892587 0.993568 +v 0.286605 3.516028 1.095059 +v 1.030733 -1.658132 -0.900234 +v -1.032144 4.395762 0.993356 +v 1.064634 4.056962 1.060946 +f 10 29 36 +f 6 7 8 +f 8 7 14 +f 12 11 14 +f 3 2 15 +f 7 6 15 +f 13 10 15 +f 11 12 16 +f 1 8 17 +f 11 1 17 +f 8 14 17 +f 14 11 17 +f 10 13 20 +f 18 4 20 +f 14 7 21 +f 12 14 21 +f 8 1 22 +f 1 18 22 +f 20 13 22 +f 18 20 22 +f 19 7 23 +f 6 13 24 +f 15 6 24 +f 13 15 24 +f 10 5 25 +f 5 16 25 +f 16 19 25 +f 5 10 26 +f 20 4 26 +f 10 20 26 +f 1 11 27 +f 16 5 27 +f 11 16 27 +f 18 1 27 +f 18 27 28 +f 4 18 28 +f 5 26 28 +f 26 4 28 +f 27 5 28 +f 2 3 29 +f 9 2 29 +f 10 9 29 +f 9 10 30 +f 10 25 30 +f 25 9 30 +f 16 12 31 +f 12 19 31 +f 19 16 31 +f 7 19 32 +f 19 12 32 +f 21 7 32 +f 12 21 32 +f 2 9 33 +f 15 2 33 +f 7 15 33 +f 23 7 33 +f 9 23 33 +f 6 8 34 +f 13 6 34 +f 8 22 34 +f 22 13 34 +f 23 9 35 +f 19 23 35 +f 9 25 35 +f 25 19 35 +f 3 15 36 +f 15 10 36 +f 29 3 36 +o convex_1 +v 0.354385 -3.687710 0.215593 +v -0.322048 -3.721502 0.147973 +v -0.322048 -3.721502 0.181752 +v -0.085270 -5.310873 0.147973 +v 0.320551 -5.006170 -0.359273 +v -0.186708 -3.349599 -0.291590 +v -0.254378 -5.310873 -0.325368 +v 0.252881 -5.242905 0.283339 +v -0.322048 -3.349599 0.283339 +v 0.185277 -3.349599 -0.257748 +v -0.254378 -5.310873 0.181752 +v 0.354385 -3.349599 0.215593 +v 0.320551 -5.242905 -0.359273 +v -0.220543 -3.856862 -0.325368 +v -0.085270 -3.349599 0.283339 +v -0.288213 -4.871002 -0.223969 +v 0.320551 -5.242905 -0.122508 +v -0.017600 -3.653918 -0.325368 +v -0.288213 -3.890654 0.283339 +v -0.085270 -5.242905 -0.359273 +v 0.320551 -3.349599 0.046511 +v -0.322048 -3.349599 0.181752 +v -0.152940 -5.310873 0.215593 +v 0.320551 -3.958237 0.249435 +v -0.288213 -4.701851 0.215593 +f 47 55 61 +f 38 39 45 +f 42 45 46 +f 43 40 47 +f 37 41 48 +f 46 45 48 +f 41 37 49 +f 40 43 49 +f 45 44 51 +f 48 45 51 +f 39 38 52 +f 43 47 52 +f 50 43 52 +f 44 40 53 +f 37 44 53 +f 49 37 53 +f 40 49 53 +f 46 41 54 +f 42 46 54 +f 50 42 54 +f 44 45 55 +f 41 49 56 +f 49 43 56 +f 43 50 56 +f 54 41 56 +f 50 54 56 +f 41 46 57 +f 48 41 57 +f 46 48 57 +f 38 45 58 +f 45 42 58 +f 42 50 58 +f 52 38 58 +f 50 52 58 +f 40 44 59 +f 47 40 59 +f 44 55 59 +f 55 47 59 +f 44 37 60 +f 37 48 60 +f 51 44 60 +f 48 51 60 +f 45 39 61 +f 39 52 61 +f 52 47 61 +f 55 45 61 +o convex_2 +v -3.027593 -2.740280 0.418440 +v -2.621723 -1.658248 -0.494553 +v -2.621723 -1.658248 -0.562203 +v -1.100135 -2.807943 -0.190072 +v -1.099946 -1.759627 0.587734 +v -3.027593 -2.841891 -0.494553 +v -1.099946 -1.793458 -0.562203 +v -2.926078 -1.827406 0.452434 +v -1.100135 -2.740280 0.486203 +v -1.100135 -2.740280 -0.494553 +v -2.993629 -1.759743 -0.562203 +v -3.027593 -2.706449 0.520084 +v -2.959854 -1.658248 -0.393021 +v -2.655499 -2.537406 0.553740 +v -1.134099 -2.774112 0.350903 +v -1.979426 -2.841891 -0.494553 +v -3.027593 -2.841891 -0.325372 +v -1.167875 -1.962617 -0.562203 +v -1.235425 -1.759743 -0.562203 +v -3.027593 -2.503575 0.520084 +v -2.959854 -1.759743 0.147841 +v -1.235425 -1.759743 0.587734 +v -2.182078 -2.740280 0.520084 +v -1.134099 -1.895069 0.587734 +v -1.100135 -2.807943 -0.460671 +v -3.027593 -2.435911 -0.426903 +v -1.539780 -1.759743 0.553740 +v -2.520208 -2.435911 -0.528321 +v -1.099946 -1.759627 0.012766 +v -2.655499 -2.469743 0.553740 +v -2.993629 -1.725911 -0.426903 +f 87 81 92 +f 64 63 66 +f 66 65 68 +f 65 66 70 +f 64 68 72 +f 67 62 73 +f 63 64 74 +f 66 63 74 +f 64 72 74 +f 65 70 76 +f 65 76 77 +f 77 76 78 +f 62 67 78 +f 67 77 78 +f 68 71 79 +f 72 68 79 +f 71 77 79 +f 68 64 80 +f 67 73 81 +f 73 75 81 +f 81 69 82 +f 66 74 83 +f 73 62 84 +f 75 73 84 +f 76 70 84 +f 78 76 84 +f 62 78 84 +f 70 66 85 +f 66 83 85 +f 83 75 85 +f 84 70 85 +f 75 84 85 +f 68 65 86 +f 71 68 86 +f 65 77 86 +f 77 71 86 +f 72 67 87 +f 67 81 87 +f 82 69 88 +f 74 82 88 +f 83 74 88 +f 69 83 88 +f 67 72 89 +f 77 67 89 +f 72 79 89 +f 79 77 89 +f 64 66 90 +f 66 68 90 +f 80 64 90 +f 68 80 90 +f 69 81 91 +f 81 75 91 +f 75 83 91 +f 83 69 91 +f 74 72 92 +f 82 74 92 +f 81 82 92 +f 72 87 92 +o convex_3 +v 0.895409 -2.537357 1.027247 +v -1.066079 -1.895152 -1.069528 +v -0.998343 -3.247589 -1.035534 +v 0.996793 -2.131841 -1.035325 +v -0.964476 -1.658132 0.959468 +v -0.964476 -3.179892 0.993462 +v 0.963144 -3.213658 -1.069528 +v 1.132264 -1.658298 0.452271 +v 1.098396 -3.180058 1.061032 +v 0.996793 -1.658298 -1.001749 +v 0.354181 -3.348885 0.215565 +v -1.066079 -1.658132 -1.069528 +v 1.030661 -1.658298 0.959468 +v -1.099946 -2.774045 0.486056 +v 1.132264 -2.875507 -0.562122 +v -1.099946 -1.658132 0.621198 +v -0.321863 -3.348885 0.316921 +v -1.099946 -2.943203 -0.629484 +v 0.320531 -3.348885 -0.426773 +v 1.132264 -1.692229 -0.494343 +v -0.524851 -1.658132 0.993462 +v -1.099946 -1.793690 -0.561914 +v -0.998343 -3.247589 -0.392987 +v 1.132264 -2.774045 0.519842 +v -0.930608 -2.300999 0.993462 +v 0.286664 -3.213658 -1.069528 +v -0.186611 -3.348885 -0.291423 +v 0.963144 -2.807811 -1.069528 +v -0.220478 -3.179892 1.027247 +v 1.098396 -2.672584 1.027247 +v 1.098396 -3.180058 0.621198 +v -0.085226 -3.247589 -1.035534 +v -0.964476 -3.213658 0.587621 +v -0.930608 -1.658132 -1.069528 +v 1.064529 -3.112196 1.061032 +f 122 105 127 +f 99 101 103 +f 99 94 104 +f 99 96 107 +f 98 97 108 +f 97 104 108 +f 106 98 108 +f 103 101 109 +f 94 95 110 +f 104 94 110 +f 98 106 110 +f 106 108 110 +f 99 103 111 +f 103 109 111 +f 96 102 112 +f 102 100 112 +f 107 96 112 +f 100 107 112 +f 100 102 113 +f 104 97 113 +f 93 105 113 +f 105 100 113 +f 108 104 114 +f 104 110 114 +f 110 108 114 +f 95 109 115 +f 110 95 115 +f 98 110 115 +f 100 101 116 +f 101 107 116 +f 107 100 116 +f 97 98 117 +f 113 97 117 +f 95 94 118 +f 99 95 118 +f 94 99 118 +f 109 95 119 +f 95 111 119 +f 111 109 119 +f 96 99 120 +f 99 104 120 +f 98 109 121 +f 109 101 121 +f 117 98 121 +f 101 100 122 +f 100 105 122 +f 101 99 123 +f 99 107 123 +f 107 101 123 +f 95 99 124 +f 111 95 124 +f 99 111 124 +f 109 98 125 +f 115 109 125 +f 98 115 125 +f 102 96 126 +f 113 102 126 +f 104 113 126 +f 96 120 126 +f 120 104 126 +f 105 93 127 +f 93 113 127 +f 113 117 127 +f 121 101 127 +f 117 121 127 +f 101 122 127 +o convex_4 +v 1.335332 -2.807904 0.181801 +v 1.572160 -1.658251 0.452418 +v 2.349632 -1.692096 0.486176 +v 3.026145 -1.759786 -0.494357 +v 3.025957 -2.706488 0.553912 +v 1.132473 -2.875712 -0.562203 +v 1.132473 -1.692096 -0.494357 +v 3.060113 -2.706488 -0.562203 +v 1.132473 -2.774059 0.520044 +v 2.992367 -1.725941 0.520044 +v 1.132473 -1.658251 0.452418 +v 3.026145 -1.725822 -0.460708 +v 2.890843 -2.740214 0.486176 +v 3.026145 -2.199411 0.553912 +v 3.060113 -2.503538 -0.562203 +v 2.924621 -2.740214 -0.562203 +v 2.552491 -1.725941 0.520044 +v 1.132473 -2.604954 -0.562203 +v 1.233997 -2.875712 -0.426731 +v 3.060113 -1.962617 -0.426731 +v 3.060113 -2.706488 0.148042 +v 1.132473 -2.604954 0.520044 +v 3.026145 -1.725822 0.350923 +v 1.673495 -1.692096 -0.494357 +v 2.315853 -2.740214 0.553912 +v 1.166251 -1.658251 0.080306 +f 139 151 153 +f 134 133 136 +f 130 129 137 +f 134 136 138 +f 137 129 138 +f 129 130 139 +f 136 128 140 +f 135 133 142 +f 133 135 143 +f 137 138 144 +f 141 137 144 +f 133 134 145 +f 134 142 145 +f 142 133 145 +f 128 136 146 +f 136 133 146 +f 140 128 146 +f 133 143 146 +f 143 140 146 +f 131 139 147 +f 142 131 147 +f 135 142 147 +f 132 140 148 +f 141 132 148 +f 143 135 148 +f 140 143 148 +f 135 147 148 +f 138 136 149 +f 144 138 149 +f 141 144 149 +f 130 137 150 +f 139 130 150 +f 137 141 150 +f 147 139 150 +f 141 148 150 +f 148 147 150 +f 139 131 151 +f 131 142 151 +f 142 134 151 +f 140 132 152 +f 136 140 152 +f 132 141 152 +f 149 136 152 +f 141 149 152 +f 138 129 153 +f 134 138 153 +f 129 139 153 +f 151 134 153 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/678/678.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/678/678.urdf new file mode 100644 index 000000000..53d46bf5e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/678/678.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/679/679.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/679/679.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/679/679.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/679/679.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/679/679.obj new file mode 100644 index 000000000..436658185 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/679/679.obj @@ -0,0 +1,372 @@ +o convex_0 +v 1.971506 -2.967722 -0.917991 +v -0.235395 -4.034708 -1.028480 +v 1.787453 -4.071648 0.479252 +v -0.125007 -0.099615 1.031294 +v 1.897841 -0.099226 -0.991583 +v 1.861117 -0.099226 1.031294 +v -0.088067 -3.961216 1.031294 +v -0.051343 -0.099615 -0.991583 +v 1.971506 -3.997767 -1.028480 +v 1.824177 -4.071648 0.957500 +v -0.161731 -0.099615 0.883908 +v 1.861117 -1.570998 1.031294 +v -0.198455 -2.968111 -1.028480 +v -0.125007 -3.961216 0.920603 +v -0.161731 -0.099615 0.295373 +v 1.456504 -4.071648 0.994196 +v 1.971506 -3.997767 -0.697416 +v -0.198455 -4.034708 -0.292760 +v -0.088067 -0.357030 -0.991583 +v 1.934566 -1.018840 -0.954888 +v 0.757667 -3.997767 1.031294 +v 0.941503 -4.034708 -1.028480 +v 1.971506 -3.299016 -1.028480 +v -0.088067 -2.636817 -1.028480 +v 0.132494 -3.997767 1.031294 +v 1.824177 -3.629922 0.994196 +v -0.125007 -3.261687 1.031294 +v -0.235395 -4.034708 -0.881296 +v 1.861117 -4.071648 0.589540 +v -0.235395 -3.813845 -0.991583 +v 1.934566 -4.034708 -0.439944 +f 17 29 31 +f 6 4 7 +f 4 6 11 +f 6 7 12 +f 9 2 13 +f 6 5 15 +f 5 8 15 +f 11 6 15 +f 2 3 16 +f 3 10 16 +f 1 6 17 +f 9 1 17 +f 6 12 17 +f 7 14 18 +f 8 13 19 +f 15 8 19 +f 13 15 19 +f 5 6 20 +f 6 1 20 +f 12 7 21 +f 3 2 22 +f 2 9 22 +f 1 9 23 +f 9 13 23 +f 5 20 23 +f 20 1 23 +f 8 5 24 +f 13 8 24 +f 5 23 24 +f 23 13 24 +f 7 18 25 +f 18 16 25 +f 21 7 25 +f 16 21 25 +f 10 12 26 +f 16 10 26 +f 12 21 26 +f 21 16 26 +f 7 4 27 +f 4 11 27 +f 14 7 27 +f 2 16 28 +f 18 14 28 +f 16 18 28 +f 27 11 28 +f 14 27 28 +f 10 3 29 +f 12 10 29 +f 17 12 29 +f 13 2 30 +f 11 15 30 +f 15 13 30 +f 2 28 30 +f 28 11 30 +f 9 17 31 +f 3 22 31 +f 22 9 31 +f 29 3 31 +o convex_1 +v -2.148032 1.776509 1.729512 +v 0.022077 2.034010 1.030891 +v 0.022077 -0.099226 1.030891 +v -2.148032 0.048102 -3.014461 +v -0.014820 1.960346 -3.013856 +v -2.111135 0.048102 2.943480 +v -2.111135 2.107674 -2.940667 +v -0.014820 -0.062070 -3.088254 +v -0.088394 1.997070 3.091068 +v -2.074238 2.107674 3.090463 +v -0.198646 0.048102 3.017274 +v -2.221606 1.261508 0.148390 +v -1.706587 2.107674 -3.013856 +v -2.074238 0.011378 2.869687 +v 0.022077 -0.099226 -0.991180 +v -2.221606 0.673491 -0.770404 +v -1.522542 2.107674 2.722704 +v 0.022077 2.034010 -0.366352 +v -1.816838 1.813233 -3.051358 +v -1.780161 0.011378 -3.013856 +v -0.161969 0.452715 3.054171 +v -2.111135 0.967500 3.017274 +v -0.161969 -0.099226 0.258475 +v -0.419368 -0.062070 -3.088254 +v -0.161969 1.997070 -3.014461 +v -0.198646 0.011378 2.870292 +v -0.088394 1.629397 3.091068 +v -0.309117 2.033794 3.091068 +v -0.014820 0.452715 -3.087650 +v -0.713665 0.048102 3.017274 +v -1.522542 2.107674 -1.983767 +v -2.111135 1.997070 -3.013856 +v 0.022077 1.997070 -0.954888 +v -0.161969 0.195214 3.017274 +v -2.221606 1.335173 0.148390 +v -2.148032 0.048102 -1.395836 +v -2.074238 1.960346 3.090463 +v -2.221606 1.040732 -0.622816 +v -0.014820 1.408621 -3.050753 +v -2.221606 0.820387 -0.108074 +v -0.088394 1.408621 3.054171 +v -0.640091 0.489655 -3.088254 +v -2.111135 1.997070 2.244859 +v -2.148032 0.231938 -3.014461 +v -0.713665 2.070734 1.730117 +v -0.051717 -0.099226 -0.990575 +v -2.111135 1.151120 3.017274 +v -2.184709 1.592457 0.478647 +v -0.161969 -0.099226 0.920805 +v -1.596335 2.107674 3.090463 +v -1.412290 0.084826 -3.051358 +f 73 55 82 +f 34 33 40 +f 38 41 44 +f 33 34 46 +f 44 41 48 +f 33 46 49 +f 45 35 51 +f 43 37 53 +f 46 34 54 +f 45 51 54 +f 39 46 55 +f 51 35 55 +f 44 49 56 +f 49 36 56 +f 50 44 56 +f 34 42 57 +f 45 34 57 +f 34 40 58 +f 40 33 59 +f 58 40 59 +f 46 39 60 +f 37 45 61 +f 42 52 61 +f 53 37 61 +f 57 42 61 +f 45 57 61 +f 44 48 62 +f 49 44 62 +f 38 44 63 +f 44 50 63 +f 36 49 64 +f 49 46 64 +f 46 60 64 +f 42 34 65 +f 52 42 65 +f 58 52 65 +f 47 43 66 +f 43 53 66 +f 35 45 67 +f 45 37 67 +f 47 35 67 +f 37 47 67 +f 41 53 68 +f 52 58 68 +f 59 41 68 +f 58 59 68 +f 61 52 68 +f 53 61 68 +f 38 63 69 +f 66 38 69 +f 47 66 69 +f 56 36 70 +f 50 56 70 +f 60 50 70 +f 36 64 70 +f 64 60 70 +f 37 43 71 +f 47 37 71 +f 43 47 71 +f 34 58 72 +f 65 34 72 +f 58 65 72 +f 39 55 73 +f 60 39 73 +f 50 60 73 +f 32 41 74 +f 41 38 74 +f 35 47 75 +f 50 35 75 +f 63 50 75 +f 47 69 75 +f 69 63 75 +f 33 49 76 +f 59 33 76 +f 48 59 76 +f 62 48 76 +f 49 62 76 +f 46 54 77 +f 54 51 77 +f 51 55 77 +f 55 46 77 +f 41 32 78 +f 53 41 78 +f 32 66 78 +f 66 53 78 +f 66 32 79 +f 38 66 79 +f 32 74 79 +f 74 38 79 +f 34 45 80 +f 54 34 80 +f 45 54 80 +f 48 41 81 +f 59 48 81 +f 41 59 81 +f 35 50 82 +f 55 35 82 +f 50 73 82 +o convex_2 +v 1.934724 0.820560 -0.255975 +v 1.897841 2.144456 1.104857 +v 1.897841 2.144456 0.773628 +v 0.022077 -0.099226 1.030977 +v 0.022077 1.997088 -0.954758 +v 0.022077 -0.099226 -0.991698 +v 1.861146 -0.099226 1.031183 +v 0.022077 2.033765 1.030977 +v 1.861146 1.997088 -0.991698 +v 1.897841 -0.099226 -0.991698 +v 0.242997 0.379115 1.067917 +v 0.279692 2.070882 1.067917 +v 0.095842 2.033765 -0.734144 +v 1.861146 0.047922 1.067917 +v 1.861146 2.033985 -0.954758 +v 1.934724 0.820560 0.258724 +v 1.934724 1.261566 -0.366385 +v 0.868127 1.997088 -0.991698 +v 1.529953 2.144456 0.994448 +v 1.677108 1.923733 1.104857 +v 1.897841 1.224889 1.067917 +v 1.897841 0.783663 -0.991698 +v 1.934724 1.371817 0.332399 +v 1.897841 1.739688 -0.697409 +v 0.022077 0.268864 -0.991698 +f 100 88 107 +f 86 87 88 +f 86 88 89 +f 87 86 90 +f 88 91 92 +f 89 88 92 +f 90 86 93 +f 90 93 94 +f 87 90 95 +f 90 94 95 +f 86 89 96 +f 93 86 96 +f 87 95 97 +f 95 85 97 +f 92 83 98 +f 89 92 98 +f 83 92 99 +f 98 83 99 +f 91 88 100 +f 97 91 100 +f 87 97 100 +f 84 85 101 +f 94 84 101 +f 85 95 101 +f 95 94 101 +f 94 93 102 +f 84 94 102 +f 96 84 102 +f 93 96 102 +f 84 96 103 +f 96 89 103 +f 89 98 103 +f 92 91 104 +f 99 92 104 +f 85 84 105 +f 99 85 105 +f 98 99 105 +f 84 103 105 +f 103 98 105 +f 97 85 106 +f 91 97 106 +f 85 99 106 +f 104 91 106 +f 99 104 106 +f 88 87 107 +f 87 100 107 +o convex_3 +v 3.700090 0.857148 0.369224 +v 1.934724 1.151257 -0.329628 +v 1.934724 1.224813 -0.329628 +v 3.957716 0.783591 -0.219218 +v 3.847022 1.371983 0.295617 +v 1.934724 0.820398 0.258814 +v 1.934724 1.371983 0.332421 +v 3.810586 1.261620 -0.182483 +v 1.934724 0.820398 -0.256021 +v 3.957716 1.004317 0.369224 +v 1.934724 1.298427 -0.145680 +v 3.957716 0.820398 0.222079 +v 2.081854 0.820398 0.295617 +v 3.883854 1.335176 0.332421 +v 1.934724 1.371983 0.185276 +v 3.920884 0.967511 -0.219218 +v 2.413145 1.261620 -0.292825 +v 3.516127 0.783591 -0.108877 +v 1.934724 1.188064 0.332421 +v 3.883854 1.151257 0.369224 +v 3.258501 0.820398 0.332421 +f 120 125 128 +f 109 110 111 +f 110 109 113 +f 110 113 114 +f 109 111 116 +f 113 109 116 +f 110 114 118 +f 117 108 119 +f 111 117 119 +f 112 114 121 +f 115 112 121 +f 114 112 122 +f 118 114 122 +f 111 110 123 +f 117 111 123 +f 115 121 123 +f 121 117 123 +f 112 115 124 +f 110 118 124 +f 122 112 124 +f 118 122 124 +f 123 110 124 +f 115 123 124 +f 116 111 125 +f 113 116 125 +f 111 119 125 +f 120 113 125 +f 108 114 126 +f 114 113 126 +f 113 120 126 +f 120 108 126 +f 114 108 127 +f 108 117 127 +f 121 114 127 +f 117 121 127 +f 119 108 128 +f 108 120 128 +f 125 119 128 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/679/679.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/679/679.urdf new file mode 100644 index 000000000..6c07663bc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/679/679.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/680/680.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/680/680.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/680/680.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/680/680.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/680/680.obj new file mode 100644 index 000000000..8349d0acb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/680/680.obj @@ -0,0 +1,591 @@ +o convex_0 +v 1.042710 -0.968216 0.754341 +v -1.071428 -1.360736 -0.574423 +v -1.071428 -1.360736 -0.544200 +v 0.982257 -3.021745 0.995916 +v 0.921805 -2.960944 -1.088008 +v -1.041202 -3.051608 1.025926 +v -1.041202 -0.364237 0.995703 +v 0.982257 -0.364237 -1.027561 +v -1.041202 -3.082009 -1.027561 +v -1.041202 -0.364237 -0.997125 +v 0.982257 -0.364237 1.026139 +v 1.103163 -0.545297 0.089853 +v -0.588020 -1.179676 1.086373 +v -0.255956 -3.112409 0.059416 +v 1.012484 -2.960944 0.965692 +v 0.952031 -2.870549 -1.027561 +v -0.135051 -0.394369 1.086373 +v -0.497341 -0.545297 -1.027561 +v 0.801113 -2.568425 1.026139 +v -1.071428 -0.364237 -0.181732 +v 1.103163 -0.364237 0.301204 +v -0.527567 -3.112409 0.421884 +v -0.346422 -3.051877 -1.057572 +v -0.890070 -2.447629 1.056362 +v 0.015867 -0.847421 1.086373 +v 0.740660 -2.991344 -0.997338 +v -0.799391 -3.112409 -0.574210 +v 0.831339 -2.689489 -1.088008 +v -1.041202 -1.904182 -1.027561 +v -0.346422 -3.051877 1.025926 +v -0.497341 -0.364237 1.086373 +v 0.982257 -2.024978 1.026139 +v 0.982257 -3.021745 0.723905 +v 0.982257 -0.877552 -1.027561 +v -1.041202 -3.082009 0.180310 +v 1.012484 -0.364237 0.935469 +v 0.287478 -0.363968 -1.027561 +v -0.678699 -3.082009 -1.027561 +v -1.041202 -1.873781 1.025926 +v 0.046094 -3.021745 1.025926 +v -1.071428 -0.364237 -0.513976 +v 0.680207 -2.930812 -1.088008 +v 1.103163 -0.666092 0.240757 +v 0.982257 -2.991344 0.059416 +f 43 15 44 +f 3 2 9 +f 2 3 20 +f 3 6 20 +f 12 8 21 +f 1 15 21 +f 14 4 22 +f 11 17 25 +f 17 13 25 +f 13 24 25 +f 14 22 27 +f 8 5 28 +f 9 2 29 +f 2 10 29 +f 10 18 29 +f 23 9 29 +f 22 4 30 +f 6 22 30 +f 24 6 30 +f 17 11 31 +f 13 17 31 +f 4 15 32 +f 15 11 32 +f 19 4 32 +f 25 19 32 +f 11 25 32 +f 4 14 33 +f 15 4 33 +f 26 5 33 +f 14 26 33 +f 5 8 34 +f 8 12 34 +f 12 16 34 +f 16 5 34 +f 6 3 35 +f 3 9 35 +f 22 6 35 +f 9 27 35 +f 27 22 35 +f 15 1 36 +f 11 15 36 +f 1 21 36 +f 36 21 37 +f 18 10 37 +f 20 7 37 +f 21 8 37 +f 8 28 37 +f 28 18 37 +f 7 31 37 +f 31 11 37 +f 11 36 37 +f 23 5 38 +f 9 23 38 +f 5 26 38 +f 26 14 38 +f 27 9 38 +f 14 27 38 +f 20 6 39 +f 7 20 39 +f 6 24 39 +f 24 13 39 +f 31 7 39 +f 13 31 39 +f 4 19 40 +f 19 25 40 +f 25 24 40 +f 30 4 40 +f 24 30 40 +f 10 2 41 +f 2 20 41 +f 37 10 41 +f 20 37 41 +f 5 23 42 +f 28 5 42 +f 18 28 42 +f 23 29 42 +f 29 18 42 +f 16 12 43 +f 12 21 43 +f 21 15 43 +f 5 16 44 +f 15 33 44 +f 33 5 44 +f 16 43 44 +o convex_1 +v -0.165278 3.079134 0.391638 +v -1.071428 0.361415 -0.483754 +v -1.041202 0.361415 -0.997400 +v 1.103163 0.361149 0.391845 +v 1.042710 2.958080 -0.936971 +v -1.041202 3.018208 -0.966979 +v -1.041202 0.361415 0.965713 +v 0.982257 2.958080 1.086571 +v -1.041202 3.079134 0.905077 +v 0.982257 0.361415 -0.997400 +v 0.982257 0.361415 1.056149 +v -0.406875 0.482203 1.116785 +v 0.438610 3.079134 -0.423532 +v -0.769165 2.172695 -0.997400 +v -1.041202 3.018208 0.935292 +v 1.103163 1.116204 -0.030951 +v 0.257465 1.569290 1.116785 +v -1.071428 1.780269 -0.665041 +v 0.710434 2.958080 1.086571 +v -1.041202 3.079134 0.331209 +v 1.012484 0.814235 -0.966979 +v -0.225730 0.361415 1.116785 +v 0.982257 0.784172 -0.997400 +v 1.103163 0.784172 0.452274 +v -0.165278 2.988144 -0.967185 +v -1.071428 0.421809 -0.151395 +v 1.042710 2.928016 -0.634826 +v 0.982257 1.810333 1.086571 +v -0.678699 3.079134 0.935499 +v 1.103163 0.361149 0.180344 +v -1.041202 1.388109 0.965713 +v -1.041202 3.048538 -0.513968 +v -0.618246 3.018208 -0.967185 +v 0.740660 2.988144 0.965506 +v -1.041202 1.629684 -0.997400 +v 1.042710 2.535058 -0.936971 +v -0.890070 2.716239 0.965713 +v 1.042710 1.901057 0.784426 +v 1.012484 0.361415 0.935292 +f 68 82 83 +f 46 48 51 +f 52 49 57 +f 53 45 57 +f 54 47 58 +f 47 46 62 +f 59 53 62 +f 61 52 63 +f 56 61 63 +f 53 57 64 +f 62 53 64 +f 51 48 66 +f 48 55 66 +f 56 51 66 +f 61 56 66 +f 49 54 67 +f 54 58 67 +f 48 60 68 +f 49 67 69 +f 67 58 69 +f 46 51 70 +f 62 46 70 +f 59 62 70 +f 49 52 71 +f 60 49 71 +f 68 60 71 +f 52 61 72 +f 66 55 72 +f 61 66 72 +f 45 53 73 +f 53 59 73 +f 63 52 73 +f 59 63 73 +f 46 47 74 +f 48 46 74 +f 47 54 74 +f 60 48 74 +f 54 65 74 +f 65 60 74 +f 51 56 75 +f 56 59 75 +f 70 51 75 +f 59 70 75 +f 57 50 76 +f 50 62 76 +f 64 57 76 +f 62 64 76 +f 57 49 77 +f 50 57 77 +f 58 50 77 +f 49 69 77 +f 69 58 77 +f 57 45 78 +f 52 57 78 +f 45 73 78 +f 73 52 78 +f 58 47 79 +f 50 58 79 +f 47 62 79 +f 62 50 79 +f 54 49 80 +f 49 60 80 +f 65 54 80 +f 60 65 80 +f 59 56 81 +f 63 59 81 +f 56 63 81 +f 71 52 82 +f 68 71 82 +f 52 72 82 +f 82 72 83 +f 55 48 83 +f 48 68 83 +f 72 55 83 +o convex_2 +v 1.405378 -0.243057 -0.242233 +v 1.677158 0.360895 0.331460 +v 1.677158 0.360895 0.301202 +v 2.975378 -0.303507 -0.212042 +v 3.096537 0.209805 -0.302683 +v 1.103553 0.179546 -0.332942 +v 1.103553 -0.333766 0.210629 +v 2.975378 0.209805 0.331460 +v 1.103553 0.360895 0.361719 +v 3.005619 -0.182676 0.180370 +v 2.733840 0.330636 0.331460 +v 1.103553 0.058783 -0.332942 +v 2.945332 -0.333766 -0.212042 +v 1.375332 -0.273248 0.240820 +v 1.103553 -0.212866 -0.242233 +v 1.103553 0.330636 0.150247 +v 3.096537 0.239996 -0.212042 +v 2.945332 -0.333766 -0.121470 +v 2.190280 -0.303507 -0.242233 +v 2.884850 -0.273248 -0.242233 +v 1.586630 0.209805 -0.302683 +v 2.613070 0.149424 0.331460 +v 1.979178 0.149424 -0.332942 +v 3.005619 0.300378 0.210629 +v 1.103553 -0.333766 0.150247 +v 1.284609 -0.333766 0.210629 +f 90 101 109 +f 85 86 92 +f 89 90 92 +f 87 88 93 +f 86 85 94 +f 92 91 94 +f 85 92 94 +f 90 89 95 +f 92 90 97 +f 95 84 98 +f 90 95 98 +f 92 86 99 +f 89 92 99 +f 93 88 100 +f 86 94 100 +f 99 86 100 +f 87 93 101 +f 96 87 101 +f 90 96 101 +f 84 95 102 +f 96 102 103 +f 88 87 103 +f 87 96 103 +f 102 95 103 +f 88 89 104 +f 89 99 104 +f 100 88 104 +f 99 100 104 +f 91 92 105 +f 93 91 105 +f 92 97 105 +f 97 93 105 +f 89 88 106 +f 95 89 106 +f 88 103 106 +f 103 95 106 +f 91 93 107 +f 94 91 107 +f 93 100 107 +f 100 94 107 +f 96 90 108 +f 98 84 108 +f 90 98 108 +f 84 102 108 +f 102 96 108 +f 97 90 109 +f 93 97 109 +f 101 93 109 +o convex_3 +v -1.071626 0.270196 0.301314 +v -3.094808 -0.212937 -0.302739 +v -3.094808 -0.243158 -0.181881 +v -3.034399 0.330693 0.180456 +v -1.071626 0.239975 -0.302739 +v -1.132034 -0.182661 0.210671 +v -3.094808 -0.243158 0.301314 +v -1.071626 -0.182661 -0.272465 +v -3.064504 0.300472 -0.212096 +v -2.249092 0.330693 0.120027 +v -1.434076 -0.212937 0.059657 +v -1.887038 -0.212937 -0.302739 +v -1.071626 0.149426 0.301314 +v -3.094808 -0.152440 0.301314 +v -1.343562 0.270196 -0.242251 +v -3.094808 -0.122332 -0.302739 +v -1.283154 0.300472 0.271040 +v -2.822871 -0.243158 0.301314 +v -1.373667 0.270196 0.301314 +v -3.064504 0.330693 -0.030868 +v -2.038158 0.270196 -0.272465 +v -1.071626 -0.182661 0.180456 +v -1.434076 -0.212937 -0.181881 +v -2.551133 -0.243158 0.271040 +v -2.671950 0.330693 0.210671 +f 128 126 134 +f 111 112 116 +f 114 110 117 +f 112 111 121 +f 111 114 121 +f 114 117 121 +f 110 116 122 +f 117 110 122 +f 116 110 123 +f 111 116 123 +f 114 111 125 +f 111 123 125 +f 110 114 126 +f 114 124 126 +f 124 119 126 +f 116 112 127 +f 122 116 127 +f 115 122 127 +f 123 110 128 +f 110 126 128 +f 113 119 129 +f 123 113 129 +f 124 118 129 +f 119 124 129 +f 118 125 129 +f 125 123 129 +f 124 114 130 +f 118 124 130 +f 114 125 130 +f 125 118 130 +f 115 120 131 +f 120 117 131 +f 122 115 131 +f 117 122 131 +f 117 120 132 +f 121 117 132 +f 112 121 132 +f 120 115 133 +f 127 112 133 +f 115 127 133 +f 132 120 133 +f 112 132 133 +f 119 113 134 +f 113 123 134 +f 126 119 134 +f 123 128 134 +o convex_4 +v -0.346564 -0.001489 -2.084586 +v 0.348096 -0.122347 -1.027807 +v 0.348096 -0.212872 -1.027807 +v 0.287579 0.149406 -3.080990 +v -0.135093 0.270205 -1.027807 +v -0.346564 -0.273360 -2.990426 +v 0.317838 -0.273360 -2.990426 +v -0.195474 -0.182717 -1.027807 +v 0.197006 0.330693 -3.111585 +v 0.197006 0.270205 -1.027807 +v -0.195474 0.179620 -2.930050 +v -0.316306 0.240049 -1.027807 +v 0.257388 0.330693 -2.839487 +v -0.346564 -0.273360 -2.628171 +v -0.255856 0.270205 -1.299701 +v 0.348096 -0.243087 -1.541204 +v -0.346564 -0.182717 -2.990426 +v 0.106434 -0.212872 -1.027807 +v -0.255856 -0.061918 -1.088386 +v 0.348096 -0.212872 -1.964038 +f 150 141 154 +f 137 136 139 +f 140 138 141 +f 137 139 142 +f 138 140 143 +f 139 136 144 +f 142 139 146 +f 145 135 146 +f 136 138 147 +f 138 143 147 +f 144 136 147 +f 139 144 147 +f 135 140 148 +f 140 141 148 +f 146 135 148 +f 143 145 149 +f 145 146 149 +f 146 139 149 +f 147 143 149 +f 139 147 149 +f 136 137 150 +f 148 141 150 +f 140 135 151 +f 143 140 151 +f 135 145 151 +f 145 143 151 +f 137 142 152 +f 142 148 152 +f 150 137 152 +f 148 150 152 +f 142 146 153 +f 148 142 153 +f 146 148 153 +f 138 136 154 +f 141 138 154 +f 136 150 154 +o convex_5 +v 0.257465 0.058845 1.116575 +v -0.316409 0.209835 -1.027393 +v -0.316409 0.240061 -1.027393 +v 0.982257 0.360895 -0.997172 +v 0.982257 -0.363968 -0.997172 +v -1.040989 -0.363968 0.995694 +v -1.040989 0.360895 0.965474 +v -1.040989 -0.363968 -0.997172 +v 0.982257 -0.363968 1.025914 +v 0.982257 0.360895 1.056135 +v -1.040989 0.360895 -0.997172 +v 1.103163 0.240061 -0.181852 +v 1.103163 -0.363968 0.301255 +v -0.376649 0.360895 1.116575 +v 0.197012 -0.363968 1.116575 +v -1.071428 -0.363968 -0.151631 +v 1.103163 0.360895 0.391706 +v 0.378370 -0.363968 -1.027393 +v -1.071428 0.360895 -0.483845 +v 1.103163 -0.152526 -0.272303 +v -0.316409 -0.212908 1.116575 +v -1.071428 0.270287 0.301255 +v 0.982257 -0.122300 1.056135 +v 1.012484 -0.363968 0.935253 +v 0.197012 0.270287 -1.027393 +v 1.103163 0.179679 -0.332744 +v 0.257465 0.360895 1.116575 +v -1.071428 -0.363968 -0.513856 +f 170 173 182 +f 157 156 162 +f 159 160 162 +f 160 159 163 +f 158 161 164 +f 161 158 165 +f 157 162 165 +f 163 159 167 +f 161 160 168 +f 164 161 168 +f 160 163 169 +f 155 168 169 +f 162 160 170 +f 158 164 171 +f 166 158 171 +f 167 166 171 +f 156 157 172 +f 158 159 172 +f 162 156 172 +f 159 162 172 +f 161 165 173 +f 166 167 174 +f 167 159 174 +f 168 160 175 +f 160 169 175 +f 169 168 175 +f 160 161 176 +f 170 160 176 +f 161 173 176 +f 173 170 176 +f 164 155 177 +f 169 163 177 +f 155 169 177 +f 163 167 178 +f 171 164 178 +f 167 171 178 +f 164 177 178 +f 177 163 178 +f 157 165 179 +f 165 158 179 +f 172 157 179 +f 158 172 179 +f 159 158 180 +f 158 166 180 +f 174 159 180 +f 166 174 180 +f 155 164 181 +f 168 155 181 +f 164 168 181 +f 165 162 182 +f 162 170 182 +f 173 165 182 +o convex_6 +v 0.227162 0.330669 2.234145 +v 0.166804 -0.363968 1.116786 +v 0.045958 -0.333742 1.116786 +v -0.255897 -0.333742 3.049483 +v -0.346564 0.330669 1.116786 +v 0.317894 -0.303516 3.079724 +v -0.346564 0.270287 2.928714 +v 0.257406 0.360895 1.116786 +v 0.317894 0.300443 3.079724 +v -0.316255 -0.212908 1.116786 +v 0.227162 -0.363968 1.177463 +v 0.287585 0.300443 1.298232 +v -0.286141 -0.333742 2.807945 +v -0.346564 -0.092144 1.147222 +v -0.346564 0.300443 2.445442 +v 0.317894 0.330669 2.203904 +v 0.106381 0.300443 3.049483 +v 0.166804 -0.243134 3.109770 +v -0.316255 -0.273360 1.902273 +v 0.317894 -0.303516 2.928714 +v -0.316255 -0.092144 2.989001 +v -0.074693 -0.333742 3.049483 +f 193 188 204 +f 184 185 187 +f 184 187 190 +f 187 185 192 +f 186 184 193 +f 184 190 193 +f 193 190 194 +f 185 184 195 +f 184 186 195 +f 189 187 196 +f 187 192 196 +f 187 189 197 +f 183 190 197 +f 190 187 197 +f 190 183 198 +f 191 188 198 +f 183 191 198 +f 194 190 198 +f 189 186 199 +f 191 183 199 +f 197 189 199 +f 183 197 199 +f 186 188 200 +f 188 191 200 +f 199 186 200 +f 191 199 200 +f 192 185 201 +f 185 195 201 +f 196 192 201 +f 188 193 202 +f 193 194 202 +f 198 188 202 +f 194 198 202 +f 186 189 203 +f 195 186 203 +f 189 196 203 +f 201 195 203 +f 196 201 203 +f 188 186 204 +f 186 193 204 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/680/680.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/680/680.urdf new file mode 100644 index 000000000..019c352bf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/680/680.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/681/681.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/681/681.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/681/681.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/681/681.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/681/681.obj new file mode 100644 index 000000000..1c441fb73 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/681/681.obj @@ -0,0 +1,717 @@ +o convex_0 +v -1.076094 1.637254 -0.657117 +v 1.014046 0.304666 -0.081218 +v 1.014046 0.274247 -0.081218 +v -1.015522 1.667810 1.039415 +v -1.076094 0.274247 0.402873 +v 0.953474 1.667810 1.039415 +v 0.983760 1.667810 -1.020765 +v -1.015522 0.274247 -1.050876 +v 0.953474 0.274247 1.039415 +v 1.014046 0.274247 -1.020765 +v -0.985236 0.274247 1.039415 +v -1.045808 1.667810 -1.050876 +v -0.197597 1.637254 1.100058 +v 1.014046 1.546405 -0.535831 +v -1.076094 1.667810 0.584803 +v -0.015881 0.334949 -1.051087 +v -1.076094 0.304666 -0.081429 +v -1.045808 0.910462 -1.050876 +v 1.014046 1.606971 -1.020765 +v -0.621804 1.667810 -1.050876 +v -1.015522 1.182873 1.039415 +f 4 15 21 +f 3 2 6 +f 4 6 7 +f 3 5 8 +f 5 3 9 +f 3 6 9 +f 2 3 10 +f 3 8 10 +f 5 9 11 +f 4 7 12 +f 6 4 13 +f 9 6 13 +f 11 9 13 +f 6 2 14 +f 2 10 14 +f 1 5 15 +f 12 1 15 +f 4 12 15 +f 10 8 16 +f 5 1 17 +f 8 5 17 +f 8 17 18 +f 1 12 18 +f 16 8 18 +f 12 16 18 +f 17 1 18 +f 7 6 19 +f 6 14 19 +f 14 10 19 +f 10 16 19 +f 19 16 20 +f 12 7 20 +f 16 12 20 +f 7 19 20 +f 5 11 21 +f 13 4 21 +f 11 13 21 +f 15 5 21 +o convex_1 +v -1.046001 -0.847004 0.463564 +v 1.044549 -1.574018 -0.869110 +v 1.014058 -1.664849 -0.111703 +v 0.953486 -0.453037 1.009141 +v -0.379300 -0.453037 -1.081361 +v -0.954938 -1.695247 1.039463 +v -0.954938 -1.695247 -0.990396 +v 1.044549 -0.453037 -1.020718 +v -0.954938 -0.453037 1.039463 +v 0.953486 -1.695247 0.978609 +v -0.985224 -0.453037 -1.020718 +v 1.044549 -1.695247 -1.020718 +v -0.379300 -1.695247 -1.111682 +v 0.347562 -1.695247 1.039463 +v -0.985224 -1.695247 -0.929753 +v -1.046001 -0.453037 0.523997 +v -1.015510 -0.483436 -0.899431 +v -1.015510 -1.422511 0.645283 +v 0.165847 -0.453037 1.039463 +v -0.167094 -1.664849 -1.111682 +v -0.985224 -1.270882 -1.020718 +v -0.985224 -0.634943 1.008931 +v 0.953486 -1.422511 1.009141 +v 0.377848 -1.695247 -1.081361 +v -0.985224 -1.695247 0.827001 +v -0.167094 -0.483436 -1.081361 +f 29 41 47 +f 24 23 29 +f 25 24 29 +f 26 25 29 +f 25 26 30 +f 27 28 31 +f 30 26 32 +f 23 24 33 +f 29 23 33 +f 24 31 33 +f 31 28 33 +f 32 26 34 +f 33 28 34 +f 30 27 35 +f 27 31 35 +f 28 27 36 +f 30 32 37 +f 37 32 38 +f 36 22 38 +f 22 37 38 +f 22 36 39 +f 37 22 39 +f 25 30 40 +f 35 25 40 +f 30 35 40 +f 34 26 41 +f 34 28 42 +f 32 34 42 +f 28 36 42 +f 38 32 42 +f 36 38 42 +f 27 30 43 +f 30 37 43 +f 37 39 43 +f 24 25 44 +f 31 24 44 +f 25 35 44 +f 35 31 44 +f 29 33 45 +f 33 34 45 +f 41 29 45 +f 34 41 45 +f 36 27 46 +f 39 36 46 +f 27 43 46 +f 43 39 46 +f 26 29 47 +f 41 26 47 +o convex_2 +v 2.983395 0.274111 0.009292 +v 1.044549 -0.180238 -0.354237 +v 1.044549 -0.150047 -0.354237 +v 1.044549 0.243801 0.251687 +v 3.104800 -0.331846 0.282017 +v 2.953145 -0.271226 -0.354237 +v 1.105251 -0.271226 0.191088 +v 1.044549 0.243801 -0.233040 +v 3.074348 0.274111 -0.172441 +v 3.074348 0.213491 0.221419 +v 2.437880 -0.271226 -0.354237 +v 1.075001 0.274111 -0.202709 +v 2.559285 -0.180238 -0.354237 +v 3.104800 -0.150047 0.282017 +v 1.044549 -0.240917 -0.051182 +v 2.710739 -0.301536 0.282017 +v 2.892644 -0.301536 -0.233040 +v 1.984125 0.274111 0.100222 +v 3.013847 0.062002 -0.263245 +f 60 55 66 +f 50 49 51 +f 49 50 53 +f 50 51 55 +f 52 53 56 +f 56 48 57 +f 49 53 58 +f 55 51 59 +f 56 55 59 +f 48 56 59 +f 53 50 60 +f 50 55 60 +f 52 56 61 +f 56 57 61 +f 57 51 61 +f 51 49 62 +f 54 51 62 +f 49 58 62 +f 58 54 62 +f 51 54 63 +f 54 52 63 +f 61 51 63 +f 52 61 63 +f 53 52 64 +f 52 54 64 +f 58 53 64 +f 54 58 64 +f 57 48 65 +f 51 57 65 +f 48 59 65 +f 59 51 65 +f 56 53 66 +f 55 56 66 +f 53 60 66 +o convex_3 +v -1.045846 3.091644 0.311933 +v 0.983953 1.698265 -0.414310 +v 0.983953 1.667946 -0.414310 +v 0.953501 2.334246 1.069760 +v -1.015596 1.667946 1.039018 +v -1.045846 1.667946 -1.081384 +v 0.983953 3.061325 -0.990420 +v 0.923251 3.061325 1.069760 +v -1.076298 3.000688 -1.081384 +v -1.045846 3.122105 1.039018 +v 0.953501 1.667946 1.039018 +v 0.983953 1.667946 -1.020741 +v -1.076298 1.667946 0.554294 +v 0.953501 3.091644 -0.960098 +v 0.347485 2.182795 -1.081384 +v -0.227876 1.667946 1.069760 +v 0.377937 3.091644 1.069760 +v -0.712487 3.031007 -1.081384 +v -1.076298 1.667946 -0.657093 +v 0.953501 3.061325 0.826978 +v -0.379330 3.091644 1.069760 +v -1.076298 3.031007 -0.202270 +v 0.771595 3.061325 -1.020741 +v 0.226282 1.728584 -1.081384 +v 0.983953 3.061325 -0.596240 +v -0.742738 3.122105 0.706113 +v 0.953501 1.880035 1.069760 +v -0.500533 3.031007 -1.081384 +v -1.076298 2.182795 -1.081384 +f 85 75 95 +f 69 68 70 +f 69 71 72 +f 68 69 73 +f 67 75 76 +f 71 69 77 +f 69 72 78 +f 73 69 78 +f 72 71 79 +f 71 76 79 +f 72 75 81 +f 70 74 82 +f 71 77 82 +f 74 80 83 +f 82 74 83 +f 75 67 84 +f 81 75 84 +f 72 79 85 +f 79 75 85 +f 74 70 86 +f 80 74 86 +f 76 71 87 +f 71 82 87 +f 83 76 87 +f 82 83 87 +f 76 75 88 +f 75 79 88 +f 79 76 88 +f 73 78 89 +f 80 73 89 +f 78 81 89 +f 78 72 90 +f 72 81 90 +f 81 78 90 +f 70 68 91 +f 68 73 91 +f 73 80 91 +f 86 70 91 +f 80 86 91 +f 67 76 92 +f 83 80 92 +f 76 83 92 +f 84 67 92 +f 80 84 92 +f 69 70 93 +f 77 69 93 +f 70 82 93 +f 82 77 93 +f 84 80 94 +f 81 84 94 +f 80 89 94 +f 89 81 94 +f 75 72 95 +f 72 85 95 +o convex_4 +v -0.349151 -1.907406 -1.596524 +v 0.347699 -1.968014 -1.111682 +v 0.347699 -2.210248 -1.111682 +v 0.196201 -1.877135 -3.080803 +v -0.288511 -2.331398 -3.111338 +v 0.196201 -2.361734 -3.080803 +v 0.044703 -1.695313 -3.050463 +v -0.258225 -2.179912 -1.111682 +v 0.317345 -1.755920 -1.111682 +v -0.349151 -1.786257 -1.111682 +v -0.197653 -1.786257 -2.989981 +v 0.226487 -1.695313 -2.565817 +v -0.288511 -2.331398 -2.747462 +v 0.347699 -2.240519 -1.384540 +v -0.318797 -2.210248 -2.777997 +v -0.258225 -2.210248 -1.263183 +v -0.349151 -1.907406 -1.111682 +v 0.196201 -1.695313 -3.050463 +v 0.226487 -2.301126 -2.959837 +v 0.135561 -1.695313 -2.414316 +v -0.167299 -1.755920 -3.020320 +v 0.347699 -2.179912 -1.445023 +v -0.318797 -2.270790 -2.717318 +v 0.226487 -1.725649 -1.566381 +f 107 115 119 +f 100 99 101 +f 99 100 102 +f 98 97 103 +f 103 97 104 +f 103 104 105 +f 96 105 106 +f 104 97 107 +f 100 101 108 +f 97 98 109 +f 108 101 109 +f 96 106 110 +f 106 100 110 +f 98 103 111 +f 108 109 111 +f 109 98 111 +f 103 105 112 +f 105 96 112 +f 111 103 112 +f 99 102 113 +f 107 97 113 +f 102 107 113 +f 101 99 114 +f 109 101 114 +f 99 113 114 +f 102 105 115 +f 107 102 115 +f 102 100 116 +f 105 102 116 +f 106 105 116 +f 100 106 116 +f 97 109 117 +f 113 97 117 +f 109 114 117 +f 114 113 117 +f 100 108 118 +f 96 110 118 +f 110 100 118 +f 108 111 118 +f 112 96 118 +f 111 112 118 +f 105 104 119 +f 104 107 119 +f 115 105 119 +o convex_5 +v -2.985043 -0.271226 -0.293641 +v -1.076298 0.274111 0.191070 +v -1.076298 0.122622 0.221386 +v -3.106252 0.274111 0.282017 +v -3.045449 -0.331846 0.221386 +v -1.076298 -0.240917 -0.263326 +v -3.106252 0.213491 -0.263326 +v -1.076298 -0.331846 0.251702 +v -1.076298 0.213491 -0.233010 +v -2.742426 -0.301536 -0.293641 +v -1.924762 0.274111 0.039605 +v -1.743147 0.213491 -0.263326 +v -1.227909 -0.331846 0.069921 +v -3.075850 -0.301536 0.160811 +v -2.985043 0.001383 -0.293641 +v -1.833954 -0.331846 0.251702 +v -3.106252 0.274111 0.100180 +v -1.076298 0.243801 -0.142119 +v -1.076298 -0.150047 0.251702 +f 123 127 138 +f 122 121 123 +f 121 122 125 +f 125 122 127 +f 121 125 128 +f 124 120 129 +f 123 121 130 +f 128 125 131 +f 127 124 132 +f 125 127 132 +f 124 129 132 +f 129 125 132 +f 120 124 133 +f 124 123 133 +f 126 120 133 +f 123 126 133 +f 120 126 134 +f 129 120 134 +f 125 129 134 +f 126 131 134 +f 131 125 134 +f 123 124 135 +f 127 123 135 +f 124 127 135 +f 126 123 136 +f 123 130 136 +f 130 126 136 +f 121 128 137 +f 130 121 137 +f 126 130 137 +f 128 131 137 +f 131 126 137 +f 122 123 138 +f 127 122 138 +o convex_6 +v -1.015471 0.183217 0.887914 +v -0.349074 -0.452966 -1.081384 +v -0.985162 -0.452966 -1.020765 +v 0.953620 -0.452966 1.008945 +v 1.014031 0.274039 -1.020557 +v -1.015471 0.274039 -1.051075 +v 0.953620 0.274039 1.039463 +v -0.985162 -0.452966 1.039463 +v 1.044549 -0.452966 -1.020557 +v -0.985162 0.274039 1.039463 +v -1.076298 -0.331751 0.100070 +v 1.044549 0.243789 0.251411 +v -1.076298 0.274039 0.403167 +v 1.044549 -0.240857 0.190999 +v -1.076298 -0.240857 -0.263231 +v 0.165776 -0.452966 1.039463 +v -1.045781 -0.452966 0.524198 +v -0.015875 0.274039 -1.051075 +v -1.015471 -0.452966 -0.929836 +v -1.076298 0.213467 -0.232921 +v -0.288454 -0.271179 -1.081384 +v 1.044549 0.243789 -0.232921 +f 150 147 160 +f 141 140 142 +f 140 141 144 +f 143 144 145 +f 141 142 146 +f 142 140 147 +f 145 144 148 +f 139 146 148 +f 146 145 148 +f 145 142 150 +f 143 145 150 +f 146 139 151 +f 139 148 151 +f 148 144 151 +f 142 147 152 +f 150 142 152 +f 147 150 152 +f 149 151 153 +f 142 145 154 +f 146 142 154 +f 145 146 154 +f 141 146 155 +f 146 151 155 +f 151 149 155 +f 144 143 156 +f 144 141 157 +f 153 144 157 +f 149 153 157 +f 141 155 157 +f 155 149 157 +f 151 144 158 +f 144 153 158 +f 153 151 158 +f 140 144 159 +f 147 140 159 +f 143 147 159 +f 156 143 159 +f 144 156 159 +f 147 143 160 +f 143 150 160 +o convex_7 +v -0.288511 2.182769 -2.989833 +v 0.347699 2.182769 -1.081384 +v 0.287059 2.213076 -1.081384 +v -0.349151 1.728406 -1.081384 +v 0.196201 1.789079 -3.050357 +v 0.347699 2.303996 -3.020095 +v -0.318797 2.273690 -1.081384 +v 0.256773 1.758772 -1.081384 +v -0.167299 1.758772 -3.050357 +v -0.318797 2.334244 -2.959570 +v 0.226487 1.728406 -1.505827 +v -0.258225 2.303996 -1.384585 +v 0.347699 2.213076 -2.838329 +v -0.288511 1.728406 -1.839097 +v 0.347699 2.061602 -1.233081 +v -0.318797 2.334244 -2.232506 +v -0.197653 1.789079 -3.050357 +v 0.044703 1.758772 -3.050357 +f 171 174 178 +f 162 163 164 +f 163 162 166 +f 164 163 167 +f 162 164 168 +f 161 164 170 +f 166 161 170 +f 168 164 171 +f 165 168 171 +f 163 166 172 +f 167 163 172 +f 166 162 173 +f 165 166 173 +f 168 165 173 +f 164 161 174 +f 171 164 174 +f 162 168 175 +f 173 162 175 +f 168 173 175 +f 164 167 176 +f 170 164 176 +f 166 170 176 +f 172 166 176 +f 167 172 176 +f 166 165 177 +f 161 166 177 +f 165 169 177 +f 174 161 177 +f 169 174 177 +f 169 165 178 +f 165 171 178 +f 174 169 178 +o convex_8 +v -0.954953 -1.695384 -0.990396 +v 1.074846 -3.028102 -0.778145 +v 1.074846 -3.088947 -0.778145 +v -0.954953 -1.695384 1.039225 +v 1.044394 -1.695520 -1.020504 +v -0.954953 -2.907094 -0.960074 +v 0.983894 -3.028102 0.978796 +v -0.924703 -2.967667 1.039225 +v 0.953442 -1.695520 0.978796 +v 0.953442 -3.088947 -1.051039 +v -0.379389 -1.695384 -1.111682 +v 0.347426 -1.695384 1.069761 +v -0.985405 -2.028666 0.796867 +v 0.983894 -1.756092 0.978796 +v -0.833750 -2.937244 -0.990396 +v 0.347426 -2.210518 -1.111682 +v 0.347426 -2.331661 1.069761 +v 0.953442 -3.058524 0.766545 +v -0.985405 -1.695384 -0.899431 +v -0.258186 -2.180232 -1.111682 +v 1.074846 -2.603962 -1.051039 +v -0.924703 -2.967667 0.342257 +v -0.530843 -2.997952 1.008904 +v 0.862690 -3.088947 -1.020504 +v 0.317176 -1.756092 -1.111682 +v -0.288437 -1.816527 1.069761 +v -0.954953 -2.725242 -0.990396 +v 1.074846 -2.392097 -0.990396 +v 1.074846 -3.088947 -1.051039 +v -0.954953 -2.634385 0.948261 +v 1.014144 -3.088947 -0.414500 +v -0.985405 -1.695384 0.826975 +v 1.014144 -3.058524 0.524186 +v -0.924703 -2.937244 -0.869110 +v -0.621594 -2.967667 1.039225 +f 185 195 213 +f 179 182 189 +f 187 183 190 +f 189 182 190 +f 183 189 190 +f 183 187 192 +f 190 185 192 +f 187 190 192 +f 185 190 195 +f 182 179 197 +f 184 191 197 +f 188 193 198 +f 189 194 198 +f 194 188 198 +f 180 181 199 +f 186 184 200 +f 185 186 201 +f 196 185 201 +f 186 200 201 +f 201 200 202 +f 188 181 202 +f 193 188 202 +f 189 183 203 +f 194 189 203 +f 183 199 203 +f 199 194 203 +f 182 186 204 +f 190 182 204 +f 186 195 204 +f 195 190 204 +f 179 189 205 +f 193 184 205 +f 197 179 205 +f 184 197 205 +f 198 193 205 +f 189 198 205 +f 192 180 206 +f 183 192 206 +f 180 199 206 +f 199 183 206 +f 181 188 207 +f 188 194 207 +f 199 181 207 +f 194 199 207 +f 184 186 208 +f 186 182 208 +f 182 191 208 +f 191 184 208 +f 196 201 209 +f 201 202 209 +f 202 181 209 +f 191 182 210 +f 182 197 210 +f 197 191 210 +f 181 180 211 +f 180 192 211 +f 192 185 211 +f 185 196 211 +f 209 181 211 +f 196 209 211 +f 184 193 212 +f 200 184 212 +f 202 200 212 +f 193 202 212 +f 186 185 213 +f 195 186 213 +o convex_9 +v -0.288537 -1.786212 1.069944 +v 0.317401 -2.089054 2.948041 +v 0.196174 -1.755944 2.766207 +v -0.349151 -2.240608 2.917705 +v 0.226448 -2.210233 1.069944 +v 0.317401 -1.695247 1.069944 +v -0.258198 -1.755944 2.917705 +v -0.197650 -2.210233 1.069944 +v 0.317401 -2.210233 2.948041 +v -0.258198 -2.240608 1.645600 +v -0.288537 -1.755944 1.130617 +v 0.317401 -1.877070 1.069944 +v 0.075013 -1.755944 2.948041 +v -0.349151 -2.119375 2.917705 +v -0.137037 -2.240608 2.948041 +v 0.317401 -2.179965 2.372386 +v -0.349151 -2.240608 2.705534 +f 217 227 230 +f 216 215 219 +f 218 214 219 +f 214 218 221 +f 219 215 222 +f 214 221 223 +f 221 218 223 +f 219 214 224 +f 220 219 224 +f 218 219 225 +f 219 222 225 +f 215 216 226 +f 216 219 226 +f 219 220 226 +f 222 215 226 +f 224 214 227 +f 220 224 227 +f 218 222 228 +f 217 223 228 +f 223 218 228 +f 226 220 228 +f 222 226 228 +f 227 217 228 +f 220 227 228 +f 222 218 229 +f 218 225 229 +f 225 222 229 +f 214 223 230 +f 223 217 230 +f 227 214 230 +o convex_10 +v -0.046066 1.970847 3.038911 +v -0.227924 1.667875 1.069761 +v 0.196174 1.667875 1.069761 +v 0.287103 2.334362 1.069761 +v 0.287103 1.698212 2.978505 +v -0.197614 2.273689 1.069761 +v -0.318853 1.667875 3.099714 +v -0.076435 2.243353 2.948103 +v 0.196174 2.243353 2.948103 +v -0.227924 2.152474 2.978505 +v 0.287103 2.122203 1.069761 +v -0.258234 1.698212 1.251574 +v 0.287103 2.334362 1.342779 +v -0.318853 1.758819 3.008708 +v -0.197614 2.243353 2.675284 +v 0.256794 1.698212 1.706207 +v 0.287103 1.819361 2.978505 +v -0.106745 1.667875 3.069313 +v -0.076435 2.303960 1.160767 +v 0.256794 2.303960 2.039632 +f 247 243 250 +f 233 232 234 +f 234 232 236 +f 232 233 237 +f 237 231 240 +f 239 238 240 +f 231 239 240 +f 233 234 241 +f 234 235 241 +f 236 232 242 +f 232 237 242 +f 235 234 243 +f 237 240 244 +f 240 236 244 +f 236 242 244 +f 242 237 244 +f 236 240 245 +f 240 238 245 +f 238 243 245 +f 235 233 246 +f 233 241 246 +f 241 235 246 +f 239 231 247 +f 235 243 247 +f 233 235 248 +f 237 233 248 +f 231 237 248 +f 247 231 248 +f 235 247 248 +f 234 236 249 +f 243 234 249 +f 236 245 249 +f 245 243 249 +f 238 239 250 +f 243 238 250 +f 239 247 250 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/681/681.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/681/681.urdf new file mode 100644 index 000000000..f3a4c45b0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/681/681.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/682/682.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/682/682.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/682/682.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/682/682.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/682/682.obj new file mode 100644 index 000000000..3a5fd61b4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/682/682.obj @@ -0,0 +1,1296 @@ +o convex_0 +v -0.994732 1.910457 -0.111320 +v 1.238132 0.459367 -0.148552 +v 1.163687 0.794200 -0.074089 +v -0.027190 0.421920 1.079838 +v -0.957631 0.421920 -1.227505 +v 0.791462 1.910457 -1.004115 +v 0.754117 1.910457 0.558594 +v 0.940352 0.421920 -1.190018 +v -0.957631 0.570978 0.744753 +v -0.064290 1.910457 -1.264736 +v -0.436516 1.910457 0.707521 +v 0.977453 0.421920 0.744753 +v -1.255412 0.421920 -0.111320 +v 0.009911 0.459367 -1.525358 +v -0.808741 1.873156 -1.004115 +v 1.014797 1.910457 -0.222760 +v 0.047011 1.798700 0.856193 +v -0.771397 1.873156 0.595826 +v -1.255412 0.570978 -0.296968 +v -0.920287 0.421920 0.781984 +v 1.238132 0.496522 -0.259737 +v 0.865907 0.459367 0.818961 +v -1.032076 1.873156 -0.259482 +v -0.957631 0.533823 -1.227505 +v -0.064290 0.421920 -1.525358 +v 0.084356 1.873156 -1.264481 +v 0.903008 0.645434 -1.190018 +v -0.734296 1.910457 -1.041347 +v -0.101635 1.910457 0.819216 +v 0.791462 1.724244 0.595826 +v 0.047011 0.459367 1.079583 +v -0.920287 0.496522 0.781984 +v -1.106522 1.463867 -0.186039 +v 1.014797 0.533823 0.595826 +v -1.032076 0.459367 -1.078578 +v 1.238132 0.421920 -0.259737 +v 1.014797 1.836001 -0.148552 +v 1.014797 1.873156 -0.296968 +v -0.250525 1.612633 -1.264736 +v -0.064290 0.682589 -1.488126 +v 0.121456 1.873156 0.818961 +v 0.717017 1.910457 -1.041347 +v -1.255412 0.421920 -0.334200 +v -0.027190 0.459367 1.079838 +f 29 32 44 +f 6 1 7 +f 4 5 8 +f 1 6 10 +f 7 1 11 +f 4 8 12 +f 5 4 13 +f 6 7 16 +f 11 1 18 +f 13 4 20 +f 9 13 20 +f 8 6 21 +f 16 2 21 +f 4 12 22 +f 15 19 23 +f 8 5 25 +f 14 8 25 +f 5 24 25 +f 14 10 26 +f 14 26 27 +f 6 8 27 +f 8 14 27 +f 1 10 28 +f 23 1 28 +f 15 23 28 +f 24 15 28 +f 7 11 29 +f 22 12 30 +f 4 22 31 +f 22 17 31 +f 18 9 32 +f 11 18 32 +f 20 4 32 +f 9 20 32 +f 29 11 32 +f 13 9 33 +f 18 1 33 +f 9 18 33 +f 19 13 33 +f 1 23 33 +f 23 19 33 +f 2 3 34 +f 12 2 34 +f 30 12 34 +f 19 15 35 +f 24 5 35 +f 15 24 35 +f 2 12 36 +f 12 8 36 +f 21 2 36 +f 8 21 36 +f 3 2 37 +f 2 16 37 +f 16 7 37 +f 7 30 37 +f 34 3 37 +f 30 34 37 +f 6 16 38 +f 21 6 38 +f 16 21 38 +f 28 10 39 +f 24 28 39 +f 10 14 40 +f 14 25 40 +f 25 24 40 +f 39 10 40 +f 24 39 40 +f 17 22 41 +f 7 29 41 +f 29 17 41 +f 30 7 41 +f 22 30 41 +f 10 6 42 +f 26 10 42 +f 27 26 42 +f 6 27 42 +f 5 13 43 +f 13 19 43 +f 35 5 43 +f 19 35 43 +f 17 29 44 +f 4 31 44 +f 31 17 44 +f 32 4 44 +o convex_1 +v -0.436670 -2.071435 -1.488141 +v 0.009716 0.421920 -1.488141 +v 0.009716 0.421920 -1.525467 +v 1.275229 -1.140979 -1.525467 +v -0.064431 -1.140731 -3.237344 +v -1.292494 -1.066414 -1.525467 +v 0.791393 -1.140979 -2.976744 +v -0.027232 -1.885393 -2.902091 +v -0.064431 -0.322495 -3.013728 +v 0.940189 -1.922552 -1.488141 +v -0.808658 -1.066414 -2.939589 +v -0.994652 -0.062135 -1.488141 +v 0.902990 -0.099542 -1.562622 +v -0.957453 -1.959959 -1.599949 +v 0.568200 -0.508536 -2.827781 +v 0.791393 -1.847987 -2.269940 +v 0.046914 -2.108841 -2.269940 +v -0.771459 -1.885393 -2.269940 +v -0.697062 -0.434219 -2.604336 +v 0.084365 -1.847987 -2.976744 +v 0.754194 -0.992096 -3.013728 +v -0.511068 -1.699104 -2.827781 +v 1.275229 -1.029255 -1.488141 +v 0.084113 -2.108841 -1.488141 +v 0.605399 -1.662193 -2.827781 +v -1.255044 -1.252703 -1.488141 +v -0.957453 -0.099294 -1.674259 +v -0.771459 -1.178385 -2.976744 +v -0.064431 0.421920 -1.525467 +v 0.754194 -0.322742 -2.269940 +v 0.084365 -1.103820 -3.237344 +v 0.009716 -0.322495 -3.013728 +v 0.940189 -0.136701 -1.488141 +v -0.883056 -1.996870 -1.488141 +v 0.009716 -1.811076 -3.013728 +v -0.734260 -1.066414 -3.013728 +v -0.622664 -0.546191 -2.827781 +v -0.064431 -2.108841 -2.232785 +v 0.754194 -1.178138 -3.013728 +v 0.977387 -0.248177 -1.562622 +v -0.994652 -1.140731 -2.418389 +v -0.027232 -0.991848 -3.237344 +v 0.865791 -1.959711 -1.525467 +v 0.791393 -1.029255 -2.976744 +v 0.977387 -1.885393 -1.562622 +v -0.845857 -0.397060 -2.269940 +v 1.275229 -1.029255 -1.525467 +v -1.255044 -1.252703 -1.525467 +f 85 62 92 +f 46 45 54 +f 45 46 56 +f 47 46 57 +f 51 48 60 +f 60 61 64 +f 61 52 64 +f 52 62 66 +f 46 54 67 +f 54 48 67 +f 54 45 68 +f 51 60 69 +f 60 64 69 +f 45 56 70 +f 56 50 70 +f 50 56 71 +f 66 62 72 +f 46 47 73 +f 47 53 73 +f 56 46 73 +f 53 63 73 +f 71 56 73 +f 63 71 73 +f 47 57 74 +f 59 47 74 +f 65 59 74 +f 53 47 76 +f 47 59 76 +f 59 65 76 +f 57 46 77 +f 46 67 77 +f 45 70 78 +f 70 58 78 +f 64 52 79 +f 52 66 79 +f 72 49 79 +f 66 72 79 +f 49 75 79 +f 72 55 80 +f 49 72 80 +f 63 53 81 +f 55 63 81 +f 53 80 81 +f 80 55 81 +f 52 61 82 +f 62 52 82 +f 58 62 82 +f 68 45 82 +f 61 68 82 +f 45 78 82 +f 78 58 82 +f 65 51 83 +f 51 69 83 +f 69 64 83 +f 75 65 83 +f 64 79 83 +f 79 75 83 +f 74 57 84 +f 57 77 84 +f 50 55 85 +f 55 72 85 +f 72 62 85 +f 75 49 86 +f 65 75 86 +f 76 65 86 +f 53 76 86 +f 49 80 86 +f 80 53 86 +f 61 60 87 +f 54 68 87 +f 68 61 87 +f 48 51 88 +f 51 65 88 +f 65 74 88 +f 74 84 88 +f 48 54 89 +f 60 48 89 +f 54 87 89 +f 87 60 89 +f 55 50 90 +f 63 55 90 +f 50 71 90 +f 71 63 90 +f 67 48 91 +f 77 67 91 +f 84 77 91 +f 48 88 91 +f 88 84 91 +f 62 58 92 +f 70 50 92 +f 58 70 92 +f 50 85 92 +o convex_2 +v 1.275692 -1.736430 1.749887 +v 1.349995 -0.508507 1.786911 +v 1.349995 -0.508507 1.749887 +v 3.024552 -1.252714 1.749887 +v 1.275692 -1.252714 2.307899 +v 1.275692 -1.029728 1.265923 +v 2.800958 -1.215449 2.158987 +v 2.763807 -0.769238 1.675431 +v 2.800958 -1.215449 1.414937 +v 1.275692 -0.657565 2.196215 +v 2.800958 -1.587613 1.861265 +v 1.312843 -1.624877 2.233443 +v 1.759346 -1.550469 1.414937 +v 2.057072 -0.731974 1.414937 +v 2.131546 -0.731974 2.121759 +v 1.275692 -0.657565 1.414937 +v 2.131546 -1.587613 2.158987 +v 2.019920 -1.141041 2.270671 +v 1.275692 -1.513204 1.377709 +v 2.800958 -0.769238 1.786911 +v 2.763807 -1.587613 1.749887 +v 2.019920 -1.178305 1.303253 +v 2.094223 -1.699286 1.786911 +v 2.094223 -1.550469 1.452165 +v 2.800958 -1.141041 2.158987 +v 1.945446 -0.583156 1.749887 +v 2.726655 -1.066873 1.414937 +v 3.024552 -1.104137 1.749887 +v 1.312843 -1.029728 2.307899 +v 1.275692 -1.662022 2.158987 +v 2.577707 -1.513204 2.084531 +v 2.577707 -0.843647 2.047303 +v 2.615029 -1.475940 1.526621 +v 2.057072 -1.699286 1.861265 +v 1.387318 -1.178305 1.265923 +v 2.615029 -0.843647 1.489393 +v 3.024552 -1.178305 1.861265 +v 2.019920 -1.104137 1.303253 +v 1.573246 -0.694709 1.377709 +v 1.275692 -0.508507 1.824037 +v 2.019920 -1.364387 2.233443 +f 99 110 133 +f 93 97 98 +f 98 97 102 +f 98 102 108 +f 107 102 110 +f 93 98 111 +f 105 93 111 +f 101 96 113 +f 96 103 113 +f 113 103 115 +f 113 115 116 +f 93 105 116 +f 114 101 116 +f 105 114 116 +f 115 93 116 +f 110 99 117 +f 107 110 117 +f 95 94 118 +f 106 95 118 +f 100 106 118 +f 112 100 118 +f 107 112 118 +f 96 101 120 +f 100 112 120 +f 119 100 120 +f 101 119 120 +f 102 97 121 +f 97 110 121 +f 110 102 121 +f 97 93 122 +f 104 97 122 +f 109 104 122 +f 103 99 123 +f 99 109 123 +f 109 103 123 +f 112 107 124 +f 107 117 124 +f 117 112 124 +f 101 113 125 +f 113 116 125 +f 116 101 125 +f 103 109 126 +f 93 115 126 +f 115 103 126 +f 122 93 126 +f 109 122 126 +f 111 98 127 +f 105 111 127 +f 114 105 127 +f 106 100 128 +f 100 119 128 +f 119 106 128 +f 103 96 129 +f 99 103 129 +f 117 99 129 +f 112 117 129 +f 96 120 129 +f 120 112 129 +f 101 114 130 +f 119 101 130 +f 106 119 130 +f 127 98 130 +f 114 127 130 +f 95 106 131 +f 108 95 131 +f 98 108 131 +f 130 98 131 +f 106 130 131 +f 94 95 132 +f 102 107 132 +f 95 108 132 +f 108 102 132 +f 118 94 132 +f 107 118 132 +f 97 104 133 +f 109 99 133 +f 104 109 133 +f 110 97 133 +o convex_3 +v -0.585315 3.399068 -1.004319 +v 0.084330 1.947871 0.819318 +v 0.047150 1.947871 0.819318 +v 0.121708 4.218062 0.335409 +v 0.791353 1.910603 -0.966781 +v -0.994892 1.910603 -0.111371 +v 0.791353 3.957411 -0.297019 +v -0.697054 3.436110 0.558595 +v 0.754172 1.910603 0.558595 +v -0.734234 1.910603 -1.041449 +v -0.027212 4.218062 -0.780725 +v -0.845776 3.696986 -0.222760 +v 0.121708 3.362025 -1.190171 +v 0.568072 3.473378 0.558595 +v 0.754172 3.436110 -0.966781 +v 0.977453 3.287263 -0.222760 +v -0.734234 1.910603 0.595724 +v 0.047150 1.910603 -1.264838 +v -0.027212 3.548140 0.744651 +v -0.399412 4.218062 0.223612 +v 1.014830 1.910603 -0.259686 +v 0.456530 4.218062 -0.706466 +v -0.771415 3.399068 -0.855392 +v -0.399412 4.218062 -0.594873 +v 0.679811 3.622450 0.447002 +v -0.957515 3.324757 -0.222760 +v 0.493711 4.218062 0.149148 +v -0.994892 2.022407 -0.334353 +v -0.064392 3.362025 -1.190171 +v -0.548134 3.957411 0.409668 +v 0.047150 3.994679 0.558595 +v -0.064392 1.910603 0.819114 +v 0.716991 2.245564 -1.041449 +v -0.585315 3.883101 -0.780725 +v 0.047150 3.808339 -1.041449 +v -0.697054 3.994679 -0.222760 +v 0.642630 3.883101 -0.855188 +v 0.716991 3.436110 0.484131 +v 0.791353 3.362025 -0.929856 +v -0.771415 2.431679 -1.004319 +v -0.064392 2.096718 -1.264838 +v -0.027212 3.250221 0.781780 +v 0.605253 3.957411 0.335409 +v -0.920334 3.436110 -0.074242 +v -0.771415 1.947871 0.558595 +v 0.940272 3.510872 -0.222760 +v 0.121708 3.399068 0.744651 +v 0.605253 4.218062 -0.334353 +v 0.754172 3.175911 -1.004115 +v -0.845776 1.910603 -0.855392 +v -0.510954 4.218062 -0.074242 +v 0.940272 3.399068 -0.408612 +v 0.754172 2.059675 0.558595 +v -0.027212 3.883101 -1.004319 +v -0.734234 3.287263 -0.966781 +v -0.027212 3.064332 -1.227301 +v 0.977453 2.133986 -0.111371 +v 0.047150 2.171254 -1.264838 +v -0.957515 3.287263 -0.148705 +v -0.734234 3.920143 -0.111371 +v 0.791353 3.957411 -0.222760 +v 0.716991 1.910603 -1.041449 +v -0.771415 3.287263 -0.892522 +f 188 173 196 +f 139 138 142 +f 138 139 143 +f 139 142 150 +f 138 143 151 +f 137 144 153 +f 142 138 154 +f 144 137 155 +f 153 144 157 +f 145 156 159 +f 155 137 160 +f 139 159 161 +f 141 152 163 +f 153 163 164 +f 152 147 164 +f 137 153 164 +f 147 158 164 +f 163 152 164 +f 135 136 165 +f 142 135 165 +f 141 150 165 +f 150 142 165 +f 156 145 167 +f 157 144 167 +f 146 162 168 +f 167 145 169 +f 157 167 169 +f 148 146 170 +f 146 168 170 +f 168 155 170 +f 158 147 171 +f 154 138 172 +f 170 140 172 +f 148 170 172 +f 151 143 174 +f 143 173 174 +f 136 135 175 +f 152 141 175 +f 165 136 175 +f 141 165 175 +f 160 137 176 +f 137 164 176 +f 164 158 176 +f 145 159 177 +f 141 163 177 +f 150 141 178 +f 139 150 178 +f 171 149 179 +f 158 171 179 +f 147 152 180 +f 175 135 180 +f 152 175 180 +f 155 160 181 +f 140 170 181 +f 170 155 181 +f 146 148 182 +f 172 138 182 +f 148 172 182 +f 143 139 183 +f 139 161 183 +f 173 143 183 +f 153 157 184 +f 163 153 184 +f 157 169 184 +f 149 154 185 +f 172 140 185 +f 154 172 185 +f 179 149 185 +f 140 179 185 +f 135 142 186 +f 171 147 186 +f 149 171 186 +f 180 135 186 +f 147 180 186 +f 144 155 187 +f 162 134 187 +f 134 167 187 +f 167 144 187 +f 155 168 187 +f 168 162 187 +f 134 162 188 +f 167 134 188 +f 156 167 188 +f 162 146 189 +f 174 173 189 +f 188 162 189 +f 173 188 189 +f 142 154 190 +f 154 149 190 +f 186 142 190 +f 149 186 190 +f 166 151 191 +f 151 174 191 +f 146 182 191 +f 182 166 191 +f 189 146 191 +f 174 189 191 +f 159 139 192 +f 141 177 192 +f 177 159 192 +f 178 141 192 +f 139 178 192 +f 169 145 193 +f 145 177 193 +f 177 163 193 +f 163 184 193 +f 184 169 193 +f 176 158 194 +f 160 176 194 +f 158 179 194 +f 179 140 194 +f 181 160 194 +f 140 181 194 +f 138 151 195 +f 151 166 195 +f 182 138 195 +f 166 182 195 +f 159 156 196 +f 161 159 196 +f 183 161 196 +f 173 183 196 +f 156 188 196 +o convex_4 +v 0.568174 4.702070 -0.297078 +v -0.511070 4.218226 -0.259919 +v -0.473802 4.218226 -0.408663 +v -0.027241 5.892666 -0.185601 +v 0.121613 4.218226 0.335496 +v 0.307625 4.218226 -0.743748 +v 0.010027 5.594853 0.223801 +v 0.010027 5.594853 -0.594895 +v -0.362107 5.632060 -0.185601 +v -0.399375 4.292802 0.223801 +v 0.419320 5.594853 -0.185601 +v 0.493747 4.218226 0.149374 +v -0.362107 4.330009 -0.632053 +v 0.419320 4.888101 -0.632053 +v 0.419320 5.036925 0.149374 +v 0.605442 4.218226 -0.334237 +v -0.027241 4.218226 -0.781016 +v -0.324948 4.962513 0.223801 +v -0.362107 4.925307 -0.557517 +v -0.473802 4.888101 -0.148333 +v 0.084345 4.627657 0.335496 +v 0.121613 5.632060 0.186533 +v 0.493747 4.292802 -0.669212 +v 0.010027 4.999719 -0.706371 +v 0.307625 5.446029 -0.520358 +v -0.250522 5.520441 0.112106 +v 0.084345 5.892666 -0.185601 +v -0.213253 4.218226 0.298228 +v -0.250522 5.483235 -0.483200 +v 0.605442 4.404420 -0.222760 +v 0.456479 4.627657 0.186533 +v -0.027241 5.669266 -0.557517 +v -0.511070 4.218226 -0.073906 +v 0.084345 5.073967 0.298228 +v 0.307625 5.483235 0.112106 +v -0.362107 4.925307 0.186533 +v -0.324948 5.706472 -0.148333 +v 0.010027 5.706472 0.149374 +v 0.530906 4.925307 -0.148333 +v 0.344893 5.669266 -0.259919 +v 0.047186 5.669266 -0.557517 +v -0.473802 4.850894 -0.222760 +v 0.419320 5.557647 -0.259919 +f 221 236 239 +f 198 199 201 +f 201 199 202 +f 201 202 208 +f 208 202 212 +f 202 199 213 +f 199 209 213 +f 209 199 215 +f 210 197 219 +f 202 210 219 +f 197 212 219 +f 212 202 219 +f 210 202 220 +f 204 210 220 +f 202 213 220 +f 213 209 220 +f 215 204 220 +f 209 215 220 +f 210 204 221 +f 214 203 222 +f 218 207 223 +f 198 201 224 +f 214 206 224 +f 201 217 224 +f 217 214 224 +f 215 205 225 +f 212 197 226 +f 208 212 226 +f 201 208 227 +f 217 201 227 +f 208 226 227 +f 204 215 228 +f 200 223 228 +f 225 205 228 +f 215 225 228 +f 216 198 229 +f 198 224 229 +f 224 206 229 +f 203 214 230 +f 214 217 230 +f 218 203 230 +f 211 218 230 +f 217 227 230 +f 227 211 230 +f 211 207 231 +f 207 218 231 +f 218 211 231 +f 206 214 232 +f 205 216 232 +f 222 205 232 +f 214 222 232 +f 216 229 232 +f 229 206 232 +f 205 222 233 +f 200 228 233 +f 228 205 233 +f 203 218 234 +f 222 203 234 +f 223 200 234 +f 218 223 234 +f 200 233 234 +f 233 222 234 +f 197 207 235 +f 207 211 235 +f 226 197 235 +f 211 227 235 +f 227 226 235 +f 223 207 236 +f 221 204 237 +f 204 228 237 +f 228 223 237 +f 236 221 237 +f 223 236 237 +f 199 198 238 +f 215 199 238 +f 205 215 238 +f 198 216 238 +f 216 205 238 +f 207 197 239 +f 197 210 239 +f 210 221 239 +f 236 207 239 +o convex_5 +v 2.949925 -1.103951 0.000462 +v -1.403905 -1.141139 -1.487889 +v -1.403905 -1.103951 -1.487889 +v -2.780955 -1.066763 0.558500 +v 0.716598 0.012532 -1.487889 +v 0.791418 0.012532 1.079586 +v 0.307461 -2.108659 1.079586 +v 0.084188 -2.108659 -1.487889 +v -1.925272 0.012532 -0.259704 +v -2.743545 -1.922720 -0.259704 +v 2.540195 -1.736569 -0.817993 +v 2.726652 -0.322582 -0.222753 +v -0.994768 -0.025079 1.079586 +v -2.631908 -0.545921 -0.780790 +v 2.763468 -1.141139 0.558751 +v 2.168468 -2.108448 -0.222753 +v -0.994768 -1.997096 1.079586 +v 2.726652 -1.103951 -1.004257 +v -0.994768 -0.025079 -1.487889 +v -2.073725 -2.146059 -0.222753 +v -2.780955 -1.178327 -0.966803 +v -2.855181 -0.359770 -0.185802 +v 1.014692 -2.034283 1.079586 +v -0.920542 -1.997096 -1.487889 +v 0.977281 -1.922508 -1.487889 +v 2.763468 -1.885532 -0.185802 +v 1.870375 0.012532 -0.222753 +v -3.079049 -1.141139 -0.185802 +v 1.386418 -1.066763 -1.487889 +v 2.019422 -2.146059 -0.296907 +v 2.503378 -0.471334 0.409690 +v -2.557682 -1.736569 0.372487 +v 0.977281 -0.024867 1.079586 +v 2.465968 -0.508522 -0.817993 +v -2.036909 -1.885320 -1.004257 +v -2.631908 -0.508522 0.372487 +v 2.577605 -1.699381 0.372487 +v 2.987335 -1.103951 -0.259704 +v -2.855181 -1.141139 0.521297 +v 2.019422 -1.029575 0.819169 +v 0.903055 -0.062055 -1.487889 +v 1.982011 -1.885320 -1.041459 +v -1.106405 -1.029575 1.079586 +v -2.148545 -1.885320 0.521297 +v -0.957358 0.012532 1.042384 +v -0.250128 -2.108659 1.079586 +v -2.631908 -1.625005 -0.817993 +v 2.726652 -0.322582 -0.148599 +v 2.726652 -1.922720 -0.296907 +v -0.883132 0.012532 -1.487889 +v 2.726652 -1.178327 -1.004257 +v -2.818365 -1.848132 -0.185802 +v -2.780955 -1.103951 -0.966803 +v -2.818365 -0.359770 -0.296907 +v 2.726652 -0.992599 0.558751 +v 2.093648 -1.885320 0.521297 +v -2.111135 -1.066763 0.781715 +v -2.036909 -2.146059 -0.296907 +v -1.925272 0.012532 -0.148348 +v -0.994768 -1.959696 -1.487889 +v -2.780955 -0.322582 -0.148348 +v 1.982011 -2.146059 -0.185802 +v -2.855181 -1.066763 0.521297 +v -0.138491 -2.108659 -1.487889 +f 297 263 303 +f 241 242 244 +f 241 244 247 +f 245 244 248 +f 246 245 252 +f 246 252 256 +f 244 242 258 +f 242 241 260 +f 245 246 262 +f 241 247 263 +f 247 244 264 +f 240 254 265 +f 244 245 266 +f 251 244 266 +f 264 244 268 +f 245 262 272 +f 266 245 272 +f 251 257 273 +f 254 262 276 +f 265 254 276 +f 257 251 277 +f 240 265 277 +f 256 243 278 +f 262 254 279 +f 272 262 279 +f 244 251 280 +f 268 244 280 +f 257 268 280 +f 251 273 280 +f 273 257 280 +f 247 264 281 +f 269 247 281 +f 256 252 282 +f 249 259 283 +f 259 256 283 +f 271 249 283 +f 256 278 283 +f 278 271 283 +f 245 248 284 +f 252 245 284 +f 246 256 285 +f 256 259 285 +f 274 249 286 +f 260 274 286 +f 251 266 287 +f 266 272 287 +f 272 270 287 +f 240 277 287 +f 277 251 287 +f 265 255 288 +f 255 269 288 +f 277 265 288 +f 281 250 288 +f 269 281 288 +f 248 244 289 +f 244 258 289 +f 258 248 289 +f 268 257 290 +f 264 268 290 +f 257 277 290 +f 250 281 290 +f 281 264 290 +f 288 250 290 +f 277 288 290 +f 267 260 291 +f 249 271 291 +f 278 267 291 +f 271 278 291 +f 286 249 291 +f 260 286 291 +f 258 242 292 +f 253 258 292 +f 242 260 292 +f 260 267 292 +f 292 267 293 +f 248 258 293 +f 258 253 293 +f 267 261 293 +f 253 292 293 +f 254 240 294 +f 270 272 294 +f 279 254 294 +f 272 279 294 +f 240 287 294 +f 287 270 294 +f 262 255 295 +f 255 265 295 +f 276 262 295 +f 265 276 295 +f 252 243 296 +f 243 256 296 +f 282 252 296 +f 256 282 296 +f 259 249 297 +f 247 269 297 +f 269 259 297 +f 249 274 297 +f 274 263 297 +f 284 248 298 +f 260 241 299 +f 241 263 299 +f 274 260 299 +f 263 274 299 +f 275 252 300 +f 261 275 300 +f 252 284 300 +f 248 293 300 +f 293 261 300 +f 298 248 300 +f 284 298 300 +f 262 246 301 +f 255 262 301 +f 259 269 301 +f 269 255 301 +f 246 285 301 +f 285 259 301 +f 243 252 302 +f 261 267 302 +f 252 275 302 +f 275 261 302 +f 278 243 302 +f 267 278 302 +f 263 247 303 +f 247 297 303 +o convex_6 +v 0.940185 0.012532 0.893574 +v -0.771502 0.012532 -1.487889 +v -0.845798 0.012532 -1.450687 +v 1.051989 0.421920 0.521549 +v -0.957242 0.421920 0.781966 +v 0.903037 0.421920 -1.227221 +v 1.796389 0.012532 -0.259704 +v -1.888102 0.012532 -0.185550 +v -0.994750 0.421920 -1.227221 +v -0.696846 0.012532 1.079586 +v 0.642641 0.012532 -1.487889 +v 0.121128 0.421920 1.079586 +v -0.176055 0.421920 -1.487889 +v -1.329441 0.421920 -0.222753 +v 1.238089 0.421920 -0.296907 +v 0.716937 0.049760 1.079586 +v 0.977332 0.384652 0.781966 +v 1.796389 0.049760 -0.148348 +v -1.888102 0.049760 -0.259704 +v 0.977332 0.012532 -1.264423 +v -1.180850 0.049760 0.633156 +v 0.121128 0.421920 -1.487889 +v -0.101398 0.421920 1.079586 +v -1.217998 0.012532 -1.078662 +v 1.796389 0.049760 -0.259704 +v -1.888102 0.049760 -0.185550 +v 1.312384 0.384652 -0.185550 +v 1.014841 0.124216 0.818917 +v 0.865889 0.421920 0.818917 +v 0.940185 0.421920 -1.190269 +v 0.716937 0.012532 1.079586 +f 319 313 334 +f 306 305 304 +f 308 307 309 +f 304 305 310 +f 306 304 311 +f 305 306 312 +f 308 309 312 +f 311 304 313 +f 310 305 314 +f 307 308 315 +f 305 312 316 +f 312 309 316 +f 314 305 316 +f 308 312 317 +f 309 307 318 +f 315 313 319 +f 307 320 321 +f 304 310 321 +f 317 312 322 +f 314 309 323 +f 310 314 323 +f 313 308 324 +f 311 313 324 +f 309 314 325 +f 316 309 325 +f 314 316 325 +f 308 313 326 +f 315 308 326 +f 313 315 326 +f 306 311 327 +f 312 306 327 +f 311 322 327 +f 322 312 327 +f 321 310 328 +f 310 323 328 +f 308 317 329 +f 322 311 329 +f 317 322 329 +f 324 308 329 +f 311 324 329 +f 318 307 330 +f 307 321 330 +f 328 318 330 +f 321 328 330 +f 319 304 331 +f 320 319 331 +f 321 320 331 +f 304 321 331 +f 307 315 332 +f 315 319 332 +f 319 320 332 +f 320 307 332 +f 309 318 333 +f 323 309 333 +f 318 328 333 +f 328 323 333 +f 313 304 334 +f 304 319 334 +o convex_7 +v -1.255769 -0.843530 2.307943 +v -1.330021 -1.140997 1.191489 +v -1.330021 -1.029644 1.191489 +v -3.079049 -1.178378 1.786962 +v -1.255769 -1.699454 1.898409 +v -2.074326 -0.620260 1.749774 +v -2.818274 -1.215533 1.340357 +v -2.706717 -1.140997 2.196146 +v -1.255769 -0.620260 1.377662 +v -2.818274 -1.513339 1.786962 +v -1.255769 -1.587762 1.340357 +v -1.292895 -1.587762 2.233567 +v -2.855578 -0.769107 1.749774 +v -1.367325 -0.694684 2.233567 +v -2.260134 -0.769107 1.377662 +v -2.074326 -1.513339 1.340357 +v -1.255769 -1.178378 2.382435 +v -2.185704 -0.769107 2.159075 +v -1.255769 -0.545724 1.861338 +v -1.999895 -1.513339 2.196146 +v -2.818274 -1.066800 1.340357 +v -2.148756 -1.624918 1.749774 +v -2.111630 -1.104181 2.307943 +v -2.818274 -1.066800 2.159075 +v -2.148756 -1.104181 1.228793 +v -2.632287 -1.401648 2.084699 +v -2.669413 -1.438916 1.452037 +v -1.255769 -1.364493 1.228793 +v -1.292895 -1.699454 1.675515 +v -1.255769 -0.880685 1.228793 +v -2.818274 -1.178378 2.159075 +v -3.079049 -1.140997 1.675515 +v -2.818274 -1.513339 1.712586 +v -2.706717 -0.806262 1.973018 +v -2.632287 -0.843530 1.414850 +v -2.074326 -0.769107 1.340357 +v -1.888339 -0.731839 2.196146 +v -2.111630 -1.178378 1.228793 +v -2.111630 -1.624918 1.824150 +v -2.743844 -0.731839 1.712586 +v -2.074326 -1.178378 2.307943 +v -2.074326 -0.620260 1.786962 +v -2.111630 -0.731839 1.377662 +f 369 374 377 +f 335 339 343 +f 343 339 345 +f 339 335 351 +f 346 339 351 +f 335 343 353 +f 343 340 353 +f 348 335 353 +f 346 351 354 +f 351 335 357 +f 347 338 358 +f 342 357 358 +f 357 352 358 +f 337 336 359 +f 341 355 359 +f 344 354 360 +f 341 350 361 +f 336 337 362 +f 343 345 362 +f 345 350 362 +f 345 339 363 +f 350 345 363 +f 339 356 363 +f 356 350 363 +f 337 359 364 +f 362 337 364 +f 343 362 364 +f 338 344 365 +f 354 342 365 +f 358 338 365 +f 342 358 365 +f 344 360 365 +f 360 354 365 +f 338 347 366 +f 355 341 366 +f 347 355 366 +f 344 338 367 +f 356 344 367 +f 350 356 367 +f 341 361 367 +f 361 350 367 +f 338 366 367 +f 366 341 367 +f 347 358 368 +f 358 352 368 +f 355 347 369 +f 355 369 370 +f 359 355 370 +f 343 364 370 +f 364 359 370 +f 369 349 370 +f 335 348 371 +f 348 353 371 +f 357 335 371 +f 352 357 371 +f 350 341 372 +f 359 336 372 +f 341 359 372 +f 336 362 372 +f 362 350 372 +f 339 346 373 +f 354 344 373 +f 346 354 373 +f 356 339 373 +f 344 356 373 +f 347 368 374 +f 369 347 374 +f 342 354 375 +f 354 351 375 +f 351 357 375 +f 357 342 375 +f 353 340 376 +f 368 352 376 +f 352 371 376 +f 371 353 376 +f 340 374 376 +f 374 368 376 +f 340 343 377 +f 349 369 377 +f 343 370 377 +f 370 349 377 +f 374 340 377 +o convex_8 +v 0.344893 -0.471443 2.605424 +v -1.255412 -1.736328 1.712845 +v -1.255412 -1.736328 1.861637 +v 1.014742 -2.034200 1.079838 +v -0.064349 0.421920 1.079838 +v 1.275349 -1.587518 2.270686 +v 1.014742 -0.061964 1.079838 +v -0.734198 -1.066683 2.791714 +v -1.031964 -0.211026 1.079838 +v 0.307735 -1.922341 2.605424 +v -0.994805 -1.996997 1.079838 +v -0.771357 -0.360087 2.531286 +v 0.791294 -0.359836 2.493788 +v -1.255412 -0.694910 2.270514 +v 0.828453 -1.215242 2.754559 +v -0.734198 -1.848187 2.568441 +v -0.138914 -2.145807 1.861637 +v 1.275349 -0.508646 1.712674 +v 0.828453 -2.108605 1.861637 +v 1.275349 -1.215493 1.266127 +v -1.255412 -1.029229 1.154319 +v 1.275349 -0.657456 2.196204 +v -0.957646 -0.024762 1.154319 +v -1.255412 -1.587518 2.270514 +v 0.009969 -2.146059 1.079838 +v 0.865860 -1.885138 2.531286 +v -0.771357 -2.071402 1.861637 +v 0.084286 -0.285431 2.531286 +v 0.121445 -1.029481 2.829040 +v 0.047128 0.421920 1.117164 +v 1.275349 -1.736328 1.972931 +v -1.255412 -0.508646 1.861637 +v -0.064349 -1.215242 2.829040 +v 0.828453 -0.099167 1.712845 +v -1.180846 -1.215493 2.456633 +v -0.287797 -0.322633 2.568441 +v -1.255412 -1.550316 1.265956 +v 1.275349 -1.066683 2.344996 +v 1.275349 -0.694658 1.340608 +v 1.275349 -1.550316 1.377592 +v -1.255412 -0.620504 1.340437 +v 0.828453 -1.103634 2.754559 +v -0.064349 -1.922341 2.605424 +v -0.771357 -0.099418 1.787155 +v 0.196011 -2.146059 1.898792 +v 1.275349 -0.508646 1.861465 +v -0.064349 0.421920 1.117164 +v 1.089060 -1.140837 1.079838 +v -0.734198 -1.401506 2.717232 +v 0.977336 -0.024762 1.117164 +v -0.994805 -0.062216 1.079838 +v 0.791294 -1.922341 2.531286 +v -1.143688 -1.178039 1.079838 +v -0.920239 -2.034200 1.154319 +v 1.051901 -1.996997 1.079838 +v -1.218005 -1.029229 2.419477 +v 0.158852 -1.215242 2.829040 +v -0.027190 -1.847936 2.642922 +v 0.791294 -1.885138 2.568441 +v 1.089060 -1.773531 2.382151 +v 0.121445 -0.397038 2.605424 +v -0.510997 -2.108605 1.861637 +v 0.828453 -2.108605 1.675519 +v 0.791294 -0.322633 2.419477 +f 423 411 441 +f 381 382 384 +f 382 381 386 +f 380 379 388 +f 386 381 388 +f 379 380 391 +f 395 383 397 +f 379 391 398 +f 383 395 399 +f 391 380 401 +f 380 393 401 +f 388 381 402 +f 380 388 404 +f 393 380 404 +f 384 382 407 +f 396 381 408 +f 397 383 408 +f 391 389 409 +f 398 391 409 +f 389 400 409 +f 406 385 410 +f 401 393 412 +f 389 385 413 +f 385 406 413 +f 388 379 414 +f 379 398 414 +f 398 388 414 +f 392 383 415 +f 383 399 415 +f 384 395 416 +f 397 384 416 +f 395 397 416 +f 397 408 417 +f 386 398 418 +f 398 409 418 +f 390 378 419 +f 399 390 419 +f 378 406 419 +f 392 415 419 +f 415 399 419 +f 400 389 421 +f 394 402 422 +f 387 420 422 +f 420 394 422 +f 395 384 423 +f 399 395 423 +f 382 400 424 +f 407 382 424 +f 405 407 424 +f 389 413 424 +f 413 405 424 +f 421 389 424 +f 400 421 424 +f 381 384 425 +f 384 397 425 +f 410 385 426 +f 385 412 426 +f 412 393 426 +f 384 407 427 +f 407 411 427 +f 423 384 427 +f 411 423 427 +f 382 386 428 +f 400 382 428 +f 409 400 428 +f 386 418 428 +f 418 409 428 +f 396 403 429 +f 387 422 429 +f 422 396 429 +f 386 388 430 +f 388 398 430 +f 398 386 430 +f 388 402 431 +f 404 388 431 +f 408 381 432 +f 397 417 432 +f 417 408 432 +f 381 425 432 +f 425 397 432 +f 385 389 433 +f 389 391 433 +f 391 401 433 +f 412 385 433 +f 401 412 433 +f 406 410 434 +f 419 406 434 +f 392 419 434 +f 420 387 435 +f 393 420 435 +f 410 426 435 +f 426 393 435 +f 387 434 435 +f 434 410 435 +f 403 392 436 +f 387 429 436 +f 429 403 436 +f 434 387 436 +f 392 434 436 +f 383 392 437 +f 392 403 437 +f 403 396 437 +f 396 408 437 +f 408 383 437 +f 378 390 438 +f 390 405 438 +f 406 378 438 +f 405 413 438 +f 413 406 438 +f 402 394 439 +f 393 404 439 +f 394 420 439 +f 420 393 439 +f 431 402 439 +f 404 431 439 +f 381 396 440 +f 402 381 440 +f 396 422 440 +f 422 402 440 +f 390 399 441 +f 405 390 441 +f 407 405 441 +f 411 407 441 +f 399 423 441 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/682/682.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/682/682.urdf new file mode 100644 index 000000000..c6a76a620 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/682/682.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/683/683.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/683/683.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/683/683.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/683/683.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/683/683.obj new file mode 100644 index 000000000..b76a44c82 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/683/683.obj @@ -0,0 +1,1107 @@ +o convex_0 +v 1.266193 -3.306264 1.154651 +v 1.304060 -1.953272 1.492603 +v 1.304060 -1.953272 1.455420 +v 3.032457 -2.817580 1.567767 +v 1.266193 -2.779989 2.056617 +v 1.266193 -2.667646 0.891407 +v 2.769463 -2.817580 1.981339 +v 2.769463 -2.779989 1.192176 +v 2.205780 -3.306264 1.605406 +v 1.266193 -3.231082 1.906175 +v 2.806984 -2.404509 1.605406 +v 1.266193 -2.141371 1.943814 +v 1.416797 -2.178962 1.041848 +v 2.018174 -3.231082 1.154651 +v 2.769463 -3.193491 1.605406 +v 2.055695 -3.193491 1.943814 +v 1.341582 -3.419038 1.530356 +v 2.731941 -2.442100 1.417667 +v 2.543990 -2.479691 1.868650 +v 2.018174 -2.779989 2.056617 +v 1.266193 -2.141371 1.041848 +v 1.304060 -3.155900 1.004209 +v 1.980480 -2.817580 1.004209 +v 1.379276 -2.141371 1.943814 +v 2.543990 -3.118309 1.267454 +v 2.581511 -3.118309 1.868650 +v 2.581511 -2.479691 1.267454 +v 1.379276 -2.554873 2.056617 +v 2.806984 -2.404509 1.530356 +v 2.769463 -2.779989 1.981339 +v 1.980480 -3.343856 1.492603 +v 1.266193 -3.419038 1.455420 +v 3.032457 -2.779989 1.643045 +v 2.731941 -2.855171 1.192176 +v 1.830222 -2.630055 1.004209 +v 2.769463 -3.193491 1.567767 +f 25 34 36 +f 1 5 6 +f 5 1 10 +f 3 2 11 +f 2 3 12 +f 6 5 12 +f 5 10 16 +f 9 15 16 +f 16 10 17 +f 9 16 17 +f 5 16 20 +f 16 7 20 +f 12 3 21 +f 6 12 21 +f 3 13 21 +f 13 6 21 +f 1 6 22 +f 14 1 22 +f 14 22 23 +f 22 6 23 +f 11 2 24 +f 2 12 24 +f 19 11 24 +f 15 7 26 +f 7 16 26 +f 16 15 26 +f 8 13 27 +f 18 8 27 +f 13 18 27 +f 12 5 28 +f 5 20 28 +f 24 12 28 +f 20 24 28 +f 4 8 29 +f 3 11 29 +f 13 3 29 +f 8 18 29 +f 18 13 29 +f 11 19 30 +f 20 7 30 +f 19 24 30 +f 24 20 30 +f 9 17 31 +f 31 17 32 +f 10 1 32 +f 1 14 32 +f 17 10 32 +f 14 31 32 +f 15 4 33 +f 7 15 33 +f 4 29 33 +f 29 11 33 +f 30 7 33 +f 11 30 33 +f 8 4 34 +f 14 23 34 +f 23 8 34 +f 25 14 34 +f 6 13 35 +f 13 8 35 +f 23 6 35 +f 8 23 35 +f 15 9 36 +f 4 15 36 +f 14 25 36 +f 31 14 36 +f 9 31 36 +f 34 4 36 +o convex_1 +v -1.590643 -3.381451 1.530540 +v -1.290090 -1.915684 1.567833 +v -1.290090 -1.915684 1.530540 +v -3.018605 -2.704811 1.455384 +v -1.515504 -2.742402 2.131792 +v -1.290090 -2.817584 0.966809 +v -2.755452 -2.667219 1.079487 +v -2.793021 -2.779993 1.906094 +v -1.290090 -3.231086 1.981251 +v -2.717883 -3.193495 1.455384 +v -1.290090 -3.231086 1.079487 +v -1.327659 -2.103783 2.018886 +v -2.793021 -2.366921 1.567833 +v -1.327659 -2.103783 1.079487 +v -2.004071 -3.231086 1.906094 +v -2.041640 -3.155904 1.079487 +v -2.717883 -2.366921 1.380227 +v -2.041640 -2.704811 0.966809 +v -2.191747 -2.404512 1.943730 +v -1.290090 -2.554877 2.131792 +v -2.755452 -2.779993 1.079487 +v -1.290090 -3.381451 1.605468 +v -2.079209 -2.855175 2.056407 +v -2.567438 -3.118313 1.793417 +v -1.290090 -2.517286 0.966809 +v -1.928933 -3.343860 1.455384 +v -2.529869 -2.404512 1.192279 +v -3.018605 -2.817584 1.455384 +v -2.567438 -3.043131 1.154644 +v -2.680314 -2.442103 1.755781 +v -2.717883 -2.892766 1.906094 +v -2.041640 -2.554877 2.018886 +v -1.327659 -2.066192 1.981251 +v -2.041640 -2.779993 0.966809 +v -2.041640 -3.193495 1.117122 +v -2.793021 -3.118313 1.530540 +v -1.290090 -2.178966 2.056407 +f 69 48 73 +f 39 38 42 +f 42 38 45 +f 42 45 47 +f 38 39 49 +f 40 44 49 +f 43 40 53 +f 49 39 53 +f 40 49 53 +f 39 50 53 +f 43 50 54 +f 41 45 56 +f 45 38 56 +f 40 43 57 +f 43 54 57 +f 47 45 58 +f 37 47 58 +f 45 51 58 +f 51 37 58 +f 45 41 59 +f 51 45 59 +f 46 51 60 +f 39 42 61 +f 50 39 61 +f 42 54 61 +f 54 50 61 +f 47 37 62 +f 37 51 62 +f 51 46 62 +f 50 43 63 +f 43 53 63 +f 53 50 63 +f 44 40 64 +f 40 57 64 +f 57 46 64 +f 46 57 65 +f 57 52 65 +f 49 44 66 +f 44 55 66 +f 59 44 67 +f 51 59 67 +f 60 51 67 +f 55 44 68 +f 41 56 68 +f 59 41 68 +f 44 59 68 +f 38 49 69 +f 55 48 69 +f 49 66 69 +f 66 55 69 +f 42 47 70 +f 47 52 70 +f 54 42 70 +f 52 57 70 +f 57 54 70 +f 52 47 71 +f 47 62 71 +f 62 46 71 +f 46 65 71 +f 65 52 71 +f 46 60 72 +f 44 64 72 +f 64 46 72 +f 67 44 72 +f 60 67 72 +f 48 55 73 +f 56 38 73 +f 55 68 73 +f 68 56 73 +f 38 69 73 +o convex_2 +v -0.800880 -1.878200 2.545254 +v -0.086836 -1.878200 0.515731 +v -0.537930 -1.878200 0.553278 +v 0.326478 -3.795056 1.530492 +v 1.153107 -1.840509 1.981254 +v -1.289752 -3.231230 1.079531 +v 0.890157 -3.231230 0.628570 +v -0.913716 -3.231230 2.394668 +v 0.852629 -3.193348 2.319376 +v -1.289752 -1.840509 1.718227 +v 1.040522 -1.840509 0.553476 +v 1.266194 -3.418917 1.380304 +v 0.739793 -1.840509 2.507309 +v -0.725823 -3.757365 1.567840 +v -1.289752 -3.231230 1.981254 +v -1.214445 -1.840509 1.041984 +v -0.763351 -3.268538 0.854051 +v 1.265943 -2.517024 2.056547 +v 1.265943 -2.554715 0.891598 +v -1.064080 -1.840509 2.507508 +v 0.814850 -3.757365 1.530492 +v -1.289752 -2.667786 0.929145 +v 1.266194 -3.231230 1.943707 +v 1.265943 -1.953389 1.417851 +v -0.876187 -1.840509 0.628570 +v -0.124615 -2.066078 2.545254 +v 0.025749 -3.306228 2.319376 +v 0.514371 -3.268538 0.666117 +v 0.965214 -2.028579 2.432215 +v -1.289752 -2.780283 2.131641 +v 1.266194 -3.268538 1.041984 +v -0.162144 -3.795056 1.605387 +v -1.289752 -3.381418 1.417851 +v -0.763351 -3.118158 2.432215 +v -0.086836 -3.795056 1.492945 +v 0.814850 -3.757365 1.455398 +v -1.289752 -1.990889 2.056547 +v 0.551900 -2.930471 0.591023 +v -0.763351 -3.719866 1.680481 +v 1.190886 -1.840509 1.041984 +v 0.927686 -2.329146 0.553476 +v -0.800880 -2.291838 0.666117 +v 0.890157 -3.306228 0.703664 +v 1.265943 -2.103769 1.943707 +v 0.965214 -1.840509 2.432215 +v -0.725823 -3.343727 0.929145 +v 1.265943 -2.780283 0.891598 +v -1.289752 -2.066078 1.079531 +v 0.702264 -2.254148 2.469762 +v 1.265943 -2.780283 2.056547 +v -0.838659 -3.306228 2.319574 +v 1.265943 -2.178958 1.004239 +v -1.289752 -3.381418 1.642934 +v -0.049308 -3.343727 0.816504 +v 1.228415 -3.456607 1.567840 +v 0.364007 -1.990889 0.515731 +v 0.927686 -2.892590 0.591023 +v -0.988773 -2.517407 2.469961 +v -0.800880 -3.682176 1.455398 +v 0.063278 -3.795056 1.605387 +v 0.326478 -1.840509 2.545055 +v -0.838659 -3.719866 1.605387 +f 132 87 135 +f 83 78 84 +f 78 83 86 +f 83 79 88 +f 83 84 89 +f 86 83 93 +f 79 83 95 +f 90 79 95 +f 82 94 96 +f 75 76 98 +f 84 75 98 +f 89 84 98 +f 95 89 98 +f 94 82 100 +f 88 81 103 +f 83 88 103 +f 96 85 104 +f 97 96 104 +f 88 79 106 +f 99 74 107 +f 81 100 107 +f 100 82 107 +f 77 105 108 +f 105 87 108 +f 94 77 109 +f 104 85 109 +f 77 108 109 +f 93 83 110 +f 83 103 110 +f 103 93 110 +f 76 75 111 +f 80 101 111 +f 101 90 111 +f 87 105 112 +f 84 78 113 +f 78 97 113 +f 90 95 115 +f 98 76 115 +f 95 98 115 +f 76 111 115 +f 111 90 115 +f 101 80 116 +f 80 104 116 +f 108 101 116 +f 104 109 116 +f 109 108 116 +f 91 96 117 +f 97 78 117 +f 96 97 117 +f 78 86 118 +f 86 102 118 +f 102 91 118 +f 91 117 118 +f 117 78 118 +f 79 90 119 +f 84 92 120 +f 104 80 120 +f 92 104 120 +f 83 89 121 +f 95 83 121 +f 89 95 121 +f 102 86 122 +f 82 102 122 +f 99 107 122 +f 107 82 122 +f 82 96 123 +f 96 91 123 +f 102 82 123 +f 91 102 123 +f 100 81 124 +f 81 112 124 +f 112 105 124 +f 92 84 125 +f 104 92 125 +f 97 104 125 +f 84 113 125 +f 113 97 125 +f 88 106 126 +f 90 101 127 +f 101 108 127 +f 119 90 127 +f 108 119 127 +f 85 96 128 +f 96 94 128 +f 94 109 128 +f 109 85 128 +f 75 84 129 +f 111 75 129 +f 84 114 129 +f 129 114 130 +f 80 111 130 +f 114 84 130 +f 120 80 130 +f 84 120 130 +f 111 129 130 +f 74 93 131 +f 103 81 131 +f 93 103 131 +f 107 74 131 +f 81 107 131 +f 106 79 132 +f 108 87 132 +f 79 119 132 +f 119 108 132 +f 77 94 133 +f 94 100 133 +f 105 77 133 +f 100 124 133 +f 124 105 133 +f 93 74 134 +f 86 93 134 +f 74 99 134 +f 122 86 134 +f 99 122 134 +f 81 88 135 +f 112 81 135 +f 87 112 135 +f 126 106 135 +f 88 126 135 +f 106 132 135 +o convex_3 +v 0.063425 -1.613911 -3.167874 +v -0.011779 2.744436 -1.213490 +v -0.011779 2.857441 -1.251195 +v -1.064227 -0.825230 -2.528906 +v -0.049278 3.834464 -3.280541 +v 1.040669 -0.562140 -1.476752 +v 1.002964 3.232947 -2.528906 +v -1.026522 1.391318 -1.213714 +v -0.800909 3.270616 -3.243060 +v 0.777351 -0.637476 -3.205355 +v -0.725705 -1.351409 -1.702310 +v -0.613002 3.797384 -1.890163 +v -0.274891 -0.862898 -3.431137 +v 1.040669 1.241233 -1.213714 +v 0.589649 3.796796 -1.890387 +v 0.777351 3.233536 -3.243060 +v 0.777351 -1.576831 -2.266092 +v -1.064227 3.157611 -2.453720 +v -0.086778 -0.110708 -1.213490 +v 0.025720 3.195279 -3.506323 +v -0.801115 -0.900566 -3.242836 +v 1.040669 -0.825230 -2.491201 +v 0.100924 -1.576831 -1.664605 +v -0.801115 -1.614499 -2.528906 +v 0.702352 3.985137 -2.453720 +v -0.800909 3.947469 -2.491201 +v -0.049278 3.984549 -1.664605 +v -0.913819 2.142920 -1.213714 +v 0.852555 2.142920 -1.213490 +v -0.951318 0.302467 -1.213714 +v 0.063425 -0.862309 -3.468618 +v -0.086778 -1.839921 -2.378310 +v -0.049278 4.172891 -2.566387 +v 0.965464 -0.035371 -1.213714 +v 0.815056 -1.351409 -1.627124 +v 0.777351 1.766824 -3.280541 +v -0.989023 -0.674556 -1.702310 +v 0.551944 -1.426158 -3.017502 +v -0.800909 3.270616 -1.664605 +v -0.086778 -1.613911 -3.243060 +v 0.739852 3.233536 -1.627124 +v -0.086778 2.744436 -3.506323 +v 0.025720 3.946881 -3.205579 +v -0.838614 2.857441 -3.205355 +v 1.002964 3.232947 -2.378534 +v -0.763410 -0.862898 -3.280541 +v 1.040669 0.791567 -2.491201 +v -0.613002 3.759716 -3.054983 +v 0.777351 3.947469 -2.453720 +v 0.739852 -1.614499 -2.453720 +v 0.739852 -0.937646 -3.167874 +v 0.589649 3.759128 -3.017502 +v 0.025720 0.790978 -3.506323 +v -0.575502 -1.426746 -3.092688 +v 0.025720 3.984549 -1.664605 +v -0.049278 4.172891 -2.303797 +v -0.838614 -0.862309 -3.205355 +v 1.040669 -0.825230 -1.815201 +v 0.063425 -1.839921 -2.416015 +v -1.026522 3.232947 -2.303573 +v -1.064227 -0.786973 -2.378534 +v 0.739852 -0.486803 -1.326381 +v -0.838614 -1.576831 -2.453720 +v -1.026522 3.232947 -2.603868 +f 144 179 199 +f 137 143 154 +f 144 140 155 +f 140 151 155 +f 149 141 157 +f 154 146 158 +f 161 147 162 +f 137 138 163 +f 143 137 163 +f 138 162 163 +f 138 137 164 +f 137 154 164 +f 154 143 165 +f 146 154 165 +f 158 146 167 +f 141 149 169 +f 149 164 169 +f 164 154 169 +f 141 169 170 +f 155 151 171 +f 157 145 171 +f 145 166 171 +f 165 143 172 +f 146 165 172 +f 147 161 174 +f 162 147 174 +f 163 162 174 +f 148 166 175 +f 167 159 175 +f 173 136 175 +f 144 155 177 +f 151 140 178 +f 168 160 178 +f 161 168 178 +f 149 142 180 +f 164 149 180 +f 176 164 180 +f 148 175 181 +f 144 177 181 +f 177 148 181 +f 142 149 182 +f 151 142 182 +f 149 157 182 +f 171 151 182 +f 157 171 182 +f 140 144 183 +f 144 161 183 +f 178 140 183 +f 161 178 183 +f 142 151 184 +f 150 176 184 +f 180 142 184 +f 176 180 184 +f 157 152 185 +f 136 173 185 +f 185 173 186 +f 145 157 186 +f 166 145 186 +f 175 166 186 +f 173 175 186 +f 157 185 186 +f 151 178 187 +f 178 160 187 +f 184 151 187 +f 160 184 187 +f 166 148 188 +f 155 171 188 +f 171 166 188 +f 177 155 188 +f 148 177 188 +f 159 156 189 +f 175 159 189 +f 181 175 189 +f 156 181 189 +f 162 138 190 +f 138 164 190 +f 176 150 190 +f 164 176 190 +f 150 184 190 +f 184 160 190 +f 161 162 191 +f 160 168 191 +f 168 161 191 +f 162 190 191 +f 190 160 191 +f 156 159 192 +f 139 179 192 +f 179 144 192 +f 181 156 192 +f 144 181 192 +f 157 141 193 +f 152 157 193 +f 141 170 193 +f 170 152 193 +f 158 167 194 +f 152 170 194 +f 170 158 194 +f 175 136 194 +f 167 175 194 +f 185 152 194 +f 136 185 194 +f 153 143 195 +f 161 153 195 +f 143 163 195 +f 174 161 195 +f 163 174 195 +f 153 139 196 +f 143 153 196 +f 172 143 196 +f 154 158 197 +f 169 154 197 +f 158 170 197 +f 170 169 197 +f 167 146 198 +f 159 167 198 +f 146 172 198 +f 139 192 198 +f 192 159 198 +f 196 139 198 +f 172 196 198 +f 139 153 199 +f 161 144 199 +f 153 161 199 +f 179 139 199 +o convex_4 +v 1.003030 1.504422 -0.687328 +v -1.026640 1.016406 -1.213490 +v -0.988799 0.527875 -1.213490 +v -1.026640 1.166803 -0.574566 +v -0.011805 2.632395 -1.213490 +v 0.965391 0.039087 -1.213490 +v -0.049444 0.151884 -0.574566 +v 0.063270 2.293745 -0.574566 +v 0.852676 2.143349 -1.213490 +v 0.927752 0.189484 -0.574566 +v -0.876084 2.218547 -1.138252 +v -0.725731 0.189484 -0.574566 +v -0.763370 2.068151 -0.574566 +v 0.777399 2.030552 -0.574566 +v -0.650655 0.114285 -1.213490 +v 1.040669 1.241743 -1.213490 +v 1.040669 0.678014 -0.574566 +v 0.702121 0.001746 -1.100665 +v -0.951362 1.918012 -1.213490 +v -0.951362 0.339880 -0.987902 +v 1.040669 0.264424 -1.213490 +v -0.913723 0.415078 -0.574566 +v -0.161956 0.039087 -1.175840 +v 1.040669 1.316684 -0.574566 +v -0.951362 1.617219 -0.574566 +v -0.049444 2.632395 -1.175840 +v 0.815037 2.181206 -1.063077 +v -0.086881 2.293745 -0.574566 +v 0.927752 0.151884 -0.612153 +v -0.951362 0.302281 -1.213490 +v -0.876084 2.218547 -1.213490 +v -1.026640 1.391625 -1.213490 +v -0.988799 1.579620 -0.724916 +v 1.003030 0.339880 -0.612153 +v -0.011805 2.632395 -1.175840 +f 213 226 234 +f 201 202 203 +f 202 201 204 +f 202 204 205 +f 203 206 207 +f 205 204 208 +f 207 206 209 +f 206 203 211 +f 203 207 212 +f 207 209 213 +f 202 205 214 +f 208 200 215 +f 205 208 215 +f 213 209 216 +f 206 211 217 +f 204 201 218 +f 203 202 219 +f 205 215 220 +f 215 216 220 +f 211 203 221 +f 203 219 221 +f 219 211 221 +f 214 205 222 +f 211 214 222 +f 205 217 222 +f 217 211 222 +f 200 213 223 +f 215 200 223 +f 213 216 223 +f 216 215 223 +f 203 212 224 +f 212 210 224 +f 210 212 225 +f 200 208 226 +f 208 204 226 +f 213 200 226 +f 212 207 227 +f 207 225 227 +f 225 212 227 +f 209 206 228 +f 217 205 228 +f 206 217 228 +f 202 214 229 +f 214 211 229 +f 219 202 229 +f 211 219 229 +f 204 218 230 +f 218 210 230 +f 225 204 230 +f 210 225 230 +f 201 203 231 +f 218 201 231 +f 218 231 232 +f 210 218 232 +f 203 224 232 +f 224 210 232 +f 231 203 232 +f 216 209 233 +f 205 220 233 +f 220 216 233 +f 209 228 233 +f 228 205 233 +f 207 213 234 +f 204 225 234 +f 225 207 234 +f 226 204 234 +o convex_5 +v -0.086763 -1.840509 2.545202 +v 0.814872 -0.073930 0.102071 +v 0.814872 -0.036313 0.102071 +v -1.214474 -1.840509 1.079469 +v -1.026522 -0.036313 2.432285 +v 0.965428 -0.036313 2.432285 +v 1.040463 -1.840509 0.553495 +v -0.913605 -0.036313 0.477974 +v 0.965428 -1.840509 2.432285 +v -0.800931 -1.840509 0.590891 +v -1.064161 -1.840509 2.507320 +v 1.191018 -1.765276 1.229782 +v 1.040463 -0.036313 0.478217 +v 0.814872 -0.036313 2.582841 +v -0.274958 -0.073930 0.177348 +v -1.289752 -1.802893 1.642839 +v -0.876209 -0.036313 2.544959 +v -0.199680 -1.840509 0.515856 +v 1.191018 -1.802893 1.718117 +v -0.688257 -1.690042 2.582841 +v -1.026522 -0.036313 1.342456 +v 0.664559 -1.727659 2.545202 +v -0.988883 -1.840509 0.703565 +v -1.214474 -1.840509 2.093778 +v 1.153380 -1.840509 1.981104 +v -0.237319 -0.036313 2.582841 +v 0.777233 -1.840509 0.515613 +v -1.064161 -0.149163 2.357250 +v -1.289752 -1.802893 1.492526 +v 0.890150 -0.073930 0.102071 +v 1.003067 -0.036313 1.868430 +v 0.852511 -0.374688 2.582841 +v 1.191018 -1.840509 1.117108 +v 0.965428 -1.765276 2.469681 +v -0.800931 -1.276433 2.582841 +v -0.274958 -1.690042 2.582841 +v -1.064161 -0.901147 2.469924 +v -0.838570 -1.765276 0.590891 +v 0.965428 -0.412305 2.469681 +v 1.191018 -1.727659 1.567804 +v -0.988883 -1.088702 2.544959 +f 239 271 275 +f 237 239 240 +f 235 238 241 +f 239 237 242 +f 235 241 243 +f 241 238 244 +f 238 235 245 +f 237 240 247 +f 240 239 248 +f 237 236 249 +f 242 237 249 +f 248 239 251 +f 241 244 252 +f 249 236 252 +f 244 249 252 +f 245 235 254 +f 239 242 255 +f 235 243 256 +f 238 242 257 +f 244 238 257 +f 238 245 258 +f 250 238 258 +f 243 241 259 +f 253 240 259 +f 248 251 260 +f 254 248 260 +f 252 236 261 +f 241 252 261 +f 239 255 262 +f 250 258 262 +f 242 238 263 +f 238 250 263 +f 255 242 263 +f 262 255 263 +f 250 262 263 +f 236 237 264 +f 237 247 264 +f 247 241 264 +f 261 236 264 +f 241 261 264 +f 247 240 265 +f 240 253 265 +f 240 248 266 +f 248 254 266 +f 241 247 267 +f 247 246 267 +f 246 253 267 +f 259 241 267 +f 253 259 267 +f 256 243 268 +f 243 259 268 +f 266 256 268 +f 245 254 269 +f 260 251 269 +f 254 260 269 +f 254 235 270 +f 235 256 270 +f 266 254 270 +f 256 266 270 +f 258 245 271 +f 239 262 271 +f 262 258 271 +f 242 249 272 +f 249 244 272 +f 257 242 272 +f 244 257 272 +f 259 240 273 +f 240 266 273 +f 268 259 273 +f 266 268 273 +f 246 247 274 +f 253 246 274 +f 247 265 274 +f 265 253 274 +f 251 239 275 +f 245 269 275 +f 269 251 275 +f 271 245 275 +o convex_6 +v 0.138346 2.180963 2.131615 +v -0.199595 -0.036313 0.139746 +v -0.124317 -0.036313 0.139746 +v 0.025632 2.294108 -0.574503 +v 1.040669 -0.036085 0.478092 +v -1.026640 -0.036085 2.432079 +v -0.989001 1.466964 -0.574503 +v 0.815037 -0.036085 2.582635 +v 1.040669 1.316636 -0.574503 +v -0.688294 1.917947 2.357287 +v 0.739962 1.955585 2.319729 +v -0.725933 0.189521 -0.574503 +v 0.025632 1.918175 2.733191 +v 0.927752 0.189521 -0.574503 +v 1.040669 1.278997 1.530363 +v 0.815037 1.993225 -0.574503 +v -0.801009 2.030863 -0.574503 +v -0.989001 1.203947 2.056175 +v -0.650655 1.128898 2.733191 +v -0.913723 -0.036085 0.478092 +v 0.702323 1.354275 2.733191 +v 0.965391 -0.036085 2.432079 +v -1.026640 1.166308 -0.574503 +v -0.049242 2.180963 2.357287 +v 0.927752 1.316636 2.394845 +v -0.086678 0.602865 2.733191 +v 0.815037 1.993225 0.966670 +v -0.876084 -0.036085 2.545077 +v 0.890113 -0.036085 0.027072 +v -1.026640 -0.036085 1.342250 +v -0.951362 0.565226 -0.574503 +v -0.951362 1.241358 2.319729 +v -0.462663 1.730208 2.733191 +v -1.026640 0.978798 1.755711 +v 0.627045 1.880308 2.582635 +v 1.040669 0.678143 -0.574503 +v -0.763370 1.917947 1.605479 +v 0.702323 2.030863 1.755711 +v 0.589609 0.678143 2.733191 +v -0.049242 2.294108 -0.536621 +v -0.274671 0.151654 -0.574503 +v 1.003030 -0.036085 1.906267 +v -0.725933 2.068274 -0.536621 +v 0.777399 2.030863 -0.536621 +v 1.040669 1.354275 0.553208 +v -0.650655 1.316636 2.733191 +v 0.100909 2.180963 2.357287 +v -0.725933 1.955585 1.680595 +v -0.989001 1.278997 1.605479 +v 0.965391 1.316636 2.243965 +v 0.815037 1.955585 1.567921 +v -1.026640 0.377259 2.394845 +v 0.551970 1.767619 2.733191 +v -0.237234 -0.036313 2.582635 +v -0.500302 0.753192 2.733191 +v -0.725933 0.151882 -0.499063 +v -1.026640 1.278997 -0.499063 +v 0.063270 2.218830 1.755711 +v 0.627045 2.030863 2.319729 +v 0.551970 0.151882 -0.574503 +v -0.913723 0.414898 -0.536621 +v 0.965391 0.377259 2.432079 +v 1.003030 0.377259 -0.574503 +f 289 311 338 +f 282 279 284 +f 282 284 287 +f 287 284 289 +f 280 284 290 +f 284 279 291 +f 279 282 292 +f 288 294 296 +f 296 283 297 +f 282 287 298 +f 296 294 301 +f 294 281 303 +f 278 277 304 +f 280 278 304 +f 289 280 304 +f 295 277 305 +f 281 298 305 +f 305 298 306 +f 298 287 306 +f 294 288 308 +f 299 285 308 +f 288 299 308 +f 298 281 309 +f 300 286 310 +f 296 300 310 +f 284 280 311 +f 289 284 311 +f 307 285 312 +f 293 307 312 +f 283 296 314 +f 301 283 314 +f 296 301 314 +f 279 292 315 +f 287 289 316 +f 304 277 316 +f 278 280 317 +f 280 290 317 +f 290 297 317 +f 315 292 318 +f 299 315 318 +f 291 279 319 +f 302 291 319 +f 279 313 319 +f 313 302 319 +f 290 284 320 +f 284 291 320 +f 291 302 320 +f 281 294 321 +f 285 307 321 +f 294 308 321 +f 308 285 321 +f 299 288 322 +f 288 310 322 +f 285 299 323 +f 312 285 323 +f 292 312 323 +f 318 292 323 +f 299 318 323 +f 292 282 324 +f 309 293 324 +f 312 292 324 +f 293 312 324 +f 286 300 325 +f 313 286 326 +f 302 313 326 +f 290 320 326 +f 320 302 326 +f 286 325 326 +f 325 290 326 +f 307 293 327 +f 309 281 327 +f 293 309 327 +f 281 321 327 +f 321 307 327 +f 288 296 328 +f 310 288 328 +f 296 310 328 +f 277 278 329 +f 297 283 329 +f 283 301 329 +f 303 281 329 +f 301 303 329 +f 305 277 329 +f 281 305 329 +f 278 317 329 +f 317 297 329 +f 301 294 330 +f 294 303 330 +f 303 301 330 +f 277 295 331 +f 316 277 331 +f 287 316 331 +f 282 298 332 +f 298 309 332 +f 324 282 332 +f 309 324 332 +f 313 279 333 +f 279 315 333 +f 315 299 333 +f 322 276 333 +f 299 322 333 +f 310 286 334 +f 286 313 334 +f 276 322 334 +f 322 310 334 +f 333 276 334 +f 313 333 334 +f 289 304 335 +f 316 289 335 +f 304 316 335 +f 295 305 336 +f 305 306 336 +f 306 287 336 +f 331 295 336 +f 287 331 336 +f 297 290 337 +f 296 297 337 +f 300 296 337 +f 290 325 337 +f 325 300 337 +f 280 289 338 +f 311 280 338 +o convex_7 +v -0.575399 1.053804 3.259621 +v 0.702382 1.316791 2.770870 +v 0.702382 1.204117 2.770870 +v 0.025808 1.204117 4.574975 +v -0.011544 1.880646 2.733191 +v -0.086778 0.640261 2.733191 +v -0.049161 1.654934 4.274261 +v 0.025808 0.828213 4.274261 +v -0.650766 1.279152 2.733191 +v -0.462681 1.279152 4.311579 +v 0.401579 1.316791 4.349258 +v 0.551914 0.715539 2.733191 +v 0.514430 1.767729 2.733191 +v -0.425197 1.654934 3.372298 +v -0.537915 0.790817 2.921227 +v 0.439196 1.654934 3.635513 +v 0.439196 0.865973 3.672652 +v -0.349963 0.941130 4.161403 +v -0.387448 1.730090 2.733191 +v 0.401579 1.166599 4.311579 +v 0.589531 1.241755 3.598014 +v -0.049161 0.715539 3.522655 +v 0.100909 1.767729 3.560154 +v -0.537915 0.790817 2.733191 +v -0.349963 1.542260 4.123723 +v -0.124394 0.865973 4.311579 +v -0.462681 1.166599 4.274261 +v -0.575399 1.279152 3.598014 +v -0.086778 1.279152 4.574975 +v 0.100909 1.617416 4.274261 +v 0.176143 0.640261 2.770870 +v 0.326478 0.941130 4.161403 +v -0.500166 0.828213 3.297120 +v 0.326478 1.542260 4.161403 +v 0.025808 0.903491 4.386938 +v -0.387448 1.654934 3.560154 +v -0.049161 1.617416 4.349258 +v 0.100909 1.880646 2.770870 +v -0.011544 1.767729 3.635513 +f 376 343 377 +f 343 344 347 +f 340 341 350 +f 344 343 350 +f 340 350 351 +f 350 343 351 +f 339 347 353 +f 340 351 354 +f 346 350 355 +f 343 347 357 +f 347 352 357 +f 349 342 358 +f 358 355 359 +f 341 340 359 +f 350 341 359 +f 340 354 359 +f 354 349 359 +f 355 350 359 +f 349 358 359 +f 353 344 360 +f 354 351 361 +f 347 344 362 +f 344 353 362 +f 353 347 362 +f 352 348 363 +f 360 346 364 +f 356 364 365 +f 347 339 366 +f 352 347 366 +f 348 352 366 +f 339 365 366 +f 365 348 366 +f 364 342 367 +f 348 365 367 +f 365 364 367 +f 361 345 368 +f 354 361 368 +f 350 346 369 +f 344 350 369 +f 346 360 369 +f 360 344 369 +f 346 355 370 +f 355 358 370 +f 339 353 371 +f 353 360 371 +f 364 356 371 +f 360 364 371 +f 365 339 371 +f 356 365 371 +f 349 354 372 +f 368 349 372 +f 354 368 372 +f 358 342 373 +f 342 364 373 +f 364 346 373 +f 346 370 373 +f 370 358 373 +f 343 357 374 +f 357 352 374 +f 363 345 374 +f 352 363 374 +f 342 349 375 +f 345 363 375 +f 363 348 375 +f 348 367 375 +f 367 342 375 +f 349 368 375 +f 368 345 375 +f 351 343 376 +f 361 351 376 +f 361 376 377 +f 345 361 377 +f 343 374 377 +f 374 345 377 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/683/683.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/683/683.urdf new file mode 100644 index 000000000..f76faa3f3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/683/683.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/684/684.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/684/684.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/684/684.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/684/684.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/684/684.obj new file mode 100644 index 000000000..f61b29f41 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/684/684.obj @@ -0,0 +1,714 @@ +o convex_0 +v -0.779034 0.505790 -0.936236 +v 0.064392 0.537169 1.313210 +v 0.002148 0.537169 1.313210 +v 0.064392 4.067645 0.000947 +v 0.845574 0.506139 -0.904894 +v -0.779034 2.037081 0.781677 +v 0.814256 2.037081 0.813019 +v 0.002148 3.598705 -0.780039 +v 0.814256 3.536295 0.000947 +v 0.033270 3.567326 0.844361 +v -0.779034 3.473886 0.000947 +v 0.939331 0.506139 0.750591 +v -0.872596 0.505790 0.750591 +v 0.033270 0.537169 -1.311315 +v 1.033089 2.161899 0.000947 +v 0.782938 2.037081 -0.780039 +v -0.966549 2.224308 0.032033 +v -0.716594 2.161551 -0.748697 +v -0.966549 0.505790 -0.061223 +v -0.810156 0.505790 1.031900 +v 1.033089 0.756124 0.000947 +v -0.591519 3.192522 0.594394 +v 0.876696 0.506139 0.969216 +v 0.595619 3.192522 0.625736 +v 0.626937 3.223901 -0.530072 +v -0.747716 2.037081 0.844361 +v -0.560201 3.223901 -0.529815 +v -0.747716 3.567326 0.063375 +v 0.064392 3.598705 -0.780039 +v -0.029170 3.567326 0.844104 +v 0.751816 3.630084 0.063118 +v -0.029170 4.067645 0.063375 +v -0.872596 0.912321 -0.623585 +v -0.966549 1.818475 0.219315 +v 0.814256 0.537518 -0.967578 +v 1.033089 2.068111 0.094460 +v 1.001771 0.505790 -0.155250 +v 0.002148 0.505790 -1.311315 +v -0.716594 3.598705 0.000947 +v 0.814256 3.536295 0.063118 +v 1.033089 2.068111 -0.061480 +v -0.966549 2.068460 -0.061223 +v -0.779034 0.880942 -0.904894 +v 0.876696 0.630957 0.969216 +v 0.751816 3.630084 0.000947 +v -0.966549 0.505790 0.156888 +v 0.064392 4.067645 0.063375 +v -0.029170 4.067645 0.000947 +v -0.779034 3.473886 0.063375 +v 0.876696 0.630957 -0.811124 +v 0.002148 0.537169 -1.311315 +v 0.064392 0.505790 1.313210 +v -0.966549 2.068460 0.156888 +v 0.626937 3.098734 -0.592499 +v -0.779034 2.068460 -0.623585 +v -0.591519 3.067704 0.656821 +v -0.560201 3.098734 -0.592499 +v 0.658059 3.317340 0.469282 +v 0.908014 0.568548 0.906788 +v 0.064392 3.442508 -0.811381 +v 0.814256 2.099490 -0.686269 +v -0.841474 0.505790 -0.780039 +v -0.685276 2.068460 -0.780039 +v 0.002148 3.442508 -0.811381 +f 63 18 64 +f 3 2 10 +f 2 7 10 +f 1 13 19 +f 13 1 20 +f 10 7 24 +f 20 3 26 +f 6 20 26 +f 8 4 29 +f 3 10 30 +f 26 3 30 +f 28 22 30 +f 30 10 32 +f 28 30 32 +f 17 19 34 +f 20 6 34 +f 13 20 34 +f 16 5 35 +f 14 16 35 +f 12 21 36 +f 21 15 36 +f 20 1 37 +f 21 12 37 +f 12 23 37 +f 35 5 38 +f 14 35 38 +f 37 1 38 +f 5 37 38 +f 8 27 39 +f 27 11 39 +f 11 28 39 +f 28 32 39 +f 15 9 40 +f 9 31 40 +f 7 36 40 +f 36 15 40 +f 9 15 41 +f 15 21 41 +f 21 37 41 +f 17 11 42 +f 19 17 42 +f 33 19 42 +f 7 2 44 +f 2 23 44 +f 9 25 45 +f 29 4 45 +f 25 29 45 +f 4 31 45 +f 31 9 45 +f 19 13 46 +f 13 34 46 +f 34 19 46 +f 31 4 47 +f 10 31 47 +f 4 32 47 +f 32 10 47 +f 4 8 48 +f 32 4 48 +f 8 39 48 +f 39 32 48 +f 11 17 49 +f 28 11 49 +f 22 28 49 +f 5 16 50 +f 37 5 50 +f 41 37 50 +f 14 38 51 +f 38 1 51 +f 1 43 51 +f 2 3 52 +f 3 20 52 +f 23 2 52 +f 20 37 52 +f 37 23 52 +f 34 6 53 +f 17 34 53 +f 49 17 53 +f 6 49 53 +f 25 9 54 +f 16 29 54 +f 29 25 54 +f 11 18 55 +f 42 11 55 +f 33 42 55 +f 43 33 55 +f 18 43 55 +f 6 26 56 +f 26 30 56 +f 30 22 56 +f 49 6 56 +f 22 49 56 +f 8 18 57 +f 18 11 57 +f 27 8 57 +f 11 27 57 +f 24 7 58 +f 10 24 58 +f 31 10 58 +f 7 40 58 +f 40 31 58 +f 23 12 59 +f 36 7 59 +f 12 36 59 +f 7 44 59 +f 44 23 59 +f 16 14 60 +f 8 29 60 +f 29 16 60 +f 14 51 60 +f 9 41 61 +f 50 16 61 +f 41 50 61 +f 54 9 61 +f 16 54 61 +f 1 19 62 +f 19 33 62 +f 33 43 62 +f 43 1 62 +f 43 18 63 +f 51 43 63 +f 51 63 64 +f 18 8 64 +f 8 60 64 +f 60 51 64 +o convex_1 +v 0.564323 -2.900087 -0.030303 +v -0.560372 -2.806232 -0.061422 +v -0.560372 -2.806232 -0.030303 +v -0.029087 -4.024639 -0.061422 +v 0.095615 -2.275127 -0.623940 +v 0.064383 -2.275127 0.532101 +v -0.029087 -3.774586 0.375827 +v -0.435218 -2.275127 0.407059 +v 0.033151 -3.774586 -0.436321 +v -0.466563 -2.275127 -0.436321 +v -0.435218 -3.743244 -0.061422 +v 0.470513 -2.275127 -0.467666 +v 0.439281 -3.774586 0.000929 +v 0.439281 -2.275127 0.407059 +v 0.408162 -3.087456 -0.467666 +v -0.404099 -2.993600 -0.436321 +v 0.408162 -3.024942 0.375827 +v -0.404099 -3.056113 0.344595 +v 0.595668 -2.275127 -0.124000 +v -0.029087 -2.868745 -0.592594 +v -0.029087 -2.868745 0.500756 +v -0.560372 -2.275127 0.063393 +v 0.314353 -3.618218 0.282131 +v -0.029087 -3.774586 -0.436321 +v 0.345585 -3.618218 -0.311392 +v -0.435218 -3.743244 0.000929 +v -0.247825 -2.337640 -0.561362 +v -0.341521 -3.493363 -0.342624 +v -0.310289 -3.555876 0.282131 +v 0.439281 -3.774586 -0.061422 +v 0.002032 -4.024639 0.032161 +v 0.033151 -3.774586 0.375827 +v 0.501859 -3.056113 -0.248815 +v 0.595668 -2.306298 0.000816 +v -0.435218 -2.993600 -0.405202 +v 0.408162 -2.306298 -0.530130 +v 0.095615 -3.024942 -0.561362 +v -0.560372 -2.306298 -0.155119 +v -0.529027 -2.931258 0.063393 +v 0.095615 -3.024942 0.469524 +v 0.439281 -3.056113 0.313363 +v -0.060319 -2.337640 0.532101 +v 0.158079 -3.961955 -0.061422 +v 0.408162 -3.805929 0.032161 +v -0.060319 -2.275127 -0.623940 +v 0.439281 -3.056113 -0.436321 +v -0.435218 -2.368811 0.407059 +v -0.029087 -3.118798 -0.561362 +v 0.533091 -3.212139 -0.030303 +v -0.435218 -2.587522 -0.467666 +v 0.376817 -3.368508 -0.405202 +v -0.529027 -3.118798 -0.061422 +v -0.466563 -2.399982 0.344595 +f 111 72 117 +f 70 69 72 +f 72 69 74 +f 69 70 76 +f 76 70 78 +f 78 70 81 +f 76 78 83 +f 82 71 85 +f 66 67 86 +f 72 74 86 +f 73 68 88 +f 68 75 88 +f 75 68 90 +f 88 75 92 +f 80 88 92 +f 71 82 93 +f 90 71 93 +f 82 90 93 +f 73 89 94 +f 90 68 95 +f 71 90 95 +f 85 71 96 +f 87 81 96 +f 71 95 96 +f 83 65 97 +f 83 78 98 +f 65 83 98 +f 92 75 99 +f 80 92 99 +f 69 76 100 +f 79 69 100 +f 76 79 100 +f 69 79 101 +f 79 73 101 +f 84 69 101 +f 66 86 102 +f 86 74 102 +f 99 66 102 +f 74 99 102 +f 86 67 103 +f 90 82 103 +f 81 70 104 +f 70 85 104 +f 96 81 104 +f 85 96 104 +f 78 81 105 +f 87 77 105 +f 81 87 105 +f 65 98 105 +f 98 78 105 +f 70 72 106 +f 85 70 106 +f 68 73 107 +f 73 94 107 +f 95 68 107 +f 95 107 108 +f 77 87 108 +f 94 77 108 +f 87 96 108 +f 96 95 108 +f 107 94 108 +f 74 69 109 +f 69 84 109 +f 91 74 109 +f 84 91 109 +f 79 76 110 +f 76 83 110 +f 83 97 110 +f 97 94 110 +f 82 85 111 +f 106 72 111 +f 85 106 111 +f 80 84 112 +f 73 88 112 +f 88 80 112 +f 101 73 112 +f 84 101 112 +f 77 94 113 +f 97 65 113 +f 94 97 113 +f 65 105 113 +f 105 77 113 +f 84 80 114 +f 74 91 114 +f 91 84 114 +f 99 74 114 +f 80 99 114 +f 73 79 115 +f 89 73 115 +f 94 89 115 +f 79 110 115 +f 110 94 115 +f 67 66 116 +f 75 90 116 +f 66 99 116 +f 99 75 116 +f 103 67 116 +f 90 103 116 +f 72 86 117 +f 103 82 117 +f 86 103 117 +f 82 111 117 +o convex_2 +v 0.470584 -2.025001 0.563254 +v -0.060405 -2.056294 -0.748917 +v -0.060405 -2.025001 -0.748917 +v -0.591537 -2.056294 0.438325 +v 0.626833 -2.274956 -0.030297 +v -0.435288 -2.274956 0.407093 +v -0.466624 -2.274956 -0.436315 +v 0.595641 -2.025001 -0.561243 +v 0.470584 -2.274956 -0.530011 +v -0.716594 -2.025001 -0.061389 +v 0.095701 -2.274956 0.532021 +v -0.091597 -2.025001 0.688323 +v 0.751890 -2.025001 0.000935 +v -0.529009 -2.025001 -0.592475 +v 0.470584 -2.274956 0.407093 +v -0.091597 -2.274956 -0.623707 +v -0.560345 -2.274956 0.063399 +v 0.126893 -2.056294 -0.748917 +v -0.529009 -2.025001 0.532021 +v -0.029212 -2.087514 0.688323 +v 0.564305 -2.056294 0.500789 +v 0.564305 -2.087514 -0.592475 +v -0.716594 -2.056294 -0.061389 +v -0.529009 -2.056294 -0.592475 +v 0.751890 -2.056294 0.000935 +v 0.189421 -2.056294 0.656950 +v 0.064508 -2.243712 -0.655080 +v -0.560345 -2.274956 -0.155085 +f 134 140 145 +f 122 123 124 +f 120 118 125 +f 122 124 126 +f 118 120 127 +f 123 122 128 +f 118 127 129 +f 125 118 130 +f 120 119 131 +f 127 120 131 +f 128 122 132 +f 126 124 133 +f 123 121 134 +f 124 123 134 +f 119 120 135 +f 120 125 135 +f 121 123 136 +f 127 121 136 +f 129 127 136 +f 129 136 137 +f 123 128 137 +f 136 123 137 +f 130 118 138 +f 118 132 138 +f 122 126 139 +f 135 125 139 +f 126 135 139 +f 121 127 140 +f 127 131 140 +f 134 121 140 +f 131 119 141 +f 119 133 141 +f 133 124 141 +f 124 140 141 +f 140 131 141 +f 125 130 142 +f 132 122 142 +f 130 138 142 +f 138 132 142 +f 122 139 142 +f 139 125 142 +f 118 129 143 +f 132 118 143 +f 128 132 143 +f 129 137 143 +f 137 128 143 +f 133 119 144 +f 126 133 144 +f 119 135 144 +f 135 126 144 +f 124 134 145 +f 140 124 145 +o convex_3 +v -0.841400 0.193347 0.937666 +v 0.002026 -2.025001 -1.186221 +v 0.033148 -2.025001 -1.186221 +v 0.033148 -1.774851 2.718709 +v 1.001845 0.193347 -0.154785 +v -0.778960 -1.024834 -2.654057 +v -0.872718 -1.806120 0.969045 +v 0.814330 -1.649776 -1.935829 +v 0.751890 -0.993782 2.718128 +v 0.064465 -0.213148 -2.686017 +v -0.060414 -0.275685 2.750088 +v -0.966475 -1.025051 2.094037 +v 0.939209 -1.743582 0.063124 +v -0.810278 0.193347 -1.029327 +v 0.783012 -0.962296 -2.685436 +v -0.060414 -1.743582 -2.716815 +v 0.876769 0.193347 1.125358 +v -0.778960 -1.805902 -1.779515 +v -0.966475 -0.962513 -2.060763 +v 0.751890 -2.025001 0.063124 +v -0.685203 -2.025001 0.218856 +v 0.814330 0.193347 -1.123464 +v 0.970527 -1.056320 1.999900 +v 1.001845 -0.993782 -2.029384 +v 0.720572 -1.743582 1.999900 +v -0.685203 -1.056320 2.780886 +v -0.966475 0.193347 -0.061229 +v -0.778960 -1.743582 1.969102 +v 0.002026 -1.962246 2.094037 +v -0.029096 -0.931244 -2.967265 +v 0.002026 0.193347 1.781410 +v -0.966475 -1.743582 -0.029851 +v 0.033148 -1.993515 -2.029384 +v 0.095587 -1.056320 2.969160 +v 0.002026 0.193347 -1.779515 +v -0.716521 -0.244416 2.062658 +v -0.591641 -0.338223 -2.373390 +v 0.595497 -0.431812 2.531017 +v 0.751890 -0.213148 -1.998006 +v -0.997793 -1.087371 0.000947 +v 1.001845 -0.962513 1.687854 +v 0.751890 -1.743582 -1.966627 +v 0.126905 -0.275685 2.750088 +v -0.591641 -1.587238 -2.498325 +v -0.747643 -2.025001 -0.060648 +v 0.564375 -1.555969 -2.529123 +v -0.716521 -0.962296 -2.747613 +v 0.783012 -0.213148 1.999900 +v -0.497688 -1.618507 2.562396 +v -0.716521 -0.181879 -1.967208 +v -0.997793 -0.962513 1.625096 +v 0.970527 -0.712797 1.844168 +v 0.564375 -1.555969 2.531017 +v 0.595497 -0.431812 -2.529123 +v -0.529006 -0.462864 2.593775 +v 0.876769 -1.805902 -0.842216 +v -0.747643 -1.774851 -2.029384 +v -0.810278 0.193347 1.093979 +v 0.626815 -2.025001 -0.560968 +v 0.751890 -1.056320 -2.716234 +v -0.029096 -0.244416 -2.716815 +v -0.966475 -0.900193 2.031279 +v 0.033148 -1.743582 -2.716815 +v 1.001845 0.193347 0.218856 +f 197 186 209 +f 146 150 159 +f 150 146 162 +f 147 148 165 +f 147 165 166 +f 159 150 167 +f 167 150 169 +f 165 158 170 +f 168 154 170 +f 158 168 170 +f 146 159 172 +f 159 164 172 +f 157 152 173 +f 171 157 173 +f 166 165 174 +f 170 149 174 +f 165 170 174 +f 149 173 174 +f 173 166 174 +f 155 160 175 +f 162 146 176 +f 152 157 177 +f 164 163 177 +f 148 147 178 +f 149 154 179 +f 171 149 179 +f 156 171 179 +f 159 167 180 +f 167 155 180 +f 155 167 184 +f 169 160 184 +f 167 169 184 +f 172 164 185 +f 164 177 185 +f 168 158 186 +f 158 169 186 +f 169 150 186 +f 176 156 188 +f 162 176 188 +f 179 154 188 +f 156 179 188 +f 154 183 188 +f 147 166 190 +f 173 152 190 +f 166 173 190 +f 152 177 190 +f 177 163 190 +f 178 147 190 +f 163 178 190 +f 175 161 192 +f 189 151 192 +f 161 189 192 +f 183 154 193 +f 162 188 193 +f 188 183 193 +f 149 171 194 +f 173 149 194 +f 171 173 194 +f 164 159 195 +f 151 164 195 +f 159 180 195 +f 192 151 195 +f 182 192 195 +f 177 157 196 +f 172 185 196 +f 185 177 196 +f 154 168 197 +f 168 186 197 +f 193 154 197 +f 162 193 197 +f 154 149 198 +f 149 170 198 +f 170 154 198 +f 160 155 199 +f 155 184 199 +f 184 160 199 +f 171 156 200 +f 156 181 200 +f 181 171 200 +f 158 165 201 +f 153 169 201 +f 169 158 201 +f 187 153 201 +f 165 187 201 +f 164 151 202 +f 163 164 202 +f 161 178 202 +f 178 163 202 +f 151 189 202 +f 189 161 202 +f 176 146 203 +f 156 176 203 +f 181 156 203 +f 165 148 204 +f 148 178 204 +f 187 165 204 +f 178 187 204 +f 169 153 205 +f 160 169 205 +f 175 160 205 +f 153 187 205 +f 187 191 205 +f 155 175 206 +f 180 155 206 +f 175 192 206 +f 192 182 206 +f 195 180 206 +f 182 195 206 +f 157 171 207 +f 146 172 207 +f 171 181 207 +f 196 157 207 +f 172 196 207 +f 203 146 207 +f 181 203 207 +f 161 175 208 +f 178 161 208 +f 187 178 208 +f 191 187 208 +f 175 205 208 +f 205 191 208 +f 150 162 209 +f 186 150 209 +f 162 197 209 +o convex_4 +v -0.966356 0.193347 0.157144 +v 1.001652 0.505790 0.250315 +v 1.001652 0.349569 0.250315 +v 0.033062 0.224634 -1.748736 +v -0.810287 0.505790 -0.905065 +v 0.033062 0.193347 1.750630 +v -0.810287 0.505790 1.031986 +v 0.845583 0.193347 -0.998578 +v 0.814177 0.505790 -0.967407 +v 0.876797 0.505790 0.969302 +v 0.876797 0.193347 1.062814 +v -0.778881 0.193347 -1.061263 +v -0.810287 0.193347 1.063157 +v -0.029173 0.505790 -1.342486 +v 0.095490 0.505790 1.344380 +v -0.966356 0.505790 -0.029881 +v 1.001652 0.193347 -0.154908 +v 0.002041 0.193347 -1.748736 +v 1.001652 0.505790 -0.154908 +v 0.064276 0.224634 1.750630 +v -0.966356 0.193347 -0.029881 +v -0.903929 0.505790 0.563052 +v 0.782963 0.224634 -1.092434 +v 0.033062 0.474503 -1.404828 +v 0.908011 0.193347 0.969302 +v 0.033062 0.474503 1.406722 +v -0.747667 0.505790 -0.967065 +v -0.029173 0.224634 1.719117 +v -0.810287 0.193347 -0.967065 +v 0.002041 0.224634 -1.748736 +v 0.876797 0.505790 -0.811210 +v 1.001652 0.193347 0.219486 +v 0.158110 0.224634 1.687946 +v 0.908011 0.505790 0.906617 +f 220 234 243 +f 211 214 216 +f 215 210 217 +f 214 211 218 +f 211 216 219 +f 215 217 220 +f 217 210 221 +f 210 215 222 +f 214 218 223 +f 219 216 224 +f 216 214 225 +f 211 212 226 +f 220 217 226 +f 217 221 227 +f 218 211 228 +f 211 226 228 +f 226 217 228 +f 219 224 229 +f 221 210 230 +f 210 225 230 +f 210 222 231 +f 222 216 231 +f 225 210 231 +f 216 225 231 +f 213 218 232 +f 218 217 232 +f 227 213 232 +f 217 227 232 +f 218 213 233 +f 223 218 233 +f 212 211 234 +f 220 226 234 +f 224 216 235 +f 229 224 235 +f 221 214 236 +f 214 223 236 +f 222 215 237 +f 216 222 237 +f 215 229 237 +f 235 216 237 +f 229 235 237 +f 214 221 238 +f 225 214 238 +f 221 230 238 +f 230 225 238 +f 213 227 239 +f 227 221 239 +f 233 213 239 +f 223 233 239 +f 221 236 239 +f 236 223 239 +f 217 218 240 +f 218 228 240 +f 228 217 240 +f 226 212 241 +f 212 234 241 +f 234 226 241 +f 215 220 242 +f 220 219 242 +f 229 215 242 +f 219 229 242 +f 211 219 243 +f 219 220 243 +f 234 211 243 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/684/684.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/684/684.urdf new file mode 100644 index 000000000..c6e040d42 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/684/684.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/685/685.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/685/685.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/685/685.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/685/685.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/685/685.obj new file mode 100644 index 000000000..08ae39621 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/685/685.obj @@ -0,0 +1,360 @@ +o convex_0 +v 0.412788 3.915600 0.122929 +v -1.063342 -2.199731 -0.931121 +v -1.063342 -2.199731 -0.509584 +v 1.015386 -1.959088 0.966417 +v -1.063342 3.854837 1.056835 +v 0.924933 3.794677 -1.021539 +v -1.033190 3.824757 -1.051885 +v 0.985235 -2.079410 -0.931121 +v 1.105839 3.854837 0.966417 +v -1.003040 -2.229811 0.996763 +v 0.924933 -2.079410 0.996556 +v 0.473091 -2.230413 -0.449098 +v -1.063342 1.233638 -1.021539 +v 0.955084 2.558977 -1.021539 +v 1.075688 1.263718 0.996763 +v 0.563544 -2.230413 0.574812 +v 1.105839 3.854837 0.725509 +v -0.972888 -2.169651 -0.961467 +v -1.003040 2.167331 1.057041 +v -0.581136 3.854236 1.057041 +v 0.985235 -1.115034 -0.961467 +v -1.003040 3.854236 -0.961467 +v 0.081339 3.704436 -1.051678 +v 0.924933 3.854837 0.996556 +v -0.791982 -2.229811 -0.810770 +v -1.063342 3.824757 0.032511 +v 0.955084 3.794677 -0.961467 +v -1.003040 -0.633147 1.026695 +v 1.105839 2.860382 0.936278 +v 0.111490 3.915600 0.303558 +v -0.972888 2.950623 -1.051885 +v -1.063342 3.282710 1.056835 +v 0.985235 3.884918 0.876205 +v 1.015386 -1.959088 0.996763 +v -1.063342 2.258174 -1.021539 +v 0.985235 -2.079410 0.936484 +v -1.033190 -2.139570 0.333698 +v -0.038841 3.824757 -1.051678 +v 0.714087 -1.325597 -0.961467 +v 0.744238 -2.109490 -0.931121 +v 0.503242 3.915600 0.484394 +v 1.075688 2.077090 0.996763 +v -0.852284 -2.229811 0.996763 +v 0.985235 -0.934552 -0.961467 +v -1.063342 -2.169651 -0.961260 +v -1.033190 0.330626 1.026695 +v 1.075688 3.854837 0.394183 +v 0.834479 3.824757 -0.750285 +v -0.701741 -2.199731 -0.931327 +v -1.063342 3.854837 0.243486 +v 0.081339 3.915600 0.243486 +v 0.955084 3.010783 -1.021539 +v -0.882435 -2.229811 -0.810770 +v 0.382637 3.915600 0.092790 +v -0.701741 3.101626 -1.051885 +v 0.442940 -2.230413 -0.479238 +v -0.581136 3.733915 1.057041 +v 0.894781 -2.109490 -0.870842 +f 56 40 58 +f 2 3 5 +f 3 2 10 +f 2 5 13 +f 5 19 20 +f 17 8 21 +f 14 21 23 +f 13 5 26 +f 11 19 28 +f 4 8 29 +f 9 15 29 +f 17 9 29 +f 8 17 29 +f 13 7 31 +f 18 13 31 +f 5 3 32 +f 19 5 32 +f 28 19 32 +f 9 17 33 +f 5 20 33 +f 24 9 33 +f 20 24 33 +f 8 4 34 +f 19 11 34 +f 4 29 34 +f 29 15 34 +f 7 13 35 +f 26 7 35 +f 13 26 35 +f 16 8 36 +f 11 16 36 +f 8 34 36 +f 34 11 36 +f 3 10 37 +f 32 3 37 +f 7 22 38 +f 6 23 38 +f 23 7 38 +f 8 18 39 +f 21 8 39 +f 18 31 39 +f 18 8 40 +f 1 30 41 +f 30 5 41 +f 5 33 41 +f 33 1 41 +f 15 9 42 +f 20 15 42 +f 9 24 42 +f 24 20 42 +f 16 11 43 +f 10 16 43 +f 28 10 43 +f 11 28 43 +f 21 14 44 +f 17 21 44 +f 2 13 45 +f 18 2 45 +f 13 18 45 +f 10 28 46 +f 28 32 46 +f 37 10 46 +f 32 37 46 +f 17 27 47 +f 33 17 47 +f 1 33 47 +f 27 6 48 +f 6 38 48 +f 1 47 48 +f 47 27 48 +f 2 18 49 +f 18 40 49 +f 22 7 50 +f 26 5 50 +f 7 26 50 +f 30 1 51 +f 5 30 51 +f 22 50 51 +f 50 5 51 +f 23 6 52 +f 14 23 52 +f 6 27 52 +f 27 17 52 +f 44 14 52 +f 17 44 52 +f 10 2 53 +f 2 49 53 +f 49 25 53 +f 38 22 54 +f 1 48 54 +f 48 38 54 +f 51 1 54 +f 22 51 54 +f 7 23 55 +f 23 21 55 +f 31 7 55 +f 21 39 55 +f 39 31 55 +f 16 10 56 +f 12 16 56 +f 25 49 56 +f 49 40 56 +f 10 53 56 +f 53 25 56 +f 15 20 57 +f 20 19 57 +f 19 34 57 +f 34 15 57 +f 8 16 58 +f 16 12 58 +f 40 8 58 +f 12 56 58 +o convex_1 +v 0.111561 -6.207245 -0.027476 +v 0.262145 -4.248957 0.333981 +v 0.292379 -4.248957 0.303797 +v -0.310089 -4.248957 -0.298653 +v -0.279985 -6.176958 0.303797 +v 0.352587 -4.399816 -0.328768 +v 0.352587 -6.176958 0.213450 +v 0.141664 -6.146863 -0.358952 +v -0.279985 -4.248957 0.273682 +v -0.249881 -6.176958 -0.208306 +v 0.262145 -6.146863 -0.358952 +v 0.352587 -4.248957 -0.117891 +v -0.008855 -5.303243 0.333981 +v 0.352587 -6.207245 0.062804 +v -0.310089 -4.851817 -0.268469 +v -0.310089 -4.248957 0.032688 +v 0.081392 -5.634480 -0.358952 +v 0.352587 -4.248957 -0.298653 +v 0.021249 -6.207245 0.273682 +v -0.279985 -5.965909 -0.208306 +v -0.159504 -4.339625 0.303797 +v 0.292379 -4.399816 0.333981 +v 0.352587 -5.604385 0.213450 +v -0.279985 -5.152959 0.303797 +v 0.081392 -4.309339 0.333981 +v 0.292379 -5.604385 -0.358952 +v -0.249881 -5.845529 -0.238421 +v 0.352587 -4.580386 -0.328768 +v -0.129336 -6.176958 0.303797 +f 80 71 87 +f 60 61 62 +f 60 62 67 +f 68 66 69 +f 59 68 69 +f 62 61 70 +f 65 64 70 +f 64 65 72 +f 59 69 72 +f 62 66 73 +f 67 62 74 +f 62 73 74 +f 73 63 74 +f 62 64 75 +f 66 62 75 +f 69 66 75 +f 64 62 76 +f 62 70 76 +f 70 64 76 +f 68 59 77 +f 63 68 77 +f 59 72 77 +f 72 65 77 +f 68 63 78 +f 63 73 78 +f 61 60 80 +f 60 71 80 +f 70 61 81 +f 65 70 81 +f 61 80 81 +f 80 65 81 +f 63 71 82 +f 67 74 82 +f 74 63 82 +f 79 67 82 +f 79 82 83 +f 60 67 83 +f 71 60 83 +f 67 79 83 +f 82 71 83 +f 72 69 84 +f 75 64 84 +f 69 75 84 +f 66 68 85 +f 73 66 85 +f 68 78 85 +f 78 73 85 +f 64 72 86 +f 84 64 86 +f 72 84 86 +f 71 63 87 +f 63 77 87 +f 77 65 87 +f 65 80 87 +o convex_2 +v 0.563423 -2.230413 0.484486 +v -0.581301 -2.833052 -0.358905 +v -0.581301 -2.833052 -0.268389 +v 0.473138 -4.218726 -0.358905 +v -0.490901 -4.218726 0.484486 +v 0.443004 -2.230413 -0.479438 +v -0.551053 -2.230413 0.484486 +v 0.593672 -4.067967 0.575001 +v -0.490901 -4.098001 -0.599972 +v -0.581301 -2.230413 -0.599972 +v 0.443004 -4.218726 -0.509572 +v 0.382738 -2.230413 0.575001 +v 0.262204 -4.248957 0.333934 +v -0.310101 -4.248957 -0.298523 +v 0.473138 -2.230413 -0.449190 +v -0.520920 -4.158462 0.454352 +v -0.400501 -2.230413 -0.599972 +v 0.593672 -4.007901 0.454352 +v -0.520920 -3.977670 -0.599972 +v 0.563423 -2.230413 0.575001 +v -0.370368 -2.381171 0.514619 +v -0.340119 -4.098001 -0.599972 +v -0.581301 -2.290677 0.002466 +v -0.430519 -4.248957 0.333934 +v 0.352604 -4.248957 -0.298638 +v 0.533290 -3.977670 0.575001 +v -0.551053 -2.682491 0.484486 +v 0.593672 -3.525593 0.514619 +v -0.581301 -2.772985 -0.599972 +v 0.443004 -4.037934 -0.509572 +v -0.490901 -4.218726 0.243418 +v 0.201937 -4.218726 -0.509457 +v -0.189567 -4.037934 0.514619 +v 0.473138 -2.531732 -0.449190 +v 0.292337 -4.248957 0.303800 +v -0.310101 -4.218726 0.484486 +f 92 100 123 +f 88 93 94 +f 89 90 97 +f 94 93 97 +f 88 94 99 +f 93 88 102 +f 90 89 103 +f 97 93 104 +f 96 97 104 +f 95 91 105 +f 97 96 106 +f 103 89 106 +f 96 103 106 +f 88 99 107 +f 99 95 107 +f 99 94 108 +f 98 96 109 +f 96 104 109 +f 97 90 110 +f 94 97 110 +f 90 103 110 +f 100 92 111 +f 101 100 111 +f 98 91 112 +f 101 98 112 +f 100 101 112 +f 92 95 113 +f 95 99 113 +f 99 108 113 +f 103 92 114 +f 92 108 114 +f 108 94 114 +f 94 110 114 +f 110 103 114 +f 102 88 115 +f 95 105 115 +f 105 102 115 +f 88 107 115 +f 107 95 115 +f 89 97 116 +f 97 106 116 +f 106 89 116 +f 93 102 117 +f 102 98 117 +f 104 93 117 +f 98 109 117 +f 109 104 117 +f 96 101 118 +f 92 103 118 +f 103 96 118 +f 111 92 118 +f 101 111 118 +f 96 98 119 +f 98 101 119 +f 101 96 119 +f 108 92 120 +f 92 113 120 +f 113 108 120 +f 91 98 121 +f 98 102 121 +f 105 91 121 +f 102 105 121 +f 91 95 122 +f 95 100 122 +f 112 91 122 +f 100 112 122 +f 95 92 123 +f 100 95 123 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/685/685.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/685/685.urdf new file mode 100644 index 000000000..a6ae6b60f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/685/685.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/686/686.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/686/686.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/686/686.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/686/686.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/686/686.obj new file mode 100644 index 000000000..e04683f30 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/686/686.obj @@ -0,0 +1,582 @@ +o convex_0 +v 0.149601 -2.956381 0.303085 +v -0.353917 -4.502615 -0.344410 +v -0.353917 -4.502615 -0.200433 +v 0.329572 -4.466599 -0.344410 +v 0.041685 -2.668258 -0.344410 +v -0.245934 -2.668258 0.339079 +v 0.149601 -4.574646 0.195169 +v -0.210007 -4.538630 0.231096 +v 0.257584 -2.668258 -0.344410 +v -0.245934 -2.812506 -0.236360 +v 0.221523 -2.668258 0.303085 +v 0.221523 -4.574646 0.159175 +v -0.353917 -4.107006 -0.344410 +v 0.257584 -2.848335 0.195169 +v -0.174012 -3.136084 0.339079 +v -0.174012 -2.668258 -0.272422 +v -0.245934 -4.538630 0.195169 +v 0.329572 -4.322725 -0.272422 +v -0.245934 -3.064240 0.339079 +v 0.293578 -4.502615 -0.308416 +f 4 12 20 +f 4 2 5 +f 4 5 9 +f 5 6 9 +f 1 7 11 +f 9 6 11 +f 7 2 12 +f 11 7 12 +f 2 3 13 +f 5 2 13 +f 3 6 13 +f 6 10 13 +f 9 11 14 +f 11 12 14 +f 7 1 15 +f 8 7 15 +f 1 11 15 +f 11 6 15 +f 6 5 16 +f 10 6 16 +f 5 13 16 +f 13 10 16 +f 3 2 17 +f 2 7 17 +f 7 8 17 +f 4 9 18 +f 12 4 18 +f 9 14 18 +f 14 12 18 +f 6 3 19 +f 8 15 19 +f 15 6 19 +f 3 17 19 +f 17 8 19 +f 2 4 20 +f 12 2 20 +o convex_1 +v 1.085007 0.820975 0.950347 +v -1.037335 -0.473899 -0.991545 +v -0.281760 -0.473899 -1.027899 +v -1.001395 1.792407 -1.027691 +v -1.001395 -0.473899 1.022223 +v -1.037335 1.792407 1.058161 +v 0.976979 1.792407 -1.027691 +v 1.012919 -0.473899 -1.027691 +v 1.085007 -0.473899 1.022223 +v 1.048859 1.792407 1.094306 +v -0.641577 1.720309 1.094306 +v -1.037335 -0.473899 0.878471 +v -1.037335 1.792407 -0.416124 +v 1.085007 0.245747 1.058161 +v 1.048859 -0.437739 -0.523937 +v 1.048859 1.756247 0.410863 +v -1.037335 0.101773 -1.027691 +v 1.012919 0.497534 -0.991545 +v 1.085007 -0.473899 0.410863 +v 0.005970 0.317622 1.058368 +v 1.012919 1.792407 -0.416124 +v -1.037335 0.641285 -1.027691 +v -0.857426 0.533471 1.058161 +v -1.037335 -0.114076 1.022223 +f 26 32 44 +f 22 23 25 +f 23 24 27 +f 24 26 27 +f 25 23 28 +f 23 27 28 +f 25 28 29 +f 27 26 30 +f 30 26 31 +f 22 25 32 +f 26 22 32 +f 22 26 33 +f 26 24 33 +f 25 29 34 +f 29 21 34 +f 21 30 34 +f 30 31 34 +f 30 21 36 +f 21 35 36 +f 23 22 37 +f 22 33 37 +f 28 27 38 +f 35 28 38 +f 36 35 38 +f 21 29 39 +f 29 28 39 +f 35 21 39 +f 28 35 39 +f 25 34 40 +f 34 31 40 +f 27 30 41 +f 30 36 41 +f 38 27 41 +f 36 38 41 +f 24 23 42 +f 33 24 42 +f 23 37 42 +f 37 33 42 +f 26 25 43 +f 31 26 43 +f 25 40 43 +f 40 31 43 +f 25 26 44 +f 32 25 44 +o convex_2 +v 0.797061 -0.474106 1.022187 +v 0.041668 -2.668043 -0.344537 +v 0.257524 -2.668043 -0.344537 +v -0.965315 -0.546049 -3.077985 +v 1.012917 -2.380271 -2.970150 +v -1.001256 -0.582128 1.058541 +v -1.001256 -2.560021 -3.114338 +v 1.048858 -0.617992 -2.934205 +v 0.976975 -2.524157 1.058541 +v -0.929374 -2.488078 1.058541 +v 1.084800 -0.510185 1.058541 +v 0.976975 -2.596100 -3.006095 +v -1.037198 -0.474106 0.842054 +v 1.012917 -0.474106 -1.027899 +v -1.037198 -0.474106 -0.992362 +v -0.245864 -2.668043 0.338417 +v 1.084800 -0.941628 0.950298 +v -0.965315 -2.596100 -2.538403 +v -1.037198 -1.624763 -2.034765 +v -0.929374 -2.596100 -0.632913 +v -1.001256 -0.582128 -2.934205 +v -0.102098 -2.596100 -3.077985 +v 1.048858 -1.301557 -2.934205 +v 0.941034 -2.596100 -0.848583 +v -0.749459 -0.617992 -3.077985 +v -0.965315 -1.948614 1.058541 +v 0.221583 -2.668043 0.302880 +v 1.084800 -0.474106 0.410715 +v 0.437231 -0.582128 -2.969742 +v 1.012917 -2.092499 1.022187 +v -1.001256 -0.474106 1.021779 +v -1.001256 -1.696921 -3.114338 +v -1.037198 -0.546049 -1.926930 +v -1.001256 -2.560021 -2.826370 +v 0.976975 -1.265478 -2.970150 +v -1.037198 -0.653856 0.734220 +v 0.976975 -2.560021 0.446660 +v -0.066156 -2.524157 1.058541 +v 0.976975 -2.416350 -3.006095 +v -0.677576 -2.452214 -3.114338 +v -0.929374 -2.524157 0.698275 +v -0.713517 -2.631964 -0.776693 +v -0.209922 -2.668043 -0.237110 +v -0.857491 -0.546049 -3.077985 +v 0.689236 -0.617992 -2.969742 +f 69 88 89 +f 53 50 54 +f 50 53 55 +f 57 45 58 +f 57 58 59 +f 58 48 59 +f 46 47 60 +f 57 59 63 +f 47 46 66 +f 56 47 66 +f 62 51 66 +f 49 52 67 +f 61 49 67 +f 47 56 68 +f 54 50 70 +f 50 57 70 +f 60 47 71 +f 53 60 71 +f 47 68 71 +f 45 55 72 +f 52 58 72 +f 58 45 72 +f 55 61 72 +f 67 52 72 +f 61 67 72 +f 58 52 73 +f 53 49 74 +f 55 53 74 +f 49 61 74 +f 61 55 74 +f 55 45 75 +f 50 55 75 +f 45 57 75 +f 57 50 75 +f 51 63 76 +f 65 48 76 +f 59 48 77 +f 63 59 77 +f 48 65 77 +f 76 63 77 +f 65 76 77 +f 51 62 78 +f 63 51 78 +f 62 64 78 +f 54 70 78 +f 70 63 78 +f 57 63 80 +f 70 57 80 +f 63 70 80 +f 49 53 81 +f 56 49 81 +f 68 56 81 +f 53 71 81 +f 71 68 81 +f 53 54 82 +f 60 53 82 +f 54 60 82 +f 52 49 83 +f 49 56 83 +f 56 66 83 +f 79 52 83 +f 69 79 83 +f 66 51 84 +f 51 76 84 +f 76 69 84 +f 83 66 84 +f 69 83 84 +f 60 54 85 +f 64 60 85 +f 54 78 85 +f 78 64 85 +f 60 64 86 +f 64 62 86 +f 46 60 87 +f 66 46 87 +f 62 66 87 +f 60 86 87 +f 86 62 87 +f 48 58 88 +f 73 52 88 +f 58 73 88 +f 76 48 88 +f 69 76 88 +f 52 79 89 +f 79 69 89 +f 88 52 89 +o convex_3 +v 1.084997 -1.409481 3.036751 +v -1.073379 -2.668257 3.001025 +v -1.001334 -2.596213 2.066112 +v -0.965417 -0.509872 3.072879 +v 1.084997 -0.546000 1.058541 +v 0.977036 -2.524168 1.058541 +v -1.001334 -0.581916 1.058541 +v 1.084997 -2.488040 2.964897 +v -0.929290 -2.488251 1.058541 +v 1.048869 -0.546000 3.072879 +v -0.965417 -2.668257 3.109007 +v -1.073379 -2.272539 3.109007 +v 0.869075 -2.524168 3.001025 +v -1.001334 -0.546000 1.634181 +v -1.001334 -1.229686 1.058541 +v 1.012952 -2.524168 1.382489 +v 1.084997 -0.905801 1.058541 +v -0.317863 -0.546000 1.058541 +v 1.048869 -0.905801 3.072879 +v -0.965417 -2.524168 1.346361 +v -1.001334 -0.546000 2.425385 +v 1.084997 -0.546000 2.389257 +v -1.073379 -2.632129 2.821187 +v -0.929290 -2.524168 1.166523 +v 1.084997 -2.488040 2.677077 +v 1.084997 -2.344373 3.001025 +v -1.001334 -0.797840 3.072879 +v 1.012952 -2.524168 2.065911 +v -0.749495 -0.509872 3.036952 +v -0.029896 -2.524168 1.058541 +v -0.677451 -2.344162 3.109007 +f 115 108 120 +f 94 95 96 +f 94 90 97 +f 96 95 98 +f 91 95 100 +f 99 93 101 +f 91 100 101 +f 96 101 103 +f 96 98 104 +f 100 95 105 +f 95 94 106 +f 94 97 106 +f 105 95 106 +f 94 96 107 +f 103 93 107 +f 96 103 107 +f 90 99 108 +f 92 91 109 +f 104 98 109 +f 93 103 110 +f 103 101 110 +f 90 94 111 +f 99 90 111 +f 91 101 112 +f 101 96 112 +f 96 104 112 +f 109 91 112 +f 104 109 112 +f 92 109 113 +f 109 98 113 +f 97 105 114 +f 106 97 114 +f 105 106 114 +f 97 90 115 +f 102 97 115 +f 100 102 115 +f 90 108 115 +f 101 93 116 +f 93 110 116 +f 110 101 116 +f 97 102 117 +f 102 100 117 +f 105 97 117 +f 100 105 117 +f 93 99 118 +f 107 93 118 +f 94 107 118 +f 111 94 118 +f 99 111 118 +f 91 92 119 +f 95 91 119 +f 98 95 119 +f 92 113 119 +f 113 98 119 +f 99 101 120 +f 101 100 120 +f 108 99 120 +f 100 115 120 +o convex_4 +v 0.149599 3.015492 2.533230 +v 0.329531 1.828496 1.130487 +v -0.569678 1.900534 1.634220 +v 0.473409 1.864515 3.109007 +v 0.545404 2.943454 1.130487 +v -0.569678 2.943338 3.072985 +v -0.497683 2.979357 1.130487 +v -0.461741 1.828496 2.965111 +v 0.509350 3.015492 3.109007 +v -0.605619 1.936436 1.130487 +v 0.473409 1.828496 1.130487 +v 0.509237 2.224239 3.109007 +v -0.569678 2.727573 3.072985 +v 0.473409 1.828496 2.713148 +v -0.497683 1.972455 3.000746 +v -0.605619 2.332179 1.742287 +v 0.509237 2.152317 1.130487 +v -0.533624 2.835514 1.130487 +v 0.293477 1.864515 3.109007 +v -0.030220 2.979357 3.109007 +v 0.509350 3.015492 2.677126 +v -0.569678 2.943338 2.497208 +v 0.545404 2.871533 1.526346 +v -0.245868 2.979357 1.130487 +v -0.209814 2.979357 3.072985 +v -0.605619 1.972455 1.310405 +v 0.545404 2.763592 1.166509 +f 143 132 147 +f 125 122 127 +f 123 122 128 +f 122 123 130 +f 127 122 130 +f 122 125 131 +f 128 122 131 +f 129 124 132 +f 124 128 134 +f 128 131 134 +f 132 124 134 +f 123 128 135 +f 133 126 136 +f 131 125 137 +f 134 131 137 +f 132 134 137 +f 127 130 138 +f 130 136 138 +f 128 124 139 +f 124 129 139 +f 135 128 139 +f 133 135 139 +f 126 133 140 +f 139 129 140 +f 133 139 140 +f 121 129 141 +f 129 125 141 +f 126 127 142 +f 136 126 142 +f 127 138 142 +f 138 136 142 +f 125 129 143 +f 129 132 143 +f 127 121 144 +f 125 127 144 +f 121 141 144 +f 141 125 144 +f 121 127 145 +f 127 126 145 +f 129 121 145 +f 126 140 145 +f 140 129 145 +f 130 123 146 +f 123 135 146 +f 135 133 146 +f 136 130 146 +f 133 136 146 +f 137 125 147 +f 132 137 147 +f 125 143 147 +o convex_5 +v -0.389777 3.051465 -1.063872 +v 0.509297 1.864353 -1.423941 +v 0.581299 1.864353 -1.423941 +v 0.509410 3.051465 -3.078366 +v -0.533782 1.936514 -3.078366 +v -0.497725 1.936514 -1.063872 +v 0.437407 3.051465 -1.063872 +v -0.425722 3.015443 -2.970305 +v 0.473352 2.008326 -3.042083 +v 0.617357 1.864353 -1.063872 +v 0.581299 3.051465 -3.078366 +v -0.461667 2.799541 -1.315881 +v -0.533782 2.116277 -3.078366 +v 0.149622 1.864353 -1.063872 +v -0.209940 1.936514 -3.078366 +v 0.473352 3.051465 -1.315881 +v 0.149622 3.051465 -3.042083 +v 0.581299 2.943514 -3.078366 +v 0.617357 1.936514 -1.063872 +v -0.533782 1.972304 -2.286845 +v -0.425722 3.015443 -1.063872 +v -0.317775 1.900375 -1.063872 +v 0.581299 3.051465 -2.934220 +v 0.149622 1.972304 -3.078366 +v -0.461667 2.799541 -2.970305 +v 0.617357 1.864353 -1.135846 +f 158 166 173 +f 150 149 152 +f 151 148 154 +f 148 153 154 +f 149 150 157 +f 154 153 157 +f 152 151 158 +f 151 154 158 +f 151 152 160 +f 152 149 161 +f 149 157 161 +f 157 153 161 +f 150 152 162 +f 152 158 162 +f 158 154 163 +f 148 151 164 +f 155 148 164 +f 160 155 164 +f 151 160 164 +f 162 158 165 +f 154 157 166 +f 163 154 166 +f 152 153 167 +f 153 159 167 +f 159 160 167 +f 160 152 167 +f 153 148 168 +f 148 155 168 +f 159 153 168 +f 155 159 168 +f 153 152 169 +f 152 161 169 +f 161 153 169 +f 158 163 170 +f 166 158 170 +f 163 166 170 +f 156 150 171 +f 150 162 171 +f 165 156 171 +f 162 165 171 +f 159 155 172 +f 155 160 172 +f 160 159 172 +f 150 156 173 +f 157 150 173 +f 156 165 173 +f 165 158 173 +f 166 157 173 +o convex_6 +v -1.001256 1.828640 -1.063872 +v 1.049027 3.267117 1.094401 +v 1.012878 3.483139 1.130487 +v -1.037405 1.792407 1.058315 +v -0.965312 3.555089 -0.883873 +v 0.976933 1.792579 -1.027786 +v 0.940989 3.411016 -1.027786 +v -1.037405 3.446905 1.058315 +v 1.049027 1.792579 1.094401 +v -0.677549 3.555089 -1.063872 +v -0.605659 1.936306 1.130487 +v -1.037405 1.792407 -0.380175 +v 0.617281 3.446905 -1.063872 +v -0.497825 2.979491 1.130487 +v -1.037405 3.483139 0.554618 +v 0.617281 1.864529 -1.063872 +v -0.929367 3.555089 -1.063872 +v 0.473298 1.828640 1.130487 +v 1.012878 3.483139 0.590704 +v 1.049027 1.828640 0.446790 +v 0.976933 3.195340 -0.632131 +v -1.001256 1.792407 -1.027786 +v 0.221480 3.483139 1.094401 +v -0.965312 3.555089 -0.739959 +v 0.976933 2.296227 -1.027786 +v 0.761060 3.411016 -1.063872 +v -0.497825 3.446905 1.094401 +v 1.012878 3.446905 0.303092 +f 198 194 201 +f 175 176 182 +f 181 177 184 +f 178 174 185 +f 177 181 185 +f 174 183 186 +f 184 176 187 +f 181 184 187 +f 178 185 188 +f 185 181 188 +f 179 174 189 +f 174 186 189 +f 174 178 190 +f 183 174 190 +f 178 183 190 +f 182 176 191 +f 177 182 191 +f 176 184 191 +f 184 177 191 +f 176 175 192 +f 183 176 192 +f 180 186 192 +f 186 183 192 +f 175 182 193 +f 182 179 193 +f 174 179 195 +f 182 177 195 +f 179 182 195 +f 185 174 195 +f 177 185 195 +f 188 181 196 +f 188 196 197 +f 183 178 197 +f 176 183 197 +f 178 188 197 +f 196 176 197 +f 193 179 198 +f 180 194 198 +f 186 180 199 +f 179 189 199 +f 189 186 199 +f 198 179 199 +f 180 198 199 +f 187 176 200 +f 181 187 200 +f 176 196 200 +f 196 181 200 +f 192 175 201 +f 180 192 201 +f 175 193 201 +f 194 180 201 +f 193 198 201 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/686/686.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/686/686.urdf new file mode 100644 index 000000000..4c3edea2c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/686/686.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/687/687.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/687/687.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/687/687.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/687/687.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/687/687.obj new file mode 100644 index 000000000..1d3758349 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/687/687.obj @@ -0,0 +1,516 @@ +o convex_0 +v -2.063540 1.689756 0.408278 +v -3.244256 -0.443712 0.332142 +v -3.168049 -0.443712 0.332142 +v -1.377875 1.689756 -1.115516 +v -1.377681 -0.329270 1.094148 +v -1.377681 -0.329270 -1.077232 +v -3.358662 1.613531 -1.077232 +v -3.320462 1.651539 1.055863 +v -1.377875 1.651539 0.979728 +v -3.244256 -0.367487 -1.001096 +v -3.244256 -0.443712 1.094148 +v -2.139746 1.689756 -1.115516 +v -3.358662 1.308421 -1.077232 +v -1.415881 -0.367279 1.094148 +v -3.282456 -0.138812 0.751105 +v -1.606495 -0.367279 -0.734405 +v -3.358662 1.651539 -0.162955 +v -3.053836 -0.367487 -1.039164 +v -2.672998 -0.443712 0.979728 +v -2.787210 1.689756 0.522482 +v -3.282456 0.623022 1.094148 +v -3.320462 0.851279 -1.077232 +v -1.377875 1.270622 1.017796 +v -1.415881 -0.100804 1.094148 +v -1.415881 0.965721 -1.115516 +v -1.377875 1.689756 0.255791 +v -3.320462 1.232405 1.055863 +v -1.758714 -0.329270 -1.077232 +v -2.482384 1.613531 -1.115516 +v -3.168049 -0.405496 -0.582134 +v -3.358662 1.232405 -0.658270 +v -3.168049 1.651539 1.055863 +v -2.253959 -0.367279 -1.039164 +v -3.015636 1.651539 -1.039164 +v -2.749204 -0.443712 0.560766 +v -1.987333 1.651539 1.017796 +v -3.282456 0.089655 1.094148 +f 27 31 37 +f 4 5 6 +f 2 3 11 +f 1 4 12 +f 6 5 14 +f 5 11 14 +f 10 2 15 +f 2 11 15 +f 13 10 15 +f 6 14 16 +f 7 13 17 +f 11 3 19 +f 14 11 19 +f 16 14 19 +f 9 1 20 +f 1 12 20 +f 17 8 20 +f 11 5 21 +f 10 13 22 +f 18 10 22 +f 5 9 23 +f 21 5 24 +f 5 23 24 +f 4 6 25 +f 12 4 25 +f 4 1 26 +f 5 4 26 +f 1 9 26 +f 9 5 26 +f 8 17 27 +f 21 8 27 +f 6 18 28 +f 18 22 28 +f 25 6 28 +f 25 28 29 +f 7 12 29 +f 13 7 29 +f 22 13 29 +f 12 25 29 +f 28 22 29 +f 3 2 30 +f 2 10 30 +f 16 3 30 +f 10 18 30 +f 13 15 31 +f 17 13 31 +f 27 17 31 +f 20 8 32 +f 8 21 32 +f 21 24 32 +f 6 16 33 +f 18 6 33 +f 16 30 33 +f 30 18 33 +f 12 7 34 +f 7 17 34 +f 20 12 34 +f 17 20 34 +f 3 16 35 +f 19 3 35 +f 16 19 35 +f 9 20 36 +f 23 9 36 +f 24 23 36 +f 20 32 36 +f 32 24 36 +f 15 11 37 +f 11 21 37 +f 21 27 37 +f 31 15 37 +o convex_1 +v -0.729880 3.632736 0.217723 +v -1.377681 -4.482063 0.598833 +v -1.377681 -4.482063 0.979728 +v 0.831982 -4.329553 0.865308 +v 0.679495 -4.329553 -1.077232 +v 0.755630 3.556481 1.017796 +v -1.263262 3.518353 -1.001096 +v 0.831982 3.556481 -1.077232 +v -1.339397 -4.367681 -0.963028 +v -1.377681 3.632736 0.941660 +v -1.377681 1.688234 -1.115516 +v 0.831982 -2.880709 1.094148 +v -1.377681 -0.140296 1.094148 +v 0.831982 1.612774 1.094148 +v 0.793698 -2.804454 -1.077232 +v 0.679495 -4.329553 1.055863 +v -0.044443 2.755804 -1.115516 +v -1.263262 3.632736 -0.963028 +v -1.110990 -4.482063 1.017796 +v -1.149058 3.632736 0.979728 +v -1.377681 0.926479 -1.115516 +v 0.831982 -0.405600 -0.924960 +v 0.679495 1.916999 1.094148 +v -0.120578 -4.366886 -1.039164 +v 0.412804 3.594608 -1.077232 +v 0.679495 -4.367681 0.979728 +v -1.377681 -0.330934 -1.077232 +v -1.263262 -0.671698 1.094148 +v 0.717562 -4.061866 -1.077232 +v 0.831982 3.556481 -0.734189 +v 0.831982 -3.414493 0.103519 +v -1.339397 -4.405807 -0.810541 +v -1.301329 3.632736 -0.543850 +v -1.377681 -4.215170 1.017796 +v -1.377681 -4.443935 0.294075 +v 0.146113 3.594608 0.941660 +v 0.831982 -4.329553 1.055863 +v 0.679495 2.983774 1.055863 +v 0.488939 -4.329553 -1.077232 +v -1.034638 -4.482063 0.941660 +v -1.301329 -0.671698 -1.077232 +v -1.187126 2.031382 -1.115516 +v -0.653744 3.632736 -1.001096 +v 0.527007 -2.690866 1.094148 +v 0.031693 -4.366886 -1.039164 +v -1.225194 0.812096 -1.115516 +v 0.069977 3.555686 1.017796 +v -1.377681 3.060823 0.979728 +v 0.336668 3.594608 -1.077232 +v -0.844083 3.632736 0.979728 +v 0.717562 -4.329553 -0.810541 +v 0.831982 -2.423973 -0.315227 +f 59 68 89 +f 39 40 47 +f 39 47 48 +f 41 45 49 +f 47 40 50 +f 50 49 51 +f 49 45 51 +f 45 52 54 +f 47 38 55 +f 44 48 55 +f 40 39 56 +f 38 47 57 +f 39 48 58 +f 48 54 58 +f 45 41 59 +f 52 45 59 +f 50 51 60 +f 57 50 60 +f 45 54 62 +f 39 58 64 +f 58 46 64 +f 49 50 65 +f 52 41 66 +f 42 54 66 +f 54 52 66 +f 43 51 67 +f 51 45 67 +f 62 43 67 +f 45 62 67 +f 41 52 68 +f 59 41 68 +f 46 61 69 +f 48 47 70 +f 47 55 70 +f 55 48 70 +f 50 40 71 +f 40 56 71 +f 65 50 71 +f 39 64 72 +f 64 46 72 +f 69 39 72 +f 46 69 72 +f 62 38 73 +f 43 62 73 +f 41 49 74 +f 49 53 74 +f 53 56 74 +f 63 41 74 +f 56 63 74 +f 51 43 75 +f 60 51 75 +f 42 61 76 +f 56 39 77 +f 42 63 77 +f 63 56 77 +f 46 58 78 +f 61 46 78 +f 58 76 78 +f 76 61 78 +f 48 44 79 +f 54 48 79 +f 55 38 80 +f 38 62 80 +f 53 49 81 +f 56 53 81 +f 49 65 81 +f 71 56 81 +f 65 71 81 +f 61 42 82 +f 39 69 82 +f 69 61 82 +f 77 39 82 +f 42 77 82 +f 54 42 83 +f 58 54 83 +f 42 76 83 +f 76 58 83 +f 43 57 84 +f 57 60 84 +f 75 43 84 +f 60 75 84 +f 47 50 85 +f 57 47 85 +f 50 57 85 +f 44 55 86 +f 62 54 86 +f 79 44 86 +f 54 79 86 +f 55 80 86 +f 80 62 86 +f 38 57 87 +f 57 43 87 +f 73 38 87 +f 43 73 87 +f 41 63 88 +f 63 42 88 +f 66 41 88 +f 42 66 88 +f 52 59 89 +f 68 52 89 +o convex_2 +v 2.279640 1.727980 -0.010684 +v 1.136763 3.479965 0.408293 +v 1.136763 3.479965 0.484481 +v 2.241491 3.632609 0.103542 +v 1.213063 3.708931 -0.543999 +v 1.289247 1.651658 -0.582149 +v 1.479650 1.651658 0.560781 +v 2.165307 3.708931 -0.505849 +v 2.279640 3.518428 0.560781 +v 2.241491 1.651658 -0.467811 +v 2.317790 1.651658 0.560781 +v 1.289247 1.651658 0.522631 +v 1.174913 3.594548 0.408293 +v 1.974904 3.327925 -0.543999 +v 2.279640 3.556287 0.294067 +v 1.517799 1.918483 -0.582149 +v 2.203456 3.213542 -0.505849 +v 2.012938 3.708931 -0.353362 +v 1.213063 2.528053 0.522631 +v 1.213063 3.365784 -0.543999 +v 1.327281 2.451731 -0.582149 +v 1.632133 3.556287 0.522631 +v 1.784270 3.708931 -0.543999 +v 1.174913 3.670669 -0.124798 +v 2.279640 3.556287 0.522631 +v 2.203456 2.756214 -0.505849 +v 2.241491 1.956544 -0.467811 +v 2.317790 1.994604 0.522631 +f 116 104 117 +f 96 95 99 +f 98 96 100 +f 99 90 100 +f 96 99 100 +f 95 96 101 +f 97 93 104 +f 99 95 105 +f 103 97 106 +f 97 104 106 +f 93 97 107 +f 97 94 107 +f 102 93 107 +f 92 91 108 +f 91 95 108 +f 95 101 108 +f 101 96 108 +f 95 91 109 +f 94 95 109 +f 95 94 110 +f 105 95 110 +f 103 105 110 +f 96 98 111 +f 102 92 111 +f 92 108 111 +f 108 96 111 +f 94 97 112 +f 97 103 112 +f 110 94 112 +f 103 110 112 +f 91 92 113 +f 92 102 113 +f 107 94 113 +f 102 107 113 +f 109 91 113 +f 94 109 113 +f 93 102 114 +f 104 93 114 +f 111 98 114 +f 102 111 114 +f 99 105 115 +f 105 103 115 +f 103 106 115 +f 106 99 115 +f 90 99 116 +f 99 106 116 +f 106 104 116 +f 100 90 117 +f 98 100 117 +f 114 98 117 +f 104 114 117 +f 90 116 117 +o convex_3 +v 2.355888 -2.234059 0.446391 +v 1.136763 -2.424790 0.408353 +v 1.174950 -2.348349 -0.467751 +v 1.289154 -0.520281 0.560728 +v 2.165310 -0.520281 -0.505901 +v 1.136763 -0.520281 -0.467751 +v 2.165310 -2.348349 -0.544051 +v 2.241446 -0.520281 0.560728 +v 1.136763 -2.424790 0.598878 +v 2.355888 -2.424790 0.484540 +v 2.203378 -2.348349 -0.505901 +v 1.898716 -2.234059 -0.544051 +v 2.127243 -1.091540 -0.544051 +v 2.317582 -2.424790 0.217827 +v 1.136763 -0.520281 -0.353414 +v 2.127243 -2.348349 0.522578 +v 2.203378 -0.520281 -0.162888 +v 1.174950 -2.386383 -0.201038 +v 1.593935 -0.520281 -0.505901 +v 1.289154 -2.310314 0.598878 +v 2.355888 -2.386383 0.370203 +v 1.136763 -1.053506 -0.467751 +v 1.251086 -0.862962 0.560728 +v 1.441545 -2.348349 -0.505901 +v 2.279514 -0.977251 0.484540 +v 2.241446 -0.710638 0.560728 +v 1.136763 -2.348349 0.598878 +f 140 132 144 +f 121 122 123 +f 122 121 125 +f 123 119 126 +f 118 125 127 +f 126 119 127 +f 124 122 128 +f 124 129 130 +f 122 124 130 +f 127 119 131 +f 124 128 131 +f 121 123 132 +f 123 126 132 +f 126 127 133 +f 122 125 134 +f 119 120 135 +f 131 119 135 +f 124 131 135 +f 123 122 136 +f 129 123 136 +f 130 129 136 +f 122 130 136 +f 125 121 137 +f 126 133 137 +f 118 127 138 +f 128 122 138 +f 127 131 138 +f 131 128 138 +f 134 118 138 +f 122 134 138 +f 120 119 139 +f 119 123 139 +f 121 132 140 +f 123 129 141 +f 129 124 141 +f 135 120 141 +f 124 135 141 +f 120 139 141 +f 139 123 141 +f 125 118 142 +f 118 134 142 +f 134 125 142 +f 127 125 143 +f 133 127 143 +f 125 137 143 +f 137 133 143 +f 132 126 144 +f 137 121 144 +f 126 137 144 +f 121 140 144 +o convex_4 +v 1.136920 -0.214877 1.055863 +v 2.546308 -0.519908 -1.039164 +v 1.212992 -0.443597 -0.963028 +v 2.698638 1.613396 -1.115516 +v 0.832258 1.651658 -0.963028 +v 2.736861 1.537298 0.941660 +v 0.832258 1.613396 1.094148 +v 2.736675 -0.367286 0.941660 +v 0.832258 -0.367286 0.865308 +v 0.832258 -0.443597 -0.810541 +v 2.736675 -0.519908 -1.039164 +v 1.289251 -0.519908 0.560766 +v 2.317531 1.651658 0.560549 +v 2.241459 -0.519908 0.560549 +v 0.832258 0.127991 -0.963028 +v 0.832258 -0.329024 1.055863 +v 2.660602 1.537298 0.979728 +v 2.736861 1.270529 -1.077232 +v 1.098697 -0.519908 -0.505566 +v 2.432013 -0.367286 0.979728 +v 0.832258 1.651658 0.560766 +v 1.022625 1.651658 -1.001096 +v 2.241459 1.651658 -0.467498 +v 0.984403 -0.290975 -0.963028 +v 2.660602 1.537298 -1.115516 +v 2.736861 1.575347 0.179439 +v 1.441582 1.613396 1.055863 +v 2.432013 -0.481434 -1.039164 +v 0.870294 1.575347 1.094148 +v 0.832258 -0.405548 -0.924744 +v 2.736675 -0.405548 0.598617 +v 1.555877 1.651658 -1.001096 +v 2.736675 -0.519908 -0.886676 +f 162 175 177 +f 151 149 153 +f 153 149 154 +f 146 155 156 +f 156 155 158 +f 154 149 159 +f 151 153 160 +f 153 156 160 +f 152 150 161 +f 150 157 161 +f 150 152 162 +f 155 148 162 +f 147 146 163 +f 154 147 163 +f 153 154 163 +f 156 153 163 +f 146 156 163 +f 158 152 164 +f 156 158 164 +f 145 160 164 +f 160 156 164 +f 152 161 164 +f 149 151 165 +f 157 149 165 +f 151 157 165 +f 149 157 166 +f 159 149 166 +f 157 148 167 +f 166 157 167 +f 168 159 169 +f 155 146 169 +f 148 155 169 +f 166 148 169 +f 159 166 169 +f 148 157 170 +f 157 150 170 +f 162 148 170 +f 150 162 170 +f 157 151 171 +f 161 157 171 +f 146 147 172 +f 147 168 172 +f 168 169 172 +f 169 146 172 +f 160 145 173 +f 151 160 173 +f 145 164 173 +f 164 161 173 +f 171 151 173 +f 161 171 173 +f 147 154 174 +f 154 159 174 +f 168 147 174 +f 159 168 174 +f 152 158 175 +f 162 152 175 +f 148 166 176 +f 167 148 176 +f 166 167 176 +f 158 155 177 +f 155 162 177 +f 175 158 177 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/687/687.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/687/687.urdf new file mode 100644 index 000000000..99c3512ea --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/687/687.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/688/688.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/688/688.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/688/688.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/688/688.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/688/688.obj new file mode 100644 index 000000000..9ebe3a445 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/688/688.obj @@ -0,0 +1,678 @@ +o convex_0 +v 0.853296 -1.446063 -1.249887 +v -0.308344 -1.728759 0.916659 +v -0.371152 -1.728759 0.916659 +v -0.904917 0.971574 0.853620 +v -0.904917 -1.948570 -1.218475 +v 1.041514 0.971574 -1.186849 +v 1.073021 -1.948570 0.822423 +v -0.904917 0.971574 -1.186849 +v 0.978706 0.971574 0.759385 +v -0.999232 -1.948570 0.885247 +v 1.010213 -1.948570 -1.218260 +v 1.104322 -0.253252 -0.119497 +v -0.967725 0.971574 0.068543 +v 0.162407 -1.602989 -1.281299 +v -0.936424 -1.948570 -1.124025 +v 0.947405 0.971574 -1.218260 +v 1.104527 -1.948570 0.131366 +v -0.999232 0.029444 0.853620 +v 1.073021 0.971574 -0.935770 +v 1.010213 0.312140 0.791012 +v -0.936424 0.971574 -1.092829 +v 1.073021 0.971574 -0.276340 +v -0.119920 -1.948570 -1.281299 +v 0.005696 0.971574 -1.218260 +v -0.999232 -1.948570 0.602327 +v 1.041514 -0.503933 -1.218260 +v -0.967725 0.971574 0.853620 +v 1.104322 -1.916842 0.602542 +v -0.904917 -0.723745 -1.218475 +v 1.041514 -1.163367 0.822423 +v -0.245536 -1.948570 0.916659 +v -0.999232 -0.755187 0.885247 +v 0.916104 -1.948570 -1.249887 +v 1.041514 -1.885685 -0.966967 +v 1.010213 0.814361 0.602542 +v 0.319530 -1.885685 -1.281299 +v 1.073021 -1.508948 0.822423 +v 1.041514 0.469067 -1.218260 +f 26 33 38 +f 3 2 4 +f 4 6 8 +f 6 4 9 +f 5 7 10 +f 7 5 11 +f 4 8 13 +f 5 10 15 +f 8 6 16 +f 7 11 17 +f 6 9 19 +f 12 17 19 +f 4 2 20 +f 9 4 20 +f 13 8 21 +f 18 13 21 +f 19 9 22 +f 12 19 22 +f 11 5 23 +f 14 23 24 +f 8 16 24 +f 16 14 24 +f 23 8 24 +f 15 10 25 +f 10 18 25 +f 21 15 25 +f 18 21 25 +f 19 17 26 +f 3 4 27 +f 4 13 27 +f 13 18 27 +f 7 17 28 +f 17 12 28 +f 5 15 29 +f 21 8 29 +f 15 21 29 +f 23 5 29 +f 8 23 29 +f 20 2 30 +f 2 3 31 +f 3 10 31 +f 10 7 31 +f 30 2 31 +f 10 3 32 +f 18 10 32 +f 3 27 32 +f 27 18 32 +f 11 23 33 +f 26 11 33 +f 17 11 34 +f 11 26 34 +f 26 17 34 +f 9 20 35 +f 22 9 35 +f 12 22 35 +f 16 1 36 +f 14 16 36 +f 23 14 36 +f 1 33 36 +f 33 23 36 +f 7 28 37 +f 28 12 37 +f 20 30 37 +f 31 7 37 +f 30 31 37 +f 35 20 37 +f 12 35 37 +f 16 6 38 +f 1 16 38 +f 6 19 38 +f 19 26 38 +f 33 1 38 +o convex_1 +v 0.350831 -1.948570 -1.281299 +v 1.104527 -2.639301 0.853660 +v 1.104527 -2.670685 0.853660 +v -0.999232 -1.948570 0.885259 +v -0.904917 -3.392659 -1.249700 +v -0.967725 -3.329891 0.853660 +v 1.010007 -3.392659 -1.218313 +v 1.104527 -1.948570 0.602351 +v -0.904917 -1.948570 -1.218313 +v 1.104322 -3.298649 0.853660 +v 1.010213 -1.948570 -1.218313 +v -0.308344 -3.392659 0.288480 +v 1.073021 -1.948570 0.822273 +v -0.999026 -3.329891 0.445416 +v -0.936218 -1.948570 -1.124151 +v 1.104527 -2.011621 0.131545 +v 0.256516 -3.298649 0.885047 +v 0.319530 -1.948570 0.885259 +v 0.978706 -3.392659 -1.249700 +v 1.104322 -3.329891 0.445416 +v -0.999026 -3.298649 0.885047 +v -0.214029 -2.607917 -1.281299 +v -0.936218 -3.361275 -1.155538 +v -0.214029 -1.948570 -1.281299 +v 1.010213 -2.294077 -1.249700 +v 0.727474 -2.984667 0.885047 +v -0.999232 -1.948570 0.602351 +v 0.570762 -2.576533 -1.281299 +v 1.041514 -1.948570 -0.935829 +v -0.904917 -2.702211 -1.249700 +v 1.010007 -3.392659 -1.061377 +v -0.402453 -3.392659 0.288480 +v 1.104322 -3.235739 0.351467 +v 0.947405 -1.948570 -1.249700 +f 63 66 72 +f 40 41 46 +f 39 42 46 +f 42 39 47 +f 39 46 49 +f 43 45 50 +f 48 44 50 +f 40 46 51 +f 46 42 51 +f 43 44 52 +f 42 47 53 +f 46 41 54 +f 44 48 55 +f 40 51 56 +f 51 42 56 +f 42 55 56 +f 45 43 57 +f 41 48 58 +f 48 50 58 +f 54 41 58 +f 52 44 59 +f 42 52 59 +f 55 42 59 +f 44 55 59 +f 57 43 60 +f 43 52 61 +f 52 53 61 +f 47 39 62 +f 39 60 62 +f 60 43 62 +f 45 57 63 +f 41 40 64 +f 48 41 64 +f 55 48 64 +f 56 55 64 +f 40 56 64 +f 52 42 65 +f 42 53 65 +f 53 52 65 +f 60 39 66 +f 57 60 66 +f 63 57 66 +f 49 46 67 +f 46 54 67 +f 54 45 67 +f 63 49 67 +f 45 63 67 +f 53 47 68 +f 43 61 68 +f 61 53 68 +f 47 62 68 +f 62 43 68 +f 50 45 69 +f 45 58 69 +f 58 50 69 +f 44 43 70 +f 43 50 70 +f 50 44 70 +f 45 54 71 +f 58 45 71 +f 54 58 71 +f 39 49 72 +f 49 63 72 +f 66 39 72 +o convex_2 +v -0.025869 1.160071 -2.129221 +v 0.602137 1.411168 -2.913809 +v 0.602137 1.379781 -2.913809 +v -0.591040 1.317007 -3.227723 +v -0.559505 2.290348 -1.281495 +v 0.570719 2.258847 -3.290663 +v 0.539302 2.290348 -1.281495 +v 0.476466 1.128571 -1.281495 +v -0.496669 1.222846 -1.281495 +v -0.559505 2.164686 -3.133509 +v 0.602137 1.222846 -3.196450 +v -0.591040 1.222846 -3.227723 +v 0.507884 1.128571 -1.344436 +v -0.559505 2.290348 -1.501393 +v 0.256658 2.007751 -3.290663 +v 0.602137 1.254233 -3.227723 +v 0.539302 2.290348 -2.129221 +v -0.559505 2.007751 -1.344436 +v -0.339814 2.196073 -3.164979 +v 0.570719 2.258847 -2.631168 +v 0.319377 1.128571 -1.501393 +v -0.528204 1.222846 -1.784033 +v 0.539302 2.101912 -1.281495 +v -0.276978 1.474056 -3.259193 +v 0.507884 2.258847 -3.290663 +v -0.465368 2.133299 -3.164979 +v -0.339814 1.191458 -2.756852 +v 0.570719 2.007751 -3.290663 +v 0.602137 1.599718 -3.227723 +f 78 92 101 +f 75 74 79 +f 79 77 80 +f 80 77 81 +f 74 75 83 +f 77 76 84 +f 83 75 85 +f 76 77 86 +f 77 79 86 +f 82 76 86 +f 74 83 88 +f 83 84 88 +f 79 78 89 +f 86 79 89 +f 81 77 90 +f 77 84 90 +f 82 86 91 +f 79 74 92 +f 78 79 92 +f 81 73 93 +f 80 81 93 +f 85 80 93 +f 83 85 93 +f 81 90 94 +f 90 84 94 +f 75 79 95 +f 79 80 95 +f 85 75 95 +f 80 85 95 +f 84 76 96 +f 76 87 96 +f 88 84 96 +f 78 87 97 +f 89 78 97 +f 86 89 97 +f 91 86 97 +f 91 97 98 +f 76 82 98 +f 87 76 98 +f 82 91 98 +f 97 87 98 +f 73 81 99 +f 84 83 99 +f 93 73 99 +f 83 93 99 +f 81 94 99 +f 94 84 99 +f 87 78 100 +f 78 88 100 +f 96 87 100 +f 88 96 100 +f 74 88 101 +f 88 78 101 +f 92 74 101 +o convex_3 +v -0.685092 2.478505 -1.249740 +v 1.073128 1.003127 -0.276211 +v 1.073128 0.971574 -0.276211 +v -0.967774 0.971574 0.853860 +v 0.916105 2.666916 0.728041 +v -0.967774 2.666916 0.822301 +v 1.073128 2.824138 -1.186830 +v -0.904845 0.971574 -1.187039 +v 1.041564 0.971574 -1.186830 +v 0.978834 0.971574 0.759600 +v -0.936409 2.698288 -1.092779 +v 0.602059 2.133053 0.853860 +v 0.476400 1.128614 -1.281299 +v -0.119929 2.824138 -0.621899 +v 0.602059 2.353018 -1.281299 +v -0.496704 1.223091 -1.281299 +v -0.967774 0.971574 0.068850 +v 0.476400 1.223091 0.853860 +v 0.947470 2.415943 0.696691 +v -0.967774 2.353018 0.853860 +v -0.622363 2.384389 -1.281299 +v -0.936409 0.971574 -1.092779 +v 1.073128 2.824138 -1.061429 +v -0.904845 2.698288 -1.155689 +v -0.433975 2.792585 -0.276211 +v 1.073128 0.971574 -0.935610 +v -0.967774 2.666916 0.100201 +v -0.465340 2.666916 0.822301 +v 0.759082 2.824138 -1.186830 +v 0.696153 2.824138 -0.778650 +v 0.916105 0.971574 -1.218389 +v 0.978834 1.348397 0.759600 +v -0.810751 2.729660 -1.030079 +v -0.151293 2.447314 -1.281299 +v -0.873480 2.635545 -1.187039 +v -0.842115 2.698288 0.602640 +v 0.256647 2.792585 -0.339120 +v 0.602059 2.666916 0.759600 +v -0.465340 2.792585 -0.715950 +v 0.947470 2.666916 0.571081 +f 120 124 141 +f 103 104 108 +f 104 105 109 +f 104 109 110 +f 104 103 111 +f 105 104 111 +f 116 114 117 +f 114 109 117 +f 105 107 118 +f 109 105 118 +f 105 111 119 +f 113 105 119 +f 111 113 119 +f 107 105 121 +f 105 113 121 +f 116 117 122 +f 117 109 122 +f 112 109 123 +f 109 118 123 +f 118 112 123 +f 103 108 124 +f 108 115 124 +f 120 103 124 +f 109 112 125 +f 108 104 127 +f 110 108 127 +f 104 110 127 +f 107 112 128 +f 118 107 128 +f 112 118 128 +f 107 121 129 +f 121 113 129 +f 115 108 130 +f 106 124 131 +f 124 115 131 +f 108 110 132 +f 110 109 132 +f 109 114 132 +f 116 108 132 +f 114 116 132 +f 111 103 133 +f 106 113 133 +f 113 111 133 +f 120 106 133 +f 103 120 133 +f 112 107 134 +f 125 112 134 +f 130 125 134 +f 108 116 135 +f 122 102 135 +f 116 122 135 +f 130 108 135 +f 102 130 135 +f 102 122 136 +f 122 109 136 +f 109 125 136 +f 130 102 136 +f 125 130 136 +f 107 129 137 +f 134 107 137 +f 126 134 137 +f 115 126 138 +f 106 131 138 +f 131 115 138 +f 113 106 139 +f 129 113 139 +f 126 137 139 +f 137 129 139 +f 106 138 139 +f 138 126 139 +f 126 115 140 +f 115 130 140 +f 134 126 140 +f 130 134 140 +f 106 120 141 +f 124 106 141 +o convex_4 +v -0.245573 1.128571 2.769158 +v 0.602137 2.133299 2.800524 +v 0.539206 2.164686 2.800524 +v 0.570612 2.164686 0.853860 +v -0.528103 2.290348 0.853860 +v 0.476515 1.191458 0.885425 +v -0.590914 1.160071 0.853860 +v -0.465291 2.290348 2.800524 +v 0.445110 1.128571 2.894820 +v -0.622439 1.160071 2.769158 +v -0.308384 2.039138 2.894820 +v -0.276978 2.290348 2.172413 +v -0.559508 2.164686 0.885425 +v 0.602137 2.101798 0.853860 +v -0.339789 1.411168 2.894820 +v 0.288082 2.039138 2.894820 +v 0.507921 1.348508 0.853860 +v 0.476515 1.191458 2.800524 +v 0.445110 1.128571 2.549399 +v 0.602137 2.070525 2.800524 +v -0.528103 2.290348 1.482170 +v -0.057259 2.258847 2.800524 +v -0.402600 2.290348 0.979522 +v -0.622439 1.191458 2.769158 +v -0.433886 1.160071 0.853860 +v 0.225271 1.128571 2.894820 +v 0.539206 1.693766 2.863055 +v -0.433886 2.258847 2.831690 +f 165 156 169 +f 144 143 145 +f 146 145 148 +f 148 142 151 +f 146 149 153 +f 146 148 154 +f 145 143 155 +f 148 145 155 +f 150 152 156 +f 143 144 157 +f 152 150 157 +f 148 155 158 +f 150 147 159 +f 147 158 159 +f 142 148 160 +f 147 150 160 +f 150 142 160 +f 155 143 161 +f 158 155 161 +f 159 158 161 +f 149 146 162 +f 146 154 162 +f 144 145 163 +f 145 153 163 +f 153 149 163 +f 157 144 163 +f 145 146 164 +f 153 145 164 +f 146 153 164 +f 148 151 165 +f 154 148 165 +f 151 156 165 +f 149 162 165 +f 162 154 165 +f 158 147 166 +f 148 158 166 +f 160 148 166 +f 147 160 166 +f 142 150 167 +f 151 142 167 +f 150 156 167 +f 156 151 167 +f 143 157 168 +f 157 150 168 +f 150 159 168 +f 161 143 168 +f 159 161 168 +f 156 152 169 +f 152 157 169 +f 163 149 169 +f 157 163 169 +f 149 165 169 +o convex_5 +v -0.088643 1.379766 3.993691 +v 0.350942 1.913497 4.872982 +v 0.288125 1.976293 3.993691 +v -0.339844 1.944862 4.715945 +v -0.277027 1.976293 2.894820 +v 0.288125 1.474056 2.894820 +v 0.319432 1.379766 4.872982 +v -0.339844 1.411260 2.894820 +v -0.308334 1.379766 4.872982 +v 0.288125 2.039088 2.894820 +v -0.339844 1.913497 4.872982 +v 0.319432 1.379766 4.370309 +v -0.339844 1.662443 2.926383 +v 0.162423 2.039088 3.083226 +v 0.256615 1.442626 2.989120 +v -0.339844 1.411260 3.899585 +v 0.350942 1.850701 4.684577 +v -0.277027 1.944862 4.809857 +v 0.319432 1.976293 3.522968 +v -0.182835 1.411260 2.894820 +f 184 181 189 +f 174 175 177 +f 170 176 178 +f 176 171 178 +f 177 170 178 +f 172 171 179 +f 175 174 179 +f 173 177 180 +f 178 171 180 +f 176 170 181 +f 173 174 182 +f 177 173 182 +f 174 177 182 +f 174 173 183 +f 172 179 183 +f 179 174 183 +f 175 181 184 +f 177 178 185 +f 180 177 185 +f 178 180 185 +f 171 176 186 +f 181 175 186 +f 176 181 186 +f 171 172 187 +f 180 171 187 +f 173 180 187 +f 172 183 187 +f 183 173 187 +f 179 171 188 +f 175 179 188 +f 171 186 188 +f 186 175 188 +f 170 177 189 +f 177 175 189 +f 181 170 189 +f 175 184 189 +o convex_6 +v 0.193939 -2.262625 2.863347 +v -0.214176 -2.639289 0.885259 +v -0.245545 -2.545038 0.885259 +v 0.319543 -1.948637 0.885259 +v -0.276978 -2.042888 2.831874 +v -0.339845 -1.948637 0.885259 +v 0.193939 -2.639289 2.831874 +v -0.276978 -2.482295 2.894820 +v 0.256741 -2.545038 0.885259 +v 0.319543 -2.074260 2.831874 +v 0.319543 -2.231253 2.423707 +v -0.245545 -2.011448 2.611955 +v -0.025771 -2.639289 0.979482 +v 0.319543 -1.948637 1.136848 +v -0.339845 -2.074260 1.042428 +v -0.245545 -2.607849 1.450596 +v 0.099704 -2.639289 2.769124 +v 0.319543 -2.137071 0.885259 +v -0.308347 -2.011448 2.266734 +v 0.225308 -2.576478 0.885259 +v -0.057139 -2.325301 2.894820 +v -0.276978 -2.513667 2.549206 +v 0.005533 -2.042888 2.831874 +v 0.319543 -2.199814 2.831874 +f 196 200 213 +f 191 192 193 +f 193 192 195 +f 191 193 198 +f 193 199 200 +f 196 198 200 +f 196 191 202 +f 193 195 203 +f 199 193 203 +f 195 201 203 +f 195 192 204 +f 192 191 205 +f 204 192 205 +f 191 196 206 +f 196 197 206 +f 205 191 206 +f 198 193 207 +f 193 200 207 +f 200 198 207 +f 197 194 208 +f 194 201 208 +f 201 195 208 +f 195 204 208 +f 204 197 208 +f 191 198 209 +f 198 196 209 +f 202 191 209 +f 196 202 209 +f 196 190 210 +f 194 197 210 +f 197 196 210 +f 190 199 210 +f 197 204 211 +f 204 205 211 +f 206 197 211 +f 205 206 211 +f 201 194 212 +f 199 203 212 +f 203 201 212 +f 194 210 212 +f 210 199 212 +f 190 196 213 +f 199 190 213 +f 200 199 213 +o convex_7 +v 0.319543 -2.168452 -2.285834 +v -0.245646 -2.607828 -3.227680 +v -0.245646 -2.545097 -3.227680 +v -0.214222 -2.607828 -1.281299 +v -0.214222 -1.948570 -1.281299 +v 0.288119 -2.513667 -1.281299 +v -0.245646 -2.011430 -3.133553 +v 0.288119 -2.545097 -3.164992 +v 0.319543 -2.105656 -3.227680 +v 0.288119 -2.011430 -1.281299 +v -0.182798 -1.980065 -2.788291 +v -0.245646 -2.607828 -1.909514 +v 0.162533 -2.576463 -2.348712 +v 0.319543 -2.450871 -3.196431 +v -0.120006 -2.607828 -1.281299 +v -0.245646 -1.980065 -2.536967 +v -0.088637 -1.948570 -1.375808 +v 0.162533 -2.576463 -3.196431 +v 0.068262 -2.042860 -3.164992 +v 0.288119 -2.545097 -2.066520 +v -0.151374 -2.011430 -3.164992 +f 224 232 234 +f 218 217 219 +f 216 215 220 +f 215 216 222 +f 219 214 223 +f 218 219 223 +f 214 222 223 +f 215 217 225 +f 217 218 225 +f 220 215 225 +f 214 219 227 +f 215 222 227 +f 222 214 227 +f 217 215 228 +f 219 217 228 +f 218 224 229 +f 224 220 229 +f 225 218 229 +f 220 225 229 +f 218 223 230 +f 223 224 230 +f 224 218 230 +f 221 226 231 +f 215 227 231 +f 227 221 231 +f 228 215 231 +f 226 228 231 +f 223 222 232 +f 224 223 232 +f 226 221 233 +f 227 219 233 +f 221 227 233 +f 219 228 233 +f 228 226 233 +f 216 220 234 +f 222 216 234 +f 220 224 234 +f 232 222 234 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/688/688.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/688/688.urdf new file mode 100644 index 000000000..b8e046880 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/688/688.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/689/689.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/689/689.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/689/689.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/689/689.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/689/689.obj new file mode 100644 index 000000000..7a004f871 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/689/689.obj @@ -0,0 +1,861 @@ +o convex_0 +v -1.732507 -1.924585 0.061290 +v -1.308467 -2.499923 -0.605016 +v -1.308467 -2.590749 -0.574654 +v -2.944124 -2.439482 0.000803 +v -1.217710 -2.893610 0.485410 +v -1.217541 -2.075961 0.455048 +v -2.701767 -2.378932 0.424805 +v -2.641093 -2.833060 0.000803 +v -1.217541 -2.045686 -0.453443 +v -2.701767 -2.378932 -0.362594 +v -1.217710 -2.893610 -0.453562 +v -2.732019 -2.015411 0.061290 +v -1.247962 -3.045095 0.000803 +v -2.035707 -2.833060 -0.392956 +v -1.247962 -2.409207 0.606621 +v -2.035707 -2.045686 0.394561 +v -2.005117 -2.833060 0.394561 +v -1.944612 -2.045686 -0.362594 +v -1.217541 -1.924585 -0.089928 +v -1.974865 -2.439482 0.546016 +v -2.550336 -2.711849 0.303712 +v -2.005117 -2.439482 -0.514049 +v -2.519915 -2.711849 -0.302107 +v -2.005117 -2.954160 0.031046 +v -2.580589 -2.075961 -0.180896 +v -1.217541 -2.015411 0.394561 +v -2.519915 -2.106236 0.333955 +v -1.944612 -1.924585 0.000803 +v -2.701767 -2.439482 0.424805 +v -2.671346 -2.802784 0.091652 +v -2.944124 -2.348657 0.061290 +v -1.217710 -2.439482 -0.605016 +v -1.914360 -2.136512 -0.423199 +v -2.701767 -2.439482 -0.362594 +v -2.701767 -2.802784 -0.029441 +v -2.005117 -2.075961 0.424805 +v -1.793181 -2.863335 -0.423199 +v -2.005117 -2.802784 0.424805 +v -2.005117 -2.954160 -0.029441 +v -1.217710 -2.499923 0.606621 +v -2.550336 -1.985136 0.000803 +v -1.944612 -2.530198 -0.514049 +v -1.247962 -2.954160 0.333955 +v -1.369141 -2.045686 -0.453562 +v -1.217541 -1.924585 0.091533 +v -2.944124 -2.439482 0.061290 +v -2.368484 -2.106236 -0.302107 +v -1.429646 -2.893610 -0.453562 +v -2.944124 -2.348657 0.000803 +v -2.580589 -1.985136 0.061290 +v -1.217710 -3.045095 0.031046 +v -1.914360 -2.378932 -0.514049 +v -1.974865 -2.409207 0.546016 +v -1.944612 -2.469758 0.546016 +v -2.732019 -2.015411 0.031046 +v -1.853686 -2.045686 0.424805 +f 16 36 56 +f 3 2 11 +f 6 9 19 +f 6 19 26 +f 12 7 27 +f 1 19 28 +f 20 7 29 +f 21 29 30 +f 17 21 30 +f 8 24 30 +f 24 17 30 +f 7 12 31 +f 29 7 31 +f 11 2 32 +f 9 11 32 +f 4 10 34 +f 10 22 34 +f 14 23 34 +f 34 23 35 +f 14 8 35 +f 23 14 35 +f 8 30 35 +f 4 34 35 +f 27 7 36 +f 16 27 36 +f 2 3 37 +f 17 5 38 +f 21 17 38 +f 29 21 38 +f 8 14 39 +f 13 24 39 +f 24 8 39 +f 37 13 39 +f 14 37 39 +f 5 6 40 +f 6 15 40 +f 15 20 40 +f 18 25 41 +f 28 18 41 +f 22 2 42 +f 14 34 42 +f 34 22 42 +f 2 37 42 +f 37 14 42 +f 5 17 43 +f 17 24 43 +f 19 9 44 +f 18 28 44 +f 28 19 44 +f 9 32 44 +f 33 18 44 +f 19 1 45 +f 1 26 45 +f 26 19 45 +f 30 29 46 +f 31 4 46 +f 29 31 46 +f 4 35 46 +f 35 30 46 +f 10 25 47 +f 25 18 47 +f 18 33 47 +f 33 10 47 +f 3 11 48 +f 11 13 48 +f 37 3 48 +f 13 37 48 +f 10 4 49 +f 4 31 49 +f 31 12 49 +f 16 1 50 +f 12 27 50 +f 27 16 50 +f 1 28 50 +f 28 41 50 +f 6 5 51 +f 9 6 51 +f 11 9 51 +f 13 11 51 +f 24 13 51 +f 5 43 51 +f 43 24 51 +f 2 22 52 +f 22 10 52 +f 32 2 52 +f 10 33 52 +f 44 32 52 +f 33 44 52 +f 20 15 53 +f 7 20 53 +f 15 36 53 +f 36 7 53 +f 20 29 54 +f 38 5 54 +f 29 38 54 +f 5 40 54 +f 40 20 54 +f 25 10 55 +f 41 25 55 +f 10 49 55 +f 49 12 55 +f 12 50 55 +f 50 41 55 +f 15 6 56 +f 1 16 56 +f 26 1 56 +f 6 26 56 +f 36 15 56 +o convex_1 +v 0.024234 -1.439347 -1.029089 +v 0.115231 0.619999 1.060986 +v 0.720902 0.619999 0.848623 +v 0.811703 -1.712404 0.909386 +v -0.884174 -1.712404 0.848827 +v -0.793373 0.619999 -0.726094 +v 0.751234 0.619999 -0.725889 +v 0.933033 -1.712404 -0.635257 +v -0.884174 -1.712404 -0.847210 +v -1.005504 0.619999 0.151999 +v 0.993698 0.619999 0.121925 +v -0.036040 0.619999 -1.029089 +v -0.732903 0.619999 0.848827 +v -0.096705 -1.712404 1.060986 +v 0.963366 -1.712404 0.666948 +v 0.781567 -1.712404 -0.847210 +v -0.975172 -1.378845 -0.029266 +v -0.096705 0.559269 1.060986 +v -1.005504 0.589634 -0.090029 +v -0.732903 -1.682039 0.939665 +v -0.793373 -1.712404 -0.907768 +v 0.993698 -1.712404 -0.089824 +v 0.811703 0.619999 0.788065 +v 0.993698 0.619999 -0.059545 +v -0.066372 -1.712404 -1.029089 +v -0.793373 0.347170 -0.786652 +v 0.115231 -1.712404 1.060986 +v -0.793373 0.528903 0.818548 +v 0.690569 0.619999 -0.786448 +v -0.944839 -1.712404 0.394437 +v -0.914507 -1.712404 -0.726094 +v 0.872368 -1.591172 -0.786448 +v -1.005504 -0.410131 0.001013 +v 0.902701 -1.621309 0.848623 +v -0.005903 0.619999 -1.029089 +v -0.914507 -1.682039 0.757990 +v -0.066372 0.589634 -1.029089 +v 0.993698 -1.712404 0.182483 +v -0.823705 -1.621309 0.909386 +v -0.793373 -1.560807 -0.907768 +v 0.145368 0.377535 1.060986 +v 0.842036 -1.136837 0.879106 +v -0.793373 0.589634 -0.756169 +v -0.944839 -1.712404 -0.362540 +v 0.781567 -1.591172 -0.847210 +v 0.933033 0.619999 -0.241220 +v -0.763040 0.498767 0.848827 +v 0.963366 -1.682039 -0.423099 +v 0.902701 -1.651674 -0.725889 +v -1.005504 0.165436 0.151999 +v -0.884174 -1.651674 -0.847210 +v 0.993698 0.317033 0.182483 +v -1.005504 0.286668 -0.120103 +f 87 89 109 +f 58 59 62 +f 62 59 63 +f 60 61 64 +f 64 61 65 +f 58 62 66 +f 63 59 67 +f 62 63 68 +f 58 66 69 +f 61 60 70 +f 60 64 71 +f 64 65 72 +f 58 69 74 +f 70 58 74 +f 66 62 75 +f 61 70 76 +f 70 74 76 +f 72 65 77 +f 71 64 78 +f 67 59 79 +f 63 67 80 +f 67 78 80 +f 68 57 81 +f 57 72 81 +f 72 77 81 +f 58 70 83 +f 70 60 83 +f 69 66 84 +f 68 63 85 +f 65 61 86 +f 65 86 87 +f 85 63 88 +f 66 75 89 +f 73 86 89 +f 60 71 90 +f 71 79 90 +f 57 68 91 +f 68 85 91 +f 61 84 92 +f 84 66 92 +f 86 61 92 +f 68 81 93 +f 81 77 93 +f 78 67 94 +f 71 78 94 +f 61 76 95 +f 76 74 95 +f 84 61 95 +f 77 65 96 +f 93 77 96 +f 82 93 96 +f 59 58 97 +f 58 83 97 +f 83 60 97 +f 79 59 98 +f 60 90 98 +f 90 79 98 +f 59 97 98 +f 97 60 98 +f 62 68 99 +f 75 62 99 +f 68 93 99 +f 93 82 99 +f 86 73 100 +f 87 86 100 +f 73 89 100 +f 89 87 100 +f 72 57 101 +f 88 72 101 +f 85 88 101 +f 57 91 101 +f 91 85 101 +f 63 80 102 +f 74 69 103 +f 69 84 103 +f 95 74 103 +f 84 95 103 +f 78 64 104 +f 64 80 104 +f 80 78 104 +f 64 72 105 +f 80 64 105 +f 72 88 105 +f 88 63 105 +f 63 102 105 +f 102 80 105 +f 66 89 106 +f 89 86 106 +f 92 66 106 +f 86 92 106 +f 65 87 107 +f 87 75 107 +f 96 65 107 +f 82 96 107 +f 75 99 107 +f 99 82 107 +f 67 79 108 +f 79 71 108 +f 94 67 108 +f 71 94 108 +f 75 87 109 +f 89 75 109 +o convex_2 +v 0.902680 0.711456 -0.332261 +v -1.035795 0.650737 0.031088 +v -0.975032 0.619999 -0.180866 +v 0.024382 4.496480 -0.029471 +v 0.115219 0.619999 1.060986 +v -0.066251 3.557624 -0.998401 +v -0.793358 3.557624 0.788065 +v 0.842122 3.557624 0.788269 +v 0.781564 3.557624 -0.756373 +v -0.005693 0.619999 -1.029089 +v -0.793358 3.588363 -0.725889 +v 0.811843 0.619999 0.788269 +v 1.054280 3.588363 0.031088 +v -0.732800 0.619999 0.848827 +v 0.024382 3.618342 1.060986 +v -1.035795 3.588363 0.031088 +v -0.732800 0.619999 -0.786652 +v 0.690726 0.619999 -0.786448 +v 0.084736 4.284725 0.788065 +v -0.763079 4.254366 0.061162 +v 0.781564 4.285105 0.061162 +v -0.005693 4.254366 -0.756373 +v 1.023796 0.802154 0.001013 +v -0.793358 1.680671 0.848827 +v -0.096734 0.681097 1.060986 +v -0.763079 3.557624 0.848827 +v -1.035795 2.770184 0.151999 +v 0.084736 3.527265 -0.998401 +v 0.751284 1.528875 -0.786448 +v 1.054280 3.376228 -0.059545 +v -0.520642 4.102950 0.636669 +v 0.539331 4.102950 -0.574494 +v 0.811843 3.557624 0.818548 +v 0.660447 4.102950 0.576111 +v -0.581404 4.102950 -0.513936 +v 1.054280 3.224812 0.091646 +v -0.793358 1.680671 -0.756169 +v -0.096734 2.891241 1.060986 +v 0.993517 0.619999 0.121925 +v 0.115219 3.557624 1.060986 +v -1.035795 2.982319 -0.029266 +v 0.811843 1.104986 0.818548 +v 0.842122 4.224007 0.001013 +v -0.035972 2.558429 -1.029089 +v -0.611479 3.557624 -0.816931 +v 0.599889 2.709845 -0.847210 +v -0.793358 0.741435 0.818344 +v -0.005693 4.254366 0.818344 +v 0.024382 4.466500 0.212557 +v -0.732800 4.254745 -0.059545 +v -1.035795 1.953144 0.151999 +v -0.823637 2.709845 0.788065 +v -0.793358 0.953570 -0.756169 +v 0.054661 4.284725 -0.695815 +v 0.811843 4.254366 0.121925 +v 1.054280 2.467731 -0.029266 +v 0.811843 3.012678 -0.695610 +v -1.035795 3.557624 0.091441 +v -0.611479 2.498470 0.909386 +v 0.084736 4.193648 0.848623 +v 0.751284 0.619999 -0.726094 +v 0.387731 3.557624 0.969944 +v -0.399525 0.711456 -0.907768 +v 0.811843 4.254366 -0.029266 +f 141 163 173 +f 114 112 119 +f 114 119 121 +f 111 112 123 +f 112 114 123 +f 119 112 126 +f 121 119 127 +f 123 114 134 +f 114 124 134 +f 133 123 134 +f 129 116 135 +f 125 111 136 +f 115 131 137 +f 131 118 137 +f 127 119 138 +f 118 122 139 +f 129 135 140 +f 118 131 141 +f 142 117 143 +f 131 120 144 +f 122 117 145 +f 139 122 145 +f 134 124 147 +f 124 135 147 +f 121 127 148 +f 110 132 148 +f 145 121 148 +f 132 145 148 +f 124 114 149 +f 112 111 150 +f 111 125 150 +f 125 120 150 +f 120 146 150 +f 114 121 151 +f 117 142 151 +f 145 117 151 +f 121 145 151 +f 122 118 152 +f 115 137 153 +f 137 119 153 +f 131 115 154 +f 120 131 154 +f 146 120 154 +f 126 146 154 +f 115 153 154 +f 119 137 155 +f 137 118 155 +f 138 119 155 +f 118 138 155 +f 111 123 156 +f 123 133 156 +f 135 124 157 +f 129 140 157 +f 140 135 157 +f 113 129 158 +f 130 113 158 +f 128 130 158 +f 157 128 158 +f 129 157 158 +f 120 125 159 +f 129 113 159 +f 125 129 159 +f 113 131 159 +f 144 120 159 +f 131 144 159 +f 136 111 160 +f 111 156 160 +f 156 133 160 +f 133 135 161 +f 135 116 161 +f 136 160 161 +f 160 133 161 +f 126 112 162 +f 146 126 162 +f 112 150 162 +f 150 146 162 +f 131 113 163 +f 141 131 163 +f 117 122 164 +f 130 128 164 +f 128 143 164 +f 143 117 164 +f 122 152 164 +f 152 130 164 +f 132 110 165 +f 110 138 165 +f 145 132 165 +f 139 145 165 +f 138 118 166 +f 118 139 166 +f 165 138 166 +f 139 165 166 +f 116 129 167 +f 129 125 167 +f 125 136 167 +f 161 116 167 +f 136 161 167 +f 133 134 168 +f 135 133 168 +f 134 147 168 +f 147 135 168 +f 143 128 169 +f 142 143 169 +f 124 149 169 +f 128 157 169 +f 157 124 169 +f 138 110 170 +f 127 138 170 +f 110 148 170 +f 148 127 170 +f 149 114 171 +f 114 151 171 +f 151 142 171 +f 142 169 171 +f 169 149 171 +f 119 126 172 +f 153 119 172 +f 126 154 172 +f 154 153 172 +f 113 130 173 +f 118 141 173 +f 152 118 173 +f 130 152 173 +f 163 113 173 +o convex_3 +v -0.217774 -3.014778 0.878902 +v -0.248165 -2.439644 -1.029089 +v -0.641799 -2.469728 -0.998401 +v -0.793515 -1.712573 0.939665 +v 1.266316 -1.894256 0.030883 +v 0.781507 -3.257135 -0.392820 +v -1.217541 -3.045030 -0.089824 +v -0.853812 -1.712573 -0.877489 +v 0.751359 -2.469897 1.000223 +v 0.811899 -1.712404 -0.847210 +v 0.872439 -1.712404 0.879106 +v 1.266316 -3.075283 0.061162 +v -0.732731 -3.408397 -0.029266 +v 0.781507 -3.135956 -0.756169 +v -1.217541 -2.469728 0.636669 +v 0.690818 -3.166209 0.727506 +v -0.732731 -3.166209 -0.725889 +v -0.763123 -3.166209 0.788269 +v 1.266316 -2.620990 -0.604773 +v -1.217541 -2.076108 -0.483657 +v 1.266316 -2.500149 0.576111 +v -0.641799 -2.439644 1.030297 +v 0.175617 -3.438987 0.030883 +v 0.115077 -1.712573 1.060986 +v 0.751359 -2.409392 -0.968327 +v 0.024388 -1.712573 -1.029089 +v -1.217541 -2.530401 -0.604773 +v -1.217541 -1.924509 0.091441 +v -0.066301 -3.196630 -0.786652 +v 0.751359 -3.378314 0.001013 +v -1.217541 -2.923851 0.485274 +v 1.266316 -2.984525 -0.483657 +v 1.266316 -2.045856 -0.453378 +v 0.084685 -3.196630 0.818344 +v 0.084685 -2.499980 1.060986 +v 1.266316 -2.923851 0.424716 +v -0.914353 -1.712573 0.757786 +v -0.763123 -3.408397 0.061162 +v 1.266316 -2.045856 0.424716 +v -1.217541 -2.893599 -0.483657 +v 1.023912 -1.712404 -0.029266 +v 0.054537 -2.469728 -1.029089 +v -0.763123 -2.469728 -0.968327 +v -0.763123 -2.469728 1.000223 +v -1.217541 -2.045687 0.454790 +v 0.054537 -3.438987 -0.059750 +v -0.975136 -1.712573 -0.089824 +v 0.932980 -1.712404 -0.665536 +v 0.720967 -3.135956 0.757786 +v 1.205533 -2.439475 -0.665536 +v -0.096693 -1.712573 1.060986 +v -0.036152 -3.257135 0.666948 +v -0.763123 -2.166866 -0.968327 +v 0.781507 -3.075283 -0.786448 +v 0.963128 -1.712404 0.697432 +v -0.914353 -1.712573 -0.756373 +v -0.217774 -2.469728 1.060986 +v -0.036152 -3.135956 -0.816931 +v -0.732731 -3.045030 -0.786448 +v -0.217774 -3.438987 0.061162 +v 0.751359 -1.803499 0.939665 +v -0.066301 -1.712573 -1.029089 +v -1.187149 -3.075283 0.091441 +v -0.763123 -3.196461 -0.635052 +f 213 190 237 +f 178 185 192 +f 180 188 193 +f 184 182 194 +f 185 178 194 +f 183 198 199 +f 193 181 200 +f 180 193 200 +f 193 188 201 +f 185 189 203 +f 189 196 203 +f 188 180 204 +f 191 188 204 +f 179 187 205 +f 192 185 205 +f 203 179 205 +f 185 203 205 +f 178 192 206 +f 174 191 207 +f 182 197 208 +f 174 207 208 +f 207 182 208 +f 194 182 209 +f 185 194 209 +f 177 184 210 +f 180 186 211 +f 191 204 211 +f 184 194 212 +f 194 178 212 +f 180 200 213 +f 183 184 214 +f 175 199 215 +f 199 198 215 +f 213 200 216 +f 177 188 217 +f 188 191 217 +f 195 177 217 +f 191 195 217 +f 188 177 218 +f 201 188 218 +f 177 210 218 +f 210 201 218 +f 187 179 219 +f 202 187 219 +f 186 202 219 +f 179 203 219 +f 203 196 219 +f 184 183 220 +f 210 184 220 +f 201 210 220 +f 178 206 221 +f 206 183 221 +f 214 178 221 +f 183 214 221 +f 189 185 222 +f 182 207 222 +f 207 189 222 +f 209 182 222 +f 185 209 222 +f 198 183 223 +f 192 198 223 +f 183 206 223 +f 206 192 223 +f 184 177 224 +f 177 195 224 +f 197 184 224 +f 208 197 224 +f 196 189 225 +f 189 207 225 +f 207 191 225 +f 191 211 225 +f 200 181 226 +f 176 216 226 +f 216 200 226 +f 198 192 227 +f 205 187 227 +f 192 205 227 +f 215 198 227 +f 212 178 228 +f 184 212 228 +f 178 214 228 +f 214 184 228 +f 183 181 229 +f 181 193 229 +f 193 201 229 +f 220 183 229 +f 201 220 229 +f 191 174 230 +f 195 191 230 +f 174 208 230 +f 224 195 230 +f 208 224 230 +f 176 175 231 +f 187 202 231 +f 175 215 231 +f 227 187 231 +f 215 227 231 +f 202 190 232 +f 190 213 232 +f 216 176 232 +f 213 216 232 +f 176 231 232 +f 231 202 232 +f 211 186 233 +f 186 219 233 +f 219 196 233 +f 196 225 233 +f 225 211 233 +f 182 184 234 +f 184 197 234 +f 197 182 234 +f 175 176 235 +f 181 183 235 +f 199 175 235 +f 183 199 235 +f 176 226 235 +f 226 181 235 +f 204 180 236 +f 180 211 236 +f 211 204 236 +f 186 180 237 +f 190 202 237 +f 202 186 237 +f 180 213 237 +o convex_4 +v 1.296756 -2.984499 -0.453473 +v 1.327023 -1.894380 0.031016 +v 1.327023 -1.894380 -0.029488 +v 3.023191 -2.499796 -0.029488 +v 1.266488 -2.863323 0.455113 +v 2.053952 -2.136616 -0.423051 +v 2.508132 -2.136616 0.333991 +v 2.750442 -2.893617 0.031016 +v 2.720175 -2.530090 -0.423051 +v 1.266488 -2.469849 -0.605016 +v 1.266488 -2.136616 0.455113 +v 2.750442 -2.469849 0.424805 +v 2.780881 -2.076028 -0.029488 +v 1.266488 -3.075496 0.031016 +v 2.084219 -2.923911 -0.423051 +v 1.266488 -2.015440 -0.423051 +v 2.023685 -2.893617 0.364187 +v 1.751108 -2.469849 0.546039 +v 2.114486 -2.076028 0.394496 +v 1.963150 -3.045087 -0.029488 +v 2.053952 -2.530090 -0.544399 +v 2.599106 -2.833029 -0.302042 +v 2.084219 -1.954853 0.000708 +v 1.266488 -2.378967 0.546039 +v 2.780881 -2.076028 0.061212 +v 1.266488 -2.893617 -0.514090 +v 2.750442 -2.439555 -0.392968 +v 1.266488 -2.045734 0.394496 +v 1.993418 -2.076028 -0.392968 +v 2.568667 -2.772441 0.303682 +v 2.780709 -2.893617 -0.029488 +v 2.599106 -2.197204 -0.302042 +v 1.448092 -2.923911 0.424805 +v 2.750442 -2.409261 0.424805 +v 2.023685 -2.620972 0.485422 +v 2.962485 -2.469733 0.152139 +v 2.750442 -2.590678 -0.392968 +v 1.387729 -2.590678 0.546039 +v 2.023685 -2.106322 0.424805 +v 1.266488 -3.075496 -0.120189 +v 1.963150 -3.045087 0.000708 +v 3.023191 -2.439440 -0.029488 +v 1.993418 -1.954853 -0.059572 +v 2.023685 -3.014793 -0.150498 +v 2.023685 -2.863323 0.394496 +v 2.114486 -2.439555 0.515731 +v 1.266488 -1.894380 0.031016 +v 2.811148 -2.469733 0.394496 +v 1.993418 -2.469849 -0.544399 +v 1.296756 -2.288086 -0.544399 +v 2.023685 -1.954853 0.061325 +v 1.266488 -2.984499 0.303682 +v 1.296756 -2.530090 -0.605016 +v 1.993418 -2.681560 -0.514090 +v 2.992752 -2.560500 0.031016 +f 273 285 292 +f 247 242 248 +f 242 247 251 +f 247 248 253 +f 240 239 260 +f 248 242 261 +f 256 244 262 +f 250 260 262 +f 251 247 263 +f 252 238 263 +f 253 248 265 +f 256 239 265 +f 243 253 266 +f 254 245 267 +f 252 259 268 +f 264 243 269 +f 250 264 269 +f 243 266 269 +f 266 250 269 +f 244 256 271 +f 262 244 271 +f 252 246 274 +f 259 252 274 +f 264 241 274 +f 246 264 274 +f 241 268 274 +f 268 259 274 +f 261 242 275 +f 255 261 275 +f 242 270 275 +f 272 255 275 +f 270 272 275 +f 248 261 276 +f 261 255 276 +f 265 248 276 +f 256 265 276 +f 271 256 276 +f 257 251 277 +f 263 238 277 +f 251 263 277 +f 245 254 278 +f 251 257 278 +f 268 245 278 +f 257 268 278 +f 254 270 278 +f 250 262 279 +f 241 264 279 +f 264 250 279 +f 273 241 279 +f 262 273 279 +f 253 240 280 +f 240 260 280 +f 260 250 280 +f 266 253 280 +f 250 266 280 +f 238 252 281 +f 268 257 281 +f 252 268 281 +f 277 238 281 +f 257 277 281 +f 267 249 282 +f 254 267 282 +f 270 254 282 +f 249 272 282 +f 272 270 282 +f 249 271 283 +f 272 249 283 +f 255 272 283 +f 276 255 283 +f 271 276 283 +f 239 240 284 +f 240 253 284 +f 265 239 284 +f 253 265 284 +f 267 245 285 +f 249 267 285 +f 271 249 285 +f 262 271 285 +f 273 262 285 +f 246 258 286 +f 258 247 286 +f 264 246 286 +f 243 264 286 +f 253 243 287 +f 247 253 287 +f 243 286 287 +f 286 247 287 +f 239 256 288 +f 260 239 288 +f 256 262 288 +f 262 260 288 +f 242 251 289 +f 270 242 289 +f 251 278 289 +f 278 270 289 +f 247 258 290 +f 263 247 290 +f 263 290 291 +f 246 252 291 +f 258 246 291 +f 252 263 291 +f 290 258 291 +f 268 241 292 +f 245 268 292 +f 241 273 292 +f 285 245 292 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/689/689.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/689/689.urdf new file mode 100644 index 000000000..10141eb8d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/689/689.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/690/690.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/690/690.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/690/690.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/690/690.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/690/690.obj new file mode 100644 index 000000000..e0c4183df --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/690/690.obj @@ -0,0 +1,597 @@ +o convex_0 +v 3.670782 -1.602950 -0.058196 +v 1.758026 -1.602950 -0.618895 +v 1.758026 -1.273137 -0.618895 +v 3.670782 -1.372110 -0.618895 +v 1.758026 -1.339158 -0.091200 +v 1.758026 -1.866859 -0.321983 +v 3.472878 -1.833849 -0.585891 +v 3.571925 -1.273137 -0.091200 +v 3.703734 -1.800838 0.007811 +v 1.791359 -1.833849 -0.124143 +v 1.758026 -1.866859 -0.585891 +v 3.637830 -1.602950 -0.618895 +v 3.670782 -1.339158 -0.585891 +v 2.582785 -1.866859 -0.519884 +v 2.648880 -1.833849 -0.058196 +v 3.571925 -1.734876 0.007811 +v 3.604877 -1.800838 -0.585891 +f 12 9 17 +f 2 3 4 +f 3 2 5 +f 5 2 6 +f 3 5 8 +f 1 8 9 +f 5 6 10 +f 6 2 11 +f 7 11 12 +f 2 4 12 +f 4 9 12 +f 11 2 12 +f 4 3 13 +f 3 8 13 +f 8 1 13 +f 1 9 13 +f 9 4 13 +f 7 9 14 +f 6 11 14 +f 11 7 14 +f 5 10 15 +f 10 6 15 +f 6 14 15 +f 14 9 15 +f 8 5 16 +f 9 8 16 +f 5 15 16 +f 15 9 16 +f 9 7 17 +f 7 12 17 +o convex_1 +v -1.441503 -0.976502 -1.311946 +v -1.837163 -2.163720 -1.443794 +v -1.771258 -2.163720 -1.443794 +v -1.012717 -1.932799 -3.422583 +v -0.880791 -2.097658 -0.685133 +v -1.837163 -0.943291 -3.290467 +v -0.847897 -1.009354 -3.290467 +v -1.936078 -1.207184 -0.684865 +v -2.002215 -2.064567 -3.356391 +v -0.880791 -1.042326 -0.685133 +v -0.946812 -2.097658 -3.422583 +v -1.936078 -2.064567 -0.684865 +v -1.837163 -0.976502 -0.784018 +v -0.814887 -1.537140 -0.718094 +v -1.969088 -1.240156 -1.773681 +v -0.913802 -1.998743 -3.422583 +v -0.913802 -2.130629 -0.685133 +v -1.837163 -2.163720 -0.684865 +v -1.969088 -1.240156 -0.948828 +v -0.814887 -1.207304 -0.685133 +v -0.913802 -2.130629 -2.135727 +v -2.002215 -1.932680 -3.356391 +v -2.002215 -2.064567 -2.828732 +v -0.946812 -1.009354 -1.278716 +v -1.771258 -0.943291 -2.597462 +v -1.870173 -1.141360 -3.323161 +v -1.177652 -2.097658 -3.422583 +v -0.847897 -1.141241 -3.290467 +v -1.837163 -1.009354 -0.684865 +v -1.936078 -1.141360 -2.201651 +v -0.880791 -1.141241 -3.323429 +f 43 23 48 +f 20 19 28 +f 28 21 33 +f 31 22 33 +f 19 20 35 +f 26 19 35 +f 25 29 35 +f 20 34 35 +f 34 22 35 +f 29 25 36 +f 25 30 36 +f 24 27 37 +f 31 24 37 +f 22 31 37 +f 35 22 37 +f 20 28 38 +f 33 22 38 +f 28 33 38 +f 34 20 38 +f 22 34 38 +f 36 32 39 +f 36 39 40 +f 26 35 40 +f 35 29 40 +f 29 36 40 +f 39 26 40 +f 27 24 41 +f 18 30 41 +f 30 27 41 +f 24 23 42 +f 30 18 42 +f 23 30 42 +f 18 41 42 +f 41 24 42 +f 39 43 44 +f 19 26 44 +f 28 19 44 +f 21 28 44 +f 26 39 44 +f 43 21 44 +f 24 31 45 +f 33 24 45 +f 31 33 45 +f 30 25 46 +f 27 30 46 +f 25 35 46 +f 37 27 46 +f 35 37 46 +f 30 23 47 +f 36 30 47 +f 32 36 47 +f 39 32 47 +f 23 43 47 +f 43 39 47 +f 23 24 48 +f 33 21 48 +f 24 33 48 +f 21 43 48 +o convex_2 +v -2.496983 -1.833778 -0.453885 +v -1.375824 -1.009373 -0.618786 +v -1.375824 -1.009373 -0.684790 +v -0.583879 -1.932648 -0.289059 +v -1.837247 -1.042368 0.073706 +v -1.870206 -2.163720 0.073706 +v -0.913840 -2.130613 -0.684790 +v -0.583879 -1.207339 -0.058229 +v -2.463650 -1.339203 -0.651751 +v -0.880882 -2.097619 0.073706 +v -2.463650 -1.273327 0.007702 +v -0.617025 -1.273327 -0.618786 +v -1.837247 -2.163720 -0.684790 +v -0.913840 -1.042368 0.073706 +v -1.837247 -1.009373 -0.684790 +v -0.880882 -1.042368 -0.684790 +v -2.397920 -1.899653 -0.157199 +v -0.583879 -1.899653 -0.618786 +v -1.837247 -1.009373 0.007702 +v -2.496983 -1.767789 -0.552855 +v -0.583879 -1.800784 -0.124233 +v -0.880882 -2.130613 -0.289059 +v -0.583879 -1.273327 -0.585820 +f 66 60 71 +f 53 54 58 +f 54 53 59 +f 51 55 61 +f 53 58 62 +f 58 56 62 +f 50 51 63 +f 57 59 63 +f 51 61 63 +f 61 57 63 +f 51 50 64 +f 55 51 64 +f 50 62 64 +f 62 56 64 +f 59 49 65 +f 54 59 65 +f 49 61 65 +f 61 54 65 +f 52 55 66 +f 56 52 66 +f 55 64 66 +f 64 60 66 +f 59 53 67 +f 62 50 67 +f 53 62 67 +f 50 63 67 +f 63 59 67 +f 49 59 68 +f 59 57 68 +f 61 49 68 +f 57 61 68 +f 52 56 69 +f 58 52 69 +f 56 58 69 +f 55 52 70 +f 58 54 70 +f 52 58 70 +f 54 61 70 +f 61 55 70 +f 60 64 71 +f 64 56 71 +f 56 66 71 +o convex_3 +v -1.078768 -1.075288 2.646576 +v -1.870187 -2.163720 0.073781 +v -1.936245 -2.097635 0.073781 +v -0.913729 -1.042245 0.073781 +v -0.847778 -2.097745 2.646576 +v -1.870187 -1.141373 2.646576 +v -1.903110 -2.163720 2.646576 +v -0.880807 -2.097745 0.073781 +v -1.837158 -1.042245 0.073781 +v -0.946758 -1.075398 2.646576 +v -1.936245 -1.174306 0.997529 +v -0.847778 -1.174196 0.172754 +v -1.837158 -1.042245 0.799583 +v -1.936245 -1.207349 0.073781 +v -0.847778 -1.932641 0.073781 +v -0.847778 -1.932641 2.646576 +v -0.913729 -1.042245 0.931547 +v -1.870187 -1.108221 2.283675 +v -1.804236 -2.163720 0.073781 +v -0.847778 -1.240282 0.601637 +v -1.210671 -1.075288 2.646576 +f 84 89 92 +f 73 74 75 +f 76 72 77 +f 74 73 78 +f 76 77 78 +f 73 75 79 +f 75 74 80 +f 72 76 81 +f 74 78 82 +f 78 77 82 +f 75 80 84 +f 80 82 84 +f 80 74 85 +f 74 82 85 +f 82 80 85 +f 79 75 86 +f 76 79 86 +f 75 83 86 +f 83 76 86 +f 81 76 87 +f 76 83 87 +f 72 81 88 +f 83 75 88 +f 81 83 88 +f 75 84 88 +f 82 77 89 +f 84 82 89 +f 78 73 90 +f 76 78 90 +f 73 79 90 +f 79 76 90 +f 83 81 91 +f 81 87 91 +f 87 83 91 +f 77 72 92 +f 72 88 92 +f 88 84 92 +f 89 77 92 +o convex_4 +v -1.969230 -2.097635 3.965685 +v -0.781786 -1.075398 4.625544 +v -0.781786 -1.306148 4.625544 +v -0.847807 -1.932751 2.646576 +v -1.870199 -1.141373 2.646576 +v -1.870199 -1.042245 4.724604 +v -0.847807 -2.064702 4.658496 +v -0.946838 -1.075288 2.646576 +v -1.903209 -2.163720 2.646576 +v -1.969230 -2.130678 4.658293 +v -0.847807 -2.097635 2.646576 +v -1.540328 -2.130678 4.658293 +v -1.408402 -1.042245 3.504556 +v -1.903209 -1.174306 4.724604 +v -1.012743 -1.042245 4.658293 +v -0.814796 -2.031659 4.658496 +v -1.936104 -2.097635 2.646576 +v -1.870199 -1.042245 4.229506 +v -1.870199 -2.163720 3.438448 +v -1.045753 -2.097635 4.658293 +v -0.781786 -1.075398 4.493531 +v -1.969230 -1.932751 4.460376 +v -1.639243 -1.108221 2.646576 +v -1.672253 -1.042245 4.724604 +v -1.870199 -1.339300 4.724604 +f 116 106 117 +f 96 97 100 +f 97 96 101 +f 93 101 102 +f 101 96 103 +f 105 98 107 +f 100 105 107 +f 95 94 108 +f 103 95 108 +f 99 103 108 +f 94 107 108 +f 93 97 109 +f 101 93 109 +f 97 101 109 +f 98 105 110 +f 97 106 110 +f 106 98 110 +f 102 101 111 +f 101 103 111 +f 104 102 111 +f 104 111 112 +f 103 99 112 +f 111 103 112 +f 94 95 113 +f 96 100 113 +f 95 103 113 +f 103 96 113 +f 107 94 113 +f 100 107 113 +f 97 93 114 +f 93 102 114 +f 106 97 114 +f 102 106 114 +f 100 97 115 +f 105 100 115 +f 110 105 115 +f 97 110 115 +f 98 106 116 +f 107 98 116 +f 108 107 116 +f 108 116 117 +f 102 104 117 +f 106 102 117 +f 99 108 117 +f 104 112 117 +f 112 99 117 +o convex_5 +v 0.042932 5.455365 -0.486860 +v 1.098179 3.971560 0.205719 +v 1.032233 3.971560 0.205719 +v 1.098179 3.542799 -0.882714 +v 0.042932 3.542799 0.139743 +v 1.131312 5.488698 0.106701 +v 1.098286 5.422604 -0.849671 +v 0.141904 3.542799 -0.882714 +v 0.042932 5.356508 0.172676 +v 0.075958 5.488508 -0.915756 +v 1.098179 3.542799 0.205719 +v 0.900340 5.455365 -0.882714 +v 0.768341 3.542799 0.205719 +v 0.042932 3.542799 -0.025360 +v 0.075958 4.960700 -0.882714 +v 1.131312 5.389651 -0.289153 +v 1.131312 4.993843 0.106701 +v 1.098286 4.993843 -0.882604 +v 0.075958 5.488508 -0.618811 +v 0.042932 5.389461 0.106701 +v 0.504769 5.488508 -0.882714 +v 0.108878 4.037655 -0.882714 +f 131 132 139 +f 121 122 125 +f 120 119 126 +f 118 122 126 +f 119 123 126 +f 121 125 127 +f 119 120 128 +f 122 121 128 +f 123 119 128 +f 123 124 129 +f 120 126 130 +f 126 122 130 +f 128 120 130 +f 122 128 130 +f 122 118 131 +f 125 122 131 +f 118 127 132 +f 131 118 132 +f 124 123 133 +f 128 121 134 +f 123 128 134 +f 121 133 134 +f 133 123 134 +f 121 127 135 +f 129 124 135 +f 127 129 135 +f 133 121 135 +f 124 133 135 +f 127 118 136 +f 123 127 136 +f 118 126 137 +f 126 123 137 +f 136 118 137 +f 123 136 137 +f 127 123 138 +f 123 129 138 +f 129 127 138 +f 127 125 139 +f 125 131 139 +f 132 127 139 +o convex_6 +v 1.263121 -2.394412 0.700487 +v 1.131085 -2.592268 -1.377540 +v 1.131085 -1.174325 -1.377540 +v -0.583775 -1.207420 -0.058432 +v -0.451740 -2.526363 -1.278480 +v 1.625990 -1.174325 0.667128 +v -0.319704 -2.592268 0.634379 +v 1.725016 -2.625362 -1.377337 +v -0.418731 -1.174325 -1.278480 +v -0.319704 -1.174325 0.634379 +v 1.725016 -1.174325 -1.377337 +v 1.592981 -2.559316 0.700487 +v 1.758025 -1.735082 -0.124337 +v -0.583775 -1.899844 -0.618621 +v 0.438585 -2.625362 -0.091181 +v -0.583775 -1.899844 -0.157289 +v -0.286924 -1.174325 -1.311432 +v 1.758025 -1.273324 -0.519764 +v -0.583775 -1.273324 -0.585872 +v 0.009927 -2.592268 0.667332 +v 1.625990 -2.592268 0.205389 +v 1.625990 -1.899844 0.700487 +v -0.286924 -2.526363 -1.311432 +v 1.361918 -2.625362 -1.377540 +v 1.625990 -2.526363 0.601427 +v -0.352942 -2.592268 0.106533 +v -0.451740 -1.537085 -1.278480 +v 1.758025 -1.339229 -0.091384 +v 0.900252 -2.592268 0.667332 +v 1.692008 -2.625362 -0.816538 +v 0.834463 -1.174325 0.667332 +v -0.451740 -2.526363 -0.981503 +v 1.758025 -1.833939 -0.157289 +v 1.725016 -2.625362 -1.212576 +f 147 172 173 +f 145 142 148 +f 145 148 149 +f 143 146 149 +f 148 143 149 +f 142 145 150 +f 146 143 155 +f 143 153 155 +f 153 144 155 +f 142 141 156 +f 148 142 156 +f 150 145 157 +f 147 150 157 +f 143 148 158 +f 153 143 158 +f 140 149 159 +f 149 146 159 +f 151 140 159 +f 146 154 159 +f 140 151 161 +f 156 141 162 +f 144 156 162 +f 141 142 163 +f 142 150 163 +f 150 147 163 +f 147 154 163 +f 162 141 163 +f 144 162 163 +f 151 160 164 +f 161 151 164 +f 152 161 164 +f 154 146 165 +f 144 163 165 +f 163 154 165 +f 144 153 166 +f 156 144 166 +f 148 156 166 +f 158 148 166 +f 153 158 166 +f 157 145 167 +f 152 157 167 +f 145 161 167 +f 161 152 167 +f 151 159 168 +f 159 154 168 +f 160 151 168 +f 160 168 169 +f 154 147 169 +f 168 154 169 +f 145 149 170 +f 149 140 170 +f 161 145 170 +f 140 161 170 +f 146 155 171 +f 155 144 171 +f 165 146 171 +f 144 165 171 +f 147 157 172 +f 157 152 172 +f 152 164 172 +f 172 164 173 +f 164 160 173 +f 160 169 173 +f 169 147 173 +o convex_7 +v 1.725041 3.410561 0.172457 +v -0.418956 -1.174183 -1.278451 +v -0.286950 -1.174183 -1.311481 +v 1.625984 -1.174183 0.667102 +v -0.385797 3.509366 0.667303 +v 1.725041 3.476585 -1.311281 +v 1.725041 -1.174183 -1.377340 +v -0.352848 3.410561 -1.278451 +v -0.319899 -1.174183 0.634273 +v 1.725041 3.377318 0.601443 +v -0.187893 3.047660 -1.311481 +v 1.263125 3.542609 -0.882694 +v 1.098170 3.542609 0.205486 +v 0.141808 3.542609 -0.882694 +v 1.658933 -0.217066 0.667102 +v 1.131329 -0.976111 -1.377340 +v -0.352848 -0.349114 0.634273 +v -0.418956 0.112592 -1.278451 +v 1.658933 2.123785 -1.344511 +v 0.834367 -1.174183 0.667303 +v 1.691882 2.189809 0.634473 +v -0.418956 -1.174183 -1.080473 +v -0.385797 3.509366 0.238516 +v 0.240865 3.443342 -1.311281 +v -0.385797 2.453444 0.634273 +v 1.725041 -1.174183 -1.245421 +v 0.042961 3.542609 0.139427 +v 0.900265 3.443342 0.634273 +v 1.658933 0.145835 0.667102 +v 1.559876 3.509366 -1.212391 +v -0.385797 3.014417 0.667303 +v -0.286950 3.443342 -1.245421 +v 1.725041 3.476585 -0.948554 +v 1.725041 -0.481162 -1.377340 +f 189 192 207 +f 175 176 177 +f 179 174 180 +f 177 176 180 +f 175 177 182 +f 180 174 183 +f 176 181 184 +f 183 174 186 +f 186 185 187 +f 180 176 189 +f 176 184 189 +f 176 175 191 +f 181 176 191 +f 189 184 192 +f 182 177 193 +f 177 188 193 +f 188 183 194 +f 175 182 195 +f 182 190 195 +f 191 175 195 +f 178 191 195 +f 191 178 196 +f 181 191 196 +f 184 181 197 +f 179 192 197 +f 192 184 197 +f 195 190 198 +f 177 180 199 +f 180 183 199 +f 188 177 199 +f 183 188 199 +f 178 186 200 +f 186 187 200 +f 196 178 200 +f 187 196 200 +f 183 186 201 +f 186 178 201 +f 178 194 201 +f 194 183 201 +f 178 193 202 +f 193 188 202 +f 194 178 202 +f 188 194 202 +f 185 186 203 +f 187 185 203 +f 179 197 203 +f 190 182 204 +f 182 193 204 +f 193 178 204 +f 178 195 204 +f 198 190 204 +f 195 198 204 +f 196 187 205 +f 181 196 205 +f 197 181 205 +f 187 203 205 +f 203 197 205 +f 174 179 206 +f 186 174 206 +f 179 203 206 +f 203 186 206 +f 179 180 207 +f 180 189 207 +f 192 179 207 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/690/690.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/690/690.urdf new file mode 100644 index 000000000..d8b96b51b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/690/690.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/691/691.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/691/691.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/691/691.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/691/691.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/691/691.obj new file mode 100644 index 000000000..6d178a3c7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/691/691.obj @@ -0,0 +1,528 @@ +o convex_0 +v -0.131960 0.810072 3.042940 +v -0.131960 0.195576 1.107689 +v 0.175220 0.195576 1.107689 +v 0.175220 0.257032 3.104712 +v 0.236721 0.687160 1.107689 +v -0.285605 0.717856 1.107689 +v -0.254800 0.287791 2.766531 +v 0.236721 0.717856 3.104712 +v -0.316355 0.226336 1.107689 +v -0.193407 0.840831 3.012249 +v -0.224158 0.287791 2.981559 +v -0.224158 0.779312 1.292222 +v 0.236721 0.502855 2.981559 +v 0.205970 0.717856 1.230646 +v 0.175220 0.226336 2.858602 +v -0.316355 0.226336 1.476560 +v -0.131960 0.840831 2.950869 +v 0.205970 0.287791 1.476560 +v 0.205970 0.748616 3.104712 +v -0.224158 0.779312 2.612884 +v -0.009121 0.257032 3.073630 +v 0.236721 0.564248 1.107689 +v -0.316355 0.349247 1.353603 +v 0.175220 0.195576 1.875925 +v 0.205970 0.318551 3.012249 +v 0.021630 0.226336 2.582194 +v -0.224158 0.595008 2.981559 +f 20 23 27 +f 3 2 5 +f 5 2 6 +f 6 2 9 +f 1 10 11 +f 5 6 12 +f 6 10 12 +f 5 8 13 +f 5 12 14 +f 9 2 16 +f 11 7 16 +f 12 10 17 +f 14 12 17 +f 4 8 19 +f 8 5 19 +f 10 1 19 +f 5 14 19 +f 17 10 19 +f 14 17 19 +f 10 6 20 +f 1 11 21 +f 15 4 21 +f 19 1 21 +f 4 19 21 +f 3 5 22 +f 5 13 22 +f 18 3 22 +f 13 18 22 +f 6 9 23 +f 9 16 23 +f 16 7 23 +f 20 6 23 +f 2 3 24 +f 3 18 24 +f 24 18 25 +f 8 4 25 +f 13 8 25 +f 4 15 25 +f 18 13 25 +f 15 24 25 +f 16 2 26 +f 11 16 26 +f 21 11 26 +f 15 21 26 +f 2 24 26 +f 24 15 26 +f 7 11 27 +f 11 10 27 +f 10 20 27 +f 23 7 27 +o convex_1 +v 0.175190 0.656464 -1.104809 +v -0.347081 0.103397 -2.948184 +v -0.316313 0.103397 -2.948184 +v -0.224140 0.810105 -3.009565 +v 0.328900 0.287891 -2.978875 +v -0.285611 0.257038 -1.104809 +v 0.328900 0.226324 -1.104809 +v -0.316313 0.810105 -1.104809 +v 0.267429 0.656464 -3.070946 +v 0.205958 0.287891 -3.101832 +v -0.285611 0.717823 -2.886609 +v -0.162669 0.810105 -2.671581 +v 0.205958 0.656464 -1.258652 +v -0.347081 0.410748 -2.118568 +v 0.328900 0.226324 -1.811665 +v 0.328900 0.287891 -1.104809 +v 0.021545 0.226324 -1.104809 +v -0.254842 0.810105 -1.104809 +v 0.144487 0.226324 -3.040256 +v -0.316313 0.810105 -1.535256 +v -0.347081 0.257038 -2.917299 +v 0.205958 0.687178 -3.009565 +v -0.316313 0.533468 -1.135891 +v -0.316313 0.195678 -1.780974 +f 33 50 51 +f 29 30 34 +f 28 33 34 +f 33 28 35 +f 30 29 37 +f 29 31 37 +f 31 36 37 +f 36 32 37 +f 31 35 39 +f 34 30 42 +f 32 34 42 +f 28 34 43 +f 34 32 43 +f 32 36 43 +f 36 40 43 +f 40 28 43 +f 29 34 44 +f 34 33 44 +f 35 28 45 +f 39 35 45 +f 40 39 45 +f 28 40 45 +f 30 37 46 +f 37 32 46 +f 42 30 46 +f 32 42 46 +f 35 31 47 +f 31 38 47 +f 41 35 47 +f 41 47 48 +f 31 29 48 +f 38 31 48 +f 29 41 48 +f 47 38 48 +f 36 31 49 +f 31 39 49 +f 40 36 49 +f 39 40 49 +f 33 35 50 +f 35 41 50 +f 50 41 51 +f 41 29 51 +f 29 44 51 +f 44 33 51 +o convex_2 +v 0.605438 -2.662126 -0.582460 +v -0.592893 -4.628473 0.308546 +v -0.592893 -4.628473 0.492941 +v -0.531311 -2.631631 0.462191 +v 0.482508 -4.474825 0.523691 +v -0.562043 -4.536010 -0.551709 +v 0.574705 -2.631631 0.523691 +v -0.531311 -2.631631 -0.551709 +v 0.574705 -4.474825 -0.428816 +v -0.562043 -3.092381 0.492941 +v -0.562043 -2.877351 -0.336564 +v -0.039826 -3.675697 -0.582460 +v -0.039826 -4.505320 0.523691 +v 0.513240 -4.474825 -0.459458 +v 0.605438 -2.631631 -0.244421 +v 0.574705 -4.443939 -0.244421 +v -0.347033 -4.536010 -0.551709 +v -0.592893 -4.075066 0.185653 +v -0.469846 -4.628473 0.370047 +v 0.236648 -2.631631 -0.582460 +v -0.562043 -3.307410 -0.551709 +v -0.469846 -2.631631 0.492941 +v -0.592893 -4.597392 -0.029384 +v 0.605438 -3.246029 -0.459458 +v 0.513240 -4.075261 0.492941 +v 0.390311 -2.723507 0.523691 +v 0.574705 -2.877351 0.462191 +v 0.328846 -4.505320 0.523691 +v -0.592893 -4.105951 0.492941 +f 62 69 80 +f 55 58 59 +f 55 59 62 +f 61 55 62 +f 56 58 64 +f 52 60 65 +f 63 52 65 +f 59 58 66 +f 56 60 67 +f 57 63 68 +f 65 60 68 +f 63 65 68 +f 53 54 69 +f 54 53 70 +f 68 60 70 +f 63 59 71 +f 52 63 71 +f 66 52 71 +f 59 66 71 +f 62 59 72 +f 63 57 72 +f 59 63 72 +f 69 62 72 +f 58 55 73 +f 55 61 73 +f 61 64 73 +f 57 68 74 +f 53 69 74 +f 70 53 74 +f 68 70 74 +f 72 57 74 +f 69 72 74 +f 60 52 75 +f 52 66 75 +f 67 60 75 +f 58 56 76 +f 56 67 76 +f 64 58 77 +f 58 73 77 +f 73 64 77 +f 66 58 78 +f 75 66 78 +f 67 75 78 +f 58 76 78 +f 76 67 78 +f 60 56 79 +f 64 54 79 +f 56 64 79 +f 54 70 79 +f 70 60 79 +f 61 62 80 +f 54 64 80 +f 64 61 80 +f 69 54 80 +o convex_3 +v 1.066310 -2.385224 0.277778 +v -1.115242 -2.507829 0.861559 +v -1.115242 -2.507829 1.045845 +v -1.084284 0.164305 0.984416 +v -0.992288 0.164305 -1.043356 +v 1.066310 0.164305 0.984416 +v 0.851141 -2.477178 -0.981720 +v 1.004833 0.164305 -1.012434 +v -0.930811 -2.631255 -1.043356 +v 1.127787 -2.600330 1.015131 +v 0.328807 0.164305 1.076767 +v 0.943356 -2.508103 -0.858863 +v 1.097049 0.164305 -0.090795 +v -0.623427 -2.631255 0.554415 +v 0.605233 -2.631255 -0.582433 +v -1.084284 0.164305 1.076767 +v -1.115242 -2.200769 1.076767 +v -0.992288 -0.910952 -1.043356 +v 0.021642 -0.327210 -1.043356 +v 0.974095 -0.695846 -1.012434 +v -0.623427 -2.600057 -1.043356 +v 0.359545 -0.357861 1.076767 +v -1.115242 -1.494148 1.015131 +v 1.097049 0.164305 0.431350 +v 0.574495 -2.631255 0.523493 +v 0.943356 0.164305 1.015131 +v -0.992288 -2.600057 -0.490082 +v 0.943356 -2.200769 -0.981720 +v 0.021642 -2.538754 1.045845 +v 0.820403 -2.508103 -0.981720 +v 0.605233 -2.600057 1.015131 +v 1.097049 -2.600330 0.646351 +v 1.097049 0.041427 -0.090795 +v -0.131831 0.164305 -1.043356 +v -0.777119 -2.631255 -1.043356 +v -0.961550 -1.985663 -1.043356 +v 1.127787 -2.508103 0.922988 +v -0.930811 -2.631255 -0.766719 +v 1.097049 -1.003180 0.984416 +f 90 104 119 +f 85 84 86 +f 85 86 88 +f 86 84 91 +f 88 86 93 +f 94 89 95 +f 91 84 96 +f 91 96 97 +f 82 83 97 +f 82 85 98 +f 85 89 98 +f 89 85 99 +f 99 88 100 +f 89 99 101 +f 99 100 101 +f 100 87 101 +f 90 91 102 +f 91 97 102 +f 84 85 103 +f 85 82 103 +f 96 84 103 +f 97 96 103 +f 82 97 103 +f 93 86 104 +f 90 94 105 +f 95 90 105 +f 94 95 105 +f 90 86 106 +f 86 91 106 +f 91 90 106 +f 83 82 107 +f 92 87 108 +f 87 100 108 +f 100 88 108 +f 97 83 109 +f 90 102 109 +f 102 97 109 +f 87 92 110 +f 92 95 110 +f 101 87 110 +f 83 94 111 +f 94 90 111 +f 109 83 111 +f 90 109 111 +f 90 95 112 +f 95 92 112 +f 108 81 112 +f 92 108 112 +f 88 93 113 +f 81 108 113 +f 108 88 113 +f 85 88 114 +f 99 85 114 +f 88 99 114 +f 95 89 115 +f 89 101 115 +f 110 95 115 +f 101 110 115 +f 82 98 116 +f 98 89 116 +f 107 82 116 +f 89 107 116 +f 104 90 117 +f 93 104 117 +f 112 81 117 +f 90 112 117 +f 113 93 117 +f 81 113 117 +f 94 83 118 +f 89 94 118 +f 83 107 118 +f 107 89 118 +f 86 90 119 +f 104 86 119 +o convex_4 +v 1.097061 1.915679 -0.367477 +v -1.115242 3.452121 -1.012477 +v -1.084492 2.346107 -1.012477 +v -1.053741 2.438413 -0.060111 +v 1.004809 0.164850 -1.012477 +v -0.961490 0.164850 -0.060111 +v 1.066310 3.544757 -1.074032 +v 1.035560 3.544757 -0.060315 +v 1.097061 0.164850 -0.060111 +v -1.022991 0.164850 -1.043356 +v -1.053741 3.513988 -0.060111 +v -0.285412 0.257155 -1.104707 +v -0.961490 3.544757 -1.043356 +v 0.789772 2.591925 -1.104707 +v 0.328732 0.226387 -1.104707 +v 1.097061 2.714999 -0.828220 +v -0.992240 0.226387 -0.090990 +v 1.066310 2.530388 -1.074032 +v -0.316163 0.810327 -1.104707 +v -1.084492 3.544757 -0.643759 +v -1.084492 3.452121 -0.121666 +v 1.066310 3.544757 -0.459708 +v 1.097061 1.240425 -0.060111 +v 0.297981 3.544757 -1.073929 +v -1.053741 2.099959 -1.043356 +v 1.097061 0.257155 -0.152341 +v 1.004809 0.933071 -1.043254 +v 1.066310 2.714999 -0.060111 +v -1.084492 2.376545 -0.951126 +v -1.115242 3.544757 -1.012477 +v -1.022991 3.359815 -1.043356 +v 0.697521 3.544757 -0.060315 +v 0.728271 2.561487 -1.104707 +f 143 133 152 +f 125 124 128 +f 123 125 128 +f 122 121 129 +f 124 125 129 +f 123 128 130 +f 127 126 132 +f 124 129 134 +f 129 131 134 +f 131 133 134 +f 120 128 135 +f 125 123 136 +f 129 125 136 +f 133 126 137 +f 134 133 137 +f 126 135 137 +f 131 129 138 +f 133 131 138 +f 127 132 139 +f 123 130 140 +f 126 127 141 +f 135 126 141 +f 120 135 141 +f 128 120 142 +f 130 128 142 +f 132 126 143 +f 126 133 143 +f 129 121 144 +f 138 129 144 +f 128 124 145 +f 135 128 145 +f 124 137 145 +f 137 135 145 +f 124 134 146 +f 137 124 146 +f 134 137 146 +f 127 130 147 +f 120 141 147 +f 141 127 147 +f 142 120 147 +f 130 142 147 +f 121 122 148 +f 122 129 148 +f 136 123 148 +f 129 136 148 +f 140 121 148 +f 123 140 148 +f 130 139 149 +f 139 132 149 +f 121 140 149 +f 140 130 149 +f 144 121 149 +f 144 149 150 +f 132 138 150 +f 138 144 150 +f 149 132 150 +f 130 127 151 +f 139 130 151 +f 127 139 151 +f 138 132 152 +f 133 138 152 +f 132 143 152 +o convex_5 +v 1.066310 2.622335 -0.029252 +v -1.084516 0.164850 0.984401 +v -0.992264 0.164850 -0.029252 +v -1.053765 3.513387 -0.060111 +v 0.974059 3.575483 0.984401 +v 1.066310 0.164850 0.984401 +v -1.023015 3.452292 1.107494 +v 1.097061 0.164850 -0.059996 +v 1.035560 3.544435 -0.059996 +v 0.175187 0.195898 1.107494 +v -1.084516 0.164850 1.076635 +v 0.359690 1.148378 1.107494 +v -0.961514 0.164850 -0.060111 +v 1.004809 3.390863 0.984401 +v -1.053765 3.483006 0.708044 +v -1.053765 2.469097 -0.060111 +v 1.035560 3.575483 -0.029252 +v -1.053765 1.885190 1.107494 +v -0.807975 3.452292 1.107494 +v 1.097061 0.195898 0.431572 +v 0.697518 3.575483 0.984401 +v 0.943308 0.164850 1.015260 +v -0.316181 0.226612 1.107494 +v 1.097061 1.179426 -0.059996 +v -1.084516 0.533756 1.076635 +v -1.053765 2.499812 1.107494 +v 1.035560 3.575483 0.216590 +v 1.066310 0.441613 0.984401 +v -0.807975 3.483006 1.076635 +v -1.053765 3.513387 0.093612 +f 167 181 182 +f 154 155 158 +f 158 155 160 +f 154 158 163 +f 159 162 164 +f 160 155 165 +f 156 161 165 +f 157 164 166 +f 155 154 168 +f 154 156 168 +f 165 155 168 +f 156 165 168 +f 153 161 169 +f 161 156 169 +f 162 159 170 +f 157 159 171 +f 164 157 171 +f 159 164 171 +f 158 160 172 +f 159 157 173 +f 169 156 173 +f 157 169 173 +f 162 163 174 +f 163 158 174 +f 164 162 174 +f 166 164 174 +f 163 162 175 +f 162 170 175 +f 170 163 175 +f 161 153 176 +f 160 165 176 +f 165 161 176 +f 153 172 176 +f 172 160 176 +f 156 154 177 +f 154 163 177 +f 163 170 177 +f 177 170 178 +f 159 167 178 +f 170 159 178 +f 167 177 178 +f 157 166 179 +f 169 157 179 +f 153 169 179 +f 172 153 179 +f 166 172 179 +f 158 172 180 +f 172 166 180 +f 174 158 180 +f 166 174 180 +f 167 159 181 +f 159 173 181 +f 181 173 182 +f 173 156 182 +f 156 177 182 +f 177 167 182 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/691/691.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/691/691.urdf new file mode 100644 index 000000000..8a2608c5b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/691/691.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/692/692.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/692/692.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/692/692.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/692/692.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/692/692.obj new file mode 100644 index 000000000..06ae82e84 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/692/692.obj @@ -0,0 +1,585 @@ +o convex_0 +v -0.654976 -2.045807 -1.055503 +v -1.074650 -1.327024 -0.545647 +v -1.074650 -1.327024 -0.515643 +v 1.083734 -0.367690 -0.485851 +v 1.083734 -3.035700 1.073088 +v -1.014847 -0.367429 1.012868 +v -0.954833 -2.915555 1.103091 +v 1.053938 -3.035700 -0.935487 +v 1.023931 -0.367690 1.042872 +v -0.984840 -0.367429 -1.025710 +v -1.014847 -2.945591 -1.025710 +v 1.023931 -0.367690 -0.935487 +v -0.025254 -0.457538 -1.055503 +v -1.074650 -0.367429 0.563232 +v 1.053938 -1.027183 1.073088 +v 0.214379 -3.005663 1.102880 +v -0.984840 -2.795670 1.072876 +v -0.834806 -0.367690 1.042872 +v 0.933911 -2.825445 -0.965703 +v 1.083734 -2.255800 -0.725671 +v -1.074650 -0.367429 -0.305827 +v -0.475146 -2.975366 -1.025499 +v -1.014847 -2.945591 -0.365835 +v -1.074650 -0.907299 0.533228 +v -0.894820 -2.525604 1.103091 +v -0.894820 -2.945591 1.103091 +v 0.784087 -3.035700 0.803052 +v 1.083734 -0.367690 -0.156018 +v -0.594962 -0.367690 -1.055503 +v -1.044854 -2.405720 -0.875691 +v -0.864813 -2.405720 -1.055503 +v -0.445139 -1.086995 1.072876 +v 1.083734 -3.035700 -0.216026 +v 1.083734 -2.255800 1.073088 +v 1.053938 -1.536756 -0.935699 +v 0.903904 -3.035700 -0.935487 +v -0.984840 -0.487574 1.042872 +v 0.334195 -2.975366 1.102880 +v -0.025254 -0.607197 -1.055503 +f 13 19 39 +f 10 4 12 +f 2 3 14 +f 6 10 14 +f 7 6 17 +f 9 6 18 +f 15 9 18 +f 13 12 19 +f 4 5 20 +f 10 2 21 +f 2 14 21 +f 14 10 21 +f 1 19 22 +f 19 8 22 +f 7 17 23 +f 11 22 23 +f 22 16 23 +f 14 3 24 +f 6 14 24 +f 17 6 24 +f 23 17 24 +f 7 23 26 +f 23 16 26 +f 25 7 26 +f 8 5 27 +f 5 16 27 +f 16 22 27 +f 5 4 28 +f 6 9 28 +f 10 6 28 +f 4 10 28 +f 9 15 28 +f 10 12 29 +f 12 13 29 +f 13 1 29 +f 3 2 30 +f 2 10 30 +f 10 11 30 +f 11 23 30 +f 24 3 30 +f 23 24 30 +f 11 10 31 +f 1 22 31 +f 22 11 31 +f 29 1 31 +f 10 29 31 +f 15 18 32 +f 25 15 32 +f 5 8 33 +f 20 5 33 +f 8 20 33 +f 5 28 34 +f 28 15 34 +f 12 4 35 +f 8 19 35 +f 19 12 35 +f 4 20 35 +f 20 8 35 +f 22 8 36 +f 8 27 36 +f 27 22 36 +f 6 7 37 +f 18 6 37 +f 7 25 37 +f 32 18 37 +f 25 32 37 +f 16 5 38 +f 15 25 38 +f 26 16 38 +f 25 26 38 +f 5 34 38 +f 34 15 38 +f 1 13 39 +f 19 1 39 +o convex_1 +v 0.664127 2.990447 1.012868 +v -1.104844 0.382676 0.083375 +v 1.023785 0.382409 -0.635666 +v -0.924798 2.930888 -0.995504 +v 0.963842 2.990447 -0.935495 +v 0.993813 0.382676 1.043083 +v -1.044684 3.110900 0.923067 +v -0.954769 0.382676 -1.025719 +v -1.014713 0.382676 1.013079 +v 0.963842 2.870795 0.983075 +v 1.023785 0.382676 -0.935495 +v 1.113917 0.532508 0.233396 +v -0.295179 0.412589 -1.055512 +v 0.244308 0.652694 1.103091 +v 0.903899 2.990447 1.012868 +v -0.954769 2.960801 -0.815690 +v 1.113917 0.382409 -0.365841 +v 0.873927 2.630690 -0.965711 +v 0.993813 2.810702 -0.905703 +v -0.804912 2.601044 -1.025719 +v -1.104844 1.162016 0.413209 +v -1.044684 2.630957 0.952860 +v -1.044684 3.110900 0.743043 +v 0.304251 0.382676 -1.025719 +v -0.954769 1.971269 -1.025719 +v 0.334223 2.990714 -0.965711 +v 0.993813 1.402121 1.043083 +v -0.804912 3.110900 0.922856 +v 0.154394 0.382676 1.103091 +v -0.714997 3.080452 0.952860 +v -1.104844 0.382676 0.413209 +v 0.963842 2.990447 0.533225 +v -1.104844 0.562421 0.053371 +v -0.385094 0.772346 -1.055512 +v -1.074656 2.450945 0.773047 +v 0.664127 2.990714 -0.965711 +v 0.784013 2.391119 1.043083 +v -0.954769 2.781056 -0.935707 +v -1.044684 2.960801 0.563229 +v -0.534951 2.960801 -0.995504 +v 1.113917 0.532508 -0.365841 +v -1.014713 0.532508 1.013079 +v 1.113917 0.382409 0.233396 +v -1.044684 0.442502 0.863059 +f 74 70 83 +f 42 41 47 +f 42 50 56 +f 44 50 57 +f 50 44 58 +f 42 47 63 +f 50 42 63 +f 47 52 63 +f 57 50 63 +f 43 59 64 +f 45 51 66 +f 51 49 66 +f 53 45 66 +f 49 54 66 +f 44 62 67 +f 62 46 67 +f 45 53 68 +f 53 40 69 +f 40 54 69 +f 46 61 69 +f 61 53 69 +f 67 46 69 +f 54 67 69 +f 41 42 70 +f 60 41 70 +f 49 51 71 +f 54 49 71 +f 58 44 71 +f 51 58 71 +f 67 54 71 +f 44 67 71 +f 47 41 72 +f 41 60 72 +f 64 47 72 +f 52 47 73 +f 63 52 73 +f 57 63 73 +f 47 64 73 +f 64 59 73 +f 61 46 74 +f 46 62 74 +f 60 70 74 +f 44 57 75 +f 62 44 75 +f 65 62 75 +f 57 73 75 +f 73 59 75 +f 40 53 76 +f 54 40 76 +f 53 66 76 +f 66 54 76 +f 55 43 77 +f 43 64 77 +f 72 60 77 +f 64 72 77 +f 62 55 78 +f 60 74 78 +f 74 62 78 +f 55 77 78 +f 77 60 78 +f 43 55 79 +f 59 43 79 +f 55 62 79 +f 62 65 79 +f 75 59 79 +f 65 75 79 +f 56 50 80 +f 51 56 80 +f 50 58 80 +f 58 51 80 +f 53 61 81 +f 61 48 81 +f 68 53 81 +f 48 68 81 +f 51 45 82 +f 42 56 82 +f 56 51 82 +f 45 68 82 +f 68 48 82 +f 70 42 82 +f 48 70 82 +f 48 61 83 +f 70 48 83 +f 61 74 83 +o convex_2 +v -2.393899 -0.337105 -0.336057 +v -2.843574 0.352355 0.203569 +v -2.843574 0.352355 0.143558 +v -1.105041 0.232422 -0.036272 +v -1.105041 -0.337105 0.293484 +v -3.053566 -0.367106 0.323523 +v -3.023483 0.232422 -0.276113 +v -1.105041 -0.307104 -0.246142 +v -1.105041 0.172420 -0.276113 +v -1.105041 0.232422 0.233540 +v -3.113536 -0.337105 -0.366096 +v -3.023483 0.352355 0.053643 +v -2.453869 0.292353 -0.246142 +v -1.734822 -0.367106 0.263512 +v -3.053566 -0.277173 0.323523 +v -3.113536 -0.217171 -0.366096 +v -1.105041 -0.337105 -0.156159 +v -1.284950 0.112488 0.263512 +v -1.224980 0.232422 -0.246142 +v -3.023483 0.322354 0.203569 +v -2.993597 0.322354 -0.186131 +v -1.315033 -0.307104 -0.276113 +v -2.813688 -0.277173 -0.366096 +f 92 105 106 +f 86 85 87 +f 87 88 91 +f 87 91 92 +f 87 85 93 +f 88 87 93 +f 85 86 95 +f 92 90 96 +f 88 89 97 +f 94 84 97 +f 89 94 97 +f 89 88 98 +f 94 89 98 +f 90 92 99 +f 95 90 99 +f 94 98 99 +f 91 88 100 +f 88 97 100 +f 97 84 100 +f 93 85 101 +f 88 93 101 +f 98 88 101 +f 85 98 101 +f 86 87 102 +f 87 92 102 +f 95 86 102 +f 92 96 102 +f 96 95 102 +f 85 95 103 +f 98 85 103 +f 95 99 103 +f 99 98 103 +f 90 95 104 +f 96 90 104 +f 95 96 104 +f 92 91 105 +f 100 84 105 +f 91 100 105 +f 84 94 106 +f 99 92 106 +f 94 99 106 +f 105 84 106 +o convex_3 +v 1.114116 -0.247240 -0.246159 +v 3.002628 0.322442 -0.096204 +v 3.032679 0.052486 0.083644 +v 1.114116 0.292427 0.173568 +v 1.114116 -0.307209 0.203583 +v 2.972577 -0.277194 -0.186189 +v 1.114116 0.232457 -0.306129 +v 3.032679 -0.247240 0.323523 +v 2.912663 0.292427 0.263553 +v 2.972577 0.322442 -0.276113 +v 1.114116 -0.307209 -0.216143 +v 2.762784 -0.187270 0.323523 +v 1.593804 0.322442 0.023674 +v 1.264183 0.112456 -0.306129 +v 3.002628 -0.127300 -0.216143 +v 1.414062 0.292427 0.203583 +v 2.492890 0.322442 -0.276113 +v 1.593804 -0.307209 0.083644 +v 2.312960 -0.277194 -0.216143 +v 1.414062 -0.247240 0.233537 +v 3.002628 -0.277194 -0.006280 +f 124 112 127 +f 110 107 111 +f 107 110 113 +f 109 108 115 +f 114 109 115 +f 111 107 117 +f 111 114 118 +f 114 115 118 +f 113 110 119 +f 115 108 119 +f 108 116 119 +f 107 113 120 +f 113 116 120 +f 120 116 121 +f 108 109 121 +f 109 114 121 +f 116 108 121 +f 118 115 122 +f 119 110 122 +f 115 119 122 +f 116 113 123 +f 113 119 123 +f 119 116 123 +f 114 111 124 +f 111 117 124 +f 117 112 124 +f 117 107 125 +f 112 117 125 +f 107 120 125 +f 120 121 125 +f 121 112 125 +f 110 111 126 +f 111 118 126 +f 122 110 126 +f 118 122 126 +f 112 121 127 +f 121 114 127 +f 114 124 127 +o convex_4 +v -0.175265 -0.217236 1.103091 +v 0.334360 0.262393 2.961778 +v 0.334360 0.232398 2.961778 +v -0.265309 0.262393 3.052013 +v 0.184443 0.322442 1.103091 +v 0.274369 -0.277226 3.052013 +v 0.334360 -0.277226 1.103091 +v -0.235314 0.322442 1.103091 +v -0.175265 -0.187240 2.931827 +v -0.145328 0.322442 3.052013 +v 0.334360 -0.097314 1.163185 +v -0.205260 -0.157245 1.253229 +v 0.244374 0.322442 1.642975 +v -0.085338 -0.247231 1.732828 +v 0.334360 -0.277226 1.762970 +v 0.154447 -0.277226 2.901876 +v 0.154447 -0.277226 1.103091 +v 0.244374 0.292447 2.991729 +v -0.265309 0.322442 2.632125 +v -0.115274 -0.217236 2.961778 +v -0.235314 0.172467 1.103091 +v -0.205260 -0.097314 2.961778 +v 0.304364 -0.157245 2.991729 +f 133 142 150 +f 130 129 133 +f 129 130 134 +f 128 132 134 +f 132 128 135 +f 131 133 137 +f 132 135 137 +f 129 134 138 +f 134 132 138 +f 128 136 139 +f 132 137 140 +f 129 138 140 +f 138 132 140 +f 134 130 142 +f 133 134 142 +f 134 133 143 +f 143 141 144 +f 128 134 144 +f 141 128 144 +f 134 143 144 +f 133 129 145 +f 137 133 145 +f 129 140 145 +f 140 137 145 +f 131 137 146 +f 137 135 146 +f 133 131 147 +f 136 128 147 +f 128 141 147 +f 143 133 147 +f 141 143 147 +f 135 128 148 +f 128 139 148 +f 139 131 148 +f 131 146 148 +f 146 135 148 +f 131 139 149 +f 139 136 149 +f 147 131 149 +f 136 147 149 +f 130 133 150 +f 142 130 150 +o convex_5 +v -0.325220 -0.037335 -2.314883 +v 0.334360 -0.127279 -1.055911 +v 0.334360 -0.217224 -1.055911 +v 0.244377 0.052480 -3.004436 +v -0.355259 0.322442 -1.055911 +v -0.295248 -0.337193 -2.794444 +v -0.115350 0.322442 -2.974353 +v 0.274349 0.292353 -1.055911 +v -0.205333 -0.187264 -1.055911 +v 0.244377 -0.217224 -2.944467 +v -0.295248 -0.337193 -3.064406 +v 0.244377 0.202409 -2.824527 +v -0.205333 0.322442 -2.884497 +v 0.304320 -0.157239 -2.524678 +v -0.355259 0.202409 -1.085994 +v 0.184434 0.322442 -1.055911 +v -0.175294 -0.337193 -3.034323 +v 0.274349 0.292353 -1.445813 +v 0.214405 0.172449 -3.034323 +v -0.235305 -0.217224 -1.325873 +v -0.355259 0.322442 -1.265903 +v -0.295248 -0.277208 -3.064406 +f 157 169 172 +f 153 152 155 +f 155 152 158 +f 153 155 159 +f 155 157 163 +f 152 153 164 +f 153 160 164 +f 160 154 164 +f 154 162 164 +f 159 155 165 +f 161 156 165 +f 151 161 165 +f 157 155 166 +f 155 158 166 +f 153 156 167 +f 160 153 167 +f 154 160 167 +f 156 161 167 +f 161 154 167 +f 158 152 168 +f 162 157 168 +f 152 164 168 +f 164 162 168 +f 157 166 168 +f 166 158 168 +f 154 161 169 +f 162 154 169 +f 157 162 169 +f 156 153 170 +f 153 159 170 +f 159 165 170 +f 165 156 170 +f 163 151 171 +f 155 163 171 +f 151 165 171 +f 165 155 171 +f 161 151 172 +f 151 163 172 +f 163 157 172 +f 169 161 172 +o convex_6 +v 0.334268 -0.277220 1.102669 +v -0.595027 -0.367176 -1.055292 +v -0.984640 -0.367176 -1.025502 +v -0.954887 0.382409 -1.025502 +v 1.023800 0.382409 -0.935499 +v -1.014611 0.382409 1.012877 +v 0.993830 0.382409 1.042878 +v 1.023800 -0.367176 -0.935499 +v -1.014611 -0.367176 1.012877 +v 1.023800 -0.367176 1.042878 +v -1.104739 0.172487 -0.275899 +v 1.113928 0.382409 0.203483 +v 0.274327 0.292453 -1.055292 +v 1.113928 -0.307157 -0.216108 +v -1.104739 -0.337093 0.293275 +v -0.235167 0.322389 1.102669 +v -1.104739 0.382409 0.413279 +v 0.334268 -0.217127 -1.055292 +v 1.113928 0.382409 -0.365902 +v -1.104739 -0.307157 -0.245898 +v 0.214387 0.382409 1.102669 +v -0.475146 0.382409 -1.055292 +v 1.113928 -0.307157 0.203483 +v -0.175227 -0.217127 1.102669 +v 1.023800 0.202497 1.042878 +v -0.804819 -0.367176 1.042878 +v -0.984640 0.142477 -1.025502 +v 1.083741 -0.367176 -0.485906 +v -1.104739 0.382409 0.083479 +v -0.055346 -0.367176 -1.055292 +f 190 180 202 +f 177 176 178 +f 177 178 179 +f 175 174 180 +f 175 180 181 +f 181 180 182 +f 177 179 184 +f 175 181 187 +f 178 176 189 +f 181 178 189 +f 187 181 189 +f 183 187 189 +f 177 180 190 +f 174 185 190 +f 185 177 190 +f 180 177 191 +f 177 184 191 +f 184 186 191 +f 183 175 192 +f 175 187 192 +f 187 183 192 +f 179 178 193 +f 173 179 193 +f 178 188 193 +f 188 173 193 +f 174 176 194 +f 176 177 194 +f 185 174 194 +f 177 185 194 +f 184 182 195 +f 186 184 195 +f 173 188 196 +f 179 173 197 +f 173 182 197 +f 184 179 197 +f 182 184 197 +f 178 181 198 +f 181 182 198 +f 182 173 198 +f 188 178 198 +f 173 196 198 +f 196 188 198 +f 174 175 199 +f 176 174 199 +f 175 183 199 +f 183 176 199 +f 182 180 200 +f 180 191 200 +f 191 186 200 +f 195 182 200 +f 186 195 200 +f 176 183 201 +f 189 176 201 +f 183 189 201 +f 180 174 202 +f 174 190 202 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/692/692.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/692/692.urdf new file mode 100644 index 000000000..204877b2a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/692/692.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/693/693.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/693/693.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/693/693.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/693/693.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/693/693.obj new file mode 100644 index 000000000..056f165a0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/693/693.obj @@ -0,0 +1,621 @@ +o convex_0 +v -0.309438 -3.813156 0.011050 +v 0.334061 -3.941755 -0.181905 +v 0.334061 -4.006155 -0.181905 +v 0.269686 -3.555757 0.268411 +v -0.277250 -3.555757 -0.310586 +v -0.277250 -4.070556 0.332752 +v -0.277250 -3.941755 -0.342789 +v -0.309438 -3.555757 0.236208 +v 0.237498 -3.555757 -0.246246 +v 0.173186 -4.038305 0.236208 +v 0.334061 -4.006155 -0.246246 +v -0.084188 -3.845306 0.332752 +v -0.245063 -4.070556 0.204071 +v 0.301873 -3.620157 -0.214109 +v -0.084188 -3.555757 -0.310586 +f 9 11 15 +f 3 2 4 +f 1 5 7 +f 6 1 7 +f 5 1 8 +f 4 5 8 +f 1 6 8 +f 5 4 9 +f 3 4 10 +f 2 3 11 +f 3 10 11 +f 4 8 12 +f 8 6 12 +f 10 4 12 +f 6 10 12 +f 6 7 13 +f 10 6 13 +f 11 10 13 +f 7 11 13 +f 4 2 14 +f 9 4 14 +f 2 11 14 +f 11 9 14 +f 7 5 15 +f 5 9 15 +f 11 7 15 +o convex_1 +v -3.076002 -2.944635 -0.278405 +v 2.940051 -2.397460 -0.342843 +v 2.972100 -2.429660 0.236268 +v 3.068850 -3.555757 -0.503730 +v -3.011905 -3.459157 0.429270 +v -3.043954 -2.429774 0.558042 +v 2.940051 -3.523557 0.461489 +v -2.979856 -2.526260 -0.503730 +v -2.947203 -3.555757 -0.439292 +v 2.972100 -2.461860 0.525823 +v 2.907398 -2.397460 -0.439292 +v -0.084000 -3.555757 0.268383 +v -0.341597 -2.397460 -0.246290 +v 0.752285 -2.429774 0.558042 +v -3.043954 -2.590661 0.558042 +v -3.076002 -2.815835 -0.503730 +v 2.907398 -3.137269 -0.503730 +v -0.180750 -2.397460 0.300602 +v 2.972100 -2.847921 0.525823 +v -3.076002 -2.429774 0.300602 +v 1.942314 -2.429774 -0.471511 +v 1.202779 -3.555757 -0.503730 +v 3.004148 -3.555757 0.139715 +v 1.749418 -3.523557 0.461489 +v -3.108655 -2.526260 -0.471511 +v 2.328710 -2.494060 0.558042 +v -3.011905 -3.298156 0.461489 +v -1.241980 -2.526260 -0.503730 +v 3.068850 -3.362556 -0.310624 +v -2.754308 -3.330356 -0.471511 +v -2.979856 -3.491357 0.236268 +v -3.108655 -2.719234 -0.310624 +v 3.004148 -2.590661 0.429270 +v 2.940051 -2.590661 -0.471511 +v 1.234828 -2.429774 -0.471511 +v 2.972100 -3.201669 0.493604 +v -2.947203 -3.555757 -0.374958 +v -3.076002 -2.461860 0.397155 +v -1.435480 -3.555757 -0.471511 +v -3.043954 -3.266069 0.236268 +f 53 47 55 +f 24 19 27 +f 17 26 28 +f 25 18 29 +f 29 21 30 +f 23 19 31 +f 24 16 31 +f 19 23 32 +f 18 17 33 +f 17 28 33 +f 28 21 33 +f 29 18 33 +f 21 29 33 +f 21 28 35 +f 19 24 37 +f 31 19 37 +f 27 19 38 +f 22 27 38 +f 27 22 39 +f 20 27 39 +f 22 30 39 +f 28 23 40 +f 23 31 40 +f 35 28 40 +f 25 29 41 +f 29 30 41 +f 34 25 41 +f 30 34 41 +f 30 20 42 +f 20 39 42 +f 39 30 42 +f 32 23 43 +f 23 36 43 +f 36 32 43 +f 19 17 44 +f 38 19 44 +f 24 31 45 +f 31 37 45 +f 27 20 46 +f 31 16 47 +f 40 31 47 +f 17 18 48 +f 18 25 48 +f 25 34 48 +f 44 17 48 +f 38 44 48 +f 17 19 49 +f 26 17 49 +f 19 32 49 +f 36 26 49 +f 32 36 49 +f 23 28 50 +f 28 26 50 +f 36 23 50 +f 26 36 50 +f 30 22 51 +f 34 30 51 +f 22 38 51 +f 48 34 51 +f 38 48 51 +f 20 24 52 +f 24 27 52 +f 46 20 52 +f 27 46 52 +f 20 30 53 +f 30 21 53 +f 21 35 53 +f 35 40 53 +f 40 47 53 +f 37 24 54 +f 24 45 54 +f 45 37 54 +f 16 24 55 +f 24 20 55 +f 47 16 55 +f 20 53 55 +o convex_2 +v 1.074075 1.463064 -0.568149 +v -1.017286 1.269939 -0.986240 +v -1.017286 1.269939 -0.954116 +v 0.462798 -2.043536 -0.503743 +v -0.952801 2.654002 -0.310681 +v 0.945309 2.654002 -1.115053 +v 0.977449 -1.914786 -1.115053 +v -0.984941 -1.946973 -0.310681 +v 1.074075 2.654002 -0.310681 +v -0.920661 -1.979161 -0.954116 +v 0.977449 -1.946973 -0.310681 +v -0.920661 2.654002 -1.018444 +v 0.655639 -1.174473 -1.115053 +v -1.017286 2.654002 -0.696805 +v -0.791895 -1.849951 -0.986240 +v 1.009589 -1.560723 -1.050647 +v 0.977449 2.428689 -1.115053 +v -0.534570 2.363855 -1.050647 +v 1.074075 1.173836 -0.310681 +v 0.044362 -2.043536 -0.310681 +v -0.952801 -1.946973 -0.921913 +v 0.366173 -1.946973 -1.082850 +v 1.009589 -1.463701 -0.310681 +v -1.017286 2.654002 -0.986240 +v -0.984941 2.654002 -0.375087 +v 0.816544 2.654002 -1.115053 +v 1.074075 2.654002 -0.503821 +v 0.945309 -1.946973 -1.082850 +v -0.984941 -0.241495 -0.986240 +v -0.984941 -1.946973 -0.503821 +v -0.791895 -1.979161 -0.310681 +v -0.534570 2.654002 -1.050647 +v 0.462798 -2.043536 -0.310681 +f 66 75 88 +f 58 57 63 +f 61 60 64 +f 60 63 64 +f 64 63 66 +f 60 61 67 +f 61 62 68 +f 57 58 69 +f 58 63 69 +f 60 67 69 +f 66 62 71 +f 62 61 72 +f 56 71 72 +f 71 62 72 +f 56 64 74 +f 64 66 74 +f 71 56 74 +f 65 59 75 +f 66 63 75 +f 68 62 77 +f 65 70 77 +f 73 68 77 +f 70 73 77 +f 66 71 78 +f 74 66 78 +f 71 74 78 +f 67 57 79 +f 57 69 79 +f 69 67 79 +f 63 60 80 +f 69 63 80 +f 60 69 80 +f 67 61 81 +f 61 68 81 +f 64 56 82 +f 61 64 82 +f 72 61 82 +f 56 72 82 +f 59 65 83 +f 66 59 83 +f 62 66 83 +f 77 62 83 +f 65 77 83 +f 57 67 84 +f 70 65 84 +f 67 73 84 +f 73 70 84 +f 65 76 84 +f 84 76 85 +f 63 57 85 +f 65 63 85 +f 76 65 85 +f 57 84 85 +f 63 65 86 +f 65 75 86 +f 75 63 86 +f 73 67 87 +f 68 73 87 +f 67 81 87 +f 81 68 87 +f 59 66 88 +f 75 59 88 +o convex_3 +v 1.106259 2.460666 -0.310542 +v -1.113811 -0.434431 1.072589 +v -1.113811 -0.434431 1.105016 +v 0.977392 -1.946507 -0.310681 +v 0.977392 -1.946507 1.072728 +v -0.984944 -1.947002 -0.310681 +v -1.113811 2.654002 1.105016 +v -0.952782 2.654002 -0.310681 +v 1.041717 2.654002 1.008290 +v -1.081431 -1.947002 1.072589 +v 0.269604 -2.397460 -0.020917 +v -0.244993 -2.397460 0.300719 +v 1.106259 2.654002 -0.310542 +v -0.341480 -2.397460 -0.246243 +v 1.106259 2.557087 0.365018 +v 1.009555 -1.303207 0.976278 +v -0.824132 2.654002 1.105016 +v -1.017106 -1.947002 -0.085355 +v 1.009555 -1.463909 -0.310681 +v -1.113811 2.654002 1.008290 +v 1.073879 2.654002 0.911840 +v 1.009555 0.884309 1.040439 +v 0.237442 -2.397460 -0.214093 +v -1.081431 -1.947002 0.718804 +v 0.205279 -2.397460 0.204269 +v -0.984944 -0.788468 -0.310681 +v -1.049269 -0.755834 1.105016 +v -0.277156 -2.139843 -0.310681 +v 0.977392 -1.528189 1.072728 +v 1.041717 0.852169 1.008290 +v -1.113811 -0.370150 1.040578 +f 106 112 119 +f 90 91 95 +f 92 94 96 +f 96 95 97 +f 91 90 98 +f 92 93 99 +f 93 98 100 +f 96 97 101 +f 99 100 102 +f 100 98 102 +f 89 101 103 +f 89 103 104 +f 95 91 105 +f 97 95 105 +f 94 102 106 +f 93 92 107 +f 92 96 107 +f 101 89 107 +f 96 101 107 +f 89 104 107 +f 104 93 107 +f 90 95 108 +f 95 96 108 +f 101 97 109 +f 103 101 109 +f 97 105 110 +f 92 99 111 +f 102 92 111 +f 99 102 111 +f 98 90 112 +f 102 98 112 +f 106 102 112 +f 99 93 113 +f 93 100 113 +f 100 99 113 +f 96 94 114 +f 94 106 114 +f 108 96 114 +f 106 108 114 +f 91 98 115 +f 98 93 115 +f 105 91 115 +f 93 105 115 +f 94 92 116 +f 92 102 116 +f 102 94 116 +f 93 97 117 +f 105 93 117 +f 97 110 117 +f 110 105 117 +f 97 93 118 +f 93 104 118 +f 104 103 118 +f 109 97 118 +f 103 109 118 +f 90 108 119 +f 108 106 119 +f 112 90 119 +o convex_4 +v -1.049350 3.394025 -0.986187 +v 1.073993 4.134048 0.976149 +v 1.073993 3.394025 0.976149 +v -1.113811 4.134048 1.105016 +v 0.945286 4.069652 -1.115053 +v -1.113811 3.394025 1.105016 +v 0.945286 3.394025 -1.115053 +v -1.049350 4.037416 -1.018349 +v 0.977409 4.101814 -0.921862 +v 1.041655 3.394025 -0.664346 +v -1.081473 4.069652 -0.760833 +v -1.113811 4.134048 0.718851 +v -0.727476 4.134048 1.105016 +v 1.073993 4.134048 0.622146 +v 0.880825 3.394025 1.008312 +v -0.470276 3.394025 -1.050512 +v -0.470276 4.069652 -1.050512 +v -1.081473 3.458495 -0.600022 +v 0.880825 4.134048 1.008312 +v -0.791936 3.394025 1.105016 +v 0.977409 4.134048 0.332686 +v -1.113811 4.069652 0.428955 +v -1.049350 3.458495 -1.018349 +v 0.977409 4.005327 -1.050512 +v 1.073993 3.394025 0.557822 +v -1.081473 3.812280 -0.857538 +v 0.848702 3.587217 -1.115053 +f 136 124 146 +f 120 122 125 +f 122 120 126 +f 122 126 129 +f 123 121 131 +f 125 123 131 +f 121 123 132 +f 123 125 132 +f 121 122 133 +f 131 121 133 +f 122 121 134 +f 125 122 134 +f 126 120 135 +f 135 127 136 +f 128 124 136 +f 127 130 136 +f 131 128 136 +f 130 131 136 +f 120 125 137 +f 121 132 138 +f 134 121 138 +f 132 134 138 +f 132 125 139 +f 125 134 139 +f 134 132 139 +f 128 131 140 +f 133 128 140 +f 131 133 140 +f 131 130 141 +f 125 131 141 +f 137 125 141 +f 135 120 142 +f 127 135 142 +f 126 124 143 +f 124 128 143 +f 129 126 143 +f 133 129 143 +f 128 133 143 +f 122 129 144 +f 133 122 144 +f 129 133 144 +f 130 127 145 +f 120 137 145 +f 141 130 145 +f 137 141 145 +f 127 142 145 +f 142 120 145 +f 124 126 146 +f 126 135 146 +f 135 136 146 +o convex_5 +v -2.047116 2.686243 -0.214105 +v -1.113811 3.361850 0.204017 +v -1.113811 3.361850 0.107518 +v -3.076480 3.265231 -0.310668 +v -3.044205 2.686243 0.236268 +v -1.113811 2.686243 0.300643 +v -1.113811 3.200884 -0.342855 +v -2.947762 3.265231 0.171830 +v -3.012121 2.686243 -0.214105 +v -1.113811 2.718450 -0.214105 +v -2.979846 3.136538 0.204017 +v -3.076480 3.104397 -0.310668 +v -1.371248 2.750590 0.300643 +v -1.950481 3.329578 0.204017 +v -1.371248 3.168744 -0.342855 +v -1.274805 3.233091 -0.310668 +v -2.754684 3.297437 0.139768 +v -3.044205 2.782796 0.236268 +f 159 157 164 +f 149 148 152 +f 151 147 152 +f 149 152 153 +f 147 151 155 +f 152 147 156 +f 153 152 156 +f 154 150 157 +f 151 150 158 +f 155 151 158 +f 152 148 159 +f 151 152 159 +f 157 159 160 +f 148 149 160 +f 154 157 160 +f 159 148 160 +f 150 153 161 +f 147 155 161 +f 156 147 161 +f 153 156 161 +f 158 150 161 +f 155 158 161 +f 150 149 162 +f 149 153 162 +f 153 150 162 +f 149 150 163 +f 150 154 163 +f 160 149 163 +f 154 160 163 +f 150 151 164 +f 157 150 164 +f 151 159 164 +o convex_6 +v -0.534480 2.686237 -1.050512 +v 1.106161 2.975770 0.461335 +v 1.106161 2.911446 0.461335 +v -1.113810 2.654002 1.105016 +v -1.049271 3.394025 -0.986187 +v -1.113810 3.394025 1.105016 +v 0.945357 3.394025 -1.115053 +v 1.074000 3.394025 0.976149 +v 0.977300 2.654002 -1.082674 +v 1.041622 2.654002 1.008312 +v -1.017110 2.654002 -0.986187 +v 1.106161 3.329556 -0.213857 +v -1.113810 2.718472 -0.213857 +v 1.106161 2.654002 -0.310561 +v -0.791984 3.394025 1.105016 +v -1.017110 3.394025 -1.018349 +v -1.113810 3.200834 -0.342723 +v 0.816496 2.654002 -1.115053 +v 1.074000 3.265304 1.008312 +v 1.041622 3.394025 -0.664346 +v -0.824145 2.654002 1.105016 +v -1.049271 2.782724 -0.986187 +v 1.074000 2.654002 0.911825 +v -0.502319 3.394025 -1.050512 +v -0.952789 2.654002 -1.018349 +v 0.977300 3.297394 -1.082674 +v -1.113810 3.361791 0.139494 +v 1.106161 3.361791 0.300523 +f 176 184 192 +f 169 170 171 +f 171 170 172 +f 168 173 174 +f 173 168 175 +f 166 167 176 +f 168 170 177 +f 175 168 177 +f 174 173 178 +f 176 167 178 +f 170 168 179 +f 172 170 179 +f 169 171 180 +f 177 170 181 +f 171 173 182 +f 173 175 182 +f 167 166 183 +f 166 172 183 +f 172 179 183 +f 171 172 184 +f 176 178 184 +f 168 174 185 +f 179 168 185 +f 174 183 185 +f 183 179 185 +f 175 177 186 +f 169 180 186 +f 181 169 186 +f 177 181 186 +f 178 167 187 +f 174 178 187 +f 167 183 187 +f 183 174 187 +f 165 180 188 +f 180 171 188 +f 182 165 188 +f 171 182 188 +f 180 165 189 +f 165 182 189 +f 182 175 189 +f 175 186 189 +f 186 180 189 +f 173 171 190 +f 178 173 190 +f 171 184 190 +f 184 178 190 +f 170 169 191 +f 169 181 191 +f 181 170 191 +f 172 166 192 +f 166 176 192 +f 184 172 192 +o convex_7 +v 1.395950 3.040051 -0.278493 +v 3.004579 3.361850 0.300630 +v 1.878520 2.975836 0.332818 +v 3.004579 2.718450 -0.246305 +v 3.004579 3.329578 -0.310681 +v 1.106259 3.361850 0.300630 +v 1.106259 2.686243 0.332818 +v 2.972247 2.718450 0.300630 +v 1.106259 2.782796 -0.278493 +v 1.106259 3.329578 -0.214055 +v 2.940100 3.361850 -0.117555 +v 1.846373 2.686243 0.043193 +v 3.004579 2.782796 -0.278493 +v 2.489676 2.686243 0.300630 +v 2.200171 3.136538 -0.310681 +v 1.331656 3.329578 -0.246305 +v 1.138591 2.750590 -0.181867 +v 1.106259 3.007977 0.332818 +v 3.004579 2.847143 0.300630 +v 1.878520 2.686243 0.332818 +v 1.106259 2.686243 0.171943 +v 2.521637 2.718450 -0.246305 +v 3.004579 3.104397 -0.310681 +f 207 197 215 +f 194 196 197 +f 199 198 201 +f 201 198 202 +f 194 197 203 +f 198 194 203 +f 202 198 203 +f 197 196 205 +f 196 201 205 +f 196 200 206 +f 204 196 206 +f 199 204 206 +f 201 193 207 +f 193 201 208 +f 201 202 208 +f 203 197 208 +f 202 203 208 +f 207 193 208 +f 197 207 208 +f 195 194 210 +f 194 198 210 +f 199 195 210 +f 198 199 210 +f 194 195 211 +f 196 194 211 +f 200 196 211 +f 200 211 212 +f 195 199 212 +f 206 200 212 +f 199 206 212 +f 211 195 212 +f 199 201 213 +f 204 199 213 +f 201 209 213 +f 209 204 213 +f 201 196 214 +f 196 204 214 +f 209 201 214 +f 204 209 214 +f 197 205 215 +f 205 201 215 +f 201 207 215 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/693/693.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/693/693.urdf new file mode 100644 index 000000000..d140e89ca --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/693/693.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/694/694.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/694/694.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/694/694.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/694/694.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/694/694.obj new file mode 100644 index 000000000..57d523d91 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/694/694.obj @@ -0,0 +1,498 @@ +o convex_0 +v -1.151312 0.315539 0.490171 +v -4.978022 -0.443203 -0.598441 +v -4.978022 -0.245182 -0.598441 +v -5.010961 0.315426 0.589220 +v -1.151312 0.612457 -0.499392 +v -1.151312 -0.509210 0.457154 +v -1.151312 -0.542214 -0.598441 +v -5.110164 0.579341 -0.466376 +v -5.043899 -0.443203 0.391238 +v -1.151312 0.579454 0.325205 +v -1.151312 -0.476207 0.589220 +v -4.911757 0.480443 0.589220 +v -2.207290 -0.542214 -0.367443 +v -4.845879 -0.443203 0.457154 +v -1.712434 0.480443 -0.532408 +v -5.110164 0.579341 -0.268510 +v -4.911757 -0.476094 -0.598441 +v -1.415598 0.447440 0.490171 +v -1.184639 -0.542214 0.226272 +v -1.151312 -0.278185 0.589220 +v -3.493452 0.612457 -0.433475 +v -5.076838 -0.377196 0.391238 +v -4.087125 -0.146171 -0.598441 +v -1.778311 -0.443203 0.589220 +v -1.679495 0.579454 0.325205 +v -1.151312 0.612457 -0.070527 +v -4.516104 0.480443 0.589220 +v -1.151312 -0.443203 -0.598441 +v -5.110164 0.414436 -0.466376 +v -2.735085 0.612457 -0.499392 +v -5.010961 0.447327 0.589220 +v -5.076838 0.414436 -0.499392 +v -2.141413 -0.542214 -0.598441 +v -5.076838 0.579341 -0.235493 +v -5.043899 -0.047274 0.523187 +v -1.250516 0.447440 -0.532408 +v -5.043899 -0.443203 0.061306 +v -2.306107 0.447440 0.523187 +f 27 20 38 +f 5 1 6 +f 5 6 7 +f 2 3 7 +f 3 2 8 +f 1 5 10 +f 6 1 11 +f 4 11 12 +f 6 11 14 +f 2 7 17 +f 13 9 17 +f 1 10 18 +f 7 6 19 +f 13 7 19 +f 9 13 19 +f 14 9 19 +f 6 14 19 +f 11 1 20 +f 12 11 20 +f 1 18 20 +f 8 16 21 +f 7 3 23 +f 11 4 24 +f 14 11 24 +f 12 10 25 +f 21 25 26 +f 10 5 26 +f 5 21 26 +f 25 10 26 +f 10 12 27 +f 18 10 27 +f 12 20 27 +f 5 7 28 +f 7 23 28 +f 8 2 29 +f 16 8 29 +f 22 16 29 +f 5 15 30 +f 21 5 30 +f 8 21 30 +f 15 23 30 +f 4 12 31 +f 12 16 31 +f 16 22 31 +f 3 8 32 +f 23 3 32 +f 8 30 32 +f 30 23 32 +f 7 13 33 +f 17 7 33 +f 13 17 33 +f 16 12 34 +f 21 16 34 +f 12 25 34 +f 25 21 34 +f 9 14 35 +f 22 9 35 +f 24 4 35 +f 14 24 35 +f 4 31 35 +f 31 22 35 +f 15 5 36 +f 23 15 36 +f 5 28 36 +f 28 23 36 +f 2 17 37 +f 17 9 37 +f 9 22 37 +f 29 2 37 +f 22 29 37 +f 20 18 38 +f 18 27 38 +o convex_1 +v 1.058861 1.634801 0.720908 +v -1.151293 -3.016286 -1.027180 +v 0.366281 -2.784999 -1.060135 +v -1.019311 3.020706 -1.060135 +v -1.019311 -2.983072 0.984758 +v -1.151293 2.954279 1.051088 +v 0.927095 2.987493 -1.093300 +v 1.025973 -3.016286 1.017923 +v 0.993086 3.119742 0.952013 +v 0.927095 -3.048895 -0.994225 +v 1.058861 0.216286 -0.301329 +v -1.151293 0.611827 -0.499269 +v -1.151293 -0.475157 0.589088 +v -0.029664 0.018817 1.051088 +v -0.128543 3.020102 -1.093300 +v -1.052198 2.987493 -1.060135 +v 0.893992 -3.048895 -1.060135 +v 1.059077 -2.157568 0.819983 +v 0.036326 3.053316 1.017923 +v 1.025973 1.140223 -0.664255 +v 1.025973 3.086529 0.952013 +v 0.959982 -3.048895 0.325237 +v -1.118189 1.107009 1.051088 +v 0.927095 0.678254 -1.093300 +v -1.118189 -3.016286 -0.301329 +v -1.085302 0.479578 -1.060135 +v -1.085302 3.020706 -0.433359 +v 1.025973 1.073796 0.984968 +v -0.062552 -3.049499 -0.994225 +v -0.194533 -3.015682 0.984968 +v -0.557375 2.954279 1.051088 +v 1.059077 -0.310298 -0.235419 +v 1.025973 -3.016286 0.622043 +v 0.729123 -3.016286 1.017923 +v 0.993086 3.086529 0.226162 +v -1.151293 -2.223995 -1.027180 +v -1.151293 2.954279 0.787028 +v 0.959982 2.558134 -0.994225 +v 0.927095 -2.422067 -1.060135 +v 1.025973 -0.112225 -0.631090 +v 0.828001 3.119742 0.919058 +v -0.920217 2.987493 1.051088 +v 1.025973 -2.355640 1.017923 +v -1.052198 -2.983072 0.654998 +v 0.993086 3.119742 0.754073 +v 1.058861 1.799660 0.654998 +v 0.663132 3.086529 0.984968 +v -1.151293 -3.016286 -0.796285 +v 1.059077 -1.399094 0.852938 +v 0.927095 3.020102 -0.796285 +v -1.085302 3.020706 -0.301329 +v -1.052198 -1.993312 0.984758 +v -1.151293 2.360665 1.051088 +v 0.729123 0.974759 -1.093300 +v 0.993086 3.052712 0.127297 +v 0.102317 3.020102 -1.093300 +v 0.498046 -3.048895 -1.060135 +f 92 62 95 +f 40 44 50 +f 44 40 51 +f 42 53 54 +f 52 44 61 +f 53 45 62 +f 41 40 64 +f 54 53 64 +f 42 54 65 +f 54 50 65 +f 55 48 67 +f 48 60 67 +f 63 67 68 +f 43 63 68 +f 67 60 68 +f 44 52 69 +f 70 56 71 +f 56 46 71 +f 46 60 71 +f 60 48 71 +f 48 70 71 +f 46 52 72 +f 60 46 72 +f 61 43 72 +f 52 61 72 +f 43 68 72 +f 68 60 72 +f 40 50 74 +f 50 54 74 +f 64 40 74 +f 54 64 74 +f 50 44 75 +f 44 65 75 +f 65 50 75 +f 62 45 76 +f 48 55 77 +f 55 62 77 +f 76 58 77 +f 62 76 77 +f 58 49 78 +f 70 48 78 +f 49 70 78 +f 48 77 78 +f 77 58 78 +f 57 47 79 +f 42 65 79 +f 44 69 80 +f 69 57 80 +f 57 79 80 +f 52 46 81 +f 69 52 81 +f 43 51 82 +f 51 63 82 +f 63 43 82 +f 53 42 83 +f 47 59 83 +f 59 73 83 +f 79 47 83 +f 42 79 83 +f 49 58 84 +f 59 39 84 +f 70 49 84 +f 47 57 85 +f 59 47 85 +f 66 59 85 +f 57 69 85 +f 81 66 85 +f 69 81 85 +f 51 40 86 +f 63 51 86 +f 40 67 86 +f 67 63 86 +f 46 56 87 +f 39 59 87 +f 59 66 87 +f 56 70 87 +f 81 46 87 +f 66 81 87 +f 84 39 87 +f 70 84 87 +f 73 45 88 +f 65 44 89 +f 79 65 89 +f 44 80 89 +f 80 79 89 +f 51 43 90 +f 43 61 90 +f 90 61 91 +f 44 51 91 +f 61 44 91 +f 51 90 91 +f 53 62 92 +f 41 64 92 +f 64 53 92 +f 45 73 93 +f 73 59 93 +f 58 76 93 +f 76 45 93 +f 84 58 93 +f 59 84 93 +f 45 53 94 +f 53 83 94 +f 83 73 94 +f 88 45 94 +f 73 88 94 +f 40 41 95 +f 62 55 95 +f 67 40 95 +f 55 67 95 +f 41 92 95 +o convex_2 +v 2.510637 -1.334478 0.523239 +v 1.421973 -3.082489 -0.565451 +v 1.553988 -3.082489 -0.565451 +v 1.455090 -0.311550 -0.532308 +v 1.488094 -2.983479 0.457167 +v 2.510637 -2.917291 -0.466450 +v 2.510637 -0.311550 -0.466450 +v 1.488094 -0.311550 0.457167 +v 2.576644 -3.082489 0.523239 +v 2.510637 -0.311550 0.490203 +v 1.421973 -0.311550 -0.268448 +v 1.652998 -3.016301 0.490203 +v 1.488094 -0.872520 -0.565451 +v 2.543641 -0.311550 0.292201 +v 2.576644 -3.049395 0.259166 +v 1.455090 -3.016301 0.226236 +v 1.686002 -2.785458 -0.565451 +v 1.421973 -3.082489 -0.334413 +v 2.543641 -2.983479 -0.202483 +v 2.213719 -2.983479 0.523239 +v 2.576644 -2.158572 0.457167 +v 1.421973 -1.631239 -0.565451 +v 2.081705 -0.311550 0.490203 +v 2.543641 -2.884468 -0.268448 +v 1.982807 -3.016301 -0.532308 +v 1.719005 -0.311550 -0.532308 +v 1.455090 -1.993644 0.226236 +v 1.520984 -3.016301 0.457167 +f 111 113 123 +f 102 99 103 +f 97 98 104 +f 102 103 105 +f 96 104 105 +f 103 99 106 +f 103 100 107 +f 98 97 108 +f 102 105 109 +f 104 98 110 +f 100 103 111 +f 98 108 112 +f 108 102 112 +f 97 104 113 +f 106 97 113 +f 111 106 113 +f 110 98 114 +f 104 96 115 +f 103 107 115 +f 107 104 115 +f 105 104 116 +f 102 109 116 +f 109 105 116 +f 110 102 116 +f 104 110 116 +f 97 106 117 +f 106 99 117 +f 108 97 117 +f 99 108 117 +f 96 105 118 +f 105 103 118 +f 115 96 118 +f 103 115 118 +f 101 102 119 +f 102 110 119 +f 114 101 119 +f 110 114 119 +f 102 101 120 +f 98 112 120 +f 112 102 120 +f 114 98 120 +f 101 114 120 +f 99 102 121 +f 108 99 121 +f 102 108 121 +f 103 106 122 +f 111 103 122 +f 106 111 122 +f 107 100 123 +f 104 107 123 +f 100 111 123 +f 113 104 123 +o convex_3 +v 2.939337 0.150544 0.259298 +v 1.455180 -0.311279 -0.532460 +v 1.059274 -0.311279 -0.235538 +v 1.455180 0.381523 -0.532460 +v 1.488271 0.381523 0.457212 +v 2.510340 -0.311279 0.490248 +v 3.005322 -0.179311 -0.202402 +v 2.543431 0.381523 -0.466389 +v 1.059274 -0.311279 0.259298 +v 1.059274 0.348497 -0.301510 +v 2.477446 0.381523 0.490248 +v 2.510340 -0.311279 -0.466389 +v 3.038215 0.282513 -0.202402 +v 3.071503 -0.212269 0.292234 +v 1.488271 -0.311279 0.457212 +v 1.059274 0.282513 0.193326 +v 1.719118 -0.311279 -0.532460 +v 3.038215 -0.245295 0.193326 +v 2.081540 -0.311279 0.490248 +v 3.038215 0.282513 -0.103395 +v 3.038215 -0.047342 -0.202402 +v 1.653134 0.381523 -0.532460 +v 2.906247 0.249554 0.226262 +v 3.071503 -0.146284 0.292234 +v 2.180615 0.381523 0.490248 +f 142 134 148 +f 126 125 129 +f 127 128 131 +f 126 129 132 +f 125 126 133 +f 127 125 133 +f 128 127 133 +f 126 132 133 +f 131 128 134 +f 129 125 135 +f 128 132 138 +f 132 129 138 +f 132 128 139 +f 128 133 139 +f 133 132 139 +f 125 127 140 +f 135 125 140 +f 131 135 140 +f 129 135 141 +f 135 130 141 +f 137 129 141 +f 130 137 141 +f 129 134 142 +f 128 138 142 +f 138 129 142 +f 131 134 143 +f 136 131 143 +f 130 135 144 +f 135 131 144 +f 131 136 144 +f 137 130 144 +f 136 137 144 +f 127 131 145 +f 140 127 145 +f 131 140 145 +f 134 124 146 +f 143 134 146 +f 143 146 147 +f 134 129 147 +f 124 134 147 +f 129 137 147 +f 137 136 147 +f 136 143 147 +f 146 124 147 +f 134 128 148 +f 128 142 148 +o convex_4 +v 2.477647 1.338431 0.424177 +v 1.388983 0.381523 -0.037524 +v 1.455103 0.381523 -0.532460 +v 1.521110 3.020771 -0.499424 +v 2.543654 0.381523 -0.466389 +v 1.521110 3.020771 0.457212 +v 2.543654 3.020771 -0.499424 +v 1.487993 0.381523 0.457212 +v 2.411640 2.987703 0.457212 +v 2.477647 0.381523 0.490248 +v 1.388983 1.008784 0.259298 +v 1.487993 2.954635 -0.466389 +v 2.510537 0.546605 0.391141 +v 2.543654 3.020771 -0.367381 +v 1.487993 2.855689 0.424177 +v 2.378636 1.602201 0.490248 +v 1.487993 1.602201 -0.532460 +v 1.653011 0.381523 -0.532460 +v 1.388983 1.008784 -0.037524 +v 2.213619 0.381523 0.490248 +v 1.388983 0.381523 0.226262 +v 2.015711 3.020771 0.457212 +v 1.487993 2.888757 -0.499424 +f 167 160 171 +f 150 151 153 +f 152 154 155 +f 150 153 156 +f 149 157 158 +f 156 153 158 +f 154 152 160 +f 149 158 161 +f 158 153 161 +f 155 154 162 +f 153 155 162 +f 157 149 162 +f 149 161 162 +f 161 153 162 +f 156 154 163 +f 159 156 163 +f 154 160 163 +f 160 159 163 +f 158 157 164 +f 152 155 165 +f 153 151 166 +f 155 153 166 +f 165 155 166 +f 151 165 166 +f 151 150 167 +f 150 159 167 +f 159 160 167 +f 154 156 168 +f 156 158 168 +f 164 154 168 +f 158 164 168 +f 150 156 169 +f 159 150 169 +f 156 159 169 +f 162 154 170 +f 157 162 170 +f 154 164 170 +f 164 157 170 +f 160 152 171 +f 152 165 171 +f 165 151 171 +f 151 167 171 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/694/694.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/694/694.urdf new file mode 100644 index 000000000..e71fca867 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/694/694.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/695/695.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/695/695.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/695/695.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/695/695.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/695/695.obj new file mode 100644 index 000000000..b4b5d9b59 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/695/695.obj @@ -0,0 +1,603 @@ +o convex_0 +v -1.073845 -0.984076 2.428273 +v -0.517048 1.069506 3.228732 +v -0.517048 1.069506 3.193955 +v 1.084014 -1.123157 3.193955 +v 1.049026 0.964766 1.245074 +v -0.969526 -1.053616 1.245271 +v -1.039072 0.930211 1.245271 +v 1.084014 -1.053616 1.245074 +v 0.979480 0.929996 3.228929 +v -1.108833 -0.914321 3.263508 +v -1.039072 1.069506 3.228732 +v -1.039072 1.069506 2.741462 +v 0.561775 -1.088387 3.228929 +v -1.108833 -0.357356 3.263508 +v 1.049026 -1.088387 1.419353 +v 0.944707 0.964766 3.228929 +v -1.004299 -1.053616 1.419353 +v 1.084014 -0.844567 3.193955 +v 1.084014 0.025115 1.245074 +v -1.039072 0.964766 1.384576 +v -1.108833 -0.949091 3.124401 +v 1.049026 0.964766 1.593434 +v -1.073845 0.755931 3.193955 +v -1.039072 0.268720 1.245271 +v 1.014253 -0.287816 3.228929 +v -0.621367 -0.600961 3.263508 +v -1.039072 -0.009440 3.263508 +v 1.049026 -1.123157 2.811213 +v -1.108833 -0.949091 2.950320 +v 0.840173 -1.088387 3.228929 +v -1.004299 -1.053616 1.488906 +v 0.944707 -1.123157 3.193955 +v 1.014253 0.373245 3.228929 +v -1.004299 -0.949091 3.263508 +f 30 26 34 +f 3 2 5 +f 2 3 11 +f 3 5 12 +f 11 3 12 +f 8 4 15 +f 6 8 15 +f 4 8 18 +f 8 5 19 +f 18 8 19 +f 5 7 20 +f 12 5 20 +f 10 14 21 +f 5 2 22 +f 2 16 22 +f 16 9 22 +f 19 5 22 +f 18 19 22 +f 11 12 23 +f 7 14 23 +f 14 11 23 +f 20 7 23 +f 12 20 23 +f 7 5 24 +f 5 8 24 +f 8 6 24 +f 6 17 24 +f 17 1 24 +f 4 18 25 +f 14 10 26 +f 2 11 27 +f 11 14 27 +f 16 2 27 +f 9 16 27 +f 14 26 27 +f 26 9 27 +f 15 4 28 +f 6 15 28 +f 14 7 29 +f 1 21 29 +f 21 14 29 +f 7 24 29 +f 24 1 29 +f 13 4 30 +f 4 25 30 +f 25 26 30 +f 1 17 31 +f 21 1 31 +f 13 21 31 +f 4 13 32 +f 17 6 32 +f 28 4 32 +f 6 28 32 +f 13 31 32 +f 31 17 32 +f 22 9 33 +f 18 22 33 +f 25 18 33 +f 9 26 33 +f 26 25 33 +f 10 21 34 +f 21 13 34 +f 26 10 34 +f 13 30 34 +o convex_1 +v 0.248530 2.565969 -1.469904 +v -0.308262 2.461496 -1.678851 +v -0.238607 1.870386 -2.061603 +v -0.203779 1.104313 -1.469904 +v 0.248530 1.104313 -2.026769 +v 0.318186 3.088141 -2.096438 +v 0.353079 1.104313 -1.469904 +v -0.308262 2.983668 -1.504739 +v -0.273434 3.088141 -2.026769 +v -0.203779 1.104313 -2.061603 +v 0.178939 2.948908 -1.469904 +v 0.318186 2.565969 -2.096438 +v 0.074520 3.088141 -2.096438 +v 0.318186 3.053188 -1.957161 +v -0.273434 1.974666 -1.469904 +v 0.353079 1.104313 -1.609182 +v 0.074520 1.905146 -2.096438 +v 0.353079 1.417928 -1.469904 +v 0.039693 3.088141 -1.957161 +v 0.213832 2.983668 -1.539635 +v -0.308262 3.053188 -1.817945 +v -0.099360 2.948908 -1.469904 +v 0.074520 1.139461 -2.061603 +v -0.203779 3.088141 -2.061603 +v -0.238607 1.452687 -1.922387 +f 38 49 59 +f 35 38 41 +f 38 39 41 +f 39 38 44 +f 38 35 45 +f 43 40 47 +f 40 46 47 +f 42 36 49 +f 38 45 49 +f 41 39 50 +f 46 40 50 +f 39 46 50 +f 44 37 51 +f 47 46 51 +f 37 47 51 +f 35 41 52 +f 48 35 52 +f 40 48 52 +f 50 40 52 +f 41 50 52 +f 40 43 53 +f 45 35 54 +f 42 45 54 +f 35 48 54 +f 48 40 54 +f 40 53 54 +f 53 42 54 +f 37 36 55 +f 36 42 55 +f 43 37 55 +f 53 43 55 +f 42 53 55 +f 45 42 56 +f 42 49 56 +f 49 45 56 +f 39 44 57 +f 46 39 57 +f 44 51 57 +f 51 46 57 +f 37 43 58 +f 43 47 58 +f 47 37 58 +f 36 37 59 +f 37 44 59 +f 44 38 59 +f 49 36 59 +o convex_2 +v 0.596485 -2.968079 1.140433 +v -0.969460 -1.506468 -0.912986 +v -1.038959 -2.689470 -0.843153 +v 1.014324 -2.933105 -0.808237 +v 1.084034 -1.088751 1.105517 +v -0.969460 -1.088751 1.140641 +v 0.979469 -1.088751 -0.773528 +v -1.038959 -3.002658 1.210266 +v -1.074025 -3.106988 -0.808237 +v 1.049179 -3.037435 1.105517 +v -0.934605 -1.088751 -0.912986 +v 1.084034 -1.715326 0.304933 +v -1.004315 -1.541244 1.175142 +v -0.447478 -1.088751 -0.912986 +v 1.014324 -1.854433 -0.808237 +v -1.074025 -2.759023 -0.564861 +v -0.725897 -3.106988 -0.564861 +v -0.969460 -1.088751 -0.077278 +v 0.909759 -2.968079 -0.738819 +v -1.074025 -3.072212 0.096681 +v 1.049179 -2.654693 -0.495236 +v 0.631340 -2.584942 -0.843153 +v -0.830251 -2.898328 1.210266 +v 1.084034 -1.088751 0.514016 +v 1.084034 -2.132449 1.105517 +v -1.004315 -1.402137 0.722891 +v -0.969460 -1.297609 -0.912986 +v 0.874904 -1.088554 -0.808237 +v -1.038959 -2.480612 1.175142 +v 1.049179 -3.002658 0.339849 +v 1.014324 -1.088751 -0.564653 +v -0.412623 -1.471691 -0.912986 +v -0.203704 -1.088554 1.140433 +v -0.969460 -2.654693 1.210266 +v -0.865106 -3.106988 -0.808237 +v -0.934605 -3.037435 0.757392 +v -0.899961 -3.106988 -0.495028 +v 0.979469 -3.037435 0.896642 +v 0.840260 -3.037435 1.105517 +v 0.666195 -2.480809 -0.843153 +v -1.074025 -2.828577 -0.808237 +f 75 86 100 +f 61 62 68 +f 60 67 69 +f 61 70 73 +f 75 68 79 +f 63 74 80 +f 74 71 80 +f 60 64 82 +f 67 60 82 +f 64 71 83 +f 64 60 84 +f 60 69 84 +f 71 64 84 +f 80 71 84 +f 72 65 85 +f 75 72 85 +f 65 77 85 +f 85 77 86 +f 61 68 86 +f 70 61 86 +f 77 70 86 +f 75 85 86 +f 73 70 87 +f 66 74 87 +f 74 73 87 +f 64 83 87 +f 67 72 88 +f 72 75 88 +f 79 67 88 +f 75 79 88 +f 78 63 89 +f 63 80 89 +f 84 69 89 +f 80 84 89 +f 71 74 90 +f 74 66 90 +f 83 71 90 +f 66 87 90 +f 87 83 90 +f 62 61 91 +f 61 73 91 +f 81 62 91 +f 65 72 92 +f 70 77 92 +f 77 65 92 +f 64 87 92 +f 87 70 92 +f 72 67 93 +f 82 64 93 +f 67 82 93 +f 92 72 93 +f 64 92 93 +f 68 62 94 +f 76 68 94 +f 63 78 94 +f 62 81 94 +f 81 63 94 +f 67 79 95 +f 95 79 96 +f 68 76 96 +f 76 69 96 +f 79 68 96 +f 69 76 97 +f 78 89 97 +f 89 69 97 +f 76 94 97 +f 94 78 97 +f 69 67 98 +f 67 95 98 +f 95 96 98 +f 96 69 98 +f 74 63 99 +f 73 74 99 +f 63 81 99 +f 91 73 99 +f 81 91 99 +f 68 75 100 +f 86 68 100 +o convex_3 +v -1.039201 1.208729 0.757497 +v -0.168890 1.730543 1.245074 +v -0.273454 1.730543 1.245074 +v -0.134247 2.948922 -0.808373 +v 0.979413 -1.088554 -0.982601 +v 1.083977 2.948517 1.175295 +v 1.083977 -1.053280 1.244856 +v -0.934637 -1.088554 -0.912822 +v -0.969492 -1.053685 1.245074 +v 1.118832 2.913648 -0.808373 +v -0.934637 3.053528 1.105517 +v -1.004346 2.948922 -0.808373 +v -1.004346 0.826389 -0.982601 +v 0.944558 0.965053 -0.982601 +v -1.039201 1.382667 1.245074 +v 1.083977 -1.088149 0.548816 +v -1.039201 0.234836 1.175077 +v -0.447305 3.053528 0.687937 +v -0.934637 -0.983948 -0.982601 +v -0.969492 -1.088554 1.140624 +v 1.049122 0.965458 1.244856 +v 1.083977 2.809447 -0.843044 +v 0.979413 2.948517 -0.669252 +v -0.551869 3.053528 1.140624 +v -0.969492 3.053528 0.618159 +v -0.969492 -1.088554 0.061676 +v -0.760575 0.965864 -0.982601 +v 0.735853 2.600640 1.210185 +v 1.118832 2.878779 -0.390793 +v 0.770707 2.983791 1.175077 +v -1.004346 0.582713 -0.982601 +v -1.039201 0.896126 0.339699 +v -1.004346 2.983791 -0.460353 +v 1.049122 -1.088554 1.105517 +v 1.014268 -1.088554 -0.529914 +v -0.969492 2.740115 1.140624 +v -1.004346 2.983791 -0.112334 +v -1.004346 -0.565928 1.245074 +v 1.083977 2.948517 -0.181894 +v -0.969492 -0.357121 -0.982601 +v -0.899782 2.914053 1.140624 +v -1.039201 0.478512 0.722608 +v 0.735853 2.948517 -0.738813 +v 0.979413 0.130230 -0.982601 +v 0.318230 2.948517 1.175077 +v -1.039201 1.451999 1.210185 +v 1.118832 2.878779 -0.808373 +f 116 135 147 +f 102 103 109 +f 107 102 109 +f 105 113 114 +f 109 103 115 +f 115 101 117 +f 105 108 119 +f 113 105 119 +f 108 105 120 +f 107 109 120 +f 102 107 121 +f 107 106 121 +f 104 110 122 +f 112 104 122 +f 118 111 124 +f 111 118 125 +f 108 120 126 +f 113 112 127 +f 114 113 127 +f 112 122 127 +f 122 114 127 +f 103 102 128 +f 102 121 128 +f 121 106 128 +f 106 107 129 +f 110 106 129 +f 107 116 129 +f 118 124 130 +f 128 106 130 +f 113 119 131 +f 101 112 132 +f 112 113 132 +f 117 101 132 +f 113 131 132 +f 104 112 133 +f 125 118 133 +f 116 107 134 +f 120 105 134 +f 107 120 134 +f 134 105 135 +f 116 134 135 +f 111 125 136 +f 136 125 137 +f 125 133 137 +f 109 115 138 +f 115 117 138 +f 120 109 138 +f 117 126 138 +f 126 120 138 +f 106 110 139 +f 110 123 139 +f 123 118 139 +f 130 106 139 +f 118 130 139 +f 119 108 140 +f 108 126 140 +f 131 119 140 +f 126 131 140 +f 115 103 141 +f 124 111 141 +f 136 115 141 +f 111 136 141 +f 126 117 142 +f 131 126 142 +f 117 132 142 +f 132 131 142 +f 110 104 143 +f 123 110 143 +f 118 123 143 +f 104 133 143 +f 133 118 143 +f 110 105 144 +f 105 114 144 +f 122 110 144 +f 114 122 144 +f 103 128 145 +f 130 124 145 +f 128 130 145 +f 141 103 145 +f 124 141 145 +f 112 101 146 +f 101 115 146 +f 133 112 146 +f 115 136 146 +f 136 137 146 +f 137 133 146 +f 105 110 147 +f 110 129 147 +f 129 116 147 +f 135 105 147 +o convex_4 +v 0.213832 -1.819720 -2.061528 +v -0.308262 -3.107383 -1.713608 +v -0.308262 -3.107383 -1.609216 +v -0.308262 -1.123555 -1.609216 +v 0.318186 -3.037476 -1.539571 +v 0.353079 -1.123555 -1.574419 +v -0.308262 -1.123555 -2.061528 +v -0.203779 -3.002716 -2.061528 +v 0.318186 -1.123555 -2.026731 +v 0.213832 -2.933002 -2.061528 +v -0.273434 -1.123555 -1.574419 +v -0.308262 -3.002716 -2.061528 +v 0.318186 -3.037476 -1.644013 +v 0.318186 -1.576014 -2.026731 +v -0.134188 -3.072235 -1.574419 +v 0.213832 -2.724250 -1.539571 +v 0.353079 -1.541254 -1.609216 +v -0.029769 -1.123555 -2.061528 +f 154 156 165 +f 149 150 151 +f 150 149 152 +f 149 151 154 +f 151 153 154 +f 154 148 155 +f 154 153 156 +f 155 148 157 +f 148 156 157 +f 151 150 158 +f 153 151 158 +f 149 154 159 +f 155 149 159 +f 154 155 159 +f 152 149 160 +f 149 155 160 +f 155 157 160 +f 160 157 161 +f 157 156 161 +f 150 152 162 +f 158 150 162 +f 158 162 163 +f 152 153 163 +f 153 158 163 +f 162 152 163 +f 153 152 164 +f 156 153 164 +f 152 160 164 +f 160 161 164 +f 161 156 164 +f 148 154 165 +f 156 148 165 +o convex_5 +v 0.875090 0.999864 -0.982982 +v -1.004411 -0.984022 -2.931625 +v -1.004411 -0.984022 -2.165903 +v 1.049057 -1.123361 -2.861996 +v -0.830239 0.999864 -2.861996 +v -0.934701 -0.984022 -0.982982 +v 1.084014 1.069424 -2.931625 +v 0.979552 -1.088254 -0.982982 +v -0.969454 0.930085 -0.982982 +v -0.203671 1.104313 -1.470191 +v -0.308133 -1.123361 -1.609257 +v -0.969454 0.547176 -2.896715 +v 0.979552 0.999646 -1.191677 +v -1.004411 0.825636 -0.982982 +v 0.875090 1.104313 -2.513854 +v 1.014304 -1.088254 -1.400562 +v -0.969454 0.964974 -2.131184 +v -0.656272 -1.018694 -2.931625 +v -1.004411 -0.392215 -2.931625 +v -0.308133 -1.123361 -2.061555 +v 0.422489 1.104313 -1.435281 +v -0.203671 1.104313 -2.061555 +v 0.596456 1.069424 -2.931625 +v 1.084014 0.756075 -2.931625 +v 0.979552 0.164268 -0.982982 +v -0.969454 0.964974 -1.087329 +v -0.934701 0.964974 -2.861996 +v 0.352984 -1.123361 -1.574538 +v 1.084014 1.069424 -2.827087 +v -0.969454 -0.461775 -1.017701 +v -0.830239 0.964974 -0.982982 +v -0.656272 0.999864 -2.896715 +v 0.387736 -1.053365 -2.896715 +v -1.004411 -0.148427 -2.861996 +v -1.004411 0.477398 -1.017701 +v 0.909842 -1.123361 -2.861996 +v 0.944799 0.964756 -0.982982 +v 1.049057 -1.123361 -2.757458 +v 1.049057 1.069424 -2.339879 +v -0.517057 -1.018694 -2.931625 +v 1.049057 -0.357325 -2.896715 +v 1.014304 -1.123361 -2.409507 +f 193 203 207 +f 166 171 173 +f 171 166 174 +f 168 167 176 +f 171 168 176 +f 173 171 176 +f 167 168 179 +f 171 174 179 +f 167 172 183 +f 172 167 184 +f 167 179 184 +f 176 167 185 +f 169 176 185 +f 167 183 185 +f 175 166 186 +f 166 178 186 +f 180 175 186 +f 170 175 187 +f 175 180 187 +f 187 180 188 +f 180 172 188 +f 172 184 188 +f 170 187 188 +f 183 172 189 +f 166 173 190 +f 173 181 190 +f 175 170 191 +f 179 174 191 +f 170 182 191 +f 182 179 191 +f 182 170 192 +f 177 182 192 +f 176 169 193 +f 173 176 193 +f 172 180 194 +f 181 189 194 +f 189 172 194 +f 178 190 194 +f 190 181 194 +f 168 171 195 +f 171 179 195 +f 174 166 196 +f 166 175 196 +f 191 174 196 +f 175 191 196 +f 184 177 197 +f 170 188 197 +f 188 184 197 +f 192 170 197 +f 177 192 197 +f 182 177 199 +f 179 182 199 +f 177 184 199 +f 184 179 199 +f 179 168 200 +f 168 195 200 +f 195 179 200 +f 183 169 201 +f 169 185 201 +f 185 183 201 +f 178 166 202 +f 166 190 202 +f 190 178 202 +f 181 173 203 +f 169 189 203 +f 189 181 203 +f 193 169 203 +f 186 178 204 +f 180 186 204 +f 194 180 204 +f 178 194 204 +f 169 183 205 +f 183 189 205 +f 198 169 205 +f 198 205 206 +f 189 169 206 +f 169 198 206 +f 205 189 206 +f 173 193 207 +f 203 173 207 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/695/695.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/695/695.urdf new file mode 100644 index 000000000..3a43c9055 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/695/695.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/696/696.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/696/696.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/696/696.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/696/696.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/696/696.obj new file mode 100644 index 000000000..41b7b2c1a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/696/696.obj @@ -0,0 +1,1038 @@ +o convex_0 +v -0.518223 -2.211701 -0.474115 +v 0.546297 -1.881365 0.112782 +v 0.436156 -1.881365 0.443280 +v 0.472835 -2.211701 0.443280 +v -0.481440 -1.881365 0.369786 +v 0.032376 -1.881365 -0.620953 +v 0.399373 -2.211701 -0.437444 +v -0.114339 -2.211701 0.700132 +v -0.408082 -1.881365 -0.510938 +v -0.114339 -2.211701 -0.804613 +v 0.509514 -1.881365 -0.437444 +v -0.518223 -2.211701 0.186276 +v -0.114339 -1.881365 0.553446 +v 0.509514 -2.211701 -0.180440 +v 0.032376 -2.174936 0.737106 +v -0.518223 -1.881365 -0.217263 +v -0.004302 -2.174936 -0.804613 +v -0.408082 -2.211701 0.480102 +v -0.481440 -2.174936 -0.620953 +f 16 9 19 +f 2 3 4 +f 3 2 5 +f 5 2 6 +f 4 1 7 +f 1 4 8 +f 5 6 9 +f 9 6 10 +f 7 1 10 +f 6 2 11 +f 1 8 12 +f 3 5 13 +f 5 8 13 +f 2 4 14 +f 4 7 14 +f 7 11 14 +f 11 2 14 +f 4 3 15 +f 8 4 15 +f 3 13 15 +f 13 8 15 +f 5 9 16 +f 1 12 16 +f 12 5 16 +f 10 6 17 +f 7 10 17 +f 11 7 17 +f 6 11 17 +f 8 5 18 +f 5 12 18 +f 12 8 18 +f 9 10 19 +f 10 1 19 +f 1 16 19 +o convex_1 +v -0.554931 -3.459809 -0.143603 +v 0.546297 -3.423051 0.296543 +v 0.509539 -3.423051 0.443416 +v 0.179149 -3.826835 0.002954 +v 0.032333 -3.423051 -0.804613 +v -0.444657 -3.423051 0.553295 +v -0.444657 -3.753358 -0.106924 +v -0.040859 -3.790077 0.369901 +v 0.509539 -3.679961 -0.033567 +v 0.069091 -3.459809 0.810521 +v -0.004317 -3.790077 -0.400513 +v 0.436131 -3.459809 -0.510708 +v 0.436131 -3.643243 0.369901 +v -0.481307 -3.423051 -0.474029 +v -0.444657 -3.569925 0.443416 +v -0.407899 -3.643243 -0.400513 +v 0.399373 -3.790077 -0.070246 +v -0.077617 -3.459809 -0.804613 +v 0.362723 -3.643243 -0.400513 +v -0.554931 -3.606643 -0.070246 +v -0.151025 -3.826835 -0.070246 +v 0.546297 -3.423051 -0.106924 +v -0.407899 -3.753358 0.112991 +v 0.252557 -3.753358 0.333222 +v -0.004317 -3.423051 0.810521 +f 34 29 44 +f 22 21 24 +f 22 24 25 +f 21 22 32 +f 28 21 32 +f 22 29 32 +f 20 25 33 +f 25 24 33 +f 27 29 34 +f 30 26 35 +f 23 30 36 +f 28 32 36 +f 24 30 37 +f 33 24 37 +f 30 35 37 +f 35 33 37 +f 30 24 38 +f 31 28 38 +f 24 31 38 +f 36 30 38 +f 28 36 38 +f 25 20 39 +f 20 33 39 +f 34 25 39 +f 35 26 39 +f 33 35 39 +f 23 27 40 +f 26 30 40 +f 30 23 40 +f 24 21 41 +f 21 28 41 +f 28 31 41 +f 31 24 41 +f 27 34 42 +f 34 39 42 +f 39 26 42 +f 26 40 42 +f 40 27 42 +f 27 23 43 +f 29 27 43 +f 32 29 43 +f 23 36 43 +f 36 32 43 +f 22 25 44 +f 29 22 44 +f 25 34 44 +o convex_2 +v -0.040942 -2.211701 0.883390 +v -0.040942 -3.423051 -1.097979 +v -0.040942 -3.386175 -1.722270 +v 0.546297 -3.423051 0.369372 +v -0.407966 -2.872276 2.645397 +v -0.077698 -2.395253 -2.749713 +v 0.509541 -2.211701 0.185583 +v -0.554884 -2.799116 -1.904874 +v 0.399380 -2.835637 -2.749713 +v 0.362623 -2.799116 2.682155 +v -0.554884 -3.423051 0.075902 +v -0.518128 -2.211701 0.149418 +v -0.040942 -3.239499 2.572474 +v -0.077698 -2.432011 2.682155 +v -0.040942 -3.239499 -2.712955 +v -0.407966 -2.945792 -2.676197 +v -0.481479 -2.211701 -0.657477 +v 0.546297 -3.423051 -0.143459 +v 0.325975 -2.432011 -2.198937 +v 0.509541 -2.762476 -1.942225 +v -0.518128 -2.688961 1.800559 +v 0.546297 -2.799116 1.103345 +v -0.077698 -2.835637 3.012976 +v -0.040942 -2.872276 -3.043776 +v -0.407966 -3.276020 -1.831358 +v -0.004293 -2.248577 -1.648754 +v -0.371318 -2.505408 -2.419484 +v 0.289218 -3.165865 2.388092 +v -0.334562 -2.505408 2.462201 +v 0.325975 -3.129344 -2.456242 +v -0.004293 -3.423051 1.029829 +v 0.289218 -2.542166 2.425443 +v -0.554884 -2.432011 -0.069944 +v 0.509541 -2.909034 1.837910 +v -0.371318 -3.165865 2.094622 +v 0.509541 -2.211701 -0.180217 +v 0.546297 -2.505408 -0.070537 +v 0.032355 -2.432011 2.682155 +v 0.032355 -2.395253 -2.749713 +v 0.069111 -3.239499 -2.676197 +v -0.407966 -2.799116 -2.749713 +v 0.472784 -2.211701 0.479646 +v -0.481479 -3.423051 0.516404 +v -0.040942 -3.202741 2.718913 +v -0.407966 -2.395253 1.837910 +v -0.040942 -2.285335 1.691471 +v -0.407966 -2.725718 2.681562 +v -0.444723 -2.395253 -1.831358 +v -0.518128 -3.423051 -0.400172 +v 0.032355 -3.349417 1.837910 +v 0.399380 -3.239499 1.837910 +v -0.554884 -2.945792 -1.758435 +v -0.518128 -2.835637 1.911425 +v -0.518128 -2.211701 -0.473688 +v 0.362623 -2.909034 2.645397 +v 0.399380 -2.725718 -2.676197 +v 0.509541 -2.762476 1.690878 +v 0.399380 -3.202741 -1.942225 +v 0.472784 -3.423051 -0.473688 +v -0.004293 -2.762476 -3.043776 +v 0.399380 -2.468888 1.764394 +v 0.509541 -2.909034 -1.795193 +v -0.334562 -3.165865 -2.455649 +v -0.004293 -2.799116 3.012976 +f 88 99 108 +f 46 48 55 +f 45 51 56 +f 56 51 61 +f 48 46 62 +f 48 62 66 +f 59 60 68 +f 59 47 69 +f 50 61 70 +f 55 48 75 +f 52 55 77 +f 65 56 77 +f 48 66 78 +f 49 55 79 +f 61 51 80 +f 70 61 80 +f 62 64 81 +f 51 66 81 +f 66 62 81 +f 80 51 81 +f 64 80 81 +f 54 76 82 +f 50 70 83 +f 80 63 83 +f 70 80 83 +f 47 59 84 +f 68 53 84 +f 59 68 84 +f 53 74 84 +f 60 52 85 +f 68 60 85 +f 71 50 85 +f 51 45 86 +f 82 76 86 +f 55 75 87 +f 79 55 87 +f 57 79 87 +f 67 49 88 +f 57 72 88 +f 49 79 88 +f 79 57 88 +f 56 65 89 +f 73 58 89 +f 45 56 90 +f 58 82 90 +f 86 45 90 +f 82 86 90 +f 56 89 90 +f 89 58 90 +f 49 67 91 +f 67 58 91 +f 58 73 91 +f 89 65 91 +f 73 89 91 +f 61 50 92 +f 50 71 92 +f 85 52 92 +f 71 85 92 +f 47 46 93 +f 46 55 93 +f 69 47 93 +f 75 48 94 +f 87 75 94 +f 57 87 94 +f 72 57 95 +f 48 78 95 +f 94 48 95 +f 57 94 95 +f 55 52 96 +f 52 60 96 +f 60 69 96 +f 93 55 96 +f 69 93 96 +f 55 49 97 +f 77 55 97 +f 65 77 97 +f 49 91 97 +f 91 65 97 +f 56 61 98 +f 52 77 98 +f 77 56 98 +f 61 92 98 +f 92 52 98 +f 78 54 99 +f 88 72 99 +f 72 95 99 +f 95 78 99 +f 64 53 100 +f 63 80 100 +f 80 64 100 +f 83 63 100 +f 66 51 101 +f 54 78 101 +f 78 66 101 +f 51 86 101 +f 74 53 102 +f 84 74 102 +f 84 102 103 +f 46 47 103 +f 62 46 103 +f 47 84 103 +f 102 62 103 +f 53 68 104 +f 50 83 104 +f 85 50 104 +f 68 85 104 +f 100 53 104 +f 83 100 104 +f 76 54 105 +f 86 76 105 +f 54 101 105 +f 101 86 105 +f 53 64 106 +f 64 62 106 +f 102 53 106 +f 62 102 106 +f 60 59 107 +f 59 69 107 +f 69 60 107 +f 58 67 108 +f 82 58 108 +f 54 82 108 +f 67 88 108 +f 99 54 108 +o convex_3 +v -1.361769 -0.045953 0.993912 +v -0.040634 -0.082783 -1.281811 +v -0.040634 -0.045953 -1.281811 +v 2.821727 -0.817042 0.700118 +v -2.132978 -1.771203 -0.070192 +v 2.014135 -1.550943 -0.767611 +v -0.004250 -1.844323 0.773504 +v 2.821727 -0.045953 -0.070440 +v -2.793844 -0.780392 -0.767611 +v -2.793844 -0.817042 0.810446 +v -2.793844 -0.045953 -0.033498 +v -0.150977 -1.771203 -0.841245 +v 0.032133 -0.045953 1.251012 +v 2.821727 -1.587413 0.002699 +v 2.821727 -0.743563 -0.767611 +v 1.977751 -1.587413 0.773504 +v -2.023232 -1.477463 -0.841245 +v -2.059615 -1.550763 0.773504 +v 2.014135 -1.844323 -0.033498 +v -2.830228 -1.514113 -0.033498 +v 2.051114 -0.046133 0.736811 +v 2.051114 -0.046133 -0.804552 +v -2.132978 -0.045953 -0.731165 +v -0.040634 -1.881333 -0.657779 +v -0.113997 -1.661073 0.920277 +v -2.059615 -0.926993 0.993912 +v 2.124478 -0.853692 0.956970 +v 0.032133 -1.550943 -0.988018 +v 2.124478 -0.780213 -0.988018 +v -2.096595 -0.780392 -1.024711 +v -3.050914 -0.670262 0.039392 +v 3.042413 -0.780213 -0.143578 +v -2.573754 -0.192913 0.626732 +v -0.408047 -1.881333 0.443018 +v -2.096595 -1.514113 -0.804304 +v 2.638617 -1.330503 -0.584145 +v 2.601637 -0.229743 0.553345 +v 1.867408 -1.036943 0.956970 +v 2.638617 -1.330503 0.590038 +v -2.610138 -1.367333 0.590038 +v 1.427228 -0.046133 0.956970 +v -2.647118 -1.330503 -0.584145 +v -1.398749 -0.045953 -0.988018 +v -2.096595 -0.045953 0.773504 +v -2.169958 -0.780392 0.993912 +v 1.280502 -1.697723 0.810446 +v -2.793844 -0.633433 -0.731165 +v 2.528274 -0.156263 -0.620838 +v 0.435929 -1.881333 0.516404 +v 3.042413 -0.743563 0.076085 +v -2.793844 -0.045953 0.113027 +v 1.427228 -0.046133 -0.988018 +v 0.472313 -1.881333 -0.547451 +v 1.977751 -0.890522 -0.988018 +v -2.096595 -1.771203 0.039392 +v -2.610138 -0.192913 -0.547451 +v -0.040634 -0.082783 1.251012 +v 2.785344 -0.780213 0.736811 +v 2.014135 -1.624243 0.736811 +v -3.013934 -0.963643 0.002699 +v -2.023232 -0.853692 -1.024711 +v -2.793844 -0.743563 0.810446 +v -0.408047 -1.881333 -0.510758 +v -0.113997 -1.550943 -0.988018 +f 125 169 172 +f 111 109 116 +f 109 111 119 +f 116 109 121 +f 114 122 127 +f 116 121 129 +f 111 116 130 +f 119 111 131 +f 120 114 132 +f 126 115 133 +f 126 133 134 +f 118 126 134 +f 114 120 136 +f 110 111 137 +f 123 114 137 +f 130 123 137 +f 111 110 138 +f 123 116 140 +f 122 123 140 +f 125 120 143 +f 113 128 143 +f 120 132 143 +f 117 138 143 +f 138 125 143 +f 122 114 144 +f 114 123 144 +f 123 122 144 +f 116 129 145 +f 124 135 146 +f 135 121 146 +f 122 112 147 +f 126 118 148 +f 118 128 148 +f 128 126 148 +f 129 121 149 +f 121 135 149 +f 128 117 150 +f 117 143 150 +f 143 128 150 +f 131 111 151 +f 111 138 151 +f 109 119 152 +f 118 134 153 +f 133 115 154 +f 146 133 154 +f 124 146 154 +f 138 117 155 +f 117 139 155 +f 139 119 155 +f 131 151 155 +f 151 138 155 +f 116 123 156 +f 130 116 156 +f 123 130 156 +f 115 142 157 +f 142 132 157 +f 154 115 157 +f 127 154 157 +f 116 112 158 +f 112 122 158 +f 140 116 158 +f 122 140 158 +f 119 139 159 +f 152 119 159 +f 141 152 159 +f 111 130 160 +f 137 111 160 +f 130 137 160 +f 114 127 161 +f 132 114 161 +f 127 157 161 +f 157 132 161 +f 136 110 162 +f 114 136 162 +f 110 137 162 +f 137 114 162 +f 115 126 163 +f 128 113 163 +f 126 128 163 +f 113 142 163 +f 142 115 163 +f 119 131 164 +f 155 119 164 +f 131 155 164 +f 121 109 165 +f 134 133 165 +f 146 121 165 +f 133 146 165 +f 109 153 165 +f 153 134 165 +f 112 116 166 +f 135 124 166 +f 116 145 166 +f 145 129 166 +f 147 112 166 +f 124 147 166 +f 129 149 166 +f 149 135 166 +f 127 122 167 +f 122 147 167 +f 147 124 167 +f 154 127 167 +f 124 154 167 +f 117 128 168 +f 128 118 168 +f 139 117 168 +f 118 139 168 +f 138 110 169 +f 125 138 169 +f 139 118 170 +f 109 152 170 +f 152 141 170 +f 153 109 170 +f 118 153 170 +f 159 139 170 +f 141 159 170 +f 142 113 171 +f 132 142 171 +f 113 143 171 +f 143 132 171 +f 120 125 172 +f 110 136 172 +f 136 120 172 +f 169 110 172 +o convex_4 +v 0.032276 -0.045924 1.360851 +v -0.040909 0.210975 -2.199501 +v -0.040909 0.247708 -2.199501 +v -2.794094 -0.045924 0.076114 +v -0.040909 0.247708 2.095287 +v 2.785460 -0.045924 -0.070184 +v 2.050877 0.247708 -0.070184 +v -1.949187 0.247708 0.002544 +v -0.040909 -0.045924 -1.391916 +v -2.059511 -0.045924 -0.731050 +v 1.977692 -0.045924 0.736980 +v 2.161201 -0.045924 -0.731050 +v -1.949187 -0.045924 0.810129 +v 2.711729 0.027512 0.002544 +v -2.794094 -0.009220 0.002544 +v 0.032276 0.210975 2.095287 +v -0.958455 0.247708 -1.354921 +v -0.995048 0.247708 1.250707 +v 2.088016 0.027512 -0.731050 +v 0.215785 0.247708 1.948147 +v -2.794094 -0.009220 0.076114 +v 0.032276 0.247708 -2.199501 +v 1.023007 0.247708 1.140562 +v -0.004317 0.027512 -1.648780 +v -2.059511 -0.009220 -0.731050 +v 0.032276 0.100892 1.801428 +v -1.949187 0.247708 0.076114 +v 2.050877 0.247708 0.002544 +v 1.977692 -0.009220 0.736980 +v 2.014284 -0.045924 -0.804200 +v 0.032276 0.210975 -2.199501 +v 1.390025 -0.045924 0.957269 +v -1.949187 -0.009220 0.810129 +v 2.785460 -0.009220 -0.070184 +f 186 201 206 +f 173 176 178 +f 175 177 179 +f 177 175 180 +f 178 176 181 +f 175 174 182 +f 181 176 182 +f 173 178 183 +f 178 181 184 +f 176 173 185 +f 182 176 187 +f 177 185 188 +f 180 175 189 +f 187 180 189 +f 177 180 190 +f 179 177 192 +f 177 188 192 +f 176 185 193 +f 187 176 193 +f 180 187 193 +f 177 190 193 +f 174 175 194 +f 175 179 194 +f 179 191 194 +f 191 184 194 +f 179 192 195 +f 192 186 195 +f 182 174 196 +f 181 182 196 +f 175 182 197 +f 182 187 197 +f 189 175 197 +f 187 189 197 +f 185 173 198 +f 188 185 198 +f 190 180 199 +f 180 193 199 +f 193 190 199 +f 186 179 200 +f 179 195 200 +f 195 186 200 +f 183 178 201 +f 188 183 201 +f 186 192 201 +f 192 188 201 +f 184 181 202 +f 181 196 202 +f 202 196 203 +f 174 194 203 +f 194 184 203 +f 196 174 203 +f 184 202 203 +f 173 183 204 +f 183 188 204 +f 198 173 204 +f 188 198 204 +f 185 177 205 +f 193 185 205 +f 177 193 205 +f 178 184 206 +f 179 186 206 +f 191 179 206 +f 184 191 206 +f 201 178 206 +o convex_5 +v -0.958416 2.487115 -0.400643 +v 0.986788 2.486935 0.076369 +v 0.986788 2.413455 0.076369 +v -0.041050 2.450285 1.434550 +v -0.077807 4.248835 0.002983 +v 0.032269 2.413455 -1.281811 +v 0.729681 3.991745 -0.033710 +v -0.811780 3.991745 -0.070404 +v -0.114368 3.954916 -0.841227 +v 0.839757 2.523765 -0.951041 +v -0.848538 2.413455 0.920313 +v -0.041050 3.991745 0.736581 +v 0.802999 2.413455 0.993700 +v -0.848538 2.413455 -0.914613 +v -0.775022 3.221195 0.773540 +v 0.729681 3.294495 0.736847 +v -1.032129 3.221195 0.039676 +v 0.729681 3.258025 -0.804268 +v 0.950030 3.331145 0.002983 +v -0.811780 3.184545 -0.767841 +v 0.509528 3.808136 -0.657495 +v -0.591430 3.808315 0.553115 +v -0.995371 2.413455 0.186183 +v 0.546089 3.844965 0.516422 +v 0.876515 2.413455 -0.877654 +v -0.628188 3.771486 -0.621068 +v -0.041050 4.211826 -0.253870 +v -0.041050 2.450285 -1.281811 +v 0.069027 3.954916 -0.804534 +v 0.032269 2.450285 1.434550 +v -0.811780 3.991745 0.002983 +v 0.692923 4.028396 -0.107097 +v 0.950030 3.221195 -0.180483 +v -0.811780 2.487115 0.993700 +v 0.069027 3.991745 0.699888 +v -1.032129 3.221195 -0.033710 +v -0.041050 2.413455 1.434550 +v -0.077807 4.028396 0.699888 +v 0.950030 3.074235 0.186183 +v 0.032269 4.248835 -0.033710 +v 0.032269 2.450285 -1.281811 +v 0.986788 2.853975 -0.070404 +v 0.729681 3.991745 -0.107097 +v 0.692923 4.028396 -0.033710 +v -0.114368 3.991745 -0.804534 +v 0.766438 2.853975 0.883620 +v -0.811780 3.074235 -0.804534 +v -0.224444 4.211826 -0.107097 +v -0.995371 2.413455 -0.107097 +v -0.848538 2.487115 -0.914613 +v 0.802999 2.486935 -0.987734 +v 0.839757 2.450285 0.883620 +f 245 252 258 +f 212 209 217 +f 217 209 219 +f 212 217 220 +f 210 218 221 +f 213 222 225 +f 220 217 229 +f 217 223 229 +f 222 213 230 +f 209 212 231 +f 215 226 232 +f 226 214 232 +f 212 220 234 +f 227 224 235 +f 218 210 236 +f 214 223 237 +f 223 221 237 +f 221 228 237 +f 227 235 238 +f 235 233 238 +f 216 224 239 +f 231 216 239 +f 210 221 240 +f 223 217 240 +f 221 223 240 +f 222 230 241 +f 218 236 241 +f 236 222 241 +f 223 214 242 +f 214 226 242 +f 229 223 242 +f 217 219 243 +f 236 210 243 +f 219 236 243 +f 210 240 243 +f 240 217 243 +f 221 218 244 +f 228 221 244 +f 211 237 244 +f 237 228 244 +f 218 241 244 +f 225 222 245 +f 233 211 246 +f 238 233 246 +f 211 244 246 +f 244 241 246 +f 212 234 247 +f 234 215 247 +f 215 235 247 +f 235 224 247 +f 208 209 248 +f 209 231 248 +f 239 225 248 +f 231 239 248 +f 245 208 248 +f 225 245 248 +f 213 225 249 +f 224 227 249 +f 238 213 249 +f 227 238 249 +f 239 224 249 +f 225 239 249 +f 230 213 250 +f 213 238 250 +f 241 230 250 +f 238 246 250 +f 246 241 250 +f 232 214 251 +f 215 232 251 +f 235 215 251 +f 233 235 251 +f 236 219 252 +f 222 236 252 +f 245 222 252 +f 226 215 253 +f 215 234 253 +f 211 233 254 +f 237 211 254 +f 214 237 254 +f 251 214 254 +f 233 251 254 +f 207 220 255 +f 220 229 255 +f 242 207 255 +f 229 242 255 +f 220 207 256 +f 234 220 256 +f 207 242 256 +f 242 226 256 +f 226 253 256 +f 253 234 256 +f 224 216 257 +f 231 212 257 +f 216 231 257 +f 212 247 257 +f 247 224 257 +f 209 208 258 +f 219 209 258 +f 208 245 258 +f 252 219 258 +o convex_6 +v -0.701674 0.467953 -2.162693 +v 1.941128 0.284440 0.002897 +v 1.390436 0.467953 0.039547 +v -0.958515 0.247729 1.397218 +v -0.077705 0.467953 2.719316 +v 0.032582 0.247729 -2.309294 +v -1.839696 0.284440 0.002358 +v 0.766097 0.467953 -2.052204 +v 0.032582 0.247729 2.241248 +v -1.289005 0.467953 0.039008 +v 1.941128 0.247729 -0.070404 +v 0.803106 0.467953 1.984158 +v -0.774952 0.467953 2.094647 +v -0.921877 0.247729 -1.501913 +v -0.041066 0.431220 -2.786823 +v -1.839696 0.247729 0.002358 +v 0.986670 0.247729 1.286728 +v 0.032582 0.394509 2.682127 +v 0.766097 0.431220 -2.052204 +v -1.031793 0.467953 -1.318124 +v -0.811960 0.394509 1.984158 +v 0.105489 0.467953 -2.749634 +v 0.839745 0.394509 1.874208 +v -0.738313 0.431220 -2.126043 +v -0.041066 0.394509 -2.749634 +v -0.995154 0.467953 1.470518 +v 0.766097 0.247729 -1.501913 +v -0.041066 0.394509 2.682127 +v 1.941128 0.247729 0.002897 +v 0.068850 0.394509 -2.712984 +v 1.941128 0.284440 -0.070404 +v 1.023309 0.467953 1.360567 +f 270 260 290 +f 261 259 263 +f 259 261 266 +f 262 264 267 +f 263 259 268 +f 267 264 269 +f 261 263 270 +f 263 268 271 +f 264 262 272 +f 271 265 274 +f 272 262 274 +f 267 269 275 +f 270 263 276 +f 267 275 276 +f 266 269 277 +f 259 265 278 +f 268 259 278 +f 265 268 278 +f 274 262 279 +f 271 274 279 +f 259 266 280 +f 273 259 280 +f 266 277 280 +f 270 276 281 +f 276 275 281 +f 265 259 282 +f 259 273 282 +f 274 265 282 +f 272 274 282 +f 264 272 283 +f 282 273 283 +f 272 282 283 +f 268 265 284 +f 265 271 284 +f 271 268 284 +f 269 264 285 +f 277 269 285 +f 262 267 286 +f 263 271 286 +f 267 276 286 +f 276 263 286 +f 279 262 286 +f 271 279 286 +f 269 260 287 +f 260 270 287 +f 275 269 287 +f 270 281 287 +f 281 275 287 +f 273 280 288 +f 280 277 288 +f 264 283 288 +f 283 273 288 +f 285 264 288 +f 277 285 288 +f 261 260 289 +f 266 261 289 +f 260 269 289 +f 269 266 289 +f 260 261 290 +f 261 270 290 +o convex_7 +v -0.995274 1.128959 -2.051852 +v 1.280449 0.504708 0.075435 +v 1.280449 0.467953 0.075435 +v -0.738422 1.202277 2.791998 +v 0.986655 2.413455 -0.106651 +v -0.995274 2.413455 0.149094 +v 0.069077 1.972785 -2.749555 +v -1.252375 0.467953 0.112559 +v 0.619723 0.578216 -2.492630 +v 0.582782 1.789394 2.608733 +v 0.032384 0.467953 2.755463 +v -0.261162 0.467953 -2.676485 +v 0.803189 1.275786 -2.713020 +v -0.041003 2.413455 1.544500 +v 0.803189 1.165523 2.755463 +v -0.848501 2.413455 -0.914549 +v -0.041003 1.936221 2.829122 +v -0.775115 1.128959 -2.749555 +v 0.839882 2.413455 -0.987619 +v -0.848501 0.467953 1.948155 +v -1.031967 1.202277 2.021225 +v -0.738422 1.936221 2.094884 +v 1.023348 1.275786 2.021225 +v 1.023348 1.238841 -2.051852 +v 0.839882 0.467953 1.947565 +v 0.803189 2.413455 0.993527 +v 0.032384 1.128959 -3.007069 +v -0.848501 0.467953 -1.905122 +v 0.032384 1.128959 3.012977 +v -0.738422 1.936221 -2.051852 +v 0.913269 0.467953 -1.685322 +v -0.848501 2.413455 0.920457 +v -0.041003 2.413455 -1.391863 +v 0.766496 1.972785 -2.052441 +v 0.142463 0.467953 -2.749555 +v -0.554708 0.578216 2.571609 +v 0.766496 1.972785 2.058349 +v -0.041003 1.972785 -2.749555 +v -0.995274 1.312350 -1.942247 +v 0.766496 1.165523 -2.786679 +v -1.252375 0.504708 -0.069527 +v -0.995274 2.413455 -0.106651 +v 1.023348 0.467953 1.397181 +v 0.032384 1.972785 2.792587 +v 0.986655 2.413455 0.075435 +v 0.656416 0.578216 2.425468 +v -1.031967 0.467953 -1.354149 +v -0.591401 1.715886 -2.565701 +v -0.591401 1.679131 2.645268 +v -0.775115 1.092015 2.755463 +v -1.031967 0.467953 1.360646 +v 0.619723 1.715886 -2.602825 +v 1.280449 0.504708 -0.069527 +v -0.628094 0.541462 -2.455506 +v 0.766496 1.312350 2.755463 +v -0.041003 1.238841 -3.007069 +v 1.023348 0.688289 -1.575127 +v 0.032384 1.275786 3.012977 +v 1.023348 1.312350 -1.978782 +v -0.004062 0.541462 -2.823214 +v -0.811808 1.202277 2.718928 +v 1.023348 1.055451 1.948155 +v -1.252375 0.541462 0.075435 +v -1.031967 1.128959 2.021225 +f 340 351 354 +f 298 293 301 +f 293 298 302 +f 295 296 304 +f 296 295 306 +f 306 295 309 +f 298 301 310 +f 293 292 313 +f 301 293 315 +f 295 304 316 +f 302 298 318 +f 301 305 319 +f 293 302 321 +f 304 296 322 +f 296 311 322 +f 312 307 322 +f 311 312 322 +f 309 297 323 +f 306 309 323 +f 297 309 324 +f 321 302 325 +f 299 321 325 +f 310 301 326 +f 320 306 328 +f 323 297 328 +f 306 323 328 +f 308 291 329 +f 306 320 329 +f 320 308 329 +f 303 314 330 +f 321 299 330 +f 299 325 330 +f 329 291 331 +f 329 331 332 +f 296 306 332 +f 306 329 332 +f 315 293 333 +f 305 315 333 +f 316 304 334 +f 304 322 334 +f 322 307 334 +f 300 327 334 +f 327 316 334 +f 292 295 335 +f 313 292 335 +f 295 316 335 +f 327 313 335 +f 316 327 335 +f 305 301 336 +f 301 315 336 +f 315 305 336 +f 291 308 337 +f 318 298 337 +f 308 318 337 +f 298 331 337 +f 331 291 337 +f 308 320 338 +f 328 308 338 +f 320 328 338 +f 294 307 339 +f 307 312 339 +f 319 294 340 +f 301 319 340 +f 326 301 340 +f 310 326 340 +f 298 310 341 +f 297 324 342 +f 324 303 342 +f 330 297 342 +f 303 330 342 +f 292 293 343 +f 295 292 343 +f 293 321 343 +f 308 302 344 +f 302 318 344 +f 318 308 344 +f 305 313 345 +f 327 300 345 +f 313 327 345 +f 300 334 345 +f 334 307 345 +f 317 308 346 +f 328 297 346 +f 308 328 346 +f 297 330 346 +f 330 317 346 +f 330 314 347 +f 321 330 347 +f 314 343 347 +f 343 321 347 +f 307 294 348 +f 294 319 348 +f 319 305 348 +f 305 345 348 +f 345 307 348 +f 309 295 349 +f 314 303 349 +f 303 324 349 +f 324 309 349 +f 295 343 349 +f 343 314 349 +f 302 308 350 +f 308 317 350 +f 325 302 350 +f 317 330 350 +f 330 325 350 +f 312 311 351 +f 294 339 351 +f 339 312 351 +f 340 294 351 +f 293 313 352 +f 313 305 352 +f 333 293 352 +f 305 333 352 +f 311 296 353 +f 298 311 353 +f 331 298 353 +f 332 331 353 +f 296 332 353 +f 311 298 354 +f 310 340 354 +f 298 341 354 +f 341 310 354 +f 351 311 354 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/696/696.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/696/696.urdf new file mode 100644 index 000000000..f9cfd927c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/696/696.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/697/697.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/697/697.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/697/697.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/697/697.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/697/697.obj new file mode 100644 index 000000000..7be262ed8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/697/697.obj @@ -0,0 +1,438 @@ +o convex_0 +v 1.066418 0.927416 -0.821958 +v -1.100412 -3.375167 0.911124 +v -1.038478 -3.375167 -0.853137 +v 1.035451 -3.468104 1.004025 +v -1.007511 0.927416 1.065958 +v -1.069445 0.927416 -0.946037 +v 1.004272 -3.530062 -1.100871 +v 1.035451 0.927416 1.004025 +v 1.035451 0.927416 -1.100871 +v -0.945578 -3.375167 -0.976792 +v -0.976544 -3.406146 1.004025 +v -0.388387 -3.530062 -0.203045 +v -0.573976 0.927416 -1.007971 +v 1.035451 -3.530062 -0.853137 +v -1.069445 -2.972441 1.034780 +v -1.038478 0.927416 0.756290 +v -0.016997 -3.530062 0.415655 +v 0.818684 -2.601130 -1.100871 +v -0.573976 0.896437 1.065958 +v -1.069445 -1.054364 -0.946037 +v 1.066418 -0.806532 -0.790991 +v -1.038478 -0.434785 1.065958 +v 0.787717 0.927416 -1.100871 +v 1.066418 0.927416 -0.388634 +v -1.100412 -3.127336 1.003813 +v 1.035451 -3.251252 -1.069692 +v -1.007511 0.927416 -0.976792 +v 0.787717 -3.499083 0.848979 +v -1.069445 -0.589680 0.725323 +v 0.880617 -3.530062 -1.100871 +v -0.666876 -3.468104 -0.574435 +v -1.038478 -3.406146 0.972846 +v -1.038478 -3.096357 -0.946037 +v -0.976544 -2.632109 -0.976792 +v -0.264519 -3.530062 0.322967 +v -1.069445 0.927416 -0.791203 +v -0.388387 -3.530062 -0.326913 +v -1.038478 -0.094889 1.065958 +v -0.976544 -0.435221 1.065958 +v -0.914611 -3.406146 -0.852925 +v 1.035451 -3.530062 -0.698090 +v 1.035451 -2.446235 -1.100871 +v 0.539982 -3.468104 1.003813 +v 0.385360 -3.468104 -1.069904 +v 1.035451 -3.499083 0.508556 +v -0.573976 0.338816 -1.007971 +f 34 27 46 +f 5 1 6 +f 1 5 8 +f 6 1 9 +f 6 9 13 +f 12 7 14 +f 5 6 16 +f 12 14 17 +f 9 7 18 +f 4 8 19 +f 8 5 19 +f 3 2 20 +f 2 6 20 +f 19 5 22 +f 13 9 23 +f 9 18 23 +f 1 8 24 +f 8 4 24 +f 21 1 24 +f 4 21 24 +f 6 2 25 +f 11 15 25 +f 15 22 25 +f 14 7 26 +f 21 14 26 +f 6 13 27 +f 20 6 27 +f 25 16 29 +f 7 12 30 +f 18 7 30 +f 2 3 32 +f 25 2 32 +f 11 25 32 +f 10 3 33 +f 3 20 33 +f 33 20 34 +f 20 27 34 +f 10 33 34 +f 17 11 35 +f 12 17 35 +f 11 32 35 +f 32 12 35 +f 16 6 36 +f 6 25 36 +f 29 16 36 +f 25 29 36 +f 30 12 37 +f 12 32 37 +f 32 31 37 +f 5 16 38 +f 22 5 38 +f 16 25 38 +f 25 22 38 +f 15 4 39 +f 4 19 39 +f 22 15 39 +f 19 22 39 +f 3 10 40 +f 10 30 40 +f 32 3 40 +f 31 32 40 +f 30 37 40 +f 37 31 40 +f 17 14 41 +f 14 21 41 +f 28 17 41 +f 9 1 42 +f 7 9 42 +f 1 21 42 +f 26 7 42 +f 21 26 42 +f 4 15 43 +f 15 11 43 +f 11 17 43 +f 28 4 43 +f 17 28 43 +f 30 10 44 +f 18 30 44 +f 10 34 44 +f 34 18 44 +f 21 4 45 +f 4 28 45 +f 41 21 45 +f 28 41 45 +f 13 23 46 +f 23 18 46 +f 27 13 46 +f 18 34 46 +o convex_1 +v 1.685689 1.020414 0.292024 +v 1.159412 2.165605 0.353970 +v 1.159412 2.165605 0.322997 +v 2.923597 2.072686 -0.110163 +v 1.097373 1.144190 -0.574641 +v 3.047483 1.144190 0.601638 +v 2.954521 1.113217 -0.512695 +v 1.097373 2.103659 -0.512580 +v 1.097373 0.989326 0.508604 +v 2.923597 2.010740 0.570550 +v 2.923597 2.072686 -0.450750 +v 1.097373 2.134517 0.477631 +v 2.923597 1.979767 -0.481723 +v 2.799902 1.082244 -0.450750 +v 2.768787 1.113217 0.601638 +v 3.047483 1.113217 0.322997 +v 1.097373 1.113333 -0.543553 +v 2.675825 2.103659 -0.388804 +v 3.016369 1.515750 0.601638 +v 1.097373 0.989326 0.353970 +v 2.954521 1.979767 -0.357946 +v 2.954521 1.391858 -0.512695 +v 1.097373 2.134517 -0.296000 +v 2.552130 1.886964 0.570665 +v 1.097373 1.299055 0.508604 +v 1.128488 1.237109 -0.574641 +v 2.985445 1.113217 -0.450750 +v 2.242509 2.072686 0.539577 +v 1.376260 2.103659 -0.512580 +v 2.954521 1.979767 0.570550 +v 3.047483 1.299055 0.384828 +v 2.985445 1.113217 0.601638 +v 2.335472 1.113333 -0.543553 +v 2.366205 2.103659 -0.481607 +f 75 69 80 +f 54 51 55 +f 48 49 58 +f 54 55 58 +f 55 51 63 +f 49 48 64 +f 48 50 64 +f 50 57 64 +f 61 52 65 +f 47 55 66 +f 60 47 66 +f 55 63 66 +f 63 60 66 +f 57 50 67 +f 59 57 67 +f 59 67 68 +f 58 49 69 +f 54 58 69 +f 49 64 69 +f 65 56 70 +f 61 65 70 +f 58 55 71 +f 55 61 71 +f 70 58 71 +f 61 70 71 +f 51 54 72 +f 59 68 72 +f 60 53 73 +f 62 60 73 +f 53 68 73 +f 68 67 73 +f 50 48 74 +f 56 50 74 +f 48 58 74 +f 58 70 74 +f 70 56 74 +f 54 69 75 +f 72 54 75 +f 59 72 75 +f 50 56 76 +f 56 65 76 +f 67 50 76 +f 67 76 77 +f 52 62 77 +f 65 52 77 +f 62 73 77 +f 73 67 77 +f 76 65 77 +f 55 47 78 +f 47 60 78 +f 61 55 78 +f 52 61 78 +f 62 52 78 +f 60 62 78 +f 53 60 79 +f 63 51 79 +f 60 63 79 +f 68 53 79 +f 51 72 79 +f 72 68 79 +f 57 59 80 +f 64 57 80 +f 69 64 80 +f 59 75 80 +o convex_2 +v -2.926546 0.958371 -0.264979 +v -1.657679 2.134650 0.230102 +v -1.657679 2.134650 0.137275 +v -1.100412 1.051290 0.539641 +v -1.100412 1.082263 -0.543687 +v -2.988649 1.206154 0.601638 +v -2.957413 2.134650 -0.450635 +v -1.100412 2.103677 -0.481689 +v -1.100412 2.103677 0.601638 +v -2.926546 2.103562 0.415870 +v -2.771657 0.958371 -0.481689 +v -2.988649 1.082378 0.539641 +v -1.193382 1.422734 -0.543687 +v -2.957413 2.041732 0.446813 +v -2.493116 1.113236 0.601638 +v -2.926546 0.958371 -0.450635 +v -1.224249 1.051290 -0.543687 +v -2.462250 0.958371 -0.202982 +v -2.060056 2.134650 -0.481689 +v -1.626812 1.082378 -0.543687 +v -1.100412 1.763091 0.601638 +v -2.957413 2.134650 -0.079211 +v -2.988649 1.082378 0.323042 +v -2.988649 1.391761 0.570583 +v -1.162515 2.103677 0.601638 +v -1.100412 1.051290 -0.079211 +v -2.524168 0.958371 -0.481689 +v -2.957413 0.989344 -0.141097 +v -1.441056 1.175066 0.570583 +v -1.812567 2.134650 -0.481689 +f 93 99 110 +f 82 83 87 +f 83 82 88 +f 84 85 88 +f 88 82 89 +f 84 88 89 +f 88 85 93 +f 89 86 95 +f 92 84 95 +f 86 92 95 +f 91 81 96 +f 87 91 96 +f 93 85 97 +f 81 91 98 +f 92 81 98 +f 84 92 98 +f 87 83 99 +f 93 87 99 +f 91 87 100 +f 87 93 100 +f 97 91 100 +f 93 97 100 +f 84 89 101 +f 89 95 101 +f 82 87 102 +f 90 82 102 +f 94 90 102 +f 92 86 103 +f 102 87 104 +f 94 102 104 +f 103 86 104 +f 87 103 104 +f 86 89 105 +f 89 82 105 +f 82 90 105 +f 90 94 105 +f 104 86 105 +f 94 104 105 +f 85 84 106 +f 97 85 106 +f 84 98 106 +f 106 98 107 +f 91 97 107 +f 98 91 107 +f 97 106 107 +f 81 92 108 +f 96 81 108 +f 87 96 108 +f 103 87 108 +f 92 103 108 +f 95 84 109 +f 84 101 109 +f 101 95 109 +f 83 88 110 +f 88 93 110 +f 99 83 110 +o convex_3 +v -1.007475 2.536843 0.787124 +v 0.787799 0.927586 -1.100871 +v 0.787799 2.598777 -1.100871 +v 1.035415 2.567895 1.003761 +v -1.007475 0.927586 1.065719 +v -1.100412 0.989520 -0.945977 +v 1.035415 0.927586 1.003761 +v -1.100412 2.598777 -0.945977 +v 1.066394 2.444028 -0.945761 +v -0.976496 2.536843 1.096913 +v 1.035415 0.927586 -1.100871 +v -0.295389 2.660880 0.446570 +v -1.100412 2.103477 0.601465 +v -1.007475 0.927586 -0.976740 +v 1.097373 0.989520 0.508743 +v 1.035415 2.598777 -1.100871 +v -1.100412 1.051284 0.539507 +v 1.097158 2.227345 -0.667381 +v -1.038454 2.598777 -0.976740 +v 1.097158 2.134529 0.477764 +v 1.097373 1.144269 -0.574444 +v 0.571161 2.629659 -0.760103 +v -0.883559 2.629659 -0.636402 +v 0.632904 2.567895 1.034955 +v -0.914538 2.134529 1.096913 +v 0.013755 2.660880 0.446570 +v -0.914538 2.567895 1.003976 +v 1.035415 2.598777 -0.048232 +v -0.574200 0.927586 1.065719 +v -0.419305 2.660880 -0.017253 +v -1.100412 2.598777 -0.574444 +v 1.066394 0.927586 -0.822061 +v -1.069433 0.927586 -0.791082 +v 0.756820 2.598777 0.849082 +v -1.007475 1.546583 1.065719 +v -0.821601 2.444028 1.096913 +v -0.728879 2.567895 1.034740 +v -1.038454 1.360952 -0.976740 +v 1.066394 2.444028 -0.017253 +v -0.140710 2.598777 -1.038698 +f 148 129 150 +f 115 112 117 +f 112 113 121 +f 117 112 121 +f 118 116 123 +f 120 111 123 +f 112 115 124 +f 114 117 125 +f 121 113 126 +f 119 121 126 +f 115 123 127 +f 123 116 127 +f 121 119 128 +f 116 118 129 +f 114 125 130 +f 128 130 131 +f 121 128 131 +f 130 125 131 +f 126 113 132 +f 132 129 133 +f 129 118 133 +f 117 114 134 +f 120 115 135 +f 122 133 137 +f 119 126 138 +f 126 132 138 +f 132 136 138 +f 115 117 139 +f 135 115 139 +f 117 135 139 +f 132 133 140 +f 133 122 140 +f 122 136 140 +f 136 132 140 +f 111 120 141 +f 123 111 141 +f 118 123 141 +f 133 118 141 +f 120 137 141 +f 137 133 141 +f 117 121 142 +f 125 117 142 +f 121 131 142 +f 131 125 142 +f 124 115 143 +f 116 124 143 +f 115 127 143 +f 127 116 143 +f 134 114 144 +f 136 122 144 +f 114 138 144 +f 138 136 144 +f 115 120 145 +f 123 115 145 +f 120 123 145 +f 117 134 146 +f 134 120 146 +f 135 117 146 +f 120 135 146 +f 120 134 147 +f 137 120 147 +f 122 137 147 +f 134 144 147 +f 144 122 147 +f 112 124 148 +f 124 116 148 +f 116 129 148 +f 128 119 149 +f 114 130 149 +f 130 128 149 +f 138 114 149 +f 119 138 149 +f 113 112 150 +f 132 113 150 +f 129 132 150 +f 112 148 150 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/697/697.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/697/697.urdf new file mode 100644 index 000000000..13e90db02 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/697/697.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/698/698.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/698/698.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/698/698.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/698/698.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/698/698.obj new file mode 100644 index 000000000..5eb60be5c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/698/698.obj @@ -0,0 +1,627 @@ +o convex_0 +v -1.727766 -0.183497 -1.555492 +v -1.189301 0.046926 0.829672 +v -1.189301 1.046942 0.483198 +v -3.035699 0.008433 -0.439956 +v -1.189301 -1.414203 -0.593582 +v -1.189301 1.008449 -1.439923 +v -2.804696 -0.798850 -0.516535 +v -2.766195 0.777758 -0.593582 +v -2.804696 0.046926 0.252526 +v -1.227621 -1.145020 0.444674 +v -2.766195 -0.106511 -1.324353 +v -1.189301 -0.914329 -1.363110 +v -1.227621 1.316125 -0.593582 +v -2.035589 -0.760357 -1.324353 +v -1.881768 0.816519 -1.362876 +v -2.573874 0.624054 0.060144 +v -2.573874 -0.606652 0.060144 +v -2.074090 0.046926 -1.555492 +v -1.189301 -0.106511 -1.555492 +v -2.573874 0.585561 -1.131971 +v -2.766195 0.777758 -0.439956 +v -1.227621 -0.106511 0.829672 +v -2.766195 0.046926 -1.324353 +v -2.804696 -0.030060 0.252526 +v -1.266121 1.085435 0.406151 +v -2.573874 -0.606652 -1.131971 +v -1.381623 0.624054 -1.555492 +v -1.227621 -1.414203 -0.478246 +v -3.035699 0.046926 -0.593582 +v -1.189301 -1.183513 0.406151 +v -1.189301 1.316125 -0.439723 +v -2.804696 -0.798850 -0.555058 +v -1.227621 1.046942 0.483198 +v -1.227621 -1.183513 0.406151 +v -1.958769 -0.145004 -1.555492 +v -1.227621 -1.414203 -0.593582 +v -1.227621 0.046926 0.829672 +v -1.997270 -0.837343 0.252526 +v -2.727695 0.816519 -0.555058 +v -1.227621 1.316125 -0.439723 +v -2.997198 -0.183497 -0.593582 +v -1.458443 -0.875836 -1.363110 +v -2.727695 0.046926 0.290816 +v -1.189301 0.624054 -1.555492 +v -1.920269 0.816519 0.290816 +v -1.189301 -0.837343 -1.401399 +v -1.343122 0.970223 -1.439923 +v -2.843196 0.624054 -0.478479 +v -2.689375 -0.375962 0.136957 +v -3.035699 -0.068018 -0.478479 +v -1.997270 -0.798850 -1.285830 +v -2.727695 0.816519 -0.516535 +f 40 39 52 +f 3 2 5 +f 3 5 6 +f 6 5 12 +f 6 12 19 +f 1 18 19 +f 8 15 20 +f 9 16 21 +f 18 11 23 +f 15 18 23 +f 8 20 23 +f 20 15 23 +f 9 4 24 +f 10 22 24 +f 21 16 25 +f 11 14 26 +f 18 15 27 +f 19 18 27 +f 8 23 29 +f 23 11 29 +f 5 2 30 +f 2 22 30 +f 22 10 30 +f 28 5 30 +f 3 6 31 +f 6 13 31 +f 25 3 31 +f 11 26 32 +f 28 7 32 +f 2 3 33 +f 3 25 33 +f 7 28 34 +f 30 10 34 +f 28 30 34 +f 14 11 35 +f 18 1 35 +f 11 18 35 +f 12 5 36 +f 5 28 36 +f 28 32 36 +f 22 2 37 +f 2 33 37 +f 17 7 38 +f 10 24 38 +f 7 34 38 +f 34 10 38 +f 15 8 39 +f 13 15 39 +f 8 21 39 +f 31 13 40 +f 25 31 40 +f 13 39 40 +f 29 11 41 +f 11 32 41 +f 14 35 42 +f 12 36 42 +f 9 24 43 +f 24 22 43 +f 22 37 43 +f 37 33 43 +f 6 19 44 +f 27 6 44 +f 19 27 44 +f 16 9 45 +f 25 16 45 +f 33 25 45 +f 9 43 45 +f 43 33 45 +f 1 19 46 +f 19 12 46 +f 35 1 46 +f 12 42 46 +f 42 35 46 +f 13 6 47 +f 15 13 47 +f 6 27 47 +f 27 15 47 +f 4 9 48 +f 21 8 48 +f 9 21 48 +f 29 4 48 +f 8 29 48 +f 7 17 49 +f 24 7 49 +f 17 38 49 +f 38 24 49 +f 24 4 50 +f 7 24 50 +f 4 29 50 +f 32 7 50 +f 29 41 50 +f 41 32 50 +f 26 14 51 +f 32 26 51 +f 36 32 51 +f 14 42 51 +f 42 36 51 +f 21 25 52 +f 39 21 52 +f 25 40 52 +o convex_1 +v 1.234691 -0.298968 -1.593962 +v 1.273097 0.123844 0.714261 +v 2.734663 0.047137 0.214025 +v 1.234691 1.393601 -0.593491 +v 2.811653 0.085359 -1.324414 +v 1.234691 -1.299326 -0.516445 +v 2.773247 -0.760530 -0.632127 +v 1.234691 -0.991179 0.444938 +v 2.811653 0.777834 -0.516671 +v 1.234691 1.124203 0.406302 +v 1.350087 0.931775 -1.401460 +v 1.350087 -0.991179 -1.478506 +v 3.042445 -0.029570 -0.516671 +v 2.042464 0.777834 -1.362824 +v 2.081047 0.008915 -1.593962 +v 2.580861 -0.606588 -1.170547 +v 2.580861 -0.568103 -0.016887 +v 2.542454 0.623892 0.021523 +v 2.811653 -0.106541 -1.324414 +v 1.234691 0.854804 -1.439870 +v 2.811653 0.777834 -0.632127 +v 2.773247 -0.760530 -0.516671 +v 1.965474 -0.837501 -1.363050 +v 1.311503 -1.068414 0.291072 +v 1.234691 -0.837501 -1.555326 +v 2.619267 0.585406 -1.170547 +v 1.273097 -1.299326 -0.631902 +v 1.273097 1.124203 0.406302 +v 2.773247 -0.029570 0.175389 +v 3.042445 -0.029570 -0.670312 +v 1.234691 0.008915 0.714261 +v 1.234691 0.085359 -1.593962 +v 1.273097 1.393601 -0.593491 +v 1.965474 -0.183512 -1.593962 +v 1.273097 -0.991179 0.444938 +v 1.311503 1.162688 0.291072 +v 2.773247 0.085359 0.175389 +v 1.580879 1.008483 0.329482 +v 1.273097 0.008915 0.714261 +v 2.119453 0.777834 -1.324414 +v 2.965456 0.354757 -0.555307 +v 1.234691 -1.029928 -1.439870 +v 1.273097 -1.299326 -0.516445 +v 2.734663 0.008915 0.214025 +v 2.042464 -0.799016 -1.362824 +v 1.388493 0.893290 0.444938 +v 1.273097 1.393601 -0.554855 +v 1.465483 -0.952957 0.367892 +v 2.773247 -0.068056 -1.362824 +v 2.850059 0.047137 -1.286004 +v 2.657851 0.623892 -0.093708 +v 2.773247 0.047137 -1.362824 +v 1.619285 0.470214 -1.516916 +v 3.004039 0.200815 -0.632127 +f 82 102 106 +f 56 53 58 +f 56 58 60 +f 56 60 62 +f 59 68 71 +f 53 56 72 +f 56 63 72 +f 59 65 74 +f 60 58 76 +f 58 53 77 +f 73 57 78 +f 59 74 79 +f 75 59 79 +f 64 75 79 +f 62 54 80 +f 74 65 81 +f 69 74 81 +f 65 59 82 +f 59 71 82 +f 54 62 83 +f 62 60 83 +f 67 53 84 +f 53 72 84 +f 63 56 85 +f 66 63 85 +f 61 73 85 +f 53 67 86 +f 77 53 86 +f 64 77 86 +f 60 76 87 +f 83 60 87 +f 62 80 88 +f 55 81 89 +f 81 65 89 +f 61 88 90 +f 88 80 90 +f 55 89 90 +f 89 70 90 +f 55 54 91 +f 54 83 91 +f 83 87 91 +f 73 78 92 +f 66 85 92 +f 85 73 92 +f 73 61 93 +f 61 89 93 +f 89 65 93 +f 58 77 94 +f 77 64 94 +f 79 58 94 +f 64 79 94 +f 76 58 95 +f 74 76 95 +f 58 79 95 +f 79 74 95 +f 81 55 96 +f 55 91 96 +f 91 87 96 +f 68 59 97 +f 71 68 97 +f 59 75 97 +f 75 64 97 +f 64 86 97 +f 54 55 98 +f 80 54 98 +f 55 90 98 +f 90 80 98 +f 56 62 99 +f 85 56 99 +f 61 85 99 +f 62 88 99 +f 88 61 99 +f 74 69 100 +f 76 74 100 +f 69 81 100 +f 87 76 100 +f 81 96 100 +f 96 87 100 +f 86 67 101 +f 71 97 101 +f 97 86 101 +f 57 73 102 +f 82 71 102 +f 71 101 102 +f 89 61 103 +f 70 89 103 +f 61 90 103 +f 90 70 103 +f 67 66 104 +f 78 57 104 +f 66 92 104 +f 92 78 104 +f 101 67 104 +f 57 102 104 +f 102 101 104 +f 63 66 105 +f 66 67 105 +f 72 63 105 +f 67 84 105 +f 84 72 105 +f 65 82 106 +f 73 93 106 +f 93 65 106 +f 102 73 106 +o convex_2 +v -0.073363 0.547207 -2.863485 +v 0.118756 -0.606860 -1.786374 +v 0.195802 -0.606860 -1.786374 +v 0.349522 0.778074 -1.709373 +v -0.612065 0.162473 -1.709373 +v 0.041834 -0.337491 -3.324949 +v 0.388045 0.047243 -3.286448 +v 0.580412 -0.414493 -1.709373 +v -0.419698 0.047243 -3.324949 +v -0.342652 -0.491358 -1.709373 +v -0.496620 0.585707 -1.748055 +v 0.657458 0.047243 -1.748055 +v 0.003559 0.431841 -3.324949 +v -0.381175 -0.337491 -2.632663 +v 0.003559 0.085607 -3.555952 +v -0.342652 0.393340 -3.055626 +v 0.349522 -0.375992 -2.747803 +v -0.034964 -0.375992 -3.247948 +v -0.265605 0.701073 -1.709373 +v -0.612065 0.008742 -1.748055 +v 0.272600 0.354840 -3.094307 +v 0.465091 -0.568359 -1.748055 +v 0.388045 0.739574 -1.748055 +v -0.419698 0.470206 -2.632663 +v -0.034964 -0.491358 -2.632663 +v -0.535019 0.085607 -2.594343 +v -0.150409 0.431841 -3.286448 +v -0.304128 -0.260626 -3.132627 +v 0.310999 -0.260626 -3.132627 +v -0.535019 0.547207 -1.709373 +v -0.381175 -0.452857 -1.978877 +v -0.073363 0.008742 -3.555952 +v 0.349522 -0.606860 -1.709373 +v 0.542013 -0.529858 -1.748055 +v 0.388045 0.008742 -3.286448 +v 0.041834 -0.375992 -3.247948 +v -0.419698 -0.298991 -2.555842 +v -0.419698 0.162473 -3.247948 +v 0.657458 -0.029759 -1.709373 +v 0.349522 0.778074 -1.748055 +v -0.034964 -0.298991 -3.363450 +v -0.073363 0.162473 -3.517271 +v 0.272600 0.008742 -3.401950 +f 141 135 149 +f 110 111 114 +f 114 111 116 +f 111 110 125 +f 116 111 126 +f 113 119 127 +f 110 118 129 +f 118 113 129 +f 113 127 129 +f 125 107 130 +f 117 125 130 +f 109 108 131 +f 108 116 131 +f 120 124 131 +f 126 111 132 +f 107 119 133 +f 130 107 133 +f 122 130 133 +f 124 120 134 +f 111 125 136 +f 125 117 136 +f 117 130 136 +f 132 111 136 +f 116 126 137 +f 131 116 137 +f 120 131 137 +f 108 109 139 +f 116 108 139 +f 114 116 139 +f 109 131 139 +f 128 123 140 +f 123 135 140 +f 114 139 140 +f 139 128 140 +f 113 118 141 +f 114 140 141 +f 140 135 141 +f 124 112 142 +f 123 128 142 +f 131 124 142 +f 112 135 142 +f 135 123 142 +f 128 139 142 +f 139 131 142 +f 132 115 143 +f 126 132 143 +f 115 134 143 +f 134 120 143 +f 137 126 143 +f 120 137 143 +f 130 122 144 +f 115 132 144 +f 133 115 144 +f 122 133 144 +f 136 130 144 +f 132 136 144 +f 110 114 145 +f 118 110 145 +f 141 118 145 +f 114 141 145 +f 119 107 146 +f 107 125 146 +f 125 110 146 +f 127 119 146 +f 110 129 146 +f 129 127 146 +f 112 124 147 +f 134 115 147 +f 124 134 147 +f 138 112 147 +f 115 138 147 +f 119 121 148 +f 133 119 148 +f 115 133 148 +f 121 138 148 +f 138 115 148 +f 119 113 149 +f 121 119 149 +f 135 112 149 +f 112 138 149 +f 138 121 149 +f 113 141 149 +o convex_3 +v 0.349619 -2.452854 -1.593623 +v 0.541781 1.239015 2.483899 +v 0.503349 1.239015 2.483899 +v -0.111807 2.893351 -1.247605 +v -1.073567 -2.221739 1.060009 +v 1.042114 -2.376215 1.252515 +v 1.234277 0.931858 -1.401528 +v -1.188864 1.008497 -1.478284 +v -0.804303 2.316159 2.176053 +v 0.772850 2.816112 1.445021 +v -0.034943 -2.683970 2.291392 +v -0.765871 -2.798930 -0.631913 +v 0.772850 -2.837250 -0.631913 +v -0.804303 -2.298977 2.252809 +v -0.804303 2.893351 0.829329 +v 0.926580 0.238510 2.252809 +v 1.234277 -0.875757 -1.555040 +v 1.234277 1.085137 0.444727 +v -1.188864 -0.837437 -1.401117 +v -1.188864 0.007993 0.944669 +v 0.388051 0.931259 -1.709373 +v 0.772850 2.739473 -0.555156 +v -0.034943 -3.030046 1.598944 +v 0.811283 -2.298977 2.214226 +v 0.811283 2.277839 2.214226 +v 0.041685 3.047827 1.521778 +v -0.688768 -0.413525 2.483899 +v -1.035135 2.239520 1.098592 +v -0.804303 2.854432 -0.477990 +v 0.041685 -2.953406 -1.286188 +v -0.611904 -0.029130 -1.709373 +v -0.765871 -2.876168 1.445021 +v 0.580451 -1.414629 2.483899 +v 0.734180 -2.914488 1.445021 +v -0.342639 2.355078 -1.555450 +v 0.580451 2.508955 -1.324361 +v 1.234277 0.008591 0.829329 +v -0.034943 2.739473 2.252809 +v -0.919600 0.046911 2.252809 +v 1.003682 2.393398 1.137175 +v -0.573471 -2.568413 -1.324361 +v 1.234277 -1.452948 -0.593329 +v -0.034943 -3.068964 -0.670496 +v -0.611904 1.469532 2.445315 +v 0.003490 3.047827 -0.555156 +v -1.188864 -1.529588 -0.593329 +v -0.765871 2.931670 1.445021 +v 1.234277 1.470131 -0.631913 +v -1.188864 1.470131 -0.555156 +v 0.580451 -0.568001 -1.709373 +v -0.034943 -1.836745 2.483899 +v -0.804303 2.239520 -1.286188 +v 0.849715 -2.183419 -1.362944 +v 1.234277 0.085231 -1.593623 +v -1.188864 -0.106967 -1.555450 +v 0.734180 0.200789 2.483899 +v 1.234277 -1.029635 0.444727 +v -0.573471 0.546265 -1.709373 +v -0.381072 -0.644641 -1.709373 +v -0.804303 -2.798930 -0.555156 +v -1.188864 -1.337390 0.521483 +v 0.926580 -0.259647 2.252809 +v -1.188864 1.085137 0.483311 +v -1.035135 -2.414535 1.175348 +f 195 209 213 +f 166 156 167 +f 157 168 169 +f 151 152 176 +f 177 164 178 +f 150 162 179 +f 160 163 181 +f 172 160 181 +f 160 173 182 +f 151 176 182 +f 162 155 183 +f 160 172 183 +f 173 160 183 +f 155 173 183 +f 153 171 185 +f 171 156 185 +f 184 153 185 +f 170 184 185 +f 166 167 186 +f 174 165 186 +f 167 174 186 +f 152 151 187 +f 151 174 187 +f 174 159 187 +f 159 175 187 +f 154 163 188 +f 169 154 188 +f 163 176 188 +f 158 177 188 +f 177 169 188 +f 171 159 189 +f 159 174 189 +f 174 167 189 +f 150 179 190 +f 179 161 190 +f 155 162 191 +f 166 186 191 +f 179 162 192 +f 161 179 192 +f 172 181 192 +f 162 183 192 +f 183 172 192 +f 176 152 193 +f 152 187 193 +f 187 158 193 +f 158 188 193 +f 188 176 193 +f 171 153 194 +f 159 171 194 +f 175 159 194 +f 153 178 194 +f 169 168 195 +f 164 177 196 +f 177 158 196 +f 178 164 196 +f 158 187 196 +f 187 175 196 +f 175 194 196 +f 194 178 196 +f 167 156 197 +f 156 171 197 +f 189 167 197 +f 171 189 197 +f 157 169 198 +f 178 157 198 +f 177 178 198 +f 166 150 199 +f 180 170 199 +f 163 160 200 +f 176 163 200 +f 160 182 200 +f 182 176 200 +f 178 153 201 +f 157 178 201 +f 153 184 201 +f 184 157 201 +f 162 150 202 +f 150 166 202 +f 191 162 202 +f 166 191 202 +f 156 166 203 +f 185 156 203 +f 170 185 203 +f 166 199 203 +f 199 170 203 +f 168 157 204 +f 190 168 204 +f 174 151 205 +f 165 174 205 +f 151 182 205 +f 182 173 205 +f 186 155 206 +f 155 191 206 +f 191 186 206 +f 170 180 207 +f 184 170 207 +f 157 184 207 +f 204 157 207 +f 180 204 207 +f 150 190 208 +f 199 150 208 +f 180 199 208 +f 204 180 208 +f 190 204 208 +f 190 161 209 +f 168 190 209 +f 161 192 209 +f 192 181 209 +f 195 168 209 +f 154 169 210 +f 195 154 210 +f 169 195 210 +f 173 155 211 +f 155 186 211 +f 186 165 211 +f 165 205 211 +f 205 173 211 +f 169 177 212 +f 198 169 212 +f 177 198 212 +f 163 154 213 +f 181 163 213 +f 154 195 213 +f 209 181 213 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/698/698.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/698/698.urdf new file mode 100644 index 000000000..a2d32352a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/698/698.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/699/699.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/699/699.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/699/699.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/699/699.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/699/699.obj new file mode 100644 index 000000000..de4f1e6d4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/699/699.obj @@ -0,0 +1,684 @@ +o convex_0 +v -0.353335 1.585331 -2.244219 +v -0.311571 0.415791 1.597997 +v -0.353335 0.415791 1.597997 +v -0.353335 -4.094397 -2.411408 +v -0.186293 3.840425 -0.448307 +v -0.186293 -2.172896 1.597604 +v -0.311571 3.924412 1.555611 +v -0.186293 -2.256099 -0.615104 +v -0.353335 -2.172896 1.597997 +v -0.186293 3.924412 1.556003 +v -0.228058 -4.094397 -0.323503 +v -0.311571 -4.094397 -2.411408 +v -0.311571 3.840425 -0.448307 +v -0.353335 -4.094397 -0.365497 +v -0.311571 1.585331 -2.244219 +v -0.353335 1.919710 -0.531901 +v -0.186293 1.834938 -0.573503 +v -0.228058 -4.094397 -0.782293 +v -0.311571 -2.715281 -2.411408 +v -0.186293 -2.506490 -0.448307 +v -0.353335 1.877324 -1.993435 +f 16 7 21 +f 3 1 4 +f 5 6 8 +f 2 3 9 +f 3 4 9 +f 6 2 9 +f 3 2 10 +f 2 6 10 +f 6 5 10 +f 7 3 10 +f 5 7 10 +f 6 9 11 +f 11 4 12 +f 5 1 13 +f 7 5 13 +f 9 4 14 +f 4 11 14 +f 11 9 14 +f 1 5 15 +f 1 3 16 +f 3 7 16 +f 5 8 17 +f 15 5 17 +f 12 8 18 +f 11 12 18 +f 4 1 19 +f 12 4 19 +f 8 12 19 +f 1 15 19 +f 17 8 19 +f 15 17 19 +f 8 6 20 +f 6 11 20 +f 18 8 20 +f 11 18 20 +f 13 1 21 +f 7 13 21 +f 1 16 21 +o convex_1 +v -1.564485 -2.882535 -2.536522 +v -1.648018 -0.127149 -0.323176 +v -2.399818 -0.127149 -0.323176 +v -0.353352 1.877373 -2.536522 +v -0.353352 -4.093841 -0.365121 +v -2.399818 1.835624 -2.452854 +v -0.353352 1.919121 -0.490513 +v -2.399818 -4.093235 -0.532237 +v -0.353352 -4.093841 -2.411130 +v -2.274418 -4.219690 -2.494798 +v -2.316285 1.961474 -0.365121 +v -0.353352 -0.169503 -0.323176 +v -1.898418 -1.504237 -2.578466 +v -2.274418 -2.130461 -0.323176 +v -0.645818 -1.796475 -2.536522 +v -0.353352 -3.968596 -2.452854 +v -0.979952 1.877373 -2.536522 +v -2.399818 -4.093235 -0.824524 +v -0.353352 -2.131067 -0.323176 +v -0.771018 -4.093841 -0.365121 +v -2.399818 1.125904 -2.452854 +v -2.399818 1.877373 -2.327682 +v -1.940285 -4.219690 -2.494798 +v -2.274418 -4.219690 -2.160567 +v -1.898418 1.919121 -0.365121 +v -2.232551 -4.093235 -0.490292 +v -2.149018 -3.425868 -2.536522 +v -0.353352 1.919121 -1.367595 +v -2.399818 0.416183 -0.490292 +v -0.353352 0.248585 -2.536522 +v -2.316285 -2.506196 -2.494798 +v -2.399818 1.752128 -1.868280 +v -1.773218 -1.587734 -2.578466 +v -0.771018 -4.135589 -2.452854 +v -1.564485 -4.176732 -2.494798 +v -1.731552 1.877373 -2.494798 +v -2.232551 1.961474 -0.448568 +f 38 57 58 +f 26 25 28 +f 24 27 29 +f 25 26 30 +f 24 23 32 +f 23 24 33 +f 26 28 33 +f 32 23 33 +f 24 29 35 +f 33 24 35 +f 25 30 37 +f 25 34 38 +f 29 27 39 +f 31 29 39 +f 26 33 40 +f 33 35 40 +f 40 35 41 +f 26 40 41 +f 39 27 42 +f 27 24 43 +f 29 31 45 +f 26 41 45 +f 44 26 45 +f 31 44 45 +f 28 32 46 +f 33 28 46 +f 32 33 46 +f 35 29 47 +f 41 35 47 +f 29 45 47 +f 45 41 47 +f 27 34 48 +f 44 31 48 +f 28 25 49 +f 24 32 50 +f 43 24 50 +f 25 37 51 +f 37 36 51 +f 31 39 52 +f 42 27 52 +f 39 42 52 +f 27 48 52 +f 48 31 52 +f 32 43 53 +f 50 32 53 +f 43 50 53 +f 34 25 54 +f 36 22 54 +f 22 48 54 +f 48 34 54 +f 25 51 54 +f 51 36 54 +f 30 26 55 +f 37 30 55 +f 26 44 55 +f 55 44 56 +f 22 36 56 +f 36 37 56 +f 48 22 56 +f 44 48 56 +f 37 55 56 +f 34 27 57 +f 38 34 57 +f 27 43 57 +f 57 43 58 +f 32 28 58 +f 25 38 58 +f 43 32 58 +f 49 25 58 +f 28 49 58 +o convex_2 +v 0.565564 -2.173224 1.514390 +v 1.066482 0.958796 1.597997 +v 0.899510 0.958796 1.597997 +v -0.144406 2.295592 -0.531999 +v 1.776644 -2.047681 -0.448184 +v -0.186293 -2.131230 -0.531999 +v 1.734757 2.295592 -0.490092 +v -0.186293 2.295592 1.555880 +v 1.776644 -1.838588 1.556089 +v 1.651175 2.295592 1.556089 +v -0.186293 -2.173224 1.597997 +v 1.776452 -0.126475 1.597997 +v 1.734757 -2.131230 1.514390 +v 1.776452 1.668750 -0.490092 +v -0.186293 2.295592 -0.531999 +v 0.315009 -2.131230 -0.531999 +v 1.734757 2.295592 0.595547 +v 0.815927 0.833691 -0.531999 +v 1.776644 -0.669329 -0.490092 +v -0.186293 0.541048 1.597997 +v 1.358925 -2.089237 -0.490092 +v 0.398592 -2.173224 1.597997 +v 1.693062 2.295592 1.389084 +v -0.144406 -2.173224 0.470658 +v 1.776644 -2.089237 -0.114173 +v 1.776644 -0.752879 1.597997 +v 1.651175 0.750141 1.597997 +f 60 70 85 +f 65 62 66 +f 61 60 68 +f 65 66 68 +f 66 61 68 +f 60 61 69 +f 66 64 69 +f 60 69 70 +f 62 64 73 +f 66 62 73 +f 64 66 73 +f 64 62 74 +f 65 68 75 +f 72 65 75 +f 70 72 75 +f 62 65 76 +f 65 72 76 +f 74 62 76 +f 74 76 77 +f 67 63 77 +f 76 72 77 +f 61 66 78 +f 69 61 78 +f 66 69 78 +f 74 77 79 +f 77 63 79 +f 69 59 80 +f 70 69 80 +f 59 71 80 +f 71 67 80 +f 68 70 81 +f 75 68 81 +f 70 75 81 +f 59 69 82 +f 69 64 82 +f 71 59 82 +f 64 74 82 +f 82 74 83 +f 63 67 83 +f 67 71 83 +f 79 63 83 +f 74 79 83 +f 71 82 83 +f 72 70 84 +f 67 77 84 +f 77 72 84 +f 80 67 84 +f 70 80 84 +f 68 60 85 +f 70 68 85 +o convex_3 +v 1.860365 -1.295950 -0.489908 +v 3.781347 -0.419391 0.178032 +v 3.781347 -0.795224 0.178032 +v 1.776775 -0.126757 1.597882 +v 3.697757 -2.047807 1.639761 +v 1.776775 -2.089694 1.514336 +v 3.739552 -2.005920 -0.490120 +v 1.776775 -0.168644 -0.489908 +v 3.697757 -0.168644 1.597882 +v 3.781347 -0.168644 -0.531787 +v 1.776775 -2.047807 -0.448241 +v 2.653677 -2.089694 0.512214 +v 3.655963 -1.671782 -0.531787 +v 2.194525 -0.126757 0.178245 +v 2.611883 -2.089694 1.597882 +v 3.614168 -2.047807 -0.364908 +v 1.776775 -2.089694 -0.072392 +v 2.862454 -0.168644 -0.531999 +v 2.570088 -0.126757 1.556003 +v 2.194525 -2.047807 -0.489908 +v 1.776775 -0.753337 1.597882 +v 1.776775 -0.126757 -0.197604 +v 3.697757 -1.462923 1.639761 +v 1.818570 -2.089694 1.556003 +v 3.781347 -1.128977 -0.531787 +v 3.405391 -2.047807 1.639761 +v 3.739552 -2.005920 -0.030726 +v 2.987642 -0.920502 -0.531999 +f 110 98 113 +f 88 87 90 +f 91 89 93 +f 87 88 95 +f 94 87 95 +f 93 86 96 +f 91 93 96 +f 97 90 100 +f 91 97 100 +f 92 90 101 +f 90 97 101 +f 101 97 102 +f 91 96 102 +f 97 91 102 +f 86 93 103 +f 89 94 104 +f 94 95 104 +f 99 89 104 +f 95 99 104 +f 96 86 105 +f 98 92 105 +f 92 101 105 +f 101 102 105 +f 102 96 105 +f 89 91 106 +f 93 89 107 +f 89 99 107 +f 99 95 107 +f 103 93 107 +f 95 103 107 +f 90 87 108 +f 94 89 108 +f 87 94 108 +f 91 100 109 +f 106 91 109 +f 100 106 109 +f 95 88 110 +f 92 98 110 +f 100 90 111 +f 89 106 111 +f 106 100 111 +f 108 89 111 +f 90 108 111 +f 88 90 112 +f 90 92 112 +f 110 88 112 +f 92 110 112 +f 86 103 113 +f 103 95 113 +f 105 86 113 +f 98 105 113 +f 95 110 113 +o convex_4 +v 1.275469 2.880451 -1.409400 +v 1.275469 3.423126 -0.532000 +v 1.066450 3.423126 -0.532000 +v 0.482088 3.465001 -2.578466 +v 0.231402 2.420995 -0.532000 +v 1.233688 2.379333 -2.536600 +v 0.231402 2.379333 -2.578466 +v 0.106059 3.381357 -0.532000 +v 1.275469 3.465001 -2.453066 +v 1.150126 2.420995 -0.532000 +v 0.231402 3.423126 -2.369333 +v 0.273183 2.379333 -0.532000 +v 0.106059 3.214282 -0.657400 +v 0.356745 3.465001 -2.578466 +v 0.941336 3.465001 -1.743133 +v 1.066450 2.379333 -1.116933 +v 0.857774 2.838683 -2.578466 +v 0.189621 2.588070 -2.077066 +v 1.275469 3.130745 -0.532000 +v 1.275469 3.130745 -2.494933 +v 0.189621 3.423126 -1.325667 +v 0.231402 2.880451 -2.578466 +f 131 126 135 +f 115 116 118 +f 118 116 121 +f 115 114 122 +f 115 118 123 +f 119 114 123 +f 118 120 125 +f 120 119 125 +f 123 118 125 +f 118 121 126 +f 121 124 126 +f 117 120 127 +f 122 117 127 +f 116 115 128 +f 115 122 128 +f 122 127 128 +f 119 123 129 +f 125 119 129 +f 123 125 129 +f 119 120 130 +f 120 117 130 +f 120 118 131 +f 118 126 131 +f 114 115 132 +f 115 123 132 +f 123 114 132 +f 114 119 133 +f 122 114 133 +f 117 122 133 +f 119 130 133 +f 130 117 133 +f 121 116 134 +f 124 121 134 +f 127 124 134 +f 116 128 134 +f 128 127 134 +f 126 124 135 +f 127 120 135 +f 124 127 135 +f 120 131 135 +o convex_5 +v -0.812885 -0.628104 1.681526 +v -2.399818 -0.419199 -0.323176 +v -2.399818 -0.419199 -0.281183 +v -2.274418 -2.131116 -0.030595 +v -0.353352 -2.131116 -0.323176 +v -2.232551 -2.047922 1.639728 +v -0.353352 -0.168595 -0.323176 +v -2.274418 -0.168595 1.597931 +v -0.353352 -2.173224 1.597931 +v -0.353352 -0.084992 1.597931 +v -2.399818 -0.126896 -0.323176 +v -2.274418 -2.131116 -0.323176 +v -1.898618 -0.544501 1.681526 +v -0.771018 -1.546509 1.681526 +v -1.480952 -2.173224 0.428783 +v -1.147019 -0.084992 0.762573 +v -2.065485 -0.126896 1.597931 +v -2.316085 -0.210294 1.389141 +v -0.353352 -0.126896 -0.113993 +v -0.353352 -2.173224 0.345385 +v -0.771018 -2.173224 1.597931 +v -2.316085 -1.838812 -0.281183 +v -1.814885 -1.546509 1.681526 +v -2.274418 -2.089417 0.679175 +v -1.021618 -0.084992 1.597931 +v -2.399818 -0.210294 -0.030595 +v -0.353352 -0.084992 0.887965 +v -1.272419 -2.089417 1.639728 +v -2.274418 -1.129108 1.597931 +v -1.397418 -0.126896 -0.323176 +f 162 154 165 +f 140 137 142 +f 140 142 144 +f 144 142 145 +f 137 138 146 +f 142 137 146 +f 137 140 147 +f 143 141 148 +f 136 145 148 +f 144 145 149 +f 145 136 149 +f 136 148 149 +f 139 147 150 +f 146 143 152 +f 143 148 152 +f 143 146 153 +f 145 142 154 +f 140 144 155 +f 147 140 155 +f 144 150 155 +f 150 147 155 +f 141 139 156 +f 139 150 156 +f 150 144 156 +f 138 137 157 +f 137 147 157 +f 147 139 157 +f 148 141 158 +f 149 148 158 +f 139 141 159 +f 138 157 159 +f 157 139 159 +f 148 145 160 +f 145 151 160 +f 151 146 160 +f 146 152 160 +f 152 148 160 +f 146 138 161 +f 153 146 161 +f 138 159 161 +f 159 141 161 +f 151 145 162 +f 145 154 162 +f 144 149 163 +f 141 156 163 +f 156 144 163 +f 158 141 163 +f 149 158 163 +f 141 143 164 +f 143 153 164 +f 161 141 164 +f 153 161 164 +f 142 146 165 +f 146 151 165 +f 154 142 165 +f 151 162 165 +o convex_6 +v -1.731433 -0.502876 2.141088 +v -1.021757 -1.713813 3.351857 +v -0.854658 -1.713813 3.351857 +v -1.814983 -1.546546 1.681526 +v -0.812938 -0.628059 1.681526 +v -1.898643 -0.544603 3.477123 +v -0.812938 -0.502876 3.602388 +v -1.731433 -1.630120 3.644271 +v -0.771108 -1.546546 1.681526 +v -1.898643 -0.544603 1.681526 +v -0.854658 -1.713813 3.602388 +v -0.771108 -0.711633 3.184901 +v -1.898643 -0.753361 3.518814 +v -1.689713 -1.588392 1.765292 +v -0.812938 -0.586331 1.723601 +v -1.773153 -1.630120 3.435432 +v -1.773153 -0.502876 1.681526 +v -1.105197 -0.502876 3.602388 +v -0.812938 -0.502876 3.017753 +v -0.771108 -1.087421 1.681526 +v -1.898643 -0.711633 1.681526 +v -0.896488 -1.588392 1.890558 +v -0.812938 -1.170758 3.602388 +f 177 172 188 +f 169 170 174 +f 170 169 175 +f 167 168 176 +f 173 167 176 +f 168 174 176 +f 171 175 178 +f 168 167 179 +f 169 174 179 +f 167 173 181 +f 178 169 181 +f 173 178 181 +f 179 167 181 +f 169 179 181 +f 171 166 182 +f 166 172 182 +f 170 175 182 +f 175 171 182 +f 180 170 182 +f 166 171 183 +f 172 166 183 +f 173 172 183 +f 171 178 183 +f 178 173 183 +f 172 177 184 +f 177 180 184 +f 182 172 184 +f 180 182 184 +f 174 170 185 +f 177 174 185 +f 170 180 185 +f 180 177 185 +f 175 169 186 +f 169 178 186 +f 178 175 186 +f 174 168 187 +f 168 179 187 +f 179 174 187 +f 172 173 188 +f 173 176 188 +f 176 174 188 +f 174 177 188 +o convex_7 +v 0.231378 3.381260 1.639761 +v 1.734880 2.337520 0.595437 +v 1.734880 2.295751 0.595437 +v -0.186293 2.295592 -0.531787 +v 1.734880 3.882644 -0.490125 +v -0.186293 3.840716 -0.448250 +v 1.651195 3.840716 1.514349 +v -0.186293 2.295592 1.556011 +v -0.186293 3.924253 1.556011 +v 1.734880 2.295751 -0.490125 +v 1.651195 2.295751 1.556011 +v 1.191776 2.379289 1.639761 +v 1.692944 3.882644 1.138324 +v 1.191776 3.423028 1.639761 +v 1.108280 3.423028 -0.531787 +v 0.607300 3.882484 -0.489912 +v 0.106321 2.462826 1.639761 +v 0.106321 3.381260 -0.531787 +v 0.273314 3.924253 1.556011 +v -0.186293 3.924253 1.096662 +v 1.150028 2.462826 -0.531787 +v 1.692944 2.295751 1.388936 +v 1.692944 3.590263 1.388936 +v 1.734880 3.840716 0.011100 +v -0.060860 3.757178 1.597674 +v 1.484202 3.882644 1.514349 +f 207 202 214 +f 190 191 193 +f 192 191 196 +f 194 192 196 +f 194 196 197 +f 191 192 198 +f 193 191 198 +f 196 199 200 +f 199 195 202 +f 200 199 202 +f 189 200 202 +f 193 203 204 +f 196 200 205 +f 200 189 205 +f 192 194 206 +f 203 192 206 +f 194 204 206 +f 204 203 206 +f 201 193 207 +f 194 197 208 +f 204 194 208 +f 193 204 208 +f 207 193 208 +f 197 207 208 +f 198 192 209 +f 193 198 209 +f 192 203 209 +f 203 193 209 +f 191 190 210 +f 196 191 210 +f 199 196 210 +f 195 199 211 +f 201 195 211 +f 210 190 211 +f 199 210 211 +f 190 193 212 +f 193 201 212 +f 211 190 212 +f 201 211 212 +f 197 196 213 +f 189 202 213 +f 205 189 213 +f 196 205 213 +f 207 197 213 +f 202 207 213 +f 195 201 214 +f 202 195 214 +f 201 207 214 +o convex_8 +v 0.106059 3.381321 3.352078 +v 1.275469 2.713348 3.519071 +v 1.233688 3.047220 3.560869 +v 1.150126 3.381321 1.639761 +v 0.106059 2.462801 1.639761 +v 0.106059 2.337471 3.644463 +v 1.191907 2.379247 1.639761 +v 0.273183 3.506766 1.639761 +v 1.066450 3.381321 3.602470 +v 1.275469 2.421024 3.519071 +v 0.147840 3.464875 3.644463 +v 1.024669 3.130774 3.644463 +v 0.482088 3.506766 1.974140 +v 0.106059 2.755125 1.639761 +v 1.191907 3.339544 3.602470 +v 0.815878 2.379247 1.639761 +v 1.233688 2.379247 2.266525 +v 0.106059 2.421024 1.890349 +v 0.231402 3.506766 1.890349 +v 0.231402 2.337471 3.644463 +v 1.275469 2.462801 2.976099 +v 1.150126 3.381321 3.101490 +v 0.273183 3.464875 3.644463 +f 226 229 237 +f 217 216 218 +f 215 219 220 +f 219 218 221 +f 218 219 222 +f 216 217 224 +f 215 220 225 +f 225 220 226 +f 218 222 227 +f 219 215 228 +f 222 219 228 +f 217 218 229 +f 224 217 229 +f 226 224 229 +f 219 221 230 +f 221 220 230 +f 221 218 231 +f 220 219 232 +f 219 230 232 +f 230 220 232 +f 215 225 233 +f 227 222 233 +f 225 227 233 +f 228 215 233 +f 222 228 233 +f 220 221 234 +f 224 226 234 +f 226 220 234 +f 221 231 234 +f 231 224 234 +f 218 216 235 +f 216 224 235 +f 231 218 235 +f 224 231 235 +f 218 227 236 +f 227 223 236 +f 229 218 236 +f 223 229 236 +f 225 226 237 +f 223 227 237 +f 227 225 237 +f 229 223 237 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/699/699.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/699/699.urdf new file mode 100644 index 000000000..06e6f0760 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/699/699.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/700/700.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/700/700.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/700/700.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/700/700.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/700/700.obj new file mode 100644 index 000000000..4d52490a5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/700/700.obj @@ -0,0 +1,819 @@ +o convex_0 +v 0.815600 -4.886925 0.387264 +v -1.058576 -4.179879 -0.072041 +v -1.058576 -4.179879 -0.036506 +v 1.063164 -1.139094 -0.743742 +v -0.669369 -1.139499 0.988303 +v -0.811012 -1.139094 -0.991469 +v 0.037601 -4.922155 -0.956138 +v 0.992343 -1.139094 0.882309 +v -0.103627 -4.957791 0.917641 +v -0.704883 -4.993022 -0.743742 +v 0.674165 -5.028253 -0.673284 +v -0.987755 -1.139094 0.846978 +v -0.740190 -4.993022 0.705449 +v 0.815600 -1.280828 -0.991469 +v 1.027650 -4.215109 -0.036710 +v 0.002294 -5.276083 0.564124 +v -0.987755 -1.139094 -0.814609 +v 0.709472 -4.816058 0.705449 +v 0.002294 -4.179879 -1.062335 +v 0.957036 -2.942750 -0.849940 +v 0.780293 -1.175135 0.988507 +v -0.457319 -5.240448 -0.567086 +v 0.002294 -4.462535 0.988303 +v -0.881626 -3.084079 -0.885271 +v 0.638650 -5.240448 0.068875 +v 0.108423 -1.139499 -1.062335 +v -0.952448 -4.993022 -0.072041 +v -0.527933 -5.276083 0.493258 +v 1.063164 -1.386925 0.387264 +v 0.921521 -4.957791 -0.036710 +v 0.815600 -3.508063 0.811647 +v -1.023062 -1.139094 -0.390226 +v 0.249858 -1.139499 1.024043 +v 0.108423 -5.240448 -0.673284 +v -0.811012 -1.386925 0.953176 +v 0.497215 -5.205217 0.528589 +v 0.780293 -4.285976 -0.779278 +v -0.811012 -4.215109 -0.814609 +v -0.775705 -4.568632 0.740985 +v 1.027650 -4.109012 0.069079 +v -0.139141 -4.179879 0.988303 +v -0.634062 -5.276083 -0.107372 +v -0.033013 -2.553997 1.024043 +v 1.027650 -1.139094 -0.885271 +v 0.532522 -5.240448 -0.461093 +v -0.952448 -2.058740 0.811851 +v 0.002294 -4.993022 0.917641 +v 1.063164 -2.447899 0.104411 +v -0.033013 -4.179879 -1.062335 +v -0.103627 -1.139499 -1.062335 +v 0.921521 -2.801827 -0.885271 +v 0.674165 -4.993022 0.670118 +v 0.143730 -4.073781 0.988303 +v -0.139141 -4.993022 -0.920806 +v -0.916933 -2.660094 -0.885271 +v 0.850907 -2.553997 0.882309 +v 0.992343 -2.589227 -0.849940 +v -0.634062 -4.215109 -0.885475 +v 0.143730 -5.276083 -0.107372 +v -0.952448 -4.993022 0.033748 +v 1.027650 -1.139094 0.740780 +v -1.023062 -4.179879 0.104411 +v -0.245062 -1.139499 1.024043 +v -1.023062 -1.139094 -0.602417 +f 32 17 64 +f 4 6 8 +f 8 6 12 +f 12 6 17 +f 14 19 26 +f 3 2 27 +f 20 15 30 +f 2 3 32 +f 3 12 32 +f 12 17 32 +f 21 8 33 +f 7 11 34 +f 5 12 35 +f 16 25 36 +f 11 7 37 +f 7 19 37 +f 30 11 37 +f 20 30 37 +f 27 2 38 +f 10 27 38 +f 13 9 39 +f 18 1 40 +f 1 30 40 +f 30 15 40 +f 8 31 40 +f 31 18 40 +f 9 23 41 +f 5 35 41 +f 39 9 41 +f 35 39 41 +f 10 22 42 +f 27 10 42 +f 16 28 42 +f 22 34 42 +f 21 33 43 +f 41 23 43 +f 5 41 43 +f 6 4 44 +f 26 6 44 +f 14 26 44 +f 11 30 45 +f 30 25 45 +f 34 11 45 +f 12 3 46 +f 35 12 46 +f 39 35 46 +f 9 13 47 +f 23 9 47 +f 18 23 47 +f 13 28 47 +f 28 16 47 +f 16 36 47 +f 15 4 48 +f 4 29 48 +f 29 40 48 +f 40 15 48 +f 19 7 49 +f 24 6 49 +f 26 19 49 +f 6 26 50 +f 49 6 50 +f 26 49 50 +f 19 14 51 +f 37 19 51 +f 20 37 51 +f 14 44 51 +f 1 18 52 +f 30 1 52 +f 25 30 52 +f 36 25 52 +f 18 47 52 +f 47 36 52 +f 23 18 53 +f 18 31 53 +f 21 43 53 +f 43 23 53 +f 22 10 54 +f 7 34 54 +f 34 22 54 +f 49 7 54 +f 2 17 55 +f 17 6 55 +f 6 24 55 +f 38 2 55 +f 24 38 55 +f 8 21 56 +f 31 8 56 +f 53 31 56 +f 21 53 56 +f 4 15 57 +f 15 20 57 +f 44 4 57 +f 20 51 57 +f 51 44 57 +f 10 38 58 +f 38 24 58 +f 24 49 58 +f 54 10 58 +f 49 54 58 +f 25 16 59 +f 16 42 59 +f 42 34 59 +f 45 25 59 +f 34 45 59 +f 3 27 60 +f 28 13 60 +f 27 42 60 +f 42 28 60 +f 4 8 61 +f 29 4 61 +f 8 40 61 +f 40 29 61 +f 13 39 62 +f 46 3 62 +f 39 46 62 +f 3 60 62 +f 60 13 62 +f 12 5 63 +f 8 12 63 +f 33 8 63 +f 5 43 63 +f 43 33 63 +f 17 2 64 +f 2 32 64 +o convex_1 +v -1.058576 0.346124 -0.779056 +v 1.063164 -1.103621 0.387050 +v 1.062957 0.346124 0.811751 +v -0.952448 -1.139094 0.882219 +v 0.815393 -1.139094 -0.991542 +v 0.957036 0.346124 -0.991542 +v -0.916933 0.346124 1.094435 +v -0.811012 -1.139094 -0.991272 +v 0.780086 -1.139094 0.988597 +v -0.032805 0.346124 -1.345234 +v 0.037601 0.310651 1.413028 +v 1.063164 -1.139094 -0.779326 +v -1.023062 -1.139094 -0.602480 +v -1.023062 -0.325830 0.917589 +v -0.846111 0.346124 -1.132749 +v -0.740190 -1.139094 0.988327 +v 0.992343 0.098539 0.988597 +v 1.062957 0.346124 -0.425633 +v -0.032805 -0.997638 -1.097649 +v 0.992343 -1.139094 0.882489 +v -1.023062 0.346124 0.882219 +v -0.032805 -1.068148 1.059336 +v -1.023062 -0.962165 0.846850 +v -0.987755 -1.139094 -0.814425 +v 1.062957 -0.396485 -0.885434 +v -0.032805 0.346124 1.413028 +v 0.850907 0.239996 -1.062280 +v 0.957036 0.346124 1.023696 +v 0.037601 0.310651 -1.345234 +v -0.881626 0.027738 1.094435 +v 0.143730 -1.139094 -1.062280 +v -0.846111 0.204668 -1.132749 +v 1.027650 -1.139094 -0.885434 +v 1.027650 -0.785235 0.882489 +v -1.058576 0.027738 -0.708317 +v 1.027650 0.310651 -0.850065 +v 0.886214 -0.184373 1.023696 +v -0.952448 0.275323 -0.991272 +v -0.032805 0.310651 -1.345234 +v -0.032805 0.310651 1.413028 +v -0.775497 -1.103621 0.988327 +f 80 104 105 +f 65 67 70 +f 67 65 71 +f 69 68 72 +f 68 69 73 +f 65 70 74 +f 73 69 76 +f 72 68 77 +f 65 74 79 +f 68 73 80 +f 67 66 82 +f 70 67 82 +f 66 76 82 +f 76 66 84 +f 73 76 84 +f 71 65 85 +f 78 71 85 +f 73 75 86 +f 80 73 86 +f 77 68 87 +f 72 77 88 +f 82 76 89 +f 67 71 90 +f 81 67 92 +f 67 90 92 +f 90 75 92 +f 74 70 93 +f 91 69 93 +f 70 91 93 +f 71 78 94 +f 87 68 94 +f 78 87 94 +f 69 72 95 +f 72 83 95 +f 93 69 95 +f 83 93 95 +f 79 74 96 +f 72 88 96 +f 76 69 97 +f 70 89 97 +f 89 76 97 +f 69 91 97 +f 91 70 97 +f 66 67 98 +f 67 81 98 +f 84 66 98 +f 81 84 98 +f 85 65 99 +f 78 85 99 +f 77 87 99 +f 87 78 99 +f 65 88 99 +f 88 77 99 +f 70 82 100 +f 89 70 100 +f 82 89 100 +f 75 73 101 +f 73 84 101 +f 84 81 101 +f 92 75 101 +f 81 92 101 +f 65 79 102 +f 88 65 102 +f 79 96 102 +f 96 88 102 +f 83 72 103 +f 74 93 103 +f 93 83 103 +f 72 96 103 +f 96 74 103 +f 86 75 104 +f 80 86 104 +f 90 71 104 +f 75 90 104 +f 71 94 104 +f 104 94 105 +f 68 80 105 +f 94 68 105 +o convex_2 +v -1.836669 1.230404 -0.001465 +v -1.164663 2.467865 0.069149 +v -1.164663 2.467865 -0.001465 +v -3.003460 1.937305 0.033842 +v -1.164663 1.796053 -0.602625 +v -1.164663 1.690018 0.599694 +v -1.164663 1.230404 -0.567201 +v -2.720568 1.866615 -0.390430 +v -2.720568 1.796053 0.422807 +v -2.791016 1.407129 -0.036772 +v -1.164663 1.230404 0.422807 +v -1.200070 2.290884 0.493538 +v -2.826607 2.220193 0.033842 +v -1.200070 2.326228 -0.461162 +v -2.084153 1.371784 0.387500 +v -2.402086 1.477819 -0.355006 +v -2.578939 2.114030 0.316768 +v -2.614346 2.149503 -0.248967 +v -1.164663 2.043340 -0.602625 +v -2.826607 1.760708 0.387500 +v -1.164663 1.159586 -0.142811 +v -3.038867 1.831270 -0.036772 +v -1.164663 1.901960 0.599694 +v -2.119377 1.796053 -0.496469 +v -2.649570 1.513293 0.316768 +v -2.755609 2.220193 -0.072079 +v -2.649570 2.255538 0.069149 +v -1.200070 2.361573 -0.425737 +v -2.119377 1.265749 -0.001465 +v -1.306476 1.230404 0.422807 +v -2.791016 1.407129 0.033842 +v -2.720568 1.725363 -0.355006 +v -1.200070 1.230404 -0.567201 +v -3.038867 1.796053 0.069149 +v -2.791016 1.866615 0.387500 +v -2.084153 1.407129 -0.425737 +v -2.684977 2.255538 -0.001465 +v -2.684977 1.901960 -0.390430 +f 124 129 143 +f 108 107 110 +f 110 107 111 +f 110 111 112 +f 112 111 116 +f 111 114 120 +f 108 110 124 +f 120 114 125 +f 112 116 126 +f 109 118 127 +f 111 107 128 +f 114 111 128 +f 107 117 128 +f 117 114 128 +f 124 110 129 +f 120 125 130 +f 123 113 131 +f 113 127 131 +f 127 118 131 +f 117 107 132 +f 122 117 132 +f 118 122 132 +f 119 123 133 +f 108 124 133 +f 124 119 133 +f 123 131 133 +f 126 106 134 +f 116 111 135 +f 111 120 135 +f 106 126 135 +f 126 116 135 +f 134 106 135 +f 120 134 135 +f 120 130 136 +f 130 125 136 +f 115 134 136 +f 134 120 136 +f 121 115 137 +f 127 113 137 +f 115 127 137 +f 110 112 138 +f 112 126 138 +f 129 110 138 +f 113 129 138 +f 134 115 138 +f 126 134 138 +f 127 115 139 +f 109 127 139 +f 115 136 139 +f 136 125 139 +f 114 117 140 +f 118 109 140 +f 117 122 140 +f 122 118 140 +f 125 114 140 +f 109 139 140 +f 139 125 140 +f 115 121 141 +f 137 113 141 +f 121 137 141 +f 138 115 141 +f 113 138 141 +f 107 108 142 +f 131 118 142 +f 132 107 142 +f 118 132 142 +f 108 133 142 +f 133 131 142 +f 113 123 143 +f 123 119 143 +f 119 124 143 +f 129 113 143 +o convex_3 +v 1.523166 1.477875 -0.496365 +v 1.169584 2.503227 0.033887 +v 1.169584 2.503227 -0.107480 +v 3.043269 1.831408 -0.036797 +v 1.134076 1.159590 0.564138 +v 2.725008 1.866525 0.422772 +v 1.134076 1.972664 -0.637860 +v 1.134076 2.361577 0.493455 +v 2.760328 1.442495 -0.036797 +v 2.725008 1.831408 -0.461024 +v 2.760328 2.184810 -0.036797 +v 1.134076 1.301108 -0.425682 +v 1.982710 2.220190 -0.461024 +v 1.169584 1.866525 0.670291 +v 2.795649 1.760780 0.422772 +v 1.134076 2.326197 -0.531707 +v 2.194635 1.477875 -0.390340 +v 2.194635 2.184810 0.352089 +v 2.618858 1.513254 0.281278 +v 1.169584 1.760780 -0.637860 +v 2.088672 1.796160 -0.567048 +v 2.618858 2.114051 -0.319657 +v 1.169584 1.230349 0.599480 +v 2.725008 1.725401 -0.425682 +v 2.018031 1.336488 -0.036797 +v 2.830970 2.149431 -0.001455 +v 2.760328 1.442495 0.033887 +v 2.018031 2.149431 -0.496365 +v 1.169584 2.396956 0.422772 +v 3.043269 1.760780 -0.036797 +v 1.169584 1.159590 0.493455 +v 1.275546 1.301108 -0.390340 +v 2.654179 2.043423 0.316619 +v 2.830970 1.831408 0.387430 +v 2.795649 1.831408 -0.425682 +v 2.830970 2.149431 -0.072138 +v 1.169584 1.159590 0.564138 +v 1.134076 1.796160 0.670291 +v 2.760328 2.184810 -0.072138 +v 1.947389 1.442495 -0.425682 +f 175 155 183 +f 150 148 151 +f 145 146 151 +f 146 145 154 +f 148 150 155 +f 149 151 157 +f 149 157 158 +f 150 151 159 +f 151 146 159 +f 146 156 159 +f 151 149 161 +f 144 155 163 +f 155 150 163 +f 163 150 164 +f 144 163 164 +f 152 160 167 +f 164 153 167 +f 154 161 169 +f 158 162 170 +f 150 159 171 +f 159 156 171 +f 164 150 171 +f 153 164 171 +f 165 153 171 +f 156 165 171 +f 145 151 172 +f 154 145 172 +f 151 161 172 +f 161 154 172 +f 152 167 173 +f 170 152 173 +f 158 170 173 +f 148 155 174 +f 168 152 174 +f 152 170 174 +f 152 168 175 +f 174 155 175 +f 168 174 175 +f 161 149 176 +f 169 161 176 +f 169 176 177 +f 149 158 177 +f 147 169 177 +f 173 147 177 +f 158 173 177 +f 176 149 177 +f 153 165 178 +f 167 153 178 +f 147 173 178 +f 173 167 178 +f 169 147 179 +f 154 169 179 +f 178 165 179 +f 147 178 179 +f 162 158 180 +f 166 148 180 +f 158 166 180 +f 170 162 180 +f 148 174 180 +f 174 170 180 +f 151 148 181 +f 157 151 181 +f 158 157 181 +f 148 166 181 +f 166 158 181 +f 146 154 182 +f 156 146 182 +f 165 156 182 +f 154 179 182 +f 179 165 182 +f 155 144 183 +f 160 152 183 +f 144 164 183 +f 167 160 183 +f 164 167 183 +f 152 175 183 +o convex_4 +v -0.952461 0.735110 -1.026953 +v 1.063164 0.558284 0.811363 +v 1.063164 0.346124 0.811363 +v -0.846229 0.699737 1.377555 +v -1.093675 0.346124 -0.708636 +v 0.886325 0.735110 -1.168215 +v 0.072735 0.346124 -1.380299 +v -0.916836 0.346124 1.094269 +v 0.037539 0.735110 2.014188 +v -0.033068 0.735110 -1.875669 +v 0.956932 0.346124 -0.991161 +v 1.063164 0.735110 0.776333 +v 0.072735 0.346124 1.448377 +v -1.058479 0.735110 0.422225 +v -0.846229 0.346124 -1.132804 +v 1.063164 0.735110 -0.460760 +v -1.058479 0.452242 0.775952 +v -1.129301 0.735110 -0.673225 +v 0.956932 0.346124 1.023828 +v 0.921521 0.735110 1.165091 +v 0.072735 0.699737 -1.875669 +v 0.002128 0.699737 2.014188 +v 1.063164 0.346124 -0.425350 +v -0.846229 0.699737 -1.239037 +v -0.916836 0.735110 1.271323 +v -0.033068 0.628954 -1.804848 +v -1.023068 0.346124 0.882566 +v 1.027539 0.522950 -0.814488 +v 0.037539 0.416908 1.589639 +v -0.103675 0.699737 -1.840259 +v -0.033068 0.381497 -1.451121 +v 0.037539 0.699737 2.014188 +f 205 212 215 +f 186 188 190 +f 188 186 191 +f 189 184 192 +f 184 189 193 +f 186 190 194 +f 185 186 195 +f 189 192 195 +f 191 186 196 +f 192 184 197 +f 190 188 198 +f 189 195 199 +f 195 186 199 +f 200 197 201 +f 197 184 201 +f 188 200 201 +f 196 186 202 +f 186 185 203 +f 185 195 203 +f 195 192 203 +f 202 186 203 +f 193 189 204 +f 194 190 204 +f 189 194 204 +f 187 191 205 +f 192 187 205 +f 186 194 206 +f 199 186 206 +f 184 193 207 +f 198 188 207 +f 201 184 207 +f 188 201 207 +f 191 187 208 +f 187 192 208 +f 192 197 208 +f 197 200 208 +f 204 190 209 +f 188 191 210 +f 200 188 210 +f 191 208 210 +f 208 200 210 +f 194 189 211 +f 189 199 211 +f 206 194 211 +f 199 206 211 +f 191 196 212 +f 196 202 212 +f 205 191 212 +f 193 204 213 +f 207 193 213 +f 198 207 213 +f 209 198 213 +f 204 209 213 +f 190 198 214 +f 209 190 214 +f 198 209 214 +f 203 192 215 +f 202 203 215 +f 192 205 215 +f 212 202 215 +o convex_5 +v -1.164663 2.114048 -0.601995 +v 1.133889 1.937187 0.670104 +v 1.133889 1.689869 0.670104 +v 0.815521 1.760531 -2.723916 +v -0.916943 0.735314 1.306446 +v -0.032937 2.821488 2.013558 +v -0.032937 0.735110 -1.945449 +v 0.921494 0.735314 1.235677 +v -0.032937 2.609297 -2.688239 +v -0.740097 1.795863 2.791440 +v 0.780197 1.795658 2.756348 +v 1.098340 2.573761 -0.071515 +v -0.775421 1.795863 -2.723916 +v -1.129114 0.735314 -0.672765 +v 0.072811 0.982837 2.755763 +v -1.164663 2.467768 0.139624 +v 1.063016 0.735314 -0.460456 +v -0.810970 2.609092 -1.946034 +v 0.072811 2.821488 -1.945449 +v 0.815521 2.609297 1.943374 +v 0.072811 1.053499 -2.723331 +v 0.002163 2.573761 2.755763 +v 0.780197 2.538430 -2.016219 +v -0.775421 2.538430 2.013558 +v -1.023141 1.690073 2.049236 +v -0.810970 2.750417 0.209809 +v 1.027691 1.795658 -2.051896 +v 0.850845 2.750622 -0.035838 +v 0.815521 0.982837 -1.910942 +v 1.063016 1.795658 1.978466 +v 0.037487 1.902060 -2.971317 +v -0.740097 1.089035 -2.122666 +v 0.108135 1.795658 3.003749 +v -1.023141 1.901856 -2.051896 +v -1.164663 1.230564 0.422118 +v -0.634124 1.089035 2.438176 +v 0.002163 0.735110 2.084328 +v 1.133889 1.053703 0.635012 +v 1.133889 1.760736 -0.672765 +v 0.744872 1.053499 2.155098 +v 1.133889 2.538430 -0.107192 +v 0.850845 0.735314 -1.274015 +v -0.103585 2.821488 -1.945449 +v -0.846295 0.770645 -1.415554 +v -0.775421 1.937187 -2.723916 +v 0.568026 2.397105 -2.547284 +v 0.568026 2.397105 2.579131 +v -1.164663 2.397105 -0.425364 +v -0.952492 2.644628 -0.991521 +v -1.164663 2.326239 0.492888 +v 0.568026 1.195028 -2.547284 +v -0.775421 0.947506 2.048651 +v 1.063016 0.735314 0.775966 +v -1.164663 0.912174 -0.601995 +v 0.072811 2.821488 2.013558 +v -1.023141 0.735314 0.811644 +v 1.133889 2.396901 0.493472 +v -0.563476 2.432232 -2.546699 +v -0.068261 1.089035 -2.723331 +v -0.563476 2.361570 2.544039 +v -0.740097 1.690073 2.791440 +v 0.709323 2.785748 -0.001330 +v -0.032937 0.982837 2.755763 +v 0.568026 1.195028 2.579131 +f 255 226 279 +f 224 234 238 +f 237 221 239 +f 225 239 240 +f 239 221 241 +f 231 239 241 +f 219 238 242 +f 235 227 243 +f 227 238 243 +f 238 234 243 +f 219 242 244 +f 242 232 244 +f 218 217 245 +f 235 226 245 +f 219 236 246 +f 229 228 247 +f 230 226 248 +f 237 225 248 +f 226 237 248 +f 228 229 249 +f 231 216 250 +f 229 222 252 +f 223 230 252 +f 222 232 252 +f 217 218 253 +f 218 245 253 +f 232 242 254 +f 217 253 254 +f 253 232 254 +f 230 223 255 +f 223 245 255 +f 245 226 255 +f 227 235 256 +f 238 227 256 +f 242 238 256 +f 217 254 256 +f 254 242 256 +f 232 222 257 +f 222 236 257 +f 244 232 257 +f 236 244 257 +f 224 233 258 +f 234 224 258 +f 221 234 258 +f 241 221 258 +f 222 229 259 +f 229 247 259 +f 224 246 260 +f 246 228 260 +f 228 249 260 +f 249 233 260 +f 238 219 261 +f 224 238 261 +f 219 246 261 +f 246 224 261 +f 226 235 262 +f 237 226 262 +f 235 237 262 +f 216 231 263 +f 249 216 263 +f 233 249 263 +f 231 241 264 +f 258 233 264 +f 241 258 264 +f 263 231 264 +f 233 263 264 +f 239 231 265 +f 240 239 265 +f 231 250 265 +f 250 240 265 +f 236 219 266 +f 219 244 266 +f 244 236 266 +f 240 220 267 +f 220 252 267 +f 245 223 268 +f 223 252 268 +f 252 232 268 +f 232 253 268 +f 253 245 268 +f 216 249 269 +f 249 229 269 +f 250 216 269 +f 229 250 269 +f 234 221 270 +f 221 237 270 +f 237 235 270 +f 235 243 270 +f 220 240 271 +f 250 229 271 +f 240 250 271 +f 252 220 271 +f 229 252 271 +f 245 217 272 +f 235 245 272 +f 256 235 272 +f 217 256 272 +f 233 224 273 +f 224 260 273 +f 260 233 273 +f 236 222 274 +f 228 246 274 +f 246 236 274 +f 247 228 274 +f 222 259 274 +f 259 247 274 +f 225 237 275 +f 239 225 275 +f 237 239 275 +f 225 240 276 +f 248 225 276 +f 240 267 276 +f 267 251 276 +f 243 234 277 +f 234 270 277 +f 270 243 277 +f 230 248 278 +f 252 230 278 +f 251 267 278 +f 267 252 278 +f 248 276 278 +f 276 251 278 +f 226 230 279 +f 230 255 279 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/700/700.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/700/700.urdf new file mode 100644 index 000000000..b336bf153 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/700/700.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/701/701.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/701/701.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/701/701.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/701/701.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/701/701.obj new file mode 100644 index 000000000..5a3d3fe8c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/701/701.obj @@ -0,0 +1,303 @@ +o convex_0 +v -0.243658 -7.023753 -0.990401 +v 0.922209 -0.963286 1.108018 +v 0.883291 -0.963286 1.108018 +v -0.593293 1.098075 -1.029434 +v -0.982055 -6.946693 1.068986 +v 1.077671 -6.945890 -0.951586 +v -1.020973 1.098075 0.952322 +v 1.038753 1.097272 -0.951586 +v 1.038753 -7.102419 1.030170 +v -0.982055 -7.024556 -1.029434 +v 1.038753 1.097272 0.991355 +v -0.982055 -0.534639 -1.107281 +v 1.116589 -0.690365 -1.107281 +v -0.943137 1.098075 -1.029434 +v 1.077671 -4.614016 1.029953 +v -0.943137 -0.768228 1.029953 +v 0.999835 -6.946693 -0.990618 +v 1.116589 -1.739508 -0.213442 +v -1.020973 0.087462 -0.057747 +v -0.398912 -7.023753 1.068986 +v -0.982055 -1.973097 -1.107281 +v 1.116589 -1.155937 -1.107281 +v 1.038753 0.980879 1.029953 +v -0.398912 1.097272 0.991355 +v 0.572365 -7.102419 0.447071 +v -0.632211 -7.024556 -1.029434 +v 1.077671 -6.984420 -0.796107 +v 0.028559 -6.985223 1.068986 +v -0.982055 -5.818884 1.068986 +v 1.116589 -0.340383 -0.990401 +v 1.077671 -2.944377 1.029953 +v -0.982055 -7.024556 -0.213225 +v -0.321285 0.514504 -1.068249 +v 1.077671 0.670230 -0.951586 +v -0.554375 -7.063086 -0.601813 +v 0.688910 -7.102419 0.991355 +v -0.943137 -4.731211 -1.068249 +v 0.805664 -1.040347 1.108018 +v -1.020973 1.098075 0.563734 +v -0.982055 -6.985223 1.029953 +v 0.922209 -1.235405 1.108018 +v -0.982055 0.475171 0.991355 +v 0.650201 -0.418246 -1.107281 +v 1.038753 -2.439472 1.068986 +v 0.377984 1.097272 -0.990401 +v 1.116589 -1.739508 -1.029434 +v -1.020973 0.630897 0.952322 +v 1.038753 -7.102419 0.719213 +v 0.766746 -6.985223 -0.990618 +v -0.982055 -0.069067 -0.990401 +v -0.437830 1.097272 -1.029434 +v -0.943137 0.475171 -1.068249 +v 1.116589 -1.817371 -0.213442 +v 1.077671 -6.984420 -0.757292 +f 27 53 54 +f 4 7 11 +f 8 4 11 +f 7 4 14 +f 12 13 21 +f 10 19 21 +f 19 12 21 +f 6 17 22 +f 13 18 22 +f 21 13 22 +f 3 2 23 +f 18 11 23 +f 11 7 24 +f 3 23 24 +f 23 11 24 +f 22 17 26 +f 20 9 28 +f 7 5 29 +f 18 13 30 +f 11 18 30 +f 15 18 31 +f 18 23 31 +f 19 10 32 +f 14 4 33 +f 8 11 34 +f 13 8 34 +f 11 30 34 +f 30 13 34 +f 1 25 35 +f 26 1 35 +f 10 26 35 +f 32 10 35 +f 32 35 36 +f 9 20 36 +f 25 9 36 +f 35 25 36 +f 10 21 37 +f 21 22 37 +f 26 10 37 +f 22 26 37 +f 2 3 38 +f 3 24 38 +f 29 5 38 +f 16 29 38 +f 7 14 39 +f 19 7 39 +f 20 5 40 +f 19 32 40 +f 32 36 40 +f 36 20 40 +f 5 20 41 +f 28 9 41 +f 20 28 41 +f 2 38 41 +f 38 5 41 +f 24 7 42 +f 7 29 42 +f 29 16 42 +f 38 24 42 +f 16 38 42 +f 13 12 43 +f 9 15 44 +f 23 2 44 +f 15 31 44 +f 31 23 44 +f 2 41 44 +f 41 9 44 +f 4 8 45 +f 8 13 45 +f 13 43 45 +f 6 22 46 +f 22 18 46 +f 27 6 46 +f 5 7 47 +f 7 19 47 +f 40 5 47 +f 19 40 47 +f 9 25 48 +f 27 9 48 +f 27 48 49 +f 17 6 49 +f 25 1 49 +f 1 26 49 +f 26 17 49 +f 6 27 49 +f 48 25 49 +f 14 12 50 +f 12 19 50 +f 39 14 50 +f 19 39 50 +f 33 4 51 +f 43 33 51 +f 4 45 51 +f 45 43 51 +f 12 14 52 +f 14 33 52 +f 43 12 52 +f 33 43 52 +f 18 15 53 +f 46 18 53 +f 27 46 53 +f 15 9 54 +f 9 27 54 +f 53 15 54 +o convex_1 +v 1.116597 3.235895 0.796764 +v -1.059838 2.070610 0.991058 +v -1.059838 2.070610 1.030045 +v -0.943091 7.083269 0.757990 +v -0.943091 1.098075 -1.029430 +v 0.961077 7.083269 -1.068417 +v 1.038837 1.098075 -0.951670 +v -1.059838 6.926844 -0.990443 +v 0.961077 7.044016 0.991058 +v 1.038837 1.098075 0.991058 +v -1.020851 1.098075 0.952497 +v -1.059838 3.352482 1.108018 +v 1.116597 2.536373 -1.068417 +v -0.943091 7.044016 0.952497 +v 1.077610 3.119308 1.030258 +v -0.126928 1.798183 -1.068417 +v 1.116597 3.507737 -1.068417 +v 0.961077 1.137328 1.030258 +v 1.077610 1.292582 0.991058 +v 0.650036 7.083269 -1.068417 +v -0.748797 2.730880 1.108018 +v -1.059838 6.966096 -0.679615 +v -1.059838 6.305241 -0.990443 +v 0.222461 7.044016 0.991271 +v 1.077610 1.175995 -0.951670 +v 0.999850 6.305827 0.757990 +v -1.020851 1.098075 0.524710 +v -1.020851 1.292582 0.991058 +v -0.982077 6.266574 0.952497 +v 1.116597 2.964054 0.991058 +v -0.321435 7.005349 -1.029430 +v -0.476742 7.083269 0.952497 +v -0.982077 6.966096 -0.990443 +v -0.360208 1.098075 -1.029430 +v -0.943091 1.992690 -1.029430 +v 0.961077 7.083269 -0.329801 +v -0.748797 3.081227 1.108018 +v -1.059838 3.702244 1.069031 +v 0.494728 7.044016 -1.068417 +v 0.999850 6.305827 -0.524095 +v 1.116597 2.419786 -0.912896 +v -1.020851 2.808214 1.108018 +v 1.038837 1.448422 -0.990443 +v -0.515729 1.098075 0.991058 +v 1.116597 3.197228 0.991058 +v -0.982077 7.044016 0.524710 +v 1.116597 3.507737 -0.757376 +v -0.982077 1.137328 -0.290814 +v 0.844330 1.137328 1.030258 +f 96 98 103 +f 56 57 62 +f 59 61 64 +f 57 56 65 +f 59 64 65 +f 62 57 66 +f 60 67 70 +f 55 67 71 +f 67 60 71 +f 69 72 73 +f 72 64 73 +f 58 60 74 +f 60 70 74 +f 72 69 75 +f 62 66 76 +f 56 62 77 +f 62 59 77 +f 66 63 78 +f 68 66 78 +f 64 61 79 +f 73 64 79 +f 65 56 81 +f 59 65 81 +f 56 77 81 +f 57 65 82 +f 67 55 84 +f 69 73 84 +f 60 58 86 +f 58 68 86 +f 78 63 86 +f 68 78 86 +f 58 74 87 +f 62 76 87 +f 76 58 87 +f 85 62 87 +f 74 85 87 +f 61 59 88 +f 59 70 88 +f 70 67 88 +f 59 62 89 +f 70 59 89 +f 62 85 89 +f 63 80 90 +f 80 60 90 +f 60 86 90 +f 86 63 90 +f 63 66 91 +f 69 63 91 +f 66 75 91 +f 75 69 91 +f 66 68 92 +f 76 66 92 +f 68 83 92 +f 83 76 92 +f 74 70 93 +f 85 74 93 +f 70 89 93 +f 89 85 93 +f 71 60 94 +f 60 80 94 +f 80 71 94 +f 79 67 95 +f 73 79 95 +f 67 84 95 +f 84 73 95 +f 66 57 96 +f 75 66 96 +f 57 82 96 +f 79 61 97 +f 67 79 97 +f 61 88 97 +f 88 67 97 +f 65 64 98 +f 64 72 98 +f 82 65 98 +f 96 82 98 +f 63 69 99 +f 55 80 99 +f 80 63 99 +f 84 55 99 +f 69 84 99 +f 68 58 100 +f 58 76 100 +f 83 68 100 +f 76 83 100 +f 55 71 101 +f 80 55 101 +f 71 80 101 +f 77 59 102 +f 59 81 102 +f 81 77 102 +f 72 75 103 +f 75 96 103 +f 98 72 103 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/701/701.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/701/701.urdf new file mode 100644 index 000000000..f7943f547 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/701/701.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/702/702.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/702/702.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/702/702.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/702/702.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/702/702.obj new file mode 100644 index 000000000..05267b3cf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/702/702.obj @@ -0,0 +1,435 @@ +o convex_0 +v -2.002518 -0.350328 -0.203542 +v -1.762273 0.340843 -0.233569 +v -1.100860 0.280697 0.187073 +v -3.084115 0.190579 0.217100 +v -1.100860 -0.320221 0.187073 +v -3.114268 -0.350328 -0.293689 +v -3.114268 0.340843 -0.323781 +v -1.100860 0.220619 -0.263661 +v -3.114268 -0.200064 0.187073 +v -1.311345 0.250658 0.337339 +v -1.100860 -0.320221 -0.203542 +v -3.114268 0.340843 -0.203542 +v -1.100860 0.160473 0.337339 +v -2.663341 -0.350328 -0.293689 +v -1.100860 0.310736 -0.263661 +v -3.024004 -0.230104 0.187073 +v -3.114268 -0.350328 -0.203542 +v -1.341302 -0.290182 0.217100 +v -2.994047 0.190579 0.247127 +v -3.054158 0.130366 -0.323781 +v -1.341302 -0.320221 0.187073 +v -1.371456 -0.290182 -0.233569 +v -3.114268 -0.019762 0.217100 +v -2.423095 0.220619 0.277219 +v -2.242764 -0.109879 -0.293689 +f 22 14 25 +f 3 5 8 +f 7 6 9 +f 5 1 11 +f 8 5 11 +f 3 2 12 +f 2 7 12 +f 7 9 12 +f 10 3 12 +f 5 3 13 +f 3 10 13 +f 1 6 14 +f 11 1 14 +f 2 3 15 +f 7 2 15 +f 3 8 15 +f 1 5 17 +f 6 1 17 +f 9 6 17 +f 16 9 17 +f 5 13 18 +f 13 16 18 +f 12 4 19 +f 6 7 20 +f 14 6 20 +f 7 15 20 +f 15 8 20 +f 17 5 21 +f 16 17 21 +f 5 18 21 +f 18 16 21 +f 8 11 22 +f 11 14 22 +f 4 12 23 +f 12 9 23 +f 13 10 23 +f 9 16 23 +f 16 13 23 +f 19 4 23 +f 10 19 23 +f 10 12 24 +f 12 19 24 +f 19 10 24 +f 14 20 25 +f 20 8 25 +f 8 22 25 +o convex_1 +v 3.015834 -0.170008 0.277202 +v 1.153147 -0.290226 -0.263679 +v 1.153147 -0.290226 -0.023260 +v 1.573939 0.250672 -0.233596 +v 1.153147 0.190535 0.277202 +v 3.015834 0.280741 -0.173491 +v 3.075866 -0.260157 -0.203574 +v 2.955803 0.250672 0.307285 +v 2.865565 -0.290226 0.367390 +v 1.153147 -0.230089 0.307285 +v 1.153147 0.220604 -0.263679 +v 1.333623 0.220604 0.277202 +v 2.985819 0.280741 0.126971 +v 1.633970 -0.290226 -0.263679 +v 2.745312 0.280741 -0.203574 +v 3.045850 -0.290226 0.156992 +v 3.106263 -0.200020 -0.143469 +v 1.633970 -0.260157 0.337306 +v 2.985819 -0.230089 0.367390 +v 1.153147 -0.019721 0.307285 +v 2.354727 0.280741 -0.143469 +v 2.685281 0.250672 0.307285 +v 1.393655 0.160523 -0.263679 +v 1.183354 -0.260157 0.277202 +v 2.324711 -0.290226 0.337306 +v 1.153147 0.220604 0.126971 +v 2.114793 -0.290226 -0.233596 +f 41 39 52 +f 27 28 30 +f 28 27 34 +f 30 28 35 +f 27 30 36 +f 34 27 39 +f 27 36 39 +f 31 32 40 +f 36 29 40 +f 38 31 40 +f 34 39 41 +f 32 31 42 +f 33 26 42 +f 31 38 42 +f 38 33 42 +f 41 32 42 +f 26 41 42 +f 26 33 44 +f 41 26 44 +f 34 41 44 +f 43 34 44 +f 43 44 45 +f 30 35 45 +f 35 43 45 +f 37 38 46 +f 40 29 46 +f 38 40 46 +f 37 30 47 +f 33 38 47 +f 38 37 47 +f 44 33 47 +f 45 44 47 +f 30 45 47 +f 32 39 48 +f 39 36 48 +f 36 40 48 +f 40 32 48 +f 35 28 49 +f 43 35 49 +f 43 49 50 +f 28 34 50 +f 34 43 50 +f 49 28 50 +f 29 36 51 +f 36 30 51 +f 30 37 51 +f 46 29 51 +f 37 46 51 +f 39 32 52 +f 32 41 52 +o convex_2 +v 0.341524 -0.410738 -1.105103 +v -1.100860 -0.320765 -0.203295 +v -1.100860 -0.320765 0.186826 +v -0.740153 -3.114670 -0.744211 +v 1.122723 -3.024697 1.058348 +v 1.002488 0.340842 1.028274 +v -1.070635 -2.994593 0.998199 +v 1.062716 -3.054801 -1.075029 +v 1.062716 0.340842 -1.044955 +v -1.010628 0.340504 1.028486 +v -0.980624 0.340504 -1.014880 +v -1.040632 -3.054463 -0.924657 +v 1.152948 0.220427 -0.263444 +v 0.431535 -3.114670 0.367060 +v -0.139197 0.310400 -1.105103 +v 1.152948 0.189985 0.277049 +v -1.100860 0.310400 -0.263444 +v 0.672006 -3.024359 -1.075029 +v 1.062716 -1.011800 1.058348 +v 0.371528 -2.994255 1.058560 +v 1.092720 -3.054801 -0.744422 +v -1.010628 -2.633686 -0.954731 +v -1.100860 0.250531 0.337198 +v -1.040632 -1.852339 1.028486 +v 0.702010 -1.882443 -1.105103 +v 1.152948 -0.290661 -0.263444 +v 1.092720 0.340842 -0.924657 +v -0.890392 0.250193 -1.044955 +v -1.040632 -0.140142 1.028486 +v 0.732013 -3.084567 -0.984806 +v 1.092720 -2.543712 -0.924657 +v 1.062716 -0.771646 -1.075029 +v 0.732013 -3.084567 0.697667 +v -1.010628 -3.084905 -0.924657 +v 0.762238 0.340504 -1.075029 +v -0.078969 -3.114670 -0.744211 +v 1.002488 -0.801412 1.058348 +v -0.619918 -2.994255 1.028274 +v -0.439675 -3.114670 -0.353667 +v -0.830385 -3.084567 -0.954731 +v 1.122723 -3.024697 0.908188 +v 1.032712 -0.050169 1.028274 +v -1.040632 0.340504 0.938050 +v -1.040632 -3.084905 -0.653987 +v 1.092720 0.340842 -0.263444 +v -1.070635 -2.994593 0.878113 +v -1.010628 -1.372369 -0.984806 +v 0.131057 0.340504 -1.105103 +v 1.152948 -0.230454 0.307123 +v 0.311520 -3.114670 0.336986 +v -1.040632 -3.024359 0.577369 +v -0.048965 -3.084567 -1.014668 +v 1.122723 -2.904282 1.058348 +v 1.092720 -3.054801 -0.263655 +v 0.611999 -1.792470 -1.105103 +v -1.070635 -2.723997 0.998199 +f 81 75 108 +f 55 54 59 +f 54 55 69 +f 64 54 69 +f 55 59 75 +f 69 55 75 +f 67 53 77 +f 60 70 77 +f 65 68 78 +f 61 58 79 +f 65 78 79 +f 63 67 80 +f 72 62 81 +f 59 76 81 +f 76 72 81 +f 60 73 82 +f 73 66 82 +f 73 60 83 +f 78 73 83 +f 60 79 83 +f 79 78 83 +f 77 53 84 +f 60 77 84 +f 61 79 84 +f 79 60 84 +f 57 59 85 +f 84 53 87 +f 61 84 87 +f 66 56 88 +f 82 66 88 +f 58 62 89 +f 71 58 89 +f 62 72 89 +f 72 71 89 +f 59 57 90 +f 57 72 90 +f 76 59 90 +f 72 76 90 +f 56 66 91 +f 64 74 92 +f 74 70 92 +f 56 86 92 +f 86 64 92 +f 57 73 93 +f 78 57 93 +f 73 78 93 +f 68 58 94 +f 58 71 94 +f 71 68 94 +f 58 61 95 +f 62 58 95 +f 61 63 95 +f 63 69 95 +f 69 75 95 +f 81 62 95 +f 75 81 95 +f 86 56 96 +f 64 86 96 +f 58 68 97 +f 68 65 97 +f 79 58 97 +f 65 79 97 +f 59 54 98 +f 54 64 98 +f 96 59 98 +f 64 96 98 +f 69 63 99 +f 64 69 99 +f 74 64 99 +f 63 80 99 +f 80 74 99 +f 63 61 100 +f 53 67 100 +f 67 63 100 +f 61 87 100 +f 87 53 100 +f 57 78 101 +f 78 68 101 +f 85 59 102 +f 66 85 102 +f 91 66 102 +f 91 102 103 +f 56 91 103 +f 96 56 103 +f 59 96 103 +f 102 59 103 +f 70 60 104 +f 60 82 104 +f 88 56 104 +f 82 88 104 +f 92 70 104 +f 56 92 104 +f 68 71 105 +f 72 57 105 +f 71 72 105 +f 57 101 105 +f 101 68 105 +f 73 57 106 +f 66 73 106 +f 57 85 106 +f 85 66 106 +f 70 74 107 +f 67 77 107 +f 77 70 107 +f 80 67 107 +f 74 80 107 +f 75 59 108 +f 59 81 108 +o convex_3 +v -0.199276 0.461528 -1.105103 +v -0.830194 3.105523 1.058560 +v -0.980563 3.105523 1.058560 +v -1.010637 0.341113 1.028486 +v 1.002624 0.341113 1.028274 +v 1.062772 3.105523 -1.014880 +v -0.920415 3.074946 -1.105103 +v 0.912402 2.954801 0.998411 +v 1.062772 0.341113 -1.044955 +v -0.980563 0.341113 -1.014880 +v -1.070785 0.521601 0.367060 +v 1.092846 2.654439 -0.864508 +v 1.092846 0.341113 -0.263655 +v 0.972550 1.843192 1.028274 +v -1.040711 0.791926 -0.504039 +v -1.010637 2.774584 0.938262 +v -1.010637 0.912071 1.058560 +v 0.702096 3.105523 -1.044955 +v 0.131114 0.341113 -1.105103 +v -0.199276 3.044910 1.058560 +v 1.062772 3.105523 -0.804359 +v 0.942476 2.954801 0.938262 +v -0.980563 3.105523 0.427209 +v 1.002624 0.882035 1.028274 +v -0.559740 3.074946 -1.105103 +v -0.920415 0.341113 -1.044955 +v 1.092846 0.341113 -0.924657 +v 1.062772 1.693282 -1.044955 +v -1.040711 0.341113 0.938262 +v -0.950489 2.624403 -1.014880 +v 0.611874 2.984838 1.028486 +v -1.040711 0.341113 -0.534113 +v -0.920415 2.474223 -1.105103 +v 0.311346 3.105523 -1.044955 +v 1.062772 3.074946 -0.624125 +v -1.010637 2.474223 1.058560 +v 0.762244 0.401456 -1.074817 +v -0.950489 3.074946 -0.534113 +v -1.070785 0.341113 0.427209 +v 0.942476 2.353807 1.028274 +v 1.092846 2.714512 -0.924657 +f 129 143 149 +f 111 110 114 +f 113 112 117 +f 117 112 118 +f 113 117 121 +f 123 119 124 +f 110 111 125 +f 112 113 125 +f 111 114 126 +f 109 115 127 +f 117 118 127 +f 110 125 128 +f 125 113 128 +f 114 110 129 +f 129 116 130 +f 124 111 131 +f 111 126 131 +f 121 120 132 +f 113 121 132 +f 128 113 132 +f 122 128 132 +f 115 126 133 +f 127 115 133 +f 109 127 134 +f 127 118 134 +f 121 117 135 +f 120 121 135 +f 126 114 136 +f 133 126 136 +f 135 117 136 +f 118 112 137 +f 112 125 137 +f 115 118 138 +f 118 123 138 +f 110 128 139 +f 129 110 139 +f 116 129 139 +f 123 118 140 +f 119 123 140 +f 118 137 140 +f 115 109 141 +f 118 115 141 +f 109 134 141 +f 134 118 141 +f 126 115 142 +f 115 131 142 +f 131 126 142 +f 130 122 143 +f 129 130 143 +f 132 120 143 +f 122 132 143 +f 124 119 144 +f 111 124 144 +f 125 111 144 +f 137 125 144 +f 117 127 145 +f 127 133 145 +f 136 117 145 +f 133 136 145 +f 123 124 146 +f 131 115 146 +f 124 131 146 +f 115 138 146 +f 138 123 146 +f 119 140 147 +f 140 137 147 +f 144 119 147 +f 137 144 147 +f 128 122 148 +f 130 116 148 +f 122 130 148 +f 116 139 148 +f 139 128 148 +f 114 129 149 +f 120 135 149 +f 136 114 149 +f 135 136 149 +f 143 120 149 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/702/702.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/702/702.urdf new file mode 100644 index 000000000..f155b756b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/702/702.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/703/703.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/703/703.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/703/703.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/703/703.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/703/703.obj new file mode 100644 index 000000000..c6ccef668 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/703/703.obj @@ -0,0 +1,2076 @@ +o convex_0 +v -0.537295 -0.680439 0.704789 +v -0.800885 -0.680439 0.516511 +v -0.738084 -0.806015 0.516511 +v -0.763215 -0.667908 0.641999 +v -0.537295 -1.031878 0.516511 +v -0.549886 -0.642769 0.679651 +v -0.788294 -0.642769 0.516511 +v -0.637741 -0.981602 0.529080 +v -0.537295 -0.981602 0.516511 +f 7 6 9 +f 2 3 4 +f 3 2 5 +f 4 1 6 +f 2 4 7 +f 5 2 7 +f 4 6 7 +f 4 3 8 +f 1 4 8 +f 5 1 8 +f 3 5 8 +f 1 5 9 +f 6 1 9 +f 5 7 9 +o convex_1 +v 0.002397 -0.743255 0.842816 +v -0.537251 -1.031747 0.516511 +v -0.537251 -1.031747 0.529068 +v -0.085538 -1.408211 0.516511 +v 0.040092 -0.693050 0.805145 +v -0.524648 -0.668022 0.717282 +v -0.098084 -1.395697 0.566738 +v -0.449316 -1.031747 0.516511 +v -0.512102 -0.642844 0.692203 +v 0.002397 -1.094541 0.717351 +v -0.022695 -0.667947 0.867964 +v 0.040092 -1.119718 0.667192 +v -0.085538 -1.383183 0.516511 +v 0.040092 -0.642770 0.855373 +v -0.210998 -1.358080 0.529068 +v -0.386586 -1.044336 0.529068 +v -0.512102 -0.994355 0.516511 +f 18 14 26 +f 11 12 15 +f 13 11 17 +f 11 15 18 +f 15 16 19 +f 18 15 20 +f 19 10 20 +f 15 19 20 +f 16 13 21 +f 19 16 21 +f 13 17 22 +f 14 21 22 +f 21 13 22 +f 14 18 23 +f 10 19 23 +f 20 10 23 +f 18 20 23 +f 21 14 23 +f 19 21 23 +f 12 11 24 +f 11 13 24 +f 15 12 24 +f 16 15 24 +f 13 16 24 +f 17 14 25 +f 22 17 25 +f 14 22 25 +f 17 11 26 +f 14 17 26 +f 11 18 26 +o convex_2 +v 0.843389 -0.680517 0.278025 +v 0.604954 -0.642769 0.654582 +v 0.717894 -0.642769 0.616911 +v 0.604954 -1.257812 0.303163 +v 0.630063 -1.094539 0.278025 +v 0.818280 -0.642769 0.290631 +v 0.742978 -0.667874 0.604305 +v 0.592400 -0.642769 0.629443 +v 0.604954 -1.119705 0.441202 +v 0.592400 -1.220065 0.278025 +f 30 35 36 +f 28 29 32 +f 27 31 32 +f 32 29 33 +f 29 28 33 +f 30 27 33 +f 27 32 33 +f 28 32 34 +f 32 31 34 +f 33 28 35 +f 30 33 35 +f 28 34 35 +f 35 34 36 +f 27 30 36 +f 31 27 36 +f 34 31 36 +o convex_3 +v -0.085496 -0.680425 -1.039924 +v -0.788264 0.449200 -1.052480 +v -0.788264 0.449200 -1.039924 +v -0.085496 0.373875 -1.077576 +v -0.110604 -0.542309 -1.090127 +v -0.185931 0.398942 -1.052480 +v -0.788264 0.587316 -1.065026 +v -0.185931 -0.605100 -1.052480 +v -0.085496 -0.278610 -1.090127 +v -0.775676 0.549592 -1.039924 +v -0.085496 0.373875 -1.065026 +f 43 42 47 +f 38 39 43 +f 41 38 43 +f 37 39 44 +f 39 38 44 +f 41 37 44 +f 38 41 44 +f 40 37 45 +f 37 41 45 +f 43 40 45 +f 41 43 45 +f 39 37 46 +f 37 42 46 +f 42 43 46 +f 43 39 46 +f 37 40 47 +f 42 37 47 +f 40 43 47 +o convex_4 +v -0.838522 1.076653 0.516511 +v -0.750678 0.763200 0.679685 +v -0.763238 0.763200 0.679685 +v -0.788349 -0.642770 0.516511 +v -0.750678 2.369685 0.579282 +v -0.813411 1.152142 0.654545 +v -0.838522 2.369685 0.516527 +v -0.750678 -0.642770 0.642022 +v -0.851083 0.260731 0.529065 +v -0.800880 0.235667 0.667131 +v -0.813411 2.356711 0.591837 +v -0.813411 -0.592051 0.529065 +v -0.813411 2.369685 0.516527 +v -0.750678 -0.642770 0.604359 +v -0.851083 1.528699 0.541635 +v -0.750678 1.980449 0.629468 +v -0.775789 -0.404215 0.654577 +v -0.825972 2.181260 0.591837 +v -0.851083 0.260731 0.516511 +v -0.750678 0.135704 0.679685 +f 57 64 67 +f 52 49 55 +f 50 53 57 +f 53 56 57 +f 52 54 58 +f 51 55 59 +f 57 56 59 +f 51 48 60 +f 52 51 60 +f 54 52 60 +f 48 54 60 +f 51 52 61 +f 55 51 61 +f 52 55 61 +f 56 53 62 +f 50 49 63 +f 49 52 63 +f 53 50 63 +f 52 58 63 +f 58 53 63 +f 59 55 64 +f 57 59 64 +f 53 58 65 +f 58 54 65 +f 62 53 65 +f 54 62 65 +f 48 51 66 +f 54 48 66 +f 51 59 66 +f 59 56 66 +f 56 62 66 +f 62 54 66 +f 49 50 67 +f 55 49 67 +f 50 57 67 +f 64 55 67 +o convex_5 +v 0.680199 1.591468 0.616958 +v 0.328786 0.436694 0.742440 +v 0.341406 0.436694 0.729866 +v 0.328786 1.591468 0.704769 +v 0.705283 0.499542 0.579270 +v 0.705283 0.436694 0.629497 +v 0.341406 1.214719 0.742440 +v 0.680199 1.591468 0.579270 +v 0.353948 0.537182 0.754997 +v 0.341406 1.591468 0.729866 +v 0.705283 1.290114 0.616958 +v 0.730446 0.436694 0.579270 +v 0.328786 0.963893 0.717309 +v 0.705283 1.591468 0.579270 +f 78 79 81 +f 69 70 73 +f 71 69 74 +f 71 68 75 +f 72 71 75 +f 69 73 76 +f 74 69 76 +f 68 71 77 +f 74 68 77 +f 71 74 77 +f 68 74 78 +f 76 73 78 +f 74 76 78 +f 70 72 79 +f 73 70 79 +f 72 75 79 +f 78 73 79 +f 70 69 80 +f 69 71 80 +f 71 72 80 +f 72 70 80 +f 75 68 81 +f 68 78 81 +f 79 75 81 +o convex_6 +v 0.793191 0.963716 0.303203 +v 0.717898 0.436608 0.616893 +v 0.730467 0.850652 0.579208 +v 0.843413 -0.642612 0.315710 +v 0.705342 -0.642769 0.591814 +v 0.755565 -0.642612 0.579208 +v 0.830844 0.838072 0.290631 +v 0.830844 -0.642612 0.278058 +v 0.705356 0.963716 0.554095 +v 0.805733 0.511774 0.278058 +v 0.730454 0.298540 0.616893 +v 0.843413 -0.127770 0.303203 +v 0.705342 -0.642769 0.616893 +v 0.805733 0.963716 0.353362 +v 0.768120 0.938556 0.365935 +f 91 86 96 +f 85 86 89 +f 83 84 90 +f 82 88 91 +f 89 86 91 +f 88 89 91 +f 84 83 92 +f 88 84 92 +f 88 92 93 +f 87 85 93 +f 85 89 93 +f 89 88 93 +f 92 87 93 +f 86 85 94 +f 85 87 94 +f 83 90 94 +f 90 86 94 +f 92 83 94 +f 87 92 94 +f 88 82 95 +f 84 88 95 +f 82 90 95 +f 90 84 95 +f 90 82 96 +f 86 90 96 +f 82 91 96 +o convex_7 +v 0.818293 0.964163 0.277959 +v 0.680256 2.444739 0.579241 +v 0.692802 2.444739 0.554059 +v 0.918692 2.444884 -0.123636 +v 0.655163 2.356751 0.566650 +v 0.943812 2.306741 -0.098455 +v 0.931238 1.290313 -0.123636 +v 0.730469 1.014318 0.566650 +v 0.705377 1.001707 0.541537 +v 0.943812 1.290313 -0.073411 +v 0.918692 2.432128 -0.035708 +v 0.805747 0.964163 0.353296 +v 0.906145 1.516299 -0.073411 +v 0.705377 0.964163 0.579241 +v 0.780654 0.964163 0.328253 +v 0.655163 2.444739 0.579241 +v 0.717923 1.328001 0.579241 +v 0.943812 2.444884 -0.123636 +f 107 102 114 +f 97 103 106 +f 104 102 107 +f 102 104 108 +f 106 102 108 +f 97 106 108 +f 101 100 109 +f 100 103 109 +f 101 105 110 +f 108 104 110 +f 97 108 110 +f 103 97 111 +f 105 101 111 +f 101 109 111 +f 109 103 111 +f 97 110 111 +f 110 105 111 +f 98 100 112 +f 100 101 112 +f 110 98 112 +f 101 110 112 +f 99 98 113 +f 107 99 113 +f 104 107 113 +f 98 110 113 +f 110 104 113 +f 98 99 114 +f 100 98 114 +f 103 100 114 +f 102 106 114 +f 106 103 114 +f 99 107 114 +o convex_8 +v -0.637728 -0.994080 -0.738561 +v -0.775797 -1.220121 -0.136250 +v -0.788366 -1.220121 -0.136250 +v -1.014267 -0.605114 -0.148789 +v -0.800935 -0.642821 -0.813990 +v -0.625159 -0.856225 -0.763637 +v -0.788366 -1.282764 -0.148855 +v -0.976598 -0.605114 -0.173932 +v -0.625159 -1.282764 -0.399823 +v -0.788366 -0.605114 -0.763637 +v -0.637728 -1.295468 -0.450043 +v -1.001698 -0.667959 -0.173932 +v -0.687966 -1.019218 -0.462582 +v -0.938891 -0.730737 -0.148789 +v -0.763228 -1.295468 -0.199075 +v -0.687966 -0.919003 -0.751099 +f 129 119 130 +f 117 116 118 +f 115 119 120 +f 116 117 121 +f 117 118 121 +f 115 120 123 +f 116 121 123 +f 119 118 124 +f 120 119 124 +f 118 122 124 +f 122 120 124 +f 115 123 125 +f 118 119 126 +f 121 118 126 +f 119 121 126 +f 120 122 127 +f 123 120 127 +f 123 127 128 +f 118 116 128 +f 122 118 128 +f 116 123 128 +f 127 122 128 +f 121 119 129 +f 123 121 129 +f 125 123 129 +f 125 129 130 +f 119 115 130 +f 115 125 130 +o convex_9 +v -1.001723 2.018116 -0.876605 +v -1.014260 2.332030 -0.148740 +v -1.001723 2.306771 -0.199052 +v -1.039365 1.328075 -0.148740 +v -0.976618 2.043178 -0.826472 +v -1.026809 1.328075 -1.064939 +v -1.026809 2.319351 -0.211607 +v -1.026809 1.328075 -0.148740 +v -1.001723 1.378199 -1.052383 +v -1.039365 1.353137 -0.638138 +v -1.039365 1.842387 -0.148740 +v -1.014260 1.328075 -0.512852 +v -0.976618 2.080918 -0.851494 +v -1.026809 1.390779 -1.052383 +v -1.014260 1.516285 -0.274385 +v -1.001723 2.080918 -0.838938 +f 144 137 146 +f 133 132 138 +f 132 134 138 +f 134 136 138 +f 136 134 140 +f 137 140 141 +f 134 132 141 +f 132 137 141 +f 140 134 141 +f 138 136 142 +f 136 139 142 +f 139 135 142 +f 132 133 143 +f 133 135 143 +f 137 132 143 +f 139 131 143 +f 135 139 143 +f 139 136 144 +f 131 139 144 +f 136 140 144 +f 140 137 144 +f 135 133 145 +f 133 138 145 +f 142 135 145 +f 138 142 145 +f 137 143 146 +f 143 131 146 +f 131 144 146 +o convex_10 +v -0.813452 -1.245107 -0.123604 +v -0.800916 -0.504699 0.516511 +v -0.813452 -0.504699 0.516511 +v -1.001677 -0.504699 -0.148740 +v -1.026819 -0.667935 -0.073398 +v -0.788333 -1.182451 -0.148740 +v -0.800916 -0.680451 0.516511 +v -1.026819 -0.504699 -0.060830 +v -0.800916 -0.504699 0.478807 +v -1.014213 -0.655418 -0.148740 +v -0.800916 -1.270364 -0.098468 +v -0.826034 -0.667935 0.478807 +v -0.788333 -0.680451 0.516511 +v -0.826034 -0.517290 0.503943 +f 151 158 160 +f 149 148 150 +f 148 149 153 +f 149 150 154 +f 150 148 155 +f 152 150 155 +f 147 151 156 +f 152 147 156 +f 150 152 156 +f 154 150 156 +f 151 154 156 +f 151 147 157 +f 147 152 157 +f 157 153 158 +f 151 157 158 +f 148 153 159 +f 155 148 159 +f 152 155 159 +f 157 152 159 +f 153 157 159 +f 153 149 160 +f 149 154 160 +f 154 151 160 +f 158 153 160 +o convex_11 +v -0.901283 0.926217 -0.613167 +v -0.826009 0.599868 -1.065028 +v -0.838558 0.637531 -1.065028 +v -0.926382 0.599868 -0.575504 +v -0.913832 0.926217 -1.065028 +v -0.813437 0.650086 -0.977100 +v -0.926382 0.926217 -0.575504 +v -0.888734 0.913663 -1.065028 +v -0.901283 0.599868 -0.613167 +v -0.926382 0.599868 -0.625722 +f 167 165 170 +f 162 163 165 +f 164 161 167 +f 161 165 167 +f 165 161 168 +f 162 165 168 +f 166 162 168 +f 161 166 168 +f 164 162 169 +f 161 164 169 +f 162 166 169 +f 166 161 169 +f 163 162 170 +f 162 164 170 +f 165 163 170 +f 164 167 170 +o convex_12 +v -0.750615 0.449073 -1.039924 +v -0.788271 -0.630108 -0.839139 +v -0.725490 -0.630108 -0.864211 +v -0.148187 -0.604963 -1.027342 +v -0.775677 -0.579817 -0.801438 +v -0.236154 -0.579817 -1.039924 +v -0.788271 0.386319 -1.039924 +v -0.775677 0.486792 -1.027342 +v -0.788271 -0.630108 -0.801438 +v -0.148187 -0.630108 -1.039924 +f 174 179 180 +f 173 172 177 +f 171 176 177 +f 176 173 177 +f 174 171 178 +f 175 174 178 +f 171 177 178 +f 178 177 179 +f 172 173 179 +f 174 175 179 +f 177 172 179 +f 175 178 179 +f 171 174 180 +f 176 171 180 +f 173 176 180 +f 179 173 180 +o convex_13 +v -0.625159 -1.420877 -0.035753 +v -0.775779 -0.667873 0.516511 +v -0.788333 -0.667873 0.516511 +v -0.625159 -1.006782 0.516511 +v -0.750670 -1.408307 -0.111079 +v -0.775779 -0.918950 0.140008 +v -0.625159 -1.433522 -0.136188 +v -0.788333 -1.232569 -0.136188 +v -0.625159 -0.956582 0.503861 +v -0.637713 -1.307983 0.202684 +v -0.788333 -0.705657 0.516511 +v -0.637713 -1.006782 0.516511 +v -0.788333 -1.307983 -0.111079 +f 191 188 193 +f 182 183 184 +f 183 182 186 +f 184 181 187 +f 181 185 187 +f 186 187 188 +f 183 186 188 +f 187 185 188 +f 182 184 189 +f 186 182 189 +f 184 187 189 +f 187 186 189 +f 181 184 190 +f 185 181 190 +f 184 183 191 +f 183 188 191 +f 190 184 192 +f 185 190 192 +f 191 185 192 +f 184 191 192 +f 188 185 193 +f 185 191 193 +o convex_14 +v -0.085492 -0.040408 0.867960 +v -0.750677 -0.642685 0.629501 +v -0.750677 -0.642685 0.642081 +v -0.750677 0.486901 0.667143 +v -0.098059 -0.554781 0.817713 +v -0.160827 0.486901 0.830293 +v -0.750677 0.373788 0.692255 +v -0.110625 -0.642685 0.842824 +v -0.098059 0.461691 0.880516 +v -0.725479 -0.604870 0.629501 +v -0.750677 -0.617475 0.654637 +v -0.725479 0.486901 0.667143 +v -0.085492 0.486901 0.855404 +v -0.098059 0.336304 0.880516 +v -0.098059 -0.642685 0.817713 +v -0.700281 0.486901 0.704835 +v -0.286363 -0.291182 0.805157 +f 207 200 210 +f 195 196 197 +f 197 196 200 +f 196 195 201 +f 195 197 203 +f 199 198 203 +f 200 196 204 +f 196 201 204 +f 197 199 205 +f 203 197 205 +f 199 203 205 +f 198 199 206 +f 199 197 206 +f 202 194 206 +f 201 194 207 +f 202 200 207 +f 194 202 207 +f 201 195 208 +f 194 201 208 +f 195 203 208 +f 203 198 208 +f 206 194 208 +f 198 206 208 +f 197 200 209 +f 200 202 209 +f 206 197 209 +f 202 206 209 +f 200 204 210 +f 204 201 210 +f 201 207 210 +o convex_15 +v 0.680178 0.398971 0.642052 +v 0.090320 -0.642769 0.817741 +v 0.102903 -0.642769 0.805182 +v 0.090320 0.436694 0.830277 +v 0.692700 0.436694 0.604374 +v 0.705342 -0.642769 0.616933 +v 0.102903 -0.127869 0.842860 +v 0.667596 -0.642769 0.604374 +v 0.115425 0.436694 0.842860 +v 0.153111 -0.642769 0.817741 +v 0.165633 0.436694 0.792646 +v 0.128007 -0.630195 0.792646 +v 0.617388 -0.504561 0.654611 +v 0.617388 0.436694 0.629493 +v 0.190737 0.311165 0.817741 +v 0.705342 0.436694 0.629493 +v 0.667596 -0.341522 0.604374 +f 222 224 227 +f 213 212 214 +f 212 213 216 +f 214 212 217 +f 216 213 218 +f 215 216 218 +f 215 214 219 +f 214 217 219 +f 212 216 220 +f 217 212 220 +f 214 215 221 +f 213 214 222 +f 218 213 222 +f 214 221 222 +f 216 211 223 +f 220 216 223 +f 217 220 223 +f 221 215 224 +f 222 221 224 +f 211 219 225 +f 219 217 225 +f 223 211 225 +f 217 223 225 +f 216 215 226 +f 211 216 226 +f 219 211 226 +f 215 219 226 +f 215 218 227 +f 218 222 227 +f 224 215 227 +o convex_16 +v -0.148260 1.415560 0.817739 +v -0.750677 0.486992 0.667175 +v -0.725479 0.486992 0.667175 +v -0.135759 0.486992 0.867964 +v -0.750677 1.403015 0.667175 +v -0.725479 1.415560 0.642030 +v -0.110625 0.549806 0.842818 +v -0.123192 1.415560 0.855380 +v -0.700346 0.512172 0.704816 +v -0.085492 0.486992 0.855380 +v -0.098059 1.214847 0.867964 +v -0.085492 1.415560 0.842818 +v -0.738046 0.750609 0.654613 +f 233 234 240 +f 229 230 231 +f 229 232 233 +f 233 228 234 +f 233 232 235 +f 228 233 235 +f 229 231 236 +f 232 229 236 +f 235 232 236 +f 231 230 237 +f 230 234 237 +f 236 231 238 +f 235 236 238 +f 231 237 238 +f 238 237 239 +f 234 228 239 +f 228 235 239 +f 237 234 239 +f 235 238 239 +f 230 229 240 +f 229 233 240 +f 234 230 240 +o convex_17 +v -0.010096 -0.642864 -1.090132 +v 0.115384 -1.332994 -0.801438 +v -0.085407 -1.332994 -0.801438 +v 0.090280 -0.504786 -1.052463 +v 0.014988 -1.358115 -0.876777 +v -0.085407 -0.504786 -1.090132 +v 0.115384 -0.642864 -1.052463 +v -0.085407 -1.358115 -0.839108 +v 0.115384 -1.345554 -0.839108 +v -0.085407 -0.642864 -1.077528 +v -0.085407 -0.504786 -1.077528 +v 0.115384 -0.504786 -1.077528 +v 0.040072 -1.395709 -0.801438 +f 245 249 253 +f 243 242 244 +f 245 241 247 +f 243 246 248 +f 247 242 249 +f 245 247 249 +f 241 245 250 +f 246 241 250 +f 245 248 250 +f 248 246 250 +f 243 244 251 +f 246 243 251 +f 244 246 251 +f 244 242 252 +f 246 244 252 +f 241 246 252 +f 242 247 252 +f 247 241 252 +f 242 243 253 +f 243 248 253 +f 248 245 253 +f 249 242 253 +o convex_18 +v 0.680239 0.637524 -1.077578 +v -0.085427 -0.504699 -1.090132 +v 0.077809 -0.504699 -1.090132 +v 0.102917 -0.504699 -1.052476 +v -0.085427 0.361360 -1.065031 +v 0.680239 0.423972 -1.052476 +v 0.441680 0.549643 -1.090132 +v -0.085427 0.361360 -1.077578 +v 0.680239 0.574688 -1.090132 +v 0.178164 -0.479542 -1.065031 +v -0.085427 -0.291259 -1.065031 +v 0.667572 0.524487 -1.052476 +v -0.085427 -0.266102 -1.090132 +f 261 260 266 +f 255 256 257 +f 256 255 260 +f 258 254 261 +f 255 258 261 +f 254 260 261 +f 254 259 262 +f 260 254 262 +f 256 260 262 +f 257 256 263 +f 259 257 263 +f 262 259 263 +f 256 262 263 +f 255 257 264 +f 257 258 264 +f 258 255 264 +f 254 258 265 +f 258 257 265 +f 259 254 265 +f 257 259 265 +f 260 255 266 +f 255 261 266 +o convex_19 +v 0.680239 0.449246 -1.039907 +v 0.140507 -0.504699 -1.052460 +v 0.203271 -0.504699 -1.052460 +v 0.642569 -0.504699 -0.889302 +v 0.680239 -0.479580 -0.914424 +v 0.680239 0.348678 -1.052460 +v 0.140507 -0.479580 -1.039907 +v 0.655038 0.436546 -1.039907 +v 0.667665 -0.441856 -0.889302 +f 267 274 275 +f 268 269 270 +f 270 269 271 +f 271 269 272 +f 269 268 272 +f 267 271 272 +f 268 270 273 +f 272 268 274 +f 267 272 274 +f 268 273 274 +f 271 267 275 +f 270 271 275 +f 273 270 275 +f 274 273 275 +o convex_20 +v 0.592385 -1.408378 -0.010634 +v 0.680239 -1.019326 0.278025 +v 0.680239 -1.019326 0.265451 +v 0.680239 -1.433489 -0.148740 +v 0.630031 -1.270309 0.252918 +v 0.579823 -1.433489 -0.148740 +v 0.579823 -1.245198 0.278025 +v 0.680239 -1.320531 0.102281 +v 0.667677 -1.031925 0.240344 +f 282 277 284 +f 278 277 279 +f 279 276 281 +f 281 276 282 +f 276 280 282 +f 280 277 282 +f 279 277 283 +f 276 279 283 +f 280 276 283 +f 277 280 283 +f 277 278 284 +f 278 279 284 +f 279 281 284 +f 281 282 284 +o convex_21 +v 0.680239 -1.307877 -0.374807 +v 0.981413 -0.605218 -0.111160 +v 0.994005 -0.605218 -0.123653 +v 0.680239 -0.567542 -0.889302 +v 0.680239 -1.383147 -0.111160 +v 0.743017 -0.630280 -0.864087 +v 0.780732 -1.370616 -0.161360 +v 0.981413 -0.693186 -0.148791 +v 0.943758 -0.668041 -0.111160 +v 0.680239 -0.567542 -0.864087 +v 0.692831 -0.793435 -0.813887 +v 0.755578 -1.395678 -0.111160 +v 0.906135 -0.567542 -0.412438 +v 0.768140 -1.395678 -0.173930 +v 0.743017 -0.567542 -0.876656 +v 0.830856 -0.630280 -0.625579 +v 0.680239 -1.420823 -0.173930 +f 298 296 301 +f 288 285 289 +f 289 286 293 +f 289 293 294 +f 288 289 294 +f 293 286 294 +f 285 288 295 +f 288 290 295 +f 287 286 296 +f 286 289 296 +f 291 292 296 +f 292 287 296 +f 286 287 297 +f 287 292 297 +f 294 286 297 +f 288 294 297 +f 290 291 298 +f 285 295 298 +f 295 290 298 +f 291 296 298 +f 290 288 299 +f 288 297 299 +f 299 297 300 +f 291 290 300 +f 292 291 300 +f 297 292 300 +f 290 299 300 +f 289 285 301 +f 296 289 301 +f 285 298 301 +o convex_22 +v 0.931277 1.754810 -0.964499 +v 0.943827 2.344582 -0.349570 +v 0.956378 2.206477 -0.675988 +v 0.943827 1.390638 -0.349570 +v 0.943827 1.390638 -1.077438 +v 0.931277 1.390638 -0.349570 +v 0.931277 2.344582 -0.387335 +v 0.956378 1.792441 -0.475192 +v 0.956378 2.168752 -0.826478 +v 0.931277 1.390638 -1.077438 +v 0.931277 2.218896 -0.701070 +v 0.956378 1.767229 -0.951958 +f 310 309 313 +f 305 303 307 +f 306 305 307 +f 307 303 308 +f 302 307 308 +f 304 303 309 +f 303 305 309 +f 303 304 310 +f 306 302 310 +f 308 303 310 +f 304 309 310 +f 302 306 311 +f 307 302 311 +f 306 307 311 +f 302 308 312 +f 310 302 312 +f 308 310 312 +f 305 306 313 +f 309 305 313 +f 306 310 313 +o convex_23 +v 0.906183 1.227463 -0.198962 +v 0.943828 2.432445 -0.123636 +v 0.943828 2.432445 -0.161321 +v 0.943828 1.227463 -0.123636 +v 0.943828 1.365583 -0.349570 +v 0.881069 1.265207 -0.349570 +v 0.931272 2.357075 -0.349570 +v 0.931272 2.432445 -0.123636 +v 0.943828 2.357075 -0.349570 +v 0.881069 1.265207 -0.286784 +v 0.918715 1.240084 -0.148759 +f 323 314 324 +f 316 315 317 +f 316 317 318 +f 317 314 319 +f 318 317 319 +f 318 319 320 +f 320 319 321 +f 315 316 321 +f 317 315 321 +f 316 320 321 +f 316 318 322 +f 320 316 322 +f 318 320 322 +f 319 314 323 +f 321 319 323 +f 321 323 324 +f 314 317 324 +f 317 321 324 +o convex_24 +v 0.730481 -1.395854 -0.111084 +v 0.855938 -0.605114 0.278025 +v 0.906151 -0.630355 0.139917 +v 0.956334 -0.605114 -0.098515 +v 0.680268 -0.981690 0.265456 +v 0.680268 -1.383194 -0.111084 +v 0.692829 -1.333025 0.077224 +v 0.805785 -1.232689 -0.098515 +v 0.981484 -0.655439 -0.111084 +v 0.855938 -0.655439 0.278025 +v 0.830876 -0.605114 0.265456 +v 0.692829 -1.044361 0.278025 +v 0.755602 -1.358110 -0.073415 +v 0.981484 -0.642858 -0.085946 +v 0.705389 -0.981690 0.190117 +f 329 335 339 +f 329 330 331 +f 330 325 331 +f 332 325 333 +f 325 330 333 +f 330 328 333 +f 327 326 334 +f 326 328 335 +f 329 326 335 +f 326 329 336 +f 329 331 336 +f 334 326 336 +f 331 334 336 +f 331 325 337 +f 325 332 337 +f 334 331 337 +f 332 334 337 +f 326 327 338 +f 328 326 338 +f 332 333 338 +f 333 328 338 +f 327 334 338 +f 334 332 338 +f 328 330 339 +f 330 329 339 +f 335 328 339 +o convex_25 +v -0.085418 -1.132323 0.667061 +v -0.022672 -1.521402 0.278065 +v 0.002428 -1.521402 0.278065 +v -0.022672 -1.433529 0.579208 +v 0.002428 -1.119741 0.692237 +v -0.085418 -1.458613 0.278065 +v -0.085418 -1.408366 0.566680 +v 0.002428 -1.395864 0.604303 +v -0.060318 -1.119741 0.641966 +v 0.002428 -1.496239 0.278065 +f 348 344 349 +f 341 342 343 +f 342 341 345 +f 340 345 346 +f 341 343 346 +f 345 341 346 +f 346 343 347 +f 343 342 347 +f 344 340 347 +f 342 344 347 +f 340 346 347 +f 340 344 348 +f 345 340 348 +f 345 348 349 +f 344 342 349 +f 342 345 349 +o convex_26 +v 0.881035 1.139600 -0.349570 +v 0.680239 0.650076 -1.090059 +v 0.705385 0.650076 -1.090059 +v 0.893609 0.650076 -0.349570 +v 0.855930 1.139600 -1.077519 +v 0.830867 1.114491 -0.475123 +v 0.868483 0.650076 -0.362183 +v 0.680239 0.662630 -1.027283 +v 0.830826 1.114491 -1.077519 +v 0.855930 1.101841 -1.077519 +v 0.893609 1.064274 -0.362183 +v 0.893609 0.650076 -0.374724 +v 0.843378 1.139600 -0.424960 +f 358 355 362 +f 351 352 353 +f 352 351 354 +f 351 353 356 +f 353 350 356 +f 351 356 357 +f 354 351 358 +f 357 355 358 +f 351 357 358 +f 352 354 359 +f 350 353 360 +f 354 350 360 +f 360 353 361 +f 353 352 361 +f 352 359 361 +f 359 354 361 +f 354 360 361 +f 350 354 362 +f 356 350 362 +f 355 357 362 +f 357 356 362 +f 354 358 362 +o convex_27 +v 0.090363 -1.044339 0.654519 +v 0.592321 -0.642769 0.654519 +v 0.592321 -0.642769 0.641988 +v 0.592321 -1.119741 0.441241 +v 0.052741 -1.119741 0.692195 +v 0.065282 -0.642769 0.817714 +v 0.466805 -1.107136 0.453814 +v 0.077823 -0.667888 0.842818 +v 0.592321 -0.705612 0.641988 +v 0.567186 -0.655375 0.629499 +v 0.052741 -0.730684 0.780038 +v 0.579726 -1.107136 0.416137 +v 0.052741 -1.119741 0.654519 +v 0.592321 -1.107136 0.453814 +v 0.040200 -0.642769 0.842818 +f 373 375 377 +f 365 364 366 +f 364 365 368 +f 366 364 371 +f 364 370 371 +f 370 367 371 +f 368 365 372 +f 372 369 373 +f 369 363 373 +f 368 372 373 +f 365 366 374 +f 366 369 374 +f 372 365 374 +f 369 372 374 +f 366 367 375 +f 363 369 375 +f 369 366 375 +f 373 363 375 +f 367 366 376 +f 366 371 376 +f 371 367 376 +f 364 368 377 +f 370 364 377 +f 367 370 377 +f 368 373 377 +f 375 367 377 +o convex_28 +v 0.014959 0.286017 0.880507 +v -0.085427 -0.642769 0.830317 +v 0.065169 -0.642769 0.817764 +v 0.065169 0.436694 0.830317 +v -0.085427 0.436694 0.867954 +v -0.022660 -0.642769 0.867954 +v 0.090300 -0.429328 0.842870 +v -0.047757 0.436694 0.893068 +v 0.090300 0.436694 0.842870 +v -0.085427 -0.529603 0.855416 +v -0.085427 -0.404180 0.830317 +v 0.090300 -0.115401 0.817764 +v 0.014959 -0.567431 0.867954 +f 385 383 390 +f 379 380 383 +f 381 382 385 +f 378 384 386 +f 385 378 386 +f 381 385 386 +f 382 379 387 +f 379 383 387 +f 385 382 387 +f 383 385 387 +f 380 379 388 +f 382 381 388 +f 379 382 388 +f 384 380 389 +f 381 386 389 +f 386 384 389 +f 380 388 389 +f 388 381 389 +f 383 380 390 +f 380 384 390 +f 384 378 390 +f 378 385 390 +o convex_29 +v -0.913850 -0.605114 -0.475217 +v -1.014226 0.599868 -0.148740 +v -1.001691 0.599868 -0.186500 +v -0.826033 0.599868 -1.064939 +v -0.788333 -0.579872 -0.763665 +v -1.014226 -0.605114 -0.161386 +v -0.788333 0.574627 -1.039915 +v -1.026808 0.599868 -0.199057 +v -0.989132 -0.605114 -0.148740 +v -0.800892 -0.554867 -0.838916 +v -1.026808 0.273381 -0.199057 +v -0.788333 -0.303750 -0.901700 +v -1.014226 -0.567370 -0.173943 +v -0.876174 -0.605114 -0.487863 +v -1.026808 -0.140625 -0.148740 +v -0.826033 0.587012 -1.064939 +f 403 401 406 +f 392 393 394 +f 394 393 397 +f 393 395 397 +f 392 394 398 +f 396 391 399 +f 395 391 400 +f 398 394 401 +f 397 395 402 +f 395 400 402 +f 391 396 403 +f 393 392 404 +f 391 395 404 +f 395 393 404 +f 392 399 404 +f 399 391 404 +f 392 398 405 +f 399 392 405 +f 396 399 405 +f 398 401 405 +f 403 396 405 +f 401 403 405 +f 394 397 406 +f 400 391 406 +f 401 394 406 +f 397 402 406 +f 402 400 406 +f 391 403 406 +o convex_30 +v -0.913852 0.599868 -0.575504 +v -1.026814 1.327878 -0.148740 +v -1.039371 1.327878 -0.148740 +v -1.014258 0.599868 -0.148740 +v -1.026814 1.277567 -0.575504 +v -0.913852 0.976415 -0.562930 +v -1.026814 0.599868 -0.198952 +v -0.938978 0.599868 -0.575504 +v -1.001701 1.277567 -0.186420 +v -1.014258 1.327878 -0.575504 +v -1.039371 1.327878 -0.525292 +v -0.926409 0.599868 -0.500144 +f 412 415 418 +f 408 409 410 +f 410 409 413 +f 407 410 413 +f 413 411 414 +f 411 407 414 +f 407 413 414 +f 408 410 415 +f 415 412 416 +f 409 408 416 +f 407 411 416 +f 412 407 416 +f 408 415 416 +f 416 411 417 +f 413 409 417 +f 411 413 417 +f 409 416 417 +f 410 407 418 +f 407 412 418 +f 415 410 418 +o convex_31 +v -1.051923 0.123142 -0.060896 +v -1.001720 1.327878 0.001883 +v -1.001720 1.327878 -0.023226 +v -0.989164 -0.504699 0.001883 +v -1.001720 -0.504699 -0.148740 +v -1.039366 1.327878 -0.148740 +v -1.026809 1.202310 0.001883 +v -1.014277 1.315321 -0.148740 +v -1.026809 -0.504699 -0.123616 +v -1.051923 1.290208 -0.073428 +v -1.014277 -0.341460 0.001883 +v -1.039366 0.286380 -0.148740 +v -1.051923 0.349164 -0.035773 +v -1.026809 -0.492142 -0.048334 +v -0.989164 -0.454292 -0.035773 +f 423 426 433 +f 420 421 424 +f 422 420 425 +f 424 421 426 +f 423 424 426 +f 423 422 427 +f 420 424 428 +f 425 420 428 +f 422 425 429 +f 424 423 430 +f 427 419 430 +f 423 427 430 +f 428 424 430 +f 419 428 430 +f 428 419 431 +f 425 428 431 +f 429 425 431 +f 429 431 432 +f 419 427 432 +f 427 422 432 +f 422 429 432 +f 431 419 432 +f 421 420 433 +f 420 422 433 +f 422 423 433 +f 426 421 433 +o convex_32 +v -1.051923 1.365756 -0.111036 +v -0.826004 2.357033 0.516511 +v -0.826004 2.357033 0.478807 +v -0.838564 1.327878 0.516511 +v -1.001701 2.294172 -0.136107 +v -0.851125 2.306764 0.503878 +v -1.026779 1.327878 -0.148740 +v -1.026779 2.306764 -0.111036 +v -0.863686 1.327878 0.503878 +v -1.039340 1.478685 -0.048262 +v -0.838564 1.478685 0.478807 +v -1.026779 2.331747 -0.148740 +v -1.014240 1.327878 0.039583 +v -0.851125 2.118482 0.516511 +v -0.888764 2.357033 0.252911 +f 438 445 448 +f 436 435 437 +f 439 435 441 +f 440 437 442 +f 439 441 443 +f 441 434 443 +f 436 437 444 +f 437 440 444 +f 440 438 444 +f 440 434 445 +f 438 440 445 +f 441 435 445 +f 434 441 445 +f 434 440 446 +f 440 442 446 +f 443 434 446 +f 443 446 447 +f 437 435 447 +f 435 439 447 +f 442 437 447 +f 439 443 447 +f 446 442 447 +f 435 436 448 +f 436 444 448 +f 444 438 448 +f 445 435 448 +o convex_33 +v -0.989156 -0.504699 0.052152 +v -0.838548 0.373934 0.516511 +v -0.838548 0.373934 0.478784 +v -0.800885 -0.504699 0.491326 +v -1.001674 0.273480 0.001933 +v -0.863672 0.361377 0.503868 +v -1.026819 0.373934 0.027068 +v -0.976594 -0.504699 0.001933 +v -0.826031 -0.504699 0.503868 +v -0.800885 -0.404244 0.491326 +v -1.026819 0.135441 0.014526 +v -1.001674 -0.454471 0.027068 +v -1.001674 0.373934 0.014526 +f 453 455 461 +f 450 451 455 +f 454 450 455 +f 452 449 456 +f 452 450 457 +f 449 452 457 +f 450 454 457 +f 451 450 458 +f 450 452 458 +f 453 451 458 +f 456 453 458 +f 452 456 458 +f 454 455 459 +f 455 453 459 +f 453 456 459 +f 459 456 460 +f 456 449 460 +f 449 457 460 +f 457 454 460 +f 454 459 460 +f 451 453 461 +f 455 451 461 +o convex_34 +v -0.085427 -1.006787 -0.939478 +v -0.788264 -0.693064 -0.788952 +v -0.788264 -0.693064 -0.776335 +v -0.185872 -1.333050 -0.788926 +v -0.361650 -0.994247 -0.788952 +v -0.085496 -0.667911 -1.027359 +v -0.788264 -0.642830 -0.839136 +v -0.085427 -1.345591 -0.776360 +v -0.198462 -0.642830 -1.039924 +v -0.098017 -1.345591 -0.839136 +v -0.775674 -0.642830 -0.776335 +v -0.738042 -0.793458 -0.788952 +v -0.123197 -0.630218 -1.027359 +v -0.085496 -0.718144 -1.039924 +v -0.211052 -1.320438 -0.776360 +v -0.148308 -0.755765 -0.964609 +f 474 472 477 +f 463 464 468 +f 462 467 469 +f 468 470 471 +f 469 465 471 +f 462 469 471 +f 468 464 472 +f 464 469 472 +f 469 466 472 +f 464 463 473 +f 463 468 473 +f 468 471 473 +f 471 465 473 +f 470 468 474 +f 468 472 474 +f 467 462 475 +f 471 470 475 +f 462 471 475 +f 474 467 475 +f 470 474 475 +f 469 464 476 +f 465 469 476 +f 464 473 476 +f 473 465 476 +f 466 469 477 +f 469 467 477 +f 472 466 477 +f 467 474 477 +o convex_35 +v -1.014233 0.373934 0.001933 +v -0.838541 1.327785 0.516511 +v -0.838541 1.327785 0.491326 +v -0.838541 0.373934 0.516511 +v -1.026801 0.599979 0.027068 +v -0.989134 1.302669 0.014526 +v -0.863677 1.327785 0.503868 +v -0.863677 0.373934 0.503868 +v -1.014233 1.327785 0.039610 +v -0.838541 0.373934 0.478784 +v -1.001684 0.373934 0.014526 +v -0.964035 0.373934 0.215300 +v -1.014233 1.327785 0.001933 +v -0.838541 1.126950 0.478784 +f 487 483 491 +f 480 479 481 +f 479 480 484 +f 481 479 484 +f 478 481 485 +f 481 484 485 +f 484 480 486 +f 482 484 486 +f 480 481 487 +f 481 478 487 +f 483 487 488 +f 478 483 488 +f 487 478 488 +f 482 478 489 +f 484 482 489 +f 478 485 489 +f 485 484 489 +f 478 482 490 +f 480 483 490 +f 483 478 490 +f 482 486 490 +f 486 480 490 +f 483 480 491 +f 480 487 491 +o convex_36 +v 0.014926 -1.659437 -0.148756 +v -0.085459 -1.370863 -0.801438 +v -0.085459 -1.345779 -0.801438 +v -0.775767 -1.320588 -0.136188 +v -0.725536 -1.420995 -0.148821 +v -0.750612 -1.295468 -0.136188 +v 0.014926 -1.621775 -0.161389 +v -0.625151 -1.308081 -0.437556 +v -0.211075 -1.295504 -0.738599 +v -0.010151 -1.421031 -0.763670 +v 0.014926 -1.383405 -0.776303 +v 0.002387 -1.646859 -0.199027 +v -0.248767 -1.308081 -0.776237 +v -0.662766 -1.295468 -0.399787 +v -0.549689 -1.483670 -0.148886 +v -0.123229 -1.621775 -0.136253 +v -0.712997 -1.383334 -0.236666 +f 505 499 508 +f 497 498 500 +f 493 494 502 +f 498 492 502 +f 494 500 502 +f 500 498 502 +f 501 493 502 +f 492 501 502 +f 501 492 503 +f 494 493 504 +f 500 494 504 +f 500 504 505 +f 495 497 505 +f 497 500 505 +f 504 499 505 +f 496 501 506 +f 501 503 506 +f 506 503 507 +f 495 496 507 +f 497 495 507 +f 492 498 507 +f 498 497 507 +f 503 492 507 +f 496 506 507 +f 496 495 508 +f 493 501 508 +f 501 496 508 +f 504 493 508 +f 499 504 508 +f 495 505 508 +o convex_37 +v 0.579787 -1.195149 0.416096 +v 0.002436 -1.521346 0.278086 +v 0.002436 -1.521346 0.328279 +v 0.002552 -1.119741 0.679628 +v 0.027614 -1.433492 0.591811 +v 0.592375 -1.245299 0.278086 +v 0.579787 -1.132350 0.378472 +v 0.592375 -1.270394 0.290614 +v 0.040203 -1.132350 0.692197 +v 0.592375 -1.132350 0.441192 +v 0.454303 -1.283002 0.278086 +v 0.027556 -1.533914 0.290614 +v 0.002436 -1.508737 0.278086 +v 0.002552 -1.433492 0.591811 +v 0.052734 -1.433492 0.579243 +v 0.015083 -1.119741 0.667060 +f 519 521 524 +f 510 514 516 +f 514 515 518 +f 509 516 518 +f 516 514 518 +f 517 513 518 +f 512 517 518 +f 514 510 519 +f 515 514 519 +f 511 510 520 +f 510 516 520 +f 510 511 521 +f 511 512 521 +f 519 510 521 +f 512 511 522 +f 513 517 522 +f 517 512 522 +f 511 520 522 +f 520 513 522 +f 516 509 523 +f 509 518 523 +f 518 513 523 +f 513 520 523 +f 520 516 523 +f 518 515 524 +f 512 518 524 +f 515 519 524 +f 521 512 524 +o convex_38 +v 0.567213 -1.408442 -0.198957 +v 0.014988 -1.395937 -0.801438 +v 0.014988 -1.408478 -0.788788 +v 0.014988 -1.634284 -0.148740 +v 0.378906 -1.308080 -0.512720 +v 0.680185 -1.433524 -0.161326 +v 0.027620 -1.659437 -0.173848 +v 0.680185 -1.308080 -0.387177 +v 0.178292 -1.295504 -0.788788 +v 0.052689 -1.395937 -0.801438 +v 0.667618 -1.295468 -0.349673 +v 0.228364 -1.308080 -0.801438 +v 0.014988 -1.383361 -0.763616 +v 0.655051 -1.408442 -0.148740 +v 0.027620 -1.433595 -0.738507 +v 0.190729 -1.609167 -0.161326 +f 539 530 540 +f 526 527 528 +f 528 525 529 +f 528 527 531 +f 527 526 534 +f 529 525 535 +f 530 532 535 +f 533 529 535 +f 533 535 536 +f 532 530 536 +f 526 533 536 +f 534 526 536 +f 530 534 536 +f 535 532 536 +f 526 528 537 +f 528 529 537 +f 533 526 537 +f 529 533 537 +f 525 528 538 +f 535 525 538 +f 530 535 538 +f 531 527 539 +f 527 534 539 +f 534 530 539 +f 528 531 540 +f 538 528 540 +f 530 538 540 +f 531 539 540 +o convex_39 +v -0.424296 -1.006837 -0.776335 +v -0.625159 -1.295468 -0.462605 +v -0.625159 -1.295468 -0.412330 +v -0.210946 -1.295468 -0.776335 +v -0.625159 -1.006837 -0.738637 +v -0.549825 -1.207542 -0.675891 +v -0.600020 -0.868787 -0.763721 +v -0.436865 -1.282853 -0.525351 +v -0.261182 -1.295468 -0.776335 +v -0.625159 -0.918953 -0.776335 +v -0.374182 -1.057045 -0.763721 +v -0.587492 -1.282853 -0.424943 +f 548 547 552 +f 543 542 544 +f 542 543 545 +f 542 545 546 +f 543 544 548 +f 544 542 549 +f 541 544 549 +f 542 546 549 +f 546 545 549 +f 545 543 550 +f 547 541 550 +f 543 547 550 +f 541 549 550 +f 549 545 550 +f 544 541 551 +f 541 547 551 +f 548 544 551 +f 547 548 551 +f 547 543 552 +f 543 548 552 +o convex_40 +v -0.612509 -1.308020 0.140061 +v 0.027518 -1.508860 0.277982 +v -0.098085 -1.383361 0.516511 +v -0.625159 -1.458702 -0.111036 +v 0.027518 -1.634325 -0.148740 +v 0.014932 -1.546496 0.252911 +v -0.223625 -1.308020 0.503813 +v -0.173409 -1.383361 0.516511 +v -0.047806 -1.646882 -0.136107 +v -0.599923 -1.433588 -0.136172 +v -0.374016 -1.333168 0.240278 +v -0.625159 -1.320645 0.190137 +v -0.323992 -1.308020 0.491375 +v -0.098085 -1.420997 0.503813 +f 555 560 566 +f 557 554 558 +f 555 554 559 +f 554 557 559 +f 555 559 560 +f 557 558 561 +f 558 556 561 +f 556 553 562 +f 561 556 562 +f 557 561 562 +f 553 559 563 +f 559 557 563 +f 562 553 563 +f 557 562 563 +f 553 556 564 +f 556 560 564 +f 564 560 565 +f 559 553 565 +f 560 559 565 +f 553 564 565 +f 554 555 566 +f 558 554 566 +f 556 558 566 +f 560 556 566 +o convex_41 +v -0.236050 -1.282877 0.516476 +v -0.625159 -1.307954 0.165058 +v -0.625159 -1.295415 0.165058 +v -0.625159 -1.006833 0.516476 +v -0.549782 -1.232657 0.428587 +v -0.411827 -1.082130 0.503921 +v -0.286326 -1.307954 0.516476 +v -0.424396 -1.295415 0.290613 +v -0.612589 -1.107240 0.328280 +v -0.625159 -1.307954 0.215314 +v -0.600020 -0.969119 0.516476 +f 572 575 577 +f 569 568 570 +f 567 570 573 +f 570 571 573 +f 568 569 574 +f 572 567 574 +f 573 568 574 +f 567 573 574 +f 569 570 575 +f 574 569 575 +f 572 574 575 +f 570 568 576 +f 571 570 576 +f 568 573 576 +f 573 571 576 +f 570 567 577 +f 567 572 577 +f 575 570 577 +o convex_42 +v -0.135759 2.319402 0.780052 +v -0.750677 1.415741 0.642077 +v -0.725479 1.415741 0.642077 +v -0.123192 1.415741 0.855412 +v -0.738046 2.344444 0.616974 +v -0.110625 2.407341 0.817719 +v -0.738046 1.466117 0.667180 +v -0.712912 2.369583 0.591845 +v -0.098059 1.415741 0.830257 +v -0.725479 2.244080 0.591845 +v -0.085492 2.407341 0.805155 +v -0.098059 1.616663 0.855412 +v -0.750677 2.369583 0.604410 +f 588 585 590 +f 579 580 581 +f 583 582 584 +f 579 581 584 +f 581 580 586 +f 580 579 587 +f 585 578 587 +f 586 580 587 +f 578 586 587 +f 578 585 588 +f 586 578 588 +f 586 588 589 +f 583 584 589 +f 584 581 589 +f 581 586 589 +f 588 583 589 +f 582 583 590 +f 584 582 590 +f 579 584 590 +f 587 579 590 +f 585 587 590 +f 583 588 590 +o convex_43 +v 0.203216 1.591468 0.780125 +v -0.085386 0.436694 0.867937 +v -0.085386 0.436694 0.880511 +v 0.328786 0.436694 0.742455 +v 0.291078 1.553714 0.717341 +v -0.085386 1.591468 0.842858 +v -0.022663 0.461901 0.893068 +v -0.085386 0.449354 0.855414 +v 0.316216 0.574823 0.767568 +v -0.047760 1.478432 0.867937 +v 0.328786 1.440791 0.742455 +v 0.316216 0.675312 0.729898 +v 0.328786 1.591468 0.717341 +v -0.085386 1.202286 0.842858 +v 0.291078 0.436694 0.780125 +v -0.085386 1.415697 0.867937 +f 597 600 606 +f 593 592 594 +f 592 593 596 +f 594 592 598 +f 592 596 598 +f 591 596 600 +f 597 591 600 +f 591 597 601 +f 599 594 601 +f 594 598 602 +f 598 595 602 +f 595 596 603 +f 596 591 603 +f 591 601 603 +f 601 594 603 +f 594 602 603 +f 602 595 603 +f 596 595 604 +f 595 598 604 +f 598 596 604 +f 593 594 605 +f 597 593 605 +f 594 599 605 +f 601 597 605 +f 599 601 605 +f 596 593 606 +f 593 597 606 +f 600 596 606 +o convex_44 +v 0.655029 -0.504699 -0.914411 +v 0.115459 -0.856121 -0.964563 +v 0.115459 -0.856121 -0.952041 +v 0.379107 -1.257758 -0.751271 +v 0.667579 -0.818583 -0.738685 +v 0.128063 -0.504699 -1.039920 +v 0.241008 -1.282866 -0.738685 +v 0.128063 -1.320486 -0.839118 +v 0.178316 -0.630318 -1.039920 +v 0.680239 -0.655426 -0.876780 +v 0.629930 -0.994253 -0.738685 +v 0.629875 -0.504699 -0.889366 +v 0.115514 -1.320486 -0.801456 +v 0.115459 -0.567591 -1.065028 +v 0.680239 -0.780799 -0.826564 +v 0.554634 -0.630318 -0.926933 +v 0.153162 -0.504699 -1.065028 +f 615 620 623 +f 611 612 613 +f 607 611 616 +f 613 610 617 +f 611 613 617 +f 611 607 618 +f 612 611 618 +f 607 612 618 +f 609 608 619 +f 612 609 619 +f 610 613 619 +f 613 612 619 +f 608 614 619 +f 614 610 619 +f 608 609 620 +f 609 612 620 +f 614 608 620 +f 615 614 620 +f 610 614 621 +f 614 616 621 +f 616 611 621 +f 617 610 621 +f 611 617 621 +f 615 607 622 +f 614 615 622 +f 616 614 622 +f 607 616 622 +f 612 607 623 +f 607 615 623 +f 620 612 623 +o convex_45 +v 0.266106 2.432215 0.717334 +v -0.085427 1.591468 0.842829 +v 0.215876 1.591468 0.742444 +v -0.072811 2.369477 0.792636 +v 0.680098 1.591552 0.579270 +v 0.090262 1.616697 0.817746 +v 0.667560 2.444830 0.591839 +v 0.680098 1.591552 0.616975 +v 0.567177 2.444830 0.591839 +v -0.060273 2.407237 0.817746 +v -0.085427 1.604166 0.830287 +v -0.035197 1.591468 0.855397 +v 0.680098 2.369477 0.579270 +v 0.642483 2.382008 0.604407 +v -0.060273 2.231469 0.830287 +v -0.085427 2.407237 0.805178 +f 638 633 639 +f 626 625 628 +f 626 628 631 +f 628 627 632 +f 624 630 632 +f 627 628 634 +f 628 625 634 +f 625 626 635 +f 626 631 635 +f 631 629 635 +f 631 628 636 +f 630 631 636 +f 628 632 636 +f 632 630 636 +f 630 624 637 +f 629 631 637 +f 631 630 637 +f 624 633 638 +f 625 635 638 +f 635 629 638 +f 637 624 638 +f 629 637 638 +f 624 632 639 +f 632 627 639 +f 633 624 639 +f 634 625 639 +f 627 634 639 +f 625 638 639 +o convex_46 +v -0.964066 1.164651 -0.575504 +v -0.913868 0.926257 -1.065028 +v -0.901313 0.926257 -1.065028 +v -1.026807 1.327878 -1.065028 +v -0.938967 0.963919 -0.575504 +v -1.026807 1.277636 -0.575504 +v -1.001696 1.315259 -1.065028 +v -0.901313 0.938837 -0.613167 +v -1.014251 1.327878 -0.575504 +v -0.964066 1.076904 -1.065028 +v -0.901313 0.963919 -1.065028 +f 640 647 650 +f 642 641 643 +f 644 640 645 +f 642 643 646 +f 641 642 647 +f 640 644 647 +f 644 641 647 +f 645 640 648 +f 643 645 648 +f 640 646 648 +f 646 643 648 +f 643 641 649 +f 641 644 649 +f 645 643 649 +f 644 645 649 +f 646 640 650 +f 642 646 650 +f 647 642 650 +o convex_47 +v 0.768129 -0.567458 -0.801379 +v 0.893611 0.650013 -0.349617 +v 0.881054 0.650013 -0.349617 +v 0.768112 0.650013 -0.826542 +v 0.918725 -0.416704 -0.387291 +v 0.742998 -0.567458 -0.788821 +v 0.893594 -0.567458 -0.362175 +v 0.742998 0.650013 -0.813937 +v 0.868497 0.612355 -0.362175 +v 0.780669 0.110398 -0.813937 +v 0.893611 0.624868 -0.387291 +v 0.918725 -0.567458 -0.349617 +v 0.918725 -0.241043 -0.387291 +v 0.742998 -0.567458 -0.826542 +v 0.868497 -0.567458 -0.424965 +f 657 659 665 +f 653 652 654 +f 656 651 657 +f 653 654 658 +f 658 656 659 +f 657 653 659 +f 653 658 659 +f 655 651 660 +f 654 652 661 +f 652 653 662 +f 651 655 662 +f 653 657 662 +f 657 651 662 +f 660 654 663 +f 655 660 663 +f 661 652 663 +f 654 661 663 +f 652 662 663 +f 662 655 663 +f 651 656 664 +f 658 654 664 +f 656 658 664 +f 660 651 664 +f 654 660 664 +f 656 657 665 +f 659 656 665 +o convex_48 +v 0.680239 -1.270283 -0.362122 +v 0.253474 -1.295468 -0.738679 +v 0.253474 -1.295468 -0.726073 +v 0.667665 -0.831048 -0.738679 +v 0.579772 -1.169862 -0.688439 +v 0.667665 -1.031936 -0.500198 +v 0.667665 -1.295468 -0.424894 +v 0.429218 -1.282876 -0.525299 +v 0.680239 -0.881281 -0.738679 +v 0.429218 -1.232642 -0.738679 +v 0.253474 -1.282876 -0.726073 +v 0.667665 -0.944016 -0.588034 +f 676 671 677 +f 668 667 672 +f 666 671 673 +f 672 666 673 +f 668 672 673 +f 667 669 674 +f 671 666 674 +f 666 672 674 +f 672 670 674 +f 672 667 675 +f 670 672 675 +f 667 674 675 +f 674 670 675 +f 667 668 676 +f 669 667 676 +f 673 671 676 +f 668 673 676 +f 674 669 677 +f 671 674 677 +f 669 676 677 +o convex_49 +v 0.956373 -0.605114 -0.098513 +v 0.818345 1.290080 0.278025 +v 0.805772 1.290080 0.278025 +v 0.943800 1.290080 -0.123636 +v 0.931261 -0.592313 0.064692 +v 0.830867 -0.605114 0.265443 +v 0.931261 1.051511 -0.123636 +v 0.956355 1.239806 -0.111055 +v 0.855978 -0.404018 0.278025 +v 0.805772 1.177103 0.240359 +v 0.981467 -0.529425 -0.085970 +v 0.943817 0.210769 -0.123636 +v 0.843440 0.838358 0.252901 +v 0.981467 -0.605114 -0.123636 +v 0.868534 1.290080 0.052150 +v 0.855978 -0.605114 0.278025 +v 0.893628 1.290080 0.077194 +f 690 688 694 +f 680 679 681 +f 679 680 686 +f 683 680 687 +f 686 682 688 +f 678 683 689 +f 684 681 689 +f 683 687 689 +f 687 684 689 +f 679 686 690 +f 686 688 690 +f 683 678 691 +f 681 685 691 +f 688 682 691 +f 685 688 691 +f 678 689 691 +f 689 681 691 +f 680 681 692 +f 681 684 692 +f 687 680 692 +f 684 687 692 +f 680 683 693 +f 682 686 693 +f 686 680 693 +f 691 682 693 +f 683 691 693 +f 681 679 694 +f 685 681 694 +f 688 685 694 +f 679 690 694 +o convex_50 +v 0.579769 -1.433581 -0.136166 +v 0.027594 -1.659395 -0.148740 +v 0.027594 -1.634313 -0.148740 +v 0.027594 -1.533908 0.278025 +v 0.504424 -1.270432 0.265451 +v 0.579769 -1.458623 -0.111060 +v 0.579769 -1.282973 0.278025 +v 0.027594 -1.508787 0.240344 +v 0.040188 -1.659395 -0.123634 +v 0.040188 -1.533908 0.278025 +v 0.504424 -1.458623 -0.148740 +v 0.052727 -1.609231 -0.123634 +v 0.542097 -1.483705 -0.136166 +v 0.567176 -1.270432 0.215238 +v 0.366380 -1.345716 0.215238 +f 699 706 709 +f 697 696 698 +f 699 698 701 +f 700 695 701 +f 697 698 702 +f 698 699 702 +f 698 696 703 +f 701 698 704 +f 700 701 704 +f 698 703 704 +f 696 697 705 +f 697 702 706 +f 705 697 706 +f 695 700 707 +f 703 696 707 +f 700 704 707 +f 704 703 707 +f 696 705 707 +f 705 695 707 +f 701 695 708 +f 699 701 708 +f 695 705 708 +f 706 699 708 +f 705 706 708 +f 702 699 709 +f 706 702 709 +o convex_51 +v 0.680247 0.361242 -1.052462 +v 0.755538 0.649837 -0.826542 +v 0.755538 0.649837 -0.864238 +v 0.755538 -0.567220 -0.826542 +v 0.680247 -0.492032 -0.876752 +v 0.692803 0.649837 -1.090132 +v 0.680247 0.649837 -1.027331 +v 0.742991 -0.567220 -0.876752 +v 0.768102 0.135323 -0.851647 +v 0.742991 0.649837 -0.826542 +v 0.680247 -0.529686 -0.901883 +v 0.730435 -0.567220 -0.826542 +f 714 720 721 +f 711 712 715 +f 710 714 716 +f 711 715 716 +f 715 710 716 +f 710 715 717 +f 717 715 718 +f 712 711 718 +f 711 713 718 +f 715 712 718 +f 713 717 718 +f 713 711 719 +f 716 714 719 +f 711 716 719 +f 714 710 720 +f 710 717 720 +f 720 717 721 +f 717 713 721 +f 713 719 721 +f 719 714 721 +o convex_52 +v 0.943828 1.390613 -0.349570 +v 0.843423 1.139624 -1.077438 +v 0.843423 1.152180 -1.077438 +v 0.943828 1.352946 -1.077438 +v 0.881075 1.139624 -0.349570 +v 0.843423 1.152180 -0.424958 +v 0.918717 1.378057 -0.964499 +v 0.868524 1.139624 -1.077438 +v 0.918717 1.378057 -0.349570 +v 0.931268 1.390613 -1.077438 +f 730 722 731 +f 723 724 725 +f 725 722 726 +f 723 726 727 +f 724 723 727 +f 724 727 728 +f 723 725 729 +f 725 726 729 +f 726 723 729 +f 726 722 730 +f 727 726 730 +f 728 727 730 +f 728 730 731 +f 725 724 731 +f 722 725 731 +f 724 728 731 +o convex_53 +v 0.881085 0.361043 -0.349570 +v 0.943814 1.227463 -0.123636 +v 0.943814 1.227463 -0.173861 +v 0.994024 -0.605114 -0.148759 +v 0.968913 -0.605114 -0.123636 +v 0.931270 -0.441875 -0.349570 +v 0.893640 1.227463 -0.349570 +v 0.906184 1.139565 -0.198962 +v 0.906184 -0.605114 -0.324447 +v 0.868529 1.227463 -0.336986 +v 0.943814 0.261306 -0.123636 +v 0.881085 0.499168 -0.324447 +v 0.968913 -0.504480 -0.236603 +v 0.956369 1.139565 -0.123636 +v 0.918739 -0.605114 -0.349570 +f 737 744 746 +f 733 734 738 +f 737 732 738 +f 735 736 740 +f 733 738 741 +f 738 732 741 +f 739 733 741 +f 736 733 742 +f 733 739 742 +f 740 736 742 +f 740 742 743 +f 732 740 743 +f 741 732 743 +f 739 741 743 +f 742 739 743 +f 734 735 744 +f 738 734 744 +f 737 738 744 +f 734 733 745 +f 735 734 745 +f 736 735 745 +f 733 736 745 +f 732 737 746 +f 735 740 746 +f 740 732 746 +f 744 735 746 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/703/703.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/703/703.urdf new file mode 100644 index 000000000..6e759e1a8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/703/703.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/704/704.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/704/704.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/704/704.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/704/704.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/704/704.obj new file mode 100644 index 000000000..4c236986a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/704/704.obj @@ -0,0 +1,804 @@ +o convex_0 +v 2.973862 -1.405297 0.131514 +v 2.941815 -1.849119 -0.280627 +v 2.941815 -1.817386 -0.280627 +v 1.103234 -1.880797 0.321897 +v 1.103234 -1.437031 -0.217166 +v 1.103234 -1.405297 0.321897 +v 2.973862 -1.310097 -0.217166 +v 2.910134 -1.880797 0.194975 +v 1.103234 -1.880797 -0.185377 +v 2.815092 -1.468708 0.226646 +v 1.451905 -1.849119 0.321897 +v 1.800760 -1.405297 0.290107 +v 2.941815 -1.880797 0.004829 +v 1.103234 -1.405297 0.068112 +v 2.973862 -1.849119 -0.280627 +v 2.719867 -1.880797 0.226646 +f 11 4 16 +f 3 2 5 +f 5 4 6 +f 3 5 7 +f 4 5 9 +f 5 2 9 +f 8 4 9 +f 8 1 10 +f 6 4 11 +f 6 11 12 +f 7 6 12 +f 1 7 12 +f 10 1 12 +f 11 10 12 +f 1 8 13 +f 8 9 13 +f 5 6 14 +f 7 5 14 +f 6 7 14 +f 2 3 15 +f 7 1 15 +f 3 7 15 +f 9 2 15 +f 1 13 15 +f 13 9 15 +f 4 8 16 +f 8 10 16 +f 10 11 16 +o convex_1 +v 1.039255 2.938881 0.892581 +v -1.085243 0.973150 -0.597571 +v -0.989930 0.973150 -1.009988 +v -1.021630 3.351351 -0.978167 +v 0.944157 0.973395 -1.009780 +v -1.021630 0.973150 1.051267 +v -0.989930 3.478378 1.051267 +v 0.944157 3.446499 -0.978167 +v 0.975857 0.973395 1.019446 +v 1.007556 3.382985 1.051267 +v 1.102868 0.973150 0.416939 +v -0.736336 1.670817 -1.073421 +v -1.021630 3.319717 -1.041600 +v -1.085243 1.575915 -0.090316 +v 0.119761 1.005029 -1.073421 +v 1.039255 1.258838 -0.629391 +v 0.880759 3.287838 -1.009780 +v 1.007556 3.414865 0.797536 +v 1.007556 2.304727 1.051267 +v -1.021630 3.002640 0.765715 +v 0.658649 3.446499 -0.946347 +v -0.704636 0.973150 -1.073421 +v -1.021630 2.178435 1.051267 +v -1.085243 1.702697 -0.661003 +v 1.102868 0.973150 0.511984 +v -0.831434 3.478378 0.829148 +v 0.944157 3.446499 -0.565958 +v 1.039255 0.973150 -0.629391 +v -0.545925 0.973395 1.051267 +v -1.085243 0.973150 -0.121928 +v -1.021630 3.319717 -0.439092 +v -0.863133 3.478378 1.051267 +v 0.595251 2.051653 -1.041600 +v -0.894832 3.319717 -1.041600 +v 0.849059 3.414865 1.051267 +v 0.975857 3.414865 -0.248794 +v 0.975857 2.748586 -0.883122 +f 32 44 53 +f 18 19 22 +f 23 22 26 +f 22 19 27 +f 20 24 29 +f 24 21 33 +f 26 17 34 +f 26 22 35 +f 17 26 35 +f 24 20 37 +f 27 19 38 +f 29 28 38 +f 19 29 38 +f 31 21 38 +f 28 31 38 +f 22 23 39 +f 30 22 39 +f 23 36 39 +f 36 30 39 +f 19 18 40 +f 29 19 40 +f 20 29 40 +f 18 30 40 +f 25 22 41 +f 22 27 41 +f 27 17 41 +f 35 25 41 +f 17 35 41 +f 20 23 42 +f 37 20 42 +f 24 37 42 +f 34 24 43 +f 24 42 43 +f 32 27 44 +f 27 38 44 +f 38 21 44 +f 22 25 45 +f 35 22 45 +f 25 35 45 +f 18 22 46 +f 30 18 46 +f 22 30 46 +f 23 20 47 +f 36 23 47 +f 30 36 47 +f 20 40 47 +f 40 30 47 +f 23 26 48 +f 42 23 48 +f 34 43 48 +f 43 42 48 +f 21 31 49 +f 33 21 49 +f 31 33 49 +f 29 24 50 +f 28 29 50 +f 31 28 50 +f 24 33 50 +f 33 31 50 +f 26 34 51 +f 48 26 51 +f 34 48 51 +f 17 27 52 +f 27 24 52 +f 24 34 52 +f 34 17 52 +f 21 24 53 +f 24 27 53 +f 27 32 53 +f 44 21 53 +o convex_2 +v -3.051222 -1.627165 0.226736 +v -1.085243 -1.278450 -0.153767 +v -1.085243 -1.278450 -0.344050 +v -1.085243 -1.912524 -0.185429 +v -3.114795 -1.405291 -0.312326 +v -1.085243 -1.341871 0.258461 +v -2.987650 -1.278450 0.258461 +v -2.955863 -1.944332 0.195012 +v -1.085243 -1.817426 0.290185 +v -2.955863 -1.912524 -0.217154 +v -3.114795 -1.944332 0.131626 +v -1.085243 -1.373613 -0.344050 +v -3.083009 -1.532132 -0.312326 +v -1.846325 -1.310193 -0.344050 +v -1.085243 -1.500454 0.290185 +v -1.370922 -1.817426 0.290185 +v -2.955863 -1.278450 0.163288 +v -1.212189 -1.912524 -0.058595 +v -2.448674 -1.944332 0.004729 +v -1.656402 -1.310193 0.258461 +f 60 68 73 +f 56 55 57 +f 57 55 59 +f 55 56 60 +f 58 54 60 +f 57 59 62 +f 54 58 64 +f 61 54 64 +f 56 57 65 +f 57 63 65 +f 65 63 66 +f 64 58 66 +f 63 64 66 +f 56 65 67 +f 65 66 67 +f 66 58 67 +f 62 59 68 +f 62 68 69 +f 60 54 69 +f 54 61 69 +f 61 62 69 +f 68 60 69 +f 60 56 70 +f 58 60 70 +f 56 67 70 +f 67 58 70 +f 57 62 71 +f 62 61 71 +f 63 57 72 +f 61 64 72 +f 64 63 72 +f 57 71 72 +f 71 61 72 +f 59 55 73 +f 55 60 73 +f 68 59 73 +o convex_3 +v -0.767980 -0.517334 -1.041597 +v 1.071147 -1.214955 -0.121919 +v 1.071147 -1.278385 -0.121919 +v -1.053531 -1.278385 1.051267 +v 0.944282 -0.200185 0.987732 +v -1.053531 -0.200185 1.051267 +v 0.944282 -0.200185 -1.009724 +v -0.958278 -1.278385 -0.978273 +v 0.944282 -1.278385 0.987732 +v 0.944282 -1.278385 -1.009724 +v -0.989890 -0.200185 -0.978273 +v -0.102043 -1.278385 -1.105132 +v -1.053531 -1.214955 -0.375638 +v 1.039327 -0.200185 -0.629357 +v -0.451026 -0.200185 -1.105132 +v -0.419205 -0.549102 1.051267 +v -1.053531 -0.580764 -0.502497 +v 0.024614 -0.390475 -1.105132 +v -0.387593 -1.278385 -1.105132 +v 1.071147 -1.278385 -0.438962 +v -0.419205 -1.278385 1.051267 +v 1.071147 -0.707623 -0.407300 +v -1.021711 -0.200185 -0.692681 +v 0.975895 -1.278385 -0.946400 +v -0.989890 -1.278385 -0.851413 +v -0.451026 -0.200185 1.051267 +f 89 78 99 +f 76 75 78 +f 79 78 80 +f 76 77 81 +f 77 76 82 +f 76 78 82 +f 76 81 83 +f 79 80 84 +f 74 81 84 +f 83 81 85 +f 77 79 86 +f 80 78 87 +f 84 80 88 +f 74 84 88 +f 79 77 89 +f 82 78 89 +f 86 79 90 +f 80 83 91 +f 83 85 91 +f 88 80 91 +f 85 88 91 +f 81 74 92 +f 85 81 92 +f 74 88 92 +f 88 85 92 +f 75 76 93 +f 76 83 93 +f 77 82 94 +f 89 77 94 +f 82 89 94 +f 78 75 95 +f 87 78 95 +f 75 93 95 +f 93 87 95 +f 79 84 96 +f 90 79 96 +f 84 90 96 +f 83 80 97 +f 80 87 97 +f 93 83 97 +f 87 93 97 +f 81 77 98 +f 84 81 98 +f 77 86 98 +f 90 84 98 +f 86 90 98 +f 78 79 99 +f 79 89 99 +o convex_4 +v 1.007621 -1.976115 0.448442 +v -0.641129 -2.102971 -1.041501 +v -0.926510 -2.578486 -0.978068 +v -1.085243 -1.976115 1.082771 +v 0.912424 -2.673575 0.987517 +v 0.944086 -2.705343 -1.009681 +v -1.085243 -2.673575 1.082771 +v 0.944086 -1.976115 -1.009681 +v -0.958383 -1.976115 -0.978068 +v 0.944086 -1.976115 0.987517 +v 1.071157 -2.134667 -0.438993 +v -0.990045 -2.610254 -0.565651 +v -1.085243 -1.976115 0.607129 +v 0.690367 -2.705343 -1.009681 +v 0.944086 -2.705343 -0.280307 +v 0.532057 -2.134667 1.019546 +v 1.071157 -1.976115 -0.122037 +v 0.944086 -2.578486 0.924293 +v 0.024619 -1.976115 -1.041501 +v 0.975748 -2.673575 -0.978068 +v -1.021707 -2.134667 -0.438785 +v -0.767989 -2.610254 -0.978068 +v -1.085243 -2.641879 0.860652 +v 0.310000 -2.261524 -1.041501 +v 0.944086 -2.673575 0.543696 +v -0.958383 -2.483326 -0.978068 +v 1.039283 -1.976115 -0.629292 +f 110 119 126 +f 103 100 107 +f 103 107 108 +f 100 103 109 +f 106 103 112 +f 103 108 112 +f 102 101 113 +f 104 106 114 +f 113 105 114 +f 106 113 114 +f 103 106 115 +f 106 104 115 +f 109 103 115 +f 104 109 115 +f 107 100 116 +f 110 116 117 +f 100 109 117 +f 109 104 117 +f 116 100 117 +f 101 108 118 +f 108 107 118 +f 105 107 119 +f 114 105 119 +f 112 108 120 +f 111 102 121 +f 106 111 121 +f 102 113 121 +f 113 106 121 +f 111 106 122 +f 106 112 122 +f 120 111 122 +f 112 120 122 +f 107 105 123 +f 113 101 123 +f 105 113 123 +f 101 118 123 +f 118 107 123 +f 104 114 124 +f 110 117 124 +f 117 104 124 +f 119 110 124 +f 114 119 124 +f 101 102 125 +f 108 101 125 +f 102 111 125 +f 111 120 125 +f 120 108 125 +f 107 116 126 +f 116 110 126 +f 119 107 126 +o convex_5 +v 2.942110 0.719282 0.448678 +v 1.102868 -0.073127 -0.597744 +v 1.198106 -0.104864 -0.565930 +v 1.102868 -0.200185 0.575590 +v 1.102868 0.909589 0.480378 +v 3.037152 0.941438 -0.439018 +v 3.100709 -0.168449 -0.470832 +v 1.102868 0.782867 -0.565930 +v 2.910429 -0.073239 0.480378 +v 2.973790 0.941438 0.416864 +v 1.388581 0.085220 0.575590 +v 2.973790 -0.168449 -0.502531 +v 2.117433 0.941438 -0.058511 +v 2.339589 -0.200185 -0.058511 +v 3.100709 0.941438 -0.375619 +v 2.942110 -0.104976 0.416864 +v 1.102868 0.814491 -0.502417 +v 1.102868 -0.200185 0.290182 +v 2.846872 0.877965 0.448678 +v 2.561550 -0.168337 -0.502417 +v 1.325024 -0.200185 0.575590 +v 1.229787 0.751130 -0.565930 +v 3.068832 -0.168449 -0.248822 +v 2.688273 0.941438 -0.439133 +v 1.102868 0.909589 0.353580 +v 1.229787 -0.041614 -0.597744 +v 3.100709 0.307376 -0.470832 +f 138 148 153 +f 128 130 131 +f 128 131 134 +f 127 135 136 +f 131 130 137 +f 135 127 137 +f 129 128 138 +f 131 136 139 +f 136 132 139 +f 138 133 140 +f 132 136 141 +f 136 135 142 +f 134 131 143 +f 128 129 144 +f 130 128 144 +f 140 130 144 +f 127 136 145 +f 136 131 145 +f 137 127 145 +f 131 137 145 +f 129 138 146 +f 138 140 146 +f 144 129 146 +f 140 144 146 +f 137 130 147 +f 135 137 147 +f 130 140 147 +f 142 135 147 +f 140 142 147 +f 134 132 148 +f 140 133 149 +f 133 141 149 +f 141 136 149 +f 136 142 149 +f 142 140 149 +f 132 134 150 +f 139 132 150 +f 134 143 150 +f 143 139 150 +f 131 139 151 +f 143 131 151 +f 139 143 151 +f 128 134 152 +f 138 128 152 +f 134 148 152 +f 148 138 152 +f 133 138 153 +f 132 141 153 +f 141 133 153 +f 148 132 153 +o convex_6 +v -0.292449 -1.785758 1.526993 +v 0.341786 -1.341886 1.273299 +v 0.341786 -1.532091 1.273299 +v 0.214890 -1.912620 3.112531 +v -0.197276 -1.341886 3.112531 +v -0.292449 -1.310097 1.082979 +v 0.246614 -1.880831 1.082979 +v 0.214890 -1.310097 3.048958 +v -0.229000 -1.912620 2.985386 +v -0.292449 -1.880831 1.082979 +v 0.341786 -1.849159 1.082979 +v 0.310062 -1.341886 1.082979 +v 0.278338 -1.912620 2.319663 +v -0.229000 -1.500479 3.080745 +v -0.260725 -1.912620 1.907633 +v -0.260725 -1.310097 2.066167 +v 0.246614 -1.880831 2.890226 +v -0.038655 -1.310097 1.082979 +f 165 159 171 +f 158 157 161 +f 154 159 163 +f 159 160 163 +f 162 154 163 +f 155 156 164 +f 160 159 164 +f 155 164 165 +f 164 159 165 +f 157 162 166 +f 164 156 166 +f 160 164 166 +f 157 158 167 +f 162 157 167 +f 154 162 167 +f 163 160 168 +f 162 163 168 +f 166 162 168 +f 160 166 168 +f 159 154 169 +f 158 161 169 +f 161 159 169 +f 167 158 169 +f 154 167 169 +f 156 155 170 +f 155 161 170 +f 161 157 170 +f 166 156 170 +f 157 166 170 +f 161 155 171 +f 159 161 171 +f 155 165 171 +o convex_7 +v -1.624431 0.941335 0.607302 +v -1.275559 -0.136672 -0.597744 +v -1.275559 -0.104973 -0.597744 +v -3.083083 -0.073158 -0.502435 +v -2.543740 -0.200185 0.575454 +v -2.924292 0.877937 -0.566014 +v -3.083083 0.846122 0.543724 +v -1.085283 0.973149 -0.502553 +v -1.085283 -0.104973 0.543724 +v -1.085283 0.973149 0.607302 +v -2.987847 -0.200185 0.575454 +v -1.085283 -0.136672 -0.597744 +v -2.512059 0.909636 -0.566014 +v -2.987847 0.592528 -0.566014 +v -2.987847 -0.200185 0.385190 +v -2.131703 0.307349 0.607302 +v -1.085283 0.846237 -0.534166 +v -1.275559 0.973149 0.512111 +v -2.987847 0.877937 -0.280559 +v -3.083083 0.529014 0.511993 +v -1.148839 0.560828 0.607302 +v -1.085283 -0.136672 -0.026833 +v -3.083083 0.846122 0.321847 +v -3.019527 0.307349 0.575454 +v -2.100023 0.909636 -0.566014 +v -1.624431 -0.136672 -0.566014 +v -1.846387 -0.104973 0.575454 +v -3.051208 0.180436 -0.534166 +v -3.051208 -0.136672 -0.090294 +v -1.085283 -0.009760 -0.597744 +v -1.370795 -0.136672 0.543724 +f 193 180 202 +f 180 179 181 +f 173 174 183 +f 179 180 183 +f 174 173 185 +f 177 174 185 +f 176 182 186 +f 173 183 186 +f 183 176 186 +f 181 172 187 +f 182 176 187 +f 179 183 188 +f 178 172 189 +f 181 179 189 +f 172 181 189 +f 179 184 189 +f 189 184 190 +f 184 177 190 +f 177 185 190 +f 178 189 190 +f 178 175 191 +f 182 178 191 +f 180 181 192 +f 181 187 192 +f 176 183 193 +f 183 180 193 +f 175 178 194 +f 178 190 194 +f 190 185 194 +f 172 178 195 +f 178 182 195 +f 187 172 195 +f 182 187 195 +f 184 179 196 +f 179 188 196 +f 175 173 197 +f 173 186 197 +f 176 180 198 +f 187 176 198 +f 180 192 198 +f 192 187 198 +f 173 175 199 +f 185 173 199 +f 175 194 199 +f 194 185 199 +f 186 182 200 +f 191 175 200 +f 182 191 200 +f 175 197 200 +f 197 186 200 +f 174 177 201 +f 183 174 201 +f 177 184 201 +f 188 183 201 +f 184 196 201 +f 196 188 201 +f 180 176 202 +f 176 193 202 +o convex_8 +v -0.514440 0.751139 1.051267 +v -0.451042 -0.200185 -1.105132 +v -0.451042 -0.009875 -1.105132 +v 1.102868 -0.200185 0.575491 +v 0.944157 0.973149 -1.009724 +v -1.053329 -0.200185 1.051267 +v -0.989930 0.973149 -1.009935 +v 0.975857 0.973149 1.019394 +v 0.944157 -0.200185 -1.009724 +v -1.021630 0.973149 1.051267 +v -1.085243 -0.136672 -0.597695 +v 0.944157 -0.168371 1.019394 +v 1.102868 0.782839 -0.565821 +v -0.989930 -0.200185 -0.978273 +v -1.085243 0.973149 0.606942 +v 1.102868 0.973149 0.480294 +v 1.102868 -0.073273 -0.597484 +v 0.151460 0.973149 -1.073259 +v -1.085243 0.973149 -0.597695 +v -0.704636 0.973149 -1.073259 +v -1.085243 -0.104973 0.543618 +v 0.309957 0.592528 -1.073259 +v -0.451042 -0.200185 1.051267 +v -0.228932 -0.200185 -1.105132 +v -0.958231 -0.104973 -1.009935 +v 0.944157 -0.200185 0.987732 +v 1.039255 0.973149 -0.629357 +v 0.975857 0.085338 1.019394 +v 1.039255 -0.200185 -0.629357 +f 211 219 231 +f 204 206 208 +f 207 209 210 +f 206 204 211 +f 208 203 212 +f 203 210 212 +f 210 209 212 +f 204 208 216 +f 208 213 216 +f 213 209 216 +f 208 212 217 +f 212 209 217 +f 210 206 218 +f 207 210 218 +f 206 215 218 +f 211 207 219 +f 215 206 219 +f 207 215 219 +f 209 207 220 +f 209 213 221 +f 217 209 221 +f 213 217 221 +f 205 204 222 +f 220 205 222 +f 209 220 222 +f 213 208 223 +f 208 217 223 +f 217 213 223 +f 207 211 224 +f 220 207 224 +f 203 208 225 +f 208 206 225 +f 210 203 225 +f 204 205 226 +f 211 204 226 +f 205 220 226 +f 224 211 226 +f 220 224 226 +f 204 216 227 +f 216 209 227 +f 222 204 227 +f 209 222 227 +f 206 214 228 +f 225 206 228 +f 214 225 228 +f 215 207 229 +f 207 218 229 +f 218 215 229 +f 206 210 230 +f 214 206 230 +f 210 225 230 +f 225 214 230 +f 206 211 231 +f 219 206 231 +o convex_9 +v -0.292415 -1.595574 -2.373534 +v 0.341786 -1.817392 -1.105132 +v 0.341786 -1.976044 -1.105132 +v 0.246614 -1.785720 -3.070901 +v 0.246614 -1.373520 -1.105132 +v -0.260734 -1.912583 -1.168689 +v -0.324161 -1.912583 -3.070901 +v -0.228988 -1.373520 -3.102973 +v -0.228988 -1.405310 -1.105132 +v 0.246614 -1.468711 -2.944374 +v 0.278360 -1.912583 -2.944374 +v -0.070454 -1.944254 -1.105132 +v -0.324161 -1.753990 -2.532133 +v -0.260734 -1.405310 -3.102973 +v 0.341786 -1.976044 -1.454011 +v 0.246614 -1.912583 -3.070901 +v 0.246614 -1.436981 -2.626980 +v 0.341786 -1.912583 -1.676167 +v -0.324161 -1.753990 -3.102973 +v 0.056334 -1.373520 -1.105132 +v -0.260734 -1.500383 -1.390650 +v 0.246614 -1.373520 -1.390650 +f 248 239 253 +f 234 233 236 +f 234 236 240 +f 235 239 241 +f 235 241 242 +f 237 238 243 +f 234 240 243 +f 240 237 243 +f 238 237 244 +f 240 239 245 +f 244 232 245 +f 233 234 246 +f 234 243 246 +f 243 238 246 +f 239 235 247 +f 235 242 247 +f 246 238 247 +f 242 246 247 +f 233 241 248 +f 241 239 248 +f 241 233 249 +f 242 241 249 +f 233 246 249 +f 246 242 249 +f 238 244 250 +f 245 239 250 +f 244 245 250 +f 239 247 250 +f 247 238 250 +f 236 239 251 +f 240 236 251 +f 239 240 251 +f 237 240 252 +f 244 237 252 +f 232 244 252 +f 245 232 252 +f 240 245 252 +f 236 233 253 +f 239 236 253 +f 233 248 253 +o convex_10 +v 0.341656 -1.849159 1.082978 +v -0.355729 -1.627214 -1.105132 +v -0.355729 -1.278385 -1.105132 +v -1.085243 -1.976044 1.082978 +v 0.944157 -1.976044 -1.009606 +v 0.944157 -1.278385 0.987666 +v -1.053329 -1.278385 1.051065 +v -0.958231 -1.976044 -0.977907 +v 0.944157 -1.278385 -1.009606 +v 0.944157 -1.976044 0.987666 +v -0.989930 -1.278385 -0.851109 +v 1.102868 -1.436956 -0.248608 +v 1.102868 -1.880846 0.321766 +v -1.085243 -1.278385 -0.343706 +v 0.341656 -1.976044 -1.105132 +v -1.085243 -1.912601 -0.185209 +v 0.309957 -1.341827 1.082978 +v 1.102868 -1.976044 -0.248608 +v 1.102868 -1.405269 0.321766 +v 1.070955 -1.278385 -0.438804 +v -0.958231 -1.278385 -0.977907 +v 0.246558 -1.373582 -1.105132 +v -0.228932 -1.912601 -1.105132 +v 0.975857 -1.976044 -0.946422 +v -0.292545 -1.310140 1.082978 +v -1.085243 -1.310140 0.258367 +f 260 267 279 +f 259 256 260 +f 256 255 261 +f 258 257 261 +f 256 259 262 +f 254 257 263 +f 257 258 263 +f 259 254 263 +f 260 256 264 +f 259 263 266 +f 260 264 267 +f 264 261 267 +f 255 256 268 +f 258 261 268 +f 262 258 268 +f 261 257 269 +f 257 267 269 +f 267 261 269 +f 257 254 270 +f 254 259 270 +f 263 258 271 +f 266 263 271 +f 265 266 271 +f 259 266 272 +f 266 265 272 +f 262 259 273 +f 265 271 273 +f 259 272 273 +f 272 265 273 +f 256 261 274 +f 264 256 274 +f 261 264 274 +f 256 262 275 +f 268 256 275 +f 262 268 275 +f 261 255 276 +f 255 268 276 +f 268 261 276 +f 258 262 277 +f 271 258 277 +f 262 273 277 +f 273 271 277 +f 260 257 278 +f 259 260 278 +f 257 270 278 +f 270 259 278 +f 257 260 279 +f 267 257 279 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/704/704.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/704/704.urdf new file mode 100644 index 000000000..c67d6d3e1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/704/704.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/705/705.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/705/705.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/705/705.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/705/705.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/705/705.obj new file mode 100644 index 000000000..c6401a5cd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/705/705.obj @@ -0,0 +1,312 @@ +o convex_0 +v 1.284578 5.147928 0.501372 +v -0.778509 -0.853111 -1.111455 +v -0.778509 -0.853111 1.026558 +v 1.434711 -0.853111 0.951592 +v -0.740813 5.111276 1.064253 +v 1.322057 4.998361 -0.961311 +v -0.778509 5.186355 -0.961311 +v 1.359536 -0.853111 -1.073759 +v 1.359536 5.148520 1.064253 +v -0.778509 4.097998 1.026558 +v -0.478243 -0.402634 -1.111455 +v 1.359536 3.085311 -0.773684 +v -0.215672 -0.853111 1.026558 +v 1.397016 3.497953 0.876626 +v 1.359536 4.435560 1.064253 +v 0.796916 5.186355 0.614033 +v 1.359536 -0.214640 -1.073759 +v 1.397016 0.197411 0.989075 +v 1.284578 5.035605 -0.961311 +v 1.397016 -0.815276 -0.436125 +v -0.515722 5.186355 -0.961311 +v 0.234511 -0.815276 -1.111455 +v -0.778509 5.186355 -0.511091 +v 1.434711 -0.290311 0.914109 +v -0.740813 4.360480 1.064253 +v 1.359536 2.148295 -0.998794 +v 1.397016 3.159800 0.614033 +v 0.871874 -0.853111 0.989075 +v -0.778509 5.147928 0.013882 +v 1.397016 3.610277 1.026558 +v -0.778509 -0.439878 -1.111455 +v 0.346732 5.147928 1.064253 +v 1.359536 5.148520 0.914109 +v 0.871874 5.186355 0.538855 +v 1.434711 -0.815276 0.763965 +f 20 26 35 +f 3 2 4 +f 2 3 7 +f 4 2 8 +f 3 5 10 +f 7 3 10 +f 3 4 13 +f 9 5 15 +f 4 15 18 +f 4 8 20 +f 8 17 20 +f 11 7 21 +f 7 16 21 +f 19 11 21 +f 8 2 22 +f 2 11 22 +f 17 8 22 +f 6 17 22 +f 19 6 22 +f 11 19 22 +f 7 10 23 +f 16 7 23 +f 5 16 23 +f 5 3 25 +f 3 13 25 +f 15 5 25 +f 13 15 25 +f 6 12 26 +f 17 6 26 +f 20 17 26 +f 12 6 27 +f 6 14 27 +f 14 24 27 +f 24 12 27 +f 13 4 28 +f 15 13 28 +f 4 18 28 +f 18 15 28 +f 10 5 29 +f 5 23 29 +f 23 10 29 +f 15 4 30 +f 9 15 30 +f 4 24 30 +f 24 14 30 +f 2 7 31 +f 11 2 31 +f 7 11 31 +f 5 9 32 +f 16 5 32 +f 9 16 32 +f 14 6 33 +f 19 1 33 +f 6 19 33 +f 9 30 33 +f 30 14 33 +f 16 9 34 +f 1 19 34 +f 21 16 34 +f 19 21 34 +f 33 1 34 +f 9 33 34 +f 4 20 35 +f 24 4 35 +f 12 24 35 +f 26 12 35 +o convex_1 +v -4.642018 -2.503649 0.463904 +v -4.679468 -1.528537 -0.586284 +v -4.717292 -2.128453 -0.511157 +v -2.804356 -2.466085 -0.548721 +v -2.804356 -1.378283 0.463904 +v -4.717292 -1.490973 0.576595 +v -2.804356 -2.428411 0.501467 +v -2.879443 -1.490973 -0.473707 +v -4.717292 -2.428411 -0.436143 +v -4.341857 -1.453410 -0.398694 +v -3.329590 -2.503649 -0.248667 +v -2.804356 -1.453410 -0.286117 +v -4.717292 -1.715914 0.576595 +v -3.966798 -2.466085 -0.511157 +v -4.341857 -1.490973 0.576595 +v -4.679468 -2.503649 0.126286 +v -2.804356 -2.203360 -0.548721 +v -4.717292 -1.490973 -0.436143 +v -3.929348 -2.503649 0.463904 +v -2.804356 -2.466085 0.126286 +v -2.916893 -1.378283 0.276313 +v -3.367039 -2.466085 -0.548721 +v -4.642018 -1.490973 -0.586284 +v -4.229321 -1.453410 0.538917 +v -4.679468 -2.278488 0.501467 +f 44 51 60 +f 39 40 42 +f 41 38 44 +f 40 39 47 +f 43 45 47 +f 41 44 48 +f 44 38 49 +f 40 41 50 +f 42 40 50 +f 48 42 50 +f 41 48 50 +f 46 36 51 +f 44 49 51 +f 49 46 51 +f 47 39 52 +f 43 47 52 +f 37 38 53 +f 38 41 53 +f 41 45 53 +f 42 36 54 +f 36 46 54 +f 54 46 55 +f 39 42 55 +f 46 39 55 +f 42 54 55 +f 40 47 56 +f 47 45 56 +f 38 37 57 +f 37 39 57 +f 39 46 57 +f 49 38 57 +f 46 49 57 +f 39 37 58 +f 45 43 58 +f 52 39 58 +f 43 52 58 +f 37 53 58 +f 53 45 58 +f 41 40 59 +f 45 41 59 +f 40 56 59 +f 56 45 59 +f 36 42 60 +f 42 48 60 +f 48 44 60 +f 51 36 60 +o convex_2 +v -2.766375 -2.203346 -0.773684 +v 1.434584 -0.853112 0.951592 +v 1.434584 -0.853112 0.763965 +v 3.272616 -3.028820 1.026558 +v 3.310322 -0.965773 -1.036277 +v 3.310322 -2.953428 -1.111455 +v -2.690962 -2.916159 1.064253 +v -2.653854 -0.890807 -0.998794 +v -2.653854 -0.928290 0.951379 +v -2.690962 -2.953641 -0.998794 +v 3.272616 -0.965773 0.989075 +v -0.778116 -0.853112 -1.111455 +v -1.153384 -0.853112 1.026558 +v -2.804081 -1.378510 0.463889 +v 3.272616 -1.490959 1.026558 +v -0.890637 -2.991124 0.951592 +v 1.359172 -0.853112 -1.073759 +v -2.766375 -2.578387 1.064253 +v -1.078570 -1.265849 -1.111455 +v 3.234910 -3.028820 0.501372 +v -2.804081 -2.540904 -0.623539 +v -1.903320 -2.015718 1.064253 +v 3.310322 -0.965773 0.051365 +v -2.804081 -1.490959 -0.436125 +v -2.316293 -2.540904 -1.036277 +v 0.346489 -0.890807 -1.111455 +v -2.766375 -2.916159 0.914109 +v 3.310322 -2.991124 -0.398429 +v -2.804081 -2.428456 0.501372 +v -0.253221 -0.853112 1.026558 +v -1.040863 -2.991124 0.576337 +v -2.728668 -2.953641 -0.811167 +v -2.690962 -1.303545 0.989075 +v -2.653854 -0.890807 -0.398429 +v -1.416131 -0.853112 0.313745 +v 2.109706 -0.965773 -1.073759 +v 2.634602 -3.028820 1.026558 +v 3.234910 -2.766014 -1.111455 +v -2.053546 -0.890807 0.989075 +v -2.728668 -2.916159 -0.961311 +v -2.690962 -1.153400 -0.961311 +v 3.310322 -2.915946 -0.173532 +v -2.166067 -0.890807 -1.036277 +v 3.234910 -2.953641 -1.111455 +v -2.354000 -2.916159 1.064253 +v -2.766375 -2.916159 0.126330 +v -2.690962 -1.078434 0.951379 +f 78 93 107 +f 63 62 65 +f 62 63 72 +f 62 72 73 +f 63 65 77 +f 72 63 77 +f 72 66 79 +f 64 75 82 +f 78 67 82 +f 73 78 82 +f 65 62 83 +f 66 65 83 +f 62 71 83 +f 75 64 83 +f 71 75 83 +f 74 68 84 +f 61 81 84 +f 81 74 84 +f 70 68 85 +f 66 72 86 +f 72 77 86 +f 67 78 87 +f 64 80 88 +f 80 70 88 +f 66 83 88 +f 78 74 89 +f 74 81 89 +f 87 78 89 +f 81 87 89 +f 71 62 90 +f 62 73 90 +f 75 71 90 +f 82 75 90 +f 73 82 90 +f 70 80 91 +f 76 67 92 +f 67 87 92 +f 91 76 92 +f 70 91 92 +f 78 73 93 +f 68 74 94 +f 74 69 94 +f 72 68 95 +f 73 72 95 +f 94 73 95 +f 68 94 95 +f 77 65 96 +f 86 77 96 +f 64 67 97 +f 67 76 97 +f 80 64 97 +f 76 91 97 +f 91 80 97 +f 65 66 98 +f 66 86 98 +f 96 65 98 +f 86 96 98 +f 69 93 99 +f 93 73 99 +f 94 69 99 +f 73 94 99 +f 68 70 100 +f 81 61 100 +f 70 92 100 +f 92 81 100 +f 61 84 101 +f 84 68 101 +f 100 61 101 +f 68 100 101 +f 83 64 102 +f 64 88 102 +f 88 83 102 +f 68 72 103 +f 72 79 103 +f 85 68 103 +f 79 85 103 +f 79 66 104 +f 70 85 104 +f 85 79 104 +f 66 88 104 +f 88 70 104 +f 67 64 105 +f 64 82 105 +f 82 67 105 +f 87 81 106 +f 81 92 106 +f 92 87 106 +f 69 74 107 +f 74 78 107 +f 93 69 107 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/705/705.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/705/705.urdf new file mode 100644 index 000000000..25c3cb916 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/705/705.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/706/706.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/706/706.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/706/706.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/706/706.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/706/706.obj new file mode 100644 index 000000000..fd26ccb28 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/706/706.obj @@ -0,0 +1,1689 @@ +o convex_0 +v -0.391129 -3.534898 -0.874085 +v 0.049257 -2.805783 -0.832801 +v 0.104316 -2.819475 -0.819053 +v 0.351993 -3.589930 -0.805289 +v 0.324464 -2.874507 -0.832801 +v -0.404849 -3.177320 -0.846557 +v 0.255684 -3.631271 -0.791524 +v -0.404849 -3.108506 -0.874085 +v -0.019523 -3.713953 -0.846557 +v 0.420863 -3.135978 -0.791524 +v -0.322259 -3.617491 -0.846557 +v -0.212140 -2.888288 -0.832801 +v -0.308540 -3.617491 -0.874085 +v 0.407053 -3.191100 -0.819053 +v -0.225950 -2.888288 -0.860321 +v -0.033242 -3.713953 -0.819053 +v -0.473718 -3.287207 -0.860321 +v -0.349789 -2.943320 -0.846557 +v 0.310744 -2.874507 -0.805289 +f 12 10 19 +f 2 3 5 +f 4 7 9 +f 7 4 10 +f 3 2 12 +f 6 7 12 +f 7 10 12 +f 1 8 13 +f 8 5 13 +f 5 9 13 +f 11 1 13 +f 9 5 14 +f 4 9 14 +f 10 4 14 +f 5 10 14 +f 2 5 15 +f 5 8 15 +f 12 2 15 +f 7 6 16 +f 9 7 16 +f 6 11 16 +f 13 9 16 +f 11 13 16 +f 8 1 17 +f 1 11 17 +f 11 6 17 +f 6 12 18 +f 15 8 18 +f 12 15 18 +f 8 17 18 +f 17 6 18 +f 5 3 19 +f 10 5 19 +f 3 12 19 +o convex_1 +v 0.035507 0.800259 -0.777759 +v -0.102121 -2.323906 -0.791524 +v -0.102121 -2.323906 -0.777759 +v 0.173136 -2.323906 -0.777759 +v 0.049222 -2.089655 -0.832799 +v 0.062990 0.731146 -0.805279 +v -0.047048 0.731146 -0.791524 +v 0.104321 0.731146 -0.791524 +v 0.021766 -2.323906 -0.832799 +v 0.173136 -2.006780 -0.791524 +v -0.047048 0.731146 -0.777759 +v -0.005771 0.731146 -0.805279 +v 0.104321 0.731146 -0.777759 +f 29 27 32 +f 22 21 23 +f 20 22 23 +f 21 22 26 +f 25 20 27 +f 23 21 28 +f 24 25 29 +f 25 27 29 +f 23 28 29 +f 28 24 29 +f 22 20 30 +f 20 26 30 +f 26 22 30 +f 25 24 31 +f 20 25 31 +f 26 20 31 +f 21 26 31 +f 28 21 31 +f 24 28 31 +f 20 23 32 +f 27 20 32 +f 23 29 32 +o convex_2 +v -0.900356 -2.282409 -0.048410 +v -0.941642 -1.181844 0.171872 +v -0.927871 -1.181844 0.158090 +v -0.707697 -0.314923 -0.571218 +v -0.693926 -2.309943 -0.557511 +v -0.914101 -0.314726 0.020424 +v -0.693926 -0.314923 -0.529948 +v -0.721493 -2.309943 -0.571218 +v -0.941642 -2.254875 0.171872 +v -0.872815 -0.314726 0.006568 +v -0.955387 -2.268642 0.116820 +v -0.693926 -1.456395 -0.529948 +v -0.762779 -2.296176 -0.461114 +v -0.721467 -0.314923 -0.543655 +v -0.955387 -1.181844 0.144309 +v -0.927871 -2.034605 0.144309 +v -0.693926 -2.323906 -0.585074 +v -0.900356 -0.314726 0.061768 +v -0.955387 -2.020838 0.116820 +v -0.776549 -1.278212 -0.282177 +v -0.955387 -1.181844 0.171872 +f 50 38 53 +f 35 34 41 +f 36 38 42 +f 39 36 42 +f 37 39 44 +f 39 42 44 +f 40 33 45 +f 40 45 46 +f 38 36 46 +f 36 40 46 +f 45 38 46 +f 35 41 48 +f 41 37 48 +f 37 44 48 +f 36 39 49 +f 39 37 49 +f 33 40 49 +f 40 36 49 +f 37 41 49 +f 43 33 49 +f 41 43 49 +f 34 35 50 +f 35 42 50 +f 42 38 50 +f 33 43 51 +f 45 33 51 +f 38 45 51 +f 47 38 51 +f 43 47 51 +f 42 35 52 +f 44 42 52 +f 35 48 52 +f 48 44 52 +f 41 34 53 +f 43 41 53 +f 38 47 53 +f 47 43 53 +f 34 50 53 +o convex_3 +v -0.776531 0.593706 -0.419860 +v -0.941638 0.648860 0.185646 +v -0.872798 0.414816 -0.007076 +v -0.955406 -0.507211 0.144300 +v -0.693924 -0.314412 -0.529966 +v -0.693924 0.717682 -0.543673 +v -0.927897 -0.507211 0.158082 +v -0.721486 -0.314412 -0.543673 +v -0.969174 0.648860 0.171790 +v -0.735254 0.717682 -0.543673 +v -0.914102 0.717682 -0.007076 +v -0.886566 -0.245590 0.047903 +v -0.693924 -0.314412 -0.571311 +v -0.955406 -0.507211 0.185646 +v -0.900334 0.717682 0.061758 +v -0.735254 0.566129 -0.543673 +v -0.927897 -0.507211 0.061758 +f 69 61 70 +f 55 56 59 +f 54 57 64 +f 57 62 64 +f 59 63 64 +f 63 54 64 +f 56 55 65 +f 59 56 65 +f 58 59 65 +f 55 60 65 +f 60 58 65 +f 59 58 66 +f 58 60 66 +f 63 59 66 +f 60 55 67 +f 57 60 67 +f 55 62 67 +f 62 57 67 +f 55 59 68 +f 62 55 68 +f 59 64 68 +f 64 62 68 +f 57 54 69 +f 54 63 69 +f 66 61 69 +f 63 66 69 +f 60 57 70 +f 66 60 70 +f 61 66 70 +f 57 69 70 +o convex_4 +v -0.019656 0.566133 -0.777754 +v -0.693924 -0.287005 -0.571336 +v -0.666309 -0.287005 -0.585101 +v -0.693924 0.717682 -0.571336 +v -0.680049 0.703816 -0.543785 +v -0.005849 -0.287005 -0.763966 +v -0.088423 0.717682 -0.777754 +v -0.060943 -0.287005 -0.777754 +v -0.652569 -0.287005 -0.557572 +v -0.033396 0.717682 -0.763966 +v -0.005849 0.139712 -0.763966 +v -0.666309 0.717682 -0.585101 +v -0.459873 -0.287005 -0.653922 +v -0.170997 -0.287005 -0.708933 +f 76 81 84 +f 73 72 74 +f 74 72 75 +f 72 73 76 +f 71 76 78 +f 76 73 78 +f 77 71 78 +f 75 72 79 +f 72 76 79 +f 74 75 80 +f 77 74 80 +f 71 77 80 +f 76 71 81 +f 80 75 81 +f 71 80 81 +f 73 74 82 +f 74 77 82 +f 82 77 83 +f 78 73 83 +f 77 78 83 +f 73 82 83 +f 75 79 84 +f 79 76 84 +f 81 75 84 +o convex_5 +v -0.693800 0.717752 -0.571358 +v 0.035451 1.460876 -0.502550 +v 0.063033 1.447055 -0.502550 +v 0.035372 0.841631 -0.777753 +v -0.005806 1.447055 -0.571358 +v -0.707552 0.717752 -0.502524 +v 0.062955 0.745249 -0.763960 +v -0.680048 0.855379 -0.502524 +v -0.088474 0.731501 -0.777753 +v -0.336090 1.034249 -0.502524 +v -0.157156 1.391990 -0.516290 +v -0.721304 0.745249 -0.557591 +v 0.063033 1.433234 -0.557591 +v 0.063033 1.419486 -0.502550 +v -0.624961 0.731501 -0.598865 +v -0.019636 0.717752 -0.777753 +v 0.062955 0.772817 -0.750166 +f 98 94 101 +f 89 88 93 +f 87 86 94 +f 86 92 94 +f 92 90 94 +f 86 89 95 +f 92 86 95 +f 92 95 96 +f 85 90 96 +f 90 92 96 +f 95 89 96 +f 86 87 97 +f 88 89 97 +f 89 86 97 +f 91 88 97 +f 91 97 98 +f 87 94 98 +f 97 87 98 +f 93 85 99 +f 89 93 99 +f 85 96 99 +f 96 89 99 +f 90 85 100 +f 88 91 100 +f 91 90 100 +f 85 93 100 +f 93 88 100 +f 90 91 101 +f 94 90 101 +f 91 98 101 +o convex_6 +v -0.941656 -2.076007 0.640003 +v -0.941656 -1.250404 1.135282 +v -0.955418 -1.250404 1.135282 +v -0.941656 -1.250404 0.171883 +v -0.955418 -2.255092 0.171883 +v -0.927897 -2.103543 0.515994 +v -0.955418 -1.250404 0.171883 +v -0.927897 -1.759436 0.956295 +v -0.955418 -1.718426 0.969969 +v -0.941656 -2.255092 0.171883 +v -0.941656 -1.979826 0.873685 +v -0.927897 -1.718426 0.626234 +f 109 107 113 +f 104 103 105 +f 104 105 108 +f 105 106 108 +f 106 104 108 +f 103 104 109 +f 104 106 110 +f 109 104 110 +f 102 106 111 +f 106 105 111 +f 107 102 111 +f 105 107 111 +f 106 102 112 +f 102 107 112 +f 107 109 112 +f 110 106 112 +f 109 110 112 +f 105 103 113 +f 107 105 113 +f 103 109 113 +o convex_7 +v -0.005915 0.814022 1.135282 +v -0.707686 -0.493448 1.162801 +v -0.707686 -0.493448 1.176570 +v 0.062957 -0.286884 1.149051 +v 0.062957 0.676313 1.176570 +v -0.707686 -0.369561 1.135282 +v -0.267372 -0.355739 1.176570 +v -0.171042 0.621281 1.149051 +v 0.062957 0.703829 1.135282 +v 0.062957 -0.286884 1.162801 +v -0.033448 0.703829 1.176570 +v -0.693806 -0.231851 1.149051 +v 0.062957 0.194587 1.176570 +v -0.693806 -0.369561 1.176570 +v -0.611280 -0.094142 1.135282 +f 119 125 128 +f 116 115 117 +f 115 116 119 +f 117 115 119 +f 118 116 120 +f 114 118 122 +f 118 117 122 +f 119 114 122 +f 117 119 122 +f 116 117 123 +f 117 118 123 +f 120 116 123 +f 118 114 124 +f 116 118 124 +f 114 121 124 +f 119 116 125 +f 118 120 126 +f 123 118 126 +f 120 123 126 +f 116 124 127 +f 124 121 127 +f 121 125 127 +f 125 116 127 +f 114 119 128 +f 121 114 128 +f 125 121 128 +o convex_8 +v 0.503347 -2.323906 -0.681374 +v 0.090559 0.069961 -0.777697 +v 0.104369 -0.576445 -0.777697 +v 0.778654 -2.309976 -0.543815 +v 0.764912 0.703920 -0.571336 +v 0.751102 0.703920 -0.543815 +v 0.145661 0.703920 -0.777697 +v 0.159471 -2.323906 -0.763937 +v 0.090559 0.069961 -0.763937 +v 0.778654 -2.309976 -0.585073 +v 0.214574 -2.048272 -0.777697 +v 0.090559 0.703920 -0.763937 +v 0.751102 -0.864527 -0.543815 +v 0.792464 0.566103 -0.543815 +v 0.131920 -1.580583 -0.763937 +v 0.214574 -2.323906 -0.777697 +v 0.792464 -1.401569 -0.571336 +v 0.792464 -2.309976 -0.543815 +v 0.159471 -2.323906 -0.777697 +f 144 136 147 +f 131 130 135 +f 134 133 135 +f 129 132 136 +f 130 131 137 +f 129 133 138 +f 133 129 139 +f 131 135 139 +f 135 133 139 +f 135 130 140 +f 134 135 140 +f 130 137 140 +f 137 134 140 +f 132 134 141 +f 137 132 141 +f 134 137 141 +f 133 134 142 +f 134 132 142 +f 136 132 143 +f 137 131 143 +f 132 137 143 +f 129 136 144 +f 139 129 144 +f 131 139 144 +f 138 133 145 +f 133 142 145 +f 145 142 146 +f 132 129 146 +f 129 138 146 +f 142 132 146 +f 138 145 146 +f 143 131 147 +f 136 143 147 +f 131 144 147 +o convex_9 +v 0.806252 -2.310143 -0.419895 +v 1.012669 -1.195450 0.199408 +v 1.012669 -1.195450 0.158088 +v 0.778701 -0.163140 -0.529890 +v 0.806252 -1.731570 -0.543785 +v 0.985118 -2.268531 0.185586 +v 0.833781 -0.163140 -0.461143 +v 0.930061 -0.163140 -0.020873 +v 0.998882 -2.268531 0.116767 +v 0.957612 -0.163140 -0.034622 +v 0.792488 -2.310143 -0.543785 +v 0.778701 -2.213469 -0.502392 +v 1.012669 -2.158617 0.158088 +v 0.806252 -0.163140 -0.543785 +v 0.985118 -1.195450 0.171837 +v 0.916320 -0.163140 -0.062121 +v 0.806252 -2.227550 -0.529890 +v 0.833781 -1.304944 -0.461143 +v 0.778701 -2.310143 -0.543785 +v 1.012669 -2.268531 0.199408 +v 0.943848 -0.163140 0.006699 +f 155 162 168 +f 154 151 155 +f 149 150 157 +f 154 155 157 +f 148 153 159 +f 150 149 160 +f 157 150 160 +f 151 154 161 +f 154 152 161 +f 152 158 161 +f 153 149 162 +f 162 155 163 +f 155 151 163 +f 159 153 163 +f 151 159 163 +f 153 162 163 +f 158 152 164 +f 156 158 164 +f 152 160 164 +f 160 156 164 +f 152 154 165 +f 154 157 165 +f 160 152 165 +f 157 160 165 +f 158 148 166 +f 148 159 166 +f 159 151 166 +f 151 161 166 +f 161 158 166 +f 149 153 167 +f 153 148 167 +f 148 158 167 +f 158 156 167 +f 160 149 167 +f 156 160 167 +f 149 157 168 +f 157 155 168 +f 162 149 168 +o convex_10 +v 0.778747 -0.162880 -0.543785 +v 1.012645 0.703726 0.171813 +v 1.012645 0.703726 0.158082 +v 1.012645 -0.410762 0.171813 +v 0.985126 0.703726 0.171813 +v 0.792494 0.703835 -0.543785 +v 0.833785 -0.162880 -0.461122 +v 0.985126 -0.410762 0.171813 +v 0.764976 0.703835 -0.529914 +v 0.971379 -0.410762 0.006696 +v 0.971379 0.552291 0.006696 +v 0.778747 -0.025410 -0.516184 +v 0.806266 -0.162880 -0.543785 +v 0.806266 0.703835 -0.392329 +f 174 177 182 +f 171 170 172 +f 172 170 173 +f 172 173 176 +f 174 169 177 +f 171 172 178 +f 176 169 178 +f 172 176 178 +f 174 171 179 +f 175 174 179 +f 171 178 179 +f 178 175 179 +f 169 176 180 +f 176 177 180 +f 177 169 180 +f 169 174 181 +f 174 175 181 +f 178 169 181 +f 175 178 181 +f 170 171 182 +f 173 170 182 +f 171 174 182 +f 176 173 182 +f 177 176 182 +o convex_11 +v 0.338304 1.199261 -0.502524 +v 0.063067 0.731491 -0.777753 +v 0.090626 0.703920 -0.777753 +v 0.764904 0.745313 -0.571358 +v 0.778684 0.703920 -0.502550 +v 0.076846 1.419396 -0.557591 +v 0.063067 1.419396 -0.502524 +v 0.118185 0.758990 -0.777753 +v 0.186941 0.869130 -0.653825 +v 0.737345 0.869203 -0.516290 +v 0.338304 1.061840 -0.516290 +v 0.173233 1.405647 -0.502524 +v 0.076846 0.772812 -0.736399 +v 0.764904 0.703920 -0.571358 +f 190 186 196 +f 187 183 189 +f 188 184 189 +f 185 184 190 +f 184 188 190 +f 188 186 190 +f 187 186 192 +f 186 188 192 +f 187 189 193 +f 191 187 193 +f 183 187 194 +f 189 183 194 +f 188 189 194 +f 187 192 194 +f 192 188 194 +f 184 185 195 +f 185 187 195 +f 189 184 195 +f 187 191 195 +f 193 189 195 +f 191 193 195 +f 186 187 196 +f 187 185 196 +f 185 190 196 +o convex_12 +v 0.090576 1.667319 0.185646 +v 0.709887 1.350816 0.392149 +v 0.682280 1.364590 0.447109 +v 0.186946 1.337010 0.859913 +v 0.104379 1.433361 0.873721 +v 0.063096 1.612224 0.240807 +v 0.709887 1.474617 0.199520 +v 0.696083 1.337010 0.337054 +v 0.682280 1.447102 0.185646 +v 0.296992 1.337010 0.846173 +v 0.063096 1.419652 0.832433 +v 0.379558 1.364558 0.557096 +v 0.076836 1.667319 0.213260 +v 0.063096 1.639771 0.185646 +v 0.544754 1.529647 0.199520 +v 0.063096 1.447199 0.859913 +f 209 210 212 +f 199 198 203 +f 201 199 203 +f 203 198 204 +f 197 203 205 +f 203 204 205 +f 198 199 206 +f 201 200 206 +f 199 201 206 +f 204 198 206 +f 200 204 206 +f 202 200 207 +f 200 202 208 +f 202 204 208 +f 204 200 208 +f 204 202 210 +f 197 205 210 +f 205 204 210 +f 202 207 210 +f 209 197 210 +f 203 197 211 +f 201 203 211 +f 197 209 211 +f 209 201 211 +f 200 201 212 +f 207 200 212 +f 201 209 212 +f 210 207 212 +o convex_13 +v 0.957572 0.703920 0.006739 +v 0.723698 1.474639 0.185646 +v 0.709897 1.474639 0.185646 +v 0.668636 0.951748 -0.502497 +v 0.806256 0.759143 -0.474879 +v 0.764960 1.460757 0.158096 +v 0.654870 0.896675 -0.488621 +v 0.985103 0.717801 0.185646 +v 1.012634 0.745262 0.171837 +v 0.654870 1.391879 0.006672 +v 0.778725 0.703995 -0.488621 +v 0.668636 1.364418 -0.117202 +v 0.668636 1.103010 -0.213458 +v 0.682401 1.006745 -0.474879 +v 0.806256 0.703995 -0.502497 +v 0.998834 0.731456 0.102996 +v 0.654870 1.034282 -0.461071 +v 0.709897 1.447027 0.185646 +f 222 225 230 +f 214 215 220 +f 218 214 221 +f 214 220 221 +f 213 220 223 +f 220 219 223 +f 215 214 224 +f 214 218 224 +f 222 215 224 +f 219 220 225 +f 222 219 225 +f 218 217 226 +f 224 218 226 +f 219 216 227 +f 213 223 227 +f 223 219 227 +f 216 226 227 +f 226 217 227 +f 217 218 228 +f 220 213 228 +f 218 221 228 +f 221 220 228 +f 213 227 228 +f 227 217 228 +f 216 219 229 +f 219 222 229 +f 222 224 229 +f 226 216 229 +f 224 226 229 +f 220 215 230 +f 215 222 230 +f 225 220 230 +o convex_14 +v -0.047136 -0.287205 -0.750187 +v -0.693924 -2.323906 -0.598865 +v -0.611282 -2.323906 -0.626409 +v -0.680049 -0.300962 -0.585114 +v -0.680049 -1.222911 -0.557570 +v -0.143450 -2.323906 -0.777754 +v -0.088423 -2.323906 -0.763938 +v -0.060943 -0.287205 -0.777710 +v -0.680116 -2.323906 -0.571320 +v -0.652569 -0.287205 -0.557570 +v -0.019656 -1.085137 -0.763960 +v -0.239832 -2.296192 -0.750209 +v -0.005849 -0.645098 -0.777710 +v -0.693924 -1.979571 -0.598865 +v -0.693924 -0.287205 -0.557570 +v -0.033329 -1.456987 -0.763938 +v -0.074683 -2.144860 -0.777754 +v -0.198545 -0.314719 -0.736437 +v -0.170997 -0.328477 -0.708914 +f 235 241 249 +f 232 233 236 +f 232 236 237 +f 232 237 239 +f 231 238 240 +f 236 233 242 +f 238 236 242 +f 238 231 243 +f 231 241 243 +f 233 232 244 +f 242 233 244 +f 234 242 244 +f 238 234 245 +f 239 235 245 +f 232 239 245 +f 235 240 245 +f 240 238 245 +f 244 232 245 +f 234 244 245 +f 235 239 246 +f 239 237 246 +f 241 235 246 +f 243 241 246 +f 243 246 247 +f 237 236 247 +f 236 238 247 +f 238 243 247 +f 246 237 247 +f 234 238 248 +f 242 234 248 +f 238 242 248 +f 231 240 249 +f 240 235 249 +f 241 231 249 +o convex_15 +v 0.806205 -0.589831 0.763743 +v 0.792456 -0.727405 1.162767 +v 0.778682 -0.727405 1.162767 +v 0.709887 -0.410871 1.135206 +v 0.833752 -0.410871 0.777523 +v 0.819979 -0.823756 0.749963 +v 0.709887 -0.562308 1.080166 +v 0.833752 -0.823756 1.038906 +v 0.806205 -0.410871 0.763743 +v 0.792456 -0.809934 1.162767 +v 0.819979 -0.796193 1.162767 +v 0.723660 -0.410871 1.135206 +v 0.833752 -0.823756 0.749963 +f 255 258 262 +f 252 251 253 +f 250 255 256 +f 253 254 258 +f 255 250 258 +f 250 256 258 +f 256 253 258 +f 251 252 259 +f 252 253 259 +f 256 255 259 +f 253 256 259 +f 255 257 259 +f 259 257 260 +f 257 254 260 +f 251 259 260 +f 260 254 261 +f 253 251 261 +f 254 253 261 +f 251 260 261 +f 254 257 262 +f 257 255 262 +f 258 254 262 +o convex_16 +v -0.707725 0.731570 -0.502369 +v -0.707725 1.419451 0.240679 +v -0.707725 1.433350 0.213111 +v -0.969180 0.717825 0.226859 +v -0.941563 0.648868 0.240679 +v -0.625109 1.089180 -0.227190 +v -0.735275 0.759061 -0.502369 +v -0.735309 1.419451 0.171794 +v -0.638918 1.006861 -0.447377 +v -0.625109 0.869254 -0.488621 +v -0.969180 0.717825 0.171794 +v -0.625109 1.336979 -0.103458 +v -0.707725 1.364240 0.240679 +v -0.941563 0.648868 0.089306 +v -0.914114 0.731570 0.006599 +v -0.625109 1.323157 -0.048393 +f 275 268 278 +f 264 266 267 +f 264 265 270 +f 266 264 270 +f 269 270 271 +f 267 263 272 +f 268 267 272 +f 263 269 272 +f 269 271 272 +f 267 266 273 +f 266 270 273 +f 270 265 274 +f 271 270 274 +f 268 272 274 +f 272 271 274 +f 264 267 275 +f 267 268 275 +f 263 267 276 +f 269 263 276 +f 267 273 276 +f 276 273 277 +f 270 269 277 +f 273 270 277 +f 269 276 277 +f 265 264 278 +f 274 265 278 +f 268 274 278 +f 264 275 278 +o convex_17 +v -0.501207 1.337010 -0.144684 +v -0.625109 0.869165 -0.502497 +v -0.611283 0.869165 -0.502497 +v -0.212236 1.337010 -0.502497 +v -0.556245 1.268127 -0.337343 +v -0.336138 1.061799 -0.488658 +v -0.625109 1.323179 -0.062086 +v -0.625109 1.034274 -0.447402 +v -0.170935 1.309439 -0.488658 +v -0.625109 1.337010 -0.117137 +v -0.611283 1.158025 -0.199736 +v -0.308619 1.337010 -0.461197 +v -0.418606 1.323179 -0.213531 +v -0.625109 0.924171 -0.502497 +f 286 290 292 +f 281 280 282 +f 281 282 284 +f 280 285 286 +f 284 282 287 +f 279 282 288 +f 285 279 288 +f 283 286 288 +f 286 285 288 +f 280 281 289 +f 281 284 289 +f 285 280 289 +f 286 283 290 +f 288 282 290 +f 283 288 290 +f 282 279 291 +f 279 285 291 +f 287 282 291 +f 284 287 291 +f 289 284 291 +f 285 289 291 +f 282 280 292 +f 280 286 292 +f 290 282 292 +o convex_18 +v 0.035421 1.681052 0.171791 +v -0.212407 1.337033 -0.502441 +v -0.267405 1.337033 -0.474824 +v -0.679924 1.337033 0.061663 +v -0.680074 1.447149 0.171791 +v -0.005921 1.474695 -0.502441 +v 0.062957 1.639733 0.185600 +v 0.063033 1.447183 -0.406054 +v -0.363594 1.337033 -0.240897 +v -0.019652 1.681052 0.185600 +v -0.652463 1.350840 -0.062205 +v -0.693805 1.405864 0.199408 +v 0.063033 1.460955 -0.488633 +v -0.253674 1.364579 -0.474824 +v -0.157334 1.337033 -0.488633 +v 0.062957 1.612221 0.116830 +v -0.707686 1.405864 0.103021 +v -0.005921 1.667245 0.116830 +f 302 293 310 +f 295 294 296 +f 296 294 301 +f 299 293 302 +f 295 296 303 +f 296 299 304 +f 302 297 304 +f 299 302 304 +f 294 298 305 +f 298 293 305 +f 293 299 305 +f 299 300 305 +f 294 295 306 +f 298 294 306 +f 295 303 306 +f 301 294 307 +f 294 305 307 +f 305 300 307 +f 299 296 308 +f 300 299 308 +f 296 301 308 +f 307 300 308 +f 301 307 308 +f 297 298 309 +f 303 296 309 +f 296 304 309 +f 304 297 309 +f 298 306 309 +f 306 303 309 +f 298 297 310 +f 293 298 310 +f 297 302 310 +o convex_19 +v 0.062957 1.460952 0.846087 +v -0.707686 1.405889 0.199547 +v -0.707686 1.433391 0.199547 +v 0.062957 1.639741 0.199547 +v -0.005846 1.681052 0.213345 +v -0.322327 1.378329 0.529786 +v 0.007960 1.447171 0.915006 +v 0.062957 1.405860 0.887411 +v -0.115992 1.378329 0.901208 +v -0.707686 1.433391 0.227073 +v -0.693730 1.378329 0.240801 +v -0.693730 1.392109 0.323378 +v 0.062957 1.612239 0.254599 +v 0.062957 1.667272 0.199547 +f 313 315 324 +f 312 313 314 +f 311 315 317 +f 314 311 318 +f 311 317 318 +f 316 318 319 +f 318 317 319 +f 313 312 320 +f 315 313 320 +f 317 315 320 +f 312 314 321 +f 316 319 321 +f 319 317 322 +f 320 312 322 +f 317 320 322 +f 321 319 322 +f 312 321 322 +f 318 316 323 +f 314 318 323 +f 321 314 323 +f 316 321 323 +f 314 313 324 +f 311 314 324 +f 315 311 324 +o convex_20 +v 0.902597 -1.085190 1.176570 +v 0.998867 -1.264167 0.199408 +v 1.012669 -1.264167 0.199408 +v 0.971344 -0.823793 0.295824 +v 0.820028 -0.837630 0.722328 +v 0.971385 -1.222871 1.176570 +v 0.833790 -0.823793 1.162701 +v 0.957603 -1.264167 0.915063 +v 0.806226 -0.837630 1.162701 +v 0.971385 -1.222871 0.240729 +v 0.943821 -0.823793 0.323371 +v 0.971344 -0.823793 0.337145 +v 0.957603 -1.264167 1.176570 +v 1.012669 -1.250330 0.337049 +f 337 327 338 +f 327 326 328 +f 325 330 331 +f 326 327 332 +f 325 331 333 +f 331 329 333 +f 329 332 333 +f 326 332 334 +f 332 329 334 +f 328 326 335 +f 331 328 335 +f 329 331 335 +f 326 334 335 +f 334 329 335 +f 328 331 336 +f 331 330 336 +f 330 325 337 +f 332 327 337 +f 325 333 337 +f 333 332 337 +f 327 328 338 +f 328 336 338 +f 336 330 338 +f 330 337 338 +o convex_21 +v -0.955412 -1.181590 0.144381 +v -0.900372 -0.507211 0.337037 +v -0.900372 -0.507211 0.061807 +v -0.900372 -1.181590 0.061807 +v -0.955412 -0.507211 0.144381 +v -0.927895 -1.181590 0.337037 +v -0.900372 -1.153997 0.337037 +v -0.941651 -0.507211 0.281942 +v -0.927895 -0.507211 0.061807 +v -0.927895 -1.181590 0.061807 +v -0.955412 -0.796278 0.213135 +f 344 346 349 +f 341 340 342 +f 340 341 343 +f 339 342 344 +f 342 340 345 +f 340 344 345 +f 344 342 345 +f 340 343 346 +f 344 340 346 +f 341 342 347 +f 339 343 347 +f 343 341 347 +f 342 339 348 +f 347 342 348 +f 339 347 348 +f 343 339 349 +f 339 344 349 +f 346 343 349 +o convex_22 +v -0.941636 0.318431 0.185799 +v -0.707768 -0.424375 1.176433 +v -0.707768 -0.272962 1.148794 +v -0.955403 0.648868 0.282099 +v -0.707768 0.648868 0.928653 +v -0.927869 -0.507211 0.199473 +v -0.735278 -0.493292 1.176433 +v -0.955403 -0.479486 0.227015 +v -0.735278 0.607563 0.956195 +v -0.707768 -0.507211 1.148794 +v -0.955403 0.648868 0.185799 +v -0.969171 0.524841 0.227015 +v -0.955403 -0.507211 0.185799 +v -0.707768 0.593757 0.928653 +f 359 355 363 +f 352 351 354 +f 350 354 355 +f 351 352 356 +f 354 353 358 +f 352 354 358 +f 356 352 358 +f 353 356 358 +f 354 351 359 +f 351 356 359 +f 354 350 360 +f 353 354 360 +f 356 353 361 +f 357 356 361 +f 353 360 361 +f 350 355 362 +f 356 357 362 +f 355 359 362 +f 359 356 362 +f 360 350 362 +f 357 361 362 +f 361 360 362 +f 355 354 363 +f 354 359 363 +o convex_23 +v 0.957630 -1.195276 0.006729 +v 0.985133 -0.410871 0.295748 +v 1.012669 -0.410871 0.213139 +v 0.943855 -0.410871 0.006729 +v 0.957630 -1.181455 0.295748 +v 1.012669 -1.195276 0.213139 +v 0.971391 -0.410871 0.006729 +v 0.957630 -0.410871 0.295748 +v 1.012669 -1.195276 0.158085 +v 0.943855 -1.195276 0.034256 +v 0.985133 -1.195276 0.295748 +v 1.012669 -0.410871 0.158085 +f 372 370 375 +f 365 366 367 +f 366 365 369 +f 367 366 370 +f 364 367 370 +f 365 367 371 +f 368 365 371 +f 369 364 372 +f 366 369 372 +f 364 370 372 +f 367 364 373 +f 364 369 373 +f 371 367 373 +f 368 371 373 +f 365 368 374 +f 369 365 374 +f 368 373 374 +f 373 369 374 +f 370 366 375 +f 366 372 375 +o convex_24 +v -0.693950 1.378193 0.254636 +v -0.707715 0.690353 0.956365 +v -0.707715 0.731616 0.942426 +v -0.955418 0.648942 0.240767 +v -0.597629 1.116688 0.625954 +v -0.735246 1.378119 0.254566 +v -0.955418 0.717837 0.268295 +v -0.611395 1.309372 0.557168 +v -0.597629 1.364413 0.364680 +v -0.927852 0.648942 0.254566 +v -0.735246 0.717837 0.928766 +v -0.597629 0.951784 0.832382 +v -0.707715 0.648942 0.928766 +v -0.625160 1.006826 0.846251 +v -0.735246 0.648942 0.942426 +v -0.707715 1.336856 0.240767 +v -0.597629 1.034236 0.832382 +f 383 389 392 +f 381 379 382 +f 381 383 384 +f 376 381 384 +f 384 380 385 +f 377 378 386 +f 381 382 386 +f 380 384 387 +f 385 380 387 +f 385 387 388 +f 379 385 388 +f 387 377 388 +f 378 377 389 +f 383 381 389 +f 386 378 389 +f 381 386 389 +f 382 379 390 +f 377 386 390 +f 386 382 390 +f 379 388 390 +f 388 377 390 +f 379 381 391 +f 381 376 391 +f 376 384 391 +f 384 385 391 +f 385 379 391 +f 384 383 392 +f 377 387 392 +f 387 384 392 +f 389 377 392 +o convex_25 +v 0.971373 -0.823756 0.337100 +v 0.778760 0.703810 0.846218 +v 0.764938 0.703810 0.846218 +v 1.012669 0.703810 0.171883 +v 0.985122 -0.355438 0.185678 +v 0.820032 -0.410613 0.832422 +v 0.820008 -0.823756 0.722255 +v 0.778760 0.703810 0.763576 +v 0.985122 0.607216 0.295779 +v 0.985122 0.703810 0.185678 +v 0.943825 -0.823756 0.323370 +v 1.012669 -0.410613 0.213204 +v 0.820032 -0.094215 0.832422 +v 0.847555 -0.823756 0.736051 +v 0.792485 -0.410613 0.846218 +v 0.806259 0.703810 0.791101 +v 0.764938 0.662242 0.804897 +v 1.012669 -0.410613 0.171883 +v 0.902553 -0.823756 0.570899 +v 1.012669 0.703810 0.199474 +f 408 401 412 +f 395 394 396 +f 395 396 400 +f 396 397 402 +f 400 396 402 +f 397 400 402 +f 393 399 403 +f 399 393 406 +f 394 395 407 +f 405 394 407 +f 398 405 407 +f 399 406 407 +f 406 398 407 +f 396 394 408 +f 394 405 408 +f 405 401 408 +f 395 400 409 +f 400 397 409 +f 397 403 409 +f 403 399 409 +f 407 395 409 +f 399 407 409 +f 397 396 410 +f 393 403 410 +f 403 397 410 +f 396 404 410 +f 404 393 410 +f 393 404 411 +f 404 401 411 +f 405 398 411 +f 401 405 411 +f 406 393 411 +f 398 406 411 +f 404 396 412 +f 401 404 412 +f 396 408 412 +o convex_26 +v -0.721487 -0.548553 1.093981 +v -0.914129 -0.892570 0.337037 +v -0.914129 -0.507211 0.337037 +v -0.845295 -0.892570 1.162764 +v -0.831528 -0.892570 0.598610 +v -0.749002 -0.534747 1.176570 +v -0.886576 -0.507211 0.378373 +v -0.914129 -0.507211 0.392096 +v -0.817798 -0.865034 1.162764 +v -0.831528 -0.796193 1.162764 +v -0.721487 -0.507211 1.176570 +v -0.886576 -0.892570 0.364567 +v -0.817798 -0.878802 0.667394 +f 421 416 425 +f 416 414 417 +f 413 417 419 +f 415 414 420 +f 414 416 420 +f 419 415 420 +f 416 418 422 +f 418 420 422 +f 420 416 422 +f 418 416 423 +f 413 419 423 +f 420 418 423 +f 419 420 423 +f 421 413 423 +f 416 421 423 +f 414 415 424 +f 417 414 424 +f 415 419 424 +f 419 417 424 +f 417 413 425 +f 416 417 425 +f 413 421 425 +o convex_27 +v -0.487475 0.524873 1.066441 +v -0.707686 -0.287005 1.121481 +v -0.693875 -0.287005 1.121481 +v -0.707686 0.676383 0.928859 +v -0.102121 0.662609 1.121481 +v -0.707686 -0.190590 1.135262 +v -0.170941 0.690157 1.135262 +v -0.707686 0.648836 0.970160 +v -0.666312 0.648836 0.942640 +v -0.652619 -0.231911 1.135262 +f 430 432 435 +f 428 427 429 +f 429 427 431 +f 426 431 432 +f 430 429 432 +f 429 431 433 +f 431 426 433 +f 426 432 433 +f 432 429 433 +f 428 429 434 +f 429 430 434 +f 430 428 434 +f 427 428 435 +f 428 430 435 +f 431 427 435 +f 432 431 435 +o convex_28 +v -0.707686 0.814119 0.846262 +v 0.062957 1.433350 0.928916 +v 0.062957 1.433350 0.915112 +v 0.062957 0.731478 1.121463 +v -0.666197 0.717874 0.970186 +v -0.005915 0.855367 1.135239 +v 0.007814 1.433350 0.942663 +v -0.349898 1.102929 0.846262 +v -0.239839 1.350709 0.860038 +v -0.693882 0.772798 0.846262 +v -0.157237 0.690157 1.135239 +v -0.129779 1.364385 0.846262 +v -0.638814 0.965508 0.860038 +v -0.693731 0.690157 0.928887 +v 0.062957 1.364458 0.915112 +v 0.062957 0.814119 1.135239 +v -0.707686 0.772798 0.928887 +v 0.007814 1.405779 0.956439 +v -0.184771 1.378207 0.846262 +f 448 444 454 +f 438 437 439 +f 437 438 442 +f 443 439 445 +f 436 443 445 +f 441 440 446 +f 443 436 447 +f 436 445 449 +f 445 439 449 +f 446 440 449 +f 439 446 449 +f 438 439 450 +f 439 443 450 +f 447 438 450 +f 443 447 450 +f 439 437 451 +f 441 446 451 +f 446 439 451 +f 442 444 452 +f 448 436 452 +f 444 448 452 +f 436 449 452 +f 449 440 452 +f 440 441 453 +f 437 442 453 +f 451 437 453 +f 441 451 453 +f 452 440 453 +f 442 452 453 +f 442 438 454 +f 444 442 454 +f 438 447 454 +f 447 436 454 +f 436 448 454 +o convex_29 +v -0.583759 0.965494 0.832448 +v -0.143410 1.378299 0.846215 +v -0.143410 1.364478 0.846215 +v -0.583759 1.378299 0.364610 +v -0.542462 1.254397 0.736080 +v -0.322377 1.364478 0.571066 +v -0.597539 1.020535 0.846215 +v -0.597539 1.364478 0.460978 +v -0.281080 1.336958 0.846215 +v -0.418617 1.075575 0.832448 +v -0.583759 1.364478 0.364610 +v -0.143410 1.364478 0.818681 +f 457 464 466 +f 458 456 460 +f 457 456 461 +f 461 459 462 +f 456 458 462 +f 461 456 463 +f 459 461 463 +f 462 459 463 +f 456 462 463 +f 461 455 464 +f 457 461 464 +f 458 460 465 +f 455 461 465 +f 461 462 465 +f 462 458 465 +f 464 455 465 +f 460 464 465 +f 456 457 466 +f 460 456 466 +f 464 460 466 +o convex_30 +v 0.613493 0.924183 -0.502497 +v 0.654835 1.323207 -0.130900 +v 0.654835 1.323207 -0.172221 +v 0.214424 1.323207 -0.488711 +v 0.544689 1.281906 -0.392393 +v 0.393417 1.075565 -0.488711 +v 0.654835 0.965484 -0.502497 +v 0.640997 1.199346 -0.199756 +v 0.269519 1.323207 -0.502497 +v 0.640997 1.116825 -0.433641 +v 0.640997 1.295646 -0.130900 +v 0.228262 1.281906 -0.488711 +v 0.640997 0.910403 -0.488711 +f 474 472 479 +f 468 469 470 +f 469 468 473 +f 470 469 475 +f 469 471 475 +f 467 472 475 +f 473 467 475 +f 473 475 476 +f 471 469 476 +f 469 473 476 +f 475 471 476 +f 468 470 477 +f 474 468 477 +f 472 474 477 +f 470 475 478 +f 475 472 478 +f 477 470 478 +f 472 477 478 +f 472 467 479 +f 473 468 479 +f 467 473 479 +f 468 474 479 +o convex_31 +v 0.255772 1.323248 -0.502497 +v 0.709887 1.474671 0.185646 +v 0.682343 1.488446 0.185646 +v 0.063096 1.639735 0.185646 +v 0.076836 1.460896 -0.474879 +v 0.696083 1.350831 0.020481 +v 0.640997 1.337023 -0.199717 +v 0.090639 1.667285 0.171837 +v 0.200686 1.323248 -0.488621 +v 0.063033 1.419605 -0.474879 +v 0.682343 1.474671 0.130546 +v 0.214489 1.392089 -0.502497 +v 0.063096 1.612219 0.130546 +v 0.654800 1.460930 0.185646 +v 0.640997 1.323248 -0.117202 +v 0.709887 1.447189 0.089322 +v 0.379558 1.323248 -0.447329 +v 0.420841 1.350831 -0.213458 +f 492 488 497 +f 481 482 483 +f 483 482 487 +f 484 483 487 +f 483 484 489 +f 480 488 489 +f 482 481 490 +f 487 482 490 +f 484 487 490 +f 480 489 491 +f 489 484 491 +f 485 483 492 +f 483 489 492 +f 489 488 492 +f 481 483 493 +f 485 481 493 +f 483 485 493 +f 486 485 494 +f 488 480 494 +f 485 488 494 +f 481 485 495 +f 485 486 495 +f 490 481 495 +f 484 490 495 +f 486 491 495 +f 491 484 495 +f 480 491 496 +f 491 486 496 +f 494 480 496 +f 486 494 496 +f 488 485 497 +f 485 492 497 +o convex_32 +v 0.709887 0.855358 0.791149 +v 0.365890 1.336963 0.804929 +v 0.310764 1.336963 0.804929 +v 0.709887 1.336963 0.350800 +v 0.585962 1.226828 0.749852 +v 0.696056 1.061814 0.529767 +v 0.420898 1.323196 0.626007 +v 0.696056 0.951726 0.804929 +v 0.641009 1.336963 0.543547 +v 0.324594 1.323196 0.763632 +v 0.696056 0.855358 0.791149 +v 0.696056 1.295663 0.364625 +v 0.709887 1.336963 0.405921 +f 501 506 510 +f 500 499 501 +f 501 498 503 +f 500 501 504 +f 499 500 505 +f 502 499 505 +f 502 505 506 +f 501 499 506 +f 499 502 506 +f 504 503 507 +f 500 504 507 +f 503 498 508 +f 498 505 508 +f 505 500 508 +f 500 507 508 +f 507 503 508 +f 501 503 509 +f 504 501 509 +f 503 504 509 +f 498 501 510 +f 505 498 510 +f 506 505 510 +o convex_33 +v 0.393361 1.295580 0.818758 +v 0.063033 0.979285 1.038876 +v 0.063033 0.979285 1.066445 +v 0.709887 0.580054 0.956459 +v 0.696020 0.855423 0.804974 +v 0.076900 0.580054 1.149008 +v 0.063033 1.405660 0.873860 +v 0.709887 0.717780 0.942675 +v 0.076900 1.419525 0.928890 +v 0.090640 0.703999 1.162756 +v 0.434645 1.130458 0.804974 +v 0.654737 1.006763 0.832543 +v 0.668540 0.580054 0.942675 +v 0.104379 0.580054 1.176504 +v 0.352142 1.337006 0.804974 +v 0.709823 0.910380 0.804974 +f 515 525 526 +f 513 512 516 +f 512 513 517 +f 516 512 517 +f 517 513 519 +f 518 519 520 +f 513 516 520 +f 519 513 520 +f 515 516 521 +f 516 517 521 +f 511 519 522 +f 519 518 522 +f 515 514 523 +f 516 515 523 +f 514 516 523 +f 516 514 524 +f 514 518 524 +f 518 520 524 +f 520 516 524 +f 519 511 525 +f 517 519 525 +f 515 521 525 +f 521 517 525 +f 511 522 525 +f 525 522 526 +f 514 515 526 +f 518 514 526 +f 522 518 526 +o convex_34 +v 0.778699 -0.135501 0.846262 +v 0.723664 -0.328173 1.121519 +v 0.723664 -0.162994 1.093956 +v 0.792449 0.401056 0.860030 +v 0.709887 0.703810 0.915076 +v 0.709887 -0.383159 1.066446 +v 0.806226 -0.410762 0.873799 +v 0.751191 0.703810 0.928872 +v 0.778699 -0.410762 0.860030 +v 0.751191 0.703810 0.846262 +v 0.709887 -0.410762 1.121519 +v 0.806226 -0.121754 0.873799 +f 533 527 538 +f 529 528 534 +f 528 530 534 +f 531 529 534 +f 532 531 535 +f 527 533 535 +f 530 527 536 +f 534 530 536 +f 531 534 536 +f 527 535 536 +f 535 531 536 +f 528 529 537 +f 529 531 537 +f 531 532 537 +f 533 528 537 +f 532 535 537 +f 535 533 537 +f 530 528 538 +f 527 530 538 +f 528 533 538 +o convex_35 +v 0.696031 0.580054 0.970151 +v 0.200661 0.566187 1.107736 +v 0.324566 0.552419 1.066439 +v 0.709837 -0.424634 1.121519 +v 0.269542 0.580054 1.121519 +v 0.696031 0.524883 0.942602 +v 0.696031 -0.424634 1.107736 +v 0.709837 -0.300720 1.121519 +v 0.709837 0.566187 0.970151 +f 546 542 547 +f 539 540 543 +f 540 542 543 +f 540 539 544 +f 541 540 544 +f 544 542 545 +f 540 541 545 +f 542 540 545 +f 541 544 545 +f 543 542 546 +f 539 543 547 +f 544 539 547 +f 542 544 547 +f 543 546 547 +o convex_36 +v 0.200686 0.401040 1.176560 +v 0.063033 -0.300682 1.149042 +v 0.324535 -0.383345 1.135286 +v 0.173142 0.580054 1.121519 +v 0.709887 -0.520974 1.149042 +v 0.709887 -0.383345 1.121519 +v 0.063033 0.222134 1.176560 +v 0.297055 -0.383345 1.162798 +v 0.228229 0.580054 1.135286 +v 0.063033 0.580054 1.162798 +v 0.696083 -0.520974 1.121519 +v 0.709887 -0.452105 1.149042 +v 0.063033 -0.300682 1.162798 +v 0.517084 -0.176849 1.162798 +f 552 559 561 +f 550 549 551 +f 553 551 556 +f 551 549 557 +f 549 554 557 +f 554 548 557 +f 548 556 557 +f 556 551 557 +f 549 550 558 +f 550 551 558 +f 553 552 558 +f 551 553 558 +f 552 555 558 +f 555 549 558 +f 552 553 559 +f 556 548 559 +f 553 556 559 +f 554 549 560 +f 549 555 560 +f 555 554 560 +f 548 554 561 +f 555 552 561 +f 554 555 561 +f 559 548 561 +o convex_37 +v 0.957618 -1.622106 1.052662 +v 0.971381 -1.264364 1.162807 +v 0.957618 -1.264364 1.162807 +v 0.998896 -1.264364 0.199408 +v 1.012669 -2.186155 0.433468 +v 0.998896 -2.268757 0.199408 +v 1.012669 -1.264364 0.337091 +v 0.998896 -2.020953 0.860001 +v 0.985143 -1.264364 0.323323 +v 0.971381 -1.993517 0.956284 +v 1.012669 -2.268757 0.199408 +v 0.985143 -2.186155 0.419700 +v 0.957618 -1.264364 0.928748 +v 0.985143 -1.594572 1.066430 +v 1.012669 -1.264364 0.199408 +f 568 572 576 +f 564 563 565 +f 565 563 568 +f 566 568 569 +f 564 565 570 +f 565 567 570 +f 564 562 571 +f 563 564 571 +f 567 566 571 +f 566 569 571 +f 567 565 572 +f 566 567 572 +f 568 566 572 +f 570 567 573 +f 571 562 573 +f 567 571 573 +f 562 564 574 +f 564 570 574 +f 573 562 574 +f 570 573 574 +f 568 563 575 +f 569 568 575 +f 563 571 575 +f 571 569 575 +f 565 568 576 +f 572 565 576 +o convex_38 +v 0.709887 1.474639 0.199539 +v 0.737420 0.731456 0.928766 +v 0.723698 0.772798 0.914946 +v 0.985135 0.703920 0.185646 +v 0.764954 1.460757 0.199539 +v 0.709887 1.020551 0.543531 +v 1.012669 0.731456 0.199539 +v 0.709887 0.703920 0.914946 +v 0.764954 0.717801 0.901198 +v 0.709887 1.447027 0.185646 +v 0.709887 1.419566 0.309596 +v 0.723698 0.827796 0.887450 +v 0.847555 0.731456 0.667263 +v 1.012669 0.703920 0.185646 +f 580 586 590 +f 578 579 584 +f 577 582 584 +f 582 580 584 +f 578 584 585 +f 577 581 586 +f 582 577 586 +f 580 582 586 +f 581 577 587 +f 577 584 587 +f 587 584 588 +f 579 578 588 +f 584 579 588 +f 578 585 588 +f 585 581 588 +f 581 587 588 +f 583 581 589 +f 581 585 589 +f 585 583 589 +f 581 583 590 +f 584 580 590 +f 583 585 590 +f 585 584 590 +f 586 581 590 +o convex_39 +v -0.831563 -0.920128 0.846075 +v -0.955414 -1.250404 0.172171 +v -0.955414 -1.181582 0.172171 +v -0.955414 -1.236605 1.148939 +v -0.914110 -0.892634 0.337132 +v -0.859095 -0.892634 1.162807 +v -0.927894 -1.236605 0.172171 +v -0.831563 -0.892634 0.598683 +v -0.941642 -1.250404 1.135169 +v -0.955414 -1.195346 1.148939 +v -0.831563 -0.906398 1.162807 +v -0.886614 -0.892634 0.364770 +v -0.927894 -1.222840 0.997556 +f 601 599 603 +f 593 592 594 +f 592 593 597 +f 593 595 597 +f 595 596 598 +f 591 597 598 +f 594 592 599 +f 592 597 599 +f 593 594 600 +f 595 593 600 +f 594 596 600 +f 596 595 600 +f 596 594 601 +f 591 598 601 +f 598 596 601 +f 594 599 601 +f 597 595 602 +f 595 598 602 +f 598 597 602 +f 597 591 603 +f 599 597 603 +f 591 601 603 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/706/706.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/706/706.urdf new file mode 100644 index 000000000..92c00f54d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/706/706.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/707/707.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/707/707.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/707/707.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/707/707.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/707/707.obj new file mode 100644 index 000000000..309e41b02 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/707/707.obj @@ -0,0 +1,240 @@ +o convex_0 +v -0.612141 0.785661 -1.094683 +v 1.014611 2.563664 1.044174 +v 1.014611 2.563664 0.953520 +v 1.014405 -3.581290 0.923581 +v -1.063982 -3.219858 0.923581 +v 1.014405 -3.490780 -1.034387 +v -1.094118 2.563664 0.953729 +v 0.984268 2.382037 -1.004238 +v -1.003709 -3.642035 -1.004238 +v -1.033845 2.382644 -1.094683 +v -1.033845 -3.642035 0.923581 +v -0.310776 2.563664 -0.612519 +v -0.943436 -3.370505 0.953729 +v -1.063982 2.382644 -0.733113 +v 0.863929 -3.098976 -1.064535 +v 1.014611 2.442781 -0.491926 +v 0.562564 2.563664 -0.552432 +v 0.833792 2.111114 1.044174 +v 1.014405 -2.797681 0.953729 +v -0.702344 2.382644 -1.094683 +v 1.014405 -3.520545 -1.004238 +v -1.094118 0.604641 0.893432 +v 1.014611 -0.629088 -1.034387 +v -1.003709 -2.376719 -1.034177 +v -0.582004 2.563664 -0.612519 +v -0.551868 -3.642035 0.923371 +v 1.014405 -3.581290 0.591949 +v -1.094118 2.533291 0.501713 +v -1.033845 1.387643 -1.094683 +v -0.160093 -3.581290 -1.034177 +v -1.003709 2.412409 -1.064326 +v 1.014611 1.056583 -1.004029 +v -1.033845 -0.027714 -1.064326 +v 0.412088 -3.611662 0.893223 +v -0.973572 -3.310368 0.953729 +v -0.943436 -3.642035 -1.004238 +v -1.063982 -3.219858 0.893432 +v -0.371049 0.574268 -1.094683 +v -1.033845 -3.611662 -0.010180 +v 1.014611 2.141487 1.044174 +v -1.094118 2.473154 0.351181 +v 0.532634 1.990839 -1.034177 +v 0.833792 2.563664 1.044174 +v -0.762617 -3.340740 0.953729 +v -1.063982 2.442781 -0.612519 +v 0.773519 -3.039446 -1.064535 +v 0.833792 -2.797681 -1.064535 +f 38 20 47 +f 2 3 7 +f 7 3 12 +f 3 2 16 +f 12 3 17 +f 3 16 17 +f 16 8 17 +f 1 10 20 +f 5 7 22 +f 6 15 23 +f 16 2 23 +f 21 6 23 +f 7 12 25 +f 11 9 26 +f 4 13 26 +f 13 11 26 +f 23 4 27 +f 21 23 27 +f 22 7 28 +f 7 25 28 +f 10 1 29 +f 14 10 29 +f 24 29 30 +f 15 6 30 +f 6 21 30 +f 9 24 30 +f 29 1 30 +f 12 17 31 +f 17 8 31 +f 20 10 31 +f 8 20 31 +f 25 12 31 +f 8 16 32 +f 16 23 32 +f 23 8 32 +f 24 9 33 +f 14 29 33 +f 29 24 33 +f 4 26 34 +f 27 4 34 +f 7 5 35 +f 5 11 35 +f 11 13 35 +f 18 7 35 +f 13 18 35 +f 26 9 36 +f 21 27 36 +f 9 30 36 +f 30 21 36 +f 34 26 36 +f 27 34 36 +f 11 5 37 +f 5 22 37 +f 22 14 37 +f 14 33 37 +f 1 20 38 +f 9 11 39 +f 33 9 39 +f 11 37 39 +f 37 33 39 +f 2 18 40 +f 19 4 40 +f 23 2 40 +f 4 23 40 +f 14 22 41 +f 22 28 41 +f 20 8 42 +f 8 23 42 +f 23 20 42 +f 2 7 43 +f 18 2 43 +f 7 18 43 +f 13 4 44 +f 18 13 44 +f 4 19 44 +f 40 18 44 +f 19 40 44 +f 10 14 45 +f 28 25 45 +f 31 10 45 +f 25 31 45 +f 14 41 45 +f 41 28 45 +f 30 1 46 +f 15 30 46 +f 1 38 46 +f 38 15 46 +f 23 15 47 +f 20 23 47 +f 15 38 47 +o convex_1 +v 0.171074 4.581825 0.260872 +v -0.612004 2.563664 0.110218 +v -0.612004 2.563664 0.501917 +v 0.562672 2.563664 -0.552426 +v -0.612004 4.581825 -0.552426 +v 0.442126 2.563664 0.471786 +v 0.592750 4.521572 -0.612687 +v -0.491458 4.491347 0.562178 +v -0.581927 2.563664 -0.612687 +v 0.562672 4.551600 0.562178 +v -0.371030 2.563664 0.562178 +v -0.612004 4.461320 -0.582557 +v 0.562672 2.594086 -0.311381 +v 0.502399 3.437423 0.532047 +v -0.612004 4.581825 -0.401773 +v -0.280679 2.563664 -0.612687 +v 0.592750 3.708263 -0.522295 +v -0.612004 3.136358 -0.582557 +v -0.581927 2.985629 0.562178 +v -0.551731 3.256666 -0.612687 +v -0.310757 4.581825 -0.582557 +v 0.562672 4.401067 0.562178 +v 0.562672 4.551600 -0.100466 +v 0.592750 4.280562 -0.612687 +v 0.592750 4.521572 -0.190858 +v 0.351893 4.521572 -0.612687 +v -0.521654 4.491347 0.381394 +v 0.532595 4.009328 0.562178 +v 0.472322 2.925376 0.501917 +v 0.171074 4.551600 0.562178 +v -0.521654 4.521572 0.321133 +v 0.351893 2.865124 -0.582557 +v -0.581927 2.563664 0.562178 +v -0.612004 4.431095 -0.311381 +v 0.231347 4.581825 0.200610 +f 70 68 82 +f 50 49 51 +f 49 50 52 +f 50 51 53 +f 51 49 56 +f 57 55 58 +f 50 53 58 +f 49 52 59 +f 53 51 60 +f 48 52 62 +f 52 50 62 +f 51 56 63 +f 56 54 63 +f 60 51 64 +f 56 49 65 +f 49 59 65 +f 59 56 65 +f 58 55 66 +f 54 56 67 +f 56 59 67 +f 52 48 68 +f 59 52 68 +f 57 58 69 +f 61 60 69 +f 60 64 69 +f 57 54 70 +f 54 68 70 +f 63 54 71 +f 64 51 71 +f 54 64 71 +f 54 57 72 +f 64 54 72 +f 57 69 72 +f 69 64 72 +f 54 67 73 +f 67 59 73 +f 68 54 73 +f 59 68 73 +f 66 55 74 +f 58 61 75 +f 69 58 75 +f 61 69 75 +f 58 53 76 +f 53 60 76 +f 60 61 76 +f 61 58 76 +f 57 48 77 +f 55 57 77 +f 48 62 78 +f 74 55 78 +f 62 74 78 +f 77 48 78 +f 55 77 78 +f 51 63 79 +f 71 51 79 +f 63 71 79 +f 50 58 80 +f 58 66 80 +f 66 50 80 +f 62 50 81 +f 50 66 81 +f 74 62 81 +f 66 74 81 +f 48 57 82 +f 68 48 82 +f 57 70 82 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/707/707.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/707/707.urdf new file mode 100644 index 000000000..ab615e7bc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/707/707.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/708/708.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/708/708.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/708/708.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/708/708.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/708/708.obj new file mode 100644 index 000000000..a350aa127 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/708/708.obj @@ -0,0 +1,549 @@ +o convex_0 +v 1.031981 0.287815 0.285584 +v -1.101741 -3.602418 0.191396 +v -1.070350 -3.665228 -1.000679 +v -1.070350 0.790290 -0.969143 +v 1.094763 -3.539609 -0.937817 +v -1.038959 0.790290 1.038880 +v 0.937808 -3.539609 0.944483 +v 1.094763 0.790290 -1.031796 +v 0.937808 0.790290 1.007344 +v -1.101741 -3.539609 0.975809 +v 0.372987 0.350624 -1.094658 +v 0.372987 -3.696852 0.285584 +v 0.498550 -0.057418 1.038462 +v -1.070350 0.413434 1.038880 +v -0.285792 0.790290 -1.063331 +v 1.000590 0.695417 0.818968 +v -0.568310 -3.665228 -1.000679 +v 0.843635 -2.911953 0.976018 +v -1.101741 -2.221489 0.975809 +v -1.070350 0.695857 -1.000679 +v 1.094763 -3.319556 -0.812093 +v -0.819223 -3.602418 0.818968 +v 0.969199 -1.437469 0.976018 +v -0.536919 -0.496645 1.038880 +v -0.819223 -2.315923 -1.032005 +v -1.070350 -3.665228 -0.498412 +v 0.906417 0.727481 -1.063331 +v 0.592508 0.790290 1.038462 +v 0.969199 -3.539609 0.693663 +v 0.153251 0.790290 -1.094658 +v 0.341596 -3.602418 -0.969143 +v 1.094763 0.790290 -0.937817 +v 0.121860 -3.696852 0.285584 +v 0.310205 -3.696852 0.097208 +v 0.875026 -3.571233 0.850503 +v -1.070350 -0.245846 1.038880 +v -1.101741 -3.571233 0.944483 +v 0.969199 -2.849144 -0.969143 +v 1.094763 0.068201 -1.031796 +v 0.969199 0.790290 0.976018 +v 0.843635 -3.571233 -0.937608 +v 0.529726 0.758666 -1.094658 +f 39 38 42 +f 4 6 8 +f 8 6 9 +f 6 4 14 +f 4 8 15 +f 3 11 17 +f 10 7 18 +f 9 13 18 +f 4 2 19 +f 2 10 19 +f 10 14 19 +f 14 4 19 +f 3 2 20 +f 2 4 20 +f 4 15 20 +f 5 8 21 +f 1 16 21 +f 18 7 23 +f 9 18 23 +f 21 16 23 +f 6 14 24 +f 10 18 24 +f 18 13 24 +f 11 3 25 +f 3 20 25 +f 20 15 25 +f 2 3 26 +f 9 6 28 +f 13 9 28 +f 6 24 28 +f 24 13 28 +f 5 21 29 +f 23 7 29 +f 21 23 29 +f 15 8 30 +f 11 25 30 +f 25 15 30 +f 17 11 31 +f 8 9 32 +f 16 1 32 +f 1 21 32 +f 21 8 32 +f 12 22 33 +f 26 3 33 +f 22 26 33 +f 5 12 34 +f 3 17 34 +f 33 3 34 +f 12 33 34 +f 12 5 35 +f 22 12 35 +f 5 29 35 +f 29 7 35 +f 14 10 36 +f 10 24 36 +f 24 14 36 +f 10 2 37 +f 7 10 37 +f 2 26 37 +f 26 22 37 +f 35 7 37 +f 22 35 37 +f 5 31 38 +f 31 11 38 +f 8 5 39 +f 27 8 39 +f 5 38 39 +f 9 23 40 +f 23 16 40 +f 32 9 40 +f 16 32 40 +f 31 5 41 +f 17 31 41 +f 5 34 41 +f 34 17 41 +f 8 27 42 +f 30 8 42 +f 11 30 42 +f 38 11 42 +f 27 39 42 +o convex_1 +v -0.223103 1.135510 -1.879603 +v 0.341676 1.606070 -2.695004 +v 0.341676 1.574670 -2.695004 +v 0.278900 1.417890 -1.094867 +v -0.223103 1.700215 -1.094867 +v -0.254457 1.700215 -3.039997 +v 0.278900 1.166911 -3.103098 +v -0.348654 1.198311 -2.977486 +v -0.223103 1.135510 -1.126516 +v 0.247479 1.166911 -1.094867 +v 0.216124 1.668815 -1.094867 +v 0.341676 1.606070 -3.039997 +v -0.348654 1.323801 -2.569588 +v 0.090641 1.135510 -2.036274 +v 0.310254 1.637415 -1.502961 +v -0.160327 1.700215 -3.039997 +v 0.310254 1.261056 -3.103098 +v -0.003489 1.700215 -1.094867 +v 0.059219 1.166911 -3.071450 +v 0.310254 1.637415 -2.318363 +v 0.027865 1.135510 -1.094867 +f 56 52 63 +f 50 43 51 +f 45 46 52 +f 46 47 52 +f 47 46 53 +f 44 45 54 +f 47 48 55 +f 48 50 55 +f 51 47 55 +f 50 51 55 +f 51 43 56 +f 49 52 56 +f 45 44 57 +f 46 45 57 +f 53 46 57 +f 44 54 57 +f 48 47 58 +f 58 54 59 +f 49 48 59 +f 45 52 59 +f 52 49 59 +f 54 45 59 +f 48 58 59 +f 47 53 60 +f 58 47 60 +f 53 58 60 +f 48 49 61 +f 50 48 61 +f 43 50 61 +f 56 43 61 +f 49 56 61 +f 53 57 62 +f 57 54 62 +f 58 53 62 +f 54 58 62 +f 47 51 63 +f 52 47 63 +f 51 56 63 +o convex_2 +v -0.254484 1.574658 1.101637 +v 0.373054 1.668821 3.046758 +v 0.278814 1.668821 3.046758 +v 0.341617 1.072698 1.415666 +v -0.254484 1.198311 3.015413 +v -0.348654 1.072698 1.101637 +v 0.184644 1.637433 1.101637 +v -0.223118 1.700209 2.921379 +v 0.216081 1.229637 3.046758 +v 0.373054 1.104147 1.101637 +v -0.254484 1.323801 3.078296 +v 0.278814 1.668821 1.980453 +v -0.348654 1.072698 1.352976 +v -0.254484 1.637433 1.823535 +v -0.348654 1.166923 1.321631 +v 0.373054 1.574658 2.952724 +v 0.027813 1.637433 1.101637 +v -0.285851 1.229637 2.764461 +v 0.373054 1.668821 2.858495 +v 0.247448 1.198311 2.764461 +v 0.373054 1.072698 1.164714 +v -0.223118 1.700209 2.733116 +v 0.027813 1.700209 2.952724 +f 85 71 86 +f 69 64 70 +f 69 70 73 +f 65 66 74 +f 66 71 74 +f 72 65 74 +f 68 72 74 +f 73 70 75 +f 67 68 76 +f 69 67 76 +f 64 69 78 +f 69 76 78 +f 77 64 78 +f 71 77 78 +f 65 72 79 +f 73 65 79 +f 70 64 80 +f 64 77 80 +f 68 74 81 +f 74 71 81 +f 76 68 81 +f 71 78 81 +f 78 76 81 +f 65 73 82 +f 73 75 82 +f 68 67 83 +f 72 68 83 +f 79 72 83 +f 79 83 84 +f 67 69 84 +f 69 73 84 +f 73 79 84 +f 83 67 84 +f 75 70 85 +f 77 71 85 +f 70 80 85 +f 80 77 85 +f 66 65 86 +f 71 66 86 +f 65 82 86 +f 82 75 86 +f 75 85 86 +o convex_3 +v -1.760882 0.915909 0.568200 +v -1.729627 0.884583 -0.592809 +v -1.886297 0.884583 -0.561215 +v -1.729627 1.919816 -0.561215 +v -3.015617 1.919816 0.442621 +v -3.109972 0.947340 -0.561215 +v -1.101965 1.857059 0.442621 +v -2.984361 0.853048 0.505354 +v -1.101965 0.884583 -0.592809 +v -2.984361 1.857059 -0.529962 +v -1.101965 0.947340 0.568200 +v -1.101965 1.919816 -0.561215 +v -1.290087 0.853048 -0.341764 +v -1.101965 1.135612 0.568200 +v -1.133220 1.919816 -0.122086 +v -2.607725 0.853048 0.536607 +v -3.015617 0.853048 0.222943 +v -3.047069 1.449085 -0.561215 +v -3.109972 0.915909 -0.404497 +v -1.133220 1.417758 -0.592809 +v -2.419406 1.919816 0.442621 +v -2.952909 1.919816 0.097478 +v -3.015617 0.853048 0.379889 +v -3.109972 1.072855 -0.561215 +v -3.015617 1.762871 -0.529962 +v -2.984361 1.135612 0.505354 +v -2.168577 1.888385 -0.561215 +v -1.101965 1.731544 0.473988 +f 93 107 114 +f 88 89 92 +f 95 93 97 +f 90 91 98 +f 93 95 98 +f 89 88 99 +f 88 95 99 +f 95 97 99 +f 91 87 100 +f 87 97 100 +f 97 93 100 +f 98 91 101 +f 93 98 101 +f 97 87 102 +f 94 99 102 +f 99 97 102 +f 89 99 103 +f 99 94 103 +f 92 89 105 +f 89 103 105 +f 95 88 106 +f 90 98 106 +f 98 95 106 +f 88 104 106 +f 101 91 107 +f 93 101 107 +f 91 90 108 +f 90 96 108 +f 96 91 108 +f 94 91 109 +f 103 94 109 +f 91 105 109 +f 105 103 109 +f 88 92 110 +f 104 88 110 +f 92 105 110 +f 105 91 110 +f 91 96 111 +f 96 104 111 +f 110 91 111 +f 104 110 111 +f 87 91 112 +f 91 94 112 +f 102 87 112 +f 94 102 112 +f 96 90 113 +f 104 96 113 +f 90 106 113 +f 106 104 113 +f 91 100 114 +f 100 93 114 +f 107 91 114 +o convex_4 +v -1.101741 1.919779 -0.561221 +v 1.094760 1.982623 0.505425 +v 1.094760 1.951201 0.505425 +v -1.038744 1.386625 1.070031 +v 1.094545 0.790290 -1.031870 +v 1.094760 2.359175 -1.063476 +v -1.038744 2.390428 1.070031 +v -1.038744 0.790290 -1.000479 +v 0.937805 0.790290 1.007249 +v -1.070135 2.516114 -0.969088 +v 1.000587 2.390428 1.007249 +v -1.038744 0.790290 1.038640 +v -0.285793 1.700166 -1.094652 +v 0.435552 2.484693 0.379646 +v 0.372770 1.072916 1.101422 +v 1.094545 0.915977 0.567991 +v -1.101741 0.947398 0.536601 +v 0.529939 0.790290 -1.094867 +v -1.101741 2.014044 0.630773 +v 0.372770 2.484693 -0.310094 +v -0.693659 2.076719 1.101637 +v -1.101741 0.884555 -0.592612 +v -1.038744 2.421850 0.944467 +v 0.937805 2.170815 -1.094867 +v -1.007353 2.453102 -1.000479 +v 0.937805 2.421850 0.944467 +v 0.247421 1.731419 1.101422 +v 1.000587 2.390428 -0.969088 +v -0.348575 1.072916 1.101422 +v -1.070135 2.516114 -0.718176 +v -0.191621 1.135759 -1.094652 +v -0.819223 2.516114 -0.969088 +v -1.070135 0.790290 -0.969088 +v -0.411142 2.390428 1.070031 +v 0.969196 0.790290 0.975858 +v -1.101741 2.265079 -0.372876 +v 0.435552 2.390428 -1.063261 +v 1.094545 1.825515 0.662164 +v 1.000587 1.762840 1.007249 +v 1.094545 1.323782 -1.063261 +v 0.592721 0.790290 1.038640 +v 0.812242 2.233489 1.038640 +v 1.063369 2.390428 -0.247527 +v -0.285793 1.794093 -1.094652 +v 0.153249 0.790290 -1.094652 +v -0.568311 2.516114 -0.749567 +f 146 144 160 +f 117 119 120 +f 116 117 120 +f 122 119 123 +f 122 123 126 +f 119 117 130 +f 119 122 132 +f 118 121 133 +f 126 118 133 +f 115 131 133 +f 131 126 133 +f 121 118 135 +f 115 124 136 +f 131 115 136 +f 126 131 136 +f 133 121 137 +f 122 124 139 +f 137 121 140 +f 128 137 140 +f 135 129 141 +f 134 128 142 +f 118 126 143 +f 126 129 143 +f 135 118 143 +f 129 135 143 +f 137 128 144 +f 122 127 145 +f 127 132 145 +f 142 120 146 +f 124 144 146 +f 124 122 147 +f 122 126 147 +f 136 124 147 +f 126 136 147 +f 121 135 148 +f 125 140 148 +f 140 121 148 +f 135 141 148 +f 123 119 149 +f 119 130 149 +f 124 115 150 +f 115 133 150 +f 133 137 150 +f 144 124 150 +f 137 144 150 +f 120 138 151 +f 139 124 151 +f 146 120 151 +f 124 146 151 +f 117 116 152 +f 116 125 152 +f 130 117 152 +f 129 123 153 +f 123 149 153 +f 149 130 153 +f 152 125 153 +f 130 152 153 +f 120 119 154 +f 119 132 154 +f 138 120 154 +f 132 138 154 +f 126 123 155 +f 123 129 155 +f 129 126 155 +f 141 129 156 +f 125 148 156 +f 148 141 156 +f 153 125 156 +f 129 153 156 +f 116 120 157 +f 125 116 157 +f 140 125 157 +f 128 140 157 +f 120 142 157 +f 142 128 157 +f 127 122 158 +f 132 127 158 +f 138 132 158 +f 122 139 158 +f 151 138 158 +f 139 151 158 +f 132 122 159 +f 122 145 159 +f 145 132 159 +f 128 134 160 +f 134 142 160 +f 144 128 160 +f 142 146 160 +o convex_5 +v 3.040053 1.700267 0.536733 +v 1.094919 0.884515 -0.561430 +v 1.094919 0.884515 0.474000 +v 1.094919 1.888465 -0.561430 +v 3.102952 0.821669 -0.529950 +v 1.094919 1.825619 0.599579 +v 3.008801 1.856985 -0.529950 +v 3.102952 0.947362 0.568099 +v 3.008801 1.982678 0.505366 +v 1.094919 0.915882 0.567985 +v 2.506596 1.982678 0.222956 +v 1.973335 1.888465 -0.561430 +v 1.377373 0.853149 -0.561430 +v 3.102952 0.821669 -0.341638 +v 1.220520 1.919832 -0.373118 +v 2.538045 0.915882 0.567985 +v 3.102952 1.041347 -0.404485 +v 2.349743 1.480589 -0.561430 +v 3.071502 1.355124 0.568099 +v 2.349743 1.951198 0.536733 +v 3.008801 1.982678 0.285688 +v 2.506596 0.821669 -0.498584 +v 1.157621 1.856985 0.442634 +v 2.036233 0.853149 -0.561430 +v 3.040053 1.763000 0.191589 +v 1.126368 1.668787 0.599579 +v 3.102952 0.915882 0.474000 +v 1.314671 1.919832 -0.435851 +v 2.977351 1.888465 -0.404485 +f 172 181 189 +f 162 163 164 +f 164 163 166 +f 166 163 170 +f 162 164 172 +f 163 162 173 +f 162 172 173 +f 165 168 174 +f 170 163 176 +f 163 174 176 +f 165 167 177 +f 168 165 177 +f 167 165 178 +f 172 167 178 +f 173 172 178 +f 161 166 179 +f 168 177 179 +f 166 161 180 +f 161 169 180 +f 169 171 180 +f 171 175 180 +f 171 169 181 +f 163 173 182 +f 173 165 182 +f 165 174 182 +f 174 163 182 +f 164 166 183 +f 175 164 183 +f 166 180 183 +f 180 175 183 +f 165 173 184 +f 178 165 184 +f 173 178 184 +f 169 161 185 +f 177 167 185 +f 161 179 185 +f 179 177 185 +f 181 169 185 +f 167 181 185 +f 166 170 186 +f 176 168 186 +f 170 176 186 +f 179 166 186 +f 168 179 186 +f 174 168 187 +f 168 176 187 +f 176 174 187 +f 172 164 188 +f 164 175 188 +f 175 171 188 +f 171 181 188 +f 181 172 188 +f 167 172 189 +f 181 167 189 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/708/708.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/708/708.urdf new file mode 100644 index 000000000..6ec909c37 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/708/708.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/709/709.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/709/709.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/709/709.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/709/709.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/709/709.obj new file mode 100644 index 000000000..a6825c971 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/709/709.obj @@ -0,0 +1,888 @@ +o convex_0 +v -0.795748 -2.286770 -2.838977 +v 0.393594 -1.626244 -1.088380 +v 0.393594 -1.692319 -1.088380 +v 0.393594 -2.418919 -3.037388 +v -0.729622 -2.617142 -1.088380 +v -0.729622 -1.593262 -2.937992 +v -0.729622 -1.593262 -1.088380 +v 0.261341 -2.584050 -1.088380 +v 0.294405 -1.593262 -2.970997 +v -0.795748 -2.683107 -2.970997 +v 0.393594 -2.617142 -3.037388 +v 0.360531 -1.560170 -1.088380 +v -0.762568 -1.659336 -1.088380 +v -0.465233 -1.560060 -2.475541 +v 0.327468 -2.617142 -1.914266 +v -0.597485 -1.560060 -1.088380 +v -0.002931 -2.650125 -3.037388 +v 0.360531 -1.560170 -1.782246 +v -0.795748 -2.551068 -2.376335 +v -0.300033 -2.617142 -1.088380 +v 0.327468 -1.791486 -3.004002 +v -0.762568 -1.791486 -2.937992 +v 0.393594 -2.617142 -2.772776 +v 0.294405 -2.517976 -1.121575 +v -0.729622 -2.683107 -2.871982 +v 0.294405 -2.220695 -3.037388 +f 21 4 26 +f 2 3 4 +f 3 2 5 +f 5 2 7 +f 3 5 8 +f 4 3 11 +f 7 2 12 +f 5 7 13 +f 7 6 13 +f 9 6 14 +f 6 7 16 +f 7 12 16 +f 14 6 16 +f 12 14 16 +f 10 6 17 +f 4 11 17 +f 2 4 18 +f 12 2 18 +f 9 14 18 +f 14 12 18 +f 1 10 19 +f 10 5 19 +f 13 1 19 +f 5 13 19 +f 8 5 20 +f 15 8 20 +f 6 9 21 +f 18 4 21 +f 9 18 21 +f 10 1 22 +f 6 10 22 +f 1 13 22 +f 13 6 22 +f 11 3 23 +f 17 11 23 +f 15 17 23 +f 3 8 24 +f 8 15 24 +f 23 3 24 +f 15 23 24 +f 5 10 25 +f 10 17 25 +f 17 15 25 +f 20 5 25 +f 15 20 25 +f 4 17 26 +f 17 6 26 +f 6 21 26 +o convex_1 +v 0.889153 -1.725427 -1.021752 +v -1.291258 -3.046417 0.827921 +v -1.258177 -3.079399 -0.097019 +v -1.258177 -0.668295 -0.922822 +v 0.822989 -0.668295 1.026196 +v 0.822989 -3.046417 0.927059 +v -1.192013 -0.668295 0.992875 +v 0.889153 -3.145849 -1.088189 +v 0.856071 -0.668295 -1.088189 +v -1.225095 -3.145849 -0.922822 +v -1.291258 -3.046417 0.992875 +v -0.729508 -2.583937 -1.088189 +v -1.291258 -0.668295 0.563623 +v 0.228371 -2.649901 1.026196 +v 0.856071 -0.668295 0.959967 +v -0.729508 -1.593255 -1.088189 +v -0.729508 -1.461326 1.026196 +v 0.889153 -3.112381 -0.394018 +v -1.092981 -3.145849 -0.625409 +v 0.789908 -3.046417 0.959967 +v -1.258177 -0.833692 0.992875 +v -1.092981 -0.668295 -0.955730 +v -0.663344 -2.616919 1.026196 +v 0.591630 -3.145849 -1.088189 +v 0.856071 -3.112381 -0.261973 +v 0.856071 -1.758652 0.794806 +v 0.822989 -2.220646 0.993082 +v -1.092981 -3.145849 -0.955730 +v -0.300085 -3.046417 0.993082 +f 46 40 55 +f 29 28 30 +f 31 30 33 +f 30 31 35 +f 27 34 35 +f 28 29 36 +f 29 30 36 +f 28 36 37 +f 35 34 38 +f 36 30 38 +f 30 28 39 +f 33 30 39 +f 28 37 39 +f 27 35 41 +f 35 31 41 +f 38 30 42 +f 35 38 42 +f 31 33 43 +f 40 31 43 +f 34 27 44 +f 27 41 44 +f 36 34 45 +f 37 36 45 +f 33 39 47 +f 39 37 47 +f 43 33 47 +f 37 43 47 +f 30 35 48 +f 42 30 48 +f 35 42 48 +f 37 40 49 +f 43 37 49 +f 40 43 49 +f 34 36 50 +f 38 34 50 +f 34 44 51 +f 44 32 51 +f 45 34 51 +f 46 45 51 +f 32 46 51 +f 41 32 52 +f 32 44 52 +f 44 41 52 +f 31 40 53 +f 41 31 53 +f 32 41 53 +f 46 32 53 +f 40 46 53 +f 36 38 54 +f 50 36 54 +f 38 50 54 +f 40 37 55 +f 37 45 55 +f 45 46 55 +o convex_2 +v -0.168071 -1.527074 2.975131 +v -0.531296 -2.650173 1.026197 +v 0.228270 -2.650173 1.026197 +v -0.366241 -1.461064 1.026197 +v -0.696559 -2.517921 2.975131 +v 0.327406 -2.584163 3.107341 +v 0.294395 -1.460948 1.621042 +v -0.729570 -1.461064 1.489035 +v -0.663444 -1.461064 2.942129 +v 0.327406 -1.460948 2.975131 +v 0.261384 -1.494011 1.026197 +v -0.696559 -2.253648 1.026197 +v -0.729570 -1.461064 1.026197 +v 0.327406 -2.617110 2.743915 +v -0.663444 -2.617110 1.026197 +v -0.531296 -2.550984 3.008132 +v 0.261384 -2.650173 1.323823 +v 0.195258 -2.451911 3.107341 +v 0.327406 -1.494011 2.314485 +v -0.729570 -1.758283 1.026197 +v 0.261384 -2.088449 1.026197 +v -0.696559 -2.550984 2.776917 +v -0.696559 -2.220585 2.975131 +v 0.261384 -2.617110 2.809918 +v 0.228270 -2.650173 1.852258 +v -0.696559 -1.461064 2.479494 +f 78 64 81 +f 58 57 59 +f 62 63 65 +f 64 56 65 +f 58 59 66 +f 59 62 66 +f 59 57 67 +f 62 59 68 +f 63 62 68 +f 59 67 68 +f 65 61 69 +f 67 57 70 +f 57 58 72 +f 56 64 73 +f 65 56 73 +f 61 65 73 +f 71 61 73 +f 62 65 74 +f 65 69 74 +f 60 63 75 +f 63 68 75 +f 68 67 75 +f 58 66 76 +f 66 62 76 +f 72 58 76 +f 69 72 76 +f 62 74 76 +f 74 69 76 +f 70 57 77 +f 67 70 77 +f 71 60 77 +f 60 75 77 +f 75 67 77 +f 63 60 78 +f 60 71 78 +f 73 64 78 +f 71 73 78 +f 69 61 79 +f 61 71 79 +f 77 57 79 +f 71 77 79 +f 57 72 80 +f 72 69 80 +f 69 79 80 +f 79 57 80 +f 65 63 81 +f 64 65 81 +f 63 78 81 +o convex_3 +v -1.324344 0.851713 -0.427279 +v 0.690684 0.521289 -1.055152 +v 0.690684 1.545444 -1.055152 +v 0.856003 1.545444 1.092271 +v 0.756768 0.521289 1.059059 +v -1.191959 1.545444 0.959844 +v -1.225109 0.521289 0.959844 +v -1.258043 1.545444 -0.922725 +v -1.258043 0.521289 -0.922725 +v 0.856003 0.521289 -0.460280 +v 0.822852 1.380232 -1.055152 +v 0.889153 0.521289 0.761834 +v 0.889153 1.545444 0.200174 +v -1.159025 1.545444 -0.955726 +v -1.258043 1.545444 0.365183 +v 0.822852 0.521289 -1.055152 +v -1.324344 0.521289 -0.361065 +v -1.125875 0.521289 -0.955726 +v -1.225109 1.380232 0.959844 +v -1.324344 1.148955 -0.559286 +v 0.856003 0.521289 1.059059 +v 0.889153 1.545444 0.927052 +v 0.789919 1.545444 -1.055152 +v -1.291194 1.545444 -0.691503 +f 101 96 105 +f 85 84 87 +f 86 85 88 +f 83 86 88 +f 87 84 89 +f 83 88 90 +f 86 83 91 +f 83 84 92 +f 86 91 93 +f 84 85 94 +f 91 92 94 +f 93 91 94 +f 84 83 95 +f 89 84 95 +f 90 89 95 +f 87 89 96 +f 91 83 97 +f 83 92 97 +f 92 91 97 +f 90 88 98 +f 83 90 99 +f 95 83 99 +f 90 95 99 +f 85 87 100 +f 88 85 100 +f 96 82 100 +f 87 96 100 +f 98 88 100 +f 82 98 100 +f 89 90 101 +f 82 96 101 +f 90 98 101 +f 98 82 101 +f 85 86 102 +f 86 93 102 +f 102 93 103 +f 94 85 103 +f 93 94 103 +f 85 102 103 +f 92 84 104 +f 84 94 104 +f 94 92 104 +f 96 89 105 +f 89 101 105 +o convex_4 +v 0.889153 -0.535865 -0.427379 +v 2.276450 0.521289 0.497574 +v 2.276450 0.521289 0.431474 +v 2.805153 -0.601966 -0.262128 +v 2.838352 0.455075 -0.493366 +v 2.838352 -0.535752 0.497574 +v 0.889153 0.521289 0.530511 +v 0.889153 -0.635016 0.332323 +v 0.889153 0.389088 -0.493479 +v 2.772145 -0.601966 -0.559580 +v 2.772145 0.488239 0.464411 +v 0.889153 -0.337677 -0.592630 +v 0.889153 0.124686 0.563675 +v 0.889153 -0.535865 0.431474 +v 2.805153 0.389088 -0.526416 +v 1.054385 -0.535865 -0.592630 +v 2.144418 0.488125 -0.196027 +v 2.805153 0.091749 0.497574 +v 2.805153 -0.304514 -0.559580 +v 2.309458 -0.601852 -0.559467 +v 1.087584 0.223950 0.563675 +v 0.889153 -0.635016 0.200122 +v 2.805153 0.488239 0.332323 +v 1.021377 0.521289 0.398424 +v 1.120592 -0.635016 0.332323 +v 2.507889 -0.535865 0.497574 +v 1.616287 -0.502815 -0.592630 +v 2.805153 0.488239 -0.163090 +v 2.606914 0.488125 0.497574 +v 2.838352 -0.535752 0.200122 +f 124 110 135 +f 107 108 112 +f 112 106 113 +f 106 112 114 +f 106 114 117 +f 112 113 118 +f 118 113 119 +f 114 110 120 +f 117 114 120 +f 106 117 121 +f 110 114 122 +f 109 115 124 +f 120 110 124 +f 121 115 125 +f 118 111 126 +f 112 118 126 +f 111 123 126 +f 113 106 127 +f 106 121 127 +f 125 115 127 +f 121 125 127 +f 108 107 128 +f 111 110 128 +f 107 116 128 +f 123 111 128 +f 116 123 128 +f 112 108 129 +f 114 112 129 +f 108 122 129 +f 122 114 129 +f 109 111 130 +f 115 109 130 +f 113 127 130 +f 127 115 130 +f 111 118 131 +f 119 113 131 +f 118 119 131 +f 130 111 131 +f 113 130 131 +f 117 120 132 +f 115 121 132 +f 121 117 132 +f 124 115 132 +f 120 124 132 +f 122 108 133 +f 110 122 133 +f 108 128 133 +f 128 110 133 +f 107 112 134 +f 116 107 134 +f 123 116 134 +f 112 126 134 +f 126 123 134 +f 110 111 135 +f 111 109 135 +f 109 124 135 +o convex_5 +v -2.876798 1.578546 -0.196176 +v -3.240416 2.239162 0.266281 +v -3.240416 2.239162 -0.064014 +v -1.324344 2.173069 -0.262257 +v -1.324344 1.743781 0.299376 +v -3.141265 1.710734 0.299376 +v -1.324344 1.710734 -0.196176 +v -1.456674 2.140022 0.233240 +v -3.306581 2.239162 -0.196176 +v -3.141265 1.578546 -0.196176 +v -2.876798 1.644640 -0.229217 +v -1.324344 1.842857 0.299376 +v -1.423495 1.677687 -0.130095 +v -2.579541 1.611593 -0.030974 +v -1.720947 1.974851 -0.262257 +v -3.306581 2.173069 0.002067 +v -1.324344 2.140022 0.167159 +f 143 147 152 +f 138 137 139 +f 139 140 142 +f 137 138 144 +f 138 139 144 +f 142 136 146 +f 145 144 146 +f 136 145 146 +f 140 139 147 +f 137 141 147 +f 141 140 147 +f 143 137 147 +f 136 142 148 +f 142 140 148 +f 140 141 149 +f 141 145 149 +f 145 136 149 +f 136 148 149 +f 148 140 149 +f 139 142 150 +f 144 139 150 +f 142 146 150 +f 146 144 150 +f 141 137 151 +f 137 144 151 +f 145 141 151 +f 144 145 151 +f 139 137 152 +f 137 143 152 +f 147 139 152 +o convex_6 +v 2.805250 2.305237 0.167185 +v 2.177607 1.743762 -0.361369 +v 2.177607 1.710715 -0.328296 +v 2.904427 1.743762 -0.361369 +v 2.772239 1.677668 0.332414 +v 2.177607 2.272190 0.233263 +v 2.177607 2.272190 -0.328296 +v 2.177607 1.644621 0.299341 +v 2.904427 2.206096 -0.295291 +v 2.838333 2.140067 0.299341 +v 2.904427 2.007879 -0.361369 +v 2.871344 1.710715 -0.229213 +v 2.838333 2.305237 0.266336 +f 162 161 165 +f 155 154 156 +f 154 155 158 +f 158 153 159 +f 154 158 159 +f 158 155 160 +f 159 153 161 +f 157 156 162 +f 160 157 162 +f 158 160 162 +f 156 161 162 +f 156 154 163 +f 154 159 163 +f 161 156 163 +f 159 161 163 +f 155 156 164 +f 156 157 164 +f 160 155 164 +f 157 160 164 +f 153 158 165 +f 161 153 165 +f 158 162 165 +o convex_7 +v -2.414470 -0.634890 -0.096857 +v -1.423566 0.488252 0.497542 +v -1.324532 0.488138 0.497542 +v -3.009238 0.388988 -0.592630 +v -3.240506 0.157749 0.497542 +v -1.324532 -0.535739 -0.493454 +v -1.423566 -0.535852 0.497542 +v -3.174295 -0.601953 -0.493344 +v -3.141097 -0.668053 0.530637 +v -1.324532 0.455088 -0.427263 +v -3.240506 0.422151 0.464556 +v -1.324532 -0.635003 0.332284 +v -3.240506 0.388988 -0.592630 +v -1.886101 0.488252 0.497542 +v -3.240506 0.190800 -0.592630 +v -1.952311 -0.568902 0.530637 +v -3.174295 -0.238513 0.530637 +v -1.324532 -0.238513 -0.493454 +v -1.324532 -0.635003 0.167137 +v -2.711761 -0.601953 -0.493344 +v -3.174295 -0.634890 -0.229019 +v -2.414470 -0.668053 0.464556 +v -1.324532 -0.502802 0.497542 +v -1.489776 0.422151 -0.460358 +v -3.174295 -0.634890 0.464556 +v -3.240506 0.025549 -0.559535 +v -3.240506 0.422151 0.167137 +f 179 178 192 +f 167 168 175 +f 168 171 175 +f 171 168 177 +f 175 169 178 +f 170 176 178 +f 167 175 179 +f 176 170 179 +f 175 178 179 +f 169 171 180 +f 170 178 180 +f 178 169 180 +f 168 167 182 +f 170 174 182 +f 167 179 182 +f 179 170 182 +f 181 168 182 +f 174 181 182 +f 171 169 183 +f 175 171 183 +f 171 177 184 +f 180 171 185 +f 173 180 185 +f 184 166 185 +f 171 184 185 +f 185 166 186 +f 173 185 186 +f 177 172 187 +f 172 181 187 +f 181 174 187 +f 166 184 187 +f 184 177 187 +f 174 186 187 +f 186 166 187 +f 177 168 188 +f 172 177 188 +f 168 181 188 +f 181 172 188 +f 169 175 189 +f 183 169 189 +f 175 183 189 +f 174 170 190 +f 186 174 190 +f 186 190 191 +f 170 180 191 +f 180 173 191 +f 173 186 191 +f 190 170 191 +f 178 176 192 +f 176 179 192 +o convex_8 +v -0.894689 0.157827 0.993020 +v 0.823063 -0.668053 -1.088189 +v 0.823063 -0.568864 -1.088189 +v -1.258043 -0.668053 -0.922760 +v -1.125875 0.521289 -0.955762 +v 0.855996 0.521289 1.059234 +v 0.823063 -0.668053 1.026022 +v 0.823063 0.521289 -1.054977 +v -1.225110 -0.668053 0.959808 +v -1.225110 0.521289 0.959808 +v -1.324344 0.521289 -0.460316 +v 0.889147 -0.502737 -0.592533 +v -1.324344 -0.502854 0.497574 +v -1.159026 -0.668053 0.993020 +v 0.889147 0.521289 0.761798 +v -1.324344 0.488226 0.497574 +v 0.889147 -0.634990 0.332145 +v 0.889147 0.389036 -0.493318 +v -1.258043 0.521289 -0.922760 +v -1.324344 -0.535800 -0.493318 +v -1.125875 -0.668053 -0.955762 +v 0.855996 -0.668053 -1.088189 +v 0.855996 -0.668053 0.960019 +v -1.324344 -0.634874 0.332145 +v 0.855996 0.256900 1.059234 +v 0.690678 0.521289 -1.054977 +f 197 200 218 +f 195 194 197 +f 196 194 199 +f 197 198 200 +f 196 199 201 +f 193 198 202 +f 198 197 202 +f 202 197 203 +f 201 202 205 +f 198 193 206 +f 201 199 206 +f 193 202 206 +f 202 201 206 +f 200 198 207 +f 202 203 208 +f 205 202 208 +f 203 205 208 +f 204 207 209 +f 200 207 210 +f 207 204 210 +f 197 196 211 +f 203 197 211 +f 203 211 212 +f 205 203 212 +f 211 196 212 +f 194 196 213 +f 196 197 213 +f 197 194 213 +f 194 195 214 +f 199 194 214 +f 195 200 214 +f 204 209 214 +f 200 210 214 +f 210 204 214 +f 209 207 215 +f 199 214 215 +f 214 209 215 +f 196 201 216 +f 201 205 216 +f 212 196 216 +f 205 212 216 +f 198 206 217 +f 206 199 217 +f 207 198 217 +f 199 215 217 +f 215 207 217 +f 195 197 218 +f 200 195 218 +o convex_9 +v -0.002876 2.866677 1.058930 +v 0.657750 2.767584 -1.055152 +v 0.657750 3.031976 -1.055152 +v -1.291194 1.743920 -0.922822 +v 0.856003 1.545590 1.092012 +v -1.191959 2.965769 0.959895 +v -1.191959 1.545590 0.959895 +v 0.789919 1.545590 -1.055152 +v -1.291194 2.998800 -0.922822 +v 0.889153 2.899707 1.125308 +v -1.159025 1.545590 -0.955691 +v -1.324344 1.743920 0.299098 +v 0.789919 3.031976 -0.988987 +v 0.889153 1.710889 -0.196073 +v -0.498399 3.031976 -0.988987 +v 0.889153 2.305153 -0.229155 +v -1.324344 2.437276 -0.162990 +v 0.789919 3.031976 -0.757409 +v -1.291194 1.545590 -0.691457 +v 0.889153 1.545590 0.927026 +v -1.258043 2.998800 -0.063743 +v -1.159025 2.998800 -0.955691 +v -0.894688 2.965769 0.959895 +v -1.324344 2.206351 0.266229 +v 0.822852 2.767584 1.125308 +v 0.789919 2.899707 -1.055152 +v -1.324344 1.710889 -0.195859 +f 237 230 245 +f 219 224 225 +f 220 221 226 +f 223 225 226 +f 224 219 228 +f 221 220 229 +f 220 226 229 +f 226 225 229 +f 222 227 229 +f 225 224 230 +f 231 221 233 +f 231 228 234 +f 228 232 234 +f 232 226 234 +f 228 231 236 +f 231 233 236 +f 222 229 237 +f 229 225 237 +f 225 230 237 +f 223 226 238 +f 228 223 238 +f 232 228 238 +f 226 232 238 +f 233 227 239 +f 227 235 239 +f 224 236 239 +f 236 233 239 +f 221 229 240 +f 229 227 240 +f 227 233 240 +f 233 221 240 +f 224 228 241 +f 236 224 241 +f 228 236 241 +f 230 224 242 +f 235 230 242 +f 239 235 242 +f 224 239 242 +f 219 225 243 +f 225 223 243 +f 228 219 243 +f 223 228 243 +f 226 221 244 +f 221 231 244 +f 234 226 244 +f 231 234 244 +f 227 222 245 +f 235 227 245 +f 230 235 245 +f 222 237 245 +o convex_10 +v 0.955412 2.239224 0.233257 +v 1.451020 1.710805 -0.526555 +v 1.451020 1.875898 -0.526555 +v 2.177532 1.644592 0.299354 +v 2.177532 2.272161 -0.328264 +v 0.889205 1.644592 0.332359 +v 2.012330 2.272161 0.365451 +v 0.889205 2.305302 -0.229162 +v 2.045370 1.710805 -0.526555 +v 1.549889 2.305302 -0.526555 +v 0.889205 1.710805 -0.229162 +v 1.582929 1.611519 0.365451 +v 2.177532 2.272161 0.233257 +v 1.549889 2.272161 0.365451 +v 2.078285 2.239224 -0.526555 +v 2.177532 1.743674 -0.361356 +v 1.417853 1.611519 0.167159 +v 2.045370 1.710805 0.365451 +v 0.889205 2.239224 0.200252 +f 259 253 264 +f 248 247 253 +f 247 248 254 +f 253 252 255 +f 248 253 255 +f 254 248 255 +f 253 247 256 +f 251 253 256 +f 249 250 258 +f 252 249 258 +f 250 255 258 +f 255 252 258 +f 246 251 259 +f 252 253 259 +f 251 257 259 +f 257 252 259 +f 255 250 260 +f 254 255 260 +f 250 249 261 +f 249 254 261 +f 260 250 261 +f 254 260 261 +f 247 254 262 +f 254 249 262 +f 256 247 262 +f 251 256 262 +f 257 251 262 +f 249 257 262 +f 249 252 263 +f 257 249 263 +f 252 257 263 +f 251 246 264 +f 253 251 264 +f 246 259 264 +o convex_11 +v 2.045432 2.305302 -1.022212 +v 1.583052 1.611519 -2.971288 +v 1.715124 1.611519 -2.971288 +v 2.045432 1.710737 -0.526556 +v 1.483837 2.206083 -0.526556 +v 2.012317 2.305302 -2.971288 +v 2.111532 1.644592 -3.037375 +v 1.550002 2.239224 -3.103463 +v 1.450787 1.710737 -0.526556 +v 2.078417 2.239224 -0.526556 +v 1.483837 1.677665 -2.971288 +v 1.516887 2.272161 -0.526556 +v 1.483837 1.611519 -2.607807 +v 2.111532 1.809752 -3.004332 +v 1.516887 2.272161 -1.880844 +v 1.913231 1.677665 -0.923080 +v 2.111532 1.677665 -2.343457 +v 2.045432 2.239224 -2.971288 +v 1.450787 1.743674 -1.187683 +v 1.516887 2.073928 -3.004332 +v 1.450787 1.677665 -0.956124 +v 1.715124 2.073928 -3.103463 +v 2.078417 1.677665 -1.352649 +f 281 274 287 +f 267 266 271 +f 268 269 273 +f 269 268 274 +f 265 270 276 +f 274 265 276 +f 269 274 276 +f 266 267 277 +f 275 266 277 +f 270 272 279 +f 276 270 279 +f 269 276 279 +f 268 273 280 +f 277 267 280 +f 271 278 281 +f 278 274 281 +f 270 265 282 +f 265 274 282 +f 278 271 282 +f 274 278 282 +f 273 269 283 +f 272 275 284 +f 279 272 284 +f 269 279 284 +f 283 269 284 +f 275 283 284 +f 275 277 285 +f 280 273 285 +f 277 280 285 +f 273 283 285 +f 283 275 285 +f 271 266 286 +f 272 270 286 +f 275 272 286 +f 266 275 286 +f 270 282 286 +f 282 271 286 +f 267 271 287 +f 274 268 287 +f 280 267 287 +f 268 280 287 +f 271 281 287 +o convex_12 +v 1.483860 1.578549 2.578890 +v 2.144570 2.140054 3.008213 +v 2.012346 2.173055 3.041360 +v 1.550005 2.272264 0.365451 +v 2.045351 1.710692 0.365451 +v 1.450787 2.239127 3.074507 +v 1.483860 1.611619 0.365451 +v 2.012346 1.677690 3.074507 +v 2.078492 2.239127 0.365451 +v 1.450787 1.578549 3.008213 +v 1.450787 2.239127 1.356686 +v 1.550005 2.272264 2.049860 +v 2.078492 1.776763 0.398598 +v 1.483860 2.239127 0.365451 +v 1.880191 1.644621 2.149302 +v 1.582942 1.611619 0.365451 +v 2.144570 2.073982 2.743831 +v 2.045351 2.239127 1.092303 +v 1.616015 2.239127 3.074507 +v 1.450787 1.611619 1.884920 +v 2.111429 2.206125 0.927098 +v 2.045351 1.710692 2.149302 +f 300 304 309 +f 291 292 294 +f 289 290 295 +f 292 291 296 +f 294 288 297 +f 288 295 297 +f 295 293 297 +f 293 291 298 +f 297 293 298 +f 291 293 299 +f 296 291 299 +f 292 296 300 +f 291 294 301 +f 298 291 301 +f 294 298 301 +f 295 288 302 +f 292 295 302 +f 288 294 303 +f 294 292 303 +f 302 288 303 +f 292 302 303 +f 289 295 304 +f 290 289 305 +f 289 296 305 +f 296 299 305 +f 305 299 306 +f 295 290 306 +f 293 295 306 +f 299 293 306 +f 290 305 306 +f 294 297 307 +f 298 294 307 +f 297 298 307 +f 296 289 308 +f 300 296 308 +f 289 304 308 +f 304 300 308 +f 295 292 309 +f 292 300 309 +f 304 295 309 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/709/709.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/709/709.urdf new file mode 100644 index 000000000..695ea0f90 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/709/709.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/710/710.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/710/710.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/710/710.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/710/710.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/710/710.obj new file mode 100644 index 000000000..f40f283c2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/710/710.obj @@ -0,0 +1,435 @@ +o convex_0 +v 0.391670 3.476499 -1.028267 +v -0.555484 0.390939 1.080053 +v -0.585947 0.390939 1.080053 +v 0.850016 -0.923265 -1.028267 +v -1.044493 -0.922832 -0.997487 +v 1.002931 -0.923265 1.019121 +v -1.013830 3.354187 1.018912 +v 0.941805 3.507728 0.957771 +v -0.983167 3.507728 -0.966917 +v -0.952704 -0.923265 1.018912 +v 1.002931 3.446138 -1.058628 +v 1.002931 -0.892471 -0.752923 +v 0.605511 -0.189827 1.080053 +v -1.013830 2.590387 -0.997487 +v -1.044493 1.032860 0.255067 +v 1.002931 0.299421 -1.058628 +v -0.952704 2.987684 1.049482 +v 0.513922 3.446138 -1.058628 +v 0.972268 3.507728 0.621495 +v -0.433232 -0.923265 1.080053 +v -1.013830 3.476499 -0.325145 +v -1.044493 -0.892471 -0.264213 +v 1.002931 3.476499 -0.294784 +v -0.983167 -0.097876 1.018912 +v 0.575048 3.507728 0.957771 +v 1.002931 0.146315 0.988341 +v -0.952704 3.385416 1.018912 +v 0.666637 -0.923265 1.080053 +v 0.972268 -0.923265 -1.028267 +v -0.402569 3.415777 1.018912 +v -0.830452 3.507728 -0.997697 +v -1.013830 1.857382 1.018912 +v -1.013830 3.446138 -0.722352 +v 0.972268 3.507728 0.224287 +v 0.972268 2.620748 0.957771 +v -0.983167 -0.892471 0.804918 +v -1.044493 -0.617485 -0.997487 +v 1.002931 -0.495173 1.019121 +v -0.983167 3.507728 -0.722352 +v -1.044493 1.155172 0.224497 +v -0.555484 3.507728 -0.997697 +v 0.941805 0.360578 -1.058628 +v -1.013830 3.079635 -0.966917 +v 0.788889 1.643119 1.019121 +v 0.911142 3.476499 -0.630641 +f 41 34 45 +f 5 4 10 +f 4 6 10 +f 11 6 12 +f 2 3 13 +f 4 5 16 +f 11 12 16 +f 3 2 17 +f 10 3 17 +f 2 13 17 +f 11 16 18 +f 9 8 19 +f 3 10 20 +f 10 6 20 +f 13 3 20 +f 5 10 22 +f 15 5 22 +f 6 11 23 +f 10 17 24 +f 8 9 25 +f 6 23 26 +f 23 19 26 +f 7 17 27 +f 21 7 27 +f 20 6 28 +f 13 20 28 +f 6 4 29 +f 12 6 29 +f 4 16 29 +f 16 12 29 +f 17 13 30 +f 8 25 30 +f 27 17 30 +f 25 27 30 +f 14 9 31 +f 11 18 31 +f 18 14 31 +f 9 19 31 +f 7 15 32 +f 17 7 32 +f 15 22 32 +f 24 17 32 +f 21 9 33 +f 23 11 34 +f 19 23 34 +f 31 19 34 +f 19 8 35 +f 26 19 35 +f 22 10 36 +f 10 24 36 +f 32 22 36 +f 24 32 36 +f 5 15 37 +f 18 5 37 +f 14 18 37 +f 6 26 38 +f 28 6 38 +f 13 28 38 +f 35 8 38 +f 26 35 38 +f 9 21 39 +f 25 9 39 +f 21 27 39 +f 27 25 39 +f 15 7 40 +f 7 21 40 +f 21 33 40 +f 37 15 40 +f 33 37 40 +f 1 11 41 +f 11 31 41 +f 31 34 41 +f 16 5 42 +f 5 18 42 +f 18 16 42 +f 9 14 43 +f 33 9 43 +f 14 37 43 +f 37 33 43 +f 8 30 44 +f 30 13 44 +f 38 8 44 +f 13 38 44 +f 11 1 45 +f 34 11 45 +f 1 41 45 +o convex_1 +v 0.177764 -0.953824 -1.334176 +v 0.422242 -2.115050 -2.036931 +v 0.452787 -2.115050 -2.036931 +v -0.372060 -0.953824 -3.106065 +v -0.555556 -2.084474 -1.089396 +v -0.524900 -2.023207 -2.983675 +v 0.575081 -1.076244 -3.044870 +v 0.483333 -2.084360 -1.089396 +v -0.433262 -0.953824 -1.089396 +v 0.483333 -2.084360 -3.106065 +v 0.483333 -1.076244 -1.089396 +v -0.433262 -0.953824 -3.106065 +v -0.555556 -2.084474 -1.639756 +v 0.575081 -1.412358 -3.014272 +v 0.575081 -1.076244 -2.464308 +v -0.524900 -1.626053 -1.120191 +v -0.524900 -1.870552 -3.014272 +v 0.177764 -2.084474 -3.075467 +v 0.513879 -1.045668 -3.044870 +v 0.238856 -0.953824 -1.089396 +v 0.513879 -2.023207 -3.106065 +v 0.391696 -2.115050 -1.089396 +v -0.555556 -2.023207 -2.250323 +v 0.513879 -1.076244 -1.364774 +v -0.219331 -2.053783 -3.044870 +v -0.372060 -1.228899 -3.106065 +v 0.513879 -1.839975 -3.106065 +v 0.330604 -2.084360 -3.106065 +v 0.208310 -1.015091 -3.075467 +v -0.524900 -2.053783 -2.525503 +f 70 63 75 +f 50 53 54 +f 46 49 54 +f 48 47 55 +f 53 48 55 +f 54 53 56 +f 54 49 57 +f 49 55 57 +f 59 52 60 +f 53 59 60 +f 50 54 61 +f 54 57 61 +f 47 58 63 +f 49 46 64 +f 60 52 64 +f 60 64 65 +f 46 54 65 +f 54 56 65 +f 64 46 65 +f 55 49 66 +f 53 55 66 +f 52 59 66 +f 59 53 66 +f 47 48 67 +f 48 53 67 +f 53 50 67 +f 58 47 67 +f 50 58 67 +f 58 50 68 +f 51 58 68 +f 50 61 68 +f 61 57 68 +f 62 51 68 +f 57 62 68 +f 56 53 69 +f 53 60 69 +f 60 65 69 +f 65 56 69 +f 51 62 70 +f 57 55 71 +f 62 57 71 +f 70 62 71 +f 66 49 72 +f 52 66 72 +f 55 47 73 +f 47 63 73 +f 63 70 73 +f 71 55 73 +f 70 71 73 +f 49 64 74 +f 64 52 74 +f 72 49 74 +f 52 72 74 +f 58 51 75 +f 63 58 75 +f 51 70 75 +o convex_2 +v 0.391544 -2.114897 -1.089396 +v 1.033490 -2.298357 1.019097 +v 1.033490 -2.481645 1.019097 +v -0.952758 -1.320704 1.049680 +v 0.972265 -0.923266 -1.028231 +v -1.044493 -2.542685 -1.028231 +v -1.044493 -0.923266 -1.028231 +v 1.002775 -0.923266 1.019097 +v -0.922044 -2.603724 1.049680 +v 0.972265 -2.665104 -1.028231 +v -0.952758 -0.923266 1.019097 +v 0.666751 -0.923266 1.080262 +v -0.433059 -0.953956 -1.089396 +v -0.555508 -2.634414 0.682902 +v 1.002775 -0.923266 -0.722619 +v -1.044493 -1.015166 -0.294676 +v 0.758283 -2.053688 1.080262 +v -0.433059 -0.923266 1.080262 +v -0.952758 -2.603724 0.866185 +v 1.002775 -2.512165 0.988515 +v -0.586019 -2.084378 -1.089396 +v -0.830511 -2.573375 -1.028231 +v 0.483280 -1.076205 -1.089396 +v 0.483280 -2.665104 -0.447588 +v -0.524998 -2.145417 1.080262 +v 1.033490 -1.412433 0.621737 +v -1.044493 -2.542685 -0.722619 +v 1.002775 -2.451126 1.049680 +v 1.002775 -2.603724 -0.203141 +v 0.666751 -2.665104 -1.028231 +v -0.983268 -0.923266 0.774650 +v -0.952758 -2.603724 0.285542 +v 0.788997 -2.451126 -1.058814 +v -0.555508 -2.603724 1.049680 +v 0.880529 -2.665104 -0.722619 +v -0.952758 -1.962129 1.049680 +v -0.586019 -2.634414 0.591155 +v -0.555508 -2.389916 -1.058814 +v 0.238787 -0.953956 -1.089396 +f 98 88 114 +f 80 82 83 +f 83 82 86 +f 83 86 87 +f 82 80 88 +f 80 83 90 +f 85 80 90 +f 82 81 91 +f 92 87 93 +f 86 79 93 +f 87 86 93 +f 81 82 96 +f 88 76 96 +f 82 88 96 +f 76 88 98 +f 92 93 100 +f 93 79 100 +f 77 78 101 +f 83 77 101 +f 90 83 101 +f 91 81 102 +f 81 94 102 +f 78 77 103 +f 77 83 103 +f 83 87 103 +f 87 92 103 +f 85 90 104 +f 78 95 104 +f 101 78 104 +f 90 101 104 +f 85 99 105 +f 79 86 106 +f 86 82 106 +f 82 91 106 +f 94 81 107 +f 81 97 107 +f 97 105 107 +f 80 85 108 +f 96 76 108 +f 76 98 108 +f 98 80 108 +f 85 105 108 +f 84 89 109 +f 95 78 109 +f 100 84 109 +f 92 100 109 +f 78 103 109 +f 103 92 109 +f 99 85 110 +f 89 99 110 +f 85 104 110 +f 104 95 110 +f 109 89 110 +f 95 109 110 +f 94 84 111 +f 100 79 111 +f 84 100 111 +f 91 102 111 +f 102 94 111 +f 79 106 111 +f 106 91 111 +f 89 84 112 +f 84 94 112 +f 99 89 112 +f 105 99 112 +f 94 107 112 +f 107 105 112 +f 81 96 113 +f 97 81 113 +f 105 97 113 +f 96 108 113 +f 108 105 113 +f 88 80 114 +f 80 98 114 +o convex_3 +v 0.483373 -1.015073 2.149594 +v -0.524998 -2.145609 1.080263 +v -0.524998 -1.962150 1.080263 +v -0.463794 -1.412227 3.035736 +v 0.575012 -1.992726 3.096931 +v 0.605670 -1.809381 1.080263 +v -0.433247 -0.984383 1.080263 +v -0.463794 -2.145609 3.005139 +v 0.452826 -0.984383 3.096931 +v 0.544466 -1.137265 1.080263 +v -0.433247 -1.106803 3.035736 +v 0.361186 -2.053766 1.080263 +v 0.575012 -1.748228 3.096931 +v -0.463794 -1.014959 1.538830 +v -0.341607 -2.145609 3.035736 +v 0.513919 -1.076226 1.080263 +v 0.177796 -1.014959 3.096931 +v 0.513919 -2.023303 1.661022 +v -0.311061 -2.145609 1.080263 +v 0.483373 -1.015073 2.882946 +v -0.494340 -2.145609 2.516369 +v -0.463794 -1.198418 2.791351 +v -0.341607 -1.137265 3.066334 +v -0.494340 -1.381764 1.080263 +v 0.513919 -1.045536 1.477832 +v 0.330640 -0.984383 3.035736 +v 0.483373 -2.023303 1.202850 +v -0.372043 -0.984383 1.080263 +v 0.605670 -1.748228 1.141655 +v 0.513919 -2.023303 1.997199 +v -0.524998 -2.115032 1.355640 +v 0.452826 -0.984383 2.852349 +v 0.483373 -1.931573 3.096931 +v -0.463794 -1.931573 3.035736 +v 0.544466 -1.137265 1.172252 +f 127 143 149 +f 116 117 120 +f 120 117 121 +f 120 121 124 +f 116 120 126 +f 123 119 127 +f 122 116 129 +f 124 121 130 +f 119 123 131 +f 120 119 132 +f 116 126 133 +f 129 116 133 +f 126 129 133 +f 123 127 134 +f 116 122 135 +f 118 125 136 +f 125 128 136 +f 125 118 137 +f 131 125 137 +f 121 117 138 +f 128 121 138 +f 117 136 138 +f 136 128 138 +f 124 130 139 +f 123 134 139 +f 123 121 140 +f 121 128 140 +f 128 125 140 +f 131 123 140 +f 125 131 140 +f 126 120 141 +f 120 132 141 +f 132 126 141 +f 121 123 142 +f 130 121 142 +f 115 139 142 +f 139 130 142 +f 119 120 143 +f 120 124 143 +f 127 119 143 +f 119 129 144 +f 129 126 144 +f 132 119 144 +f 126 132 144 +f 117 116 145 +f 116 135 145 +f 135 118 145 +f 136 117 145 +f 118 136 145 +f 139 115 146 +f 123 139 146 +f 115 142 146 +f 142 123 146 +f 129 119 147 +f 119 131 147 +f 131 137 147 +f 147 137 148 +f 122 129 148 +f 118 135 148 +f 135 122 148 +f 137 118 148 +f 129 147 148 +f 134 127 149 +f 124 139 149 +f 139 134 149 +f 143 124 149 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/710/710.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/710/710.urdf new file mode 100644 index 000000000..c65afc540 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/710/710.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/711/711.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/711/711.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/711/711.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/711/711.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/711/711.obj new file mode 100644 index 000000000..d8057e217 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/711/711.obj @@ -0,0 +1,438 @@ +o convex_0 +v -1.818439 1.610180 -0.313443 +v -1.655369 -0.510644 0.379449 +v -1.614745 -0.510644 0.379449 +v -1.614745 -0.469748 -1.006757 +v -3.490343 -0.061817 -0.925303 +v -3.572165 1.528387 1.032142 +v -3.449719 -0.428851 1.072763 +v -1.614745 1.487697 1.031930 +v -3.408903 1.528387 -0.965925 +v -1.614745 1.610180 -1.047590 +v -1.614745 -0.510644 1.113384 +v -3.449719 -0.428851 -0.965925 +v -3.572165 1.569076 0.134662 +v -3.531158 1.528387 -0.925303 +v -2.797245 1.569076 1.032142 +v -3.368088 -0.347472 1.113808 +v -1.614745 1.242731 1.072763 +v -3.572165 1.202042 1.032142 +v -2.838061 1.609973 0.175495 +v -2.022325 -0.510644 1.113384 +v -1.818439 1.161145 -1.047590 +v -1.614745 1.528594 0.991097 +v -3.490343 -0.143403 1.072763 +v -2.144772 1.610180 -0.965925 +v -3.572165 1.569076 0.991309 +v -2.348849 -0.428851 -1.006969 +v -1.614745 0.142045 1.113384 +v -1.981701 -0.469748 -1.006757 +v -3.531158 1.038870 -0.925303 +v -1.614745 0.712525 -1.047590 +f 28 26 30 +f 3 2 4 +f 3 4 8 +f 8 4 10 +f 2 3 11 +f 3 8 11 +f 9 12 14 +f 11 8 17 +f 8 15 17 +f 15 6 17 +f 6 16 17 +f 13 5 18 +f 6 13 18 +f 15 1 19 +f 2 11 20 +f 12 2 20 +f 7 12 20 +f 16 7 20 +f 11 16 20 +f 9 10 21 +f 12 9 21 +f 8 10 22 +f 10 1 22 +f 1 15 22 +f 15 8 22 +f 12 7 23 +f 5 12 23 +f 16 6 23 +f 7 16 23 +f 18 5 23 +f 6 18 23 +f 1 10 24 +f 10 9 24 +f 14 13 24 +f 9 14 24 +f 19 1 24 +f 13 19 24 +f 13 6 25 +f 6 15 25 +f 19 13 25 +f 15 19 25 +f 12 21 26 +f 16 11 27 +f 11 17 27 +f 17 16 27 +f 4 2 28 +f 2 12 28 +f 12 26 28 +f 12 5 29 +f 5 13 29 +f 13 14 29 +f 14 12 29 +f 10 4 30 +f 21 10 30 +f 26 21 30 +f 4 28 30 +o convex_1 +v 0.139071 -4.344407 -1.006761 +v -0.391060 0.182199 1.113596 +v -1.492011 0.182199 1.113596 +v -1.532896 3.608650 -1.006761 +v 0.383988 3.607848 0.950492 +v 0.383988 3.526801 -0.965932 +v -1.532896 -4.465577 -0.150410 +v 0.383988 -4.589153 0.991109 +v -1.492011 3.566923 1.031938 +v -1.532896 -4.507304 1.113596 +v -1.492011 -4.424652 -0.925103 +v 0.383988 -4.507304 -1.006761 +v -1.614469 0.589843 -1.047590 +v -1.614469 1.486979 1.031938 +v 0.383988 0.181397 1.113596 +v 0.383988 -2.304585 -1.047590 +v -0.798733 1.650678 -1.047590 +v -1.614469 -0.510313 1.113596 +v -1.573585 3.607848 -0.965932 +v 0.220841 -4.589153 1.031938 +v -0.839422 3.608650 1.031938 +v -1.410437 -2.590257 -1.006761 +v -1.614469 -0.469388 -1.006761 +v 0.383988 2.506890 -1.006973 +v 0.383988 -0.999806 1.113596 +v -1.614469 1.609753 -1.047590 +v -1.125027 -4.506501 1.113596 +v -1.532896 -3.650290 -0.965932 +v -1.125027 -4.548229 1.031938 +v 0.343103 3.608650 0.257245 +v 0.383988 2.425040 1.031938 +v -1.532896 3.566923 0.624071 +v 0.016809 -4.507304 -0.965932 +v 0.179956 -2.549332 -1.047590 +v 0.343103 -4.589153 0.583454 +v -0.839422 3.525998 -1.006761 +v -1.492011 -4.465577 -0.394961 +v -1.532896 2.221219 -1.047590 +v -0.064765 3.567726 -0.843657 +v 0.383988 3.241129 0.991321 +v -0.798733 -4.465577 -0.965932 +v -1.532896 -4.507304 0.542625 +v -1.532896 3.608650 -0.394961 +f 49 62 73 +f 36 35 38 +f 32 33 40 +f 36 38 42 +f 38 35 45 +f 32 40 45 +f 36 42 46 +f 46 43 47 +f 33 39 48 +f 40 33 48 +f 39 44 48 +f 44 43 48 +f 33 32 51 +f 39 33 51 +f 32 45 51 +f 48 43 53 +f 36 46 54 +f 46 47 54 +f 38 45 55 +f 45 40 55 +f 50 38 55 +f 43 44 56 +f 47 43 56 +f 49 34 56 +f 44 49 56 +f 40 50 57 +f 55 40 57 +f 50 55 57 +f 41 37 58 +f 52 31 58 +f 43 52 58 +f 37 53 58 +f 53 43 58 +f 50 40 59 +f 35 36 60 +f 34 51 60 +f 51 35 60 +f 45 35 61 +f 51 45 61 +f 44 39 62 +f 49 44 62 +f 42 31 64 +f 46 42 64 +f 43 46 64 +f 31 52 64 +f 52 43 64 +f 42 38 65 +f 38 50 65 +f 50 59 65 +f 63 42 65 +f 59 63 65 +f 34 36 66 +f 36 54 66 +f 54 47 66 +f 37 41 67 +f 47 56 68 +f 56 34 68 +f 34 66 68 +f 66 47 68 +f 36 34 69 +f 34 60 69 +f 60 36 69 +f 35 51 70 +f 61 35 70 +f 51 61 70 +f 31 42 71 +f 58 31 71 +f 41 58 71 +f 42 63 71 +f 67 41 71 +f 63 67 71 +f 40 48 72 +f 53 37 72 +f 48 53 72 +f 59 40 72 +f 63 59 72 +f 37 67 72 +f 67 63 72 +f 34 49 73 +f 51 34 73 +f 39 51 73 +f 62 39 73 +o convex_2 +v 1.729649 1.406139 3.071013 +v 2.423008 -0.592215 -2.964478 +v 1.933837 -0.550935 -2.964478 +v 2.504683 1.487602 -3.087057 +v 0.587956 1.569064 -2.923214 +v 0.465663 -0.510094 2.989091 +v 2.626976 -0.550935 2.989091 +v 0.424826 -0.428631 -2.923214 +v 0.506501 1.609905 2.948434 +v 2.504683 1.528443 3.112277 +v 0.383988 1.650746 -1.006251 +v 2.586139 1.610124 -1.414644 +v 2.626976 -0.592215 -2.963871 +v 0.383988 -0.510094 1.113392 +v 0.383988 1.650746 1.031471 +v 0.383988 -0.510094 -0.965593 +v 2.626976 0.101643 3.030355 +v 1.077567 -0.551154 2.989091 +v 2.586139 1.610124 -0.353913 +v 0.424826 -0.061502 -2.963871 +v 2.626976 0.346250 -2.188954 +v 0.995892 -0.551154 -1.495959 +v 1.566739 1.650965 -1.006251 +v 0.955274 1.609905 2.989091 +v 2.545521 1.324457 3.112277 +v 2.626976 -0.428851 -3.005135 +v 0.465663 0.427712 2.989091 +v 0.751306 1.569283 -2.963871 +v 0.832761 -0.143403 3.030355 +v 0.465663 -0.428631 -2.963871 +v 2.219041 1.406139 -3.087057 +v 2.219041 -0.592215 -2.597348 +v 2.423008 1.079631 -3.087057 +v 1.892999 1.569064 3.071013 +v 0.506501 0.794183 -2.963871 +v 0.465663 0.997949 2.948434 +v 0.465663 1.650746 -1.292066 +v 2.219041 1.242995 3.112277 +v 0.792144 1.609905 2.989091 +v 1.770487 1.528443 -3.045793 +v 2.626976 -0.021100 3.030355 +v 0.465663 -0.510094 -1.455302 +v 2.626976 -0.265487 -2.963871 +f 94 99 116 +f 84 87 88 +f 87 84 89 +f 80 86 90 +f 79 87 91 +f 81 89 93 +f 89 84 93 +f 90 86 94 +f 85 92 94 +f 92 90 94 +f 87 89 95 +f 91 87 95 +f 84 88 96 +f 92 85 96 +f 92 96 97 +f 96 88 97 +f 92 83 98 +f 90 92 98 +f 75 76 99 +f 86 75 99 +f 94 86 99 +f 87 79 100 +f 88 87 100 +f 96 85 101 +f 79 91 102 +f 91 80 102 +f 74 100 102 +f 100 79 102 +f 76 75 103 +f 75 81 103 +f 81 93 103 +f 99 76 103 +f 103 93 104 +f 75 86 105 +f 86 80 105 +f 80 91 105 +f 95 75 105 +f 91 95 105 +f 77 99 106 +f 99 103 106 +f 103 104 106 +f 104 77 106 +f 74 83 107 +f 83 92 107 +f 92 97 107 +f 84 78 108 +f 93 84 108 +f 78 101 108 +f 101 104 108 +f 104 93 108 +f 82 88 109 +f 100 82 109 +f 88 100 109 +f 78 84 110 +f 84 96 110 +f 101 78 110 +f 96 101 110 +f 83 74 111 +f 98 83 111 +f 74 102 111 +f 88 82 112 +f 97 88 112 +f 100 74 112 +f 82 100 112 +f 74 107 112 +f 107 97 112 +f 85 77 113 +f 101 85 113 +f 77 104 113 +f 104 101 113 +f 80 90 114 +f 90 98 114 +f 102 80 114 +f 98 111 114 +f 111 102 114 +f 81 75 115 +f 89 81 115 +f 75 95 115 +f 95 89 115 +f 77 85 116 +f 85 94 116 +f 99 77 116 +o convex_3 +v 0.547112 -2.957510 -1.047590 +v 0.628675 -0.510644 1.113596 +v 0.383988 -0.510644 1.113596 +v 0.506343 -4.589153 0.991109 +v 0.383988 -0.510644 -0.965932 +v 0.383988 -4.507312 -1.006761 +v 0.628675 -2.590620 -1.047590 +v 0.383988 -4.589153 0.991109 +v 0.547112 -0.510644 -0.925103 +v 0.506343 -4.507312 -1.006761 +v 0.383988 -2.264451 -1.047590 +v 0.628675 -2.345894 -1.047590 +v 0.628675 -0.633207 1.113596 +v 0.628675 -0.551765 0.828005 +v 0.547112 -3.977138 -1.006761 +v 0.547112 -0.919054 -1.006761 +v 0.628675 -2.590620 -0.965932 +v 0.383988 -0.959775 1.113596 +f 120 129 134 +f 119 118 121 +f 119 121 122 +f 119 122 124 +f 122 120 124 +f 121 118 125 +f 120 122 126 +f 122 117 126 +f 117 123 126 +f 122 121 127 +f 117 122 127 +f 123 117 127 +f 123 127 128 +f 118 123 128 +f 118 119 129 +f 123 118 129 +f 125 118 130 +f 118 128 130 +f 128 125 130 +f 120 126 131 +f 126 123 131 +f 121 125 132 +f 127 121 132 +f 128 127 132 +f 125 128 132 +f 123 129 133 +f 129 120 133 +f 120 131 133 +f 131 123 133 +f 119 124 134 +f 124 120 134 +f 129 119 134 +o convex_4 +v 0.628699 3.608650 0.950595 +v 0.383988 1.650965 -1.007017 +v 0.383988 2.507740 -1.007017 +v 0.383988 1.650965 1.032238 +v 0.383988 3.608650 0.950595 +v 0.628699 3.159662 -0.966096 +v 0.547089 1.650965 1.032238 +v 0.383988 3.527016 -0.966096 +v 0.506343 1.650965 -1.007017 +v 0.628699 3.527016 -0.966096 +v 0.587906 1.936684 0.583506 +v 0.628699 3.037595 0.950595 +v 0.587906 2.222020 1.032238 +v 0.383988 3.608650 0.338580 +v 0.547089 1.650965 -0.027911 +v 0.628699 2.915143 -0.435922 +v 0.383988 2.385288 1.032238 +f 138 147 151 +f 137 136 138 +f 137 138 139 +f 138 136 141 +f 137 139 142 +f 136 137 143 +f 141 136 143 +f 135 140 144 +f 137 142 144 +f 143 137 144 +f 140 143 144 +f 140 135 146 +f 145 146 147 +f 138 141 147 +f 141 145 147 +f 146 135 147 +f 139 135 148 +f 142 139 148 +f 135 144 148 +f 144 142 148 +f 143 140 149 +f 141 143 149 +f 145 141 149 +f 145 149 150 +f 140 146 150 +f 146 145 150 +f 149 140 150 +f 135 139 151 +f 139 138 151 +f 147 135 151 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/711/711.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/711/711.urdf new file mode 100644 index 000000000..a1677475d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/711/711.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/712/712.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/712/712.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/712/712.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/712/712.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/712/712.obj new file mode 100644 index 000000000..1c5906a9e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/712/712.obj @@ -0,0 +1,522 @@ +o convex_0 +v 0.360111 1.670950 -2.015864 +v -0.317508 0.283283 0.630072 +v -0.414223 0.283283 0.630072 +v 0.005080 3.864964 -0.950803 +v -0.962889 0.250378 -1.725320 +v 1.005492 0.250731 -0.047597 +v -0.769255 2.993515 -0.112340 +v 0.973254 0.250731 -1.822168 +v 0.779619 3.380590 -1.015280 +v -0.769255 2.960964 -1.725320 +v 0.134238 3.316195 -0.241293 +v -1.027366 0.250378 0.178204 +v 0.747381 2.960964 -1.790062 +v -1.059809 1.831583 -0.982909 +v -0.704573 0.250731 -2.047970 +v 1.037936 1.961079 -1.080022 +v 0.295429 0.250378 0.597966 +v 0.876539 1.864487 -0.273664 +v -0.801493 3.380590 -0.982909 +v -0.026953 3.348039 -1.790062 +v 0.747381 0.250731 -2.080606 +v -0.640096 1.638399 -1.983493 +v -1.027366 1.735344 -0.176551 +v 0.973254 1.670596 -1.822168 +v -0.962889 1.703147 -1.725320 +v -0.769255 0.379874 0.500853 +v -1.059809 0.347323 -0.950803 +v -0.026953 3.864964 -1.080022 +v 1.037936 0.250378 -1.305823 +v 0.005080 3.316195 -0.209187 +v 0.618222 2.993161 -0.467360 +v 0.973254 0.347677 0.049250 +v 0.618222 1.606202 -2.015864 +v -0.833731 0.896092 -1.951387 +v 1.005492 1.606202 -1.757426 +v -0.059192 3.444984 -1.725320 +v 1.037936 1.831936 -0.918697 +v -0.801493 2.928767 -0.112340 +v 0.844096 0.863895 -2.015864 +v -0.156112 3.767665 -0.853955 +v 0.295429 0.282929 0.597966 +v 0.779619 3.380590 -1.080022 +v -0.059192 1.993276 -1.983493 +v 1.037936 0.250378 -0.563942 +v -0.833731 3.251447 -0.918697 +v 0.392349 3.187053 -1.790062 +v -0.995128 1.444861 -1.596102 +v -1.027366 0.379874 0.178204 +v -0.704573 3.025712 -0.112074 +v -0.769255 2.864018 -1.757691 +v 0.715143 2.541338 -0.370247 +v -0.737016 0.250378 0.533490 +v -0.123873 3.799862 -1.112128 +v -1.059809 1.831583 -0.853955 +v 0.747381 0.412072 -2.080606 +v 0.037318 3.864964 -1.047651 +v -0.801493 3.348039 -0.853955 +v 0.747381 2.831821 -1.822168 +v -0.833731 3.251447 -1.015545 +v 0.037318 3.413141 -1.757691 +v 0.392349 0.282929 0.533224 +v -0.091430 3.864964 -0.983174 +v 1.005492 0.250731 -1.693215 +v 1.037936 1.767188 -1.305823 +f 29 35 64 +f 9 4 11 +f 2 3 17 +f 12 5 17 +f 5 15 21 +f 1 15 22 +f 14 10 25 +f 3 7 26 +f 5 12 27 +f 17 5 29 +f 5 21 29 +f 21 8 29 +f 11 4 30 +f 9 11 31 +f 1 20 33 +f 15 5 34 +f 22 15 34 +f 5 25 34 +f 8 24 35 +f 24 13 35 +f 20 10 36 +f 16 9 37 +f 9 18 37 +f 29 16 37 +f 32 6 37 +f 18 32 37 +f 26 7 38 +f 8 21 39 +f 24 8 39 +f 30 4 40 +f 2 17 41 +f 30 2 41 +f 11 30 41 +f 9 16 42 +f 35 13 42 +f 16 35 42 +f 20 1 43 +f 1 22 43 +f 22 20 43 +f 6 17 44 +f 17 29 44 +f 37 6 44 +f 29 37 44 +f 23 38 45 +f 33 20 46 +f 42 13 46 +f 25 5 47 +f 14 25 47 +f 5 27 47 +f 27 14 47 +f 12 26 48 +f 38 23 48 +f 26 38 48 +f 3 2 49 +f 7 3 49 +f 2 30 49 +f 40 7 49 +f 30 40 49 +f 10 20 50 +f 20 22 50 +f 25 10 50 +f 22 34 50 +f 34 25 50 +f 18 9 51 +f 9 31 51 +f 31 11 51 +f 11 41 51 +f 17 3 52 +f 12 17 52 +f 3 26 52 +f 26 12 52 +f 10 19 53 +f 36 10 53 +f 28 36 53 +f 27 12 54 +f 14 27 54 +f 45 14 54 +f 23 45 54 +f 48 23 54 +f 12 48 54 +f 15 1 55 +f 21 15 55 +f 1 33 55 +f 39 21 55 +f 33 39 55 +f 4 9 56 +f 28 4 56 +f 9 42 56 +f 42 46 56 +f 38 7 57 +f 7 40 57 +f 19 45 57 +f 45 38 57 +f 13 24 58 +f 24 39 58 +f 39 33 58 +f 33 46 58 +f 46 13 58 +f 10 14 59 +f 19 10 59 +f 14 45 59 +f 45 19 59 +f 20 36 60 +f 36 28 60 +f 46 20 60 +f 28 56 60 +f 56 46 60 +f 17 6 61 +f 6 32 61 +f 32 18 61 +f 41 17 61 +f 18 51 61 +f 51 41 61 +f 4 28 62 +f 40 4 62 +f 53 19 62 +f 28 53 62 +f 57 40 62 +f 19 57 62 +f 29 8 63 +f 8 35 63 +f 35 29 63 +f 16 29 64 +f 35 16 64 +o convex_1 +v -0.575562 -1.201912 -2.920035 +v 0.650652 -1.169620 -2.209698 +v 0.650652 -1.234084 -2.209698 +v 0.101863 -1.105276 -3.920034 +v -0.188263 -0.588723 -2.209698 +v -0.027026 -1.815101 -2.209698 +v 0.037419 -1.589056 -3.694002 +v 0.037419 -0.717891 -3.726243 +v -0.510991 -1.685932 -2.209698 +v 0.521384 -0.653307 -2.274352 +v 0.424591 -1.105276 -3.694002 +v -0.543340 -0.653307 -2.209698 +v -0.414198 -1.201912 -3.726243 +v 0.456940 -1.621348 -2.726074 +v -0.381976 -0.782475 -3.339175 +v -0.414198 -1.621348 -2.920035 +v 0.489162 -1.653640 -2.209698 +v -0.640259 -1.298548 -2.209698 +v -0.027026 -0.621015 -3.113314 +v 0.456940 -0.750183 -2.984518 +v 0.037419 -1.750516 -2.920035 +v 0.586081 -1.169620 -2.919865 +v 0.360147 -1.524592 -3.339175 +v -0.059248 -0.717891 -3.726243 +v -0.027026 -1.169860 -3.952446 +v -0.317405 -1.460008 -3.564865 +v 0.553733 -0.685719 -2.209698 +v -0.414198 -1.105276 -3.726243 +v -0.510991 -0.653307 -2.468142 +v 0.424591 -1.201912 -3.661931 +v 0.327798 -0.846939 -3.564865 +v -0.027026 -1.589056 -3.694002 +v 0.166434 -0.588723 -2.209698 +v -0.640259 -1.072984 -2.242110 +v 0.424591 -1.589056 -3.016760 +v -0.543340 -1.040571 -2.984518 +v -0.027026 -1.750516 -2.887452 +v 0.553733 -1.298548 -2.952106 +v 0.231005 -1.750516 -2.306593 +v -0.510991 -0.621015 -2.274352 +v 0.037419 -0.621015 -3.113314 +v -0.317405 -0.814767 -3.564865 +v 0.101863 -1.169860 -3.920034 +v -0.027026 -1.105276 -3.952446 +v -0.446547 -0.750183 -3.048831 +v -0.543340 -1.266376 -3.016760 +v 0.327798 -1.653640 -2.920035 +v -0.510991 -1.685932 -2.242110 +v 0.069641 -0.717891 -3.694002 +f 105 74 113 +f 67 66 69 +f 67 69 70 +f 70 69 73 +f 68 72 75 +f 73 69 76 +f 67 70 81 +f 78 67 81 +f 73 76 82 +f 66 67 86 +f 75 84 86 +f 83 72 88 +f 80 77 90 +f 69 66 91 +f 84 74 91 +f 66 86 91 +f 86 84 91 +f 77 65 92 +f 89 77 92 +f 88 79 93 +f 75 86 94 +f 87 71 94 +f 75 72 95 +f 84 75 95 +f 71 85 96 +f 89 71 96 +f 77 89 96 +f 90 77 96 +f 80 90 96 +f 83 69 97 +f 69 91 97 +f 91 74 97 +f 65 82 98 +f 82 76 98 +f 71 87 99 +f 87 94 99 +f 92 65 100 +f 76 93 100 +f 65 98 100 +f 98 76 100 +f 85 70 101 +f 96 85 101 +f 80 96 101 +f 67 78 102 +f 86 67 102 +f 94 86 102 +f 78 99 102 +f 99 94 102 +f 81 70 103 +f 78 81 103 +f 70 85 103 +f 76 69 104 +f 69 83 104 +f 83 88 104 +f 93 76 104 +f 88 93 104 +f 72 83 105 +f 83 97 105 +f 97 74 105 +f 79 88 106 +f 92 79 106 +f 88 92 106 +f 68 75 107 +f 89 68 107 +f 71 89 107 +f 94 71 107 +f 75 94 107 +f 72 68 108 +f 88 72 108 +f 68 89 108 +f 92 88 108 +f 89 92 108 +f 79 92 109 +f 93 79 109 +f 92 100 109 +f 100 93 109 +f 65 77 110 +f 77 80 110 +f 82 65 110 +f 85 71 111 +f 71 99 111 +f 99 78 111 +f 78 103 111 +f 103 85 111 +f 70 73 112 +f 73 82 112 +f 101 70 112 +f 80 101 112 +f 110 80 112 +f 82 110 112 +f 74 84 113 +f 95 72 113 +f 84 95 113 +f 72 105 113 +o convex_2 +v -0.349827 0.250141 0.760131 +v -0.091496 -2.169868 -1.143985 +v -0.059179 -2.169868 -1.143985 +v -0.027070 -1.846963 3.630781 +v 1.037942 0.250378 -1.338031 +v -0.962813 0.250378 -1.725507 +v -1.092083 -1.201628 2.114141 +v 0.779612 -1.104969 3.566715 +v 0.682868 -1.879420 -1.757540 +v -0.801435 -1.879420 -1.692858 +v -0.123814 -0.395432 3.598748 +v 0.747294 -1.943858 2.082108 +v 0.553808 -0.621205 -2.209698 +v -1.027448 0.250378 0.211258 +v -0.833752 -1.911639 2.082108 +v -0.833752 -1.137189 3.566715 +v 0.973307 0.250378 0.049861 +v 1.037942 -1.234084 2.082108 +v -0.478679 -1.718086 -2.209698 +v 0.973307 -1.201628 -1.628176 +v -0.091496 -2.169868 2.114141 +v -1.059765 -1.201628 -1.143985 +v 0.811929 0.250141 -2.047685 +v 0.650551 -0.395432 3.146590 +v 0.005039 -1.104733 4.083556 +v -0.704692 0.250141 -2.047685 +v 0.747294 -1.976078 -0.079503 +v 0.585916 -1.459857 -2.209698 +v -0.704692 -0.556766 3.050491 +v -0.962813 -1.201628 -1.789573 +v 1.037942 -1.234084 -0.369648 +v -1.059765 0.056587 -0.950555 +v -0.027070 -2.040753 -1.886904 +v 0.327795 0.250378 0.630767 +v 0.940990 -0.427414 1.823997 +v -0.672374 -1.137189 -2.209698 +v -0.833752 -1.911639 -1.143985 +v -0.510996 -1.782524 3.275954 +v 0.553808 -1.750305 3.179239 +v -0.027070 -1.943858 3.501417 +v -0.930704 -0.395432 2.082108 +v 0.779612 -1.201628 3.566715 +v -1.092083 -1.169408 -0.433714 +v 0.973307 -0.233861 -1.822222 +v 0.101991 -1.814744 -2.209698 +v 0.134099 -2.137412 2.049459 +v 0.715186 -1.943858 -1.241316 +v 1.005625 0.250378 -0.046854 +v -1.092083 -1.072513 2.114141 +v -0.833752 -1.201628 3.566715 +v -0.510996 -0.621205 -2.209698 +v 0.715186 0.153246 -2.112367 +v -0.866070 -1.879420 2.082108 +v 0.715186 -1.233847 -2.144400 +v -0.059179 -1.201628 4.083556 +v -0.027070 -0.395432 3.598748 +v 0.005039 -2.105192 -1.757540 +v -0.220557 -2.137412 2.049459 +v 0.005039 -2.169868 -0.950555 +v -0.737009 0.250141 0.566085 +v 0.715186 -1.976078 2.050076 +v 1.005625 -1.266303 -1.111952 +v -0.156131 -1.911639 3.501417 +v 1.037942 -1.104733 2.017426 +f 161 148 177 +f 118 119 127 +f 118 127 130 +f 115 116 134 +f 119 118 136 +f 124 129 138 +f 121 137 138 +f 119 136 139 +f 131 125 140 +f 132 126 141 +f 124 127 142 +f 129 124 142 +f 132 123 143 +f 135 119 143 +f 123 135 143 +f 118 131 144 +f 131 140 144 +f 127 119 145 +f 119 135 145 +f 123 132 146 +f 127 114 147 +f 130 127 147 +f 137 130 147 +f 137 121 148 +f 126 132 149 +f 119 139 149 +f 132 143 149 +f 143 119 149 +f 123 115 150 +f 135 123 150 +f 152 117 153 +f 142 127 154 +f 129 142 154 +f 131 121 155 +f 125 131 155 +f 121 138 155 +f 117 152 155 +f 152 125 155 +f 145 135 156 +f 135 150 156 +f 118 133 157 +f 136 118 157 +f 141 122 158 +f 132 141 158 +f 146 132 158 +f 153 134 159 +f 118 130 161 +f 130 137 161 +f 137 148 161 +f 120 129 162 +f 127 145 162 +f 154 127 162 +f 129 154 162 +f 156 120 162 +f 145 156 162 +f 129 120 163 +f 126 149 164 +f 149 139 164 +f 139 136 165 +f 126 164 165 +f 164 139 165 +f 150 128 166 +f 128 151 166 +f 120 156 166 +f 156 150 166 +f 163 120 166 +f 151 163 166 +f 133 122 167 +f 122 141 167 +f 141 126 167 +f 157 133 167 +f 136 157 167 +f 165 136 167 +f 126 165 167 +f 138 129 168 +f 117 155 168 +f 155 138 168 +f 129 163 168 +f 114 124 169 +f 124 138 169 +f 138 137 169 +f 147 114 169 +f 137 147 169 +f 116 115 170 +f 115 123 170 +f 123 146 170 +f 158 122 170 +f 146 158 170 +f 122 160 170 +f 115 134 171 +f 150 115 171 +f 128 150 171 +f 134 116 172 +f 159 134 172 +f 140 159 172 +f 160 140 172 +f 116 170 172 +f 170 160 172 +f 124 114 173 +f 114 127 173 +f 127 124 173 +f 140 125 174 +f 125 152 174 +f 152 153 174 +f 159 140 174 +f 153 159 174 +f 122 133 175 +f 133 118 175 +f 118 144 175 +f 144 140 175 +f 160 122 175 +f 140 160 175 +f 151 128 176 +f 134 153 176 +f 153 117 176 +f 163 151 176 +f 117 168 176 +f 168 163 176 +f 171 134 176 +f 128 171 176 +f 131 118 177 +f 121 131 177 +f 148 121 177 +f 118 161 177 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/712/712.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/712/712.urdf new file mode 100644 index 000000000..6a4c801d7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/712/712.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/713/713.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/713/713.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/713/713.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/713/713.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/713/713.obj new file mode 100644 index 000000000..ca04cfb20 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/713/713.obj @@ -0,0 +1,507 @@ +o convex_0 +v 0.192174 0.558826 -1.447516 +v 0.411297 -0.631167 -1.353679 +v 0.505321 -0.631167 -1.353679 +v 0.567928 -0.537165 -3.357516 +v -0.496613 -0.474497 -3.263281 +v 0.599231 0.464707 -3.232002 +v -0.527916 0.496158 -1.322201 +v -0.496613 0.558826 -3.325839 +v -0.559219 -0.474497 -1.322201 +v 0.442714 0.558826 -1.322201 +v 0.599231 0.496158 -2.887537 +v -0.559219 -0.474497 -1.823260 +v 0.505321 -0.631167 -1.322201 +v 0.599231 -0.192724 -3.263281 +v 0.379994 -0.537165 -3.357516 +v -0.527916 0.527375 -1.604109 +v 0.066961 0.527375 -3.294560 +v -0.559219 0.026264 -1.353679 +v -0.527916 0.527375 -2.480514 +v -0.527916 -0.474497 -2.793501 +v 0.474018 0.527375 -1.510273 +v -0.496613 0.214152 -3.325839 +v 0.567928 -0.380612 -3.357516 +v -0.152049 -0.505831 -3.294560 +v 0.599231 0.496158 -3.137966 +v -0.402589 0.558826 -3.325839 +v 0.567928 -0.537165 -2.918816 +v 0.411297 0.558826 -1.541551 +v -0.402589 0.527375 -1.322201 +f 16 7 29 +f 3 2 4 +f 8 1 10 +f 7 9 10 +f 2 9 12 +f 2 3 13 +f 3 4 13 +f 9 2 13 +f 10 9 13 +f 11 13 14 +f 6 11 14 +f 4 2 15 +f 1 8 16 +f 9 7 18 +f 12 9 18 +f 7 16 18 +f 18 16 19 +f 16 8 19 +f 12 18 19 +f 12 19 20 +f 5 2 20 +f 2 12 20 +f 19 8 20 +f 11 10 21 +f 10 13 21 +f 13 11 21 +f 15 5 22 +f 8 15 22 +f 5 20 22 +f 20 8 22 +f 14 4 23 +f 6 14 23 +f 4 15 23 +f 15 8 23 +f 17 6 23 +f 2 5 24 +f 15 2 24 +f 5 15 24 +f 11 6 25 +f 10 11 25 +f 6 17 25 +f 25 17 26 +f 8 10 26 +f 23 8 26 +f 17 23 26 +f 13 4 27 +f 14 13 27 +f 4 14 27 +f 10 25 28 +f 25 26 28 +f 26 10 28 +f 10 1 29 +f 7 10 29 +f 1 16 29 +o convex_1 +v 0.474050 -1.695523 -1.290674 +v -0.496678 0.871105 0.870090 +v -0.559119 0.871105 0.870090 +v 1.100388 3.032163 -1.290674 +v -1.060361 2.907281 -1.196691 +v 1.037732 2.969722 0.744778 +v -1.091689 -3.041873 0.807434 +v 0.943749 -2.947914 0.713450 +v -1.029033 -3.041873 -1.196691 +v -1.029033 2.938204 0.775891 +v 1.006405 -2.979432 -1.196476 +v -0.559119 0.057586 -1.322002 +v 0.442507 -0.536497 0.870090 +v 1.069060 2.938204 0.713450 +v 0.599145 -1.162692 -1.322002 +v 0.975077 -2.979432 0.212205 +v 1.100388 2.030132 -1.290674 +v 0.599145 0.464346 0.870090 +v -1.091689 -1.413646 0.807434 +v -1.091689 -3.041873 0.306403 +v 0.849767 3.032163 -1.290674 +v -1.060361 1.811290 0.775891 +v 0.693128 -2.979432 0.744563 +v 0.505377 -3.010950 -1.196691 +v -0.528006 -0.849297 0.870090 +v -0.935050 2.530850 0.807219 +v -0.528006 0.495864 -1.322002 +v 1.069060 3.001240 0.337516 +v -0.935050 2.938204 -1.196476 +v -0.559119 -0.474055 -1.322002 +v 0.943749 -2.759996 -1.227804 +v 1.037732 1.247536 0.744778 +v 1.006405 -2.916396 -0.946068 +v -1.060361 -3.041873 -0.601676 +v 0.442507 0.558305 -1.322002 +v -0.966378 -3.041873 0.807219 +v -0.621774 2.938204 -1.228018 +v 0.975077 2.468409 0.776106 +v 0.129446 -1.131174 -1.322002 +v 1.100388 2.969722 -0.538806 +v -0.528006 -3.041873 -1.196691 +v 0.975077 -2.227165 0.713450 +v -0.058306 2.938204 0.776106 +v -0.747085 -2.634519 -1.228018 +v 1.037732 3.032163 -0.852084 +v 0.912422 -2.979432 0.681908 +v 0.098118 2.969127 0.744778 +v 0.849767 -2.790919 0.744563 +v 1.006405 0.057586 0.744778 +v -1.029033 2.938204 -0.476364 +v -0.841067 -3.010355 0.807219 +v -0.841067 -2.102283 0.838547 +v 0.755784 3.000645 -1.290674 +v -1.060361 2.907281 -1.039837 +v -1.060361 2.656327 -1.196691 +v 1.069060 0.276428 -1.196476 +v 0.348739 -3.010950 -0.476364 +f 75 65 86 +f 31 32 42 +f 44 33 46 +f 31 42 47 +f 38 36 49 +f 36 48 49 +f 48 34 49 +f 48 39 51 +f 40 45 53 +f 42 32 54 +f 32 31 55 +f 31 47 55 +f 48 32 55 +f 39 48 55 +f 41 34 56 +f 44 41 56 +f 35 43 57 +f 34 41 59 +f 41 44 59 +f 30 44 60 +f 46 40 60 +f 44 46 60 +f 40 53 60 +f 43 35 61 +f 45 40 62 +f 43 61 62 +f 61 45 62 +f 38 49 63 +f 33 44 64 +f 50 33 64 +f 44 56 64 +f 56 50 64 +f 36 38 65 +f 56 34 66 +f 34 58 66 +f 58 50 66 +f 61 35 67 +f 44 30 68 +f 59 44 68 +f 46 33 69 +f 33 57 69 +f 57 43 69 +f 38 60 70 +f 60 53 70 +f 65 38 70 +f 37 45 71 +f 45 61 71 +f 35 39 72 +f 39 55 72 +f 55 47 72 +f 67 35 72 +f 47 67 72 +f 38 59 73 +f 30 60 73 +f 60 38 73 +f 68 30 73 +f 59 68 73 +f 33 50 74 +f 50 39 74 +f 57 33 74 +f 45 37 75 +f 37 52 75 +f 53 45 75 +f 52 65 75 +f 39 35 76 +f 35 57 76 +f 74 39 76 +f 57 74 76 +f 47 42 77 +f 42 52 77 +f 52 37 77 +f 67 47 78 +f 61 67 78 +f 37 71 78 +f 71 61 78 +f 77 37 78 +f 47 77 78 +f 34 39 79 +f 39 50 79 +f 58 34 79 +f 50 58 79 +f 52 42 80 +f 65 52 80 +f 65 80 81 +f 32 48 81 +f 48 36 81 +f 54 32 81 +f 42 54 81 +f 36 65 81 +f 80 42 81 +f 50 56 82 +f 56 66 82 +f 66 50 82 +f 39 34 83 +f 34 48 83 +f 51 39 83 +f 48 51 83 +f 49 34 84 +f 34 59 84 +f 59 38 84 +f 38 63 84 +f 63 49 84 +f 40 46 85 +f 62 40 85 +f 43 62 85 +f 46 69 85 +f 69 43 85 +f 70 53 86 +f 65 70 86 +f 53 75 86 +o convex_2 +v -0.308808 0.558826 1.621719 +v 0.254787 3.063856 2.122713 +v 0.254787 3.063856 2.060064 +v 0.317504 0.558826 1.715727 +v 0.160865 2.969753 1.433770 +v -0.277480 3.001286 1.997347 +v -0.246152 0.558826 2.091355 +v -0.246152 3.095389 1.465129 +v -0.089574 0.558826 1.433770 +v 0.286115 0.558826 2.060064 +v 0.317504 0.809353 1.527778 +v -0.308808 1.247839 1.433770 +v 0.223459 2.938716 1.433770 +v -0.026919 1.842750 2.122713 +v 0.223459 0.558826 1.496487 +v -0.308808 0.558826 1.433770 +v -0.308808 1.874035 1.746951 +v -0.277480 3.063856 1.684368 +v 0.254787 2.625618 1.465129 +v -0.277480 1.404512 2.028638 +v 0.035553 0.558826 2.091355 +v -0.277480 2.186884 1.433770 +v -0.246152 1.185269 2.091355 +v 0.160865 3.001286 2.122713 +v 0.223459 2.594085 1.433770 +v 0.254787 2.750758 2.122713 +v 0.317504 0.558826 1.527778 +f 101 111 113 +f 87 90 93 +f 88 89 94 +f 89 91 94 +f 90 87 95 +f 90 88 96 +f 93 90 96 +f 89 88 97 +f 88 90 97 +f 91 95 98 +f 91 89 99 +f 95 91 99 +f 90 95 101 +f 95 87 102 +f 87 98 102 +f 98 95 102 +f 98 87 103 +f 98 103 104 +f 92 88 104 +f 88 94 104 +f 103 92 104 +f 89 97 105 +f 99 89 105 +f 97 99 105 +f 87 93 106 +f 103 87 106 +f 92 103 106 +f 93 96 107 +f 100 93 107 +f 94 91 108 +f 91 98 108 +f 98 104 108 +f 104 94 108 +f 93 100 109 +f 106 93 109 +f 92 106 109 +f 88 92 110 +f 100 88 110 +f 92 109 110 +f 109 100 110 +f 95 99 111 +f 99 97 111 +f 101 95 111 +f 96 88 112 +f 88 100 112 +f 107 96 112 +f 100 107 112 +f 97 90 113 +f 90 101 113 +f 111 97 113 +o convex_3 +v 0.192223 -2.979542 2.091343 +v -0.371439 -0.694264 1.903431 +v -0.371439 -0.694264 1.934768 +v 0.223557 -0.599851 1.966050 +v 0.223557 -3.042321 1.527717 +v -0.308713 -3.105099 1.559109 +v 0.129555 -0.599851 1.559109 +v -0.277379 -3.073710 2.028669 +v -0.340105 -0.599851 1.559109 +v -0.340105 -0.599851 1.997387 +v 0.223557 -2.416009 2.091343 +v 0.192223 -0.725163 1.559109 +v -0.340105 -2.823087 1.590446 +v 0.004336 -2.916764 2.091343 +v 0.223557 -0.662630 1.997387 +v 0.035611 -2.290697 1.527717 +v -0.308713 -2.447398 2.028669 +v 0.223557 -0.599851 1.746966 +v 0.223557 -2.979542 2.060006 +v -0.214769 -3.042321 2.060006 +v -0.340105 -2.823087 1.653065 +v 0.223557 -1.602098 1.559109 +v 0.066945 -2.416009 2.091343 +v 0.066945 -3.073710 1.590446 +v -0.340105 -2.760554 1.559109 +f 122 129 138 +f 115 116 122 +f 117 120 122 +f 122 116 123 +f 117 122 123 +f 118 117 124 +f 116 115 126 +f 114 124 127 +f 117 123 128 +f 124 117 128 +f 123 124 128 +f 118 119 129 +f 122 120 129 +f 125 118 129 +f 120 125 129 +f 123 116 130 +f 117 118 131 +f 120 117 131 +f 125 120 131 +f 114 121 132 +f 124 114 132 +f 118 124 132 +f 121 114 133 +f 114 127 133 +f 127 123 133 +f 123 130 133 +f 130 121 133 +f 119 121 134 +f 116 126 134 +f 126 119 134 +f 130 116 134 +f 121 130 134 +f 118 125 135 +f 131 118 135 +f 125 131 135 +f 124 123 136 +f 123 127 136 +f 127 124 136 +f 119 118 137 +f 121 119 137 +f 132 121 137 +f 118 132 137 +f 115 122 138 +f 126 115 138 +f 119 126 138 +f 129 119 138 +o convex_4 +v 0.348710 -0.286539 2.748841 +v -0.246082 -0.599625 1.402672 +v -0.183427 -0.599625 1.402672 +v 0.442692 0.464821 0.870090 +v -0.433939 0.464707 2.717394 +v -0.465267 0.433410 0.870273 +v -0.496702 -0.568327 2.686131 +v 0.442692 -0.537030 0.870273 +v 0.568002 0.464821 2.686131 +v -0.433939 -0.474436 0.870273 +v 0.442692 -0.443138 2.748841 +v -0.308737 0.558599 1.433936 +v 0.599329 0.464821 0.870090 +v 0.223400 -0.599625 1.965967 +v 0.348710 0.558599 2.216443 +v 0.474019 -0.411841 2.748841 +v -0.465267 0.370816 2.717394 +v 0.568002 0.308221 2.717578 +v -0.496702 -0.568327 2.185179 +v 0.317382 0.558599 1.527910 +v -0.246082 0.558599 2.091205 +v 0.317382 -0.568327 0.870273 +v -0.496702 -0.130053 2.686131 +v 0.599329 0.402113 1.089486 +v -0.120773 -0.537030 2.717394 +v 0.536674 0.496118 2.623603 +v -0.465267 0.089027 0.870273 +v -0.371285 -0.599625 1.871992 +v -0.402719 -0.505733 0.901721 +v 0.536674 -0.004864 0.870090 +v -0.465267 -0.161350 2.717394 +v 0.442692 -0.537030 1.277434 +v 0.442692 0.464707 2.717394 +v 0.536674 0.496118 1.058038 +v -0.496702 -0.537030 2.059941 +v 0.129418 -0.568327 0.870273 +f 168 160 174 +f 144 143 150 +f 142 144 150 +f 140 141 152 +f 139 149 154 +f 139 143 155 +f 143 144 155 +f 150 153 158 +f 150 143 159 +f 143 153 159 +f 153 150 159 +f 141 140 160 +f 152 141 160 +f 146 152 160 +f 155 144 161 +f 145 155 161 +f 157 145 161 +f 151 147 162 +f 147 156 162 +f 156 154 162 +f 145 152 163 +f 152 149 163 +f 147 151 164 +f 153 143 164 +f 144 142 165 +f 142 148 165 +f 140 152 166 +f 152 145 166 +f 145 157 166 +f 166 157 167 +f 157 148 167 +f 140 166 167 +f 148 142 168 +f 142 151 168 +f 154 146 168 +f 146 160 168 +f 151 162 168 +f 162 154 168 +f 149 139 169 +f 139 155 169 +f 155 145 169 +f 163 149 169 +f 145 163 169 +f 152 146 170 +f 149 152 170 +f 154 149 170 +f 146 154 170 +f 143 139 171 +f 139 154 171 +f 156 147 171 +f 154 156 171 +f 164 143 171 +f 147 164 171 +f 142 150 172 +f 151 142 172 +f 150 158 172 +f 158 153 172 +f 164 151 172 +f 153 164 172 +f 148 157 173 +f 161 144 173 +f 157 161 173 +f 144 165 173 +f 165 148 173 +f 160 140 174 +f 167 148 174 +f 140 167 174 +f 148 168 174 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/713/713.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/713/713.urdf new file mode 100644 index 000000000..150089d66 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/713/713.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/714/714.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/714/714.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/714/714.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/714/714.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/714/714.obj new file mode 100644 index 000000000..8a37d11d9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/714/714.obj @@ -0,0 +1,330 @@ +o convex_0 +v -0.350338 3.882914 1.970408 +v -1.094162 -0.048322 0.022741 +v -1.094162 -0.048322 0.306115 +v 1.066247 -0.048322 2.076356 +v 1.066459 3.811717 -0.083630 +v -1.094162 3.775926 -0.048314 +v 1.030928 -0.048322 -0.012787 +v -0.952461 -0.012531 1.934881 +v 0.995608 3.811717 1.970197 +v -1.094162 3.882914 2.005936 +v 0.003702 -0.048322 -0.083630 +v -0.527359 -0.048322 2.005724 +v 1.066247 0.553967 2.076356 +v 0.712207 -0.048322 -0.083630 +v -0.102256 3.775926 -0.083630 +v 1.066247 -0.048322 0.979022 +v -0.704379 -0.048322 -0.048103 +v 0.641356 -0.048322 2.076356 +v -0.881611 3.882914 1.474292 +v -1.094162 3.315646 1.970197 +v -0.987781 -0.048322 1.651507 +v 0.995608 3.067803 2.005724 +v 1.030928 2.642930 2.005724 +v -1.094162 0.093687 -0.012787 +v -0.279488 1.156256 2.041040 +v 0.605825 3.847123 1.970197 +v 1.066459 1.014247 2.041040 +v -0.739910 3.882914 2.005724 +v 1.030928 2.217671 -0.083630 +v -1.094162 3.103594 -0.048314 +v -1.094162 3.599280 2.005936 +v 0.499655 3.811717 -0.012787 +v -0.491828 3.882914 1.403660 +v -0.987781 0.270718 1.828721 +v 1.030928 3.811717 1.120286 +v -0.102256 0.022875 2.041040 +v -1.058631 3.811332 0.412274 +v -1.094162 3.882914 1.545347 +f 19 37 38 +f 3 2 4 +f 2 3 6 +f 4 2 7 +f 6 3 10 +f 7 2 11 +f 3 4 12 +f 11 5 14 +f 7 11 14 +f 6 5 15 +f 5 11 15 +f 4 7 16 +f 7 5 16 +f 11 2 17 +f 12 4 18 +f 4 13 18 +f 13 10 18 +f 10 1 19 +f 10 3 20 +f 3 12 21 +f 12 8 21 +f 22 13 23 +f 9 22 23 +f 2 6 24 +f 17 2 24 +f 18 10 25 +f 5 1 26 +f 13 4 27 +f 4 16 27 +f 16 5 27 +f 23 13 27 +f 1 10 28 +f 10 13 28 +f 22 9 28 +f 13 22 28 +f 26 1 28 +f 9 26 28 +f 5 7 29 +f 14 5 29 +f 7 14 29 +f 6 15 30 +f 15 11 30 +f 11 17 30 +f 24 6 30 +f 17 24 30 +f 8 12 31 +f 20 8 31 +f 10 20 31 +f 25 10 31 +f 12 25 31 +f 5 6 32 +f 32 19 33 +f 1 5 33 +f 19 1 33 +f 5 32 33 +f 20 3 34 +f 8 20 34 +f 3 21 34 +f 21 8 34 +f 9 23 35 +f 5 26 35 +f 26 9 35 +f 27 5 35 +f 23 27 35 +f 12 18 36 +f 25 12 36 +f 18 25 36 +f 32 6 37 +f 19 32 37 +f 6 10 38 +f 10 19 38 +f 37 6 38 +o convex_1 +v 0.641356 -0.049133 2.076779 +v 0.853907 -2.244533 -0.898696 +v 0.960077 -2.244533 -0.898696 +v 0.995608 -0.084380 -4.121723 +v -0.952461 -2.102686 -4.050127 +v -0.952461 -0.049133 1.899003 +v -1.058631 -2.138148 2.040981 +v -1.023311 -0.226012 -4.085925 +v 1.030928 -2.209286 1.934801 +v 1.030928 -2.173610 -4.050734 +v 1.066459 -0.048918 2.076779 +v -1.058631 -2.244533 -0.190625 +v -1.094162 -0.049133 0.022342 +v 1.066459 -0.686369 -4.121723 +v 1.066459 -1.465451 2.005790 +v 1.066459 -1.748500 -4.085925 +v 0.464124 -1.677791 2.076779 +v -0.456508 -0.686369 2.076779 +v 1.066459 -0.084380 -4.121723 +v -1.094162 -0.792754 -0.049254 +v 1.030928 -0.048918 -0.014062 +v 0.995608 -2.244533 0.801402 +v -0.704379 -2.138148 -3.766778 +v -1.058631 -1.783961 2.040981 +v 0.641356 -2.209071 1.969992 +v -0.385658 -1.571621 -4.085925 +v -1.094162 -0.049133 0.269894 +v -1.023311 -0.367644 -4.085925 +v -0.775229 -1.925808 2.076779 +v -0.916930 -0.049133 1.934801 +v 0.818376 -2.173610 -4.050734 +v -1.058631 -2.244533 -0.014062 +v -1.094162 -0.155303 -0.686942 +v 0.287104 -0.190765 -4.121723 +v -0.987781 -0.049133 1.651451 +v -0.491828 -0.049133 2.005183 +v 0.960077 -2.209071 1.969992 +v -1.058631 -2.173610 1.509473 +v 1.066459 -0.509490 2.076779 +v -0.562678 -0.190765 -4.085925 +v -0.987781 -2.138148 -2.881537 +v -0.385658 -2.138148 2.040981 +v 0.924758 -2.209071 -2.597581 +v -0.952461 -2.138148 -3.518619 +v -0.987781 -0.615660 -4.085925 +v 0.534975 -0.615660 -4.121723 +v 0.110084 -2.209071 -2.314838 +f 69 81 85 +f 40 41 50 +f 52 49 53 +f 47 48 54 +f 52 53 54 +f 53 47 54 +f 49 39 55 +f 55 39 56 +f 52 42 57 +f 49 52 57 +f 42 51 59 +f 57 42 59 +f 49 57 59 +f 41 48 60 +f 48 47 60 +f 50 41 60 +f 54 43 64 +f 52 54 64 +f 58 45 65 +f 51 58 65 +f 59 51 65 +f 49 59 65 +f 45 62 65 +f 50 58 66 +f 55 56 67 +f 62 45 67 +f 56 62 67 +f 49 44 68 +f 44 62 68 +f 62 56 68 +f 43 54 69 +f 54 48 69 +f 61 43 69 +f 50 61 69 +f 58 50 70 +f 50 60 70 +f 60 63 70 +f 51 46 71 +f 58 51 71 +f 46 66 71 +f 66 58 71 +f 46 42 72 +f 42 52 72 +f 66 46 72 +f 44 49 73 +f 62 44 73 +f 49 65 73 +f 65 62 73 +f 39 49 74 +f 56 39 74 +f 49 68 74 +f 68 56 74 +f 47 53 75 +f 60 47 75 +f 45 63 75 +f 63 60 75 +f 45 58 76 +f 63 45 76 +f 58 70 76 +f 70 63 76 +f 53 49 77 +f 49 55 77 +f 75 53 77 +f 55 75 77 +f 42 46 78 +f 51 42 78 +f 46 51 78 +f 43 50 79 +f 66 43 79 +f 50 66 79 +f 55 67 80 +f 67 45 80 +f 75 55 80 +f 45 75 80 +f 41 40 81 +f 48 41 81 +f 69 48 81 +f 50 43 82 +f 43 61 82 +f 61 50 82 +f 64 43 83 +f 43 66 83 +f 66 72 83 +f 83 72 84 +f 52 64 84 +f 72 52 84 +f 64 83 84 +f 40 50 85 +f 50 69 85 +f 81 40 85 +o convex_2 +v 0.499732 -0.544587 4.095720 +v -0.527290 -1.784166 2.076779 +v -0.350260 -1.784166 2.076779 +v -0.456561 -0.686430 2.076779 +v -0.562862 -1.607014 4.095720 +v 0.464263 -1.677875 2.076779 +v 0.428795 -1.677875 4.024575 +v -0.527290 -0.580139 3.989200 +v 0.464263 -0.686430 2.076779 +v -0.491925 -0.651000 2.360372 +v -0.562862 -1.642445 2.997714 +v 0.499732 -1.005061 3.316483 +v 0.251661 -1.571584 4.095720 +v 0.251661 -1.713305 3.670430 +v 0.464263 -0.651000 2.289622 +v -0.527290 -1.359123 2.076779 +v 0.322494 -1.713305 2.076779 +v 0.464263 -1.677875 3.033484 +v -0.420989 -1.784166 2.324997 +v -0.527290 -0.580139 3.812128 +v -0.562862 -1.217401 4.060148 +v 0.428795 -0.544587 3.989398 +v 0.464263 -1.252831 4.060148 +v 0.074528 -1.677875 3.954023 +v 0.393431 -0.544709 4.095720 +v 0.499732 -0.580018 3.422608 +v -0.491925 -0.721861 2.076779 +v -0.350260 -0.651000 2.289622 +f 107 111 113 +f 88 87 89 +f 88 89 91 +f 91 89 94 +f 87 90 96 +f 91 94 97 +f 86 90 98 +f 90 92 98 +f 94 89 100 +f 89 87 101 +f 87 96 101 +f 88 91 102 +f 99 88 102 +f 92 99 102 +f 91 97 103 +f 102 91 103 +f 92 102 103 +f 87 88 104 +f 90 87 104 +f 88 99 104 +f 101 96 105 +f 96 90 106 +f 93 105 106 +f 105 96 106 +f 95 105 107 +f 97 86 108 +f 86 98 108 +f 98 92 108 +f 92 103 108 +f 103 97 108 +f 92 90 109 +f 99 92 109 +f 90 104 109 +f 104 99 109 +f 90 86 110 +f 105 93 110 +f 106 90 110 +f 93 106 110 +f 86 107 110 +f 107 105 110 +f 86 97 111 +f 97 94 111 +f 94 100 111 +f 107 86 111 +f 95 89 112 +f 89 101 112 +f 105 95 112 +f 101 105 112 +f 89 95 113 +f 100 89 113 +f 95 107 113 +f 111 100 113 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/714/714.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/714/714.urdf new file mode 100644 index 000000000..aee492e9a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/714/714.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/715/715.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/715/715.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/715/715.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/715/715.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/715/715.obj new file mode 100644 index 000000000..deca4e57f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/715/715.obj @@ -0,0 +1,423 @@ +o convex_0 +v -0.101365 -3.166656 -0.957113 +v 1.049778 -1.282620 0.961915 +v 1.049778 -1.422249 0.961915 +v -0.938927 -3.236661 1.101612 +v -1.008657 -1.282812 -1.061612 +v 1.049778 -3.166847 -1.131789 +v -0.973792 -1.282812 0.996675 +v 0.945183 -3.201467 1.066633 +v 0.945183 -1.282812 -1.026852 +v -1.008657 -3.131653 -0.957113 +v -0.869197 -1.352435 1.031654 +v -1.008657 -2.085200 0.193910 +v 0.980048 -3.201467 0.857197 +v -0.659807 -3.236661 0.612782 +v 1.049778 -1.282620 0.473304 +v 0.212418 -1.282812 -1.061831 +v -0.938927 -2.992215 -0.991873 +v -1.008657 -3.166656 -0.747677 +v 0.980048 -1.561878 0.996675 +v -0.276093 -1.910760 -1.096810 +v 1.049778 -3.166847 -0.712698 +v -0.031636 -3.236661 0.996675 +v 1.049778 -2.852586 -1.096810 +v -1.008657 -3.166656 -0.294045 +v -0.973792 -2.015577 1.031654 +v 0.980048 -1.736319 -1.061831 +v 0.945183 -3.096841 1.066633 +v -0.869197 -3.096841 1.101612 +v -1.008657 -1.282812 -0.294045 +v 0.980048 -3.201467 0.298628 +v -1.008657 -1.492064 -1.061612 +v 0.456471 -1.282812 0.996675 +v 0.561267 -3.166656 -1.096810 +v 0.945183 -1.596690 -1.061831 +v -0.206161 -1.840945 -1.096810 +v -0.973792 -3.201467 0.508283 +v -0.973792 -1.352435 1.031654 +v 0.352079 -3.201467 -0.294045 +v 0.980048 -3.027027 1.031654 +v -0.938927 -3.236661 0.682740 +v 1.049778 -3.096841 -1.131789 +f 20 35 41 +f 2 3 6 +f 3 2 8 +f 5 10 12 +f 5 2 15 +f 2 6 15 +f 15 9 16 +f 5 15 16 +f 10 1 18 +f 12 10 18 +f 1 14 18 +f 6 3 21 +f 13 6 21 +f 8 4 22 +f 13 8 22 +f 4 14 22 +f 15 6 23 +f 18 4 24 +f 12 18 24 +f 9 15 26 +f 15 23 26 +f 8 2 27 +f 2 19 27 +f 19 11 27 +f 4 8 28 +f 8 27 28 +f 27 11 28 +f 2 5 29 +f 7 2 29 +f 12 7 29 +f 5 12 29 +f 6 13 30 +f 13 22 30 +f 10 5 31 +f 17 10 31 +f 5 20 31 +f 20 17 31 +f 2 7 32 +f 7 11 32 +f 19 2 32 +f 11 19 32 +f 1 10 33 +f 14 1 33 +f 10 17 33 +f 20 6 33 +f 17 20 33 +f 16 9 34 +f 9 26 34 +f 5 16 35 +f 20 5 35 +f 24 4 36 +f 12 24 36 +f 4 25 36 +f 25 12 36 +f 11 7 37 +f 7 12 37 +f 25 4 37 +f 12 25 37 +f 4 28 37 +f 28 11 37 +f 22 14 38 +f 6 30 38 +f 30 22 38 +f 14 33 38 +f 33 6 38 +f 3 8 39 +f 8 13 39 +f 21 3 39 +f 13 21 39 +f 14 4 40 +f 4 18 40 +f 18 14 40 +f 6 20 41 +f 23 6 41 +f 26 23 41 +f 16 34 41 +f 34 26 41 +f 35 16 41 +o convex_1 +v 0.596151 0.916067 1.275860 +v 0.875366 -1.282436 -1.305416 +v 0.945170 -1.282436 -1.305416 +v 0.107734 0.846127 -3.016221 +v -1.008917 -1.177633 2.950617 +v -1.078720 -1.247143 -2.980763 +v -1.078720 0.916067 1.345593 +v 1.049979 -1.142770 3.020940 +v 1.014973 0.776401 2.985483 +v 1.014973 0.811264 -2.980763 +v -1.043714 0.846127 -3.016221 +v 0.945170 -1.247143 -3.016221 +v -1.008917 0.741539 2.950617 +v 1.049979 -1.282436 0.961474 +v 1.049979 0.916067 -1.026487 +v -0.973911 -1.282436 1.240994 +v -1.043714 0.916067 -1.794133 +v -1.008917 -0.618968 3.020940 +v 1.049979 0.916067 1.171262 +v 1.049979 0.741539 -2.282850 +v -1.008917 -1.282436 -1.061353 +v 0.735759 0.811264 2.811152 +v -1.078720 -0.444655 -2.980763 +v -1.043714 0.776401 2.741420 +v 1.049979 -0.339851 3.020940 +v 1.049979 -1.282436 0.508214 +v 0.945170 0.846127 -2.945306 +v 0.979967 -0.549458 -3.016221 +v -1.008917 -1.142770 3.020940 +v -1.078720 -1.247143 -2.526913 +v -1.078720 0.811264 1.519923 +v 0.037930 -1.247143 -3.016221 +v -1.078720 0.916067 0.089230 +v 0.596151 -1.177633 2.776286 +v -0.973911 0.322756 2.985483 +v -1.043714 0.043639 -3.016221 +v 1.014973 0.252815 -2.980763 +v -0.380683 0.916067 -1.724401 +v -0.485285 0.916067 1.450191 +v 0.980176 0.113364 -3.016221 +v -0.939113 0.880989 -2.526913 +v -0.206278 0.776401 2.950617 +v 0.945170 0.811264 2.811152 +v 0.840568 -0.200401 3.020940 +v 1.049979 0.880989 1.450191 +v 0.840568 0.776401 2.985483 +v -0.729702 -1.177633 2.950617 +f 57 75 88 +f 44 43 53 +f 52 45 53 +f 43 44 55 +f 48 42 56 +f 49 55 56 +f 43 55 57 +f 48 56 58 +f 56 42 60 +f 49 56 60 +f 51 56 61 +f 56 55 61 +f 47 43 62 +f 43 57 62 +f 47 48 64 +f 52 47 64 +f 59 54 65 +f 59 49 66 +f 49 60 66 +f 44 53 67 +f 55 44 67 +f 61 55 67 +f 51 45 68 +f 56 51 68 +f 53 45 69 +f 67 53 69 +f 46 49 70 +f 49 59 70 +f 59 65 70 +f 48 47 71 +f 57 46 71 +f 47 62 71 +f 62 57 71 +f 46 70 71 +f 71 70 72 +f 65 48 72 +f 70 65 72 +f 48 71 72 +f 43 47 73 +f 53 43 73 +f 52 53 73 +f 58 52 74 +f 48 58 74 +f 64 48 74 +f 52 64 74 +f 55 49 75 +f 57 55 75 +f 54 59 76 +f 47 52 77 +f 73 47 77 +f 52 73 77 +f 51 61 78 +f 61 67 78 +f 67 69 78 +f 58 56 79 +f 56 68 79 +f 42 48 80 +f 48 63 80 +f 45 51 81 +f 69 45 81 +f 51 78 81 +f 78 69 81 +f 45 52 82 +f 52 58 82 +f 68 45 82 +f 58 79 82 +f 79 68 82 +f 63 48 83 +f 48 65 83 +f 65 54 83 +f 50 60 84 +f 60 42 84 +f 63 50 84 +f 42 80 84 +f 80 63 84 +f 59 66 85 +f 66 50 85 +f 60 50 86 +f 50 66 86 +f 66 60 86 +f 50 63 87 +f 54 76 87 +f 76 59 87 +f 83 54 87 +f 63 83 87 +f 85 50 87 +f 59 85 87 +f 49 46 88 +f 46 57 88 +f 75 49 88 +o convex_2 +v -0.659818 2.521034 -1.096684 +v 1.084876 2.870142 1.101403 +v 1.014987 2.870142 1.101403 +v 1.049932 0.916067 1.031691 +v -1.078730 0.916262 0.961979 +v 1.049932 0.916067 -1.026756 +v -0.973896 2.765390 1.031476 +v -1.043574 0.916262 -1.096684 +v 0.980042 2.870142 -0.922188 +v -1.008841 2.835095 -1.096684 +v -0.310794 2.905190 0.228925 +v -1.043574 0.916262 0.996620 +v 1.084876 1.474486 -0.363844 +v 1.014987 1.055867 1.066547 +v 0.735641 1.090719 -1.061612 +v -1.008841 2.695491 0.996620 +v 0.945097 2.800438 -0.957259 +v 0.282207 2.905190 -0.328988 +v -1.078730 1.300223 0.892051 +v 1.084876 2.870142 0.577916 +v 1.084876 1.788548 1.066547 +v -1.078730 0.951115 0.089500 +v 1.049932 1.300029 -1.026756 +v -0.345739 2.905190 -0.328988 +v -1.008841 2.800243 0.159212 +v 1.014987 2.835095 -0.573196 +v 0.700908 2.869948 1.066332 +v -1.043574 1.404781 -1.061827 +v 1.084876 1.369928 -0.328988 +v 0.282207 2.905190 0.194069 +v 1.049932 2.730538 1.101403 +v -0.555195 2.800243 1.031476 +v 0.735641 2.869948 -0.957044 +v -0.834329 2.800243 -1.096684 +v 0.700908 0.916262 -1.061612 +v -0.973896 2.660638 1.031476 +f 100 119 124 +f 92 93 94 +f 94 93 96 +f 89 96 98 +f 91 90 99 +f 93 92 100 +f 95 93 100 +f 100 92 102 +f 93 95 104 +f 93 104 107 +f 90 101 108 +f 106 90 108 +f 97 106 108 +f 101 90 109 +f 90 102 109 +f 102 92 109 +f 96 93 110 +f 93 107 110 +f 107 98 110 +f 101 94 111 +f 94 103 111 +f 105 97 111 +f 98 99 112 +f 99 106 112 +f 99 98 113 +f 95 99 113 +f 104 95 113 +f 98 107 113 +f 107 104 113 +f 108 101 114 +f 97 108 114 +f 101 111 114 +f 111 97 114 +f 91 99 115 +f 98 96 116 +f 96 110 116 +f 110 98 116 +f 92 94 117 +f 94 101 117 +f 101 109 117 +f 109 92 117 +f 99 90 118 +f 90 106 118 +f 106 99 118 +f 90 91 119 +f 102 90 119 +f 100 102 119 +f 95 91 120 +f 99 95 120 +f 91 115 120 +f 115 99 120 +f 97 105 121 +f 106 97 121 +f 98 112 121 +f 112 106 121 +f 89 98 122 +f 103 89 122 +f 111 103 122 +f 105 111 122 +f 121 105 122 +f 98 121 122 +f 96 89 123 +f 94 96 123 +f 89 103 123 +f 103 94 123 +f 91 95 124 +f 95 100 124 +f 119 91 124 +o convex_3 +v -0.345896 2.905377 -0.329160 +v -0.206199 4.754448 0.333880 +v -0.241123 4.754448 0.333880 +v -0.310972 4.824518 -0.259326 +v 0.282248 2.905377 -0.329160 +v -0.276048 2.905377 0.264046 +v 0.282248 4.754448 0.229128 +v 0.282248 2.905377 0.194276 +v 0.247324 4.789389 -0.189556 +v -0.345896 2.940319 -0.049951 +v 0.282248 3.254415 -0.329160 +v -0.276048 4.161197 0.298963 +v 0.282248 4.789389 0.194276 +v -0.171336 4.824518 -0.259326 +v -0.310972 4.161197 -0.294243 +v -0.345896 3.708088 -0.224408 +v -0.066625 4.196138 0.298963 +v -0.310972 2.905377 0.229128 +v 0.282248 4.789389 0.019754 +v -0.276048 4.789389 0.124441 +v -0.206199 2.905377 0.264046 +f 132 141 145 +f 126 127 130 +f 125 129 130 +f 130 129 132 +f 129 131 132 +f 129 125 135 +f 131 129 135 +f 130 127 136 +f 127 126 137 +f 126 131 137 +f 131 135 137 +f 133 135 138 +f 128 137 138 +f 125 128 139 +f 135 125 139 +f 128 138 139 +f 138 135 139 +f 128 125 140 +f 125 134 140 +f 134 136 140 +f 131 126 141 +f 132 131 141 +f 125 130 142 +f 134 125 142 +f 130 136 142 +f 136 134 142 +f 135 133 143 +f 137 135 143 +f 133 138 143 +f 138 137 143 +f 136 127 144 +f 127 137 144 +f 137 128 144 +f 128 140 144 +f 140 136 144 +f 126 130 145 +f 130 132 145 +f 141 126 145 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/715/715.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/715/715.urdf new file mode 100644 index 000000000..c639e5805 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/715/715.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/716/716.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/716/716.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/716/716.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/716/716.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/716/716.obj new file mode 100644 index 000000000..2bbb16c49 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/716/716.obj @@ -0,0 +1,1209 @@ +o convex_0 +v -1.856924 -1.182512 0.018986 +v -1.856924 -0.352432 0.088186 +v -1.856924 -0.352432 -0.015579 +v -3.621434 -0.732935 0.018986 +v -1.926184 -0.871169 -0.361578 +v -1.891813 -0.663691 0.364985 +v -3.379108 -0.974950 0.053550 +v -3.240586 -0.594532 -0.188543 +v -1.856924 -1.147890 -0.292378 +v -1.856924 -0.456129 -0.292378 +v -3.344391 -0.525372 0.053550 +v -3.275130 -0.802009 0.226585 +v -3.344391 -0.802009 -0.188543 +v -1.926184 -0.456129 0.330350 +v -2.029989 -1.078731 0.191950 +v -3.379108 -0.525372 -0.050143 +v -3.413652 -0.974950 -0.015579 +v -1.891813 -1.217134 -0.153978 +v -3.275130 -0.698313 -0.223178 +v -3.206215 -0.629154 0.191950 +v -1.856924 -0.767472 0.330350 +v -2.825539 -0.974950 0.191950 +v -1.926184 -1.147890 -0.292378 +v -2.583558 -0.490751 -0.223178 +v -1.856924 -0.767472 -0.361578 +v -3.517629 -0.698313 -0.119343 +f 19 13 26 +f 3 2 1 +f 3 1 9 +f 3 9 10 +f 4 7 12 +f 6 2 14 +f 2 11 14 +f 12 6 14 +f 7 1 15 +f 2 3 16 +f 11 2 16 +f 4 11 16 +f 7 4 17 +f 1 7 18 +f 9 1 18 +f 7 17 18 +f 8 10 19 +f 5 13 19 +f 11 4 20 +f 4 12 20 +f 14 11 20 +f 12 14 20 +f 1 2 21 +f 2 6 21 +f 6 12 21 +f 15 1 21 +f 15 21 22 +f 12 7 22 +f 7 15 22 +f 21 12 22 +f 5 9 23 +f 13 5 23 +f 17 13 23 +f 9 18 23 +f 18 17 23 +f 10 8 24 +f 3 10 24 +f 16 3 24 +f 8 16 24 +f 9 5 25 +f 10 9 25 +f 5 19 25 +f 19 10 25 +f 4 16 26 +f 16 8 26 +f 17 4 26 +f 13 17 26 +f 8 19 26 +o convex_1 +v -0.611614 -3.189018 -0.776581 +v -0.645998 -0.213870 1.333736 +v -0.680624 -0.213870 1.333736 +v -0.645998 -0.213870 -1.295731 +v 0.599311 -0.490839 0.053493 +v -1.856683 -1.252329 -0.222941 +v -0.576988 -3.292968 0.849076 +v 0.288164 -3.085416 -0.776581 +v -1.579921 -0.213870 0.987550 +v -1.372409 -3.327153 0.157220 +v 0.149663 -1.874985 0.883823 +v 0.322790 -0.213870 -0.914798 +v -1.441660 -3.015999 -0.672596 +v -1.545295 -0.213870 -0.880308 +v 0.184288 -3.396570 0.122472 +v 0.253539 -0.213870 0.987550 +v -0.611614 -3.777489 -0.015487 +v -1.407035 -1.840103 0.918313 +v -1.856683 -0.698391 0.364674 +v 0.599311 -1.078961 0.191709 +v 0.599311 -0.940477 -0.257688 +v -1.856683 -0.352703 -0.153704 +v -1.649172 -2.116374 0.364674 +v 0.426425 -2.150908 0.330184 +v -1.199283 -2.946583 0.676112 +v -1.856683 -0.905943 -0.395905 +v -0.023223 -2.912049 0.676112 +v 0.218914 -1.425347 -0.949288 +v 0.461051 -2.289392 -0.222941 +v -1.407035 -1.148378 -0.915055 +v -0.542363 -0.248752 -1.295731 +v -0.645998 -3.292968 0.849076 +v -0.611614 -3.742607 0.156962 +v 0.599311 -0.767807 0.295694 +v 0.115038 -1.840103 0.918313 +v -0.576988 -3.327502 -0.672854 +v 0.322790 -3.015999 -0.741834 +v 0.391800 -0.213870 0.260947 +v -1.787673 -0.249101 0.157220 +v -1.441660 -2.842981 -0.707344 +v -0.680624 -1.840451 1.091277 +v -1.856683 -1.286862 -0.084724 +v -1.510911 -0.421771 -0.915055 +v -0.542363 -3.777489 -0.015487 +v -1.856683 -0.421771 0.364674 +v 0.218914 -0.249101 1.022040 +v 0.288164 -0.629323 -0.949545 +v -0.438487 -1.805569 1.056787 +v -1.268774 -3.050533 -0.707344 +v 0.426425 -2.081840 -0.603617 +v 0.599311 -0.560255 -0.188451 +v -1.510911 -1.944053 0.710859 +v -0.645998 -0.248752 -1.295731 +v 0.288164 -3.119601 -0.741834 +v -1.372409 -3.327153 0.053493 +v -1.856683 -0.456305 -0.326668 +v -1.372409 -1.701967 -0.880308 +v -1.753048 -0.213870 -0.084724 +v 0.218914 -3.292968 0.122472 +v -0.542363 -3.777489 0.087725 +v 0.322790 -0.213870 0.849076 +v 0.599311 -1.113844 -0.188451 +v 0.357175 -0.560255 -0.845818 +v 0.149663 -1.736501 0.918313 +f 42 72 90 +f 29 28 30 +f 29 30 35 +f 30 28 38 +f 35 30 40 +f 38 28 42 +f 29 35 44 +f 31 46 47 +f 32 45 48 +f 39 32 52 +f 32 48 52 +f 33 41 53 +f 50 37 53 +f 46 50 55 +f 34 27 57 +f 30 38 57 +f 54 34 57 +f 51 36 58 +f 44 51 58 +f 36 43 59 +f 33 58 59 +f 58 36 59 +f 46 31 60 +f 50 46 60 +f 33 53 61 +f 53 37 61 +f 27 34 62 +f 43 39 62 +f 31 38 64 +f 38 42 64 +f 39 52 66 +f 28 29 67 +f 29 44 67 +f 58 33 67 +f 44 58 67 +f 32 39 68 +f 45 32 68 +f 36 49 68 +f 49 45 68 +f 40 30 69 +f 52 40 69 +f 66 52 69 +f 56 66 69 +f 43 62 70 +f 45 35 71 +f 48 45 71 +f 35 65 71 +f 65 48 71 +f 42 28 72 +f 34 54 73 +f 57 38 73 +f 54 57 73 +f 63 34 73 +f 61 28 74 +f 33 61 74 +f 28 67 74 +f 67 33 74 +f 27 62 75 +f 62 39 75 +f 39 66 75 +f 47 63 76 +f 38 31 77 +f 31 47 77 +f 47 38 77 +f 44 35 78 +f 35 45 78 +f 49 36 78 +f 45 49 78 +f 36 51 78 +f 51 44 78 +f 57 27 79 +f 30 57 79 +f 69 30 79 +f 56 69 79 +f 27 75 79 +f 75 66 79 +f 62 34 80 +f 34 63 80 +f 41 70 80 +f 70 62 80 +f 43 36 81 +f 39 43 81 +f 68 39 81 +f 36 68 81 +f 48 40 82 +f 40 52 82 +f 52 48 82 +f 66 56 83 +f 56 79 83 +f 79 66 83 +f 35 40 84 +f 40 48 84 +f 65 35 84 +f 48 65 84 +f 53 41 85 +f 50 53 85 +f 55 50 85 +f 63 55 85 +f 80 63 85 +f 41 80 85 +f 41 33 86 +f 33 59 86 +f 59 43 86 +f 70 41 86 +f 43 70 86 +f 42 60 87 +f 60 31 87 +f 31 64 87 +f 64 42 87 +f 47 46 88 +f 46 55 88 +f 63 47 88 +f 55 63 88 +f 38 47 89 +f 73 38 89 +f 63 73 89 +f 47 76 89 +f 76 63 89 +f 37 50 90 +f 60 42 90 +f 50 60 90 +f 28 61 90 +f 61 37 90 +f 72 28 90 +o convex_2 +v 1.948823 -1.805449 0.053557 +v 0.807141 -1.528772 0.157264 +v 0.807141 -1.528772 0.226541 +v 1.326223 -3.742891 -0.015511 +v 1.187817 -1.355849 -0.534464 +v 1.741213 -1.355849 0.503232 +v 1.395312 -3.223654 0.434060 +v 1.775872 -2.912158 -0.396014 +v 0.980207 -2.912158 -0.396014 +v 1.879504 -1.355849 -0.396014 +v 0.980207 -2.981328 0.399421 +v 1.741213 -2.912158 0.399421 +v 0.945663 -1.355849 0.503232 +v 0.841801 -1.355849 -0.361480 +v 1.741213 -3.431162 0.018918 +v 0.980207 -3.431162 -0.015511 +v 1.326223 -3.154484 -0.430653 +v 1.948823 -1.355849 0.261180 +v 1.775872 -1.597941 -0.499825 +v 1.291679 -1.597941 0.537871 +v 1.914163 -2.082360 -0.292307 +v 0.841801 -1.909203 -0.257668 +v 0.945663 -1.459603 -0.499825 +v 0.841801 -1.978606 0.330248 +v 1.429856 -3.742891 -0.015511 +v 1.983367 -1.355849 -0.015511 +v 1.810301 -3.085081 0.018918 +v 1.914163 -1.840034 0.295714 +v 1.568147 -1.355849 -0.534464 +v 1.291679 -3.707839 0.053557 +v 0.841801 -1.355849 0.399421 +v 0.980207 -2.739235 0.434060 +v 1.429856 -3.154484 -0.430653 +v 0.876460 -2.531961 0.018918 +v 1.741213 -1.563357 0.503232 +v 1.326223 -1.667111 -0.534464 +v 1.879504 -1.425018 0.399421 +v 1.533603 -1.390433 0.537871 +v 1.429856 -3.673254 0.088091 +v 0.876460 -2.220699 -0.326841 +v 1.326223 -3.223654 0.434060 +v 1.775872 -3.154484 -0.223134 +v 0.807141 -1.355849 -0.223134 +v 1.291679 -3.604085 -0.119323 +v 0.980207 -3.258238 0.191902 +v 1.948823 -1.355849 -0.257668 +f 116 111 136 +f 95 96 100 +f 96 95 103 +f 103 95 104 +f 100 96 108 +f 100 98 109 +f 98 100 111 +f 104 95 113 +f 107 99 113 +f 108 91 116 +f 100 108 116 +f 91 111 116 +f 102 105 117 +f 111 91 117 +f 91 108 118 +f 117 91 118 +f 102 117 118 +f 95 100 119 +f 100 109 119 +f 106 94 120 +f 94 115 120 +f 103 104 121 +f 93 114 121 +f 121 114 122 +f 110 103 122 +f 114 101 122 +f 103 121 122 +f 109 98 123 +f 98 115 123 +f 119 109 123 +f 93 92 124 +f 92 112 124 +f 114 93 124 +f 97 102 125 +f 113 95 126 +f 107 113 126 +f 95 119 126 +f 123 107 126 +f 119 123 126 +f 108 96 127 +f 102 118 127 +f 118 108 127 +f 125 102 127 +f 96 125 127 +f 96 103 128 +f 110 97 128 +f 103 110 128 +f 97 125 128 +f 125 96 128 +f 102 97 129 +f 105 102 129 +f 115 105 129 +f 120 115 129 +f 99 106 130 +f 112 104 130 +f 113 99 130 +f 104 113 130 +f 124 112 130 +f 106 124 130 +f 97 110 131 +f 101 120 131 +f 122 101 131 +f 110 122 131 +f 129 97 131 +f 120 129 131 +f 98 111 132 +f 105 115 132 +f 115 98 132 +f 117 105 132 +f 111 117 132 +f 92 93 133 +f 112 92 133 +f 104 112 133 +f 93 121 133 +f 121 104 133 +f 94 106 134 +f 106 99 134 +f 99 107 134 +f 115 94 134 +f 123 115 134 +f 107 123 134 +f 101 114 135 +f 120 101 135 +f 106 120 135 +f 124 106 135 +f 114 124 135 +f 111 100 136 +f 100 116 136 +o convex_3 +v 1.326142 -0.317695 0.745566 +v 1.291679 -0.317695 -0.742159 +v 0.945795 -1.355612 -0.499690 +v 2.398617 -0.905777 -0.050140 +v 1.568279 -1.355612 0.537756 +v 0.599552 -0.663705 0.261065 +v 1.775774 -1.355612 -0.499690 +v 1.879521 -0.213870 0.503097 +v 0.841868 -0.213870 -0.499690 +v 1.845058 -0.213870 -0.534349 +v 0.945795 -1.355612 0.503097 +v 0.841868 -0.213870 0.503097 +v 0.599552 -1.044136 -0.188485 +v 2.398617 -0.698462 0.191892 +v 1.845058 -1.355612 0.434070 +v 2.363975 -0.732884 -0.223144 +v 0.599552 -0.490700 -0.119312 +v 2.363975 -0.559991 -0.050140 +v 1.775774 -0.213870 0.607075 +v 1.983448 -1.355612 -0.050140 +v 0.807406 -1.355612 0.295724 +v 1.360964 -1.355612 -0.569154 +v 1.775774 -0.213870 -0.603668 +v 0.876511 -0.213870 -0.569154 +v 1.775774 -1.320966 0.503097 +v 1.983448 -0.213870 0.226551 +v 0.599552 -1.044136 0.191892 +v 0.599552 -0.836598 -0.257658 +v 1.395427 -0.213870 -0.742159 +v 1.326142 -1.320966 0.572561 +v 1.291679 -0.213870 0.745566 +v 0.772584 -0.213870 0.295724 +v 0.772584 -1.355612 0.018742 +v 0.876511 -0.421520 0.537756 +v 1.948626 -1.355612 0.295724 +v 2.329153 -0.801952 -0.257658 +v 1.775774 -1.147961 -0.534349 +v 2.398617 -0.767530 0.191892 +v 1.879521 -1.355612 -0.396149 +v 1.775774 -0.698462 0.572561 +v 0.599552 -0.525345 0.226551 +v 0.599552 -0.871020 0.261065 +v 0.841868 -1.355612 -0.361490 +v 1.395427 -0.248515 0.745566 +f 161 176 180 +f 141 139 143 +f 145 144 146 +f 139 141 147 +f 144 145 148 +f 141 143 151 +f 149 142 153 +f 150 140 154 +f 140 152 154 +f 152 146 154 +f 144 148 155 +f 150 144 155 +f 151 143 156 +f 139 147 157 +f 139 138 158 +f 143 139 158 +f 145 146 159 +f 146 152 159 +f 138 139 160 +f 145 159 160 +f 141 151 161 +f 146 144 162 +f 144 150 162 +f 154 146 162 +f 150 154 162 +f 142 149 163 +f 157 147 163 +f 139 149 164 +f 153 145 164 +f 149 153 164 +f 160 139 164 +f 145 160 164 +f 158 138 165 +f 138 160 165 +f 160 159 165 +f 141 137 166 +f 137 147 166 +f 147 141 166 +f 147 137 167 +f 155 148 167 +f 148 145 168 +f 145 153 168 +f 139 157 169 +f 163 149 169 +f 157 163 169 +f 148 142 170 +f 147 167 170 +f 167 148 170 +f 156 140 171 +f 151 156 171 +f 152 140 172 +f 159 152 172 +f 159 172 173 +f 143 158 173 +f 158 165 173 +f 165 159 173 +f 172 143 173 +f 140 150 174 +f 150 155 174 +f 161 151 174 +f 171 140 174 +f 151 171 174 +f 140 156 175 +f 156 143 175 +f 172 140 175 +f 143 172 175 +f 174 155 176 +f 161 174 176 +f 142 148 177 +f 153 142 177 +f 148 168 177 +f 168 153 177 +f 142 163 178 +f 163 147 178 +f 170 142 178 +f 147 170 178 +f 149 139 179 +f 139 169 179 +f 169 149 179 +f 137 141 180 +f 141 161 180 +f 167 137 180 +f 155 167 180 +f 176 155 180 +o convex_4 +v -1.649216 0.166711 -0.153487 +v 0.357364 -0.179261 0.710439 +v 0.322658 -0.040865 0.814681 +v -0.507822 0.166711 -1.848788 +v -1.510802 -0.213870 -0.949383 +v -0.715029 0.166711 1.852710 +v -1.580009 -0.213870 0.987686 +v 0.322658 -0.213870 -0.949383 +v 0.322658 0.166711 -1.122387 +v -0.646236 -0.213870 1.368077 +v 0.253451 0.166711 1.022067 +v -1.614716 0.166711 1.056449 +v -0.576822 -0.213870 -1.364521 +v -1.510802 0.166711 -1.018877 +v -1.753129 -0.213870 0.018786 +v 0.218744 -0.213870 1.022067 +v -0.680736 0.132065 -1.883901 +v 0.357364 0.166711 0.226172 +v -0.646236 0.132065 1.852710 +v 0.357364 -0.213870 -0.707249 +v 0.218744 0.132065 -1.295392 +v -0.576822 0.097494 -1.848788 +v -1.510802 0.132065 1.194706 +v -0.715029 0.132065 1.852710 +v -1.545302 0.166711 -0.949383 +v -1.614716 -0.213870 -0.672502 +v -0.542322 0.166711 1.783215 +v -0.646236 -0.213870 -1.364521 +v -0.715029 -0.213870 1.368077 +v 0.322658 -0.213870 0.849062 +f 196 200 210 +f 184 181 186 +f 187 185 188 +f 184 186 189 +f 187 188 190 +f 189 186 191 +f 186 181 192 +f 188 185 193 +f 181 184 194 +f 185 187 195 +f 192 181 195 +f 187 192 195 +f 190 188 196 +f 194 184 197 +f 185 194 197 +f 183 182 198 +f 191 183 198 +f 189 191 198 +f 190 196 199 +f 188 189 200 +f 196 188 200 +f 198 182 200 +f 189 198 200 +f 184 189 201 +f 189 188 201 +f 188 193 202 +f 197 184 202 +f 184 201 202 +f 201 188 202 +f 186 192 203 +f 192 187 203 +f 199 186 204 +f 190 199 204 +f 186 203 204 +f 203 187 204 +f 181 194 205 +f 194 185 205 +f 195 181 205 +f 195 205 206 +f 185 195 206 +f 205 185 206 +f 191 186 207 +f 196 191 207 +f 186 199 207 +f 199 196 207 +f 193 185 208 +f 185 197 208 +f 202 193 208 +f 197 202 208 +f 187 190 209 +f 204 187 209 +f 190 204 209 +f 182 183 210 +f 183 191 210 +f 191 196 210 +f 200 182 210 +o convex_5 +v -1.683858 1.239202 -2.056039 +v 0.426561 1.239202 -0.672752 +v 0.426561 1.204658 -0.672752 +v -1.476197 1.273543 2.786649 +v -1.580133 0.166914 1.229118 +v 0.357270 0.166914 -0.361009 +v 0.045883 2.034935 2.059446 +v -0.645971 2.242606 -2.056632 +v -0.611536 0.443673 -2.748275 +v -0.057843 0.720432 2.613590 +v -1.441552 2.034935 2.059446 +v 0.218899 1.965644 -2.056039 +v -1.545487 0.166914 -1.018278 +v 0.184254 1.204658 -2.782650 +v -1.372471 1.931100 -2.229691 +v 0.357270 1.308290 2.094413 +v -0.645971 2.034935 2.751682 +v -0.611536 0.512761 2.786649 +v -1.718504 1.273543 2.059446 +v 0.253545 0.166914 1.090434 +v -1.372471 1.204658 -2.817617 +v -0.576891 1.965644 -2.783242 +v 0.287980 0.166914 -1.295053 +v -0.576891 2.242606 2.060039 +v 0.115174 1.342834 2.786649 +v 0.426561 1.204658 -2.125381 +v -1.441552 2.000391 -1.814230 +v -0.680407 1.343038 3.029050 +v -1.649213 0.166914 -0.152983 +v -0.576891 1.170114 -3.025643 +v -0.611536 0.166914 1.886980 +v -1.406907 0.478420 -2.056039 +v -0.645971 0.166914 -1.952915 +v -1.268536 0.685888 2.578623 +v 0.115174 0.512761 -2.229098 +v -0.784342 2.242606 2.060039 +v 0.115174 2.000188 2.059446 +v -0.127133 2.104023 -2.056632 +v -1.268536 1.827061 2.612998 +v 0.357270 0.166914 0.226325 +v 0.115174 1.204658 2.786649 +v -1.199455 0.651344 -2.609591 +v 0.011238 1.758176 -2.609591 +v -0.127133 1.861808 2.613590 +v -1.199455 1.792517 -2.609591 +v -1.476197 0.478217 1.990696 +v 0.115174 0.547508 2.094413 +v -0.715052 1.965644 2.821024 +v -0.680407 0.512761 2.786649 +v 0.357270 1.170114 2.025071 +v 0.426561 0.962443 -1.848605 +v -0.092488 0.616596 -2.609591 +v -1.441552 1.170114 -2.748275 +v 0.184254 2.000188 -0.810844 +v -0.680407 1.965644 -2.783242 +v 0.322625 1.446670 2.059446 +v 0.391916 1.446670 -1.987289 +v -1.545487 1.792720 2.059446 +v -0.645971 1.204658 3.029050 +v -0.576891 2.242606 -2.056632 +v -1.683858 1.170114 -2.021664 +v -0.680407 0.547305 -2.817617 +v -1.649213 0.166914 0.433758 +v 0.184254 1.273543 -2.782650 +f 232 253 274 +f 216 215 223 +f 213 212 226 +f 215 216 230 +f 216 223 233 +f 227 217 234 +f 212 213 236 +f 225 211 237 +f 218 225 237 +f 211 229 237 +f 223 215 239 +f 215 230 241 +f 230 228 241 +f 233 223 243 +f 219 233 243 +f 223 242 243 +f 242 219 243 +f 233 219 245 +f 224 236 245 +f 221 227 246 +f 234 218 246 +f 227 234 246 +f 218 237 246 +f 237 221 246 +f 222 232 248 +f 221 214 249 +f 227 221 249 +f 230 216 250 +f 228 220 251 +f 226 235 251 +f 219 242 252 +f 232 222 253 +f 217 227 254 +f 247 217 254 +f 235 247 254 +f 229 215 256 +f 214 229 256 +f 244 214 256 +f 220 228 257 +f 228 230 257 +f 251 220 257 +f 214 238 258 +f 238 235 258 +f 249 214 258 +f 227 249 258 +f 254 227 258 +f 235 254 258 +f 215 241 259 +f 241 228 259 +f 214 244 259 +f 256 215 259 +f 244 256 259 +f 213 226 260 +f 250 213 260 +f 230 250 260 +f 226 251 260 +f 257 230 260 +f 251 257 260 +f 216 233 261 +f 236 213 261 +f 233 245 261 +f 245 236 261 +f 213 250 261 +f 250 216 261 +f 219 224 262 +f 245 219 262 +f 224 245 262 +f 211 225 263 +f 231 252 263 +f 252 242 263 +f 225 255 263 +f 255 231 263 +f 234 217 264 +f 217 247 264 +f 222 248 264 +f 248 234 264 +f 225 218 265 +f 218 232 265 +f 240 231 265 +f 232 240 265 +f 255 225 265 +f 231 255 265 +f 226 212 266 +f 235 226 266 +f 247 235 266 +f 222 264 266 +f 264 247 266 +f 212 236 267 +f 236 222 267 +f 266 212 267 +f 222 266 267 +f 214 221 268 +f 229 214 268 +f 221 237 268 +f 237 229 268 +f 238 214 269 +f 235 238 269 +f 228 251 269 +f 251 235 269 +f 214 259 269 +f 259 228 269 +f 232 218 270 +f 218 234 270 +f 248 232 270 +f 234 248 270 +f 229 211 271 +f 223 239 271 +f 239 229 271 +f 242 223 271 +f 211 263 271 +f 263 242 271 +f 224 219 272 +f 240 224 272 +f 231 240 272 +f 219 252 272 +f 252 231 272 +f 215 229 273 +f 239 215 273 +f 229 239 273 +f 222 236 274 +f 236 224 274 +f 224 240 274 +f 240 232 274 +f 253 222 274 +o convex_6 +v 0.772780 0.235863 0.295707 +v 1.983482 -0.179265 0.226457 +v 1.983482 -0.213826 0.226457 +v 1.291669 0.235863 -0.845954 +v 0.841878 -0.213826 -0.534488 +v 1.844930 0.235863 0.607173 +v 1.291669 -0.213826 0.745512 +v 1.844930 -0.213826 -0.534488 +v 1.914146 0.235863 -0.361524 +v 0.807270 -0.213826 0.434046 +v 1.291669 0.235863 0.814762 +v 0.841878 0.235863 -0.569113 +v 1.395139 -0.213826 -0.742077 +v 1.810321 -0.179265 0.607173 +v 1.775713 0.235863 -0.638364 +v 0.876487 0.235863 0.572547 +v 1.948755 0.235863 0.295707 +v 0.772780 -0.213826 0.053493 +v 0.876487 -0.213826 0.537922 +v 1.395139 0.166697 0.814762 +v 0.807270 0.235863 -0.465237 +v 1.810321 -0.144660 -0.603739 +v 1.360886 0.201258 -0.845954 +v 1.291669 -0.110055 -0.776703 +v 1.948755 -0.213826 -0.119309 +f 282 283 299 +f 277 276 280 +f 278 275 280 +f 279 277 281 +f 277 279 282 +f 278 280 283 +f 279 281 284 +f 280 275 285 +f 275 278 286 +f 278 279 286 +f 282 279 287 +f 277 280 288 +f 281 277 288 +f 278 283 289 +f 275 284 290 +f 285 275 290 +f 280 276 291 +f 276 283 291 +f 283 280 291 +f 284 275 292 +f 279 284 292 +f 284 281 293 +f 281 285 293 +f 290 284 293 +f 285 290 293 +f 285 281 294 +f 280 285 294 +f 288 280 294 +f 281 288 294 +f 275 286 295 +f 286 279 295 +f 292 275 295 +f 279 292 295 +f 283 282 296 +f 282 287 296 +f 289 283 296 +f 289 296 297 +f 278 289 297 +f 296 287 297 +f 297 287 298 +f 279 278 298 +f 287 279 298 +f 278 297 298 +f 276 277 299 +f 277 282 299 +f 283 276 299 +o convex_7 +v 0.807141 0.374341 -0.499639 +v 1.914285 0.547248 0.399577 +v 1.845035 0.581890 0.641737 +v 1.360713 0.235941 0.849184 +v 1.810463 0.235941 -0.637937 +v 1.326142 0.581890 -1.434124 +v 0.841821 0.581890 0.572310 +v 0.807141 0.235941 -0.464926 +v 1.326142 0.581890 1.402932 +v 1.879606 0.235941 0.537875 +v 0.841821 0.235941 0.537875 +v 1.914285 0.581890 -0.395777 +v 0.807141 0.581890 -0.499639 +v 1.291571 0.235941 -0.880098 +v 1.810463 0.581890 -0.810949 +v 1.914285 0.235941 -0.361063 +v 1.291571 0.547248 -1.434124 +v 1.360713 0.547248 1.402932 +v 0.807141 0.581890 0.468726 +v 0.841821 0.235941 -0.568788 +v 0.807141 0.235941 0.434012 +v 1.845035 0.235941 0.607024 +f 317 303 321 +f 302 305 306 +f 304 303 307 +f 302 306 308 +f 301 302 309 +f 303 304 309 +f 307 303 310 +f 308 306 310 +f 302 301 311 +f 305 302 311 +f 306 305 312 +f 300 307 312 +f 304 307 313 +f 304 305 314 +f 305 311 314 +f 314 311 315 +f 301 309 315 +f 309 304 315 +f 311 301 315 +f 304 314 315 +f 305 304 316 +f 312 305 316 +f 304 313 316 +f 302 308 317 +f 310 303 317 +f 308 310 317 +f 310 306 318 +f 306 312 318 +f 312 307 318 +f 307 300 319 +f 300 312 319 +f 313 307 319 +f 312 316 319 +f 316 313 319 +f 307 310 320 +f 310 318 320 +f 318 307 320 +f 309 302 321 +f 303 309 321 +f 302 317 321 +o convex_8 +v 1.602806 1.619675 2.509873 +v 1.291570 0.581890 -1.468705 +v 1.326214 0.581890 -1.468705 +v 1.326214 1.654422 -2.748275 +v 0.841760 1.308291 1.783263 +v 1.914265 0.581890 0.364416 +v 0.807227 0.581890 0.468133 +v 1.360634 0.858893 2.751682 +v 1.879621 1.827427 -0.464726 +v 0.841760 1.827427 0.156982 +v 0.911047 1.239162 -2.678933 +v 1.741269 1.204658 -2.713900 +v 1.775801 1.273665 2.682340 +v 1.326214 1.688926 2.682932 +v 0.980223 1.308291 2.717307 +v 0.772695 1.308291 -1.744888 +v 1.257038 0.858893 -2.679525 +v 1.914265 0.581890 -0.430351 +v 0.807227 0.581890 -0.499693 +v 1.879621 1.827427 0.433166 +v 1.360634 0.581890 1.472112 +v 0.911047 1.654422 -1.744888 +v 1.326214 1.792680 -1.745481 +v 1.879621 1.273665 -1.814230 +v 1.395278 1.308291 3.029050 +v 1.291570 1.239162 -3.025643 +v 1.671982 1.550424 -2.506466 +v 1.360634 1.827427 1.506487 +v 1.879621 1.308291 1.817637 +v 1.637450 0.928021 -2.437124 +v 1.049399 0.962647 2.474906 +v 1.671982 0.962647 2.509873 +v 0.841760 1.827427 0.433758 +v 1.914265 1.273665 -0.326634 +v 1.049399 1.585171 2.371189 +v 0.945579 1.827427 -0.637785 +v 1.775801 0.581890 -0.948936 +v 0.980223 0.997150 -2.436532 +v 0.772695 1.343038 -1.191337 +v 0.911047 1.343038 -2.644558 +v 1.741269 1.688926 1.852012 +v 1.775801 1.654422 -1.814230 +v 0.945579 1.239162 2.612998 +v 1.844977 0.581890 0.641192 +v 1.395278 1.688926 -2.575809 +v 1.326214 0.858893 -2.679525 +v 1.014755 1.585171 -2.436532 +v 1.395278 1.688926 2.682932 +v 1.395278 0.858893 2.751682 +v 1.741269 1.273665 -2.713900 +v 0.841760 1.792680 -0.430351 +v 1.775801 1.308291 2.682340 +v 1.153107 1.239162 2.890366 +v 1.395278 1.792680 1.921354 +v 1.360634 1.827427 -1.122587 +v 0.807227 1.377419 0.433758 +v 1.360634 1.239162 -3.025643 +v 0.772695 1.204658 -1.641171 +v 1.326214 1.688926 -2.610183 +v 0.841760 0.581890 -0.637785 +v 1.395278 1.170155 2.994083 +v 1.291570 0.581890 1.437145 +v 0.945579 1.308291 2.578623 +v 1.775801 1.204658 -2.575216 +f 371 345 385 +f 323 324 327 +f 323 327 328 +f 324 323 338 +f 327 324 339 +f 323 328 340 +f 330 331 341 +f 328 327 342 +f 335 336 346 +f 338 332 347 +f 341 331 349 +f 334 327 350 +f 328 329 352 +f 327 334 353 +f 349 331 354 +f 327 339 355 +f 330 341 355 +f 345 330 355 +f 339 345 355 +f 350 327 355 +f 341 350 355 +f 336 335 356 +f 335 354 356 +f 331 330 357 +f 339 324 358 +f 351 339 358 +f 332 338 359 +f 340 332 359 +f 354 331 360 +f 332 337 361 +f 337 343 361 +f 325 347 361 +f 347 332 361 +f 330 345 363 +f 326 328 364 +f 328 352 364 +f 342 327 365 +f 327 353 365 +f 344 330 366 +f 348 325 366 +f 330 363 366 +f 363 348 366 +f 324 338 367 +f 338 347 367 +f 333 351 367 +f 358 324 367 +f 351 358 367 +f 325 361 368 +f 361 343 368 +f 335 346 369 +f 322 362 369 +f 329 342 370 +f 353 334 370 +f 342 365 370 +f 365 353 370 +f 325 348 371 +f 363 345 371 +f 348 363 371 +f 343 337 372 +f 331 357 372 +f 357 343 372 +f 337 360 372 +f 360 331 372 +f 346 334 373 +f 334 350 373 +f 350 341 373 +f 362 322 373 +f 341 362 373 +f 322 369 373 +f 369 346 373 +f 346 336 374 +f 352 329 374 +f 336 364 374 +f 364 352 374 +f 341 349 375 +f 354 335 375 +f 349 354 375 +f 362 341 375 +f 335 369 375 +f 369 362 375 +f 330 344 376 +f 357 330 376 +f 344 357 376 +f 328 326 377 +f 326 354 377 +f 360 328 377 +f 354 360 377 +f 347 325 378 +f 333 367 378 +f 367 347 378 +f 371 333 378 +f 325 371 378 +f 337 332 379 +f 340 328 379 +f 332 340 379 +f 328 360 379 +f 360 337 379 +f 343 357 380 +f 357 344 380 +f 366 325 380 +f 344 366 380 +f 325 368 380 +f 368 343 380 +f 338 323 381 +f 323 340 381 +f 359 338 381 +f 340 359 381 +f 334 346 382 +f 329 370 382 +f 370 334 382 +f 374 329 382 +f 346 374 382 +f 329 328 383 +f 328 342 383 +f 342 329 383 +f 354 326 384 +f 336 356 384 +f 356 354 384 +f 326 364 384 +f 364 336 384 +f 345 339 385 +f 351 333 385 +f 339 351 385 +f 333 371 385 +o convex_9 +v 0.841740 1.827427 0.157284 +v 1.879687 1.896674 0.399400 +v 1.879687 1.827427 0.399400 +v 1.429801 1.827427 -0.742006 +v 1.360713 2.277160 -0.050092 +v 1.326169 1.862073 0.814610 +v 1.879687 2.000479 -0.430561 +v 0.945575 2.207957 0.053520 +v 1.741206 2.138754 0.399400 +v 0.980221 2.138754 -0.361385 +v 0.945575 2.173355 0.364812 +v 1.671915 2.207957 -0.326797 +v 0.876385 1.827427 -0.430561 +v 1.845041 1.827427 -0.568913 +v 0.945575 1.827427 0.572341 +v 1.429801 2.207957 0.399400 +v 1.775852 2.207957 0.122696 +v 0.841740 2.069550 0.226460 +v 1.706662 1.827427 0.676105 +v 1.291625 1.862073 -0.742006 +v 1.291625 2.207957 -0.361385 +v 1.014765 2.242558 0.053520 +v 1.014765 1.862073 -0.603502 +v 0.841740 1.896674 0.433989 +v 1.810396 2.138754 -0.361385 +v 1.429801 2.277160 0.088108 +v 1.879687 2.035081 0.088108 +v 1.429801 1.862073 -0.742006 +f 397 410 413 +f 388 386 389 +f 387 388 392 +f 389 386 398 +f 388 389 399 +f 392 388 399 +f 386 388 400 +f 391 396 400 +f 391 394 401 +f 396 391 401 +f 394 387 402 +f 401 394 402 +f 393 395 403 +f 396 393 403 +f 398 386 403 +f 395 398 403 +f 388 387 404 +f 394 391 404 +f 387 394 404 +f 400 388 404 +f 391 400 404 +f 390 397 406 +f 405 395 406 +f 395 393 407 +f 393 396 407 +f 390 406 407 +f 406 395 407 +f 389 398 408 +f 398 395 408 +f 405 389 408 +f 395 405 408 +f 386 400 409 +f 400 396 409 +f 396 403 409 +f 403 386 409 +f 397 402 410 +f 397 390 411 +f 396 401 411 +f 402 397 411 +f 401 402 411 +f 407 396 411 +f 390 407 411 +f 387 392 412 +f 402 387 412 +f 392 410 412 +f 410 402 412 +f 399 389 413 +f 392 399 413 +f 389 405 413 +f 406 397 413 +f 405 406 413 +f 410 392 413 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/716/716.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/716/716.urdf new file mode 100644 index 000000000..07304b5ff --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/716/716.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/717/717.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/717/717.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/717/717.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/717/717.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/717/717.obj new file mode 100644 index 000000000..ad482f20e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/717/717.obj @@ -0,0 +1,489 @@ +o convex_0 +v -3.006715 -2.253530 0.163500 +v -1.072490 -1.649089 0.344859 +v -1.072490 -1.649089 0.254146 +v -1.072490 -2.313961 -0.229299 +v -2.976780 -1.649089 -0.350228 +v -3.097707 -1.800233 0.314644 +v -2.976780 -2.253530 -0.259514 +v -1.072490 -2.193100 0.193783 +v -1.072490 -1.800233 -0.199083 +v -2.976780 -2.344312 0.223998 +v -1.707650 -1.679372 0.344859 +v -2.342017 -2.283746 -0.259514 +v -3.067376 -1.951446 0.314644 +v -1.072490 -1.709587 0.344859 +v -1.132954 -2.313961 -0.108370 +v -2.885788 -1.739802 -0.350228 +v -2.976780 -1.649089 -0.289729 +v -1.072490 -2.072239 -0.229299 +v -3.097707 -1.830516 0.193783 +v -1.375004 -1.770018 -0.229299 +v -1.646989 -2.283746 -0.259514 +v -2.976780 -2.344312 0.163500 +v -3.006715 -1.679372 -0.319945 +v -2.583473 -2.313961 0.223998 +v -2.916119 -1.649089 -0.350228 +v -2.976780 -2.132669 -0.289729 +f 7 23 26 +f 3 2 4 +f 2 3 5 +f 4 2 8 +f 3 4 9 +f 1 10 13 +f 11 6 13 +f 11 13 14 +f 8 2 14 +f 2 11 14 +f 13 10 14 +f 4 8 15 +f 10 4 15 +f 2 5 17 +f 11 2 17 +f 6 11 17 +f 9 4 18 +f 4 16 18 +f 7 1 19 +f 1 13 19 +f 13 6 19 +f 3 9 20 +f 9 18 20 +f 4 12 21 +f 16 4 21 +f 1 7 22 +f 10 1 22 +f 4 10 22 +f 12 4 22 +f 7 12 22 +f 17 5 23 +f 6 17 23 +f 19 6 23 +f 7 19 23 +f 8 14 24 +f 14 10 24 +f 15 8 24 +f 10 15 24 +f 5 3 25 +f 16 5 25 +f 18 16 25 +f 3 20 25 +f 20 18 25 +f 12 7 26 +f 5 16 26 +f 21 12 26 +f 16 21 26 +f 23 5 26 +o convex_1 +v -1.072686 2.340889 0.163556 +v -3.067284 2.189680 -0.289842 +v -3.067284 2.310591 -0.289842 +v -3.067284 2.340889 0.314668 +v -1.072686 1.766631 0.344928 +v -1.072686 1.766631 -0.199125 +v -2.946222 1.796872 0.042580 +v -1.193748 2.340889 -0.229385 +v -2.976487 1.796872 -0.289842 +v -2.916152 1.827114 0.224013 +v -1.193748 2.340889 0.284470 +v -2.825355 1.766631 -0.199125 +v -3.067284 2.250108 0.314668 +v -1.223818 1.766631 -0.229385 +v -2.432488 2.310591 -0.289842 +v -1.072686 2.340889 -0.199125 +v -1.616880 1.766631 0.314668 +v -3.067284 2.340889 -0.017753 +v -1.072686 1.887542 0.344928 +v -2.432488 2.340889 0.314668 +v -2.040012 2.340889 -0.259582 +v -1.072686 2.310591 0.284470 +v -3.006753 1.887542 -0.108470 +f 33 39 49 +f 29 28 30 +f 27 31 32 +f 30 27 34 +f 28 29 35 +f 27 30 37 +f 32 31 38 +f 33 35 38 +f 30 28 39 +f 31 30 39 +f 33 36 39 +f 34 32 40 +f 32 38 40 +f 38 35 40 +f 35 29 41 +f 34 40 41 +f 40 35 41 +f 27 32 42 +f 34 27 42 +f 32 34 42 +f 36 33 43 +f 38 31 43 +f 33 38 43 +f 31 39 43 +f 39 36 43 +f 29 30 44 +f 30 34 44 +f 31 27 45 +f 30 31 45 +f 45 37 46 +f 37 30 46 +f 30 45 46 +f 41 29 47 +f 34 41 47 +f 29 44 47 +f 44 34 47 +f 27 37 48 +f 45 27 48 +f 37 45 48 +f 28 35 49 +f 35 33 49 +f 39 28 49 +o convex_2 +v 0.015680 1.584301 1.040127 +v -1.072490 -3.009167 0.405281 +v -1.042240 -3.039237 -1.045496 +v 1.103850 -3.069307 -0.924493 +v -0.951488 1.585212 -1.045496 +v 1.073599 1.584301 -1.075747 +v 0.982847 -3.038781 1.009876 +v -1.011989 1.252616 1.070378 +v 0.952596 1.584301 1.009876 +v -1.072490 -2.978641 1.070378 +v 1.103850 -1.799520 0.193736 +v 1.103850 -3.069307 -1.045286 +v -0.981739 1.585212 1.040127 +v -1.072490 -1.799976 -0.198894 +v 0.620053 -3.038781 1.040127 +v 1.073599 -1.286047 -1.075747 +v -0.014358 1.584301 -1.075747 +v -0.981739 1.463564 -0.591734 +v 0.952596 -3.069307 0.374820 +v -0.467691 -3.009167 1.070378 +v 0.982847 1.554230 0.707369 +v -1.042240 -2.283379 -1.045496 +v 1.103850 -2.252853 0.193736 +v -1.072490 -1.527521 0.314529 +v 0.227221 -3.069307 -1.045496 +v 1.073599 1.584301 -0.954743 +v -0.981739 0.677635 -1.045496 +v -0.951488 1.463564 1.070378 +v 1.103850 -2.283379 -1.045286 +v -1.042240 -3.039237 -0.712737 +v 0.257258 -3.038781 1.040127 +v -1.072490 -2.524852 1.070378 +v 1.103850 -1.708854 -0.350358 +v 0.982847 -2.585449 1.009876 +v -1.072490 -2.313905 -0.229145 +v -0.981739 1.585212 -0.319897 +v -0.618944 -3.009167 1.070378 +v 0.620053 -2.887518 1.040127 +v -1.011989 1.252616 1.009876 +f 85 67 88 +f 60 53 61 +f 50 58 62 +f 51 59 63 +f 55 61 65 +f 54 55 66 +f 65 52 66 +f 55 65 66 +f 53 56 68 +f 61 53 68 +f 56 64 68 +f 57 59 69 +f 58 60 70 +f 66 52 71 +f 56 53 72 +f 53 60 72 +f 60 56 72 +f 63 59 73 +f 52 65 74 +f 65 61 74 +f 61 68 74 +f 55 54 75 +f 54 62 75 +f 62 58 75 +f 58 70 75 +f 70 60 75 +f 54 66 76 +f 67 54 76 +f 63 67 76 +f 71 63 76 +f 66 71 76 +f 50 62 77 +f 62 57 77 +f 57 69 77 +f 61 55 78 +f 60 61 78 +f 51 52 79 +f 52 74 79 +f 74 68 79 +f 68 64 80 +f 64 69 80 +f 79 68 80 +f 59 57 81 +f 57 73 81 +f 73 59 81 +f 55 75 82 +f 75 60 82 +f 78 55 82 +f 60 78 82 +f 56 60 83 +f 60 58 83 +f 64 56 83 +f 52 51 84 +f 51 63 84 +f 71 52 84 +f 63 71 84 +f 62 54 85 +f 57 62 85 +f 54 67 85 +f 59 51 86 +f 69 59 86 +f 51 79 86 +f 80 69 86 +f 79 80 86 +f 58 50 87 +f 69 64 87 +f 50 77 87 +f 77 69 87 +f 83 58 87 +f 64 83 87 +f 67 63 88 +f 73 57 88 +f 63 73 88 +f 57 85 88 +o convex_3 +v 1.103861 2.099315 0.284178 +v -0.558653 2.945281 -1.075747 +v -0.558653 3.005738 -1.075747 +v -0.981738 3.066195 1.040151 +v -0.951487 1.585357 -1.045508 +v -0.981738 1.585357 1.040151 +v 1.073397 1.585212 -1.075747 +v 0.952607 3.036039 0.979466 +v 1.043360 2.914980 -1.075747 +v 0.952607 1.585212 1.009912 +v -0.921236 3.035894 -1.045508 +v -1.072490 2.340709 -0.199024 +v -1.072490 1.766584 0.344655 +v -0.135355 3.066195 1.040151 +v 1.043360 2.945281 -1.015061 +v 1.103861 1.675970 0.314416 +v -0.558653 3.035894 -1.045508 +v -0.951487 3.066195 -0.259502 +v 1.103861 2.280687 0.253939 +v -0.044603 1.585357 -1.075747 +v 0.015685 1.585357 1.040151 +v 0.862068 3.036039 1.009912 +v -1.072490 1.766584 -0.199024 +v 1.103861 2.189929 -0.259502 +v 0.922357 3.036039 0.767793 +v 1.043360 2.945281 -0.561684 +v -1.072490 2.310698 0.284178 +v -0.951487 2.945281 -0.924552 +v 1.073397 2.038713 -1.075747 +v 1.103861 1.706271 -0.350012 +v -0.951487 2.159628 -1.045508 +v 0.952607 2.401166 1.009912 +v -0.981738 1.585357 -0.319980 +v 1.013109 2.945281 -1.075747 +v 0.982858 3.005738 0.586567 +v -0.890986 3.066195 -0.259502 +f 113 105 124 +f 91 90 93 +f 90 91 95 +f 95 91 97 +f 93 95 98 +f 94 92 101 +f 92 94 102 +f 89 96 104 +f 98 95 104 +f 91 99 105 +f 100 92 106 +f 92 102 106 +f 105 99 106 +f 96 89 107 +f 89 104 107 +f 93 90 108 +f 95 93 108 +f 90 95 108 +f 94 98 109 +f 102 94 109 +f 96 102 110 +f 100 93 111 +f 94 101 111 +f 101 100 111 +f 97 103 112 +f 103 107 112 +f 107 104 112 +f 102 96 113 +f 96 103 113 +f 103 96 114 +f 107 103 114 +f 92 100 115 +f 101 92 115 +f 100 101 115 +f 100 106 116 +f 106 99 116 +f 95 97 117 +f 97 112 117 +f 117 112 118 +f 104 95 118 +f 112 104 118 +f 95 117 118 +f 91 93 119 +f 99 91 119 +f 93 100 119 +f 116 99 119 +f 100 116 119 +f 104 96 120 +f 98 104 120 +f 109 98 120 +f 102 109 120 +f 110 102 120 +f 96 110 120 +f 98 94 121 +f 93 98 121 +f 111 93 121 +f 94 111 121 +f 97 91 122 +f 103 97 122 +f 91 105 122 +f 113 103 122 +f 105 113 122 +f 96 107 123 +f 114 96 123 +f 107 114 123 +f 106 102 124 +f 105 106 124 +f 102 113 124 +o convex_4 +v 3.098655 -1.800325 0.344859 +v 1.104057 -1.800325 -0.350228 +v 1.104057 -2.283858 -0.229299 +v 2.977593 -2.283858 -0.319945 +v 1.104057 -2.253560 0.193783 +v 3.038124 -1.830510 -0.319945 +v 3.038124 -2.253560 0.314644 +v 1.104057 -1.770083 0.163500 +v 1.134322 -1.709599 -0.319945 +v 2.433594 -2.283858 0.193783 +v 1.345986 -1.800325 0.223998 +v 2.796390 -1.770083 0.223998 +v 2.161594 -1.770083 -0.350228 +v 2.735859 -2.253560 0.314644 +v 3.068390 -1.890994 -0.259514 +v 3.068390 -1.800325 -0.078154 +v 3.068390 -2.193076 0.284429 +v 2.735859 -2.283858 -0.319945 +v 1.134322 -2.283858 0.042639 +v 1.104057 -1.709599 -0.259514 +v 3.007859 -2.283858 -0.229299 +f 139 141 145 +f 126 127 129 +f 126 129 132 +f 127 128 134 +f 125 132 135 +f 132 129 135 +f 132 125 136 +f 128 126 137 +f 130 128 137 +f 126 133 137 +f 131 125 138 +f 129 134 138 +f 134 131 138 +f 125 135 138 +f 135 129 138 +f 128 130 139 +f 136 125 140 +f 133 136 140 +f 137 133 140 +f 130 137 140 +f 125 139 140 +f 139 130 140 +f 125 131 141 +f 139 125 141 +f 127 126 142 +f 128 127 142 +f 126 128 142 +f 129 127 143 +f 127 134 143 +f 134 129 143 +f 126 132 144 +f 133 126 144 +f 132 136 144 +f 136 133 144 +f 134 128 145 +f 131 134 145 +f 128 139 145 +f 141 131 145 +o convex_5 +v 2.917257 2.159471 0.223913 +v 1.104057 1.706179 -0.350231 +v 1.104057 1.675985 -0.017798 +v 1.104057 2.280435 0.254175 +v 2.917257 1.645728 0.254175 +v 3.007859 2.280435 -0.199113 +v 3.068390 1.645728 -0.259508 +v 1.104057 2.189665 -0.259508 +v 1.104057 1.675985 0.314635 +v 3.098655 2.219922 0.193715 +v 1.497118 1.827082 0.314635 +v 3.068390 1.645728 0.223913 +v 1.225119 1.796887 -0.350231 +v 1.255189 2.219922 -0.259508 +v 1.829454 1.645728 0.254175 +v 3.068390 1.827082 -0.259508 +v 2.917257 2.280435 0.012400 +v 1.104057 2.280435 0.103057 +v 2.735859 2.219922 -0.229311 +v 2.342992 2.280435 -0.199113 +v 1.376251 2.280435 0.254175 +v 3.098655 2.038568 0.223913 +v 2.010852 1.675985 -0.319968 +v 1.104057 1.887533 0.314635 +f 166 149 169 +f 147 148 149 +f 147 149 153 +f 149 148 154 +f 154 150 156 +f 150 152 157 +f 147 153 158 +f 158 153 159 +f 148 152 160 +f 152 150 160 +f 154 148 160 +f 150 154 160 +f 151 155 161 +f 155 152 161 +f 151 149 162 +f 155 151 162 +f 149 151 163 +f 153 149 163 +f 159 153 163 +f 158 159 164 +f 159 151 164 +f 151 161 164 +f 161 158 164 +f 151 159 165 +f 163 151 165 +f 159 163 165 +f 146 155 166 +f 156 146 166 +f 162 149 166 +f 155 162 166 +f 155 146 167 +f 152 155 167 +f 146 156 167 +f 156 150 167 +f 150 157 167 +f 157 152 167 +f 148 147 168 +f 152 148 168 +f 147 158 168 +f 161 152 168 +f 158 161 168 +f 149 154 169 +f 154 156 169 +f 156 166 169 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/717/717.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/717/717.urdf new file mode 100644 index 000000000..6a247fb9c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/717/717.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/718/718.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/718/718.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/718/718.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/718/718.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/718/718.obj new file mode 100644 index 000000000..105a35eab --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/718/718.obj @@ -0,0 +1,393 @@ +o convex_0 +v -0.363633 0.244959 -3.115904 +v 0.341578 -0.184228 -3.667706 +v 0.341578 -0.214865 -3.667706 +v -0.332914 -0.245503 -4.709849 +v 0.280211 0.306299 -4.771118 +v -0.363633 -0.337547 -2.931906 +v 0.249492 0.337003 -2.931906 +v 0.341578 -0.245503 -4.894040 +v -0.240966 0.214321 -4.740388 +v 0.310860 -0.214865 -2.962636 +v -0.332914 0.337003 -2.931906 +v -0.332914 0.337003 -3.269171 +v -0.240966 -0.337547 -3.085366 +v 0.280211 0.275662 -2.931906 +v -0.363633 -0.337547 -3.330632 +v 0.310860 0.183618 -4.801848 +v 0.341578 -0.245503 -4.158047 +v 0.249492 -0.184228 -4.894040 +v -0.332914 -0.153525 -4.679119 +v -0.332914 -0.276206 -4.464583 +v 0.004298 0.337003 -3.790435 +v -0.179598 0.244959 -4.709849 +v 0.310860 -0.000272 -2.931906 +v 0.218912 0.275662 -4.801848 +v -0.240966 -0.337547 -2.931906 +v -0.179598 0.183618 -4.771118 +v 0.341578 -0.092250 -4.863117 +v -0.363633 0.306299 -3.023905 +f 19 1 28 +f 2 3 8 +f 6 7 11 +f 11 7 12 +f 5 7 14 +f 7 6 14 +f 6 1 15 +f 13 6 15 +f 8 13 15 +f 14 2 16 +f 5 14 16 +f 8 3 17 +f 3 10 17 +f 13 8 17 +f 8 4 18 +f 9 4 19 +f 15 1 19 +f 4 15 19 +f 4 8 20 +f 15 4 20 +f 8 15 20 +f 7 5 21 +f 5 12 21 +f 12 7 21 +f 12 5 22 +f 9 12 22 +f 3 2 23 +f 10 3 23 +f 2 14 23 +f 14 6 23 +f 5 16 24 +f 22 5 24 +f 9 22 24 +f 6 13 25 +f 17 10 25 +f 13 17 25 +f 10 23 25 +f 23 6 25 +f 4 9 26 +f 18 4 26 +f 24 18 26 +f 9 24 26 +f 2 8 27 +f 16 2 27 +f 8 18 27 +f 24 16 27 +f 18 24 27 +f 1 6 28 +f 6 11 28 +f 12 9 28 +f 11 12 28 +f 9 19 28 +o convex_1 +v -0.608923 -0.030741 -2.839406 +v 0.586869 -0.398750 -2.379450 +v 0.494750 0.428891 -1.000175 +v -0.578139 -0.552176 -0.908065 +v -0.578139 0.551632 -0.908065 +v 0.433532 0.490261 -2.778197 +v 0.525417 -0.490806 -0.908263 +v -0.578139 -0.460120 -2.839406 +v -0.578139 0.428891 -2.901011 +v 0.586869 -0.429435 -2.870109 +v 0.464200 0.551632 -0.908263 +v 0.280079 0.275680 -2.931714 +v -0.363467 -0.337487 -2.931714 +v -0.608923 -0.521383 -1.950395 +v -0.578139 0.551632 -1.214703 +v -0.363467 -0.552176 -1.000373 +v 0.586869 -0.276116 -2.839604 +v 0.065524 -0.460120 -2.839406 +v -0.608923 0.030305 -1.858879 +v 0.556085 -0.460120 -2.195626 +v 0.310863 -0.184060 -2.931714 +v -0.608923 -0.490698 -2.624878 +v 0.464200 0.551632 -1.153692 +v -0.240915 0.459576 -2.839406 +v -0.363467 0.336943 -2.931714 +v -0.608923 -0.521383 -1.705362 +v 0.464200 0.520839 -1.643955 +v 0.249528 0.336943 -2.931714 +v 0.556085 -0.184168 -2.870109 +v -0.547472 -0.552176 -1.245604 +f 50 46 58 +f 30 31 35 +f 33 32 35 +f 36 29 37 +f 30 35 38 +f 35 31 39 +f 33 35 39 +f 36 37 41 +f 38 36 41 +f 37 29 43 +f 33 39 43 +f 35 32 44 +f 31 30 45 +f 30 38 45 +f 36 38 46 +f 29 42 47 +f 43 29 47 +f 33 43 47 +f 38 35 48 +f 35 44 48 +f 46 38 48 +f 40 38 49 +f 38 41 49 +f 41 40 49 +f 29 36 50 +f 42 29 50 +f 36 46 50 +f 39 31 51 +f 34 43 51 +f 43 39 51 +f 34 37 52 +f 37 43 52 +f 43 34 52 +f 40 41 53 +f 41 37 53 +f 32 33 54 +f 42 32 54 +f 33 47 54 +f 47 42 54 +f 31 45 55 +f 45 34 55 +f 51 31 55 +f 34 51 55 +f 37 34 56 +f 34 40 56 +f 53 37 56 +f 40 53 56 +f 40 34 57 +f 38 40 57 +f 34 45 57 +f 45 38 57 +f 32 42 58 +f 44 32 58 +f 48 44 58 +f 46 48 58 +f 42 50 58 +o convex_2 +v -0.332803 -0.551741 -0.908065 +v -0.240759 0.581858 1.330213 +v -0.455460 0.581858 1.330213 +v -0.547504 -3.035745 1.299539 +v 0.985406 -3.035745 1.238193 +v 0.985406 2.911769 -0.816045 +v 0.954589 -3.035745 -0.693352 +v -1.007521 2.911769 -0.754480 +v 1.077450 2.973287 1.207519 +v -0.976703 -3.035745 -0.907846 +v -0.915477 3.065862 1.207300 +v -0.946090 -3.004687 1.299539 +v 0.494777 -0.490223 -0.908065 +v 0.494777 -0.582201 1.330213 +v -0.578118 0.551398 -0.908065 +v -1.007521 2.850251 -0.355945 +v 1.077450 2.268520 1.145953 +v -1.007521 -0.183829 -0.785153 +v -0.946090 0.919310 1.237973 +v -0.976703 -3.035745 0.165283 +v -0.700775 -1.072552 1.330213 +v 1.016020 2.942826 -0.263925 +v 0.862749 -3.035745 -0.724025 +v 0.464164 0.551398 -0.908065 +v 0.464164 0.520340 1.330213 +v -1.007521 2.942826 -0.632005 +v -0.823433 3.065862 1.053933 +v 0.985406 -3.035745 0.778092 +v 0.985406 2.145484 -0.816045 +v 1.077450 2.911769 0.931240 +v -0.946090 3.034804 1.023479 +v 0.525390 2.911769 -0.816045 +v 0.954793 2.482936 1.238193 +v 0.954793 -2.636775 -0.723806 +v -0.608731 -3.035745 -0.877392 +v -0.884863 2.360498 1.237973 +v -0.946090 -1.992332 1.299539 +v -1.007521 0.704296 -0.815826 +v 1.016020 -1.594557 1.207519 +v -0.700775 3.065862 1.146173 +v -0.670162 -1.286968 1.330213 +v -0.302190 2.911769 -0.785372 +v -0.946090 -3.035745 0.931459 +v 0.985406 1.808033 -0.785372 +v -0.884863 3.065862 1.023479 +v -0.639549 -0.398245 1.330213 +f 94 79 104 +f 63 62 65 +f 65 62 68 +f 68 59 71 +f 60 61 72 +f 62 63 72 +f 59 68 73 +f 71 59 73 +f 74 66 76 +f 68 62 78 +f 70 74 78 +f 76 68 78 +f 74 76 78 +f 72 61 79 +f 65 68 81 +f 64 71 82 +f 73 64 82 +f 71 73 82 +f 60 72 83 +f 66 74 84 +f 63 65 86 +f 65 75 86 +f 71 64 87 +f 64 80 87 +f 75 65 88 +f 67 75 88 +f 80 67 88 +f 87 80 88 +f 77 69 89 +f 74 77 89 +f 69 84 89 +f 84 74 89 +f 64 73 90 +f 84 64 90 +f 61 60 91 +f 63 67 91 +f 69 61 91 +f 67 69 91 +f 72 63 91 +f 60 83 91 +f 83 72 91 +f 65 81 92 +f 81 71 92 +f 71 87 92 +f 87 65 92 +f 68 71 93 +f 81 68 93 +f 71 81 93 +f 61 69 94 +f 69 77 94 +f 79 94 95 +f 74 70 95 +f 77 74 95 +f 70 79 95 +f 94 77 95 +f 66 73 96 +f 73 68 96 +f 76 66 96 +f 68 76 96 +f 67 63 97 +f 75 67 97 +f 63 86 97 +f 86 75 97 +f 69 67 98 +f 67 80 98 +f 85 69 98 +f 80 85 98 +f 70 62 99 +f 62 72 99 +f 79 70 99 +f 72 79 99 +f 73 66 100 +f 66 84 100 +f 90 73 100 +f 84 90 100 +f 62 70 101 +f 78 62 101 +f 70 78 101 +f 65 87 102 +f 88 65 102 +f 87 88 102 +f 80 64 103 +f 64 84 103 +f 84 69 103 +f 69 85 103 +f 85 80 103 +f 79 61 104 +f 61 94 104 +o convex_3 +v 0.157438 -0.061370 3.292376 +v 0.249492 -0.613499 1.483549 +v 0.310861 -0.613382 1.361036 +v -0.486185 0.582293 1.361036 +v -0.516869 -0.613499 3.323199 +v 0.464176 0.520842 1.330408 +v -0.608923 0.428957 3.323199 +v -0.608923 -0.521380 1.330408 +v 0.433492 0.551509 3.230924 +v 0.494861 -0.521380 3.261748 +v 0.494861 -0.582715 1.330408 +v 0.464176 0.490174 3.139039 +v 0.494861 -0.030819 1.330408 +v -0.271500 0.582293 1.330408 +v -0.332869 -0.613499 3.323199 +v 0.464176 -0.613382 1.361036 +v -0.578131 -0.552047 1.575629 +v -0.516869 0.551626 1.912931 +v -0.516869 -0.613499 2.924446 +v -0.608923 -0.184039 1.882303 +v -0.148977 0.490174 3.292376 +v 0.280176 -0.552047 3.292376 +v -0.608923 0.336955 3.323199 +v 0.464176 0.183501 3.261748 +v -0.547554 -0.582715 2.832561 +v -0.608923 0.428957 3.169863 +v 0.494861 -0.061487 2.188976 +v -0.424923 0.336955 3.323199 +v 0.157438 0.551626 1.330408 +v -0.486185 0.551626 1.330408 +v -0.578131 0.459624 3.108411 +f 125 122 135 +f 107 112 115 +f 112 110 115 +f 110 113 116 +f 115 110 117 +f 114 115 117 +f 110 116 117 +f 110 112 118 +f 108 113 118 +f 109 106 119 +f 111 109 119 +f 106 107 120 +f 107 115 120 +f 115 114 120 +f 119 106 120 +f 112 107 121 +f 113 108 122 +f 107 106 123 +f 106 109 123 +f 109 112 123 +f 121 107 123 +f 112 121 123 +f 112 111 124 +f 108 112 124 +f 113 122 125 +f 120 114 126 +f 119 120 126 +f 109 111 127 +f 111 112 127 +f 116 113 128 +f 114 116 128 +f 113 125 128 +f 105 126 128 +f 126 114 128 +f 112 109 129 +f 109 127 129 +f 127 112 129 +f 122 108 130 +f 111 122 130 +f 108 124 130 +f 124 111 130 +f 116 114 131 +f 114 117 131 +f 117 116 131 +f 111 119 132 +f 125 111 132 +f 126 105 132 +f 119 126 132 +f 105 128 132 +f 128 125 132 +f 113 110 133 +f 110 118 133 +f 118 113 133 +f 112 108 134 +f 118 112 134 +f 108 118 134 +f 122 111 135 +f 111 125 135 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/718/718.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/718/718.urdf new file mode 100644 index 000000000..3b71d9440 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/718/718.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/719/719.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/719/719.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/719/719.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/719/719.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/719/719.obj new file mode 100644 index 000000000..6ff98ea3d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/719/719.obj @@ -0,0 +1,384 @@ +o convex_0 +v 1.074592 3.498250 0.160970 +v -1.088267 -0.918482 0.221849 +v -1.088267 -0.918482 0.587122 +v 1.105079 -0.918921 0.404486 +v 1.013618 -0.918921 -0.935612 +v -1.057780 3.528496 -0.935421 +v -1.088267 3.375953 0.983503 +v -1.027293 -0.918921 -0.965956 +v 1.044105 3.559180 -0.935612 +v 1.013618 -0.918921 0.952968 +v 1.105079 3.437320 0.922433 +v -1.027293 -0.918921 0.983312 +v 1.074592 3.559180 -0.844007 +v 0.160626 0.817790 -0.966147 +v -1.088267 3.467566 0.008678 +v 1.105079 -0.887799 0.800675 +v 1.105079 0.391283 0.069366 +v 1.044105 0.360599 -0.935612 +v -1.027293 1.031262 -0.965956 +v -0.265547 3.559180 -0.905077 +v -1.057780 1.913644 -0.935612 +v 0.160626 -0.918921 -0.966147 +v 1.105079 3.467128 0.252193 +v 0.221600 3.375953 0.952968 +v 0.800424 3.437320 0.922433 +v -1.088267 1.822469 0.983503 +v 1.105079 0.452651 0.922433 +v -1.088267 2.888955 -0.143424 +v -1.057780 3.528496 -0.661180 +v -0.813884 -0.522660 0.983312 +v 1.074592 3.559180 -0.691906 +v -1.088267 0.574510 -0.021666 +v 1.074592 3.162919 -0.844007 +v 1.074592 -0.918921 0.922433 +v -1.057780 3.375953 0.983503 +v 1.013618 -0.797062 0.952968 +v 1.013618 3.467128 0.587313 +f 31 20 37 +f 2 3 7 +f 3 2 8 +f 5 4 8 +f 8 4 10 +f 3 8 12 +f 8 10 12 +f 2 7 15 +f 4 11 16 +f 11 4 17 +f 4 5 18 +f 9 13 18 +f 14 9 18 +f 17 4 18 +f 6 9 19 +f 14 8 19 +f 9 14 19 +f 9 6 20 +f 13 9 20 +f 8 2 21 +f 6 19 21 +f 19 8 21 +f 5 8 22 +f 8 14 22 +f 18 5 22 +f 14 18 22 +f 11 17 23 +f 17 13 23 +f 7 11 25 +f 15 7 25 +f 7 3 26 +f 3 12 26 +f 11 10 27 +f 16 11 27 +f 15 6 28 +f 2 15 28 +f 6 21 28 +f 6 15 29 +f 20 6 29 +f 15 25 29 +f 12 10 30 +f 26 12 30 +f 1 11 31 +f 13 20 31 +f 11 23 31 +f 23 13 31 +f 21 2 32 +f 2 28 32 +f 28 21 32 +f 13 17 33 +f 18 13 33 +f 17 18 33 +f 10 4 34 +f 4 16 34 +f 27 10 34 +f 16 27 34 +f 11 7 35 +f 24 11 35 +f 7 26 35 +f 26 30 35 +f 35 30 36 +f 10 11 36 +f 11 24 36 +f 30 10 36 +f 24 35 36 +f 11 1 37 +f 25 11 37 +f 20 29 37 +f 29 25 37 +f 1 31 37 +o convex_1 +v -1.088511 -1.223667 0.526518 +v -3.007330 -2.015512 -0.570124 +v -3.007330 -1.924158 -0.570124 +v -3.098843 -1.985060 0.526404 +v -3.007330 -0.949384 0.526404 +v -1.088511 -1.040848 -0.539643 +v -1.088511 -2.076525 -0.570124 +v -1.088511 -2.015512 0.587480 +v -3.037834 -1.071410 -0.509049 +v -1.088511 -1.010397 0.496037 +v -3.007330 -2.045963 -0.234831 +v -2.306715 -0.949384 0.526404 +v -3.007330 -0.949384 0.343744 +v -1.545289 -2.015512 0.587480 +v -1.850135 -1.040848 -0.539530 +v -1.118819 -2.076525 -0.265426 +v -1.088511 -1.010397 -0.204464 +v -2.063271 -2.076525 -0.570124 +v -1.088511 -1.832693 0.587480 +v -3.037834 -1.040848 -0.417718 +v -3.068141 -2.015512 0.282782 +v -3.098843 -1.802352 0.526404 +v -3.098843 -1.985060 0.343744 +v -2.306715 -1.771791 -0.570124 +v -1.332152 -0.980056 0.496037 +v -3.007330 -2.045963 -0.539530 +v -2.976825 -1.376034 -0.539530 +v -1.941451 -2.015512 0.556999 +f 58 53 65 +f 43 38 44 +f 39 40 44 +f 44 38 45 +f 40 39 46 +f 38 43 47 +f 38 47 49 +f 42 49 50 +f 50 43 52 +f 44 45 53 +f 45 51 53 +f 47 43 54 +f 43 50 54 +f 50 49 54 +f 39 44 55 +f 44 53 55 +f 53 48 55 +f 45 38 56 +f 49 42 56 +f 38 49 56 +f 42 51 56 +f 51 45 56 +f 42 50 57 +f 52 46 57 +f 50 52 57 +f 48 53 58 +f 41 51 59 +f 51 42 59 +f 42 57 59 +f 57 46 59 +f 46 39 60 +f 58 41 60 +f 41 59 60 +f 59 46 60 +f 43 44 61 +f 44 40 61 +f 40 52 61 +f 52 43 61 +f 49 47 62 +f 47 54 62 +f 54 49 62 +f 39 55 63 +f 55 48 63 +f 48 58 63 +f 60 39 63 +f 58 60 63 +f 40 46 64 +f 52 40 64 +f 46 52 64 +f 51 41 65 +f 53 51 65 +f 41 58 65 +o convex_2 +v 1.105088 -1.589375 0.709071 +v -0.509441 -1.071380 -0.966147 +v -0.509441 -0.918921 -0.966147 +v -1.027293 -1.223673 0.983503 +v -1.027293 -2.624864 -0.965956 +v -0.996805 -2.563913 0.983503 +v 1.013627 -2.533188 -0.935612 +v 1.013627 -0.918921 -0.935612 +v 1.013627 -2.502796 0.952968 +v 1.013627 -0.918921 0.952968 +v -1.088267 -0.918921 0.221849 +v -1.027293 -0.918921 -0.965956 +v -1.027293 -0.918921 0.983503 +v 1.105088 -0.980038 -0.509078 +v -1.088267 -2.015527 0.587313 +v 1.105088 -2.106869 -0.539422 +v 0.069170 -2.594305 -0.966147 +v -0.935831 -2.594305 0.831019 +v -1.088267 -2.076310 -0.569766 +v 1.074601 -2.472404 0.952968 +v 1.105088 -0.918921 0.770140 +v 1.044114 -2.533188 -0.173959 +v -1.088267 -1.040988 -0.539422 +v 0.190904 -1.010597 -0.966147 +v -0.661662 -2.624864 -0.844007 +v -0.722636 -2.563913 0.983503 +v -1.088267 -0.918921 0.587313 +v 0.800432 -2.563913 -0.905077 +v 1.074601 -1.132331 0.952968 +v 1.105088 -2.076477 0.434830 +v -0.783610 -1.040988 0.983503 +v -1.027293 -2.624864 -0.722250 +v 1.074601 -2.502796 0.648192 +v 0.190904 -2.563746 -0.966147 +f 82 89 99 +f 68 67 70 +f 73 68 75 +f 75 68 76 +f 68 70 77 +f 76 68 77 +f 69 71 78 +f 75 76 78 +f 71 69 80 +f 69 78 80 +f 72 73 81 +f 79 66 81 +f 73 79 81 +f 67 68 82 +f 70 67 82 +f 77 70 84 +f 80 76 84 +f 73 75 86 +f 66 79 86 +f 79 73 86 +f 85 66 86 +f 72 81 87 +f 74 83 87 +f 76 77 88 +f 77 84 88 +f 84 76 88 +f 68 73 89 +f 73 72 89 +f 82 68 89 +f 70 82 90 +f 78 71 91 +f 83 74 91 +f 71 83 91 +f 74 85 91 +f 78 76 92 +f 76 80 92 +f 80 78 92 +f 82 72 93 +f 72 87 93 +f 87 83 93 +f 90 82 93 +f 83 90 93 +f 86 75 94 +f 85 86 94 +f 91 85 94 +f 81 66 95 +f 66 85 95 +f 75 78 96 +f 78 91 96 +f 94 75 96 +f 91 94 96 +f 71 80 97 +f 83 71 97 +f 84 70 97 +f 80 84 97 +f 70 90 97 +f 90 83 97 +f 85 74 98 +f 87 81 98 +f 74 87 98 +f 81 95 98 +f 95 85 98 +f 72 82 99 +f 89 72 99 +o convex_3 +v 2.658553 -1.558441 -0.509180 +v 1.623168 -0.949384 0.587462 +v 1.623168 -0.949384 0.526386 +v 1.105282 -2.106988 0.008773 +v 2.993667 -1.985064 0.587349 +v 1.105282 -0.979865 -0.509066 +v 3.085150 -1.010346 0.556868 +v 2.932807 -2.076394 -0.448104 +v 3.085150 -1.132271 -0.509180 +v 1.105282 -2.106988 -0.539661 +v 1.105282 -1.954469 0.465537 +v 1.105282 -0.949384 0.556868 +v 1.227001 -2.076507 0.465537 +v 3.085150 -1.101790 0.617943 +v 1.379537 -0.979865 -0.509066 +v 1.135712 -1.162639 0.556868 +v 2.902378 -2.076394 -0.234963 +v 1.135712 -1.467450 -0.539661 +v 2.018948 -2.106988 -0.509066 +v 1.135712 -0.949384 -0.204368 +v 2.902378 -1.101790 -0.509180 +v 2.841325 -1.985064 0.587349 +v 3.085150 -1.223714 -0.478585 +v 1.745081 -1.771809 -0.539661 +v 2.993667 -1.771809 -0.478585 +v 2.810895 -1.010346 0.617943 +v 1.348913 -2.076507 0.465537 +v 1.592545 -1.010346 0.587462 +v 1.105282 -2.076507 0.435056 +v 2.719606 -2.076394 -0.478585 +v 2.719606 -2.015545 0.465537 +v 2.963237 -2.046026 -0.113038 +v 2.140667 -2.106988 -0.448104 +f 116 126 132 +f 102 101 106 +f 103 105 109 +f 105 103 110 +f 105 110 111 +f 101 102 111 +f 108 106 113 +f 111 110 115 +f 110 112 115 +f 109 105 117 +f 105 114 117 +f 103 109 118 +f 102 106 119 +f 105 111 119 +f 111 102 119 +f 114 105 119 +f 106 114 119 +f 106 108 120 +f 114 106 120 +f 108 117 120 +f 117 114 120 +f 112 104 121 +f 104 113 121 +f 115 112 121 +f 113 104 122 +f 108 113 122 +f 108 100 123 +f 109 117 123 +f 117 108 123 +f 118 109 123 +f 108 122 124 +f 106 101 125 +f 113 106 125 +f 121 113 125 +f 104 112 126 +f 112 103 126 +f 101 111 127 +f 111 115 127 +f 115 121 127 +f 125 101 127 +f 121 125 127 +f 110 103 128 +f 103 112 128 +f 112 110 128 +f 100 108 129 +f 107 118 129 +f 123 100 129 +f 118 123 129 +f 124 107 129 +f 108 124 129 +f 116 104 130 +f 104 126 130 +f 126 116 130 +f 116 107 131 +f 104 116 131 +f 122 104 131 +f 107 124 131 +f 124 122 131 +f 107 116 132 +f 118 107 132 +f 103 118 132 +f 126 103 132 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/719/719.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/719/719.urdf new file mode 100644 index 000000000..59e43c009 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/719/719.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/720/720.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/720/720.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/720/720.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/720/720.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/720/720.obj new file mode 100644 index 000000000..6324024a1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/720/720.obj @@ -0,0 +1,852 @@ +o convex_0 +v 0.735576 -2.562960 0.782089 +v 0.041676 -1.837605 -1.016671 +v 0.041676 -1.427266 -1.016671 +v -1.220758 -1.458700 0.024823 +v 1.051122 -1.427266 0.876696 +v 0.199073 -3.005073 -0.732238 +v -0.463548 -2.752413 0.782089 +v 1.019592 -1.553511 -0.890257 +v -0.810373 -1.427266 0.813489 +v -0.495078 -2.720809 -0.732442 +v 0.861945 -2.910431 0.056223 +v -0.684255 -2.941865 0.087623 +v 0.451560 -2.531527 1.066318 +v -0.873682 -1.427266 -0.795446 +v 0.199073 -3.036506 0.750689 +v 1.335138 -1.427266 -0.069580 +v 0.451560 -2.500093 -1.016671 +v 0.893474 -2.310641 -0.764046 +v 0.041676 -1.427266 1.003111 +v 0.136014 -3.162921 -0.037976 +v 0.925004 -2.279207 0.813489 +v 0.988063 -1.427266 -0.921656 +v -0.684255 -2.941865 -0.038180 +v 0.704047 -2.752583 -0.574423 +v 0.262383 -2.468319 -1.016671 +v 1.335138 -1.458870 0.024823 +v 0.136014 -2.153132 1.034715 +v -1.220758 -1.458700 -0.038180 +v 0.104485 -3.005073 0.813693 +v 0.010146 -3.162921 0.024823 +v 0.104485 -3.005073 -0.732238 +v 0.704047 -2.784017 0.592874 +v -0.810373 -1.521907 0.813489 +v -0.495078 -2.752413 0.750485 +v 0.262383 -1.427266 1.003111 +v -0.810373 -1.458700 -0.827049 +v 0.925004 -2.216169 -0.795446 +v -0.463548 -2.689375 -0.764046 +v -0.211061 -2.689375 0.876696 +v -0.526607 -2.657772 -0.732442 +v -1.220758 -1.427266 0.024823 +v 0.861945 -2.910431 0.024823 +v 0.230603 -3.005073 0.813693 +v 0.072955 -2.121698 -1.016671 +v 1.335138 -1.458870 -0.069580 +v 0.514619 -2.247773 -1.016671 +v 1.019592 -1.774397 0.845296 +v 0.167544 -3.162921 0.056223 +v -0.873682 -1.521907 -0.764046 +v 0.199073 -1.427266 -1.016671 +v 0.293662 -2.594734 -0.984864 +v 0.356971 -2.500093 1.066318 +v 0.956533 -2.279207 0.687278 +v 0.767106 -1.900642 0.971507 +v 0.072955 -3.131317 0.277245 +v -0.432018 -2.689375 0.813489 +v 0.262383 -2.878658 -0.827049 +v 0.136014 -1.837605 1.034715 +v -0.526607 -3.004903 -0.006576 +v 0.861945 -1.711360 -0.953464 +v 0.104485 -2.973299 -0.763842 +v -0.558137 -2.815620 -0.480020 +v 0.893474 -2.373678 0.782089 +v 0.925004 -2.247773 -0.764046 +f 45 42 64 +f 5 3 9 +f 9 3 14 +f 3 5 16 +f 2 3 17 +f 5 9 19 +f 3 16 22 +f 16 8 22 +f 12 4 23 +f 17 18 24 +f 2 17 25 +f 16 5 26 +f 23 4 28 +f 6 20 31 +f 20 30 31 +f 9 4 33 +f 27 9 33 +f 4 12 34 +f 29 7 34 +f 12 29 34 +f 33 4 34 +f 7 33 34 +f 5 19 35 +f 3 2 36 +f 14 3 36 +f 18 17 37 +f 14 36 38 +f 7 29 39 +f 23 28 40 +f 38 10 40 +f 14 38 40 +f 4 9 41 +f 9 14 41 +f 28 4 41 +f 14 28 41 +f 20 6 42 +f 6 24 42 +f 24 18 42 +f 26 11 42 +f 1 13 43 +f 15 11 43 +f 13 29 43 +f 29 15 43 +f 32 1 43 +f 11 32 43 +f 2 25 44 +f 36 2 44 +f 25 38 44 +f 38 36 44 +f 8 16 45 +f 16 26 45 +f 37 8 45 +f 26 42 45 +f 17 3 46 +f 5 13 47 +f 13 21 47 +f 26 5 47 +f 21 26 47 +f 11 15 48 +f 30 20 48 +f 20 42 48 +f 42 11 48 +f 28 14 49 +f 14 40 49 +f 40 28 49 +f 3 22 50 +f 46 3 50 +f 25 17 51 +f 38 25 51 +f 29 13 52 +f 39 29 52 +f 21 11 53 +f 11 26 53 +f 26 21 53 +f 13 5 54 +f 5 35 54 +f 35 13 54 +f 29 12 55 +f 15 29 55 +f 12 30 55 +f 48 15 55 +f 30 48 55 +f 33 7 56 +f 27 33 56 +f 7 39 56 +f 52 27 56 +f 39 52 56 +f 24 6 57 +f 17 24 57 +f 51 17 57 +f 19 9 58 +f 9 27 58 +f 13 35 58 +f 35 19 58 +f 27 52 58 +f 52 13 58 +f 12 23 59 +f 30 12 59 +f 23 31 59 +f 31 30 59 +f 22 8 60 +f 8 37 60 +f 37 17 60 +f 17 46 60 +f 50 22 60 +f 46 50 60 +f 6 31 61 +f 31 10 61 +f 10 38 61 +f 38 51 61 +f 57 6 61 +f 51 57 61 +f 10 31 62 +f 31 23 62 +f 40 10 62 +f 23 40 62 +f 13 1 63 +f 11 21 63 +f 21 13 63 +f 1 32 63 +f 32 11 63 +f 18 37 64 +f 42 18 64 +f 37 45 64 +o convex_1 +v -0.021550 3.085974 0.403543 +v -0.400273 2.013166 -1.079792 +v -0.400273 2.170746 -1.079792 +v 1.335388 1.129572 -0.038297 +v -1.000023 1.097740 0.845179 +v -1.031562 1.097740 -0.890170 +v 0.735638 2.581007 -0.890170 +v 0.672560 2.549174 0.813575 +v -0.905150 2.612444 -0.132701 +v 0.956410 1.097937 -0.827167 +v 0.956410 1.097937 0.782175 +v -0.368734 2.265452 1.003197 +v 0.104349 3.117609 -0.416726 +v 0.956410 2.644078 -0.006898 +v -0.715917 2.675515 0.687364 +v -1.284129 1.161009 0.024706 +v -0.684378 2.581007 -0.795359 +v 0.041271 1.097740 -1.047985 +v 0.009989 1.318786 1.003197 +v -0.368734 3.117609 -0.069493 +v -0.084628 2.707150 -0.984777 +v 0.388455 3.117609 0.024706 +v -0.147706 2.738784 0.908386 +v 0.451532 3.022902 -0.416726 +v -0.305656 3.117609 0.308732 +v -0.211040 1.097740 0.971594 +v -0.810534 2.265254 -0.795359 +v -0.936689 2.581007 0.024706 +v -1.284129 1.129374 -0.101301 +v -0.242578 3.117609 -0.322119 +v 1.335388 1.097937 0.024502 +v 0.672560 2.612444 0.782175 +v -0.242578 2.233817 -1.079792 +v 0.956410 2.644078 -0.101097 +v 0.704099 2.549174 0.782175 +v -0.842072 2.076237 0.750572 +v -0.242578 2.296889 1.003197 +v 0.262043 3.117609 0.245728 +v -0.747456 2.612444 -0.669352 +v 0.072810 2.707150 0.908386 +v 1.019744 1.129572 -0.732355 +v -0.968484 1.097740 -0.921774 +v -0.116167 1.823754 -1.079792 +v -1.000023 1.381858 -0.858770 +v -0.526684 2.991268 0.024706 +v -1.284129 1.097740 0.056106 +v 1.335388 1.129572 0.024502 +v -1.000023 1.255715 0.813575 +v 0.104349 2.675713 -0.984777 +v 0.609483 2.801856 -0.669352 +v -0.021550 1.697413 1.003197 +v 0.135888 1.097740 0.971594 +v -0.400273 2.107674 1.003197 +v 0.861793 2.644078 0.277128 +v -0.084628 1.129374 -1.047985 +v -0.747456 2.581007 0.687364 +v 1.303593 1.129572 -0.132905 +v 0.483071 2.296889 -0.953174 +v -0.936689 2.581007 -0.069697 +v 0.987949 1.161009 0.718968 +v 0.388455 3.117609 -0.195704 +v -0.116167 2.644078 -1.016585 +v 0.798716 2.612444 -0.669352 +v -0.652840 2.675515 -0.700956 +f 81 103 128 +f 69 70 82 +f 77 84 86 +f 79 76 87 +f 86 84 89 +f 87 65 89 +f 79 87 89 +f 69 82 90 +f 81 67 91 +f 84 77 94 +f 77 85 94 +f 82 74 95 +f 66 67 97 +f 78 68 98 +f 86 78 98 +f 72 75 99 +f 96 72 99 +f 69 76 100 +f 76 79 100 +f 76 83 101 +f 87 76 101 +f 89 65 102 +f 86 89 102 +f 96 86 102 +f 73 84 103 +f 81 91 103 +f 65 87 104 +f 72 96 104 +f 101 72 104 +f 87 101 104 +f 102 65 104 +f 96 102 104 +f 74 71 105 +f 67 66 106 +f 70 67 106 +f 82 70 106 +f 66 97 107 +f 67 70 108 +f 91 67 108 +f 70 93 108 +f 93 91 108 +f 84 73 109 +f 79 89 109 +f 89 84 109 +f 92 79 109 +f 70 69 110 +f 93 70 110 +f 80 93 110 +f 68 78 111 +f 95 68 111 +f 75 95 111 +f 69 100 112 +f 100 80 112 +f 110 69 112 +f 80 110 112 +f 85 77 113 +f 71 97 113 +f 77 88 114 +f 88 98 114 +f 71 113 114 +f 113 77 114 +f 75 72 115 +f 83 75 115 +f 72 101 115 +f 101 83 115 +f 75 83 116 +f 90 82 116 +f 83 90 116 +f 95 75 116 +f 82 95 116 +f 76 69 117 +f 83 76 117 +f 69 90 117 +f 90 83 117 +f 78 86 118 +f 86 96 118 +f 96 99 118 +f 111 78 118 +f 99 111 118 +f 106 66 119 +f 82 106 119 +f 66 107 119 +f 107 82 119 +f 92 80 120 +f 79 92 120 +f 100 79 120 +f 80 100 120 +f 71 68 121 +f 68 95 121 +f 95 74 121 +f 105 71 121 +f 74 105 121 +f 71 74 122 +f 74 82 122 +f 97 71 122 +f 82 107 122 +f 107 97 122 +f 80 92 123 +f 93 80 123 +f 91 93 123 +f 73 103 123 +f 103 91 123 +f 109 73 123 +f 92 109 123 +f 99 75 124 +f 75 111 124 +f 111 99 124 +f 77 86 125 +f 88 77 125 +f 86 98 125 +f 98 88 125 +f 67 81 126 +f 81 85 126 +f 97 67 126 +f 85 113 126 +f 113 97 126 +f 68 71 127 +f 98 68 127 +f 71 114 127 +f 114 98 127 +f 85 81 128 +f 84 94 128 +f 94 85 128 +f 103 84 128 +o convex_2 +v 0.357015 3.117609 -0.196032 +v -0.368876 3.117609 -0.006814 +v -0.305709 3.117609 -0.164484 +v -0.021705 4.853434 0.024734 +v 0.009843 3.117609 0.340428 +v 0.009843 3.149382 -0.385462 +v 0.199132 4.632378 -0.006814 +v -0.305709 3.212590 0.308738 +v 0.009843 4.600774 -0.196032 +v 0.262228 3.212590 0.214094 +v 0.041391 4.600774 0.182545 +v -0.179445 4.632378 0.056282 +v 0.325395 3.244023 -0.290676 +v -0.242612 3.275457 -0.259199 +v 0.357015 3.117609 0.024734 +v -0.179445 4.569340 -0.038291 +v -0.053253 4.474699 0.214094 +v 0.072940 4.569340 -0.196032 +v -0.179445 4.411322 0.182545 +v -0.337257 3.117609 0.245642 +v 0.199132 3.117609 -0.353843 +v 0.199132 4.537736 -0.101387 +v -0.021705 3.307231 0.340428 +v 0.357015 3.338665 -0.069839 +v -0.210993 4.474699 0.056282 +v -0.021705 4.853434 -0.038291 +v 0.230751 3.212590 0.245642 +v 0.199132 4.569340 0.024734 +v -0.053253 4.632378 0.182545 +v -0.368876 3.149382 0.087830 +v -0.116278 4.474699 -0.132935 +v 0.357015 3.212590 0.024734 +v -0.147826 3.117609 -0.322295 +f 134 149 161 +f 129 130 131 +f 130 129 133 +f 135 132 139 +f 133 129 143 +f 131 130 144 +f 142 131 144 +f 134 137 146 +f 136 145 147 +f 130 133 148 +f 133 136 148 +f 129 131 149 +f 141 129 149 +f 134 146 149 +f 146 141 149 +f 141 146 150 +f 136 133 151 +f 145 136 151 +f 139 145 151 +f 129 141 152 +f 143 129 152 +f 150 135 152 +f 141 150 152 +f 144 130 153 +f 140 144 153 +f 136 147 153 +f 147 140 153 +f 148 136 153 +f 132 135 154 +f 140 132 154 +f 137 144 154 +f 144 140 154 +f 146 137 154 +f 135 150 154 +f 150 146 154 +f 138 139 155 +f 133 143 155 +f 143 138 155 +f 151 133 155 +f 139 151 155 +f 135 139 156 +f 139 138 156 +f 139 132 157 +f 132 140 157 +f 145 139 157 +f 140 147 157 +f 147 145 157 +f 130 148 158 +f 153 130 158 +f 148 153 158 +f 137 142 159 +f 144 137 159 +f 142 144 159 +f 138 143 160 +f 143 152 160 +f 152 135 160 +f 135 156 160 +f 156 138 160 +f 137 134 161 +f 131 142 161 +f 142 137 161 +f 149 131 161 +o convex_3 +v -1.252640 -0.195819 -1.016304 +v -1.126327 0.119044 1.003197 +v -1.221107 0.119044 1.003197 +v -1.158042 -1.427096 0.150979 +v -2.988211 -0.196066 -0.006854 +v -1.126327 1.097740 -0.511679 +v -2.767300 -0.164678 -0.795418 +v -2.735768 0.655844 -0.006854 +v -2.735768 -0.196066 0.750383 +v -1.158042 1.002836 0.813637 +v -2.735768 -0.921931 -0.101233 +v -1.126327 -1.016588 -0.858671 +v -1.820774 -0.953566 0.782111 +v -1.189574 0.908179 -0.890198 +v -2.010152 -0.921931 -0.795418 +v -1.126327 -0.985201 0.845163 +v -2.010152 -0.195819 -1.048232 +v -2.010152 -0.164678 1.003197 +v -2.199348 0.592575 0.687330 +v -2.325479 0.529306 -0.700838 +v -1.126327 -1.427096 -0.164487 +v -1.378953 1.097740 0.024672 +v -2.735768 -0.921931 0.056199 +v -1.126327 0.182067 -1.016505 +v -2.483324 -0.764006 0.592751 +v -2.577922 -0.732618 -0.606058 +v -2.041685 0.561187 -0.826944 +v -2.577922 0.371627 0.592751 +v -1.315887 -1.427096 -0.037979 +v -1.946905 -0.953566 0.750584 +v -1.126327 1.097740 0.434918 +v -2.577922 0.403261 -0.637785 +v -2.988211 -0.070269 -0.006854 +v -2.010152 0.655844 0.750584 +v -2.767300 -0.101656 -0.795418 +v -2.735768 -0.133291 0.750383 +v -2.010152 -0.953566 -0.763891 +v -1.915372 -0.038634 1.003197 +v -2.735768 0.655844 -0.038180 +v -2.010152 -0.133538 -1.048232 +v -2.262414 -1.111245 0.024672 +v -1.347420 0.876792 -0.858471 +v -1.158042 -0.732371 0.908417 +v -1.315887 -1.048223 -0.826944 +v -1.126327 0.939567 0.845163 +v -1.126327 0.781888 -0.921925 +v -1.158042 1.097740 -0.511679 +v -2.767300 0.592575 -0.069706 +v -1.915372 -0.227700 1.003197 +v -1.252640 1.034471 0.592550 +v -2.988211 -0.164678 -0.101233 +v -1.315887 -0.795887 -0.921724 +v -1.789059 0.971449 -0.069506 +v -2.735768 0.623962 0.056199 +v -1.252640 0.971449 0.813637 +v -2.357194 -1.079857 -0.038180 +v -2.010152 -0.921931 0.750584 +v -1.978437 -0.985201 0.656005 +v -2.956678 -0.101656 -0.195812 +v -1.126327 -0.133538 -1.016505 +v -1.158042 -0.007247 1.003197 +v -2.230881 -0.196066 -0.984777 +v -1.284172 -1.427096 0.056199 +v -2.609455 -0.101656 -0.858671 +f 201 223 225 +f 167 163 173 +f 173 163 177 +f 174 165 177 +f 163 164 179 +f 173 177 182 +f 177 165 182 +f 170 166 184 +f 166 172 184 +f 167 173 185 +f 170 184 186 +f 172 168 187 +f 168 176 187 +f 182 165 190 +f 165 174 191 +f 163 167 192 +f 167 183 192 +f 181 188 193 +f 166 170 194 +f 169 180 195 +f 193 188 196 +f 170 179 197 +f 180 189 197 +f 194 170 197 +f 195 180 197 +f 172 187 198 +f 187 176 198 +f 182 190 198 +f 179 164 199 +f 197 179 199 +f 195 197 199 +f 181 193 200 +f 185 178 201 +f 188 175 201 +f 175 188 203 +f 188 181 203 +f 181 200 203 +f 177 163 204 +f 173 182 205 +f 198 176 205 +f 182 198 205 +f 164 163 206 +f 163 192 206 +f 192 171 206 +f 199 164 206 +f 175 167 207 +f 167 185 207 +f 201 175 207 +f 185 201 207 +f 167 175 208 +f 183 167 208 +f 175 203 208 +f 203 200 208 +f 194 169 209 +f 193 196 209 +f 169 200 209 +f 200 193 209 +f 174 177 210 +f 163 179 210 +f 179 174 210 +f 177 204 210 +f 183 169 211 +f 171 192 211 +f 192 183 211 +f 168 172 212 +f 172 166 212 +f 166 194 212 +f 196 168 212 +f 178 162 213 +f 176 178 213 +f 173 205 213 +f 205 176 213 +f 169 183 214 +f 200 169 214 +f 183 208 214 +f 208 200 214 +f 180 169 215 +f 189 180 215 +f 169 194 215 +f 197 189 215 +f 194 197 215 +f 169 195 216 +f 195 199 216 +f 206 171 216 +f 199 206 216 +f 211 169 216 +f 171 211 216 +f 184 172 217 +f 172 198 217 +f 198 190 217 +f 202 184 217 +f 190 202 217 +f 179 170 218 +f 174 179 218 +f 170 186 218 +f 186 184 218 +f 191 174 218 +f 184 191 218 +f 165 191 219 +f 191 184 219 +f 184 202 219 +f 194 209 220 +f 209 196 220 +f 212 194 220 +f 196 212 220 +f 162 178 221 +f 185 173 221 +f 178 185 221 +f 213 162 221 +f 173 213 221 +f 204 163 222 +f 163 210 222 +f 210 204 222 +f 176 168 223 +f 178 176 223 +f 201 178 223 +f 190 165 224 +f 202 190 224 +f 165 219 224 +f 219 202 224 +f 168 196 225 +f 196 188 225 +f 188 201 225 +f 223 168 225 +o convex_4 +v -1.126327 -1.016588 0.813637 +v 1.398201 1.097740 -0.006854 +v 1.398201 1.097740 -0.038180 +v 2.723919 -0.921931 -0.037979 +v -1.126327 -0.133538 -1.016505 +v -0.400214 1.097740 0.939944 +v 1.019481 -1.427096 -0.921724 +v 0.041558 1.097740 -1.048232 +v 2.029533 -0.133538 0.971470 +v 2.755244 -0.133291 -0.732566 +v 0.231119 -1.427096 1.003197 +v -0.905441 -1.427096 -0.763891 +v -1.126327 1.097740 0.529497 +v 2.755244 0.624209 0.024672 +v -1.031546 1.097740 -0.890198 +v 0.956428 1.097740 0.782111 +v 1.051208 -1.427096 0.876690 +v 2.723919 -0.101656 0.719058 +v -1.126327 0.119044 1.003197 +v 2.092586 -0.195819 -0.984978 +v 0.988156 1.097740 -0.827145 +v 0.041558 -1.427096 -1.016304 +v -1.126327 -1.427096 0.214032 +v 2.976532 -0.164678 0.056199 +v 2.155639 0.592575 -0.701039 +v 2.092586 -0.921931 0.718857 +v 1.429928 -1.427096 -0.069706 +v 1.997806 -0.953319 -0.795618 +v 2.061260 0.592575 0.718857 +v 0.136339 1.097740 0.971470 +v -0.841986 -1.427096 0.813637 +v -1.126327 -1.016588 -0.858671 +v -1.126327 0.971449 0.845163 +v -1.126327 0.939567 -0.890198 +v 1.619087 -0.290722 -1.016505 +v 2.566085 -0.669596 -0.606058 +v 2.566085 -0.669596 0.561024 +v -0.558047 0.434896 1.003197 +v 2.566085 0.434649 0.529698 +v 2.597411 0.403014 -0.543206 +v -1.126327 -0.700984 0.908417 +v 2.723919 -0.921931 0.024672 +v 2.755244 0.624209 -0.037979 +v 0.041558 -1.427096 1.003197 +v 2.723919 -0.196066 0.719058 +v -1.126327 0.182067 -1.016505 +v 0.735944 -0.700984 1.003197 +v 1.997806 -0.070269 -0.984978 +v 2.976532 -0.164678 -0.069706 +v -1.126327 -1.427096 -0.259066 +v 1.966480 -0.259088 0.971470 +v 2.755244 -0.196066 -0.732566 +v 0.199391 -1.427096 -1.016505 +v -0.999819 1.097740 0.845163 +v -0.968494 1.097740 -0.921925 +v 2.029533 0.560940 -0.763891 +v 1.429928 -1.427096 0.024672 +v -0.841986 -1.427096 -0.827145 +v -1.126327 -0.921931 -0.890198 +v -1.126327 1.097740 -0.606058 +v -0.053222 1.097740 -1.048232 +v 2.029533 -0.827275 0.782111 +v 1.871700 -0.417014 -0.984978 +v -0.179328 1.097740 0.971470 +f 263 255 289 +f 227 228 231 +f 231 228 233 +f 232 236 237 +f 230 226 238 +f 231 233 238 +f 228 227 239 +f 238 233 240 +f 227 231 241 +f 239 227 241 +f 236 232 242 +f 238 226 244 +f 233 228 246 +f 232 237 247 +f 226 230 248 +f 237 236 248 +f 239 243 249 +f 232 229 252 +f 242 232 252 +f 229 232 253 +f 239 241 254 +f 234 243 254 +f 241 231 255 +f 234 254 255 +f 254 241 255 +f 226 248 256 +f 248 236 256 +f 248 230 257 +f 238 244 258 +f 230 238 259 +f 233 245 260 +f 229 253 261 +f 244 236 263 +f 234 255 263 +f 243 239 264 +f 239 254 264 +f 254 243 264 +f 235 250 265 +f 244 226 266 +f 226 256 266 +f 229 249 267 +f 251 242 267 +f 252 229 267 +f 262 251 267 +f 228 239 268 +f 246 228 268 +f 239 249 268 +f 250 246 268 +f 235 265 268 +f 265 250 268 +f 236 244 269 +f 256 236 269 +f 244 266 269 +f 266 256 269 +f 243 234 270 +f 249 243 270 +f 251 262 270 +f 267 249 270 +f 262 267 270 +f 230 259 271 +f 234 263 272 +f 263 236 272 +f 245 233 273 +f 235 245 273 +f 233 246 273 +f 249 229 274 +f 235 268 274 +f 268 249 274 +f 237 248 275 +f 257 237 275 +f 248 257 275 +f 236 242 276 +f 270 234 276 +f 234 272 276 +f 272 236 276 +f 245 235 277 +f 253 245 277 +f 229 261 277 +f 261 253 277 +f 274 229 277 +f 235 274 277 +f 232 247 278 +f 233 260 278 +f 231 238 279 +f 244 231 279 +f 238 258 279 +f 258 244 279 +f 240 233 280 +f 259 240 280 +f 271 259 280 +f 250 235 281 +f 246 250 281 +f 235 273 281 +f 273 246 281 +f 242 252 282 +f 267 242 282 +f 252 267 282 +f 247 237 283 +f 237 257 283 +f 283 257 284 +f 230 247 284 +f 257 230 284 +f 247 283 284 +f 238 240 285 +f 259 238 285 +f 240 259 285 +f 247 230 286 +f 230 271 286 +f 233 278 286 +f 278 247 286 +f 280 233 286 +f 271 280 286 +f 242 251 287 +f 251 270 287 +f 276 242 287 +f 270 276 287 +f 253 232 288 +f 245 253 288 +f 260 245 288 +f 232 278 288 +f 278 260 288 +f 231 244 289 +f 255 231 289 +f 244 263 289 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/720/720.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/720/720.urdf new file mode 100644 index 000000000..7f86929b3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/720/720.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/721/721.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/721/721.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/721/721.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/721/721.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/721/721.obj new file mode 100644 index 000000000..22d7ba4ac --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/721/721.obj @@ -0,0 +1,666 @@ +o convex_0 +v 1.050841 -1.055137 1.031736 +v -1.065092 -1.637846 -1.084662 +v -1.065092 -2.312773 -1.084242 +v 0.958965 -1.208643 -1.084662 +v -0.973215 -0.350239 1.000845 +v 1.081751 -2.312773 1.000845 +v -0.942306 -2.312773 0.939482 +v 0.958965 -0.350239 -1.084662 +v -1.034608 -0.350239 -1.084662 +v 0.958965 -2.312773 -1.053771 +v 1.020358 -0.350239 1.031736 +v -0.175530 -2.282033 1.062208 +v -1.095789 -0.380786 -0.317623 +v -1.096002 -2.312773 -0.808318 +v -0.973215 -1.975405 0.970163 +v -0.267620 -0.350239 1.062208 +v 0.560122 -2.128527 1.062208 +v 1.020358 -0.350239 0.111499 +v 1.081751 -2.220554 0.755392 +v -1.095789 -0.350239 -0.655120 +v 0.989448 -2.312773 -0.777636 +v 0.191976 -2.282033 -1.084242 +v 1.050841 -0.595387 0.970163 +v -1.096002 -2.251294 -1.023089 +v 0.100100 -0.411334 1.062208 +v -0.973215 -0.687414 1.000845 +v 0.284066 -2.312773 1.062208 +v 1.050841 -1.147356 0.418105 +v 1.019932 -2.190007 -0.317623 +f 19 21 29 +f 3 6 7 +f 4 2 8 +f 8 2 9 +f 5 8 9 +f 6 3 10 +f 8 5 11 +f 3 7 14 +f 13 14 15 +f 7 12 15 +f 14 7 15 +f 11 5 16 +f 16 12 17 +f 6 1 17 +f 1 11 17 +f 8 11 18 +f 5 9 20 +f 13 5 20 +f 4 8 21 +f 10 4 21 +f 6 10 21 +f 19 6 21 +f 3 2 22 +f 2 4 22 +f 10 3 22 +f 4 10 22 +f 1 6 23 +f 11 1 23 +f 18 11 23 +f 6 19 23 +f 2 3 24 +f 9 2 24 +f 3 14 24 +f 14 13 24 +f 20 9 24 +f 13 20 24 +f 11 16 25 +f 16 17 25 +f 17 11 25 +f 5 13 26 +f 13 15 26 +f 15 12 26 +f 16 5 26 +f 12 16 26 +f 7 6 27 +f 12 7 27 +f 17 12 27 +f 6 17 27 +f 8 18 28 +f 19 8 28 +f 18 23 28 +f 23 19 28 +f 8 19 29 +f 21 8 29 +o convex_1 +v 0.836085 -2.404944 1.031745 +v -1.096002 -3.110326 -1.084662 +v -1.096002 -3.110326 -0.900492 +v -1.096002 -2.312917 -0.808303 +v 0.958866 -2.312917 -1.053588 +v 0.958866 -3.110326 -1.053588 +v -0.942526 -3.110326 0.939557 +v -0.942526 -2.312917 0.939557 +v 1.081646 -2.956870 1.000878 +v 1.081646 -2.312917 1.000878 +v -1.065094 -2.312917 -1.084662 +v 1.081646 -2.987546 0.847575 +v 0.989561 -2.926195 -0.992266 +v 0.130737 -3.110326 -1.084662 +v -0.973221 -3.110326 0.755386 +v 1.081646 -2.343593 0.724933 +v -0.819746 -3.110326 0.939557 +v 0.560042 -2.343593 1.031745 +v 0.836085 -2.619673 1.031745 +v -0.666483 -2.312917 0.970217 +v 1.081646 -2.987546 0.632951 +v 0.989561 -2.312917 -0.777642 +v 0.928171 -2.987546 1.000878 +f 48 36 52 +f 31 32 33 +f 32 31 35 +f 32 35 36 +f 34 33 37 +f 34 37 39 +f 30 38 39 +f 31 33 40 +f 33 34 40 +f 39 38 41 +f 35 34 42 +f 35 31 43 +f 34 35 43 +f 31 40 43 +f 40 34 43 +f 33 32 44 +f 32 36 44 +f 36 37 44 +f 37 33 44 +f 39 41 45 +f 36 35 46 +f 35 41 46 +f 30 39 47 +f 38 30 48 +f 47 36 48 +f 30 47 48 +f 37 36 49 +f 39 37 49 +f 36 47 49 +f 47 39 49 +f 41 35 50 +f 35 42 50 +f 45 41 50 +f 42 45 50 +f 34 39 51 +f 42 34 51 +f 39 45 51 +f 45 42 51 +f 41 38 52 +f 36 46 52 +f 46 41 52 +f 38 48 52 +o convex_2 +v 1.081751 2.288029 0.234096 +v -1.126674 -0.349464 0.203418 +v -1.095978 -0.349464 -0.654952 +v -1.003888 2.962760 0.663386 +v 1.020358 -0.349464 1.031529 +v 0.928268 2.993145 -1.084452 +v 0.958965 -0.349464 -1.084452 +v -0.942495 2.931715 -1.053774 +v 0.958965 3.024189 1.062208 +v -0.973191 -0.349464 1.000851 +v -1.034584 -0.349464 -1.084452 +v -1.003888 2.962760 1.062208 +v -1.126674 2.226270 -0.348376 +v 1.081751 -0.226936 -0.164305 +v -0.267602 -0.349794 1.062208 +v 1.081751 2.103742 -0.409734 +v -1.126674 2.256984 0.326132 +v -0.175728 2.962430 -1.084452 +v -1.034584 2.901000 1.031529 +v 0.958965 3.024189 0.142061 +v 1.081751 -0.319080 0.264775 +v 0.989661 2.256984 1.062208 +v -1.003888 0.662797 1.031529 +v -0.973191 2.594185 -1.053774 +v -1.126674 -0.349464 0.264775 +v -1.126674 -0.104077 -0.379055 +v 0.529645 3.024189 0.970172 +v 0.958965 2.870616 -0.992416 +v 1.020358 0.846754 1.031529 +v -0.973191 2.931715 -0.746988 +v 0.069412 -0.349794 1.062208 +v 0.590822 2.993145 -1.084452 +v -1.003888 1.950499 1.062208 +v -1.034584 -0.073363 -1.084452 +v 1.081751 1.827640 0.326132 +v 0.989661 1.735827 1.062208 +v 0.989661 2.901331 0.908815 +v 1.081751 2.256984 -0.194983 +v 0.958965 0.447795 -1.084452 +v -0.359692 2.717043 -1.084452 +f 70 86 92 +f 58 59 63 +f 54 55 67 +f 55 63 67 +f 63 59 67 +f 61 64 67 +f 53 66 68 +f 66 59 68 +f 65 54 69 +f 60 56 70 +f 58 63 70 +f 64 56 71 +f 65 69 71 +f 57 59 73 +f 66 53 73 +f 59 66 73 +f 61 67 74 +f 62 67 75 +f 65 60 76 +f 54 67 77 +f 67 62 77 +f 69 54 77 +f 71 69 77 +f 62 75 77 +f 75 71 77 +f 55 54 78 +f 65 55 78 +f 54 65 78 +f 56 64 79 +f 64 61 79 +f 61 72 79 +f 58 72 80 +f 74 57 81 +f 56 60 82 +f 60 65 82 +f 71 56 82 +f 65 71 82 +f 59 57 83 +f 67 59 83 +f 74 67 83 +f 70 56 84 +f 58 70 84 +f 72 58 84 +f 56 79 84 +f 79 72 84 +f 67 64 85 +f 64 71 85 +f 75 67 85 +f 71 75 85 +f 63 55 86 +f 55 65 86 +f 70 63 86 +f 76 60 86 +f 65 76 86 +f 73 53 87 +f 57 73 87 +f 53 74 87 +f 81 57 87 +f 74 81 87 +f 57 74 88 +f 83 57 88 +f 74 83 88 +f 72 61 89 +f 74 53 89 +f 61 74 89 +f 53 68 90 +f 68 80 90 +f 80 72 90 +f 89 53 90 +f 72 89 90 +f 59 58 91 +f 68 59 91 +f 58 80 91 +f 80 68 91 +f 60 70 92 +f 86 60 92 +o convex_3 +v 1.081949 -0.288335 0.019622 +v 3.013817 0.355675 -0.103131 +v 3.013817 0.355675 -0.195158 +v 3.013817 -0.349794 0.050298 +v 1.081949 0.324945 0.326276 +v 3.013817 -0.349794 0.326276 +v 1.081949 0.232964 -0.164431 +v 3.013817 -0.318996 -0.164431 +v 3.105943 0.294285 0.203574 +v 1.081949 -0.318996 0.264925 +v 1.081949 -0.227014 -0.164431 +v 3.044526 -0.196353 0.326276 +v 2.032727 0.048931 -0.195158 +v 2.339219 -0.349794 0.326276 +v 1.787455 0.324945 0.295601 +v 1.817965 -0.349794 0.234249 +v 3.105943 0.232964 0.234249 +v 1.081949 0.171573 0.326276 +v 2.860472 0.355675 -0.195158 +v 1.081949 0.324945 0.264925 +v 1.235294 -0.257675 -0.164431 +f 103 105 113 +f 93 97 99 +f 95 94 101 +f 100 95 101 +f 97 93 102 +f 93 99 103 +f 97 98 104 +f 98 96 104 +f 96 100 104 +f 95 100 105 +f 103 99 105 +f 98 97 106 +f 96 98 106 +f 94 97 107 +f 101 94 107 +f 97 104 107 +f 100 96 108 +f 93 100 108 +f 102 93 108 +f 96 106 108 +f 106 102 108 +f 100 101 109 +f 104 100 109 +f 101 107 109 +f 107 104 109 +f 97 102 110 +f 106 97 110 +f 102 106 110 +f 94 95 111 +f 97 94 111 +f 95 105 111 +f 105 99 111 +f 99 97 112 +f 97 111 112 +f 111 99 112 +f 100 93 113 +f 93 103 113 +f 105 100 113 +o convex_4 +v -0.206488 -2.159413 1.062418 +v 0.345609 -1.791469 3.056136 +v 0.284150 -1.760823 2.963827 +v -0.359860 -2.282062 2.933382 +v -0.267809 -1.638043 1.062418 +v 0.284150 -2.312773 1.062418 +v -0.298470 -1.668820 3.056136 +v 0.345609 -1.730178 1.062418 +v 0.345609 -2.251416 2.963827 +v -0.206488 -2.282062 1.185171 +v -0.206488 -1.668820 3.025301 +v 0.345609 -1.914183 1.062418 +v -0.267809 -1.791469 1.062418 +v 0.284150 -2.312773 1.553432 +v 0.038797 -2.312773 1.062418 +v -0.175758 -1.822180 3.056136 +v -0.022456 -2.282062 2.933382 +f 127 122 130 +f 114 118 119 +f 118 117 120 +f 116 115 121 +f 119 118 121 +f 121 115 122 +f 115 116 124 +f 120 115 124 +f 118 120 124 +f 121 118 124 +f 116 121 124 +f 119 121 125 +f 122 119 125 +f 121 122 125 +f 118 114 126 +f 117 118 126 +f 114 123 126 +f 123 117 126 +f 119 122 127 +f 114 119 128 +f 123 114 128 +f 117 123 128 +f 127 117 128 +f 119 127 128 +f 115 120 129 +f 120 117 129 +f 122 115 129 +f 117 122 129 +f 122 117 130 +f 117 127 130 +o convex_5 +v -1.954969 -0.135056 -0.317848 +v -2.782696 0.325002 -0.164485 +v -1.126674 0.294288 0.295604 +v -3.059047 -0.349794 0.295604 +v -1.126674 -0.349794 0.264919 +v -1.126674 0.171627 -0.317848 +v -3.059047 -0.227068 -0.317848 +v -2.936287 0.232925 0.234234 +v -1.126674 -0.196419 -0.256479 +v -3.059047 0.325002 -0.195110 +v -1.249434 0.202276 -0.317848 +v -2.966930 0.294288 0.142241 +v -1.126674 -0.349794 0.203550 +v -3.028026 -0.073693 -0.317848 +v -1.126674 0.294288 0.142241 +v -2.782696 0.325002 -0.225794 +v -1.126674 0.018253 0.295604 +v -3.059047 -0.257717 0.295604 +v -2.506724 -0.227068 -0.317848 +v -3.059047 -0.257717 -0.225794 +v -3.028026 0.325002 -0.041747 +v -3.059047 -0.349794 0.234234 +v -1.617712 0.202276 -0.317848 +f 144 146 153 +f 133 135 136 +f 136 131 137 +f 136 135 139 +f 131 136 139 +f 137 134 140 +f 136 137 141 +f 138 133 142 +f 135 134 143 +f 139 135 143 +f 137 140 144 +f 141 137 144 +f 132 133 145 +f 133 136 145 +f 136 141 145 +f 145 141 146 +f 140 132 146 +f 144 140 146 +f 132 145 146 +f 133 134 147 +f 134 135 147 +f 135 133 147 +f 134 133 148 +f 133 138 148 +f 140 134 148 +f 138 142 148 +f 137 131 149 +f 131 139 149 +f 139 143 149 +f 149 143 150 +f 134 137 150 +f 137 149 150 +f 133 132 151 +f 132 140 151 +f 142 133 151 +f 140 148 151 +f 148 142 151 +f 143 134 152 +f 150 143 152 +f 134 150 152 +f 141 144 153 +f 146 141 153 +o convex_6 +v -1.464256 2.134655 0.326276 +v -1.587030 2.042619 -0.317848 +v -1.587030 2.226630 -0.317848 +v -3.089719 1.705334 0.264928 +v -1.126866 1.674656 0.234222 +v -2.997494 2.287987 0.111526 +v -3.058785 1.705334 -0.195089 +v -1.126866 2.257309 0.326276 +v -1.126866 1.828049 -0.195089 +v -2.936011 2.257309 -0.225731 +v -1.126866 2.226630 -0.317848 +v -2.997494 2.287987 0.234222 +v -2.445298 1.674656 -0.103035 +v -2.782687 1.766692 0.295571 +v -2.966753 1.736013 -0.225731 +v -1.464256 1.674656 0.264928 +v -1.188350 1.797370 -0.195089 +v -1.218899 2.257309 -0.072392 +v -1.126866 1.674656 0.111526 +v -1.985711 2.257309 -0.256437 +v -2.261425 2.287987 0.203580 +v -2.384007 1.674656 0.264928 +v -1.188350 2.103976 0.326276 +v -3.058785 1.858667 -0.164383 +v -3.058785 1.981322 0.264928 +f 159 177 178 +f 161 158 162 +f 155 156 164 +f 161 162 164 +f 154 161 165 +f 157 160 166 +f 156 155 168 +f 163 156 168 +f 160 163 168 +f 166 158 169 +f 155 164 170 +f 164 162 170 +f 166 160 170 +f 168 155 170 +f 160 168 170 +f 161 164 171 +f 162 158 172 +f 158 166 172 +f 170 162 172 +f 166 170 172 +f 156 163 173 +f 163 159 173 +f 164 156 173 +f 171 164 173 +f 171 173 174 +f 159 165 174 +f 165 161 174 +f 161 171 174 +f 173 159 174 +f 157 166 175 +f 167 157 175 +f 166 169 175 +f 169 167 175 +f 161 154 176 +f 158 161 176 +f 154 167 176 +f 169 158 176 +f 167 169 176 +f 160 157 177 +f 159 163 177 +f 163 160 177 +f 154 165 178 +f 165 159 178 +f 167 154 178 +f 157 167 178 +f 177 157 178 +o convex_7 +v 1.081751 1.858616 -0.256503 +v 1.143096 2.042559 0.295604 +v 1.143096 2.257231 0.264853 +v 1.081751 2.257231 0.264853 +v 1.081751 1.398630 -0.011092 +v 1.143096 2.257231 -0.195110 +v 1.143096 1.797331 -0.164467 +v 1.143096 1.766689 0.295604 +v 1.081751 2.257231 -0.195110 +v 1.081751 1.766689 0.295604 +f 183 186 188 +f 180 181 182 +f 182 179 183 +f 181 180 184 +f 182 181 184 +f 179 184 185 +f 183 179 185 +f 184 180 185 +f 185 180 186 +f 183 185 186 +f 179 182 187 +f 182 184 187 +f 184 179 187 +f 180 182 188 +f 182 183 188 +f 186 180 188 +o convex_8 +v 1.143096 1.797349 -0.195110 +v 3.075469 2.349254 0.264919 +v 3.075469 2.318597 0.264919 +v 3.075469 2.349254 -0.317848 +v 3.075469 1.643992 -0.317848 +v 1.143096 1.766692 0.295604 +v 1.143096 2.287939 0.234234 +v 2.983352 1.766692 0.203550 +v 1.143096 2.257282 -0.225794 +v 2.400387 2.349254 -0.164485 +v 2.707380 1.674719 -0.317848 +v 1.634134 2.318597 0.264919 +v 2.277627 2.103925 0.295604 +v 1.327330 1.736034 0.203550 +v 2.768476 1.766692 0.234234 +v 1.143096 2.042610 0.295604 +v 1.511185 2.318597 0.080872 +v 2.339291 2.349254 0.264919 +v 1.327330 1.766692 -0.195110 +v 1.634134 1.766692 0.295604 +v 3.013805 1.736034 0.111556 +v 2.952709 2.349254 -0.317848 +f 199 197 210 +f 190 191 192 +f 192 191 193 +f 189 194 195 +f 189 195 197 +f 190 192 198 +f 192 193 199 +f 189 197 199 +f 191 190 201 +f 194 189 202 +f 196 191 203 +f 191 201 203 +f 195 194 204 +f 200 195 204 +f 194 201 204 +f 201 200 204 +f 197 195 205 +f 198 197 205 +f 195 200 205 +f 205 200 206 +f 190 198 206 +f 201 190 206 +f 200 201 206 +f 198 205 206 +f 189 199 207 +f 199 193 207 +f 202 189 207 +f 193 202 207 +f 201 194 208 +f 194 202 208 +f 203 201 208 +f 202 203 208 +f 193 191 209 +f 191 196 209 +f 202 193 209 +f 196 203 209 +f 203 202 209 +f 197 198 210 +f 198 192 210 +f 192 199 210 +o convex_9 +v -0.329130 -1.852835 -2.127380 +v 0.345609 -1.883474 -1.422244 +v 0.314811 -1.760790 -1.268920 +v 0.222829 -1.638106 -2.986032 +v 0.345609 -2.190059 -2.955482 +v -0.329130 -2.251401 -1.084854 +v -0.298470 -2.190059 -3.047707 +v -0.329130 -1.699448 -1.084854 +v 0.192168 -2.282041 -1.084854 +v -0.206488 -1.699448 -2.955482 +v 0.314811 -1.791493 -1.084854 +v 0.345609 -2.220762 -2.710126 +v -0.359860 -2.190059 -1.115596 +v -0.329130 -2.220762 -2.434028 +v -0.359860 -1.730150 -1.299661 +v 0.345609 -2.036735 -2.893999 +v 0.130778 -1.638106 -2.556802 +v -0.329130 -2.067375 -2.710126 +v 0.253490 -1.668808 -2.986032 +v -0.267809 -1.822132 -2.955482 +v 0.314811 -1.944816 -1.084854 +v 0.100118 -1.638106 -2.986032 +f 218 227 232 +f 218 216 219 +f 212 213 221 +f 213 218 221 +f 218 219 221 +f 215 212 222 +f 217 215 222 +f 216 218 223 +f 219 216 224 +f 217 222 224 +f 222 219 224 +f 216 223 224 +f 218 220 225 +f 223 218 225 +f 212 215 226 +f 213 214 227 +f 218 213 227 +f 217 224 228 +f 224 223 228 +f 223 225 228 +f 225 211 228 +f 213 212 229 +f 214 213 229 +f 217 214 229 +f 215 217 229 +f 212 226 229 +f 226 215 229 +f 220 217 230 +f 211 225 230 +f 225 220 230 +f 228 211 230 +f 217 228 230 +f 212 221 231 +f 221 219 231 +f 222 212 231 +f 219 222 231 +f 214 217 232 +f 217 220 232 +f 220 218 232 +f 227 214 232 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/721/721.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/721/721.urdf new file mode 100644 index 000000000..da22f0465 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/721/721.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/722/722.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/722/722.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/722/722.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/722/722.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/722/722.obj new file mode 100644 index 000000000..9dec766e1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/722/722.obj @@ -0,0 +1,501 @@ +o convex_0 +v -0.853788 0.119633 -1.013952 +v 0.086503 -0.384302 1.403994 +v -0.013987 -0.384302 1.403994 +v -0.013987 4.955933 0.060361 +v 0.926100 -0.417442 -0.980523 +v -0.853788 -0.417968 1.101515 +v 1.026999 1.899711 0.127489 +v 0.052870 4.182672 -0.779140 +v -0.786523 4.216338 0.026932 +v 0.019441 4.216338 0.799305 +v 0.892671 -0.417442 1.068086 +v 0.758344 4.216864 0.026932 +v -0.013987 -0.417968 -1.350130 +v -1.021749 -0.417968 -0.073625 +v -1.021749 2.033848 0.026932 +v 0.825406 1.832906 -0.778871 +v -0.752890 2.134320 0.799305 +v -0.584930 3.645597 -0.577218 +v 0.724711 2.436260 0.732177 +v 1.060632 -0.417968 0.094060 +v -0.887217 -0.417968 -1.013952 +v 0.859039 -0.316970 -1.081080 +v -0.081253 4.182672 0.799305 +v 0.590180 3.611932 -0.577218 +v -0.786523 1.832906 -0.812300 +v 1.026999 1.933377 -0.107324 +v -0.551297 3.679263 0.631082 +v -0.013987 4.182672 -0.779140 +v 0.590180 3.645597 0.563954 +v -0.820156 -0.316970 1.134944 +v 0.859039 0.119633 1.034387 +v -0.853788 -0.283305 -1.081080 +v 0.052870 -0.384302 -1.350130 +v -0.786523 4.183198 -0.039926 +v -1.021749 -0.417968 0.127489 +v -0.047620 4.955933 -0.006497 +v 0.758344 4.183198 -0.039926 +v -1.021749 1.832906 -0.073625 +v 1.060632 0.119633 -0.073625 +v 0.791773 1.933377 0.765607 +v 0.791773 4.048535 0.060361 +v 0.926100 -0.283305 0.966990 +v -1.021749 1.866571 0.093790 +v 0.019441 4.955933 -0.006497 +v -0.786523 1.900237 0.799305 +v -0.887217 -0.215973 0.966990 +v 1.060632 0.959173 0.026932 +v -0.013987 -0.417968 1.403994 +v 0.019441 4.955933 0.060361 +v 0.859039 -0.350636 1.101515 +v 0.825406 3.813401 -0.006497 +v -0.618563 3.645597 0.563954 +v -0.047620 4.921741 0.093790 +v 0.993366 0.858702 -0.476661 +v -0.013987 -0.384302 -1.350130 +v 0.791773 1.665103 0.832734 +v -0.047620 4.115867 -0.779140 +v 0.724711 4.048535 0.194616 +v 1.026999 2.134845 0.026932 +v 0.657446 3.780261 -0.409264 +v 0.892671 -0.182307 -1.047651 +v -0.920850 0.086493 -0.812300 +v 0.489485 3.712929 0.631082 +v -0.047620 4.451998 -0.510090 +f 44 8 64 +f 3 2 10 +f 13 6 14 +f 6 13 20 +f 13 5 20 +f 13 14 21 +f 3 10 23 +f 16 8 24 +f 23 9 27 +f 17 23 27 +f 3 23 30 +f 23 17 30 +f 21 1 32 +f 13 21 32 +f 1 25 32 +f 5 13 33 +f 22 5 33 +f 8 22 33 +f 28 8 33 +f 15 9 34 +f 18 25 34 +f 28 18 34 +f 14 6 35 +f 15 14 35 +f 34 9 36 +f 14 15 38 +f 15 34 38 +f 34 25 38 +f 20 5 39 +f 37 12 41 +f 40 7 41 +f 11 20 42 +f 31 11 42 +f 7 40 42 +f 9 15 43 +f 15 35 43 +f 36 4 44 +f 37 8 44 +f 12 37 44 +f 17 9 45 +f 6 30 45 +f 30 17 45 +f 9 43 45 +f 45 43 46 +f 35 6 46 +f 43 35 46 +f 6 45 46 +f 20 39 47 +f 39 26 47 +f 7 42 47 +f 42 20 47 +f 2 3 48 +f 11 2 48 +f 6 20 48 +f 20 11 48 +f 3 30 48 +f 30 6 48 +f 4 10 49 +f 10 12 49 +f 44 4 49 +f 12 44 49 +f 10 2 50 +f 2 11 50 +f 31 10 50 +f 11 31 50 +f 26 16 51 +f 16 37 51 +f 37 41 51 +f 9 17 52 +f 27 9 52 +f 17 27 52 +f 10 4 53 +f 9 23 53 +f 23 10 53 +f 4 36 53 +f 36 9 53 +f 16 26 54 +f 39 5 54 +f 26 39 54 +f 13 32 55 +f 33 13 55 +f 28 33 55 +f 19 10 56 +f 10 31 56 +f 40 19 56 +f 31 42 56 +f 42 40 56 +f 25 18 57 +f 18 28 57 +f 32 25 57 +f 55 32 57 +f 28 55 57 +f 12 10 58 +f 29 19 58 +f 19 40 58 +f 41 12 58 +f 40 41 58 +f 41 7 59 +f 7 47 59 +f 47 26 59 +f 26 51 59 +f 51 41 59 +f 24 8 60 +f 16 24 60 +f 8 37 60 +f 37 16 60 +f 8 16 61 +f 5 22 61 +f 22 8 61 +f 54 5 61 +f 16 54 61 +f 1 21 62 +f 21 14 62 +f 25 1 62 +f 14 38 62 +f 38 25 62 +f 10 19 63 +f 19 29 63 +f 58 10 63 +f 29 58 63 +f 8 28 64 +f 28 34 64 +f 34 36 64 +f 36 44 64 +o convex_1 +v -0.820030 -3.037439 -0.341748 +v 1.060625 -1.996594 0.563678 +v 1.060625 -2.030086 0.563678 +v 0.758229 -1.929611 -2.860961 +v -0.887344 -1.022732 1.570890 +v 0.791782 -2.768704 2.310025 +v -1.055319 -1.660877 -2.357355 +v 1.060625 -1.022532 0.093803 +v 0.892650 -2.735213 -2.256161 +v -0.887344 -2.768704 2.310025 +v 0.120090 -1.291266 2.813631 +v -0.047677 -1.022732 -2.021815 +v -0.887344 -2.735213 -2.222429 +v 1.026864 -1.660877 2.377488 +v 0.590254 -3.037439 1.436555 +v -1.021558 -1.728060 2.377488 +v 0.019430 -2.130560 3.049160 +v 1.060625 -1.694569 -2.357355 +v 0.086537 -3.037439 -1.719415 +v -0.920898 -1.022732 -1.517617 +v 0.825336 -1.022732 1.806419 +v -1.021558 -2.802597 0.228138 +v -0.081231 -1.257775 -2.794090 +v -0.014124 -2.735213 -2.693487 +v 0.825336 -1.022732 -1.752555 +v -0.820030 -1.963103 -2.827230 +v 0.993311 -2.802597 0.060072 +v -0.114784 -3.071131 1.806419 +v -0.014124 -2.802397 2.747351 +v -0.752923 -1.996594 2.914825 +v 0.724675 -1.963103 2.914825 +v 0.791782 -3.037439 -0.207413 +v -1.021558 -1.022532 0.193814 +v -0.047677 -2.063377 -2.995296 +v -0.685816 -3.071131 1.335952 +v -0.618709 -1.358450 2.511822 +v -1.055319 -1.996594 1.101607 +v 0.590254 -1.425634 -2.626024 +v -0.618709 -3.037439 -1.315820 +v 0.624015 -3.037439 -1.349552 +v -0.047677 -1.022732 2.041356 +v -0.652262 -1.358450 -2.525421 +v 1.060625 -2.097269 -1.685683 +v 0.288065 -3.071131 -0.107402 +v 0.959757 -1.022532 -1.483886 +v 0.590254 -1.392142 2.612425 +v -0.047677 -1.291266 2.813631 +v -1.055319 -1.828735 -2.323624 +v -0.047677 -2.802397 -2.592293 +v 1.026864 -1.761552 2.377488 +v -0.820030 -1.022732 -1.752555 +v 0.926204 -1.022732 1.604621 +v -0.014124 -1.929411 3.049160 +v -0.786476 -1.022732 1.773279 +v -0.685816 -3.071131 0.026932 +v -1.021558 -2.802597 -0.106811 +v -0.853584 -3.037439 0.261277 +v 0.825336 -2.768704 2.141959 +v -0.014124 -3.071131 1.839558 +v 0.791782 -3.037439 0.228138 +v -0.081231 -2.802397 2.747351 +v -0.047677 -1.929411 -2.995296 +v -1.021558 -2.130761 1.806419 +v -1.055319 -2.265128 0.026932 +f 112 120 128 +f 66 67 72 +f 67 66 78 +f 66 72 78 +f 72 67 82 +f 73 68 82 +f 68 73 88 +f 87 76 89 +f 88 77 90 +f 80 74 94 +f 93 70 95 +f 81 93 95 +f 73 91 96 +f 80 69 97 +f 84 71 97 +f 68 88 98 +f 88 90 98 +f 92 74 99 +f 80 94 100 +f 80 97 101 +f 97 71 101 +f 82 68 102 +f 68 87 102 +f 89 82 102 +f 87 89 102 +f 65 77 103 +f 83 73 104 +f 73 96 104 +f 85 72 105 +f 75 85 105 +f 72 97 105 +f 90 71 106 +f 87 90 106 +f 82 67 107 +f 73 82 107 +f 67 91 107 +f 91 73 107 +f 92 99 108 +f 83 104 108 +f 104 96 108 +f 72 82 109 +f 89 76 109 +f 82 89 109 +f 97 72 109 +f 85 75 110 +f 78 85 110 +f 95 78 110 +f 75 95 110 +f 100 94 111 +f 75 105 111 +f 71 90 112 +f 90 77 112 +f 101 71 112 +f 73 83 113 +f 88 73 113 +f 77 88 113 +f 103 77 113 +f 83 103 113 +f 67 78 114 +f 91 67 114 +f 95 70 114 +f 78 95 114 +f 71 84 115 +f 76 87 115 +f 84 97 115 +f 106 71 115 +f 87 106 115 +f 109 76 115 +f 97 109 115 +f 78 72 116 +f 72 85 116 +f 85 78 116 +f 94 81 117 +f 95 75 117 +f 81 95 117 +f 75 111 117 +f 111 94 117 +f 69 80 118 +f 97 69 118 +f 80 100 118 +f 105 97 118 +f 100 111 118 +f 111 105 118 +f 65 103 119 +f 103 83 119 +f 108 99 119 +f 83 108 119 +f 77 65 120 +f 112 77 120 +f 74 86 121 +f 99 74 121 +f 65 119 121 +f 119 99 121 +f 120 65 121 +f 86 120 121 +f 70 79 122 +f 91 114 122 +f 114 70 122 +f 79 70 123 +f 70 93 123 +f 92 108 123 +f 123 108 124 +f 96 91 124 +f 108 96 124 +f 122 79 124 +f 91 122 124 +f 79 123 124 +f 74 92 125 +f 93 81 125 +f 94 74 125 +f 81 94 125 +f 123 93 125 +f 92 123 125 +f 87 68 126 +f 90 87 126 +f 68 98 126 +f 98 90 126 +f 74 80 127 +f 86 74 127 +f 101 86 127 +f 80 101 127 +f 86 101 128 +f 101 112 128 +f 120 86 128 +o convex_2 +v -1.021749 -1.022532 0.160763 +v 1.060638 -0.417968 0.093862 +v 1.060638 -1.022532 0.093862 +v -0.047617 -0.988859 -1.988281 +v -0.853584 -0.417968 1.101679 +v 0.086507 -1.022532 2.008558 +v -0.853584 -0.417968 -1.081011 +v 0.892473 -0.417968 -1.081402 +v 0.892473 -0.417968 1.068033 +v 0.926106 -1.022532 -1.518019 +v -0.853584 -1.022532 -1.652212 +v -0.819951 -1.022532 1.672097 +v 0.892473 -1.022532 1.638842 +v -0.013984 -0.417968 1.437357 +v -1.021749 -0.417968 0.127508 +v -0.013984 -0.417968 -1.383434 +v -0.920850 -0.988859 -1.483981 +v 0.758146 -0.988859 1.773427 +v 0.825411 -0.988859 -1.685858 +v -0.752889 -0.988859 1.739389 +v -0.887217 -0.988859 1.537904 +v 1.060638 -0.417968 -0.107232 +v 0.926106 -0.988859 1.538296 +v 0.086507 -0.417968 1.437357 +v -0.013984 -0.988859 2.008558 +v -1.021749 -0.417968 -0.073586 +v 0.019445 -0.753804 -1.753150 +v 0.019445 -1.022532 -1.988281 +v -0.819951 -0.988859 -1.685467 +v -1.021749 -1.022532 -0.140878 +v 1.060638 -1.022532 -0.107232 +v 0.086507 -0.988859 2.008558 +v -0.887217 -0.417968 -1.014110 +v -0.752889 -0.417968 1.168580 +v 0.791779 -0.417968 1.134934 +v 0.926106 -0.417968 -0.980464 +v 0.926106 -0.417968 0.967095 +v -0.786522 -0.417968 -1.114657 +v 0.052874 -0.417968 -1.383434 +v -0.047617 -0.854584 -1.853306 +v -0.887217 -0.417968 0.966704 +v 0.019445 -0.988859 -1.988281 +f 147 156 170 +f 129 131 134 +f 133 130 135 +f 135 130 136 +f 130 133 137 +f 131 129 138 +f 138 129 139 +f 129 134 140 +f 134 131 141 +f 137 133 142 +f 133 135 143 +f 135 136 144 +f 134 141 146 +f 141 137 146 +f 136 138 147 +f 133 140 148 +f 140 134 148 +f 129 140 149 +f 140 133 149 +f 143 129 149 +f 130 131 150 +f 136 130 150 +f 131 130 151 +f 141 131 151 +f 137 141 151 +f 137 142 152 +f 148 134 153 +f 152 142 153 +f 143 135 154 +f 129 143 154 +f 136 147 155 +f 139 132 156 +f 138 139 156 +f 147 138 156 +f 132 139 157 +f 139 135 157 +f 139 129 158 +f 145 139 158 +f 129 154 158 +f 154 145 158 +f 131 138 159 +f 150 131 159 +f 138 150 159 +f 134 146 160 +f 146 152 160 +f 152 153 160 +f 153 134 160 +f 135 139 161 +f 139 145 161 +f 154 135 161 +f 145 154 161 +f 142 133 162 +f 133 148 162 +f 148 153 162 +f 153 142 162 +f 146 137 163 +f 137 152 163 +f 152 146 163 +f 138 136 164 +f 136 150 164 +f 150 138 164 +f 130 137 165 +f 151 130 165 +f 137 151 165 +f 135 144 166 +f 157 135 166 +f 144 136 167 +f 155 144 167 +f 136 155 167 +f 155 132 168 +f 144 155 168 +f 132 157 168 +f 166 144 168 +f 157 166 168 +f 133 143 169 +f 149 133 169 +f 143 149 169 +f 132 155 170 +f 155 147 170 +f 156 132 170 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/722/722.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/722/722.urdf new file mode 100644 index 000000000..ebca013fb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/722/722.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/723/723.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/723/723.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/723/723.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/723/723.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/723/723.obj new file mode 100644 index 000000000..3009688b4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/723/723.obj @@ -0,0 +1,918 @@ +o convex_0 +v 1.047703 0.375105 -1.032283 +v -1.059492 -0.823218 -0.596340 +v -1.059492 -0.823218 -0.559895 +v 0.756871 -4.019441 -1.504670 +v -0.223709 0.811301 -2.557983 +v -0.768659 -3.329434 -2.267221 +v -0.005894 2.809894 -0.559895 +v 0.066711 -3.511124 -0.559895 +v 0.793379 0.811301 -2.303467 +v -1.022983 0.774547 -1.686097 +v 0.756871 -3.184498 -2.267221 +v 1.011194 -1.294781 -0.559895 +v -0.732357 -4.055502 -1.431980 +v 0.865984 1.864688 -0.559895 +v -0.805168 2.046378 -0.596539 +v -0.768659 0.847361 -2.376357 +v 0.030202 -3.402249 -2.485093 +v 1.011194 -3.256619 -1.540916 +v 0.030202 1.538062 -2.339912 +v -0.986680 -3.329434 -1.540916 +v -0.732357 -3.256619 -0.741720 +v 0.030202 -4.056195 -2.230777 +v 0.793379 -3.184498 -0.705475 +v 0.066711 -4.020134 -0.741720 +v 1.047703 0.775240 -1.540916 +v 0.066711 0.811301 -2.594428 +v 0.756871 1.501307 -1.649652 +v -0.587147 1.355678 -2.158286 +v 0.066711 -4.274640 -1.431980 +v -1.022983 0.956237 -0.559895 +v -1.059492 -0.314902 -1.649652 +v -0.805168 -2.493798 -0.559895 +v -0.042197 -3.111683 -2.521538 +v -0.768659 -0.642221 -2.376357 +v 1.011194 1.101866 -0.559895 +v 0.793379 -0.968154 -2.303467 +v 0.611661 1.355678 -2.085595 +v -0.514542 -3.910566 -2.085595 +v 0.030202 2.809894 -0.596539 +v 0.030202 -0.532652 -2.594428 +v 0.829682 -2.602673 -0.559895 +v -0.732357 1.501307 -1.722144 +v 0.611661 -3.801690 -0.923347 +v 0.575358 -3.837751 -2.049150 +v -0.550638 -3.837751 -0.923347 +v 1.047703 -0.206720 -0.559895 +v 1.047703 -0.715036 -1.540916 +v -1.022983 -1.367595 -0.559895 +v -0.732357 -4.055502 -1.577161 +v -0.841470 -0.278841 -2.267421 +v 1.011194 -3.256619 -1.431980 +v -1.059492 0.302291 -0.559895 +v -0.042197 1.538062 -2.339912 +v -0.078499 -4.056195 -2.230777 +v 0.030202 -3.147744 -2.521538 +v -0.005894 2.809894 -0.596539 +v -0.042197 -0.423777 -2.594428 +v -0.986680 -3.256619 -1.431980 +v -0.078499 -4.274640 -1.468225 +v 0.865984 1.864688 -0.632785 +v 0.793379 -3.983380 -1.504670 +v 0.829682 -0.424470 -2.230976 +v -0.696054 -3.329434 -2.303467 +v -0.805168 0.811301 -2.339912 +f 34 50 64 +f 7 3 8 +f 7 8 12 +f 7 12 14 +f 3 2 20 +f 17 11 22 +f 8 21 24 +f 23 8 24 +f 19 9 26 +f 25 9 27 +f 22 4 29 +f 4 24 29 +f 3 7 30 +f 7 15 30 +f 15 10 30 +f 2 3 31 +f 20 2 31 +f 6 20 31 +f 8 3 32 +f 21 8 32 +f 16 5 34 +f 14 12 35 +f 1 25 35 +f 18 11 36 +f 26 9 36 +f 9 19 37 +f 27 9 37 +f 7 14 39 +f 37 19 39 +f 27 37 39 +f 36 11 40 +f 26 36 40 +f 12 8 41 +f 8 23 41 +f 10 15 42 +f 28 16 42 +f 24 4 43 +f 23 24 43 +f 4 22 44 +f 22 11 44 +f 21 13 45 +f 13 24 45 +f 24 21 45 +f 25 1 46 +f 1 35 46 +f 35 12 46 +f 25 46 47 +f 32 3 48 +f 21 32 48 +f 20 6 49 +f 13 20 49 +f 6 38 49 +f 6 31 50 +f 34 6 50 +f 12 41 51 +f 41 23 51 +f 46 12 51 +f 18 47 51 +f 47 46 51 +f 3 30 52 +f 30 10 52 +f 31 3 52 +f 10 31 52 +f 5 16 53 +f 26 5 53 +f 19 26 53 +f 16 28 53 +f 39 19 53 +f 17 22 54 +f 38 6 54 +f 49 38 54 +f 11 17 55 +f 17 33 55 +f 33 40 55 +f 40 11 55 +f 15 7 56 +f 7 39 56 +f 42 15 56 +f 28 42 56 +f 53 28 56 +f 39 53 56 +f 5 26 57 +f 34 5 57 +f 33 34 57 +f 26 40 57 +f 40 33 57 +f 3 20 58 +f 20 13 58 +f 13 21 58 +f 48 3 58 +f 21 48 58 +f 24 13 59 +f 22 29 59 +f 29 24 59 +f 13 49 59 +f 54 22 59 +f 49 54 59 +f 25 27 60 +f 14 35 60 +f 35 25 60 +f 39 14 60 +f 27 39 60 +f 11 18 61 +f 43 4 61 +f 23 43 61 +f 4 44 61 +f 44 11 61 +f 18 51 61 +f 51 23 61 +f 9 25 62 +f 18 36 62 +f 36 9 62 +f 47 18 62 +f 25 47 62 +f 33 17 63 +f 6 34 63 +f 34 33 63 +f 54 6 63 +f 17 54 63 +f 31 10 64 +f 16 34 64 +f 10 42 64 +f 42 16 64 +f 50 31 64 +o convex_1 +v 0.938660 -1.440492 1.728954 +v -1.023161 -1.331830 1.547300 +v -0.805072 -1.913086 1.547300 +v 0.829714 -0.169663 1.547300 +v -0.914018 -0.169663 1.728954 +v -0.006065 1.283994 1.583645 +v -0.768691 -2.022093 1.728954 +v 0.720572 -1.985527 1.547300 +v 0.793333 -0.133442 1.728954 +v -0.914018 -0.060656 1.547300 +v 0.103077 -2.240107 1.728954 +v -0.078435 0.411593 1.728954 +v -0.078435 1.283994 1.547300 +v -0.042055 -2.240107 1.547300 +v 0.975041 -0.968243 1.547300 +v -1.023161 -1.331830 1.728954 +v 0.720572 -1.985527 1.728954 +v 0.975041 -1.004809 1.728954 +v 0.975041 -1.295264 1.547300 +v -0.696125 -2.058314 1.547300 +v -0.078435 1.283994 1.583645 +v -1.023161 -1.004809 1.728954 +v -0.078435 -2.240107 1.728954 +v 0.793333 -1.913086 1.547300 +f 72 83 88 +f 67 66 68 +f 66 67 71 +f 65 69 71 +f 67 68 72 +f 69 65 73 +f 68 70 73 +f 68 66 74 +f 65 71 75 +f 69 73 76 +f 73 70 76 +f 70 68 77 +f 68 74 77 +f 67 72 78 +f 72 75 78 +f 72 68 79 +f 66 71 80 +f 71 69 80 +f 65 75 81 +f 75 72 81 +f 73 65 82 +f 68 73 82 +f 79 68 82 +f 79 82 83 +f 72 79 83 +f 82 65 83 +f 71 67 84 +f 67 78 84 +f 74 69 85 +f 69 76 85 +f 76 70 85 +f 70 77 85 +f 77 74 85 +f 74 66 86 +f 69 74 86 +f 66 80 86 +f 80 69 86 +f 75 71 87 +f 78 75 87 +f 71 84 87 +f 84 78 87 +f 65 81 88 +f 81 72 88 +f 83 65 88 +o convex_2 +v 0.975041 -1.004617 2.201320 +v -1.023161 -1.331346 1.728954 +v -0.768691 -2.021669 1.728954 +v -0.078631 -1.258880 3.508822 +v -0.114816 0.303059 1.728954 +v 0.720572 -1.985563 1.728954 +v -0.805072 -1.222773 3.254605 +v 0.030316 -2.058281 3.254605 +v 0.756952 -1.186414 3.218363 +v -0.078631 -0.423624 3.254605 +v 0.793333 -0.169361 1.728954 +v -0.877638 -0.133002 1.765545 +v -0.768691 -2.058281 2.564786 +v 0.030316 -2.276438 2.128836 +v 0.756952 -1.985563 2.528370 +v 0.720572 -0.423877 2.528370 +v -1.023161 -1.222773 2.601028 +v -0.805072 -0.423624 2.528370 +v 0.975041 -1.295239 1.728954 +v 0.975041 -1.186414 2.564786 +v -0.078631 -2.239826 1.728954 +v 0.030316 -2.276438 2.564786 +v -0.550798 -1.876485 3.109288 +v -0.006065 0.303059 1.765545 +v 0.575244 -1.840125 3.036630 +v 0.502678 -0.605421 3.073046 +v -0.623364 -0.641780 3.073046 +v -0.950399 -0.314798 1.728954 +v -0.006065 -0.423624 3.254605 +v -0.078631 -2.058281 3.254605 +v 0.647810 -1.258880 3.291021 +v -0.768691 -1.367706 3.254605 +v -1.023161 -1.331346 2.564786 +v -0.114816 0.303059 1.765545 +v -0.078631 -2.276438 2.528370 +v 0.793333 -0.169361 1.801787 +v -0.006065 -1.186161 3.508822 +v 0.756952 -1.985563 1.801787 +v -1.023161 -1.077083 2.492128 +v 0.902280 -0.569314 1.728954 +v 0.902280 -1.549503 2.492128 +v 0.756952 -1.258880 3.218363 +v 0.720572 -2.021922 2.492128 +v 0.103077 -2.240078 1.728954 +v -0.768691 -1.222773 3.291021 +v -0.006065 -1.295239 3.508822 +v -0.732310 -2.058281 1.910861 +v -1.023161 -1.004364 1.728954 +v -0.841453 -0.459983 2.492128 +v 0.865899 -1.694940 1.728954 +v 0.720572 -1.186414 3.254605 +v 0.756952 -0.460236 2.492128 +v -0.841453 -1.876485 2.564786 +v 0.902280 -0.605421 2.019762 +v -0.078631 -1.876485 3.327263 +v 0.975041 -1.004617 1.728954 +v 0.575244 -0.678140 3.073046 +v 0.975041 -1.295239 2.492128 +v -0.877638 -0.169361 1.874445 +v 0.647810 -1.513396 3.182121 +v -0.805072 -1.295239 3.254605 +v -0.623364 -1.840125 3.073046 +v 0.756952 -0.314798 2.237737 +v 0.066696 -2.276438 2.528370 +f 102 132 152 +f 91 90 93 +f 91 93 94 +f 94 93 99 +f 94 99 107 +f 107 89 108 +f 91 94 109 +f 99 93 112 +f 96 103 113 +f 98 106 115 +f 93 90 116 +f 100 93 116 +f 112 98 117 +f 104 112 117 +f 114 104 117 +f 110 96 118 +f 111 101 118 +f 111 118 120 +f 105 90 121 +f 93 100 122 +f 106 98 122 +f 112 93 122 +f 98 112 122 +f 109 102 123 +f 102 110 123 +f 110 118 123 +f 118 101 123 +f 99 112 124 +f 117 98 125 +f 90 105 127 +f 105 95 127 +f 107 99 128 +f 99 124 128 +f 108 97 130 +f 113 103 130 +f 103 129 130 +f 103 96 131 +f 126 103 131 +f 126 131 132 +f 109 94 132 +f 102 109 132 +f 94 126 132 +f 115 95 133 +f 98 115 133 +f 120 92 133 +f 92 125 133 +f 125 98 133 +f 96 119 134 +f 125 92 134 +f 119 125 134 +f 101 91 135 +f 91 109 135 +f 123 101 135 +f 109 123 135 +f 116 90 136 +f 90 127 136 +f 127 116 136 +f 95 115 137 +f 115 106 137 +f 127 95 137 +f 116 127 137 +f 94 107 138 +f 126 94 138 +f 103 126 138 +f 129 103 138 +f 117 125 139 +f 125 119 139 +f 130 97 139 +f 119 130 139 +f 97 108 140 +f 90 91 141 +f 91 101 141 +f 121 90 141 +f 108 89 142 +f 89 128 142 +f 128 124 142 +f 140 108 142 +f 124 140 142 +f 118 96 143 +f 92 120 143 +f 120 118 143 +f 134 92 143 +f 96 134 143 +f 89 107 144 +f 128 89 144 +f 107 128 144 +f 104 114 145 +f 114 117 145 +f 139 97 145 +f 117 139 145 +f 97 140 145 +f 140 104 145 +f 107 108 146 +f 108 130 146 +f 130 129 146 +f 138 107 146 +f 129 138 146 +f 100 116 147 +f 122 100 147 +f 106 122 147 +f 137 106 147 +f 116 137 147 +f 96 113 148 +f 119 96 148 +f 113 130 148 +f 130 119 148 +f 95 105 149 +f 105 121 149 +f 133 95 149 +f 120 133 149 +f 141 101 149 +f 121 141 149 +f 101 111 150 +f 111 120 150 +f 149 101 150 +f 120 149 150 +f 112 104 151 +f 124 112 151 +f 104 140 151 +f 140 124 151 +f 96 110 152 +f 110 102 152 +f 131 96 152 +f 132 131 152 +o convex_3 +v 0.829475 3.535534 -0.123924 +v -1.059492 -0.822525 -0.559895 +v -1.059492 -0.822525 -0.123924 +v 0.829475 -2.457435 -0.523536 +v -0.005894 3.608424 -0.523536 +v -0.804962 3.536263 -0.123924 +v 0.829475 -2.130161 -0.123924 +v 1.011194 1.101027 -0.559895 +v -0.005894 -3.365637 -0.559895 +v -0.804962 -2.130161 -0.123924 +v -0.804962 2.191453 -0.559895 +v 1.011194 -1.294848 -0.123924 +v -0.804962 -2.348101 -0.559895 +v 0.030408 4.080748 -0.123924 +v 0.756871 3.463374 -0.341909 +v -1.022983 0.993151 -0.559895 +v 1.011194 -1.294848 -0.559895 +v -0.732357 3.608424 -0.305593 +v 0.974892 2.700222 -0.123924 +v -0.078499 -2.420990 -0.123924 +v -1.059492 0.485112 -0.123924 +v 0.829475 2.009959 -0.559895 +v 0.066711 -3.365637 -0.523536 +v 1.047703 -0.132262 -0.523536 +v -1.022983 -1.367738 -0.123924 +v -0.914075 2.809556 -0.160283 +v 0.030408 3.244706 -0.559895 +v -0.332823 4.007858 -0.160283 +v 0.720568 3.644869 -0.269276 +v 1.011194 1.211091 -0.123924 +v -1.022983 -1.367738 -0.559895 +v 0.793173 -2.530324 -0.559895 +v 0.103013 3.535534 -0.523536 +v -0.296520 -3.038363 -0.523536 +v 0.103013 -2.420990 -0.123924 +v 0.030408 4.080748 -0.160283 +v -1.059492 0.340062 -0.559895 +v -0.623449 3.862808 -0.123924 +v 0.647963 3.789918 -0.123924 +v 0.321034 -3.111253 -0.523536 +v -0.005894 -3.365637 -0.523536 +v 0.974892 2.700222 -0.160283 +v -0.405428 3.608424 -0.414543 +v -0.914075 -1.876506 -0.123924 +v 0.647963 3.608424 -0.341909 +v -0.768659 -2.420990 -0.523536 +v -0.804962 3.499090 -0.196600 +f 168 178 199 +f 155 153 158 +f 153 155 159 +f 154 160 161 +f 159 155 162 +f 160 154 163 +f 153 159 164 +f 159 156 164 +f 154 161 165 +f 158 153 166 +f 163 154 168 +f 161 160 169 +f 164 156 169 +f 163 168 170 +f 153 164 171 +f 159 162 172 +f 154 155 173 +f 155 158 173 +f 160 163 174 +f 167 160 174 +f 169 160 176 +f 164 169 176 +f 155 154 177 +f 162 155 177 +f 173 158 178 +f 168 173 178 +f 163 157 179 +f 174 163 179 +f 153 167 181 +f 171 164 182 +f 164 176 182 +f 176 171 182 +f 154 165 183 +f 177 154 183 +f 169 156 184 +f 161 169 184 +f 167 174 185 +f 179 157 185 +f 174 179 185 +f 165 161 186 +f 159 172 187 +f 175 159 187 +f 172 175 187 +f 157 180 188 +f 180 166 188 +f 168 154 189 +f 154 173 189 +f 173 168 189 +f 158 166 190 +f 170 158 190 +f 166 180 190 +f 180 170 190 +f 166 153 191 +f 153 181 191 +f 188 166 191 +f 181 188 191 +f 156 159 192 +f 159 175 192 +f 175 161 192 +f 184 156 192 +f 161 184 192 +f 172 162 193 +f 161 175 193 +f 175 172 193 +f 186 161 193 +f 162 186 193 +f 167 153 194 +f 160 167 194 +f 153 171 194 +f 176 160 194 +f 171 176 194 +f 157 163 195 +f 163 170 195 +f 180 157 195 +f 170 180 195 +f 162 177 196 +f 183 165 196 +f 177 183 196 +f 181 167 197 +f 167 185 197 +f 185 157 197 +f 157 188 197 +f 188 181 197 +f 186 162 198 +f 165 186 198 +f 162 196 198 +f 196 165 198 +f 158 170 199 +f 170 168 199 +f 178 158 199 +o convex_4 +v 1.011372 1.211126 -0.123924 +v -1.059492 -0.822759 -0.123924 +v -1.059492 -0.822759 0.166774 +v -0.659752 4.044513 0.312204 +v 0.793258 -1.912182 1.547300 +v -0.006019 3.208929 1.438186 +v -1.023004 -1.331705 1.547300 +v 0.103038 -2.421762 -0.123924 +v 0.974885 3.608996 0.493951 +v -0.405556 4.044513 -0.123924 +v -0.841378 3.390605 1.038375 +v 0.902315 -1.876100 -0.123924 +v 0.974885 -0.967720 1.547300 +v 0.647917 3.790039 1.074855 +v -0.986719 3.172847 0.094140 +v -0.732321 -2.021694 1.547300 +v -0.805093 -2.130573 -0.123924 +v 0.720689 3.717242 -0.123924 +v 0.175607 4.045146 1.038375 +v 0.829543 3.427320 1.147652 +v -0.914150 -0.059340 1.547300 +v 0.066753 -2.240085 1.547300 +v 0.684201 4.045146 0.457471 +v 1.011372 -1.186111 0.965905 +v -0.841378 3.427320 -0.123924 +v -0.006019 1.501681 1.547300 +v -0.768808 3.354523 1.183805 +v 1.011372 3.354523 0.166774 +v -0.950435 3.645078 0.421154 +v -0.478125 4.044513 0.893272 +v 1.011372 -1.258908 -0.123924 +v -1.059492 0.557852 0.493951 +v 0.793258 -2.130573 -0.051127 +v 0.829543 -0.132137 1.547300 +v -1.023004 -1.367154 -0.123924 +v -0.006019 3.826754 1.220286 +v -0.042101 -2.421762 -0.087443 +v 0.466291 4.045146 -0.014810 +v -1.059492 0.521770 -0.123924 +v -1.023004 -1.004435 1.547300 +v 0.974885 2.808862 -0.123924 +v 0.139323 3.318441 1.401869 +v 0.866030 3.390605 1.111008 +v 0.974885 -1.294990 1.547300 +v 1.011372 2.663901 0.493951 +v 0.720689 -1.984979 1.547300 +v -0.623467 3.898918 -0.123924 +v 0.539063 4.045146 0.929425 +v 0.793258 3.354523 1.183805 +v -0.042101 -2.240085 1.547300 +v 0.974885 3.644445 0.312204 +v -0.805093 3.281726 1.183805 +v -0.914150 -1.840018 -0.014810 +v -0.805093 -1.912182 1.547300 +v -0.223727 3.318441 1.365552 +v -0.950435 2.845577 -0.087443 +v 0.866030 3.463402 -0.123924 +v -0.659752 -2.057776 1.547300 +v -0.950435 3.645078 0.312204 +v -0.623467 3.753957 1.038375 +v 0.175607 4.045146 -0.123924 +v -0.732321 -2.166655 -0.051127 +v -0.623467 4.044513 0.602901 +v -1.059492 -0.677798 0.530104 +f 239 231 263 +f 201 200 207 +f 200 201 209 +f 207 200 211 +f 206 204 212 +f 204 206 215 +f 201 207 216 +f 200 209 217 +f 206 212 220 +f 204 215 221 +f 209 201 224 +f 205 220 225 +f 220 212 225 +f 223 200 227 +f 211 200 230 +f 200 223 230 +f 223 211 230 +f 201 202 231 +f 228 214 231 +f 211 204 232 +f 207 211 232 +f 205 225 233 +f 225 212 233 +f 202 201 234 +f 206 202 234 +f 201 216 234 +f 213 218 235 +f 218 229 235 +f 216 207 236 +f 207 221 236 +f 222 217 237 +f 218 222 237 +f 224 201 238 +f 201 231 238 +f 231 214 238 +f 206 220 239 +f 210 228 239 +f 228 231 239 +f 200 217 240 +f 227 200 240 +f 219 213 241 +f 205 233 241 +f 235 205 241 +f 213 235 241 +f 212 208 242 +f 208 213 242 +f 219 212 242 +f 213 219 242 +f 204 211 243 +f 212 204 243 +f 211 223 243 +f 223 212 243 +f 208 212 244 +f 212 223 244 +f 227 208 244 +f 223 227 244 +f 204 221 245 +f 221 207 245 +f 232 204 245 +f 207 232 245 +f 203 209 246 +f 209 224 246 +f 213 208 247 +f 218 213 247 +f 208 222 247 +f 222 218 247 +f 212 219 248 +f 233 212 248 +f 219 241 248 +f 241 233 248 +f 221 215 249 +f 236 221 249 +f 222 208 250 +f 217 222 250 +f 208 227 250 +f 226 210 251 +f 239 220 251 +f 210 239 251 +f 206 234 252 +f 234 216 252 +f 215 206 253 +f 216 215 253 +f 206 252 253 +f 252 216 253 +f 220 205 254 +f 205 235 254 +f 235 226 254 +f 251 220 254 +f 226 251 254 +f 214 224 255 +f 224 238 255 +f 238 214 255 +f 240 217 256 +f 227 240 256 +f 217 250 256 +f 250 227 256 +f 249 215 257 +f 236 249 257 +f 224 214 258 +f 228 203 258 +f 214 228 258 +f 203 246 258 +f 246 224 258 +f 210 226 259 +f 228 210 259 +f 226 235 259 +f 235 229 259 +f 209 203 260 +f 217 209 260 +f 203 218 260 +f 237 217 260 +f 218 237 260 +f 215 216 261 +f 216 236 261 +f 257 215 261 +f 236 257 261 +f 218 203 262 +f 203 228 262 +f 229 218 262 +f 228 259 262 +f 259 229 262 +f 202 206 263 +f 231 202 263 +f 206 239 263 +o convex_5 +v 0.538984 5.062141 0.457371 +v -0.659851 4.045500 0.384766 +v -0.659851 4.045500 0.457371 +v -0.405464 5.643536 0.421183 +v 0.102928 4.045500 1.038666 +v 0.102928 4.045500 -0.123924 +v -0.042126 5.498098 0.893343 +v -0.042126 5.643536 0.057816 +v 0.538984 4.045500 0.856926 +v -0.514414 4.081771 -0.051091 +v -0.478182 4.081771 0.893343 +v 0.466394 4.045500 0.021400 +v 0.429906 5.607088 0.529863 +v 0.429906 4.844696 0.893343 +v 0.429906 4.880967 0.094119 +v 0.030337 5.861692 0.493560 +v -0.478182 4.880967 0.021400 +v -0.441695 4.771977 0.856926 +v 0.648063 4.045500 0.457371 +v -0.587132 4.917237 0.457371 +v -0.005894 4.735707 -0.087507 +v -0.005894 4.771977 1.002250 +v 0.321084 5.425557 0.166724 +v -0.332873 5.425557 0.748019 +v 0.030337 5.607088 0.856926 +v 0.575344 4.808248 0.566165 +v -0.296513 4.045500 -0.123924 +v -0.369104 5.461828 0.166724 +v -0.441695 5.607088 0.457371 +v 0.429906 5.607088 0.457371 +v 0.321084 5.425557 0.784208 +v 0.502625 4.190760 0.929531 +v -0.042126 4.045500 1.038666 +v -0.042126 5.643536 0.820624 +v 0.030337 5.607088 0.057816 +v 0.030337 5.825066 0.348578 +v -0.187435 4.880967 -0.051091 +v -0.587132 4.917237 0.384766 +v -0.550773 4.045500 -0.014902 +v -0.441695 5.607088 0.384766 +v -0.187435 5.788795 0.421183 +v 0.648063 4.081771 0.566165 +v 0.030337 5.498098 0.893343 +v 0.466394 4.808248 0.856926 +v 0.066696 4.880967 -0.051091 +v 0.030337 4.771977 1.002250 +v 0.575344 4.844696 0.457371 +v 0.538984 4.081771 0.166724 +v 0.393675 4.081771 -0.014902 +f 308 278 312 +f 266 265 268 +f 268 265 269 +f 268 269 272 +f 272 269 275 +f 266 274 281 +f 272 275 282 +f 265 266 283 +f 266 281 283 +f 270 281 285 +f 281 274 285 +f 281 270 287 +f 276 279 288 +f 264 276 289 +f 269 265 290 +f 273 280 290 +f 284 269 290 +f 271 280 291 +f 283 281 292 +f 281 287 292 +f 276 264 293 +f 264 278 293 +f 279 276 293 +f 278 286 293 +f 276 288 294 +f 268 272 295 +f 266 268 296 +f 274 266 296 +f 268 285 296 +f 285 274 296 +f 287 270 297 +f 270 288 297 +f 288 279 297 +f 292 287 297 +f 284 271 298 +f 286 278 298 +f 293 286 298 +f 293 298 299 +f 279 293 299 +f 298 271 299 +f 280 271 300 +f 271 284 300 +f 290 280 300 +f 284 290 300 +f 265 283 301 +f 283 292 301 +f 280 273 302 +f 290 265 302 +f 273 290 302 +f 265 301 302 +f 301 280 302 +f 271 291 303 +f 291 280 303 +f 292 267 303 +f 280 301 303 +f 301 292 303 +f 267 292 304 +f 297 279 304 +f 292 297 304 +f 299 271 304 +f 279 299 304 +f 303 267 304 +f 271 303 304 +f 272 282 305 +f 295 272 305 +f 289 295 305 +f 270 285 306 +f 288 270 306 +f 277 294 306 +f 294 288 306 +f 289 276 307 +f 276 294 307 +f 294 277 307 +f 277 295 307 +f 295 289 307 +f 269 284 308 +f 298 278 308 +f 284 298 308 +f 285 268 309 +f 268 295 309 +f 295 277 309 +f 277 306 309 +f 306 285 309 +f 278 264 310 +f 264 289 310 +f 305 282 310 +f 289 305 310 +f 275 278 311 +f 282 275 311 +f 278 310 311 +f 310 282 311 +f 275 269 312 +f 278 275 312 +f 269 308 312 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/723/723.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/723/723.urdf new file mode 100644 index 000000000..a68989904 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/723/723.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/724/724.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/724/724.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/724/724.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/724/724.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/724/724.obj new file mode 100644 index 000000000..b2d1c347c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/724/724.obj @@ -0,0 +1,534 @@ +o convex_0 +v -0.643059 -1.321918 -1.028985 +v 0.945668 -3.284153 1.120535 +v 0.914525 -3.284153 1.120535 +v 0.478309 0.859383 1.058205 +v 1.039098 0.858938 -0.935277 +v -0.985635 0.859383 0.995876 +v -0.985635 -3.626999 -0.966442 +v 0.976812 -3.689335 -0.966442 +v -0.954492 -3.689335 0.995876 +v -1.048132 0.859383 -0.997607 +v 0.976812 0.859383 0.996089 +v 0.976812 -3.689335 1.120535 +v 1.101595 0.827770 -0.218699 +v 0.073446 0.859383 -1.060150 +v -1.048132 0.578427 0.559781 +v -0.954492 0.859383 1.027254 +v 1.007955 -3.533496 1.089370 +v 1.101595 0.266749 -0.561299 +v 0.789952 -2.878527 -0.997607 +v 1.039098 0.858938 0.653276 +v -0.985635 -2.878972 0.902595 +v -0.954492 -1.103743 1.027254 +v -0.424846 -0.137987 -1.059936 +v -1.048132 0.142523 -0.997607 +v 0.945668 0.859383 -0.966442 +v 1.007955 -2.940863 -0.904112 +v 0.509452 -0.667394 1.089584 +v -0.954492 -3.689335 0.497452 +v 0.135733 -0.231490 -1.060150 +v 0.976812 0.423033 1.027040 +v -0.518276 0.859383 -1.059936 +v 0.540595 -3.689335 -0.966442 +v 0.883382 -3.689335 1.120535 +v -0.829919 -2.660798 -0.997607 +v -1.048132 0.859383 0.559781 +v -0.985635 -3.626999 -0.685958 +v 1.070241 0.858938 -0.810618 +v 1.007955 -2.162113 -0.966442 +v -0.424846 -3.657722 -0.966442 +v 1.039098 -0.137987 0.715392 +v 0.135733 0.828215 1.058205 +v 1.007955 0.610040 0.871216 +f 40 20 42 +f 6 4 10 +f 10 4 11 +f 2 3 12 +f 9 8 12 +f 10 11 14 +f 4 6 16 +f 12 8 17 +f 13 17 18 +f 9 6 21 +f 6 15 21 +f 6 9 22 +f 16 6 22 +f 15 10 24 +f 14 11 25 +f 17 8 26 +f 18 17 26 +f 3 2 27 +f 2 4 27 +f 16 3 27 +f 9 7 28 +f 8 9 28 +f 14 25 29 +f 25 19 29 +f 4 2 30 +f 11 4 30 +f 2 12 30 +f 12 17 30 +f 10 14 31 +f 23 1 31 +f 1 24 31 +f 24 10 31 +f 14 29 31 +f 29 23 31 +f 19 8 32 +f 8 28 32 +f 12 3 33 +f 9 12 33 +f 3 16 33 +f 22 9 33 +f 16 22 33 +f 19 7 34 +f 1 23 34 +f 24 1 34 +f 7 24 34 +f 23 29 34 +f 29 19 34 +f 6 10 35 +f 15 6 35 +f 10 15 35 +f 7 9 36 +f 9 21 36 +f 21 15 36 +f 24 7 36 +f 15 24 36 +f 13 18 37 +f 11 20 37 +f 20 13 37 +f 5 25 37 +f 25 11 37 +f 18 26 37 +f 37 26 38 +f 8 19 38 +f 25 5 38 +f 19 25 38 +f 26 8 38 +f 5 37 38 +f 7 19 39 +f 28 7 39 +f 19 32 39 +f 32 28 39 +f 17 13 40 +f 13 20 40 +f 4 16 41 +f 27 4 41 +f 16 27 41 +f 20 11 42 +f 11 30 42 +f 30 17 42 +f 17 40 42 +o convex_1 +v 0.104604 1.731615 -2.026132 +v 0.291547 1.046316 -1.247440 +v 0.322672 1.046316 -1.247440 +v 0.229232 1.108737 -3.085065 +v -0.300407 1.139878 -2.399722 +v -0.238029 1.607053 -1.060348 +v -0.269218 1.607053 -3.085065 +v 0.229232 1.731615 -3.053751 +v 0.260357 1.762755 -1.060348 +v -0.238029 1.108737 -1.060348 +v -0.300407 1.139878 -3.022635 +v 0.353861 1.139878 -1.060348 +v 0.260357 1.731615 -2.711079 +v -0.269218 1.544702 -1.247440 +v 0.260357 1.108737 -2.897973 +v -0.175714 1.108737 -2.617732 +v -0.300407 1.357930 -2.181712 +v -0.206839 1.638194 -3.085065 +v 0.198043 1.762755 -1.060348 +v 0.353861 1.046316 -1.060348 +v -0.019897 1.108737 -3.053751 +v -0.206839 1.638194 -2.088166 +v 0.135729 1.731615 -2.866857 +f 61 50 65 +f 45 44 46 +f 51 48 52 +f 49 46 53 +f 52 47 53 +f 51 52 54 +f 50 51 55 +f 51 54 55 +f 48 49 56 +f 47 52 56 +f 52 48 56 +f 46 50 57 +f 50 55 57 +f 55 54 57 +f 44 52 58 +f 52 53 58 +f 49 53 59 +f 53 47 59 +f 47 56 59 +f 56 49 59 +f 46 49 60 +f 50 46 60 +f 48 51 61 +f 51 50 61 +f 43 60 61 +f 44 45 62 +f 45 46 62 +f 52 44 62 +f 54 52 62 +f 46 57 62 +f 57 54 62 +f 46 44 63 +f 53 46 63 +f 44 58 63 +f 58 53 63 +f 49 48 64 +f 60 49 64 +f 48 61 64 +f 61 60 64 +f 60 43 65 +f 50 60 65 +f 43 61 65 +o convex_2 +v -0.300407 1.202152 2.865316 +v 0.353861 1.731676 3.020905 +v 0.353861 1.139844 3.020905 +v 0.291547 1.108722 1.058431 +v -0.238029 1.638181 1.152026 +v -0.238029 1.700490 3.083503 +v -0.206839 1.077472 1.058431 +v 0.198043 1.575873 1.058431 +v -0.269218 1.202152 3.114701 +v 0.353861 1.731676 2.771922 +v -0.206839 1.077472 1.401210 +v -0.238029 1.389077 1.058431 +v -0.300407 1.357955 3.114701 +v 0.353861 1.139844 2.460342 +v 0.229232 1.607059 1.276819 +v 0.042290 1.077472 1.089629 +v 0.198043 1.139844 3.020905 +v 0.104604 1.731676 2.989706 +v 0.291547 1.202152 1.089629 +v -0.238029 1.607059 1.058431 +v -0.269218 1.607059 3.020905 +f 78 71 86 +f 69 72 73 +f 68 67 74 +f 67 68 75 +f 66 72 76 +f 74 66 76 +f 72 66 77 +f 73 72 77 +f 67 71 78 +f 74 67 78 +f 66 74 78 +f 68 69 79 +f 75 68 79 +f 73 70 80 +f 70 75 80 +f 69 68 81 +f 72 69 81 +f 68 76 81 +f 76 72 81 +f 68 74 82 +f 76 68 82 +f 74 76 82 +f 71 67 83 +f 70 71 83 +f 67 75 83 +f 75 70 83 +f 69 73 84 +f 79 69 84 +f 75 79 84 +f 73 80 84 +f 80 75 84 +f 70 73 85 +f 77 66 85 +f 73 77 85 +f 66 78 85 +f 78 70 85 +f 71 70 86 +f 70 78 86 +o convex_3 +v -2.107514 0.890538 0.466377 +v -2.605863 2.012140 -0.405784 +v -1.827217 1.980850 -0.405784 +v -3.073091 0.952898 -0.530504 +v -3.041969 1.825060 0.528737 +v -1.079495 0.952898 -0.468035 +v -1.079495 1.856240 0.590987 +v -1.079495 0.890648 0.528737 +v -3.104213 0.921828 0.497557 +v -1.079495 1.949670 -0.436964 +v -2.948404 1.980850 -0.468144 +v -2.450055 1.264479 -0.530504 +v -3.104213 1.108689 0.528737 +v -1.079495 0.890648 0.154797 +v -2.979724 1.980850 -0.187744 +v -1.235105 1.825170 -0.468035 +v -2.948404 1.825060 0.559807 +v -3.073091 1.108689 -0.530504 +v -1.235105 1.700450 0.590987 +v -3.041969 1.856240 0.466377 +v -1.079495 1.887420 0.372837 +v -2.387613 0.952898 -0.530504 +v -3.104213 0.921828 0.154907 +v -2.636787 0.984078 0.528737 +v -2.948404 2.012140 -0.343424 +v -2.169758 1.856240 0.559807 +v -3.073091 1.638200 0.497557 +v -3.041969 1.326839 -0.530504 +v -3.041969 1.856240 0.310697 +f 104 113 115 +f 92 93 94 +f 87 94 95 +f 88 89 96 +f 93 92 96 +f 88 96 97 +f 87 90 100 +f 92 94 100 +f 94 87 100 +f 96 92 102 +f 97 96 102 +f 91 99 103 +f 98 90 104 +f 94 93 105 +f 103 99 105 +f 93 103 105 +f 91 103 106 +f 89 88 107 +f 96 89 107 +f 93 96 107 +f 90 98 108 +f 100 90 108 +f 92 100 108 +f 102 92 108 +f 98 102 108 +f 90 87 109 +f 87 95 109 +f 95 99 109 +f 104 90 109 +f 95 94 110 +f 99 95 110 +f 94 105 110 +f 105 99 110 +f 88 97 111 +f 97 101 111 +f 101 106 111 +f 107 88 111 +f 93 107 111 +f 103 93 112 +f 106 103 112 +f 93 111 112 +f 111 106 112 +f 99 91 113 +f 91 106 113 +f 109 99 113 +f 104 109 113 +f 101 97 114 +f 97 102 114 +f 102 98 114 +f 98 104 114 +f 104 101 114 +f 101 104 115 +f 106 101 115 +f 113 106 115 +o convex_4 +v 1.039046 0.859383 0.653085 +v -0.580826 1.545032 -1.059942 +v -0.580826 1.731557 -1.059942 +v -0.985793 2.323620 1.058224 +v 1.039046 2.417044 -0.935332 +v -0.985793 0.859545 0.995815 +v 0.976924 2.323620 0.964714 +v 1.039046 0.859383 -0.935332 +v -1.079297 2.510630 -0.997533 +v -1.047915 0.859545 -0.997533 +v 0.821085 0.859383 1.026916 +v -0.113309 2.479434 0.310563 +v -1.079297 0.890578 0.528475 +v 1.101595 2.011991 0.466273 +v 0.353781 1.046393 -1.059942 +v 1.101595 0.859383 -0.592602 +v -1.079297 1.856338 0.590884 +v 0.478239 0.859383 1.058224 +v 0.415904 1.793786 1.058224 +v 0.260278 1.762752 -1.059942 +v -0.954626 2.354815 1.058224 +v 1.101595 0.952969 0.559783 +v 0.976924 0.859383 0.995815 +v 1.070214 2.323620 -0.904231 +v -0.518490 0.859545 -1.059942 +v -0.954626 0.859545 1.026916 +v -0.767619 2.510630 -0.997533 +v -1.079297 0.952969 -0.436891 +v -1.079297 2.510630 -0.841823 +v 1.101595 1.918405 -0.592602 +v 0.821085 2.354653 0.871412 +v -0.954626 1.762752 1.058224 +v 0.852253 2.230196 0.995815 +v -0.923458 2.292425 -1.028634 +v 0.478239 2.448077 -0.966433 +v 0.914588 0.859383 -0.966433 +v 1.039046 2.385849 -0.312281 +v -0.237980 2.479434 0.310563 +v 0.976924 1.700361 0.995815 +v 0.073271 0.859383 -1.059942 +v 0.166775 0.859383 1.058224 +f 155 133 156 +f 123 116 126 +f 125 121 128 +f 117 118 130 +f 116 123 131 +f 121 119 132 +f 128 121 132 +f 124 128 132 +f 123 126 133 +f 133 126 134 +f 119 133 134 +f 130 118 135 +f 120 130 135 +f 119 134 136 +f 129 122 137 +f 116 131 137 +f 131 129 137 +f 126 116 138 +f 116 137 138 +f 123 120 139 +f 131 123 139 +f 117 130 140 +f 119 121 141 +f 124 125 143 +f 128 124 143 +f 125 128 143 +f 132 119 144 +f 124 132 144 +f 119 136 144 +f 127 142 144 +f 142 124 144 +f 129 131 145 +f 139 129 145 +f 131 139 145 +f 120 127 146 +f 136 122 146 +f 127 136 146 +f 133 119 147 +f 119 141 147 +f 122 136 148 +f 136 134 148 +f 118 117 149 +f 125 124 149 +f 135 118 149 +f 140 125 149 +f 117 140 149 +f 124 142 149 +f 142 135 149 +f 127 120 150 +f 120 135 150 +f 142 127 150 +f 135 142 150 +f 120 123 151 +f 130 120 151 +f 123 133 151 +f 122 129 152 +f 139 120 152 +f 129 139 152 +f 120 146 152 +f 146 122 152 +f 136 127 153 +f 144 136 153 +f 127 144 153 +f 134 126 154 +f 137 122 154 +f 126 138 154 +f 138 137 154 +f 148 134 154 +f 122 148 154 +f 121 125 155 +f 125 140 155 +f 140 130 155 +f 130 151 155 +f 151 133 155 +f 141 121 156 +f 133 147 156 +f 147 141 156 +f 121 155 156 +o convex_5 +v 3.001867 1.638200 0.559923 +v 1.101790 1.700450 -0.592816 +v 2.098574 0.890538 -0.561642 +v 1.101790 0.952898 0.559923 +v 3.095358 2.012140 -0.592816 +v 1.101790 2.012140 0.466286 +v 3.033096 0.921828 0.310648 +v 3.033096 0.921828 -0.592816 +v 1.101790 0.890538 -0.499294 +v 2.877342 1.980850 0.591097 +v 1.101790 1.918600 -0.592816 +v 3.033096 0.952898 0.435228 +v 3.001867 1.980850 0.528749 +v 1.257544 2.012140 0.497575 +v 1.382069 1.949670 -0.592816 +v 1.288578 0.890538 -0.250019 +v 3.033096 0.890538 -0.436946 +v 2.098574 1.544660 0.591097 +v 3.095358 2.012140 -0.436946 +v 1.101790 0.921828 0.310648 +v 1.101790 1.170939 0.559923 +v 3.033096 1.077618 0.466286 +v 3.095358 1.793990 -0.530468 +v 1.101790 2.012140 0.372996 +v 2.659327 0.890538 -0.592816 +v 1.226510 0.952898 0.559923 +v 2.877342 1.762810 0.591097 +v 2.659327 1.980850 0.591097 +f 177 174 184 +f 158 160 162 +f 158 161 164 +f 158 159 165 +f 160 158 165 +f 161 158 167 +f 158 162 167 +f 166 157 169 +f 161 162 170 +f 166 169 170 +f 161 167 171 +f 165 159 172 +f 172 159 173 +f 163 172 173 +f 161 170 175 +f 170 169 175 +f 163 160 176 +f 160 165 176 +f 172 163 176 +f 165 172 176 +f 162 160 177 +f 170 162 177 +f 160 174 177 +f 169 157 178 +f 168 175 178 +f 175 169 178 +f 164 161 179 +f 168 163 179 +f 163 173 179 +f 173 164 179 +f 175 168 179 +f 161 175 179 +f 162 161 180 +f 167 162 180 +f 161 171 180 +f 171 167 180 +f 159 158 181 +f 158 164 181 +f 164 173 181 +f 173 159 181 +f 160 163 182 +f 163 168 182 +f 174 160 182 +f 168 178 182 +f 182 178 183 +f 157 166 183 +f 166 174 183 +f 178 157 183 +f 174 182 183 +f 166 170 184 +f 174 166 184 +f 170 177 184 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/724/724.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/724/724.urdf new file mode 100644 index 000000000..bfa48fa80 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/724/724.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/725/725.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/725/725.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/725/725.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/725/725.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/725/725.obj new file mode 100644 index 000000000..64a39b91a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/725/725.obj @@ -0,0 +1,402 @@ +o convex_0 +v 1.053336 3.947922 -0.798913 +v -1.089274 0.119689 0.676079 +v -1.089274 0.119689 0.957256 +v 1.053336 0.119689 1.062671 +v -0.983780 4.053359 0.957256 +v -0.983780 0.119689 -0.974262 +v -0.983780 4.123910 -1.009538 +v 0.947841 0.119689 -1.044814 +v 1.053336 4.123910 0.992119 +v 1.018101 3.947922 -0.974468 +v 0.666802 0.154964 1.062671 +v 0.175193 1.630287 -1.044814 +v -1.018805 3.596730 0.957256 +v 0.983076 0.752305 -1.009538 +v -0.000562 4.053359 -1.009538 +v 1.053336 0.119689 0.746219 +v 1.018101 0.998062 1.062671 +v -1.089274 0.787189 0.957256 +v -0.983780 2.156291 -1.009538 +v -0.983780 4.123910 -0.482666 +v 1.018101 2.402048 -1.009538 +v 0.420997 4.088634 0.992119 +v 1.053336 4.123910 0.816564 +v -0.456936 4.088634 0.957050 +v -0.632481 0.119689 0.992326 +v 0.666802 0.190241 -1.044814 +v -0.737766 4.123910 -1.009538 +v 0.947841 2.754025 -1.009538 +v 1.053336 3.983198 -0.693498 +v 0.983076 0.119689 -0.693498 +v 0.772087 4.123910 0.992119 +v 0.210218 3.983198 -1.009538 +v -0.246157 0.154964 -1.009538 +v -0.983780 4.088634 0.500524 +v 0.947841 0.400721 -1.044814 +v 1.053336 2.754025 1.027189 +f 31 22 36 +f 3 2 4 +f 4 2 6 +f 4 6 8 +f 4 1 9 +f 11 5 13 +f 1 4 16 +f 4 8 16 +f 11 4 17 +f 5 11 17 +f 2 3 18 +f 7 2 18 +f 13 7 18 +f 6 2 19 +f 2 7 19 +f 7 12 19 +f 9 7 20 +f 7 13 20 +f 10 1 21 +f 14 8 21 +f 1 16 21 +f 16 14 21 +f 5 17 22 +f 9 1 23 +f 7 9 23 +f 3 4 25 +f 4 11 25 +f 11 13 25 +f 18 3 25 +f 13 18 25 +f 12 8 26 +f 19 12 26 +f 12 7 27 +f 15 12 27 +f 7 23 27 +f 10 21 28 +f 1 10 29 +f 10 15 29 +f 23 1 29 +f 15 27 29 +f 27 23 29 +f 8 14 30 +f 16 8 30 +f 14 16 30 +f 9 20 31 +f 5 22 31 +f 24 5 31 +f 20 24 31 +f 15 10 32 +f 12 15 32 +f 10 28 32 +f 8 6 33 +f 6 19 33 +f 26 8 33 +f 19 26 33 +f 13 5 34 +f 20 13 34 +f 5 24 34 +f 24 20 34 +f 8 12 35 +f 21 8 35 +f 28 21 35 +f 12 32 35 +f 32 28 35 +f 4 9 36 +f 17 4 36 +f 22 17 36 +f 9 31 36 +o convex_1 +v 0.456013 -3.954721 -0.588192 +v -0.246190 -2.058046 0.570925 +v 0.280491 -2.058046 0.535639 +v -0.421713 -4.060157 0.570925 +v -0.456885 -2.058046 -0.482787 +v 0.561531 -2.058242 -0.588192 +v 0.491186 -3.919445 0.465406 +v -0.527117 -4.060157 -0.447614 +v -0.562403 -2.058046 0.570925 +v 0.596703 -2.058242 0.500579 +v 0.491186 -3.989801 0.149304 +v -0.491944 -4.060157 0.570925 +v 0.210259 -3.989801 -0.588192 +v -0.491944 -2.058046 -0.447614 +v 0.280491 -2.058046 -0.588192 +v -0.527117 -3.146704 -0.447614 +v -0.527117 -4.060157 0.008726 +v 0.596703 -2.198759 0.500579 +v 0.139914 -4.024881 0.500579 +v 0.561531 -2.163482 -0.588192 +v -0.386654 -4.060157 -0.447614 +v -0.562403 -2.058046 0.430233 +v -0.562403 -2.303999 0.570925 +v 0.561531 -2.620111 0.500579 +v 0.526358 -3.568057 0.430233 +v 0.385781 -3.989801 -0.588192 +v -0.246190 -4.060157 0.395174 +v 0.491186 -3.989801 0.430233 +f 47 61 64 +f 39 38 40 +f 38 39 41 +f 40 38 45 +f 38 41 45 +f 44 40 48 +f 40 45 48 +f 42 37 49 +f 44 41 49 +f 45 41 50 +f 41 39 51 +f 39 46 51 +f 46 42 51 +f 42 49 51 +f 49 41 51 +f 41 44 52 +f 50 41 52 +f 44 48 53 +f 46 39 54 +f 42 46 54 +f 43 40 55 +f 37 42 56 +f 47 37 56 +f 42 54 56 +f 40 44 57 +f 44 49 57 +f 45 50 58 +f 52 44 58 +f 50 52 58 +f 48 45 59 +f 44 53 59 +f 53 48 59 +f 58 44 59 +f 45 58 59 +f 39 40 60 +f 40 43 60 +f 54 39 60 +f 43 54 60 +f 54 43 61 +f 47 56 61 +f 56 54 61 +f 37 47 62 +f 49 37 62 +f 57 49 62 +f 57 62 63 +f 55 40 63 +f 47 55 63 +f 40 57 63 +f 62 47 63 +f 43 55 64 +f 55 47 64 +f 61 43 64 +o convex_2 +v 0.982925 -0.020983 -1.255782 +v -0.983757 -1.741745 -3.117174 +v -0.983757 -1.601156 -3.117174 +v -0.983757 -1.917430 -1.044814 +v 1.053271 -1.987625 -3.046784 +v -1.089274 -0.056080 -3.011690 +v 0.947753 -2.022922 -1.044814 +v -0.983757 0.014314 -1.044814 +v 1.088443 -0.020983 -2.976393 +v -0.948584 -1.952328 -3.117174 +v 0.772103 0.014314 -1.044814 +v 0.701971 0.014314 -2.660346 +v 0.982925 -2.022922 -1.220689 +v -0.421847 -1.987625 -3.081878 +v -0.702802 -0.020983 -3.011690 +v -0.983757 -1.952328 -2.028455 +v 0.947966 -0.020983 -1.044814 +v -1.018929 0.014314 -1.888080 +v -1.018929 -0.196668 -3.046784 +v -0.492193 -1.917430 -3.117174 +v 0.737143 -2.022922 -1.044814 +v 1.088443 -0.126274 -2.871112 +v -1.089274 -0.161571 -2.976596 +v -1.018929 0.014314 -1.571830 +v 0.947966 -2.022922 -1.571830 +v 1.053271 -0.793920 -3.011487 +v -0.000416 -0.020983 -3.011487 +v -0.983757 -1.952328 -2.484674 +v 1.053271 -1.987625 -2.941300 +v 1.053271 -1.811939 -3.046784 +v -1.089274 -0.091177 -2.906409 +v -0.843279 -1.636254 -3.117174 +v -1.054102 -0.020983 -2.835815 +f 82 79 97 +f 67 66 70 +f 68 71 72 +f 66 67 74 +f 72 71 75 +f 65 73 75 +f 75 73 76 +f 72 75 76 +f 74 69 78 +f 65 75 81 +f 75 71 81 +f 77 65 81 +f 71 77 81 +f 72 76 82 +f 76 79 82 +f 67 70 83 +f 70 79 83 +f 74 67 84 +f 69 74 84 +f 71 68 85 +f 77 71 85 +f 68 80 85 +f 80 78 85 +f 69 73 86 +f 73 65 86 +f 65 77 86 +f 70 66 87 +f 80 68 87 +f 68 72 88 +f 82 70 88 +f 72 82 88 +f 69 77 89 +f 78 69 89 +f 77 85 89 +f 85 78 89 +f 84 73 90 +f 76 73 91 +f 79 76 91 +f 83 79 91 +f 66 74 92 +f 74 78 92 +f 78 80 92 +f 87 66 92 +f 80 87 92 +f 77 69 93 +f 69 86 93 +f 86 77 93 +f 73 69 94 +f 69 84 94 +f 90 73 94 +f 84 90 94 +f 70 87 95 +f 87 68 95 +f 68 88 95 +f 88 70 95 +f 67 83 96 +f 84 67 96 +f 73 84 96 +f 91 73 96 +f 83 91 96 +f 79 70 97 +f 70 82 97 +o convex_3 +v 0.140068 -0.055963 3.099907 +v 0.104895 -2.058046 -0.693064 +v 0.280545 -2.058046 -0.693064 +v 0.947762 0.119689 -1.044814 +v -0.983756 0.119689 -0.939330 +v -1.054102 -1.917355 3.029314 +v 1.088454 -2.058046 3.029314 +v -1.018929 -1.917355 -1.009111 +v -1.018929 0.049129 3.029314 +v 1.088454 0.084302 3.099501 +v 0.947762 -2.022660 -1.044814 +v -1.089274 0.119689 0.957765 +v 1.053281 0.119689 0.746796 +v -0.562322 -2.058046 0.571124 +v -0.983756 0.014170 -1.044814 +v -1.054102 -1.952314 0.395452 +v -1.018929 -1.847009 3.064610 +v 0.982935 -1.741917 -0.658173 +v -0.597282 0.084302 3.064610 +v -1.089274 -0.372306 0.536233 +v 1.088454 -2.058046 2.643079 +v -0.983756 -1.917355 -1.044814 +v 0.982935 -0.688435 3.099907 +v -0.562322 -2.058046 -0.517798 +v 0.842457 -2.058046 3.029314 +v -1.089274 -0.969179 0.922468 +v -1.089274 0.084302 1.448672 +v 1.088454 0.049343 2.221548 +v 0.982935 0.119689 -0.693064 +v 1.053281 -0.372306 0.746796 +v -1.054102 -1.285095 3.029314 +v 0.561501 -2.058046 -0.587580 +v 1.053281 0.119689 1.062438 +v 0.034549 -0.899046 3.099907 +v -1.054102 -1.952314 1.729423 +v -1.054102 0.049129 2.502298 +v -1.089274 0.084302 0.641718 +v -0.772933 -0.055963 3.064610 +v -0.632455 -1.952528 3.029314 +v 0.737152 -2.022660 -1.044814 +v -0.808105 -1.847009 3.064610 +f 120 131 138 +f 99 100 104 +f 100 99 108 +f 101 102 109 +f 101 109 110 +f 99 104 111 +f 102 101 112 +f 101 108 112 +f 98 107 116 +f 109 106 116 +f 104 100 118 +f 107 104 118 +f 108 115 118 +f 112 108 119 +f 105 112 119 +f 104 107 120 +f 107 98 120 +f 99 111 121 +f 113 105 121 +f 111 113 121 +f 105 119 121 +f 111 104 122 +f 104 114 122 +f 105 113 123 +f 109 117 123 +f 117 105 123 +f 123 103 124 +f 109 123 124 +f 110 107 125 +f 107 118 125 +f 108 101 126 +f 101 110 126 +f 115 108 126 +f 115 126 127 +f 118 115 127 +f 110 125 127 +f 125 118 127 +f 126 110 127 +f 103 114 128 +f 114 106 128 +f 124 103 128 +f 100 108 129 +f 118 100 129 +f 108 118 129 +f 107 110 130 +f 110 109 130 +f 116 107 130 +f 109 116 130 +f 98 114 131 +f 120 98 131 +f 111 103 132 +f 113 111 132 +f 103 123 132 +f 123 113 132 +f 106 109 133 +f 109 124 133 +f 128 106 133 +f 124 128 133 +f 109 102 134 +f 102 112 134 +f 112 105 134 +f 117 109 134 +f 105 117 134 +f 114 98 135 +f 106 114 135 +f 98 116 135 +f 116 106 135 +f 103 111 136 +f 114 103 136 +f 111 122 136 +f 122 114 136 +f 108 99 137 +f 119 108 137 +f 99 121 137 +f 121 119 137 +f 114 104 138 +f 104 120 138 +f 131 114 138 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/725/725.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/725/725.urdf new file mode 100644 index 000000000..46f19b8ca --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/725/725.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/726/726.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/726/726.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/726/726.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/726/726.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/726/726.obj new file mode 100644 index 000000000..4e5efd4f9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/726/726.obj @@ -0,0 +1,609 @@ +o convex_0 +v 3.007545 -1.529822 0.227785 +v 1.281507 -0.345210 0.600238 +v 1.281507 -0.345210 0.532403 +v 1.112441 -1.495847 0.600238 +v 1.112441 -1.461988 -0.584375 +v 3.109180 -0.379069 -0.448937 +v 3.007545 -0.480763 0.600238 +v 1.112441 -0.379185 -0.482797 +v 3.109180 -1.495847 -0.584375 +v 2.939919 -1.529822 0.498544 +v 1.112441 -0.345210 0.600238 +v 1.112441 -1.495847 -0.482797 +v 1.213880 -0.480763 -0.516656 +v 3.109180 -1.292807 -0.584375 +v 3.041358 -0.446788 0.430825 +v 2.973732 -1.394385 0.532403 +v 3.109180 -1.292807 -0.313500 +v 2.262872 -1.529822 0.126207 +v 3.075172 -0.379069 -0.110460 +v 2.567387 -0.379185 -0.482797 +v 1.112441 -0.345210 0.126207 +v 1.416955 -1.495847 0.600238 +v 2.939919 -0.446788 0.600238 +v 1.315516 -1.326550 -0.584375 +v 3.041358 -0.616084 0.464685 +v 2.195050 -1.529822 0.532403 +v 2.872097 -0.683803 0.600238 +v 3.109180 -0.480763 -0.482797 +f 14 20 28 +f 3 2 6 +f 2 4 7 +f 5 4 8 +f 2 3 11 +f 4 2 11 +f 8 4 11 +f 4 5 12 +f 5 9 12 +f 5 8 13 +f 6 9 14 +f 9 5 14 +f 10 1 16 +f 9 6 17 +f 1 9 17 +f 16 1 17 +f 9 1 18 +f 1 10 18 +f 12 9 18 +f 6 2 19 +f 15 6 19 +f 13 8 20 +f 14 13 20 +f 3 6 21 +f 11 3 21 +f 8 11 21 +f 6 20 21 +f 20 8 21 +f 7 4 22 +f 10 16 22 +f 2 7 23 +f 7 15 23 +f 19 2 23 +f 15 19 23 +f 5 13 24 +f 14 5 24 +f 13 14 24 +f 6 15 25 +f 15 7 25 +f 7 16 25 +f 16 17 25 +f 17 6 25 +f 4 12 26 +f 18 10 26 +f 12 18 26 +f 22 4 26 +f 10 22 26 +f 16 7 27 +f 7 22 27 +f 22 16 27 +f 6 14 28 +f 20 6 28 +o convex_1 +v 2.195257 0.839483 0.295597 +v 1.112262 1.245457 -0.313606 +v 1.112262 1.414707 -0.313606 +v 3.075335 1.448507 -0.279747 +v 1.112262 1.346982 0.261737 +v 1.112262 0.873345 -0.279747 +v 2.973684 0.873345 -0.212028 +v 2.973684 1.346982 0.261737 +v 1.112262 0.805557 0.194085 +v 2.939864 0.873345 0.363315 +v 2.330343 1.380845 0.261737 +v 3.041131 1.211657 -0.279747 +v 3.075335 1.448507 -0.144310 +v 1.315371 1.380845 0.194085 +v 1.450842 0.805557 0.058648 +v 2.770574 0.873345 -0.245888 +v 2.872033 0.974870 0.363315 +v 1.112262 1.211657 0.261737 +v 1.112262 0.839483 -0.212028 +v 2.973684 0.907208 0.329456 +v 2.770574 0.873345 0.363315 +v 1.958520 1.380845 -0.313606 +v 1.315371 0.805557 0.227878 +v 2.465814 1.448507 -0.245888 +v 2.330343 0.839483 -0.110516 +v 3.075335 1.313182 -0.144310 +f 41 48 54 +f 31 30 33 +f 33 30 34 +f 33 34 37 +f 39 36 41 +f 39 41 42 +f 31 33 42 +f 33 39 42 +f 34 40 44 +f 40 35 44 +f 38 36 45 +f 36 39 45 +f 39 33 45 +f 33 37 46 +f 37 34 47 +f 43 37 47 +f 34 44 47 +f 38 35 48 +f 36 38 48 +f 41 36 48 +f 45 33 49 +f 38 45 49 +f 33 46 49 +f 30 31 50 +f 31 32 50 +f 34 30 50 +f 32 40 50 +f 40 34 50 +f 29 38 51 +f 43 29 51 +f 37 43 51 +f 46 37 51 +f 38 49 51 +f 49 46 51 +f 32 31 52 +f 41 32 52 +f 42 41 52 +f 31 42 52 +f 38 29 53 +f 35 38 53 +f 29 43 53 +f 44 35 53 +f 43 47 53 +f 47 44 53 +f 40 32 54 +f 35 40 54 +f 32 41 54 +f 48 35 54 +o convex_2 +v -2.543005 -1.157370 0.566332 +v -1.426562 -1.495976 -0.550529 +v -1.426562 -1.462070 -0.550529 +v -3.050806 -0.446814 -0.482717 +v -1.121768 -0.345210 0.600238 +v -1.121768 -0.480720 -0.516623 +v -1.121957 -1.394372 0.566332 +v -2.949208 -1.428277 -0.482717 +v -2.983011 -0.345210 0.532427 +v -2.915405 -1.360579 0.498521 +v -1.121957 -1.495976 -0.550529 +v -1.121768 -0.345210 0.329330 +v -1.426562 -1.495976 -0.313414 +v -3.050806 -0.683703 -0.212035 +v -2.949208 -1.258974 0.532427 +v -2.678406 -0.345210 0.566332 +v -1.629380 -0.446814 -0.482717 +v -3.050806 -0.412908 -0.279621 +v -2.441219 -1.462070 -0.516623 +v -2.339998 -1.360579 0.566332 +v -2.949208 -1.428277 -0.313414 +v -3.050806 -0.717722 -0.482717 +v -2.983011 -0.345210 0.464728 +v -1.121957 -1.495976 -0.279621 +v -3.016625 -0.446814 0.261631 +v -1.121768 -0.446814 -0.415019 +v -1.189374 -1.292767 -0.550529 +f 60 65 81 +f 60 59 61 +f 56 57 65 +f 59 60 66 +f 63 59 66 +f 61 64 67 +f 56 65 67 +f 55 59 70 +f 59 63 70 +f 69 55 70 +f 63 69 70 +f 60 58 71 +f 66 71 72 +f 58 68 72 +f 71 58 72 +f 57 56 73 +f 58 57 73 +f 56 67 73 +f 59 55 74 +f 61 59 74 +f 64 61 74 +f 55 69 74 +f 69 64 74 +f 67 64 75 +f 64 69 75 +f 69 68 75 +f 62 73 75 +f 73 67 75 +f 68 58 76 +f 58 73 76 +f 73 62 76 +f 62 75 76 +f 75 68 76 +f 63 66 77 +f 66 72 77 +f 72 63 77 +f 60 61 78 +f 65 60 78 +f 61 67 78 +f 67 65 78 +f 69 63 79 +f 68 69 79 +f 63 72 79 +f 72 68 79 +f 66 60 80 +f 60 71 80 +f 71 66 80 +f 57 58 81 +f 58 60 81 +f 65 57 81 +o convex_3 +v -2.204468 1.042569 0.295610 +v -1.426502 0.737931 -0.347452 +v -1.900314 0.737931 -0.313593 +v -3.084652 1.347008 -0.212015 +v -1.121771 1.414787 0.126380 +v -3.016635 0.771787 0.194032 +v -1.121771 0.873355 0.261751 +v -1.121771 1.279296 -0.313593 +v -2.982819 1.313152 0.227891 +v -3.084652 0.737931 -0.212015 +v -1.121771 0.737931 -0.212015 +v -2.982819 0.805643 0.329469 +v -1.155780 1.380864 0.227891 +v -1.561767 1.313152 -0.313593 +v -2.542823 1.380864 0.194032 +v -1.121771 0.737931 -0.347452 +v -1.731041 0.839499 0.295610 +v -3.084652 0.737931 -0.076644 +v -3.016635 1.347008 0.160239 +v -2.678280 0.805643 0.329469 +v -2.441374 1.380864 -0.076644 +v -1.121771 1.143938 -0.347452 +v -2.847554 0.771787 -0.245874 +v -1.121771 1.076359 0.261751 +v -2.881370 1.042569 0.295610 +v -3.016635 0.839499 0.295610 +v -3.084652 1.347008 -0.110503 +f 99 107 108 +f 86 88 89 +f 84 83 91 +f 89 88 92 +f 91 83 92 +f 83 85 95 +f 86 89 95 +f 94 86 96 +f 90 94 96 +f 92 83 97 +f 89 92 97 +f 92 88 98 +f 85 91 99 +f 92 87 99 +f 91 92 99 +f 90 96 100 +f 87 92 101 +f 82 93 101 +f 93 87 101 +f 92 98 101 +f 95 85 102 +f 86 95 102 +f 85 96 102 +f 96 86 102 +f 83 95 103 +f 95 89 103 +f 97 83 103 +f 89 97 103 +f 83 84 104 +f 85 83 104 +f 84 91 104 +f 91 85 104 +f 88 86 105 +f 94 82 105 +f 86 94 105 +f 98 88 105 +f 82 101 105 +f 101 98 105 +f 93 82 106 +f 90 93 106 +f 82 94 106 +f 94 90 106 +f 93 90 107 +f 87 93 107 +f 99 87 107 +f 90 100 107 +f 107 100 108 +f 96 85 108 +f 85 99 108 +f 100 96 108 +o convex_4 +v 0.875192 -2.646942 1.040094 +v -1.019904 -3.086722 -1.092066 +v -1.019904 -4.000586 -1.058041 +v 1.111997 -3.865016 -1.092066 +v 1.111997 -1.902335 -1.024231 +v -1.087688 -1.902129 0.938450 +v -1.121361 -3.898909 1.006069 +v 1.010540 -3.932801 1.107929 +v -0.986012 -1.902129 -1.092066 +v 0.976867 -1.902335 0.972475 +v -1.121361 -2.376007 0.972260 +v 1.044432 -3.932801 0.803212 +v 0.435255 -3.932596 1.107929 +v -1.053796 -4.000586 -0.787133 +v 1.111997 -3.898703 -0.821158 +v 0.841519 -1.902335 -1.058041 +v -1.087688 -1.902129 0.329231 +v -0.715316 -4.000586 -1.058041 +v -0.884556 -2.071386 0.972260 +v 1.111997 -1.902335 -0.854753 +v -0.986012 -3.831329 1.040094 +v 0.705952 -3.594287 1.107929 +v -0.376835 -1.902129 -1.092066 +v 1.010540 -3.221881 1.073904 +v -1.019904 -2.680834 -1.058041 +v 1.111997 -3.797231 -0.651679 +v 1.010540 -3.898703 -1.092066 +v -0.004682 -1.902129 0.972475 +v -1.053796 -4.000586 -0.719514 +v -1.019904 -1.902129 -0.787133 +v 1.044432 -3.932801 0.566329 +v 1.111997 -2.240848 -1.058041 +v 1.010540 -3.560395 1.107929 +f 120 132 141 +f 112 110 117 +f 110 111 122 +f 115 119 122 +f 112 113 123 +f 114 117 125 +f 119 114 125 +f 122 119 125 +f 120 116 126 +f 122 111 126 +f 114 119 127 +f 123 113 128 +f 119 115 129 +f 115 121 129 +f 127 119 129 +f 127 129 130 +f 121 116 130 +f 129 121 130 +f 112 117 131 +f 117 114 131 +f 113 124 131 +f 128 118 132 +f 120 128 132 +f 117 110 133 +f 110 122 133 +f 122 125 133 +f 120 123 134 +f 128 120 134 +f 123 128 134 +f 111 110 135 +f 110 112 135 +f 112 123 135 +f 126 111 135 +f 123 126 135 +f 109 118 136 +f 114 127 136 +f 128 113 136 +f 118 128 136 +f 127 130 136 +f 130 109 136 +f 131 114 136 +f 113 131 136 +f 121 115 137 +f 116 121 137 +f 115 122 137 +f 126 116 137 +f 122 126 137 +f 125 117 138 +f 117 133 138 +f 133 125 138 +f 123 120 139 +f 120 126 139 +f 126 123 139 +f 113 112 140 +f 124 113 140 +f 112 131 140 +f 131 124 140 +f 118 109 141 +f 116 120 141 +f 109 130 141 +f 130 116 141 +f 132 118 141 +o convex_5 +v 1.112262 1.380570 0.126168 +v -1.121560 -1.495817 -0.550449 +v -1.019883 -1.800352 -0.990412 +v -1.087667 2.159400 -0.990412 +v -0.952317 2.159400 0.972545 +v 0.976693 -1.902129 0.972545 +v 1.112262 -1.902129 -1.024364 +v -1.087667 -1.902129 0.938593 +v 0.943020 2.159400 -1.058114 +v 1.078370 2.159400 0.972343 +v -0.985991 -1.902129 -1.092066 +v -1.121560 1.414760 0.227620 +v 1.112262 -1.495817 0.600082 +v 1.112262 1.414760 -0.313391 +v 0.841343 -1.902129 -1.058114 +v -0.376807 -0.514228 -1.092066 +v -1.019883 0.534550 0.972545 +v -1.121560 -0.344865 0.600082 +v -0.038322 -1.902129 0.972545 +v -1.121560 1.685502 -0.279641 +v 1.078370 1.008448 0.972343 +v -1.087667 1.008448 -0.990412 +v -0.985991 -1.258868 -1.092066 +v -0.343133 -1.902129 -1.092066 +v -1.121560 -1.394438 0.566130 +v 1.078370 2.159400 0.633832 +v 1.112262 -1.665180 -1.024364 +v -1.087667 2.159400 -0.651901 +v -1.087667 -1.902129 0.329072 +v -1.019883 -0.107916 0.972545 +v -1.087667 -1.021919 0.938593 +v 1.112262 -0.344865 0.600082 +v 0.875235 2.159400 -1.058114 +v 1.112262 -1.902129 -0.855008 +v 1.112262 1.346776 0.261572 +v 0.943020 1.109827 -1.058114 +v -0.985991 2.023433 0.837141 +f 153 172 178 +f 148 147 149 +f 145 146 150 +f 146 147 151 +f 150 146 151 +f 148 149 152 +f 148 142 154 +f 142 148 155 +f 151 142 155 +f 148 152 156 +f 147 146 158 +f 153 143 159 +f 149 147 160 +f 147 158 160 +f 145 143 161 +f 143 153 161 +f 151 147 162 +f 147 154 162 +f 154 151 162 +f 144 143 163 +f 143 145 163 +f 152 144 163 +f 145 152 163 +f 152 145 164 +f 157 152 164 +f 145 157 164 +f 156 152 165 +f 152 157 165 +f 157 150 165 +f 143 149 166 +f 159 143 166 +f 149 159 166 +f 150 151 167 +f 155 150 167 +f 151 155 167 +f 148 150 168 +f 155 148 168 +f 150 155 168 +f 146 145 169 +f 145 161 169 +f 161 153 169 +f 143 144 170 +f 149 143 170 +f 144 152 170 +f 152 149 170 +f 158 149 171 +f 149 160 171 +f 160 158 171 +f 149 158 172 +f 153 159 172 +f 159 149 172 +f 154 142 173 +f 151 154 173 +f 145 150 174 +f 157 145 174 +f 150 157 174 +f 147 148 175 +f 154 147 175 +f 148 154 175 +f 142 151 176 +f 173 142 176 +f 151 173 176 +f 150 148 177 +f 148 156 177 +f 165 150 177 +f 156 165 177 +f 158 146 178 +f 146 169 178 +f 169 153 178 +f 172 158 178 +o convex_6 +v 0.909005 4.054595 0.870987 +v -1.020027 3.479119 -1.058220 +v -1.053739 2.735075 -1.024066 +v 0.942930 2.159400 -1.058220 +v -0.952178 2.159400 0.972439 +v -1.053739 4.190165 0.938487 +v 0.976854 4.054595 -1.058220 +v 1.078416 2.159400 0.972439 +v -1.087664 2.159400 -0.990316 +v -0.986102 4.122380 -1.058220 +v 1.010567 4.020802 1.006391 +v 0.367485 4.190165 0.126264 +v -1.020027 3.309955 0.972439 +v -1.020027 4.122380 -0.922614 +v 1.078416 2.227384 0.667678 +v -1.087664 2.159400 -0.685757 +v -1.087664 2.633298 -0.990316 +v -1.053739 4.190165 0.532274 +v 1.078416 2.633497 0.938689 +v -0.444582 4.156173 0.972439 +v 0.875293 4.088587 -0.888864 +v 0.976854 3.614490 1.006391 +v 0.367485 4.190165 0.261668 +v -1.053739 3.885431 0.938487 +v -0.207535 4.190165 0.126264 +v -1.020027 3.682474 0.972439 +v 0.976854 3.851439 -1.058220 +v 0.435122 4.088587 -1.058220 +v 0.976854 4.054595 0.092312 +v 0.875293 4.020802 1.006391 +v 0.976854 2.159400 -0.652007 +v -1.053739 4.156173 0.329168 +f 195 196 210 +f 181 180 182 +f 182 180 185 +f 183 182 186 +f 180 181 187 +f 181 182 187 +f 182 183 187 +f 185 180 188 +f 187 183 194 +f 183 191 194 +f 180 187 195 +f 188 180 195 +f 192 188 195 +f 187 194 195 +f 194 184 195 +f 184 190 196 +f 188 192 196 +f 195 184 196 +f 185 189 197 +f 189 186 197 +f 193 185 197 +f 186 193 197 +f 189 179 198 +f 183 186 200 +f 186 189 200 +f 190 184 201 +f 198 179 201 +f 184 198 201 +f 199 190 201 +f 191 184 202 +f 184 194 202 +f 194 191 202 +f 190 188 203 +f 196 190 203 +f 188 196 203 +f 184 191 204 +f 198 184 204 +f 182 185 205 +f 185 193 205 +f 185 188 206 +f 188 190 206 +f 199 185 206 +f 190 199 206 +f 179 189 207 +f 189 185 207 +f 185 199 207 +f 201 179 207 +f 199 201 207 +f 191 183 208 +f 189 198 208 +f 183 200 208 +f 200 189 208 +f 204 191 208 +f 198 204 208 +f 186 182 209 +f 193 186 209 +f 182 205 209 +f 205 193 209 +f 192 195 210 +f 196 192 210 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/726/726.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/726/726.urdf new file mode 100644 index 000000000..761e2565b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/726/726.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/727/727.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/727/727.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/727/727.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/727/727.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/727/727.obj new file mode 100644 index 000000000..cad04386d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/727/727.obj @@ -0,0 +1,459 @@ +o convex_0 +v -0.250384 -2.769783 -1.399980 +v 0.936491 -0.001136 0.793912 +v -0.969606 -0.001136 0.793912 +v -1.077543 -3.956959 0.685893 +v -1.077543 -0.001136 -1.255883 +v 1.080336 -3.993302 -1.399980 +v 1.080336 -0.001136 -1.327824 +v 0.972399 -3.849105 0.721756 +v -0.969606 -3.993302 -1.399980 +v 0.972399 -0.109381 -1.363902 +v 0.972399 -0.181284 0.793912 +v 1.008308 -3.885057 0.362264 +v -0.466045 -1.008556 0.793912 +v -1.077543 -3.956959 0.110361 +v -1.077543 -2.985882 0.685893 +v 1.080336 -0.001136 -1.076136 +v -0.070420 -3.993302 -0.249132 +v -1.041423 -1.691632 -1.327824 +v 1.080336 -2.230512 -1.399980 +v 0.684499 -3.885057 0.721756 +v -1.005515 -3.993302 -1.112214 +v -1.077543 -0.001136 -1.076136 +v 0.360902 -2.697880 0.757834 +v -0.969606 -3.525543 -1.399980 +v 1.044216 -3.993302 -1.076136 +v -1.005515 -0.792457 0.757834 +v -0.969606 -0.648652 0.793912 +v -0.645798 -3.956959 0.685893 +v -1.077543 -0.325089 -1.255883 +v -0.537862 -0.073430 -1.291961 +v 0.900372 -2.446220 0.757834 +v 1.080336 -3.813154 -1.327824 +v 0.360902 -3.849105 0.721756 +v 0.972399 -0.001136 0.757834 +f 11 16 34 +f 3 2 5 +f 5 2 7 +f 1 6 9 +f 5 7 10 +f 2 3 11 +f 11 8 12 +f 11 3 13 +f 4 5 14 +f 4 3 15 +f 5 4 15 +f 7 2 16 +f 6 7 16 +f 11 12 16 +f 9 6 17 +f 6 1 19 +f 7 6 19 +f 1 10 19 +f 10 7 19 +f 12 8 20 +f 4 14 21 +f 17 4 21 +f 9 17 21 +f 18 9 21 +f 3 5 22 +f 5 15 22 +f 20 8 23 +f 1 9 24 +f 10 1 24 +f 9 18 24 +f 6 12 25 +f 17 6 25 +f 12 20 25 +f 20 17 25 +f 15 3 26 +f 3 22 26 +f 22 15 26 +f 3 4 27 +f 13 3 27 +f 4 13 27 +f 4 17 28 +f 20 4 28 +f 17 20 28 +f 14 5 29 +f 5 18 29 +f 21 14 29 +f 18 21 29 +f 5 10 30 +f 18 5 30 +f 10 24 30 +f 24 18 30 +f 8 11 31 +f 11 13 31 +f 23 8 31 +f 13 23 31 +f 12 6 32 +f 6 16 32 +f 16 12 32 +f 13 4 33 +f 4 20 33 +f 23 13 33 +f 20 23 33 +f 2 11 34 +f 16 2 34 +o convex_1 +v 1.080248 2.192757 -2.191051 +v 0.684466 -0.001136 -1.687563 +v 0.756622 -0.001136 -1.687563 +v -1.041468 2.048659 0.829878 +v -1.077546 2.192757 -3.306037 +v -0.933664 0.034942 -3.269895 +v 0.972229 -0.001136 0.829878 +v -0.969527 -0.001136 0.793736 +v 1.044170 0.286630 -3.414046 +v 1.008307 2.012796 0.829878 +v 1.044170 2.192757 -3.305621 +v -1.077546 -0.001136 -1.256358 +v 1.080248 -0.001136 -1.076481 +v 0.828562 0.071020 -3.414046 +v 1.116326 2.156679 -1.112623 +v 0.145232 2.192757 -2.154910 +v 1.116326 2.012796 -1.867024 +v -1.005605 0.682415 0.829878 +v -1.077546 1.796971 -3.306037 +v 1.044170 0.071020 -3.234169 +v -1.077546 0.574610 -0.716728 +v -0.250334 0.034942 -3.341763 +v -0.969527 0.142747 -3.269895 +v 1.008307 1.437264 0.829878 +v 1.116326 1.257732 -1.327810 +v 1.080248 2.192757 -3.054293 +v -1.077546 2.192757 -3.054293 +v 0.972229 0.466806 -3.414046 +v -0.969527 0.071020 0.829878 +v 1.080248 0.034942 -1.867440 +v 1.044170 1.761108 -3.341347 +v -1.041468 1.509205 0.829878 +v -1.077546 -0.001136 -1.040755 +v -0.753705 0.034942 -3.305621 +v -0.753705 2.048659 0.829878 +v 1.080248 2.156679 -1.076897 +v 0.756622 0.071020 -3.414046 +f 62 48 71 +f 36 37 41 +f 36 41 42 +f 38 41 44 +f 39 35 45 +f 40 36 46 +f 36 42 46 +f 41 37 47 +f 35 39 50 +f 41 38 52 +f 46 39 53 +f 47 37 54 +f 37 48 54 +f 48 43 54 +f 39 46 55 +f 37 36 56 +f 48 37 56 +f 40 46 57 +f 46 53 57 +f 44 41 58 +f 41 47 58 +f 49 44 58 +f 49 58 59 +f 51 49 59 +f 58 47 59 +f 45 35 60 +f 35 49 60 +f 51 43 60 +f 49 51 60 +f 50 39 61 +f 38 50 61 +f 55 38 61 +f 39 55 61 +f 43 48 62 +f 42 41 63 +f 41 52 63 +f 52 42 63 +f 43 51 64 +f 47 54 64 +f 54 43 64 +f 51 59 64 +f 59 47 64 +f 39 45 65 +f 45 60 65 +f 60 43 65 +f 62 39 65 +f 43 62 65 +f 52 38 66 +f 38 55 66 +f 66 55 67 +f 46 42 67 +f 42 52 67 +f 55 46 67 +f 52 66 67 +f 36 40 68 +f 56 36 68 +f 53 56 68 +f 57 53 68 +f 40 57 68 +f 38 44 69 +f 49 35 70 +f 44 49 70 +f 35 50 70 +f 50 38 70 +f 38 69 70 +f 69 44 70 +f 53 39 71 +f 48 56 71 +f 56 53 71 +f 39 62 71 +o convex_2 +v 2.554726 1.653190 2.268334 +v 1.116516 0.538346 1.117718 +v 1.116516 0.538346 1.405459 +v 3.058460 0.574396 1.189740 +v 1.116516 1.545153 1.225635 +v 1.116516 0.610333 2.160417 +v 3.058460 1.509329 1.189740 +v 3.058460 0.610333 2.160417 +v 1.116516 1.581316 2.304345 +v 3.022153 1.689240 2.232323 +v 3.058460 0.646270 2.196428 +v 1.116516 1.581316 1.297541 +v 2.338975 0.538346 1.153729 +v 1.296339 1.617253 2.304345 +v 3.058460 1.617253 1.728863 +v 2.734550 0.574396 1.908687 +v 1.296339 0.718257 1.117718 +v 1.152632 1.473391 2.304345 +v 2.806403 1.689240 2.124522 +v 2.662506 0.646270 1.153729 +v 2.626579 1.545153 1.225635 +v 1.116516 0.754195 2.196428 +v 1.224486 1.365467 1.189740 +v 1.116516 0.574396 1.908687 +v 3.058460 0.574396 1.800769 +f 87 84 96 +f 73 74 76 +f 76 74 77 +f 75 78 79 +f 76 77 80 +f 77 79 82 +f 79 78 82 +f 81 72 82 +f 76 80 83 +f 74 73 84 +f 72 81 85 +f 83 80 85 +f 82 78 86 +f 81 82 86 +f 79 77 87 +f 74 84 87 +f 82 72 89 +f 72 85 89 +f 85 80 89 +f 85 81 90 +f 83 85 90 +f 81 86 90 +f 78 75 91 +f 84 73 91 +f 75 84 91 +f 73 88 91 +f 88 78 91 +f 78 76 92 +f 76 83 92 +f 86 78 92 +f 83 90 92 +f 90 86 92 +f 80 77 93 +f 77 82 93 +f 89 80 93 +f 82 89 93 +f 73 76 94 +f 76 78 94 +f 88 73 94 +f 78 88 94 +f 77 74 95 +f 74 87 95 +f 87 77 95 +f 75 79 96 +f 84 75 96 +f 79 87 96 +o convex_3 +v -3.055361 0.538462 1.693190 +v -1.077567 1.689240 1.297503 +v -1.761210 1.617190 2.160462 +v -1.077764 0.502437 2.268496 +v -1.077764 0.538462 1.153676 +v -2.983409 1.545258 1.153676 +v -2.947531 1.653215 2.232376 +v -3.019483 0.466531 1.189687 +v -2.911457 0.646299 2.232376 +v -1.077567 1.545258 2.196474 +v -1.077567 1.689240 1.189687 +v -3.055361 1.113672 1.153676 +v -1.293620 0.502437 1.153676 +v -1.832965 0.538462 2.268496 +v -3.091435 0.466531 1.333514 +v -1.077764 0.826187 2.268496 +v -2.983409 1.293559 2.232376 +v -2.983409 1.617190 1.800787 +v -2.012944 1.617190 2.232376 +v -2.336038 1.581164 1.153676 +v -3.019483 0.610393 2.052538 +v -2.516016 0.466531 1.189687 +v -1.113839 1.581164 2.160462 +v -3.091435 0.574368 1.405427 +v -2.911457 1.653215 2.052538 +v -2.623846 1.653215 2.232376 +v -2.983409 1.617190 1.980625 +f 120 113 123 +f 100 101 106 +f 103 98 107 +f 98 106 107 +f 106 101 107 +f 102 101 108 +f 104 108 109 +f 101 100 109 +f 108 101 109 +f 108 104 111 +f 100 110 111 +f 110 97 111 +f 100 106 112 +f 110 100 112 +f 103 110 112 +f 110 103 113 +f 105 110 113 +f 102 108 114 +f 112 106 115 +f 101 102 116 +f 107 101 116 +f 102 107 116 +f 97 110 117 +f 110 105 117 +f 111 97 117 +f 105 113 117 +f 104 109 118 +f 109 100 118 +f 100 111 118 +f 111 104 118 +f 98 99 119 +f 106 98 119 +f 115 106 119 +f 108 111 120 +f 111 117 120 +f 117 113 120 +f 107 102 121 +f 103 107 121 +f 102 114 121 +f 114 103 121 +f 99 98 122 +f 98 103 122 +f 103 112 122 +f 112 115 122 +f 119 99 122 +f 115 119 122 +f 113 103 123 +f 103 114 123 +f 114 108 123 +f 108 120 123 +o convex_4 +v 0.324963 -0.001136 0.901918 +v 1.008296 2.084860 2.735896 +v 1.008296 2.084860 2.340131 +v -1.041489 2.012782 0.973962 +v -1.077567 0.143021 2.735706 +v 1.044159 0.035005 2.699969 +v 1.008296 2.012782 0.830064 +v -0.933470 2.012782 2.771822 +v -0.969548 0.070943 0.830255 +v 0.972433 -0.001136 0.830064 +v -1.005411 2.048719 0.830255 +v 1.116315 0.682285 1.117859 +v 1.116315 2.084656 2.735896 +v -1.077567 0.538536 1.153786 +v -1.077567 1.544984 2.196423 +v 0.972433 -0.001136 2.520145 +v 1.080237 1.006129 2.735896 +v 1.116315 1.545188 1.225639 +v -1.005411 0.070943 1.441580 +v 1.116315 0.610410 2.160306 +v -1.077567 1.868828 0.902108 +v -0.861529 0.106880 2.735706 +v 0.612727 2.084860 2.735896 +v 1.116315 0.538536 1.117859 +v -0.969548 1.976844 2.699779 +v 1.044374 2.048719 1.405463 +v -0.609842 0.035005 0.830255 +v -0.430097 0.106880 2.735706 +v -1.077567 0.106880 2.304204 +v -1.077567 0.502599 2.735706 +v 1.044374 1.832891 0.866181 +v -0.681784 1.940703 2.771822 +v -1.005411 2.048719 1.153786 +v -0.286215 2.048719 2.735706 +v 0.396904 0.035005 2.699969 +f 145 142 158 +f 130 133 134 +f 133 132 134 +f 126 125 136 +f 125 131 136 +f 137 128 138 +f 124 133 139 +f 133 129 139 +f 136 135 141 +f 135 136 143 +f 140 129 143 +f 136 140 143 +f 127 134 144 +f 134 132 144 +f 132 137 144 +f 137 138 144 +f 125 126 146 +f 131 125 146 +f 126 134 146 +f 129 133 147 +f 143 129 147 +f 135 143 147 +f 127 144 148 +f 144 138 148 +f 134 126 149 +f 130 134 149 +f 126 136 149 +f 136 141 149 +f 132 133 150 +f 133 124 150 +f 124 139 150 +f 142 132 150 +f 139 142 150 +f 129 140 151 +f 145 129 151 +f 128 137 152 +f 137 132 152 +f 132 142 152 +f 145 128 152 +f 142 145 152 +f 128 131 153 +f 138 128 153 +f 131 148 153 +f 148 138 153 +f 133 130 154 +f 141 135 154 +f 147 133 154 +f 135 147 154 +f 130 149 154 +f 149 141 154 +f 131 128 155 +f 136 131 155 +f 140 136 155 +f 128 145 155 +f 151 140 155 +f 145 151 155 +f 134 127 156 +f 146 134 156 +f 127 148 156 +f 148 131 156 +f 131 146 157 +f 156 131 157 +f 146 156 157 +f 139 129 158 +f 142 139 158 +f 129 145 158 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/727/727.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/727/727.urdf new file mode 100644 index 000000000..5f4d041a8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/727/727.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/728/728.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/728/728.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/728/728.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/728/728.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/728/728.obj new file mode 100644 index 000000000..b2d1f112e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/728/728.obj @@ -0,0 +1,1107 @@ +o convex_0 +v 0.844623 -3.236238 0.079446 +v -0.822324 -2.079502 -1.077500 +v -0.822324 -1.943561 -1.077500 +v -0.992636 -1.534854 0.964207 +v 1.253217 -1.534854 0.045449 +v -0.788467 -3.304386 0.113443 +v 0.844623 -3.066047 -0.838892 +v 0.776653 -2.896032 0.828009 +v 0.776653 -1.534854 -1.043293 +v -1.367115 -1.534854 -0.056332 +v 0.912850 -1.534854 0.997994 +v -0.822324 -3.031974 0.828009 +v -0.788467 -3.100121 -0.873099 +v -0.005907 -3.100121 0.930210 +v 0.062063 -3.338459 -0.770898 +v -0.992636 -1.534854 -0.941302 +v 0.062063 -3.066047 -1.009086 +v 0.062063 -3.304386 0.760015 +v -0.652269 -2.317664 1.032201 +v -0.958522 -3.134194 -0.056332 +v 1.048792 -1.637075 -0.771108 +v 0.708426 -1.568928 1.066408 +v 0.946964 -3.134194 0.045449 +v 1.048792 -1.637075 0.896003 +v 0.606341 -3.304386 0.521827 +v -0.550442 -3.338459 0.589821 +v 0.334202 -2.317664 -1.077500 +v -0.584299 -3.338459 -0.634700 +v 0.674568 -3.304386 -0.498712 +v -0.686383 -1.534854 1.066408 +v -1.367115 -1.568928 0.045449 +v -0.618412 -1.534854 -1.077500 +v 0.776653 -3.031974 0.794012 +v -0.822324 -2.963826 -0.907095 +v 0.674568 -2.283590 -1.043293 +v 0.878737 -3.066047 -0.771108 +v -0.890551 -2.045428 1.032201 +v -0.618412 -2.385811 -1.077500 +v 0.504514 -1.534854 -1.077500 +v 0.946964 -3.100121 -0.226526 +v 1.253217 -1.569104 0.113443 +v 1.014935 -1.534854 -0.839102 +v 0.844623 -3.066047 0.555824 +v -0.516328 -3.100121 -0.941302 +v -0.992636 -1.909487 -0.873099 +v -1.026749 -1.705046 0.862216 +v -0.754610 -3.338459 -0.124326 +v 0.776653 -3.304386 -0.158323 +v -0.822324 -3.100121 0.760015 +v 0.674568 -2.113575 0.998204 +v -0.243933 -3.338459 0.658024 +v 0.810766 -1.943561 -1.009086 +v -0.856438 -3.100121 -0.634700 +v -1.367115 -1.568928 -0.056332 +v 0.266232 -3.338459 -0.668907 +v -0.720497 -3.134194 0.794012 +v -0.380130 -2.317664 1.032201 +v 0.130034 -3.134194 -0.975089 +v 1.253217 -1.569104 0.045449 +v 1.048792 -1.534854 0.896003 +v 0.946964 -3.066047 0.147440 +v 0.674568 -3.270312 -0.634700 +v -0.958522 -2.249517 0.828009 +v 0.062063 -2.487502 -1.077500 +f 17 38 64 +f 4 5 9 +f 4 9 10 +f 5 4 11 +f 3 2 16 +f 10 9 16 +f 12 14 19 +f 11 8 24 +f 2 3 27 +f 15 26 28 +f 11 4 30 +f 22 11 30 +f 19 22 30 +f 4 10 31 +f 3 16 32 +f 16 9 32 +f 27 3 32 +f 8 14 33 +f 14 18 33 +f 24 8 33 +f 18 25 33 +f 7 17 35 +f 17 27 35 +f 7 21 36 +f 12 19 37 +f 30 4 37 +f 19 30 37 +f 2 27 38 +f 34 2 38 +f 32 9 39 +f 27 32 39 +f 9 35 39 +f 35 27 39 +f 9 5 42 +f 5 21 42 +f 21 7 42 +f 1 23 43 +f 25 1 43 +f 24 33 43 +f 33 25 43 +f 28 13 44 +f 15 28 44 +f 13 34 44 +f 38 17 44 +f 34 38 44 +f 16 2 45 +f 2 34 45 +f 4 31 46 +f 37 4 46 +f 6 20 47 +f 26 6 47 +f 13 28 47 +f 28 26 47 +f 23 1 48 +f 1 25 48 +f 29 36 48 +f 40 23 48 +f 36 40 48 +f 20 6 49 +f 6 26 49 +f 12 31 49 +f 31 20 49 +f 8 11 50 +f 14 8 50 +f 11 22 50 +f 22 14 50 +f 25 18 51 +f 26 15 51 +f 7 35 52 +f 35 9 52 +f 9 42 52 +f 42 7 52 +f 34 13 53 +f 47 20 53 +f 13 47 53 +f 10 16 54 +f 31 10 54 +f 20 31 54 +f 16 45 54 +f 45 34 54 +f 53 20 54 +f 34 53 54 +f 48 25 55 +f 29 48 55 +f 25 51 55 +f 51 15 55 +f 14 12 56 +f 18 14 56 +f 49 26 56 +f 12 49 56 +f 51 18 56 +f 26 51 56 +f 19 14 57 +f 14 22 57 +f 22 19 57 +f 7 15 58 +f 17 7 58 +f 15 44 58 +f 44 17 58 +f 21 5 59 +f 36 21 59 +f 23 40 59 +f 40 36 59 +f 41 23 59 +f 5 41 59 +f 5 11 60 +f 11 24 60 +f 24 41 60 +f 41 5 60 +f 23 41 61 +f 41 24 61 +f 43 23 61 +f 24 43 61 +f 15 7 62 +f 7 36 62 +f 36 29 62 +f 55 15 62 +f 29 55 62 +f 31 12 63 +f 12 37 63 +f 46 31 63 +f 37 46 63 +f 27 17 64 +f 38 27 64 +o convex_1 +v 0.334239 2.991174 0.555920 +v 0.027913 0.949357 -1.077500 +v -0.822458 0.949357 -1.043423 +v 0.844866 0.949357 1.032378 +v -1.094607 0.949357 0.930147 +v 0.810690 2.480520 -0.839168 +v -0.856381 2.412566 -0.839168 +v -0.856381 2.412566 0.896070 +v 1.253217 0.949357 -0.056432 +v 0.810690 2.480520 0.794046 +v -0.448284 2.991174 -0.396581 +v -1.333085 0.983533 0.011309 +v 0.912714 0.949357 -1.043423 +v -0.039934 2.480320 -0.975269 +v 0.470440 2.991174 -0.430865 +v 0.946891 2.548673 0.045386 +v -0.992582 2.480320 -0.022561 +v -0.006011 2.514697 0.964224 +v -0.448284 2.991174 0.453483 +v -0.924482 1.561942 1.032171 +v 1.048915 1.119641 0.896070 +v -1.128783 0.949357 -0.771014 +v 0.640565 1.664073 -1.077500 +v 0.606641 2.991174 0.147410 +v -0.652333 1.596318 -1.043423 +v -0.039934 2.991174 -0.566966 +v 0.844866 1.255749 1.032378 +v -0.924482 0.949357 1.032171 +v -0.890558 2.412566 0.861993 +v -0.039934 2.991174 0.623868 +v 0.980814 1.357880 -0.873245 +v -0.550309 2.991174 0.147410 +v 0.878790 1.323903 -1.077500 +v 0.946891 2.548673 -0.090508 +v 1.253217 0.983533 0.045386 +v -0.992582 2.446343 0.249641 +v -1.128783 1.051687 0.861993 +v 0.980814 1.732226 0.759969 +v -0.210059 1.732226 1.032378 +v 0.844866 1.562142 0.998301 +v 1.048915 0.949357 0.930147 +v -0.958659 1.017510 -0.975269 +v 0.708412 2.888843 -0.022561 +v 0.504364 2.991174 0.487766 +v -0.992582 2.446343 -0.158456 +v 0.980814 0.949357 -0.975269 +v -0.584485 2.956997 -0.022561 +v -1.333085 0.949357 0.045386 +v 0.470440 2.480320 -0.907322 +v -0.107782 2.514697 0.964224 +v 1.253217 0.983533 -0.056432 +v 0.062090 2.991174 -0.566966 +v -0.073858 1.902511 -1.043423 +v -1.333085 0.983533 0.045386 +v 0.946891 1.766203 -0.805091 +v -0.754357 1.732226 1.032171 +v -0.856381 1.323703 -1.009140 +v 0.062090 2.956997 0.657945 +v -1.094607 1.119641 -0.805091 +v 0.844866 0.949357 -1.077500 +v 0.844866 2.480520 -0.703067 +v 0.980814 1.085664 0.998301 +v -1.060683 1.527965 0.828123 +f 118 101 127 +f 67 66 68 +f 67 68 69 +f 68 66 73 +f 73 66 77 +f 75 65 79 +f 65 75 83 +f 67 69 86 +f 79 65 88 +f 74 80 88 +f 66 67 89 +f 71 78 89 +f 87 66 89 +f 71 75 90 +f 78 71 90 +f 75 79 90 +f 69 68 92 +f 84 69 92 +f 72 83 93 +f 84 72 93 +f 65 83 94 +f 83 72 94 +f 83 75 96 +f 93 83 96 +f 66 87 97 +f 87 70 97 +f 70 95 97 +f 98 80 99 +f 96 81 100 +f 93 96 100 +f 69 84 101 +f 84 93 101 +f 80 74 102 +f 74 85 102 +f 99 80 102 +f 85 99 102 +f 91 82 103 +f 68 91 103 +f 92 68 103 +f 84 92 103 +f 74 82 104 +f 82 91 104 +f 68 73 105 +f 73 99 105 +f 99 85 105 +f 67 86 106 +f 70 79 107 +f 79 88 107 +f 88 80 107 +f 80 98 107 +f 65 74 108 +f 88 65 108 +f 74 88 108 +f 71 76 109 +f 76 81 109 +f 73 77 110 +f 77 97 110 +f 97 95 110 +f 75 71 111 +f 96 75 111 +f 81 96 111 +f 71 109 111 +f 109 81 111 +f 86 69 112 +f 76 86 112 +f 69 101 112 +f 70 87 113 +f 87 78 113 +f 94 72 114 +f 103 82 114 +f 99 73 115 +f 98 99 115 +f 73 110 115 +f 110 95 115 +f 79 70 116 +f 78 90 116 +f 90 79 116 +f 70 113 116 +f 113 78 116 +f 78 87 117 +f 89 78 117 +f 87 89 117 +f 81 76 118 +f 100 81 118 +f 93 100 118 +f 76 112 118 +f 112 101 118 +f 95 70 119 +f 115 95 119 +f 72 84 120 +f 84 103 120 +f 114 72 120 +f 103 114 120 +f 89 67 121 +f 71 89 121 +f 67 106 121 +f 106 71 121 +f 74 65 122 +f 82 74 122 +f 65 94 122 +f 114 82 122 +f 94 114 122 +f 76 71 123 +f 86 76 123 +f 106 86 123 +f 71 106 123 +f 77 66 124 +f 66 97 124 +f 97 77 124 +f 70 107 125 +f 107 98 125 +f 98 115 125 +f 119 70 125 +f 115 119 125 +f 85 74 126 +f 91 68 126 +f 74 104 126 +f 104 91 126 +f 68 105 126 +f 105 85 126 +f 101 93 127 +f 93 118 127 +o convex_2 +v 0.572438 3.127421 -0.090522 +v -0.550388 2.991174 -0.022455 +v -0.550388 2.991174 0.113340 +v -0.005851 4.726718 -0.090522 +v 0.095967 2.991174 0.624014 +v -0.073918 2.991174 -0.533015 +v 0.061990 4.420246 0.419699 +v -0.005851 4.488369 -0.430858 +v 0.402326 4.420246 0.045499 +v -0.346187 4.522346 0.045499 +v 0.470393 2.991174 0.487767 +v -0.414254 3.161398 0.487767 +v 0.436303 2.991174 -0.430858 +v -0.380164 3.637756 -0.396881 +v 0.402326 3.807980 -0.396881 +v 0.436303 3.672072 0.419699 +v -0.346187 3.739856 0.453676 +v 0.028126 3.774173 -0.533015 +v 0.402326 4.420246 -0.124612 +v -0.414254 2.991174 -0.396881 +v 0.606641 3.059298 0.045499 +v 0.061990 3.739856 0.555834 +v -0.278120 4.284168 -0.328814 +v -0.482321 3.774173 0.045499 +v 0.538461 3.774173 -0.022455 +v -0.005851 4.488369 0.385609 +v -0.039828 2.991174 0.624014 +v 0.095967 4.454223 -0.430858 +v 0.061990 4.726718 0.011522 +v 0.266192 4.352122 0.317542 +v -0.346187 4.454223 -0.090522 +v -0.414254 2.991174 0.487767 +v -0.244029 4.318145 0.317542 +v 0.130057 2.991174 -0.533015 +v 0.095967 4.488369 0.385609 +v 0.334259 4.181897 -0.362791 +v 0.368236 3.739856 -0.430858 +v 0.606641 2.991174 0.011522 +v -0.005851 3.739856 0.555834 +v 0.061990 4.726718 -0.090522 +v -0.482321 3.739856 -0.022455 +v 0.470393 3.093444 0.487767 +f 143 149 169 +f 130 129 132 +f 132 129 133 +f 132 133 138 +f 138 133 140 +f 128 140 142 +f 133 141 145 +f 141 135 145 +f 133 129 147 +f 129 141 147 +f 141 133 147 +f 143 134 149 +f 135 141 150 +f 129 130 151 +f 130 139 151 +f 144 137 151 +f 139 144 151 +f 128 142 152 +f 136 143 152 +f 146 136 152 +f 142 146 152 +f 143 148 152 +f 130 132 154 +f 144 139 154 +f 132 149 154 +f 145 135 155 +f 131 137 156 +f 136 146 156 +f 137 153 156 +f 143 136 157 +f 131 135 158 +f 137 131 158 +f 135 150 158 +f 150 141 158 +f 151 137 158 +f 139 130 159 +f 130 154 159 +f 154 139 159 +f 137 144 160 +f 153 137 160 +f 144 153 160 +f 140 133 161 +f 133 145 161 +f 134 143 162 +f 153 134 162 +f 136 156 162 +f 156 153 162 +f 143 157 162 +f 157 136 162 +f 146 142 163 +f 155 146 163 +f 155 163 164 +f 142 140 164 +f 145 155 164 +f 140 161 164 +f 161 145 164 +f 163 142 164 +f 140 128 165 +f 138 140 165 +f 148 138 165 +f 128 152 165 +f 152 148 165 +f 149 134 166 +f 134 153 166 +f 153 144 166 +f 144 154 166 +f 154 149 166 +f 135 131 167 +f 155 135 167 +f 146 155 167 +f 131 156 167 +f 156 146 167 +f 141 129 168 +f 129 151 168 +f 158 141 168 +f 151 158 168 +f 132 138 169 +f 138 148 169 +f 148 143 169 +f 149 132 169 +o convex_3 +v -0.006017 0.166550 -2.472555 +v -0.141932 -0.990370 -1.213768 +v -0.039821 -0.854205 -2.030594 +v 0.572378 0.098536 -1.179591 +v -0.584296 0.166550 -1.179591 +v -0.448148 -0.343554 -2.744891 +v 0.402310 -0.343554 -2.778708 +v 0.470383 -0.752048 -1.179591 +v -0.516222 -0.854205 -1.179591 +v -0.039821 0.404872 -1.179591 +v -0.039821 -0.718041 -2.744891 +v -0.073858 0.098536 -2.778708 +v 0.368273 0.098536 -2.132406 +v -0.039821 -0.343554 -3.017226 +v -0.618216 -0.650027 -1.213768 +v 0.368273 -0.718041 -2.064411 +v -0.448148 -0.752048 -1.996418 +v -0.448148 0.098536 -2.064411 +v 0.402310 0.302715 -1.213768 +v -0.584296 -0.309684 -2.030594 +v 0.504420 -0.343554 -2.132406 +v 0.062057 -0.990370 -1.179591 +v 0.028020 0.098536 -2.778708 +v 0.402310 -0.275814 -2.778708 +v -0.346037 -0.003621 -2.608723 +v 0.504420 -0.650027 -1.418109 +v 0.300199 -0.616020 -2.574546 +v -0.346037 -0.616020 -2.574546 +v -0.073858 0.404872 -1.213768 +v -0.448148 -0.275814 -2.744891 +v -0.006017 -0.241807 -3.017226 +v 0.572378 -0.173656 -1.213768 +v 0.300199 -0.003621 -2.608723 +v 0.470383 -0.752048 -1.451926 +v 0.028020 -0.718041 -2.710714 +v -0.414111 -0.922219 -1.213768 +v -0.618216 -0.309684 -1.179591 +v 0.402310 -0.684034 -2.098408 +v 0.028020 -0.684034 -2.778708 +v 0.028020 -0.343554 -3.017226 +f 176 208 209 +f 173 174 177 +f 177 174 178 +f 174 173 179 +f 172 171 180 +f 180 175 183 +f 184 175 186 +f 178 184 186 +f 170 179 188 +f 179 173 188 +f 173 182 188 +f 175 184 189 +f 171 172 191 +f 178 171 191 +f 177 178 191 +f 181 170 192 +f 170 188 192 +f 188 182 192 +f 182 173 193 +f 173 190 193 +f 190 176 193 +f 187 181 194 +f 175 180 197 +f 180 186 197 +f 186 175 197 +f 179 170 198 +f 174 179 198 +f 170 181 198 +f 187 174 198 +f 181 187 198 +f 183 175 199 +f 174 187 199 +f 189 174 199 +f 175 189 199 +f 194 181 199 +f 187 194 199 +f 181 192 200 +f 192 193 200 +f 183 199 200 +f 199 181 200 +f 173 177 201 +f 190 173 201 +f 177 195 201 +f 195 190 201 +f 192 182 202 +f 182 193 202 +f 193 192 202 +f 177 191 203 +f 191 185 203 +f 195 177 203 +f 190 195 203 +f 172 180 204 +f 191 172 204 +f 185 191 204 +f 196 185 204 +f 171 178 205 +f 180 171 205 +f 178 186 205 +f 186 180 205 +f 178 174 206 +f 184 178 206 +f 174 189 206 +f 189 184 206 +f 176 190 207 +f 196 176 207 +f 185 196 207 +f 203 185 207 +f 190 203 207 +f 180 183 208 +f 176 196 208 +f 204 180 208 +f 196 204 208 +f 193 176 209 +f 183 200 209 +f 200 193 209 +f 208 183 209 +o convex_4 +v -0.005774 0.234694 2.019456 +v -0.107825 -0.956339 1.168499 +v 0.130170 -0.956339 1.168499 +v -0.005774 -0.718081 2.767839 +v 0.640671 -0.207786 1.168499 +v -0.516152 0.166620 1.168499 +v -0.414101 -0.343544 2.699692 +v 0.402429 -0.343544 2.699692 +v -0.550169 -0.786025 1.202572 +v 0.504480 -0.888265 1.202572 +v 0.470463 0.200657 1.168499 +v -0.005774 0.098546 2.733765 +v -0.039791 0.370842 1.168499 +v -0.039791 -0.241823 2.972104 +v 0.402429 0.098546 2.019456 +v -0.380084 0.098546 2.121147 +v -0.618449 -0.547766 1.168499 +v -0.277910 -0.650007 2.597471 +v -0.516152 -0.241823 2.087073 +v 0.300255 -0.615840 2.529677 +v 0.640671 -0.445785 1.202572 +v -0.414101 -0.888265 1.202572 +v 0.368412 -0.275990 2.767839 +v 0.062137 0.370842 1.202572 +v 0.300255 -0.003565 2.563397 +v -0.209876 0.030472 2.631545 +v -0.039791 -0.377711 2.972104 +v 0.470463 -0.275990 2.325235 +v -0.380084 -0.309507 2.767839 +v -0.073808 -0.752118 2.563397 +v 0.028120 0.098546 2.733765 +v -0.414101 -0.684044 2.087073 +v -0.618449 -0.615840 1.202572 +v 0.470463 0.166620 1.474984 +v -0.380084 0.132583 1.985382 +v 0.334395 -0.343544 2.801736 +v 0.504480 -0.888265 1.168499 +v -0.482135 0.200657 1.202572 +v 0.232221 -0.650007 2.597471 +f 217 245 248 +f 212 211 214 +f 214 211 215 +f 213 212 219 +f 214 215 220 +f 220 215 222 +f 215 211 226 +f 211 218 226 +f 225 215 228 +f 216 225 228 +f 215 226 228 +f 219 217 229 +f 217 219 230 +f 218 211 231 +f 222 210 233 +f 220 222 233 +f 232 224 234 +f 221 225 235 +f 214 224 237 +f 230 214 237 +f 217 230 237 +f 232 217 237 +f 224 232 237 +f 223 221 238 +f 225 216 238 +f 227 213 238 +f 216 227 238 +f 221 235 238 +f 235 225 238 +f 213 236 238 +f 236 223 238 +f 211 212 239 +f 212 213 239 +f 213 227 239 +f 231 211 239 +f 227 231 239 +f 210 221 240 +f 221 223 240 +f 223 232 240 +f 233 210 240 +f 224 233 240 +f 234 224 240 +f 232 234 240 +f 227 216 241 +f 218 231 241 +f 231 227 241 +f 226 218 242 +f 216 228 242 +f 228 226 242 +f 241 216 242 +f 218 241 242 +f 214 220 243 +f 224 214 243 +f 220 233 243 +f 233 224 243 +f 221 210 244 +f 210 222 244 +f 215 225 244 +f 225 221 244 +f 217 232 245 +f 232 223 245 +f 236 213 245 +f 223 236 245 +f 212 214 246 +f 219 212 246 +f 214 230 246 +f 230 219 246 +f 222 215 247 +f 244 222 247 +f 215 244 247 +f 213 219 248 +f 229 217 248 +f 219 229 248 +f 245 213 248 +o convex_5 +v -2.626093 -0.785895 -0.634860 +v 1.184703 0.949357 0.351632 +v 1.184703 0.949357 -0.260673 +v 1.184703 -1.534854 -0.192410 +v -0.686825 -1.534854 1.066218 +v -2.557940 0.302528 0.589751 +v -0.822718 0.949357 -1.043293 +v 0.708457 -1.500811 -1.077080 +v 0.844763 0.949357 1.032201 +v 1.184703 -1.296549 0.930150 +v -0.924742 0.949357 1.032201 +v -0.822718 -1.534854 -1.043293 +v -2.761986 -1.092287 0.011233 +v 1.184703 0.506790 -0.975259 +v -2.796270 0.472746 -0.090359 +v -2.796270 -0.343571 0.759836 +v -2.796270 -0.275970 -0.805175 +v -0.584802 0.234684 -1.179591 +v -0.618672 -0.683764 1.168499 +v 0.844763 0.949357 -1.077310 +v 0.742327 -1.534854 1.066218 +v 1.184703 -0.071709 1.066218 +v -1.469141 -1.534854 0.045250 +v -2.115564 -0.343571 0.997954 +v -3.034186 -0.377615 -0.056342 +v -1.434858 0.949357 0.011462 +v 0.504410 0.234684 1.168499 +v 0.538280 -0.888026 -1.179591 +v 1.184703 -1.228219 -0.804945 +v -2.081694 -0.343571 -1.009046 +v -2.149847 -1.058244 0.725819 +v -0.448495 -0.955870 -1.179591 +v -2.422047 0.370615 -0.668877 +v 0.572563 -1.058244 1.168499 +v -0.584802 0.132553 1.168499 +v -0.992482 -1.534854 0.964167 +v 1.184703 -0.411415 -1.009276 +v 0.606433 0.098510 -1.179591 +v -2.796270 0.472746 0.045250 +v 1.184703 0.642964 0.964167 +v -1.128788 0.949357 -0.805175 +v -1.128788 0.949357 0.895903 +v -1.026765 -1.534854 -0.906996 +v 1.048810 -1.534854 -0.804945 +v 1.082680 -1.534854 0.827869 +v -2.761986 -1.092287 -0.056342 +v -0.039989 0.404659 1.168499 +v -2.591810 -0.922069 0.521717 +v -2.013541 -1.092287 -0.770928 +v -0.788848 0.881269 -1.077080 +v -2.728117 -0.275970 0.794082 +v 0.062034 0.404659 -1.179591 +v -3.000316 -0.105752 -0.022325 +v 1.184703 -0.547590 1.066218 +v 1.014940 0.949357 -0.907225 +v -0.856588 -1.534854 1.032201 +v -2.081694 -0.241927 -1.009046 +v 1.048810 0.949357 0.930150 +v -2.796270 -0.309527 -0.805175 +v -2.557940 0.574877 -0.022325 +v -2.013541 0.472746 0.794082 +v -0.584802 -1.534854 -1.077080 +v -0.618672 -0.717808 -1.179591 +v -2.626093 0.234441 -0.634860 +f 281 265 312 +f 251 250 252 +f 250 251 255 +f 250 255 257 +f 252 250 258 +f 257 255 259 +f 252 253 260 +f 251 252 262 +f 255 251 268 +f 253 252 269 +f 258 250 270 +f 260 253 271 +f 253 267 272 +f 261 264 273 +f 259 255 274 +f 270 257 275 +f 262 252 277 +f 276 256 280 +f 266 276 280 +f 260 278 280 +f 255 265 281 +f 267 253 282 +f 253 269 282 +f 275 267 282 +f 270 275 282 +f 259 272 283 +f 272 267 283 +f 267 275 283 +f 271 253 284 +f 261 271 284 +f 279 261 284 +f 268 262 285 +f 256 276 285 +f 277 256 285 +f 262 277 285 +f 276 266 286 +f 268 285 286 +f 285 276 286 +f 264 254 287 +f 270 250 288 +f 257 270 288 +f 274 255 289 +f 255 281 289 +f 281 263 289 +f 259 274 290 +f 287 254 290 +f 260 271 291 +f 252 260 292 +f 277 252 292 +f 256 277 292 +f 252 258 293 +f 269 252 293 +f 258 269 293 +f 271 261 294 +f 261 273 294 +f 291 271 294 +f 257 259 295 +f 275 257 295 +f 259 283 295 +f 283 275 295 +f 264 261 296 +f 261 279 296 +f 279 264 296 +f 260 291 297 +f 294 249 297 +f 291 294 297 +f 265 255 298 +f 255 268 298 +f 254 264 299 +f 264 272 299 +f 272 259 299 +f 286 266 300 +f 268 286 300 +f 298 268 300 +f 266 298 300 +f 263 265 301 +f 273 264 301 +f 265 273 301 +f 264 287 301 +f 287 263 301 +f 269 258 302 +f 258 270 302 +f 282 269 302 +f 270 282 302 +f 251 262 303 +f 268 251 303 +f 262 268 303 +f 253 272 304 +f 272 264 304 +f 264 279 304 +f 284 253 304 +f 279 284 304 +f 278 265 305 +f 265 298 305 +f 298 266 305 +f 250 257 306 +f 288 250 306 +f 257 288 306 +f 273 265 307 +f 278 260 307 +f 265 278 307 +f 249 294 307 +f 294 273 307 +f 297 249 307 +f 260 297 307 +f 263 287 308 +f 274 289 308 +f 289 263 308 +f 290 274 308 +f 287 290 308 +f 290 254 309 +f 259 290 309 +f 254 299 309 +f 299 259 309 +f 280 256 310 +f 260 280 310 +f 292 260 310 +f 256 292 310 +f 266 280 311 +f 280 278 311 +f 278 305 311 +f 305 266 311 +f 265 263 312 +f 263 281 312 +o convex_6 +v 1.661683 -0.683764 -0.941369 +v 1.253310 -0.071709 1.066408 +v 1.185156 -0.071709 1.066408 +v 1.185156 0.949357 -0.158659 +v 3.056822 -0.241927 0.011619 +v 1.185156 -1.534854 0.249358 +v 2.750496 -0.207883 0.794126 +v 1.185156 0.574877 -0.941369 +v 2.784573 -1.058244 -0.022518 +v 2.784573 -0.207883 -0.771091 +v 2.784573 0.540833 0.011619 +v 1.219233 0.677008 0.930064 +v 1.219233 -1.296549 0.930064 +v 1.185156 -1.228219 -0.771091 +v 2.002086 -1.058244 -0.737157 +v 2.070057 -1.058244 0.827856 +v 2.035980 -0.309527 1.066408 +v 2.104134 0.472746 -0.771091 +v 2.070057 -0.275970 -1.009439 +v 2.002086 0.506790 0.793922 +v 1.287387 -1.534854 -0.022518 +v 1.185156 -0.411415 -1.009439 +v 1.219233 0.949357 0.215424 +v 2.614188 -0.888026 0.555574 +v 2.784573 -0.343571 -0.771091 +v 2.580294 0.336572 0.589711 +v 2.614188 0.336572 -0.566879 +v 2.784573 -1.058244 0.079486 +v 2.546217 -0.888026 -0.566879 +v 1.185156 -0.547590 1.066408 +v 2.784573 -0.309527 0.759989 +v 2.784573 0.540833 -0.056451 +v 1.185156 0.608920 0.963997 +v 1.355357 -1.534854 0.113217 +v 1.968009 0.506790 -0.805228 +v 1.219233 0.472746 -0.975302 +v 1.968009 -0.207883 1.066408 +v 1.219233 -1.126331 -0.839161 +v 1.321464 0.949357 -0.056451 +v 2.818466 -0.207883 0.691918 +v 1.185156 -1.194418 0.963997 +v 3.022745 -0.309527 -0.124522 +v 2.002086 -1.126331 0.725852 +v 2.818466 0.506790 -0.056451 +v 1.423511 0.574877 -0.907232 +v 2.035980 -0.343571 -1.009439 +v 2.818466 0.506790 0.011619 +v 2.750496 -0.309527 0.794126 +v 1.695760 0.030422 -1.009439 +v 1.968009 0.438702 -0.839161 +v 3.022745 -0.309527 0.113420 +v 1.219233 0.949357 -0.158659 +v 2.716419 -1.092044 0.079283 +v 2.002086 -0.819938 0.930064 +v 1.389434 0.404659 0.998134 +v 3.022745 -0.139796 -0.056451 +v 1.185156 -1.534854 -0.056451 +v 2.512141 -0.888026 0.657781 +v 2.002086 -1.126331 -0.566879 +v 2.546217 0.336572 -0.634950 +v 2.818466 -0.241927 -0.736954 +v 1.185156 0.030422 -1.009439 +v 1.389434 -1.194418 -0.771091 +v 1.968009 -0.377615 1.066408 +f 366 329 376 +f 315 316 318 +f 318 316 320 +f 318 320 326 +f 314 315 329 +f 326 320 334 +f 332 323 335 +f 324 332 335 +f 331 322 337 +f 332 319 338 +f 323 332 338 +f 321 317 340 +f 336 328 340 +f 321 327 341 +f 337 321 341 +f 327 337 341 +f 315 318 342 +f 329 315 342 +f 336 340 343 +f 316 315 345 +f 335 316 345 +f 324 335 345 +f 325 318 346 +f 318 333 346 +f 333 321 346 +f 344 330 347 +f 314 329 349 +f 329 319 349 +f 319 332 349 +f 313 327 350 +f 334 313 350 +f 326 334 350 +f 316 335 351 +f 335 323 351 +f 323 344 351 +f 338 319 352 +f 319 343 352 +f 318 325 353 +f 342 318 353 +f 317 321 354 +f 321 337 354 +f 328 325 355 +f 325 346 355 +f 322 339 356 +f 344 323 356 +f 339 344 356 +f 348 320 357 +f 327 313 358 +f 313 334 358 +f 334 331 358 +f 337 327 358 +f 331 337 358 +f 323 338 359 +f 352 317 359 +f 338 352 359 +f 317 356 359 +f 356 323 359 +f 319 329 360 +f 343 319 360 +f 336 343 360 +f 331 334 361 +f 348 357 361 +f 361 357 362 +f 330 322 362 +f 322 331 362 +f 347 330 362 +f 357 347 362 +f 331 361 362 +f 340 317 363 +f 343 340 363 +f 317 352 363 +f 352 343 363 +f 320 316 364 +f 344 347 364 +f 316 351 364 +f 351 344 364 +f 357 320 364 +f 347 357 364 +f 321 340 365 +f 340 328 365 +f 346 321 365 +f 328 355 365 +f 355 346 365 +f 325 328 366 +f 328 360 366 +f 360 329 366 +f 315 314 367 +f 332 324 367 +f 345 315 367 +f 324 345 367 +f 314 349 367 +f 349 332 367 +f 317 354 368 +f 356 317 368 +f 318 326 369 +f 333 318 369 +f 326 333 369 +f 328 336 370 +f 360 328 370 +f 336 360 370 +f 327 321 371 +f 321 333 371 +f 333 327 371 +f 322 330 372 +f 339 322 372 +f 330 344 372 +f 344 339 372 +f 337 322 373 +f 354 337 373 +f 322 356 373 +f 368 354 373 +f 356 368 373 +f 334 320 374 +f 320 348 374 +f 361 334 374 +f 348 361 374 +f 333 326 375 +f 327 333 375 +f 350 327 375 +f 326 350 375 +f 329 342 376 +f 353 325 376 +f 342 353 376 +f 325 366 376 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/728/728.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/728/728.urdf new file mode 100644 index 000000000..9249a9f40 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/728/728.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/729/729.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/729/729.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/729/729.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/729/729.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/729/729.obj new file mode 100644 index 000000000..321dafca5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/729/729.obj @@ -0,0 +1,477 @@ +o convex_0 +v 3.891272 -1.117773 0.825596 +v 0.775588 1.087894 0.300256 +v 0.775588 1.087894 0.265344 +v 0.110257 -1.047605 -0.924773 +v 4.031136 0.912581 -0.994595 +v 0.110257 -0.942460 1.070811 +v 4.066297 0.982750 1.070811 +v 4.101459 -0.942460 -1.029715 +v 0.110257 0.982534 -1.064836 +v 0.110257 0.982534 0.930539 +v 4.066297 -1.117773 0.930539 +v 0.110257 -1.047605 -1.029715 +v 0.110257 1.087894 0.615293 +v 0.390376 -0.312454 1.070811 +v 3.820949 0.947557 -0.889443 +v 0.635724 -0.977652 1.070811 +v 4.066297 0.562602 1.070811 +v 4.101459 -0.312238 -1.029715 +v 0.145419 -0.312454 -1.064836 +v 1.301054 0.947557 -1.064836 +v 3.331035 0.982750 1.070811 +v 0.390376 0.982534 0.965450 +v 4.101459 -1.012628 -0.049275 +v 4.066297 0.947557 -0.539495 +v 3.611153 -1.047605 0.965659 +v 3.996365 -0.977436 -0.749380 +v 0.110257 -0.452359 1.070811 +v 0.110257 1.087894 0.230224 +v 1.860901 -1.082581 -0.084395 +v 0.250512 -1.047605 -1.029715 +v 3.996365 -1.117773 0.825596 +v 0.740426 -0.977652 1.070811 +v 4.066297 0.807436 -0.994595 +v 4.066297 -0.137357 -1.029715 +v 1.545621 1.052702 -0.049484 +v 4.066297 0.982750 0.965659 +v 3.961204 -1.117773 0.930539 +v 4.066297 -0.837315 0.965659 +v 2.665704 0.947557 -1.029715 +v 0.110257 0.842628 0.965450 +f 27 22 40 +f 3 2 7 +f 4 6 9 +f 9 6 10 +f 4 9 12 +f 2 3 13 +f 7 2 13 +f 9 10 13 +f 6 7 14 +f 6 4 16 +f 7 6 16 +f 7 16 17 +f 12 9 19 +f 18 8 20 +f 19 9 20 +f 8 19 20 +f 7 13 21 +f 14 7 21 +f 14 21 22 +f 13 10 22 +f 21 13 22 +f 11 8 23 +f 7 17 23 +f 18 7 23 +f 8 18 23 +f 5 15 24 +f 10 6 27 +f 6 14 27 +f 14 22 27 +f 3 9 28 +f 13 3 28 +f 9 13 28 +f 12 1 29 +f 4 12 29 +f 16 4 29 +f 1 12 30 +f 19 8 30 +f 12 19 30 +f 8 26 30 +f 30 26 31 +f 11 1 31 +f 8 11 31 +f 26 8 31 +f 1 30 31 +f 16 11 32 +f 17 16 32 +f 11 25 32 +f 5 24 33 +f 24 18 33 +f 18 20 34 +f 5 33 34 +f 33 18 34 +f 9 3 35 +f 15 9 35 +f 24 15 35 +f 24 35 36 +f 3 7 36 +f 7 18 36 +f 18 24 36 +f 35 3 36 +f 1 11 37 +f 11 16 37 +f 29 1 37 +f 16 29 37 +f 11 23 38 +f 23 17 38 +f 25 11 38 +f 17 32 38 +f 32 25 38 +f 15 5 39 +f 9 15 39 +f 20 9 39 +f 5 34 39 +f 34 20 39 +f 22 10 40 +f 10 27 40 +o convex_1 +v -2.095410 0.527725 0.580662 +v -3.950955 -0.242501 -0.539677 +v -3.985921 -0.487486 -0.504584 +v -2.095410 -0.417476 -0.469601 +v -3.880827 -0.557604 0.475494 +v -3.950955 0.457502 -0.434617 +v -2.095410 -0.557604 0.545570 +v -2.095410 0.492560 -0.504584 +v -3.985921 0.492560 0.440401 +v -4.091014 -0.557604 0.370434 +v -3.915598 0.422549 -0.539677 +v -2.620878 0.527725 0.160316 +v -2.165733 -0.557604 0.370434 +v -2.305597 0.317480 0.580662 +v -2.200504 -0.452534 -0.434617 +v -4.091014 -0.347465 0.440401 +v -2.935767 -0.452534 -0.504584 +v -3.215496 0.457502 -0.539677 +v -2.130767 0.527725 -0.084457 +v -3.110402 0.527725 0.510477 +v -3.950955 -0.417476 0.475494 +v -4.091014 -0.487486 0.265375 +v -3.985921 0.492560 0.265375 +v -2.095410 0.282527 -0.504584 +v -2.585716 0.492560 -0.504584 +v -2.270827 -0.557604 0.545570 +v -3.950955 0.352538 -0.539677 +v -2.305597 0.457502 0.580662 +v -4.020692 0.317480 0.370434 +f 49 63 69 +f 44 41 47 +f 41 44 48 +f 47 45 50 +f 44 47 53 +f 50 43 53 +f 47 50 53 +f 47 41 54 +f 53 43 55 +f 44 53 55 +f 50 45 56 +f 43 42 57 +f 55 43 57 +f 44 55 57 +f 42 51 58 +f 51 46 58 +f 41 48 59 +f 52 41 59 +f 41 52 60 +f 45 54 61 +f 49 56 61 +f 56 45 61 +f 43 50 62 +f 56 46 62 +f 50 56 62 +f 52 46 63 +f 49 60 63 +f 60 52 63 +f 48 44 64 +f 57 42 64 +f 44 57 64 +f 58 48 64 +f 42 58 64 +f 46 52 65 +f 58 46 65 +f 48 58 65 +f 59 48 65 +f 52 59 65 +f 45 47 66 +f 47 54 66 +f 54 45 66 +f 42 43 67 +f 51 42 67 +f 46 51 67 +f 43 62 67 +f 62 46 67 +f 54 41 68 +f 60 49 68 +f 41 60 68 +f 61 54 68 +f 49 61 68 +f 46 56 69 +f 56 49 69 +f 63 46 69 +o convex_2 +v -0.309891 0.982616 -1.099846 +v -2.095410 -0.557905 0.405335 +v -2.095410 -0.557905 0.545357 +v -0.029864 -3.078010 0.650533 +v -1.990265 -2.937776 -0.924553 +v 0.110257 0.982616 0.930576 +v 0.005112 -3.043055 -0.959400 +v -1.955289 1.087895 -1.099846 +v -1.885121 -3.043055 1.000481 +v -2.095410 1.087895 0.965423 +v 0.110257 1.087483 -1.064788 +v 0.110257 -0.942830 1.070811 +v -2.060218 -0.908285 -1.099846 +v -0.064840 -3.078010 1.000481 +v 0.110257 -1.047697 -1.029517 +v -1.535141 -3.113377 0.405335 +v -0.555157 1.087895 0.965635 +v -0.800207 -1.747224 1.070811 +v -2.095410 0.492413 -0.504488 +v -1.920313 -3.008099 1.000694 +v 0.075065 -0.452627 1.070811 +v -2.025242 0.107488 1.000694 +v -2.060218 -1.502533 -1.064575 +v 0.110257 -0.347759 -1.064788 +v 0.110257 1.087483 0.615474 +v -1.675047 -2.728041 1.035752 +v -1.990265 -2.972732 -0.539334 +v -0.519964 -3.113377 0.615474 +v -1.955289 -2.972732 -0.819378 +v -0.590133 -1.047286 -1.064575 +v -2.060218 -1.747635 -1.029517 +v -1.990265 0.947249 -1.099846 +v -0.660086 -0.908285 1.070811 +v -1.990265 -2.728041 -0.959400 +v -1.535141 -3.113377 0.685591 +v -0.029864 -1.572445 1.070811 +v -2.095410 -0.418082 -0.469429 +v -0.169985 -3.043055 -0.959400 +v 0.110257 0.842382 0.965635 +v -2.025242 -2.517895 -0.924553 +v -0.029864 1.087895 0.930576 +v -1.955289 -3.008099 0.300372 +v 0.005112 -2.342705 -0.994458 +v -2.060218 -0.487994 -1.099846 +v 0.005112 -3.043055 -0.749473 +v -2.095410 0.912293 0.965423 +v -0.029864 -2.902820 0.965635 +v -0.695062 -3.078010 -0.364254 +v -0.555157 -3.007688 -0.959400 +f 107 74 118 +f 71 72 79 +f 70 77 80 +f 80 75 81 +f 77 70 82 +f 80 81 84 +f 77 79 86 +f 71 79 88 +f 86 79 90 +f 87 81 90 +f 82 76 92 +f 70 80 93 +f 82 70 93 +f 80 84 93 +f 84 76 93 +f 75 80 94 +f 78 83 95 +f 89 78 95 +f 87 91 95 +f 91 89 95 +f 76 73 97 +f 73 83 97 +f 96 74 98 +f 82 93 99 +f 72 71 100 +f 79 77 101 +f 77 82 101 +f 88 79 101 +f 90 79 102 +f 87 90 102 +f 91 87 102 +f 79 91 102 +f 74 100 103 +f 100 92 103 +f 83 78 104 +f 78 85 104 +f 97 83 104 +f 85 97 104 +f 83 81 105 +f 81 87 105 +f 95 83 105 +f 87 95 105 +f 71 88 106 +f 88 82 106 +f 82 92 106 +f 100 71 106 +f 92 100 106 +f 92 76 107 +f 98 74 107 +f 81 75 108 +f 90 81 108 +f 86 90 108 +f 74 96 109 +f 96 72 109 +f 72 100 109 +f 100 74 109 +f 80 77 110 +f 77 86 110 +f 75 94 110 +f 94 80 110 +f 108 75 110 +f 86 108 110 +f 85 78 111 +f 89 72 111 +f 78 89 111 +f 72 96 111 +f 98 85 111 +f 96 98 111 +f 76 82 112 +f 93 76 112 +f 82 99 112 +f 99 93 112 +f 82 88 113 +f 101 82 113 +f 88 101 113 +f 73 76 114 +f 81 73 114 +f 76 84 114 +f 84 81 114 +f 79 72 115 +f 72 89 115 +f 91 79 115 +f 89 91 115 +f 73 81 116 +f 83 73 116 +f 81 83 116 +f 76 97 117 +f 97 85 117 +f 85 98 117 +f 107 76 117 +f 98 107 117 +f 74 103 118 +f 103 92 118 +f 92 107 118 +o convex_3 +v -1.009917 3.083327 0.335485 +v -1.990283 1.158258 -1.099846 +v -1.990283 1.263208 -1.099846 +v 0.110257 1.263208 -1.064726 +v -2.060400 1.088093 0.965560 +v -0.029977 1.087895 0.930648 +v 0.040140 3.083327 -0.924454 +v -2.060400 2.943196 -0.924454 +v 0.075199 2.978378 1.035800 +v -1.955224 2.873428 1.000680 +v 0.110257 1.087895 -1.064726 +v -1.430195 3.118310 -0.504474 +v -1.955224 1.088093 -1.099846 +v -1.815202 1.158258 1.000680 +v -1.920166 2.943196 0.930648 +v -2.060400 2.488017 -0.994695 +v 0.075199 2.628347 1.035800 +v -0.730086 2.978378 1.035800 +v -0.029977 2.838246 -0.959574 +v -2.060400 1.543272 0.965560 +v 0.040140 1.403340 0.650523 +v 0.075199 3.013361 0.860408 +v -0.099882 1.228026 0.965769 +v -2.060400 2.908213 -0.539385 +v -2.060400 2.908213 -0.959574 +v 0.075199 3.013361 0.160302 +v -0.905167 1.123076 -1.099637 +v -1.325020 3.083128 0.300365 +v -0.730086 2.243134 1.035800 +v -2.025129 1.753370 1.000680 +v -2.060400 1.088093 0.755674 +v 0.005081 1.087895 0.755465 +v -0.835050 3.083327 0.265454 +v 0.075199 1.403340 -1.064726 +v -1.430195 3.118310 -0.399323 +v 0.075199 2.348084 0.895528 +v -1.640122 1.263208 -1.099846 +v -0.450043 1.087895 0.965769 +v 0.075199 2.277919 -0.994695 +v 0.110257 1.087895 -0.994695 +v 0.040140 3.083327 -0.819720 +v -0.029977 2.488216 1.035800 +v -1.570217 3.083128 -0.609626 +v -0.379925 2.873230 -0.959574 +v -1.745085 2.943196 1.000680 +f 136 146 163 +f 120 121 131 +f 121 120 134 +f 123 126 134 +f 135 127 136 +f 126 123 138 +f 127 122 140 +f 119 136 140 +f 136 127 140 +f 124 135 141 +f 133 126 142 +f 128 133 142 +f 126 138 142 +f 138 128 142 +f 126 125 143 +f 121 134 143 +f 134 126 143 +f 125 140 144 +f 140 122 144 +f 122 129 145 +f 129 131 145 +f 136 119 146 +f 135 136 147 +f 123 132 148 +f 136 128 148 +f 138 123 148 +f 128 138 148 +f 132 147 148 +f 147 136 148 +f 120 131 149 +f 134 120 149 +f 123 134 149 +f 124 129 150 +f 135 124 150 +f 119 140 151 +f 122 145 152 +f 125 130 153 +f 146 119 153 +f 133 146 153 +f 119 151 153 +f 135 150 154 +f 150 139 154 +f 131 121 155 +f 121 143 155 +f 145 131 155 +f 137 152 155 +f 152 145 155 +f 129 124 156 +f 131 129 156 +f 132 123 156 +f 124 141 156 +f 123 149 156 +f 149 131 156 +f 137 125 157 +f 144 122 157 +f 125 144 157 +f 122 152 157 +f 152 137 157 +f 122 127 158 +f 129 122 158 +f 127 135 158 +f 150 129 158 +f 139 150 158 +f 135 154 158 +f 154 139 158 +f 140 125 159 +f 151 140 159 +f 125 153 159 +f 153 151 159 +f 141 135 160 +f 147 132 160 +f 135 147 160 +f 132 156 160 +f 156 141 160 +f 125 126 161 +f 130 125 161 +f 126 133 161 +f 153 130 161 +f 133 153 161 +f 125 137 162 +f 143 125 162 +f 155 143 162 +f 137 155 162 +f 133 128 163 +f 128 136 163 +f 146 133 163 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/729/729.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/729/729.urdf new file mode 100644 index 000000000..841d8ad88 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/729/729.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/730/730.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/730/730.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/730/730.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/730/730.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/730/730.obj new file mode 100644 index 000000000..5f94ce5af --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/730/730.obj @@ -0,0 +1,510 @@ +o convex_0 +v 0.936581 0.819231 1.037312 +v -1.102999 3.632066 0.966977 +v -1.067650 0.326750 -0.931657 +v 1.112455 4.229714 -1.107600 +v 1.006844 0.326750 -1.001782 +v -0.927124 4.300349 -1.001992 +v 0.971713 4.265032 0.966977 +v -0.962256 0.326750 0.966977 +v -1.102999 4.335667 1.002250 +v 0.971713 0.326750 1.037312 +v 0.690444 4.159472 -1.107180 +v -1.067650 4.335667 0.298896 +v -1.032519 1.768877 1.002250 +v -0.856644 4.230107 -1.037055 +v 1.041976 1.135911 -1.037055 +v 0.198169 4.300349 1.002040 +v 1.112455 4.159472 -0.861321 +v -0.962256 3.807868 -1.001992 +v -0.399718 0.362067 -0.966719 +v 0.338695 1.452590 1.037312 +v -0.680987 0.326750 1.002250 +v -1.067650 0.326750 -0.720651 +v 1.112455 3.666991 -1.107600 +v 0.971713 3.456264 1.002040 +v 1.006844 0.326750 -0.193031 +v 0.479438 4.265032 -0.896384 +v -1.032519 1.381955 -0.966719 +v -1.067650 0.643429 -0.931657 +v -1.102999 4.335667 0.685636 +v -0.645638 4.335667 0.966977 +v 1.041976 3.596748 -1.107600 +v -0.997387 0.854549 0.966977 +v 0.619964 0.326750 -1.001782 +v 0.971713 4.265032 0.615300 +v 1.112455 3.666991 -1.037055 +v 0.655095 0.326750 1.037312 +v -0.997387 4.300349 -0.474372 +v 1.006844 4.229714 0.544965 +v -1.102999 3.632066 1.002250 +f 22 13 39 +f 3 5 8 +f 8 5 10 +f 6 4 14 +f 4 11 14 +f 6 14 18 +f 10 1 20 +f 1 16 20 +f 16 9 20 +f 8 10 21 +f 13 8 21 +f 20 13 21 +f 2 3 22 +f 3 8 22 +f 4 17 23 +f 1 10 24 +f 7 16 24 +f 16 1 24 +f 10 5 25 +f 5 15 25 +f 4 6 26 +f 6 12 26 +f 14 11 27 +f 18 14 27 +f 19 3 27 +f 27 3 28 +f 18 27 28 +f 3 2 29 +f 2 9 29 +f 9 12 29 +f 28 3 29 +f 12 28 29 +f 12 9 30 +f 9 16 30 +f 26 12 30 +f 11 4 31 +f 4 23 31 +f 23 15 31 +f 27 11 31 +f 19 27 31 +f 8 13 32 +f 22 8 32 +f 13 22 32 +f 5 3 33 +f 15 5 33 +f 3 19 33 +f 31 15 33 +f 19 31 33 +f 7 4 34 +f 16 7 34 +f 4 26 34 +f 30 16 34 +f 26 30 34 +f 17 10 35 +f 15 23 35 +f 23 17 35 +f 10 25 35 +f 25 15 35 +f 10 20 36 +f 21 10 36 +f 20 21 36 +f 12 6 37 +f 6 18 37 +f 28 12 37 +f 18 28 37 +f 4 7 38 +f 17 4 38 +f 10 17 38 +f 24 10 38 +f 7 24 38 +f 9 2 39 +f 20 9 39 +f 13 20 39 +f 2 22 39 +o convex_1 +v -0.048014 -5.756744 -0.298783 +v 0.268356 -5.545686 0.369369 +v 0.268356 -4.666954 0.298996 +v -0.294182 -3.858382 0.334183 +v 0.303549 -3.858382 -0.228410 +v -0.294182 -3.858382 -0.263597 +v -0.258989 -5.827289 0.298996 +v 0.338805 -5.827289 -0.228410 +v 0.268356 -3.858382 0.228688 +v -0.223795 -5.721471 -0.298783 +v 0.303549 -5.756744 0.263810 +v 0.338805 -5.053411 -0.158102 +v 0.162899 -5.756744 0.369369 +v -0.294182 -4.315384 -0.263597 +v -0.223795 -4.737307 -0.298783 +v -0.258989 -5.827289 0.158250 +v -0.294182 -4.209952 0.334183 +v -0.223795 -3.858382 0.334183 +v -0.012820 -5.580959 -0.298783 +f 54 44 58 +f 43 44 45 +f 44 43 48 +f 42 41 50 +f 46 47 50 +f 48 42 50 +f 48 50 51 +f 47 44 51 +f 44 48 51 +f 50 47 51 +f 41 43 52 +f 50 41 52 +f 46 50 52 +f 43 45 53 +f 45 49 53 +f 45 44 54 +f 40 49 54 +f 49 45 54 +f 40 47 55 +f 47 46 55 +f 49 40 55 +f 46 53 55 +f 53 49 55 +f 52 43 56 +f 46 52 56 +f 43 53 56 +f 53 46 56 +f 41 42 57 +f 43 41 57 +f 42 48 57 +f 48 43 57 +f 47 40 58 +f 44 47 58 +f 40 54 58 +o convex_2 +v -0.294040 -2.662465 -0.544797 +v 0.514635 -3.646726 0.615531 +v 0.479424 -3.646726 0.615531 +v -0.434670 -1.888704 0.509992 +v 0.444213 -1.888704 -0.509617 +v -0.575406 -3.787637 -0.474558 +v 0.444213 -3.752361 -0.580097 +v -0.469881 -3.822721 0.580351 +v 0.444213 -1.888704 0.439632 +v -0.575406 -1.923980 -0.509617 +v 0.514635 -3.822721 0.474812 +v 0.303583 -3.857804 -0.228300 +v 0.373898 -3.646918 -0.615277 +v -0.434670 -1.994340 0.545172 +v 0.479424 -2.134866 -0.298780 +v -0.364355 -3.752361 -0.544797 +v 0.444213 -1.994340 -0.544797 +v -0.540195 -1.888704 -0.157941 +v -0.575406 -3.506199 -0.263480 +v -0.294040 -3.857804 0.334093 +v -0.469881 -3.295314 0.580351 +v 0.444213 -1.994340 0.474812 +v 0.514635 -3.822721 0.615531 +v -0.294040 -3.857804 -0.263480 +v 0.514635 -3.189679 0.263734 +v -0.469881 -1.888704 0.404453 +v -0.504985 -3.822721 0.369273 +v -0.540195 -1.888704 -0.509617 +v 0.162953 -3.787637 0.615531 +v -0.575406 -3.752361 -0.509617 +v 0.514635 -3.787637 0.298914 +v 0.514635 -3.330397 0.580351 +v -0.223725 -2.345944 -0.544797 +v 0.268372 -3.857804 0.228675 +v -0.083095 -1.888704 0.509992 +f 80 67 93 +f 63 62 67 +f 65 69 70 +f 59 68 71 +f 61 60 72 +f 63 67 73 +f 65 64 74 +f 68 59 74 +f 59 71 74 +f 71 65 74 +f 65 71 75 +f 63 73 75 +f 73 65 75 +f 62 63 76 +f 68 64 77 +f 76 68 77 +f 60 61 81 +f 69 60 81 +f 70 69 81 +f 66 78 81 +f 64 65 82 +f 65 70 82 +f 70 78 82 +f 60 69 83 +f 72 62 84 +f 62 76 84 +f 79 72 84 +f 79 84 85 +f 77 64 85 +f 76 77 85 +f 78 66 85 +f 66 79 85 +f 64 82 85 +f 82 78 85 +f 84 76 85 +f 63 75 86 +f 76 63 86 +f 68 76 86 +f 61 72 87 +f 79 66 87 +f 72 79 87 +f 81 61 87 +f 66 81 87 +f 64 68 88 +f 74 64 88 +f 68 74 88 +f 69 65 89 +f 65 73 89 +f 83 69 89 +f 73 83 89 +f 73 67 90 +f 80 60 90 +f 67 80 90 +f 60 83 90 +f 83 73 90 +f 71 68 91 +f 75 71 91 +f 68 86 91 +f 86 75 91 +f 78 70 92 +f 70 81 92 +f 81 78 92 +f 67 62 93 +f 72 60 93 +f 62 72 93 +f 60 80 93 +o convex_3 +v -2.439231 -1.149977 -1.036951 +v -2.122587 -1.325711 1.072688 +v -1.489898 -0.622987 1.037206 +v -3.072119 0.221039 0.966870 +v -1.067839 0.185976 -0.931763 +v -1.067839 -1.782996 -0.931763 +v -3.036981 -1.747724 0.896535 +v -3.107457 0.291374 -1.001889 +v -1.067839 -1.853122 1.072478 +v -1.067839 0.256101 0.967080 +v -3.072119 -1.783206 -1.072224 +v -3.001842 -1.747724 1.072268 +v -3.107457 0.256101 0.052721 +v -1.103177 0.221039 -0.755610 +v -2.685398 -1.783206 1.037206 +v -1.067839 0.080368 1.002143 +v -3.072119 -0.236247 1.002143 +v -3.001842 0.256101 0.544859 +v -2.720536 0.256101 -1.001889 +v -1.067839 -1.818059 -0.228200 +v -3.036981 -1.396256 1.072268 +v -1.419621 -1.782996 -0.966616 +v -1.067839 0.256101 0.509796 +v -3.107457 -0.447253 -0.931553 +v -1.138316 -1.396256 1.072688 +v -2.193063 -1.818059 -0.193137 +v -1.454760 -0.165911 -0.966616 +v -1.701127 0.256101 0.967080 +v -2.966704 -1.607263 -1.072224 +v -3.072119 -0.517379 0.931808 +v -3.072119 -1.783206 -0.931553 +v -2.966704 0.291374 -0.931553 +v -3.036981 -1.783206 -0.333808 +v -1.138316 -1.853122 0.826200 +v -1.243731 0.221039 -0.931553 +f 125 107 128 +f 99 98 102 +f 102 98 103 +f 102 95 105 +f 102 105 108 +f 95 96 109 +f 102 103 109 +f 97 106 110 +f 109 97 110 +f 106 97 111 +f 101 106 111 +f 99 102 113 +f 105 95 114 +f 100 105 114 +f 95 109 114 +f 109 110 114 +f 98 99 115 +f 99 113 115 +f 113 104 115 +f 103 98 116 +f 98 107 116 +f 101 104 117 +f 106 101 117 +f 96 95 118 +f 95 102 118 +f 109 96 118 +f 102 109 118 +f 104 113 119 +f 94 112 120 +f 112 98 120 +f 115 94 120 +f 98 115 120 +f 97 109 121 +f 109 103 121 +f 111 97 121 +f 104 101 122 +f 112 94 122 +f 101 112 122 +f 94 115 122 +f 115 104 122 +f 110 106 123 +f 100 114 123 +f 114 110 123 +f 106 117 123 +f 123 117 124 +f 117 104 124 +f 104 119 124 +f 100 123 124 +f 101 111 125 +f 103 116 125 +f 116 107 125 +f 121 103 125 +f 111 121 125 +f 105 100 126 +f 108 105 126 +f 100 124 126 +f 124 119 126 +f 102 108 127 +f 113 102 127 +f 119 113 127 +f 108 126 127 +f 126 119 127 +f 107 98 128 +f 98 112 128 +f 112 101 128 +f 101 125 128 +o convex_4 +v 1.112211 -1.853356 1.072506 +v 0.796058 0.326750 1.037374 +v 0.796058 0.326750 -1.001772 +v 3.011141 0.185790 0.966894 +v 3.046582 -1.783093 -1.037120 +v -1.067833 -1.782876 -0.931509 +v -1.067833 0.256270 0.966894 +v 2.941064 0.291402 -1.107383 +v -1.067833 -1.853139 1.072506 +v -1.067833 0.326750 -0.931509 +v 2.905622 -1.783093 1.037374 +v 0.444464 -1.888704 -0.509714 +v 1.042134 -1.325949 1.107854 +v 1.217730 -1.361081 -1.037120 +v -0.680797 0.326750 1.002026 +v -0.540240 -1.888704 -0.509714 +v 2.729624 -1.818224 -0.615108 +v 2.518990 0.326533 -1.037120 +v 2.624508 -0.024999 -1.107600 +v 2.941064 -1.712613 1.037374 +v 0.444464 -1.888704 0.439488 +v -1.067833 -1.431344 1.072506 +v 2.941064 0.291402 -0.544628 +v 1.463805 -1.818224 1.107854 +v 0.972057 0.326533 1.037374 +v 2.342991 -1.818224 1.002243 +v 2.096916 -1.747961 -1.037120 +v 3.011141 0.185790 0.580014 +v -0.083128 -1.853139 1.107637 +v 3.011141 -0.165742 0.966894 +v 2.694585 -0.236005 1.002243 +v -0.434722 -1.888704 0.509751 +v -0.961911 0.326750 0.966894 +v 3.011141 -0.974200 -1.072252 +v 3.046582 -1.783093 -0.896377 +v 2.624508 0.291402 -1.107600 +v 0.479503 -1.712830 -1.001772 +v -0.364242 -1.184990 -0.966857 +v 2.941064 -1.150075 -1.072252 +v -1.067833 0.080179 1.002026 +v 1.182691 0.256270 1.037374 +v 0.937018 -1.290601 1.107854 +v 2.905622 -1.501607 1.037374 +v 0.690540 0.326750 1.037374 +v -1.067833 -1.818224 -0.228228 +v 3.046582 -1.642350 -1.037120 +v 2.413471 -1.783093 -1.037120 +f 155 167 175 +f 135 134 137 +f 130 131 138 +f 134 135 138 +f 130 138 143 +f 133 140 144 +f 140 133 145 +f 131 130 146 +f 144 140 149 +f 140 145 149 +f 135 137 150 +f 132 136 151 +f 136 146 151 +f 129 139 152 +f 139 148 152 +f 146 130 153 +f 132 151 153 +f 151 146 153 +f 139 129 154 +f 145 139 154 +f 129 149 154 +f 149 145 154 +f 136 132 156 +f 150 137 157 +f 129 152 157 +f 132 148 158 +f 141 152 159 +f 137 144 160 +f 149 129 160 +f 144 149 160 +f 129 157 160 +f 157 137 160 +f 138 135 161 +f 143 138 161 +f 136 156 162 +f 139 145 163 +f 145 133 163 +f 148 139 163 +f 132 158 163 +f 158 148 163 +f 138 131 164 +f 131 146 164 +f 146 136 164 +f 136 147 164 +f 142 155 165 +f 134 138 166 +f 147 142 166 +f 138 164 166 +f 164 147 166 +f 165 134 166 +f 142 165 166 +f 147 136 167 +f 142 147 167 +f 155 142 167 +f 136 162 167 +f 162 133 167 +f 135 150 168 +f 150 143 168 +f 161 135 168 +f 143 161 168 +f 132 153 169 +f 159 132 169 +f 141 159 169 +f 152 141 170 +f 153 130 170 +f 150 157 170 +f 157 152 170 +f 141 169 170 +f 169 153 170 +f 148 132 171 +f 152 148 171 +f 132 159 171 +f 159 152 171 +f 130 143 172 +f 143 150 172 +f 170 130 172 +f 150 170 172 +f 137 134 173 +f 134 144 173 +f 144 137 173 +f 156 132 174 +f 133 162 174 +f 162 156 174 +f 132 163 174 +f 163 133 174 +f 133 144 175 +f 144 134 175 +f 134 165 175 +f 165 155 175 +f 167 133 175 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/730/730.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/730/730.urdf new file mode 100644 index 000000000..f77af24b2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/730/730.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/731/731.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/731/731.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/731/731.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/731/731.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/731/731.obj new file mode 100644 index 000000000..76125b7b1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/731/731.obj @@ -0,0 +1,444 @@ +o convex_0 +v 0.699096 -0.046732 0.048578 +v -1.454422 -3.824116 -1.045490 +v -1.454422 -3.824116 -0.586526 +v 0.663824 -3.930172 -0.586526 +v -1.418933 -3.753283 1.108028 +v -1.277847 0.024101 -1.116251 +v -1.348390 0.024101 1.001996 +v 0.699096 -3.824116 0.931235 +v 0.522521 0.024101 -1.010219 +v 0.769857 0.024101 0.966507 +v 0.663824 -3.930172 -0.939458 +v 0.663824 -0.081955 1.001996 +v 0.593282 0.024101 -0.974730 +v -1.136544 -3.294609 1.108028 +v 0.275403 -3.894175 -0.974730 +v -1.313119 -0.188011 -1.080762 +v -1.348390 -0.470570 1.037050 +v -1.242576 -3.788506 0.931453 +v 0.416707 -3.824116 0.966507 +v 0.734367 -2.552602 0.895964 +v -1.348390 0.024101 0.507542 +v -1.454422 -3.576393 -1.045490 +v -1.207087 -0.082342 -1.116251 +v -1.383662 -1.353469 1.037050 +v 0.275403 -3.930172 -0.904187 +v 0.628553 -1.282249 -0.974730 +v 0.628553 -2.588212 -0.974730 +v -1.242576 -3.824116 -1.045490 +v 0.699096 -2.588212 -0.374462 +v 0.699096 -3.859339 0.260424 +v -1.171815 -3.647226 1.108028 +v 0.734367 -2.058317 0.966507 +v 0.769857 -0.081955 0.895964 +v -1.418933 -3.505947 1.108028 +v 0.593282 -3.859339 0.578303 +v 0.628553 -0.011509 -0.763101 +v 0.487250 0.024101 1.001996 +v 0.699096 -3.011663 -0.233376 +v -1.454422 -3.753283 -0.551255 +v 0.451978 -3.930172 -0.657069 +v -0.924697 -3.788506 1.072539 +v -1.030512 -3.859339 -1.010219 +v -1.313119 -2.199597 -1.080762 +v -1.313119 -3.188165 1.108028 +f 37 17 44 +f 6 7 9 +f 9 7 10 +f 9 10 13 +f 5 3 18 +f 7 6 21 +f 6 16 21 +f 21 16 22 +f 2 3 22 +f 6 2 22 +f 16 6 22 +f 7 21 22 +f 6 9 23 +f 17 7 24 +f 7 22 24 +f 11 4 25 +f 18 3 25 +f 9 13 26 +f 11 15 27 +f 23 9 27 +f 15 23 27 +f 26 11 27 +f 9 26 27 +f 11 2 28 +f 15 11 28 +f 26 1 29 +f 11 26 29 +f 8 4 30 +f 4 11 30 +f 20 8 30 +f 14 5 31 +f 12 14 31 +f 31 19 32 +f 10 12 32 +f 19 8 32 +f 8 20 32 +f 20 10 32 +f 12 31 32 +f 1 10 33 +f 10 20 33 +f 29 1 33 +f 5 14 34 +f 17 24 34 +f 4 8 35 +f 8 19 35 +f 10 1 36 +f 13 10 36 +f 1 26 36 +f 26 13 36 +f 10 7 37 +f 12 10 37 +f 7 17 37 +f 11 29 38 +f 30 11 38 +f 20 30 38 +f 33 20 38 +f 29 33 38 +f 3 5 39 +f 22 3 39 +f 24 22 39 +f 5 34 39 +f 34 24 39 +f 25 4 40 +f 18 25 40 +f 4 35 40 +f 35 18 40 +f 5 18 41 +f 31 5 41 +f 19 31 41 +f 18 35 41 +f 35 19 41 +f 3 2 42 +f 2 11 42 +f 25 3 42 +f 11 25 42 +f 2 6 43 +f 6 23 43 +f 23 15 43 +f 28 2 43 +f 15 28 43 +f 14 12 44 +f 34 14 44 +f 17 34 44 +f 12 37 44 +o convex_1 +v 3.488461 1.683457 0.543125 +v 2.746994 1.224506 -0.586661 +v 2.746994 1.612679 -0.586661 +v 4.688520 1.189338 -0.516042 +v 2.746994 0.694999 0.437138 +v 4.759239 1.789402 0.613744 +v 4.617998 0.694999 0.472506 +v 3.629703 0.659610 -0.551293 +v 2.746994 1.718735 0.472506 +v 4.688520 1.612679 -0.445423 +v 4.653456 0.730277 -0.551293 +v 2.746994 0.659610 -0.516042 +v 2.746994 1.648178 -0.551293 +v 4.759239 1.612900 0.613744 +v 2.817713 0.800834 0.472506 +v 4.723978 1.683457 -0.162947 +v 4.512018 1.789402 0.507756 +v 3.135456 1.612679 -0.586661 +v 2.746994 0.659610 -0.056960 +v 4.653456 0.694999 -0.480674 +v 4.653456 0.694999 0.401887 +v 4.476757 1.612679 0.613744 +v 3.841269 0.694999 0.472506 +v 4.759239 1.577511 0.401769 +v 4.723978 1.648178 -0.339436 +v 3.064934 1.648178 -0.551293 +v 4.653456 0.942058 -0.551293 +v 4.688520 0.942058 -0.339436 +v 2.782451 1.718735 0.366401 +v 4.441495 1.789402 0.613744 +v 2.746994 0.800834 -0.551293 +v 4.653456 0.871612 0.507756 +v 4.759239 1.789402 0.507639 +f 60 70 77 +f 47 46 49 +f 47 49 53 +f 52 46 55 +f 49 46 56 +f 47 53 57 +f 45 53 59 +f 53 49 59 +f 46 47 62 +f 54 48 62 +f 55 46 62 +f 47 57 62 +f 52 51 63 +f 49 56 63 +f 56 52 63 +f 52 55 64 +f 51 52 65 +f 52 64 65 +f 58 50 66 +f 45 59 66 +f 66 59 67 +f 59 49 67 +f 49 63 67 +f 63 51 67 +f 50 58 68 +f 58 65 68 +f 48 54 69 +f 54 62 70 +f 62 57 70 +f 69 54 70 +f 60 69 70 +f 48 55 71 +f 62 48 71 +f 55 62 71 +f 55 48 72 +f 64 55 72 +f 65 64 72 +f 68 65 72 +f 48 69 72 +f 69 68 72 +f 57 53 73 +f 61 57 73 +f 61 73 74 +f 53 45 74 +f 50 61 74 +f 45 66 74 +f 66 50 74 +f 73 53 74 +f 46 52 75 +f 56 46 75 +f 52 56 75 +f 65 58 76 +f 51 65 76 +f 58 66 76 +f 66 67 76 +f 67 51 76 +f 61 50 77 +f 57 61 77 +f 50 68 77 +f 69 60 77 +f 68 69 77 +f 70 57 77 +o convex_2 +v -1.772356 2.248380 0.966583 +v -3.466658 0.130020 0.225153 +v -3.466658 0.165685 -0.515855 +v -1.348729 0.165685 -1.116251 +v -3.396157 2.142214 -1.080834 +v -1.348729 0.165685 1.001999 +v -1.348729 2.142214 -0.939379 +v -3.325449 2.071712 1.037416 +v -3.466658 0.130020 0.931166 +v -3.466658 0.200936 -1.116251 +v -1.348729 2.248173 0.966583 +v -3.148989 2.142214 1.037416 +v -2.054774 0.130020 0.931377 +v -1.878315 2.248380 0.472437 +v -3.466658 0.377189 0.931166 +v -3.396157 2.142214 -0.551272 +v -3.431407 1.683332 -1.080834 +v -3.325449 1.718583 1.037416 +v -3.148989 2.142214 -1.080834 +v -3.431407 1.118699 -1.116251 +v -2.831320 2.142214 1.037416 +v -1.807606 0.165685 1.001999 +v -2.442736 0.165685 -1.116251 +v -1.348729 0.271437 -1.116251 +v -1.348729 0.906987 1.001999 +v -3.007780 2.177672 -0.692517 +v -1.666397 2.142421 -0.974795 +v -3.466658 0.553858 -1.116251 +v -1.348729 2.248173 0.542848 +v -3.431407 0.553858 0.966794 +v -3.325449 2.106963 1.001999 +v -2.760612 0.130020 0.966794 +v -3.360699 2.142214 -0.022131 +f 93 108 110 +f 83 81 84 +f 80 79 86 +f 80 86 87 +f 83 84 88 +f 79 81 90 +f 81 83 90 +f 86 79 90 +f 89 78 91 +f 87 86 92 +f 92 93 94 +f 93 82 94 +f 89 85 95 +f 81 87 97 +f 94 82 97 +f 82 96 97 +f 88 78 98 +f 78 89 98 +f 95 83 98 +f 89 95 98 +f 83 95 99 +f 79 80 100 +f 81 79 100 +f 80 87 100 +f 87 81 100 +f 84 81 101 +f 81 97 101 +f 97 96 101 +f 83 88 102 +f 88 98 102 +f 98 83 102 +f 82 93 103 +f 96 82 103 +f 96 103 104 +f 84 101 104 +f 101 96 104 +f 103 84 104 +f 87 92 105 +f 92 94 105 +f 97 87 105 +f 94 97 105 +f 78 88 106 +f 88 84 106 +f 91 78 106 +f 84 103 106 +f 103 91 106 +f 85 92 107 +f 92 86 107 +f 95 85 107 +f 85 89 108 +f 92 85 108 +f 93 92 108 +f 90 83 109 +f 86 90 109 +f 83 99 109 +f 99 95 109 +f 107 86 109 +f 95 107 109 +f 89 91 110 +f 91 103 110 +f 103 93 110 +f 108 89 110 +o convex_3 +v 2.252295 1.718623 1.037416 +v 1.369934 2.283686 -0.974795 +v 1.369934 2.283686 -1.080624 +v -1.348504 0.024319 0.542848 +v 2.746993 0.059705 -0.974795 +v -1.348504 2.142144 -0.939379 +v -1.348504 2.248301 0.966583 +v -1.277547 0.024319 -1.116251 +v 2.746993 0.059705 0.931377 +v 2.676036 2.248301 1.037205 +v 2.570201 2.248301 -1.080834 +v -1.348504 0.024319 1.001999 +v 2.746993 1.647852 -0.551272 +v 0.417018 0.024541 1.001788 +v 0.664367 2.283686 -1.080624 +v -1.348504 0.271576 -1.116251 +v 0.734523 2.283686 0.966583 +v 2.605479 1.718623 -1.080834 +v 0.593810 0.024541 -0.974795 +v -1.348504 0.906968 1.001999 +v 2.746993 0.342126 0.966583 +v 2.746993 1.718623 0.472226 +v -1.348504 2.248301 0.542848 +v 2.711314 0.483447 -1.010212 +v -0.430465 2.212694 -1.010001 +v 2.323252 2.248301 1.037416 +v 0.769801 0.024541 0.966583 +v 0.346461 2.283686 0.931166 +v -0.924763 0.518611 -1.116251 +v 2.746993 0.448061 -0.974795 +v -1.171712 0.024319 -1.116251 +v 2.676036 2.248301 0.719299 +v 0.522853 2.283686 -1.045418 +v 2.605479 2.036430 -1.080834 +v -1.277547 1.930494 -0.974795 +v 0.946193 2.283686 0.966583 +v 2.605479 2.248301 -0.692517 +v 2.181738 0.059705 0.966583 +v -1.348504 0.165419 -1.116251 +v 2.640757 1.895109 1.037416 +v 2.746993 1.612688 -0.621683 +v 2.711314 1.577302 1.001788 +f 131 132 152 +f 116 114 117 +f 113 112 120 +f 117 114 122 +f 114 118 122 +f 119 115 123 +f 111 122 124 +f 112 113 125 +f 114 116 126 +f 112 125 127 +f 117 122 130 +f 122 111 130 +f 119 123 131 +f 131 123 132 +f 116 117 133 +f 125 126 135 +f 116 133 135 +f 127 117 136 +f 117 130 136 +f 130 111 136 +f 115 119 137 +f 119 124 137 +f 124 122 137 +f 129 115 137 +f 117 127 138 +f 127 125 138 +f 133 117 138 +f 113 121 139 +f 125 113 139 +f 118 126 139 +f 126 125 139 +f 123 115 140 +f 115 134 140 +f 122 118 141 +f 115 129 141 +f 134 115 141 +f 128 134 141 +f 137 122 141 +f 129 137 141 +f 118 139 141 +f 139 128 141 +f 113 120 142 +f 120 132 142 +f 132 123 142 +f 125 135 143 +f 135 133 143 +f 138 125 143 +f 133 138 143 +f 134 128 144 +f 139 121 144 +f 128 139 144 +f 140 134 144 +f 126 116 145 +f 116 135 145 +f 135 126 145 +f 120 112 146 +f 112 127 146 +f 136 120 146 +f 127 136 146 +f 121 113 147 +f 123 121 147 +f 113 142 147 +f 142 123 147 +f 124 119 148 +f 119 131 148 +f 118 114 149 +f 114 126 149 +f 126 118 149 +f 111 124 150 +f 131 120 150 +f 136 111 150 +f 120 136 150 +f 124 148 150 +f 148 131 150 +f 121 123 151 +f 123 140 151 +f 144 121 151 +f 140 144 151 +f 120 131 152 +f 132 120 152 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/731/731.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/731/731.urdf new file mode 100644 index 000000000..9e6d2e76c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/731/731.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/732/732.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/732/732.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/732/732.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/732/732.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/732/732.obj new file mode 100644 index 000000000..ceb35c49c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/732/732.obj @@ -0,0 +1,1383 @@ +o convex_0 +v -0.034647 -2.202470 -1.309298 +v -0.186431 -2.900780 -1.339641 +v -0.095373 -2.900780 -1.339641 +v -0.247095 -2.536310 -3.039926 +v -0.520394 -2.323904 -1.278781 +v 0.117137 -2.779262 -1.278781 +v -0.429273 -2.050489 -1.339641 +v -0.429273 -2.536310 -2.675628 +v -0.034647 -2.597069 -2.797004 +v -0.459668 -2.718503 -1.278781 +v -0.216763 -2.748800 -2.736316 +v -0.216763 -2.354200 -2.766660 +v -0.216763 -2.050489 -1.278781 +v 0.026079 -2.263145 -1.369985 +v 0.056474 -2.840021 -1.673595 +v 0.117137 -2.627365 -1.521876 +v -0.064979 -2.414959 -2.584425 +v -0.368547 -2.688124 -2.493221 +v -0.398941 -2.445422 -2.705972 +v -0.004253 -2.566606 -2.645285 +v -0.216763 -2.900780 -1.278781 +v -0.459668 -2.080952 -1.339641 +v -0.034647 -2.748800 -2.432534 +v -0.398941 -2.566606 -2.827520 +v 0.117137 -2.566606 -1.278781 +f 16 14 25 +f 6 5 10 +f 5 8 10 +f 3 2 11 +f 4 9 11 +f 9 4 12 +f 5 6 13 +f 7 5 13 +f 12 7 13 +f 6 3 15 +f 3 11 15 +f 9 12 17 +f 13 1 17 +f 12 13 17 +f 1 14 17 +f 10 8 18 +f 7 12 19 +f 12 4 19 +f 6 15 20 +f 15 9 20 +f 16 6 20 +f 14 16 20 +f 9 17 20 +f 17 14 20 +f 2 3 21 +f 3 6 21 +f 6 10 21 +f 11 2 21 +f 10 18 21 +f 18 11 21 +f 5 7 22 +f 8 5 22 +f 7 19 22 +f 19 8 22 +f 11 9 23 +f 9 15 23 +f 15 11 23 +f 4 11 24 +f 18 8 24 +f 11 18 24 +f 8 19 24 +f 19 4 24 +f 13 6 25 +f 1 13 25 +f 14 1 25 +f 6 16 25 +o convex_1 +v -1.158091 -0.744929 -0.944346 +v 0.785348 -0.744929 0.482375 +v 0.754939 -0.744929 0.694823 +v -0.246994 -1.989754 -1.248164 +v -1.036651 -1.989754 0.968184 +v 0.663711 -1.989754 0.937728 +v -1.006242 -0.744929 1.059305 +v 0.694120 -0.744929 -0.914139 +v 0.663711 -1.989754 -0.883682 +v -1.127682 -1.989754 -0.883682 +v -0.277403 -1.959167 1.302209 +v 0.481453 -0.744929 1.059305 +v -1.218910 -0.835960 0.543039 +v -0.945423 -0.744929 -1.065923 +v 0.785348 -1.109298 -0.246089 +v -1.127682 -1.989754 0.755487 +v 0.481453 -0.744929 -1.005260 +v -0.550693 -1.989754 1.302209 +v -1.188500 -1.685951 -0.215632 +v -0.490071 -1.989754 -1.248164 +v 0.724530 -1.837791 0.664616 +v -1.158091 -0.744929 0.907271 +v -0.915014 -0.744929 1.089512 +v 0.785348 -0.744929 -0.549657 +v -1.218910 -0.744929 -0.246089 +v 0.724530 -1.868135 -0.488994 +v 0.724530 -0.744929 0.877064 +v 0.603089 -1.989754 0.998641 +v 0.117131 -0.744929 1.089512 +v -1.097273 -1.321826 -0.974803 +v 0.177753 -0.744929 -1.035467 +v -1.158091 -1.989754 -0.610321 +v -1.218910 -1.109298 0.421712 +v 0.572680 -1.776982 -0.944346 +v -0.550693 -1.898479 1.302209 +v -0.398843 -1.898479 -1.248164 +v 0.572680 -1.230672 1.028848 +v -1.006242 -1.109298 1.059305 +v -1.127682 -1.594798 0.907271 +v 0.694120 -1.989754 -0.762355 +v -1.218910 -1.018144 -0.246089 +v -0.611511 -0.744929 -1.065923 +v -1.066864 -1.989754 -0.944346 +v 0.785348 -1.018144 0.421712 +v 0.694120 -1.989754 0.816400 +v -1.036651 -0.866304 -1.035467 +v 0.724530 -0.805616 -0.853226 +f 49 65 72 +f 28 27 26 +f 30 29 31 +f 28 26 32 +f 26 27 33 +f 31 29 34 +f 29 30 35 +f 28 32 37 +f 26 33 39 +f 35 30 41 +f 39 33 42 +f 30 31 43 +f 29 35 45 +f 27 28 46 +f 32 26 47 +f 37 32 48 +f 33 27 49 +f 27 40 49 +f 47 26 50 +f 38 47 50 +f 40 46 51 +f 49 40 51 +f 28 37 52 +f 46 28 52 +f 43 31 53 +f 36 43 53 +f 31 52 53 +f 36 37 54 +f 37 48 54 +f 35 26 55 +f 42 29 56 +f 39 42 56 +f 26 35 57 +f 35 41 57 +f 41 44 57 +f 41 38 58 +f 44 41 58 +f 38 50 58 +f 34 29 59 +f 33 34 59 +f 29 42 59 +f 42 33 59 +f 32 43 60 +f 43 36 60 +f 48 32 60 +f 36 54 60 +f 54 48 60 +f 29 45 61 +f 45 39 61 +f 56 29 61 +f 37 36 62 +f 52 37 62 +f 36 53 62 +f 53 52 62 +f 30 43 63 +f 43 32 63 +f 32 47 63 +f 63 47 64 +f 41 30 64 +f 38 41 64 +f 47 38 64 +f 30 63 64 +f 31 34 65 +f 49 51 65 +f 50 26 66 +f 26 57 66 +f 57 44 66 +f 44 58 66 +f 58 50 66 +f 39 56 67 +f 61 39 67 +f 56 61 67 +f 45 35 68 +f 35 55 68 +f 55 45 68 +f 40 27 69 +f 27 46 69 +f 46 40 69 +f 51 46 70 +f 52 31 70 +f 46 52 70 +f 31 65 70 +f 65 51 70 +f 26 39 71 +f 39 45 71 +f 55 26 71 +f 45 55 71 +f 34 33 72 +f 33 49 72 +f 65 34 72 +o convex_2 +v -1.249108 -0.622959 -0.063908 +v 0.876394 0.621854 0.330582 +v 0.694045 0.621854 0.846708 +v 0.724400 -0.744685 0.907527 +v 0.572625 -0.744685 -0.975076 +v -1.036623 0.621854 -1.066027 +v -1.006049 0.621854 1.089705 +v -1.006049 -0.744685 1.059296 +v 0.208147 0.621854 -1.339157 +v -1.036623 -0.744685 -1.035618 +v -0.125757 0.621854 1.423929 +v -1.370747 0.621854 -0.063908 +v 0.876394 0.500128 -0.397855 +v 0.815464 -0.714053 -0.124449 +v -0.247177 0.591356 -1.400251 +v -1.188398 -0.714053 0.816299 +v 0.177792 -0.744685 1.089705 +v 0.724400 0.621854 -0.853440 +v -1.158043 -0.744685 -0.944391 +v 0.724400 -0.714053 -0.883572 +v -1.370747 0.591356 -0.428264 +v 0.390496 0.621854 1.211065 +v 0.420851 -0.714053 -1.035618 +v -0.702500 0.591356 1.302293 +v -1.340172 0.621854 0.239355 +v 0.572625 -0.744685 1.028887 +v -0.763429 -0.714053 1.119838 +v -1.249108 -0.744685 0.330306 +v -1.158043 0.135887 0.907250 +v -0.611435 -0.744685 -1.066027 +v 0.876394 0.226981 0.300173 +v -1.158043 0.075158 -0.974800 +v 0.724400 0.166252 -0.913981 +v -1.066978 -0.167491 -1.066027 +v 0.785109 -0.744685 -0.549625 +v -1.370747 0.439533 -0.397855 +v 0.815464 -0.622959 0.360715 +v -0.034692 0.591356 -1.400251 +v 0.724400 -0.228220 0.907527 +v -0.216822 0.591356 1.423929 +v 0.299211 0.469897 1.271883 +v -1.188398 -0.562230 0.877117 +v -1.127688 0.621854 0.907250 +v -0.945559 -0.744685 1.089705 +v 0.876394 0.621854 -0.397855 +v 0.876394 0.318075 -0.367446 +v -0.945559 -0.744685 -1.066027 +v -1.127688 0.621854 -0.944391 +v 0.694045 0.591356 0.877117 +v 0.481561 -0.744685 1.059296 +v 0.724400 -0.288949 -0.913981 +v 0.147437 0.591356 -1.369842 +v -1.188398 -0.744685 -0.671261 +f 108 91 125 +f 75 74 78 +f 75 78 79 +f 77 76 80 +f 78 74 81 +f 77 80 82 +f 75 79 83 +f 79 78 84 +f 78 81 87 +f 80 76 89 +f 81 74 90 +f 82 80 91 +f 77 81 92 +f 75 83 94 +f 79 80 96 +f 83 79 96 +f 79 84 97 +f 89 76 98 +f 76 94 98 +f 80 88 100 +f 91 80 100 +f 97 84 100 +f 88 97 100 +f 77 82 102 +f 95 77 102 +f 74 76 103 +f 85 74 103 +f 91 93 104 +f 81 90 105 +f 78 87 106 +f 87 82 106 +f 82 91 106 +f 104 78 106 +f 91 104 106 +f 76 77 107 +f 86 76 107 +f 77 92 107 +f 84 93 108 +f 93 91 108 +f 73 100 108 +f 100 84 108 +f 76 86 109 +f 103 76 109 +f 86 103 109 +f 87 81 110 +f 102 87 110 +f 95 102 110 +f 76 74 111 +f 94 76 111 +f 89 83 112 +f 83 96 112 +f 99 89 112 +f 94 83 113 +f 98 94 113 +f 80 79 114 +f 88 80 114 +f 97 88 114 +f 79 101 114 +f 101 97 114 +f 79 97 115 +f 101 79 115 +f 97 101 115 +f 80 89 116 +f 96 80 116 +f 89 99 116 +f 112 96 116 +f 99 112 116 +f 74 85 117 +f 90 74 117 +f 105 90 117 +f 85 105 117 +f 92 85 118 +f 85 103 118 +f 103 86 118 +f 86 107 118 +f 107 92 118 +f 82 87 119 +f 102 82 119 +f 87 102 119 +f 84 78 120 +f 93 84 120 +f 78 104 120 +f 104 93 120 +f 74 75 121 +f 75 94 121 +f 111 74 121 +f 94 111 121 +f 83 89 122 +f 89 98 122 +f 113 83 122 +f 98 113 122 +f 92 81 123 +f 85 92 123 +f 81 105 123 +f 105 85 123 +f 81 77 124 +f 77 95 124 +f 110 81 124 +f 95 110 124 +f 91 100 125 +f 100 73 125 +f 73 108 125 +o convex_3 +v 2.121520 1.168541 -0.428478 +v 2.759113 1.532791 0.057491 +v 2.759113 1.441700 0.057491 +v 2.121520 1.472083 0.725476 +v 2.121520 1.654264 -0.367636 +v 2.576979 1.259632 0.239506 +v 2.364511 1.714972 0.057491 +v 2.121520 1.259632 0.543078 +v 2.576979 1.259632 -0.246208 +v 2.151979 1.472083 -0.580328 +v 2.637712 1.684647 -0.003223 +v 2.668046 1.502465 -0.215915 +v 2.121520 1.654264 0.421777 +v 2.151979 1.138102 -0.246208 +v 2.668046 1.532791 0.239506 +v 2.637712 1.684647 0.087657 +v 2.151979 1.320397 -0.580328 +v 2.668046 1.259632 -0.033644 +v 2.151979 1.623882 -0.458772 +v 2.151979 1.441700 0.725476 +v 2.151979 1.198924 0.300221 +f 139 131 146 +f 126 129 130 +f 129 126 133 +f 126 130 135 +f 130 132 136 +f 127 128 137 +f 136 127 137 +f 130 129 138 +f 132 130 138 +f 133 126 139 +f 126 134 139 +f 128 127 140 +f 131 128 140 +f 127 136 141 +f 136 132 141 +f 138 129 141 +f 132 138 141 +f 140 127 141 +f 129 140 141 +f 134 126 142 +f 126 135 142 +f 137 134 142 +f 135 137 142 +f 128 131 143 +f 137 128 143 +f 134 137 143 +f 131 139 143 +f 139 134 143 +f 135 130 144 +f 130 136 144 +f 137 135 144 +f 136 137 144 +f 129 133 145 +f 133 131 145 +f 131 140 145 +f 140 129 145 +f 131 133 146 +f 133 139 146 +o convex_4 +v -0.763255 -3.143482 -0.337293 +v 0.694210 -1.989908 0.816376 +v 0.663748 -1.989908 0.937763 +v -1.127712 -1.989908 -0.883780 +v 0.603005 -3.052594 -0.883780 +v -0.490003 -2.900649 1.241724 +v -1.097250 -1.989908 0.907663 +v 0.663748 -1.989908 -0.883780 +v -0.186471 -3.477513 0.816376 +v 0.633467 -2.900649 0.968110 +v -0.398980 -2.809451 -1.278781 +v -1.066970 -2.779310 0.877070 +v -0.247032 -3.507964 -0.641007 +v -1.097250 -2.839902 -0.853434 +v -0.186471 -1.990063 1.241724 +v -0.216751 -2.050655 -1.278781 +v 0.086781 -2.870353 -1.278781 +v 0.026039 -2.931100 1.241724 +v -0.216751 -3.568866 0.178849 +v -0.641951 -2.050655 1.241724 +v -1.158174 -2.202446 -0.428333 +v 0.694210 -2.232896 -0.610660 +v -0.459723 -1.989908 -1.278781 +v -0.277313 -3.568866 0.117908 +v -0.307775 -3.447372 -0.762393 +v -0.550746 -2.323939 -1.278781 +v -0.277313 -3.477513 0.816376 +v 0.086781 -2.566927 1.241724 +v -1.036507 -2.870198 0.482316 +v 0.026039 -2.263192 -1.278781 +v 0.238548 -3.174088 -0.975067 +v 0.390496 -3.204384 -0.580066 +v 0.633467 -2.991847 -0.853434 +v 0.603005 -1.989908 0.998457 +v -1.127712 -1.989908 0.725336 +v -0.641951 -2.415137 1.241724 +v 0.694210 -2.232896 0.786030 +v 0.329753 -3.082890 1.029050 +v -0.186471 -3.568866 0.026868 +v -0.884741 -2.961396 0.877070 +v -1.127712 -2.688421 -0.792740 +v -0.216751 -3.052439 -1.157148 +v 0.117062 -2.566927 -1.278781 +v -0.307775 -2.991692 1.241724 +v -0.186471 -3.477513 -0.732047 +v -1.066970 -2.749014 0.907663 +v -0.277313 -3.568866 -0.063925 +v -1.036507 -2.900649 -0.033332 +v 0.694210 -1.989908 -0.762147 +v -1.127712 -2.415137 -0.883780 +v -1.158174 -1.989908 -0.610660 +v -0.004423 -2.171995 1.241724 +v 0.633467 -2.900649 -0.883780 +v 0.603005 -2.931100 0.937763 +v -1.066970 -1.989908 -0.944721 +v 0.147524 -3.143637 1.059397 +v -1.036507 -1.989908 0.968110 +v 0.663748 -2.627520 0.907417 +v -0.581027 -2.870198 1.211131 +f 192 186 205 +f 149 148 150 +f 149 150 153 +f 150 148 154 +f 157 162 163 +f 161 152 164 +f 152 161 166 +f 150 154 169 +f 154 162 169 +f 162 157 169 +f 160 157 171 +f 157 160 172 +f 169 157 172 +f 165 155 173 +f 170 165 173 +f 164 156 174 +f 161 164 174 +f 158 160 175 +f 162 154 176 +f 163 162 176 +f 163 151 177 +f 156 151 179 +f 149 153 180 +f 156 149 180 +f 174 156 180 +f 153 150 181 +f 167 158 181 +f 152 166 182 +f 168 148 183 +f 156 164 184 +f 155 165 185 +f 165 170 185 +f 170 173 186 +f 158 175 186 +f 175 170 186 +f 160 158 187 +f 158 167 187 +f 157 163 188 +f 171 157 188 +f 163 177 188 +f 176 154 189 +f 163 176 189 +f 164 152 190 +f 152 173 190 +f 173 155 190 +f 159 171 191 +f 177 151 191 +f 151 178 191 +f 185 159 191 +f 178 185 191 +f 171 188 191 +f 188 177 191 +f 153 181 192 +f 181 158 192 +f 158 186 192 +f 147 160 193 +f 170 147 193 +f 171 159 193 +f 160 171 193 +f 159 185 193 +f 185 170 193 +f 160 147 194 +f 147 170 194 +f 175 160 194 +f 170 175 194 +f 154 148 195 +f 148 168 195 +f 168 179 195 +f 172 160 196 +f 160 187 196 +f 196 187 197 +f 181 150 197 +f 167 181 197 +f 187 167 197 +f 150 196 197 +f 161 174 198 +f 180 161 198 +f 174 180 198 +f 151 163 199 +f 179 151 199 +f 189 154 199 +f 163 189 199 +f 154 195 199 +f 195 179 199 +f 151 156 200 +f 178 151 200 +f 184 155 200 +f 156 184 200 +f 155 185 200 +f 185 178 200 +f 150 169 201 +f 169 172 201 +f 196 150 201 +f 172 196 201 +f 155 184 202 +f 184 164 202 +f 164 190 202 +f 190 155 202 +f 166 161 203 +f 180 153 203 +f 161 180 203 +f 182 166 203 +f 153 192 203 +f 192 182 203 +f 148 149 204 +f 149 156 204 +f 156 179 204 +f 179 168 204 +f 183 148 204 +f 168 183 204 +f 173 152 205 +f 152 182 205 +f 186 173 205 +f 182 192 205 +o convex_5 +v -0.338165 -1.989754 1.393603 +v -0.307824 -2.961515 1.241724 +v -0.216867 -2.961515 1.241724 +v -0.277483 -2.566666 3.033409 +v 0.056527 -2.505978 1.241724 +v -0.611493 -2.505978 1.241724 +v -0.065032 -2.505978 2.759815 +v -0.489999 -2.566666 2.699309 +v -0.581087 -1.989754 1.241724 +v -0.034691 -2.141758 1.241724 +v -0.216867 -2.323821 2.790332 +v -0.004285 -2.870294 1.363438 +v -0.247208 -2.748824 2.759815 +v -0.520340 -2.839855 1.424119 +v -0.459659 -2.475635 2.790332 +v -0.429252 -2.718385 2.607936 +v -0.216867 -1.989754 1.272240 +v -0.611493 -2.080976 1.272240 +v 0.056527 -2.718385 1.241724 +v -0.065032 -2.566666 2.759815 +v -0.277483 -2.323821 2.790332 +v -0.034691 -2.232884 1.697537 +v -0.550746 -2.809511 1.241724 +v -0.034691 -2.505978 2.547430 +v -0.095373 -2.354164 2.516914 +f 212 229 230 +f 208 207 210 +f 210 207 211 +f 210 211 214 +f 210 214 215 +f 209 212 216 +f 207 208 218 +f 208 217 218 +f 213 209 220 +f 209 213 221 +f 207 218 221 +f 218 209 221 +f 213 219 221 +f 219 207 221 +f 214 206 222 +f 215 214 222 +f 206 216 222 +f 211 213 223 +f 214 211 223 +f 213 220 223 +f 220 214 223 +f 208 210 224 +f 217 208 224 +f 217 224 225 +f 212 209 225 +f 218 217 225 +f 209 218 225 +f 206 214 226 +f 209 216 226 +f 216 206 226 +f 220 209 226 +f 214 220 226 +f 210 215 227 +f 215 222 227 +f 211 207 228 +f 213 211 228 +f 219 213 228 +f 207 219 228 +f 224 210 229 +f 225 224 229 +f 212 225 229 +f 210 227 229 +f 229 227 230 +f 216 212 230 +f 222 216 230 +f 227 222 230 +o convex_6 +v -2.160407 1.411460 0.300331 +v -2.190784 1.411460 -0.307020 +v -2.190784 1.441828 -0.307020 +v -3.223166 1.411460 0.057355 +v -2.190784 1.715085 0.087734 +v -2.160407 1.198888 -0.033665 +v -3.010427 1.654300 0.087734 +v -3.010427 1.411460 -0.185502 +v -2.160407 1.623932 -0.215882 +v -2.889026 1.441828 0.269951 +v -2.160407 1.684667 0.269951 +v -2.889026 1.259623 0.087734 +v -2.221160 1.259623 0.239572 +v -2.342666 1.259623 -0.215882 +v -2.858649 1.563197 -0.155182 +v -2.919402 1.259623 -0.033665 +v -3.010427 1.654300 0.026975 +v -2.949779 1.532830 0.239572 +f 240 241 248 +f 233 232 238 +f 232 233 239 +f 236 232 239 +f 231 236 239 +f 235 237 241 +f 231 239 241 +f 239 235 241 +f 240 231 241 +f 240 234 242 +f 240 242 243 +f 236 231 243 +f 231 240 243 +f 242 236 243 +f 232 236 244 +f 238 232 244 +f 233 238 245 +f 239 233 245 +f 234 238 246 +f 236 242 246 +f 242 234 246 +f 244 236 246 +f 238 244 246 +f 234 237 247 +f 237 235 247 +f 238 234 247 +f 235 239 247 +f 245 238 247 +f 239 245 247 +f 237 234 248 +f 234 240 248 +f 241 237 248 +o convex_7 +v -2.160303 1.259715 -0.246223 +v -1.401115 1.684569 0.391433 +v -1.401115 1.806075 0.361015 +v -1.401115 1.016807 -0.428490 +v -1.461978 0.986431 0.209166 +v -1.401115 1.714946 -0.276641 +v -2.160303 1.684569 0.269921 +v -2.129835 1.229338 0.239584 +v -1.401115 0.773900 -0.124791 +v -2.160303 1.593440 -0.246223 +v -1.431583 1.836555 -0.064035 +v -1.431583 1.502414 -0.398072 +v -2.129835 1.472038 0.330677 +v -1.431583 0.804172 -0.337316 +v -2.160303 1.380909 -0.306979 +v -2.160303 1.198962 -0.064035 +v -2.160303 1.714946 -0.003360 +v -1.401115 1.502414 0.391433 +v -1.431583 0.773900 -0.094373 +v -1.401115 1.047080 0.239584 +f 267 257 268 +f 251 250 252 +f 251 252 254 +f 252 250 257 +f 249 255 258 +f 251 254 259 +f 254 258 259 +f 254 252 260 +f 258 254 260 +f 250 251 261 +f 251 255 261 +f 255 256 261 +f 252 257 262 +f 249 258 263 +f 260 252 263 +f 258 260 263 +f 262 249 263 +f 252 262 263 +f 255 249 264 +f 256 255 264 +f 249 262 264 +f 255 251 265 +f 258 255 265 +f 259 258 265 +f 251 259 265 +f 257 250 266 +f 250 261 266 +f 253 256 267 +f 262 257 267 +f 256 264 267 +f 264 262 267 +f 256 253 268 +f 261 256 268 +f 257 266 268 +f 266 261 268 +f 253 267 268 +o convex_8 +v -0.307732 2.079422 -1.248586 +v -0.247130 0.621854 -1.460992 +v -0.034641 0.621854 -1.460992 +v -0.277486 1.472041 -3.009731 +v 0.360202 1.259676 -1.248586 +v -0.732931 0.743330 -1.248586 +v -0.732931 1.593371 -1.977526 +v 0.147493 1.441599 -2.736292 +v -0.277486 1.047166 -2.797152 +v 0.147493 1.866911 -1.977526 +v 0.269025 0.621854 -1.248586 +v -0.277486 1.836469 -2.736292 +v -0.641754 1.441599 -2.736292 +v -0.611508 1.988242 -1.248586 +v 0.238670 1.866765 -1.248586 +v -0.581043 1.866911 -2.129072 +v -0.763396 1.654255 -1.248586 +v 0.056426 1.138346 -2.614745 +v -0.156174 2.109863 -1.278930 +v 0.269025 1.441599 -2.098728 +v -0.520331 1.138346 -2.614745 +v -0.489976 0.621854 -1.278930 +v -0.763396 1.502483 -1.886322 +v -0.247130 2.018683 -1.916666 +v 0.026070 1.745289 -2.584401 +v 0.299381 0.682738 -1.278930 +v 0.208314 0.621854 -1.400305 +v -0.641754 1.502483 -2.736292 +v 0.117137 1.380861 -2.797152 +v -0.216775 1.836469 -2.736292 +v -0.702575 0.713034 -1.278930 +v -0.186529 1.988242 -2.068385 +v 0.360202 1.047166 -1.278930 +v 0.147493 1.380861 -2.736292 +v -0.520331 1.775731 -2.523541 +v -0.247130 1.047166 -2.797152 +v -0.216775 1.441599 -3.009731 +v 0.269025 1.502337 -2.038041 +v -0.763396 1.198938 -1.248586 +f 285 291 307 +f 273 269 274 +f 271 270 277 +f 270 271 279 +f 273 274 279 +f 272 277 281 +f 274 269 282 +f 269 273 283 +f 275 282 284 +f 274 282 285 +f 282 275 285 +f 269 283 287 +f 283 278 287 +f 274 281 289 +f 281 277 289 +f 277 270 290 +f 270 279 290 +f 279 274 290 +f 281 274 291 +f 285 275 291 +f 282 269 292 +f 280 284 292 +f 284 282 292 +f 269 287 292 +f 278 276 293 +f 279 271 295 +f 294 279 295 +f 286 294 295 +f 280 272 296 +f 272 281 296 +f 275 284 296 +f 281 291 296 +f 291 275 296 +f 272 280 298 +f 293 276 298 +f 278 293 298 +f 274 289 299 +f 289 277 299 +f 277 290 299 +f 290 274 299 +f 287 278 300 +f 280 292 300 +f 292 287 300 +f 298 280 300 +f 278 298 300 +f 273 279 301 +f 288 273 301 +f 279 294 301 +f 301 294 302 +f 276 288 302 +f 294 286 302 +f 297 276 302 +f 286 297 302 +f 288 301 302 +f 284 280 303 +f 280 296 303 +f 296 284 303 +f 271 277 304 +f 295 271 304 +f 286 295 304 +f 297 286 304 +f 297 304 305 +f 277 272 305 +f 276 297 305 +f 272 298 305 +f 298 276 305 +f 304 277 305 +f 276 278 306 +f 283 273 306 +f 278 283 306 +f 288 276 306 +f 273 288 306 +f 274 285 307 +f 291 274 307 +o convex_9 +v 1.453401 1.715085 0.117971 +v 1.119423 1.077367 0.148356 +v 1.119423 1.168505 -0.215816 +v 1.453401 1.168505 -0.246202 +v 1.453401 1.411395 0.573638 +v 1.119423 1.715085 -0.064003 +v 1.453401 1.654285 -0.549943 +v 1.119423 1.654285 0.239399 +v 1.453401 1.138168 0.178742 +v 1.423027 1.654285 0.543253 +v 1.423027 1.411395 -0.580328 +v 1.119423 1.502471 -0.246202 +v 1.119423 1.441733 0.300283 +v 1.119423 1.077367 0.209014 +f 312 320 321 +f 309 310 311 +f 311 308 312 +f 310 309 313 +f 313 308 314 +f 308 311 314 +f 313 309 315 +f 309 311 316 +f 311 312 316 +f 312 308 317 +f 308 313 317 +f 313 315 317 +f 311 310 318 +f 314 311 318 +f 314 318 319 +f 310 313 319 +f 313 314 319 +f 318 310 319 +f 315 309 320 +f 312 317 320 +f 317 315 320 +f 309 316 321 +f 316 312 321 +f 320 309 321 +o convex_10 +v 1.605348 1.472083 -2.827290 +v 2.121519 1.472083 1.119674 +v 2.121519 1.441700 1.119674 +v 1.544596 1.441700 2.698819 +v 1.757133 1.138159 -1.338963 +v 2.121519 1.684703 -0.154754 +v 1.453499 1.715029 0.086628 +v 1.453499 1.138159 0.178043 +v 2.121519 1.138102 -0.336986 +v 1.848164 1.259632 2.668347 +v 1.969670 1.623882 2.121651 +v 1.939326 1.411431 -2.766347 +v 1.817755 1.654264 -2.311066 +v 1.726723 1.229306 -2.553644 +v 2.000013 1.411431 2.698819 +v 1.574939 1.623882 2.060708 +v 1.453499 1.654264 -0.792865 +v 1.817755 1.472083 2.971868 +v 1.574939 1.381105 -2.614587 +v 1.574939 1.654264 -2.128834 +v 1.787476 1.229306 2.425172 +v 1.969670 1.532847 -2.462229 +v 1.787476 1.472083 -3.070466 +v 1.453499 1.623882 0.906971 +v 2.121519 1.411431 -0.640507 +v 1.453499 1.168541 -0.276641 +v 1.605348 1.320397 2.516587 +v 2.030357 1.259632 1.696842 +v 2.121519 1.654321 0.663796 +v 1.848164 1.259632 -2.523770 +v 1.544596 1.472083 -2.432355 +v 2.000013 1.654321 1.545081 +v 1.848164 1.198923 1.878476 +v 1.969670 1.623882 -2.158708 +v 1.726723 1.623882 2.274009 +v 2.030357 1.472083 2.486115 +v 1.757133 1.411487 3.033409 +v 1.666036 1.259632 -2.614587 +v 2.121519 1.198923 0.360275 +v 1.453499 1.411487 -0.853211 +v 1.726723 1.168541 -1.885659 +v 1.544596 1.715029 -0.063937 +v 1.726723 1.259632 2.607404 +v 2.121519 1.623882 -0.488747 +v 1.544596 1.411487 2.698819 +v 1.726723 1.411487 -3.039994 +v 1.453499 1.472083 0.906971 +v 1.726723 1.502465 -3.009522 +v 1.696380 1.472083 2.910925 +v 1.514252 1.623882 1.757187 +f 328 345 371 +f 323 324 327 +f 329 326 330 +f 327 324 330 +f 329 328 338 +f 338 328 341 +f 343 333 344 +f 328 329 345 +f 327 330 346 +f 330 333 346 +f 333 343 346 +f 329 338 347 +f 331 330 349 +f 336 331 349 +f 323 327 350 +f 333 330 351 +f 322 340 352 +f 341 322 352 +f 338 341 352 +f 340 347 352 +f 350 327 353 +f 332 350 353 +f 329 330 354 +f 330 331 354 +f 342 329 354 +f 331 342 354 +f 334 327 355 +f 344 334 355 +f 343 344 355 +f 328 337 356 +f 339 332 356 +f 353 328 356 +f 332 353 356 +f 324 323 357 +f 339 336 357 +f 332 339 357 +f 323 350 357 +f 350 332 357 +f 331 336 358 +f 336 339 358 +f 347 340 359 +f 330 324 360 +f 349 330 360 +f 336 349 360 +f 324 357 360 +f 357 336 360 +f 347 338 361 +f 338 352 361 +f 352 347 361 +f 326 329 362 +f 330 326 362 +f 329 347 362 +f 351 330 362 +f 335 351 362 +f 359 335 362 +f 347 359 362 +f 327 334 363 +f 334 341 363 +f 341 328 363 +f 353 327 363 +f 328 353 363 +f 329 342 364 +f 342 331 364 +f 348 329 364 +f 331 358 364 +f 327 346 365 +f 346 343 365 +f 355 327 365 +f 343 355 365 +f 325 345 366 +f 329 348 366 +f 358 325 366 +f 348 364 366 +f 364 358 366 +f 340 322 367 +f 344 333 367 +f 333 351 367 +f 351 335 367 +f 359 340 367 +f 335 359 367 +f 345 329 368 +f 366 345 368 +f 329 366 368 +f 322 341 369 +f 341 334 369 +f 334 344 369 +f 367 322 369 +f 344 367 369 +f 337 325 370 +f 356 337 370 +f 339 356 370 +f 325 358 370 +f 358 339 370 +f 325 337 371 +f 337 328 371 +f 345 325 371 +o convex_11 +v 0.390300 1.199194 1.241724 +v -0.793697 1.593395 -1.248414 +v -1.036713 0.621854 -1.066090 +v 0.724355 0.621854 -0.853541 +v 0.572624 2.413348 -0.033570 +v -1.067060 2.018603 0.846851 +v -0.975774 0.621854 1.120094 +v -1.401115 1.866652 -0.064038 +v -0.125833 2.413348 -0.853541 +v 0.876333 0.621854 0.330591 +v 1.119349 1.684602 -0.185425 +v 0.238568 1.896934 -1.248414 +v -0.216625 2.049066 1.241724 +v 0.602970 2.109810 0.846851 +v -0.246971 2.413348 0.785914 +v -1.401115 0.621854 -0.124732 +v 0.299261 0.621854 -1.248414 +v -1.036713 2.079347 -0.914234 +v -0.915082 2.352604 0.026636 +v 0.329854 0.621854 1.241724 +v 1.119349 1.107987 0.239429 +v -1.401115 1.563114 0.421509 +v 0.633316 2.079347 -0.823072 +v -0.884735 1.259757 1.241724 +v -1.401115 1.199013 -0.458668 +v -0.216625 2.109810 -1.248414 +v 1.119349 1.654139 0.269654 +v -0.307910 2.474274 -0.033570 +v -0.672065 0.682598 -1.248414 +v 0.663662 0.621854 0.907545 +v 1.119349 1.107987 -0.215650 +v -0.702411 1.896934 1.241724 +v 0.390300 1.138269 -1.248414 +v -1.127752 0.621854 0.907545 +v 0.208222 1.806090 1.241724 +v -0.733004 0.621854 1.241724 +v 1.119349 1.411526 -0.276587 +v -0.186279 2.443630 -0.792847 +v -1.401115 1.836371 0.330347 +v 0.876333 0.621854 -0.397974 +v -1.401115 0.621854 -0.367749 +v 0.481585 2.443630 0.026636 +v -0.611373 1.988322 -1.248414 +v -1.401115 1.623858 -0.397974 +v 0.420893 1.077706 1.241724 +v -1.401115 1.016781 0.239185 +v -0.702411 2.170372 -1.035621 +v -0.945428 2.322142 -0.154957 +v -1.036713 2.048884 -0.944703 +v 1.119349 1.745346 0.057349 +v 1.119349 1.532833 0.300123 +v 0.663662 2.018422 -0.823072 +v -0.125833 2.383067 0.816139 +v 0.572624 2.413348 0.057105 +v 0.117184 2.474274 0.026636 +v -1.127752 0.682779 -0.944703 +v -0.945428 2.322142 0.117798 +v -1.067060 1.988322 0.876832 +v -1.340176 0.621854 0.239185 +v -0.307910 2.383067 0.816139 +v 0.694009 1.290038 -0.853541 +v 0.724602 2.079347 0.573365 +v -0.155933 2.109810 -1.248414 +v 0.602970 2.018422 0.876832 +f 416 422 435 +f 374 375 378 +f 378 375 381 +f 374 378 387 +f 375 374 388 +f 373 383 388 +f 378 381 391 +f 372 384 391 +f 379 387 393 +f 380 376 394 +f 376 382 394 +f 391 384 395 +f 387 379 396 +f 383 373 397 +f 392 382 398 +f 390 386 399 +f 374 373 400 +f 388 374 400 +f 373 388 400 +f 391 381 401 +f 381 392 401 +f 392 381 402 +f 382 392 402 +f 395 384 403 +f 375 388 404 +f 388 383 404 +f 387 378 405 +f 378 395 405 +f 395 393 405 +f 384 372 406 +f 385 384 406 +f 378 391 407 +f 395 378 407 +f 391 395 407 +f 402 375 408 +f 382 402 408 +f 376 380 409 +f 390 399 409 +f 379 393 410 +f 381 375 411 +f 375 402 411 +f 402 381 411 +f 374 387 412 +f 387 396 412 +f 376 409 413 +f 397 373 414 +f 379 389 415 +f 396 379 415 +f 372 391 416 +f 391 401 416 +f 393 387 417 +f 405 393 417 +f 380 397 418 +f 409 380 418 +f 389 409 418 +f 397 414 418 +f 389 379 419 +f 379 390 419 +f 409 389 419 +f 390 409 419 +f 373 374 420 +f 414 373 420 +f 415 389 420 +f 396 415 420 +f 389 418 420 +f 418 414 420 +f 382 376 421 +f 398 382 421 +f 392 398 422 +f 401 392 422 +f 416 401 422 +f 394 382 423 +f 383 394 423 +f 404 383 423 +f 382 408 423 +f 384 385 424 +f 386 384 424 +f 413 386 424 +f 413 424 425 +f 376 413 425 +f 421 376 425 +f 424 385 425 +f 399 386 426 +f 409 399 426 +f 386 413 426 +f 413 409 426 +f 374 412 427 +f 412 396 427 +f 420 374 427 +f 396 420 427 +f 390 379 428 +f 386 390 428 +f 410 377 428 +f 379 410 428 +f 393 395 429 +f 403 377 429 +f 395 403 429 +f 377 410 429 +f 410 393 429 +f 387 405 430 +f 417 387 430 +f 405 417 430 +f 384 386 431 +f 403 384 431 +f 377 403 431 +f 428 377 431 +f 386 428 431 +f 375 404 432 +f 408 375 432 +f 404 423 432 +f 423 408 432 +f 385 398 433 +f 398 421 433 +f 421 425 433 +f 425 385 433 +f 380 394 434 +f 394 383 434 +f 383 397 434 +f 397 380 434 +f 398 385 435 +f 406 372 435 +f 385 406 435 +f 372 416 435 +f 422 398 435 +o convex_12 +v -0.277486 2.018532 2.001058 +v 0.177956 0.621854 1.241894 +v -0.732928 0.621994 1.241724 +v -0.216935 1.229452 2.851031 +v 0.177956 1.836350 1.241894 +v -0.732928 1.866807 1.241724 +v 0.208293 1.532761 2.729558 +v -0.641789 1.532622 2.699063 +v 0.390570 1.077447 1.241894 +v -0.216935 1.897124 2.729558 +v -0.216935 1.077587 2.759884 +v -0.884866 1.198995 1.272389 +v -0.672127 1.897124 2.031384 +v 0.177956 1.866807 2.031384 +v 0.299432 0.621854 1.272220 +v -0.247148 2.048989 1.241724 +v -0.216935 1.532622 2.972335 +v 0.329769 1.532761 2.001058 +v -0.307949 0.621994 1.454514 +v 0.208293 1.441671 2.729558 +v -0.793728 1.563218 2.001058 +v -0.520313 1.198995 2.577759 +v -0.732928 0.621994 1.302715 +v -0.065121 1.107764 2.699063 +v -0.641789 1.471988 2.699063 +v 0.086817 1.806033 2.547264 +v 0.390570 1.229312 1.241894 +v -0.550776 1.806033 2.516938 +v 0.147618 1.229452 2.577759 +v -0.095334 0.621994 1.454514 +v -0.641789 1.927441 1.970732 +v 0.329769 0.682767 1.272220 +v 0.329769 1.471988 2.061710 +v -0.884866 1.259629 1.241724 +v -0.156135 1.077587 2.759884 +v -0.156135 1.471988 2.972335 +v -0.307949 2.048989 1.241724 +v -0.216935 1.927441 2.638411 +v 0.208293 1.806033 1.332872 +f 453 462 474 +f 437 438 444 +f 438 441 451 +f 444 438 451 +f 436 449 451 +f 449 440 451 +f 442 445 452 +f 445 443 452 +f 449 442 453 +f 437 450 454 +f 443 448 456 +f 448 441 456 +f 446 457 458 +f 438 437 458 +f 447 438 458 +f 437 454 458 +f 454 446 458 +f 446 439 460 +f 439 452 460 +f 452 443 460 +f 456 447 460 +f 443 456 460 +f 457 446 460 +f 458 457 460 +f 447 458 460 +f 445 442 461 +f 442 449 461 +f 444 451 462 +f 451 440 462 +f 443 445 463 +f 448 443 463 +f 450 455 464 +f 459 450 464 +f 455 459 464 +f 446 454 465 +f 454 450 465 +f 441 448 466 +f 437 444 467 +f 450 437 467 +f 455 450 467 +f 455 467 468 +f 453 442 468 +f 442 455 468 +f 444 462 468 +f 462 453 468 +f 467 444 468 +f 441 438 469 +f 438 447 469 +f 456 441 469 +f 447 456 469 +f 439 446 470 +f 450 459 470 +f 459 455 470 +f 446 465 470 +f 465 450 470 +f 452 439 471 +f 442 452 471 +f 455 442 471 +f 439 470 471 +f 470 455 471 +f 451 441 472 +f 436 451 472 +f 466 436 472 +f 441 466 472 +f 449 436 473 +f 445 461 473 +f 461 449 473 +f 463 445 473 +f 448 463 473 +f 436 466 473 +f 466 448 473 +f 440 449 474 +f 449 453 474 +f 462 440 474 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/732/732.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/732/732.urdf new file mode 100644 index 000000000..649e7a668 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/732/732.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/733/733.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/733/733.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/733/733.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/733/733.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/733/733.obj new file mode 100644 index 000000000..789109e5b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/733/733.obj @@ -0,0 +1,558 @@ +o convex_0 +v 1.064008 -2.980445 1.030291 +v -1.027933 -2.017270 -0.596289 +v -1.027933 -2.017270 -0.463566 +v -0.928079 -4.408045 0.100609 +v 1.097292 -4.374761 -0.994664 +v 1.064008 -1.751513 -0.994664 +v -0.961364 -1.751513 1.097069 +v -0.928079 -4.408045 1.097069 +v -0.928079 -4.374761 -0.961588 +v 1.097292 -4.341216 0.930853 +v 1.064008 -1.751513 1.030291 +v -0.994649 -1.751513 -0.961588 +v 0.565986 -1.785058 -1.028157 +v 1.097084 -2.083840 -0.994872 +v 0.997438 -2.382882 1.063784 +v -1.027933 -1.751513 0.731561 +v -0.662634 -4.408045 1.097069 +v 1.097084 -2.482215 1.030499 +v -0.031682 -4.374761 -0.994872 +v -0.961364 -3.876271 -0.928303 +v 1.097292 -4.374761 0.266824 +v -0.131120 -2.415646 1.097069 +v 0.931077 -2.083840 -1.028157 +v -1.027933 -1.751513 -0.895226 +v -0.396773 -4.408045 1.063576 +v -0.961364 -3.743912 0.465908 +v -0.164404 -3.710628 1.097069 +v 0.864716 -4.341216 0.963930 +v -0.994649 -2.316312 0.997215 +v 0.399979 -1.751513 1.063784 +v -1.027933 -1.851367 0.731561 +v 0.632347 -4.374761 0.963930 +v -0.961364 -3.378561 1.097069 +v 0.997438 -2.548785 1.063784 +f 27 28 34 +f 6 7 11 +f 7 6 12 +f 9 12 13 +f 12 6 13 +f 10 5 14 +f 6 11 14 +f 2 3 16 +f 7 12 16 +f 8 4 17 +f 7 8 17 +f 1 10 18 +f 10 14 18 +f 14 11 18 +f 11 15 18 +f 5 4 19 +f 4 9 19 +f 9 13 19 +f 3 2 20 +f 4 8 20 +f 9 4 20 +f 12 9 20 +f 5 10 21 +f 7 17 22 +f 13 6 23 +f 6 14 23 +f 14 5 23 +f 5 19 23 +f 19 13 23 +f 2 16 24 +f 16 12 24 +f 20 2 24 +f 12 20 24 +f 4 5 25 +f 17 4 25 +f 5 21 25 +f 3 20 26 +f 20 8 26 +f 22 17 27 +f 10 1 28 +f 27 17 28 +f 7 16 29 +f 11 7 30 +f 15 11 30 +f 7 22 30 +f 22 15 30 +f 16 3 31 +f 3 26 31 +f 26 8 31 +f 29 16 31 +f 21 10 32 +f 17 25 32 +f 25 21 32 +f 10 28 32 +f 28 17 32 +f 8 7 33 +f 7 29 33 +f 31 8 33 +f 29 31 33 +f 1 18 34 +f 18 15 34 +f 15 22 34 +f 22 27 34 +f 28 1 34 +o convex_1 +v -0.795281 1.768269 -1.094570 +v -1.094334 1.004841 -0.961464 +v -1.094334 1.004841 -0.895122 +v 1.097292 -1.020967 0.133809 +v -1.094334 3.694378 1.030480 +v 0.964285 3.661145 -0.961676 +v 0.997537 3.627913 1.063862 +v -0.961326 -1.020505 1.063862 +v 0.731950 -1.020505 -1.028017 +v -0.961326 3.594680 -1.061188 +v 1.064040 -1.020967 0.997309 +v -1.027830 -1.020505 -0.994846 +v 1.030789 -1.020967 -0.994846 +v -1.061082 -1.020505 0.465941 +v -1.094334 1.901199 -1.094570 +v 1.097292 0.307416 0.565665 +v -0.496442 3.694378 -0.596373 +v 0.499401 3.694378 0.565453 +v 0.798454 -1.020505 1.030480 +v 0.101021 -0.588942 -1.061188 +v 1.030789 2.963260 0.997309 +v 0.599157 3.627451 -0.994635 +v -0.330397 -1.020505 1.063862 +v -1.094334 1.270702 -1.094570 +v 1.030789 -0.323081 -0.994846 +v 0.565905 3.627451 1.063862 +v -0.994578 -1.020505 0.997309 +v -1.061082 3.661145 0.299875 +v -0.961326 -0.190150 1.063862 +v 0.499401 3.694378 -0.596162 +v 1.097292 -0.190150 0.299875 +v -1.061082 -0.688179 -0.563202 +v -0.695739 3.594680 -1.061188 +v 1.064040 1.767807 0.930756 +v -1.094334 3.461750 1.030480 +v -0.994578 3.328819 -1.061188 +v -0.662487 1.071306 -1.094570 +v 0.997537 3.627913 0.366217 +v -0.264107 -1.020505 -1.028017 +v -0.961326 2.465231 -1.094570 +v 0.134273 -0.422779 -1.061188 +v 0.997537 0.474041 -0.994846 +v -1.061082 -0.257077 -1.027806 +v -1.094334 3.661145 0.798072 +v -0.994578 3.627451 -0.629544 +v -0.363649 3.627451 -1.028017 +v 1.097292 -0.921269 0.366217 +v -1.061082 -1.020505 0.100638 +v 0.997537 3.494982 1.063862 +v 0.964285 3.661145 -0.463478 +v 1.097292 0.307416 0.532283 +f 72 68 85 +f 36 37 39 +f 38 45 47 +f 37 36 48 +f 47 45 48 +f 36 39 49 +f 39 41 52 +f 51 39 52 +f 41 45 55 +f 41 42 57 +f 42 45 57 +f 45 53 57 +f 36 49 58 +f 49 35 58 +f 38 47 59 +f 47 43 59 +f 41 39 60 +f 42 41 60 +f 45 42 61 +f 48 45 61 +f 39 42 63 +f 60 39 63 +f 42 60 63 +f 40 51 64 +f 52 40 64 +f 51 52 64 +f 50 38 65 +f 38 59 65 +f 59 40 65 +f 40 56 67 +f 45 50 68 +f 55 45 68 +f 39 37 69 +f 42 39 69 +f 37 48 69 +f 61 42 69 +f 48 61 69 +f 44 49 70 +f 35 56 71 +f 58 35 71 +f 54 58 71 +f 40 41 72 +f 41 55 72 +f 55 68 72 +f 43 47 73 +f 47 46 73 +f 54 43 73 +f 58 54 73 +f 35 49 74 +f 49 44 74 +f 56 35 74 +f 44 67 74 +f 67 56 74 +f 43 54 75 +f 56 43 75 +f 54 71 75 +f 71 56 75 +f 43 56 76 +f 56 40 76 +f 59 43 76 +f 40 59 76 +f 36 58 77 +f 66 36 77 +f 46 66 77 +f 73 46 77 +f 58 73 77 +f 49 39 78 +f 39 62 78 +f 70 49 78 +f 62 70 78 +f 39 51 79 +f 51 44 79 +f 62 39 79 +f 44 70 79 +f 70 62 79 +f 51 40 80 +f 44 51 80 +f 40 67 80 +f 67 44 80 +f 45 38 81 +f 38 50 81 +f 50 45 81 +f 46 47 82 +f 47 48 82 +f 48 36 82 +f 36 66 82 +f 66 46 82 +f 45 41 83 +f 53 45 83 +f 41 57 83 +f 57 53 83 +f 41 40 84 +f 52 41 84 +f 40 52 84 +f 50 65 85 +f 65 40 85 +f 68 50 85 +f 40 72 85 +o convex_2 +v 0.167451 4.956078 -0.629677 +v -0.529707 5.653379 0.598969 +v 0.599193 5.653571 -0.363887 +v 0.499534 3.694378 0.565535 +v -0.496487 3.694378 -0.596243 +v -0.529707 3.694378 0.598969 +v 0.532753 3.760925 -0.596363 +v -0.430048 5.587024 -0.596243 +v 0.499534 5.553847 0.565655 +v 0.599193 5.653571 -0.629677 +v -0.563040 5.620202 0.299986 +v 0.499534 3.694378 -0.596243 +v 0.532753 5.587024 0.499268 +v -0.463381 5.620202 -0.496662 +v -0.031639 3.694378 0.598969 +v -0.563040 4.524772 0.598969 +v 0.599193 5.221689 -0.563170 +v 0.001466 5.620202 -0.629677 +v -0.230844 5.620202 0.598969 +v 0.233776 5.653379 -0.629677 +v -0.496487 4.026728 -0.596243 +v -0.563040 5.653379 0.598969 +v 0.532753 5.487300 0.532461 +v 0.599193 5.587024 -0.330814 +v 0.599193 5.254867 -0.629677 +f 95 102 110 +f 90 89 91 +f 90 86 97 +f 89 90 97 +f 92 89 97 +f 88 87 98 +f 87 91 100 +f 91 89 100 +f 89 94 100 +f 91 87 101 +f 90 91 101 +f 96 90 101 +f 89 92 102 +f 95 88 102 +f 86 90 103 +f 95 86 103 +f 98 87 104 +f 94 98 104 +f 87 100 104 +f 100 94 104 +f 93 99 105 +f 103 93 105 +f 95 103 105 +f 90 96 106 +f 99 93 106 +f 96 99 106 +f 103 90 106 +f 93 103 106 +f 87 88 107 +f 88 95 107 +f 99 96 107 +f 101 87 107 +f 96 101 107 +f 95 105 107 +f 105 99 107 +f 94 89 108 +f 98 94 108 +f 98 108 109 +f 88 98 109 +f 102 88 109 +f 89 102 109 +f 108 89 109 +f 86 95 110 +f 97 86 110 +f 92 97 110 +f 102 92 110 +o convex_3 +v 2.724406 -1.419362 -0.231197 +v 1.396269 -1.054173 0.266896 +v 1.396269 -1.054173 0.200421 +v 1.097292 -1.751513 0.300050 +v 3.089692 -1.286665 0.333316 +v 1.097292 -1.087484 -0.231197 +v 2.724406 -1.718202 -0.197988 +v 1.097292 -1.618680 -0.231197 +v 2.956488 -1.187006 -0.231197 +v 2.956488 -1.618680 0.233631 +v 3.022992 -1.718202 -0.164778 +v 1.097292 -1.120590 0.266896 +v 2.990033 -1.187006 0.333316 +v 3.056147 -1.220249 -0.231197 +v 2.126647 -1.485847 0.333316 +v 1.130837 -1.054173 -0.098303 +v 2.990033 -1.718202 -0.065148 +v 1.628937 -1.718202 0.300050 +v 1.097292 -1.751513 0.233631 +v 1.130837 -1.419362 0.300050 +v 1.562238 -1.651854 -0.231197 +v 3.089692 -1.220249 -0.065148 +v 1.097292 -1.054173 0.233631 +v 1.529278 -1.087484 -0.231197 +f 116 126 134 +f 114 116 118 +f 116 111 118 +f 111 116 119 +f 115 120 121 +f 116 114 122 +f 113 112 123 +f 119 113 123 +f 112 122 123 +f 117 111 124 +f 111 119 124 +f 121 117 124 +f 115 123 125 +f 112 113 126 +f 121 120 127 +f 114 121 127 +f 120 115 128 +f 125 114 128 +f 115 125 128 +f 114 127 128 +f 127 120 128 +f 114 118 129 +f 117 121 129 +f 121 114 129 +f 122 114 130 +f 123 122 130 +f 114 125 130 +f 125 123 130 +f 111 117 131 +f 118 111 131 +f 129 118 131 +f 117 129 131 +f 115 121 132 +f 123 115 132 +f 119 123 132 +f 124 119 132 +f 121 124 132 +f 122 112 133 +f 116 122 133 +f 112 126 133 +f 126 116 133 +f 113 119 134 +f 119 116 134 +f 126 113 134 +o convex_4 +v -2.522096 -1.684999 0.100843 +v -1.061140 -1.020967 0.266876 +v -1.061140 -1.020967 -0.197874 +v -3.020332 -1.120684 -0.065060 +v -1.061140 -1.718238 -0.297533 +v -2.986963 -1.552179 -0.330817 +v -1.061140 -1.651828 0.333316 +v -2.953786 -1.220265 0.300096 +v -2.986963 -1.651828 0.266876 +v -2.754530 -1.087445 -0.197874 +v -1.061140 -1.054274 -0.231158 +v -1.758632 -1.684999 -0.330817 +v -2.986963 -1.452598 -0.330817 +v -2.256485 -1.120684 0.300096 +v -1.061140 -1.386188 0.333316 +v -3.020332 -1.153855 -0.231158 +v -1.061140 -1.718238 -0.065060 +v -1.592746 -1.651828 0.333316 +v -1.459652 -1.651828 -0.330817 +v -2.953786 -1.585418 -0.297533 +v -1.725455 -1.718238 -0.131499 +v -1.426475 -1.684999 0.200437 +v -1.061140 -1.087445 0.300096 +v -1.858356 -1.419359 0.333316 +v -2.920609 -1.187094 0.300096 +v -3.020332 -1.419359 0.067623 +v -2.953786 -1.651828 0.100843 +f 155 135 161 +f 137 136 139 +f 139 136 141 +f 136 137 144 +f 138 136 144 +f 137 139 145 +f 144 137 145 +f 146 140 147 +f 136 138 148 +f 141 136 149 +f 138 144 150 +f 144 145 150 +f 147 140 150 +f 145 147 150 +f 139 141 151 +f 142 143 152 +f 141 149 152 +f 145 139 153 +f 139 146 153 +f 146 147 153 +f 147 145 153 +f 143 140 154 +f 140 146 154 +f 146 139 155 +f 151 135 155 +f 139 151 155 +f 143 135 156 +f 135 151 156 +f 151 141 156 +f 141 152 156 +f 152 143 156 +f 136 148 157 +f 148 149 157 +f 149 136 157 +f 149 148 158 +f 142 152 158 +f 152 149 158 +f 138 142 159 +f 148 138 159 +f 142 158 159 +f 158 148 159 +f 142 138 160 +f 143 142 160 +f 140 143 160 +f 138 150 160 +f 150 140 160 +f 135 143 161 +f 143 154 161 +f 154 146 161 +f 146 155 161 +o convex_5 +v -0.761968 -1.718193 1.097069 +v 0.333517 -1.518985 -1.028157 +v -0.231022 -1.054287 -1.027949 +v 1.063910 -1.021038 0.997215 +v -0.961416 -1.021038 1.063784 +v -1.027758 -1.751513 -0.928303 +v 1.063910 -1.751513 1.030499 +v 1.063910 -1.751513 -0.994873 +v 1.030739 -1.021038 -0.994873 +v -1.027758 -1.021038 -0.994665 +v -1.027758 -1.751513 0.731561 +v -1.061140 -1.021038 0.466116 +v 1.097292 -1.087464 -0.230990 +v -0.961416 -1.751513 1.097069 +v 0.831503 -1.021038 1.030499 +v -1.061140 -1.718193 -0.297351 +v 1.097292 -1.751513 0.299901 +v -0.994587 -1.751513 -0.961380 +v 0.864674 -1.751513 -1.028157 +v 0.731990 -1.021038 -1.028157 +v 1.097292 -1.021038 0.332978 +v -1.061140 -1.021038 -0.197705 +v -0.994587 -1.021038 0.997215 +v -0.330535 -1.021038 1.063784 +v 1.063910 -1.220317 -0.994873 +v -1.061140 -1.651766 0.333186 +v 1.063910 -1.253494 1.030499 +v 1.097292 -1.585411 -0.264274 +v 0.366688 -1.751513 1.063784 +v 0.532753 -1.751513 -1.028157 +v -0.928034 -1.518985 1.097069 +f 188 176 192 +f 168 167 169 +f 166 165 170 +f 166 170 171 +f 167 168 172 +f 166 171 173 +f 172 168 175 +f 165 166 176 +f 171 167 177 +f 167 172 177 +f 168 169 178 +f 169 167 179 +f 171 164 179 +f 167 171 179 +f 169 179 180 +f 163 164 181 +f 164 171 181 +f 171 170 181 +f 180 163 181 +f 170 180 181 +f 170 165 182 +f 174 170 182 +f 168 178 182 +f 178 174 182 +f 173 171 183 +f 171 177 183 +f 177 173 183 +f 166 173 184 +f 173 172 184 +f 175 166 184 +f 172 175 184 +f 176 166 185 +f 170 174 186 +f 180 170 186 +f 169 180 186 +f 172 173 187 +f 177 172 187 +f 173 177 187 +f 165 176 188 +f 182 165 188 +f 168 182 188 +f 178 169 189 +f 174 178 189 +f 169 186 189 +f 186 174 189 +f 162 175 190 +f 175 168 190 +f 188 162 190 +f 168 188 190 +f 164 163 191 +f 179 164 191 +f 163 180 191 +f 180 179 191 +f 175 162 192 +f 166 175 192 +f 185 166 192 +f 176 185 192 +f 162 188 192 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/733/733.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/733/733.urdf new file mode 100644 index 000000000..e3083e001 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/733/733.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/734/734.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/734/734.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/734/734.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/734/734.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/734/734.obj new file mode 100644 index 000000000..cae3361c4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/734/734.obj @@ -0,0 +1,609 @@ +o convex_0 +v 0.734650 0.341792 0.059653 +v -1.772804 -0.583822 0.005291 +v -1.772804 -0.583822 0.086930 +v -0.573565 2.985983 -0.049071 +v -0.464588 -0.147721 -0.975912 +v -0.301123 -2.219054 0.768278 +v -0.573565 2.276953 0.741001 +v -0.410100 -2.246640 -0.730419 +v -1.254918 1.977023 -0.675865 +v 0.244008 2.004610 -0.676057 +v -1.336650 1.949437 0.659170 +v 0.271252 -1.973710 -0.676057 +v 0.216764 1.977023 0.686447 +v -1.254918 -1.946711 -0.648588 +v -1.254918 -2.001297 0.659170 +v 0.271252 -2.055882 0.741001 +v -0.492078 -3.010257 0.005291 +v -0.655298 0.014863 0.986494 +v -1.772804 0.614135 -0.239818 +v 0.244008 0.041862 0.931940 +v 0.216764 2.685467 0.005291 +v 0.271252 -2.682154 0.005291 +v 0.271252 0.041862 -0.894081 +v -1.282162 2.630881 0.032376 +v -1.254918 -0.093135 -0.866612 +v -1.227673 -2.628155 -0.049071 +v -1.309406 -0.012137 0.877386 +v 0.734650 -0.202307 -0.267095 +v -0.519077 2.222367 -0.757696 +v 0.734650 0.014276 0.332231 +v -1.772804 0.069449 0.332231 +v 0.543695 -1.265266 0.522977 +v -1.772804 -0.066136 -0.294372 +v 0.489206 1.323165 0.495701 +v -1.772804 0.777893 0.032376 +v -0.573565 -2.246640 0.768278 +v 0.516451 -1.701954 0.005291 +v 0.516451 0.041862 0.686447 +v -0.519077 0.124035 -0.975912 +v 0.489206 1.650094 -0.021794 +v -1.145695 -2.028296 -0.675865 +v 0.734650 0.068862 -0.267095 +v -0.355611 -0.038549 0.986494 +v -0.546321 2.985983 0.032376 +v -1.772804 -0.393065 0.304954 +v -1.282162 2.630881 -0.049071 +v -1.254918 -2.519570 0.114207 +v 0.734650 -0.311479 0.250400 +v -1.200429 0.014863 -0.894081 +v 0.489206 -1.238267 -0.512395 +v 0.271252 -2.682154 0.086930 +v 0.216764 2.058609 0.659170 +v -0.519077 -2.982670 0.059653 +v -1.772804 -0.420651 -0.212541 +v -1.282162 1.922437 0.686447 +v 0.216764 2.685467 -0.049071 +v 0.434718 0.041862 -0.703142 +v -0.464588 2.221780 -0.757696 +v -0.573565 -2.219640 -0.730419 +v -1.772804 0.559549 0.250400 +v -0.410100 -2.982083 0.059653 +v 0.380229 1.567922 -0.566949 +v -1.282162 2.031609 0.659170 +v -1.772804 0.232620 -0.294372 +f 25 33 64 +f 8 5 12 +f 2 3 19 +f 13 7 20 +f 8 12 22 +f 17 8 22 +f 12 5 23 +f 3 2 26 +f 9 4 29 +f 28 1 30 +f 19 3 31 +f 27 11 31 +f 2 19 33 +f 25 14 33 +f 30 1 34 +f 11 24 35 +f 19 31 35 +f 27 15 36 +f 18 27 36 +f 22 12 37 +f 13 20 38 +f 20 16 38 +f 16 32 38 +f 32 30 38 +f 34 13 38 +f 30 34 38 +f 23 5 39 +f 34 1 40 +f 21 34 40 +f 14 25 41 +f 26 14 41 +f 17 26 41 +f 1 28 42 +f 40 1 42 +f 6 16 43 +f 7 18 43 +f 20 7 43 +f 16 20 43 +f 36 6 43 +f 18 36 43 +f 4 24 44 +f 15 27 45 +f 31 3 45 +f 27 31 45 +f 4 9 46 +f 9 19 46 +f 24 4 46 +f 35 24 46 +f 19 35 46 +f 3 26 47 +f 45 3 47 +f 15 45 47 +f 28 30 48 +f 30 32 48 +f 37 28 48 +f 32 37 48 +f 25 9 49 +f 9 29 49 +f 39 5 49 +f 29 39 49 +f 5 41 49 +f 41 25 49 +f 12 23 50 +f 37 12 50 +f 28 37 50 +f 32 16 51 +f 22 37 51 +f 37 32 51 +f 7 13 52 +f 13 34 52 +f 34 21 52 +f 21 44 52 +f 44 7 52 +f 26 17 53 +f 36 15 53 +f 47 26 53 +f 15 47 53 +f 26 2 54 +f 14 26 54 +f 2 33 54 +f 33 14 54 +f 18 7 55 +f 11 27 55 +f 27 18 55 +f 40 10 56 +f 21 40 56 +f 4 44 56 +f 44 21 56 +f 23 10 57 +f 42 28 57 +f 50 23 57 +f 28 50 57 +f 10 23 58 +f 29 4 58 +f 23 39 58 +f 39 29 58 +f 4 56 58 +f 56 10 58 +f 5 8 59 +f 8 17 59 +f 41 5 59 +f 17 41 59 +f 31 11 60 +f 11 35 60 +f 35 31 60 +f 16 6 61 +f 17 22 61 +f 6 36 61 +f 51 16 61 +f 22 51 61 +f 53 17 61 +f 36 53 61 +f 10 40 62 +f 40 42 62 +f 57 10 62 +f 42 57 62 +f 24 11 63 +f 7 44 63 +f 44 24 63 +f 55 7 63 +f 11 55 63 +f 19 9 64 +f 9 25 64 +f 33 19 64 +o convex_1 +v 1.988346 1.813286 -0.049049 +v 0.734853 -0.311228 -0.049151 +v 0.734853 -0.311228 0.087005 +v 1.933922 -2.655480 -0.049049 +v 1.688612 0.015119 0.523148 +v 1.034587 2.059083 -0.348936 +v 1.034587 2.085736 0.386790 +v 1.906576 -2.028846 -0.430751 +v 1.143569 -2.028846 0.414062 +v 1.143569 -2.028846 -0.376208 +v 1.879364 0.150751 -0.512566 +v 1.879364 2.685718 0.005291 +v 2.070116 -1.238150 0.277703 +v 1.906576 2.058491 0.332247 +v 2.097461 0.069609 -0.348936 +v 1.089011 -0.202249 -0.485294 +v 1.852018 2.004593 -0.376208 +v 1.416090 3.040494 -0.021879 +v 1.170914 -2.682725 0.005291 +v 1.715824 -2.137825 0.414062 +v 1.061799 -0.093269 0.523148 +v 0.734853 0.124099 -0.267223 +v 1.007241 2.685718 0.059733 +v 0.734853 0.096854 0.305076 +v 1.525072 -3.010257 -0.021879 +v 2.097461 0.041772 0.277703 +v 1.497727 2.331533 0.386790 +v 1.933922 -0.202249 0.468605 +v 1.416090 2.303696 -0.376208 +v 1.525072 -2.246213 -0.430751 +v 2.070116 -1.620171 -0.076321 +v 1.933922 -2.028846 0.359518 +v 1.252684 0.041772 -0.512566 +v 1.525072 -2.164478 0.441333 +v 1.061799 0.750733 0.495775 +v 1.579630 -3.010257 0.032461 +v 2.042904 -1.292639 -0.376208 +v 0.734853 -0.147759 -0.267223 +v 2.042904 1.186652 0.223262 +v 0.734853 -0.256739 0.250432 +v 1.470515 3.040494 0.032461 +v 1.470515 -0.529188 -0.512566 +v 0.734853 0.396548 0.059733 +v 1.470515 2.167471 0.414062 +v 1.007241 2.657880 -0.021879 +v 1.143569 -2.600398 0.059733 +v 1.933922 0.205241 0.468605 +v 1.525072 0.450446 0.523148 +v 1.061799 0.586671 -0.457921 +v 2.097461 -1.101925 -0.103593 +v 1.443169 0.396548 -0.512566 +v 2.097461 0.341466 -0.294393 +v 1.552285 -0.501943 0.523148 +v 1.961134 1.431857 -0.348936 +v 1.089011 -0.365718 0.523148 +v 1.416090 2.031246 -0.403479 +v 0.980029 1.813879 0.386790 +v 1.988346 0.096261 -0.458023 +v 1.879364 2.657880 -0.049151 +v 1.933922 -2.655480 0.005291 +v 1.525072 -2.300703 0.414062 +v 1.143569 -2.410275 -0.158237 +v 1.143569 -2.383030 0.223262 +v 1.879364 -0.229494 -0.512566 +f 122 101 128 +f 66 67 86 +f 86 67 88 +f 72 68 89 +f 77 90 92 +f 70 82 93 +f 82 81 93 +f 74 80 94 +f 72 89 94 +f 89 74 94 +f 92 84 96 +f 77 92 96 +f 88 85 99 +f 89 68 100 +f 83 89 100 +f 96 84 100 +f 68 72 101 +f 95 68 101 +f 80 74 102 +f 66 86 102 +f 86 80 102 +f 65 76 103 +f 76 78 103 +f 78 90 103 +f 88 67 104 +f 73 88 104 +f 78 76 105 +f 87 71 105 +f 82 87 105 +f 91 78 105 +f 71 91 105 +f 72 94 106 +f 94 80 106 +f 80 97 106 +f 97 75 106 +f 86 88 107 +f 88 87 107 +f 78 91 108 +f 91 71 108 +f 71 99 108 +f 82 70 109 +f 70 86 109 +f 87 82 109 +f 86 107 109 +f 107 87 109 +f 67 66 110 +f 83 100 110 +f 66 102 110 +f 104 67 110 +f 90 78 111 +f 69 92 111 +f 92 90 111 +f 78 108 111 +f 111 108 112 +f 85 69 112 +f 99 85 112 +f 108 99 112 +f 69 111 112 +f 86 70 113 +f 80 86 113 +f 97 80 113 +f 90 77 114 +f 79 90 114 +f 77 95 114 +f 101 79 114 +f 95 101 114 +f 75 97 115 +f 97 113 115 +f 90 79 116 +f 65 103 116 +f 103 90 116 +f 69 85 117 +f 92 69 117 +f 84 92 117 +f 98 84 117 +f 65 116 118 +f 116 79 118 +f 88 73 119 +f 85 88 119 +f 73 98 119 +f 117 85 119 +f 98 117 119 +f 81 75 120 +f 70 93 120 +f 93 81 120 +f 113 70 120 +f 75 115 120 +f 115 113 120 +f 71 87 121 +f 87 88 121 +f 99 71 121 +f 88 99 121 +f 75 81 122 +f 79 101 122 +f 118 79 122 +f 81 118 122 +f 76 65 123 +f 81 82 123 +f 105 76 123 +f 82 105 123 +f 65 118 123 +f 118 81 123 +f 68 95 124 +f 95 77 124 +f 77 96 124 +f 100 68 124 +f 96 100 124 +f 84 98 125 +f 98 73 125 +f 100 84 125 +f 74 89 126 +f 89 83 126 +f 102 74 126 +f 83 110 126 +f 110 102 126 +f 73 104 127 +f 110 100 127 +f 104 110 127 +f 125 73 127 +f 100 125 127 +f 101 72 128 +f 72 106 128 +f 106 75 128 +f 75 122 128 +o convex_2 +v 2.124728 -0.366356 -0.321747 +v 2.124728 0.178549 0.223336 +v 2.097461 0.178549 0.223336 +v 2.097461 -0.584401 0.168822 +v 2.479040 -0.121055 0.005280 +v 2.097461 0.287571 -0.294518 +v 2.424508 0.042271 0.168822 +v 2.424508 -0.039496 -0.239948 +v 2.124728 0.423850 0.005280 +v 2.124728 -0.638912 -0.103635 +v 2.424508 0.124038 -0.049234 +v 2.451774 -0.230078 -0.103635 +v 2.097461 -0.475379 -0.294518 +v 2.179298 -0.039496 -0.349032 +v 2.397204 -0.039496 0.196051 +v 2.097461 0.342083 0.196051 +v 2.124728 -0.611657 0.141537 +v 2.370013 -0.230078 -0.239948 +v 2.206489 -0.121055 0.223336 +v 2.124728 0.314827 -0.267177 +v 2.451774 -0.230078 -0.022005 +v 2.397204 0.151293 0.059794 +v 2.479040 0.015015 -0.049234 +v 2.424508 -0.148311 0.114308 +v 2.097461 0.042271 -0.349032 +v 2.342746 -0.066752 -0.294518 +v 2.124728 0.423850 -0.076406 +f 139 148 155 +f 132 131 134 +f 132 134 141 +f 138 132 141 +f 143 135 144 +f 131 130 144 +f 134 131 144 +f 130 143 144 +f 132 138 145 +f 143 132 145 +f 136 140 146 +f 140 138 146 +f 138 141 146 +f 141 129 146 +f 130 131 147 +f 131 132 147 +f 143 130 147 +f 132 143 147 +f 136 134 148 +f 139 136 148 +f 140 133 149 +f 138 140 149 +f 145 138 149 +f 139 137 150 +f 144 135 150 +f 137 144 150 +f 135 133 151 +f 136 139 151 +f 133 140 151 +f 140 136 151 +f 150 135 151 +f 139 150 151 +f 133 135 152 +f 135 143 152 +f 143 145 152 +f 149 133 152 +f 145 149 152 +f 141 134 153 +f 129 141 153 +f 142 129 153 +f 134 142 153 +f 134 136 154 +f 129 142 154 +f 142 134 154 +f 136 146 154 +f 146 129 154 +f 137 139 155 +f 134 144 155 +f 144 137 155 +f 148 134 155 +o convex_3 +v -2.563367 -0.230152 -0.103675 +v -2.536093 0.314931 0.059784 +v -2.536093 0.314931 -0.021901 +v -3.517104 0.069590 0.005358 +v -2.536093 -0.148410 0.223334 +v -3.271731 0.015132 -0.212754 +v -3.244553 -0.175638 0.005358 +v -3.271731 0.096875 0.196075 +v -2.536093 0.096875 -0.212754 +v -3.299005 0.260417 -0.021901 +v -2.536093 0.151389 0.223334 +v -2.699643 0.233132 -0.158237 +v -2.808644 -0.175638 -0.185496 +v -2.726917 0.260417 0.168817 +v -2.536093 -0.257437 0.032525 +v -2.917645 -0.148410 0.168817 +v -2.536093 -0.121125 -0.212754 +v -3.244553 -0.175638 -0.049159 +v -3.299005 0.260417 0.032525 +v -3.271731 0.042361 0.196075 +v -2.617916 0.069590 0.250592 +v -3.517104 0.015132 -0.049159 +v -3.462555 0.015132 0.059784 +v -3.162730 0.151389 -0.158237 +v -3.271731 -0.012097 -0.212754 +v -2.699643 -0.175638 0.196075 +f 175 171 181 +f 158 157 160 +f 158 160 164 +f 157 158 165 +f 160 157 166 +f 158 164 167 +f 164 161 167 +f 165 158 167 +f 166 157 169 +f 164 160 170 +f 161 164 172 +f 156 168 172 +f 170 156 172 +f 164 170 172 +f 168 156 173 +f 156 170 173 +f 170 162 173 +f 159 163 174 +f 157 165 174 +f 165 159 174 +f 169 157 174 +f 163 169 174 +f 162 171 175 +f 160 166 176 +f 169 163 176 +f 166 169 176 +f 175 160 176 +f 163 175 176 +f 165 161 177 +f 159 165 177 +f 173 162 177 +f 163 159 178 +f 162 175 178 +f 175 163 178 +f 159 177 178 +f 177 162 178 +f 161 165 179 +f 167 161 179 +f 165 167 179 +f 161 172 180 +f 172 168 180 +f 168 173 180 +f 177 161 180 +f 173 177 180 +f 162 170 181 +f 170 160 181 +f 171 162 181 +f 160 175 181 +o convex_4 +v -1.827441 0.450990 0.250501 +v -2.535848 -0.257355 -0.021949 +v -1.800178 -0.584505 0.005296 +v -1.772839 0.478326 -0.239970 +v -2.535848 0.069419 0.250501 +v -1.772839 -0.475413 0.277807 +v -2.508659 0.042460 -0.239970 +v -2.535848 0.342024 0.005296 +v -1.772839 -0.420867 -0.212725 +v -1.772839 0.696510 0.032480 +v -1.772839 0.069419 0.332359 +v -2.535848 -0.202809 0.196011 +v -1.772839 0.015124 -0.294521 +v -2.535848 -0.202809 -0.185480 +v -2.508659 0.287603 0.168705 +v -2.535848 0.260268 -0.158235 +v -1.800178 0.696510 -0.021949 +v -1.800178 0.560208 -0.212725 +v -2.127267 -0.257355 0.277807 +v -2.072739 -0.339111 -0.212725 +v -1.800178 -0.584505 0.059725 +v -1.881968 -0.012086 0.332359 +v -2.045476 0.423780 0.223256 +v -1.772839 0.505536 0.223256 +v -1.800178 0.696510 0.032480 +v -2.535848 -0.175598 0.223256 +v -1.827441 0.069419 -0.294521 +f 194 188 208 +f 183 186 189 +f 187 184 190 +f 185 187 190 +f 187 185 191 +f 182 186 192 +f 187 191 192 +f 186 183 193 +f 185 190 194 +f 184 183 195 +f 183 189 195 +f 189 186 196 +f 195 189 197 +f 188 195 197 +f 197 189 198 +f 197 198 199 +f 185 188 199 +f 191 185 199 +f 188 197 199 +f 198 191 199 +f 190 184 201 +f 188 194 201 +f 194 190 201 +f 184 195 201 +f 195 188 201 +f 183 184 202 +f 184 187 202 +f 193 183 202 +f 187 193 202 +f 192 186 203 +f 187 192 203 +f 186 200 203 +f 200 187 203 +f 186 182 204 +f 196 186 204 +f 182 192 205 +f 192 191 205 +f 204 182 205 +f 204 205 206 +f 189 196 206 +f 191 198 206 +f 198 189 206 +f 196 204 206 +f 205 191 206 +f 186 193 207 +f 193 187 207 +f 200 186 207 +f 187 200 207 +f 188 185 208 +f 185 194 208 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/734/734.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/734/734.urdf new file mode 100644 index 000000000..50c8f57e2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/734/734.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/735/735.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/735/735.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/735/735.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/735/735.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/735/735.obj new file mode 100644 index 000000000..c2164ae2f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/735/735.obj @@ -0,0 +1,384 @@ +o convex_0 +v -2.295653 -2.493844 -1.114356 +v 1.368207 0.105562 1.012701 +v 1.368207 0.027066 1.052223 +v -2.807743 0.105562 1.012701 +v -0.995414 -2.887830 1.091745 +v 1.368207 0.105562 -0.956701 +v 1.368207 -2.927229 -1.075050 +v -2.689727 0.105562 -1.035528 +v -2.847357 -2.887830 1.012701 +v 1.368207 -2.887830 1.052223 +v -2.650114 -2.966628 -1.114356 +v -2.847357 -2.257452 -0.562777 +v 0.028354 0.105562 -1.035744 +v -2.807743 -0.012333 1.052223 +v -2.650114 -2.966628 -0.602299 +v -0.877398 -2.769634 -1.114572 +v -0.247291 -2.375648 1.091745 +v 1.328593 -2.415047 -1.075050 +v -2.807743 -1.824068 1.052223 +v -2.807743 0.105562 0.579471 +v 1.368207 -2.927229 -0.326293 +v 1.170964 0.105562 -0.996222 +v -2.689727 -2.887830 -1.075050 +v -2.728928 0.105562 -0.720433 +v -2.847357 -2.415047 1.012701 +v -2.768542 -2.927229 0.303466 +v -2.847357 -2.336250 -0.562777 +v -2.334854 -2.966628 -1.114356 +v -2.847357 -2.887830 0.855261 +v -2.098409 -2.887830 1.052223 +v -0.326106 -2.888131 1.091745 +v -2.650114 -2.612040 -1.114356 +v -2.689727 -2.966628 -0.917395 +f 29 27 33 +f 3 2 4 +f 2 3 6 +f 4 2 6 +f 6 3 7 +f 4 6 8 +f 7 3 10 +f 1 8 13 +f 8 6 13 +f 3 4 14 +f 1 13 16 +f 10 3 17 +f 3 14 17 +f 14 5 17 +f 6 7 18 +f 7 16 18 +f 16 13 18 +f 5 14 19 +f 14 9 19 +f 4 8 20 +f 12 4 20 +f 7 10 21 +f 10 15 21 +f 13 6 22 +f 6 18 22 +f 18 13 22 +f 12 8 23 +f 8 12 24 +f 20 8 24 +f 12 20 24 +f 12 9 25 +f 4 12 25 +f 14 4 25 +f 9 14 25 +f 15 10 26 +f 9 12 27 +f 12 23 27 +f 15 11 28 +f 16 7 28 +f 11 16 28 +f 7 21 28 +f 21 15 28 +f 26 9 29 +f 9 27 29 +f 5 19 30 +f 19 9 30 +f 26 5 30 +f 9 26 30 +f 10 17 31 +f 17 5 31 +f 5 26 31 +f 26 10 31 +f 8 1 32 +f 16 11 32 +f 1 16 32 +f 23 8 32 +f 11 23 32 +f 11 15 33 +f 23 11 33 +f 15 26 33 +f 27 23 33 +f 26 29 33 +o convex_1 +v -2.728928 1.288112 -1.074908 +v 1.328593 3.258037 1.052346 +v 1.328593 2.233429 1.052346 +v -2.847357 0.421468 1.012894 +v 1.368207 0.106156 -0.956762 +v -2.807743 3.179055 -0.996215 +v 1.210577 3.258037 -1.114572 +v -2.807743 3.258037 1.012894 +v 1.368207 0.106156 1.012894 +v -2.689727 0.106156 -1.035455 +v -2.807743 0.106156 1.012894 +v -0.601752 0.500141 -1.075119 +v -2.689727 1.406585 -1.114572 +v 1.368207 1.130764 -0.996215 +v -1.271472 3.258037 -1.035455 +v 1.249779 2.903235 -1.114572 +v 1.170964 0.106156 -0.996215 +v -2.532098 0.894126 -1.114572 +v -2.847357 1.878935 0.185452 +v 1.368207 1.839135 1.012894 +v -2.728928 0.106156 -0.720471 +v 1.249779 3.258037 -1.035667 +v 0.776889 3.258037 -1.114572 +v 0.737688 2.666905 1.052346 +v -2.768542 2.745579 -1.035455 +v -2.847357 1.997100 1.012894 +v 1.328593 3.258037 0.776391 +v -2.689727 0.303303 -1.074908 +v 0.067968 0.106156 -1.035667 +v -2.807743 3.218546 -0.405063 +v -2.807743 2.903235 -0.996215 +v 0.501244 2.351285 -1.114572 +v -2.807743 3.258037 0.736938 +v -2.847357 0.460959 0.933989 +v -2.807743 0.106156 0.539888 +v -1.901578 1.091582 -1.114572 +v 1.368207 0.618614 -0.996215 +v -2.256452 3.218546 -0.996215 +v 0.855704 3.179055 1.052346 +f 41 57 72 +f 35 40 41 +f 35 36 42 +f 38 42 43 +f 42 36 44 +f 43 42 44 +f 42 38 47 +f 41 40 48 +f 46 40 49 +f 38 43 50 +f 46 49 51 +f 35 42 53 +f 42 47 53 +f 43 44 54 +f 40 35 55 +f 49 40 55 +f 47 49 55 +f 40 46 56 +f 39 48 56 +f 48 40 56 +f 36 35 57 +f 44 36 57 +f 37 44 57 +f 46 39 58 +f 39 56 58 +f 56 46 58 +f 39 52 59 +f 52 37 59 +f 57 41 59 +f 37 57 59 +f 35 53 60 +f 53 47 60 +f 55 35 60 +f 47 55 60 +f 43 34 61 +f 34 46 61 +f 51 45 61 +f 46 51 61 +f 45 49 62 +f 50 43 62 +f 49 50 62 +f 43 61 62 +f 61 45 62 +f 39 59 63 +f 34 43 64 +f 46 34 64 +f 39 46 64 +f 52 39 64 +f 43 54 64 +f 49 45 65 +f 51 49 65 +f 41 48 66 +f 59 41 66 +f 48 63 66 +f 63 59 66 +f 37 52 67 +f 52 64 67 +f 64 54 67 +f 44 37 68 +f 54 44 68 +f 37 67 68 +f 67 54 68 +f 45 51 69 +f 65 45 69 +f 51 65 69 +f 47 38 70 +f 49 47 70 +f 38 50 70 +f 50 49 70 +f 48 39 71 +f 39 63 71 +f 63 48 71 +f 35 41 72 +f 57 35 72 +o convex_2 +v 1.486611 -2.415179 0.421870 +v 3.298484 -1.233513 0.461237 +v 3.298484 -1.233513 0.421870 +v 3.377543 -2.454747 0.421870 +v 1.368612 -1.430517 -0.562993 +v 3.259151 -2.336401 -0.484146 +v 1.368612 -1.391188 0.540084 +v 3.377543 -1.312410 -0.484146 +v 1.368612 -2.296953 -0.562993 +v 3.377543 -2.454747 0.579564 +v 1.368612 -2.375731 0.500717 +v 3.062093 -2.336401 -0.523513 +v 1.683669 -1.391188 -0.562993 +v 1.604806 -1.351740 0.540084 +v 3.377543 -2.296953 0.579564 +v 2.471115 -2.336401 -0.523513 +v 2.077589 -1.351740 0.540084 +v 1.368612 -1.785077 0.540084 +v 1.368612 -1.391188 -0.168981 +v 3.101426 -2.454747 0.579564 +v 1.998923 -2.296953 -0.562993 +v 3.062093 -1.312410 -0.484146 +v 3.259151 -2.454747 0.382502 +v 1.447278 -2.336401 -0.326563 +v 3.337817 -1.272962 0.185440 +v 1.801865 -1.391188 -0.562993 +v 2.825701 -1.272962 0.500717 +v 3.298484 -2.375731 -0.247716 +v 2.786369 -1.272962 0.224808 +v 3.377543 -1.391188 -0.484146 +f 100 78 102 +f 75 74 80 +f 79 77 81 +f 76 80 82 +f 81 73 83 +f 79 81 83 +f 81 77 85 +f 74 75 86 +f 82 80 87 +f 86 79 87 +f 81 84 88 +f 86 87 89 +f 79 83 90 +f 77 79 91 +f 85 77 91 +f 79 86 91 +f 76 82 92 +f 83 73 92 +f 87 79 92 +f 82 87 92 +f 79 90 92 +f 90 83 92 +f 84 81 93 +f 81 85 93 +f 75 80 94 +f 80 85 94 +f 92 73 95 +f 76 92 95 +f 73 81 96 +f 81 88 96 +f 95 73 96 +f 88 95 96 +f 80 74 97 +f 74 87 97 +f 87 80 97 +f 80 84 98 +f 85 80 98 +f 84 93 98 +f 93 85 98 +f 74 86 99 +f 87 74 99 +f 86 89 99 +f 89 87 99 +f 84 78 100 +f 88 84 100 +f 76 95 100 +f 95 88 100 +f 86 75 101 +f 85 91 101 +f 91 86 101 +f 75 94 101 +f 94 85 101 +f 80 76 102 +f 78 84 102 +f 84 80 102 +f 76 100 102 +o convex_3 +v 1.407714 -0.957604 -0.838559 +v 3.219756 1.169650 1.091745 +v 3.259251 1.169650 0.303713 +v 3.298746 -0.957604 1.091745 +v 1.368408 1.209314 1.012817 +v 3.259251 1.169650 -0.956847 +v 3.298746 -0.800006 -1.035775 +v 1.368408 1.130409 -0.996207 +v 1.368408 -0.917939 1.052176 +v 1.368408 -0.917939 -0.956847 +v 3.298746 0.657404 -0.917487 +v 2.195534 -0.957604 1.091745 +v 3.022848 -0.839246 -1.035775 +v 1.368408 1.169650 -0.720271 +v 2.077427 1.209314 1.052176 +v 1.604810 -0.917939 -0.996207 +v 3.298746 -0.957604 0.737089 +v 1.368408 0.066889 1.052176 +v 1.368408 1.209314 0.382433 +v 2.550043 1.209314 0.973457 +v 3.298746 -0.484810 -1.035775 +v 3.259251 0.499806 1.091745 +v 2.235029 1.169650 -0.956847 +v 2.825941 -0.760341 -1.035775 +v 3.062154 1.130409 1.091745 +v 1.368408 -0.957604 -0.484111 +v 3.298746 -0.800006 1.052176 +v 1.565315 1.130409 -0.996207 +v 3.140955 -0.839246 -0.956847 +v 1.368408 0.697068 -0.996207 +f 126 118 132 +f 107 110 111 +f 111 110 112 +f 108 105 113 +f 106 109 113 +f 106 104 114 +f 103 106 114 +f 110 107 116 +f 103 112 118 +f 115 103 118 +f 106 103 119 +f 109 106 119 +f 107 111 120 +f 111 114 120 +f 117 107 120 +f 116 107 121 +f 107 117 121 +f 121 117 122 +f 104 105 122 +f 105 108 122 +f 117 104 122 +f 108 121 122 +f 108 113 123 +f 113 109 123 +f 109 115 123 +f 105 104 124 +f 104 106 124 +f 108 110 125 +f 110 116 125 +f 116 121 125 +f 121 108 125 +f 115 118 126 +f 110 123 126 +f 123 115 126 +f 114 104 127 +f 104 117 127 +f 120 114 127 +f 117 120 127 +f 112 103 128 +f 111 112 128 +f 103 114 128 +f 114 111 128 +f 113 105 129 +f 106 113 129 +f 105 124 129 +f 124 106 129 +f 110 108 130 +f 108 123 130 +f 123 110 130 +f 103 115 131 +f 115 109 131 +f 119 103 131 +f 109 119 131 +f 112 110 132 +f 118 112 132 +f 110 126 132 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/735/735.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/735/735.urdf new file mode 100644 index 000000000..8f0a66f33 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/735/735.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/736/736.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/736/736.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/736/736.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/736/736.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/736/736.obj new file mode 100644 index 000000000..3ddd5ec6d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/736/736.obj @@ -0,0 +1,837 @@ +o convex_0 +v -0.210485 -5.015450 -0.323518 +v 0.138205 -3.241755 0.548741 +v 0.225486 -3.241755 0.519658 +v -0.007046 -3.241755 -0.585262 +v 0.487219 -4.782801 -0.032691 +v -0.530406 -3.241755 0.083418 +v -0.094219 -4.957114 0.374245 +v 0.574500 -3.241928 -0.061774 +v 0.429032 -4.753459 0.403216 +v 0.341752 -4.724638 -0.381683 +v -0.326751 -4.724638 0.345162 +v -0.355844 -4.782801 -0.381683 +v -0.414031 -3.241755 0.461493 +v -0.414031 -3.241755 -0.410766 +v 0.400047 -3.241928 -0.439848 +v 0.400047 -5.015450 -0.003830 +v 0.022047 -4.724638 0.490575 +v 0.487219 -3.241928 0.403216 +v -0.443125 -4.782801 -0.003830 +v -0.007046 -4.782801 -0.498014 +v 0.341752 -5.015450 0.345162 +v 0.283565 -4.986109 -0.323518 +v -0.530406 -3.387248 -0.061774 +v -0.355844 -4.986109 0.025252 +v 0.574500 -3.445584 0.025252 +v -0.094219 -3.271096 0.548741 +v -0.355844 -3.271096 -0.468931 +v -0.065125 -4.753633 -0.498014 +v -0.472110 -4.520809 -0.003830 +v 0.487219 -4.753459 0.141583 +v -0.384938 -4.666302 -0.352600 +v 0.022047 -3.271096 -0.585262 +v 0.109220 -4.724638 0.490575 +v 0.080126 -5.015450 -0.381683 +v -0.268564 -4.957114 0.286997 +v 0.487219 -3.329085 -0.265241 +v -0.297765 -5.015450 -0.236270 +v -0.443125 -3.358079 0.374245 +v 0.051033 -4.986109 0.403327 +v -0.326751 -4.753633 -0.410766 +v -0.443125 -4.724638 0.054335 +v 0.545406 -3.271096 0.199749 +v 0.458126 -3.271096 0.432410 +v -0.443125 -4.724638 -0.119939 +v 0.080126 -3.590903 0.548741 +v -0.210485 -4.724638 0.403327 +v 0.400047 -3.358253 -0.439848 +v -0.530406 -3.358079 0.083418 +v 0.458126 -4.753459 -0.119939 +v 0.022047 -4.753633 -0.498014 +v -0.094219 -5.015450 -0.381683 +v -0.094219 -3.358079 -0.556179 +v 0.574500 -3.358253 -0.061774 +v -0.239578 -4.986109 0.228831 +f 39 35 54 +f 2 3 4 +f 2 4 6 +f 4 3 8 +f 3 2 9 +f 2 6 13 +f 6 4 14 +f 4 8 15 +f 8 3 18 +f 1 16 21 +f 5 16 22 +f 6 14 23 +f 2 13 26 +f 13 17 26 +f 14 4 27 +f 12 14 27 +f 16 5 30 +f 21 16 30 +f 9 21 30 +f 5 25 30 +f 14 12 31 +f 23 14 31 +f 4 15 32 +f 28 4 32 +f 20 28 32 +f 9 2 33 +f 21 9 33 +f 16 1 34 +f 22 16 34 +f 20 22 34 +f 7 11 35 +f 19 24 35 +f 15 8 36 +f 12 1 37 +f 1 21 37 +f 24 19 37 +f 13 6 38 +f 11 13 38 +f 17 7 39 +f 21 33 39 +f 33 17 39 +f 7 35 39 +f 12 27 40 +f 29 19 41 +f 35 11 41 +f 19 35 41 +f 11 38 41 +f 8 18 42 +f 18 9 42 +f 25 8 42 +f 9 30 42 +f 30 25 42 +f 3 9 43 +f 18 3 43 +f 9 18 43 +f 19 29 44 +f 29 23 44 +f 31 12 44 +f 23 31 44 +f 12 37 44 +f 37 19 44 +f 2 26 45 +f 26 17 45 +f 33 2 45 +f 17 33 45 +f 11 7 46 +f 13 11 46 +f 7 17 46 +f 17 13 46 +f 32 15 47 +f 10 32 47 +f 36 10 47 +f 15 36 47 +f 6 23 48 +f 23 29 48 +f 38 6 48 +f 29 41 48 +f 41 38 48 +f 5 22 49 +f 22 10 49 +f 10 36 49 +f 10 22 50 +f 22 20 50 +f 32 10 50 +f 20 32 50 +f 1 12 51 +f 28 20 51 +f 34 1 51 +f 20 34 51 +f 12 40 51 +f 40 28 51 +f 27 4 52 +f 4 28 52 +f 40 27 52 +f 28 40 52 +f 25 5 53 +f 8 25 53 +f 36 8 53 +f 5 49 53 +f 49 36 53 +f 35 24 54 +f 37 21 54 +f 24 37 54 +f 21 39 54 +o convex_1 +v 0.603415 -3.211846 0.025164 +v -1.199139 0.915890 -0.207127 +v -1.199139 0.915890 -0.119862 +v 1.388675 1.061218 -0.003924 +v -0.065071 0.130698 1.043050 +v 0.167468 0.101632 -1.079571 +v -0.762940 -2.979743 -0.032805 +v 0.835953 -2.252682 0.839431 +v -0.908340 -2.194551 -0.846864 +v 0.807076 -2.165485 -0.817775 +v -0.675548 -2.339879 0.810135 +v 0.835953 1.061218 0.868519 +v -0.792070 1.061218 -0.933921 +v -0.762940 1.061218 0.839223 +v 1.039614 1.061640 -0.817775 +v -0.035940 -3.241755 -0.585068 +v 0.022321 -3.008809 0.810135 +v 0.923345 -2.485628 -0.032597 +v -0.006809 -2.252682 -0.992305 +v -0.937470 -2.339879 0.170606 +v -1.111747 1.061640 0.461282 +v 0.080329 -2.281747 1.013753 +v -0.443009 -3.241755 0.432194 +v 0.777945 0.101632 0.984873 +v -1.199139 1.061640 -0.555980 +v -0.762940 0.072567 -1.021186 +v 0.748814 0.334157 -1.021394 +v -0.733809 -0.276642 0.897400 +v 0.487145 -3.241755 0.432194 +v 1.039614 1.061640 0.723077 +v -0.413878 -3.241755 -0.468922 +v 0.545407 -2.979743 -0.585068 +v 1.272153 1.003087 -0.468715 +v 0.051199 1.031731 -0.992305 +v -0.065071 -2.950677 -0.788687 +v -0.559278 -3.008809 0.635812 +v -0.297609 0.973600 0.955577 +v -1.024609 1.061640 -0.817775 +v 0.777945 -2.950677 -0.032597 +v -0.210470 0.159763 -1.079571 +v 1.388675 1.032153 -0.090774 +v 1.214145 1.032153 0.432402 +v -0.006809 -2.310813 1.013753 +v 0.632545 -2.950677 0.606724 +v 0.254607 0.072567 1.043050 +v 0.923345 -2.398010 0.199695 +v -0.937470 -2.310813 -0.207127 +v -0.152209 -2.194551 -0.992305 +v 0.428884 -3.241755 -0.410746 +v -0.588409 -2.950677 -0.614157 +v 0.777945 1.061218 -0.934129 +v -0.704678 -2.339879 0.781046 +v -1.111747 0.799628 0.432194 +v 0.080329 -2.194551 -0.992305 +v 0.051199 -2.950677 -0.788687 +v -0.762940 0.479485 -1.021186 +v 0.807076 -1.932960 -0.846864 +v -0.035940 -3.241755 0.577428 +v -1.199139 0.944956 -0.555980 +v 0.923345 -2.398010 -0.148950 +v -0.559278 -3.241755 0.083341 +v -0.006809 -1.874829 -1.021186 +v -0.733809 0.159763 0.897400 +v 0.807076 0.741076 0.926696 +f 91 99 118 +f 57 56 74 +f 71 62 76 +f 76 62 78 +f 56 57 79 +f 57 75 79 +f 75 69 79 +f 77 70 83 +f 68 66 84 +f 58 69 84 +f 75 68 84 +f 69 75 84 +f 78 62 84 +f 70 77 85 +f 69 58 87 +f 81 60 88 +f 70 85 89 +f 71 65 90 +f 74 61 90 +f 66 68 91 +f 79 69 92 +f 80 63 92 +f 86 64 93 +f 88 60 94 +f 58 72 95 +f 87 58 95 +f 64 87 95 +f 62 58 96 +f 58 84 96 +f 84 62 96 +f 65 71 97 +f 71 76 97 +f 59 82 97 +f 82 65 97 +f 62 71 98 +f 83 55 98 +f 71 83 98 +f 93 62 98 +f 55 93 98 +f 76 78 99 +f 91 59 99 +f 59 97 99 +f 97 76 99 +f 58 62 100 +f 72 58 100 +f 62 93 100 +f 93 72 100 +f 63 61 101 +f 74 56 101 +f 61 74 101 +f 63 80 102 +f 89 63 102 +f 73 89 102 +f 55 83 103 +f 83 70 103 +f 70 86 103 +f 93 55 103 +f 86 93 103 +f 61 63 104 +f 85 61 104 +f 63 89 104 +f 89 85 104 +f 69 81 105 +f 88 67 105 +f 81 88 105 +f 67 92 105 +f 92 69 105 +f 65 82 106 +f 82 75 106 +f 90 65 106 +f 74 90 106 +f 57 74 107 +f 75 57 107 +f 74 106 107 +f 106 75 107 +f 86 70 109 +f 64 86 109 +f 89 73 109 +f 70 89 109 +f 73 108 109 +f 108 64 109 +f 67 88 110 +f 92 67 110 +f 80 92 110 +f 94 80 110 +f 88 94 110 +f 81 69 111 +f 87 64 111 +f 69 87 111 +f 108 81 111 +f 64 108 111 +f 83 71 112 +f 77 83 112 +f 71 90 112 +f 90 77 112 +f 56 79 113 +f 92 63 113 +f 79 92 113 +f 63 101 113 +f 101 56 113 +f 72 93 114 +f 93 64 114 +f 95 72 114 +f 64 95 114 +f 61 85 115 +f 85 77 115 +f 90 61 115 +f 77 90 115 +f 60 81 116 +f 94 60 116 +f 80 94 116 +f 102 80 116 +f 73 102 116 +f 108 73 116 +f 81 108 116 +f 68 75 117 +f 82 59 117 +f 75 82 117 +f 59 91 117 +f 91 68 117 +f 84 66 118 +f 78 84 118 +f 66 91 118 +f 99 78 118 +o convex_2 +v -1.257330 1.177947 -0.061637 +v -1.257330 2.602720 0.141649 +v -1.257330 2.602720 -0.032631 +v -3.059927 2.021012 -0.032753 +v -1.519205 1.846820 -0.614216 +v -1.751787 2.079169 0.606843 +v -2.798229 1.992003 -0.439692 +v -1.257330 1.410575 0.432319 +v -2.798229 1.992003 0.432319 +v -2.769112 1.614333 0.025258 +v -1.257330 1.236104 -0.497948 +v -2.798229 2.369953 0.025258 +v -1.257330 2.370092 -0.468820 +v -1.257330 2.486266 0.519581 +v -2.071719 2.369953 -0.410686 +v -2.042426 2.428110 0.432319 +v -2.652997 1.730507 -0.352430 +v -1.257330 2.137465 0.635972 +v -2.565647 1.730507 0.345057 +v -2.013486 2.050160 -0.556082 +v -2.071719 2.515275 -0.003625 +v -1.257330 1.672350 -0.614339 +v -2.769112 2.079169 0.432319 +v -1.984545 1.672350 0.461325 +v -2.798229 1.933846 -0.439692 +v -2.769112 1.643341 -0.119893 +v -2.623704 2.253639 -0.323424 +v -2.071719 2.079169 0.577715 +v -1.315564 1.410575 0.432319 +v -2.565647 2.311796 0.345057 +v -3.030810 1.904838 0.025258 +v -1.286447 1.207095 -0.381558 +v -1.431855 2.515415 0.490575 +v -1.402738 1.352418 -0.527076 +v -2.013486 1.992003 0.577715 +v -1.838961 1.875969 -0.585088 +v -2.769112 2.340805 -0.090765 +v -1.315564 1.556176 0.490575 +v -1.286447 1.236104 0.083392 +v -3.030810 2.021012 0.083392 +v -2.042426 2.398962 0.461325 +v -1.286447 1.236104 -0.497948 +v -2.013486 2.515275 0.083392 +v -1.286447 1.177947 -0.148899 +v -2.827345 1.643341 0.025258 +v -1.431855 2.602720 -0.003503 +v -1.257330 1.846820 -0.614339 +v -2.972753 1.817812 -0.032753 +v -2.769112 1.614333 -0.032753 +v -1.606380 2.166474 0.606843 +v -1.315564 2.399101 -0.439692 +v -2.856286 1.933846 -0.381680 +f 144 166 170 +f 121 120 119 +f 119 120 126 +f 121 119 129 +f 121 129 131 +f 126 120 132 +f 126 132 136 +f 131 123 138 +f 125 133 138 +f 133 131 138 +f 131 129 140 +f 127 137 142 +f 133 125 145 +f 141 127 146 +f 137 128 147 +f 142 137 147 +f 134 130 148 +f 130 141 148 +f 129 119 150 +f 132 120 151 +f 136 124 153 +f 127 142 153 +f 124 146 153 +f 146 127 153 +f 138 123 154 +f 125 138 154 +f 123 140 154 +f 143 125 154 +f 140 152 154 +f 152 143 154 +f 125 122 155 +f 122 130 155 +f 139 133 155 +f 130 139 155 +f 145 125 155 +f 133 145 155 +f 126 136 156 +f 147 126 156 +f 142 147 156 +f 136 153 156 +f 153 142 156 +f 119 126 157 +f 128 119 157 +f 126 147 157 +f 147 128 157 +f 130 122 158 +f 127 141 158 +f 141 130 158 +f 122 149 158 +f 149 127 158 +f 141 146 159 +f 134 148 159 +f 148 141 159 +f 151 134 159 +f 140 129 160 +f 135 143 160 +f 144 135 160 +f 129 150 160 +f 152 140 160 +f 143 152 160 +f 130 134 161 +f 139 130 161 +f 151 120 161 +f 134 151 161 +f 119 128 162 +f 150 119 162 +f 137 127 163 +f 128 137 163 +f 127 149 163 +f 120 121 164 +f 121 133 164 +f 133 139 164 +f 161 120 164 +f 139 161 164 +f 123 131 165 +f 140 123 165 +f 131 140 165 +f 149 122 166 +f 144 163 166 +f 163 149 166 +f 144 160 167 +f 160 150 167 +f 162 128 167 +f 150 162 167 +f 128 163 167 +f 163 144 167 +f 124 136 168 +f 136 132 168 +f 146 124 168 +f 132 151 168 +f 159 146 168 +f 151 159 168 +f 121 131 169 +f 133 121 169 +f 131 133 169 +f 122 125 170 +f 125 143 170 +f 143 135 170 +f 135 144 170 +f 166 122 170 +o convex_3 +v -1.257330 1.323623 0.286812 +v 0.225425 3.067951 -0.032691 +v 0.225425 3.067951 -0.061736 +v 1.272367 1.061836 -0.468746 +v 0.807087 1.061640 0.868465 +v -0.792050 1.061640 -0.934032 +v -1.024566 2.718968 0.577638 +v 1.272367 2.428115 0.403179 +v 0.807087 2.369984 -0.788618 +v -1.257330 2.398854 -0.468746 +v -0.762831 1.061640 0.839420 +v 0.777868 1.061640 -0.934032 +v 1.272367 2.428115 -0.497977 +v -0.733859 2.369984 -0.788618 +v 0.690705 2.311853 0.723052 +v -0.733859 2.282788 0.810189 +v -1.228111 1.090902 -0.527022 +v -0.733859 3.009624 -0.061736 +v -1.257330 2.195394 0.635730 +v 1.272367 1.149033 0.374134 +v 0.807087 3.009624 -0.004015 +v -0.036063 2.340919 -0.846895 +v -0.326770 1.236230 0.926742 +v -1.257330 2.631575 0.083307 +v -1.257330 1.759607 -0.643205 +v -1.111729 1.061640 0.461456 +v 1.184957 1.527082 -0.701481 +v 1.272367 1.934000 0.519547 +v 0.080072 1.294361 -0.963263 +v -0.937404 2.718968 0.606869 +v 1.272367 2.631575 0.025216 +v 0.807087 2.108197 0.752097 +v 1.039604 1.061640 0.723052 +v -0.821022 2.456985 0.781143 +v -0.006843 3.009624 -0.149059 +v 0.836059 2.980558 -0.090782 +v -1.024566 1.061640 -0.817664 +v -1.257330 1.439885 0.461456 +v 0.080072 1.091098 0.926742 +v 1.039604 1.061640 -0.817664 +v -1.257330 2.544378 0.490316 +v 0.865031 2.311853 0.694006 +v 1.272367 1.875869 -0.614159 +v -0.501095 3.038493 -0.004015 +v -0.704888 1.236230 -0.934032 +v -0.966376 2.428115 0.752097 +v 0.051100 2.253722 0.781328 +v -1.228111 1.061640 -0.090782 +v -0.413933 1.061640 0.926742 +v 0.807087 1.178098 0.868465 +v 0.458189 2.369984 -0.817664 +v 0.807087 2.486247 -0.672251 +v -1.257330 1.207164 -0.468746 +v -1.257330 2.631575 -0.032691 +v 1.272367 1.061836 0.199675 +v -0.704888 2.980558 -0.119828 +v -0.413933 1.061640 -0.963263 +v 0.138263 3.067951 -0.004015 +v 0.021881 2.689902 -0.497977 +v 1.272367 2.631575 -0.090782 +v 0.777868 1.119967 -0.934032 +v -0.733859 2.195394 -0.817664 +v -0.733859 2.456985 -0.701296 +v -0.762831 1.498016 0.839420 +f 219 186 234 +f 176 175 181 +f 175 176 182 +f 178 174 183 +f 180 171 189 +f 174 178 190 +f 173 172 191 +f 177 188 194 +f 180 189 194 +f 171 180 195 +f 180 184 195 +f 176 181 196 +f 190 178 198 +f 178 183 201 +f 191 178 201 +f 175 182 203 +f 190 198 203 +f 185 200 204 +f 188 173 205 +f 173 191 206 +f 195 176 207 +f 187 195 207 +f 176 196 207 +f 189 171 208 +f 181 189 208 +f 196 181 208 +f 171 196 208 +f 197 174 210 +f 174 203 210 +f 203 182 210 +f 177 194 211 +f 194 189 211 +f 178 191 212 +f 198 178 212 +f 200 185 212 +f 191 200 212 +f 185 202 212 +f 202 198 212 +f 179 183 213 +f 183 174 213 +f 174 197 213 +f 197 179 213 +f 173 188 214 +f 188 177 214 +f 177 200 214 +f 192 199 215 +f 200 177 216 +f 186 204 216 +f 204 200 216 +f 177 211 216 +f 211 189 216 +f 186 193 217 +f 202 185 217 +f 204 186 217 +f 185 204 217 +f 193 209 217 +f 209 202 217 +f 196 171 218 +f 187 207 218 +f 207 196 218 +f 181 175 219 +f 193 186 219 +f 175 209 219 +f 209 193 219 +f 198 202 220 +f 175 203 220 +f 203 198 220 +f 209 175 220 +f 202 209 220 +f 199 192 221 +f 183 179 222 +f 205 173 222 +f 173 206 222 +f 206 183 222 +f 179 221 222 +f 171 195 223 +f 195 187 223 +f 218 171 223 +f 187 218 223 +f 188 180 224 +f 194 188 224 +f 180 194 224 +f 174 190 225 +f 203 174 225 +f 190 203 225 +f 180 188 226 +f 188 205 226 +f 182 176 227 +f 199 182 227 +f 176 215 227 +f 215 199 227 +f 172 173 228 +f 191 172 228 +f 200 191 228 +f 173 214 228 +f 214 200 228 +f 221 192 229 +f 205 222 229 +f 222 221 229 +f 201 183 230 +f 191 201 230 +f 183 206 230 +f 206 191 230 +f 179 197 231 +f 182 199 231 +f 210 182 231 +f 197 210 231 +f 221 179 231 +f 199 221 231 +f 184 192 232 +f 176 195 232 +f 195 184 232 +f 215 176 232 +f 192 215 232 +f 184 180 233 +f 192 184 233 +f 180 226 233 +f 226 205 233 +f 229 192 233 +f 205 229 233 +f 189 181 234 +f 186 216 234 +f 216 189 234 +f 181 219 234 +o convex_4 +v 1.272367 1.061640 0.170672 +v 1.388737 2.631643 -0.032907 +v 1.388737 2.631643 -0.061768 +v 2.987850 1.962978 -0.032907 +v 1.272367 1.759658 -0.614339 +v 1.272367 1.904733 0.519664 +v 2.697011 1.992023 0.345057 +v 2.755279 1.992023 -0.410760 +v 1.301586 1.149084 -0.468925 +v 2.755279 1.614276 -0.090850 +v 1.272367 2.428016 -0.498008 +v 2.726061 2.369925 -0.061768 +v 1.272367 2.428016 0.403333 +v 1.301586 1.178130 0.374250 +v 2.028349 2.398970 0.345168 +v 2.057399 2.398970 -0.410760 +v 1.970248 2.050115 -0.556173 +v 1.447006 1.061640 -0.061768 +v 2.551759 1.672367 0.228837 +v 1.999298 2.021069 0.461498 +v 2.580809 1.701413 -0.323512 +v 1.330636 1.730612 0.519664 +v 2.697011 1.933932 0.345057 +v 2.755279 1.614276 -0.032907 +v 2.726061 2.369925 -0.003824 +v 1.272367 2.631643 -0.003824 +v 1.272367 1.061640 -0.294429 +v 1.970248 2.544352 -0.003824 +v 2.348071 1.991870 -0.498008 +v 2.522708 2.282788 0.257809 +v 2.551759 2.282788 -0.323512 +v 1.447006 2.428016 0.403333 +v 1.272367 1.236375 0.403333 +v 2.697011 2.079160 -0.410760 +v 1.970248 2.544352 -0.061768 +v 1.388737 1.817749 -0.614339 +v 1.941198 2.428016 -0.410760 +v 2.755279 1.992023 0.316085 +v 1.330636 1.061640 0.141589 +v 2.958800 1.992023 -0.119933 +v 2.755279 1.933932 0.316085 +v 1.301586 1.061640 -0.294429 +v 2.667960 1.904886 -0.410760 +v 1.970248 2.428016 0.316085 +v 1.359686 1.265420 0.403333 +v 1.301586 1.120038 0.287002 +v 1.592425 2.428016 -0.468925 +v 1.330636 2.631643 -0.090850 +v 2.871481 2.166451 -0.003824 +v 1.388737 2.340879 0.432416 +f 254 266 284 +f 239 235 240 +f 239 240 245 +f 245 240 247 +f 241 249 254 +f 242 244 255 +f 244 243 255 +f 254 240 256 +f 254 256 257 +f 248 253 257 +f 241 254 257 +f 244 238 258 +f 252 244 258 +f 236 237 260 +f 245 247 260 +f 235 239 261 +f 239 243 261 +f 252 235 261 +f 237 236 262 +f 259 246 262 +f 249 241 264 +f 259 249 264 +f 250 246 265 +f 254 249 266 +f 260 247 266 +f 240 235 267 +f 235 248 267 +f 256 240 267 +f 251 250 268 +f 242 263 268 +f 263 251 268 +f 265 246 268 +f 250 265 268 +f 237 262 269 +f 262 246 269 +f 243 239 270 +f 239 245 270 +f 245 251 270 +f 263 243 270 +f 251 263 270 +f 246 250 271 +f 269 246 271 +f 241 257 272 +f 264 241 272 +f 259 264 272 +f 235 252 273 +f 252 258 273 +f 238 244 274 +f 244 242 274 +f 242 268 274 +f 268 246 274 +f 257 253 275 +f 258 238 275 +f 253 258 275 +f 238 272 275 +f 272 257 275 +f 243 244 276 +f 244 252 276 +f 261 243 276 +f 252 261 276 +f 242 255 277 +f 255 243 277 +f 243 263 277 +f 263 242 277 +f 249 259 278 +f 236 260 278 +f 262 236 278 +f 259 262 278 +f 266 249 278 +f 260 266 278 +f 257 256 279 +f 248 257 279 +f 267 248 279 +f 256 267 279 +f 248 235 280 +f 253 248 280 +f 258 253 280 +f 235 273 280 +f 273 258 280 +f 251 245 281 +f 250 251 281 +f 271 250 281 +f 271 281 282 +f 260 237 282 +f 245 260 282 +f 237 269 282 +f 269 271 282 +f 281 245 282 +f 246 259 283 +f 272 238 283 +f 259 272 283 +f 238 274 283 +f 274 246 283 +f 247 240 284 +f 240 254 284 +f 266 247 284 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/736/736.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/736/736.urdf new file mode 100644 index 000000000..e4419ebec --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/736/736.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/737/737.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/737/737.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/737/737.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/737/737.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/737/737.obj new file mode 100644 index 000000000..223b2e00a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/737/737.obj @@ -0,0 +1,423 @@ +o convex_0 +v 1.109272 -0.495585 1.109048 +v -1.098989 -5.024114 0.584867 +v -1.061378 -5.024114 0.247878 +v -1.061378 -0.308628 -0.986596 +v 1.109272 -4.873625 -1.061386 +v 1.034266 -4.986261 1.109048 +v -1.061378 -0.308628 0.996430 +v 1.109272 -0.308628 -0.986596 +v -0.986588 -4.985799 -0.986596 +v -1.098989 -5.024114 0.996430 +v 0.173528 -0.308628 -1.098998 +v 0.734888 -0.308628 1.109048 +v -1.098989 -0.346481 -0.612428 +v -0.874186 -4.461856 1.034041 +v 0.809678 -3.114838 -1.099214 +v -1.023983 -4.461856 -0.986596 +v -1.098989 -2.404861 0.996430 +v 1.109272 -0.308628 1.109048 +v 0.772283 -4.911478 -1.061386 +v 1.071661 -4.948870 0.285489 +v 1.034266 -4.986261 0.772059 +v 0.360504 -0.458194 -1.098998 +v 1.109272 -4.687129 -0.724613 +v -0.163245 -5.024114 0.996646 +v -1.098989 -0.308628 -0.200865 +v -0.836791 -4.985799 -0.986812 +v 0.734888 -3.114838 -1.099214 +v 0.959475 -4.986261 1.109048 +v -0.836791 -5.024114 1.034041 +v -1.061378 -1.693499 -0.986596 +v -1.023983 -4.985799 -0.837015 +v 1.071661 -3.264405 1.034041 +v 1.109272 -4.013158 -1.061386 +v 1.071661 -4.911478 -0.762009 +v -0.050843 -1.955701 1.071436 +v 0.697493 -4.911478 -1.061386 +f 27 19 36 +f 4 7 8 +f 1 5 8 +f 2 3 10 +f 4 8 11 +f 6 1 12 +f 8 7 12 +f 2 10 13 +f 11 9 16 +f 13 10 17 +f 10 14 17 +f 14 7 17 +f 1 8 18 +f 12 1 18 +f 8 12 18 +f 15 5 19 +f 20 6 21 +f 11 8 22 +f 8 15 22 +f 15 11 22 +f 5 1 23 +f 20 5 23 +f 10 3 24 +f 21 6 24 +f 7 4 25 +f 4 13 25 +f 17 7 25 +f 13 17 25 +f 3 9 26 +f 19 21 26 +f 24 3 26 +f 21 24 26 +f 9 11 27 +f 11 15 27 +f 15 19 27 +f 6 12 28 +f 12 14 28 +f 14 10 29 +f 10 24 29 +f 24 6 29 +f 6 28 29 +f 28 14 29 +f 4 11 30 +f 13 4 30 +f 2 13 30 +f 16 2 30 +f 11 16 30 +f 3 2 31 +f 9 3 31 +f 2 16 31 +f 16 9 31 +f 1 6 32 +f 6 20 32 +f 23 1 32 +f 20 23 32 +f 8 5 33 +f 5 15 33 +f 15 8 33 +f 19 5 34 +f 5 20 34 +f 21 19 34 +f 20 21 34 +f 12 7 35 +f 7 14 35 +f 14 12 35 +f 26 9 36 +f 19 26 36 +f 9 27 36 +o convex_1 +v -1.061338 1.862777 -1.809719 +v 1.109053 1.114331 2.269020 +v 1.109053 1.076741 2.269020 +v 1.034255 2.798126 -3.082906 +v -0.986540 3.060207 2.979664 +v 0.959458 3.097796 2.980262 +v -1.023939 1.001980 3.017884 +v 1.034255 1.039570 -2.970039 +v -0.986540 3.060207 -3.045284 +v -1.023939 1.001980 -3.007064 +v 1.071654 1.039570 2.942042 +v 1.034255 3.022617 -2.783122 +v 1.109053 0.964600 -0.949182 +v -1.061338 0.964600 0.958807 +v 1.109053 0.964600 1.108700 +v -1.023939 2.611014 2.568207 +v -1.061338 0.964600 -0.986208 +v 0.772253 3.060207 -1.585179 +v 1.071654 1.488554 2.980262 +v 1.109053 1.376203 1.407887 +v 0.248249 3.097796 2.980262 +v 0.248249 3.022617 -3.082906 +v -1.023939 2.161821 3.017884 +v 0.959458 3.097796 1.819941 +v -0.462536 1.001980 3.017884 +v 1.034255 1.151711 -3.007064 +v -1.023939 2.648395 -2.595608 +v -1.061338 1.451173 1.370862 +v 0.996857 2.760536 2.642855 +v -0.462536 1.600904 -3.045284 +v 1.109053 1.226681 -1.136100 +v 1.071654 1.039570 -2.558582 +v 1.034255 2.985446 -3.082906 +v -0.986540 1.899948 -3.045284 +v -0.574944 1.001980 -3.007064 +v 1.034255 3.022617 -2.408093 +v -1.061338 1.039361 -2.071881 +v -0.724538 3.060207 -3.045284 +v -1.061338 1.076950 1.781721 +v 1.071654 2.199410 -2.221773 +v 0.959458 1.039570 2.980262 +v -1.023939 1.600904 -3.007064 +v 0.809652 3.022617 -3.082906 +v -0.350340 1.076741 3.017884 +v 0.660058 1.039570 -3.007064 +v 0.996857 3.060207 0.696645 +f 65 72 82 +f 38 39 49 +f 50 49 51 +f 39 47 51 +f 49 39 51 +f 43 50 51 +f 50 37 53 +f 49 50 53 +f 39 38 55 +f 47 39 55 +f 38 49 56 +f 55 38 56 +f 45 41 57 +f 41 52 59 +f 57 41 59 +f 42 57 59 +f 48 54 60 +f 57 42 60 +f 45 57 60 +f 51 47 61 +f 43 51 61 +f 59 43 61 +f 41 45 63 +f 52 41 63 +f 37 52 63 +f 37 50 64 +f 52 37 64 +f 42 55 65 +f 55 56 65 +f 58 40 66 +f 56 49 67 +f 49 44 68 +f 44 62 68 +f 62 40 68 +f 67 49 68 +f 40 58 69 +f 68 40 69 +f 46 45 70 +f 45 58 70 +f 66 46 70 +f 58 66 70 +f 44 49 71 +f 53 46 71 +f 49 53 71 +f 46 66 71 +f 65 56 72 +f 53 37 73 +f 46 53 73 +f 58 45 74 +f 45 60 74 +f 60 54 74 +f 50 43 75 +f 43 59 75 +f 59 52 75 +f 64 50 75 +f 52 64 75 +f 56 67 76 +f 67 68 76 +f 68 69 76 +f 69 48 76 +f 48 72 76 +f 72 56 76 +f 47 55 77 +f 61 47 77 +f 45 46 78 +f 63 45 78 +f 37 63 78 +f 73 37 78 +f 46 73 78 +f 54 48 79 +f 69 58 79 +f 48 69 79 +f 74 54 79 +f 58 74 79 +f 55 42 80 +f 42 59 80 +f 59 61 80 +f 77 55 80 +f 61 77 80 +f 62 44 81 +f 40 62 81 +f 66 40 81 +f 44 71 81 +f 71 66 81 +f 60 42 82 +f 48 60 82 +f 42 65 82 +f 72 48 82 +o convex_2 +v 0.023856 0.402969 -2.072518 +v -0.238141 -0.270738 -3.007768 +v -0.238141 -0.195823 -3.007768 +v -0.238141 0.140898 -1.099602 +v 0.285853 -0.233281 -1.099602 +v 0.210916 0.290662 -3.082906 +v -0.163256 0.402969 -3.082906 +v 0.210916 0.327988 -1.099602 +v -0.238141 -0.233281 -1.099602 +v 0.210916 -0.158432 -2.932823 +v -0.200699 0.365445 -1.099602 +v 0.210916 0.402969 -3.082906 +v -0.200699 0.290662 -3.082906 +v 0.285853 -0.120974 -1.623435 +v 0.285853 -0.046125 -1.099602 +v 0.248410 -0.158432 -2.670907 +v -0.163256 -0.270738 -3.007768 +v -0.200699 -0.270738 -2.521213 +v 0.285853 -0.233281 -1.324046 +v -0.200699 0.365445 -2.670907 +f 89 95 102 +f 85 84 86 +f 86 87 90 +f 86 84 91 +f 87 86 91 +f 83 89 93 +f 90 83 93 +f 86 90 93 +f 89 83 94 +f 88 89 94 +f 83 90 94 +f 84 85 95 +f 88 84 95 +f 89 88 95 +f 96 94 97 +f 90 87 97 +f 94 90 97 +f 87 96 97 +f 92 88 98 +f 88 94 98 +f 94 96 98 +f 84 88 99 +f 88 92 99 +f 91 84 100 +f 87 91 100 +f 84 99 100 +f 99 87 100 +f 96 87 101 +f 92 98 101 +f 98 96 101 +f 87 99 101 +f 99 92 101 +f 85 86 102 +f 86 93 102 +f 93 89 102 +f 95 85 102 +o convex_3 +v 0.959475 0.739720 -0.986812 +v -0.238251 -0.233193 -1.099214 +v -1.061378 -0.307917 -0.986812 +v 1.109272 -0.307917 1.109048 +v -1.023983 0.964142 0.996646 +v 1.109272 0.964142 1.109048 +v -1.061378 0.964142 -0.986812 +v -1.061378 -0.307917 0.996646 +v 1.109272 -0.307917 -0.986812 +v 1.109272 0.964142 -0.949201 +v -0.350437 0.365475 1.109048 +v 0.210923 0.328112 -1.099214 +v -1.098989 0.739720 -0.799404 +v -1.061378 0.964142 0.959251 +v -1.098989 -0.307917 -0.238044 +v -0.238251 -0.158344 1.109048 +v 0.323109 -0.307917 -1.099214 +v 0.921864 0.926780 -0.986812 +v -0.200640 0.365475 -1.099214 +v 0.135917 -0.307917 1.109048 +v -1.098989 -0.307917 -0.612428 +v 0.959475 0.964142 1.109048 +f 107 113 124 +f 107 108 109 +f 104 105 109 +f 105 106 110 +f 106 105 111 +f 108 106 111 +f 108 111 112 +f 109 108 112 +f 111 103 112 +f 106 108 113 +f 107 110 113 +f 109 105 115 +f 107 109 116 +f 110 107 116 +f 109 115 116 +f 105 110 117 +f 110 116 117 +f 116 115 117 +f 106 113 118 +f 113 110 118 +f 105 104 119 +f 103 111 119 +f 111 105 119 +f 104 114 119 +f 114 103 119 +f 109 112 120 +f 112 103 120 +f 103 114 120 +f 120 114 121 +f 104 109 121 +f 114 104 121 +f 109 120 121 +f 110 106 122 +f 106 118 122 +f 118 110 122 +f 115 105 123 +f 105 117 123 +f 117 115 123 +f 108 107 124 +f 113 108 124 +o convex_4 +v 0.023819 0.103536 3.092546 +v 0.173517 -0.308166 1.109242 +v 0.061276 -0.270643 1.109242 +v 0.248300 0.290626 1.109242 +v -0.350426 0.365541 1.109242 +v -0.275445 -0.233251 3.092546 +v 0.323281 -0.270643 3.017601 +v 0.248300 0.253234 3.055074 +v -0.275445 0.253234 3.017601 +v -0.238120 -0.158336 1.109242 +v 0.248300 -0.270643 1.521047 +v 0.285823 0.215777 3.055074 +v -0.350426 0.215777 1.259130 +v -0.312968 0.290626 2.605991 +v -0.050964 0.328083 1.895185 +v 0.323281 -0.195860 2.643269 +v -0.275445 -0.233251 2.830435 +v 0.323281 -0.046096 2.980129 +v -0.350426 0.290626 1.745491 +v 0.248300 0.103536 1.109242 +v -0.013573 -0.233251 3.092546 +v 0.210974 -0.308166 1.109242 +f 144 135 146 +f 126 127 128 +f 128 127 129 +f 130 126 131 +f 130 125 133 +f 125 132 133 +f 129 127 134 +f 128 132 136 +f 132 125 136 +f 129 134 137 +f 133 132 138 +f 130 133 138 +f 128 129 139 +f 132 128 139 +f 129 138 139 +f 138 132 139 +f 131 135 140 +f 127 126 141 +f 126 130 141 +f 134 127 141 +f 130 137 141 +f 137 134 141 +f 136 131 142 +f 128 136 142 +f 140 128 142 +f 131 140 142 +f 129 137 143 +f 137 130 143 +f 138 129 143 +f 130 138 143 +f 126 128 144 +f 128 140 144 +f 140 135 144 +f 125 130 145 +f 130 131 145 +f 136 125 145 +f 131 136 145 +f 131 126 146 +f 135 131 146 +f 126 144 146 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/737/737.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/737/737.urdf new file mode 100644 index 000000000..ff30a5e55 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/737/737.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/738/738.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/738/738.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/738/738.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/738/738.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/738/738.obj new file mode 100644 index 000000000..cb3ed1cd5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/738/738.obj @@ -0,0 +1,480 @@ +o convex_0 +v -0.804327 0.134442 -0.936003 +v -0.056427 0.165935 1.432057 +v -0.087662 0.165935 1.432057 +v 0.036890 3.749385 -0.001040 +v 0.878302 0.134442 -0.936268 +v -0.991350 1.692803 0.154212 +v 0.753554 1.786219 0.746294 +v -0.025191 3.219316 -0.749170 +v 0.753554 3.281594 -0.032356 +v -0.025191 3.250455 0.777344 +v -0.897839 0.134442 1.026809 +v -0.773091 3.188178 -0.001305 +v 0.847066 0.134442 0.777344 +v 0.005849 0.165935 -1.279150 +v 1.003049 1.786219 0.029745 +v 0.784790 1.661664 -0.780220 +v -0.773091 1.786219 0.777344 +v -0.742050 1.755080 -0.717854 +v -0.991350 0.134442 -0.125772 +v 0.971814 0.134442 0.154212 +v 0.566726 2.876435 0.590511 +v 0.784790 0.321983 0.964443 +v -0.991350 1.692803 -0.063406 +v 0.566726 2.876435 -0.562336 +v -0.586262 2.814157 0.590245 +v -0.586262 2.751879 -0.562336 +v 0.753554 3.250455 0.091846 +v 0.722514 1.692803 0.808660 +v 0.068126 3.188178 0.777344 +v 0.068126 0.165935 -1.279150 +v -0.991350 0.134442 0.341311 +v 0.971814 0.134442 -0.281821 +v 0.036890 3.188178 -0.749170 +v -0.118703 3.686754 -0.001040 +v 1.003049 1.786219 -0.032356 +v 0.816025 0.165935 -0.998369 +v -0.742050 3.219316 0.061061 +v 0.753554 0.134442 0.995493 +v 0.036890 3.281594 -0.686538 +v -0.835367 1.038532 0.902077 +v -0.056427 3.250455 -0.717854 +v -0.928879 0.165935 0.933127 +v 0.909537 0.290490 -0.811536 +v -0.773091 3.157039 0.061061 +v -0.056427 0.134442 1.432057 +v 0.036890 3.313087 0.683662 +v 1.003049 0.664511 0.029745 +v -0.866603 0.384261 -0.717854 +v -0.025191 3.717893 0.091581 +v -0.056427 3.219316 0.777344 +v 0.068126 0.134442 -1.279150 +v 0.473214 3.468781 0.061061 +v -0.617303 2.907573 -0.437338 +v -0.773091 1.661664 0.808395 +v 0.784790 1.755080 -0.749170 +v -0.773091 1.381413 -0.749170 +v 0.940578 1.225719 0.341046 +v -0.991350 1.256504 0.309730 +v -0.835367 1.692803 0.652877 +v 0.036890 3.717893 0.091581 +v -0.648539 3.281594 -0.032356 +v -0.991350 1.848497 0.061061 +v -0.773091 0.882483 -0.842586 +v 0.629002 3.000990 -0.406553 +f 55 24 64 +f 3 2 10 +f 1 5 11 +f 11 5 13 +f 8 14 18 +f 1 11 19 +f 13 5 20 +f 12 18 23 +f 19 6 23 +f 8 18 26 +f 7 15 27 +f 15 9 27 +f 21 7 27 +f 7 21 28 +f 2 22 28 +f 22 7 28 +f 10 2 29 +f 21 27 29 +f 2 28 29 +f 28 21 29 +f 14 8 30 +f 6 19 31 +f 19 11 31 +f 20 5 32 +f 24 16 33 +f 30 8 33 +f 16 30 33 +f 9 15 35 +f 16 5 36 +f 30 16 36 +f 11 13 38 +f 22 2 38 +f 13 22 38 +f 4 9 39 +f 33 8 39 +f 24 33 39 +f 11 3 40 +f 8 26 41 +f 34 4 41 +f 4 39 41 +f 39 8 41 +f 31 11 42 +f 11 40 42 +f 40 6 42 +f 5 16 43 +f 32 5 43 +f 16 35 43 +f 35 32 43 +f 17 25 44 +f 37 12 44 +f 25 37 44 +f 2 3 45 +f 3 11 45 +f 38 2 45 +f 11 38 45 +f 10 29 46 +f 29 27 46 +f 13 20 47 +f 20 32 47 +f 35 15 47 +f 32 35 47 +f 1 19 48 +f 19 23 48 +f 4 34 49 +f 37 10 49 +f 34 37 49 +f 3 10 50 +f 25 17 50 +f 10 37 50 +f 37 25 50 +f 5 1 51 +f 1 14 51 +f 14 30 51 +f 36 5 51 +f 30 36 51 +f 9 4 52 +f 27 9 52 +f 46 27 52 +f 18 12 53 +f 26 18 53 +f 41 26 53 +f 12 41 53 +f 40 3 54 +f 17 40 54 +f 3 50 54 +f 50 17 54 +f 16 24 55 +f 9 35 55 +f 35 16 55 +f 23 18 56 +f 1 48 56 +f 48 23 56 +f 15 7 57 +f 7 22 57 +f 22 13 57 +f 13 47 57 +f 47 15 57 +f 6 31 58 +f 42 6 58 +f 31 42 58 +f 6 40 59 +f 40 17 59 +f 44 6 59 +f 17 44 59 +f 10 46 60 +f 4 49 60 +f 49 10 60 +f 52 4 60 +f 46 52 60 +f 12 37 61 +f 37 34 61 +f 41 12 61 +f 34 41 61 +f 23 6 62 +f 12 23 62 +f 6 44 62 +f 44 12 62 +f 14 1 63 +f 18 14 63 +f 1 56 63 +f 56 18 63 +f 39 9 64 +f 24 39 64 +f 9 55 64 +o convex_1 +v -0.430362 -1.953274 -2.993001 +v 1.034017 -1.236694 -0.717753 +v 1.002952 -0.270681 -0.002166 +v -0.648435 -1.922144 2.896470 +v -1.022449 -0.270681 -0.002166 +v 0.722543 -2.015533 2.678165 +v -0.025282 -0.302207 2.771554 +v 0.036850 -0.457856 -2.899611 +v 0.691273 -1.984403 -2.805627 +v -1.022449 -1.330084 -2.712238 +v -0.118683 -2.296296 -2.026392 +v -0.991179 -1.268023 2.740623 +v 0.909550 -1.174435 2.740623 +v -0.835442 -2.046861 -2.151308 +v 0.753609 -0.582573 -2.711643 +v 0.005784 -2.296296 2.210624 +v -0.742041 -0.582375 -2.774101 +v -0.679705 -0.644833 2.958333 +v 0.566601 -0.613703 2.958928 +v -0.804377 -2.046861 1.961388 +v 0.940616 -1.267824 -2.805627 +v 0.036850 -0.270681 -1.933003 +v -1.053515 -1.361213 1.992319 +v 0.784879 -2.015533 -1.403599 +v -0.897778 -0.270879 1.400458 +v 0.130251 -2.046861 2.958928 +v 0.691273 -1.298954 -3.055459 +v 0.753609 -0.270681 1.493847 +v -0.804377 -1.143504 -2.992406 +v 0.878280 -0.270681 -1.278684 +v -0.804377 -0.270879 -1.278684 +v -0.118683 -2.233838 -2.774696 +v 1.034017 -1.298954 -2.026987 +v 0.971681 -1.267824 2.054777 +v 0.753609 -2.046861 2.023251 +v 0.005784 -2.296296 -2.120376 +v -0.742041 -1.298756 3.021386 +v 0.722543 -1.143504 2.989859 +v -0.804377 -2.015533 -2.743764 +v -1.053515 -1.361213 -2.026392 +v 0.036850 -0.364467 -2.743764 +v 0.036850 -2.015731 -3.055459 +v -0.773107 -2.109121 -2.026392 +v 0.628937 -0.738222 -3.023932 +v 0.005784 -2.264769 2.678165 +v -0.773107 -0.551444 2.771554 +v -0.149749 -0.488986 3.021386 +v 0.660207 -0.520115 2.740028 +v -0.087618 -2.296296 1.992319 +v -0.710771 -2.046861 2.709097 +v 0.628937 -1.828556 2.958928 +v -0.586099 -0.644833 -2.961474 +v -1.022449 -1.236694 -2.712238 +v 0.566601 -1.859884 -3.055459 +v 1.034017 -1.298954 -0.749279 +v -0.648435 -1.828755 -3.023932 +v -0.025282 -1.237091 -3.055459 +v 0.722543 -2.046861 -2.057324 +v -0.368026 -1.953274 2.989859 +v 0.597871 -2.109121 1.992319 +v -1.053515 -1.174435 1.930457 +v -0.087618 -0.270681 2.522318 +v -0.804377 -0.644833 -2.712238 +v 0.005784 -1.361015 3.021386 +f 123 115 128 +f 69 67 86 +f 78 84 87 +f 67 69 92 +f 85 79 94 +f 86 67 94 +f 69 86 95 +f 67 66 97 +f 73 85 97 +f 94 67 97 +f 85 94 97 +f 66 67 98 +f 67 77 98 +f 77 70 98 +f 98 70 99 +f 80 75 100 +f 96 73 100 +f 75 96 100 +f 76 68 101 +f 82 76 101 +f 77 83 102 +f 78 74 103 +f 65 96 103 +f 74 78 104 +f 78 87 104 +f 79 72 105 +f 94 79 105 +f 86 94 105 +f 81 95 105 +f 95 86 105 +f 96 65 106 +f 73 96 106 +f 84 78 107 +f 96 75 107 +f 78 103 107 +f 103 96 107 +f 72 79 108 +f 79 85 108 +f 85 91 108 +f 70 90 109 +f 76 82 110 +f 71 89 110 +f 89 76 110 +f 83 71 111 +f 82 101 111 +f 102 83 111 +f 71 110 111 +f 110 82 111 +f 77 67 112 +f 71 83 112 +f 83 77 112 +f 67 92 112 +f 92 71 112 +f 75 80 113 +f 107 75 113 +f 84 107 113 +f 80 109 113 +f 113 109 114 +f 68 76 114 +f 76 87 114 +f 87 84 114 +f 84 113 114 +f 70 77 115 +f 90 70 115 +f 77 102 115 +f 93 81 116 +f 105 72 116 +f 81 105 116 +f 72 108 116 +f 93 74 117 +f 81 93 117 +f 104 69 117 +f 74 104 117 +f 85 73 118 +f 91 85 118 +f 73 106 118 +f 106 91 118 +f 97 66 119 +f 88 97 119 +f 66 98 119 +f 99 88 119 +f 98 99 119 +f 74 93 120 +f 103 74 120 +f 65 103 120 +f 106 65 120 +f 106 120 121 +f 91 106 121 +f 108 91 121 +f 93 116 121 +f 116 108 121 +f 120 93 121 +f 73 97 122 +f 97 88 122 +f 88 99 122 +f 100 73 122 +f 101 68 123 +f 109 90 123 +f 114 109 123 +f 68 114 123 +f 90 115 123 +f 99 70 124 +f 80 100 124 +f 70 109 124 +f 109 80 124 +f 122 99 124 +f 100 122 124 +f 87 76 125 +f 89 69 125 +f 76 89 125 +f 69 104 125 +f 104 87 125 +f 69 89 126 +f 89 71 126 +f 92 69 126 +f 71 92 126 +f 95 81 127 +f 69 95 127 +f 117 69 127 +f 81 117 127 +f 111 101 128 +f 102 111 128 +f 115 102 128 +f 101 123 128 +o convex_2 +v -1.022556 -0.270681 0.092508 +v 0.971804 0.134442 0.154105 +v 0.878294 0.134442 0.621704 +v 0.816019 -0.270681 1.213661 +v 0.068134 -0.270681 -1.871253 +v -0.928851 0.134442 0.933179 +v -0.804301 0.134442 -0.935668 +v -0.087651 -0.270681 2.086486 +v 0.878294 0.134442 -0.967048 +v 0.878294 -0.270681 -1.216537 +v -0.025376 0.134442 1.463150 +v -0.804301 -0.270681 -1.216537 +v -0.897811 -0.270681 1.338406 +v 0.005663 0.134442 -1.341282 +v 0.753548 0.134442 0.995551 +v -0.991321 0.134442 -0.125602 +v 0.971804 -0.270681 0.154105 +v 0.753548 -0.239512 1.462763 +v -0.025376 -0.239512 -1.871253 +v -0.087651 -0.239512 2.086486 +v -0.897811 0.134442 1.026931 +v 0.971804 0.134442 -0.281726 +v 0.816019 -0.239512 -1.341282 +v 0.068134 -0.208302 -1.839486 +v -0.866576 -0.239512 1.400778 +v 0.971804 -0.270681 -0.281726 +v -0.118886 0.134442 1.463150 +v -0.991321 0.134442 0.341223 +v -0.056416 -0.239512 2.086486 +v -0.928851 -0.239512 1.182668 +v -1.022556 -0.239512 -0.000857 +v -0.804301 -0.239512 -1.216537 +v 0.068134 0.134442 -1.341282 +v 0.722509 -0.270681 1.493755 +v 0.816019 0.134442 0.901799 +f 143 146 163 +f 130 131 132 +f 132 129 133 +f 131 130 134 +f 134 130 135 +f 129 132 136 +f 135 130 137 +f 132 133 138 +f 131 134 139 +f 133 129 140 +f 129 136 141 +f 135 137 142 +f 131 139 143 +f 134 135 144 +f 130 132 145 +f 132 138 145 +f 133 140 147 +f 135 142 147 +f 139 134 149 +f 134 141 149 +f 137 130 150 +f 138 137 150 +f 130 145 150 +f 138 133 151 +f 137 138 151 +f 133 147 152 +f 147 142 152 +f 151 133 152 +f 137 151 152 +f 141 136 153 +f 136 148 153 +f 149 141 153 +f 148 149 153 +f 145 138 154 +f 138 150 154 +f 150 145 154 +f 148 139 155 +f 139 149 155 +f 149 148 155 +f 134 144 156 +f 143 139 157 +f 146 143 157 +f 139 148 157 +f 148 136 157 +f 129 141 158 +f 141 134 158 +f 156 129 158 +f 134 156 158 +f 140 129 159 +f 129 156 159 +f 156 144 159 +f 144 135 160 +f 147 140 160 +f 135 147 160 +f 140 159 160 +f 159 144 160 +f 142 137 161 +f 137 152 161 +f 152 142 161 +f 136 132 162 +f 132 146 162 +f 157 136 162 +f 146 157 162 +f 132 131 163 +f 131 143 163 +f 146 132 163 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/738/738.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/738/738.urdf new file mode 100644 index 000000000..3bedc59b6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/738/738.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/739/739.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/739/739.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/739/739.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/739/739.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/739/739.obj new file mode 100644 index 000000000..c601e52a3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/739/739.obj @@ -0,0 +1,630 @@ +o convex_0 +v 0.789309 -0.074361 1.018278 +v -1.032846 -1.063157 -0.309388 +v -1.032846 -1.063157 -0.278457 +v 1.005656 -3.440859 -0.679969 +v -0.940007 -3.348066 1.049409 +v 0.974779 -0.074361 -0.989086 +v -0.940007 -3.472123 -0.927024 +v -1.001761 -0.074361 0.987746 +v 0.943902 -3.348066 0.925882 +v -1.032846 -0.074361 -0.989086 +v 1.067619 -0.074361 0.307848 +v 1.005656 -3.440859 -0.957955 +v 1.098496 -0.877904 -0.371052 +v 0.974779 -0.074361 0.956415 +v -0.106121 -0.074361 1.049609 +v -1.032846 -0.816374 0.771224 +v -0.970884 -3.193410 -0.865360 +v 0.974779 -3.378997 0.585834 +v 1.067619 -0.074361 -0.680169 +v 0.264402 -1.464596 -0.989086 +v -0.970884 -2.544856 -0.958155 +v 0.943902 -2.637649 0.956614 +v -0.816499 -3.472123 -0.679969 +v 0.974779 -2.730109 0.894751 +v -0.754745 -3.286204 1.049409 +v 1.036533 -2.977558 -0.865360 +v 0.140894 -3.440859 -0.957955 +v 0.295279 -0.105292 1.049609 +v -1.032846 -0.074361 0.832888 +v 0.974779 -1.526458 -0.989086 +v -0.970884 -2.637649 0.987546 +v -1.032846 -0.352408 -0.989086 +v -0.940007 -3.378997 0.709560 +v -0.940007 -2.884765 1.049409 +v 0.696887 -3.348066 0.956415 +v -0.075244 -3.472123 -0.896291 +v 1.036533 -2.668580 -0.896291 +v 1.005656 -0.229016 0.802355 +v 0.943902 -1.125020 0.987746 +v 1.067619 -0.568593 0.245985 +v 0.943902 -3.378997 0.616965 +v 1.098496 -0.877904 -0.340120 +v 1.005656 -3.409928 -0.371052 +v 1.067619 -0.445201 -0.710901 +v -0.692783 -0.383339 1.018278 +v 1.005656 -1.279342 -0.957955 +v -1.001761 -0.723248 0.987746 +f 16 31 47 +f 1 6 8 +f 2 3 10 +f 8 6 10 +f 6 1 11 +f 11 1 14 +f 1 8 15 +f 10 3 16 +f 3 2 17 +f 16 3 17 +f 6 11 19 +f 11 13 19 +f 10 6 20 +f 7 17 21 +f 9 18 24 +f 22 9 24 +f 14 22 24 +f 4 12 26 +f 12 7 27 +f 21 20 27 +f 7 21 27 +f 1 15 28 +f 15 5 28 +f 5 25 28 +f 25 22 28 +f 8 10 29 +f 10 16 29 +f 6 12 30 +f 20 6 30 +f 12 27 30 +f 27 20 30 +f 17 5 31 +f 16 17 31 +f 2 10 32 +f 17 2 32 +f 10 20 32 +f 20 21 32 +f 21 17 32 +f 5 17 33 +f 17 7 33 +f 7 23 33 +f 8 5 34 +f 5 15 34 +f 9 22 35 +f 25 5 35 +f 22 25 35 +f 12 4 36 +f 7 12 36 +f 23 7 36 +f 26 12 37 +f 13 26 37 +f 11 14 38 +f 24 11 38 +f 14 24 38 +f 14 1 39 +f 22 14 39 +f 1 28 39 +f 28 22 39 +f 11 24 40 +f 4 18 41 +f 18 9 41 +f 5 33 41 +f 33 23 41 +f 9 35 41 +f 35 5 41 +f 36 4 41 +f 23 36 41 +f 13 11 42 +f 24 18 42 +f 26 13 42 +f 11 40 42 +f 40 24 42 +f 18 4 43 +f 4 26 43 +f 42 18 43 +f 26 42 43 +f 6 19 44 +f 19 13 44 +f 13 37 44 +f 15 8 45 +f 8 34 45 +f 34 15 45 +f 12 6 46 +f 37 12 46 +f 6 44 46 +f 44 37 46 +f 5 8 47 +f 8 29 47 +f 29 16 47 +f 31 5 47 +o convex_1 +v 0.820287 -0.012513 1.018478 +v -1.032583 -0.074297 -0.989086 +v -1.094625 -0.074297 -0.309388 +v -1.063497 0.975940 -0.927024 +v 0.974854 0.975940 -0.989086 +v -1.032583 0.975940 0.956614 +v 0.974854 -0.074297 -0.989086 +v 0.974854 0.975940 0.987746 +v -1.001885 -0.074297 0.987546 +v 1.067594 -0.074297 0.308247 +v 1.098508 0.975940 -0.525511 +v 0.202664 0.975940 1.049609 +v 0.974854 -0.074297 0.956614 +v -1.032583 0.975940 -0.989086 +v 1.067594 -0.074297 -0.679969 +v -0.106041 -0.074297 1.049609 +v 1.067594 0.883108 0.462506 +v -1.063497 0.975940 0.740492 +v -1.063497 0.111057 0.678828 +v 0.635022 0.975940 1.049609 +v 1.098508 0.296411 -0.000471 +v -0.785706 0.944996 0.987546 +v 0.295404 -0.074297 1.049609 +v 0.943941 0.358196 1.018478 +v 1.098508 0.389139 -0.556442 +v -1.094625 0.142000 -0.340320 +v 1.098508 0.975940 -0.185861 +v 1.036681 -0.043354 0.616965 +v -1.032583 -0.043354 0.864219 +v -1.001885 0.203785 0.987546 +f 63 69 77 +f 49 50 51 +f 52 51 53 +f 50 49 54 +f 49 52 54 +f 52 53 55 +f 50 54 56 +f 56 54 57 +f 52 55 58 +f 55 53 59 +f 56 57 60 +f 49 51 61 +f 51 52 61 +f 52 49 61 +f 54 52 62 +f 57 54 62 +f 56 60 63 +f 53 51 65 +f 65 50 66 +f 53 65 66 +f 55 59 67 +f 59 63 67 +f 57 62 68 +f 64 57 68 +f 59 53 69 +f 63 59 69 +f 60 48 70 +f 63 60 70 +f 67 63 70 +f 67 70 71 +f 48 60 71 +f 60 55 71 +f 55 67 71 +f 70 48 71 +f 52 58 72 +f 62 52 72 +f 68 62 72 +f 58 68 72 +f 51 50 73 +f 50 65 73 +f 65 51 73 +f 58 55 74 +f 55 64 74 +f 68 58 74 +f 64 68 74 +f 55 60 75 +f 60 57 75 +f 64 55 75 +f 57 64 75 +f 56 53 76 +f 50 56 76 +f 53 66 76 +f 66 50 76 +f 53 56 77 +f 56 63 77 +f 69 53 77 +o convex_2 +v 3.013655 1.532089 0.462636 +v 2.550055 1.037848 -0.587525 +v 1.098517 1.006938 -0.494782 +v 1.160380 2.056915 -0.494782 +v 1.098517 1.068759 0.524279 +v 1.098517 2.118845 0.524279 +v 2.982723 2.056915 -0.587525 +v 2.982723 2.087825 0.555380 +v 3.013655 1.130471 0.493401 +v 3.013655 1.068759 -0.587525 +v 1.098517 2.118845 0.091886 +v 1.160380 1.037848 0.369893 +v 2.025154 1.532089 0.555380 +v 3.013655 1.099560 0.400882 +v 2.056086 2.118845 0.555380 +v 2.611918 2.087825 -0.371273 +v 1.098517 1.871561 -0.494782 +v 2.642850 2.026004 -0.587525 +v 2.704526 1.037848 -0.525659 +v 1.407646 1.254113 -0.525659 +v 3.013655 1.686207 -0.494782 +v 1.561929 2.118845 0.555380 +v 2.982723 1.748028 0.555380 +v 1.469322 1.068759 0.524279 +v 1.778263 2.118845 0.061008 +v 1.098517 2.087825 -0.247652 +v 1.129636 1.006938 -0.340395 +v 2.982723 2.087825 0.246272 +v 3.013655 1.068759 -0.124143 +f 89 96 106 +f 80 82 83 +f 78 85 86 +f 79 84 87 +f 78 86 87 +f 80 83 88 +f 82 80 89 +f 87 86 91 +f 88 83 92 +f 90 85 92 +f 84 81 93 +f 80 88 94 +f 84 79 95 +f 81 84 95 +f 94 81 95 +f 80 79 96 +f 79 87 96 +f 79 80 97 +f 80 94 97 +f 95 79 97 +f 94 95 97 +f 85 78 98 +f 78 87 98 +f 87 84 98 +f 83 82 99 +f 82 90 99 +f 92 83 99 +f 90 92 99 +f 86 85 100 +f 85 90 100 +f 100 90 101 +f 82 89 101 +f 90 82 101 +f 91 86 101 +f 89 91 101 +f 86 100 101 +f 88 92 102 +f 93 88 102 +f 93 81 103 +f 88 93 103 +f 81 94 103 +f 94 88 103 +f 89 80 104 +f 80 96 104 +f 96 89 104 +f 92 85 105 +f 84 93 105 +f 85 98 105 +f 98 84 105 +f 102 92 105 +f 93 102 105 +f 87 91 106 +f 91 89 106 +f 96 87 106 +o convex_3 +v -2.669756 -0.722973 0.215597 +v -1.033251 -0.074361 -0.216844 +v -1.064041 -0.136136 -0.000701 +v -3.040447 -0.136136 0.122920 +v -3.071236 -0.661134 -0.309521 +v -1.064041 -0.661134 -0.247737 +v -3.071236 -0.105280 -0.309521 +v -1.033251 -0.537583 0.215597 +v -1.125822 -0.197912 0.215597 +v -1.033251 -0.074361 -0.309521 +v -3.102431 -0.691990 0.215597 +v -1.033251 -0.722973 0.184705 +v -2.299067 -0.167056 0.215597 +v -1.434731 -0.722973 0.030243 +v -3.071236 -0.352383 0.215597 +v -2.453419 -0.074361 -0.247737 +v -2.453419 -0.661134 -0.309521 +v -1.033251 -0.228832 -0.309521 +v -2.113722 -0.105280 -0.000701 +v -1.033251 -0.228832 0.215597 +v -3.040447 -0.167056 0.184705 +v -3.071236 -0.105280 -0.093275 +v -3.071236 -0.691990 -0.062383 +v -3.102431 -0.444888 -0.000701 +f 128 113 130 +f 107 114 115 +f 111 113 116 +f 108 114 116 +f 107 115 117 +f 114 107 118 +f 116 114 118 +f 117 115 119 +f 118 107 120 +f 112 118 120 +f 117 119 121 +f 108 116 122 +f 116 113 122 +f 111 116 123 +f 120 111 123 +f 112 120 123 +f 118 112 124 +f 116 118 124 +f 123 116 124 +f 112 123 124 +f 109 108 125 +f 115 109 125 +f 110 119 125 +f 119 115 125 +f 108 122 125 +f 108 109 126 +f 114 108 126 +f 109 115 126 +f 115 114 126 +f 119 110 127 +f 121 119 127 +f 121 127 128 +f 122 113 128 +f 110 125 128 +f 125 122 128 +f 127 110 128 +f 107 117 129 +f 117 111 129 +f 120 107 129 +f 111 120 129 +f 113 111 130 +f 111 117 130 +f 117 121 130 +f 121 128 130 +o convex_4 +v -3.040522 1.161276 0.493441 +v -1.527200 1.964295 -0.587525 +v -1.527200 2.087852 -0.587525 +v -1.094625 1.161276 0.555365 +v -2.978810 2.118690 0.586154 +v -3.102431 1.192319 -0.432888 +v -1.094625 2.211410 0.493441 +v -1.094625 1.161276 -0.525601 +v -3.071378 2.180469 -0.525601 +v -1.094625 2.056911 -0.587525 +v -3.102431 1.995133 0.586154 +v -2.577288 1.161276 -0.463793 +v -3.071378 2.180469 -0.216672 +v -2.577288 2.180469 -0.494697 +v -1.094625 1.501212 0.555365 +v -1.681676 1.161276 0.555250 +v -3.071378 2.026074 -0.525601 +v -1.125678 1.717180 -0.587525 +v -3.102431 1.161276 -0.216672 +v -1.434435 2.211410 0.246320 +v -1.372723 2.180469 0.524345 +v -3.102431 2.118690 0.277225 +v -3.040522 1.284936 0.524345 +v -1.125678 2.087852 -0.463793 +v -2.762424 2.118690 0.586154 +v -3.102431 1.655607 -0.463793 +v -1.311010 1.161276 -0.525601 +v -1.619768 2.211410 0.246320 +v -1.805297 2.056911 -0.587410 +v -3.102431 2.118690 0.524345 +v -3.071378 1.933354 0.586154 +f 155 141 161 +f 134 131 138 +f 137 134 138 +f 132 133 140 +f 137 138 140 +f 138 131 142 +f 133 139 144 +f 134 137 145 +f 131 134 146 +f 142 136 147 +f 132 140 148 +f 140 138 148 +f 131 141 149 +f 141 136 149 +f 142 131 149 +f 136 142 149 +f 144 139 150 +f 145 137 151 +f 136 141 152 +f 143 139 152 +f 141 131 153 +f 131 146 153 +f 140 133 154 +f 137 140 154 +f 133 144 154 +f 150 137 154 +f 144 150 154 +f 137 135 155 +f 135 141 155 +f 134 145 155 +f 151 137 155 +f 145 151 155 +f 139 147 156 +f 147 136 156 +f 136 152 156 +f 152 139 156 +f 138 142 157 +f 142 147 157 +f 147 148 157 +f 148 138 157 +f 135 137 158 +f 139 143 158 +f 137 150 158 +f 150 139 158 +f 133 132 159 +f 139 133 159 +f 147 139 159 +f 148 147 159 +f 132 148 159 +f 141 135 160 +f 152 141 160 +f 143 152 160 +f 135 158 160 +f 158 143 160 +f 146 134 161 +f 141 153 161 +f 153 146 161 +f 134 155 161 +o convex_5 +v 0.696826 1.099654 1.049609 +v -1.094558 2.427589 -1.019976 +v -1.094558 2.551138 -1.019976 +v 0.974818 0.976106 -0.988981 +v 0.974818 2.674686 1.049609 +v -1.032735 0.976106 0.956623 +v 0.943906 2.674686 -1.019976 +v -1.063647 2.674686 0.925831 +v -1.032735 0.976106 -0.988778 +v 1.067554 0.976106 0.431732 +v 1.098465 2.056945 -0.463684 +v 0.974818 0.976106 0.987821 +v -1.094558 1.068892 0.586100 +v 1.098465 2.118636 0.524312 +v 1.098465 0.976106 -0.525471 +v 0.943906 1.254131 -1.019976 +v 0.202451 0.976106 1.049609 +v -1.063647 2.674686 0.524312 +v -1.094558 1.161511 -0.525674 +v 0.542481 2.674686 -1.019976 +v 1.098465 1.068892 0.524312 +v 0.696826 2.674686 1.049609 +v -1.094558 2.273113 0.555104 +v -1.032735 1.748324 0.956623 +v -0.723831 1.408608 -1.019976 +v -0.909087 2.581900 -1.019976 +v -1.063647 0.976106 -0.957985 +v 0.974818 1.007035 1.018614 +v -0.754743 2.674686 0.956623 +v 1.098465 2.118636 0.092001 +v -0.754743 1.037963 0.987821 +v 1.067554 1.346750 -0.649047 +v 0.974818 1.964159 1.049609 +v -1.063647 1.686633 -1.019976 +v -1.063647 0.976106 0.771260 +f 174 188 196 +f 163 164 168 +f 166 168 169 +f 165 167 170 +f 167 165 171 +f 167 171 173 +f 164 163 174 +f 171 165 176 +f 172 175 176 +f 163 168 177 +f 168 165 177 +f 165 170 177 +f 162 166 178 +f 167 173 178 +f 169 168 179 +f 164 169 179 +f 174 163 180 +f 168 164 181 +f 179 168 181 +f 173 171 182 +f 175 166 182 +f 171 176 182 +f 176 175 182 +f 166 169 183 +f 178 166 183 +f 169 164 184 +f 164 174 184 +f 174 169 184 +f 169 167 185 +f 163 177 186 +f 177 170 186 +f 164 179 187 +f 181 164 187 +f 179 181 187 +f 170 167 188 +f 180 163 188 +f 174 180 188 +f 162 178 189 +f 178 173 189 +f 173 182 189 +f 183 169 190 +f 169 185 190 +f 185 183 190 +f 168 166 191 +f 172 168 191 +f 166 175 191 +f 175 172 191 +f 167 178 192 +f 178 183 192 +f 185 167 192 +f 183 185 192 +f 165 168 193 +f 168 172 193 +f 176 165 193 +f 172 176 193 +f 166 162 194 +f 182 166 194 +f 162 189 194 +f 189 182 194 +f 163 186 195 +f 186 170 195 +f 188 163 195 +f 170 188 195 +f 167 169 196 +f 169 174 196 +f 188 167 196 +o convex_6 +v 3.106323 -0.105187 0.246378 +v 1.068026 -0.722973 -0.340278 +v 1.068026 -0.599307 -0.340278 +v 1.068026 -0.228792 0.308162 +v 2.766307 -0.599307 0.277303 +v 3.106323 -0.197891 -0.309419 +v 1.098755 -0.105187 -0.247634 +v 2.951679 -0.630269 -0.340278 +v 1.068026 -0.661170 0.215519 +v 3.106323 -0.506724 0.308162 +v 1.870973 -0.105187 0.339021 +v 1.068026 -0.105187 0.246378 +v 3.106323 -0.105187 0.339021 +v 1.593015 -0.661170 0.246378 +v 3.106323 -0.568526 0.246378 +v 1.500429 -0.105187 -0.247634 +v 1.685601 -0.475822 -0.340278 +v 3.013337 -0.321497 0.339021 +v 3.013337 -0.383299 -0.340278 +v 2.488349 -0.197891 -0.309419 +v 1.068026 -0.105187 -0.216775 +f 208 203 217 +f 199 198 200 +f 198 199 204 +f 200 198 205 +f 202 197 206 +f 197 203 207 +f 199 200 208 +f 207 203 208 +f 200 207 208 +f 206 197 209 +f 197 207 209 +f 198 204 210 +f 204 201 210 +f 205 198 210 +f 200 205 210 +f 201 206 210 +f 201 204 211 +f 204 202 211 +f 206 201 211 +f 202 206 211 +f 197 202 212 +f 203 197 212 +f 202 203 212 +f 199 203 213 +f 204 199 213 +f 207 200 214 +f 206 209 214 +f 209 207 214 +f 200 210 214 +f 210 206 214 +f 202 204 215 +f 204 213 215 +f 215 213 216 +f 203 202 216 +f 213 203 216 +f 202 215 216 +f 203 199 217 +f 199 208 217 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/739/739.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/739/739.urdf new file mode 100644 index 000000000..98b4aa81b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/739/739.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/740/740.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/740/740.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/740/740.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/740/740.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/740/740.obj new file mode 100644 index 000000000..6935ecff2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/740/740.obj @@ -0,0 +1,486 @@ +o convex_0 +v -0.381385 -3.371934 0.616431 +v 1.786607 -1.858833 -0.446835 +v 1.786607 -1.899577 -0.446835 +v -0.258512 -1.858640 -1.060600 +v 1.622777 -3.821848 -0.978468 +v 1.663734 -1.858833 1.107528 +v 1.663734 -3.780911 0.984648 +v -0.299682 -3.739975 -0.978680 +v -0.258512 -1.858640 0.943688 +v -0.381385 -3.699231 0.943688 +v 1.786607 -1.858833 -0.978468 +v 1.541074 -3.739975 -1.019640 +v 1.172880 -3.821848 -0.896760 +v 1.336498 -1.940513 1.107528 +v 1.786607 -2.185938 -0.978468 +v 1.663734 -3.576423 1.025608 +v 1.418201 -1.858833 -1.019640 +v -0.299682 -2.145001 -0.651423 +v -0.094894 -1.858640 0.984648 +v 0.232342 -2.349490 -1.060600 +v 1.663734 -3.780911 -0.119366 +v 1.704692 -1.899577 0.861979 +v 1.622777 -2.308746 1.107528 +v 1.459159 -3.780911 0.984648 +v -0.299682 -2.267618 0.943688 +v 0.641281 -3.739975 0.984648 +v -0.299682 -3.739975 -0.528755 +v 1.541074 -3.821848 -0.282994 +v 1.663734 -3.535487 -0.978468 +v 0.273087 -1.858640 -1.060600 +v -0.258512 -3.003700 -1.019428 +f 20 12 31 +f 1 8 10 +f 2 3 11 +f 5 8 12 +f 8 5 13 +f 3 7 15 +f 11 3 15 +f 12 11 15 +f 11 12 17 +f 8 1 18 +f 4 8 18 +f 9 4 18 +f 4 9 19 +f 14 6 19 +f 10 14 19 +f 7 5 21 +f 15 7 21 +f 3 2 22 +f 2 6 22 +f 7 3 22 +f 6 16 22 +f 16 7 22 +f 6 14 23 +f 14 10 23 +f 16 6 23 +f 7 16 24 +f 1 10 25 +f 18 1 25 +f 9 18 25 +f 19 9 25 +f 10 19 25 +f 23 10 26 +f 16 23 26 +f 10 24 26 +f 24 16 26 +f 10 8 27 +f 8 13 27 +f 13 10 27 +f 5 7 28 +f 13 5 28 +f 10 13 28 +f 7 24 28 +f 24 10 28 +f 5 12 29 +f 12 15 29 +f 21 5 29 +f 15 21 29 +f 6 2 30 +f 2 11 30 +f 11 17 30 +f 17 12 30 +f 19 6 30 +f 4 19 30 +f 20 4 30 +f 12 20 30 +f 8 4 31 +f 12 8 31 +f 4 20 31 +o convex_1 +v -0.258722 -1.776564 -2.778548 +v 1.786607 0.186952 3.111415 +v 1.704656 0.186952 3.112024 +v -0.258722 0.186952 -2.941667 +v 1.745523 -1.776564 -3.106004 +v -0.422409 -1.735520 2.988467 +v 1.786607 -1.694476 3.029247 +v 1.786607 0.186952 -2.941667 +v -0.422409 0.186952 3.029855 +v 1.704656 -1.858452 1.352400 +v -0.422409 -0.222289 -1.510109 +v -0.299590 -1.735520 -3.064616 +v -0.258722 -1.858452 -1.060312 +v 1.786607 -1.858452 -1.224040 +v -0.258722 -1.858452 1.270231 +v -0.422409 0.186952 -1.469329 +v -0.176771 0.145908 -2.982447 +v 1.418366 -0.099557 3.112024 +v 1.786607 -0.590486 -3.023836 +v 0.927521 -1.776564 -3.106004 +v 1.786607 -1.735520 2.784567 +v -0.381325 -1.776564 2.579450 +v -0.299590 0.145908 -2.778548 +v -0.422409 -1.735520 2.702399 +v 1.745523 -1.571944 -3.106004 +v -0.299590 -1.449211 -3.064616 +v -0.422409 -0.426709 3.029855 +v 1.704656 -1.817408 -2.369531 +v -0.013300 -1.776564 -3.064616 +v 1.786607 -1.817408 -2.042074 +v 0.722967 -1.735520 2.989075 +v 0.150387 -1.285635 3.029247 +v 0.273206 0.186952 3.070635 +v -0.217638 -1.285635 -3.064616 +v 1.295547 -0.017669 -2.982447 +v -0.381325 -0.754062 -2.041465 +f 57 43 67 +f 34 33 35 +f 35 33 39 +f 33 38 39 +f 34 35 40 +f 37 40 42 +f 43 32 44 +f 39 38 45 +f 41 44 45 +f 44 41 46 +f 40 35 47 +f 42 40 47 +f 35 39 48 +f 33 34 49 +f 38 33 49 +f 39 45 50 +f 45 38 52 +f 41 45 52 +f 46 41 53 +f 44 46 53 +f 47 35 54 +f 37 42 55 +f 43 44 55 +f 53 37 55 +f 44 53 55 +f 50 36 56 +f 36 51 56 +f 42 47 57 +f 35 48 57 +f 51 43 57 +f 54 35 57 +f 47 54 57 +f 40 37 58 +f 36 45 59 +f 45 44 59 +f 51 36 59 +f 51 59 60 +f 32 43 60 +f 44 32 60 +f 43 51 60 +f 59 44 60 +f 45 36 61 +f 36 50 61 +f 50 45 61 +f 38 37 62 +f 52 38 62 +f 41 52 62 +f 37 53 62 +f 53 41 62 +f 37 38 63 +f 38 49 63 +f 58 37 63 +f 49 58 63 +f 34 40 64 +f 49 34 64 +f 40 58 64 +f 58 49 64 +f 48 56 65 +f 56 51 65 +f 57 48 65 +f 51 57 65 +f 48 39 66 +f 39 50 66 +f 50 56 66 +f 56 48 66 +f 55 42 67 +f 43 55 67 +f 42 57 67 +o convex_2 +v 3.136446 0.923365 -0.283315 +v 2.072964 1.577759 0.248458 +v 2.768754 1.536850 0.248458 +v 1.827515 1.046090 0.330275 +v 1.827515 1.536850 -0.324255 +v 3.750163 1.455034 0.248458 +v 3.668091 1.455034 -0.324255 +v 3.668091 1.005181 0.248458 +v 1.827515 1.046090 -0.242439 +v 3.791103 0.882457 -0.283315 +v 1.827515 1.536850 0.289334 +v 3.709031 1.046090 -0.324255 +v 2.482173 1.536850 -0.324255 +v 2.154844 1.209722 0.330275 +v 1.827515 1.127906 -0.283315 +v 3.259266 1.046090 0.289334 +v 2.032216 1.005181 -0.242439 +v 3.668091 0.882457 -0.242439 +f 71 84 85 +f 70 73 74 +f 71 72 76 +f 74 73 77 +f 73 75 77 +f 70 69 78 +f 72 71 78 +f 69 72 78 +f 73 70 78 +f 72 74 79 +f 77 68 79 +f 74 77 79 +f 69 70 80 +f 72 69 80 +f 70 74 80 +f 74 72 80 +f 78 71 81 +f 73 78 81 +f 76 72 82 +f 79 68 82 +f 72 79 82 +f 75 73 83 +f 71 75 83 +f 73 81 83 +f 81 71 83 +f 71 76 84 +f 82 68 84 +f 76 82 84 +f 75 71 85 +f 68 77 85 +f 77 75 85 +f 84 68 85 +o convex_3 +v -1.158911 2.355080 3.069907 +v -0.258849 0.186952 -2.941571 +v -2.386017 0.268872 -3.023788 +v -0.258849 2.273160 -3.104795 +v -0.218101 0.186952 3.030008 +v -2.386017 2.355080 2.988900 +v -2.304096 0.309832 2.947792 +v -2.386017 2.191240 -3.023788 +v -0.258849 2.355080 3.069907 +v -0.218101 2.355080 -1.100767 +v -0.218101 0.514421 -2.982679 +v -1.076990 0.186952 -1.305704 +v -2.345057 0.473461 2.538523 +v -2.058548 2.232200 -2.737239 +v -2.386017 1.782063 2.988900 +v -1.976840 0.269084 2.170966 +v -0.218101 2.313908 1.065880 +v -0.422477 0.186952 3.029404 +v -2.099508 2.191240 -3.064896 +v -0.258849 1.986863 -3.104795 +v -0.422477 1.128186 3.069907 +v -2.386017 0.882638 0.779935 +v -0.217889 0.186952 -2.941571 +v -0.218101 2.313908 -2.164746 +v -1.731503 0.350792 2.988900 +v -0.627066 2.273160 -3.104795 +v -1.690543 0.309832 -3.023788 +v -2.386017 0.268872 -2.410187 +v -2.058548 2.273160 3.030008 +v -0.299809 2.355080 -1.060264 +v -0.913574 2.191240 -3.104795 +v -2.386017 2.232200 -2.082530 +v -1.076990 0.186952 -1.755477 +v -0.218101 1.250854 -3.023788 +v -0.954322 0.186952 -0.037393 +v -2.386017 2.355080 2.907288 +v -2.345057 0.309832 1.761697 +v -2.345057 1.291390 2.988900 +v -2.345057 0.268872 -1.591648 +v -2.345057 0.637089 2.947792 +f 123 100 125 +f 88 91 93 +f 91 86 94 +f 91 94 95 +f 87 90 97 +f 91 88 100 +f 94 90 102 +f 95 94 102 +f 97 90 103 +f 92 101 103 +f 88 93 104 +f 94 86 106 +f 90 94 106 +f 103 90 106 +f 100 88 107 +f 87 88 108 +f 90 87 108 +f 102 90 108 +f 95 102 108 +f 95 108 109 +f 92 103 110 +f 103 106 110 +f 93 99 111 +f 104 93 111 +f 89 105 111 +f 109 89 111 +f 95 109 111 +f 88 105 112 +f 105 96 112 +f 108 88 112 +f 96 108 112 +f 88 97 113 +f 107 88 113 +f 86 91 114 +f 91 100 114 +f 106 86 114 +f 91 95 115 +f 111 99 115 +f 95 111 115 +f 88 104 116 +f 105 88 116 +f 104 111 116 +f 111 105 116 +f 93 91 117 +f 99 93 117 +f 88 87 118 +f 97 88 118 +f 87 97 118 +f 96 105 119 +f 105 89 119 +f 108 96 119 +f 89 109 119 +f 109 108 119 +f 97 103 120 +f 103 101 120 +f 91 115 121 +f 115 99 121 +f 117 91 121 +f 99 117 121 +f 92 98 122 +f 98 107 122 +f 113 92 122 +f 107 113 122 +f 92 110 123 +f 110 106 123 +f 114 100 123 +f 106 114 123 +f 101 92 124 +f 113 97 124 +f 92 113 124 +f 97 120 124 +f 120 101 124 +f 98 92 125 +f 107 98 125 +f 100 107 125 +f 92 123 125 +o convex_4 +v -0.217693 0.391472 -1.101044 +v 1.786327 0.268792 3.112024 +v 1.786327 0.186972 3.112024 +v 1.786327 0.186972 -2.696427 +v -0.217693 0.186972 3.029647 +v -0.217693 0.186972 -2.942372 +v 1.704706 0.391472 -1.060152 +v -0.217693 0.350552 3.029647 +v 0.191391 0.350552 -2.942372 +v 1.786327 0.391472 1.107128 +v 1.622890 0.227892 -2.942372 +v -0.217693 0.391472 0.983859 +v -0.217693 0.350552 -2.942372 +v 0.273208 0.350552 3.070539 +v 1.786327 0.227892 -2.696427 +v 1.622890 0.186972 -2.942372 +f 131 136 141 +f 127 128 129 +f 129 128 130 +f 130 126 131 +f 129 130 131 +f 126 130 133 +f 126 132 134 +f 127 129 135 +f 132 126 135 +f 131 134 136 +f 134 132 136 +f 126 133 137 +f 135 126 137 +f 131 126 138 +f 126 134 138 +f 134 131 138 +f 128 127 139 +f 130 128 139 +f 133 130 139 +f 127 135 139 +f 137 133 139 +f 135 137 139 +f 135 129 140 +f 132 135 140 +f 129 136 140 +f 136 132 140 +f 129 131 141 +f 136 129 141 +o convex_5 +v 0.068608 0.882581 -1.101508 +v 1.827431 1.250658 0.329954 +v 1.827431 1.046150 0.329954 +v -0.217889 2.313948 1.066444 +v 1.745546 2.191127 -1.060424 +v -0.217889 0.391684 0.984708 +v 1.704704 0.391684 -1.060424 +v 1.745546 2.314140 1.107528 +v -0.217889 2.355080 -0.978688 +v 1.786389 0.391684 1.107528 +v -0.217889 0.391684 -1.101508 +v 1.827431 1.536854 -0.324151 +v 1.622819 2.232260 -1.060424 +v -0.135804 0.391684 1.025576 +v 1.745546 2.314140 0.534511 +v 0.804771 0.391684 -1.101508 +v 1.500092 0.391684 1.107528 +v 0.927298 2.313948 1.107528 +v 1.827431 1.046150 -0.242198 +v -0.217889 1.986619 1.066444 +v 1.745546 1.414034 -1.060424 +v -0.176846 1.945679 -1.019556 +v -0.176846 2.355080 -0.651311 +v 1.827431 1.577602 0.289086 +v 0.559517 1.087282 -1.101508 +v -0.135804 2.355080 -0.978688 +v 1.459250 2.232260 -1.060424 +f 154 166 168 +f 147 145 150 +f 144 143 151 +f 147 148 151 +f 148 147 152 +f 147 150 152 +f 143 144 153 +f 147 151 155 +f 153 146 156 +f 146 154 156 +f 152 142 157 +f 148 152 157 +f 151 149 158 +f 155 151 158 +f 158 149 159 +f 144 151 160 +f 151 148 160 +f 153 144 160 +f 145 147 161 +f 147 155 161 +f 155 158 161 +f 159 145 161 +f 158 159 161 +f 146 153 162 +f 157 146 162 +f 148 157 162 +f 160 148 162 +f 153 160 162 +f 142 152 163 +f 152 150 163 +f 150 145 164 +f 145 159 164 +f 159 149 164 +f 151 143 165 +f 149 151 165 +f 143 153 165 +f 156 149 165 +f 153 156 165 +f 154 146 166 +f 157 142 166 +f 146 157 166 +f 154 150 167 +f 149 156 167 +f 156 154 167 +f 150 164 167 +f 164 149 167 +f 150 154 168 +f 142 163 168 +f 163 150 168 +f 166 142 168 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/740/740.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/740/740.urdf new file mode 100644 index 000000000..a485af47c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/740/740.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/741/741.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/741/741.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/741/741.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/741/741.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/741/741.obj new file mode 100644 index 000000000..9850893c2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/741/741.obj @@ -0,0 +1,1686 @@ +o convex_0 +v 1.042283 -1.340068 1.648173 +v 1.016504 -1.932791 -0.361766 +v 1.119578 -1.932791 -0.361766 +v 1.016504 -0.051694 -0.361766 +v 1.016504 -1.829677 1.648173 +v 1.042283 -0.051694 -0.335993 +v 1.068041 -1.778120 1.441788 +v 1.016504 -1.340068 1.648173 +f 6 4 8 +f 3 2 4 +f 2 3 5 +f 4 2 5 +f 3 4 6 +f 1 5 7 +f 5 3 7 +f 6 1 7 +f 3 6 7 +f 5 1 8 +f 4 5 8 +f 1 6 8 +o convex_1 +v 0.294988 -1.933164 -1.444064 +v -0.143076 -3.865268 -1.701727 +v -0.065720 -3.865268 -1.727504 +v 0.269174 -3.813448 -1.444064 +v 0.243403 -2.963519 -1.753246 +v 0.063092 -1.933164 -1.650138 +v 0.063092 -3.813448 -1.444064 +v 0.166133 -3.813637 -1.804800 +v 0.294988 -1.933164 -1.675915 +v 0.063092 -1.933164 -1.624396 +v 0.140319 -3.658933 -1.804800 +f 14 17 19 +f 10 11 12 +f 10 12 15 +f 12 9 15 +f 12 11 16 +f 13 12 16 +f 9 12 17 +f 12 13 17 +f 14 9 17 +f 14 10 18 +f 9 14 18 +f 15 9 18 +f 10 15 18 +f 11 10 19 +f 10 14 19 +f 16 11 19 +f 13 16 19 +f 17 13 19 +o convex_2 +v -0.813091 4.277407 -0.413306 +v -1.070725 -1.572033 -0.413306 +v -1.070725 -1.572033 -0.387545 +v -0.735781 0.257921 -0.516367 +v -1.070725 0.077560 -0.542145 +v -1.044955 4.277407 -0.361766 +v -0.735781 4.225302 -0.361766 +v -0.967678 -1.572033 -0.361766 +v -0.735781 4.251068 -0.464827 +v -1.044955 4.277407 -0.439084 +v -0.761584 0.257921 -0.542145 +v -0.967678 -1.468396 -0.439084 +v -0.735781 0.257921 -0.490606 +v -0.967612 0.618644 -0.542145 +v -1.019152 3.864579 -0.464827 +f 28 33 34 +f 21 22 24 +f 24 22 25 +f 20 25 26 +f 26 25 27 +f 22 21 27 +f 25 22 27 +f 26 23 28 +f 20 26 28 +f 25 20 29 +f 24 25 29 +f 20 28 29 +f 28 23 30 +f 21 24 31 +f 27 21 31 +f 23 27 31 +f 24 30 31 +f 30 23 31 +f 23 26 32 +f 26 27 32 +f 27 23 32 +f 30 24 33 +f 28 30 33 +f 24 29 34 +f 29 28 34 +f 33 24 34 +o convex_3 +v -0.426549 4.251247 -0.413328 +v -0.735750 0.257528 -0.516377 +v -0.735750 0.257528 -0.490603 +v -0.168845 0.257528 -0.464815 +v -0.168845 4.225446 -0.490603 +v -0.168845 4.173843 -0.361766 +v -0.735750 4.225446 -0.361766 +v -0.735750 4.251247 -0.464815 +v -0.220397 0.257528 -0.516377 +v -0.735750 1.237193 -0.516377 +v -0.375053 4.225446 -0.490603 +f 44 42 45 +f 37 36 38 +f 39 35 40 +f 38 39 40 +f 36 37 41 +f 37 38 41 +f 40 35 41 +f 38 40 41 +f 35 39 42 +f 36 41 42 +f 41 35 42 +f 38 36 43 +f 39 38 43 +f 39 43 44 +f 36 42 44 +f 43 36 44 +f 42 39 45 +f 39 44 45 +o convex_4 +v 0.990630 3.375594 -0.542145 +v 0.011580 4.225869 -0.464827 +v 0.011580 4.225869 -0.490606 +v -0.168844 3.375594 -0.464827 +v 1.016504 4.148466 -0.361766 +v 1.016504 3.375594 -0.361766 +v -0.168844 4.225869 -0.361766 +v 1.016504 4.148466 -0.542145 +v -0.168844 4.225869 -0.490606 +v -0.168844 3.375594 -0.439084 +v 0.114614 4.148466 -0.516367 +f 54 53 56 +f 48 47 50 +f 49 46 51 +f 51 50 52 +f 47 48 52 +f 50 47 52 +f 48 50 53 +f 51 46 53 +f 50 51 53 +f 52 48 54 +f 49 52 54 +f 48 53 54 +f 49 51 55 +f 51 52 55 +f 52 49 55 +f 46 49 56 +f 53 46 56 +f 49 54 56 +o convex_5 +v 0.063072 -3.839470 -1.160619 +v 0.294976 -1.933164 -1.083283 +v 0.243432 -1.933164 -1.083283 +v 0.294976 -1.933164 -1.444041 +v 0.372278 -3.813716 -1.109097 +v 0.063072 -3.839470 -1.444041 +v 0.063072 -1.933164 -1.134840 +v 0.294976 -3.813343 -1.418263 +v 0.063072 -2.422850 -1.109061 +v 0.243432 -2.113624 -1.444041 +f 62 63 66 +f 59 58 60 +f 58 59 61 +f 60 58 61 +f 61 57 62 +f 59 60 63 +f 62 57 63 +f 60 61 64 +f 62 60 64 +f 61 62 64 +f 57 61 65 +f 61 59 65 +f 63 57 65 +f 59 63 65 +f 60 62 66 +f 63 60 66 +o convex_6 +v 1.042273 -1.185082 -0.516367 +v 1.016499 3.375511 -0.361766 +v 1.119578 0.103139 -0.413306 +v 1.042273 -1.339572 -0.361766 +v 0.964967 3.375511 -0.516367 +v 0.964967 0.257629 -0.413341 +v 1.119578 -1.572033 -0.542145 +v 1.016499 3.375511 -0.516367 +v 1.093774 -1.572033 -0.361766 +v 0.990741 3.375511 -0.361766 +f 72 70 76 +f 67 70 72 +f 71 67 72 +f 70 67 73 +f 67 71 73 +f 73 71 74 +f 68 69 74 +f 71 68 74 +f 69 73 74 +f 69 68 75 +f 68 70 75 +f 73 69 75 +f 70 73 75 +f 70 68 76 +f 68 71 76 +f 71 72 76 +o convex_7 +v -0.941916 -1.520496 1.648173 +v -0.967688 -1.881254 -0.593702 +v -0.941916 -1.881254 -0.593702 +v -0.916145 -1.881219 1.648173 +v -1.070713 -1.881254 -0.361645 +v -0.993429 -1.520496 -0.361645 +v -1.070713 -1.572053 -0.413354 +v -0.967657 -1.881219 1.648173 +v -0.916145 -1.829662 -0.361645 +v -1.070713 -1.829662 -0.928672 +v -0.967657 -1.520496 1.648173 +v -0.941916 -1.829662 -0.928672 +v -0.967657 -1.520496 -0.361645 +f 88 82 89 +f 78 79 81 +f 79 80 81 +f 80 77 84 +f 81 80 84 +f 80 79 85 +f 77 80 85 +f 79 78 86 +f 78 81 86 +f 81 83 86 +f 83 82 86 +f 77 82 87 +f 83 81 87 +f 82 83 87 +f 84 77 87 +f 81 84 87 +f 85 79 88 +f 79 86 88 +f 86 82 88 +f 82 77 89 +f 77 85 89 +f 85 88 89 +o convex_8 +v 0.269219 0.051287 3.606565 +v -0.967667 -0.077440 3.503512 +v -0.967667 -0.077440 3.529295 +v 0.269098 -1.778180 3.555039 +v -0.890301 -1.778180 3.606565 +v 0.269219 0.257528 3.503512 +v -0.890301 -1.726570 3.555039 +v 0.269098 -1.417109 3.606565 +v -0.890301 0.257528 3.529295 +v -0.864391 -0.438511 3.503512 +v 0.269219 0.257528 3.580792 +f 95 98 100 +f 92 91 94 +f 90 93 95 +f 93 94 96 +f 94 91 96 +f 93 90 97 +f 90 94 97 +f 94 93 97 +f 91 92 98 +f 94 90 98 +f 92 94 98 +f 95 91 98 +f 91 95 99 +f 95 93 99 +f 96 91 99 +f 93 96 99 +f 90 95 100 +f 98 90 100 +o convex_9 +v 1.016431 0.283296 3.632329 +v 0.269290 -1.881254 3.477743 +v 0.269290 -1.881254 3.580785 +v 0.269363 0.257447 3.503515 +v 0.964871 -1.881254 3.477743 +v 1.016431 0.283296 3.503515 +v 0.269363 0.102776 3.606557 +v 0.964871 -1.855405 3.580785 +v 0.346666 -0.490060 3.632329 +v 0.990615 -1.417240 3.477743 +f 108 105 110 +f 102 103 104 +f 103 102 105 +f 104 101 106 +f 104 103 107 +f 101 104 107 +f 103 105 108 +f 101 107 109 +f 107 103 109 +f 108 101 109 +f 103 108 109 +f 102 104 110 +f 105 102 110 +f 104 106 110 +f 106 101 110 +f 101 108 110 +o convex_10 +v 1.094014 -1.829687 -0.567914 +v 3.026443 -1.572068 -0.439072 +v 3.026443 -1.932791 -0.439072 +v 1.016897 -1.932791 -0.361766 +v 1.068243 -1.572068 -0.361766 +v 3.026443 -1.932791 -0.567914 +v 1.068243 -1.572068 -0.542125 +v 1.016897 -1.932791 -0.567914 +v 2.794308 -1.572068 -0.490608 +f 116 117 119 +f 113 112 115 +f 114 113 115 +f 112 113 116 +f 113 114 116 +f 114 115 117 +f 115 112 117 +f 116 111 117 +f 111 116 118 +f 116 114 118 +f 117 111 118 +f 114 117 118 +f 112 116 119 +f 117 112 119 +o convex_11 +v -0.117237 2.885674 -0.413313 +v -0.168845 0.257649 -0.490603 +v 0.295068 0.257649 -0.490603 +v 0.526803 3.375510 -0.516367 +v 0.964967 0.257649 -0.413323 +v 0.964967 3.375510 -0.490593 +v 0.964967 2.498993 -0.516367 +v -0.168845 3.375510 -0.464840 +v -0.168845 1.081978 -0.439087 +v 0.964967 0.644329 -0.464830 +v 0.964967 0.721849 -0.413323 +v -0.168845 2.112923 -0.413313 +v 0.243461 0.257649 -0.439087 +v 0.114608 3.349264 -0.439087 +v 0.063112 3.375510 -0.490593 +f 127 123 134 +f 121 122 124 +f 122 121 126 +f 121 123 126 +f 125 124 126 +f 123 125 126 +f 125 123 127 +f 127 121 128 +f 124 122 129 +f 122 126 129 +f 126 124 129 +f 120 124 130 +f 124 125 130 +f 124 120 131 +f 120 127 131 +f 127 128 131 +f 131 128 132 +f 121 124 132 +f 128 121 132 +f 124 131 132 +f 127 120 133 +f 125 127 133 +f 120 130 133 +f 130 125 133 +f 123 121 134 +f 121 127 134 +o convex_12 +v -0.890185 0.102917 1.545099 +v 0.913254 0.257528 1.622395 +v 0.913254 0.205966 1.648173 +v -0.890185 0.128690 1.648173 +v -0.890185 0.257528 1.545099 +v 0.836095 0.154479 1.596636 +f 135 139 140 +f 137 136 138 +f 135 138 139 +f 138 136 139 +f 139 136 140 +f 136 137 140 +f 137 138 140 +f 138 135 140 +o convex_13 +v -0.916054 -1.881249 -0.361766 +v 1.016504 -1.778195 1.648173 +v 1.016504 -1.829737 1.648173 +v 1.016504 -1.932791 -0.361766 +v -0.916054 -1.881249 1.648173 +v -0.916054 -1.829737 -0.361766 +v 0.990588 -1.881234 -0.361766 +v -0.684132 -1.829737 1.544882 +v 0.887491 -1.778195 1.338694 +v -0.555118 -1.881249 1.648173 +v -0.916054 -1.855493 1.648173 +f 148 146 151 +f 142 143 144 +f 141 144 145 +f 143 142 145 +f 144 141 146 +f 141 145 146 +f 142 144 147 +f 144 146 147 +f 146 148 149 +f 142 147 149 +f 147 146 149 +f 148 142 149 +f 144 143 150 +f 145 144 150 +f 143 145 150 +f 145 142 151 +f 146 145 151 +f 142 148 151 +o convex_14 +v -0.890185 3.710642 1.545119 +v 0.913254 4.277406 1.622405 +v 0.913254 4.277406 1.545119 +v 0.913254 3.169471 1.622405 +v -0.477728 3.169471 1.519341 +v 0.913254 4.225675 1.493562 +v -0.890185 4.096835 1.493562 +v -0.503683 3.169471 1.570848 +v -0.890185 3.581802 1.493562 +v 0.913254 3.169471 1.596626 +v -0.735513 4.122647 1.545119 +v 0.552531 3.427151 1.622405 +v -0.890185 3.169471 1.545119 +f 152 160 164 +f 154 153 155 +f 154 155 157 +f 154 157 158 +f 156 155 159 +f 157 156 160 +f 158 157 160 +f 152 158 160 +f 155 156 161 +f 157 155 161 +f 156 157 161 +f 153 154 162 +f 158 152 162 +f 154 158 162 +f 155 153 163 +f 152 159 163 +f 159 155 163 +f 153 162 163 +f 162 152 163 +f 159 152 164 +f 156 159 164 +f 160 156 164 +o convex_15 +v -1.044972 4.096992 1.493552 +v -1.019183 3.607427 -0.361766 +v -1.044972 4.122700 -0.361766 +v -0.890361 4.251567 -0.103981 +v -0.890361 3.607427 1.519331 +v -1.044972 3.633266 1.519331 +v -0.890361 4.096992 1.519331 +v -0.890361 4.225794 -0.361766 +v -1.044972 4.277406 -0.284431 +v -0.993425 3.607427 -0.361766 +f 172 169 174 +f 166 169 170 +f 165 167 170 +f 167 166 170 +f 169 168 171 +f 170 169 171 +f 165 170 171 +f 166 167 172 +f 168 169 172 +f 167 165 173 +f 165 171 173 +f 171 168 173 +f 172 167 173 +f 168 172 173 +f 169 166 174 +f 166 172 174 +o convex_16 +v -0.941722 -1.907010 2.781910 +v 0.939199 -1.855470 3.477493 +v 0.268922 -1.778180 3.580422 +v 0.939199 -1.803956 1.648544 +v -0.967667 -1.778180 1.648544 +v -0.915963 -1.778180 3.606298 +v -0.529214 -1.881246 1.648544 +v 0.140130 -1.907010 3.580422 +v 0.939199 -1.881234 3.013643 +v -0.915963 -1.907010 3.606298 +v 0.939199 -1.829732 1.648544 +v -0.967667 -1.881246 1.648544 +v 0.939199 -1.803956 2.318443 +f 176 178 187 +f 177 178 179 +f 177 179 180 +f 179 175 180 +f 179 178 181 +f 176 177 182 +f 175 181 182 +f 182 181 183 +f 178 176 183 +f 176 182 183 +f 177 180 184 +f 180 175 184 +f 182 177 184 +f 175 182 184 +f 181 178 185 +f 183 181 185 +f 178 183 185 +f 175 179 186 +f 181 175 186 +f 179 181 186 +f 177 176 187 +f 178 177 187 +o convex_17 +v -3.003352 -1.855127 -2.165227 +v -2.951854 0.180222 -0.465029 +v -2.951854 0.180222 -0.928857 +v -2.900311 -1.056474 -2.371415 +v -2.926097 -1.907022 -0.929046 +v -3.054911 -1.726411 -0.516482 +v -2.926097 0.051302 -2.371415 +v -3.003367 0.180222 -0.696943 +v -2.900311 0.051302 -1.907587 +v -3.003352 -1.777898 -2.397330 +v -2.926097 -1.829384 -2.397330 +v -2.977611 -1.700464 -0.516482 +v -3.054911 -1.803845 -0.825574 +v -3.029124 -0.464380 -0.516482 +v -2.951839 -0.412689 -2.371415 +v -3.029124 -1.907022 -0.929046 +v -2.900311 0.051302 -2.371415 +f 198 197 204 +f 189 190 195 +f 190 194 195 +f 190 189 196 +f 192 191 196 +f 189 192 196 +f 192 188 198 +f 191 192 198 +f 188 197 198 +f 192 189 199 +f 189 193 199 +f 193 192 199 +f 197 188 200 +f 197 200 201 +f 193 189 201 +f 189 195 201 +f 195 197 201 +f 200 193 201 +f 195 194 202 +f 194 197 202 +f 197 195 202 +f 188 192 203 +f 192 193 203 +f 200 188 203 +f 193 200 203 +f 194 190 204 +f 190 196 204 +f 196 191 204 +f 197 194 204 +f 191 198 204 +o convex_18 +v -0.967667 -0.386774 3.503259 +v -0.967667 -1.778180 1.648556 +v -0.941898 -1.778180 1.648556 +v -0.993435 -0.077462 1.648556 +v -0.890361 -0.077462 3.503259 +v -0.890361 -1.778180 3.606575 +v -0.916130 -1.752376 1.957737 +v -0.967667 -0.077462 1.648556 +v -0.993435 -0.077462 2.756088 +v -0.941898 -1.752376 3.013707 +v -0.993435 -1.056507 1.699927 +v -0.890361 -1.778180 2.910583 +v -0.967667 -0.077462 3.528945 +v -0.916130 -1.778180 3.606575 +v -0.941898 -1.030703 1.648556 +f 212 209 219 +f 207 206 208 +f 206 207 210 +f 207 208 212 +f 208 209 212 +f 209 208 213 +f 208 206 215 +f 205 213 215 +f 213 208 215 +f 206 214 215 +f 214 205 215 +f 210 207 216 +f 209 210 216 +f 207 211 216 +f 211 209 216 +f 210 209 217 +f 213 205 217 +f 209 213 217 +f 206 210 218 +f 214 206 218 +f 205 214 218 +f 210 217 218 +f 217 205 218 +f 211 207 219 +f 209 211 219 +f 207 212 219 +o convex_19 +v 0.578166 -1.932776 -0.490687 +v -0.503577 -1.829737 -2.397396 +v -0.941550 -1.829752 -2.397197 +v -0.941759 -1.829722 -0.361965 +v 0.990388 -1.803966 -2.371293 +v -0.297152 -1.932776 -1.778896 +v 0.913345 -1.881249 -0.361965 +v 1.093810 -1.855493 -2.397396 +v -1.044972 -1.778195 -2.397197 +v 0.320448 -1.803966 -1.057778 +v -0.941759 -1.881249 -0.361965 +v 1.016348 -1.932776 -0.825641 +v -1.044972 -1.778195 -1.881714 +v -0.348863 -1.932776 -1.109386 +v 0.294907 -1.932776 -1.650374 +v 1.016348 -1.932776 -0.361965 +v -1.044972 -1.855493 -1.135289 +v 1.093810 -1.829737 -1.881913 +v 0.604126 -1.881219 -2.268276 +f 227 234 238 +f 222 221 227 +f 221 222 228 +f 224 227 228 +f 227 221 228 +f 223 226 229 +f 226 223 230 +f 220 225 231 +f 224 228 232 +f 223 229 232 +f 229 224 232 +f 225 220 233 +f 230 225 233 +f 220 230 233 +f 231 225 234 +f 227 231 234 +f 230 220 235 +f 226 230 235 +f 220 231 235 +f 231 227 235 +f 222 225 236 +f 228 222 236 +f 225 230 236 +f 230 223 236 +f 232 228 236 +f 223 232 236 +f 227 224 237 +f 229 226 237 +f 224 229 237 +f 226 235 237 +f 235 227 237 +f 225 222 238 +f 222 227 238 +f 234 225 238 +o convex_20 +v -0.890361 0.257528 3.451743 +v -0.993425 -0.077429 1.648173 +v -1.019203 0.025654 1.648173 +v -0.967646 -0.077429 3.503502 +v -0.890361 0.102869 1.648173 +v -0.967646 0.257528 3.503502 +v -1.019203 0.128640 1.648173 +v -0.941918 -0.077429 3.503502 +f 239 244 246 +f 241 240 242 +f 240 241 243 +f 241 242 244 +f 239 243 245 +f 243 241 245 +f 241 244 245 +f 244 239 245 +f 242 240 246 +f 243 239 246 +f 240 243 246 +f 244 242 246 +o convex_21 +v -0.890361 0.128690 1.648173 +v 0.913430 0.257497 3.503502 +v 0.269144 0.257528 3.503502 +v 0.913430 0.205981 1.648173 +v -0.683956 0.102917 1.854664 +v -0.890361 0.257528 3.451743 +v -0.890361 0.205966 3.503502 +v 0.913430 0.231739 3.503502 +v 0.810316 0.154479 1.648173 +v 0.913430 0.257497 2.858968 +v -0.555240 0.154479 1.648173 +v 0.629867 0.205981 3.220008 +v 0.758583 0.205981 1.648173 +v -0.890361 0.102917 1.648173 +f 255 251 260 +f 248 249 253 +f 249 252 253 +f 252 247 253 +f 250 248 254 +f 248 253 254 +f 247 250 255 +f 250 254 255 +f 249 248 256 +f 248 250 256 +f 252 249 256 +f 250 247 257 +f 247 252 257 +f 253 251 258 +f 254 253 258 +f 251 255 258 +f 255 254 258 +f 256 250 259 +f 252 256 259 +f 250 257 259 +f 257 252 259 +f 253 247 260 +f 251 253 260 +f 247 255 260 +o convex_22 +v 3.026443 -1.881256 -0.928747 +v 1.094006 -1.855483 -2.397330 +v 1.094006 -1.829741 -2.397330 +v 1.017094 -1.907013 -0.567914 +v 2.974710 -1.778180 -2.191037 +v 3.000282 -1.932786 -0.645453 +v 2.974710 -1.829741 -2.216824 +v 1.042666 -1.932786 -0.877174 +v 3.026443 -1.881256 -0.593880 +v 1.017094 -1.881256 -0.799814 +v 1.145740 -1.803983 -2.371365 +v 2.974710 -1.778180 -2.397330 +v 1.017094 -1.932786 -0.567914 +f 264 270 273 +f 266 262 267 +f 261 266 267 +f 262 266 268 +f 261 265 269 +f 266 261 269 +f 263 262 270 +f 269 265 270 +f 264 269 270 +f 263 270 271 +f 270 265 271 +f 262 263 272 +f 265 261 272 +f 267 262 272 +f 261 267 272 +f 263 271 272 +f 271 265 272 +f 262 268 273 +f 268 266 273 +f 269 264 273 +f 266 269 273 +f 270 262 273 +o convex_23 +v 0.990711 -1.365754 1.648173 +v 1.016486 0.283296 3.503502 +v 1.016486 0.283296 3.451743 +v 0.913451 0.257235 3.503502 +v 0.964975 -1.881254 3.477531 +v 0.913451 0.205749 1.648173 +v 1.042248 -1.314055 1.648173 +v 0.939200 -1.829556 1.648355 +v 1.042273 -1.829556 2.086580 +v 0.939200 -1.881254 3.477531 +v 0.964987 -0.051896 1.699750 +v 0.990711 -1.417240 3.503502 +v 1.042248 -0.747704 2.652840 +v 0.913451 -0.129231 1.648173 +v 1.042273 -1.829556 1.648355 +v 0.990724 -1.881254 3.297011 +f 288 282 289 +f 275 276 277 +f 277 276 279 +f 274 279 280 +f 279 276 284 +f 276 280 284 +f 280 279 284 +f 275 277 285 +f 277 283 285 +f 283 278 285 +f 276 275 286 +f 280 276 286 +f 275 285 286 +f 279 274 287 +f 277 279 287 +f 274 281 287 +f 283 277 287 +f 281 283 287 +f 274 280 288 +f 281 274 288 +f 280 286 288 +f 286 282 288 +f 278 283 289 +f 283 281 289 +f 285 278 289 +f 282 286 289 +f 286 285 289 +f 281 288 289 +o convex_24 +v 1.119578 -1.572032 -0.542145 +v 2.846065 0.102917 -0.387535 +v 2.846065 -0.103337 -0.387535 +v 1.119578 0.102917 -0.413308 +v 2.742976 -1.572032 -0.439097 +v 2.846065 -0.051855 -0.439097 +v 2.794520 -1.572032 -0.490583 +v 1.119578 0.025531 -0.464840 +v 1.119578 -1.417260 -0.490583 +v 1.532103 -1.494483 -0.542145 +v 1.119578 -0.025950 -0.413308 +v 2.381995 0.102917 -0.439097 +v 2.253219 0.077012 -0.387535 +f 300 294 302 +f 291 292 295 +f 294 290 296 +f 292 294 296 +f 295 292 296 +f 290 293 297 +f 293 290 298 +f 290 294 298 +f 296 290 299 +f 295 296 299 +f 290 297 299 +f 293 298 300 +f 298 294 300 +f 293 291 301 +f 291 295 301 +f 297 293 301 +f 295 299 301 +f 299 297 301 +f 292 291 302 +f 291 293 302 +f 294 292 302 +f 293 300 302 +o convex_25 +v 0.063072 -3.865125 -1.212125 +v -0.349224 -2.010422 -1.160588 +v -0.349224 -2.010422 -1.109051 +v 0.063072 -1.932791 -1.109051 +v -0.091539 -3.865125 -1.160588 +v -0.323435 -1.932791 -1.212125 +v -0.220321 -3.890810 -1.212125 +v 0.063072 -3.427134 -1.134820 +v 0.063072 -2.371165 -1.160588 +f 303 308 311 +f 304 305 308 +f 305 306 308 +f 305 304 309 +f 303 307 309 +f 307 305 309 +f 304 308 309 +f 308 303 309 +f 306 305 310 +f 303 306 310 +f 307 303 310 +f 305 307 310 +f 306 303 311 +f 308 306 311 +o convex_26 +v -0.916150 -0.025925 -0.335804 +v -0.993430 3.607233 1.467615 +v -0.967677 2.602566 0.926518 +v -1.019193 3.607233 -0.361587 +v -1.019183 -0.025925 1.467615 +v -0.967677 -0.025925 -0.361587 +v -0.967677 0.103170 1.467615 +v -0.967677 2.937218 -0.361587 +v -1.019193 3.607233 1.467615 +v -1.019193 2.911257 -0.361587 +v -0.916150 0.515705 -0.310020 +v -0.993430 3.607233 -0.361587 +v -1.019183 -0.025925 1.312913 +v -0.967677 2.808123 0.874771 +f 322 319 325 +f 312 316 317 +f 314 313 318 +f 316 312 318 +f 313 316 318 +f 312 317 319 +f 317 315 319 +f 313 315 320 +f 316 313 320 +f 316 320 321 +f 315 317 321 +f 320 315 321 +f 318 312 322 +f 314 318 322 +f 312 319 322 +f 315 313 323 +f 313 319 323 +f 319 315 323 +f 317 316 324 +f 316 321 324 +f 321 317 324 +f 313 314 325 +f 319 313 325 +f 314 322 325 +o convex_27 +v 1.016504 0.489444 0.127991 +v 1.016497 4.097027 1.261646 +v 0.990731 4.097027 1.261646 +v 1.016497 4.097027 -0.361766 +v 0.939199 0.489444 0.694501 +v 0.964972 0.489444 1.261646 +v 0.990731 4.097027 -0.361766 +v 0.990731 0.489444 -0.361766 +v 0.939199 1.700682 1.261646 +v 1.016504 2.885789 1.261646 +v 1.016504 0.489444 -0.361766 +v 0.939199 0.489444 1.261646 +f 334 330 337 +f 328 327 329 +f 327 328 331 +f 330 326 331 +f 328 329 332 +f 330 332 333 +f 326 330 333 +f 332 329 333 +f 331 328 334 +f 328 332 334 +f 332 330 334 +f 329 327 335 +f 327 331 335 +f 331 326 335 +f 326 333 336 +f 333 329 336 +f 329 335 336 +f 335 326 336 +f 330 331 337 +f 331 334 337 +o convex_28 +v 0.630895 -1.855407 -2.449033 +v 2.974906 -1.056664 -2.423272 +v 2.974906 -1.159800 -2.397511 +v -1.044972 -1.056664 -2.449033 +v 1.093638 -1.778152 -2.526316 +v -1.044972 -1.803878 -2.397511 +v 2.974906 -1.803878 -2.397511 +v 2.098608 -1.056664 -2.500517 +v -1.044972 -1.803878 -2.526316 +v -1.044972 -1.082545 -2.500517 +v 2.974906 -1.803878 -2.423272 +v -1.044972 -1.546153 -2.526316 +v 2.974906 -1.211408 -2.449033 +v 1.067668 -1.829682 -2.526316 +f 345 350 351 +f 340 339 341 +f 340 341 343 +f 339 340 344 +f 343 338 344 +f 340 343 344 +f 341 339 345 +f 338 343 346 +f 343 341 346 +f 341 345 347 +f 346 341 347 +f 339 344 348 +f 344 338 348 +f 345 342 349 +f 342 346 349 +f 347 345 349 +f 346 347 349 +f 345 339 350 +f 339 348 350 +f 350 348 351 +f 342 345 351 +f 338 346 351 +f 346 342 351 +f 348 338 351 +o convex_29 +v 2.974917 -1.829505 -2.216876 +v 3.052197 0.102917 -0.928672 +v 3.052197 0.102917 -1.598889 +v 3.077971 -1.907022 -0.928672 +v 2.974917 -1.907022 -0.928672 +v 2.974917 -0.155015 -2.345592 +v 3.026444 -1.829505 -2.165389 +v 3.026444 0.102917 -2.371484 +v 3.026444 0.102917 -0.928672 +v 3.077971 -1.803732 -1.315565 +v 3.000700 -1.803732 -2.422970 +v 3.077971 -0.850506 -0.928672 +v 3.000700 0.102917 -1.573146 +f 356 360 364 +f 352 355 356 +f 355 353 356 +f 352 356 357 +f 355 352 358 +f 353 354 359 +f 356 353 360 +f 353 359 360 +f 355 358 361 +f 358 359 361 +f 359 354 361 +f 352 357 362 +f 358 352 362 +f 359 358 362 +f 357 359 362 +f 354 353 363 +f 353 355 363 +f 361 354 363 +f 355 361 363 +f 357 356 364 +f 359 357 364 +f 360 359 364 +o convex_30 +v -2.926044 -1.855465 -2.139507 +v -1.044972 -1.829737 -0.928680 +v -1.070745 -1.803959 -0.387744 +v -3.054911 -1.907010 -0.542237 +v -3.054911 -1.803959 -0.542237 +v -1.044972 -1.778180 -2.526160 +v -1.070745 -1.881244 -0.464991 +v -2.926044 -1.778180 -2.397206 +v -1.044972 -1.803971 -2.526160 +v -2.693885 -1.907010 -0.980597 +v -1.044972 -1.778180 -1.804562 +v -2.797176 -1.829737 -2.422955 +v -2.333253 -1.907010 -0.464991 +v -3.054911 -1.907010 -0.928680 +f 374 368 378 +f 366 367 371 +f 370 366 373 +f 366 371 373 +f 373 371 374 +f 365 373 374 +f 367 366 375 +f 369 367 375 +f 366 370 375 +f 372 369 375 +f 370 372 375 +f 365 372 376 +f 372 370 376 +f 370 373 376 +f 373 365 376 +f 369 368 377 +f 367 369 377 +f 371 367 377 +f 374 371 377 +f 368 374 377 +f 368 369 378 +f 372 365 378 +f 369 372 378 +f 365 374 378 +o convex_31 +v -0.993430 -0.026072 1.467615 +v -0.993430 -1.520496 -0.361587 +v -1.019203 -1.056487 0.385600 +v -0.941898 -1.520496 1.467615 +v -0.941898 -0.026072 -0.361587 +v -0.993430 -1.442966 1.261346 +v -1.019203 -0.026072 1.467615 +v -0.941898 -0.979250 -0.361587 +v -0.967672 -0.026072 -0.361587 +v -0.941898 -0.026072 0.488734 +v -0.967672 -0.103455 1.467615 +v -0.967672 -1.520496 -0.361587 +f 386 382 390 +f 381 380 384 +f 380 382 384 +f 384 382 385 +f 382 379 385 +f 379 383 385 +f 381 384 385 +f 383 382 386 +f 380 383 386 +f 380 381 387 +f 383 380 387 +f 385 383 387 +f 381 385 387 +f 383 379 388 +f 382 383 388 +f 379 382 389 +f 388 379 389 +f 382 388 389 +f 382 380 390 +f 380 386 390 +o convex_32 +v -1.019203 -0.128358 1.467794 +v -0.890361 0.129092 1.648173 +v -1.019203 0.129092 1.648173 +v -0.993425 3.606925 1.467794 +v -0.941918 -1.519994 1.467794 +v -0.890361 3.606925 1.545112 +v -0.967646 -1.519994 1.648173 +v -1.019203 3.606925 1.519333 +v -0.890361 3.477949 1.493572 +v -0.890361 0.103497 1.545112 +f 399 392 400 +f 391 394 395 +f 393 392 396 +f 393 391 397 +f 392 393 397 +f 391 395 397 +f 395 392 397 +f 391 393 398 +f 394 391 398 +f 393 396 398 +f 396 394 398 +f 395 394 399 +f 396 392 399 +f 394 396 399 +f 392 395 400 +f 395 399 400 +o convex_33 +v 0.964972 4.277406 1.416141 +v 0.990728 4.097027 -0.361766 +v 0.913451 4.122806 -0.361766 +v 0.913451 4.097027 1.622405 +v 1.016494 4.097027 1.622405 +v 1.016494 4.174345 -0.361766 +v 0.913451 4.277406 1.622405 +v 1.016494 4.277406 1.622405 +f 401 407 408 +f 403 402 404 +f 404 402 405 +f 405 402 406 +f 402 403 406 +f 406 403 407 +f 403 404 407 +f 404 405 407 +f 401 406 407 +f 407 405 408 +f 405 406 408 +f 406 401 408 +o convex_34 +v 2.871406 0.102927 -0.387570 +v -2.951653 0.154466 -0.928672 +v -2.951653 0.180192 -0.928672 +v 3.052011 0.102927 -0.928672 +v 1.016361 0.257528 -0.361766 +v -2.951653 0.077148 -0.464870 +v 1.299664 0.231749 -0.928672 +v -0.941382 0.257528 -0.361766 +v -0.916003 0.077148 -0.361766 +v -1.328563 0.102927 -0.928672 +v -2.951653 0.180192 -0.464870 +v 2.871406 0.154484 -0.902813 +v -0.941382 0.257528 -0.542226 +v 3.077981 0.128706 -0.568030 +v -0.916003 0.077148 -0.542226 +f 414 418 423 +f 410 411 412 +f 411 410 414 +f 412 411 415 +f 416 414 417 +f 412 409 417 +f 409 413 417 +f 413 416 417 +f 410 412 418 +f 414 410 418 +f 411 414 419 +f 416 411 419 +f 414 416 419 +f 412 415 420 +f 415 413 420 +f 415 411 421 +f 413 415 421 +f 416 413 421 +f 411 416 421 +f 409 412 422 +f 413 409 422 +f 412 420 422 +f 420 413 422 +f 417 414 423 +f 412 417 423 +f 418 412 423 +o convex_35 +v 0.449598 0.154446 -0.928672 +v -1.869562 0.128693 -2.371564 +v -1.869562 0.154446 -2.371564 +v -1.869562 0.128693 -0.928672 +v 0.269123 0.077148 -1.109175 +v -0.220543 0.205991 -0.928672 +v -1.018946 0.154446 -2.371564 +v -1.869562 0.154446 -0.928672 +v -0.297727 0.205991 -1.444193 +v -1.328364 0.102940 -0.928672 +v -0.941762 0.128693 -2.320012 +v 0.320655 0.205991 -0.954660 +v 0.423719 0.102940 -0.928672 +v 0.088648 0.077148 -1.212279 +v -0.426670 0.205991 -1.135022 +f 432 426 438 +f 426 425 427 +f 427 424 429 +f 425 426 430 +f 426 427 431 +f 427 429 431 +f 430 426 432 +f 427 425 433 +f 424 427 433 +f 424 428 434 +f 425 430 434 +f 430 424 434 +f 429 424 435 +f 424 430 435 +f 432 429 435 +f 430 432 435 +f 428 424 436 +f 424 433 436 +f 433 428 436 +f 433 425 437 +f 428 433 437 +f 434 428 437 +f 425 434 437 +f 426 431 438 +f 431 429 438 +f 429 432 438 +o convex_36 +v -0.194605 -3.891183 -1.675957 +v 0.063072 -3.813895 -1.212125 +v -0.194605 -3.788129 -1.212125 +v 0.063072 -3.788129 -1.675957 +v -0.220381 -3.788129 -1.650123 +v -0.220381 -3.891183 -1.212125 +f 443 439 444 +f 441 440 442 +f 440 439 442 +f 442 439 443 +f 441 442 443 +f 441 443 444 +f 439 440 444 +f 440 441 444 +o convex_37 +v -0.168822 -3.787938 -1.675957 +v -0.297651 -1.933154 -1.212125 +v -0.271848 -1.933154 -1.237959 +v -0.194588 -3.787938 -1.212125 +v 0.063072 -1.933154 -1.675957 +v -0.194588 -1.933154 -1.675957 +v 0.063072 -3.221007 -1.650123 +v -0.246082 -3.736366 -1.624380 +v -0.323455 -2.448331 -1.289446 +v 0.063072 -1.933154 -1.624380 +v -0.065796 -3.762152 -1.675957 +v -0.246082 -3.607435 -1.212125 +f 446 453 456 +f 447 446 448 +f 446 447 449 +f 449 445 450 +f 446 449 450 +f 445 448 452 +f 450 445 452 +f 450 452 453 +f 446 450 453 +f 447 448 454 +f 449 447 454 +f 448 451 454 +f 451 449 454 +f 448 445 455 +f 445 449 455 +f 451 448 455 +f 449 451 455 +f 448 446 456 +f 452 448 456 +f 453 452 456 +o convex_38 +v 3.026439 -1.932791 -0.619542 +v 3.077945 0.102917 -0.387535 +v 2.846065 0.102917 -0.387535 +v 3.052167 0.102917 -0.928619 +v 2.846065 -1.571919 -0.439127 +v 3.103724 -1.932791 -0.439127 +v 3.103724 -1.906886 -0.902823 +v 3.026439 -1.906886 -0.928672 +v 2.871868 0.102917 -0.568002 +v 3.103724 -0.644731 -0.439127 +v 3.077945 0.102917 -0.748205 +v 3.026413 0.102917 -0.928619 +f 464 465 468 +f 459 458 460 +f 459 461 462 +f 458 459 462 +f 461 457 462 +f 462 457 463 +f 457 461 464 +f 463 457 464 +f 460 463 464 +f 459 460 465 +f 461 459 465 +f 464 461 465 +f 458 462 466 +f 462 463 466 +f 466 463 467 +f 460 458 467 +f 463 460 467 +f 458 466 467 +f 460 464 468 +f 465 460 468 +o convex_39 +v -1.044972 -0.180879 -2.448971 +v -2.926069 -1.777920 -2.397525 +v -2.771398 -1.777920 -2.423301 +v -2.900290 0.051376 -2.371713 +v -1.044972 0.128353 -2.371731 +v -1.044972 -1.777920 -2.526299 +v -2.719472 -1.777920 -2.371731 +v -1.044972 -1.571765 -2.474729 +v -2.926069 -1.082288 -2.345937 +v -1.302757 -1.752009 -2.526299 +v -2.900290 0.051376 -2.345937 +v -2.152897 0.154265 -2.397507 +v -1.044972 0.154265 -2.423265 +v -2.230232 -0.000257 -2.345937 +v -1.122308 -1.546043 -2.526299 +f 472 480 483 +f 471 470 472 +f 470 471 474 +f 469 473 474 +f 470 474 475 +f 475 474 476 +f 474 473 476 +f 473 475 476 +f 472 470 477 +f 470 475 477 +f 475 473 477 +f 471 472 478 +f 474 471 478 +f 472 477 479 +f 472 479 480 +f 479 473 480 +f 473 469 481 +f 469 480 481 +f 480 473 481 +f 477 473 482 +f 473 479 482 +f 479 477 482 +f 469 474 483 +f 478 472 483 +f 474 478 483 +f 480 469 483 +o convex_40 +v -0.013891 3.143425 1.596626 +v -0.890185 0.257528 1.545099 +v -0.503683 0.257528 1.545099 +v -0.890185 3.169363 1.519331 +v 0.913254 0.257528 1.596626 +v -0.529462 0.257528 1.596626 +v 0.913254 3.169078 1.622405 +v -0.477728 3.169363 1.519331 +v 0.191808 0.257528 1.622405 +v 0.913254 3.169078 1.596626 +v -0.890185 1.520197 1.570868 +v 0.913254 0.257528 1.622405 +v 0.526752 3.169363 1.622405 +v -0.864583 1.391650 1.519331 +v -0.890185 3.169363 1.545099 +v 0.552531 3.169363 1.570868 +f 496 490 499 +f 485 486 488 +f 485 488 489 +f 489 488 492 +f 490 488 493 +f 487 485 494 +f 485 489 494 +f 488 490 495 +f 492 488 495 +f 490 492 495 +f 491 487 496 +f 489 492 496 +f 492 490 496 +f 484 494 496 +f 494 489 496 +f 486 485 497 +f 485 487 497 +f 488 486 497 +f 487 491 497 +f 491 488 497 +f 487 494 498 +f 494 484 498 +f 484 496 498 +f 496 487 498 +f 488 491 499 +f 493 488 499 +f 490 493 499 +f 491 496 499 +o convex_41 +v 1.299917 -1.005079 -2.500548 +v 2.047242 0.257528 -2.371706 +v 2.047242 0.231671 -2.371706 +v -1.044972 0.154229 -2.397484 +v 2.047242 0.076788 -2.474769 +v -1.044972 -1.056663 -2.448991 +v -1.044972 -0.644242 -2.474769 +v 2.047242 -1.056663 -2.474769 +v 0.965149 -0.798868 -2.423250 +v -1.044972 -0.206478 -2.397484 +v -1.044972 0.154229 -2.423263 +v 2.047242 -0.463888 -2.500548 +v 1.557198 0.257528 -2.449003 +v -1.044972 -1.056663 -2.474769 +v 0.887662 0.257528 -2.371706 +v 1.325645 -1.056663 -2.449003 +v 2.047242 -1.056663 -2.500548 +f 507 513 516 +f 501 502 504 +f 505 503 506 +f 504 502 507 +f 503 505 509 +f 505 508 509 +f 504 506 510 +f 506 503 510 +f 500 506 511 +f 506 504 511 +f 504 507 511 +f 501 504 512 +f 504 510 512 +f 506 500 513 +f 505 506 513 +f 507 505 513 +f 502 501 514 +f 508 502 514 +f 503 509 514 +f 509 508 514 +f 510 503 514 +f 501 512 514 +f 512 510 514 +f 507 502 515 +f 505 507 515 +f 508 505 515 +f 502 508 515 +f 500 511 516 +f 511 507 516 +f 513 500 516 +o convex_42 +v 0.964972 0.489444 0.076383 +v 0.990728 -1.443190 1.519109 +v 1.016494 -1.443190 1.519109 +v 0.939217 0.489444 1.622400 +v 1.016494 0.489444 0.127930 +v 1.016494 -0.103248 -0.361766 +v 0.913451 -0.077520 1.364468 +v 0.990728 -0.979328 0.437212 +v 1.016494 -0.927682 1.648173 +v 0.990728 -0.103248 -0.361766 +v 0.913451 0.489444 1.622400 +v 0.913451 -0.154894 1.648173 +v 1.016494 0.489444 -0.361766 +v 0.964972 0.489444 1.312921 +v 0.913451 0.231595 1.132506 +v 1.016494 -0.979328 0.437212 +f 524 522 532 +f 517 520 521 +f 521 519 522 +f 519 518 524 +f 518 523 524 +f 518 519 525 +f 519 521 525 +f 522 524 526 +f 524 523 526 +f 520 517 527 +f 523 518 528 +f 518 525 528 +f 525 520 528 +f 520 527 528 +f 527 523 528 +f 517 521 529 +f 521 522 529 +f 526 517 529 +f 522 526 529 +f 521 520 530 +f 520 525 530 +f 525 521 530 +f 517 526 531 +f 526 523 531 +f 527 517 531 +f 523 527 531 +f 522 519 532 +f 519 524 532 +o convex_43 +v 3.026444 0.257528 -2.423250 +v 2.047242 -1.056663 -2.500548 +v 2.098809 -1.056663 -2.500548 +v 2.974877 -1.056663 -2.371706 +v 2.047242 0.257528 -2.371706 +v 3.026444 0.257528 -2.500548 +v 2.047242 0.076916 -2.474769 +v 3.000660 -1.056663 -2.449003 +v 3.026444 0.231671 -2.371706 +v 2.073026 -1.056663 -2.449003 +v 2.047242 -0.438160 -2.500548 +f 539 538 543 +f 534 535 536 +f 535 534 538 +f 537 533 538 +f 534 537 539 +f 537 538 539 +f 536 535 540 +f 535 538 540 +f 540 538 541 +f 533 537 541 +f 537 536 541 +f 538 533 541 +f 536 540 541 +f 534 536 542 +f 536 537 542 +f 537 534 542 +f 538 534 543 +f 534 539 543 +o convex_44 +v -2.951686 0.051380 -1.933443 +v -1.869671 0.154431 -0.928672 +v -1.869671 0.128678 -0.928672 +v -1.869671 0.154431 -2.371564 +v -2.977497 0.180222 -0.928672 +v -2.977497 0.051380 -0.928672 +v -2.204676 0.051380 -2.371564 +v -2.925875 0.128678 -2.371564 +v -1.895482 0.180222 -1.521450 +v -2.925875 0.154431 -2.165356 +v -2.925875 0.051380 -2.371564 +f 551 550 554 +f 545 546 547 +f 546 545 548 +f 548 544 549 +f 546 548 549 +f 547 546 550 +f 549 544 550 +f 546 549 550 +f 544 548 551 +f 547 550 551 +f 545 547 552 +f 548 545 552 +f 548 552 553 +f 551 548 553 +f 547 551 553 +f 552 547 553 +f 550 544 554 +f 544 551 554 +o convex_45 +v 3.052212 0.180213 -1.315383 +v 0.887662 0.231733 -2.371564 +v 1.042545 0.205966 -2.268319 +v 0.965210 0.231733 -0.928672 +v 2.846054 0.102942 -0.928672 +v 3.026363 0.231748 -2.371564 +v 3.026363 0.102942 -2.371564 +v 2.098759 0.128694 -0.928672 +v 2.278856 0.257515 -2.345718 +v 3.052212 0.154477 -0.928672 +v 0.887662 0.257515 -2.371564 +v 3.026363 0.231748 -2.062111 +v 0.965210 0.205966 -0.928672 +v 1.300189 0.231733 -0.928672 +v 0.939360 0.257515 -1.547438 +v 3.052212 0.102942 -0.928672 +f 564 559 570 +f 560 555 561 +f 557 556 561 +f 556 560 561 +f 561 559 562 +f 559 558 562 +f 557 561 562 +f 558 559 564 +f 556 558 565 +f 560 556 565 +f 563 560 565 +f 555 560 566 +f 560 563 566 +f 564 555 566 +f 556 557 567 +f 558 556 567 +f 557 562 567 +f 562 558 567 +f 558 564 568 +f 566 563 568 +f 564 566 568 +f 565 558 569 +f 563 565 569 +f 558 568 569 +f 568 563 569 +f 561 555 570 +f 559 561 570 +f 555 564 570 +o convex_46 +v -2.874199 -1.803949 -0.516374 +v -1.070741 0.077027 -0.516357 +v -1.070741 -0.180741 -0.490596 +v -2.951474 0.077027 -0.464870 +v -1.071114 -1.803949 -0.387535 +v -2.513582 -1.469033 -0.567914 +v -2.951474 -0.026264 -0.516357 +v -1.070741 -0.232295 -0.542135 +v -1.277181 -1.803949 -0.439074 +v -2.977419 -1.803949 -0.567914 +v -1.612039 0.077027 -0.542135 +v -1.328697 -1.803949 -0.387535 +v -1.071114 -1.520219 -0.387535 +v -1.534951 0.077027 -0.490596 +v -2.977419 -1.674880 -0.516374 +v -2.461879 -1.288595 -0.567914 +f 581 578 586 +f 572 573 578 +f 573 575 578 +f 578 575 579 +f 575 571 579 +f 576 578 579 +f 576 579 580 +f 579 571 580 +f 574 572 581 +f 577 574 581 +f 572 578 581 +f 571 575 582 +f 582 575 583 +f 575 573 583 +f 574 582 583 +f 574 583 584 +f 573 572 584 +f 572 574 584 +f 583 573 584 +f 574 577 585 +f 580 571 585 +f 577 580 585 +f 571 582 585 +f 582 574 585 +f 578 576 586 +f 576 580 586 +f 580 577 586 +f 577 581 586 +o convex_47 +v 0.526651 4.097034 -0.103880 +v 0.913254 4.251603 1.493562 +v 0.655519 4.251603 1.493562 +v -0.890185 4.071294 1.493562 +v -0.890185 4.251620 -0.361766 +v 0.913254 4.174327 -0.232823 +v 0.861707 4.200068 1.261283 +v -0.890185 4.071294 1.106915 +v -0.735367 4.122828 1.493562 +v -0.606500 4.200068 -0.361766 +v 0.913254 4.122828 -0.361766 +v -0.529356 4.251620 -0.361766 +v -0.890185 4.251620 -0.129669 +v -0.683820 4.071294 1.493562 +v 0.913254 4.251603 1.106915 +v 0.861707 4.122828 -0.078273 +f 600 587 602 +f 588 589 590 +f 590 591 594 +f 590 589 595 +f 587 594 596 +f 594 591 596 +f 592 588 597 +f 588 593 597 +f 587 596 597 +f 596 591 597 +f 592 597 598 +f 597 591 598 +f 589 588 599 +f 591 590 599 +f 595 589 599 +f 590 595 599 +f 588 598 599 +f 598 591 599 +f 588 590 600 +f 593 588 600 +f 594 587 600 +f 590 594 600 +f 588 592 601 +f 598 588 601 +f 592 598 601 +f 597 593 602 +f 587 597 602 +f 593 600 602 +o convex_48 +v 0.964972 0.489797 1.261682 +v 1.016494 4.097027 1.622405 +v 0.913451 4.097027 1.622405 +v 1.016494 4.097027 1.261682 +v 0.913451 0.489797 1.622405 +v 0.913451 0.566779 1.287458 +v 0.964972 1.134261 1.622405 +v 0.990728 4.097027 1.261682 +v 1.016494 2.963125 1.287458 +f 609 603 611 +f 605 604 606 +f 604 605 607 +f 603 607 608 +f 607 605 608 +f 607 603 609 +f 604 607 609 +f 605 606 610 +f 606 603 610 +f 608 605 610 +f 603 608 610 +f 606 604 611 +f 603 606 611 +f 604 609 611 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/741/741.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/741/741.urdf new file mode 100644 index 000000000..87149f8aa --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/741/741.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/742/742.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/742/742.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/742/742.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/742/742.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/742/742.obj new file mode 100644 index 000000000..3d1e1bc7e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/742/742.obj @@ -0,0 +1,435 @@ +o convex_0 +v 0.602153 -3.253436 0.597149 +v -0.612694 -2.360192 -0.510415 +v -0.612694 -2.360192 -0.474750 +v -0.433963 -4.217771 0.275475 +v 0.530566 -4.253415 -0.581975 +v 0.459097 -2.288513 -0.546195 +v -0.541107 -2.288513 0.561369 +v -0.469638 -4.181931 -0.581975 +v 0.602153 -4.289254 0.597149 +v 0.566359 -2.288513 0.597149 +v -0.433963 -4.217771 0.597149 +v -0.612694 -2.288513 -0.510415 +v -0.505432 -3.253436 0.597149 +v 0.566359 -4.289254 -0.224637 +v -0.505432 -3.610263 -0.581975 +v 0.566359 -2.324548 0.418364 +v 0.530566 -3.967679 -0.581975 +v 0.494772 -4.289254 -0.367526 +v -0.469638 -3.860356 0.561369 +v -0.576901 -2.324548 0.311255 +v 0.351953 -4.289254 0.597149 +v 0.494772 -2.288513 -0.331746 +v 0.602153 -4.181931 0.239811 +v 0.137548 -2.288513 -0.546195 +v 0.173222 -4.253415 -0.581975 +f 5 18 25 +f 3 2 8 +f 6 7 10 +f 9 1 10 +f 8 4 11 +f 9 10 11 +f 2 3 12 +f 7 6 12 +f 10 7 13 +f 11 10 13 +f 8 2 15 +f 5 8 15 +f 2 12 15 +f 10 1 16 +f 14 5 17 +f 5 15 17 +f 15 6 17 +f 5 14 18 +f 14 9 18 +f 3 8 19 +f 8 11 19 +f 11 13 19 +f 19 13 20 +f 12 3 20 +f 7 12 20 +f 13 7 20 +f 3 19 20 +f 11 4 21 +f 9 11 21 +f 4 18 21 +f 18 9 21 +f 6 10 22 +f 10 16 22 +f 16 17 22 +f 17 6 22 +f 1 9 23 +f 9 14 23 +f 16 1 23 +f 14 17 23 +f 17 16 23 +f 12 6 24 +f 6 15 24 +f 15 12 24 +f 4 8 25 +f 8 5 25 +f 18 4 25 +o convex_1 +v -0.433833 -0.359396 3.062588 +v 0.530513 -2.288513 -0.652765 +v 0.566356 -2.288513 -0.652765 +v -0.755566 -0.109177 -3.047050 +v 1.030820 -0.073400 -1.188772 +v -0.934141 -2.216743 -3.083145 +v 1.030820 -2.216743 2.991000 +v -0.934141 -2.288513 3.026494 +v 0.923718 -2.216743 -3.083145 +v -1.077086 -0.109177 3.062588 +v 0.959348 -0.180730 2.918811 +v 0.995191 -0.216506 -3.011557 +v -1.112715 -0.109177 -3.047050 +v -1.005613 -2.145190 -0.867529 +v 1.030820 -2.180966 -1.081691 +v 1.066450 -0.073400 1.061134 +v -1.112715 -0.073617 0.954053 +v -1.112715 -0.502285 0.990148 +v 1.066450 -2.073853 2.991000 +v -0.969984 -2.288513 2.240230 +v -0.612621 -2.288513 -0.510191 +v 0.494883 -0.144953 2.990399 +v 1.066450 -0.216506 0.203282 +v 0.673458 -2.288513 0.096201 +v -1.005613 -0.073617 -1.045596 +v -1.005613 -1.537855 -3.083145 +v 0.995191 -0.930954 -3.011557 +v -0.541148 -2.288513 3.026494 +v 1.030820 -0.144953 -2.046624 +v -1.041243 -0.895177 3.062588 +v 0.959348 -2.216743 -2.832287 +v 1.066450 -2.216743 2.776237 +v -1.112715 -0.216506 -3.047050 +v 0.923718 -0.180730 -2.832287 +v -0.505305 -0.109177 3.062588 +v -0.969984 -2.288513 0.811479 +v -0.362360 -0.823841 3.062588 +v -0.969984 -2.109630 3.026494 +v 0.423411 -0.073617 -1.653191 +v 0.923718 -2.002300 -3.083145 +v 0.637828 -0.252066 2.991000 +v -0.291101 -0.144953 -3.047050 +v -1.112715 -0.216506 1.811905 +v -0.969984 -1.252076 -3.083145 +v -1.005613 -2.002300 1.025039 +v 0.959348 -0.216506 2.954304 +v -0.969984 -2.180966 -2.368469 +v 0.566356 -2.288513 0.596715 +v -0.934141 -1.359189 3.062588 +v 0.959348 -0.895177 -3.046449 +v 1.066450 -0.252066 1.310790 +v 0.887875 -2.252520 0.560620 +v -1.005613 -2.109630 -1.153279 +v -0.326731 -0.109177 3.026494 +v 1.030820 -1.752298 2.991000 +v -1.077086 -0.287843 3.062588 +v 0.208993 -1.752298 3.026494 +f 62 74 82 +f 28 27 31 +f 27 28 33 +f 28 31 34 +f 41 30 42 +f 35 41 42 +f 42 38 43 +f 27 33 45 +f 31 27 46 +f 27 45 46 +f 36 41 47 +f 41 44 48 +f 33 28 49 +f 28 34 49 +f 42 30 50 +f 38 42 50 +f 34 31 51 +f 34 37 52 +f 33 49 53 +f 30 41 54 +f 48 40 54 +f 41 48 54 +f 52 37 54 +f 40 52 54 +f 26 35 55 +f 49 34 56 +f 34 52 56 +f 52 40 56 +f 44 32 57 +f 40 48 57 +f 48 44 57 +f 32 49 57 +f 56 40 57 +f 43 38 58 +f 39 43 58 +f 38 51 58 +f 37 29 59 +f 30 54 59 +f 54 37 59 +f 35 26 60 +f 41 35 60 +f 45 39 61 +f 31 46 61 +f 46 45 61 +f 32 44 62 +f 26 55 62 +f 45 33 63 +f 43 45 63 +f 33 55 63 +f 29 38 64 +f 50 30 64 +f 38 50 64 +f 59 29 64 +f 30 59 64 +f 37 34 65 +f 34 51 65 +f 60 26 66 +f 47 60 66 +f 29 37 67 +f 35 42 68 +f 42 43 68 +f 43 63 68 +f 63 55 68 +f 38 29 69 +f 51 38 69 +f 65 51 69 +f 29 67 69 +f 67 65 69 +f 43 39 70 +f 39 45 70 +f 45 43 70 +f 36 47 71 +f 47 66 71 +f 51 31 72 +f 31 61 72 +f 61 39 72 +f 49 32 73 +f 32 53 73 +f 53 49 73 +f 33 53 74 +f 55 33 74 +f 62 55 74 +f 37 65 75 +f 67 37 75 +f 65 67 75 +f 41 36 76 +f 44 41 76 +f 36 71 76 +f 71 44 76 +f 49 56 77 +f 57 49 77 +f 56 57 77 +f 39 58 78 +f 58 51 78 +f 51 72 78 +f 72 39 78 +f 47 41 79 +f 41 60 79 +f 60 47 79 +f 26 62 80 +f 62 44 80 +f 66 26 80 +f 44 71 80 +f 71 66 80 +f 55 35 81 +f 35 68 81 +f 68 55 81 +f 53 32 82 +f 32 62 82 +f 74 53 82 +o convex_2 +v -1.112904 3.213461 -0.867532 +v 0.887871 0.105811 1.097170 +v 0.852242 0.105811 1.097170 +v -1.041433 3.820969 1.061397 +v 0.994971 3.821360 -1.046180 +v -1.005590 -0.072798 -1.046397 +v 1.030814 -0.073190 -1.081954 +v -1.112904 -0.072798 0.954294 +v 1.030814 3.857004 0.990067 +v -1.112904 3.928291 -1.117727 +v 1.066656 -0.073190 1.061613 +v 1.030814 3.857004 -0.617554 +v -0.219617 3.928291 0.346802 +v -1.112904 0.427778 0.990067 +v 1.030814 1.821011 -1.081954 +v 0.280470 3.928291 -0.331586 +v 1.066656 1.785368 0.954294 +v -1.112904 -0.072798 0.525451 +v -1.077062 2.963564 1.025623 +v 1.066656 -0.037155 0.239483 +v 0.566356 3.856612 -1.081954 +v -1.041433 0.463422 -0.939078 +v 0.530513 -0.072798 -1.081954 +v 0.887871 -0.073190 1.097170 +v -1.041433 1.606758 -1.081954 +v 0.923500 3.857004 -1.046180 +v -1.112904 0.856285 0.990067 +v -1.077062 3.856612 0.382358 +v 1.066656 1.213504 1.061613 +v 1.030814 2.748919 -1.046180 +v 0.316312 3.928291 0.168153 +v -0.934119 -0.072798 0.990067 +v -0.898490 3.249104 1.061397 +v -0.969961 3.820969 1.061397 +v -1.005590 3.820969 -1.117727 +v -1.112904 3.820969 -0.939078 +v 0.244841 3.856612 0.990067 +v -0.291089 3.928291 0.346802 +v -1.041433 -0.036763 -0.724656 +v -1.112904 3.820969 -1.117727 +v 1.066656 0.820249 0.489677 +f 102 112 123 +f 85 84 86 +f 83 90 92 +f 92 90 96 +f 92 95 98 +f 94 91 99 +f 88 89 100 +f 90 83 100 +f 93 89 102 +f 89 97 102 +f 99 93 102 +f 87 97 103 +f 100 83 104 +f 89 88 105 +f 84 85 106 +f 85 86 106 +f 93 84 106 +f 89 93 106 +f 100 89 106 +f 90 100 106 +f 105 88 107 +f 94 87 108 +f 92 98 108 +f 98 94 108 +f 87 103 108 +f 103 92 108 +f 96 86 109 +f 92 96 109 +f 86 101 109 +f 101 86 110 +f 84 93 111 +f 93 99 111 +f 99 91 111 +f 87 94 112 +f 97 87 112 +f 102 97 112 +f 91 94 113 +f 95 91 113 +f 94 98 113 +f 98 95 113 +f 96 90 114 +f 106 96 114 +f 90 106 114 +f 86 96 115 +f 106 86 115 +f 96 106 115 +f 86 84 116 +f 91 86 116 +f 84 111 116 +f 111 91 116 +f 97 89 117 +f 103 97 117 +f 92 103 117 +f 92 109 118 +f 109 101 118 +f 110 92 118 +f 101 110 118 +f 86 91 119 +f 95 92 120 +f 91 95 120 +f 92 110 120 +f 110 86 120 +f 86 119 120 +f 119 91 120 +f 88 100 121 +f 104 88 121 +f 100 104 121 +f 83 92 122 +f 104 83 122 +f 88 104 122 +f 89 105 122 +f 107 88 122 +f 105 107 122 +f 117 89 122 +f 92 117 122 +f 94 99 123 +f 99 102 123 +f 112 94 123 +o convex_3 +v 0.280560 5.071712 0.168338 +v -0.362577 5.786577 -0.188916 +v -0.362577 5.786577 -0.153164 +v -0.291007 3.928683 0.347032 +v 0.280560 3.928683 -0.331858 +v -0.219636 3.928683 -0.296106 +v 0.280560 5.715185 -0.296106 +v -0.183884 5.822273 0.239709 +v 0.316312 3.928683 0.168338 +v 0.244741 5.750881 0.168338 +v 0.280560 5.858158 -0.260287 +v -0.255255 4.250325 -0.296106 +v -0.112446 4.429183 0.311280 +v -0.219636 5.858158 -0.224535 +v 0.316312 3.964568 -0.188916 +v 0.173370 4.035960 0.239709 +v -0.148065 5.572212 0.275461 +v 0.030429 3.964568 -0.331858 +v 0.173370 5.715185 0.204090 +v -0.255255 4.429183 -0.296106 +v 0.316312 4.464879 0.061148 +v -0.362577 5.858158 -0.153164 +v 0.066181 5.858158 0.025397 +v 0.208990 5.715185 -0.296106 +v 0.280560 4.322095 0.204090 +v -0.291007 3.928683 0.275461 +f 135 129 149 +f 126 125 127 +f 128 127 129 +f 127 128 132 +f 133 124 134 +f 128 130 138 +f 132 128 138 +f 130 134 138 +f 127 132 139 +f 136 127 139 +f 131 127 140 +f 127 136 140 +f 128 129 141 +f 130 128 141 +f 129 135 141 +f 133 131 142 +f 131 140 142 +f 140 136 142 +f 135 125 143 +f 125 137 143 +f 141 135 143 +f 124 132 144 +f 134 124 144 +f 132 138 144 +f 138 134 144 +f 125 126 145 +f 126 127 145 +f 127 131 145 +f 137 125 145 +f 134 137 145 +f 131 133 146 +f 133 134 146 +f 145 131 146 +f 134 145 146 +f 134 130 147 +f 137 134 147 +f 130 141 147 +f 143 137 147 +f 141 143 147 +f 132 124 148 +f 124 133 148 +f 139 132 148 +f 136 139 148 +f 133 142 148 +f 142 136 148 +f 127 125 149 +f 129 127 149 +f 125 135 149 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/742/742.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/742/742.urdf new file mode 100644 index 000000000..e5fcad5ea --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/742/742.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/743/743.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/743/743.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/743/743.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/743/743.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/743/743.obj new file mode 100644 index 000000000..a5c80133c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/743/743.obj @@ -0,0 +1,522 @@ +o convex_0 +v -1.404245 0.879413 -0.844503 +v -0.092409 3.103018 0.212241 +v 2.642180 3.066447 1.014381 +v -3.336624 1.061394 1.050997 +v 2.642180 1.061394 1.087400 +v 2.642180 3.029877 -0.990541 +v -3.446343 3.030095 -1.099749 +v -3.409770 2.956954 1.050997 +v 2.642180 0.915766 -0.917522 +v -3.300051 1.025042 -0.990327 +v 0.600082 0.879196 1.087400 +v 0.673228 0.879196 -0.990327 +v -1.696230 3.103018 0.977978 +v 0.928640 3.029877 1.087400 +v -1.440818 0.879413 1.014381 +v 0.818921 2.956954 -1.063346 +v 2.058809 0.879196 0.431084 +v 2.678753 1.353086 1.087400 +v -3.446343 2.774538 -1.099749 +v 2.642180 1.243810 -0.953924 +v -3.336624 1.097965 -0.917522 +v -3.446343 2.920384 0.248857 +v -0.019263 0.879196 1.087400 +v -3.300051 1.025042 0.577122 +v -2.972092 0.988471 -0.990327 +v -3.373197 2.665263 -1.099749 +v 2.131356 3.029877 -1.026944 +v 2.642180 2.701833 1.050783 +v 0.345269 3.029877 1.087400 +v 2.094783 0.879196 -0.516452 +v -0.092409 3.103018 0.139436 +v 2.642180 3.066447 0.540506 +v -3.336624 1.462579 -1.026729 +v 2.678753 1.061394 0.868556 +v -3.409770 2.337001 1.014381 +v 2.642180 0.915766 -0.552854 +v 0.636655 2.811109 -1.063346 +v -3.190931 1.025042 1.050997 +v -1.331698 0.879413 -0.953924 +v 2.642180 1.754271 1.087400 +v -1.003139 3.103018 0.977978 +v 2.642180 2.300648 -0.990541 +v 2.204502 0.915766 -0.953924 +v -1.477391 3.103018 0.722732 +v 0.818921 3.029877 -1.063346 +v -3.446343 3.030095 -0.990327 +v -3.373197 1.608425 0.649927 +v 2.204502 3.029877 1.050783 +v -0.347821 3.066230 1.050997 +f 41 13 49 +f 11 5 14 +f 5 11 17 +f 11 12 17 +f 14 5 18 +f 10 4 21 +f 7 19 22 +f 8 4 23 +f 12 11 23 +f 1 12 23 +f 11 14 23 +f 15 1 23 +f 4 10 24 +f 15 24 25 +f 1 15 25 +f 24 10 25 +f 19 7 26 +f 18 3 28 +f 8 23 29 +f 23 14 29 +f 12 9 30 +f 17 12 30 +f 2 3 31 +f 13 2 31 +f 6 27 31 +f 3 18 32 +f 18 6 32 +f 31 3 32 +f 6 31 32 +f 10 21 33 +f 21 19 33 +f 12 25 33 +f 25 10 33 +f 26 12 33 +f 19 26 33 +f 6 18 34 +f 18 5 34 +f 9 20 34 +f 4 8 35 +f 8 22 35 +f 5 17 36 +f 30 9 36 +f 17 30 36 +f 34 5 36 +f 9 34 36 +f 26 16 37 +f 12 26 37 +f 23 4 38 +f 15 23 38 +f 4 24 38 +f 24 15 38 +f 12 1 39 +f 1 25 39 +f 25 12 39 +f 14 18 40 +f 18 28 40 +f 3 2 41 +f 2 13 41 +f 27 6 42 +f 16 27 42 +f 6 34 42 +f 34 20 42 +f 20 37 42 +f 37 16 42 +f 9 12 43 +f 20 9 43 +f 12 37 43 +f 37 20 43 +f 7 13 44 +f 13 31 44 +f 31 7 44 +f 26 7 45 +f 16 26 45 +f 27 16 45 +f 7 31 45 +f 31 27 45 +f 13 7 46 +f 8 13 46 +f 22 8 46 +f 7 22 46 +f 21 4 47 +f 19 21 47 +f 22 19 47 +f 4 35 47 +f 35 22 47 +f 3 14 48 +f 28 3 48 +f 14 40 48 +f 40 28 48 +f 13 8 49 +f 14 3 49 +f 8 29 49 +f 29 14 49 +f 3 41 49 +o convex_1 +v -1.477610 -1.673191 0.358422 +v -3.446236 -2.292915 -0.334311 +v -3.446236 -2.292915 -0.224868 +v -3.336782 -1.673191 -0.151974 +v -1.477610 -1.782645 -0.261349 +v -3.227329 -2.329336 0.321941 +v -1.477610 -2.220011 -0.042598 +v -3.373203 -1.709740 0.176084 +v -1.550836 -2.183526 0.248979 +v -1.477610 -2.220011 -0.261349 +v -2.717058 -1.673191 -0.224868 +v -3.300362 -2.183526 0.321941 +v -3.446236 -2.147105 -0.334311 +v -2.680638 -2.147105 0.358422 +v -2.862932 -2.110621 -0.334311 +v -1.915425 -1.746225 0.358422 +v -3.300362 -1.673191 -0.224868 +v -1.477610 -1.819130 0.358422 +v -2.170560 -2.256431 -0.297830 +v -3.409623 -1.746225 0.139603 +v -1.587257 -1.746225 -0.224868 +v -3.227329 -1.709740 0.212565 +v -3.336782 -1.673191 0.030228 +v -3.300362 -2.329336 0.321941 +f 61 69 73 +f 54 50 56 +f 55 56 58 +f 56 55 59 +f 54 56 59 +f 53 50 60 +f 51 52 62 +f 55 58 63 +f 54 59 64 +f 51 62 64 +f 63 50 65 +f 61 63 65 +f 53 60 66 +f 60 54 66 +f 62 53 66 +f 54 64 66 +f 64 62 66 +f 56 50 67 +f 58 56 67 +f 50 63 67 +f 63 58 67 +f 55 51 68 +f 59 55 68 +f 51 64 68 +f 64 59 68 +f 61 57 69 +f 62 52 69 +f 53 62 69 +f 50 54 70 +f 60 50 70 +f 54 60 70 +f 57 61 71 +f 65 50 71 +f 61 65 71 +f 50 53 72 +f 53 69 72 +f 69 57 72 +f 71 50 72 +f 57 71 72 +f 52 51 73 +f 51 55 73 +f 55 63 73 +f 63 61 73 +f 69 52 73 +o convex_2 +v 0.637001 0.878982 1.051004 +v -1.477610 -3.021982 0.722918 +v -1.404537 -2.985416 -0.479928 +v -1.440961 0.878982 -0.771791 +v 0.637001 -3.021982 -0.990584 +v 0.563928 -3.058549 1.124073 +v -1.440961 0.878982 1.014366 +v 0.673425 0.878982 -0.990584 +v -1.368113 -2.948849 -0.953739 +v 0.819345 -2.292594 0.248900 +v -1.440961 -2.985416 0.977935 +v -1.295265 0.878982 -0.953739 +v 0.746273 0.878982 0.650056 +v -0.748232 -3.095116 -0.005910 +v 0.819345 -1.782217 -0.224704 +v -0.055728 0.878982 1.087435 +v -1.477610 -2.219850 -0.261135 +v -1.477610 -0.324607 0.686487 +v 0.381584 -2.949238 1.124073 +v 0.600577 -1.235272 1.124073 +v 0.199464 -1.636728 -0.990584 +v 0.126392 -3.095116 0.759349 +v -1.477610 -3.021982 0.941504 +v 0.819345 -2.329161 -0.261342 +v -1.331689 -2.985416 -0.917308 +v 0.673425 -1.198706 -0.990584 +v -1.295265 -3.058160 0.832211 +v 0.600577 0.878982 1.087435 +v 0.600577 -3.058160 0.467693 +v -1.440961 0.477526 1.014366 +v 0.381584 0.878982 -0.990584 +v -1.331689 0.623404 -0.953739 +v 0.381584 -3.021593 -0.990584 +v -1.477610 -1.453894 0.977935 +v -0.894153 -3.095116 0.503917 +v -0.857729 0.186160 1.051004 +v 0.527504 -0.871551 1.124073 +v 0.819345 -1.709472 0.212469 +v -0.493040 -3.058549 1.051004 +v -1.477610 -1.782217 -0.261135 +v 0.746273 0.878982 0.576986 +v 0.637001 -3.021982 -0.407066 +v 0.673425 -2.839538 -0.881084 +v -1.440961 -3.021982 0.248900 +f 108 100 117 +f 74 77 80 +f 77 74 81 +f 77 81 85 +f 81 74 86 +f 74 80 89 +f 76 75 90 +f 82 76 90 +f 77 82 90 +f 80 77 91 +f 90 75 91 +f 79 83 93 +f 86 74 93 +f 83 86 93 +f 92 79 93 +f 81 78 94 +f 87 78 95 +f 91 75 96 +f 81 88 97 +f 88 83 97 +f 76 82 98 +f 78 81 99 +f 81 97 99 +f 96 75 100 +f 74 89 101 +f 93 74 101 +f 83 79 102 +f 95 78 102 +f 79 95 102 +f 84 92 103 +f 85 81 104 +f 81 94 104 +f 104 94 105 +f 82 77 105 +f 77 85 105 +f 94 82 105 +f 85 104 105 +f 78 87 106 +f 94 78 106 +f 82 94 106 +f 98 82 106 +f 87 98 106 +f 80 91 107 +f 96 84 107 +f 91 96 107 +f 84 103 107 +f 103 80 107 +f 87 95 108 +f 89 80 109 +f 103 92 109 +f 80 103 109 +f 92 93 110 +f 101 89 110 +f 93 101 110 +f 89 109 110 +f 109 92 110 +f 86 83 111 +f 83 88 111 +f 79 92 112 +f 92 84 112 +f 95 79 112 +f 84 96 112 +f 96 100 112 +f 108 95 112 +f 100 108 112 +f 77 90 113 +f 91 77 113 +f 90 91 113 +f 81 86 114 +f 88 81 114 +f 86 111 114 +f 111 88 114 +f 78 97 115 +f 97 83 115 +f 83 102 115 +f 102 78 115 +f 97 78 116 +f 78 99 116 +f 99 97 116 +f 75 76 117 +f 76 98 117 +f 98 87 117 +f 100 75 117 +f 87 108 117 +o convex_3 +v 2.131891 -3.276465 0.540634 +v 0.819345 -2.328925 -0.224761 +v 0.819345 -2.328925 0.030257 +v 2.095403 0.878982 -0.516552 +v 2.131891 -5.063354 -0.589528 +v 1.074634 0.878982 0.467658 +v 1.147482 -4.990063 0.467658 +v 1.147482 -4.990063 -0.589414 +v 1.147482 0.805110 -0.480007 +v 2.095403 0.878982 0.431341 +v 2.131891 -4.953418 0.577179 +v 0.819345 -1.856028 0.248957 +v 1.111122 0.695756 0.504089 +v 1.913091 0.549757 -0.552983 +v 0.819345 -1.746674 -0.224761 +v 2.131891 -0.470492 0.358364 +v 1.074634 0.878982 -0.079037 +v 1.913091 -3.969233 0.577179 +v 2.095403 0.367694 0.467772 +v 2.058915 -2.328925 -0.589528 +v 1.329794 -4.990063 0.504089 +v 2.131891 -1.673966 -0.261306 +v 1.293306 -5.027290 0.285388 +v 1.147482 -4.698647 -0.589414 +v 1.111122 -4.443875 0.467658 +v 0.819345 -2.292280 0.248957 +v 1.548466 0.878982 -0.516552 +v 2.131891 -4.297295 0.577179 +v 1.111122 0.003569 0.504089 +v 1.803627 -5.063354 -0.297851 +v 0.819345 -1.710029 0.212412 +v 1.840115 0.878982 0.467772 +v 1.111122 -4.735292 -0.552983 +v 1.949451 -4.953418 0.577179 +v 1.111122 0.878982 -0.297737 +v 1.293306 -4.662583 0.504089 +v 2.095403 -5.063354 -0.370714 +v 1.183970 0.659692 0.504089 +v 1.074634 -1.783319 0.467658 +v 1.111122 -4.333940 -0.552983 +v 1.439259 -5.026709 -0.589528 +v 1.949451 -2.365571 -0.589528 +v 1.803627 0.258340 -0.552983 +f 159 141 160 +f 121 123 127 +f 122 118 128 +f 119 120 129 +f 123 129 130 +f 119 129 132 +f 118 122 133 +f 121 127 133 +f 123 121 134 +f 118 133 136 +f 133 127 136 +f 121 122 137 +f 131 121 137 +f 122 121 139 +f 133 122 139 +f 121 133 139 +f 124 125 140 +f 138 124 140 +f 128 138 140 +f 120 124 143 +f 129 120 143 +f 130 129 143 +f 124 142 143 +f 121 131 144 +f 134 121 144 +f 141 126 144 +f 128 118 145 +f 135 128 145 +f 118 136 145 +f 135 130 146 +f 130 143 146 +f 129 123 148 +f 132 129 148 +f 123 134 148 +f 134 132 148 +f 127 123 149 +f 123 130 149 +f 136 127 149 +f 145 136 149 +f 120 119 150 +f 124 120 150 +f 125 124 150 +f 119 132 150 +f 141 125 150 +f 128 135 151 +f 138 128 151 +f 135 146 151 +f 126 132 152 +f 132 134 152 +f 134 144 152 +f 144 126 152 +f 124 138 153 +f 142 124 153 +f 146 142 153 +f 138 151 153 +f 151 146 153 +f 122 128 154 +f 128 140 154 +f 147 122 154 +f 140 147 154 +f 130 135 155 +f 135 145 155 +f 149 130 155 +f 145 149 155 +f 143 142 156 +f 142 146 156 +f 146 143 156 +f 132 126 157 +f 126 141 157 +f 150 132 157 +f 141 150 157 +f 137 122 158 +f 140 125 158 +f 125 141 158 +f 122 147 158 +f 147 140 158 +f 131 137 159 +f 137 158 159 +f 158 141 159 +f 144 131 160 +f 141 144 160 +f 131 159 160 +o convex_4 +v 2.131891 -2.912757 0.285474 +v 2.168351 -2.365924 0.358422 +v 2.168351 -2.365924 0.176124 +v 2.168351 -2.985676 0.321930 +v 2.131891 -2.365924 0.358422 +f 164 162 165 +f 163 162 164 +f 161 163 164 +f 161 164 165 +f 163 161 165 +f 162 163 165 +o convex_5 +v 2.678725 -2.292976 -0.334311 +v 2.277791 -1.709679 0.358422 +v 2.131892 -1.709679 0.358422 +v 2.131892 -2.365924 0.358422 +v 2.131892 -1.673205 -0.261349 +v 2.642265 -1.746224 0.321941 +v 2.715184 -1.636731 -0.261349 +v 2.131892 -2.329378 -0.261349 +v 2.678725 -2.329378 0.212565 +v 2.751644 -2.147152 -0.334311 +v 2.241331 -1.673205 0.285460 +v 2.204872 -1.636731 -0.261349 +v 2.678725 -2.292976 0.248979 +v 2.678725 -2.329378 -0.042598 +v 2.678725 -1.709679 0.139603 +f 178 175 180 +f 167 168 169 +f 169 168 170 +f 167 169 171 +f 170 166 173 +f 169 170 173 +f 166 170 175 +f 168 167 176 +f 167 171 176 +f 176 172 177 +f 170 168 177 +f 175 170 177 +f 172 175 177 +f 168 176 177 +f 171 169 178 +f 169 174 178 +f 174 175 178 +f 173 166 179 +f 169 173 179 +f 174 169 179 +f 166 175 179 +f 175 174 179 +f 175 172 180 +f 176 171 180 +f 172 176 180 +f 171 178 180 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/743/743.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/743/743.urdf new file mode 100644 index 000000000..46cc7c4ac --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/743/743.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/744/744.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/744/744.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/744/744.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/744/744.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/744/744.obj new file mode 100644 index 000000000..add3b945e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/744/744.obj @@ -0,0 +1,834 @@ +o convex_0 +v -0.041963 -0.995273 2.170266 +v 0.650664 -3.073713 -0.344489 +v 0.687096 -3.073713 -0.344489 +v 0.030690 -1.250722 -2.714366 +v -0.880738 -2.818265 0.310407 +v 1.088267 -2.016167 2.097827 +v 0.978761 -0.776703 -0.746143 +v -1.063108 -0.776703 -0.052966 +v -0.552430 -2.635898 2.571332 +v -0.588862 -2.526613 -2.604824 +v 0.978761 -2.125452 -2.094806 +v -0.807874 -1.906882 2.717387 +v 0.067122 -2.818265 -2.787394 +v 0.067122 -3.073713 2.061313 +v 0.796391 -1.870453 2.790416 +v 0.942329 -0.776703 0.967071 +v -0.953602 -2.016167 -2.058292 +v -1.063108 -2.089023 1.987696 +v 0.905897 -2.927775 1.149052 +v -0.917170 -0.776703 -0.964049 +v -0.005531 -3.037060 -2.058881 +v -0.990033 -0.776703 0.894043 +v 0.723528 -1.943310 -2.787983 +v -0.041963 -1.177640 2.753901 +v 0.759959 -2.818265 -2.058881 +v -0.734800 -2.016167 -2.750880 +v 0.395430 -2.672552 2.680285 +v -0.041963 -2.052370 3.009500 +v -0.698368 -2.781837 -2.058881 +v -0.698368 -3.000631 0.164940 +v -0.771232 -2.818265 2.061313 +v 0.978761 -2.854693 -0.088891 +v -0.041963 -1.979738 -3.007067 +v 0.832823 -2.818265 2.061313 +v 0.030690 -0.776479 -1.328601 +v 0.796391 -1.214068 2.097238 +v -0.588862 -1.469517 -2.532385 +v 0.687096 -1.323578 -2.240862 +v -0.078395 -2.781837 2.753901 +v -0.625294 -1.396660 2.534817 +v 1.015193 -0.776703 -0.161919 +v -0.041963 -0.776479 1.404650 +v 1.015193 -2.052370 -1.548274 +v 0.832823 -3.073713 -0.089480 +v 0.905897 -0.776703 -1.001152 +v 0.832823 -2.052370 2.790416 +v 0.723528 -2.125452 -2.787983 +v -0.953602 -2.125452 -1.985264 +v -0.807874 -2.089023 2.717387 +v 0.978761 -1.979513 -2.131320 +v 0.614021 -1.396435 2.607846 +v -0.078395 -1.287150 -2.751469 +v 0.759959 -3.073713 0.674959 +v -0.041963 -3.073713 1.951771 +v 0.103554 -2.781837 2.753901 +v 0.614021 -2.636123 -2.532974 +v -0.807874 -2.891122 1.258594 +v -0.917170 -2.672327 -0.016452 +v -0.041963 -1.906882 3.009500 +v 0.030690 -1.177640 2.753901 +v -1.063108 -1.943085 1.951771 +v -0.844306 -1.287375 1.987696 +v 1.015193 -2.635898 -0.016452 +v -0.005531 -2.818265 -2.787394 +f 26 33 64 +f 2 3 14 +f 17 8 20 +f 3 2 21 +f 1 22 24 +f 21 13 25 +f 17 20 26 +f 26 10 29 +f 5 29 30 +f 29 21 30 +f 6 19 32 +f 25 11 32 +f 4 23 33 +f 19 6 34 +f 4 20 35 +f 20 8 35 +f 15 6 36 +f 6 16 36 +f 26 20 37 +f 23 4 38 +f 9 31 39 +f 31 14 39 +f 12 24 40 +f 24 22 40 +f 16 6 41 +f 7 35 41 +f 41 35 42 +f 1 16 42 +f 22 1 42 +f 8 22 42 +f 35 8 42 +f 16 41 42 +f 41 6 43 +f 14 3 44 +f 3 21 44 +f 21 25 44 +f 32 19 44 +f 25 32 44 +f 4 35 45 +f 35 7 45 +f 38 4 45 +f 6 15 46 +f 34 6 46 +f 27 34 46 +f 11 25 47 +f 33 23 47 +f 13 33 47 +f 8 17 48 +f 18 8 48 +f 17 26 48 +f 26 29 48 +f 12 18 49 +f 28 12 49 +f 31 9 49 +f 18 31 49 +f 9 39 49 +f 39 28 49 +f 23 38 50 +f 7 41 50 +f 43 11 50 +f 41 43 50 +f 45 7 50 +f 38 45 50 +f 11 47 50 +f 47 23 50 +f 15 36 51 +f 20 4 52 +f 4 33 52 +f 33 26 52 +f 37 20 52 +f 26 37 52 +f 19 34 53 +f 34 14 53 +f 14 44 53 +f 44 19 53 +f 2 14 54 +f 21 2 54 +f 30 21 54 +f 14 31 54 +f 14 34 55 +f 34 27 55 +f 39 14 55 +f 28 39 55 +f 46 28 55 +f 27 46 55 +f 25 13 56 +f 47 25 56 +f 13 47 56 +f 18 5 57 +f 5 30 57 +f 31 18 57 +f 30 54 57 +f 54 31 57 +f 5 18 58 +f 29 5 58 +f 18 48 58 +f 48 29 58 +f 24 12 59 +f 12 28 59 +f 46 15 59 +f 28 46 59 +f 16 1 60 +f 1 24 60 +f 36 16 60 +f 15 51 60 +f 51 36 60 +f 24 59 60 +f 59 15 60 +f 8 18 61 +f 18 12 61 +f 22 8 61 +f 22 61 62 +f 12 40 62 +f 40 22 62 +f 61 12 62 +f 6 32 63 +f 32 11 63 +f 11 43 63 +f 43 6 63 +f 13 21 64 +f 10 26 64 +f 29 10 64 +f 21 29 64 +f 33 13 64 +o convex_1 +v -1.172500 0.609184 -0.089837 +v 1.161160 0.645673 0.019448 +v 1.161160 0.609184 0.019448 +v -0.042219 0.900867 1.769380 +v -0.078540 0.900867 -1.730483 +v -1.062853 0.900867 0.092077 +v 0.978643 0.900867 -0.089494 +v -0.989983 0.609184 0.894414 +v -0.005670 0.609184 -1.256343 +v 0.869452 0.609184 0.967042 +v 0.905773 0.609184 -0.928146 +v -0.953434 0.609184 -1.001117 +v 0.905773 0.900867 0.967042 +v -0.953434 0.900867 -1.037773 +v 0.869452 0.900867 -0.964802 +v -0.989983 0.900867 0.857757 +v -0.115089 0.609184 1.185955 +v 0.030651 0.864378 1.769380 +v -0.042219 0.864378 -1.730483 +v -1.172500 0.645673 0.092077 +v 0.942322 0.609184 0.894414 +v 0.103520 0.609184 1.185955 +v -0.953434 0.900867 0.930728 +f 80 72 87 +f 68 69 70 +f 69 68 71 +f 65 67 72 +f 67 65 73 +f 72 67 74 +f 66 67 75 +f 67 73 75 +f 73 65 76 +f 66 71 77 +f 71 68 77 +f 65 70 78 +f 70 69 78 +f 76 65 78 +f 69 76 78 +f 71 66 79 +f 69 71 79 +f 66 75 79 +f 68 70 80 +f 72 74 81 +f 68 72 82 +f 77 68 82 +f 74 77 82 +f 72 81 82 +f 75 73 83 +f 76 69 83 +f 73 76 83 +f 69 79 83 +f 79 75 83 +f 70 65 84 +f 65 72 84 +f 80 70 84 +f 72 80 84 +f 67 66 85 +f 74 67 85 +f 66 77 85 +f 77 74 85 +f 81 74 86 +f 74 82 86 +f 82 81 86 +f 72 68 87 +f 68 80 87 +o convex_2 +v -0.224263 3.088710 0.091862 +v -0.844288 0.900867 -1.183183 +v -0.807852 0.900867 -1.183183 +v 0.067220 1.229387 2.790366 +v 0.978729 1.994789 -2.058342 +v 0.796344 2.760191 1.988235 +v 0.978729 0.900867 0.128376 +v -1.026465 2.067389 2.024749 +v -0.844288 2.760191 -2.022417 +v -0.005651 1.229387 -2.751519 +v 0.759909 2.796598 -2.021828 +v -0.990030 0.900867 0.747937 +v -0.771210 2.723998 2.097188 +v 1.051807 1.994789 2.060674 +v -1.063108 1.958382 -2.131370 +v -0.005651 2.833219 -2.678491 +v 0.067220 2.687591 2.826880 +v 0.832987 3.015682 0.020012 +v -0.771210 1.921975 2.790366 +v 0.869422 0.900867 -0.964099 +v -0.990030 2.796812 0.019423 +v 0.832987 1.921975 2.790366 +v -0.844288 1.958382 -2.751519 +v 0.687038 1.994789 -2.751519 +v 0.905858 0.900867 0.967021 +v 0.030785 2.979275 2.134291 +v -0.807645 3.052089 -0.162558 +v -0.005651 3.015682 -2.095445 +v -0.042086 0.901082 1.878693 +v -0.771210 1.192980 2.061263 +v -1.063108 0.900867 -0.161969 +v -0.844288 1.192765 -2.058342 +v -0.005651 1.921975 3.045964 +v -0.078521 2.140631 -2.970603 +v -0.078521 0.901082 -1.839847 +v 0.942293 2.796812 -0.199072 +v 0.796344 1.229387 2.060674 +v 0.723473 1.265793 -1.985314 +v -1.063108 1.994789 0.164890 +v -0.625468 3.052089 0.638984 +v 0.869422 2.906247 -1.074230 +v -0.552597 2.650970 -2.568949 +v 0.650602 2.578156 2.534768 +v 0.249398 3.088710 -0.636651 +v -1.026465 1.776347 1.915207 +v 0.577731 2.578156 -2.568949 +v -0.552597 2.541749 2.607796 +v -0.625468 1.411421 -2.604874 +v -0.589032 1.375228 2.571282 +v 0.978729 2.213230 -1.876361 +v 0.030785 3.015682 1.878693 +v -0.953594 0.900867 -1.110155 +v 0.541296 1.484449 -2.568949 +v -1.063108 2.140417 -1.912286 +v -0.698339 3.052089 -0.636651 +v 0.577731 1.375014 2.607796 +v 0.723473 2.140417 -2.715005 +v 0.832987 2.030982 2.790366 +v -0.005651 1.921975 -2.970603 +v 0.067220 1.192980 2.753852 +v -0.114957 1.229387 -2.751519 +v -0.953594 0.900867 0.967021 +v 0.577731 3.052089 -0.636651 +v -0.844288 2.796812 -1.949389 +f 142 115 151 +f 89 90 94 +f 89 94 99 +f 94 92 101 +f 100 95 106 +f 92 94 107 +f 94 90 107 +f 95 100 108 +f 102 96 110 +f 99 94 112 +f 94 101 112 +f 104 93 113 +f 100 104 113 +f 108 100 114 +f 98 103 115 +f 89 99 118 +f 102 110 119 +f 106 91 120 +f 104 106 120 +f 91 109 120 +f 90 89 122 +f 107 90 122 +f 97 107 122 +f 93 101 123 +f 105 93 123 +f 101 109 124 +f 112 101 124 +f 92 107 125 +f 107 97 125 +f 111 92 125 +f 95 108 126 +f 118 95 126 +f 102 118 126 +f 100 113 127 +f 88 114 127 +f 114 100 127 +f 98 115 128 +f 105 123 128 +f 110 96 129 +f 121 110 129 +f 103 121 129 +f 93 104 130 +f 106 95 132 +f 117 106 132 +f 118 99 132 +f 95 118 132 +f 103 98 133 +f 104 100 134 +f 100 106 134 +f 106 104 134 +f 119 110 135 +f 91 106 136 +f 106 117 136 +f 101 92 137 +f 123 101 137 +f 98 128 137 +f 128 123 137 +f 93 105 138 +f 113 93 138 +f 88 127 138 +f 127 113 138 +f 131 88 138 +f 105 131 138 +f 89 118 139 +f 118 102 139 +f 102 119 139 +f 122 89 139 +f 119 122 139 +f 97 111 140 +f 125 97 140 +f 111 125 140 +f 96 102 141 +f 126 108 141 +f 102 126 141 +f 114 88 142 +f 88 131 142 +f 131 115 142 +f 109 91 143 +f 124 109 143 +f 92 111 144 +f 121 103 144 +f 111 121 144 +f 133 98 144 +f 103 133 144 +f 137 92 144 +f 98 137 144 +f 101 93 145 +f 109 101 145 +f 104 120 145 +f 120 109 145 +f 93 130 145 +f 130 104 145 +f 111 97 146 +f 110 121 146 +f 121 111 146 +f 116 112 147 +f 117 116 147 +f 112 124 147 +f 91 136 147 +f 136 117 147 +f 143 91 147 +f 124 143 147 +f 97 122 148 +f 122 119 148 +f 135 110 148 +f 119 135 148 +f 146 97 148 +f 110 146 148 +f 99 112 149 +f 112 116 149 +f 116 117 149 +f 132 99 149 +f 117 132 149 +f 128 115 150 +f 105 128 150 +f 131 105 150 +f 115 131 150 +f 108 114 151 +f 115 103 151 +f 129 96 151 +f 103 129 151 +f 96 141 151 +f 141 108 151 +f 114 142 151 +o convex_3 +v -2.047819 -0.557523 -0.053308 +v -1.282234 0.536227 0.128755 +v -1.282234 0.463242 0.420467 +v -3.032166 0.025673 0.055884 +v -1.282234 0.062109 -0.563976 +v -1.282234 -0.484652 0.493452 +v -2.740254 -0.047198 0.456903 +v -2.740254 0.062109 -0.381456 +v -1.282234 -0.484652 -0.454441 +v -2.667276 0.390257 -0.016873 +v -2.813060 -0.411667 -0.016873 +v -1.573804 0.390257 -0.418006 +v -1.355041 0.025673 0.602873 +v -2.011330 -0.448102 -0.418006 +v -2.011330 -0.448102 0.456903 +v -1.974841 0.390257 0.420467 +v -1.282234 -0.630622 0.092319 +v -2.813060 -0.083519 -0.381456 +v -2.047819 -0.010762 -0.527312 +v -1.282234 0.536227 -0.089744 +v -2.594298 0.280950 0.311046 +v -2.084308 0.353821 -0.381456 +v -2.084308 -0.047198 0.566323 +v -2.047819 0.499677 -0.016873 +v -2.594298 -0.338796 0.347596 +v -1.318552 -0.192940 -0.563976 +v -2.084308 -0.557523 0.092319 +v -1.391530 -0.630622 -0.053308 +v -1.282234 0.390257 -0.418006 +v -2.813060 -0.411667 0.055884 +v -2.776743 0.353821 0.055884 +v -2.594298 -0.338796 -0.308585 +v -1.282234 -0.119954 0.602873 +v -3.032166 -0.083519 0.055884 +v -2.740254 0.062109 0.420467 +v -2.594298 0.280950 -0.272150 +v -1.391530 -0.521087 0.456903 +v -2.011330 0.499677 0.055884 +v -2.849549 0.280950 -0.016873 +v -2.047819 -0.083519 -0.527312 +v -2.011330 0.025673 0.566323 +v -2.740254 -0.448102 0.055884 +v -1.318552 0.426806 0.456903 +f 167 192 194 +f 153 154 156 +f 156 154 157 +f 156 157 160 +f 152 162 165 +f 160 157 168 +f 155 159 169 +f 163 156 170 +f 169 159 170 +f 153 156 171 +f 163 170 173 +f 170 159 173 +f 158 166 174 +f 153 171 175 +f 171 163 175 +f 173 161 175 +f 163 173 175 +f 166 158 176 +f 156 160 177 +f 160 165 177 +f 170 156 177 +f 168 178 179 +f 165 160 179 +f 152 165 179 +f 160 168 179 +f 178 152 179 +f 156 163 180 +f 171 156 180 +f 163 171 180 +f 176 158 181 +f 172 167 182 +f 165 162 183 +f 162 169 183 +f 169 165 183 +f 157 154 184 +f 166 157 184 +f 164 174 184 +f 174 166 184 +f 158 155 185 +f 155 169 185 +f 169 162 185 +f 181 158 185 +f 162 181 185 +f 155 158 186 +f 167 172 186 +f 182 155 186 +f 172 182 186 +f 173 159 187 +f 161 173 187 +f 157 166 188 +f 168 157 188 +f 166 178 188 +f 178 168 188 +f 154 153 189 +f 167 154 189 +f 153 175 189 +f 175 161 189 +f 161 182 189 +f 182 167 189 +f 159 155 190 +f 155 182 190 +f 182 161 190 +f 187 159 190 +f 161 187 190 +f 165 169 191 +f 169 170 191 +f 177 165 191 +f 170 177 191 +f 174 164 192 +f 158 174 192 +f 186 158 192 +f 167 186 192 +f 162 152 193 +f 166 176 193 +f 152 178 193 +f 178 166 193 +f 181 162 193 +f 176 181 193 +f 154 167 194 +f 184 154 194 +f 164 184 194 +f 192 164 194 +o convex_4 +v -1.281892 -0.338653 -0.527362 +v 1.234127 0.098494 0.566273 +v 0.942282 0.609155 0.894264 +v -0.005658 0.609155 -1.256536 +v 0.869383 -0.776478 -1.037709 +v -0.078311 -0.776478 1.258976 +v -0.990048 0.609155 0.894264 +v -0.844249 -0.776478 -1.037709 +v 0.905833 0.609155 -0.928296 +v -0.990048 -0.776478 0.894264 +v -0.953598 0.609155 -1.001238 +v 0.942282 -0.776478 0.967207 +v 1.234127 -0.521080 -0.454420 +v -1.281892 0.463078 0.456860 +v 0.067242 0.609155 1.186034 +v -0.078311 -0.776478 -1.293007 +v 1.234127 0.463213 -0.454420 +v -1.281892 -0.667022 0.019206 +v -1.281892 0.572670 -0.053237 +v -1.281892 -0.083662 0.639216 +v 1.234127 -0.630537 0.055677 +v 1.234127 0.572534 0.055677 +v 1.234127 0.025659 -0.636776 +v -1.281892 -0.047312 -0.600055 +v 0.869383 0.609155 0.967207 +v 0.067242 -0.739993 1.258976 +v -0.115007 0.609155 1.186034 +v 0.103692 -0.739993 -1.293007 +v -0.917148 0.609155 -1.037709 +v -0.917148 -0.703507 0.967207 +v 1.234127 -0.448109 0.456860 +v -1.281892 -0.521216 0.493331 +v 1.124531 -0.739993 -0.053237 +v -1.281892 0.353893 -0.454170 +v -0.917148 -0.776478 -0.965017 +v 1.234127 0.426728 0.456860 +v 0.905833 -0.703507 1.003678 +v -1.099397 -0.776478 -0.089708 +v -0.917148 0.609155 0.930985 +v 1.197431 0.609155 -0.053237 +v -1.281892 -0.521216 -0.417949 +v -1.245196 0.609155 0.055677 +v -0.078311 0.609155 -1.256536 +v 0.942282 -0.776478 -0.928296 +v 0.832933 0.609155 -0.964767 +v 0.869383 -0.703507 -1.037709 +f 198 239 240 +f 197 198 201 +f 199 200 202 +f 198 197 203 +f 202 200 204 +f 201 198 205 +f 196 197 206 +f 200 199 206 +f 197 201 209 +f 199 202 210 +f 196 207 211 +f 208 195 212 +f 195 208 213 +f 201 208 214 +f 208 212 214 +f 207 196 215 +f 196 211 216 +f 203 211 217 +f 211 207 217 +f 195 213 218 +f 197 209 219 +f 219 209 220 +f 200 206 220 +f 209 201 221 +f 220 209 221 +f 200 220 221 +f 199 210 222 +f 205 198 223 +f 210 202 223 +f 204 200 224 +f 201 214 224 +f 214 204 224 +f 196 206 225 +f 215 196 225 +f 206 215 225 +f 212 204 226 +f 204 214 226 +f 214 212 226 +f 215 206 227 +f 213 205 228 +f 205 218 228 +f 218 213 228 +f 202 204 229 +f 195 218 229 +f 218 205 229 +f 205 223 229 +f 223 202 229 +f 197 196 230 +f 216 197 230 +f 196 216 230 +f 206 197 231 +f 197 219 231 +f 219 220 231 +f 220 206 231 +f 204 212 232 +f 229 204 232 +f 212 229 232 +f 200 221 233 +f 221 201 233 +f 224 200 233 +f 201 224 233 +f 203 197 234 +f 211 203 234 +f 197 216 234 +f 216 211 234 +f 212 195 235 +f 195 229 235 +f 229 212 235 +f 201 205 236 +f 208 201 236 +f 205 213 236 +f 213 208 236 +f 198 222 237 +f 222 210 237 +f 223 198 237 +f 210 223 237 +f 206 199 238 +f 207 215 238 +f 199 217 238 +f 217 207 238 +f 227 206 238 +f 215 227 238 +f 198 203 239 +f 239 203 240 +f 217 199 240 +f 203 217 240 +f 222 198 240 +f 199 222 240 +o convex_5 +v 1.599017 -0.594158 -0.017016 +v 1.453233 0.572691 0.019306 +v 1.453233 0.572691 -0.017016 +v 2.984230 0.062023 0.055741 +v 1.234298 -0.120040 0.566409 +v 1.234298 -0.083604 -0.600440 +v 2.692489 -0.010733 -0.381599 +v 2.728978 0.062023 0.420324 +v 2.728978 -0.411752 0.055741 +v 1.234298 -0.484737 -0.454584 +v 1.234298 0.426607 0.456874 +v 2.765296 0.390171 0.092177 +v 1.234298 0.463156 -0.454584 +v 1.234298 -0.484737 0.420324 +v 2.073032 -0.411752 -0.381599 +v 2.073032 -0.411752 0.383889 +v 2.036543 0.390171 -0.381599 +v 2.109350 0.390171 0.420324 +v 1.671824 -0.047169 0.566409 +v 1.963565 0.025588 -0.527455 +v 2.728978 0.390171 -0.017016 +v 2.728978 -0.120040 -0.345164 +v 2.692489 -0.047169 0.420324 +v 1.234298 -0.594158 0.092177 +v 2.728978 -0.411752 -0.017016 +v 1.234298 0.572691 0.055741 +v 1.890758 0.536027 -0.017016 +v 2.984230 -0.047169 0.092177 +v 1.963565 -0.557608 0.019306 +v 2.583022 0.280750 -0.272178 +v 2.000054 -0.156590 -0.491020 +v 1.307276 0.062023 -0.600440 +v 1.270787 0.098459 0.566409 +v 2.765296 0.025588 -0.345164 +v 2.000054 0.463156 0.274468 +v 2.073032 0.025588 0.529745 +v 2.546533 0.317300 0.347453 +v 2.947741 -0.047169 -0.089887 +v 2.546533 -0.302446 0.311018 +v 1.562528 0.426607 0.456874 +v 2.546533 -0.338881 -0.272178 +v 1.380255 -0.484737 0.420324 +v 1.927076 -0.557608 -0.053451 +v 1.343765 0.390171 -0.491020 +f 260 272 284 +f 245 246 250 +f 246 245 251 +f 248 244 252 +f 246 251 253 +f 245 250 254 +f 257 247 260 +f 252 244 261 +f 259 256 263 +f 250 241 264 +f 254 250 264 +f 242 243 266 +f 243 253 266 +f 253 251 266 +f 243 242 267 +f 253 243 267 +f 257 253 267 +f 252 261 267 +f 261 257 267 +f 244 248 268 +f 248 263 268 +f 263 249 268 +f 249 265 268 +f 249 256 269 +f 264 241 269 +f 265 249 269 +f 257 261 270 +f 250 246 271 +f 255 250 271 +f 246 260 271 +f 260 247 271 +f 247 262 271 +f 262 255 271 +f 246 253 272 +f 260 246 272 +f 251 245 273 +f 245 259 273 +f 247 257 274 +f 261 244 274 +f 262 247 274 +f 257 270 274 +f 270 261 274 +f 258 252 275 +f 242 266 275 +f 267 242 275 +f 252 267 275 +f 248 258 276 +f 263 248 276 +f 259 263 276 +f 273 259 276 +f 248 252 277 +f 258 248 277 +f 252 258 277 +f 265 262 278 +f 244 268 278 +f 268 265 278 +f 274 244 278 +f 262 274 278 +f 256 249 279 +f 249 263 279 +f 263 256 279 +f 266 251 280 +f 251 273 280 +f 258 275 280 +f 275 266 280 +f 276 258 280 +f 273 276 280 +f 255 262 281 +f 265 255 281 +f 262 265 281 +f 245 254 282 +f 259 245 282 +f 256 259 282 +f 254 264 282 +f 269 256 282 +f 264 269 282 +f 241 250 283 +f 250 255 283 +f 255 265 283 +f 269 241 283 +f 265 269 283 +f 253 257 284 +f 257 260 284 +f 272 253 284 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/744/744.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/744/744.urdf new file mode 100644 index 000000000..eec56cc4e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/744/744.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/745/745.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/745/745.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/745/745.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/745/745.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/745/745.obj new file mode 100644 index 000000000..8485bfe77 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/745/745.obj @@ -0,0 +1,543 @@ +o convex_0 +v -0.728316 -1.486391 1.102045 +v 0.815747 -2.152743 -1.108953 +v 0.815747 -2.012933 -1.108953 +v -1.114386 -1.170740 -0.968277 +v -0.973897 -3.100675 -0.968277 +v 1.061329 -2.995327 0.961369 +v 1.131684 -1.100247 0.996646 +v -1.008855 -3.065428 1.102045 +v 1.096506 -2.960081 -1.108953 +v 1.061329 -1.100247 -1.003554 +v -0.973897 -1.100247 0.891247 +v -1.079209 -1.100247 0.575483 +v -0.552869 -3.065428 1.102045 +v 0.359542 -1.100247 -1.073460 +v -0.271890 -1.100247 1.102045 +v -1.114386 -1.100247 -0.968277 +v -0.657961 -3.100675 -0.792973 +v -1.008855 -3.030182 -0.968277 +v -1.008855 -3.100675 0.926308 +v 1.096506 -1.872535 -1.038615 +v 0.921060 -2.889980 0.996646 +v 1.096506 -2.960081 -0.161011 +v -1.044032 -2.468590 0.961369 +v -0.201756 -1.521637 1.102045 +v 0.815747 -2.995327 -1.038615 +v 1.096506 -2.468786 0.961369 +v -0.623004 -1.100247 1.102045 +v 0.745613 -1.100247 -1.073460 +v 0.885882 -2.960081 -1.108953 +v -1.008855 -2.714335 1.102045 +v -0.938720 -1.205595 0.961369 +v -1.008855 -3.100675 -0.617452 +v -0.587826 -2.784632 -1.003554 +v 1.096506 -2.714531 -1.108953 +v 1.061329 -2.995327 0.610544 +v -0.271890 -3.065233 0.996646 +v 0.289407 -1.626789 -1.073460 +f 33 4 37 +f 2 3 9 +f 7 10 11 +f 11 10 12 +f 1 8 13 +f 12 10 14 +f 7 11 15 +f 1 13 15 +f 4 12 16 +f 12 14 16 +f 13 8 19 +f 5 17 19 +f 10 7 20 +f 6 7 21 +f 13 6 21 +f 6 9 22 +f 9 7 22 +f 11 12 23 +f 12 4 23 +f 19 8 23 +f 7 15 24 +f 15 13 24 +f 21 7 24 +f 13 21 24 +f 5 9 25 +f 17 5 25 +f 7 6 26 +f 6 22 26 +f 22 7 26 +f 1 15 27 +f 15 11 27 +f 3 14 28 +f 14 10 28 +f 2 9 29 +f 9 5 29 +f 5 18 29 +f 8 1 30 +f 23 8 30 +f 11 23 30 +f 1 27 31 +f 27 11 31 +f 30 1 31 +f 11 30 31 +f 4 18 32 +f 18 5 32 +f 5 19 32 +f 23 4 32 +f 19 23 32 +f 18 4 33 +f 2 29 33 +f 29 18 33 +f 9 3 34 +f 7 9 34 +f 20 7 34 +f 10 20 34 +f 3 28 34 +f 28 10 34 +f 9 6 35 +f 6 17 35 +f 25 9 35 +f 17 25 35 +f 6 13 36 +f 17 6 36 +f 13 19 36 +f 19 17 36 +f 3 2 37 +f 14 3 37 +f 4 16 37 +f 16 14 37 +f 2 33 37 +o convex_1 +v -1.079291 1.146060 0.399866 +v 1.061503 1.251472 0.575370 +v 1.026299 1.777767 0.680587 +v 1.026299 2.935383 -1.108953 +v -1.079291 3.040796 1.066950 +v -1.008881 1.075849 -0.968380 +v -0.903686 2.935383 -0.968380 +v 1.026299 1.075849 -1.038454 +v 0.921103 3.040796 0.961520 +v 0.921103 1.075849 1.031807 +v -1.079291 1.075849 0.996664 +v -1.079291 3.040796 0.680800 +v -0.412493 1.075849 -1.038667 +v 0.956098 3.040796 0.505296 +v -0.938681 2.865172 -0.968380 +v -0.447489 2.303676 1.066950 +v 1.026299 1.391702 -1.073597 +v -0.377288 1.111050 1.031594 +v 1.061503 1.075849 0.364936 +v 0.850903 2.865172 -1.108953 +v 1.026299 2.935383 -0.722803 +v -0.798281 3.005594 1.066950 +v -1.079291 2.128245 0.329793 +v -1.079291 2.654731 1.066950 +v 0.956098 1.075849 0.996451 +v 0.956098 2.794961 0.891234 +v -0.728290 1.918189 -1.003310 +v -1.044086 1.075849 -0.477013 +v -1.008881 1.181261 -0.968380 +v 0.991303 2.584520 -1.108953 +f 50 57 67 +f 43 45 47 +f 42 38 48 +f 43 47 48 +f 38 42 49 +f 42 46 49 +f 45 43 50 +f 41 44 51 +f 44 49 51 +f 49 46 51 +f 49 44 52 +f 45 50 54 +f 48 47 55 +f 47 53 55 +f 41 39 56 +f 47 45 56 +f 54 41 56 +f 45 54 56 +f 44 41 57 +f 52 44 57 +f 40 39 58 +f 39 41 58 +f 41 51 58 +f 46 42 59 +f 47 46 59 +f 42 53 59 +f 53 47 59 +f 38 49 60 +f 42 48 61 +f 53 42 61 +f 48 55 61 +f 55 53 61 +f 39 40 62 +f 46 47 62 +f 56 39 62 +f 47 56 62 +f 51 46 63 +f 40 58 63 +f 58 51 63 +f 62 40 63 +f 46 62 63 +f 50 43 64 +f 52 57 64 +f 57 50 64 +f 48 38 65 +f 43 48 65 +f 38 60 65 +f 65 60 66 +f 49 52 66 +f 60 49 66 +f 64 43 66 +f 52 64 66 +f 43 65 66 +f 41 54 67 +f 54 50 67 +f 57 41 67 +o convex_2 +v -3.079526 -0.363248 -0.336859 +v -1.114579 0.303561 0.189542 +v -1.114579 -0.012350 0.224665 +v -3.044324 -0.082452 0.224665 +v -2.974113 0.268446 -0.196423 +v -1.114579 0.233265 -0.336859 +v -1.114579 -0.328132 -0.126287 +v -3.079526 -0.328132 0.224665 +v -2.974113 0.198214 0.189542 +v -1.114579 -0.257900 0.224665 +v -1.184790 -0.328132 -0.266668 +v -3.044324 0.163098 -0.231545 +v -1.114579 0.303561 -0.056097 +v -1.114579 0.057881 -0.336859 +v -1.535845 0.303561 0.189542 +v -1.325212 0.233265 -0.336859 +v -3.079526 -0.292951 -0.336859 +v -2.693461 -0.328132 0.224665 +v -3.009315 0.233265 0.049106 +v -2.728471 -0.363248 -0.266668 +f 85 75 87 +f 69 70 73 +f 73 70 74 +f 70 71 75 +f 74 70 77 +f 70 75 77 +f 75 71 79 +f 69 73 80 +f 73 72 80 +f 68 73 81 +f 73 74 81 +f 78 68 81 +f 74 78 81 +f 70 69 82 +f 71 70 82 +f 76 71 82 +f 69 80 82 +f 80 72 82 +f 72 73 83 +f 73 68 83 +f 79 72 83 +f 79 83 84 +f 68 75 84 +f 75 79 84 +f 83 68 84 +f 74 77 85 +f 77 75 85 +f 71 76 86 +f 72 79 86 +f 79 71 86 +f 76 82 86 +f 82 72 86 +f 75 68 87 +f 68 78 87 +f 78 74 87 +f 74 85 87 +o convex_3 +v 2.009249 -0.293037 0.259654 +v 1.658386 0.338657 -0.196395 +v 2.219498 0.303541 -0.231511 +v 1.131900 -0.293037 -0.336859 +v 1.131900 0.338657 0.329951 +v 3.096847 -0.293037 0.189487 +v 2.991434 0.233309 0.259654 +v 3.026636 -0.222805 -0.266562 +v 1.131900 -0.328152 0.259654 +v 1.131900 0.338657 -0.266562 +v 2.991434 0.233309 -0.196395 +v 2.640572 -0.187689 -0.301743 +v 1.202111 0.092976 0.329951 +v 1.553166 -0.293037 -0.336859 +v 2.710783 0.268360 0.259654 +v 3.096847 -0.187689 0.224603 +v 2.956425 0.198193 -0.231511 +v 1.167102 0.163143 -0.301743 +v 1.412744 0.338657 0.329951 +v 3.061646 -0.293037 0.084270 +v 1.623185 -0.328152 0.259654 +v 1.553166 0.338657 -0.266562 +f 105 97 109 +f 92 91 96 +f 91 92 97 +f 92 89 97 +f 92 96 100 +f 96 91 101 +f 99 95 101 +f 90 89 102 +f 98 90 102 +f 94 98 102 +f 88 93 103 +f 93 95 103 +f 98 94 103 +f 95 98 103 +f 100 88 103 +f 94 100 103 +f 90 98 104 +f 98 95 104 +f 95 99 104 +f 91 97 105 +f 101 91 105 +f 99 101 105 +f 89 92 106 +f 100 94 106 +f 92 100 106 +f 102 89 106 +f 94 102 106 +f 95 93 107 +f 101 95 107 +f 101 107 108 +f 93 88 108 +f 88 100 108 +f 100 96 108 +f 96 101 108 +f 107 93 108 +f 89 90 109 +f 97 89 109 +f 90 104 109 +f 104 99 109 +f 99 105 109 +o convex_4 +v -0.166588 -1.029906 -2.933887 +v 0.640212 1.040561 -1.073858 +v 1.026361 1.005315 -1.073858 +v -0.693095 1.040561 -3.074286 +v -1.114387 -0.959619 -1.073858 +v 1.026361 -1.065152 -3.074286 +v 1.026361 -0.959619 -1.073858 +v 0.991217 0.970068 -2.968938 +v -1.008957 1.005109 -1.073858 +v -1.044100 -0.959619 -2.968938 +v -1.008957 1.040561 -3.074286 +v 0.570139 -1.065152 -1.073858 +v 1.061503 -1.065152 -2.828344 +v 1.061503 -0.012295 -1.144351 +v 1.026361 0.408600 -3.003793 +v -1.079243 -0.959619 -2.863395 +v -1.008957 1.040561 -1.249503 +v 0.710286 -1.065152 -3.074286 +v -1.114387 -0.749171 -1.109105 +v 1.061503 -0.959619 -1.109105 +v -0.833455 -0.994865 -2.968938 +v -1.008957 0.759621 -3.074286 +v 1.026361 -0.012295 -3.039039 +v 0.464710 1.005315 -2.968938 +v 1.026361 0.970068 -1.951493 +v -1.044100 0.233192 -3.003793 +v 0.675355 0.970274 -3.003793 +v 1.026361 -0.713925 -3.074286 +v -0.412377 1.040561 -3.003793 +v -0.623022 -0.994865 -1.073858 +v 0.534996 -1.065152 -3.039039 +v 0.640212 -1.065152 -1.109105 +f 122 129 141 +f 112 111 114 +f 112 114 116 +f 111 112 117 +f 114 111 118 +f 111 113 120 +f 113 115 120 +f 116 114 121 +f 121 115 122 +f 123 122 124 +f 118 111 126 +f 111 120 126 +f 120 115 127 +f 115 121 127 +f 114 118 128 +f 125 114 128 +f 118 126 128 +f 126 120 128 +f 112 116 129 +f 123 112 129 +f 122 123 129 +f 110 121 130 +f 114 125 130 +f 125 119 130 +f 119 127 130 +f 127 119 131 +f 120 127 131 +f 124 122 132 +f 117 124 132 +f 111 117 133 +f 117 113 133 +f 117 112 134 +f 112 123 134 +f 123 124 134 +f 124 117 134 +f 119 125 135 +f 125 128 135 +f 128 120 135 +f 131 119 135 +f 120 131 135 +f 113 117 136 +f 132 113 136 +f 117 132 136 +f 115 113 137 +f 122 115 137 +f 113 132 137 +f 132 122 137 +f 113 111 138 +f 111 133 138 +f 133 113 138 +f 121 114 139 +f 130 121 139 +f 114 130 139 +f 121 110 140 +f 127 121 140 +f 110 130 140 +f 130 127 140 +f 116 121 141 +f 121 122 141 +f 129 116 141 +o convex_5 +v -1.114146 -0.257873 0.224909 +v 1.131474 -1.065104 1.031068 +v 1.131474 -1.100247 1.031068 +v -1.079189 0.549146 3.102473 +v 1.026382 1.075656 -1.038292 +v 0.991205 1.075656 3.031750 +v -0.938700 -0.959674 3.102473 +v -1.114146 -1.100247 -0.968387 +v -1.009054 1.075656 -0.968387 +v 1.026382 -1.100247 -1.003135 +v 1.061340 -0.924744 3.032159 +v -1.079189 1.005370 3.067316 +v -1.114146 -0.749240 -1.073450 +v 1.131474 0.338499 -0.266064 +v -1.079189 -1.100247 0.575662 +v -1.079189 1.075656 1.487292 +v 1.061340 -0.924744 -1.073858 +v -1.009054 1.005370 -1.073450 +v 1.096517 -0.959674 2.786059 +v -1.114146 0.233282 -0.336787 +v 0.429690 1.075656 3.067316 +v 0.710448 -1.100247 1.347073 +v 1.131474 0.338499 0.330380 +v 1.061340 1.075656 0.576070 +v 1.026382 1.005370 -1.073858 +v 1.026382 0.724649 3.032159 +v -0.693120 -0.994817 2.856782 +v 0.359556 -1.100247 -1.073858 +v -0.973877 -0.819314 3.102473 +v 0.570179 -0.924744 3.067316 +v 1.131474 -0.293016 -0.336378 +v -0.903743 -1.100247 0.961980 +v -1.079189 1.075656 0.435442 +v -0.798431 1.005370 3.102473 +v -0.587808 -0.959674 3.102473 +v -1.114146 -0.959674 -1.073450 +v 1.061340 0.022635 -1.073858 +v 0.956028 -0.959674 2.891531 +v 1.026382 -1.100247 1.312325 +v 1.061340 -1.100247 -0.968387 +v 1.061340 -0.152656 3.032159 +v -1.114146 0.303355 0.189752 +v 0.184110 1.075656 2.961844 +v -1.044012 1.075656 -0.477006 +v -0.622985 -1.100247 1.101791 +v -0.938700 -0.994817 2.751311 +f 186 168 187 +f 145 142 149 +f 147 146 150 +f 144 149 151 +f 149 142 154 +f 143 144 155 +f 149 144 156 +f 145 149 156 +f 147 150 157 +f 150 146 159 +f 144 143 160 +f 154 142 161 +f 159 154 161 +f 147 157 162 +f 156 144 163 +f 143 155 164 +f 160 143 164 +f 146 147 165 +f 155 146 165 +f 164 155 165 +f 146 155 166 +f 159 146 166 +f 147 162 167 +f 165 147 167 +f 164 165 167 +f 151 149 169 +f 158 151 169 +f 154 159 169 +f 166 158 169 +f 159 166 169 +f 148 145 170 +f 145 156 170 +f 156 148 170 +f 167 162 171 +f 155 144 172 +f 156 163 173 +f 157 150 174 +f 145 148 175 +f 153 145 175 +f 162 153 175 +f 148 168 176 +f 152 171 176 +f 171 162 176 +f 175 148 176 +f 162 175 176 +f 149 154 177 +f 169 149 177 +f 154 169 177 +f 166 155 178 +f 158 166 178 +f 155 172 178 +f 172 158 178 +f 160 152 179 +f 152 176 179 +f 176 168 179 +f 144 160 180 +f 163 144 180 +f 168 163 180 +f 160 179 180 +f 179 168 180 +f 144 151 181 +f 151 158 181 +f 172 144 181 +f 158 172 181 +f 152 160 182 +f 160 164 182 +f 164 167 182 +f 171 152 182 +f 167 171 182 +f 142 145 183 +f 145 153 183 +f 153 157 183 +f 161 142 183 +f 157 174 183 +f 174 161 183 +f 157 153 184 +f 153 162 184 +f 162 157 184 +f 150 159 185 +f 159 161 185 +f 174 150 185 +f 161 174 185 +f 163 168 186 +f 173 163 186 +f 173 186 187 +f 148 156 187 +f 168 148 187 +f 156 173 187 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/745/745.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/745/745.urdf new file mode 100644 index 000000000..6df2e60ac --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/745/745.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/746/746.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/746/746.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/746/746.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/746/746.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/746/746.obj new file mode 100644 index 000000000..1df05c6c2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/746/746.obj @@ -0,0 +1,894 @@ +o convex_0 +v 0.507086 -1.086353 -0.959204 +v -0.012779 -2.278939 -1.234498 +v -0.410243 -2.095322 -1.632290 +v 0.384684 -1.728353 -2.457511 +v -0.471330 -0.963986 -0.959204 +v -0.073866 -1.300397 -2.396591 +v 0.476485 -2.125881 -0.959204 +v -0.410243 -1.697662 -2.396591 +v -0.471330 -2.003514 -0.959204 +v 0.048308 -2.095322 -2.396591 +v -0.563245 -1.636544 -1.448706 +v 0.568287 -1.697794 -1.540251 +v 0.445885 -2.125881 -1.632290 +v 0.445885 -0.994544 -0.989829 +v -0.043266 -1.728353 -2.641259 +v 0.292997 -1.392073 -2.243467 +v -0.043266 -2.278939 -0.959204 +v 0.598887 -1.575558 -0.959204 +v -0.349042 -0.933295 -1.020618 +v 0.415398 -1.667235 -2.427051 +v -0.349042 -1.422764 -2.213007 +v -0.563245 -1.606117 -0.959204 +v -0.073866 -2.095322 -2.335341 +v 0.017821 -1.300397 -2.396591 +v 0.323484 -2.034205 -2.213007 +v -0.440844 -1.667235 -2.335341 +v -0.012779 -2.248249 -1.601665 +v -0.318556 -2.003514 -2.182383 +v -0.471330 -0.963986 -1.020618 +v 0.415398 -1.789470 -2.396591 +v -0.563245 -1.331087 -1.020618 +v 0.048308 -1.667235 -2.641259 +v -0.532531 -1.758911 -1.632290 +v 0.078794 -2.278939 -1.081539 +v -0.410243 -2.095322 -0.959204 +v 0.323484 -0.994544 -1.081539 +v 0.384684 -2.156572 -1.632290 +v 0.537686 -1.758911 -1.784920 +v 0.598887 -1.453323 -0.989994 +v 0.476485 -1.025103 -1.020618 +v -0.440844 -1.728353 -2.304552 +v 0.445885 -1.697662 -2.335341 +v 0.048308 -2.248249 -1.601665 +v -0.043266 -1.606117 -2.610635 +f 24 32 44 +f 1 5 7 +f 7 5 9 +f 12 7 13 +f 5 1 14 +f 3 2 17 +f 7 9 17 +f 1 7 18 +f 7 12 18 +f 5 14 19 +f 6 8 21 +f 9 5 22 +f 11 9 22 +f 8 15 23 +f 15 10 23 +f 14 16 24 +f 6 19 24 +f 16 20 24 +f 21 8 26 +f 2 3 27 +f 3 23 27 +f 23 10 27 +f 23 3 28 +f 8 23 28 +f 5 19 29 +f 19 6 29 +f 6 21 29 +f 21 26 29 +f 10 4 30 +f 4 20 30 +f 25 10 30 +f 13 25 30 +f 22 5 31 +f 11 22 31 +f 26 11 31 +f 5 29 31 +f 29 26 31 +f 4 10 32 +f 10 15 32 +f 20 4 32 +f 24 20 32 +f 3 9 33 +f 9 11 33 +f 11 26 33 +f 17 2 34 +f 7 17 34 +f 9 3 35 +f 3 17 35 +f 17 9 35 +f 19 14 36 +f 14 24 36 +f 24 19 36 +f 13 7 37 +f 10 25 37 +f 25 13 37 +f 7 34 37 +f 12 13 38 +f 13 30 38 +f 1 18 39 +f 18 12 39 +f 14 1 40 +f 16 14 40 +f 20 16 40 +f 26 8 41 +f 28 3 41 +f 8 28 41 +f 3 33 41 +f 33 26 41 +f 30 20 42 +f 12 38 42 +f 38 30 42 +f 1 39 42 +f 39 12 42 +f 40 1 42 +f 20 40 42 +f 2 27 43 +f 27 10 43 +f 34 2 43 +f 10 37 43 +f 37 34 43 +f 8 6 44 +f 15 8 44 +f 6 24 44 +f 32 15 44 +o convex_1 +v 0.843495 -1.391382 -0.408498 +v -0.073763 1.206437 1.609752 +v -0.379720 1.206437 1.609752 +v 0.048375 3.011640 -0.347392 +v -0.716007 -1.972868 -0.439177 +v 0.843495 -2.186945 1.334148 +v 0.782222 2.308077 1.089725 +v -0.838349 2.522154 1.242615 +v -0.379720 -2.125612 1.609752 +v -0.654938 0.412053 -0.959204 +v 0.476470 -2.125612 -0.959204 +v 0.812961 2.246744 -0.438925 +v -1.021963 0.259899 0.477913 +v -0.807814 2.400077 -0.439177 +v -0.012694 -2.707098 0.203062 +v 1.057644 0.290566 0.477913 +v 0.507004 0.901540 -0.959204 +v 0.017840 3.317717 0.386128 +v 0.568277 0.381386 1.609752 +v -0.685472 -1.972868 1.181258 +v -0.440789 -2.064278 -0.959204 +v -0.960691 -0.014921 -0.408498 +v 0.996372 0.015156 -0.377819 +v 0.078910 2.950307 1.120403 +v 0.476470 -2.247689 1.609752 +v 0.996372 0.320053 1.150831 +v -0.930156 -0.137588 1.150831 +v -0.563131 -1.483382 1.609752 +v -0.012694 -2.645765 1.181258 +v -0.043229 1.115026 -0.959204 +v 0.812961 2.522154 0.416807 +v 0.048375 -2.645765 -0.439177 +v 0.751688 -2.033612 -0.439177 +v 0.629346 0.320053 -0.959204 +v -0.777280 -1.880868 0.416555 +v 0.598811 -1.574792 -0.959204 +v 0.445935 0.870873 1.609752 +v -0.563131 -1.605458 -0.959204 +v 0.690619 2.460820 -0.439177 +v 0.629346 -1.911535 1.609752 +v -0.838349 2.491487 1.273042 +v -0.777280 2.583487 0.325274 +v -1.021963 0.412053 0.325274 +v -0.502062 1.084360 1.609752 +v -0.746542 -1.972868 0.631054 +v -0.502062 0.870283 -0.959204 +v -0.043229 -2.278355 -0.959204 +v -0.165571 2.919051 -0.378071 +v 0.629346 -2.339099 1.426184 +v 0.874030 -1.942202 1.181258 +v 1.057644 0.320053 0.294847 +v -0.043229 3.287050 0.325274 +v 0.017840 -2.339689 1.609752 +v 0.109444 -2.676432 0.386128 +v 0.782222 2.277410 1.120152 +v -0.012694 -2.645765 -0.439177 +v -0.930156 0.778873 -0.408498 +v -0.960691 0.137822 1.059046 +v -0.746542 2.400077 -0.469855 +v -0.777280 -1.666792 -0.378071 +v -0.135036 2.888974 1.150579 +v 0.782222 2.583487 0.386128 +v 0.078910 2.950307 -0.378071 +v -0.991225 0.107156 -0.194251 +f 104 79 108 +f 46 47 53 +f 55 54 61 +f 46 53 63 +f 54 55 65 +f 51 62 68 +f 63 53 69 +f 60 51 70 +f 71 64 72 +f 53 47 72 +f 64 53 72 +f 53 64 73 +f 61 54 74 +f 51 60 75 +f 50 76 77 +f 76 55 77 +f 55 61 78 +f 61 56 78 +f 56 67 78 +f 71 57 79 +f 67 45 80 +f 45 77 80 +f 77 55 80 +f 55 78 80 +f 78 67 80 +f 46 63 81 +f 68 46 81 +f 65 49 82 +f 54 65 82 +f 66 54 82 +f 56 61 83 +f 48 62 83 +f 69 50 84 +f 63 69 84 +f 50 70 84 +f 70 63 84 +f 47 46 85 +f 52 57 85 +f 71 72 85 +f 58 52 86 +f 57 52 87 +f 52 58 87 +f 72 47 88 +f 47 85 88 +f 85 72 88 +f 49 59 89 +f 64 71 89 +f 59 73 89 +f 73 64 89 +f 79 49 89 +f 71 79 89 +f 54 58 90 +f 74 54 90 +f 65 55 91 +f 55 76 91 +f 50 69 93 +f 69 73 93 +f 45 67 94 +f 70 50 94 +f 60 70 94 +f 77 45 94 +f 50 77 94 +f 67 56 95 +f 75 60 95 +f 56 75 95 +f 94 67 95 +f 60 94 95 +f 52 62 96 +f 62 48 96 +f 86 52 96 +f 58 86 96 +f 48 92 96 +f 92 58 96 +f 69 53 97 +f 53 73 97 +f 73 69 97 +f 73 59 98 +f 76 50 98 +f 59 76 98 +f 50 93 98 +f 93 73 98 +f 51 68 99 +f 70 51 99 +f 63 70 99 +f 81 63 99 +f 68 81 99 +f 59 49 100 +f 49 65 100 +f 76 59 100 +f 65 91 100 +f 91 76 100 +f 58 54 101 +f 54 66 101 +f 87 58 101 +f 57 71 102 +f 85 57 102 +f 71 85 102 +f 90 58 103 +f 74 90 103 +f 58 92 103 +f 92 74 103 +f 49 79 104 +f 82 49 104 +f 66 82 104 +f 62 52 105 +f 46 68 105 +f 68 62 105 +f 85 46 105 +f 52 85 105 +f 62 51 106 +f 51 75 106 +f 75 56 106 +f 56 83 106 +f 83 62 106 +f 61 74 107 +f 83 61 107 +f 48 83 107 +f 92 48 107 +f 74 92 107 +f 79 57 108 +f 57 87 108 +f 101 66 108 +f 87 101 108 +f 66 104 108 +o convex_2 +v -0.379700 -0.138130 -2.182562 +v 0.231693 0.779343 -2.182562 +v 0.476283 0.748706 -2.182562 +v 0.017613 0.320505 -2.641259 +v 0.751720 -0.107493 -2.213184 +v -0.930239 0.351141 -2.213184 +v -0.043577 -0.138130 -2.580016 +v -0.379700 0.748706 -2.396645 +v -0.410211 0.351141 -2.610593 +v 0.384750 0.320505 -2.549439 +v -0.624291 0.718171 -2.182562 +v 0.782399 0.351141 -2.182562 +v 0.354239 0.748706 -2.335491 +v -0.440890 -0.107493 -2.396645 +v -0.043577 -0.260473 -2.366068 +v 0.201182 -0.229836 -2.182562 +v -0.930239 0.289970 -2.182562 +v -0.410211 0.259435 -2.610593 +v 0.262204 -0.046321 -2.518862 +v 0.017613 0.718171 -2.427132 +v 0.782399 0.351141 -2.213184 +v -0.440890 0.779343 -2.182562 +v -0.349022 0.014850 -2.549439 +v 0.751720 -0.107493 -2.182562 +v -0.930239 0.289970 -2.213184 +f 126 131 133 +f 111 110 109 +f 114 116 117 +f 115 112 118 +f 109 110 119 +f 116 114 119 +f 111 109 120 +f 110 111 121 +f 116 110 121 +f 118 112 121 +f 115 113 123 +f 109 122 123 +f 122 115 123 +f 120 109 124 +f 109 123 124 +f 123 113 124 +f 109 119 125 +f 119 114 125 +f 122 109 125 +f 112 115 126 +f 114 117 126 +f 117 112 126 +f 113 115 127 +f 118 113 127 +f 115 118 127 +f 117 116 128 +f 112 117 128 +f 116 121 128 +f 121 112 128 +f 113 118 129 +f 111 120 129 +f 120 113 129 +f 118 121 129 +f 121 111 129 +f 110 116 130 +f 119 110 130 +f 116 119 130 +f 115 122 131 +f 126 115 131 +f 113 120 132 +f 120 124 132 +f 124 113 132 +f 125 114 133 +f 122 125 133 +f 114 126 133 +f 131 122 133 +o convex_3 +v 0.078857 -1.667076 3.383556 +v 0.017827 -2.309522 1.610100 +v -0.318448 -2.156353 1.610100 +v 0.017827 -1.025169 1.610100 +v 0.598887 -1.942429 1.609926 +v -0.471411 -0.933295 1.640658 +v -0.349018 -1.758950 3.138738 +v 0.078857 -2.156353 3.108005 +v 0.354102 -1.392262 2.955211 +v 0.017827 -1.300388 3.169297 +v 0.476495 -1.269808 1.609926 +v 0.445924 -1.758950 3.138738 +v -0.532662 -1.575741 1.610100 +v 0.476495 -2.217513 1.640658 +v -0.349018 -2.125773 2.374418 +v 0.445924 -1.300388 2.435710 +v 0.415243 -2.125773 2.527039 +v 0.568206 -1.697791 2.404977 +v -0.501981 -1.697656 2.252009 +v -0.257307 -1.392262 2.985943 +v 0.078857 -2.278807 2.374418 +v 0.078857 -1.269808 3.077446 +v -0.349018 -1.667076 3.138738 +v -0.379699 -2.125773 1.610100 +v -0.257307 -2.034034 2.955211 +v 0.017827 -1.789530 3.383556 +v -0.318448 -0.933295 1.610100 +v -0.012743 -2.156353 3.077446 +v 0.598887 -1.728371 1.609926 +v 0.445924 -1.697656 3.138738 +v 0.323642 -2.064614 2.955211 +v -0.532662 -1.483867 1.885303 +v 0.017827 -2.278807 2.374418 +v 0.078857 -1.330967 3.199855 +v 0.568206 -1.758950 2.404977 +v 0.476495 -1.269808 1.885129 +v 0.048287 -1.147623 2.404977 +v 0.139998 -2.309522 1.610100 +v -0.379699 -1.697656 3.047061 +v -0.012743 -1.697656 3.383556 +v 0.537635 -2.125908 1.640485 +v -0.471411 -1.789530 2.374418 +v -0.349018 -0.933295 1.701602 +v 0.415243 -2.156353 2.404977 +v -0.532662 -1.269808 1.610100 +v -0.226736 -2.187068 2.374418 +f 166 161 179 +f 135 136 138 +f 144 138 146 +f 143 139 153 +f 142 149 155 +f 153 139 156 +f 143 153 156 +f 138 136 157 +f 146 138 157 +f 152 146 157 +f 140 148 158 +f 145 134 159 +f 141 145 159 +f 137 144 160 +f 140 158 161 +f 158 148 161 +f 159 140 161 +f 141 159 161 +f 138 144 162 +f 151 138 162 +f 134 145 163 +f 149 142 163 +f 151 149 163 +f 145 151 163 +f 145 141 164 +f 141 150 164 +f 150 145 164 +f 146 152 165 +f 135 154 166 +f 154 141 166 +f 141 161 166 +f 155 143 167 +f 142 155 167 +f 134 163 167 +f 163 142 167 +f 145 150 168 +f 138 151 168 +f 151 145 168 +f 144 137 169 +f 137 149 169 +f 149 151 169 +f 162 144 169 +f 151 162 169 +f 149 137 170 +f 155 149 170 +f 135 138 171 +f 138 147 171 +f 154 135 171 +f 147 154 171 +f 140 156 172 +f 156 139 172 +f 139 165 172 +f 165 152 172 +f 156 140 173 +f 143 156 173 +f 140 159 173 +f 159 134 173 +f 134 167 173 +f 167 143 173 +f 147 138 174 +f 168 150 174 +f 138 168 174 +f 148 140 175 +f 157 148 175 +f 152 157 175 +f 140 172 175 +f 172 152 175 +f 139 143 176 +f 143 155 176 +f 137 160 176 +f 160 139 176 +f 170 137 176 +f 155 170 176 +f 150 141 177 +f 154 147 177 +f 141 154 177 +f 147 174 177 +f 174 150 177 +f 144 146 178 +f 160 144 178 +f 139 160 178 +f 165 139 178 +f 146 165 178 +f 136 135 179 +f 157 136 179 +f 148 157 179 +f 161 148 179 +f 135 166 179 +o convex_4 +v 0.354156 0.626405 2.863418 +v 0.323561 -0.382804 1.609923 +v 0.445835 -0.382804 1.609923 +v -0.135047 1.115754 1.609923 +v -0.379700 0.076034 2.985764 +v -0.410295 -0.168641 1.609923 +v 0.476535 0.779253 1.609753 +v -0.502079 0.993416 1.640467 +v 0.017822 0.381730 3.352803 +v -0.073857 0.718084 3.108110 +v 0.048312 -0.046303 3.108110 +v 0.384750 0.290197 3.108110 +v -0.440785 0.351366 2.985764 +v 0.568319 -0.260320 1.701555 +v -0.440785 -0.076961 2.374374 +v 0.537724 0.320708 2.160225 +v 0.231776 1.023927 1.640467 +v -0.502079 0.290197 1.609923 +v 0.323561 0.687573 2.924505 +v -0.196132 -0.290978 1.701555 +v -0.349001 -0.046303 2.924505 +v -0.410295 0.381730 3.108110 +v -0.502079 0.290197 2.435632 +v -0.379700 1.115754 1.609923 +v -0.318511 0.626405 2.955220 +v 0.323561 0.045376 2.924505 +v 0.568319 0.381584 1.609753 +v -0.073857 0.290197 3.352803 +v 0.445835 0.840421 1.732099 +v 0.354156 -0.382804 1.671011 +v -0.135047 1.115754 1.640467 +v 0.445835 0.687573 2.190940 +v 0.384750 0.351366 3.108110 +v -0.471380 0.014865 2.282742 +v 0.017822 0.290197 3.352803 +v -0.073857 0.381730 3.352803 +v -0.379700 1.115754 1.640467 +v 0.507130 0.320708 2.404918 +v 0.568319 -0.290978 1.609753 +v -0.012668 -0.046303 3.108110 +v 0.445835 -0.382804 1.640467 +f 218 193 220 +f 184 192 194 +f 186 183 196 +f 189 188 198 +f 185 181 199 +f 194 185 199 +f 194 199 200 +f 184 194 200 +f 192 184 201 +f 187 192 201 +f 192 187 202 +f 187 197 202 +f 183 186 203 +f 186 197 203 +f 197 187 203 +f 187 201 204 +f 201 189 204 +f 191 190 205 +f 193 191 205 +f 186 195 206 +f 195 193 206 +f 184 200 207 +f 201 184 207 +f 186 196 208 +f 196 198 208 +f 181 182 209 +f 199 181 209 +f 200 199 209 +f 196 183 210 +f 189 198 210 +f 198 196 210 +f 183 203 210 +f 195 186 211 +f 198 180 211 +f 186 208 211 +f 208 198 211 +f 188 191 212 +f 180 198 212 +f 198 188 212 +f 185 194 213 +f 194 192 213 +f 197 185 213 +f 192 202 213 +f 202 197 213 +f 191 188 214 +f 190 191 214 +f 188 207 214 +f 207 190 214 +f 188 189 215 +f 189 201 215 +f 207 188 215 +f 201 207 215 +f 203 187 216 +f 187 204 216 +f 204 189 216 +f 189 210 216 +f 210 203 216 +f 191 193 217 +f 193 195 217 +f 211 180 217 +f 195 211 217 +f 212 191 217 +f 180 212 217 +f 182 181 218 +f 181 185 218 +f 197 186 218 +f 185 197 218 +f 186 206 218 +f 206 193 218 +f 190 207 219 +f 207 200 219 +f 209 190 219 +f 200 209 219 +f 205 190 220 +f 193 205 220 +f 209 182 220 +f 190 209 220 +f 182 218 220 +o convex_5 +v -2.214175 -0.168644 -1.601596 +v 0.047813 1.024005 -1.142803 +v 0.047813 1.024005 -1.173437 +v 2.525455 -0.107397 -1.601596 +v -0.440686 0.779265 -2.182517 +v 0.506525 -0.229890 -2.182517 +v 2.494477 0.595648 -1.937753 +v 1.149318 -0.229890 -1.142803 +v -2.703866 0.351153 -1.234602 +v -2.703866 0.381715 -1.968285 +v 2.770300 0.320714 -1.295666 +v -2.672888 0.687457 -1.632128 +v 2.219249 -0.199206 -2.090616 +v -0.777274 -0.138082 -1.142803 +v 1.821897 0.840389 -1.662660 +v 2.708940 0.290152 -2.060186 +v -1.480832 -0.046273 -2.090616 +v -2.795608 -0.076958 -1.570962 +v 0.414782 0.779265 -2.182517 +v 2.678558 0.687579 -1.632128 +v 3.045527 0.228906 -1.693090 +v -1.266369 0.290152 -2.182517 +v 1.790919 0.320592 -1.142803 +v 2.372352 -0.107397 -1.265134 +v -2.122433 -0.107397 -1.968285 +v -1.756059 0.656895 -1.173437 +v -3.040453 0.320714 -1.570962 +v 1.454928 0.229029 -2.182517 +v -2.122433 -0.168644 -1.387465 +v 1.821897 0.718019 -1.265134 +v -2.092051 0.290152 -1.142803 +v -1.786441 0.809827 -1.662660 +v -1.969926 0.656895 -1.998918 +v -1.847206 -0.076958 -1.203969 +v 0.139555 -0.229890 -2.182517 +v -2.672888 0.290152 -1.998918 +v -2.642506 0.656895 -1.479265 +v 0.506525 -0.229890 -1.142803 +v 1.852280 0.687457 -2.029450 +v -2.703866 0.259591 -1.234602 +v 2.678558 0.687579 -1.723622 +v -0.043334 1.024005 -1.203969 +v -1.786441 0.718141 -1.203969 +v 1.363185 -0.107397 -2.182517 +v -1.847206 0.320714 -2.121250 +v 1.913640 0.290152 -2.151782 +v 1.332803 -0.229890 -2.121250 +v 2.525455 0.595648 -1.387465 +v -1.205008 -0.199206 -1.540431 +v -2.520381 0.014850 -1.326300 +v 2.402735 -0.138082 -1.448631 +v -2.764630 0.290152 -1.968285 +v 2.984167 0.381838 -1.693090 +v -0.043334 1.024005 -1.142803 +v 1.577648 -0.107397 -1.142803 +v -2.612123 -0.076958 -1.754256 +v 2.678558 0.290152 -1.265134 +v -2.459021 0.595771 -1.295768 +v -2.459021 0.595771 -1.907119 +v 3.045527 0.228906 -1.632128 +v -0.379326 -0.138082 -2.182517 +v -2.979093 0.320714 -1.723622 +v -0.684936 0.718141 -2.182517 +v 2.708940 0.228906 -2.060186 +f 266 236 284 +f 228 222 234 +f 223 222 235 +f 226 225 239 +f 235 222 240 +f 224 233 241 +f 225 226 242 +f 222 228 243 +f 226 239 248 +f 238 221 249 +f 240 222 250 +f 222 243 250 +f 234 222 251 +f 246 229 251 +f 232 252 253 +f 252 225 253 +f 249 234 254 +f 234 251 254 +f 226 228 255 +f 242 226 255 +f 221 245 255 +f 237 245 256 +f 247 229 257 +f 232 247 257 +f 228 234 258 +f 234 249 258 +f 255 228 258 +f 227 236 259 +f 239 235 259 +f 236 239 259 +f 229 247 260 +f 247 238 260 +f 251 229 260 +f 254 251 260 +f 236 227 261 +f 235 240 261 +f 227 259 261 +f 259 235 261 +f 222 223 262 +f 223 235 262 +f 239 225 262 +f 235 239 262 +f 225 252 262 +f 229 246 263 +f 233 226 264 +f 226 248 264 +f 242 237 265 +f 237 256 265 +f 256 230 265 +f 239 236 266 +f 248 239 266 +f 233 264 266 +f 264 248 266 +f 228 226 267 +f 226 233 267 +f 233 228 267 +f 231 240 268 +f 240 250 268 +f 250 231 268 +f 249 221 269 +f 221 255 269 +f 258 249 269 +f 255 258 269 +f 238 249 270 +f 249 254 270 +f 260 238 270 +f 254 260 270 +f 233 224 271 +f 228 233 271 +f 224 244 271 +f 244 228 271 +f 256 245 272 +f 230 256 272 +f 240 231 273 +f 241 236 273 +f 236 261 273 +f 261 240 273 +f 251 222 274 +f 246 251 274 +f 252 232 274 +f 232 257 274 +f 222 262 274 +f 262 252 274 +f 263 246 274 +f 257 263 274 +f 243 228 275 +f 228 244 275 +f 221 238 276 +f 245 221 276 +f 238 272 276 +f 272 245 276 +f 244 231 277 +f 231 250 277 +f 250 243 277 +f 243 275 277 +f 275 244 277 +f 257 229 278 +f 229 263 278 +f 263 257 278 +f 230 232 279 +f 232 253 279 +f 253 230 279 +f 224 241 280 +f 231 244 280 +f 244 224 280 +f 273 231 280 +f 241 273 280 +f 237 242 281 +f 245 237 281 +f 242 255 281 +f 255 245 281 +f 232 230 282 +f 247 232 282 +f 238 247 282 +f 272 238 282 +f 230 272 282 +f 225 242 283 +f 253 225 283 +f 230 253 283 +f 242 265 283 +f 265 230 283 +f 236 241 284 +f 241 233 284 +f 233 266 284 +o convex_6 +v -0.104784 -0.199253 -1.142701 +v 0.078946 1.085171 -0.959240 +v 0.507016 0.901479 -0.959240 +v -0.409732 -0.107472 -0.959240 +v -1.878306 0.351306 -1.142701 +v 1.363472 0.320669 -1.142701 +v 0.017703 1.054405 -1.142701 +v 0.507016 -0.107472 -0.959240 +v -0.470976 0.901479 -0.959240 +v 0.751672 -0.229890 -1.142701 +v -1.878306 0.290033 -1.112097 +v -0.715632 0.320669 -0.959240 +v 1.363472 0.259525 -1.112097 +v -0.165710 -0.199253 -0.959240 +v 0.659966 0.381814 -0.959240 +v 0.507016 0.870843 -1.142701 +v -0.409732 -0.168617 -1.142701 +v -0.074004 1.085171 -0.989808 +v 1.057572 -0.107472 -1.112097 +v -0.501756 0.901479 -1.142701 +v -1.755502 0.228888 -1.142701 +f 301 298 305 +f 287 286 288 +f 285 289 290 +f 290 289 291 +f 287 288 292 +f 288 286 293 +f 285 290 294 +f 293 289 295 +f 293 295 296 +f 288 293 296 +f 295 288 296 +f 290 287 297 +f 292 288 298 +f 285 294 298 +f 294 292 298 +f 288 295 298 +f 287 292 299 +f 297 287 299 +f 292 297 299 +f 286 287 300 +f 287 290 300 +f 291 286 300 +f 290 291 300 +f 289 285 301 +f 285 298 301 +f 286 291 302 +f 293 286 302 +f 289 293 302 +f 294 290 303 +f 292 294 303 +f 290 297 303 +f 297 292 303 +f 291 289 304 +f 302 291 304 +f 289 302 304 +f 295 289 305 +f 298 295 305 +f 289 301 305 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/746/746.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/746/746.urdf new file mode 100644 index 000000000..03501d3ce --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/746/746.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/747/747.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/747/747.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/747/747.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/747/747.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/747/747.obj new file mode 100644 index 000000000..f06b2e1c1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/747/747.obj @@ -0,0 +1,552 @@ +o convex_0 +v -0.101783 -2.191124 -1.499253 +v -0.555213 -2.191124 -3.053198 +v -0.555213 -1.932070 -3.053198 +v 0.545605 -2.158843 -2.956028 +v -0.458019 -1.025894 -1.110957 +v 0.480737 -1.155364 -2.988165 +v 0.513171 -1.122854 -1.110576 +v -0.555213 -1.090572 -2.988165 +v 0.513171 -2.094050 -1.110576 +v -0.490345 -2.191124 -1.110957 +v -0.555213 -1.090572 -2.502509 +v 0.383543 -1.122968 -2.793827 +v 0.254130 -2.191124 -2.988165 +v 0.545605 -1.770204 -2.276035 +v 0.545605 -2.158843 -2.502509 +v -0.490345 -1.058176 -1.305105 +v -0.360824 -1.025894 -1.175419 +v -0.555213 -2.191124 -2.697038 +v 0.513171 -1.122854 -1.693591 +v -0.360824 -1.090572 -2.988165 +v -0.360824 -2.191124 -3.053198 +f 6 13 21 +f 3 2 8 +f 9 7 10 +f 2 1 10 +f 7 5 10 +f 1 9 10 +f 8 2 11 +f 5 8 11 +f 1 2 13 +f 6 4 13 +f 4 6 14 +f 7 9 14 +f 14 9 15 +f 9 1 15 +f 1 13 15 +f 13 4 15 +f 4 14 15 +f 10 5 16 +f 5 11 16 +f 11 10 16 +f 5 7 17 +f 8 5 17 +f 2 10 18 +f 11 2 18 +f 10 11 18 +f 6 12 19 +f 14 6 19 +f 7 14 19 +f 17 7 19 +f 12 17 19 +f 6 3 20 +f 3 8 20 +f 12 6 20 +f 8 17 20 +f 17 12 20 +f 2 3 21 +f 3 6 21 +f 13 2 21 +o convex_1 +v 1.063527 3.053784 -0.365728 +v -1.073245 0.981953 -0.560041 +v -1.073245 0.981953 -0.333275 +v -0.975994 3.442283 -1.013369 +v -1.040757 3.377371 0.993853 +v 0.966488 0.981709 1.026307 +v 1.031251 0.981709 -1.013369 +v 0.966488 3.409827 1.026307 +v -1.040757 0.981953 1.026307 +v 1.063527 3.474739 -0.948463 +v -0.975994 0.981953 -1.013369 +v 1.063527 0.981709 0.605228 +v 1.096015 0.981709 -0.721900 +v -0.198831 3.409827 1.026307 +v -0.619901 0.981709 -1.045823 +v 1.063527 1.661826 0.669931 +v 0.998763 3.474739 -0.301024 +v 1.031251 1.467577 -1.013369 +v -0.975994 3.442283 -0.365728 +v 0.416104 3.474739 -0.980714 +v 0.998763 3.150909 0.961400 +v -1.073245 1.305784 -0.560041 +v -1.040757 3.377371 0.637478 +v -1.040757 2.244086 1.026307 +v 0.998763 3.442283 0.637681 +v -0.198831 3.474739 -0.916213 +v 1.096015 1.467577 -0.689650 +v 1.063527 2.794622 -0.980916 +v -0.716940 1.241115 -1.045823 +v -1.008270 0.981953 -0.916213 +v 1.063527 3.474739 -0.689650 +v -0.975994 3.409827 0.605228 +v -0.878742 3.442283 -1.013369 +f 39 50 54 +f 27 29 30 +f 27 28 33 +f 33 28 34 +f 30 29 35 +f 24 23 36 +f 28 27 36 +f 27 30 36 +f 30 24 36 +f 27 33 37 +f 33 34 37 +f 28 36 39 +f 25 26 40 +f 38 31 41 +f 29 27 42 +f 37 22 42 +f 27 37 42 +f 23 24 43 +f 24 26 43 +f 43 26 44 +f 26 25 44 +f 25 43 44 +f 26 24 45 +f 24 30 45 +f 35 26 45 +f 30 35 45 +f 35 29 46 +f 38 35 46 +f 29 42 46 +f 35 38 47 +f 25 40 47 +f 40 35 47 +f 38 41 47 +f 41 25 47 +f 34 31 48 +f 22 37 48 +f 37 34 48 +f 34 28 49 +f 31 34 49 +f 28 39 49 +f 41 31 49 +f 39 41 49 +f 32 25 50 +f 36 32 50 +f 39 36 50 +f 25 32 51 +f 36 23 51 +f 32 36 51 +f 23 43 51 +f 43 25 51 +f 31 38 52 +f 42 22 52 +f 38 46 52 +f 46 42 52 +f 22 48 52 +f 48 31 52 +f 26 35 53 +f 40 26 53 +f 35 40 53 +f 25 41 54 +f 41 39 54 +f 50 25 54 +o convex_2 +v -0.166537 -2.709271 -1.077876 +v -0.231380 -0.280994 1.058684 +v 0.966329 -0.280994 1.025983 +v -0.587387 -0.280994 -1.045813 +v -1.040868 -2.612054 1.058684 +v 0.998750 -2.709271 -1.110577 +v 0.933908 -2.579490 0.993920 +v 1.031172 -0.280994 -1.045601 +v -1.008447 -2.676707 -1.045813 +v -1.040868 -0.280994 1.025983 +v -1.040868 -0.280994 -0.786546 +v 1.096015 -0.313558 -0.236375 +v -0.457911 -1.025688 -1.110577 +v 0.513266 -2.223425 1.058684 +v -1.040868 -2.644381 0.993708 +v -0.976026 -0.280994 -1.013113 +v 0.966329 -2.612054 0.766929 +v 1.096015 -0.702187 -0.657232 +v -1.008447 -2.709271 -0.592256 +v -0.490332 -2.190861 -1.110577 +v 0.513266 -1.122905 -1.110577 +v 1.031172 -0.928709 0.605126 +v -1.040868 -1.381990 -0.818822 +v 0.966329 -2.514838 0.993920 +v 0.998750 -2.676707 -0.462941 +v -1.040868 -1.446881 1.058684 +v 0.772010 -2.579490 1.025983 +v 1.031172 -0.280994 0.637614 +v -1.040868 -2.644381 0.410836 +v 0.966329 -2.709271 -1.013113 +v 0.416002 -1.025688 1.058684 +v 1.031172 -2.191099 -1.013113 +v 0.966329 -1.511058 1.025983 +v -0.976026 -1.479207 -1.045813 +v 0.383581 -2.612054 1.025983 +v 1.096015 -0.280994 -0.657232 +v -0.976026 -2.709271 -1.045813 +v -0.911183 -2.644381 0.993708 +v -1.008447 -0.475428 -0.980837 +f 70 63 93 +f 56 57 58 +f 58 57 62 +f 56 58 64 +f 64 58 65 +f 59 64 65 +f 58 62 67 +f 56 59 68 +f 59 65 69 +f 65 58 70 +f 58 67 70 +f 55 60 73 +f 60 55 74 +f 67 60 74 +f 62 60 75 +f 60 67 75 +f 67 62 75 +f 65 63 77 +f 69 65 77 +f 61 71 78 +f 72 66 78 +f 66 76 78 +f 78 71 79 +f 72 78 79 +f 59 56 80 +f 64 59 80 +f 56 64 80 +f 68 59 81 +f 61 78 81 +f 62 57 82 +f 76 66 82 +f 78 76 82 +f 63 73 83 +f 73 69 83 +f 77 63 83 +f 69 77 83 +f 73 60 84 +f 60 79 84 +f 79 71 84 +f 57 56 85 +f 68 57 85 +f 56 68 85 +f 60 62 86 +f 62 72 86 +f 79 60 86 +f 72 79 86 +f 57 68 87 +f 68 81 87 +f 81 78 87 +f 82 57 87 +f 78 82 87 +f 63 70 88 +f 70 67 88 +f 74 63 88 +f 67 74 88 +f 71 61 89 +f 81 59 89 +f 61 81 89 +f 84 71 89 +f 72 62 90 +f 66 72 90 +f 62 82 90 +f 82 66 90 +f 55 73 91 +f 73 63 91 +f 74 55 91 +f 63 74 91 +f 59 69 92 +f 69 73 92 +f 73 84 92 +f 89 59 92 +f 84 89 92 +f 63 65 93 +f 65 70 93 +o convex_3 +v 0.448387 -1.155240 2.904148 +v -0.490359 -2.223615 1.058684 +v -0.587451 -1.479001 1.058684 +v -0.490359 -2.223615 2.968794 +v 0.513191 -2.223615 1.058684 +v 0.415985 -1.025666 1.058684 +v -0.522761 -1.122876 3.066058 +v 0.545479 -2.191134 3.001019 +v -0.619853 -1.187605 1.058684 +v 0.480789 -1.284815 3.033637 +v 0.448387 -1.155240 1.058684 +v 0.545479 -2.223615 2.321153 +v -0.522761 -1.414272 3.066058 +v 0.286491 -1.155358 3.066058 +v -0.555049 -1.122876 2.483063 +v 0.545479 -1.996830 2.936373 +v -0.166567 -1.122876 3.066058 +v 0.351295 -1.025666 1.058684 +v 0.156883 -2.223615 2.968794 +v -0.522761 -1.608458 3.033637 +v 0.448387 -1.090512 2.030146 +f 110 107 114 +f 96 95 97 +f 95 96 98 +f 97 95 98 +f 98 96 99 +f 96 97 102 +f 99 96 102 +f 98 99 104 +f 98 104 105 +f 97 98 105 +f 97 101 106 +f 103 94 107 +f 101 103 107 +f 106 101 107 +f 100 106 107 +f 106 100 108 +f 103 101 109 +f 104 103 109 +f 105 104 109 +f 101 105 109 +f 99 100 110 +f 100 107 110 +f 100 99 111 +f 99 102 111 +f 108 100 111 +f 102 108 111 +f 101 97 112 +f 97 105 112 +f 105 101 112 +f 102 97 113 +f 97 106 113 +f 108 102 113 +f 106 108 113 +f 94 103 114 +f 103 104 114 +f 104 99 114 +f 107 94 114 +f 99 110 114 +o convex_4 +v -3.112998 -0.183654 -0.236267 +v -2.594683 0.949332 0.540515 +v -2.497648 0.916851 0.540515 +v -1.073280 0.819640 -0.462948 +v -1.073280 -0.118926 0.443432 +v -2.983219 0.884486 -0.560031 +v -1.073280 -0.248500 -0.592544 +v -3.112998 -0.118926 0.572914 +v -1.073280 0.916851 0.475831 +v -3.080453 -0.216136 -0.592430 +v -2.951074 0.916851 0.540515 +v -1.235204 -0.086678 0.508230 +v -3.112998 -0.151290 0.411032 +v -1.073280 -0.054314 -0.592544 +v -2.983219 0.916851 -0.300952 +v -3.048108 0.398904 -0.592430 +v -2.724261 0.884486 -0.560031 +v -3.112998 0.010532 0.572914 +v -3.080453 -0.216136 -0.300952 +v -2.724261 -0.118926 0.572914 +v -1.462017 0.755029 0.508116 +v -1.073280 -0.248500 -0.527746 +v -1.105825 0.916851 0.378747 +v -2.335725 0.884486 -0.495233 +v -1.979932 -0.248500 -0.560031 +v -1.364783 -0.118926 0.508230 +v -2.983219 0.366540 0.572914 +v -2.951074 0.949332 0.378633 +f 137 129 142 +f 118 119 121 +f 116 117 123 +f 119 118 123 +f 119 123 126 +f 122 115 127 +f 118 121 128 +f 121 124 128 +f 124 115 130 +f 128 124 130 +f 129 120 130 +f 118 128 131 +f 120 129 131 +f 130 120 131 +f 128 130 131 +f 115 122 132 +f 125 129 132 +f 130 115 132 +f 129 130 132 +f 115 124 133 +f 127 115 133 +f 122 127 134 +f 132 122 134 +f 123 117 135 +f 126 123 135 +f 134 126 135 +f 121 119 136 +f 116 123 137 +f 123 118 137 +f 118 131 138 +f 131 129 138 +f 137 118 138 +f 129 137 138 +f 124 121 139 +f 133 124 139 +f 127 133 139 +f 121 136 139 +f 136 127 139 +f 119 126 140 +f 126 134 140 +f 134 127 140 +f 136 119 140 +f 127 136 140 +f 117 116 141 +f 116 125 141 +f 125 132 141 +f 132 134 141 +f 135 117 141 +f 134 135 141 +f 125 116 142 +f 129 125 142 +f 116 137 142 +o convex_5 +v -0.198927 -0.151461 1.058684 +v -0.684468 0.625492 -1.045823 +v -0.684468 0.981709 -1.045823 +v 1.063524 0.981709 -0.916042 +v 1.031197 -0.280994 -1.045823 +v 0.966329 0.981709 1.026135 +v -1.040704 0.981709 1.026135 +v -1.008377 -0.280994 -0.948590 +v 0.966329 -0.280994 1.026135 +v -1.040704 -0.280994 1.026135 +v -1.073245 0.981709 -0.560072 +v 1.128392 -0.216228 0.443359 +v 1.128392 0.852176 0.540591 +v 1.031197 0.981709 -1.013274 +v 1.128392 -0.183844 -0.560072 +v -0.976051 0.981709 -1.013274 +v -0.587489 -0.280994 -1.045823 +v -1.073245 -0.248611 -0.592414 +v -1.073245 -0.086694 0.475701 +v 1.128392 0.884559 -0.560072 +v -0.976051 -0.280994 -1.013274 +v -1.073245 0.916819 0.475701 +v 1.095850 0.981709 0.475701 +v 0.998655 0.107606 -1.045823 +v 1.095850 -0.280994 -0.236239 +v -0.296121 -0.280994 1.058684 +f 149 152 168 +f 144 145 147 +f 146 145 148 +f 143 148 149 +f 148 145 149 +f 148 143 151 +f 150 147 151 +f 150 151 152 +f 149 145 153 +f 151 154 155 +f 148 151 155 +f 145 146 156 +f 146 147 156 +f 147 146 157 +f 155 154 157 +f 145 144 158 +f 153 145 158 +f 150 153 158 +f 144 147 159 +f 147 150 159 +f 150 152 160 +f 153 150 160 +f 153 160 161 +f 152 149 161 +f 160 152 161 +f 157 146 162 +f 155 157 162 +f 158 144 163 +f 150 158 163 +f 144 159 163 +f 159 150 163 +f 149 153 164 +f 153 161 164 +f 161 149 164 +f 146 148 165 +f 148 155 165 +f 162 146 165 +f 155 162 165 +f 147 145 166 +f 145 156 166 +f 156 147 166 +f 151 147 167 +f 154 151 167 +f 147 157 167 +f 157 154 167 +f 143 149 168 +f 151 143 168 +f 152 151 168 +o convex_6 +v 1.290395 -0.054229 -0.560167 +v 3.006124 0.949332 0.540544 +v 3.038602 0.754918 0.508217 +v 1.128392 -0.216240 0.443457 +v 1.128392 0.852125 0.540651 +v 1.128392 0.884527 -0.560167 +v 2.941361 -0.054229 -0.527733 +v 3.103364 0.916930 -0.527733 +v 3.070887 -0.183838 0.443457 +v 1.128392 -0.216240 -0.527733 +v 3.070887 -0.119033 0.475783 +v 2.261449 0.916930 -0.560167 +v 3.070887 -0.183838 0.281502 +v 1.322873 0.884527 0.540651 +v 1.387636 -0.216240 -0.527733 +v 3.006124 0.690113 0.540544 +v 3.103364 0.366546 -0.106737 +v 1.225632 0.398720 0.508110 +v 2.779358 -0.086631 -0.527733 +v 1.646493 -0.216240 0.443457 +v 3.103364 0.884527 -0.268692 +v 1.128392 -0.151436 -0.560167 +v 3.103364 0.787320 -0.527733 +f 185 175 191 +f 172 173 174 +f 172 174 178 +f 174 170 180 +f 169 174 180 +f 175 169 180 +f 170 176 180 +f 170 174 182 +f 174 173 182 +f 172 178 183 +f 171 170 184 +f 179 171 184 +f 170 182 184 +f 182 173 184 +f 179 177 185 +f 181 175 185 +f 177 181 185 +f 173 172 186 +f 172 179 186 +f 179 184 186 +f 184 173 186 +f 175 181 187 +f 181 183 187 +f 179 172 188 +f 177 179 188 +f 181 177 188 +f 172 183 188 +f 183 181 188 +f 170 171 189 +f 176 170 189 +f 171 179 189 +f 185 176 189 +f 179 185 189 +f 174 169 190 +f 169 175 190 +f 178 174 190 +f 183 178 190 +f 175 187 190 +f 187 183 190 +f 175 180 191 +f 180 176 191 +f 176 185 191 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/747/747.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/747/747.urdf new file mode 100644 index 000000000..0673f01a6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/747/747.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/748/748.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/748/748.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/748/748.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/748/748.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/748/748.obj new file mode 100644 index 000000000..f4b74f3a8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/748/748.obj @@ -0,0 +1,1695 @@ +o convex_0 +v -2.725967 1.744708 1.327636 +v -2.087618 2.099517 1.919017 +v -2.063721 2.099449 1.919079 +v -2.134927 1.484596 1.800641 +v -2.063721 2.075809 1.280235 +v -2.773414 2.075809 1.919017 +v -2.773275 1.413406 1.351336 +v -2.063721 1.484395 1.374911 +v -2.726037 1.579158 1.871679 +v -2.702348 2.052169 1.327698 +v -2.063721 1.484395 1.777003 +v -2.205924 1.862911 1.280298 +f 10 5 12 +f 2 3 5 +f 3 2 6 +f 2 5 6 +f 5 3 8 +f 4 3 9 +f 3 6 9 +f 7 4 9 +f 6 7 9 +f 6 5 10 +f 1 7 10 +f 7 6 10 +f 3 4 11 +f 4 7 11 +f 8 3 11 +f 7 8 11 +f 7 1 12 +f 5 8 12 +f 8 7 12 +f 1 10 12 +o convex_1 +v -0.218129 -5.306273 -0.967449 +v 0.775587 -5.188001 0.073529 +v 0.775587 -5.235318 0.073529 +v -0.241831 -5.306287 0.073529 +v -0.218129 -5.188001 -0.943707 +v 0.728182 -5.187987 -0.943809 +v -0.241831 -5.211667 0.073529 +v -0.099716 -5.329952 -0.967449 +v 0.728182 -5.211653 -0.943809 +f 15 20 21 +f 15 14 16 +f 17 14 18 +f 14 15 18 +f 13 17 18 +f 16 14 19 +f 13 16 19 +f 17 13 19 +f 14 17 19 +f 15 16 20 +f 16 13 20 +f 13 18 20 +f 20 18 21 +f 18 15 21 +o convex_2 +v -1.992739 2.099572 1.872110 +v -1.495860 1.981233 3.575144 +v -1.495860 1.839302 3.575144 +v -1.495860 2.052237 1.540704 +v -1.992739 2.075904 3.575144 +v -1.992739 2.004901 1.895611 +v -1.495860 1.886663 1.872110 +v -1.637881 2.052237 3.575144 +v -1.992739 2.028569 1.540704 +v -1.898090 2.099572 2.439920 +v -1.519595 1.839302 2.936232 +v -1.992739 2.052237 3.575144 +f 26 27 33 +f 23 24 25 +f 24 23 26 +f 26 22 27 +f 25 24 28 +f 23 25 29 +f 26 23 29 +f 22 25 30 +f 27 22 30 +f 25 28 30 +f 28 27 30 +f 25 22 31 +f 22 26 31 +f 29 25 31 +f 26 29 31 +f 24 27 32 +f 28 24 32 +f 27 28 32 +f 24 26 33 +f 27 24 33 +o convex_3 +v 0.539011 -3.792185 -0.943842 +v 0.728233 -3.295300 -0.447011 +v 0.704586 -3.295300 -0.447011 +v 0.751927 -5.187986 -0.447011 +v 0.728233 -4.714629 -0.943842 +v 0.515317 -5.187986 -0.920158 +v 0.657246 -3.295300 -0.920158 +v 0.515317 -3.295300 -0.896522 +v 0.728233 -5.187986 -0.943842 +v 0.751927 -3.697514 -0.470744 +v 0.728233 -5.187986 -0.447011 +v 0.751927 -4.998458 -0.825519 +v 0.680939 -3.342728 -0.896522 +f 43 38 46 +f 35 36 37 +f 36 35 40 +f 38 34 40 +f 34 39 41 +f 39 36 41 +f 40 34 41 +f 36 40 41 +f 34 38 42 +f 39 34 42 +f 37 39 42 +f 35 37 43 +f 37 36 44 +f 36 39 44 +f 39 37 44 +f 42 38 45 +f 37 42 45 +f 43 37 45 +f 38 43 45 +f 40 35 46 +f 38 40 46 +f 35 43 46 +o convex_4 +v 0.775425 -5.187582 0.168168 +v -0.289153 -3.626833 0.097217 +v -0.289153 -3.626833 0.120871 +v 0.799181 -3.295311 0.120860 +v 0.775425 -5.234829 0.073529 +v -0.241746 -5.282274 0.191810 +v -0.241746 -5.306292 0.073540 +v 0.799181 -3.295311 0.073529 +v -0.289153 -3.295115 0.073540 +v -0.289153 -3.295115 0.120871 +v 0.799181 -3.839644 0.144502 +v -0.265397 -3.721525 0.144491 +f 57 50 58 +f 51 47 52 +f 49 48 53 +f 51 52 53 +f 52 49 53 +f 48 49 55 +f 53 48 55 +f 51 53 55 +f 50 54 55 +f 54 51 55 +f 49 52 56 +f 55 49 56 +f 50 55 56 +f 47 51 57 +f 52 47 57 +f 54 50 57 +f 51 54 57 +f 56 52 58 +f 50 56 58 +f 52 57 58 +o convex_5 +v -1.566842 2.075911 1.066838 +v -1.472219 1.697337 -1.369532 +v -1.495866 1.721053 -1.369532 +v -1.472219 1.697337 1.232658 +v -1.495866 1.933946 -1.369532 +v -1.566842 1.910267 -1.369532 +v -1.448538 1.744659 1.232658 +v -1.566842 1.957588 1.232658 +v -1.543160 2.075911 1.232658 +v -1.448538 1.697337 -1.369532 +v -1.495866 1.721053 1.232658 +f 66 64 69 +f 61 60 62 +f 60 61 63 +f 59 63 64 +f 63 61 64 +f 59 64 66 +f 62 65 66 +f 66 65 67 +f 63 59 67 +f 65 63 67 +f 59 66 67 +f 62 60 68 +f 60 63 68 +f 65 62 68 +f 63 65 68 +f 61 62 69 +f 64 61 69 +f 62 66 69 +o convex_6 +v -1.566884 1.602713 -1.440760 +v -1.827052 2.004929 -1.369791 +v -1.827052 2.004929 -1.417108 +v -1.945417 1.508117 -1.346126 +v -1.401216 1.579076 -1.346126 +v -1.945417 1.886598 -1.488091 +v -1.495929 1.933872 -1.417108 +f 75 72 76 +f 73 70 74 +f 71 73 74 +f 71 72 75 +f 73 71 75 +f 70 73 75 +f 72 71 76 +f 74 70 76 +f 71 74 76 +f 70 75 76 +o convex_7 +v -0.975417 2.028464 1.233047 +v -0.975417 1.460786 1.611312 +v -0.951703 1.460786 1.611312 +v -0.951703 2.052187 1.918945 +v -1.401128 2.052187 1.918945 +v -1.401128 1.602766 1.351280 +v -1.401128 1.460786 1.871679 +v -1.401128 2.052187 1.233047 +v -0.951703 1.460786 1.871679 +v -0.951703 1.531776 1.375048 +v -0.951703 2.075911 1.351280 +f 86 77 87 +f 78 79 83 +f 80 81 83 +f 82 78 83 +f 81 82 83 +f 82 81 84 +f 77 82 84 +f 79 80 85 +f 83 79 85 +f 80 83 85 +f 79 78 86 +f 80 79 86 +f 78 82 86 +f 82 77 86 +f 81 80 87 +f 77 84 87 +f 84 81 87 +f 80 86 87 +o convex_8 +v 0.136745 1.508119 0.878006 +v 0.586300 2.099572 1.232913 +v 0.586300 2.099572 1.209178 +v -0.052544 2.028485 0.925331 +v 0.586300 2.028485 0.736034 +v 0.420648 1.555510 1.232913 +v -0.005206 1.460915 1.232913 +v -0.028781 1.981156 1.232913 +v -0.005206 1.531815 0.736034 +v 0.491499 1.602776 0.736034 +v -0.052544 2.028485 0.736034 +v 0.586300 1.957461 1.185540 +f 93 97 99 +f 89 90 91 +f 90 89 92 +f 93 89 94 +f 88 93 94 +f 89 91 95 +f 94 89 95 +f 91 94 95 +f 88 94 96 +f 93 88 97 +f 88 96 97 +f 96 92 97 +f 91 90 98 +f 90 92 98 +f 94 91 98 +f 92 96 98 +f 96 94 98 +f 92 89 99 +f 89 93 99 +f 97 92 99 +o convex_9 +v -1.945417 1.531745 3.457222 +v -1.495860 1.531745 4.639901 +v -1.495860 1.484414 4.639901 +v -1.495860 1.484414 3.433378 +v -1.495860 1.744659 3.788386 +v -1.945417 1.744659 4.616298 +v -1.945417 1.508080 4.616298 +v -1.519578 1.744659 4.639901 +v -1.945417 1.484414 3.433378 +v -1.661495 1.484414 4.663624 +f 108 102 109 +f 101 102 103 +f 103 100 104 +f 101 103 104 +f 104 100 105 +f 105 100 106 +f 101 104 107 +f 104 105 107 +f 103 102 108 +f 100 103 108 +f 106 100 108 +f 106 108 109 +f 102 101 109 +f 105 106 109 +f 101 107 109 +f 107 105 109 +o convex_10 +v -0.218189 -5.211460 -0.446986 +v -0.241825 -3.295674 0.073529 +v -0.218189 -4.265196 0.026144 +v -0.170849 -3.342753 -0.872833 +v -0.289153 -3.295674 0.049786 +v -0.218178 -5.187827 -0.920116 +v -0.170849 -5.187827 -0.896475 +v -0.241825 -5.211460 0.073529 +v -0.218178 -3.295487 -0.683602 +v -0.170849 -3.579460 -0.589037 +v -0.218189 -5.211460 0.073529 +v -0.265472 -4.667335 0.049786 +f 115 117 121 +f 110 115 116 +f 115 113 116 +f 111 114 117 +f 115 110 117 +f 111 113 118 +f 114 111 118 +f 113 115 118 +f 115 114 118 +f 111 112 119 +f 113 111 119 +f 116 113 119 +f 116 119 120 +f 112 111 120 +f 110 116 120 +f 111 117 120 +f 117 110 120 +f 119 112 120 +f 114 115 121 +f 117 114 121 +o convex_11 +v 0.042160 -4.761872 -0.967523 +v -0.170782 -5.187986 -0.967523 +v -0.170782 -5.187986 -0.943874 +v -0.170782 -3.295300 -0.825586 +v 0.515250 -5.187986 -0.920211 +v 0.515250 -3.295300 -0.920211 +v -0.170782 -3.319014 -0.872926 +v 0.491545 -3.319014 -0.872926 +v 0.349652 -5.187986 -0.967523 +v -0.170782 -5.069416 -0.920211 +v 0.515250 -3.768656 -0.943874 +f 126 130 132 +f 123 124 125 +f 124 123 126 +f 122 123 128 +f 123 125 128 +f 127 122 128 +f 125 127 128 +f 125 126 129 +f 127 125 129 +f 126 127 129 +f 123 122 130 +f 126 123 130 +f 125 124 131 +f 126 125 131 +f 124 126 131 +f 122 127 132 +f 127 126 132 +f 130 122 132 +o convex_12 +v 3.212561 1.673676 1.327622 +v 1.178047 2.099572 1.374865 +v 1.793171 2.075851 1.351271 +v 3.236136 2.004896 1.516844 +v 0.491657 1.673759 1.351243 +v 3.212561 2.004896 1.232941 +v 0.491657 1.792031 1.232941 +v 0.491657 2.028576 1.516788 +v 3.259983 1.673676 1.516844 +v 0.562924 2.099572 1.232941 +v 1.414883 1.673759 1.280267 +v 3.212561 1.910220 1.232941 +v 0.491657 2.099572 1.422136 +f 142 139 145 +f 135 134 136 +f 135 136 138 +f 139 137 140 +f 140 137 141 +f 137 133 141 +f 138 136 141 +f 136 140 141 +f 134 135 142 +f 135 138 142 +f 138 139 142 +f 133 137 143 +f 137 139 143 +f 143 139 144 +f 139 138 144 +f 141 133 144 +f 138 141 144 +f 133 143 144 +f 136 134 145 +f 139 140 145 +f 140 136 145 +f 134 142 145 +o convex_13 +v -0.028684 2.075895 0.594039 +v 1.248806 2.738285 0.594039 +v 1.083036 2.477975 0.617704 +v 1.248806 1.389745 0.546772 +v 0.396902 2.099524 0.499425 +v 0.586275 1.389745 0.665019 +v -0.620406 2.690896 0.617704 +v 1.248806 2.738285 0.546772 +v 0.680870 1.910496 0.665019 +v -0.430850 2.572621 0.570405 +v 1.154028 1.389745 0.594039 +v 0.633664 1.389745 0.617704 +v 0.775648 2.193906 0.499425 +v 0.870243 2.738285 0.546772 +v 0.491497 1.981381 0.499425 +f 150 158 160 +f 148 147 152 +f 146 151 152 +f 147 149 153 +f 148 152 154 +f 152 151 154 +f 146 152 155 +f 147 148 156 +f 149 147 156 +f 151 149 156 +f 148 154 156 +f 154 151 156 +f 151 146 157 +f 149 151 157 +f 153 149 158 +f 152 147 159 +f 147 153 159 +f 150 155 159 +f 155 152 159 +f 158 150 159 +f 153 158 159 +f 146 155 160 +f 155 150 160 +f 157 146 160 +f 149 157 160 +f 158 149 160 +o convex_14 +v -0.904193 1.460728 1.871741 +v 0.041905 1.933900 1.848083 +v 0.041905 1.933900 1.824406 +v -0.951659 1.933900 1.895400 +v -0.951659 1.484442 1.706150 +v -0.100005 1.484442 1.871741 +v -0.076369 1.460728 1.706150 +v -0.714915 1.933900 1.848083 +f 163 165 168 +f 162 163 164 +f 161 164 165 +f 162 164 166 +f 164 161 166 +f 166 161 167 +f 163 162 167 +f 161 165 167 +f 165 163 167 +f 162 166 167 +f 164 163 168 +f 165 164 168 +o convex_15 +v 0.704605 -3.721228 -0.423267 +v 0.799248 -3.295300 0.073529 +v 0.799248 -3.295300 0.002500 +v 0.775587 -5.187986 0.073529 +v 0.775587 -4.288701 -0.423267 +v 0.728266 -5.187986 -0.447011 +v 0.751927 -3.295300 0.049835 +v 0.751927 -5.187986 0.073529 +v 0.728266 -3.295300 -0.447011 +v 0.775587 -5.187986 -0.233975 +v 0.704605 -3.295300 -0.304953 +v 0.728266 -5.187986 -0.186741 +f 176 179 180 +f 171 170 172 +f 170 171 175 +f 172 170 176 +f 174 172 176 +f 170 175 176 +f 171 173 177 +f 174 169 177 +f 173 174 177 +f 175 171 177 +f 171 172 178 +f 173 171 178 +f 172 174 178 +f 174 173 178 +f 176 175 179 +f 177 169 179 +f 175 177 179 +f 169 174 180 +f 174 176 180 +f 179 169 180 +o convex_16 +v -0.620415 0.276916 -1.488091 +v -0.644058 1.389745 -1.393448 +v -0.667721 1.389745 -1.393448 +v -0.667721 -3.271453 -1.393448 +v -0.596745 -3.271453 -1.393448 +v -0.667721 -2.869028 -1.464430 +v -0.667721 1.389745 -1.488091 +v -0.596745 1.389745 -1.464430 +v -0.596745 -2.963475 -1.464430 +f 188 185 189 +f 182 183 184 +f 182 184 185 +f 184 183 186 +f 183 182 187 +f 181 186 187 +f 186 183 187 +f 182 185 188 +f 187 182 188 +f 181 187 188 +f 185 184 189 +f 186 181 189 +f 184 186 189 +f 181 188 189 +o convex_17 +v 0.113082 1.389745 -1.464430 +v -0.596745 -3.271453 -1.440769 +v -0.147267 -3.271453 -1.440769 +v 0.089389 -2.821577 -1.393448 +v -0.596745 0.300642 -1.440769 +v -0.596745 0.182925 -1.488091 +v 0.113082 0.276916 -1.488091 +v -0.596745 -3.271453 -1.393448 +v 0.018309 1.389745 -1.440769 +v -0.596745 1.389745 -1.488091 +v -0.573052 -2.892754 -1.464430 +v 0.113082 -2.892754 -1.440769 +v 0.113082 -3.247728 -1.393448 +v 0.065695 1.389745 -1.488091 +v -0.312773 -0.716828 -1.488091 +v -0.596745 1.389745 -1.464430 +v 0.113082 1.389745 -1.440769 +f 193 202 206 +f 191 194 195 +f 191 192 197 +f 194 191 197 +f 194 197 198 +f 197 193 198 +f 195 194 199 +f 196 195 199 +f 198 190 199 +f 192 191 200 +f 191 195 200 +f 196 190 201 +f 192 200 201 +f 201 190 202 +f 197 192 202 +f 193 197 202 +f 192 201 202 +f 190 196 203 +f 196 199 203 +f 199 190 203 +f 195 196 204 +f 200 195 204 +f 196 201 204 +f 201 200 204 +f 194 198 205 +f 199 194 205 +f 198 199 205 +f 190 198 206 +f 198 193 206 +f 202 190 206 +o convex_18 +v -0.714957 -3.224136 -1.109144 +v 0.113082 -3.200499 -0.848869 +v 0.113082 -3.295098 -0.848869 +v -0.857015 -3.176812 0.570148 +v -0.667573 -3.153174 -1.393255 +v 0.018408 -3.153158 0.570148 +v -0.289258 -3.295115 0.120722 +v -0.691312 -3.271428 -1.369611 +v 0.113082 -3.247774 -1.393255 +v -0.857015 -3.129488 0.570148 +v 0.113082 -3.176828 -1.014761 +v 0.018408 -3.295115 0.120722 +v -0.762151 -3.129488 -0.115717 +f 217 211 219 +f 209 208 212 +f 209 213 214 +f 210 207 214 +f 207 211 214 +f 213 210 214 +f 214 211 215 +f 208 209 215 +f 209 214 215 +f 207 210 216 +f 211 207 216 +f 210 212 216 +f 212 208 217 +f 215 211 217 +f 208 215 217 +f 209 212 218 +f 212 210 218 +f 210 213 218 +f 213 209 218 +f 211 216 219 +f 216 212 219 +f 212 217 219 +o convex_19 +v 1.296095 -0.101545 -1.417115 +v 0.964907 -3.224132 -1.393468 +v 0.964907 -3.224132 -1.369787 +v 0.964907 1.389745 -1.440762 +v 1.248759 1.389745 -1.369787 +v 1.272427 1.389745 -1.488091 +v 1.296095 -3.200195 -1.369787 +v 0.964907 -0.669247 -1.369787 +v 1.296095 -3.200195 -1.393468 +v 0.964907 -2.466744 -1.417115 +v 0.988575 1.271418 -1.464409 +v 0.964907 1.389745 -1.417115 +f 227 224 231 +f 221 222 223 +f 224 220 225 +f 223 224 225 +f 222 221 226 +f 220 224 226 +f 224 222 226 +f 223 222 227 +f 222 224 227 +f 225 220 228 +f 226 221 228 +f 220 226 228 +f 221 223 229 +f 228 221 229 +f 225 228 229 +f 223 225 230 +f 229 223 230 +f 225 229 230 +f 224 223 231 +f 223 227 231 +o convex_20 +v 0.160561 -3.295101 -0.896427 +v 1.319788 -3.153163 -0.116004 +v 1.295931 -3.153163 -0.116004 +v 1.295931 -3.153163 -1.369664 +v 0.113200 -3.176826 -0.920114 +v 0.775430 -3.295101 -0.116004 +v 1.295931 -3.224139 -1.369664 +v 0.113200 -3.247774 -1.369664 +v 0.799170 -3.295101 -1.014736 +v 1.319788 -3.224139 -0.116004 +v 0.728187 -3.224139 -0.116004 +v 0.113200 -3.200489 -1.274918 +v 0.113200 -3.295101 -0.849177 +f 237 242 244 +f 234 233 235 +f 234 235 236 +f 233 234 237 +f 235 233 238 +f 235 238 239 +f 239 238 240 +f 237 232 240 +f 232 239 240 +f 237 240 241 +f 233 237 241 +f 238 233 241 +f 240 238 241 +f 234 236 242 +f 237 234 242 +f 236 235 243 +f 239 236 243 +f 235 239 243 +f 232 237 244 +f 239 232 244 +f 236 239 244 +f 242 236 244 +o convex_21 +v 1.248806 -0.077695 -1.369523 +v 1.296123 2.667309 0.191666 +v 1.296123 2.667309 -0.423605 +v 1.319788 -3.153149 -0.115969 +v 1.319788 -3.105291 -1.156595 +v 1.272471 2.667309 -1.511752 +v 1.248806 2.643380 -0.376418 +v 1.296116 -3.153149 -0.115969 +v 1.272478 -3.153149 -1.369523 +v 1.319788 -0.408714 -0.115803 +v 1.272471 1.389384 0.191666 +v 1.248806 2.667309 -1.511752 +v 1.272478 -0.502721 -0.115969 +v 1.272478 -3.081932 -1.085564 +v 1.296116 -3.153149 -1.369523 +v 1.296116 0.016881 -1.369523 +v 1.272471 2.667309 0.191666 +f 256 251 261 +f 246 247 250 +f 248 252 253 +f 247 246 254 +f 246 248 254 +f 248 249 254 +f 249 247 254 +f 248 246 255 +f 252 248 255 +f 246 250 256 +f 245 251 256 +f 253 245 256 +f 250 253 256 +f 251 245 257 +f 255 251 257 +f 252 255 257 +f 245 253 258 +f 253 252 258 +f 257 245 258 +f 252 257 258 +f 249 248 259 +f 248 253 259 +f 253 250 259 +f 247 249 260 +f 250 247 260 +f 249 259 260 +f 259 250 260 +f 255 246 261 +f 251 255 261 +f 246 256 261 +o convex_22 +v 3.236090 1.720998 1.516844 +v 2.763016 2.028589 1.800775 +v 2.763016 2.028589 1.777095 +v 0.491657 2.004924 1.800775 +v 0.491657 2.028589 1.516844 +v 3.236090 2.004924 1.516844 +v 3.283643 1.720998 1.800775 +v 3.259867 2.004924 1.800775 +v 0.491657 2.004924 1.516844 +v 0.491657 2.028589 1.800775 +v 2.479062 2.028589 1.516844 +f 267 266 272 +f 263 264 266 +f 262 266 267 +f 263 265 268 +f 265 262 268 +f 262 267 268 +f 268 267 269 +f 264 263 269 +f 267 264 269 +f 263 268 269 +f 262 265 270 +f 266 262 270 +f 265 266 270 +f 265 263 271 +f 266 265 271 +f 263 266 271 +f 266 264 272 +f 264 267 272 +o convex_23 +v -0.833336 -3.129046 0.262781 +v -0.691405 1.389303 0.570341 +v -0.667746 1.389303 0.475655 +v -0.667746 1.389303 -0.115624 +v -0.738722 -2.726570 -0.091987 +v -0.809677 -3.129046 0.570341 +v -0.738722 0.916062 0.570341 +v -0.644067 0.442820 -0.091987 +v -0.785998 -2.631921 -0.115624 +v -0.857015 -3.057838 0.546636 +v -0.762360 -3.129046 -0.115624 +v -0.644067 1.389303 -0.115624 +v -0.715084 1.365420 0.428380 +f 276 282 285 +f 274 275 276 +f 275 274 278 +f 278 274 279 +f 275 278 280 +f 278 277 280 +f 273 278 282 +f 278 279 282 +f 281 273 282 +f 276 281 282 +f 277 278 283 +f 278 273 283 +f 280 277 283 +f 273 281 283 +f 281 276 283 +f 276 275 284 +f 275 280 284 +f 283 276 284 +f 280 283 284 +f 274 276 285 +f 279 274 285 +f 282 279 285 +o convex_24 +v 0.018438 1.389745 0.688712 +v -0.856969 -3.153119 0.570408 +v -0.856969 -3.153119 0.641383 +v 0.018438 -3.176810 0.570408 +v -0.714981 1.389745 0.570408 +v -0.714981 1.389745 0.641383 +v 0.018438 1.129144 0.641360 +v -0.170936 -2.987282 0.617760 +v -0.667594 -2.182681 0.665042 +v 0.018438 -2.277445 0.570408 +v -0.194501 0.442999 0.688712 +v 0.018438 -2.371762 0.617760 +v -0.596729 -3.176810 0.641383 +f 296 294 298 +f 287 288 290 +f 289 287 290 +f 286 290 291 +f 290 288 291 +f 286 289 292 +f 290 286 292 +f 291 288 294 +f 289 290 295 +f 292 289 295 +f 290 292 295 +f 286 291 296 +f 291 294 296 +f 289 286 297 +f 293 289 297 +f 286 296 297 +f 296 293 297 +f 288 287 298 +f 287 289 298 +f 289 293 298 +f 294 288 298 +f 293 296 298 +o convex_25 +v 0.586300 2.028652 0.736034 +v -0.620406 1.389870 0.617741 +v -0.407319 1.389870 0.617741 +v -0.620406 2.667309 0.617741 +v 0.586300 2.005017 0.617741 +v -0.005241 1.531933 0.736034 +v 0.586300 1.389870 0.641409 +v -0.052371 2.052163 0.736034 +v -0.620406 1.389870 0.641409 +v -0.620406 2.667309 0.641409 +v 0.467945 1.579204 0.736034 +f 304 305 309 +f 301 300 302 +f 302 299 303 +f 301 302 303 +f 300 301 305 +f 303 299 305 +f 301 303 305 +f 304 299 306 +f 304 306 307 +f 302 300 307 +f 305 304 307 +f 300 305 307 +f 299 302 308 +f 306 299 308 +f 307 306 308 +f 302 307 308 +f 299 304 309 +f 305 299 309 +o convex_26 +v 1.201363 -3.153163 0.522989 +v 0.751866 -3.295101 -0.115759 +v 0.018559 -3.295101 0.097204 +v 0.018559 -3.200489 0.144521 +v 1.248685 -3.200489 -0.115759 +v 1.248685 -3.224139 0.475671 +v 0.018559 -3.153163 0.594069 +v 0.326211 -3.200489 0.570375 +v 0.799188 -3.295101 0.120897 +v 0.018559 -3.153163 0.475671 +f 316 310 319 +f 311 312 313 +f 311 313 314 +f 311 314 315 +f 314 310 315 +f 313 312 316 +f 315 310 317 +f 316 312 317 +f 310 316 317 +f 312 311 318 +f 311 315 318 +f 315 317 318 +f 317 312 318 +f 310 314 319 +f 314 313 319 +f 313 316 319 +o convex_27 +v 1.248806 -2.987105 0.523064 +v 1.272485 2.738285 0.593921 +v 1.248806 2.738285 0.593921 +v 1.296118 1.389521 -0.115550 +v 1.343449 -3.200129 0.499306 +v 1.248806 -3.224058 -0.115759 +v 1.319788 -3.224058 -0.115759 +v 1.319788 1.554687 0.570302 +v 1.319788 -0.337434 -0.115550 +v 1.272485 1.389521 -0.115550 +v 1.296118 2.738285 0.191913 +v 1.343449 -3.152855 0.239081 +v 1.248806 -3.224058 0.475687 +v 1.272485 2.738285 0.191913 +f 330 329 333 +f 320 321 322 +f 320 322 325 +f 325 323 326 +f 321 320 327 +f 320 324 327 +f 326 323 328 +f 325 322 329 +f 323 325 329 +f 322 321 330 +f 321 327 330 +f 327 328 330 +f 328 323 330 +f 323 329 330 +f 324 326 331 +f 327 324 331 +f 328 327 331 +f 326 328 331 +f 324 320 332 +f 320 325 332 +f 326 324 332 +f 325 326 332 +f 329 322 333 +f 322 330 333 +o convex_28 +v -1.590554 1.910285 -1.369532 +v -1.566916 2.075911 1.232658 +v -1.945343 2.075911 1.232658 +v -1.921705 2.028571 -1.180277 +v -1.945343 2.004901 1.232658 +v -1.945343 1.981279 -1.369532 +v -1.566916 1.957609 -1.369532 +v -1.566916 2.028571 1.090526 +v -1.945343 2.075911 0.522762 +f 337 339 342 +f 335 336 338 +f 338 336 339 +f 334 338 339 +f 334 339 340 +f 337 335 340 +f 339 337 340 +f 338 334 341 +f 335 338 341 +f 334 340 341 +f 340 335 341 +f 336 335 342 +f 335 337 342 +f 339 336 342 +o convex_29 +v -2.063666 1.791999 1.303933 +v -1.495860 2.075911 1.374923 +v -1.495860 2.075911 1.232973 +v -1.495860 1.791999 1.232973 +v -2.063666 2.052209 1.540505 +v -2.039989 2.075911 1.256606 +v -1.495860 2.028538 1.540505 +v -1.969013 1.744659 1.351259 +v -2.016311 1.744659 1.232973 +f 350 343 351 +f 345 344 346 +f 347 344 348 +f 344 345 348 +f 343 347 348 +f 346 344 349 +f 344 347 349 +f 349 347 350 +f 347 343 350 +f 346 349 350 +f 346 350 351 +f 345 346 351 +f 348 345 351 +f 343 348 351 +o convex_30 +v -1.992754 1.697335 4.616423 +v -2.040034 1.484414 1.233575 +v -2.040034 1.626341 1.233575 +v -1.945417 1.484414 1.233575 +v -1.992754 2.099572 1.872061 +v -2.063702 1.508139 4.521379 +v -2.063714 2.099572 1.919417 +v -1.992754 2.028518 4.568404 +v -1.945417 1.508139 4.616423 +v -1.945417 1.744664 4.591917 +v -2.063702 1.484414 1.399489 +v -2.016400 2.028518 4.568404 +v -2.063714 2.052183 1.540565 +v -1.969097 1.744664 1.257419 +v -1.945417 1.484414 3.479865 +f 357 362 366 +f 353 354 355 +f 356 358 359 +f 352 357 360 +f 355 356 361 +f 356 359 361 +f 359 352 361 +f 360 355 361 +f 352 360 361 +f 354 353 362 +f 353 355 362 +f 357 352 363 +f 358 357 363 +f 359 358 363 +f 352 359 363 +f 357 358 364 +f 358 356 364 +f 354 362 364 +f 362 357 364 +f 355 354 365 +f 356 355 365 +f 354 364 365 +f 364 356 365 +f 355 360 366 +f 360 357 366 +f 362 355 366 +o convex_31 +v -2.063656 1.484409 -0.020951 +v -1.401216 1.579057 -0.115606 +v -1.424951 1.673641 0.049220 +v -1.472291 1.697318 -1.345873 +v -1.401216 1.531743 -1.345873 +v -2.040051 1.484409 1.232790 +v -1.472291 1.697318 1.232538 +v -1.495897 1.555400 1.232538 +v -1.945370 1.531743 -1.345873 +v -2.063656 1.508066 1.209064 +v -1.803414 1.484409 0.475800 +v -1.827020 1.508087 -1.345873 +v -1.424951 1.579057 1.232538 +v -2.063656 1.508066 -0.020951 +f 376 370 380 +f 369 368 371 +f 370 369 371 +f 369 370 373 +f 370 371 375 +f 367 372 376 +f 373 370 376 +f 372 373 376 +f 372 367 377 +f 374 372 377 +f 371 374 377 +f 367 375 378 +f 375 371 378 +f 377 367 378 +f 371 377 378 +f 368 369 379 +f 371 368 379 +f 369 373 379 +f 373 372 379 +f 372 374 379 +f 374 371 379 +f 375 367 380 +f 370 375 380 +f 367 376 380 +o convex_32 +v 3.283643 1.720998 1.824454 +v 1.391072 2.052250 1.895400 +v 1.391072 2.052250 1.871744 +v 0.539210 1.720998 1.895400 +v 0.491657 2.028548 1.800775 +v 3.259867 2.004878 1.919068 +v 3.259867 2.004878 1.800775 +v 0.491657 2.052250 1.919068 +v 1.958160 1.768338 1.919068 +v 2.904583 1.720998 1.800775 +v 0.539210 1.720998 1.871744 +f 385 390 391 +f 383 382 386 +f 385 383 387 +f 383 386 387 +f 386 381 387 +f 382 383 388 +f 385 384 388 +f 383 385 388 +f 386 382 388 +f 386 388 389 +f 384 381 389 +f 381 386 389 +f 388 384 389 +f 381 384 390 +f 387 381 390 +f 385 387 390 +f 384 385 391 +f 390 384 391 +o convex_33 +v -1.921698 1.531711 1.232913 +v -1.495860 1.508073 3.433378 +v -1.945417 1.508073 3.433378 +v -1.495860 1.602693 1.469631 +v -1.495860 1.460728 1.800907 +v -1.945417 1.484407 1.232913 +v -1.945417 1.484407 3.433378 +v -1.495860 1.555348 1.232913 +v -1.519578 1.460728 2.936464 +v -1.708889 1.460728 1.800907 +v -1.850718 1.555348 1.659178 +f 395 392 402 +f 394 393 395 +f 395 393 396 +f 394 392 397 +f 393 394 398 +f 394 397 398 +f 392 395 399 +f 395 396 399 +f 397 392 399 +f 396 397 399 +f 396 393 400 +f 393 398 400 +f 400 398 401 +f 397 396 401 +f 398 397 401 +f 396 400 401 +f 392 394 402 +f 394 395 402 +o convex_34 +v -1.992739 2.052209 3.575551 +v -1.495860 1.768361 4.426969 +v -1.519595 2.028538 4.640083 +v -1.992739 1.744659 4.592563 +v -1.495860 1.815669 3.575551 +v -1.992739 2.052209 4.568906 +v -1.519595 2.028538 3.575551 +v -1.519595 1.744659 3.764801 +v -1.519595 1.744659 4.640083 +v -1.874404 2.075911 3.646520 +f 405 409 412 +f 405 404 407 +f 406 405 408 +f 403 406 408 +f 407 403 409 +f 405 407 409 +f 406 403 410 +f 403 407 410 +f 407 404 410 +f 404 405 411 +f 405 406 411 +f 410 404 411 +f 406 410 411 +f 403 408 412 +f 408 405 412 +f 409 403 412 +o convex_35 +v -0.099866 1.839263 -1.724890 +v -0.076198 1.437106 -1.748674 +v -0.076198 1.460767 -2.079815 +v 0.160404 1.839263 -3.356997 +v 0.160404 1.437106 -1.511935 +v -0.028862 1.555411 -3.356997 +v 0.160404 1.555411 -3.380781 +v -0.052530 1.839263 -3.215027 +v -0.076198 1.839263 -1.511935 +v -0.099866 1.555411 -1.511935 +f 421 413 422 +f 418 416 419 +f 414 415 419 +f 416 417 419 +f 417 414 419 +f 415 418 419 +f 413 416 420 +f 418 415 420 +f 416 418 420 +f 416 413 421 +f 417 416 421 +f 417 421 422 +f 415 414 422 +f 414 417 422 +f 413 420 422 +f 420 415 422 +o convex_36 +v -0.099866 1.910357 -1.819763 +v 0.515317 2.028569 -3.049556 +v 0.515317 1.981258 -3.049556 +v -0.052475 2.099572 -3.404275 +v -0.028809 1.839302 -3.380640 +v 0.420595 2.052211 -1.511752 +v 0.420595 1.910306 -1.511752 +v 0.515317 1.910306 -3.428098 +v -0.076140 1.839302 -1.511940 +v -0.099866 1.957641 -1.511940 +v 0.160455 1.839302 -3.357004 +v 0.349599 2.075904 -1.653940 +v 0.420595 2.052211 -3.357004 +f 426 434 435 +f 423 426 427 +f 425 424 428 +f 425 428 429 +f 424 425 430 +f 427 426 430 +f 425 429 430 +f 423 427 431 +f 426 423 432 +f 429 428 432 +f 431 429 432 +f 423 431 432 +f 427 430 433 +f 430 429 433 +f 429 431 433 +f 431 427 433 +f 428 424 434 +f 426 432 434 +f 432 428 434 +f 424 430 435 +f 430 426 435 +f 434 424 435 +o convex_37 +v 3.307304 1.626313 1.800695 +v 0.491928 1.579027 1.303975 +v 0.491928 1.555384 1.327598 +v 0.539604 1.720956 1.895360 +v 3.235652 1.673646 1.327598 +v 3.259904 1.484407 1.493190 +v 0.539604 1.555407 1.895360 +v 0.610429 1.673646 1.303975 +v 3.283329 1.720956 1.824376 +v 3.259904 1.720956 1.516929 +v 2.786173 1.484407 1.374959 +v 3.307304 1.531787 1.753391 +v 1.934340 1.697266 1.895360 +v 3.259904 1.484407 1.374959 +v 2.407795 1.649980 1.303975 +f 440 449 450 +f 437 438 439 +f 439 438 442 +f 437 439 443 +f 439 444 445 +f 443 439 445 +f 440 443 445 +f 444 436 445 +f 438 437 446 +f 441 442 446 +f 442 438 446 +f 436 442 447 +f 442 441 447 +f 442 436 448 +f 439 442 448 +f 436 444 448 +f 444 439 448 +f 445 436 449 +f 440 445 449 +f 446 437 449 +f 441 446 449 +f 447 441 449 +f 436 447 449 +f 437 443 450 +f 443 440 450 +f 449 437 450 +o convex_38 +v 0.113027 2.099572 1.422284 +v -0.028960 1.933978 1.233047 +v -0.028960 1.981281 1.233047 +v -0.951659 2.028569 1.918945 +v 0.491657 2.004949 1.918945 +v -0.951659 2.028569 1.256685 +v -0.951659 1.933978 1.895307 +v 0.491657 2.075888 1.233047 +v -0.951659 1.933978 1.256685 +v 0.491657 2.052236 1.918945 +v -0.572887 2.099572 1.398579 +v 0.018369 1.933978 1.871670 +v 0.491657 2.004949 1.280323 +v -0.951659 2.052236 1.918945 +v -0.951659 2.075888 1.351303 +f 456 464 465 +f 453 452 456 +f 454 456 457 +f 455 454 457 +f 452 453 458 +f 453 456 458 +f 456 452 459 +f 457 456 459 +f 452 457 459 +f 454 455 460 +f 458 451 460 +f 455 458 460 +f 451 458 461 +f 455 457 462 +f 457 452 462 +f 452 458 463 +f 458 455 463 +f 462 452 463 +f 455 462 463 +f 456 454 464 +f 460 451 464 +f 454 460 464 +f 451 461 464 +f 464 461 465 +f 458 456 465 +f 461 458 465 +o convex_39 +v -0.691417 -3.129136 -0.754603 +v -0.644067 1.389745 -0.115759 +v -0.667742 1.389745 -0.115759 +v -0.644067 1.389745 -1.393448 +v -0.786005 -2.703128 -0.115759 +v -0.644067 -3.153149 -1.393448 +v -0.667742 1.389745 -1.393448 +v -0.691417 -3.153149 -1.345922 +v -0.644067 0.371863 -0.115759 +v -0.762344 -3.153149 -0.115759 +v -0.786005 -3.153149 -0.281473 +v -0.738683 -2.797846 -0.115759 +v -0.644067 -3.153149 -1.298646 +f 475 471 478 +f 468 467 469 +f 467 468 470 +f 469 467 471 +f 468 469 472 +f 470 468 472 +f 469 471 472 +f 472 471 473 +f 467 470 474 +f 471 467 474 +f 473 471 475 +f 474 470 475 +f 470 472 476 +f 472 473 476 +f 475 470 476 +f 473 475 476 +f 466 474 477 +f 475 466 477 +f 474 475 477 +f 474 466 478 +f 471 474 478 +f 466 475 478 +o convex_40 +v -0.005225 1.437067 1.540549 +v -0.951659 1.531687 1.398600 +v -0.951659 1.555353 1.398600 +v -0.951659 1.484412 1.706131 +v 0.491657 1.579032 1.682438 +v 0.491657 1.579032 1.398600 +v -0.194681 1.437067 1.398600 +v -0.028960 1.460746 1.706131 +v -0.785937 1.437067 1.635111 +f 486 482 487 +f 481 480 482 +f 481 482 483 +f 481 483 484 +f 480 481 484 +f 483 479 484 +f 484 479 485 +f 480 484 485 +f 479 483 486 +f 483 482 486 +f 482 480 487 +f 485 479 487 +f 480 485 487 +f 479 486 487 +o convex_41 +v 0.160520 0.868667 -1.488091 +v 0.113082 -3.247302 -1.417115 +v 0.562447 -3.247302 -1.417115 +v 0.349770 1.389745 -1.369787 +v 0.964791 1.389745 -1.440762 +v 0.964791 -3.223699 -1.369787 +v 0.113082 -3.247302 -1.369787 +v 0.964791 -2.513798 -1.417115 +v 0.113082 1.389745 -1.440762 +v 0.964791 -0.574282 -1.369787 +v 0.113082 -2.845146 -1.440762 +v 0.207874 0.490115 -1.488091 +v 0.775458 1.389745 -1.393480 +v 0.136843 1.389745 -1.417115 +v 0.964791 0.395249 -1.440762 +v 0.113082 1.389745 -1.464398 +f 498 496 503 +f 493 491 494 +f 489 490 494 +f 490 493 494 +f 493 490 495 +f 492 493 495 +f 491 492 496 +f 489 494 496 +f 493 492 497 +f 491 493 497 +f 490 489 498 +f 495 490 498 +f 489 496 498 +f 488 492 499 +f 498 488 499 +f 495 498 499 +f 492 491 500 +f 491 497 500 +f 497 492 500 +f 494 491 501 +f 491 496 501 +f 496 494 501 +f 492 495 502 +f 499 492 502 +f 495 499 502 +f 492 488 503 +f 496 492 503 +f 488 498 503 +o convex_42 +v 0.326265 1.413754 -1.369787 +v 1.248785 2.667184 -1.488073 +v 1.248785 2.667184 -1.511752 +v -0.620406 2.667184 -1.488086 +v -0.076079 1.437387 -1.511752 +v 1.248785 1.389995 -1.488073 +v -0.620406 1.389870 -1.464421 +v -0.454638 2.430603 -1.440769 +v 1.224999 2.619668 -1.464435 +v 1.248785 1.389995 -1.440769 +v 0.491667 1.579310 -1.369787 +v 0.539056 2.667184 -1.511752 +v -0.620406 1.389870 -1.488086 +v -0.620406 2.667184 -1.464421 +v 0.420676 1.437512 -1.511752 +f 509 508 518 +f 505 506 507 +f 506 505 509 +f 510 504 511 +f 509 505 513 +f 504 510 513 +f 510 509 513 +f 505 512 513 +f 513 512 514 +f 511 504 514 +f 512 511 514 +f 504 513 514 +f 507 506 515 +f 508 507 515 +f 506 508 515 +f 507 508 516 +f 508 509 516 +f 509 510 516 +f 510 507 516 +f 505 507 517 +f 507 510 517 +f 510 511 517 +f 512 505 517 +f 511 512 517 +f 508 506 518 +f 506 509 518 +o convex_43 +v 1.154028 1.389745 0.594048 +v 0.018508 -3.153149 0.570433 +v 0.089561 -3.153149 0.546776 +v 1.248806 -3.058431 0.523119 +v 0.231546 1.365732 0.688696 +v 1.224961 0.703153 0.523119 +v 0.018508 1.200310 0.641362 +v 1.177632 -3.153149 0.475764 +v 0.136889 -3.153149 0.594069 +v 0.609932 0.916156 0.665018 +v 0.018508 1.105592 0.688696 +v 1.248806 1.389745 0.546776 +v 1.248806 0.395876 0.570391 +v 1.248806 -3.153149 0.475764 +v 0.018508 -2.300689 0.617705 +v 0.018508 -2.205971 0.570433 +v 0.018508 1.389745 0.665018 +f 530 525 535 +f 520 521 526 +f 521 524 526 +f 520 526 527 +f 519 523 528 +f 527 522 528 +f 525 520 529 +f 524 525 530 +f 519 528 531 +f 528 522 531 +f 530 519 531 +f 522 530 531 +f 526 524 532 +f 522 527 532 +f 527 526 532 +f 530 522 532 +f 524 530 532 +f 520 527 533 +f 528 523 533 +f 527 528 533 +f 529 520 533 +f 523 529 533 +f 521 520 534 +f 524 521 534 +f 520 525 534 +f 525 524 534 +f 523 519 535 +f 525 529 535 +f 529 523 535 +f 519 530 535 +o convex_44 +v -0.596622 1.484435 1.374853 +v -0.005225 1.933946 1.303907 +v -0.005225 1.933946 1.232913 +v 0.491657 1.555439 1.398539 +v 0.136620 1.460799 1.232913 +v -0.951659 1.933946 1.256600 +v -0.951659 1.602758 1.398539 +v 0.491657 1.862894 1.374853 +v 0.491657 1.815574 1.232913 +v -0.951659 1.933946 1.303907 +v -0.951659 1.579074 1.351215 +v 0.065698 1.437115 1.398539 +v -0.005225 1.460799 1.232913 +f 540 547 548 +f 537 538 541 +f 542 539 543 +f 538 537 543 +f 539 540 544 +f 540 538 544 +f 543 539 544 +f 538 543 544 +f 537 541 545 +f 541 542 545 +f 542 543 545 +f 543 537 545 +f 536 542 546 +f 542 541 546 +f 540 539 547 +f 542 536 547 +f 539 542 547 +f 538 540 548 +f 541 538 548 +f 536 546 548 +f 546 541 548 +f 547 536 548 +o convex_45 +v -2.040042 1.744710 0.357242 +v -1.969094 1.508050 -1.369388 +v -1.945417 1.508050 -1.369388 +v -1.969094 2.028502 -1.487577 +v -1.945417 2.028502 1.232645 +v -2.016393 1.508050 1.232645 +v -2.087368 1.508050 -1.345751 +v -2.016393 2.028502 -1.487577 +v -1.945417 1.508050 0.215415 +v -2.063705 1.531782 1.066912 +v -1.969094 2.075856 0.806628 +v -1.945417 2.028502 -1.322113 +v -2.087368 1.650112 -1.156380 +v -1.945417 1.862873 1.232645 +f 554 557 562 +f 551 550 552 +f 550 551 554 +f 550 554 555 +f 552 550 556 +f 550 555 556 +f 551 553 557 +f 554 551 557 +f 554 553 558 +f 555 554 558 +f 552 556 559 +f 549 558 559 +f 558 553 559 +f 551 552 560 +f 553 551 560 +f 552 559 560 +f 559 553 560 +f 556 555 561 +f 558 549 561 +f 555 558 561 +f 559 556 561 +f 549 559 561 +f 553 554 562 +f 557 553 562 +o convex_46 +v -1.495860 1.839219 3.740458 +v -1.495860 1.460728 1.801169 +v -1.495860 1.579104 1.233189 +v -1.401216 1.555441 1.422515 +v -1.424877 2.075851 1.233189 +v -1.472199 1.484451 4.048561 +v -1.401216 2.052188 1.919394 +v -1.495860 2.075851 1.233189 +v -1.401216 1.460728 2.203247 +v -1.495860 1.484451 4.048561 +v -1.472199 1.839219 3.740458 +f 568 569 573 +f 565 564 563 +f 564 565 566 +f 566 565 567 +f 566 567 569 +f 565 563 570 +f 567 565 570 +f 563 569 570 +f 569 567 570 +f 564 566 571 +f 566 569 571 +f 569 568 571 +f 563 564 572 +f 568 563 572 +f 564 571 572 +f 571 568 572 +f 563 568 573 +f 569 563 573 +o convex_47 +v 0.373331 1.910239 -3.380725 +v 0.160425 1.437067 -1.677566 +v 0.160425 1.531785 -3.073182 +v 0.373331 1.531785 -3.167853 +v 0.373331 1.460781 -1.511937 +v 0.160425 1.910239 -3.380725 +v 0.184102 1.555406 -3.404439 +v 0.160425 1.460781 -1.511937 +v 0.373331 1.555406 -3.404439 +f 577 580 582 +f 575 576 577 +f 577 574 578 +f 575 577 578 +f 576 575 579 +f 578 574 579 +f 579 574 580 +f 577 576 580 +f 576 579 580 +f 575 578 581 +f 579 575 581 +f 578 579 581 +f 574 577 582 +f 580 574 582 +o convex_48 +v 0.515304 1.910239 -3.120462 +v 0.373352 1.437067 -1.653940 +v 0.397029 1.460781 -2.056118 +v 0.373352 1.910239 -3.404275 +v 0.397029 1.910239 -1.511752 +v 0.515304 1.555406 -3.428098 +v 0.373352 1.555406 -3.428098 +v 0.420692 1.437067 -1.511752 +v 0.444328 1.910239 -1.653940 +v 0.515304 1.910239 -3.428098 +f 588 589 592 +f 583 586 587 +f 586 584 587 +f 585 584 589 +f 584 586 589 +f 588 585 589 +f 584 585 590 +f 587 584 590 +f 585 588 590 +f 588 583 590 +f 583 587 591 +f 590 583 591 +f 587 590 591 +f 586 583 592 +f 583 588 592 +f 589 586 592 +o convex_49 +v -0.620415 2.690764 0.641390 +v -0.667723 1.389745 -1.488091 +v -0.667723 2.738285 -1.488091 +v -0.715040 1.863107 0.641390 +v -0.620415 1.389745 0.641390 +v -0.620406 2.738285 -1.488091 +v -0.620406 1.389745 -1.488091 +v -0.691373 2.667135 0.617628 +v -0.715040 1.389745 0.451913 +f 594 597 601 +f 593 596 597 +f 595 593 598 +f 594 595 598 +f 593 597 598 +f 597 594 599 +f 594 598 599 +f 598 597 599 +f 593 595 600 +f 595 596 600 +f 596 593 600 +f 595 594 601 +f 596 595 601 +f 597 596 601 +o convex_50 +v -0.194182 2.762055 -0.329031 +v 1.296102 2.785720 0.191666 +v 1.295914 2.809400 0.570204 +v -0.620218 2.691100 0.617730 +v 1.272277 2.667434 -1.511752 +v 1.296102 2.667434 0.191666 +v -0.620406 2.738403 -1.487781 +v -0.620406 2.667434 -1.487781 +v -0.596393 2.738417 0.617730 +v 1.272277 2.691128 -1.511752 +v 0.964615 2.809400 0.239192 +v 1.272277 2.738417 0.593967 +v -0.265094 2.762055 -1.085689 +v 0.586229 2.691100 0.593967 +v 1.295914 2.809400 0.357381 +f 614 612 616 +f 603 604 607 +f 606 603 607 +f 608 606 609 +f 607 605 609 +f 606 607 609 +f 605 608 609 +f 608 605 610 +f 603 606 611 +f 606 608 611 +f 602 610 612 +f 610 604 612 +f 607 604 613 +f 604 610 613 +f 610 605 613 +f 610 602 614 +f 608 610 614 +f 611 608 614 +f 602 612 614 +f 605 607 615 +f 607 613 615 +f 613 605 615 +f 604 603 616 +f 603 611 616 +f 612 604 616 +f 611 614 616 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/748/748.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/748/748.urdf new file mode 100644 index 000000000..6bf40677b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/748/748.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/749/749.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/749/749.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/749/749.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/749/749.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/749/749.obj new file mode 100644 index 000000000..f294b7483 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/749/749.obj @@ -0,0 +1,567 @@ +o convex_0 +v 2.057945 -0.134707 -1.067589 +v 1.294807 0.595002 1.056106 +v 1.261482 0.595002 1.056106 +v 1.294807 -1.130280 0.823697 +v 3.019979 -0.134954 0.757383 +v 1.261482 1.125497 -0.868441 +v 3.019979 0.760889 -0.071847 +v 1.261482 -1.097201 -0.901494 +v 2.854057 -0.964392 -0.237735 +v 2.953681 -0.002392 -0.868233 +v 1.294807 1.159069 0.790436 +v 2.721284 -0.897988 0.790436 +v 2.688135 0.860126 -0.835180 +v 2.721284 0.661159 0.790436 +v 2.489063 -0.068302 1.022637 +v 2.787758 -0.765179 -0.768867 +v 1.294807 1.291878 0.425400 +v 1.261482 -0.964392 0.989584 +v 1.261482 0.528350 -1.067589 +v 3.019979 -0.798504 -0.105108 +v 1.294807 -1.230010 -0.204682 +v 2.024796 0.727564 -1.034329 +v 2.787758 0.893451 0.093624 +v 2.754609 -0.068302 -1.001068 +v 3.053129 0.395788 -0.503197 +v 2.854057 -0.997718 -0.005742 +v 3.019979 0.561676 0.591288 +v 1.294807 -0.997718 -0.968015 +v 1.294807 1.225227 -0.602979 +v 2.754609 -0.002392 0.989584 +v 3.019979 -0.632617 0.591288 +v 3.019979 -0.599291 -0.602771 +v 1.925172 -0.632370 1.022637 +v 2.256841 -1.063875 -0.437091 +v 1.261482 -0.333920 -1.067589 +v 1.825724 0.727564 0.956531 +v 3.019979 0.528350 -0.669293 +v 1.261482 -0.333920 1.056106 +v 3.053129 -0.134954 0.425400 +v 1.261482 -1.163605 0.691070 +v 1.261482 1.291878 0.425400 +v 2.157393 -0.035223 1.056106 +v 1.991471 -0.798257 0.989584 +v 2.754609 0.827047 0.358878 +v 1.261482 0.827047 -1.034329 +v 2.721459 0.860126 -0.801920 +v 2.721284 0.760642 -0.868441 +v 3.019979 -0.101628 -0.801920 +v 2.754609 -0.101628 0.989584 +v 3.053129 0.594755 0.027311 +v 2.124419 -0.798257 -0.901494 +v 1.991471 0.362463 -1.067589 +v 2.787758 -0.798504 -0.735398 +v 1.626477 -1.097201 -0.735606 +v 1.261482 0.760642 1.022637 +v 3.053129 -0.035470 -0.370570 +v 1.294807 -1.163605 0.691070 +v 1.361106 1.092665 -0.901494 +v 3.019979 0.097092 0.757383 +v 2.820908 -0.964392 0.292773 +v 1.361106 1.159069 0.757383 +v 1.261482 -1.230010 -0.271204 +v 2.754609 -0.002392 -1.001068 +v 2.754609 0.893451 -0.171422 +f 46 29 64 +f 3 6 8 +f 3 8 18 +f 4 12 18 +f 8 6 19 +f 9 20 26 +f 7 23 27 +f 16 8 28 +f 1 24 28 +f 13 6 29 +f 5 12 31 +f 26 20 31 +f 20 9 32 +f 9 26 34 +f 26 21 34 +f 19 1 35 +f 8 19 35 +f 28 8 35 +f 1 28 35 +f 14 11 36 +f 2 30 36 +f 30 14 36 +f 7 25 37 +f 2 3 38 +f 3 18 38 +f 18 33 38 +f 5 31 39 +f 31 20 39 +f 18 8 40 +f 4 18 40 +f 6 3 41 +f 11 17 41 +f 29 6 41 +f 17 29 41 +f 30 2 42 +f 15 30 42 +f 33 15 42 +f 2 38 42 +f 38 33 42 +f 18 12 43 +f 33 18 43 +f 23 17 44 +f 14 27 44 +f 27 23 44 +f 19 6 45 +f 22 19 45 +f 13 29 46 +f 7 37 46 +f 46 37 47 +f 22 13 47 +f 37 10 47 +f 13 46 47 +f 24 10 48 +f 16 24 48 +f 32 16 48 +f 10 37 48 +f 37 25 48 +f 12 5 49 +f 5 30 49 +f 30 15 49 +f 15 33 49 +f 43 12 49 +f 33 43 49 +f 25 7 50 +f 7 27 50 +f 27 39 50 +f 39 25 50 +f 24 16 51 +f 16 28 51 +f 28 24 51 +f 1 19 52 +f 19 22 52 +f 8 16 53 +f 32 9 53 +f 16 32 53 +f 9 34 53 +f 53 34 54 +f 8 53 54 +f 3 2 55 +f 2 36 55 +f 36 11 55 +f 41 3 55 +f 11 41 55 +f 20 32 56 +f 25 39 56 +f 39 20 56 +f 32 48 56 +f 48 25 56 +f 12 4 57 +f 21 26 57 +f 4 40 57 +f 40 21 57 +f 6 13 58 +f 13 22 58 +f 45 6 58 +f 22 45 58 +f 27 14 59 +f 30 5 59 +f 14 30 59 +f 5 39 59 +f 39 27 59 +f 31 12 60 +f 26 31 60 +f 12 57 60 +f 57 26 60 +f 11 14 61 +f 17 11 61 +f 14 44 61 +f 44 17 61 +f 34 21 62 +f 40 8 62 +f 21 40 62 +f 54 34 62 +f 8 54 62 +f 24 1 63 +f 10 24 63 +f 22 47 63 +f 47 10 63 +f 1 52 63 +f 52 22 63 +f 23 7 64 +f 17 23 64 +f 29 17 64 +f 7 46 64 +o convex_1 +v -1.924271 -0.267509 -1.001224 +v -1.260629 0.760850 0.989740 +v -1.326904 0.760850 0.989740 +v -1.260629 -1.262933 0.358891 +v -3.085420 -0.533023 0.591391 +v -1.260629 1.092742 -0.801855 +v -2.853012 0.992921 -0.138265 +v -2.786737 -0.931040 -0.735593 +v -1.260629 -1.229997 -0.868311 +v -2.720283 0.959732 0.757240 +v -2.985919 0.063876 -0.802050 +v -1.293678 -0.831473 0.890153 +v -1.260629 1.225499 0.591197 +v -2.853012 -0.035185 0.923089 +v -2.687235 0.727661 -0.802050 +v -2.919465 -0.964230 0.126781 +v -3.052193 0.594651 0.558261 +v -2.886238 -0.698969 0.724109 +v -1.293678 1.291878 -0.271178 +v -1.260629 0.196633 -1.001224 +v -2.753510 -0.068374 -0.967898 +v -3.052193 -0.665780 -0.403701 +v -1.293678 -1.296375 -0.636201 +v -1.924271 -0.831726 -0.967898 +v -1.360131 1.026111 0.956414 +v -2.023594 -0.068374 0.989740 +v -2.985919 0.594651 -0.536614 +v -1.326904 0.893607 -0.901637 +v -2.023594 0.794039 0.956414 +v -3.085420 0.030687 0.757240 +v -2.355325 1.059553 -0.370570 +v -1.260629 -0.897851 -0.967898 +v -1.293678 -1.296375 0.292630 +v -1.260629 0.030687 0.989740 +v -2.687235 -0.964230 -0.768724 +v -1.658814 -0.831726 0.856827 +v -2.819963 0.196633 0.923089 +v -3.085420 -0.731905 0.126781 +v -2.786737 0.926543 0.757240 +v -2.554507 -0.997419 0.325956 +v -3.018967 0.727661 0.027389 +v -3.018967 -0.333888 -0.702267 +v -2.753510 -0.002249 -0.967898 +v -1.260629 1.125932 0.856827 +v -2.753510 0.760597 -0.735593 +v -2.222597 0.063876 0.989740 +v -2.189370 -0.002249 -1.001224 +v -2.886238 -0.964230 -0.171396 +v -1.260629 -0.897851 0.856827 +v -1.326904 1.092742 -0.801855 +v -2.255824 -0.731905 0.823696 +v -2.853012 0.661282 -0.735593 +v -1.758316 0.893354 -0.868311 +v -3.085420 0.097066 0.624522 +v -2.654009 -0.002249 0.956414 +v -3.052193 -0.798284 -0.105134 +v -1.293678 1.291878 -0.204721 +v -3.018967 -0.632591 -0.602875 +v -2.687235 0.926543 0.790566 +v -2.853012 0.992921 -0.072003 +v -3.085420 -0.632591 0.491804 +v -1.326904 1.225499 0.558066 +v -2.952692 -0.101563 -0.835180 +v -1.260629 -0.234067 -1.001224 +f 96 65 128 +f 66 68 70 +f 70 68 73 +f 66 70 77 +f 77 70 83 +f 70 73 84 +f 73 68 87 +f 85 65 88 +f 67 66 89 +f 66 67 90 +f 70 84 92 +f 67 89 93 +f 69 82 94 +f 82 78 94 +f 71 83 95 +f 84 73 96 +f 73 88 96 +f 88 65 96 +f 68 82 97 +f 87 68 97 +f 80 87 97 +f 68 66 98 +f 66 90 98 +f 90 76 98 +f 72 85 99 +f 73 87 99 +f 88 73 99 +f 85 88 99 +f 82 68 100 +f 94 78 101 +f 69 94 102 +f 81 94 103 +f 94 101 103 +f 82 80 104 +f 97 82 104 +f 80 97 104 +f 71 91 105 +f 91 75 106 +f 105 91 106 +f 66 77 108 +f 77 74 108 +f 89 66 108 +f 74 89 108 +f 71 95 109 +f 90 67 110 +f 67 93 110 +f 84 65 111 +f 65 85 111 +f 92 84 111 +f 85 107 111 +f 107 92 111 +f 87 80 112 +f 72 99 112 +f 99 87 112 +f 68 98 113 +f 98 76 113 +f 100 68 113 +f 76 100 113 +f 83 70 114 +f 70 92 114 +f 95 83 114 +f 79 109 114 +f 109 95 114 +f 78 82 115 +f 82 100 115 +f 91 71 116 +f 75 91 116 +f 107 75 116 +f 79 107 116 +f 109 79 116 +f 71 109 116 +f 107 79 117 +f 92 107 117 +f 114 92 117 +f 79 114 117 +f 94 81 118 +f 86 102 118 +f 102 94 118 +f 81 105 118 +f 106 86 118 +f 105 106 118 +f 76 90 119 +f 100 76 119 +f 101 78 119 +f 93 101 119 +f 90 110 119 +f 110 93 119 +f 78 115 119 +f 115 100 119 +f 80 102 120 +f 102 86 120 +f 72 112 120 +f 112 80 120 +f 83 71 121 +f 77 83 121 +f 106 72 122 +f 86 106 122 +f 72 120 122 +f 120 86 122 +f 89 74 123 +f 93 89 123 +f 101 93 123 +f 74 103 123 +f 103 101 123 +f 103 74 124 +f 81 103 124 +f 71 105 124 +f 105 81 124 +f 121 71 124 +f 74 121 124 +f 82 69 125 +f 80 82 125 +f 69 102 125 +f 102 80 125 +f 74 77 126 +f 121 74 126 +f 77 121 126 +f 85 72 127 +f 72 106 127 +f 106 75 127 +f 75 107 127 +f 107 85 127 +f 65 84 128 +f 84 96 128 +o convex_2 +v 0.066650 2.950109 0.425608 +v -1.260451 -1.329012 0.159938 +v -1.260451 -1.329012 0.325826 +v 1.261437 -1.262439 -0.304257 +v -0.862024 2.054935 -0.934754 +v 1.261190 -0.764922 1.022637 +v 0.033572 -2.822752 -0.801920 +v 1.261190 0.826894 -1.034329 +v -1.260451 1.059307 0.956324 +v -0.065665 -2.789465 0.724122 +v -1.260451 -0.897474 -0.967807 +v 0.730448 2.585144 0.890010 +v 0.730448 2.651717 -0.835180 +v 0.796606 -2.623032 -0.702553 +v -0.862024 -2.523766 0.690862 +v -0.828946 2.618431 0.690862 +v 1.261190 1.390985 0.458453 +v 0.863010 -2.058941 -1.034329 +v 0.796606 -2.556458 0.657601 +v -0.762541 -2.557053 -0.801920 +v -0.862024 -1.925795 0.923271 +v -1.260451 1.091999 -0.835180 +v -0.795867 2.618431 -0.702345 +v -0.331282 2.253466 1.022845 +v -0.098990 -3.021877 -0.005742 +v -0.331282 2.386018 -1.001068 +v 1.261190 0.594482 1.056106 +v -1.260451 0.030392 0.989584 +v 1.261190 -0.333384 -1.067589 +v 0.033572 3.050563 -0.105108 +v 0.796606 2.817556 -0.038795 +v 0.730448 -1.959081 0.956531 +v -1.260451 0.229517 -1.001068 +v 0.265864 -2.357927 -1.034329 +v -0.828946 -2.755584 -0.071847 +v 0.630718 -0.267405 1.056106 +v -0.795867 2.817556 0.027311 +v -0.098990 2.884130 -0.768659 +v -0.132069 2.884130 0.757175 +v 0.763527 -2.788871 0.027103 +v -1.094316 1.955075 0.027311 +v 1.261190 1.158572 -0.835180 +v 1.261437 -1.096600 -0.934754 +v -1.260451 -1.229747 -0.868233 +v -1.260451 -0.831495 0.890010 +v 1.261437 -1.163173 0.723915 +v -0.430766 -1.992368 0.956324 +v 0.664044 -0.465936 -1.067589 +v 0.863010 1.523537 -1.034329 +v -1.094316 -1.992368 0.591288 +v 1.062223 1.955075 0.691070 +v 0.730448 1.855215 1.022637 +v -0.895350 1.987767 0.956324 +v -1.061238 1.987767 -0.602771 +v -1.260451 1.324411 -0.304257 +v 0.066650 -3.021877 -0.005742 +v -1.094316 -2.025655 -0.105108 +v 0.829931 2.452592 -0.868441 +v -0.032586 -1.661285 0.989584 +v 0.664044 -2.623032 0.691070 +v 0.962740 0.395356 -1.067589 +v -0.331282 2.419899 0.989584 +v 1.029145 2.021054 -0.536666 +v 1.261190 1.191859 0.823697 +f 179 140 192 +f 130 131 137 +f 130 137 139 +f 143 138 149 +f 139 137 150 +f 133 150 151 +f 138 143 153 +f 148 135 153 +f 133 151 154 +f 137 131 156 +f 152 137 156 +f 129 140 159 +f 158 129 159 +f 141 158 159 +f 147 134 160 +f 150 133 161 +f 139 150 161 +f 133 154 161 +f 142 135 162 +f 146 142 162 +f 148 139 162 +f 135 148 162 +f 157 146 162 +f 139 161 162 +f 153 143 163 +f 148 153 163 +f 134 155 164 +f 155 152 164 +f 152 156 164 +f 165 158 166 +f 141 154 166 +f 154 151 166 +f 158 141 166 +f 151 165 166 +f 140 129 167 +f 129 158 167 +f 165 144 167 +f 158 165 167 +f 142 132 168 +f 137 144 169 +f 144 165 169 +f 132 142 171 +f 142 146 171 +f 157 136 171 +f 146 157 171 +f 136 170 171 +f 170 145 171 +f 130 139 172 +f 139 148 172 +f 148 163 172 +f 143 149 173 +f 156 131 173 +f 149 156 173 +f 134 147 174 +f 155 134 174 +f 168 132 174 +f 147 168 174 +f 132 171 174 +f 171 145 174 +f 149 138 175 +f 156 149 175 +f 138 160 175 +f 157 162 176 +f 162 161 176 +f 163 143 178 +f 173 131 178 +f 143 173 178 +f 159 140 179 +f 145 159 179 +f 140 152 180 +f 155 140 180 +f 152 155 180 +f 144 137 181 +f 137 152 181 +f 151 150 182 +f 165 151 182 +f 169 165 182 +f 169 182 183 +f 150 137 183 +f 137 169 183 +f 182 150 183 +f 135 142 184 +f 153 135 184 +f 138 153 184 +f 142 168 184 +f 131 130 185 +f 130 172 185 +f 172 163 185 +f 178 131 185 +f 163 178 185 +f 154 141 186 +f 141 159 186 +f 170 136 186 +f 136 177 186 +f 177 154 186 +f 160 134 187 +f 134 164 187 +f 164 156 187 +f 156 175 187 +f 175 160 187 +f 147 160 188 +f 160 138 188 +f 168 147 188 +f 138 184 188 +f 184 168 188 +f 136 157 189 +f 161 154 189 +f 157 176 189 +f 176 161 189 +f 177 136 189 +f 154 177 189 +f 152 140 190 +f 140 167 190 +f 167 144 190 +f 144 181 190 +f 181 152 190 +f 159 145 191 +f 145 170 191 +f 186 159 191 +f 170 186 191 +f 140 155 192 +f 155 174 192 +f 174 145 192 +f 145 179 192 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/749/749.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/749/749.urdf new file mode 100644 index 000000000..7b5f4f4fe --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/749/749.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/750/750.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/750/750.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/750/750.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/750/750.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/750/750.obj new file mode 100644 index 000000000..4aee39a42 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/750/750.obj @@ -0,0 +1,546 @@ +o convex_0 +v -3.135504 -0.879803 0.597888 +v -3.566737 0.217608 -0.499523 +v -3.566737 0.217608 -0.538774 +v -1.764128 0.099971 -0.107591 +v -1.764128 -0.919054 -0.460388 +v -3.684328 -0.958305 -0.460388 +v -3.762983 0.099971 0.558637 +v -1.764128 0.021584 0.519386 +v -1.764128 -0.879803 0.480250 +v -1.764128 0.099971 -0.578025 +v -3.723460 -0.958305 0.597888 +v -3.488278 -0.840667 -0.499523 +v -1.764128 0.060720 0.480250 +v -2.038638 -0.213575 0.558637 +v -3.645196 0.139106 -0.382001 +v -3.762983 -0.409369 0.597888 +v -3.292423 -0.958305 0.597888 +v -2.743990 -0.958305 -0.460388 +v -1.764128 -0.919054 0.127338 +v -3.762983 -0.096053 0.284227 +v -1.921046 -0.017667 -0.578025 +v -3.605869 -0.017667 -0.538774 +v -1.999310 0.139106 -0.578025 +v -3.645196 0.139106 0.284227 +v -1.764128 -0.683894 -0.499523 +v -2.195361 -0.919054 0.519386 +v -3.723460 -0.958305 0.127338 +f 16 20 27 +f 2 3 7 +f 5 4 8 +f 5 8 9 +f 4 5 10 +f 4 2 13 +f 8 4 13 +f 7 8 13 +f 8 7 14 +f 9 8 14 +f 7 3 15 +f 11 1 16 +f 1 14 16 +f 14 7 16 +f 11 6 17 +f 1 11 17 +f 6 12 18 +f 12 5 18 +f 17 6 18 +f 17 18 19 +f 5 9 19 +f 18 5 19 +f 15 6 20 +f 7 15 20 +f 16 7 20 +f 21 12 22 +f 12 6 22 +f 15 3 22 +f 6 15 22 +f 3 2 23 +f 2 4 23 +f 4 10 23 +f 10 21 23 +f 21 22 23 +f 22 3 23 +f 2 7 24 +f 13 2 24 +f 7 13 24 +f 10 5 25 +f 5 12 25 +f 21 10 25 +f 12 21 25 +f 14 1 26 +f 9 14 26 +f 1 17 26 +f 17 19 26 +f 19 9 26 +f 6 11 27 +f 11 16 27 +f 20 6 27 +o convex_1 +v 2.038093 0.648776 3.028107 +v 0.509499 -1.507064 -0.302801 +v 0.548826 -1.507064 -0.302801 +v 0.548826 0.609314 -3.008229 +v 2.351562 -1.428562 -3.086638 +v 2.430025 -1.428562 2.949099 +v 0.509499 0.609314 2.949099 +v 2.351562 0.609525 -2.968126 +v 0.509499 -1.467813 2.988603 +v 0.509499 -1.428351 -3.008229 +v 2.430025 0.648565 3.028107 +v 2.469353 0.217439 0.440593 +v 0.509499 0.648565 -1.047991 +v 1.607025 0.648776 -2.106220 +v 2.430025 -1.428562 1.263593 +v 0.509499 0.648565 2.165004 +v 0.509499 0.609314 -3.008229 +v 1.567697 -1.467813 2.949697 +v 1.842031 -0.918935 -3.086638 +v 1.372019 -0.409730 3.028107 +v 2.390889 0.648565 0.009640 +v 2.351562 0.295941 -3.007630 +v 2.390889 0.491773 -2.066716 +v 0.901623 0.021607 -3.047134 +v 0.862487 0.570063 2.988603 +v 2.430025 0.021396 3.028107 +v 2.469353 0.060647 0.480097 +v 1.607025 -1.467813 1.459917 +v 2.430025 0.648565 2.086594 +v 2.430025 -1.036476 0.244868 +v 0.509499 -0.487809 2.988603 +v 1.724432 0.648776 3.028107 +v 1.920494 -1.428351 -3.086638 +v 2.469353 0.178188 0.715325 +v 2.351562 -1.036476 -3.086638 +v 1.215092 0.609314 -3.007630 +v 0.587962 -1.507064 -0.145982 +f 55 45 64 +f 30 29 32 +f 34 29 36 +f 29 34 37 +f 37 34 40 +f 40 34 43 +f 41 40 43 +f 37 40 44 +f 41 31 44 +f 40 41 44 +f 33 36 45 +f 36 33 47 +f 38 28 47 +f 35 41 48 +f 41 28 48 +f 39 32 50 +f 49 35 50 +f 44 31 51 +f 37 44 51 +f 47 33 53 +f 38 47 53 +f 32 39 54 +f 33 42 54 +f 32 42 55 +f 42 33 55 +f 33 45 55 +f 28 38 56 +f 38 39 56 +f 48 28 56 +f 35 48 56 +f 39 50 56 +f 50 35 56 +f 42 32 57 +f 32 54 57 +f 54 42 57 +f 34 36 58 +f 36 47 58 +f 52 34 58 +f 52 58 59 +f 28 41 59 +f 43 34 59 +f 41 43 59 +f 47 28 59 +f 34 52 59 +f 58 47 59 +f 32 29 60 +f 29 37 60 +f 46 32 60 +f 37 51 60 +f 51 46 60 +f 39 38 61 +f 53 33 61 +f 38 53 61 +f 54 39 61 +f 33 54 61 +f 32 46 62 +f 50 32 62 +f 49 50 62 +f 46 51 62 +f 62 51 63 +f 31 41 63 +f 41 35 63 +f 35 49 63 +f 51 31 63 +f 49 62 63 +f 29 30 64 +f 30 32 64 +f 36 29 64 +f 45 36 64 +f 32 55 64 +o convex_2 +v -0.352891 -4.956147 0.009881 +v -0.901596 -4.720964 -0.225201 +v -0.901596 -4.720964 -0.186004 +v -0.431277 -3.506115 -0.225201 +v -0.901596 -3.663230 0.205867 +v -0.823152 -5.387380 0.245064 +v -0.313640 -5.465643 -0.264398 +v -0.431277 -3.506115 0.205867 +v -0.901596 -3.506115 -0.186004 +v -0.431277 -5.504971 0.205867 +v -0.862346 -5.465643 -0.264398 +v -0.548857 -3.819953 -0.264398 +v -0.392084 -3.663230 0.166670 +v -0.901596 -3.506115 0.166670 +v -0.862346 -4.877687 0.245064 +v -0.627128 -5.465643 0.245064 +v -0.392084 -4.956147 0.205867 +v -0.901596 -3.976676 -0.225201 +f 76 75 82 +f 66 67 69 +f 66 69 73 +f 72 68 73 +f 67 66 75 +f 71 74 75 +f 68 71 76 +f 73 68 76 +f 71 75 76 +f 71 68 77 +f 65 71 77 +f 68 72 77 +f 69 72 78 +f 73 69 78 +f 72 73 78 +f 69 67 79 +f 72 69 79 +f 67 75 79 +f 75 70 79 +f 70 75 80 +f 75 74 80 +f 72 79 80 +f 79 70 80 +f 71 65 81 +f 74 71 81 +f 65 77 81 +f 77 72 81 +f 72 80 81 +f 80 74 81 +f 66 73 82 +f 75 66 82 +f 73 76 82 +o convex_3 +v 0.391892 1.629187 -0.969888 +v 0.313529 4.686076 1.107450 +v 0.352710 4.686076 0.754614 +v 0.235119 4.607022 -1.048390 +v 0.235119 0.687973 0.950657 +v 0.431097 0.688364 0.754403 +v 0.470302 4.607022 -1.048390 +v 0.235119 0.687973 -0.930638 +v 0.235119 4.686076 1.107450 +v 0.431097 0.688364 -0.930638 +v 0.431097 3.157044 0.950446 +v 0.352710 1.001841 0.950657 +v 0.470302 4.607022 -0.852347 +v 0.235119 3.940932 -1.048390 +v 0.470302 4.371816 -1.048390 +v 0.431097 1.864392 0.911196 +v 0.391892 3.744862 1.028948 +f 94 98 99 +f 86 85 89 +f 87 86 90 +f 88 87 90 +f 84 85 91 +f 85 86 91 +f 86 87 91 +f 87 84 91 +f 90 83 92 +f 88 90 92 +f 84 87 94 +f 87 88 94 +f 89 85 95 +f 86 89 96 +f 83 90 96 +f 90 86 96 +f 88 92 97 +f 92 83 97 +f 89 95 97 +f 95 88 97 +f 96 89 97 +f 83 96 97 +f 94 88 98 +f 88 95 98 +f 95 93 98 +f 85 84 99 +f 84 94 99 +f 95 85 99 +f 93 95 99 +f 98 93 99 +o convex_4 +v 0.235119 -3.388171 -0.930741 +v -1.646312 -0.135803 1.029055 +v -1.646312 2.059518 0.989805 +v -1.763913 -3.270227 -1.048283 +v 0.235119 2.177462 -0.969992 +v 0.235119 -3.506115 0.950343 +v -1.685447 2.177462 -0.969992 +v 0.235119 2.177462 0.911303 +v -1.685447 -3.466615 0.950554 +v 0.235119 -1.153906 -1.087533 +v -1.763913 0.021085 0.519428 +v 0.235119 -1.546127 1.028844 +v -1.685447 -1.310794 -1.126784 +v -1.763913 -3.466615 -1.009032 +v -1.685447 2.177462 0.950554 +v -1.685447 -1.898847 1.029055 +v -1.763913 0.098973 -0.577906 +v -0.000084 -3.427671 -0.969781 +v 0.117517 2.177462 0.950343 +v -1.685447 2.020018 -1.009032 +v 0.235119 -1.624571 -1.087533 +v -0.431355 -3.506115 -0.224860 +v -1.763913 -0.879074 0.480177 +v 0.235119 -1.193407 1.028844 +v -0.901371 -3.506115 0.166382 +v 0.235119 -2.839619 0.989594 +v -1.763913 -3.466615 -0.773949 +v -0.470491 -3.506115 0.950343 +v -0.901566 -3.427671 -1.009032 +v -1.685447 2.059518 0.989805 +v 0.235119 -3.506115 0.715260 +f 121 117 130 +f 100 104 105 +f 104 106 107 +f 105 104 107 +f 104 100 109 +f 105 107 111 +f 104 109 112 +f 110 103 113 +f 107 106 114 +f 111 101 115 +f 103 110 116 +f 114 106 116 +f 110 114 116 +f 114 102 118 +f 107 114 118 +f 106 104 119 +f 112 103 119 +f 104 112 119 +f 103 116 119 +f 116 106 119 +f 109 100 120 +f 103 112 120 +f 112 109 120 +f 100 117 120 +f 113 117 121 +f 110 113 122 +f 115 110 122 +f 108 115 122 +f 102 101 123 +f 101 111 123 +f 111 107 123 +f 118 102 123 +f 107 118 123 +f 121 105 124 +f 113 121 124 +f 105 111 125 +f 115 108 125 +f 111 115 125 +f 108 122 126 +f 122 113 126 +f 124 108 126 +f 113 124 126 +f 124 105 127 +f 108 124 127 +f 105 125 127 +f 125 108 127 +f 113 103 128 +f 117 113 128 +f 103 120 128 +f 120 117 128 +f 101 102 129 +f 102 114 129 +f 114 110 129 +f 110 115 129 +f 115 101 129 +f 100 105 130 +f 117 100 130 +f 105 121 130 +o convex_5 +v 0.078135 4.097966 -1.048390 +v 0.235119 4.685830 1.107450 +v 0.235119 4.685830 0.676113 +v -1.646245 4.568208 0.911196 +v 0.235119 2.177463 0.911407 +v -1.685538 2.177708 -0.969888 +v -1.685538 2.177708 0.950446 +v -1.646245 4.529164 -0.969888 +v 0.235119 2.177463 -0.969888 +v 0.235119 4.607497 -1.048390 +v -1.685538 4.332964 -0.969888 +v -1.685538 3.509856 0.950446 +v -1.489449 4.568208 -0.930638 +v 0.078135 2.177463 0.950657 +v 0.039030 4.411542 1.107450 +v -0.196164 4.607497 -1.048390 +v -1.175857 4.607497 0.989697 +v -1.567847 2.687485 0.989697 +v -0.039368 4.685830 0.989697 +v -1.646245 4.568208 -0.538552 +v -1.646245 4.450586 0.950446 +v 0.235119 3.980344 -1.048390 +v -1.058354 4.568208 -1.008928 +v -1.293360 4.607497 0.911196 +f 150 134 154 +f 133 132 135 +f 133 135 139 +f 133 139 140 +f 136 137 141 +f 141 137 142 +f 134 141 142 +f 135 132 144 +f 137 136 144 +f 139 135 144 +f 136 139 144 +f 144 132 145 +f 131 136 146 +f 140 131 146 +f 133 140 146 +f 143 133 146 +f 145 132 147 +f 142 137 148 +f 137 144 148 +f 144 145 148 +f 132 133 149 +f 133 143 149 +f 147 132 149 +f 141 134 150 +f 138 141 150 +f 143 138 150 +f 149 143 150 +f 134 142 151 +f 147 134 151 +f 145 147 151 +f 148 145 151 +f 142 148 151 +f 136 131 152 +f 139 136 152 +f 131 140 152 +f 140 139 152 +f 136 141 153 +f 141 138 153 +f 138 143 153 +f 146 136 153 +f 143 146 153 +f 134 147 154 +f 147 149 154 +f 149 150 154 +o convex_6 +v 0.431105 -1.585458 0.048948 +v 0.313536 -3.506115 0.636839 +v 0.391877 -3.506115 0.636839 +v 0.313536 -3.270921 -0.969846 +v 0.235138 -1.585458 0.989858 +v 0.235138 -1.585458 -1.087587 +v 0.235138 -3.506115 0.950611 +v 0.391877 -1.585458 0.989858 +v 0.391877 -2.173537 -1.048137 +v 0.235138 -3.388424 -0.930396 +v 0.431105 -2.839638 0.832871 +v 0.391877 -1.585458 -1.087587 +v 0.391877 -3.506115 0.950611 +v 0.352687 -3.427717 -0.381752 +v 0.431105 -1.585458 0.793827 +v 0.391877 -2.878743 0.989858 +f 167 165 170 +f 159 155 160 +f 156 157 161 +f 159 160 161 +f 155 159 162 +f 158 160 163 +f 157 156 164 +f 160 158 164 +f 156 161 164 +f 161 160 164 +f 163 155 165 +f 157 163 165 +f 160 155 166 +f 155 163 166 +f 163 160 166 +f 161 157 167 +f 157 165 167 +f 163 157 168 +f 158 163 168 +f 157 164 168 +f 164 158 168 +f 155 162 169 +f 165 155 169 +f 162 165 169 +f 159 161 170 +f 162 159 170 +f 165 162 170 +f 161 167 170 +o convex_7 +v 0.352730 0.687973 0.911391 +v 0.235119 -1.585458 -1.086877 +v 0.235119 -1.154183 -1.086877 +v 0.509499 0.609418 -3.008245 +v 0.509499 -1.506903 2.988910 +v 0.509499 -1.467736 -2.968913 +v 0.274332 0.609418 -3.008245 +v 0.313517 0.609418 2.949578 +v 0.509499 0.609418 2.949578 +v 0.313517 -1.506903 2.988910 +v 0.235119 0.687973 0.950136 +v 0.274332 -1.467736 -2.968913 +v 0.235119 -1.585458 0.989467 +v 0.235119 0.687973 -0.930139 +v 0.470286 -1.585458 0.519252 +v 0.470286 0.687973 -0.851476 +v 0.509499 -1.428570 -3.008245 +v 0.391888 -1.585458 -1.086877 +v 0.509499 0.648584 2.125968 +v 0.235119 -1.193349 1.028798 +f 181 183 190 +f 174 175 176 +f 172 173 177 +f 175 174 179 +f 178 175 179 +f 175 178 180 +f 173 172 181 +f 176 172 182 +f 172 177 182 +f 175 180 183 +f 181 172 183 +f 174 177 184 +f 177 173 184 +f 173 181 184 +f 181 171 184 +f 176 175 185 +f 183 172 185 +f 175 183 185 +f 184 171 186 +f 174 184 186 +f 174 176 187 +f 177 174 187 +f 176 182 187 +f 182 177 187 +f 172 176 188 +f 185 172 188 +f 176 185 188 +f 179 174 189 +f 178 179 189 +f 181 178 189 +f 171 181 189 +f 186 171 189 +f 174 186 189 +f 180 178 190 +f 178 181 190 +f 183 180 190 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/750/750.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/750/750.urdf new file mode 100644 index 000000000..9f6b5c914 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/750/750.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/751/751.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/751/751.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/751/751.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/751/751.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/751/751.obj new file mode 100644 index 000000000..022fc4e50 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/751/751.obj @@ -0,0 +1,603 @@ +o convex_0 +v 0.524758 2.262712 -1.549767 +v -0.602035 0.771903 -1.258969 +v -0.602035 0.771903 -1.040928 +v -0.565712 4.697557 -2.022056 +v 0.524758 4.770356 -1.040814 +v 0.415677 0.881492 -2.022170 +v 0.452113 4.697557 -2.094927 +v 0.452113 0.771903 -1.004493 +v -0.529276 4.624759 -1.113570 +v -0.565712 0.771903 -2.022056 +v -0.492953 2.262712 -2.167683 +v -0.456631 3.098333 -1.004607 +v -0.129501 3.389136 -2.167683 +v 0.561195 2.662714 -1.077249 +v 0.524758 2.735513 -1.804129 +v 0.452113 0.771903 -1.731259 +v 0.306710 4.370355 -1.004493 +v -0.565712 4.661158 -1.477124 +v 0.197629 4.733957 -2.094927 +v 0.524758 4.770356 -1.258969 +v 0.488436 1.971909 -1.985735 +v -0.565712 4.443153 -2.058491 +v -0.093065 0.808694 -1.004607 +v 0.124870 4.733957 -1.040814 +v 0.233951 0.771903 -2.022170 +v -0.274791 2.299112 -2.167683 +v -0.492953 3.061542 -2.167683 +v 0.233951 4.152349 -2.131248 +v 0.488436 1.135897 -1.040814 +v -0.492953 1.899110 -1.004607 +v 0.415677 4.770356 -1.658616 +v 0.561195 3.025534 -1.149891 +v 0.488436 3.570742 -2.022170 +v 0.452113 0.917892 -1.949528 +v 0.379355 4.770356 -1.040814 +v -0.456631 4.370355 -1.077249 +v -0.420195 1.063098 -2.058491 +v 0.452113 4.333955 -2.094927 +v -0.602035 0.881492 -1.040928 +v 0.488436 2.444709 -2.022170 +f 38 33 40 +f 3 2 8 +f 8 2 10 +f 5 8 14 +f 14 1 15 +f 8 10 16 +f 8 5 17 +f 15 1 21 +f 2 4 22 +f 10 2 22 +f 11 10 22 +f 4 19 22 +f 3 8 23 +f 12 17 24 +f 4 18 24 +f 18 9 24 +f 6 16 25 +f 16 10 25 +f 11 13 26 +f 6 25 26 +f 13 11 27 +f 19 13 27 +f 11 22 27 +f 22 19 27 +f 19 7 28 +f 13 19 28 +f 6 26 28 +f 26 13 28 +f 14 8 29 +f 8 16 29 +f 16 14 29 +f 8 17 30 +f 17 12 30 +f 3 23 30 +f 23 8 30 +f 19 4 31 +f 7 19 31 +f 5 20 31 +f 20 7 31 +f 5 14 32 +f 14 15 32 +f 20 5 32 +f 15 20 32 +f 7 20 33 +f 20 15 33 +f 1 14 34 +f 16 6 34 +f 14 16 34 +f 6 21 34 +f 21 1 34 +f 17 5 35 +f 4 24 35 +f 24 17 35 +f 31 4 35 +f 5 31 35 +f 9 12 36 +f 24 9 36 +f 12 24 36 +f 10 11 37 +f 25 10 37 +f 11 26 37 +f 26 25 37 +f 6 28 38 +f 28 7 38 +f 7 33 38 +f 2 3 39 +f 4 2 39 +f 12 9 39 +f 18 4 39 +f 9 18 39 +f 3 30 39 +f 30 12 39 +f 21 6 40 +f 15 21 40 +f 33 15 40 +f 6 38 40 +o convex_1 +v -0.965523 -0.536529 3.357940 +v 1.033607 0.735550 2.194807 +v 1.033607 0.735550 1.540533 +v 1.033607 -1.300112 1.540533 +v -1.074697 0.699019 1.540337 +v 0.960965 0.735550 3.430551 +v 0.997286 -1.227260 3.539759 +v -1.038166 -1.299902 1.540337 +v -0.929202 0.699019 3.539759 +v -0.929202 -1.409285 3.394343 +v 1.070138 -1.190939 2.376626 +v -0.020335 0.735550 3.503356 +v -1.038166 -1.336223 2.085794 +v 1.033607 -1.263581 3.176121 +v -0.965523 0.699019 3.503356 +v 1.070138 0.299067 1.540533 +v -0.674534 -1.409285 3.103511 +v -0.929202 0.408030 3.539759 +v 0.997286 -0.318812 3.503356 +v 0.851792 -1.263581 3.539759 +v -1.038166 -1.336223 1.831365 +v 1.070138 -1.263581 1.540533 +v -1.074697 -0.137207 1.576740 +v -0.420287 0.517203 3.539759 +v 1.033607 -1.190939 3.321342 +v -0.965523 -1.409285 3.212328 +v -0.892881 -1.081765 3.430551 +v 0.997286 0.735550 2.994302 +v -0.711066 -1.409285 3.357940 +v 0.488371 -1.336223 1.940574 +v -0.129298 0.735550 3.430551 +v 0.924644 0.444351 3.466954 +v 0.851792 0.735550 1.540337 +v 0.815471 -0.790987 3.539759 +v -1.038166 -0.682023 2.194807 +v 0.997286 -0.028033 3.466954 +v 1.033607 -1.300112 1.649546 +f 57 70 77 +f 42 43 46 +f 46 43 52 +f 41 50 55 +f 43 42 56 +f 47 49 58 +f 49 55 58 +f 55 50 58 +f 54 47 60 +f 47 58 60 +f 48 44 61 +f 44 48 62 +f 51 54 62 +f 56 51 62 +f 45 48 63 +f 55 45 63 +f 48 61 63 +f 61 53 63 +f 49 47 64 +f 52 49 64 +f 47 54 65 +f 54 51 65 +f 56 42 65 +f 51 56 65 +f 59 47 65 +f 50 41 66 +f 41 53 66 +f 57 50 66 +f 53 61 66 +f 61 57 66 +f 58 50 67 +f 50 60 67 +f 60 58 67 +f 42 46 68 +f 50 57 69 +f 54 60 69 +f 60 50 69 +f 61 44 70 +f 57 61 70 +f 52 43 71 +f 49 52 71 +f 55 49 71 +f 45 55 71 +f 46 52 72 +f 59 46 72 +f 52 64 72 +f 48 45 73 +f 43 56 73 +f 62 48 73 +f 56 62 73 +f 71 43 73 +f 45 71 73 +f 47 59 74 +f 64 47 74 +f 59 72 74 +f 72 64 74 +f 53 41 75 +f 41 55 75 +f 55 63 75 +f 63 53 75 +f 46 59 76 +f 65 42 76 +f 59 65 76 +f 42 68 76 +f 68 46 76 +f 44 62 77 +f 62 54 77 +f 54 69 77 +f 69 57 77 +f 70 44 77 +o convex_2 +v -0.383923 -1.918532 -1.004489 +v -0.602106 -3.372159 -2.094977 +v -0.347520 -3.372159 -2.094977 +v -0.456611 -1.373128 -2.094977 +v 0.597548 -1.373128 -2.022071 +v 0.524742 -3.262961 -1.113581 +v 0.524742 -1.373128 -1.040889 +v 0.597548 -3.262961 -1.985778 +v -0.529300 -3.372159 -1.113581 +v -0.456611 -1.373128 -1.004489 +v 0.597548 -1.409527 -1.113581 +v 0.524742 -3.081355 -1.077288 +v -0.602106 -3.008556 -2.058470 +v 0.415650 -1.409527 -2.058470 +v 0.597548 -3.262961 -1.585919 +v -0.529300 -3.153958 -1.077288 +v -0.238546 -3.372159 -1.113581 +v 0.597548 -2.717753 -2.022071 +v -0.602106 -3.335760 -1.767702 +v -0.493014 -1.591329 -2.094977 +v 0.015688 -1.445927 -1.004489 +v -0.238546 -3.335760 -2.094977 +v 0.561145 -2.754152 -1.077288 +v -0.165857 -1.373128 -2.094977 +v -0.493014 -1.918532 -1.040889 +v 0.379247 -3.299360 -1.913086 +v 0.488456 -3.262961 -2.022071 +f 99 95 104 +f 80 79 81 +f 82 81 84 +f 79 80 86 +f 84 81 87 +f 82 84 88 +f 85 82 88 +f 85 88 92 +f 78 87 93 +f 89 78 93 +f 86 80 94 +f 83 89 94 +f 92 83 94 +f 93 86 94 +f 89 93 94 +f 82 85 95 +f 91 82 95 +f 79 86 96 +f 90 79 96 +f 86 93 96 +f 81 79 97 +f 87 81 97 +f 79 90 97 +f 90 87 97 +f 87 78 98 +f 84 87 98 +f 78 89 98 +f 89 84 98 +f 80 81 99 +f 91 95 99 +f 88 84 100 +f 84 89 100 +f 89 83 100 +f 83 92 100 +f 92 88 100 +f 81 82 101 +f 82 91 101 +f 99 81 101 +f 91 99 101 +f 87 90 102 +f 93 87 102 +f 90 96 102 +f 96 93 102 +f 80 85 103 +f 85 92 103 +f 94 80 103 +f 92 94 103 +f 85 80 104 +f 95 85 104 +f 80 99 104 +o convex_3 +v 0.960965 0.662730 -1.004543 +v -1.038343 -0.936659 -2.167455 +v -1.001876 -1.009301 -2.531075 +v 0.960965 -1.336401 -1.004543 +v 0.960965 0.771903 -2.603607 +v -1.038343 0.735372 -1.004383 +v 0.997432 -1.300080 -2.639953 +v -1.001876 -1.300080 -1.004383 +v -0.965409 0.771903 -2.531075 +v -0.492932 -1.372932 -2.094763 +v -1.001876 -1.263759 -2.494729 +v 0.452021 0.771903 -1.004543 +v 0.997432 0.590087 -1.004543 +v 0.670026 -1.372932 -1.004543 +v -0.601935 0.771903 -2.567261 +v 0.997432 -0.318570 -2.639953 +v 0.706493 -1.300080 -2.639953 +v -0.456665 -1.372932 -1.004383 +v 0.597292 -1.372932 -2.022071 +v 0.997432 -1.227438 -1.549893 +v -1.001876 0.771903 -2.022071 +v -1.038343 -0.500386 -1.004383 +v -0.601935 0.771903 -1.040889 +v 0.960965 0.771903 -2.131109 +v -1.038343 0.735372 -1.404509 +v -1.001876 -0.246348 -2.531075 +v 0.452021 0.771903 -2.603607 +v 0.997432 -0.391212 -1.004543 +v 0.960965 0.699051 -1.077395 +v -0.929142 -1.263759 -2.531075 +v -1.001876 -1.300080 -1.622425 +v 0.924698 -0.318570 -2.639953 +f 131 120 136 +f 106 107 115 +f 110 105 116 +f 109 113 116 +f 105 110 117 +f 113 109 119 +f 109 117 120 +f 117 111 120 +f 111 114 121 +f 107 119 121 +f 120 111 121 +f 110 112 122 +f 112 114 122 +f 117 110 122 +f 118 108 122 +f 114 118 122 +f 111 108 123 +f 114 111 123 +f 108 118 123 +f 118 114 123 +f 108 111 124 +f 111 117 124 +f 116 113 125 +f 110 106 126 +f 106 112 126 +f 112 110 126 +f 110 116 127 +f 125 110 127 +f 116 125 127 +f 109 116 128 +f 117 109 128 +f 106 110 129 +f 110 125 129 +f 129 125 130 +f 107 106 130 +f 119 107 130 +f 113 119 130 +f 125 113 130 +f 106 129 130 +f 119 109 131 +f 109 120 131 +f 117 122 132 +f 122 108 132 +f 108 124 132 +f 124 117 132 +f 116 105 133 +f 105 117 133 +f 128 116 133 +f 117 128 133 +f 114 115 134 +f 115 107 134 +f 121 114 134 +f 107 121 134 +f 112 106 135 +f 114 112 135 +f 115 114 135 +f 106 115 135 +f 121 119 136 +f 120 121 136 +f 119 131 136 +o convex_4 +v 0.997432 -0.318691 -1.004382 +v -1.074696 0.335566 -0.895280 +v -1.074696 0.335566 -0.786306 +v -1.001880 -1.300076 -1.004382 +v 0.960923 -1.336401 -0.677236 +v 0.997432 0.662694 -0.677236 +v -0.965573 -1.300076 -0.677236 +v -1.038187 0.735550 -1.004382 +v -1.074696 0.699019 -0.677236 +v 0.960923 -1.336401 -1.004382 +v 0.960923 0.662694 -1.004382 +v 0.270078 -1.372932 -0.967972 +v -1.001880 -1.191102 -0.677236 +v -0.565589 -1.336401 -0.677236 +v 0.706572 -1.372932 -0.858934 +v 0.997432 0.626369 -1.004382 +f 147 142 152 +f 139 138 140 +f 141 137 142 +f 141 142 143 +f 140 138 144 +f 137 140 144 +f 142 144 145 +f 138 139 145 +f 143 142 145 +f 144 138 145 +f 140 137 146 +f 137 141 146 +f 137 144 147 +f 144 142 147 +f 140 146 148 +f 139 140 149 +f 140 143 149 +f 145 139 149 +f 143 145 149 +f 143 140 150 +f 141 143 150 +f 140 148 150 +f 150 148 151 +f 146 141 151 +f 148 146 151 +f 141 150 151 +f 142 137 152 +f 137 147 152 +o convex_5 +v 0.670193 -3.335688 -0.567803 +v 0.997308 2.552719 1.540337 +v 0.961059 2.552719 1.540337 +v -1.074569 2.807070 -0.677204 +v -1.074569 -3.335080 1.394903 +v 0.961059 2.734050 -0.604487 +v 0.924592 -3.335080 1.358436 +v -0.929136 2.698149 1.503870 +v -1.038319 -3.299179 -0.677204 +v 1.070025 -3.299179 -0.604487 +v 1.070025 -1.263154 1.540337 +v -1.074569 0.698634 1.540337 +v 0.997308 0.662125 -0.677204 +v 0.997308 2.771168 1.503653 +v -1.111035 2.807070 -0.422369 +v 1.106492 -1.154233 1.358436 +v -1.038319 -1.299664 1.540337 +v -0.638270 -3.408708 -0.204436 +v 0.997308 2.771168 0.122899 +v 0.488293 -3.408708 0.885884 +v 0.961059 -1.335565 -0.677204 +v -1.111035 1.897978 -0.640737 +v 1.033775 2.516209 1.540337 +v -1.074569 -3.299179 0.595017 +v -0.456587 2.807678 0.449583 +v 0.342860 2.807678 -0.386337 +v 0.488293 -3.335688 1.394903 +v -1.074569 -3.007709 1.431153 +v 1.033775 -3.335688 0.049965 +v -0.965602 2.516818 1.503870 +v 1.106492 -1.263154 1.431153 +v -0.565553 2.771168 1.031318 +v -0.674736 -3.408708 0.268333 +v 0.997308 1.207945 -0.604487 +v 0.961059 -3.299179 1.140285 +v 0.851875 -3.371589 1.285719 +v 0.924592 -3.335080 -0.567803 +v -0.238438 -3.408708 -0.204436 +v 0.924592 2.770560 -0.604487 +v -0.856419 -3.299179 -0.677204 +v 0.670193 2.770560 1.503870 +v 1.033775 -1.299664 1.540337 +v -1.111035 2.807070 -0.677204 +v -1.074569 -3.335080 0.704201 +v 1.070025 -3.153140 -0.240686 +v -1.074569 -1.154233 1.540337 +v 1.070025 -3.117239 -0.567803 +v 1.106492 -1.336173 1.249252 +v -0.929136 -3.335688 -0.567803 +v -1.111035 2.770560 -0.386337 +v -0.892886 -3.371589 0.922134 +v 1.033775 2.479699 1.431153 +v -0.165721 2.807678 -0.640737 +v 0.961059 -3.080729 1.358436 +v -1.001852 2.734659 0.885884 +f 202 182 207 +f 154 155 163 +f 155 160 164 +f 163 155 164 +f 156 158 165 +f 161 156 165 +f 163 164 169 +f 161 165 173 +f 165 162 173 +f 154 163 175 +f 166 154 175 +f 171 166 175 +f 174 161 176 +f 166 171 178 +f 177 166 178 +f 157 179 180 +f 164 160 182 +f 175 163 183 +f 168 175 183 +f 177 167 184 +f 170 172 185 +f 165 158 186 +f 162 165 186 +f 158 171 186 +f 159 181 187 +f 157 172 188 +f 159 179 188 +f 179 157 188 +f 181 159 188 +f 172 181 188 +f 162 181 189 +f 181 172 189 +f 170 153 190 +f 172 170 190 +f 153 189 190 +f 189 172 190 +f 158 156 191 +f 171 158 191 +f 178 171 191 +f 153 161 192 +f 161 173 192 +f 173 162 192 +f 189 153 192 +f 162 189 192 +f 155 154 193 +f 160 155 193 +f 154 166 193 +f 166 177 193 +f 184 160 193 +f 177 184 193 +f 159 163 194 +f 163 169 194 +f 179 159 194 +f 169 180 194 +f 180 179 194 +f 156 161 195 +f 161 174 195 +f 174 167 195 +f 167 177 195 +f 157 174 196 +f 176 161 196 +f 174 176 196 +f 170 185 196 +f 181 162 197 +f 162 183 197 +f 187 181 197 +f 183 187 197 +f 169 164 198 +f 180 169 198 +f 162 186 199 +f 199 186 200 +f 171 168 200 +f 183 162 200 +f 168 183 200 +f 186 171 200 +f 162 199 200 +f 161 153 201 +f 153 170 201 +f 196 161 201 +f 170 196 201 +f 174 157 202 +f 167 174 202 +f 157 180 202 +f 164 182 202 +f 198 164 202 +f 180 198 202 +f 172 157 203 +f 185 172 203 +f 157 196 203 +f 196 185 203 +f 168 171 204 +f 175 168 204 +f 171 175 204 +f 177 178 205 +f 191 156 205 +f 178 191 205 +f 156 195 205 +f 195 177 205 +f 163 159 206 +f 183 163 206 +f 159 187 206 +f 187 183 206 +f 182 160 207 +f 160 184 207 +f 184 167 207 +f 167 202 207 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/751/751.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/751/751.urdf new file mode 100644 index 000000000..3bbe32287 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/751/751.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/752/752.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/752/752.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/752/752.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/752/752.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/752/752.obj new file mode 100644 index 000000000..a8ca27a29 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/752/752.obj @@ -0,0 +1,678 @@ +o convex_0 +v -0.378900 -3.911789 -0.579969 +v -0.122424 -4.644125 0.555687 +v -0.195687 -4.644125 0.555687 +v 0.463568 -5.230264 -0.616691 +v 0.500255 -3.362441 0.518964 +v 0.536942 -3.362441 -0.470144 +v -0.598800 -3.362441 0.445748 +v -0.598800 -5.230264 -0.470144 +v 0.426992 -5.230264 0.445748 +v -0.488850 -5.340444 0.555687 +v -0.452163 -3.362441 -0.579969 +v 0.463568 -5.230264 0.042714 +v -0.598800 -3.435636 0.116045 +v -0.598800 -3.765400 0.482356 +v -0.232374 -3.362441 -0.579969 +v -0.305637 -5.340444 0.555687 +v 0.500255 -4.570930 -0.579969 +v 0.500255 -3.801997 0.482356 +v -0.488850 -5.340444 0.335809 +v -0.598800 -5.083681 -0.213658 +v 0.500255 -4.790708 -0.543360 +v 0.243779 -4.900500 -0.616691 +v -0.488850 -3.362441 -0.470144 +v 0.390305 -3.362441 -0.506752 +v -0.562113 -5.266861 -0.323597 +v -0.598800 -5.047083 -0.470144 +v -0.525426 -5.193666 0.409140 +v 0.536942 -3.399039 -0.286874 +v 0.390305 -3.362441 0.518964 +v 0.317042 -4.790708 -0.616691 +v -0.488850 -4.973888 0.555687 +f 14 10 31 +f 3 2 5 +f 5 6 7 +f 2 3 10 +f 7 6 11 +f 1 8 11 +f 8 7 13 +f 7 8 14 +f 11 6 15 +f 5 2 16 +f 9 5 16 +f 2 10 16 +f 4 12 16 +f 12 9 16 +f 5 9 18 +f 9 12 18 +f 10 8 19 +f 16 10 19 +f 4 16 19 +f 14 8 20 +f 12 4 21 +f 4 17 21 +f 17 6 21 +f 18 12 21 +f 4 8 22 +f 8 1 22 +f 1 11 22 +f 7 11 23 +f 13 7 23 +f 15 6 24 +f 6 17 24 +f 17 15 24 +f 8 4 25 +f 4 19 25 +f 19 8 25 +f 11 8 26 +f 8 13 26 +f 23 11 26 +f 13 23 26 +f 8 10 27 +f 10 14 27 +f 20 8 27 +f 14 20 27 +f 6 5 28 +f 5 18 28 +f 21 6 28 +f 18 21 28 +f 3 5 29 +f 5 7 29 +f 14 3 29 +f 7 14 29 +f 11 15 30 +f 17 4 30 +f 15 17 30 +f 4 22 30 +f 22 11 30 +f 10 3 31 +f 3 14 31 +o convex_1 +v 1.086466 -0.907386 0.738836 +v -1.075078 -3.252007 -0.616638 +v -1.075078 -3.252007 -0.176942 +v 1.086466 -3.251767 -1.019539 +v -1.001659 -0.907386 -1.019539 +v -1.038263 -3.362054 1.031966 +v -1.001659 -0.907386 1.031966 +v 0.976442 -3.251767 0.958377 +v 1.049651 -0.907386 -1.019539 +v -1.075078 -3.215245 -1.019539 +v 0.609978 -0.907386 1.031966 +v 0.536770 -3.362054 -0.470072 +v 0.756606 -3.032154 -1.056334 +v -0.561987 -3.362054 -0.653228 +v -0.891847 -0.907386 -1.056334 +v 1.049651 -0.907386 0.958377 +v 0.573374 -3.362054 0.592270 +v -1.038263 -1.127239 -1.019539 +v 0.939838 -2.958870 0.995172 +v 1.086466 -0.944389 -0.579843 +v 1.013047 -3.251767 0.702041 +v -0.855243 -2.409357 -1.056334 +v -0.415570 -3.325052 1.031966 +v -0.012502 -0.907386 -1.056334 +v 1.086466 -3.178723 -0.579843 +v 0.976442 -3.288770 -0.982949 +v -1.038263 -2.372834 1.031966 +v 0.939838 -3.288770 0.921991 +v 0.976442 -3.068676 -1.056334 +v 1.049651 -1.713515 0.958377 +v -1.075078 -2.665732 -0.982949 +v 1.086466 -2.116459 -1.019539 +v -1.038263 -1.566946 -0.103761 +v 0.939838 -0.907386 0.995172 +v 0.720002 -3.288770 0.995172 +v -0.232338 -3.252007 -1.019539 +v 0.609978 -1.200764 1.031966 +v -0.049106 -3.362054 -0.689818 +f 67 57 69 +f 34 33 37 +f 32 36 38 +f 36 32 40 +f 33 34 41 +f 32 38 42 +f 38 37 42 +f 37 33 45 +f 33 41 45 +f 43 37 45 +f 36 40 46 +f 32 42 47 +f 37 43 48 +f 38 36 49 +f 36 46 49 +f 46 41 49 +f 32 35 51 +f 40 32 51 +f 44 41 53 +f 41 46 53 +f 46 44 53 +f 42 37 54 +f 46 40 55 +f 44 46 55 +f 35 32 56 +f 52 35 56 +f 48 43 57 +f 34 37 58 +f 37 38 58 +f 35 52 59 +f 52 39 59 +f 57 35 59 +f 48 57 59 +f 41 44 60 +f 55 40 60 +f 44 55 60 +f 32 47 61 +f 50 39 61 +f 47 50 61 +f 39 52 61 +f 56 32 61 +f 52 56 61 +f 41 34 62 +f 49 41 62 +f 34 58 62 +f 51 35 63 +f 40 51 63 +f 35 60 63 +f 60 40 63 +f 38 49 64 +f 58 38 64 +f 49 62 64 +f 62 58 64 +f 47 42 65 +f 42 50 65 +f 50 47 65 +f 37 48 66 +f 39 50 66 +f 54 37 66 +f 50 54 66 +f 48 59 66 +f 59 39 66 +f 45 41 67 +f 35 57 67 +f 60 35 67 +f 41 60 67 +f 50 42 68 +f 42 54 68 +f 54 50 68 +f 43 45 69 +f 57 43 69 +f 45 67 69 +o convex_2 +v -0.525526 0.264907 2.057920 +v 0.463579 -0.870749 2.863654 +v 0.500266 -0.870749 2.863654 +v 0.207103 -0.797418 1.105240 +v 0.610216 0.228299 1.105240 +v 0.610216 0.228299 3.120266 +v -0.415576 -0.797418 2.937028 +v -0.525526 -0.687479 1.105240 +v -0.488839 0.301630 3.120266 +v -0.525526 0.191690 1.105240 +v 0.573529 -0.687479 1.105240 +v 0.500266 -0.870749 3.083382 +v 0.536842 -0.834026 1.178614 +v -0.452041 -0.797418 2.533865 +v -0.488839 0.008535 3.083382 +v 0.427003 0.264907 3.120266 +v -0.525526 -0.724202 1.361852 +v 0.610216 0.008535 2.753593 +v -0.342202 0.301630 2.827164 +v -0.452041 -0.650756 2.973715 +v -0.085726 0.228299 1.105240 +v 0.536842 -0.687479 3.010205 +v -0.158989 -0.834026 2.900341 +v -0.525526 -0.174735 2.130702 +v -0.158989 0.301630 3.046892 +v 0.427003 -0.870749 3.083382 +v 0.536842 -0.834026 2.350627 +v -0.488839 0.301630 2.717103 +v -0.525526 -0.724202 1.215301 +v 0.610216 0.045143 1.361852 +v 0.500266 -0.834026 1.178614 +f 83 98 100 +f 74 73 77 +f 77 70 79 +f 74 77 79 +f 73 74 80 +f 71 72 81 +f 72 71 82 +f 73 80 82 +f 81 72 82 +f 75 74 85 +f 78 75 85 +f 70 77 86 +f 74 75 87 +f 83 76 89 +f 86 83 89 +f 79 70 90 +f 74 79 90 +f 75 81 91 +f 87 75 91 +f 76 83 92 +f 78 70 93 +f 84 78 93 +f 70 86 93 +f 89 84 93 +f 86 89 93 +f 85 74 94 +f 78 85 94 +f 74 88 94 +f 88 78 94 +f 75 78 95 +f 81 75 95 +f 71 81 95 +f 78 84 95 +f 89 76 95 +f 84 89 95 +f 92 71 95 +f 76 92 95 +f 82 80 96 +f 81 82 96 +f 80 87 96 +f 91 81 96 +f 87 91 96 +f 70 78 97 +f 88 74 97 +f 78 88 97 +f 90 70 97 +f 74 90 97 +f 77 73 98 +f 86 77 98 +f 83 86 98 +f 80 74 99 +f 74 87 99 +f 87 80 99 +f 82 71 100 +f 73 82 100 +f 71 92 100 +f 92 83 100 +f 98 73 100 +o convex_3 +v -0.342159 2.755982 -3.070807 +v 1.013110 0.631361 -2.191681 +v 1.049700 0.631361 -2.191681 +v 1.013110 2.756197 0.006135 +v -0.965010 0.631361 0.006135 +v -1.001805 2.756197 0.006135 +v -0.928420 0.704951 -2.924489 +v 0.976520 2.829571 -3.034228 +v 1.049700 0.631361 0.006135 +v 1.086495 0.668156 -3.107692 +v -0.965010 2.682823 -3.107692 +v -0.965010 1.400821 -2.997648 +v 1.086495 1.107755 -3.107692 +v -0.965010 0.631361 -1.056499 +v -1.001805 2.719403 -1.971900 +v 1.013110 2.792777 -2.961069 +v 0.133718 0.668371 -3.034228 +v 1.049700 1.620728 0.006135 +v -1.001805 2.023317 -1.056499 +v 1.049700 2.206645 -1.532641 +v 1.013110 2.426337 -3.070807 +v -0.965010 0.741530 -2.228261 +v 1.086495 1.217708 -2.558085 +v -1.001805 2.756197 -0.653515 +v -0.928420 2.719403 -3.070807 +v -0.525519 2.096691 -3.107692 +v 0.903135 2.829571 -2.961069 +v -0.562109 0.668371 -2.631244 +v 0.903135 0.668156 -3.107692 +v 0.536824 2.792777 -3.070807 +v 0.976520 2.829571 -2.887605 +v 1.086495 0.668156 -2.558085 +v -0.672084 0.704951 -2.961069 +v -0.049028 0.668371 -2.997648 +f 114 128 134 +f 102 103 105 +f 105 104 106 +f 104 105 109 +f 105 103 109 +f 103 102 110 +f 109 103 110 +f 110 111 113 +f 102 105 114 +f 111 112 115 +f 104 109 118 +f 105 106 119 +f 114 105 119 +f 106 115 119 +f 116 104 120 +f 104 118 120 +f 108 116 121 +f 116 113 121 +f 112 107 122 +f 107 114 122 +f 115 112 122 +f 114 119 122 +f 119 115 122 +f 110 113 123 +f 113 116 123 +f 118 109 123 +f 116 120 123 +f 120 118 123 +f 115 106 124 +f 115 124 125 +f 101 111 125 +f 111 115 125 +f 124 101 125 +f 111 110 126 +f 112 111 126 +f 108 101 127 +f 101 124 127 +f 124 106 127 +f 114 107 128 +f 110 102 129 +f 102 117 129 +f 126 110 129 +f 101 108 130 +f 111 101 130 +f 113 111 130 +f 108 121 130 +f 121 113 130 +f 106 104 131 +f 104 116 131 +f 116 108 131 +f 127 106 131 +f 108 127 131 +f 109 110 132 +f 123 109 132 +f 110 123 132 +f 107 112 133 +f 117 107 133 +f 112 126 133 +f 129 117 133 +f 126 129 133 +f 102 114 134 +f 117 102 134 +f 107 117 134 +f 128 107 134 +o convex_4 +v -1.111715 0.924642 2.826971 +v 1.123132 2.169850 2.423908 +v 1.123132 2.096691 2.423908 +v -1.001679 2.756197 0.006135 +v 1.049628 0.631361 0.006135 +v -0.964928 2.792777 3.046877 +v 1.013096 2.755982 0.006135 +v 1.013096 0.668371 2.973374 +v -0.964928 0.631361 0.006135 +v 1.086380 2.682823 2.936924 +v -1.111715 0.704735 2.973374 +v 1.123132 0.631361 0.739058 +v 1.049628 2.792777 0.446250 +v -0.195551 1.364457 3.083629 +v -0.964928 2.829571 0.739058 +v -0.964928 0.631361 1.032167 +v -1.001679 2.756197 3.046877 +v 1.049628 2.792777 1.142422 +v -0.598724 2.792777 3.046877 +v 1.049628 0.778109 2.973374 +v 1.013096 2.573085 2.973374 +v -0.928395 2.829571 2.387156 +v -1.001679 2.792777 0.043188 +v 1.086380 0.704951 0.043188 +v -0.159018 2.829571 0.995717 +v -1.111715 0.704735 2.717017 +v 0.793242 0.778109 3.010126 +v 0.353536 1.913579 3.046576 +v -0.561973 1.803410 3.083629 +v 1.123132 0.631361 0.958965 +v 0.426820 0.668156 2.973676 +v -1.111715 1.034381 2.973374 +v 1.086380 1.730466 2.973374 +v 1.086380 2.719618 1.801239 +v 1.123132 0.924642 0.885462 +v -0.928395 0.887848 3.009825 +v -0.378871 2.792777 2.863722 +v -1.001679 2.279804 3.046877 +v 1.049628 0.668371 2.900172 +v -1.001679 2.646244 0.006135 +v -0.415404 1.364457 3.083629 +v 1.123132 1.034596 1.435230 +f 173 164 176 +f 139 138 141 +f 138 139 143 +f 136 137 146 +f 143 139 146 +f 145 143 150 +f 143 146 150 +f 140 149 151 +f 144 153 155 +f 149 140 156 +f 140 153 156 +f 138 135 157 +f 141 138 157 +f 147 141 157 +f 149 147 157 +f 151 149 157 +f 139 141 158 +f 146 139 158 +f 141 147 158 +f 147 149 159 +f 152 147 159 +f 149 156 159 +f 156 152 159 +f 135 138 160 +f 145 135 160 +f 143 145 160 +f 142 154 161 +f 155 153 162 +f 148 161 162 +f 162 153 163 +f 140 151 163 +f 153 140 163 +f 148 162 163 +f 146 137 164 +f 142 150 164 +f 150 146 164 +f 150 142 165 +f 145 150 165 +f 142 161 165 +f 161 145 165 +f 135 145 166 +f 145 151 166 +f 157 135 166 +f 151 157 166 +f 137 136 167 +f 136 144 167 +f 144 155 167 +f 161 154 167 +f 155 162 167 +f 162 161 167 +f 144 136 168 +f 136 147 168 +f 152 144 168 +f 147 152 168 +f 136 146 169 +f 147 136 169 +f 146 158 169 +f 158 147 169 +f 145 161 170 +f 144 152 171 +f 153 144 171 +f 152 156 171 +f 156 153 171 +f 151 145 172 +f 163 151 172 +f 145 170 172 +f 170 163 172 +f 154 142 173 +f 142 164 173 +f 137 167 173 +f 167 154 173 +f 138 143 174 +f 160 138 174 +f 143 160 174 +f 161 148 175 +f 148 163 175 +f 170 161 175 +f 163 170 175 +f 164 137 176 +f 137 173 176 +o convex_5 +v -0.598800 -0.467665 -3.034475 +v 0.610216 0.228324 -2.081796 +v 0.573529 0.191637 -1.056334 +v 0.573529 -0.870749 -2.997986 +v -0.415483 -0.870749 -1.056334 +v -0.525426 0.338266 -1.056334 +v -0.488857 0.301579 -2.997986 +v 0.573529 -0.870749 -1.056334 +v 0.610216 0.264892 -2.924612 +v -0.598800 -0.760806 -3.071360 +v -0.561994 0.228324 -1.056334 +v -0.159147 0.338266 -1.459496 +v 0.610216 0.118381 -2.961298 +v -0.598800 -0.760806 -2.668197 +v -0.378914 -0.797375 -3.071360 +v -0.452170 0.338266 -2.521448 +v -0.452170 -0.797375 -1.056334 +v -0.525426 -0.357604 -3.071360 +v 0.610216 -0.211329 -2.888122 +v -0.561994 0.301579 -1.093218 +v -0.195716 -0.724119 -3.071360 +v 0.097189 0.301579 -2.961298 +v 0.610216 0.264892 -2.631510 +v -0.268971 0.338266 -1.056334 +v -0.598800 -0.321035 -2.118680 +v 0.463586 -0.870749 -2.961298 +v 0.500155 0.264892 -2.961298 +v -0.525426 0.338266 -2.009013 +v -0.561994 -0.797375 -2.704686 +f 191 202 205 +f 181 179 182 +f 178 179 184 +f 181 180 184 +f 179 181 184 +f 181 182 187 +f 185 178 189 +f 177 186 190 +f 182 188 192 +f 181 187 193 +f 190 181 193 +f 177 183 194 +f 186 177 194 +f 191 186 194 +f 178 184 195 +f 184 180 195 +f 189 178 195 +f 180 189 195 +f 187 182 196 +f 189 180 197 +f 180 191 197 +f 191 194 197 +f 188 185 198 +f 183 192 198 +f 192 188 198 +f 179 178 199 +f 178 185 199 +f 185 188 199 +f 199 188 200 +f 182 179 200 +f 188 182 200 +f 179 199 200 +f 177 190 201 +f 193 187 201 +f 190 193 201 +f 196 177 201 +f 187 196 201 +f 180 181 202 +f 191 180 202 +f 185 189 203 +f 194 183 203 +f 189 197 203 +f 197 194 203 +f 198 185 203 +f 183 198 203 +f 183 177 204 +f 182 192 204 +f 192 183 204 +f 177 196 204 +f 196 182 204 +f 181 190 205 +f 190 186 205 +f 186 191 205 +f 202 181 205 +o convex_6 +v -0.049161 -0.907386 -1.056334 +v 1.123132 0.631361 0.958610 +v 1.049707 0.631361 0.995215 +v -0.964989 0.631361 -1.056334 +v -1.001805 -0.907386 1.031819 +v 1.049707 -0.907386 -1.019517 +v -0.964989 0.631361 1.031819 +v 1.049707 -0.907386 0.958610 +v 1.013099 0.631361 -1.019517 +v -1.001805 -0.907386 -1.019517 +v 0.536985 -0.797432 1.105240 +v -0.525483 0.191698 1.105240 +v -1.001805 0.448055 -0.982913 +v 0.683418 0.338252 1.105240 +v 1.123132 -0.357769 0.409118 +v 0.573593 0.191698 -1.056334 +v 1.049707 0.594610 -0.726469 +v -0.525483 -0.687328 1.105240 +v 1.086316 -0.907386 -0.543235 +v -0.928381 -0.870634 -1.056334 +v 1.086316 -0.907386 0.775376 +v 0.573593 -0.870634 -1.056334 +v 1.123132 0.631361 0.738771 +v -1.001805 -0.430971 0.665562 +v 1.049707 -0.211214 -1.019517 +v 0.609994 -0.907386 1.031819 +v 1.086316 -0.614277 0.958610 +v -0.122377 0.631361 1.031819 +f 212 219 233 +f 208 207 209 +f 210 206 211 +f 208 209 212 +f 210 211 213 +f 209 207 214 +f 206 210 215 +f 212 210 217 +f 212 209 218 +f 209 215 218 +f 215 210 218 +f 216 213 219 +f 212 217 219 +f 217 216 219 +f 206 209 221 +f 209 214 221 +f 210 216 223 +f 217 210 223 +f 216 217 223 +f 213 211 224 +f 209 206 225 +f 206 215 225 +f 215 209 225 +f 213 224 226 +f 224 220 226 +f 211 206 227 +f 206 221 227 +f 221 211 227 +f 214 207 228 +f 207 220 228 +f 222 214 228 +f 220 224 228 +f 210 212 229 +f 212 218 229 +f 218 210 229 +f 211 221 230 +f 221 214 230 +f 214 222 230 +f 224 211 230 +f 222 228 230 +f 228 224 230 +f 210 213 231 +f 216 210 231 +f 213 216 231 +f 207 208 232 +f 208 219 232 +f 219 213 232 +f 220 207 232 +f 213 226 232 +f 226 220 232 +f 208 212 233 +f 219 208 233 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/752/752.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/752/752.urdf new file mode 100644 index 000000000..19e50b744 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/752/752.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/753/753.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/753/753.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/753/753.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/753/753.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/753/753.obj new file mode 100644 index 000000000..358201332 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/753/753.obj @@ -0,0 +1,459 @@ +o convex_0 +v 1.093673 3.130437 -0.629282 +v -1.111074 3.422476 0.926600 +v -1.111074 3.422476 0.959134 +v -1.013743 -0.111115 1.023989 +v -1.013743 -0.111115 -0.986091 +v 0.963753 -0.111115 1.056310 +v -1.111074 4.265950 -0.986091 +v 0.931381 4.330799 1.056310 +v 1.061085 -0.111115 -1.050734 +v 1.093673 4.395648 -1.115589 +v -1.078487 4.265950 0.959134 +v 1.028713 -0.111115 0.570004 +v 0.607230 0.311063 -1.083267 +v 0.445154 4.330358 1.056310 +v -1.046115 0.246214 1.023989 +v -1.111074 3.649667 -0.986091 +v 1.093673 1.251148 -1.083267 +v 0.963753 4.363003 0.796890 +v -0.689591 4.298154 -1.018412 +v -0.754335 4.298154 0.958921 +v 0.120787 0.765004 1.056310 +v 0.996341 -0.046266 0.991455 +v 0.801677 4.395648 -1.018412 +v 1.093673 4.395648 -0.791526 +v -1.046115 0.765004 1.023989 +v -1.111074 4.265950 0.926600 +v 1.061085 -0.111115 -0.305007 +v -1.046115 0.926905 -0.986091 +v 0.996341 4.395648 -0.434717 +v 0.315450 -0.111115 -1.050734 +v 0.250491 -0.078029 1.056310 +v 0.963753 2.450187 1.056310 +v 1.061085 4.265509 -1.115589 +v 0.899009 4.363003 0.861745 +v 1.028713 0.829411 -1.083267 +v -0.235521 4.330799 -1.018200 +f 20 23 36 +f 4 5 6 +f 2 3 7 +f 6 5 9 +f 6 9 12 +f 6 8 14 +f 3 2 15 +f 5 4 15 +f 2 7 16 +f 15 2 16 +f 10 1 17 +f 13 5 19 +f 16 7 19 +f 11 14 20 +f 19 7 20 +f 6 14 21 +f 15 4 21 +f 12 1 22 +f 6 12 22 +f 1 10 24 +f 22 1 24 +f 10 23 24 +f 11 3 25 +f 14 11 25 +f 3 15 25 +f 21 14 25 +f 15 21 25 +f 7 3 26 +f 3 11 26 +f 20 7 26 +f 11 20 26 +f 1 12 27 +f 12 9 27 +f 17 1 27 +f 9 17 27 +f 5 15 28 +f 15 16 28 +f 19 5 28 +f 16 19 28 +f 23 20 29 +f 18 24 29 +f 24 23 29 +f 9 5 30 +f 5 13 30 +f 13 9 30 +f 4 6 31 +f 21 4 31 +f 6 21 31 +f 8 6 32 +f 18 8 32 +f 6 22 32 +f 22 24 32 +f 24 18 32 +f 19 10 33 +f 13 19 33 +f 14 8 34 +f 8 18 34 +f 20 14 34 +f 18 29 34 +f 29 20 34 +f 9 13 35 +f 10 17 35 +f 17 9 35 +f 33 10 35 +f 13 33 35 +f 10 19 36 +f 19 20 36 +f 23 10 36 +o convex_1 +v 0.510038 -2.121953 0.343146 +v -0.624733 -3.483716 -0.143052 +v -0.559837 -5.233446 -0.499731 +v -0.592171 -5.720149 0.472888 +v 0.542486 -5.720149 -0.532166 +v 0.445141 -1.797485 -0.532055 +v -0.494941 -1.797485 0.537759 +v 0.412693 -5.752674 0.505212 +v -0.624733 -1.797485 -0.597037 +v 0.477590 -1.797485 0.440341 +v -0.527389 -5.687238 -0.499731 +v 0.510038 -1.797485 -0.499620 +v -0.592171 -4.747518 0.505212 +v 0.445141 -5.201309 0.505212 +v 0.542486 -4.228677 -0.110617 +v -0.041124 -3.483328 0.537759 +v -0.527389 -5.265583 -0.532166 +v -0.527389 -2.251664 0.537759 +v 0.250567 -5.752674 -0.240247 +v 0.542486 -5.720149 -0.272794 +v -0.624733 -1.830009 -0.434860 +v 0.542486 -3.839547 -0.532166 +v -0.430159 -1.797485 -0.597037 +v 0.347797 -1.926808 0.472888 +v -0.300480 -5.720149 0.505212 +v -0.592171 -5.687238 0.083774 +v -0.592171 -2.283801 -0.597037 +v -0.170802 -5.687238 -0.532166 +v -0.300480 -1.862146 0.537759 +v 0.477590 -2.737980 0.472888 +v -0.041124 -5.752674 0.505212 +v -0.592171 -5.720149 0.213516 +v 0.445141 -5.752674 0.440341 +v 0.445141 -4.552372 0.505212 +v 0.510038 -2.315938 -0.532166 +v -0.527389 -1.830009 0.440453 +v -0.624733 -3.418667 -0.078070 +v -0.624733 -1.991856 -0.597037 +f 63 53 74 +f 43 42 45 +f 42 43 46 +f 46 37 48 +f 42 46 48 +f 37 50 51 +f 44 50 52 +f 47 39 53 +f 52 43 54 +f 47 41 55 +f 41 51 56 +f 51 50 56 +f 45 38 57 +f 48 37 58 +f 37 51 58 +f 51 41 58 +f 45 42 59 +f 58 41 59 +f 49 40 61 +f 54 49 61 +f 52 54 61 +f 38 39 62 +f 39 47 62 +f 59 41 63 +f 45 59 63 +f 41 47 64 +f 47 53 64 +f 53 63 64 +f 63 41 64 +f 46 43 65 +f 43 52 65 +f 60 46 65 +f 60 65 66 +f 37 46 66 +f 50 37 66 +f 46 60 66 +f 65 52 66 +f 44 52 67 +f 55 44 67 +f 61 40 67 +f 52 61 67 +f 40 38 68 +f 47 55 68 +f 38 62 68 +f 62 47 68 +f 67 40 68 +f 55 67 68 +f 50 44 69 +f 44 55 69 +f 55 41 69 +f 41 56 69 +f 56 50 69 +f 52 50 70 +f 50 66 70 +f 66 52 70 +f 42 48 71 +f 48 58 71 +f 59 42 71 +f 58 59 71 +f 43 45 72 +f 54 43 72 +f 45 57 72 +f 57 54 72 +f 38 40 73 +f 40 49 73 +f 49 54 73 +f 57 38 73 +f 54 57 73 +f 39 38 74 +f 38 45 74 +f 53 39 74 +f 45 63 74 +o convex_2 +v -0.267981 -0.694724 -3.028506 +v 0.445154 -1.278334 -2.963578 +v 0.542460 -1.278334 -2.963578 +v 0.607331 -0.111115 -1.051153 +v -0.527465 -1.180990 -1.051153 +v -0.462483 -0.143563 -2.963578 +v 0.607331 -0.111115 -3.060970 +v 0.542460 -1.148541 -1.051153 +v -0.430159 -0.143563 -1.051153 +v -0.527465 -1.148541 -2.996042 +v 0.574896 -1.051311 -2.996042 +v -0.494918 -0.273241 -2.866382 +v 0.088364 -0.111115 -3.028506 +v -0.494918 -1.180990 -2.996042 +v 0.607331 -0.403034 -1.342935 +v -0.462483 -1.116207 -3.028506 +v 0.607331 -0.338138 -3.060970 +v 0.250541 -0.111115 -1.051153 +v -0.527465 -0.856622 -2.996042 +v 0.542460 -1.278334 -2.833918 +v -0.462483 -0.143563 -1.926500 +v 0.574896 -0.856737 -1.051153 +v 0.412719 -1.245886 -2.996042 +v -0.527465 -1.116207 -1.051153 +v -0.300306 -1.180990 -1.051153 +v 0.218217 -0.402920 -3.060970 +v 0.542460 -1.180990 -1.407863 +v 0.574896 -1.051311 -2.509672 +f 101 94 102 +f 78 79 82 +f 79 78 83 +f 75 80 87 +f 78 81 87 +f 76 79 88 +f 79 84 88 +f 81 78 89 +f 80 75 90 +f 88 84 90 +f 81 89 91 +f 89 85 91 +f 83 78 92 +f 78 87 92 +f 87 83 92 +f 84 79 93 +f 86 80 93 +f 80 90 93 +f 90 84 93 +f 76 77 94 +f 79 76 94 +f 77 85 94 +f 80 86 95 +f 87 80 95 +f 83 87 95 +f 78 82 96 +f 89 78 96 +f 77 76 97 +f 85 77 97 +f 76 88 97 +f 88 90 97 +f 91 85 97 +f 90 91 97 +f 79 83 98 +f 93 79 98 +f 86 93 98 +f 83 95 98 +f 95 86 98 +f 82 79 99 +f 79 94 99 +f 75 87 100 +f 87 81 100 +f 90 75 100 +f 81 91 100 +f 91 90 100 +f 82 99 101 +f 99 94 101 +f 85 89 102 +f 94 85 102 +f 96 82 102 +f 89 96 102 +f 82 101 102 +o convex_3 +v -0.495042 -1.797098 0.537492 +v 1.061250 -0.111115 -0.305004 +v 1.028751 -0.111115 0.602474 +v -1.013806 -0.111115 -0.985974 +v 1.061250 -1.732075 -1.050956 +v -1.013806 -0.111115 1.023929 +v 0.996252 -1.667382 1.056523 +v -0.981307 -1.667382 -1.018362 +v -0.981307 -1.764586 1.056523 +v 1.061250 -0.111115 -1.050956 +v 0.963753 -0.111115 1.056523 +v -0.624632 -1.797098 -0.596907 +v 0.477488 -1.797098 0.440329 +v -0.430044 -0.143627 -1.050956 +v -1.013806 -1.342926 1.056523 +v 1.061250 -1.732075 -0.629295 +v 0.444989 -1.797098 -0.531925 +v -0.527338 -1.181028 -1.050956 +v -0.462543 -0.273343 1.056523 +v 1.028751 -1.699728 0.375553 +v 0.736870 -1.699728 1.056523 +v -1.013806 -0.435406 -0.985974 +v 0.639576 -1.732240 -1.050956 +v 0.996252 -0.305690 1.023929 +v -0.981307 -0.856902 -1.018362 +v 1.028751 -0.532776 0.634862 +v -0.754221 -1.764586 1.056523 +v -0.981307 -1.764586 0.829396 +v -1.013806 -0.921760 1.056523 +f 117 121 131 +f 105 104 106 +f 105 106 108 +f 106 104 112 +f 104 107 112 +f 105 108 113 +f 111 109 113 +f 103 111 114 +f 103 114 115 +f 106 112 116 +f 112 107 116 +f 108 106 117 +f 111 113 117 +f 107 104 118 +f 115 107 118 +f 114 107 119 +f 107 115 119 +f 115 114 119 +f 116 107 120 +f 113 108 121 +f 117 113 121 +f 109 115 122 +f 115 118 122 +f 109 111 123 +f 115 109 123 +f 106 110 124 +f 117 106 124 +f 110 117 124 +f 107 114 125 +f 114 110 125 +f 120 107 125 +f 110 120 125 +f 105 113 126 +f 113 109 126 +f 110 106 127 +f 106 116 127 +f 120 110 127 +f 116 120 127 +f 104 105 128 +f 118 104 128 +f 109 122 128 +f 122 118 128 +f 105 126 128 +f 126 109 128 +f 111 103 129 +f 103 115 129 +f 123 111 129 +f 115 123 129 +f 110 114 130 +f 114 111 130 +f 117 110 130 +f 111 117 130 +f 108 117 131 +f 121 108 131 +o convex_4 +v 0.380296 -1.278334 1.186576 +v 0.574909 -0.176068 3.066537 +v 0.509927 -0.175960 3.066537 +v 0.509927 -0.240812 1.056720 +v -0.495017 -0.338144 1.056720 +v -0.462470 -1.116150 2.936681 +v -0.462470 -0.175960 3.066537 +v 0.477602 -1.148630 3.034073 +v -0.559888 -1.180894 1.056720 +v 0.542473 -1.278334 1.056720 +v -0.462470 -0.240812 1.089184 +v 0.574909 -0.176068 2.126261 +v 0.574909 -0.435476 3.066537 +v -0.559888 -0.954075 1.380966 +v 0.542473 -0.208548 1.186576 +v 0.509927 -1.213482 2.353116 +v 0.574909 -0.824371 1.834872 +v 0.218119 -1.148630 3.034073 +v -0.559888 -1.180894 1.380966 +v -0.332840 -0.175960 2.644898 +v 0.509927 -0.954075 3.066537 +v -0.495017 -1.116150 2.612631 +v 0.445056 -1.180894 2.904413 +v 0.509927 -1.116150 2.871949 +v 0.542473 -0.240920 1.056720 +v -0.495017 -0.402996 2.580167 +v 0.542473 -1.278334 1.316235 +f 148 155 158 +f 133 134 138 +f 136 135 140 +f 132 140 141 +f 140 135 141 +f 135 136 142 +f 136 138 142 +f 134 133 143 +f 133 138 144 +f 143 133 144 +f 136 140 145 +f 135 142 146 +f 143 144 148 +f 138 137 149 +f 132 137 150 +f 140 132 150 +f 145 140 150 +f 138 134 151 +f 142 138 151 +f 134 143 151 +f 146 142 151 +f 143 146 151 +f 144 138 152 +f 138 149 152 +f 149 139 152 +f 137 138 153 +f 150 137 153 +f 145 150 153 +f 137 132 154 +f 147 139 154 +f 149 137 154 +f 139 149 154 +f 139 147 155 +f 148 144 155 +f 144 152 155 +f 152 139 155 +f 141 135 156 +f 135 146 156 +f 146 143 156 +f 143 148 156 +f 148 141 156 +f 138 136 157 +f 136 145 157 +f 153 138 157 +f 145 153 157 +f 132 141 158 +f 141 148 158 +f 154 132 158 +f 147 154 158 +f 155 147 158 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/753/753.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/753/753.urdf new file mode 100644 index 000000000..017b9b820 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/753/753.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/754/754.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/754/754.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/754/754.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/754/754.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/754/754.obj new file mode 100644 index 000000000..d9004dfdb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/754/754.obj @@ -0,0 +1,552 @@ +o convex_0 +v -0.241100 -4.407976 -0.211983 +v 0.289211 -3.594783 0.282987 +v 0.253849 -3.594783 0.282987 +v -0.205738 -2.463562 -0.353465 +v 0.359994 -2.746706 -0.353465 +v -0.241100 -2.463562 0.247601 +v 0.324632 -4.443441 0.282987 +v 0.289211 -4.443441 -0.211983 +v -0.241100 -4.301966 0.212153 +v 0.253849 -2.463562 0.247601 +v 0.359994 -2.463562 -0.211983 +v 0.359994 -3.983743 0.141443 +v -0.241100 -4.195956 -0.247369 +v 0.147822 -4.407976 0.282987 +v 0.359994 -2.463562 -0.353465 +v 0.324632 -4.443441 -0.105949 +v -0.241100 -2.534493 0.000023 +v 0.324632 -3.806996 0.282987 +f 7 12 18 +f 3 2 6 +f 2 3 7 +f 7 1 8 +f 6 1 9 +f 6 2 10 +f 4 6 10 +f 4 10 11 +f 5 11 12 +f 4 5 13 +f 1 6 13 +f 8 1 13 +f 5 8 13 +f 3 6 14 +f 7 3 14 +f 1 7 14 +f 9 1 14 +f 6 9 14 +f 5 4 15 +f 4 11 15 +f 11 5 15 +f 8 5 16 +f 7 8 16 +f 5 12 16 +f 12 7 16 +f 6 4 17 +f 4 13 17 +f 13 6 17 +f 2 7 18 +f 10 2 18 +f 11 10 18 +f 12 11 18 +o convex_1 +v -1.089703 0.365114 0.601078 +v 0.960894 -0.235952 1.131590 +v 0.925701 -0.235952 1.131590 +v -0.559243 -0.271338 -1.095992 +v 1.102521 2.274471 -0.954479 +v -1.018889 2.274471 1.025400 +v -1.018889 2.274471 -1.060451 +v 1.067114 2.274471 1.060724 +v 1.031708 -0.271338 -0.954479 +v -1.089703 -0.271338 0.954535 +v -1.054296 -0.271338 -1.095992 +v -0.771470 -0.271338 1.096048 +v -0.276202 2.274471 1.096048 +v 1.067114 -0.129793 -0.883613 +v 0.996301 -0.271338 0.954535 +v -0.276202 1.885472 -1.060451 +v -1.089703 -0.235952 -0.317778 +v -1.054296 1.708542 0.989859 +v -0.488429 0.223819 -1.095992 +v -1.054296 0.860520 -1.060451 +v 1.067114 2.132926 1.060724 +v 1.102521 1.956244 -0.883613 +v 1.067114 -0.129793 -0.954479 +v 0.996301 -0.165179 1.096048 +v -1.089703 0.542045 0.883887 +v -0.099382 2.274471 1.096048 +v -0.028783 2.274471 -1.025127 +f 34 25 45 +f 24 23 25 +f 23 24 26 +f 22 27 28 +f 22 28 29 +f 20 21 30 +f 24 28 30 +f 28 27 30 +f 21 20 31 +f 26 24 31 +f 30 21 31 +f 24 30 31 +f 27 32 33 +f 20 30 33 +f 30 27 33 +f 28 19 35 +f 29 28 35 +f 24 25 36 +f 28 24 36 +f 29 25 37 +f 22 29 37 +f 34 23 37 +f 25 34 37 +f 25 29 38 +f 35 19 38 +f 29 35 38 +f 26 20 39 +f 23 26 40 +f 26 39 40 +f 39 32 40 +f 27 22 41 +f 32 27 41 +f 22 37 41 +f 37 23 41 +f 23 40 41 +f 40 32 41 +f 33 32 42 +f 20 33 42 +f 39 20 42 +f 32 39 42 +f 19 28 43 +f 36 25 43 +f 28 36 43 +f 38 19 43 +f 25 38 43 +f 20 26 44 +f 31 20 44 +f 26 31 44 +f 25 23 45 +f 23 34 45 +o convex_2 +v -2.150290 -1.897695 -1.095992 +v -2.822232 -0.271338 1.096232 +v -1.514253 -0.377558 0.990011 +v -2.998996 -2.463562 1.096232 +v -1.089900 -2.463562 1.060825 +v -1.089900 -0.448372 -1.095992 +v -3.069623 -0.342152 -0.919172 +v -3.105134 -2.392748 -1.095992 +v -1.089900 -2.427940 -0.954365 +v -1.089900 -0.412965 0.954604 +v -2.963683 -0.306745 0.990011 +v -3.034310 -2.463562 1.025418 +v -1.089900 -0.412965 -1.060371 +v -1.089900 -2.392533 -1.025179 +v -3.105134 -1.685468 -1.060585 +v -1.089900 -2.003701 1.060825 +v -1.938212 -2.463562 1.096232 +v -2.716094 -0.271338 0.848598 +v -3.069623 -0.377558 -0.706946 +v -1.301978 -0.377558 0.954604 +v -2.963683 -0.377558 -0.954365 +v -2.680781 -2.463562 0.636156 +v -3.105134 -2.357341 -0.636132 +v -2.963683 -0.483565 1.096232 +v -1.231154 -0.483779 -1.095992 +v -1.089900 -2.463562 0.636371 +v -3.069623 -2.428155 -0.282706 +v -2.892859 -1.897695 -1.095992 +v -2.610154 -2.392748 -1.095992 +v -1.089900 -0.696006 -1.095992 +v -2.928172 -0.271338 0.671563 +v -2.928172 -0.342152 -0.919172 +v -3.034310 -2.109922 0.884005 +f 69 64 78 +f 51 46 53 +f 51 50 54 +f 50 51 55 +f 50 49 57 +f 51 52 58 +f 55 51 58 +f 51 54 59 +f 48 47 61 +f 55 48 61 +f 50 55 61 +f 47 49 62 +f 49 50 62 +f 61 47 62 +f 50 61 62 +f 56 52 64 +f 52 60 64 +f 47 48 65 +f 48 55 65 +f 55 58 65 +f 63 47 65 +f 58 63 65 +f 52 51 66 +f 60 52 66 +f 50 57 67 +f 53 57 68 +f 60 53 68 +f 64 60 68 +f 49 47 69 +f 47 56 69 +f 57 49 69 +f 56 64 69 +f 51 53 70 +f 66 51 70 +f 54 50 71 +f 67 54 71 +f 50 67 71 +f 53 54 72 +f 57 53 72 +f 54 67 72 +f 67 57 72 +f 53 60 73 +f 60 66 73 +f 70 53 73 +f 66 70 73 +f 53 46 74 +f 54 53 74 +f 46 59 74 +f 59 54 74 +f 46 51 75 +f 59 46 75 +f 51 59 75 +f 56 47 76 +f 52 56 76 +f 47 63 76 +f 63 58 76 +f 58 52 77 +f 52 76 77 +f 76 58 77 +f 68 57 78 +f 64 68 78 +f 57 69 78 +o convex_3 +v 2.163237 -0.519186 1.131590 +v -1.089298 -0.660385 -1.095992 +v -1.089298 -2.357341 -1.025127 +v 3.046832 -2.286527 -1.060450 +v -1.089298 -2.463562 1.060724 +v 3.011601 -0.377773 -0.989803 +v -1.089298 -0.271338 0.954535 +v 3.046832 -2.321934 0.954753 +v 3.046832 -0.342366 1.096048 +v -1.054067 -0.271338 -1.095992 +v 0.360008 -2.463562 -0.353319 +v -0.771414 -0.271338 1.096048 +v 1.208372 -2.357126 1.095830 +v 1.031815 -0.271338 -0.954479 +v 1.067045 -2.321934 -1.095992 +v 0.961354 -0.271338 1.131590 +v -1.089298 -2.428155 -0.989585 +v -1.018837 -2.039108 1.096048 +v 2.940735 -0.377773 1.131590 +v -0.559222 -0.271338 -1.095992 +v 3.011601 -0.342366 -0.742318 +v 3.046832 -2.321934 -0.140940 +v 2.445890 -2.357341 0.989859 +v 3.046832 -1.261658 -1.025127 +v 0.218681 -2.463562 0.247404 +v -0.347030 -2.428155 1.096048 +v 1.491025 -2.251120 -1.095992 +v 3.046832 -0.342366 0.212080 +v 0.926124 -0.660385 1.131590 +v 2.835044 -0.978832 1.096048 +v -0.205298 -2.463562 -0.353319 +v 0.855258 -2.321934 -1.095992 +v -0.841875 -2.463562 1.060724 +v 2.976371 -1.120245 -1.025127 +v 3.046832 -2.180521 -1.060450 +v -1.089298 -0.271338 -0.388643 +v -1.089298 -2.463562 0.636184 +f 95 109 115 +f 80 81 83 +f 80 83 85 +f 86 82 87 +f 88 85 90 +f 88 90 92 +f 80 88 93 +f 87 92 94 +f 92 90 94 +f 83 81 95 +f 82 89 95 +f 93 82 95 +f 85 83 96 +f 90 85 96 +f 94 90 96 +f 86 87 97 +f 79 91 97 +f 94 79 97 +f 87 94 97 +f 92 84 98 +f 88 92 98 +f 93 88 98 +f 84 92 99 +f 82 86 100 +f 89 82 100 +f 89 100 101 +f 86 91 101 +f 100 86 101 +f 87 82 102 +f 83 89 103 +f 89 101 103 +f 96 83 104 +f 101 91 104 +f 82 93 105 +f 93 98 105 +f 92 87 106 +f 84 99 106 +f 99 92 106 +f 87 102 106 +f 102 84 106 +f 91 79 107 +f 79 94 107 +f 94 96 107 +f 104 91 107 +f 96 104 107 +f 91 86 108 +f 86 97 108 +f 97 91 108 +f 89 83 109 +f 95 89 109 +f 81 80 110 +f 80 93 110 +f 95 81 110 +f 93 95 110 +f 83 103 111 +f 103 101 111 +f 104 83 111 +f 101 104 111 +f 98 84 112 +f 84 102 112 +f 112 102 113 +f 102 82 113 +f 82 105 113 +f 105 98 113 +f 98 112 113 +f 80 85 114 +f 88 80 114 +f 85 88 114 +f 83 95 115 +f 109 83 115 +o convex_4 +v 0.395131 3.582609 -0.989744 +v 1.102276 3.688795 1.025342 +v -0.347136 3.724167 1.060873 +v -0.983423 3.016998 1.025342 +v 1.102276 3.016998 -0.954417 +v -0.983423 3.653423 -1.025275 +v 1.066949 3.016998 1.025342 +v -0.983423 3.016998 -1.025275 +v 1.102276 3.618050 -0.954417 +v -0.983423 3.724167 1.060873 +v -0.912770 3.688795 -0.494753 +v 1.066949 3.688795 0.742519 +v -0.983423 3.193929 1.060873 +v -0.382258 3.653423 -1.025275 +v 1.102276 3.264535 0.990014 +v -0.912770 3.724167 0.530147 +v -0.064319 3.653423 -0.954417 +v -0.665279 3.016998 -1.025275 +f 123 129 133 +f 117 118 122 +f 119 120 122 +f 120 119 123 +f 119 121 123 +f 120 116 124 +f 117 120 124 +f 121 119 125 +f 118 117 127 +f 117 124 127 +f 122 118 128 +f 119 122 128 +f 118 125 128 +f 125 119 128 +f 116 120 129 +f 123 121 129 +f 124 116 129 +f 121 126 129 +f 120 117 130 +f 117 122 130 +f 122 120 130 +f 125 118 131 +f 121 125 131 +f 126 121 131 +f 127 126 131 +f 118 127 131 +f 127 124 132 +f 126 127 132 +f 124 129 132 +f 129 126 132 +f 120 123 133 +f 129 120 133 +o convex_5 +v -0.276361 2.804806 1.626861 +v 0.359925 2.628114 2.969908 +v 0.324622 2.910843 3.076111 +v 0.324622 2.946281 1.096425 +v 0.077085 2.415984 1.096425 +v -0.241058 2.415984 2.969908 +v -0.347106 2.910843 2.969908 +v -0.205617 2.415984 1.131891 +v 0.324622 2.451367 1.485386 +v -0.241058 2.875516 1.096425 +v 0.324622 2.451367 2.934636 +v -0.099569 2.380601 2.969908 +v -0.099569 2.946281 2.121443 +v 0.289180 2.451367 1.096425 +v -0.205617 2.380601 1.450114 +v -0.347106 2.840133 2.934636 +v 0.359925 2.486694 2.616413 +v 0.324622 2.946281 1.980356 +v 0.112388 2.946281 1.131891 +f 143 146 152 +f 139 136 140 +f 137 138 143 +f 134 140 143 +f 141 134 143 +f 138 141 143 +f 135 136 144 +f 142 144 145 +f 136 139 145 +f 138 142 145 +f 144 136 145 +f 140 136 146 +f 143 140 146 +f 138 137 147 +f 137 142 147 +f 142 138 147 +f 141 138 148 +f 145 139 148 +f 138 145 148 +f 139 140 149 +f 140 134 149 +f 134 141 149 +f 148 139 149 +f 141 148 149 +f 137 135 150 +f 142 137 150 +f 135 144 150 +f 144 142 150 +f 136 135 151 +f 135 137 151 +f 146 136 151 +f 137 146 151 +f 137 143 152 +f 146 137 152 +o convex_6 +v -0.064273 2.981640 -2.969776 +v -0.241037 2.274471 -1.131566 +v -0.205724 2.274471 -1.131566 +v -0.276417 2.910895 -1.096294 +v 0.324635 2.840081 -1.060634 +v 0.218432 2.416029 -3.040514 +v -0.347175 2.840081 -2.934310 +v 0.253811 2.981640 -2.934310 +v 0.289190 2.451401 -1.060634 +v -0.205724 2.451401 -2.934310 +v -0.347175 2.946267 -2.439340 +v -0.276417 2.522077 -1.060634 +v 0.253811 2.416029 -2.474806 +v 0.324635 2.875453 -1.273041 +v 0.183119 2.981640 -3.040514 +v 0.112360 2.416029 -3.040514 +v -0.276417 2.380657 -1.414516 +v 0.324635 2.698730 -1.273041 +v -0.347175 2.946267 -2.934310 +v 0.253811 2.981640 -2.757563 +v -0.241037 2.486704 -2.899038 +f 169 159 173 +f 155 154 158 +f 154 155 161 +f 156 153 163 +f 157 156 164 +f 154 161 164 +f 161 157 164 +f 156 163 164 +f 155 158 165 +f 158 160 165 +f 161 155 165 +f 156 157 166 +f 153 160 167 +f 160 158 167 +f 158 154 168 +f 154 162 168 +f 162 159 168 +f 167 158 168 +f 163 159 169 +f 164 163 169 +f 154 164 169 +f 157 161 170 +f 165 160 170 +f 161 165 170 +f 166 157 170 +f 160 166 170 +f 163 153 171 +f 159 163 171 +f 153 167 171 +f 168 159 171 +f 167 168 171 +f 153 156 172 +f 160 153 172 +f 156 166 172 +f 166 160 172 +f 162 154 173 +f 159 162 173 +f 154 169 173 +o convex_7 +v -1.018986 2.910809 0.989824 +v 1.102521 3.016998 0.105839 +v 1.102521 2.981529 0.105839 +v -1.018986 2.274471 -1.060634 +v 1.067011 2.274471 1.060763 +v -0.983475 3.016998 -1.025165 +v 1.102521 2.274471 -0.954437 +v -1.018986 2.274471 1.025504 +v 1.102521 3.016998 -0.954437 +v 1.067011 3.016998 1.025293 +v -0.983475 3.016998 1.025504 +v 0.324400 2.840161 -1.060634 +v -0.205769 2.875557 1.096232 +v -0.241072 2.274471 1.096232 +v 0.289097 2.451308 -1.060634 +v 0.324400 2.946205 1.096232 +v -1.018986 2.628145 -1.060634 +v -0.948172 2.981529 -1.060634 +v -0.170258 2.274471 -1.060634 +f 188 180 192 +f 176 175 178 +f 175 176 180 +f 178 177 180 +f 176 178 180 +f 174 177 181 +f 177 178 181 +f 179 175 182 +f 175 180 182 +f 178 175 183 +f 175 179 183 +f 179 174 184 +f 174 181 184 +f 183 179 184 +f 182 180 185 +f 186 184 187 +f 181 178 187 +f 184 181 187 +f 177 185 188 +f 185 180 188 +f 178 183 189 +f 183 184 189 +f 184 186 189 +f 186 187 189 +f 187 178 189 +f 177 174 190 +f 174 179 190 +f 185 177 190 +f 185 190 191 +f 179 182 191 +f 182 185 191 +f 190 179 191 +f 180 177 192 +f 177 188 192 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/754/754.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/754/754.urdf new file mode 100644 index 000000000..f45d75202 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/754/754.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/755/755.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/755/755.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/755/755.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/755/755.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/755/755.obj new file mode 100644 index 000000000..c594f3e1c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/755/755.obj @@ -0,0 +1,849 @@ +o convex_0 +v -0.378101 -0.097914 -5.511753 +v 0.565035 0.097036 -2.682618 +v 0.499960 0.357258 -2.682618 +v -0.573324 -0.000384 -2.682959 +v 0.109624 -0.520828 -2.682959 +v 0.434886 -0.032858 -5.706948 +v -0.020413 0.422314 -5.251493 +v -0.443175 0.487369 -2.682959 +v -0.020413 -0.390717 -5.576818 +v -0.378101 -0.423191 -2.715321 +v 0.402348 -0.390609 -4.114048 +v 0.077087 0.585006 -2.715321 +v 0.434886 0.389732 -4.244178 +v -0.410638 0.032089 -5.609180 +v -0.020413 0.032089 -6.162403 +v 0.077087 0.389840 -5.641883 +v 0.434886 -0.390609 -2.682618 +v -0.410638 0.389840 -4.178772 +v -0.410638 -0.325662 -4.081345 +v 0.565035 -0.032858 -3.691296 +v -0.052951 -0.488246 -4.178772 +v -0.540676 0.064454 -3.821085 +v -0.117914 0.357150 -5.544115 +v 0.012012 0.519843 -4.146410 +v 0.304848 -0.293080 -5.316898 +v 0.434886 0.032089 -5.706948 +v 0.337385 0.292203 -5.349261 +v -0.117914 -0.520828 -2.682959 +v 0.012012 -0.065440 -6.129700 +v -0.313026 -0.260606 -5.284196 +v 0.467423 0.422314 -2.682618 +v 0.532497 0.064563 -4.244178 +v 0.044550 -0.488246 -4.178772 +v 0.109624 -0.358135 -5.576818 +v -0.378101 -0.358135 -4.146410 +v 0.565035 -0.097914 -2.682618 +v -0.508138 -0.000384 -4.406670 +v -0.085488 0.585006 -2.682959 +v -0.475712 0.454895 -2.715321 +v -0.313026 0.259729 -5.349261 +v -0.443175 -0.358135 -2.682959 +v -0.410638 0.422314 -3.951215 +v 0.402348 -0.423191 -3.365971 +v 0.532497 -0.032858 -4.438692 +v 0.109624 0.032089 -6.097338 +v 0.142050 0.487369 -4.243837 +v -0.280489 -0.032858 -5.804375 +v -0.573324 0.097036 -2.812748 +v 0.467423 0.324676 -4.211475 +v -0.052951 -0.358135 -5.641883 +v 0.304848 -0.423191 -4.211475 +v 0.044550 -0.520828 -3.365971 +v -0.508138 0.064454 -4.406670 +v 0.044550 -0.325662 -5.739310 +v -0.020413 0.357150 -5.706948 +v 0.337385 -0.325553 -5.023936 +v 0.044550 -0.390717 -5.544115 +v -0.573324 -0.000384 -2.845451 +v 0.565035 0.097036 -2.975581 +v 0.467423 0.422314 -2.975581 +v 0.174587 -0.032858 -6.032273 +v -0.378101 0.064454 -5.641883 +v -0.345563 0.357150 -4.763676 +v -0.345563 0.519843 -2.715321 +f 42 8 64 +f 2 3 17 +f 7 16 23 +f 16 7 24 +f 16 13 27 +f 26 16 27 +f 13 26 27 +f 5 17 28 +f 10 21 28 +f 19 1 30 +f 8 4 31 +f 17 3 31 +f 4 17 31 +f 21 9 33 +f 6 25 34 +f 21 10 35 +f 9 21 35 +f 30 9 35 +f 19 30 35 +f 2 17 36 +f 17 11 36 +f 20 2 36 +f 11 20 36 +f 14 1 37 +f 1 19 37 +f 12 24 38 +f 8 31 38 +f 31 12 38 +f 4 8 39 +f 17 4 41 +f 10 28 41 +f 28 17 41 +f 35 10 41 +f 19 35 41 +f 7 23 42 +f 24 7 42 +f 39 8 42 +f 18 39 42 +f 17 5 43 +f 11 17 43 +f 11 6 44 +f 20 11 44 +f 6 26 44 +f 32 20 44 +f 26 32 44 +f 15 16 45 +f 16 26 45 +f 29 15 45 +f 12 13 46 +f 13 16 46 +f 24 12 46 +f 16 24 46 +f 1 14 47 +f 14 15 47 +f 15 29 47 +f 4 39 48 +f 39 22 48 +f 26 13 49 +f 32 26 49 +f 30 1 50 +f 9 30 50 +f 1 47 50 +f 47 29 50 +f 11 43 51 +f 51 43 52 +f 5 28 52 +f 28 21 52 +f 21 33 52 +f 43 5 52 +f 33 51 52 +f 18 14 53 +f 14 37 53 +f 37 22 53 +f 39 18 53 +f 22 39 53 +f 6 34 54 +f 9 50 54 +f 50 29 54 +f 16 15 55 +f 23 16 55 +f 6 11 56 +f 25 6 56 +f 34 25 56 +f 11 51 56 +f 56 51 57 +f 33 9 57 +f 51 33 57 +f 54 34 57 +f 9 54 57 +f 34 56 57 +f 37 19 58 +f 22 37 58 +f 41 4 58 +f 19 41 58 +f 4 48 58 +f 48 22 58 +f 3 2 59 +f 2 20 59 +f 20 32 59 +f 49 3 59 +f 32 49 59 +f 13 12 60 +f 12 31 60 +f 31 3 60 +f 3 49 60 +f 49 13 60 +f 26 6 61 +f 45 26 61 +f 29 45 61 +f 6 54 61 +f 54 29 61 +f 15 14 62 +f 14 40 62 +f 40 23 62 +f 55 15 62 +f 23 55 62 +f 14 18 63 +f 40 14 63 +f 23 40 63 +f 42 23 63 +f 18 42 63 +f 8 38 64 +f 38 24 64 +f 24 42 64 +o convex_1 +v 0.239693 -0.488144 -2.682618 +v 0.109532 1.235497 -0.438425 +v 0.012274 1.235497 -0.438425 +v 0.012274 -1.301417 -0.438425 +v -0.995902 -0.000677 -1.836652 +v 1.052732 0.032102 -0.438425 +v 0.369854 0.487038 -2.682618 +v -0.898437 -0.910798 -0.438425 +v -0.833460 0.909940 -0.471376 +v -0.475673 0.487038 -2.682618 +v 1.020243 0.032102 -1.934407 +v 0.890083 1.007781 -0.536180 +v -0.703299 -0.748391 -1.901895 +v 0.857594 -0.845736 -0.503668 +v -0.020214 0.975250 -1.966699 +v 0.760129 -0.683330 -1.901895 +v 0.792617 0.747533 -1.934407 +v -0.443185 -0.358021 -2.682618 +v -0.768276 0.715002 -1.934407 +v 0.044555 -0.943577 -1.901895 +v -1.028391 0.064384 -0.438425 +v 0.597480 -0.032960 -2.682618 +v 1.085220 -0.000429 -1.219148 +v 0.955266 0.877409 -0.438425 +v -0.833460 -1.008390 -0.471376 +v -0.117887 -0.520675 -2.682618 +v -0.605834 0.031854 -2.649667 +v 0.077044 0.617161 -2.649667 +v -0.930925 -0.195366 -1.934407 +v 0.499808 0.421976 -2.682618 +v 0.922778 -0.683330 -0.438425 +v -1.028391 -0.162835 -1.089100 +v 0.760129 1.072594 -0.471376 +v -0.898437 0.715002 -0.438425 +v 0.434831 -0.390552 -2.682618 +v -0.020214 -1.301417 -0.471376 +v 0.597480 0.812595 -1.966699 +v -0.930925 0.194508 -1.934407 +v -0.182864 1.170435 -0.471376 +v -0.020214 -0.943577 -1.901895 +v 1.020243 0.096915 -1.901895 +v -1.028391 0.064384 -1.121612 +v 0.922778 -0.260428 -1.934407 +v -0.963414 -0.650799 -0.601204 +v 1.052732 0.324632 -0.438425 +v -0.703299 0.747533 -1.934407 +v -0.800765 0.942470 -0.471376 +v 0.044555 0.975250 -1.934407 +v -0.735788 -0.683330 -1.934407 +v 0.012274 -1.301417 -0.471376 +v -1.028391 -0.162835 -0.438425 +v -0.865949 -0.975859 -0.536180 +v 0.337158 -0.845984 -1.901895 +v -0.410697 0.519817 -2.682618 +v 1.085220 0.064384 -1.154344 +v 0.825106 -0.520675 -1.934407 +v -0.963414 -0.000677 -1.966699 +v 0.922778 0.975001 -0.471376 +v -0.378001 -0.423082 -2.682618 +v 0.012274 -0.553206 -2.649667 +v 0.890083 -0.780922 -0.471376 +v -0.117887 0.584631 -2.682618 +v 0.109532 1.235497 -0.471376 +v -0.605834 -0.780922 -1.901895 +f 104 100 128 +f 66 67 68 +f 66 68 70 +f 68 67 72 +f 71 65 74 +f 74 65 82 +f 72 67 85 +f 65 71 86 +f 66 70 88 +f 68 72 89 +f 82 65 90 +f 74 82 91 +f 91 82 93 +f 71 81 94 +f 86 71 94 +f 75 86 94 +f 70 68 95 +f 87 70 95 +f 76 81 97 +f 66 88 97 +f 73 83 98 +f 85 67 98 +f 80 65 99 +f 65 86 99 +f 68 89 100 +f 89 77 100 +f 81 71 101 +f 71 92 101 +f 97 81 101 +f 83 74 102 +f 69 98 102 +f 98 83 102 +f 67 79 103 +f 84 100 104 +f 87 75 105 +f 94 81 105 +f 75 94 105 +f 69 96 106 +f 96 85 106 +f 98 69 106 +f 85 98 106 +f 86 75 107 +f 75 87 107 +f 69 93 108 +f 96 69 108 +f 88 70 109 +f 103 79 110 +f 103 110 111 +f 83 73 111 +f 98 67 111 +f 73 98 111 +f 67 103 111 +f 110 83 111 +f 92 79 112 +f 101 92 112 +f 97 101 112 +f 82 77 113 +f 93 82 113 +f 78 68 114 +f 80 78 114 +f 68 100 114 +f 100 84 114 +f 72 85 115 +f 85 96 115 +f 108 72 115 +f 96 108 115 +f 89 72 116 +f 77 89 116 +f 72 108 116 +f 108 93 116 +f 113 77 116 +f 93 113 116 +f 65 80 117 +f 84 65 117 +f 80 114 117 +f 114 84 117 +f 71 74 118 +f 74 83 118 +f 110 79 118 +f 83 110 118 +f 70 87 119 +f 87 105 119 +f 105 88 119 +f 109 70 119 +f 88 109 119 +f 80 99 120 +f 99 86 120 +f 86 107 120 +f 74 91 121 +f 93 69 121 +f 91 93 121 +f 102 74 121 +f 69 102 121 +f 81 76 122 +f 76 97 122 +f 97 88 122 +f 105 81 122 +f 88 105 122 +f 77 82 123 +f 82 90 123 +f 90 77 123 +f 65 84 124 +f 90 65 124 +f 104 90 124 +f 84 104 124 +f 68 78 125 +f 78 80 125 +f 95 68 125 +f 87 95 125 +f 107 87 125 +f 80 120 125 +f 120 107 125 +f 92 71 126 +f 79 92 126 +f 71 118 126 +f 118 79 126 +f 67 66 127 +f 79 67 127 +f 66 97 127 +f 112 79 127 +f 97 112 127 +f 77 90 128 +f 100 77 128 +f 90 104 128 +o convex_2 +v 0.987831 -0.195271 2.716675 +v -1.061192 -0.065239 2.098489 +v -1.028499 -0.292857 2.098489 +v -0.052726 0.031593 3.822121 +v 0.012058 1.268022 2.098489 +v 0.012058 -1.301417 2.098489 +v -0.768360 -0.032794 3.561956 +v 0.825169 0.812283 2.098658 +v 0.142228 0.779838 3.529393 +v -0.865837 0.975011 2.131220 +v -0.020434 -0.715899 3.626913 +v 0.825169 -1.041103 2.098658 +v 0.792677 0.031844 3.561956 +v -0.898329 -0.975961 2.131220 +v 0.792677 0.779838 2.846588 +v -0.768360 0.780090 2.846757 +v -1.028499 0.031844 2.911714 +v -0.800852 -0.748092 2.911714 +v 0.727491 -0.715899 2.944276 +v 0.012058 0.779838 3.561788 +v 0.987831 -0.000601 2.098658 +v 0.987831 0.162127 2.846588 +v -0.735868 0.129430 3.561956 +v 0.564829 -0.520726 3.431705 +v -0.605698 -0.520726 3.431705 +v 0.630014 0.519524 3.431705 +v -0.085218 1.268022 2.131220 +v 0.630014 -1.106244 2.196346 +v -0.052726 -1.301417 2.131220 +v 0.694999 0.096734 3.626913 +v -0.963515 0.682252 2.098489 +v -0.475728 0.617362 3.399311 +v 0.077043 0.064289 3.822121 +v -1.028499 -0.097684 2.846757 +v 0.759984 0.812283 2.846757 +v 0.890154 -0.878375 2.163783 +v -0.052726 -0.715899 3.626913 +v 0.987831 -0.325302 2.098658 +v -1.028499 0.194572 2.716506 +v -0.963515 -0.715647 2.098489 +v 0.792677 0.096734 3.561956 +v -0.735868 -0.032794 3.594519 +v 0.759984 -0.748344 2.846757 +v 0.987831 -0.000601 2.944108 +v 0.077043 0.942315 3.106584 +v -0.898329 -0.520726 2.879320 +v 0.630014 0.649556 3.301623 +v 0.012058 -1.301417 2.131220 +v 0.792677 0.844980 2.228740 +v 0.792677 -0.943516 2.423947 +v -0.020434 0.909870 3.204103 +v 0.890154 0.584666 2.098658 +v -0.020434 0.194320 3.789558 +v 0.044550 -0.032794 3.822121 +v 0.759984 0.031593 3.594350 +v -1.061192 0.096734 2.131220 +v 0.077043 0.617111 3.626913 +v 0.012058 1.268022 2.131220 +v -0.865837 0.975011 2.098489 +v -0.898329 -0.975961 2.098489 +v -0.605698 0.617362 3.269229 +v 0.987831 0.194572 2.749069 +v -1.061192 -0.032794 2.423947 +v -0.735868 0.064289 3.594519 +f 181 148 192 +f 131 130 133 +f 131 133 134 +f 134 133 149 +f 129 149 150 +f 144 145 151 +f 139 147 152 +f 147 141 152 +f 135 146 153 +f 138 144 155 +f 134 140 156 +f 146 142 157 +f 154 137 158 +f 133 130 159 +f 148 144 160 +f 151 148 160 +f 135 145 162 +f 153 146 165 +f 157 139 165 +f 146 157 165 +f 140 134 166 +f 134 149 166 +f 149 129 166 +f 129 164 166 +f 164 140 166 +f 144 138 167 +f 145 144 167 +f 138 159 167 +f 131 134 168 +f 142 162 168 +f 150 143 169 +f 154 158 169 +f 135 153 170 +f 165 132 170 +f 153 165 170 +f 141 147 171 +f 164 129 171 +f 129 150 172 +f 169 141 172 +f 150 169 172 +f 171 129 172 +f 141 171 172 +f 148 137 173 +f 137 163 173 +f 146 135 174 +f 142 146 174 +f 162 142 174 +f 135 162 174 +f 137 154 175 +f 163 137 175 +f 143 163 175 +f 169 143 175 +f 154 169 175 +f 134 156 176 +f 156 139 176 +f 157 134 176 +f 139 157 176 +f 136 133 177 +f 143 136 177 +f 163 143 177 +f 147 139 178 +f 139 156 178 +f 156 140 178 +f 140 164 178 +f 171 147 178 +f 164 171 178 +f 144 148 179 +f 155 144 179 +f 148 173 179 +f 133 136 180 +f 149 133 180 +f 132 161 181 +f 161 132 182 +f 158 161 182 +f 132 165 182 +f 165 139 182 +f 139 152 183 +f 152 141 183 +f 141 169 183 +f 169 158 183 +f 182 139 183 +f 158 182 183 +f 159 130 184 +f 167 159 184 +f 137 148 185 +f 158 137 185 +f 161 158 185 +f 148 181 185 +f 181 161 185 +f 133 155 186 +f 173 163 186 +f 177 133 186 +f 163 177 186 +f 155 179 186 +f 179 173 186 +f 155 133 187 +f 138 155 187 +f 133 159 187 +f 159 138 187 +f 134 157 188 +f 157 142 188 +f 168 134 188 +f 142 168 188 +f 144 151 189 +f 160 144 189 +f 151 160 189 +f 136 143 190 +f 143 150 190 +f 150 149 190 +f 180 136 190 +f 149 180 190 +f 130 131 191 +f 162 145 191 +f 145 167 191 +f 131 168 191 +f 168 162 191 +f 184 130 191 +f 167 184 191 +f 145 135 192 +f 151 145 192 +f 148 151 192 +f 170 132 192 +f 135 170 192 +f 132 181 192 +o convex_3 +v 0.987701 0.714901 -0.438400 +v -1.028668 -0.162689 -0.438400 +v -0.963466 -0.650633 -0.438400 +v -0.020280 1.983319 -0.178254 +v -0.020280 -2.016957 -0.178254 +v -1.028668 -0.130317 -0.178254 +v 1.052902 0.097075 -0.178254 +v 0.857704 -0.845653 -0.438400 +v -0.800869 0.942687 -0.438400 +v -0.052881 -1.366364 -0.438400 +v 0.890102 1.235217 -0.178254 +v 0.076912 1.267983 -0.438400 +v 0.857704 -1.008301 -0.178254 +v -0.833266 0.975059 -0.178254 +v -0.898468 -1.041068 -0.178254 +v -0.865867 -1.008696 -0.438400 +v 0.890102 1.039802 -0.438400 +v 0.044515 2.016086 -0.210801 +v 1.052902 0.031936 -0.438400 +v -0.052881 -2.016957 -0.210801 +v -1.028668 0.064308 -0.438400 +v 1.052902 0.356838 -0.178254 +v -0.833266 0.975059 -0.308340 +v -0.020280 -2.016957 -0.210801 +v -0.995863 0.226956 -0.178254 +v 0.012117 -1.561384 -0.373357 +v 0.597508 1.528141 -0.210801 +v -0.898468 0.714901 -0.438400 +v 0.012117 1.495375 -0.373357 +v 0.922702 -0.683005 -0.438400 +v 0.922702 1.170079 -0.210801 +v 1.052902 0.324466 -0.438400 +f 193 223 224 +f 195 194 193 +f 194 195 198 +f 197 196 198 +f 196 197 199 +f 195 193 200 +f 193 194 201 +f 195 200 202 +f 196 199 203 +f 193 201 204 +f 199 197 205 +f 198 196 206 +f 198 195 207 +f 197 198 207 +f 195 202 208 +f 207 195 208 +f 193 204 209 +f 209 204 210 +f 201 196 210 +f 196 203 210 +f 200 193 211 +f 199 205 211 +f 197 207 212 +f 208 202 212 +f 207 208 212 +f 194 198 213 +f 201 194 213 +f 203 199 214 +f 199 211 214 +f 196 201 215 +f 206 196 215 +f 205 197 216 +f 200 205 216 +f 197 212 216 +f 198 206 217 +f 213 198 217 +f 202 200 218 +f 212 202 218 +f 200 216 218 +f 216 212 218 +f 203 209 219 +f 209 210 219 +f 210 203 219 +f 201 213 220 +f 215 201 220 +f 206 215 220 +f 217 206 220 +f 213 217 220 +f 204 201 221 +f 210 204 221 +f 201 210 221 +f 205 200 222 +f 200 211 222 +f 211 205 222 +f 193 209 223 +f 209 203 223 +f 203 214 223 +f 223 214 224 +f 211 193 224 +f 214 211 224 +o convex_4 +v -0.052782 -2.926918 0.472294 +v -0.020292 1.299960 2.098489 +v -0.020292 1.397075 2.065952 +v 1.052683 0.129841 -0.178229 +v -0.833353 1.039999 -0.178229 +v -1.060985 -0.065574 2.098489 +v 0.857747 -1.008301 2.098489 +v 0.792561 2.861501 0.765129 +v -0.735885 2.763793 0.830204 +v -0.800864 -2.732096 0.895278 +v -0.898539 -1.105417 -0.178229 +v 0.890236 -2.569250 1.089833 +v -0.052782 -2.764073 1.610430 +v 0.044479 2.763201 0.016995 +v 0.987704 -0.032413 2.098489 +v -0.020292 -2.796642 0.082070 +v 0.077176 2.730632 1.545355 +v 1.052683 2.340987 0.472294 +v -0.996007 2.047865 0.732592 +v -0.865843 0.974861 2.098489 +v 0.792561 -1.171147 -0.178229 +v -1.060985 -1.691068 0.862741 +v -0.898539 -0.975732 2.098489 +v 0.792561 2.470672 1.382669 +v 0.890236 1.365098 -0.178229 +v -1.028496 0.031541 -0.178229 +v 0.727583 -2.569250 0.309830 +v 0.825051 0.812608 2.098489 +v -0.703396 2.113003 0.049532 +v 0.987704 -2.114467 1.024759 +v -0.833353 -2.016760 0.082070 +v -0.052782 3.023754 0.830204 +v 0.695093 -2.894349 0.927816 +v -0.085271 -2.081306 -0.178229 +v -0.768375 2.080434 1.545355 +v 0.760072 -2.146444 1.675282 +v -0.052782 -1.397946 2.098489 +v 0.011990 2.113003 -0.178229 +v -0.605721 -2.504112 1.480504 +v -0.052782 -3.024626 0.927816 +v 0.760072 2.210711 0.016995 +v -1.028496 -2.081306 0.927816 +v -1.060985 0.064110 0.830204 +v 1.052683 1.169684 0.797667 +v 0.955215 -2.341858 1.252743 +v -0.605721 -2.601819 0.277293 +v -0.020292 2.828932 0.049532 +v -0.020292 2.730632 1.545355 +v -0.735885 2.763793 0.700055 +v -0.768375 -2.048737 1.642744 +v 0.564929 -2.634388 1.447743 +v 0.564929 2.666086 0.212219 +v -0.963517 0.681739 2.098489 +v -1.028496 -1.983598 0.732592 +v -0.573232 2.568379 1.350132 +v 0.044479 -2.764073 1.610430 +v -0.573232 2.535810 0.179681 +v -0.996007 1.950750 0.927816 +v 0.987704 -0.324942 2.098489 +v 0.825051 2.470672 1.317817 +v 0.142154 3.023754 0.797667 +v -0.638210 -2.829211 0.862741 +v -0.085271 -2.796642 0.082070 +v 0.955215 -2.374428 1.024759 +f 254 269 288 +f 226 230 231 +f 229 228 235 +f 226 231 239 +f 226 227 244 +f 230 226 244 +f 235 228 245 +f 231 230 247 +f 232 241 248 +f 228 229 249 +f 242 228 249 +f 229 235 250 +f 243 229 250 +f 245 228 251 +f 240 245 251 +f 227 226 252 +f 226 239 252 +f 241 227 252 +f 248 241 252 +f 229 243 253 +f 225 240 257 +f 251 236 257 +f 240 251 257 +f 235 245 258 +f 245 240 258 +f 255 235 258 +f 231 247 261 +f 247 237 261 +f 249 229 262 +f 229 253 262 +f 234 237 263 +f 225 257 264 +f 242 249 265 +f 249 262 265 +f 262 238 265 +f 230 246 266 +f 247 230 266 +f 230 243 267 +f 246 230 267 +f 243 250 267 +f 250 246 267 +f 228 242 268 +f 242 239 268 +f 254 228 268 +f 231 260 269 +f 234 255 270 +f 238 262 271 +f 262 253 271 +f 227 241 272 +f 244 227 272 +f 256 233 272 +f 241 256 272 +f 259 244 272 +f 243 233 273 +f 253 243 273 +f 233 256 273 +f 256 271 273 +f 237 247 274 +f 234 263 274 +f 263 237 274 +f 247 266 274 +f 266 234 274 +f 257 236 275 +f 236 269 275 +f 269 260 275 +f 232 242 276 +f 265 238 276 +f 242 265 276 +f 271 232 276 +f 238 271 276 +f 230 244 277 +f 244 259 277 +f 250 235 278 +f 246 250 278 +f 255 234 278 +f 235 255 278 +f 266 246 278 +f 234 266 278 +f 233 259 279 +f 272 233 279 +f 259 272 279 +f 260 231 280 +f 231 261 280 +f 261 237 280 +f 237 264 280 +f 264 257 280 +f 257 275 280 +f 275 260 280 +f 271 253 281 +f 253 273 281 +f 273 271 281 +f 243 230 282 +f 233 243 282 +f 259 233 282 +f 230 277 282 +f 277 259 282 +f 239 231 283 +f 268 239 283 +f 254 268 283 +f 231 269 283 +f 269 254 283 +f 242 232 284 +f 239 242 284 +f 232 248 284 +f 252 239 284 +f 248 252 284 +f 241 232 285 +f 256 241 285 +f 232 271 285 +f 271 256 285 +f 237 234 286 +f 225 264 286 +f 264 237 286 +f 234 270 286 +f 286 270 287 +f 240 225 287 +f 258 240 287 +f 255 258 287 +f 270 255 287 +f 225 286 287 +f 236 251 288 +f 251 228 288 +f 228 254 288 +f 269 236 288 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/755/755.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/755/755.urdf new file mode 100644 index 000000000..3ca96bd41 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/755/755.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/756/756.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/756/756.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/756/756.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/756/756.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/756/756.obj new file mode 100644 index 000000000..72ddd2ab1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/756/756.obj @@ -0,0 +1,1080 @@ +o convex_0 +v 0.010586 -3.283389 -0.439178 +v 0.157622 -2.989058 0.296109 +v 0.010586 -2.989058 0.296109 +v 0.084035 -4.717152 -0.034828 +v 0.415037 -2.989058 -0.181799 +v -0.283623 -2.989058 -0.181799 +v -0.173243 -4.496404 -0.034828 +v 0.267864 -4.496404 -0.108242 +v -0.062932 -4.422990 -0.292063 +v 0.157622 -4.422990 0.148994 +v 0.378244 -3.062810 0.185772 +v -0.210036 -3.062810 0.222551 +v 0.341451 -2.989058 -0.365621 +v -0.210036 -2.989058 -0.365621 +v 0.084035 -4.422990 -0.292063 +v 0.047379 -4.496404 0.148994 +v -0.173243 -4.349407 -0.218578 +v -0.283623 -3.283389 -0.034828 +v 0.304657 -4.275825 -0.034828 +v 0.157622 -3.099686 -0.439178 +v 0.267864 -4.349407 0.075508 +v -0.099725 -4.312701 0.112215 +v -0.210036 -3.209975 -0.365621 +v 0.231140 -3.981663 -0.292063 +v 0.010586 -4.717152 -0.108242 +v 0.415037 -2.989058 0.038729 +v 0.341451 -3.430554 0.185772 +v -0.246829 -2.989058 0.148994 +v -0.062932 -2.989058 -0.439178 +v -0.210036 -4.312701 -0.071535 +f 28 18 30 +f 3 2 5 +f 3 5 6 +f 6 5 13 +f 5 8 13 +f 6 13 14 +f 9 1 15 +f 2 3 16 +f 7 4 16 +f 10 2 16 +f 4 10 16 +f 3 12 16 +f 8 5 19 +f 15 1 20 +f 4 8 21 +f 10 4 21 +f 8 19 21 +f 12 7 22 +f 7 16 22 +f 16 12 22 +f 1 9 23 +f 6 14 23 +f 17 6 23 +f 9 17 23 +f 13 8 24 +f 8 15 24 +f 20 13 24 +f 15 20 24 +f 4 7 25 +f 8 4 25 +f 15 8 25 +f 9 15 25 +f 7 17 25 +f 17 9 25 +f 5 2 26 +f 2 11 26 +f 19 5 26 +f 11 19 26 +f 2 10 27 +f 11 2 27 +f 19 11 27 +f 10 21 27 +f 21 19 27 +f 3 6 28 +f 12 3 28 +f 6 18 28 +f 14 13 29 +f 20 1 29 +f 13 20 29 +f 1 23 29 +f 23 14 29 +f 7 12 30 +f 6 17 30 +f 17 7 30 +f 18 6 30 +f 12 28 30 +o convex_1 +v -0.026186 -2.768429 0.480038 +v -0.026186 -2.805225 -0.659880 +v -0.026186 -2.768429 -0.659880 +v 0.598895 -2.805225 -0.181641 +v -0.320315 -2.989036 0.001911 +v 0.415008 -2.989036 0.185798 +v -0.541023 -2.768429 -0.144930 +v 0.304654 -2.989036 -0.402349 +v 0.525251 -2.768429 0.369684 +v -0.246783 -2.989036 -0.402349 +v 0.047235 -2.989036 0.332862 +v -0.357137 -2.805225 0.369684 +v 0.451719 -2.768429 -0.512704 +v -0.430669 -2.805225 -0.512704 +v -0.541023 -2.805225 -0.034799 +v 0.194300 -2.805225 0.480038 +f 41 36 46 +f 31 33 37 +f 36 35 38 +f 34 36 38 +f 33 31 39 +f 36 34 39 +f 32 38 40 +f 38 35 40 +f 35 36 41 +f 31 37 42 +f 41 31 42 +f 35 41 42 +f 32 33 43 +f 38 32 43 +f 34 38 43 +f 33 39 43 +f 39 34 43 +f 33 32 44 +f 37 33 44 +f 32 40 44 +f 44 40 45 +f 40 35 45 +f 42 37 45 +f 35 42 45 +f 37 44 45 +f 39 31 46 +f 36 39 46 +f 31 41 46 +o convex_2 +v -0.798331 -2.657811 -0.107713 +v 1.297554 -0.856308 -0.254975 +v 1.297554 -0.893367 -0.254975 +v 0.120714 -1.702125 2.943733 +v -1.166093 -0.856308 -0.365276 +v 0.856239 -2.474198 -2.056742 +v -0.687881 -1.555010 -2.791882 +v 0.819342 -2.437326 1.840143 +v 0.120714 -0.893180 -2.828257 +v -0.724778 -0.929865 2.023782 +v -0.724778 -2.437326 1.950444 +v 0.819342 -0.966737 1.986819 +v -0.761434 -2.474198 -2.056742 +v 0.856239 -1.702125 -2.828844 +v 0.635582 -2.768428 0.074752 +v 0.010747 -2.474198 -2.717957 +v -0.982091 -1.702312 1.987406 +v -0.026150 -2.657999 1.986819 +v 0.084058 -0.856308 2.465569 +v 1.076897 -1.701938 1.913481 +v 1.003103 -2.510696 -1.064039 +v 0.010747 -2.694684 -2.130667 +v -0.761434 -1.702312 2.722545 +v 0.047403 -2.400454 2.722545 +v 0.782687 -1.738998 2.686170 +v -1.018988 -2.143096 -0.144675 +v 0.966447 -0.856308 -1.688879 +v 1.113552 -1.738998 -2.093704 +v -0.724778 -0.856308 -1.946442 +v -0.982091 -1.702312 -2.056742 +v -0.577673 -2.768428 0.001414 +v 0.047403 -1.738998 -3.050031 +v 0.047403 -0.966737 2.722545 +v 1.003103 -2.510696 0.074752 +v -1.092541 -0.856308 0.700178 +v -0.908780 -2.584441 0.038377 +v -0.908780 -2.547569 -0.916777 +v -0.724778 -1.702125 -2.791882 +v 0.672237 -1.113852 -2.608243 +v 0.084058 -2.437326 -2.791882 +v 0.782687 -1.592070 2.686170 +v -0.430568 -1.040295 -2.645206 +v -0.504121 -1.077167 2.538907 +v -0.467224 -2.768428 -0.548914 +v 0.598926 -2.216653 2.538321 +v -0.540776 -2.253339 -2.608243 +v 0.562029 -2.768428 -0.402238 +v -0.504121 -2.253339 2.538907 +v 0.672237 -2.290398 -2.571281 +v -1.166093 -0.966737 -0.107713 +v 0.598926 -0.856308 1.913481 +v 0.120714 -2.657999 1.950444 +v 0.598926 -1.113852 2.501945 +v -0.761434 -1.628568 2.722545 +v -0.099702 -1.628568 2.943733 +v -0.026150 -2.768428 0.516540 +v 0.047403 -0.856308 -2.717957 +v 1.113552 -0.856308 -1.247678 +v 0.157611 -2.694684 -2.056155 +v 0.047403 -1.592070 -3.050031 +v -0.982091 -1.628568 -2.056742 +v -1.018988 -2.143096 0.111714 +v 0.929792 -1.187410 1.913481 +v -0.099702 -2.400454 2.686170 +f 101 69 110 +f 48 51 65 +f 49 48 66 +f 59 62 68 +f 63 57 69 +f 54 66 71 +f 50 70 71 +f 51 48 73 +f 60 73 74 +f 48 49 74 +f 52 60 74 +f 49 67 74 +f 67 52 74 +f 51 73 75 +f 64 57 77 +f 65 56 79 +f 54 61 80 +f 49 66 80 +f 66 54 80 +f 67 49 80 +f 61 67 80 +f 65 51 81 +f 56 65 81 +f 57 63 82 +f 47 77 82 +f 77 57 82 +f 76 59 83 +f 72 76 83 +f 77 47 83 +f 47 82 83 +f 82 72 83 +f 59 76 84 +f 60 55 85 +f 55 73 85 +f 73 60 85 +f 68 62 86 +f 78 60 86 +f 84 78 86 +f 50 71 87 +f 71 66 87 +f 79 50 87 +f 55 53 88 +f 53 75 88 +f 79 56 89 +f 59 68 90 +f 61 77 90 +f 83 59 90 +f 77 83 90 +f 70 54 91 +f 54 71 91 +f 71 70 91 +f 62 59 92 +f 59 84 92 +f 86 62 92 +f 84 86 92 +f 52 67 93 +f 67 61 93 +f 90 68 93 +f 61 90 93 +f 69 57 94 +f 60 52 95 +f 52 86 95 +f 86 60 95 +f 76 72 96 +f 51 76 96 +f 81 51 96 +f 63 81 96 +f 58 48 97 +f 48 65 97 +f 65 58 97 +f 61 54 98 +f 54 70 98 +f 70 64 98 +f 58 65 99 +f 65 79 99 +f 87 58 99 +f 79 87 99 +f 63 69 100 +f 81 63 100 +f 56 81 100 +f 89 56 100 +f 79 89 100 +f 70 50 101 +f 50 79 101 +f 100 69 101 +f 79 100 101 +f 64 77 102 +f 77 61 102 +f 61 98 102 +f 98 64 102 +f 73 55 103 +f 75 73 103 +f 55 88 103 +f 88 75 103 +f 73 48 104 +f 74 73 104 +f 48 74 104 +f 86 52 105 +f 68 86 105 +f 52 93 105 +f 93 68 105 +f 53 55 106 +f 55 60 106 +f 60 78 106 +f 84 53 106 +f 78 84 106 +f 51 75 107 +f 75 53 107 +f 76 51 107 +f 53 84 107 +f 84 76 107 +f 82 63 108 +f 72 82 108 +f 63 96 108 +f 96 72 108 +f 48 58 109 +f 66 48 109 +f 58 87 109 +f 87 66 109 +f 57 64 110 +f 64 70 110 +f 94 57 110 +f 69 94 110 +f 70 101 110 +o convex_3 +v -0.834998 -0.856307 -1.541764 +v 2.437473 -0.709250 -0.144963 +v 2.400201 -0.709250 -0.108306 +v 0.084244 -0.856307 2.355388 +v -1.570627 -0.709250 -0.475352 +v 0.047365 -0.709250 2.024033 +v 0.121124 -0.856307 -2.572001 +v 0.121124 -0.709250 -2.203507 +v 1.334225 -0.856307 -0.217793 +v -1.092370 -0.856307 0.700545 +v 2.363714 -0.782771 -0.475352 +v -1.129250 -0.709250 0.737202 +v 2.326834 -0.709250 -0.549147 +v -0.467380 -0.819525 1.914064 +v -0.761239 -0.782771 -1.725528 +v -1.202616 -0.856307 -0.181137 +v 0.488350 -0.856307 1.913582 +v 1.003094 -0.856307 -1.505107 +v -1.570627 -0.746018 -0.585804 +v 0.121124 -0.819525 -2.572001 +v 0.084244 -0.819525 2.355388 +v -0.761239 -0.709250 -1.541764 +v 2.437473 -0.746018 -0.144963 +v -0.724752 -0.856307 -1.835979 +v 1.039973 -0.856307 0.847171 +v 2.363714 -0.782771 -0.328727 +v -0.467380 -0.856307 1.914064 +v 0.047365 -0.819525 -2.572001 +v -1.570627 -0.709250 -0.585804 +f 125 134 139 +f 113 112 115 +f 113 115 116 +f 114 111 117 +f 115 112 118 +f 114 117 119 +f 111 114 120 +f 116 115 122 +f 115 120 122 +f 118 112 123 +f 112 121 123 +f 121 117 123 +f 116 122 124 +f 111 120 126 +f 114 119 127 +f 119 117 128 +f 117 121 128 +f 121 119 128 +f 120 115 129 +f 111 126 129 +f 126 120 129 +f 123 117 130 +f 118 123 130 +f 112 113 131 +f 114 112 131 +f 113 116 131 +f 124 114 131 +f 116 124 131 +f 115 118 132 +f 112 114 133 +f 121 112 133 +f 114 127 133 +f 117 111 134 +f 111 129 134 +f 127 119 135 +f 127 135 136 +f 119 121 136 +f 121 133 136 +f 133 127 136 +f 135 119 136 +f 120 114 137 +f 122 120 137 +f 114 124 137 +f 124 122 137 +f 130 117 138 +f 118 130 138 +f 132 118 138 +f 125 132 138 +f 117 134 138 +f 134 125 138 +f 129 115 139 +f 115 132 139 +f 132 125 139 +f 134 129 139 +o convex_4 +v -2.709988 -0.488347 0.185665 +v 1.260323 1.423529 0.443148 +v 1.260323 1.423529 0.148940 +v 2.510564 -0.709012 -0.108134 +v -1.129183 1.423529 -0.990759 +v -1.937885 1.092427 0.957911 +v 1.738461 -0.709221 0.847531 +v -0.871815 -0.709221 -1.101138 +v 2.767932 0.430639 -0.843450 +v 2.805120 0.357154 0.700427 +v -2.709988 0.357154 -0.770000 +v -1.680517 -0.709221 0.921186 +v -2.673390 1.165912 0.626977 +v 2.620949 1.092427 -0.659621 +v 0.341237 1.423529 0.921186 +v 0.966357 -0.709221 -1.101138 +v 0.929759 1.423529 -1.027484 +v -2.305637 1.349626 -0.402342 +v 2.841718 1.092427 0.112010 +v -2.783775 0.283877 0.774081 +v 2.106213 0.247134 0.921186 +v -2.489809 -0.525090 -0.622896 +v 2.841718 -0.525090 -0.255033 +v -0.283293 -0.709221 0.994840 +v 2.106213 1.055684 0.810806 +v -1.937885 0.210183 -1.064003 +v -1.129183 1.423529 0.884461 +v 2.620949 -0.598575 0.590253 +v -2.894159 0.908504 -0.071409 +v 2.106213 -0.525090 -0.953829 +v 2.142812 0.320411 -1.064209 +v 3.062488 0.247134 -0.108134 +v -0.172908 1.423529 -1.064209 +v 2.069615 1.349626 0.369494 +v -2.967946 0.173440 -0.034889 +v -1.937885 -0.451813 0.994635 +v -2.122056 1.092427 -0.880174 +v -1.975073 -0.709012 -0.328687 +v -2.563005 -0.414862 0.774081 +v -1.092585 0.540659 0.994840 +v -2.857561 1.092427 -0.108134 +v 1.922042 1.092218 -0.954034 +v 2.767932 0.136697 -0.843450 +v -1.937885 -0.488347 -0.917104 +v 2.290385 -0.709012 -0.622896 +v 1.076742 1.423529 0.847531 +v 1.995829 -0.414862 0.884461 +v 1.959230 1.349626 -0.218513 +v -2.084868 0.357154 0.994635 +v -1.975073 -0.709012 0.663702 +v 2.620949 0.908504 0.590253 +v 0.414433 -0.120711 -1.101138 +v -2.709988 0.210183 -0.770000 +v -2.563005 1.165912 0.737357 +v 2.620949 -0.304633 -0.733275 +v -0.172908 1.128960 0.957911 +v 2.805120 0.210183 0.700427 +v -2.967946 0.430639 0.075490 +v -2.599603 0.871761 -0.622896 +v -1.937885 0.320411 -1.064003 +v -0.908413 -0.304633 -1.101138 +v 3.062488 0.247134 -0.034889 +v -2.709988 -0.488347 -0.071409 +v -2.489809 1.276349 0.112010 +f 157 180 203 +f 141 142 144 +f 147 146 151 +f 141 144 154 +f 143 146 155 +f 146 147 155 +f 144 142 156 +f 151 146 163 +f 160 149 164 +f 154 160 164 +f 154 144 166 +f 145 154 166 +f 144 157 166 +f 146 143 167 +f 143 162 167 +f 169 155 170 +f 148 153 171 +f 153 158 171 +f 144 156 172 +f 156 170 172 +f 142 141 173 +f 164 158 173 +f 140 159 174 +f 168 150 174 +f 151 163 175 +f 157 144 176 +f 147 151 177 +f 161 147 177 +f 159 140 178 +f 151 175 178 +f 175 159 178 +f 163 160 179 +f 175 163 179 +f 150 168 180 +f 168 152 180 +f 157 176 180 +f 153 148 181 +f 156 153 181 +f 148 170 181 +f 170 156 181 +f 170 148 182 +f 169 170 182 +f 148 171 182 +f 171 162 182 +f 147 161 183 +f 165 147 183 +f 143 155 184 +f 162 143 184 +f 155 169 184 +f 141 154 185 +f 154 164 185 +f 173 141 185 +f 164 173 185 +f 163 146 186 +f 160 163 186 +f 146 167 186 +f 156 142 187 +f 153 156 187 +f 158 153 187 +f 142 173 187 +f 173 158 187 +f 145 159 188 +f 159 175 188 +f 179 145 188 +f 175 179 188 +f 140 177 189 +f 177 151 189 +f 178 140 189 +f 151 178 189 +f 149 158 190 +f 158 164 190 +f 164 149 190 +f 155 147 191 +f 170 155 191 +f 172 170 191 +f 150 165 192 +f 174 150 192 +f 183 161 192 +f 165 183 192 +f 159 145 193 +f 152 159 193 +f 145 166 193 +f 166 152 193 +f 182 162 194 +f 169 182 194 +f 162 184 194 +f 184 169 194 +f 154 145 195 +f 160 154 195 +f 145 179 195 +f 179 160 195 +f 149 160 196 +f 160 186 196 +f 186 167 196 +f 159 152 197 +f 152 168 197 +f 174 159 197 +f 168 174 197 +f 176 150 198 +f 150 180 198 +f 180 176 198 +f 165 150 199 +f 144 172 199 +f 176 144 199 +f 150 176 199 +f 147 165 200 +f 191 147 200 +f 172 191 200 +f 165 199 200 +f 199 172 200 +f 158 149 201 +f 167 162 201 +f 171 158 201 +f 162 171 201 +f 149 196 201 +f 196 167 201 +f 140 174 202 +f 177 140 202 +f 161 177 202 +f 192 161 202 +f 174 192 202 +f 152 166 203 +f 166 157 203 +f 180 152 203 +o convex_5 +v -2.012069 1.754671 -0.108159 +v -1.239683 2.894276 0.038683 +v -1.239683 2.894276 -0.108159 +v -2.783765 2.636872 0.001972 +v -1.239683 2.269365 0.516810 +v -1.239683 1.901743 -0.586286 +v -2.820561 2.305989 -0.439222 +v -2.710344 2.195886 0.332923 +v -1.313449 2.747089 -0.512754 +v -1.239683 1.791410 0.332923 +v -1.387043 2.783943 0.406456 +v -2.710344 1.864888 -0.108159 +v -3.004545 2.232626 0.001972 +v -1.570854 2.342728 -0.623108 +v -1.975273 2.673611 -0.475932 +v -1.313449 1.791410 -0.512754 +v -1.975273 2.710350 0.369634 +v -2.599954 1.975221 -0.365689 +v -1.938476 1.864888 0.296102 +v -1.239683 1.717817 -0.218513 +v -1.938476 2.820683 -0.071448 +v -2.048866 2.232626 -0.586286 +v -1.239683 2.416206 -0.623108 +v -2.710344 2.305989 0.332923 +v -2.599954 2.600017 -0.292157 +v -1.276653 1.864888 0.406456 +v -2.085663 2.269365 0.443166 +v -2.048866 1.901743 -0.475932 +v -1.239683 2.710350 0.443166 +v -2.783765 1.901743 -0.034850 +v -2.563157 2.563278 0.259391 +v -2.563157 1.975221 0.222569 +v -3.004545 2.232626 -0.108159 +v -1.350246 1.717817 0.038683 +v -1.938476 2.820683 0.001972 +v -1.313449 2.379467 0.516810 +v -2.783765 2.636872 -0.071448 +v -1.975273 1.754671 -0.034850 +v -2.747141 2.195886 -0.439222 +v -2.048866 2.305989 -0.586286 +v -2.820561 1.938482 -0.108159 +v -1.276653 2.820683 0.369634 +f 238 220 245 +f 206 205 208 +f 206 208 209 +f 209 208 213 +f 212 217 218 +f 204 215 219 +f 209 213 223 +f 219 209 223 +f 204 219 223 +f 205 206 224 +f 206 212 224 +f 212 218 224 +f 217 209 225 +f 206 209 226 +f 212 206 226 +f 209 217 226 +f 217 212 226 +f 207 216 227 +f 216 211 227 +f 218 210 228 +f 213 208 229 +f 211 222 229 +f 222 213 229 +f 227 211 230 +f 220 227 230 +f 229 208 230 +f 211 229 230 +f 209 219 231 +f 219 215 231 +f 215 221 231 +f 225 209 231 +f 208 205 232 +f 214 220 232 +f 211 216 233 +f 220 207 234 +f 207 227 234 +f 227 220 234 +f 222 211 235 +f 211 233 235 +f 233 222 235 +f 216 207 236 +f 204 223 237 +f 223 213 237 +f 207 220 238 +f 205 224 238 +f 224 207 238 +f 230 208 239 +f 220 230 239 +f 208 232 239 +f 232 220 239 +f 224 218 240 +f 207 224 240 +f 228 210 240 +f 218 228 240 +f 236 207 240 +f 210 236 240 +f 215 204 241 +f 213 222 241 +f 233 215 241 +f 222 233 241 +f 204 237 241 +f 237 213 241 +f 210 225 242 +f 231 221 242 +f 225 231 242 +f 218 217 243 +f 210 218 243 +f 217 225 243 +f 225 210 243 +f 221 215 244 +f 215 233 244 +f 233 216 244 +f 236 210 244 +f 216 236 244 +f 242 221 244 +f 210 242 244 +f 220 214 245 +f 232 205 245 +f 214 232 245 +f 205 238 245 +o convex_6 +v -0.761369 -0.635657 -1.285154 +v 0.047174 -0.709203 -2.093970 +v -0.320106 -0.709203 -1.799740 +v 0.745981 -0.709203 -1.285154 +v 0.157528 -0.525364 -1.321894 +v -0.835196 -0.709203 -1.285154 +v 0.120846 -0.672421 -2.093970 +v -0.651169 -0.598928 -1.321894 +v 0.745981 -0.672421 -1.321894 +v -0.724842 -0.672421 -1.468929 +v 0.157528 -0.525364 -1.285154 +v 0.047174 -0.672421 -2.093970 +f 255 253 257 +f 248 247 249 +f 248 249 251 +f 249 246 251 +f 249 247 252 +f 249 252 254 +f 252 250 254 +f 251 246 255 +f 248 251 255 +f 246 253 255 +f 246 249 256 +f 250 253 256 +f 253 246 256 +f 249 254 256 +f 254 250 256 +f 247 248 257 +f 252 247 257 +f 250 252 257 +f 253 250 257 +f 248 255 257 +o convex_7 +v -0.871967 -0.709171 -1.211431 +v 0.378208 -0.194420 -1.101156 +v 0.378208 -0.194420 -1.137939 +v 0.893067 -0.709171 -1.101156 +v 0.782666 -0.709171 -1.284978 +v -0.871967 -0.709171 -1.101156 +v -0.835167 -0.635606 -1.284978 +v 0.231179 -0.488527 -1.284978 +v -0.871967 -0.598824 -1.101156 +v 0.231179 -0.194420 -1.137939 +f 266 259 267 +f 260 259 261 +f 261 258 262 +f 260 261 262 +f 261 259 263 +f 258 261 263 +f 262 258 264 +f 260 262 265 +f 262 264 265 +f 263 259 266 +f 258 263 266 +f 264 258 266 +f 264 266 267 +f 259 260 267 +f 260 265 267 +f 265 264 267 +o convex_8 +v 0.819197 2.857292 0.737425 +v -0.724591 2.379496 -1.064367 +v -0.982137 1.864831 -1.027437 +v 1.039986 1.423529 -0.990701 +v -1.018894 1.423529 0.884367 +v -1.202678 2.857480 0.443152 +v 0.782689 3.004393 -0.843565 +v 1.187014 1.423716 0.627024 +v 1.297284 2.967711 -0.034994 +v -0.577811 3.298594 -0.071535 +v -1.129164 1.423529 -0.990701 +v -0.871866 3.004580 -0.806829 +v -0.246752 3.188550 0.700495 +v 0.819197 3.298594 -0.034799 +v -0.393779 2.747248 0.921297 +v 0.782689 1.423529 0.884367 +v 1.297284 2.379496 -0.696428 +v -1.239435 2.710192 -0.549486 +v -1.239435 1.791468 0.332945 +v 1.297284 2.379496 0.553358 +v -0.173238 3.151494 -0.806829 +v -0.209995 2.673510 -1.064367 +v 1.297284 1.828149 -0.549486 +v -0.798353 3.078131 0.700495 +v 0.782689 3.041262 0.700495 +v 0.194331 1.423529 -1.064367 +v -1.239435 2.930843 -0.071535 +v -0.908623 2.379496 0.884367 +v 1.039986 1.534135 0.847632 +v 1.260527 2.820611 -0.586221 +v -1.239435 2.379496 0.553553 +v 1.297284 2.820611 0.406416 +v 0.819197 2.159220 -0.990701 +v -0.614568 1.423529 0.921297 +v -0.173238 2.747248 0.921297 +v -1.239435 1.864831 -0.586221 +v 0.084060 3.335463 -0.145006 +v -0.761596 3.261913 0.038672 +v 1.223771 1.423716 0.332751 +v -0.025962 3.225044 0.627024 +v -0.835109 2.967899 -0.880495 +v 0.819197 3.298594 -0.108270 +v 0.304601 1.423529 0.921297 +v 0.855954 2.085669 0.847632 +v 1.297284 1.865018 0.369486 +v 0.892959 1.460585 -1.027437 +v -1.239435 1.681236 0.001936 +v 0.194331 3.114812 -0.843565 +v -0.761596 2.489728 0.921297 +v 0.782689 2.930843 -0.880495 +v -0.871866 2.416178 -1.027437 +v -0.798353 3.151494 -0.476015 +v -0.025962 3.335463 0.038672 +v -1.239435 2.416178 -0.659693 +v -0.209995 1.423529 -1.064367 +v 1.113500 1.423529 -0.770094 +v -1.092407 1.423529 0.369681 +v 0.084060 3.188363 0.700495 +v -0.614568 2.894161 -0.953966 +v 1.039986 2.232770 -0.880495 +v -1.239435 2.820611 0.443152 +v 0.047303 3.188363 -0.696622 +v -0.798353 3.151494 0.479887 +v -0.798353 3.041262 -0.843565 +f 326 308 331 +f 271 272 278 +f 272 271 283 +f 284 276 287 +f 271 284 290 +f 284 287 290 +f 282 280 291 +f 271 278 293 +f 269 289 293 +f 279 285 294 +f 285 286 294 +f 283 275 296 +f 287 268 296 +f 275 287 296 +f 276 284 297 +f 286 272 298 +f 294 286 298 +f 272 295 298 +f 276 281 299 +f 268 287 299 +f 287 276 299 +f 281 292 299 +f 292 268 299 +f 272 283 301 +f 280 282 302 +f 268 292 302 +f 282 301 302 +f 286 285 303 +f 288 277 304 +f 305 280 307 +f 285 279 308 +f 281 276 309 +f 276 297 309 +f 297 274 309 +f 304 281 309 +f 301 283 310 +f 283 302 310 +f 302 301 310 +f 296 268 311 +f 283 296 311 +f 268 302 311 +f 302 283 311 +f 287 275 312 +f 290 287 312 +f 275 306 312 +f 306 290 312 +f 271 293 313 +f 293 289 313 +f 300 271 313 +f 289 300 313 +f 303 278 314 +f 286 303 314 +f 309 274 315 +f 282 291 316 +f 295 272 316 +f 291 295 316 +f 272 301 316 +f 301 282 316 +f 274 297 317 +f 297 284 317 +f 300 289 317 +f 315 274 317 +f 289 315 317 +f 269 270 318 +f 270 278 318 +f 277 288 319 +f 279 294 319 +f 305 277 319 +f 294 305 319 +f 304 277 320 +f 281 304 320 +f 277 305 320 +f 307 281 320 +f 305 307 320 +f 278 303 321 +f 303 285 321 +f 285 308 321 +f 318 278 321 +f 308 318 321 +f 270 269 322 +f 278 270 322 +f 269 293 322 +f 293 278 322 +f 283 271 323 +f 275 283 323 +f 271 290 323 +f 306 275 323 +f 290 306 323 +f 278 272 324 +f 272 286 324 +f 314 278 324 +f 286 314 324 +f 292 281 325 +f 280 302 325 +f 302 292 325 +f 307 280 325 +f 281 307 325 +f 289 269 326 +f 315 289 326 +f 288 315 326 +f 269 318 326 +f 318 308 326 +f 284 271 327 +f 271 300 327 +f 317 284 327 +f 300 317 327 +f 291 273 328 +f 273 294 328 +f 295 291 328 +f 294 298 328 +f 298 295 328 +f 288 304 329 +f 304 309 329 +f 315 288 329 +f 309 315 329 +f 273 291 330 +f 291 280 330 +f 294 273 330 +f 280 305 330 +f 305 294 330 +f 308 279 331 +f 279 319 331 +f 319 288 331 +f 288 326 331 +o convex_9 +v 1.518428 2.710343 0.443166 +v 1.297554 2.306082 -0.696651 +v 1.297554 1.864888 -0.586304 +v 2.989046 2.306082 -0.108094 +v 1.297554 1.864888 0.332938 +v 1.297554 2.931163 -0.108094 +v 2.731580 2.747276 -0.144916 +v 2.768172 2.306082 0.369641 +v 2.694823 1.938532 -0.034806 +v 2.731580 2.306082 -0.512660 +v 2.106543 2.747276 -0.512660 +v 1.297554 2.269484 0.516810 +v 2.069951 2.747276 0.369641 +v 1.297554 2.783875 -0.549364 +v 1.591777 1.791245 -0.108094 +v 2.400600 2.012065 -0.439016 +v 2.069951 1.975131 0.332938 +v 1.297554 2.820809 0.369641 +v 2.768172 2.747276 -0.034806 +v 1.959514 2.379391 -0.659829 +v 2.180057 2.343016 0.479988 +v 1.849243 2.894341 -0.034806 +v 2.694823 1.938532 -0.108094 +v 2.621309 2.636810 0.259294 +v 2.694823 2.416325 -0.512660 +v 1.371234 1.828066 -0.512660 +v 1.408157 1.938532 0.406463 +v 2.768172 2.379391 0.369641 +v 1.996271 1.938532 -0.512660 +v 1.959514 2.306082 -0.659829 +v 1.297554 1.791245 0.038719 +v 2.547629 2.048663 0.259294 +v 1.996271 1.828066 -0.071628 +v 2.989046 2.379391 -0.108094 +v 1.297554 2.452924 0.516810 +v 2.621309 2.673744 -0.365491 +v 2.069951 2.452924 0.479988 +v 2.143300 2.857519 -0.108094 +v 1.408157 1.864888 0.332938 +f 362 364 370 +f 333 334 336 +f 333 336 337 +f 335 339 340 +f 337 336 343 +f 333 337 345 +f 337 342 345 +f 337 343 349 +f 332 344 349 +f 333 345 351 +f 345 342 351 +f 348 339 352 +f 337 349 353 +f 349 344 353 +f 344 350 353 +f 335 340 354 +f 341 335 354 +f 347 341 354 +f 350 344 355 +f 341 351 356 +f 351 342 356 +f 343 336 358 +f 352 343 358 +f 348 352 358 +f 339 335 359 +f 352 339 359 +f 355 344 359 +f 350 355 359 +f 341 347 360 +f 347 354 360 +f 357 334 360 +f 354 357 360 +f 334 333 361 +f 333 351 361 +f 351 341 361 +f 341 360 361 +f 360 334 361 +f 336 334 362 +f 334 357 362 +f 357 346 362 +f 340 339 363 +f 348 340 363 +f 339 348 363 +f 354 340 364 +f 346 357 364 +f 357 354 364 +f 362 346 364 +f 335 341 365 +f 338 350 365 +f 356 338 365 +f 341 356 365 +f 359 335 365 +f 350 359 365 +f 332 349 366 +f 349 343 366 +f 343 352 366 +f 342 338 367 +f 338 356 367 +f 356 342 367 +f 344 332 368 +f 359 344 368 +f 352 359 368 +f 332 366 368 +f 366 352 368 +f 342 337 369 +f 338 342 369 +f 350 338 369 +f 337 353 369 +f 353 350 369 +f 340 348 370 +f 358 336 370 +f 348 358 370 +f 336 362 370 +f 364 340 370 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/756/756.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/756/756.urdf new file mode 100644 index 000000000..680ea7697 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/756/756.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/757/757.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/757/757.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/757/757.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/757/757.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/757/757.obj new file mode 100644 index 000000000..7b4377a51 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/757/757.obj @@ -0,0 +1,630 @@ +o convex_0 +v -1.077733 -2.711096 -0.917057 +v -2.810323 -0.654095 1.068236 +v -3.027018 -0.654095 1.068236 +v -3.027018 -2.819722 1.068236 +v -3.063167 -0.762290 -1.061438 +v -1.077733 -0.726081 1.031981 +v -1.077733 -0.726081 -1.025396 +v -3.063167 -2.747305 -1.097692 +v -1.077733 -2.783298 0.959685 +v -1.077733 -0.617886 -0.592253 +v -1.077733 -2.675103 -1.025184 +v -3.063167 -0.690088 0.129653 +v -1.077733 -0.617886 0.598838 +v -2.557674 -2.747305 -1.097692 +v -2.196580 -2.819722 1.031981 +v -3.063167 -2.783298 -0.447872 +v -1.077733 -2.783298 0.562796 +v -1.077733 -1.339906 1.031981 +v -1.835875 -0.618102 0.057356 +v -1.655522 -1.484310 -1.061438 +v -2.377127 -0.906694 1.068236 +v -3.063167 -0.726297 0.418415 +v -2.990870 -2.061494 -1.097692 +v -3.063167 -0.726297 -0.664337 +v -1.583225 -2.711096 -1.061438 +v -2.629971 -2.494706 1.068236 +v -2.160626 -0.618102 0.779262 +v -2.954722 -2.819722 0.526542 +v -1.258474 -2.494490 0.995727 +v -2.196580 -0.726297 -1.025184 +v -2.052376 -2.819722 0.959685 +v -3.027018 -0.654095 0.887600 +v -2.557674 -2.277884 -1.097692 +f 20 25 33 +f 2 3 4 +f 6 1 7 +f 1 6 9 +f 6 7 10 +f 7 1 11 +f 5 8 12 +f 2 6 13 +f 6 10 13 +f 12 8 16 +f 8 14 16 +f 1 9 17 +f 14 1 17 +f 9 6 18 +f 5 7 20 +f 2 4 21 +f 6 2 21 +f 18 6 21 +f 4 3 22 +f 3 12 22 +f 16 4 22 +f 12 16 22 +f 8 5 23 +f 14 8 23 +f 10 5 24 +f 5 12 24 +f 19 10 24 +f 12 19 24 +f 11 1 25 +f 7 11 25 +f 1 14 25 +f 20 7 25 +f 4 15 26 +f 21 4 26 +f 18 21 26 +f 3 2 27 +f 2 13 27 +f 13 10 27 +f 10 19 27 +f 15 4 28 +f 4 16 28 +f 15 9 29 +f 9 18 29 +f 26 15 29 +f 18 26 29 +f 7 5 30 +f 5 10 30 +f 10 7 30 +f 9 15 31 +f 16 14 31 +f 17 9 31 +f 14 17 31 +f 15 28 31 +f 28 16 31 +f 12 3 32 +f 19 12 32 +f 3 27 32 +f 27 19 32 +f 5 20 33 +f 23 5 33 +f 14 23 33 +f 25 14 33 +o convex_1 +v 1.846020 -2.747475 -0.267109 +v -0.319467 -0.545498 0.995861 +v -0.319467 -0.545498 -1.025350 +v 2.965132 -0.726239 -0.267109 +v -1.077733 -2.783623 0.959794 +v 3.037464 -2.783623 1.032137 +v 3.073630 -2.675179 -1.025141 +v -1.077733 -2.675179 -1.025350 +v 2.928966 -0.690091 0.923727 +v -1.077733 -0.726020 1.032137 +v 2.965132 -0.726239 -1.097692 +v -1.077733 -0.726020 -1.025350 +v 1.088160 -0.545717 -0.483720 +v -1.005401 -0.545498 1.032137 +v 1.882185 -1.772786 -1.097692 +v 3.037464 -2.242057 1.032137 +v 0.438392 -2.711108 1.032137 +v 0.727314 -0.545717 0.995653 +v -1.077733 -2.711327 -0.916941 +v -0.933069 -0.545498 -1.025350 +v -0.210969 -2.675179 -1.061417 +v 2.820874 -0.690091 -1.097692 +v 2.640045 -2.783623 0.490506 +v -1.077733 -2.783623 0.562640 +v 0.943903 -0.545717 -1.025141 +v 3.073630 -2.350282 -0.953008 +v 1.990277 -2.675179 -1.061208 +v 1.196252 -2.711108 -0.989075 +v 1.051994 -0.545717 0.959794 +v -1.077733 -1.303735 1.032137 +v 2.928966 -0.942910 0.959794 +v 3.073630 -2.711327 0.634774 +v -1.041567 -0.545498 -0.592129 +v -0.499890 -0.545498 1.032137 +v 3.001298 -1.087065 -0.989075 +v 3.073630 -2.747475 0.021218 +v 2.928966 -0.690091 -0.411586 +v -1.077733 -0.581646 0.418372 +v -1.077733 -2.205908 0.995861 +v 2.712377 -1.123213 -1.097692 +v 2.965132 -1.087065 0.887660 +v 2.243032 -0.654162 0.959794 +f 67 64 75 +f 41 38 43 +f 42 37 44 +f 41 43 45 +f 36 35 46 +f 35 36 47 +f 43 39 47 +f 47 39 49 +f 38 39 50 +f 39 43 50 +f 38 41 52 +f 47 36 53 +f 48 45 53 +f 41 45 54 +f 45 48 54 +f 52 41 54 +f 44 48 55 +f 53 36 55 +f 48 53 55 +f 39 38 56 +f 52 34 57 +f 38 52 57 +f 56 38 57 +f 34 56 57 +f 36 46 58 +f 55 36 58 +f 46 55 58 +f 40 44 59 +f 54 48 60 +f 54 60 61 +f 34 52 61 +f 52 54 61 +f 60 40 61 +f 46 35 62 +f 42 46 62 +f 43 38 63 +f 50 43 63 +f 49 42 64 +f 49 39 65 +f 40 59 65 +f 47 53 66 +f 53 45 66 +f 35 47 67 +f 47 49 67 +f 62 35 67 +f 51 62 67 +f 49 64 67 +f 44 37 68 +f 37 49 68 +f 59 44 68 +f 49 65 68 +f 65 59 68 +f 39 56 69 +f 56 34 69 +f 34 61 69 +f 61 40 69 +f 65 39 69 +f 40 65 69 +f 42 44 70 +f 46 42 70 +f 44 55 70 +f 55 46 70 +f 45 43 71 +f 43 47 71 +f 66 45 71 +f 47 66 71 +f 38 50 72 +f 63 38 72 +f 50 63 72 +f 44 40 73 +f 48 44 73 +f 40 60 73 +f 60 48 73 +f 37 42 74 +f 49 37 74 +f 42 49 74 +f 42 62 75 +f 62 51 75 +f 64 42 75 +f 51 67 75 +o convex_2 +v -3.099266 0.068192 -0.195205 +v -1.077733 0.609664 -0.086912 +v -1.077733 0.573526 0.165660 +v -1.077733 -0.148411 -0.267378 +v -2.521657 -0.004009 0.273953 +v -3.099266 0.609664 -0.231258 +v -3.027040 0.501325 0.237833 +v -1.077733 0.032129 0.310073 +v -1.077733 0.609664 -0.339618 +v -1.222184 0.537463 0.346260 +v -2.990630 -0.004009 0.201780 +v -2.774150 0.104330 -0.231258 +v -2.485247 0.537463 0.273953 +v -3.062856 0.032129 -0.195205 +v -1.077733 -0.148411 -0.195205 +v -1.186368 0.537463 -0.339618 +v -3.099266 0.609664 -0.159085 +v -1.077733 0.393061 0.346260 +v -1.222184 -0.004009 0.273953 +v -2.665712 0.068192 0.273953 +v -2.629896 -0.040072 0.165660 +v -3.062856 0.537463 0.165660 +v -2.990630 -0.004009 0.021247 +f 79 96 98 +f 77 78 79 +f 79 78 83 +f 77 79 84 +f 81 77 84 +f 76 81 87 +f 85 78 88 +f 86 76 89 +f 76 87 89 +f 87 79 89 +f 79 83 90 +f 84 79 91 +f 81 84 91 +f 79 87 91 +f 87 81 91 +f 78 77 92 +f 77 81 92 +f 81 76 92 +f 88 78 92 +f 83 78 93 +f 80 83 93 +f 78 85 93 +f 83 80 94 +f 90 83 94 +f 86 80 95 +f 82 86 95 +f 88 82 95 +f 85 88 95 +f 80 93 95 +f 93 85 95 +f 80 86 96 +f 79 90 96 +f 94 80 96 +f 90 94 96 +f 76 86 97 +f 86 82 97 +f 82 88 97 +f 92 76 97 +f 88 92 97 +f 86 89 98 +f 89 79 98 +f 96 86 98 +o convex_3 +v -2.918768 2.414452 0.562853 +v -1.402678 2.775461 -0.592309 +v -1.402678 2.847595 -0.592309 +v -1.077733 2.883888 0.490485 +v -1.077733 1.765020 -0.231265 +v -3.026824 1.837154 -0.447914 +v -2.918768 2.883888 -0.483984 +v -1.691476 1.765020 0.490485 +v -3.063167 1.728953 0.490485 +v -2.918768 2.811528 0.562853 +v -1.077733 1.765020 -0.447914 +v -1.077733 1.801087 0.454415 +v -1.077733 2.847595 -0.592309 +v -2.954722 2.847595 -0.483984 +v -2.449229 2.847595 0.562853 +v -1.547271 2.883888 -0.556126 +v -3.063167 1.728953 0.273949 +v -2.918768 2.883888 -0.014728 +v -1.150223 2.631080 -0.592309 +v -2.268682 1.728953 0.490485 +v -2.954722 2.775461 0.490485 +v -3.063167 1.873334 -0.303519 +v -1.258280 1.873334 -0.483984 +v -3.026824 1.837154 0.526669 +v -1.402678 1.765020 0.454415 +v -2.954722 2.595013 -0.483984 +v -1.077733 2.883888 -0.159124 +v -1.258280 1.765020 -0.447914 +v -2.846277 2.847595 0.490485 +f 116 108 127 +f 102 103 109 +f 103 102 110 +f 102 106 110 +f 100 101 111 +f 102 109 111 +f 101 100 112 +f 105 101 112 +f 99 106 113 +f 106 102 113 +f 108 99 113 +f 101 105 114 +f 105 102 114 +f 111 101 114 +f 102 105 116 +f 105 112 116 +f 104 100 117 +f 100 111 117 +f 111 109 117 +f 109 103 118 +f 115 109 118 +f 107 115 118 +f 107 108 119 +f 116 112 119 +f 108 116 119 +f 112 104 120 +f 104 115 120 +f 115 107 120 +f 107 119 120 +f 119 112 120 +f 104 117 121 +f 117 109 121 +f 106 99 122 +f 99 108 122 +f 108 107 122 +f 118 106 122 +f 107 118 122 +f 103 110 123 +f 110 106 123 +f 106 118 123 +f 118 103 123 +f 100 104 124 +f 112 100 124 +f 104 112 124 +f 102 111 125 +f 114 102 125 +f 111 114 125 +f 115 104 126 +f 109 115 126 +f 104 121 126 +f 121 109 126 +f 113 102 127 +f 108 113 127 +f 102 116 127 +o convex_4 +v 0.871518 3.316862 0.165458 +v -1.077733 -0.436883 -0.447843 +v -0.969394 -0.545112 -0.917135 +v 1.051941 -0.545498 0.959830 +v -1.077733 3.353067 1.032137 +v 1.015899 3.316862 -1.025495 +v -0.969394 3.353067 -0.989241 +v 0.943815 -0.545498 -1.025495 +v -1.005436 -0.545112 1.032137 +v 0.979857 3.280657 0.923777 +v -0.933140 -0.545112 -1.025495 +v 1.088196 1.764292 -0.592256 +v 1.088196 2.811535 0.490538 +v 1.088196 -0.545498 -0.447843 +v -1.077733 2.847740 -0.592256 +v -0.680420 3.353067 1.032137 +v -0.427912 3.389272 -0.989241 +v 0.690883 -0.472703 0.995883 +v -1.041478 -0.436883 1.032137 +v 1.015899 1.728472 0.959830 +v 0.221697 3.316862 -1.025495 +v -1.005436 3.389272 0.490538 +v 1.088196 1.981136 0.671004 +v -1.077733 0.032239 0.310073 +v 1.088196 2.739126 -0.592256 +v -0.499996 -0.545112 1.032137 +v -0.933140 0.465541 -1.025495 +v 0.582756 3.353067 -0.953188 +v 1.088196 0.068829 0.273818 +v -0.355615 3.353067 0.995883 +v 0.654840 3.280657 0.959628 +v -0.969394 3.389272 -0.917135 +v 1.015899 2.702921 -1.025495 +v -1.077733 2.269619 1.032137 +v 1.015899 3.316862 -0.231123 +v 1.051941 0.718204 0.959830 +v 1.015899 3.027994 0.887523 +v -1.041478 3.389272 0.201713 +v -1.041478 -0.545112 -0.592256 +v 0.366290 3.353067 -0.375536 +v -1.041478 -0.545112 0.598898 +v 0.438163 3.316862 0.959628 +f 143 158 169 +f 130 134 138 +f 135 130 138 +f 133 135 138 +f 139 140 141 +f 131 135 141 +f 130 129 142 +f 129 132 142 +f 134 130 142 +f 132 136 143 +f 136 132 146 +f 143 145 147 +f 133 138 148 +f 144 133 148 +f 134 144 148 +f 132 143 149 +f 141 140 150 +f 132 129 151 +f 129 146 151 +f 139 133 152 +f 133 140 152 +f 140 139 152 +f 136 131 153 +f 143 136 153 +f 131 145 153 +f 145 143 153 +f 138 134 154 +f 148 138 154 +f 134 148 154 +f 133 144 155 +f 131 141 156 +f 141 150 156 +f 150 131 156 +f 149 143 157 +f 147 137 158 +f 143 147 158 +f 134 142 159 +f 144 134 159 +f 149 144 159 +f 135 133 160 +f 133 139 160 +f 139 141 160 +f 141 135 160 +f 146 132 161 +f 132 151 161 +f 151 146 161 +f 128 137 162 +f 137 140 162 +f 140 133 162 +f 155 128 162 +f 133 155 162 +f 145 131 163 +f 147 145 163 +f 131 150 163 +f 163 150 164 +f 140 137 164 +f 137 147 164 +f 150 140 164 +f 147 163 164 +f 142 132 165 +f 132 149 165 +f 159 142 165 +f 149 159 165 +f 129 130 166 +f 130 135 166 +f 144 149 167 +f 128 155 167 +f 155 144 167 +f 157 128 167 +f 149 157 167 +f 135 131 168 +f 131 136 168 +f 146 129 168 +f 136 146 168 +f 129 166 168 +f 166 135 168 +f 137 128 169 +f 128 157 169 +f 157 143 169 +f 158 137 169 +o convex_5 +v 3.073319 0.248711 0.310073 +v 2.315442 0.393029 -0.339618 +v 2.315442 0.501346 -0.339618 +v 1.088196 0.501346 0.273953 +v 1.160421 0.068203 -0.303498 +v 3.037503 -0.040115 0.346260 +v 3.073319 -0.040115 -0.267378 +v 3.109729 0.609664 0.201780 +v 1.088196 0.068203 0.273953 +v 1.088196 0.501346 -0.303498 +v 3.073319 0.609664 -0.339618 +v 2.495710 0.609664 0.201780 +v 2.604345 -0.040115 -0.267378 +v 1.305071 0.537410 -0.303498 +v 2.243216 -0.003987 0.346260 +v 1.305071 0.537410 0.273953 +v 3.037503 0.140394 0.346260 +v 2.604345 0.609664 -0.339618 +v 1.088196 0.104330 -0.303498 +v 1.521749 0.032140 0.310073 +v 2.027132 0.032140 -0.303498 +v 3.109729 0.573537 -0.267378 +v 3.073319 0.176521 -0.303498 +v 3.109729 0.393029 0.165660 +v 2.820825 -0.040115 0.346260 +f 184 189 194 +f 172 171 179 +f 178 173 179 +f 171 172 180 +f 177 180 181 +f 176 175 182 +f 179 173 183 +f 177 181 185 +f 183 173 185 +f 181 183 185 +f 175 170 186 +f 170 177 186 +f 173 184 186 +f 184 175 186 +f 177 185 186 +f 185 173 186 +f 172 179 187 +f 180 172 187 +f 181 180 187 +f 179 183 187 +f 183 181 187 +f 171 174 188 +f 174 178 188 +f 179 171 188 +f 178 179 188 +f 173 178 189 +f 178 174 189 +f 174 182 189 +f 184 173 189 +f 174 171 190 +f 182 174 190 +f 176 182 190 +f 180 177 191 +f 180 191 192 +f 171 180 192 +f 190 171 192 +f 176 190 192 +f 191 176 192 +f 170 175 193 +f 175 176 193 +f 177 170 193 +f 176 191 193 +f 191 177 193 +f 182 175 194 +f 175 184 194 +f 189 182 194 +o convex_6 +v 2.134989 2.342201 0.598951 +v 1.088196 1.765034 -0.592309 +v 1.088196 1.728776 -0.447833 +v 3.001273 1.692628 -0.592309 +v 1.088196 2.739285 -0.592309 +v 3.037528 2.811691 -0.267325 +v 1.088196 1.728776 0.598951 +v 3.037337 1.765034 0.526538 +v 1.088196 2.811691 0.490506 +v 3.037528 2.811691 0.562803 +v 3.037528 2.775542 -0.483981 +v 1.738291 1.728776 0.598951 +v 3.037337 2.198046 -0.556161 +v 1.738291 2.775542 -0.519896 +v 1.088196 2.053782 0.598951 +v 2.568131 1.692628 -0.267325 +v 1.088196 2.811691 0.273967 +v 3.037337 1.728776 -0.483864 +v 3.001273 1.909298 -0.592309 +v 2.640258 2.775542 0.562803 +v 1.232831 2.739285 -0.592309 +v 3.001273 2.558872 0.562803 +v 1.232831 1.728776 -0.592309 +f 198 210 217 +f 196 197 199 +f 198 196 199 +f 199 197 201 +f 199 201 203 +f 200 203 204 +f 200 204 205 +f 195 201 206 +f 200 205 208 +f 201 195 209 +f 203 201 209 +f 201 197 210 +f 198 202 210 +f 206 201 210 +f 202 206 210 +f 203 200 211 +f 199 203 211 +f 200 208 211 +f 208 199 211 +f 202 198 212 +f 204 202 212 +f 205 204 212 +f 198 207 212 +f 207 205 212 +f 198 199 213 +f 207 198 213 +f 195 204 214 +f 204 203 214 +f 209 195 214 +f 203 209 214 +f 205 207 215 +f 199 208 215 +f 208 205 215 +f 213 199 215 +f 207 213 215 +f 204 195 216 +f 202 204 216 +f 195 206 216 +f 206 202 216 +f 197 196 217 +f 196 198 217 +f 210 197 217 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/757/757.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/757/757.urdf new file mode 100644 index 000000000..5ab282c7f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/757/757.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/758/758.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/758/758.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/758/758.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/758/758.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/758/758.obj new file mode 100644 index 000000000..e828181f0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/758/758.obj @@ -0,0 +1,1272 @@ +o convex_0 +v -1.003082 -0.297400 0.079417 +v 1.011991 -0.126945 0.221295 +v 0.983780 -0.126945 0.476933 +v 0.898552 -1.659836 0.703939 +v 0.018462 -1.659836 -1.311251 +v -0.747598 -1.659836 0.987696 +v 0.841734 -0.126945 -0.970486 +v -0.520719 -0.126945 1.101455 +v -0.832825 -0.126945 -0.970486 +v -0.804416 -1.659836 -0.856728 +v 0.926961 -1.659836 -0.856983 +v -0.009750 -1.631327 1.300341 +v 0.614658 -0.126945 1.073079 +v -0.946461 -0.126945 0.817442 +v 0.813325 -1.659836 0.959576 +v -0.151598 -0.126945 -1.083734 +v -0.832825 -1.659836 0.846073 +v -0.265037 -1.574459 -1.311251 +v 0.983780 -0.126945 -0.771600 +v -0.946461 -0.126945 -0.799976 +v -0.293446 -1.659836 1.300341 +v 0.926961 -0.126945 0.789322 +v -0.747598 -0.126945 1.044704 +v 0.983780 -1.148772 -0.345964 +v 0.870143 -1.659836 -0.942111 +v -0.861234 -1.460872 -0.516219 +v 0.699886 -0.126945 -1.027238 +v -0.690977 -0.126945 -1.055614 +v 0.387583 -0.126945 1.101455 +v 0.955370 -1.659836 -0.572970 +v 1.011991 -0.638009 -0.147078 +v -0.293446 -1.546250 1.300341 +v -0.776007 -0.297400 -1.026982 +v -0.861234 -1.546250 0.419926 +v -1.003082 -0.126945 -0.175454 +v 0.756507 -0.126945 0.987952 +v -0.009750 -1.574459 -1.311251 +v 0.898552 -1.262209 0.845818 +v -0.265037 -1.659836 -1.311251 +v -0.776007 -1.546250 -0.913735 +v 0.983780 -0.836672 0.249927 +v 0.841734 -0.950109 -0.970486 +v -0.832825 -1.659836 -0.629722 +v -0.747598 -0.410836 1.044704 +v 1.011991 -0.183813 -0.374340 +v -0.918052 -0.524572 0.846073 +v -0.378674 -0.126945 -1.083734 +v 0.813325 -0.666518 0.959576 +v -0.946461 -0.183813 -0.799976 +v 0.926961 -1.489382 0.505309 +v 0.955370 -1.006677 -0.828352 +v -0.974870 -0.524572 -0.147334 +v 0.955370 -0.212172 0.703939 +v -0.832825 -1.546250 0.902569 +v -1.003082 -0.183813 0.193175 +v 0.756507 -1.602968 0.987952 +v -0.690977 -0.126945 1.072824 +v 0.784916 -0.126945 -0.998607 +v -0.861234 -1.546250 0.618812 +f 17 55 59 +f 5 4 6 +f 3 2 7 +f 3 7 8 +f 8 7 9 +f 5 6 10 +f 4 5 11 +f 3 8 13 +f 8 9 14 +f 6 4 15 +f 9 7 16 +f 10 6 17 +f 7 2 19 +f 14 9 20 +f 6 15 21 +f 15 12 21 +f 3 13 22 +f 8 14 23 +f 11 5 25 +f 16 7 27 +f 9 16 28 +f 13 8 29 +f 12 13 29 +f 4 11 30 +f 24 30 31 +f 21 12 32 +f 23 21 32 +f 29 8 32 +f 12 29 32 +f 9 28 33 +f 28 18 33 +f 14 20 35 +f 22 13 36 +f 5 18 37 +f 18 16 37 +f 27 5 37 +f 16 27 37 +f 15 4 38 +f 5 10 39 +f 18 5 39 +f 33 18 39 +f 33 39 40 +f 9 33 40 +f 39 10 40 +f 2 3 41 +f 24 31 41 +f 31 2 41 +f 38 4 41 +f 25 5 42 +f 7 25 42 +f 10 17 43 +f 17 34 43 +f 34 26 43 +f 6 21 44 +f 23 14 44 +f 21 23 44 +f 19 2 45 +f 31 30 45 +f 2 31 45 +f 44 14 46 +f 16 18 47 +f 28 16 47 +f 18 28 47 +f 13 15 48 +f 36 13 48 +f 22 36 48 +f 15 38 48 +f 38 22 48 +f 20 9 49 +f 35 20 49 +f 9 40 49 +f 40 10 49 +f 10 43 49 +f 43 26 49 +f 4 30 50 +f 30 24 50 +f 41 4 50 +f 24 41 50 +f 7 19 51 +f 25 7 51 +f 11 25 51 +f 30 11 51 +f 19 45 51 +f 45 30 51 +f 34 1 52 +f 26 34 52 +f 1 35 52 +f 35 49 52 +f 49 26 52 +f 3 22 53 +f 22 38 53 +f 41 3 53 +f 38 41 53 +f 17 6 54 +f 6 44 54 +f 46 17 54 +f 44 46 54 +f 35 1 55 +f 14 35 55 +f 46 14 55 +f 17 46 55 +f 13 12 56 +f 12 15 56 +f 15 13 56 +f 8 23 57 +f 32 8 57 +f 23 32 57 +f 5 27 58 +f 27 7 58 +f 42 5 58 +f 7 42 58 +f 1 34 59 +f 34 17 59 +f 55 1 59 +o convex_1 +v -1.003082 -0.041768 0.193086 +v 1.011991 -0.098553 0.193086 +v 0.983582 -0.041768 0.505203 +v 0.188916 0.980143 -1.282864 +v 0.018659 0.980143 1.470662 +v -0.889643 0.980143 -0.828435 +v -0.719189 -0.126945 -1.055650 +v 0.870143 0.980143 0.249957 +v 0.870143 -0.126945 -0.941908 +v -0.747598 -0.126945 1.044534 +v -0.832825 0.980143 0.902761 +v 0.756704 -0.126945 0.987933 +v 0.870143 0.951751 -0.800135 +v 0.728295 0.980143 1.044534 +v -0.946461 -0.126945 -0.800135 +v -0.776007 0.980143 -1.055650 +v 0.415992 -0.126945 1.101405 +v 0.699886 0.980143 -1.112251 +v -0.946461 -0.126945 0.817320 +v -0.747598 0.980143 1.101405 +v 0.699886 -0.126945 -1.027349 +v 0.983582 0.100194 -0.771564 +v 0.955370 0.071802 0.760718 +v -0.918052 0.951751 -0.317675 +v -0.151598 -0.126945 -1.083951 +v 0.103689 0.951751 1.470662 +v -0.520719 -0.126945 1.101405 +v -0.946461 0.270549 0.817320 +v -0.350265 0.951751 1.356920 +v 0.529431 0.866573 -1.225993 +v 0.841734 0.951751 0.760718 +v -1.003082 -0.126945 -0.203933 +v -0.804416 0.242157 -1.055650 +v 0.926961 0.667718 -0.005288 +v 0.983582 -0.126945 -0.771564 +v 0.103689 0.951751 -1.282864 +v 0.955370 -0.126945 0.732417 +v -0.861234 0.980143 0.817320 +v -0.946461 0.242157 -0.800135 +v 0.472613 0.894966 1.243448 +v 0.813325 0.838181 -0.998779 +v 0.614658 -0.126945 1.073104 +v 1.011991 -0.013375 -0.033589 +v -1.003082 0.015017 -0.090191 +v -0.690779 -0.126945 1.072835 +v 0.188916 0.951751 -1.282864 +v 0.586249 0.185372 1.129975 +v -0.378674 -0.126945 -1.083951 +v -0.946461 0.100194 0.845890 +v -0.804416 0.610933 -1.055650 +v -0.776007 0.128587 1.044534 +v -0.889643 0.838181 0.732417 +v 0.813325 -0.041768 -0.998779 +v 0.870143 -0.126945 0.874460 +v 0.870143 0.980143 -0.572920 +v 1.011991 -0.126945 -0.374276 +v -0.918052 0.951751 -0.430877 +v 0.557840 0.980143 1.186577 +v -0.804416 -0.070160 -1.027080 +v 0.671477 -0.013375 -1.055380 +v -0.407083 0.980143 1.328350 +v -0.974870 0.071802 0.647246 +v 0.018659 0.951751 1.470662 +f 88 104 122 +f 64 63 65 +f 63 64 67 +f 66 68 69 +f 64 65 70 +f 69 68 71 +f 67 64 73 +f 66 69 74 +f 65 63 75 +f 69 71 76 +f 63 67 77 +f 74 69 78 +f 64 70 79 +f 68 66 80 +f 62 61 82 +f 80 66 84 +f 76 85 86 +f 69 76 86 +f 79 70 87 +f 63 77 89 +f 67 73 90 +f 73 82 90 +f 78 60 91 +f 74 78 91 +f 81 72 93 +f 82 61 93 +f 67 90 93 +f 90 82 93 +f 71 68 94 +f 68 81 94 +f 75 63 95 +f 66 92 95 +f 61 62 96 +f 62 82 96 +f 71 94 96 +f 70 65 97 +f 65 83 97 +f 87 70 97 +f 74 91 98 +f 92 74 98 +f 77 72 100 +f 81 68 100 +f 72 81 100 +f 76 71 101 +f 85 76 101 +f 93 61 102 +f 81 93 102 +f 60 83 103 +f 91 60 103 +f 98 91 103 +f 69 86 104 +f 88 69 104 +f 63 89 105 +f 95 63 105 +f 84 95 105 +f 99 85 106 +f 101 71 106 +f 85 101 106 +f 84 66 107 +f 66 95 107 +f 95 84 107 +f 79 87 108 +f 65 75 109 +f 75 95 109 +f 95 92 109 +f 98 65 109 +f 92 98 109 +f 78 69 110 +f 108 78 110 +f 79 108 110 +f 97 83 111 +f 87 97 111 +f 68 80 112 +f 89 77 112 +f 100 68 112 +f 77 100 112 +f 73 71 113 +f 82 73 113 +f 96 82 113 +f 71 96 113 +f 77 67 114 +f 72 77 114 +f 67 93 114 +f 93 72 114 +f 94 81 115 +f 61 96 115 +f 96 94 115 +f 102 61 115 +f 81 102 115 +f 83 65 116 +f 65 98 116 +f 103 83 116 +f 98 103 116 +f 73 64 117 +f 71 73 117 +f 64 85 117 +f 85 99 117 +f 106 71 117 +f 99 106 117 +f 66 74 118 +f 92 66 118 +f 74 92 118 +f 80 84 119 +f 84 105 119 +f 105 89 119 +f 112 80 119 +f 89 112 119 +f 64 79 120 +f 88 64 120 +f 69 88 120 +f 110 69 120 +f 79 110 120 +f 60 78 121 +f 83 60 121 +f 78 108 121 +f 108 87 121 +f 111 83 121 +f 87 111 121 +f 85 64 122 +f 86 85 122 +f 64 88 122 +f 104 86 122 +o convex_2 +v 0.359285 -2.113948 -1.510248 +v -0.009672 -2.483055 -1.510248 +v 0.018648 -2.483055 -1.510248 +v -0.038065 -2.199114 -3.042678 +v -0.265204 -1.659917 -1.282865 +v -0.293596 -2.369366 -1.282865 +v 0.302500 -1.830249 -1.282865 +v -0.265204 -2.199114 -2.787216 +v 0.046968 -1.943777 -2.787216 +v 0.330892 -2.397809 -1.282865 +v 0.217323 -2.170672 -2.815467 +v -0.009672 -2.397809 -2.758793 +v 0.046968 -1.659917 -1.311460 +v -0.350381 -2.000581 -1.424979 +v -0.066457 -1.943777 -2.787216 +v -0.236812 -2.397809 -2.049424 +v 0.160538 -1.972219 -2.645273 +v 0.387677 -2.284281 -1.311460 +v 0.245715 -2.113948 -2.673524 +v 0.103753 -2.483055 -1.282865 +v -0.236812 -2.085586 -2.730370 +v -0.321989 -2.199114 -2.049424 +v -0.293596 -1.688359 -1.311460 +v 0.160538 -2.312642 -2.616850 +v 0.302500 -2.426170 -1.368306 +v -0.350381 -2.085586 -1.282865 +v -0.208419 -2.341004 -2.588427 +v -0.265204 -1.659917 -1.339883 +v -0.038065 -2.142310 -3.042678 +v -0.123242 -2.454532 -1.282865 +v 0.018648 -1.659917 -1.368306 +v -0.038065 -2.397809 -2.758793 +v 0.217323 -2.113948 -2.815467 +v -0.265204 -2.369366 -2.021173 +v -0.265204 -2.170672 -2.787216 +v 0.330892 -2.142310 -1.935904 +f 141 129 158 +f 127 128 129 +f 129 128 132 +f 125 124 134 +f 126 133 134 +f 127 129 135 +f 135 129 139 +f 131 135 139 +f 123 129 140 +f 129 132 140 +f 140 133 141 +f 139 129 141 +f 124 125 142 +f 132 128 142 +f 125 134 142 +f 134 133 146 +f 134 146 147 +f 140 132 147 +f 133 140 147 +f 132 142 147 +f 142 134 147 +f 146 133 147 +f 128 127 148 +f 144 128 148 +f 136 144 148 +f 127 145 148 +f 145 136 148 +f 127 135 150 +f 137 143 150 +f 145 127 150 +f 143 145 150 +f 126 130 151 +f 133 126 151 +f 137 131 151 +f 143 137 151 +f 138 124 152 +f 128 138 152 +f 124 142 152 +f 142 128 152 +f 135 131 153 +f 131 137 153 +f 150 135 153 +f 137 150 153 +f 130 126 154 +f 134 124 154 +f 126 134 154 +f 124 138 154 +f 149 130 154 +f 138 149 154 +f 131 139 155 +f 141 133 155 +f 139 141 155 +f 133 151 155 +f 151 131 155 +f 138 128 156 +f 128 144 156 +f 144 130 156 +f 130 149 156 +f 149 138 156 +f 144 136 157 +f 130 144 157 +f 136 145 157 +f 145 143 157 +f 151 130 157 +f 143 151 157 +f 129 123 158 +f 123 140 158 +f 140 141 158 +o convex_3 +v 0.103676 2.342705 -2.077883 +v 0.075301 0.980143 -1.339919 +v 0.188904 0.980143 -1.339919 +v 0.018653 1.746380 -3.014291 +v -0.463929 2.002029 -1.254478 +v 0.586361 1.718038 -1.254650 +v 0.416007 1.774864 -2.787252 +v -0.378701 1.093796 -1.254478 +v -0.350223 1.803349 -2.701983 +v 0.444382 2.229052 -1.254650 +v -0.009722 1.377787 -2.701983 +v 0.501132 1.037111 -1.254650 +v -0.350223 2.314079 -1.254478 +v 0.075301 2.229052 -2.730406 +v 0.444382 2.200567 -2.049288 +v -0.321848 2.229052 -2.077883 +v 0.075301 2.427874 -1.254478 +v -0.435451 1.803349 -2.077883 +v 0.557883 1.746380 -1.850671 +v -0.208347 1.462814 -2.588463 +v 0.075301 1.406130 -2.730406 +v -0.321848 1.037111 -1.283073 +v -0.094847 2.172367 -2.701983 +v 0.330779 2.115540 -2.616886 +v -0.038097 2.342705 -2.021037 +v 0.075301 2.143883 -2.843925 +v -0.463929 1.718180 -1.283073 +v 0.274029 1.491299 -2.588463 +v 0.586361 1.434472 -1.283073 +v -0.265200 1.774864 -2.815503 +v 0.416007 2.229052 -2.049288 +v 0.501132 1.037111 -1.283073 +v 0.529508 1.860033 -2.077711 +v 0.472757 2.200567 -1.425015 +v -0.236723 2.115540 -2.588463 +v -0.350223 2.314079 -1.425015 +v 0.018653 1.831549 -3.014291 +v -0.321848 1.689837 -2.673560 +v -0.463929 1.888517 -1.708901 +v -0.435451 1.633152 -1.822421 +v 0.018653 2.427874 -1.339919 +v 0.444382 1.008769 -1.283073 +v -0.038097 0.980143 -1.254478 +v 0.416007 1.803349 -2.787252 +v -0.293575 1.831549 -2.787080 +v -0.009722 1.406130 -2.758829 +v -0.378701 1.093796 -1.283073 +v 0.018653 2.172367 -2.815503 +v 0.047028 1.377787 -2.701983 +v -0.407076 2.200567 -1.311496 +v 0.586361 1.718038 -1.481689 +v 0.529508 1.178965 -1.339746 +v -0.350223 1.774864 -2.701983 +v 0.075301 1.774864 -3.014291 +v 0.018653 2.229052 -2.701983 +v -0.407076 2.002029 -1.964363 +v 0.132051 2.200567 -2.758829 +f 184 206 215 +f 161 160 169 +f 163 166 171 +f 164 168 175 +f 171 166 175 +f 169 160 180 +f 178 169 180 +f 159 172 183 +f 166 163 185 +f 179 165 186 +f 164 170 187 +f 172 159 189 +f 175 168 189 +f 159 175 189 +f 173 182 189 +f 186 165 190 +f 179 186 190 +f 187 170 190 +f 177 165 191 +f 168 164 192 +f 189 168 192 +f 173 189 192 +f 191 173 192 +f 167 174 193 +f 174 181 193 +f 183 174 194 +f 162 188 195 +f 185 163 197 +f 197 176 198 +f 185 197 198 +f 171 175 199 +f 175 159 199 +f 159 183 199 +f 194 171 199 +f 183 194 199 +f 190 170 200 +f 160 161 201 +f 170 164 201 +f 164 175 201 +f 175 166 201 +f 180 160 201 +f 166 180 201 +f 161 200 201 +f 200 170 201 +f 182 173 202 +f 173 191 202 +f 191 165 202 +f 167 193 203 +f 193 181 203 +f 195 188 203 +f 169 178 204 +f 162 179 204 +f 188 162 204 +f 178 196 204 +f 196 188 204 +f 180 166 205 +f 178 180 205 +f 166 185 205 +f 196 178 205 +f 185 198 205 +f 184 195 206 +f 203 181 206 +f 195 203 206 +f 161 169 207 +f 179 190 207 +f 200 161 207 +f 190 200 207 +f 169 204 207 +f 204 179 207 +f 163 171 208 +f 171 194 208 +f 194 174 208 +f 197 163 208 +f 164 187 209 +f 187 177 209 +f 177 191 209 +f 192 164 209 +f 191 192 209 +f 165 177 210 +f 177 187 210 +f 190 165 210 +f 187 190 210 +f 176 167 211 +f 188 196 211 +f 198 176 211 +f 167 203 211 +f 203 188 211 +f 196 205 211 +f 205 198 211 +f 179 162 212 +f 165 179 212 +f 162 195 212 +f 195 184 212 +f 184 202 212 +f 202 165 212 +f 181 174 213 +f 183 172 213 +f 174 183 213 +f 172 206 213 +f 206 181 213 +f 174 167 214 +f 167 176 214 +f 176 197 214 +f 208 174 214 +f 197 208 214 +f 172 189 215 +f 189 182 215 +f 182 202 215 +f 202 184 215 +f 206 172 215 +o convex_4 +v -0.832958 -1.801937 0.704022 +v 0.927028 -1.659984 -0.289046 +v 0.927028 -1.688404 -0.289046 +v -0.350409 -1.887051 -1.282864 +v 0.047035 -3.164193 0.221618 +v 0.359202 -2.256072 1.271954 +v 0.898602 -2.568105 -0.913746 +v -0.634150 -2.454571 -0.856978 +v 0.813325 -2.568105 0.931095 +v 0.813325 -1.659984 0.959354 +v -0.804360 -1.659836 -0.828469 +v -0.747681 -2.397878 0.931095 +v -0.350409 -1.659836 1.271954 +v 0.018781 -3.050512 -0.743442 +v 0.870176 -1.659984 -0.942005 +v -0.009644 -3.078933 0.846068 +v 0.245671 -2.482844 -1.282864 +v -0.009644 -2.596378 1.271954 +v 0.103714 -1.659836 -1.282864 +v -0.747681 -2.369458 -0.800210 +v -0.265132 -2.397878 -1.282864 +v -0.776107 -1.659836 0.959604 +v 0.415881 -2.227799 -1.282864 +v 0.018781 -3.164193 -0.062223 +v 0.898602 -1.830358 0.647254 +v -0.293558 -2.454571 1.271954 +v 0.274097 -1.830358 1.271954 +v 0.529584 -2.738479 1.016372 +v 0.245671 -3.050512 -0.175760 +v 0.529584 -2.709912 -1.027282 +v 0.841751 -2.482844 0.931095 +v -0.293558 -1.659836 -1.282864 +v 0.103714 -3.050512 -0.743442 +v 0.927028 -2.170958 -0.714682 +v -0.832958 -1.659836 -0.601396 +v -0.747681 -2.397878 -0.374323 +v -0.747681 -2.341185 -0.856978 +v 0.075288 -3.078933 0.846068 +v 0.245671 -2.539685 1.271954 +v -0.378663 -2.029005 1.271954 +v 0.927028 -1.659984 -0.856728 +v 0.047035 -1.659836 1.271954 +v 0.302350 -1.830358 -1.282864 +v -0.776107 -2.284492 0.931095 +v 0.614689 -2.738479 0.703772 +v 0.870176 -1.659984 0.874327 +v -0.009644 -3.135773 0.363413 +v -0.832958 -1.659836 0.817559 +v -0.123175 -2.936979 -0.771701 +v -0.066324 -2.482844 -1.282864 +v 0.756646 -2.681639 -0.743442 +v -0.747681 -1.659836 -0.913746 +v -0.350409 -2.085845 -1.282864 +v 0.359202 -2.426151 -1.282864 +v 0.075288 -3.164193 0.164850 +v -0.492193 -2.511265 1.073141 +v 0.813325 -2.539685 0.959354 +v -0.776107 -2.170958 -0.771701 +v -0.123175 -2.993819 0.846068 +v -0.776107 -2.312765 0.760791 +v -0.236706 -2.511265 1.271954 +v -0.293558 -2.851865 -0.317555 +v 0.785071 -2.596378 0.931095 +v 0.898602 -2.568105 -0.799960 +f 278 266 279 +f 221 228 233 +f 226 228 234 +f 232 219 234 +f 219 232 236 +f 228 226 237 +f 230 222 238 +f 232 234 238 +f 218 217 240 +f 233 228 241 +f 221 225 242 +f 228 221 242 +f 234 219 247 +f 226 234 247 +f 229 232 248 +f 239 229 248 +f 244 239 248 +f 245 222 248 +f 232 245 248 +f 217 218 249 +f 218 240 249 +f 240 246 249 +f 237 226 250 +f 223 235 252 +f 236 223 252 +f 231 220 253 +f 233 231 253 +f 253 243 254 +f 221 233 254 +f 233 253 254 +f 228 237 255 +f 241 228 255 +f 222 230 256 +f 234 217 256 +f 230 234 256 +f 217 249 256 +f 249 222 256 +f 217 234 257 +f 234 228 257 +f 242 225 257 +f 228 242 257 +f 234 230 258 +f 230 238 258 +f 238 234 258 +f 227 241 259 +f 255 237 259 +f 241 255 259 +f 240 217 261 +f 225 246 261 +f 246 240 261 +f 217 257 261 +f 257 225 261 +f 220 231 262 +f 239 220 262 +f 227 251 262 +f 251 239 262 +f 250 216 263 +f 237 250 263 +f 216 259 263 +f 259 237 263 +f 235 223 264 +f 223 236 264 +f 236 229 264 +f 229 239 264 +f 232 229 265 +f 229 236 265 +f 236 232 265 +f 248 222 266 +f 244 248 266 +f 260 244 266 +f 247 219 267 +f 226 247 267 +f 252 226 267 +f 252 267 268 +f 219 236 268 +f 236 252 268 +f 267 219 268 +f 238 222 269 +f 232 238 269 +f 222 245 269 +f 245 232 269 +f 220 239 270 +f 239 244 270 +f 253 220 270 +f 244 260 270 +f 260 253 270 +f 241 227 271 +f 225 221 272 +f 224 246 272 +f 246 225 272 +f 254 243 272 +f 221 254 272 +f 250 226 273 +f 216 250 273 +f 226 252 273 +f 252 235 273 +f 262 231 274 +f 227 262 274 +f 271 227 274 +f 231 271 274 +f 251 227 275 +f 235 251 275 +f 259 216 275 +f 227 259 275 +f 216 273 275 +f 273 235 275 +f 231 233 276 +f 233 241 276 +f 271 231 276 +f 241 271 276 +f 251 235 277 +f 239 251 277 +f 235 264 277 +f 264 239 277 +f 243 253 278 +f 253 260 278 +f 260 266 278 +f 224 272 278 +f 272 243 278 +f 246 224 279 +f 222 249 279 +f 249 246 279 +f 266 222 279 +f 224 278 279 +o convex_5 +v 0.217328 -1.801912 1.300550 +v -0.038059 -2.568216 1.271955 +v -0.236806 -2.482953 1.271955 +v -0.009739 -2.255880 3.031768 +v -0.321983 -1.660014 1.271955 +v 0.359290 -2.341054 1.271955 +v 0.160543 -2.057347 2.662614 +v -0.208414 -2.170705 2.776306 +v 0.046974 -2.426140 2.776306 +v 0.046974 -2.000534 2.776306 +v 0.245721 -2.227518 2.691037 +v -0.378768 -2.000534 1.300550 +v 0.274113 -2.511314 1.385819 +v 0.018581 -1.660014 1.271955 +v -0.038059 -2.426140 2.776306 +v 0.274113 -1.858636 1.385819 +v -0.293591 -2.426140 1.300550 +v 0.217328 -2.284242 2.832980 +v -0.038059 -2.000534 2.747883 +v -0.208414 -2.227518 2.747883 +v -0.265198 -1.660014 1.385819 +v -0.151629 -2.369416 2.605940 +v -0.293591 -2.199067 2.038514 +v 0.046974 -2.568216 1.385819 +v 0.359290 -2.255880 1.271955 +v 0.160543 -2.397778 2.634363 +v 0.046974 -2.199067 3.031768 +v -0.378768 -1.915448 1.271955 +v -0.180021 -2.057347 2.634363 +v -0.009739 -1.660014 1.357396 +v 0.217328 -2.539676 1.271955 +v 0.245721 -2.284242 2.691037 +v 0.217328 -2.170705 2.747883 +v 0.302506 -2.227518 2.038514 +v -0.038059 -2.568216 1.385819 +v -0.321983 -1.660014 1.300550 +v 0.274113 -1.858636 1.271955 +f 295 304 316 +f 281 282 284 +f 281 284 285 +f 285 284 293 +f 288 283 294 +f 289 286 295 +f 280 293 295 +f 293 289 295 +f 283 288 297 +f 283 287 299 +f 294 283 299 +f 293 284 300 +f 298 289 300 +f 282 294 301 +f 296 282 301 +f 294 299 301 +f 299 296 301 +f 287 291 302 +f 291 296 302 +f 299 287 302 +f 296 299 302 +f 288 294 303 +f 285 293 304 +f 288 292 305 +f 297 288 305 +f 287 283 306 +f 283 297 306 +f 298 287 306 +f 289 298 306 +f 284 282 307 +f 291 287 307 +f 282 296 307 +f 296 291 307 +f 287 298 308 +f 289 293 309 +f 293 300 309 +f 300 289 309 +f 281 285 310 +f 285 292 310 +f 292 288 310 +f 303 281 310 +f 288 303 310 +f 292 285 311 +f 290 297 311 +f 305 292 311 +f 297 305 311 +f 286 289 312 +f 295 286 312 +f 290 295 312 +f 297 290 312 +f 289 306 312 +f 306 297 312 +f 295 290 313 +f 285 304 313 +f 304 295 313 +f 311 285 313 +f 290 311 313 +f 282 281 314 +f 294 282 314 +f 281 303 314 +f 303 294 314 +f 300 284 315 +f 298 300 315 +f 284 307 315 +f 307 287 315 +f 287 308 315 +f 308 298 315 +f 293 280 316 +f 280 295 316 +f 304 293 316 +o convex_6 +v 0.784977 1.037050 0.874455 +v -0.123270 0.980143 -1.254478 +v -0.350331 1.037228 -1.254478 +v 0.018515 2.768271 -0.828341 +v -0.747775 0.980143 1.101527 +v 0.046940 2.399264 1.300341 +v -0.776029 2.314259 -0.913368 +v 0.728298 2.001981 -0.828341 +v 0.813403 0.980143 -0.942127 +v -0.605819 2.172169 1.073018 +v -0.889732 0.980143 -0.828341 +v 0.699872 2.058711 0.732409 +v 0.415959 2.257352 -1.254478 +v 0.415959 0.980143 1.300341 +v -0.066418 2.739818 0.760918 +v -0.747775 2.115440 0.789177 +v -0.378585 2.285628 -1.254478 +v 0.444384 2.143894 1.300341 +v -0.577393 1.689882 1.300341 +v 0.870254 0.980143 0.193236 +v -0.861306 1.093780 0.760918 +v 0.501064 1.008775 -1.254478 +v -0.776029 0.980143 -1.055664 +v 0.018515 2.796903 0.051191 +v -0.548967 2.512901 -0.998896 +v -0.435436 0.980143 1.300341 +v 0.728298 2.058711 -0.658036 +v -0.435436 2.257352 1.300341 +v 0.614595 1.604877 -1.254478 +v 0.557915 1.689882 1.300341 +v -0.889732 1.264145 -0.430964 +v -0.009739 2.427540 -1.254478 +v -0.009739 2.739818 0.760918 +v 0.870254 1.093780 -0.118864 +v 0.756551 2.001981 0.022932 +v -0.463862 2.030257 -1.254478 +v -0.066418 2.796903 -0.260659 +v -0.804455 2.200623 -0.799832 +v 0.699872 0.980143 1.073018 +v -0.719350 2.370989 -0.771573 +v 0.841828 1.150509 -0.800082 +v -0.889732 0.980143 0.278264 +v 0.841828 1.008597 0.647132 +v 0.557915 2.172169 -1.112432 +v 0.415959 2.200623 1.300341 +v 0.728298 2.058711 0.107959 +v 0.756551 1.037050 -1.083923 +v -0.492288 2.541354 -1.027155 +v -0.066418 2.796903 0.079700 +v -0.804455 1.916799 0.079700 +v -0.719350 1.774887 -1.055664 +v -0.094844 2.399264 1.300341 +v -0.861306 0.980143 0.817686 +v 0.699872 2.086987 -0.799832 +v -0.037992 2.768271 -0.828341 +v 0.415959 2.342535 0.732409 +v 0.472810 1.008775 1.300341 +v -0.804455 2.087164 -0.913368 +v 0.132045 2.683089 -0.203891 +v 0.870254 0.980143 -0.402705 +v -0.492288 2.228899 1.271832 +v 0.075366 2.456172 -1.225968 +v -0.463862 1.718335 -1.254478 +v 0.586341 0.980143 -1.197459 +f 345 363 380 +f 321 318 325 +f 318 321 327 +f 318 319 329 +f 321 325 330 +f 329 319 333 +f 322 330 334 +f 330 322 335 +f 332 321 335 +f 326 332 335 +f 330 325 336 +f 318 329 338 +f 319 318 339 +f 318 327 339 +f 333 323 341 +f 321 330 342 +f 335 321 342 +f 330 335 342 +f 335 322 344 +f 338 329 345 +f 317 328 346 +f 328 334 346 +f 334 330 346 +f 329 333 348 +f 331 322 349 +f 350 343 351 +f 336 350 351 +f 323 333 352 +f 333 319 352 +f 340 320 353 +f 332 323 354 +f 327 347 354 +f 330 336 355 +f 317 346 355 +f 323 332 356 +f 332 331 356 +f 341 323 356 +f 325 324 357 +f 324 343 357 +f 343 350 357 +f 327 321 358 +f 347 327 358 +f 337 347 358 +f 328 317 359 +f 351 328 359 +f 336 351 359 +f 317 355 359 +f 355 336 359 +f 329 320 360 +f 324 345 360 +f 345 329 360 +f 334 328 361 +f 322 334 361 +f 349 322 361 +f 340 328 362 +f 351 343 362 +f 328 351 362 +f 324 325 363 +f 345 324 363 +f 333 341 364 +f 348 333 364 +f 341 353 364 +f 331 349 365 +f 349 340 365 +f 340 353 365 +f 353 341 365 +f 356 331 365 +f 341 356 365 +f 337 332 366 +f 347 337 366 +f 332 354 366 +f 354 347 366 +f 323 352 367 +f 352 339 367 +f 322 331 368 +f 344 322 368 +f 331 344 368 +f 321 332 369 +f 332 337 369 +f 358 321 369 +f 337 358 369 +f 343 324 370 +f 360 320 370 +f 324 360 370 +f 353 320 371 +f 348 364 371 +f 364 353 371 +f 328 340 372 +f 340 349 372 +f 361 328 372 +f 349 361 372 +f 346 330 373 +f 330 355 373 +f 355 346 373 +f 339 327 374 +f 354 323 374 +f 327 354 374 +f 323 367 374 +f 367 339 374 +f 320 340 375 +f 340 362 375 +f 362 343 375 +f 370 320 375 +f 343 370 375 +f 336 325 376 +f 350 336 376 +f 325 357 376 +f 357 350 376 +f 332 326 377 +f 331 332 377 +f 326 335 377 +f 344 331 377 +f 335 344 377 +f 320 329 378 +f 329 348 378 +f 371 320 378 +f 348 371 378 +f 319 339 379 +f 352 319 379 +f 339 352 379 +f 325 318 380 +f 318 338 380 +f 338 345 380 +f 363 325 380 +o convex_7 +v 0.302342 2.229015 1.981896 +v -0.407092 0.980143 1.300341 +v -0.435434 1.008624 1.300341 +v -0.009751 1.803323 3.031940 +v 0.472726 1.037106 1.328817 +v -0.463776 2.229015 1.300341 +v 0.416042 2.200673 1.300341 +v -0.350297 1.916832 2.747860 +v 0.416042 1.831666 2.662772 +v 0.018590 1.462798 2.804812 +v -0.038093 2.200673 2.719385 +v -0.577476 1.604926 1.442551 +v -0.066546 2.399487 1.470687 +v 0.557974 1.689815 1.300341 +v -0.350297 1.746500 2.776167 +v -0.407092 2.229015 2.066814 +v 0.132069 0.980143 1.499163 +v 0.330795 1.548103 2.577514 +v 0.529521 1.831666 1.896638 +v -0.520570 1.831527 1.953420 +v 0.330906 2.143849 2.293773 +v 0.018590 2.399487 1.300341 +v -0.378639 0.980143 1.385599 +v 0.103727 1.462798 2.776167 +v 0.387589 0.980143 1.300341 +v 0.387589 1.831666 2.747860 +v -0.577476 1.689815 1.300341 +v -0.009751 2.342663 1.981896 +v 0.075274 2.172192 2.719385 +v -0.265161 1.519621 2.577514 +v 0.387589 2.200673 1.868331 +v -0.293503 2.115368 2.605990 +v 0.557974 1.547964 1.414075 +v 0.046932 1.831527 3.031940 +v -0.435434 1.803323 2.464120 +v 0.387589 1.746361 2.719554 +v -0.038093 2.143988 2.804812 +v -0.038093 0.980143 1.499163 +v -0.463776 1.093791 1.328817 +v -0.463776 2.229015 1.470687 +v -0.321844 1.860008 2.833118 +v 0.444384 1.803323 2.492426 +v -0.407092 1.008624 1.414075 +v 0.302342 2.058822 2.577514 +v 0.444384 2.143849 1.414075 +v 0.018590 2.399487 1.442551 +v -0.094888 2.399487 1.300341 +v 0.387589 0.980143 1.328817 +v -0.066546 2.342663 1.953420 +v -0.492229 1.916832 2.066814 +v 0.075274 1.774703 3.003465 +v 0.472726 1.973517 1.981896 +f 425 411 432 +f 382 383 386 +f 382 386 387 +f 382 387 394 +f 390 384 395 +f 387 386 402 +f 382 397 403 +f 390 397 404 +f 385 398 404 +f 382 394 405 +f 394 385 405 +f 397 382 405 +f 386 383 407 +f 392 400 407 +f 401 381 409 +f 381 408 409 +f 408 391 409 +f 390 395 410 +f 381 401 411 +f 401 389 411 +f 396 388 412 +f 391 396 412 +f 385 394 413 +f 394 399 413 +f 406 409 414 +f 395 388 415 +f 400 392 415 +f 398 385 416 +f 404 398 416 +f 389 406 416 +f 409 391 417 +f 391 412 417 +f 384 414 417 +f 414 409 417 +f 397 390 418 +f 390 403 418 +f 403 397 418 +f 407 383 419 +f 392 407 419 +f 415 392 419 +f 395 415 419 +f 386 407 420 +f 407 400 420 +f 395 384 421 +f 388 395 421 +f 412 388 421 +f 384 417 421 +f 417 412 421 +f 399 389 422 +f 385 413 422 +f 413 399 422 +f 416 385 422 +f 389 416 422 +f 383 382 423 +f 382 403 423 +f 403 390 423 +f 390 410 423 +f 410 395 423 +f 419 383 423 +f 395 419 423 +f 389 401 424 +f 406 389 424 +f 401 409 424 +f 409 406 424 +f 394 387 425 +f 399 394 425 +f 387 411 425 +f 387 402 426 +f 402 393 426 +f 408 381 426 +f 393 408 426 +f 411 387 426 +f 381 411 426 +f 396 393 427 +f 402 386 427 +f 393 402 427 +f 386 420 427 +f 420 396 427 +f 385 404 428 +f 404 397 428 +f 405 385 428 +f 397 405 428 +f 396 391 429 +f 393 396 429 +f 391 408 429 +f 408 393 429 +f 388 396 430 +f 415 388 430 +f 400 415 430 +f 396 420 430 +f 420 400 430 +f 384 390 431 +f 390 404 431 +f 414 384 431 +f 406 414 431 +f 404 416 431 +f 416 406 431 +f 389 399 432 +f 411 389 432 +f 399 425 432 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/758/758.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/758/758.urdf new file mode 100644 index 000000000..1c8190c6a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/758/758.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/759/759.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/759/759.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/759/759.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/759/759.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/759/759.obj new file mode 100644 index 000000000..9ed5e1e18 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/759/759.obj @@ -0,0 +1,165 @@ +o convex_0 +v 1.112663 -1.287628 0.312795 +v -1.093136 0.740459 0.900972 +v -1.093136 0.740459 0.930616 +v 1.024551 3.035747 0.989495 +v -1.005025 3.094724 -0.951879 +v -0.975655 -2.934771 -1.099077 +v 1.053922 2.917191 -1.040198 +v -1.063766 -3.023839 0.960056 +v 1.024551 -2.993748 -1.099077 +v 1.112663 -3.023839 0.959851 +v -1.093136 3.005657 0.930616 +v -1.063766 1.799637 -0.981319 +v -0.446125 -3.053327 0.018399 +v -0.063663 -0.052120 0.989495 +v 1.083292 2.358715 -0.863561 +v -1.093136 3.064634 -0.481051 +v 1.024551 1.799637 -1.069638 +v 1.083292 -0.141187 0.989495 +v 0.671460 2.947282 -1.040198 +v -0.122619 3.094724 0.283355 +v 1.053922 2.976770 -0.451816 +v 0.406911 3.035145 0.989495 +v 1.083292 -3.023839 -0.040276 +v 1.024551 -1.375492 -1.099077 +v -1.063766 -2.993748 0.812858 +v 1.024551 -0.817016 0.989495 +v -1.063766 -1.228651 0.960056 +v 1.053922 -0.522732 -1.069638 +v -0.975655 -2.758442 -1.099077 +v -0.769630 -3.053327 0.665660 +v -0.887328 -2.964861 -0.951879 +v 1.053922 2.917191 0.136157 +v -1.063766 3.094724 -0.922440 +v 0.700830 3.065236 0.753979 +v -0.857957 3.094724 -0.951879 +v 1.112663 -1.905683 0.930412 +v 0.995181 2.947282 -1.040198 +v -0.475495 2.800441 0.960056 +v -1.063766 3.094724 -0.628249 +v 0.524392 -2.993748 -1.099077 +v 1.112663 -3.023839 0.577342 +v 1.053922 -2.846908 -0.716568 +v -0.210730 3.094724 0.312795 +v -0.151989 -3.053327 0.253915 +v -1.034395 -3.023839 0.459788 +v 1.053922 1.740660 0.989495 +v 0.642089 3.065236 0.812858 +v 1.024551 3.035747 0.636425 +v 1.083292 2.358715 -0.804682 +v 1.053922 -3.023839 -0.187064 +v -1.063766 1.770149 -0.981319 +v 1.053922 1.799637 -1.069638 +v 1.112663 -1.111299 0.342234 +v -0.504865 -2.964861 -1.099077 +v -1.093136 3.035145 -0.481051 +v -0.975655 -2.964260 -0.834121 +f 13 45 56 +f 3 2 8 +f 2 3 11 +f 3 8 11 +f 2 11 16 +f 4 14 18 +f 12 5 19 +f 15 7 21 +f 14 4 22 +f 9 6 24 +f 8 2 25 +f 6 8 25 +f 8 10 26 +f 14 8 26 +f 10 18 26 +f 18 14 26 +f 11 8 27 +f 8 14 27 +f 15 1 28 +f 9 24 28 +f 6 12 29 +f 12 19 29 +f 19 17 29 +f 24 6 29 +f 17 24 29 +f 10 8 30 +f 21 4 32 +f 5 12 33 +f 12 16 33 +f 20 5 33 +f 19 5 35 +f 5 20 35 +f 20 34 35 +f 10 1 36 +f 18 10 36 +f 17 19 37 +f 21 7 37 +f 19 35 37 +f 35 21 37 +f 14 22 38 +f 22 11 38 +f 11 27 38 +f 27 14 38 +f 16 11 39 +f 33 16 39 +f 20 33 39 +f 6 9 40 +f 9 13 40 +f 1 10 41 +f 23 9 42 +f 28 1 42 +f 9 28 42 +f 1 41 42 +f 41 23 42 +f 39 11 43 +f 20 39 43 +f 10 30 44 +f 30 13 44 +f 41 10 44 +f 23 41 44 +f 8 6 45 +f 30 8 45 +f 13 30 45 +f 4 18 46 +f 32 4 46 +f 18 36 46 +f 22 4 47 +f 11 22 47 +f 34 20 47 +f 4 34 47 +f 43 11 47 +f 20 43 47 +f 4 21 48 +f 34 4 48 +f 21 35 48 +f 35 34 48 +f 15 21 49 +f 21 32 49 +f 32 46 49 +f 46 36 49 +f 13 9 50 +f 9 23 50 +f 44 13 50 +f 23 44 50 +f 12 6 51 +f 16 12 51 +f 6 25 51 +f 7 15 52 +f 24 17 52 +f 15 28 52 +f 28 24 52 +f 37 7 52 +f 17 37 52 +f 1 15 53 +f 36 1 53 +f 15 49 53 +f 49 36 53 +f 13 31 54 +f 31 6 54 +f 6 40 54 +f 40 13 54 +f 2 16 55 +f 25 2 55 +f 16 51 55 +f 51 25 55 +f 31 13 56 +f 6 31 56 +f 45 6 56 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/759/759.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/759/759.urdf new file mode 100644 index 000000000..29a928b12 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/759/759.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/760/760.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/760/760.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/760/760.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/760/760.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/760/760.obj new file mode 100644 index 000000000..747c46445 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/760/760.obj @@ -0,0 +1,762 @@ +o convex_0 +v 1.092635 -1.377015 -0.524567 +v -1.099741 -3.307161 0.522035 +v -1.066907 -3.307161 -0.197283 +v -1.099741 -0.918526 -0.131909 +v 1.092635 -0.918526 0.947588 +v 0.961513 -3.438123 -1.113762 +v 1.092635 -3.274359 0.914693 +v -1.001454 -0.918526 -1.015286 +v -1.034073 -0.918526 0.980275 +v 1.026967 -0.918772 -1.080867 +v -1.001454 -3.274359 -1.048181 +v -1.099741 -3.307161 0.947588 +v -0.837927 -1.507977 1.013170 +v -0.281678 -0.984130 -1.080867 +v 1.059801 -3.110842 0.947588 +v 1.026967 -3.405321 -0.426298 +v -1.099741 -0.918526 0.947588 +v 0.797986 -0.918772 0.980275 +v -1.034073 -3.078039 -0.949912 +v 0.994347 -3.405321 -1.113762 +v 1.092635 -3.307161 0.849320 +v 0.797986 -3.438123 -1.113762 +v 0.896274 -1.933172 0.980275 +v 1.092635 -0.918526 -0.622836 +v -0.968620 -3.307161 -1.048181 +v -0.707019 -0.918526 1.013170 +v -1.001454 -1.671248 -1.048181 +v -0.412371 -2.129491 -1.080867 +v 0.961513 -2.685400 -1.113762 +v 1.092635 -3.274359 0.685678 +v 0.732533 -3.438123 -1.047972 +v 1.059801 -0.951328 -0.982807 +v 0.928894 -3.438123 -0.851852 +v -1.066907 -1.704050 -0.589941 +v -0.314297 -3.339716 -1.080867 +v -0.903381 -1.540286 1.013170 +f 13 26 36 +f 3 2 4 +f 1 5 7 +f 4 5 8 +f 5 4 9 +f 4 2 12 +f 8 10 14 +f 7 5 15 +f 12 7 15 +f 9 4 17 +f 4 12 17 +f 12 9 17 +f 3 4 19 +f 11 3 19 +f 16 6 20 +f 1 7 21 +f 7 12 21 +f 12 16 21 +f 20 6 22 +f 15 5 23 +f 5 18 23 +f 5 1 24 +f 8 5 24 +f 10 8 24 +f 3 11 25 +f 5 9 26 +f 18 5 26 +f 13 23 26 +f 23 18 26 +f 8 14 27 +f 19 8 27 +f 11 19 27 +f 14 22 28 +f 27 14 28 +f 11 27 28 +f 14 10 29 +f 10 20 29 +f 22 14 29 +f 20 22 29 +f 20 1 30 +f 16 20 30 +f 21 16 30 +f 1 21 30 +f 2 3 31 +f 12 2 31 +f 22 6 31 +f 3 25 31 +f 25 22 31 +f 1 20 32 +f 20 10 32 +f 24 1 32 +f 10 24 32 +f 6 16 33 +f 16 12 33 +f 12 31 33 +f 31 6 33 +f 4 8 34 +f 19 4 34 +f 8 19 34 +f 25 11 35 +f 22 25 35 +f 11 28 35 +f 28 22 35 +f 9 12 36 +f 12 15 36 +f 15 23 36 +f 23 13 36 +f 26 9 36 +o convex_1 +v -0.543326 1.699183 2.714659 +v 0.601805 2.255404 1.176986 +v 0.569057 2.255404 1.307893 +v 0.438066 1.175848 3.009103 +v -0.576189 1.175848 1.111336 +v 0.569057 1.142963 1.111532 +v 0.503562 2.157183 2.976278 +v -0.477946 2.091739 1.111336 +v -0.543326 2.124515 3.107381 +v -0.445198 1.142963 3.009103 +v 0.438066 2.255404 1.111336 +v 0.536309 1.928183 2.550927 +v -0.412566 2.157183 2.845371 +v -0.576189 1.503069 1.307698 +v -0.510578 2.124515 1.863956 +v 0.503562 1.142963 2.158400 +v -0.576189 1.175848 1.438605 +v 0.078188 1.142963 1.144161 +v -0.379703 1.993627 3.107381 +v 0.470814 1.372181 2.976474 +v -0.477946 1.241293 2.943649 +v 0.536309 2.189960 2.550927 +v -0.576189 1.699183 2.158400 +v -0.510578 1.993627 1.111336 +v -0.412566 2.124515 1.111336 +v -0.543326 2.124515 2.616381 +v 0.601805 2.124515 1.111532 +f 48 42 63 +f 39 38 47 +f 42 41 47 +f 41 44 47 +f 45 43 49 +f 39 47 49 +f 49 47 51 +f 46 42 52 +f 40 46 52 +f 41 46 53 +f 50 41 53 +f 41 42 54 +f 46 41 54 +f 42 46 54 +f 40 43 55 +f 43 45 55 +f 46 40 55 +f 45 46 55 +f 43 40 56 +f 42 48 56 +f 48 43 56 +f 52 42 56 +f 40 52 56 +f 45 37 57 +f 46 45 57 +f 37 53 57 +f 53 46 57 +f 38 39 58 +f 48 38 58 +f 43 48 58 +f 39 49 58 +f 49 43 58 +f 37 45 59 +f 53 37 59 +f 50 53 59 +f 44 41 60 +f 41 50 60 +f 51 44 60 +f 47 44 61 +f 44 51 61 +f 51 47 61 +f 45 49 62 +f 49 51 62 +f 59 45 62 +f 50 59 62 +f 60 50 62 +f 51 60 62 +f 47 38 63 +f 42 47 63 +f 38 48 63 +o convex_2 +v 1.289224 -0.656672 -0.230242 +v 3.055958 -0.035031 -0.197507 +v 3.055958 -0.035031 -0.262912 +v 3.055958 -0.689471 0.325931 +v 1.158265 -0.100500 0.260461 +v 1.158265 -0.591267 0.358730 +v 2.924814 -0.067829 0.293196 +v 1.158265 -0.133235 -0.230242 +v 2.892120 -0.558532 -0.230242 +v 1.158265 -0.624002 -0.295711 +v 2.793855 -0.100500 0.325931 +v 2.499430 -0.035031 -0.262912 +v 2.957507 -0.035031 0.227726 +v 3.055958 -0.689471 0.227726 +v 1.485569 -0.394922 0.358730 +v 2.172312 -0.296845 -0.295711 +v 1.387303 -0.624002 0.358730 +v 1.878259 -0.067829 0.293196 +v 1.158265 -0.198641 -0.262912 +v 1.256531 -0.100500 -0.230242 +v 2.564816 -0.689471 0.260461 +v 1.583648 -0.624002 -0.295711 +v 2.009032 -0.591267 0.358730 +v 3.022893 -0.198641 -0.262912 +f 85 79 87 +f 66 65 67 +f 69 68 71 +f 64 69 73 +f 69 71 73 +f 67 70 74 +f 65 66 75 +f 67 65 76 +f 70 67 76 +f 65 75 76 +f 66 67 77 +f 68 69 78 +f 75 66 79 +f 69 64 80 +f 78 69 80 +f 74 70 81 +f 75 68 81 +f 70 76 81 +f 76 75 81 +f 68 78 81 +f 78 74 81 +f 73 71 82 +f 79 73 82 +f 75 79 82 +f 71 68 83 +f 68 75 83 +f 82 71 83 +f 75 82 83 +f 77 67 84 +f 64 77 84 +f 80 64 84 +f 67 80 84 +f 64 73 85 +f 77 64 85 +f 72 77 85 +f 73 79 85 +f 67 74 86 +f 74 78 86 +f 80 67 86 +f 78 80 86 +f 66 77 87 +f 77 72 87 +f 79 66 87 +f 72 85 87 +o convex_3 +v -0.346955 2.288234 -2.651609 +v 0.503504 1.110241 -2.945877 +v 0.078169 1.143104 -2.945877 +v -0.445256 1.143104 -1.113762 +v 0.601699 2.157244 -1.113948 +v -0.477917 2.255372 -1.113762 +v 0.438076 2.157129 -3.011641 +v -0.477917 1.208484 -2.978759 +v 0.470737 1.208484 -1.113762 +v -0.445256 2.222739 -3.011641 +v 0.601699 1.110241 -2.913366 +v 0.536271 2.189991 -1.179341 +v 0.601699 1.306727 -2.945877 +v 0.405309 2.189991 -3.011641 +v 0.601699 1.143104 -2.487755 +v -0.117904 1.535845 -3.011641 +v -0.477917 1.175736 -2.487941 +v -0.314294 2.288234 -3.011641 +v 0.503504 1.273979 -1.113762 +v -0.477917 1.503098 -2.945877 +v -0.445256 2.288234 -2.847973 +v 0.470737 1.862630 -3.011641 +v 0.601699 1.110241 -2.782394 +v -0.477917 1.928241 -1.146645 +v 0.601699 2.026368 -1.179341 +f 106 102 112 +f 89 90 95 +f 93 91 96 +f 88 93 99 +f 93 92 99 +f 94 92 100 +f 98 89 100 +f 92 98 100 +f 92 94 101 +f 94 97 101 +f 99 92 101 +f 98 92 102 +f 89 95 103 +f 97 94 103 +f 95 97 103 +f 90 89 104 +f 89 91 104 +f 95 90 104 +f 93 95 104 +f 88 99 105 +f 101 97 105 +f 99 101 105 +f 92 93 106 +f 93 96 106 +f 96 102 106 +f 95 93 107 +f 93 97 107 +f 97 95 107 +f 93 88 108 +f 97 93 108 +f 88 105 108 +f 105 97 108 +f 100 89 109 +f 94 100 109 +f 89 103 109 +f 103 94 109 +f 91 89 110 +f 96 91 110 +f 89 98 110 +f 102 96 110 +f 98 102 110 +f 91 93 111 +f 104 91 111 +f 93 104 111 +f 102 92 112 +f 92 106 112 +o convex_4 +v 0.503654 1.306701 -1.113545 +v 0.601728 2.255346 1.111119 +v 0.438201 2.255346 1.111119 +v -0.641463 0.259468 1.078237 +v -0.968732 2.615378 -1.015334 +v 1.092523 0.259468 0.947361 +v -0.968732 0.259468 -1.015334 +v 1.125357 2.713480 -1.080880 +v -1.067019 2.746343 0.980243 +v 1.059903 0.259468 -1.080662 +v 1.092523 2.582515 0.980243 +v -1.067019 0.259468 0.980243 +v -0.510556 2.288209 -1.113545 +v 1.125357 0.259468 -0.524497 +v 0.176171 0.259468 -1.113545 +v 0.569108 1.143117 1.111119 +v -0.510556 1.993659 1.111119 +v -1.067019 0.521398 0.522071 +v -0.608844 2.746343 0.980243 +v -0.968732 2.746343 0.489406 +v 1.125357 2.680617 -0.360957 +v -0.608844 1.077634 1.111119 +v 0.503654 0.259468 1.045572 +v 1.027069 2.615135 0.980243 +v -0.445102 1.143117 -1.113545 +v -1.067019 2.746343 0.751157 +v 1.125357 2.615135 -0.099206 +v 0.601728 2.157244 -1.113545 +v 0.012859 2.746343 -0.099206 +v -1.001351 2.647998 -0.524497 +v -1.001351 2.517276 1.012908 +v 1.092523 1.568145 0.980243 +v 1.092523 1.012152 -1.080880 +v -1.067019 0.259468 0.522071 +v -0.379649 2.124137 1.111119 +v 0.896162 2.713480 -1.015334 +v 1.125357 2.713480 -0.950005 +f 141 131 149 +f 118 116 119 +f 115 114 121 +f 118 119 122 +f 119 116 124 +f 119 117 125 +f 117 120 125 +f 118 122 126 +f 122 119 127 +f 113 122 127 +f 125 113 127 +f 114 115 128 +f 128 115 129 +f 124 121 130 +f 121 114 131 +f 121 131 132 +f 126 120 133 +f 124 116 134 +f 116 128 134 +f 128 129 134 +f 116 118 135 +f 128 116 135 +f 118 128 135 +f 114 123 136 +f 131 114 136 +f 123 133 136 +f 119 125 137 +f 127 119 137 +f 125 127 137 +f 130 121 138 +f 132 117 138 +f 121 132 138 +f 118 126 139 +f 133 123 139 +f 126 133 139 +f 122 113 140 +f 113 125 140 +f 125 120 140 +f 132 131 141 +f 117 119 142 +f 138 117 142 +f 130 138 142 +f 121 124 143 +f 124 134 143 +f 134 129 143 +f 123 114 144 +f 114 128 144 +f 128 118 144 +f 118 139 144 +f 139 123 144 +f 126 122 145 +f 120 126 145 +f 122 140 145 +f 140 120 145 +f 119 124 146 +f 124 130 146 +f 142 119 146 +f 130 142 146 +f 115 121 147 +f 129 115 147 +f 121 143 147 +f 143 129 147 +f 120 117 148 +f 117 132 148 +f 141 120 148 +f 132 141 148 +f 133 120 149 +f 131 136 149 +f 136 133 149 +f 120 141 149 +o convex_5 +v -1.132624 -0.133248 0.358729 +v -2.997620 -0.623950 -0.328433 +v -2.997620 -0.623950 -0.164714 +v -2.964738 -0.067778 0.260525 +v -2.081377 -0.100513 -0.262919 +v -1.099741 -0.656749 -0.230162 +v -2.931856 -0.623950 0.293282 +v -1.099741 -0.591216 0.195078 +v -1.099741 -0.133248 -0.197472 +v -2.997620 -0.100513 -0.295676 +v -1.099741 -0.002308 0.358729 +v -2.833952 -0.591216 0.325972 +v -1.198202 -0.623950 -0.262919 +v -1.361870 -0.002308 0.358729 +v -2.931856 -0.394935 -0.328433 +v -1.558049 -0.656749 -0.066577 +v -1.099741 -0.002308 0.293282 +v -2.964738 -0.067778 -0.001130 +v -1.328988 -0.591216 0.227835 +v -1.950777 -0.656749 -0.262919 +v -2.801070 -0.133248 0.293282 +v -2.572009 -0.100513 -0.295676 +f 159 166 171 +f 153 152 156 +f 157 155 158 +f 151 152 159 +f 152 153 159 +f 150 157 160 +f 157 158 160 +f 153 156 161 +f 158 155 162 +f 154 158 162 +f 150 160 163 +f 161 150 163 +f 151 159 164 +f 162 151 164 +f 155 157 165 +f 158 154 166 +f 160 158 166 +f 163 160 166 +f 163 166 167 +f 159 153 167 +f 153 163 167 +f 166 159 167 +f 157 150 168 +f 161 156 168 +f 150 161 168 +f 156 165 168 +f 165 157 168 +f 152 151 169 +f 156 152 169 +f 151 162 169 +f 162 155 169 +f 155 165 169 +f 165 156 169 +f 153 161 170 +f 163 153 170 +f 161 163 170 +f 154 162 171 +f 164 159 171 +f 162 164 171 +f 166 154 171 +o convex_6 +v -0.379727 0.226720 1.864225 +v 0.372592 -0.918526 1.078614 +v 0.569060 -0.918526 1.078614 +v -0.477846 -0.820283 3.107381 +v 0.601805 0.259468 3.009080 +v 0.601805 0.193973 1.078614 +v -0.576080 -0.754903 1.078614 +v 0.503571 -0.853030 2.976314 +v -0.543335 0.095845 3.041649 +v -0.543335 0.259468 1.078614 +v 0.536200 -0.885778 2.550741 +v -0.576080 -0.329529 2.060628 +v 0.601805 -0.460404 1.176915 +v 0.438081 0.259468 3.009080 +v 0.569060 0.259468 2.420071 +v -0.576080 -0.002398 1.078614 +v -0.281494 -0.624027 3.107381 +v -0.543335 -0.787535 1.471420 +v 0.470826 -0.853030 3.009080 +v -0.510706 -0.656660 3.074614 +v 0.503571 -0.918526 1.864225 +v 0.601805 0.128477 3.009080 +v 0.569060 -0.918526 1.536954 +v 0.274473 0.226720 1.078614 +v 0.470826 -0.885778 2.812678 +v -0.543335 0.128477 2.812678 +v 0.372592 0.063097 3.041649 +v -0.543335 -0.231401 3.041649 +v -0.576080 -0.754903 1.307784 +f 199 183 200 +f 174 173 177 +f 177 173 178 +f 177 178 181 +f 174 177 184 +f 177 176 184 +f 180 176 185 +f 181 172 185 +f 176 181 185 +f 176 177 186 +f 181 176 186 +f 181 178 187 +f 178 183 187 +f 183 180 187 +f 180 175 188 +f 173 175 189 +f 178 173 189 +f 188 175 190 +f 175 180 191 +f 173 174 192 +f 175 173 192 +f 179 182 193 +f 184 176 193 +f 190 179 193 +f 174 184 194 +f 192 174 194 +f 182 192 194 +f 193 182 194 +f 184 193 194 +f 177 181 195 +f 186 177 195 +f 181 186 195 +f 182 179 196 +f 179 190 196 +f 190 175 196 +f 175 192 196 +f 192 182 196 +f 172 181 197 +f 185 172 197 +f 180 185 197 +f 181 187 197 +f 187 180 197 +f 176 180 198 +f 180 188 198 +f 188 190 198 +f 193 176 198 +f 190 193 198 +f 180 183 199 +f 191 180 199 +f 191 199 200 +f 183 178 200 +f 189 175 200 +f 178 189 200 +f 175 191 200 +o convex_7 +v 0.503623 0.161151 -1.081040 +v 0.110923 -0.885804 -1.833686 +v 0.143594 -0.885804 -1.833686 +v -0.347008 0.161263 -3.109807 +v -0.477908 0.161263 -1.081040 +v 0.503623 -0.820222 -3.011506 +v -0.543467 -0.853069 -2.946171 +v -0.445238 -0.754752 -1.081040 +v 0.470735 0.128528 -3.011506 +v 0.470735 -0.853069 -1.081040 +v -0.477908 0.193886 -3.011506 +v 0.274494 0.259468 -1.146574 +v 0.569073 0.128528 -1.408511 +v -0.183438 -0.885804 -1.081040 +v -0.543467 -0.329311 -3.044273 +v 0.569073 -0.100616 -1.081040 +v -0.052538 0.259468 -1.735782 +v 0.536294 -0.689395 -2.651468 +v -0.543467 -0.853069 -2.553167 +v 0.503623 -0.853069 -2.651666 +v -0.510579 0.161263 -3.109807 +v 0.503623 0.128528 -2.815104 +v -0.019867 0.259468 -1.081040 +v 0.372723 -0.885804 -1.081040 +v 0.274494 -0.623925 -3.044273 +v -0.543467 -0.623925 -2.389730 +v -0.510579 0.161263 -2.291628 +v 0.209044 -0.853069 -2.978740 +v 0.110923 0.161263 -3.044273 +v 0.503623 -0.853069 -1.964753 +v 0.503623 -0.133350 -3.011506 +v -0.477908 -0.100503 -1.081040 +f 226 208 232 +f 201 205 208 +f 201 208 210 +f 212 201 213 +f 202 203 214 +f 207 202 214 +f 210 208 214 +f 201 210 216 +f 213 201 216 +f 212 209 217 +f 213 216 218 +f 207 214 219 +f 214 208 219 +f 215 207 219 +f 206 218 220 +f 211 204 221 +f 209 212 222 +f 212 213 222 +f 205 201 223 +f 211 205 223 +f 201 212 223 +f 217 211 223 +f 212 217 223 +f 214 203 224 +f 210 214 224 +f 203 220 224 +f 206 207 225 +f 207 215 225 +f 221 204 225 +f 215 221 225 +f 219 208 226 +f 215 219 226 +f 205 211 227 +f 211 221 227 +f 221 215 227 +f 226 205 227 +f 215 226 227 +f 203 202 228 +f 207 206 228 +f 202 207 228 +f 206 220 228 +f 220 203 228 +f 209 204 229 +f 204 211 229 +f 211 217 229 +f 217 209 229 +f 216 210 230 +f 218 216 230 +f 220 218 230 +f 210 224 230 +f 224 220 230 +f 204 209 231 +f 218 206 231 +f 213 218 231 +f 209 222 231 +f 222 213 231 +f 206 225 231 +f 225 204 231 +f 208 205 232 +f 205 226 232 +o convex_8 +v 0.241779 0.226720 1.078403 +v 1.027022 0.063097 -1.081040 +v 1.027022 0.259468 -1.081040 +v -1.001393 -0.297012 -1.015301 +v 1.092440 -0.918526 0.947560 +v -1.099742 -0.918526 0.947348 +v 1.027022 -0.918526 -1.080829 +v -1.066811 0.259468 0.980112 +v -1.001393 -0.918526 -1.015301 +v -0.968684 0.259468 -1.015301 +v 1.092440 0.259468 0.947560 +v 1.158079 -0.624027 -0.295558 +v -0.576173 -0.754903 1.078403 +v -1.099742 -0.133274 -0.197267 +v 0.568871 -0.918526 1.078403 +v -0.478045 0.161225 -1.080829 +v 1.125149 0.259468 -0.524481 +v -0.707010 0.259468 1.078403 +v -0.248860 -0.918526 -1.080829 +v 1.158079 -0.100526 0.260368 +v -1.099742 -0.918526 -0.164503 +v 0.601581 0.193973 1.078403 +v 1.059731 -0.525784 -1.080829 +v 1.125149 -0.885778 -0.197478 +v 1.158079 -0.591280 0.358659 +v -0.903265 -0.918526 1.012876 +v -1.099742 -0.002398 0.293132 +v 1.092440 0.259468 -0.884458 +v -1.066811 0.259468 0.522055 +v 1.059731 -0.918526 -0.982538 +v -0.445336 -0.754903 -1.080829 +f 251 241 263 +f 237 238 239 +f 239 238 241 +f 240 235 242 +f 235 240 243 +f 236 241 246 +f 242 236 246 +f 238 237 247 +f 233 245 247 +f 235 234 248 +f 241 236 248 +f 242 235 248 +f 236 242 248 +f 235 243 249 +f 233 243 250 +f 243 240 250 +f 245 233 250 +f 234 239 251 +f 239 241 251 +f 249 243 252 +f 244 249 252 +f 241 238 253 +f 238 246 253 +f 246 241 253 +f 243 233 254 +f 237 243 254 +f 247 237 254 +f 233 247 254 +f 234 235 255 +f 239 234 255 +f 256 244 257 +f 243 237 257 +f 252 243 257 +f 244 252 257 +f 237 256 257 +f 240 238 258 +f 238 247 258 +f 247 245 258 +f 250 240 258 +f 245 250 258 +f 238 240 259 +f 246 238 259 +f 235 249 260 +f 249 244 260 +f 255 235 260 +f 244 255 260 +f 240 242 261 +f 242 246 261 +f 259 240 261 +f 246 259 261 +f 237 239 262 +f 239 255 262 +f 255 244 262 +f 256 237 262 +f 244 256 262 +f 248 234 263 +f 241 248 263 +f 234 251 263 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/760/760.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/760/760.urdf new file mode 100644 index 000000000..7a9fdfa3a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/760/760.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/761/761.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/761/761.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/761/761.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/761/761.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/761/761.obj new file mode 100644 index 000000000..e40150541 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/761/761.obj @@ -0,0 +1,420 @@ +o convex_0 +v -2.536018 -0.211623 0.291418 +v -2.944039 0.371087 -0.145655 +v -2.944039 0.371087 -0.174772 +v -1.108422 0.254435 -0.174772 +v -1.400056 -0.328275 -0.349664 +v -1.108422 0.167084 0.291418 +v -2.944039 -0.211623 -0.291367 +v -1.108422 -0.328275 0.203941 +v -3.002328 0.196110 0.203941 +v -1.108422 0.167084 -0.291367 +v -3.002328 -0.182461 0.291418 +v -1.108422 -0.328275 -0.349664 +v -3.031568 0.312761 -0.203952 +v -2.710884 -0.240855 -0.320484 +v -1.108422 0.196110 0.262175 +v -1.283288 0.283667 -0.262187 +v -2.798413 -0.182461 -0.320484 +v -3.002328 -0.066014 0.291418 +v -3.060808 0.196110 -0.087357 +v -1.225190 -0.328275 0.174761 +v -1.166901 -0.211623 -0.349664 +v -1.137661 0.079663 0.291418 +v -2.944039 -0.211623 -0.000068 +v -1.574923 0.137921 -0.291367 +v -3.060808 0.341924 -0.087357 +v -1.312719 0.283667 -0.203952 +v -3.031568 -0.095040 0.233121 +v -1.166901 -0.240855 0.233121 +v -2.710884 -0.211623 0.291418 +v -1.312719 0.167084 0.291418 +v -1.487585 0.196110 0.262175 +f 9 30 31 +f 4 6 8 +f 4 8 10 +f 1 6 11 +f 8 5 12 +f 10 8 12 +f 6 4 15 +f 3 2 16 +f 4 10 16 +f 13 3 16 +f 7 13 17 +f 5 14 17 +f 14 7 17 +f 11 6 18 +f 13 7 19 +f 5 8 20 +f 14 5 20 +f 12 5 21 +f 10 12 21 +f 5 17 21 +f 6 1 22 +f 8 6 22 +f 11 7 23 +f 7 14 23 +f 14 20 23 +f 16 10 24 +f 13 16 24 +f 17 13 24 +f 10 21 24 +f 21 17 24 +f 2 3 25 +f 3 13 25 +f 13 19 25 +f 2 15 26 +f 15 4 26 +f 16 2 26 +f 4 16 26 +f 7 11 27 +f 18 9 27 +f 11 18 27 +f 19 7 27 +f 9 25 27 +f 25 19 27 +f 1 8 28 +f 22 1 28 +f 8 22 28 +f 8 1 29 +f 1 11 29 +f 20 8 29 +f 11 23 29 +f 23 20 29 +f 6 15 30 +f 18 6 30 +f 9 18 30 +f 15 2 31 +f 2 25 31 +f 25 9 31 +f 30 15 31 +o convex_1 +v 1.310523 -0.240798 0.174806 +v 2.970855 0.312807 0.262221 +v 2.970855 0.312807 0.174806 +v 3.000331 -0.269978 -0.116492 +v 1.106596 0.225330 -0.262204 +v 1.106596 0.225330 0.349698 +v 2.941749 -0.240798 0.262221 +v 1.106596 -0.328275 -0.262204 +v 2.970855 0.196212 -0.291384 +v 2.446393 0.312807 0.349698 +v 3.000331 -0.269978 -0.203906 +v 1.106596 -0.153383 0.233041 +v 2.941749 0.196212 0.349698 +v 1.223019 0.254510 -0.174789 +v 1.485343 -0.328275 -0.145672 +v 2.708716 0.225330 -0.291384 +v 1.106596 0.167095 0.349698 +v 2.708716 -0.269978 0.203924 +v 1.106596 -0.328275 -0.145672 +v 2.592108 -0.240798 0.262221 +v 2.941749 0.137915 -0.291384 +v 1.368734 0.254510 0.349698 +v 2.475499 -0.299032 -0.203906 +v 2.388181 0.312807 0.174806 +v 1.281417 -0.328275 -0.262204 +v 1.106596 -0.211618 0.203924 +v 2.970855 0.283627 0.320456 +v 2.941749 -0.124203 0.291401 +f 38 58 59 +f 34 33 35 +f 37 36 39 +f 33 34 41 +f 34 35 42 +f 40 34 42 +f 37 39 43 +f 41 37 44 +f 36 37 45 +f 39 36 47 +f 34 40 47 +f 36 45 47 +f 45 34 47 +f 37 43 48 +f 44 37 48 +f 35 38 49 +f 46 49 50 +f 43 39 50 +f 39 46 50 +f 49 32 50 +f 48 43 51 +f 49 38 51 +f 32 49 51 +f 40 42 52 +f 39 47 52 +f 47 40 52 +f 37 41 53 +f 45 37 53 +f 42 35 54 +f 35 49 54 +f 49 46 54 +f 41 34 55 +f 34 45 55 +f 53 41 55 +f 45 53 55 +f 46 39 56 +f 39 52 56 +f 52 42 56 +f 42 54 56 +f 54 46 56 +f 50 32 57 +f 43 50 57 +f 32 51 57 +f 51 43 57 +f 35 33 58 +f 38 35 58 +f 33 41 58 +f 41 44 58 +f 58 44 59 +f 44 48 59 +f 51 38 59 +f 48 51 59 +o convex_2 +v 1.047906 0.341611 0.465962 +v -1.108422 -0.328863 -0.349367 +v -1.108422 -0.328863 0.203907 +v 0.989591 -3.096584 0.699060 +v 1.106220 -2.979790 -0.961583 +v -0.962528 -3.009073 1.107341 +v -1.020842 -3.009073 -0.990746 +v 1.018640 0.341611 -0.932420 +v -1.020842 0.341611 1.049015 +v -0.991793 0.341611 -0.990746 +v 0.989591 0.341611 0.961526 +v 0.989591 -3.096584 0.961526 +v 1.106220 0.225153 0.349516 +v -0.700222 -3.038019 1.107341 +v 1.106220 0.225153 -0.262289 +v -1.108422 0.254099 -0.261879 +v -0.467181 0.341611 -0.990746 +v 1.106220 -2.979790 -0.611628 +v 1.106220 -2.280370 -0.961583 +v -0.933479 -2.134630 1.107341 +v 0.727286 -3.096584 0.990484 +v -1.020842 -3.009073 -0.582465 +v 1.047906 0.312328 -0.932420 +v -1.020842 -0.882541 1.049015 +v 0.027948 -3.008736 -0.961583 +v -1.108422 0.166588 0.291395 +v -0.991793 -3.009073 0.437005 +v 0.610657 -3.096584 0.932363 +v -1.020842 -2.076401 -0.990746 +v -0.845899 -3.008736 -0.990746 +v 1.076954 -3.009073 -0.640996 +v -0.991793 -2.163576 1.078178 +v -0.642124 -3.038019 0.233070 +v 1.106220 0.166924 0.349516 +v -0.991793 0.341611 1.049015 +v -0.700222 -2.921224 1.107341 +v 1.106220 -2.047455 -0.932215 +v 1.018640 -3.067301 0.582614 +f 77 93 97 +f 62 61 66 +f 60 67 68 +f 68 67 69 +f 60 68 70 +f 63 64 71 +f 70 71 72 +f 60 70 72 +f 72 64 74 +f 60 72 74 +f 61 62 75 +f 69 61 75 +f 68 69 75 +f 66 69 76 +f 69 67 76 +f 71 64 77 +f 64 72 77 +f 74 64 78 +f 64 76 78 +f 68 65 79 +f 65 73 79 +f 63 71 80 +f 71 70 80 +f 62 66 81 +f 66 73 81 +f 67 60 82 +f 60 74 82 +f 76 67 82 +f 78 76 82 +f 63 66 84 +f 75 62 85 +f 68 75 85 +f 62 83 85 +f 83 68 85 +f 65 62 86 +f 73 65 86 +f 62 81 86 +f 81 73 86 +f 66 63 87 +f 63 80 87 +f 80 73 87 +f 66 61 88 +f 61 69 88 +f 69 66 88 +f 76 64 89 +f 66 76 89 +f 64 84 89 +f 84 66 89 +f 64 63 90 +f 63 84 90 +f 84 64 90 +f 62 65 91 +f 65 68 91 +f 83 62 91 +f 68 83 91 +f 73 66 92 +f 66 87 92 +f 87 73 92 +f 72 71 93 +f 77 72 93 +f 70 68 94 +f 68 79 94 +f 79 70 94 +f 70 79 95 +f 79 73 95 +f 80 70 95 +f 73 80 95 +f 74 78 96 +f 82 74 96 +f 78 82 96 +f 71 77 97 +f 93 71 97 +o convex_3 +v 1.018597 2.177551 0.699254 +v -1.108422 2.964470 0.932466 +v -1.108422 2.964470 0.961618 +v -1.020825 0.341947 0.495393 +v -0.933439 2.993194 -1.019886 +v 1.018597 0.342218 -0.932432 +v 0.960340 3.022730 -0.932432 +v 0.989469 0.341947 0.961618 +v -0.991696 0.341947 -0.990735 +v 0.989469 3.022459 0.932266 +v -1.049953 0.400478 1.019921 +v -0.292400 3.110256 0.058121 +v -1.108422 3.080990 0.961618 +v 0.727312 3.051725 0.961618 +v 1.047937 0.662785 -0.640916 +v 0.581669 3.110256 0.611600 +v -1.020825 1.595219 1.019921 +v 1.047937 0.342218 0.466042 +v -0.962568 2.993194 -0.990735 +v -0.933439 0.895826 -1.019886 +v -0.641942 2.993464 -1.019886 +v -0.671282 0.341947 1.019921 +v 0.989469 2.731158 -0.873929 +v -0.263271 3.110256 -0.232995 +v -1.079082 2.818413 0.990769 +v 0.902083 2.993464 0.961618 +v 0.902083 3.051725 -0.728171 +v 0.523201 3.022730 -0.961383 +v 1.047937 0.342218 -0.873929 +v -1.108422 3.080990 0.903315 +v 1.047937 1.012617 0.466042 +v 0.960340 3.051725 0.903115 +v 0.581669 3.110256 0.261981 +v -0.438042 0.341947 -0.990735 +v 0.989469 2.264805 0.961618 +v 0.989469 3.022459 0.087072 +v 1.047937 0.837565 -0.466007 +v -0.991696 3.022459 -0.582613 +v -1.020825 0.341947 1.019921 +v 1.018597 2.177551 0.757357 +v -0.030242 3.022730 -0.961383 +v 1.018597 1.478699 -0.932432 +v -1.079082 3.080990 0.699254 +v 0.057143 3.110256 0.524345 +v -0.641942 2.789418 -1.019886 +v -0.554557 3.080990 0.961618 +v -0.962568 2.818413 -1.019886 +f 127 116 144 +f 105 101 106 +f 100 99 108 +f 99 106 108 +f 106 101 108 +f 99 100 110 +f 100 108 110 +f 117 102 118 +f 101 105 119 +f 114 108 119 +f 109 113 121 +f 102 116 121 +f 110 108 122 +f 108 114 122 +f 122 114 123 +f 107 111 123 +f 114 119 123 +f 111 122 123 +f 124 104 125 +f 105 103 126 +f 115 105 126 +f 112 115 126 +f 106 99 127 +f 110 109 127 +f 99 110 127 +f 109 121 127 +f 115 112 128 +f 111 107 129 +f 113 111 129 +f 104 124 129 +f 129 124 130 +f 121 113 130 +f 124 121 130 +f 113 129 130 +f 103 105 131 +f 105 106 131 +f 117 103 131 +f 106 117 131 +f 119 105 132 +f 107 123 132 +f 123 119 132 +f 107 98 133 +f 120 104 133 +f 104 129 133 +f 129 107 133 +f 112 120 134 +f 98 128 134 +f 128 112 134 +f 133 98 134 +f 120 133 134 +f 121 116 135 +f 116 127 135 +f 108 101 136 +f 101 119 136 +f 119 108 136 +f 98 107 137 +f 105 115 137 +f 128 98 137 +f 115 128 137 +f 107 132 137 +f 132 105 137 +f 118 102 138 +f 102 121 138 +f 121 124 138 +f 124 125 138 +f 125 118 138 +f 104 120 139 +f 120 112 139 +f 103 125 139 +f 125 104 139 +f 126 103 139 +f 112 126 139 +f 127 121 140 +f 121 135 140 +f 135 127 140 +f 109 110 141 +f 113 109 141 +f 110 113 141 +f 103 117 142 +f 117 118 142 +f 125 103 142 +f 118 125 142 +f 113 110 143 +f 111 113 143 +f 110 122 143 +f 122 111 143 +f 116 102 144 +f 102 117 144 +f 117 106 144 +f 106 127 144 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/761/761.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/761/761.urdf new file mode 100644 index 000000000..c23ce161d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/761/761.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/762/762.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/762/762.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/762/762.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/762/762.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/762/762.obj new file mode 100644 index 000000000..b4827d4fc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/762/762.obj @@ -0,0 +1,606 @@ +o convex_0 +v 1.734472 -5.483909 -0.187851 +v 1.898279 -3.351093 0.337185 +v 1.996782 -3.055927 0.238672 +v 1.471917 -3.022968 -0.286364 +v 1.504752 -5.483909 0.304347 +v 2.062513 -5.517112 -0.187851 +v 1.439022 -3.022968 0.271509 +v 2.029678 -3.252705 -0.220689 +v 1.963948 -5.385276 0.304347 +v 1.537586 -5.418479 -0.253527 +v 2.029678 -3.022968 0.205895 +v 1.439144 -3.942159 0.304347 +v 1.734411 -3.416767 -0.286364 +v 1.504752 -5.221213 -0.220689 +v 1.996782 -3.022968 -0.187851 +v 1.570360 -4.663595 -0.286364 +v 1.701637 -4.466818 0.337185 +v 2.062513 -5.517112 -0.122237 +v 1.439144 -3.843526 0.140220 +v 1.931174 -4.630636 0.337185 +v 1.931174 -3.613789 -0.253527 +v 1.471917 -3.351093 0.304347 +v 1.504752 -5.451194 -0.023785 +v 1.668803 -5.451194 -0.253527 +f 16 21 24 +f 5 1 6 +f 2 3 7 +f 7 3 11 +f 4 7 11 +f 6 8 11 +f 4 8 13 +f 4 10 14 +f 8 4 15 +f 4 11 15 +f 11 8 15 +f 10 4 16 +f 4 13 16 +f 12 5 17 +f 5 6 18 +f 9 5 18 +f 6 11 18 +f 11 9 18 +f 7 4 19 +f 12 7 19 +f 4 14 19 +f 3 2 20 +f 5 9 20 +f 11 3 20 +f 9 11 20 +f 2 17 20 +f 17 5 20 +f 8 6 21 +f 13 8 21 +f 16 13 21 +f 2 7 22 +f 7 12 22 +f 17 2 22 +f 12 17 22 +f 1 5 23 +f 10 1 23 +f 5 12 23 +f 14 10 23 +f 12 19 23 +f 19 14 23 +f 6 1 24 +f 1 10 24 +f 10 16 24 +f 21 6 24 +o convex_1 +v 0.815415 4.459130 1.059076 +v -1.383415 4.393314 -0.975315 +v -1.350485 3.179503 -1.008246 +v -1.350485 -0.987828 0.960499 +v 0.782484 -1.414370 -1.106823 +v 0.815415 4.524947 -0.942600 +v 0.782484 -1.414370 0.960499 +v -1.350485 4.557856 1.092007 +v -1.219192 -1.381462 -1.041177 +v -0.759667 -1.808637 0.566836 +v 0.191882 -1.808637 -0.581437 +v -1.350485 -1.512462 0.927568 +v -1.383415 4.590131 -0.975315 +v 0.815200 4.655948 1.059076 +v -0.759667 -1.808637 -0.581437 +v 0.290244 -1.808637 0.533905 +v -1.284838 3.474413 1.092007 +v 0.815415 1.866968 1.026145 +v -0.694021 2.719420 -1.041177 +v 0.782484 -0.725194 0.993430 +v 0.519899 -0.561285 -1.106823 +v 0.815415 1.473334 -1.008246 +v -0.234927 4.557222 1.092007 +v 0.355890 4.656580 0.599336 +v -1.219192 4.327497 -1.008031 +v -0.530013 -1.479554 0.960499 +v -1.251908 -1.414370 -0.680014 +v 0.815415 3.638321 -0.975315 +v -0.989537 4.590764 1.058861 +v 0.815200 4.557856 -0.680014 +v 0.815415 1.277150 0.993215 +v -1.383415 4.524947 -0.745661 +v -1.350485 -1.512462 0.862137 +v 0.355890 -1.151736 -1.106823 +v -1.219192 -0.757470 -1.041177 +v -0.431651 -1.808637 -0.614153 +v -1.317769 4.229405 -1.008246 +v 0.782484 -0.790378 -1.106823 +v -1.350485 3.474413 1.092007 +v 0.421537 -1.414370 -1.106823 +v -0.169281 4.524314 -0.975315 +v -0.136350 -1.479554 0.960499 +v 0.290244 -1.808637 0.140027 +v -1.219192 4.590131 -0.975315 +v 0.815200 4.655948 0.763775 +v 0.454252 4.655948 1.059076 +v -1.251908 -0.561285 -1.008031 +v 0.683907 -1.446646 0.960499 +v -1.317769 -1.480187 0.336966 +f 39 57 73 +f 27 26 37 +f 25 30 38 +f 35 34 39 +f 34 36 39 +f 29 31 40 +f 34 35 40 +f 30 25 42 +f 31 42 44 +f 30 42 46 +f 38 32 47 +f 25 38 47 +f 32 41 47 +f 42 25 47 +f 41 44 47 +f 44 42 47 +f 45 43 49 +f 28 36 50 +f 33 39 51 +f 30 46 52 +f 37 32 53 +f 48 37 53 +f 31 29 55 +f 42 31 55 +f 29 46 55 +f 46 42 55 +f 26 36 56 +f 36 28 56 +f 37 26 56 +f 32 37 56 +f 26 27 57 +f 36 26 57 +f 39 36 57 +f 45 29 58 +f 43 45 58 +f 33 27 59 +f 58 33 59 +f 29 35 60 +f 39 33 60 +f 35 39 60 +f 27 37 61 +f 37 49 61 +f 49 43 61 +f 43 58 61 +f 59 27 61 +f 58 59 61 +f 29 45 62 +f 46 29 62 +f 45 49 62 +f 52 46 62 +f 41 32 63 +f 44 41 63 +f 28 50 63 +f 50 44 63 +f 56 28 63 +f 32 56 63 +f 58 29 64 +f 33 58 64 +f 29 60 64 +f 60 33 64 +f 30 52 65 +f 62 49 65 +f 52 62 65 +f 36 34 66 +f 34 40 66 +f 50 36 66 +f 44 50 66 +f 35 29 67 +f 29 40 67 +f 40 35 67 +f 37 48 68 +f 49 37 68 +f 54 30 68 +f 30 65 68 +f 65 49 68 +f 38 30 69 +f 48 38 69 +f 30 54 69 +f 68 48 69 +f 54 68 69 +f 32 38 70 +f 38 48 70 +f 53 32 70 +f 48 53 70 +f 27 33 71 +f 51 27 71 +f 33 51 71 +f 40 31 72 +f 31 44 72 +f 66 40 72 +f 44 66 72 +f 27 51 73 +f 51 39 73 +f 57 27 73 +o convex_2 +v 1.439018 -1.808441 -0.352001 +v 1.964003 0.193087 0.337185 +v 1.799911 0.193087 0.337185 +v 1.898366 0.193087 -0.352001 +v 1.964003 -1.808441 -0.089441 +v 1.406145 -1.808441 0.304264 +v 1.439018 0.193087 0.172984 +v 1.504655 0.160172 -0.352001 +v 1.898366 -1.808441 0.271545 +v 1.964003 -1.447359 -0.253507 +v 1.439018 0.193087 0.271545 +v 1.406145 -1.775527 -0.220721 +v 1.964003 -0.299262 0.337185 +v 1.406145 -1.053754 0.304264 +v 1.964003 -1.808441 -0.220721 +v 1.964003 0.193087 0.172984 +v 1.504655 -1.808441 -0.352001 +v 1.701456 -1.808441 0.304264 +v 1.439018 -1.184825 -0.352001 +v 1.931185 -0.430529 -0.319147 +f 83 90 93 +f 76 75 77 +f 74 78 79 +f 76 77 80 +f 77 74 81 +f 80 77 81 +f 79 78 82 +f 75 78 83 +f 76 80 84 +f 74 79 85 +f 75 76 86 +f 78 75 86 +f 76 79 86 +f 82 78 86 +f 79 76 87 +f 76 84 87 +f 84 80 87 +f 80 85 87 +f 85 79 87 +f 78 74 88 +f 83 78 88 +f 77 75 89 +f 75 83 89 +f 74 77 90 +f 88 74 90 +f 83 88 90 +f 79 82 91 +f 86 79 91 +f 82 86 91 +f 81 74 92 +f 80 81 92 +f 85 80 92 +f 74 85 92 +f 77 89 93 +f 89 83 93 +f 90 77 93 +o convex_3 +v 1.701578 0.981142 -0.351930 +v 1.963948 0.554375 0.369932 +v 1.931175 0.554375 0.369932 +v 1.504694 2.687479 0.271413 +v 2.062513 2.556128 -0.286345 +v 1.439086 0.193283 0.271413 +v 1.898340 0.193283 -0.351930 +v 1.504694 2.621803 -0.220689 +v 1.996783 2.621803 0.205828 +v 1.537528 0.193283 -0.351930 +v 1.963948 0.193283 0.337140 +v 1.439086 2.687479 0.271413 +v 1.471859 2.654274 -0.122240 +v 2.062513 2.194792 -0.253411 +v 1.996783 1.014102 0.337140 +v 1.439086 0.193283 0.172964 +v 2.062513 2.588599 -0.089448 +v 1.504694 1.702594 -0.286345 +v 1.963948 0.193283 0.172964 +v 1.668744 2.654274 0.271413 +v 1.963948 2.588599 -0.286345 +v 1.931175 1.112493 -0.351930 +v 1.504694 0.193283 -0.253411 +v 1.439086 2.654274 0.140172 +v 1.996783 2.391818 0.238620 +v 1.537528 0.751401 -0.351930 +v 1.570301 0.521659 0.304276 +v 2.029617 1.833944 -0.319138 +f 115 114 121 +f 96 95 97 +f 94 100 103 +f 100 99 103 +f 95 96 104 +f 96 99 104 +f 99 100 104 +f 96 97 105 +f 105 97 106 +f 104 107 108 +f 95 104 108 +f 103 99 109 +f 99 105 109 +f 107 98 110 +f 108 107 110 +f 106 101 111 +f 104 100 112 +f 107 104 112 +f 97 95 113 +f 102 97 113 +f 95 108 113 +f 97 102 114 +f 101 106 114 +f 106 97 114 +f 102 110 114 +f 110 98 114 +f 111 101 114 +f 100 94 115 +f 94 114 115 +f 103 109 116 +f 109 106 116 +f 111 103 116 +f 106 111 116 +f 105 106 117 +f 109 105 117 +f 106 109 117 +f 110 102 118 +f 108 110 118 +f 102 113 118 +f 113 108 118 +f 94 103 119 +f 103 111 119 +f 114 94 119 +f 111 114 119 +f 99 96 120 +f 96 105 120 +f 105 99 120 +f 98 107 121 +f 112 100 121 +f 107 112 121 +f 114 98 121 +f 100 115 121 +o convex_4 +v 0.323139 -3.285412 -0.253543 +v -0.858322 -3.154261 -0.548911 +v -0.858322 -3.022917 -0.548911 +v -0.858322 -3.055825 0.533957 +v -0.792518 -3.515144 0.533957 +v 0.224607 -3.022917 0.501238 +v -0.529997 -3.515144 -0.548911 +v 0.224607 -3.449472 0.599732 +v 0.191763 -3.022917 -0.483249 +v 0.257336 -3.449472 -0.450417 +v -0.792518 -3.515144 -0.548911 +v -0.825478 -3.022917 0.533957 +v -0.497268 -3.515144 0.566788 +v 0.257336 -3.449472 0.566788 +v 0.323139 -3.416660 -0.450417 +v 0.257336 -3.022917 0.402744 +v -0.005186 -3.022917 -0.516080 +v -0.431580 -3.515144 -0.516080 +v -0.825478 -3.383848 0.402744 +v 0.093231 -3.383848 0.599732 +v 0.257336 -3.022917 -0.056555 +f 130 137 142 +f 124 123 125 +f 123 124 128 +f 124 127 130 +f 123 128 132 +f 128 126 132 +f 124 125 133 +f 127 124 133 +f 125 126 134 +f 126 128 134 +f 127 129 135 +f 129 134 135 +f 130 122 136 +f 131 128 136 +f 135 131 136 +f 122 135 136 +f 130 127 137 +f 135 122 137 +f 127 135 137 +f 128 124 138 +f 124 130 138 +f 130 136 138 +f 136 128 138 +f 128 131 139 +f 134 128 139 +f 131 135 139 +f 135 134 139 +f 125 123 140 +f 126 125 140 +f 123 132 140 +f 132 126 140 +f 129 127 141 +f 133 125 141 +f 127 133 141 +f 125 134 141 +f 134 129 141 +f 122 130 142 +f 137 122 142 +o convex_5 +v -0.005035 -3.022798 -0.516016 +v 1.963653 -1.808875 -0.056430 +v 1.963653 -1.808875 -0.220650 +v -0.759561 -1.808875 0.566913 +v 2.751341 -2.891588 0.501225 +v -0.792367 -3.022798 0.534069 +v -0.759561 -1.808875 -0.581704 +v 2.718536 -2.924272 -0.614432 +v 2.751341 -1.940084 0.435537 +v 2.751341 -2.005688 -0.581588 +v -0.890783 -2.957074 -0.548860 +v 2.029263 -3.022798 0.205860 +v -0.890783 -2.005688 0.566913 +v 0.126544 -1.808875 -0.614548 +v -0.890783 -1.972886 -0.548860 +v 0.027771 -1.907282 0.566913 +v 1.898398 -1.808875 0.271432 +v -0.890783 -2.957074 0.501225 +v -0.857978 -3.022798 -0.548860 +v 1.898398 -3.022798 -0.220650 +v -0.333090 -1.841677 -0.614548 +v -0.726756 -2.399435 0.566913 +v 2.751341 -2.596249 -0.614432 +v 2.620120 -2.957193 -0.548860 +v 2.652925 -1.907282 0.435537 +v 2.685730 -2.924272 0.468381 +v 2.193648 -2.891469 -0.614548 +v 0.290572 -1.808875 0.534069 +v 0.224604 -3.022798 0.501225 +v 0.783011 -1.874479 0.534069 +v 2.652925 -1.972886 -0.548860 +v 2.751341 -2.793062 0.501225 +v 2.751341 -1.940084 0.008795 +v 2.751341 -2.924272 -0.253379 +v 1.504375 -1.808875 -0.351795 +v 0.783011 -1.907282 -0.614548 +f 165 169 178 +f 144 145 146 +f 146 145 149 +f 151 147 152 +f 148 143 154 +f 149 145 156 +f 146 149 157 +f 149 153 157 +f 155 146 157 +f 153 155 157 +f 146 155 158 +f 144 146 159 +f 148 155 160 +f 155 153 160 +f 143 148 161 +f 150 143 161 +f 148 160 161 +f 160 153 161 +f 154 143 162 +f 153 149 163 +f 149 156 163 +f 161 153 163 +f 148 147 164 +f 155 148 164 +f 147 158 164 +f 158 155 164 +f 152 147 165 +f 143 150 166 +f 162 143 166 +f 154 162 166 +f 145 144 167 +f 144 159 167 +f 154 166 168 +f 150 161 169 +f 163 156 169 +f 161 163 169 +f 165 150 169 +f 146 158 170 +f 159 146 170 +f 167 159 170 +f 147 148 171 +f 148 154 171 +f 168 147 171 +f 154 168 171 +f 151 167 172 +f 170 158 172 +f 167 170 172 +f 152 156 173 +f 147 151 174 +f 158 147 174 +f 151 172 174 +f 172 158 174 +f 151 152 175 +f 145 167 175 +f 167 151 175 +f 173 145 175 +f 152 173 175 +f 165 147 176 +f 150 165 176 +f 166 150 176 +f 147 168 176 +f 168 166 176 +f 156 145 177 +f 145 173 177 +f 173 156 177 +f 156 152 178 +f 152 165 178 +f 169 156 178 +o convex_6 +v -3.319573 -2.596153 0.501174 +v -2.597548 -1.874274 -0.483172 +v -2.597548 -1.874274 -0.515932 +v -0.891140 -2.957148 -0.056520 +v -0.891140 -2.005698 0.566804 +v -3.319573 -3.022692 -0.483172 +v -0.891140 -1.972871 -0.548802 +v -0.956910 -2.989976 0.501174 +v -3.221038 -1.940042 0.566804 +v -0.891140 -2.924320 -0.548802 +v -3.352337 -3.022692 0.468304 +v -3.253803 -1.874274 -0.483172 +v -0.891140 -2.858665 0.533934 +v -1.810234 -1.907215 -0.548802 +v -2.663077 -3.022692 -0.483172 +v -1.252273 -1.972871 0.533934 +v -3.253803 -1.874274 -0.122150 +v -3.188033 -1.907215 -0.515932 +v -1.416337 -2.924320 -0.548802 +v -2.171126 -3.022692 0.468304 +v -1.022680 -1.939930 -0.515932 +v -3.319573 -2.432350 -0.056520 +v -0.924145 -2.399522 0.566804 +v -3.155509 -2.038527 0.566804 +v -0.891140 -1.972871 0.238653 +v -2.695841 -1.940042 0.566804 +v -3.319573 -2.727465 -0.483172 +v -3.253803 -2.005698 0.501174 +v -3.352337 -2.989976 -0.023759 +v -2.007304 -2.989976 0.501174 +v -3.286808 -2.071355 -0.384672 +f 205 207 209 +f 183 182 185 +f 185 182 188 +f 187 179 189 +f 180 181 190 +f 182 183 191 +f 186 182 191 +f 185 188 192 +f 182 186 193 +f 184 188 193 +f 188 182 193 +f 189 184 193 +f 180 190 195 +f 194 180 195 +f 190 181 196 +f 181 192 196 +f 196 192 197 +f 188 184 197 +f 192 188 197 +f 184 196 197 +f 186 189 198 +f 193 186 198 +f 189 193 198 +f 181 180 199 +f 192 181 199 +f 185 192 199 +f 189 179 200 +f 183 187 201 +f 191 183 201 +f 191 201 202 +f 187 189 202 +f 201 187 202 +f 183 185 203 +f 194 183 203 +f 180 194 203 +f 199 180 203 +f 185 199 203 +f 187 183 204 +f 183 194 204 +f 195 187 204 +f 194 195 204 +f 196 184 205 +f 190 196 205 +f 179 187 206 +f 187 195 206 +f 200 179 206 +f 184 189 207 +f 189 200 207 +f 205 184 207 +f 189 186 208 +f 186 191 208 +f 191 202 208 +f 202 189 208 +f 195 190 209 +f 190 205 209 +f 206 195 209 +f 200 206 209 +f 207 200 209 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/762/762.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/762/762.urdf new file mode 100644 index 000000000..be52c6c52 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/762/762.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/763/763.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/763/763.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/763/763.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/763/763.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/763/763.obj new file mode 100644 index 000000000..e9d19795d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/763/763.obj @@ -0,0 +1,591 @@ +o convex_0 +v -2.203382 -1.695569 -0.507847 +v -2.738480 -1.374433 1.062426 +v -3.059731 -1.374433 1.062426 +v -1.097064 0.409820 -0.971635 +v -3.024185 0.338219 -1.007498 +v -1.097064 0.338219 0.955242 +v -1.097256 -1.767169 0.990700 +v -1.097256 -1.624395 -1.007498 +v -2.952711 0.266832 0.955242 +v -2.916974 -1.659769 -0.935975 +v -3.059731 -1.731369 1.062426 +v -2.952711 -1.374433 -0.971635 +v -3.024185 0.338219 -0.579168 +v -3.059731 -1.731369 0.669756 +v -1.311295 0.052884 0.990700 +v -1.097064 -0.018716 -1.007498 +v -2.952711 0.231245 0.990902 +v -1.489789 0.338433 0.955242 +v -1.917868 -1.624395 -1.007498 +v -1.097256 -1.659982 -0.793131 +v -2.988448 0.017084 0.990902 +v -1.311295 -1.767169 0.776737 +v -3.024185 0.052671 -1.007498 +v -2.453158 0.374020 -1.007498 +v -2.916974 -1.695569 -0.436324 +v -1.132801 0.373806 0.384068 +v -1.810848 -1.767169 1.026563 +v -1.097064 -0.838923 0.990902 +v -2.809954 -1.659769 -0.971635 +v -2.988448 -0.339852 -1.007498 +v -2.988448 -1.731369 0.455591 +v -3.059731 -1.267459 1.026563 +v -1.917868 -1.659982 -0.971635 +v -1.668091 0.374020 -1.007498 +v -1.275750 0.409820 -0.935975 +v -1.132993 -1.767169 0.776737 +v -2.631652 -1.695569 -0.543508 +v -2.952711 -1.659769 -0.757673 +f 14 12 38 +f 2 3 11 +f 11 3 14 +f 4 6 16 +f 8 5 16 +f 3 2 17 +f 2 15 17 +f 15 6 17 +f 13 9 18 +f 9 17 18 +f 17 6 18 +f 5 8 19 +f 9 13 21 +f 3 17 21 +f 17 9 21 +f 14 5 23 +f 12 14 23 +f 5 19 23 +f 5 13 24 +f 16 5 24 +f 14 10 25 +f 6 4 26 +f 18 6 26 +f 13 18 26 +f 24 13 26 +f 2 11 27 +f 11 14 27 +f 22 7 27 +f 15 2 28 +f 6 15 28 +f 16 6 28 +f 8 16 28 +f 7 20 28 +f 20 8 28 +f 2 27 28 +f 27 7 28 +f 10 12 29 +f 12 23 30 +f 23 19 30 +f 29 12 30 +f 19 29 30 +f 14 25 31 +f 27 14 31 +f 22 27 31 +f 13 5 32 +f 14 3 32 +f 5 14 32 +f 3 21 32 +f 21 13 32 +f 19 8 33 +f 8 20 33 +f 29 19 33 +f 4 16 34 +f 24 4 34 +f 16 24 34 +f 4 24 35 +f 26 4 35 +f 24 26 35 +f 20 7 36 +f 7 22 36 +f 1 33 36 +f 33 20 36 +f 25 10 37 +f 10 29 37 +f 31 25 37 +f 22 31 37 +f 33 1 37 +f 29 33 37 +f 36 22 37 +f 1 36 37 +f 12 10 38 +f 10 14 38 +o convex_1 +v -1.739657 3.514685 0.277254 +v -2.988504 3.015097 -0.365108 +v -2.988504 3.086466 -0.365108 +v -0.597427 3.050813 -0.293703 +v -0.597427 3.621771 -0.293703 +v -0.597427 3.015097 0.170217 +v -3.059909 3.514685 0.348659 +v -3.095611 2.979380 0.205850 +v -2.988504 3.514685 -0.293703 +v -0.668832 3.550338 0.205850 +v -1.311473 3.015097 -0.329336 +v -1.132962 3.621771 -0.115192 +v -0.990153 3.514685 -0.329336 +v -3.024206 3.407536 0.348659 +v -3.024206 3.015097 0.241552 +v -2.595779 3.550338 -0.293703 +v -0.597427 3.015097 -0.222229 +v -3.095611 2.979380 0.098812 +v -0.597427 3.550338 0.170217 +v -1.418580 3.015097 0.205850 +v -3.024206 3.478968 -0.186596 +v -1.168664 3.621771 -0.293703 +v -2.524374 3.550338 0.205850 +f 50 60 61 +f 42 43 44 +f 39 44 48 +f 45 39 48 +f 48 43 50 +f 40 41 51 +f 43 42 51 +f 41 47 51 +f 49 40 51 +f 42 49 51 +f 44 39 52 +f 39 45 52 +f 45 46 52 +f 52 46 53 +f 47 45 54 +f 51 47 54 +f 42 44 55 +f 44 46 55 +f 49 42 55 +f 49 55 56 +f 41 40 56 +f 46 45 56 +f 40 49 56 +f 55 46 56 +f 44 43 57 +f 48 44 57 +f 43 48 57 +f 46 44 58 +f 44 52 58 +f 53 46 58 +f 52 53 58 +f 47 41 59 +f 45 47 59 +f 41 56 59 +f 56 45 59 +f 50 43 60 +f 43 51 60 +f 51 54 60 +f 60 54 61 +f 45 48 61 +f 48 50 61 +f 54 45 61 +o convex_2 +v 0.580212 -3.765716 -0.293504 +v -0.383193 2.372088 1.062426 +v -0.775716 2.407888 1.062213 +v 1.044121 2.264688 -1.007376 +v -1.097064 -3.694116 -1.007163 +v 1.079708 -3.765077 0.990826 +v -1.025677 -3.658316 0.955025 +v -0.954290 2.407888 -0.971576 +v 1.008534 2.229527 1.026413 +v 1.079708 -3.765077 -1.043176 +v -1.097064 0.337874 0.955025 +v 0.544412 2.765250 -0.079343 +v 1.079921 0.695236 -1.114563 +v -1.097064 0.052751 -1.007163 +v 1.079708 -1.266739 1.062426 +v -0.597355 2.765250 -0.579053 +v -0.954290 2.407888 1.062213 +v 0.473025 2.765250 0.598303 +v 1.079921 0.730397 1.062426 +v -1.097064 -2.016624 0.991039 +v 0.615799 -0.018849 -1.114563 +v -0.490167 2.765250 0.526702 +v -1.097064 0.801997 -0.971576 +v -1.061264 -1.588301 -1.043176 +v -0.847103 -3.729916 -0.686027 +v 1.044121 -3.444155 1.026413 +v 0.508825 2.765250 -0.436279 +v -0.026258 -3.729916 -1.042963 +v -0.989877 2.051166 1.062213 +v 0.972734 2.372088 -0.935989 +v 0.722986 -3.765077 0.990826 +v -1.097064 -3.694116 -0.400478 +v 0.936934 -1.302539 1.062426 +v 0.901347 2.372088 -0.971789 +v 1.008534 2.336288 -0.365104 +v 0.009116 2.336927 1.062426 +v -1.061264 -3.122592 0.955025 +v -0.989877 1.872165 1.062213 +v 1.079708 -0.019488 -1.114563 +v 0.722986 0.373035 -1.114563 +v -0.597355 2.765250 -0.008169 +v -0.775716 -3.729916 -1.007163 +v 1.044121 1.622843 1.026413 +v 0.116303 -3.729916 0.990826 +v 1.008534 2.264688 0.776664 +v 1.044121 2.300488 -0.935989 +v -0.062058 -1.766663 1.026413 +v -0.989877 2.051166 -0.971576 +v -0.418780 2.765250 -0.579053 +v -0.989877 -3.694116 0.169980 +v 0.437438 -3.765716 0.491115 +v 1.044121 1.087119 1.062426 +v 1.079921 0.837797 -1.078763 +v 0.722986 -3.765077 -1.043176 +v -0.418780 2.765250 0.562716 +f 79 83 116 +f 67 62 71 +f 69 65 74 +f 67 71 74 +f 66 72 75 +f 63 64 78 +f 77 69 78 +f 73 77 79 +f 78 64 79 +f 67 74 80 +f 63 76 80 +f 76 67 80 +f 72 66 81 +f 79 77 83 +f 75 72 84 +f 66 75 85 +f 75 69 85 +f 67 76 87 +f 77 73 88 +f 66 85 89 +f 85 82 89 +f 63 78 90 +f 78 69 90 +f 72 81 90 +f 84 72 90 +f 88 73 91 +f 67 87 92 +f 81 66 93 +f 66 86 93 +f 76 63 94 +f 87 76 94 +f 65 69 95 +f 91 65 95 +f 88 91 95 +f 91 73 96 +f 64 63 97 +f 79 64 97 +f 70 79 97 +f 63 80 97 +f 68 81 98 +f 81 93 98 +f 93 68 98 +f 63 90 99 +f 90 81 99 +f 94 63 99 +f 74 71 100 +f 82 74 100 +f 69 74 101 +f 74 82 101 +f 85 69 101 +f 82 85 101 +f 77 78 102 +f 83 77 102 +f 78 83 102 +f 62 86 103 +f 86 66 103 +f 66 89 103 +f 70 80 104 +f 81 68 105 +f 87 81 105 +f 92 87 105 +f 79 70 106 +f 73 79 106 +f 96 73 106 +f 96 106 107 +f 65 91 107 +f 91 96 107 +f 70 104 107 +f 104 80 107 +f 106 70 107 +f 81 87 108 +f 87 94 108 +f 99 81 108 +f 94 99 108 +f 69 75 109 +f 75 84 109 +f 90 69 109 +f 84 90 109 +f 69 77 110 +f 77 88 110 +f 95 69 110 +f 88 95 110 +f 68 93 111 +f 93 86 111 +f 105 68 111 +f 92 105 111 +f 62 67 112 +f 86 62 112 +f 67 92 112 +f 111 86 112 +f 92 111 112 +f 80 70 113 +f 70 97 113 +f 97 80 113 +f 74 65 114 +f 80 74 114 +f 65 107 114 +f 107 80 114 +f 71 62 115 +f 89 82 115 +f 100 71 115 +f 82 100 115 +f 62 103 115 +f 103 89 115 +f 78 79 116 +f 83 78 116 +o convex_3 +v 1.079925 -1.802858 -1.007376 +v 1.972203 0.266871 1.062426 +v 3.042592 0.338345 1.026626 +v 1.079925 0.409820 -1.114563 +v 3.007046 -1.731383 -1.042963 +v 1.079925 -1.659909 1.026413 +v 3.007046 0.302391 -1.078763 +v 2.935572 -1.731166 0.955025 +v 1.079925 0.231350 1.062426 +v 2.221788 0.374082 -1.114563 +v 1.722427 -1.695646 1.026413 +v 3.042592 -0.054331 1.026626 +v 3.042592 0.266871 -0.686027 +v 1.079925 0.409820 -0.793214 +v 1.079925 0.017143 -1.114563 +v 1.115662 -1.195974 1.062426 +v 2.436019 -1.767120 -1.043176 +v 1.079925 0.266871 0.955025 +v 3.007046 -1.731383 -0.364891 +v 2.043678 -1.731166 0.990826 +v 1.187137 -1.695646 1.026413 +v 1.079925 -1.552913 -1.043176 +v 2.935572 0.338129 -1.078763 +v 1.543933 0.409820 -1.043176 +v 3.007046 -0.732040 -1.078763 +v 3.042592 -0.232801 0.990826 +v 2.971309 -1.410181 0.955025 +v 2.507302 -1.731166 0.990826 +v 1.079925 -1.802858 -0.935989 +v 1.900921 -1.767120 -1.043176 +v 2.364737 0.302608 -1.114563 +v 2.971309 -1.160237 0.990826 +f 127 144 148 +f 120 117 122 +f 118 119 125 +f 120 122 125 +f 119 118 128 +f 123 119 129 +f 119 128 129 +f 120 125 130 +f 117 120 131 +f 120 126 131 +f 118 125 132 +f 125 122 132 +f 128 118 132 +f 127 128 132 +f 131 121 133 +f 125 119 134 +f 119 130 134 +f 130 125 134 +f 124 133 135 +f 133 121 135 +f 136 127 137 +f 132 122 137 +f 127 132 137 +f 117 131 138 +f 119 123 139 +f 139 126 140 +f 126 120 140 +f 130 119 140 +f 120 130 140 +f 119 139 140 +f 123 129 141 +f 129 121 141 +f 121 131 141 +f 121 129 142 +f 129 128 142 +f 135 121 142 +f 135 142 143 +f 124 135 143 +f 142 128 143 +f 127 136 144 +f 144 136 145 +f 122 117 145 +f 117 133 145 +f 133 124 145 +f 136 137 145 +f 137 122 145 +f 124 144 145 +f 133 117 146 +f 131 133 146 +f 117 138 146 +f 138 131 146 +f 131 126 147 +f 139 123 147 +f 126 139 147 +f 123 141 147 +f 141 131 147 +f 128 127 148 +f 124 143 148 +f 143 128 148 +f 144 124 148 +o convex_4 +v 0.508814 3.193748 0.598477 +v -0.597427 2.765251 -0.579238 +v -0.597427 2.765251 0.027373 +v -0.561690 4.299573 -0.543501 +v 0.544551 2.765251 -0.400782 +v 0.544551 4.263916 0.598477 +v -0.525953 4.299573 0.455644 +v 0.437454 4.335384 -0.472142 +v -0.418971 2.765251 0.562740 +v 0.473192 2.765251 0.598477 +v 0.580288 3.585974 -0.329308 +v 0.580288 3.122281 0.241566 +v -0.597427 3.550317 0.170207 +v -0.418971 2.765251 -0.579238 +v -0.525953 2.765251 0.455644 +v 0.330358 4.263916 0.598477 +v 0.330358 2.765251 -0.472142 +v -0.169157 4.335384 0.098732 +v -0.525953 3.835726 -0.579238 +v 0.580288 2.836872 -0.365045 +v 0.580288 3.871383 0.420022 +v 0.009184 3.265062 0.598477 +v -0.597427 3.764412 -0.365045 +v -0.561690 4.299573 0.098732 +v -0.525953 3.800069 0.491381 +v 0.116280 4.335384 -0.507764 +v 0.508814 4.299573 0.134469 +v -0.597427 2.943842 0.205829 +v 0.044921 4.299573 0.527003 +v 0.401832 4.335384 -0.150967 +v -0.561690 3.978508 0.384284 +v 0.437454 3.871383 -0.472142 +f 165 162 180 +f 151 150 153 +f 151 153 157 +f 149 154 158 +f 157 153 158 +f 149 158 160 +f 150 151 161 +f 153 150 162 +f 151 157 163 +f 158 154 164 +f 153 162 165 +f 150 152 167 +f 162 150 167 +f 153 156 168 +f 158 153 168 +f 156 159 168 +f 160 158 168 +f 159 160 168 +f 154 149 169 +f 159 154 169 +f 149 160 169 +f 160 159 169 +f 157 158 170 +f 164 157 170 +f 158 164 170 +f 152 150 171 +f 150 161 171 +f 171 161 172 +f 166 152 172 +f 155 166 172 +f 152 171 172 +f 163 157 173 +f 164 155 173 +f 157 164 173 +f 156 162 174 +f 152 166 174 +f 166 156 174 +f 167 152 174 +f 162 167 174 +f 154 159 175 +f 159 156 175 +f 161 151 176 +f 151 163 176 +f 164 154 177 +f 155 164 177 +f 166 155 177 +f 156 166 178 +f 154 175 178 +f 175 156 178 +f 177 154 178 +f 166 177 178 +f 172 161 179 +f 155 172 179 +f 173 155 179 +f 163 173 179 +f 161 176 179 +f 176 163 179 +f 156 153 180 +f 162 156 180 +f 153 165 180 +o convex_5 +v 0.901609 3.015069 -0.115185 +v 2.935418 3.657459 -0.150964 +v 3.007067 3.586026 0.098798 +v 0.580288 3.586026 0.312970 +v 3.078472 3.050785 0.241538 +v 0.580288 3.621743 -0.329420 +v 2.935418 3.086501 -0.186555 +v 0.580288 3.086501 0.205884 +v 0.580288 3.015069 -0.329420 +v 2.578640 3.550373 -0.257924 +v 3.042770 3.550373 0.205884 +v 1.044663 3.015069 -0.329420 +v 0.687395 3.086501 0.241538 +v 2.935418 3.657459 -0.222271 +v 3.042770 3.371855 0.241538 +v 0.937311 3.621743 -0.329420 +v 1.829380 3.050785 0.241538 +v 1.864593 3.015069 -0.043815 +v 2.864258 3.050785 -0.079531 +v 0.580288 3.514657 0.312970 +v 3.042770 3.550373 0.063145 +v 1.222685 3.264957 -0.329420 +v 2.578640 3.657459 -0.186555 +f 194 186 203 +f 183 182 184 +f 184 186 188 +f 188 186 189 +f 181 188 189 +f 183 184 191 +f 189 186 192 +f 181 189 192 +f 190 187 192 +f 188 181 193 +f 182 183 194 +f 187 190 194 +f 184 185 195 +f 191 184 195 +f 185 191 195 +f 192 186 196 +f 186 194 196 +f 194 190 196 +f 193 181 197 +f 181 192 198 +f 197 181 198 +f 185 197 198 +f 187 185 199 +f 192 187 199 +f 185 198 199 +f 198 192 199 +f 185 184 200 +f 184 188 200 +f 188 193 200 +f 197 185 200 +f 193 197 200 +f 185 187 201 +f 183 191 201 +f 191 185 201 +f 194 183 201 +f 187 194 201 +f 190 192 202 +f 192 196 202 +f 196 190 202 +f 184 182 203 +f 186 184 203 +f 182 194 203 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/763/763.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/763/763.urdf new file mode 100644 index 000000000..f6baf01f7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/763/763.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/764/764.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/764/764.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/764/764.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/764/764.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/764/764.obj new file mode 100644 index 000000000..6b7098a45 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/764/764.obj @@ -0,0 +1,606 @@ +o convex_0 +v 1.717984 -0.386234 1.064337 +v -2.801432 1.437493 -1.076456 +v -2.801432 1.556255 -1.076456 +v 3.343682 -0.386234 -0.997049 +v 3.263859 1.516667 1.064550 +v -2.761826 -0.386234 0.985143 +v -2.881255 1.556255 0.985143 +v 3.224253 1.556448 -0.957346 +v -2.881255 -0.386234 -0.997049 +v 3.263859 -0.386234 0.945439 +v 0.766207 1.596230 1.104254 +v -0.184960 1.596230 -1.076456 +v -2.524186 -0.346453 -1.036539 +v -2.326153 1.596230 0.469850 +v 1.242095 0.367281 1.104254 +v -0.779668 1.001452 -1.076456 +v 1.281702 1.596230 -1.036753 +v 1.400522 1.596230 1.104254 +v -2.841039 -0.148129 0.667941 +v -2.841039 1.556255 -0.798745 +v 3.263859 1.120213 1.064550 +v 3.263859 1.358124 -0.759041 +v 2.589938 1.477274 1.104254 +v -2.286546 1.596230 -0.521246 +v 3.224253 1.556448 0.152434 +v -2.881255 0.010608 -1.036539 +v -2.881255 1.120213 0.985143 +v 3.343682 -0.187716 -0.997049 +v 0.885027 -0.386234 1.064550 +v -2.881255 1.556255 0.390443 +v 1.479735 1.556255 -1.036753 +v -2.881255 -0.386234 -0.639930 +v 1.599164 1.596230 0.231628 +v 2.907400 -0.386234 0.985143 +v -0.779668 1.596230 0.985143 +v -0.065531 1.437493 -1.076456 +v 0.726601 1.516861 1.104254 +v 3.343682 -0.386234 -0.877938 +v 3.263859 1.516667 0.112731 +v -0.819275 -0.108542 -1.036753 +v 3.303466 0.089588 -0.997049 +v -2.801432 -0.346453 0.866032 +v -1.374376 0.961477 -1.076456 +v -0.779668 1.596230 -1.076456 +f 24 12 44 +f 4 1 6 +f 4 6 9 +f 1 4 10 +f 2 3 12 +f 4 9 13 +f 11 12 14 +f 2 12 16 +f 12 11 17 +f 11 15 18 +f 17 11 18 +f 15 1 23 +f 5 18 23 +f 18 15 23 +f 21 5 23 +f 1 21 23 +f 14 12 24 +f 3 20 24 +f 20 14 24 +f 5 8 25 +f 18 5 25 +f 3 2 26 +f 9 7 26 +f 2 13 26 +f 13 9 26 +f 20 3 26 +f 7 9 27 +f 8 22 28 +f 6 1 29 +f 1 15 29 +f 15 6 29 +f 7 14 30 +f 14 20 30 +f 26 7 30 +f 20 26 30 +f 17 8 31 +f 12 17 31 +f 9 6 32 +f 27 9 32 +f 19 27 32 +f 8 17 33 +f 17 18 33 +f 25 8 33 +f 18 25 33 +f 1 10 34 +f 21 1 34 +f 10 21 34 +f 7 11 35 +f 14 7 35 +f 11 14 35 +f 16 12 36 +f 4 16 36 +f 28 4 36 +f 12 31 36 +f 11 7 37 +f 6 15 37 +f 15 11 37 +f 7 27 37 +f 27 6 37 +f 10 4 38 +f 5 21 38 +f 21 10 38 +f 4 28 38 +f 28 5 38 +f 8 5 39 +f 22 8 39 +f 5 28 39 +f 28 22 39 +f 4 13 40 +f 16 4 40 +f 13 16 40 +f 8 28 41 +f 31 8 41 +f 28 36 41 +f 36 31 41 +f 6 27 42 +f 27 19 42 +f 32 6 42 +f 19 32 42 +f 13 2 43 +f 2 16 43 +f 16 13 43 +f 12 3 44 +f 3 24 44 +o convex_1 +v -1.136919 -2.011816 0.231861 +v -2.326165 -2.566618 0.073202 +v -2.286349 -2.606593 -0.243791 +v -2.207066 -0.624130 -0.481671 +v -2.246649 -0.624130 0.430076 +v -1.176502 -0.624130 -0.521335 +v -1.295485 -2.527225 -0.600665 +v -1.136919 -2.487638 0.509515 +v -1.176502 -0.624130 0.469741 +v -2.326165 -2.527225 0.430076 +v -2.246649 -2.606593 -0.442006 +v -2.088083 -0.624130 0.469741 +v -1.136919 -1.298276 0.509515 +v -1.572918 -2.487638 0.509515 +v -2.326165 -1.892860 0.152531 +v -1.454051 -2.447857 -0.600665 +v -1.929517 -2.606593 -0.164461 +v -2.246649 -0.743085 -0.362676 +v -2.207066 -2.487638 0.469741 +v -1.176502 -1.020778 -0.481671 +v -1.216202 -0.941409 0.509515 +v -1.335068 -2.170164 -0.600665 +v -2.207066 -1.456819 -0.481671 +v -2.326165 -1.813298 0.430076 +v -1.493635 -2.566618 -0.561000 +f 61 55 69 +f 48 49 50 +f 51 45 52 +f 50 49 53 +f 46 47 54 +f 53 49 56 +f 45 50 57 +f 52 45 57 +f 50 53 57 +f 54 52 58 +f 52 57 58 +f 46 54 59 +f 51 55 60 +f 54 47 61 +f 52 54 61 +f 47 55 61 +f 47 46 62 +f 49 48 62 +f 55 47 62 +f 48 55 62 +f 46 59 62 +f 58 56 63 +f 54 58 63 +f 50 45 64 +f 45 51 64 +f 51 50 64 +f 53 56 65 +f 57 53 65 +f 56 58 65 +f 58 57 65 +f 48 50 66 +f 50 51 66 +f 60 48 66 +f 51 60 66 +f 55 48 67 +f 48 60 67 +f 60 55 67 +f 56 49 68 +f 59 54 68 +f 49 62 68 +f 62 59 68 +f 54 63 68 +f 63 56 68 +f 51 52 69 +f 55 51 69 +f 52 61 69 +o convex_2 +v 0.369971 -2.646243 -1.868961 +v 1.321569 -0.624328 -0.837870 +v 1.202459 -0.624130 2.808245 +v -0.700523 -0.624130 -3.098569 +v -0.859122 -2.646243 3.047068 +v 1.242162 -2.487498 2.927957 +v -0.779716 -0.624130 2.967059 +v 1.202459 -2.487498 -3.097968 +v -0.700523 -2.606260 -3.018561 +v 1.281865 -0.624328 -3.018561 +v 1.242162 -2.646243 -0.798166 +v -0.819419 -1.932486 -0.956981 +v 1.202459 -0.703502 2.927957 +v -0.819419 -2.566871 -1.353415 +v -0.185021 -2.606260 3.047068 +v 1.281865 -1.337887 -3.058866 +v -0.779716 -0.624130 0.786368 +v 1.281865 -0.624328 1.381321 +v 1.321569 -0.981206 -0.917277 +v -0.740012 -1.813329 3.047068 +v 1.242162 -2.566871 -2.106581 +v -0.859122 -2.368539 3.047068 +v 1.162756 -2.408126 2.967059 +v -0.779716 -0.902032 -0.758463 +v 0.290565 -0.624130 2.967059 +v -0.581413 -2.646243 3.047068 +v 1.281865 -1.972073 -1.036388 +v 1.321569 -0.663915 -2.305099 +v 1.281865 -0.941421 -3.058866 +v 0.806067 -2.487498 -3.098569 +v -0.264427 -2.606260 -2.979459 +v 1.242162 -2.209992 -3.097968 +v 1.242162 -1.853114 2.927957 +v 1.242162 -2.646243 -1.155499 +v -0.740012 -2.606260 -2.542719 +v -0.779716 -0.981008 3.006763 +v -0.819419 -1.853114 -0.877574 +v -0.859122 -2.646243 2.769143 +v 1.242162 -1.932486 -3.097968 +v -0.700523 -0.743089 -3.098569 +f 104 73 109 +f 72 73 76 +f 72 71 79 +f 73 72 79 +f 74 70 80 +f 81 73 83 +f 76 73 86 +f 71 72 87 +f 72 82 87 +f 71 87 88 +f 87 75 88 +f 74 84 89 +f 76 86 91 +f 74 89 91 +f 84 75 92 +f 82 84 92 +f 86 73 93 +f 72 76 94 +f 82 72 94 +f 84 82 94 +f 89 84 94 +f 74 80 95 +f 80 75 95 +f 84 74 95 +f 75 84 95 +f 75 80 96 +f 88 75 96 +f 96 90 97 +f 79 71 97 +f 71 88 97 +f 90 85 97 +f 88 96 97 +f 73 79 98 +f 79 97 98 +f 97 85 98 +f 77 78 99 +f 70 78 100 +f 78 77 100 +f 90 77 101 +f 85 90 101 +f 98 85 101 +f 77 99 101 +f 75 87 102 +f 87 82 102 +f 92 75 102 +f 82 92 102 +f 80 70 103 +f 77 90 103 +f 96 80 103 +f 90 96 103 +f 70 100 103 +f 100 77 103 +f 83 73 104 +f 76 91 105 +f 91 89 105 +f 94 76 105 +f 89 94 105 +f 73 81 106 +f 91 86 106 +f 93 73 106 +f 86 93 106 +f 70 74 107 +f 78 70 107 +f 81 83 107 +f 74 91 107 +f 104 78 107 +f 83 104 107 +f 106 81 107 +f 91 106 107 +f 73 98 108 +f 99 73 108 +f 98 101 108 +f 101 99 108 +f 73 99 109 +f 99 78 109 +f 78 104 109 +o convex_3 +v 0.052854 -0.465564 2.967770 +v -0.779843 -0.624091 1.064604 +v -0.779843 -0.624091 2.967770 +v 1.281919 -0.624091 1.064604 +v 1.162847 -0.624091 2.927903 +v 1.281919 -0.544808 1.064604 +v -0.740085 -0.425883 2.927903 +v 1.202605 -0.544808 2.848729 +v -0.779843 -0.544808 1.421727 +v 0.806035 -0.505205 2.927903 +v -0.779843 -0.584449 1.064604 +v 1.004219 -0.544808 1.064604 +f 115 120 121 +f 112 111 113 +f 110 112 114 +f 112 113 114 +f 113 111 115 +f 112 110 116 +f 110 115 116 +f 114 113 117 +f 113 115 117 +f 111 112 118 +f 112 116 118 +f 110 114 119 +f 115 110 119 +f 114 117 119 +f 117 115 119 +f 115 111 120 +f 111 118 120 +f 120 118 121 +f 116 115 121 +f 118 116 121 +o convex_4 +v -2.286321 2.468556 -0.362676 +v -1.295303 3.261391 0.588813 +v -1.295303 3.419805 0.549110 +v -1.216179 1.596230 -0.600665 +v -2.326165 1.596230 0.469819 +v -1.176336 1.596230 0.588813 +v -1.216179 3.539044 -0.521258 +v -2.326165 3.499298 0.430115 +v -2.207197 3.419805 -0.600665 +v -2.286321 1.596230 -0.521258 +v -1.216179 3.539044 -0.243798 +v -1.493619 1.596230 0.588813 +v -2.167354 3.499298 0.469819 +v -2.326165 3.419805 0.192243 +v -1.533237 1.596230 -0.600665 +v -1.295303 3.499298 0.430115 +v -1.850183 3.539044 -0.005926 +v -1.216179 2.111791 -0.600665 +v -2.207197 3.023483 -0.600665 +v -2.326165 2.587225 0.033661 +v -2.008881 3.419805 -0.600665 +v -1.493619 3.539044 -0.521258 +v -1.652317 3.261391 0.549110 +v -2.326165 2.191093 0.469819 +f 133 144 145 +f 124 123 127 +f 126 125 127 +f 125 126 131 +f 122 130 131 +f 124 127 132 +f 127 128 132 +f 127 123 133 +f 126 127 133 +f 123 124 134 +f 126 129 135 +f 130 122 135 +f 129 130 135 +f 130 125 136 +f 125 131 136 +f 124 132 137 +f 134 124 137 +f 134 137 138 +f 130 129 138 +f 132 128 138 +f 129 134 138 +f 137 132 138 +f 127 125 139 +f 128 127 139 +f 125 130 139 +f 131 130 140 +f 130 136 140 +f 136 131 140 +f 131 126 141 +f 122 131 141 +f 126 135 141 +f 135 122 141 +f 130 128 142 +f 128 139 142 +f 139 130 142 +f 128 130 143 +f 138 128 143 +f 130 138 143 +f 133 123 144 +f 123 134 144 +f 144 134 145 +f 129 126 145 +f 126 133 145 +f 134 129 145 +o convex_5 +v 0.488860 3.538912 0.985143 +v -0.779734 1.596230 -1.076456 +v -0.819438 1.596230 -0.481543 +v 1.321569 1.596230 1.104254 +v 1.321569 3.499131 -0.957346 +v -0.740031 3.578694 0.905949 +v 1.281865 1.596230 -1.036753 +v -0.779734 3.459738 -1.036539 +v -0.819438 1.596230 0.945439 +v 1.321569 3.459738 1.024633 +v -0.541726 1.636205 1.024633 +v -0.859141 1.953291 0.311035 +v -0.740031 3.538718 0.945439 +v 1.281865 2.151421 1.104254 +v -0.779734 3.499325 -0.838235 +v 1.321569 2.944134 -0.996836 +v -0.660837 3.578694 0.548830 +v 1.281865 3.499131 1.024633 +v 0.806062 1.675598 1.104254 +v -0.224738 1.636205 -1.076456 +v -0.859141 1.596230 0.747135 +v 1.321569 2.429113 -0.996836 +v 0.687165 3.499131 -0.996836 +v 1.242161 1.873922 -1.036753 +v -0.303931 3.578694 0.945439 +v -0.819438 2.864960 -0.521246 +v -0.581430 3.459738 -1.036539 +v -0.779734 2.389526 0.985143 +v -0.779734 2.072246 -1.076456 +f 172 165 174 +f 148 147 149 +f 149 147 152 +f 148 149 154 +f 149 150 155 +f 154 149 156 +f 149 155 159 +f 150 149 161 +f 160 151 162 +f 155 150 163 +f 146 158 163 +f 158 159 163 +f 159 155 163 +f 156 149 164 +f 159 158 164 +f 149 159 164 +f 152 147 165 +f 148 154 166 +f 157 148 166 +f 151 157 166 +f 158 151 166 +f 149 152 167 +f 161 149 167 +f 152 161 167 +f 153 160 168 +f 150 161 168 +f 162 150 168 +f 160 162 168 +f 161 152 169 +f 152 165 169 +f 168 161 169 +f 158 146 170 +f 151 158 170 +f 150 162 170 +f 162 151 170 +f 146 163 170 +f 163 150 170 +f 147 148 171 +f 148 157 171 +f 157 151 171 +f 151 160 171 +f 160 153 171 +f 153 168 172 +f 169 165 172 +f 168 169 172 +f 154 156 173 +f 156 164 173 +f 164 158 173 +f 166 154 173 +f 158 166 173 +f 165 147 174 +f 147 171 174 +f 171 153 174 +f 153 172 174 +o convex_6 +v -0.383055 -0.544808 -3.098570 +v 1.321569 -0.505205 -1.036807 +v 0.885318 -0.465564 -1.036807 +v -0.700544 -0.624091 -1.036807 +v 1.281784 -0.624091 -3.019256 +v -0.700544 -0.425883 -1.036807 +v -0.700544 -0.465564 -3.098570 +v 1.321569 -0.624091 -1.036807 +v -0.700544 -0.624091 -3.098570 +v 1.281784 -0.544808 -3.019256 +v -0.303683 -0.425883 -1.155879 +v 1.321569 -0.505205 -1.829948 +v -0.541800 -0.465564 -2.979498 +f 177 186 187 +f 176 177 178 +f 178 177 180 +f 178 180 181 +f 176 178 182 +f 178 179 182 +f 175 179 183 +f 179 178 183 +f 178 181 183 +f 181 175 183 +f 179 175 184 +f 175 181 184 +f 180 177 185 +f 181 180 185 +f 177 176 186 +f 176 182 186 +f 182 179 186 +f 179 184 186 +f 186 184 187 +f 184 181 187 +f 185 177 187 +f 181 185 187 +o convex_7 +v 1.677725 -0.386257 1.064604 +v -0.700476 -0.624106 -1.036807 +v -2.206730 -0.624106 -0.481628 +v -2.880646 -0.386257 -0.996902 +v 3.343014 -0.386257 -0.997107 +v 3.263802 -0.584477 0.945505 +v -2.761827 -0.465564 0.985205 +v -0.779688 -0.624106 1.064604 +v 3.343014 -0.544800 -0.997107 +v -2.761827 -0.386257 0.985205 +v 3.263802 -0.386257 0.945505 +v 1.321269 -0.624106 -1.036807 +v -2.880646 -0.584453 -0.996902 +v -2.246337 -0.624106 0.430026 +v 2.471068 -0.624106 0.826612 +v 3.343014 -0.584477 -0.560822 +v 1.440088 -0.624106 1.064604 +v -0.700476 -0.425910 -1.036807 +v -2.841039 -0.584453 -0.402229 +v -2.563796 -0.505170 0.985205 +v -2.801433 -0.505170 0.588619 +v 0.884992 -0.386257 1.064604 +v 3.303408 -0.584477 0.707512 +f 203 192 210 +f 191 188 192 +f 190 189 195 +f 188 191 197 +f 194 195 197 +f 192 188 198 +f 188 193 198 +f 195 189 199 +f 192 196 199 +f 189 190 200 +f 191 189 200 +f 190 195 201 +f 200 190 201 +f 195 199 202 +f 202 199 203 +f 196 192 203 +f 199 196 203 +f 193 188 204 +f 188 195 204 +f 202 193 204 +f 195 202 204 +f 189 191 205 +f 191 192 205 +f 199 189 205 +f 192 199 205 +f 200 201 206 +f 195 194 207 +f 201 195 207 +f 201 207 208 +f 197 191 208 +f 194 197 208 +f 191 200 208 +f 200 206 208 +f 206 201 208 +f 207 194 208 +f 195 188 209 +f 188 197 209 +f 197 195 209 +f 192 198 210 +f 198 193 210 +f 193 202 210 +f 202 203 210 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/764/764.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/764/764.urdf new file mode 100644 index 000000000..5c38469c1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/764/764.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/765/765.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/765/765.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/765/765.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/765/765.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/765/765.obj new file mode 100644 index 000000000..370ba1cd7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/765/765.obj @@ -0,0 +1,1050 @@ +o convex_0 +v -1.284643 -0.528866 -0.160896 +v 1.201977 -0.468922 0.407843 +v 1.201977 -0.528866 0.407843 +v 0.063331 -0.498835 -1.419483 +v -0.955074 0.669548 0.887056 +v 0.512656 0.669548 -1.029796 +v -0.925135 0.669548 -0.969764 +v 0.842469 0.669548 0.977104 +v -0.445871 -0.528866 1.246727 +v 0.992163 0.669548 -0.790190 +v 0.992163 -0.528866 -0.820206 +v 0.872407 -0.528866 0.977104 +v -0.895196 -0.528866 -0.969764 +v -1.014951 -0.528866 0.857301 +v -1.104767 0.669548 0.197992 +v 0.992163 0.669548 0.647449 +v -0.655443 0.669548 1.007120 +v -1.254704 -0.378947 -0.400764 +v -0.116058 0.639517 -1.089828 +v 0.362962 0.579573 1.067152 +v 0.003453 -0.498835 1.216972 +v -0.056181 -0.528866 -1.419483 +v -1.014951 0.519512 0.857301 +v -1.044890 0.669548 -0.640109 +v 0.632654 -0.528866 -1.119844 +v 0.842469 0.669548 -0.909732 +v 1.022101 0.669548 -0.011599 +v -0.565626 0.669548 -1.059812 +v -0.745259 -0.498835 1.097168 +v -0.895196 -0.199232 -0.999780 +v 1.171795 -0.498835 0.108204 +v -0.835319 0.669548 0.977104 +v 0.392901 -0.528866 1.126923 +v -0.505749 -0.528866 -1.209631 +v -0.955074 -0.079461 -0.939748 +v 1.022101 0.669548 -0.430519 +v -1.104767 0.669548 0.288040 +v -1.194584 -0.348916 0.228269 +v -1.254704 -0.528866 -0.400764 +v 0.093270 0.639517 -1.089828 +v 0.872407 0.040545 0.977104 +v -1.104767 0.609604 -0.130880 +v -0.445871 -0.498835 1.246727 +v 0.722470 -0.468922 -1.059812 +v 0.003453 0.669548 1.037136 +v 0.872407 0.609604 0.947088 +v 0.422839 -0.498835 -1.239648 +v -0.865014 0.669548 -0.999780 +v -0.056181 -0.498835 -1.419483 +v -1.014951 0.639517 0.827285 +v -0.895196 0.399858 -0.999780 +f 48 49 51 +f 5 6 7 +f 6 5 8 +f 1 3 9 +f 6 8 10 +f 3 1 11 +f 3 2 12 +f 9 3 12 +f 11 1 13 +f 1 9 14 +f 5 7 15 +f 10 8 16 +f 8 5 17 +f 1 15 18 +f 8 20 21 +f 11 13 22 +f 15 7 24 +f 7 18 24 +f 22 4 25 +f 11 22 25 +f 4 6 26 +f 6 10 26 +f 16 2 27 +f 10 16 27 +f 7 6 28 +f 14 9 29 +f 23 14 29 +f 2 3 31 +f 10 2 31 +f 3 11 31 +f 11 10 31 +f 17 5 32 +f 5 23 32 +f 23 29 32 +f 9 12 33 +f 8 21 33 +f 21 9 33 +f 22 13 34 +f 13 30 34 +f 18 7 35 +f 30 13 35 +f 7 30 35 +f 2 10 36 +f 27 2 36 +f 10 27 36 +f 15 1 37 +f 5 15 37 +f 1 14 38 +f 14 23 38 +f 13 1 39 +f 1 18 39 +f 35 13 39 +f 18 35 39 +f 6 4 40 +f 4 19 40 +f 28 6 40 +f 19 28 40 +f 12 2 41 +f 8 33 41 +f 33 12 41 +f 18 15 42 +f 15 24 42 +f 24 18 42 +f 9 21 43 +f 21 20 43 +f 29 9 43 +f 17 32 43 +f 32 29 43 +f 10 11 44 +f 11 25 44 +f 26 10 44 +f 25 26 44 +f 8 17 45 +f 20 8 45 +f 17 43 45 +f 43 20 45 +f 2 16 46 +f 16 8 46 +f 41 2 46 +f 8 41 46 +f 25 4 47 +f 4 26 47 +f 26 25 47 +f 7 28 48 +f 19 4 49 +f 4 22 49 +f 28 19 49 +f 22 34 49 +f 48 28 49 +f 23 5 50 +f 37 1 50 +f 5 37 50 +f 1 38 50 +f 38 23 50 +f 30 7 51 +f 34 30 51 +f 7 48 51 +f 49 34 51 +o convex_1 +v 0.063309 0.879528 -1.059959 +v 0.363029 1.029389 1.037265 +v 0.512683 1.149336 1.007293 +v -0.865205 3.635375 0.168075 +v 0.632571 3.545342 -0.490489 +v -1.015065 0.669548 0.797489 +v -0.895177 3.096054 -0.939865 +v 0.992234 0.669841 -0.790210 +v 0.842375 2.766420 0.857433 +v -0.925149 0.669548 -0.969837 +v -0.086140 3.605169 0.797489 +v 0.962057 0.669548 0.737339 +v 0.842375 2.766420 -0.790210 +v -0.835233 2.856454 0.857228 +v 0.962262 2.706593 -0.011347 +v -0.176056 3.635375 -0.730266 +v -1.015065 2.856454 0.048392 +v 0.752459 3.545342 0.138308 +v -1.075009 0.669548 -0.310657 +v -0.835233 0.669548 0.977321 +v 0.033543 2.856454 0.977321 +v 0.063309 3.125968 -0.940070 +v 0.482711 0.669548 -1.029987 +v 0.842375 0.669548 0.977116 +v 0.512683 3.575255 0.617656 +v -0.595458 3.665582 -0.550433 +v -0.625430 3.635375 0.617656 +v -0.565486 0.669548 -1.059959 +v 1.022206 0.729668 -0.041319 +v 0.303085 3.605169 -0.670322 +v -0.985093 1.868138 -0.790210 +v -1.075009 1.119129 0.287963 +v -0.236000 3.665582 0.168280 +v 0.992234 0.699755 0.647628 +v 0.033543 2.886367 -0.970042 +v 0.033543 0.669548 1.037265 +v 0.932290 2.976107 -0.011347 +v 0.812403 0.969562 -0.909893 +v -0.925149 3.066141 -0.879921 +v 0.063309 3.575255 -0.790005 +v 0.692515 3.575549 -0.190974 +v -0.775289 3.665582 -0.190974 +v -1.045037 0.759581 -0.640350 +v -0.505542 3.635375 -0.730266 +v -0.895177 2.257305 0.857228 +v 0.872347 2.766420 0.737339 +v 1.022206 1.059302 -0.250918 +v 0.572627 3.515429 0.647628 +v -0.985093 2.886367 0.228225 +v -0.925149 1.628537 -0.969837 +v 0.123253 3.425688 0.827461 +v 0.303085 2.976107 -0.910098 +v 0.782431 3.006021 -0.730061 +v -1.075009 0.669548 0.347908 +v 0.602599 0.759581 -1.000015 +v 0.273113 2.856454 0.947349 +v 0.303085 0.699755 -1.059959 +v -0.805261 0.849615 0.977321 +v 0.962262 2.676680 -0.071086 +v -1.075009 0.909442 -0.250918 +v -0.985093 0.969269 0.857228 +v -0.325915 3.665582 0.377880 +v 0.872347 2.287219 0.857433 +v 0.752459 3.545342 -0.011347 +f 88 104 115 +f 57 61 63 +f 61 57 70 +f 57 63 71 +f 62 65 72 +f 59 63 74 +f 63 61 74 +f 54 53 75 +f 60 54 75 +f 71 63 75 +f 55 65 78 +f 65 62 78 +f 74 61 79 +f 67 77 84 +f 81 67 84 +f 63 59 85 +f 59 80 85 +f 58 73 86 +f 52 79 86 +f 79 58 86 +f 53 72 87 +f 75 53 87 +f 71 75 87 +f 64 59 89 +f 68 55 90 +f 73 58 91 +f 67 81 91 +f 76 69 92 +f 56 81 92 +f 84 76 92 +f 81 84 92 +f 77 58 93 +f 55 78 93 +f 84 77 93 +f 90 55 93 +f 58 90 93 +f 61 70 94 +f 58 77 95 +f 77 67 95 +f 91 58 95 +f 67 91 95 +f 71 65 96 +f 69 60 97 +f 85 66 97 +f 66 88 97 +f 88 69 97 +f 80 59 98 +f 66 85 98 +f 85 80 98 +f 60 69 99 +f 76 62 99 +f 69 76 99 +f 65 55 100 +f 55 68 100 +f 83 57 100 +f 68 83 100 +f 96 65 100 +f 58 79 101 +f 79 61 101 +f 90 58 101 +f 82 90 101 +f 61 94 101 +f 94 82 101 +f 62 72 102 +f 60 99 102 +f 99 62 102 +f 86 73 103 +f 73 91 103 +f 103 91 104 +f 81 56 104 +f 88 64 104 +f 91 81 104 +f 64 103 104 +f 70 57 105 +f 57 83 105 +f 83 70 105 +f 59 74 106 +f 74 86 106 +f 89 59 106 +f 64 89 106 +f 103 64 106 +f 86 103 106 +f 53 54 107 +f 54 60 107 +f 72 53 107 +f 60 102 107 +f 102 72 107 +f 79 52 108 +f 74 79 108 +f 52 86 108 +f 86 74 108 +f 65 71 109 +f 72 65 109 +f 71 87 109 +f 87 72 109 +f 59 64 110 +f 64 88 110 +f 88 66 110 +f 98 59 110 +f 66 98 110 +f 83 68 111 +f 70 83 111 +f 68 90 111 +f 90 82 111 +f 94 70 111 +f 82 94 111 +f 57 71 112 +f 71 96 112 +f 100 57 112 +f 96 100 112 +f 62 76 113 +f 78 62 113 +f 76 84 113 +f 93 78 113 +f 84 93 113 +f 60 75 114 +f 75 63 114 +f 63 85 114 +f 97 60 114 +f 85 97 114 +f 69 88 115 +f 56 92 115 +f 92 69 115 +f 104 56 115 +o convex_2 +v 1.172017 -1.637334 -0.370871 +v 1.201995 -0.978432 0.468019 +v 1.201995 -0.738706 0.438047 +v 1.741263 -1.577308 -0.280955 +v 1.741263 -1.637334 0.288186 +v 1.741263 -1.098359 -0.161066 +v 1.172017 -1.817161 0.078464 +v 1.172017 -0.588892 0.108436 +v 1.741263 -1.098359 0.288186 +v 1.172017 -1.667347 0.348130 +v 1.172017 -1.008319 -0.220928 +v 1.741263 -1.727247 -0.101122 +v 1.201995 -0.528866 0.408075 +v 1.201995 -1.787148 -0.310927 +v 1.711285 -1.427494 -0.310927 +v 1.741263 -1.457507 0.348130 +v 1.741263 -1.008319 0.018766 +v 1.172017 -1.128120 0.468019 +v 1.621407 -1.098359 -0.220928 +v 1.201995 -1.487521 -0.370871 +v 1.201995 -0.558879 0.138408 +v 1.741263 -1.277807 0.348130 +v 1.651274 -1.757134 0.048574 +v 1.681308 -1.697108 -0.250900 +f 127 129 139 +f 120 119 121 +f 116 122 123 +f 120 121 124 +f 122 120 125 +f 123 122 125 +f 116 123 126 +f 119 120 127 +f 122 116 129 +f 119 116 130 +f 121 119 130 +f 120 124 131 +f 125 120 131 +f 124 121 132 +f 128 124 132 +f 117 118 133 +f 123 125 133 +f 128 123 133 +f 118 128 133 +f 131 117 133 +f 125 131 133 +f 126 123 134 +f 121 130 134 +f 134 130 135 +f 116 126 135 +f 130 116 135 +f 126 134 135 +f 123 128 136 +f 132 121 136 +f 128 132 136 +f 121 134 136 +f 134 123 136 +f 118 117 137 +f 128 118 137 +f 124 128 137 +f 117 131 137 +f 131 124 137 +f 120 122 138 +f 127 120 138 +f 122 129 138 +f 129 127 138 +f 116 119 139 +f 119 127 139 +f 129 116 139 +o convex_3 +v 1.741509 -1.727212 -0.071165 +v 1.801366 -1.038259 0.138414 +v 1.801366 -1.038259 0.018690 +v 2.999598 -1.427650 0.018690 +v 1.741509 -1.547421 0.318185 +v 1.741509 -1.337821 -0.280990 +v 2.729752 -1.427650 0.258261 +v 2.789732 -1.188040 -0.011241 +v 2.729752 -1.457592 -0.191012 +v 2.699824 -1.637316 0.078490 +v 1.741509 -1.068269 0.258261 +v 1.771438 -1.697202 -0.221005 +v 1.831294 -1.158098 -0.221005 +v 1.861222 -1.637316 0.288254 +v 1.771438 -1.277936 0.348177 +v 2.699824 -1.337821 0.258261 +v 2.729752 -1.367764 -0.191012 +v 2.011109 -1.457592 -0.280990 +v 2.789732 -1.188040 0.048559 +v 1.741509 -1.727212 0.078490 +v 2.699824 -1.637316 0.018690 +v 1.741509 -1.038259 -0.011241 +v 2.520133 -1.577431 0.228330 +v 2.520133 -1.607374 -0.131088 +v 2.579989 -1.247993 -0.161143 +v 1.831294 -1.427650 0.348177 +v 2.999598 -1.367764 0.048559 +f 158 155 166 +f 140 144 145 +f 142 141 147 +f 143 146 149 +f 145 144 150 +f 140 145 151 +f 150 144 154 +f 150 154 155 +f 143 148 156 +f 145 152 156 +f 151 145 157 +f 148 151 157 +f 156 148 157 +f 145 156 157 +f 147 141 158 +f 141 150 158 +f 150 155 158 +f 144 140 159 +f 140 149 159 +f 153 144 159 +f 149 153 159 +f 148 143 160 +f 149 140 160 +f 143 149 160 +f 140 151 160 +f 141 142 161 +f 142 147 161 +f 150 141 161 +f 145 150 161 +f 152 145 161 +f 147 152 161 +f 149 146 162 +f 146 153 162 +f 153 149 162 +f 151 148 163 +f 148 160 163 +f 160 151 163 +f 152 147 164 +f 147 156 164 +f 156 152 164 +f 144 153 165 +f 153 146 165 +f 154 144 165 +f 155 154 165 +f 146 155 165 +f 146 143 166 +f 155 146 166 +f 143 156 166 +f 156 147 166 +f 147 158 166 +o convex_4 +v -2.003780 -1.337845 0.258296 +v -2.093719 -1.397666 -0.251029 +v -2.093719 -1.367805 -0.251029 +v -3.022431 -1.427626 0.048504 +v -2.003780 -1.637349 0.078467 +v -2.003780 -1.128123 -0.071250 +v -2.812539 -1.367805 0.228283 +v -2.782625 -1.427626 -0.161140 +v -2.782625 -1.218004 0.048504 +v -2.003780 -1.607388 -0.161140 +v -2.722699 -1.577428 0.018540 +v -2.033793 -1.188043 0.168357 +v -2.183559 -1.577428 0.198370 +v -2.363439 -1.218004 -0.161140 +v -2.782625 -1.427626 0.228283 +v -2.003780 -1.188043 -0.191103 +v -2.782625 -1.367805 -0.161140 +v -2.003780 -1.457587 0.258296 +v -2.153746 -1.577428 -0.191103 +v -3.022431 -1.367805 0.018540 +f 175 183 186 +f 167 171 172 +f 169 168 174 +f 172 171 176 +f 170 174 177 +f 176 171 177 +f 167 172 178 +f 173 167 178 +f 172 175 178 +f 175 173 178 +f 177 171 179 +f 175 172 180 +f 173 170 181 +f 170 177 181 +f 177 179 181 +f 168 169 182 +f 176 168 182 +f 172 176 182 +f 169 180 182 +f 180 172 182 +f 169 174 183 +f 180 169 183 +f 175 180 183 +f 171 167 184 +f 167 173 184 +f 179 171 184 +f 173 181 184 +f 181 179 184 +f 174 168 185 +f 168 176 185 +f 177 174 185 +f 176 177 185 +f 170 173 186 +f 174 170 186 +f 173 175 186 +f 183 174 186 +o convex_5 +v -1.224811 -0.918462 0.168404 +v -2.003780 -1.637299 -0.071197 +v -2.003780 -1.637299 0.078517 +v -1.224811 -1.787200 -0.011370 +v -1.254777 -0.528866 -0.400831 +v -2.003780 -1.247826 0.228304 +v -1.224811 -1.577437 0.348177 +v -1.224811 -1.637299 -0.280958 +v -2.003780 -1.307688 -0.250971 +v -1.224811 -0.528866 -0.071197 +v -2.003780 -1.128102 -0.131170 +v -1.224811 -1.158033 -0.400831 +v -1.883915 -1.607245 0.228304 +v -2.003780 -1.607245 -0.191071 +v -1.254777 -1.727215 0.228304 +v -1.943771 -1.068240 -0.011370 +v -2.003780 -1.487521 0.258291 +v -1.374642 -0.978447 0.198317 +v -1.883915 -1.367550 -0.280958 +v -1.254777 -1.487521 0.348177 +v -1.284819 -0.528866 -0.131170 +v -2.003780 -1.187964 0.198317 +v -1.224811 -0.528866 -0.400831 +f 196 198 209 +f 189 188 190 +f 188 189 192 +f 190 187 193 +f 187 190 194 +f 188 192 195 +f 187 194 196 +f 191 195 197 +f 195 192 197 +f 196 194 198 +f 190 188 200 +f 194 190 200 +f 188 195 200 +f 189 190 201 +f 190 193 201 +f 199 189 201 +f 193 199 201 +f 192 189 203 +f 189 199 203 +f 199 193 203 +f 187 196 204 +f 195 191 205 +f 191 198 205 +f 198 194 205 +f 194 200 205 +f 200 195 205 +f 193 187 206 +f 192 203 206 +f 203 193 206 +f 187 204 206 +f 204 192 206 +f 196 191 207 +f 191 197 207 +f 197 202 207 +f 207 202 208 +f 197 192 208 +f 202 197 208 +f 192 204 208 +f 204 196 208 +f 196 207 208 +f 191 196 209 +f 198 191 209 +o convex_6 +v 0.063335 -1.397613 3.044433 +v -0.116249 -2.026883 1.247164 +v 0.363038 -1.907036 1.246988 +v -0.355837 -0.558826 1.247164 +v 0.363038 -0.828554 1.277077 +v -0.505689 -1.427503 2.205449 +v 0.392986 -1.397613 2.834687 +v -0.026511 -1.817079 2.804597 +v -0.535638 -1.757011 1.247164 +v -0.026511 -1.008325 2.774684 +v -0.415735 -1.367580 2.744771 +v 0.512889 -1.457537 1.246988 +v -0.595643 -1.008325 1.277077 +v -0.415735 -1.817079 2.085971 +v 0.392986 -1.817079 2.026145 +v -0.026511 -0.558826 1.247164 +v -0.445683 -0.588860 1.306991 +v 0.243243 -1.098139 2.624941 +v 0.482832 -1.427503 2.175536 +v 0.003546 -1.936926 2.145798 +v 0.303032 -1.727265 2.624941 +v -0.295940 -1.098139 2.595027 +v -0.325889 -1.667198 2.654854 +v -0.056351 -1.427503 3.044433 +v 0.512889 -1.577384 1.396907 +v 0.392986 -1.907036 1.366994 +v 0.033494 -1.817079 2.804597 +v -0.595643 -1.277910 1.247164 +v -0.385895 -1.906892 1.277077 +v 0.033494 -2.026883 1.277077 +v 0.363038 -1.038359 2.026145 +v -0.355837 -1.427503 2.834687 +v -0.026511 -0.558826 1.277077 +v -0.086300 -1.936926 2.085971 +v 0.482832 -1.337833 1.936228 +v 0.033494 -1.008325 2.744771 +v 0.363038 -1.846969 1.996055 +v 0.392986 -1.457537 2.804773 +v -0.056351 -1.367580 3.044433 +v -0.535638 -1.397613 1.996055 +v -0.415735 -1.427503 2.744771 +v -0.385895 -1.307800 2.744771 +v 0.332981 -0.798521 1.247164 +v -0.176146 -0.558826 1.306991 +f 219 242 253 +f 212 211 218 +f 215 218 223 +f 221 213 225 +f 219 213 226 +f 213 222 226 +f 222 220 226 +f 219 226 231 +f 223 217 232 +f 212 221 234 +f 221 228 234 +f 228 224 234 +f 212 234 235 +f 234 224 235 +f 217 229 236 +f 210 233 236 +f 233 217 236 +f 212 218 237 +f 221 212 237 +f 213 221 237 +f 222 213 237 +f 218 211 238 +f 211 223 238 +f 223 218 238 +f 211 212 239 +f 229 211 239 +f 212 235 239 +f 214 227 240 +f 227 216 240 +f 232 217 241 +f 217 233 241 +f 225 213 242 +f 223 211 243 +f 217 223 243 +f 211 229 243 +f 229 217 243 +f 221 214 244 +f 216 228 244 +f 228 221 244 +f 214 240 244 +f 240 216 244 +f 210 216 245 +f 219 210 245 +f 216 227 245 +f 242 219 245 +f 227 242 245 +f 224 230 246 +f 235 224 246 +f 236 229 246 +f 230 236 246 +f 229 239 246 +f 239 235 246 +f 216 210 247 +f 228 216 247 +f 224 228 247 +f 230 224 247 +f 210 236 247 +f 236 230 247 +f 210 219 248 +f 233 210 248 +f 241 233 248 +f 218 215 249 +f 215 220 249 +f 220 222 249 +f 237 218 249 +f 222 237 249 +f 220 215 250 +f 215 223 250 +f 223 232 250 +f 241 220 250 +f 232 241 250 +f 226 220 251 +f 219 231 251 +f 231 226 251 +f 220 241 251 +f 248 219 251 +f 241 248 251 +f 214 221 252 +f 221 225 252 +f 227 214 252 +f 225 242 252 +f 242 227 252 +f 213 219 253 +f 242 213 253 +o convex_7 +v -0.026400 -0.529004 -1.479688 +v -0.026400 -1.936864 -1.269998 +v 0.033418 -1.936864 -1.269998 +v 0.003452 -1.457516 -3.007208 +v 0.572810 -1.008352 -1.239721 +v -0.595643 -1.098212 -1.239894 +v -0.415732 -1.457516 -2.767414 +v 0.362932 -1.397563 -2.767414 +v 0.452945 -0.529004 -1.239721 +v 0.033418 -1.038397 -2.737483 +v -0.445812 -0.588957 -1.299929 +v 0.452945 -1.727098 -1.239721 +v -0.026400 -1.787051 -2.767414 +v -0.445812 -1.757005 -2.018792 +v -0.445812 -1.727098 -1.239894 +v 0.332966 -1.757005 -2.048896 +v 0.512878 -1.367656 -1.958930 +v -0.026400 -1.038397 -2.737483 +v -0.535597 -1.487424 -1.958930 +v -0.355914 -0.529004 -1.239894 +v 0.303114 -1.128257 -2.557724 +v -0.415732 -1.397563 -2.737483 +v -0.266015 -1.727098 -2.647690 +v 0.273034 -1.667145 -2.557724 +v 0.393013 -1.697190 -2.018792 +v -0.026400 -1.367656 -3.007208 +v 0.452945 -0.529004 -1.269825 +v 0.572810 -1.158027 -1.449584 +v -0.176002 -1.846866 -2.048896 +v 0.362932 -1.337610 -2.737483 +v -0.325833 -1.218118 -2.617759 +v -0.475664 -0.648910 -1.329860 +v -0.595643 -1.188073 -1.389722 +v -0.086332 -1.757005 -2.797345 +v -0.505630 -1.577284 -1.329860 +v -0.236049 -1.846866 -1.239894 +v 0.452945 -1.337610 -2.318102 +v -0.535597 -1.397563 -2.048896 +v 0.572810 -1.217980 -1.239721 +v -0.026400 -1.876911 -2.018792 +v -0.355914 -0.529004 -1.269998 +v -0.385766 -1.787051 -2.048896 +f 289 267 295 +f 258 262 265 +f 262 259 265 +f 257 261 266 +f 265 259 268 +f 265 256 269 +f 254 263 271 +f 260 267 272 +f 259 262 273 +f 262 254 273 +f 264 259 273 +f 267 260 276 +f 266 261 277 +f 269 266 277 +f 269 277 278 +f 265 269 278 +f 261 270 278 +f 270 265 278 +f 277 261 278 +f 257 260 279 +f 261 257 279 +f 271 263 279 +f 260 275 279 +f 275 271 279 +f 262 258 280 +f 254 262 280 +f 263 254 280 +f 274 263 280 +f 280 258 281 +f 263 274 283 +f 261 279 283 +f 279 263 283 +f 274 280 283 +f 264 271 284 +f 275 264 284 +f 271 275 284 +f 259 264 285 +f 264 275 285 +f 259 285 286 +f 260 257 287 +f 257 266 287 +f 276 260 287 +f 266 276 287 +f 268 259 288 +f 267 268 288 +f 272 267 288 +f 259 286 288 +f 286 272 288 +f 255 256 289 +f 256 265 289 +f 265 268 289 +f 268 267 289 +f 270 261 290 +f 281 270 290 +f 280 281 290 +f 261 283 290 +f 283 280 290 +f 260 272 291 +f 275 260 291 +f 285 275 291 +f 286 285 291 +f 272 286 291 +f 258 265 292 +f 265 270 292 +f 281 258 292 +f 270 281 292 +f 256 255 293 +f 269 256 293 +f 266 269 293 +f 255 282 293 +f 282 266 293 +f 254 271 294 +f 271 264 294 +f 273 254 294 +f 264 273 294 +f 276 266 295 +f 267 276 295 +f 282 255 295 +f 266 282 295 +f 255 289 295 +o convex_8 +v -0.445654 -1.757061 -1.239721 +v 1.172017 -0.828528 0.497762 +v 1.172017 -1.068334 0.497762 +v -1.015065 -0.558985 0.887223 +v -0.176081 -2.446169 0.977286 +v 0.452922 -0.528866 -1.239721 +v 0.992067 -2.086651 -0.790137 +v -0.955003 -2.386313 -0.040911 +v -1.224811 -0.528866 -0.430616 +v 0.872413 -0.528866 0.977286 +v 0.902210 -2.176435 0.977286 +v -0.535512 -1.787180 1.246988 +v 0.093257 -2.416051 -0.790137 +v -0.985034 -2.176626 0.917163 +v 0.992067 -0.528866 -0.820077 +v -0.056193 -0.528866 1.246988 +v -0.505715 -0.528866 -1.209538 +v -0.835350 -2.146698 -0.879956 +v 0.992067 -2.326266 0.078361 +v -1.224811 -1.817108 0.078118 +v 0.482718 -1.697205 -1.239721 +v 0.422891 -1.876964 1.246988 +v 1.172017 -1.817108 -0.340796 +v -0.925207 -0.528866 -0.939836 +v 1.172017 -0.528866 0.108301 +v -0.625369 -0.918503 1.246988 +v -1.224811 -1.517446 0.377760 +v -0.685431 -2.476288 0.677401 +v 0.812352 -2.416241 0.048178 +v 0.033430 -1.966748 -1.239721 +v -1.224811 -1.637349 -0.310613 +v -0.565542 -2.446169 -0.580558 +v 1.172017 -1.697205 0.347820 +v 0.602606 -1.098262 -1.239721 +v 0.512749 -1.457780 1.246988 +v -0.595573 -1.217974 -1.239721 +v -1.194780 -0.528866 0.228060 +v 0.123288 -2.356385 -0.940079 +v 0.692464 -2.386123 -0.520435 +v 0.662433 -2.416241 0.557642 +v -0.086224 -2.056723 1.246988 +v -0.475685 -0.528866 1.246988 +v -0.685431 -2.476288 -0.220793 +v 0.363064 -0.828718 1.246988 +v 1.172017 -1.547374 -0.400676 +v -1.224811 -1.098262 -0.430616 +v 0.992067 -2.056723 -0.820077 +v -0.325766 -2.476288 0.857283 +v 1.172017 -0.528866 0.437883 +v 0.243176 -2.326266 1.037166 +v -1.224811 -0.648769 0.198121 +v 1.172017 -1.876773 0.048422 +v -0.116254 -2.326457 -0.940079 +v -0.985034 -2.296338 0.467822 +v 0.902210 -1.188237 0.977286 +v 1.172017 -0.978359 -0.220793 +v -0.835350 -2.026604 -0.909896 +v -0.475685 -0.588913 -1.239721 +v -0.895176 -2.206554 0.947103 +v 0.452922 -2.416241 -0.610498 +v 0.303003 -2.446169 0.137998 +v 0.752525 -0.558985 -1.059839 +v -1.224811 -1.727133 -0.220793 +v -0.715461 -2.176626 -0.909896 +f 348 327 359 +f 301 304 305 +f 298 297 306 +f 301 305 310 +f 305 304 311 +f 304 301 312 +f 296 301 316 +f 311 307 317 +f 297 298 318 +f 314 302 318 +f 304 312 319 +f 310 305 320 +f 297 318 320 +f 299 309 321 +f 309 307 321 +f 307 311 321 +f 309 299 322 +f 304 315 322 +f 315 309 322 +f 296 316 325 +f 315 304 326 +f 303 313 327 +f 298 306 328 +f 318 298 328 +f 316 301 329 +f 317 306 330 +f 311 317 330 +f 301 296 331 +f 311 304 332 +f 308 327 333 +f 302 314 334 +f 314 324 334 +f 333 302 334 +f 314 306 335 +f 324 314 335 +f 317 307 336 +f 299 321 337 +f 321 311 337 +f 332 299 337 +f 311 332 337 +f 323 303 338 +f 303 327 338 +f 327 308 338 +f 305 311 339 +f 330 305 339 +f 311 330 339 +f 320 318 340 +f 304 319 341 +f 326 304 341 +f 318 302 342 +f 325 316 342 +f 329 310 342 +f 316 329 342 +f 302 333 342 +f 333 325 342 +f 310 340 342 +f 340 318 342 +f 300 323 343 +f 335 300 343 +f 324 335 343 +f 323 338 343 +f 305 297 344 +f 297 320 344 +f 320 305 344 +f 306 317 345 +f 300 335 345 +f 335 306 345 +f 336 300 345 +f 317 336 345 +f 322 299 346 +f 304 322 346 +f 299 332 346 +f 332 304 346 +f 306 314 347 +f 314 318 347 +f 328 306 347 +f 318 328 347 +f 325 333 348 +f 333 327 348 +f 315 303 349 +f 309 315 349 +f 303 323 349 +f 323 309 349 +f 297 305 350 +f 306 297 350 +f 305 330 350 +f 330 306 350 +f 310 320 351 +f 340 310 351 +f 320 340 351 +f 296 313 352 +f 313 326 352 +f 331 296 352 +f 319 331 352 +f 341 319 352 +f 326 341 352 +f 312 301 353 +f 319 312 353 +f 301 331 353 +f 331 319 353 +f 307 309 354 +f 323 300 354 +f 309 323 354 +f 300 336 354 +f 336 307 354 +f 308 333 355 +f 334 324 355 +f 333 334 355 +f 338 308 355 +f 338 355 356 +f 324 343 356 +f 343 338 356 +f 355 324 356 +f 301 310 357 +f 310 329 357 +f 329 301 357 +f 313 303 358 +f 303 315 358 +f 326 313 358 +f 315 326 358 +f 313 296 359 +f 296 325 359 +f 327 313 359 +f 325 348 359 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/765/765.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/765/765.urdf new file mode 100644 index 000000000..a04101792 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/765/765.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/766/766.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/766/766.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/766/766.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/766/766.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/766/766.obj new file mode 100644 index 000000000..d3de4ca9c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/766/766.obj @@ -0,0 +1,384 @@ +o convex_0 +v -0.988790 2.691680 -1.016186 +v 0.963551 0.088812 1.107334 +v 0.997773 1.013891 1.072898 +v 0.963551 0.226090 -1.119278 +v 1.100650 3.754035 -1.119278 +v -1.057445 3.685011 0.935805 +v -0.920346 -0.151037 1.038461 +v 1.100650 3.787969 0.935805 +v -0.954568 -0.151037 -0.981968 +v -1.057445 3.651078 -1.016186 +v 0.929329 -0.151037 -1.119278 +v 0.963551 -0.151037 1.107334 +v 1.100650 3.068806 -1.119278 +v -1.023012 3.376909 0.970024 +v -0.954568 3.719716 0.901586 +v 0.620909 0.294343 -1.119278 +v -0.954568 0.192156 1.038461 +v 1.100650 3.719716 0.970242 +v -0.714803 -0.116332 1.072898 +v 0.655131 3.754035 -1.050623 +v 1.100650 3.240017 0.970242 +v -1.057445 3.240017 -0.913530 +v 0.655131 3.788355 0.936023 +v -0.988790 0.911319 -0.331158 +v -0.749025 3.685011 -1.016404 +v -1.057445 3.513800 0.901586 +v 0.963551 -0.151037 0.490526 +v 0.997773 0.568511 1.072898 +v 1.066217 3.787969 -0.159847 +v -0.440605 3.582439 -1.050623 +v 0.620909 -0.082398 1.107334 +v -0.954568 -0.151037 -0.125846 +v 0.689353 -0.151037 -1.119278 +v -0.954568 0.945638 1.038461 +v -1.057445 3.685011 -0.365377 +v -0.988790 0.842680 -0.981968 +v 1.031995 3.616758 -1.119278 +v -0.577704 -0.082013 -1.016404 +v -0.543482 2.520469 -1.050623 +f 30 16 39 +f 1 9 10 +f 5 4 11 +f 7 9 11 +f 7 11 12 +f 4 5 13 +f 5 8 13 +f 2 3 14 +f 5 11 16 +f 3 2 18 +f 2 12 18 +f 13 8 18 +f 14 3 18 +f 6 14 18 +f 7 12 19 +f 17 7 19 +f 18 12 21 +f 13 18 21 +f 6 10 22 +f 15 6 23 +f 6 18 23 +f 18 8 23 +f 5 10 25 +f 20 5 25 +f 17 6 26 +f 6 22 26 +f 22 24 26 +f 11 4 27 +f 12 11 27 +f 4 13 27 +f 27 13 28 +f 21 12 28 +f 13 21 28 +f 12 27 28 +f 8 5 29 +f 5 20 29 +f 20 15 29 +f 23 8 29 +f 15 23 29 +f 10 5 30 +f 12 2 31 +f 2 14 31 +f 19 12 31 +f 9 7 32 +f 7 17 32 +f 17 26 32 +f 26 24 32 +f 11 9 33 +f 16 11 33 +f 14 6 34 +f 6 17 34 +f 17 19 34 +f 31 14 34 +f 19 31 34 +f 10 6 35 +f 6 15 35 +f 15 20 35 +f 25 10 35 +f 20 25 35 +f 10 9 36 +f 22 10 36 +f 24 22 36 +f 9 32 36 +f 32 24 36 +f 5 16 37 +f 30 5 37 +f 16 30 37 +f 9 1 38 +f 1 16 38 +f 33 9 38 +f 16 33 38 +f 1 10 39 +f 16 1 39 +f 10 30 39 +o convex_1 +v 0.244133 -2.377449 2.169237 +v -0.235271 -0.322315 2.991391 +v -0.235271 -0.322315 1.998093 +v 1.100657 -0.322717 2.991391 +v 0.963447 -0.322717 1.107334 +v -1.023189 -2.308850 1.107334 +v 0.963447 -2.274652 1.107334 +v -0.988887 -2.206254 2.957089 +v -0.920282 -0.356916 1.107334 +v 1.100657 -2.377449 2.922602 +v -0.988887 -0.322315 2.991391 +v -1.023189 -0.939096 2.271960 +v -0.954584 -2.343250 1.107334 +v -0.474973 -2.274652 2.957089 +v 0.997749 -2.308850 1.415688 +v -0.954584 -0.322315 1.621503 +v -0.988887 -1.281686 2.991391 +v -1.023189 -2.274652 2.237658 +v -1.023189 -1.760868 1.107334 +v 1.100657 -1.829265 2.957089 +v 1.100657 -0.322717 2.854181 +v -0.372273 -2.343250 1.107334 +v 1.100657 -2.377449 2.785761 +v 1.066354 -2.377449 2.546012 +v 0.826444 -2.377449 2.922602 +v -0.954584 -0.527909 1.176124 +v 0.757839 -2.308850 1.141637 +v -0.132363 -0.322717 1.107334 +v -0.988887 -0.322315 2.340381 +v -1.023189 -2.240453 2.374684 +v -0.988887 -2.240453 2.888299 +v -0.954584 -2.343250 1.176124 +v 0.997749 -2.034859 1.415688 +f 60 62 72 +f 42 41 43 +f 45 44 46 +f 44 45 48 +f 41 42 50 +f 43 41 50 +f 45 46 52 +f 46 44 54 +f 42 44 55 +f 50 42 55 +f 43 50 56 +f 47 53 56 +f 51 45 57 +f 48 45 58 +f 45 51 58 +f 49 43 59 +f 53 49 59 +f 43 56 59 +f 56 53 59 +f 42 43 60 +f 44 42 60 +f 43 49 60 +f 40 52 61 +f 52 46 61 +f 49 40 62 +f 60 49 62 +f 40 61 63 +f 62 40 63 +f 54 62 63 +f 40 49 64 +f 49 53 64 +f 55 48 65 +f 48 58 65 +f 58 51 65 +f 46 54 66 +f 61 46 66 +f 63 61 66 +f 54 63 66 +f 44 48 67 +f 55 44 67 +f 48 55 67 +f 51 50 68 +f 50 55 68 +f 55 65 68 +f 65 51 68 +f 50 51 69 +f 56 50 69 +f 47 56 69 +f 51 57 69 +f 69 57 70 +f 53 47 70 +f 40 64 70 +f 64 53 70 +f 47 69 70 +f 52 40 71 +f 45 52 71 +f 57 45 71 +f 70 57 71 +f 40 70 71 +f 54 44 72 +f 44 60 72 +f 62 54 72 +o convex_2 +v 1.066388 -2.274498 -2.181134 +v -1.057445 -0.664951 -2.934743 +v -1.023143 -1.452615 -3.003187 +v -0.988840 -2.206060 -1.187971 +v 0.929179 -0.151248 -1.187971 +v 1.032085 -0.185678 -2.968965 +v -0.954538 -0.219686 -1.187971 +v 1.032085 -2.309139 -2.968965 +v 1.066388 -2.206060 -1.187971 +v -0.988840 -2.206060 -3.037591 +v -1.057445 -0.219686 -2.934743 +v 0.620874 -2.309139 -2.557939 +v 1.066388 -1.795013 -1.187971 +v -1.057445 -0.219686 -2.592161 +v 0.963481 -0.151248 -1.461928 +v -0.577836 -2.240490 -1.427706 +v -0.509232 -2.206060 -3.037591 +v -0.988840 -1.863662 -3.037591 +v -0.988840 -0.219686 -1.461928 +v 0.655176 -0.151248 -1.256415 +v 1.066388 -2.240279 -1.461928 +v 0.792177 -0.185678 -2.968965 +v 0.620874 -2.309139 -2.968965 +v 1.032085 -0.185678 -2.763452 +v -1.023143 -0.664951 -2.968965 +v 0.929179 -0.151248 -1.633400 +v 0.347079 -2.274498 -3.003006 +v 1.032085 -2.309139 -2.557758 +v -0.235229 -0.185678 -1.187971 +v -0.509232 -2.240490 -2.797674 +f 95 88 102 +f 74 75 76 +f 76 77 79 +f 78 73 80 +f 77 76 81 +f 76 75 82 +f 75 74 83 +f 73 78 85 +f 81 73 85 +f 77 81 85 +f 74 76 86 +f 83 74 86 +f 77 85 87 +f 81 76 88 +f 76 82 88 +f 89 82 90 +f 82 75 90 +f 75 83 90 +f 78 89 90 +f 76 79 91 +f 86 76 91 +f 77 87 92 +f 73 81 93 +f 81 88 93 +f 78 90 94 +f 80 84 95 +f 84 88 95 +f 85 78 96 +f 78 87 96 +f 87 85 96 +f 90 83 97 +f 83 94 97 +f 94 90 97 +f 87 78 98 +f 83 92 98 +f 92 87 98 +f 78 94 98 +f 94 83 98 +f 78 80 99 +f 89 78 99 +f 82 89 99 +f 80 95 99 +f 95 82 99 +f 80 73 100 +f 84 80 100 +f 88 84 100 +f 73 93 100 +f 93 88 100 +f 79 77 101 +f 83 86 101 +f 91 79 101 +f 86 91 101 +f 77 92 101 +f 92 83 101 +f 88 82 102 +f 82 95 102 +o convex_3 +v 0.552390 -0.151459 1.107110 +v -1.023189 -2.343394 0.798713 +v -0.851784 -2.343394 0.798713 +v 0.929154 -0.151245 -1.187565 +v -0.954464 -0.151459 -0.982041 +v 1.066401 -2.206278 -1.187565 +v 0.963517 -2.274729 1.107110 +v -0.988826 -2.206063 -1.187565 +v -0.920305 -0.151459 1.038602 +v 0.963517 -0.151245 1.107110 +v -1.023189 -2.308847 1.107110 +v -0.954464 -0.219911 -1.187565 +v 1.066401 -1.726477 -0.502487 +v -0.954464 -0.630831 1.107110 +v -1.023189 -1.760810 1.072744 +v 0.620911 -2.309062 1.072744 +v 1.032038 -1.315556 -1.153199 +v -1.023189 -2.240396 0.079493 +v -0.954464 -0.151459 -0.262822 +v 1.066401 -2.206278 -0.570994 +v -0.920305 -0.356813 1.107110 +v 0.963517 -0.151245 0.593189 +v -0.440861 -2.343394 1.072744 +v 0.963517 -0.425264 -1.153199 +v 1.066401 -1.760810 -1.119057 +v 0.963517 -2.274729 0.524681 +v -0.988826 -2.274514 -0.228455 +v -0.988826 -2.343394 1.107110 +v -0.749104 -0.151459 1.072744 +v -0.988826 -2.034828 -1.187565 +f 120 114 132 +f 106 108 110 +f 103 109 112 +f 109 103 113 +f 107 106 114 +f 106 110 114 +f 112 109 115 +f 113 103 116 +f 113 116 117 +f 104 113 117 +f 107 114 117 +f 108 106 119 +f 110 104 120 +f 104 117 120 +f 117 114 120 +f 106 107 121 +f 112 106 121 +f 111 112 121 +f 116 111 121 +f 117 116 121 +f 107 117 121 +f 109 108 122 +f 108 115 122 +f 115 109 122 +f 116 103 123 +f 111 116 123 +f 106 112 124 +f 112 115 124 +f 104 105 125 +f 105 108 125 +f 108 118 125 +f 119 106 126 +f 106 124 126 +f 124 119 126 +f 115 108 127 +f 108 119 127 +f 124 115 127 +f 119 124 127 +f 108 109 128 +f 118 108 128 +f 109 118 128 +f 105 104 129 +f 108 105 129 +f 104 110 129 +f 110 108 129 +f 113 104 130 +f 109 113 130 +f 118 109 130 +f 104 125 130 +f 125 118 130 +f 103 112 131 +f 112 111 131 +f 123 103 131 +f 111 123 131 +f 114 110 132 +f 110 120 132 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/766/766.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/766/766.urdf new file mode 100644 index 000000000..aabedc88c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/766/766.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/767/767.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/767/767.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/767/767.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/767/767.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/767/767.obj new file mode 100644 index 000000000..c8beb29e0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/767/767.obj @@ -0,0 +1,480 @@ +o convex_0 +v 0.261446 0.268035 -0.222809 +v -1.940553 0.268035 -0.415987 +v -1.901755 0.268035 -0.686353 +v -1.360955 4.169911 0.974441 +v 0.145484 4.053420 -0.995518 +v 0.184066 0.268035 0.974441 +v -1.824590 4.053420 -0.995518 +v -1.901755 0.268035 1.051834 +v 0.145484 4.053420 1.013035 +v 0.184066 0.268035 -1.034317 +v -1.863173 4.169911 0.974441 +v -1.824590 0.268035 -0.956924 +v 0.184066 3.744814 -0.918125 +v 0.184066 1.311489 1.013035 +v -1.863173 4.130953 -0.029836 +v -1.824590 1.581901 -0.995518 +v -1.090447 4.130953 1.013035 +v -0.047644 4.091996 -0.763747 +v -1.206410 1.350447 1.051834 +v -1.901755 1.891271 1.013035 +v 0.029521 4.091996 1.013035 +v 0.261446 0.345951 -0.029836 +v -1.863173 3.319335 -0.879530 +v -0.086442 0.268035 1.013035 +v -1.863173 3.280760 1.013035 +v -1.360955 4.169911 0.510693 +v -1.940553 0.461678 -0.377188 +v -1.167827 0.268035 -0.995518 +v 0.106901 0.615981 -1.034317 +v -1.863173 0.268035 -0.918125 +v -1.786008 4.092378 -0.647758 +v -1.476918 0.268035 1.051834 +v 0.029521 0.268035 -1.034317 +v -1.901755 0.693132 1.051834 +f 20 27 34 +f 1 2 3 +f 2 1 6 +f 2 6 8 +f 1 3 10 +f 10 3 12 +f 5 9 13 +f 1 10 13 +f 10 5 13 +f 4 11 17 +f 5 7 18 +f 14 9 19 +f 9 5 21 +f 4 17 21 +f 5 18 21 +f 19 9 21 +f 17 19 21 +f 6 1 22 +f 1 13 22 +f 13 9 22 +f 14 6 22 +f 9 14 22 +f 3 2 23 +f 15 7 23 +f 8 6 24 +f 6 14 24 +f 17 11 25 +f 11 20 25 +f 11 4 26 +f 15 11 26 +f 4 21 26 +f 21 18 26 +f 2 8 27 +f 11 15 27 +f 20 11 27 +f 23 2 27 +f 15 23 27 +f 10 12 28 +f 12 16 28 +f 7 5 29 +f 5 10 29 +f 12 3 30 +f 7 16 30 +f 16 12 30 +f 3 23 30 +f 23 7 30 +f 7 15 31 +f 18 7 31 +f 15 26 31 +f 26 18 31 +f 19 8 32 +f 14 19 32 +f 8 24 32 +f 24 14 32 +f 16 7 33 +f 10 28 33 +f 28 16 33 +f 7 29 33 +f 29 10 33 +f 8 19 34 +f 19 17 34 +f 17 25 34 +f 25 20 34 +f 27 8 34 +o convex_1 +v 4.201954 -1.393084 0.085792 +v 1.034243 0.190770 -0.956841 +v 1.034243 0.190770 -0.995526 +v 0.300177 -2.011278 0.935831 +v 3.892593 0.074589 0.974516 +v 4.085848 -1.972479 -1.111582 +v 0.300177 -1.972479 -0.956841 +v 0.300177 0.113388 0.974516 +v 4.201954 0.036222 -0.956841 +v 4.162998 -1.856514 1.013201 +v 0.300177 0.190770 -1.034212 +v 4.201954 0.036222 0.935831 +v 4.124423 -1.972479 -0.647982 +v 0.609539 -1.972479 -0.995526 +v 0.300177 -0.968021 0.974516 +v 4.085848 -1.740549 -1.111582 +v 3.622188 -1.972479 -1.111582 +v 4.201954 -1.431667 1.013201 +v 0.338752 -2.011278 0.163163 +v 0.648114 -2.011278 0.935831 +v 3.737912 0.074589 -0.957049 +v 3.622188 -1.856514 1.013201 +v 1.149967 0.113388 0.974516 +v 4.124423 -1.817931 -1.072897 +v 4.201954 -1.856730 0.588078 +v 4.201954 -0.350258 -0.956841 +v 1.575053 -1.933896 0.974516 +v 0.300177 0.190770 -0.763622 +v 4.162998 -0.813903 -1.034212 +v 0.416283 0.190770 -1.034212 +v 3.931167 0.074589 0.897145 +v 4.201954 -0.041160 0.974516 +f 52 46 66 +f 41 38 42 +f 36 37 45 +f 41 42 45 +f 35 43 46 +f 41 45 48 +f 42 38 49 +f 45 50 51 +f 48 45 51 +f 50 40 51 +f 35 46 52 +f 38 41 53 +f 41 48 53 +f 51 40 53 +f 48 51 53 +f 40 47 54 +f 47 44 54 +f 38 53 54 +f 53 40 54 +f 42 49 56 +f 52 42 56 +f 44 52 56 +f 39 36 57 +f 52 39 57 +f 42 52 57 +f 47 40 58 +f 40 50 58 +f 44 47 59 +f 35 52 59 +f 52 44 59 +f 58 35 59 +f 47 58 59 +f 43 35 60 +f 35 58 60 +f 49 38 61 +f 38 54 61 +f 54 44 61 +f 44 56 61 +f 56 49 61 +f 36 45 62 +f 45 42 62 +f 57 36 62 +f 42 57 62 +f 58 50 63 +f 43 60 63 +f 60 58 63 +f 45 37 64 +f 50 45 64 +f 37 55 64 +f 55 43 64 +f 43 63 64 +f 63 50 64 +f 37 36 65 +f 36 39 65 +f 46 43 65 +f 39 46 65 +f 55 37 65 +f 43 55 65 +f 46 39 66 +f 39 52 66 +o convex_2 +v -2.674819 -0.813760 0.279155 +v -3.833327 -1.084085 -0.377566 +v -3.833327 -1.045449 -0.377566 +v -1.940602 -1.199993 -0.261646 +v -2.056511 -0.620514 -0.261646 +v -3.910856 -1.161357 0.317818 +v -3.833327 -0.581878 -0.107131 +v -1.940602 -1.161357 0.240492 +v -1.940602 -0.620514 0.201898 +v -3.794948 -0.697787 0.201898 +v -3.833327 -0.620514 -0.261646 +v -1.979367 -1.238630 -0.222983 +v -3.910856 -1.161357 0.124640 +v -1.940602 -0.659151 -0.261646 +v -3.910856 -1.006812 0.317818 +v -3.215405 -1.161357 0.317818 +v -2.983587 -0.581878 -0.222983 +v -3.717418 -1.122721 -0.338903 +v -2.597675 -0.620514 0.201898 +v -3.215405 -1.199993 0.163235 +v -2.404237 -1.199993 -0.300241 +v -3.872092 -0.620514 -0.184389 +v -3.872092 -0.659151 0.124640 +f 73 88 89 +f 67 74 75 +f 74 70 75 +f 71 69 77 +f 70 74 78 +f 69 71 80 +f 75 70 80 +f 71 75 80 +f 67 76 81 +f 79 72 81 +f 74 67 82 +f 67 81 82 +f 81 72 82 +f 75 71 83 +f 73 75 83 +f 71 77 83 +f 77 73 83 +f 79 68 84 +f 78 79 84 +f 67 75 85 +f 75 73 85 +f 76 67 85 +f 78 74 86 +f 72 79 86 +f 79 78 86 +f 74 82 86 +f 82 72 86 +f 68 69 87 +f 70 78 87 +f 69 80 87 +f 80 70 87 +f 84 68 87 +f 78 84 87 +f 69 68 88 +f 77 69 88 +f 73 77 88 +f 68 79 88 +f 79 81 88 +f 88 81 89 +f 81 76 89 +f 85 73 89 +f 76 85 89 +o convex_3 +v -1.901781 0.268035 -0.687144 +v -1.438335 -2.011278 -0.725341 +v -1.322309 -2.011278 -0.725341 +v -1.438335 -0.195815 -3.081836 +v 0.300079 0.113419 0.974240 +v 0.106849 -1.895260 -3.081836 +v 0.222655 -2.011278 1.206364 +v 0.261257 0.036222 -3.042799 +v -1.940602 -0.234413 1.206364 +v -1.824576 -1.817840 -2.926947 +v -1.824576 -1.856438 1.206364 +v -1.785974 0.113196 -3.042799 +v 0.300079 -1.972457 -0.956625 +v 0.184053 0.268035 -1.034280 +v -1.901781 0.268035 1.051475 +v 0.184053 0.113419 1.206364 +v -1.940602 -1.238418 -0.223736 +v 0.184053 0.268035 0.974240 +v -1.940602 0.113196 -1.188749 +v -1.785974 -1.972457 -1.459070 +v 0.300079 -2.011278 0.935623 +v 0.300079 0.190392 -1.034280 +v -1.940602 0.035999 1.206364 +v -1.824576 -1.895037 0.858388 +v 0.184053 -1.084024 -3.081836 +v 0.106849 -2.011278 -0.300970 +v -1.824576 -1.547428 -2.965564 +v -1.245105 0.113419 -3.042799 +v -1.824576 -1.856438 -2.772058 +v -1.824576 0.268035 -0.956625 +v -0.202408 -1.856661 -3.081836 +v 0.068027 -1.972457 -1.535885 +v -1.824576 0.113196 -2.772058 +v 0.261257 -0.273235 -3.042799 +v -1.863179 -1.315614 -2.463120 +v -1.245105 -1.972457 -1.690774 +v -1.863179 -1.663223 1.051475 +v -1.785974 -1.972457 -0.416403 +v -1.940602 0.268035 -0.416403 +v -1.785974 -0.466227 -3.042799 +v -0.202408 -2.011278 0.858388 +v -1.940602 -1.161221 0.240092 +v -0.318214 0.074597 -3.042799 +v 0.261257 0.268035 -0.069267 +v -1.515540 -1.895260 1.206364 +v 0.145451 -0.814058 -3.081836 +f 97 114 135 +f 91 92 96 +f 96 98 100 +f 103 90 104 +f 96 94 105 +f 98 96 105 +f 103 104 107 +f 104 105 107 +f 105 94 107 +f 106 98 108 +f 96 92 110 +f 94 96 110 +f 102 94 110 +f 94 102 111 +f 97 103 111 +f 105 104 112 +f 98 105 112 +f 108 98 112 +f 95 93 114 +f 102 95 114 +f 110 92 115 +f 102 110 115 +f 93 101 117 +f 101 103 117 +f 99 95 118 +f 106 99 118 +f 113 106 118 +f 109 113 118 +f 101 90 119 +f 90 103 119 +f 103 101 119 +f 93 95 120 +f 95 99 120 +f 99 116 120 +f 95 102 121 +f 115 92 121 +f 102 115 121 +f 101 116 122 +f 111 102 123 +f 97 111 123 +f 114 97 123 +f 102 114 123 +f 99 106 124 +f 106 108 124 +f 116 99 124 +f 108 122 124 +f 122 116 124 +f 92 91 125 +f 91 109 125 +f 118 95 125 +f 109 118 125 +f 121 92 125 +f 95 121 125 +f 100 98 126 +f 113 100 126 +f 106 113 126 +f 109 91 127 +f 113 109 127 +f 90 101 128 +f 104 90 128 +f 112 104 128 +f 108 112 128 +f 101 122 128 +f 122 108 128 +f 101 93 129 +f 116 101 129 +f 93 120 129 +f 120 116 129 +f 91 96 130 +f 127 91 130 +f 113 127 130 +f 98 106 131 +f 126 98 131 +f 106 126 131 +f 97 93 132 +f 103 97 132 +f 93 117 132 +f 117 103 132 +f 107 94 133 +f 103 107 133 +f 94 111 133 +f 111 103 133 +f 96 100 134 +f 100 113 134 +f 130 96 134 +f 113 130 134 +f 93 97 135 +f 114 93 135 +o convex_4 +v 0.261446 -1.083722 3.060626 +v -1.940489 -0.234243 1.206364 +v -1.863111 -1.508784 1.206364 +v -1.863111 -1.238486 3.099353 +v 0.222650 -1.972646 1.206364 +v 0.184068 0.229403 3.060626 +v 0.184068 0.113437 1.206364 +v -1.785948 0.113222 3.099353 +v -1.863111 -1.933847 3.060626 +v 0.261446 -1.856680 3.099353 +v -1.824529 -1.895048 1.245091 +v -1.940489 0.036055 1.206364 +v -1.901907 0.074639 2.519745 +v -1.592826 0.074639 1.206364 +v 0.261446 -1.933847 2.287754 +v -1.863111 -1.933847 2.133587 +v -0.665798 0.152021 3.099353 +v 0.184068 0.152021 1.438355 +v -1.013460 -1.933847 3.060626 +v -0.356716 -1.972646 1.206364 +v -1.863111 0.074639 3.099353 +v 0.222650 -1.972646 1.747429 +v 0.222650 -0.041111 3.060626 +v 0.106690 0.229403 2.983357 +v -0.163594 -1.895264 3.099353 +v -1.940489 -0.002528 1.554165 +v 0.261446 -1.199687 3.099353 +v -1.824529 -1.856465 1.206364 +v 0.261446 -1.856680 2.210485 +v -1.863111 0.074639 1.747429 +f 159 149 165 +f 138 137 140 +f 140 137 142 +f 143 139 145 +f 142 137 147 +f 144 139 148 +f 142 147 149 +f 136 145 150 +f 137 138 151 +f 144 137 151 +f 138 146 151 +f 141 143 152 +f 143 145 152 +f 142 149 153 +f 138 140 155 +f 144 151 155 +f 151 146 155 +f 139 143 156 +f 143 148 156 +f 148 139 156 +f 140 150 157 +f 154 144 157 +f 150 154 157 +f 155 140 157 +f 144 155 157 +f 136 142 158 +f 153 141 158 +f 142 153 158 +f 143 141 159 +f 141 153 159 +f 153 149 159 +f 139 144 160 +f 145 139 160 +f 150 145 160 +f 144 154 160 +f 154 150 160 +f 137 144 161 +f 147 137 161 +f 148 147 161 +f 144 148 161 +f 145 136 162 +f 141 152 162 +f 152 145 162 +f 136 158 162 +f 158 141 162 +f 146 138 163 +f 138 155 163 +f 155 146 163 +f 142 136 164 +f 140 142 164 +f 136 150 164 +f 150 140 164 +f 148 143 165 +f 147 148 165 +f 149 147 165 +f 143 159 165 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/767/767.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/767/767.urdf new file mode 100644 index 000000000..2467b34a9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/767/767.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/768/768.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/768/768.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/768/768.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/768/768.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/768/768.obj new file mode 100644 index 000000000..1cf9479c8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/768/768.obj @@ -0,0 +1,1080 @@ +o convex_0 +v 0.836389 -0.474552 2.187254 +v 0.006099 -2.500757 -2.063961 +v 0.039081 -2.500757 -2.063961 +v 0.172034 -0.607490 -2.661944 +v -0.990332 -1.304943 2.054826 +v -1.023723 -0.341824 -1.033970 +v 0.803202 -2.201486 1.987730 +v 1.035716 -1.504034 -2.096920 +v -0.757818 -2.234879 -2.030412 +v -0.027088 -2.201486 2.752277 +v 0.969342 -0.341613 -1.100478 +v -0.359163 -0.408188 2.353230 +v -0.724630 -2.201486 2.021278 +v -0.757818 -1.437459 -2.761412 +v 1.069108 -1.437459 2.021278 +v 0.803202 -2.234879 -2.063372 +v 0.803202 -1.470852 -2.761412 +v 0.105660 -1.371518 3.018309 +v -1.023723 -1.470641 -2.030412 +v 0.006099 -2.234668 -2.761412 +v 0.072473 -2.433970 2.020689 +v -0.957145 -0.341824 1.024835 +v -0.757818 -1.404488 2.785237 +v 1.035716 -0.341613 0.792352 +v 0.803202 -1.470852 2.785237 +v -0.658256 -0.607279 -2.495968 +v -0.027088 -0.640672 2.885293 +v 0.006099 -1.404700 -2.994484 +v 0.902968 -0.673854 -2.030412 +v -0.857583 -0.673854 2.153706 +v 0.437735 -0.408188 -2.030412 +v 0.770015 -0.607490 2.652221 +v -0.990332 -1.503822 2.054826 +v 1.035716 -0.640672 2.021278 +v 0.105660 -2.500757 -1.001010 +v -0.027088 -2.500757 -0.801486 +v 1.002529 -0.341613 1.323238 +v -0.923958 -0.607490 -1.897985 +v -1.023723 -0.341824 0.127272 +v 0.570688 -2.035366 2.586302 +v 1.035716 -0.341613 -0.236462 +v -0.724630 -2.268061 -0.967462 +v -0.558491 -2.002184 2.585713 +v 0.637267 -2.002184 -2.594847 +v -0.658256 -0.341824 -1.365921 +v 0.138847 -0.673854 -2.761412 +v -0.591882 -0.839974 2.652221 +v 0.670454 -0.873156 -2.562476 +v -0.558491 -2.035577 -2.561888 +v 0.770015 -2.268061 -2.063372 +v -0.027088 -2.433970 1.987730 +v -0.060275 -1.470641 3.017721 +v 0.969342 -1.769700 -2.030412 +v 0.072473 -2.201486 2.752277 +v 1.035716 -1.304943 -2.030412 +v 0.736828 -0.540915 2.618673 +v 0.836389 -2.135123 1.987730 +v -1.023723 -1.470641 -1.033970 +v -0.791005 -2.068548 2.021278 +v -0.159836 -0.408188 -1.964493 +v -0.757818 -1.470852 2.785237 +v -0.525303 -0.673854 -2.595436 +v 0.836389 -1.470852 2.751689 +v -0.791005 -1.371306 -2.727863 +f 26 62 64 +f 8 16 17 +f 14 9 19 +f 3 2 20 +f 2 9 20 +f 20 14 28 +f 17 20 28 +f 22 5 30 +f 12 22 30 +f 5 23 30 +f 29 4 31 +f 11 29 31 +f 18 25 32 +f 27 18 32 +f 23 5 33 +f 15 24 34 +f 2 3 35 +f 7 21 35 +f 35 21 36 +f 2 35 36 +f 12 1 37 +f 22 12 37 +f 24 11 37 +f 1 34 37 +f 34 24 37 +f 19 6 38 +f 6 26 38 +f 11 6 39 +f 6 19 39 +f 5 22 39 +f 33 5 39 +f 37 11 39 +f 22 37 39 +f 11 24 41 +f 24 15 41 +f 9 2 42 +f 13 9 42 +f 2 36 42 +f 36 13 42 +f 13 10 43 +f 17 16 44 +f 20 17 44 +f 6 11 45 +f 26 6 45 +f 11 31 45 +f 26 4 46 +f 17 28 46 +f 27 12 47 +f 23 27 47 +f 12 30 47 +f 30 23 47 +f 4 29 48 +f 29 17 48 +f 46 4 48 +f 17 46 48 +f 9 14 49 +f 20 9 49 +f 14 20 49 +f 16 7 50 +f 3 20 50 +f 35 3 50 +f 7 35 50 +f 44 16 50 +f 20 44 50 +f 10 13 51 +f 21 10 51 +f 36 21 51 +f 13 36 51 +f 27 23 52 +f 18 27 52 +f 8 15 53 +f 16 8 53 +f 21 7 54 +f 10 21 54 +f 25 18 54 +f 7 40 54 +f 40 25 54 +f 52 10 54 +f 18 52 54 +f 15 8 55 +f 8 17 55 +f 29 11 55 +f 17 29 55 +f 11 41 55 +f 41 15 55 +f 1 12 56 +f 12 27 56 +f 27 32 56 +f 34 1 56 +f 32 34 56 +f 7 16 57 +f 53 15 57 +f 16 53 57 +f 19 9 58 +f 39 19 58 +f 33 39 58 +f 9 13 59 +f 58 9 59 +f 33 58 59 +f 4 26 60 +f 31 4 60 +f 26 45 60 +f 45 31 60 +f 23 33 61 +f 43 10 61 +f 13 43 61 +f 10 52 61 +f 52 23 61 +f 59 13 61 +f 33 59 61 +f 28 14 62 +f 26 46 62 +f 46 28 62 +f 32 25 63 +f 15 34 63 +f 34 32 63 +f 40 7 63 +f 25 40 63 +f 7 57 63 +f 57 15 63 +f 14 19 64 +f 19 38 64 +f 38 26 64 +f 62 14 64 +o convex_1 +v -0.990400 -0.308201 -1.100764 +v 1.069127 0.023952 0.061476 +v 1.035732 0.023952 0.858681 +v 1.035732 -0.341467 0.825474 +v -0.957004 0.023952 0.991749 +v -0.923820 -0.341467 1.058162 +v 0.637100 0.023952 -1.167178 +v 0.969364 -0.341467 -1.001143 +v -0.990400 0.023952 -0.934730 +v 0.138705 0.023952 1.224437 +v 1.002548 -0.341467 1.157783 +v -0.757688 -0.341467 -1.233832 +v -1.090163 -0.009278 0.094923 +v 0.969364 0.023952 -1.001143 +v -0.027004 0.023952 -1.233832 +v 0.770048 -0.341467 -1.167178 +v -1.023584 -0.341467 0.128130 +v 0.969364 0.023952 1.058162 +v -1.023584 -0.341467 -1.001143 +v -0.060400 -0.009278 1.224437 +v 1.002548 -0.341467 -0.868075 +v 0.271652 -0.341467 1.157783 +v -0.957004 -0.341467 1.024956 +v 1.069127 -0.009278 -0.236905 +v -0.591768 0.023952 -1.100764 +v -1.090163 0.023952 -0.071111 +v -0.558372 0.023952 1.124576 +v 1.035732 -0.341467 -0.236905 +v 0.637100 0.023952 1.157783 +v 0.404600 -0.341467 -1.200384 +v -1.023584 0.023952 -0.868316 +f 83 90 95 +f 66 67 68 +f 67 66 69 +f 69 66 71 +f 68 70 72 +f 69 71 73 +f 67 69 74 +f 68 67 75 +f 70 68 75 +f 72 70 76 +f 65 73 76 +f 71 66 78 +f 73 71 79 +f 72 76 80 +f 71 78 80 +f 78 72 80 +f 79 71 80 +f 76 70 81 +f 67 74 82 +f 75 67 82 +f 65 76 83 +f 76 81 83 +f 81 77 83 +f 75 74 84 +f 68 72 85 +f 72 78 85 +f 70 75 86 +f 84 70 86 +f 75 84 86 +f 70 69 87 +f 69 77 87 +f 81 70 87 +f 77 81 87 +f 66 68 88 +f 78 66 88 +f 85 78 88 +f 76 73 89 +f 73 79 89 +f 79 76 89 +f 69 73 90 +f 77 69 90 +f 83 77 90 +f 69 70 91 +f 74 69 91 +f 70 84 91 +f 84 74 91 +f 68 85 92 +f 88 68 92 +f 85 88 92 +f 74 75 93 +f 82 74 93 +f 75 82 93 +f 76 79 94 +f 80 76 94 +f 79 80 94 +f 73 65 95 +f 65 83 95 +f 90 73 95 +o convex_2 +v 1.235227 0.289733 -0.303650 +v 1.268658 1.120207 0.227816 +v 1.268658 1.120207 -0.004749 +v 2.995534 0.588771 0.028418 +v 1.235227 0.389383 0.261048 +v 1.999491 0.821170 -0.237184 +v 2.763067 0.854445 -0.037917 +v 2.763067 0.655145 0.161350 +v 2.763067 0.422746 -0.037917 +v 1.235227 0.920732 -0.270417 +v 2.763067 0.588771 -0.170784 +v 1.268658 0.223359 0.028418 +v 1.268658 0.555496 -0.370116 +v 1.235227 0.887545 0.294281 +v 2.563858 0.455934 0.128182 +v 2.729808 0.854445 0.028418 +v 1.268658 0.621958 0.294281 +v 1.268658 0.223359 -0.104253 +v 2.729808 0.688333 -0.170784 +v 1.335176 0.920732 -0.270417 +v 1.268658 0.455934 -0.370116 +v 2.596945 0.389383 0.028418 +v 1.268658 0.323009 0.194583 +v 1.235227 1.086932 -0.071020 +v 2.596945 0.455934 -0.137486 +v 2.995534 0.655145 -0.037917 +v 2.729808 0.588771 0.161350 +f 103 112 122 +f 98 97 102 +f 96 100 105 +f 100 96 107 +f 96 105 108 +f 103 97 109 +f 105 100 109 +f 102 97 111 +f 97 103 111 +f 103 99 111 +f 103 109 112 +f 109 100 112 +f 96 104 113 +f 107 96 113 +f 101 102 114 +f 108 101 114 +f 106 108 114 +f 102 101 115 +f 108 105 115 +f 101 108 115 +f 106 96 116 +f 96 108 116 +f 108 106 116 +f 104 99 117 +f 99 110 117 +f 113 104 117 +f 107 113 117 +f 100 107 118 +f 110 100 118 +f 117 110 118 +f 107 117 118 +f 97 98 119 +f 98 102 119 +f 109 97 119 +f 105 109 119 +f 102 115 119 +f 115 105 119 +f 104 96 120 +f 96 106 120 +f 106 104 120 +f 99 104 121 +f 104 106 121 +f 111 99 121 +f 102 111 121 +f 114 102 121 +f 106 114 121 +f 99 103 122 +f 110 99 122 +f 100 110 122 +f 112 100 122 +o convex_3 +v -0.990374 1.219867 -0.835115 +v 1.202007 1.286332 0.293917 +v 1.202007 1.219867 0.293917 +v -0.027167 1.253086 1.755623 +v -0.491916 1.485625 -1.167125 +v -0.923882 1.485625 0.958269 +v 0.936040 1.485625 0.958269 +v 0.969286 1.485625 -0.868283 +v 0.006079 1.219867 -1.632138 +v -0.957128 1.219867 0.958269 +v -1.056865 1.485625 -0.303435 +v 0.969286 1.219867 -0.868283 +v 0.969286 1.219867 0.925101 +v 0.371322 1.485625 1.290279 +v -1.156603 1.219867 0.360253 +v 0.404568 1.485625 -1.200293 +v -0.990374 1.485625 -0.801948 +v 1.135515 1.485625 0.360584 +v 0.039094 1.219867 1.755623 +v -0.425425 1.485625 1.224275 +v -1.089880 1.485625 0.459756 +v -0.027167 1.253086 -1.632138 +v 1.202007 1.253086 0.028575 +v -0.359164 1.253086 -1.399632 +v -0.093428 1.485625 -1.233793 +v -1.156603 1.253086 0.260418 +v -0.957128 1.352746 0.958269 +v 1.069023 1.485625 -0.336603 +f 140 145 150 +f 127 128 129 +f 127 129 130 +f 125 123 131 +f 123 125 132 +f 128 127 133 +f 125 131 134 +f 131 130 134 +f 125 124 135 +f 124 129 135 +f 132 125 135 +f 129 128 136 +f 123 132 137 +f 127 130 138 +f 133 127 139 +f 129 124 140 +f 130 129 140 +f 126 132 141 +f 135 129 141 +f 132 135 141 +f 136 126 141 +f 129 136 141 +f 128 126 142 +f 126 136 142 +f 136 128 142 +f 128 133 143 +f 130 131 144 +f 138 130 144 +f 124 125 145 +f 125 134 145 +f 134 130 145 +f 140 124 145 +f 131 123 146 +f 123 139 146 +f 139 127 146 +f 144 131 146 +f 127 144 146 +f 127 138 147 +f 144 127 147 +f 138 144 147 +f 123 137 148 +f 139 123 148 +f 133 139 148 +f 143 133 148 +f 137 143 148 +f 126 128 149 +f 132 126 149 +f 137 132 149 +f 128 143 149 +f 143 137 149 +f 130 140 150 +f 145 130 150 +o convex_4 +v -0.791053 2.747824 -0.668707 +v 1.102305 1.552221 0.427050 +v 1.102305 1.485626 0.427050 +v -0.923998 1.485834 0.958467 +v 0.039167 3.312431 0.825796 +v 0.504158 1.485626 -1.167200 +v 0.770048 2.880599 -0.702119 +v -0.957182 1.485834 -0.835034 +v 0.836415 3.046672 0.825552 +v 0.470974 1.485626 1.257465 +v -0.857420 2.980493 0.891887 +v -0.026989 3.611696 -0.004619 +v -0.026989 3.312431 -0.702119 +v 0.969360 1.485626 -0.868202 +v -0.492191 1.519132 -1.167200 +v -0.791053 3.179656 -0.004375 +v -1.056943 1.585519 -0.270206 +v 0.770048 3.212954 -0.070955 +v -0.026989 1.518923 1.290877 +v 0.936176 1.485626 0.958467 +v -0.757870 2.847301 -0.735287 +v 1.002543 2.017351 -0.336785 +v -1.056943 1.485834 0.493386 +v 0.039167 1.618609 -1.200612 +v -0.492191 1.485834 1.191130 +v 0.736864 2.814211 -0.768455 +v -0.026989 3.611696 0.128052 +v -1.023549 1.917666 -0.303374 +v -0.890603 2.913897 0.825552 +v 0.039167 3.312431 -0.702119 +v 0.304846 1.618609 1.257465 +v -0.591741 2.980493 -0.735287 +v 0.105745 3.578398 0.128052 +v -0.957182 1.751592 -0.801623 +v -0.757870 3.212746 -0.037543 +v 1.068910 1.585519 -0.336785 +v 0.836415 3.079970 0.692637 +v -0.857420 3.013583 0.858720 +v -0.026989 3.246252 -0.735531 +v 0.936176 1.851278 -0.835034 +v -0.060172 3.312431 0.825796 +v 0.338029 1.518923 -1.200612 +v -0.923998 2.083739 0.925299 +v 0.869810 2.714526 0.858720 +v 0.072350 3.246252 -0.735531 +v -1.056943 1.585519 0.493386 +v -0.226301 1.552221 -1.200612 +v 0.238479 3.511802 -0.004619 +v 1.102305 1.585519 0.327303 +v -0.292879 1.485834 -1.200612 +v 0.836415 2.913897 -0.137291 +v -0.724686 2.814211 -0.768455 +v -0.060172 3.611696 0.094884 +v -0.392429 1.519132 1.224297 +v 0.670286 3.113268 0.825796 +v -0.923998 2.681228 0.493386 +v 0.869810 2.913897 0.626057 +v -0.990365 1.485834 -0.768455 +f 178 184 208 +f 156 153 160 +f 153 156 164 +f 153 152 170 +f 160 153 170 +f 151 166 171 +f 160 154 173 +f 156 160 173 +f 154 160 175 +f 160 169 175 +f 166 151 178 +f 163 162 180 +f 168 157 180 +f 157 176 180 +f 160 159 181 +f 169 160 181 +f 155 169 181 +f 177 155 183 +f 162 177 183 +f 165 158 184 +f 151 171 184 +f 178 151 184 +f 162 163 185 +f 171 166 185 +f 163 182 185 +f 182 171 185 +f 153 164 186 +f 183 159 187 +f 168 183 187 +f 179 161 188 +f 166 179 188 +f 185 166 188 +f 163 180 189 +f 182 163 189 +f 164 156 190 +f 157 172 190 +f 176 157 190 +f 156 176 190 +f 186 164 190 +f 172 186 190 +f 169 155 191 +f 161 169 191 +f 155 177 191 +f 188 161 191 +f 177 188 191 +f 176 156 192 +f 154 175 193 +f 175 161 193 +f 161 179 193 +f 152 159 194 +f 159 160 194 +f 170 152 194 +f 160 170 194 +f 180 176 195 +f 174 189 195 +f 189 180 195 +f 192 174 195 +f 176 192 195 +f 173 154 196 +f 167 173 196 +f 178 167 196 +f 154 193 196 +f 193 179 196 +f 189 174 197 +f 174 192 197 +f 180 162 198 +f 168 180 198 +f 183 168 198 +f 162 183 198 +f 152 153 199 +f 153 186 199 +f 186 172 199 +f 156 158 200 +f 158 165 200 +f 192 156 200 +f 165 197 200 +f 197 192 200 +f 157 168 201 +f 172 157 201 +f 168 187 201 +f 171 182 202 +f 165 184 202 +f 184 171 202 +f 182 189 202 +f 197 165 202 +f 189 197 202 +f 177 162 203 +f 162 185 203 +f 188 177 203 +f 185 188 203 +f 169 161 204 +f 161 175 204 +f 175 169 204 +f 155 181 205 +f 181 159 205 +f 183 155 205 +f 159 183 205 +f 166 178 206 +f 179 166 206 +f 178 196 206 +f 196 179 206 +f 159 152 207 +f 187 159 207 +f 152 199 207 +f 199 172 207 +f 172 201 207 +f 201 187 207 +f 158 156 208 +f 156 173 208 +f 173 167 208 +f 167 178 208 +f 184 158 208 +o convex_5 +v -1.189995 0.190093 -0.204010 +v -1.189995 1.086987 0.260954 +v -1.189995 1.086987 -0.004681 +v -2.950303 0.555603 -0.004681 +v -1.189995 0.289769 0.327397 +v -1.223254 0.588797 -0.336896 +v -2.618058 0.821059 -0.104311 +v -2.717663 0.588797 0.161392 +v -2.717663 0.356157 -0.037868 +v -2.584800 0.588797 -0.204010 +v -1.389376 0.920829 -0.237197 +v -1.223254 0.821059 0.360721 +v -1.223254 0.123611 0.028438 +v -2.684404 0.854347 -0.004681 +v -1.256513 0.223287 -0.270453 +v -2.551541 0.356157 0.094881 +v -1.189995 0.389539 -0.336896 +v -1.223254 0.489215 0.360721 +v -1.223254 1.053699 0.294278 +v -2.152951 0.821059 -0.204010 +v -1.189995 0.920829 -0.237197 +v -1.289772 1.086987 -0.004681 +v -2.684404 0.522315 0.161392 +v -2.551541 0.754766 0.128068 +v -2.917044 0.621802 -0.071124 +v -2.584800 0.489215 -0.170754 +v -2.584800 0.323057 -0.037868 +v -2.020433 0.323057 0.194511 +f 213 231 236 +f 211 210 209 +f 209 210 213 +f 213 210 220 +f 209 213 221 +f 212 216 222 +f 212 217 224 +f 211 209 225 +f 218 214 225 +f 209 223 225 +f 213 220 226 +f 220 216 226 +f 220 210 227 +f 216 220 227 +f 210 222 227 +f 214 218 228 +f 218 215 228 +f 219 214 228 +f 215 219 228 +f 219 211 229 +f 214 219 229 +f 211 225 229 +f 225 214 229 +f 210 211 230 +f 211 219 230 +f 219 215 230 +f 222 210 230 +f 215 222 230 +f 216 212 231 +f 212 224 231 +f 213 226 231 +f 226 216 231 +f 222 216 232 +f 216 227 232 +f 227 222 232 +f 217 212 233 +f 215 218 233 +f 212 222 233 +f 222 215 233 +f 223 217 234 +f 218 225 234 +f 225 223 234 +f 217 233 234 +f 233 218 234 +f 209 221 235 +f 223 209 235 +f 217 223 235 +f 224 217 235 +f 221 224 235 +f 221 213 236 +f 224 221 236 +f 231 224 236 +o convex_6 +v -0.060244 1.219867 -1.699072 +v 0.006092 0.023952 -1.300483 +v 0.039260 0.023952 -1.300483 +v 0.006092 0.522406 -3.027532 +v 0.570829 0.821150 -1.267224 +v -0.558646 0.787905 -1.267224 +v 0.404659 0.555652 -2.794892 +v -0.359307 0.555652 -2.728546 +v 0.504383 0.156935 -1.267224 +v 0.072428 0.190064 -2.728546 +v -0.458921 0.190064 -1.267224 +v 0.404659 1.219867 -1.267224 +v 0.039260 0.954017 -2.728546 +v -0.425753 1.219867 -1.400259 +v -0.326029 0.223310 -2.163835 +v -0.193136 0.887642 -2.662029 +v 0.437937 0.223310 -2.097662 +v 0.537551 0.555652 -1.931712 +v 0.404659 0.621909 -2.794892 +v -0.425753 1.219867 -1.267224 +v -0.492199 0.654921 -1.931712 +v 0.305045 0.854396 -2.562424 +v -0.159968 0.256556 -2.662029 +v -0.359307 0.123689 -1.400259 +v 0.338212 0.289802 -2.595683 +v 0.006092 0.654921 -2.994273 +v 0.437937 1.186504 -1.300483 +v 0.504383 0.156935 -1.433346 +v -0.326029 0.721413 -2.662029 +v 0.570829 0.522406 -1.300483 +v -0.027076 0.954017 -2.728546 +v 0.105706 0.223310 -2.794892 +v -0.492199 0.555652 -1.865194 +v 0.072428 0.090444 -1.964799 +v 0.039260 1.219867 -1.699072 +v -0.292861 0.588898 -2.828151 +v 0.006092 0.123689 -2.197094 +v 0.504383 0.621909 -2.197094 +v -0.425753 0.156935 -1.466605 +v 0.138874 0.588898 -2.994273 +v 0.006092 0.256556 -2.828151 +f 259 272 277 +f 238 239 245 +f 241 242 245 +f 238 245 247 +f 245 242 247 +f 242 241 248 +f 248 237 250 +f 253 243 254 +f 242 248 256 +f 250 242 256 +f 248 250 256 +f 242 250 257 +f 249 248 258 +f 255 249 258 +f 246 251 259 +f 251 244 259 +f 238 247 260 +f 243 253 261 +f 253 246 261 +f 248 241 263 +f 258 248 263 +f 255 258 263 +f 245 239 264 +f 246 253 264 +f 253 254 264 +f 250 252 265 +f 244 257 265 +f 257 250 265 +f 241 245 266 +f 254 241 266 +f 245 264 266 +f 264 254 266 +f 237 249 267 +f 250 237 267 +f 252 250 267 +f 262 252 267 +f 249 262 267 +f 243 261 268 +f 261 246 268 +f 247 242 269 +f 257 244 269 +f 242 257 269 +f 239 238 270 +f 264 239 270 +f 246 264 270 +f 237 248 271 +f 248 249 271 +f 249 237 271 +f 259 244 272 +f 262 240 272 +f 252 262 272 +f 265 252 272 +f 244 265 272 +f 251 246 273 +f 238 260 273 +f 260 251 273 +f 270 238 273 +f 246 270 273 +f 241 254 274 +f 254 243 274 +f 243 255 274 +f 263 241 274 +f 255 263 274 +f 244 251 275 +f 260 247 275 +f 251 260 275 +f 269 244 275 +f 247 269 275 +f 255 243 276 +f 249 255 276 +f 240 262 276 +f 262 249 276 +f 268 240 276 +f 243 268 276 +f 246 259 277 +f 240 268 277 +f 268 246 277 +f 272 240 277 +o convex_7 +v -0.923963 0.023952 -0.967774 +v 1.235197 0.854396 0.360318 +v 1.235197 0.821150 0.360318 +v -0.558643 0.854396 1.257657 +v -0.425714 1.219867 -1.267052 +v 0.969338 0.023952 -1.000890 +v 0.603781 0.023952 1.191178 +v 0.537316 1.219867 1.257657 +v -1.156353 1.219867 0.360565 +v -0.957196 0.023952 0.991742 +v 0.969338 1.219867 -0.901295 +v 1.002570 0.023952 1.025105 +v 0.504321 0.156935 -1.267052 +v -0.990191 1.219867 -0.834817 +v -1.189823 0.190064 -0.303234 +v -0.957196 1.219867 0.958626 +v 1.235197 0.223310 -0.303481 +v 0.969338 1.219867 0.925263 +v 0.437856 1.219867 -1.267052 +v -0.392481 0.123689 -1.267052 +v -0.458946 0.123689 1.257657 +v 1.235197 1.186504 0.028418 +v -1.189823 0.256556 0.360565 +v -1.189823 0.954017 -0.236755 +v -0.458946 1.219867 1.257657 +v -0.558643 0.787905 -1.267052 +v 0.603781 0.854396 -1.267052 +v 1.235197 0.489043 -0.403076 +v -1.023660 0.023952 -0.867932 +v 0.139001 0.023952 -1.267052 +v 0.537316 0.256556 1.257657 +v 1.235197 0.190064 0.028418 +v -1.123121 0.023952 0.094897 +v -1.189823 0.821150 0.427044 +v 0.637013 0.954017 1.257657 +v 1.102268 0.023952 -0.170524 +v -0.060157 0.023952 1.257657 +v 1.201965 1.219867 0.294086 +v -1.189823 0.489043 -0.369713 +v 1.235197 0.356176 0.294086 +v 1.235197 0.920771 -0.270118 +v 1.002570 0.289802 1.025105 +v -0.990191 0.156935 -0.934411 +v -1.189823 1.153375 0.061534 +v -1.189823 0.090444 0.061534 +v 0.969338 1.153375 0.958379 +v -0.957196 0.688167 0.991742 +v -0.458946 0.156935 -1.267052 +v -0.923963 0.023952 1.025105 +v 0.969338 0.023952 1.058221 +v 0.570548 0.023952 -1.200573 +f 307 290 328 +f 278 283 284 +f 285 282 286 +f 278 284 287 +f 282 285 288 +f 280 279 289 +f 284 283 289 +f 286 282 291 +f 285 286 293 +f 279 280 294 +f 288 285 295 +f 282 288 296 +f 290 282 296 +f 282 290 297 +f 285 281 298 +f 279 294 299 +f 292 300 301 +f 281 285 302 +f 293 281 302 +f 285 293 302 +f 291 282 303 +f 282 297 303 +f 288 283 304 +f 283 290 304 +f 296 288 304 +f 290 296 304 +f 283 288 305 +f 294 283 305 +f 299 294 305 +f 278 287 306 +f 283 278 307 +f 278 297 307 +f 297 290 307 +f 285 298 308 +f 294 280 309 +f 306 287 310 +f 293 286 311 +f 300 287 311 +f 301 300 311 +f 285 308 312 +f 289 283 313 +f 283 294 313 +f 309 289 313 +f 294 309 313 +f 287 284 314 +f 284 308 314 +f 308 298 314 +f 288 295 315 +f 279 299 315 +f 299 288 315 +f 301 291 316 +f 292 301 316 +f 291 306 316 +f 306 292 316 +f 280 289 317 +f 309 280 317 +f 289 309 317 +f 288 299 318 +f 305 288 318 +f 299 305 318 +f 289 279 319 +f 303 278 320 +f 291 303 320 +f 278 306 320 +f 306 291 320 +f 286 291 321 +f 291 301 321 +f 311 286 321 +f 301 311 321 +f 300 292 322 +f 287 300 322 +f 292 306 322 +f 310 287 322 +f 306 310 322 +f 295 285 323 +f 285 312 323 +f 279 315 323 +f 315 295 323 +f 319 279 323 +f 312 319 323 +f 281 293 324 +f 293 311 324 +f 311 287 324 +f 297 278 325 +f 278 303 325 +f 303 297 325 +f 298 281 326 +f 287 314 326 +f 314 298 326 +f 281 324 326 +f 324 287 326 +f 284 289 327 +f 308 284 327 +f 312 308 327 +f 289 319 327 +f 319 312 327 +f 290 283 328 +f 283 307 328 +o convex_8 +v 0.172136 1.219867 1.722969 +v 0.006313 0.023952 1.257657 +v 0.039204 0.023952 1.257657 +v 0.039204 0.555652 3.084570 +v -0.558646 0.821150 1.257657 +v 0.604049 0.954017 1.257657 +v -0.392367 0.621909 2.785569 +v 0.437885 0.588898 2.752307 +v 0.504351 0.156935 1.390706 +v 0.039204 0.223310 2.818831 +v -0.458833 0.156935 1.457230 +v -0.425600 1.219867 1.257657 +v -0.026920 0.954017 2.818831 +v 0.504351 1.219867 1.291098 +v 0.238602 0.920771 2.685961 +v -0.425600 1.219867 1.457230 +v -0.292669 0.289802 2.553092 +v -0.492180 0.190064 1.257657 +v -0.525299 0.654921 1.955446 +v 0.338186 0.322931 2.619437 +v 0.604049 0.688167 1.257657 +v 0.404652 0.688167 2.818831 +v -0.392367 0.522406 2.785569 +v -0.292669 0.887642 2.586175 +v 0.537584 0.588898 2.088316 +v -0.060153 1.219867 1.822577 +v 0.504351 0.156935 1.257657 +v 0.371419 0.588898 2.885176 +v -0.026920 0.223310 2.785569 +v 0.006313 0.621909 3.084570 +v -0.525299 0.555652 1.889101 +v 0.039204 0.954017 2.818831 +v 0.404652 1.219867 1.523575 +v 0.437885 0.256556 2.088316 +v 0.072437 0.123689 2.088316 +v -0.392367 0.223310 2.055054 +v -0.425600 0.123689 1.324360 +v -0.558646 0.621909 1.390706 +v -0.026920 0.123689 2.088316 +v 0.504351 1.219867 1.257657 +v 0.305067 0.887642 2.652699 +f 361 343 369 +f 331 330 333 +f 331 333 334 +f 334 333 340 +f 340 329 342 +f 329 340 344 +f 340 333 344 +f 333 330 346 +f 344 333 347 +f 335 344 347 +f 331 334 349 +f 336 334 350 +f 334 342 350 +f 335 347 351 +f 335 341 352 +f 344 335 352 +f 341 344 352 +f 334 336 353 +f 349 334 353 +f 337 349 353 +f 329 344 354 +f 344 341 354 +f 337 331 355 +f 331 349 355 +f 349 337 355 +f 332 338 356 +f 348 336 356 +f 338 348 356 +f 336 350 356 +f 338 332 357 +f 332 351 357 +f 351 345 357 +f 341 335 358 +f 351 332 358 +f 335 351 358 +f 332 356 358 +f 356 350 358 +f 346 339 359 +f 339 351 359 +f 351 347 359 +f 350 343 360 +f 329 354 360 +f 354 341 360 +f 341 358 360 +f 358 350 360 +f 342 329 361 +f 329 360 361 +f 360 343 361 +f 338 337 362 +f 336 348 362 +f 348 338 362 +f 353 336 362 +f 337 353 362 +f 330 331 363 +f 331 337 363 +f 337 338 363 +f 345 351 364 +f 351 339 364 +f 357 345 364 +f 357 364 365 +f 346 330 365 +f 339 346 365 +f 364 339 365 +f 333 346 366 +f 347 333 366 +f 346 359 366 +f 359 347 366 +f 338 357 367 +f 330 363 367 +f 363 338 367 +f 357 365 367 +f 365 330 367 +f 334 340 368 +f 342 334 368 +f 340 342 368 +f 350 342 369 +f 343 350 369 +f 342 361 369 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/768/768.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/768/768.urdf new file mode 100644 index 000000000..816f4ef55 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/768/768.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/769/769.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/769/769.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/769/769.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/769/769.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/769/769.obj new file mode 100644 index 000000000..2233b9ab3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/769/769.obj @@ -0,0 +1,1095 @@ +o convex_0 +v -0.049350 -1.473241 -2.084781 +v -0.104578 -1.833661 -2.722528 +v -0.104578 -1.778207 -2.722528 +v -0.742179 -1.833661 -2.084781 +v 0.477403 -1.972266 -2.084781 +v 0.505147 -1.556507 -2.112561 +v -0.076964 -2.055475 -2.389858 +v -0.187812 -1.556507 -2.528382 +v -0.631331 -1.972266 -2.084781 +v 0.144731 -1.805906 -2.611597 +v -0.104578 -2.000021 -2.639251 +v 0.033883 -1.584205 -2.611597 +v -0.492740 -1.556507 -2.112561 +v 0.588250 -1.778207 -2.084781 +v 0.116986 -1.473241 -2.278927 +v -0.243300 -1.805906 -2.667031 +v -0.742179 -1.750566 -2.112561 +v 0.172475 -2.027720 -2.084781 +v -0.686820 -1.944568 -2.112561 +v 0.061628 -1.972266 -2.583879 +v 0.421914 -1.501054 -2.084781 +f 12 15 21 +f 1 4 5 +f 5 4 9 +f 2 3 10 +f 7 9 11 +f 3 8 12 +f 10 3 12 +f 6 10 12 +f 4 1 13 +f 1 8 13 +f 1 5 14 +f 5 10 14 +f 10 6 14 +f 8 1 15 +f 12 8 15 +f 3 2 16 +f 8 3 16 +f 2 11 16 +f 4 13 17 +f 13 8 17 +f 8 16 17 +f 7 5 18 +f 5 9 18 +f 9 7 18 +f 9 4 19 +f 11 9 19 +f 16 11 19 +f 4 17 19 +f 17 16 19 +f 5 7 20 +f 2 10 20 +f 10 5 20 +f 11 2 20 +f 7 11 20 +f 6 12 21 +f 1 14 21 +f 14 6 21 +f 15 1 21 +o convex_1 +v -0.825624 -1.528871 -0.309961 +v 0.838064 -1.279289 1.103742 +v -0.270953 -1.279145 1.519875 +v -0.021302 -2.748591 0.382498 +v 0.449827 -1.778454 -1.280665 +v 0.754684 -2.110896 1.187078 +v 0.311078 -1.279289 -0.947868 +v -0.714559 -1.972367 1.076054 +v -0.742244 -2.221806 -0.559696 +v 0.006220 -2.693064 -0.504047 +v -0.520603 -1.778454 -1.280665 +v -0.825624 -1.279145 -0.393297 +v 0.033905 -2.138515 1.491640 +v 0.671630 -2.000130 -0.504047 +v 0.754684 -1.279289 -0.559696 +v -0.797776 -1.279145 1.048093 +v -0.049149 -2.637537 1.048093 +v -0.215583 -1.390198 -1.280665 +v 0.311078 -1.279289 1.519875 +v -0.326485 -2.000130 -1.280665 +v -0.326485 -1.916984 1.519875 +v 0.338925 -1.972367 -1.280665 +v 0.311078 -2.055369 1.519875 +v 0.754684 -2.138659 1.103742 +v -0.770091 -2.027606 0.465835 +v 0.838064 -1.307052 0.493522 +v 0.699315 -1.279289 1.297828 +v 0.227861 -1.473345 -1.280665 +v -0.797776 -1.279145 -0.531735 +v -0.409702 -1.279145 1.519875 +v -0.104519 -2.720828 0.244061 +v 0.477511 -2.249569 1.325515 +v -0.049149 -2.693064 -0.504047 +v -0.575973 -2.166279 0.909382 +v 0.754684 -1.889220 0.216374 +v -0.465071 -2.360479 -0.698133 +v -0.825624 -1.584254 0.299436 +v 0.006220 -2.637537 1.048093 +v 0.117122 -2.665301 0.438147 +v 0.117122 -2.027606 -1.280665 +v 0.782532 -2.055369 1.103742 +v 0.366610 -1.916840 1.519875 +v -0.631342 -1.279145 -0.726095 +v -0.714559 -2.249425 -0.448672 +v 0.643945 -1.279289 -0.726095 +v -0.770091 -2.083133 -0.504047 +v 0.449827 -1.695164 -1.280665 +v 0.200176 -2.499008 -0.504047 +v -0.409702 -1.445725 1.519875 +v -0.742244 -2.000130 0.881968 +v 0.754684 -1.362435 -0.531735 +v -0.825624 -1.307052 0.659921 +v -0.409702 -1.944603 -1.280665 +v 0.006220 -2.748591 0.133037 +v -0.797776 -1.501108 -0.531735 +f 67 22 76 +f 24 23 36 +f 24 33 37 +f 26 32 39 +f 32 26 41 +f 29 38 42 +f 38 34 42 +f 40 24 42 +f 26 35 43 +f 41 26 43 +f 42 34 44 +f 40 42 44 +f 36 23 47 +f 23 24 48 +f 27 23 48 +f 24 40 48 +f 26 39 49 +f 39 28 49 +f 33 24 50 +f 24 37 51 +f 42 24 51 +f 25 38 52 +f 27 44 53 +f 44 34 53 +f 45 27 53 +f 52 30 54 +f 38 29 55 +f 52 38 55 +f 41 54 57 +f 54 30 57 +f 33 22 58 +f 38 25 59 +f 34 38 59 +f 53 34 59 +f 45 53 59 +f 59 25 60 +f 45 59 60 +f 43 31 61 +f 41 43 61 +f 31 54 61 +f 54 41 61 +f 23 27 62 +f 27 45 62 +f 45 35 62 +f 47 23 62 +f 35 56 62 +f 56 47 62 +f 44 27 63 +f 40 44 63 +f 27 48 63 +f 48 40 63 +f 24 36 64 +f 28 39 64 +f 39 32 64 +f 32 50 64 +f 50 24 64 +f 46 30 65 +f 30 52 65 +f 52 55 65 +f 49 28 66 +f 64 36 66 +f 28 64 66 +f 30 46 67 +f 58 22 67 +f 46 58 67 +f 36 26 68 +f 26 49 68 +f 66 36 68 +f 49 66 68 +f 43 35 69 +f 31 43 69 +f 45 31 69 +f 35 45 69 +f 37 29 70 +f 29 42 70 +f 51 37 70 +f 42 51 70 +f 29 37 71 +f 55 29 71 +f 58 46 71 +f 46 65 71 +f 65 55 71 +f 35 26 72 +f 26 36 72 +f 36 47 72 +f 56 35 72 +f 47 56 72 +f 37 33 73 +f 33 58 73 +f 71 37 73 +f 58 71 73 +f 30 32 74 +f 32 41 74 +f 57 30 74 +f 41 57 74 +f 31 45 75 +f 25 52 75 +f 54 31 75 +f 52 54 75 +f 60 25 75 +f 45 60 75 +f 32 30 76 +f 22 33 76 +f 50 32 76 +f 33 50 76 +f 30 67 76 +o convex_2 +v -0.104671 -1.279220 1.936033 +v -0.049195 -2.055532 1.520046 +v 0.144858 -2.055532 1.520046 +v -0.049195 -1.778169 3.266576 +v 0.311211 -1.306957 1.520046 +v -0.381974 -1.334693 1.520046 +v 0.200260 -1.750433 3.044648 +v -0.243322 -1.778169 3.016950 +v 0.366686 -1.889038 1.575614 +v -0.298724 -1.916775 1.520046 +v -0.021494 -1.944511 3.016950 +v -0.049195 -1.584243 3.072346 +v -0.298724 -1.279220 1.880637 +v 0.200260 -1.944511 2.462471 +v 0.283436 -1.279220 1.603312 +v -0.381974 -1.501034 1.686407 +v -0.243322 -1.694960 3.016950 +v 0.033908 -1.584243 3.044648 +v -0.187847 -1.889038 2.822891 +v 0.283436 -2.027720 1.520046 +v 0.311211 -1.722697 2.185489 +v 0.200260 -1.805906 3.044648 +v -0.354199 -1.279220 1.520046 +v -0.326498 -1.694960 2.185489 +v 0.366686 -1.722697 1.520046 +f 97 85 101 +f 79 78 81 +f 81 78 82 +f 82 78 86 +f 78 79 87 +f 80 84 87 +f 88 77 89 +f 83 81 91 +f 89 77 91 +f 82 86 92 +f 84 80 93 +f 80 88 93 +f 88 89 93 +f 89 82 93 +f 82 92 93 +f 92 84 93 +f 80 83 94 +f 77 88 94 +f 88 80 94 +f 83 91 94 +f 91 77 94 +f 86 78 95 +f 84 86 95 +f 87 84 95 +f 78 87 95 +f 79 81 96 +f 87 79 96 +f 85 90 96 +f 90 87 96 +f 81 83 97 +f 85 97 98 +f 83 80 98 +f 80 87 98 +f 90 85 98 +f 87 90 98 +f 97 83 98 +f 81 82 99 +f 82 89 99 +f 91 81 99 +f 89 91 99 +f 86 84 100 +f 84 92 100 +f 92 86 100 +f 96 81 101 +f 85 96 101 +f 81 97 101 +o convex_3 +v -0.936335 -0.447423 0.244590 +v 0.976705 0.079268 0.521465 +v 0.976705 0.051610 0.521465 +v -0.243241 -1.251221 1.880341 +v 0.588359 -1.279011 -0.809176 +v -0.603657 0.079268 -0.725840 +v -0.686874 0.079268 1.270121 +v -0.797830 -1.279011 -0.531754 +v 0.838010 -1.279011 1.131410 +v 0.921227 0.079268 -0.559441 +v 0.754793 0.079268 1.297809 +v -0.797830 -1.279011 1.048348 +v -0.936335 0.079268 0.992699 +v 0.227942 -1.251221 -0.920200 +v 0.699315 0.079268 -0.781489 +v -0.880857 0.079268 -0.476379 +v 0.782532 -1.168115 -0.504066 +v -0.631396 -1.279011 -0.725840 +v -0.049068 -1.279011 1.852379 +v 0.921227 0.079268 1.103723 +v 0.838010 -1.279011 0.438402 +v 0.782532 -0.475080 1.297809 +v -0.853308 -1.251221 -0.226918 +v -0.520630 0.051610 1.325496 +v -0.964264 0.079268 0.078466 +v 0.921227 -0.114734 -0.531754 +v -0.021329 0.079268 -0.781489 +v 0.727054 -1.140325 1.297809 +v 0.976705 -0.059286 0.355340 +v -0.853308 -1.279011 0.327927 +v -0.908786 -0.170182 1.048348 +v -0.298719 -1.279011 1.824692 +v 0.754793 -1.279011 -0.559441 +v 0.643837 -0.918532 -0.809176 +v -0.326458 -1.279011 -0.809176 +v 0.865749 -1.195773 0.854262 +v 0.311159 -1.279011 -0.920200 +v -0.964264 0.023953 0.576839 +v 0.921227 -0.114734 1.103723 +v -0.908786 0.079268 1.048348 +v -0.104546 -1.251221 1.880341 +v 0.782532 -0.031495 1.297809 +v -0.964264 -0.142392 0.133841 +v -0.880857 -0.059286 -0.476379 +f 144 126 145 +f 103 107 108 +f 109 106 110 +f 107 103 111 +f 103 108 112 +f 109 110 113 +f 108 107 114 +f 107 111 116 +f 114 107 117 +f 106 109 119 +f 117 107 119 +f 113 110 120 +f 104 103 121 +f 103 112 121 +f 110 106 122 +f 108 105 125 +f 112 108 125 +f 114 117 126 +f 122 118 127 +f 115 107 128 +f 107 116 128 +f 116 115 128 +f 120 110 129 +f 123 120 129 +f 110 123 129 +f 103 104 130 +f 111 103 130 +f 127 111 130 +f 122 127 130 +f 109 113 131 +f 102 124 131 +f 124 109 131 +f 131 113 132 +f 120 105 133 +f 113 120 133 +f 132 113 133 +f 122 106 134 +f 118 122 134 +f 127 118 134 +f 127 134 135 +f 116 111 135 +f 111 127 135 +f 134 106 135 +f 107 115 136 +f 106 119 136 +f 119 107 136 +f 110 122 137 +f 130 104 137 +f 122 130 137 +f 115 116 138 +f 135 106 138 +f 116 135 138 +f 106 136 138 +f 136 115 138 +f 114 126 139 +f 102 131 139 +f 132 114 139 +f 131 132 139 +f 104 121 140 +f 123 110 140 +f 121 123 140 +f 137 104 140 +f 110 137 140 +f 105 108 141 +f 108 114 141 +f 114 132 141 +f 133 105 141 +f 132 133 141 +f 105 120 142 +f 125 105 142 +f 112 125 142 +f 121 112 143 +f 120 123 143 +f 123 121 143 +f 142 120 143 +f 112 142 143 +f 124 102 144 +f 102 139 144 +f 139 126 144 +f 119 109 145 +f 117 119 145 +f 109 124 145 +f 126 117 145 +f 124 144 145 +o convex_4 +v -0.936493 0.301519 -0.199138 +v 1.004433 0.301519 0.354990 +v 1.004433 0.273829 0.354990 +v 0.006220 1.659882 1.492147 +v 0.089274 1.659882 -0.947928 +v -0.686939 0.079843 1.270018 +v -0.880993 1.659882 0.798770 +v 0.699380 0.079843 -0.781212 +v 0.921183 1.659882 -0.476441 +v 0.865683 0.079843 1.186899 +v 0.810184 1.659882 1.131486 +v -0.603690 0.079843 -0.725799 +v -0.797743 1.659882 -0.503909 +v -0.936493 0.079843 0.965009 +v -0.742244 1.659882 1.214605 +v 0.921183 0.079843 -0.559561 +v 0.754684 0.079843 1.297724 +v 0.810184 1.659882 -0.725799 +v -0.880993 0.079843 -0.476202 +v -0.991992 0.384744 0.216936 +v -0.603690 1.659882 -0.698093 +v 0.227828 1.659882 1.492147 +v 0.948933 0.162914 1.020660 +v -0.021530 1.604347 -0.947928 +v -0.021530 0.079843 -0.781451 +v -0.548386 0.079843 1.297963 +v 0.948933 1.438052 -0.171432 +v -0.853243 1.576657 1.103780 +v 0.754684 1.659882 1.214605 +v -0.853243 1.604347 -0.171432 +v -0.991992 0.135223 0.216936 +v 0.976683 0.079843 0.549174 +v 0.061524 1.576657 1.492147 +v -0.991992 0.384744 0.382696 +v 1.004433 0.246139 0.216936 +v 0.837934 1.659882 0.909596 +v -0.326387 1.659882 -0.836864 +v 0.893433 1.271602 -0.642680 +v -0.880993 0.523349 -0.476202 +v -0.908743 0.079843 1.048367 +v 0.893433 0.772870 1.103780 +v 0.948933 0.079843 -0.365377 +v 0.006220 1.548967 -0.947928 +v -0.714689 0.273829 -0.642680 +v 0.754684 0.246139 -0.753505 +f 163 183 190 +f 149 150 152 +f 150 149 154 +f 151 153 155 +f 154 149 156 +f 153 151 157 +f 152 150 158 +f 157 151 159 +f 151 149 160 +f 149 152 160 +f 155 153 161 +f 151 155 162 +f 153 150 163 +f 150 154 163 +f 157 159 164 +f 158 150 166 +f 156 149 167 +f 148 147 168 +f 153 157 170 +f 149 151 171 +f 151 162 171 +f 151 160 173 +f 160 152 173 +f 162 155 174 +f 156 167 174 +f 167 162 174 +f 152 158 175 +f 165 152 175 +f 146 164 176 +f 164 159 176 +f 165 146 176 +f 155 161 177 +f 148 168 177 +f 168 155 177 +f 167 149 178 +f 162 167 178 +f 149 171 178 +f 171 162 178 +f 152 165 179 +f 159 173 179 +f 173 152 179 +f 176 159 179 +f 165 176 179 +f 147 148 180 +f 172 147 180 +f 154 172 180 +f 148 177 180 +f 154 156 181 +f 147 172 181 +f 172 154 181 +f 166 150 182 +f 157 166 182 +f 150 169 182 +f 169 157 182 +f 154 161 183 +f 163 154 183 +f 164 146 184 +f 146 165 184 +f 158 166 184 +f 175 158 184 +f 165 175 184 +f 159 151 185 +f 151 173 185 +f 173 159 185 +f 168 147 186 +f 155 168 186 +f 174 155 186 +f 156 174 186 +f 181 156 186 +f 147 181 186 +f 161 154 187 +f 177 161 187 +f 154 180 187 +f 180 177 187 +f 150 153 188 +f 169 150 188 +f 157 169 188 +f 153 170 188 +f 170 157 188 +f 157 164 189 +f 166 157 189 +f 164 184 189 +f 184 166 189 +f 161 153 190 +f 153 163 190 +f 183 161 190 +o convex_5 +v -0.132385 2.575065 -1.003558 +v 0.006242 1.715661 -1.086756 +v 0.061543 1.715661 -1.086756 +v -0.021443 2.325447 -2.777984 +v 0.366686 2.325447 -1.003558 +v -0.326517 2.269920 -1.474955 +v 0.200238 2.297683 -2.472809 +v -0.271012 2.297683 -2.528217 +v -0.243327 1.881989 -1.003558 +v -0.021443 2.491775 -2.556007 +v 0.283496 2.519454 -1.031348 +v 0.283496 1.854226 -1.003558 +v -0.326517 2.519454 -1.003558 +v 0.006242 2.103760 -2.528217 +v -0.132385 2.491775 -2.500426 +v 0.172486 2.103760 -2.251006 +v -0.160138 2.131523 -2.361821 +v 0.283496 1.937432 -1.336350 +v 0.089296 2.575065 -1.003558 +v -0.243327 2.464011 -2.223215 +v 0.117049 2.436332 -2.361821 +v -0.326517 2.242240 -1.003558 +v -0.298765 2.547217 -1.031348 +v -0.021443 1.715661 -1.003558 +f 207 192 214 +f 196 198 199 +f 195 191 199 +f 197 194 200 +f 195 197 201 +f 195 199 202 +f 198 196 203 +f 199 191 203 +f 193 192 204 +f 194 197 204 +f 198 194 204 +f 194 198 205 +f 191 200 205 +f 200 194 205 +f 193 204 206 +f 204 197 206 +f 199 198 207 +f 204 192 207 +f 198 204 207 +f 197 195 208 +f 202 193 208 +f 195 202 208 +f 193 206 208 +f 206 197 208 +f 191 195 209 +f 200 191 209 +f 195 201 209 +f 201 200 209 +f 198 203 210 +f 205 198 210 +f 197 200 211 +f 201 197 211 +f 200 201 211 +f 196 199 212 +f 203 196 212 +f 199 203 212 +f 203 191 213 +f 191 205 213 +f 210 203 213 +f 205 210 213 +f 192 193 214 +f 193 202 214 +f 202 199 214 +f 199 207 214 +o convex_6 +v -2.239410 -1.944533 -1.724367 +v 1.724908 -1.390057 -1.696653 +v 2.141155 -1.417807 -1.696653 +v 0.338979 -1.473241 -2.084719 +v 2.113015 -1.999967 -1.918307 +v 1.142748 -1.972217 -1.447034 +v -2.377769 -1.528806 -1.585732 +v -0.686983 -2.000032 -2.084719 +v -2.627517 -1.722794 -1.918307 +v 2.723316 -1.695175 -1.502588 +v -0.187486 -1.445557 -1.447034 +v 2.723316 -1.695175 -1.946084 +v -0.021573 -2.027717 -1.447034 +v -2.571822 -1.473306 -1.752082 +v -2.461018 -1.722794 -1.530303 +v 0.061677 -2.055467 -2.056942 +v 2.417872 -1.972217 -1.696653 +v -1.934553 -2.000032 -1.946084 +v 0.643837 -1.972217 -2.084719 +v 2.667621 -1.473241 -1.779734 +v -1.185894 -1.944533 -1.447034 +v 3.056314 -1.750414 -1.752082 +v -0.520484 -1.556491 -2.084719 +v 1.835712 -1.473241 -1.502588 +v -2.932961 -1.722794 -1.724367 +v 1.808158 -1.695175 -1.447034 +v 0.200035 -1.445557 -2.056942 +v 2.113015 -1.972217 -1.530303 +v 0.200035 -2.055532 -1.724367 +v -1.490751 -1.695175 -1.447034 +v -1.823163 -1.445557 -1.752082 +v 2.723316 -1.473241 -1.696653 +v -2.322660 -1.556491 -1.890592 +v -0.991840 -1.750479 -2.084719 +v -1.934553 -1.916848 -1.530303 +v -0.603733 -2.055467 -1.890592 +v 1.641658 -1.473241 -1.946084 +v 2.196265 -1.999967 -1.696653 +v 2.723316 -1.750414 -1.502588 +v 0.727086 -2.055532 -1.918307 +v -2.489159 -1.722794 -1.946084 +v 2.612512 -1.805914 -1.946084 +v 1.669213 -1.390057 -1.752082 +v -2.544268 -1.611990 -1.558017 +v 0.394088 -1.417807 -1.530303 +v -2.072912 -1.972282 -1.752082 +v -0.049127 -1.473306 -2.084719 +v 0.588142 -1.611990 -2.084719 +v 3.028173 -1.750414 -1.668938 +v -2.489159 -1.778229 -1.946084 +v 2.473567 -1.528741 -1.890592 +v 0.283284 -1.445557 -1.447034 +v 1.364356 -1.390057 -1.752082 +v -2.877266 -1.750479 -1.779734 +v 1.558995 -1.445557 -1.502588 +v 2.501122 -1.501056 -1.585732 +v 3.028173 -1.667360 -1.752082 +v -2.571822 -1.473306 -1.724367 +f 239 258 272 +f 220 225 227 +f 222 230 232 +f 222 218 233 +f 230 222 233 +f 219 230 233 +f 227 225 235 +f 231 219 236 +f 218 222 237 +f 228 223 239 +f 225 220 240 +f 224 238 240 +f 220 227 242 +f 235 225 244 +f 229 235 244 +f 241 228 245 +f 234 217 246 +f 223 228 247 +f 237 222 248 +f 227 235 249 +f 235 229 249 +f 239 215 249 +f 229 239 249 +f 232 230 250 +f 243 227 250 +f 218 241 251 +f 219 231 252 +f 242 227 252 +f 231 242 252 +f 227 243 252 +f 240 220 253 +f 224 240 253 +f 220 242 253 +f 242 231 253 +f 230 219 254 +f 250 230 254 +f 243 250 254 +f 219 252 254 +f 252 243 254 +f 223 247 255 +f 247 237 255 +f 237 248 255 +f 233 226 256 +f 219 233 256 +f 236 219 256 +f 226 236 256 +f 216 217 257 +f 217 234 257 +f 234 251 257 +f 251 241 257 +f 225 221 258 +f 239 229 258 +f 244 225 258 +f 229 244 258 +f 245 225 259 +f 215 232 260 +f 249 215 260 +f 227 249 260 +f 250 227 260 +f 232 250 260 +f 218 237 261 +f 228 241 261 +f 241 218 261 +f 247 228 261 +f 237 247 261 +f 218 226 262 +f 233 218 262 +f 226 233 262 +f 231 236 263 +f 246 224 263 +f 224 253 263 +f 253 231 263 +f 222 232 264 +f 248 222 264 +f 223 255 264 +f 255 248 264 +f 226 218 265 +f 234 226 265 +f 218 251 265 +f 251 234 265 +f 225 240 266 +f 240 238 266 +f 259 225 266 +f 241 245 267 +f 216 257 267 +f 257 241 267 +f 259 216 267 +f 245 259 267 +f 232 215 268 +f 239 223 268 +f 215 239 268 +f 264 232 268 +f 223 264 268 +f 217 216 269 +f 246 217 269 +f 216 259 269 +f 266 238 269 +f 259 266 269 +f 238 224 270 +f 224 246 270 +f 246 269 270 +f 269 238 270 +f 226 234 271 +f 236 226 271 +f 234 246 271 +f 263 236 271 +f 246 263 271 +f 221 225 272 +f 228 239 272 +f 225 245 272 +f 245 228 272 +f 258 221 272 +o convex_7 +v 0.088949 -2.027804 -1.447002 +v -0.160132 -1.417904 -1.280682 +v -0.160132 -1.417904 -1.391556 +v 1.392627 -1.695120 -1.419287 +v -0.132285 -2.027804 -1.280682 +v -1.241545 -1.722824 -1.447002 +v 0.283108 -1.445608 -1.447002 +v 0.366393 -1.972277 -1.280682 +v 1.031898 -1.944513 -1.447002 +v -0.548193 -1.778172 -1.280682 +v -1.019539 -1.944513 -1.419287 +v 0.255260 -1.473312 -1.280682 +v 0.477267 -1.695120 -1.280682 +v -1.241545 -1.722824 -1.419287 +v 1.392627 -1.695120 -1.447002 +v -0.409471 -1.972277 -1.280682 +v -0.215569 -1.445608 -1.447002 +f 275 279 289 +f 274 275 278 +f 273 278 279 +f 275 274 279 +f 274 277 280 +f 280 277 281 +f 277 273 281 +f 273 279 281 +f 276 280 281 +f 277 274 282 +f 273 277 283 +f 278 273 283 +f 279 274 284 +f 276 279 284 +f 274 280 284 +f 284 280 285 +f 280 276 285 +f 276 284 285 +f 274 278 286 +f 282 274 286 +f 278 283 286 +f 279 276 287 +f 281 279 287 +f 276 281 287 +f 277 282 288 +f 283 277 288 +f 282 286 288 +f 286 283 288 +f 278 275 289 +f 279 278 289 +o convex_8 +v -0.825502 1.743254 -0.310081 +v 0.921075 1.687884 -0.143609 +v 0.921075 1.660200 -0.143609 +v -0.298663 2.408989 1.519875 +v 0.089214 3.184812 -0.503969 +v 0.754668 1.660200 1.214594 +v 0.727049 2.547250 1.159268 +v -0.714507 2.769053 1.159021 +v -0.825502 1.660200 1.131358 +v 0.061595 1.660200 -0.975474 +v 0.865664 2.602619 -0.698103 +v -0.714507 2.713521 -0.559295 +v 0.033977 3.240345 1.048122 +v -0.326456 2.519402 -1.003137 +v 0.228002 1.715569 1.519875 +v 0.061595 3.323724 0.299740 +v 0.810253 1.660200 -0.726013 +v 0.311032 2.547087 -1.003384 +v 0.255621 2.519402 1.519875 +v -0.797884 1.660200 -0.503969 +v -0.797884 2.602619 1.159021 +v -0.243252 2.630304 1.519875 +v -0.243252 1.882166 -1.003384 +v 0.006358 3.323724 0.244414 +v -0.215460 1.882166 1.519875 +v 0.311032 1.882166 -1.003384 +v 0.865664 2.602619 -0.476306 +v 0.810253 1.743254 1.131358 +v -0.492862 2.824585 -0.698103 +v -0.853121 1.965220 0.854235 +v -0.021434 1.660200 1.491965 +v -0.076845 3.212497 1.075785 +v 0.893456 1.660200 -0.642531 +v -0.049053 2.685673 -0.947564 +v 0.449820 2.769053 -0.809002 +v -0.742299 1.660200 1.214594 +v 0.006358 3.184812 -0.503969 +v -0.603684 2.824585 -0.420980 +v 0.893456 2.491880 -0.614868 +v -0.742299 2.574934 -0.503969 +v -0.409659 2.879955 1.297830 +v 0.366617 2.214708 -1.003137 +v 0.061595 2.657989 1.519875 +v 0.311032 2.242555 1.519875 +v -0.770091 2.713521 1.186931 +v -0.631477 1.660200 -0.670193 +v -0.853121 1.660200 1.048122 +v 0.754668 2.353294 1.159268 +v -0.076845 3.268029 0.382729 +v 0.699257 2.769053 -0.420733 +v 0.061595 3.212497 1.075785 +v -0.326456 2.214708 -1.003137 +v 0.921075 1.965057 -0.393317 +v -0.686888 2.796738 1.076032 +v -0.853121 1.660200 0.410639 +v -0.381867 2.824585 -0.753676 +v 0.006358 1.687884 -1.003384 +v 0.671638 2.769053 -0.614868 +f 305 339 347 +f 292 295 298 +f 292 298 299 +f 292 299 306 +f 293 304 308 +f 299 298 309 +f 301 303 309 +f 293 308 311 +f 303 307 312 +f 305 294 313 +f 302 305 313 +f 304 293 314 +f 306 299 315 +f 312 307 315 +f 292 291 317 +f 295 292 317 +f 303 301 318 +f 298 295 320 +f 295 304 320 +f 304 314 320 +f 302 313 321 +f 292 306 322 +f 306 300 322 +f 307 303 323 +f 294 300 324 +f 300 307 324 +f 323 294 324 +f 307 323 324 +f 314 293 325 +f 298 320 325 +f 320 314 325 +f 313 294 326 +f 294 323 326 +f 318 301 327 +f 313 326 327 +f 326 318 327 +f 300 316 328 +f 322 300 328 +f 309 290 329 +f 301 309 329 +f 310 301 329 +f 290 319 329 +f 319 310 329 +f 321 297 330 +f 311 321 330 +f 300 306 331 +f 307 300 331 +f 306 315 331 +f 315 307 331 +f 311 308 332 +f 321 311 332 +f 304 295 333 +f 296 308 333 +f 308 304 333 +f 310 298 334 +f 301 310 334 +f 293 311 334 +f 325 293 334 +f 298 325 334 +f 330 297 334 +f 311 330 334 +f 299 309 335 +f 309 298 336 +f 298 310 336 +f 310 319 336 +f 316 296 337 +f 295 317 337 +f 328 316 337 +f 333 295 337 +f 296 333 337 +f 321 313 338 +f 313 327 338 +f 305 296 339 +f 296 316 339 +f 316 300 339 +f 296 305 340 +f 305 302 340 +f 308 296 340 +f 302 321 340 +f 332 308 340 +f 321 332 340 +f 309 303 341 +f 303 312 341 +f 335 309 341 +f 312 335 341 +f 291 292 342 +f 317 291 342 +f 292 322 342 +f 322 328 342 +f 337 317 342 +f 328 337 342 +f 297 321 343 +f 327 301 343 +f 334 297 343 +f 301 334 343 +f 321 338 343 +f 338 327 343 +f 290 309 344 +f 319 290 344 +f 309 336 344 +f 336 319 344 +f 303 318 345 +f 323 303 345 +f 318 326 345 +f 326 323 345 +f 315 299 346 +f 312 315 346 +f 299 335 346 +f 335 312 346 +f 300 294 347 +f 294 305 347 +f 339 300 347 +o convex_9 +v 0.200255 2.547199 1.520222 +v 0.006234 1.687765 1.520222 +v 0.089337 1.687765 1.520222 +v 0.061579 2.242235 3.294475 +v -0.271061 2.408604 1.520222 +v 0.283472 2.269917 2.795114 +v 0.061579 2.519517 3.072498 +v -0.160143 2.214461 2.906102 +v 0.311230 2.020595 1.520222 +v -0.215602 2.602655 1.547839 +v -0.215602 1.882000 1.547839 +v 0.033878 2.048369 3.044708 +v 0.228013 1.743314 1.603247 +v 0.283472 2.464060 1.742026 +v 0.255771 2.269917 3.072498 +v 0.089337 2.630337 1.520222 +v 0.228013 2.464060 2.822904 +v -0.132385 2.325374 2.989300 +v -0.132385 2.048369 2.656508 +v 0.089337 2.048369 3.016917 +v -0.271061 2.297692 1.658828 +v 0.311230 2.242235 1.520222 +v -0.104684 2.436286 2.822904 +v 0.006234 2.630337 1.686445 +v -0.132385 2.242235 3.072498 +v 0.255771 2.491742 2.296447 +v 0.089337 2.519517 3.072498 +v 0.311230 2.269917 2.102434 +f 361 373 375 +f 350 349 348 +f 348 349 352 +f 350 348 356 +f 352 349 358 +f 349 350 359 +f 350 356 360 +f 356 353 360 +f 360 353 362 +f 348 352 363 +f 352 357 363 +f 362 353 364 +f 352 355 365 +f 357 352 365 +f 358 349 366 +f 355 358 366 +f 349 359 366 +f 359 350 367 +f 351 359 367 +f 350 360 367 +f 362 351 367 +f 360 362 367 +f 355 352 368 +f 352 358 368 +f 358 355 368 +f 356 348 369 +f 348 361 369 +f 354 357 370 +f 365 354 370 +f 357 365 370 +f 357 354 371 +f 363 357 371 +f 351 354 372 +f 359 351 372 +f 354 365 372 +f 365 355 372 +f 355 366 372 +f 366 359 372 +f 361 348 373 +f 348 363 373 +f 364 353 373 +f 364 373 374 +f 354 351 374 +f 351 362 374 +f 362 364 374 +f 371 354 374 +f 363 371 374 +f 373 363 374 +f 353 356 375 +f 356 369 375 +f 369 361 375 +f 373 353 375 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/769/769.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/769/769.urdf new file mode 100644 index 000000000..1676c5e6a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/769/769.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/770/770.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/770/770.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/770/770.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/770/770.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/770/770.obj new file mode 100644 index 000000000..241b36487 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/770/770.obj @@ -0,0 +1,642 @@ +o convex_0 +v 1.543419 -1.608961 -0.186422 +v 3.026896 -0.422201 0.480985 +v 3.026896 -0.533497 0.480985 +v 2.952626 -0.496478 -0.594533 +v 1.061241 -0.570636 0.592277 +v 2.952626 -1.646099 0.443694 +v 1.061241 -0.570636 -0.594533 +v 2.915491 -1.646099 -0.557358 +v 1.061241 -1.646099 0.480985 +v 1.061241 -1.497664 -0.483241 +v 2.952626 -1.608961 -0.557358 +v 1.209781 -0.718951 0.592277 +v 1.358129 -0.533497 -0.371832 +v 1.061241 -0.756209 -0.594533 +v 2.359235 -0.496478 -0.594533 +v 2.396370 -1.608961 -0.557358 +v 1.061241 -1.646099 0.258284 +v 2.952626 -0.867266 -0.594533 +v 1.840307 -1.646099 0.480985 +v 2.989761 -1.423507 0.406751 +v 2.952626 -0.422201 0.369576 +v 1.395072 -0.533497 0.555102 +v 1.358129 -0.607654 0.592277 +v 2.989761 -0.459339 -0.186422 +f 15 21 24 +f 5 7 9 +f 8 6 9 +f 9 7 10 +f 6 8 11 +f 5 9 12 +f 7 5 13 +f 7 4 14 +f 10 7 14 +f 4 7 15 +f 7 13 15 +f 8 1 16 +f 1 10 16 +f 14 8 16 +f 10 14 16 +f 1 8 17 +f 8 9 17 +f 10 1 17 +f 9 10 17 +f 11 8 18 +f 14 4 18 +f 8 14 18 +f 9 6 19 +f 6 12 19 +f 12 9 19 +f 3 6 20 +f 11 3 20 +f 6 11 20 +f 15 13 21 +f 5 2 22 +f 13 5 22 +f 2 21 22 +f 21 13 22 +f 3 2 23 +f 2 5 23 +f 6 3 23 +f 5 12 23 +f 12 6 23 +f 2 3 24 +f 3 11 24 +f 4 15 24 +f 18 4 24 +f 11 18 24 +f 21 2 24 +o convex_1 +v -0.347926 4.028096 0.999913 +v -1.126727 2.508029 -0.891185 +v -1.126727 2.508029 -0.853916 +v 1.061027 1.543455 0.777368 +v 1.023972 3.953917 -0.928026 +v -0.978506 1.543698 1.074024 +v 0.912806 1.543455 -1.039406 +v -1.126727 3.916705 -1.039192 +v 1.061027 3.953917 1.111293 +v -1.089672 1.543698 -1.039192 +v -0.978506 4.028096 1.036968 +v 1.061027 1.543455 0.999913 +v 1.023972 2.619176 -1.002136 +v -1.015561 4.028096 0.926017 +v 0.838696 3.991128 -0.742536 +v 1.061027 3.953917 -0.557260 +v -1.015561 1.543698 1.000127 +v 0.134005 1.580909 -1.076461 +v -0.904396 4.028096 1.074024 +v -0.459306 3.842526 -1.039192 +v 0.986917 1.543455 -1.002136 +v -1.126727 3.916705 -0.705481 +v -0.904396 4.028096 0.480927 +v 0.986917 3.953917 -0.965081 +v 1.061027 2.099921 1.036968 +v -0.199705 3.953917 -1.002136 +v 1.061027 3.768590 1.111293 +v -0.793016 1.543698 1.074024 +v 0.801641 3.953917 1.111293 +v -1.015561 3.619988 1.000127 +v -1.089672 1.543698 -0.705481 +v 1.023972 2.433606 -1.002136 +v -0.162436 4.028096 0.258167 +v -1.089672 3.953917 -0.668426 +v -0.978506 3.694167 1.074024 +f 35 54 59 +f 26 27 32 +f 27 26 34 +f 26 32 34 +f 31 28 36 +f 28 33 36 +f 35 25 38 +f 25 33 39 +f 33 28 40 +f 37 29 40 +f 29 39 40 +f 39 33 40 +f 31 36 41 +f 36 30 41 +f 31 34 42 +f 34 32 42 +f 33 25 43 +f 25 35 43 +f 42 32 44 +f 28 31 45 +f 32 27 46 +f 27 41 46 +f 38 25 47 +f 29 37 48 +f 37 31 48 +f 39 29 48 +f 31 42 48 +f 42 44 48 +f 36 33 49 +f 44 32 50 +f 47 39 50 +f 39 48 50 +f 48 44 50 +f 49 33 51 +f 49 51 52 +f 30 36 52 +f 36 49 52 +f 51 30 52 +f 33 43 53 +f 30 51 53 +f 51 33 53 +f 35 38 54 +f 41 30 54 +f 38 46 54 +f 46 41 54 +f 27 34 55 +f 34 31 55 +f 41 27 55 +f 31 41 55 +f 31 37 56 +f 40 28 56 +f 37 40 56 +f 28 45 56 +f 45 31 56 +f 25 39 57 +f 47 25 57 +f 39 47 57 +f 32 46 58 +f 46 38 58 +f 38 47 58 +f 50 32 58 +f 47 50 58 +f 43 35 59 +f 53 43 59 +f 30 53 59 +f 54 30 59 +o convex_2 +v -1.275481 -1.534672 0.555190 +v -3.092596 -0.681834 -0.594533 +v -3.092596 -0.719085 -0.557395 +v -3.018326 -0.422201 0.555190 +v -1.126941 -0.607669 -0.594533 +v -2.981191 -1.460620 -0.483230 +v -1.126941 -0.459339 0.517938 +v -1.126941 -1.571923 -0.483230 +v -3.018326 -1.460620 0.517938 +v -3.092596 -0.459339 -0.371926 +v -1.126941 -1.534672 0.555190 +v -2.610418 -0.496478 -0.594533 +v -2.944056 -1.497646 0.443886 +v -3.055461 -1.423481 0.443886 +v -1.126941 -0.607669 0.555190 +v -1.535042 -1.571923 -0.297762 +v -1.312424 -0.570643 -0.594533 +v -1.126941 -0.755998 -0.594533 +v -2.017412 -1.497646 0.555190 +v -2.350665 -0.422201 0.555190 +v -1.126941 -0.459339 0.443886 +v -1.349559 -1.349204 -0.520256 +v -2.610418 -1.497646 -0.483230 +v -3.092596 -0.496478 -0.594533 +v -3.018326 -1.460620 -0.223597 +v -1.164076 -1.571923 -0.038129 +f 72 75 85 +f 62 61 65 +f 64 66 67 +f 61 62 69 +f 63 60 70 +f 67 66 70 +f 64 61 71 +f 68 63 73 +f 69 62 73 +f 63 69 73 +f 63 70 74 +f 70 66 74 +f 64 71 76 +f 61 64 77 +f 64 67 77 +f 60 63 78 +f 63 68 78 +f 72 60 78 +f 68 72 78 +f 69 63 79 +f 63 74 79 +f 74 66 79 +f 66 64 80 +f 71 69 80 +f 64 76 80 +f 76 71 80 +f 69 79 80 +f 79 66 80 +f 61 77 81 +f 77 67 81 +f 65 61 82 +f 72 65 82 +f 67 75 82 +f 75 72 82 +f 61 81 82 +f 81 67 82 +f 61 69 83 +f 71 61 83 +f 69 71 83 +f 62 65 84 +f 65 72 84 +f 72 68 84 +f 73 62 84 +f 68 73 84 +f 70 60 85 +f 67 70 85 +f 60 72 85 +f 75 67 85 +o convex_3 +v 0.096732 -2.090975 -1.224834 +v 1.061234 -0.051428 3.076661 +v -0.830072 -0.014376 3.039072 +v 0.949855 -0.088693 -3.004240 +v 0.986910 -2.016658 2.965107 +v -0.978507 -1.979607 -3.041829 +v -1.015562 -2.053924 3.114250 +v -1.052617 -0.088479 -3.004847 +v 0.949855 -1.979607 -3.079418 +v -1.089672 0.059941 -0.594312 +v 1.061234 0.059941 -0.408793 +v -1.126941 -0.014376 3.039072 +v -1.126941 -1.868238 0.851039 +v 1.061234 -2.053924 0.295695 +v 0.986910 -2.128027 -1.261817 +v 1.061234 0.059941 1.370614 +v -1.126941 -1.571826 -0.482758 +v -1.015562 0.059941 1.667080 +v 0.727310 -2.053710 3.002090 +v 0.949855 0.059513 -1.075691 +v 0.986910 -1.979607 -2.707774 +v -1.052617 -2.016658 -1.261210 +v -1.126941 -0.607843 -0.594312 +v 1.061234 -2.016658 1.593115 +v 0.134001 -1.015624 3.114250 +v 0.430656 -1.497508 -3.079418 +v -1.052617 0.059941 -1.002332 +v -1.015562 -1.497508 -3.041829 +v -0.718907 -2.016658 -2.782345 +v 0.986910 -2.128027 -0.631294 +v 0.949855 -2.016658 -2.967864 +v 1.061234 -1.497508 -0.482758 +v -0.755962 -0.051428 -2.670791 +v 0.986910 -0.162796 -2.559843 +v 0.653200 -2.128027 -1.075691 +v 1.061234 -0.385320 3.076661 +v -1.089672 -0.904470 3.076661 +v -0.570473 -0.570578 -3.041829 +v -1.052617 -0.644895 -3.004847 +v -0.162439 -0.051642 3.076661 +v -0.978507 -1.534560 3.114250 +v -1.089672 -1.979607 1.704669 +v 1.061234 -0.570578 -0.594312 +v -1.015562 -2.053924 2.557086 +v -0.755962 -2.053924 3.114250 +v -1.015562 -1.979607 -2.559237 +v 0.059677 -1.979607 -3.079418 +v 0.949855 -0.719212 -3.041829 +v -1.126941 -0.274165 3.002696 +v 1.023965 -1.423405 3.002090 +v -1.089672 -1.979607 -0.482758 +v -1.126941 -0.311217 0.480607 +v 0.949855 -1.237934 3.039679 +v -1.015562 -0.533740 3.076661 +v 0.430656 0.059513 1.555526 +v -1.052617 -2.016658 2.557086 +v -1.015562 -1.126779 -3.041829 +f 132 113 142 +f 87 88 97 +f 96 87 99 +f 87 96 101 +f 96 95 101 +f 98 97 102 +f 95 97 103 +f 97 88 103 +f 101 95 103 +f 96 89 105 +f 99 100 106 +f 95 93 108 +f 102 97 108 +f 99 87 109 +f 93 95 112 +f 95 96 112 +f 96 105 112 +f 86 107 114 +f 107 91 114 +f 100 99 115 +f 90 104 115 +f 109 90 115 +f 99 109 115 +f 94 106 116 +f 106 100 116 +f 114 91 116 +f 100 114 116 +f 96 99 117 +f 99 106 117 +f 89 93 118 +f 105 89 118 +f 93 112 118 +f 112 105 118 +f 89 96 119 +f 106 89 119 +f 86 114 120 +f 114 100 120 +f 115 92 120 +f 100 115 120 +f 109 87 121 +f 87 110 121 +f 93 89 123 +f 108 93 124 +f 102 108 124 +f 113 102 124 +f 93 113 124 +f 87 97 125 +f 110 87 125 +f 92 110 126 +f 122 92 126 +f 110 125 126 +f 96 117 128 +f 117 106 128 +f 119 96 128 +f 106 119 128 +f 107 86 129 +f 86 120 129 +f 120 92 129 +f 92 127 129 +f 110 92 130 +f 92 115 130 +f 115 104 130 +f 91 107 131 +f 113 91 131 +f 102 113 131 +f 111 94 132 +f 91 113 132 +f 116 91 132 +f 94 116 132 +f 89 106 133 +f 106 94 133 +f 94 111 133 +f 123 89 133 +f 111 123 133 +f 97 98 134 +f 122 97 134 +f 98 127 134 +f 90 109 135 +f 121 90 135 +f 109 121 135 +f 98 102 136 +f 127 98 136 +f 107 129 136 +f 129 127 136 +f 131 107 136 +f 102 131 136 +f 97 95 137 +f 95 108 137 +f 108 97 137 +f 104 90 138 +f 90 121 138 +f 121 110 138 +f 110 130 138 +f 130 104 138 +f 97 122 139 +f 125 97 139 +f 122 126 139 +f 126 125 139 +f 88 87 140 +f 87 101 140 +f 103 88 140 +f 101 103 140 +f 92 122 141 +f 127 92 141 +f 122 134 141 +f 134 127 141 +f 113 93 142 +f 93 123 142 +f 123 111 142 +f 111 132 142 +o convex_4 +v -1.386563 1.098335 0.592277 +v -3.055207 1.320731 -0.594533 +v -3.129684 0.690463 -0.483241 +v -1.089853 0.430819 -0.520183 +v -3.055207 0.430819 0.517927 +v -1.089853 1.469177 -0.520183 +v -3.092346 1.394900 0.555102 +v -1.089853 0.505097 0.517927 +v -1.089853 1.543454 0.592277 +v -3.055207 1.506316 -0.594533 +v -3.129684 0.467958 -0.409007 +v -2.536264 1.506316 -0.594533 +v -3.129684 1.320731 0.480985 +v -1.757750 1.543454 0.184166 +v -3.092346 0.430819 -0.038187 +v -2.573004 0.430819 0.517927 +v -3.092346 1.432147 0.332634 +v -1.089853 0.653542 0.555102 +v -1.089853 1.543454 0.295459 +v -2.054260 1.394900 0.592277 +v -1.089853 0.430819 -0.334889 +v -3.092346 0.430819 0.332634 +v -3.055207 1.506316 -0.409007 +v -1.868767 0.430819 -0.483241 +v -1.238408 1.543454 0.592277 +v -3.092346 1.469177 -0.223481 +f 159 165 168 +f 145 144 146 +f 146 148 150 +f 150 148 151 +f 144 145 152 +f 146 144 154 +f 148 146 154 +f 144 152 154 +f 147 149 155 +f 145 153 155 +f 154 152 156 +f 146 147 157 +f 147 146 158 +f 155 149 159 +f 143 147 160 +f 150 151 160 +f 151 143 160 +f 147 158 160 +f 158 150 160 +f 151 148 161 +f 148 154 161 +f 156 151 161 +f 154 156 161 +f 147 143 162 +f 149 147 162 +f 143 151 162 +f 146 150 163 +f 158 146 163 +f 150 158 163 +f 147 155 164 +f 155 153 164 +f 157 147 164 +f 153 157 164 +f 156 152 165 +f 145 146 166 +f 153 145 166 +f 146 157 166 +f 157 153 166 +f 151 156 167 +f 159 149 167 +f 149 162 167 +f 162 151 167 +f 156 165 167 +f 165 159 167 +f 152 145 168 +f 145 155 168 +f 155 159 168 +f 165 152 168 +o convex_5 +v 0.838467 0.059941 0.962836 +v 0.096870 1.506134 -1.076675 +v 0.096870 1.543454 -1.076675 +v -1.015525 1.283665 1.037157 +v -1.052584 0.059941 -1.002144 +v 1.061241 1.543454 1.000102 +v 0.949854 0.059941 -1.076675 +v -0.978466 0.059941 1.074212 +v -1.089853 1.543454 -1.039199 +v 0.986913 1.543454 -1.002354 +v -0.978466 1.543454 1.074212 +v 1.061241 0.059941 0.925991 +v -1.089853 0.505024 0.517963 +v 1.061241 0.356760 -0.557270 +v -1.089853 1.543454 0.592073 +v 1.061241 1.469104 -0.520215 +v -1.089853 0.059941 -0.668436 +v -0.792962 0.059941 -1.039199 +v -0.681575 0.059941 1.074212 +v -1.015525 0.059941 1.037157 +v 0.986913 1.469104 -1.039409 +v 1.061241 0.059941 -0.408839 +v 1.061241 1.246490 1.000102 +v -0.792962 1.543454 1.074212 +v -1.052584 0.059941 0.703239 +v 0.616114 0.097116 -1.076675 +v 0.986913 0.505024 -1.039409 +v -1.052584 0.764668 -1.039199 +f 186 173 196 +f 170 171 175 +f 169 173 175 +f 173 169 176 +f 171 170 177 +f 174 171 177 +f 171 174 178 +f 172 176 179 +f 174 177 179 +f 169 175 180 +f 174 180 182 +f 172 179 183 +f 179 177 183 +f 177 181 183 +f 178 174 184 +f 174 182 184 +f 173 176 185 +f 177 173 185 +f 181 177 185 +f 175 173 186 +f 176 169 187 +f 179 176 187 +f 176 172 188 +f 172 183 188 +f 183 181 188 +f 185 176 188 +f 175 171 189 +f 171 178 189 +f 178 184 189 +f 184 182 189 +f 180 175 190 +f 175 182 190 +f 182 180 190 +f 169 180 191 +f 180 174 191 +f 187 169 191 +f 174 187 191 +f 174 179 192 +f 187 174 192 +f 179 187 192 +f 181 185 193 +f 188 181 193 +f 185 188 193 +f 170 175 194 +f 186 170 194 +f 175 186 194 +f 182 175 195 +f 175 189 195 +f 189 182 195 +f 177 170 196 +f 173 177 196 +f 170 186 196 +o convex_6 +v 1.543695 0.430994 -0.594533 +v 1.951654 1.543454 0.406751 +v 3.063984 1.506279 0.592277 +v 1.098489 0.393819 0.480985 +v 1.061241 1.469104 -0.520183 +v 2.952633 0.430994 -0.594533 +v 2.915386 0.504995 0.592277 +v 2.915386 1.395103 -0.520183 +v 1.061241 1.469104 0.480985 +v 1.061241 0.356644 -0.557358 +v 2.952633 0.727580 -0.594533 +v 2.952633 0.430994 -0.260539 +v 2.952633 1.432162 -0.371832 +v 1.061241 1.543454 0.147107 +v 1.654654 1.469104 -0.520183 +v 3.063984 1.506279 0.406751 +v 1.061241 0.393819 0.443694 +v 1.320994 0.393819 0.480985 +v 2.470572 0.393819 -0.594533 +v 2.804231 0.801930 0.592277 +v 3.063984 1.357928 0.592277 +v 2.952633 1.506279 0.258284 +v 2.915386 1.209460 -0.557358 +v 1.098489 1.506279 -0.334889 +v 2.878530 1.506279 0.592277 +f 205 216 221 +f 201 197 206 +f 205 201 206 +f 197 201 207 +f 202 197 207 +f 207 204 209 +f 205 198 210 +f 201 205 210 +f 209 204 211 +f 198 199 212 +f 202 207 212 +f 207 209 212 +f 200 205 213 +f 206 200 213 +f 205 206 213 +f 203 200 214 +f 200 206 214 +f 208 203 214 +f 208 214 215 +f 197 202 215 +f 206 197 215 +f 202 208 215 +f 214 206 215 +f 203 199 216 +f 200 203 216 +f 205 200 216 +f 199 203 217 +f 208 202 217 +f 203 208 217 +f 212 199 217 +f 202 212 217 +f 209 211 218 +f 198 212 218 +f 212 209 218 +f 207 201 219 +f 204 207 219 +f 201 211 219 +f 211 204 219 +f 210 198 220 +f 201 210 220 +f 211 201 220 +f 198 218 220 +f 218 211 220 +f 199 198 221 +f 198 205 221 +f 216 199 221 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/770/770.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/770/770.urdf new file mode 100644 index 000000000..ff2c3a1a3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/770/770.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/771/771.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/771/771.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/771/771.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/771/771.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/771/771.obj new file mode 100644 index 000000000..f3ed506a8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/771/771.obj @@ -0,0 +1,555 @@ +o convex_0 +v -0.142824 -3.488301 -1.080700 +v -0.842098 -1.457355 1.083802 +v -1.008572 -1.457355 1.083802 +v 0.722716 -3.854946 1.050326 +v 0.922568 -1.457592 -0.980695 +v -0.975194 -3.888018 0.950534 +v -1.075329 -1.457355 -1.047223 +v 0.955738 -1.457592 0.950534 +v 0.922568 -3.788089 -1.013959 +v -0.942025 -3.788089 -1.080700 +v 1.055873 -3.854946 1.050326 +v 0.589620 -1.457592 -1.080700 +v 0.622790 -1.457592 1.083802 +v -1.008572 -2.256790 1.083802 +v 0.955738 -3.821398 -0.780898 +v -1.075329 -2.090241 -0.980695 +v 1.055873 -3.555158 0.784001 +v -0.975194 -3.854708 -0.048239 +v -1.041951 -1.857310 0.750737 +v -0.842098 -1.457355 -1.080700 +v 0.656168 -2.423339 -1.080700 +v -0.609076 -3.888018 0.983798 +v 0.955738 -1.457592 0.151346 +v -0.975194 -3.654850 -1.080700 +v -0.808720 -3.888018 0.650732 +v 1.055873 -3.488539 1.050326 +v -1.075329 -1.857310 -0.447833 +v 0.922568 -3.821398 -0.880691 +v -0.242750 -3.888018 0.950534 +v 0.955738 -2.190170 -0.680894 +v 0.456316 -3.788089 -1.047223 +v -1.008572 -2.922272 1.017062 +v -1.041951 -1.457355 0.584204 +v 0.856020 -1.457592 1.017062 +v 0.922568 -2.489958 -1.013959 +v -0.942025 -3.821398 -0.680894 +v 1.055873 -3.854946 0.883793 +v -0.975194 -3.654850 0.983798 +v 0.822642 -3.321752 -1.047223 +v -0.975194 -3.888018 0.584204 +v -1.008572 -3.122131 -1.080700 +v 0.656168 -1.823762 -1.080700 +v -1.075329 -1.490902 -0.547837 +f 19 33 43 +f 3 2 7 +f 1 10 12 +f 2 3 13 +f 11 13 14 +f 4 11 14 +f 13 3 14 +f 14 3 19 +f 7 2 20 +f 2 8 20 +f 5 12 20 +f 12 10 20 +f 1 12 21 +f 11 4 22 +f 17 5 23 +f 20 8 23 +f 5 20 23 +f 10 18 24 +f 18 16 24 +f 20 10 24 +f 22 6 25 +f 13 11 26 +f 11 17 26 +f 17 23 26 +f 23 8 26 +f 7 16 27 +f 16 6 27 +f 9 15 28 +f 25 28 29 +f 11 22 29 +f 22 25 29 +f 15 5 30 +f 5 17 30 +f 17 15 30 +f 10 1 31 +f 9 28 31 +f 28 10 31 +f 14 19 32 +f 27 6 32 +f 19 27 32 +f 3 7 33 +f 19 3 33 +f 8 2 34 +f 2 13 34 +f 26 8 34 +f 13 26 34 +f 5 15 35 +f 15 9 35 +f 18 10 36 +f 10 28 36 +f 28 18 36 +f 17 11 37 +f 15 17 37 +f 28 15 37 +f 29 28 37 +f 11 29 37 +f 4 14 38 +f 22 4 38 +f 6 22 38 +f 32 6 38 +f 14 32 38 +f 1 21 39 +f 31 1 39 +f 9 31 39 +f 35 9 39 +f 6 16 40 +f 16 18 40 +f 25 6 40 +f 18 28 40 +f 28 25 40 +f 16 7 41 +f 7 20 41 +f 24 16 41 +f 20 24 41 +f 12 5 42 +f 21 12 42 +f 5 35 42 +f 39 21 42 +f 35 39 42 +f 7 27 43 +f 27 19 43 +f 33 7 43 +o convex_1 +v 1.089173 2.072165 0.950289 +v -1.042029 -0.225253 -1.013927 +v -0.875346 -0.225253 -1.047400 +v 0.789394 -0.225253 1.050502 +v -0.975272 2.139049 0.950289 +v 0.955868 2.139049 -0.980659 +v 0.922490 -0.225253 -0.980659 +v -0.975272 2.139049 -0.980659 +v -1.008651 -0.225253 1.050502 +v 1.022416 -0.225253 0.950289 +v 1.088964 2.138817 0.550875 +v 0.722846 0.174428 -1.047400 +v 0.822564 0.440806 1.050502 +v -0.975272 1.972418 0.983557 +v -1.042029 0.540784 -1.013927 +v 0.955868 0.374385 -0.980659 +v -0.808798 0.407480 -1.047400 +v -1.008651 2.072165 -0.980659 +v -1.042029 0.008029 -0.114885 +v 1.055794 1.905534 0.983557 +v 1.089173 1.339685 0.917227 +v 1.088964 2.138817 0.950495 +v 0.722846 -0.225253 -1.047400 +v 0.955868 -0.191696 -0.647780 +v -1.008651 0.008029 1.050502 +v 0.855942 1.339685 -1.013927 +v 0.989247 2.139049 -0.714314 +v -1.008651 1.173054 0.484134 +v -0.908725 1.373011 -1.013927 +v 1.022416 0.407480 0.983557 +v 1.022416 -0.225253 0.850487 +v -1.042029 -0.225253 -0.015082 +f 68 62 75 +f 45 46 47 +f 47 46 50 +f 48 49 51 +f 45 47 52 +f 47 50 53 +f 52 47 56 +f 46 45 58 +f 55 46 60 +f 46 58 60 +f 48 51 61 +f 58 45 62 +f 61 58 62 +f 57 56 63 +f 54 44 64 +f 59 54 64 +f 44 54 65 +f 48 57 65 +f 63 44 65 +f 57 63 65 +f 50 46 66 +f 46 55 66 +f 59 50 66 +f 50 59 67 +f 59 64 67 +f 52 56 68 +f 57 48 68 +f 56 57 68 +f 49 59 69 +f 55 60 69 +f 66 55 69 +f 59 66 69 +f 49 48 70 +f 54 59 70 +f 59 49 70 +f 48 65 70 +f 65 54 70 +f 48 61 71 +f 61 62 71 +f 68 48 71 +f 62 68 71 +f 51 49 72 +f 60 58 72 +f 58 61 72 +f 61 51 72 +f 49 69 72 +f 69 60 72 +f 47 53 73 +f 56 47 73 +f 44 63 73 +f 63 56 73 +f 64 44 73 +f 53 64 73 +f 53 50 74 +f 64 53 74 +f 50 67 74 +f 67 64 74 +f 45 52 75 +f 62 45 75 +f 52 68 75 +o convex_2 +v 1.089127 4.203285 1.083802 +v -0.375840 2.139049 -0.980695 +v -0.542379 2.638888 -1.013747 +v -0.975257 2.139049 0.950322 +v -1.008729 4.236872 1.016850 +v 1.055655 4.236872 -1.080700 +v 1.089127 2.139049 0.950534 +v -1.008729 4.270250 -1.047223 +v 0.955855 2.139049 -0.980695 +v -0.975257 2.139049 -0.980483 +v 1.089127 4.236872 1.083802 +v -1.008729 2.405657 -0.714158 +v -0.875457 2.305940 0.983586 +v 1.089127 2.905080 0.051342 +v 0.589510 3.770411 -1.080700 +v -1.008729 3.537598 1.016850 +v 1.089127 2.305731 0.983798 +v -0.941990 4.270250 -0.181296 +v -0.209301 4.270250 -1.047223 +v 0.989122 2.139049 -0.747634 +v -0.542379 4.203285 1.050326 +v 1.089127 2.139049 0.517676 +v -0.975257 3.903924 -1.047223 +v -0.042968 4.203285 -1.080700 +v 0.989122 3.770411 -1.080700 +v 1.089127 3.138102 -0.048239 +v 1.055655 4.136737 -1.080700 +f 81 101 102 +f 79 77 82 +f 77 78 84 +f 82 77 84 +f 78 77 85 +f 77 79 85 +f 76 82 86 +f 80 83 87 +f 85 79 87 +f 83 85 87 +f 86 82 89 +f 87 79 91 +f 80 87 91 +f 79 88 91 +f 82 76 92 +f 79 82 92 +f 76 88 92 +f 88 79 92 +f 83 80 93 +f 80 86 93 +f 93 86 94 +f 81 83 94 +f 86 81 94 +f 83 93 94 +f 82 84 95 +f 76 86 96 +f 86 80 96 +f 88 76 96 +f 80 91 96 +f 91 88 96 +f 89 82 97 +f 82 95 97 +f 95 89 97 +f 78 85 98 +f 85 83 98 +f 83 81 99 +f 90 78 99 +f 81 90 99 +f 78 98 99 +f 98 83 99 +f 84 78 100 +f 78 90 100 +f 90 81 100 +f 81 86 101 +f 86 89 101 +f 101 89 102 +f 95 84 102 +f 89 95 102 +f 84 100 102 +f 100 81 102 +o convex_3 +v -0.275989 -1.424054 1.117102 +v 0.589542 -0.258553 3.115104 +v 0.356496 -0.258553 3.115104 +v 0.456356 -0.291866 1.117102 +v -0.542360 -0.291866 1.117102 +v -0.609011 -1.424054 3.048412 +v 0.489682 -1.357314 2.415725 +v -0.609011 -0.325180 3.115104 +v 0.556333 -1.357428 1.117102 +v 0.456356 -1.357314 2.981525 +v -0.509151 -1.424054 1.250485 +v 0.556333 -0.258553 2.315590 +v -0.609011 -1.424054 2.715151 +v 0.489682 -0.291981 1.117102 +v -0.409174 -0.291866 3.115104 +v -0.309314 -1.424054 2.682099 +v 0.589542 -0.325294 3.115104 +v -0.475826 -1.424054 1.117102 +v 0.223311 -1.390741 1.716542 +v -0.609011 -0.558257 3.115104 +v 0.556333 -1.224176 1.117102 +v -0.509151 -1.424054 3.048412 +v 0.489682 -0.258553 2.116103 +v 0.589542 -0.458432 2.848534 +v -0.609011 -0.325180 3.014969 +v -0.542360 -0.391806 1.117102 +f 120 113 128 +f 106 103 107 +f 104 105 110 +f 103 106 111 +f 103 108 113 +f 105 104 114 +f 108 110 115 +f 113 108 115 +f 111 106 116 +f 105 107 117 +f 110 105 117 +f 107 110 117 +f 108 103 118 +f 104 110 119 +f 107 103 120 +f 103 113 120 +f 103 111 121 +f 111 109 121 +f 109 112 121 +f 118 103 121 +f 112 118 121 +f 110 108 122 +f 119 110 122 +f 111 116 123 +f 116 114 123 +f 108 118 124 +f 118 112 124 +f 112 119 124 +f 122 108 124 +f 119 122 124 +f 106 107 125 +f 107 105 125 +f 105 114 125 +f 116 106 125 +f 114 116 125 +f 109 111 126 +f 112 109 126 +f 114 104 126 +f 104 119 126 +f 119 112 126 +f 111 123 126 +f 123 114 126 +f 110 107 127 +f 107 115 127 +f 115 110 127 +f 115 107 128 +f 113 115 128 +f 107 120 128 +o convex_4 +v 0.256535 -0.291879 -1.147619 +v 0.123322 -1.390754 -1.813600 +v -0.309233 -1.357441 -2.712097 +v -0.609129 -1.290815 -1.080889 +v -0.442557 -0.358506 -2.945181 +v 0.489714 -0.391819 -2.912100 +v 0.523072 -1.390754 -1.080889 +v -0.475805 -0.225253 -1.080889 +v 0.389748 -1.257502 -2.978452 +v -0.475805 -1.324128 -3.011912 +v 0.489714 -0.325193 -1.080889 +v 0.456355 -0.391819 -2.978452 +v 0.456355 -1.290815 -2.545744 +v 0.489714 -0.358620 -2.645745 +v -0.575770 -1.324128 -1.813600 +v -0.609129 -1.157449 -1.114348 +v 0.523072 -1.390754 -1.413974 +v 0.523072 -0.857859 -1.114159 +v -0.176130 -1.357441 -1.080889 +v -0.409198 -0.225253 -1.247431 +v -0.475805 -1.024311 -3.011912 +v 0.023468 -1.290815 -3.011912 +v 0.456355 -0.924485 -2.978452 +v -0.309233 -0.391819 -2.978452 +v -0.009780 -0.857859 -3.011912 +v -0.509163 -1.290815 -2.812099 +v -0.609129 -1.257502 -1.313972 +v -0.309233 -0.225253 -1.114348 +v 0.189929 -1.390754 -1.080889 +v 0.489714 -0.325193 -1.547056 +v -0.542411 -1.324128 -1.180890 +f 147 132 159 +f 132 135 136 +f 136 135 139 +f 134 140 142 +f 140 133 142 +f 138 131 143 +f 132 136 144 +f 136 133 144 +f 130 131 145 +f 135 130 145 +f 131 137 145 +f 137 141 145 +f 139 135 146 +f 134 142 146 +f 135 145 146 +f 145 134 146 +f 131 130 147 +f 135 132 147 +f 133 136 148 +f 142 133 148 +f 137 131 150 +f 131 138 150 +f 138 149 150 +f 140 134 151 +f 141 137 151 +f 134 145 151 +f 145 141 151 +f 137 150 151 +f 150 140 151 +f 133 140 152 +f 149 133 152 +f 149 152 153 +f 140 150 153 +f 150 149 153 +f 152 140 153 +f 138 143 154 +f 133 149 154 +f 149 138 154 +f 143 132 155 +f 132 144 155 +f 144 133 155 +f 133 154 155 +f 154 143 155 +f 139 129 156 +f 136 139 156 +f 148 136 156 +f 142 148 156 +f 130 135 157 +f 147 130 157 +f 135 147 157 +f 129 139 158 +f 139 146 158 +f 146 142 158 +f 156 129 158 +f 142 156 158 +f 143 131 159 +f 132 143 159 +f 131 147 159 +o convex_5 +v -0.842165 -1.423947 -1.080699 +v 1.022573 -0.225253 0.950374 +v 0.989101 -0.225253 0.983719 +v -1.041965 -0.225253 -1.013793 +v -1.008494 -1.457354 1.083756 +v 0.922570 -1.457354 -0.980662 +v -1.008494 -0.225253 1.050196 +v 0.922570 -0.225253 -0.980662 +v 0.955836 -1.457354 0.950374 +v -1.075231 -1.457354 -1.047354 +v 0.589500 -1.390660 1.117102 +v 0.489703 -0.325235 -1.080699 +v 0.489703 -0.291948 1.117102 +v 0.589500 -1.457354 -1.080699 +v -0.542566 -0.291948 1.117102 +v -0.475829 -0.225253 -1.080699 +v -1.075231 -1.224225 -0.680982 +v 0.989101 -1.157651 0.950374 +v -0.475829 -1.423947 1.117102 +v -1.041965 -1.457354 0.584002 +v -1.041965 -0.225253 -0.014929 +v 0.955836 -0.291948 -0.581160 +v 0.722769 -0.225253 -1.047354 +v 0.856038 -1.457354 1.016850 +v -0.908696 -0.225253 -1.047354 +v 0.789301 -0.225253 1.050196 +v 1.022573 -0.291948 0.883682 +v 0.955836 -1.457354 0.117808 +v -1.075231 -1.024262 -1.013793 +v 0.656032 -1.457354 1.083756 +v 0.856038 -1.457354 -1.013793 +v -1.008494 -0.991095 1.083756 +f 166 179 191 +f 162 161 163 +f 162 163 166 +f 163 161 167 +f 164 165 168 +f 165 164 169 +f 169 160 173 +f 165 169 173 +f 160 171 173 +f 172 166 174 +f 170 172 174 +f 163 167 175 +f 171 160 175 +f 161 162 177 +f 174 164 178 +f 170 174 178 +f 169 164 179 +f 176 169 179 +f 176 179 180 +f 166 163 180 +f 179 166 180 +f 167 161 181 +f 165 167 181 +f 173 171 182 +f 175 167 182 +f 171 175 182 +f 164 168 183 +f 162 170 183 +f 177 162 183 +f 168 177 183 +f 160 169 184 +f 169 163 184 +f 175 160 184 +f 163 175 184 +f 162 166 185 +f 170 162 185 +f 166 172 185 +f 172 170 185 +f 161 177 186 +f 181 161 186 +f 165 181 186 +f 168 165 187 +f 177 168 187 +f 186 177 187 +f 165 186 187 +f 163 169 188 +f 169 176 188 +f 176 180 188 +f 180 163 188 +f 178 164 189 +f 170 178 189 +f 164 183 189 +f 183 170 189 +f 167 165 190 +f 165 173 190 +f 182 167 190 +f 173 182 190 +f 164 174 191 +f 174 166 191 +f 179 164 191 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/771/771.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/771/771.urdf new file mode 100644 index 000000000..b1db77284 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/771/771.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/772/772.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/772/772.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/772/772.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/772/772.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/772/772.obj new file mode 100644 index 000000000..1f3b59ca9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/772/772.obj @@ -0,0 +1,747 @@ +o convex_0 +v 0.399616 -3.292146 -0.002115 +v -0.380932 -3.372805 0.024774 +v -0.380932 -3.372805 0.051663 +v 0.049607 -4.987489 0.024774 +v 0.103396 -3.292146 0.401577 +v -0.084788 -3.292146 -0.325140 +v -0.004105 -4.771899 -0.217442 +v -0.138654 -4.583528 0.159291 +v 0.211126 -4.529754 0.186251 +v 0.291886 -3.453465 -0.271291 +v 0.238021 -4.745012 -0.029004 +v -0.273202 -3.292146 0.320768 +v -0.165548 -4.610414 -0.136703 +v 0.318857 -3.319032 0.320768 +v 0.022713 -4.610414 0.240029 +v -0.327067 -3.292146 -0.190553 +v -0.192519 -4.745012 0.024774 +v 0.130367 -3.292146 -0.325140 +v -0.004105 -3.426578 0.401577 +v 0.076501 -4.691239 -0.217442 +v -0.273202 -3.372805 -0.244331 +v 0.076501 -4.745012 0.213140 +v 0.399616 -3.345919 0.051663 +v -0.031000 -4.556641 -0.244331 +v -0.192519 -4.745012 -0.029004 +v 0.264991 -4.072518 0.240029 +v -0.273202 -3.345919 0.320768 +v 0.264991 -3.292146 -0.298180 +v 0.184155 -4.448929 -0.190553 +v -0.004105 -4.718126 0.213140 +v 0.022713 -3.561177 -0.325140 +v 0.238021 -4.718126 0.024774 +v 0.049607 -4.987489 -0.029004 +v 0.291886 -3.480517 0.320768 +v -0.380932 -3.345919 0.078552 +v -0.111759 -4.637300 -0.190553 +v -0.300173 -3.453465 -0.217442 +v -0.004105 -4.987489 -0.029004 +v 0.318857 -3.345919 -0.244331 +v 0.022713 -4.583528 -0.244331 +f 24 31 40 +f 5 1 6 +f 5 6 12 +f 1 5 14 +f 12 6 16 +f 3 2 17 +f 6 1 18 +f 5 12 19 +f 15 5 19 +f 16 6 21 +f 5 15 22 +f 11 1 23 +f 1 14 23 +f 21 6 24 +f 17 2 25 +f 22 9 26 +f 23 14 26 +f 17 8 27 +f 19 12 27 +f 15 19 27 +f 18 1 28 +f 10 20 28 +f 10 11 29 +f 11 20 29 +f 20 10 29 +f 17 4 30 +f 8 17 30 +f 4 22 30 +f 22 15 30 +f 27 8 30 +f 15 27 30 +f 6 18 31 +f 24 6 31 +f 4 11 32 +f 22 4 32 +f 9 22 32 +f 11 23 32 +f 26 9 32 +f 23 26 32 +f 11 4 33 +f 7 20 33 +f 20 11 33 +f 14 5 34 +f 5 22 34 +f 26 14 34 +f 22 26 34 +f 2 3 35 +f 16 2 35 +f 12 16 35 +f 3 17 35 +f 27 12 35 +f 17 27 35 +f 24 7 36 +f 21 24 36 +f 7 25 36 +f 25 13 36 +f 2 16 37 +f 16 21 37 +f 13 25 37 +f 25 2 37 +f 36 13 37 +f 21 36 37 +f 4 17 38 +f 25 7 38 +f 17 25 38 +f 33 4 38 +f 7 33 38 +f 11 10 39 +f 1 11 39 +f 28 1 39 +f 10 28 39 +f 20 7 40 +f 7 24 40 +f 18 28 40 +f 28 20 40 +f 31 18 40 +o convex_1 +v 0.749501 -2.780020 0.078539 +v -1.269143 1.175575 -0.324930 +v -1.269143 1.175575 -0.271067 +v 1.260911 1.310281 -0.405824 +v 0.022631 0.072243 1.020633 +v -0.865216 -2.241644 -0.782461 +v -0.730739 -2.295707 0.751320 +v 0.776248 0.260562 -0.944049 +v 0.830237 1.310732 0.751320 +v 0.910973 -2.188032 -0.836324 +v -0.811475 1.310732 0.778352 +v -0.784480 1.310732 -0.836524 +v 0.668766 -2.268676 0.751320 +v -0.327059 -3.291814 -0.244236 +v 0.022631 -2.968789 0.724489 +v -0.004116 -2.268676 -0.944049 +v -0.945952 -2.349319 0.132201 +v -0.784480 0.341206 -0.944049 +v 0.937720 -2.188032 0.105370 +v 0.318828 -3.291814 -0.298099 +v 1.179928 1.176025 0.159233 +v -0.084604 -2.268676 0.966771 +v 0.749501 1.310732 -0.809493 +v 0.130361 0.099275 -1.024943 +v -1.269143 1.310281 -0.109680 +v -0.515278 -3.021951 0.535870 +v 0.318828 -3.291814 0.347651 +v -0.757733 -0.143107 0.858845 +v -0.030863 -3.021951 -0.648105 +v 0.749501 -0.331876 0.832014 +v -0.676997 -3.021951 -0.002155 +v -0.434542 1.203057 0.885877 +v -1.134418 1.256669 -0.567211 +v 0.022631 1.310732 -0.890186 +v -0.273070 -3.291814 0.320620 +v 0.910973 -2.053326 -0.863155 +v 0.453305 1.283700 0.859045 +v 0.668766 -3.021951 0.024676 +v 0.480299 -2.995370 0.562901 +v 0.507046 -3.049433 -0.486517 +v -0.892210 -2.133969 -0.782461 +v 1.260911 1.176025 -0.190373 +v -0.488531 -3.076464 -0.432655 +v -1.134418 1.283250 0.212895 +v -0.004116 -2.268676 0.966771 +v -0.111599 0.099275 -1.024943 +v 1.045450 1.014287 -0.674736 +v 0.937720 -2.079906 -0.836324 +v 1.018456 -0.331426 0.320620 +v -0.999941 -0.412520 0.374483 +v -0.784480 -0.385488 0.832014 +v -0.004116 -1.837976 -0.971080 +v -0.945952 -2.349319 -0.002155 +v -0.057857 0.072243 1.020633 +v -0.084604 -3.021951 0.697458 +v 1.045450 1.310732 0.428345 +v 0.749501 0.287593 0.832014 +v -0.811475 -0.196719 -0.917017 +v 0.910973 -2.349770 0.078339 +v 1.260911 1.148994 -0.405824 +v -0.757733 -2.214613 0.724289 +v 0.426310 -3.291814 -0.002155 +v 0.049625 -2.968789 -0.674936 +v 0.614777 -2.268676 0.778151 +f 70 85 104 +f 51 49 52 +f 43 42 57 +f 52 49 63 +f 42 43 65 +f 51 52 65 +f 43 57 65 +f 47 57 66 +f 54 60 67 +f 47 62 68 +f 46 56 69 +f 60 54 69 +f 66 57 71 +f 51 68 72 +f 52 58 73 +f 42 65 73 +f 65 52 73 +f 63 48 74 +f 52 63 74 +f 48 64 74 +f 54 67 75 +f 71 54 75 +f 66 71 75 +f 50 56 76 +f 64 48 76 +f 49 51 77 +f 72 45 77 +f 51 72 77 +f 67 78 79 +f 55 67 79 +f 78 41 79 +f 60 69 80 +f 50 78 80 +f 42 73 81 +f 44 61 82 +f 61 59 82 +f 46 69 83 +f 69 54 83 +f 71 46 83 +f 54 71 83 +f 51 65 84 +f 45 62 85 +f 62 55 85 +f 70 45 85 +f 58 52 86 +f 52 74 86 +f 74 64 86 +f 63 44 87 +f 48 63 87 +f 76 48 87 +f 76 87 88 +f 50 76 88 +f 87 44 88 +f 53 59 89 +f 59 61 89 +f 70 53 89 +f 65 57 90 +f 84 65 90 +f 84 90 91 +f 68 51 91 +f 47 68 91 +f 51 84 91 +f 56 46 92 +f 76 56 92 +f 64 76 92 +f 58 86 92 +f 86 64 92 +f 57 42 93 +f 46 71 93 +f 71 57 93 +f 42 81 93 +f 81 46 93 +f 62 45 94 +f 68 62 94 +f 45 72 94 +f 72 68 94 +f 62 47 95 +f 55 62 95 +f 47 66 95 +f 67 55 95 +f 66 75 95 +f 75 67 95 +f 61 44 96 +f 44 63 96 +f 63 49 96 +f 49 70 96 +f 89 61 96 +f 70 89 96 +f 45 70 97 +f 70 49 97 +f 49 77 97 +f 77 45 97 +f 73 58 98 +f 46 81 98 +f 81 73 98 +f 92 46 98 +f 58 92 98 +f 59 53 99 +f 41 78 99 +f 78 50 99 +f 79 41 99 +f 53 79 99 +f 50 88 99 +f 88 59 99 +f 44 82 100 +f 82 59 100 +f 59 88 100 +f 88 44 100 +f 57 47 101 +f 90 57 101 +f 91 90 101 +f 47 91 101 +f 67 60 102 +f 78 67 102 +f 60 80 102 +f 80 78 102 +f 56 50 103 +f 69 56 103 +f 50 80 103 +f 80 69 103 +f 53 70 104 +f 79 53 104 +f 55 79 104 +f 85 55 104 +o convex_2 +v 1.287998 1.579976 0.132380 +v 1.476528 2.333430 0.024761 +v 1.476528 2.333430 -0.002176 +v 3.037161 1.983484 -0.002176 +v 1.287998 1.418394 -0.351972 +v 1.287998 2.171937 -0.271225 +v 1.287998 2.171937 0.267000 +v 2.767980 2.037315 -0.217415 +v 2.767980 1.983484 0.240063 +v 2.767980 1.795300 0.024761 +v 2.794864 2.198808 0.051634 +v 1.315053 1.822260 -0.378971 +v 1.960951 2.225768 -0.217415 +v 1.315053 1.418394 -0.109732 +v 1.287998 2.279599 0.240063 +v 2.767980 1.956613 -0.217415 +v 1.664886 1.983484 0.267000 +v 2.525683 2.171937 0.186253 +v 2.794864 2.198808 -0.029112 +v 2.014719 2.037315 -0.298225 +v 2.741096 1.795300 -0.055986 +v 1.341937 1.418394 -0.351972 +v 1.287998 2.333430 -0.029112 +v 2.606506 1.849131 0.159317 +v 2.767980 2.037315 0.240063 +v 2.660274 1.983484 -0.244289 +v 1.287998 2.010444 0.267000 +v 2.095541 1.983484 0.267000 +v 1.449644 1.633807 0.159317 +v 1.584063 2.225768 -0.244289 +v 2.660274 2.171937 -0.136669 +v 2.606506 2.225768 -0.029112 +v 1.341937 1.579976 0.132380 +v 3.037161 2.010444 0.024761 +v 2.660274 2.225768 0.024761 +f 136 107 139 +f 109 105 110 +f 110 105 111 +f 108 113 114 +f 109 110 116 +f 105 109 118 +f 110 111 119 +f 112 108 120 +f 116 110 124 +f 117 112 124 +f 108 114 125 +f 120 108 125 +f 120 125 126 +f 109 116 126 +f 118 109 126 +f 114 118 126 +f 125 114 126 +f 106 107 127 +f 107 117 127 +f 119 106 127 +f 110 119 127 +f 114 113 128 +f 118 114 128 +f 119 111 129 +f 115 122 129 +f 122 119 129 +f 112 120 130 +f 116 124 130 +f 124 112 130 +f 120 126 130 +f 126 116 130 +f 111 105 131 +f 121 111 131 +f 111 121 132 +f 113 129 132 +f 129 111 132 +f 128 113 133 +f 131 105 133 +f 121 131 133 +f 113 132 133 +f 132 121 133 +f 124 110 134 +f 117 124 134 +f 127 117 134 +f 110 127 134 +f 112 117 135 +f 123 112 135 +f 123 135 136 +f 117 107 136 +f 135 117 136 +f 105 118 137 +f 118 128 137 +f 133 105 137 +f 128 133 137 +f 108 112 138 +f 113 108 138 +f 112 123 138 +f 123 115 138 +f 129 113 138 +f 115 129 138 +f 107 106 139 +f 106 119 139 +f 122 115 139 +f 119 122 139 +f 115 123 139 +f 123 136 139 +o convex_3 +v -1.269143 1.310900 -0.082754 +v 0.130232 3.033322 -0.002155 +v 0.130232 3.033322 -0.028796 +v 1.287827 1.310900 -0.163521 +v 0.237857 1.311069 0.859140 +v -0.327049 1.391668 -0.863450 +v -1.269143 2.306414 0.239810 +v 0.883857 2.440971 0.697605 +v 0.830045 2.252625 -0.647958 +v -0.784580 2.333393 -0.701915 +v -0.838393 2.387182 0.724415 +v -0.811612 1.310900 0.778204 +v 1.287827 2.360372 -0.002155 +v -0.757549 2.952554 -0.028796 +v 0.803264 1.310900 -0.782514 +v 0.830045 1.310900 0.751225 +v -1.188299 1.310900 -0.486423 +v 0.803264 2.925575 -0.028796 +v -1.269143 2.198668 -0.298077 +v 0.076420 2.306583 -0.755535 +v 1.287827 2.010660 0.266958 +v 1.287827 1.822315 -0.378845 +v -0.757549 1.310900 -0.836471 +v -1.269143 2.037639 0.320747 +v 1.287827 2.225647 -0.271267 +v -0.488486 1.418646 0.859140 +v 1.099358 2.521738 0.374367 +v 1.206983 1.310900 -0.486591 +v -0.946018 2.548548 0.509092 +v -0.057736 3.006343 0.051634 +v -0.811612 2.225816 -0.728556 +v 0.211076 1.337710 -0.863450 +v -0.030955 3.033322 -0.055775 +v -1.269143 1.553203 0.186022 +v 1.287827 1.580013 0.132233 +v -1.269143 1.687759 -0.405655 +v 0.695639 2.602506 0.536070 +v -0.111548 2.252457 0.751394 +v 0.022607 2.225816 -0.782514 +v 0.803264 1.445457 -0.782514 +v -1.269143 2.360203 -0.028796 +v 0.776233 2.925575 0.051465 +v 0.722420 2.279436 -0.674936 +v 0.534201 1.472435 0.832162 +v 0.749451 2.871618 -0.109732 +v 1.287827 2.279604 0.239979 +v -0.892205 1.364689 -0.755535 +v -0.623143 2.575696 0.536070 +v -0.784580 2.764040 -0.244120 +v -0.784580 2.306414 0.751225 +v 1.045545 1.310900 0.428324 +v -0.784580 2.925575 0.024487 +v -0.273236 2.306583 -0.755535 +v 0.910889 2.467949 0.670627 +v 1.287827 1.310900 -0.378845 +v 1.260795 1.660780 -0.432634 +v -0.811612 1.633801 0.778204 +v -1.269143 1.310900 -0.352035 +v -1.053643 2.279604 -0.486423 +v -0.811612 2.898597 -0.055775 +v 0.022607 1.526224 -0.863450 +v -0.515267 1.311069 0.859140 +v -0.972799 2.575696 0.455303 +v 0.049639 3.033322 -0.055775 +f 184 159 203 +f 140 143 151 +f 143 140 154 +f 151 143 155 +f 144 151 155 +f 154 140 156 +f 142 141 157 +f 140 146 158 +f 143 152 160 +f 152 143 161 +f 154 156 162 +f 146 140 163 +f 150 146 163 +f 148 157 164 +f 157 152 164 +f 152 161 164 +f 161 148 164 +f 152 157 166 +f 143 154 167 +f 146 150 168 +f 145 162 170 +f 162 145 171 +f 154 162 171 +f 141 142 172 +f 153 169 172 +f 169 141 172 +f 140 151 173 +f 163 140 173 +f 151 163 173 +f 143 160 174 +f 140 158 175 +f 158 170 175 +f 150 147 176 +f 141 169 176 +f 165 144 177 +f 167 154 179 +f 154 171 179 +f 158 146 180 +f 157 141 181 +f 166 157 181 +f 141 176 181 +f 178 159 182 +f 179 178 182 +f 148 179 182 +f 144 155 183 +f 155 147 183 +f 177 144 183 +f 147 177 183 +f 157 148 184 +f 148 182 184 +f 182 159 184 +f 160 152 185 +f 152 166 185 +f 162 156 186 +f 170 162 186 +f 156 175 186 +f 175 170 186 +f 168 150 187 +f 150 176 187 +f 176 169 187 +f 172 149 188 +f 153 172 188 +f 147 150 189 +f 177 147 189 +f 165 177 189 +f 155 143 190 +f 160 155 190 +f 143 174 190 +f 174 160 190 +f 169 153 191 +f 180 146 191 +f 168 187 191 +f 187 169 191 +f 170 149 192 +f 145 170 192 +f 149 172 192 +f 172 159 192 +f 159 178 192 +f 178 145 192 +f 147 155 193 +f 155 160 193 +f 176 147 193 +f 166 181 193 +f 181 176 193 +f 160 185 193 +f 185 166 193 +f 161 143 194 +f 143 167 194 +f 194 167 195 +f 148 161 195 +f 179 148 195 +f 167 179 195 +f 161 194 195 +f 150 163 196 +f 163 151 196 +f 189 150 196 +f 156 140 197 +f 140 175 197 +f 175 156 197 +f 149 170 198 +f 170 158 198 +f 188 149 198 +f 188 198 199 +f 158 180 199 +f 153 188 199 +f 191 153 199 +f 180 191 199 +f 198 158 199 +f 171 145 200 +f 145 178 200 +f 179 171 200 +f 178 179 200 +f 151 144 201 +f 144 165 201 +f 165 189 201 +f 196 151 201 +f 189 196 201 +f 146 168 202 +f 191 146 202 +f 168 191 202 +f 142 157 203 +f 172 142 203 +f 159 172 203 +f 157 184 203 +o convex_4 +v -2.022889 2.198897 0.159296 +v -2.265105 1.956748 -0.271310 +v -2.265105 1.983663 -0.271310 +v -2.964723 2.010489 -0.029070 +v -1.995955 1.768295 0.051645 +v -1.995955 2.198897 -0.190547 +v -2.668640 1.983663 0.159296 +v -2.722413 1.822170 -0.055912 +v -2.722413 2.171982 -0.082896 +v -1.995955 1.795255 -0.217436 +v -2.668640 1.983663 -0.244373 +v -1.995955 1.929832 0.213169 +v -2.372746 1.849086 0.132407 +v -2.534065 2.145066 0.105470 +v -1.995955 2.064320 -0.271310 +v -2.372746 2.145066 -0.217436 +v -2.211332 2.225813 -0.002181 +v -2.722413 1.822170 -0.002181 +v -1.995955 2.091236 0.213169 +v -2.695574 1.929832 -0.217436 +v -2.964723 1.983663 -0.082896 +v -2.668640 2.037405 0.159296 +v -2.695574 2.171982 -0.002181 +v -2.238266 1.768295 -0.055912 +v -2.722413 2.037405 -0.217436 +v -2.076757 1.822170 0.159296 +v -2.372746 1.822170 -0.190547 +v -1.995955 2.225813 -0.109785 +f 222 209 231 +f 209 208 213 +f 206 205 214 +f 208 209 215 +f 205 206 218 +f 213 205 218 +f 209 213 218 +f 206 214 218 +f 218 214 219 +f 212 209 219 +f 209 218 219 +f 210 207 221 +f 216 210 221 +f 215 209 222 +f 210 215 222 +f 205 213 223 +f 214 205 223 +f 214 223 224 +f 207 212 224 +f 221 207 224 +f 211 221 224 +f 223 211 224 +f 207 210 225 +f 204 217 225 +f 222 204 225 +f 210 222 225 +f 212 207 226 +f 217 204 226 +f 204 220 226 +f 220 212 226 +f 207 225 226 +f 225 217 226 +f 213 208 227 +f 208 221 227 +f 221 211 227 +f 219 214 228 +f 212 219 228 +f 214 224 228 +f 224 212 228 +f 208 215 229 +f 215 210 229 +f 210 216 229 +f 221 208 229 +f 216 221 229 +f 211 223 230 +f 223 213 230 +f 213 227 230 +f 227 211 230 +f 209 212 231 +f 220 204 231 +f 212 220 231 +f 204 222 231 +o convex_5 +v -1.269143 2.360435 -0.002287 +v -1.995861 1.741566 -0.055923 +v -1.914980 1.687725 -0.055923 +v -1.269143 1.741566 -0.378971 +v -1.269143 1.553121 0.186159 +v -1.995861 2.198808 0.159238 +v -1.995861 2.171990 -0.244368 +v -1.296103 1.310732 -0.298209 +v -1.269143 2.225729 0.293910 +v -1.968900 1.983442 0.240069 +v -1.269143 2.198808 -0.271288 +v -1.995861 1.902782 -0.271288 +v -1.995861 1.822226 0.159238 +v -1.296103 1.364573 -0.029070 +v -1.296103 2.064204 0.320831 +v -1.968900 2.252752 -0.029070 +v -1.376913 2.279673 0.266989 +v -1.914980 1.714543 -0.217447 +v -1.269143 1.391597 -0.325130 +v -1.538319 2.198808 -0.271288 +v -1.914980 1.956624 -0.298209 +v -1.592239 1.499280 -0.055923 +v -1.376913 1.580042 0.186159 +v -1.968900 2.037386 0.240069 +f 248 237 255 +f 235 232 236 +f 233 237 238 +f 234 233 239 +f 236 232 240 +f 232 235 242 +f 233 238 243 +f 233 234 244 +f 237 233 244 +f 241 237 244 +f 236 240 246 +f 232 238 247 +f 238 237 247 +f 240 232 248 +f 232 247 248 +f 247 237 248 +f 239 233 249 +f 233 243 249 +f 243 239 249 +f 235 236 250 +f 239 243 250 +f 245 239 250 +f 236 245 250 +f 238 232 251 +f 232 242 251 +f 242 235 251 +f 243 238 252 +f 235 250 252 +f 250 243 252 +f 251 235 252 +f 238 251 252 +f 234 239 253 +f 244 234 253 +f 239 245 253 +f 245 244 253 +f 241 244 254 +f 245 236 254 +f 244 245 254 +f 236 246 254 +f 246 241 254 +f 237 241 255 +f 246 240 255 +f 241 246 255 +f 240 248 255 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/772/772.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/772/772.urdf new file mode 100644 index 000000000..f0738c2f2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/772/772.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/773/773.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/773/773.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/773/773.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/773/773.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/773/773.obj new file mode 100644 index 000000000..97e04c906 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/773/773.obj @@ -0,0 +1,561 @@ +o convex_0 +v -3.389834 -0.590300 0.012515 +v -3.195494 0.070528 0.323419 +v -2.962250 0.109432 0.284435 +v -3.312116 0.070528 -0.259691 +v -2.962250 -0.512491 -0.259691 +v -2.962250 -0.512491 0.323419 +v -3.428738 -0.201666 0.284435 +v -2.962250 0.070528 -0.220706 +v -3.312116 -0.512491 -0.220706 +v -3.389834 0.070528 0.323419 +v -3.428738 -0.590300 0.206751 +f 7 4 11 +f 5 3 6 +f 3 2 6 +f 1 5 6 +f 4 3 8 +f 5 4 8 +f 3 5 8 +f 1 4 9 +f 5 1 9 +f 4 5 9 +f 2 3 10 +f 3 4 10 +f 6 2 10 +f 7 6 10 +f 4 7 10 +f 4 1 11 +f 1 6 11 +f 6 7 11 +o convex_1 +v -2.029412 0.342622 -0.142384 +v -2.806659 -0.823544 0.517701 +v -2.767850 -0.823544 0.517701 +v -2.806659 -0.784616 -3.058617 +v -1.835011 -0.706880 -3.058617 +v -2.962250 0.342622 -2.980569 +v -1.835011 0.109413 3.044297 +v -2.806659 0.342622 2.965643 +v -1.912748 -0.706762 3.044297 +v -1.796084 0.381550 -2.979964 +v -2.845586 -0.823544 3.122345 +v -1.757275 -0.512361 -0.064940 +v -2.962250 -0.512479 0.322882 +v -2.962250 0.109413 0.245439 +v -1.835011 0.187031 3.004970 +v -1.912748 -0.745689 -3.058617 +v -1.757275 0.342622 -2.785750 +v -1.757275 0.070486 1.333279 +v -2.728923 0.381550 -2.980569 +v -2.845586 0.303695 2.693986 +v -2.884396 -0.745689 2.616542 +v -2.068221 0.381432 -1.152780 +v -2.962250 -0.512479 -0.259154 +v -1.873939 -0.512479 3.044297 +v -2.962250 0.187149 -2.980569 +v -2.340240 -0.784616 -3.058617 +v -2.690113 0.342622 2.927526 +v -1.835011 0.225959 2.344280 +v -1.951675 -0.434743 -3.058617 +v -2.845586 -0.823544 0.556423 +v -2.184885 -0.745689 3.083018 +v -2.962250 0.342622 -2.085733 +v -1.796084 0.381550 -2.396717 +v -2.845586 -0.162724 3.044297 +v -1.873939 -0.706762 1.528097 +v -2.806659 -0.823544 3.122345 +v -2.845586 -0.745689 -2.319879 +f 41 34 48 +f 14 13 15 +f 13 14 22 +f 17 24 25 +f 19 18 26 +f 15 16 27 +f 16 21 28 +f 23 16 28 +f 28 26 29 +f 26 18 29 +f 23 28 29 +f 25 24 32 +f 30 19 33 +f 24 17 34 +f 32 24 34 +f 20 23 35 +f 29 18 35 +f 23 29 35 +f 17 15 36 +f 34 17 36 +f 14 15 37 +f 27 14 37 +f 15 27 37 +f 19 26 38 +f 33 19 38 +f 26 28 39 +f 12 38 39 +f 38 26 39 +f 16 15 40 +f 15 17 40 +f 21 16 40 +f 17 30 40 +f 30 21 40 +f 15 13 41 +f 13 22 41 +f 22 32 41 +f 32 34 41 +f 27 20 42 +f 35 18 42 +f 20 35 42 +f 17 25 43 +f 30 17 43 +f 19 30 43 +f 31 19 43 +f 25 31 43 +f 28 21 44 +f 21 30 44 +f 30 33 44 +f 38 12 44 +f 33 38 44 +f 12 39 44 +f 39 28 44 +f 18 19 45 +f 22 18 45 +f 19 31 45 +f 31 25 45 +f 25 32 45 +f 32 22 45 +f 23 20 46 +f 16 23 46 +f 27 16 46 +f 20 27 46 +f 22 14 47 +f 18 22 47 +f 14 27 47 +f 42 18 47 +f 27 42 47 +f 36 15 48 +f 34 36 48 +f 15 41 48 +o convex_2 +v -1.718226 0.070558 0.401102 +v -1.523966 -0.551426 -0.220756 +v -1.485066 -0.240434 -0.259626 +v -1.446196 -0.512521 0.284492 +v -1.757127 -0.512521 -0.220756 +v -1.446196 0.070558 -0.259626 +v -1.757127 0.070558 -0.181886 +v -1.757127 -0.473678 0.245621 +v -1.446196 0.031654 0.245621 +v -1.446196 -0.551426 -0.220756 +f 54 52 58 +f 51 50 53 +f 51 53 54 +f 54 53 55 +f 49 54 55 +f 49 55 56 +f 50 52 56 +f 52 49 56 +f 53 50 56 +f 55 53 56 +f 49 52 57 +f 52 54 57 +f 54 49 57 +f 50 51 58 +f 52 50 58 +f 51 54 58 +o convex_3 +v 0.147683 -0.202078 -1.114918 +v 0.380775 2.752588 1.100898 +v -0.202350 2.752588 1.100898 +v 0.575282 -3.349743 1.023032 +v -1.446165 -3.350352 -0.764847 +v -1.407185 2.830519 -0.959186 +v -1.329422 -3.233456 1.023032 +v 0.575084 2.713623 -0.959403 +v 0.575282 -3.194491 -0.998228 +v -1.407185 2.830519 1.023032 +v -1.446165 -3.350352 -1.037052 +v 0.575084 2.713623 1.100898 +v 0.147683 2.869484 -0.531683 +v 0.575084 1.041768 -1.114918 +v -1.446165 -0.511974 0.323324 +v 0.536301 0.148610 1.100898 +v -1.446165 1.158664 -0.531683 +v 0.225446 2.869484 0.556488 +v -0.940804 -2.339081 -1.075877 +v -1.135113 2.830519 1.061857 +v -1.096132 2.869484 0.828476 +v 0.497320 -3.233456 -0.998228 +v -1.057349 2.480440 -0.998011 +v -1.446165 -1.833750 -1.037052 +v -1.173895 -3.271812 1.023032 +v 0.575084 2.557762 -0.998228 +v -0.668534 -3.311387 -1.036835 +v -0.901823 2.869484 -0.570507 +v 0.575282 -3.349743 0.789868 +v 0.264229 -3.349743 1.023032 +v -1.407185 2.130361 1.023032 +v 0.575084 0.303862 -1.114918 +v -1.446165 -3.310778 -0.648157 +v 0.108702 1.197629 1.100898 +v 0.419557 1.003411 -1.114918 +v -1.446165 -0.511974 -0.998228 +v 0.303011 2.752588 -0.959403 +v -0.513007 -3.271812 -1.036835 +v 0.575084 -1.717462 1.061857 +v 0.264229 -0.163112 -1.114918 +v -1.407185 1.003411 -0.998228 +f 93 82 99 +f 62 63 69 +f 60 61 70 +f 62 67 70 +f 67 66 70 +f 69 63 73 +f 70 61 74 +f 68 64 75 +f 73 68 75 +f 69 73 75 +f 60 70 76 +f 70 66 76 +f 66 71 76 +f 61 60 78 +f 65 61 78 +f 60 76 78 +f 78 76 79 +f 64 68 79 +f 76 71 79 +f 68 78 79 +f 69 75 82 +f 59 77 82 +f 77 69 82 +f 65 63 83 +f 74 65 83 +f 66 67 84 +f 67 72 84 +f 81 64 84 +f 72 81 84 +f 69 77 85 +f 71 64 86 +f 64 79 86 +f 79 71 86 +f 67 62 87 +f 62 69 87 +f 80 67 87 +f 69 85 87 +f 85 80 87 +f 63 62 88 +f 83 63 88 +f 73 65 89 +f 68 73 89 +f 65 78 89 +f 78 68 89 +f 59 72 90 +f 72 67 90 +f 63 65 91 +f 73 63 91 +f 65 73 91 +f 61 65 92 +f 74 61 92 +f 65 74 92 +f 72 59 93 +f 81 72 93 +f 59 82 93 +f 75 64 94 +f 64 82 94 +f 82 75 94 +f 64 71 95 +f 71 66 95 +f 84 64 95 +f 66 84 95 +f 67 80 96 +f 85 77 96 +f 80 85 96 +f 62 70 97 +f 70 74 97 +f 74 83 97 +f 88 62 97 +f 83 88 97 +f 77 59 98 +f 59 90 98 +f 90 67 98 +f 67 96 98 +f 96 77 98 +f 64 81 99 +f 82 64 99 +f 81 93 99 +o convex_4 +v 0.264290 4.657375 0.284537 +v -0.940804 4.618566 -0.415092 +v -0.940804 4.618566 -0.376282 +v 0.225362 2.869674 0.556556 +v 0.147626 2.869674 -0.531755 +v -0.785095 2.869674 0.634411 +v -0.901876 4.813183 0.556556 +v -0.901876 2.869674 -0.531755 +v 0.186435 4.735184 -0.531755 +v 0.264290 4.696374 0.556556 +v -0.824140 4.735184 -0.454019 +v -0.862949 2.947483 -0.570683 +v -0.824140 2.908674 0.556556 +v -0.163438 4.735184 -0.531755 +v -0.901876 4.463138 0.556556 +v 0.225362 2.908674 0.245610 +v 0.225362 4.735184 -0.259618 +v -0.668667 4.813183 0.556556 +v -0.901876 4.813183 0.284537 +v 0.186435 3.918857 -0.531755 +v -0.590930 3.336147 -0.570683 +v 0.147626 4.735184 0.556556 +v 0.264290 3.918857 0.556556 +f 103 115 122 +f 104 103 105 +f 101 102 106 +f 102 101 107 +f 104 105 107 +f 107 101 111 +f 104 107 111 +f 101 110 111 +f 107 105 112 +f 111 110 113 +f 106 102 114 +f 105 106 114 +f 102 107 114 +f 112 105 114 +f 107 112 114 +f 103 104 115 +f 109 100 116 +f 100 115 116 +f 106 105 117 +f 116 108 117 +f 101 106 118 +f 110 101 118 +f 108 113 118 +f 113 110 118 +f 106 117 118 +f 117 108 118 +f 115 104 119 +f 108 116 119 +f 116 115 119 +f 104 111 120 +f 113 108 120 +f 111 113 120 +f 108 119 120 +f 119 104 120 +f 105 109 121 +f 109 116 121 +f 117 105 121 +f 116 117 121 +f 105 103 122 +f 100 109 122 +f 109 105 122 +f 115 100 122 +o convex_5 +v 2.635523 0.497928 1.217140 +v 0.769651 -1.328692 -0.336743 +v 0.769651 -1.211918 -3.019743 +v 0.769651 0.731050 3.083471 +v 2.713339 -1.212131 2.966377 +v 2.635523 0.809042 -2.980314 +v 2.635523 -1.251127 -2.941482 +v 0.769651 0.847825 -2.941482 +v 0.769651 -1.173135 3.083471 +v 2.596520 0.731263 3.005209 +v 0.808655 0.847825 -0.297910 +v 2.052379 0.847825 -2.163644 +v 1.119728 -1.328692 0.283974 +v 2.596520 0.770046 2.072044 +v 2.674336 0.264806 -0.997486 +v 1.391799 -0.551121 3.083471 +v 0.769651 -0.395778 -3.019743 +v 1.391799 -1.211918 -3.019743 +v 2.674336 0.109249 0.750557 +v 1.780308 0.847825 -2.980314 +v 2.674336 -1.212131 -0.647399 +v 2.635523 0.809042 -1.580565 +v 1.352796 0.731050 3.083471 +v 2.169007 0.264593 3.044042 +v 2.635523 -1.251127 -2.319570 +v 1.197354 -1.173135 3.083471 +v 2.324639 -1.251127 -2.941482 +v 2.713339 -1.134353 2.966377 +v 2.635523 0.342371 -2.980314 +v 2.480081 -1.212131 2.966377 +v 0.769651 -1.328692 0.013344 +v 2.635523 0.031471 3.005209 +v 0.769651 0.458932 -2.980314 +f 142 139 155 +f 125 124 126 +f 125 126 130 +f 126 124 131 +f 130 126 133 +f 130 133 134 +f 124 129 135 +f 133 126 136 +f 134 133 136 +f 126 131 138 +f 125 130 139 +f 129 125 140 +f 125 139 140 +f 139 128 140 +f 123 132 141 +f 134 128 142 +f 130 134 142 +f 128 139 142 +f 127 129 143 +f 137 127 143 +f 129 137 143 +f 132 123 144 +f 128 134 144 +f 136 132 144 +f 134 136 144 +f 137 128 144 +f 123 141 144 +f 141 137 144 +f 132 136 145 +f 136 126 145 +f 126 138 145 +f 145 138 146 +f 132 145 146 +f 129 127 147 +f 127 135 147 +f 135 129 147 +f 131 127 148 +f 138 131 148 +f 124 125 149 +f 125 129 149 +f 129 124 149 +f 127 137 150 +f 141 132 150 +f 137 141 150 +f 128 137 151 +f 137 129 151 +f 140 128 151 +f 129 140 151 +f 127 131 152 +f 135 127 152 +f 131 135 152 +f 131 124 153 +f 124 135 153 +f 135 131 153 +f 146 138 154 +f 132 146 154 +f 148 127 154 +f 138 148 154 +f 127 150 154 +f 150 132 154 +f 139 130 155 +f 130 142 155 +o convex_6 +v 0.730777 -1.717919 0.051225 +v 0.614155 -3.350352 0.712117 +v 0.653029 -3.350352 0.712117 +v 0.730777 -3.194628 -0.998296 +v 0.575282 -1.328905 -0.959373 +v 0.575282 -1.328905 1.062024 +v 0.575282 -3.194628 -0.998296 +v 0.691903 -1.328905 1.062024 +v 0.575282 -3.350352 1.023101 +v 0.653029 -1.328905 -0.959373 +v 0.691903 -3.233411 0.673193 +v 0.653029 -3.350352 1.023101 +v 0.730777 -2.611503 -0.998296 +v 0.730777 -3.233411 -0.298279 +v 0.691903 -2.184300 1.023101 +v 0.691903 -1.328905 -0.064940 +f 165 163 171 +f 158 157 159 +f 159 157 162 +f 161 160 162 +f 160 161 163 +f 163 161 164 +f 157 158 164 +f 162 157 164 +f 161 162 164 +f 160 163 165 +f 163 164 167 +f 164 158 167 +f 156 159 168 +f 159 162 168 +f 162 160 168 +f 165 156 168 +f 160 165 168 +f 158 159 169 +f 159 156 169 +f 167 158 169 +f 166 167 169 +f 156 163 170 +f 163 167 170 +f 167 166 170 +f 169 156 170 +f 166 169 170 +f 163 156 171 +f 156 165 171 +o convex_7 +v 0.730762 1.353034 -0.103436 +v 0.575301 -1.328905 -0.958910 +v 0.575301 -1.095022 -0.997986 +v 0.575301 -1.017853 3.121877 +v 0.575301 2.713988 0.750235 +v 0.769651 -1.172983 3.083402 +v 0.769651 -1.211766 -3.019743 +v 0.769632 0.731324 3.083402 +v 0.653041 0.847672 -2.940989 +v 0.769632 0.847672 -2.940989 +v 0.575301 2.558462 -0.919833 +v 0.614171 2.713988 1.100721 +v 0.653041 0.576194 3.083402 +v 0.691892 -1.211766 -3.019743 +v 0.769651 -1.328905 -0.025884 +v 0.575301 -1.328905 1.061044 +v 0.575301 2.713988 1.100721 +v 0.614171 2.558462 -0.919833 +v 0.653041 -0.162260 -2.980066 +v 0.575301 -1.173379 3.121877 +v 0.575301 1.042377 -1.114615 +v 0.691892 0.730928 3.083402 +v 0.691892 -1.328905 1.061645 +v 0.769632 0.886850 -0.492397 +f 181 172 195 +f 174 173 175 +f 174 175 176 +f 175 177 179 +f 174 176 182 +f 181 180 182 +f 179 172 183 +f 172 181 183 +f 178 173 185 +f 173 178 186 +f 178 177 186 +f 175 173 187 +f 173 186 187 +f 176 175 188 +f 183 176 188 +f 179 183 188 +f 175 184 188 +f 182 176 189 +f 181 182 189 +f 183 181 189 +f 176 183 189 +f 173 174 190 +f 181 178 190 +f 180 181 190 +f 185 173 190 +f 178 185 190 +f 177 175 191 +f 175 187 191 +f 174 182 192 +f 182 180 192 +f 190 174 192 +f 180 190 192 +f 175 179 193 +f 184 175 193 +f 179 188 193 +f 188 184 193 +f 186 177 194 +f 187 186 194 +f 177 191 194 +f 191 187 194 +f 177 178 195 +f 179 177 195 +f 172 179 195 +f 178 181 195 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/773/773.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/773/773.urdf new file mode 100644 index 000000000..84d6526b7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/773/773.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/774/774.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/774/774.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/774/774.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/774/774.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/774/774.obj new file mode 100644 index 000000000..667fca276 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/774/774.obj @@ -0,0 +1,708 @@ +o convex_0 +v -0.788767 -3.324503 -0.500088 +v -0.994289 -3.776473 -2.594818 +v -0.994289 -3.776473 -2.430168 +v 1.100447 -3.776473 -0.910791 +v 0.936113 -1.763692 -2.594818 +v -0.994289 -1.763692 -0.582311 +v 0.977092 -1.763692 -0.623320 +v -0.994289 -1.763692 -2.594818 +v 0.936113 -3.735295 -2.512390 +v -1.035477 -3.653137 -0.623320 +v 1.100447 -3.776473 -0.582311 +v 0.977092 -1.763692 -2.553399 +v 1.100447 -3.365681 -0.582311 +v -1.035477 -3.611959 -0.500088 +v -0.131640 -3.735295 -2.594818 +v -0.953101 -1.845851 -0.541302 +v 0.977092 -3.735295 -2.389159 +v -1.035477 -2.626453 -0.541302 +v -1.035477 -3.694314 -1.403717 +v 0.771779 -3.776473 -0.582311 +v 0.771779 -3.735295 -2.553399 +v 0.278986 -1.845851 -0.582311 +v 1.059259 -3.776473 -1.403717 +v 1.018280 -2.133503 -0.664329 +v 1.059259 -2.954890 -0.582311 +v 0.977092 -2.667434 -2.553399 +v 0.443320 -3.735295 -0.541302 +v -0.501287 -3.776473 -2.594818 +v -0.953101 -3.653137 -0.500088 +f 20 27 29 +f 3 2 4 +f 5 6 7 +f 5 2 8 +f 6 5 8 +f 3 4 11 +f 5 7 12 +f 11 4 13 +f 4 12 13 +f 2 5 15 +f 7 6 16 +f 14 1 16 +f 6 8 18 +f 10 14 18 +f 16 6 18 +f 14 16 18 +f 2 3 19 +f 8 2 19 +f 3 10 19 +f 18 8 19 +f 10 18 19 +f 3 11 20 +f 15 5 21 +f 16 1 22 +f 7 16 22 +f 4 2 23 +f 9 17 23 +f 12 7 24 +f 7 13 24 +f 13 12 24 +f 13 7 25 +f 22 1 25 +f 7 22 25 +f 12 4 26 +f 5 12 26 +f 17 9 26 +f 9 21 26 +f 21 5 26 +f 4 23 26 +f 23 17 26 +f 11 13 27 +f 20 11 27 +f 25 1 27 +f 13 25 27 +f 2 15 28 +f 21 9 28 +f 15 21 28 +f 23 2 28 +f 9 23 28 +f 10 3 29 +f 1 14 29 +f 14 10 29 +f 3 20 29 +f 27 1 29 +o convex_1 +v -1.076554 0.988783 -1.239007 +v 1.059458 0.495624 -0.377247 +v 1.059458 0.413397 -0.377247 +v -1.035364 2.384827 1.389320 +v 1.018268 2.302600 -2.676627 +v 1.018268 2.467255 1.389320 +v -0.994384 0.413397 1.389320 +v -1.035364 2.467255 -2.553170 +v -0.706683 0.413397 -2.676627 +v 0.977078 0.413397 -2.635204 +v 0.936098 0.413397 1.347897 +v -1.035364 0.413397 -2.553170 +v -1.035364 2.467255 1.348303 +v 0.977078 2.467255 -0.663553 +v -0.583532 0.988783 1.430743 +v -1.076554 0.413397 -0.541314 +v -0.090509 0.783116 -2.718050 +v 1.059458 1.070808 -1.403480 +v 0.525246 2.467255 1.430743 +v 0.730776 2.344015 -2.676627 +v 1.018268 1.809843 1.389320 +v 1.018268 1.481138 -2.676627 +v -1.035364 1.358300 1.389320 +v -0.049320 0.413397 -2.718050 +v -0.213870 2.467255 1.430743 +v -0.953194 2.015108 -2.594187 +v 1.059458 0.413397 -0.992500 +v 0.073413 0.413397 1.389320 +v -0.912213 2.467255 -2.553170 +v 0.977078 0.906556 1.347897 +v -0.747873 0.783116 -2.676627 +v 0.977078 1.522352 1.389320 +v -0.706683 0.906556 1.430743 +v -1.035364 0.413397 0.649798 +v 0.196773 1.029595 -2.718050 +v 0.648606 2.344015 -2.676627 +v 1.018268 2.467255 0.198207 +f 47 34 66 +f 32 31 35 +f 32 36 38 +f 32 38 39 +f 36 32 40 +f 30 37 41 +f 38 36 41 +f 37 30 42 +f 35 37 42 +f 37 35 43 +f 30 41 45 +f 41 36 45 +f 42 30 45 +f 33 42 45 +f 31 32 47 +f 35 31 47 +f 35 42 48 +f 43 34 49 +f 32 35 50 +f 35 48 50 +f 34 47 51 +f 33 45 52 +f 39 38 53 +f 38 46 53 +f 51 39 53 +f 42 33 54 +f 48 42 54 +f 44 48 54 +f 41 37 55 +f 32 39 56 +f 47 32 56 +f 39 51 56 +f 51 47 56 +f 36 40 57 +f 37 43 58 +f 43 49 58 +f 49 37 58 +f 40 32 59 +f 32 50 59 +f 50 40 59 +f 38 41 60 +f 46 38 60 +f 41 55 60 +f 48 44 61 +f 40 50 61 +f 50 48 61 +f 57 40 61 +f 44 57 61 +f 33 52 62 +f 52 36 62 +f 54 33 62 +f 44 54 62 +f 36 57 62 +f 57 44 62 +f 45 36 63 +f 36 52 63 +f 52 45 63 +f 49 34 64 +f 34 51 64 +f 53 46 64 +f 51 53 64 +f 37 49 65 +f 55 37 65 +f 46 60 65 +f 60 55 65 +f 49 64 65 +f 64 46 65 +f 34 43 66 +f 43 35 66 +f 35 47 66 +o convex_2 +v 1.100535 4.356804 1.430743 +v -1.035212 2.467255 -0.664192 +v -1.035212 2.467255 1.348512 +v -1.076554 4.356804 1.348512 +v 0.977147 2.960357 -0.664192 +v -1.035212 4.315558 -0.540948 +v 1.018276 2.467255 1.389525 +v 1.018276 4.315558 -0.540948 +v 0.977147 2.467255 -0.664192 +v -0.172772 2.467255 1.430743 +v 1.100535 3.822455 0.896551 +v -0.953166 4.151314 -0.581961 +v -1.076554 4.356804 0.650064 +v -1.076554 2.837174 1.348512 +v -1.076554 4.192375 -0.335474 +v 1.018276 4.274497 -0.581961 +v 1.059406 2.672745 1.348512 +v 0.443317 4.356804 1.430743 +v 1.018276 2.713991 -0.294461 +v 1.100535 4.356804 0.896551 +v -0.994082 2.508501 1.389525 +v 1.059406 3.083541 1.430743 +v -1.076554 3.206909 0.239526 +v 0.484233 2.960357 -0.664192 +v 1.059406 4.274497 -0.006756 +v 1.018276 2.467255 0.116282 +v 1.100535 3.576089 1.430743 +v 0.566492 2.467255 1.430743 +v 1.018276 3.617150 -0.581961 +f 91 77 95 +f 69 68 73 +f 68 71 75 +f 73 68 75 +f 69 73 76 +f 68 72 78 +f 70 67 79 +f 74 72 79 +f 68 69 80 +f 70 79 80 +f 80 79 81 +f 72 68 81 +f 79 72 81 +f 72 74 82 +f 75 71 82 +f 78 72 82 +f 67 70 84 +f 76 67 84 +f 67 77 86 +f 79 67 86 +f 74 79 86 +f 69 76 87 +f 80 69 87 +f 70 80 87 +f 84 70 87 +f 76 84 87 +f 67 76 88 +f 73 83 88 +f 68 80 89 +f 80 81 89 +f 81 68 89 +f 71 68 90 +f 68 78 90 +f 82 71 90 +f 78 82 90 +f 82 74 91 +f 86 77 91 +f 74 86 91 +f 73 75 92 +f 83 73 92 +f 77 83 92 +f 75 85 92 +f 85 77 92 +f 77 67 93 +f 83 77 93 +f 67 88 93 +f 88 83 93 +f 76 73 94 +f 88 76 94 +f 73 88 94 +f 75 82 95 +f 85 75 95 +f 77 85 95 +f 82 91 95 +o convex_3 +v -0.049529 0.413397 -2.718050 +v -1.035477 -0.654689 -0.746447 +v -1.035477 -0.654689 -0.705269 +v 0.977227 -1.763692 -2.594713 +v 1.059458 0.413397 -0.705269 +v 0.977227 -1.763692 -0.705269 +v -0.994259 -1.763692 -2.594713 +v -1.035477 0.413397 -0.705269 +v 0.977227 0.413397 -2.635694 +v -0.994259 -1.763692 -0.705269 +v -1.035477 0.413397 -2.553733 +v -0.583516 -0.367210 -2.718050 +v -1.035477 -0.531514 -2.594713 +v -0.665746 0.125704 -2.718050 +v 1.059458 0.084575 -0.787624 +v 1.059458 0.413397 -0.992922 +v -0.337029 -0.408339 -2.718050 +v 0.977227 -0.161776 -2.635694 +v -0.706759 0.413397 -2.676872 +f 109 106 114 +f 100 98 101 +f 99 101 102 +f 98 97 102 +f 97 98 103 +f 100 96 103 +f 98 100 103 +f 96 100 104 +f 101 98 105 +f 102 101 105 +f 98 102 105 +f 97 103 106 +f 103 96 106 +f 102 97 108 +f 97 106 108 +f 102 108 109 +f 96 107 109 +f 107 102 109 +f 108 106 109 +f 100 101 110 +f 101 99 110 +f 104 100 111 +f 100 110 111 +f 110 99 111 +f 99 102 112 +f 107 96 112 +f 102 107 112 +f 96 104 113 +f 111 99 113 +f 104 111 113 +f 112 96 113 +f 99 112 113 +f 106 96 114 +f 96 109 114 +o convex_4 +v -1.774994 0.413397 0.650036 +v -3.007116 -1.722615 1.143131 +v -2.966006 -1.722615 1.143131 +v -1.569448 -1.599255 -0.622978 +v -3.048032 0.331227 -0.705269 +v -1.117824 -1.640235 1.430606 +v -3.048032 0.372207 1.389569 +v -1.117824 0.331017 -0.581941 +v -1.117824 0.413397 1.389569 +v -3.089334 -1.599255 -0.581941 +v -1.117824 -1.599255 -0.622978 +v -3.007116 -1.722615 1.512897 +v -3.089334 -0.120606 0.896692 +v -1.117824 0.002336 1.430606 +v -1.610557 -1.681425 1.471643 +v -2.966006 -1.434914 1.512897 +v -1.774994 -0.736570 -0.664015 +v -3.089334 -0.613837 -0.622978 +v -3.089334 -1.517084 -0.006555 +v -2.514190 -1.722615 1.512897 +v -1.117824 0.371998 -0.088846 +v -2.842679 0.125696 -0.705269 +v -1.323178 -1.599255 1.471643 +v -3.048032 -0.120606 1.430606 +v -2.514190 0.372207 -0.170920 +v -2.021457 0.413397 1.389569 +v -3.048032 -1.147422 -0.622978 +v -1.117824 -1.640235 0.650036 +v -1.117824 0.413397 0.650036 +v -1.117824 -0.818741 -0.622978 +v -3.048032 -0.777760 1.389569 +v -3.048032 -1.640445 -0.089064 +v -2.267727 0.331227 -0.664015 +f 144 131 147 +f 120 122 123 +f 122 120 125 +f 116 117 126 +f 124 116 126 +f 121 119 127 +f 120 123 128 +f 119 124 132 +f 124 127 132 +f 127 119 132 +f 124 126 133 +f 127 124 133 +f 117 125 134 +f 126 117 134 +f 130 126 134 +f 128 130 134 +f 123 122 135 +f 125 118 136 +f 131 125 136 +f 120 128 137 +f 129 120 137 +f 128 134 137 +f 134 129 137 +f 121 127 138 +f 128 121 138 +f 126 130 138 +f 130 128 138 +f 121 115 139 +f 119 121 139 +f 115 121 140 +f 123 115 140 +f 128 123 140 +f 121 128 140 +f 118 124 141 +f 124 119 141 +f 119 136 141 +f 136 118 141 +f 125 120 142 +f 120 129 142 +f 134 125 142 +f 129 134 142 +f 115 123 143 +f 123 135 143 +f 139 115 143 +f 135 139 143 +f 122 125 144 +f 125 131 144 +f 133 126 145 +f 127 133 145 +f 126 138 145 +f 138 127 145 +f 117 116 146 +f 116 124 146 +f 124 118 146 +f 125 117 146 +f 118 125 146 +f 135 122 147 +f 136 119 147 +f 131 136 147 +f 119 139 147 +f 139 135 147 +f 122 144 147 +o convex_5 +v 3.072238 -1.558045 -0.211957 +v -1.076208 0.372268 -0.705269 +v -1.117631 -1.599174 -0.622978 +v -0.583234 -0.120646 1.512897 +v 2.989803 0.413397 -0.622978 +v 2.948790 -1.763692 1.430606 +v 2.989803 0.331138 1.471643 +v -1.117631 -1.640304 1.430606 +v -1.117631 0.413397 1.389569 +v 3.072238 -1.722563 -0.705052 +v -0.994183 -1.763692 -0.705269 +v 0.525752 -1.106261 1.512897 +v 1.058919 0.413397 -0.705269 +v 0.936291 0.413397 1.348532 +v 3.072238 -1.763692 -0.458613 +v 2.989803 -0.941956 1.471643 +v 3.072238 -1.106261 -0.705052 +v -1.076208 0.413397 -0.705269 +v -1.117631 0.331138 -0.581941 +v 2.989803 0.413397 0.075519 +v -0.542221 -1.106261 1.512897 +v 1.839803 -1.640304 1.471643 +v -0.953170 0.413397 1.430606 +v 2.661290 -1.763692 1.430606 +v 2.989803 0.084575 -0.664015 +v 2.989803 -1.763692 1.348315 +v -0.994183 -1.763692 -0.581941 +v 0.525752 -0.161776 1.512897 +v -0.008234 -1.599174 1.471643 +v -1.117631 0.043658 1.430606 +v 3.072238 -1.763692 -0.129883 +v 0.977304 -1.763692 -0.705269 +v 2.948790 0.372268 0.896475 +f 154 167 180 +f 150 155 156 +f 150 149 158 +f 155 150 158 +f 156 152 160 +f 158 149 160 +f 152 156 161 +f 157 148 162 +f 153 158 162 +f 154 159 163 +f 154 148 164 +f 148 157 164 +f 157 160 164 +f 149 150 165 +f 160 149 165 +f 156 160 165 +f 150 156 166 +f 165 150 166 +f 156 165 166 +f 152 161 167 +f 154 164 167 +f 164 152 167 +f 151 155 168 +f 159 151 168 +f 159 168 169 +f 153 163 169 +f 163 159 169 +f 151 154 170 +f 154 161 170 +f 161 156 170 +f 158 153 171 +f 153 169 171 +f 160 152 172 +f 152 164 172 +f 164 160 172 +f 153 162 173 +f 163 153 173 +f 155 158 174 +f 158 171 174 +f 171 155 174 +f 154 151 175 +f 151 159 175 +f 159 154 175 +f 168 155 176 +f 169 168 176 +f 155 171 176 +f 171 169 176 +f 155 151 177 +f 156 155 177 +f 151 170 177 +f 170 156 177 +f 148 154 178 +f 162 148 178 +f 154 163 178 +f 173 162 178 +f 163 173 178 +f 160 157 179 +f 158 160 179 +f 157 162 179 +f 162 158 179 +f 161 154 180 +f 167 161 180 +o convex_6 +v 0.607782 -0.654541 2.745143 +v 0.525455 -0.531418 2.046968 +v 0.525455 -0.284915 2.046968 +v 3.113316 -0.367125 2.170200 +v 2.948915 -0.900979 2.088046 +v 3.113316 -0.284915 2.662989 +v 3.113316 -0.859874 2.621912 +v 0.525455 -0.942085 2.129123 +v 0.566745 -0.367125 2.745143 +v 0.525455 -0.900979 2.704066 +v 3.030988 -0.900979 2.375586 +v 1.141769 -0.326084 2.046968 +v 2.538038 -0.859874 2.662989 +v 1.470318 -0.942085 2.170200 +v 2.784513 -0.284915 2.457603 +v 1.141769 -0.408230 2.745143 +v 2.989952 -0.736687 2.088046 +v 1.141769 -0.900979 2.704066 +v 2.702440 -0.284915 2.662989 +v 1.758083 -0.900979 2.088046 +f 185 188 200 +f 185 184 187 +f 184 186 187 +f 183 182 188 +f 183 188 190 +f 181 189 190 +f 189 183 190 +f 185 187 191 +f 182 183 192 +f 183 184 192 +f 185 182 192 +f 187 186 193 +f 188 185 194 +f 190 188 194 +f 185 191 194 +f 184 183 195 +f 183 186 195 +f 186 184 195 +f 189 181 196 +f 186 189 196 +f 181 193 196 +f 193 186 196 +f 184 185 197 +f 192 184 197 +f 185 192 197 +f 181 190 198 +f 191 187 198 +f 193 181 198 +f 187 193 198 +f 190 194 198 +f 194 191 198 +f 186 183 199 +f 189 186 199 +f 183 189 199 +f 182 185 200 +f 188 182 200 +o convex_7 +v -1.692957 -0.983154 2.416526 +v -2.349612 -0.325992 2.621912 +v -2.349612 -0.325992 2.539758 +v -0.624705 -0.408222 2.580835 +v -3.048257 -0.325992 2.046968 +v -3.048257 -0.901060 2.704066 +v -0.624705 -1.024303 2.088046 +v -2.965701 -0.942073 2.088046 +v -0.624705 -0.901060 2.745143 +v -0.748303 -0.408222 2.088046 +v -3.048257 -0.325992 2.662989 +v -0.624705 -0.408222 2.129123 +v -2.144407 -0.901060 2.745143 +v -0.624705 -0.818897 2.745143 +v -3.048257 -0.572479 2.046968 +v -2.021284 -0.367073 2.046968 +v -2.308808 -0.983154 2.170200 +v -2.678177 -0.942073 2.621912 +v -1.446711 -0.367073 2.621912 +v -0.624705 -0.942073 2.621912 +f 209 218 220 +f 202 203 205 +f 207 204 209 +f 202 205 211 +f 205 206 211 +f 205 203 212 +f 204 207 212 +f 210 205 212 +f 207 210 212 +f 211 206 213 +f 211 213 214 +f 209 204 214 +f 213 209 214 +f 206 205 215 +f 208 206 215 +f 207 208 215 +f 205 210 216 +f 210 207 216 +f 215 205 216 +f 207 215 216 +f 207 201 217 +f 208 207 217 +f 208 217 218 +f 206 208 218 +f 213 206 218 +f 209 213 218 +f 217 201 218 +f 203 202 219 +f 202 211 219 +f 212 203 219 +f 204 212 219 +f 211 214 219 +f 214 204 219 +f 201 207 220 +f 207 209 220 +f 218 201 220 +o convex_8 +v 0.155616 -1.229581 2.909392 +v 0.525455 -0.449304 3.155867 +v 0.525455 -0.531478 3.155867 +v 0.525455 -0.161856 1.512897 +v -0.583612 -0.120823 1.800550 +v 0.525455 -1.106265 1.512897 +v -0.542519 -1.188439 3.320183 +v -0.542519 -1.106265 1.512897 +v -0.213886 -0.120823 3.443519 +v 0.443156 -1.229581 3.320183 +v 0.484362 -0.120823 3.525678 +v -0.460332 -0.161856 3.320183 +v -0.583612 -0.120823 1.512897 +v -0.624705 -0.818817 2.745075 +v -0.624705 -1.024199 2.088006 +v 0.525455 -0.120823 1.718392 +v -0.624705 -0.408271 2.580759 +v -0.542519 -1.024199 3.361164 +v 0.525455 -1.024199 2.827234 +v 0.484362 -1.147406 1.718392 +v 0.443156 -1.147406 3.361164 +v -0.542519 -1.188439 2.909392 +v 0.402063 -0.202889 3.525678 +v -0.172792 -1.229581 3.320183 +v -0.460332 -0.285063 3.402342 +f 237 238 245 +f 222 223 224 +f 224 223 226 +f 224 226 228 +f 223 222 231 +f 225 229 231 +f 229 225 232 +f 224 228 233 +f 225 231 233 +f 233 228 235 +f 227 234 235 +f 222 224 236 +f 231 222 236 +f 224 233 236 +f 233 231 236 +f 232 225 237 +f 225 233 237 +f 233 235 237 +f 235 234 237 +f 234 227 238 +f 237 234 238 +f 226 223 239 +f 223 230 239 +f 230 226 239 +f 221 228 240 +f 228 226 240 +f 230 221 240 +f 226 230 240 +f 230 223 241 +f 223 231 241 +f 238 227 241 +f 228 221 242 +f 227 235 242 +f 235 228 242 +f 231 229 243 +f 229 238 243 +f 241 231 243 +f 238 241 243 +f 221 230 244 +f 241 227 244 +f 230 241 244 +f 242 221 244 +f 227 242 244 +f 229 232 245 +f 232 237 245 +f 238 229 245 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/774/774.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/774/774.urdf new file mode 100644 index 000000000..35faba0f8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/774/774.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/775/775.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/775/775.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/775/775.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/775/775.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/775/775.obj new file mode 100644 index 000000000..54c0a9bce --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/775/775.obj @@ -0,0 +1,756 @@ +o convex_0 +v -0.013409 -2.638456 -1.895847 +v 0.348757 -2.078900 -2.915896 +v 0.315788 -2.045930 -2.454926 +v -0.375574 -2.045930 -2.981635 +v -0.243839 -1.947093 -1.072415 +v 0.315788 -2.506720 -1.072415 +v 0.315788 -2.572588 -2.981635 +v -0.210941 -2.671425 -1.072415 +v -0.177971 -2.539619 -2.948866 +v 0.217022 -1.980063 -1.138553 +v 0.151154 -2.045930 -3.080743 +v -0.276737 -2.012961 -1.204492 +v 0.348757 -2.144767 -3.113712 +v 0.315788 -2.375056 -1.072415 +v -0.145073 -2.671425 -1.072415 +v -0.375574 -2.078900 -2.883127 +v -0.342605 -2.012961 -2.652542 +v 0.315788 -2.045930 -2.948866 +v -0.210941 -2.638456 -1.632493 +v 0.315788 -2.572588 -2.586803 +v 0.118256 -2.572588 -2.981635 +f 19 9 21 +f 6 5 8 +f 5 4 12 +f 8 5 12 +f 2 6 13 +f 9 4 13 +f 4 11 13 +f 2 3 14 +f 5 6 14 +f 6 2 14 +f 3 10 14 +f 10 5 14 +f 1 7 15 +f 8 1 15 +f 6 8 15 +f 4 9 16 +f 12 4 16 +f 8 12 16 +f 4 5 17 +f 11 4 17 +f 5 11 17 +f 3 2 18 +f 10 3 18 +f 5 10 18 +f 11 5 18 +f 2 13 18 +f 13 11 18 +f 1 8 19 +f 16 9 19 +f 8 16 19 +f 13 6 20 +f 7 13 20 +f 15 7 20 +f 6 15 20 +f 7 1 21 +f 13 7 21 +f 9 13 21 +f 1 19 21 +o convex_1 +v 1.073089 -1.190099 -0.018674 +v -1.099906 -1.288958 -0.743147 +v -1.099906 -1.288958 -0.709965 +v 1.040119 -3.362832 1.034428 +v 1.040119 -3.296603 -0.973507 +v -1.033967 -3.296845 1.100580 +v -1.066936 -0.893762 1.067398 +v -1.066936 -3.263973 -1.039232 +v 1.040119 -0.893762 -0.973294 +v 1.040119 -0.893762 1.001459 +v -1.066936 -0.893762 -1.039232 +v 0.315646 -2.374721 -1.072415 +v 0.249920 -2.078867 1.100580 +v -1.066936 -3.296845 0.639223 +v -0.737669 -3.296845 -1.039232 +v -0.276737 -1.124354 -1.072415 +v -0.836364 -3.099126 -1.072415 +v 1.073089 -2.440949 0.507771 +v 1.073089 -0.893762 -0.743147 +v -0.375432 -3.329718 1.100580 +v 1.007150 -3.362832 0.409076 +v 0.974181 -3.263973 -1.006263 +v -1.066936 -2.046237 1.100580 +v 1.040119 -3.329718 -0.743147 +v 1.073089 -1.947135 -0.743147 +v -0.638761 -0.893762 1.067398 +v 0.546218 -3.362832 1.001672 +v -1.066936 -3.296845 -0.314759 +v 0.183982 -2.868776 -1.072415 +v -1.099906 -0.893762 -0.644239 +v 0.315646 -2.605312 1.100580 +v 1.040119 -2.737044 1.034428 +v -1.066936 -2.572440 1.100580 +v -0.243768 -0.893762 -1.039232 +f 30 37 55 +f 30 28 31 +f 29 23 32 +f 28 30 32 +f 24 23 35 +f 30 33 37 +f 37 33 38 +f 29 32 38 +f 36 29 38 +f 32 37 38 +f 22 31 39 +f 26 30 40 +f 31 22 40 +f 30 31 40 +f 22 39 40 +f 34 27 41 +f 27 35 41 +f 30 26 43 +f 33 30 43 +f 26 36 43 +f 36 38 43 +f 27 34 44 +f 36 26 45 +f 26 39 45 +f 39 25 45 +f 42 36 45 +f 25 42 45 +f 39 26 46 +f 26 40 46 +f 40 39 46 +f 31 28 47 +f 34 31 47 +f 28 44 47 +f 44 34 47 +f 25 41 48 +f 36 42 48 +f 42 25 48 +f 23 29 49 +f 35 23 49 +f 29 36 49 +f 41 35 49 +f 48 41 49 +f 36 48 49 +f 38 33 50 +f 33 43 50 +f 43 38 50 +f 23 24 51 +f 32 23 51 +f 28 32 51 +f 44 28 51 +f 41 25 52 +f 34 41 52 +f 31 34 53 +f 25 39 53 +f 39 31 53 +f 52 25 53 +f 34 52 53 +f 24 35 54 +f 35 27 54 +f 27 44 54 +f 51 24 54 +f 44 51 54 +f 32 30 55 +f 37 32 55 +o convex_2 +v 0.151141 -1.980018 3.075642 +v -0.243852 -2.605577 1.100580 +v 0.315833 -2.605577 1.100580 +v -0.243852 -2.012961 1.100580 +v -0.178010 -2.506746 2.943971 +v 0.315833 -2.539690 2.977034 +v 0.249875 -2.045905 1.199575 +v -0.210902 -2.012961 3.042773 +v 0.282825 -2.045905 3.042773 +v -0.276802 -2.078848 1.759321 +v 0.216983 -2.012961 1.100580 +v -0.046326 -2.605577 1.726451 +v -0.210902 -2.539690 2.483220 +v 0.315833 -2.276386 2.911102 +v 0.249875 -1.980018 2.548959 +v -0.276802 -2.375095 1.100580 +v -0.210902 -2.243443 3.009903 +v 0.184033 -2.572633 2.581828 +v -0.276802 -2.012961 1.298376 +f 71 65 74 +f 58 57 59 +f 56 61 64 +f 58 59 66 +f 62 58 66 +f 57 58 67 +f 57 67 68 +f 61 58 69 +f 58 62 69 +f 64 61 69 +f 62 64 69 +f 59 56 70 +f 56 64 70 +f 64 62 70 +f 66 59 70 +f 62 66 70 +f 59 57 71 +f 57 68 71 +f 68 65 71 +f 60 61 72 +f 61 56 72 +f 56 63 72 +f 63 65 72 +f 68 60 72 +f 65 68 72 +f 61 60 73 +f 58 61 73 +f 67 58 73 +f 68 67 73 +f 60 68 73 +f 56 59 74 +f 63 56 74 +f 65 63 74 +f 59 71 74 +o convex_3 +v -0.803395 -0.827389 1.067655 +v -1.066724 0.291633 -1.039490 +v -1.066724 1.081929 -1.039490 +v 1.073089 0.291633 -0.776097 +v 1.073089 1.081929 1.001240 +v 1.039694 -0.893521 -0.973487 +v -1.066724 1.081929 1.001446 +v 1.039694 -0.893521 1.001652 +v -1.066511 -0.893521 -1.039490 +v 1.040119 1.081929 -0.973281 +v -1.066511 -0.893521 1.067655 +v -1.099906 -0.761450 0.442071 +v -0.243768 -0.728771 -1.039490 +v 1.072663 -0.827389 1.001652 +v -1.099693 1.081929 -0.347903 +v -1.099906 -0.893521 -0.710094 +v 1.072663 -0.893521 -0.742889 +v -1.066724 0.456383 1.034654 +v 1.073089 1.081929 -0.775891 +v -1.099906 0.225694 0.474866 +v -0.869121 1.081929 -1.039490 +v -0.671730 -0.893521 1.067655 +v -1.099693 0.686684 -0.644297 +v -1.099693 1.081929 0.112675 +f 89 94 98 +f 79 77 81 +f 80 82 83 +f 76 77 83 +f 77 79 84 +f 78 80 84 +f 83 82 85 +f 80 83 87 +f 83 77 87 +f 84 80 87 +f 78 79 88 +f 81 77 89 +f 77 76 90 +f 76 83 90 +f 83 85 90 +f 85 86 90 +f 80 78 91 +f 82 80 91 +f 78 88 91 +f 88 82 91 +f 75 79 92 +f 79 81 92 +f 85 75 92 +f 79 78 93 +f 78 84 93 +f 84 79 93 +f 86 85 94 +f 90 86 94 +f 89 90 94 +f 92 81 94 +f 85 92 94 +f 77 84 95 +f 87 77 95 +f 84 87 95 +f 79 75 96 +f 75 85 96 +f 85 82 96 +f 88 79 96 +f 82 88 96 +f 89 77 97 +f 90 89 97 +f 77 90 97 +f 81 89 98 +f 94 81 98 +o convex_4 +v 2.455600 1.477057 0.310364 +v 2.192245 1.970842 -0.348083 +v 2.192245 2.003786 -0.348083 +v 1.073089 1.806186 0.343324 +v 1.073089 1.444114 -0.249272 +v 3.048448 1.477057 -0.315124 +v 3.081417 1.905016 0.178661 +v 1.073089 2.036729 -0.282232 +v 1.139227 2.036729 0.343324 +v 1.073089 1.411170 0.310364 +v 3.114386 2.003786 -0.348083 +v 3.048448 1.510001 0.343324 +v 1.171996 1.444114 -0.282232 +v 3.114386 2.003786 -0.216380 +v 3.081417 1.674657 -0.348083 +v 3.048448 1.575826 0.343324 +v 2.291153 1.444114 -0.282232 +v 3.048448 1.477057 -0.018825 +v 1.270904 2.036729 -0.315124 +f 112 109 117 +f 103 102 106 +f 106 102 107 +f 102 103 108 +f 100 101 109 +f 107 102 110 +f 108 99 110 +f 102 108 110 +f 103 106 111 +f 108 103 111 +f 107 105 112 +f 105 110 112 +f 112 110 113 +f 100 109 113 +f 111 100 113 +f 104 111 113 +f 109 112 113 +f 105 107 114 +f 107 110 114 +f 110 105 114 +f 111 104 115 +f 108 111 115 +f 99 108 116 +f 110 99 116 +f 113 110 116 +f 104 113 116 +f 115 104 116 +f 108 115 116 +f 101 100 117 +f 106 107 117 +f 109 101 117 +f 100 111 117 +f 111 106 117 +f 107 112 117 +o convex_5 +v -1.956180 -0.268174 -0.512704 +v -1.100112 0.225901 0.475008 +v -1.791453 0.192919 0.507771 +v -2.943559 -0.893521 0.606717 +v -1.100112 -0.794684 -0.446740 +v -3.042238 0.127064 -0.446849 +v -3.009213 -0.827666 -0.479722 +v -1.100112 -0.761701 0.442026 +v -1.100112 0.127064 -0.512704 +v -3.075065 0.225901 0.507771 +v -3.108089 -0.893521 0.376061 +v -2.055056 0.225901 0.211479 +v -1.198987 0.061209 0.507771 +v -3.108089 -0.761811 0.606717 +v -3.075065 0.192919 0.014134 +v -1.198987 -0.761811 0.474898 +v -1.100112 0.225901 0.211479 +v -2.285044 0.160046 -0.315140 +v -3.042238 -0.860538 -0.216303 +v -1.198987 -0.169337 -0.512704 +v -2.482599 0.127064 -0.479722 +v -3.042238 -0.597010 -0.446849 +v -2.581277 -0.827666 -0.479722 +v -2.844683 -0.893521 0.573626 +v -3.108089 -0.268174 0.507771 +f 127 132 142 +f 122 119 125 +f 119 122 126 +f 120 119 127 +f 127 119 129 +f 119 120 130 +f 125 119 130 +f 120 127 131 +f 128 121 131 +f 130 120 131 +f 121 130 131 +f 123 128 132 +f 127 129 132 +f 130 121 133 +f 125 130 133 +f 119 126 134 +f 129 119 134 +f 129 134 135 +f 123 132 135 +f 132 129 135 +f 134 126 135 +f 122 128 136 +f 118 126 137 +f 126 122 137 +f 118 124 138 +f 124 123 138 +f 126 118 138 +f 123 135 138 +f 135 126 138 +f 123 124 139 +f 128 123 139 +f 124 136 139 +f 136 128 139 +f 124 118 140 +f 122 136 140 +f 136 124 140 +f 118 137 140 +f 137 122 140 +f 122 125 141 +f 121 128 141 +f 128 122 141 +f 133 121 141 +f 125 133 141 +f 131 127 142 +f 128 131 142 +f 132 128 142 +o convex_6 +v -2.943555 1.444197 -0.051688 +v -2.318022 1.970881 -0.216380 +v -1.132830 1.872041 0.244548 +v -1.132830 1.510033 -0.249307 +v -2.943555 1.904929 0.277476 +v -1.132830 1.444197 0.244548 +v -2.943555 1.378304 0.244548 +v -2.976582 1.970881 -0.249307 +v -1.132830 1.904929 -0.282235 +v -2.910708 1.510033 -0.183453 +v -2.449770 1.378304 0.112839 +v -2.383896 1.904929 -0.282235 +v -2.910708 1.970881 -0.051688 +v -1.659823 1.510033 -0.249307 +v -2.219121 1.839094 0.277476 +v -2.943555 1.608757 -0.216380 +v -1.231731 1.477086 -0.183453 +v -1.132830 1.674592 -0.282235 +f 156 154 160 +f 146 145 148 +f 149 147 150 +f 143 149 150 +f 144 145 151 +f 145 146 151 +f 150 144 151 +f 148 149 153 +f 149 143 153 +f 150 151 154 +f 145 144 155 +f 147 145 155 +f 144 150 155 +f 150 147 155 +f 143 152 156 +f 145 147 157 +f 148 145 157 +f 147 149 157 +f 149 148 157 +f 143 150 158 +f 152 143 158 +f 150 154 158 +f 156 152 158 +f 154 156 158 +f 146 148 159 +f 153 143 159 +f 148 153 159 +f 143 156 159 +f 156 146 159 +f 151 146 160 +f 154 151 160 +f 146 156 160 +o convex_7 +v 0.644904 2.201076 1.067655 +v -0.474250 1.246620 -1.072415 +v -1.066756 1.081929 -1.039316 +v -1.066756 2.694987 -1.039316 +v -1.066756 1.081929 1.001669 +v 1.040052 1.081929 -0.973329 +v 1.040052 2.629241 -0.973329 +v -1.099793 2.761060 0.968780 +v 1.073089 1.081929 1.001459 +v 1.073089 2.629241 0.968570 +v 0.677941 2.398640 -1.072415 +v -1.132830 1.510094 -0.249150 +v -0.441213 1.213748 1.067655 +v 1.073089 1.081929 -0.775788 +v 0.513188 1.081929 -1.072415 +v -0.507287 2.234113 1.067655 +v -0.803540 2.761060 0.869904 +v -1.033935 2.728024 -0.743109 +v -1.099793 1.246620 1.001669 +v 0.612083 1.213748 1.067655 +v 1.073089 2.629241 -0.018719 +v -1.132830 1.905058 -0.282038 +v -1.132830 1.444349 0.244390 +v -0.474250 2.168203 -1.072415 +v -1.099793 1.081929 -0.348025 +v 1.007015 2.563332 1.001459 +v -1.099793 2.761060 0.343266 +v -0.474250 2.694987 -1.039316 +v 0.677941 2.662114 0.968780 +v -1.033935 2.761060 0.343266 +f 188 178 190 +f 162 163 164 +f 165 163 166 +f 165 166 169 +f 167 166 171 +f 166 167 174 +f 169 166 174 +f 170 169 174 +f 163 162 175 +f 166 163 175 +f 162 171 175 +f 171 166 175 +f 173 161 176 +f 165 173 179 +f 176 168 179 +f 173 176 179 +f 169 161 180 +f 165 169 180 +f 161 173 180 +f 173 165 180 +f 174 167 181 +f 170 174 181 +f 164 163 182 +f 163 172 182 +f 182 172 183 +f 179 168 183 +f 168 182 183 +f 162 164 184 +f 171 162 184 +f 164 171 184 +f 163 165 185 +f 172 163 185 +f 165 179 185 +f 183 172 185 +f 179 183 185 +f 161 169 186 +f 169 170 186 +f 176 161 186 +f 168 176 186 +f 168 177 187 +f 178 164 187 +f 164 182 187 +f 182 168 187 +f 171 164 188 +f 167 171 188 +f 164 178 188 +f 167 177 189 +f 177 168 189 +f 181 167 189 +f 170 181 189 +f 168 186 189 +f 186 170 189 +f 177 167 190 +f 187 177 190 +f 178 187 190 +f 167 188 190 +o convex_8 +v 3.048448 0.192912 -0.051685 +v 1.073089 -0.728835 -0.545628 +v 1.237935 -0.761708 -0.282132 +v 1.073089 0.291749 0.606717 +v 3.081417 -0.827672 0.540843 +v 3.015478 -0.794690 -0.545628 +v 1.073089 0.192912 -0.446817 +v 1.073089 -0.761708 0.474856 +v 3.114386 0.192912 -0.512578 +v 3.015478 0.159930 0.540843 +v 1.468320 0.291749 0.343108 +v 1.435351 0.192912 -0.479754 +v 1.402582 0.291749 0.606717 +v 2.455600 -0.794690 0.540843 +v 3.081417 -0.827672 0.277347 +v 1.073089 0.160039 0.606717 +v 1.599998 -0.794690 0.441919 +v 2.554508 -0.794690 -0.545628 +v 3.081417 -0.465307 0.540843 +v 1.204966 -0.597016 -0.545628 +v 2.817863 0.192912 0.540843 +v 3.114386 -0.235199 -0.117559 +f 199 209 212 +f 192 194 197 +f 192 193 198 +f 194 192 198 +f 199 191 200 +f 197 194 201 +f 191 199 201 +f 197 201 202 +f 201 199 202 +f 201 194 203 +f 191 201 203 +f 198 195 204 +f 194 198 206 +f 203 194 206 +f 195 203 206 +f 204 195 206 +f 198 204 206 +f 198 193 207 +f 195 198 207 +f 205 195 207 +f 205 207 208 +f 193 192 208 +f 192 196 208 +f 196 205 208 +f 207 193 208 +f 199 200 209 +f 203 195 209 +f 200 203 209 +f 196 192 210 +f 192 197 210 +f 199 196 210 +f 197 202 210 +f 202 199 210 +f 200 191 211 +f 191 203 211 +f 203 200 211 +f 196 199 212 +f 205 196 212 +f 195 205 212 +f 209 195 212 +o convex_9 +v -0.573119 2.168222 2.549075 +v 0.612150 1.378427 1.199533 +v 0.612150 1.312534 1.199533 +v 0.480351 1.114853 3.108953 +v 0.546250 2.300009 2.944107 +v -0.441319 1.213809 1.067656 +v -0.243736 2.234116 1.067656 +v -0.507103 1.180862 3.009845 +v 0.546250 2.135391 1.067656 +v -0.573119 2.234116 3.009845 +v -0.540053 2.234116 1.166563 +v 0.612150 1.213693 1.067656 +v 0.447401 1.114853 2.516305 +v 0.019516 1.114853 3.075984 +v -0.507103 1.180862 2.516305 +v 0.151083 2.299893 2.911137 +v 0.546250 2.300009 2.680752 +v 0.579201 2.003720 2.351459 +v -0.507103 2.234116 1.067656 +v -0.375420 2.003604 3.043015 +v -0.474269 1.180862 1.759411 +v 0.579201 1.937827 1.067656 +v 0.579201 1.180747 1.364179 +v -0.540053 1.444205 2.944107 +v 0.546250 2.036551 2.977076 +v -0.342470 2.267063 2.976876 +v 0.381501 1.246756 3.108953 +f 232 226 239 +f 218 219 221 +f 213 222 223 +f 214 215 224 +f 215 216 224 +f 218 221 224 +f 225 216 226 +f 226 220 227 +f 221 219 229 +f 228 217 229 +f 215 214 230 +f 229 217 230 +f 219 218 231 +f 218 223 231 +f 223 228 231 +f 228 229 231 +f 229 219 231 +f 217 222 232 +f 222 220 232 +f 220 226 232 +f 223 218 233 +f 218 225 233 +f 225 226 233 +f 227 223 233 +f 226 227 233 +f 214 224 234 +f 224 221 234 +f 221 229 234 +f 230 214 234 +f 229 230 234 +f 224 216 235 +f 218 224 235 +f 216 225 235 +f 225 218 235 +f 222 213 236 +f 220 222 236 +f 213 223 236 +f 227 220 236 +f 223 227 236 +f 216 215 237 +f 217 216 237 +f 215 230 237 +f 230 217 237 +f 222 217 238 +f 223 222 238 +f 217 228 238 +f 228 223 238 +f 216 217 239 +f 226 216 239 +f 217 232 239 +o convex_10 +v -0.309649 2.201163 -1.072415 +v 0.447426 1.082170 -1.599324 +v 0.118133 1.114988 -2.323449 +v 0.579226 2.234225 -3.113712 +v -0.474347 1.180869 -3.047574 +v -0.441345 2.267043 -2.948866 +v 0.546225 2.332924 -1.072415 +v -0.474347 1.246627 -1.072415 +v 0.513326 1.180869 -3.047574 +v 0.513326 1.082170 -1.072415 +v -0.474347 2.168345 -1.072415 +v 0.480325 1.114988 -3.047574 +v 0.249830 2.267043 -3.080743 +v 0.348628 1.082170 -1.105384 +v -0.144950 2.299984 -2.290479 +v -0.276647 1.444269 -3.080743 +v -0.474347 2.201163 -1.895847 +v -0.474347 1.213809 -1.533585 +v 0.513326 1.312508 -3.080743 +v -0.276647 1.147929 -2.751250 +v 0.546225 2.267166 -2.981635 +v -0.441345 2.267043 -2.521065 +v 0.480428 2.332924 -1.072415 +v 0.249830 1.937762 -3.113712 +f 258 255 263 +f 246 240 247 +f 243 246 249 +f 246 247 249 +f 248 243 249 +f 244 247 250 +f 247 240 250 +f 241 242 251 +f 249 241 251 +f 248 249 251 +f 241 249 253 +f 249 247 253 +f 252 245 254 +f 244 245 255 +f 245 252 255 +f 245 244 256 +f 244 250 256 +f 247 244 257 +f 253 247 257 +f 243 248 258 +f 251 244 258 +f 248 251 258 +f 244 255 258 +f 242 241 259 +f 251 242 259 +f 244 251 259 +f 241 253 259 +f 257 244 259 +f 253 257 259 +f 246 243 260 +f 243 252 260 +f 254 246 260 +f 252 254 260 +f 250 240 261 +f 254 245 261 +f 245 256 261 +f 256 250 261 +f 240 246 262 +f 246 254 262 +f 261 240 262 +f 254 261 262 +f 252 243 263 +f 255 252 263 +f 243 258 263 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/775/775.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/775/775.urdf new file mode 100644 index 000000000..4adbb5412 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/775/775.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/776/776.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/776/776.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/776/776.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/776/776.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/776/776.obj new file mode 100644 index 000000000..2e2364000 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/776/776.obj @@ -0,0 +1,600 @@ +o convex_0 +v -3.199211 -1.225558 0.588136 +v -3.072724 -1.193924 -0.518463 +v -3.072724 -1.162616 -0.518463 +v -4.621890 -1.257191 -0.044158 +v -3.167547 -0.624958 0.050658 +v -2.882909 -1.731582 0.177117 +v -4.400410 -0.814758 -0.012516 +v -4.273923 -1.636683 0.019127 +v -2.882909 -0.751491 0.461677 +v -2.882909 -0.719858 -0.391893 +v -4.400410 -1.193924 -0.391893 +v -2.882909 -1.636683 -0.360362 +v -4.368916 -1.193924 0.366750 +v -2.882909 -1.605049 0.493209 +v -3.641830 -0.783125 -0.391893 +v -3.767976 -1.573416 0.398392 +v -3.705158 -1.605049 -0.328719 +v -3.610336 -0.814758 0.398392 +v -3.610336 -1.731582 0.082189 +v -2.914573 -1.130983 0.619779 +v -4.210765 -1.541782 -0.233791 +v -4.242429 -1.541782 0.240291 +v -2.882909 -0.624958 -0.075801 +v -3.673494 -1.193924 0.524851 +v -2.882909 -1.130983 -0.518463 +v -4.273923 -0.878025 -0.233791 +v -3.610336 -1.225558 -0.486820 +v -3.736822 -0.688225 -0.012516 +v -4.179101 -0.909550 0.271933 +v -4.432075 -1.541782 0.050658 +v -3.325698 -1.605049 0.461677 +v -3.041060 -1.731582 -0.044158 +v -4.590225 -1.193924 0.082189 +v -4.368916 -1.257191 -0.391893 +v -4.337252 -1.288824 0.366750 +v -3.641830 -1.699949 -0.075801 +v -2.914573 -1.510149 -0.423535 +v -4.368916 -1.605049 -0.012516 +v -2.914573 -0.624958 0.145474 +v -2.882909 -1.225558 0.619779 +v -4.400410 -0.814758 -0.044158 +v -3.641830 -1.478516 0.461677 +v -4.621890 -1.193924 -0.044158 +v -3.673494 -0.688225 0.050658 +v -4.210765 -0.941183 -0.328719 +v -3.578671 -1.162616 -0.486820 +v -2.977901 -0.624958 -0.075801 +v -3.578671 -1.573416 -0.360362 +v -4.242429 -1.162616 0.398392 +v -4.273923 -1.636683 0.050658 +v -3.641830 -1.605049 0.398392 +f 22 50 51 +f 9 6 10 +f 10 6 12 +f 6 9 14 +f 9 18 20 +f 9 10 23 +f 1 20 24 +f 20 18 24 +f 2 3 25 +f 10 12 25 +f 3 15 25 +f 15 10 25 +f 3 2 27 +f 7 13 29 +f 18 7 29 +f 6 14 31 +f 19 6 31 +f 12 6 32 +f 6 19 32 +f 13 7 33 +f 4 30 33 +f 4 11 34 +f 17 21 34 +f 11 27 34 +f 22 16 35 +f 30 22 35 +f 13 33 35 +f 33 30 35 +f 8 17 36 +f 17 12 36 +f 19 8 36 +f 12 32 36 +f 32 19 36 +f 2 25 37 +f 25 12 37 +f 27 2 37 +f 17 8 38 +f 21 17 38 +f 30 4 38 +f 4 34 38 +f 34 21 38 +f 18 9 39 +f 23 5 39 +f 9 23 39 +f 14 9 40 +f 20 1 40 +f 9 20 40 +f 31 14 40 +f 1 31 40 +f 26 11 41 +f 15 26 41 +f 7 28 41 +f 28 15 41 +f 1 24 42 +f 31 1 42 +f 16 31 42 +f 35 16 42 +f 24 35 42 +f 11 4 43 +f 4 33 43 +f 33 7 43 +f 41 11 43 +f 7 41 43 +f 7 18 44 +f 28 7 44 +f 5 28 44 +f 39 5 44 +f 18 39 44 +f 15 11 45 +f 11 26 45 +f 26 15 45 +f 15 3 46 +f 11 15 46 +f 3 27 46 +f 27 11 46 +f 10 15 47 +f 5 23 47 +f 23 10 47 +f 15 28 47 +f 28 5 47 +f 12 17 48 +f 17 34 48 +f 34 27 48 +f 37 12 48 +f 27 37 48 +f 24 18 49 +f 29 13 49 +f 18 29 49 +f 13 35 49 +f 35 24 49 +f 8 19 50 +f 22 30 50 +f 38 8 50 +f 30 38 50 +f 16 22 51 +f 19 31 51 +f 31 16 51 +f 50 19 51 +o convex_1 +v -2.502659 -1.857867 -0.549917 +v 1.607371 0.133904 0.493103 +v 1.986834 0.133678 0.082034 +v 3.157256 -1.984627 0.018984 +v -2.313543 -1.130752 0.999370 +v 0.058718 0.133904 -0.992718 +v 2.429746 -1.193793 -1.024451 +v -2.408409 -0.182204 0.082034 +v 2.461163 -1.921134 0.809390 +v 0.310666 0.133904 1.030895 +v -2.439826 -1.099345 -0.929461 +v -2.313543 -2.079301 0.082034 +v 3.125223 -1.035852 0.777658 +v 2.429746 -1.921134 -0.802946 +v 2.967525 -0.593437 -0.518392 +v -2.408409 -1.826460 0.777658 +v 2.398330 -1.257060 1.062419 +v -2.882738 -0.751604 0.493103 +v -0.984806 -1.921134 -0.834471 +v 2.429746 -2.174427 -0.075590 +v 1.386223 0.133904 -0.834679 +v -2.408409 -0.435270 -0.708164 +v -0.700209 0.133678 0.809390 +v 3.188673 -1.162386 -0.739896 +v -1.269404 -1.193793 -1.055976 +v 3.125223 -0.403637 0.082034 +v -2.882738 -1.636660 -0.360145 +v 1.386223 0.133904 0.904380 +v -0.700209 0.133678 -0.866204 +v -2.439826 -0.403637 0.714608 +v -2.882738 -0.719745 -0.391877 +v 3.410437 -1.162386 0.082242 +v -0.795075 -2.174427 -0.044066 +v -2.882738 -1.605027 0.524836 +v -1.838598 -1.889501 0.777658 +v -1.301436 0.133904 -0.012541 +v -1.996913 -1.889501 -0.771421 +v 0.374115 0.133904 -1.024451 +v 3.157256 -1.257060 0.809390 +v 2.398330 -0.403863 0.841122 +v 2.398330 -2.047668 0.493103 +v 2.366297 -1.035626 1.062419 +v 1.133042 -1.193793 1.062419 +v 2.998941 -1.731334 -0.613174 +v -0.257912 -1.225426 -1.055976 +v -2.408409 -1.004445 0.967430 +v -2.882738 -1.763193 0.113767 +v -1.680899 -2.142794 0.050302 +v -2.408409 -0.182204 -0.044066 +v 2.429746 -2.174427 0.082034 +v 2.398330 -0.403863 -0.739689 +v -1.838598 -1.130526 -1.024243 +v 2.998941 -1.794827 0.556361 +v 2.967525 -0.593437 0.619618 +v -2.408409 -1.857867 -0.708164 +v -2.882738 -0.593437 0.113767 +v -1.712316 -2.142794 -0.075590 +v -2.882738 -1.193793 0.651350 +v -2.882738 -1.225426 -0.518392 +v 3.125223 -0.403637 0.018984 +v -0.700209 -2.016034 -0.581649 +v 2.113732 -1.952768 0.777658 +v 3.157256 -1.257060 -0.771421 +v 3.410437 -1.162386 -0.044066 +f 55 114 115 +f 53 57 61 +f 65 55 71 +f 53 54 72 +f 57 53 72 +f 54 53 79 +f 53 61 79 +f 77 54 79 +f 57 62 80 +f 62 73 80 +f 74 59 81 +f 61 74 81 +f 73 62 82 +f 78 69 82 +f 77 64 83 +f 69 78 85 +f 56 67 86 +f 67 63 86 +f 60 68 86 +f 61 57 87 +f 59 74 87 +f 74 61 87 +f 57 80 87 +f 76 70 88 +f 57 72 89 +f 72 58 89 +f 68 60 90 +f 55 83 90 +f 83 64 90 +f 55 60 92 +f 79 61 93 +f 68 90 93 +f 90 64 93 +f 64 91 93 +f 91 79 93 +f 61 56 94 +f 56 86 94 +f 86 68 94 +f 93 61 94 +f 68 93 94 +f 55 65 95 +f 58 65 96 +f 65 70 96 +f 70 76 96 +f 89 58 96 +f 76 89 96 +f 56 61 97 +f 61 81 97 +f 81 69 97 +f 52 63 98 +f 63 67 98 +f 78 52 98 +f 67 85 98 +f 85 78 98 +f 86 63 99 +f 80 73 100 +f 73 82 100 +f 59 87 100 +f 87 80 100 +f 71 55 101 +f 84 71 101 +f 55 92 101 +f 99 84 101 +f 92 99 101 +f 58 72 102 +f 72 66 102 +f 75 58 102 +f 66 75 102 +f 62 57 103 +f 88 62 103 +f 76 88 103 +f 57 89 103 +f 89 76 103 +f 60 55 104 +f 55 90 104 +f 90 60 104 +f 64 77 105 +f 77 79 105 +f 91 64 105 +f 79 91 105 +f 63 52 106 +f 52 78 106 +f 62 88 106 +f 69 81 107 +f 81 59 107 +f 82 69 107 +f 59 100 107 +f 100 82 107 +f 88 70 108 +f 99 63 108 +f 84 99 108 +f 63 106 108 +f 106 88 108 +f 67 56 109 +f 85 67 109 +f 69 85 109 +f 56 97 109 +f 97 69 109 +f 82 62 110 +f 78 82 110 +f 106 78 110 +f 62 106 110 +f 72 54 111 +f 66 72 111 +f 75 66 111 +f 54 77 111 +f 77 83 111 +f 70 65 112 +f 65 71 112 +f 71 84 112 +f 108 70 112 +f 84 108 112 +f 60 86 113 +f 92 60 113 +f 86 99 113 +f 99 92 113 +f 65 58 114 +f 58 75 114 +f 55 95 114 +f 95 65 114 +f 83 55 115 +f 75 111 115 +f 111 83 115 +f 114 75 115 +o convex_2 +v 0.406061 0.323871 1.031003 +v 0.311338 0.134127 -1.024559 +v 0.058432 0.134127 -0.992768 +v 1.291385 0.134127 0.936032 +v 1.386418 0.323871 -0.803027 +v -1.206405 0.197406 -0.012472 +v -0.668710 0.323871 -0.866408 +v -0.700284 0.134127 0.809471 +v 1.924114 0.134127 0.082096 +v 1.354844 0.323871 0.904241 +v -0.668710 0.323871 0.809471 +v -0.700284 0.134127 -0.866408 +v 1.386418 0.134127 -0.834617 +v 1.702473 0.323871 0.082096 +v 0.374487 0.323871 -1.024559 +v -0.985074 0.323871 -0.075451 +v -1.238289 0.134127 -0.044062 +v 0.311338 0.134127 1.031003 +v 1.924114 0.165776 0.019118 +v 1.386418 0.134127 0.904241 +v -0.510837 0.292222 0.872852 +v -1.238289 0.165776 0.018916 +v -0.415804 0.260592 -0.929588 +v 1.228236 0.323871 -0.866408 +v 1.892230 0.197406 0.082096 +f 134 129 140 +f 118 117 119 +f 116 120 122 +f 118 119 123 +f 119 117 124 +f 116 119 125 +f 120 116 125 +f 116 122 126 +f 118 123 127 +f 124 117 128 +f 120 125 129 +f 122 120 130 +f 128 117 130 +f 122 121 131 +f 126 122 131 +f 121 126 131 +f 121 122 132 +f 122 127 132 +f 127 123 132 +f 119 116 133 +f 123 119 133 +f 128 120 134 +f 124 128 134 +f 120 129 134 +f 119 124 135 +f 124 125 135 +f 125 119 135 +f 116 126 136 +f 126 123 136 +f 133 116 136 +f 123 133 136 +f 126 121 137 +f 123 126 137 +f 121 132 137 +f 132 123 137 +f 117 118 138 +f 118 127 138 +f 127 122 138 +f 130 117 138 +f 122 130 138 +f 120 128 139 +f 130 120 139 +f 128 130 139 +f 125 124 140 +f 129 125 140 +f 124 134 140 +o convex_3 +v 1.417900 1.779065 -0.075652 +v -0.953673 0.324212 -0.107242 +v -0.257659 0.323871 -0.929588 +v 0.311437 3.802174 -0.012472 +v 1.228286 0.324212 0.936032 +v -0.416052 1.842053 0.777881 +v 1.323220 0.324212 -0.834617 +v 0.342912 3.327550 -0.739847 +v 0.437592 3.264562 0.777679 +v -0.416052 3.327891 0.018916 +v 1.165081 3.327891 -0.044062 +v -0.605666 0.324212 0.841061 +v -0.479257 1.747401 -0.771437 +v 0.342912 1.526092 1.031003 +v 1.639497 0.387200 0.145477 +v 0.374388 1.937046 -0.992567 +v 1.165081 1.842053 0.777881 +v 1.165081 1.905042 -0.739847 +v -0.668871 0.387540 -0.866207 +v 0.374388 0.323871 -1.024559 +v 0.311437 0.323871 1.031003 +v -0.953673 0.482193 0.018916 +v -0.226184 2.916596 0.588140 +v -0.257659 2.916596 -0.550106 +v 0.943738 2.979924 0.588140 +v 0.975213 2.916596 -0.581494 +v 1.639497 0.324212 -0.044062 +v 0.406117 2.000375 0.999212 +v 1.354695 0.418864 0.872651 +v 0.342912 3.327550 0.746291 +v 1.165081 3.296226 0.050506 +v 0.501051 3.770509 0.018916 +v 0.437592 3.296226 -0.739847 +v -0.668871 0.355876 0.809471 +v 1.354695 0.545521 -0.803027 +v 0.248232 1.810730 -0.992768 +v -0.416052 3.296226 0.082096 +v 0.248232 1.842053 0.999212 +v -0.700600 1.810730 -0.075652 +v -0.574191 0.324212 -0.897797 +v 0.437592 3.359214 0.714499 +v 0.469322 1.715737 -0.992567 +v 0.342912 3.264562 0.777679 +v -0.479257 1.684073 0.714701 +v 1.133352 1.842053 -0.771437 +v 0.311437 3.201233 -0.771437 +v 1.607768 0.735166 0.018916 +v 0.342912 3.770509 0.113686 +v -0.479257 1.842053 -0.739847 +v 0.406117 3.770509 -0.107242 +v 1.006943 0.735507 0.967421 +v -0.953673 0.450869 -0.075652 +v 1.228286 0.387540 -0.866207 +v -0.732076 1.684073 0.050506 +v 1.386425 2.063022 0.050506 +v 1.133352 1.747401 0.809471 +v 0.311437 0.482533 -1.024559 +v 1.196557 3.201233 -0.044062 +v -0.162979 0.988480 0.936032 +v -0.416052 3.264562 -0.044062 +v 1.386425 0.324212 0.809471 +v -0.447527 1.842053 -0.771437 +v 1.133352 3.359555 0.018916 +v -0.384323 0.608850 -0.929588 +f 197 180 204 +f 144 148 150 +f 142 143 161 +f 152 142 161 +f 143 160 161 +f 150 148 164 +f 149 157 165 +f 151 158 166 +f 160 147 167 +f 161 160 167 +f 155 157 169 +f 165 157 171 +f 151 166 173 +f 142 152 174 +f 152 146 174 +f 162 142 174 +f 158 141 175 +f 167 147 175 +f 146 163 177 +f 163 170 177 +f 154 168 178 +f 143 142 180 +f 142 159 180 +f 160 143 180 +f 149 165 181 +f 170 149 181 +f 163 146 183 +f 168 149 183 +f 149 170 183 +f 170 163 183 +f 146 178 183 +f 178 168 183 +f 174 146 184 +f 162 174 184 +f 146 177 184 +f 166 158 185 +f 156 173 185 +f 173 166 185 +f 158 175 185 +f 182 156 185 +f 164 148 186 +f 148 173 186 +f 173 156 186 +f 156 176 186 +f 155 167 187 +f 175 141 187 +f 167 175 187 +f 144 150 188 +f 172 144 188 +f 150 177 188 +f 177 170 188 +f 170 181 188 +f 181 172 188 +f 153 159 189 +f 148 144 190 +f 144 172 190 +f 172 151 190 +f 173 148 190 +f 151 173 190 +f 161 145 191 +f 154 161 191 +f 168 154 191 +f 159 142 192 +f 142 162 192 +f 189 159 192 +f 179 189 192 +f 147 160 193 +f 175 147 193 +f 160 182 193 +f 185 175 193 +f 182 185 193 +f 177 150 194 +f 150 179 194 +f 162 184 194 +f 184 177 194 +f 192 162 194 +f 179 192 194 +f 157 155 195 +f 171 157 195 +f 155 187 195 +f 157 149 196 +f 149 168 196 +f 145 169 196 +f 169 157 196 +f 191 145 196 +f 168 191 196 +f 176 156 197 +f 160 180 197 +f 156 182 197 +f 182 160 197 +f 141 158 198 +f 158 151 198 +f 151 171 198 +f 187 141 198 +f 171 195 198 +f 195 187 198 +f 146 152 199 +f 152 161 199 +f 161 154 199 +f 178 146 199 +f 154 178 199 +f 150 164 200 +f 179 150 200 +f 164 189 200 +f 189 179 200 +f 145 161 201 +f 167 155 201 +f 161 167 201 +f 169 145 201 +f 155 169 201 +f 159 153 202 +f 176 159 202 +f 164 186 202 +f 186 176 202 +f 153 189 202 +f 189 164 202 +f 171 151 203 +f 165 171 203 +f 151 172 203 +f 181 165 203 +f 172 181 203 +f 159 176 204 +f 180 159 204 +f 176 197 204 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/776/776.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/776/776.urdf new file mode 100644 index 000000000..b2c458d95 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/776/776.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/777/777.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/777/777.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/777/777.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/777/777.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/777/777.obj new file mode 100644 index 000000000..2d2d1a365 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/777/777.obj @@ -0,0 +1,3735 @@ +o convex_0 +v 0.537757 -2.234875 2.721851 +v -1.000236 -2.442701 1.952668 +v -1.000236 -2.421933 1.952668 +v 0.995543 -2.463498 1.952668 +v 0.974420 -2.505120 1.994304 +v -1.000236 -2.255672 2.638578 +v 0.933162 -2.214078 2.680139 +v -1.021161 -2.214078 2.597017 +v 0.995543 -2.255672 2.721851 +v -0.896401 -2.463498 1.973524 +v -0.937856 -2.401136 1.994304 +v -1.021161 -2.214078 2.680139 +v 0.995543 -2.505120 1.952668 +f 5 10 13 +f 2 3 4 +f 3 2 8 +f 6 5 9 +f 4 7 9 +f 7 1 9 +f 6 2 10 +f 5 6 10 +f 4 3 11 +f 7 4 11 +f 3 8 11 +f 8 7 11 +f 2 6 12 +f 1 7 12 +f 8 2 12 +f 7 8 12 +f 6 9 12 +f 9 1 12 +f 2 4 13 +f 4 9 13 +f 9 5 13 +f 10 2 13 +o convex_1 +v -1.021161 -2.172385 2.659479 +v 0.974420 -1.486444 2.971293 +v 0.974420 -1.486444 2.950488 +v 0.995543 -2.214050 2.701089 +v -1.021161 -1.548835 2.929716 +v 0.163672 -2.214050 2.721894 +v -0.979311 -1.569631 2.867333 +v 0.974420 -1.632022 2.950488 +v 0.870782 -2.151588 2.701089 +v -0.896401 -2.214050 2.701089 +v 0.995543 -2.193182 2.742666 +v -1.021161 -1.486444 2.908911 +v 0.829129 -1.507241 2.992098 +v -0.501390 -2.193182 2.659479 +f 17 23 27 +f 16 17 22 +f 20 16 22 +f 18 14 23 +f 17 19 23 +f 19 21 23 +f 16 15 24 +f 17 16 24 +f 19 17 24 +f 15 21 24 +f 21 19 24 +f 15 16 25 +f 14 18 25 +f 16 20 25 +f 20 14 25 +f 21 15 26 +f 18 23 26 +f 23 21 26 +f 15 25 26 +f 25 18 26 +f 14 20 27 +f 22 17 27 +f 20 22 27 +f 23 14 27 +o convex_2 +v 0.808379 -1.486373 2.992131 +v 0.018214 -0.509207 2.971334 +v 0.018214 -0.509207 2.950553 +v -1.021161 -1.486373 2.908976 +v 0.849946 -1.465521 2.950553 +v -0.917147 -1.153700 2.950553 +v 0.641917 -0.717151 2.992131 +v -0.480593 -0.634031 2.929765 +v 0.080662 -0.550815 2.992131 +v -0.729997 -1.486373 2.950553 +v -0.792445 -0.737907 2.950553 +v -0.875579 -1.132753 2.908976 +v 0.704364 -0.758759 2.971334 +v 0.953961 -1.423913 2.992131 +v -0.709117 -1.486373 2.908976 +f 39 32 42 +f 30 29 34 +f 29 30 35 +f 30 32 35 +f 34 29 36 +f 28 34 36 +f 31 28 37 +f 33 31 37 +f 36 33 37 +f 28 36 37 +f 31 33 38 +f 29 35 38 +f 33 36 38 +f 36 29 38 +f 35 32 39 +f 31 38 39 +f 38 35 39 +f 32 30 40 +f 30 34 40 +f 40 34 41 +f 28 32 41 +f 34 28 41 +f 32 40 41 +f 28 31 42 +f 32 28 42 +f 31 39 42 +o convex_3 +v -0.085461 -0.134957 -1.207636 +v 0.538146 0.343166 -1.186895 +v 0.538146 0.343166 -1.228407 +v 0.538146 -0.010163 -1.145297 +v 0.350992 0.114532 -1.415511 +v -0.272694 -0.010212 -1.166039 +v 0.413298 0.343166 -1.415511 +v -0.002361 0.010644 -1.415511 +v 0.288529 -0.010163 -1.124441 +v 0.517351 0.259986 -1.145297 +v -0.023156 -0.155715 -1.186838 +f 51 48 53 +f 45 44 46 +f 44 45 49 +f 45 46 49 +f 46 47 49 +f 48 44 49 +f 48 49 50 +f 43 48 50 +f 49 47 50 +f 48 51 52 +f 46 44 52 +f 44 48 52 +f 51 46 52 +f 47 46 53 +f 48 43 53 +f 43 50 53 +f 50 47 53 +f 46 51 53 +o convex_4 +v 0.995445 -2.484285 1.952544 +v -0.979467 -2.297262 1.453663 +v -0.979467 -2.318057 1.495269 +v -0.002463 -2.484329 1.453663 +v 0.974541 -2.318012 1.453663 +v -1.000371 -2.421944 1.952544 +v -1.000371 -2.463489 1.910938 +v -0.833922 -2.276422 1.516072 +v 0.995445 -2.505102 1.910938 +v 0.995445 -2.463489 1.931741 +v 0.974541 -2.359625 1.453663 +v 0.537908 -2.505102 1.952544 +v -0.085687 -2.484329 1.453663 +v 0.808289 -2.318012 1.495269 +f 61 63 67 +f 57 55 58 +f 55 56 60 +f 59 55 60 +f 58 55 61 +f 55 59 61 +f 59 54 63 +f 61 59 63 +f 54 62 63 +f 62 58 63 +f 57 58 64 +f 58 62 64 +f 62 57 64 +f 54 59 65 +f 59 60 65 +f 62 54 65 +f 62 65 66 +f 56 55 66 +f 55 57 66 +f 60 56 66 +f 57 62 66 +f 65 60 66 +f 58 61 67 +f 63 58 67 +o convex_5 +v 0.829184 3.212397 0.268547 +v 0.829184 3.170758 -0.542299 +v 0.808391 3.191639 -0.542299 +v 0.808391 3.544895 -0.105598 +v 0.621335 3.191598 0.684356 +v 0.621362 3.586574 -0.542299 +v 0.642128 3.544976 0.455619 +v 0.891562 3.170758 -0.022508 +v 0.808391 3.420142 -0.542299 +v 0.746039 3.170758 0.621798 +v 0.829184 3.524096 0.060702 +v 0.621362 3.544895 -0.542299 +v 0.621335 3.544976 0.455619 +f 79 72 80 +f 70 69 72 +f 69 70 73 +f 71 73 74 +f 69 73 76 +f 73 71 76 +f 75 69 76 +f 72 69 77 +f 74 72 77 +f 69 75 77 +f 75 68 77 +f 71 74 78 +f 68 75 78 +f 76 71 78 +f 75 76 78 +f 77 68 78 +f 74 77 78 +f 70 72 79 +f 73 70 79 +f 73 79 80 +f 74 73 80 +f 72 74 80 +o convex_6 +v -0.044109 2.172798 1.017063 +v -0.646928 1.382753 0.954636 +v -0.605289 1.382753 0.954636 +v 0.018348 1.382753 1.266497 +v -0.501260 1.715507 1.079399 +v 0.039168 2.193483 0.954636 +v -0.542966 2.006378 0.954636 +v 0.039168 1.403609 1.183312 +v -0.376546 1.403609 1.204070 +v -0.168756 2.235109 0.975455 +v -0.044109 1.403609 1.266497 +f 81 90 91 +f 82 83 84 +f 83 82 86 +f 81 84 86 +f 82 85 87 +f 86 82 87 +f 84 83 88 +f 83 86 88 +f 86 84 88 +f 82 84 89 +f 85 82 89 +f 85 89 90 +f 81 86 90 +f 86 87 90 +f 87 85 90 +f 84 81 91 +f 89 84 91 +f 90 89 91 +o convex_7 +v 0.787527 2.193483 0.788352 +v 0.039310 1.382753 1.204057 +v 0.039310 1.382753 1.224916 +v 0.870798 1.382753 0.746787 +v 0.059985 2.255965 0.933857 +v 0.434175 1.445235 1.162491 +v 0.538040 2.255965 0.933857 +v 0.829203 1.403609 0.705171 +v 0.787527 2.255965 0.705171 +v 0.704338 1.382753 0.954614 +v 0.039310 2.214339 0.996230 +v 0.704338 2.255965 0.871483 +v 0.039310 2.027234 0.996230 +v 0.080905 1.424550 1.224916 +v 0.039310 1.465920 1.162491 +v 0.725176 1.549258 0.933857 +f 92 103 107 +f 94 93 95 +f 95 93 99 +f 99 96 100 +f 92 95 100 +f 96 98 100 +f 95 99 100 +f 94 95 101 +f 97 94 101 +f 93 94 102 +f 98 96 102 +f 98 97 103 +f 92 100 103 +f 100 98 103 +f 96 99 104 +f 93 102 104 +f 102 96 104 +f 94 97 105 +f 97 98 105 +f 102 94 105 +f 98 102 105 +f 99 93 106 +f 93 104 106 +f 104 99 106 +f 95 92 107 +f 101 95 107 +f 97 101 107 +f 103 97 107 +o convex_8 +v -0.896417 -1.756755 -1.935281 +v -0.605375 -2.276371 -2.018531 +v -0.667741 -2.255566 -2.018531 +v -0.584555 -1.756755 -2.745962 +v -0.750835 -2.172397 -2.122495 +v -0.584555 -2.234761 -1.935281 +v -0.875598 -1.798314 -2.122495 +v -0.584555 -2.089279 -2.454942 +v -0.667741 -1.756755 -2.434149 +v -0.626163 -1.777509 -2.725249 +v -0.750835 -2.214007 -1.935281 +v -0.854809 -1.756755 -1.956153 +f 113 116 119 +f 109 110 115 +f 110 112 115 +f 113 109 115 +f 111 113 115 +f 111 108 116 +f 113 111 116 +f 108 111 117 +f 114 108 117 +f 112 114 117 +f 111 115 117 +f 115 112 117 +f 110 109 118 +f 112 110 118 +f 113 108 118 +f 109 113 118 +f 108 114 118 +f 114 112 118 +f 108 113 119 +f 116 108 119 +o convex_9 +v 0.683752 -1.424001 -2.891558 +v 0.621372 -2.234840 -2.122457 +v 0.621372 -2.172377 -2.267994 +v 0.995543 -1.507259 -2.122652 +v 0.974737 -1.424001 -1.893699 +v 0.746096 -2.193171 -2.143359 +v 0.787670 -1.444875 -2.849948 +v 0.642104 -1.424001 -2.849948 +v 0.642141 -1.839818 -2.725216 +v 0.621372 -2.213966 -2.060042 +v 0.933163 -1.715049 -1.893699 +v 0.995543 -1.424001 -2.184969 +f 126 120 131 +f 121 122 125 +f 123 125 126 +f 124 120 127 +f 125 122 128 +f 126 125 128 +f 120 126 128 +f 127 120 128 +f 122 127 128 +f 122 121 129 +f 121 125 129 +f 127 122 129 +f 124 127 129 +f 123 124 130 +f 125 123 130 +f 129 125 130 +f 124 129 130 +f 120 124 131 +f 124 123 131 +f 123 126 131 +o convex_10 +v -0.917208 -0.010092 -0.833370 +v -0.958789 1.382616 -0.105693 +v -0.937998 1.237006 -0.230487 +v -0.958789 1.361756 -0.833370 +v -0.979580 -0.010092 -0.105693 +v -0.896417 0.301853 -0.708577 +v -0.917208 1.382616 -0.833370 +v -0.958789 -0.010092 -0.105693 +v -0.979580 1.382616 -0.396878 +v -0.979580 -0.010092 -0.292883 +v -0.979580 1.382616 -0.105693 +v -0.896417 -0.010092 -0.833370 +v -0.937998 -0.010092 -0.750174 +f 141 135 144 +f 133 134 138 +f 132 135 138 +f 134 137 138 +f 134 133 139 +f 136 132 139 +f 133 136 139 +f 137 134 139 +f 133 138 140 +f 138 135 140 +f 132 136 141 +f 140 135 141 +f 136 140 141 +f 136 133 142 +f 140 136 142 +f 133 140 142 +f 132 138 143 +f 138 137 143 +f 139 132 143 +f 137 139 143 +f 135 132 144 +f 132 141 144 +o convex_11 +v -1.000350 -0.010035 -0.084789 +v -0.792483 -0.010196 0.892263 +v -0.813301 -0.010196 0.892263 +v -0.854854 1.382456 0.725905 +v -0.958757 1.382456 -0.105693 +v -0.896427 1.236969 0.725905 +v -0.958757 -0.010035 -0.105693 +v -0.854854 -0.259533 0.808938 +v -0.979533 1.382456 0.060763 +v -1.000371 -0.259533 -0.022270 +v -0.792483 -0.259533 0.850454 +v -0.958757 -0.259533 -0.043077 +v -0.792483 -0.010196 0.850454 +v -0.917183 1.382456 0.580353 +v -1.000350 0.592649 -0.043174 +v -0.854854 1.382456 0.684291 +f 157 149 160 +f 147 146 148 +f 147 148 150 +f 145 149 151 +f 147 150 152 +f 148 149 153 +f 145 151 154 +f 152 150 154 +f 152 154 155 +f 146 147 155 +f 151 149 155 +f 147 152 155 +f 151 155 156 +f 154 151 156 +f 155 154 156 +f 148 146 157 +f 146 155 157 +f 155 149 157 +f 150 148 158 +f 148 153 158 +f 154 150 158 +f 154 158 159 +f 149 145 159 +f 153 149 159 +f 145 154 159 +f 158 153 159 +f 149 148 160 +f 148 157 160 +o convex_12 +v -0.875626 0.343436 0.725982 +v -0.584555 0.842030 1.183289 +v -0.605383 0.842030 1.183289 +v -0.834028 1.382616 0.725982 +v -0.584555 -0.010092 0.892296 +v -0.584555 1.382616 0.975386 +v -0.854799 -0.010092 0.850751 +v -0.875626 1.382616 0.746799 +v -0.834028 -0.010092 0.725982 +v -0.605383 1.382616 1.037748 +v -0.730091 -0.010092 0.913113 +v -0.605383 0.738139 1.183289 +f 171 165 172 +f 162 165 166 +f 165 164 166 +f 164 161 168 +f 166 164 168 +f 167 163 168 +f 161 167 168 +f 161 164 169 +f 164 165 169 +f 167 161 169 +f 165 167 169 +f 163 162 170 +f 162 166 170 +f 168 163 170 +f 166 168 170 +f 167 165 171 +f 167 171 172 +f 162 163 172 +f 165 162 172 +f 163 167 172 +o convex_13 +v 0.746078 3.170583 -1.020428 +v 0.766859 3.482500 -0.542352 +v 0.766859 3.482500 -0.583938 +v 0.870798 2.256085 -0.542352 +v 0.746078 2.256085 -1.020428 +v 0.849993 2.443259 -0.958050 +v 0.849993 3.212244 -0.563145 +v 0.787651 3.316096 -0.999635 +v 0.746078 3.420069 -0.542352 +v 0.766859 2.256085 -1.082859 +v 0.849993 2.256085 -0.542352 +v 0.870798 2.256085 -0.812606 +f 182 178 184 +f 175 174 179 +f 174 176 179 +f 179 178 180 +f 173 175 180 +f 175 179 180 +f 175 173 181 +f 174 175 181 +f 176 174 181 +f 173 177 181 +f 177 173 182 +f 176 177 182 +f 180 178 182 +f 173 180 182 +f 177 176 183 +f 176 181 183 +f 181 177 183 +f 179 176 184 +f 178 179 184 +f 176 182 184 +o convex_14 +v -0.272755 -2.068514 -2.766805 +v -0.064888 -2.421941 -1.935370 +v -0.085644 -2.401134 -1.956232 +v -0.584555 -2.276365 -2.060184 +v -0.542890 -2.068514 -2.392722 +v -0.085644 -2.172476 -2.808350 +v -0.064888 -2.068514 -2.808350 +v -0.085644 -2.442748 -2.080956 +v -0.522134 -2.255631 -1.935370 +v -0.584555 -2.089321 -2.454950 +v -0.584555 -2.255631 -2.143274 +v -0.584555 -2.276365 -1.935370 +v -0.355780 -2.089321 -2.475722 +f 189 193 197 +f 187 186 191 +f 185 189 191 +f 190 185 191 +f 186 190 191 +f 190 186 192 +f 186 187 193 +f 189 185 194 +f 185 190 194 +f 192 188 195 +f 190 192 195 +f 194 190 195 +f 188 194 195 +f 192 186 196 +f 188 192 196 +f 186 193 196 +f 193 189 196 +f 189 194 196 +f 194 188 196 +f 187 191 197 +f 191 189 197 +f 193 187 197 +o convex_15 +v -0.750848 -1.403310 -2.829267 +v -0.064957 -2.047676 -2.808387 +v -0.064957 -2.068449 -2.808387 +v -0.771672 -1.715041 -2.288724 +v -0.147978 -1.403310 -2.995577 +v -0.584529 -2.047676 -2.538335 +v -0.106467 -2.068449 -2.850001 +v -0.750848 -1.424083 -2.621417 +v -0.542881 -2.068449 -2.434373 +v -0.168802 -1.444856 -3.037191 +v -0.563636 -1.943744 -2.683764 +v -0.064957 -1.777426 -2.891542 +v -0.750848 -1.715041 -2.288724 +v -0.730023 -1.424083 -2.850074 +v -0.771672 -1.756588 -2.351145 +v -0.335052 -2.068449 -2.746039 +v -0.750848 -1.652721 -2.330338 +f 210 202 214 +f 198 201 205 +f 202 198 205 +f 200 199 206 +f 204 200 206 +f 198 202 207 +f 203 198 208 +f 199 200 209 +f 200 204 209 +f 207 202 209 +f 204 207 209 +f 206 199 210 +f 201 206 210 +f 199 209 210 +f 209 202 210 +f 198 207 211 +f 207 204 211 +f 208 198 211 +f 201 198 212 +f 198 203 212 +f 206 201 212 +f 203 206 212 +f 206 203 213 +f 204 206 213 +f 203 208 213 +f 211 204 213 +f 208 211 213 +f 205 201 214 +f 202 205 214 +f 201 210 214 +o convex_16 +v -0.979555 -1.756653 -0.126484 +v -0.750918 -2.193259 -1.935104 +v -0.730115 -2.193259 -1.935104 +v -0.875614 -1.756653 -1.935104 +v -0.958752 -2.193259 -0.168265 +v -0.896392 -1.777466 -0.459315 +v -0.917195 -1.777466 -1.851896 +v -0.813278 -2.193259 -0.833574 +v -0.917195 -2.151675 -0.147552 +v -0.730115 -2.130820 -1.914213 +v -0.792500 -2.151675 -1.831005 +v -0.854835 -1.777466 -1.893500 +v -0.979555 -1.943843 -0.147552 +f 219 223 227 +f 217 216 218 +f 216 217 219 +f 218 215 220 +f 218 216 221 +f 215 218 221 +f 219 217 222 +f 222 220 223 +f 220 215 223 +f 219 222 223 +f 217 218 224 +f 222 217 224 +f 220 222 224 +f 216 219 225 +f 221 216 225 +f 219 221 225 +f 218 220 226 +f 224 218 226 +f 220 224 226 +f 215 221 227 +f 221 219 227 +f 223 215 227 +o convex_17 +v -0.854835 -2.151675 0.933761 +v -0.958787 -2.193259 -0.126484 +v -0.979557 -2.026882 -0.105583 +v -0.979557 -2.193259 1.224916 +v -0.979557 -1.756653 1.079140 +v -0.917218 -1.756653 0.226975 +v -0.854835 -2.193259 0.476593 +v -0.958787 -1.756653 -0.126484 +v -1.000371 -1.756653 0.892225 +v -0.917218 -1.777466 0.725813 +v -0.917218 -2.151675 -0.043278 +v -1.000371 -2.006112 1.079140 +v -0.937988 -2.193259 1.224916 +v -0.979557 -1.756653 -0.126484 +v -0.958787 -1.756653 1.079140 +f 232 240 242 +f 233 228 234 +f 231 229 234 +f 232 233 235 +f 232 235 236 +f 228 233 237 +f 233 234 238 +f 234 229 238 +f 229 235 238 +f 235 233 238 +f 230 229 239 +f 229 231 239 +f 231 232 239 +f 236 230 239 +f 232 236 239 +f 232 231 240 +f 234 228 240 +f 231 234 240 +f 229 230 241 +f 235 229 241 +f 230 236 241 +f 236 235 241 +f 233 232 242 +f 228 237 242 +f 237 233 242 +f 240 228 242 +o convex_18 +v 0.101566 -2.068514 -2.870735 +v 0.621309 -2.214090 -2.060025 +v 0.621309 -2.234897 -2.060025 +v -0.064786 -2.401134 -2.060025 +v 0.039176 -2.255631 -2.704425 +v -0.064786 -2.068514 -2.829137 +v 0.080814 -2.442748 -2.122544 +v 0.621309 -2.068514 -2.455164 +v 0.558918 -2.068514 -2.392808 +v 0.600490 -2.255631 -2.122544 +v 0.060062 -2.193283 -2.849977 +v -0.064786 -2.442748 -2.122544 +v -0.064786 -2.172476 -2.829137 +v 0.350927 -2.089321 -2.746023 +f 253 243 256 +f 245 244 246 +f 245 246 249 +f 244 245 250 +f 243 248 250 +f 250 248 251 +f 246 244 251 +f 248 246 251 +f 244 250 251 +f 245 249 252 +f 249 247 252 +f 250 245 252 +f 252 247 253 +f 246 248 254 +f 249 246 254 +f 247 249 254 +f 248 243 255 +f 243 253 255 +f 253 247 255 +f 254 248 255 +f 247 254 255 +f 243 250 256 +f 250 252 256 +f 252 253 256 +o convex_19 +v 0.642100 -1.756588 -2.725354 +v -0.002406 -1.424083 -3.099563 +v -0.002406 -1.403310 -3.099563 +v 0.558888 -2.068449 -2.434287 +v 0.060080 -2.068449 -2.891505 +v -0.147949 -1.424083 -2.995601 +v 0.642100 -1.403310 -2.912391 +v -0.064737 -2.068449 -2.829249 +v 0.579614 -2.006064 -2.663031 +v 0.600417 -1.403310 -2.870887 +v -0.147949 -1.694268 -2.891707 +v 0.600417 -2.047676 -2.413468 +v -0.064737 -2.068449 -2.870753 +v 0.060003 -1.424083 -3.099563 +v 0.371738 -2.068449 -2.746106 +v 0.642100 -1.424083 -2.912391 +v -0.147949 -1.444856 -3.037106 +f 269 267 273 +f 261 260 264 +f 259 262 266 +f 263 259 266 +f 264 260 267 +f 257 263 268 +f 265 257 268 +f 260 265 268 +f 266 262 268 +f 263 266 268 +f 267 260 268 +f 262 267 268 +f 258 261 269 +f 261 264 269 +f 264 267 269 +f 258 259 270 +f 261 258 270 +f 259 263 270 +f 260 261 271 +f 265 260 271 +f 265 271 272 +f 263 257 272 +f 257 265 272 +f 261 270 272 +f 270 263 272 +f 271 261 272 +f 259 258 273 +f 262 259 273 +f 267 262 273 +f 258 269 273 +o convex_20 +v 0.912380 -2.006112 -0.438504 +v 0.704472 -2.193259 -2.060025 +v 0.704472 -2.172403 -2.060025 +v 0.912380 -1.777466 -1.955902 +v 0.870762 -1.777466 -0.521675 +v 0.891560 -2.193259 -0.438504 +v 0.787668 -2.193259 -0.875153 +v 0.849983 -1.777466 -2.060025 +v 0.766869 -2.172403 -2.060025 +v 0.912380 -1.756653 -0.438504 +v 0.849983 -2.172403 -0.459297 +v 0.787668 -2.110092 -0.895946 +f 280 284 285 +f 277 274 279 +f 276 275 280 +f 275 279 280 +f 275 276 281 +f 276 278 281 +f 279 275 282 +f 277 279 282 +f 275 281 282 +f 281 277 282 +f 274 277 283 +f 279 274 283 +f 277 281 283 +f 281 278 283 +f 280 279 284 +f 279 283 284 +f 283 278 284 +f 278 276 285 +f 276 280 285 +f 284 278 285 +o convex_21 +v 0.995543 -1.756653 0.933662 +v 0.870821 -2.193259 -0.438187 +v 0.870821 -1.985298 -0.438187 +v 0.850007 -2.193259 0.933662 +v 0.974730 -2.193259 1.183334 +v 0.974730 -1.839863 -0.126295 +v 0.933160 -1.756653 1.037626 +v 0.891591 -1.756653 -0.438187 +v 0.953959 -2.151675 -0.105502 +v 0.933160 -1.756653 -0.417394 +v 0.995543 -1.943843 0.975247 +v 0.912390 -2.193259 -0.355016 +f 287 295 297 +f 288 287 289 +f 289 287 290 +f 290 286 292 +f 289 290 292 +f 287 288 293 +f 288 289 293 +f 289 292 293 +f 292 286 293 +f 286 291 295 +f 287 293 295 +f 293 286 295 +f 286 290 296 +f 291 286 296 +f 290 294 296 +f 294 291 296 +f 290 287 297 +f 294 290 297 +f 291 294 297 +f 295 291 297 +o convex_22 +v -0.875600 -0.363731 -0.958115 +v -0.792493 -0.696281 -2.080816 +v -0.792493 -0.654702 -2.080816 +v -0.771705 -0.301340 -1.020536 +v -0.917193 -0.696281 -0.958115 +v -0.917193 -0.259718 -0.978995 +v -0.937998 -0.696281 -1.436494 +v -0.771705 -0.696281 -1.955974 +v -0.771705 -0.301340 -1.207689 +f 301 305 306 +f 301 298 302 +f 298 301 303 +f 302 298 303 +f 300 299 304 +f 299 302 304 +f 302 303 304 +f 303 300 304 +f 299 300 305 +f 301 302 305 +f 302 299 305 +f 300 303 306 +f 303 301 306 +f 305 300 306 +o convex_23 +v -0.875650 -0.550870 0.829891 +v -0.958757 -1.673425 1.079356 +v -0.979553 -1.673425 1.079356 +v -0.958757 -1.756653 0.829891 +v -0.792483 -0.821361 0.871501 +v -1.000371 -1.236623 0.892282 +v -0.813280 -0.259718 0.892282 +v -1.000371 -1.735846 0.829891 +v -0.979553 -1.008185 0.913087 +f 313 307 315 +f 308 309 310 +f 310 307 311 +f 308 310 311 +f 309 308 313 +f 311 307 313 +f 308 311 313 +f 310 309 314 +f 307 310 314 +f 312 307 314 +f 309 312 314 +f 307 312 315 +f 312 309 315 +f 309 313 315 +o convex_24 +v -0.792463 -0.259767 0.850690 +v -0.023205 -0.010229 1.058571 +v -0.023205 -0.010229 0.996183 +v -0.771605 -0.758696 0.850690 +v -0.147976 -0.488424 0.850690 +v -0.792463 -0.010229 0.892303 +v -0.023205 -0.051843 0.913099 +v -0.792463 -0.654661 0.892283 +v -0.709257 -0.010229 0.871486 +v -0.147976 -0.426076 0.913058 +v -0.771605 -0.758696 0.871507 +f 325 317 326 +f 319 316 320 +f 317 318 321 +f 318 317 322 +f 317 320 322 +f 316 319 323 +f 317 321 323 +f 321 316 323 +f 320 316 324 +f 321 318 324 +f 316 321 324 +f 318 322 324 +f 322 320 324 +f 320 317 325 +f 320 325 326 +f 319 320 326 +f 317 323 326 +f 323 319 326 +o convex_25 +v 0.995543 -1.340899 0.767242 +v 0.891589 -1.756653 -1.061849 +v 0.891589 -1.756527 -1.893618 +v 0.933197 -1.112139 -1.061849 +v 0.995543 -1.507074 -1.893618 +v 0.933197 -1.756653 0.829891 +v 0.974734 -1.133022 -1.872557 +v 0.974734 -1.756653 -0.147437 +v 0.933197 -1.486381 0.829891 +v 0.891589 -1.694195 -0.417495 +v 0.933197 -1.112139 -1.893618 +v 0.974734 -1.756653 0.725387 +v 0.933197 -1.756527 -1.748058 +v 0.953935 -1.340899 0.829891 +v 0.995543 -1.299323 -1.893618 +v 0.995543 -1.548713 -0.043732 +v 0.953935 -1.112139 -1.061849 +f 330 340 343 +f 332 328 334 +f 332 335 336 +f 329 328 336 +f 328 332 336 +f 335 330 336 +f 336 330 337 +f 331 329 337 +f 329 336 337 +f 327 332 338 +f 332 334 338 +f 328 329 339 +f 329 331 339 +f 334 328 339 +f 331 334 339 +f 332 327 340 +f 330 335 340 +f 335 332 340 +f 327 331 341 +f 333 327 341 +f 331 337 341 +f 337 333 341 +f 331 327 342 +f 334 331 342 +f 327 338 342 +f 338 334 342 +f 327 333 343 +f 337 330 343 +f 333 337 343 +f 340 327 343 +o convex_26 +v -0.147949 -0.467617 0.892298 +v 0.808426 -0.010229 0.871503 +v 0.808426 -0.010229 0.850731 +v 0.683637 -0.758696 0.892298 +v -0.023160 -0.010229 1.058590 +v -0.147949 -0.426076 0.850686 +v -0.023160 -0.072650 0.913093 +v 0.683637 -0.571506 0.933843 +v 0.808426 -0.259767 0.829913 +v 0.662760 -0.758696 0.871503 +v 0.787550 -0.072650 0.829913 +v 0.039282 -0.031109 1.058590 +v 0.143195 -0.010229 0.913093 +v 0.683543 -0.010229 0.913093 +f 355 351 357 +f 344 347 348 +f 345 346 348 +f 344 348 349 +f 349 348 350 +f 346 345 352 +f 345 351 352 +f 351 347 352 +f 347 344 353 +f 344 349 353 +f 349 352 353 +f 352 347 353 +f 349 350 354 +f 346 352 354 +f 352 349 354 +f 348 347 355 +f 347 351 355 +f 348 346 356 +f 350 348 356 +f 354 350 356 +f 346 354 356 +f 345 348 357 +f 351 345 357 +f 348 355 357 +o convex_27 +v 0.933146 -0.696373 0.892288 +v 0.683681 -0.821361 0.871501 +v 0.933146 -1.756653 0.829891 +v 0.933146 -1.756653 1.016990 +v 0.683681 -0.467788 0.933825 +v 0.849961 -0.259718 0.829891 +v 0.995543 -1.112074 0.829891 +v 0.746078 -0.259718 0.829891 +v 0.808444 -0.509256 0.933825 +v 0.974724 -0.987525 0.933825 +v 0.995543 -1.756653 0.913075 +f 364 367 368 +f 359 360 361 +f 359 361 362 +f 360 363 364 +f 363 358 364 +f 360 359 365 +f 359 362 365 +f 362 363 365 +f 363 360 365 +f 362 361 366 +f 363 362 366 +f 358 363 366 +f 364 358 367 +f 358 366 367 +f 366 361 367 +f 361 360 368 +f 360 364 368 +f 367 361 368 +o convex_28 +v -1.000358 -1.444791 -0.958109 +v -0.958777 -0.259761 0.039842 +v -0.875663 -0.176630 -0.957901 +v -0.958777 -1.319955 0.039842 +v -1.000371 -0.010229 -0.085122 +v -0.917232 -0.010229 -0.999417 +v -1.000358 -1.444791 0.039842 +v -0.958777 -1.278390 -0.958109 +v -0.875663 -0.010229 -1.020487 +v -1.000358 -1.236544 -0.958109 +v -0.896429 -0.592563 -0.958109 +v -0.958765 -0.010229 -0.064260 +v -0.979555 -1.444791 -0.958109 +f 377 376 381 +f 371 370 372 +f 372 370 375 +f 373 369 375 +f 370 373 375 +f 370 371 377 +f 374 373 377 +f 369 373 378 +f 373 374 378 +f 377 369 378 +f 374 377 378 +f 371 372 379 +f 372 376 379 +f 377 371 379 +f 376 377 379 +f 373 370 380 +f 370 377 380 +f 377 373 380 +f 372 375 381 +f 375 369 381 +f 376 372 381 +f 369 377 381 +o convex_29 +v -0.875543 -0.114205 -1.041310 +v 0.829133 -0.010229 -1.124441 +v 0.829133 -0.197327 -1.124441 +v -0.293523 -0.010229 -1.166006 +v -0.127161 -0.259693 -1.166006 +v -0.813136 -0.259693 -0.999696 +v -0.854518 -0.010229 -0.999696 +v 0.829133 -0.259693 -1.166022 +v 0.829133 -0.010229 -1.166022 +v -0.833827 -0.259693 -1.041310 +f 386 387 391 +f 384 383 387 +f 383 385 388 +f 385 382 388 +f 387 383 388 +f 382 387 388 +f 383 384 389 +f 386 385 389 +f 384 387 389 +f 387 386 389 +f 385 383 390 +f 383 389 390 +f 389 385 390 +f 382 385 391 +f 385 386 391 +f 387 382 391 +o convex_30 +v -0.210301 0.530289 -2.995553 +v -0.293456 0.280909 -2.559054 +v -0.314275 0.280909 -2.559054 +v -0.293456 0.779770 -2.642224 +v -0.002414 0.779770 -2.850019 +v -0.002414 0.260102 -2.933189 +v -0.314275 0.509583 -2.912384 +v -0.002414 0.551045 -3.078722 +v -0.064811 0.779770 -2.933189 +v -0.314275 0.260102 -2.663029 +v -0.002414 0.260102 -2.870824 +v -0.314275 0.779770 -2.704588 +v -0.044022 0.280909 -2.953994 +f 401 398 404 +f 394 393 395 +f 395 393 396 +f 396 397 399 +f 395 396 400 +f 399 392 400 +f 396 399 400 +f 393 394 401 +f 394 398 401 +f 396 393 402 +f 397 396 402 +f 393 401 402 +f 401 397 402 +f 394 395 403 +f 398 394 403 +f 392 398 403 +f 395 400 403 +f 400 392 403 +f 398 392 404 +f 392 399 404 +f 399 397 404 +f 397 401 404 +o convex_31 +v -0.147941 0.779879 -2.850058 +v 0.267866 1.029310 -1.893919 +v -0.293419 1.029310 -1.852118 +v 0.267866 0.675970 -2.725077 +v -0.044004 0.925331 -2.808256 +v -0.314275 0.779879 -2.621156 +v 0.247067 0.842246 -2.642004 +v -0.314275 0.925331 -2.060172 +v -0.044004 1.029310 -2.268120 +v 0.039135 0.675970 -2.933237 +v -0.293419 0.842246 -2.683487 +v 0.267866 0.987663 -1.935508 +v -0.314275 1.029310 -1.956250 +v 0.267866 1.029310 -1.977098 +v -0.085544 0.925331 -2.808256 +f 415 417 419 +f 410 408 412 +f 407 406 413 +f 408 410 414 +f 410 405 414 +f 411 408 414 +f 409 411 414 +f 405 410 415 +f 406 407 416 +f 408 406 416 +f 407 412 416 +f 412 408 416 +f 412 407 417 +f 410 412 417 +f 407 413 417 +f 415 410 417 +f 406 408 418 +f 408 411 418 +f 411 409 418 +f 413 406 418 +f 409 413 418 +f 413 409 419 +f 414 405 419 +f 409 414 419 +f 405 415 419 +f 417 413 419 +o convex_32 +v -0.542943 0.551094 -2.101635 +v -0.335117 0.260051 -2.621115 +v -0.314298 0.260051 -2.621115 +v -0.563736 0.260051 -1.082859 +v -0.314298 0.696657 -2.704331 +v -0.563736 0.696657 -1.290899 +v -0.459823 0.301720 -1.270184 +v -0.418263 0.488740 -2.829155 +v -0.584555 0.260051 -1.145360 +v -0.397470 0.696657 -2.642008 +v -0.584555 0.696657 -1.519655 +v -0.314298 0.260051 -2.455038 +v -0.314298 0.488740 -2.891656 +v -0.439004 0.260051 -2.122351 +v -0.418263 0.592677 -2.787548 +f 432 427 434 +f 421 422 423 +f 424 425 426 +f 425 423 426 +f 421 423 428 +f 423 425 428 +f 420 427 428 +f 425 424 429 +f 420 428 430 +f 428 425 430 +f 425 429 430 +f 423 422 431 +f 422 424 431 +f 424 426 431 +f 426 423 431 +f 422 421 432 +f 424 422 432 +f 421 427 432 +f 427 421 433 +f 421 428 433 +f 428 427 433 +f 427 420 434 +f 429 424 434 +f 420 430 434 +f 430 429 434 +f 424 432 434 +o convex_33 +v 0.829217 -0.176420 -1.166022 +v 0.974752 -0.010196 -0.084903 +v 0.953925 -0.010196 -0.084903 +v 0.870814 1.382456 -0.957968 +v 0.912370 1.382456 -0.168188 +v 0.912370 1.382456 -0.916378 +v 0.870800 -0.218057 -1.124327 +v 0.953953 1.382456 -0.105750 +v 0.933168 -0.259533 -0.168082 +v 0.974752 -0.259533 -0.188930 +v 0.850016 1.382456 -0.916378 +v 0.829217 -0.259533 -1.082843 +v 0.974752 0.447484 -0.126704 +f 436 444 447 +f 435 438 440 +f 438 439 440 +f 435 440 441 +f 437 436 442 +f 439 437 442 +f 440 439 442 +f 436 437 443 +f 437 439 443 +f 441 440 444 +f 436 443 444 +f 438 435 445 +f 439 438 445 +f 439 445 446 +f 435 441 446 +f 443 439 446 +f 441 444 446 +f 444 443 446 +f 445 435 446 +f 442 436 447 +f 440 442 447 +f 444 440 447 +o convex_34 +v -0.480530 0.093772 -1.020487 +v -0.480530 0.197667 -1.311558 +v -0.480530 0.260051 -1.311558 +v -0.085626 0.010593 -1.311558 +v -0.584555 -0.010229 -1.041314 +v -0.563702 0.260051 -1.062113 +v -0.335091 0.010593 -1.041314 +v -0.168797 -0.010229 -1.311558 +f 451 454 455 +f 449 450 451 +f 450 449 452 +f 451 450 453 +f 452 448 453 +f 450 452 453 +f 448 452 454 +f 451 453 454 +f 453 448 454 +f 449 451 455 +f 452 449 455 +f 454 452 455 +o convex_35 +v 0.933146 -0.259533 -0.043138 +v 0.829261 -0.010196 0.871473 +v 0.808458 -0.010196 0.871473 +v 0.953933 1.382456 -0.105693 +v 0.891605 1.382456 0.705041 +v 0.974736 -0.259533 -0.022382 +v 0.912359 1.382456 -0.043233 +v 0.829229 1.382456 0.746553 +v 0.850048 -0.259533 0.850525 +v 0.808458 -0.259533 0.829673 +v 0.974736 0.468061 -0.084746 +v 0.933162 0.239462 -0.105693 +v 0.808458 -0.051833 0.808917 +f 462 467 468 +f 460 459 462 +f 460 462 463 +f 458 457 463 +f 457 460 463 +f 457 458 464 +f 460 457 464 +f 456 461 464 +f 461 460 464 +f 456 464 465 +f 464 458 465 +f 459 460 466 +f 460 461 466 +f 466 461 467 +f 461 456 467 +f 462 459 467 +f 456 465 467 +f 459 466 467 +f 467 465 468 +f 463 462 468 +f 458 463 468 +f 465 458 468 +o convex_36 +v -0.875602 0.197942 -1.041294 +v -0.896371 1.382616 -0.833419 +v -0.584574 1.382616 -1.145232 +v -0.584574 -0.010092 -1.020487 +v -0.605380 0.717208 -1.332300 +v -0.917177 -0.010092 -0.833419 +v -0.937946 1.382616 -0.854226 +v -0.917177 -0.010092 -0.999680 +v -0.605380 1.382616 -1.207555 +v -0.584574 0.676038 -1.332300 +v -0.813257 1.382616 -1.020487 +v -0.584574 0.239521 -1.020487 +v -0.875602 -0.010092 -1.041294 +v -0.958753 1.133003 -0.854226 +v -0.896371 -0.010092 -0.833419 +f 474 472 483 +f 470 471 475 +f 469 473 476 +f 472 474 476 +f 475 471 477 +f 471 472 478 +f 477 471 478 +f 473 477 478 +f 473 469 479 +f 477 473 479 +f 475 477 479 +f 471 470 480 +f 472 471 480 +f 470 472 480 +f 476 473 481 +f 472 476 481 +f 478 472 481 +f 473 478 481 +f 474 470 482 +f 470 475 482 +f 476 474 482 +f 469 476 482 +f 479 469 482 +f 475 479 482 +f 472 470 483 +f 470 474 483 +o convex_37 +v 0.766891 -1.361573 -2.849948 +v 0.995543 -1.299238 -1.893699 +v 0.995543 -1.424001 -1.893699 +v 0.642100 -1.112139 -2.725216 +v 0.642100 -1.424001 -2.870753 +v 0.912372 -1.112139 -1.893699 +v 0.912372 -1.112139 -2.143262 +v 0.974750 -1.424001 -2.247287 +v 0.683720 -1.112139 -2.766728 +v 0.974750 -1.424001 -1.893699 +v 0.787649 -1.403151 -2.849948 +f 492 490 494 +f 486 485 489 +f 487 488 489 +f 487 489 490 +f 489 485 490 +f 485 486 491 +f 486 488 491 +f 490 485 491 +f 484 488 492 +f 488 487 492 +f 487 490 492 +f 488 486 493 +f 486 489 493 +f 489 488 493 +f 488 484 494 +f 490 491 494 +f 491 488 494 +f 484 492 494 +o convex_38 +v 0.371840 1.029310 -1.914726 +v 0.267866 0.675936 -2.766911 +v 0.267866 0.696692 -2.766911 +v 0.538146 0.696692 -1.478091 +v 0.267866 1.008484 -1.873128 +v 0.538146 1.029310 -1.353298 +v 0.517351 0.675936 -1.353298 +v 0.454940 0.675936 -2.059748 +v 0.434172 1.029310 -1.374097 +v 0.267866 0.675936 -2.600378 +v 0.288661 0.717483 -2.746112 +v 0.267866 0.883740 -2.434129 +f 495 505 506 +f 497 496 499 +f 498 500 501 +f 498 501 502 +f 500 498 502 +f 501 496 502 +f 495 499 503 +f 500 495 503 +f 499 501 503 +f 501 500 503 +f 499 496 504 +f 501 499 504 +f 496 501 504 +f 496 497 505 +f 495 500 505 +f 502 496 505 +f 500 502 505 +f 499 495 506 +f 497 499 506 +f 505 497 506 +o convex_39 +v 0.288683 0.634269 2.721851 +v 0.538095 0.239261 0.933845 +v 0.558884 0.239261 0.933845 +v 0.558884 0.821402 1.162946 +v 0.371865 0.260117 1.308213 +v 0.517306 0.613470 1.931460 +v 0.309498 0.322456 2.430617 +v 0.288683 0.821402 2.388788 +v 0.392653 0.655068 2.638366 +v 0.496518 0.821402 1.204426 +v 0.288683 0.239261 1.931460 +v 0.413442 0.260117 1.973115 +v 0.330287 0.821402 2.492924 +v 0.392653 0.239261 1.183599 +v 0.475729 0.821402 1.765716 +v 0.558884 0.696666 1.370695 +f 510 512 522 +f 509 508 510 +f 507 513 515 +f 510 508 516 +f 514 510 516 +f 511 514 516 +f 508 509 517 +f 513 507 517 +f 514 511 517 +f 507 514 517 +f 509 512 518 +f 512 515 518 +f 515 513 518 +f 517 509 518 +f 513 517 518 +f 510 514 519 +f 514 507 519 +f 507 515 519 +f 516 508 520 +f 511 516 520 +f 508 517 520 +f 517 511 520 +f 512 510 521 +f 515 512 521 +f 510 519 521 +f 519 515 521 +f 509 510 522 +f 512 509 522 +o convex_40 +v 0.870798 1.008364 0.746728 +v 0.579756 0.842030 1.183334 +v 0.725216 1.341033 0.954646 +v 0.558937 -0.010092 0.892292 +v 0.829190 -0.010092 0.871479 +v 0.558937 1.382616 0.996187 +v 0.808402 1.382616 0.746728 +v 0.829190 -0.010092 0.746728 +v 0.558937 0.717279 1.183334 +v 0.829190 1.382616 0.809125 +v 0.704519 -0.010092 0.913105 +v 0.579756 1.361756 1.058541 +v 0.746035 1.049948 0.954646 +f 527 532 535 +f 526 528 529 +f 523 527 530 +f 527 526 530 +f 526 529 530 +f 529 523 530 +f 527 524 531 +f 528 526 531 +f 527 523 532 +f 529 528 532 +f 523 529 532 +f 526 527 533 +f 531 526 533 +f 527 531 533 +f 524 525 534 +f 531 524 534 +f 528 531 534 +f 525 532 534 +f 532 528 534 +f 525 524 535 +f 524 527 535 +f 532 525 535 +o convex_41 +v -0.813211 1.382753 -1.020471 +v -0.875561 2.255965 -0.770998 +v -0.543015 2.255965 -1.041245 +v -0.937952 1.382753 -0.770998 +v -0.813211 2.255965 -0.958192 +v -0.543015 1.382753 -1.228395 +v -0.958789 1.632254 -0.812591 +v -0.543015 1.382753 -1.186756 +v -0.563811 1.507546 -1.228395 +v -0.646999 2.255965 -1.062020 +v -0.896358 2.235109 -0.854185 +f 536 542 546 +f 538 537 539 +f 537 538 540 +f 539 536 541 +f 539 537 542 +f 536 539 542 +f 538 539 543 +f 541 538 543 +f 539 541 543 +f 536 540 544 +f 538 541 544 +f 541 536 544 +f 540 538 545 +f 544 540 545 +f 538 544 545 +f 540 536 546 +f 537 540 546 +f 542 537 546 +o convex_42 +v -0.023209 2.027234 -1.228360 +v -0.542974 1.382753 -1.249133 +v -0.522179 1.382753 -1.269938 +v -0.542974 2.255965 -1.082888 +v -0.106388 2.235109 -1.103693 +v -0.002414 1.465920 -1.373865 +v -0.522179 1.382753 -1.207588 +v -0.002414 1.424464 -1.332288 +v -0.480589 1.424464 -1.311515 +v -0.542974 2.235109 -1.041278 +v -0.002414 2.255965 -1.166043 +v -0.002414 2.235109 -1.124465 +f 557 551 558 +f 548 549 553 +f 549 552 554 +f 553 549 554 +f 549 548 555 +f 548 550 555 +f 550 547 555 +f 552 549 555 +f 547 552 555 +f 550 548 556 +f 551 550 556 +f 548 553 556 +f 553 551 556 +f 547 550 557 +f 550 551 557 +f 552 547 557 +f 554 552 557 +f 554 557 558 +f 551 553 558 +f 553 554 558 +o convex_43 +v 0.267866 2.255965 -1.103677 +v -0.002414 1.382753 -1.373877 +v 0.226382 1.382753 -1.373877 +v 0.517351 1.403609 -1.228433 +v 0.538146 2.214339 -1.145262 +v -0.002414 2.235109 -1.124469 +v -0.002414 2.255965 -1.166055 +v 0.475761 1.465920 -1.332318 +v -0.002414 1.424464 -1.332318 +v 0.538146 2.006378 -1.124469 +v 0.538146 1.382753 -1.290732 +v 0.080765 1.445235 -1.373877 +f 563 566 570 +f 559 563 565 +f 560 564 565 +f 564 559 565 +f 560 562 567 +f 564 560 567 +f 562 564 567 +f 563 559 568 +f 564 562 568 +f 559 564 568 +f 560 561 569 +f 562 560 569 +f 561 566 569 +f 566 563 569 +f 563 568 569 +f 568 562 569 +f 561 560 570 +f 560 565 570 +f 565 563 570 +f 566 561 570 +o convex_44 +v 0.538146 1.382753 -1.269976 +v 0.849965 2.255965 -0.874952 +v 0.849965 2.255965 -0.958125 +v 0.912343 1.382753 -0.916558 +v 0.538146 2.172798 -1.103630 +v 0.870733 1.424464 -0.874952 +v 0.766818 2.255965 -1.082827 +v 0.746013 1.382753 -1.145158 +v 0.538146 1.424464 -1.207567 +v 0.538146 2.255965 -1.124433 +f 577 571 580 +f 573 572 574 +f 572 575 576 +f 574 572 576 +f 571 574 576 +f 572 573 577 +f 573 574 577 +f 574 571 578 +f 577 574 578 +f 571 577 578 +f 575 571 579 +f 576 575 579 +f 571 576 579 +f 571 575 580 +f 575 572 580 +f 572 577 580 +o convex_45 +v 0.018385 0.592614 2.908874 +v 0.267858 0.239261 1.952593 +v 0.288657 0.239261 1.952593 +v 0.288657 0.821402 2.513856 +v 0.288657 0.322456 2.472295 +v -0.002414 0.821402 2.742536 +v -0.002414 0.239261 2.638539 +v 0.288657 0.655011 2.721755 +v 0.122351 0.260060 2.181366 +v 0.080753 0.239261 2.638539 +v 0.018385 0.821402 2.804878 +v 0.163892 0.821402 2.576198 +v 0.247059 0.613470 2.763317 +f 581 590 593 +f 583 582 584 +f 583 584 585 +f 582 583 587 +f 581 586 587 +f 585 584 588 +f 586 582 589 +f 582 587 589 +f 587 586 589 +f 583 585 590 +f 587 583 590 +f 581 587 590 +f 586 581 591 +f 584 586 591 +f 581 588 591 +f 588 584 591 +f 584 582 592 +f 582 586 592 +f 586 584 592 +f 588 581 593 +f 585 588 593 +f 590 585 593 +o convex_46 +v -0.813229 2.256064 -0.958058 +v -0.771672 3.274712 -0.542299 +v -0.750894 3.274712 -0.563153 +v -0.875589 2.256064 -0.542299 +v -0.646952 2.256064 -0.999619 +v -0.813229 3.149874 -0.895692 +v -0.646952 3.274712 -0.895692 +v -0.854811 3.149874 -0.542299 +v -0.896392 2.297644 -0.833325 +v -0.667755 2.401643 -1.041229 +v -0.646952 3.253773 -0.833325 +v -0.896392 2.443222 -0.542299 +f 602 597 605 +f 596 595 597 +f 597 594 598 +f 596 597 598 +f 595 596 600 +f 599 595 600 +f 597 595 601 +f 595 599 601 +f 601 599 602 +f 594 597 602 +f 599 594 602 +f 598 594 603 +f 594 599 603 +f 600 598 603 +f 599 600 603 +f 596 598 604 +f 600 596 604 +f 598 600 604 +f 597 601 605 +f 601 602 605 +o convex_47 +v 0.059889 3.274712 -1.041247 +v -0.646928 2.256064 -1.062044 +v -0.397369 2.256064 -1.103609 +v -0.605277 3.253773 -0.854189 +v 0.059889 2.297644 -1.103609 +v -0.085681 3.274712 -1.082812 +v -0.646928 3.191453 -0.937348 +v -0.646928 2.256064 -1.020450 +v 0.059889 2.318484 -1.145231 +v -0.127262 2.256064 -1.145231 +v 0.059889 3.108294 -1.041247 +v -0.646928 3.274712 -0.854189 +f 612 613 617 +f 608 607 611 +f 611 607 612 +f 607 608 613 +f 610 609 613 +f 612 607 613 +f 606 610 614 +f 611 606 614 +f 611 614 615 +f 608 611 615 +f 613 608 615 +f 610 613 615 +f 614 610 615 +f 606 609 616 +f 610 606 616 +f 609 610 616 +f 609 606 617 +f 606 611 617 +f 611 612 617 +f 613 609 617 +o convex_48 +v -0.750803 3.378705 -0.542299 +v -0.085723 3.274713 -1.082859 +v -0.085723 3.295550 -1.082859 +v 0.059958 3.565722 -0.542352 +v -0.480549 3.607332 -0.729506 +v 0.039099 3.544950 -0.937243 +v -0.730027 3.295550 -0.833268 +v -0.750803 3.274713 -0.542299 +v 0.059958 3.274713 -1.041217 +v -0.605288 3.607332 -0.542299 +v -0.210462 3.586527 -0.916448 +v 0.059958 3.586527 -0.687916 +v -0.584512 3.274713 -0.916448 +f 624 628 630 +f 618 624 625 +f 619 620 626 +f 620 623 626 +f 625 619 626 +f 621 625 626 +f 624 618 627 +f 622 624 627 +f 625 621 627 +f 618 625 627 +f 623 620 628 +f 624 622 628 +f 626 623 629 +f 621 626 629 +f 627 621 629 +f 622 627 629 +f 628 622 629 +f 623 628 629 +f 620 619 630 +f 619 625 630 +f 625 624 630 +f 628 620 630 +o convex_49 +v -0.376648 0.821382 2.430894 +v -0.002414 0.634312 2.929758 +v -0.044028 0.634312 2.929758 +v -0.002414 0.821382 2.804928 +v -0.355804 0.800585 2.264584 +v -0.376648 0.613494 2.721773 +v -0.002414 0.613494 2.888083 +v -0.355804 0.800585 2.597138 +f 631 636 638 +f 633 632 634 +f 631 634 635 +f 631 635 636 +f 632 633 637 +f 634 632 637 +f 635 634 637 +f 636 635 637 +f 633 636 637 +f 633 634 638 +f 634 631 638 +f 636 633 638 +o convex_50 +v 0.600386 3.357686 -0.978905 +v 0.059958 2.256079 -1.145231 +v 0.288769 2.256079 -1.145231 +v 0.725234 2.297673 -1.041294 +v 0.059958 3.357686 -0.978905 +v 0.059958 3.316092 -1.062068 +v 0.746054 3.004310 -1.041294 +v 0.621272 2.360120 -1.124424 +v 0.059958 2.297673 -1.103650 +v 0.746054 3.149831 -0.978905 +v 0.746054 2.256079 -1.082843 +v 0.725234 3.336946 -0.999696 +v 0.184807 3.295352 -1.062068 +f 650 645 651 +f 640 643 644 +f 641 640 644 +f 643 639 644 +f 640 642 647 +f 642 643 647 +f 643 640 647 +f 639 643 648 +f 643 642 648 +f 645 648 649 +f 640 641 649 +f 642 640 649 +f 641 646 649 +f 646 645 649 +f 648 642 649 +f 644 639 650 +f 639 648 650 +f 648 645 650 +f 641 644 651 +f 646 641 651 +f 645 646 651 +f 644 650 651 +o convex_51 +v 0.725234 3.544952 -0.563153 +v 0.059958 3.399487 -0.978905 +v 0.059958 3.399487 -0.958052 +v 0.746054 3.295503 -0.978905 +v 0.621272 3.586545 -0.708660 +v 0.059958 3.565749 -0.542385 +v 0.059958 3.524155 -0.937283 +v 0.725234 3.441024 -0.563153 +v 0.746054 3.399487 -0.916472 +v 0.059958 3.586545 -0.687892 +v 0.662777 3.586545 -0.542385 +v 0.538063 3.399487 -0.978905 +f 660 655 663 +f 654 653 655 +f 653 654 657 +f 653 657 658 +f 654 655 659 +f 657 654 659 +f 656 652 660 +f 659 655 660 +f 652 659 660 +f 656 658 661 +f 658 657 661 +f 652 656 662 +f 659 652 662 +f 657 659 662 +f 656 661 662 +f 661 657 662 +f 655 653 663 +f 653 658 663 +f 658 656 663 +f 656 660 663 +o convex_52 +v -0.667765 3.232858 0.663624 +v -0.896417 1.382753 0.663594 +v -0.875624 1.382753 0.663594 +v -0.626145 1.382753 0.954636 +v -0.750833 3.025068 0.746779 +v -0.584594 3.212116 0.642774 +v -0.542974 2.068903 0.954636 +v -0.750867 1.424607 0.912997 +v -0.542974 1.798702 0.933786 +v -0.584594 3.108221 0.767537 +v -0.771625 2.983399 0.642774 +v -0.896417 1.549244 0.705202 +f 668 674 675 +f 665 666 667 +f 665 667 671 +f 670 668 671 +f 667 670 671 +f 667 666 672 +f 666 669 672 +f 670 667 672 +f 669 670 672 +f 664 668 673 +f 669 664 673 +f 668 670 673 +f 670 669 673 +f 666 665 674 +f 668 664 674 +f 664 669 674 +f 669 666 674 +f 665 671 675 +f 671 668 675 +f 674 665 675 +o convex_53 +v -0.023205 3.440911 0.746777 +v -0.584555 2.256008 0.871424 +v -0.542960 1.902556 0.933812 +v -0.044030 3.253684 0.871424 +v -0.584555 3.274523 0.642774 +v -0.023205 2.277010 0.933845 +v -0.023205 3.503266 0.642774 +v -0.584555 3.108135 0.767551 +v -0.542960 2.089621 0.954619 +v -0.023205 2.297687 0.975426 +v -0.563730 3.212168 0.642774 +v -0.418227 3.378556 0.663581 +f 680 683 687 +f 681 678 682 +f 676 681 682 +f 680 677 683 +f 677 678 684 +f 683 677 684 +f 679 683 684 +f 676 679 685 +f 678 681 685 +f 681 676 685 +f 684 678 685 +f 679 684 685 +f 678 677 686 +f 677 680 686 +f 680 682 686 +f 682 678 686 +f 679 676 687 +f 676 682 687 +f 682 680 687 +f 683 679 687 +o convex_54 +v 0.558937 3.170645 0.767551 +v -0.023205 2.255965 0.954599 +v -0.023205 2.255965 0.975426 +v -0.023205 3.503222 0.684356 +v -0.023205 3.253820 0.871432 +v 0.558937 2.255965 0.892231 +v 0.517282 3.212232 0.684356 +v 0.496540 2.276945 0.933829 +v -0.023205 2.276945 0.933829 +v 0.080790 3.233088 0.871432 +v 0.059991 3.524201 0.705183 +v -0.023205 3.441026 0.684356 +v 0.434143 2.255965 0.892231 +v 0.558937 3.274676 0.684356 +v 0.496540 3.108201 0.809121 +v 0.080790 2.276945 0.975426 +f 695 697 703 +f 689 690 691 +f 691 690 692 +f 690 689 693 +f 690 693 695 +f 693 688 695 +f 689 691 696 +f 691 692 698 +f 697 688 698 +f 692 697 698 +f 691 694 699 +f 696 691 699 +f 696 699 700 +f 693 689 700 +f 694 693 700 +f 689 696 700 +f 699 694 700 +f 688 693 701 +f 693 694 701 +f 694 691 701 +f 691 698 701 +f 698 688 701 +f 695 688 702 +f 688 697 702 +f 697 695 702 +f 692 690 703 +f 690 695 703 +f 697 692 703 +o convex_55 +v 0.704460 3.191415 0.705173 +v 0.558961 2.256063 0.892237 +v 0.558961 2.256063 0.913054 +v 0.808401 2.256063 0.684378 +v 0.558961 3.191415 0.684378 +v 0.725238 2.360077 0.850647 +v 0.725238 3.087498 0.767535 +v 0.558961 3.129006 0.788330 +v 0.746041 3.129006 0.684378 +v 0.808401 2.256063 0.746763 +f 707 712 713 +f 706 705 707 +f 705 706 708 +f 707 705 708 +f 706 709 710 +f 706 710 711 +f 704 708 711 +f 708 706 711 +f 710 704 711 +f 708 704 712 +f 707 708 712 +f 704 710 712 +f 712 710 713 +f 706 707 713 +f 709 706 713 +f 710 709 713 +o convex_56 +v -0.064845 -2.484330 0.892392 +v -0.875571 -2.234874 0.705220 +v -0.979519 -2.214077 1.141612 +v -0.833938 -2.380342 0.705220 +v -0.064845 -2.442706 1.453614 +v -0.064845 -2.401140 0.705220 +v -0.979519 -2.297238 1.453614 +v -0.854709 -2.193279 1.266442 +v -0.397462 -2.484330 0.933928 +v -0.085707 -2.484330 1.453614 +v -0.854709 -2.193279 0.705220 +v -0.584408 -2.276469 1.453614 +v -0.064845 -2.401140 0.996343 +v -0.085707 -2.442706 0.726025 +f 722 717 727 +f 716 715 717 +f 717 715 719 +f 718 714 719 +f 716 717 720 +f 716 720 721 +f 720 717 722 +f 720 722 723 +f 714 718 723 +f 718 720 723 +f 722 714 723 +f 715 716 724 +f 719 715 724 +f 716 721 724 +f 721 719 724 +f 720 718 725 +f 721 720 725 +f 721 725 726 +f 718 719 726 +f 719 721 726 +f 725 718 726 +f 717 719 727 +f 719 714 727 +f 714 722 727 +o convex_57 +v -0.210346 0.176864 1.183334 +v -0.584555 -0.010229 0.892263 +v -0.584555 -0.010229 0.913091 +v -0.002414 -0.010229 1.100167 +v -0.542958 0.239261 0.913091 +v -0.480504 0.218454 1.183334 +v -0.147949 0.010578 0.913091 +v -0.002414 0.093733 1.162507 +v -0.044012 0.052144 1.183334 +f 731 735 736 +f 730 729 731 +f 729 730 732 +f 728 732 733 +f 732 730 733 +f 731 729 734 +f 729 732 734 +f 734 732 735 +f 732 728 735 +f 731 734 735 +f 730 731 736 +f 733 730 736 +f 728 733 736 +f 735 728 736 +o convex_58 +v 0.974752 -2.317988 1.453539 +v -0.064786 -2.421919 0.684431 +v -0.064786 -2.401121 0.684431 +v -0.064786 -2.484312 1.453539 +v 0.371848 -2.484312 0.913221 +v 0.912274 -2.193259 0.684431 +v 0.953892 -2.193259 1.183192 +v 0.870757 -2.297219 0.684431 +v -0.043926 -2.442716 1.453539 +v 0.974752 -2.338785 1.453539 +v -0.064786 -2.401121 1.017114 +v -0.064786 -2.484312 0.892443 +v 0.642112 -2.297219 1.432610 +v 0.849898 -2.193259 0.954778 +v 0.039208 -2.442716 0.684431 +f 741 748 751 +f 739 738 740 +f 738 739 742 +f 738 742 744 +f 740 737 745 +f 737 740 746 +f 740 741 746 +f 743 737 746 +f 742 743 746 +f 741 744 746 +f 744 742 746 +f 739 740 747 +f 740 745 747 +f 745 743 747 +f 740 738 748 +f 741 740 748 +f 737 743 749 +f 745 737 749 +f 743 745 749 +f 742 739 750 +f 743 742 750 +f 739 747 750 +f 747 743 750 +f 744 741 751 +f 738 744 751 +f 748 738 751 +o convex_59 +v 0.018381 1.382753 1.329106 +v 0.309411 0.821518 2.243751 +v 0.330238 0.821518 2.243751 +v -0.002412 1.029309 2.680092 +v 0.330238 1.382753 1.183444 +v -0.023205 0.821518 2.742473 +v 0.309411 0.842286 2.534431 +v -0.023205 1.361875 1.245825 +v 0.309411 1.216333 1.225085 +v 0.267791 0.925414 2.493112 +v -0.023205 1.091724 1.931849 +v -0.023205 1.029309 2.680092 +v -0.002412 0.821518 2.805014 +f 763 757 764 +f 752 755 756 +f 753 754 757 +f 754 756 758 +f 752 756 759 +f 754 753 760 +f 756 754 760 +f 759 756 760 +f 756 755 761 +f 755 758 761 +f 758 756 761 +f 753 757 762 +f 757 759 762 +f 760 753 762 +f 759 760 762 +f 755 752 763 +f 752 759 763 +f 759 757 763 +f 757 754 764 +f 758 755 764 +f 754 758 764 +f 755 763 764 +o convex_60 +v -1.000371 -1.527959 -0.958115 +v -0.792491 -1.756653 -2.309301 +v -0.771672 -1.756653 -2.309301 +v -0.792491 -1.382419 -2.725330 +v -1.000371 -1.465611 -2.080615 +v -0.979551 -1.382419 -0.958115 +v -0.937958 -1.756653 -0.958115 +v -0.896409 -1.756653 -2.101373 +v -0.917206 -1.673461 -0.958115 +v -0.771672 -1.382419 -2.621193 +v -1.000371 -1.382419 -2.101373 +v -0.937958 -1.756653 -1.727552 +v -0.771672 -1.735846 -2.226095 +f 774 773 777 +f 767 766 768 +f 766 767 771 +f 770 765 771 +f 768 766 772 +f 769 768 772 +f 766 771 772 +f 770 771 773 +f 767 768 774 +f 768 770 774 +f 770 773 774 +f 769 765 775 +f 768 769 775 +f 765 770 775 +f 770 768 775 +f 765 769 776 +f 771 765 776 +f 769 772 776 +f 772 771 776 +f 771 767 777 +f 773 771 777 +f 767 774 777 +o convex_61 +v 0.538146 0.634285 -1.290936 +v 0.267866 0.343214 -2.725126 +v 0.288661 0.343214 -2.725126 +v 0.267866 0.675867 -2.787533 +v 0.413377 0.343214 -1.353343 +v 0.475735 0.530315 -2.122249 +v 0.538146 0.343214 -1.249387 +v 0.351072 0.571864 -2.787533 +v 0.538146 0.675867 -1.519706 +v 0.267866 0.675867 -2.662719 +v 0.496530 0.655060 -1.374201 +v 0.267866 0.343214 -2.538073 +v 0.475735 0.675867 -1.977078 +v 0.413377 0.364021 -2.163798 +v 0.330277 0.488766 -2.829082 +f 783 791 792 +f 779 780 782 +f 778 782 784 +f 782 780 784 +f 778 784 786 +f 784 783 786 +f 781 779 787 +f 786 781 787 +f 786 787 788 +f 782 778 788 +f 778 786 788 +f 787 782 788 +f 779 782 789 +f 787 779 789 +f 782 787 789 +f 785 781 790 +f 783 785 790 +f 786 783 790 +f 781 786 790 +f 784 780 791 +f 783 784 791 +f 780 779 792 +f 779 781 792 +f 781 785 792 +f 785 783 792 +f 791 780 792 +o convex_62 +v -0.771672 -0.633927 -2.101574 +v -0.147949 -0.405253 -1.914634 +v -0.147949 -0.426081 -1.914634 +v -0.147949 -0.675496 -2.787702 +v -0.335078 -0.696324 -2.413413 +v -0.771672 -0.405253 -1.498758 +v -0.750853 -0.426081 -1.394721 +v -0.771672 -0.696324 -2.060259 +v -0.168769 -0.405253 -2.018535 +v -0.189588 -0.675496 -2.787702 +v -0.147949 -0.696324 -2.704391 +v -0.730034 -0.696324 -2.226201 +f 802 803 804 +f 794 795 796 +f 795 794 799 +f 797 795 799 +f 794 798 799 +f 797 799 800 +f 798 793 800 +f 799 798 800 +f 794 796 801 +f 798 794 801 +f 798 801 802 +f 793 798 802 +f 801 796 802 +f 796 795 803 +f 795 797 803 +f 797 800 803 +f 802 796 803 +f 800 793 804 +f 793 802 804 +f 803 800 804 +o convex_63 +v -0.563675 -0.280539 -1.020782 +v -0.002512 -0.426028 -2.163772 +v -0.127061 -0.426028 -2.059823 +v 0.642100 -0.384450 -1.166131 +v 0.642100 -0.259734 -1.145431 +v -0.771672 -0.405239 -1.353329 +v -0.771672 -0.259718 -1.041482 +v 0.642100 -0.426028 -1.561226 +v -0.064786 -0.384450 -2.059823 +v -0.771672 -0.322116 -1.041482 +v -0.064786 -0.259734 -1.207756 +v -0.771672 -0.363645 -1.394841 +v 0.018385 -0.405239 -2.163772 +v 0.621203 -0.426028 -1.457278 +v 0.558790 -0.322116 -1.103807 +v 0.642100 -0.405239 -1.561226 +f 817 809 820 +f 805 809 811 +f 807 806 812 +f 809 808 812 +f 810 808 814 +f 805 811 814 +f 811 810 814 +f 811 809 815 +f 809 813 815 +f 813 811 815 +f 807 810 816 +f 810 811 816 +f 811 813 816 +f 816 813 817 +f 806 807 817 +f 812 806 817 +f 813 809 817 +f 807 816 817 +f 810 807 818 +f 808 810 818 +f 807 812 818 +f 812 808 818 +f 809 805 819 +f 808 809 819 +f 805 814 819 +f 814 808 819 +f 809 812 820 +f 812 817 820 +o convex_64 +v -1.000363 -1.299295 0.102157 +v -0.937998 -1.756653 -0.958115 +v -0.917208 -1.756653 -0.958115 +v -0.979572 -1.756653 0.829891 +v -0.938007 -1.278465 0.829891 +v -1.000371 -1.444820 -0.958115 +v -0.938007 -1.756653 0.788061 +v -1.000371 -1.715041 -0.105592 +v -1.000363 -1.527950 0.829891 +v -0.958797 -1.278465 0.039675 +v -0.917208 -1.673429 -0.958115 +v -0.979572 -1.278465 0.767234 +v -0.917208 -1.756653 -0.334343 +f 831 825 833 +f 822 823 824 +f 823 822 826 +f 824 823 827 +f 825 824 827 +f 822 824 828 +f 826 822 828 +f 826 828 829 +f 824 825 829 +f 821 826 829 +f 828 824 829 +f 826 821 830 +f 826 830 831 +f 823 826 831 +f 830 825 831 +f 821 829 832 +f 829 825 832 +f 830 821 832 +f 825 830 832 +f 827 823 833 +f 825 827 833 +f 823 831 833 +o convex_65 +v -0.376668 0.717391 2.597027 +v -0.584555 0.239318 0.913054 +v -0.542921 0.239318 0.913054 +v -0.584555 0.821382 1.162702 +v -0.542921 0.592659 1.994154 +v -0.397465 0.239318 2.201663 +v -0.439038 0.260116 1.162702 +v -0.376668 0.821382 2.160232 +v -0.418262 0.613457 2.721851 +v -0.542921 0.821382 1.183418 +v -0.376668 0.239318 2.056300 +v -0.501368 0.821382 1.827899 +v -0.459855 0.260116 1.973261 +v -0.376668 0.488782 2.638635 +v -0.584555 0.738189 1.391458 +f 838 845 848 +f 836 835 837 +f 835 836 839 +f 836 837 843 +f 840 836 843 +f 837 841 843 +f 841 840 843 +f 839 836 844 +f 836 840 844 +f 841 834 844 +f 840 841 844 +f 834 841 845 +f 841 837 845 +f 842 834 845 +f 838 842 845 +f 838 835 846 +f 835 839 846 +f 842 838 846 +f 839 842 846 +f 834 842 847 +f 842 839 847 +f 844 834 847 +f 839 844 847 +f 837 835 848 +f 835 838 848 +f 845 837 848 +o convex_66 +v 0.018399 0.093754 -2.454761 +v 0.434192 0.343198 -1.415512 +v 0.434192 0.301619 -1.415512 +v -0.002414 0.031401 -1.415512 +v -0.002414 0.343198 -2.891495 +v 0.330169 0.156107 -2.184550 +v 0.267772 0.343198 -2.724972 +v 0.371795 0.135301 -1.415512 +v -0.002414 0.156107 -2.849753 +v 0.018399 0.010562 -1.686020 +v 0.392609 0.343198 -1.436457 +v 0.392609 0.322392 -2.184402 +v 0.247045 0.239266 -2.662581 +f 855 860 861 +f 851 850 852 +f 853 850 855 +f 851 852 856 +f 852 853 857 +f 854 849 857 +f 853 855 857 +f 849 854 858 +f 856 852 858 +f 854 856 858 +f 857 849 858 +f 852 857 858 +f 852 850 859 +f 853 852 859 +f 850 853 859 +f 850 851 860 +f 855 850 860 +f 851 856 860 +f 856 854 860 +f 854 857 861 +f 857 855 861 +f 860 854 861 +o convex_67 +v -0.979580 -0.259718 0.039842 +v -0.813286 -0.259718 0.829891 +v -0.834075 -0.259718 0.829891 +v -0.937986 -1.278465 0.829891 +v -0.958775 -1.278465 0.039842 +v -0.979580 -1.257624 0.746602 +v -0.937986 -0.259718 0.081448 +v -0.813286 -0.426052 0.788208 +v -0.979580 -1.278465 0.039842 +v -0.854864 -0.259718 0.809088 +v -0.917197 -1.236882 0.829891 +v -0.979580 -0.259718 0.102251 +v -0.937986 -1.195298 0.123131 +f 869 872 874 +f 864 863 862 +f 863 864 865 +f 862 863 868 +f 866 862 868 +f 868 863 869 +f 862 866 870 +f 866 865 870 +f 867 862 870 +f 865 867 870 +f 864 862 871 +f 865 864 871 +f 867 865 871 +f 863 865 872 +f 865 866 872 +f 869 863 872 +f 862 867 873 +f 871 862 873 +f 867 871 873 +f 866 868 874 +f 868 869 874 +f 872 866 874 +o convex_68 +v -0.168756 1.382698 1.183334 +v -0.335066 0.821457 2.409912 +v -0.314247 0.821457 2.409912 +v -0.044024 1.029361 2.680245 +v -0.023205 0.821457 2.742630 +v -0.335066 1.382698 1.204288 +v -0.023205 1.361874 1.224924 +v -0.335066 0.863049 2.555476 +v -0.335066 1.237154 1.266513 +v -0.023205 1.382698 1.328898 +v -0.023205 1.112434 1.869564 +v -0.314247 0.925409 2.493091 +v -0.044024 0.821457 2.805014 +v -0.023205 1.029361 2.680245 +f 887 879 888 +f 876 877 879 +f 880 876 882 +f 877 876 883 +f 876 880 883 +f 880 875 883 +f 875 881 883 +f 875 880 884 +f 880 878 884 +f 881 875 884 +f 879 881 884 +f 879 877 885 +f 881 879 885 +f 877 883 885 +f 883 881 885 +f 878 880 886 +f 882 878 886 +f 880 882 886 +f 876 879 887 +f 878 882 887 +f 882 876 887 +f 884 878 888 +f 879 884 888 +f 878 887 888 +o convex_69 +v 0.267866 0.675867 -2.746120 +v -0.002414 0.343214 -2.954028 +v -0.002414 0.405603 -2.995544 +v 0.267866 0.530315 -2.912390 +v 0.267866 0.343214 -2.642167 +v -0.002414 0.675867 -2.912390 +v 0.018381 0.551090 -3.057982 +v -0.002414 0.343214 -2.891591 +v 0.267866 0.343214 -2.746120 +f 893 890 897 +f 890 891 892 +f 892 889 893 +f 891 890 894 +f 893 889 894 +f 894 889 895 +f 892 891 895 +f 889 892 895 +f 891 894 895 +f 890 893 896 +f 894 890 896 +f 893 894 896 +f 890 892 897 +f 892 893 897 +o convex_70 +v -0.335091 0.946232 2.285228 +v -0.584555 0.821457 1.141867 +v -0.563726 0.821457 1.141867 +v -0.563726 1.382698 0.996217 +v -0.335091 1.299514 1.183334 +v -0.355896 0.821457 2.493152 +v -0.335091 0.821457 2.306036 +v -0.584555 1.382698 1.058638 +v -0.335091 1.382698 1.204141 +v -0.480579 0.842280 1.890188 +v -0.522165 0.821457 1.204141 +v -0.335091 1.237154 1.245755 +v -0.459823 1.382698 1.183334 +f 906 905 910 +f 900 899 901 +f 900 901 902 +f 899 900 903 +f 898 903 904 +f 902 898 904 +f 903 900 904 +f 901 899 905 +f 903 898 905 +f 898 902 906 +f 902 901 906 +f 901 905 906 +f 899 903 907 +f 905 899 907 +f 903 905 907 +f 900 902 908 +f 904 900 908 +f 904 908 909 +f 902 904 909 +f 908 902 909 +f 905 898 910 +f 898 906 910 +o convex_71 +v 0.642100 -0.613218 -2.101466 +v 0.642100 -1.112139 -2.766911 +v 0.642100 -1.091198 -2.766911 +v 0.829217 -1.112139 -2.309348 +v 0.642100 -0.384615 -1.166081 +v 0.829217 -0.259801 -1.166081 +v 0.766832 -0.675625 -2.163686 +v 0.829217 -0.363757 -1.124441 +v 0.808410 -1.112139 -2.226227 +v 0.642100 -0.259801 -1.145342 +v 0.829217 -0.862512 -2.163686 +v 0.725273 -1.112139 -2.413369 +v 0.662907 -0.779414 -2.475749 +v 0.683696 -1.091198 -2.746011 +f 913 923 924 +f 913 912 911 +f 911 912 915 +f 914 916 918 +f 912 914 919 +f 914 918 919 +f 918 915 919 +f 911 915 920 +f 916 911 920 +f 915 918 920 +f 918 916 920 +f 916 914 921 +f 917 916 921 +f 915 912 922 +f 912 919 922 +f 919 915 922 +f 913 911 923 +f 911 916 923 +f 916 917 923 +f 923 917 924 +f 912 913 924 +f 914 912 924 +f 921 914 924 +f 917 921 924 +o convex_72 +v 0.829241 -0.800188 -1.997510 +v 0.829241 -1.112139 -2.267933 +v 0.829241 -1.091198 -2.267933 +v 0.953961 -1.112139 -1.062068 +v 0.953961 -1.091198 -1.914294 +v 0.829241 -0.259801 -1.082961 +v 0.870814 -0.259801 -1.103735 +v 0.912363 -1.091198 -1.062068 +v 0.829241 -0.405389 -1.103735 +v 0.850022 -0.883369 -2.122275 +v 0.953961 -0.987242 -1.602795 +v 0.829241 -1.112139 -2.184717 +f 933 926 936 +f 927 926 925 +f 926 927 929 +f 928 926 929 +f 925 926 930 +f 925 930 931 +f 930 928 931 +f 928 930 932 +f 932 930 933 +f 930 926 933 +f 927 925 934 +f 929 927 934 +f 925 931 934 +f 931 929 934 +f 928 929 935 +f 929 931 935 +f 931 928 935 +f 926 928 936 +f 928 932 936 +f 932 933 936 +o convex_73 +v 0.891609 -0.924835 -1.062068 +v 0.974752 -0.259718 -0.168153 +v 0.974752 -0.259718 -0.188978 +v 0.974752 -1.340837 -1.062068 +v 0.953957 -1.340837 -0.168153 +v 0.850007 -0.259718 -1.062068 +v 0.933150 -0.259718 -0.168153 +v 0.850007 -0.571587 -0.937204 +v 0.974752 -1.340837 -0.168153 +v 0.870802 -0.259718 -1.062068 +v 0.974752 -1.236810 -1.062068 +v 0.933150 -1.257658 -1.062068 +f 940 941 948 +f 939 938 940 +f 938 939 942 +f 940 937 942 +f 941 938 943 +f 938 942 943 +f 943 942 944 +f 937 941 944 +f 942 937 944 +f 941 943 944 +f 940 938 945 +f 941 940 945 +f 938 941 945 +f 942 939 946 +f 940 942 946 +f 939 940 947 +f 946 939 947 +f 940 946 947 +f 937 940 948 +f 941 937 948 +o convex_74 +v 0.995543 -1.340837 0.788188 +v 0.850024 -0.259718 0.829793 +v 0.829217 -0.259718 0.829793 +v 0.974736 -0.259718 -0.167968 +v 0.953929 -1.340837 -0.167968 +v 0.953929 -1.340837 0.829793 +v 0.995543 -1.340837 -0.167968 +v 0.995543 -1.132889 0.829793 +v 0.829217 -0.384487 0.704976 +v 0.933138 -0.259718 -0.043150 +v 0.974736 -0.259718 -0.022445 +v 0.995543 -0.904199 -0.105559 +v 0.870831 -0.322155 0.829793 +f 956 959 961 +f 951 950 952 +f 950 951 954 +f 953 949 954 +f 949 953 955 +f 953 952 955 +f 950 954 956 +f 954 949 956 +f 949 955 956 +f 954 951 957 +f 953 954 957 +f 951 952 958 +f 952 953 958 +f 957 951 958 +f 953 957 958 +f 952 950 959 +f 959 956 960 +f 955 952 960 +f 956 955 960 +f 952 959 960 +f 950 956 961 +f 959 950 961 +o convex_75 +v -0.355767 1.029344 -1.872784 +v -0.002414 1.382718 -1.353306 +v -0.563756 1.382718 -1.166022 +v -0.563756 1.029344 -1.228482 +v -0.002414 1.050133 -2.122336 +v -0.480504 1.382718 -1.311698 +v -0.002414 1.029344 -2.039120 +v -0.439020 1.050133 -1.789568 +v -0.064811 1.050133 -2.143188 +v -0.002414 1.341141 -1.373967 +v -0.023213 1.382718 -1.415575 +v -0.584555 1.361929 -1.228482 +v -0.459762 1.029344 -1.332359 +v -0.584555 1.029344 -1.270090 +f 973 969 975 +f 963 964 965 +f 964 963 967 +f 965 962 968 +f 966 963 968 +f 969 967 970 +f 968 962 970 +f 966 968 970 +f 962 969 970 +f 963 965 971 +f 968 963 971 +f 963 966 972 +f 967 963 972 +f 970 967 972 +f 966 970 972 +f 964 967 973 +f 967 969 973 +f 965 968 974 +f 971 965 974 +f 968 971 974 +f 965 964 975 +f 962 965 975 +f 969 962 975 +f 964 973 975 +o convex_76 +v -0.002414 1.029344 -2.101607 +v 0.538146 1.382718 -1.249185 +v 0.517351 1.382718 -1.249185 +v 0.538146 1.029344 -1.311598 +v -0.002414 1.361929 -1.353151 +v 0.392582 1.050133 -1.852038 +v 0.454914 1.382718 -1.353151 +v 0.434172 1.029344 -1.374011 +v -0.002414 1.361929 -1.457201 +v -0.002414 1.029344 -2.018417 +v 0.018381 1.050133 -2.101607 +f 984 982 986 +f 977 978 979 +f 979 978 980 +f 977 979 981 +f 979 976 981 +f 978 977 982 +f 980 978 982 +f 977 981 982 +f 976 979 983 +f 979 980 983 +f 976 980 984 +f 980 982 984 +f 980 976 985 +f 976 983 985 +f 983 980 985 +f 981 976 986 +f 982 981 986 +f 976 984 986 +o convex_77 +v 0.538181 0.758788 -1.394721 +v 0.870744 1.382616 -0.958157 +v 0.829161 1.382616 -0.958157 +v 0.849953 -0.010092 -0.958157 +v 0.538181 -0.010092 -1.124449 +v 0.849953 -0.010092 -1.145219 +v 0.538181 1.382616 -1.228386 +v 0.766855 1.382616 -1.124406 +v 0.558972 0.676038 -1.394721 +v 0.891571 0.738066 -1.020554 +v 0.538181 -0.010092 -1.166032 +v 0.558972 1.382616 -1.269927 +v 0.891571 0.426697 -0.958157 +f 992 996 999 +f 988 989 990 +f 990 989 991 +f 990 991 992 +f 989 988 993 +f 987 991 993 +f 991 989 993 +f 993 988 994 +f 994 992 995 +f 987 994 995 +f 994 988 996 +f 992 994 996 +f 991 987 997 +f 992 991 997 +f 987 995 997 +f 995 992 997 +f 987 993 998 +f 994 987 998 +f 993 994 998 +f 988 990 999 +f 990 992 999 +f 996 988 999 +o convex_78 +v -0.023221 0.488725 2.867274 +v -0.376648 0.239261 2.077420 +v -0.355804 0.239261 2.077420 +v -0.044028 0.239261 2.701011 +v -0.376648 0.592687 2.742556 +v -0.002414 0.613494 2.867274 +v -0.335034 0.301645 2.513892 +v -0.168760 0.260068 2.285312 +v -0.355804 0.426378 2.326940 +v -0.002414 0.239261 2.659383 +v -0.376648 0.613494 2.701011 +v -0.376648 0.239261 2.222995 +f 1006 1004 1011 +f 1001 1002 1003 +f 1003 1000 1004 +f 1004 1000 1005 +f 1003 1004 1006 +f 1002 1005 1007 +f 1002 1001 1008 +f 1005 1002 1008 +f 1003 1002 1009 +f 1000 1003 1009 +f 1005 1000 1009 +f 1002 1007 1009 +f 1007 1005 1009 +f 1001 1004 1010 +f 1004 1005 1010 +f 1008 1001 1010 +f 1005 1008 1010 +f 1001 1003 1011 +f 1004 1001 1011 +f 1003 1006 1011 +o convex_79 +v -0.896441 2.255867 -0.770998 +v -0.937975 2.255867 -0.043321 +v -0.896427 3.087429 -0.064120 +v -0.834069 2.775697 -0.521411 +v -0.958770 1.382753 -0.043321 +v -0.979580 1.549299 -0.542139 +v -0.937975 1.382753 -0.770998 +v -0.917179 3.087429 -0.147316 +v -0.979580 1.964996 -0.043321 +v -0.854850 3.087429 -0.542281 +v -0.958770 1.653265 -0.770998 +v -0.875631 2.068795 -0.770998 +v -0.875645 3.025016 -0.126517 +v -0.937975 1.382753 -0.376175 +v -0.979580 1.382753 -0.043321 +v -0.834069 3.087429 -0.542281 +v -0.937975 2.837944 -0.084990 +f 1022 1017 1028 +f 1014 1013 1016 +f 1013 1014 1020 +f 1016 1013 1020 +f 1019 1014 1021 +f 1019 1021 1022 +f 1018 1017 1022 +f 1012 1018 1022 +f 1021 1012 1022 +f 1018 1012 1023 +f 1016 1015 1024 +f 1014 1016 1024 +f 1015 1016 1025 +f 1016 1018 1025 +f 1023 1015 1025 +f 1018 1023 1025 +f 1018 1016 1026 +f 1017 1018 1026 +f 1020 1017 1026 +f 1016 1020 1026 +f 1021 1014 1027 +f 1012 1021 1027 +f 1015 1023 1027 +f 1023 1012 1027 +f 1024 1015 1027 +f 1014 1024 1027 +f 1014 1019 1028 +f 1017 1020 1028 +f 1020 1014 1028 +f 1019 1022 1028 +o convex_80 +v -0.958775 2.255867 -0.064112 +v -0.813309 2.255867 0.663565 +v -0.730113 3.087429 0.642766 +v -0.937969 1.382753 0.039954 +v -0.917189 1.528439 0.601026 +v -0.917164 3.087429 -0.064112 +v -0.875603 3.025016 -0.043242 +v -0.771723 3.066569 0.642766 +v -0.875652 1.382753 0.559499 +v -0.730113 3.066569 0.559570 +v -0.979580 1.382753 -0.043242 +v -0.979580 1.590852 0.102351 +v -0.917164 3.045876 -0.001644 +v -0.896408 1.653265 0.663565 +v -0.875652 1.382753 0.663565 +v -0.750918 2.713118 0.621896 +f 1043 1037 1044 +f 1029 1034 1035 +f 1030 1031 1036 +f 1031 1034 1036 +f 1034 1031 1038 +f 1032 1035 1038 +f 1035 1034 1038 +f 1035 1032 1039 +f 1029 1035 1039 +f 1032 1037 1039 +f 1029 1039 1040 +f 1039 1033 1040 +f 1034 1029 1041 +f 1036 1034 1041 +f 1029 1040 1041 +f 1040 1033 1041 +f 1030 1036 1042 +f 1041 1033 1042 +f 1036 1041 1042 +f 1031 1030 1043 +f 1033 1039 1043 +f 1039 1037 1043 +f 1030 1042 1043 +f 1042 1033 1043 +f 1037 1032 1044 +f 1038 1031 1044 +f 1032 1038 1044 +f 1031 1043 1044 +o convex_81 +v 0.122341 3.628155 -0.271991 +v 0.621309 3.545011 0.434867 +v 0.538095 3.586568 -0.084898 +v 0.184736 3.545011 -0.542299 +v -0.023205 3.565789 0.434867 +v 0.621309 3.565789 -0.542299 +v -0.023205 3.628155 0.164558 +v -0.023205 3.586568 -0.542299 +v 0.600490 3.524201 -0.105655 +v 0.413369 3.524201 0.434867 +v 0.496520 3.607346 -0.438327 +v 0.226374 3.628155 -0.043386 +v 0.080765 3.607346 0.393259 +f 1056 1051 1057 +f 1047 1046 1050 +f 1049 1051 1052 +f 1048 1049 1052 +f 1050 1048 1052 +f 1051 1045 1052 +f 1050 1046 1053 +f 1048 1050 1053 +f 1049 1048 1054 +f 1046 1049 1054 +f 1048 1053 1054 +f 1053 1046 1054 +f 1047 1050 1055 +f 1052 1045 1055 +f 1050 1052 1055 +f 1046 1047 1056 +f 1045 1051 1056 +f 1047 1055 1056 +f 1055 1045 1056 +f 1049 1046 1057 +f 1051 1049 1057 +f 1046 1056 1057 +o convex_82 +v -0.335030 0.260051 -2.579607 +v -0.002414 0.010593 -1.311558 +v -0.002414 -0.010229 -1.311558 +v -0.480602 0.260051 -1.311558 +v -0.002414 0.260051 -2.849921 +v -0.355812 0.135256 -2.080818 +v -0.044026 0.135335 -2.808395 +v -0.127203 -0.010229 -1.332556 +v -0.459678 0.176872 -1.540502 +v -0.064809 0.031388 -2.101660 +v -0.002414 0.031388 -1.353241 +v -0.002414 0.114540 -2.662660 +v -0.438989 0.239257 -2.101660 +v -0.459678 0.260051 -1.311558 +v -0.438989 0.156051 -1.311558 +v -0.314200 0.239230 -2.642132 +v -0.418207 0.156051 -1.997608 +f 1073 1063 1074 +f 1060 1059 1061 +f 1058 1061 1062 +f 1059 1060 1062 +f 1063 1064 1067 +f 1065 1063 1067 +f 1060 1065 1067 +f 1059 1062 1068 +f 1062 1060 1069 +f 1064 1062 1069 +f 1060 1067 1069 +f 1067 1064 1069 +f 1061 1058 1070 +f 1066 1061 1070 +f 1061 1059 1071 +f 1062 1061 1071 +f 1059 1068 1071 +f 1068 1062 1071 +f 1060 1061 1072 +f 1065 1060 1072 +f 1061 1066 1072 +f 1058 1062 1073 +f 1062 1064 1073 +f 1064 1063 1073 +f 1070 1058 1073 +f 1070 1073 1074 +f 1063 1065 1074 +f 1066 1070 1074 +f 1065 1072 1074 +f 1072 1066 1074 +o convex_83 +v 0.870818 1.445407 -0.874952 +v 0.891577 3.170494 -0.022715 +v 0.891577 3.170494 -0.126586 +v 0.953961 1.382753 -0.188908 +v 0.850036 3.149668 -0.022715 +v 0.870818 2.193581 -0.874952 +v 0.912359 1.382753 -0.168134 +v 0.829241 2.152103 -0.854011 +v 0.829229 3.170494 -0.542233 +v 0.912359 1.486885 -0.874952 +v 0.912359 3.066712 -0.105811 +v 0.953961 1.777928 -0.105728 +v 0.870818 3.129016 -0.438280 +v 0.891577 2.256060 -0.022715 +v 0.829229 2.651060 -0.521376 +f 1083 1082 1089 +f 1075 1078 1081 +f 1080 1075 1082 +f 1075 1081 1082 +f 1076 1077 1083 +f 1079 1076 1083 +f 1080 1082 1083 +f 1078 1075 1084 +f 1075 1080 1084 +f 1077 1076 1085 +f 1081 1078 1086 +f 1078 1084 1086 +f 1084 1085 1086 +f 1085 1076 1086 +f 1083 1077 1087 +f 1080 1083 1087 +f 1084 1080 1087 +f 1085 1084 1087 +f 1077 1085 1087 +f 1076 1079 1088 +f 1079 1081 1088 +f 1086 1076 1088 +f 1081 1086 1088 +f 1081 1079 1089 +f 1082 1081 1089 +f 1079 1083 1089 +o convex_84 +v 0.933138 1.382753 -0.105693 +v 0.808447 2.256060 0.705147 +v 0.746102 3.149668 0.684352 +v 0.891557 3.170494 -0.001560 +v 0.683730 3.149668 0.642683 +v 0.891557 1.382753 0.705147 +v 0.850029 1.382753 0.684272 +v 0.849949 3.108190 -0.022514 +v 0.953902 1.798755 -0.105693 +v 0.912347 1.403754 -0.064104 +v 0.891557 1.507711 0.705147 +v 0.953902 1.382753 -0.022514 +v 0.912374 2.796320 -0.001560 +v 0.766866 3.087364 0.642683 +v 0.683730 3.170494 0.684352 +v 0.912347 1.653145 -0.105693 +f 1099 1094 1105 +f 1095 1091 1096 +f 1090 1095 1096 +f 1097 1093 1098 +f 1090 1096 1099 +f 1096 1094 1099 +f 1092 1091 1100 +f 1091 1095 1100 +f 1098 1100 1101 +f 1095 1090 1101 +f 1090 1098 1101 +f 1100 1095 1101 +f 1098 1093 1102 +f 1093 1100 1102 +f 1100 1098 1102 +f 1093 1092 1103 +f 1092 1100 1103 +f 1100 1093 1103 +f 1091 1092 1104 +f 1092 1093 1104 +f 1094 1096 1104 +f 1096 1091 1104 +f 1093 1097 1104 +f 1097 1094 1104 +f 1094 1097 1105 +f 1098 1090 1105 +f 1097 1098 1105 +f 1090 1099 1105 +o convex_85 +v -0.667743 3.607314 0.019149 +v -0.854799 3.087646 -0.542299 +v -0.834020 3.087646 -0.542299 +v -0.709324 3.087646 0.642774 +v -0.917183 3.108451 -0.022496 +v -0.667743 3.420221 -0.542299 +v -0.709324 3.607314 -0.022496 +v -0.667743 3.233180 0.642774 +v -0.750906 3.129256 0.642774 +v -0.771684 3.357857 -0.521419 +v -0.667743 3.150010 0.621894 +v -0.688546 3.544950 -0.396717 +v -0.917183 3.129256 -0.084789 +f 1112 1115 1118 +f 1107 1108 1109 +f 1107 1109 1110 +f 1108 1107 1111 +f 1111 1106 1113 +f 1106 1112 1113 +f 1113 1112 1114 +f 1110 1109 1114 +f 1112 1110 1114 +f 1109 1113 1114 +f 1111 1107 1115 +f 1109 1108 1116 +f 1108 1111 1116 +f 1113 1109 1116 +f 1111 1113 1116 +f 1106 1111 1117 +f 1112 1106 1117 +f 1111 1115 1117 +f 1115 1112 1117 +f 1107 1110 1118 +f 1110 1112 1118 +f 1115 1107 1118 +o convex_86 +v -0.023205 3.628155 0.081424 +v -0.667718 3.461829 -0.542299 +v -0.667718 3.524201 -0.542299 +v -0.667718 3.607348 0.081424 +v -0.023205 3.586557 -0.542299 +v -0.605324 3.607348 -0.542299 +v -0.646899 3.544992 0.081424 +v -0.023205 3.586557 -0.043370 +v -0.023205 3.565783 -0.542299 +v -0.646899 3.461829 -0.479903 +f 1120 1127 1128 +f 1121 1120 1122 +f 1120 1121 1123 +f 1123 1121 1124 +f 1121 1122 1124 +f 1122 1119 1124 +f 1119 1123 1124 +f 1122 1120 1125 +f 1119 1122 1125 +f 1123 1119 1126 +f 1119 1125 1126 +f 1120 1123 1127 +f 1123 1126 1127 +f 1127 1126 1128 +f 1125 1120 1128 +f 1126 1125 1128 +o convex_87 +v -0.106419 3.565716 0.642774 +v -0.667718 3.524132 0.081424 +v -0.667718 3.586572 0.081424 +v -0.023205 3.607299 0.081424 +v -0.646899 3.191549 0.642774 +v -0.522173 3.586572 0.497217 +v -0.023205 3.524132 0.642774 +v -0.314296 3.628155 0.289348 +v -0.667718 3.253989 0.642774 +v -0.023205 3.586572 0.601179 +v -0.646899 3.212405 0.580353 +v -0.023205 3.628155 0.081424 +v -0.646899 3.607299 0.143845 +f 1136 1140 1141 +f 1130 1131 1132 +f 1129 1133 1135 +f 1133 1132 1135 +f 1131 1130 1137 +f 1133 1129 1137 +f 1129 1134 1137 +f 1134 1129 1138 +f 1129 1135 1138 +f 1135 1132 1138 +f 1136 1134 1138 +f 1130 1132 1139 +f 1132 1133 1139 +f 1137 1130 1139 +f 1133 1137 1139 +f 1132 1131 1140 +f 1138 1132 1140 +f 1136 1138 1140 +f 1134 1136 1141 +f 1131 1137 1141 +f 1137 1134 1141 +f 1140 1131 1141 +o convex_88 +v -0.459772 1.029277 -1.373987 +v -0.335095 0.696690 -2.746120 +v -0.314302 0.696690 -2.746120 +v -0.563736 0.696690 -1.290791 +v -0.584502 1.029277 -1.269992 +v -0.314302 1.029277 -1.852213 +v -0.501358 0.696690 -2.080555 +v -0.355887 0.821422 -2.600528 +v -0.439059 1.029277 -1.852213 +v -0.584502 0.696690 -1.477981 +v -0.314302 0.925317 -2.038958 +v -0.376680 0.738300 -2.683724 +f 1146 1150 1153 +f 1143 1144 1145 +f 1145 1142 1146 +f 1142 1145 1147 +f 1146 1142 1147 +f 1143 1145 1148 +f 1144 1143 1149 +f 1147 1144 1149 +f 1147 1149 1150 +f 1146 1147 1150 +f 1145 1146 1151 +f 1148 1145 1151 +f 1146 1148 1151 +f 1145 1144 1152 +f 1144 1147 1152 +f 1147 1145 1152 +f 1143 1148 1153 +f 1148 1146 1153 +f 1149 1143 1153 +f 1150 1149 1153 +o convex_89 +v 0.060007 0.135299 1.204125 +v 0.434094 -0.010229 0.892263 +v 0.434094 0.010578 0.892263 +v 0.434094 0.218454 1.204125 +v 0.538056 0.239261 0.933871 +v 0.122373 0.010578 0.933871 +v 0.558937 -0.010229 0.913083 +v 0.018411 0.010578 1.120939 +f 1160 1157 1161 +f 1154 1157 1158 +f 1156 1155 1159 +f 1154 1158 1159 +f 1158 1156 1159 +f 1155 1156 1160 +f 1158 1157 1160 +f 1156 1158 1160 +f 1157 1154 1161 +f 1159 1155 1161 +f 1154 1159 1161 +f 1155 1160 1161 +o convex_90 +v -0.771550 -2.421951 -0.396889 +v -0.064833 -2.401170 -1.020532 +v -0.064833 -2.421951 -1.020532 +v -0.065059 -2.401162 0.705146 +v -0.729987 -2.359593 -0.957987 +v -0.834045 -2.359593 0.705146 +v -0.231234 -2.359593 -1.935191 +v -0.127252 -2.442748 -1.935191 +v -0.646786 -2.442748 0.268364 +v -0.065059 -2.380398 0.497093 +v -0.065059 -2.421951 0.705146 +v -0.542880 -2.359593 0.705146 +v -0.064908 -2.442748 -0.791544 +v -0.771625 -2.442748 -0.064263 +v -0.335066 -2.380390 -1.935191 +v -0.729987 -2.401162 0.663277 +v -0.792331 -2.380398 -0.749675 +v -0.064833 -2.421951 -1.935191 +v -0.605224 -2.442748 -0.749934 +v -0.065059 -2.380398 -0.563074 +f 1179 1168 1181 +f 1164 1163 1165 +f 1166 1167 1168 +f 1165 1163 1171 +f 1164 1165 1172 +f 1165 1167 1172 +f 1167 1165 1173 +f 1168 1167 1173 +f 1165 1171 1173 +f 1171 1168 1173 +f 1170 1169 1174 +f 1164 1172 1174 +f 1172 1170 1174 +f 1169 1170 1175 +f 1166 1168 1176 +f 1168 1169 1176 +f 1172 1167 1177 +f 1170 1172 1177 +f 1167 1175 1177 +f 1175 1170 1177 +f 1167 1166 1178 +f 1162 1175 1178 +f 1175 1167 1178 +f 1166 1176 1178 +f 1163 1164 1179 +f 1169 1168 1179 +f 1164 1174 1179 +f 1174 1169 1179 +f 1175 1162 1180 +f 1169 1175 1180 +f 1176 1169 1180 +f 1162 1178 1180 +f 1178 1176 1180 +f 1171 1163 1181 +f 1168 1171 1181 +f 1163 1179 1181 +o convex_91 +v -0.896398 -2.276422 -0.562791 +v -0.750902 -2.338778 -0.729009 +v -0.750902 -2.359585 -0.729009 +v -0.813272 -2.338778 0.705147 +v -0.750902 -2.193259 -1.540154 +v -0.875602 -2.193259 0.705147 +v -0.958789 -2.193259 -0.168300 +v -0.854845 -2.359585 0.705147 +v -0.771699 -2.214066 -1.810536 +v -0.792496 -2.359585 -0.957775 +v -0.834069 -2.214066 0.705147 +v -0.958789 -2.234857 -0.168300 +f 1191 1189 1193 +f 1184 1183 1185 +f 1183 1184 1186 +f 1187 1186 1188 +f 1184 1185 1189 +f 1185 1187 1189 +f 1186 1184 1190 +f 1188 1186 1190 +f 1184 1189 1191 +f 1182 1190 1191 +f 1190 1184 1191 +f 1185 1183 1192 +f 1183 1186 1192 +f 1187 1185 1192 +f 1186 1187 1192 +f 1187 1188 1193 +f 1189 1187 1193 +f 1190 1182 1193 +f 1188 1190 1193 +f 1182 1191 1193 +o convex_92 +v -0.626055 -2.359585 -1.394652 +v -0.293485 -2.338778 -1.914461 +v -0.293485 -2.359585 -1.914461 +v -0.750881 -2.193259 -1.935281 +v -0.459860 -2.338778 -0.978938 +v -0.750881 -2.359585 -0.791789 +v -0.730062 -2.193259 -1.727200 +v -0.750881 -2.234857 -1.935281 +v -0.376672 -2.359585 -1.935281 +v -0.750881 -2.338778 -0.791789 +f 1200 1197 1203 +f 1196 1195 1198 +f 1194 1196 1199 +f 1196 1198 1199 +f 1195 1197 1200 +f 1198 1195 1200 +f 1194 1199 1201 +f 1199 1197 1201 +f 1196 1194 1202 +f 1195 1196 1202 +f 1197 1195 1202 +f 1194 1201 1202 +f 1201 1197 1202 +f 1197 1199 1203 +f 1199 1198 1203 +f 1198 1200 1203 +o convex_93 +v -0.064786 -2.421943 0.684356 +v 0.829217 -2.318004 0.455478 +v 0.808389 -2.318004 0.559440 +v 0.288667 -2.318016 -2.060025 +v 0.745995 -2.421943 -0.147609 +v -0.064786 -2.442736 -2.060025 +v -0.064786 -2.380370 0.496848 +v 0.496591 -2.318004 0.684356 +v 0.392541 -2.338809 -2.039072 +v 0.600553 -2.421943 0.538487 +v 0.766822 -2.318028 -0.667150 +v 0.101570 -2.442736 -2.060025 +v -0.064786 -2.380370 -0.563188 +v -0.043871 -2.442724 -0.812482 +v -0.064786 -2.421943 -2.060025 +v 0.745995 -2.338833 0.684356 +v 0.766822 -2.338821 -0.667150 +f 1212 1214 1220 +f 1209 1204 1210 +f 1206 1205 1211 +f 1205 1207 1211 +f 1210 1204 1211 +f 1207 1210 1211 +f 1207 1205 1214 +f 1212 1207 1214 +f 1209 1207 1215 +f 1207 1212 1215 +f 1212 1208 1215 +f 1210 1207 1216 +f 1209 1210 1216 +f 1204 1209 1217 +f 1208 1213 1217 +f 1213 1204 1217 +f 1209 1215 1217 +f 1215 1208 1217 +f 1207 1209 1218 +f 1216 1207 1218 +f 1209 1216 1218 +f 1205 1206 1219 +f 1208 1205 1219 +f 1211 1204 1219 +f 1206 1211 1219 +f 1213 1208 1219 +f 1204 1213 1219 +f 1205 1208 1220 +f 1208 1212 1220 +f 1214 1205 1220 +o convex_94 +v 0.455076 -2.318003 -1.997433 +v 0.933144 -2.193259 0.684356 +v 0.912346 -2.193259 0.684356 +v 0.642087 -2.193259 -2.060025 +v 0.787501 -2.318003 -0.708788 +v 0.662885 -2.297184 0.684356 +v 0.351086 -2.297184 -2.018118 +v 0.745962 -2.214078 -1.976480 +v 0.870750 -2.318003 0.497117 +v 0.912346 -2.193259 -0.251302 +v 0.662885 -2.318003 0.684356 +v 0.933144 -2.214078 0.039630 +v 0.351086 -2.318003 -2.060025 +v 0.455076 -2.297184 -0.979036 +v 0.912346 -2.276414 0.684356 +f 1232 1222 1235 +f 1223 1222 1224 +f 1222 1223 1226 +f 1223 1224 1227 +f 1225 1221 1228 +f 1221 1225 1229 +f 1224 1222 1230 +f 1228 1224 1230 +f 1222 1226 1231 +f 1221 1229 1231 +f 1225 1228 1232 +f 1229 1225 1232 +f 1230 1222 1232 +f 1228 1230 1232 +f 1227 1224 1233 +f 1224 1228 1233 +f 1228 1221 1233 +f 1221 1231 1233 +f 1233 1231 1234 +f 1226 1223 1234 +f 1223 1227 1234 +f 1231 1226 1234 +f 1227 1233 1234 +f 1222 1231 1235 +f 1231 1229 1235 +f 1229 1232 1235 +o convex_95 +v -0.418099 0.218470 2.077241 +v 0.413401 0.239261 1.329075 +v 0.371775 0.239261 1.703455 +v 0.039107 0.072935 1.266678 +v -0.459811 0.239261 1.183334 +v -0.002434 0.239261 2.701060 +v -0.002434 0.093725 1.890646 +v -0.064746 0.072935 1.183334 +v 0.413401 0.218470 1.204133 +v 0.288608 0.197679 1.931946 +v -0.438869 0.197679 1.973247 +v -0.023205 0.197679 2.617716 +v -0.438869 0.239261 2.014548 +v -0.418099 0.197679 1.183334 +f 1243 1246 1249 +f 1238 1237 1240 +f 1238 1240 1241 +f 1239 1242 1243 +f 1237 1238 1244 +f 1240 1237 1244 +f 1239 1243 1244 +f 1243 1240 1244 +f 1238 1241 1245 +f 1242 1239 1245 +f 1244 1238 1245 +f 1239 1244 1245 +f 1243 1242 1246 +f 1241 1236 1247 +f 1245 1241 1247 +f 1242 1245 1247 +f 1236 1246 1247 +f 1246 1242 1247 +f 1236 1241 1248 +f 1241 1240 1248 +f 1246 1236 1248 +f 1240 1246 1248 +f 1240 1243 1249 +f 1246 1240 1249 +o convex_96 +v -0.896427 -0.696391 -1.561191 +v -0.917224 -1.382352 -2.309514 +v -0.917224 -1.361535 -2.309514 +v -1.000360 -1.257583 -0.958115 +v -1.000360 -1.319968 -2.018360 +v -0.979564 -1.382352 -0.958115 +v -0.938011 -0.696391 -0.958115 +v -0.917224 -0.821160 -0.958115 +v -0.896427 -1.382352 -2.205540 +v -0.958777 -0.821160 -1.540291 +v -0.917224 -1.049679 -2.039129 +v -1.000360 -1.382352 -2.080798 +v -0.958777 -1.278400 -0.958115 +f 1258 1257 1262 +f 1253 1255 1256 +f 1256 1255 1257 +f 1250 1256 1257 +f 1251 1252 1258 +f 1255 1251 1258 +f 1250 1257 1258 +f 1254 1253 1259 +f 1253 1256 1259 +f 1256 1250 1259 +f 1250 1258 1260 +f 1258 1252 1260 +f 1259 1250 1260 +f 1254 1259 1260 +f 1252 1251 1261 +f 1253 1254 1261 +f 1251 1255 1261 +f 1255 1253 1261 +f 1260 1252 1261 +f 1254 1260 1261 +f 1257 1255 1262 +f 1255 1258 1262 +o convex_97 +v -0.646952 -0.696529 -2.330358 +v -0.688534 -1.403210 -2.870865 +v -0.646952 -1.403210 -2.870865 +v -0.875590 -0.717216 -1.519465 +v -0.896393 -1.361490 -2.392399 +v -0.792475 -0.696460 -2.101774 +v -0.875590 -1.382315 -2.267788 +v -0.750869 -1.382315 -2.849964 +v -0.896393 -0.696460 -1.665241 +v -0.646952 -0.966775 -2.434332 +v -0.667755 -1.132825 -2.766758 +v -0.646952 -1.403210 -2.829196 +v -0.896393 -1.008288 -2.081005 +v -0.646952 -0.717286 -2.247152 +f 1266 1272 1276 +f 1266 1267 1269 +f 1269 1267 1270 +f 1264 1269 1270 +f 1266 1263 1271 +f 1267 1266 1271 +f 1263 1268 1271 +f 1265 1263 1272 +f 1263 1265 1273 +f 1265 1264 1273 +f 1268 1263 1273 +f 1264 1270 1273 +f 1270 1268 1273 +f 1264 1265 1274 +f 1269 1264 1274 +f 1266 1269 1274 +f 1265 1272 1274 +f 1272 1266 1274 +f 1270 1267 1275 +f 1268 1270 1275 +f 1267 1271 1275 +f 1271 1268 1275 +f 1263 1266 1276 +f 1272 1263 1276 +o convex_98 +v 0.351056 0.987769 2.014945 +v 0.538119 0.821457 1.141797 +v 0.538119 0.883872 1.120978 +v 0.330261 1.237154 1.183436 +v 0.558914 1.382698 1.058647 +v 0.351056 0.821457 2.306036 +v 0.330261 1.382698 1.183436 +v 0.330261 0.821457 2.139608 +v 0.475757 0.821457 1.723727 +v 0.496530 0.821457 1.183436 +v 0.558914 0.821457 1.183436 +v 0.538119 1.341106 1.017008 +f 1281 1287 1288 +f 1279 1278 1280 +f 1281 1277 1282 +f 1277 1281 1283 +f 1282 1277 1283 +f 1282 1283 1284 +f 1278 1282 1284 +f 1283 1280 1284 +f 1282 1278 1285 +f 1281 1282 1285 +f 1280 1278 1286 +f 1278 1284 1286 +f 1284 1280 1286 +f 1278 1279 1287 +f 1285 1278 1287 +f 1281 1285 1287 +f 1279 1280 1288 +f 1283 1281 1288 +f 1280 1283 1288 +f 1287 1279 1288 +o convex_99 +v -0.626053 -0.758863 -2.496786 +v 0.059958 -0.800371 -2.870834 +v -0.148094 -0.696462 -2.766871 +v -0.626053 -1.403210 -2.891526 +v -0.626053 -0.717286 -2.247225 +v 0.059958 -1.403141 -3.057900 +v -0.002450 -0.841949 -2.933245 +v -0.542887 -0.800440 -2.662909 +v -0.023276 -1.382317 -3.099535 +v -0.605227 -1.403210 -2.849891 +v -0.376626 -0.717286 -2.434375 +v -0.646879 -1.340671 -2.870750 +v -0.252016 -0.696462 -2.766871 +v -0.646879 -0.696462 -2.330412 +v -0.646879 -1.070452 -2.746095 +v 0.059958 -0.862772 -2.870834 +f 1299 1294 1304 +f 1291 1290 1295 +f 1290 1294 1295 +f 1294 1292 1297 +f 1295 1294 1297 +f 1294 1293 1298 +f 1292 1294 1298 +f 1290 1291 1299 +f 1293 1294 1299 +f 1297 1292 1300 +f 1295 1297 1300 +f 1292 1298 1300 +f 1298 1293 1300 +f 1291 1295 1301 +f 1296 1289 1301 +f 1295 1300 1301 +f 1299 1291 1302 +f 1293 1299 1302 +f 1300 1293 1302 +f 1301 1289 1302 +f 1291 1301 1302 +f 1289 1296 1303 +f 1296 1301 1303 +f 1301 1300 1303 +f 1302 1289 1303 +f 1300 1302 1303 +f 1294 1290 1304 +f 1290 1299 1304 +o convex_100 +v 0.621309 3.274761 0.684307 +v 0.184736 3.586574 0.455694 +v 0.184736 3.586574 0.434891 +v 0.621309 3.544960 0.434891 +v 0.039190 3.565767 0.684307 +v 0.579671 3.212340 0.663528 +v -0.023205 3.565767 0.434891 +v -0.023205 3.482612 0.684307 +v 0.579671 3.544960 0.538833 +v 0.621309 3.503346 0.434891 +f 1311 1308 1314 +f 1307 1306 1308 +f 1306 1307 1311 +f 1307 1308 1311 +f 1309 1306 1311 +f 1305 1309 1312 +f 1310 1305 1312 +f 1309 1311 1312 +f 1311 1310 1312 +f 1308 1306 1313 +f 1305 1308 1313 +f 1309 1305 1313 +f 1306 1309 1313 +f 1308 1305 1314 +f 1305 1310 1314 +f 1310 1311 1314 +o convex_101 +v 0.600502 -0.821168 -2.642179 +v 0.059958 -1.403151 -3.078773 +v 0.122355 -1.403151 -3.078773 +v 0.101556 -0.800337 -2.891644 +v 0.621301 -0.821168 -2.455050 +v 0.621301 -1.403151 -2.912402 +v 0.059958 -0.821168 -2.850005 +v 0.080757 -1.403151 -3.037073 +v 0.579703 -1.403151 -2.870763 +v 0.642100 -1.070615 -2.766911 +f 1320 1318 1324 +f 1317 1316 1318 +f 1315 1318 1319 +f 1316 1317 1320 +f 1317 1318 1320 +f 1318 1316 1321 +f 1319 1318 1321 +f 1319 1321 1322 +f 1316 1320 1322 +f 1321 1316 1322 +f 1322 1320 1323 +f 1320 1319 1323 +f 1319 1322 1323 +f 1318 1315 1324 +f 1315 1319 1324 +f 1319 1320 1324 +o convex_102 +v 0.039149 -0.467690 -2.351128 +v -0.002367 -0.800278 -2.912446 +v -0.002367 -0.779436 -2.912446 +v -0.147949 -0.446885 -1.997730 +v 0.163912 -0.446885 -1.956071 +v 0.163912 -0.800278 -2.808346 +v 0.039149 -0.613179 -2.849911 +v -0.147949 -0.800278 -2.787657 +v -0.147949 -0.654716 -2.787657 +v 0.163912 -0.654716 -2.787657 +v -0.147949 -0.426080 -2.080861 +v 0.163912 -0.426080 -2.060172 +f 1335 1329 1336 +f 1326 1327 1330 +f 1327 1326 1332 +f 1329 1328 1332 +f 1326 1330 1332 +f 1330 1329 1332 +f 1331 1327 1333 +f 1327 1332 1333 +f 1332 1328 1333 +f 1330 1327 1334 +f 1329 1330 1334 +f 1327 1331 1334 +f 1328 1329 1335 +f 1325 1331 1335 +f 1333 1328 1335 +f 1331 1333 1335 +f 1331 1325 1336 +f 1329 1334 1336 +f 1334 1331 1336 +f 1325 1335 1336 +o convex_103 +v 0.309531 -0.800278 -2.787490 +v 0.642100 -0.426080 -1.519593 +v 0.621270 -0.426080 -1.519593 +v 0.163912 -0.426080 -2.039316 +v 0.205524 -0.675484 -2.787490 +v 0.163912 -0.800278 -2.808259 +v 0.642100 -0.800278 -2.496477 +v 0.642100 -0.488459 -1.789967 +v 0.163912 -0.446885 -1.935474 +v 0.621270 -0.800278 -2.413275 +v 0.579705 -0.446885 -1.540490 +v 0.642100 -0.654716 -2.226231 +v 0.351049 -0.426080 -1.893809 +f 1344 1341 1349 +f 1339 1338 1340 +f 1341 1337 1342 +f 1340 1341 1342 +f 1337 1341 1343 +f 1342 1337 1343 +f 1338 1343 1344 +f 1339 1340 1345 +f 1340 1342 1345 +f 1343 1338 1346 +f 1342 1343 1346 +f 1338 1339 1347 +f 1339 1345 1347 +f 1345 1342 1347 +f 1342 1346 1347 +f 1346 1338 1347 +f 1343 1341 1348 +f 1341 1344 1348 +f 1344 1343 1348 +f 1340 1338 1349 +f 1341 1340 1349 +f 1338 1344 1349 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/777/777.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/777/777.urdf new file mode 100644 index 000000000..6476013bc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/777/777.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/778/778.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/778/778.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/778/778.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/778/778.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/778/778.obj new file mode 100644 index 000000000..5f827c2dd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/778/778.obj @@ -0,0 +1,306 @@ +o convex_0 +v 1.092634 -1.415325 -0.784269 +v -1.113054 -2.484974 0.934553 +v -0.950693 -4.009846 -0.849040 +v -0.983295 0.206673 -1.076173 +v 1.027646 0.206673 0.934553 +v 1.060032 -4.009424 1.096914 +v 1.060032 -3.977330 -1.011401 +v -1.048067 0.206250 1.031926 +v 0.995261 0.206673 -1.076173 +v -1.015681 -4.009846 0.966939 +v -0.918308 -4.042362 -0.946414 +v 1.092634 -2.258207 -1.108774 +v 0.378851 -4.107394 -0.492365 +v -0.983295 -1.221074 -1.076173 +v -1.080453 -0.150581 -0.038100 +v -0.107368 0.206673 1.031926 +v -1.080453 -1.058916 1.031926 +v 1.060032 0.206673 0.026456 +v -0.496645 -4.107394 -0.265232 +v -0.918308 -2.452880 -1.043571 +v 0.703141 -3.815173 1.096914 +v 1.060032 -1.350716 0.934553 +v 0.541212 -4.009846 -1.011401 +v -0.853536 -4.009846 0.999325 +v 1.060032 -0.993885 -1.108774 +v -1.113054 -1.610421 0.642433 +v -1.048067 -3.977330 0.966939 +v -1.080453 0.011999 1.031926 +v -1.048067 0.206250 -0.524751 +v 1.092634 -3.036901 -1.011185 +v 0.703141 -2.063533 -1.108774 +v 1.060032 -3.782234 1.096914 +v 1.092634 -2.063533 -0.459979 +v 0.703141 -4.074878 -0.654510 +v -0.950693 -3.620499 -0.978799 +v -0.820934 -4.074878 -0.816654 +v -1.113054 -1.383232 0.999325 +v 1.027646 -4.009424 -0.979015 +v 1.027646 -3.653015 -1.043787 +v -1.015681 0.174157 -0.946414 +v -0.464259 -2.063533 -1.076173 +v -1.113054 -1.965985 0.707421 +v -0.594018 -4.107394 -0.589522 +v -0.983295 -4.041940 -0.232847 +v 1.027646 -0.053033 -0.946414 +v -0.983295 -1.965985 -0.946414 +v -1.113054 -2.484974 0.999325 +v 0.768128 -4.009846 1.096914 +v 0.703141 -3.685531 1.096914 +v 0.670755 0.206673 0.967155 +v -0.464259 -3.976908 -0.978799 +v 1.092634 -1.739640 -1.108774 +v 1.060032 0.206673 -0.038316 +v 1.060032 -4.009424 -0.168075 +v -0.139753 -4.042362 -0.946414 +v 0.378851 -4.107394 -0.524751 +v 0.995261 -0.961791 -1.108774 +f 25 31 57 +f 4 5 9 +f 5 4 16 +f 4 8 16 +f 9 5 18 +f 13 6 19 +f 18 5 22 +f 1 18 22 +f 10 19 24 +f 21 17 24 +f 10 24 27 +f 17 21 28 +f 8 4 29 +f 28 8 29 +f 15 28 29 +f 12 1 30 +f 7 12 30 +f 14 4 31 +f 25 12 31 +f 21 6 32 +f 22 5 32 +f 22 32 33 +f 1 22 33 +f 30 1 33 +f 6 30 33 +f 32 6 33 +f 6 13 34 +f 11 3 35 +f 14 20 35 +f 26 2 37 +f 15 26 37 +f 28 15 37 +f 17 28 37 +f 23 7 38 +f 12 7 39 +f 7 23 39 +f 23 20 39 +f 31 12 39 +f 4 14 40 +f 26 15 40 +f 29 4 40 +f 15 29 40 +f 20 14 41 +f 14 31 41 +f 39 20 41 +f 31 39 41 +f 3 2 42 +f 2 26 42 +f 35 3 42 +f 26 40 42 +f 19 10 43 +f 13 19 43 +f 36 43 44 +f 2 3 44 +f 3 11 44 +f 27 2 44 +f 10 27 44 +f 11 36 44 +f 43 10 44 +f 25 9 45 +f 14 35 46 +f 40 14 46 +f 35 42 46 +f 42 40 46 +f 24 17 47 +f 2 27 47 +f 27 24 47 +f 37 2 47 +f 17 37 47 +f 19 6 48 +f 6 21 48 +f 24 19 48 +f 21 24 48 +f 16 8 49 +f 8 28 49 +f 28 21 49 +f 32 16 49 +f 21 32 49 +f 5 16 50 +f 32 5 50 +f 16 32 50 +f 23 11 51 +f 20 23 51 +f 11 35 51 +f 35 20 51 +f 1 12 52 +f 12 25 52 +f 25 45 52 +f 52 45 53 +f 18 1 53 +f 9 18 53 +f 45 9 53 +f 1 52 53 +f 30 6 54 +f 7 30 54 +f 6 34 54 +f 38 7 54 +f 34 38 54 +f 11 23 55 +f 36 11 55 +f 23 38 55 +f 55 38 56 +f 34 13 56 +f 38 34 56 +f 13 43 56 +f 43 36 56 +f 36 55 56 +f 4 9 57 +f 9 25 57 +f 31 4 57 +o convex_1 +v -0.237209 1.958763 -1.108558 +v -0.853506 4.098682 1.096914 +v -0.626350 4.098682 1.064312 +v 1.027657 0.206673 0.934553 +v 1.092618 3.968771 -0.978799 +v -1.048181 0.206673 1.031926 +v 0.995176 0.206673 -1.076173 +v -1.015700 4.098682 -0.979015 +v -0.983219 0.206673 -1.076173 +v 0.930424 4.065919 0.999325 +v -1.015700 2.509267 1.096914 +v -1.015700 1.018143 -1.108774 +v -0.107286 0.206673 1.031926 +v -0.950739 4.098682 1.096914 +v 0.995176 2.931003 0.966939 +v 1.092618 3.741712 -1.011185 +v -1.048181 0.206673 -0.524751 +v -1.015700 2.185060 -1.108774 +v 1.027657 0.206673 -0.654294 +v -0.885777 1.699321 1.096914 +v -1.048181 1.407115 1.064312 +v -0.075014 4.098682 -0.103088 +v 0.930424 2.121057 -1.076173 +v 1.092618 3.968771 -0.719497 +v 0.962695 3.709329 0.999541 +v -1.048181 1.147673 -0.686895 +v 1.027657 1.634175 0.934553 +v -1.048181 0.272200 1.064312 +v -1.015700 4.065919 -0.622124 +v 1.027657 4.033917 0.123613 +v 0.962695 3.839241 -1.011185 +v 0.508592 4.033917 1.031926 +v -0.723792 4.098682 -0.979015 +v 0.768229 4.001534 -0.978799 +v -0.983219 3.644564 0.902167 +v 0.962695 4.065919 0.934553 +v 0.962695 4.065919 0.642649 +v -0.950739 0.888232 -1.108774 +v -0.658831 2.217443 -1.108774 +v -1.015700 0.206673 -0.946414 +v -0.950739 2.217443 -1.108774 +v 0.670787 0.206673 0.966939 +v -0.983219 4.098682 0.383131 +v 1.092618 3.709329 -1.011185 +v -0.042534 4.098682 0.058841 +v -1.015700 1.569409 1.096914 +v 1.027657 4.001534 -0.622124 +f 79 94 104 +f 61 63 64 +f 59 60 65 +f 64 63 66 +f 60 59 67 +f 63 61 70 +f 59 65 71 +f 68 59 71 +f 66 63 74 +f 61 64 76 +f 59 68 77 +f 74 63 78 +f 65 60 79 +f 64 58 80 +f 73 64 80 +f 73 62 81 +f 69 74 83 +f 75 69 83 +f 65 75 83 +f 78 65 83 +f 74 78 83 +f 61 81 84 +f 81 72 84 +f 82 61 84 +f 72 82 84 +f 63 70 85 +f 70 77 85 +f 68 78 85 +f 78 63 85 +f 65 78 86 +f 78 68 86 +f 81 62 87 +f 72 81 87 +f 62 73 88 +f 73 80 88 +f 67 59 89 +f 59 77 89 +f 77 70 89 +f 82 67 89 +f 70 82 89 +f 65 79 90 +f 88 65 90 +f 88 90 91 +f 62 88 91 +f 90 79 91 +f 68 71 92 +f 86 68 92 +f 67 82 93 +f 82 72 93 +f 72 87 93 +f 93 87 94 +f 58 64 95 +f 64 66 95 +f 66 69 95 +f 69 75 95 +f 95 75 96 +f 80 58 96 +f 88 80 96 +f 58 95 96 +f 69 66 97 +f 66 74 97 +f 74 69 97 +f 75 65 98 +f 65 88 98 +f 96 75 98 +f 88 96 98 +f 70 61 99 +f 61 82 99 +f 82 70 99 +f 71 65 100 +f 65 86 100 +f 92 71 100 +f 86 92 100 +f 64 73 101 +f 61 76 101 +f 76 64 101 +f 81 61 101 +f 73 81 101 +f 60 67 102 +f 79 60 102 +f 67 93 102 +f 93 94 102 +f 94 79 102 +f 77 68 103 +f 68 85 103 +f 85 77 103 +f 87 62 104 +f 62 91 104 +f 91 79 104 +f 94 87 104 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/778/778.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/778/778.urdf new file mode 100644 index 000000000..966060021 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/778/778.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/779/779.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/779/779.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/779/779.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/779/779.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/779/779.obj new file mode 100644 index 000000000..cecc0a697 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/779/779.obj @@ -0,0 +1,603 @@ +o convex_0 +v -1.064108 0.912935 -0.193014 +v 1.047106 0.512412 1.117213 +v 0.974153 0.512412 1.117213 +v -0.518329 2.332548 0.570929 +v 0.937782 2.150512 -1.067069 +v 0.937782 0.075659 -0.957812 +v -0.954994 0.075880 0.971395 +v -0.954994 2.113840 -1.066855 +v -0.991366 0.075880 -1.066855 +v 1.047106 2.113840 1.044304 +v -1.100690 1.968256 1.044304 +v 1.047106 0.075659 1.117213 +v 0.464535 2.332548 -0.447875 +v -0.554700 2.332548 -0.593694 +v 1.047106 0.075659 0.571143 +v 0.537278 2.332548 0.461886 +v 0.937782 1.567954 -1.067069 +v 0.974153 2.113840 -0.739084 +v -1.027737 0.075880 -0.993946 +v 0.719344 0.112111 1.117213 +v -1.100690 1.531282 0.607277 +v -0.991366 2.113840 -0.702737 +v 1.010525 1.822671 1.080652 +v -0.772928 0.075880 1.007743 +v -0.627443 0.075880 -1.066855 +v 0.974153 0.075659 -0.666389 +v -1.027737 0.075880 -0.630041 +v 1.047106 2.113840 0.825791 +v -0.554700 2.332548 0.570929 +v -0.845670 2.150291 -1.066855 +v -1.100690 1.677087 0.971395 +v -1.100690 1.931804 0.716534 +v 0.573649 0.112111 -0.993946 +v -0.991366 1.240113 -1.066855 +v -1.100690 1.858902 1.044304 +f 11 31 35 +f 2 3 12 +f 7 6 12 +f 10 2 12 +f 4 13 14 +f 13 5 14 +f 12 6 15 +f 10 12 15 +f 4 10 16 +f 13 4 16 +f 5 13 16 +f 9 5 17 +f 17 5 18 +f 9 6 19 +f 3 11 20 +f 12 3 20 +f 1 19 21 +f 14 8 22 +f 3 2 23 +f 2 10 23 +f 11 3 23 +f 10 11 23 +f 7 12 24 +f 12 20 24 +f 6 9 25 +f 9 17 25 +f 15 6 26 +f 6 17 26 +f 18 15 26 +f 17 18 26 +f 6 7 27 +f 19 6 27 +f 21 19 27 +f 10 15 28 +f 16 10 28 +f 5 16 28 +f 18 5 28 +f 15 18 28 +f 10 4 29 +f 11 10 29 +f 4 14 29 +f 22 11 29 +f 14 22 29 +f 5 8 30 +f 8 14 30 +f 14 5 30 +f 11 21 31 +f 27 7 31 +f 21 27 31 +f 1 21 32 +f 21 11 32 +f 11 22 32 +f 17 6 33 +f 6 25 33 +f 25 17 33 +f 8 5 34 +f 5 9 34 +f 19 1 34 +f 9 19 34 +f 22 8 34 +f 1 32 34 +f 32 22 34 +f 20 11 35 +f 7 24 35 +f 24 20 35 +f 31 7 35 +o convex_1 +v -0.336130 -3.965192 1.080809 +v -0.955110 -2.400406 -1.103473 +v -0.955110 -2.109015 -1.103473 +v 1.119915 -2.108826 -0.957655 +v -0.991458 -2.109015 1.007900 +v -1.064367 -3.965192 -1.030564 +v 1.047006 -3.965192 1.007686 +v 1.010445 -3.928933 -0.921307 +v 0.974097 -2.109015 0.971338 +v -1.027805 -4.037898 1.080809 +v 1.010445 -2.691419 1.007686 +v -1.064367 -3.528389 -0.957655 +v -0.991458 -4.037898 0.571086 +v 0.974097 -2.145462 -0.994003 +v 0.682888 -3.928933 -0.957655 +v -1.027805 -3.528389 1.080809 +v 1.047006 -3.673990 -0.848398 +v -0.700248 -3.965192 -1.030564 +v -0.991458 -2.109015 -0.193285 +v -1.064367 -3.965192 -0.011332 +v -0.590992 -4.037898 1.007900 +v 1.010445 -2.109015 0.825734 +v 1.119915 -2.218168 -0.775703 +v 0.719236 -3.965192 1.044247 +v -1.027805 -3.091586 1.044247 +v -0.991458 -2.363958 -1.066912 +v -0.336130 -3.965192 -0.994217 +v -0.700248 -2.109015 1.007900 +v -0.845853 -2.291063 -1.103473 +v 1.047006 -3.237187 -0.957655 +v 1.047006 -3.783332 1.007686 +f 46 59 66 +f 38 37 41 +f 45 41 48 +f 38 39 49 +f 45 36 51 +f 36 46 51 +f 42 43 52 +f 41 37 53 +f 48 41 53 +f 39 38 54 +f 40 39 54 +f 47 40 54 +f 41 45 55 +f 47 41 55 +f 45 51 55 +f 43 42 56 +f 42 45 56 +f 48 43 56 +f 45 48 56 +f 39 44 57 +f 44 46 57 +f 52 39 58 +f 42 52 58 +f 39 57 58 +f 36 45 59 +f 45 42 59 +f 46 36 59 +f 40 47 60 +f 51 40 60 +f 47 55 60 +f 55 51 60 +f 38 41 61 +f 41 47 61 +f 54 38 61 +f 47 54 61 +f 43 48 62 +f 50 43 62 +f 48 53 62 +f 53 50 62 +f 39 40 63 +f 44 39 63 +f 46 44 63 +f 51 46 63 +f 40 51 63 +f 37 38 64 +f 38 49 64 +f 53 37 64 +f 50 53 64 +f 49 39 65 +f 43 50 65 +f 39 52 65 +f 52 43 65 +f 64 49 65 +f 50 64 65 +f 57 46 66 +f 42 58 66 +f 58 57 66 +f 59 42 66 +o convex_2 +v 0.355146 2.332548 -0.484333 +v -0.518652 3.643117 -0.338957 +v 0.100349 3.606684 0.498284 +v -2.993567 2.441976 0.389030 +v -3.066625 3.606556 -0.484333 +v 0.573596 2.332548 0.461829 +v -3.029914 2.551147 -0.593808 +v 0.646654 3.570251 -0.557243 +v -3.029914 3.533689 0.425374 +v -0.555000 2.332548 0.534738 +v -0.555000 2.332548 -0.593808 +v 0.646654 3.460823 0.461829 +v 0.646654 2.514714 -0.447879 +v -0.481941 3.606684 0.498284 +v -2.519956 2.441976 0.461829 +v -3.029914 2.769618 -0.593808 +v 0.500900 3.606684 -0.557243 +v 0.464552 3.606684 0.461829 +v -3.066625 3.570122 0.134180 +v 0.646654 2.405543 0.461829 +v -2.993567 2.441976 0.134180 +v -2.265522 3.533689 0.461829 +v -0.081753 2.368981 0.534738 +v -3.029914 2.514714 -0.484333 +v -2.993567 3.570122 0.316232 +v -2.993567 3.606556 -0.302281 +v 0.646654 3.351780 -0.557243 +v -1.028247 3.643117 -0.448100 +v -0.518289 2.551147 0.534738 +v -3.066625 3.060442 -0.484333 +v -2.993567 2.478409 0.425374 +v 0.464552 2.332548 -0.447879 +v -0.445594 2.332548 -0.593808 +v 0.282451 3.606684 -0.557243 +v -0.955552 2.551147 -0.593808 +f 74 99 101 +f 67 72 76 +f 67 76 77 +f 76 70 77 +f 74 78 79 +f 69 68 80 +f 70 76 81 +f 73 71 82 +f 77 73 82 +f 74 83 84 +f 68 69 84 +f 69 78 84 +f 78 74 84 +f 83 68 84 +f 79 78 86 +f 77 70 87 +f 80 75 88 +f 75 81 88 +f 76 72 89 +f 78 69 89 +f 72 86 89 +f 86 78 89 +f 73 77 90 +f 87 70 90 +f 77 87 90 +f 75 80 91 +f 71 85 91 +f 85 75 91 +f 71 91 92 +f 91 80 92 +f 74 79 93 +f 79 67 93 +f 80 68 94 +f 68 83 94 +f 71 92 94 +f 92 80 94 +f 69 80 95 +f 81 76 95 +f 80 88 95 +f 88 81 95 +f 76 89 95 +f 89 69 95 +f 71 73 96 +f 70 85 96 +f 85 71 96 +f 73 90 96 +f 90 70 96 +f 70 81 97 +f 81 75 97 +f 85 70 97 +f 75 85 97 +f 72 67 98 +f 67 79 98 +f 86 72 98 +f 79 86 98 +f 67 77 99 +f 77 82 99 +f 74 93 99 +f 93 67 99 +f 82 71 100 +f 83 82 100 +f 94 83 100 +f 71 94 100 +f 82 83 101 +f 83 74 101 +f 99 82 101 +o convex_3 +v 0.792355 2.441762 0.134165 +v 0.792355 3.570308 -0.484494 +v 0.792355 3.570308 -0.520948 +v 2.940151 2.987918 0.498284 +v 2.940151 2.478327 -0.557403 +v 0.646654 3.460944 0.461829 +v 2.940151 3.497399 -0.448146 +v 0.646654 2.514671 -0.448146 +v 2.503273 2.478327 0.534738 +v 2.940151 3.460944 0.425481 +v 0.646654 2.441762 0.461829 +v 0.646654 3.570308 -0.557403 +v 2.940151 2.514671 0.534738 +v 2.576011 3.533743 -0.484494 +v 1.811587 2.478327 -0.520948 +v 0.646654 3.315346 -0.557403 +v 1.374934 2.441762 0.498177 +v 2.539418 3.497399 0.206968 +v 2.320979 2.769411 0.534738 +v 2.940151 2.660269 -0.557403 +v 0.792355 2.514671 -0.484494 +v 2.758081 3.533743 -0.411691 +v 2.466679 2.514671 -0.557403 +v 2.940151 2.478327 -0.047680 +f 110 118 125 +f 105 106 108 +f 107 105 111 +f 105 108 111 +f 109 102 112 +f 107 109 112 +f 103 104 113 +f 107 103 113 +f 109 107 113 +f 106 105 114 +f 113 104 115 +f 106 102 116 +f 102 109 116 +f 113 106 117 +f 109 113 117 +f 102 106 118 +f 112 102 118 +f 107 112 118 +f 103 107 119 +f 107 111 119 +f 105 107 120 +f 114 105 120 +f 110 114 120 +f 118 110 120 +f 107 118 120 +f 108 106 121 +f 106 113 121 +f 115 108 121 +f 113 115 121 +f 116 109 122 +f 109 117 122 +f 104 103 123 +f 111 108 123 +f 115 104 123 +f 108 115 123 +f 103 119 123 +f 119 111 123 +f 106 116 124 +f 117 106 124 +f 116 122 124 +f 122 117 124 +f 106 114 125 +f 114 110 125 +f 118 106 125 +o convex_4 +v 1.010523 0.002501 1.554369 +v -1.064367 -2.072421 2.755201 +v -1.064367 -2.072421 3.010144 +v -0.955031 0.075456 1.554369 +v 0.828436 -1.962883 1.117213 +v 1.010523 -0.070245 2.973586 +v 1.010523 -1.962883 3.082875 +v -0.991408 -2.035838 1.117213 +v -0.955031 0.002501 2.973586 +v 1.047106 0.002501 1.117213 +v -0.955031 0.002501 1.117213 +v 0.974147 -1.926721 1.117213 +v 1.047106 -0.033872 2.755201 +v -0.882279 -0.070245 3.010144 +v 0.428091 -1.380500 3.082875 +v 1.047106 -0.689000 1.117213 +v -1.027784 -1.999466 1.299426 +v 0.610178 -1.999466 3.082875 +v 1.010523 -0.252318 3.010144 +v -1.064367 -1.780810 2.937221 +v -0.591063 0.075456 1.117213 +v -0.918655 0.038873 2.755201 +v -0.627232 -2.035838 1.117213 +v -0.991408 -0.325063 2.973586 +v 1.010523 -1.962883 2.318430 +v 0.865018 -0.033872 2.973586 +v 1.010523 -1.417083 3.082875 +v 1.010523 -1.489828 1.117213 +v -1.064367 -1.999466 2.536815 +v 0.355338 -1.926721 3.082875 +f 143 140 155 +f 130 133 135 +f 135 133 136 +f 130 135 137 +f 135 126 138 +f 137 135 141 +f 138 132 141 +f 135 138 141 +f 133 127 142 +f 136 133 142 +f 128 127 143 +f 132 140 143 +f 138 131 144 +f 127 128 145 +f 126 135 146 +f 135 136 146 +f 136 129 146 +f 138 126 146 +f 138 146 147 +f 129 134 147 +f 146 129 147 +f 127 133 148 +f 133 130 148 +f 143 127 148 +f 130 143 148 +f 134 129 149 +f 129 136 149 +f 128 139 149 +f 139 134 149 +f 145 128 149 +f 136 145 149 +f 130 137 150 +f 141 132 150 +f 143 130 150 +f 132 143 150 +f 131 138 151 +f 134 139 151 +f 144 131 151 +f 139 144 151 +f 138 147 151 +f 147 134 151 +f 132 138 152 +f 140 132 152 +f 139 140 152 +f 138 144 152 +f 144 139 152 +f 137 141 153 +f 150 137 153 +f 141 150 153 +f 142 127 154 +f 136 142 154 +f 127 145 154 +f 145 136 154 +f 139 128 155 +f 140 139 155 +f 128 143 155 +o convex_5 +v 0.355399 3.897886 0.534738 +v -0.518296 4.079913 -0.557403 +v -0.518296 4.116329 -0.557403 +v 0.610250 3.970717 -0.448146 +v -0.518296 3.606713 -0.448146 +v 0.537340 3.606713 -0.520948 +v -0.481731 3.606713 0.498177 +v -0.445276 4.007082 0.534738 +v 0.464542 3.606713 0.461829 +v 0.464542 3.970717 0.498177 +v -0.336134 4.116329 -0.484494 +v 0.428198 3.606713 -0.557403 +v 0.537340 3.606713 0.097711 +v -0.481731 3.752374 0.534738 +v 0.464542 3.643178 0.498177 +f 156 169 170 +f 158 157 160 +f 160 161 162 +f 162 161 164 +f 163 156 165 +f 159 158 166 +f 158 163 166 +f 165 159 166 +f 163 165 166 +f 157 158 167 +f 158 159 167 +f 160 157 167 +f 161 160 167 +f 159 161 167 +f 161 159 168 +f 164 161 168 +f 159 165 168 +f 158 160 169 +f 160 162 169 +f 163 158 169 +f 156 163 169 +f 162 164 170 +f 165 156 170 +f 164 168 170 +f 168 165 170 +f 169 162 170 +o convex_6 +v -1.064225 -0.616647 -3.069327 +v 1.119908 -1.744494 -0.666656 +v 1.119908 -1.817403 -0.666656 +v -0.991406 -1.125514 1.117213 +v 1.047089 0.075456 1.117213 +v 1.010571 -0.033801 -2.959910 +v -0.955105 -1.999569 -3.069327 +v -0.955105 0.075456 0.898379 +v 0.974271 -2.108826 0.971324 +v 1.010571 -2.108826 -2.959910 +v -0.991406 -2.108826 1.007796 +v -1.100743 0.075456 -3.032855 +v 0.974271 -1.926660 1.117213 +v -0.955105 0.002547 1.117213 +v -0.955105 -2.108826 -1.103096 +v 0.937752 0.075456 -0.958026 +v 1.083390 -0.252314 0.862316 +v 1.119908 -2.072264 -1.103096 +v -0.991406 -2.035917 1.117213 +v -0.591010 -1.599103 -3.069327 +v -0.627311 0.075456 -3.032855 +v -1.100743 0.075456 -2.668540 +v 0.682995 -0.397919 -2.995973 +v 1.010571 -2.108826 0.789371 +v -0.991406 -2.108826 -0.193744 +v -1.100743 -0.143058 -3.032855 +v 1.047089 -2.072264 -2.595596 +v -0.518191 -2.035917 -3.032855 +v 1.119908 -2.108826 -0.812136 +v -0.918587 0.075456 1.117213 +v -0.299735 0.002547 -3.032855 +v 1.047089 -0.725476 1.117213 +v 0.573658 -2.072264 -2.995973 +v -1.027924 0.075456 -0.703129 +v 0.500839 0.002547 -2.995973 +v 1.047089 0.075456 0.570537 +v 0.901452 -2.108826 -2.959910 +v -0.591010 -1.999569 -3.069327 +f 193 203 208 +f 180 179 181 +f 178 175 182 +f 175 174 183 +f 174 175 184 +f 180 181 185 +f 182 175 186 +f 173 172 187 +f 172 176 187 +f 172 173 188 +f 176 172 188 +f 181 179 189 +f 183 174 189 +f 179 183 189 +f 177 171 190 +f 171 182 191 +f 182 186 191 +f 178 182 192 +f 181 189 192 +f 189 174 192 +f 176 180 193 +f 179 180 194 +f 183 179 194 +f 171 177 195 +f 177 185 195 +f 185 181 195 +f 182 171 196 +f 192 182 196 +f 181 192 196 +f 171 195 196 +f 195 181 196 +f 180 176 197 +f 176 188 197 +f 185 177 198 +f 173 187 199 +f 188 173 199 +f 194 180 199 +f 180 197 199 +f 197 188 199 +f 175 178 200 +f 184 175 200 +f 178 184 200 +f 190 171 201 +f 171 191 201 +f 193 190 201 +f 175 183 202 +f 187 175 202 +f 183 194 202 +f 199 187 202 +f 194 199 202 +f 193 180 203 +f 174 184 204 +f 184 178 204 +f 178 192 204 +f 192 174 204 +f 186 176 205 +f 191 186 205 +f 176 193 205 +f 201 191 205 +f 193 201 205 +f 186 175 206 +f 176 186 206 +f 187 176 206 +f 175 187 206 +f 177 180 207 +f 180 185 207 +f 198 177 207 +f 185 198 207 +f 180 177 208 +f 177 190 208 +f 190 193 208 +f 203 180 208 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/779/779.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/779/779.urdf new file mode 100644 index 000000000..8164cd964 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/779/779.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/780/780.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/780/780.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/780/780.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/780/780.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/780/780.obj new file mode 100644 index 000000000..a52faeb87 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/780/780.obj @@ -0,0 +1,885 @@ +o convex_0 +v -0.893895 -1.047562 1.076712 +v -0.032133 -3.234768 -2.071843 +v 0.034094 -3.234768 -2.071843 +v -0.032133 -2.969451 2.700592 +v 1.028514 -1.047348 -0.811712 +v -0.893895 -1.345857 -2.370046 +v -1.026348 -3.201791 -0.017487 +v 0.962083 -2.240311 2.071117 +v 0.763199 -2.240311 -2.800522 +v 0.000776 -1.478408 2.767319 +v 0.895856 -2.936474 -0.778644 +v -0.827464 -2.240311 2.236458 +v 0.796312 -1.047348 1.374325 +v -0.761238 -2.936260 -2.137389 +v 0.730086 -3.002642 1.971323 +v 0.034094 -1.511600 -2.867249 +v -0.993235 -1.047562 -1.109916 +v -0.032133 -2.372863 -3.032589 +v -0.761238 -3.201791 1.474120 +v 0.696972 -2.174143 2.733660 +v 0.000776 -1.047562 -1.806117 +v -1.059666 -1.246283 0.347443 +v 0.995196 -2.306694 -2.038184 +v 0.034094 -3.201791 1.971913 +v 0.730086 -2.969451 -2.104911 +v 0.034094 -2.969451 -2.800522 +v 1.028514 -2.571797 0.280716 +v 1.028514 -1.047348 0.844645 +v -0.827464 -1.478408 2.070527 +v -0.098359 -2.141165 2.966318 +v -0.827464 -2.936260 2.037459 +v 0.829630 -1.047348 -1.375051 +v 0.763199 -3.069025 -0.017487 +v -0.761238 -3.234768 -1.607118 +v -0.098359 -1.047562 1.739846 +v 0.597633 -1.644151 -2.568455 +v -0.993235 -1.279474 -1.540982 +v 0.564315 -1.644151 2.502184 +v 0.034094 -3.234768 0.049239 +v -0.032133 -2.141165 -3.066248 +v -0.794351 -1.047562 -1.640186 +v 0.564315 -2.704348 2.567729 +v -0.098359 -2.306480 2.966318 +v -0.164586 -1.478408 2.700592 +v -0.927008 -1.445217 -2.171047 +v 0.763199 -2.174143 -2.800522 +v 0.862743 -2.903282 1.076712 +v 0.597633 -2.704348 -2.635182 +v -0.827464 -1.047562 1.242053 +v 0.928970 -2.870091 -1.043779 +v 0.067207 -1.478408 -2.834181 +v 0.696972 -2.339885 2.700592 +v -0.927008 -3.234768 -0.645781 +v -1.026348 -3.168385 -0.116101 +v -0.728124 -2.273503 -2.369456 +v -0.098359 -2.969451 2.700592 +v -0.032133 -2.969451 -2.800522 +v 0.995196 -2.207334 -2.104321 +v -0.363470 -1.412025 -2.668250 +v -1.059666 -1.279474 0.048649 +v -1.026348 -2.936260 0.181512 +v 0.763199 -2.969451 -2.038184 +v -0.827464 -3.036048 -1.673845 +v -1.026348 -1.047562 0.115376 +f 17 60 64 +f 15 4 24 +f 3 2 26 +f 18 9 26 +f 25 3 26 +f 23 5 27 +f 5 13 28 +f 20 8 28 +f 13 20 28 +f 27 5 28 +f 8 27 28 +f 1 22 29 +f 22 12 29 +f 20 10 30 +f 29 12 30 +f 7 19 31 +f 13 5 32 +f 15 24 33 +f 2 3 34 +f 10 13 35 +f 17 6 37 +f 13 10 38 +f 10 20 38 +f 20 13 38 +f 24 19 39 +f 3 33 39 +f 33 24 39 +f 34 3 39 +f 9 18 40 +f 18 6 40 +f 6 17 41 +f 17 32 41 +f 32 21 41 +f 4 15 42 +f 30 12 43 +f 20 30 43 +f 12 31 43 +f 30 10 44 +f 29 30 44 +f 10 35 44 +f 6 14 45 +f 37 6 45 +f 32 5 46 +f 36 32 46 +f 40 16 46 +f 9 40 46 +f 8 15 47 +f 27 8 47 +f 11 27 47 +f 33 11 47 +f 15 33 47 +f 9 25 48 +f 26 9 48 +f 25 26 48 +f 13 1 49 +f 1 29 49 +f 35 13 49 +f 29 44 49 +f 44 35 49 +f 27 11 50 +f 23 27 50 +f 21 32 51 +f 32 36 51 +f 46 16 51 +f 36 46 51 +f 15 8 52 +f 8 20 52 +f 4 42 52 +f 42 15 52 +f 43 4 52 +f 20 43 52 +f 19 7 53 +f 39 19 53 +f 34 39 53 +f 37 45 54 +f 53 7 54 +f 14 6 55 +f 6 18 55 +f 18 14 55 +f 24 4 56 +f 19 24 56 +f 31 19 56 +f 4 43 56 +f 43 31 56 +f 14 18 57 +f 26 2 57 +f 18 26 57 +f 2 34 57 +f 34 14 57 +f 5 23 58 +f 23 9 58 +f 46 5 58 +f 9 46 58 +f 40 6 59 +f 16 40 59 +f 6 41 59 +f 41 21 59 +f 51 16 59 +f 21 51 59 +f 7 22 60 +f 17 37 60 +f 54 7 60 +f 37 54 60 +f 12 22 61 +f 22 7 61 +f 7 31 61 +f 31 12 61 +f 9 23 62 +f 3 25 62 +f 25 9 62 +f 11 33 62 +f 33 3 62 +f 50 11 62 +f 23 50 62 +f 14 34 63 +f 45 14 63 +f 34 53 63 +f 54 45 63 +f 53 54 63 +f 1 13 64 +f 22 1 64 +f 13 32 64 +f 32 17 64 +f 60 22 64 +o convex_1 +v -1.026520 -1.047348 0.181927 +v 1.061676 -0.550256 0.778503 +v 0.929018 -0.550256 0.977249 +v -0.794316 -0.550256 -1.143497 +v 0.829473 -1.047348 -1.342242 +v 0.796359 -1.047348 1.342010 +v -0.926975 -0.550256 0.878044 +v 0.862586 -0.550256 -1.110091 +v -0.728089 -1.047348 -1.607800 +v -0.098524 -1.047348 1.706771 +v 1.028358 -1.047348 -0.812141 +v 0.033930 -1.014111 -1.740409 +v -0.860748 -1.047348 1.143264 +v -0.993202 -0.550256 -0.712261 +v -0.131433 -0.550256 1.209400 +v 1.028358 -1.047348 0.844639 +v 1.061676 -0.550256 -0.745667 +v -0.993202 -1.047348 -1.077023 +v 0.067044 -0.550256 -1.275769 +v -1.026520 -0.550256 0.712366 +v 0.862586 -0.550256 1.076453 +v 1.061676 -1.014111 -0.149091 +v 0.001021 -1.014111 1.706771 +v -0.794316 -1.014111 -1.574057 +v -0.131433 -1.014111 -1.740409 +v -1.026520 -0.848414 0.645893 +v -0.098524 -1.014111 1.706771 +v 0.133475 -0.550256 1.209400 +v 0.033930 -1.047348 -1.740409 +v -0.131433 -0.550256 -1.275769 +v -0.827430 -1.014111 1.176332 +v -1.026520 -1.014111 -0.049550 +v 1.061676 -0.782232 0.778503 +v 0.796359 -1.014111 1.342010 +f 85 87 98 +f 67 66 68 +f 65 69 70 +f 67 68 71 +f 68 66 72 +f 69 65 73 +f 65 70 74 +f 70 69 75 +f 72 69 76 +f 65 74 77 +f 71 68 78 +f 67 71 79 +f 70 75 80 +f 72 66 81 +f 69 72 81 +f 75 69 81 +f 73 65 82 +f 68 72 83 +f 72 76 83 +f 77 71 84 +f 71 78 84 +f 67 79 85 +f 80 75 86 +f 81 66 86 +f 75 81 86 +f 74 70 87 +f 78 68 88 +f 73 82 88 +f 82 78 88 +f 83 76 89 +f 88 68 89 +f 73 88 89 +f 65 77 90 +f 84 65 90 +f 77 84 90 +f 79 71 91 +f 74 87 91 +f 87 79 91 +f 85 79 92 +f 79 87 92 +f 87 85 92 +f 69 73 93 +f 76 69 93 +f 73 89 93 +f 89 76 93 +f 68 83 94 +f 89 68 94 +f 83 89 94 +f 71 77 95 +f 77 74 95 +f 91 71 95 +f 74 91 95 +f 82 65 96 +f 78 82 96 +f 65 84 96 +f 84 78 96 +f 66 70 97 +f 70 80 97 +f 86 66 97 +f 80 86 97 +f 66 67 98 +f 70 66 98 +f 67 85 98 +f 87 70 98 +o convex_2 +v 0.862826 0.411048 0.977193 +v -0.098261 -0.550159 -1.276366 +v -0.794281 -0.550159 -1.143746 +v -0.695099 1.040848 -0.977789 +v -0.926939 -0.550159 0.877911 +v -1.059598 1.040848 0.745292 +v 1.227325 1.040848 -0.447554 +v 1.061439 -0.550159 0.778629 +v 0.829599 -0.550159 -1.110409 +v -1.291687 1.007676 -0.017088 +v 1.061439 1.040848 0.778629 +v 0.729918 0.974504 -0.978033 +v -0.098261 -0.550159 1.209582 +v -0.761303 0.941332 0.977437 +v 1.061439 -0.550159 -0.745644 +v -0.993143 -0.550159 -0.679456 +v 0.299215 1.040848 0.977437 +v 1.260552 1.007676 0.115531 +v -1.026371 -0.550159 0.712198 +v 0.829599 -0.550159 1.076962 +v -1.026371 1.040848 -0.646362 +v -0.164465 1.040848 -1.044221 +v 0.995235 1.007676 -0.845170 +v 0.000921 -0.351127 1.209582 +v 0.796372 1.007676 0.944343 +v 1.094666 -0.550159 -0.016845 +v -1.026371 0.212484 0.844817 +v -0.032056 -0.450643 -1.276366 +v -0.827508 1.040848 -0.944695 +v 1.194098 1.040848 0.480053 +v -0.131488 0.974504 1.010531 +v -0.860485 0.146140 0.944343 +v -1.291687 1.040848 0.049100 +v 1.260552 0.974504 -0.149221 +v -0.827508 1.040848 0.944343 +v 0.895803 -0.152407 -1.044221 +v 0.796372 -0.317955 -1.110409 +v -0.893712 -0.550159 -0.944695 +v 0.829599 -0.384143 1.076962 +v 0.763145 1.040848 -0.944695 +v 1.094666 -0.351127 0.712198 +v 0.133579 -0.516831 1.209582 +v 0.929031 0.079796 0.977193 +v -0.893712 -0.516831 0.911005 +v -0.794281 0.908160 0.977437 +v -0.993143 0.543580 0.877911 +v -1.026371 -0.550159 0.513390 +v -0.065034 -0.450643 -1.276366 +v 0.034148 -0.516831 -1.276366 +v 1.094666 -0.317955 -0.679456 +v -1.059598 0.775628 0.778386 +f 125 144 149 +f 101 100 103 +f 102 104 105 +f 103 100 106 +f 106 100 107 +f 105 104 109 +f 103 106 111 +f 106 107 113 +f 101 103 114 +f 109 104 115 +f 114 103 117 +f 111 106 118 +f 104 102 119 +f 102 105 120 +f 99 109 123 +f 109 115 123 +f 115 122 123 +f 106 113 124 +f 117 103 125 +f 120 110 126 +f 102 101 127 +f 101 119 127 +f 119 102 127 +f 105 109 128 +f 116 105 128 +f 112 122 129 +f 122 115 129 +f 108 117 131 +f 104 119 131 +f 119 108 131 +f 117 125 131 +f 105 116 132 +f 116 124 132 +f 115 104 133 +f 112 129 133 +f 129 115 133 +f 105 113 134 +f 113 107 134 +f 110 121 134 +f 121 105 134 +f 134 107 135 +f 110 134 135 +f 101 114 136 +f 114 108 136 +f 119 101 136 +f 108 119 136 +f 99 123 137 +f 120 105 138 +f 110 120 138 +f 121 110 138 +f 105 121 138 +f 109 106 139 +f 106 124 139 +f 124 116 139 +f 128 109 139 +f 116 128 139 +f 111 118 140 +f 122 111 140 +f 123 122 140 +f 118 137 140 +f 137 123 140 +f 109 99 141 +f 106 109 141 +f 118 106 141 +f 99 137 141 +f 137 118 141 +f 103 111 142 +f 125 103 142 +f 111 130 142 +f 111 122 143 +f 122 112 143 +f 130 111 143 +f 112 133 143 +f 143 133 144 +f 133 104 144 +f 125 142 144 +f 142 130 144 +f 130 143 144 +f 108 114 145 +f 117 108 145 +f 114 117 145 +f 100 101 146 +f 101 102 146 +f 102 120 146 +f 126 100 146 +f 120 126 146 +f 107 100 147 +f 100 126 147 +f 126 110 147 +f 135 107 147 +f 110 135 147 +f 113 105 148 +f 124 113 148 +f 105 132 148 +f 132 124 148 +f 104 131 149 +f 131 125 149 +f 144 104 149 +o convex_3 +v -1.192250 1.040848 -0.083017 +v -1.192250 2.399832 0.016119 +v -1.192250 2.399832 -0.083017 +v -3.015100 1.836338 -0.116176 +v -1.225616 1.869461 0.546662 +v -1.192250 1.836338 -0.613446 +v -2.782961 1.769825 0.314436 +v -2.782961 1.372346 -0.149335 +v -2.749951 2.234083 -0.017040 +v -1.291993 1.272977 0.414027 +v -2.683575 1.836338 -0.480811 +v -1.225616 2.300330 -0.513970 +v -1.291993 2.267206 0.447186 +v -1.391379 1.306100 -0.447538 +v -1.192250 1.040848 0.148869 +v -2.551001 1.471849 0.215187 +v -2.054249 1.405470 -0.447538 +v -1.888487 2.234083 0.380754 +v -2.385239 2.167704 -0.381220 +v -2.021061 1.802949 -0.580174 +v -2.120090 1.769825 0.447186 +v -2.120090 2.333453 -0.049744 +v -1.192250 1.968831 0.546662 +v -2.782961 1.372346 -0.049744 +v -2.584189 2.101457 0.248232 +v -2.716763 1.703978 -0.447538 +v -1.987873 2.234083 -0.447538 +v -1.192250 1.306100 -0.447538 +v -1.192250 1.306100 0.447186 +v -2.749951 2.234083 -0.083017 +v -1.391379 1.040848 0.049392 +v -1.192250 2.134580 -0.580174 +v -2.782961 1.836338 -0.447538 +v -1.656527 1.339223 0.380754 +v -1.921675 2.333453 0.082551 +v -3.015100 1.769825 -0.049744 +v -1.192250 2.300330 0.380754 +v -2.517813 1.471849 -0.381220 +v -2.120090 1.836338 0.447186 +v -2.782961 1.802949 0.314436 +v -1.987873 2.068334 -0.513970 +v -1.954863 2.333453 -0.149335 +v -1.225616 1.040848 0.148869 +v -2.981911 1.836338 0.016119 +v -1.987873 1.769825 -0.580174 +f 166 175 194 +f 152 151 150 +f 152 150 155 +f 150 151 164 +f 150 157 166 +f 163 150 166 +f 151 152 171 +f 164 151 172 +f 162 167 172 +f 165 156 173 +f 167 158 174 +f 160 168 176 +f 155 150 177 +f 150 163 177 +f 163 155 177 +f 159 164 178 +f 154 170 178 +f 172 154 178 +f 164 172 178 +f 153 158 179 +f 158 171 179 +f 176 168 179 +f 157 150 180 +f 150 164 180 +f 173 157 180 +f 152 155 181 +f 161 152 181 +f 155 169 181 +f 157 153 182 +f 168 160 182 +f 175 157 182 +f 160 175 182 +f 153 179 182 +f 179 168 182 +f 156 165 183 +f 170 156 183 +f 159 178 183 +f 178 170 183 +f 158 167 184 +f 151 171 184 +f 171 158 184 +f 153 157 185 +f 173 156 185 +f 157 173 185 +f 167 162 186 +f 172 151 186 +f 162 172 186 +f 151 184 186 +f 184 167 186 +f 166 157 187 +f 157 175 187 +f 175 166 187 +f 170 154 188 +f 156 170 188 +f 154 172 188 +f 172 167 188 +f 174 158 189 +f 167 174 189 +f 156 188 189 +f 188 167 189 +f 169 160 190 +f 160 176 190 +f 176 161 190 +f 161 181 190 +f 181 169 190 +f 152 161 191 +f 171 152 191 +f 161 176 191 +f 179 171 191 +f 176 179 191 +f 164 159 192 +f 165 173 192 +f 180 164 192 +f 173 180 192 +f 159 183 192 +f 183 165 192 +f 158 153 193 +f 153 185 193 +f 185 156 193 +f 189 158 193 +f 156 189 193 +f 155 163 194 +f 163 166 194 +f 160 169 194 +f 169 155 194 +f 175 160 194 +o convex_4 +v 0.597506 1.107250 0.944271 +v -0.429870 1.040848 -1.011198 +v -0.661771 1.040848 -0.977909 +v -0.230819 2.830730 -0.049913 +v 1.293698 2.233986 -0.513814 +v -1.026293 1.040848 0.811700 +v -0.893673 2.333326 -0.878433 +v -0.860579 2.432842 0.811700 +v 1.293698 1.040848 -0.447626 +v 1.293698 2.233986 0.447082 +v -1.192250 2.333326 -0.513814 +v 0.763220 1.107250 -0.944815 +v 0.796314 2.764328 -0.049913 +v 1.293698 1.040848 0.413793 +v -1.192250 1.040848 -0.149390 +v 0.829408 2.333502 0.712029 +v -1.192250 2.300213 0.446887 +v 0.763220 2.300388 -0.745862 +v -0.794391 2.764328 -0.083007 +v -0.529152 1.040848 0.977560 +v 1.028459 1.040848 0.811700 +v -1.192250 1.902851 -0.646579 +v -0.827485 1.040848 -0.944815 +v 0.730126 2.764328 0.049174 +v -1.192250 1.273168 0.446887 +v 1.293698 1.670881 0.612747 +v -0.264156 1.306282 -1.011198 +v 0.962027 1.040848 -0.845338 +v 1.293698 2.399729 -0.149195 +v -0.330344 2.631698 -0.414532 +v 0.133459 2.366615 0.778606 +v -0.197725 1.240054 0.977560 +v -0.827485 1.107250 0.944271 +v -1.192250 2.068243 0.546364 +v -1.092724 1.040848 -0.513814 +v -1.192250 2.432842 -0.016819 +v -0.993199 2.499069 0.579458 +v 1.260360 1.770221 -0.613291 +v 0.796314 1.438736 0.878083 +v -0.197725 2.830730 0.016080 +v 0.001326 2.200697 -0.845338 +v -0.993199 2.465956 -0.646579 +v -0.761297 2.764328 0.049174 +v -0.694866 2.432842 0.811700 +v -0.727960 2.333326 -0.878433 +v 0.199891 2.830730 -0.049913 +v 0.531075 1.074136 -0.977909 +v 1.293698 2.399729 0.049369 +v 0.166797 2.830730 0.016080 +v 1.293698 1.538251 -0.580197 +v -1.192250 1.040848 0.248128 +v 0.829408 1.040848 0.911177 +v 0.663694 2.233986 -0.779150 +v 0.796314 2.267099 0.745318 +v 0.796314 2.764328 0.016080 +v -1.192250 1.306282 -0.447626 +v -0.761297 2.266924 0.844795 +v 0.630600 2.366615 -0.679673 +v 0.001326 2.233986 0.811700 +v -0.694866 2.366615 -0.845338 +v 1.260360 2.267099 -0.513814 +v 0.166797 1.040848 -1.011198 +v 0.796314 2.366615 0.678935 +v 0.199891 1.040848 0.977560 +f 214 246 258 +f 197 196 200 +f 196 197 201 +f 200 196 203 +f 203 199 204 +f 200 203 208 +f 203 204 208 +f 197 200 209 +f 205 209 211 +f 200 208 214 +f 214 208 215 +f 205 201 216 +f 209 205 216 +f 201 197 217 +f 197 209 217 +f 216 201 217 +f 211 209 219 +f 208 204 220 +f 204 210 220 +f 215 208 220 +f 196 201 221 +f 203 196 222 +f 204 199 223 +f 202 200 227 +f 200 214 227 +f 200 202 228 +f 202 211 228 +f 219 200 228 +f 211 219 228 +f 217 209 229 +f 205 211 230 +f 213 205 230 +f 213 230 231 +f 211 202 231 +f 230 211 231 +f 206 212 232 +f 212 199 232 +f 222 206 232 +f 201 205 236 +f 213 198 236 +f 205 213 236 +f 198 224 236 +f 198 213 237 +f 213 231 237 +f 231 202 237 +f 234 198 237 +f 202 234 237 +f 234 202 238 +f 221 201 239 +f 235 221 239 +f 224 198 240 +f 198 234 240 +f 206 222 241 +f 221 235 241 +f 204 223 242 +f 223 207 242 +f 238 218 243 +f 234 238 243 +f 240 234 243 +f 199 203 244 +f 203 222 244 +f 232 199 244 +f 222 232 244 +f 209 200 245 +f 200 219 245 +f 219 209 245 +f 214 215 246 +f 215 220 246 +f 233 195 246 +f 220 233 246 +f 212 206 247 +f 239 212 247 +f 235 239 247 +f 206 241 247 +f 241 235 247 +f 220 210 248 +f 210 225 248 +f 233 220 248 +f 210 204 249 +f 207 240 249 +f 204 242 249 +f 242 207 249 +f 243 218 249 +f 240 243 249 +f 209 216 250 +f 216 217 250 +f 229 209 250 +f 217 229 250 +f 214 226 251 +f 202 227 251 +f 227 214 251 +f 238 202 251 +f 207 212 252 +f 240 207 252 +f 224 240 252 +f 226 195 253 +f 195 233 253 +f 225 238 253 +f 248 225 253 +f 233 248 253 +f 251 226 253 +f 238 251 253 +f 201 236 254 +f 236 224 254 +f 239 201 254 +f 212 239 254 +f 252 212 254 +f 224 252 254 +f 199 212 255 +f 212 207 255 +f 223 199 255 +f 207 223 255 +f 196 221 256 +f 222 196 256 +f 221 241 256 +f 241 222 256 +f 225 210 257 +f 218 238 257 +f 238 225 257 +f 210 249 257 +f 249 218 257 +f 195 226 258 +f 226 214 258 +f 246 195 258 +o convex_5 +v 1.293698 1.040848 -0.348188 +v 1.360003 2.399832 -0.016712 +v 1.360003 2.399832 -0.083030 +v 3.017288 1.769825 0.049265 +v 1.293698 1.173474 0.480218 +v 2.023221 1.869461 -0.513869 +v 2.089525 2.167704 0.413900 +v 2.751900 2.200827 -0.016712 +v 1.293698 2.200827 -0.513869 +v 2.785137 1.438726 -0.016712 +v 2.718832 1.802949 0.413900 +v 1.293698 1.736702 0.579808 +v 2.718832 1.802949 -0.381347 +v 1.360003 1.140351 -0.480823 +v 1.293698 2.234083 0.413900 +v 1.326935 1.074104 0.447059 +v 1.989984 2.234083 -0.414506 +v 1.293698 1.571219 -0.580300 +v 2.718832 1.471849 0.148742 +v 2.619290 1.538096 -0.281983 +v 2.718832 2.200827 0.082424 +v 2.122425 1.802949 0.513377 +v 2.718832 1.935708 -0.348188 +v 2.023221 2.333453 0.016106 +v 1.360003 1.074104 -0.447665 +v 1.525849 1.703978 -0.580300 +v 2.586222 2.101457 0.314423 +v 1.956747 2.200827 0.413900 +v 2.619290 1.571219 0.314423 +v 2.851442 1.802949 -0.281983 +v 1.393239 1.074104 0.380741 +v 2.984051 1.902585 0.049265 +v 1.293698 2.333453 -0.281983 +v 2.818205 1.836338 0.347582 +v 2.486680 2.134580 -0.315029 +v 1.326935 1.040848 -0.381347 +v 1.956747 1.703978 -0.513869 +v 2.785137 1.438726 0.049265 +v 1.393239 1.670855 0.579808 +v 2.089525 1.869461 0.513377 +v 2.023221 2.333453 -0.049871 +v 2.718832 1.703978 -0.348188 +v 1.459544 1.239853 0.480218 +f 280 297 301 +f 259 263 267 +f 267 263 270 +f 267 270 273 +f 263 259 274 +f 264 267 275 +f 259 267 276 +f 272 259 276 +f 271 264 281 +f 264 275 281 +f 261 260 282 +f 279 266 282 +f 259 272 283 +f 278 268 283 +f 267 264 284 +f 276 267 284 +f 272 276 284 +f 265 269 285 +f 285 279 286 +f 260 273 286 +f 273 270 286 +f 282 260 286 +f 279 282 286 +f 265 285 286 +f 269 274 287 +f 277 269 287 +f 274 277 287 +f 262 268 288 +f 281 266 288 +f 271 281 288 +f 266 279 290 +f 262 288 290 +f 288 266 290 +f 260 261 291 +f 273 260 291 +f 267 273 291 +f 261 275 291 +f 275 267 291 +f 269 277 292 +f 285 269 292 +f 279 285 292 +f 262 290 292 +f 290 279 292 +f 275 266 293 +f 266 281 293 +f 281 275 293 +f 274 259 294 +f 259 283 294 +f 283 268 294 +f 289 274 294 +f 264 271 295 +f 271 272 295 +f 284 264 295 +f 272 284 295 +f 268 262 296 +f 277 274 296 +f 274 289 296 +f 262 292 296 +f 292 277 296 +f 294 268 296 +f 289 294 296 +f 270 263 297 +f 297 280 298 +f 269 265 298 +f 280 269 298 +f 286 270 298 +f 265 286 298 +f 270 297 298 +f 275 261 299 +f 266 275 299 +f 261 282 299 +f 282 266 299 +f 272 271 300 +f 268 278 300 +f 283 272 300 +f 278 283 300 +f 288 268 300 +f 271 288 300 +f 263 274 301 +f 274 269 301 +f 269 280 301 +f 297 263 301 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/780/780.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/780/780.urdf new file mode 100644 index 000000000..2c99e3986 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/780/780.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/781/781.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/781/781.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/781/781.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/781/781.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/781/781.obj new file mode 100644 index 000000000..1203a5eb8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/781/781.obj @@ -0,0 +1,435 @@ +o convex_0 +v -3.572412 -1.582582 -0.099274 +v -3.148240 4.568716 0.355255 +v -3.148240 4.568716 0.112776 +v -3.057295 -1.552324 0.112776 +v -3.542157 4.507596 -0.341753 +v -3.663298 3.416520 0.294601 +v -3.087670 -0.976226 -0.281099 +v -3.572412 -1.613444 0.324894 +v -3.663298 -1.552324 -0.311392 +v -3.178555 4.537853 -0.341753 +v -3.057295 -1.552324 0.324894 +v -3.663298 4.477339 0.173362 +v -3.148240 3.507292 -0.341753 +v -3.117985 -1.522067 -0.250806 +v -3.057295 -0.188933 0.294601 +v -3.663298 4.477339 0.294601 +v -3.602727 -0.673049 0.324894 +v -3.117985 3.932103 0.355255 +v -3.360326 1.901237 -0.341753 +v -3.239126 4.568716 0.355255 +v -3.057295 -1.460948 -0.038620 +v -3.148240 2.689136 0.355255 +v -3.663298 -1.552324 -0.250738 +v -3.148240 4.537853 -0.068913 +v -3.602727 -1.613444 0.233948 +v -3.572412 -1.491205 -0.311392 +v -3.602727 0.569313 0.324894 +v -3.663298 -1.400433 -0.311392 +v -3.572412 4.507596 -0.220445 +v -3.087670 -0.369871 -0.281099 +v -3.390641 -1.613444 0.294601 +v -3.148240 3.022571 -0.341753 +f 26 19 32 +f 5 3 10 +f 9 6 12 +f 5 10 13 +f 1 9 14 +f 11 4 15 +f 12 6 16 +f 16 6 17 +f 3 2 18 +f 11 15 18 +f 9 5 19 +f 5 13 19 +f 2 3 20 +f 3 5 20 +f 17 8 20 +f 18 2 20 +f 4 14 21 +f 14 7 21 +f 15 4 21 +f 13 15 21 +f 8 11 22 +f 11 18 22 +f 20 8 22 +f 18 20 22 +f 6 9 23 +f 10 3 24 +f 13 10 24 +f 15 13 24 +f 3 18 24 +f 18 15 24 +f 9 1 25 +f 8 17 25 +f 17 6 25 +f 6 23 25 +f 23 9 25 +f 7 14 26 +f 14 9 26 +f 9 19 26 +f 16 17 27 +f 20 16 27 +f 17 20 27 +f 5 9 28 +f 9 12 28 +f 28 12 29 +f 12 16 29 +f 20 5 29 +f 16 20 29 +f 5 28 29 +f 7 13 30 +f 21 7 30 +f 13 21 30 +f 4 11 31 +f 11 8 31 +f 1 14 31 +f 14 4 31 +f 25 1 31 +f 8 25 31 +f 13 7 32 +f 19 13 32 +f 7 26 32 +o convex_1 +v -1.935689 1.144284 -0.129590 +v -1.784204 1.810988 0.233977 +v -0.814928 1.780576 0.294604 +v -0.481396 1.780576 -0.341753 +v -0.481396 1.204911 0.233977 +v -2.420707 1.719949 -0.250779 +v -2.359961 1.265604 0.324951 +v -0.481396 1.235323 -0.311407 +v -2.238849 1.144284 -0.311407 +v -0.481396 1.750360 0.324951 +v -2.299405 1.810988 0.233977 +v -2.390334 1.174696 -0.281126 +v -0.754372 1.235323 0.294604 +v -0.663443 1.204911 -0.311407 +v -1.481234 1.750360 -0.311407 +v -2.299405 1.810988 0.112788 +v -2.359961 1.356512 0.324951 +v -2.299405 1.235323 0.264323 +v -0.481396 1.538133 -0.341753 +v -2.359961 1.144284 -0.159871 +v -2.390334 1.568544 -0.281126 +v -0.814928 1.750360 -0.341753 +v -1.814577 1.265604 0.324951 +f 45 42 55 +f 34 35 36 +f 36 37 40 +f 36 35 42 +f 37 36 42 +f 35 34 43 +f 42 35 43 +f 39 38 44 +f 37 42 45 +f 37 33 46 +f 40 37 46 +f 33 41 46 +f 34 36 48 +f 43 34 48 +f 38 43 48 +f 36 47 48 +f 47 38 48 +f 38 39 49 +f 39 42 49 +f 42 43 49 +f 43 38 49 +f 33 37 50 +f 37 45 50 +f 45 39 50 +f 36 40 51 +f 40 46 51 +f 46 41 51 +f 41 33 52 +f 39 44 52 +f 44 41 52 +f 33 50 52 +f 50 39 52 +f 44 38 53 +f 41 44 53 +f 38 47 53 +f 53 47 54 +f 47 36 54 +f 36 51 54 +f 51 41 54 +f 41 53 54 +f 42 39 55 +f 39 45 55 +o convex_2 +v 1.700543 1.174589 0.234001 +v 3.730958 1.810988 -0.159877 +v 3.730958 1.810988 -0.190194 +v 3.639931 1.174589 0.112794 +v 1.700543 1.174589 -0.281143 +v 1.700543 1.659425 0.264318 +v 3.609721 1.659425 0.324951 +v 1.700543 1.659425 -0.250827 +v 3.730958 1.235201 -0.250827 +v 3.579114 1.235201 0.264318 +v 1.761161 1.689763 0.234001 +v 1.761161 1.204926 0.264318 +v 2.276715 1.386763 -0.281143 +v 3.700550 1.780650 -0.220510 +v 3.215603 1.538139 0.324951 +v 2.488780 1.174589 -0.281143 +v 1.882596 1.689763 -0.250827 +v 3.518695 1.810988 -0.129620 +v 3.639931 1.689763 0.264318 +v 3.579114 1.174589 0.234001 +v 3.730958 1.235201 -0.159877 +v 3.730958 1.386763 -0.250827 +v 3.700550 1.204926 -0.159877 +f 76 59 78 +f 59 56 60 +f 60 56 61 +f 60 61 63 +f 58 57 64 +f 59 62 65 +f 61 62 66 +f 63 61 66 +f 61 56 67 +f 60 63 68 +f 62 61 70 +f 65 62 70 +f 61 67 70 +f 67 65 70 +f 59 60 71 +f 60 68 71 +f 63 66 72 +f 68 63 72 +f 69 68 72 +f 58 69 72 +f 57 58 73 +f 58 72 73 +f 72 66 73 +f 62 59 74 +f 66 62 74 +f 57 73 74 +f 73 66 74 +f 56 59 75 +f 59 65 75 +f 67 56 75 +f 65 67 75 +f 64 57 76 +f 74 59 76 +f 57 74 76 +f 58 64 77 +f 68 69 77 +f 69 58 77 +f 64 71 77 +f 71 68 77 +f 59 71 78 +f 71 64 78 +f 64 76 78 +o convex_3 +v 1.700543 0.568207 0.173095 +v -0.451091 -3.583250 0.658160 +v -0.420762 -3.552903 0.294569 +v -0.360106 1.113979 -0.977897 +v 1.609558 -3.583250 -1.069054 +v -0.360106 1.113979 1.021751 +v 1.670214 -3.583250 0.991642 +v 1.670214 1.113979 -1.099163 +v -0.299449 -3.522557 -1.008421 +v 1.639886 1.113979 1.021959 +v -0.451091 -3.583250 0.930801 +v 1.639886 -3.461865 -1.069054 +v -0.390434 -0.068144 1.021751 +v -0.329777 -0.522878 -1.008421 +v -0.451091 -2.522511 0.961118 +v 0.336817 -3.552903 -1.038737 +v -0.390434 0.659246 0.991435 +v 1.670214 -1.038304 -1.069054 +v 1.700543 1.113979 0.354994 +v 1.639886 -0.340801 1.021959 +v 1.579229 1.113979 -1.099370 +v 1.397469 -3.583250 0.991642 +v -0.451091 -2.552397 0.627843 +v -0.390434 0.416936 -0.099131 +v -0.329777 -1.552811 -1.008421 +v -0.026703 -3.552903 -1.008421 +v 1.700543 -0.098491 0.445944 +v -0.026703 1.053287 -1.008421 +v 1.064067 -3.583250 -1.038530 +v 1.639886 0.416936 -1.099163 +v 1.670214 -3.583250 0.870376 +v 1.700543 1.113979 0.021720 +v -0.329777 -3.522557 -0.735572 +v -0.360106 0.931902 -0.977897 +v -0.329777 -3.552903 -0.674938 +v 1.548901 -3.583250 -1.069054 +f 94 108 114 +f 80 83 85 +f 82 84 86 +f 86 84 88 +f 80 85 89 +f 88 84 91 +f 80 89 93 +f 84 82 95 +f 91 84 95 +f 93 91 95 +f 90 86 96 +f 86 88 97 +f 85 88 98 +f 88 91 98 +f 82 86 99 +f 89 85 100 +f 93 89 100 +f 91 93 100 +f 85 98 100 +f 98 91 100 +f 80 93 101 +f 93 95 101 +f 101 95 102 +f 95 82 102 +f 82 101 102 +f 82 92 103 +f 94 87 103 +f 92 99 103 +f 99 94 103 +f 87 94 104 +f 88 85 105 +f 96 79 105 +f 79 97 105 +f 97 88 105 +f 92 82 106 +f 82 99 106 +f 99 92 106 +f 83 80 107 +f 104 94 107 +f 90 83 108 +f 86 90 108 +f 99 86 108 +f 94 99 108 +f 85 83 109 +f 83 90 109 +f 90 96 109 +f 105 85 109 +f 96 105 109 +f 79 96 110 +f 96 86 110 +f 97 79 110 +f 86 97 110 +f 80 81 111 +f 81 103 111 +f 103 87 111 +f 81 80 112 +f 80 101 112 +f 101 82 112 +f 103 81 112 +f 82 103 112 +f 87 104 113 +f 107 80 113 +f 104 107 113 +f 80 111 113 +f 111 87 113 +f 83 107 114 +f 107 94 114 +f 108 83 114 +o convex_4 +v 0.912406 2.507812 -1.069042 +v 1.700504 1.356583 0.355113 +v 1.670177 1.871404 0.657970 +v -0.360084 1.144447 1.052026 +v -0.329756 2.538280 1.082568 +v -0.360084 1.114122 -0.977843 +v 1.670177 1.113980 -1.099370 +v 1.609521 2.507812 1.021911 +v -0.360084 2.477629 -0.977843 +v 1.700504 2.568463 -1.099370 +v 1.639849 1.113980 1.021911 +v -0.481396 1.750530 0.324784 +v -0.481396 1.235281 -0.311258 +v -0.360084 1.114122 1.021698 +v 1.700504 1.386909 -1.099370 +v -0.481396 1.780713 -0.341587 +v 1.185144 2.507812 1.052240 +v 1.670177 2.538137 0.051829 +v -0.481396 1.205098 0.233799 +v -0.360084 2.507812 -0.068844 +v 1.700504 1.113980 0.355113 +v 0.003637 1.114122 -1.008385 +v 1.579193 2.568463 -1.099370 +v -0.117674 2.477629 -1.008385 +v -0.147789 2.538280 1.082568 +v 1.548865 1.144447 -1.099370 +v -0.360084 2.235168 1.052026 +v 1.700504 2.568463 -0.917400 +v 1.639849 2.538137 0.233799 +v 1.639849 2.295676 0.961254 +v -0.360084 2.507812 0.567198 +v 1.700504 1.659553 0.264128 +v -0.329756 2.538280 0.870269 +v 1.427767 2.265351 -1.099370 +v 0.094407 2.538280 1.052026 +v -0.299428 2.356327 1.082568 +f 125 139 150 +f 116 117 125 +f 120 121 125 +f 125 118 128 +f 120 125 128 +f 124 116 129 +f 121 124 129 +f 123 120 130 +f 127 126 130 +f 120 127 130 +f 125 122 131 +f 118 126 133 +f 126 127 133 +f 127 120 133 +f 120 128 133 +f 128 118 133 +f 123 130 134 +f 116 125 135 +f 125 121 135 +f 129 116 135 +f 121 129 135 +f 121 120 136 +f 124 121 137 +f 123 134 137 +f 120 123 138 +f 136 120 138 +f 137 115 138 +f 123 137 138 +f 131 122 139 +f 125 131 139 +f 121 136 140 +f 137 121 140 +f 118 119 141 +f 126 118 141 +f 119 126 141 +f 116 124 142 +f 124 137 142 +f 137 119 142 +f 119 139 142 +f 122 132 143 +f 132 142 143 +f 125 117 144 +f 122 125 144 +f 132 122 144 +f 126 119 145 +f 130 126 145 +f 119 134 145 +f 134 130 145 +f 117 116 146 +f 116 142 146 +f 142 132 146 +f 144 117 146 +f 132 144 146 +f 134 119 147 +f 119 137 147 +f 137 134 147 +f 115 137 148 +f 138 115 148 +f 136 138 148 +f 140 136 148 +f 137 140 148 +f 139 122 149 +f 142 139 149 +f 143 142 149 +f 122 143 149 +f 119 118 150 +f 118 125 150 +f 139 119 150 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/781/781.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/781/781.urdf new file mode 100644 index 000000000..a423c64ae --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/781/781.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/782/782.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/782/782.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/782/782.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/782/782.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/782/782.obj new file mode 100644 index 000000000..0fe774dbd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/782/782.obj @@ -0,0 +1,4500 @@ +o convex_0 +v -1.885267 1.315751 0.042016 +v -1.909335 0.642498 -0.559161 +v -1.909335 0.666553 -0.559161 +v -2.101712 0.642498 0.042016 +v -1.885267 0.642498 0.523064 +v -2.101712 0.714661 -0.029913 +v -1.885267 0.642498 -0.559161 +v -1.909335 1.315751 0.042016 +v -1.909335 0.666553 0.523064 +v -1.909335 1.243588 -0.078007 +f 6 8 10 +f 4 2 5 +f 3 2 6 +f 2 4 6 +f 2 3 7 +f 1 5 7 +f 5 2 7 +f 6 4 8 +f 5 1 9 +f 4 5 9 +f 1 8 9 +f 8 4 9 +f 3 6 10 +f 1 7 10 +f 7 3 10 +f 8 1 10 +o convex_1 +v 1.385475 2.277578 -0.222422 +v 1.409529 1.796829 0.234471 +v 1.385475 1.796829 0.234471 +v 1.433555 0.955212 -0.246452 +v 1.505704 1.580554 -0.270535 +v 1.505704 0.955212 0.042019 +v 1.457581 2.349806 -0.006043 +v 1.361407 1.291777 0.210388 +v 1.361407 1.291777 -0.246504 +v 1.361407 2.349806 0.138245 +v 1.481635 2.037135 -0.294617 +v 1.505704 1.051334 -0.270535 +v 1.433555 0.955212 0.138245 +v 1.361407 2.277578 -0.222422 +f 21 19 24 +f 12 16 17 +f 16 15 17 +f 12 13 18 +f 14 18 19 +f 19 18 20 +f 13 12 20 +f 12 17 20 +f 18 13 20 +f 11 17 21 +f 17 15 21 +f 19 21 22 +f 15 16 22 +f 16 14 22 +f 14 19 22 +f 21 15 22 +f 16 12 23 +f 14 16 23 +f 12 18 23 +f 18 14 23 +f 17 11 24 +f 19 20 24 +f 20 17 24 +f 11 21 24 +o convex_2 +v 1.265247 -3.253426 -0.078076 +v 1.457539 -2.075154 0.306619 +v 1.409487 -2.075154 0.306619 +v 1.217110 -2.075154 -0.246518 +v 1.217110 -2.556237 0.306619 +v 1.457539 -2.123319 -0.054036 +v 1.385419 -3.349756 0.114136 +v 1.265247 -3.277438 0.258485 +v 1.385391 -2.219507 -0.174290 +v 1.505704 -2.075154 0.066110 +v 1.265247 -3.518121 0.066110 +v 1.217110 -2.532225 -0.198330 +v 1.217110 -2.435896 0.306619 +v 1.385419 -3.325603 0.066110 +v 1.409459 -2.700732 0.282525 +v 1.313327 -3.205402 -0.078076 +f 38 35 40 +f 27 26 28 +f 26 27 29 +f 28 30 33 +f 28 26 34 +f 30 28 34 +f 32 29 35 +f 31 32 35 +f 29 28 36 +f 28 33 36 +f 25 35 36 +f 35 29 36 +f 27 28 37 +f 28 29 37 +f 29 27 37 +f 33 30 38 +f 30 34 38 +f 34 31 38 +f 31 35 38 +f 26 29 39 +f 29 32 39 +f 32 31 39 +f 34 26 39 +f 31 34 39 +f 35 25 40 +f 25 36 40 +f 36 33 40 +f 33 38 40 +o convex_3 +v 1.409395 -1.930872 0.354647 +v 1.096922 -1.978975 -0.294551 +v 1.048802 -2.075140 -0.270497 +v 0.856458 -1.930872 0.234376 +v 1.457515 -2.075140 0.330593 +v 1.409395 -1.930872 -0.198335 +v 0.928604 -2.075140 0.258431 +v 0.808406 -1.930872 -0.054076 +v 1.409395 -2.075140 -0.174281 +v 1.505635 -1.930872 0.018087 +v 1.120948 -1.954923 0.378701 +v 0.856458 -2.075140 -0.078130 +v 0.928604 -1.930872 -0.246443 +f 43 52 53 +f 44 41 46 +f 43 45 47 +f 44 46 48 +f 43 42 49 +f 45 43 49 +f 42 46 49 +f 49 46 50 +f 41 45 50 +f 46 41 50 +f 45 49 50 +f 41 44 51 +f 45 41 51 +f 44 47 51 +f 47 45 51 +f 43 47 52 +f 47 44 52 +f 44 48 52 +f 52 48 53 +f 42 43 53 +f 46 42 53 +f 48 46 53 +o convex_4 +v 0.591933 0.329762 0.691367 +v 1.361250 0.474075 0.475020 +v 1.144988 0.305715 0.715457 +v 1.697812 0.305715 0.402849 +v 1.722033 0.113380 0.715457 +v 0.543837 0.353843 0.450996 +v 0.543837 0.377889 0.739480 +v 1.024919 0.474075 0.450996 +v 1.722033 0.209565 0.667343 +v 1.649831 0.113380 0.691367 +v 1.722033 0.353808 0.402849 +f 62 58 64 +f 56 55 60 +f 54 58 60 +f 58 56 60 +f 59 54 60 +f 59 60 61 +f 60 55 61 +f 55 56 62 +f 56 58 62 +f 58 54 63 +f 57 58 63 +f 54 59 63 +f 59 57 63 +f 58 57 64 +f 57 59 64 +f 59 61 64 +f 61 55 64 +f 55 62 64 +o convex_5 +v 1.361255 0.666584 0.282494 +v 1.169101 0.642432 -0.342650 +v 0.928573 0.642432 -0.294476 +v 0.928714 1.291734 -0.270488 +v 1.433428 1.291734 -0.222379 +v 0.880482 1.291734 0.234386 +v 0.856471 0.642432 0.258440 +v 1.409418 1.291734 0.234386 +v 1.553763 0.642432 -0.077989 +v 0.832319 0.666584 -0.102109 +v 1.145091 0.642432 0.330602 +v 1.505601 0.642432 -0.246434 +v 1.553763 0.714634 0.042019 +v 1.240991 1.171484 -0.294608 +v 1.457509 0.642432 0.234386 +v 1.505601 0.955071 -0.246434 +v 1.529611 0.931046 0.017964 +v 0.832319 0.834821 -0.054000 +v 1.145020 1.267646 0.258440 +v 1.241133 0.738722 -0.342650 +f 78 80 84 +f 66 67 68 +f 69 68 70 +f 67 66 71 +f 69 70 72 +f 71 66 73 +f 68 67 74 +f 67 71 74 +f 70 71 75 +f 65 72 75 +f 71 73 75 +f 73 66 76 +f 68 69 78 +f 72 65 79 +f 65 75 79 +f 75 73 79 +f 77 72 79 +f 73 77 79 +f 73 76 80 +f 78 69 80 +f 69 72 81 +f 72 77 81 +f 77 73 81 +f 73 80 81 +f 80 69 81 +f 70 68 82 +f 71 70 82 +f 68 74 82 +f 74 71 82 +f 72 70 83 +f 70 75 83 +f 75 72 83 +f 66 68 84 +f 76 66 84 +f 68 78 84 +f 80 76 84 +o convex_6 +v -1.308081 -0.511941 -0.967994 +v 1.361365 -0.271446 -0.895862 +v 1.409402 -0.367682 -0.895862 +v 1.216983 -0.487882 -0.992051 +v -1.043471 -0.271446 -0.992051 +v -1.308081 -0.271446 -0.919919 +v 1.337212 -0.511941 -0.895862 +v 1.216983 -0.271446 -0.967994 +v -1.235890 -0.511941 -0.992051 +v -1.308081 -0.511941 -0.943957 +v -1.308081 -0.367682 -0.919919 +v 1.216983 -0.511941 -0.992051 +f 91 93 96 +f 86 89 90 +f 87 86 91 +f 86 90 91 +f 86 87 92 +f 87 88 92 +f 88 89 92 +f 89 86 92 +f 89 88 93 +f 90 89 93 +f 85 90 93 +f 91 85 93 +f 90 85 94 +f 85 91 94 +f 94 91 95 +f 91 90 95 +f 90 94 95 +f 88 87 96 +f 87 91 96 +f 93 88 96 +o convex_7 +v 1.313261 2.349943 0.186350 +v 0.856418 1.484219 0.234447 +v 0.856418 1.484219 0.258503 +v 1.361358 1.291767 0.162343 +v 0.904515 2.301778 0.090174 +v 0.904515 1.291767 0.090174 +v 1.361358 2.349943 0.114247 +v 0.904515 2.205552 0.234447 +v 1.241092 1.291767 0.234447 +v 1.192995 2.349943 0.234447 +v 1.361358 1.363963 0.210407 +v 0.880491 1.291767 0.234447 +v 0.880491 2.061265 0.258503 +f 105 106 109 +f 98 101 102 +f 100 102 103 +f 102 101 103 +f 102 100 105 +f 97 103 106 +f 103 101 106 +f 101 104 106 +f 106 105 107 +f 100 103 107 +f 103 97 107 +f 105 100 107 +f 97 106 107 +f 99 98 108 +f 98 102 108 +f 105 99 108 +f 102 105 108 +f 98 99 109 +f 101 98 109 +f 104 101 109 +f 99 105 109 +f 106 104 109 +o convex_8 +v 1.265169 -3.301426 -0.078178 +v 0.856439 -2.267649 -0.006078 +v 0.856439 -2.267649 0.017968 +v 1.217074 -2.075154 -0.222414 +v 0.952630 -2.099331 -0.246459 +v 0.976678 -3.397673 0.017968 +v 1.265169 -3.445720 0.090174 +v 1.144931 -3.421697 -0.126198 +v 0.880487 -2.075154 0.017968 +v 0.952670 -3.301426 0.090174 +v 1.192986 -2.219601 -0.270539 +v 0.952670 -2.556390 0.090174 +v 1.193026 -3.638215 0.090174 +v 1.265169 -2.556390 -0.126198 +v 1.000765 -3.229355 -0.078178 +v 0.856439 -2.075154 -0.078213 +f 124 115 125 +f 112 111 119 +f 111 115 119 +f 114 113 120 +f 110 117 120 +f 117 114 120 +f 118 112 121 +f 119 116 121 +f 112 119 121 +f 110 116 122 +f 115 117 122 +f 117 110 122 +f 116 119 122 +f 119 115 122 +f 116 110 123 +f 113 118 123 +f 110 120 123 +f 120 113 123 +f 121 116 123 +f 118 121 123 +f 117 115 124 +f 114 117 124 +f 111 112 125 +f 113 114 125 +f 115 111 125 +f 112 118 125 +f 118 113 125 +f 114 124 125 +o convex_9 +v 1.193007 -3.469843 0.234442 +v 0.928517 -2.772757 0.090216 +v 0.952607 -3.085339 0.090216 +v 1.265176 -3.445798 0.090216 +v 1.265176 -2.556355 0.306619 +v 0.952607 -2.676578 0.234442 +v 0.952607 -2.556355 0.090216 +v 1.144927 -3.373664 0.282532 +v 0.976663 -3.373664 0.114261 +v 1.144927 -3.638368 0.090216 +v 1.120870 -2.556355 0.306619 +v 1.265176 -3.325574 0.258487 +v 1.265176 -2.556355 0.282532 +f 132 130 138 +f 128 127 129 +f 129 127 132 +f 127 131 132 +f 133 131 134 +f 127 128 134 +f 131 127 134 +f 128 129 135 +f 129 126 135 +f 126 133 135 +f 133 134 135 +f 134 128 135 +f 130 132 136 +f 132 131 136 +f 133 130 136 +f 131 133 136 +f 126 129 137 +f 129 130 137 +f 133 126 137 +f 130 133 137 +f 130 129 138 +f 129 132 138 +o convex_10 +v 0.904570 -2.219507 0.234423 +v 1.433555 -2.075154 0.330659 +v 1.433555 -2.147378 0.330659 +v 0.928579 -2.363719 0.018026 +v 1.169063 -2.556143 0.330659 +v 0.856496 -2.075154 0.018026 +v 1.144997 -2.075154 0.354718 +v 0.904570 -2.556143 0.018026 +v 0.952644 -2.556143 0.234423 +v 1.217080 -2.556143 0.282541 +v 1.433555 -2.147378 0.306600 +v 0.928579 -2.075154 0.258482 +f 147 145 150 +f 141 140 145 +f 143 141 145 +f 140 144 145 +f 139 144 146 +f 144 142 146 +f 143 145 147 +f 139 146 147 +f 146 143 147 +f 141 143 148 +f 143 146 148 +f 148 146 149 +f 140 141 149 +f 144 140 149 +f 142 144 149 +f 146 142 149 +f 141 148 149 +f 144 139 150 +f 145 144 150 +f 139 147 150 +o convex_11 +v 0.495608 -1.714412 -0.102165 +v 0.736122 -1.570137 0.763558 +v 0.736122 -1.618229 0.763558 +v 0.158935 -1.666320 0.763558 +v 0.663917 -1.786549 0.018195 +v 0.663917 -1.666341 -0.294617 +v 0.158935 -1.618229 0.739321 +v 0.736122 -1.666320 0.715290 +v 0.519564 -1.642253 -0.029970 +v 0.495608 -1.666341 -0.174257 +f 159 156 160 +f 153 152 154 +f 154 151 155 +f 155 151 156 +f 154 152 157 +f 152 153 158 +f 153 154 158 +f 154 155 158 +f 155 156 158 +f 156 152 158 +f 152 156 159 +f 157 152 159 +f 157 159 160 +f 151 154 160 +f 156 151 160 +f 154 157 160 +o convex_12 +v -2.390364 0.498136 -0.054066 +v -2.029710 0.377893 0.595212 +v -2.029710 0.353839 0.595212 +v -2.029710 0.353839 -0.655359 +v -2.774951 0.353839 -0.006203 +v -2.029710 0.498136 -0.342716 +v -2.053715 0.498136 0.306440 +v -2.774951 0.377893 -0.030073 +v -2.149879 0.377893 -0.583135 +f 168 161 169 +f 162 163 164 +f 163 162 165 +f 164 163 165 +f 162 164 166 +f 162 166 167 +f 166 161 167 +f 165 162 168 +f 167 161 168 +f 162 167 168 +f 164 165 169 +f 161 166 169 +f 166 164 169 +f 165 168 169 +o convex_13 +v -2.342178 0.498164 -0.030134 +v -1.789095 0.642418 -0.727380 +v -1.789095 0.618355 -0.727380 +v -2.053672 0.498164 0.234471 +v -2.077656 0.642418 0.114113 +v -1.813187 0.498164 -0.799655 +v -1.837225 0.642418 -0.775462 +v -2.101693 0.642418 -0.078217 +v -2.342178 0.522213 0.017847 +f 174 177 178 +f 172 171 173 +f 173 171 174 +f 171 172 175 +f 172 173 175 +f 173 170 175 +f 174 171 176 +f 171 175 176 +f 175 170 176 +f 174 176 177 +f 177 176 178 +f 170 173 178 +f 173 174 178 +f 176 170 178 +o convex_14 +v -2.847060 -0.054982 -0.823717 +v -0.923370 0.353839 -0.967977 +v -0.923370 0.353839 -0.992034 +v -1.308233 -0.511941 -0.943920 +v -2.798664 -0.511941 -0.992034 +v -1.813354 0.353839 -0.823717 +v -3.063480 -0.511941 -0.871814 +v -0.923370 -0.271427 -0.992034 +v -2.270079 0.233413 -0.847790 +v -1.332117 -0.199138 -0.895872 +v -2.895037 -0.271427 -0.823717 +v -1.067720 0.353839 -0.992034 +v -2.846850 -0.271427 -0.919896 +v -1.019743 -0.271427 -0.943937 +v -2.053868 -0.511941 -0.992034 +v -1.813354 0.281634 -0.823717 +f 189 188 194 +f 180 181 184 +f 183 182 185 +f 181 180 186 +f 183 181 186 +f 179 184 187 +f 184 179 189 +f 179 185 189 +f 185 182 189 +f 182 188 189 +f 181 183 190 +f 184 181 190 +f 187 184 190 +f 187 190 191 +f 185 179 191 +f 183 185 191 +f 179 187 191 +f 190 183 191 +f 180 184 192 +f 186 180 192 +f 182 186 192 +f 184 188 192 +f 188 182 192 +f 182 183 193 +f 186 182 193 +f 183 186 193 +f 188 184 194 +f 184 189 194 +o convex_15 +v -3.688920 -0.247373 -0.054161 +v -3.136044 -0.511941 -0.871804 +v -3.232088 -0.511941 -0.847651 +v -2.847370 0.017091 -0.823667 +v -3.376208 -0.079125 -0.607137 +v -2.654849 -0.006989 -0.799599 +v -3.712849 -0.511941 -0.078229 +v -3.544583 0.017091 -0.006024 +v -3.544475 -0.487861 -0.727309 +v -2.991707 -0.511941 -0.847651 +v -3.472252 0.017091 -0.318827 +v -3.616697 -0.247373 -0.006024 +v -3.761034 -0.511941 -0.102297 +v -2.654849 0.017091 -0.823667 +v -3.111897 0.017091 -0.703326 +v -3.568513 0.017091 -0.102382 +v -3.472360 -0.487861 -0.775446 +f 199 209 211 +f 196 197 198 +f 197 196 201 +f 201 196 204 +f 200 201 204 +f 202 198 205 +f 199 203 205 +f 201 200 206 +f 200 202 206 +f 202 195 206 +f 197 201 207 +f 203 197 207 +f 195 203 207 +f 206 195 207 +f 201 206 207 +f 196 198 208 +f 202 200 208 +f 198 202 208 +f 204 196 208 +f 200 204 208 +f 205 198 209 +f 199 205 209 +f 195 202 210 +f 203 195 210 +f 202 205 210 +f 205 203 210 +f 198 197 211 +f 197 203 211 +f 203 199 211 +f 209 198 211 +o convex_16 +v 2.082798 -1.449817 -0.030073 +v 1.625951 -1.666196 -0.414864 +v 1.625951 -1.666196 -0.390796 +v 2.010662 -1.065078 -0.414864 +v 2.106879 -1.065078 -0.030073 +v 1.986634 -1.449817 -0.414864 +v 1.746248 -1.666196 -0.030073 +v 2.154987 -1.089205 -0.078172 +v 1.818384 -1.666196 -0.054142 +v 1.625951 -1.642187 -0.390796 +v 1.722219 -1.666196 -0.390796 +f 217 220 222 +f 213 215 217 +f 214 213 218 +f 212 216 218 +f 216 212 219 +f 215 216 219 +f 212 217 219 +f 217 215 219 +f 217 212 220 +f 218 213 220 +f 212 218 220 +f 213 214 221 +f 215 213 221 +f 216 215 221 +f 214 218 221 +f 218 216 221 +f 213 217 222 +f 220 213 222 +o convex_17 +v -3.352278 -0.079079 0.547113 +v -3.664926 -0.271413 -0.006024 +v -3.664926 -0.223305 -0.006024 +v -2.943443 0.041159 0.523019 +v -3.544655 0.065213 -0.006024 +v -3.448467 -0.271413 0.547113 +v -3.616690 -0.271413 -0.006024 +v -3.159902 0.041159 0.258525 +v -3.039701 0.065213 0.547113 +v -3.496490 0.065213 0.138325 +v -3.400302 -0.271413 0.498925 +f 228 229 233 +f 224 225 227 +f 225 224 228 +f 224 227 229 +f 228 224 229 +f 226 229 230 +f 229 227 230 +f 228 226 231 +f 223 228 231 +f 226 230 231 +f 230 227 231 +f 227 225 232 +f 225 228 232 +f 228 223 232 +f 223 231 232 +f 231 227 232 +f 226 228 233 +f 229 226 233 +o convex_18 +v 0.952574 1.460191 -0.294617 +v 0.928538 2.277794 0.090174 +v 1.024715 2.253665 -0.174313 +v 0.928538 1.291767 0.090174 +v 0.904468 2.277794 -0.078191 +v 1.024715 1.291767 -0.222412 +v 0.904468 1.291767 -0.078191 +v 0.928538 2.013142 -0.270549 +v 1.024715 2.253665 -0.246481 +v 0.904468 2.277794 0.090174 +v 0.928538 1.291767 -0.270549 +f 241 234 244 +f 236 235 237 +f 236 237 239 +f 239 237 240 +f 240 238 241 +f 235 236 242 +f 238 235 242 +f 239 234 242 +f 236 239 242 +f 241 238 242 +f 234 241 242 +f 237 235 243 +f 235 238 243 +f 240 237 243 +f 238 240 243 +f 234 239 244 +f 239 240 244 +f 240 241 244 +o convex_19 +v 1.361407 2.301844 -0.222483 +v 1.024715 1.291767 -0.246504 +v 1.048774 1.291767 -0.270549 +v 1.361407 1.291767 -0.198438 +v 1.024715 2.253594 -0.222483 +v 1.217087 2.277620 -0.294594 +v 1.361407 1.291767 -0.246504 +v 1.337348 2.301844 -0.174382 +v 1.024715 1.291767 -0.222483 +v 1.048774 2.253594 -0.270549 +f 249 250 254 +f 246 247 248 +f 248 247 251 +f 245 248 251 +f 247 250 251 +f 250 245 251 +f 248 245 252 +f 245 250 252 +f 250 249 252 +f 246 248 253 +f 249 246 253 +f 248 252 253 +f 252 249 253 +f 247 246 254 +f 246 249 254 +f 250 247 254 +o convex_20 +v -0.827243 -2.676414 -1.040150 +v -1.813119 -1.979145 -0.799662 +v -1.813119 -1.979145 -0.775606 +v -0.803318 -1.930985 -0.992037 +v -0.803120 -3.373683 -0.775606 +v -1.572483 -2.676414 -0.799662 +v -1.620630 -1.930985 -0.895888 +v -0.875291 -3.349532 -0.823719 +v -1.764873 -1.930985 -0.775606 +v -0.923438 -2.604385 -1.040150 +v -0.803120 -3.253352 -0.775606 +v -0.947561 -1.930985 -1.016042 +v -1.572483 -2.676414 -0.775606 +v -0.803318 -2.243675 -1.040150 +v -1.788897 -2.051174 -0.823719 +f 260 267 269 +f 255 259 262 +f 256 257 263 +f 257 259 263 +f 261 256 263 +f 258 261 263 +f 255 262 264 +f 262 260 264 +f 258 263 265 +f 263 259 265 +f 261 258 266 +f 264 261 266 +f 259 257 267 +f 262 259 267 +f 260 262 267 +f 259 255 268 +f 255 264 268 +f 258 265 268 +f 265 259 268 +f 266 258 268 +f 264 266 268 +f 257 256 269 +f 256 261 269 +f 264 260 269 +f 261 264 269 +f 267 257 269 +o convex_21 +v 1.289259 -1.642234 -0.535041 +v 0.207034 -1.666290 -0.847754 +v 0.207034 -1.666290 -0.799651 +v 1.192964 -1.425819 -0.847754 +v 0.543799 -1.642234 -0.030073 +v 0.231187 -1.594144 -0.799651 +v 1.289259 -1.666290 -0.607156 +v 1.289259 -1.425819 -0.799651 +v 0.567846 -1.666290 -0.030073 +v 1.289259 -1.473956 -0.847754 +f 277 276 279 +f 272 274 275 +f 271 272 275 +f 273 271 275 +f 274 273 275 +f 272 271 276 +f 274 270 277 +f 273 274 277 +f 270 276 277 +f 270 274 278 +f 274 272 278 +f 272 276 278 +f 276 270 278 +f 271 273 279 +f 276 271 279 +f 273 277 279 +o convex_22 +v -1.476431 -3.301377 -0.318631 +v -2.029432 -1.930858 -0.006024 +v -1.981446 -1.930858 -0.126321 +v -1.620818 -2.676317 -0.775564 +v -1.476493 -2.676317 -0.751459 +v -1.452377 -3.373617 -0.006024 +v -1.596763 -3.373617 -0.030128 +v -1.813067 -1.931004 -0.775564 +v -2.077663 -1.979164 -0.030128 +v -1.813067 -1.931004 -0.607208 +v -1.476493 -2.964840 -0.679296 +v -1.837121 -1.955084 -0.751459 +v -1.596763 -3.373617 -0.006024 +f 288 286 292 +f 282 281 285 +f 280 285 286 +f 283 280 286 +f 281 282 287 +f 284 283 287 +f 283 286 288 +f 281 287 288 +f 282 285 289 +f 285 284 289 +f 287 282 289 +f 284 287 289 +f 280 283 290 +f 283 284 290 +f 284 285 290 +f 285 280 290 +f 287 283 291 +f 283 288 291 +f 288 287 291 +f 285 281 292 +f 286 285 292 +f 281 288 292 +o convex_23 +v -1.404191 -2.724531 -0.775564 +v -1.476361 -3.277603 -0.366824 +v -0.995494 -3.349718 -0.751498 +v -0.803108 -3.470017 -0.342758 +v -0.803108 -3.325706 -0.775564 +v -1.476361 -3.037165 -0.655319 +v -1.452304 -3.157224 -0.366824 +v -0.851221 -3.518121 -0.390890 +v -1.139702 -2.917026 -0.751498 +v -1.476361 -2.796647 -0.775564 +v -1.452304 -2.700440 -0.751498 +v -1.404191 -3.205327 -0.607229 +v -0.923391 -3.373810 -0.775564 +f 295 302 305 +f 294 296 299 +f 296 294 300 +f 297 296 300 +f 297 293 301 +f 296 297 301 +f 293 297 302 +f 295 298 302 +f 298 294 302 +f 294 299 303 +f 299 296 303 +f 301 293 303 +f 296 301 303 +f 293 302 303 +f 302 294 303 +f 295 294 304 +f 298 295 304 +f 294 298 304 +f 294 295 305 +f 300 294 305 +f 297 300 305 +f 302 297 305 +o convex_24 +v 0.158935 -1.930858 -0.847775 +v -0.803042 -3.349636 -0.799688 +v -0.778937 -3.349636 -0.799688 +v -0.778937 -2.628164 -1.040150 +v -0.802948 -1.931135 -0.992037 +v 0.110817 -1.955161 -0.775606 +v -0.057548 -2.628581 -0.799688 +v -0.803042 -3.205341 -0.775606 +v -0.081653 -1.979187 -0.943950 +v -0.682701 -1.931135 -1.016067 +v -0.057548 -2.628581 -0.775606 +v -0.105665 -2.628581 -0.823719 +v -0.802948 -2.339854 -1.040150 +f 315 314 318 +f 308 307 309 +f 306 310 311 +f 307 308 313 +f 310 307 313 +f 311 310 313 +f 310 306 315 +f 306 314 315 +f 306 311 316 +f 308 312 316 +f 312 306 316 +f 313 308 316 +f 311 313 316 +f 308 309 317 +f 312 308 317 +f 306 312 317 +f 314 306 317 +f 309 314 317 +f 309 307 318 +f 307 310 318 +f 314 309 318 +f 310 315 318 +o convex_25 +v -1.067586 3.961180 0.667360 +v -1.596622 3.408118 0.619196 +v -1.596622 3.624563 0.306706 +v -1.500406 3.985305 0.330758 +v -1.572542 3.985305 0.042136 +v -1.548514 3.600551 0.667360 +v -1.211963 3.985305 0.643247 +v -1.211963 3.744735 0.643247 +v -1.596622 3.985305 0.138343 +v -1.452297 3.865020 0.571092 +v -1.572542 3.913043 0.066188 +v -1.596622 3.408118 0.667360 +v -1.572542 3.624563 0.306706 +f 329 326 331 +f 319 323 325 +f 323 322 325 +f 324 319 325 +f 321 320 327 +f 322 323 327 +f 327 324 328 +f 325 322 328 +f 324 325 328 +f 322 327 328 +f 323 319 329 +f 319 326 329 +f 321 327 329 +f 327 323 329 +f 319 324 330 +f 320 326 330 +f 326 319 330 +f 327 320 330 +f 324 327 330 +f 320 321 331 +f 326 320 331 +f 321 329 331 +o convex_26 +v -0.129790 -2.652341 -0.775564 +v -0.802977 -3.493906 -0.414914 +v -0.802977 -3.493906 -0.342758 +v -0.177832 -3.277563 -0.342758 +v -0.778922 -3.373706 -0.775564 +v -0.153778 -3.013188 -0.342758 +v -0.490339 -2.868850 -0.751498 +v -0.249995 -3.157280 -0.607229 +v -0.802977 -3.277563 -0.775564 +v -0.129790 -2.796762 -0.751498 +v -0.802977 -3.445876 -0.366824 +v -0.177832 -2.652341 -0.751498 +f 338 337 343 +f 334 333 335 +f 335 333 336 +f 334 335 337 +f 335 336 339 +f 333 334 340 +f 332 336 340 +f 336 333 340 +f 338 332 340 +f 336 332 341 +f 332 337 341 +f 337 335 341 +f 335 339 341 +f 339 336 341 +f 334 337 342 +f 337 338 342 +f 340 334 342 +f 338 340 342 +f 337 332 343 +f 332 338 343 +o convex_27 +v -0.153689 -3.301377 -0.294633 +v 0.255076 -1.930858 0.042075 +v 0.279182 -1.930858 -0.006026 +v 0.110817 -1.979164 -0.775564 +v 0.182947 -2.676317 -0.030117 +v -0.201806 -3.373617 0.042075 +v -0.129630 -2.628303 -0.751473 +v 0.182900 -1.955230 -0.775564 +v -0.033442 -3.349537 -0.030117 +v -0.033442 -2.580143 -0.775564 +v 0.231065 -1.930858 0.042075 +v -0.057500 -3.397697 0.042075 +v 0.231018 -2.123498 -0.462946 +v -0.201806 -3.277297 -0.342734 +v 0.207006 -2.532275 0.042075 +v -0.105571 -2.724185 -0.775564 +f 357 350 359 +f 351 352 353 +f 347 351 353 +f 345 346 354 +f 349 345 354 +f 347 350 354 +f 350 349 354 +f 346 351 354 +f 351 347 354 +f 345 349 355 +f 349 344 355 +f 344 352 355 +f 352 348 355 +f 351 346 356 +f 348 352 356 +f 352 351 356 +f 344 349 357 +f 349 350 357 +f 346 345 358 +f 345 355 358 +f 355 348 358 +f 356 346 358 +f 348 356 358 +f 350 347 359 +f 352 344 359 +f 353 352 359 +f 347 353 359 +f 344 357 359 +o convex_28 +v -0.827165 -2.988995 0.835735 +v -1.572624 -2.604247 0.739509 +v -1.572624 -2.604247 0.763565 +v -0.827165 -2.556143 0.979996 +v -0.851245 -3.373824 0.787622 +v -0.899332 -2.628338 1.004053 +v -1.067673 -2.917040 0.739509 +v -0.827165 -3.373824 0.739509 +v -1.500384 -2.556143 0.739509 +v -1.452297 -2.652350 0.811678 +f 364 365 369 +f 362 361 364 +f 363 362 365 +f 364 363 365 +f 363 360 366 +f 360 363 367 +f 363 364 367 +f 364 361 367 +f 361 366 367 +f 366 360 367 +f 361 362 368 +f 362 363 368 +f 366 361 368 +f 363 366 368 +f 362 364 369 +f 365 362 369 +o convex_29 +v -1.716794 -2.099295 0.763565 +v -0.778993 -1.666314 0.979996 +v -0.827144 -2.075255 1.004053 +v -1.789070 -1.666314 0.835735 +v -0.923445 -2.556143 1.004053 +v -1.524389 -2.556143 0.739509 +v -1.692669 -1.955055 0.739509 +v -1.572540 -2.532016 0.787622 +v -0.827144 -2.556143 0.979996 +v -0.778993 -1.666314 0.955914 +v -1.668742 -1.666314 0.811678 +v -1.379937 -1.666314 0.907827 +v -1.692768 -1.810641 0.859791 +v -0.778993 -1.930841 0.955914 +f 379 371 383 +f 370 373 376 +f 375 370 376 +f 373 370 377 +f 370 375 377 +f 375 374 377 +f 371 372 378 +f 372 374 378 +f 374 375 378 +f 373 371 379 +f 375 376 379 +f 379 376 380 +f 376 373 380 +f 373 379 380 +f 372 371 381 +f 371 373 381 +f 374 372 381 +f 374 381 382 +f 373 377 382 +f 377 374 382 +f 381 373 382 +f 371 378 383 +f 378 375 383 +f 375 379 383 +o convex_30 +v -0.658609 -2.556143 1.004022 +v -0.827092 -3.373735 0.763558 +v -0.802934 -3.397709 0.763558 +v -0.033538 -2.556143 0.763558 +v -0.827092 -2.556143 0.979968 +v -0.778854 -3.373735 0.811692 +v -0.538442 -2.892934 0.763558 +v -0.057618 -2.628395 0.787638 +v -0.754852 -2.652452 1.028076 +v -0.153783 -2.556143 0.763558 +v -0.827092 -2.628395 1.028076 +v -0.827092 -3.277509 0.763558 +f 388 390 395 +f 386 385 387 +f 384 387 388 +f 385 386 389 +f 387 385 390 +f 386 387 391 +f 387 384 391 +f 389 386 391 +f 389 391 392 +f 391 384 392 +f 388 387 393 +f 387 390 393 +f 390 388 393 +f 384 388 394 +f 388 385 394 +f 385 389 394 +f 389 392 394 +f 392 384 394 +f 385 388 395 +f 390 385 395 +o convex_31 +v -0.827092 -2.556143 0.979968 +v 0.182985 -1.666314 0.811692 +v 0.182985 -1.666314 0.787612 +v -0.778941 -1.666314 0.955914 +v -0.129748 -2.556143 0.763558 +v -0.658614 -2.556143 1.003996 +v -0.009519 -2.507976 0.787638 +v -0.706765 -1.690441 0.979968 +v -0.754817 -1.666314 0.931860 +v 0.038533 -1.810641 0.859775 +v 0.086683 -1.931015 0.763558 +v -0.778842 -2.532016 1.028076 +v -0.827092 -2.099295 0.955888 +v -0.827092 -1.979095 1.003996 +f 399 408 409 +f 397 398 399 +f 396 400 401 +f 401 400 402 +f 398 397 402 +f 397 399 403 +f 399 398 404 +f 401 402 405 +f 402 397 405 +f 397 403 405 +f 402 400 406 +f 398 402 406 +f 404 398 406 +f 400 404 406 +f 396 401 407 +f 401 405 407 +f 405 403 407 +f 400 396 408 +f 399 404 408 +f 404 400 408 +f 403 399 409 +f 396 407 409 +f 407 403 409 +f 408 396 409 +o convex_32 +v -3.833272 -0.704289 -0.078290 +v -3.448481 -0.511941 -0.727458 +v -3.448481 -0.536037 -0.727458 +v -3.616846 -0.656237 -0.751557 +v -3.496580 -0.800534 -0.727458 +v -3.713006 -0.511941 -0.078290 +v -3.713006 -0.800534 -0.126351 +v -3.785173 -0.511941 -0.078290 +v -3.592853 -0.800534 -0.703427 +v -3.544716 -0.511941 -0.751557 +v -3.809166 -0.800534 -0.054123 +f 418 416 420 +f 412 411 415 +f 414 412 416 +f 412 415 416 +f 413 410 417 +f 415 411 417 +f 410 413 418 +f 413 414 418 +f 414 416 418 +f 411 412 419 +f 414 413 419 +f 412 414 419 +f 417 411 419 +f 413 417 419 +f 416 415 420 +f 417 410 420 +f 415 417 420 +f 410 418 420 +o convex_33 +v -2.005675 -1.666309 -0.775418 +v -2.895057 -1.401841 -0.799655 +v -2.919064 -1.449970 -0.775418 +v -3.616389 -1.377749 -0.030106 +v -2.150037 -1.930832 -0.030106 +v -3.640556 -1.449970 -0.078271 +v -2.606972 -1.401841 -0.775418 +v -2.101863 -1.882702 -0.006024 +v -2.847043 -1.498045 -0.775418 +v -2.053849 -1.690347 -0.799655 +v -2.053849 -1.930832 -0.150363 +v -3.111440 -1.377749 -0.703248 +v -2.871050 -1.714439 -0.030106 +v -2.005675 -1.642271 -0.775418 +v -2.679153 -1.377749 -0.799655 +v -2.029682 -1.858665 -0.126280 +v -2.943231 -1.690347 -0.006024 +v -2.871050 -1.690347 -0.126280 +f 431 433 438 +f 427 424 428 +f 423 422 429 +f 429 422 430 +f 429 430 431 +f 428 425 431 +f 430 421 431 +f 422 423 432 +f 426 424 432 +f 423 429 432 +f 429 426 432 +f 431 425 433 +f 421 430 434 +f 424 427 435 +f 430 422 435 +f 422 432 435 +f 432 424 435 +f 427 434 435 +f 434 430 435 +f 427 428 436 +f 431 421 436 +f 428 431 436 +f 434 427 436 +f 421 434 436 +f 424 426 437 +f 425 428 437 +f 428 424 437 +f 426 433 437 +f 433 425 437 +f 426 429 438 +f 429 431 438 +f 433 426 438 +o convex_34 +v -2.847149 -1.714390 0.018110 +v -3.400170 -1.185325 0.474965 +v -3.400170 -1.185325 0.450840 +v -2.029564 -1.666299 0.547076 +v -2.101780 -1.882668 -0.006014 +v -2.053727 -1.690381 0.643245 +v -3.424196 -1.522029 -0.005949 +v -2.871039 -1.522029 0.474965 +v -3.352117 -1.473939 -0.030007 +v -2.053727 -1.930832 0.114280 +v -3.400170 -1.281578 0.474965 +v -2.246076 -1.906750 -0.006014 +v -2.029564 -1.786561 0.258699 +f 442 448 451 +f 441 440 442 +f 442 440 444 +f 440 441 445 +f 445 439 446 +f 441 443 447 +f 445 441 447 +f 442 444 448 +f 444 446 448 +f 446 439 448 +f 444 440 449 +f 440 445 449 +f 446 444 449 +f 445 446 449 +f 439 445 450 +f 447 443 450 +f 445 447 450 +f 448 439 450 +f 443 448 450 +f 441 442 451 +f 443 441 451 +f 448 443 451 +o convex_35 +v -1.043492 -1.545925 0.955942 +v 0.086636 -1.065078 0.883805 +v 0.086636 -1.233539 0.883805 +v -0.057617 -1.401648 0.811685 +v -0.971255 -1.065078 0.931902 +v -0.730871 -1.666196 0.979998 +v 0.086636 -1.666196 0.811685 +v -0.802997 -1.161400 0.979998 +v -1.043492 -1.666196 0.931902 +v -0.394133 -1.065078 0.859782 +v -0.009606 -1.666196 0.859782 +v 0.086636 -1.065078 0.859782 +f 455 461 463 +f 454 453 457 +f 453 454 458 +f 456 452 459 +f 453 456 459 +f 457 453 459 +f 452 457 459 +f 452 456 460 +f 456 455 460 +f 457 452 460 +f 458 457 460 +f 455 458 460 +f 455 456 461 +f 456 453 461 +f 454 457 462 +f 457 458 462 +f 458 454 462 +f 453 458 463 +f 458 455 463 +f 461 453 463 +o convex_36 +v 0.543839 0.353896 -0.006024 +v 1.120856 0.642404 -0.294617 +v 1.120856 0.570263 -0.294617 +v 0.688122 0.377933 -0.486994 +v 1.120856 0.353896 -0.583210 +v 0.808338 0.642404 -0.006024 +v 0.928442 0.642404 -0.294617 +v 0.808338 0.522159 -0.006024 +v 1.120856 0.353896 -0.535074 +v 0.543839 0.377933 -0.102240 +f 469 467 473 +f 464 467 468 +f 465 466 468 +f 466 465 469 +f 467 469 470 +f 468 467 470 +f 465 468 470 +f 469 465 470 +f 469 464 471 +f 466 469 471 +f 464 468 472 +f 468 466 472 +f 471 464 472 +f 466 471 472 +f 467 464 473 +f 464 469 473 +o convex_37 +v 1.120856 0.642404 0.282560 +v 0.543839 0.353896 -0.005979 +v 0.543839 0.377933 -0.005979 +v 0.543839 0.353896 0.450915 +v 1.120856 0.450075 0.450915 +v 0.832348 0.642404 -0.005979 +v 0.880367 0.642404 0.282560 +v 0.856301 0.570263 -0.005979 +v 0.880367 0.353896 0.450915 +v 1.000583 0.498150 0.450915 +v 0.543839 0.377933 0.450915 +v 0.615980 0.353896 0.018084 +f 478 482 485 +f 476 475 477 +f 475 476 479 +f 474 479 480 +f 474 478 481 +f 475 479 481 +f 479 474 481 +f 477 475 482 +f 478 477 482 +f 478 474 483 +f 477 478 483 +f 474 480 483 +f 483 480 484 +f 476 477 484 +f 479 476 484 +f 480 479 484 +f 477 483 484 +f 481 478 485 +f 475 481 485 +f 482 475 485 +o convex_38 +v 1.746132 0.426037 -0.198516 +v 1.120981 0.353896 -0.583210 +v 1.120981 0.377933 -0.583210 +v 1.529694 0.642404 -0.030073 +v 1.770158 0.353896 -0.030073 +v 1.698012 0.377933 -0.438862 +v 1.120981 0.642404 -0.294622 +v 1.529694 0.642404 -0.270582 +v 1.120981 0.570263 -0.294622 +v 1.313393 0.401971 -0.559116 +v 1.265273 0.642404 -0.342702 +v 1.120981 0.353896 -0.535022 +v 1.698012 0.353896 -0.438862 +v 1.818278 0.377933 -0.030073 +f 498 491 499 +f 488 487 492 +f 486 491 493 +f 492 489 493 +f 490 489 494 +f 492 487 494 +f 489 492 494 +f 487 488 495 +f 493 491 495 +f 493 495 496 +f 488 492 496 +f 492 493 496 +f 495 488 496 +f 487 490 497 +f 490 494 497 +f 494 487 497 +f 490 487 498 +f 487 495 498 +f 495 491 498 +f 489 490 499 +f 491 486 499 +f 486 493 499 +f 493 489 499 +f 490 498 499 +o convex_39 +v 1.698012 0.353896 0.426857 +v 1.529694 0.570263 -0.030073 +v 1.529694 0.642404 -0.030073 +v 1.120981 0.498150 0.450915 +v 1.770158 0.353896 -0.030073 +v 1.433591 0.642404 0.282551 +v 1.120981 0.594301 0.282551 +v 1.120981 0.450075 0.426857 +v 1.818278 0.377933 0.090174 +v 1.120981 0.642404 0.330621 +v 1.361445 0.498150 0.450915 +v 1.577814 0.353896 0.450915 +v 1.649960 0.426037 0.426857 +v 1.553720 0.642404 0.042103 +f 512 508 513 +f 501 502 504 +f 502 501 506 +f 501 504 506 +f 506 504 507 +f 503 506 507 +f 500 504 508 +f 504 502 508 +f 505 502 509 +f 506 503 509 +f 502 506 509 +f 505 509 510 +f 509 503 510 +f 504 500 511 +f 507 504 511 +f 503 507 511 +f 510 503 511 +f 510 511 512 +f 500 508 512 +f 505 510 512 +f 511 500 512 +f 505 512 513 +f 502 505 513 +f 508 502 513 +o convex_40 +v -1.668608 0.594388 -0.895867 +v -0.875268 1.339798 -0.967945 +v -0.731005 0.642501 -0.967945 +v -1.572469 1.339798 -0.727564 +v -1.788865 0.642583 -0.727564 +v -0.923393 1.315660 -1.016044 +v -0.899386 0.498164 -1.016100 +v -1.668719 1.219517 -0.775662 +v -1.861218 0.498164 -0.823761 +v -0.731005 0.498164 -0.967945 +v -1.644601 1.339798 -0.751627 +v -1.548462 0.498164 -0.919874 +f 520 522 525 +f 516 515 517 +f 515 516 519 +f 519 516 520 +f 519 514 521 +f 521 514 522 +f 516 517 523 +f 517 518 523 +f 520 516 523 +f 522 520 523 +f 518 522 523 +f 517 515 524 +f 518 517 524 +f 515 519 524 +f 519 521 524 +f 522 518 524 +f 521 522 524 +f 514 519 525 +f 519 520 525 +f 522 514 525 +o convex_41 +v -1.837133 1.339798 -0.006057 +v -1.837133 0.642569 -0.727507 +v -1.813079 0.642569 -0.727507 +v -1.644803 1.339798 -0.727507 +v -1.885267 1.339798 -0.054149 +v -1.620749 1.291678 -0.655260 +v -1.861187 0.690621 -0.462893 +v -1.885267 0.666595 -0.631250 +v -1.885267 1.267652 0.018026 +f 530 533 534 +f 528 527 529 +f 526 529 530 +f 528 529 531 +f 529 526 531 +f 527 528 532 +f 531 526 532 +f 528 531 532 +f 529 527 533 +f 530 529 533 +f 527 532 533 +f 533 532 534 +f 526 530 534 +f 532 526 534 +o convex_42 +v -0.322143 0.522220 -0.943924 +v -0.105653 1.339798 -0.775606 +v -0.105653 1.339798 -0.799665 +v -0.875191 1.339798 -0.992041 +v -0.875191 0.642583 -0.967983 +v 0.062674 0.642583 -0.775606 +v 0.014511 0.522220 -0.895853 +v -0.778962 1.267630 -1.016100 +v -0.201882 1.267630 -0.775606 +v -0.730800 0.498164 -0.992041 +v -0.706767 0.498164 -0.943924 +v -0.875191 0.642583 -1.016100 +v -0.851061 1.339798 -0.967983 +v 0.086707 0.690695 -0.847806 +v 0.062674 0.498164 -0.847782 +f 541 548 549 +f 536 537 538 +f 541 535 542 +f 538 537 542 +f 540 536 543 +f 535 541 544 +f 543 539 545 +f 540 543 545 +f 539 544 545 +f 539 538 546 +f 542 535 546 +f 538 542 546 +f 544 539 546 +f 535 544 546 +f 536 538 547 +f 538 539 547 +f 543 536 547 +f 539 543 547 +f 537 536 548 +f 536 540 548 +f 541 542 548 +f 542 537 548 +f 544 541 549 +f 540 545 549 +f 545 544 549 +f 548 540 549 +o convex_43 +v 0.182927 1.291603 0.018011 +v 0.062782 0.498164 -0.871804 +v 0.062782 0.546276 -0.871804 +v 0.399397 0.498164 -0.054179 +v 0.231037 0.594388 0.042075 +v -0.129658 1.339798 -0.775549 +v -0.057467 1.291603 -0.775549 +v 0.134921 0.522220 -0.847740 +v 0.182927 1.339798 -0.054179 +v 0.134869 1.267630 0.018011 +v -0.129658 1.267630 -0.751396 +v 0.303177 0.498164 0.042075 +v 0.062782 0.498164 -0.823677 +v 0.375316 0.522220 0.042075 +f 554 561 563 +f 552 551 555 +f 552 555 556 +f 551 552 557 +f 553 551 557 +f 552 556 557 +f 550 553 558 +f 556 555 558 +f 553 557 558 +f 557 556 558 +f 554 550 559 +f 550 558 559 +f 558 555 559 +f 555 551 560 +f 554 559 560 +f 559 555 560 +f 551 553 561 +f 561 554 562 +f 560 551 562 +f 554 560 562 +f 551 561 562 +f 553 550 563 +f 550 554 563 +f 561 553 563 +o convex_44 +v -1.885240 1.267630 0.018026 +v -1.765064 0.642501 0.787539 +v -1.813188 0.642501 0.787539 +v -1.596674 1.339798 0.763511 +v -2.053585 0.642501 0.186526 +v -1.668860 1.291603 0.763511 +v -2.029479 0.498164 0.162422 +v -1.837116 1.171405 0.138319 +v -1.885240 1.339798 0.090262 +v -1.789126 0.546276 0.739407 +v -1.861223 0.522220 0.763436 +v -1.596674 1.291603 0.739407 +v -1.837116 1.339798 0.042129 +f 575 571 576 +f 566 565 567 +f 566 567 569 +f 568 564 570 +f 564 568 572 +f 568 569 572 +f 569 567 572 +f 570 571 573 +f 565 566 574 +f 566 569 574 +f 569 568 574 +f 568 570 574 +f 573 565 574 +f 570 573 574 +f 567 565 575 +f 565 573 575 +f 573 571 575 +f 570 564 576 +f 571 570 576 +f 564 572 576 +f 572 567 576 +f 567 575 576 +o convex_45 +v -1.813020 0.666639 0.787662 +v -0.803339 1.339798 0.979973 +v -0.730894 0.642501 0.955916 +v -1.500283 1.339798 0.763558 +v -1.596660 0.618445 0.883794 +v -0.730894 0.498164 0.931860 +v -1.644632 1.315660 0.787662 +v -0.875351 1.339798 1.004029 +v -0.851419 0.570332 0.979973 +v -1.764940 0.498164 0.787615 +v -1.812912 0.498164 0.835728 +v -1.764832 0.642583 0.763558 +v -0.803339 1.339798 0.955916 +v -1.211911 0.498164 0.931860 +f 587 582 590 +f 583 581 584 +f 579 578 584 +f 578 580 584 +f 580 583 584 +f 582 579 585 +f 579 584 585 +f 583 577 587 +f 581 583 587 +f 577 586 587 +f 586 582 587 +f 580 582 588 +f 583 580 588 +f 577 583 588 +f 586 577 588 +f 582 586 588 +f 578 579 589 +f 580 578 589 +f 579 582 589 +f 582 580 589 +f 584 581 590 +f 582 585 590 +f 585 584 590 +f 581 587 590 +o convex_46 +v 0.255133 0.810818 0.018094 +v -0.057491 1.339798 0.715391 +v -0.033460 1.339798 0.643245 +v 0.207034 0.666595 0.691297 +v 0.182928 1.291678 0.042188 +v -0.129658 1.291678 0.691297 +v 0.231065 0.642569 0.018094 +v 0.110836 1.339798 0.018094 +v 0.134867 0.666595 0.715391 +v 0.255133 0.642569 0.474927 +f 594 599 600 +f 593 592 594 +f 593 594 595 +f 597 596 598 +f 592 593 598 +f 595 591 598 +f 593 595 598 +f 596 592 598 +f 591 597 598 +f 594 592 599 +f 592 596 599 +f 596 597 599 +f 599 597 600 +f 591 595 600 +f 595 594 600 +f 597 591 600 +o convex_47 +v 0.134822 0.642569 0.715459 +v -0.081571 1.339798 0.739539 +v 0.086756 0.810818 0.787648 +v -0.803042 0.642569 0.955923 +v -0.754880 1.339798 0.979977 +v -0.177799 1.267652 0.715459 +v -0.033505 0.642569 0.859732 +v -0.803042 1.339798 0.931869 +v -0.803042 0.642569 0.931869 +v -0.778913 0.714647 0.979977 +f 608 604 610 +f 601 602 603 +f 603 602 605 +f 602 601 606 +f 601 603 607 +f 604 601 607 +f 603 605 607 +f 605 602 608 +f 602 606 608 +f 608 606 609 +f 601 604 609 +f 606 601 609 +f 604 608 609 +f 604 607 610 +f 607 605 610 +f 605 608 610 +o convex_48 +v -1.813119 1.340062 -0.246570 +v -1.837131 3.335774 0.018026 +v -1.596674 3.335774 -0.703436 +v -1.885267 3.335774 -0.030139 +v -1.837131 1.340062 -0.006057 +v -1.644811 1.340062 -0.751446 +v -1.644811 3.335774 -0.751446 +v -1.596674 1.340062 -0.727441 +v -1.885267 1.340062 0.018026 +v -1.596674 1.748973 -0.703436 +v -1.596674 3.335774 -0.775606 +v -1.837131 2.013505 0.018026 +v -1.885267 1.340062 -0.030139 +f 611 619 623 +f 612 613 614 +f 615 611 616 +f 614 613 617 +f 611 614 617 +f 616 611 617 +f 615 616 618 +f 612 614 619 +f 611 615 619 +f 613 612 620 +f 618 613 620 +f 615 618 620 +f 617 613 621 +f 616 617 621 +f 618 616 621 +f 613 618 621 +f 612 619 622 +f 619 615 622 +f 620 612 622 +f 615 620 622 +f 614 611 623 +f 619 614 623 +o convex_49 +v -1.620705 4.057269 0.018026 +v -1.596693 3.335970 -0.799655 +v -1.572624 3.335970 -0.799655 +v -1.813081 3.335970 0.018026 +v -1.284088 3.913024 -0.607161 +v -1.620705 4.081297 -0.102353 +v -1.861218 3.360224 -0.102353 +v -1.452396 3.864968 -0.631253 +v -1.572624 4.009212 0.018026 +v -1.620705 3.384177 -0.775483 +v -1.861218 3.408205 0.018026 +v -1.380304 3.937053 -0.631253 +v -1.572624 4.105476 -0.006066 +v -1.572624 3.335970 -0.751552 +f 626 628 637 +f 625 626 627 +f 625 627 630 +f 624 627 632 +f 627 628 632 +f 625 630 633 +f 630 629 633 +f 629 631 633 +f 627 624 634 +f 624 629 634 +f 630 627 634 +f 629 630 634 +f 626 625 635 +f 628 626 635 +f 631 629 635 +f 625 633 635 +f 633 631 635 +f 629 624 636 +f 624 632 636 +f 632 628 636 +f 628 635 636 +f 635 629 636 +f 627 626 637 +f 628 627 637 +o convex_50 +v -1.861199 1.339866 0.018026 +v -1.596674 2.902835 0.787608 +v -1.596674 3.167624 0.763426 +v -1.885267 2.806760 0.042132 +v -1.668822 1.339866 0.715440 +v -1.596674 1.339866 0.739471 +v -1.813119 3.167624 0.066162 +v -1.644811 3.167624 0.739471 +v -1.885267 1.339866 0.066162 +v -1.644811 2.542150 0.787608 +v -1.837131 1.339866 0.042132 +v -1.596674 3.167624 0.715440 +v -1.861199 3.167624 0.090193 +v -1.620742 1.339866 0.787608 +v -1.837131 3.167624 0.018026 +v -1.813119 2.782785 0.066162 +v -1.885267 2.421921 0.066162 +f 647 641 654 +f 640 639 643 +f 642 638 643 +f 639 640 645 +f 640 644 645 +f 641 638 646 +f 638 642 646 +f 646 642 647 +f 639 645 647 +f 643 638 648 +f 640 643 649 +f 644 640 649 +f 645 644 650 +f 647 645 650 +f 641 647 650 +f 643 639 651 +f 642 643 651 +f 647 642 651 +f 639 647 651 +f 638 641 652 +f 648 638 652 +f 641 650 652 +f 650 644 652 +f 643 648 653 +f 649 643 653 +f 644 649 653 +f 648 652 653 +f 652 644 653 +f 641 646 654 +f 646 647 654 +o convex_51 +v -1.789022 3.576615 0.018026 +v -1.596674 3.360170 0.763558 +v -1.596674 3.432205 0.691311 +v -1.813105 3.167624 0.066190 +v -1.596674 3.913062 0.018026 +v -1.596674 3.167624 0.715393 +v -1.861218 3.215760 0.090200 +v -1.620730 4.033403 0.042108 +v -1.644787 3.360170 0.715393 +v -1.861218 3.360170 0.066190 +v -1.644787 3.167624 0.739476 +v -1.861218 3.167624 0.018026 +v -1.596674 3.720601 0.162374 +f 660 658 667 +f 657 656 659 +f 659 656 660 +f 659 655 662 +f 657 659 662 +f 656 657 663 +f 657 662 663 +f 663 662 664 +f 662 655 664 +f 661 663 664 +f 660 656 665 +f 658 660 665 +f 656 663 665 +f 663 661 665 +f 655 659 666 +f 659 658 666 +f 664 655 666 +f 661 664 666 +f 658 665 666 +f 665 661 666 +f 658 659 667 +f 659 660 667 +o convex_52 +v -0.105762 3.311743 -0.775653 +v -0.851108 1.340257 -1.016053 +v -0.827030 1.340257 -1.016053 +v -0.851108 3.335774 -1.040150 +v -0.802951 3.335774 -0.967973 +v -0.129767 1.340061 -0.751557 +v -0.129767 2.061566 -0.823733 +v -0.851108 1.340257 -0.967973 +v -0.153773 3.311743 -0.751557 +v -0.105762 1.340061 -0.799693 +v -0.105762 3.287713 -0.799693 +v -0.754866 2.206140 -1.016053 +v -0.586607 3.071242 -0.967973 +f 674 679 680 +f 670 669 671 +f 668 671 672 +f 671 669 675 +f 672 671 675 +f 669 673 675 +f 675 673 676 +f 668 672 676 +f 673 668 676 +f 672 675 676 +f 669 670 677 +f 673 669 677 +f 668 673 677 +f 677 674 678 +f 671 668 678 +f 668 677 678 +f 670 671 679 +f 677 670 679 +f 674 677 679 +f 678 674 680 +f 671 678 680 +f 679 671 680 +o convex_53 +v -0.730814 4.129427 -0.631328 +v -0.851108 3.336061 -1.040150 +v -0.827018 3.336061 -1.040150 +v -0.057631 3.311920 -0.607260 +v -0.081642 3.384097 -0.775568 +v -0.827018 4.081309 -0.799679 +v -0.851108 4.129427 -0.631328 +v -0.225947 3.792850 -0.631371 +v -0.851108 3.360203 -0.967987 +v -0.418194 3.985239 -0.607260 +v -0.129744 3.311920 -0.799637 +f 683 685 691 +f 685 683 686 +f 683 682 686 +f 681 686 687 +f 686 682 687 +f 684 685 688 +f 685 686 688 +f 682 684 689 +f 687 682 689 +f 684 687 689 +f 686 681 690 +f 681 687 690 +f 687 684 690 +f 684 688 690 +f 688 686 690 +f 682 683 691 +f 684 682 691 +f 685 684 691 +o convex_54 +v -0.225915 3.335895 0.835699 +v -0.875191 1.340064 0.955909 +v -0.466374 1.339866 0.811676 +v -0.875191 3.287447 0.979963 +v -0.827026 1.340064 1.004017 +v -0.153741 3.360019 0.739544 +v -0.153741 1.339866 0.763598 +v -0.827026 3.335697 1.028102 +v -0.177823 1.700749 0.715459 +v -0.851035 2.109684 1.028102 +v -0.153741 3.263718 0.811676 +v -0.129658 1.339866 0.715459 +v -0.129658 3.360019 0.787622 +v -0.875191 3.335697 1.028102 +f 704 697 705 +f 694 693 695 +f 693 694 696 +f 696 694 698 +f 694 695 700 +f 695 697 700 +f 693 696 701 +f 692 699 701 +f 696 698 702 +f 692 701 702 +f 701 696 702 +f 698 694 703 +f 694 700 703 +f 700 697 703 +f 699 692 704 +f 692 702 704 +f 702 698 704 +f 698 703 704 +f 703 697 704 +f 695 693 705 +f 697 695 705 +f 693 701 705 +f 701 699 705 +f 699 704 705 +o convex_55 +v -0.225912 4.009394 0.402692 +v -0.514374 4.225759 -0.030005 +v -0.875191 4.321956 0.018042 +v -0.105693 3.961295 -0.030005 +v -0.827007 4.081542 0.619245 +v -0.105693 4.153610 0.042202 +v -0.827007 4.153690 0.643269 +v -0.514374 3.961295 0.667224 +v -0.851019 4.370055 0.042134 +v -0.057510 3.961295 0.090317 +v -0.875191 4.153690 0.450875 +v -0.105693 4.129561 -0.030005 +v -0.442259 3.985345 0.643132 +v -0.538546 3.961295 0.595153 +f 710 716 719 +f 708 707 709 +f 712 710 713 +f 707 708 714 +f 712 711 714 +f 711 706 715 +f 713 709 715 +f 708 709 716 +f 710 712 716 +f 714 708 716 +f 712 714 716 +f 709 707 717 +f 707 714 717 +f 714 711 717 +f 715 709 717 +f 711 715 717 +f 706 711 718 +f 711 712 718 +f 712 713 718 +f 715 706 718 +f 713 715 718 +f 709 713 719 +f 713 710 719 +f 716 709 719 +o convex_56 +v 1.938410 -0.584129 0.787422 +v 2.130857 -1.065078 0.018026 +v 2.130857 -1.040918 0.018026 +v 1.505704 -0.271446 0.811396 +v 2.203104 -0.271446 0.018108 +v 1.650057 -1.065078 0.787586 +v 1.962563 -0.271446 0.715335 +v 1.914539 -1.065078 0.739391 +v 2.227187 -0.704230 0.090277 +v 1.505704 -0.800482 0.859674 +v 2.154799 -0.271446 0.018108 +v 1.986645 -0.656221 0.739226 +v 2.179022 -1.065078 0.066221 +v 1.625974 -0.271446 0.835617 +v 1.674069 -0.680225 0.859674 +v 1.505704 -0.800482 0.835535 +f 725 729 735 +f 722 721 723 +f 721 722 724 +f 724 723 726 +f 725 721 727 +f 724 726 728 +f 722 723 730 +f 723 724 730 +f 724 722 730 +f 726 720 731 +f 720 727 731 +f 728 726 731 +f 728 731 732 +f 721 724 732 +f 727 721 732 +f 724 728 732 +f 731 727 732 +f 720 726 733 +f 726 723 733 +f 723 729 733 +f 733 729 734 +f 727 720 734 +f 725 727 734 +f 729 725 734 +f 720 733 734 +f 723 721 735 +f 721 725 735 +f 729 723 735 +o convex_57 +v -1.452377 -3.253577 -0.342716 +v -0.827092 -3.494048 0.282569 +v -0.851146 -3.469965 0.282569 +v -1.452377 -3.301742 0.282569 +v -0.899254 -3.614318 -0.030073 +v -0.851146 -3.469965 -0.342716 +v -1.452377 -3.421977 -0.054066 +v -1.404208 -3.253577 0.282569 +v -0.851146 -3.542142 -0.318662 +v -1.163666 -3.325753 -0.342716 +v -0.851146 -3.542142 0.282569 +v -1.332107 -3.469965 0.017974 +v -1.452377 -3.301742 -0.342716 +v -0.827092 -3.614318 0.066082 +v -1.115803 -3.349800 0.282569 +f 745 743 750 +f 737 738 739 +f 738 737 741 +f 739 736 742 +f 739 738 743 +f 736 739 743 +f 740 742 744 +f 741 736 745 +f 738 741 745 +f 736 743 745 +f 737 739 746 +f 739 742 747 +f 742 740 747 +f 746 739 747 +f 736 741 748 +f 742 736 748 +f 741 744 748 +f 744 742 748 +f 741 737 749 +f 740 744 749 +f 744 741 749 +f 737 746 749 +f 747 740 749 +f 746 747 749 +f 743 738 750 +f 738 745 750 +o convex_58 +v -1.163666 -2.892854 0.739509 +v -1.452377 -3.277603 0.282569 +v -1.428323 -3.301534 0.282569 +v -0.851146 -3.470017 0.282569 +v -0.851146 -3.397742 0.739509 +v -1.452377 -2.700440 0.715400 +v -1.380215 -3.157224 0.595172 +v -1.452377 -2.796647 0.739509 +v -1.428323 -3.085268 0.378779 +v -0.875261 -3.518121 0.330697 +v -0.827092 -3.349718 0.667273 +v -1.019525 -3.325706 0.715400 +f 755 758 762 +f 753 752 754 +f 751 754 756 +f 752 753 757 +f 752 757 758 +f 755 751 758 +f 756 752 758 +f 751 756 758 +f 754 752 759 +f 752 756 759 +f 756 754 759 +f 753 754 760 +f 754 755 760 +f 755 753 760 +f 754 751 761 +f 751 755 761 +f 755 754 761 +f 753 755 762 +f 757 753 762 +f 758 757 762 +o convex_59 +v -0.827031 -3.614318 -0.078163 +v -0.201807 -3.253577 0.378767 +v -0.274023 -3.253577 0.378767 +v -0.201807 -3.253577 -0.342716 +v -0.201807 -3.445918 0.018026 +v -0.827031 -3.469965 0.378767 +v -0.827031 -3.469965 -0.342716 +v -0.778927 -3.518095 0.378767 +v -0.514419 -3.325753 -0.342716 +v -0.778927 -3.518095 -0.342716 +v -0.730824 -3.614318 -0.030069 +v -0.225920 -3.301742 -0.342716 +v -0.225920 -3.301742 0.378767 +v -0.442386 -3.301742 0.378767 +f 771 768 776 +f 765 764 766 +f 766 764 767 +f 764 765 768 +f 763 768 769 +f 764 768 770 +f 768 763 770 +f 765 766 771 +f 769 768 771 +f 766 769 771 +f 763 769 772 +f 769 766 772 +f 770 763 773 +f 767 770 773 +f 763 772 773 +f 772 767 773 +f 766 767 774 +f 767 772 774 +f 772 766 774 +f 767 764 775 +f 770 767 775 +f 764 770 775 +f 768 765 776 +f 765 771 776 +o convex_60 +v -0.201807 -2.820818 0.763521 +v -0.827031 -3.518121 0.378805 +v -0.827031 -3.518121 0.402871 +v -0.201807 -3.277530 0.426899 +v -0.754875 -3.397786 0.763521 +v -0.249971 -2.724489 0.739455 +v -0.827031 -3.349622 0.763521 +v -0.225920 -3.229443 0.378805 +v -0.225920 -3.205360 0.595172 +v -0.827031 -3.445873 0.402871 +v -0.514419 -2.941075 0.763521 +v -0.466437 -3.301534 0.378805 +v -0.682720 -3.373704 0.763521 +f 780 785 789 +f 779 778 780 +f 778 779 783 +f 781 777 783 +f 779 781 783 +f 780 778 784 +f 777 780 784 +f 782 777 784 +f 780 777 785 +f 778 783 786 +f 777 782 787 +f 783 777 787 +f 786 783 787 +f 782 786 787 +f 784 778 788 +f 782 784 788 +f 778 786 788 +f 786 782 788 +f 779 780 789 +f 777 781 789 +f 781 779 789 +f 785 777 789 +o convex_61 +v -0.971509 4.345987 -0.006064 +v -1.332069 3.937248 -0.631309 +v -1.452279 3.937248 -0.511053 +v -1.548460 3.937248 -0.198462 +v -1.548460 4.129648 -0.078205 +v -0.875191 4.177653 -0.631309 +v -0.899356 4.297898 0.018026 +v -1.235888 3.937248 -0.607220 +v -1.572488 4.057493 0.018026 +v -0.899356 4.105582 -0.607220 +v -0.899356 4.345987 -0.126320 +v -1.548460 4.009403 -0.318655 +v -0.899356 4.177653 -0.631309 +f 801 794 802 +f 792 791 793 +f 793 791 797 +f 796 793 797 +f 790 794 798 +f 793 796 798 +f 796 790 798 +f 791 795 799 +f 795 796 799 +f 796 797 799 +f 797 791 799 +f 794 790 800 +f 790 796 800 +f 796 795 800 +f 791 792 801 +f 792 793 801 +f 798 794 801 +f 793 798 801 +f 795 791 802 +f 794 800 802 +f 800 795 802 +f 791 801 802 +o convex_62 +v 1.168776 -1.521891 0.763558 +v 1.770247 -0.800534 0.811695 +v 1.770247 -0.872729 0.811695 +v 0.327375 -1.089229 0.907817 +v 1.168776 -1.377670 0.907817 +v 0.159128 -1.618066 0.763558 +v 1.241117 -0.800534 0.955954 +v 0.086787 -1.065079 0.859756 +v 0.086787 -1.666111 0.835725 +v 1.649788 -0.800534 0.787627 +v 1.625565 -1.377670 0.763558 +v 1.746189 -1.065079 0.763558 +v 1.193000 -0.944839 0.955954 +v 1.625565 -1.377670 0.787645 +v 1.217059 -0.800534 0.907836 +v 0.086787 -1.065079 0.883787 +f 817 810 818 +f 805 804 809 +f 803 807 811 +f 807 806 811 +f 808 803 811 +f 810 808 811 +f 809 804 812 +f 808 810 812 +f 803 808 813 +f 804 805 814 +f 812 804 814 +f 808 812 814 +f 813 808 814 +f 806 807 815 +f 805 809 815 +f 809 806 815 +f 807 803 816 +f 803 813 816 +f 814 805 816 +f 813 814 816 +f 815 807 816 +f 805 815 816 +f 809 812 817 +f 812 810 817 +f 806 809 818 +f 811 806 818 +f 810 811 818 +f 809 817 818 +o convex_63 +v -3.063690 -0.632164 0.883815 +v -1.308213 -0.271446 0.907855 +v -1.308213 -0.343642 0.931881 +v -0.947339 -0.800534 0.907855 +v -2.847207 -0.704256 0.980003 +v -2.847000 -0.271446 0.835706 +v -2.462303 -0.271446 0.931881 +v -1.356274 -0.656195 0.980003 +v -2.919299 -0.800534 0.883815 +v -1.019638 -0.800534 0.955949 +v -2.895061 -0.511959 0.835706 +v -1.308213 -0.271446 0.883815 +v -0.947339 -0.535990 0.955949 +v -2.774908 -0.584051 0.980003 +v -2.822969 -0.800534 0.955949 +f 827 828 833 +f 821 820 825 +f 820 824 825 +f 821 825 826 +f 826 823 828 +f 827 822 828 +f 819 824 829 +f 827 819 829 +f 822 827 829 +f 824 820 830 +f 822 829 830 +f 829 824 830 +f 820 821 831 +f 821 826 831 +f 828 822 831 +f 826 828 831 +f 830 820 831 +f 822 830 831 +f 819 823 832 +f 824 819 832 +f 825 824 832 +f 823 826 832 +f 826 825 832 +f 823 819 833 +f 819 827 833 +f 828 823 833 +o convex_64 +v 0.736199 -1.666314 -0.486942 +v 1.169012 -1.882723 -0.270582 +v 1.169012 -1.930832 -0.270582 +v 0.663973 -1.738502 -0.030073 +v 1.169012 -1.666314 -0.535022 +v 0.904480 -1.930832 -0.270582 +v 0.784301 -1.930832 -0.030073 +v 1.096786 -1.690394 -0.583210 +v 0.688049 -1.666314 -0.198516 +v 0.663973 -1.714448 -0.294622 +f 837 842 843 +f 835 836 838 +f 837 835 838 +f 836 835 840 +f 835 837 840 +f 839 836 840 +f 834 838 841 +f 838 836 841 +f 836 839 841 +f 839 834 841 +f 838 834 842 +f 837 838 842 +f 834 839 843 +f 840 837 843 +f 839 840 843 +f 842 834 843 +o convex_65 +v 1.169129 -1.930832 -0.294669 +v 1.986476 -1.425869 -0.414962 +v 1.986476 -1.449943 -0.414962 +v 1.289311 -1.425869 -0.847712 +v 1.722029 -1.666363 -0.030073 +v 1.890299 -1.473967 -0.655308 +v 1.481665 -1.930832 -0.054244 +v 1.169129 -1.666363 -0.535015 +v 1.433657 -1.882683 -0.030073 +v 1.385648 -1.449943 -0.847712 +v 1.289311 -1.425869 -0.799531 +v 1.409652 -1.930832 -0.198547 +v 1.193214 -1.906757 -0.342770 +v 1.770197 -1.690387 -0.030073 +v 1.914463 -1.425869 -0.655308 +v 1.169129 -1.834634 -0.318680 +f 844 852 859 +f 849 846 850 +f 844 850 852 +f 845 847 854 +f 848 845 854 +f 847 851 854 +f 851 848 854 +f 850 844 855 +f 849 850 855 +f 844 851 856 +f 851 847 856 +f 847 853 856 +f 853 849 856 +f 855 844 856 +f 849 855 856 +f 846 845 857 +f 845 848 857 +f 850 846 857 +f 848 852 857 +f 852 850 857 +f 845 846 858 +f 847 845 858 +f 846 849 858 +f 853 847 858 +f 849 853 858 +f 851 844 859 +f 848 851 859 +f 852 848 859 +o convex_66 +v 0.808364 -1.930832 0.138346 +v 1.193061 -1.666314 0.619262 +v 1.048722 -1.666314 0.619262 +v 0.688056 -1.738502 -0.005923 +v 0.663973 -1.666314 0.522977 +v 1.193061 -1.930832 0.402732 +v 0.832395 -1.906778 -0.029946 +v 0.856374 -1.930832 0.282614 +v 1.193061 -1.666314 0.571087 +v 0.663973 -1.810587 -0.029946 +v 0.663973 -1.666314 0.282614 +v 0.663973 -1.690394 0.522977 +v 1.193061 -1.906778 0.354621 +f 866 868 872 +f 862 861 864 +f 861 862 865 +f 865 860 866 +f 860 865 867 +f 864 861 868 +f 861 865 868 +f 866 863 868 +f 863 866 869 +f 866 860 869 +f 868 863 870 +f 864 868 870 +f 869 864 870 +f 863 869 870 +f 862 864 871 +f 865 862 871 +f 860 867 871 +f 867 865 871 +f 869 860 871 +f 864 869 871 +f 865 866 872 +f 868 865 872 +o convex_67 +v 1.193061 -1.906778 0.426819 +v 1.794179 -1.666314 0.138346 +v 1.770170 -1.666314 0.210480 +v 1.193061 -1.666314 0.571087 +v 1.433626 -1.906778 -0.029946 +v 1.481704 -1.930832 0.354621 +v 1.649946 -1.690394 0.522977 +v 1.722092 -1.666314 -0.029946 +v 1.505654 -1.930832 0.018101 +v 1.241257 -1.690394 0.619262 +v 1.193061 -1.930832 0.354621 +v 1.794179 -1.690394 -0.029946 +f 878 881 884 +f 875 874 876 +f 874 875 879 +f 875 876 879 +f 878 874 879 +f 876 874 880 +f 877 876 880 +f 876 873 882 +f 873 878 882 +f 878 879 882 +f 879 876 882 +f 873 876 883 +f 876 877 883 +f 878 873 883 +f 877 881 883 +f 881 878 883 +f 874 878 884 +f 880 874 884 +f 877 880 884 +f 881 877 884 +o convex_68 +v -2.029564 0.498136 -0.294617 +v -0.899290 0.353839 -1.016030 +v -1.067589 0.353839 -0.991950 +v -0.899290 0.498136 -1.016030 +v -1.861121 0.474082 -0.847681 +v -2.029564 0.353839 -0.559215 +v -0.562548 0.353839 -0.943860 +v -0.562548 0.498136 -0.943860 +v -1.837140 0.353839 -0.871691 +v -2.005439 0.450013 -0.318768 +v -1.692822 0.498136 -0.895771 +v -2.029564 0.377893 -0.679333 +f 893 890 896 +f 886 887 888 +f 887 886 890 +f 886 888 891 +f 890 886 891 +f 891 888 892 +f 888 885 892 +f 885 891 892 +f 887 890 893 +f 885 890 894 +f 891 885 894 +f 890 891 894 +f 888 887 895 +f 885 888 895 +f 889 885 895 +f 887 893 895 +f 893 889 895 +f 885 889 896 +f 890 885 896 +f 889 893 896 +o convex_69 +v 0.158869 0.498136 -0.799542 +v -0.562548 0.353839 -0.968001 +v -0.562548 0.498136 -0.968001 +v 0.351298 0.474082 -0.006024 +v 0.279178 0.353839 -0.847754 +v 0.543726 0.353839 -0.006024 +v 0.423418 0.498136 -0.054142 +v 0.014629 0.498136 -0.895778 +v -0.538291 0.353839 -0.919884 +v 0.543726 0.377893 -0.078248 +f 903 902 906 +f 898 901 902 +f 897 899 903 +f 899 900 903 +f 900 902 903 +f 899 897 904 +f 898 899 904 +f 897 901 904 +f 901 898 904 +f 899 898 905 +f 900 899 905 +f 898 902 905 +f 902 900 905 +f 901 897 906 +f 902 901 906 +f 897 903 906 +o convex_70 +v -1.548462 0.377893 0.883714 +v -2.029564 0.474082 0.234612 +v -2.029564 0.498136 0.234612 +v -0.754944 0.353839 0.931803 +v -0.754944 0.498136 0.955954 +v -1.813093 0.498136 0.835624 +v -2.029564 0.353839 0.523148 +v -1.861004 0.353839 0.835624 +v -2.029564 0.377893 0.619186 +v -0.971414 0.353839 0.955954 +v -0.995494 0.498136 0.955954 +f 907 916 917 +f 908 909 910 +f 910 909 911 +f 911 909 912 +f 909 908 913 +f 908 910 913 +f 913 910 914 +f 907 912 914 +f 914 912 915 +f 912 909 915 +f 909 913 915 +f 913 914 915 +f 910 911 916 +f 914 910 916 +f 907 914 916 +f 911 912 917 +f 912 907 917 +f 916 911 917 +o convex_71 +v 0.110754 0.498164 0.835636 +v 0.230989 0.594315 0.042075 +v 0.230989 0.642432 0.042075 +v -0.730894 0.642432 0.931801 +v 0.182895 0.642432 0.787509 +v -0.730894 0.498164 0.931801 +v 0.351331 0.498164 0.042075 +v 0.255036 0.498164 0.715318 +v 0.255036 0.642432 0.571116 +v -0.658541 0.642432 0.955954 +f 921 923 927 +f 920 919 921 +f 920 921 922 +f 921 919 923 +f 919 920 924 +f 923 919 924 +f 918 923 924 +f 922 918 925 +f 918 924 925 +f 925 924 926 +f 920 922 926 +f 924 920 926 +f 922 925 926 +f 918 922 927 +f 922 921 927 +f 923 918 927 +o convex_72 +v -1.115803 3.335774 -0.895808 +v -1.596528 1.340062 -0.775641 +v -1.259918 1.340062 -0.895808 +v -1.596528 3.335774 -0.799693 +v -1.548441 2.109627 -0.727538 +v -0.851141 1.340062 -1.016067 +v -0.875294 3.335774 -1.040150 +v -0.875294 1.340062 -0.967964 +v -0.899374 3.335774 -0.967964 +v -1.572521 3.335774 -0.751589 +v -1.596528 1.340062 -0.727538 +v -0.899374 1.340062 -1.016067 +v -0.851141 3.335774 -0.992016 +v -0.875294 2.373768 -0.967964 +v -1.548441 2.349738 -0.727538 +f 932 941 942 +f 930 929 931 +f 929 930 933 +f 931 928 934 +f 929 933 935 +f 934 928 936 +f 928 931 937 +f 931 929 938 +f 935 932 938 +f 929 935 938 +f 937 931 938 +f 930 931 939 +f 933 930 939 +f 934 933 939 +f 931 934 939 +f 933 934 940 +f 935 933 940 +f 934 936 940 +f 940 936 941 +f 932 935 941 +f 935 940 941 +f 936 928 942 +f 928 937 942 +f 938 932 942 +f 937 938 942 +f 941 936 942 +o convex_73 +v 1.577918 -1.569991 0.643224 +v 2.179088 -1.065078 0.066179 +v 2.179088 -1.089261 0.066179 +v 1.746236 -1.642130 -0.029996 +v 1.722243 -1.065078 0.739398 +v 1.866384 -1.401648 0.691311 +v 2.082810 -1.473786 0.066179 +v 2.130919 -1.065078 -0.029996 +v 1.674135 -1.666196 0.523045 +v 1.914492 -1.065078 0.739398 +v 1.553803 -1.377640 0.763558 +v 1.818398 -1.666196 -0.029996 +v 1.553803 -1.666196 0.499040 +v 2.130919 -1.401648 0.066179 +v 2.106803 -1.425713 -0.029996 +v 1.842453 -1.666196 0.090261 +v 1.722243 -1.377640 0.763558 +f 953 943 959 +f 944 945 950 +f 946 947 950 +f 947 944 950 +f 948 943 951 +f 949 948 951 +f 945 944 952 +f 944 947 952 +f 947 946 953 +f 952 947 953 +f 946 950 954 +f 954 951 955 +f 951 943 955 +f 943 953 955 +f 953 946 955 +f 946 954 955 +f 948 949 956 +f 945 952 956 +f 952 948 956 +f 950 945 957 +f 954 950 957 +f 949 954 957 +f 956 949 957 +f 945 956 957 +f 949 951 958 +f 954 949 958 +f 951 954 958 +f 943 948 959 +f 948 952 959 +f 952 953 959 +o convex_74 +v -3.712989 -0.536037 -0.005958 +v -3.496645 -0.608185 0.739509 +v -3.520669 -0.608185 0.739509 +v -3.809182 -0.800534 -0.054123 +v -3.496645 -0.800534 0.643179 +v -3.592806 -0.632197 0.715349 +v -3.785125 -0.511941 -0.005958 +v -3.496645 -0.511941 0.619252 +v -3.688933 -0.800534 0.090216 +v -3.568782 -0.776437 0.691344 +v -3.833239 -0.704289 -0.005958 +v -3.544725 -0.511941 0.667339 +f 967 966 971 +f 960 963 966 +f 964 960 967 +f 961 964 967 +f 960 966 967 +f 963 960 968 +f 960 964 968 +f 964 963 968 +f 961 962 969 +f 963 964 969 +f 964 961 969 +f 962 965 969 +f 969 965 970 +f 966 963 970 +f 965 966 970 +f 963 969 970 +f 962 961 971 +f 965 962 971 +f 966 965 971 +f 961 967 971 +o convex_75 +v -0.057500 1.339866 -0.727488 +v 0.134876 3.311920 -0.030073 +v 0.110808 3.311920 -0.030073 +v -0.105609 3.311920 -0.775399 +v -0.105609 1.339866 -0.703307 +v 0.182985 1.339866 -0.054179 +v -0.057472 2.494220 -0.799655 +v 0.134820 1.339866 -0.030073 +v 0.134876 3.287598 -0.126271 +v -0.105609 3.311920 -0.703307 +v 0.086740 3.263468 -0.078210 +v -0.057472 3.263468 -0.751519 +v -0.105609 1.556452 -0.799655 +v -0.057500 2.133630 -0.799655 +v -0.033460 1.339866 -0.486956 +f 979 982 986 +f 974 973 975 +f 976 972 977 +f 973 974 979 +f 976 977 979 +f 977 973 979 +f 975 973 980 +f 973 977 980 +f 977 978 980 +f 974 975 981 +f 975 976 981 +f 981 976 982 +f 979 974 982 +f 974 981 982 +f 978 975 983 +f 975 980 983 +f 980 978 983 +f 972 976 984 +f 976 975 984 +f 975 978 984 +f 984 978 985 +f 977 972 985 +f 978 977 985 +f 972 984 985 +f 976 979 986 +f 982 976 986 +o convex_76 +v 0.399521 0.329792 0.378767 +v 0.808216 0.353839 -0.462881 +v 0.808216 0.329792 -0.462881 +v 0.255133 0.353839 -0.703458 +v 0.663882 0.353839 0.282473 +v 0.255133 0.329792 -0.703458 +v 0.399521 0.353839 0.378767 +v 0.808216 0.353839 -0.703458 +f 992 990 994 +f 987 989 991 +f 989 988 991 +f 988 990 991 +f 989 987 992 +f 987 990 992 +f 990 987 993 +f 987 991 993 +f 991 990 993 +f 988 989 994 +f 990 988 994 +f 989 992 994 +o convex_77 +v -0.875191 4.321920 -0.222488 +v -0.249967 4.153554 -0.030217 +v -0.249967 4.129485 -0.030217 +v -0.249967 3.841126 -0.607156 +v -0.875191 4.321920 0.018026 +v -0.827021 4.177682 -0.631309 +v -0.298075 3.768860 -0.583130 +v -0.875191 4.129602 -0.607220 +v -0.249967 3.985423 -0.462874 +v -0.322129 4.201633 -0.054243 +v -0.802967 4.370058 -0.030090 +v -0.562609 4.225761 0.018026 +f 1005 999 1006 +f 996 997 998 +f 998 997 1001 +f 1000 998 1001 +f 999 995 1002 +f 995 1000 1002 +f 1001 999 1002 +f 1000 1001 1002 +f 996 998 1003 +f 998 1000 1003 +f 1003 1000 1004 +f 996 1003 1004 +f 996 1004 1005 +f 995 999 1005 +f 1000 995 1005 +f 1004 1000 1005 +f 997 996 1006 +f 999 1001 1006 +f 1001 997 1006 +f 996 1005 1006 +o convex_78 +v 0.014582 3.311920 -0.510996 +v -0.201806 4.153651 -0.030186 +v -0.249905 4.153651 -0.030186 +v 0.110817 3.311920 -0.030186 +v -0.249905 3.696779 -0.583137 +v -0.081540 4.057415 -0.054196 +v -0.225837 3.792850 -0.607203 +v 0.134886 3.384097 -0.078262 +v -0.081540 3.335979 -0.583137 +v -0.033517 3.384097 -0.607203 +v -0.249905 4.105533 -0.030186 +v -0.249905 4.009215 -0.390780 +v 0.062681 3.360038 -0.078262 +f 1017 1011 1019 +f 1008 1009 1010 +f 1008 1010 1012 +f 1010 1007 1014 +f 1012 1010 1014 +f 1007 1010 1015 +f 1011 1013 1015 +f 1015 1013 1016 +f 1013 1012 1016 +f 1014 1007 1016 +f 1012 1014 1016 +f 1007 1015 1016 +f 1010 1009 1017 +f 1009 1011 1017 +f 1009 1008 1018 +f 1011 1009 1018 +f 1008 1012 1018 +f 1013 1011 1018 +f 1012 1013 1018 +f 1015 1010 1019 +f 1011 1015 1019 +f 1010 1017 1019 +o convex_79 +v 0.062719 1.580521 0.138329 +v -0.105590 3.360019 0.787608 +v -0.129658 3.360019 0.787608 +v 0.110799 3.360019 -0.030073 +v 0.158935 1.339866 0.042122 +v -0.129658 1.339866 0.715412 +v 0.158935 3.360019 0.042122 +v -0.057510 1.339866 0.691320 +v -0.129658 3.360019 0.667309 +v 0.134839 1.339866 -0.030073 +v -0.129658 2.229912 0.667309 +v 0.038679 3.335895 0.402699 +v 0.158935 3.360019 -0.030073 +v -0.081550 1.339866 0.739424 +f 1025 1027 1033 +f 1022 1021 1023 +f 1023 1021 1026 +f 1024 1026 1027 +f 1025 1024 1027 +f 1022 1023 1028 +f 1025 1022 1028 +f 1020 1023 1029 +f 1024 1025 1029 +f 1025 1020 1029 +f 1023 1020 1030 +f 1020 1025 1030 +f 1028 1023 1030 +f 1025 1028 1030 +f 1026 1021 1031 +f 1027 1026 1031 +f 1021 1027 1031 +f 1023 1026 1032 +f 1026 1024 1032 +f 1029 1023 1032 +f 1024 1029 1032 +f 1021 1022 1033 +f 1022 1025 1033 +f 1027 1021 1033 +o convex_80 +v -3.592698 -0.728386 -0.751557 +v -2.775096 -0.511941 -0.943931 +v -2.775096 -0.536037 -0.943931 +v -2.919473 -0.656237 -1.016100 +v -2.775096 -0.800534 -0.967987 +v -3.352203 -0.511941 -0.751557 +v -3.544599 -0.536037 -0.775613 +v -3.424311 -0.800534 -0.751557 +v -3.544599 -0.704289 -0.823726 +v -2.895464 -0.800534 -0.992044 +v -2.847365 -0.511941 -0.992044 +f 1040 1039 1044 +f 1035 1036 1038 +f 1036 1035 1039 +f 1034 1039 1040 +f 1038 1036 1041 +f 1036 1039 1041 +f 1039 1034 1041 +f 1040 1037 1042 +f 1034 1040 1042 +f 1041 1034 1042 +f 1041 1042 1043 +f 1037 1038 1043 +f 1038 1041 1043 +f 1042 1037 1043 +f 1038 1037 1044 +f 1035 1038 1044 +f 1039 1035 1044 +f 1037 1040 1044 +o convex_81 +v -0.875127 4.129601 0.643358 +v -0.827016 3.360127 1.028036 +v -0.851040 3.648699 0.931867 +v -0.225976 3.961196 0.451019 +v -0.250000 3.889034 0.378843 +v -0.225976 3.408210 0.811572 +v -0.827016 4.105443 0.763586 +v -0.875127 3.336047 0.979918 +v -0.225976 3.360049 0.763455 +v -0.274024 3.913114 0.595240 +v -0.225976 3.961196 0.354784 +f 1053 1049 1055 +f 1045 1047 1051 +f 1047 1046 1051 +f 1048 1045 1051 +f 1046 1050 1051 +f 1047 1045 1052 +f 1046 1047 1052 +f 1045 1049 1052 +f 1050 1046 1053 +f 1048 1050 1053 +f 1046 1052 1053 +f 1052 1049 1053 +f 1050 1048 1054 +f 1048 1051 1054 +f 1051 1050 1054 +f 1045 1048 1055 +f 1049 1045 1055 +f 1048 1053 1055 +o convex_82 +v -0.201774 3.648690 0.691363 +v 0.086756 3.360019 -0.030073 +v -0.033479 3.720726 -0.030073 +v -0.225821 3.360019 0.763457 +v 0.134850 3.432231 0.042103 +v -0.225821 3.961255 0.402739 +v -0.033479 3.961255 0.042103 +v -0.105550 3.384149 0.763457 +v -0.225821 3.937126 0.306668 +v -0.081538 3.961255 -0.030073 +v 0.134850 3.360019 -0.030073 +f 1065 1062 1066 +f 1058 1057 1059 +f 1059 1056 1061 +f 1061 1056 1062 +f 1056 1059 1063 +f 1062 1056 1063 +f 1060 1062 1063 +f 1058 1059 1064 +f 1059 1061 1064 +f 1057 1058 1065 +f 1061 1062 1065 +f 1058 1064 1065 +f 1064 1061 1065 +f 1059 1057 1066 +f 1062 1060 1066 +f 1063 1059 1066 +f 1060 1063 1066 +f 1057 1065 1066 +o convex_83 +v -1.548655 -3.373607 0.066150 +v -1.717034 -1.930999 0.739509 +v -1.765081 -1.930999 0.739509 +v -2.029493 -1.930999 -0.006024 +v -1.452377 -3.373607 -0.006024 +v -1.548655 -2.700476 0.739509 +v -2.077663 -1.979100 0.018059 +v -1.452377 -2.676354 0.739509 +v -1.741027 -1.955121 0.595087 +v -1.668803 -3.157223 0.018059 +v -1.452377 -3.277405 0.306755 +v -1.596763 -3.349628 -0.006024 +v -1.476554 -2.892881 0.691344 +v -1.789074 -1.930999 0.498831 +f 1075 1071 1080 +f 1069 1068 1070 +f 1068 1069 1072 +f 1069 1070 1073 +f 1072 1069 1073 +f 1068 1072 1074 +f 1074 1071 1075 +f 1068 1074 1075 +f 1072 1073 1076 +f 1067 1071 1077 +f 1071 1074 1077 +f 1071 1067 1078 +f 1070 1071 1078 +f 1073 1070 1078 +f 1072 1076 1078 +f 1076 1073 1078 +f 1074 1072 1079 +f 1067 1077 1079 +f 1077 1074 1079 +f 1078 1067 1079 +f 1072 1078 1079 +f 1070 1068 1080 +f 1071 1070 1080 +f 1068 1075 1080 +o convex_84 +v -1.692653 -1.930832 -0.871804 +v -0.923391 -1.065078 -0.967964 +v -0.562812 -1.666258 -0.968001 +v -0.947509 -1.930832 -1.016100 +v -1.788992 -1.065078 -0.943933 +v -1.668667 -1.521937 -0.823705 +v -1.259984 -1.065078 -0.895872 +v -0.562812 -1.930832 -0.968001 +v -1.764742 -1.930832 -0.823705 +v -0.923391 -1.065078 -0.992051 +v -1.788992 -1.089230 -0.895872 +v -1.909185 -1.690326 -0.823705 +v -0.683136 -1.834561 -1.016100 +v -1.620432 -1.930832 -0.895872 +v -0.923523 -1.690326 -1.016100 +v -1.668535 -1.930832 -0.823705 +v -1.909185 -1.690326 -0.847754 +f 1085 1094 1097 +f 1086 1083 1087 +f 1083 1082 1087 +f 1082 1085 1087 +f 1081 1084 1088 +f 1081 1088 1089 +f 1082 1083 1090 +f 1085 1082 1090 +f 1086 1087 1091 +f 1087 1085 1091 +f 1089 1086 1092 +f 1086 1091 1092 +f 1091 1085 1092 +f 1083 1088 1093 +f 1088 1084 1093 +f 1090 1083 1093 +f 1084 1081 1094 +f 1085 1084 1094 +f 1084 1085 1095 +f 1085 1090 1095 +f 1093 1084 1095 +f 1090 1093 1095 +f 1083 1086 1096 +f 1088 1083 1096 +f 1086 1089 1096 +f 1089 1088 1096 +f 1081 1089 1097 +f 1092 1085 1097 +f 1089 1092 1097 +f 1094 1081 1097 +o convex_85 +v -0.201806 -3.421923 0.042146 +v -0.033404 -2.556228 0.763558 +v -0.009411 -2.556228 0.739408 +v 0.134886 -2.556228 0.066226 +v -0.057435 -3.373706 0.066226 +v -0.201806 -2.700538 0.739408 +v -0.177738 -3.061103 0.643229 +v 0.182985 -2.628425 0.066226 +v -0.033404 -2.652491 0.763558 +v -0.201806 -3.373706 0.042146 +v -0.201806 -3.253461 0.450871 +v 0.182985 -2.556228 0.042146 +f 1098 1107 1109 +f 1099 1100 1101 +f 1099 1101 1103 +f 1102 1105 1106 +f 1100 1099 1106 +f 1099 1103 1106 +f 1104 1102 1106 +f 1103 1104 1106 +f 1105 1100 1106 +f 1103 1101 1107 +f 1098 1103 1107 +f 1098 1102 1108 +f 1103 1098 1108 +f 1102 1104 1108 +f 1104 1103 1108 +f 1101 1100 1109 +f 1102 1098 1109 +f 1100 1105 1109 +f 1105 1102 1109 +f 1107 1101 1109 +o convex_86 +v 0.062761 -2.003074 0.763558 +v 0.158916 -2.556143 0.042146 +v 0.182940 -2.556143 0.042146 +v 0.231079 -1.930980 0.042146 +v -0.057510 -2.532030 0.715328 +v 0.182940 -1.954970 0.619149 +v -0.009402 -2.556143 0.763558 +v 0.255133 -2.051178 0.090306 +v 0.182940 -2.459875 0.210494 +v 0.134862 -1.930980 0.763558 +v 0.207025 -1.979022 0.066226 +f 1111 1114 1120 +f 1112 1111 1113 +f 1111 1112 1116 +f 1110 1114 1116 +f 1114 1111 1116 +f 1112 1113 1117 +f 1113 1115 1117 +f 1117 1115 1118 +f 1116 1112 1118 +f 1115 1116 1118 +f 1112 1117 1118 +f 1113 1110 1119 +f 1115 1113 1119 +f 1110 1116 1119 +f 1116 1115 1119 +f 1113 1111 1120 +f 1110 1113 1120 +f 1114 1110 1120 +o convex_87 +v -2.943332 -0.247392 0.787624 +v -0.851141 0.353839 0.955954 +v -0.851141 0.353839 0.931878 +v -0.851141 -0.271446 0.955954 +v -2.558521 -0.271446 0.907836 +v -1.837436 0.353839 0.787624 +v -1.091776 -0.271446 0.883794 +v -1.861397 0.353839 0.835725 +v -2.822912 -0.078952 0.811683 +v -0.971561 0.353839 0.955954 +v -2.847078 -0.271446 0.787624 +v -1.284284 -0.223277 0.859768 +v -0.923639 0.281677 0.907836 +v -2.438101 -0.175230 0.907836 +f 1130 1128 1134 +f 1123 1122 1124 +f 1122 1123 1126 +f 1124 1125 1127 +f 1122 1126 1128 +f 1128 1126 1129 +f 1121 1125 1129 +f 1126 1121 1129 +f 1124 1122 1130 +f 1125 1124 1130 +f 1122 1128 1130 +f 1125 1121 1131 +f 1121 1126 1131 +f 1127 1125 1131 +f 1127 1131 1132 +f 1126 1127 1132 +f 1131 1126 1132 +f 1123 1124 1133 +f 1126 1123 1133 +f 1127 1126 1133 +f 1124 1127 1133 +f 1128 1129 1134 +f 1129 1125 1134 +f 1125 1130 1134 +o convex_88 +v -2.029533 -1.930832 -0.198542 +v -1.716921 -1.906778 -0.799554 +v -1.716921 -1.930832 -0.799554 +v -2.029533 -1.666314 -0.823705 +v -1.813159 -1.666314 -0.799554 +v -2.005482 -1.858669 -0.150452 +v -1.813159 -1.930832 -0.823705 +v -2.029533 -1.666314 -0.703375 +f 1135 1140 1142 +f 1136 1139 1140 +f 1135 1137 1140 +f 1137 1136 1140 +f 1137 1135 1141 +f 1136 1137 1141 +f 1135 1138 1141 +f 1138 1139 1141 +f 1139 1136 1141 +f 1138 1135 1142 +f 1139 1138 1142 +f 1140 1139 1142 +o convex_89 +v -0.490324 -1.930832 -0.943933 +v 0.134886 -1.065078 -0.919921 +v 0.110751 -1.257618 -0.895872 +v -0.923290 -1.065078 -0.967964 +v 0.110648 -1.930832 -0.823705 +v -0.466190 -1.930832 -0.992051 +v 0.134886 -1.089230 -0.967964 +v -0.802929 -1.065078 -1.016100 +v -0.923290 -1.666173 -0.967964 +v -0.033536 -1.906764 -0.943933 +v -0.418129 -1.065078 -0.919921 +v -0.899155 -1.666173 -1.016100 +v 0.134782 -1.858629 -0.895872 +v -0.730838 -1.666173 -1.016100 +f 1154 1150 1156 +f 1144 1145 1147 +f 1147 1143 1148 +f 1146 1144 1150 +f 1144 1149 1150 +f 1143 1147 1151 +f 1147 1146 1151 +f 1147 1148 1152 +f 1148 1149 1152 +f 1145 1144 1153 +f 1144 1146 1153 +f 1146 1147 1153 +f 1147 1145 1153 +f 1148 1143 1154 +f 1146 1150 1154 +f 1143 1151 1154 +f 1151 1146 1154 +f 1144 1147 1155 +f 1149 1144 1155 +f 1147 1152 1155 +f 1152 1149 1155 +f 1149 1148 1156 +f 1150 1149 1156 +f 1148 1154 1156 +o convex_90 +v 0.134886 -1.834641 -0.895853 +v 0.495557 -1.690394 -0.054123 +v 0.495557 -1.738502 -0.054123 +v 0.231135 -1.906778 -0.054123 +v 0.134886 -1.666314 -0.871712 +v 0.231135 -1.930832 -0.655265 +v 0.231135 -1.666314 -0.895853 +v 0.255180 -1.810587 -0.102240 +v 0.495557 -1.666314 -0.222617 +v 0.159001 -1.930832 -0.871712 +v 0.279225 -1.930832 -0.054123 +v 0.471512 -1.666314 -0.078264 +v 0.134886 -1.930832 -0.751418 +f 1167 1160 1169 +f 1159 1158 1160 +f 1157 1161 1163 +f 1161 1160 1164 +f 1158 1159 1165 +f 1159 1162 1165 +f 1163 1161 1165 +f 1163 1165 1166 +f 1157 1163 1166 +f 1165 1162 1166 +f 1166 1162 1167 +f 1159 1160 1167 +f 1162 1159 1167 +f 1160 1158 1168 +f 1164 1160 1168 +f 1161 1164 1168 +f 1158 1165 1168 +f 1165 1161 1168 +f 1161 1157 1169 +f 1160 1161 1169 +f 1157 1166 1169 +f 1166 1167 1169 +o convex_91 +v -1.885211 -1.714448 0.523033 +v -1.668822 -1.882723 0.811657 +v -1.668822 -1.930832 0.811657 +v -2.029564 -1.690394 0.643299 +v -2.029564 -1.930832 0.066124 +v -1.740999 -1.930832 0.811657 +v -1.765081 -1.666314 0.811657 +v -2.005446 -1.858669 0.114289 +v -2.029564 -1.666314 0.547043 +v -2.029564 -1.930832 0.162381 +f 1175 1173 1179 +f 1174 1172 1175 +f 1172 1171 1175 +f 1173 1175 1176 +f 1175 1171 1176 +f 1170 1176 1177 +f 1171 1172 1177 +f 1172 1174 1177 +f 1176 1171 1177 +f 1177 1174 1178 +f 1174 1173 1178 +f 1173 1176 1178 +f 1176 1170 1178 +f 1170 1177 1178 +f 1173 1174 1179 +f 1174 1175 1179 +o convex_92 +v 1.625942 0.161491 -0.703429 +v 0.808270 0.305700 -0.703429 +v 0.808270 0.305700 -0.679363 +v 1.650000 0.353839 -0.414921 +v 0.832411 0.305700 -0.511100 +v 1.601800 0.089295 -0.679363 +v 0.904505 0.353839 -0.703429 +v 1.650000 0.353839 -0.487062 +v 0.808270 0.353839 -0.487062 +v 1.625942 0.329783 -0.414921 +f 1188 1184 1189 +f 1184 1182 1185 +f 1181 1180 1185 +f 1182 1181 1185 +f 1180 1183 1185 +f 1180 1181 1186 +f 1183 1180 1187 +f 1180 1186 1187 +f 1186 1183 1187 +f 1181 1182 1188 +f 1182 1184 1188 +f 1186 1181 1188 +f 1183 1186 1188 +f 1184 1185 1189 +f 1185 1183 1189 +f 1183 1188 1189 +o convex_93 +v 0.231098 -1.810587 0.066172 +v 0.495627 -1.666314 0.138348 +v 0.495627 -1.690394 0.138348 +v 0.086787 -1.882723 0.787608 +v 0.158942 -1.666314 0.787608 +v 0.279201 -1.930832 -0.054123 +v 0.134890 -1.930832 0.787608 +v 0.471575 -1.666314 -0.006005 +v 0.182994 -1.666314 0.547019 +v 0.495627 -1.738502 -0.006005 +v 0.231098 -1.930832 -0.029981 +v 0.182994 -1.738502 0.787608 +f 1196 1192 1201 +f 1194 1193 1196 +f 1194 1191 1197 +f 1190 1193 1198 +f 1193 1194 1198 +f 1197 1190 1198 +f 1194 1197 1198 +f 1191 1192 1199 +f 1196 1195 1199 +f 1192 1196 1199 +f 1197 1191 1199 +f 1195 1197 1199 +f 1193 1190 1200 +f 1196 1193 1200 +f 1195 1196 1200 +f 1190 1197 1200 +f 1197 1195 1200 +f 1192 1191 1201 +f 1191 1194 1201 +f 1194 1196 1201 +o convex_94 +v 2.203062 -0.944769 0.017993 +v 1.938594 -1.065078 -0.679387 +v 1.938594 -0.920783 -0.679387 +v 2.010798 -0.728409 -0.727396 +v 2.179050 -0.511941 0.042075 +v 2.130942 -1.065078 0.017993 +v 1.962719 -0.511941 -0.631300 +v 2.227187 -0.511941 -0.006090 +v 2.082890 -1.065078 -0.342777 +v 2.227187 -0.704315 -0.054255 +v 1.986730 -0.511941 -0.727396 +v 1.938594 -1.016943 -0.607218 +f 1207 1208 1213 +f 1202 1206 1207 +f 1207 1206 1208 +f 1206 1202 1209 +f 1208 1206 1209 +f 1203 1205 1210 +f 1207 1203 1210 +f 1202 1207 1210 +f 1209 1202 1211 +f 1205 1209 1211 +f 1210 1205 1211 +f 1202 1210 1211 +f 1203 1204 1212 +f 1205 1203 1212 +f 1204 1208 1212 +f 1209 1205 1212 +f 1208 1209 1212 +f 1204 1203 1213 +f 1203 1207 1213 +f 1208 1204 1213 +o convex_95 +v -0.899137 -0.030844 -1.016100 +v -0.009411 0.353839 -0.847754 +v -0.009411 0.353839 -0.895872 +v -0.009411 -0.271446 -0.943940 +v -0.538452 -0.271446 -0.919914 +v -0.923290 0.353839 -0.967983 +v -0.875163 0.353839 -1.016100 +v -0.923290 -0.271446 -0.967983 +v -0.033475 0.185460 -0.847754 +v -0.009411 -0.103067 -0.943940 +v -0.682743 -0.271446 -0.992025 +v -0.009411 -0.271446 -0.919914 +f 1222 1218 1225 +f 1216 1215 1217 +f 1215 1216 1219 +f 1219 1216 1220 +f 1217 1214 1220 +f 1214 1219 1220 +f 1217 1218 1221 +f 1219 1214 1221 +f 1219 1221 1222 +f 1215 1219 1222 +f 1221 1218 1222 +f 1216 1217 1223 +f 1220 1216 1223 +f 1217 1220 1223 +f 1214 1217 1224 +f 1221 1214 1224 +f 1217 1221 1224 +f 1217 1215 1225 +f 1218 1217 1225 +f 1215 1222 1225 +o convex_96 +v 0.952197 -1.065078 -0.967983 +v 1.384941 -0.511941 -0.919912 +v 1.433555 -0.800529 -0.895853 +v -1.139735 -0.920783 -0.919924 +v -0.730416 -0.632249 -1.016100 +v -0.874496 -1.065078 -1.016077 +v 0.904086 -0.656289 -1.016100 +v -0.947292 -0.511941 -0.967994 +v 1.337334 -1.065078 -0.895853 +v 1.216932 -0.511941 -0.992041 +v -1.139735 -1.065078 -0.919924 +v 1.216932 -0.848609 -0.992030 +v -0.947292 -0.511941 -0.992041 +v -1.139735 -0.800529 -0.967983 +v 1.409374 -0.752449 -0.943971 +f 1237 1235 1240 +f 1228 1227 1229 +f 1231 1230 1232 +f 1229 1227 1233 +f 1228 1229 1234 +f 1231 1226 1234 +f 1232 1230 1235 +f 1233 1227 1235 +f 1234 1229 1236 +f 1231 1234 1236 +f 1226 1231 1237 +f 1231 1232 1237 +f 1234 1226 1237 +f 1232 1235 1237 +f 1230 1231 1238 +f 1235 1230 1238 +f 1233 1235 1238 +f 1229 1233 1239 +f 1236 1229 1239 +f 1231 1236 1239 +f 1238 1231 1239 +f 1233 1238 1239 +f 1227 1228 1240 +f 1228 1234 1240 +f 1235 1227 1240 +f 1234 1237 1240 +o convex_97 +v -1.837168 0.353839 0.787608 +v -3.544678 0.065246 -0.006024 +v -3.544678 0.065246 0.018059 +v -2.438708 0.065246 0.763525 +v -2.847200 0.089314 0.739443 +v -2.702790 0.353839 -0.006024 +v -2.823132 0.353839 0.018059 +v -2.631087 0.329771 0.042141 +v -1.933442 0.329771 0.619186 +v -3.520610 0.113354 0.018059 +v -3.424337 0.065246 0.018059 +v -1.933442 0.353839 0.763525 +v -2.631087 0.065246 0.787608 +f 1245 1243 1253 +f 1243 1242 1244 +f 1241 1246 1247 +f 1246 1242 1247 +f 1248 1246 1249 +f 1241 1244 1249 +f 1246 1241 1249 +f 1244 1248 1249 +f 1242 1243 1250 +f 1243 1245 1250 +f 1247 1242 1250 +f 1245 1247 1250 +f 1244 1242 1251 +f 1242 1246 1251 +f 1248 1244 1251 +f 1246 1248 1251 +f 1245 1241 1252 +f 1241 1247 1252 +f 1247 1245 1252 +f 1243 1244 1253 +f 1244 1241 1253 +f 1241 1245 1253 +o convex_98 +v -0.851141 -0.271446 0.931867 +v 0.230949 0.498136 0.787627 +v 0.375380 0.377832 0.787627 +v -0.682579 0.498136 0.955935 +v -0.009529 -0.271446 0.883787 +v 0.158794 0.449999 0.763558 +v -0.706590 0.498136 0.907817 +v -0.418209 -0.271446 0.859756 +v -0.706590 -0.271446 0.955954 +v 0.375380 0.353802 0.763558 +v 0.110770 0.498136 0.835725 +v -0.851141 0.353802 0.955954 +v -0.009529 -0.271446 0.859756 +f 1261 1263 1266 +f 1259 1254 1260 +f 1257 1255 1260 +f 1255 1259 1260 +f 1258 1254 1261 +f 1254 1259 1261 +f 1254 1258 1262 +f 1258 1257 1262 +f 1255 1256 1263 +f 1256 1258 1263 +f 1259 1255 1263 +f 1261 1259 1263 +f 1256 1255 1264 +f 1255 1257 1264 +f 1257 1258 1264 +f 1258 1256 1264 +f 1260 1254 1265 +f 1257 1260 1265 +f 1254 1262 1265 +f 1262 1257 1265 +f 1258 1261 1266 +f 1263 1258 1266 +o convex_99 +v 1.361266 -0.271446 -0.919884 +v 0.375441 0.353839 -0.823717 +v 0.592027 0.305731 -0.823717 +v 1.481522 -0.271446 -0.823717 +v -0.009411 -0.271446 -0.919884 +v 1.216927 0.089244 -0.919884 +v -0.009411 -0.103067 -0.943952 +v -0.009411 0.353839 -0.871818 +v 1.433513 0.089244 -0.823717 +v -0.009411 0.185460 -0.847773 +v 1.265092 -0.271446 -0.943952 +v 1.193000 -0.054898 -0.943952 +v 1.577852 -0.223277 -0.847773 +v 0.615954 0.257623 -0.895839 +f 1272 1278 1280 +f 1269 1268 1270 +f 1267 1270 1271 +f 1273 1271 1274 +f 1269 1270 1275 +f 1272 1269 1275 +f 1270 1268 1276 +f 1271 1270 1276 +f 1268 1274 1276 +f 1274 1271 1276 +f 1267 1271 1277 +f 1271 1273 1277 +f 1277 1273 1278 +f 1272 1267 1278 +f 1267 1277 1278 +f 1270 1267 1279 +f 1267 1272 1279 +f 1275 1270 1279 +f 1272 1275 1279 +f 1268 1269 1280 +f 1269 1272 1280 +f 1274 1268 1280 +f 1273 1274 1280 +f 1278 1273 1280 +o convex_100 +v 1.890311 -0.030844 -0.727528 +v 0.832381 0.353839 -0.703458 +v 0.952675 0.329785 -0.703458 +v 0.471827 0.353839 -0.823705 +v 1.842193 -0.271446 -0.703458 +v 0.255133 0.329785 -0.703458 +v 1.553652 -0.271446 -0.823705 +v 1.505699 0.089244 -0.823705 +v 0.255133 0.329785 -0.823705 +v 1.842193 0.065189 -0.703458 +v 1.649723 -0.271446 -0.823705 +v 1.241052 0.257623 -0.727528 +f 1290 1288 1292 +f 1282 1283 1284 +f 1283 1282 1285 +f 1285 1282 1286 +f 1282 1284 1286 +f 1285 1286 1287 +f 1287 1284 1288 +f 1286 1284 1289 +f 1284 1287 1289 +f 1287 1286 1289 +f 1285 1281 1290 +f 1283 1285 1290 +f 1281 1288 1290 +f 1281 1285 1291 +f 1285 1287 1291 +f 1288 1281 1291 +f 1287 1288 1291 +f 1284 1283 1292 +f 1288 1284 1292 +f 1283 1290 1292 +o convex_101 +v 0.831844 -0.656195 0.979977 +v 1.529739 -0.271446 0.859787 +v 1.529739 -0.271446 0.835706 +v -1.308081 -0.271446 0.883825 +v 1.409115 -0.800534 0.859759 +v -0.922946 -0.800534 0.955925 +v -0.946784 -0.271446 0.955953 +v 1.216979 -0.343642 0.955953 +v -0.947071 -0.800534 0.907863 +v 1.264941 -0.800534 0.955925 +v -0.417762 -0.295529 0.859787 +v 1.625951 -0.511959 0.835706 +v 1.216691 -0.511959 0.979977 +v -1.308081 -0.511959 0.931873 +v 1.601826 -0.656195 0.883825 +v 1.289066 -0.271446 0.931873 +v 1.216691 -0.728338 0.979977 +f 1307 1305 1309 +f 1294 1295 1296 +f 1294 1296 1299 +f 1298 1293 1299 +f 1297 1298 1301 +f 1298 1297 1302 +f 1296 1295 1303 +f 1301 1296 1303 +f 1297 1301 1303 +f 1295 1294 1304 +f 1303 1295 1304 +f 1297 1303 1304 +f 1299 1293 1305 +f 1300 1299 1305 +f 1299 1296 1306 +f 1298 1299 1306 +f 1296 1301 1306 +f 1301 1298 1306 +f 1302 1297 1307 +f 1304 1294 1307 +f 1297 1304 1307 +f 1305 1307 1308 +f 1294 1299 1308 +f 1299 1300 1308 +f 1300 1305 1308 +f 1307 1294 1308 +f 1293 1298 1309 +f 1298 1302 1309 +f 1305 1293 1309 +f 1302 1307 1309 +o convex_102 +v 1.914539 0.137291 0.691304 +v 2.154926 -0.271446 -0.030000 +v 1.794346 0.329785 -0.030000 +v 1.914539 -0.271446 0.715459 +v 2.154926 0.089182 0.066183 +v 1.674050 0.353839 0.402753 +v 2.179006 -0.271446 0.114275 +v 1.866483 0.353839 -0.005991 +v 1.722158 0.161406 0.715459 +v 1.962596 -0.223277 0.715459 +v 2.154926 0.089182 -0.030000 +v 1.674050 0.329785 0.354661 +v 1.746238 0.329785 0.475000 +v 1.938568 0.113298 0.691304 +f 1318 1319 1323 +f 1312 1311 1313 +f 1313 1311 1316 +f 1310 1314 1317 +f 1312 1315 1317 +f 1313 1316 1319 +f 1318 1313 1319 +f 1311 1312 1320 +f 1316 1311 1320 +f 1314 1316 1320 +f 1312 1317 1320 +f 1317 1314 1320 +f 1312 1313 1321 +f 1315 1312 1321 +f 1313 1318 1321 +f 1318 1315 1321 +f 1310 1317 1322 +f 1317 1315 1322 +f 1318 1310 1322 +f 1315 1318 1322 +f 1314 1310 1323 +f 1316 1314 1323 +f 1310 1318 1323 +f 1319 1316 1323 +o convex_103 +v 1.361400 -0.271446 0.907815 +v 0.760180 0.353839 0.739549 +v 0.904527 0.329785 0.739549 +v 1.842299 -0.271446 0.715459 +v -0.009411 -0.271446 0.859721 +v 1.289132 0.137352 0.883768 +v -0.009411 0.353839 0.835695 +v 0.471870 0.329785 0.715459 +v 1.770222 0.137352 0.715459 +v 0.952388 -0.247392 0.931904 +v 1.938594 -0.175168 0.739549 +v -0.009411 -0.127060 0.883768 +v 0.063048 0.161406 0.787643 +v 1.241080 -0.151175 0.931904 +v 1.770222 0.137352 0.739549 +f 1334 1332 1338 +f 1327 1324 1328 +f 1326 1325 1329 +f 1329 1325 1330 +f 1330 1325 1331 +f 1327 1328 1331 +f 1325 1326 1332 +f 1331 1325 1332 +f 1327 1331 1332 +f 1328 1324 1333 +f 1324 1327 1334 +f 1327 1332 1334 +f 1330 1328 1335 +f 1328 1333 1335 +f 1333 1330 1335 +f 1328 1330 1336 +f 1330 1331 1336 +f 1331 1328 1336 +f 1329 1330 1337 +f 1333 1324 1337 +f 1330 1333 1337 +f 1324 1334 1337 +f 1334 1329 1337 +f 1326 1329 1338 +f 1332 1326 1338 +f 1329 1334 1338 +o convex_104 +v -2.318280 -1.594109 -0.799655 +v -1.789194 -1.065078 -0.919884 +v -1.789194 -1.089205 -0.895844 +v -3.063565 -1.065078 -0.799655 +v -2.630666 -1.089205 -0.943952 +v -1.789194 -1.666196 -0.847764 +v -1.885505 -1.642187 -0.799655 +v -2.871068 -1.353721 -0.823724 +v -1.789194 -1.113273 -0.943952 +v -2.029721 -1.570041 -0.871804 +v -2.895146 -1.065078 -0.895844 +v -2.414465 -1.185419 -0.943952 +v -2.967254 -1.065078 -0.799655 +f 1342 1345 1351 +f 1340 1341 1344 +f 1344 1341 1345 +f 1342 1339 1345 +f 1339 1344 1345 +f 1339 1342 1346 +f 1343 1340 1347 +f 1340 1344 1347 +f 1347 1344 1348 +f 1344 1339 1348 +f 1339 1346 1348 +f 1342 1340 1349 +f 1340 1343 1349 +f 1346 1342 1349 +f 1343 1346 1349 +f 1346 1343 1350 +f 1343 1347 1350 +f 1347 1348 1350 +f 1348 1346 1350 +f 1341 1340 1351 +f 1340 1342 1351 +f 1345 1341 1351 +o convex_105 +v 0.303251 0.498136 0.090174 +v 0.543693 0.377893 0.739377 +v 0.255175 0.498136 0.739377 +v 0.231121 0.353839 0.739377 +v 0.543693 0.353839 -0.006024 +v 0.399401 0.498136 -0.006024 +v 0.471531 0.353839 -0.006024 +v 0.495585 0.353839 0.763558 +v 0.255175 0.474082 0.234508 +f 1358 1355 1360 +f 1353 1356 1357 +f 1352 1354 1357 +f 1354 1353 1357 +f 1356 1355 1358 +f 1357 1356 1358 +f 1352 1357 1358 +f 1353 1354 1359 +f 1354 1355 1359 +f 1355 1356 1359 +f 1356 1353 1359 +f 1354 1352 1360 +f 1355 1354 1360 +f 1352 1358 1360 +o convex_106 +v -2.846983 -1.521963 0.499054 +v -2.822943 -1.065078 0.811591 +v -1.765020 -1.642187 0.811591 +v -2.198228 -1.642187 0.474965 +v -2.775026 -1.449817 0.739455 +v -3.424431 -1.161351 0.474965 +v -3.424431 -1.209429 0.547167 +v -1.885545 -1.666196 0.811591 +v -3.303906 -1.065078 0.571191 +v -2.895226 -1.137283 0.811591 +v -2.342468 -1.666196 0.474965 +v -2.822943 -1.065078 0.787568 +v -3.424431 -1.065078 0.595247 +v -1.813425 -1.642187 0.739455 +v -3.424431 -1.257565 0.474965 +f 1371 1361 1375 +f 1363 1362 1368 +f 1365 1361 1368 +f 1364 1366 1369 +f 1367 1365 1370 +f 1368 1362 1370 +f 1365 1368 1370 +f 1366 1364 1371 +f 1368 1361 1371 +f 1362 1363 1372 +f 1369 1362 1372 +f 1364 1369 1372 +f 1366 1367 1373 +f 1362 1369 1373 +f 1369 1366 1373 +f 1367 1370 1373 +f 1370 1362 1373 +f 1363 1368 1374 +f 1371 1364 1374 +f 1368 1371 1374 +f 1372 1363 1374 +f 1364 1372 1374 +f 1361 1365 1375 +f 1367 1366 1375 +f 1365 1367 1375 +f 1366 1371 1375 +o convex_107 +v -3.496519 -0.800534 0.667391 +v -2.871294 -0.511941 0.883782 +v -2.871294 -0.536037 0.883782 +v -3.496519 -0.632197 0.763570 +v -3.472467 -0.511941 0.643335 +v -2.895407 -0.800534 0.859725 +v -3.135925 -0.704289 0.883782 +v -2.967563 -0.511941 0.811636 +v -3.424363 -0.800534 0.667391 +f 1380 1383 1384 +f 1376 1379 1380 +f 1379 1377 1380 +f 1377 1378 1381 +f 1376 1381 1382 +f 1378 1377 1382 +f 1377 1379 1382 +f 1379 1376 1382 +f 1381 1378 1382 +f 1380 1377 1383 +f 1377 1381 1383 +f 1383 1381 1384 +f 1376 1380 1384 +f 1381 1376 1384 +o convex_108 +v 1.457720 -0.295505 -0.895853 +v 2.227100 -0.463823 0.018026 +v 2.227100 -0.511941 0.018026 +v 1.986549 -0.463823 -0.727408 +v 1.409645 -0.511941 -0.871790 +v 2.154900 -0.271446 0.018026 +v 1.962511 -0.271446 -0.703434 +v 1.337358 -0.271446 -0.871790 +v 2.178937 -0.511941 0.018026 +v 1.938474 -0.511941 -0.751472 +v 2.202975 -0.295505 -0.030102 +v 1.337358 -0.343623 -0.871790 +f 1393 1390 1396 +f 1386 1387 1388 +f 1387 1386 1390 +f 1388 1385 1391 +f 1391 1385 1392 +f 1390 1391 1392 +f 1389 1387 1393 +f 1387 1390 1393 +f 1388 1387 1394 +f 1385 1388 1394 +f 1389 1385 1394 +f 1387 1389 1394 +f 1386 1388 1395 +f 1390 1386 1395 +f 1391 1390 1395 +f 1388 1391 1395 +f 1385 1389 1396 +f 1392 1385 1396 +f 1390 1392 1396 +f 1389 1393 1396 +o convex_109 +v 2.034791 -1.185348 -0.438973 +v 1.289259 -1.425819 -0.847712 +v 1.289259 -1.401702 -0.847712 +v 1.962617 -1.089195 -0.703401 +v 1.914452 -1.425819 -0.655312 +v 1.433607 -1.065078 -0.823646 +v 1.938535 -1.425819 -0.414907 +v 2.010636 -1.065078 -0.414907 +v 1.433607 -1.353643 -0.847712 +v 1.289259 -1.401702 -0.823646 +v 1.529864 -1.065078 -0.847712 +f 1400 1405 1407 +f 1400 1397 1401 +f 1401 1397 1403 +f 1398 1401 1403 +f 1397 1400 1404 +f 1403 1397 1404 +f 1398 1399 1405 +f 1400 1401 1405 +f 1401 1398 1405 +f 1399 1398 1406 +f 1402 1399 1406 +f 1398 1403 1406 +f 1404 1402 1406 +f 1403 1404 1406 +f 1399 1402 1407 +f 1404 1400 1407 +f 1402 1404 1407 +f 1405 1399 1407 +o convex_110 +v -0.875332 4.129643 0.667360 +v -1.596674 3.985375 0.018026 +v -1.596674 4.081554 0.018026 +v -0.875332 4.297886 0.018026 +v -1.043610 3.985375 0.643271 +v -0.923421 4.346046 0.042115 +v -1.211958 4.009420 0.595156 +v -0.923421 4.153688 0.595156 +v -1.259906 3.985375 0.354706 +v -1.524434 3.985375 0.258539 +v -0.875332 4.081554 0.619245 +v -1.596674 4.081554 0.042115 +f 1417 1414 1419 +f 1409 1410 1411 +f 1411 1410 1413 +f 1408 1411 1413 +f 1412 1408 1414 +f 1408 1413 1415 +f 1414 1408 1415 +f 1409 1411 1416 +f 1411 1412 1416 +f 1412 1409 1416 +f 1409 1412 1417 +f 1412 1414 1417 +f 1411 1408 1418 +f 1408 1412 1418 +f 1412 1411 1418 +f 1410 1409 1419 +f 1413 1410 1419 +f 1415 1413 1419 +f 1414 1415 1419 +f 1409 1417 1419 +o convex_111 +v -0.249548 -1.065078 0.859765 +v 1.169012 -0.800534 0.955954 +v 1.169012 -0.944795 0.955954 +v -0.971144 -0.992908 0.955954 +v -1.139735 -0.800534 0.907860 +v 0.904374 -0.800534 0.907860 +v 1.169012 -1.065078 0.907860 +v -0.971144 -1.065078 0.955954 +v -0.923007 -0.800534 0.955954 +v -1.139735 -1.065078 0.883822 +v 0.255095 -1.016965 0.859765 +v 0.134867 -0.824590 0.883822 +v 1.169012 -1.065078 0.931897 +f 1427 1426 1432 +f 1422 1421 1423 +f 1424 1421 1425 +f 1421 1422 1426 +f 1425 1421 1426 +f 1422 1423 1427 +f 1423 1424 1427 +f 1420 1426 1427 +f 1423 1421 1428 +f 1424 1423 1428 +f 1421 1424 1428 +f 1424 1420 1429 +f 1420 1427 1429 +f 1427 1424 1429 +f 1426 1420 1430 +f 1425 1426 1430 +f 1420 1424 1431 +f 1424 1425 1431 +f 1430 1420 1431 +f 1425 1430 1431 +f 1426 1422 1432 +f 1422 1427 1432 +o convex_112 +v -2.798755 -1.016943 -0.943949 +v -0.947697 -0.511941 -0.968001 +v -0.995670 -0.776489 -0.943949 +v -3.135643 -0.800529 -0.871804 +v -2.774983 -0.560075 -1.016079 +v -1.140020 -1.065078 -0.943949 +v -2.774983 -0.800529 -1.016079 +v -0.947697 -0.800529 -0.992040 +v -2.774769 -1.065078 -0.871804 +v -2.774983 -0.511941 -0.968001 +v -1.212195 -0.511941 -0.943949 +v -1.140020 -0.920783 -0.919924 +v -2.510056 -1.065078 -0.967973 +v -0.947697 -0.511941 -0.992040 +v -1.981488 -0.680329 -1.016079 +v -1.140020 -1.065078 -0.919924 +v -2.077222 -0.511941 -0.943949 +f 1443 1442 1449 +f 1433 1436 1439 +f 1436 1437 1439 +f 1434 1435 1440 +f 1436 1433 1441 +f 1437 1436 1442 +f 1434 1442 1443 +f 1435 1434 1444 +f 1436 1441 1444 +f 1434 1443 1444 +f 1443 1436 1444 +f 1433 1439 1445 +f 1440 1438 1445 +f 1439 1440 1445 +f 1441 1433 1445 +f 1438 1441 1445 +f 1434 1440 1446 +f 1442 1434 1446 +f 1437 1442 1446 +f 1439 1437 1447 +f 1440 1439 1447 +f 1446 1440 1447 +f 1437 1446 1447 +f 1440 1435 1448 +f 1438 1440 1448 +f 1441 1438 1448 +f 1435 1444 1448 +f 1444 1441 1448 +f 1442 1436 1449 +f 1436 1443 1449 +o convex_113 +v -0.851141 4.153561 -0.727545 +v -1.572625 3.335970 -0.799674 +v -1.572625 3.335970 -0.751575 +v -0.851141 3.335970 -1.016100 +v -0.851141 4.129505 -0.631309 +v -1.548542 3.480391 -0.631309 +v -1.019506 4.081391 -0.751575 +v -1.476295 3.792796 -0.631309 +v -0.875224 3.335970 -0.968001 +v -0.875224 3.432278 -1.016100 +v -0.875224 4.105448 -0.799674 +v -1.524389 3.360109 -0.823705 +v -1.308001 3.961191 -0.655378 +v -1.572625 3.528504 -0.727545 +f 1462 1456 1463 +f 1452 1451 1453 +f 1453 1450 1454 +f 1455 1454 1457 +f 1452 1453 1458 +f 1453 1454 1458 +f 1455 1452 1458 +f 1454 1455 1458 +f 1450 1453 1460 +f 1456 1450 1460 +f 1453 1459 1460 +f 1460 1459 1461 +f 1453 1451 1461 +f 1459 1453 1461 +f 1456 1460 1461 +f 1454 1450 1462 +f 1450 1456 1462 +f 1457 1454 1462 +f 1457 1462 1463 +f 1451 1452 1463 +f 1452 1455 1463 +f 1455 1457 1463 +f 1461 1451 1463 +f 1456 1461 1463 +o convex_114 +v -3.448359 -0.295505 0.619134 +v -3.760950 -0.511941 -0.078172 +v -3.785077 -0.511941 -0.054109 +v -2.943619 -0.511941 0.835706 +v -2.799146 -0.271446 0.811553 +v -3.640700 -0.271446 -0.078172 +v -3.496420 -0.511941 0.691236 +v -3.712888 -0.511941 -0.078172 +v -2.895462 -0.271446 0.835706 +v -3.664827 -0.271446 0.066209 +v -3.544578 -0.487882 0.643287 +v -3.448359 -0.271446 0.595160 +f 1474 1464 1475 +f 1466 1465 1467 +f 1465 1466 1469 +f 1466 1467 1470 +f 1467 1465 1471 +f 1468 1467 1471 +f 1465 1469 1471 +f 1469 1468 1471 +f 1467 1468 1472 +f 1468 1469 1472 +f 1464 1470 1472 +f 1470 1467 1472 +f 1469 1466 1473 +f 1472 1469 1473 +f 1470 1464 1474 +f 1466 1470 1474 +f 1473 1466 1474 +f 1473 1474 1475 +f 1464 1472 1475 +f 1472 1473 1475 +o convex_115 +v 1.481807 -0.752449 -0.919903 +v 1.962599 -0.511941 -0.703467 +v 1.986488 -0.800529 -0.679408 +v 1.289259 -1.040983 -0.871761 +v 1.337379 -0.511941 -0.895797 +v 1.962462 -1.065078 -0.703514 +v 1.962599 -0.536089 -0.751608 +v 1.866290 -1.016943 -0.679408 +v 1.409661 -1.065078 -0.895820 +v 1.457645 -0.511941 -0.919903 +v 1.962599 -0.800529 -0.751608 +f 1481 1484 1486 +f 1476 1479 1480 +f 1477 1478 1482 +f 1478 1477 1483 +f 1480 1479 1483 +f 1477 1480 1483 +f 1481 1478 1483 +f 1479 1481 1483 +f 1479 1476 1484 +f 1481 1479 1484 +f 1476 1480 1485 +f 1480 1477 1485 +f 1477 1482 1485 +f 1482 1476 1485 +f 1478 1481 1486 +f 1482 1478 1486 +f 1476 1482 1486 +f 1484 1476 1486 +o convex_116 +v -1.187918 3.239447 0.931829 +v -1.596674 1.340061 0.763577 +v -1.500293 1.340061 0.763577 +v -0.899410 1.508487 1.004006 +v -1.259869 3.335969 0.835782 +v -1.596674 2.494230 0.811657 +v -1.596674 3.335969 0.739509 +v -0.923487 1.340061 0.931885 +v -0.875403 3.335969 0.979994 +v -0.899410 3.335969 1.028102 +v -1.452208 1.340061 0.835754 +v -0.995579 2.301966 1.004006 +v -1.548377 3.335969 0.739509 +v -1.572455 3.335969 0.787617 +v -0.875403 1.340061 0.979966 +v -0.875403 2.133345 1.028074 +f 1490 1501 1502 +f 1489 1488 1493 +f 1488 1492 1493 +f 1488 1489 1494 +f 1494 1491 1495 +f 1491 1493 1495 +f 1495 1493 1496 +f 1487 1492 1496 +f 1492 1488 1497 +f 1488 1494 1497 +f 1496 1492 1498 +f 1492 1497 1498 +f 1497 1490 1498 +f 1489 1493 1499 +f 1493 1491 1499 +f 1494 1489 1499 +f 1491 1494 1499 +f 1492 1487 1500 +f 1493 1492 1500 +f 1496 1493 1500 +f 1487 1496 1500 +f 1494 1495 1501 +f 1490 1497 1501 +f 1497 1494 1501 +f 1495 1496 1502 +f 1498 1490 1502 +f 1496 1498 1502 +f 1501 1495 1502 +o convex_117 +v -3.424204 0.161491 -0.006024 +v -2.846990 0.017213 -0.823705 +v -2.991377 0.017213 -0.751509 +v -1.933708 0.353806 -0.823705 +v -3.520295 0.017213 -0.006024 +v -1.933708 0.329722 -0.679314 +v -2.727002 0.353806 -0.006024 +v -2.606679 0.017213 -0.799613 +v -2.774964 0.137439 -0.799613 +v -2.847157 0.353806 -0.030116 +v -3.496231 0.041265 -0.246622 +v -2.727002 0.329722 -0.006024 +v -3.544360 0.113387 -0.054127 +v -1.885579 0.305670 -0.823705 +f 1508 1510 1516 +f 1505 1504 1507 +f 1503 1507 1509 +f 1508 1506 1509 +f 1507 1504 1510 +f 1508 1507 1510 +f 1504 1505 1511 +f 1506 1504 1511 +f 1503 1509 1512 +f 1509 1506 1512 +f 1506 1511 1512 +f 1505 1507 1513 +f 1511 1505 1513 +f 1507 1508 1514 +f 1509 1507 1514 +f 1508 1509 1514 +f 1507 1503 1515 +f 1503 1512 1515 +f 1512 1511 1515 +f 1513 1507 1515 +f 1511 1513 1515 +f 1504 1506 1516 +f 1506 1508 1516 +f 1510 1504 1516 +o convex_118 +v -0.875332 3.360127 1.028102 +v -1.596674 3.336047 0.715525 +v -1.572523 3.336047 0.715525 +v -0.875332 4.129601 0.667360 +v -0.899341 4.033281 0.787631 +v -0.899341 3.384207 0.931878 +v -1.596674 3.384207 0.763584 +v -1.283986 3.624619 0.667360 +v -1.572523 3.528455 0.667360 +v -1.043610 4.057361 0.691478 +v -1.572523 3.384207 0.667360 +v -0.875332 4.081363 0.667360 +f 1522 1524 1528 +f 1517 1518 1519 +f 1517 1520 1521 +f 1517 1519 1522 +f 1518 1517 1523 +f 1517 1521 1523 +f 1518 1523 1525 +f 1520 1524 1525 +f 1521 1520 1526 +f 1523 1521 1526 +f 1520 1525 1526 +f 1525 1523 1526 +f 1519 1518 1527 +f 1522 1519 1527 +f 1524 1522 1527 +f 1518 1525 1527 +f 1525 1524 1527 +f 1520 1517 1528 +f 1517 1522 1528 +f 1524 1520 1528 +o convex_119 +v 0.976696 -1.666314 0.691370 +v 1.553723 -1.377749 0.763532 +v 1.553723 -1.377749 0.739478 +v 1.553723 -1.666314 0.499040 +v 0.736202 -1.642220 0.523094 +v 0.760291 -1.546041 0.763532 +v 1.529633 -1.449918 0.763532 +v 0.736202 -1.618182 0.763532 +v 1.529633 -1.666314 0.571203 +f 1530 1535 1537 +f 1531 1530 1532 +f 1532 1529 1533 +f 1531 1532 1533 +f 1531 1533 1534 +f 1530 1531 1534 +f 1530 1534 1535 +f 1533 1529 1536 +f 1534 1533 1536 +f 1529 1535 1536 +f 1535 1534 1536 +f 1532 1530 1537 +f 1529 1532 1537 +f 1535 1529 1537 +o convex_120 +v 1.962605 0.257623 -0.030139 +v 1.914544 -0.271446 -0.703392 +v 1.962605 -0.271446 -0.703392 +v 2.179088 -0.271446 -0.030139 +v 1.650000 0.329785 -0.414808 +v 1.938523 0.065189 -0.679338 +v 2.154954 0.089244 -0.054193 +v 1.650000 0.089244 -0.679338 +v 1.794391 0.329785 -0.030139 +v 1.722196 0.353839 -0.438862 +v 2.106841 -0.271446 -0.102302 +v 1.650000 0.137352 -0.703392 +f 1542 1547 1549 +f 1539 1540 1541 +f 1541 1540 1544 +f 1538 1541 1544 +f 1540 1543 1544 +f 1541 1538 1546 +f 1542 1545 1546 +f 1538 1544 1547 +f 1544 1543 1547 +f 1546 1538 1547 +f 1542 1546 1547 +f 1539 1541 1548 +f 1545 1539 1548 +f 1541 1546 1548 +f 1546 1545 1548 +f 1540 1539 1549 +f 1543 1540 1549 +f 1539 1545 1549 +f 1545 1542 1549 +f 1547 1543 1549 +o convex_121 +v -1.957439 -1.618066 0.835725 +v -1.140122 -0.800534 0.931871 +v -1.140122 -0.800534 0.907845 +v -3.111384 -0.800534 0.811657 +v -2.774755 -0.824599 0.955954 +v -1.019792 -1.666111 0.931900 +v -1.644960 -1.521891 0.811671 +v -1.188212 -0.800534 0.955954 +v -2.798906 -1.161424 0.811671 +v -1.140122 -0.944839 0.883805 +v -0.947339 -1.209470 0.907831 +v -1.211940 -1.666111 0.931900 +v -1.644960 -1.666111 0.811671 +v -2.798906 -1.161424 0.835725 +v -2.967114 -0.800534 0.811657 +v -1.019792 -1.666111 0.907831 +f 1562 1560 1565 +f 1551 1552 1553 +f 1551 1553 1557 +f 1553 1554 1557 +f 1554 1555 1557 +f 1556 1559 1560 +f 1552 1551 1560 +f 1551 1557 1560 +f 1557 1555 1560 +f 1559 1552 1560 +f 1554 1550 1561 +f 1555 1554 1561 +f 1555 1561 1562 +f 1550 1558 1562 +f 1558 1553 1562 +f 1556 1560 1562 +f 1561 1550 1562 +f 1550 1554 1563 +f 1554 1553 1563 +f 1558 1550 1563 +f 1553 1558 1563 +f 1553 1552 1564 +f 1552 1559 1564 +f 1559 1556 1564 +f 1562 1553 1564 +f 1556 1562 1564 +f 1560 1555 1565 +f 1555 1562 1565 +o convex_122 +v -3.400226 -0.151175 0.547113 +v -2.462550 0.065213 0.787608 +v -2.462550 0.065213 0.763525 +v -2.895487 -0.271413 0.787608 +v -2.823299 0.065213 0.763525 +v -2.919518 0.041159 0.547113 +v -3.183854 -0.271413 0.619290 +v -3.376196 -0.247359 0.619290 +v -3.015447 0.065213 0.547113 +v -2.991416 -0.247359 0.787608 +v -3.400226 -0.271413 0.547113 +f 1569 1573 1576 +f 1568 1567 1569 +f 1567 1568 1570 +f 1568 1569 1572 +f 1571 1568 1572 +f 1570 1566 1573 +f 1566 1570 1574 +f 1570 1568 1574 +f 1568 1571 1574 +f 1571 1566 1574 +f 1569 1567 1575 +f 1567 1570 1575 +f 1570 1573 1575 +f 1573 1569 1575 +f 1566 1571 1576 +f 1572 1569 1576 +f 1571 1572 1576 +f 1573 1566 1576 +o convex_123 +v -3.737026 -1.089127 -0.030073 +v -3.208087 -0.824602 -0.871804 +v -3.304305 -0.824602 -0.847662 +v -2.919537 -1.377720 -0.799627 +v -3.472401 -1.281504 -0.534980 +v -2.726998 -1.353596 -0.775403 +v -3.736923 -0.800534 -0.078191 +v -3.616676 -1.377720 -0.030073 +v -3.568619 -0.824602 -0.751509 +v -2.991726 -0.872739 -0.847662 +v -3.616676 -1.377720 -0.174426 +v -3.087944 -0.800534 -0.871804 +v -3.136001 -1.377720 -0.703227 +v -3.784980 -0.848670 -0.102332 +v -3.640808 -1.209356 -0.030073 +v -2.871480 -1.065115 -0.871804 +v -3.568619 -0.800534 -0.751509 +f 1585 1590 1593 +f 1579 1578 1580 +f 1580 1582 1584 +f 1579 1580 1585 +f 1583 1582 1586 +f 1584 1577 1587 +f 1580 1584 1587 +f 1585 1581 1587 +f 1583 1586 1588 +f 1585 1580 1589 +f 1581 1585 1589 +f 1580 1587 1589 +f 1587 1581 1589 +f 1577 1583 1590 +f 1587 1577 1590 +f 1585 1587 1590 +f 1583 1577 1591 +f 1582 1583 1591 +f 1584 1582 1591 +f 1577 1584 1591 +f 1580 1578 1592 +f 1582 1580 1592 +f 1586 1582 1592 +f 1578 1588 1592 +f 1588 1586 1592 +f 1578 1579 1593 +f 1579 1585 1593 +f 1588 1578 1593 +f 1583 1588 1593 +f 1590 1583 1593 +o convex_124 +v -2.847339 -1.065078 0.811657 +v -3.785025 -0.896760 -0.078172 +v -3.809128 -0.824590 -0.054045 +v -3.472431 -1.065078 0.595210 +v -3.520545 -0.800534 0.691370 +v -3.039791 -0.800534 0.787530 +v -3.688799 -1.065078 -0.078172 +v -3.761015 -0.800534 -0.078172 +v -3.736912 -1.065078 -0.005965 +v -2.847339 -1.040995 0.787530 +v -3.544554 -0.848647 0.667330 +v -2.967669 -1.040995 0.811657 +v -3.160026 -0.800534 0.811657 +f 1598 1605 1606 +f 1594 1597 1600 +f 1595 1596 1601 +f 1596 1598 1601 +f 1598 1599 1601 +f 1600 1595 1601 +f 1596 1595 1602 +f 1595 1600 1602 +f 1600 1597 1602 +f 1599 1594 1603 +f 1594 1600 1603 +f 1601 1599 1603 +f 1600 1601 1603 +f 1598 1596 1604 +f 1596 1602 1604 +f 1602 1597 1604 +f 1597 1594 1605 +f 1604 1597 1605 +f 1598 1604 1605 +f 1599 1598 1606 +f 1594 1599 1606 +f 1605 1594 1606 +o convex_125 +v -3.713025 -1.113257 0.018035 +v -3.472568 -1.497968 -0.030073 +v -3.424431 -1.497968 -0.030073 +v -3.424431 -1.089146 0.595212 +v -3.616780 -1.425763 0.042089 +v -3.664888 -1.065078 -0.006019 +v -3.448528 -1.089146 0.402779 +v -3.448528 -1.281523 0.426833 +v -3.472568 -1.089146 0.571158 +v -3.424431 -1.449789 -0.030073 +f 1612 1613 1616 +f 1607 1608 1611 +f 1608 1607 1612 +f 1612 1610 1613 +f 1608 1609 1614 +f 1609 1610 1614 +f 1611 1608 1614 +f 1611 1614 1615 +f 1607 1611 1615 +f 1612 1607 1615 +f 1610 1612 1615 +f 1614 1610 1615 +f 1609 1608 1616 +f 1610 1609 1616 +f 1608 1612 1616 +f 1613 1610 1616 +o convex_126 +v 0.976604 -1.521963 -0.871822 +v 1.457605 -1.065078 -0.847766 +v 1.457605 -1.065078 -0.871822 +v 0.134886 -1.065078 -0.919888 +v 0.832110 -1.089205 -0.968001 +v 0.207133 -1.666196 -0.847766 +v 0.134886 -1.666196 -0.895867 +v 1.216910 -1.353721 -0.919888 +v 0.134886 -1.065078 -0.968001 +v 1.313240 -1.449817 -0.847766 +v 1.265205 -1.065078 -0.943933 +f 1621 1625 1627 +f 1618 1619 1620 +f 1618 1620 1622 +f 1617 1622 1623 +f 1622 1620 1623 +f 1617 1623 1624 +f 1623 1621 1624 +f 1620 1619 1625 +f 1621 1623 1625 +f 1623 1620 1625 +f 1619 1618 1626 +f 1618 1622 1626 +f 1622 1617 1626 +f 1617 1624 1626 +f 1624 1619 1626 +f 1619 1624 1627 +f 1624 1621 1627 +f 1625 1619 1627 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/782/782.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/782/782.urdf new file mode 100644 index 000000000..ed3dff4da --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/782/782.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/783/783.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/783/783.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/783/783.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/783/783.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/783/783.obj new file mode 100644 index 000000000..b80b58ab2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/783/783.obj @@ -0,0 +1,900 @@ +o convex_0 +v 0.014147 -1.223652 -1.005917 +v 0.040788 -1.545258 1.051942 +v -0.012495 -1.545258 1.051942 +v 0.014147 -4.831582 0.009920 +v 1.029707 -0.716554 0.036308 +v -0.814326 1.180790 0.036308 +v -0.760844 -4.028835 0.009718 +v 0.548568 1.635975 0.062897 +v 0.762297 -4.082647 0.036308 +v -0.707363 0.512889 -0.765202 +v 0.735656 0.486300 -0.711620 +v 0.040788 -4.109869 -0.738411 +v 0.762297 0.512889 0.757847 +v -0.707363 0.592658 0.704467 +v -0.012495 -4.029469 0.838018 +v 0.789138 -1.891553 -0.738612 +v 0.762297 -1.891553 0.811228 +v -0.760844 -1.837741 0.784437 +v -0.760844 -1.864964 -0.765202 +v 0.014147 1.635975 -0.658240 +v -0.039136 1.635975 0.704467 +v -1.001414 -1.063483 0.009718 +v 1.002867 0.512889 0.009718 +v 0.014147 0.512889 0.971570 +v 0.040788 0.540112 -0.952133 +v -0.520275 1.635342 -0.417727 +v 1.029707 -1.918142 0.062897 +v 0.495086 1.608753 -0.497898 +v -0.493435 1.635342 0.490543 +v -0.974573 0.352720 -0.043662 +v -0.573757 -3.467925 0.624095 +v 0.575210 -3.494514 0.624095 +v -1.001414 -1.918142 -0.016871 +v -0.573757 -3.467925 -0.551479 +v -0.012495 -1.918142 -1.005917 +v 0.575210 -3.521104 -0.551479 +v 0.602050 1.208013 0.624095 +v 0.815779 1.180790 0.036308 +v -0.012495 -4.109869 -0.738411 +v -0.734004 0.112149 0.731057 +v -0.760844 -4.028835 0.062897 +v 0.815779 -1.784562 0.731057 +v -0.627239 1.234602 -0.578270 +v 0.628692 1.208013 -0.578069 +v -0.012495 -1.864964 1.051942 +v 0.388123 1.635342 0.543924 +v -0.039136 -4.831582 0.063098 +v 0.227876 -1.811152 -0.952335 +v 0.040788 -4.056058 0.811228 +v -0.734004 -1.811152 -0.791993 +v 1.002867 0.486300 0.089688 +v 0.762297 -4.082647 0.062897 +v 0.789138 0.486300 -0.631651 +v 0.895903 -1.811152 -0.444518 +v 0.040788 -4.804359 0.089688 +v -0.039136 -4.082647 0.811228 +v -0.734004 0.539479 -0.738411 +v -0.947932 0.512889 0.062897 +v -1.001414 -1.811152 0.062897 +v -0.600399 1.635342 0.116479 +v -0.787486 -1.624393 -0.711822 +v -0.146100 0.512889 -0.925544 +v -0.600399 1.154201 0.624095 +v 0.307999 -1.811152 0.971570 +f 45 15 64 +f 9 4 12 +f 8 20 21 +f 3 2 24 +f 2 13 24 +f 13 21 24 +f 20 8 28 +f 15 18 31 +f 19 7 33 +f 22 30 33 +f 7 19 34 +f 9 12 36 +f 16 9 36 +f 12 16 36 +f 21 13 37 +f 28 8 38 +f 37 13 38 +f 12 4 39 +f 7 34 39 +f 35 12 39 +f 18 3 40 +f 3 24 40 +f 24 14 40 +f 31 18 41 +f 33 7 41 +f 13 17 42 +f 27 5 42 +f 20 10 43 +f 6 26 43 +f 26 20 43 +f 30 6 43 +f 11 25 44 +f 25 20 44 +f 20 28 44 +f 38 23 44 +f 28 38 44 +f 2 3 45 +f 3 18 45 +f 18 15 45 +f 8 21 46 +f 21 37 46 +f 38 8 46 +f 37 38 46 +f 39 4 47 +f 7 39 47 +f 41 7 47 +f 11 16 48 +f 16 12 48 +f 1 25 48 +f 25 11 48 +f 35 1 48 +f 12 35 48 +f 17 15 49 +f 32 17 49 +f 10 1 50 +f 34 19 50 +f 1 35 50 +f 39 34 50 +f 35 39 50 +f 5 23 51 +f 38 13 51 +f 23 38 51 +f 42 5 51 +f 13 42 51 +f 4 9 52 +f 9 27 52 +f 17 32 52 +f 42 17 52 +f 27 42 52 +f 32 49 52 +f 16 11 53 +f 11 44 53 +f 44 23 53 +f 9 16 54 +f 23 5 54 +f 5 27 54 +f 27 9 54 +f 16 53 54 +f 53 23 54 +f 47 4 55 +f 4 52 55 +f 52 49 55 +f 15 31 56 +f 31 41 56 +f 41 47 56 +f 49 15 56 +f 47 55 56 +f 55 49 56 +f 43 10 57 +f 30 43 57 +f 10 50 57 +f 50 19 57 +f 14 6 58 +f 6 30 58 +f 30 22 58 +f 40 14 58 +f 40 58 59 +f 22 33 59 +f 18 40 59 +f 41 18 59 +f 33 41 59 +f 58 22 59 +f 21 20 60 +f 26 6 60 +f 20 26 60 +f 6 29 60 +f 29 21 60 +f 19 33 61 +f 33 30 61 +f 57 19 61 +f 30 57 61 +f 1 10 62 +f 10 20 62 +f 25 1 62 +f 20 25 62 +f 6 14 63 +f 14 24 63 +f 24 21 63 +f 29 6 63 +f 21 29 63 +f 13 2 64 +f 17 13 64 +f 15 17 64 +f 2 45 64 +o convex_1 +v 0.014153 2.517915 -0.845776 +v 0.014153 1.796469 -0.926078 +v 0.040852 1.796469 -0.926078 +v -0.012546 2.197131 -3.010325 +v -0.226376 2.063648 -0.845776 +v 0.254682 2.197131 -1.514040 +v -0.199630 2.170434 -2.582542 +v 0.227936 1.876629 -0.845776 +v 0.040852 1.983487 -2.689329 +v 0.201189 2.223828 -2.555634 +v -0.199630 2.410916 -0.926078 +v -0.012546 2.384219 -2.635936 +v 0.201189 2.437613 -0.845776 +v -0.146137 1.956790 -1.967883 +v 0.147744 2.357452 -2.395454 +v -0.172883 1.903326 -0.845776 +v 0.174443 2.117111 -2.609239 +v -0.065945 1.983487 -2.609239 +v -0.119437 2.330755 -2.528937 +v 0.227936 1.876629 -1.032864 +v 0.254682 2.250595 -0.845776 +v -0.226376 2.117111 -1.781219 +v -0.172883 2.090415 -2.662632 +v 0.201189 2.437613 -1.086470 +v -0.226376 2.277292 -0.845776 +v 0.174443 2.197131 -2.742723 +v -0.065945 2.491077 -0.952774 +v 0.014153 2.357452 -2.769419 +v 0.147744 2.010184 -2.395454 +v 0.040852 1.956790 -2.555634 +v 0.014153 2.143808 -3.010325 +v 0.254682 1.983487 -0.899381 +v 0.201189 2.170434 -2.582542 +v -0.172883 1.903326 -1.032864 +v -0.065945 2.357452 -2.662632 +v -0.172883 2.170434 -2.742723 +v 0.147744 1.823166 -0.845776 +v -0.172883 2.330755 -2.047973 +f 75 83 102 +f 65 69 72 +f 65 72 77 +f 76 65 79 +f 72 69 80 +f 66 78 82 +f 77 72 85 +f 82 78 87 +f 86 71 87 +f 70 74 88 +f 65 77 88 +f 74 79 88 +f 79 65 88 +f 85 70 88 +f 77 85 88 +f 69 65 89 +f 65 75 89 +f 75 71 89 +f 86 69 89 +f 71 86 89 +f 79 74 90 +f 81 73 90 +f 75 65 91 +f 65 76 91 +f 76 79 92 +f 90 68 92 +f 79 90 92 +f 73 81 93 +f 81 84 93 +f 93 84 94 +f 67 66 94 +f 66 82 94 +f 82 73 94 +f 73 93 94 +f 73 82 95 +f 82 87 95 +f 68 90 95 +f 90 73 95 +f 72 84 96 +f 70 85 96 +f 85 72 96 +f 74 70 97 +f 84 81 97 +f 90 74 97 +f 81 90 97 +f 70 96 97 +f 96 84 97 +f 78 66 98 +f 80 69 98 +f 66 80 98 +f 69 86 98 +f 87 78 98 +f 86 87 98 +f 83 75 99 +f 75 91 99 +f 91 76 99 +f 76 92 99 +f 92 68 99 +f 71 83 100 +f 87 71 100 +f 68 95 100 +f 95 87 100 +f 99 68 100 +f 83 99 100 +f 66 67 101 +f 80 66 101 +f 72 80 101 +f 84 72 101 +f 94 84 101 +f 67 94 101 +f 71 75 102 +f 83 71 102 +o convex_2 +v 0.308055 6.099310 0.036334 +v -0.306489 5.430988 -0.097241 +v -0.279748 5.430988 -0.204132 +v -0.226329 7.061217 0.009650 +v -0.012525 5.430988 0.276905 +v 0.281313 5.430988 -0.204132 +v 0.014153 6.980766 -0.204132 +v -0.066008 6.980766 0.250169 +v 0.281313 5.430988 0.250169 +v -0.226329 6.125952 0.223433 +v 0.201153 6.927307 0.036334 +v 0.227894 6.312970 -0.204132 +v 0.094251 5.430988 -0.257604 +v -0.012525 7.221593 0.036334 +v 0.227894 6.099310 0.250169 +v -0.253007 6.312970 -0.177396 +v -0.279748 6.820390 0.063017 +v -0.039266 6.339612 -0.257604 +v -0.306489 5.430988 0.036334 +v 0.334796 5.537906 -0.043769 +v -0.039266 6.686831 0.276905 +v -0.066008 6.954299 -0.204132 +v -0.199588 5.430988 0.196697 +v 0.014153 6.900841 0.250169 +v 0.201153 6.927307 -0.017033 +v -0.306489 6.419712 0.036334 +v 0.201153 5.698282 0.276905 +v -0.226329 6.820390 0.169961 +v -0.092686 5.430988 -0.257604 +v 0.334796 5.430988 0.116542 +v 0.174412 6.232869 -0.230868 +v -0.226329 6.847207 -0.097241 +v 0.147733 6.713647 0.196697 +v 0.174412 6.767106 -0.150661 +v -0.306489 6.232869 -0.043769 +v -0.066008 7.221593 0.009650 +v -0.092686 6.152769 0.276905 +v -0.279748 6.847207 0.009650 +v -0.253007 6.980766 0.089806 +f 140 119 141 +f 104 105 107 +f 107 105 108 +f 107 108 111 +f 108 105 115 +f 103 113 117 +f 105 118 120 +f 104 107 121 +f 114 103 122 +f 108 114 122 +f 110 112 123 +f 109 120 124 +f 120 118 124 +f 107 112 125 +f 121 107 125 +f 112 121 125 +f 116 110 126 +f 113 116 126 +f 110 123 126 +f 123 117 126 +f 113 103 127 +f 103 114 127 +f 109 116 127 +f 116 113 127 +f 112 119 128 +f 104 121 128 +f 121 112 128 +f 107 111 129 +f 111 117 129 +f 123 107 129 +f 117 123 129 +f 112 110 130 +f 119 112 130 +f 115 105 131 +f 105 120 131 +f 120 115 131 +f 111 108 132 +f 103 117 132 +f 117 111 132 +f 122 103 132 +f 108 122 132 +f 114 108 133 +f 109 114 133 +f 108 115 133 +f 120 109 133 +f 115 120 133 +f 106 124 134 +f 124 118 134 +f 117 113 135 +f 113 126 135 +f 126 117 135 +f 114 109 136 +f 127 114 136 +f 109 127 136 +f 105 104 137 +f 118 105 137 +f 104 128 137 +f 116 109 138 +f 110 116 138 +f 124 106 138 +f 109 124 138 +f 112 107 139 +f 107 123 139 +f 123 112 139 +f 128 119 140 +f 106 134 140 +f 134 118 140 +f 118 137 140 +f 137 128 140 +f 130 110 141 +f 119 130 141 +f 138 106 141 +f 110 138 141 +f 106 140 141 +o convex_3 +v -0.600532 1.689593 -0.043759 +v 0.548662 1.689593 0.063059 +v 0.548662 1.636169 0.063059 +v 0.254614 1.983526 -0.845564 +v -0.065981 2.624720 0.757712 +v -0.520327 2.624720 -0.417957 +v 0.468457 2.624720 -0.417789 +v 0.201182 1.823155 0.864697 +v -0.493554 1.636169 0.490499 +v -0.466894 1.636169 -0.471366 +v 0.388252 2.624720 0.437090 +v -0.520327 2.624720 0.410302 +v -0.199619 2.410924 -0.845564 +v 0.495117 1.636169 -0.471198 +v -0.306484 2.277266 0.864697 +v 0.281387 2.170416 0.864864 +v -0.012661 1.796443 -0.845564 +v 0.040771 2.517774 -0.845564 +v -0.039209 1.636169 0.730923 +v -0.253052 1.930102 0.864697 +v 0.495117 2.624720 0.036271 +v -0.253052 2.143704 -0.845564 +v 0.388252 1.636169 0.544075 +v 0.174409 2.464349 0.864697 +v -0.573759 2.624720 -0.043759 +v -0.039209 2.624720 -0.711623 +v 0.040771 1.636169 -0.685169 +v 0.254614 2.250553 -0.845564 +v -0.600532 1.636169 0.116301 +v -0.199619 2.517774 0.864697 +v -0.546987 2.143704 -0.391169 +v 0.495117 2.437637 -0.417789 +v 0.227842 1.849868 -0.845564 +v -0.520327 2.036951 0.463711 +v -0.520327 1.636169 -0.417957 +v -0.172846 1.876580 -0.845564 +v 0.441684 2.170416 0.383681 +v 0.201182 2.437637 -0.845564 +v 0.548662 1.689593 -0.097000 +v -0.573759 2.624720 0.089513 +v -0.065981 1.796443 0.864697 +v 0.040771 2.544486 0.864697 +v 0.120976 2.624720 -0.685169 +v 0.415024 1.823155 0.490499 +f 178 157 185 +f 147 146 148 +f 144 150 151 +f 148 146 152 +f 146 147 153 +f 144 151 155 +f 154 145 158 +f 145 154 159 +f 150 144 160 +f 156 150 161 +f 157 156 161 +f 148 152 162 +f 147 154 163 +f 154 158 163 +f 157 149 164 +f 160 144 164 +f 149 160 164 +f 157 152 165 +f 153 147 166 +f 147 148 167 +f 154 147 167 +f 159 154 167 +f 155 151 168 +f 151 158 168 +f 155 145 169 +f 145 159 169 +f 151 150 170 +f 146 153 171 +f 153 156 171 +f 156 157 171 +f 147 163 172 +f 142 166 172 +f 166 147 172 +f 148 162 173 +f 169 148 173 +f 155 169 173 +f 145 155 174 +f 158 145 174 +f 155 168 174 +f 168 158 174 +f 150 156 175 +f 156 153 175 +f 170 150 175 +f 153 170 175 +f 170 142 176 +f 151 170 176 +f 142 172 176 +f 172 163 176 +f 158 151 177 +f 163 158 177 +f 151 176 177 +f 176 163 177 +f 152 157 178 +f 143 162 178 +f 162 152 178 +f 148 169 179 +f 169 159 179 +f 143 144 180 +f 144 155 180 +f 162 143 180 +f 155 173 180 +f 173 162 180 +f 166 142 181 +f 153 166 181 +f 142 170 181 +f 170 153 181 +f 149 157 182 +f 160 149 182 +f 150 160 182 +f 161 150 182 +f 157 161 182 +f 152 146 183 +f 165 152 183 +f 157 165 183 +f 146 171 183 +f 171 157 183 +f 167 148 184 +f 159 167 184 +f 148 179 184 +f 179 159 184 +f 144 143 185 +f 164 144 185 +f 157 164 185 +f 143 178 185 +o convex_4 +v 0.040868 2.544640 0.918645 +v -0.039285 1.796328 0.865074 +v 0.014114 1.796328 0.865074 +v 0.014114 2.170484 3.002900 +v -0.306552 2.277354 0.865074 +v 0.254682 2.036951 0.865074 +v 0.227873 2.143895 2.708677 +v -0.199590 2.250545 2.655106 +v 0.067567 2.410887 2.708677 +v -0.226344 2.491168 1.132302 +v 0.201229 2.437697 0.865074 +v -0.226344 1.983406 1.720330 +v -0.039285 1.983406 2.681891 +v 0.201229 1.849800 0.972007 +v 0.227873 2.357416 1.960354 +v -0.226344 1.903271 0.865074 +v 0.147720 2.010142 2.494810 +v -0.092738 2.544640 0.865074 +v -0.146137 2.410887 2.227582 +v 0.254682 2.277354 1.426316 +v 0.254682 2.143895 2.361301 +v -0.306552 2.197073 0.998792 +v -0.172891 2.063614 2.494810 +v 0.014114 1.983406 2.681891 +v 0.227873 2.223883 2.655106 +v -0.253099 2.250545 1.987139 +v 0.040868 2.223883 3.002900 +v -0.253099 2.464359 0.865074 +v -0.172891 2.464359 1.720330 +v 0.254682 2.250545 0.865074 +v -0.146137 2.197073 2.788824 +v -0.039285 1.796328 0.945431 +v -0.012585 2.544640 1.078940 +v 0.040868 2.410887 2.708677 +v 0.201229 2.330826 2.468025 +v 0.254682 2.036951 1.586611 +v 0.227873 2.117085 2.655106 +f 199 221 222 +f 188 187 190 +f 188 190 191 +f 191 190 196 +f 188 191 199 +f 186 194 200 +f 196 186 200 +f 190 187 201 +f 186 196 203 +f 196 190 203 +f 196 200 205 +f 205 200 206 +f 191 205 206 +f 190 201 207 +f 201 197 207 +f 193 197 208 +f 197 198 208 +f 192 189 209 +f 189 198 209 +f 188 199 209 +f 199 202 209 +f 206 200 210 +f 192 206 210 +f 193 195 211 +f 197 193 211 +f 190 207 211 +f 207 197 211 +f 189 192 212 +f 192 210 212 +f 210 194 212 +f 195 203 213 +f 203 190 213 +f 211 195 213 +f 190 211 213 +f 195 193 214 +f 203 195 214 +f 193 204 214 +f 191 196 215 +f 205 191 215 +f 196 205 215 +f 198 189 216 +f 193 208 216 +f 208 198 216 +f 189 212 216 +f 212 193 216 +f 187 188 217 +f 198 197 217 +f 201 187 217 +f 197 201 217 +f 188 209 217 +f 209 198 217 +f 194 186 218 +f 186 203 218 +f 203 214 218 +f 218 214 219 +f 204 193 219 +f 193 212 219 +f 212 194 219 +f 214 204 219 +f 194 218 219 +f 200 194 220 +f 194 210 220 +f 210 200 220 +f 199 191 221 +f 191 206 221 +f 221 206 222 +f 202 199 222 +f 206 192 222 +f 192 209 222 +f 209 202 222 +o convex_5 +v -0.520230 2.624817 0.383780 +v 0.495211 2.892071 0.036323 +v 0.495211 2.624817 0.036323 +v -0.039298 2.651579 -0.685211 +v -0.493547 2.892071 -0.444654 +v -0.065877 2.892071 0.517300 +v 0.040858 2.624817 0.704478 +v 0.441739 2.892071 -0.444654 +v -0.493547 2.892071 0.437161 +v -0.520230 2.624817 -0.417894 +v 0.468423 2.624817 -0.417894 +v 0.361584 2.892071 0.437161 +v -0.573807 2.892071 -0.070437 +v 0.388267 2.624817 0.437161 +v -0.039298 2.651579 0.731237 +v -0.440075 2.892071 -0.498034 +v 0.121013 2.624817 -0.658452 +v -0.573807 2.624817 0.089704 +v -0.466758 2.624817 0.490679 +v 0.121013 2.892071 -0.498034 +v -0.440075 2.624817 -0.498034 +f 239 232 243 +f 224 227 228 +f 223 225 229 +f 227 224 230 +f 228 227 231 +f 225 223 232 +f 224 225 233 +f 230 224 233 +f 225 232 233 +f 224 228 234 +f 231 227 235 +f 227 232 235 +f 225 224 236 +f 229 225 236 +f 224 234 236 +f 234 229 236 +f 228 231 237 +f 234 228 237 +f 229 234 237 +f 227 230 238 +f 226 230 239 +f 230 233 239 +f 233 232 239 +f 223 231 240 +f 232 223 240 +f 231 235 240 +f 235 232 240 +f 223 229 241 +f 231 223 241 +f 229 237 241 +f 237 231 241 +f 230 226 242 +f 226 238 242 +f 238 230 242 +f 232 227 243 +f 238 226 243 +f 227 238 243 +f 226 239 243 +o convex_6 +v 0.361479 5.430988 0.063012 +v -0.573807 2.892567 -0.070437 +v -0.493578 2.892567 -0.444667 +v 0.495122 2.892567 0.036282 +v -0.092757 2.972584 0.517434 +v -0.333228 5.403902 0.009551 +v 0.040886 4.789363 -0.471295 +v 0.441708 2.892567 -0.444667 +v 0.361479 4.896217 0.437242 +v -0.466871 3.400252 0.437242 +v 0.014072 4.896217 0.490703 +v 0.521937 4.922807 0.009551 +v -0.359935 5.003072 -0.364373 +v 0.334772 2.892567 0.463870 +v 0.308065 5.350474 -0.230821 +v -0.520285 4.388534 -0.043706 +v -0.333228 4.869380 0.330319 +v 0.040886 5.430988 0.303486 +v -0.466871 2.892567 0.463870 +v -0.092757 3.480268 -0.524859 +v 0.388186 5.003072 -0.310911 +v -0.012635 5.430988 -0.284283 +v 0.441708 4.922807 0.356948 +v -0.440164 2.999422 -0.498128 +v -0.466871 4.922807 0.009551 +v 0.040886 4.361695 0.517434 +v -0.573807 3.239721 0.063012 +v 0.308065 5.377064 0.276858 +v -0.466871 3.400252 -0.471295 +v -0.279814 5.430988 -0.204091 +v 0.521937 3.907936 0.063012 +v -0.012635 4.468550 -0.498128 +v 0.014072 3.079439 -0.524859 +v -0.172878 5.430988 0.223396 +v 0.040886 5.003072 -0.444667 +v 0.361479 2.892567 0.437242 +v -0.573807 3.426841 -0.043706 +v 0.361479 2.892567 -0.471295 +v -0.493578 3.186294 0.437242 +v 0.521937 4.922807 0.116474 +v 0.521937 3.827670 -0.016976 +v -0.066049 4.095056 0.517434 +v -0.386642 4.949645 -0.337744 +v 0.014072 3.801081 -0.524859 +v 0.441708 2.999422 -0.444667 +v -0.546992 4.014791 0.009551 +v -0.306521 4.869380 0.356948 +v 0.414894 4.949645 -0.284283 +v -0.440164 2.892567 -0.498128 +v -0.279814 5.003072 -0.391205 +v -0.039235 2.892567 0.517434 +v -0.520285 2.892567 0.330319 +v -0.466871 4.949645 -0.043706 +v 0.121008 4.896217 0.490703 +v 0.414894 4.949645 0.410409 +v 0.388186 4.789363 -0.337744 +v 0.495122 2.892567 -0.097066 +v 0.227944 5.430988 -0.230821 +v -0.520285 3.934525 -0.177360 +v 0.441708 4.655670 0.356948 +v 0.094301 4.121645 -0.498128 +v 0.441708 5.216782 0.009551 +v 0.361479 5.216782 0.330319 +v -0.440164 3.239721 0.463870 +f 262 285 307 +f 245 246 247 +f 247 246 251 +f 245 247 257 +f 245 257 262 +f 261 244 265 +f 260 249 268 +f 257 252 269 +f 244 261 271 +f 267 246 272 +f 261 265 273 +f 263 267 275 +f 267 272 275 +f 249 260 277 +f 254 261 277 +f 273 249 277 +f 261 273 277 +f 258 264 278 +f 257 247 279 +f 247 274 279 +f 246 245 280 +f 245 270 280 +f 251 246 281 +f 253 260 282 +f 260 268 282 +f 274 255 283 +f 274 247 284 +f 255 274 284 +f 262 248 285 +f 269 254 285 +f 248 269 285 +f 256 272 286 +f 273 256 286 +f 263 275 287 +f 276 263 287 +f 281 276 287 +f 251 281 288 +f 284 251 288 +f 255 284 288 +f 268 259 289 +f 280 270 289 +f 259 280 289 +f 282 268 289 +f 270 282 289 +f 253 254 290 +f 260 253 290 +f 254 277 290 +f 277 260 290 +f 255 288 291 +f 246 267 292 +f 267 263 292 +f 263 276 292 +f 281 246 292 +f 276 281 292 +f 272 256 293 +f 256 273 293 +f 273 265 293 +f 250 275 293 +f 275 272 293 +f 278 250 293 +f 265 278 293 +f 248 262 294 +f 262 257 294 +f 269 248 294 +f 257 269 294 +f 245 262 295 +f 270 245 295 +f 262 282 295 +f 282 270 295 +f 268 249 296 +f 259 268 296 +f 249 273 296 +f 286 259 296 +f 273 286 296 +f 261 254 297 +f 269 252 297 +f 254 269 297 +f 252 257 298 +f 257 279 298 +f 297 252 298 +f 250 278 299 +f 278 264 299 +f 288 250 299 +f 264 291 299 +f 291 288 299 +f 247 251 300 +f 284 247 300 +f 251 284 300 +f 244 258 301 +f 265 244 301 +f 258 278 301 +f 278 265 301 +f 272 246 302 +f 246 280 302 +f 280 259 302 +f 259 286 302 +f 286 272 302 +f 279 274 303 +f 283 266 303 +f 274 283 303 +f 298 279 303 +f 266 298 303 +f 275 250 304 +f 287 275 304 +f 281 287 304 +f 288 281 304 +f 250 288 304 +f 258 244 305 +f 264 258 305 +f 244 283 305 +f 283 255 305 +f 255 291 305 +f 291 264 305 +f 244 271 306 +f 271 261 306 +f 283 244 306 +f 266 283 306 +f 261 297 306 +f 297 298 306 +f 298 266 306 +f 254 253 307 +f 253 282 307 +f 282 262 307 +f 285 254 307 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/783/783.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/783/783.urdf new file mode 100644 index 000000000..e0328b7ff --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/783/783.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/784/784.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/784/784.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/784/784.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/784/784.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/784/784.obj new file mode 100644 index 000000000..cb2f1e8e4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/784/784.obj @@ -0,0 +1,1002 @@ +o convex_0 +v -1.901029 -1.788089 1.759937 +v -0.742477 -1.729152 1.092257 +v -0.742477 -1.709516 1.092257 +v -5.454997 -1.513186 1.131548 +v 0.612155 -1.493521 1.700933 +v -5.454997 -1.788089 1.720579 +v -5.435269 -1.493550 1.720579 +v 0.514115 -1.493521 1.131548 +v 0.514115 -1.768424 1.779583 +v -5.199733 -1.748788 1.151261 +v 0.533842 -1.748788 1.151194 +v -5.454997 -1.493550 1.131548 +v -5.454997 -1.788089 1.583127 +v 0.533842 -1.631001 1.092257 +v 0.376619 -1.709487 1.779583 +v -5.395814 -1.729152 1.151261 +v 0.514115 -1.768424 1.484966 +v 0.593025 -1.513186 1.720646 +v -0.644437 -1.748788 1.779583 +v -5.493855 -1.493550 1.445675 +v -4.316173 -1.788089 1.740291 +v 0.612155 -1.532821 1.347582 +v -1.272733 -1.788089 1.740291 +v 0.533842 -1.729152 1.092257 +v 0.318034 -1.532821 1.111902 +v -5.435269 -1.572093 1.131548 +f 10 16 26 +f 3 2 4 +f 10 2 11 +f 3 4 12 +f 1 6 13 +f 10 11 13 +f 2 3 14 +f 3 12 14 +f 13 4 16 +f 10 13 16 +f 11 9 17 +f 5 7 18 +f 9 5 18 +f 7 15 18 +f 15 9 18 +f 1 9 19 +f 15 7 19 +f 9 15 19 +f 7 5 20 +f 6 7 20 +f 5 8 20 +f 12 4 20 +f 8 12 20 +f 13 6 20 +f 4 13 20 +f 6 1 21 +f 7 6 21 +f 1 19 21 +f 19 7 21 +f 8 5 22 +f 5 9 22 +f 9 11 22 +f 14 8 22 +f 9 1 23 +f 1 13 23 +f 13 11 23 +f 17 9 23 +f 11 17 23 +f 11 2 24 +f 2 14 24 +f 22 11 24 +f 14 22 24 +f 12 8 25 +f 8 14 25 +f 14 12 25 +f 4 2 26 +f 2 10 26 +f 16 4 26 +o convex_1 +v 0.671061 -1.336433 1.642056 +v -5.514088 -1.277541 1.092257 +v -5.514088 -1.316813 1.151246 +v 0.514237 -1.493521 1.131583 +v -5.415392 -1.493521 1.740243 +v 0.494862 -1.179345 1.229770 +v -5.396016 -1.257920 1.740243 +v -5.454750 -1.493521 1.131646 +v 0.612328 -1.493521 1.700918 +v -4.217720 -1.198966 1.111983 +v -0.389164 -1.277541 1.661719 +v -0.055535 -1.179345 1.170845 +v -5.514088 -1.218648 1.092257 +v -5.435373 -1.238269 1.563468 +v -4.865601 -1.257920 1.740243 +v 0.651685 -1.277541 1.622393 +v 0.514237 -1.434567 1.131583 +v 0.612328 -1.454218 1.700918 +v -4.060896 -1.238269 1.642056 +v -5.494107 -1.493521 1.426018 +v -5.415392 -1.218648 1.308358 +v 0.101894 -1.179345 1.229770 +v 0.494862 -1.179345 1.190508 +v 0.632309 -1.473839 1.426082 +v -5.474731 -1.414946 1.111983 +v -5.179854 -1.218648 1.092257 +f 38 43 52 +f 29 28 34 +f 30 31 34 +f 31 30 35 +f 28 29 39 +f 33 31 41 +f 31 35 41 +f 35 27 44 +f 41 35 44 +f 37 41 44 +f 27 42 44 +f 42 37 44 +f 40 33 45 +f 33 41 45 +f 41 37 45 +f 42 32 45 +f 37 42 45 +f 31 33 46 +f 29 34 46 +f 34 31 46 +f 39 29 46 +f 40 39 46 +f 33 40 46 +f 36 39 47 +f 39 40 47 +f 47 40 48 +f 32 38 48 +f 38 36 48 +f 40 45 48 +f 45 32 48 +f 36 47 48 +f 38 32 49 +f 42 27 49 +f 32 42 49 +f 43 38 49 +f 43 49 50 +f 27 35 50 +f 35 30 50 +f 30 43 50 +f 49 27 50 +f 28 30 51 +f 34 28 51 +f 30 34 51 +f 30 28 52 +f 36 38 52 +f 28 39 52 +f 39 36 52 +f 43 30 52 +o convex_2 +v 2.674730 1.530680 -1.185458 +v 2.596186 1.373609 -1.657046 +v 2.674730 1.373609 -1.657046 +v 2.615830 1.373609 0.326380 +v 2.596186 1.589605 0.326380 +v 2.596186 1.569963 -1.657046 +v 2.635458 1.589605 0.326380 +v 2.674730 1.569963 -1.657046 +v 2.635458 1.373609 0.326380 +f 59 56 61 +f 54 55 56 +f 54 56 57 +f 54 57 58 +f 55 54 58 +f 57 56 59 +f 58 57 59 +f 58 59 60 +f 53 55 60 +f 55 58 60 +f 59 53 60 +f 55 53 61 +f 56 55 61 +f 53 59 61 +o convex_3 +v 2.615774 0.509555 0.463845 +v 2.321340 0.823805 0.424567 +v 2.321340 0.823805 0.444186 +v 2.478382 -0.472149 0.444186 +v 2.635454 1.589551 0.326380 +v 2.576506 -0.472149 0.326380 +v 2.321340 1.589551 0.326380 +v 2.635454 1.589551 0.463845 +v 2.321340 1.589551 0.463845 +v 2.478382 -0.472149 0.326380 +v 2.596155 -0.118744 0.463845 +v 2.596155 -0.413215 0.346039 +v 2.576506 -0.472149 0.444186 +f 67 73 74 +f 64 63 65 +f 63 64 68 +f 66 67 68 +f 62 66 69 +f 66 68 69 +f 69 68 70 +f 64 65 70 +f 68 64 70 +f 62 69 70 +f 65 63 71 +f 67 65 71 +f 63 68 71 +f 68 67 71 +f 70 65 72 +f 62 70 72 +f 66 62 73 +f 67 66 73 +f 62 72 73 +f 73 72 74 +f 65 67 74 +f 72 65 74 +o convex_4 +v -0.034705 1.432540 -1.539219 +v 2.596179 1.569988 -1.539219 +v 2.596179 1.569988 -1.657035 +v 2.596179 1.373648 -1.657035 +v -1.409949 1.432540 -1.578510 +v -0.113134 1.373648 -1.617755 +v 2.026396 1.373648 -1.617755 +v -1.409949 1.373648 -1.558870 +v -1.174271 1.452184 -1.539219 +v 0.808793 1.491413 -1.637395 +v 2.380108 1.569988 -1.657035 +v 2.340502 1.530681 -1.539219 +v 1.987181 1.373648 -1.657035 +f 84 85 87 +f 77 76 78 +f 80 78 81 +f 79 80 82 +f 81 75 82 +f 80 81 82 +f 75 76 83 +f 82 75 83 +f 79 82 83 +f 80 79 84 +f 76 77 85 +f 77 78 85 +f 83 76 85 +f 79 83 85 +f 84 79 85 +f 76 75 86 +f 78 76 86 +f 75 81 86 +f 81 78 86 +f 78 80 87 +f 80 84 87 +f 85 78 87 +o convex_5 +v 0.593109 0.803853 0.503121 +v -0.565520 -0.531265 0.404945 +v -0.290549 -0.511502 0.385305 +v -0.565520 0.823749 0.463829 +v 0.632391 -0.197419 0.385305 +v -0.565520 0.175555 0.483469 +v 0.632391 -0.452611 0.404945 +v 0.632391 0.823749 0.463829 +v -0.310131 0.823749 0.503121 +v -0.231568 -0.511502 0.424584 +v -0.310131 0.509533 0.503121 +v 0.553710 -0.472242 0.385305 +v -0.545820 -0.354460 0.444213 +f 98 93 100 +f 90 89 91 +f 90 91 92 +f 91 89 93 +f 92 91 95 +f 88 94 95 +f 94 92 95 +f 91 93 96 +f 88 95 96 +f 95 91 96 +f 94 88 97 +f 88 96 98 +f 96 93 98 +f 89 90 99 +f 90 92 99 +f 92 94 99 +f 97 89 99 +f 94 97 99 +f 93 89 100 +f 89 97 100 +f 97 88 100 +f 88 98 100 +o convex_6 +v 2.360340 1.550354 0.267451 +v 1.123338 1.550354 -0.302032 +v 1.123338 1.550354 0.326380 +v 2.596035 1.589626 0.129970 +v 2.596035 1.550354 -0.302032 +v 1.123338 1.569990 -0.302032 +v 2.144394 1.589626 0.326380 +v 1.123338 1.569990 0.326380 +v 2.596035 1.569990 -0.302032 +v 2.596035 1.569990 0.326380 +f 107 103 110 +f 103 102 101 +f 101 102 105 +f 105 102 106 +f 102 103 106 +f 104 106 107 +f 103 107 108 +f 106 103 108 +f 107 106 108 +f 104 105 109 +f 105 106 109 +f 106 104 109 +f 103 101 110 +f 101 105 110 +f 105 104 110 +f 104 107 110 +o convex_7 +v -0.192408 -0.433037 -1.617774 +v 0.553839 -0.158145 -1.617774 +v 0.553839 -0.491989 -1.617774 +v -0.015748 -0.413430 -1.657046 +v -1.449224 -0.158145 -1.637410 +v -1.449224 -0.472349 -1.657046 +v -1.449224 -0.256344 -1.617774 +v 0.553839 -0.158145 -1.637410 +v -1.449224 -0.236704 -1.657046 +v 0.259144 -0.472349 -1.657046 +v -1.449224 -0.472349 -1.637410 +f 111 117 121 +f 113 112 111 +f 115 116 117 +f 111 112 117 +f 112 115 117 +f 112 113 118 +f 115 112 118 +f 115 118 119 +f 114 116 119 +f 116 115 119 +f 118 114 119 +f 113 116 120 +f 116 114 120 +f 118 113 120 +f 114 118 120 +f 113 111 121 +f 116 113 121 +f 117 116 121 +o convex_8 +v 2.615830 0.666438 -1.657035 +v 2.674730 1.373609 -1.539219 +v 2.655079 1.373609 -1.539219 +v 2.615830 -0.570540 -1.539219 +v 2.674730 1.235829 -1.657035 +v 2.596186 1.373609 -1.637395 +v 2.596186 -0.570540 -1.637395 +v 2.596186 0.058035 -1.539219 +f 127 128 129 +f 123 124 125 +f 123 125 126 +f 123 126 127 +f 124 123 127 +f 126 122 127 +f 127 122 128 +f 122 126 128 +f 126 125 128 +f 128 125 129 +f 125 124 129 +f 124 127 129 +o convex_9 +v 2.556916 -0.413453 0.326380 +v 2.537272 -0.570541 -1.539219 +v 2.615816 -0.570541 -1.539219 +v 2.615816 -0.413453 -1.539219 +v 2.596173 -0.491997 0.169148 +v 2.576544 -0.413453 -1.244478 +v 2.537272 -0.491997 0.228133 +v 2.596173 -0.413453 0.306657 +f 130 136 137 +f 132 131 133 +f 131 130 135 +f 133 131 135 +f 130 133 135 +f 130 131 136 +f 131 132 136 +f 132 134 136 +f 136 134 137 +f 132 133 137 +f 133 130 137 +f 134 132 137 +o convex_10 +v 2.674730 1.353843 -1.381987 +v 2.596186 -0.413438 -1.539219 +v 2.596186 0.077580 -1.539219 +v 2.556903 -0.413438 0.326380 +v 2.596186 1.236117 0.306657 +v 2.596186 -0.413438 0.326380 +v 2.635447 1.373609 0.326380 +v 2.635447 1.314484 -1.539219 +v 2.635447 0.038222 -1.539219 +v 2.576556 -0.393671 -1.185675 +v 2.615805 -0.413438 -1.126691 +v 2.635447 1.196759 0.326380 +v 2.615828 1.373609 -0.478954 +v 2.674730 1.373609 -1.539219 +f 150 144 151 +f 141 139 143 +f 142 141 144 +f 141 143 144 +f 139 140 145 +f 139 145 146 +f 140 139 147 +f 139 141 147 +f 141 142 147 +f 142 140 147 +f 143 139 148 +f 138 143 148 +f 139 146 148 +f 146 138 148 +f 143 138 149 +f 138 144 149 +f 144 143 149 +f 140 142 150 +f 142 144 150 +f 145 140 150 +f 145 150 151 +f 144 138 151 +f 138 146 151 +f 146 145 151 +o convex_11 +v 2.596035 1.569988 -1.539219 +v 1.123338 1.491437 -1.539219 +v 1.123338 1.491437 -1.146361 +v 1.123338 1.569988 -0.361010 +v 2.596035 1.550343 -0.302032 +v 1.123338 1.530712 -0.321772 +v 2.321129 1.530712 -1.539219 +v 2.596035 1.569988 -0.302032 +v 1.476952 1.530712 -1.539219 +v 1.516307 1.491437 -1.519479 +v 2.281775 1.569988 -1.539219 +v 1.123338 1.511082 -1.539219 +v 2.596035 1.550343 -1.539219 +f 156 158 164 +f 153 154 155 +f 154 156 157 +f 155 154 157 +f 153 152 158 +f 152 155 159 +f 156 152 159 +f 157 156 159 +f 155 157 159 +f 152 153 160 +f 154 153 161 +f 156 154 161 +f 153 158 161 +f 158 156 161 +f 155 152 162 +f 152 160 162 +f 160 155 162 +f 153 155 163 +f 160 153 163 +f 155 160 163 +f 152 156 164 +f 158 152 164 +o convex_12 +v -0.565610 0.175445 0.483475 +v -1.488410 0.332610 0.404939 +v -1.468805 0.155659 0.404939 +v -0.565610 -0.334778 0.404939 +v -1.449199 -0.609816 0.463829 +v -0.604911 0.823749 0.483475 +v -1.488410 0.823749 0.404939 +v -0.585215 0.823749 0.444207 +v -1.272482 -0.570385 0.404939 +v -0.565610 -0.531094 0.424584 +v -1.488410 0.823749 0.424584 +v -1.174275 0.823749 0.404939 +v -1.468805 0.312964 0.444207 +v -1.429504 -0.609816 0.424584 +f 173 174 178 +f 167 166 168 +f 169 165 170 +f 168 166 171 +f 165 168 172 +f 170 165 172 +f 171 170 172 +f 167 168 173 +f 168 165 174 +f 165 169 174 +f 173 168 174 +f 166 169 175 +f 170 171 175 +f 171 166 175 +f 168 171 176 +f 172 168 176 +f 171 172 176 +f 169 170 177 +f 175 169 177 +f 170 175 177 +f 166 167 178 +f 169 166 178 +f 167 173 178 +f 174 169 178 +o convex_13 +v 0.161082 1.471824 -1.539219 +v 1.123338 1.569965 0.326380 +v 0.377156 1.569965 0.326380 +v 0.220045 1.511069 -0.046703 +v 1.123338 1.511069 -1.539219 +v 0.710687 1.452161 -1.519496 +v 1.123338 1.550337 0.326380 +v 1.103652 1.569965 -0.341445 +v 0.161082 1.550337 -0.066426 +v 1.103652 1.471824 -1.539219 +v 0.161082 1.452161 -1.224755 +v 0.161082 1.530709 0.326380 +v 0.553858 1.452161 -1.362264 +v 0.396748 1.530709 0.326380 +v 0.180768 1.491452 -1.264200 +v 1.064186 1.511069 -1.539219 +f 179 193 194 +f 180 181 185 +f 183 180 185 +f 181 180 186 +f 180 183 186 +f 181 186 187 +f 179 183 188 +f 184 179 188 +f 183 185 188 +f 185 184 188 +f 179 184 189 +f 187 179 189 +f 187 189 190 +f 185 181 190 +f 181 187 190 +f 189 182 190 +f 184 185 191 +f 189 184 191 +f 189 191 192 +f 182 189 192 +f 185 190 192 +f 190 182 192 +f 191 185 192 +f 179 187 193 +f 193 187 194 +f 183 179 194 +f 186 183 194 +f 187 186 194 +o convex_14 +v 2.478351 -0.413438 0.444195 +v 0.652086 -0.452709 0.326380 +v 0.632391 -0.452709 0.385288 +v 2.478351 -0.472351 0.444195 +v 2.478351 -0.472351 0.326380 +v 0.632391 -0.413438 0.404916 +v 1.398529 -0.433079 0.326380 +v 1.496465 -0.472351 0.424556 +f 200 197 202 +f 195 198 199 +f 196 197 200 +f 195 199 201 +f 199 196 201 +f 196 200 201 +f 200 195 201 +f 197 196 202 +f 198 195 202 +f 199 198 202 +f 196 199 202 +f 195 200 202 +o convex_15 +v -1.488439 0.863090 0.385307 +v 0.141444 1.373555 0.522732 +v 0.141444 1.373555 0.503101 +v 0.141444 0.823803 0.483471 +v -0.310350 0.823803 0.503101 +v -1.409802 1.373555 0.424581 +v -1.370565 1.373555 0.385307 +v -1.488439 0.823803 0.424581 +v 0.082507 1.373555 0.483471 +v 0.141444 0.922021 0.522732 +v -1.508138 1.079116 0.424581 +v 0.062808 1.373555 0.522732 +v -1.508138 1.373555 0.385307 +f 203 213 215 +f 205 204 206 +f 204 205 208 +f 208 205 209 +f 206 203 209 +f 203 206 210 +f 206 207 210 +f 205 206 211 +f 209 205 211 +f 206 209 211 +f 206 204 212 +f 207 206 212 +f 203 210 213 +f 210 207 213 +f 204 208 214 +f 212 204 214 +f 207 212 214 +f 213 207 214 +f 208 213 214 +f 208 209 215 +f 209 203 215 +f 213 208 215 +o convex_16 +v 0.357589 1.275337 0.542396 +v 2.321248 1.373555 0.463860 +v 2.321248 1.373555 0.444220 +v 2.321248 0.823803 0.444220 +v 0.141444 0.961254 0.483488 +v 0.141444 1.373555 0.503105 +v 1.496354 0.843446 0.424581 +v 0.141444 0.823803 0.503105 +v 2.281775 1.314625 0.424581 +v 0.652042 1.373555 0.542396 +v 0.652042 0.823803 0.503105 +v 2.321248 0.823803 0.424581 +v 0.141444 0.941664 0.522745 +v 0.141444 0.823803 0.483488 +v 1.987322 1.353912 0.483488 +f 225 219 230 +f 218 217 219 +f 217 218 221 +f 220 221 222 +f 221 220 223 +f 221 218 224 +f 222 221 224 +f 217 221 225 +f 221 216 225 +f 223 219 226 +f 219 225 226 +f 225 216 226 +f 218 219 227 +f 219 223 227 +f 224 218 227 +f 222 224 227 +f 216 221 228 +f 221 223 228 +f 226 216 228 +f 223 226 228 +f 220 222 229 +f 223 220 229 +f 227 223 229 +f 222 227 229 +f 219 217 230 +f 217 225 230 +o convex_17 +v 0.985619 1.550300 0.542396 +v -1.507807 1.393272 0.326389 +v -1.507807 1.373609 0.385296 +v 2.321248 1.373609 0.444204 +v 2.321248 1.589605 0.326389 +v 0.357553 1.373609 0.542396 +v 0.396736 1.569942 0.542396 +v 0.377145 1.569942 0.326389 +v 2.321248 1.589605 0.483468 +v -1.350697 1.432577 0.424582 +v 2.026242 1.373609 0.483468 +v 2.164138 1.550300 0.326389 +v -1.370665 1.432577 0.326389 +v 1.751581 1.589605 0.503090 +f 231 239 244 +f 233 232 234 +f 233 234 236 +f 236 231 237 +f 235 232 238 +f 234 235 239 +f 232 233 240 +f 233 236 240 +f 236 237 240 +f 231 236 241 +f 236 234 241 +f 234 239 241 +f 239 231 241 +f 234 232 242 +f 235 234 242 +f 232 235 242 +f 238 232 243 +f 237 238 243 +f 232 240 243 +f 240 237 243 +f 237 231 244 +f 235 238 244 +f 238 237 244 +f 239 235 244 +o convex_18 +v 2.478167 0.823749 0.444207 +v 1.535733 -0.413438 0.404931 +v 1.948227 -0.413438 0.404931 +v 1.928575 -0.413438 0.444207 +v 1.535733 0.823749 0.424569 +v 1.850062 0.764772 0.404931 +v 2.478167 -0.413438 0.424569 +v 1.535733 0.823749 0.444207 +v 2.478167 0.823749 0.424569 +v 2.478167 -0.413438 0.444207 +v 1.535733 -0.413438 0.424569 +v 1.535733 0.607701 0.404931 +f 249 250 256 +f 246 247 248 +f 247 246 250 +f 248 247 251 +f 248 245 252 +f 245 249 252 +f 249 246 252 +f 249 245 253 +f 250 249 253 +f 247 250 253 +f 251 247 253 +f 245 251 253 +f 245 248 254 +f 248 251 254 +f 251 245 254 +f 246 248 255 +f 252 246 255 +f 248 252 255 +f 246 249 256 +f 250 246 256 +o convex_19 +v -1.350797 0.627224 -1.578502 +v 0.553839 1.373609 -1.598140 +v 0.553839 1.039700 -1.598140 +v -1.449224 -0.158145 -1.637408 +v 0.553839 -0.158145 -1.617755 +v 0.534036 1.098325 -1.637408 +v -1.409618 1.373609 -1.578502 +v -0.977673 1.059342 -1.558857 +v 0.553839 -0.158145 -1.637408 +v 0.102091 -0.001011 -1.598140 +v -1.429421 0.215048 -1.637408 +v -0.113979 1.373609 -1.617755 +v -1.449224 -0.158145 -1.617763 +v -1.409618 1.373609 -1.558857 +v -1.409618 1.118267 -1.598132 +v -0.860030 1.373609 -1.558857 +v 0.553839 1.373609 -1.617755 +f 262 268 273 +f 258 259 261 +f 261 260 265 +f 258 261 265 +f 260 262 265 +f 261 259 266 +f 264 257 266 +f 259 264 266 +f 262 260 267 +f 263 258 268 +f 262 267 268 +f 260 261 269 +f 263 260 269 +f 266 257 269 +f 261 266 269 +f 258 263 270 +f 257 264 270 +f 263 269 270 +f 269 257 270 +f 260 263 271 +f 267 260 271 +f 263 268 271 +f 268 267 271 +f 259 258 272 +f 264 259 272 +f 258 270 272 +f 270 264 272 +f 258 265 273 +f 265 262 273 +f 268 258 273 +o convex_20 +v -0.820812 1.432523 -1.264017 +v 0.160986 1.550350 0.326380 +v 0.121679 1.550350 0.326380 +v -0.604674 1.452165 0.326380 +v 0.160986 1.452165 -1.539219 +v -0.761804 1.491437 -0.910839 +v -0.820812 1.471818 0.326380 +v 0.141284 1.511067 0.326380 +v -0.153274 1.471806 -1.539219 +v 0.160986 1.550350 -0.066609 +v -0.074757 1.432523 -1.519314 +v -0.820812 1.452165 -1.539219 +v 0.160986 1.452165 -1.224938 +v 0.160986 1.471806 -1.539219 +v -0.820812 1.452165 0.326380 +v -0.820812 1.432523 -1.539219 +v -0.643981 1.491437 0.228133 +f 280 276 290 +f 275 276 277 +f 277 276 280 +f 275 277 281 +f 282 279 283 +f 276 275 283 +f 275 278 283 +f 279 276 283 +f 277 274 284 +f 274 280 285 +f 280 279 285 +f 282 278 285 +f 279 282 285 +f 278 275 286 +f 275 281 286 +f 281 277 286 +f 277 284 286 +f 284 278 286 +f 278 282 287 +f 282 283 287 +f 283 278 287 +f 274 277 288 +f 280 274 288 +f 277 280 288 +f 284 274 289 +f 278 284 289 +f 274 285 289 +f 285 278 289 +f 276 279 290 +f 279 280 290 +o convex_21 +v 0.986057 -0.511633 -1.539228 +v 2.596179 -0.452725 -1.617755 +v 2.399462 -0.531249 -1.539228 +v 2.360478 -0.570541 -1.637408 +v 0.553839 -0.452725 -1.637408 +v 1.005849 -0.472365 -1.539228 +v 2.596179 -0.570541 -1.539228 +v 0.553839 -0.492004 -1.637408 +v 2.596179 -0.452725 -1.637408 +f 297 294 299 +f 292 295 296 +f 291 293 296 +f 293 292 296 +f 295 291 296 +f 293 291 297 +f 292 293 297 +f 291 294 297 +f 294 291 298 +f 291 295 298 +f 295 294 298 +f 294 295 299 +f 295 292 299 +f 292 297 299 +o convex_22 +v 0.730765 1.373609 -1.637404 +v 2.596179 1.373609 -1.637404 +v 2.596179 0.686057 -1.617774 +v 1.005649 -0.098926 -1.657040 +v 0.553839 1.078816 -1.598132 +v 2.596179 -0.452713 -1.617774 +v 0.553839 -0.452713 -1.617780 +v 2.596179 1.373609 -1.657046 +v 2.596179 -0.452713 -1.637404 +v 0.769948 1.373609 -1.598132 +v 0.553839 -0.452713 -1.637404 +v 2.576387 0.646727 -1.657046 +v 1.967443 1.373609 -1.657040 +v 0.553839 1.118146 -1.637404 +v 2.006827 1.373609 -1.617780 +v 0.553839 1.373609 -1.598132 +f 313 304 315 +f 301 302 305 +f 305 304 306 +f 300 301 307 +f 301 305 307 +f 307 305 308 +f 305 306 308 +f 301 300 309 +f 305 302 309 +f 304 305 309 +f 306 304 310 +f 303 308 310 +f 308 306 310 +f 303 307 311 +f 307 308 311 +f 308 303 311 +f 300 307 312 +f 307 303 312 +f 303 310 313 +f 310 304 313 +f 300 312 313 +f 312 303 313 +f 302 301 314 +f 301 309 314 +f 309 302 314 +f 309 300 315 +f 304 309 315 +f 300 313 315 +o convex_23 +v 2.537265 -0.491977 0.227950 +v 0.553964 -0.492017 -1.539219 +v 0.514564 -0.492017 -1.028626 +v 2.537265 -0.570508 -1.440789 +v 2.537265 -0.452732 0.188688 +v 0.652169 -0.452732 0.326380 +v 1.005587 -0.472361 -1.539219 +v 0.652169 -0.433089 -0.086148 +v 2.537265 -0.531249 -1.480051 +v 1.320199 -0.472348 0.326380 +v 0.671968 -0.472348 -0.046886 +v 2.380058 -0.570508 -1.539219 +v 1.379003 -0.433089 0.326380 +v 0.553964 -0.472361 -1.539219 +v 0.887781 -0.511633 -1.087611 +v 2.537265 -0.452732 0.326380 +v 0.652169 -0.433089 0.326380 +f 323 329 332 +f 316 319 320 +f 320 319 324 +f 322 320 324 +f 319 316 325 +f 325 321 326 +f 321 318 326 +f 319 325 326 +f 319 326 327 +f 317 322 327 +f 324 319 327 +f 322 324 327 +f 320 322 328 +f 322 323 328 +f 321 325 328 +f 317 318 329 +f 322 317 329 +f 323 322 329 +f 318 317 330 +f 326 318 330 +f 327 326 330 +f 317 327 330 +f 316 320 331 +f 325 316 331 +f 320 328 331 +f 328 325 331 +f 318 321 332 +f 321 328 332 +f 328 323 332 +f 329 318 332 +o convex_24 +v -1.468847 1.393247 -0.537939 +v -0.820812 1.471799 0.326380 +v -0.879749 1.471799 0.326380 +v -0.820812 1.452153 -1.539219 +v -1.311750 1.452153 -1.499774 +v -0.840458 1.432523 0.326380 +v -1.508138 1.412893 0.326380 +v -1.154787 1.412893 -1.539219 +v -1.350906 1.393247 0.326380 +v -0.820812 1.432523 -1.539219 +v -0.840458 1.471799 -1.283922 +v -1.409843 1.412893 -1.539219 +v -1.468847 1.432523 -0.498676 +v -1.036846 1.471799 -1.067888 +f 337 345 346 +f 334 335 338 +f 338 335 339 +f 339 333 341 +f 338 339 341 +f 333 340 341 +f 336 334 342 +f 334 338 342 +f 340 336 342 +f 338 341 342 +f 341 340 342 +f 335 334 343 +f 334 336 343 +f 336 337 343 +f 337 336 344 +f 340 333 344 +f 336 340 344 +f 333 339 345 +f 339 335 345 +f 337 344 345 +f 344 333 345 +f 335 343 346 +f 343 337 346 +f 345 335 346 +o convex_25 +v 1.457043 0.823749 0.424581 +v 0.632479 -0.413438 0.385293 +v 0.632479 -0.413438 0.404947 +v 1.535733 -0.413438 0.404947 +v 0.632479 0.568343 0.483473 +v 1.515928 0.804009 0.463829 +v 0.632479 0.823749 0.463829 +v 1.535733 -0.413438 0.424581 +v 1.221416 0.156230 0.385293 +v 1.535733 0.588083 0.404947 +v 0.652196 -0.177650 0.385293 +v 1.064478 0.823749 0.483473 +v 1.299929 -0.413438 0.385293 +v 1.260672 -0.413438 0.424581 +f 354 351 360 +f 349 348 350 +f 348 349 351 +f 348 351 353 +f 349 350 354 +f 347 352 356 +f 354 350 356 +f 352 354 356 +f 355 347 356 +f 348 353 357 +f 353 347 357 +f 355 348 357 +f 347 355 357 +f 352 347 358 +f 353 351 358 +f 347 353 358 +f 351 354 358 +f 354 352 358 +f 350 348 359 +f 348 355 359 +f 356 350 359 +f 355 356 359 +f 351 349 360 +f 349 354 360 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/784/784.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/784/784.urdf new file mode 100644 index 000000000..796dc02f1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/784/784.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/785/785.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/785/785.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/785/785.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/785/785.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/785/785.obj new file mode 100644 index 000000000..fde3ff0e4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/785/785.obj @@ -0,0 +1,744 @@ +o convex_0 +v 1.006585 -3.148200 0.058792 +v -1.277736 0.352257 0.088453 +v -1.277736 0.352257 0.236753 +v 1.214206 0.381836 -0.000127 +v -0.091050 -3.118621 -1.009174 +v -0.061286 -3.860300 0.978658 +v 0.769199 0.382278 0.889678 +v -0.239386 0.382278 -1.009174 +v -0.743679 -3.919899 -0.712172 +v 0.650628 -3.830721 -0.652851 +v -0.921779 -1.784041 0.800697 +v 0.769199 0.382278 -0.831013 +v -0.951544 -3.890320 0.058792 +v 0.680149 -3.830721 0.771037 +v -0.654872 0.382278 0.889477 +v -0.862494 0.382278 -0.890333 +v 0.531813 -4.127834 0.325734 +v 0.917535 -1.931494 0.800697 +v -0.714158 -3.860300 0.741377 +v 0.739435 -3.118621 -0.742032 +v 0.057042 -3.148642 1.038179 +v -0.832729 -3.148642 -0.771692 +v -0.536057 -4.127834 -0.534211 +v 1.214206 0.293100 0.296274 +v -0.091050 0.382278 0.978658 +v -0.536057 -4.097814 0.533556 +v 0.027521 -3.890320 -0.890333 +v 0.888014 -3.860741 0.029333 +v -1.040594 -3.296536 0.029132 +v -1.188930 0.381836 -0.296729 +v 0.472528 -4.097814 -0.415570 +v -0.773443 0.174343 0.889477 +v 0.057042 0.382278 -1.009174 +v -1.248215 0.381836 0.385255 +v -0.002244 -3.118621 -1.009174 +v -0.061286 -3.148642 1.038179 +v 0.057042 -4.127834 0.682057 +v 1.095635 0.293100 -0.296929 +v 0.739435 0.026007 0.919338 +v -1.040594 -3.177779 -0.089108 +v 0.769199 -2.109850 -0.771492 +v 0.947300 -3.118621 -0.178088 +v -0.684393 -4.127834 -0.059447 +v 1.006585 0.382278 0.622536 +v 0.116571 0.382278 0.978658 +v 0.680149 -0.271106 -0.860673 +v 0.769199 -3.177779 0.800697 +v -0.773443 -3.326556 0.771037 +v -0.150336 -4.127834 -0.593531 +v -0.773443 -3.148642 -0.801353 +v -0.150336 -3.890320 -0.890333 +v -1.099879 0.381836 0.563216 +v 0.769199 -3.118621 -0.682511 +v 0.442763 -4.127834 0.563416 +v -0.951544 -3.890320 -0.059447 +v 0.888014 -3.860741 0.118113 +v 0.027521 -3.860300 0.978658 +v -1.248215 0.293100 0.385255 +v 0.620864 -2.169008 -0.831013 +v 1.006585 -3.118621 0.088653 +v 0.888014 -1.457791 0.830358 +v -0.773443 -0.271106 0.889477 +v 0.620864 -4.097814 -0.000127 +v -0.951544 0.352257 -0.742032 +f 30 16 64 +f 8 7 12 +f 7 8 15 +f 8 5 16 +f 15 8 16 +f 1 4 24 +f 7 15 25 +f 6 19 26 +f 19 13 26 +f 20 10 27 +f 3 2 29 +f 13 19 29 +f 27 10 31 +f 10 28 31 +f 25 15 32 +f 5 8 33 +f 8 12 33 +f 2 3 34 +f 15 16 34 +f 30 2 34 +f 16 30 34 +f 27 5 35 +f 20 27 35 +f 5 33 35 +f 6 21 36 +f 21 25 36 +f 25 32 36 +f 23 17 37 +f 6 26 37 +f 12 4 38 +f 29 2 40 +f 30 22 40 +f 2 30 40 +f 12 38 41 +f 4 1 42 +f 1 28 42 +f 9 23 43 +f 26 13 43 +f 23 37 43 +f 37 26 43 +f 4 12 44 +f 12 7 44 +f 24 4 44 +f 18 24 44 +f 7 25 45 +f 25 21 45 +f 39 7 45 +f 21 39 45 +f 33 12 46 +f 35 33 46 +f 12 41 46 +f 21 14 47 +f 19 6 48 +f 11 29 48 +f 29 19 48 +f 6 36 48 +f 36 11 48 +f 17 23 49 +f 31 17 49 +f 27 31 49 +f 5 9 50 +f 16 5 50 +f 9 22 50 +f 22 16 50 +f 9 5 51 +f 23 9 51 +f 5 27 51 +f 49 23 51 +f 27 49 51 +f 11 32 52 +f 32 15 52 +f 15 34 52 +f 34 11 52 +f 10 20 53 +f 28 10 53 +f 38 4 53 +f 20 41 53 +f 41 38 53 +f 4 42 53 +f 42 28 53 +f 17 14 54 +f 37 17 54 +f 22 9 55 +f 13 29 55 +f 40 22 55 +f 29 40 55 +f 9 43 55 +f 43 13 55 +f 14 17 56 +f 28 1 56 +f 47 14 56 +f 21 6 57 +f 14 21 57 +f 6 37 57 +f 54 14 57 +f 37 54 57 +f 3 29 58 +f 29 11 58 +f 34 3 58 +f 11 34 58 +f 20 35 59 +f 41 20 59 +f 35 46 59 +f 46 41 59 +f 1 24 60 +f 24 18 60 +f 18 47 60 +f 56 1 60 +f 47 56 60 +f 7 39 61 +f 39 21 61 +f 44 7 61 +f 18 44 61 +f 47 18 61 +f 21 47 61 +f 32 11 62 +f 11 36 62 +f 36 32 62 +f 17 31 63 +f 31 28 63 +f 56 17 63 +f 28 56 63 +f 16 22 64 +f 22 30 64 +o convex_1 +v 0.947224 3.052524 -0.029813 +v -1.188965 1.332025 -0.178230 +v -1.188965 1.332025 0.058830 +v -0.803257 3.646006 0.029147 +v 0.027355 1.331775 1.008496 +v 0.739571 1.331775 -0.830859 +v -0.061442 2.933628 -1.038846 +v -0.061442 3.646006 0.830395 +v 0.858197 1.332025 0.771029 +v -0.951483 1.361749 -0.890429 +v -0.773429 2.874429 0.800712 +v 0.531918 3.467911 -0.593595 +v 0.739571 2.933877 0.800509 +v -0.832857 2.904153 -0.801175 +v 1.155107 1.332025 0.088514 +v -0.061442 3.675730 -0.712328 +v 0.769170 3.646006 0.029147 +v -0.832857 1.332025 0.800712 +v 0.739571 2.903903 -0.771492 +v -0.002244 2.963352 1.038179 +v -0.061442 3.883549 0.088514 +v -0.031614 1.331775 -1.038846 +v -1.040510 2.933628 0.029147 +v 1.095679 1.361749 -0.326647 +v 0.561517 3.467911 0.622612 +v -0.654803 3.467911 -0.534228 +v -0.002244 3.616282 -0.801175 +v -0.951483 1.836335 -0.890429 +v 0.798999 1.332025 0.830395 +v -0.625203 3.408713 0.622612 +v 0.828598 1.955231 -0.801379 +v 0.976823 2.933877 0.088514 +v -1.159136 1.361749 -0.415494 +v -0.091042 2.904153 1.038179 +v 0.027355 2.874679 -1.038846 +v -1.040510 2.874429 -0.118864 +v 0.175810 2.755783 1.008496 +v 0.976823 2.874679 -0.089180 +v -0.150469 2.815231 -1.038846 +v -0.892055 1.421197 0.741345 +v -0.061442 3.883549 -0.029610 +v -0.002244 3.646006 0.830395 +v -0.832857 3.616282 0.058830 +v -0.832857 1.332025 -0.919909 +v -0.803257 2.815231 0.771029 +v 0.739571 3.646006 -0.059497 +v 0.858197 1.332025 -0.771695 +v -0.061442 3.616282 -0.801175 +v 0.798999 1.866059 0.830395 +v -0.031614 1.331775 1.008496 +v -1.040510 2.874429 0.088514 +v -0.832857 3.616282 -0.000333 +v 1.155107 1.361749 -0.059497 +v 0.769170 2.903903 -0.712125 +v 0.235238 3.823851 0.029147 +v 0.858197 1.569318 0.771029 +v 0.057184 2.548464 1.038179 +v -0.091042 2.607662 1.038179 +v -0.091042 1.331775 -1.038846 +v 0.769170 2.903903 0.741142 +v -0.002244 3.824100 -0.237394 +v 0.680143 2.903903 -0.801379 +v -0.476749 3.497386 -0.652758 +v -0.002244 3.646006 -0.771492 +f 125 110 128 +f 69 70 79 +f 73 69 79 +f 68 72 85 +f 70 69 86 +f 66 67 87 +f 77 81 89 +f 68 80 90 +f 76 83 91 +f 69 73 93 +f 75 72 94 +f 65 81 96 +f 74 66 97 +f 92 74 97 +f 78 92 97 +f 72 75 98 +f 75 82 98 +f 84 72 98 +f 70 86 99 +f 86 71 99 +f 71 91 99 +f 95 70 99 +f 66 87 100 +f 97 66 100 +f 78 97 100 +f 77 84 101 +f 65 96 102 +f 78 71 103 +f 71 86 103 +f 92 78 103 +f 67 82 104 +f 82 75 104 +f 80 68 105 +f 68 85 105 +f 72 84 106 +f 84 77 106 +f 85 72 106 +f 77 89 106 +f 89 81 106 +f 72 68 107 +f 94 72 107 +f 75 94 107 +f 66 74 108 +f 74 92 108 +f 92 103 108 +f 67 104 109 +f 104 75 109 +f 75 107 109 +f 83 76 110 +f 79 70 111 +f 88 79 111 +f 70 95 111 +f 95 88 111 +f 71 78 112 +f 91 71 112 +f 93 73 113 +f 77 101 113 +f 101 93 113 +f 82 67 114 +f 86 69 114 +f 87 67 115 +f 107 87 115 +f 67 109 115 +f 109 107 115 +f 68 90 116 +f 90 78 116 +f 78 100 116 +f 100 87 116 +f 107 68 116 +f 87 107 116 +f 79 88 117 +f 96 79 117 +f 88 102 117 +f 102 96 117 +f 81 65 118 +f 95 83 118 +f 88 95 118 +f 65 102 118 +f 102 88 118 +f 110 81 118 +f 83 110 118 +f 105 85 119 +f 85 106 119 +f 106 81 119 +f 81 110 119 +f 73 79 120 +f 113 73 120 +f 77 113 120 +f 69 93 121 +f 84 98 121 +f 101 84 121 +f 93 101 121 +f 114 69 121 +f 114 121 122 +f 98 82 122 +f 82 114 122 +f 121 98 122 +f 67 66 123 +f 103 86 123 +f 66 108 123 +f 108 103 123 +f 114 67 123 +f 86 114 123 +f 81 77 124 +f 79 96 124 +f 96 81 124 +f 120 79 124 +f 77 120 124 +f 80 105 125 +f 105 119 125 +f 119 110 125 +f 91 83 126 +f 83 95 126 +f 99 91 126 +f 95 99 126 +f 78 90 127 +f 90 80 127 +f 112 78 127 +f 80 112 127 +f 76 91 128 +f 110 76 128 +f 112 80 128 +f 91 112 128 +f 80 125 128 +o convex_2 +v -2.494291 0.708749 -0.148669 +v -1.308000 1.272431 -0.029959 +v -1.308000 1.272431 -0.059654 +v -1.308000 0.471293 0.058917 +v -2.850282 0.886605 0.207253 +v -1.308000 0.886605 0.355728 +v -1.367245 1.035054 -0.356395 +v -2.850282 1.123983 -0.059654 +v -1.396867 0.501014 0.326033 +v -2.850282 0.649385 0.058917 +v -1.604573 1.153704 0.236948 +v -1.308000 0.619742 -0.237684 +v -2.850282 0.886605 -0.207989 +v -1.426664 1.183268 -0.297005 +v -3.087959 0.916248 0.029222 +v -2.820660 1.123983 0.029222 +v -2.464668 1.094261 -0.207989 +v -2.820660 0.649385 -0.000333 +v -1.308000 0.975612 -0.356395 +v -1.308000 1.123983 0.266713 +v -2.642751 0.916248 0.236948 +v -1.308000 0.649385 0.355728 +v -2.672374 0.708749 0.177628 +v -2.672374 1.064697 0.147933 +v -3.087959 0.857119 -0.029959 +v -1.901320 0.886605 -0.297005 +v -1.308000 1.212989 -0.267379 +v -1.337622 0.471293 0.236948 +v -1.367245 0.619742 -0.237684 +v -2.820660 0.857119 -0.207989 +v -1.485909 0.857119 0.355728 +v -1.990361 1.153704 0.177628 +v -2.820660 0.945969 -0.207989 +v -2.642751 1.153704 -0.059654 +v -1.367245 0.471293 0.058917 +v -2.642751 0.857119 0.236948 +f 150 159 164 +f 131 130 132 +f 132 130 134 +f 131 132 140 +f 138 133 143 +f 143 133 144 +f 136 143 144 +f 142 135 145 +f 131 140 147 +f 134 130 148 +f 130 139 148 +f 132 134 150 +f 133 138 151 +f 138 137 151 +f 144 133 152 +f 133 149 152 +f 149 139 152 +f 143 136 153 +f 138 143 153 +f 146 138 153 +f 141 135 154 +f 135 147 154 +f 135 142 155 +f 131 147 155 +f 147 135 155 +f 137 138 156 +f 132 150 156 +f 150 137 156 +f 140 132 157 +f 146 129 157 +f 147 140 157 +f 154 147 157 +f 154 157 158 +f 129 146 158 +f 153 141 158 +f 146 153 158 +f 141 154 158 +f 157 129 158 +f 134 148 159 +f 148 139 159 +f 139 149 159 +f 150 134 159 +f 139 130 160 +f 130 144 160 +f 152 139 160 +f 144 152 160 +f 135 141 161 +f 145 135 161 +f 136 145 161 +f 153 136 161 +f 141 153 161 +f 130 131 162 +f 144 130 162 +f 136 144 162 +f 145 136 162 +f 142 145 162 +f 131 155 162 +f 155 142 162 +f 138 146 163 +f 132 156 163 +f 156 138 163 +f 157 132 163 +f 146 157 163 +f 149 133 164 +f 137 150 164 +f 133 151 164 +f 151 137 164 +f 159 149 164 +o convex_3 +v 0.116572 0.382371 0.978647 +v -0.091050 1.212925 -1.038846 +v -0.091050 1.331682 -1.038846 +v -1.307652 0.590056 0.355583 +v -0.031800 1.331682 1.008507 +v 1.095680 0.382371 -0.296941 +v -0.862288 0.382371 -0.890144 +v 1.214427 1.301947 0.088641 +v -1.188658 1.331682 -0.415581 +v 0.769311 0.382371 0.889666 +v 0.769311 0.382371 -0.830824 +v -0.832663 1.331682 0.800686 +v 0.858186 1.331682 -0.771704 +v -0.773413 0.382371 0.860006 +v 0.798936 1.331682 0.830346 +v 1.214427 0.412106 0.325923 +v -0.921785 1.331682 -0.890144 +v -1.307652 0.412106 0.088641 +v -1.307652 1.183283 0.236942 +v 1.214427 1.005333 -0.326601 +v -1.307652 0.945955 -0.356261 +v 0.057075 0.382371 -1.008985 +v 1.214427 0.738455 0.385243 +v -1.188658 0.382371 -0.296941 +v -1.277780 0.382371 0.355583 +v 1.154930 1.331682 -0.207960 +v -1.248155 1.331682 -0.029999 +v 1.214427 0.560413 -0.207960 +v -0.239422 0.382371 -1.008985 +v 1.214427 1.183283 0.296263 +v 0.531817 1.331682 -0.890345 +v 0.798936 1.123997 0.860006 +v -1.307652 1.183283 -0.326401 +v -0.091050 0.382371 0.978647 +v -1.307652 0.886669 0.355583 +v -0.862288 0.382371 0.800686 +v -1.307652 0.619792 -0.237420 +v -0.921785 0.975597 -0.890144 +v 1.214427 0.382371 -0.000339 +v -0.031800 0.975597 -1.038846 +v 0.027450 1.331682 1.008507 +v 1.214427 1.242661 -0.237620 +v -0.803038 1.094261 -0.920005 +v -0.773413 0.649434 0.860006 +v 0.858186 1.331682 0.771026 +v 1.006558 0.382371 0.622725 +v -0.031800 0.945955 1.008507 +v 0.769311 1.153640 -0.830824 +v -0.892160 0.382371 -0.860684 +v 0.798936 0.382371 -0.801364 +v -0.654913 0.382371 0.889666 +v -0.892160 1.331682 0.741366 +v 0.027450 0.945955 1.008507 +v -1.307652 1.272304 -0.059459 +f 197 183 218 +f 170 165 171 +f 169 167 173 +f 165 170 174 +f 170 171 175 +f 169 173 176 +f 167 169 177 +f 171 165 178 +f 177 169 179 +f 173 167 181 +f 182 168 183 +f 172 180 184 +f 182 183 185 +f 175 171 186 +f 180 172 187 +f 171 178 188 +f 168 182 189 +f 188 178 189 +f 182 188 189 +f 177 179 190 +f 176 173 191 +f 184 180 192 +f 186 171 193 +f 187 172 194 +f 167 177 195 +f 173 181 197 +f 181 185 197 +f 185 183 197 +f 178 165 198 +f 183 168 199 +f 168 189 200 +f 189 178 200 +f 199 168 200 +f 176 199 200 +f 182 185 201 +f 188 182 201 +f 185 181 202 +f 174 170 203 +f 170 192 203 +f 192 180 203 +f 166 167 204 +f 175 186 204 +f 193 166 204 +f 186 193 204 +f 167 195 204 +f 179 169 205 +f 174 196 205 +f 196 179 205 +f 172 184 206 +f 184 177 206 +f 190 172 206 +f 177 190 206 +f 167 166 207 +f 181 167 207 +f 166 193 207 +f 193 171 207 +f 202 181 207 +f 171 202 207 +f 169 176 208 +f 176 200 208 +f 200 178 208 +f 172 190 209 +f 190 179 209 +f 194 172 209 +f 187 194 209 +f 179 196 209 +f 196 187 209 +f 180 187 210 +f 196 174 210 +f 187 196 210 +f 174 203 210 +f 203 180 210 +f 198 165 211 +f 205 169 211 +f 177 175 212 +f 195 177 212 +f 175 204 212 +f 204 195 212 +f 171 188 213 +f 201 185 213 +f 188 201 213 +f 202 171 213 +f 185 202 213 +f 170 175 214 +f 175 177 214 +f 177 184 214 +f 192 170 214 +f 184 192 214 +f 178 198 215 +f 169 208 215 +f 208 178 215 +f 211 169 215 +f 198 211 215 +f 176 191 216 +f 191 183 216 +f 199 176 216 +f 183 199 216 +f 165 174 217 +f 174 205 217 +f 211 165 217 +f 205 211 217 +f 191 173 218 +f 183 191 218 +f 173 197 218 +o convex_4 +v 1.214450 0.560465 -0.207978 +v 1.481601 1.272431 0.058923 +v 1.481601 1.272431 0.029339 +v 2.994758 0.886692 0.029339 +v 1.214450 0.441703 0.296303 +v 1.214450 1.123956 -0.267339 +v 1.214450 1.153669 0.296303 +v 2.727607 0.679054 -0.059671 +v 2.786858 0.945943 0.177581 +v 2.757058 1.153669 -0.000310 +v 2.608932 0.945943 -0.178329 +v 1.303501 0.382278 0.029339 +v 1.273875 0.797817 0.355728 +v 2.727607 0.679054 0.029339 +v 1.214450 1.242719 -0.178329 +v 1.244250 0.945943 -0.297051 +v 1.926678 0.679054 -0.207978 +v 2.668356 1.153669 0.088572 +v 1.273875 0.382278 0.266591 +v 2.786858 0.886692 0.177581 +v 2.519881 1.094244 -0.118968 +v 1.600276 1.153669 0.266591 +v 1.214450 1.272431 0.118284 +v 2.757058 0.886692 -0.148681 +v 1.244250 0.708766 0.355728 +v 2.994758 0.945943 -0.029959 +v 2.519881 1.094244 0.177581 +v 1.214450 0.411990 -0.029959 +v 1.363100 1.213007 -0.207978 +v 2.668356 1.005368 -0.148681 +v 1.303501 1.034993 -0.297051 +v 2.549507 0.738392 -0.148681 +v 2.757058 1.153669 0.058923 +v 2.638382 0.768017 0.147933 +v 1.273875 0.560465 -0.207978 +f 226 246 253 +f 219 223 224 +f 224 223 225 +f 221 220 228 +f 226 222 232 +f 230 226 232 +f 224 225 233 +f 221 228 233 +f 219 224 234 +f 234 229 235 +f 230 232 237 +f 222 227 238 +f 227 231 238 +f 232 222 238 +f 223 237 238 +f 225 231 240 +f 231 227 240 +f 240 236 241 +f 220 221 241 +f 221 233 241 +f 233 225 241 +f 236 220 241 +f 225 240 241 +f 225 223 243 +f 231 225 243 +f 223 238 243 +f 238 231 243 +f 222 226 244 +f 226 242 244 +f 240 227 245 +f 236 240 245 +f 223 219 246 +f 226 230 246 +f 237 223 246 +f 230 237 246 +f 224 233 247 +f 233 228 247 +f 228 239 247 +f 247 239 248 +f 239 228 248 +f 242 229 248 +f 228 244 248 +f 244 242 248 +f 224 247 248 +f 234 224 249 +f 229 234 249 +f 224 248 249 +f 248 229 249 +f 235 229 250 +f 226 235 250 +f 242 226 250 +f 229 242 250 +f 227 222 251 +f 228 220 251 +f 220 236 251 +f 222 244 251 +f 244 228 251 +f 245 227 251 +f 236 245 251 +f 237 232 252 +f 232 238 252 +f 238 237 252 +f 219 234 253 +f 234 235 253 +f 235 226 253 +f 246 219 253 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/785/785.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/785/785.urdf new file mode 100644 index 000000000..dba694c6a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/785/785.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/786/786.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/786/786.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/786/786.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/786/786.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/786/786.obj new file mode 100644 index 000000000..9c4ff10a8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/786/786.obj @@ -0,0 +1,303 @@ +o convex_0 +v 1.052765 -1.971483 -0.148849 +v -0.787793 -3.534568 1.066439 +v -0.926910 -3.395429 1.066225 +v -0.996257 -3.777576 -1.017372 +v -1.065816 0.146608 -0.808969 +v 1.052765 0.146608 0.962131 +v 1.052765 0.146608 -1.121680 +v 0.948427 -3.707813 0.996829 +v 1.017986 -3.707813 -1.086768 +v -1.100595 0.146608 0.927219 +v -0.961689 -3.812458 1.066225 +v -1.031036 0.146608 -0.947761 +v 0.913648 -3.742695 -1.086768 +v 1.017986 -0.582806 0.996829 +v -1.100595 -0.339797 0.614722 +v -0.996257 -3.812458 -0.357252 +v -0.614318 -3.812458 1.066439 +v -0.162821 0.146608 0.961917 +v -0.996257 -3.291171 1.031527 +v 1.017986 -3.707813 -0.530956 +v 1.052765 -0.374291 0.962131 +v 0.670615 -3.707813 -1.086768 +v 1.052765 -1.694367 -1.086768 +v 0.323245 -0.999447 -1.086768 +v -1.031036 -2.839260 -0.565654 +v 0.392592 -3.742695 1.031527 +v 0.635836 -3.742695 0.962131 +v -1.065816 -0.478936 0.962131 +v -0.926910 -3.812458 -0.635265 +v -1.031036 -1.763743 -0.982459 +v 0.983207 -2.700509 0.996829 +v -0.197600 -3.777576 -1.052070 +v -0.544760 -3.812458 0.580024 +v 0.948427 -3.742695 -0.878365 +v -1.100595 -0.235540 0.927219 +v 0.566489 0.146608 -1.086768 +v -0.996257 -3.499686 -1.017372 +v -0.371075 -2.700897 -1.052070 +v 1.017986 0.077232 -1.121680 +v -1.031036 -2.006364 -0.982459 +v -1.100595 0.076845 0.406319 +v 0.983207 -3.568674 0.406319 +v -0.579539 -3.742695 1.066439 +f 17 26 43 +f 6 1 7 +f 5 6 7 +f 6 5 10 +f 2 3 11 +f 5 7 12 +f 3 2 14 +f 2 11 17 +f 11 16 17 +f 6 10 18 +f 3 14 18 +f 14 6 18 +f 16 11 19 +f 9 1 20 +f 1 6 21 +f 6 14 21 +f 7 1 23 +f 1 9 23 +f 9 7 23 +f 4 16 25 +f 26 17 27 +f 8 26 27 +f 11 3 28 +f 3 18 28 +f 18 10 28 +f 16 4 29 +f 17 16 29 +f 5 12 30 +f 21 14 31 +f 26 8 31 +f 14 26 31 +f 22 13 32 +f 29 4 32 +f 13 29 32 +f 29 13 33 +f 17 29 33 +f 13 9 34 +f 20 8 34 +f 9 20 34 +f 27 17 34 +f 8 27 34 +f 17 33 34 +f 33 13 34 +f 10 15 35 +f 19 11 35 +f 16 19 35 +f 15 25 35 +f 25 16 35 +f 11 28 35 +f 28 10 35 +f 12 7 36 +f 24 12 36 +f 12 24 37 +f 30 12 37 +f 4 30 37 +f 22 32 38 +f 32 4 38 +f 4 37 38 +f 37 24 38 +f 7 9 39 +f 9 13 39 +f 13 22 39 +f 36 7 39 +f 24 36 39 +f 22 38 39 +f 38 24 39 +f 4 25 40 +f 25 15 40 +f 5 30 40 +f 30 4 40 +f 10 5 41 +f 15 10 41 +f 5 40 41 +f 40 15 41 +f 20 1 42 +f 8 20 42 +f 1 21 42 +f 31 8 42 +f 21 31 42 +f 14 2 43 +f 2 17 43 +f 26 14 43 +o convex_1 +v -0.961603 2.369847 1.274131 +v 1.017887 0.147427 -1.121089 +v 1.052585 0.147427 -1.121089 +v 0.427381 2.334819 -3.031576 +v 0.983189 2.265416 3.115025 +v -1.065696 0.182020 3.115630 +v -0.961603 0.355636 -2.997082 +v 0.983189 0.286016 3.045432 +v -0.926905 2.265416 -2.961377 +v 1.052585 0.494442 -3.066675 +v -1.100608 2.334819 2.941344 +v 0.948492 2.334819 -3.030971 +v 1.087283 2.334819 1.413318 +v -1.065696 0.147427 -0.842715 +v 1.052585 0.147427 0.961264 +v 1.052585 0.320826 -2.961983 +v -1.100608 0.147427 0.926770 +v 1.087283 2.300226 0.371839 +v 1.087497 1.085129 0.961264 +v -1.100608 2.334819 2.420302 +v 1.017887 0.286016 2.906850 +v -0.961603 2.334819 -1.398857 +v -1.100608 1.848563 3.010333 +v 0.635997 0.251423 3.079926 +v -1.065696 0.390447 -0.912914 +v 0.983189 1.918183 -3.066675 +v -0.787900 0.321044 -2.822796 +v 0.323288 2.300009 3.080531 +v -0.510103 2.369847 0.996363 +v 0.601085 0.355419 -3.066675 +v -1.030999 2.369847 0.579408 +v -0.753202 0.182020 3.115025 +v -0.961603 1.327714 -2.961377 +v -1.065696 0.459850 3.115630 +v -1.100608 0.321044 0.336740 +v 1.087497 1.154315 -0.183697 +v -0.926905 2.334819 2.975839 +v -0.961603 2.300009 -1.954393 +v 0.983189 1.848563 3.115025 +v -1.100608 0.216830 1.621492 +v -0.996301 0.147427 -0.947408 +v -0.996301 0.355636 -2.545633 +v -0.544801 2.300009 -2.961983 +v 0.913794 2.300009 2.767664 +v 0.983189 0.459850 3.079926 +v 0.288590 2.230606 -3.031576 +v -0.405795 0.216830 3.115025 +v 0.983189 1.987586 -3.030971 +v 1.017887 2.334819 1.586393 +v 1.052585 0.251423 1.586393 +v -1.100608 1.570733 3.010333 +v 0.913794 1.918183 -3.066675 +v 0.809486 2.265416 3.115025 +v -1.065696 2.334819 2.976444 +v -0.510103 0.321044 -2.857895 +v 0.983189 2.300009 -2.440335 +v 1.087283 2.334819 0.545520 +v -0.926905 2.300009 -2.510534 +v 1.052585 0.355419 -3.066675 +v -0.961603 0.425257 -2.997082 +f 89 95 103 +f 45 46 57 +f 57 46 58 +f 46 45 59 +f 58 49 60 +f 57 58 60 +f 58 46 62 +f 60 54 63 +f 56 48 64 +f 51 58 64 +f 62 56 64 +f 54 60 66 +f 58 51 67 +f 47 55 69 +f 59 50 73 +f 69 53 73 +f 54 44 74 +f 55 47 74 +f 63 54 74 +f 47 65 74 +f 44 72 74 +f 72 55 74 +f 49 58 75 +f 58 67 75 +f 49 48 77 +f 66 49 77 +f 71 66 77 +f 57 60 78 +f 60 63 78 +f 68 57 78 +f 63 68 78 +f 46 59 79 +f 53 61 79 +f 56 62 79 +f 62 46 79 +f 72 44 80 +f 68 63 81 +f 63 74 81 +f 74 65 81 +f 52 76 81 +f 76 68 81 +f 48 49 82 +f 64 48 82 +f 60 49 83 +f 66 60 83 +f 45 57 84 +f 57 50 84 +f 50 70 84 +f 50 57 85 +f 57 68 85 +f 68 76 85 +f 47 52 86 +f 65 47 86 +f 48 56 87 +f 71 48 87 +f 80 71 87 +f 51 64 88 +f 67 51 88 +f 64 82 88 +f 52 47 89 +f 49 75 90 +f 75 67 90 +f 82 49 90 +f 67 88 90 +f 88 82 90 +f 61 53 91 +f 53 69 91 +f 69 55 91 +f 56 72 92 +f 72 80 92 +f 87 56 92 +f 80 87 92 +f 58 62 93 +f 64 58 93 +f 62 64 93 +f 49 66 94 +f 83 49 94 +f 66 83 94 +f 47 69 95 +f 69 73 95 +f 89 47 95 +f 48 71 96 +f 77 48 96 +f 71 77 96 +f 44 54 97 +f 54 66 97 +f 66 71 97 +f 80 44 97 +f 71 80 97 +f 59 45 98 +f 50 59 98 +f 70 50 98 +f 45 84 98 +f 84 70 98 +f 61 91 99 +f 91 55 99 +f 55 72 100 +f 72 56 100 +f 79 61 100 +f 56 79 100 +f 99 55 100 +f 61 99 100 +f 52 81 101 +f 81 65 101 +f 86 52 101 +f 65 86 101 +f 59 73 102 +f 73 53 102 +f 79 59 102 +f 53 79 102 +f 73 50 103 +f 76 52 103 +f 50 85 103 +f 85 76 103 +f 52 89 103 +f 95 73 103 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/786/786.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/786/786.urdf new file mode 100644 index 000000000..300b70763 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/786/786.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/787/787.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/787/787.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/787/787.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/787/787.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/787/787.obj new file mode 100644 index 000000000..3ba78b5ce --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/787/787.obj @@ -0,0 +1,372 @@ +o convex_0 +v -0.574252 -0.494341 -3.731143 +v 0.600381 0.616837 -4.461249 +v 0.600381 0.584984 -4.461249 +v 0.473304 -0.494341 -2.620086 +v -0.447293 0.426294 -2.620086 +v 0.473304 -0.557932 -4.588618 +v -0.542601 0.553131 -4.525030 +v 0.473304 0.489770 -2.620086 +v -0.479062 -0.462603 -2.620086 +v -0.606139 -0.494341 -4.556824 +v 0.377997 0.616837 -4.525030 +v 0.473304 -0.526079 -2.778863 +v -0.320216 0.457917 -2.620086 +v -0.510713 0.521508 -4.556824 +v -0.415524 -0.494341 -2.715661 +v -0.479062 0.299111 -2.747455 +v -0.606139 -0.335651 -4.302857 +v 0.505074 -0.303797 -4.588618 +v 0.346346 -0.557932 -4.461249 +v -0.510713 -0.399127 -2.747455 +v -0.066299 -0.494341 -4.588618 +v 0.473304 0.616837 -4.366253 +v 0.600381 0.616837 -4.525030 +v -0.510713 0.521508 -3.858126 +v -0.225027 -0.526079 -4.461249 +v -0.479062 0.457917 -2.969435 +v 0.314459 0.489655 -2.620086 +f 22 13 27 +f 3 2 4 +f 4 2 8 +f 5 4 8 +f 4 5 9 +f 3 4 12 +f 5 8 13 +f 10 7 14 +f 7 11 14 +f 9 1 15 +f 4 9 15 +f 12 4 15 +f 10 1 17 +f 7 10 17 +f 3 12 18 +f 12 6 18 +f 6 12 19 +f 12 15 19 +f 1 9 20 +f 9 5 20 +f 5 16 20 +f 17 1 20 +f 16 17 20 +f 6 10 21 +f 10 14 21 +f 18 6 21 +f 14 18 21 +f 8 2 22 +f 2 11 22 +f 11 7 22 +f 2 3 23 +f 11 2 23 +f 14 11 23 +f 3 18 23 +f 18 14 23 +f 22 7 24 +f 13 22 24 +f 1 10 25 +f 10 6 25 +f 15 1 25 +f 6 19 25 +f 19 15 25 +f 5 13 26 +f 16 5 26 +f 7 17 26 +f 17 16 26 +f 13 24 26 +f 24 7 26 +f 13 8 27 +f 8 22 27 +o convex_1 +v 0.314446 0.585087 -0.746935 +v -0.447324 -0.557932 -1.096092 +v -0.415518 -0.557932 -1.096092 +v 0.441566 0.489761 -2.620086 +v 0.536880 -0.526157 -0.651553 +v -0.542638 0.521536 -0.651553 +v -0.479025 -0.462606 -2.620086 +v 0.473373 -0.494270 -2.620086 +v -0.447324 0.457985 -2.524511 +v -0.447324 -0.557932 -0.651553 +v 0.441566 0.553311 -0.651553 +v -0.479025 0.172230 -2.620086 +v 0.473373 -0.526157 -2.429514 +v -0.510831 -0.335616 -2.397720 +v 0.536880 -0.303841 -0.746935 +v -0.479025 -0.494381 -2.524511 +v -0.542638 0.521536 -0.969108 +v 0.187537 -0.557932 -0.683347 +v -0.542638 0.299332 -0.651553 +v 0.473373 0.108680 -2.620086 +v 0.536880 -0.526157 -1.254869 +v -0.352010 0.457985 -2.620086 +v -0.479025 -0.526157 -1.509029 +v 0.441566 0.553311 -1.413647 +v -0.479025 0.457985 -2.334325 +f 39 44 52 +f 34 31 35 +f 29 30 37 +f 32 33 37 +f 28 33 38 +f 33 32 38 +f 31 34 39 +f 30 29 40 +f 39 34 41 +f 38 32 42 +f 34 35 43 +f 40 29 43 +f 35 40 43 +f 41 34 43 +f 33 28 44 +f 28 36 44 +f 39 41 44 +f 37 30 45 +f 32 37 45 +f 30 40 45 +f 37 33 46 +f 33 44 46 +f 44 41 46 +f 35 31 47 +f 31 42 47 +f 47 42 48 +f 40 35 48 +f 42 32 48 +f 32 45 48 +f 45 40 48 +f 35 47 48 +f 28 31 49 +f 36 28 49 +f 31 39 49 +f 39 36 49 +f 29 37 50 +f 43 29 50 +f 41 43 50 +f 37 46 50 +f 46 41 50 +f 31 28 51 +f 28 38 51 +f 42 31 51 +f 38 42 51 +f 36 39 52 +f 44 36 52 +o convex_2 +v 0.981202 2.966140 0.872280 +v -1.114138 0.171957 0.523077 +v -1.114138 0.171957 0.554728 +v 1.076630 -3.097974 1.094462 +v 1.012940 -3.034013 -0.619694 +v -1.050448 3.125129 -0.651553 +v -1.082186 -3.065689 -0.587834 +v -1.114138 2.934464 1.475732 +v -0.955234 -2.970052 1.475524 +v 0.981202 3.061168 -0.587834 +v 0.949464 3.029492 1.475524 +v 1.076630 -3.097974 1.412014 +v 0.663824 -1.033556 -0.651553 +v 0.885988 -3.097974 1.443665 +v -1.082186 -1.954595 -0.619694 +v 0.600348 1.314727 -0.651553 +v 1.012940 1.727733 -0.175121 +v -0.986972 -2.430952 1.443665 +v -1.082186 2.934464 -0.143470 +v 0.600348 3.061168 1.157972 +v -0.193312 -3.002337 1.475524 +v 0.981202 2.648162 1.475732 +v -0.447215 -0.557199 -0.651553 +v 1.076630 -2.462019 1.380363 +v -1.082186 -3.034013 -0.333793 +v -1.114138 2.235157 1.475732 +v 0.187542 -3.034013 -0.619486 +v -1.114138 2.966140 1.221483 +v 0.854251 2.425822 -0.619486 +v 1.012940 -3.065689 -0.174913 +v -1.082186 -0.239221 -0.619694 +v -0.542428 3.092844 -0.651553 +v 1.012940 -2.176326 -0.619694 +v -0.986972 3.125129 -0.524532 +v -1.050448 1.409755 -0.651553 +v -1.082186 -3.065689 -0.429163 +v 0.504920 -0.430495 1.475524 +v -1.114138 2.870503 0.903931 +v 1.044677 -2.335315 1.443873 +v -0.352001 -3.065689 -0.587834 +v -0.098099 2.997816 1.475524 +v 0.822513 -3.097974 1.443665 +v 1.044677 -3.097974 0.872280 +v 1.076630 -2.399276 1.157972 +v -0.955234 -2.239678 -0.619486 +v 0.695561 3.061168 1.094462 +v -0.986972 -2.938376 1.221483 +v 0.441444 3.061168 -0.619486 +v -0.923497 3.125129 -0.524532 +f 72 98 101 +f 55 54 59 +f 54 55 60 +f 53 62 63 +f 56 64 66 +f 59 54 67 +f 65 58 68 +f 62 53 69 +f 53 63 74 +f 63 60 74 +f 58 65 75 +f 64 56 76 +f 69 53 76 +f 53 74 76 +f 74 64 76 +f 60 55 78 +f 70 61 78 +f 61 73 78 +f 73 74 78 +f 74 60 78 +f 55 77 78 +f 57 59 79 +f 65 57 79 +f 75 65 79 +f 54 60 80 +f 58 71 80 +f 57 56 82 +f 67 54 83 +f 58 67 83 +f 71 58 83 +f 58 62 84 +f 68 58 84 +f 81 68 84 +f 56 57 85 +f 57 65 85 +f 65 68 85 +f 62 69 85 +f 81 62 85 +f 68 81 85 +f 58 80 86 +f 67 58 87 +f 58 75 87 +f 75 67 87 +f 55 59 88 +f 77 55 88 +f 73 66 89 +f 74 73 89 +f 54 80 90 +f 80 71 90 +f 83 54 90 +f 71 83 90 +f 66 64 91 +f 64 74 91 +f 89 66 91 +f 74 89 91 +f 59 57 92 +f 57 82 92 +f 60 63 93 +f 63 72 93 +f 80 60 93 +f 72 86 93 +f 86 80 93 +f 56 66 94 +f 73 61 94 +f 66 73 94 +f 88 59 94 +f 61 88 94 +f 82 56 95 +f 59 92 95 +f 92 82 95 +f 56 94 95 +f 94 59 95 +f 76 56 96 +f 69 76 96 +f 56 85 96 +f 85 69 96 +f 59 67 97 +f 67 75 97 +f 79 59 97 +f 75 79 97 +f 63 62 98 +f 72 63 98 +f 61 70 99 +f 70 78 99 +f 78 77 99 +f 88 61 99 +f 77 88 99 +f 62 81 100 +f 84 62 100 +f 81 84 100 +f 62 58 101 +f 58 86 101 +f 86 72 101 +f 98 62 101 +o convex_3 +v 0.600381 0.426216 2.460055 +v 0.600381 0.458022 3.475888 +v 0.378100 0.489829 3.475686 +v -0.574388 -0.526182 1.730044 +v -0.574388 0.521530 1.475732 +v 0.505052 -0.430868 1.475732 +v -0.542535 -0.430868 3.539113 +v 0.600381 -0.430868 3.412260 +v -0.574388 0.489829 3.443973 +v 0.568528 0.553231 1.475935 +v -0.574388 -0.526182 1.475732 +v 0.124080 0.553336 2.174434 +v 0.346246 -0.462674 1.475732 +v -0.383845 0.521530 3.094723 +v 0.600381 0.521530 2.682047 +v -0.129825 0.553336 1.475732 +v -0.574388 0.362814 3.475686 +v -0.479059 -0.462674 3.126437 +v -0.415468 -0.526182 1.507850 +v -0.383845 -0.430868 3.539113 +v 0.568528 0.394515 1.539563 +v -0.542535 -0.240346 3.539113 +v -0.574388 0.108785 3.475686 +v -0.574388 0.521530 2.586706 +v 0.600381 -0.430868 3.317120 +v 0.536790 0.553231 2.015666 +v -0.574388 -0.494375 2.142720 +f 108 124 128 +f 102 103 109 +f 106 105 110 +f 105 106 112 +f 106 107 112 +f 112 107 114 +f 110 104 115 +f 103 102 116 +f 104 103 116 +f 102 111 116 +f 107 106 117 +f 111 107 117 +f 113 111 117 +f 110 105 118 +f 104 110 118 +f 108 105 119 +f 105 109 119 +f 109 105 120 +f 105 112 120 +f 114 109 120 +f 112 114 120 +f 109 103 121 +f 108 119 121 +f 119 109 121 +f 111 102 122 +f 107 111 122 +f 103 104 123 +f 104 118 123 +f 118 108 123 +f 121 103 123 +f 108 121 123 +f 108 118 124 +f 118 105 124 +f 106 110 125 +f 110 115 125 +f 115 113 125 +f 117 106 125 +f 113 117 125 +f 102 109 126 +f 114 107 126 +f 109 114 126 +f 122 102 126 +f 107 122 126 +f 111 113 127 +f 115 104 127 +f 113 115 127 +f 104 116 127 +f 116 111 127 +f 105 108 128 +f 124 105 128 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/787/787.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/787/787.urdf new file mode 100644 index 000000000..20328995b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/787/787.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/788/788.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/788/788.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/788/788.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/788/788.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/788/788.obj new file mode 100644 index 000000000..c0631245c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/788/788.obj @@ -0,0 +1,1080 @@ +o convex_0 +v 0.922204 2.969931 -0.033102 +v -1.220277 -0.829116 -0.290305 +v -1.220277 -0.829116 -0.033295 +v 1.236518 -0.829116 0.052375 +v -0.077492 2.741747 0.909266 +v -0.877345 2.769934 -0.747211 +v 0.836351 -0.828669 -0.861630 +v -0.048874 -0.829116 0.937823 +v -0.591649 3.541734 0.594950 +v 0.579272 3.484465 -0.633177 +v 0.893586 2.655395 0.737926 +v -0.791732 -0.829116 0.823596 +v -0.106110 0.428135 -1.004606 +v 0.807974 -0.657307 0.823596 +v -0.763115 -0.771846 -0.833073 +v 0.465042 3.741731 0.394861 +v -0.391806 3.741731 -0.404338 +v -0.934580 2.884474 0.194965 +v 0.722120 2.741747 -0.775767 +v 0.036498 2.741747 -0.947300 +v -0.734497 2.741747 0.737926 +v 1.236518 -0.829116 0.337941 +v 0.779356 0.370866 0.880709 +v -0.620267 3.741731 0.023625 +v 0.036498 3.484465 0.737926 +v 0.636508 3.741731 -0.090215 +v -0.763115 0.399500 -0.890186 +v 0.008121 3.455830 -0.775960 +v 0.979199 2.627207 -0.176078 +v -0.134727 0.513593 0.966572 +v -0.106110 -0.829116 -0.947300 +v -1.105806 -0.600484 0.309384 +v 1.007817 0.856317 -0.404531 +v 0.750738 0.599497 -0.890186 +v -0.734497 0.685402 0.852153 +v -1.105806 -0.829116 -0.518758 +v 1.122047 -0.829116 0.537837 +v 0.493660 3.741731 -0.490201 +v 0.122351 2.684477 0.909266 +v -0.363188 3.741731 0.509473 +v 0.093733 0.170869 -1.004606 +v -0.763115 3.569922 0.023625 +v 0.207964 0.370866 0.966572 +v -0.934580 2.855839 -0.176078 +v -0.563272 3.513099 -0.547314 +v 0.807974 3.426747 -0.004932 +v 0.922204 2.684477 0.566394 +v 0.636508 3.398560 0.537837 +v 0.750738 2.569937 -0.775767 +v 1.007817 -0.485945 -0.518758 +v -0.020257 2.741747 -0.947300 +v 0.636508 3.455830 -0.604427 +v 0.408047 -0.714576 -0.947300 +v -1.220277 -0.714576 -0.290305 +v 1.236518 -0.714576 0.337941 +v 0.008121 3.741731 -0.576064 +v -0.963198 2.655842 0.166408 +v 0.036498 1.342215 0.966572 +v -0.391806 -0.829116 0.909266 +v 0.093733 -0.800481 0.937823 +v 0.807974 -0.829116 0.795040 +v 0.036498 0.942222 -1.004606 +v -0.763115 0.114046 -0.890186 +v 0.036498 3.741731 0.566587 +f 40 25 64 +f 3 2 4 +f 3 4 8 +f 3 8 12 +f 10 19 20 +f 5 9 21 +f 9 18 21 +f 8 4 22 +f 16 17 24 +f 9 5 25 +f 17 16 26 +f 10 20 28 +f 4 2 31 +f 7 4 31 +f 3 12 32 +f 29 4 33 +f 20 19 34 +f 5 21 35 +f 30 5 35 +f 32 12 35 +f 21 32 35 +f 6 27 36 +f 31 2 36 +f 15 31 36 +f 8 22 37 +f 23 14 37 +f 11 23 37 +f 17 26 38 +f 10 28 38 +f 23 11 39 +f 25 5 39 +f 11 25 39 +f 24 9 40 +f 16 24 40 +f 9 25 40 +f 31 13 41 +f 18 9 42 +f 9 24 42 +f 30 8 43 +f 42 6 44 +f 18 42 44 +f 24 17 45 +f 28 6 45 +f 6 42 45 +f 42 24 45 +f 1 29 46 +f 29 1 47 +f 1 46 47 +f 46 11 47 +f 25 11 48 +f 16 25 48 +f 26 16 48 +f 11 46 48 +f 46 26 48 +f 19 29 49 +f 29 33 49 +f 7 34 49 +f 34 19 49 +f 4 7 50 +f 33 4 50 +f 7 49 50 +f 49 33 50 +f 27 6 51 +f 13 27 51 +f 6 28 51 +f 28 20 51 +f 19 10 52 +f 29 19 52 +f 10 38 52 +f 38 26 52 +f 26 46 52 +f 46 29 52 +f 7 31 53 +f 34 7 53 +f 31 41 53 +f 41 34 53 +f 2 3 54 +f 36 2 54 +f 6 36 54 +f 44 6 54 +f 22 4 55 +f 4 29 55 +f 37 22 55 +f 11 37 55 +f 47 11 55 +f 29 47 55 +f 17 38 56 +f 38 28 56 +f 45 17 56 +f 28 45 56 +f 21 18 57 +f 3 32 57 +f 32 21 57 +f 18 44 57 +f 54 3 57 +f 44 54 57 +f 5 30 58 +f 23 39 58 +f 39 5 58 +f 43 23 58 +f 30 43 58 +f 12 8 59 +f 8 30 59 +f 35 12 59 +f 30 35 59 +f 14 23 60 +f 43 8 60 +f 23 43 60 +f 8 37 61 +f 37 14 61 +f 14 60 61 +f 60 8 61 +f 20 34 62 +f 41 13 62 +f 34 41 62 +f 13 51 62 +f 51 20 62 +f 27 13 63 +f 13 31 63 +f 31 15 63 +f 36 27 63 +f 15 36 63 +f 25 16 64 +f 16 40 64 +o convex_1 +v 0.607976 4.141871 -0.090341 +v -0.591821 3.741732 -0.004839 +v -0.591821 3.741732 0.109454 +v -0.020421 5.484027 0.023734 +v 0.093691 3.741732 0.538055 +v 0.093691 3.741732 -0.576089 +v -0.020421 5.169851 -0.404649 +v 0.036575 5.169851 0.395188 +v -0.391735 5.226989 0.052308 +v -0.477349 3.770557 0.452335 +v 0.436628 5.227160 0.023734 +v 0.493744 3.741902 -0.490369 +v 0.465126 3.741902 0.395188 +v -0.391735 4.513186 -0.347502 +v 0.436508 4.541840 -0.433222 +v 0.436508 4.513186 0.366615 +v -0.391735 3.741732 -0.404649 +v -0.306121 4.998435 0.309468 +v 0.636594 3.741902 -0.033304 +v 0.436628 5.227160 -0.090341 +v 0.008077 4.484702 -0.518942 +v 0.036575 4.398909 0.509482 +v -0.391735 5.226989 -0.033194 +v -0.534585 4.484702 0.052308 +v -0.391735 4.484702 0.395188 +v 0.065073 5.255644 0.366615 +v 0.579358 4.513015 -0.033304 +v 0.093691 5.198505 -0.376075 +v 0.350773 5.027090 0.280895 +v 0.065073 5.484027 -0.033194 +v -0.306121 4.969952 -0.290355 +v -0.020421 5.255644 0.366615 +v -0.420353 3.741732 0.480908 +v 0.465126 4.313286 -0.461686 +v 0.350773 5.027090 -0.318928 +v 0.008077 3.770557 -0.576089 +v -0.020421 5.255644 -0.347502 +v -0.077537 4.513186 0.480908 +v -0.134653 3.770557 0.538055 +v -0.534585 4.456047 -0.004839 +v 0.522242 4.484702 -0.261782 +v -0.420353 3.970456 -0.376075 +v 0.465126 4.513015 0.309468 +v -0.020421 5.484027 -0.033194 +v 0.465126 3.913318 0.395188 +v -0.420353 4.513186 0.338041 +v 0.065073 5.312782 0.309468 +v 0.093691 4.427563 -0.518942 +v 0.522242 3.770386 -0.433113 +f 98 105 113 +f 67 66 69 +f 69 66 70 +f 70 66 81 +f 69 70 83 +f 70 76 83 +f 77 69 83 +f 78 71 85 +f 69 80 86 +f 80 72 86 +f 73 68 87 +f 66 67 88 +f 67 74 88 +f 73 87 88 +f 72 80 90 +f 83 65 91 +f 84 75 91 +f 79 71 92 +f 80 75 93 +f 75 90 93 +f 90 80 93 +f 75 84 94 +f 84 92 94 +f 71 78 95 +f 78 87 95 +f 68 73 96 +f 73 82 96 +f 82 89 96 +f 72 90 96 +f 67 69 97 +f 74 67 97 +f 89 74 97 +f 76 70 98 +f 84 79 99 +f 79 92 99 +f 92 84 99 +f 70 81 100 +f 78 85 100 +f 85 70 100 +f 92 71 101 +f 94 92 101 +f 71 95 101 +f 95 87 101 +f 86 72 102 +f 72 96 102 +f 96 89 102 +f 89 97 102 +f 102 97 103 +f 69 86 103 +f 97 69 103 +f 86 102 103 +f 78 66 104 +f 87 78 104 +f 88 87 104 +f 66 88 104 +f 79 84 105 +f 91 65 105 +f 84 91 105 +f 98 79 105 +f 66 78 106 +f 81 66 106 +f 100 81 106 +f 78 100 106 +f 75 80 107 +f 91 75 107 +f 83 91 107 +f 87 68 108 +f 68 94 108 +f 101 87 108 +f 94 101 108 +f 69 77 109 +f 80 69 109 +f 77 83 109 +f 107 80 109 +f 83 107 109 +f 82 73 110 +f 73 88 110 +f 88 74 110 +f 74 89 110 +f 89 82 110 +f 90 75 111 +f 94 68 111 +f 75 94 111 +f 68 96 111 +f 96 90 111 +f 71 79 112 +f 85 71 112 +f 70 85 112 +f 98 70 112 +f 79 98 112 +f 65 83 113 +f 83 76 113 +f 76 98 113 +f 105 65 113 +o convex_2 +v 1.322327 -3.743001 -0.204674 +v 0.636695 -3.143108 -0.033256 +v 0.636695 -3.143108 -0.061835 +v 3.036289 -3.514397 -0.033256 +v 0.579458 -3.771524 0.223787 +v 1.636646 -3.400235 0.252366 +v 0.579458 -3.257410 -0.290411 +v 2.436270 -3.685815 0.166629 +v 2.693352 -3.486014 -0.233253 +v 0.579458 -3.857303 -0.004733 +v 2.635876 -3.343119 0.052369 +v 2.693352 -3.714338 -0.061835 +v 0.579458 -3.286073 0.223787 +v 0.579458 -3.571513 -0.290411 +v 2.693352 -3.571513 0.223787 +v 2.436270 -3.371712 -0.176095 +v 0.951013 -3.571513 0.280945 +v 1.779496 -3.542920 -0.290411 +v 1.722260 -3.343119 0.223787 +v 2.607738 -3.571513 -0.233253 +v 0.579458 -3.800117 -0.176095 +v 2.721971 -3.714338 0.023790 +v 0.608077 -3.857303 0.052369 +v 2.693352 -3.514397 0.223787 +v 1.836251 -3.542920 0.280945 +v 2.635876 -3.343119 -0.033256 +v 1.522414 -3.314596 -0.261832 +v 1.636646 -3.714338 0.223787 +v 0.579458 -3.143108 -0.004733 +v 3.036289 -3.571513 0.023790 +v 0.808163 -3.800117 -0.176095 +v 2.521644 -3.685815 -0.147572 +v 1.864629 -3.486014 -0.290411 +v 1.722260 -3.486014 0.280945 +v 0.579458 -3.428898 0.252366 +v 2.721971 -3.542920 -0.233253 +v 0.779545 -3.657292 -0.261832 +v 2.207806 -3.371712 0.195208 +v 3.036289 -3.514397 0.023790 +f 137 143 152 +f 118 120 123 +f 116 115 124 +f 120 118 126 +f 123 120 127 +f 127 120 131 +f 126 119 132 +f 114 131 133 +f 123 127 134 +f 128 121 135 +f 118 123 136 +f 123 125 136 +f 135 121 136 +f 125 135 136 +f 130 118 138 +f 128 137 138 +f 117 122 139 +f 116 124 139 +f 124 117 139 +f 129 116 139 +f 122 129 139 +f 120 116 140 +f 116 129 140 +f 129 122 140 +f 121 128 141 +f 118 136 141 +f 136 121 141 +f 138 118 141 +f 128 138 141 +f 115 116 142 +f 116 120 142 +f 124 115 142 +f 120 126 142 +f 132 124 142 +f 126 132 142 +f 135 125 143 +f 128 135 143 +f 137 128 143 +f 125 123 144 +f 123 134 144 +f 114 133 145 +f 144 114 145 +f 125 144 145 +f 131 120 146 +f 120 140 146 +f 140 122 146 +f 119 126 147 +f 132 119 147 +f 137 132 147 +f 130 138 147 +f 138 137 147 +f 126 118 148 +f 118 130 148 +f 147 126 148 +f 130 147 148 +f 122 117 149 +f 133 131 149 +f 117 143 149 +f 143 125 149 +f 125 145 149 +f 145 133 149 +f 131 146 149 +f 146 122 149 +f 131 114 150 +f 127 131 150 +f 134 127 150 +f 114 144 150 +f 144 134 150 +f 124 132 151 +f 137 124 151 +f 132 137 151 +f 117 124 152 +f 124 137 152 +f 143 117 152 +o convex_3 +v -1.248881 -1.828984 0.309462 +v -1.248881 -0.914820 -0.004711 +v -1.248881 -0.914820 -0.261838 +v -3.020084 -1.486136 -0.033234 +v -1.248881 -1.714701 -0.318954 +v -1.363308 -1.143384 0.252346 +v -2.676974 -1.714701 0.109521 +v -2.734361 -1.486136 0.195230 +v -2.819836 -1.514564 -0.176129 +v -1.391742 -1.886125 -0.033234 +v -2.791229 -1.314808 0.023812 +v -2.705755 -1.714701 -0.061827 +v -1.420349 -1.314808 -0.347547 +v -1.248881 -1.600419 0.366648 +v -2.020228 -1.743129 -0.204652 +v -2.734361 -1.571801 0.195230 +v -2.734361 -1.314808 -0.061827 +v -1.306095 -0.914820 -0.261838 +v -1.248881 -1.886125 0.138045 +v -1.306095 -1.086243 0.223753 +v -1.277488 -1.200526 -0.347547 +v -2.676974 -1.743129 0.023812 +v -2.819836 -1.486136 -0.176129 +v -1.477563 -1.828984 0.280939 +v -3.020084 -1.543278 0.023812 +v -1.277488 -1.686083 0.366648 +v -2.619934 -1.543278 -0.204652 +v -1.248881 -1.857507 -0.118943 +v -2.305604 -1.514564 0.252346 +v -1.248881 -1.114861 0.252346 +v -1.477563 -1.743129 -0.290361 +v -2.391425 -1.714701 0.195230 +v -2.648367 -1.343521 0.109521 +v -1.277488 -0.914820 -0.004711 +v -2.648367 -1.657560 -0.147536 +v -1.363308 -1.428995 -0.347547 +f 179 165 188 +f 155 154 153 +f 155 153 157 +f 153 154 166 +f 162 164 167 +f 156 163 169 +f 169 163 170 +f 154 155 170 +f 157 153 171 +f 160 158 172 +f 155 157 173 +f 170 155 173 +f 164 162 174 +f 162 171 174 +f 161 156 175 +f 156 169 175 +f 169 170 175 +f 173 165 175 +f 170 173 175 +f 171 153 176 +f 159 174 176 +f 174 171 176 +f 156 161 177 +f 163 156 177 +f 160 163 177 +f 161 164 177 +f 159 168 177 +f 168 160 177 +f 174 159 177 +f 164 174 177 +f 153 166 178 +f 176 153 178 +f 161 175 179 +f 175 165 179 +f 162 167 180 +f 157 171 180 +f 171 162 180 +f 158 160 181 +f 166 158 181 +f 160 168 181 +f 178 166 181 +f 168 178 181 +f 166 154 182 +f 158 166 182 +f 172 158 182 +f 154 172 182 +f 179 157 183 +f 157 180 183 +f 180 167 183 +f 168 159 184 +f 159 176 184 +f 178 168 184 +f 176 178 184 +f 163 160 185 +f 160 172 185 +f 172 163 185 +f 170 163 186 +f 154 170 186 +f 172 154 186 +f 163 172 186 +f 164 161 187 +f 167 164 187 +f 161 179 187 +f 179 183 187 +f 183 167 187 +f 173 157 188 +f 165 173 188 +f 157 179 188 +o convex_4 +v -1.934396 -3.742886 -0.204666 +v -0.534686 -3.114540 0.052377 +v -0.534686 -3.114540 -0.061818 +v -0.534686 -3.914438 -0.004750 +v -2.677069 -3.514489 0.252293 +v -0.534686 -3.514489 0.280886 +v -2.619978 -3.343172 -0.090411 +v -0.534686 -3.286092 -0.318920 +v -2.705615 -3.742886 0.023785 +v -2.705615 -3.514489 -0.233200 +v -0.534686 -3.742886 -0.290327 +v -1.706033 -3.742886 0.223759 +v -0.706205 -3.200355 0.252293 +v -2.734406 -3.343172 0.052377 +v -0.620568 -3.171776 -0.290327 +v -1.677487 -3.571491 -0.318920 +v -0.534686 -3.742886 0.252293 +v -3.048652 -3.514489 -0.004750 +v -2.134214 -3.542990 0.280886 +v -2.448460 -3.371751 0.195166 +v -2.648524 -3.314515 0.023785 +v -0.620568 -3.800044 -0.261793 +v -2.677069 -3.571491 -0.233200 +v -2.448460 -3.714464 0.166632 +v -2.677069 -3.742886 -0.033284 +v -0.534686 -3.343172 0.280886 +v -3.048652 -3.571491 0.052377 +v -2.477251 -3.371751 -0.176073 +v -1.620396 -3.485988 -0.318920 +v -0.534686 -3.600070 -0.318920 +v -0.563478 -3.914438 -0.033284 +v -1.791669 -3.742886 -0.233200 +v -2.619978 -3.571491 0.252293 +v -1.506215 -3.628649 0.280886 +v -0.991905 -3.314515 0.280886 +v -2.391369 -3.714464 -0.176073 +v -3.019860 -3.571491 -0.033284 +v -2.648524 -3.314515 -0.004750 +v -2.591433 -3.742886 0.080912 +v -1.620396 -3.314515 -0.261793 +v -0.906269 -3.771465 0.223759 +v -0.534686 -3.200355 0.252293 +f 223 214 230 +f 191 190 192 +f 192 190 194 +f 191 192 196 +f 196 192 199 +f 191 196 203 +f 192 194 205 +f 195 198 206 +f 193 201 208 +f 202 193 208 +f 202 208 209 +f 190 191 209 +f 201 190 209 +f 208 201 209 +f 204 199 210 +f 198 204 211 +f 194 190 214 +f 207 194 214 +f 193 202 215 +f 202 206 215 +f 198 195 216 +f 195 203 216 +f 203 196 217 +f 204 198 217 +f 196 204 217 +f 196 199 218 +f 199 204 218 +f 204 196 218 +f 192 197 219 +f 199 192 219 +f 210 199 219 +f 213 189 219 +f 197 213 219 +f 204 210 220 +f 211 204 220 +f 219 189 220 +f 210 219 220 +f 207 193 221 +f 212 200 221 +f 193 215 221 +f 205 194 222 +f 200 205 222 +f 194 207 222 +f 207 221 222 +f 221 200 222 +f 201 193 223 +f 193 207 223 +f 207 214 223 +f 189 213 224 +f 213 211 224 +f 220 189 224 +f 211 220 224 +f 206 198 225 +f 198 211 225 +f 213 197 225 +f 211 213 225 +f 215 206 225 +f 197 215 225 +f 191 203 226 +f 203 195 226 +f 195 206 226 +f 206 202 226 +f 202 209 226 +f 209 191 226 +f 197 192 227 +f 192 200 227 +f 200 212 227 +f 215 197 227 +f 212 221 227 +f 221 215 227 +f 198 216 228 +f 216 203 228 +f 203 217 228 +f 217 198 228 +f 200 192 229 +f 192 205 229 +f 205 200 229 +f 190 201 230 +f 214 190 230 +f 201 223 230 +o convex_5 +v 0.322298 -2.743332 -0.004755 +v -0.534686 -3.942799 -0.033301 +v -0.191805 -4.428377 -0.004755 +v 0.065137 -3.229082 -0.347547 +v 0.579458 -3.685709 0.252338 +v -0.534686 -3.200478 0.252338 +v 0.579458 -3.571812 -0.290333 +v -0.534686 -3.286117 -0.318940 +v -0.020365 -4.485585 0.195186 +v -0.191805 -2.743332 0.280945 +v 0.065137 -4.399772 -0.176028 +v 0.008209 -2.743332 -0.318940 +v -0.534686 -3.514604 0.280945 +v 0.579458 -3.286117 0.223793 +v -0.534686 -3.742917 -0.290333 +v 0.579458 -3.885591 -0.004755 +v 0.579458 -3.257513 -0.290333 +v -0.277525 -2.743332 -0.004755 +v 0.179431 -2.743332 0.280945 +v -0.106085 -4.314133 0.252338 +v 0.208004 -2.743332 -0.318940 +v 0.036564 -3.628847 -0.318940 +v 0.179431 -4.399772 0.052397 +v -0.534686 -3.171874 -0.290333 +v -0.534686 -3.771348 0.223793 +v 0.579458 -3.114839 -0.061785 +v -0.220378 -2.743332 -0.204635 +v 0.579458 -3.799952 -0.176028 +v -0.534686 -3.086235 0.023790 +v -0.334672 -3.343326 -0.347547 +v 0.579458 -3.828556 0.166640 +v 0.265151 -2.743332 0.223793 +v -0.020365 -4.456981 -0.118937 +v -0.163232 -4.428377 0.109488 +v 0.179431 -4.399772 -0.033301 +v 0.122284 -4.285529 -0.204635 +v 0.036564 -3.143270 0.280945 +v 0.150858 -4.342737 0.195186 +v 0.036564 -4.514362 -0.004755 +v -0.534686 -3.600416 -0.318940 +v -0.534686 -3.799952 -0.261787 +v -0.020365 -4.399772 -0.176028 +v 0.065137 -3.029027 -0.347547 +f 260 242 273 +f 232 236 238 +f 240 231 242 +f 236 232 243 +f 240 236 243 +f 235 237 244 +f 232 238 245 +f 237 235 246 +f 237 234 247 +f 244 237 247 +f 240 242 248 +f 231 240 249 +f 240 243 249 +f 235 244 249 +f 242 231 251 +f 234 237 252 +f 238 236 254 +f 242 238 254 +f 243 232 255 +f 250 243 255 +f 244 247 256 +f 251 231 256 +f 247 251 256 +f 248 242 257 +f 242 254 257 +f 254 248 257 +f 237 246 258 +f 236 240 259 +f 240 248 259 +f 254 236 259 +f 248 254 259 +f 238 242 260 +f 234 252 260 +f 246 235 261 +f 253 246 261 +f 231 249 262 +f 249 244 262 +f 256 231 262 +f 244 256 262 +f 232 233 264 +f 233 239 264 +f 239 250 264 +f 255 232 264 +f 250 255 264 +f 246 253 265 +f 241 258 265 +f 258 246 265 +f 252 237 266 +f 237 258 266 +f 258 241 266 +f 235 249 267 +f 249 243 267 +f 250 235 267 +f 243 250 267 +f 250 239 268 +f 235 250 268 +f 239 253 268 +f 261 235 268 +f 253 261 268 +f 239 233 269 +f 253 239 269 +f 233 263 269 +f 263 241 269 +f 265 253 269 +f 241 265 269 +f 245 238 270 +f 238 260 270 +f 260 252 270 +f 266 245 270 +f 252 266 270 +f 233 232 271 +f 232 245 271 +f 263 233 272 +f 241 263 272 +f 266 241 272 +f 245 266 272 +f 233 271 272 +f 271 245 272 +f 247 234 273 +f 242 251 273 +f 251 247 273 +f 234 260 273 +o convex_6 +v -0.248980 -2.743159 -0.118976 +v 1.236518 -0.829116 0.337997 +v 1.236518 -0.829116 0.023874 +v -1.220173 -0.829116 -0.004733 +v 0.322253 -0.829303 -0.947470 +v -0.791748 -2.114575 0.823577 +v 0.950658 -2.428773 -0.033155 +v -0.820213 -2.057431 -0.718615 +v 0.893486 -2.171719 -0.833043 +v 0.065101 -0.829303 0.938004 +v 0.779142 -2.085909 0.709333 +v -1.248881 -1.914665 -0.033155 +v -0.791748 -0.829116 -0.804436 +v -0.791748 -0.829116 0.823577 +v 0.179202 -2.743159 0.280783 +v 0.836314 -0.829303 -0.861649 +v 1.236518 -1.857520 -0.318856 +v 0.207909 -2.743159 -0.318856 +v -1.248881 -1.600654 0.366604 +v -0.848920 -2.485917 0.052296 +v -0.020292 -1.857333 -0.918863 +v -1.248881 -1.171980 -0.375885 +v 0.865022 -0.829303 0.766363 +v 1.236518 -1.628945 0.337997 +v -0.020292 -2.514583 -0.661585 +v 0.065101 -1.743607 0.909397 +v 0.122273 -2.485917 0.652119 +v -0.220272 -2.743159 0.280783 +v -0.477424 -2.543061 -0.461706 +v 1.236518 -1.514844 -0.376070 +v -1.248881 -1.857520 0.309390 +v -1.248881 -1.743420 -0.318856 +v -0.105928 -0.829303 -0.947470 +v -1.248881 -1.114836 0.252176 +v 0.836314 -1.885999 0.737756 +v 0.550698 -2.457439 0.480662 +v 1.236518 -1.172167 0.423633 +v 0.836314 -2.143053 -0.861649 +v -1.134537 -0.829116 -0.490128 +v -0.477424 -2.485917 0.566483 +v 1.236518 -1.029214 -0.261642 +v -0.877385 -2.457439 -0.033155 +v -0.363080 -0.886260 0.909397 +v -0.791748 -1.143502 -0.804436 +v 0.807850 -1.086358 0.794970 +v 1.236518 -1.771898 0.223753 +v 0.522233 -2.514395 -0.547342 +v -0.734576 -2.085909 -0.747406 +v -0.820213 -2.143053 0.794970 +v 0.322253 -2.743159 0.023689 +v -0.020292 -1.372265 -0.947470 +v 0.950658 -2.428773 -0.090185 +v -0.077464 -2.743159 -0.290249 +v 0.836314 -2.057431 0.680726 +v -1.134537 -0.829116 0.280783 +v -1.248881 -0.886260 -0.261642 +v 0.179202 -2.514583 -0.661585 +v 0.865022 -1.372078 -0.861649 +v 1.236518 -1.885999 0.023874 +v 0.065101 -1.942955 0.852184 +v -0.077464 -2.514583 0.623697 +v 0.265081 -2.743159 0.223753 +v -1.248881 -1.372078 -0.375885 +v -0.877385 -2.457439 0.080719 +f 313 322 337 +f 275 276 277 +f 277 276 286 +f 275 277 287 +f 286 276 289 +f 278 286 289 +f 276 275 290 +f 288 274 291 +f 279 287 292 +f 285 292 295 +f 275 287 296 +f 287 283 296 +f 290 275 297 +f 274 288 301 +f 293 274 301 +f 276 290 303 +f 290 282 303 +f 292 285 304 +f 285 295 305 +f 286 278 306 +f 292 287 307 +f 295 292 307 +f 299 284 308 +f 300 288 309 +f 284 300 309 +f 275 296 310 +f 297 275 310 +f 308 297 310 +f 296 308 310 +f 298 294 311 +f 277 286 312 +f 293 301 313 +f 289 276 314 +f 276 303 314 +f 303 289 314 +f 274 293 315 +f 302 274 315 +f 281 302 315 +f 305 281 315 +f 285 305 315 +f 283 287 316 +f 287 279 316 +f 279 299 316 +f 299 283 316 +f 286 306 317 +f 312 286 317 +f 296 283 318 +f 283 299 318 +f 308 296 318 +f 299 308 318 +f 290 297 319 +f 294 298 321 +f 302 281 321 +f 298 302 321 +f 281 317 321 +f 317 294 321 +f 279 292 322 +f 292 304 322 +f 288 291 323 +f 306 278 324 +f 278 311 324 +f 311 294 324 +f 294 317 324 +f 317 306 324 +f 282 290 325 +f 320 282 325 +f 291 320 325 +f 280 323 325 +f 323 291 325 +f 291 274 326 +f 298 291 326 +f 274 302 326 +f 302 298 326 +f 308 284 327 +f 297 308 327 +f 309 280 327 +f 284 309 327 +f 280 319 327 +f 319 297 327 +f 287 277 328 +f 277 307 328 +f 307 287 328 +f 307 277 329 +f 295 307 329 +f 277 312 329 +f 312 295 329 +f 291 298 330 +f 311 282 330 +f 298 311 330 +f 282 320 330 +f 320 291 330 +f 278 289 331 +f 289 303 331 +f 303 282 331 +f 282 311 331 +f 311 278 331 +f 319 280 332 +f 290 319 332 +f 280 325 332 +f 325 290 332 +f 299 279 333 +f 284 299 333 +f 279 300 333 +f 300 284 333 +f 300 279 334 +f 288 300 334 +f 301 288 334 +f 313 301 334 +f 279 322 334 +f 322 313 334 +f 280 309 335 +f 309 288 335 +f 323 280 335 +f 288 323 335 +f 281 305 336 +f 305 295 336 +f 295 312 336 +f 317 281 336 +f 312 317 336 +f 304 285 337 +f 293 313 337 +f 315 293 337 +f 285 315 337 +f 322 304 337 +o convex_7 +v 1.236518 -1.828967 -0.290344 +v 1.265298 -0.829116 0.309446 +v 1.265298 -0.829116 0.052361 +v 3.007721 -1.514576 -0.004719 +v 1.236518 -1.657526 0.309446 +v 1.236518 -1.029147 -0.261804 +v 2.721998 -1.486086 -0.233264 +v 2.750432 -1.543166 0.166671 +v 2.636004 -1.686016 -0.004719 +v 2.836080 -1.343337 -0.061799 +v 1.350945 -1.543166 -0.376114 +v 1.236518 -1.172098 0.395216 +v 1.322512 -1.857557 0.023821 +v 2.778866 -1.486086 0.166671 +v 2.521750 -1.657526 -0.176109 +v 2.122119 -1.657526 0.195211 +v 1.350945 -1.828967 -0.290344 +v 1.608235 -1.400416 0.338061 +v 2.607571 -1.343337 -0.176109 +v 2.836080 -1.343337 -0.004719 +v 1.236518 -1.628936 -0.376114 +v 1.293905 -1.029147 -0.261804 +v 2.978941 -1.514576 -0.090414 +v 1.236518 -0.829116 0.309446 +v 2.721998 -1.514576 -0.233264 +v 1.322512 -1.657526 0.309446 +v 1.236518 -1.828967 0.080901 +v 1.579454 -1.229177 -0.290344 +v 1.293905 -1.200587 0.395216 +v 2.750432 -1.657526 -0.061799 +v 1.322512 -1.628936 -0.376114 +f 362 354 368 +f 338 342 343 +f 341 345 346 +f 340 339 347 +f 343 342 349 +f 345 341 351 +f 346 345 353 +f 350 346 353 +f 350 338 354 +f 346 350 354 +f 345 351 355 +f 340 347 356 +f 347 344 356 +f 347 339 357 +f 341 347 357 +f 351 341 357 +f 339 351 357 +f 338 343 358 +f 343 348 358 +f 354 338 358 +f 343 340 359 +f 348 343 359 +f 340 356 359 +f 356 344 359 +f 344 347 360 +f 347 341 360 +f 339 340 361 +f 340 343 361 +f 349 339 361 +f 343 349 361 +f 348 344 362 +f 352 354 362 +f 344 360 362 +f 353 345 363 +f 345 355 363 +f 342 338 364 +f 338 350 364 +f 350 353 364 +f 363 342 364 +f 353 363 364 +f 344 348 365 +f 348 359 365 +f 359 344 365 +f 339 349 366 +f 349 342 366 +f 351 339 366 +f 355 351 366 +f 342 363 366 +f 363 355 366 +f 341 346 367 +f 346 354 367 +f 354 352 367 +f 360 341 367 +f 352 362 367 +f 362 360 367 +f 358 348 368 +f 354 358 368 +f 348 362 368 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/788/788.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/788/788.urdf new file mode 100644 index 000000000..e8d3105c7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/788/788.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/789/789.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/789/789.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/789/789.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/789/789.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/789/789.obj new file mode 100644 index 000000000..8725eff55 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/789/789.obj @@ -0,0 +1,459 @@ +o convex_0 +v 1.027186 -2.004517 1.075325 +v -1.121228 -5.208343 -0.959961 +v -0.216408 -5.208343 -0.959961 +v -0.442613 0.672053 -0.997774 +v -0.970354 0.672053 0.962093 +v -0.932688 -5.170352 0.962093 +v 1.027186 0.672053 -0.884542 +v 1.027186 -5.208343 -0.922148 +v 0.951856 -5.208343 1.113138 +v 1.065065 0.672053 0.999906 +v -1.008019 0.672053 -0.997774 +v 1.027186 -0.119981 -0.959961 +v 1.065065 -2.569187 -0.017531 +v -0.970354 -5.170352 0.886880 +v 0.989521 -5.019544 1.113138 +v -0.216408 -5.208343 1.037512 +v 1.027186 -2.870805 -0.959961 +v 0.763315 -4.566541 1.113138 +v 1.065065 0.257041 1.037512 +v -1.121228 -5.019544 -0.846935 +v -0.781814 -4.604531 0.999699 +v -1.045684 -0.760631 -0.922354 +v 1.065065 0.634063 0.170501 +v -0.970354 -0.760631 -0.997774 +v 1.065065 -0.836036 1.037512 +v -0.555822 -0.308205 0.999699 +v 0.989521 0.672053 -0.959961 +v 1.027186 -5.208343 -0.319001 +v -1.008019 -5.208343 0.396759 +v -0.028082 0.634063 0.999906 +v 1.065065 -2.342973 -0.092743 +v -0.970354 -0.685227 0.962299 +v 0.725650 -4.944139 1.113138 +v -1.008019 0.672053 -0.620678 +v -1.083349 -5.208343 -0.394420 +v -1.121228 -4.868159 -0.884542 +v -0.781814 -5.170352 0.999699 +f 33 21 37 +f 4 5 7 +f 2 3 8 +f 2 8 9 +f 7 5 10 +f 5 4 11 +f 2 9 16 +f 8 3 17 +f 4 12 17 +f 15 1 18 +f 9 15 18 +f 13 10 19 +f 1 15 19 +f 18 1 19 +f 11 2 22 +f 7 10 23 +f 12 7 23 +f 10 13 23 +f 3 2 24 +f 2 11 24 +f 11 4 24 +f 17 3 24 +f 4 17 24 +f 15 13 25 +f 13 19 25 +f 19 15 25 +f 5 21 26 +f 4 7 27 +f 12 4 27 +f 7 12 27 +f 9 8 28 +f 8 13 28 +f 15 9 28 +f 13 15 28 +f 6 14 29 +f 16 6 29 +f 2 16 29 +f 10 5 30 +f 19 10 30 +f 18 19 30 +f 5 26 30 +f 26 18 30 +f 13 8 31 +f 8 17 31 +f 17 12 31 +f 12 23 31 +f 23 13 31 +f 14 6 32 +f 5 20 32 +f 21 5 32 +f 16 9 33 +f 9 18 33 +f 18 26 33 +f 26 21 33 +f 5 11 34 +f 11 22 34 +f 22 5 34 +f 20 2 35 +f 2 29 35 +f 29 14 35 +f 14 32 35 +f 32 20 35 +f 2 20 36 +f 20 5 36 +f 22 2 36 +f 5 22 36 +f 6 16 37 +f 32 6 37 +f 21 32 37 +f 16 33 37 +o convex_1 +v 1.140462 1.388344 -0.583130 +v 3.025205 2.406016 0.509803 +v 2.949749 1.275230 0.547664 +v 1.140462 2.406016 0.585410 +v 2.949749 2.368233 -0.432144 +v 2.949749 1.199781 -0.507523 +v 1.178283 1.275230 0.509803 +v 1.140462 2.368233 -0.507523 +v 2.685744 1.199781 0.547664 +v 1.140462 1.313014 -0.583130 +v 2.987384 2.406016 -0.206008 +v 1.140462 1.426010 0.547664 +v 1.178283 2.179788 -0.545384 +v 2.610473 1.199781 -0.507523 +v 3.025205 2.028891 0.208288 +v 1.630650 1.953678 0.585410 +v 1.140462 2.406016 0.019899 +v 2.949749 1.388344 -0.507523 +v 2.949749 1.199781 0.547664 +v 2.421925 2.368233 -0.470005 +v 2.308833 2.406016 0.547664 +v 2.987384 1.501340 -0.243869 +f 52 56 59 +f 38 41 45 +f 41 38 47 +f 38 43 47 +f 41 39 48 +f 44 46 49 +f 41 47 49 +f 47 44 49 +f 38 45 50 +f 43 46 51 +f 46 44 51 +f 47 43 51 +f 44 47 51 +f 48 39 52 +f 41 49 53 +f 49 46 53 +f 45 41 54 +f 41 48 54 +f 48 45 54 +f 43 38 55 +f 42 48 55 +f 38 50 55 +f 39 40 56 +f 46 43 56 +f 52 39 56 +f 40 53 56 +f 53 46 56 +f 48 42 57 +f 45 48 57 +f 50 45 57 +f 42 55 57 +f 55 50 57 +f 40 39 58 +f 39 41 58 +f 53 40 58 +f 41 53 58 +f 48 52 59 +f 43 55 59 +f 55 48 59 +f 56 43 59 +o convex_2 +v -2.968265 1.237565 0.283667 +v -2.553330 2.406016 -0.394626 +v -2.553330 2.406016 -0.470005 +v -1.158923 1.275230 -0.432144 +v -1.158923 2.292784 0.547664 +v -3.005901 2.330568 0.472285 +v -3.081361 1.199781 -0.470005 +v -1.196747 2.330568 -0.583130 +v -1.272019 1.313014 0.509803 +v -2.930253 1.275230 0.585410 +v -3.005901 2.330568 -0.432144 +v -1.158923 1.576907 -0.545384 +v -1.158923 1.313014 0.472285 +v -2.440423 1.199781 -0.470005 +v -2.026241 1.802899 0.585410 +v -1.498210 2.104458 -0.583130 +v -2.968265 2.406016 -0.168376 +v -2.742074 2.406016 -0.470005 +v -3.043537 1.199781 -0.092883 +v -1.158923 1.275230 -0.507523 +v -2.704250 1.388344 -0.507523 +v -1.158923 2.292784 -0.583130 +v -2.214043 2.330568 0.509803 +v -2.892617 1.539124 0.585410 +v -2.101512 1.275230 0.547664 +v -3.081361 1.426010 -0.470005 +v -2.515694 1.275230 0.585410 +v -1.158923 1.953678 0.547664 +f 74 86 87 +f 62 61 67 +f 61 64 67 +f 64 63 71 +f 63 64 72 +f 63 72 73 +f 61 62 76 +f 64 61 76 +f 70 65 76 +f 70 76 77 +f 62 67 77 +f 67 75 77 +f 76 62 77 +f 65 66 78 +f 69 65 78 +f 60 69 78 +f 66 73 78 +f 71 63 79 +f 73 66 79 +f 63 73 79 +f 75 71 80 +f 77 75 80 +f 71 79 80 +f 79 66 80 +f 67 64 81 +f 64 71 81 +f 75 67 81 +f 71 75 81 +f 74 64 82 +f 64 76 82 +f 76 65 82 +f 65 69 83 +f 69 74 83 +f 74 82 83 +f 82 65 83 +f 72 68 84 +f 73 72 84 +f 60 78 84 +f 78 73 84 +f 66 65 85 +f 65 70 85 +f 70 77 85 +f 80 66 85 +f 77 80 85 +f 69 60 86 +f 74 69 86 +f 60 84 86 +f 84 68 86 +f 72 64 87 +f 68 72 87 +f 64 74 87 +f 86 68 87 +o convex_3 +v 1.064899 2.556597 -1.375006 +v -1.045839 2.368152 -1.148745 +v -1.045839 2.368152 -0.997774 +v 1.027253 0.747443 -0.997774 +v -0.744245 0.822947 -2.995600 +v 1.027253 2.896049 -2.995600 +v 1.102757 0.823158 -2.995600 +v -0.970335 2.782898 -2.995600 +v -1.007982 0.785300 -0.997774 +v 1.027253 2.896049 -0.997774 +v -0.706388 2.858192 -0.997774 +v -0.970335 0.822947 -2.957662 +v -1.045839 2.782898 -0.997774 +v 0.085034 0.747443 -1.865076 +v -1.045839 2.556597 -1.865076 +v 1.064899 1.388492 -0.997774 +v 1.064899 0.785300 -2.769144 +v 0.688012 2.896049 -2.995600 +v -0.744245 0.785300 -2.769144 +v -1.007982 2.782898 -2.882176 +v -0.442651 0.747443 -0.997774 +v 1.064899 2.255001 -2.995600 +v -1.007982 0.785300 -1.375006 +v 1.064899 2.481303 -0.997774 +v 1.027253 0.747443 -1.865076 +v 1.102757 1.124543 -2.920115 +v 1.102757 0.823158 -2.731596 +v 0.763305 2.896049 -0.997774 +v -0.970335 0.785300 -2.467592 +v -0.857185 2.820335 -2.128298 +f 107 100 117 +f 92 93 94 +f 93 92 95 +f 90 89 96 +f 91 90 96 +f 90 91 97 +f 88 93 97 +f 90 97 98 +f 95 92 99 +f 89 90 100 +f 90 98 100 +f 89 100 102 +f 97 91 103 +f 92 94 104 +f 93 95 105 +f 97 93 105 +f 99 92 106 +f 92 104 106 +f 104 101 106 +f 95 99 107 +f 99 102 107 +f 102 100 107 +f 91 96 108 +f 101 91 108 +f 93 88 109 +f 94 93 109 +f 96 89 110 +f 89 102 110 +f 102 99 110 +f 108 96 110 +f 88 97 111 +f 97 103 111 +f 94 91 112 +f 91 101 112 +f 104 94 112 +f 101 104 112 +f 109 88 113 +f 94 109 113 +f 88 111 113 +f 113 111 114 +f 91 94 114 +f 103 91 114 +f 111 103 114 +f 94 113 114 +f 98 97 115 +f 97 105 115 +f 105 98 115 +f 99 106 116 +f 106 101 116 +f 101 108 116 +f 110 99 116 +f 108 110 116 +f 100 98 117 +f 105 95 117 +f 98 105 117 +f 95 107 117 +o convex_4 +v -1.158923 1.577021 -0.545314 +v 1.140462 2.406013 0.586037 +v 1.140462 2.028743 0.586037 +v -1.121110 1.802556 2.997548 +v 0.914260 0.709933 3.110965 +v 1.064836 2.896049 2.997548 +v -1.045710 2.782629 -0.997774 +v 0.989661 0.672054 -0.959968 +v -1.008122 0.672054 -0.997774 +v 1.027249 2.896049 -0.997774 +v -1.121110 2.820508 2.960145 +v -1.121110 0.822918 2.997548 +v -0.555717 2.896049 0.095772 +v 1.064836 0.672054 1.000289 +v -0.970309 0.672054 0.962484 +v 1.140462 1.312955 -0.583119 +v -1.158923 2.292593 -0.582717 +v 1.064836 2.443675 3.035354 +v 1.027249 0.785256 -0.997774 +v -1.158923 1.312955 0.472621 +v 1.140462 1.312955 0.510024 +v -0.706519 2.857953 -0.997774 +v 0.650245 0.973782 3.110965 +v 1.140462 2.368134 -0.507508 +v 1.064836 0.709933 1.376736 +v -0.517904 2.896049 1.075096 +v -1.158923 1.275293 -0.507106 +v 1.064836 2.896049 -0.507508 +v -0.668706 0.785256 3.035354 +v 0.951848 0.898241 3.110965 +v 0.650245 2.896049 2.997548 +v 0.989661 2.594321 3.035354 +v 1.064836 2.481336 -0.997774 +v -1.158923 2.292593 0.548232 +v -0.970309 0.822918 3.035354 +v 1.064836 0.672054 0.208786 +v -1.083297 2.820508 1.451945 +v 0.801046 0.709933 3.110965 +v 1.064836 1.350616 -0.997774 +v -0.857320 2.857953 2.130434 +v 1.027249 0.672054 -0.884357 +f 133 153 158 +f 118 124 126 +f 126 124 127 +f 123 127 130 +f 126 125 131 +f 126 131 132 +f 129 126 132 +f 119 120 133 +f 124 118 134 +f 128 124 134 +f 120 119 135 +f 119 123 135 +f 125 126 136 +f 126 127 136 +f 134 118 137 +f 133 120 138 +f 131 133 138 +f 120 135 138 +f 127 124 139 +f 130 127 139 +f 128 121 140 +f 119 133 141 +f 122 131 142 +f 131 138 142 +f 138 135 142 +f 123 130 143 +f 118 126 144 +f 126 129 144 +f 137 118 144 +f 129 137 144 +f 123 119 145 +f 127 123 145 +f 119 141 145 +f 141 127 145 +f 129 132 146 +f 140 122 147 +f 122 142 147 +f 142 135 147 +f 123 143 148 +f 135 123 149 +f 128 140 149 +f 140 147 149 +f 147 135 149 +f 123 148 149 +f 148 128 149 +f 136 127 150 +f 127 141 150 +f 141 133 150 +f 121 128 151 +f 129 121 151 +f 128 134 151 +f 137 129 151 +f 134 137 151 +f 121 129 152 +f 140 121 152 +f 129 146 152 +f 131 125 153 +f 133 131 153 +f 124 128 154 +f 139 124 154 +f 130 139 154 +f 131 122 155 +f 132 131 155 +f 122 140 155 +f 146 132 155 +f 140 152 155 +f 152 146 155 +f 133 136 156 +f 136 150 156 +f 150 133 156 +f 143 130 157 +f 128 148 157 +f 148 143 157 +f 154 128 157 +f 130 154 157 +f 125 136 158 +f 136 133 158 +f 153 125 158 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/789/789.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/789/789.urdf new file mode 100644 index 000000000..e00cf3e8b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/789/789.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/790/790.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/790/790.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/790/790.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/790/790.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/790/790.obj new file mode 100644 index 000000000..f7e0cf9fc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/790/790.obj @@ -0,0 +1,618 @@ +o convex_0 +v 1.011351 -2.793144 -1.073222 +v -1.070449 -3.020248 0.975812 +v -1.070449 -3.020248 1.008514 +v -1.070449 -1.491968 0.975812 +v 1.076296 -3.833923 1.041009 +v -1.038082 -4.094050 -1.040727 +v 1.043928 -1.491697 -1.073222 +v 0.946196 -1.491697 1.041009 +v -0.972927 -1.491968 -0.943242 +v 0.946196 -4.257001 -1.008025 +v -1.005504 -4.159014 1.008514 +v 1.076296 -4.224249 1.041009 +v -0.582419 -4.191767 1.041009 +v -0.614996 -3.671242 -1.073222 +v 0.588476 -4.257001 -0.715365 +v 1.043928 -2.467782 -1.073222 +v 0.978774 -1.491697 0.845626 +v 1.011351 -4.257001 -0.292312 +v -1.038082 -4.126532 -0.650375 +v -0.745306 -4.191767 0.650658 +v -0.452529 -1.491697 1.008307 +v -1.038082 -3.768688 -1.040727 +v 0.393221 -4.191767 -1.040520 +v 1.076296 -4.224249 0.715647 +v 0.881252 -1.491697 -1.073222 +v -1.070449 -2.142692 0.520679 +v 0.523321 -4.224249 1.041009 +v -0.614996 -1.491697 -0.975530 +v -0.094599 -4.191767 -1.040520 +v 0.978774 -3.833923 -1.040520 +v 1.043928 -1.491697 -0.910541 +v -0.680151 -4.126532 1.041216 +v -1.038082 -3.801170 1.008514 +v -1.005504 -3.508561 -1.040727 +v 0.783520 -1.491697 1.041009 +v -1.070449 -1.524721 0.845833 +v -1.038082 -4.126532 -0.064848 +v 0.913619 -4.257001 -0.064641 +v -1.070449 -2.825897 1.008514 +f 32 21 39 +f 2 3 4 +f 7 1 14 +f 1 7 16 +f 7 8 17 +f 8 5 17 +f 15 10 18 +f 3 2 19 +f 2 6 19 +f 13 11 20 +f 15 13 20 +f 11 19 20 +f 8 7 21 +f 14 6 22 +f 14 1 23 +f 7 5 24 +f 5 12 24 +f 16 7 24 +f 12 18 24 +f 18 16 24 +f 7 14 25 +f 21 7 25 +f 2 4 26 +f 6 2 26 +f 22 6 26 +f 9 4 28 +f 4 21 28 +f 21 25 28 +f 6 14 29 +f 10 15 29 +f 19 6 29 +f 15 20 29 +f 20 19 29 +f 23 10 29 +f 14 23 29 +f 1 16 30 +f 18 10 30 +f 16 18 30 +f 23 1 30 +f 10 23 30 +f 5 7 31 +f 17 5 31 +f 7 17 31 +f 5 8 32 +f 12 5 32 +f 11 13 32 +f 27 12 32 +f 13 27 32 +f 32 3 33 +f 11 32 33 +f 22 9 34 +f 14 22 34 +f 25 14 34 +f 9 28 34 +f 28 25 34 +f 8 21 35 +f 32 8 35 +f 21 32 35 +f 4 9 36 +f 9 22 36 +f 26 4 36 +f 22 26 36 +f 3 19 37 +f 19 11 37 +f 33 3 37 +f 11 33 37 +f 13 15 38 +f 18 12 38 +f 15 18 38 +f 12 27 38 +f 27 13 38 +f 4 3 39 +f 21 4 39 +f 3 32 39 +o convex_1 +v 0.360793 5.274876 -0.227533 +v -0.354933 3.941313 0.097746 +v -0.322356 4.982133 -0.292602 +v -0.257200 5.860750 0.358023 +v 0.198115 3.941313 0.325455 +v 0.360793 3.941313 -0.292602 +v -0.354933 5.827920 -0.325170 +v 0.230623 5.925825 0.325455 +v 0.328215 5.795674 -0.292602 +v -0.257200 3.941313 -0.227533 +v -0.354933 4.169174 0.227885 +v 0.295708 3.941313 0.065178 +v 0.002930 4.754660 -0.325170 +v -0.289848 5.860750 0.227885 +v -0.062085 5.827920 -0.325170 +v 0.132960 3.941313 0.325455 +v -0.062085 5.893190 0.358023 +v 0.360793 3.941313 -0.195031 +v 0.198115 5.925825 0.195317 +v -0.354933 3.941313 0.195317 +v 0.230623 4.787489 0.325455 +v 0.165537 3.941313 -0.292602 +v -0.354933 5.827920 -0.227533 +v -0.257200 5.697964 0.358023 +v 0.328215 5.827920 -0.129962 +f 48 58 64 +f 44 41 45 +f 42 41 46 +f 40 45 48 +f 41 42 49 +f 45 41 49 +f 46 41 50 +f 44 45 51 +f 42 46 52 +f 48 45 52 +f 50 43 53 +f 52 46 54 +f 48 52 54 +f 41 44 55 +f 53 43 56 +f 45 40 57 +f 40 47 57 +f 51 45 57 +f 46 53 58 +f 54 46 58 +f 48 54 58 +f 56 47 58 +f 53 56 58 +f 50 41 59 +f 41 55 59 +f 55 50 59 +f 44 51 60 +f 56 44 60 +f 47 56 60 +f 57 47 60 +f 51 57 60 +f 49 42 61 +f 45 49 61 +f 42 52 61 +f 52 45 61 +f 46 50 62 +f 53 46 62 +f 50 53 62 +f 43 50 63 +f 55 44 63 +f 50 55 63 +f 56 43 63 +f 44 56 63 +f 47 40 64 +f 40 48 64 +f 58 47 64 +o convex_2 +v 2.898048 -0.906212 0.195352 +v 1.109051 -1.361473 -0.357703 +v 1.141725 -1.394022 -0.194996 +v 3.061031 -1.426571 -0.325135 +v 2.995685 -0.808565 -0.292634 +v 1.109051 -0.906212 0.325490 +v 1.141725 -1.426571 0.260421 +v 1.109051 -0.808565 -0.227564 +v 3.028358 -1.361473 0.195352 +v 1.141725 -0.841114 0.130283 +v 1.402154 -0.971249 0.325490 +v 3.061031 -1.426571 -0.097426 +v 2.995685 -0.906212 0.162784 +v 1.109051 -1.426571 0.032645 +v 1.109051 -1.296436 -0.357703 +v 3.061031 -1.263887 -0.325135 +v 2.963394 -0.808565 -0.227564 +v 2.377762 -1.426571 -0.325135 +v 2.800411 -1.394022 0.195352 +v 1.141725 -0.873663 0.292922 +v 3.028358 -0.841114 -0.162495 +v 1.109051 -0.808565 -0.064858 +v 1.174398 -1.068835 0.325490 +v 1.174398 -1.133752 -0.325135 +v 1.434636 -0.906212 0.325490 +f 84 70 89 +f 66 70 72 +f 71 68 76 +f 65 73 77 +f 66 67 78 +f 70 66 78 +f 71 70 78 +f 68 71 78 +f 68 66 79 +f 66 72 79 +f 76 68 80 +f 68 79 80 +f 79 69 80 +f 69 72 81 +f 65 77 81 +f 67 66 82 +f 66 68 82 +f 78 67 82 +f 68 78 82 +f 73 71 83 +f 71 76 83 +f 76 73 83 +f 65 81 84 +f 81 74 84 +f 73 76 85 +f 77 73 85 +f 76 80 85 +f 80 69 85 +f 69 81 85 +f 81 77 85 +f 72 70 86 +f 81 72 86 +f 74 81 86 +f 70 84 86 +f 84 74 86 +f 70 71 87 +f 71 73 87 +f 75 70 87 +f 73 75 87 +f 72 69 88 +f 69 79 88 +f 79 72 88 +f 73 65 89 +f 70 75 89 +f 75 73 89 +f 65 84 89 +o convex_3 +v 1.043976 0.395420 0.683194 +v -1.070659 1.370901 -0.878008 +v -1.070659 1.370901 -0.813063 +v -1.038014 -0.775971 0.813294 +v 1.043976 -0.775971 -1.040686 +v 0.946256 1.826668 1.106282 +v 1.043976 1.826668 -1.040686 +v -0.940508 1.826668 0.975972 +v -0.972939 -0.775971 -0.975741 +v 0.946256 -0.775971 1.041127 +v -1.070659 1.826668 -0.975741 +v -1.038014 -0.775971 0.975972 +v 1.109051 -0.775971 0.390416 +v -0.777712 1.794059 -1.008318 +v -0.972939 1.696485 0.975972 +v 0.523372 -0.775971 -1.040896 +v 0.718598 1.728840 1.106282 +v 0.946256 -0.352813 1.073704 +v -0.842788 1.826668 1.008549 +v -1.005370 -0.580570 -0.975741 +v -1.038014 -0.255240 0.975972 +v 1.043976 1.826668 -0.747908 +v -1.070659 1.826668 -0.747908 +v -0.517410 -0.775971 1.008339 +v 0.978900 1.468474 0.975972 +v 0.881180 1.240972 1.106282 +v 1.109051 -0.743362 0.325261 +v 1.076407 -0.157666 0.552884 +v 0.913825 1.598912 -1.040896 +f 105 103 118 +f 92 91 93 +f 95 96 97 +f 94 93 98 +f 93 94 99 +f 91 92 100 +f 97 96 100 +f 92 93 101 +f 93 99 101 +f 99 94 102 +f 100 96 103 +f 94 98 105 +f 98 103 105 +f 99 102 107 +f 95 97 108 +f 97 104 108 +f 106 95 108 +f 101 106 108 +f 93 91 109 +f 98 93 109 +f 91 100 109 +f 103 98 109 +f 100 103 109 +f 108 104 110 +f 101 108 110 +f 96 95 111 +f 100 92 112 +f 97 100 112 +f 92 101 112 +f 104 97 112 +f 101 110 112 +f 110 104 112 +f 101 99 113 +f 106 101 113 +f 99 107 113 +f 95 107 114 +f 90 111 114 +f 111 95 114 +f 95 106 115 +f 107 95 115 +f 106 113 115 +f 113 107 115 +f 94 96 116 +f 102 94 116 +f 96 111 116 +f 111 102 116 +f 107 102 117 +f 111 90 117 +f 102 111 117 +f 90 114 117 +f 114 107 117 +f 96 94 118 +f 103 96 118 +f 94 105 118 +o convex_4 +v 1.043941 3.843415 0.357838 +v 0.946208 1.924360 -1.040896 +v 0.946208 1.957061 -1.040896 +v -1.070659 3.713435 1.106072 +v 0.946208 1.826668 1.106282 +v -1.070659 1.826668 -0.975530 +v -1.038081 3.778425 -1.008108 +v -0.940349 1.826668 0.975972 +v 0.913631 3.811127 -0.942953 +v 1.076519 3.876116 0.943604 +v 1.043941 1.826668 -1.040896 +v -0.387371 3.941106 -0.292452 +v -1.070659 3.778425 1.106072 +v 0.458175 3.941106 0.487939 +v -0.972926 1.989556 1.008549 +v -1.070659 2.152237 -1.008108 +v -0.712726 3.778425 1.106072 +v 0.360653 3.941106 -0.292452 +v 0.978786 3.225393 -0.975530 +v -0.419738 3.778425 -1.008108 +v 1.043941 1.826668 -0.715330 +v -1.005504 3.322877 1.106072 +v -0.354793 3.941106 0.195161 +v 0.946208 2.054546 1.106282 +v 0.848686 3.843415 -0.878008 +v 1.043941 2.314918 -0.942953 +v -1.070659 1.826668 -0.747908 +v 0.686008 1.826668 1.106282 +v 1.076519 3.648239 0.878449 +v -0.940349 3.811127 -0.942953 +v -1.070659 2.575083 -1.008108 +v 0.978786 3.843415 -0.454920 +v 1.076519 3.322877 0.325471 +v -0.875404 1.826668 1.008549 +v 0.978786 2.217227 1.073704 +v -0.387371 3.941106 -0.357397 +v -0.582626 3.811127 1.073494 +v -0.777671 1.826668 -1.008108 +v 1.043941 1.989556 -1.040896 +v -0.972926 1.826668 0.878239 +v 0.295708 3.810920 -0.975530 +v 1.011364 3.192898 1.008549 +v 1.076519 3.876116 0.813294 +v 0.946208 3.745930 -0.942953 +f 150 144 162 +f 124 123 126 +f 120 121 129 +f 123 124 129 +f 124 122 131 +f 121 120 134 +f 124 131 134 +f 130 132 136 +f 123 129 139 +f 122 133 140 +f 130 131 141 +f 132 130 141 +f 135 131 142 +f 122 124 145 +f 124 126 145 +f 126 123 146 +f 131 122 146 +f 122 140 146 +f 123 142 146 +f 142 131 146 +f 131 130 148 +f 125 131 148 +f 125 121 149 +f 131 125 149 +f 121 134 149 +f 134 131 149 +f 127 143 150 +f 143 136 150 +f 119 144 150 +f 139 129 151 +f 144 119 151 +f 128 147 151 +f 147 139 151 +f 133 126 152 +f 140 133 152 +f 126 146 152 +f 146 140 152 +f 123 139 153 +f 142 123 153 +f 128 142 153 +f 147 128 153 +f 139 147 153 +f 130 136 154 +f 136 143 154 +f 148 130 154 +f 143 148 154 +f 128 132 155 +f 135 128 155 +f 131 135 155 +f 141 131 155 +f 132 141 155 +f 120 129 156 +f 129 124 156 +f 134 120 156 +f 124 134 156 +f 121 125 157 +f 129 121 157 +f 125 138 157 +f 137 144 157 +f 151 129 157 +f 144 151 157 +f 133 122 158 +f 126 133 158 +f 122 145 158 +f 145 126 158 +f 127 137 159 +f 138 125 159 +f 143 127 159 +f 125 148 159 +f 148 143 159 +f 157 138 159 +f 137 157 159 +f 128 135 160 +f 142 128 160 +f 135 142 160 +f 132 128 161 +f 136 132 161 +f 119 150 161 +f 150 136 161 +f 151 119 161 +f 128 151 161 +f 137 127 162 +f 144 137 162 +f 127 150 162 +o convex_5 +v -2.079424 -1.198824 0.358023 +v -2.989810 -1.459100 -0.357703 +v -3.022441 -1.459100 0.227853 +v -3.087705 -0.808504 0.227853 +v -1.103580 -0.808504 -0.325125 +v -1.103580 -1.426558 -0.195025 +v -1.103580 -0.906196 0.325446 +v -2.924740 -0.906196 -0.325125 +v -1.168455 -1.361473 0.260290 +v -3.022441 -1.459100 0.358023 +v -3.087705 -0.808504 0.325446 +v -1.331225 -0.971217 -0.357703 +v -1.981723 -1.459100 -0.292618 +v -2.664464 -1.459100 0.358023 +v -2.632026 -0.808504 0.325446 +v -3.054879 -1.003760 0.358023 +v -1.103580 -1.068845 0.325446 +v -2.989810 -1.231366 -0.357703 +v -1.103580 -1.426558 -0.064855 +v -1.331225 -0.873653 0.325446 +v -1.136018 -1.426558 -0.227533 +v -1.331225 -0.808504 -0.325125 +v -1.103580 -0.808504 -0.227533 +v -2.729533 -1.459100 -0.357703 +v -1.363663 -0.906196 -0.357703 +v -3.087705 -0.971217 0.292938 +f 172 173 188 +f 168 167 169 +f 165 164 172 +f 167 166 173 +f 172 164 175 +f 163 172 176 +f 172 175 176 +f 167 173 177 +f 177 173 178 +f 163 169 178 +f 172 163 178 +f 173 172 178 +f 169 163 179 +f 168 169 179 +f 163 176 179 +f 176 171 179 +f 164 166 180 +f 166 170 180 +f 174 164 180 +f 175 168 181 +f 171 176 181 +f 176 175 181 +f 168 179 181 +f 179 171 181 +f 177 178 182 +f 178 169 182 +f 167 168 183 +f 174 167 183 +f 168 175 183 +f 166 167 184 +f 170 166 184 +f 169 167 185 +f 167 177 185 +f 182 169 185 +f 177 182 185 +f 164 174 186 +f 175 164 186 +f 174 183 186 +f 183 175 186 +f 167 174 187 +f 180 170 187 +f 174 180 187 +f 184 167 187 +f 170 184 187 +f 164 165 188 +f 166 164 188 +f 165 172 188 +f 173 166 188 +o convex_6 +v -1.103192 -0.873634 0.162494 +v 0.881176 -1.491697 -1.073222 +v 0.881176 -1.394035 -1.073222 +v 0.946138 -1.491697 1.041009 +v 1.108975 -0.775971 0.390349 +v -1.070495 -1.491697 0.976026 +v -0.940354 -0.775971 -0.975747 +v -0.972835 -1.491697 -0.943048 +v -1.037797 -0.775971 0.976026 +v 1.043797 -0.775971 -1.073222 +v 0.946138 -0.775971 1.041009 +v 1.108975 -1.426612 0.032528 +v 1.043797 -1.491697 -1.073222 +v -1.103192 -1.394035 -0.227405 +v -1.103192 -0.808549 -0.324880 +v -0.517453 -0.775971 1.008518 +v 1.108975 -1.263934 -0.357579 +v 1.108975 -1.426612 0.260176 +v -0.452274 -1.491697 1.008518 +v 0.523452 -0.808549 1.041009 +v 1.108975 -0.808549 -0.227405 +v -0.972835 -0.775971 -0.943048 +v -0.614896 -1.491697 -0.975747 +v -1.103192 -0.906212 0.325159 +v -1.103192 -1.426612 -0.064740 +f 194 212 213 +f 190 192 194 +f 191 190 195 +f 190 194 196 +f 193 195 197 +f 190 191 198 +f 191 195 198 +f 195 193 198 +f 192 193 199 +f 193 197 199 +f 192 190 201 +f 190 198 201 +f 196 202 203 +f 189 197 203 +f 202 189 203 +f 197 194 204 +f 199 197 204 +f 193 200 205 +f 201 198 205 +f 200 201 205 +f 193 192 206 +f 200 193 206 +f 201 200 206 +f 192 201 206 +f 194 192 207 +f 204 194 207 +f 204 207 208 +f 192 199 208 +f 199 204 208 +f 207 192 208 +f 198 193 209 +f 193 205 209 +f 205 198 209 +f 195 196 210 +f 197 195 210 +f 196 203 210 +f 203 197 210 +f 195 190 211 +f 190 196 211 +f 196 195 211 +f 197 189 212 +f 194 197 212 +f 189 202 212 +f 212 202 213 +f 196 194 213 +f 202 196 213 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/790/790.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/790/790.urdf new file mode 100644 index 000000000..9c95aa9b4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/790/790.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/791/791.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/791/791.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/791/791.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/791/791.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/791/791.obj new file mode 100644 index 000000000..831bbb1d4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/791/791.obj @@ -0,0 +1,396 @@ +o convex_0 +v 0.932977 0.054541 1.049790 +v -1.109183 -3.787377 -0.715005 +v -0.451516 -3.821666 -0.991891 +v -1.074389 0.054151 -1.026858 +v -1.074389 -3.891413 0.980467 +v 1.071512 -3.925702 -0.957534 +v 0.932977 0.054541 -0.957331 +v -1.039809 0.054151 1.015230 +v 0.932977 -3.926091 0.980467 +v -1.109183 -3.752698 -0.991891 +v -1.074389 -1.295585 1.015230 +v 0.967557 -0.222498 0.807667 +v -0.658998 -2.991328 1.015027 +v 1.071512 -3.337335 -0.645885 +v 0.309891 -3.856344 -0.992094 +v 0.967557 -0.257566 -0.957331 +v 0.967557 -3.926091 0.807667 +v -1.074389 0.054151 0.357574 +v 0.448212 -0.672930 1.049994 +v 0.932977 -2.817935 1.015027 +v 0.829236 -3.926091 -0.957331 +v 0.033035 0.054541 1.049994 +v -1.074389 -3.891413 0.703581 +v -1.109183 -3.060296 -0.957331 +v -1.074389 -2.298926 1.015230 +v 0.586747 -3.926091 0.980467 +v -1.005228 -0.153530 -1.026858 +v 1.071512 -3.337335 -0.957534 +v 1.071512 -3.925702 -0.680648 +v 0.932977 -0.638251 1.049790 +f 20 17 30 +f 3 2 10 +f 7 1 12 +f 7 12 16 +f 12 1 17 +f 14 12 17 +f 11 8 18 +f 13 9 20 +f 9 17 20 +f 3 15 21 +f 15 6 21 +f 17 9 21 +f 6 17 21 +f 1 7 22 +f 7 4 22 +f 8 11 22 +f 4 18 22 +f 18 8 22 +f 19 1 22 +f 2 3 23 +f 5 2 23 +f 3 21 23 +f 10 2 24 +f 4 10 24 +f 2 11 24 +f 18 4 24 +f 11 18 24 +f 2 5 25 +f 11 2 25 +f 5 13 25 +f 13 19 25 +f 22 11 25 +f 19 22 25 +f 9 13 26 +f 13 5 26 +f 21 9 26 +f 5 23 26 +f 23 21 26 +f 4 7 27 +f 3 10 27 +f 10 4 27 +f 15 3 27 +f 7 16 27 +f 16 15 27 +f 14 6 28 +f 12 14 28 +f 6 15 28 +f 16 12 28 +f 15 16 28 +f 6 14 29 +f 17 6 29 +f 14 17 29 +f 17 1 30 +f 1 19 30 +f 19 13 30 +f 13 20 30 +o convex_1 +v -0.312972 1.058447 1.604149 +v 0.309999 1.542951 3.092231 +v 0.240666 1.542951 3.092231 +v -0.209197 0.954595 3.092231 +v 0.206031 0.989232 1.084805 +v -0.209197 1.473614 1.084805 +v -0.347670 1.369823 2.953503 +v 0.206031 0.954595 2.953503 +v 0.240666 1.369823 1.154168 +v -0.278401 0.919957 1.084805 +v -0.312972 0.954595 3.092231 +v -0.243767 1.473614 1.292503 +v -0.001647 0.919957 1.984767 +v -0.070723 1.473614 1.084805 +v 0.309999 1.439037 2.780388 +v -0.347670 1.058447 3.057254 +v -0.347670 1.335185 2.434355 +v 0.240666 1.023809 2.953503 +v -0.312972 1.404400 2.814972 +v 0.136827 0.954595 1.084805 +v 0.275300 1.542951 2.814972 +v -0.278401 1.093024 1.084805 +v 0.240666 1.093024 1.604149 +f 45 48 53 +f 32 33 34 +f 32 34 38 +f 36 35 40 +f 34 33 41 +f 38 34 43 +f 34 41 43 +f 41 40 43 +f 35 36 44 +f 39 35 44 +f 39 32 45 +f 33 37 46 +f 31 40 46 +f 41 33 46 +f 40 41 46 +f 37 42 47 +f 31 46 47 +f 46 37 47 +f 32 38 48 +f 38 35 48 +f 45 32 48 +f 37 33 49 +f 33 42 49 +f 42 37 49 +f 35 38 50 +f 40 35 50 +f 38 43 50 +f 43 40 50 +f 33 32 51 +f 32 39 51 +f 42 33 51 +f 36 42 51 +f 44 36 51 +f 39 44 51 +f 40 31 52 +f 36 40 52 +f 42 36 52 +f 31 47 52 +f 47 42 52 +f 35 39 53 +f 39 45 53 +f 48 35 53 +o convex_2 +v 0.240669 1.196765 -1.269353 +v 0.275304 0.816114 -2.999623 +v 0.309938 0.816114 -2.999623 +v -0.209153 1.369772 -3.103516 +v -0.243726 0.850752 -1.130893 +v -0.312995 1.404410 -1.130893 +v 0.309938 1.369772 -2.999623 +v -0.243726 0.885390 -3.034189 +v 0.240669 0.885390 -1.130893 +v 0.206096 1.439108 -1.130893 +v -0.209153 0.816114 -1.130893 +v -0.312995 1.196765 -1.788627 +v 0.275304 0.850752 -1.650167 +v 0.033045 0.816114 -1.165653 +v 0.309938 1.369772 -2.722702 +v -0.209153 0.816114 -1.650167 +v -0.312995 1.404410 -1.546274 +v 0.240669 1.369772 -3.068756 +v -0.105310 1.231342 -3.103516 +v 0.309938 0.850752 -2.341889 +v -0.243726 1.093034 -3.034189 +f 65 70 74 +f 56 55 61 +f 59 58 62 +f 62 54 63 +f 59 62 63 +f 55 56 64 +f 62 58 64 +f 58 59 65 +f 61 58 65 +f 54 62 66 +f 64 56 67 +f 62 64 67 +f 56 66 67 +f 66 62 67 +f 56 60 68 +f 63 54 68 +f 60 63 68 +f 54 66 68 +f 61 55 69 +f 58 61 69 +f 55 64 69 +f 64 58 69 +f 63 57 70 +f 59 63 70 +f 65 59 70 +f 60 56 71 +f 57 63 71 +f 63 60 71 +f 56 61 72 +f 61 57 72 +f 71 56 72 +f 57 71 72 +f 66 56 73 +f 56 68 73 +f 68 66 73 +f 57 61 74 +f 61 65 74 +f 70 57 74 +o convex_3 +v 1.002049 0.989144 1.084608 +v -0.313254 1.196484 -1.130700 +v -0.313254 1.404454 -1.130700 +v -3.012892 0.089203 1.049696 +v -2.978170 2.165749 1.084608 +v -3.012892 0.158526 -0.957439 +v 0.932605 0.054541 -0.957439 +v 1.209968 2.200621 -1.061309 +v -3.012892 2.200621 -0.922744 +v 1.209968 2.131087 1.084608 +v 1.209968 0.193187 1.049913 +v 1.209968 0.193187 -0.957439 +v 0.932605 0.054541 1.049913 +v -1.074245 0.054541 -1.026830 +v 0.205923 0.850708 -1.130700 +v 1.071494 2.200621 -0.265264 +v -1.039523 0.054541 1.015217 +v -3.012892 0.124074 -0.888048 +v -2.978170 2.200621 -0.126699 +v -2.978170 1.404454 1.084608 +v 1.036771 2.165749 0.738304 +v -0.209502 0.816256 -1.130700 +v -3.012892 0.781595 -0.957439 +v 0.690378 2.200621 -1.061309 +v -3.012892 0.712481 1.049696 +v -3.012892 0.089203 0.426911 +v -0.278532 0.920031 1.084608 +v 1.209968 1.888876 -1.061309 +v -3.012892 2.200621 -0.472787 +v 0.205923 1.438905 -1.130700 +v -2.562746 2.165749 1.084608 +f 95 90 105 +f 77 76 80 +f 80 78 83 +f 79 75 84 +f 82 84 85 +f 84 75 85 +f 85 81 86 +f 82 85 86 +f 85 75 87 +f 81 85 87 +f 81 87 88 +f 76 77 89 +f 86 81 89 +f 81 88 89 +f 82 83 90 +f 84 82 90 +f 87 78 91 +f 78 88 91 +f 88 87 91 +f 78 80 92 +f 80 88 92 +f 90 83 93 +f 75 79 94 +f 79 78 94 +f 84 90 95 +f 80 76 96 +f 88 80 96 +f 76 89 96 +f 89 88 96 +f 77 80 97 +f 83 77 97 +f 80 83 97 +f 83 82 98 +f 77 83 98 +f 78 79 99 +f 83 78 99 +f 88 78 100 +f 78 92 100 +f 92 88 100 +f 87 75 101 +f 78 87 101 +f 75 94 101 +f 94 78 101 +f 82 86 102 +f 89 82 102 +f 86 89 102 +f 79 93 103 +f 93 83 103 +f 99 79 103 +f 83 99 103 +f 89 77 104 +f 82 89 104 +f 77 98 104 +f 98 82 104 +f 79 84 105 +f 93 79 105 +f 90 93 105 +f 84 95 105 +o convex_4 +v 1.937073 2.165702 1.049913 +v 2.905887 0.089155 -1.130700 +v 2.975204 0.089155 -1.130700 +v 1.209968 2.200573 -1.061309 +v 1.209968 0.193350 1.049913 +v 3.044520 2.235235 0.945826 +v 2.940545 0.089155 0.980522 +v 2.940545 2.131250 -1.061309 +v 1.209968 0.193350 -0.957439 +v 1.209968 2.131250 1.084608 +v 2.594322 0.089155 1.015000 +v 1.417738 0.158478 -0.992135 +v 1.313943 2.165702 1.084608 +v 2.975204 2.165702 -0.611135 +v 3.009862 1.439068 0.980738 +v 1.763782 2.200573 -1.061309 +v 2.767434 0.089155 1.015000 +v 1.209968 1.888829 -1.061309 +v 2.940545 1.507971 -1.095788 +v 1.209968 2.200573 -0.438308 +v 2.975204 0.089155 -0.576656 +v 2.975204 0.816419 -1.095788 +v 1.244626 1.577504 1.084608 +v 1.313943 0.193350 -0.992135 +v 2.940545 2.165702 -0.818874 +v 3.044520 2.235235 0.876652 +v 1.590849 0.158478 1.015217 +v 1.452396 2.165702 1.084608 +v 2.871229 2.200573 0.980522 +v 2.802092 0.089155 -1.095788 +v 3.044520 2.096589 0.945826 +v 1.452396 0.193350 1.049913 +f 122 128 137 +f 107 108 112 +f 110 109 114 +f 109 110 115 +f 107 112 116 +f 110 114 117 +f 116 112 122 +f 110 116 122 +f 120 106 122 +f 112 120 122 +f 109 107 123 +f 114 109 123 +f 108 107 124 +f 107 109 124 +f 109 121 124 +f 121 113 124 +f 111 109 125 +f 109 115 125 +f 118 111 125 +f 115 118 125 +f 112 108 126 +f 113 119 127 +f 108 124 127 +f 124 113 127 +f 115 110 128 +f 118 115 128 +f 107 117 129 +f 117 114 129 +f 123 107 129 +f 114 123 129 +f 119 113 130 +f 113 121 130 +f 130 121 131 +f 109 111 131 +f 121 109 131 +f 108 127 131 +f 127 119 131 +f 119 130 131 +f 116 110 132 +f 110 117 132 +f 117 116 132 +f 111 118 133 +f 122 106 133 +f 118 128 133 +f 128 122 133 +f 120 111 134 +f 106 120 134 +f 133 106 134 +f 111 133 134 +f 107 116 135 +f 117 107 135 +f 116 117 135 +f 111 120 136 +f 120 112 136 +f 126 108 136 +f 112 126 136 +f 108 131 136 +f 131 111 136 +f 110 122 137 +f 128 110 137 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/791/791.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/791/791.urdf new file mode 100644 index 000000000..07362cf43 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/791/791.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/792/792.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/792/792.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/792/792.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/792/792.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/792/792.obj new file mode 100644 index 000000000..74b750e17 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/792/792.obj @@ -0,0 +1,486 @@ +o convex_0 +v 2.994893 -0.600781 -1.540592 +v -3.104535 -2.620257 -1.705732 +v -3.104535 -2.620257 -1.046041 +v 3.036319 -2.661611 0.107766 +v -3.063109 -0.600781 0.519964 +v -3.021682 -0.600781 -1.623162 +v 2.994893 -0.600781 0.355041 +v 3.077746 -2.537953 -1.623162 +v -2.980865 -2.620257 0.355041 +v 3.036319 -2.661611 0.355041 +v -1.373155 -0.889450 -1.664338 +v -1.538252 -2.620257 0.437176 +v 3.119172 -0.600781 -1.210964 +v 1.593706 -2.620257 -1.581986 +v 3.119172 -2.001968 -1.623162 +v 0.975356 -2.661611 -0.798765 +v -3.104535 -2.084272 -1.705732 +v -3.063109 -2.578904 0.355041 +v 0.357615 -2.661611 0.355041 +v -0.383795 -2.620257 0.437176 +v -2.486185 -2.001968 -1.705732 +v -3.063109 -1.013108 -1.664338 +v 3.119172 -2.537953 -1.293316 +v -0.301552 -0.600781 -1.622944 +v -2.939439 -0.642135 0.519964 +v 3.119172 -0.642135 -1.540810 +v -3.063109 -0.600781 -0.469355 +v 2.129812 -2.661611 -0.592884 +v 3.036319 -2.290637 0.355041 +v -3.063109 -0.683287 0.519964 +v 3.119172 -1.260424 -1.581986 +v 3.077746 -2.620257 -0.387003 +f 29 10 32 +f 5 1 6 +f 1 5 7 +f 1 7 13 +f 2 8 14 +f 4 10 16 +f 2 14 16 +f 2 3 17 +f 3 5 17 +f 3 9 18 +f 9 12 18 +f 3 2 19 +f 9 3 19 +f 12 9 19 +f 10 12 19 +f 2 16 19 +f 16 10 19 +f 12 10 20 +f 8 2 21 +f 15 8 21 +f 11 15 21 +f 2 17 21 +f 21 17 22 +f 6 11 22 +f 11 21 22 +f 8 15 23 +f 15 13 23 +f 6 1 24 +f 11 6 24 +f 7 5 25 +f 20 10 25 +f 1 13 26 +f 13 15 26 +f 24 1 26 +f 5 6 27 +f 17 5 27 +f 22 17 27 +f 6 22 27 +f 8 4 28 +f 14 8 28 +f 4 16 28 +f 16 14 28 +f 13 7 29 +f 7 25 29 +f 25 10 29 +f 5 3 30 +f 3 18 30 +f 18 12 30 +f 12 20 30 +f 25 5 30 +f 20 25 30 +f 15 11 31 +f 11 24 31 +f 26 15 31 +f 24 26 31 +f 4 8 32 +f 10 4 32 +f 8 23 32 +f 23 13 32 +f 13 29 32 +o convex_1 +v 1.099559 3.520880 -0.098430 +v -1.084922 2.572769 -1.664516 +v -1.084922 3.397056 -1.664516 +v -1.084922 1.583889 0.478695 +v 0.975751 1.583699 -1.581978 +v 1.099559 1.583699 0.519964 +v -0.919845 3.479542 0.519964 +v 0.975751 3.520880 -1.664516 +v -1.043439 1.583889 -1.664516 +v 1.099559 3.520880 0.437426 +v -1.084922 3.438205 -1.252253 +v 0.728565 2.037276 -1.664516 +v -1.002170 2.820036 0.519964 +v 1.099559 1.583699 0.107701 +v 0.522433 3.520880 -1.252253 +v -0.384203 3.479542 0.519964 +v 1.099559 2.078424 0.519964 +v 1.017020 3.396867 -1.293308 +v -1.043439 3.438205 -1.623247 +v 0.934482 1.583699 -1.623247 +v -0.961114 3.479542 0.396157 +v -1.084922 1.583889 -0.428155 +v -0.961114 3.479542 -0.180968 +v 0.687296 3.520880 0.437426 +v -1.084922 1.748860 0.478695 +v 1.099559 2.984818 0.478695 +v 0.687296 1.583699 0.519964 +v 0.975751 2.572769 -1.664516 +f 52 44 60 +f 35 34 36 +f 34 35 40 +f 34 40 41 +f 38 33 42 +f 33 40 42 +f 35 36 43 +f 41 40 44 +f 38 39 45 +f 33 38 46 +f 38 37 46 +f 42 40 47 +f 39 38 48 +f 42 39 48 +f 38 42 49 +f 48 38 49 +f 40 33 50 +f 33 46 50 +f 46 37 50 +f 40 35 51 +f 35 43 51 +f 47 40 51 +f 37 38 52 +f 41 44 52 +f 45 39 53 +f 43 45 53 +f 36 34 54 +f 34 41 54 +f 51 43 55 +f 47 51 55 +f 43 53 55 +f 53 47 55 +f 39 42 56 +f 42 47 56 +f 53 39 56 +f 47 53 56 +f 43 36 57 +f 36 45 57 +f 45 43 57 +f 42 48 58 +f 49 42 58 +f 48 49 58 +f 45 36 59 +f 38 45 59 +f 52 38 59 +f 41 52 59 +f 36 54 59 +f 54 41 59 +f 44 40 60 +f 40 50 60 +f 50 37 60 +f 37 52 60 +o convex_2 +v 0.151464 1.047883 -2.324147 +v 0.275017 -0.229831 -1.706039 +v 0.439871 -0.229831 -1.706039 +v -0.548904 -0.106137 -3.601507 +v 0.604959 0.800495 -3.601507 +v -0.548904 0.924189 -1.664895 +v -0.590322 1.047883 -3.601507 +v 0.522357 1.006610 -1.664895 +v 0.522357 -0.023716 -3.601507 +v -0.507720 -0.064864 -1.664895 +v 0.563541 -0.188558 -1.664895 +v 0.563541 0.924189 -3.477695 +v -0.590322 0.223672 -3.519029 +v -0.548904 -0.106137 -2.653488 +v 0.563541 0.058705 -3.601507 +v -0.260380 -0.106137 -3.601507 +v -0.590322 1.047883 -3.271786 +v 0.069095 1.006610 -1.664895 +v -0.425234 1.047883 -3.601507 +v 0.604959 0.882916 -3.601507 +v 0.522357 1.006610 -2.200525 +v 0.563541 0.965337 -2.489102 +v -0.590322 0.965337 -2.859588 +f 77 73 83 +f 63 62 64 +f 65 64 67 +f 64 65 69 +f 68 66 70 +f 68 70 71 +f 62 63 71 +f 63 69 71 +f 70 62 71 +f 67 64 73 +f 64 62 74 +f 62 70 74 +f 70 66 74 +f 73 64 74 +f 66 73 74 +f 69 65 75 +f 65 71 75 +f 71 69 75 +f 63 64 76 +f 69 63 76 +f 64 69 76 +f 61 67 77 +f 67 73 77 +f 68 61 78 +f 66 68 78 +f 61 77 78 +f 77 66 78 +f 67 61 79 +f 65 67 79 +f 79 72 80 +f 71 65 80 +f 65 79 80 +f 61 68 81 +f 79 61 81 +f 72 79 81 +f 68 71 82 +f 80 72 82 +f 71 80 82 +f 81 68 82 +f 72 81 82 +f 73 66 83 +f 66 77 83 +o convex_3 +v 3.077831 -0.600781 -0.922101 +v -3.021841 -0.600781 -1.623299 +v -3.063319 -0.600781 -0.468621 +v -3.063319 -0.435947 2.456806 +v 0.934800 -0.435947 -1.581744 +v 3.036353 -0.559552 2.498361 +v 3.077831 -0.435947 2.456806 +v -2.320923 -0.600781 1.673707 +v -2.362401 -0.477159 -1.458288 +v -3.063319 -0.559552 2.456806 +v 2.994875 -0.435947 0.396782 +v 2.047493 -0.600781 1.962174 +v -3.063319 -0.435947 0.437531 +v 2.376913 -0.600781 -1.540592 +v -1.084397 -0.435947 -1.623299 +v 3.077831 -0.559552 -0.922101 +v -3.021841 -0.518356 -1.623299 +v -0.260247 -0.600781 -1.623299 +v 2.994875 -0.600781 0.355630 +v 1.140387 -0.435947 2.498361 +v 2.459267 -0.559552 -1.499036 +v -3.063319 -0.600781 0.519432 +v 0.563302 -0.435947 -1.623299 +v 3.077831 -0.559552 2.456806 +f 95 102 107 +f 86 85 84 +f 88 87 90 +f 86 84 91 +f 87 86 93 +f 88 90 94 +f 91 84 95 +f 89 93 95 +f 93 91 95 +f 86 87 96 +f 87 88 96 +f 84 85 97 +f 96 88 98 +f 92 96 98 +f 90 84 99 +f 88 94 99 +f 94 90 99 +f 85 86 100 +f 86 96 100 +f 96 92 100 +f 98 85 100 +f 92 98 100 +f 97 85 101 +f 85 98 101 +f 95 84 102 +f 90 87 103 +f 89 90 103 +f 87 93 103 +f 93 89 103 +f 84 97 104 +f 97 88 104 +f 99 84 104 +f 88 99 104 +f 86 91 105 +f 93 86 105 +f 91 93 105 +f 88 97 106 +f 98 88 106 +f 97 101 106 +f 101 98 106 +f 84 90 107 +f 90 89 107 +f 89 95 107 +f 102 84 107 +o convex_4 +v -0.013209 -0.394597 -1.664516 +v 1.099559 1.583699 0.313881 +v 1.099559 1.212633 0.313881 +v -1.084922 1.583699 0.313881 +v 0.934482 1.583699 -1.623073 +v 0.934482 -0.435915 0.313881 +v -1.084922 -0.435915 0.313881 +v -1.043439 1.583699 -1.664516 +v 0.934482 -0.435915 -1.582018 +v -0.961114 -0.435915 -1.623073 +v 0.687296 -0.106166 -1.664516 +v 0.975751 1.294872 -1.540769 +v 0.975751 -0.229723 -1.293276 +v 0.522433 1.006639 -1.664516 +v -1.084922 1.542382 -0.345714 +v -0.590121 -0.435915 -1.664516 +v 0.975751 -0.188603 0.313881 +v 1.099559 1.294872 0.148692 +v -1.084922 -0.394597 0.190135 +v 0.975751 1.583699 -1.540769 +v -1.002383 0.388458 -1.623073 +v 0.687296 -0.312160 -1.664516 +f 118 112 129 +f 110 109 111 +f 111 109 112 +f 110 111 113 +f 113 111 114 +f 111 112 115 +f 113 114 116 +f 116 114 117 +f 108 115 118 +f 116 112 119 +f 116 119 120 +f 113 116 120 +f 115 112 121 +f 118 115 121 +f 112 118 121 +f 114 111 122 +f 111 115 122 +f 115 108 123 +f 108 116 123 +f 116 117 123 +f 117 115 123 +f 110 113 124 +f 120 110 124 +f 113 120 124 +f 109 110 125 +f 120 119 125 +f 110 120 125 +f 117 114 126 +f 114 122 126 +f 122 115 126 +f 112 109 127 +f 119 112 127 +f 109 125 127 +f 125 119 127 +f 115 117 128 +f 117 126 128 +f 126 115 128 +f 116 108 129 +f 112 116 129 +f 108 118 129 +o convex_5 +v 3.077944 -0.270842 1.879967 +v -1.084457 -0.435915 0.313881 +v -2.774714 -0.435915 0.437688 +v -1.084457 1.583699 0.313881 +v -2.939322 1.377310 2.374554 +v 2.912731 1.459944 0.437688 +v 3.077944 1.542382 2.374554 +v -3.062778 -0.435915 2.457092 +v 2.953883 -0.435915 0.355150 +v -3.104535 1.418627 0.355150 +v 2.706971 -0.435915 2.498361 +v 1.099018 1.583699 0.313881 +v -0.961001 0.141146 2.498361 +v -3.062778 -0.435915 0.478957 +v 3.077944 -0.435915 2.457092 +v 0.852106 1.006639 2.457092 +v 1.923873 1.542382 2.374554 +v -2.857018 1.294872 2.415609 +v 2.459454 -0.394597 0.313881 +v 2.953883 0.882884 0.396419 +v -2.238528 1.418627 2.374554 +v -3.104535 0.347338 1.550242 +v 2.665214 1.418627 2.415823 +v -1.084457 1.583699 0.478957 +v 3.036187 1.542382 1.715105 +v 2.995035 -0.435915 0.437688 +v -3.104535 1.418627 0.643820 +v -1.414278 -0.312160 2.498361 +v -3.104535 0.553332 0.396633 +v 3.077944 1.336190 2.086098 +v 0.686893 0.223583 2.498361 +v 1.305383 1.583699 0.726144 +v 3.077944 0.388656 2.457092 +v 2.953883 0.182464 0.355150 +v -2.980474 1.006639 2.374554 +v 2.953883 1.418627 0.520013 +v -3.062778 -0.270842 2.457092 +v 2.830427 1.501064 0.726144 +v -2.609501 1.418627 2.044616 +f 153 156 168 +f 132 131 137 +f 137 131 138 +f 133 131 139 +f 137 138 140 +f 131 133 141 +f 132 137 143 +f 130 136 144 +f 140 138 144 +f 142 145 147 +f 138 131 148 +f 131 141 148 +f 141 135 149 +f 134 147 150 +f 147 146 150 +f 143 137 151 +f 136 146 152 +f 147 145 152 +f 146 147 152 +f 133 139 153 +f 141 133 153 +f 150 146 153 +f 130 144 155 +f 144 138 155 +f 139 151 156 +f 153 139 156 +f 137 140 157 +f 140 142 157 +f 131 132 158 +f 139 131 158 +f 132 143 158 +f 151 139 158 +f 143 151 158 +f 136 130 159 +f 154 136 159 +f 130 155 159 +f 142 140 160 +f 145 142 160 +f 152 145 160 +f 146 136 161 +f 141 153 161 +f 153 146 161 +f 136 154 161 +f 154 141 161 +f 144 136 162 +f 140 144 162 +f 136 152 162 +f 160 140 162 +f 152 160 162 +f 138 148 163 +f 148 141 163 +f 141 149 163 +f 149 155 163 +f 155 138 163 +f 134 156 164 +f 156 151 164 +f 149 135 165 +f 135 154 165 +f 155 149 165 +f 154 159 165 +f 159 155 165 +f 147 134 166 +f 142 147 166 +f 151 137 166 +f 137 157 166 +f 157 142 166 +f 134 164 166 +f 164 151 166 +f 135 141 167 +f 141 154 167 +f 154 135 167 +f 134 150 168 +f 150 153 168 +f 156 134 168 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/792/792.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/792/792.urdf new file mode 100644 index 000000000..a1820d1a6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/792/792.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/793/793.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/793/793.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/793/793.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/793/793.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/793/793.obj new file mode 100644 index 000000000..222627f8e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/793/793.obj @@ -0,0 +1,636 @@ +o convex_0 +v 1.827414 1.319221 0.991109 +v -3.647462 -0.518897 -1.126954 +v -3.647462 -0.518897 -0.567205 +v 2.547170 -0.518897 -0.367405 +v 0.508569 1.479423 -1.046771 +v -3.607442 1.279512 1.030981 +v -1.808961 -0.518897 1.111164 +v -3.527401 1.439323 -0.967026 +v 2.547170 -0.518897 1.071073 +v 2.507150 1.279512 -1.086863 +v 2.186989 -0.518897 -1.046771 +v -3.567421 -0.518897 1.071073 +v 0.548589 1.479423 1.071073 +v 2.427110 1.319416 0.911145 +v 2.027514 1.479423 -0.607078 +v -1.608860 1.479423 0.991109 +v 0.428528 1.439323 -1.086863 +v 2.507150 -0.518897 -1.006898 +v -2.728211 1.279512 1.071073 +v 1.947474 1.479423 0.511543 +v 0.748689 -0.518897 -1.086863 +v -1.568840 1.479423 -1.006679 +v 2.507150 -0.119077 1.071073 +v -3.647462 -0.398795 -1.126954 +v 2.507150 1.279512 -0.447369 +v -3.567421 1.359516 0.311523 +v -3.527401 1.119702 -1.006679 +v -3.567421 0.519971 1.071073 +v 2.547170 0.120737 0.231778 +v -3.647462 0.120737 -0.327532 +v 0.948184 1.319221 1.071073 +v -3.527401 1.439323 -0.727134 +v 2.507150 1.079602 -1.086863 +v -3.607442 0.839788 1.030981 +v -0.490722 1.479423 1.071073 +v -3.607442 1.279512 0.711344 +v 2.507150 -0.358891 -1.046771 +v -3.327301 -0.518897 -1.126954 +v 2.467130 0.919791 0.871272 +v -3.567421 1.319416 0.831180 +v -1.728921 -0.478798 1.111164 +v 2.427110 1.119506 0.951017 +f 23 14 42 +f 3 2 4 +f 3 4 7 +f 7 4 9 +f 4 2 11 +f 3 7 12 +f 13 1 14 +f 10 5 15 +f 5 13 15 +f 14 10 15 +f 13 5 16 +f 5 10 17 +f 4 11 18 +f 13 14 20 +f 15 13 20 +f 14 15 20 +f 11 2 21 +f 16 5 22 +f 8 16 22 +f 17 8 22 +f 5 17 22 +f 9 14 23 +f 2 3 24 +f 17 10 24 +f 10 14 25 +f 8 17 27 +f 24 8 27 +f 17 24 27 +f 6 12 28 +f 12 7 28 +f 19 6 28 +f 7 19 28 +f 9 4 29 +f 4 10 29 +f 10 25 29 +f 24 3 30 +f 8 24 30 +f 1 13 31 +f 23 1 31 +f 16 8 32 +f 8 26 32 +f 26 16 32 +f 10 4 33 +f 3 12 34 +f 12 6 34 +f 30 3 34 +f 6 30 34 +f 16 6 35 +f 13 16 35 +f 6 19 35 +f 6 26 36 +f 26 8 36 +f 30 6 36 +f 8 30 36 +f 4 18 37 +f 18 11 37 +f 11 21 37 +f 33 4 37 +f 21 33 37 +f 21 2 38 +f 2 24 38 +f 24 10 38 +f 10 33 38 +f 33 21 38 +f 14 9 39 +f 25 14 39 +f 9 29 39 +f 29 25 39 +f 6 16 40 +f 26 6 40 +f 16 26 40 +f 7 9 41 +f 19 7 41 +f 9 23 41 +f 31 13 41 +f 23 31 41 +f 13 35 41 +f 35 19 41 +f 14 1 42 +f 1 23 42 +o convex_1 +v -0.210664 -2.757016 0.951033 +v 0.548881 -0.758696 0.950430 +v 0.548881 -0.798795 0.950430 +v 0.348862 -0.758696 -3.124672 +v -1.529298 -0.758696 2.948821 +v -1.489207 -2.716916 -2.965018 +v -1.609262 -0.758696 -3.004781 +v 0.428826 -2.757016 -2.964415 +v -1.689225 -2.637109 3.028949 +v 0.388954 -2.677012 2.989186 +v 0.508790 -0.758696 2.909058 +v 0.508790 -2.757016 1.150450 +v 0.508790 -0.878603 -3.124672 +v -1.649134 -0.758696 -0.366568 +v -1.569170 -2.716916 -1.206410 +v 0.508790 -0.878603 2.949423 +v 0.348862 -2.716916 2.949423 +v -1.649134 -0.798795 -1.885393 +v 0.508790 -1.278423 -3.084306 +v -1.569170 -1.757856 -3.004781 +v -1.609262 -1.518237 2.989186 +v -1.209443 -2.317291 3.028949 +v 0.508790 -0.758696 -3.124672 +v -1.529298 -2.716916 -0.406933 +v -0.330500 -2.757016 -0.326805 +v 0.388954 -2.757016 1.989690 +v -1.609262 -1.078513 -2.965018 +v -1.529298 -2.237288 -3.004781 +v 0.348862 -2.437003 -3.004781 +v 0.428826 -2.317291 2.949423 +v -1.569170 -1.318327 2.989186 +v -1.569170 -0.998510 2.948821 +v 0.508790 -2.757016 0.950430 +v -1.529298 -2.716916 -2.525215 +v -1.689225 -2.557106 3.028949 +v 0.388954 -2.237288 2.989186 +v 0.308990 -0.758696 2.949423 +v -1.689225 -2.637109 2.948821 +v 0.229026 -2.757016 -2.964415 +v 0.508790 -0.958606 2.949423 +v -0.889808 -2.637109 3.028949 +f 78 64 83 +f 44 46 47 +f 47 46 49 +f 44 47 53 +f 43 50 54 +f 44 45 55 +f 47 49 56 +f 45 44 58 +f 44 53 58 +f 54 52 59 +f 56 49 60 +f 55 45 61 +f 50 55 61 +f 49 46 62 +f 46 44 65 +f 44 55 65 +f 55 46 65 +f 43 51 66 +f 51 57 66 +f 66 57 67 +f 50 43 67 +f 43 66 67 +f 51 43 68 +f 43 54 68 +f 59 51 68 +f 54 59 68 +f 60 49 69 +f 49 62 69 +f 46 55 70 +f 62 46 70 +f 55 50 71 +f 70 55 71 +f 48 70 71 +f 52 54 72 +f 47 63 73 +f 47 56 74 +f 63 47 74 +f 56 63 74 +f 54 50 75 +f 45 54 75 +f 50 61 75 +f 61 45 75 +f 67 57 76 +f 48 67 76 +f 57 69 76 +f 69 62 76 +f 70 48 76 +f 62 70 76 +f 56 60 77 +f 63 56 77 +f 51 64 77 +f 73 63 77 +f 64 73 77 +f 52 58 78 +f 58 64 78 +f 53 47 79 +f 58 53 79 +f 64 58 79 +f 47 73 79 +f 73 64 79 +f 57 51 80 +f 69 57 80 +f 60 69 80 +f 77 60 80 +f 51 77 80 +f 50 67 81 +f 67 48 81 +f 48 71 81 +f 71 50 81 +f 54 45 82 +f 45 58 82 +f 58 52 82 +f 52 72 82 +f 72 54 82 +f 51 59 83 +f 59 52 83 +f 64 51 83 +f 52 78 83 +o convex_2 +v 1.947498 -1.318347 0.231888 +v 0.828658 -1.318347 0.151924 +v 0.828658 -1.318347 0.271870 +v 1.268378 -2.796982 -0.287660 +v 1.867581 -0.758696 -0.567424 +v 2.027415 -2.796982 0.551635 +v 0.908810 -2.796982 0.551635 +v 1.188461 -0.758696 0.551635 +v 0.828658 -0.758696 -0.487460 +v 1.907598 -2.597064 -0.567424 +v 0.908810 -2.796982 -0.447478 +v 1.907598 -0.758696 0.471671 +v 0.828658 -0.758696 0.551635 +v 2.027415 -2.397146 0.311742 +v 0.868792 -2.597064 -0.407496 +v 1.947498 -2.636968 -0.487460 +v 1.707746 -2.636968 -0.567424 +v 1.907598 -0.878607 -0.487460 +v 1.068644 -0.878607 -0.527442 +v 0.868792 -1.957606 -0.487460 +v 2.027415 -2.437050 0.551635 +v 2.027415 -2.796982 0.391707 +v 1.587929 -0.758696 -0.567424 +f 100 102 106 +f 87 89 90 +f 90 89 91 +f 91 88 92 +f 85 86 92 +f 87 90 94 +f 88 91 95 +f 86 90 96 +f 90 91 96 +f 91 92 96 +f 92 86 96 +f 84 95 97 +f 86 85 98 +f 90 86 98 +f 85 92 98 +f 94 90 98 +f 93 88 99 +f 87 94 99 +f 88 93 100 +f 93 99 100 +f 99 94 100 +f 95 84 101 +f 88 95 101 +f 84 97 101 +f 99 88 101 +f 97 99 101 +f 102 100 103 +f 98 92 103 +f 94 98 103 +f 100 94 103 +f 92 102 103 +f 91 89 104 +f 95 91 104 +f 89 97 104 +f 97 95 104 +f 89 87 105 +f 97 89 105 +f 87 99 105 +f 99 97 105 +f 92 88 106 +f 88 100 106 +f 102 92 106 +o convex_3 +v 0.508927 -0.718729 2.349876 +v -1.569326 -0.758696 1.111344 +v -1.569326 -0.758696 1.510993 +v -1.529250 -0.598830 2.949439 +v -1.529250 -0.758696 2.949439 +v 0.349030 -0.718729 1.111344 +v 0.508927 -0.758696 2.909312 +v -1.569326 -0.678763 1.351205 +v 0.428978 -0.678763 2.909312 +v 0.468851 -0.758696 1.191418 +v -1.129305 -0.598830 2.829418 +v -1.449302 -0.598830 2.589737 +v 0.468851 -0.718729 1.191418 +v -1.569326 -0.718729 1.111344 +v 0.109184 -0.718729 2.949439 +f 113 115 121 +f 109 108 111 +f 110 109 111 +f 111 108 113 +f 108 109 114 +f 109 110 114 +f 113 107 115 +f 108 112 116 +f 107 113 116 +f 113 108 116 +f 110 115 117 +f 114 110 118 +f 112 114 118 +f 110 117 118 +f 118 117 119 +f 115 107 119 +f 116 112 119 +f 107 116 119 +f 117 115 119 +f 112 118 119 +f 112 108 120 +f 108 114 120 +f 114 112 120 +f 110 111 121 +f 111 113 121 +f 115 110 121 +o convex_4 +v 0.508754 3.397525 0.471483 +v -0.370491 1.479614 -1.047021 +v -0.649982 1.479614 -1.046810 +v 0.548893 1.479614 1.071026 +v -1.529227 3.237667 1.070815 +v -1.489300 3.357656 -1.006883 +v -1.609293 1.479614 0.990960 +v 0.548893 3.317596 -1.006883 +v -1.569154 1.479614 -1.006883 +v 0.508754 1.479614 -1.047021 +v 0.468827 3.437585 1.111164 +v -0.450557 3.437585 0.271635 +v -1.489300 3.317596 1.070815 +v 0.468827 1.759461 1.111164 +v -1.569154 2.039117 -1.006883 +v 0.468827 3.357656 -0.887101 +v -1.409234 1.479614 1.031099 +v 0.508754 2.438761 -1.047021 +v -0.330352 3.397525 1.111164 +v -1.529227 2.638296 1.070815 +v -0.130505 3.437585 0.071788 +v 0.548893 2.478438 -1.006883 +v -1.609293 1.679532 0.591265 +v -1.529227 2.997880 -0.687253 +v -0.610054 2.438761 -1.046810 +v 0.548893 3.357656 -0.567260 +v -1.489300 3.357656 -0.127638 +v -0.490484 1.479614 1.070815 +v -0.050650 3.357656 -1.006883 +v 0.508754 2.718225 1.111164 +v -1.609293 1.479614 0.071999 +v 0.468827 3.437585 0.870967 +f 147 137 153 +f 124 123 125 +f 124 125 128 +f 124 128 130 +f 125 123 131 +f 124 130 136 +f 128 125 138 +f 131 123 139 +f 129 131 139 +f 132 133 140 +f 133 134 140 +f 134 126 140 +f 135 132 140 +f 135 140 141 +f 126 128 141 +f 128 138 141 +f 140 126 141 +f 133 132 142 +f 127 133 142 +f 129 125 143 +f 125 131 143 +f 131 129 143 +f 128 126 144 +f 136 144 145 +f 126 127 145 +f 127 136 145 +f 144 126 145 +f 123 124 146 +f 124 136 146 +f 136 127 146 +f 139 123 146 +f 127 139 146 +f 125 129 147 +f 132 122 147 +f 129 137 147 +f 127 126 148 +f 133 127 148 +f 134 133 148 +f 126 134 148 +f 125 135 149 +f 138 125 149 +f 135 141 149 +f 141 138 149 +f 137 129 150 +f 139 127 150 +f 129 139 150 +f 127 142 150 +f 142 137 150 +f 122 132 151 +f 135 125 151 +f 132 135 151 +f 147 122 151 +f 125 147 151 +f 130 128 152 +f 136 130 152 +f 128 144 152 +f 144 136 152 +f 142 132 153 +f 137 142 153 +f 132 147 153 +o convex_5 +v 1.348397 3.397622 0.471538 +v 0.828658 1.479423 -0.607391 +v 0.828658 1.479423 -0.407488 +v 2.027478 1.479423 -0.607391 +v 1.947564 1.479423 0.511473 +v 2.027478 3.277641 -0.567342 +v 0.868796 3.237647 -0.487472 +v 0.908814 1.479423 0.511473 +v 2.067495 3.277641 0.551635 +v 0.988727 3.397622 0.431603 +v 0.948710 1.919354 0.551635 +v 1.507981 2.478328 -0.607391 +v 0.948710 3.397622 0.191765 +v 1.547877 1.479423 0.551635 +v 1.987460 1.639585 0.511473 +v 1.667807 3.237647 0.551635 +v 1.707825 3.277641 -0.567342 +v 0.828658 1.719385 -0.607391 +v 2.027478 3.317635 0.551635 +v 1.867651 3.317635 -0.407488 +v 0.948710 2.838085 0.471538 +v 2.027478 1.479423 -0.367553 +v 2.027478 2.438522 0.551635 +v 0.868796 3.157659 -0.407488 +v 2.027478 2.198935 -0.607391 +v 0.988727 3.277641 -0.447424 +v 0.988727 3.037866 -0.527407 +v 1.308380 3.397622 0.111781 +f 173 179 181 +f 156 155 157 +f 156 157 158 +f 156 158 161 +f 157 155 165 +f 163 154 166 +f 161 158 167 +f 164 161 167 +f 162 164 167 +f 154 163 169 +f 163 164 169 +f 164 162 169 +f 159 165 170 +f 155 156 171 +f 165 155 171 +f 170 165 171 +f 162 159 172 +f 154 169 172 +f 169 162 172 +f 159 170 173 +f 172 159 173 +f 161 164 174 +f 164 163 174 +f 163 166 174 +f 158 157 175 +f 157 162 175 +f 168 158 175 +f 168 175 176 +f 167 158 176 +f 162 167 176 +f 158 168 176 +f 175 162 176 +f 156 161 177 +f 166 160 177 +f 171 156 177 +f 160 171 177 +f 161 174 177 +f 174 166 177 +f 162 157 178 +f 159 162 178 +f 157 165 178 +f 165 159 178 +f 160 166 179 +f 170 160 179 +f 173 170 179 +f 160 170 180 +f 171 160 180 +f 170 171 180 +f 166 154 181 +f 154 172 181 +f 172 173 181 +f 179 166 181 +o convex_6 +v -0.889585 -0.558883 -1.606582 +v 0.149158 -0.638820 -3.125274 +v 0.149158 -0.558883 -3.125274 +v -1.609121 -0.758696 -3.005367 +v 0.468788 -0.758696 -1.167053 +v -1.649259 -0.758696 -1.126954 +v 0.508926 -0.758696 -3.125274 +v -1.649259 -0.598861 -1.126954 +v 0.508926 -0.558883 -2.845361 +v -1.369346 -0.638820 -2.925364 +v 0.388933 -0.718698 -1.126954 +v -1.649259 -0.598861 -1.646682 +v -0.969439 -0.598861 -1.126954 +v -1.609121 -0.678739 -3.005367 +v 0.508926 -0.558883 -3.125274 +f 190 188 196 +f 184 183 185 +f 185 186 187 +f 183 184 188 +f 185 183 188 +f 186 185 188 +f 184 182 190 +f 186 188 190 +f 187 186 192 +f 189 187 192 +f 186 190 192 +f 182 184 193 +f 185 187 193 +f 189 182 193 +f 187 189 193 +f 184 191 193 +f 182 189 194 +f 190 182 194 +f 189 192 194 +f 192 190 194 +f 184 185 195 +f 191 184 195 +f 185 193 195 +f 193 191 195 +f 188 184 196 +f 184 190 196 +o convex_7 +v 2.547213 -0.558891 1.111164 +v -3.647579 -0.678732 -1.126954 +v -3.647579 -0.518944 -1.126954 +v -3.566931 -0.518944 1.071073 +v -1.968509 -0.758696 1.111164 +v 2.507191 -0.718702 -1.006679 +v 2.507191 -0.518944 -1.006679 +v 1.307769 -0.758696 0.991109 +v -1.648946 -0.758696 -1.126954 +v -3.566931 -0.718702 1.031200 +v 2.547213 -0.518944 1.070854 +v 2.547213 -0.678732 1.111164 +v 2.027544 -0.758696 -0.687042 +v 0.588601 -0.598861 -1.126954 +v 0.508559 -0.758696 -1.126954 +v -3.566931 -0.718702 0.151814 +v -1.849052 -0.518944 1.111164 +v 1.867459 -0.758696 0.471671 +v -2.288679 -0.758696 1.031200 +v 2.107586 -0.518944 -1.046990 +v 2.547213 -0.678732 -0.527114 +v 0.269038 -0.758696 1.111164 +v -3.647579 -0.558891 -0.567424 +v 2.347107 -0.718702 0.471671 +f 214 209 220 +f 199 200 203 +f 198 199 205 +f 204 201 205 +f 201 200 206 +f 203 200 207 +f 197 201 208 +f 207 197 208 +f 204 205 209 +f 205 199 210 +f 205 210 211 +f 202 209 211 +f 209 205 211 +f 198 205 212 +f 206 198 212 +f 201 197 213 +f 200 201 213 +f 197 207 213 +f 207 200 213 +f 208 204 214 +f 204 209 214 +f 205 201 215 +f 201 206 215 +f 212 205 215 +f 206 212 215 +f 199 203 216 +f 203 202 216 +f 210 199 216 +f 211 210 216 +f 202 211 216 +f 202 203 217 +f 203 207 217 +f 208 202 217 +f 207 208 217 +f 201 204 218 +f 208 201 218 +f 204 208 218 +f 199 198 219 +f 200 199 219 +f 198 206 219 +f 206 200 219 +f 202 208 220 +f 209 202 220 +f 208 214 220 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/793/793.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/793/793.urdf new file mode 100644 index 000000000..2240b935e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/793/793.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/794/794.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/794/794.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/794/794.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/794/794.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/794/794.obj new file mode 100644 index 000000000..bf2867c6b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/794/794.obj @@ -0,0 +1,792 @@ +o convex_0 +v 0.726232 -4.090921 0.044547 +v -1.024626 -4.053423 -0.145390 +v -1.024626 -4.053423 0.539510 +v -0.986398 1.998010 -0.145390 +v 1.145045 0.780224 1.034474 +v 1.145045 0.856451 -0.982804 +v -0.453537 -3.672288 -1.021033 +v -1.024626 0.893950 0.996245 +v -1.024626 1.046403 -1.021033 +v -0.148985 -4.052808 0.958217 +v 1.145045 1.579377 0.805905 +v 0.611972 -3.824742 -0.868519 +v 1.145045 1.655604 -0.830492 +v 0.688216 -3.786629 0.843933 +v -1.024626 -3.292383 1.034474 +v 1.145045 -1.236716 0.501281 +v -1.024626 1.807443 0.882162 +v -1.024626 -2.987476 -0.830693 +v -1.024626 1.846171 -0.906748 +v 0.041307 -4.243375 -0.754436 +v 1.145045 -0.513789 -0.792464 +v 0.459908 -4.282104 0.615566 +v 0.840492 -3.748515 -0.107161 +v -0.720074 -4.205262 -0.602125 +v 1.145045 1.731831 0.158831 +v -0.187001 -3.939082 -1.021033 +v 1.145045 -0.361336 0.996245 +v -0.339489 -3.482336 1.034474 +v -0.758090 -4.205262 0.615566 +v -1.024626 -1.502895 -1.021033 +v 0.497924 -4.243375 -0.602125 +v -1.024626 -0.971151 1.034474 +v -1.024626 -3.938468 0.882162 +v -0.834122 -4.014695 -0.754436 +v -0.834122 1.845556 0.844134 +v -0.110969 1.465037 -0.982804 +v -0.263245 0.817723 -1.021033 +v -0.148985 -4.282104 0.387198 +v 0.611972 -3.748515 0.881961 +v 0.649988 -4.282104 -0.069134 +v 0.535940 -3.824742 -0.906547 +v 1.106816 1.693717 -0.754436 +v -0.187001 -4.243375 0.805905 +v -0.225017 -4.090921 -0.982804 +v -1.024626 1.998010 0.044748 +v -0.910366 -4.205262 -0.107362 +v 1.145045 -1.236716 0.577337 +v -0.377505 1.616876 0.920189 +v 1.145045 0.247250 1.034474 +v 1.145045 0.703997 -0.982804 +v -0.834122 1.845556 -0.906748 +v -0.453537 -4.052808 0.958217 +v 1.145045 1.731831 -0.183418 +v 0.726232 -3.786629 -0.525868 +v 0.459908 1.731216 0.653593 +v 0.802264 0.780224 1.034474 +v 0.611972 -1.883415 0.996245 +v 1.145045 1.388810 0.881961 +v 0.041307 -4.015309 -0.982804 +v -0.110969 -2.188323 -1.021033 +v 0.649988 -4.282104 0.082776 +v -0.529782 -3.672288 1.034474 +v 0.764248 -3.786629 0.387198 +v -1.024626 -3.938468 -0.297702 +f 18 34 64 +f 2 3 8 +f 2 8 9 +f 5 6 11 +f 11 6 13 +f 8 3 15 +f 6 5 16 +f 9 8 17 +f 2 9 18 +f 9 17 19 +f 6 16 21 +f 14 10 22 +f 21 16 23 +f 11 13 25 +f 7 9 26 +f 16 5 27 +f 5 15 28 +f 9 7 30 +f 7 18 30 +f 18 9 30 +f 8 15 32 +f 15 5 32 +f 15 3 33 +f 3 29 33 +f 18 7 34 +f 17 11 35 +f 13 6 36 +f 9 19 36 +f 26 9 37 +f 36 6 37 +f 9 36 37 +f 24 20 38 +f 10 14 39 +f 14 27 39 +f 28 10 39 +f 23 1 40 +f 31 12 40 +f 20 31 40 +f 38 20 40 +f 22 38 40 +f 12 31 41 +f 22 10 43 +f 33 29 43 +f 38 22 43 +f 29 38 43 +f 20 24 44 +f 7 26 44 +f 34 7 44 +f 24 34 44 +f 4 19 45 +f 19 17 45 +f 25 4 45 +f 17 35 45 +f 3 2 46 +f 29 3 46 +f 2 34 46 +f 34 24 46 +f 24 38 46 +f 38 29 46 +f 23 16 47 +f 27 14 47 +f 16 27 47 +f 17 8 48 +f 11 17 48 +f 27 5 49 +f 5 28 49 +f 39 27 49 +f 21 12 50 +f 6 21 50 +f 12 41 50 +f 19 4 51 +f 13 36 51 +f 36 19 51 +f 4 42 51 +f 42 13 51 +f 43 10 52 +f 33 43 52 +f 4 25 53 +f 25 13 53 +f 42 4 53 +f 13 42 53 +f 12 21 54 +f 21 23 54 +f 23 40 54 +f 40 12 54 +f 11 25 55 +f 35 11 55 +f 25 45 55 +f 45 35 55 +f 32 5 56 +f 8 32 56 +f 5 48 56 +f 48 8 56 +f 28 39 57 +f 49 28 57 +f 39 49 57 +f 5 11 58 +f 48 5 58 +f 11 48 58 +f 31 20 59 +f 41 31 59 +f 20 44 59 +f 44 26 59 +f 26 50 59 +f 50 41 59 +f 37 6 60 +f 26 37 60 +f 6 50 60 +f 50 26 60 +f 1 14 61 +f 14 22 61 +f 40 1 61 +f 22 40 61 +f 10 28 62 +f 28 15 62 +f 15 33 62 +f 52 10 62 +f 33 52 62 +f 14 1 63 +f 1 23 63 +f 47 14 63 +f 23 47 63 +f 2 18 64 +f 34 2 64 +o convex_1 +v 1.487854 0.171650 -0.906741 +v 3.086146 1.770220 0.006795 +v 3.086146 1.770220 -0.031318 +v 4.532834 0.019338 -0.069234 +v 1.145548 -0.285286 0.996163 +v 1.145548 1.579881 0.805991 +v 4.418486 0.818321 0.805991 +v 1.145548 1.655936 -0.830514 +v 4.418486 0.856550 -0.792401 +v 1.145548 -0.285286 -0.792598 +v 4.418486 1.579679 0.006795 +v 3.923469 -0.094946 0.767878 +v 2.972167 0.818523 1.034474 +v 3.542801 -0.209029 -0.335830 +v 2.896181 1.541652 0.767680 +v 4.913503 0.780294 0.044513 +v 2.934174 1.541652 -0.792598 +v 3.162132 0.780294 -0.982968 +v 3.010529 0.019338 -0.830514 +v 1.145548 0.780294 1.034474 +v 2.744208 0.095393 1.034474 +v 1.145548 0.856349 -0.982968 +v 2.515512 -0.285286 0.615622 +v 1.145548 1.731991 0.158656 +v 4.075810 0.209677 -0.602229 +v 4.114172 -0.018690 0.767878 +v 4.037817 1.389541 -0.602229 +v 3.999824 1.389541 0.577508 +v 2.172836 -0.285286 -0.602229 +v 2.744208 0.970834 -0.982968 +v 4.418486 1.579679 -0.069234 +v 2.515512 1.770220 -0.221490 +v 4.418486 0.780294 -0.792401 +v 4.875141 0.856550 -0.107348 +v 2.782201 0.590356 -0.982968 +v 1.525847 -0.285286 0.996163 +v 1.411868 -0.247057 -0.830514 +v 2.934174 1.770220 0.082627 +v 3.618787 -0.209029 -0.183574 +v 4.608820 0.095594 -0.069234 +v 1.564209 1.389541 0.882020 +v 1.449861 -0.056718 1.034474 +v 1.145548 1.693964 -0.716371 +v 4.913503 0.856550 0.044513 +v 4.190159 -0.056718 0.615622 +v 1.221534 0.666412 -0.982968 +v 2.934174 1.579881 -0.716371 +v 2.858187 -0.018690 0.996163 +v 1.944509 1.770220 0.044513 +v 4.532834 0.057365 -0.145461 +v 2.896181 0.856349 1.034474 +v 4.913503 0.742467 -0.031121 +v 2.210829 -0.285286 0.844104 +v 1.487854 1.617908 0.691848 +v 1.525847 -0.285286 -0.792598 +v 2.934174 0.932606 -0.982968 +v 4.418486 0.780294 0.805991 +v 1.564209 1.351312 -0.906741 +v 4.380493 1.579679 0.044513 +v 1.145548 1.731991 -0.221490 +v 4.494472 1.503624 0.006795 +v 4.532834 0.019338 0.044513 +v 1.145548 1.389541 0.882020 +v 1.145548 -0.247057 -0.830514 +f 110 65 128 +f 69 70 72 +f 69 72 74 +f 67 66 75 +f 70 69 84 +f 77 84 85 +f 74 72 86 +f 69 74 87 +f 72 70 88 +f 78 83 89 +f 73 81 91 +f 79 71 92 +f 87 74 93 +f 72 81 94 +f 82 86 94 +f 67 75 95 +f 73 91 95 +f 91 81 95 +f 66 67 96 +f 82 73 97 +f 83 82 97 +f 89 83 97 +f 73 95 98 +f 97 73 98 +f 82 83 99 +f 86 82 99 +f 69 87 100 +f 99 83 101 +f 66 96 102 +f 78 68 103 +f 76 87 103 +f 93 78 103 +f 87 93 103 +f 79 70 105 +f 84 69 106 +f 85 84 106 +f 69 100 106 +f 100 85 106 +f 72 88 107 +f 71 80 108 +f 90 76 109 +f 80 90 109 +f 76 103 109 +f 99 65 110 +f 86 99 110 +f 81 72 111 +f 67 95 111 +f 95 81 111 +f 96 67 111 +f 72 107 111 +f 107 96 111 +f 76 90 112 +f 90 85 112 +f 85 100 112 +f 100 76 112 +f 102 96 113 +f 68 78 114 +f 78 89 114 +f 89 97 114 +f 104 68 114 +f 97 104 114 +f 77 71 115 +f 71 79 115 +f 84 77 115 +f 79 105 115 +f 97 98 116 +f 80 104 116 +f 104 97 116 +f 108 80 116 +f 98 108 116 +f 87 76 117 +f 76 100 117 +f 100 87 117 +f 70 79 118 +f 88 70 118 +f 79 102 118 +f 113 88 118 +f 102 113 118 +f 83 78 119 +f 93 74 119 +f 78 93 119 +f 74 101 119 +f 101 83 119 +f 81 73 120 +f 73 82 120 +f 94 81 120 +f 82 94 120 +f 71 77 121 +f 80 71 121 +f 77 85 121 +f 90 80 121 +f 85 90 121 +f 86 72 122 +f 72 94 122 +f 94 86 122 +f 75 66 123 +f 71 75 123 +f 92 71 123 +f 79 92 123 +f 66 102 123 +f 102 79 123 +f 107 88 124 +f 96 107 124 +f 88 113 124 +f 113 96 124 +f 75 71 125 +f 95 75 125 +f 98 95 125 +f 71 108 125 +f 108 98 125 +f 103 68 126 +f 68 104 126 +f 104 80 126 +f 80 109 126 +f 109 103 126 +f 70 84 127 +f 105 70 127 +f 84 115 127 +f 115 105 127 +f 74 86 128 +f 65 99 128 +f 101 74 128 +f 99 101 128 +f 86 110 128 +o convex_2 +v -1.671797 -1.046048 -1.059098 +v -2.014419 0.058148 1.034474 +v -2.090519 0.058148 1.034474 +v -1.900097 3.596830 -0.792483 +v -3.156262 -0.323157 -0.526073 +v -1.405447 -2.301788 1.034474 +v -2.813641 3.063981 0.805976 +v -1.405447 2.949711 0.843888 +v -2.813641 -1.731052 0.920122 +v -1.405447 -2.301788 -0.868717 +v -2.813641 2.949711 -0.868717 +v -1.405447 2.645401 -0.982863 +v -2.813641 -1.693166 -0.868717 +v -3.079991 2.149826 0.501449 +v -1.747897 3.140364 0.996357 +v -2.775419 3.520447 0.006542 +v -2.851691 -1.921705 0.044659 +v -1.443497 3.558944 0.006542 +v -2.851691 1.046242 -0.982863 +v -3.118041 2.112551 -0.563985 +v -3.118041 -0.551084 0.539361 +v -1.976369 3.634716 0.691830 +v -1.938319 2.569017 -1.059098 +v -2.813641 0.817703 0.958035 +v -1.481547 -2.493052 -0.297575 +v -2.052469 -2.263902 0.805976 +v -3.118041 -1.008162 -0.031166 +v -3.118041 0.704045 0.615595 +v -1.976369 -1.122431 -1.059098 +v -1.405447 -0.703851 -1.059098 +v -2.090519 3.749597 -0.183429 +v -2.166619 -1.997477 1.034474 +v -1.633747 3.101867 -1.020980 +v -2.851691 3.444675 -0.107400 +v -1.405447 3.292519 -0.640219 +v -3.118041 0.970469 -0.716249 +v -3.118041 2.340479 -0.031166 +v -1.405447 0.931972 0.996357 +v -2.775419 3.101867 -0.868717 +v -1.405447 -2.493052 0.463332 +v -3.156262 0.894086 0.082571 +v -1.747897 -1.693166 -1.020980 +v -1.938319 3.063370 0.996357 +v -1.443497 3.368291 0.539566 +v -2.851691 -1.616783 -0.868717 +v -2.242890 0.894086 -1.059098 +v -2.128569 3.558333 0.767859 +v -1.900097 -2.149632 -0.868717 +v -2.090519 -2.263902 -0.183429 +v -3.079991 1.008355 0.691830 +v -2.014419 3.596830 -0.792483 +v -2.851691 0.590998 -0.982863 +v -1.405447 0.855589 -1.059098 +v -2.090519 3.749597 0.158805 +v -1.405447 -0.779623 1.034474 +v -3.156262 -0.589581 0.044659 +v -3.079991 2.569017 0.044659 +v -1.862219 3.140364 -1.020980 +v -3.156262 0.856200 -0.602102 +v -2.889741 0.779817 0.920122 +v -1.405447 -1.616783 -1.020980 +v -2.128569 -2.263902 0.425420 +v -1.481547 2.644789 0.958239 +v -2.851691 -1.731663 -0.716249 +f 176 177 192 +f 130 131 134 +f 136 134 138 +f 136 138 140 +f 131 130 143 +f 137 145 154 +f 145 137 155 +f 137 149 155 +f 151 129 157 +f 140 138 158 +f 129 151 158 +f 146 132 159 +f 134 131 160 +f 131 152 160 +f 152 137 160 +f 154 134 160 +f 137 154 160 +f 135 144 162 +f 136 140 163 +f 132 146 163 +f 146 136 163 +f 161 132 163 +f 140 161 163 +f 139 147 164 +f 148 139 164 +f 134 136 166 +f 147 139 167 +f 139 148 167 +f 151 147 167 +f 148 162 167 +f 138 134 168 +f 153 138 168 +f 134 154 168 +f 156 142 169 +f 142 165 169 +f 141 157 170 +f 131 143 171 +f 152 131 171 +f 135 152 171 +f 143 136 172 +f 136 146 172 +f 150 143 172 +f 146 150 172 +f 155 133 173 +f 157 141 173 +f 133 164 173 +f 147 151 174 +f 151 157 174 +f 144 135 175 +f 143 150 175 +f 171 143 175 +f 135 171 175 +f 138 153 176 +f 170 138 176 +f 141 170 176 +f 176 153 177 +f 135 142 178 +f 149 137 178 +f 142 156 178 +f 156 149 178 +f 159 132 179 +f 144 159 179 +f 162 144 179 +f 167 162 179 +f 164 147 180 +f 157 173 180 +f 173 164 180 +f 147 174 180 +f 174 157 180 +f 140 158 181 +f 158 151 181 +f 161 140 181 +f 151 161 181 +f 150 146 182 +f 159 144 182 +f 146 159 182 +f 144 175 182 +f 175 150 182 +f 130 134 183 +f 143 130 183 +f 134 166 183 +f 166 143 183 +f 133 155 184 +f 155 149 184 +f 149 156 184 +f 169 133 184 +f 156 169 184 +f 142 135 185 +f 135 162 185 +f 162 148 185 +f 165 142 185 +f 148 165 185 +f 132 161 186 +f 161 151 186 +f 151 167 186 +f 179 132 186 +f 167 179 186 +f 164 133 187 +f 148 164 187 +f 165 148 187 +f 133 169 187 +f 169 165 187 +f 137 152 188 +f 152 135 188 +f 135 178 188 +f 178 137 188 +f 157 129 189 +f 129 158 189 +f 158 138 189 +f 138 170 189 +f 170 157 189 +f 154 145 190 +f 153 168 190 +f 168 154 190 +f 145 177 190 +f 177 153 190 +f 136 143 191 +f 166 136 191 +f 143 166 191 +f 145 155 192 +f 173 141 192 +f 155 173 192 +f 141 176 192 +f 177 145 192 +o convex_3 +v -1.405238 2.949450 -0.868717 +v -1.367196 -0.779876 1.034474 +v -1.405238 -0.779876 1.034474 +v -1.062744 -2.872874 -0.792483 +v -1.024664 1.807413 0.882005 +v -1.024626 -3.938922 0.882210 +v -1.405238 -2.340218 -0.868717 +v -1.024664 1.883402 -0.906629 +v -1.405238 3.101427 0.691830 +v -1.405238 -2.378581 0.996357 +v -1.214951 3.291767 -0.031166 +v -1.024664 -1.502872 -1.020980 +v -1.100786 -3.977285 -0.069283 +v -1.405238 0.855716 -1.059098 +v -1.024626 -3.253553 1.034474 +v -1.405238 2.492783 0.920122 +v -1.024664 0.894079 0.996152 +v -1.062744 2.797474 0.006542 +v -1.024626 -3.977285 -0.183429 +v -1.214951 2.911825 -0.754571 +v -1.405238 3.521207 -0.069283 +v -1.252956 2.873462 0.767859 +v -1.405238 -1.617223 -1.020980 +v -1.024664 1.046055 -1.020980 +v -1.405238 -2.606546 0.387303 +v -1.100786 -3.938922 0.844093 +v -1.367196 2.683123 -0.944746 +v -1.024626 -2.644909 -0.868717 +v -1.291036 3.482844 0.044659 +v -1.214951 -0.475186 -1.059098 +v -1.405238 -2.340218 1.034474 +v -1.367196 3.254141 -0.602307 +v -1.024664 -0.970216 1.034474 +v -1.405238 0.932442 0.996357 +v -1.024664 2.226455 0.006542 +v -1.405238 -2.530558 -0.259663 +v -1.138866 2.835099 -0.487956 +v -1.062744 -3.977285 -0.183429 +v -1.291036 3.482844 -0.069283 +v -1.405238 -0.665525 -1.059098 +v -1.367196 3.406856 0.311069 +v -1.367196 2.873462 0.844093 +v -1.100786 -3.900559 0.882210 +v -1.024626 -4.015649 0.425420 +v -1.062744 2.759111 0.082776 +v -1.176908 2.759111 -0.792483 +v -1.252956 3.406118 0.044659 +f 214 237 239 +f 195 193 199 +f 193 195 201 +f 195 199 202 +f 199 193 206 +f 194 195 207 +f 201 195 208 +f 207 197 209 +f 197 208 209 +f 207 198 211 +f 193 201 213 +f 199 206 215 +f 202 199 217 +f 217 205 218 +f 202 217 218 +f 206 193 219 +f 200 216 219 +f 216 206 219 +f 196 199 220 +f 211 196 220 +f 207 211 220 +f 199 215 220 +f 215 204 220 +f 216 200 220 +f 204 216 220 +f 206 216 222 +f 216 204 222 +f 195 202 223 +f 207 195 223 +f 202 218 223 +f 212 193 224 +f 193 213 224 +f 194 207 225 +f 209 194 225 +f 207 209 225 +f 195 194 226 +f 208 195 226 +f 194 209 226 +f 209 208 226 +f 197 207 227 +f 210 197 227 +f 200 210 227 +f 220 200 227 +f 207 220 227 +f 199 205 228 +f 217 199 228 +f 205 217 228 +f 210 200 229 +f 203 210 229 +f 212 203 229 +f 199 196 230 +f 205 199 230 +f 196 211 230 +f 203 212 231 +f 213 221 231 +f 212 224 231 +f 224 213 231 +f 204 215 232 +f 215 206 232 +f 222 204 232 +f 206 222 232 +f 213 201 233 +f 201 214 233 +f 221 213 233 +f 214 221 233 +f 208 197 234 +f 201 208 234 +f 214 201 234 +f 197 214 234 +f 198 207 235 +f 218 198 235 +f 207 223 235 +f 223 218 235 +f 211 198 236 +f 218 205 236 +f 198 218 236 +f 205 230 236 +f 230 211 236 +f 197 210 237 +f 214 197 237 +f 193 212 238 +f 219 193 238 +f 200 219 238 +f 229 200 238 +f 212 229 238 +f 210 203 239 +f 221 214 239 +f 203 231 239 +f 231 221 239 +f 237 210 239 +o convex_4 +v 1.411503 -0.285286 0.958232 +v 1.145101 -1.122714 0.501512 +v 1.183177 -1.122714 0.501512 +v 1.297301 -0.285286 -0.792643 +v 1.145101 -0.285286 0.996409 +v 1.411503 -0.704000 0.006966 +v 1.145101 -0.285286 -0.792643 +v 1.411503 -0.285286 -0.526107 +v 1.183177 -0.932293 0.006966 +v 1.411503 -0.704000 0.501512 +v 1.183177 -1.084597 0.577691 +v 1.335377 -0.323403 -0.754291 +v 1.145101 -0.741953 -0.297747 +v 1.411503 -0.399555 0.920230 +v 1.145101 -0.780070 0.767874 +f 253 244 254 +f 240 243 244 +f 244 243 246 +f 241 244 246 +f 243 240 247 +f 240 245 247 +f 242 241 248 +f 245 242 248 +f 245 240 249 +f 242 245 249 +f 241 242 250 +f 242 249 250 +f 246 243 251 +f 243 247 251 +f 247 245 251 +f 245 248 251 +f 251 248 252 +f 241 246 252 +f 248 241 252 +f 246 251 252 +f 240 244 253 +f 249 240 253 +f 250 249 253 +f 250 253 254 +f 244 241 254 +f 241 250 254 +o convex_5 +v 1.411529 -0.437568 0.882106 +v 2.401120 -0.285286 0.615756 +v 2.363052 -0.285286 0.653806 +v 1.411529 -0.285286 -0.450059 +v 1.449695 -0.665898 0.006955 +v 1.411529 -0.285286 0.958344 +v 1.487763 -0.665898 0.539518 +v 2.401120 -0.323366 0.539518 +v 2.096571 -0.323366 0.843918 +v 1.449695 -0.437568 -0.335633 +v 1.411529 -0.665898 0.539518 +v 1.487763 -0.551733 0.767956 +v 2.324983 -0.361446 0.577568 +v 1.411529 -0.665898 0.006955 +v 1.449695 -0.589776 -0.145383 +v 1.449695 -0.323366 -0.450059 +f 262 264 270 +f 257 256 258 +f 257 258 260 +f 258 255 260 +f 258 256 262 +f 260 255 263 +f 257 260 263 +f 255 258 265 +f 259 261 265 +f 265 261 266 +f 263 255 266 +f 261 263 266 +f 255 265 266 +f 256 257 267 +f 261 259 267 +f 259 262 267 +f 262 256 267 +f 257 263 267 +f 263 261 267 +f 258 264 268 +f 265 258 268 +f 259 265 268 +f 262 259 269 +f 264 262 269 +f 268 264 269 +f 259 268 269 +f 258 262 270 +f 264 258 270 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/794/794.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/794/794.urdf new file mode 100644 index 000000000..635edf2a9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/794/794.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/795/795.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/795/795.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/795/795.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/795/795.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/795/795.obj new file mode 100644 index 000000000..c02ee3953 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/795/795.obj @@ -0,0 +1,2259 @@ +o convex_0 +v -1.370809 2.634254 0.345972 +v -2.484083 2.495117 -0.535258 +v -2.484083 2.495117 0.578104 +v -1.115630 2.448711 0.461929 +v -1.115630 2.564675 -0.465509 +v -1.278114 2.448711 -0.488613 +v -2.321465 2.564675 -0.372874 +v -1.556332 2.657467 0.415503 +v -1.115630 2.541503 0.461929 +v -1.533158 2.448711 0.438716 +v -2.484083 2.518330 0.578104 +v -1.115630 2.587868 -0.372765 +v -2.484083 2.541503 -0.535258 +v -1.115630 2.448711 -0.465509 +v -1.556332 2.448711 -0.511936 +f 13 5 15 +f 1 8 9 +f 3 4 9 +f 4 5 9 +f 4 3 10 +f 6 4 10 +f 2 3 11 +f 8 7 11 +f 9 8 11 +f 3 9 11 +f 7 8 12 +f 8 1 12 +f 1 9 12 +f 9 5 12 +f 2 11 13 +f 11 7 13 +f 12 5 13 +f 7 12 13 +f 5 4 14 +f 6 5 14 +f 4 6 14 +f 3 2 15 +f 5 6 15 +f 10 3 15 +f 6 10 15 +f 2 13 15 +o convex_1 +v -1.672527 -2.422241 0.554909 +v -3.110157 -2.491820 0.160594 +v -3.110157 -2.491820 0.206988 +v -3.110157 -2.352663 0.160594 +v -1.138964 -2.491820 0.160594 +v -3.063651 -2.491820 0.531712 +v -1.138964 -2.352663 0.531712 +v -3.063651 -2.352663 0.531712 +v -1.138964 -2.491820 0.554909 +v -1.138964 -2.468622 0.160594 +f 19 22 25 +f 17 18 19 +f 18 17 20 +f 17 19 20 +f 18 20 21 +f 19 18 23 +f 18 21 23 +f 21 16 23 +f 16 22 23 +f 22 19 23 +f 16 21 24 +f 21 20 24 +f 22 16 24 +f 20 22 24 +f 20 19 25 +f 22 20 25 +o convex_2 +v 2.897011 -2.352663 0.462013 +v 1.018557 -2.538212 -0.581648 +v 1.018557 -2.538212 -0.419219 +v 1.018368 -2.352663 0.415621 +v 2.873643 -2.422262 -0.581648 +v 2.920190 -2.422244 0.438873 +v 1.018557 -2.422262 -0.581648 +v 2.873643 -2.491807 -0.581648 +v 1.018368 -2.375875 0.554909 +v 1.644959 -2.538212 -0.558396 +v 1.389612 -2.352663 0.345977 +v 2.665030 -2.422244 0.462013 +f 26 34 37 +f 30 26 31 +f 27 29 32 +f 30 27 32 +f 27 30 33 +f 30 31 33 +f 27 28 34 +f 29 27 34 +f 26 29 34 +f 28 27 35 +f 31 28 35 +f 27 33 35 +f 33 31 35 +f 29 26 36 +f 26 30 36 +f 32 29 36 +f 30 32 36 +f 28 31 37 +f 31 26 37 +f 34 28 37 +o convex_3 +v 2.943557 -1.448056 -0.280176 +v 1.018369 -1.680007 -0.604795 +v 1.018369 -1.471260 -0.604795 +v 1.018369 -1.471260 -0.117747 +v 2.943557 -1.680007 -0.488802 +v 2.943557 -1.448056 -0.512020 +v 2.943557 -1.494487 -0.117747 +v 1.018369 -1.448056 -0.117747 +v 2.479409 -1.680007 -0.488802 +v 2.201259 -1.448056 -0.558407 +v 2.943557 -1.680007 -0.512020 +v 2.734756 -1.448056 -0.117747 +f 45 44 49 +f 40 39 41 +f 38 42 43 +f 42 38 44 +f 40 41 45 +f 38 43 45 +f 41 44 45 +f 41 39 46 +f 39 42 46 +f 44 41 46 +f 42 44 46 +f 39 40 47 +f 40 45 47 +f 45 43 47 +f 42 39 48 +f 43 42 48 +f 39 47 48 +f 47 43 48 +f 44 38 49 +f 38 45 49 +o convex_4 +v 3.013133 -2.097543 0.438730 +v 2.920377 -2.445348 -0.117665 +v 2.943563 -2.445348 -0.117665 +v 2.966748 -1.448106 -0.511965 +v 2.943547 -1.494571 0.438836 +v 2.850791 -1.680041 -0.535122 +v 2.920377 -2.422116 0.438730 +v 2.850791 -2.422018 -0.581648 +v 2.989933 -1.517706 -0.488702 +v 3.013133 -2.422116 0.322841 +v 2.920377 -1.958246 0.508519 +v 2.989933 -1.564171 0.438836 +v 2.897192 -2.329283 -0.581648 +f 58 59 62 +f 54 53 55 +f 51 52 56 +f 52 51 57 +f 51 56 57 +f 50 56 59 +f 56 52 59 +f 58 50 59 +f 54 55 60 +f 56 50 60 +f 55 57 60 +f 57 56 60 +f 53 54 61 +f 58 53 61 +f 50 58 61 +f 60 50 61 +f 54 60 61 +f 55 53 62 +f 57 55 62 +f 52 57 62 +f 53 58 62 +f 59 52 62 +o convex_5 +v 0.554213 1.056896 -2.993902 +v -1.068995 -0.079520 -2.970731 +v -1.045727 -0.984092 -2.947533 +v 0.832472 -0.079520 -2.877966 +v -0.976115 1.103138 -2.924362 +v 0.855740 -0.891186 -2.947533 +v -1.045727 -0.984092 -2.901165 +v -0.303640 1.056896 -3.017128 +v 0.855931 1.033458 -2.924362 +v 0.855931 0.732145 -3.017128 +v 0.879008 -0.914412 -2.877966 +v -0.976115 1.126575 -2.993889 +v 0.646903 -1.030546 -2.924349 +v -1.068995 0.546332 -2.993889 +v 0.855931 1.033458 -3.017128 +v -1.068995 0.940974 -2.924362 +v -0.604976 -0.450724 -2.970718 +f 76 70 79 +f 64 65 69 +f 66 67 69 +f 67 66 71 +f 66 69 73 +f 71 66 73 +f 68 72 73 +f 71 63 74 +f 67 71 74 +f 65 68 75 +f 69 65 75 +f 68 73 75 +f 73 69 75 +f 65 64 76 +f 74 70 76 +f 63 71 77 +f 72 70 77 +f 71 73 77 +f 73 72 77 +f 70 74 77 +f 74 63 77 +f 64 69 78 +f 69 67 78 +f 67 74 78 +f 76 64 78 +f 74 76 78 +f 68 65 79 +f 72 68 79 +f 70 72 79 +f 65 76 79 +o convex_6 +v 2.664824 -1.680061 0.601299 +v 1.297183 -1.424861 0.462165 +v 1.297183 -1.424861 0.438970 +v 1.018561 -2.352572 0.554873 +v 2.920292 -2.352572 0.415757 +v 2.966214 -1.494519 0.438970 +v 2.966214 -1.517678 0.601299 +v 1.065256 -1.424861 0.485342 +v 2.920292 -2.352572 0.462147 +v 1.018561 -1.494519 0.438970 +v 1.181026 -2.283005 0.578104 +v 1.018561 -2.352572 0.531696 +v 2.734287 -1.564086 0.601299 +f 90 80 92 +f 84 82 85 +f 82 81 85 +f 84 85 86 +f 85 81 86 +f 81 82 87 +f 86 81 87 +f 83 84 88 +f 86 80 88 +f 84 86 88 +f 82 84 89 +f 87 82 89 +f 83 87 89 +f 87 83 90 +f 88 80 90 +f 83 88 90 +f 84 83 91 +f 83 89 91 +f 89 84 91 +f 80 86 92 +f 86 87 92 +f 87 90 92 +o convex_7 +v -1.069185 1.265764 -0.581562 +v 0.160013 1.149789 -1.091828 +v -0.535391 1.149789 -1.068578 +v -1.022730 1.149789 0.044396 +v 0.763223 1.265764 -1.068578 +v -1.022730 1.265764 0.044396 +v -1.045868 1.265764 -1.045440 +v 0.763223 1.149789 -1.068578 +v -1.045868 1.149789 -1.045440 +f 93 99 101 +f 95 94 96 +f 93 96 98 +f 97 93 98 +f 96 97 98 +f 94 95 99 +f 93 97 99 +f 97 94 99 +f 96 94 100 +f 97 96 100 +f 94 97 100 +f 95 96 101 +f 96 93 101 +f 99 95 101 +o convex_8 +v 0.832851 1.149789 -1.115020 +v 0.995151 1.265764 0.925676 +v 0.948747 1.265764 1.111590 +v 0.763246 1.265764 -1.091699 +v 0.763223 1.149789 1.088269 +v 0.995151 1.149789 0.925676 +v 0.902366 1.265764 -1.068596 +v 0.763223 1.265764 1.088269 +v 0.995151 1.149789 0.067812 +v 0.763246 1.149789 -1.091699 +f 106 105 111 +f 104 103 105 +f 104 106 107 +f 103 104 107 +f 106 102 107 +f 105 103 108 +f 102 105 108 +f 104 105 109 +f 105 106 109 +f 106 104 109 +f 103 107 110 +f 107 102 110 +f 102 108 110 +f 108 103 110 +f 105 102 111 +f 102 106 111 +o convex_9 +v 0.206351 0.987459 1.111590 +v -1.045875 1.149782 0.044618 +v -1.115392 0.941054 0.902708 +v -1.115576 1.265764 0.949080 +v 0.763223 1.265764 1.065010 +v -1.045875 1.265764 0.044618 +v -0.999346 0.941054 0.369431 +v -1.115392 0.964288 1.111590 +v 0.182995 0.941054 1.018742 +v 0.763223 1.149782 1.065010 +v 0.554304 1.265764 1.088300 +v -1.022702 1.149782 0.044618 +f 121 120 123 +f 113 114 117 +f 114 115 117 +f 115 116 117 +f 114 113 118 +f 115 114 119 +f 114 118 120 +f 112 119 120 +f 119 114 120 +f 112 120 121 +f 116 115 122 +f 119 112 122 +f 115 119 122 +f 112 121 122 +f 121 116 122 +f 113 117 123 +f 117 116 123 +f 118 113 123 +f 120 118 123 +f 116 121 123 +o convex_10 +v -0.999482 1.265764 0.926046 +v 0.206417 2.958505 1.088389 +v 0.902257 2.935803 1.111581 +v -0.929675 2.958505 0.926046 +v -0.999482 2.726675 1.041987 +v 0.902257 1.265930 1.088371 +v 0.878988 2.935803 1.065197 +v 0.832636 1.265930 1.111581 +v -0.999482 1.358894 0.972448 +v -0.512320 1.265764 0.949256 +v -0.605210 2.958505 1.065161 +v 0.855719 1.265930 1.065197 +v -0.999482 2.958505 0.926046 +f 128 134 136 +f 125 126 130 +f 127 125 130 +f 126 129 130 +f 129 126 131 +f 128 124 132 +f 124 131 132 +f 131 128 132 +f 124 127 133 +f 127 130 133 +f 131 124 133 +f 129 131 133 +f 126 125 134 +f 125 127 134 +f 131 126 134 +f 128 131 134 +f 130 129 135 +f 129 133 135 +f 133 130 135 +f 127 124 136 +f 124 128 136 +f 134 127 136 +o convex_11 +v -3.110127 -2.445452 0.160594 +v -1.255104 -2.538214 -0.604843 +v -1.997153 -2.538214 -0.535237 +v -1.139166 -2.515015 0.137367 +v -1.139166 -2.445452 -0.604843 +v -3.156740 -2.445452 -0.419178 +v -3.110127 -2.515015 0.044609 +v -1.139166 -2.468652 0.160594 +v -3.156740 -2.515015 -0.419178 +v -1.139166 -2.538214 -0.303269 +v -3.110127 -2.491833 0.160594 +f 145 143 147 +f 141 138 142 +f 138 139 142 +f 137 141 142 +f 141 137 144 +f 140 141 144 +f 137 142 145 +f 142 139 145 +f 139 143 145 +f 139 138 146 +f 141 140 146 +f 138 141 146 +f 143 139 146 +f 140 143 146 +f 143 140 147 +f 144 137 147 +f 140 144 147 +f 137 145 147 +o convex_12 +v -2.043511 -1.471224 0.485226 +v -1.487023 -1.517626 -0.535190 +v -1.487023 -1.471245 -0.535190 +v -2.994045 -1.494435 -0.303175 +v -3.017413 -1.355292 0.485226 +v -3.017413 -1.517626 0.508519 +v -1.138771 -1.448054 0.438843 +v -1.138959 -1.564027 -0.511896 +v -2.901517 -1.564027 -0.442323 +v -1.138771 -1.517626 0.438843 +v -1.138771 -1.448075 -0.442220 +v -1.208685 -1.424884 0.438843 +f 158 152 159 +f 150 151 152 +f 148 152 153 +f 152 151 153 +f 149 150 155 +f 150 149 156 +f 151 150 156 +f 153 151 156 +f 149 155 156 +f 156 155 157 +f 148 153 157 +f 154 148 157 +f 153 156 157 +f 154 157 158 +f 150 152 158 +f 155 150 158 +f 157 155 158 +f 152 148 159 +f 148 154 159 +f 154 158 159 +o convex_13 +v -2.994426 -2.143690 -0.442382 +v -3.063957 -1.355374 0.531619 +v -3.017603 -1.355374 0.508447 +v -3.017603 -2.352612 0.531619 +v -3.156740 -2.445443 -0.372865 +v -2.901594 -1.517668 -0.442382 +v -2.901594 -2.190212 -0.419210 +v -3.110311 -1.355374 0.462102 +v -3.087134 -2.352612 0.508447 +v -2.994426 -1.610605 -0.442382 +v -2.901594 -1.517668 -0.279985 +v -3.156740 -2.236627 -0.210373 +v -3.087109 -2.445443 -0.048166 +f 168 164 172 +f 162 161 163 +f 160 165 166 +f 164 160 166 +f 161 162 167 +f 162 165 167 +f 163 161 168 +f 161 167 168 +f 160 164 169 +f 165 160 169 +f 167 165 169 +f 162 163 170 +f 165 162 170 +f 166 165 170 +f 163 166 170 +f 164 168 171 +f 168 167 171 +f 169 164 171 +f 167 169 171 +f 166 163 172 +f 164 166 172 +f 163 168 172 +o convex_14 +v 0.971806 -2.932557 0.299716 +v 0.322413 -3.025320 -1.022354 +v 0.322413 -2.909347 -1.022354 +v -0.930015 -2.886163 0.578104 +v -0.930015 -3.002095 -0.999011 +v 0.832731 -2.978898 0.578104 +v 0.995174 -2.909347 -0.999011 +v 0.995174 -3.025320 -0.999011 +v 0.948627 -2.909347 0.578104 +v -0.906648 -2.932557 0.322745 +v -0.930015 -2.955741 -0.813367 +v -0.906648 -3.002095 -0.766838 +v -0.930015 -2.886163 0.276374 +v -0.303613 -2.886163 0.578104 +v 0.995174 -3.025320 -0.651222 +v -0.095189 -3.025320 -0.975668 +f 174 187 188 +f 175 174 177 +f 174 175 179 +f 174 179 180 +f 176 178 181 +f 178 173 181 +f 173 179 181 +f 176 177 182 +f 178 176 182 +f 175 177 183 +f 177 176 183 +f 182 177 184 +f 178 182 184 +f 179 175 185 +f 175 183 185 +f 183 176 185 +f 176 181 186 +f 181 179 186 +f 179 185 186 +f 185 176 186 +f 173 178 187 +f 179 173 187 +f 174 180 187 +f 180 179 187 +f 177 174 188 +f 184 177 188 +f 178 184 188 +f 187 178 188 +o convex_15 +v -1.069163 -2.816471 0.670923 +v -0.953210 -1.030546 0.972382 +v -0.953210 -1.030546 0.717313 +v -0.953210 -2.909344 0.670923 +v -1.069163 -2.885988 0.925991 +v -0.999614 -1.030546 0.578143 +v -0.953210 -2.885988 0.925991 +v -0.953210 -2.909344 0.578143 +v -1.069163 -2.120565 0.578143 +v -0.999614 -1.378499 0.972382 +f 197 193 198 +f 191 190 192 +f 190 191 194 +f 192 190 195 +f 193 192 195 +f 191 192 196 +f 193 189 196 +f 192 193 196 +f 194 191 196 +f 194 196 197 +f 189 193 197 +f 196 189 197 +f 190 194 198 +f 195 190 198 +f 193 195 198 +f 194 197 198 +o convex_16 +v 0.948476 -2.816596 0.925991 +v -0.953210 -2.909340 0.578143 +v -0.953210 -2.909340 0.670923 +v 0.948476 -2.978911 0.578182 +v 0.971842 -2.793387 0.578182 +v 0.693335 -2.955703 0.972381 +v -0.419374 -2.793387 0.949186 +v -0.953210 -2.886149 0.902835 +v -0.953210 -2.862959 0.647767 +v 0.925299 -2.793387 0.972381 +v 0.925299 -2.955703 0.972381 +f 208 204 209 +f 201 200 202 +f 199 202 203 +f 202 200 203 +f 201 202 204 +f 204 205 206 +f 200 201 206 +f 201 204 206 +f 200 206 207 +f 203 200 207 +f 205 203 207 +f 206 205 207 +f 199 203 208 +f 203 205 208 +f 205 204 208 +f 202 199 209 +f 204 202 209 +f 199 208 209 +o convex_17 +v 1.018369 -2.422103 -0.558446 +v 2.850598 -1.680007 -0.488868 +v 2.850598 -1.680007 -0.535265 +v 2.850598 -2.422103 -0.558446 +v 1.018369 -1.680007 -0.604843 +v 2.850598 -2.422103 -0.581627 +v 1.134587 -1.703327 -0.558446 +v 1.157723 -2.422103 -0.535265 +v 1.018369 -2.422103 -0.581627 +v 2.456209 -1.680007 -0.488868 +v 2.850598 -2.259808 -0.581627 +v 2.734559 -2.306158 -0.535265 +f 217 213 221 +f 212 211 213 +f 211 212 214 +f 212 213 215 +f 213 210 215 +f 214 210 216 +f 210 213 217 +f 216 210 217 +f 210 214 218 +f 214 215 218 +f 215 210 218 +f 211 214 219 +f 214 216 219 +f 217 211 219 +f 216 217 219 +f 214 212 220 +f 212 215 220 +f 215 214 220 +f 213 211 221 +f 211 217 221 +o convex_18 +v 0.322363 -3.025320 -0.999178 +v -0.929679 -0.891389 -1.045539 +v -0.072007 -0.914784 -1.045539 +v -0.976051 -3.001507 -1.091923 +v 0.646966 -0.937969 -1.091934 +v 0.879035 -1.030713 -0.975964 +v -0.999446 -2.955344 -0.999167 +v 0.995174 -2.909182 -0.999167 +v -1.138771 -1.030922 -0.999167 +v -1.045609 -0.891389 -1.091934 +v 0.623989 -2.909182 -0.975964 +v -0.605076 -3.001507 -1.091923 +v 0.879035 -1.030713 -1.068731 +v 0.971779 -2.538208 -1.022359 +v 0.995174 -2.909182 -0.975964 +v -1.115167 -1.332546 -1.068720 +f 230 231 237 +f 224 223 227 +f 226 224 227 +f 225 222 228 +f 227 223 230 +f 223 224 231 +f 226 225 231 +f 224 226 231 +f 230 223 231 +f 228 222 232 +f 227 230 232 +f 230 228 232 +f 222 225 233 +f 225 226 233 +f 229 222 233 +f 226 227 234 +f 227 229 234 +f 234 229 235 +f 233 226 235 +f 229 233 235 +f 226 234 235 +f 222 229 236 +f 229 227 236 +f 232 222 236 +f 227 232 236 +f 225 228 237 +f 228 230 237 +f 231 225 237 +o convex_19 +v 0.647248 -1.030546 -2.924347 +v 0.879198 -0.914570 -1.022354 +v 0.855971 -0.914570 -1.022354 +v 0.879198 -1.030546 -1.022354 +v 0.879198 -0.914570 -2.924347 +v 0.647248 -0.937786 -1.045626 +v 0.647248 -0.914570 -2.924347 +v 0.879198 -1.030546 -2.924347 +v 0.647248 -1.030546 -1.045626 +f 243 238 246 +f 239 240 241 +f 240 239 242 +f 239 241 242 +f 242 238 244 +f 240 242 244 +f 243 240 244 +f 238 243 244 +f 241 238 245 +f 238 242 245 +f 242 241 245 +f 241 240 246 +f 238 241 246 +f 240 243 246 +o convex_20 +v -1.069163 2.773107 1.041803 +v -1.046011 1.265764 -0.999159 +v -1.069176 1.660043 -0.999159 +v -1.115548 1.265929 0.949105 +v -0.999625 1.265929 0.949105 +v -0.976460 2.587651 0.206919 +v -1.115562 2.958893 -0.998959 +v -1.115548 2.958562 1.041803 +v -0.999625 2.958562 1.041803 +v -1.115562 1.544195 -0.604591 +v -1.022818 1.706780 -0.999159 +v -1.069176 2.958893 -0.882886 +v -1.022818 1.265764 -0.999159 +v -0.976460 2.170335 0.554538 +f 259 252 260 +f 247 250 251 +f 250 248 251 +f 250 247 254 +f 247 251 255 +f 254 247 255 +f 249 248 256 +f 248 250 256 +f 253 249 256 +f 254 253 256 +f 250 254 256 +f 248 249 257 +f 249 253 257 +f 257 253 258 +f 253 254 258 +f 255 252 258 +f 254 255 258 +f 252 257 258 +f 251 248 259 +f 248 257 259 +f 257 252 259 +f 255 251 260 +f 252 255 260 +f 251 259 260 +o convex_21 +v 2.433051 -1.448063 0.091008 +v 1.018369 -1.471247 -0.117747 +v 1.018369 -1.471247 0.160594 +v 2.943557 -1.517632 0.091008 +v 1.018369 -1.424861 0.438934 +v 2.943557 -1.517632 0.438934 +v 2.688210 -1.448063 -0.117747 +v 2.456418 -1.517632 0.438934 +v 1.853572 -1.424861 -0.024949 +v 2.943557 -1.494431 0.438934 +v 2.943557 -1.494431 -0.117747 +v 1.018369 -1.448063 -0.117747 +f 269 267 272 +f 262 263 265 +f 263 262 268 +f 262 264 268 +f 265 263 268 +f 266 265 268 +f 264 266 268 +f 265 261 269 +f 261 267 269 +f 261 265 270 +f 265 266 270 +f 266 264 270 +f 267 261 270 +f 267 270 271 +f 264 262 271 +f 262 267 271 +f 270 264 271 +f 262 265 272 +f 267 262 272 +f 265 269 272 +o convex_22 +v 0.995160 2.889117 -0.906281 +v 0.971974 1.265764 0.786607 +v 0.995160 1.265764 0.786607 +v 0.925634 2.982197 1.111384 +v 0.879214 1.265932 -0.998839 +v 1.041548 1.451756 -0.512087 +v 1.041548 2.541328 0.531248 +v 0.902416 1.265764 1.111384 +v 0.925602 2.865932 -0.998839 +v 0.902416 2.982197 1.111384 +v 1.041548 2.680444 -0.627990 +v 1.041564 1.521145 0.600873 +v 0.995160 1.265764 0.925856 +v 0.879214 1.637243 -0.998839 +v 0.925602 1.474941 -0.998839 +v 0.902416 2.935489 0.299649 +v 0.971942 2.935657 -0.998839 +v 0.948804 1.265764 1.111384 +v 0.879214 1.265932 -0.697614 +v 0.971974 1.266100 -0.233382 +f 277 278 292 +f 275 274 277 +f 274 275 280 +f 277 274 280 +f 280 276 282 +f 273 276 283 +f 278 273 283 +f 276 279 283 +f 283 279 284 +f 278 283 284 +f 278 284 285 +f 275 278 285 +f 279 276 285 +f 280 275 285 +f 284 279 285 +f 281 277 286 +f 273 278 287 +f 278 277 287 +f 277 281 287 +f 281 286 288 +f 286 282 288 +f 276 273 289 +f 282 276 289 +f 273 287 289 +f 287 281 289 +f 281 288 289 +f 288 282 289 +f 276 280 290 +f 285 276 290 +f 280 285 290 +f 277 280 291 +f 280 282 291 +f 286 277 291 +f 282 286 291 +f 275 277 292 +f 278 275 292 +o convex_23 +v -3.017474 1.544145 -0.512063 +v -2.576914 1.961575 0.554806 +v -2.646544 1.961575 0.578068 +v -2.994297 1.961575 -0.512063 +v -3.063878 1.544145 0.578068 +v -2.623317 1.613771 -0.442382 +v -3.087104 1.961575 0.578068 +v -2.576914 1.567395 0.531543 +v -2.576914 1.961575 -0.465538 +v -2.878313 1.544145 -0.488694 +f 301 298 302 +f 295 294 296 +f 295 296 299 +f 296 293 299 +f 293 297 299 +f 297 295 299 +f 294 295 300 +f 295 297 300 +f 300 298 301 +f 296 294 301 +f 293 296 301 +f 294 300 301 +f 293 301 302 +f 297 293 302 +f 300 297 302 +f 298 300 302 +o convex_24 +v -0.999619 1.149768 0.090607 +v -1.115576 0.871459 1.111230 +v -1.092362 0.871459 1.111230 +v -0.976419 0.941064 -2.993932 +v -1.069176 1.126531 -2.993932 +v -0.976433 0.964220 2.943820 +v -1.092362 0.987431 2.943820 +v -0.976419 1.126531 -2.993932 +v -1.069176 0.941064 -2.993932 +v -1.022818 0.871459 2.943820 +v -1.045977 1.149768 0.369011 +v -1.115576 0.987431 2.085356 +v -1.092362 0.871459 2.943820 +v -0.976419 1.149768 -1.022431 +f 307 313 316 +f 305 304 306 +f 306 307 310 +f 306 304 311 +f 307 306 311 +f 304 307 311 +f 304 305 312 +f 305 306 312 +f 306 308 312 +f 308 309 312 +f 308 303 313 +f 309 308 313 +f 309 313 314 +f 307 304 314 +f 313 307 314 +f 304 312 315 +f 312 309 315 +f 309 314 315 +f 314 304 315 +f 303 308 316 +f 308 306 316 +f 310 307 316 +f 306 310 316 +f 313 303 316 +o convex_25 +v -0.999641 -1.030546 0.346272 +v -1.092349 0.941033 1.111590 +v -1.115576 0.941033 1.111590 +v -0.999623 0.941033 0.392590 +v -0.930070 -0.891014 1.041883 +v -1.115576 -0.891014 0.322959 +v -0.976433 -1.030546 0.972329 +v -0.953260 -1.030546 0.392667 +v -1.115576 0.941033 0.902776 +v -0.999623 0.941033 0.647876 +v -1.045986 -0.079494 1.111590 +v -1.045986 0.662550 0.392590 +v -0.999623 -0.033177 1.111590 +v -1.115576 0.709060 1.111590 +f 322 327 330 +f 319 318 320 +f 320 317 322 +f 322 317 323 +f 317 320 324 +f 320 321 324 +f 323 317 324 +f 321 323 324 +f 319 320 325 +f 322 319 325 +f 320 318 326 +f 321 320 326 +f 318 319 327 +f 323 321 327 +f 322 323 327 +f 320 322 328 +f 325 320 328 +f 322 325 328 +f 326 318 329 +f 321 326 329 +f 318 327 329 +f 327 321 329 +f 319 322 330 +f 327 319 330 +o convex_26 +v 2.664670 2.471922 0.601184 +v 2.780818 2.587850 -0.581475 +v 2.780818 2.611024 -0.581475 +v 1.041959 2.634254 -0.558318 +v 1.041959 2.448711 -0.558318 +v 1.041564 2.564657 0.462006 +v 3.059533 2.448711 -0.558318 +v 1.041564 2.448730 0.531595 +v 3.059533 2.611024 -0.465572 +v 2.943385 2.448730 0.601184 +v 2.943385 2.495133 0.485280 +v 1.088181 2.634254 -0.395983 +f 336 339 342 +f 333 332 334 +f 334 332 335 +f 334 335 336 +f 332 333 337 +f 335 332 337 +f 331 336 338 +f 336 335 338 +f 333 334 339 +f 337 333 339 +f 337 339 340 +f 335 337 340 +f 338 335 340 +f 331 338 340 +f 331 340 341 +f 336 331 341 +f 339 336 341 +f 340 339 341 +f 334 336 342 +f 339 334 342 +o convex_27 +v -3.133236 -2.283069 -0.396140 +v -1.138943 -1.564118 -0.512035 +v -1.138943 -1.680161 -0.512035 +v -1.185556 -2.399026 -0.604843 +v -2.785217 -1.564118 -0.465700 +v -3.110126 -2.445443 -0.372915 +v -1.162447 -2.445443 -0.558417 +v -2.738999 -1.564118 -0.419319 +v -3.156740 -2.445443 -0.419342 +v -1.138943 -1.610535 -0.558417 +v -3.063711 -2.190234 -0.372915 +f 344 350 353 +f 345 348 349 +f 344 347 350 +f 343 347 351 +f 347 346 351 +f 348 343 351 +f 346 349 351 +f 349 348 351 +f 344 345 352 +f 346 347 352 +f 347 344 352 +f 345 349 352 +f 349 346 352 +f 345 344 353 +f 347 343 353 +f 348 345 353 +f 343 348 353 +f 350 347 353 +o convex_28 +v 0.809620 1.010365 -2.924347 +v 0.879194 -0.079564 -1.022535 +v 0.855998 -0.079564 -1.022535 +v 0.879194 -0.914489 -2.877807 +v 0.879187 1.149789 -1.115615 +v 0.809620 0.940856 -1.092159 +v 0.832816 -0.844777 -2.854351 +v 0.855998 -0.914489 -1.022535 +v 0.855991 1.033602 -2.924347 +v 0.879194 -0.914489 -1.022535 +v 0.809620 1.149789 -1.069075 +f 358 362 364 +f 355 357 358 +f 359 354 360 +f 354 357 360 +f 360 357 361 +f 355 356 361 +f 359 360 361 +f 357 354 362 +f 358 357 362 +f 357 355 363 +f 361 357 363 +f 355 361 363 +f 356 355 364 +f 355 358 364 +f 354 359 364 +f 361 356 364 +f 359 361 364 +f 362 354 364 +o convex_29 +v 0.577663 1.010648 2.201503 +v 0.948783 1.010648 1.367013 +v 0.948783 0.941033 1.367013 +v 0.902393 1.010648 2.990205 +v 0.902393 1.126575 2.897341 +v 0.577663 0.987437 1.111774 +v 0.856003 0.941033 2.966851 +v 0.577663 1.103365 2.990205 +v 0.577663 0.964244 1.622068 +v 0.832790 1.126575 2.781307 +f 370 372 374 +f 367 366 368 +f 368 366 369 +f 366 367 370 +f 367 368 371 +f 368 369 372 +f 370 365 372 +f 371 368 372 +f 365 371 372 +f 365 370 373 +f 370 367 373 +f 367 371 373 +f 371 365 373 +f 369 366 374 +f 366 370 374 +f 372 369 374 +o convex_30 +v -2.924512 -2.352663 0.485317 +v -1.138771 -1.517642 0.438943 +v -1.138771 -1.656839 0.462136 +v -3.017569 -1.517642 0.508499 +v -1.138771 -2.352663 0.531714 +v -1.533252 -1.726397 0.415739 +v -3.017569 -2.352663 0.531714 +v -1.138771 -2.236679 0.485317 +v -3.017569 -1.517642 0.485317 +v -1.138771 -2.190171 0.531714 +v -3.017569 -1.749692 0.531714 +v -2.553387 -1.517642 0.508499 +v -1.138771 -1.517642 0.415739 +f 380 383 387 +f 376 377 379 +f 375 379 381 +f 379 375 382 +f 376 379 382 +f 375 380 382 +f 378 376 383 +f 380 375 383 +f 375 381 383 +f 381 378 383 +f 379 377 384 +f 381 379 384 +f 381 384 385 +f 378 381 385 +f 378 385 386 +f 377 376 386 +f 376 378 386 +f 384 377 386 +f 385 384 386 +f 376 382 387 +f 382 380 387 +f 383 376 387 +o convex_31 +v -1.046000 -2.375858 0.508447 +v -0.976439 -1.030546 0.578104 +v -0.953247 -1.030546 0.462038 +v -1.138771 -1.448256 -0.349697 +v -1.138771 -1.448256 0.438880 +v -1.022825 -1.471433 -0.349697 +v -1.092349 -1.030546 -0.349697 +v -1.138771 -2.375858 0.531696 +v -1.092349 -1.030546 0.346063 +v -0.999632 -1.471433 -0.163974 +v -1.022825 -2.143694 0.578104 +v -1.046000 -1.100208 -0.349697 +f 397 393 399 +f 388 391 393 +f 393 391 394 +f 389 390 394 +f 391 392 394 +f 391 388 395 +f 392 391 395 +f 389 392 395 +f 392 389 396 +f 389 394 396 +f 394 392 396 +f 388 393 397 +f 390 389 398 +f 389 395 398 +f 395 388 398 +f 388 397 398 +f 397 390 398 +f 393 394 399 +f 394 390 399 +f 390 397 399 +o convex_32 +v -1.138759 -2.074296 -0.767140 +v -1.069199 -1.030546 -0.349825 +v -1.092367 -1.030546 -0.349825 +v -1.115558 -1.030546 -0.999159 +v -1.022795 -2.375858 -0.999159 +v -1.092367 -2.352550 -0.558514 +v -1.022795 -1.355285 -0.349825 +v -1.138759 -1.471433 -0.349825 +v -1.069199 -1.077031 -0.906288 +v -1.138759 -1.053854 -0.999159 +v -1.138759 -2.375858 -0.558514 +f 405 407 410 +f 402 401 403 +f 401 402 406 +f 405 404 406 +f 406 402 407 +f 405 406 407 +f 403 401 408 +f 404 403 408 +f 401 406 408 +f 406 404 408 +f 402 403 409 +f 404 400 409 +f 403 404 409 +f 407 402 409 +f 400 407 409 +f 400 404 410 +f 404 405 410 +f 407 400 410 +o convex_33 +v -1.115446 3.074977 -1.022354 +v 0.206413 3.005406 0.740470 +v -0.327067 3.005406 0.740470 +v -1.115446 2.959013 -1.022354 +v 0.206413 3.028574 -1.022354 +v -1.115446 2.959013 0.740470 +v -0.211132 2.959013 0.717175 +v -0.581967 3.074977 -0.511763 +v 0.206413 3.005406 -1.022354 +v -1.115446 3.005406 0.531678 +v 0.206413 3.028574 0.461966 +v -0.002425 3.051764 -1.022354 +v 0.206413 2.982215 0.740470 +v -1.115446 3.074977 -0.651188 +f 420 413 424 +f 414 411 415 +f 412 413 416 +f 411 414 416 +f 416 414 417 +f 414 415 419 +f 415 412 419 +f 417 414 419 +f 411 416 420 +f 416 413 420 +f 413 412 421 +f 412 415 421 +f 418 413 421 +f 418 421 422 +f 415 411 422 +f 411 418 422 +f 421 415 422 +f 412 416 423 +f 416 417 423 +f 419 412 423 +f 417 419 423 +f 413 418 424 +f 418 411 424 +f 411 420 424 +o convex_34 +v -1.579406 1.567302 -0.187275 +v -1.115576 1.590492 0.392487 +v -1.649009 1.590492 0.392487 +v -1.115576 1.567302 0.392487 +v -1.115576 1.590492 -0.187275 +f 426 428 429 +f 426 427 428 +f 427 425 428 +f 428 425 429 +f 425 427 429 +f 427 426 429 +o convex_35 +v 0.554388 0.964251 1.645333 +v 0.577663 1.103383 2.943820 +v 0.345678 1.103383 2.943820 +v -0.976405 0.964251 2.943820 +v -0.976405 0.964251 1.111591 +v 0.577663 0.987437 1.111591 +v -0.976405 1.010639 2.943820 +v 0.067297 0.941049 1.111591 +v 0.438472 1.056995 2.920504 +v -0.976405 0.941049 1.111591 +v 0.554388 1.103383 2.735058 +v 0.020900 0.987437 1.111591 +v -0.976405 0.941049 1.807644 +v -0.976405 0.987437 1.784508 +f 434 436 443 +f 431 432 433 +f 431 430 435 +f 433 432 436 +f 434 433 436 +f 430 433 437 +f 434 435 437 +f 435 430 437 +f 430 431 438 +f 431 433 438 +f 433 430 438 +f 433 434 439 +f 434 437 439 +f 432 431 440 +f 434 432 440 +f 431 435 440 +f 440 435 441 +f 435 434 441 +f 434 440 441 +f 437 433 442 +f 433 439 442 +f 439 437 442 +f 432 434 443 +f 436 432 443 +o convex_36 +v 2.966752 1.497714 -0.001817 +v 1.041564 1.451329 -0.465673 +v 1.041564 1.451329 -0.256856 +v 1.041564 1.497714 -0.280058 +v 2.966752 1.474522 -0.465673 +v 2.966752 1.497714 -0.465673 +v 2.665046 1.451329 -0.442425 +v 1.041564 1.474522 -0.001817 +v 2.966752 1.474522 -0.001817 +f 444 451 452 +f 445 446 447 +f 448 445 449 +f 445 447 449 +f 447 444 449 +f 444 448 449 +f 446 445 450 +f 445 448 450 +f 447 446 451 +f 444 447 451 +f 448 444 452 +f 446 450 452 +f 450 448 452 +f 451 446 452 +o convex_37 +v -0.233978 -1.100430 0.972420 +v -0.953210 -2.885988 0.902842 +v -0.628384 -2.909344 0.902842 +v 0.832808 -1.030730 0.902842 +v 0.832808 -2.793299 0.972420 +v -0.953210 -1.030546 0.972420 +v -0.953210 -1.425027 0.926039 +v 0.832808 -2.607368 0.926039 +v -0.953210 -2.375829 0.949216 +v 0.832808 -1.401855 0.949216 +v 0.507982 -2.793299 0.972420 +v -0.953210 -2.329300 0.902842 +v -0.953210 -2.885988 0.926039 +v 0.507982 -1.030730 0.902842 +v 0.554311 -1.030730 0.949216 +v -0.953210 -1.471556 0.972420 +v 0.832808 -1.471556 0.902842 +v -0.953210 -1.030546 0.949216 +f 466 459 470 +f 455 454 456 +f 457 453 458 +f 454 458 459 +f 456 457 460 +f 457 455 460 +f 458 454 461 +f 453 457 462 +f 457 456 462 +f 457 458 463 +f 456 454 464 +f 454 459 464 +f 454 455 465 +f 455 457 465 +f 461 454 465 +f 457 463 465 +f 463 461 465 +f 456 464 466 +f 464 459 466 +f 456 458 467 +f 458 453 467 +f 453 462 467 +f 462 456 467 +f 458 461 468 +f 463 458 468 +f 461 463 468 +f 455 456 469 +f 460 455 469 +f 456 460 469 +f 458 456 470 +f 459 458 470 +f 456 466 470 +o convex_38 +v -0.442680 1.033829 -2.436984 +v 0.809554 1.149752 -1.069089 +v 0.809554 1.080166 -1.069089 +v -0.976405 1.149773 -1.022549 +v 0.670223 0.941054 -1.092358 +v 0.809554 1.033849 -2.924347 +v -0.976405 1.126564 -2.854538 +v 0.809554 0.987472 -2.738375 +v -0.976405 1.080166 -2.924161 +v -0.860325 1.103354 -1.045819 +v 0.809554 0.941054 -1.509727 +v -0.976405 1.149773 -1.765136 +v 0.484914 1.056977 -2.924347 +v 0.438412 1.010661 -2.924347 +v -0.976405 1.080166 -2.715291 +f 475 480 485 +f 473 472 474 +f 473 474 475 +f 472 473 476 +f 476 473 478 +f 474 477 479 +f 475 474 480 +f 475 471 481 +f 473 475 481 +f 478 473 481 +f 474 472 482 +f 472 477 482 +f 477 474 482 +f 472 476 483 +f 477 472 483 +f 479 477 483 +f 479 483 484 +f 476 478 484 +f 471 479 484 +f 481 471 484 +f 478 481 484 +f 483 476 484 +f 471 475 485 +f 479 471 485 +f 474 479 485 +f 480 474 485 +o convex_39 +v 1.018350 -2.677253 -0.048039 +v 0.856053 -2.584380 0.972381 +v 0.832863 -2.584380 0.972381 +v 0.925606 -1.030546 -0.048039 +v 0.925606 -1.030730 0.925935 +v 1.018369 -2.375645 0.624484 +v 1.018350 -1.448200 -0.048039 +v 0.948761 -2.909344 -0.048039 +v 0.832863 -1.030730 0.925935 +v 0.925606 -2.793299 0.972381 +v 0.902416 -1.053902 -0.001693 +v 1.018350 -1.425027 0.462071 +v 0.832863 -2.793299 0.949108 +v 0.971951 -2.909344 0.392552 +v 0.856035 -1.030546 0.462071 +v 0.971951 -2.769758 0.833142 +v 0.948761 -1.030546 -0.048039 +f 500 490 502 +f 488 487 490 +f 486 489 492 +f 491 486 492 +f 489 486 493 +f 488 490 494 +f 487 488 495 +f 490 487 495 +f 489 493 496 +f 490 491 497 +f 491 492 497 +f 488 494 498 +f 495 488 498 +f 496 493 498 +f 493 486 499 +f 495 498 499 +f 498 493 499 +f 494 490 500 +f 489 496 500 +f 498 494 500 +f 496 498 500 +f 486 491 501 +f 491 490 501 +f 490 495 501 +f 499 486 501 +f 495 499 501 +f 492 489 502 +f 490 497 502 +f 497 492 502 +f 489 500 502 +o convex_40 +v -1.022632 -0.496710 2.944020 +v 0.878871 1.126594 3.059952 +v 0.878871 1.126594 2.990402 +v 0.971978 -0.891375 3.059952 +v 0.809341 -0.891375 2.944020 +v -1.045809 0.987137 2.944008 +v -0.976078 -0.868067 2.990424 +v 0.577572 1.103285 2.944008 +v -1.045809 0.987137 2.967211 +v 0.507841 -0.868067 3.059974 +v -0.999055 -0.868067 2.944020 +v 0.948602 -0.009798 2.990402 +v 0.832518 1.103087 3.059952 +f 509 512 515 +f 504 505 508 +f 507 506 509 +f 505 507 510 +f 508 505 510 +f 507 508 510 +f 504 508 511 +f 508 503 511 +f 503 509 511 +f 506 504 512 +f 509 506 512 +f 508 507 513 +f 503 508 513 +f 509 503 513 +f 507 509 513 +f 505 504 514 +f 504 506 514 +f 506 507 514 +f 507 505 514 +f 504 511 515 +f 511 509 515 +f 512 504 515 +o convex_41 +v -1.138864 2.332593 0.485304 +v -1.649009 1.567300 0.392544 +v -1.649009 1.567300 0.485304 +v -1.115576 1.567300 0.554893 +v -1.115576 1.567300 0.392544 +v -1.533039 2.448625 0.415762 +v -1.115576 2.448625 0.438948 +v -1.556222 2.425418 0.438948 +v -1.231599 1.637005 0.554893 +f 523 518 524 +f 518 517 519 +f 519 517 520 +f 520 517 521 +f 516 519 522 +f 519 520 522 +f 520 521 522 +f 522 521 523 +f 517 518 523 +f 521 517 523 +f 516 522 523 +f 516 523 524 +f 518 519 524 +f 519 516 524 +o convex_42 +v 0.971978 0.917663 1.041999 +v 0.206542 0.963992 1.018828 +v 0.206542 0.963992 1.111577 +v 0.902373 -0.079549 0.972420 +v 0.925525 -0.079549 1.111577 +v 0.971978 1.149789 0.972420 +v 0.948752 1.149789 1.111577 +v 0.206542 1.149789 1.018828 +f 527 531 532 +f 527 526 528 +f 528 525 529 +f 527 528 529 +f 525 528 530 +f 529 525 531 +f 527 529 531 +f 525 530 531 +f 531 530 532 +f 526 527 532 +f 528 526 532 +f 530 528 532 +o convex_43 +v -0.373389 3.051703 -1.091932 +v -1.115446 2.680238 -1.022370 +v -1.115446 2.680238 -0.999168 +v 0.206413 1.265764 -1.068720 +v 0.206413 3.028565 -1.022361 +v -1.045834 1.265764 -0.999168 +v -1.092156 2.518092 -1.091923 +v -1.045834 1.265764 -1.045545 +v 0.206413 1.915425 -1.022370 +v -1.115446 3.097980 -1.045554 +v 0.206413 3.028565 -1.068730 +v -1.115446 3.097980 -1.091932 +v 0.206413 1.265764 -1.045545 +v -0.419969 1.265764 -1.068720 +v -1.092156 2.958613 -0.999168 +f 537 542 547 +f 535 534 538 +f 533 536 539 +f 538 534 540 +f 536 538 540 +f 534 539 540 +f 536 537 541 +f 537 538 541 +f 534 535 542 +f 536 533 543 +f 537 536 543 +f 542 537 543 +f 542 543 544 +f 539 534 544 +f 533 539 544 +f 534 542 544 +f 543 533 544 +f 538 536 545 +f 536 541 545 +f 541 538 545 +f 539 536 546 +f 536 540 546 +f 540 539 546 +f 535 538 547 +f 538 537 547 +f 542 535 547 +o convex_44 +v -3.040689 2.425457 -0.303248 +v -2.484140 2.471906 -0.512004 +v -2.484140 2.448632 -0.512004 +v -3.017476 2.286309 0.067754 +v -2.994319 1.961665 -0.512004 +v -2.553723 1.961665 -0.442419 +v -3.040689 1.961665 0.067754 +v -3.017476 2.471906 -0.488809 +v -3.063959 2.471906 0.067754 +v -2.669732 2.147212 -0.535199 +f 552 555 557 +f 550 549 551 +f 550 551 553 +f 553 551 554 +f 548 552 554 +f 552 553 554 +f 552 548 555 +f 551 549 556 +f 554 551 556 +f 548 554 556 +f 549 555 556 +f 555 548 556 +f 549 550 557 +f 550 553 557 +f 553 552 557 +f 555 549 557 +o convex_45 +v -3.040664 2.471915 -0.326388 +v -2.484083 2.518267 0.578049 +v -2.971116 2.564687 0.554798 +v -2.484147 2.541482 -0.535199 +v -2.553759 2.448711 0.601299 +v -3.110340 2.448711 0.601299 +v -3.017460 2.564675 -0.488698 +v -2.484147 2.471915 -0.535199 +v -3.133544 2.564687 0.601299 +v -3.063869 2.448711 0.067759 +f 565 562 567 +f 560 559 561 +f 560 561 564 +f 558 564 565 +f 561 559 565 +f 559 562 565 +f 564 561 565 +f 559 560 566 +f 562 559 566 +f 563 562 566 +f 558 563 566 +f 560 564 566 +f 564 558 566 +f 562 563 567 +f 563 558 567 +f 558 565 567 +o convex_46 +v -3.063873 1.984883 0.601299 +v -3.063873 2.193577 0.067813 +v -3.063873 2.448711 0.067813 +v -2.553723 2.448711 0.554875 +v -3.110349 2.448711 0.601299 +v -2.576934 1.961615 0.531637 +v -3.017505 1.961615 0.067813 +v -2.576934 2.402271 0.601299 +v -3.087084 1.961615 0.438841 +f 569 574 576 +f 570 569 572 +f 571 570 572 +f 571 573 574 +f 569 570 574 +f 570 571 574 +f 572 568 575 +f 571 572 575 +f 568 573 575 +f 573 571 575 +f 568 572 576 +f 572 569 576 +f 573 568 576 +f 574 573 576 +o convex_47 +v 0.855844 3.005392 0.972347 +v -1.115249 2.959011 0.740470 +v -1.115249 2.959011 0.925994 +v 0.902060 2.935814 1.111590 +v 0.902060 2.959011 0.786896 +v -0.234182 3.005385 0.740470 +v -0.581790 2.982195 1.065128 +f 577 582 583 +f 579 578 580 +f 577 580 581 +f 580 578 581 +f 581 578 582 +f 578 579 582 +f 577 581 582 +f 582 579 583 +f 579 580 583 +f 580 577 583 +o convex_48 +v -1.115576 2.448623 -0.465634 +v -1.556281 1.544193 -0.349736 +v -1.533073 1.544193 -0.535219 +v -1.115576 1.567390 -0.187332 +v -1.115576 1.567390 -0.581609 +v -1.556281 2.448623 -0.512024 +v -1.556281 1.590588 -0.187332 +v -1.301159 2.448623 -0.442439 +f 589 590 591 +f 585 586 587 +f 584 587 588 +f 587 586 588 +f 588 586 589 +f 586 585 589 +f 584 588 589 +f 585 587 590 +f 589 585 590 +f 590 587 591 +f 587 584 591 +f 584 589 591 +o convex_49 +v 2.989932 2.495016 0.462007 +v 2.943575 1.474540 -0.001735 +v 2.966753 2.216581 -0.558339 +v 3.059512 1.474644 -0.488863 +v 3.059512 2.448436 -0.558339 +v 2.966765 1.474540 0.554868 +v 2.943575 2.541492 0.091013 +v 2.943575 2.471726 0.601186 +v 2.966753 1.474644 -0.488863 +v 2.989932 2.425355 0.601186 +v 3.059512 1.521120 -0.349684 +v 2.966753 2.448436 -0.558339 +v 3.059512 2.448436 -0.372729 +v 2.943575 1.474540 0.554868 +f 601 599 605 +f 595 594 596 +f 593 595 597 +f 598 593 599 +f 592 598 599 +f 593 594 600 +f 594 595 600 +f 595 593 600 +f 592 599 601 +f 595 596 602 +f 597 595 602 +f 601 597 602 +f 594 593 603 +f 596 594 603 +f 593 598 603 +f 598 596 603 +f 598 592 604 +f 596 598 604 +f 592 601 604 +f 602 596 604 +f 601 602 604 +f 593 597 605 +f 599 593 605 +f 597 601 605 +o convex_50 +v 1.412802 1.683275 0.601299 +v 1.041564 1.474540 -0.001772 +v 1.041564 1.474540 0.207025 +v 2.943557 1.474540 -0.001772 +v 2.943557 1.474540 0.554900 +v 2.943557 1.683275 0.531642 +v 1.041564 1.497751 0.578100 +v 1.041564 1.683275 0.554900 +v 1.041564 1.497751 -0.001772 +v 2.943557 1.497751 -0.001772 +v 2.038919 1.474540 0.578100 +v 2.711580 1.683275 0.578100 +f 616 610 617 +f 608 607 609 +f 608 609 610 +f 610 609 611 +f 607 608 612 +f 606 611 613 +f 607 612 613 +f 612 606 613 +f 609 607 614 +f 607 613 614 +f 613 611 614 +f 611 609 615 +f 609 614 615 +f 614 611 615 +f 608 610 616 +f 606 612 616 +f 612 608 616 +f 611 606 617 +f 610 611 617 +f 606 616 617 +o convex_51 +v 0.206542 3.028578 0.484979 +v 0.971978 2.959016 -0.790294 +v 0.971978 2.935816 -0.790294 +v 0.206542 2.935816 -1.068744 +v 0.925525 2.935816 0.786860 +v 0.948752 3.005379 -1.045494 +v 0.206542 3.028578 -1.068744 +v 0.879146 3.005379 0.763429 +v 0.206542 2.982197 0.786860 +v 0.531343 3.028578 -1.068744 +v 0.948752 2.935816 -1.045494 +f 627 623 628 +f 620 619 622 +f 621 620 622 +f 619 620 623 +f 621 618 624 +f 622 619 625 +f 619 623 625 +f 618 621 626 +f 621 622 626 +f 625 618 626 +f 622 625 626 +f 624 618 627 +f 621 624 627 +f 618 625 627 +f 625 623 627 +f 620 621 628 +f 623 620 628 +f 621 627 628 +o convex_52 +v 1.041564 1.451324 -0.512058 +v 2.966752 2.448711 -0.535242 +v 2.966752 2.239783 -0.512058 +v 1.041564 2.448711 -0.535242 +v 1.041564 1.474560 -0.465673 +v 2.966752 1.521032 -0.512058 +v 2.572330 2.193507 -0.558435 +v 2.966752 1.474560 -0.465673 +v 1.041564 2.448711 -0.558435 +v 2.966752 2.448711 -0.558435 +v 1.041564 2.216645 -0.558435 +v 1.041564 2.239783 -0.512058 +f 633 631 640 +f 631 630 632 +f 632 629 633 +f 630 631 634 +f 634 629 635 +f 633 629 636 +f 631 633 636 +f 634 631 636 +f 629 634 636 +f 632 630 637 +f 629 632 637 +f 635 637 638 +f 630 634 638 +f 634 635 638 +f 637 630 638 +f 635 629 639 +f 629 637 639 +f 637 635 639 +f 631 632 640 +f 632 633 640 +o convex_53 +v -1.115562 -1.007194 -0.767095 +v -0.999619 0.941033 0.392430 +v -0.976419 0.941033 0.021323 +v -1.069176 -1.030546 0.322954 +v -1.115562 -0.775221 0.322954 +v -1.045977 0.941033 -0.674346 +v -1.069176 -1.030546 -0.767095 +v -0.976419 0.778536 -0.442419 +v -1.045977 0.662550 0.392430 +v -1.115562 -0.636075 -0.767095 +v -0.999619 0.941033 -0.651074 +v -1.069176 0.523404 -0.651074 +f 646 650 652 +f 643 642 644 +f 641 644 645 +f 642 643 646 +f 644 641 647 +f 643 644 648 +f 644 647 648 +f 644 642 649 +f 645 644 649 +f 642 646 649 +f 641 645 650 +f 646 647 650 +f 647 641 650 +f 646 643 651 +f 647 646 651 +f 643 648 651 +f 648 647 651 +f 645 649 652 +f 649 646 652 +f 650 645 652 +o convex_54 +v -1.092365 0.082810 -0.767710 +v -1.138759 -1.030546 -1.069134 +v -1.138759 -0.937718 -1.254574 +v -1.046005 -0.984035 -2.947361 +v -1.069185 0.941033 -2.924209 +v -1.022802 0.500246 -0.674653 +v -1.046005 -1.030546 -1.045758 +v -1.022802 0.941033 -2.506351 +v -1.092376 -0.984035 -2.947361 +v -1.046005 0.941033 -0.674653 +v -1.115568 -1.030546 -0.767260 +v -1.022802 0.222148 -1.856973 +v -1.069185 0.732219 -0.767710 +v -1.138759 -0.798379 -1.022381 +v -1.092376 -0.241798 -2.947361 +v -1.069208 -1.030546 -0.767260 +v -1.046005 0.941033 -2.924209 +v -1.022802 0.941033 -0.674653 +f 660 662 670 +f 654 656 659 +f 654 655 661 +f 656 654 661 +f 660 657 662 +f 654 659 663 +f 662 653 663 +f 658 662 663 +f 659 656 664 +f 658 659 664 +f 656 660 664 +f 660 658 664 +f 653 662 665 +f 662 657 665 +f 655 654 666 +f 657 655 666 +f 654 663 666 +f 663 653 666 +f 653 665 666 +f 665 657 666 +f 655 657 667 +f 661 655 667 +f 656 661 667 +f 659 658 668 +f 663 659 668 +f 658 663 668 +f 660 656 669 +f 657 660 669 +f 656 667 669 +f 667 657 669 +f 658 660 670 +f 662 658 670 +o convex_55 +v -1.069158 -2.375858 0.578104 +v -0.976437 -3.002124 -0.999159 +v -0.999628 -2.955657 -0.999159 +v -0.999628 -2.399153 -0.999159 +v -0.930036 -2.909312 0.578104 +v -1.138750 -2.561482 -0.581530 +v -1.045968 -2.909312 0.578104 +v -1.138750 -2.375858 0.554791 +v -0.930036 -2.978829 -0.999159 +v -1.138750 -2.375858 -0.651006 +v -1.045968 -2.375858 0.578104 +f 680 671 681 +f 672 673 674 +f 673 672 677 +f 675 671 677 +f 672 675 677 +f 676 673 677 +f 676 677 678 +f 677 671 678 +f 672 674 679 +f 674 675 679 +f 675 672 679 +f 674 673 680 +f 673 676 680 +f 676 678 680 +f 678 671 680 +f 671 675 681 +f 675 674 681 +f 674 680 681 +o convex_56 +v 0.971978 2.935807 -0.999159 +v 0.206542 1.265927 -1.068728 +v 0.252996 1.265927 -1.091930 +v 0.206542 2.935807 -1.068728 +v 0.902373 1.358771 -1.091930 +v 0.879146 1.265927 -0.999159 +v 0.206542 2.680487 -1.022370 +v 0.948752 2.796378 -1.068728 +v 0.206542 1.938554 -1.022370 +v 0.902373 1.984976 -1.091930 +f 689 686 691 +f 684 683 685 +f 684 686 687 +f 683 684 687 +f 686 682 687 +f 687 682 688 +f 685 683 688 +f 682 685 688 +f 685 682 689 +f 682 686 689 +f 683 687 690 +f 687 688 690 +f 688 683 690 +f 684 685 691 +f 686 684 691 +f 685 689 691 +o convex_57 +v 1.041564 1.892146 0.531721 +v 2.943557 2.448711 0.601290 +v 2.943557 2.216690 0.601290 +v 2.943557 1.776173 0.531721 +v 1.250455 1.683350 0.601290 +v 1.041564 2.448711 0.508519 +v 1.343358 2.448711 0.554905 +v 2.688307 2.448711 0.554905 +v 2.781024 1.683350 0.578089 +v 1.041564 1.683350 0.554905 +v 2.943557 1.683350 0.531721 +v 1.041564 2.263064 0.554905 +f 697 701 703 +f 693 694 695 +f 694 693 696 +f 696 693 698 +f 693 697 698 +f 693 695 699 +f 697 693 699 +f 695 697 699 +f 694 696 700 +f 700 696 701 +f 697 692 701 +f 695 694 702 +f 697 695 702 +f 692 697 702 +f 694 700 702 +f 700 701 702 +f 701 692 702 +f 696 698 703 +f 698 697 703 +f 701 696 703 +o convex_58 +v 0.531145 -1.030546 0.949239 +v -0.906702 -0.868180 1.041992 +v -0.906702 -0.868180 0.995602 +v -0.930015 -1.030546 0.972420 +v 0.647248 -0.984137 1.041992 +v 0.647248 -0.960949 0.902849 +f 708 704 709 +f 705 706 707 +f 707 704 708 +f 705 707 708 +f 705 708 709 +f 706 705 709 +f 707 706 709 +f 704 707 709 +o convex_59 +v 0.856003 -1.030546 -1.022281 +v 0.995146 1.149789 0.114090 +v 0.995146 1.149789 0.067555 +v 0.856017 1.149789 -0.929437 +v 0.856003 -0.891180 -0.419364 +v 0.971976 -1.030546 -0.442518 +v 0.902412 1.149789 -1.022168 +v 0.948765 0.198774 0.114090 +v 0.948765 1.149789 0.090822 +v 0.948752 -1.030546 -0.210636 +v 0.902412 -1.030546 -0.952705 +v 0.995146 0.129198 0.114090 +v 0.948765 1.079999 -0.604711 +f 716 712 722 +f 711 712 713 +f 713 710 714 +f 713 712 716 +f 710 713 716 +f 711 713 718 +f 713 714 718 +f 717 711 718 +f 714 717 718 +f 714 710 719 +f 710 715 719 +f 717 714 719 +f 715 710 720 +f 710 716 720 +f 716 715 720 +f 712 711 721 +f 715 712 721 +f 711 717 721 +f 719 715 721 +f 717 719 721 +f 712 715 722 +f 715 716 722 +o convex_60 +v 0.948752 -1.030546 -0.210527 +v 0.971964 1.149789 0.972420 +v 0.995139 1.149789 0.925871 +v 0.925577 -1.030546 0.879554 +v 0.832822 -0.891180 0.485045 +v 0.971964 1.149789 0.114274 +v 1.018369 0.963897 0.369483 +v 0.948789 1.149789 0.972420 +v 0.948752 -0.079531 -0.210527 +v 0.971964 -0.752028 -0.210527 +v 0.995139 0.500341 0.856279 +v 0.879227 -1.007069 0.856279 +v 0.995139 1.149789 0.114274 +v 0.902402 -0.984019 -0.094502 +f 734 727 736 +f 725 724 726 +f 724 725 728 +f 726 724 730 +f 724 728 730 +f 728 727 730 +f 727 728 731 +f 726 723 732 +f 723 731 732 +f 725 726 733 +f 729 725 733 +f 726 732 733 +f 732 729 733 +f 723 726 734 +f 726 730 734 +f 730 727 734 +f 728 725 735 +f 725 729 735 +f 731 728 735 +f 729 732 735 +f 732 731 735 +f 731 723 736 +f 727 731 736 +f 723 734 736 +o convex_61 +v 0.948783 -0.079549 0.995597 +v 0.647277 -1.030546 0.902860 +v 0.647277 -1.030546 0.926048 +v 0.925557 -1.030546 0.926048 +v 0.948783 -0.079549 0.879640 +v 0.647277 -0.960915 1.042005 +v 0.925557 -0.984094 1.042005 +v 0.902359 -0.079549 1.042005 +f 742 743 744 +f 739 738 740 +f 737 740 741 +f 740 738 741 +f 738 739 742 +f 739 740 743 +f 740 737 743 +f 742 739 743 +f 737 741 744 +f 741 738 744 +f 738 742 744 +f 743 737 744 +o convex_62 +v -1.022818 0.500109 2.734921 +v -0.976429 -0.891375 1.042005 +v -1.092362 0.453692 1.111636 +v -0.999599 -0.868080 2.943999 +v -0.953210 -0.566454 1.042005 +v -1.092362 0.848153 2.943813 +v -0.953210 -0.844958 2.943999 +v -1.069159 0.778614 1.181453 +v -1.045989 0.871448 2.943813 +v -1.115564 0.848153 1.691766 +v -1.115564 0.871448 1.111636 +v -0.953210 -0.496742 1.343800 +v -0.953210 -0.891375 1.042005 +v -1.045989 0.871448 2.665291 +f 753 756 758 +f 747 746 748 +f 750 748 753 +f 748 751 753 +f 751 745 753 +f 747 748 754 +f 748 750 754 +f 746 747 755 +f 749 746 755 +f 752 749 755 +f 750 753 755 +f 747 754 755 +f 754 750 755 +f 745 751 756 +f 751 749 756 +f 753 745 756 +f 748 746 757 +f 746 749 757 +f 751 748 757 +f 749 751 757 +f 749 752 758 +f 752 755 758 +f 755 753 758 +f 756 749 758 +o convex_63 +v 0.438447 -0.984142 1.111822 +v 0.809613 -0.868194 2.943999 +v -0.141338 -0.844999 2.943999 +v -0.906793 -0.868194 1.042005 +v -0.906793 -0.891389 2.850910 +v 0.809613 -0.960947 1.042005 +v -0.929915 -0.914570 1.042005 +v 0.809613 -0.914570 2.642205 +v -0.953210 -0.844999 2.943999 +v 0.809613 -0.868194 2.619119 +v 0.809613 -0.984142 1.389972 +v -0.350130 -0.891389 2.943999 +v 0.809613 -0.937752 1.343800 +f 768 764 771 +f 762 764 765 +f 759 763 765 +f 764 759 765 +f 764 760 766 +f 760 761 767 +f 761 762 767 +f 762 765 767 +f 765 763 767 +f 761 760 768 +f 762 761 768 +f 760 764 768 +f 763 759 769 +f 759 764 769 +f 764 766 769 +f 769 766 770 +f 766 760 770 +f 760 767 770 +f 767 763 770 +f 763 769 770 +f 764 762 771 +f 762 768 771 +o convex_64 +v 0.809613 -0.984142 1.042005 +v 0.971978 -0.844999 3.013391 +v 0.948758 -0.844999 3.013391 +v 0.902382 -0.844999 1.042005 +v 0.809613 -0.868194 3.013391 +v 0.925570 -0.984142 1.390124 +f 773 776 777 +f 774 773 775 +f 775 772 776 +f 773 774 776 +f 774 775 776 +f 775 773 777 +f 772 775 777 +f 776 772 777 +o convex_65 +v 0.948763 -0.079424 3.013391 +v 0.902412 -0.844985 1.042006 +v 0.902412 -0.079424 1.042006 +v 0.856015 0.917607 2.920379 +v 0.948774 0.941033 1.111861 +v 0.971978 -0.844985 3.013391 +v 0.925582 -0.775230 2.642116 +v 0.902400 0.941033 2.990042 +v 0.948763 -0.844985 1.598918 +v 0.902400 0.941033 1.320848 +v 0.879207 -0.380998 1.506099 +v 0.925582 -0.844985 1.042006 +v 0.925582 -0.543236 3.013391 +v 0.971978 -0.844985 2.456671 +v 0.971978 -0.519984 3.013391 +v 0.948774 0.941033 1.344004 +v 0.902412 -0.844985 1.645231 +f 781 788 794 +f 783 779 786 +f 782 780 787 +f 781 785 787 +f 785 782 787 +f 780 779 788 +f 787 780 788 +f 781 787 788 +f 779 780 789 +f 780 782 789 +f 786 779 789 +f 782 786 789 +f 783 778 790 +f 781 784 790 +f 784 783 790 +f 778 785 790 +f 785 781 790 +f 786 782 791 +f 783 786 791 +f 778 783 792 +f 785 778 792 +f 791 782 792 +f 783 791 792 +f 782 785 793 +f 785 792 793 +f 792 782 793 +f 779 783 794 +f 784 781 794 +f 783 784 794 +f 788 779 794 +o convex_66 +v -0.512400 -1.007337 -2.901152 +v 0.647082 -0.937779 -1.092116 +v -0.118339 -0.914584 -1.092116 +v -1.022625 -0.937779 -1.092116 +v -1.045825 -0.937779 -2.645805 +v 0.647082 -1.030532 -2.901152 +v 0.623882 -0.984142 -1.138510 +v 0.391887 -0.984142 -2.877778 +v -1.022625 -0.891389 -1.161708 +v -1.045825 -0.984142 -2.901152 +v 0.531084 -1.030532 -2.669002 +v 0.647082 -0.984142 -2.645805 +f 800 802 806 +f 796 797 798 +f 796 798 801 +f 800 796 801 +f 798 797 803 +f 799 798 803 +f 797 802 803 +f 802 799 803 +f 795 798 804 +f 798 799 804 +f 800 795 804 +f 799 802 804 +f 802 800 804 +f 798 795 805 +f 795 800 805 +f 801 798 805 +f 800 801 805 +f 797 796 806 +f 796 800 806 +f 802 797 806 +o convex_67 +v 1.018369 -2.769912 -0.396235 +v 0.948747 -1.030546 -0.048253 +v 0.971965 -1.030546 -0.233867 +v 0.856019 -1.146577 -0.975964 +v 0.948779 -2.908929 -0.048253 +v 0.995151 -2.908929 -0.975964 +v 1.018353 -1.378639 -0.627890 +v 1.018353 -1.448148 -0.048253 +v 0.902407 -2.630711 -0.651047 +v 0.902407 -1.030546 -0.952626 +v 0.925609 -1.030546 -0.048253 +v 0.902407 -2.537849 -0.442548 +v 1.018369 -2.677050 -0.048253 +v 0.948779 -2.908929 -0.906222 +v 1.018369 -2.422002 -0.859818 +f 814 819 821 +f 807 811 812 +f 809 808 814 +f 808 811 814 +f 813 809 814 +f 808 809 816 +f 812 810 816 +f 809 813 816 +f 811 808 817 +f 808 816 817 +f 816 810 817 +f 810 815 818 +f 815 811 818 +f 817 810 818 +f 811 817 818 +f 811 807 819 +f 814 811 819 +f 810 812 820 +f 812 811 820 +f 815 810 820 +f 811 815 820 +f 807 812 821 +f 813 814 821 +f 812 816 821 +f 816 813 821 +f 819 807 821 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/795/795.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/795/795.urdf new file mode 100644 index 000000000..dd7d9eb1e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/795/795.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/796/796.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/796/796.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/796/796.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/796/796.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/796/796.obj new file mode 100644 index 000000000..8e74dbb4a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/796/796.obj @@ -0,0 +1,510 @@ +o convex_0 +v -0.285994 -2.106168 -3.056958 +v 0.359058 -2.382468 -2.872679 +v 0.297621 -2.413200 -1.245236 +v 0.297621 -1.860371 -2.627038 +v -0.255244 -1.952624 -1.091637 +v -0.224557 -2.443875 -1.798074 +v 0.174748 -1.891160 -1.091637 +v -0.224557 -2.443875 -2.934235 +v -0.224557 -2.413200 -1.091637 +v -0.285994 -1.952624 -3.056958 +v 0.328308 -1.891160 -3.056958 +v 0.266871 -2.443875 -3.056958 +v 0.266871 -2.443875 -1.091637 +v -0.285994 -1.952624 -1.460392 +v 0.205435 -1.860371 -2.934235 +v 0.359058 -2.413200 -3.087834 +v -0.163121 -1.921892 -1.245236 +v -0.255244 -1.983298 -3.087834 +v -0.255244 -2.351737 -2.627038 +v 0.205435 -1.983298 -1.091637 +v 0.174748 -2.382468 -3.087834 +v -0.040185 -2.443875 -1.091637 +f 13 9 22 +f 7 5 9 +f 3 2 11 +f 4 3 11 +f 6 8 12 +f 7 9 13 +f 6 12 13 +f 9 5 14 +f 10 1 14 +f 7 4 15 +f 4 11 15 +f 11 10 15 +f 2 3 16 +f 11 2 16 +f 3 13 16 +f 13 12 16 +f 5 7 17 +f 14 5 17 +f 10 14 17 +f 15 10 17 +f 7 15 17 +f 1 10 18 +f 10 11 18 +f 11 16 18 +f 1 8 19 +f 8 6 19 +f 6 9 19 +f 14 1 19 +f 9 14 19 +f 3 4 20 +f 4 7 20 +f 13 3 20 +f 7 13 20 +f 8 1 21 +f 12 8 21 +f 16 12 21 +f 1 18 21 +f 18 16 21 +f 9 6 22 +f 6 13 22 +o convex_1 +v -0.040152 1.457099 -3.026277 +v 0.328278 2.009847 -2.258479 +v 0.297528 2.102087 -1.091637 +v -0.255211 2.102087 -3.026277 +v -0.224461 1.549276 -1.091637 +v 0.236155 1.457099 -1.214555 +v 0.297528 1.457099 -3.087834 +v -0.224461 2.009847 -1.091637 +v -0.316647 1.487846 -2.964916 +v 0.297528 1.979163 -3.087834 +v 0.174718 1.457099 -1.091637 +v -0.316647 1.641390 -2.534801 +v -0.224461 2.071277 -1.583114 +v 0.328278 1.641390 -2.995597 +v -0.163025 2.102087 -3.026277 +v -0.316647 1.487846 -2.627038 +v 0.297528 1.948416 -1.183875 +v 0.297528 1.457099 -2.534801 +v 0.174718 2.102087 -1.091637 +v 0.328278 1.948416 -3.087834 +v 0.297528 2.102087 -1.245236 +v 0.205468 1.487846 -3.087834 +f 32 29 44 +f 28 23 29 +f 27 25 30 +f 25 27 33 +f 28 25 33 +f 23 28 33 +f 30 26 34 +f 27 30 34 +f 26 31 34 +f 26 30 35 +f 26 25 37 +f 32 26 37 +f 31 23 38 +f 33 27 38 +f 23 33 38 +f 27 34 38 +f 34 31 38 +f 24 25 39 +f 25 28 39 +f 36 24 39 +f 36 39 40 +f 28 29 40 +f 29 36 40 +f 39 28 40 +f 25 26 41 +f 30 25 41 +f 26 35 41 +f 35 30 41 +f 32 24 42 +f 29 32 42 +f 24 36 42 +f 36 29 42 +f 25 24 43 +f 24 32 43 +f 37 25 43 +f 32 37 43 +f 29 23 44 +f 23 31 44 +f 31 26 44 +f 26 32 44 +o convex_2 +v -0.040067 2.839288 0.229131 +v -1.115345 -3.211450 0.474844 +v -1.115345 -3.211450 1.058705 +v 1.065518 -3.304057 -0.937738 +v -1.084605 2.746681 -0.937525 +v 1.096259 2.808018 0.997223 +v 1.004037 2.839288 -1.029747 +v 1.004037 -3.211450 1.027964 +v -0.930901 2.746681 1.089446 +v -1.053864 -3.180781 -1.029960 +v 0.297432 2.101437 -1.091442 +v 0.266691 -2.442930 -1.091442 +v 0.358913 -2.504869 1.089446 +v 1.096042 -2.290189 -0.599803 +v -0.193771 2.040100 -1.091442 +v 0.266691 1.916824 1.089446 +v -1.053864 -0.754352 1.089446 +v -1.084605 -0.355059 -0.999220 +v -1.115345 -0.416396 0.167863 +v -0.377999 -2.166913 -1.091442 +v 0.881073 2.316719 -1.060701 +v -0.961641 2.746681 0.874260 +v 1.096259 2.808018 0.720770 +v 1.034777 -1.614276 1.027964 +v -0.316518 2.838687 -0.262081 +v 1.065518 -2.197582 -0.968479 +v -0.746672 -2.904162 1.089232 +v -1.084605 2.746681 -0.722553 +v 1.065518 -3.304057 -0.630544 +v 1.096259 2.009432 0.997223 +v -0.869419 -2.873494 -1.060701 +v 0.819808 -3.304057 -0.937738 +v -1.084605 -3.150113 -0.661071 +v 0.604623 2.839288 -1.029747 +v 1.034777 1.026833 -0.999006 +v -0.377999 2.746681 1.089446 +v 1.065518 -3.150113 -0.200386 +v -0.347259 2.838687 0.229131 +v -1.115345 -2.566206 1.027751 +v 1.034777 2.839288 -0.507581 +v -0.009543 -3.242119 -0.999220 +v 1.004037 1.180176 -1.029747 +v -1.053864 -1.982300 -1.029960 +v 0.819808 2.777350 1.027964 +v 1.065518 -1.184314 -0.968479 +v -1.115345 -0.539071 0.106381 +v -0.193771 2.777350 1.058705 +v 1.034777 -1.061640 1.027964 +v -0.193771 -3.211450 1.058705 +v -1.084605 1.425525 -0.968265 +v -1.084605 -3.211450 0.198390 +v -0.592968 2.776748 -0.968479 +v -0.654450 -3.211450 -0.999220 +v 1.034777 2.839288 -0.231127 +v -0.654450 -3.180180 -1.029960 +v -0.961641 2.194045 1.089446 +v 1.034777 -3.242119 0.444103 +f 81 74 101 +f 55 56 59 +f 53 57 60 +f 57 53 61 +f 46 47 63 +f 59 56 64 +f 55 51 65 +f 56 55 65 +f 57 52 68 +f 48 56 70 +f 58 48 70 +f 61 47 71 +f 57 61 71 +f 49 63 72 +f 63 66 72 +f 48 58 73 +f 67 50 74 +f 58 67 74 +f 50 68 74 +f 64 56 75 +f 59 64 75 +f 47 46 76 +f 73 47 76 +f 48 73 76 +f 54 46 77 +f 62 54 77 +f 45 51 78 +f 51 55 78 +f 55 59 78 +f 69 45 78 +f 53 60 80 +f 73 58 81 +f 58 74 81 +f 50 45 82 +f 66 53 82 +f 45 69 82 +f 69 49 82 +f 49 72 82 +f 72 66 82 +f 47 61 83 +f 63 47 83 +f 61 66 83 +f 66 63 83 +f 51 45 84 +f 50 67 84 +f 79 51 84 +f 67 79 84 +f 56 48 85 +f 48 76 85 +f 65 51 86 +f 56 65 86 +f 70 56 86 +f 51 70 86 +f 54 62 87 +f 62 59 87 +f 75 54 87 +f 59 75 87 +f 50 80 88 +f 80 60 88 +f 67 58 89 +f 58 70 89 +f 70 51 89 +f 51 79 89 +f 79 67 89 +f 46 63 90 +f 63 49 90 +f 77 46 90 +f 62 77 90 +f 80 50 91 +f 53 80 91 +f 50 82 91 +f 82 53 91 +f 60 57 92 +f 57 68 92 +f 68 50 92 +f 50 88 92 +f 88 60 92 +f 52 57 93 +f 71 47 93 +f 57 71 93 +f 47 73 93 +f 73 52 93 +f 49 59 94 +f 59 62 94 +f 90 49 94 +f 62 90 94 +f 46 54 95 +f 76 46 95 +f 59 49 96 +f 49 69 96 +f 78 59 96 +f 69 78 96 +f 54 85 97 +f 85 76 97 +f 95 54 97 +f 76 95 97 +f 45 50 98 +f 84 45 98 +f 50 84 98 +f 54 75 99 +f 75 56 99 +f 85 54 99 +f 56 85 99 +f 61 53 100 +f 53 66 100 +f 66 61 100 +f 68 52 101 +f 52 73 101 +f 74 68 101 +f 73 81 101 +o convex_3 +v -0.316677 3.177491 -0.354240 +v 0.205438 4.774235 0.352244 +v 0.236188 4.804852 0.198652 +v 0.297624 2.839289 0.229356 +v -0.347427 2.839289 0.229356 +v -0.347427 4.774235 -0.262057 +v 0.266874 4.897108 -0.323467 +v 0.205438 2.870309 -0.292762 +v -0.193804 4.712799 0.352244 +v -0.285991 2.839289 -0.323467 +v -0.347427 4.774235 -0.354240 +v 0.297624 2.993182 0.259992 +v 0.266874 4.221307 -0.323467 +v -0.255241 4.036998 0.321401 +v 0.021128 4.835671 -0.354240 +v 0.266874 4.866289 -0.047055 +v 0.205438 4.374797 0.352244 +v -0.347427 2.870309 -0.047055 +v -0.255241 2.931746 -0.354240 +v -0.347427 3.177491 0.229356 +v -0.163118 4.835671 -0.292762 +v 0.297624 2.839289 0.167809 +v -0.255241 4.743416 0.137104 +v -0.255241 3.085236 0.259992 +v 0.174751 2.839289 -0.292762 +f 109 123 126 +f 105 106 111 +f 106 107 112 +f 104 103 113 +f 106 105 113 +f 102 112 116 +f 112 108 116 +f 108 114 116 +f 103 104 117 +f 110 103 117 +f 104 113 117 +f 113 108 117 +f 103 110 118 +f 113 103 118 +f 110 115 118 +f 102 111 119 +f 111 106 119 +f 112 102 119 +f 106 112 119 +f 111 102 120 +f 114 109 120 +f 102 116 120 +f 116 114 120 +f 107 106 121 +f 106 115 121 +f 112 107 122 +f 108 112 122 +f 117 108 122 +f 105 111 123 +f 113 105 123 +f 108 113 123 +f 114 108 123 +f 109 114 123 +f 115 110 124 +f 110 117 124 +f 107 121 124 +f 121 115 124 +f 122 107 124 +f 117 122 124 +f 106 113 125 +f 115 106 125 +f 113 118 125 +f 118 115 125 +f 111 120 126 +f 120 109 126 +f 123 111 126 +o convex_4 +v -0.224539 -2.536085 2.502289 +v 0.359058 -2.474609 1.734659 +v 0.359058 -2.505347 1.734659 +v -0.316653 -2.536085 1.089842 +v -0.316653 -1.983292 1.857472 +v 0.297579 -1.983292 3.055046 +v 0.174622 -2.014030 1.089842 +v -0.347427 -2.505347 3.024293 +v 0.297579 -2.536085 3.116353 +v -0.285949 -2.044768 2.962986 +v 0.359058 -2.505347 1.089842 +v -0.316653 -1.983292 1.089842 +v -0.347427 -2.014030 1.304715 +v 0.359058 -2.413188 1.089842 +v 0.297579 -1.983292 2.655854 +v -0.347427 -2.351767 3.024293 +v 0.328215 -2.536085 2.901480 +v 0.143917 -1.983292 3.055046 +v -0.070947 -2.536085 1.089842 +v -0.347427 -2.505347 2.133652 +v -0.040242 -1.983292 1.089842 +v 0.205465 -2.014030 1.212655 +v -0.316653 -2.136873 2.993540 +v 0.174622 -2.536085 3.116353 +v -0.255244 -2.014030 2.778667 +f 136 144 151 +f 130 127 134 +f 127 130 135 +f 128 129 137 +f 130 133 137 +f 131 132 138 +f 133 130 138 +f 131 138 139 +f 138 130 139 +f 132 128 140 +f 128 137 140 +f 137 133 140 +f 138 132 141 +f 132 140 141 +f 139 134 142 +f 129 128 143 +f 128 132 143 +f 132 135 143 +f 135 130 143 +f 137 129 143 +f 132 131 144 +f 135 132 144 +f 130 137 145 +f 143 130 145 +f 137 143 145 +f 130 134 146 +f 139 130 146 +f 134 139 146 +f 133 138 147 +f 138 141 147 +f 147 141 148 +f 140 133 148 +f 141 140 148 +f 133 147 148 +f 136 131 149 +f 131 139 149 +f 139 142 149 +f 144 136 149 +f 142 144 149 +f 134 127 150 +f 127 135 150 +f 142 134 150 +f 135 144 150 +f 144 142 150 +f 131 136 151 +f 144 131 151 +o convex_5 +v 0.021137 1.457108 1.089842 +v 0.266907 2.040653 3.055046 +v 0.236179 2.040653 3.055046 +v 0.174721 1.426319 3.116353 +v -0.316698 1.672089 3.024293 +v -0.255241 2.009865 1.089842 +v 0.266907 1.948467 1.089842 +v -0.347427 1.549234 1.089842 +v 0.266907 1.426319 1.089842 +v -0.255241 1.948467 2.962986 +v -0.285970 1.579903 3.055046 +v -0.347427 1.702878 1.273962 +v 0.113324 1.426319 3.116353 +v 0.266907 1.794884 2.809420 +v 0.236179 1.979196 1.089842 +v 0.051866 2.040653 2.256465 +v 0.266907 1.426319 1.611846 +v -0.193844 1.979196 2.901480 +v -0.347427 1.579903 2.133652 +v 0.205450 1.487776 3.024293 +v -0.316698 1.641360 3.055046 +v 0.143992 1.426319 1.151150 +v -0.132386 1.487776 2.041790 +v -0.040260 2.009865 1.120397 +v 0.266907 2.040653 2.625102 +f 166 175 176 +f 153 154 155 +f 152 157 158 +f 157 152 159 +f 152 158 160 +f 158 153 160 +f 157 159 163 +f 156 161 163 +f 161 157 163 +f 155 154 164 +f 160 155 164 +f 160 153 165 +f 158 157 166 +f 154 153 167 +f 155 160 168 +f 160 165 168 +f 161 154 169 +f 157 161 169 +f 154 167 169 +f 167 157 169 +f 159 162 170 +f 156 163 170 +f 163 159 170 +f 153 155 171 +f 165 153 171 +f 155 168 171 +f 168 165 171 +f 154 161 172 +f 161 156 172 +f 164 154 172 +f 162 164 172 +f 156 170 172 +f 170 162 172 +f 152 160 173 +f 160 164 173 +f 173 164 174 +f 159 152 174 +f 162 159 174 +f 164 162 174 +f 152 173 174 +f 166 157 175 +f 157 167 175 +f 175 167 176 +f 153 158 176 +f 158 166 176 +f 167 153 176 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/796/796.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/796/796.urdf new file mode 100644 index 000000000..1e97a17e0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/796/796.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/797/797.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/797/797.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/797/797.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/797/797.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/797/797.obj new file mode 100644 index 000000000..84c7de4c0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/797/797.obj @@ -0,0 +1,486 @@ +o convex_0 +v 0.004686 4.262467 1.024971 +v -1.065212 -0.250281 -1.013834 +v 0.037867 -0.250281 -1.047009 +v -1.065212 4.195272 -1.113998 +v 1.074157 4.128967 -1.113998 +v 0.973974 -0.250281 0.991583 +v -0.964816 -0.250281 1.024971 +v 1.107764 4.195718 1.024971 +v -0.998210 4.295843 0.991796 +v 0.973974 -0.250281 -1.013621 +v 1.040763 -0.250281 -0.512160 +v -1.031604 -0.082516 0.657489 +v 0.973974 2.022781 1.058572 +v 1.040763 -0.250281 0.757653 +v -0.998210 4.161898 1.024971 +v -1.065212 4.229093 -0.545761 +v 1.107764 4.162343 -0.244842 +v -0.831025 4.295843 0.690877 +v -1.065212 1.020640 -0.244842 +v 0.271841 -0.250281 1.024971 +v 0.539421 2.256406 1.058572 +v 1.107764 3.828147 1.024971 +v -0.396473 4.195272 -1.080610 +v 1.074157 3.928272 -1.113785 +v 0.840184 4.161898 -0.846467 +v -1.065212 3.995022 -1.113998 +v -0.998210 1.120765 1.024971 +v -1.031604 2.256406 0.523724 +v 1.007369 2.591046 1.058572 +v 0.271841 -0.250281 -1.047009 +v -1.065212 4.229093 -0.813079 +v 0.973974 0.485305 1.024971 +v -1.031604 -0.250281 0.623888 +v 1.074157 3.627452 -1.080397 +v 1.107764 4.195718 0.724265 +v 1.007369 -0.250281 -0.813079 +v -0.664053 4.295843 0.891419 +v -1.031604 4.229093 0.322969 +v 0.773395 1.856351 1.058572 +v -0.831025 4.295843 1.024971 +f 37 9 40 +f 2 3 6 +f 2 6 7 +f 6 3 10 +f 6 10 11 +f 6 11 14 +f 4 2 16 +f 16 2 19 +f 7 6 20 +f 6 14 22 +f 14 11 22 +f 17 8 22 +f 11 17 22 +f 5 4 23 +f 5 17 24 +f 17 5 25 +f 5 23 25 +f 23 18 25 +f 3 2 26 +f 2 4 26 +f 4 5 26 +f 24 3 26 +f 5 24 26 +f 12 7 27 +f 15 12 27 +f 7 21 27 +f 21 15 27 +f 12 15 28 +f 19 12 28 +f 16 19 28 +f 8 1 29 +f 21 13 29 +f 22 8 29 +f 10 3 30 +f 3 24 30 +f 24 10 30 +f 4 16 31 +f 16 9 31 +f 9 18 31 +f 23 4 31 +f 18 23 31 +f 20 6 32 +f 13 20 32 +f 6 22 32 +f 29 13 32 +f 22 29 32 +f 2 7 33 +f 7 12 33 +f 19 2 33 +f 12 19 33 +f 17 11 34 +f 10 24 34 +f 24 17 34 +f 1 8 35 +f 8 17 35 +f 17 25 35 +f 11 10 36 +f 10 34 36 +f 34 11 36 +f 18 9 37 +f 25 18 37 +f 1 35 37 +f 35 25 37 +f 15 9 38 +f 9 16 38 +f 28 15 38 +f 16 28 38 +f 7 20 39 +f 20 13 39 +f 21 7 39 +f 13 21 39 +f 9 15 40 +f 15 21 40 +f 29 1 40 +f 21 29 40 +f 1 37 40 +o convex_1 +v 1.074340 -1.454219 0.122707 +v -1.065169 -2.256447 -1.013870 +v -1.065169 -2.256447 -0.980393 +v 1.074340 -3.927162 0.924925 +v -0.964853 -1.420599 0.991878 +v -0.998152 -3.927162 1.025354 +v 0.940516 -3.860412 -1.013667 +v 0.940516 -1.420599 -1.047143 +v -0.998152 -3.893787 -1.047346 +v 0.940516 -1.420599 0.958198 +v -1.065169 -1.420599 -1.013870 +v 1.074340 -3.425800 0.958401 +v 0.572762 -1.420599 0.991675 +v 0.973815 -3.860412 -0.946917 +v -0.998152 -3.927162 -0.512331 +v 1.074340 -1.420599 0.590566 +v -1.031661 -1.487594 0.155981 +v 0.940516 -3.158555 -1.047143 +v 1.074340 -3.893787 0.490340 +v -1.031661 -3.726666 -1.047346 +v 1.007324 -1.420599 -0.712987 +v -0.095521 -1.420599 -1.047143 +v -0.998152 -3.292055 1.025354 +v -0.062222 -3.893787 -1.013667 +v 1.040832 -3.927162 0.958198 +v -0.831029 -3.893787 1.025354 +v -1.065169 -1.821836 -0.746464 +v 1.040832 -1.454219 -0.378628 +v -0.329660 -3.893787 -1.047143 +v 0.973815 -1.420599 0.924925 +v 0.706586 -3.927162 0.523816 +v -0.998152 -1.420599 0.657519 +v 0.973815 -1.420599 -0.946917 +v -1.031661 -3.425800 -1.047346 +v -0.931345 -3.191929 1.025354 +f 63 66 75 +f 48 45 50 +f 42 43 51 +f 45 48 51 +f 44 41 52 +f 52 50 53 +f 50 45 53 +f 44 47 54 +f 44 46 55 +f 48 50 56 +f 52 41 56 +f 49 48 58 +f 54 47 58 +f 48 54 58 +f 41 44 59 +f 44 54 59 +f 43 42 60 +f 46 43 60 +f 42 51 60 +f 55 46 60 +f 49 55 60 +f 56 41 61 +f 48 56 61 +f 51 48 62 +f 57 46 63 +f 46 44 65 +f 44 52 65 +f 52 53 65 +f 65 53 66 +f 63 46 66 +f 46 65 66 +f 43 46 67 +f 51 43 67 +f 46 57 67 +f 57 51 67 +f 41 59 68 +f 59 54 68 +f 61 41 68 +f 54 61 68 +f 55 49 69 +f 49 58 69 +f 58 47 69 +f 47 64 69 +f 64 55 69 +f 50 52 70 +f 56 50 70 +f 52 56 70 +f 47 44 71 +f 44 55 71 +f 64 47 71 +f 55 64 71 +f 45 51 72 +f 51 57 72 +f 63 45 72 +f 57 63 72 +f 54 48 73 +f 61 54 73 +f 48 61 73 +f 48 49 74 +f 49 60 74 +f 60 51 74 +f 62 48 74 +f 51 62 74 +f 53 45 75 +f 45 63 75 +f 66 53 75 +o convex_2 +v 1.442287 -1.386812 0.323252 +v 1.642949 -0.250392 -0.178139 +v 1.642949 -0.250392 -0.512364 +v 3.080179 -1.253102 -0.579317 +v 3.080179 -0.350619 0.456942 +v 1.074340 -1.353329 -0.478996 +v 1.074340 -0.283875 0.490418 +v 2.979652 -1.286474 0.523894 +v 2.979652 -0.350730 -0.512364 +v 1.074340 -1.386812 0.523894 +v 1.074340 -0.250392 -0.512364 +v 1.977125 -1.319957 -0.545840 +v 2.511570 -0.317247 0.490418 +v 3.046605 -0.885346 -0.579317 +v 3.013226 -0.985683 0.523894 +v 2.845942 -0.317247 -0.412151 +v 3.080179 -0.618038 0.490418 +v 2.545145 -1.219619 -0.579317 +v 3.080179 -0.350619 0.156085 +v 2.845942 -0.317247 0.356728 +v 1.108111 -0.250392 0.189562 +v 1.108111 -1.386812 -0.211508 +v 1.074340 -0.818602 -0.512364 +v 2.043881 -1.353329 0.456942 +v 2.979652 -0.517811 -0.545840 +v 1.676328 -0.283875 0.490418 +v 3.080179 -1.253102 -0.445519 +v 1.408909 -1.353329 -0.512364 +f 98 87 103 +f 82 81 85 +f 77 78 86 +f 81 82 86 +f 82 85 90 +f 85 83 90 +f 78 77 91 +f 84 78 91 +f 79 80 92 +f 80 88 92 +f 90 83 92 +f 88 90 92 +f 79 87 93 +f 89 79 93 +f 86 89 93 +f 80 79 94 +f 79 89 94 +f 89 84 94 +f 84 91 94 +f 91 80 94 +f 88 80 95 +f 91 77 95 +f 80 91 95 +f 77 86 96 +f 86 82 96 +f 79 76 97 +f 76 85 97 +f 85 81 97 +f 87 79 97 +f 81 86 98 +f 93 87 98 +f 86 93 98 +f 76 79 99 +f 79 83 99 +f 85 76 99 +f 83 85 99 +f 78 84 100 +f 86 78 100 +f 84 89 100 +f 89 86 100 +f 82 90 101 +f 90 88 101 +f 95 77 101 +f 88 95 101 +f 77 96 101 +f 96 82 101 +f 83 79 102 +f 79 92 102 +f 92 83 102 +f 97 81 103 +f 87 97 103 +f 81 98 103 +o convex_3 +v -1.165543 -0.551160 0.590638 +v -1.667154 -0.317168 -0.612630 +v -1.667154 -0.250281 -0.612630 +v -3.070877 -1.052473 0.523737 +v -1.065221 -1.253135 -0.579180 +v -3.037502 -1.353466 -0.545729 +v -1.065221 -1.420354 0.456837 +v -2.970555 -0.317168 0.523737 +v -2.970555 -0.283725 -0.579180 +v -1.065221 -0.250281 -0.378596 +v -3.004127 -1.286464 0.523737 +v -1.065221 -0.350612 0.523737 +v -1.065221 -0.250281 -0.612630 +v -2.770107 -0.283725 0.356604 +v -1.967924 -1.320022 -0.579180 +v -1.733904 -1.386910 0.490287 +v -1.366384 -0.350612 0.590638 +v -2.669589 -1.186247 -0.579180 +v -1.065221 -0.851925 -0.612630 +v -1.065221 -1.420354 0.323154 +v -3.037502 -1.353466 -0.244912 +v -3.004127 -0.350612 0.523737 +v -2.435570 -0.985700 0.557188 +v -1.065221 -1.320022 0.490287 +v -3.070877 -1.253135 0.122687 +v -2.201550 -0.317168 0.557188 +v -1.332812 -1.420354 0.456837 +v -2.569463 -1.353466 -0.545729 +v -1.934548 -0.250281 -0.545729 +v -2.970555 -0.283725 0.189470 +v -2.469141 -1.286464 0.523737 +v -1.065221 -0.384056 0.590638 +v -2.970555 -0.785266 -0.579180 +v -3.004127 -0.517831 -0.311695 +v -3.070877 -1.286464 0.456837 +v -1.366384 -0.250281 -0.278363 +v -1.399759 -1.286464 -0.579180 +f 123 118 140 +f 106 105 112 +f 110 108 113 +f 110 113 115 +f 105 106 116 +f 106 113 116 +f 113 108 116 +f 118 109 121 +f 118 121 122 +f 105 116 122 +f 116 108 122 +f 121 105 122 +f 108 110 123 +f 119 114 124 +f 107 114 126 +f 104 120 126 +f 125 107 126 +f 110 115 127 +f 119 110 127 +f 117 111 129 +f 120 115 129 +f 111 125 129 +f 126 120 129 +f 125 126 129 +f 110 119 130 +f 109 123 130 +f 123 110 130 +f 124 109 130 +f 119 124 130 +f 109 118 131 +f 123 109 131 +f 118 123 131 +f 106 112 132 +f 113 106 132 +f 117 132 133 +f 111 117 133 +f 112 125 133 +f 125 111 133 +f 132 112 133 +f 114 119 134 +f 126 114 134 +f 104 126 134 +f 127 104 134 +f 119 127 134 +f 120 104 135 +f 115 120 135 +f 104 127 135 +f 127 115 135 +f 112 105 136 +f 109 112 136 +f 105 121 136 +f 121 109 136 +f 112 109 137 +f 107 125 137 +f 125 112 137 +f 109 128 137 +f 128 107 137 +f 114 107 138 +f 109 124 138 +f 124 114 138 +f 128 109 138 +f 107 128 138 +f 115 113 139 +f 129 115 139 +f 117 129 139 +f 113 132 139 +f 132 117 139 +f 118 122 140 +f 122 108 140 +f 108 123 140 +o convex_4 +v 1.007325 -0.350612 0.891448 +v -0.095701 -1.420354 -1.047346 +v -1.065117 -1.420354 -1.013870 +v -1.065117 -0.250281 -1.013870 +v -0.964803 -1.420354 0.991878 +v -0.964803 -0.250281 1.025354 +v 0.973818 -0.250281 -1.013870 +v 1.074340 -1.420354 0.590566 +v 0.940520 -1.420354 -1.047346 +v 0.940520 -1.420354 0.958401 +v 0.973818 -0.250281 0.991878 +v -1.065117 -0.517831 0.590566 +v 1.074340 -0.250281 -0.512331 +v 1.074340 -1.353466 -0.478855 +v -0.563551 -1.119475 1.025354 +v -1.065117 -1.420354 0.456863 +v 0.037910 -0.250281 -1.047346 +v 1.074340 -0.283725 0.490340 +v 0.606072 -1.420354 0.991878 +v 0.238536 -0.250281 1.025354 +v -1.031609 -0.250281 0.624042 +v 0.940520 -1.052473 0.991878 +v 0.940520 -0.885368 -1.047346 +v 0.973818 -1.186247 0.958401 +v 1.074340 -0.450943 0.657519 +v 0.973818 -0.818710 -1.013870 +v -1.065117 -0.350612 0.523816 +f 146 161 167 +f 142 143 144 +f 143 142 145 +f 144 146 147 +f 145 142 148 +f 148 142 149 +f 145 148 150 +f 147 146 151 +f 144 143 152 +f 145 146 152 +f 147 151 153 +f 148 149 154 +f 153 148 154 +f 146 145 155 +f 143 145 156 +f 152 143 156 +f 145 152 156 +f 142 144 157 +f 144 147 157 +f 149 142 157 +f 148 153 158 +f 153 151 158 +f 145 150 159 +f 155 145 159 +f 155 159 160 +f 151 146 160 +f 146 155 160 +f 146 144 161 +f 159 150 162 +f 160 159 162 +f 151 160 162 +f 147 149 163 +f 157 147 163 +f 149 157 163 +f 150 148 164 +f 141 151 164 +f 162 150 164 +f 151 162 164 +f 151 141 165 +f 148 158 165 +f 158 151 165 +f 141 164 165 +f 164 148 165 +f 149 147 166 +f 147 153 166 +f 154 149 166 +f 153 154 166 +f 144 152 167 +f 152 146 167 +f 161 144 167 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/797/797.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/797/797.urdf new file mode 100644 index 000000000..05cb6ca92 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/797/797.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/798/798.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/798/798.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/798/798.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/798/798.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/798/798.obj new file mode 100644 index 000000000..6fb779d3a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/798/798.obj @@ -0,0 +1,456 @@ +o convex_0 +v -1.082343 -4.010949 0.371464 +v 1.084738 -3.973483 -0.898542 +v 1.084738 -4.048035 -0.898542 +v 1.047192 -2.217523 0.932116 +v -0.970128 -2.217523 -0.973211 +v -1.044797 -2.217523 0.969238 +v 0.935189 -4.085501 0.969450 +v 1.009858 -2.217523 -1.085426 +v -1.044797 -4.160433 -0.973211 +v -1.082343 -4.122967 1.081666 +v 1.084738 -4.048035 -1.047880 +v -0.708577 -3.711981 1.081666 +v 0.598969 -4.122967 0.670351 +v -1.007462 -2.441748 -0.973211 +v 0.785640 -2.329731 0.969450 +v 1.047192 -2.404473 -1.085426 +v 0.935189 -4.085501 -1.010545 +v 1.047192 -2.703440 0.932116 +v -0.447025 -4.160433 -0.412771 +v 0.785640 -2.329731 -1.085426 +v -1.044797 -2.441748 1.006785 +v -0.035925 -4.122967 1.044119 +v -1.044797 -4.160433 0.259460 +v -0.409691 -4.122967 -1.010545 +v 0.972523 -4.085501 0.670351 +v 0.972523 -3.039684 0.969450 +v -1.082343 -3.637239 1.081666 +v 1.047192 -2.217523 -0.636777 +v 1.009858 -2.778182 -1.085426 +v 1.084738 -3.749257 -1.047880 +v -0.596574 -4.160433 -0.973211 +v -1.007462 -2.217523 -0.748993 +v 1.047192 -4.085691 -0.636777 +v -1.082343 -3.450480 0.969238 +v -1.044797 -3.898741 -0.973211 +v -0.596574 -4.010949 1.081666 +v 0.374752 -2.217523 0.969450 +v 0.561423 -3.936017 1.006572 +v 0.337418 -4.122967 1.006572 +f 22 23 39 +f 3 2 4 +f 4 5 6 +f 5 4 8 +f 1 9 10 +f 2 3 11 +f 3 4 18 +f 5 8 20 +f 14 5 20 +f 8 16 20 +f 10 9 23 +f 9 19 23 +f 22 10 23 +f 11 17 24 +f 9 20 24 +f 7 13 25 +f 3 18 25 +f 18 7 25 +f 4 15 26 +f 18 4 26 +f 7 18 26 +f 1 10 27 +f 10 12 27 +f 21 6 27 +f 12 21 27 +f 8 4 28 +f 16 8 28 +f 16 11 29 +f 20 16 29 +f 11 24 29 +f 24 20 29 +f 4 2 30 +f 2 11 30 +f 11 16 30 +f 28 4 30 +f 16 28 30 +f 19 9 31 +f 24 17 31 +f 9 24 31 +f 6 5 32 +f 14 1 32 +f 5 14 32 +f 11 3 33 +f 17 11 33 +f 13 19 33 +f 3 25 33 +f 25 13 33 +f 19 31 33 +f 31 17 33 +f 1 27 34 +f 27 6 34 +f 32 1 34 +f 6 32 34 +f 9 1 35 +f 1 14 35 +f 20 9 35 +f 14 20 35 +f 12 10 36 +f 15 12 36 +f 10 22 36 +f 26 15 36 +f 4 6 37 +f 15 4 37 +f 12 15 37 +f 6 21 37 +f 21 12 37 +f 22 7 38 +f 7 26 38 +f 36 22 38 +f 26 36 38 +f 13 7 39 +f 19 13 39 +f 7 22 39 +f 23 19 39 +o convex_1 +v 1.009905 -0.648293 3.023869 +v 0.972629 -2.217303 -3.027681 +v 0.300028 -2.179779 -3.027681 +v 0.935149 -0.087839 -3.065700 +v -1.044968 -0.013228 3.099303 +v -0.932731 -2.179779 2.987058 +v -0.932731 -0.013228 -2.952852 +v -0.970212 -2.105168 -3.028285 +v 1.047385 -2.105168 2.986454 +v 1.047385 0.024077 0.931655 +v 0.972629 -0.162668 3.061888 +v -1.044968 -2.217303 0.894240 +v -1.044968 0.024077 -1.010297 +v 1.047385 -2.217303 0.931655 +v 1.009905 -0.984698 -3.065700 +v 1.009905 0.024077 -1.009693 +v -0.970212 -2.217303 -0.972278 +v 1.047385 -2.217303 -0.748393 +v -1.044968 0.024077 1.978064 +v 1.047385 -1.806288 3.023869 +v -1.044968 -0.199973 -1.383842 +v -0.671187 -0.013228 -2.990267 +v -1.044968 -0.610988 2.987058 +v 1.009905 -2.217303 -3.027681 +v 0.785636 -2.142693 2.949643 +v 1.047385 -0.013228 0.035509 +v -0.932731 -1.918204 3.023869 +v 0.785636 -0.125363 3.061888 +v 0.972629 -0.125363 -3.065700 +v 0.262753 -0.723123 -3.065700 +v 1.047385 -0.050533 1.604519 +v -0.970007 -1.096613 -2.990267 +v -0.895456 -0.013228 3.099303 +v -1.044968 -0.835258 -1.010297 +v -0.484399 -0.013228 -2.990267 +v -0.970212 -1.993253 2.687739 +v -0.970007 -0.050533 -2.579307 +v 0.524297 -1.918204 3.023869 +v -0.671187 -2.179779 2.987058 +v 0.935149 -0.498853 3.061888 +v -0.970212 -1.880899 -3.028285 +v -1.044968 -2.217303 0.969070 +v 0.561573 -0.125363 -3.065700 +v -0.932731 -0.087839 3.099303 +v 0.935149 -1.096613 -3.065700 +v 1.047385 -1.582019 3.023869 +v -0.260131 -0.050533 3.061888 +v 1.047385 -2.142693 2.687739 +v 1.009905 -0.125363 2.575495 +v -0.932731 -0.498853 -2.990267 +v 1.047385 -1.656848 -0.674167 +v 0.972629 -0.125363 2.874210 +f 88 70 91 +f 41 42 47 +f 51 44 52 +f 49 48 53 +f 51 41 53 +f 52 49 55 +f 42 41 56 +f 47 42 56 +f 41 51 56 +f 51 47 56 +f 53 41 57 +f 49 53 57 +f 52 44 58 +f 49 52 58 +f 48 49 59 +f 51 52 60 +f 46 52 61 +f 45 44 62 +f 44 51 62 +f 57 41 63 +f 54 57 63 +f 55 49 65 +f 49 57 65 +f 44 45 66 +f 54 43 68 +f 43 55 68 +f 55 65 68 +f 65 54 68 +f 43 54 69 +f 59 49 70 +f 58 44 72 +f 49 58 72 +f 50 67 72 +f 47 51 73 +f 60 47 73 +f 51 60 73 +f 55 43 74 +f 52 55 74 +f 43 61 74 +f 61 52 74 +f 45 62 75 +f 52 46 76 +f 60 52 76 +f 46 71 76 +f 71 60 76 +f 48 59 77 +f 66 45 77 +f 64 48 78 +f 53 64 78 +f 77 45 78 +f 48 77 78 +f 59 50 79 +f 50 72 79 +f 47 60 80 +f 69 47 80 +f 60 71 80 +f 51 53 81 +f 62 51 81 +f 45 75 81 +f 75 62 81 +f 78 45 81 +f 53 78 81 +f 61 43 82 +f 43 69 82 +f 69 80 82 +f 44 66 83 +f 72 44 83 +f 77 59 83 +f 66 77 83 +f 59 79 83 +f 79 72 83 +f 41 47 84 +f 63 41 84 +f 54 63 84 +f 47 69 84 +f 69 54 84 +f 40 50 85 +f 50 59 85 +f 59 70 85 +f 67 49 86 +f 49 72 86 +f 72 67 86 +f 53 48 87 +f 48 64 87 +f 64 53 87 +f 50 40 88 +f 40 85 88 +f 85 70 88 +f 46 61 89 +f 71 46 89 +f 80 71 89 +f 61 82 89 +f 82 80 89 +f 57 54 90 +f 54 65 90 +f 65 57 90 +f 49 67 91 +f 67 50 91 +f 70 49 91 +f 50 88 91 +o convex_2 +v -1.082310 0.958995 0.110123 +v 0.972535 3.946851 1.081666 +v 0.972535 3.984844 0.110123 +v 1.047374 0.024684 0.147457 +v -0.932840 3.984844 -1.085426 +v 1.009851 0.024684 -1.010333 +v -1.007471 0.024684 1.081666 +v -0.932840 3.946851 1.081666 +v -1.044786 0.024684 -1.010545 +v 0.972535 3.984844 -1.047880 +v 1.047374 0.024684 0.932116 +v -1.082310 2.041787 1.081666 +v 1.047374 2.116610 -0.973211 +v 0.972535 1.818483 1.044119 +v 0.636280 3.946851 -1.085426 +v -0.932840 3.050145 -1.085426 +v -0.820686 3.984844 0.894781 +v 1.047374 0.510448 0.969450 +v 0.972535 2.863283 1.081666 +v 1.009851 3.461087 -1.047880 +v -1.044786 0.585271 -1.010545 +v -0.820686 0.024684 1.081666 +v -1.044786 0.062289 0.371676 +v -1.082310 1.631621 1.081666 +v -0.970156 3.573127 1.081666 +v -1.082310 1.855701 0.745232 +v -0.970156 3.012928 -1.047880 +v 0.075716 3.984844 0.782566 +v 1.047374 1.743661 -0.973211 +v -1.044786 0.585271 1.081666 +v 1.047374 0.585271 0.969450 +v -0.932840 3.984844 0.595894 +v -1.082310 1.071035 0.147457 +f 117 118 124 +f 97 95 98 +f 98 93 99 +f 97 98 100 +f 96 94 101 +f 98 95 102 +f 98 99 103 +f 102 95 104 +f 96 101 106 +f 100 96 107 +f 97 100 107 +f 96 106 107 +f 106 97 107 +f 94 96 108 +f 99 93 108 +f 102 104 109 +f 105 109 110 +f 93 98 110 +f 109 93 110 +f 94 93 111 +f 101 94 111 +f 93 104 111 +f 97 106 111 +f 106 101 111 +f 100 92 112 +f 96 100 112 +f 98 102 113 +f 102 109 113 +f 109 105 113 +f 105 110 113 +f 110 98 113 +f 92 100 114 +f 100 98 114 +f 103 92 115 +f 98 103 115 +f 92 114 115 +f 96 103 116 +f 103 99 116 +f 92 103 117 +f 103 96 117 +f 96 112 118 +f 117 96 118 +f 93 94 119 +f 94 108 119 +f 108 93 119 +f 95 97 120 +f 104 95 120 +f 111 104 120 +f 97 111 120 +f 114 98 121 +f 98 115 121 +f 115 114 121 +f 104 93 122 +f 93 109 122 +f 109 104 122 +f 108 96 123 +f 99 108 123 +f 96 116 123 +f 116 99 123 +f 112 92 124 +f 92 117 124 +f 118 112 124 +o convex_3 +v -0.297706 4.059886 -0.599578 +v -0.521829 5.927439 0.633181 +v -0.297706 5.964763 0.595773 +v 0.599022 3.984844 0.521079 +v 0.524236 5.890116 -0.524763 +v -0.521829 3.984844 0.483672 +v -0.447161 5.890116 -0.487476 +v 0.599022 3.984844 -0.524763 +v 0.486901 6.002284 0.446385 +v -0.484495 3.984844 -0.487476 +v -0.596615 5.927439 0.558366 +v 0.599022 4.508162 0.521079 +v -0.484495 5.927439 -0.300680 +v -0.447161 4.171856 -0.599578 +v 0.524236 5.964763 -0.113884 +v -0.110800 5.890116 -0.524763 +v 0.599022 4.396192 -0.524763 +v 0.113206 3.984844 0.521079 +v -0.559164 4.545485 0.521079 +v 0.524236 5.927439 0.446385 +v -0.596615 5.852792 0.633181 +v 0.374781 6.002284 0.483672 +v -0.484495 4.209377 -0.524763 +v 0.262661 3.984844 -0.562171 +v 0.187992 6.002284 0.408977 +v -0.484495 5.964763 0.558366 +v -0.521829 3.984844 0.072792 +v 0.524236 5.927439 -0.450069 +v 0.561570 5.292348 -0.225986 +v -0.447161 5.553810 -0.524763 +v -0.447161 3.984844 -0.599578 +v 0.449567 6.002284 0.222181 +f 139 152 156 +f 128 130 132 +f 132 130 134 +f 127 126 136 +f 126 128 136 +f 128 132 136 +f 129 125 138 +f 129 138 140 +f 136 132 141 +f 130 128 142 +f 139 133 144 +f 128 126 145 +f 126 135 145 +f 142 128 145 +f 130 142 145 +f 143 130 145 +f 135 143 145 +f 127 136 146 +f 144 133 146 +f 136 144 146 +f 134 135 147 +f 137 131 147 +f 135 137 147 +f 125 129 148 +f 132 134 148 +f 129 141 148 +f 141 132 148 +f 146 133 149 +f 146 149 150 +f 126 127 150 +f 135 126 150 +f 137 135 150 +f 127 146 150 +f 149 137 150 +f 134 130 151 +f 135 134 151 +f 130 143 151 +f 143 135 151 +f 131 137 152 +f 140 131 152 +f 129 140 152 +f 141 129 152 +f 141 152 153 +f 136 141 153 +f 144 136 153 +f 139 144 153 +f 152 139 153 +f 131 140 154 +f 140 138 154 +f 147 131 154 +f 138 147 154 +f 138 125 155 +f 134 147 155 +f 147 138 155 +f 125 148 155 +f 148 134 155 +f 133 139 156 +f 137 149 156 +f 149 133 156 +f 152 137 156 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/798/798.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/798/798.urdf new file mode 100644 index 000000000..81a958779 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/798/798.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/799/799.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/799/799.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/799/799.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/799/799.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/799/799.obj new file mode 100644 index 000000000..41cb00a32 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/799/799.obj @@ -0,0 +1,528 @@ +o convex_0 +v 0.806378 -1.447866 1.046519 +v 0.732870 -1.998363 -1.082097 +v 0.732870 -1.925053 -1.082097 +v 1.943919 -3.172668 -1.045005 +v -0.184794 -3.356040 1.046727 +v 1.943919 -3.209228 1.046519 +v 1.870411 -1.410926 -1.082097 +v -0.258302 -1.447676 -0.971863 +v -0.221440 -3.356040 -1.008330 +v 1.943919 -1.410926 0.972960 +v -0.111286 -1.411116 0.973169 +v 1.833765 -3.319479 -1.008330 +v -0.258302 -1.411116 -0.678045 +v 1.870195 -3.245978 1.046519 +v -0.258302 -2.732042 -1.008330 +v -0.001132 -1.411116 1.046727 +v 0.145668 -3.356040 1.046727 +v 0.916316 -1.411116 -1.082097 +v 0.035514 -2.988915 -1.045213 +v 1.796903 -1.411116 1.009636 +v 0.439053 -3.356040 -1.008330 +v -0.184794 -1.484427 0.349067 +v 1.907057 -2.035114 -1.045005 +v 1.943919 -3.282539 -0.091035 +v -0.221440 -3.356040 -0.017685 +v -0.184794 -3.135727 1.046727 +v 1.870195 -2.548670 1.046519 +v 1.466656 -2.071864 -1.082097 +v 1.943919 -2.952355 -1.045005 +v 1.943919 -1.410926 0.826260 +f 10 29 30 +f 2 3 7 +f 6 4 10 +f 10 7 13 +f 11 10 13 +f 13 8 15 +f 10 11 16 +f 5 9 17 +f 14 6 17 +f 6 16 17 +f 16 5 17 +f 7 3 18 +f 3 8 18 +f 13 7 18 +f 8 13 18 +f 3 2 19 +f 8 3 19 +f 4 9 19 +f 15 8 19 +f 9 15 19 +f 16 1 20 +f 10 16 20 +f 9 4 21 +f 4 12 21 +f 17 9 21 +f 12 17 21 +f 11 13 22 +f 4 6 24 +f 12 4 24 +f 6 14 24 +f 17 12 24 +f 14 17 24 +f 9 5 25 +f 5 13 25 +f 15 9 25 +f 13 15 25 +f 13 5 26 +f 5 16 26 +f 16 11 26 +f 11 22 26 +f 22 13 26 +f 6 10 27 +f 1 16 27 +f 16 6 27 +f 20 1 27 +f 10 20 27 +f 2 7 28 +f 7 4 28 +f 19 2 28 +f 4 19 28 +f 4 7 29 +f 10 4 29 +f 7 23 29 +f 29 23 30 +f 7 10 30 +f 23 7 30 +o convex_1 +v 0.402554 2.222599 -1.118801 +v 0.512590 1.121752 -1.632877 +v 1.136272 1.158503 -2.880241 +v 1.356668 1.158503 -1.118801 +v 1.356668 2.259461 -3.100615 +v 0.292410 2.222599 -2.990428 +v 1.319809 2.259461 -1.118801 +v 0.255660 1.268643 -2.990428 +v 0.255660 1.121752 -1.118801 +v 1.356668 1.158503 -2.990428 +v 0.292410 1.268643 -3.063757 +v 0.696128 2.259461 -1.118801 +v 0.255660 1.342033 -1.118801 +v 1.356668 1.929040 -1.118801 +v 1.136272 2.259461 -3.100615 +v 0.255660 1.231893 -2.806912 +v 1.356668 2.002429 -3.100615 +v 0.365804 2.222599 -1.449362 +v 1.356668 1.268643 -3.027092 +f 41 47 49 +f 31 34 37 +f 32 34 39 +f 34 31 39 +f 32 33 40 +f 34 32 40 +f 35 34 40 +f 38 36 41 +f 40 33 41 +f 31 37 42 +f 37 35 42 +f 36 38 43 +f 38 39 43 +f 39 31 43 +f 34 35 44 +f 37 34 44 +f 35 37 44 +f 41 36 45 +f 42 35 45 +f 36 42 45 +f 33 32 46 +f 39 38 46 +f 32 39 46 +f 41 33 46 +f 38 41 46 +f 35 40 47 +f 45 35 47 +f 41 45 47 +f 42 36 48 +f 31 42 48 +f 43 31 48 +f 36 43 48 +f 40 41 49 +f 47 40 49 +o convex_2 +v -2.680757 -0.566550 1.083431 +v 1.943929 0.791306 -0.824972 +v 1.943929 0.791306 -1.082097 +v 1.943929 -1.410925 0.972992 +v -4.222319 -1.410925 -0.971870 +v -4.148682 0.754444 0.973204 +v 1.870292 -1.410925 -1.082097 +v -4.075044 0.717582 -1.045213 +v 1.796654 0.791306 1.009876 +v -4.111862 -1.337201 1.046548 +v 0.328730 0.791306 1.083431 +v 0.769349 -1.410925 1.046548 +v -2.864247 0.791306 0.385824 +v -4.111862 0.754444 -0.861644 +v 1.943929 0.277179 0.569394 +v -4.111862 0.057085 -1.045213 +v 0.952839 -1.410925 -1.081885 +v -3.854734 0.717582 1.009664 +v 1.943929 -0.970307 -0.678074 +v -1.285866 0.717582 1.083431 +v -4.222319 -1.410925 -0.751629 +v 0.034783 -0.529903 1.083431 +v -0.075070 0.791306 -1.045213 +v 1.759835 -1.410925 1.009876 +v -0.002036 -1.410925 1.046548 +v -4.148682 -0.713351 1.009664 +v -4.222319 -1.080246 -0.971870 +v -4.111862 -1.373848 0.422708 +v -4.148682 0.754444 -0.017351 +v -4.111862 -0.676489 1.046548 +v 0.916020 -0.456611 -1.081885 +v -4.222319 -1.373848 -0.568060 +v 1.870292 0.791306 0.532722 +v -4.185500 -0.749997 -1.008330 +v -3.708063 0.754444 -1.045213 +v 1.466492 0.791306 -1.081885 +v -2.716972 -0.640058 1.083431 +v -4.111862 0.680936 -1.045213 +v 1.943929 -1.080461 0.972992 +v 1.943929 0.203887 -1.082097 +v -4.148682 -1.337201 0.752963 +v -0.111889 0.791306 1.083431 +v -4.148682 0.423980 1.009664 +f 81 75 92 +f 52 51 53 +f 53 54 56 +f 51 52 58 +f 58 52 60 +f 54 53 61 +f 60 52 62 +f 53 51 64 +f 56 54 66 +f 52 53 68 +f 53 56 68 +f 50 60 69 +f 54 61 70 +f 60 50 71 +f 62 52 72 +f 63 62 72 +f 53 58 73 +f 58 60 73 +f 61 53 73 +f 60 71 73 +f 71 61 73 +f 70 61 74 +f 54 70 76 +f 59 70 77 +f 74 59 77 +f 70 74 77 +f 55 62 78 +f 62 63 78 +f 76 55 78 +f 50 69 79 +f 69 67 79 +f 75 59 79 +f 52 56 80 +f 66 65 80 +f 56 66 80 +f 55 76 81 +f 76 70 81 +f 51 58 82 +f 64 51 82 +f 58 64 82 +f 65 66 83 +f 66 54 83 +f 54 76 83 +f 57 63 84 +f 63 72 84 +f 84 72 85 +f 72 52 85 +f 52 80 85 +f 57 84 85 +f 71 50 86 +f 61 71 86 +f 59 74 86 +f 74 61 86 +f 50 79 86 +f 79 59 86 +f 63 57 87 +f 78 63 87 +f 76 78 87 +f 80 65 87 +f 65 83 87 +f 83 76 87 +f 85 80 87 +f 57 85 87 +f 58 53 88 +f 53 64 88 +f 64 58 88 +f 56 52 89 +f 52 68 89 +f 68 56 89 +f 70 59 90 +f 59 75 90 +f 81 70 90 +f 75 81 90 +f 62 55 91 +f 60 62 91 +f 55 67 91 +f 69 60 91 +f 67 69 91 +f 67 55 92 +f 79 67 92 +f 75 79 92 +f 55 81 92 +o convex_3 +v 1.980982 -0.860206 -0.054274 +v 3.815557 0.313919 0.092380 +v 3.815557 0.313919 -0.017638 +v 3.815557 -0.896834 -0.531427 +v 1.943930 0.313919 -0.531427 +v 1.943930 -0.896834 0.606170 +v 1.943930 0.277291 0.569423 +v 3.925744 -0.713455 0.459293 +v 1.943930 -0.786830 -0.494680 +v 3.815557 0.277291 -0.421298 +v 3.778893 0.313919 0.496040 +v 3.705370 -0.750083 0.496040 +v 2.971501 0.313919 -0.494680 +v 2.898366 -0.860206 -0.531427 +v 3.852221 0.203915 -0.384551 +v 3.815557 -0.603333 -0.531427 +v 1.943930 0.313919 0.019109 +v 3.815557 -0.896834 -0.421298 +v 3.925744 -0.493210 0.275892 +v 1.980982 -0.896834 0.275892 +v 3.265010 -0.016329 0.532676 +v 1.943930 -0.273203 -0.531427 +v 3.815557 -0.713455 0.496040 +v 2.311155 -0.896834 0.459293 +v 2.384678 0.313919 -0.531427 +v 2.971501 0.313919 0.496040 +f 103 109 118 +f 94 95 97 +f 97 98 99 +f 98 97 101 +f 94 97 103 +f 97 95 105 +f 95 102 105 +f 97 96 106 +f 93 101 106 +f 95 94 107 +f 102 95 107 +f 102 107 108 +f 96 97 108 +f 105 102 108 +f 107 96 108 +f 97 99 109 +f 103 97 109 +f 98 96 110 +f 96 100 110 +f 100 104 110 +f 100 96 111 +f 94 103 111 +f 103 100 111 +f 107 94 111 +f 96 107 111 +f 96 98 112 +f 101 93 112 +f 98 101 112 +f 93 106 112 +f 106 96 112 +f 99 98 113 +f 103 99 113 +f 101 97 114 +f 97 106 114 +f 106 101 114 +f 100 103 115 +f 104 100 115 +f 98 104 115 +f 113 98 115 +f 103 113 115 +f 104 98 116 +f 98 110 116 +f 110 104 116 +f 97 105 117 +f 108 97 117 +f 105 108 117 +f 99 103 118 +f 109 99 118 +o convex_4 +v -0.258302 0.974840 0.752967 +v 1.943919 2.699785 -0.384364 +v 1.943919 2.662923 -0.384364 +v -0.221440 1.305239 -1.008430 +v 1.943919 0.791500 -1.045077 +v 1.796903 0.791306 1.009923 +v -0.221440 2.773315 1.046569 +v -0.184794 2.663117 -0.935138 +v 1.870411 2.736453 0.973276 +v -0.221440 0.791306 -1.008430 +v 1.319856 2.259188 -1.118801 +v -0.111286 0.791306 1.083431 +v 1.943919 2.662923 -0.935138 +v 1.356502 2.296050 1.083431 +v 0.182315 1.085038 -1.118801 +v -0.221440 2.736453 -0.127624 +v 0.402407 2.222714 -1.118801 +v 1.870411 0.864836 0.569520 +v 0.475915 2.773315 0.459365 +v 1.907057 0.791500 -1.081939 +v 1.907057 2.699785 -0.824983 +v 1.282994 1.195235 1.083431 +v -0.258302 2.406247 0.936414 +v 1.246348 2.773315 1.009923 +v -0.184794 1.708975 1.083431 +v -0.258302 0.791306 0.349210 +v 1.540164 1.011702 -1.118801 +v 1.943919 0.791500 -0.824983 +v 0.182315 2.406247 1.083431 +v 1.870411 1.525635 0.789613 +v 1.796903 2.699591 1.009923 +v -0.221440 1.708975 -0.971784 +v 0.035514 2.699591 -0.751690 +v -0.147932 0.791306 -1.045292 +v 1.907057 2.736453 0.275702 +v -0.147932 2.773315 0.459365 +v 0.365761 0.791306 1.083431 +v 1.943919 1.305433 -1.045077 +v -0.147932 2.479583 -0.971784 +f 135 133 157 +f 120 121 123 +f 121 120 127 +f 128 124 130 +f 120 123 131 +f 129 126 131 +f 126 129 135 +f 129 133 135 +f 120 131 139 +f 131 126 139 +f 124 132 140 +f 132 130 140 +f 125 134 141 +f 137 125 142 +f 119 130 143 +f 130 132 143 +f 141 119 143 +f 125 141 143 +f 122 128 144 +f 130 119 144 +f 128 130 144 +f 119 141 144 +f 133 129 145 +f 129 138 145 +f 138 133 145 +f 123 121 146 +f 124 123 146 +f 136 124 146 +f 132 125 147 +f 125 143 147 +f 143 132 147 +f 121 127 148 +f 127 124 148 +f 124 136 148 +f 146 121 148 +f 136 146 148 +f 124 127 149 +f 132 124 149 +f 125 132 149 +f 127 142 149 +f 142 125 149 +f 126 122 150 +f 134 126 150 +f 141 134 150 +f 122 144 150 +f 144 141 150 +f 126 134 151 +f 139 126 151 +f 123 124 152 +f 128 122 152 +f 124 128 152 +f 122 133 152 +f 138 123 152 +f 133 138 152 +f 127 120 153 +f 120 139 153 +f 139 137 153 +f 142 127 153 +f 137 142 153 +f 134 125 154 +f 125 137 154 +f 137 139 154 +f 151 134 154 +f 139 151 154 +f 130 124 155 +f 124 140 155 +f 140 130 155 +f 131 123 156 +f 129 131 156 +f 123 138 156 +f 138 129 156 +f 122 126 157 +f 133 122 157 +f 126 135 157 +o convex_5 +v 1.062940 2.296165 2.331111 +v 0.292364 1.158345 1.083618 +v 0.732831 1.158345 1.083618 +v 0.989547 1.195099 2.918430 +v 0.365865 2.149259 2.992032 +v 0.329114 2.296165 1.083618 +v 1.356513 2.296165 1.083618 +v 1.393372 1.195099 2.918430 +v 1.283120 2.259410 2.955044 +v 1.283120 1.195099 1.083618 +v 0.365865 1.268496 2.918430 +v 0.329114 1.231853 2.661385 +v 0.329114 2.259410 1.780966 +v 1.026189 1.158345 2.367912 +v 1.319763 2.149259 2.955044 +v 1.393372 1.195099 2.551356 +v 1.026189 2.259410 2.955044 +v 1.393372 1.452155 2.918430 +v 0.292364 1.708989 1.120419 +v 0.292364 1.158345 1.377278 +v 0.329114 2.186013 2.074252 +v 1.356513 2.149259 1.083618 +v 1.356513 2.296165 1.340663 +v 0.365865 1.525552 2.955044 +v 0.439258 2.296165 1.524107 +f 170 174 182 +f 160 159 163 +f 160 163 164 +f 163 158 164 +f 160 164 167 +f 161 168 169 +f 159 160 171 +f 165 161 171 +f 160 167 171 +f 161 169 171 +f 162 165 172 +f 166 162 172 +f 165 171 173 +f 171 167 173 +f 162 166 174 +f 166 158 174 +f 170 162 174 +f 172 165 175 +f 173 164 175 +f 165 173 175 +f 163 159 176 +f 170 163 176 +f 159 171 177 +f 171 169 177 +f 176 159 177 +f 169 176 177 +f 169 162 178 +f 162 170 178 +f 176 169 178 +f 170 176 178 +f 167 164 179 +f 164 173 179 +f 173 167 179 +f 164 158 180 +f 158 166 180 +f 166 172 180 +f 175 164 180 +f 172 175 180 +f 161 165 181 +f 165 162 181 +f 168 161 181 +f 162 169 181 +f 169 168 181 +f 158 163 182 +f 163 170 182 +f 174 158 182 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/799/799.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/799/799.urdf new file mode 100644 index 000000000..8d9c15cc8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/799/799.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/800/800.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/800/800.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/800/800.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/800/800.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/800/800.obj new file mode 100644 index 000000000..4d1640200 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/800/800.obj @@ -0,0 +1,519 @@ +o convex_0 +v 0.945639 0.865202 -1.410162 +v -0.311370 -1.318339 -0.252290 +v -0.245265 -1.318339 -0.252290 +v -0.079800 -0.788517 -3.560187 +v -1.006286 1.030496 -0.218859 +v 1.011744 -0.920908 -0.218859 +v -0.642302 0.798877 -3.064110 +v 0.813226 0.037695 -3.427541 +v -0.873872 -0.788776 -1.972382 +v 0.416190 1.328440 -0.218859 +v 0.747121 -0.855101 -2.964536 +v 0.151567 0.699389 -3.592899 +v -0.873872 -0.987233 -0.218859 +v -0.774511 -0.093919 -3.328685 +v 1.078053 0.302735 -0.218859 +v 1.078053 -0.060756 -2.005454 +v -1.006286 -0.027594 -2.038526 +v -0.013695 -0.027853 -3.891264 +v -0.344423 -1.053298 -2.567315 +v 0.482498 -1.285177 -0.218859 +v -0.476836 1.295277 -0.252290 +v 0.449242 0.964171 -2.534243 +v 0.978692 1.063658 -0.218859 +v -0.973029 0.765714 -1.741239 +v -1.006286 -0.193147 -0.218859 +v 0.912587 0.699648 -2.203525 +v 1.011744 -0.755614 -1.807383 +v -0.609045 -0.656385 -3.031039 +v 0.780174 -1.185948 -0.252290 +v 0.681016 0.534354 -3.129894 +v -0.840820 -1.053558 -0.384577 +v 0.813226 -0.259472 -3.328685 +v -0.807768 1.195790 -0.252290 +v 0.085462 -0.061016 -3.891264 +v -1.006286 -0.193147 -1.906239 +v 0.681016 -0.821679 -3.130254 +v 1.044796 -0.788776 -0.218859 +v -0.840820 -0.821939 -2.137382 +v 1.078053 0.104020 -1.873167 +v -0.741459 -0.093919 -3.394828 +v 0.250928 0.931267 -2.699961 +v 0.052410 -0.987233 -2.733033 +v 0.317033 1.328440 -0.285362 +v -0.741459 0.170085 -3.295253 +v 1.078053 -0.292635 -1.443593 +v 0.846482 0.005050 -3.361756 +v 0.945639 1.063658 -0.417649 +v 0.945639 0.699648 -2.071238 +v 0.945639 -0.888004 -1.476305 +v 0.482498 -1.285177 -0.252290 +v -1.006286 0.401964 -1.807023 +v -0.807768 0.964171 -1.575880 +v 0.317033 0.666486 -3.460972 +v -0.179161 -0.788517 -3.460972 +v 0.052410 0.699389 -3.560187 +v 0.681016 -0.061016 -3.526756 +v 0.846482 -0.821939 -2.600387 +v 1.011744 0.798877 -0.682223 +v -0.013695 -0.656385 -3.626331 +v -0.278318 -1.053298 -2.567315 +v 0.846482 -0.060756 -3.361756 +v -0.013695 -0.821939 -3.460972 +v 1.078053 -0.060756 -0.285362 +v -0.807768 -0.027594 -3.162966 +f 51 24 64 +f 5 6 10 +f 6 5 13 +f 10 6 15 +f 3 2 19 +f 2 3 20 +f 13 2 20 +f 6 13 20 +f 5 10 21 +f 10 15 23 +f 13 5 25 +f 5 17 25 +f 22 1 26 +f 6 20 29 +f 26 8 30 +f 22 26 30 +f 2 13 31 +f 13 9 31 +f 19 2 31 +f 5 21 33 +f 21 7 33 +f 12 8 34 +f 18 12 34 +f 9 13 35 +f 17 14 35 +f 13 25 35 +f 25 17 35 +f 32 11 36 +f 15 6 37 +f 6 27 37 +f 14 28 38 +f 28 19 38 +f 31 9 38 +f 19 31 38 +f 9 35 38 +f 35 14 38 +f 15 16 39 +f 18 4 40 +f 28 14 40 +f 12 7 41 +f 7 21 41 +f 22 12 41 +f 21 10 43 +f 10 22 43 +f 41 21 43 +f 22 41 43 +f 7 18 44 +f 24 7 44 +f 40 14 44 +f 18 40 44 +f 16 15 45 +f 27 16 45 +f 37 27 45 +f 8 26 46 +f 39 16 46 +f 22 10 47 +f 1 22 47 +f 10 23 47 +f 23 1 47 +f 1 23 48 +f 26 1 48 +f 46 26 48 +f 39 46 48 +f 27 6 49 +f 6 29 49 +f 20 3 50 +f 29 20 50 +f 11 29 50 +f 42 11 50 +f 17 5 51 +f 5 24 51 +f 24 5 52 +f 7 24 52 +f 5 33 52 +f 33 7 52 +f 8 12 53 +f 12 22 53 +f 30 8 53 +f 22 30 53 +f 4 19 54 +f 19 28 54 +f 40 4 54 +f 28 40 54 +f 7 12 55 +f 18 7 55 +f 12 18 55 +f 34 8 56 +f 32 36 56 +f 36 34 56 +f 29 11 57 +f 11 32 57 +f 27 49 57 +f 49 29 57 +f 23 15 58 +f 15 39 58 +f 48 23 58 +f 39 48 58 +f 4 18 59 +f 18 34 59 +f 36 4 59 +f 34 36 59 +f 3 19 60 +f 50 3 60 +f 42 50 60 +f 16 27 61 +f 8 46 61 +f 46 16 61 +f 56 8 61 +f 32 56 61 +f 57 32 61 +f 27 57 61 +f 19 4 62 +f 4 36 62 +f 36 11 62 +f 11 42 62 +f 60 19 62 +f 42 60 62 +f 15 37 63 +f 45 15 63 +f 37 45 63 +f 14 17 64 +f 24 44 64 +f 44 14 64 +f 17 51 64 +o convex_1 +v -0.443683 -2.773575 0.310640 +v 0.052298 0.434685 2.262496 +v -0.046774 0.434685 2.262496 +v 0.747044 2.849819 0.211298 +v -0.973033 2.750902 1.071125 +v 0.978764 -2.740206 1.236776 +v -0.840799 -2.740206 2.030780 +v -1.006195 1.029977 -0.218616 +v 1.044881 -0.788673 -0.218859 +v 0.846323 2.717532 1.865373 +v 0.846323 -1.780826 2.163155 +v -0.840799 2.717532 1.931439 +v -0.873754 -0.986507 -0.218859 +v 1.044881 1.923809 1.005302 +v 0.813368 -2.707432 0.310640 +v -0.973033 -2.475631 1.203500 +v 0.416252 -3.038745 1.799064 +v -0.311449 2.949332 0.343672 +v 0.978764 1.063347 -0.218859 +v 0.052298 3.048846 1.898163 +v -1.006195 1.956583 1.732998 +v -0.807637 -1.846970 2.196188 +v 1.044881 -0.457359 1.567348 +v -0.642241 -3.005376 0.774072 +v 0.846323 1.758152 2.096846 +v 0.416252 -1.350595 -0.218859 +v -0.840799 1.790926 2.096846 +v 0.813368 3.015476 1.137434 +v -0.973033 -1.946483 1.964472 +v 0.052298 -2.773575 2.130122 +v -0.807637 2.684162 0.343915 +v -0.013612 2.618615 2.063813 +v -0.642241 3.048846 1.501525 +v 0.614810 -2.972006 0.674730 +v -1.039357 0.831547 1.137434 +v 0.978764 1.659235 1.898163 +v -0.774682 -2.641288 0.343915 +v 0.813368 -2.740206 1.964714 +v 1.011719 2.486328 0.740796 +v -0.443683 1.361291 -0.218859 +v -1.006195 -0.192785 -0.218616 +v 0.978764 -1.913113 1.964472 +v 1.078043 -0.027724 -0.218859 +v -0.609079 -3.038745 1.766031 +v 0.449414 -0.391215 2.262496 +v 0.019343 -2.674658 0.178265 +v 1.044881 -2.178283 1.170467 +v -0.940078 -2.773575 1.104401 +v -0.112891 2.750902 0.178265 +v -1.039357 1.989953 0.773829 +v -0.443683 -0.325072 2.262496 +v 0.052298 -2.971410 0.409981 +v 1.011719 2.055501 0.244574 +v 1.011719 -1.945887 0.376705 +v 0.945602 2.882593 1.104158 +v 0.416252 1.360695 -0.218859 +v 0.813368 2.882593 0.244574 +v -0.708358 2.982106 0.840138 +v 0.416252 3.015476 0.707520 +v 0.780206 -2.972006 1.269566 +v -0.344611 -1.317225 -0.218859 +v -0.873754 1.691413 2.096846 +v -0.906916 -2.012626 0.343915 +v 0.614810 3.015476 1.699722 +f 92 84 128 +f 73 77 83 +f 76 69 85 +f 77 73 90 +f 73 79 90 +f 71 86 93 +f 86 71 94 +f 72 69 95 +f 67 66 96 +f 74 84 96 +f 84 76 96 +f 66 89 96 +f 89 74 96 +f 91 67 96 +f 76 91 96 +f 69 76 97 +f 76 84 97 +f 80 93 99 +f 93 85 99 +f 87 78 100 +f 89 75 100 +f 74 89 100 +f 77 65 101 +f 65 88 101 +f 94 81 102 +f 75 94 102 +f 77 72 104 +f 83 77 104 +f 72 77 105 +f 80 99 105 +f 100 75 106 +f 87 100 106 +f 102 70 106 +f 75 102 106 +f 73 83 107 +f 78 87 107 +f 88 81 108 +f 94 71 108 +f 81 94 108 +f 66 67 109 +f 89 66 109 +f 75 89 109 +f 94 75 109 +f 86 94 109 +f 90 79 110 +f 106 70 111 +f 87 106 111 +f 73 107 111 +f 107 87 111 +f 71 93 112 +f 93 80 112 +f 101 88 112 +f 80 105 112 +f 108 71 112 +f 88 108 112 +f 82 68 113 +f 72 95 113 +f 95 82 113 +f 104 72 113 +f 69 72 114 +f 85 69 114 +f 99 85 114 +f 72 105 114 +f 105 99 114 +f 67 91 115 +f 109 67 115 +f 86 109 115 +f 88 65 116 +f 81 88 116 +f 79 98 116 +f 98 81 116 +f 65 110 116 +f 110 79 116 +f 103 78 117 +f 107 83 117 +f 78 107 117 +f 70 79 118 +f 79 73 118 +f 111 70 118 +f 73 111 118 +f 92 74 119 +f 74 100 119 +f 100 78 119 +f 78 103 119 +f 68 83 120 +f 83 104 120 +f 113 68 120 +f 104 113 120 +f 68 82 121 +f 83 68 121 +f 117 83 121 +f 103 117 121 +f 92 119 121 +f 119 103 121 +f 95 69 122 +f 82 95 122 +f 69 97 122 +f 122 97 123 +f 84 92 123 +f 97 84 123 +f 121 82 123 +f 92 121 123 +f 82 122 123 +f 79 70 124 +f 98 79 124 +f 81 98 124 +f 70 102 124 +f 102 81 124 +f 65 77 125 +f 77 90 125 +f 110 65 125 +f 90 110 125 +f 76 85 126 +f 91 76 126 +f 85 93 126 +f 93 86 126 +f 115 91 126 +f 86 115 126 +f 77 101 127 +f 105 77 127 +f 101 112 127 +f 112 105 127 +f 84 74 128 +f 74 92 128 +o convex_2 +v 0.350130 -0.193400 2.427904 +v -0.410760 -0.325784 2.262513 +v -0.410760 -0.325784 2.295607 +v -0.046670 0.402067 2.295607 +v 0.416358 -0.358836 2.262513 +v -0.311500 0.203491 2.427904 +v -0.112897 -0.358836 2.427904 +v 0.317097 0.137299 2.427904 +v 0.317097 0.170351 2.262513 +v -0.311500 0.203491 2.262513 +v 0.085462 -0.491221 2.295607 +v 0.019315 0.335875 2.427904 +v -0.344452 -0.160347 2.427904 +v -0.311500 -0.458081 2.262513 +v 0.052348 0.402067 2.262513 +v 0.184723 -0.325784 2.427904 +f 135 139 144 +f 130 131 134 +f 129 134 135 +f 129 133 136 +f 134 129 136 +f 133 130 137 +f 136 133 137 +f 130 134 138 +f 134 132 138 +f 137 130 138 +f 132 134 140 +f 134 136 140 +f 134 131 141 +f 131 135 141 +f 135 134 141 +f 131 130 142 +f 130 133 142 +f 135 131 142 +f 133 139 142 +f 139 135 142 +f 136 137 143 +f 138 132 143 +f 137 138 143 +f 132 140 143 +f 140 136 143 +f 133 129 144 +f 129 135 144 +f 139 133 144 +o convex_3 +v -0.344523 -0.028034 2.461261 +v 0.350120 -0.094165 2.626616 +v 0.350120 -0.127263 2.626616 +v -0.013727 -0.061067 4.148158 +v 0.085430 0.302813 2.428089 +v -0.079900 -0.358882 2.428089 +v 0.019257 0.203520 3.883454 +v 0.184655 -0.193458 3.784106 +v -0.245298 0.203520 3.056676 +v -0.146073 -0.193458 3.718099 +v 0.250827 0.004999 3.817278 +v 0.317068 0.137389 2.428089 +v -0.212245 0.004999 3.850282 +v 0.250827 -0.292686 2.428089 +v -0.245298 -0.325784 2.428089 +v 0.052309 -0.259589 3.850282 +v -0.311471 0.203520 2.428089 +v 0.217775 0.170422 3.354047 +v -0.344523 -0.160360 2.461261 +v -0.079900 0.302813 2.527437 +v -0.046780 0.203520 3.850282 +v 0.052309 -0.358882 2.527437 +v 0.118482 -0.061067 4.081982 +v 0.250827 -0.292686 2.626616 +v 0.350120 -0.160360 2.428089 +v 0.317068 0.137389 2.593613 +v -0.179125 0.137389 3.718099 +v 0.250827 -0.061067 3.817278 +v 0.019257 -0.259589 3.850282 +v 0.052309 0.038096 4.114986 +v -0.278418 0.004999 3.255204 +v 0.250827 -0.226491 3.156024 +v -0.212245 -0.061067 3.784106 +f 175 163 177 +f 147 146 155 +f 150 149 156 +f 150 156 158 +f 149 150 159 +f 149 159 161 +f 149 151 162 +f 151 155 162 +f 159 154 163 +f 145 161 163 +f 161 159 163 +f 151 149 164 +f 149 161 164 +f 161 153 164 +f 157 148 165 +f 151 164 165 +f 164 153 165 +f 150 158 166 +f 148 160 167 +f 160 152 167 +f 152 160 168 +f 166 158 168 +f 160 166 168 +f 146 147 169 +f 156 146 169 +f 158 156 169 +f 168 158 169 +f 155 146 170 +f 146 156 170 +f 156 149 170 +f 149 162 170 +f 162 155 170 +f 153 157 171 +f 157 165 171 +f 165 153 171 +f 147 155 172 +f 155 167 172 +f 167 152 172 +f 148 154 173 +f 159 150 173 +f 154 159 173 +f 160 148 173 +f 150 166 173 +f 166 160 173 +f 155 151 174 +f 165 148 174 +f 151 165 174 +f 148 167 174 +f 167 155 174 +f 157 153 175 +f 153 161 175 +f 161 145 175 +f 145 163 175 +f 152 168 176 +f 169 147 176 +f 168 169 176 +f 147 172 176 +f 172 152 176 +f 154 148 177 +f 148 157 177 +f 163 154 177 +f 157 175 177 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/800/800.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/800/800.urdf new file mode 100644 index 000000000..3aa4c77c0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/800/800.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/801/801.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/801/801.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/801/801.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/801/801.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/801/801.obj new file mode 100644 index 000000000..ed21291ae --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/801/801.obj @@ -0,0 +1,555 @@ +o convex_0 +v -1.371412 -0.884889 -0.769128 +v 0.081279 0.007137 1.112694 +v 0.543537 0.007137 1.046646 +v 0.675581 -4.680851 1.046646 +v 0.642516 -0.092234 -1.033320 +v -1.437540 -4.549127 -0.967272 +v -1.437540 -4.582404 0.947466 +v 0.741709 -4.714591 -1.099584 +v -1.371412 0.007137 0.947466 +v -1.305283 0.007137 -1.033320 +v 0.708645 0.007137 1.013514 +v -0.843025 0.007137 -1.066452 +v -1.437540 -2.766000 -0.405973 +v 0.642516 0.007137 -1.000404 +v -0.710981 0.007137 1.046646 +v 0.444345 -4.714591 -1.000188 +v 0.015150 -0.290051 1.112694 +v -1.404476 -0.818796 0.253855 +v 0.675581 -1.017075 -1.033320 +v 0.444345 -4.020382 -1.099584 +v -1.338348 -0.026141 -1.000188 +v 0.708645 -1.314263 1.013514 +v -1.305283 -4.582404 -0.967272 +v -1.107325 -4.614758 0.683275 +v -1.437540 -3.459746 -0.967272 +v 0.576602 -4.680851 1.046646 +v -1.437540 -3.954751 0.947466 +v 0.708645 0.007137 0.782238 +v -1.272219 0.007137 0.980382 +v 0.708645 -4.680851 0.188024 +v -0.843025 -4.614758 0.980382 +v -1.371412 0.007137 -0.042819 +v 0.741709 -4.516311 -1.099584 +v 0.741709 -4.714591 -0.934140 +v -1.371412 -2.534905 -1.000404 +v -1.404476 -1.445987 0.947466 +v 0.642516 -4.714591 -0.339926 +v 0.510473 -3.954289 -1.099584 +v 0.576602 -4.680851 -1.099584 +f 35 20 39 +f 3 2 4 +f 2 3 9 +f 9 3 10 +f 3 4 11 +f 10 3 11 +f 10 11 12 +f 6 7 13 +f 12 11 14 +f 5 12 14 +f 2 9 15 +f 4 2 17 +f 2 15 17 +f 15 7 17 +f 5 14 19 +f 11 4 22 +f 7 6 23 +f 8 16 23 +f 23 16 24 +f 7 23 24 +f 13 1 25 +f 6 13 25 +f 21 10 25 +f 1 21 25 +f 4 17 26 +f 13 7 27 +f 18 13 27 +f 14 11 28 +f 19 14 28 +f 7 15 29 +f 15 9 29 +f 27 7 29 +f 22 4 30 +f 17 7 31 +f 7 24 31 +f 26 17 31 +f 24 26 31 +f 9 10 32 +f 1 13 32 +f 18 9 32 +f 13 18 32 +f 10 21 32 +f 21 1 32 +f 5 19 33 +f 8 20 33 +f 28 11 33 +f 19 28 33 +f 16 8 34 +f 11 22 34 +f 30 4 34 +f 22 30 34 +f 8 33 34 +f 33 11 34 +f 10 12 35 +f 12 20 35 +f 6 25 35 +f 25 10 35 +f 9 18 36 +f 18 27 36 +f 29 9 36 +f 27 29 36 +f 24 16 37 +f 4 26 37 +f 26 24 37 +f 16 34 37 +f 34 4 37 +f 12 5 38 +f 20 12 38 +f 5 33 38 +f 33 20 38 +f 20 8 39 +f 23 6 39 +f 8 23 39 +f 6 35 39 +o convex_1 +v -0.909015 3.011970 0.518292 +v -0.116903 3.408005 -0.571279 +v -0.116903 3.441046 -0.571279 +v 0.213213 3.242951 0.551370 +v 0.279332 2.945835 -0.571279 +v -0.942134 3.375015 -0.472157 +v -0.810016 3.375015 0.551370 +v -0.810016 2.945835 -0.472157 +v 0.213213 2.945835 0.485325 +v 0.246213 3.474088 -0.373145 +v 0.213213 3.408005 0.551370 +v -0.909015 2.945835 0.518292 +v 0.279332 3.408005 -0.571279 +v -0.777016 3.408005 -0.505234 +v 0.246213 3.441046 0.221146 +v -0.909015 2.945835 0.023013 +v -0.876015 3.209961 0.551370 +f 51 43 56 +f 41 42 44 +f 41 44 47 +f 47 44 48 +f 46 43 50 +f 40 45 51 +f 48 43 51 +f 47 48 51 +f 44 42 52 +f 42 49 52 +f 42 41 53 +f 45 46 53 +f 41 47 53 +f 47 45 53 +f 49 42 53 +f 46 49 53 +f 43 48 54 +f 48 44 54 +f 49 46 54 +f 46 50 54 +f 50 43 54 +f 44 52 54 +f 52 49 54 +f 45 47 55 +f 51 45 55 +f 47 51 55 +f 45 40 56 +f 43 46 56 +f 46 45 56 +f 40 51 56 +o convex_2 +v 0.081212 1.757148 0.584389 +v -1.536756 2.780626 -0.604298 +v -1.536756 2.879635 -0.604298 +v -3.451704 1.856273 0.452209 +v -0.909343 2.945718 0.518299 +v 0.147001 1.757148 -0.571253 +v -3.352462 1.790306 -0.571253 +v -3.319382 2.879635 0.419164 +v 0.279323 2.945718 -0.571253 +v -3.286301 2.813668 -0.538208 +v 0.345112 2.813668 0.452209 +v 0.345112 1.823231 0.386119 +v 0.345112 1.922356 -0.571253 +v -3.451704 1.790306 0.452209 +v 0.213162 2.945718 0.485254 +v -0.810101 2.945718 -0.472002 +v -1.537127 1.856273 0.551227 +v -1.965686 1.757148 -0.505163 +v 0.345112 2.846593 -0.571253 +v 0.345112 1.823231 0.551344 +v -3.319382 2.747701 -0.505163 +v -3.319382 2.879635 0.221127 +v -3.319382 2.318508 -0.571253 +v -3.451704 1.922356 0.287101 +v -0.843553 1.757148 0.518299 +v -1.272484 2.681501 -0.604298 +v 0.081212 1.856389 0.584389 +v -1.734866 2.879635 -0.604182 +f 79 66 84 +f 68 62 69 +f 67 68 69 +f 65 61 71 +f 67 65 71 +f 61 65 72 +f 64 60 73 +f 61 64 73 +f 70 57 73 +f 60 70 73 +f 62 57 74 +f 63 62 74 +f 70 63 74 +f 65 67 75 +f 67 69 75 +f 57 62 76 +f 68 67 76 +f 62 68 76 +f 67 71 76 +f 66 77 78 +f 64 61 78 +f 61 72 78 +f 72 66 78 +f 63 77 79 +f 77 66 79 +f 60 64 80 +f 70 60 80 +f 63 70 80 +f 77 63 80 +f 78 77 80 +f 64 78 80 +f 57 70 81 +f 74 57 81 +f 70 74 81 +f 58 59 82 +f 62 63 82 +f 63 58 82 +f 59 65 82 +f 69 62 82 +f 65 75 82 +f 75 69 82 +f 71 61 83 +f 73 57 83 +f 61 73 83 +f 57 76 83 +f 76 71 83 +f 59 58 84 +f 58 63 84 +f 65 59 84 +f 72 65 84 +f 66 72 84 +f 63 79 84 +o convex_3 +v 4.604601 1.823196 0.353074 +v 2.161481 2.945724 -0.307049 +v 2.161481 2.945724 -0.472080 +v 0.345490 1.823196 0.551360 +v 4.736697 2.912695 0.584275 +v 4.770046 1.889367 -0.538137 +v 0.345490 1.922395 -0.571279 +v 0.345490 2.813722 0.452160 +v 4.670866 2.879667 -0.571166 +v 0.345490 2.846638 -0.571279 +v 2.393190 1.790280 -0.571166 +v 4.604601 1.823196 0.452160 +v 2.161914 2.912695 0.518218 +v 4.736697 2.714636 0.584275 +v 3.349909 2.945611 -0.505108 +v 2.689863 2.945611 0.485189 +v 0.478019 2.879780 -0.439164 +v 3.151982 1.790280 -0.571166 +v 0.345490 2.021369 0.551360 +v 0.973053 1.823196 0.551360 +v 4.770046 2.813722 0.584275 +v 2.755695 1.790280 -0.274020 +v 4.109567 2.912695 0.584275 +v 4.472506 2.912695 -0.571166 +v 0.345490 1.823196 0.386103 +v 4.703781 2.714636 -0.571166 +v 4.670866 2.219429 0.518218 +v 0.708861 2.846638 0.452160 +v 3.746196 1.823309 -0.571166 +v 4.770046 1.889367 -0.406022 +v 4.770046 2.879667 0.485189 +f 90 110 115 +f 91 88 92 +f 91 92 94 +f 85 90 96 +f 87 86 99 +f 94 87 99 +f 99 86 100 +f 89 99 100 +f 86 87 101 +f 87 94 101 +f 94 92 101 +f 100 86 101 +f 95 91 102 +f 85 96 102 +f 92 88 103 +f 97 92 103 +f 98 88 104 +f 89 98 105 +f 88 95 106 +f 95 102 106 +f 102 96 106 +f 104 88 106 +f 96 104 106 +f 88 98 107 +f 98 89 107 +f 89 100 107 +f 100 97 107 +f 103 88 107 +f 97 103 107 +f 89 93 108 +f 93 94 108 +f 99 89 108 +f 94 99 108 +f 88 91 109 +f 95 88 109 +f 91 95 109 +f 91 94 110 +f 94 93 110 +f 98 104 111 +f 104 96 111 +f 105 98 111 +f 92 97 112 +f 97 100 112 +f 101 92 112 +f 100 101 112 +f 90 85 113 +f 85 102 113 +f 102 91 113 +f 91 110 113 +f 110 90 113 +f 96 90 114 +f 90 105 114 +f 111 96 114 +f 105 111 114 +f 93 89 115 +f 89 105 115 +f 105 90 115 +f 110 93 115 +o convex_4 +v -0.611976 0.634474 1.575013 +v -0.182867 0.040156 2.598552 +v -0.149896 0.040156 2.598552 +v -0.545973 0.667506 2.994742 +v -0.050800 0.700538 1.112694 +v -0.678040 0.172284 1.178823 +v -0.645008 0.106220 2.928614 +v -0.149896 0.601442 3.060677 +v -0.116864 0.106220 1.112694 +v -0.149896 0.073188 3.093838 +v -0.645008 0.667506 2.994742 +v -0.578944 0.634474 1.112694 +v -0.678040 0.370347 1.112694 +v -0.678040 0.535378 2.367393 +v -0.347966 0.040156 3.060677 +v -0.083832 0.667506 1.938235 +v -0.182867 0.700538 1.112694 +v -0.678040 0.139252 1.839139 +f 130 122 133 +f 118 117 124 +f 118 124 125 +f 124 120 125 +f 119 120 126 +f 123 119 126 +f 125 123 126 +f 120 124 127 +f 116 126 127 +f 124 121 128 +f 116 127 128 +f 127 124 128 +f 126 116 129 +f 122 126 129 +f 128 121 129 +f 116 128 129 +f 117 118 130 +f 118 125 130 +f 126 122 130 +f 125 126 130 +f 120 119 131 +f 119 123 131 +f 123 125 131 +f 125 120 131 +f 126 120 132 +f 120 127 132 +f 127 126 132 +f 124 117 133 +f 121 124 133 +f 129 121 133 +f 122 129 133 +f 117 130 133 +o convex_5 +v -1.371502 0.007208 -0.009677 +v 0.708700 1.360793 1.013511 +v 0.708700 0.733557 1.013511 +v 0.642523 0.733557 -1.000230 +v -1.272338 1.426773 -1.033504 +v -1.338312 1.459905 0.980449 +v 0.543359 0.007208 1.046358 +v 0.642523 0.007208 -1.000230 +v 0.609536 1.426773 -1.000230 +v -1.305325 0.007208 -1.033291 +v -1.371502 0.007208 0.947388 +v -0.710952 0.238422 1.112267 +v 0.014960 0.172300 -1.066352 +v 0.081341 1.459905 0.584143 +v 0.708700 0.007208 0.782296 +v 0.048150 0.799679 1.112694 +v -0.909077 1.459905 -0.670259 +v 0.708700 1.393783 0.584143 +v -1.371502 1.096731 0.815357 +v -1.305325 1.426773 -0.769229 +v 0.081341 0.007208 1.112267 +v -0.380881 0.667434 -1.066352 +v -0.843103 0.007208 -1.066352 +v -1.338312 0.040340 -0.934107 +v 0.213288 1.459905 -0.538014 +v -0.579005 0.634444 1.112267 +v 0.642523 1.426773 -0.736168 +v 0.708700 0.007208 1.013297 +v -1.371502 0.700424 0.980236 +v -0.380881 1.426773 -1.033504 +v 0.510576 1.393783 0.980236 +f 151 147 164 +f 136 135 140 +f 140 134 141 +f 141 134 143 +f 134 140 144 +f 137 141 146 +f 142 137 146 +f 135 136 148 +f 140 141 148 +f 135 139 149 +f 140 135 149 +f 138 139 150 +f 139 147 150 +f 141 137 151 +f 135 148 151 +f 148 141 151 +f 134 144 152 +f 139 138 153 +f 152 139 153 +f 144 140 154 +f 145 144 154 +f 140 149 154 +f 149 145 154 +f 142 146 155 +f 155 146 156 +f 143 138 156 +f 141 143 156 +f 146 141 156 +f 138 155 156 +f 143 134 157 +f 138 143 157 +f 134 152 157 +f 153 138 157 +f 152 153 157 +f 142 150 158 +f 150 147 158 +f 139 145 159 +f 149 139 159 +f 145 149 159 +f 137 142 160 +f 151 137 160 +f 147 151 160 +f 142 158 160 +f 158 147 160 +f 136 140 161 +f 148 136 161 +f 140 148 161 +f 144 145 162 +f 145 139 162 +f 139 152 162 +f 152 144 162 +f 138 150 163 +f 150 142 163 +f 155 138 163 +f 142 155 163 +f 139 135 164 +f 147 139 164 +f 135 151 164 +o convex_6 +v 0.180175 1.493047 -0.174972 +v -0.810055 1.460005 -0.571166 +v -0.810055 1.658052 -0.571166 +v -1.008173 1.460005 0.584275 +v 0.081176 1.757148 0.584275 +v 0.180175 1.757148 -0.571166 +v -0.876054 1.757148 0.485199 +v 0.081176 1.460005 0.584275 +v 0.213294 1.460005 -0.538140 +v -0.810055 1.757148 -0.538140 +v -1.008173 1.493047 0.452173 +f 174 167 175 +f 166 167 170 +f 169 165 170 +f 168 169 171 +f 169 170 171 +f 168 166 172 +f 165 169 172 +f 169 168 172 +f 166 170 173 +f 170 165 173 +f 172 166 173 +f 165 172 173 +f 170 167 174 +f 171 170 174 +f 171 174 175 +f 167 166 175 +f 166 168 175 +f 168 171 175 +o convex_7 +v -0.645082 0.403314 -2.387325 +v 0.015299 0.238283 -1.066565 +v 0.015299 0.172284 -1.066565 +v -0.116829 0.700538 -2.981558 +v -0.116829 0.040156 -2.948436 +v -0.579018 0.634474 -1.066565 +v -0.612050 0.073188 -1.099885 +v -0.645082 0.172284 -3.080729 +v -0.149796 0.700538 -1.231783 +v -0.545986 0.601442 -3.014483 +v -0.413923 0.073188 -1.066565 +v -0.248892 0.700538 -2.981558 +v -0.612050 0.601442 -1.066565 +v -0.149796 0.667506 -1.066565 +v -0.645082 0.139252 -2.915510 +v -0.083797 0.073188 -2.717170 +v -0.645082 0.403314 -1.793091 +v -0.579018 0.568410 -3.014483 +f 188 185 193 +f 178 177 181 +f 179 180 183 +f 177 179 184 +f 179 183 185 +f 180 178 186 +f 178 181 186 +f 182 180 186 +f 184 179 187 +f 181 184 187 +f 185 181 187 +f 179 185 187 +f 181 185 188 +f 186 181 188 +f 182 186 188 +f 181 177 189 +f 177 184 189 +f 184 181 189 +f 180 182 190 +f 176 183 190 +f 183 180 190 +f 177 178 191 +f 179 177 191 +f 180 179 191 +f 178 180 191 +f 188 176 192 +f 182 188 192 +f 176 190 192 +f 190 182 192 +f 183 176 193 +f 185 183 193 +f 176 188 193 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/801/801.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/801/801.urdf new file mode 100644 index 000000000..c601fd851 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/801/801.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/802/802.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/802/802.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/802/802.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/802/802.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/802/802.obj new file mode 100644 index 000000000..a226dd81c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/802/802.obj @@ -0,0 +1,471 @@ +o convex_0 +v 0.710741 0.431410 1.031545 +v -1.109333 0.274147 0.341028 +v -1.109333 0.274147 0.372313 +v 1.087406 -3.742203 0.968771 +v 1.087406 0.745057 -1.039593 +v -1.077926 -3.553751 -0.945329 +v -0.920891 -3.616569 1.000261 +v 0.961779 -3.616569 -1.039593 +v -1.015112 0.745496 -1.039593 +v -1.077926 0.745057 1.000261 +v 1.087406 0.745057 0.937281 +v -0.952298 -3.710575 0.811938 +v 0.522518 0.745496 1.063035 +v 1.118813 -2.549115 0.529351 +v -0.669854 0.463038 1.063035 +v 0.553707 -3.616569 -1.039593 +v 1.118813 0.745057 0.560635 +v 0.993185 -3.616569 -0.913839 +v 0.993185 -2.957207 1.000055 +v -0.732668 -3.742203 0.937486 +v -1.015112 -0.227952 -1.039593 +v 1.118813 0.651051 -0.600174 +v 1.087406 -3.742203 0.717674 +v -1.046519 0.745057 -0.725516 +v 0.522518 0.337404 1.063035 +v -1.046519 -3.584940 -0.851065 +v 1.055999 0.619862 0.968771 +v -1.109333 0.745057 0.403803 +v -1.077926 -3.459306 -0.819575 +v -0.952298 0.745496 1.031545 +v -0.607040 -3.584940 -0.976819 +v 0.742148 -3.647758 -0.694232 +v 1.087406 -3.710575 0.497861 +v -0.983705 -2.298285 1.000261 +v -1.046519 -0.730050 -1.007897 +v 0.993185 -3.271293 -1.039593 +v -0.952298 -3.710575 0.592125 +v -0.638447 0.274586 1.063035 +v 1.087406 -0.259140 0.968771 +v -0.669854 0.745496 1.063035 +v 0.491111 -3.584940 -1.039593 +v -1.109333 0.682679 0.560635 +v -0.732668 -3.742203 0.968771 +v -1.077926 -3.396489 -0.945329 +f 28 35 44 +f 3 2 6 +f 5 8 9 +f 5 9 13 +f 9 8 16 +f 5 13 17 +f 13 11 17 +f 4 14 17 +f 7 4 19 +f 1 13 19 +f 9 16 21 +f 5 17 22 +f 17 14 22 +f 14 4 23 +f 8 18 23 +f 4 20 23 +f 13 15 25 +f 7 19 25 +f 19 13 25 +f 13 1 27 +f 11 13 27 +f 2 3 28 +f 9 24 28 +f 3 6 29 +f 6 12 29 +f 13 9 30 +f 7 15 30 +f 9 28 30 +f 28 10 30 +f 6 21 31 +f 26 6 31 +f 16 26 31 +f 16 8 32 +f 8 23 32 +f 23 20 32 +f 18 14 33 +f 14 23 33 +f 23 18 33 +f 12 7 34 +f 29 12 34 +f 7 30 34 +f 30 10 34 +f 21 6 35 +f 9 21 35 +f 24 9 35 +f 28 24 35 +f 8 5 36 +f 18 8 36 +f 14 18 36 +f 5 22 36 +f 22 14 36 +f 12 6 37 +f 20 12 37 +f 6 26 37 +f 26 16 37 +f 16 32 37 +f 32 20 37 +f 15 7 38 +f 7 25 38 +f 25 15 38 +f 4 17 39 +f 17 11 39 +f 19 4 39 +f 1 19 39 +f 11 27 39 +f 27 1 39 +f 15 13 40 +f 13 30 40 +f 30 15 40 +f 21 16 41 +f 31 21 41 +f 16 31 41 +f 28 3 42 +f 10 28 42 +f 3 29 42 +f 34 10 42 +f 29 34 42 +f 4 7 43 +f 7 12 43 +f 20 4 43 +f 12 20 43 +f 6 2 44 +f 2 28 44 +f 35 6 44 +o convex_1 +v 0.302757 4.354221 -0.349178 +v -0.356165 2.471915 -0.004020 +v -0.356165 2.471915 0.184288 +v 0.334250 2.471915 0.215683 +v -0.230598 4.385641 0.278472 +v -0.261956 4.417060 -0.349178 +v 0.334250 2.471915 -0.286389 +v 0.334250 4.354221 0.247077 +v -0.324739 2.628631 -0.286389 +v -0.136457 3.758015 -0.349178 +v 0.208616 4.385641 0.278472 +v -0.261956 3.946341 0.278472 +v -0.261956 4.354221 0.278472 +v -0.324739 2.471915 -0.254994 +v 0.334250 3.162189 -0.317783 +v 0.334250 3.005283 0.247077 +v -0.073673 2.471915 0.215683 +v -0.356165 2.628631 0.184288 +v 0.334250 4.354221 -0.004020 +v -0.261956 4.417060 0.058770 +v -0.105099 4.417060 -0.349178 +v 0.302757 3.883502 -0.349178 +v -0.324739 3.005283 -0.286389 +f 62 50 67 +f 47 46 48 +f 48 46 51 +f 48 51 52 +f 51 53 54 +f 50 45 54 +f 53 50 54 +f 55 49 56 +f 47 56 57 +f 56 49 57 +f 51 46 58 +f 46 53 58 +f 53 51 58 +f 52 51 59 +f 51 54 59 +f 48 52 60 +f 52 55 60 +f 55 56 60 +f 60 56 61 +f 47 48 61 +f 56 47 61 +f 48 60 61 +f 46 47 62 +f 47 57 62 +f 45 55 63 +f 55 52 63 +f 52 59 63 +f 59 45 63 +f 49 55 64 +f 57 49 64 +f 50 62 64 +f 62 57 64 +f 45 50 65 +f 55 45 65 +f 64 55 65 +f 50 64 65 +f 54 45 66 +f 45 59 66 +f 59 54 66 +f 53 46 67 +f 50 53 67 +f 46 62 67 +o convex_2 +v -0.607225 1.875070 2.318016 +v 0.585310 1.875184 1.471337 +v 0.585310 1.843817 1.471337 +v 0.459707 0.933942 3.071319 +v -0.607225 0.776992 1.063035 +v 0.459707 0.839727 1.063035 +v -0.544306 1.812336 1.063035 +v -0.481505 0.871207 2.977156 +v 0.459707 1.780969 3.039866 +v -0.607225 1.938032 3.008413 +v 0.522509 1.938032 1.063035 +v -0.513022 0.776992 1.596756 +v 0.585310 1.686867 1.063035 +v -0.418819 1.938032 3.008413 +v -0.607225 1.938032 2.631958 +v -0.607225 1.749601 3.008413 +v 0.459707 0.902461 2.757378 +v 0.491108 1.812449 2.757378 +v -0.513022 0.839840 2.663215 +v 0.208616 1.090891 3.071319 +v -0.230530 0.776992 1.126138 +v -0.575707 1.624019 1.126138 +v -0.607225 0.776992 1.283011 +v -0.387418 0.871207 3.008413 +v 0.271418 0.902575 3.039866 +v -0.387418 1.843703 1.126138 +v 0.585310 1.906551 1.408430 +v -0.607225 1.028043 1.063035 +v 0.459707 1.341942 3.071319 +v 0.459707 1.938032 1.063035 +f 93 82 97 +f 73 72 74 +f 68 72 77 +f 73 74 78 +f 69 70 80 +f 70 71 80 +f 73 78 80 +f 77 76 81 +f 78 77 81 +f 74 68 82 +f 68 77 82 +f 77 78 82 +f 77 72 83 +f 80 71 84 +f 73 80 84 +f 70 69 85 +f 71 70 85 +f 81 76 85 +f 75 83 86 +f 77 83 87 +f 72 73 88 +f 79 72 88 +f 73 84 88 +f 84 79 88 +f 68 74 89 +f 72 79 90 +f 83 72 90 +f 79 86 90 +f 86 83 90 +f 83 75 91 +f 75 86 91 +f 71 87 91 +f 87 83 91 +f 84 71 92 +f 79 84 92 +f 86 79 92 +f 71 91 92 +f 91 86 92 +f 74 82 93 +f 69 80 94 +f 80 78 94 +f 78 81 94 +f 85 69 94 +f 81 85 94 +f 72 68 95 +f 74 72 95 +f 68 89 95 +f 89 74 95 +f 76 77 96 +f 71 85 96 +f 85 76 96 +f 87 71 96 +f 77 87 96 +f 78 74 97 +f 82 78 97 +f 74 93 97 +o convex_3 +v 0.616681 1.843835 -1.102549 +v -0.513077 0.776879 -3.016649 +v -0.513077 1.435875 -3.047884 +v -0.513077 1.812428 -1.102739 +v 0.553867 0.776989 -1.102549 +v 0.553867 1.843835 -2.985223 +v 0.553867 0.839693 -2.953607 +v -0.450153 0.776879 -1.102739 +v -0.513077 1.906649 -3.047884 +v 0.585274 0.871100 -2.890947 +v 0.553867 0.776989 -1.981321 +v -0.513077 1.372950 -1.133974 +v -0.293230 1.906649 -2.702775 +v 0.271428 0.808286 -2.985223 +v 0.585274 0.996728 -1.102549 +v -0.481560 1.843835 -1.447849 +v 0.302724 1.781021 -3.016649 +v 0.585274 1.843835 -2.357475 +v -0.513077 0.776879 -2.514221 +v 0.177207 1.843835 -1.102739 +v 0.553867 0.808396 -2.890947 +v -0.324637 0.776879 -3.016649 +v 0.553867 1.247764 -2.985223 +v -0.199121 1.843835 -3.047884 +f 114 120 121 +f 100 99 101 +f 98 101 102 +f 102 101 105 +f 100 101 106 +f 107 102 108 +f 101 99 109 +f 105 101 109 +f 103 106 110 +f 98 102 112 +f 107 98 112 +f 102 107 112 +f 106 101 113 +f 110 106 113 +f 98 107 115 +f 107 103 115 +f 110 98 115 +f 103 110 115 +f 99 105 116 +f 109 99 116 +f 105 109 116 +f 101 98 117 +f 98 110 117 +f 113 101 117 +f 110 113 117 +f 104 107 118 +f 107 108 118 +f 111 104 118 +f 111 118 119 +f 99 100 119 +f 105 99 119 +f 102 105 119 +f 108 102 119 +f 118 108 119 +f 103 107 120 +f 107 104 120 +f 104 111 120 +f 114 103 120 +f 120 111 121 +f 100 106 121 +f 106 103 121 +f 103 114 121 +f 111 119 121 +f 119 100 121 +o convex_4 +v -1.046533 2.188901 1.031247 +v -0.983720 2.126225 -1.102146 +v -1.015126 0.965453 -1.070570 +v 1.118755 0.745665 0.560786 +v 1.118755 2.314422 -1.039206 +v 1.087349 2.440112 0.937155 +v -1.077721 0.745665 0.999883 +v 1.087349 0.745665 -1.039206 +v -1.015126 2.345845 -0.976478 +v 0.522254 0.745496 1.062823 +v -1.015126 0.745665 -1.039206 +v -0.356031 2.471365 0.184205 +v -1.109345 2.314591 0.780334 +v 1.087349 0.745665 0.937155 +v 0.334034 2.471365 -0.286256 +v 0.522254 0.745496 -1.102146 +v 0.616691 1.906437 1.062823 +v -1.109345 0.745665 0.403753 +v -0.669876 0.745665 1.062823 +v -0.795283 2.345845 -1.102146 +v 1.118755 2.440112 0.497846 +v -0.607063 2.345845 0.999883 +v 0.616691 1.843761 -1.102146 +v 1.118755 0.745665 -0.631473 +v -0.450250 0.777088 -1.102146 +v -0.324625 2.471365 -0.254892 +v -1.109345 2.283000 0.999883 +v -0.544469 1.812339 1.062823 +v 0.647879 2.440112 0.937155 +v 1.024536 0.745665 0.968519 +v -1.046533 0.777088 -0.725565 +v -1.109345 2.314591 0.686242 +v -1.109345 1.686818 0.999883 +v -1.046533 2.314591 0.999883 +v 0.334034 2.471365 0.215569 +v -0.983720 0.777088 1.031247 +v -0.983720 2.345845 -1.102146 +v 0.522254 2.408520 0.968519 +v -1.015126 1.969282 -1.070570 +v 0.553878 1.937860 1.062823 +v 1.118755 1.906437 -1.039206 +f 145 129 162 +f 133 130 134 +f 125 127 135 +f 131 125 135 +f 125 131 137 +f 131 128 139 +f 137 131 139 +f 132 137 139 +f 128 131 140 +f 131 138 140 +f 136 126 141 +f 137 123 141 +f 125 126 142 +f 127 125 142 +f 126 136 142 +f 129 137 144 +f 141 126 144 +f 137 141 144 +f 126 125 145 +f 125 137 145 +f 137 129 145 +f 124 123 146 +f 132 124 146 +f 123 137 146 +f 137 132 146 +f 130 133 147 +f 133 136 147 +f 134 139 148 +f 122 140 149 +f 140 138 149 +f 133 143 150 +f 135 127 151 +f 131 135 151 +f 127 138 151 +f 138 131 151 +f 124 132 152 +f 132 139 152 +f 152 139 153 +f 134 130 153 +f 139 134 153 +f 128 122 154 +f 139 128 154 +f 122 148 154 +f 148 139 154 +f 133 134 155 +f 143 133 155 +f 122 143 155 +f 148 122 155 +f 134 148 155 +f 136 133 156 +f 127 142 156 +f 142 136 156 +f 150 127 156 +f 133 150 156 +f 122 128 157 +f 140 122 157 +f 128 140 157 +f 123 124 158 +f 141 123 158 +f 136 141 158 +f 130 147 158 +f 147 136 158 +f 127 150 159 +f 150 143 159 +f 124 152 160 +f 152 153 160 +f 153 130 160 +f 158 124 160 +f 130 158 160 +f 138 127 161 +f 143 122 161 +f 122 149 161 +f 149 138 161 +f 127 159 161 +f 159 143 161 +f 144 126 162 +f 129 144 162 +f 126 145 162 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/802/802.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/802/802.urdf new file mode 100644 index 000000000..d01751e09 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/802/802.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/803/803.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/803/803.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/803/803.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/803/803.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/803/803.obj new file mode 100644 index 000000000..9cce41631 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/803/803.obj @@ -0,0 +1,522 @@ +o convex_0 +v 0.202420 -4.330927 0.015783 +v -1.016214 -3.542346 1.126718 +v -1.051956 -3.542346 1.126718 +v 0.238161 -0.423972 -1.095151 +v 1.098525 -0.423972 1.019258 +v -1.087911 -0.423972 1.090825 +v -1.016214 -4.330927 -0.951580 +v 1.026828 -4.259029 -0.987691 +v 1.026828 -4.330927 1.054933 +v -0.908562 -0.423972 -1.095151 +v 1.098525 -0.423972 -1.059259 +v -1.051956 -4.330927 1.126718 +v -0.944517 -1.176986 -1.095151 +v 0.919176 -4.259029 1.090825 +v -1.087911 -1.141037 0.553087 +v 1.098525 -1.284451 -1.023366 +v 0.668343 -0.459921 1.054933 +v -0.944517 -0.459921 -1.059259 +v -1.016214 -3.757275 -0.987473 +v 1.062569 -2.861230 1.054933 +v -1.051956 -3.219571 -0.378167 +v -0.406897 -1.320399 -1.095151 +v 1.098525 -0.961676 -1.059259 +v -1.087911 -0.423972 0.732333 +v 1.062569 -1.284451 1.054933 +v -1.087911 -1.714690 1.019258 +v -0.621774 -4.330927 -0.951580 +v 0.704085 -4.259029 -0.987691 +v -0.908562 -0.423972 1.090825 +v -1.051956 -4.330927 0.839794 +v 1.098525 -0.710798 1.019258 +v -1.016214 -3.649428 -0.987473 +v 0.596646 -3.327035 -1.023583 +v -0.657729 -4.259029 1.126718 +f 14 29 34 +f 3 2 6 +f 5 4 6 +f 7 1 9 +f 1 8 9 +f 6 4 10 +f 4 5 11 +f 2 3 12 +f 3 6 12 +f 7 9 12 +f 10 4 13 +f 12 9 14 +f 11 5 16 +f 10 13 18 +f 9 8 20 +f 14 9 20 +f 8 16 20 +f 19 7 21 +f 13 4 22 +f 4 11 23 +f 16 8 23 +f 11 16 23 +f 22 4 23 +f 6 10 24 +f 15 6 24 +f 10 18 24 +f 5 17 25 +f 20 5 25 +f 14 20 25 +f 12 6 26 +f 6 15 26 +f 15 21 26 +f 1 7 27 +f 8 1 27 +f 7 8 27 +f 8 7 28 +f 7 19 28 +f 19 13 28 +f 13 22 28 +f 6 2 29 +f 5 6 29 +f 17 5 29 +f 25 17 29 +f 14 25 29 +f 7 12 30 +f 21 7 30 +f 12 26 30 +f 26 21 30 +f 16 5 31 +f 5 20 31 +f 20 16 31 +f 18 13 32 +f 13 19 32 +f 21 15 32 +f 19 21 32 +f 15 24 32 +f 24 18 32 +f 23 8 33 +f 22 23 33 +f 8 28 33 +f 28 22 33 +f 2 12 34 +f 12 14 34 +f 29 2 34 +o convex_1 +v 1.098746 2.622781 0.302532 +v 0.596739 2.443630 -0.378496 +v 0.596739 2.515303 -0.378496 +v 2.962362 2.730196 -0.270902 +v 2.998219 2.371956 0.159140 +v 3.105792 3.017015 0.194938 +v 0.596739 2.909411 -0.270902 +v 0.596739 2.981084 0.266668 +v 0.596739 2.407761 0.302532 +v 2.998219 2.371956 -0.199240 +v 2.962362 2.873543 -0.270902 +v 0.991173 2.873543 -0.342632 +v 2.926504 2.371956 0.194938 +v 2.424497 2.371956 -0.235104 +v 0.632597 2.873543 0.302532 +v 2.603539 2.909411 -0.235104 +v 2.675255 2.909411 0.230736 +v 2.818931 2.371956 -0.235104 +v 3.105792 3.017015 0.159140 +v 0.596739 2.407761 0.051613 +v 1.994451 2.371956 0.230736 +v 1.027277 2.407761 0.302532 +v 0.596739 2.981084 0.194938 +f 53 41 57 +f 36 37 38 +f 37 36 41 +f 41 36 42 +f 42 36 43 +f 40 39 44 +f 38 37 45 +f 44 38 45 +f 37 41 46 +f 45 37 46 +f 39 40 47 +f 44 39 47 +f 44 47 48 +f 40 42 49 +f 43 35 49 +f 42 43 49 +f 46 41 50 +f 45 46 50 +f 47 40 51 +f 49 35 51 +f 40 49 51 +f 36 38 52 +f 38 44 52 +f 44 48 52 +f 48 36 52 +f 42 40 53 +f 40 44 53 +f 44 45 53 +f 50 41 53 +f 45 50 53 +f 43 36 54 +f 36 48 54 +f 54 48 55 +f 48 47 55 +f 43 54 55 +f 55 47 56 +f 35 43 56 +f 51 35 56 +f 47 51 56 +f 43 55 56 +f 41 42 57 +f 42 53 57 +o convex_2 +v 0.990896 1.798115 -1.202731 +v -0.908560 -0.423755 -1.095284 +v -0.944516 -0.387869 -2.958914 +v -0.944516 1.798115 1.091092 +v 1.098550 -0.423755 1.018647 +v -0.944516 1.762229 -3.066768 +v 1.062594 -0.316098 -2.958914 +v -1.087911 -0.423755 1.091092 +v 0.955154 1.726343 1.091092 +v 1.098550 1.798115 -3.066768 +v -1.016213 1.726343 -1.632925 +v 1.098550 -0.423755 -1.059469 +v 1.098550 -0.029447 1.091092 +v 0.668363 1.798115 0.624676 +v -1.016213 1.726343 -0.378973 +v -0.514329 1.367921 -3.066768 +v -0.012445 1.798115 -3.066768 +v -1.087911 0.042325 1.091092 +v 1.026638 0.006439 -2.994323 +v -1.087911 -0.423755 0.767938 +v -0.980258 1.762229 -2.708205 +v 0.990896 1.439693 1.091092 +v 1.098550 -0.280212 -1.919449 +v 1.098550 1.798115 -2.851467 +v 1.098550 1.511247 -3.066768 +v -0.944516 0.042325 -2.994323 +v 1.098550 -0.244544 1.091092 +v -0.191796 1.798115 1.091092 +v -0.765164 -0.387869 -2.958914 +v -0.944516 1.798115 0.552638 +v 0.883456 1.762229 0.911200 +v -0.980258 0.579740 -2.385458 +f 77 78 89 +f 59 62 65 +f 61 65 66 +f 61 58 67 +f 62 59 69 +f 67 62 69 +f 66 65 70 +f 62 67 70 +f 58 61 71 +f 61 68 72 +f 63 67 73 +f 61 67 74 +f 67 63 74 +f 65 61 75 +f 61 72 75 +f 72 68 75 +f 60 59 77 +f 59 65 77 +f 65 75 77 +f 75 68 77 +f 77 68 78 +f 66 70 79 +f 69 64 80 +f 67 69 80 +f 58 66 81 +f 67 58 81 +f 70 67 81 +f 66 79 81 +f 79 70 81 +f 73 67 82 +f 64 76 82 +f 76 73 82 +f 80 64 82 +f 67 80 82 +f 63 73 83 +f 76 60 83 +f 73 76 83 +f 60 78 83 +f 78 63 83 +f 65 62 84 +f 62 70 84 +f 70 65 84 +f 61 66 85 +f 71 61 85 +f 59 60 86 +f 69 59 86 +f 64 69 86 +f 60 76 86 +f 76 64 86 +f 68 61 87 +f 61 74 87 +f 74 63 87 +f 63 78 87 +f 78 68 87 +f 66 58 88 +f 58 71 88 +f 85 66 88 +f 71 85 88 +f 60 77 89 +f 78 60 89 +o convex_3 +v -0.084147 1.798118 1.342149 +v -1.087911 -0.352173 2.309516 +v -1.051956 -0.388129 2.883221 +v 1.098539 -0.244519 1.091092 +v 1.062583 1.762377 2.954813 +v -1.087911 1.762377 3.062491 +v 0.990886 -0.280475 2.954813 +v -1.087911 -0.244733 1.091092 +v 0.954930 1.726421 1.091092 +v -0.944302 1.798332 1.091092 +v -1.087911 -0.352173 2.954813 +v -1.087911 1.798332 2.811242 +v -0.514332 1.654723 3.062491 +v -1.087911 1.224750 3.062491 +v 0.775794 -0.316217 2.954813 +v 1.062583 1.762377 2.632164 +v -1.016000 -0.280475 1.162878 +v -1.087911 0.078014 1.091092 +v 1.062583 1.224536 2.954813 +v 0.847491 1.762163 2.990513 +v 1.098539 0.113970 1.198771 +v 1.026842 -0.280475 2.596272 +v 0.668141 1.762163 1.091092 +v 0.990886 1.475585 1.091092 +v 0.094989 1.798118 2.059038 +v 1.098539 0.293107 1.593012 +v 1.026842 -0.280475 1.951553 +v -1.016000 1.798332 2.954813 +v -0.980258 1.798332 1.449634 +v -0.442634 1.762377 3.062491 +v -1.016000 -0.388129 2.954813 +f 104 103 120 +f 91 95 97 +f 93 97 98 +f 98 97 99 +f 91 92 100 +f 95 91 100 +f 97 95 101 +f 95 100 103 +f 102 95 103 +f 96 102 103 +f 96 103 104 +f 92 91 106 +f 93 92 106 +f 91 97 106 +f 97 93 106 +f 99 97 107 +f 97 101 107 +f 108 94 109 +f 96 108 109 +f 96 104 111 +f 108 96 111 +f 98 99 112 +f 99 90 112 +f 90 105 112 +f 105 98 112 +f 93 98 113 +f 98 105 113 +f 110 93 113 +f 105 110 113 +f 90 99 114 +f 105 90 114 +f 94 105 114 +f 105 94 115 +f 94 108 115 +f 93 110 115 +f 110 105 115 +f 111 93 115 +f 108 111 115 +f 92 93 116 +f 104 92 116 +f 93 111 116 +f 111 104 116 +f 101 95 117 +f 99 101 117 +f 109 94 117 +f 114 99 117 +f 94 114 117 +f 101 99 118 +f 99 107 118 +f 107 101 118 +f 95 102 119 +f 102 96 119 +f 96 109 119 +f 117 95 119 +f 109 117 119 +f 100 92 120 +f 103 100 120 +f 92 104 120 +o convex_4 +v -3.023467 2.443584 0.159116 +v -1.554015 2.981172 0.015815 +v -1.554015 2.981172 -0.055865 +v -0.621944 2.371830 0.159116 +v -2.843870 2.443584 -0.270906 +v -2.987500 2.981172 0.266636 +v -0.621944 2.730242 -0.270906 +v -0.621944 2.945265 0.230796 +v -2.772172 2.909418 -0.199226 +v -2.234556 2.443584 0.338316 +v -0.621944 2.945265 -0.270906 +v -0.621944 2.479372 -0.199226 +v -0.621944 2.371830 0.302476 +v -2.951769 2.407737 -0.235066 +v -2.987500 2.443584 0.338316 +v -2.951769 2.945265 -0.055865 +v -1.231493 2.945265 -0.270906 +v -1.231493 2.371830 0.302476 +v -2.772172 2.586973 0.338316 +v -2.306489 2.407737 -0.235066 +v -2.951769 2.658607 -0.235066 +v -2.951769 2.981172 0.051596 +v -2.987500 2.407737 -0.055865 +f 141 134 143 +f 122 123 126 +f 123 122 128 +f 122 126 128 +f 124 127 128 +f 127 125 131 +f 123 128 131 +f 128 127 131 +f 127 124 132 +f 125 127 132 +f 124 128 133 +f 126 121 135 +f 133 130 135 +f 121 126 136 +f 131 125 137 +f 123 131 137 +f 124 133 138 +f 134 124 138 +f 133 135 138 +f 128 126 139 +f 133 128 139 +f 130 133 139 +f 126 135 139 +f 135 130 139 +f 132 124 140 +f 125 132 140 +f 134 125 140 +f 124 134 140 +f 125 134 141 +f 121 136 141 +f 136 129 141 +f 137 125 141 +f 129 137 141 +f 126 123 142 +f 136 126 142 +f 129 136 142 +f 137 129 142 +f 123 137 142 +f 135 121 143 +f 134 138 143 +f 138 135 143 +f 121 141 143 +o convex_5 +v -0.263599 1.798332 -0.485999 +v -0.442638 1.906176 0.553438 +v -0.586016 1.906176 0.553438 +v -0.012704 3.661973 -0.593558 +v 0.059018 1.798332 0.517398 +v -0.514294 3.697673 0.409951 +v -0.621944 2.945188 -0.270881 +v 0.059018 3.661973 0.481694 +v 0.059018 1.798332 -0.521815 +v -0.442638 3.626087 -0.593558 +v -0.442638 1.798332 -0.450183 +v 0.059018 3.661973 -0.557630 +v -0.586016 1.798332 0.445767 +v -0.621944 2.945188 0.230649 +v -0.621944 2.479603 -0.199250 +v -0.442638 3.303487 -0.593558 +v -0.478499 3.697673 0.445767 +v -0.156082 1.798332 0.553438 +v -0.191877 3.661973 0.481694 +v -0.442638 1.977761 -0.485999 +v -0.621944 2.372132 0.302392 +f 157 158 164 +f 146 145 151 +f 148 144 152 +f 151 148 152 +f 149 147 153 +f 150 149 153 +f 144 148 154 +f 147 149 155 +f 152 147 155 +f 151 152 155 +f 154 148 156 +f 146 149 157 +f 149 150 157 +f 154 156 158 +f 157 150 158 +f 147 152 159 +f 153 147 159 +f 150 153 159 +f 149 146 160 +f 155 149 160 +f 151 155 160 +f 145 146 161 +f 151 145 161 +f 148 151 161 +f 146 156 161 +f 156 148 161 +f 146 151 162 +f 160 146 162 +f 151 160 162 +f 152 144 163 +f 144 154 163 +f 158 150 163 +f 154 158 163 +f 159 152 163 +f 150 159 163 +f 156 146 164 +f 146 157 164 +f 158 156 164 +o convex_6 +v 0.453301 1.798522 -0.593558 +v 0.489134 3.661899 0.553438 +v 0.381635 3.661899 0.553438 +v 0.560801 3.733509 -0.557630 +v 0.059190 3.697704 -0.557630 +v 0.059190 1.798522 0.517398 +v 0.596634 1.798522 0.517398 +v 0.059190 1.798522 -0.521815 +v 0.059190 3.661899 0.481694 +v 0.596634 2.049536 -0.485999 +v 0.560801 3.590289 0.553438 +v 0.596634 3.196055 -0.414256 +v 0.560801 1.798522 -0.593558 +v 0.524967 2.515380 0.553438 +v 0.596634 2.981035 0.266577 +v 0.095023 3.661899 0.517398 +v 0.560801 3.733509 -0.306809 +f 180 167 181 +f 168 165 169 +f 170 165 171 +f 169 165 172 +f 170 169 172 +f 165 170 172 +f 169 170 173 +f 166 167 175 +f 174 168 176 +f 171 174 176 +f 165 168 177 +f 171 165 177 +f 168 174 177 +f 174 171 177 +f 167 170 178 +f 170 171 178 +f 171 175 178 +f 175 167 178 +f 175 171 179 +f 171 176 179 +f 176 175 179 +f 170 167 180 +f 173 170 180 +f 173 180 181 +f 167 166 181 +f 168 169 181 +f 169 173 181 +f 166 175 181 +f 176 168 181 +f 175 176 181 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/803/803.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/803/803.urdf new file mode 100644 index 000000000..0d108db2b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/803/803.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/804/804.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/804/804.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/804/804.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/804/804.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/804/804.obj new file mode 100644 index 000000000..4a200ff7d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/804/804.obj @@ -0,0 +1,738 @@ +o convex_0 +v -1.252553 0.776021 -1.784585 +v -1.252553 1.588882 -1.817125 +v -1.252553 1.556339 -1.687118 +v -3.008160 1.231067 -1.817125 +v -1.252553 1.133836 -2.239761 +v -1.285376 1.068750 -1.459415 +v -2.780460 0.971120 -1.882052 +v -1.350334 1.491253 -2.142218 +v -2.747981 1.263610 -1.622038 +v -2.747981 1.198683 -2.044675 +v -2.715501 1.426246 -1.817125 +v -1.285376 0.906114 -2.174682 +v -1.252553 0.906114 -1.491955 +v -1.480424 1.491253 -1.556958 +v -2.617891 1.036207 -1.687118 +v -1.252553 1.296153 -1.459415 +v -2.683022 1.101293 -2.044675 +v -1.382814 1.231067 -2.239761 +v -2.780460 1.198683 -1.622038 +v -1.285376 0.776021 -1.882052 +v -2.747981 0.971120 -1.817125 +v -2.552932 1.393782 -1.654502 +v -2.552932 1.361239 -1.979595 +v -1.252553 1.458789 -2.174682 +v -1.350334 1.588882 -1.882052 +v -1.285376 0.873571 -1.524571 +v -2.162836 0.971120 -2.077138 +v -1.480424 1.231067 -1.459415 +v -2.715501 1.426246 -1.784585 +v -3.008160 1.166220 -1.849588 +f 21 19 30 +f 1 2 3 +f 2 1 5 +f 10 4 11 +f 5 1 12 +f 1 3 13 +f 13 3 16 +f 6 13 16 +f 3 14 16 +f 5 12 17 +f 17 10 18 +f 5 17 18 +f 9 4 19 +f 13 6 19 +f 15 13 19 +f 1 7 20 +f 12 1 20 +f 7 1 21 +f 15 19 21 +f 9 14 22 +f 8 10 23 +f 11 8 23 +f 10 11 23 +f 2 5 24 +f 10 8 24 +f 5 18 24 +f 18 10 24 +f 8 11 25 +f 2 24 25 +f 24 8 25 +f 1 13 26 +f 13 15 26 +f 21 1 26 +f 15 21 26 +f 7 17 27 +f 17 12 27 +f 20 7 27 +f 12 20 27 +f 14 9 28 +f 6 16 28 +f 16 14 28 +f 9 19 28 +f 19 6 28 +f 3 2 29 +f 4 9 29 +f 11 4 29 +f 14 3 29 +f 9 22 29 +f 22 14 29 +f 25 11 29 +f 2 25 29 +f 4 10 30 +f 17 7 30 +f 10 17 30 +f 19 4 30 +f 7 21 30 +o convex_1 +v 0.503145 -3.808424 -0.353571 +v 0.112960 -0.296955 1.434368 +v 0.308052 -0.296955 1.369247 +v -0.179578 -0.296955 -1.134271 +v -0.927264 -3.352948 0.133706 +v 0.925811 -0.296955 -0.678926 +v 0.730719 -3.385507 0.816346 +v -1.024910 -0.297305 0.166140 +v -0.699690 -3.320389 0.816346 +v -0.699690 -3.352948 -0.581370 +v 0.925811 -0.296955 1.076579 +v -0.927264 -0.297305 -0.873786 +v -0.797336 -0.297305 1.141449 +v 0.958293 -3.255621 0.133957 +v 0.047996 -3.385507 -0.776230 +v -0.016967 -3.840982 0.816346 +v 0.698237 -3.320739 -0.548935 +v -0.537080 -3.840982 -0.321137 +v 0.015515 -3.352948 1.044144 +v 0.795683 -0.329514 -0.874038 +v 1.023457 -0.296955 0.393687 +v 0.665755 -3.873541 0.198575 +v -0.504598 -3.840982 0.653669 +v 1.023457 -2.247343 0.166140 +v 0.080478 -0.329514 -1.134271 +v -0.992428 -2.247343 0.166140 +v 0.015515 -0.362073 1.434368 +v -0.114413 -3.873541 -0.483814 +v 0.438181 -3.873541 0.686355 +v 0.893329 -0.427191 1.141449 +v -0.959746 -0.329864 -0.808917 +v 0.698237 -3.352948 0.849032 +v 1.023457 -0.296955 -0.028720 +v -0.667208 -3.840982 0.166140 +v -0.862300 -0.459750 0.946337 +v -0.049449 -3.385507 -0.776482 +v 0.925811 -3.352948 0.263696 +v -0.992428 -0.817548 -0.483814 +v 0.925811 -3.385507 0.068836 +v 0.860847 -0.394632 -0.841351 +v 1.023457 -1.597564 -0.028720 +v -0.927264 -3.352948 0.101522 +v 0.763201 -3.352948 0.783911 +v 0.958293 -0.557076 0.913902 +v 0.112960 -0.362073 1.434368 +v -0.341987 -3.873541 -0.418693 +v -0.992428 -1.630473 0.296131 +v 0.047996 -3.352948 1.044144 +v 0.145442 -3.873541 -0.451127 +v -0.179578 -0.329514 -1.134271 +v -0.927264 -0.362423 -0.873786 +v 0.665755 -3.450625 -0.516249 +v 0.535627 -3.873541 0.621486 +v 0.925811 -3.320739 0.036401 +v 1.023457 -1.565004 0.361252 +v 0.535627 -3.873541 -0.190894 +v -0.016967 -3.320739 1.044144 +v -0.992428 -2.312461 0.101522 +v 0.730719 -3.320739 -0.483814 +v -0.732172 -3.385507 -0.483814 +v -0.016967 -0.427191 -1.134271 +v 0.925811 -0.394632 1.076579 +v -0.927264 -3.255271 0.166140 +v -0.797336 -0.329864 1.141449 +f 43 65 94 +f 32 33 34 +f 34 33 36 +f 32 34 38 +f 36 33 41 +f 38 34 42 +f 32 38 43 +f 34 36 50 +f 36 41 51 +f 39 35 53 +f 49 39 53 +f 46 49 53 +f 47 45 55 +f 34 50 55 +f 50 47 55 +f 32 43 57 +f 46 53 59 +f 58 52 59 +f 41 33 60 +f 38 42 61 +f 59 37 62 +f 37 60 62 +f 36 51 63 +f 51 54 63 +f 53 35 64 +f 43 38 65 +f 45 58 66 +f 44 54 67 +f 38 61 68 +f 67 52 69 +f 44 67 69 +f 50 36 70 +f 47 50 70 +f 44 36 71 +f 54 44 71 +f 36 63 71 +f 63 54 71 +f 64 35 72 +f 48 64 72 +f 68 61 72 +f 60 37 73 +f 51 41 74 +f 33 32 75 +f 32 57 75 +f 57 49 75 +f 60 33 75 +f 62 60 75 +f 48 40 76 +f 59 53 76 +f 58 59 76 +f 64 48 76 +f 53 64 76 +f 40 66 76 +f 66 58 76 +f 38 56 77 +f 65 38 77 +f 49 46 78 +f 46 59 78 +f 59 62 78 +f 75 49 78 +f 62 75 78 +f 58 45 79 +f 52 58 79 +f 42 34 80 +f 34 55 80 +f 66 40 80 +f 40 61 81 +f 61 42 81 +f 42 80 81 +f 80 40 81 +f 45 47 82 +f 31 79 82 +f 79 45 82 +f 37 59 83 +f 59 52 83 +f 52 67 83 +f 73 37 83 +f 67 73 83 +f 36 44 84 +f 44 69 84 +f 70 36 84 +f 54 51 85 +f 67 54 85 +f 74 67 85 +f 51 74 85 +f 69 52 86 +f 79 31 86 +f 52 79 86 +f 82 69 86 +f 31 82 86 +f 39 49 87 +f 57 39 87 +f 49 57 87 +f 35 56 88 +f 56 38 88 +f 38 68 88 +f 72 35 88 +f 68 72 88 +f 47 70 89 +f 82 47 89 +f 69 82 89 +f 84 69 89 +f 70 84 89 +f 40 48 90 +f 61 40 90 +f 48 72 90 +f 72 61 90 +f 55 45 91 +f 45 66 91 +f 80 55 91 +f 66 80 91 +f 41 60 92 +f 60 73 92 +f 73 67 92 +f 67 74 92 +f 74 41 92 +f 35 39 93 +f 56 35 93 +f 39 65 93 +f 77 56 93 +f 65 77 93 +f 57 43 94 +f 39 57 94 +f 65 39 94 +o convex_2 +v 0.763265 2.141360 0.686759 +v -0.244402 -0.296955 -1.134271 +v -0.309583 -0.264434 -1.134271 +v -0.016877 0.483792 2.962413 +v -0.862201 2.044045 -1.134271 +v 0.925812 0.191105 -1.134271 +v -1.024951 1.231026 2.246615 +v -1.024951 -0.296707 0.166949 +v 0.925812 -0.296955 1.108788 +v -0.016877 1.979004 2.929819 +v 0.958403 2.043797 -1.134271 +v 1.023381 1.198505 2.247038 +v -0.797223 -0.296955 1.140959 +v -0.797223 1.978756 2.116662 +v -0.992361 0.126064 -1.134271 +v 1.023381 -0.296955 -0.028615 +v -0.797223 1.198505 2.961989 +v -0.049468 2.239170 -1.036066 +v -0.081855 2.206650 2.149679 +v 0.763265 1.231026 2.897225 +v 0.763265 1.946235 2.214444 +v -1.024951 1.231026 -1.134271 +v 1.055972 1.263547 -1.134271 +v 0.015510 1.231026 3.190147 +v 0.080488 -0.296955 1.499069 +v -0.634677 2.173881 0.231713 +v 0.860834 -0.296955 -0.841349 +v 0.990790 1.978756 0.133932 +v 0.633106 0.581355 2.636896 +v 0.730675 2.206650 0.036996 +v -0.927383 1.946235 0.166949 +v 1.055972 1.198505 2.084068 +v -0.927383 -0.296707 -0.873519 +v -0.569699 0.613627 2.734678 +v -0.634677 1.783879 2.767272 +v 0.047897 0.418751 2.897225 +v 1.055972 0.093295 0.133932 +v -0.829814 2.108839 -1.134271 +v 0.828243 0.451023 2.181850 +v 0.015510 2.206650 2.181850 +v 0.112875 2.239170 -1.134271 +v 0.535537 1.783879 2.734678 +v 1.023381 -0.296955 0.394260 +v 0.860834 2.011525 1.401288 +v -1.024951 1.133463 2.214021 +v -0.829814 1.946235 2.149256 +v 0.145466 -0.296955 -1.134271 +v -0.146833 1.946483 2.929819 +v 0.763265 1.165984 2.897225 +v -0.016877 0.418751 2.897225 +v 1.055972 1.426151 0.166949 +v -0.797223 1.263547 2.961989 +v -0.862201 2.011525 1.108788 +v -0.829814 -0.296955 1.076194 +v 0.828243 2.108839 -1.134271 +v -0.081855 1.231026 3.190147 +v -0.439539 2.206650 -0.353285 +v -0.797223 1.946235 2.279209 +v 0.990790 1.946235 -1.134271 +v 1.055972 1.100943 -1.134271 +v 0.503150 0.581355 2.767272 +v 0.860834 -0.296955 1.173976 +v -0.732245 0.418503 2.214444 +v 0.047897 0.483792 2.962413 +f 155 143 158 +f 96 97 99 +f 96 99 100 +f 100 99 105 +f 96 103 107 +f 99 97 109 +f 103 96 110 +f 114 106 115 +f 102 101 116 +f 99 109 116 +f 109 102 116 +f 100 105 117 +f 114 104 118 +f 107 103 119 +f 108 113 120 +f 110 96 121 +f 100 110 121 +f 95 122 124 +f 122 105 124 +f 99 116 125 +f 116 101 125 +f 106 103 126 +f 115 106 126 +f 97 96 127 +f 109 97 127 +f 102 109 127 +f 98 111 128 +f 117 126 131 +f 105 99 132 +f 99 125 132 +f 103 106 133 +f 123 103 133 +f 113 104 134 +f 112 113 134 +f 115 95 134 +f 104 115 134 +f 95 124 134 +f 134 124 135 +f 105 132 135 +f 132 112 135 +f 112 134 135 +f 104 114 136 +f 114 115 136 +f 115 104 136 +f 103 110 137 +f 126 103 137 +f 110 131 137 +f 131 126 137 +f 95 115 138 +f 122 95 138 +f 115 126 138 +f 126 122 138 +f 101 102 139 +f 111 101 139 +f 125 101 140 +f 96 100 141 +f 121 96 141 +f 100 121 141 +f 104 113 142 +f 106 114 143 +f 114 118 143 +f 133 106 143 +f 123 133 143 +f 107 119 144 +f 98 128 144 +f 128 107 144 +f 130 98 144 +f 119 130 144 +f 126 117 145 +f 122 126 145 +f 101 111 146 +f 142 129 146 +f 108 120 147 +f 120 132 147 +f 132 125 147 +f 125 140 147 +f 140 108 147 +f 96 107 148 +f 127 96 148 +f 102 127 148 +f 139 102 148 +f 111 139 148 +f 124 105 149 +f 135 124 149 +f 105 135 149 +f 111 98 150 +f 98 118 150 +f 118 104 150 +f 104 142 150 +f 146 111 150 +f 142 146 150 +f 113 112 151 +f 120 113 151 +f 112 132 151 +f 132 120 151 +f 113 108 152 +f 140 101 152 +f 108 140 152 +f 142 113 152 +f 129 142 152 +f 101 146 152 +f 146 129 152 +f 117 105 153 +f 105 122 153 +f 145 117 153 +f 122 145 153 +f 110 100 154 +f 100 117 154 +f 131 110 154 +f 117 131 154 +f 123 143 155 +f 119 103 156 +f 103 123 156 +f 130 119 156 +f 123 155 156 +f 155 130 156 +f 107 128 157 +f 128 111 157 +f 148 107 157 +f 111 148 157 +f 118 98 158 +f 98 130 158 +f 143 118 158 +f 130 155 158 +o convex_3 +v 0.828317 2.076216 -1.947370 +v -1.252552 0.743812 -1.914811 +v -1.187364 0.646295 -1.882252 +v 0.080370 1.165965 -2.922564 +v 0.828317 0.093524 -1.134446 +v -0.829566 2.108807 -1.134271 +v -0.797217 1.913771 -2.629709 +v -0.114458 -0.361984 -1.134271 +v 0.698186 0.483595 -2.564765 +v -0.764868 0.418668 -2.597325 +v 0.990796 1.946362 -1.134446 +v 1.251058 1.230892 -2.207142 +v -0.992291 0.125860 -1.134271 +v 0.698186 1.881181 -2.629884 +v -1.252552 1.523446 -1.557188 +v 0.048021 2.239170 -1.979929 +v 1.251058 0.808739 -1.557188 +v -0.797217 1.101038 -2.824887 +v -1.252552 1.230892 -2.272085 +v 0.112964 2.239170 -1.134271 +v 0.698186 1.165965 -2.824712 +v 0.080370 0.386077 -2.662267 +v -0.764868 2.173734 -1.947195 +v 1.251058 1.588627 -1.947370 +v -0.114458 1.978953 -2.694651 +v -0.016922 -0.361984 -1.199389 +v 1.251058 0.808739 -1.882252 +v -1.252552 1.588627 -1.914811 +v 1.251058 1.230892 -1.394568 +v -1.252552 1.068447 -1.427127 +v 0.860911 2.108807 -1.134446 +v -0.862160 0.125860 -1.589571 +v 0.990796 0.516186 -1.134446 +v -0.211995 1.165965 -2.922564 +v -1.024885 1.230892 -1.134271 +v 0.763129 2.141398 -1.914811 +v 0.795723 0.158451 -1.492245 +v -1.252552 0.906257 -2.207142 +v 1.088333 1.620963 -2.304644 +v -0.179401 0.386077 -2.662267 +v -0.797217 1.263483 -2.824887 +v 0.698186 1.946362 -2.532207 +v 1.251058 1.523700 -1.524629 +v 1.251058 0.906257 -2.077081 +v -0.016922 1.263483 -2.922564 +v -0.049270 2.239170 -1.134271 +v 1.055739 1.101038 -1.134446 +v -1.252552 0.841330 -1.492245 +v 0.925854 2.076216 -1.167005 +v -1.252552 1.458519 -2.174408 +v 0.730780 0.288560 -2.012138 +v -0.797217 0.191042 -1.947195 +v 0.015427 1.978953 -2.694651 +v -1.252552 1.263483 -1.427127 +v 0.698186 1.230892 -2.824712 +v -0.927348 0.060933 -1.199564 +v 0.730780 0.516186 -2.564765 +v -0.081864 -0.361984 -1.199389 +v 0.893260 0.158451 -1.134446 +v -0.146807 2.239170 -1.947195 +v -0.894754 1.978698 -1.134271 +v -0.797217 2.141398 -1.231948 +v 1.251058 1.165965 -2.207142 +v -0.634737 0.613704 -2.694651 +f 192 198 222 +f 161 160 168 +f 166 164 171 +f 160 173 177 +f 164 166 178 +f 162 179 180 +f 179 167 180 +f 175 170 182 +f 165 181 183 +f 163 166 184 +f 180 167 184 +f 170 175 185 +f 173 164 186 +f 177 173 186 +f 164 181 186 +f 181 165 186 +f 175 182 187 +f 173 160 188 +f 178 169 189 +f 175 187 191 +f 162 180 192 +f 171 164 193 +f 188 171 193 +f 174 178 194 +f 178 189 194 +f 163 184 195 +f 168 160 196 +f 176 168 196 +f 177 176 196 +f 160 177 196 +f 159 182 197 +f 182 170 197 +f 180 184 198 +f 192 180 198 +f 176 177 199 +f 177 165 199 +f 192 176 199 +f 194 159 200 +f 174 194 200 +f 159 197 200 +f 197 172 200 +f 169 187 201 +f 187 182 201 +f 170 185 202 +f 165 183 203 +f 162 192 203 +f 199 165 203 +f 192 199 203 +f 164 178 204 +f 178 174 204 +f 178 166 205 +f 169 178 205 +f 187 169 205 +f 166 191 205 +f 191 187 205 +f 160 171 206 +f 188 160 206 +f 171 188 206 +f 182 159 207 +f 189 169 207 +f 159 194 207 +f 194 189 207 +f 169 201 207 +f 201 182 207 +f 165 177 208 +f 186 165 208 +f 177 186 208 +f 184 167 209 +f 195 184 209 +f 185 195 209 +f 161 168 210 +f 190 161 210 +f 183 174 211 +f 200 172 211 +f 174 200 211 +f 172 203 211 +f 203 183 211 +f 173 188 212 +f 188 193 212 +f 179 162 213 +f 170 179 213 +f 172 197 213 +f 197 170 213 +f 162 203 213 +f 203 172 213 +f 160 161 214 +f 171 160 214 +f 166 171 214 +f 190 166 214 +f 161 190 214 +f 167 179 215 +f 202 185 215 +f 209 167 215 +f 185 209 215 +f 184 166 216 +f 166 190 216 +f 168 198 216 +f 198 184 216 +f 210 168 216 +f 190 210 216 +f 166 163 217 +f 185 175 217 +f 191 166 217 +f 175 191 217 +f 163 195 217 +f 195 185 217 +f 174 183 218 +f 183 181 218 +f 204 174 218 +f 181 204 218 +f 164 173 219 +f 193 164 219 +f 173 212 219 +f 212 193 219 +f 181 164 220 +f 164 204 220 +f 204 181 220 +f 179 170 221 +f 170 202 221 +f 215 179 221 +f 202 215 221 +f 168 176 222 +f 176 192 222 +f 198 168 222 +o convex_4 +v 1.251058 1.393728 -1.492051 +v 1.251058 1.166239 -2.207170 +v 1.251058 1.198664 -2.207170 +v 2.974323 1.133740 -1.817036 +v 1.251058 0.841180 -1.524511 +v 1.283614 1.556367 -1.947030 +v 2.649102 0.938676 -1.914493 +v 2.778988 1.361157 -1.882033 +v 1.251058 0.873679 -2.012027 +v 2.778988 1.133740 -1.654581 +v 2.649102 1.231163 -2.044563 +v 1.446393 1.458725 -2.142097 +v 1.283614 1.101242 -1.426901 +v 1.283614 1.491224 -1.557048 +v 2.649102 1.068743 -2.044563 +v 2.681658 0.938676 -1.784652 +v 1.446393 0.808609 -1.817036 +v 2.583822 1.328658 -1.687118 +v 1.381281 0.906178 -2.077100 +v 1.251058 1.556367 -1.752115 +v 2.616378 1.393728 -1.817036 +v 1.283614 1.231163 -1.426901 +v 2.714045 1.231163 -1.654581 +v 1.251058 1.458725 -2.142097 +v 2.551603 0.971175 -1.687118 +v 2.974323 1.133740 -1.882033 +v 2.519047 1.166239 -2.077100 +v 2.551603 1.328658 -2.012027 +v 2.649102 1.393728 -1.882033 +f 230 250 251 +f 225 224 223 +f 223 224 227 +f 227 224 231 +f 223 227 235 +f 227 232 235 +f 226 232 238 +f 227 231 239 +f 229 238 239 +f 238 227 239 +f 236 223 240 +f 231 224 241 +f 237 229 241 +f 224 237 241 +f 239 231 241 +f 229 239 241 +f 225 223 242 +f 223 236 242 +f 242 236 243 +f 240 230 243 +f 236 240 243 +f 223 235 244 +f 235 232 244 +f 226 230 245 +f 232 226 245 +f 230 240 245 +f 240 223 245 +f 223 244 245 +f 244 232 245 +f 234 225 246 +f 228 234 246 +f 225 242 246 +f 242 228 246 +f 232 227 247 +f 227 238 247 +f 238 232 247 +f 230 226 248 +f 233 230 248 +f 229 237 248 +f 237 233 248 +f 226 238 248 +f 238 229 248 +f 224 225 249 +f 234 233 249 +f 225 234 249 +f 237 224 249 +f 233 237 249 +f 230 233 250 +f 233 234 250 +f 250 234 251 +f 234 228 251 +f 228 242 251 +f 242 243 251 +f 243 230 251 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/804/804.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/804/804.urdf new file mode 100644 index 000000000..6002c2fe6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/804/804.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/805/805.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/805/805.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/805/805.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/805/805.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/805/805.obj new file mode 100644 index 000000000..a930fe88b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/805/805.obj @@ -0,0 +1,387 @@ +o convex_0 +v -1.008337 0.350476 -1.002674 +v -0.484714 3.430078 1.091580 +v -0.546221 3.430078 1.091580 +v -0.299786 -0.912839 1.091580 +v 0.993483 3.336969 -1.002674 +v 0.962729 -0.911965 0.998929 +v 1.024441 -0.911965 -1.033698 +v 0.962729 3.552913 1.060767 +v -1.039090 3.552913 -1.002674 +v -1.008337 -0.911965 1.091580 +v -0.946625 -0.911965 -1.064511 +v -0.977584 3.398605 1.091580 +v -1.070048 -0.911965 -0.355804 +v 0.993483 3.521876 0.444499 +v -0.946625 0.720290 -1.064511 +v 0.593078 -0.912839 -1.064511 +v -1.008337 3.460241 0.475313 +v 0.654789 3.429641 -1.002674 +v 0.962729 -0.696458 1.029742 +v -1.008337 1.396972 1.091580 +v 1.024441 1.028032 -1.033698 +v 0.993483 3.491277 0.721820 +v -1.039090 2.844320 -1.033698 +v -1.039090 3.460241 -0.355804 +v -1.070048 -0.850766 -0.571497 +v 0.747048 3.552913 1.060767 +v 0.500614 -0.912839 1.060767 +v -1.070048 0.473747 -0.633124 +v 1.024441 1.766350 -0.971860 +v 1.024441 -0.911965 -0.941047 +v 0.993483 3.398605 -0.971860 +v 0.962729 2.721048 1.060767 +v -1.039090 -0.911965 0.536939 +v -0.854366 3.429641 1.091580 +v -0.977584 -0.696458 -1.064511 +v -0.238280 0.196168 1.091580 +v -1.039090 3.552913 -0.910233 +v -0.977584 3.552913 -1.002885 +v 0.962729 3.552913 0.814260 +v -1.039090 2.443906 -1.033698 +v -0.084310 3.491714 1.060555 +f 26 37 41 +f 2 3 4 +f 3 2 8 +f 4 3 10 +f 10 3 12 +f 11 4 13 +f 11 15 16 +f 4 11 16 +f 10 12 20 +f 12 17 20 +f 15 5 21 +f 16 15 21 +f 7 16 21 +f 14 8 22 +f 19 6 22 +f 5 15 23 +f 18 5 23 +f 20 17 24 +f 11 13 25 +f 3 8 26 +f 8 9 26 +f 4 16 27 +f 16 6 27 +f 6 19 27 +f 13 20 28 +f 9 23 28 +f 20 24 28 +f 25 13 28 +f 21 5 29 +f 7 21 29 +f 14 22 29 +f 29 22 30 +f 6 16 30 +f 16 7 30 +f 22 6 30 +f 7 29 30 +f 5 18 31 +f 18 14 31 +f 29 5 31 +f 14 29 31 +f 22 8 32 +f 19 22 32 +f 4 27 32 +f 27 19 32 +f 4 10 33 +f 13 4 33 +f 10 20 33 +f 20 13 33 +f 12 3 34 +f 17 12 34 +f 3 26 34 +f 15 11 35 +f 23 15 35 +f 25 1 35 +f 11 25 35 +f 2 4 36 +f 8 2 36 +f 4 32 36 +f 32 8 36 +f 24 17 37 +f 26 9 37 +f 9 28 37 +f 28 24 37 +f 9 8 38 +f 14 18 38 +f 23 9 38 +f 18 23 38 +f 8 14 39 +f 38 8 39 +f 14 38 39 +f 1 25 40 +f 28 23 40 +f 25 28 40 +f 35 1 40 +f 23 35 40 +f 17 34 41 +f 34 26 41 +f 37 17 41 +o convex_1 +v -1.131811 -2.113966 -0.078749 +v -2.887022 -0.943640 0.598759 +v -2.887022 -0.943640 0.567933 +v -3.041242 -2.083159 0.444740 +v -3.072008 -1.097795 -0.479154 +v -1.101045 -1.066869 0.567933 +v -1.101045 -1.097795 -0.510088 +v -3.102774 -1.990737 -0.448329 +v -1.101045 -2.144891 0.506283 +v -1.101045 -2.083159 -0.448329 +v -2.979515 -1.159292 0.598759 +v -1.285835 -1.036062 0.598759 +v -3.010281 -0.974565 0.444740 +v -3.102774 -2.021544 -0.325135 +v -2.117292 -1.159292 -0.510088 +v -1.255069 -1.775085 -0.479154 +v -2.979515 -2.083159 0.290722 +v -3.102774 -1.713588 -0.325135 +v -3.041242 -1.929122 0.475457 +v -1.101045 -1.066869 -0.017098 +v -1.347366 -2.144891 0.444740 +v -3.041242 -1.528980 -0.479154 +v -1.255069 -2.083159 -0.448329 +v -1.255069 -1.097795 0.598759 +v -2.209785 -1.097795 -0.510088 +v -1.101045 -1.282638 -0.510088 +v -2.856256 -2.021544 -0.448329 +v -3.072008 -1.990737 0.198246 +v -3.010281 -1.159292 0.567933 +v -3.072008 -1.097795 -0.294310 +f 70 54 71 +f 48 47 50 +f 48 50 51 +f 50 42 51 +f 44 43 53 +f 43 52 53 +f 43 44 54 +f 44 46 54 +f 45 55 58 +f 46 49 59 +f 49 55 59 +f 45 50 60 +f 50 52 60 +f 48 44 61 +f 47 48 61 +f 44 53 61 +f 53 47 61 +f 50 45 62 +f 42 50 62 +f 45 58 62 +f 58 42 62 +f 49 46 63 +f 57 49 63 +f 56 57 63 +f 51 42 64 +f 57 51 64 +f 42 58 64 +f 50 47 65 +f 52 50 65 +f 53 52 65 +f 47 53 65 +f 46 44 66 +f 44 48 66 +f 48 56 66 +f 63 46 66 +f 56 63 66 +f 48 51 67 +f 56 48 67 +f 51 57 67 +f 57 56 67 +f 55 49 68 +f 49 57 68 +f 58 55 68 +f 57 64 68 +f 64 58 68 +f 55 45 69 +f 59 55 69 +f 45 60 69 +f 69 60 70 +f 52 43 70 +f 43 54 70 +f 60 52 70 +f 59 69 70 +f 59 70 71 +f 54 46 71 +f 46 59 71 +o convex_2 +v -1.100789 -2.083071 -0.448407 +v 1.055242 -1.066990 0.567762 +v 0.962593 -0.912839 0.998890 +v 0.931781 -2.637712 1.029715 +v 1.024218 -2.637712 -1.064487 +v -0.946726 -0.912839 -1.064487 +v -1.008351 -0.912839 1.091580 +v -1.039164 -2.637712 1.091580 +v 1.024218 -0.912839 -1.033448 +v -0.915914 -2.483561 -1.095313 +v -1.100789 -1.066990 0.567548 +v 1.055031 -2.083071 0.506111 +v 0.500828 -0.912839 1.060755 +v -1.069976 -0.912839 -0.540883 +v 0.808742 -1.066990 -1.064487 +v 1.055031 -2.483561 -0.910146 +v -0.946726 -2.514289 -0.879535 +v -0.515562 -2.637712 1.091580 +v -0.946726 -1.405684 -1.095313 +v 0.131078 -2.514289 -1.095313 +v -1.100789 -2.206494 0.567548 +v -1.100789 -1.097888 -0.510058 +v 1.055242 -1.066990 -0.540883 +v -0.330687 -0.912839 1.091580 +v -0.946726 -2.452663 -1.064487 +v 0.931781 -0.912839 1.029715 +v 0.962593 -2.637712 0.721675 +v -1.039164 -2.637712 1.029715 +v 1.024218 -1.282599 -1.064487 +v -1.039164 -1.621293 1.091580 +v -0.977539 -0.912839 -1.033662 +v 0.623867 -0.912839 -1.064487 +v -0.299875 -2.545018 -1.095313 +v 0.315742 -2.514289 1.060755 +v -1.069976 -2.452663 0.875802 +v -1.039164 -2.606645 0.783326 +v 1.055031 -1.436582 0.567762 +v 0.993406 -2.637712 -1.064487 +f 99 104 109 +f 74 77 78 +f 76 75 79 +f 74 73 80 +f 77 74 80 +f 74 78 84 +f 78 77 85 +f 82 78 85 +f 73 83 87 +f 78 79 89 +f 79 75 89 +f 81 90 91 +f 82 72 92 +f 72 82 93 +f 82 85 93 +f 80 73 94 +f 73 87 94 +f 87 80 94 +f 84 78 95 +f 78 89 95 +f 89 84 95 +f 88 72 96 +f 81 88 96 +f 90 81 96 +f 75 74 97 +f 74 84 97 +f 84 75 97 +f 75 76 98 +f 83 75 98 +f 76 87 98 +f 87 83 98 +f 76 79 99 +f 86 80 100 +f 87 76 100 +f 80 87 100 +f 90 86 100 +f 91 90 100 +f 76 91 100 +f 79 78 101 +f 78 82 101 +f 85 77 102 +f 77 90 102 +f 72 93 102 +f 93 85 102 +f 96 72 102 +f 90 96 102 +f 77 80 103 +f 80 86 103 +f 90 77 103 +f 86 90 103 +f 88 81 104 +f 91 76 104 +f 81 91 104 +f 99 88 104 +f 75 84 105 +f 89 75 105 +f 84 89 105 +f 92 72 106 +f 82 92 106 +f 99 79 106 +f 79 101 106 +f 101 82 106 +f 72 88 107 +f 88 99 107 +f 106 72 107 +f 99 106 107 +f 73 74 108 +f 74 75 108 +f 83 73 108 +f 75 83 108 +f 76 99 109 +f 104 76 109 +o convex_3 +v 1.055396 -1.805998 0.537057 +v 3.057131 -1.036044 -0.017261 +v 3.057131 -1.036044 -0.355943 +v 2.934068 -2.083213 -0.355943 +v 1.055396 -1.066945 -0.540678 +v 1.055396 -2.175692 -0.571691 +v 3.026365 -2.021635 0.444689 +v 1.055396 -1.066945 0.567958 +v 3.057131 -1.282581 -0.571691 +v 3.026365 -1.036044 0.444689 +v 1.055396 -2.083213 0.506268 +v 2.964833 -1.990734 -0.479211 +v 3.057131 -1.066945 -0.571691 +v 2.256437 -1.036044 0.506268 +v 1.486704 -1.066945 -0.571691 +v 1.424977 -1.097846 0.567958 +v 3.057131 -1.805998 0.167474 +v 1.886855 -1.036044 0.475478 +v 1.086161 -2.175692 -0.509889 +v 2.934068 -2.083213 -0.448422 +v 1.240186 -2.083213 0.506268 +v 1.147693 -1.374949 0.567958 +v 2.348734 -2.021635 0.475478 +v 2.964833 -2.052424 -0.448422 +f 129 121 133 +f 110 114 115 +f 114 110 117 +f 112 111 118 +f 111 112 119 +f 110 115 120 +f 115 118 121 +f 112 118 122 +f 118 115 122 +f 119 112 123 +f 116 119 123 +f 114 112 124 +f 115 114 124 +f 112 122 124 +f 122 115 124 +f 123 117 125 +f 116 123 125 +f 118 111 126 +f 111 119 126 +f 119 116 126 +f 112 114 127 +f 114 117 127 +f 123 112 127 +f 117 123 127 +f 113 116 128 +f 120 115 128 +f 116 113 129 +f 115 121 129 +f 113 128 129 +f 128 115 129 +f 110 120 130 +f 128 116 130 +f 120 128 130 +f 117 110 131 +f 116 125 131 +f 125 117 131 +f 110 130 132 +f 130 116 132 +f 131 110 132 +f 116 131 132 +f 121 118 133 +f 118 126 133 +f 126 116 133 +f 116 129 133 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/805/805.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/805/805.urdf new file mode 100644 index 000000000..48570cab8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/805/805.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/806/806.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/806/806.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/806/806.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/806/806.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/806/806.obj new file mode 100644 index 000000000..1e28327d4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/806/806.obj @@ -0,0 +1,3354 @@ +o convex_0 +v -0.010968 1.953267 1.045957 +v -0.672593 1.826036 1.020500 +v -0.672593 1.826036 1.045957 +v 0.218059 1.826036 1.020500 +v -0.087340 1.826036 1.198630 +f 3 4 5 +f 1 2 3 +f 3 2 4 +f 2 1 4 +f 4 1 5 +f 1 3 5 +o convex_1 +v -1.741368 0.350076 -0.124475 +v -1.206984 0.273779 0.689552 +v -1.257948 0.273779 0.689552 +v -1.206984 0.248309 -0.684329 +v -2.046742 0.248309 -0.022806 +v -1.206984 0.375545 -0.429886 +v -1.232466 0.375545 0.409558 +v -1.206984 0.248309 0.689552 +v -1.690404 0.375545 -0.022806 +v -1.257948 0.273779 -0.684329 +v -2.046742 0.273779 -0.022806 +f 15 10 16 +f 7 9 11 +f 8 7 12 +f 7 11 12 +f 7 8 13 +f 9 7 13 +f 10 9 13 +f 8 10 13 +f 11 6 14 +f 12 11 14 +f 9 10 15 +f 6 11 15 +f 11 9 15 +f 10 8 16 +f 8 12 16 +f 14 6 16 +f 12 14 16 +f 6 15 16 +o convex_2 +v 1.057817 0.375545 -0.506333 +v 1.515867 0.401015 0.027939 +v 1.515867 0.375545 0.027939 +v 1.057817 0.401015 0.409767 +v 1.057817 0.502781 -0.251841 +v 1.083329 0.502781 0.257054 +v 1.057817 0.375545 0.409767 +f 20 17 23 +f 17 18 19 +f 19 18 20 +f 17 20 21 +f 18 17 21 +f 18 21 22 +f 20 18 22 +f 21 20 22 +f 17 19 23 +f 19 20 23 +o convex_3 +v 0.447104 1.749493 -1.066129 +v 0.421637 0.502781 -1.015319 +v 0.472571 0.502781 -1.015319 +v 0.726929 1.825907 -0.811741 +v 0.879686 0.502781 -0.888083 +v 0.447104 1.316913 -1.244259 +v 0.726929 1.825907 -0.913530 +v 0.854174 0.502781 -0.811741 +v 0.421637 0.502781 -0.964425 +v 0.421637 1.825907 -0.989872 +v 0.421637 1.088189 -1.218812 +v 0.777818 1.825907 -0.811741 +v 0.828752 0.502781 -0.938977 +f 34 29 36 +f 25 26 28 +f 28 29 30 +f 29 24 30 +f 25 28 31 +f 25 31 32 +f 31 27 32 +f 24 29 33 +f 30 24 33 +f 27 30 33 +f 25 32 33 +f 32 27 33 +f 26 25 34 +f 25 33 34 +f 33 29 34 +f 28 30 35 +f 30 27 35 +f 27 31 35 +f 31 28 35 +f 28 26 36 +f 29 28 36 +f 26 34 36 +o convex_4 +v 0.905156 0.502781 -0.760668 +v 0.905156 1.825907 -0.022913 +v 0.905156 1.825907 -0.124744 +v 1.134158 0.579325 -0.022913 +v 0.879749 1.189729 -0.022913 +v 0.777933 1.825907 -0.811622 +v 0.854267 0.502781 -0.735268 +v 0.777933 1.775007 -0.429929 +v 1.083194 0.502781 -0.048390 +v 0.803415 1.749493 -0.811622 +v 0.777933 1.164344 -0.811622 +v 1.134158 0.528425 -0.099267 +v 0.879749 0.910106 -0.811622 +f 48 37 49 +f 39 38 40 +f 40 38 41 +f 38 39 42 +f 41 38 44 +f 38 42 44 +f 40 41 45 +f 43 37 45 +f 41 43 45 +f 42 39 46 +f 42 46 47 +f 37 43 47 +f 43 41 47 +f 41 44 47 +f 44 42 47 +f 39 40 48 +f 45 37 48 +f 40 45 48 +f 46 39 48 +f 46 48 49 +f 47 46 49 +f 37 47 49 +o convex_5 +v 1.057737 0.502781 0.104473 +v 0.777957 1.825907 0.765950 +v 0.803345 1.825907 0.638719 +v 0.879746 1.189729 0.002719 +v 0.854239 0.502781 0.765950 +v 1.159606 0.528425 0.028196 +v 0.905174 1.825907 -0.022758 +v 0.752450 1.800392 0.562365 +v 0.854239 1.240628 0.765950 +v 0.854239 0.553810 0.562365 +v 1.083244 0.553810 -0.022758 +v 0.905174 1.825907 0.104473 +v 0.879746 0.502781 0.765950 +v 0.777957 1.240628 0.765950 +v 0.879746 1.825907 -0.022758 +f 56 60 64 +f 52 51 55 +f 51 52 56 +f 51 54 58 +f 55 51 58 +f 50 54 59 +f 57 53 59 +f 55 50 60 +f 56 55 60 +f 50 59 60 +f 59 53 60 +f 52 55 61 +f 56 52 61 +f 55 56 61 +f 54 50 62 +f 50 55 62 +f 58 54 62 +f 55 58 62 +f 54 51 63 +f 51 57 63 +f 59 54 63 +f 57 59 63 +f 51 56 64 +f 53 57 64 +f 57 51 64 +f 60 53 64 +o convex_6 +v 0.752441 1.291528 0.766087 +v 0.447104 1.240628 1.376701 +v 0.803330 1.673208 0.791552 +v 0.421637 1.825907 0.944220 +v 0.421637 0.502781 0.944220 +v 0.879686 0.502781 0.842422 +v 0.854174 0.502781 0.766087 +v 0.701551 1.825907 0.893351 +v 0.803330 0.502781 0.944220 +v 0.421637 1.189729 1.376701 +v 0.726929 1.825907 0.766087 +v 0.854174 0.604710 0.893351 +f 73 70 76 +f 67 70 71 +f 69 65 71 +f 70 69 71 +f 66 67 72 +f 68 66 72 +f 69 70 73 +f 66 68 74 +f 68 69 74 +f 73 66 74 +f 69 73 74 +f 65 69 75 +f 69 68 75 +f 67 71 75 +f 71 65 75 +f 72 67 75 +f 68 72 75 +f 67 66 76 +f 70 67 76 +f 66 73 76 +o convex_7 +v -1.970517 -3.772317 -0.022836 +v -2.301320 -3.467055 -0.684463 +v -2.352226 -3.467055 -0.659011 +v -2.810032 -3.441535 -0.022836 +v -2.810032 -3.594241 -0.048288 +v -2.097695 -3.797724 -0.124709 +v -1.970517 -3.543352 -0.608042 +v -2.097695 -3.594241 -0.659011 +v -2.733760 -3.441535 -0.328262 +v -2.250327 -3.441535 -0.633494 +v -1.995970 -3.823244 -0.022836 +f 84 83 87 +f 80 77 83 +f 79 78 84 +f 81 79 84 +f 82 81 84 +f 78 83 84 +f 81 80 85 +f 79 81 85 +f 78 79 86 +f 83 78 86 +f 80 83 86 +f 79 85 86 +f 85 80 86 +f 77 80 87 +f 80 81 87 +f 81 82 87 +f 83 77 87 +f 82 84 87 +o convex_8 +v -2.555639 -3.034570 0.689674 +v -2.835605 -3.594219 -0.022758 +v -2.148660 -3.823244 -0.022758 +v -2.148660 -3.594219 0.740473 +v -2.657325 -3.415949 0.536888 +v -2.759244 -2.907144 0.664119 +v -2.072299 -3.772309 -0.022758 +v -2.046819 -3.517817 0.765950 +v -2.810048 -3.517817 -0.022758 +v -2.759244 -3.009102 0.689674 +v -2.708284 -2.907144 0.664119 +v -2.046819 -3.823244 0.053596 +f 94 95 99 +f 89 90 91 +f 89 91 92 +f 90 89 94 +f 94 88 95 +f 89 93 96 +f 94 89 96 +f 92 91 97 +f 89 92 97 +f 93 89 97 +f 95 88 97 +f 91 95 97 +f 88 94 98 +f 96 93 98 +f 94 96 98 +f 93 97 98 +f 97 88 98 +f 91 90 99 +f 90 94 99 +f 95 91 99 +o convex_9 +v -1.206984 0.324631 -0.404544 +v -0.138511 0.324631 -1.066106 +v -0.138511 0.375545 -1.066106 +v 0.650662 0.375545 -0.913408 +v 0.650662 0.248309 -0.913408 +v -1.054241 0.248309 -0.964308 +v -1.054241 0.375545 -0.938858 +v -1.206984 0.248309 -0.608206 +v -1.181527 0.375545 -0.404544 +v 0.065147 0.248309 -1.040657 +f 104 105 109 +f 102 101 105 +f 102 105 106 +f 103 102 106 +f 104 100 107 +f 105 104 107 +f 106 105 107 +f 100 104 108 +f 104 103 108 +f 103 106 108 +f 107 100 108 +f 106 107 108 +f 101 102 109 +f 102 103 109 +f 103 104 109 +f 105 101 109 +o convex_10 +v 1.236109 0.248309 -0.735345 +v 0.650781 0.248309 -0.938935 +v 0.650781 0.248309 -0.913314 +v 1.337609 0.375545 -0.124667 +v 0.803569 0.375545 -0.938935 +v 1.872008 0.248309 0.002611 +v 1.592016 0.375545 -0.022918 +v 0.650781 0.375545 -0.913314 +v 1.668410 0.273779 0.002611 +v 1.744685 0.273779 -0.175634 +f 116 115 119 +f 112 111 110 +f 110 111 114 +f 112 110 115 +f 114 113 116 +f 111 112 117 +f 112 113 117 +f 113 114 117 +f 114 111 117 +f 113 112 118 +f 112 115 118 +f 115 116 118 +f 116 113 118 +f 110 114 119 +f 115 110 119 +f 114 116 119 +o convex_11 +v -0.189256 0.248309 0.995037 +v -1.359668 0.375545 0.155382 +v -1.359668 0.401002 0.155382 +v 0.625214 0.248309 0.918586 +v -0.138351 0.502781 1.045947 +v -1.104757 0.248309 0.842309 +v -1.054241 0.502781 0.893132 +v -1.206954 0.502781 0.155382 +v 0.625214 0.375545 0.918586 +v -1.206954 0.248309 0.587937 +v -0.061995 0.502781 0.969496 +v -1.257664 0.375545 0.155382 +v -1.206954 0.273791 0.715036 +f 129 125 132 +f 120 123 124 +f 123 120 125 +f 120 124 125 +f 125 124 126 +f 121 122 127 +f 122 126 127 +f 126 124 127 +f 124 123 128 +f 123 127 128 +f 123 125 129 +f 127 124 130 +f 124 128 130 +f 128 127 130 +f 121 127 131 +f 127 123 131 +f 129 121 131 +f 123 129 131 +f 122 121 132 +f 126 122 132 +f 125 126 132 +f 121 129 132 +o convex_12 +v 0.828842 0.375545 0.943978 +v 1.464922 0.350088 0.002611 +v 1.032160 0.426435 0.231760 +v -0.061860 0.375545 0.969428 +v 0.828842 0.502781 0.943978 +v 1.872127 0.248309 0.028256 +v 0.879766 0.248309 0.918625 +v 1.057717 0.502781 0.206213 +v -0.061860 0.502781 0.994975 +v 1.668241 0.248309 0.053609 +v 0.625334 0.248309 0.944075 +v 1.591949 0.375545 0.028256 +f 140 137 144 +f 135 134 136 +f 138 137 139 +f 137 133 139 +f 134 135 140 +f 135 136 140 +f 133 137 141 +f 140 136 141 +f 137 140 141 +f 136 134 142 +f 134 138 142 +f 138 139 142 +f 142 139 143 +f 139 133 143 +f 133 141 143 +f 141 136 143 +f 136 142 143 +f 138 134 144 +f 137 138 144 +f 134 140 144 +o convex_13 +v -1.308713 0.502781 -0.175639 +v -0.774464 0.401015 -0.964166 +v -0.774464 0.375545 -0.964166 +v -1.232357 0.426460 0.155178 +v -1.614057 0.375545 -0.073912 +v -1.003534 0.502781 -0.989685 +v -1.232357 0.502781 0.155178 +v -1.054411 0.375545 -0.938763 +v -0.774464 0.502781 -1.040607 +v -1.257754 0.375545 0.155178 +f 151 149 154 +f 147 146 148 +f 149 145 150 +f 150 145 151 +f 148 146 151 +f 145 149 151 +f 147 149 152 +f 149 150 152 +f 152 150 153 +f 146 147 153 +f 150 151 153 +f 151 146 153 +f 147 152 153 +f 147 148 154 +f 149 147 154 +f 148 151 154 +o convex_14 +v 0.905014 0.401015 -0.862509 +v -0.341441 0.477312 -1.066171 +v -0.341441 0.502781 -1.066171 +v 1.032350 0.502781 -0.201135 +v -0.774382 0.375545 -0.989702 +v 1.057817 0.375545 -0.404628 +v 0.828613 0.502781 -0.938808 +v -0.774382 0.502781 -0.989702 +v -0.036194 0.375545 -1.066171 +v 1.032350 0.426460 -0.251945 +v 0.803325 0.375545 -0.938808 +f 163 161 165 +f 157 156 159 +f 157 158 161 +f 160 155 161 +f 158 160 161 +f 158 157 162 +f 159 158 162 +f 157 159 162 +f 156 157 163 +f 159 156 163 +f 160 159 163 +f 157 161 163 +f 158 159 164 +f 160 158 164 +f 159 160 164 +f 155 160 165 +f 161 155 165 +f 160 163 165 +o convex_15 +v 2.559157 -0.082462 -0.480786 +v 1.185053 0.222847 -0.735357 +v 1.185053 0.222847 -0.709803 +v 1.948350 0.248309 -0.022975 +v 2.584572 -0.057047 0.027984 +v 2.609987 -0.235188 -0.709803 +v 1.312411 0.248309 -0.735357 +v 1.795861 0.222847 0.027984 +v 2.635544 -0.006123 -0.073860 +v 2.635544 -0.184263 -0.735357 +v 2.100981 -0.082462 -0.709803 +f 167 171 176 +f 167 168 172 +f 169 166 172 +f 169 172 173 +f 170 169 173 +f 168 170 173 +f 172 168 173 +f 166 169 174 +f 169 170 174 +f 170 171 174 +f 174 171 175 +f 171 167 175 +f 172 166 175 +f 167 172 175 +f 166 174 175 +f 168 167 176 +f 170 168 176 +f 171 170 176 +o convex_16 +v -0.163649 0.630032 1.122455 +v 0.243506 0.859042 1.987391 +v 0.167145 0.859042 1.987391 +v 0.192612 0.808128 1.198737 +v 0.243506 0.502781 0.995217 +v -0.163649 0.731791 1.987391 +v -0.163649 0.502781 0.995217 +v -0.163649 0.782671 1.936435 +v 0.243506 0.630032 0.969790 +v 0.141718 0.782671 1.987391 +v -0.163649 0.706299 1.249694 +f 177 184 187 +f 179 178 180 +f 178 179 182 +f 182 177 183 +f 181 182 183 +f 179 180 184 +f 182 179 184 +f 177 182 184 +f 180 178 185 +f 177 180 185 +f 178 181 185 +f 183 177 185 +f 181 183 185 +f 181 178 186 +f 178 182 186 +f 182 181 186 +f 180 177 187 +f 184 180 187 +o convex_17 +v -0.901553 0.502781 -1.015319 +v -0.927018 1.825907 -0.837189 +v -0.647146 1.825907 -0.989872 +v -0.672650 1.316913 -1.269706 +v -0.647146 0.502781 -1.015319 +v -1.054261 0.502781 -0.837189 +v -0.927018 1.825907 -0.938977 +v -1.054261 0.528425 -0.913530 +v -0.647146 1.215114 -1.269706 +v -0.977907 1.825907 -0.837189 +v -1.003332 0.553810 -0.837189 +f 193 192 198 +f 190 189 192 +f 188 192 193 +f 189 190 194 +f 190 191 194 +f 191 188 195 +f 188 193 195 +f 194 191 195 +f 191 190 196 +f 188 191 196 +f 192 188 196 +f 190 192 196 +f 193 189 197 +f 189 194 197 +f 195 193 197 +f 194 195 197 +f 192 189 198 +f 189 193 198 +o convex_18 +v -1.028911 0.502781 -0.837146 +v -1.054331 1.825907 -0.073805 +v -1.105240 1.825907 -0.073805 +v -0.978002 1.825907 -0.837146 +v -1.308773 0.528425 -0.150169 +v -1.054331 1.164344 -0.073805 +v -0.952547 1.800392 -0.557170 +v -1.028911 0.553810 -0.582575 +v -1.257829 0.528425 -0.073805 +v -1.054331 0.706509 -0.837146 +v -0.952547 1.444226 -0.837146 +v -1.028911 1.291528 -0.837146 +f 208 203 210 +f 201 200 202 +f 201 202 203 +f 200 201 204 +f 202 200 205 +f 200 204 205 +f 205 204 206 +f 203 199 207 +f 201 203 207 +f 204 201 207 +f 199 206 207 +f 206 204 207 +f 202 199 208 +f 199 203 208 +f 199 202 209 +f 202 205 209 +f 206 199 209 +f 205 206 209 +f 203 202 210 +f 202 208 210 +o convex_19 +v -1.257819 0.553810 -0.073730 +v -0.952550 1.825907 0.791475 +v -0.952550 1.825907 0.511401 +v -1.054356 0.502781 0.689676 +v -1.054356 1.215114 -0.073730 +v -1.105240 1.825907 -0.073730 +v -1.334183 0.528425 -0.022831 +v -1.079798 0.961005 0.791475 +v -1.003471 1.724108 0.791475 +v -1.079798 0.502781 0.791475 +v -1.105240 1.825907 0.053561 +v -1.079798 0.502781 0.511401 +v -1.054356 1.571410 -0.073730 +f 215 216 223 +f 213 212 214 +f 213 214 215 +f 212 213 216 +f 215 211 216 +f 216 211 217 +f 218 212 219 +f 217 218 219 +f 214 212 220 +f 218 217 220 +f 212 218 220 +f 212 216 221 +f 216 217 221 +f 219 212 221 +f 217 219 221 +f 211 215 222 +f 215 214 222 +f 217 211 222 +f 214 220 222 +f 220 217 222 +f 213 215 223 +f 216 213 223 +o convex_20 +v -0.977930 1.088189 0.791517 +v -0.723487 1.266013 1.224035 +v -0.723487 1.342427 1.198588 +v -0.723487 0.502781 0.918753 +v -1.054259 0.502781 0.893306 +v -0.977930 1.825907 0.791517 +v -0.723487 1.825907 0.969648 +v -0.927020 1.800392 0.944200 +v -1.079713 0.502781 0.791517 +v -0.748977 1.215114 1.224035 +f 231 228 233 +f 226 225 227 +f 227 224 229 +f 226 227 230 +f 227 229 230 +f 230 229 231 +f 225 226 231 +f 229 228 231 +f 226 230 231 +f 224 227 232 +f 227 228 232 +f 228 229 232 +f 229 224 232 +f 227 225 233 +f 228 227 233 +f 225 231 233 +o convex_21 +v -2.708444 -3.085185 -0.658991 +v -3.064560 -2.270964 -0.022836 +v -3.039118 -2.270964 -0.048318 +v -2.835655 -3.441535 -0.022836 +v -3.090077 -2.830812 -0.048318 +v -2.708444 -2.270964 -0.786252 +v -2.861097 -2.729064 -0.735288 +v -2.708444 -3.390432 -0.251876 +v -2.886539 -2.270964 -0.684324 +v -2.886539 -3.415984 -0.048318 +v -2.835655 -2.856250 -0.735288 +v -2.733886 -3.441535 -0.328322 +v -3.090077 -2.270964 -0.073800 +f 242 238 246 +f 236 235 237 +f 237 235 238 +f 235 236 239 +f 236 237 241 +f 239 236 241 +f 234 239 241 +f 235 239 242 +f 239 240 242 +f 240 238 242 +f 237 238 243 +f 239 234 244 +f 240 239 244 +f 238 240 244 +f 243 238 244 +f 243 244 245 +f 241 237 245 +f 234 241 245 +f 237 243 245 +f 244 234 245 +f 238 235 246 +f 235 242 246 +o convex_22 +v -2.123125 -2.881757 -0.964311 +v -2.682859 -3.390412 -0.302817 +v -2.708327 -3.390412 -0.302817 +v -2.657391 -2.270964 -0.760759 +v -2.708327 -2.830815 -0.786178 +v -2.072189 -3.568645 -0.659017 +v -2.275808 -2.270964 -0.887920 +v -2.631923 -3.390412 -0.557341 +v -2.097657 -3.517703 -0.760826 +v -2.682859 -2.270964 -0.811529 +v -2.072189 -2.729059 -0.989797 +v -2.072189 -3.517703 -0.659017 +v -2.708327 -3.441481 -0.379208 +v -2.301276 -2.270964 -0.938892 +f 257 251 260 +f 249 248 250 +f 250 248 253 +f 251 247 255 +f 254 251 255 +f 249 250 256 +f 251 249 256 +f 250 253 256 +f 247 251 257 +f 252 255 257 +f 255 247 257 +f 248 252 258 +f 253 248 258 +f 257 253 258 +f 252 257 258 +f 248 249 259 +f 249 251 259 +f 252 248 259 +f 251 254 259 +f 255 252 259 +f 254 255 259 +f 251 256 260 +f 256 253 260 +f 253 257 260 +o convex_23 +v 2.253427 -3.721427 -0.022836 +v 0.752450 -3.492462 -0.659016 +v 0.752450 -3.517907 -0.608077 +v 2.838932 -3.619723 -0.659016 +v 2.711783 -3.823244 -0.048305 +v 1.973700 -3.492462 -0.633546 +v 0.752450 -3.645056 -0.048305 +v 0.752450 -3.695983 -0.073775 +v 2.864568 -3.594241 -0.557200 +v 0.981525 -3.441535 -0.633546 +v 2.838932 -3.772317 -0.022836 +v 1.439674 -3.670538 -0.022836 +v 2.813502 -3.772317 -0.226530 +v 0.752450 -3.695983 -0.022836 +v 0.778087 -3.441535 -0.659016 +f 267 270 275 +f 263 262 264 +f 262 263 267 +f 267 263 268 +f 266 261 269 +f 264 266 269 +f 269 261 271 +f 264 269 271 +f 261 266 272 +f 266 270 272 +f 270 267 272 +f 271 261 272 +f 263 264 273 +f 268 263 273 +f 265 268 273 +f 271 265 273 +f 264 271 273 +f 268 265 274 +f 267 268 274 +f 265 271 274 +f 272 267 274 +f 271 272 274 +f 264 262 275 +f 266 264 275 +f 262 267 275 +f 270 266 275 +o convex_24 +v -2.911994 -3.365186 0.002646 +v -2.759296 -2.270964 0.740580 +v -2.759296 -2.270964 0.715098 +v -3.090045 -2.270964 0.053536 +v -2.861095 -2.856339 0.689616 +v -2.759296 -3.492368 0.079018 +v -3.039146 -2.296474 0.002646 +v -3.090045 -2.830952 0.002646 +v -2.759296 -3.034296 0.664209 +v -2.861095 -2.270964 0.715098 +v -2.784746 -3.517877 0.180797 +v -2.810196 -3.517877 -0.022836 +f 281 286 287 +f 277 278 279 +f 278 277 281 +f 279 278 282 +f 278 281 282 +f 279 282 283 +f 276 280 283 +f 280 279 283 +f 277 280 284 +f 281 277 284 +f 277 279 285 +f 279 280 285 +f 280 277 285 +f 280 276 286 +f 284 280 286 +f 281 284 286 +f 282 281 287 +f 283 282 287 +f 276 283 287 +f 286 276 287 +o convex_25 +v 2.890016 -3.594256 0.689616 +v 0.879883 -3.695970 -0.022836 +v 0.879883 -3.670515 -0.022836 +v 0.879883 -3.492472 0.740580 +v 2.890016 -3.467017 0.715098 +v 2.864240 -3.823243 0.002646 +v 0.879883 -3.695970 0.180797 +v 2.864240 -3.772299 -0.022836 +v 0.879883 -3.467017 0.689616 +v 1.796013 -3.695970 -0.022836 +v 1.007189 -3.517927 0.740580 +v 2.711551 -3.823243 0.002646 +v 2.890016 -3.568801 0.740580 +f 291 298 300 +f 290 289 291 +f 291 289 294 +f 289 290 295 +f 292 288 295 +f 288 293 295 +f 290 291 296 +f 291 292 296 +f 292 290 296 +f 290 292 297 +f 295 290 297 +f 292 295 297 +f 291 294 298 +f 298 294 299 +f 293 288 299 +f 294 289 299 +f 289 295 299 +f 295 293 299 +f 288 298 299 +f 288 292 300 +f 292 291 300 +f 298 288 300 +o convex_26 +v -2.428450 -2.067272 -0.837124 +v -2.886500 -1.532910 -0.760830 +v -2.886500 -1.532910 -0.735358 +v -2.377635 -0.769579 -0.888016 +v -2.377635 -2.270964 -0.913471 +v -2.479444 -0.769579 -0.913471 +v -2.835506 -0.769579 -0.735358 +v -2.733817 -2.270964 -0.735358 +v -2.860973 -2.168971 -0.760830 +v -2.860973 -0.769579 -0.786267 +v -2.275767 -2.270964 -0.913471 +f 308 305 311 +f 304 306 307 +f 301 304 307 +f 301 307 308 +f 307 303 308 +f 303 302 309 +f 306 305 309 +f 308 303 309 +f 305 308 309 +f 302 303 310 +f 307 306 310 +f 303 307 310 +f 309 302 310 +f 306 309 310 +f 304 301 311 +f 305 306 311 +f 306 304 311 +f 301 308 311 +o convex_27 +v -2.479003 -0.744072 -0.913471 +v -1.028854 0.248309 -0.837124 +v -1.028854 0.222802 -0.837124 +v -2.886500 -0.769579 -0.735358 +v -2.097328 -0.006163 -0.811722 +v -1.079768 0.222802 -0.735358 +v -1.410711 0.146381 -0.913471 +v -2.300985 -0.744072 -0.888016 +v -2.097328 0.019245 -0.735358 +v -1.054311 0.171888 -0.913471 +v -2.886500 -0.693158 -0.760830 +f 320 316 322 +f 314 313 317 +f 312 316 318 +f 315 312 319 +f 317 315 319 +f 317 313 320 +f 315 317 320 +f 313 318 320 +f 318 316 320 +f 313 314 321 +f 314 317 321 +f 312 318 321 +f 318 313 321 +f 319 312 321 +f 317 319 321 +f 312 315 322 +f 316 312 322 +f 315 320 322 +o convex_28 +v 0.905343 -0.667790 -0.938930 +v 1.006972 0.248309 -0.888051 +v 2.711756 -0.565832 -0.888051 +v 0.370792 0.248309 -0.989820 +v 1.922882 -0.667790 -0.989820 +v 0.243506 -0.667790 -0.989820 +v 0.319978 -0.286052 -0.913495 +v 2.711756 -0.642323 -0.938930 +v 2.177205 -0.616856 -0.888051 +v 0.599957 0.095596 -0.888051 +v 0.243506 0.248309 -0.964365 +v 0.243506 -0.591389 -0.938930 +v 1.006972 0.248309 -0.913495 +v 2.788227 -0.667790 -0.888051 +f 331 323 336 +f 327 323 328 +f 326 327 328 +f 327 326 330 +f 325 324 331 +f 331 324 332 +f 329 331 332 +f 324 326 333 +f 326 328 333 +f 332 324 333 +f 329 332 333 +f 328 323 334 +f 323 331 334 +f 331 329 334 +f 333 328 334 +f 329 333 334 +f 324 325 335 +f 326 324 335 +f 325 330 335 +f 330 326 335 +f 323 327 336 +f 330 325 336 +f 327 330 336 +f 325 331 336 +o convex_29 +v 2.686107 -0.616896 -0.888041 +v 1.287024 0.248309 -0.735357 +v 1.287024 0.248309 -0.760825 +v 2.686107 -0.209616 -0.735357 +v 1.108980 0.248309 -0.888041 +v 1.922892 -0.464198 -0.862574 +v 2.686107 -0.336907 -0.735357 +v 1.159850 0.222817 -0.735357 +v 2.711713 -0.438706 -0.862574 +v 1.007241 0.171918 -0.888041 +v 2.635237 -0.184293 -0.760825 +f 340 345 347 +f 338 339 341 +f 340 338 343 +f 342 337 343 +f 342 343 344 +f 338 341 344 +f 343 338 344 +f 337 341 345 +f 340 343 345 +f 343 337 345 +f 341 337 346 +f 337 342 346 +f 342 344 346 +f 344 341 346 +f 339 338 347 +f 338 340 347 +f 341 339 347 +f 345 341 347 +o convex_30 +v 2.762820 -0.337054 -0.760825 +v 2.711885 -0.642457 -0.888041 +v 2.940878 -1.736573 -0.888041 +v 2.966332 -0.947719 -0.888041 +v 2.940878 -1.736573 -0.735357 +v 2.966332 -0.846060 -0.735357 +v 2.711885 -0.387883 -0.735357 +f 353 348 354 +f 350 349 351 +f 349 348 351 +f 349 350 352 +f 350 351 352 +f 351 348 353 +f 352 351 353 +f 352 353 354 +f 348 349 354 +f 349 352 354 +o convex_31 +v 2.788204 -0.718774 0.893234 +v 2.152186 -2.270964 1.020450 +v 2.813519 -2.041675 0.715151 +v 2.152186 -0.489660 0.893266 +v 2.838974 -2.270964 1.020450 +v 2.177641 -1.253375 1.045932 +v 2.686316 -0.591488 0.715151 +v 2.838974 -0.922432 0.969583 +v 2.864568 -1.278832 0.715151 +v 2.864568 -2.143504 0.740633 +v 2.152186 -0.566031 0.944166 +v 2.152186 -2.270964 1.045932 +v 2.152186 -0.642403 0.893266 +v 2.635476 -0.642577 0.715151 +v 2.737225 -0.591488 0.867816 +v 2.838974 -1.202286 0.995033 +v 2.864499 -1.024260 0.918716 +f 362 370 371 +f 361 355 363 +f 357 361 363 +f 356 357 364 +f 359 356 364 +f 357 363 364 +f 358 356 365 +f 360 362 365 +f 356 359 366 +f 359 360 366 +f 365 356 366 +f 360 365 366 +f 357 356 367 +f 356 358 367 +f 361 357 368 +f 358 361 368 +f 357 367 368 +f 367 358 368 +f 355 361 369 +f 361 358 369 +f 362 355 369 +f 358 365 369 +f 365 362 369 +f 360 359 370 +f 362 360 370 +f 355 362 371 +f 363 355 371 +f 359 364 371 +f 364 363 371 +f 370 359 371 +o convex_32 +v -0.876198 2.131462 -0.938920 +v -1.105158 3.149291 0.002611 +v -1.156062 3.149291 0.002611 +v -1.079706 1.826036 0.002611 +v -0.977979 1.826036 -0.862534 +v -0.876198 3.149291 -0.735223 +v -0.927102 3.098386 -0.786242 +v -0.876198 1.826036 -0.913458 +v -1.105158 1.826036 -0.099237 +v -1.130610 3.149291 -0.124699 +v -1.079706 2.487663 0.002611 +v -1.054281 1.826036 -0.073775 +f 382 375 383 +f 373 374 375 +f 374 373 377 +f 377 372 378 +f 372 376 378 +f 376 372 379 +f 375 376 379 +f 372 377 379 +f 375 374 380 +f 376 375 380 +f 374 376 380 +f 376 374 381 +f 374 377 381 +f 377 378 381 +f 378 376 381 +f 373 375 382 +f 377 373 382 +f 377 382 383 +f 375 379 383 +f 379 377 383 +o convex_33 +v -0.977979 3.149291 -0.608067 +v -0.876198 3.963601 0.002457 +v -0.876198 3.963601 -0.022943 +v -1.156062 3.225732 0.002457 +v -0.876198 3.480244 -0.302805 +v -1.105158 3.149291 0.002457 +v -0.876198 3.149291 -0.786175 +v -0.952555 3.912587 -0.022943 +v -0.927102 3.225732 -0.760698 +f 387 391 392 +f 386 385 388 +f 388 385 389 +f 385 387 389 +f 387 384 389 +f 389 384 390 +f 386 388 390 +f 388 389 390 +f 385 386 391 +f 387 385 391 +f 384 387 392 +f 390 384 392 +f 386 390 392 +f 391 386 392 +o convex_34 +v -1.130633 2.335181 0.002611 +v -0.901618 2.156974 0.918711 +v -0.901618 2.360527 0.893244 +v -1.054261 1.826300 0.028079 +v -0.901618 3.174737 0.613285 +v -1.156090 3.174737 0.053546 +v -0.977964 1.826300 0.842309 +v -0.927075 3.149128 0.740531 +v -1.105176 3.098174 0.002611 +v -0.901618 1.826300 0.867687 +v -1.105176 1.826300 0.079013 +v -0.952557 1.826300 0.511416 +f 397 402 404 +f 395 394 397 +f 394 395 399 +f 398 399 400 +f 395 397 400 +f 397 398 400 +f 399 395 400 +f 396 393 401 +f 397 396 401 +f 393 398 401 +f 398 397 401 +f 397 394 402 +f 394 399 402 +f 399 396 402 +f 393 396 403 +f 398 393 403 +f 396 399 403 +f 399 398 403 +f 396 397 404 +f 402 396 404 +o convex_35 +v -1.156090 3.174738 0.053591 +v -0.901593 3.963524 0.053591 +v -0.290885 3.912565 0.689678 +v -0.927000 3.225774 0.715063 +v -0.748810 3.759842 0.587860 +v -1.105106 3.200295 0.002612 +v -0.901593 3.174738 0.613175 +v -0.494567 3.887162 0.409607 +v -0.952492 3.938044 0.053591 +v -0.494567 3.607196 0.664154 +v -0.901593 3.887162 0.002612 +v -0.443583 3.912565 0.664154 +v -0.290885 3.887162 0.664154 +f 414 410 417 +f 408 405 411 +f 405 410 411 +f 406 407 412 +f 405 408 413 +f 408 409 413 +f 410 405 413 +f 407 408 414 +f 408 411 414 +f 411 410 414 +f 406 412 415 +f 412 410 415 +f 413 406 415 +f 410 413 415 +f 407 406 416 +f 408 407 416 +f 409 408 416 +f 406 413 416 +f 413 409 416 +f 412 407 417 +f 410 412 417 +f 407 414 417 +o convex_36 +v 0.676109 2.716477 -0.811542 +v 0.879647 3.123590 0.027964 +v 0.879647 3.123590 -0.099334 +v 0.905111 1.826036 0.027964 +v 0.777923 1.826036 -0.837002 +v 0.676109 1.826036 -0.862461 +v 0.676109 3.072780 -0.531675 +v 0.879647 1.826036 0.027964 +v 0.905111 2.284213 -0.150159 +v 0.701596 3.098185 -0.658879 +v 0.727038 2.385959 -0.862461 +v 0.854204 3.123590 0.027964 +f 427 424 429 +f 422 421 423 +f 418 423 424 +f 424 423 425 +f 421 419 425 +f 423 421 425 +f 420 419 426 +f 419 421 426 +f 421 422 426 +f 422 420 426 +f 418 424 427 +f 420 422 428 +f 423 418 428 +f 422 423 428 +f 427 420 428 +f 418 427 428 +f 419 420 429 +f 424 425 429 +f 425 419 429 +f 420 427 429 +o convex_37 +v 0.828792 3.123853 -0.277497 +v 0.523465 4.065390 0.028059 +v 0.472531 4.065390 0.028059 +v 0.472531 3.632606 -0.633569 +v 0.854219 3.123853 0.028059 +v 0.650682 3.072949 -0.608116 +v 0.599747 4.039938 -0.022846 +v 0.701536 3.302116 -0.582664 +v 0.879686 3.327568 -0.022846 +v 0.472531 3.658058 -0.404369 +f 433 435 439 +f 431 432 434 +f 430 434 435 +f 432 431 436 +f 433 432 436 +f 435 433 437 +f 430 435 437 +f 433 436 437 +f 437 436 438 +f 434 430 438 +f 431 434 438 +f 436 431 438 +f 430 437 438 +f 432 433 439 +f 434 432 439 +f 435 434 439 +o convex_38 +v 0.625147 3.531138 0.231733 +v -0.061793 3.938002 0.613242 +v -0.061793 3.938002 0.664239 +v 0.574245 4.039833 0.053588 +v -0.061793 4.167007 0.028121 +v 0.599663 3.251080 0.664239 +v 0.421607 3.810828 0.562370 +v -0.036308 3.988964 0.664239 +v 0.625147 3.810828 0.028121 +v 0.625147 3.353003 0.664239 +v 0.040011 4.192534 0.053588 +f 444 447 450 +f 441 442 444 +f 442 441 445 +f 444 440 445 +f 441 444 445 +f 444 442 447 +f 442 445 447 +f 446 443 447 +f 440 444 448 +f 444 443 448 +f 445 440 449 +f 443 446 449 +f 447 445 449 +f 446 447 449 +f 440 448 449 +f 448 443 449 +f 443 444 450 +f 447 443 450 +o convex_39 +v 0.701571 3.734407 0.028059 +v 0.650721 1.978873 0.893264 +v 0.625269 1.978873 0.893264 +v 0.879654 1.826036 0.028143 +v 0.879681 3.225681 0.053551 +v 0.650694 3.276493 0.689666 +v 0.777873 1.902554 0.791465 +v 0.625242 3.734407 0.028059 +v 0.625269 1.826036 0.867772 +v 0.905106 1.826036 0.104535 +v 0.625242 3.123856 0.740565 +v 0.727051 2.335360 0.816872 +v 0.854202 1.826036 0.079043 +v 0.905106 2.538412 0.028143 +f 457 460 464 +f 455 451 456 +f 451 454 458 +f 456 451 458 +f 452 453 459 +f 457 452 459 +f 457 459 460 +f 459 454 460 +f 453 452 461 +f 456 458 461 +f 459 453 461 +f 458 459 461 +f 455 456 462 +f 452 457 462 +f 457 455 462 +f 461 452 462 +f 456 461 462 +f 458 454 463 +f 454 459 463 +f 459 458 463 +f 454 451 464 +f 451 455 464 +f 455 457 464 +f 460 454 464 +o convex_40 +v 2.966322 -1.736299 -0.735357 +v 2.686455 -0.591449 0.715133 +v 2.711919 -0.642445 0.689576 +v 2.839091 -2.092834 0.715133 +v 2.915424 -0.769863 -0.022891 +v 2.813686 -0.617167 -0.735357 +v 2.889989 -1.380058 0.689576 +v 2.966322 -0.820713 -0.735357 +v 2.660991 -0.795141 0.689576 +v 2.915424 -1.761724 -0.506198 +v 2.915454 -1.787442 0.485974 +v 2.839121 -0.591596 0.155155 +v 2.966322 -1.761724 -0.378982 +v 2.864585 -0.591596 -0.735357 +v 2.864525 -2.092834 0.715133 +v 2.660991 -0.591449 0.613190 +f 478 470 480 +f 467 466 471 +f 469 471 472 +f 465 470 472 +f 468 466 473 +f 473 470 474 +f 465 468 474 +f 470 465 474 +f 468 473 474 +f 472 471 475 +f 466 467 476 +f 467 471 476 +f 471 469 476 +f 469 472 476 +f 465 472 477 +f 472 475 477 +f 472 470 478 +f 466 476 478 +f 476 472 478 +f 466 468 479 +f 468 465 479 +f 471 466 479 +f 475 471 479 +f 465 477 479 +f 477 475 479 +f 473 466 480 +f 470 473 480 +f 466 478 480 +o convex_41 +v 0.930773 -3.390556 -0.735415 +v 2.890016 -2.729014 -0.989787 +v 2.890016 -2.779993 -0.964333 +v 2.838810 -3.568645 -0.786289 +v 2.838810 -3.568645 -0.659016 +v 0.930773 -2.729014 -0.913458 +v 2.711658 -2.805482 -1.015242 +v 0.930773 -3.441451 -0.659016 +v 0.930773 -2.779993 -0.938878 +v 1.108938 -2.754588 -0.888003 +v 2.762481 -2.729014 -0.964333 +v 0.956280 -3.492345 -0.684505 +v 2.075518 -3.492345 -0.659016 +v 2.559000 -3.594134 -0.659016 +f 488 492 494 +f 482 483 484 +f 484 483 485 +f 482 484 487 +f 486 481 488 +f 484 481 489 +f 486 482 489 +f 481 486 489 +f 482 487 489 +f 487 484 489 +f 486 488 490 +f 483 482 491 +f 485 483 491 +f 482 486 491 +f 490 485 491 +f 486 490 491 +f 481 484 492 +f 488 481 492 +f 488 485 493 +f 485 490 493 +f 490 488 493 +f 484 485 494 +f 485 488 494 +f 492 484 494 +o convex_42 +v -2.326442 -2.041715 -0.938940 +v -0.978209 -1.202391 -0.964365 +v -0.978209 -1.736737 -0.938940 +v -1.919327 -2.728924 -0.989810 +v -2.250071 -2.728924 -0.888051 +v -0.850873 -2.728924 -0.964355 +v -2.377556 -1.202391 -0.913495 +v -2.224663 -1.202391 -0.989820 +v -0.978209 -1.202391 -0.989820 +v -0.850873 -2.728924 -0.938930 +v -2.122885 -2.728924 -0.989810 +v -1.105395 -2.092669 -0.989820 +v -2.250071 -2.449050 -0.888051 +f 499 504 507 +f 499 498 500 +f 497 496 501 +f 495 499 501 +f 501 496 502 +f 495 501 502 +f 496 500 503 +f 502 496 503 +f 496 497 504 +f 499 500 504 +f 500 496 504 +f 499 495 505 +f 498 499 505 +f 495 502 505 +f 505 502 506 +f 500 498 506 +f 503 500 506 +f 502 503 506 +f 498 505 506 +f 497 501 507 +f 501 499 507 +f 504 497 507 +o convex_43 +v -0.850355 -2.728924 -0.938935 +v 2.915463 -2.270964 -0.964382 +v 2.915463 -2.474592 -0.964382 +v 2.736682 -2.728924 -1.015277 +v -0.850355 -2.270964 -0.964382 +v 1.388272 -2.728924 -0.913488 +v 0.803641 -2.270964 -0.913488 +v 2.915463 -2.449127 -1.015277 +v -0.850355 -2.728924 -0.964382 +v -0.850355 -2.270964 -0.938935 +v -0.036074 -2.728924 -0.913488 +v 2.762117 -2.728924 -0.964382 +v 2.177118 -2.270964 -0.989829 +f 515 512 520 +f 510 509 513 +f 508 511 513 +f 509 512 514 +f 513 509 514 +f 509 510 515 +f 511 512 515 +f 511 508 516 +f 508 512 516 +f 512 511 516 +f 512 508 517 +f 514 512 517 +f 514 517 518 +f 508 513 518 +f 513 514 518 +f 517 508 518 +f 510 513 519 +f 513 511 519 +f 515 510 519 +f 511 515 519 +f 512 509 520 +f 509 515 520 +o convex_44 +v 0.396190 1.291570 -1.448069 +v 0.141742 0.960878 -2.440310 +v 0.167197 0.960878 -2.440310 +v 0.141742 1.444281 -2.643728 +v 0.294371 1.444281 -1.346359 +v 0.294371 0.960878 -1.320643 +v 0.218082 1.266158 -2.745582 +v 0.268966 0.986338 -2.007902 +v 0.141742 1.444281 -2.363884 +v 0.294371 1.444281 -1.931620 +v 0.141742 0.960878 -2.287458 +v 0.345255 1.011798 -1.320643 +v 0.345255 1.266158 -1.931620 +f 521 532 533 +f 522 523 526 +f 523 522 527 +f 522 524 527 +f 526 523 528 +f 523 527 528 +f 524 522 529 +f 525 524 529 +f 525 521 530 +f 524 525 530 +f 527 524 530 +f 522 526 531 +f 526 525 531 +f 529 522 531 +f 525 529 531 +f 521 525 532 +f 525 526 532 +f 526 528 532 +f 532 528 533 +f 528 527 533 +f 530 521 533 +f 527 530 533 +o convex_45 +v -0.215046 -3.467015 -0.608077 +v -1.970400 -3.568814 -0.659016 +v -1.970400 -3.594264 -0.633546 +v -1.970400 -3.772314 -0.022836 +v 0.675957 -3.695965 -0.099182 +v 0.752450 -3.492465 -0.659016 +v 0.752450 -3.645066 -0.048305 +v -1.843000 -3.797764 -0.099182 +v -1.944814 -3.568814 -0.531730 +v -0.062326 -3.670516 -0.022836 +v 0.752450 -3.467015 -0.582669 +v 0.344929 -3.721415 -0.022836 +v 0.752450 -3.517915 -0.608077 +v -1.639372 -3.517915 -0.659016 +v -1.919493 -3.619713 -0.582669 +f 546 541 548 +f 535 536 537 +f 536 535 539 +f 537 536 541 +f 535 537 542 +f 540 534 543 +f 534 542 543 +f 542 537 543 +f 539 534 544 +f 534 540 544 +f 540 539 544 +f 538 540 545 +f 537 541 545 +f 541 538 545 +f 543 537 545 +f 540 543 545 +f 539 540 546 +f 540 538 546 +f 538 541 546 +f 539 535 547 +f 534 539 547 +f 535 542 547 +f 542 534 547 +f 536 539 548 +f 541 536 548 +f 539 546 548 +o convex_46 +v 1.846312 -0.515144 0.893279 +v 0.930763 0.248309 0.918734 +v 0.981640 0.146306 0.944206 +v -0.265438 -1.329129 0.995029 +v 2.152047 -1.354708 1.045922 +v -0.214324 0.248309 0.995029 +v 0.879886 -1.329129 1.071394 +v 1.897425 -0.769367 1.045922 +v -0.265438 -0.311609 0.944171 +v -0.265438 -1.354865 1.045939 +v 2.152047 -0.591097 0.893279 +v 0.676141 0.248309 0.893279 +v 2.152047 -1.278441 0.995046 +v 2.152047 -0.489722 0.918734 +v -0.265438 0.248309 0.944171 +v 0.243569 -0.769524 1.045939 +v 0.040061 0.248309 0.995029 +v 1.159827 -0.667521 1.045922 +v 0.727255 0.095462 0.893279 +f 557 560 567 +f 555 553 556 +f 552 553 558 +f 553 555 558 +f 557 552 558 +f 552 549 559 +f 554 550 560 +f 550 559 560 +f 559 549 560 +f 553 552 561 +f 552 559 561 +f 559 553 561 +f 550 551 562 +f 556 553 562 +f 551 556 562 +f 559 550 562 +f 553 559 562 +f 558 554 563 +f 557 558 563 +f 554 560 563 +f 560 557 563 +f 554 558 564 +f 558 555 564 +f 551 550 565 +f 550 554 565 +f 556 551 565 +f 555 556 566 +f 564 555 566 +f 554 564 566 +f 565 554 566 +f 556 565 566 +f 549 552 567 +f 552 557 567 +f 560 549 567 +o convex_47 +v -2.046812 -2.270964 0.995023 +v -2.759264 -2.932502 0.689746 +v -2.275834 -3.492368 0.689746 +v -2.123176 -2.856339 0.995023 +v -2.759264 -2.270964 0.715181 +v -2.046812 -3.441349 0.740615 +v -2.682830 -2.830952 0.791515 +v -2.759264 -2.270964 0.766080 +v -2.224994 -2.270964 0.893224 +v -2.148630 -3.517877 0.766080 +v -2.148630 -3.492368 0.689746 +v -2.046812 -2.856339 0.995023 +f 571 577 579 +f 571 568 575 +f 568 572 575 +f 572 569 575 +f 569 574 575 +f 574 571 575 +f 572 568 576 +f 568 573 576 +f 569 570 577 +f 574 569 577 +f 571 574 577 +f 570 569 578 +f 569 572 578 +f 572 576 578 +f 576 573 578 +f 577 570 578 +f 573 577 578 +f 568 571 579 +f 573 568 579 +f 577 573 579 +o convex_48 +v 0.879114 -3.467017 0.740580 +v -2.046455 -3.823243 -0.022836 +v -2.046455 -3.797786 -0.022836 +v -2.046455 -3.543354 0.740580 +v 0.319148 -3.670535 -0.022836 +v 0.879114 -3.721450 0.104425 +v -1.104969 -3.594234 0.740580 +v -1.893503 -3.823243 0.053536 +v 0.828416 -3.517897 0.740580 +v 0.879114 -3.670535 -0.022836 +v -2.020963 -3.772329 -0.022836 +v -2.046455 -3.619691 0.689616 +v 0.802924 -3.467017 0.689616 +v -2.046455 -3.543354 0.715024 +v 0.879114 -3.721450 0.002646 +v -0.418689 -3.695992 -0.022836 +f 593 584 595 +f 582 581 583 +f 581 582 584 +f 580 583 586 +f 585 586 587 +f 585 580 588 +f 580 586 588 +f 586 585 588 +f 581 584 589 +f 580 585 589 +f 584 582 590 +f 583 581 591 +f 586 583 591 +f 587 586 591 +f 581 587 591 +f 583 580 592 +f 580 589 592 +f 589 584 592 +f 582 583 593 +f 590 582 593 +f 583 592 593 +f 592 584 593 +f 585 587 594 +f 587 581 594 +f 581 589 594 +f 589 585 594 +f 584 590 595 +f 590 593 595 +o convex_49 +v -0.163649 1.800579 1.173502 +v 0.268954 1.597021 2.038224 +v 0.243504 1.597021 2.139903 +v 0.268954 1.826036 1.046178 +v -0.112750 1.647936 2.699766 +v 0.218054 1.622478 1.198966 +v -0.163649 1.571564 2.674302 +v -0.163649 1.749664 2.012759 +v 0.268954 1.571564 1.682256 +v 0.014499 1.571564 2.699766 +v -0.163649 1.775122 1.198966 +v -0.163649 1.826036 1.224252 +v 0.268954 1.800579 0.969784 +f 607 599 608 +f 598 597 599 +f 598 599 600 +f 602 600 603 +f 600 599 603 +f 596 602 603 +f 599 597 604 +f 602 601 604 +f 602 604 605 +f 597 598 605 +f 598 600 605 +f 600 602 605 +f 604 597 605 +f 602 596 606 +f 601 602 606 +f 596 603 607 +f 603 599 607 +f 599 604 608 +f 604 601 608 +f 606 596 608 +f 601 606 608 +f 596 607 608 +o convex_50 +v -2.046742 -3.568712 0.740610 +v -0.443568 -2.779908 1.045917 +v -0.443568 -2.830922 1.045917 +v -0.443568 -3.517777 0.740610 +v -2.046742 -2.830922 0.944128 +v -0.876218 -3.568712 0.791505 +v -1.919474 -2.881697 0.995023 +v -0.647260 -2.779908 0.995023 +v -2.046742 -3.365054 0.766073 +v -1.843050 -3.594219 0.766073 +v -0.443568 -3.492430 0.816937 +v -2.046742 -2.779908 0.995023 +v -1.181756 -2.881697 1.020455 +f 620 615 621 +f 610 611 612 +f 610 612 616 +f 612 613 616 +f 612 609 617 +f 609 613 617 +f 613 612 617 +f 609 612 618 +f 612 614 618 +f 615 609 618 +f 612 611 619 +f 611 614 619 +f 614 612 619 +f 611 610 620 +f 613 609 620 +f 609 615 620 +f 610 616 620 +f 616 613 620 +f 614 611 621 +f 618 614 621 +f 615 618 621 +f 611 620 621 +o convex_51 +v -0.443568 -3.492290 0.816937 +v 2.864563 -2.779908 0.995023 +v 2.864563 -2.779908 0.969590 +v 2.890016 -3.492290 0.740610 +v -0.316307 -3.492290 0.740610 +v -0.443568 -2.779908 1.020455 +v 1.999189 -2.805462 1.045917 +v 2.762755 -3.517770 0.766073 +v -0.443568 -2.830942 1.045917 +v 2.890016 -3.416001 0.740610 +v -0.443568 -2.805462 0.995023 +v -0.010881 -3.365117 0.867831 +v 2.864563 -2.881826 0.995023 +v -0.443568 -3.543250 0.740610 +v 2.788207 -3.186984 0.816937 +v 0.472710 -3.492290 0.816937 +f 622 635 637 +f 623 624 627 +f 623 627 628 +f 627 622 630 +f 628 627 630 +f 624 623 631 +f 623 625 631 +f 625 626 631 +f 627 624 632 +f 622 627 632 +f 630 622 633 +f 628 630 633 +f 625 623 634 +f 623 628 634 +f 629 625 634 +f 628 629 634 +f 626 625 635 +f 625 629 635 +f 622 632 635 +f 632 626 635 +f 624 631 636 +f 631 626 636 +f 626 632 636 +f 632 624 636 +f 629 628 637 +f 633 622 637 +f 628 633 637 +f 635 629 637 +o convex_52 +v -2.046742 -2.779908 0.995060 +v 1.083264 -2.270964 1.071384 +v 1.083264 -2.321878 1.071384 +v 1.083264 -2.270964 1.020495 +v 1.083264 -2.779908 1.020495 +v -2.046742 -2.270964 0.969615 +v -1.003202 -2.779908 1.045929 +v -1.562964 -2.270964 1.020495 +v -1.639253 -2.779908 0.969615 +v 0.930379 -2.652622 1.071384 +v 0.294329 -2.270964 1.071384 +v -1.512104 -2.270964 0.969615 +f 646 643 649 +f 639 640 641 +f 641 640 642 +f 639 641 643 +f 638 642 644 +f 639 643 645 +f 643 638 645 +f 638 644 645 +f 642 638 646 +f 638 643 646 +f 640 639 647 +f 642 640 647 +f 644 642 647 +f 644 647 648 +f 639 645 648 +f 645 644 648 +f 647 639 648 +f 641 642 649 +f 643 641 649 +f 642 646 649 +o convex_53 +v 1.083264 -2.779908 1.020500 +v 2.839111 -2.270964 1.020500 +v 2.864568 -2.601708 1.020500 +v 2.839111 -2.270964 0.944158 +v 1.083264 -2.270964 1.045947 +v 2.864568 -2.779908 0.969605 +v 2.024656 -2.779908 1.045947 +v 1.083264 -2.270964 1.020500 +v 2.355425 -2.270964 1.045947 +v 1.083264 -2.779908 1.045947 +f 656 654 659 +f 651 652 653 +f 651 653 654 +f 653 652 655 +f 650 653 655 +f 650 655 656 +f 655 652 656 +f 653 650 657 +f 650 654 657 +f 654 653 657 +f 652 651 658 +f 651 654 658 +f 656 652 658 +f 654 656 658 +f 654 650 659 +f 650 656 659 +o convex_54 +v -0.189081 1.266128 -3.000159 +v 0.141660 0.986383 -2.313129 +v -0.418074 0.986383 -2.160401 +v 0.141660 1.444233 -2.542221 +v -0.443568 1.444233 -2.592774 +v -0.316267 0.960878 -2.669138 +v 0.141660 1.062707 -2.669220 +v -0.443568 1.266128 -2.796549 +v -0.138207 1.444233 -2.898231 +v 0.141660 1.316995 -2.821949 +v -0.112769 0.960878 -2.821949 +v -0.443568 0.960878 -2.364011 +v 0.141660 0.960878 -2.313129 +f 662 671 672 +f 662 661 663 +f 662 663 664 +f 663 661 666 +f 660 665 667 +f 664 663 668 +f 660 667 668 +f 667 664 668 +f 663 666 669 +f 668 663 669 +f 660 668 669 +f 665 660 670 +f 660 669 670 +f 669 666 670 +f 662 664 671 +f 664 667 671 +f 667 665 671 +f 665 670 671 +f 671 670 672 +f 661 662 672 +f 666 661 672 +f 670 666 672 +o convex_55 +v -1.283585 0.146508 -0.913488 +v -2.403003 -0.947607 -0.938935 +v -2.403003 -0.947607 -0.913488 +v -0.977959 -1.202181 -0.964382 +v -1.970161 -0.591374 -1.015277 +v -0.977959 0.248309 -0.964382 +v -1.105315 -1.100380 -1.015277 +v -2.148431 -1.202181 -1.015277 +v -2.275647 -1.202181 -0.913488 +v -1.028874 0.171923 -0.913488 +v -2.148431 -0.464300 -0.938935 +v -0.977959 -0.667760 -1.015277 +v -2.173958 -0.744005 -1.015277 +f 683 677 685 +f 679 676 680 +f 677 679 680 +f 673 675 681 +f 675 674 681 +f 680 676 681 +f 674 680 681 +f 678 673 682 +f 676 678 682 +f 673 681 682 +f 681 676 682 +f 675 673 683 +f 674 675 683 +f 673 678 683 +f 678 677 683 +f 678 676 684 +f 677 678 684 +f 679 677 684 +f 676 679 684 +f 680 674 685 +f 677 680 685 +f 674 683 685 +o convex_56 +v 0.243506 0.248309 -0.964400 +v -0.977959 -2.270964 -0.964400 +v -0.977959 -2.270964 -0.938945 +v 0.243506 -2.270964 -0.964400 +v -0.316651 0.248309 -1.040714 +v -0.977959 0.248309 -0.938935 +v 0.243506 -0.591613 -0.938935 +v -0.977959 -1.024151 -1.015269 +v 0.065356 0.222663 -1.040714 +v 0.243506 -2.270964 -0.938945 +v -0.061860 -0.108029 -1.040714 +v -0.825276 0.248309 -0.989825 +v 0.218039 0.248309 -1.015259 +v 0.243506 -0.082629 -0.938935 +v -0.977959 -0.667813 -1.015269 +f 691 697 700 +f 688 687 689 +f 687 688 691 +f 686 690 691 +f 689 686 692 +f 691 688 692 +f 689 687 693 +f 687 691 693 +f 688 689 695 +f 692 688 695 +f 689 692 695 +f 689 693 696 +f 693 690 696 +f 694 689 696 +f 690 694 696 +f 691 690 697 +f 686 689 698 +f 690 686 698 +f 689 694 698 +f 694 690 698 +f 686 691 699 +f 692 686 699 +f 691 692 699 +f 690 693 700 +f 693 691 700 +f 697 690 700 +o convex_57 +v 2.635563 -0.133464 0.358900 +v 2.813637 -0.591448 -0.735358 +v 2.788192 -0.565954 -0.735358 +v 2.635563 -0.591448 0.816658 +v 2.635563 -0.235270 -0.735358 +v 2.839121 -0.540517 0.028096 +v 2.661048 -0.006163 -0.022905 +v 2.737342 -0.591448 0.867816 +v 2.813637 -0.464205 -0.735358 +v 2.661048 -0.311524 0.791236 +v 2.711937 -0.209775 -0.684199 +f 707 709 711 +f 703 702 704 +f 704 701 705 +f 702 703 705 +f 703 704 705 +f 705 701 707 +f 704 702 708 +f 702 706 708 +f 702 705 709 +f 706 702 709 +f 707 706 709 +f 701 704 710 +f 707 701 710 +f 706 707 710 +f 708 706 710 +f 704 708 710 +f 705 707 711 +f 709 705 711 +o convex_58 +v 0.854558 -2.270964 -0.913488 +v 1.872127 -0.667790 -0.964370 +v 1.872127 -0.667790 -0.989830 +v 0.243506 -0.667790 -0.964370 +v 0.243506 -2.270964 -0.964370 +v 1.872127 -2.270964 -0.964370 +v 0.243506 -1.253131 -0.989830 +v 1.872127 -1.532776 -0.989830 +v 0.905253 -0.896905 -0.938948 +v 1.872127 -1.482088 -0.938948 +v 0.243506 -1.227865 -0.938948 +v 0.243506 -0.667790 -0.989830 +v 1.872127 -2.270964 -0.938948 +v 0.243506 -2.270964 -0.938948 +f 722 716 725 +f 713 714 715 +f 714 713 717 +f 712 716 717 +f 716 715 718 +f 714 717 719 +f 717 716 719 +f 718 714 719 +f 716 718 719 +f 713 715 720 +f 717 713 721 +f 713 720 721 +f 720 712 721 +f 715 716 722 +f 712 720 722 +f 720 715 722 +f 715 714 723 +f 714 718 723 +f 718 715 723 +f 712 717 724 +f 717 721 724 +f 721 712 724 +f 716 712 725 +f 712 722 725 +o convex_59 +v 2.889889 -0.947749 -0.989820 +v 1.872128 -2.270964 -0.964365 +v 2.152191 -2.270964 -0.989820 +v 2.966143 -1.761891 -0.888051 +v 1.897724 -0.667790 -0.938930 +v 2.915271 -2.270964 -0.989820 +v 2.813527 -0.667790 -0.888051 +v 1.872128 -0.667790 -0.989820 +v 1.872128 -2.270964 -0.938930 +v 2.686294 -0.693369 -0.888051 +v 2.966143 -1.024173 -0.989820 +v 2.711783 -0.693369 -0.964365 +v 2.915271 -2.270964 -0.964365 +v 2.966143 -0.973172 -0.888051 +f 736 732 739 +f 728 726 731 +f 727 728 731 +f 730 732 733 +f 726 728 733 +f 728 727 733 +f 733 727 734 +f 727 731 734 +f 730 733 734 +f 730 734 735 +f 729 732 735 +f 732 730 735 +f 734 729 735 +f 731 726 736 +f 729 731 736 +f 732 736 737 +f 733 732 737 +f 726 733 737 +f 736 726 737 +f 731 729 738 +f 734 731 738 +f 729 734 738 +f 732 729 739 +f 729 736 739 +o convex_60 +v -2.046819 -1.380451 0.995052 +v -2.835605 -2.270964 0.715133 +v -2.733687 -2.270964 0.715133 +v -2.810048 -0.820473 0.715133 +v -2.097778 -0.820473 0.918688 +v -2.046819 -2.270964 0.969570 +v -2.199542 -2.270964 0.969570 +v -2.810048 -0.820473 0.740615 +v -2.148660 -0.922275 0.969570 +v -2.708284 -0.820473 0.715133 +v -2.835605 -2.270964 0.740615 +v -2.835605 -1.125877 0.740615 +v -2.224945 -2.270964 0.893234 +f 744 745 752 +f 742 741 743 +f 741 742 745 +f 744 740 745 +f 745 740 746 +f 741 745 746 +f 744 743 747 +f 740 744 748 +f 746 740 748 +f 744 747 748 +f 742 743 749 +f 743 744 749 +f 744 742 749 +f 741 746 750 +f 743 741 751 +f 747 743 751 +f 746 748 751 +f 748 747 751 +f 741 750 751 +f 750 746 751 +f 742 744 752 +f 745 742 752 +o convex_61 +v -2.046817 -0.057087 0.689615 +v -2.810158 -0.820396 0.715178 +v -2.708305 -0.820396 0.715178 +v -2.784601 -0.082564 0.129848 +v -2.046742 -0.820396 0.944099 +v -2.631933 -0.158918 0.536973 +v -2.072299 -0.031687 0.740577 +v -2.810158 -0.744042 0.740577 +v -2.479190 -0.082564 0.282653 +v -2.123113 -0.744042 0.969580 +v -2.784601 -0.057087 0.231691 +v -2.759119 -0.362503 0.308135 +f 756 761 764 +f 754 755 757 +f 757 753 759 +f 756 754 760 +f 759 758 760 +f 753 757 761 +f 759 753 761 +f 754 757 762 +f 757 759 762 +f 760 754 762 +f 759 760 762 +f 758 759 763 +f 756 760 763 +f 760 758 763 +f 761 756 763 +f 759 761 763 +f 755 754 764 +f 754 756 764 +f 757 755 764 +f 761 757 764 +o convex_62 +v -2.046568 -1.405944 0.944158 +v -0.265438 -0.795026 1.020500 +v -0.265438 -1.304100 1.045947 +v -0.265438 -2.270820 1.020500 +v -2.046568 -1.329525 0.995052 +v -2.046568 -2.270820 0.995052 +v -0.571068 -0.795026 0.969605 +v -1.512194 -2.270820 0.969605 +v -2.046568 -0.795026 0.969605 +v -0.799986 -2.270820 1.045947 +v -1.461285 -0.795026 0.944158 +v -1.537649 -0.795026 0.995052 +v -0.265438 -1.355094 0.995052 +v -0.265438 -2.270820 1.045947 +v -2.046568 -2.270820 0.969605 +v -1.512194 -1.736466 1.020500 +f 770 774 780 +f 766 767 768 +f 769 765 770 +f 768 770 772 +f 765 769 773 +f 766 771 773 +f 770 768 774 +f 772 765 775 +f 771 772 775 +f 765 773 775 +f 773 771 775 +f 767 766 776 +f 769 767 776 +f 766 773 776 +f 773 769 776 +f 766 768 777 +f 771 766 777 +f 768 772 777 +f 772 771 777 +f 768 767 778 +f 767 774 778 +f 774 768 778 +f 770 765 779 +f 772 770 779 +f 765 772 779 +f 767 769 780 +f 769 770 780 +f 774 767 780 +o convex_63 +v -0.189132 1.113425 2.903334 +v -0.214588 0.681016 1.351470 +v -0.316311 0.706486 1.351470 +v -0.647087 1.215303 1.351314 +v -0.494452 0.859147 2.063853 +v -0.469046 1.215303 2.776078 +v -0.163726 1.215199 2.903334 +v -0.163726 0.884564 2.725081 +v -0.163726 0.731903 1.402467 +v -0.545364 0.782790 1.351314 +v -0.647087 1.189781 1.809498 +v -0.189132 0.731903 1.962173 +v -0.392679 0.960764 2.597826 +f 788 786 793 +f 786 781 787 +f 784 786 787 +f 781 786 788 +f 787 781 788 +f 787 788 789 +f 782 784 789 +f 784 787 789 +f 782 783 790 +f 784 782 790 +f 790 785 791 +f 786 784 791 +f 785 786 791 +f 784 790 791 +f 783 782 792 +f 788 785 792 +f 789 788 792 +f 782 789 792 +f 790 783 792 +f 785 790 792 +f 786 785 793 +f 785 788 793 +o convex_64 +v 0.320182 -2.041872 1.071394 +v 2.151810 -1.355044 1.045949 +v 2.151810 -1.355044 1.020509 +v 2.151810 -2.270964 1.045949 +v -0.265438 -2.270964 1.020509 +v -0.265438 -1.355044 1.020509 +v 0.981281 -1.355044 1.071394 +v 2.151810 -2.270964 1.020509 +v 1.083025 -2.270964 1.071394 +v -0.265438 -1.355044 1.045949 +v -0.265438 -2.270964 1.045949 +v 1.439129 -1.787584 1.071394 +f 800 802 805 +f 796 795 797 +f 796 798 799 +f 795 796 799 +f 795 799 800 +f 796 797 801 +f 797 798 801 +f 798 796 801 +f 798 797 802 +f 800 794 802 +f 799 798 803 +f 794 800 803 +f 800 799 803 +f 802 794 804 +f 798 802 804 +f 794 803 804 +f 803 798 804 +f 797 795 805 +f 795 800 805 +f 802 797 805 +o convex_65 +v -0.443526 1.571589 -2.541985 +v -0.163734 1.826036 -1.320643 +v -0.189138 1.826036 -1.320643 +v -0.570762 1.444328 -1.320643 +v -0.163734 1.444328 -2.872923 +v -0.545315 1.673330 -1.549778 +v -0.214586 1.673330 -2.720217 +v -0.494420 1.444328 -2.541985 +v -0.519867 1.673330 -1.982368 +v -0.163734 1.775109 -1.320643 +v -0.163734 1.775109 -2.084171 +v -0.519867 1.698775 -1.320643 +v -0.570762 1.469810 -2.058796 +f 814 813 818 +f 807 808 809 +f 810 806 812 +f 806 810 813 +f 810 809 813 +f 812 806 814 +f 806 813 814 +f 807 809 815 +f 809 810 815 +f 810 807 815 +f 808 807 816 +f 807 810 816 +f 810 812 816 +f 814 808 816 +f 812 814 816 +f 809 808 817 +f 811 809 817 +f 808 814 817 +f 814 811 817 +f 809 811 818 +f 813 809 818 +f 811 814 818 +o convex_66 +v -0.163649 1.647848 -2.720217 +v 0.345295 1.469810 -1.320643 +v 0.345295 1.444328 -1.320643 +v -0.163649 1.800554 -1.320643 +v -0.163649 1.444328 -2.796494 +v 0.192552 1.673330 -2.007895 +v 0.141688 1.444328 -2.643788 +v 0.218009 1.724182 -1.320643 +v -0.138192 1.800554 -1.855037 +v 0.294331 1.444328 -1.320643 +v -0.138192 1.673330 -2.694690 +v 0.268874 1.495255 -2.007895 +v 0.116181 1.571589 -2.541985 +f 824 830 831 +f 821 820 822 +f 822 819 823 +f 823 819 825 +f 821 823 825 +f 822 820 826 +f 820 824 826 +f 826 824 827 +f 819 822 827 +f 822 826 827 +f 821 822 828 +f 822 823 828 +f 823 821 828 +f 825 819 829 +f 827 824 829 +f 819 827 829 +f 820 821 830 +f 824 820 830 +f 821 825 830 +f 830 825 831 +f 825 829 831 +f 829 824 831 +o convex_67 +v -0.087362 0.604710 -1.117115 +v -0.647146 0.502781 -1.040774 +v -0.647146 0.502781 -1.015277 +v -0.647146 1.266197 -1.320643 +v -0.138266 0.680932 -1.320643 +v -0.621611 1.240715 -1.218804 +v -0.519857 0.833600 -1.320643 +v -0.087362 0.502781 -1.040774 +v -0.647146 0.757303 -1.040774 +v -0.087362 0.731821 -1.269709 +f 839 836 841 +f 833 834 835 +f 833 835 838 +f 835 836 838 +f 836 833 838 +f 834 833 839 +f 833 836 839 +f 832 837 839 +f 839 837 840 +f 835 834 840 +f 837 835 840 +f 834 839 840 +f 836 835 841 +f 837 832 841 +f 835 837 841 +f 832 839 841 +o convex_68 +v 0.421637 1.062490 -1.244244 +v -0.087307 0.502781 -1.091656 +v -0.036343 0.502781 -1.091656 +v -0.010936 0.706488 -1.320574 +v 0.421637 0.502781 -1.015327 +v 0.396180 1.240715 -1.193370 +v 0.294351 0.833600 -1.320574 +v -0.010936 0.528263 -1.015327 +v -0.087307 0.757303 -1.320574 +v 0.370673 1.266197 -1.320574 +v 0.421637 0.528263 -0.964382 +v -0.087307 0.528263 -1.040781 +f 850 843 853 +f 844 843 845 +f 843 844 846 +f 844 845 846 +f 842 846 848 +f 846 845 848 +f 843 846 849 +f 845 843 850 +f 848 845 850 +f 848 850 851 +f 847 842 851 +f 842 848 851 +f 850 847 851 +f 846 842 852 +f 842 847 852 +f 849 846 852 +f 847 849 852 +f 843 849 853 +f 849 847 853 +f 847 850 853 +o convex_69 +v -0.189156 2.080466 -0.964459 +v -0.876171 1.826001 -0.964459 +v -0.647086 1.266290 -1.320601 +v -0.214583 1.826001 -1.320601 +v -0.876171 2.207652 -0.913563 +v -0.061860 1.978717 -0.989907 +v -0.061860 2.207652 -1.015354 +v -0.545217 1.698815 -1.320601 +v -0.621579 1.291727 -1.218767 +v -0.061860 1.826001 -1.193362 +v -0.799809 1.826001 -0.939011 +v -0.723448 2.207652 -0.888073 +f 864 859 865 +f 856 855 858 +f 857 858 860 +f 854 859 860 +f 857 856 861 +f 858 857 861 +f 856 858 861 +f 855 856 862 +f 859 862 863 +f 856 857 863 +f 857 860 863 +f 860 859 863 +f 862 856 863 +f 858 855 864 +f 855 862 864 +f 862 859 864 +f 859 854 865 +f 854 860 865 +f 860 858 865 +f 858 864 865 +o convex_70 +v 0.345191 1.291680 -1.320643 +v 0.421637 1.826036 -0.989830 +v 0.421637 1.826036 -1.040766 +v -0.138202 1.826036 -1.320643 +v -0.112720 1.800554 -1.167930 +v 0.268909 1.698735 -1.320643 +v 0.396100 1.291680 -1.193382 +v 0.396100 1.342644 -1.320643 +f 868 872 873 +f 867 868 869 +f 869 866 870 +f 867 869 870 +f 869 868 871 +f 866 869 871 +f 868 867 872 +f 870 866 872 +f 867 870 872 +f 866 871 873 +f 871 868 873 +f 872 866 873 +o convex_71 +v -0.163649 0.680912 1.173141 +v -0.723487 0.502781 0.918753 +v -0.545277 0.502781 0.918753 +v -0.723487 1.215303 1.173141 +v -0.545277 0.782810 1.351271 +v -0.163649 0.680912 1.351271 +v -0.189131 0.528238 0.969648 +v -0.697951 1.215303 1.351271 +v -0.697951 0.833724 0.969648 +v -0.163649 0.502781 1.045989 +v -0.647096 1.215303 1.249482 +f 881 879 884 +f 878 875 879 +f 877 875 881 +f 875 878 881 +f 878 879 881 +f 876 875 882 +f 875 877 882 +f 880 876 882 +f 877 880 882 +f 875 876 883 +f 879 875 883 +f 874 879 883 +f 876 880 883 +f 880 874 883 +f 879 874 884 +f 880 877 884 +f 874 880 884 +f 877 881 884 +o convex_72 +v 0.243541 1.215303 2.776357 +v 0.243541 0.502781 0.944158 +v 0.243541 0.528238 0.944158 +v 0.421637 1.189846 1.733280 +v 0.421637 0.502781 0.969625 +v 0.396165 1.215303 1.224297 +v 0.243541 0.833724 1.224297 +v 0.268978 1.113474 2.699955 +v 0.243541 0.859042 2.139858 +v 0.294416 1.189846 2.750710 +v 0.421637 1.113474 1.147895 +v 0.396165 1.215303 2.038348 +f 894 889 896 +f 887 886 885 +f 886 887 889 +f 887 885 891 +f 890 887 891 +f 885 890 891 +f 889 892 893 +f 885 886 893 +f 886 889 893 +f 892 885 893 +f 885 892 894 +f 892 889 894 +f 888 889 895 +f 889 887 895 +f 887 890 895 +f 890 888 895 +f 889 888 896 +f 890 885 896 +f 888 890 896 +f 885 894 896 +o convex_73 +v -0.723487 1.368031 1.224087 +v -0.163649 1.291704 2.979934 +v -0.189131 1.291704 2.979934 +v -0.189131 1.597011 2.750870 +v -0.494423 1.266262 2.750870 +v -0.672578 1.215340 1.224087 +v -0.723487 1.597011 1.122428 +v -0.570759 1.571494 1.224087 +v -0.494423 1.597011 2.216449 +v -0.163649 1.215340 2.929010 +v -0.163649 1.597011 2.623654 +v -0.621614 1.215340 2.063676 +v -0.392714 1.546052 2.623654 +v -0.468995 1.215340 2.801794 +f 908 906 910 +f 899 898 900 +f 902 897 903 +f 902 903 904 +f 903 901 905 +f 900 903 905 +f 898 899 906 +f 902 904 906 +f 906 904 907 +f 900 898 907 +f 903 900 907 +f 904 903 907 +f 898 906 907 +f 897 902 908 +f 903 897 908 +f 901 903 908 +f 902 906 908 +f 899 900 909 +f 901 899 909 +f 900 905 909 +f 905 901 909 +f 899 901 910 +f 906 899 910 +f 901 908 910 +o convex_74 +v -0.697951 1.622501 1.020751 +v -0.163649 1.622501 2.699848 +v -0.189131 1.622501 2.699848 +v -0.240040 1.826036 1.224339 +v -0.723487 1.826036 1.020751 +v -0.189131 1.749679 1.224339 +v -0.519850 1.597011 2.089086 +v -0.163649 1.597011 2.470729 +v -0.570759 1.597011 1.224339 +v -0.163649 1.749679 1.987292 +v -0.163649 1.826036 1.173442 +v -0.723487 1.597011 1.097013 +f 911 919 922 +f 913 915 917 +f 912 913 918 +f 913 917 918 +f 918 917 919 +f 911 916 919 +f 916 918 919 +f 913 912 920 +f 914 915 920 +f 915 913 920 +f 912 918 920 +f 920 918 921 +f 911 915 921 +f 915 914 921 +f 916 911 921 +f 918 916 921 +f 914 920 921 +f 915 911 922 +f 917 915 922 +f 919 917 922 +o convex_75 +v 0.294418 1.825976 1.046184 +v 0.396172 1.215423 1.249704 +v 0.370722 1.291757 1.249704 +v 0.294418 1.266292 2.750733 +v 0.421607 1.825976 0.969797 +v 0.421607 1.215423 1.758593 +v 0.268969 1.215423 2.521750 +v 0.268969 1.800512 0.969797 +v 0.268969 1.546044 2.012861 +v 0.268969 1.622379 1.173317 +v 0.421607 1.266292 1.173317 +f 930 927 933 +f 927 926 928 +f 928 926 929 +f 925 924 929 +f 924 928 929 +f 923 927 930 +f 930 929 931 +f 927 923 931 +f 926 927 931 +f 929 926 931 +f 923 930 931 +f 924 925 932 +f 925 929 932 +f 930 924 932 +f 929 930 932 +f 928 924 933 +f 927 928 933 +f 924 930 933 +o convex_76 +v 0.167145 1.189841 2.852532 +v -0.163649 0.731806 1.987494 +v -0.163649 0.782730 1.987494 +v 0.243506 0.859070 1.987494 +v -0.036393 0.859070 2.776250 +v -0.163649 1.215303 2.903488 +v 0.218039 1.062577 2.343884 +v 0.218039 0.986238 2.623584 +v -0.163649 0.884532 2.750823 +v -0.061860 1.189841 3.030727 +v 0.243506 1.215303 2.725293 +v 0.243506 0.833607 2.089407 +v -0.036393 0.731806 2.038552 +f 945 938 946 +f 935 936 937 +f 936 935 939 +f 937 936 940 +f 936 939 940 +f 934 938 941 +f 935 938 942 +f 939 935 942 +f 939 942 943 +f 938 934 943 +f 942 938 943 +f 940 939 944 +f 937 940 944 +f 934 941 944 +f 939 943 944 +f 943 934 944 +f 941 938 945 +f 937 944 945 +f 944 941 945 +f 935 937 946 +f 938 935 946 +f 937 945 946 +o convex_77 +v -0.112794 3.377987 -0.964360 +v -0.876171 2.207744 -0.913460 +v -0.774382 2.207744 -0.938895 +v -0.061860 3.709099 -0.735417 +v -0.061860 2.207744 -0.989795 +v -0.876171 3.276350 -0.760852 +v -0.850664 2.284180 -0.862621 +v -0.163649 3.149012 -1.015229 +v -0.189156 3.912707 -0.760852 +v -0.061860 2.335082 -1.040694 +v -0.876171 3.149012 -0.735417 +v -0.240010 3.250815 -0.989795 +v -0.850664 2.437053 -0.913460 +v -0.061860 3.276350 -0.989795 +v -0.876171 3.225448 -0.786287 +v -0.189156 2.462420 -1.040694 +f 954 956 962 +f 948 949 951 +f 951 950 953 +f 948 951 953 +f 950 951 956 +f 951 949 956 +f 952 948 957 +f 953 950 957 +f 948 953 957 +f 950 955 957 +f 955 952 957 +f 955 947 958 +f 949 948 959 +f 954 949 959 +f 958 954 959 +f 947 955 960 +f 955 950 960 +f 950 956 960 +f 956 954 960 +f 954 958 960 +f 958 947 960 +f 948 952 961 +f 952 955 961 +f 955 958 961 +f 959 948 961 +f 958 959 961 +f 949 954 962 +f 956 949 962 +o convex_78 +v -0.290945 4.218013 0.002611 +v -0.876171 3.225632 -0.735357 +v -0.876171 3.225632 -0.709858 +v -0.061860 3.759983 -0.735357 +v -0.570804 3.861712 -0.608004 +v -0.876171 3.963640 0.002611 +v -0.061860 4.141691 -0.022888 +v -0.214583 4.014455 -0.684431 +v -0.850664 3.581933 -0.277378 +v -0.876171 3.912726 -0.175524 +v -0.876171 3.327560 -0.735357 +v -0.061860 3.989048 -0.658859 +v -0.061860 4.218013 -0.022888 +v -0.214583 3.963640 -0.735357 +v -0.774382 3.709169 -0.582577 +v -0.850664 3.225632 -0.709858 +v -0.850664 3.912726 0.002611 +f 971 969 979 +f 964 965 968 +f 968 965 971 +f 964 968 972 +f 968 963 972 +f 963 970 972 +f 970 967 972 +f 966 964 973 +f 964 972 973 +f 969 966 974 +f 974 970 975 +f 963 969 975 +f 970 963 975 +f 969 974 975 +f 967 970 976 +f 966 973 976 +f 973 967 976 +f 974 966 976 +f 970 974 976 +f 972 967 977 +f 967 973 977 +f 973 972 977 +f 965 964 978 +f 964 966 978 +f 966 969 978 +f 971 965 978 +f 969 971 978 +f 963 968 979 +f 969 963 979 +f 968 971 979 +o convex_79 +v -0.647146 1.317030 -1.320785 +v -0.469035 0.960878 -2.236623 +v -0.443568 0.960878 -2.236623 +v -0.443568 1.444281 -2.643646 +v -0.519930 1.266158 -2.745438 +v -0.519930 1.037257 -1.320785 +v -0.570784 1.444281 -1.320785 +v -0.570784 0.986338 -1.346339 +v -0.621699 1.291570 -2.007912 +v -0.570784 1.444281 -2.083865 +v -0.494463 0.986338 -1.448131 +v -0.443568 1.240698 -2.771134 +v -0.443568 1.444281 -2.516443 +f 986 990 992 +f 980 985 986 +f 981 982 987 +f 985 980 987 +f 984 981 988 +f 981 987 988 +f 987 980 988 +f 983 984 989 +f 986 983 989 +f 980 986 989 +f 984 988 989 +f 988 980 989 +f 986 985 990 +f 987 982 990 +f 985 987 990 +f 982 981 991 +f 983 982 991 +f 984 983 991 +f 981 984 991 +f 982 983 992 +f 983 986 992 +f 990 982 992 +o convex_80 +v -2.072189 -2.958188 -0.938869 +v 0.930581 -2.729014 -0.913453 +v 0.930581 -2.754496 -0.887972 +v 0.930581 -3.467008 -0.709926 +v -2.072189 -3.543290 -0.659028 +v -2.020752 -2.729014 -0.938869 +v -2.072189 -3.517807 -0.760792 +v 0.930581 -3.441526 -0.659028 +v 0.930581 -2.779978 -0.938869 +v -2.072189 -2.729014 -0.989800 +v -0.646932 -3.467008 -0.659028 +v -0.901473 -2.830942 -0.964318 +v -1.003173 -3.467008 -0.760792 +v -1.613955 -3.568772 -0.684510 +v 0.523196 -2.754496 -0.887972 +v -1.868497 -3.517807 -0.659028 +f 1007 998 1008 +f 994 995 996 +f 997 993 999 +f 996 995 1000 +f 994 996 1001 +f 993 997 1002 +f 997 998 1002 +f 998 994 1002 +f 994 1001 1002 +f 997 1000 1003 +f 999 993 1004 +f 993 1002 1004 +f 1002 1001 1004 +f 996 999 1005 +f 1001 996 1005 +f 999 1004 1005 +f 1004 1001 1005 +f 999 996 1006 +f 997 999 1006 +f 996 1000 1006 +f 1000 997 1006 +f 995 994 1007 +f 994 998 1007 +f 1000 995 1007 +f 1003 1000 1007 +f 1003 1007 1008 +f 998 997 1008 +f 997 1003 1008 +o convex_81 +v -0.214670 4.243488 0.053581 +v -0.901618 3.938186 0.002679 +v -0.901618 3.912739 0.028163 +v -0.367234 3.938186 0.689619 +v -0.061860 4.116252 0.104482 +v -0.061860 3.938186 0.638717 +v -0.876136 3.989081 0.053581 +v -0.189106 4.039975 0.664134 +v -0.061860 4.218040 0.002679 +f 1009 1016 1017 +f 1011 1010 1013 +f 1011 1013 1014 +f 1012 1011 1014 +f 1009 1010 1015 +f 1010 1011 1015 +f 1011 1012 1015 +f 1015 1012 1016 +f 1012 1014 1016 +f 1009 1015 1016 +f 1016 1014 1017 +f 1010 1009 1017 +f 1013 1010 1017 +f 1014 1013 1017 +o convex_82 +v -0.061860 3.785190 0.791536 +v -0.901618 1.826250 0.893197 +v -0.876136 1.826250 0.893197 +v -0.112824 3.301935 0.995020 +v -0.061860 1.953490 0.969572 +v -0.901618 3.301935 0.689746 +v -0.748808 1.877232 1.020500 +v -0.061860 3.861448 0.689746 +v -0.901618 3.225677 0.791536 +v -0.214670 3.988688 0.740641 +v -0.061860 1.928214 1.020500 +v -0.876136 3.123927 0.689746 +v -0.291117 3.250953 0.969540 +v -0.061860 2.538495 1.020500 +v -0.876136 1.826250 0.969572 +v -0.291117 3.963412 0.689746 +f 1026 1027 1033 +f 1018 1022 1025 +f 1023 1019 1026 +f 1021 1018 1027 +f 1018 1025 1027 +f 1022 1018 1028 +f 1020 1022 1028 +f 1020 1019 1029 +f 1022 1020 1029 +f 1019 1023 1029 +f 1025 1022 1029 +f 1023 1025 1029 +f 1024 1021 1030 +f 1026 1024 1030 +f 1021 1027 1030 +f 1027 1026 1030 +f 1018 1021 1031 +f 1021 1024 1031 +f 1028 1018 1031 +f 1024 1028 1031 +f 1019 1020 1032 +f 1026 1019 1032 +f 1024 1026 1032 +f 1020 1028 1032 +f 1028 1024 1032 +f 1025 1023 1033 +f 1023 1026 1033 +f 1027 1025 1033 +o convex_83 +v -1.181597 0.248309 0.664169 +v -2.784711 0.019284 -0.048283 +v -2.784711 0.044752 -0.048283 +v -2.148471 -0.031590 0.715133 +v -2.402903 -0.057057 0.282536 +v -1.995748 0.222842 -0.048283 +v -1.461536 0.248309 0.587872 +v -2.122805 0.248309 -0.022801 +v -2.021096 0.044752 0.715133 +v -1.995748 -0.057057 0.689651 +v -1.156090 0.222842 0.689651 +v -2.784711 -0.057057 0.180757 +v -2.682842 0.095626 -0.022801 +f 1045 1042 1046 +f 1038 1035 1039 +f 1035 1036 1039 +f 1040 1034 1041 +f 1034 1039 1041 +f 1039 1036 1041 +f 1034 1040 1042 +f 1043 1038 1044 +f 1038 1039 1044 +f 1039 1034 1044 +f 1042 1037 1044 +f 1034 1042 1044 +f 1037 1043 1044 +f 1036 1035 1045 +f 1035 1038 1045 +f 1037 1042 1045 +f 1043 1037 1045 +f 1038 1043 1045 +f 1040 1041 1046 +f 1041 1036 1046 +f 1042 1040 1046 +f 1036 1045 1046 +o convex_84 +v 0.676109 2.614822 -0.811736 +v -0.061860 1.826113 -1.193370 +v -0.061860 1.826113 -1.142448 +v 0.676109 1.826113 -0.913543 +v -0.061860 2.029718 -0.964427 +v -0.061860 2.614822 -1.015237 +v 0.472474 2.614822 -0.913543 +v 0.676109 1.953357 -0.938985 +v 0.574183 2.589342 -0.811736 +v -0.010933 1.851593 -1.193370 +v 0.650609 2.207844 -0.837216 +v -0.010933 2.614822 -0.964427 +f 1051 1055 1058 +f 1049 1048 1050 +f 1048 1049 1051 +f 1049 1050 1051 +f 1048 1051 1052 +f 1052 1047 1053 +f 1047 1050 1054 +f 1053 1047 1054 +f 1050 1048 1056 +f 1048 1052 1056 +f 1052 1053 1056 +f 1054 1050 1056 +f 1053 1054 1056 +f 1050 1047 1057 +f 1051 1050 1057 +f 1047 1055 1057 +f 1055 1051 1057 +f 1047 1052 1058 +f 1052 1051 1058 +f 1055 1047 1058 +o convex_85 +v 0.650609 3.327334 -0.684533 +v -0.061860 2.614900 -1.015277 +v 0.014566 2.614900 -1.015277 +v -0.061860 3.912515 -0.709940 +v 0.650609 2.996792 -0.633569 +v -0.036361 3.225822 -0.989795 +v 0.676109 2.614900 -0.837089 +v -0.061860 3.912515 -0.633569 +v 0.625182 3.301857 -0.760867 +v -0.010933 2.614900 -0.964313 +v 0.497973 3.581709 -0.633569 +v 0.650609 2.614900 -0.786274 +v 0.523328 2.691463 -0.887978 +f 1067 1065 1071 +f 1061 1060 1064 +f 1060 1062 1064 +f 1060 1061 1065 +f 1059 1063 1065 +f 1062 1060 1066 +f 1064 1062 1067 +f 1059 1065 1067 +f 1060 1065 1068 +f 1066 1060 1068 +f 1063 1066 1068 +f 1063 1059 1069 +f 1062 1066 1069 +f 1066 1063 1069 +f 1059 1067 1069 +f 1067 1062 1069 +f 1065 1063 1070 +f 1068 1065 1070 +f 1063 1068 1070 +f 1061 1064 1071 +f 1065 1061 1071 +f 1064 1067 1071 +o convex_86 +v 0.039934 4.192559 -0.022846 +v 0.421634 3.556510 -0.633569 +v 0.472531 3.556510 -0.633569 +v -0.061860 3.988961 -0.633569 +v 0.472531 4.065310 -0.048298 +v -0.061860 4.167109 0.028059 +v 0.421634 3.861907 -0.506308 +v 0.370737 4.039861 0.028059 +v -0.061860 3.938062 -0.582664 +v 0.218047 3.683759 -0.608116 +f 1080 1075 1081 +f 1074 1073 1075 +f 1075 1072 1076 +f 1072 1075 1077 +f 1074 1075 1078 +f 1075 1076 1078 +f 1076 1074 1078 +f 1073 1074 1079 +f 1076 1072 1079 +f 1074 1076 1079 +f 1077 1073 1079 +f 1072 1077 1079 +f 1077 1075 1080 +f 1077 1080 1081 +f 1075 1073 1081 +f 1073 1077 1081 +o convex_87 +v -1.893825 0.070097 0.715133 +v -0.265612 0.248309 0.969579 +v -0.265612 0.248309 0.944143 +v -0.265612 -0.795026 0.995014 +v -2.046742 -0.693205 0.969549 +v -1.130807 0.222777 0.715133 +v -1.995653 -0.133444 0.715133 +v -1.156090 0.248309 0.842431 +v -2.046742 -0.795026 0.944113 +v -0.596381 -0.769494 1.020480 +v -0.291069 -0.744065 0.969579 +v -2.046742 -0.031622 0.740629 +v -0.265612 -0.438703 0.944143 +v -1.410487 -0.795026 0.944113 +v -0.367441 0.248309 0.969579 +v -1.995653 -0.642243 0.969549 +f 1096 1089 1097 +f 1084 1083 1085 +f 1082 1087 1088 +f 1083 1084 1089 +f 1087 1082 1089 +f 1084 1087 1089 +f 1085 1083 1091 +f 1090 1085 1091 +f 1086 1090 1091 +f 1088 1087 1092 +f 1082 1088 1093 +f 1089 1082 1093 +f 1090 1086 1093 +f 1088 1090 1093 +f 1084 1085 1094 +f 1087 1084 1094 +f 1085 1092 1094 +f 1092 1087 1094 +f 1085 1090 1095 +f 1090 1088 1095 +f 1092 1085 1095 +f 1088 1092 1095 +f 1083 1089 1096 +f 1091 1083 1096 +f 1091 1096 1097 +f 1086 1091 1097 +f 1089 1093 1097 +f 1093 1086 1097 +o convex_88 +v 0.625147 3.327312 0.689696 +v -0.061793 1.927934 0.969550 +v -0.036308 1.978779 0.944128 +v -0.061793 3.963601 0.664239 +v -0.036308 3.276676 0.969585 +v 0.625147 1.826036 0.867792 +v 0.472442 1.851563 0.969550 +v 0.599663 3.174568 0.664239 +v 0.599663 3.276676 0.740610 +v 0.141747 1.826036 1.020500 +v -0.036308 3.963601 0.715188 +v 0.523276 2.131522 0.816982 +v -0.061793 3.098197 0.995043 +v 0.625147 1.877090 0.918636 +v -0.061793 3.887230 0.664239 +v -0.061793 1.927934 1.020500 +f 1107 1110 1113 +f 1099 1100 1103 +f 1101 1098 1105 +f 1098 1103 1105 +f 1099 1103 1107 +f 1103 1104 1107 +f 1098 1101 1108 +f 1106 1098 1108 +f 1102 1106 1108 +f 1103 1100 1109 +f 1105 1103 1109 +f 1101 1099 1110 +f 1104 1102 1110 +f 1107 1104 1110 +f 1108 1101 1110 +f 1102 1108 1110 +f 1103 1098 1111 +f 1104 1103 1111 +f 1102 1104 1111 +f 1098 1106 1111 +f 1106 1102 1111 +f 1100 1099 1112 +f 1099 1101 1112 +f 1101 1105 1112 +f 1109 1100 1112 +f 1105 1109 1112 +f 1099 1107 1113 +f 1110 1099 1113 +o convex_89 +v -0.163649 1.495165 2.852576 +v 0.268954 1.266247 2.776183 +v 0.268954 1.215303 2.776183 +v 0.243504 1.571529 1.809602 +v -0.163649 1.215303 2.928851 +v 0.065314 1.571529 2.674443 +v -0.036400 1.266247 3.030709 +v -0.163649 1.571529 2.725373 +v 0.243504 1.342577 2.267488 +v 0.268954 1.571529 2.089474 +f 1117 1119 1123 +f 1116 1115 1120 +f 1114 1118 1120 +f 1118 1116 1120 +f 1115 1119 1120 +f 1119 1114 1120 +f 1118 1114 1121 +f 1117 1118 1121 +f 1114 1119 1121 +f 1119 1117 1121 +f 1117 1116 1122 +f 1118 1117 1122 +f 1116 1118 1122 +f 1115 1116 1123 +f 1116 1117 1123 +f 1119 1115 1123 +o convex_90 +v 2.559005 -0.591448 0.842354 +v 1.134415 0.248309 0.740605 +v 1.465151 0.146463 0.740605 +v 1.058051 0.222827 0.893264 +v 2.635544 -0.235028 0.766043 +v 1.820994 -0.438720 0.867791 +v 2.609915 -0.413238 0.715151 +v 1.007142 0.222827 0.715151 +v 2.304458 -0.464120 0.893264 +v 0.854414 0.222827 0.893264 +v 2.609915 -0.591448 0.766043 +v 2.584460 -0.209711 0.715151 +v 2.228094 -0.591448 0.893264 +f 1129 1134 1136 +f 1126 1125 1127 +f 1126 1127 1128 +f 1124 1128 1132 +f 1128 1127 1132 +f 1127 1125 1133 +f 1131 1129 1133 +f 1125 1131 1133 +f 1132 1127 1133 +f 1128 1124 1134 +f 1130 1128 1134 +f 1129 1131 1134 +f 1131 1130 1134 +f 1125 1126 1135 +f 1126 1128 1135 +f 1128 1130 1135 +f 1130 1131 1135 +f 1131 1125 1135 +f 1124 1132 1136 +f 1133 1129 1136 +f 1132 1133 1136 +f 1134 1124 1136 +o convex_91 +v -2.886500 -2.194593 -0.709858 +v -3.090028 -0.744132 0.002611 +v -3.115525 -0.744132 0.002611 +v -3.064620 -2.270964 0.002611 +v -2.861063 -0.744132 -0.684431 +v -2.810158 -2.270964 -0.709858 +v -2.911997 -0.744132 -0.709858 +v -3.115525 -1.711106 -0.048315 +v -3.064620 -1.049618 0.002611 +v -3.090028 -2.270964 -0.073815 +v -3.115525 -0.744132 -0.073815 +f 1143 1144 1147 +f 1138 1139 1140 +f 1139 1138 1141 +f 1142 1137 1143 +f 1139 1141 1143 +f 1141 1142 1143 +f 1140 1139 1144 +f 1143 1137 1144 +f 1138 1140 1145 +f 1141 1138 1145 +f 1142 1141 1145 +f 1140 1142 1145 +f 1142 1140 1146 +f 1137 1142 1146 +f 1140 1144 1146 +f 1144 1137 1146 +f 1139 1143 1147 +f 1144 1139 1147 +o convex_92 +v -2.937408 -0.744055 -0.633504 +v -2.784689 0.044654 0.002611 +v -2.784689 0.044654 -0.099242 +v -2.224982 -0.108054 -0.709786 +v -3.064586 -0.744055 0.002611 +v -2.708242 -0.209808 -0.608004 +v -2.886501 0.019177 -0.048315 +v -2.453973 -0.438716 -0.735357 +v -2.861048 -0.616824 -0.735357 +v -3.115492 -0.693100 -0.048315 +v -2.326794 -0.082577 -0.735357 +v -2.861048 -0.744055 -0.658859 +f 1156 1155 1159 +f 1150 1149 1151 +f 1151 1149 1152 +f 1149 1150 1154 +f 1152 1149 1154 +f 1150 1153 1154 +f 1151 1152 1155 +f 1148 1154 1156 +f 1154 1153 1156 +f 1148 1152 1157 +f 1154 1148 1157 +f 1152 1154 1157 +f 1150 1151 1158 +f 1153 1150 1158 +f 1151 1155 1158 +f 1156 1153 1158 +f 1155 1156 1158 +f 1152 1148 1159 +f 1155 1152 1159 +f 1148 1156 1159 +o convex_93 +v -3.115492 -1.075025 0.002612 +v -2.784744 -0.744132 0.715063 +v -2.861093 -0.744132 0.715063 +v -2.861093 -2.270964 0.715063 +v -3.013694 -2.270964 0.078983 +v -3.064593 -0.744132 0.002612 +v -2.810193 -2.270964 0.689676 +v -3.090043 -2.270964 0.053526 +v -3.115492 -0.744132 0.028069 +v -2.784744 -0.744132 0.689676 +v -3.064593 -2.270964 0.002612 +f 1164 1167 1170 +f 1161 1162 1163 +f 1162 1161 1165 +f 1161 1163 1166 +f 1163 1164 1166 +f 1164 1163 1167 +f 1163 1162 1168 +f 1165 1160 1168 +f 1162 1165 1168 +f 1160 1167 1168 +f 1167 1163 1168 +f 1165 1161 1169 +f 1164 1165 1169 +f 1161 1166 1169 +f 1166 1164 1169 +f 1165 1164 1170 +f 1160 1165 1170 +f 1167 1160 1170 +o convex_94 +v -3.115492 -0.744132 0.002612 +v -2.784744 -0.693098 0.715063 +v -2.835643 -0.693098 0.715063 +v -2.861093 0.019210 0.002612 +v -2.784744 -0.362461 0.257113 +v -3.039143 -0.718577 0.002612 +v -2.784744 -0.006270 0.002612 +v -2.784744 -0.744132 0.689676 +v -2.784744 -0.031749 0.155355 +f 1172 1177 1179 +f 1171 1173 1174 +f 1171 1174 1176 +f 1176 1174 1177 +f 1172 1175 1177 +f 1175 1176 1177 +f 1173 1171 1178 +f 1172 1173 1178 +f 1175 1172 1178 +f 1176 1175 1178 +f 1171 1176 1178 +f 1173 1172 1179 +f 1174 1173 1179 +f 1177 1174 1179 +o convex_95 +v -0.189146 0.960784 -2.771042 +v 0.319848 0.960784 -1.320643 +v 0.268864 0.960784 -1.320643 +v -0.138162 0.706434 -1.320643 +v -0.545357 0.960784 -1.320790 +v 0.217964 0.884459 -2.083825 +v -0.494373 0.884459 -1.855194 +v -0.138162 0.782734 -2.134665 +v 0.294356 0.833609 -1.371924 +v -0.010956 0.960784 -2.719908 +v -0.163569 0.909884 -2.796168 +v -0.494373 0.833609 -1.371777 +v -0.468881 0.960784 -2.185652 +v -0.061855 0.706434 -1.371924 +v 0.243457 0.960784 -2.083825 +f 1185 1189 1194 +f 1182 1181 1180 +f 1181 1182 1183 +f 1182 1180 1184 +f 1183 1182 1184 +f 1181 1183 1188 +f 1180 1181 1189 +f 1185 1187 1190 +f 1187 1186 1190 +f 1180 1189 1190 +f 1189 1185 1190 +f 1183 1184 1191 +f 1184 1186 1191 +f 1187 1183 1191 +f 1186 1187 1191 +f 1184 1180 1192 +f 1186 1184 1192 +f 1180 1190 1192 +f 1190 1186 1192 +f 1187 1185 1193 +f 1183 1187 1193 +f 1188 1183 1193 +f 1185 1188 1193 +f 1181 1188 1194 +f 1188 1185 1194 +f 1189 1181 1194 +o convex_96 +v -2.377347 0.095579 -0.073835 +v -2.301087 -0.082472 -0.735290 +v -2.733710 -0.082472 -0.353694 +v -2.122825 0.248309 -0.099252 +v -1.130643 0.222827 -0.709806 +v -2.479188 -0.082472 -0.379112 +v -2.122825 0.019327 -0.735290 +v -2.759130 0.070226 -0.073835 +v -1.257904 0.248309 -0.735290 +v -1.995564 0.222827 -0.048350 +v -2.733710 -0.006123 -0.073835 +v -2.199246 -0.082472 -0.709806 +f 1199 1200 1206 +f 1197 1196 1200 +f 1196 1197 1201 +f 1201 1197 1202 +f 1198 1201 1202 +f 1199 1196 1203 +f 1196 1201 1203 +f 1201 1198 1203 +f 1200 1199 1204 +f 1195 1200 1204 +f 1198 1202 1204 +f 1203 1198 1204 +f 1199 1203 1204 +f 1200 1195 1205 +f 1197 1200 1205 +f 1202 1197 1205 +f 1195 1204 1205 +f 1204 1202 1205 +f 1196 1199 1206 +f 1200 1196 1206 +o convex_97 +v 2.457134 -0.158801 0.715066 +v 1.770486 0.222815 0.028126 +v 1.312458 0.222815 0.435139 +v 2.609810 -0.336976 0.689581 +v 1.159783 0.248309 0.715066 +v 2.558970 0.019259 0.053610 +v 1.897428 0.248309 0.053610 +v 2.609810 -0.082489 0.053610 +v 1.032370 0.222815 0.715066 +v 2.635387 -0.209733 0.689581 +f 1214 1212 1216 +f 1209 1208 1210 +f 1208 1209 1213 +f 1211 1207 1213 +f 1209 1211 1213 +f 1212 1208 1213 +f 1210 1208 1214 +f 1208 1212 1214 +f 1209 1210 1215 +f 1210 1207 1215 +f 1207 1211 1215 +f 1211 1209 1215 +f 1207 1210 1216 +f 1213 1207 1216 +f 1212 1213 1216 +f 1210 1214 1216 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/806/806.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/806/806.urdf new file mode 100644 index 000000000..cc9c1125c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/806/806.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/807/807.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/807/807.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/807/807.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/807/807.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/807/807.obj new file mode 100644 index 000000000..967d78660 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/807/807.obj @@ -0,0 +1,288 @@ +o convex_0 +v 1.057378 -3.489604 1.029293 +v -1.112476 -5.990001 -1.103546 +v -1.112476 -5.990001 0.992333 +v -0.965155 -1.944446 -0.956557 +v 0.983933 -6.063791 -1.066799 +v 1.057378 -1.944446 -0.956344 +v -0.965155 -1.944446 0.992333 +v 0.946995 -5.990001 1.066253 +v 1.094316 -1.944446 0.992333 +v 1.020655 -5.732743 -1.066799 +v -1.112476 -5.511776 -1.103546 +v 1.057378 -2.349687 -0.993092 +v -1.002093 -2.312590 -0.919597 +v 0.983933 -5.769437 1.066253 +v 1.094316 -2.790815 0.918839 +v 0.468957 -5.916211 1.066253 +v 1.094316 -2.055333 -0.000485 +v -0.045802 -5.989597 -1.103759 +v 0.983933 -6.063791 -0.588657 +v 0.542618 -6.063791 -1.066799 +v 0.946995 -5.106938 1.066253 +v -1.112476 -5.842824 0.955586 +v 1.020655 -5.327502 -1.066799 +v 0.983933 -5.990001 0.698141 +v -0.413457 -5.989597 1.029293 +v 1.094316 -2.790815 0.992333 +v 0.983933 -6.026694 0.293707 +v 1.057378 -2.570251 -0.993092 +v -1.002093 -5.511776 -1.103546 +f 12 18 29 +f 6 4 7 +f 7 1 9 +f 6 7 9 +f 2 3 11 +f 4 6 12 +f 11 4 12 +f 7 4 13 +f 4 11 13 +f 8 14 16 +f 6 9 17 +f 12 6 17 +f 15 10 17 +f 9 15 17 +f 10 5 18 +f 2 11 18 +f 5 10 19 +f 3 2 20 +f 2 18 20 +f 18 5 20 +f 19 3 20 +f 5 19 20 +f 1 7 21 +f 14 1 21 +f 7 16 21 +f 16 14 21 +f 3 7 22 +f 11 3 22 +f 7 13 22 +f 13 11 22 +f 12 10 23 +f 10 18 23 +f 18 12 23 +f 14 8 24 +f 7 3 25 +f 16 7 25 +f 8 16 25 +f 9 1 26 +f 1 14 26 +f 10 15 26 +f 15 9 26 +f 14 24 26 +f 24 10 26 +f 3 19 27 +f 19 10 27 +f 24 8 27 +f 10 24 27 +f 25 3 27 +f 8 25 27 +f 10 12 28 +f 17 10 28 +f 12 17 28 +f 11 12 29 +f 18 11 29 +o convex_1 +v -0.303074 -0.509923 1.066048 +v -1.112476 -0.178483 -1.029994 +v -1.075538 -0.619258 -1.029994 +v 1.020655 3.903553 -0.919611 +v 1.057378 -1.944446 -0.919611 +v -1.002093 3.903553 1.029117 +v 1.094316 3.903553 1.029322 +v 1.094316 -1.944446 0.992596 +v -0.965155 -1.944446 0.992391 +v -1.075538 3.903553 -0.956337 +v -0.965155 -1.944446 -0.956337 +v -1.038815 1.254895 1.066048 +v 0.983933 3.903553 -0.956542 +v 1.020655 -1.944446 -0.956542 +v -0.450395 1.254322 -1.029994 +v 1.094316 3.903553 0.367436 +v -1.038815 -0.178483 1.066048 +v -0.965155 3.645384 1.066048 +v 1.094316 -1.944446 0.073218 +v 1.057378 3.903553 -0.735777 +v -1.075538 3.277308 -0.993063 +v -1.112476 -0.031367 -0.698846 +v -1.038815 3.866344 0.514339 +v -1.002093 -1.907238 -0.956337 +v -0.965155 -1.686850 1.029117 +v -0.376735 0.005269 -1.029994 +v -1.112476 1.107206 -1.029994 +v 1.094316 2.947013 1.029322 +v 0.395513 0.115749 -0.993268 +v -0.891710 -0.840791 1.066048 +v 1.020655 3.130765 -0.956542 +v 0.432235 -1.318774 1.029322 +v -1.075538 3.903553 -0.772503 +v -1.002093 -1.539162 0.514339 +v -1.112476 0.189593 -0.698846 +v -1.075538 0.079113 0.293779 +v -1.002093 1.549126 -1.029994 +v -1.112476 1.071143 -0.956337 +v -0.303074 -0.657039 1.066048 +v -1.002093 -1.870602 -0.698846 +f 63 31 69 +f 33 35 36 +f 34 37 38 +f 35 33 39 +f 34 38 40 +f 39 33 42 +f 40 32 43 +f 34 40 43 +f 32 31 44 +f 33 36 45 +f 36 37 45 +f 30 41 46 +f 36 35 47 +f 30 36 47 +f 35 41 47 +f 41 30 47 +f 37 34 48 +f 45 37 48 +f 45 48 49 +f 33 45 49 +f 48 34 49 +f 39 42 50 +f 41 35 52 +f 31 32 53 +f 32 40 53 +f 40 38 53 +f 38 37 54 +f 46 38 54 +f 43 32 55 +f 44 42 55 +f 32 44 55 +f 44 31 56 +f 39 50 56 +f 31 51 56 +f 36 30 57 +f 37 36 57 +f 43 55 58 +f 55 42 58 +f 30 46 59 +f 46 54 59 +f 42 33 60 +f 34 43 60 +f 33 49 60 +f 49 34 60 +f 58 42 60 +f 43 58 60 +f 54 37 61 +f 37 57 61 +f 59 54 61 +f 35 39 62 +f 52 35 62 +f 39 56 62 +f 38 46 63 +f 51 31 63 +f 46 51 63 +f 41 52 64 +f 56 51 64 +f 46 41 65 +f 51 46 65 +f 41 64 65 +f 64 51 65 +f 42 44 66 +f 50 42 66 +f 44 56 66 +f 56 50 66 +f 52 62 67 +f 62 56 67 +f 64 52 67 +f 56 64 67 +f 57 30 68 +f 30 59 68 +f 61 57 68 +f 59 61 68 +f 31 53 69 +f 53 38 69 +f 38 63 69 +o convex_2 +v 1.057378 4.896888 1.066253 +v -1.112476 5.484971 -1.066774 +v -1.112476 5.926136 -1.066774 +v 1.094316 5.926136 -0.993279 +v 0.946995 3.903959 -0.956322 +v -1.002093 3.903754 1.029088 +v -1.075538 5.963070 1.029088 +v -1.075538 3.903754 -0.956531 +v 1.057378 5.962865 1.066253 +v 1.094316 3.903959 1.029297 +v 1.094316 5.999800 -0.993279 +v 1.057378 3.903959 -0.772585 +v -0.523840 5.963070 -1.066774 +v 1.094316 5.999800 -0.147250 +v 0.248408 5.962865 1.066044 +v -1.038815 4.455518 1.029088 +v 1.094316 5.153790 -0.956322 +v 0.468741 5.999800 -0.993070 +v -1.112476 5.889611 -0.257493 +v -1.002093 4.198001 -0.993279 +v -1.075538 5.963070 -0.220746 +v 1.094316 4.713035 1.029297 +v 1.094316 3.903959 0.330467 +v -1.075538 3.903754 -0.772585 +v -1.075538 5.742283 1.029088 +v 1.057378 4.234935 -0.956322 +v -1.038815 3.903754 0.477458 +v -1.112476 5.190724 -0.993279 +v -0.707667 5.963070 -1.066774 +v -0.523840 5.889611 -1.066774 +f 82 73 99 +f 70 75 79 +f 78 70 79 +f 79 73 80 +f 75 77 81 +f 77 74 81 +f 71 72 82 +f 80 73 82 +f 79 80 83 +f 75 70 84 +f 70 78 84 +f 83 76 84 +f 78 83 84 +f 75 84 85 +f 73 79 86 +f 76 83 87 +f 83 80 87 +f 72 71 88 +f 76 72 88 +f 71 74 89 +f 77 71 89 +f 74 77 89 +f 72 76 90 +f 76 87 90 +f 78 79 91 +f 83 78 91 +f 79 83 91 +f 79 75 92 +f 75 81 92 +f 86 79 92 +f 81 86 92 +f 77 75 93 +f 88 93 94 +f 84 76 94 +f 85 84 94 +f 76 88 94 +f 93 85 94 +f 74 73 95 +f 81 74 95 +f 73 86 95 +f 86 81 95 +f 75 85 96 +f 93 75 96 +f 85 93 96 +f 71 77 97 +f 88 71 97 +f 77 93 97 +f 93 88 97 +f 82 72 98 +f 80 82 98 +f 87 80 98 +f 72 90 98 +f 90 87 98 +f 73 74 99 +f 74 71 99 +f 71 82 99 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/807/807.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/807/807.urdf new file mode 100644 index 000000000..5d597f331 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/807/807.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/808/808.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/808/808.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/808/808.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/808/808.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/808/808.obj new file mode 100644 index 000000000..ebcfed864 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/808/808.obj @@ -0,0 +1,651 @@ +o convex_0 +v -1.943985 -3.437937 -0.491139 +v -2.233959 -2.024716 0.596252 +v -2.306509 -2.024716 0.596252 +v -1.654238 -0.792643 -0.599913 +v -1.219277 -3.401444 0.487361 +v -1.255495 -0.756151 0.487361 +v -1.183058 -3.365215 -0.527319 +v -2.306509 -0.756151 -0.563616 +v -2.342841 -3.437937 -0.599913 +v -2.306509 -3.328985 0.596252 +v -2.306509 -0.756151 0.559955 +v -1.183058 -0.756151 -0.418545 +v -1.219277 -0.756151 -0.563616 +v -1.654238 -1.082481 0.559955 +v -1.255495 -3.365215 -0.563616 +v -2.052754 -3.365215 0.596252 +v -1.219277 -1.154940 0.487361 +v -1.183058 -3.401444 -0.128519 +v -2.342841 -1.916027 -0.527319 +v -2.342841 -3.437937 -0.309888 +v -1.255495 -3.437937 0.451064 +v -1.364264 -0.756151 0.523658 +v -2.125190 -3.437937 -0.599913 +v -2.342841 -3.365215 -0.164934 +v -1.436700 -3.401444 0.523658 +v -1.183058 -2.459210 -0.563616 +v -1.183058 -0.756151 -0.273591 +v -2.342841 -2.857999 -0.599913 +v -2.270291 -3.365215 0.559955 +v -1.871548 -0.756151 0.559955 +v -2.016535 -2.386750 0.596252 +f 16 14 31 +f 2 3 10 +f 3 2 11 +f 6 8 11 +f 8 6 12 +f 8 12 13 +f 4 8 13 +f 2 10 16 +f 1 7 18 +f 7 12 18 +f 17 5 18 +f 11 8 19 +f 9 1 20 +f 19 9 20 +f 1 18 21 +f 18 5 21 +f 20 1 21 +f 6 11 22 +f 5 17 22 +f 17 6 22 +f 7 1 23 +f 1 9 23 +f 9 4 23 +f 15 7 23 +f 4 15 23 +f 10 3 24 +f 3 11 24 +f 11 19 24 +f 19 20 24 +f 20 10 24 +f 14 16 25 +f 16 21 25 +f 21 5 25 +f 5 22 25 +f 22 14 25 +f 12 7 26 +f 13 12 26 +f 4 13 26 +f 7 15 26 +f 15 4 26 +f 12 6 27 +f 6 17 27 +f 18 12 27 +f 17 18 27 +f 8 4 28 +f 4 9 28 +f 19 8 28 +f 9 19 28 +f 16 10 29 +f 10 20 29 +f 21 16 29 +f 20 21 29 +f 11 2 30 +f 2 14 30 +f 22 11 30 +f 14 22 30 +f 14 2 31 +f 2 16 31 +o convex_1 +v 1.318150 -1.118558 -0.599637 +v -0.856696 -1.191198 0.958606 +v -0.856696 -1.191198 0.994619 +v 0.629250 -3.474181 0.451128 +v -0.747912 -3.474181 -0.998458 +v -0.747912 -0.756155 -0.998458 +v 1.281747 -0.756155 1.067263 +v 1.209365 -3.329166 -0.926020 +v -0.820293 -3.365353 0.958606 +v 1.209365 -3.437727 1.031044 +v 1.245556 -0.756155 -0.998252 +v -0.856696 -0.756155 1.030838 +v -0.494151 -3.075324 -1.034677 +v 1.245556 -2.495532 1.067263 +v 0.846820 -0.792608 -1.034883 +v -0.784102 -0.756155 -0.780938 +v 1.318150 -0.756155 0.958606 +v 1.245556 -3.039137 0.958606 +v 0.738035 -3.437727 1.031044 +v -0.784102 -3.401540 0.813524 +v -0.022821 -3.437727 -0.998458 +v 0.158346 -0.756155 -1.034883 +v 1.209365 -3.437727 0.523566 +v 1.281747 -0.756155 -0.962033 +v 0.448084 -0.756155 1.067469 +v -0.784102 -3.437727 -0.237240 +v -0.856696 -0.973809 1.030838 +v 1.318150 -1.263573 -0.563418 +v 1.209365 -2.531719 -0.962033 +v -0.747912 -3.474181 -0.599842 +v 1.318150 -1.191198 0.559785 +v 1.245556 -2.749108 -0.817157 +v 1.318150 -0.756155 -0.672075 +v -0.385366 -3.474181 -0.926020 +v 1.027986 -3.365353 -0.780938 +v 0.738035 -3.365353 -0.962239 +v 0.375490 -3.437727 0.994825 +v 1.245556 -1.299760 -0.998252 +v -0.530342 -2.930309 -1.034677 +v -0.095415 -3.401540 0.994825 +v 1.281747 -1.807444 1.067263 +v 1.172962 -2.459344 1.067263 +f 56 58 73 +f 34 33 40 +f 37 38 42 +f 33 34 43 +f 38 37 43 +f 37 36 47 +f 33 43 47 +f 43 37 47 +f 42 38 48 +f 35 41 50 +f 41 45 50 +f 36 44 52 +f 37 42 53 +f 42 46 53 +f 46 44 53 +f 41 35 54 +f 39 49 54 +f 49 41 54 +f 42 48 55 +f 38 43 56 +f 40 33 57 +f 33 47 57 +f 47 36 57 +f 51 40 57 +f 34 40 58 +f 43 34 58 +f 56 43 58 +f 32 48 59 +f 36 35 61 +f 57 36 61 +f 51 57 61 +f 59 48 62 +f 49 59 62 +f 49 39 63 +f 55 32 63 +f 39 55 63 +f 32 59 63 +f 59 49 63 +f 48 32 64 +f 32 55 64 +f 55 48 64 +f 35 36 65 +f 36 52 65 +f 54 35 65 +f 54 65 66 +f 52 39 66 +f 39 54 66 +f 65 52 66 +f 44 46 67 +f 39 52 67 +f 52 44 67 +f 60 39 67 +f 35 50 68 +f 40 51 68 +f 61 35 68 +f 51 61 68 +f 46 42 69 +f 55 39 69 +f 42 55 69 +f 39 60 69 +f 67 46 69 +f 60 67 69 +f 36 37 70 +f 44 36 70 +f 37 53 70 +f 53 44 70 +f 58 40 71 +f 50 58 71 +f 68 50 71 +f 40 68 71 +f 45 41 72 +f 48 38 72 +f 41 49 72 +f 38 56 72 +f 56 45 72 +f 62 48 72 +f 49 62 72 +f 50 45 73 +f 45 56 73 +f 58 50 73 +o convex_2 +v -2.197753 0.549175 -0.853404 +v 3.239003 2.687618 1.067086 +v 3.239003 2.397455 1.067086 +v -2.705009 1.491836 1.103507 +v -2.777729 2.687618 -0.962040 +v 3.311724 0.621770 -0.962040 +v 3.166283 0.549175 0.994662 +v 3.202643 2.687618 -0.998252 +v -2.668648 2.578834 1.067295 +v -2.668648 0.621557 1.103507 +v -2.741369 0.585366 -0.962040 +v 1.281509 0.512772 -1.034673 +v 1.354229 0.512772 1.103298 +v -2.414722 0.512772 0.704757 +v -2.342598 2.687618 0.704757 +v 0.049432 2.578834 1.103716 +v 2.223896 1.636173 -1.034673 +v 3.239003 0.549175 0.958659 +v 0.556687 0.512772 -1.034673 +v -2.777729 2.651215 -0.309597 +v -2.306238 0.512772 -0.527287 +v 2.188132 1.455432 1.103298 +v 3.311724 0.585579 -0.563499 +v -2.705009 0.657960 1.067295 +v 3.130519 0.657960 -0.998252 +v 3.239003 2.687618 -0.019692 +v -0.856595 0.512772 1.067295 +v -1.617777 2.578834 1.103507 +v 2.223896 0.512772 0.704757 +v -2.777729 1.708554 -0.889616 +v 3.311724 0.875530 -0.962040 +v -2.705009 2.578834 1.031083 +v 3.275364 0.585579 0.523488 +v 2.405101 2.687618 1.067086 +v -0.747514 0.512772 -0.998461 +v 1.680280 0.585366 1.103298 +v 1.934206 0.657960 -1.034673 +v 3.239003 0.549175 0.740969 +v 3.275364 1.491623 -0.998252 +v 2.695387 2.687618 -0.998252 +v -2.741369 2.615024 0.451064 +v 0.629408 0.657960 -1.034673 +v 3.311724 0.585579 -0.635923 +v -2.777729 2.687618 -0.672344 +v -2.523803 0.549175 0.849814 +v 3.239003 0.657960 0.994662 +v 2.151771 1.636173 -1.034673 +v 0.411842 0.512772 1.103716 +f 109 95 121 +f 78 75 81 +f 85 86 87 +f 75 78 88 +f 77 83 89 +f 84 78 92 +f 85 87 92 +f 90 85 92 +f 84 74 94 +f 87 84 94 +f 92 87 94 +f 76 75 95 +f 75 89 95 +f 83 77 97 +f 84 83 97 +f 79 85 98 +f 81 75 99 +f 87 86 100 +f 82 77 101 +f 77 89 101 +f 80 86 102 +f 86 85 102 +f 91 80 102 +f 78 84 103 +f 93 78 103 +f 84 97 103 +f 97 93 103 +f 75 96 104 +f 96 79 104 +f 99 75 104 +f 77 82 105 +f 82 88 105 +f 75 76 106 +f 96 75 106 +f 91 96 106 +f 75 88 107 +f 88 82 107 +f 89 75 107 +f 82 101 107 +f 101 89 107 +f 74 84 108 +f 84 92 108 +f 94 74 108 +f 92 94 108 +f 86 80 109 +f 85 90 110 +f 98 85 110 +f 90 98 110 +f 96 91 111 +f 102 85 111 +f 91 102 111 +f 90 81 112 +f 79 98 112 +f 98 90 112 +f 81 99 112 +f 104 79 112 +f 99 104 112 +f 78 81 113 +f 81 90 113 +f 97 77 114 +f 93 97 114 +f 77 105 114 +f 105 88 114 +f 92 78 115 +f 90 92 115 +f 85 79 116 +f 79 96 116 +f 111 85 116 +f 96 111 116 +f 88 78 117 +f 78 93 117 +f 114 88 117 +f 93 114 117 +f 83 84 118 +f 84 87 118 +f 100 83 118 +f 87 100 118 +f 80 91 119 +f 76 95 119 +f 106 76 119 +f 91 106 119 +f 109 80 119 +f 95 109 119 +f 78 113 120 +f 113 90 120 +f 115 78 120 +f 90 115 120 +f 89 83 121 +f 95 89 121 +f 83 100 121 +f 100 86 121 +f 86 109 121 +o convex_3 +v 1.354593 -0.719641 -0.237308 +v 3.311518 -0.030940 0.197512 +v 3.311518 -0.610835 0.342520 +v 1.354593 -0.175947 0.342520 +v 1.354593 -0.067208 -0.346181 +v 3.347812 -0.647104 -0.237308 +v 1.463473 -0.683372 0.197512 +v 3.166539 -0.175947 -0.237308 +v 3.311518 -0.683372 0.342520 +v 1.717138 -0.030940 -0.237308 +v 1.499572 -0.683372 -0.273577 +v 1.354593 -0.284686 0.342520 +v 3.311518 -0.030940 0.088774 +v 3.347812 -0.683372 -0.056099 +v 1.427180 -0.103477 0.088774 +v 1.934509 -0.719641 -0.019830 +v 2.079488 -0.683372 0.269983 +v 1.644551 -0.175947 0.342520 +v 3.275225 -0.139746 -0.164838 +v 3.021560 -0.030940 0.197512 +v 1.354593 -0.683372 0.161244 +v 3.347812 -0.103477 0.088774 +v 1.898411 -0.067208 -0.309845 +v 1.463473 -0.103477 -0.346181 +v 2.803994 -0.683372 -0.237308 +v 1.354593 -0.067208 -0.128569 +f 136 141 147 +f 122 125 126 +f 124 125 130 +f 122 126 132 +f 125 122 133 +f 130 125 133 +f 131 123 134 +f 122 135 137 +f 135 130 137 +f 133 128 138 +f 130 133 138 +f 128 137 138 +f 137 130 138 +f 124 123 139 +f 125 124 139 +f 123 125 139 +f 127 129 140 +f 125 123 141 +f 123 131 141 +f 136 125 141 +f 133 122 142 +f 128 133 142 +f 122 137 142 +f 137 128 142 +f 123 124 143 +f 124 130 143 +f 134 123 143 +f 135 127 143 +f 130 135 143 +f 127 140 143 +f 140 134 143 +f 126 131 144 +f 131 134 144 +f 140 129 144 +f 134 140 144 +f 129 127 145 +f 132 126 145 +f 127 132 145 +f 126 144 145 +f 144 129 145 +f 122 132 146 +f 132 127 146 +f 127 135 146 +f 135 122 146 +f 126 125 147 +f 131 126 147 +f 125 136 147 +f 141 131 147 +o convex_4 +v 1.354398 -0.647104 0.197370 +v 0.158165 -0.755889 -1.034883 +v 0.158165 -0.719627 -1.034883 +v -0.856696 0.331464 1.067295 +v 1.281676 0.512772 -1.034464 +v 1.318037 0.512772 1.103507 +v -0.856696 -0.755889 1.030874 +v -0.783974 0.512772 -0.962040 +v 1.281676 -0.755889 1.067086 +v -0.747830 -0.755889 -0.998252 +v 1.281676 -0.755889 -0.962040 +v -0.856696 0.512772 1.067295 +v -0.856696 -0.647104 -0.309806 +v 1.354398 0.512772 -0.563499 +v 1.318037 -0.574456 1.103507 +v -0.783974 0.440249 -0.998252 +v 1.354398 0.512772 1.067086 +v 0.883003 -0.719627 -1.034464 +v 1.354398 -0.719627 -0.273385 +v -0.856696 -0.175827 -0.237173 +v 0.448187 0.512772 1.103507 +v 0.556837 0.512772 -1.034464 +v 1.281676 -0.647104 -0.998252 +v -0.783974 -0.139565 -0.998252 +v 1.318037 0.367725 -0.925828 +v 1.354398 -0.429658 -0.454654 +v 1.318037 -0.755889 0.994662 +v -0.856696 0.512772 0.849814 +v 1.281676 -0.031028 -1.034464 +v 1.245531 -0.574456 1.103507 +v -0.783974 -0.755889 -0.780980 +f 160 171 178 +f 149 150 152 +f 153 152 155 +f 154 149 156 +f 149 154 157 +f 156 149 158 +f 154 151 159 +f 153 155 159 +f 154 159 160 +f 152 153 161 +f 150 149 163 +f 148 161 164 +f 161 153 164 +f 153 162 164 +f 158 149 165 +f 161 148 166 +f 160 159 167 +f 155 163 167 +f 163 160 167 +f 159 151 168 +f 153 159 168 +f 162 153 168 +f 152 150 169 +f 155 152 169 +f 150 163 169 +f 163 155 169 +f 158 165 170 +f 149 157 171 +f 163 149 171 +f 160 163 171 +f 152 161 172 +f 170 172 173 +f 166 158 173 +f 161 166 173 +f 158 170 173 +f 172 161 173 +f 156 158 174 +f 162 156 174 +f 148 164 174 +f 164 162 174 +f 166 148 174 +f 158 166 174 +f 159 155 175 +f 155 167 175 +f 167 159 175 +f 149 152 176 +f 165 149 176 +f 170 165 176 +f 152 172 176 +f 172 170 176 +f 151 154 177 +f 154 156 177 +f 156 162 177 +f 168 151 177 +f 162 168 177 +f 157 154 178 +f 154 160 178 +f 171 157 178 +o convex_5 +v -2.125339 -0.321026 0.560005 +v -2.306239 -0.755888 -0.563666 +v -2.850306 -0.755888 0.269958 +v -1.255574 -0.755888 0.487410 +v -1.255574 -0.103498 -0.563666 +v -2.814008 -0.212262 -0.309916 +v -1.255574 -0.103498 0.487410 +v -0.856696 -0.647125 -0.309916 +v -2.306239 -0.103498 0.523708 +v -0.856696 -0.139774 0.342442 +v -1.255574 -0.755888 -0.563666 +v -2.234035 -0.103498 -0.563666 +v -2.306239 -0.755888 0.560005 +v -2.814008 -0.212262 0.306255 +v -0.856696 -0.176050 -0.237432 +v -0.856696 -0.574637 0.233771 +v -2.741219 -0.610849 -0.237432 +v -2.850306 -0.683337 0.378739 +v -1.327973 -0.103498 0.523708 +v -2.306239 -0.139774 0.560005 +v -1.871259 -0.755888 0.560005 +v -2.850306 -0.393513 -0.164838 +v -1.327973 -0.610849 0.523708 +v -2.306239 -0.248538 -0.563666 +v -0.856696 -0.647125 -0.019869 +v -1.182980 -0.755888 -0.418588 +v -2.306239 -0.103498 -0.527369 +v -2.850306 -0.429662 0.342442 +f 200 196 206 +f 181 180 182 +f 185 183 187 +f 183 185 188 +f 182 180 189 +f 180 183 189 +f 183 186 189 +f 183 180 190 +f 187 183 190 +f 181 182 191 +f 187 184 192 +f 186 183 193 +f 183 188 193 +f 188 186 193 +f 188 182 194 +f 186 188 194 +f 180 181 195 +f 184 180 195 +f 181 191 196 +f 185 187 197 +f 188 185 197 +f 191 179 198 +f 187 192 198 +f 196 191 198 +f 179 197 198 +f 197 187 198 +f 191 182 199 +f 179 191 199 +f 197 179 199 +f 192 184 200 +f 195 181 200 +f 184 195 200 +f 181 196 200 +f 182 188 201 +f 188 197 201 +f 199 182 201 +f 197 199 201 +f 180 184 202 +f 190 180 202 +f 184 190 202 +f 194 182 203 +f 186 194 203 +f 182 189 204 +f 189 186 204 +f 203 182 204 +f 186 203 204 +f 184 187 205 +f 190 184 205 +f 187 190 205 +f 198 192 206 +f 196 198 206 +f 192 200 206 +o convex_6 +v -1.183087 0.512772 0.559919 +v -2.233961 -0.103435 -0.563666 +v -2.233961 -0.030933 -0.563666 +v -2.342724 0.476521 0.596252 +v -1.328027 -0.103435 0.523587 +v -1.255557 0.512772 -0.563666 +v -1.219380 -0.103435 -0.491114 +v -2.306431 0.512772 -0.527333 +v -2.306431 -0.103435 0.523587 +v -2.306431 -0.103435 -0.527333 +v -1.183087 -0.103435 -0.019926 +v -2.342724 0.512772 0.596252 +v -1.146793 0.476521 0.523587 +v -1.255557 -0.103435 -0.563666 +v -1.183087 0.041569 -0.346125 +v -1.219380 -0.103435 0.378597 +v -2.052727 0.512772 -0.563666 +v -1.183087 0.512772 0.016293 +f 219 221 224 +f 207 210 211 +f 208 209 212 +f 211 208 213 +f 209 208 214 +f 207 212 214 +f 211 210 215 +f 208 211 215 +f 214 208 216 +f 210 214 216 +f 215 210 216 +f 208 215 216 +f 211 213 217 +f 210 207 218 +f 214 210 218 +f 207 214 218 +f 207 211 219 +f 208 212 220 +f 212 213 220 +f 213 208 220 +f 213 212 221 +f 217 213 221 +f 219 217 221 +f 211 217 222 +f 219 211 222 +f 217 219 222 +f 212 209 223 +f 209 214 223 +f 214 212 223 +f 212 207 224 +f 207 219 224 +f 221 212 224 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/808/808.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/808/808.urdf new file mode 100644 index 000000000..98c07ae37 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/808/808.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/809/809.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/809/809.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/809/809.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/809/809.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/809/809.obj new file mode 100644 index 000000000..2c3d50f2e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/809/809.obj @@ -0,0 +1,528 @@ +o convex_0 +v 0.588567 -4.242019 -0.489833 +v -0.552656 -4.211151 -0.582420 +v -0.583519 -4.272815 0.404491 +v 0.495980 -3.625228 0.558803 +v -0.552656 -3.625228 -0.551558 +v 0.526842 -3.625228 -0.582420 +v -0.552656 -3.625228 0.527941 +v 0.465117 -4.242019 0.589666 +v 0.588567 -4.365493 -0.551558 +v -0.583519 -4.272815 0.589666 +v 0.249195 -4.334552 -0.582420 +v 0.526842 -4.303684 0.157820 +v -0.429206 -3.625228 0.558803 +v 0.557705 -3.717906 -0.582420 +v -0.552656 -3.810295 -0.582420 +v 0.526842 -4.365493 -0.397245 +v -0.213284 -4.272815 0.589666 +v -0.583519 -4.056953 0.527941 +v 0.434255 -4.365493 -0.551558 +v 0.280057 -4.118618 0.589666 +f 13 10 20 +f 5 4 6 +f 4 5 7 +f 2 6 11 +f 1 4 12 +f 4 8 12 +f 9 1 12 +f 4 7 13 +f 7 10 13 +f 4 1 14 +f 6 4 14 +f 1 9 14 +f 11 6 14 +f 9 11 14 +f 2 3 15 +f 3 5 15 +f 6 2 15 +f 5 6 15 +f 9 12 16 +f 16 12 17 +f 8 10 17 +f 12 8 17 +f 10 16 17 +f 5 3 18 +f 7 5 18 +f 3 10 18 +f 10 7 18 +f 3 2 19 +f 10 3 19 +f 2 11 19 +f 11 9 19 +f 16 10 19 +f 9 16 19 +f 8 4 20 +f 10 8 20 +f 4 13 20 +o convex_1 +v -0.305811 4.579645 -0.273904 +v 0.156692 5.812756 0.373755 +v 0.187578 5.812756 0.342887 +v 0.187578 3.808264 0.281150 +v 0.280105 3.931889 -0.366510 +v 0.341812 5.689523 -0.181443 +v -0.244104 5.689523 -0.366510 +v -0.213284 3.808264 0.157820 +v -0.275057 5.689523 0.157820 +v -0.336764 3.808264 -0.181443 +v 0.187578 3.808264 -0.366510 +v 0.218399 3.870273 0.250353 +v -0.151577 4.024510 0.219485 +v -0.244104 5.781948 0.188689 +v 0.341812 5.566094 -0.119706 +v 0.280105 3.808264 -0.243108 +v -0.151577 5.658715 -0.366510 +v 0.125872 5.689523 0.373755 +v -0.336764 3.808264 -0.119706 +v 0.095051 3.839465 0.281150 +v -0.244104 5.411857 -0.366510 +v -0.244104 5.072575 0.188689 +v 0.125872 5.812756 0.250353 +v -0.275057 5.381049 -0.335641 +v -0.305811 3.839465 -0.212240 +v 0.280105 5.689523 -0.212240 +f 27 43 46 +f 23 22 24 +f 24 28 30 +f 24 30 31 +f 27 25 31 +f 23 24 32 +f 27 29 34 +f 26 23 35 +f 25 26 35 +f 23 32 35 +f 35 32 36 +f 24 31 36 +f 31 25 36 +f 32 24 36 +f 25 35 36 +f 25 27 37 +f 24 22 38 +f 22 34 38 +f 30 28 39 +f 29 30 39 +f 28 24 40 +f 33 28 40 +f 24 38 40 +f 38 33 40 +f 27 31 41 +f 28 33 42 +f 34 29 42 +f 33 38 42 +f 38 34 42 +f 39 28 42 +f 29 39 42 +f 22 23 43 +f 23 26 43 +f 34 22 43 +f 27 34 43 +f 29 27 44 +f 30 29 44 +f 21 30 44 +f 41 21 44 +f 27 41 44 +f 30 21 45 +f 31 30 45 +f 21 41 45 +f 41 31 45 +f 26 25 46 +f 25 37 46 +f 37 27 46 +f 43 26 46 +o convex_2 +v -0.244194 -3.039297 -0.890900 +v 0.280124 -3.255048 -1.939385 +v 0.280124 -3.285853 -1.939385 +v -0.336764 -3.501776 -3.111658 +v -0.305907 -3.532695 -0.582420 +v 0.218411 -3.532695 -0.582420 +v -0.151685 -2.977572 -2.803178 +v 0.187554 -3.008377 -0.582420 +v 0.187554 -3.470970 -2.988118 +v 0.249267 -3.070102 -2.926471 +v -0.213338 -2.946652 -0.582420 +v -0.213338 -3.039297 -2.957418 +v -0.336764 -3.409245 -3.111658 +v 0.218411 -3.008377 -0.705961 +v -0.336764 -3.532695 -1.137981 +v 0.218411 -3.532695 -1.199628 +v 0.280124 -3.100907 -2.926471 +v -0.213338 -2.946652 -1.353868 +v -0.275051 -3.193495 -0.582420 +v 0.094985 -2.977572 -0.736660 +v 0.249267 -3.470970 -0.860201 +v 0.280124 -3.224300 -2.926471 +v 0.280124 -3.070102 -2.185971 +v -0.336764 -3.532695 -1.662100 +v 0.156637 -3.409245 -3.019065 +v -0.089973 -2.946652 -0.767607 +v 0.218411 -3.008377 -1.014688 +f 60 69 73 +f 51 52 54 +f 51 54 57 +f 53 56 58 +f 58 56 59 +f 54 52 60 +f 52 51 61 +f 59 50 61 +f 50 55 62 +f 52 61 62 +f 48 49 63 +f 47 57 64 +f 53 58 64 +f 59 47 64 +f 58 59 64 +f 57 47 65 +f 51 57 65 +f 47 59 65 +f 61 51 65 +f 59 61 65 +f 57 54 66 +f 54 60 66 +f 49 48 67 +f 60 52 67 +f 52 62 67 +f 67 62 68 +f 62 55 68 +f 63 49 68 +f 49 67 68 +f 48 63 69 +f 63 56 69 +f 67 48 69 +f 60 67 69 +f 61 50 70 +f 50 62 70 +f 62 61 70 +f 55 50 71 +f 50 59 71 +f 59 56 71 +f 56 63 71 +f 68 55 71 +f 63 68 71 +f 64 57 72 +f 53 64 72 +f 66 53 72 +f 57 66 72 +f 56 53 73 +f 53 66 73 +f 66 60 73 +f 69 56 73 +o convex_3 +v -0.521782 -2.360609 -0.489815 +v 0.526878 -2.607449 0.527959 +v 0.526878 -2.915808 0.527959 +v 0.496010 -2.730651 -0.613265 +v -0.552650 -2.915808 0.497096 +v -0.552650 -2.915808 -0.489815 +v -0.521782 -2.360609 0.466234 +v 0.465141 -2.360609 -0.613265 +v 0.526878 -2.360609 0.497096 +v 0.496010 -2.915808 -0.582402 +v -0.583519 -2.360609 -0.366480 +v -0.244182 -2.915808 -0.582402 +v -0.275051 -2.761574 0.558821 +v 0.249171 -2.360609 -0.613265 +v -0.583519 -2.545766 -0.489815 +v 0.526878 -2.360609 0.250311 +v -0.120817 -2.915808 0.558821 +v -0.429285 -2.422346 0.497096 +f 86 82 91 +f 76 78 79 +f 74 80 81 +f 81 80 82 +f 75 76 82 +f 76 79 83 +f 80 74 84 +f 78 80 84 +f 77 83 85 +f 83 79 85 +f 75 82 86 +f 81 77 87 +f 74 81 87 +f 85 74 87 +f 77 85 87 +f 79 78 88 +f 78 84 88 +f 84 74 88 +f 74 85 88 +f 85 79 88 +f 77 81 89 +f 81 82 89 +f 82 76 89 +f 76 83 89 +f 83 77 89 +f 76 75 90 +f 78 76 90 +f 75 86 90 +f 86 78 90 +f 80 78 91 +f 82 80 91 +f 78 86 91 +o convex_4 +v 1.020352 3.345115 -0.859724 +v -1.046184 1.617517 1.021251 +v -1.046184 1.617517 1.052108 +v 1.020352 -2.360609 -1.014006 +v 1.020352 -1.712684 1.052108 +v -0.922758 -2.360609 -1.075930 +v -0.953615 3.808264 -1.014217 +v 1.112921 3.807660 1.021251 +v -1.015328 -2.267617 1.021251 +v -1.046184 3.746068 1.082964 +v 0.989496 3.746068 -0.921437 +v 0.989496 -2.206025 1.052108 +v 1.020352 -1.311732 -1.075719 +v 0.526860 -2.360609 0.496903 +v -0.953615 -0.724795 -1.075930 +v 1.112921 2.789578 0.651185 +v -0.460123 -2.206025 1.052108 +v -0.552692 3.808264 -1.014217 +v -1.046184 3.746068 0.712898 +v -0.398410 1.988277 1.083176 +v -0.953615 2.634994 -1.045074 +v -0.953615 -2.206025 -0.952504 +v -0.521836 -2.360609 0.435190 +v 0.650075 3.776864 -0.952293 +v 1.020352 -2.360609 -1.075719 +v 1.051209 0.569847 1.052319 +v -1.015328 -1.341924 1.052108 +v -0.984471 3.776864 -0.643940 +v 0.403435 3.684475 1.052108 +v 1.112921 3.807660 0.712898 +v 1.051209 -0.879983 -0.582227 +v -0.182415 3.808264 0.188550 +v 1.112921 2.913366 1.021251 +v -0.891902 -0.262251 -1.075930 +v 1.020352 -2.298413 -0.243017 +v -1.015328 -2.267617 0.928682 +v -1.046184 2.820978 1.082964 +v 0.465148 -2.236821 1.052108 +v 0.372578 3.808264 -0.427945 +v 1.020352 0.784815 -1.014006 +v 1.020352 3.776864 -0.582227 +v -0.953615 3.808264 -0.643940 +v 0.804357 3.808264 1.021251 +v -0.768476 3.746068 1.083176 +v -0.984471 -2.298413 0.712898 +v 0.989496 3.098747 -0.952293 +v 1.020352 3.746068 -0.828867 +v -1.046184 3.560687 0.712898 +v 0.989496 -2.236821 0.774611 +v 1.112921 3.067347 0.651185 +v -0.429267 -2.267617 1.021251 +v -0.429267 1.895889 1.083176 +f 135 128 143 +f 94 93 100 +f 93 94 101 +f 97 95 105 +f 93 101 110 +f 101 98 110 +f 103 96 111 +f 98 109 112 +f 109 104 112 +f 106 97 113 +f 97 105 114 +f 105 100 114 +f 104 109 115 +f 95 97 116 +f 111 96 117 +f 94 100 118 +f 100 108 118 +f 110 98 119 +f 112 106 119 +f 98 112 119 +f 117 99 120 +f 111 117 120 +f 99 107 121 +f 95 116 122 +f 116 104 122 +f 109 98 123 +f 107 99 124 +f 117 96 124 +f 99 117 124 +f 122 107 124 +f 97 106 125 +f 112 104 125 +f 106 112 125 +f 116 97 125 +f 104 116 125 +f 96 103 126 +f 95 122 126 +f 124 96 126 +f 122 124 126 +f 100 93 127 +f 97 100 127 +f 93 113 127 +f 113 97 127 +f 101 94 128 +f 94 118 128 +f 118 108 128 +f 105 103 129 +f 108 100 129 +f 115 109 130 +f 109 123 130 +f 102 92 131 +f 122 104 131 +f 102 115 132 +f 115 130 132 +f 130 121 132 +f 98 101 133 +f 123 98 133 +f 101 123 133 +f 99 121 134 +f 123 101 134 +f 121 130 134 +f 130 123 134 +f 120 99 135 +f 111 120 135 +f 101 128 135 +f 99 134 135 +f 134 101 135 +f 100 97 136 +f 97 114 136 +f 114 100 136 +f 115 102 137 +f 104 115 137 +f 102 131 137 +f 131 104 137 +f 92 102 138 +f 102 132 138 +f 132 121 138 +f 93 110 139 +f 113 93 139 +f 106 113 139 +f 110 119 139 +f 119 106 139 +f 105 95 140 +f 103 105 140 +f 95 126 140 +f 126 103 140 +f 121 107 141 +f 107 122 141 +f 131 92 141 +f 122 131 141 +f 92 138 141 +f 138 121 141 +f 100 105 142 +f 129 100 142 +f 105 129 142 +f 103 111 143 +f 128 108 143 +f 129 103 143 +f 108 129 143 +f 111 135 143 +o convex_5 +v -0.120790 -3.532602 0.589666 +v 0.526878 -3.563431 -0.304773 +v 0.526878 -3.625159 -0.304773 +v -0.552674 -3.625159 -0.551558 +v -0.552674 -2.915878 -0.489833 +v 0.496022 -2.915878 0.527941 +v 0.496022 -2.915878 -0.582420 +v -0.552674 -2.915878 0.497078 +v 0.496022 -3.625159 0.558803 +v -0.552674 -3.625159 0.527941 +v 0.526878 -3.625159 -0.582420 +v -0.213359 -2.946776 0.589666 +v -0.244216 -2.915878 -0.582420 +v 0.249276 -3.039264 0.589666 +v -0.305823 -3.532602 -0.582420 +v 0.526878 -3.224309 -0.582420 +v 0.310883 -3.625159 0.589666 +v -0.552674 -2.946776 -0.520695 +f 148 156 161 +f 148 149 150 +f 148 147 151 +f 149 148 151 +f 146 145 152 +f 147 146 152 +f 145 149 152 +f 151 147 153 +f 147 152 153 +f 145 146 154 +f 146 147 154 +f 149 151 155 +f 153 144 155 +f 151 153 155 +f 148 150 156 +f 150 154 156 +f 152 149 157 +f 149 155 157 +f 155 144 157 +f 154 147 158 +f 147 156 158 +f 156 154 158 +f 149 145 159 +f 150 149 159 +f 145 154 159 +f 154 150 159 +f 144 153 160 +f 153 152 160 +f 157 144 160 +f 152 157 160 +f 147 148 161 +f 156 147 161 +o convex_6 +v 0.064189 -2.946652 3.026057 +v 0.187578 -3.625228 0.589666 +v -0.120793 -3.532635 0.589666 +v -0.213386 -3.532635 2.995381 +v -0.213386 -2.946652 0.589666 +v 0.310968 -2.977605 3.057215 +v 0.249273 -3.008359 0.620582 +v 0.218426 -3.563522 2.995381 +v -0.213386 -2.946652 2.964465 +v 0.310968 -3.625228 0.589666 +v -0.182539 -3.501815 0.589666 +v 0.310968 -2.977605 2.409411 +v -0.059149 -2.946652 0.589666 +v -0.151692 -3.563522 2.656021 +v 0.310968 -3.100953 3.026057 +v -0.213386 -3.532635 2.008217 +v 0.249273 -3.625228 1.114044 +v -0.213386 -3.162593 0.589666 +v 0.156731 -2.946652 2.964465 +v 0.280121 -3.008359 1.299545 +v 0.249273 -3.440042 2.995381 +v 0.033444 -3.563522 2.995381 +f 175 178 183 +f 163 164 166 +f 162 165 167 +f 165 162 170 +f 162 166 170 +f 166 165 170 +f 163 166 171 +f 166 164 172 +f 167 171 173 +f 166 162 174 +f 171 166 174 +f 168 171 174 +f 173 168 174 +f 167 169 176 +f 171 167 176 +f 164 163 177 +f 165 166 177 +f 172 164 177 +f 163 175 177 +f 175 165 177 +f 163 171 178 +f 171 169 178 +f 175 163 178 +f 166 172 179 +f 177 166 179 +f 172 177 179 +f 162 167 180 +f 167 173 180 +f 174 162 180 +f 173 174 180 +f 171 168 181 +f 168 173 181 +f 173 171 181 +f 169 171 182 +f 176 169 182 +f 171 176 182 +f 167 165 183 +f 169 167 183 +f 165 175 183 +f 178 169 183 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/809/809.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/809/809.urdf new file mode 100644 index 000000000..3ff7014b9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/809/809.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/810/810.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/810/810.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/810/810.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/810/810.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/810/810.obj new file mode 100644 index 000000000..a3a04c5ce --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/810/810.obj @@ -0,0 +1,426 @@ +o convex_0 +v 0.306745 -5.347852 -0.349198 +v -0.204289 0.551952 1.735403 +v 0.975558 0.551952 1.735191 +v -0.833710 -5.387648 1.696011 +v -1.030457 0.551952 -0.310018 +v 0.975558 0.472360 -0.270626 +v 0.975558 -5.270015 1.577835 +v -1.030457 -5.348437 -0.428194 +v -1.069849 0.551952 1.735403 +v 1.093733 -3.617297 -0.349410 +v 1.014950 -5.348437 -0.270626 +v -1.030457 -3.774727 1.696011 +v 0.936166 -5.270015 1.696011 +v -1.069849 -4.482282 -0.388802 +v -0.283072 -4.600500 -0.428194 +v 1.014950 0.237093 1.499263 +v 0.542884 -5.426859 0.240624 +v -0.951673 -5.387648 1.656619 +v -1.030457 -2.045342 1.735403 +v 0.936166 0.551952 -0.270626 +v 1.093733 -2.712516 0.004695 +v -1.069849 -2.241398 -0.310018 +v 1.014950 -0.825117 -0.310018 +v -1.030457 -5.348437 0.240624 +v -0.518999 0.551952 -0.310018 +v 0.896986 -5.308640 1.617227 +v 0.975558 -4.836352 1.696011 +v 1.093733 -2.830734 -0.349410 +v -1.069849 -0.353414 1.735403 +v -1.030457 -4.600500 -0.428194 +v -1.069849 0.551952 1.105978 +v 0.267565 -5.426859 0.712481 +v 0.975558 -0.235780 1.735191 +v 0.896986 -5.387648 -0.191842 +v 0.228173 -5.426859 0.319408 +v -0.597571 -5.348437 -0.428194 +v 1.093733 -3.342234 -0.073877 +v 1.014950 -5.348437 -0.073877 +v 0.975558 0.551952 -0.152662 +v 0.424920 -5.387063 1.145158 +v 1.093733 -3.656508 -0.270626 +v -0.951673 -5.348437 1.696011 +v 0.779023 -5.308640 -0.310018 +v 1.014950 -0.077766 1.499263 +f 33 27 44 +f 2 3 5 +f 2 5 9 +f 2 9 19 +f 4 13 19 +f 5 3 20 +f 5 14 22 +f 14 9 22 +f 20 6 23 +f 14 8 24 +f 12 14 24 +f 8 18 24 +f 15 5 25 +f 5 20 25 +f 23 15 25 +f 20 23 25 +f 13 4 26 +f 7 13 26 +f 13 7 27 +f 10 15 28 +f 21 10 28 +f 16 21 28 +f 15 23 28 +f 23 6 28 +f 9 14 29 +f 14 12 29 +f 19 9 29 +f 12 19 29 +f 14 5 30 +f 8 14 30 +f 5 15 30 +f 15 8 30 +f 9 5 31 +f 5 22 31 +f 22 9 31 +f 4 18 32 +f 3 2 33 +f 16 3 33 +f 2 19 33 +f 19 13 33 +f 13 27 33 +f 1 11 34 +f 17 8 34 +f 26 17 34 +f 8 17 35 +f 18 8 35 +f 17 32 35 +f 32 18 35 +f 8 15 36 +f 15 10 36 +f 1 34 36 +f 34 8 36 +f 10 21 37 +f 27 7 37 +f 21 27 37 +f 7 26 38 +f 34 11 38 +f 26 34 38 +f 3 16 39 +f 20 3 39 +f 6 20 39 +f 28 6 39 +f 16 28 39 +f 26 4 40 +f 17 26 40 +f 32 17 40 +f 4 32 40 +f 11 10 41 +f 37 7 41 +f 10 37 41 +f 7 38 41 +f 38 11 41 +f 18 4 42 +f 4 19 42 +f 19 12 42 +f 12 24 42 +f 24 18 42 +f 11 1 43 +f 10 11 43 +f 1 36 43 +f 36 10 43 +f 21 16 44 +f 27 21 44 +f 16 33 44 +o convex_1 +v 2.981444 2.322107 -0.349561 +v -2.957660 2.203938 -2.434216 +v -2.957660 2.361353 -2.434216 +v -2.957660 0.670121 -0.192346 +v 3.020740 0.709582 -2.276778 +v -3.036251 2.636720 -0.310257 +v 3.060036 2.636720 -2.276778 +v 3.060036 0.591414 -0.349561 +v -2.957660 0.709582 -2.355608 +v 0.975546 2.754888 -0.153266 +v -2.918364 2.715211 -2.434216 +v 0.936250 0.551953 -0.153266 +v 2.942148 2.675965 -0.310480 +v -1.108944 2.754888 -0.153266 +v -3.114843 2.321891 -0.625133 +v -2.879068 0.670121 -2.277001 +v -1.030353 0.551953 -0.153266 +v 1.014842 2.675965 -2.355608 +v 2.942148 0.670121 -2.080260 +v 1.329208 2.754888 -0.585829 +v 0.621279 1.142148 -2.355385 +v -1.187536 2.754888 -1.529339 +v 2.902853 2.558012 -2.316305 +v -2.996955 0.788289 -2.277001 +v -2.053252 2.715211 -2.434216 +v 0.936250 0.551953 -0.271177 +v -3.114843 2.597258 -0.310257 +v -2.996955 0.788289 -0.231873 +v 2.706374 2.715211 -0.349561 +v 3.060036 0.670121 -1.686777 +v -2.957660 2.715211 -1.883518 +v -1.698986 0.709367 -2.355385 +v 2.981444 1.810619 -0.310480 +v -2.643293 0.630660 -0.349561 +v -3.036251 2.675965 -1.490036 +v 3.060036 1.063656 -0.506998 +v -1.698986 2.754888 -0.939785 +v -1.030353 0.551953 -0.310257 +v -2.918364 1.260316 -2.394912 +v 1.998445 0.906027 -2.316082 +v 3.060036 2.636720 -2.080260 +v 3.060036 1.339023 -2.276778 +v 2.509895 2.675965 -1.804688 +v 3.060036 0.591414 -0.506998 +v -1.305423 2.715427 -2.394912 +v 2.745669 0.670121 -0.310480 +v 0.739166 1.220855 -2.355385 +v -2.957660 0.670121 -2.080036 +v -3.036251 1.338808 -0.231873 +v 2.273516 0.670121 -2.119563 +v 2.981444 2.675965 -0.703963 +f 85 51 95 +f 46 47 55 +f 56 54 58 +f 58 48 61 +f 56 58 61 +f 58 54 64 +f 58 64 66 +f 62 51 67 +f 47 46 68 +f 46 53 68 +f 46 55 69 +f 65 46 69 +f 55 66 69 +f 62 67 69 +f 52 56 70 +f 56 61 70 +f 58 50 71 +f 68 48 72 +f 59 68 72 +f 54 57 73 +f 64 54 73 +f 51 52 74 +f 63 49 74 +f 49 60 76 +f 60 53 76 +f 52 45 77 +f 54 56 77 +f 57 54 77 +f 45 57 77 +f 61 48 78 +f 55 47 79 +f 47 68 79 +f 68 59 79 +f 71 50 79 +f 59 71 79 +f 50 75 79 +f 75 55 79 +f 45 52 80 +f 52 51 80 +f 50 58 81 +f 66 55 81 +f 58 66 81 +f 75 50 81 +f 55 75 81 +f 70 61 82 +f 60 70 82 +f 61 78 82 +f 53 46 83 +f 46 65 83 +f 76 53 83 +f 65 76 83 +f 67 49 84 +f 49 76 84 +f 76 65 84 +f 45 80 85 +f 80 51 85 +f 49 67 86 +f 67 51 86 +f 74 49 86 +f 51 74 86 +f 51 62 87 +f 66 64 87 +f 73 51 87 +f 64 73 87 +f 52 70 88 +f 70 63 88 +f 74 52 88 +f 63 74 88 +f 69 66 89 +f 62 69 89 +f 87 62 89 +f 66 87 89 +f 56 52 90 +f 52 77 90 +f 77 56 90 +f 65 69 91 +f 69 67 91 +f 67 84 91 +f 84 65 91 +f 53 60 92 +f 68 53 92 +f 48 68 92 +f 78 48 92 +f 60 82 92 +f 82 78 92 +f 48 58 93 +f 58 71 93 +f 71 59 93 +f 59 72 93 +f 72 48 93 +f 60 49 94 +f 49 63 94 +f 70 60 94 +f 63 70 94 +f 57 45 95 +f 73 57 95 +f 51 73 95 +f 45 85 95 +o convex_2 +v 0.582245 2.164693 1.814080 +v -1.108998 2.400814 1.263246 +v -1.108998 2.400814 1.656588 +v -1.069814 0.551953 1.105947 +v 0.975515 2.754888 -0.152827 +v 0.975515 0.551953 1.735334 +v -1.030426 0.551953 -0.152827 +v 0.936331 0.551953 -0.152827 +v -1.108998 2.754888 -0.152827 +v 0.975515 2.675965 1.774611 +v -1.069814 0.551953 1.735334 +v -1.108998 2.675965 1.617312 +v -0.479807 2.282646 1.814080 +v 0.621429 1.181394 1.814080 +v -1.108998 2.715427 1.302522 +v 0.975515 0.551953 -0.074081 +v -0.597564 1.260101 1.814080 +v 0.975515 2.754888 0.240708 +v -1.069814 1.063656 -0.152827 +v 0.975515 2.715427 1.302522 +v -1.069814 1.102686 1.735334 +v -0.951649 2.675965 1.656588 +v -1.108998 2.557797 -0.074081 +f 104 114 118 +f 98 97 99 +f 101 99 102 +f 102 100 103 +f 101 102 103 +f 97 98 104 +f 100 102 104 +f 101 100 105 +f 98 99 106 +f 99 101 106 +f 104 98 107 +f 96 105 108 +f 105 96 109 +f 101 105 109 +f 106 101 109 +f 96 108 109 +f 104 107 110 +f 100 101 111 +f 103 100 111 +f 101 103 111 +f 106 109 112 +f 109 108 112 +f 100 104 113 +f 105 100 113 +f 104 110 113 +f 102 99 114 +f 104 102 114 +f 110 105 115 +f 105 113 115 +f 113 110 115 +f 98 106 116 +f 108 98 116 +f 106 112 116 +f 112 108 116 +f 107 98 117 +f 108 105 117 +f 98 108 117 +f 105 110 117 +f 110 107 117 +f 99 97 118 +f 97 104 118 +f 114 99 118 +o convex_3 +v -0.597806 1.378130 1.932283 +v 0.621676 1.220824 3.230014 +v 0.621676 1.181363 3.230014 +v -0.479750 1.535437 3.780794 +v 0.582284 2.164770 1.814272 +v -0.519022 2.282830 3.702056 +v 0.503619 2.164770 3.741329 +v -0.479750 2.282830 1.814272 +v 0.621676 1.181363 1.814272 +v -0.361693 1.220824 3.780794 +v -0.597806 1.260070 1.814272 +v 0.503619 1.181363 3.662783 +v -0.204363 2.282830 3.702056 +v -0.519022 1.260070 3.387297 +v 0.267625 1.181363 1.814272 +v 0.424954 2.204123 1.814272 +v 0.582284 1.574898 3.662783 +v 0.582284 2.164770 2.365052 +v -0.243755 2.282830 1.814272 +v 0.621676 1.535437 1.814272 +v 0.188841 1.181363 3.702056 +v -0.519022 2.282830 3.151276 +v 0.346290 2.204123 3.702056 +v -0.283028 1.220824 1.814272 +v -0.047034 1.574898 3.780794 +v -0.479750 1.260070 3.780794 +v -0.597806 1.417484 1.814272 +v 0.542892 2.007356 3.702056 +f 135 136 146 +f 124 122 125 +f 120 121 127 +f 126 123 127 +f 126 127 129 +f 127 121 130 +f 124 125 131 +f 126 124 131 +f 124 119 132 +f 129 128 132 +f 119 129 132 +f 129 127 133 +f 127 130 133 +f 123 126 134 +f 121 120 135 +f 130 121 135 +f 125 130 135 +f 123 134 136 +f 135 120 136 +f 126 131 137 +f 134 126 137 +f 131 134 137 +f 120 127 138 +f 127 123 138 +f 136 120 138 +f 123 136 138 +f 130 128 139 +f 133 130 139 +f 124 126 140 +f 131 125 141 +f 134 131 141 +f 136 134 141 +f 125 136 141 +f 128 129 142 +f 129 133 142 +f 139 128 142 +f 133 139 142 +f 125 122 143 +f 122 128 143 +f 130 125 143 +f 128 130 143 +f 122 124 144 +f 128 122 144 +f 124 132 144 +f 132 128 144 +f 119 124 145 +f 129 119 145 +f 126 129 145 +f 124 140 145 +f 140 126 145 +f 125 135 146 +f 136 125 146 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/810/810.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/810/810.urdf new file mode 100644 index 000000000..c35fd9d8a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/810/810.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/811/811.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/811/811.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/811/811.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/811/811.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/811/811.obj new file mode 100644 index 000000000..7fcccdd48 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/811/811.obj @@ -0,0 +1,510 @@ +o convex_0 +v -0.400822 0.272977 -3.241108 +v 0.602374 0.504672 -2.006690 +v 0.525097 1.237591 -2.006690 +v 0.602374 1.160292 -3.935456 +v -0.555142 1.276139 -2.006690 +v -0.477982 1.314789 -3.935456 +v 0.563735 0.272977 -3.973978 +v -0.439343 0.272977 -2.006690 +v -0.593780 0.311627 -3.935456 +v 0.602374 1.314789 -3.511143 +v 0.602374 0.311627 -2.006690 +v -0.593780 0.813157 -2.778466 +v -0.130704 1.314789 -2.585474 +v 0.409299 0.272977 -2.006690 +v 0.602374 1.314789 -3.896935 +v -0.593780 0.658864 -3.896935 +v 0.062020 0.774609 -3.973978 +v 0.602374 0.311627 -3.163872 +v -0.593780 0.311627 -3.472429 +v -0.516503 1.314789 -3.472429 +v -0.285023 0.311627 -3.973978 +v -0.516503 0.774609 -2.006690 +v 0.602374 0.697514 -3.935456 +v -0.014905 1.276139 -2.006690 +f 10 13 24 +f 2 3 5 +f 2 5 8 +f 1 7 8 +f 7 1 9 +f 1 8 9 +f 3 2 10 +f 2 4 10 +f 4 2 11 +f 2 8 11 +f 10 6 13 +f 8 7 14 +f 7 11 14 +f 11 8 14 +f 4 6 15 +f 10 4 15 +f 6 10 15 +f 6 9 16 +f 12 5 16 +f 9 12 16 +f 6 4 17 +f 4 7 17 +f 4 11 18 +f 11 7 18 +f 9 8 19 +f 12 9 19 +f 5 13 20 +f 13 6 20 +f 16 5 20 +f 6 16 20 +f 9 6 21 +f 7 9 21 +f 6 17 21 +f 17 7 21 +f 8 5 22 +f 5 12 22 +f 19 8 22 +f 12 19 22 +f 7 4 23 +f 4 18 23 +f 18 7 23 +f 5 3 24 +f 3 10 24 +f 13 5 24 +o convex_1 +v 3.071660 1.160363 1.504699 +v 2.222841 1.391960 0.578781 +v 2.222841 1.391960 0.540259 +v 1.219936 0.234445 0.540259 +v 1.104179 1.353322 1.659136 +v 2.994425 0.311605 1.659136 +v 2.994425 0.195806 0.462982 +v 1.104179 0.273083 1.581859 +v 1.104179 1.391960 0.540259 +v 3.071660 1.353322 0.540259 +v 3.032946 1.276162 1.581859 +v 1.104179 0.273083 0.540259 +v 2.994425 0.195806 0.810260 +v 1.297172 0.234445 0.501621 +v 1.528685 0.273083 1.620498 +v 2.955903 0.465924 0.462982 +v 3.032946 1.353322 0.849016 +v 1.374407 1.353322 1.659136 +v 2.145606 0.195806 0.540259 +v 3.032946 0.465924 0.501621 +v 2.994425 0.581840 1.659136 +v 2.377119 0.311605 1.659136 +v 1.104179 1.391960 1.003219 +v 2.377119 0.273083 1.620498 +v 2.415641 0.234445 0.462982 +v 1.104179 1.160363 1.659136 +f 39 46 50 +f 32 29 33 +f 26 27 33 +f 27 26 34 +f 25 34 35 +f 28 32 36 +f 32 33 36 +f 28 36 38 +f 36 33 38 +f 32 37 39 +f 33 27 40 +f 27 34 40 +f 34 31 40 +f 34 26 41 +f 35 34 41 +f 35 41 42 +f 29 30 42 +f 41 26 42 +f 32 28 43 +f 31 37 43 +f 37 32 43 +f 28 38 43 +f 38 31 43 +f 25 30 44 +f 34 25 44 +f 31 34 44 +f 30 37 44 +f 37 31 44 +f 30 25 45 +f 25 35 45 +f 35 42 45 +f 42 30 45 +f 30 29 46 +f 39 30 46 +f 33 29 47 +f 26 33 47 +f 42 26 47 +f 29 42 47 +f 37 30 48 +f 30 39 48 +f 39 37 48 +f 31 38 49 +f 38 33 49 +f 33 40 49 +f 40 31 49 +f 29 32 50 +f 32 39 50 +f 46 29 50 +o convex_2 +v 0.602328 1.892878 -1.234452 +v -1.133979 -4.241539 -1.890536 +v -0.940983 -4.241539 -1.929061 +v 0.988101 -4.163582 -0.038823 +v -1.018093 1.623353 -0.038823 +v 1.103987 -4.202863 -1.967779 +v -1.018093 1.700101 -1.929061 +v -1.095204 -4.164186 -0.038823 +v 0.988101 1.777454 -0.038631 +v 0.949546 1.662029 -1.967779 +v -0.632320 -1.077942 -2.006304 +v 1.103987 -2.079899 -0.038631 +v -0.940983 1.854202 -0.038823 +v -1.056649 1.777454 -1.890536 +v 0.486443 1.236590 -2.006304 +v -1.095204 0.079324 -1.852011 +v 1.103987 -3.237769 -1.967779 +v 1.026657 1.237195 -0.077348 +v 0.910991 1.815526 -1.967779 +v -0.632320 1.892878 -1.543231 +v 0.447888 1.932159 -0.308885 +v 0.949546 -4.202863 -0.038823 +v -0.555210 1.275267 -2.006304 +v 0.062115 -4.241539 -1.967779 +v 1.103987 -2.658834 -0.038631 +v -1.095204 -3.623927 -0.038823 +v -1.056649 1.777454 -1.195927 +v -1.095204 -4.009481 -1.929254 +v 1.103987 -4.202863 -1.543231 +v -1.095204 -4.241539 -1.504706 +v 0.602328 0.311382 -2.006304 +v 0.988101 1.777454 -0.810483 +v -0.747987 1.892878 -0.270167 +v 0.100670 -4.202863 -0.038823 +v 0.910991 1.815526 -0.038823 +v 0.023559 1.893483 -1.581757 +v -1.056649 0.851037 -1.929254 +v 0.023559 1.932159 -0.424653 +v 0.949546 1.815526 -1.851818 +v 0.254892 -4.241539 -1.929061 +v -0.632320 0.735612 -2.006304 +v -1.018093 1.777454 -0.077348 +v 0.602328 1.815526 -1.967779 +v -1.133979 -4.202258 -1.813293 +f 76 66 94 +f 55 59 63 +f 62 56 67 +f 59 62 68 +f 62 67 68 +f 60 65 69 +f 64 63 70 +f 65 61 73 +f 69 65 73 +f 52 53 74 +f 61 56 74 +f 59 58 75 +f 56 62 75 +f 62 59 75 +f 72 54 75 +f 59 55 76 +f 58 59 76 +f 66 76 77 +f 63 64 77 +f 64 66 77 +f 53 52 78 +f 74 53 78 +f 61 74 78 +f 54 72 79 +f 75 54 79 +f 56 75 79 +f 58 52 80 +f 52 74 80 +f 56 61 81 +f 65 60 81 +f 61 65 81 +f 60 67 81 +f 67 56 81 +f 59 68 82 +f 68 67 82 +f 70 63 83 +f 63 71 83 +f 75 58 84 +f 72 75 84 +f 58 80 84 +f 80 72 84 +f 63 59 85 +f 71 63 85 +f 51 69 86 +f 71 51 86 +f 64 57 87 +f 52 66 87 +f 66 64 87 +f 78 52 87 +f 70 83 88 +f 83 71 88 +f 86 70 88 +f 71 86 88 +f 67 60 89 +f 69 51 89 +f 60 69 89 +f 51 71 89 +f 82 67 89 +f 59 82 89 +f 85 59 89 +f 71 85 89 +f 74 56 90 +f 79 72 90 +f 56 79 90 +f 72 80 90 +f 80 74 90 +f 57 73 91 +f 73 61 91 +f 61 78 91 +f 87 57 91 +f 78 87 91 +f 55 63 92 +f 76 55 92 +f 77 76 92 +f 63 77 92 +f 57 64 93 +f 64 70 93 +f 73 57 93 +f 69 73 93 +f 86 69 93 +f 70 86 93 +f 52 58 94 +f 66 52 94 +f 58 76 94 +o convex_3 +v 1.103987 -2.041577 -0.038631 +v -1.095393 -4.125223 -0.038631 +v -1.095393 -4.125223 0.038556 +v -1.056641 3.783429 -0.000015 +v 1.026698 3.900025 0.424397 +v -1.056641 -2.196245 0.424397 +v 1.065235 -2.273182 0.424397 +v -1.056641 3.783429 0.424397 +v 1.026698 3.822294 0.038556 +v 0.949410 -4.202953 -0.038631 +v 0.988162 1.776721 -0.038631 +v -0.979568 1.815586 -0.038631 +v 0.949410 -4.202953 0.038556 +v 1.103987 -2.273182 0.385781 +v 0.602366 3.900025 0.038556 +v -0.979568 -4.164088 0.038556 +v -0.632309 3.822294 -0.000015 +v 1.103987 -2.619795 -0.038631 +v 1.103987 -1.771108 0.424397 +v 0.987947 -4.125223 -0.000015 +v 1.026698 3.900025 0.077172 +v -0.825207 3.822294 0.077172 +f 109 111 116 +f 96 97 98 +f 99 100 101 +f 98 97 102 +f 97 100 102 +f 100 99 102 +f 96 95 104 +f 95 96 105 +f 103 95 105 +f 96 98 106 +f 105 96 106 +f 101 107 108 +f 97 96 110 +f 100 97 110 +f 101 100 110 +f 96 104 110 +f 107 101 110 +f 104 107 110 +f 103 105 111 +f 106 98 111 +f 105 106 111 +f 109 103 111 +f 104 95 112 +f 95 108 112 +f 99 101 113 +f 108 95 113 +f 101 108 113 +f 107 104 114 +f 108 107 114 +f 104 112 114 +f 112 108 114 +f 95 103 115 +f 109 99 115 +f 103 109 115 +f 99 113 115 +f 113 95 115 +f 98 102 116 +f 102 99 116 +f 99 109 116 +f 111 98 116 +o convex_4 +v -2.947472 0.234505 1.543240 +v -1.095393 1.391847 1.581837 +v -1.095393 1.391847 1.504643 +v -3.063154 1.276056 1.466046 +v -1.095393 0.311775 0.656039 +v -2.947472 1.314577 0.578845 +v -3.024658 0.350296 0.656039 +v -1.095393 0.388931 1.543240 +v -1.095393 1.276056 0.656039 +v -3.101845 1.237421 1.659031 +v -3.101845 1.083109 1.659031 +v -3.024658 0.311775 0.694636 +v -2.407168 1.314577 0.578845 +v -1.172580 0.350296 1.543240 +v -2.947472 1.044588 0.578845 +v -1.674192 1.276056 1.620434 +v -2.985967 0.388931 1.581837 +v -2.985967 1.314577 1.003306 +v -2.754408 0.234505 1.427449 +v -3.101845 1.237421 1.504643 +v -3.024658 0.658920 0.656039 +v -1.095393 0.311775 0.887515 +v -1.520016 1.237421 0.617442 +v -2.870090 1.276056 1.659031 +f 134 120 140 +f 119 118 121 +f 121 118 124 +f 119 121 125 +f 123 121 128 +f 127 123 128 +f 122 119 129 +f 119 125 129 +f 124 127 130 +f 121 123 131 +f 123 122 131 +f 122 129 131 +f 129 121 131 +f 124 118 132 +f 127 124 132 +f 128 117 133 +f 127 128 133 +f 117 130 133 +f 130 127 133 +f 118 119 134 +f 119 122 134 +f 122 120 134 +f 117 128 135 +f 128 121 135 +f 130 117 135 +f 120 122 136 +f 126 120 136 +f 123 127 136 +f 127 126 136 +f 122 123 137 +f 136 122 137 +f 123 136 137 +f 121 124 138 +f 124 130 138 +f 135 121 138 +f 130 135 138 +f 125 121 139 +f 121 129 139 +f 129 125 139 +f 120 126 140 +f 126 127 140 +f 132 118 140 +f 127 132 140 +f 118 134 140 +o convex_5 +v 1.065235 1.931766 2.199335 +v -1.095393 -2.196321 1.157758 +v -1.056641 -2.196321 0.424571 +v -1.056641 3.783996 0.424571 +v 1.065235 -2.273673 0.424397 +v 1.026698 3.900025 0.424397 +v -1.056641 3.783996 2.044879 +v 0.949410 -2.080292 2.160591 +v -1.095393 -2.196321 2.006135 +v 1.103987 3.783392 2.199335 +v -0.670846 0.003392 2.199335 +v 1.103987 -1.926191 0.463141 +v 1.026698 -2.157644 1.852027 +v -1.095393 1.275478 0.655994 +v 1.103987 1.391507 0.540282 +v 1.103987 0.273521 1.581859 +v -0.979568 3.436514 2.083276 +v -0.207762 -2.196321 2.083450 +v 0.795264 3.783996 2.199335 +v -1.095393 0.621003 2.006135 +v 1.103987 3.822068 2.083450 +v 1.026698 -1.269299 2.160591 +v -0.593557 0.813176 2.199335 +v -1.056641 -1.964263 2.044879 +v -0.053400 -0.498191 2.199335 +v 0.988162 -2.157644 2.122020 +v 1.065235 3.861349 0.926335 +v -1.095393 1.391507 1.581859 +v 1.103987 3.089032 2.199335 +v 0.949410 3.900025 0.463141 +v 1.103987 -1.732810 0.424397 +v -0.477948 3.822672 0.424397 +v -1.095393 0.312198 0.655994 +v 1.103987 3.822068 1.890597 +v -0.825207 3.783392 2.083450 +v 1.065235 -2.196321 1.119187 +f 156 153 176 +f 142 143 145 +f 142 145 149 +f 141 150 151 +f 144 143 154 +f 142 149 154 +f 150 152 155 +f 152 150 156 +f 149 145 158 +f 148 151 158 +f 151 150 159 +f 149 147 160 +f 154 149 160 +f 150 155 161 +f 159 150 161 +f 141 148 162 +f 153 156 162 +f 157 151 163 +f 151 159 163 +f 147 149 164 +f 157 147 164 +f 151 157 164 +f 149 158 164 +f 158 151 164 +f 148 141 165 +f 141 151 165 +f 151 148 165 +f 145 153 166 +f 158 145 166 +f 148 158 166 +f 162 148 166 +f 153 162 166 +f 155 146 167 +f 146 161 167 +f 147 144 168 +f 144 154 168 +f 160 147 168 +f 154 160 168 +f 150 141 169 +f 156 150 169 +f 141 162 169 +f 162 156 169 +f 161 146 170 +f 147 161 170 +f 145 146 171 +f 152 145 171 +f 146 155 171 +f 155 152 171 +f 143 144 172 +f 145 143 172 +f 146 145 172 +f 144 147 172 +f 170 146 172 +f 147 170 172 +f 143 142 173 +f 154 143 173 +f 142 154 173 +f 161 155 174 +f 155 167 174 +f 167 161 174 +f 147 157 175 +f 161 147 175 +f 159 161 175 +f 157 163 175 +f 163 159 175 +f 145 152 176 +f 153 145 176 +f 152 156 176 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/811/811.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/811/811.urdf new file mode 100644 index 000000000..e4736f7d1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/811/811.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/812/812.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/812/812.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/812/812.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/812/812.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/812/812.obj new file mode 100644 index 000000000..2ab9ad6f0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/812/812.obj @@ -0,0 +1,279 @@ +o convex_0 +v 0.627310 -0.932166 -1.110251 +v -0.467512 -3.195065 -0.452670 +v -0.431039 -3.195065 -0.452670 +v -1.051500 -0.968496 3.050809 +v 0.992251 -3.121739 2.977745 +v -1.051500 -1.151035 -3.044954 +v 1.028932 -3.012305 -3.008120 +v -1.015027 -3.121961 2.940307 +v 0.919304 -1.041600 2.977745 +v -1.088181 -3.085187 -3.118019 +v 0.955778 -1.041600 -3.008120 +v 0.992251 -0.931944 -0.161619 +v -0.978554 -0.932166 -1.000352 +v 0.444736 -3.158513 -0.927288 +v 1.028932 -1.297243 -1.365675 +v 0.919304 -0.932166 1.116107 +v -1.051500 -3.121961 -2.971889 +v 1.028932 -3.085409 0.166266 +v -0.029625 -3.195065 0.787014 +v 0.955778 -1.333573 2.977745 +v -1.051500 -1.443007 3.050809 +v -0.394565 -0.968718 3.050809 +v 0.992251 -3.048857 -2.935055 +v 0.700257 -1.005270 -2.788926 +v -1.088181 -2.610677 -3.118019 +v -1.051500 -3.121961 1.078668 +v -0.942080 -0.932166 1.005604 +v -0.832453 -3.158291 2.247099 +v 0.992251 -2.537794 2.977745 +v -1.051500 -1.114704 -2.935055 +v -0.686559 -3.085409 -3.118019 +v 0.189423 -3.195065 -0.234079 +v 1.028932 -2.391808 -3.008120 +v -1.015027 -2.902871 2.977745 +v 0.992251 -0.931944 -1.109647 +v -1.088181 -2.355256 -3.044954 +v 0.700257 -3.048857 -3.044954 +v 0.627310 -1.041822 3.013975 +v 0.992251 -1.041600 -2.387372 +v -0.284938 -1.114704 -3.044350 +v -1.088181 -3.085187 -2.788926 +v -1.051500 -1.698871 3.013975 +v -0.503985 -3.195065 0.896913 +v 0.444736 -1.005270 3.013975 +v 0.371790 -1.041822 -3.008120 +v 0.043115 -3.121961 2.977141 +v -1.051500 -1.078152 -2.460437 +v 0.992251 -1.443229 -3.008120 +v -0.139045 -3.085409 -3.081184 +v -0.358092 -1.041822 3.050809 +v 1.028932 -3.048857 -2.715861 +v -1.051500 -1.735202 -3.081184 +v -1.015027 -2.610677 -3.118019 +f 25 52 53 +f 9 12 16 +f 3 2 17 +f 5 14 18 +f 7 15 18 +f 2 3 19 +f 12 9 20 +f 15 12 20 +f 16 4 22 +f 4 21 22 +f 13 1 24 +f 10 17 26 +f 13 4 27 +f 12 13 27 +f 4 16 27 +f 16 12 27 +f 19 5 28 +f 8 26 28 +f 26 17 28 +f 5 18 29 +f 18 15 29 +f 15 20 29 +f 17 10 31 +f 10 25 31 +f 14 5 32 +f 3 17 32 +f 17 14 32 +f 19 3 32 +f 5 19 32 +f 15 7 33 +f 1 13 35 +f 13 12 35 +f 12 15 35 +f 11 24 35 +f 24 1 35 +f 6 25 36 +f 25 10 36 +f 30 6 36 +f 7 23 37 +f 31 11 37 +f 33 7 37 +f 20 9 38 +f 5 29 38 +f 29 20 38 +f 11 35 39 +f 35 15 39 +f 21 4 41 +f 10 26 41 +f 4 36 41 +f 36 10 41 +f 26 8 42 +f 8 34 42 +f 34 21 42 +f 21 41 42 +f 41 26 42 +f 17 2 43 +f 2 19 43 +f 28 17 43 +f 19 28 43 +f 9 16 44 +f 16 22 44 +f 38 9 44 +f 22 38 44 +f 24 11 45 +f 13 24 45 +f 6 30 45 +f 30 13 45 +f 40 6 45 +f 11 40 45 +f 5 21 46 +f 28 5 46 +f 8 28 46 +f 34 8 46 +f 21 34 46 +f 4 13 47 +f 13 30 47 +f 36 4 47 +f 30 36 47 +f 15 33 48 +f 37 11 48 +f 33 37 48 +f 39 15 48 +f 11 39 48 +f 14 17 49 +f 23 14 49 +f 17 31 49 +f 37 23 49 +f 31 37 49 +f 21 5 50 +f 22 21 50 +f 38 22 50 +f 5 38 50 +f 18 14 51 +f 7 18 51 +f 23 7 51 +f 14 23 51 +f 25 6 52 +f 6 40 52 +f 52 40 53 +f 11 31 53 +f 31 25 53 +f 40 11 53 +o convex_1 +v -1.015066 0.638004 -0.453063 +v 0.919315 -0.639039 1.116206 +v 0.882860 -0.639039 1.116206 +v -1.088181 4.944309 1.043192 +v 0.992430 5.017100 -0.964165 +v 0.992430 -0.930784 -1.110412 +v -1.015066 4.980996 -0.927767 +v -0.942155 -0.930784 1.043192 +v 0.955771 4.871519 0.933561 +v -0.978611 -0.930784 -1.000781 +v 0.955771 -0.930784 0.860546 +v 0.736834 -0.420084 -1.110412 +v 0.992430 4.980996 -0.234237 +v -1.051522 4.980996 -0.672324 +v -1.088181 4.068490 0.787314 +v -0.759471 4.944309 1.043192 +v 0.992430 -0.930784 -0.161222 +v 0.700175 -0.930784 1.116206 +v -0.759471 4.177385 -0.964165 +v 0.955771 4.250758 0.969959 +v 0.262302 5.017100 -0.964383 +v -0.978611 0.273467 -1.000781 +v 0.992430 4.105177 -1.000781 +v 0.955771 1.806151 1.043192 +v -0.248483 -0.930784 1.079590 +v 0.992430 4.944309 -0.088426 +v 0.992430 5.017100 -0.672324 +v 0.481442 4.907623 0.970177 +v -0.576989 -0.930784 -1.037398 +v -1.088181 4.798145 0.459075 +v -1.015066 2.243479 -0.964165 +v -1.051522 4.980996 -0.124606 +v -1.088181 4.250758 1.043192 +v 0.955771 -0.201129 -1.110412 +v -0.978611 -0.894680 -0.708723 +v 0.919315 -0.930784 1.116206 +v 0.955771 0.893645 1.043192 +v 0.663719 -0.930784 -1.110412 +v -1.015066 3.009820 -0.964165 +v 0.116276 5.017100 -0.891150 +v -0.540534 4.944309 1.006358 +v 0.955771 4.907623 0.714517 +f 80 81 95 +f 56 55 57 +f 59 61 63 +f 61 59 64 +f 59 58 66 +f 57 55 69 +f 64 59 70 +f 59 66 70 +f 55 56 71 +f 56 57 71 +f 61 64 71 +f 72 60 74 +f 58 59 76 +f 74 58 76 +f 69 55 77 +f 73 69 77 +f 71 57 78 +f 61 71 78 +f 66 62 79 +f 70 66 79 +f 62 73 79 +f 73 77 79 +f 66 58 80 +f 57 69 80 +f 58 74 80 +f 73 62 81 +f 69 73 81 +f 59 63 82 +f 63 75 82 +f 75 65 82 +f 57 67 83 +f 68 57 83 +f 54 68 83 +f 63 54 84 +f 75 63 84 +f 54 83 84 +f 83 67 84 +f 67 57 85 +f 57 68 86 +f 78 57 86 +f 61 78 86 +f 59 65 87 +f 65 72 87 +f 72 74 87 +f 76 59 87 +f 74 76 87 +f 54 63 88 +f 63 61 88 +f 68 54 88 +f 86 68 88 +f 61 86 88 +f 55 71 89 +f 71 64 89 +f 77 55 89 +f 77 89 90 +f 64 70 90 +f 70 79 90 +f 79 77 90 +f 89 64 90 +f 65 59 91 +f 59 82 91 +f 82 65 91 +f 67 60 92 +f 60 72 92 +f 72 65 92 +f 65 75 92 +f 84 67 92 +f 75 84 92 +f 60 67 93 +f 74 60 93 +f 57 80 93 +f 80 74 93 +f 85 57 93 +f 67 85 93 +f 80 69 94 +f 69 81 94 +f 81 80 94 +f 62 66 95 +f 66 80 95 +f 81 62 95 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/812/812.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/812/812.urdf new file mode 100644 index 000000000..e9bc0aa2d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/812/812.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/813/813.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/813/813.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/813/813.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/813/813.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/813/813.obj new file mode 100644 index 000000000..2daf49595 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/813/813.obj @@ -0,0 +1,786 @@ +o convex_0 +v -1.054380 -2.294513 -0.062464 +v 1.002895 -1.962616 0.169582 +v 0.903213 -1.962616 0.733693 +v 0.040511 -3.721255 -0.029458 +v 0.040511 -1.962616 -1.323212 +v -0.821990 -1.962616 0.932732 +v -0.058768 -3.455634 0.766699 +v 0.770505 -3.455634 -0.095721 +v -0.788763 -3.488858 -0.062464 +v -0.025742 -3.455634 -0.858621 +v -0.888243 -1.962616 -0.991397 +v 0.869986 -2.029065 -0.991397 +v 0.073738 -1.995841 1.231291 +v 0.737278 -2.759134 0.733443 +v -0.788763 -2.759306 0.733693 +v 1.002895 -2.792186 0.003549 +v 0.803733 -2.759134 -0.825364 +v -0.788763 -2.759306 -0.825614 +v -1.054380 -2.725909 -0.029458 +v 0.604570 -3.322738 0.434884 +v -1.020951 -1.962616 0.136325 +v 0.538317 -3.322738 -0.659582 +v -0.622827 -3.322910 0.501147 +v -0.091996 -1.962616 1.231291 +v 0.803733 -2.029237 0.932482 +v -0.556574 -3.289686 -0.659582 +v -0.058768 -1.995841 -1.323212 +v 0.969668 -1.962616 -0.493799 +v 0.737278 -3.455634 0.070062 +v 0.073738 -3.455634 0.733443 +v -0.921471 -1.996013 0.733693 +v -0.091996 -3.721255 -0.062464 +v 1.002895 -2.725909 -0.161984 +v 0.007485 -3.488858 -0.825364 +v -0.058768 -3.521910 0.667180 +v -0.656055 -2.759306 0.799956 +v 0.836960 -1.962616 -1.024654 +v -0.821990 -3.422410 0.003799 +v -1.020951 -2.725909 -0.194990 +v -0.954698 -1.962616 -0.759101 +v 0.803733 -2.692858 -0.858621 +v 0.040511 -2.427237 -1.190436 +v -0.788763 -2.692858 -0.858621 +v 0.737278 -3.488858 -0.095721 +v -0.058768 -2.460461 1.098515 +v 0.737278 -2.692858 0.766699 +v -0.855217 -1.996013 -1.024654 +v -0.821990 -2.294513 0.866219 +v -0.821990 -2.692858 -0.825614 +v 0.007485 -3.355962 0.799956 +v 0.007485 -3.455634 -0.858621 +v 0.007485 -3.721255 -0.128727 +v 0.803733 -1.962616 0.932732 +v 1.002895 -2.593185 0.136325 +v -0.788763 -3.455634 -0.128727 +v -0.025742 -3.488858 -0.825364 +v 1.002895 -1.962616 -0.261503 +v 0.571343 -3.223410 0.567660 +v 0.670823 -3.389186 -0.394279 +v -0.788763 -3.488858 -0.029458 +v -1.020951 -1.962616 -0.294510 +v 0.770505 -2.659634 0.733443 +v -0.091996 -1.995841 1.231291 +v 0.040511 -1.995841 -1.323212 +f 41 42 64 +f 3 2 5 +f 3 5 6 +f 6 5 11 +f 6 11 21 +f 1 19 21 +f 7 15 23 +f 3 6 24 +f 18 10 26 +f 11 5 27 +f 5 2 28 +f 8 16 29 +f 16 14 29 +f 14 20 29 +f 29 20 30 +f 4 29 30 +f 19 15 31 +f 6 21 31 +f 21 19 31 +f 2 16 33 +f 16 8 33 +f 8 17 33 +f 17 12 33 +f 12 28 33 +f 7 23 35 +f 4 30 35 +f 30 7 35 +f 32 4 35 +f 15 7 36 +f 5 28 37 +f 28 12 37 +f 15 19 38 +f 19 9 38 +f 23 15 38 +f 39 19 40 +f 19 1 40 +f 21 11 40 +f 11 39 40 +f 12 17 41 +f 37 12 41 +f 10 27 42 +f 10 18 43 +f 27 10 43 +f 29 4 44 +f 8 29 44 +f 36 7 45 +f 25 13 46 +f 30 14 46 +f 11 27 47 +f 27 43 47 +f 6 31 48 +f 31 15 48 +f 15 36 48 +f 39 11 49 +f 43 18 49 +f 11 47 49 +f 47 43 49 +f 7 30 50 +f 45 7 50 +f 13 45 50 +f 46 13 50 +f 30 46 50 +f 17 22 51 +f 34 10 51 +f 22 34 51 +f 41 17 51 +f 10 42 51 +f 42 41 51 +f 4 32 52 +f 44 4 52 +f 34 44 52 +f 3 24 53 +f 24 13 53 +f 25 3 53 +f 13 25 53 +f 2 3 54 +f 16 2 54 +f 9 19 55 +f 18 26 55 +f 19 39 55 +f 49 18 55 +f 39 49 55 +f 26 10 56 +f 32 9 56 +f 10 34 56 +f 52 32 56 +f 34 52 56 +f 9 55 56 +f 55 26 56 +f 28 2 57 +f 2 33 57 +f 33 28 57 +f 20 14 58 +f 30 20 58 +f 14 30 58 +f 17 8 59 +f 22 17 59 +f 34 22 59 +f 8 44 59 +f 44 34 59 +f 9 32 60 +f 35 23 60 +f 32 35 60 +f 38 9 60 +f 23 38 60 +f 1 21 61 +f 40 1 61 +f 21 40 61 +f 14 16 62 +f 3 25 62 +f 46 14 62 +f 25 46 62 +f 54 3 62 +f 16 54 62 +f 24 6 63 +f 13 24 63 +f 45 13 63 +f 36 45 63 +f 6 48 63 +f 48 36 63 +f 27 5 64 +f 5 37 64 +f 37 41 64 +f 42 27 64 +o convex_1 +v -0.888253 0.592461 -0.725906 +v 1.002895 1.189608 0.136276 +v 0.969609 0.924234 0.401751 +v -0.788792 1.355420 0.766839 +v -0.058882 0.592461 1.231297 +v 0.073667 1.355420 -1.024504 +v 0.803775 0.592461 -1.024748 +v 0.803775 1.355420 0.733715 +v -0.888253 0.592461 0.899333 +v -1.021198 1.355420 -0.095587 +v 0.870148 0.592461 0.899576 +v 0.737401 1.355420 -0.825520 +v -0.058882 0.592461 -1.256855 +v -0.755506 1.355420 -0.759030 +v 0.040381 1.322258 0.998946 +v 1.002895 0.592461 -0.195201 +v 1.002895 1.355420 -0.128711 +v -1.021198 0.592461 0.136276 +v -0.788792 0.658861 -0.924890 +v -1.021198 1.322258 0.136276 +v 0.040381 0.625698 1.231297 +v 0.040381 0.692023 -1.256855 +v -0.092168 1.355420 -1.024504 +v -0.855165 0.725186 0.932700 +v 0.870148 0.658861 -0.858643 +v -0.125255 1.355420 0.965823 +v -1.021198 0.592461 -0.095587 +v 1.002895 0.592461 0.136276 +v -0.058882 0.658861 -1.256855 +v 0.737401 1.189608 -0.892010 +v -0.954626 0.791585 0.634102 +v -0.821879 1.322258 0.766839 +v -0.025596 0.658861 1.231297 +v -0.788792 1.355420 -0.725906 +v 0.737401 1.355420 0.766839 +v 0.803775 0.658861 -1.024748 +v -0.821879 0.592461 -0.891767 +v 0.770489 1.322258 -0.792397 +v 0.836862 0.692023 0.899576 +v 0.936522 0.625698 0.667225 +v -0.987714 1.090046 -0.294571 +v 0.571369 1.355420 -0.892010 +v 1.002895 1.355420 0.036663 +f 81 72 107 +f 69 65 71 +f 67 66 72 +f 70 68 72 +f 65 69 73 +f 68 70 74 +f 69 71 75 +f 70 72 76 +f 71 65 77 +f 74 70 78 +f 75 71 80 +f 76 72 81 +f 66 80 81 +f 65 73 82 +f 68 74 84 +f 74 82 84 +f 69 75 85 +f 71 77 86 +f 78 70 87 +f 70 86 87 +f 73 69 88 +f 80 71 89 +f 81 80 89 +f 72 68 90 +f 65 82 91 +f 82 74 91 +f 80 66 92 +f 75 80 92 +f 77 83 93 +f 83 78 93 +f 86 77 93 +f 78 87 93 +f 87 86 93 +f 82 73 95 +f 84 82 95 +f 73 88 95 +f 95 88 96 +f 68 84 96 +f 84 95 96 +f 69 85 97 +f 85 79 97 +f 88 69 97 +f 90 68 97 +f 79 90 97 +f 96 88 97 +f 68 96 97 +f 74 78 98 +f 78 83 98 +f 79 85 99 +f 72 90 99 +f 90 79 99 +f 71 86 100 +f 89 71 100 +f 94 76 100 +f 86 94 100 +f 77 65 101 +f 83 77 101 +f 65 98 101 +f 98 83 101 +f 76 81 102 +f 81 89 102 +f 89 100 102 +f 100 76 102 +f 75 72 103 +f 85 75 103 +f 72 99 103 +f 99 85 103 +f 66 67 104 +f 67 72 104 +f 72 75 104 +f 92 66 104 +f 75 92 104 +f 65 91 105 +f 91 74 105 +f 98 65 105 +f 74 98 105 +f 70 76 106 +f 86 70 106 +f 76 94 106 +f 94 86 106 +f 72 66 107 +f 66 81 107 +o convex_2 +v 0.969668 3.279646 0.103293 +v -1.054380 1.588131 -0.029214 +v -1.054380 1.588131 0.003812 +v -0.755535 4.042891 0.003812 +v 0.073738 1.355569 -1.024826 +v 0.007284 1.355569 0.999222 +v -0.091996 3.379396 -0.991598 +v -0.125022 3.312990 1.032450 +v 0.803733 1.355569 0.733605 +v 0.737278 1.355569 -0.825462 +v 0.704051 4.009829 0.003812 +v -0.821990 3.312990 -0.725981 +v -0.821990 1.355569 0.733605 +v 0.737278 3.279646 -0.759208 +v 0.704051 3.279646 0.833086 +v -0.821990 3.346335 0.733605 +v 0.007284 4.010112 0.833287 +v -0.755535 1.355569 -0.759208 +v 0.007284 4.010112 -0.725981 +v 1.002895 1.355569 -0.128695 +v -1.054380 3.312990 0.036838 +v 0.040511 4.242391 0.036838 +v -0.058768 3.246867 -1.024826 +v -0.623029 3.843956 0.600897 +v 0.571544 3.843956 0.567670 +v -0.589801 3.843956 -0.560247 +v 0.073738 3.312990 1.032450 +v 0.969668 3.279646 -0.062240 +v -0.191476 1.488381 -0.991598 +v 0.770505 3.279646 0.766832 +v 0.538317 3.843956 -0.526818 +v -0.722509 3.312990 -0.792436 +v -1.021153 1.355569 -0.095467 +v -0.755535 3.312990 0.800060 +v 1.002895 1.355569 0.036838 +v -0.821990 3.976485 0.003812 +v -0.788763 1.621193 -0.759208 +v -0.091996 4.010112 -0.725981 +v 0.704051 4.009829 0.103293 +v -0.125022 4.242391 0.070065 +v 0.073738 3.312990 -0.991598 +v -0.125022 4.010112 0.800060 +v 0.770505 2.450844 0.800060 +v 0.737278 1.853755 -0.825462 +v 1.002895 2.716185 0.036838 +v -1.054380 3.312990 -0.029214 +v -0.755535 1.355569 0.766832 +v -0.788763 4.009829 0.103091 +v 0.671025 3.312990 -0.792436 +v -0.987925 2.284970 -0.261402 +v 0.040511 2.550311 -1.024826 +v -0.058768 1.587849 0.999222 +v -0.091996 1.355569 -1.024826 +v 0.770505 1.455320 0.766832 +v 1.002895 2.417499 -0.062441 +v -0.291158 2.417782 -0.958371 +v -1.054380 1.687599 0.036838 +v 0.836960 3.711143 0.003812 +v 0.571544 3.744488 0.667150 +v 0.007284 4.075953 0.667352 +v 0.139992 1.421975 0.965995 +v -1.021153 1.355569 0.103091 +v -0.058768 4.242391 -0.029013 +v 0.073738 3.113773 1.032450 +f 168 150 171 +f 113 112 116 +f 116 112 117 +f 112 113 120 +f 112 120 125 +f 116 117 127 +f 109 110 128 +f 120 123 128 +f 118 126 129 +f 124 115 134 +f 122 124 134 +f 118 121 138 +f 126 118 138 +f 114 130 139 +f 119 133 139 +f 110 109 140 +f 125 120 140 +f 123 120 141 +f 131 123 141 +f 116 127 142 +f 111 133 143 +f 133 119 143 +f 119 139 144 +f 140 109 144 +f 125 140 144 +f 126 114 145 +f 133 111 145 +f 114 139 145 +f 139 133 145 +f 118 129 146 +f 124 132 146 +f 137 108 146 +f 132 137 146 +f 114 126 148 +f 130 114 148 +f 115 124 149 +f 141 115 149 +f 131 141 149 +f 137 122 150 +f 117 112 151 +f 127 117 151 +f 121 127 151 +f 135 108 152 +f 108 137 152 +f 116 142 152 +f 142 127 152 +f 150 116 152 +f 137 150 152 +f 109 128 153 +f 143 119 153 +f 128 143 153 +f 120 113 154 +f 115 141 154 +f 141 120 154 +f 128 123 155 +f 123 131 155 +f 143 128 155 +f 111 143 155 +f 147 111 155 +f 131 149 155 +f 149 147 155 +f 138 121 156 +f 126 138 156 +f 148 126 156 +f 121 151 156 +f 151 148 156 +f 144 109 157 +f 119 144 157 +f 109 153 157 +f 153 119 157 +f 112 130 158 +f 130 148 158 +f 151 112 158 +f 148 151 158 +f 113 115 159 +f 154 113 159 +f 115 154 159 +f 112 125 160 +f 130 112 160 +f 125 144 160 +f 144 136 160 +f 113 116 161 +f 116 150 161 +f 127 121 162 +f 121 135 162 +f 135 152 162 +f 152 127 162 +f 139 130 163 +f 136 144 163 +f 144 139 163 +f 130 160 163 +f 160 136 163 +f 128 110 164 +f 120 128 164 +f 121 118 165 +f 108 135 165 +f 135 121 165 +f 146 108 165 +f 118 146 165 +f 124 122 166 +f 132 124 166 +f 122 137 166 +f 137 132 166 +f 124 146 167 +f 146 129 167 +f 129 147 167 +f 149 124 167 +f 147 149 167 +f 113 161 168 +f 161 150 168 +f 110 140 169 +f 140 120 169 +f 164 110 169 +f 120 164 169 +f 129 126 170 +f 126 145 170 +f 145 111 170 +f 111 147 170 +f 147 129 170 +f 115 113 171 +f 134 115 171 +f 122 134 171 +f 150 122 171 +f 113 168 171 +o convex_3 +v -0.025716 0.226977 2.491383 +v -0.058865 -1.962616 -1.389384 +v -0.025512 -1.896055 -1.588504 +v -1.021007 0.326932 -0.062113 +v 0.770475 0.094526 -2.086008 +v 0.903276 -1.962616 0.733180 +v -0.821908 -1.431466 2.027165 +v -0.755610 -0.768089 -2.716655 +v 0.770475 -0.668582 2.724383 +v -1.021007 -1.962616 -0.293925 +v 1.002723 0.326932 0.135819 +v 0.770475 -0.735144 -2.815918 +v -0.855262 -0.635414 2.757075 +v 0.007433 -1.464859 2.757075 +v 0.007433 0.127694 -2.617392 +v 1.002723 -1.962616 -0.261233 +v -0.025512 -1.464859 -2.783226 +v -0.855262 -1.962616 0.932300 +v 1.002723 -0.635414 -2.119294 +v 1.002723 -0.735144 2.060451 +v -1.054156 -0.668582 2.093737 +v -0.855262 0.326932 1.297255 +v 0.770475 0.094526 2.027760 +v 0.073731 0.326932 -2.020031 +v 0.870127 -1.962616 -1.024429 +v -0.987858 -0.701975 -2.053317 +v -0.722461 0.061357 -1.986151 +v -0.888411 -1.962616 -0.991143 +v -0.025716 -0.569300 3.023361 +v 0.007433 -0.635414 -3.048918 +v -0.058865 0.127694 2.790955 +v 0.770475 -1.464859 1.993879 +v 0.007433 -1.962616 1.297255 +v -0.821908 0.127694 2.027165 +v 0.140029 0.326932 2.027165 +v -0.788759 -1.464859 -2.052722 +v 1.035873 -0.734920 0.699894 +v 0.604730 -1.298791 -2.550820 +v -0.025512 0.027964 -2.816512 +v 0.836978 0.326932 -1.189669 +v -0.821908 0.326932 -0.991143 +v -0.623013 -1.265398 2.591240 +v 0.903276 0.326932 0.932300 +v 0.571376 -0.104712 -2.650084 +v -1.021007 -0.701975 -1.156978 +v -0.722461 -0.668582 -2.782632 +v 0.836978 -1.962616 0.932300 +v -0.623013 -0.071319 2.624526 +v -0.821908 -0.668582 2.823647 +v 0.571376 -1.265398 2.557954 +v -1.021007 -1.962616 0.135819 +v 0.571376 -0.137657 2.591240 +v -0.092014 -1.464859 2.757075 +v -0.589660 -1.232453 -2.616797 +v 0.770475 -1.464859 -2.086008 +v -0.025716 -0.768089 3.023361 +v -0.556511 -0.137657 -2.550820 +v 1.002723 -0.768089 -2.086008 +v 1.002723 -1.962616 0.169104 +v 1.002723 0.326932 -0.194662 +v 0.737326 -0.569300 -2.815918 +v -1.054156 -0.635414 1.231278 +v 1.002723 -0.569076 1.961188 +v 0.040582 -1.464859 -2.783226 +f 209 226 235 +f 173 177 181 +f 177 173 187 +f 174 173 188 +f 181 177 189 +f 178 184 192 +f 182 175 193 +f 175 192 193 +f 175 182 195 +f 176 186 195 +f 173 174 196 +f 187 173 196 +f 197 175 198 +f 173 181 199 +f 188 173 199 +f 181 197 199 +f 194 172 202 +f 200 180 202 +f 177 191 203 +f 191 180 203 +f 189 177 204 +f 192 184 205 +f 172 193 205 +f 193 192 205 +f 202 172 205 +f 193 172 206 +f 182 193 206 +f 172 194 206 +f 197 179 207 +f 188 199 207 +f 199 197 207 +f 198 186 210 +f 195 182 211 +f 176 195 211 +f 175 195 212 +f 195 186 212 +f 186 198 212 +f 198 175 212 +f 178 189 213 +f 182 206 214 +f 206 194 214 +f 186 176 215 +f 210 186 215 +f 175 197 216 +f 197 181 216 +f 179 197 217 +f 197 198 217 +f 201 188 217 +f 210 201 217 +f 177 203 218 +f 203 185 218 +f 204 177 218 +f 185 204 218 +f 205 184 219 +f 202 205 219 +f 184 178 220 +f 200 202 220 +f 178 213 220 +f 219 184 220 +f 202 219 220 +f 180 185 221 +f 185 203 221 +f 203 180 221 +f 181 189 222 +f 189 178 222 +f 192 181 222 +f 178 192 222 +f 180 194 223 +f 194 202 223 +f 202 180 223 +f 204 185 224 +f 189 204 224 +f 213 189 224 +f 220 213 224 +f 207 179 225 +f 188 207 225 +f 179 217 225 +f 217 188 225 +f 209 183 226 +f 185 180 227 +f 180 200 227 +f 200 220 227 +f 224 185 227 +f 220 224 227 +f 198 210 228 +f 217 198 228 +f 210 217 228 +f 183 190 229 +f 187 196 229 +f 190 208 229 +f 208 187 229 +f 226 183 229 +f 196 226 229 +f 177 187 230 +f 191 177 230 +f 187 208 230 +f 208 191 230 +f 190 176 231 +f 182 208 231 +f 208 190 231 +f 176 211 231 +f 211 182 231 +f 176 190 232 +f 190 183 232 +f 183 201 232 +f 201 210 232 +f 215 176 232 +f 210 215 232 +f 192 175 233 +f 181 192 233 +f 175 216 233 +f 216 181 233 +f 180 191 234 +f 194 180 234 +f 208 182 234 +f 191 208 234 +f 182 214 234 +f 214 194 234 +f 174 188 235 +f 196 174 235 +f 201 183 235 +f 188 201 235 +f 183 209 235 +f 226 196 235 +o convex_4 +v -0.888451 0.326958 -0.726111 +v 1.002895 0.592387 0.136046 +v 0.969609 0.592387 0.401865 +v -1.021198 0.592387 -0.062344 +v -0.058882 0.326958 2.061087 +v 0.803775 0.326958 -1.190319 +v -0.025596 0.592387 -1.290098 +v -0.888451 0.592387 0.932722 +v 0.903236 0.326958 0.932333 +v -0.888451 0.326958 1.131891 +v -0.025596 0.326958 -1.920736 +v 0.803775 0.592387 -1.024280 +v 0.869950 0.592387 0.899592 +v -0.821879 0.592387 -0.891760 +v 0.007293 0.592387 1.297541 +v 1.002895 0.326958 -0.194863 +v 0.007293 0.360136 2.061087 +v -1.021198 0.326958 0.102916 +v 0.073667 0.360136 -1.920736 +v -0.821879 0.326958 -0.958410 +v 1.002895 0.592387 -0.194863 +v -0.025596 0.360136 -1.920736 +v -1.021198 0.592387 0.136046 +v -0.058882 0.360136 2.061087 +v 0.836862 0.360136 -1.124059 +v 1.002895 0.326958 0.136046 +v -0.821879 0.459672 -0.958410 +v 0.869950 0.592387 -0.891760 +v -0.888451 0.592387 -0.726111 +v -0.689133 0.360136 1.364190 +v 0.040381 0.526003 -1.489268 +v -1.021198 0.326958 -0.062344 +f 253 239 267 +f 238 237 239 +f 240 236 241 +f 239 237 242 +f 238 239 243 +f 237 238 244 +f 240 241 244 +f 236 240 245 +f 241 236 246 +f 242 237 247 +f 238 243 248 +f 244 238 248 +f 239 242 249 +f 248 243 250 +f 244 241 251 +f 240 244 252 +f 244 248 252 +f 248 250 252 +f 236 245 253 +f 241 246 254 +f 247 241 254 +f 246 236 255 +f 247 237 256 +f 237 251 256 +f 249 242 257 +f 254 246 257 +f 246 255 257 +f 243 239 258 +f 245 243 258 +f 239 253 258 +f 253 245 258 +f 250 243 259 +f 240 252 259 +f 252 250 259 +f 241 247 260 +f 251 241 260 +f 256 251 260 +f 237 244 261 +f 251 237 261 +f 244 251 261 +f 255 236 262 +f 249 257 262 +f 257 255 262 +f 247 256 263 +f 260 247 263 +f 256 260 263 +f 236 239 264 +f 239 249 264 +f 262 236 264 +f 249 262 264 +f 245 240 265 +f 243 245 265 +f 240 259 265 +f 259 243 265 +f 242 247 266 +f 247 254 266 +f 257 242 266 +f 254 257 266 +f 239 236 267 +f 236 253 267 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/813/813.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/813/813.urdf new file mode 100644 index 000000000..425036312 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/813/813.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/814/814.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/814/814.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/814/814.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/814/814.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/814/814.obj new file mode 100644 index 000000000..0be61b3c3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/814/814.obj @@ -0,0 +1,540 @@ +o convex_0 +v 0.405355 -4.388643 0.233029 +v -0.205131 -5.788731 -0.341583 +v -0.205131 -5.788731 -0.197915 +v -0.169204 -3.885601 0.017527 +v 0.369428 -3.885601 -0.269749 +v 0.513138 -5.824690 -0.341583 +v -0.169204 -5.788731 0.268946 +v 0.441283 -5.860456 0.233029 +v -0.097279 -3.885601 -0.341583 +v -0.169204 -3.885601 0.233029 +v 0.369428 -3.885601 0.268946 +v 0.405355 -4.280959 -0.305666 +v -0.169204 -5.824690 -0.341583 +v 0.082289 -5.824690 0.268946 +v 0.405355 -4.173081 0.161195 +v 0.513138 -5.752771 -0.269749 +v 0.046361 -3.885601 -0.341583 +f 5 12 17 +f 2 3 4 +f 2 4 9 +f 4 5 9 +f 6 2 9 +f 4 3 10 +f 5 4 10 +f 3 7 10 +f 10 7 11 +f 8 1 11 +f 5 10 11 +f 3 2 13 +f 2 6 13 +f 7 3 13 +f 6 8 13 +f 13 8 14 +f 11 7 14 +f 8 11 14 +f 7 13 14 +f 5 11 15 +f 11 1 15 +f 12 5 15 +f 12 15 16 +f 1 8 16 +f 8 6 16 +f 6 12 16 +f 15 1 16 +f 9 5 17 +f 6 9 17 +f 12 6 17 +o convex_1 +v 1.159457 -2.951436 0.987215 +v -0.923401 -3.849311 -0.952112 +v -0.384512 -3.849311 -0.952112 +v -0.851349 0.100795 -0.952112 +v 1.231295 0.100795 -0.952112 +v -0.815537 0.100795 0.987215 +v -0.779726 -3.777512 0.951147 +v 1.231295 -3.705714 -0.952112 +v 1.267321 0.100795 0.951147 +v 1.123431 -3.813412 0.987215 +v 0.513134 -3.885601 0.376524 +v -0.923401 -1.407761 -0.592950 +v -0.815537 -3.777512 0.879390 +v 1.159457 -3.813412 0.807634 +v -0.887375 0.100795 -0.197908 +v 0.369459 -3.885601 -0.269665 +v -0.815537 -1.335962 0.987215 +v -0.923401 -3.849311 -0.664706 +v -0.169214 -3.885601 0.233011 +v -0.061351 0.100795 0.987215 +v 1.195483 -3.741613 -0.952112 +v 1.015782 -3.849311 0.879390 +v 0.692621 -3.813412 0.987215 +v 1.267321 -0.079093 0.951147 +v 1.267321 0.064505 0.699809 +v -0.887375 0.100795 -0.700585 +v -0.923401 -2.807838 -0.952112 +v 1.159457 -3.598015 0.987215 +v -0.815537 -3.095033 0.951147 +v -0.887375 -3.849311 -0.341422 +f 35 36 47 +f 20 19 21 +f 20 21 22 +f 22 21 23 +f 20 22 25 +f 22 23 26 +f 18 23 27 +f 23 21 32 +f 29 23 32 +f 19 20 33 +f 27 23 34 +f 23 29 34 +f 29 19 35 +f 19 33 36 +f 33 28 36 +f 35 19 36 +f 23 18 37 +f 18 26 37 +f 26 23 37 +f 20 25 38 +f 25 31 38 +f 33 20 38 +f 33 38 39 +f 31 27 39 +f 28 33 39 +f 24 36 39 +f 36 28 39 +f 38 31 39 +f 27 34 40 +f 34 24 40 +f 24 39 40 +f 39 27 40 +f 26 18 41 +f 25 22 42 +f 22 26 42 +f 26 41 42 +f 41 25 42 +f 32 21 43 +f 29 32 43 +f 21 19 44 +f 19 29 44 +f 43 21 44 +f 29 43 44 +f 18 27 45 +f 31 25 45 +f 27 31 45 +f 41 18 45 +f 25 41 45 +f 30 24 46 +f 24 34 46 +f 34 29 46 +f 35 30 46 +f 29 35 46 +f 24 30 47 +f 30 35 47 +f 36 24 47 +o convex_2 +v -4.945517 1.034615 0.340773 +v -3.042581 0.998751 -0.341583 +v -3.042581 1.573180 -0.341583 +v -2.970469 0.890891 0.340773 +v -4.801873 0.962820 -0.197912 +v -4.873598 1.537249 0.304838 +v -4.909557 1.573180 -0.197912 +v -2.970469 1.501318 0.197101 +v -4.729955 0.926889 0.304838 +v -4.622271 1.501318 0.340773 +v -2.970469 1.573180 -0.161977 +v -2.970469 0.890891 0.125232 +v -4.586311 0.962820 -0.233780 +v -2.970469 0.998751 -0.341583 +v -4.945517 0.962820 0.197101 +v -4.658230 1.573180 -0.233780 +v -4.909557 1.573180 0.017495 +v -3.796757 0.890891 0.268837 +v -3.222183 1.501318 0.232969 +v -2.970469 1.537249 0.125232 +f 53 66 67 +f 51 48 56 +f 48 51 57 +f 53 48 57 +f 50 54 58 +f 55 51 58 +f 58 51 59 +f 52 54 60 +f 59 52 60 +f 59 60 61 +f 49 50 61 +f 50 58 61 +f 58 59 61 +f 60 49 61 +f 48 54 62 +f 54 52 62 +f 56 48 62 +f 52 56 62 +f 50 49 63 +f 54 50 63 +f 49 60 63 +f 60 54 63 +f 48 53 64 +f 54 48 64 +f 58 54 64 +f 53 58 64 +f 51 56 65 +f 56 52 65 +f 52 59 65 +f 59 51 65 +f 51 55 66 +f 57 51 66 +f 53 57 66 +f 58 53 67 +f 55 58 67 +f 66 55 67 +o convex_3 +v -2.970469 1.393465 0.233025 +v -2.682852 0.675410 -0.557064 +v -2.790536 0.675410 -0.521102 +v -0.959314 0.711373 0.556253 +v -0.959314 1.716802 -0.557064 +v -0.959314 1.716802 0.556253 +v -2.934246 1.752765 -0.449285 +v -0.959314 0.675410 -0.557064 +v -2.898614 0.747335 0.484328 +v -2.826759 1.788728 0.484328 +v -2.970469 0.998638 -0.341506 +v -1.677668 1.752765 0.556253 +v -2.898614 1.501353 -0.521102 +v -1.031169 0.675410 0.233025 +v -1.605813 0.711373 0.556253 +v -2.216286 1.788728 0.484328 +v -2.719074 0.711373 0.304841 +v -2.539141 0.783189 0.520291 +v -1.175076 1.752765 0.556253 +v -2.970469 0.891077 0.340695 +v -2.790536 1.788728 0.125246 +v -2.826759 0.675410 -0.341506 +v -2.575364 1.716802 -0.521102 +v -2.970469 1.537316 0.089283 +f 74 78 91 +f 71 72 73 +f 70 69 75 +f 72 71 75 +f 69 72 75 +f 71 73 79 +f 69 70 80 +f 78 74 80 +f 70 78 80 +f 70 75 81 +f 75 71 81 +f 71 79 82 +f 81 71 82 +f 77 79 83 +f 82 76 84 +f 81 82 84 +f 77 76 85 +f 79 77 85 +f 76 82 85 +f 82 79 85 +f 73 72 86 +f 79 73 86 +f 72 83 86 +f 83 79 86 +f 76 77 87 +f 77 68 87 +f 68 78 87 +f 72 74 88 +f 74 77 88 +f 83 72 88 +f 77 83 88 +f 78 70 89 +f 70 81 89 +f 84 76 89 +f 81 84 89 +f 76 87 89 +f 87 78 89 +f 72 69 90 +f 74 72 90 +f 69 80 90 +f 80 74 90 +f 77 74 91 +f 68 77 91 +f 78 68 91 +o convex_4 +v 1.842077 1.142380 0.592104 +v 3.134519 0.675410 -0.592978 +v 2.667767 0.675410 -0.557001 +v 1.267321 1.680949 -0.449310 +v 3.170394 1.788728 0.484412 +v 3.062770 0.675410 0.520270 +v 1.267321 0.747335 0.520270 +v 3.206269 1.644986 -0.449310 +v 1.267321 1.680949 0.484412 +v 1.267321 0.747335 -0.449310 +v 1.267321 0.783189 0.628080 +v 3.170394 0.675410 -0.449310 +v 3.206269 1.752765 0.053409 +v 2.595828 1.788728 0.484412 +v 3.134519 1.106417 0.520270 +v 2.990830 1.716802 0.520270 +v 1.483139 0.747335 -0.485167 +v 1.411200 1.716802 0.484412 +v 2.703642 0.675410 0.520270 +v 1.698578 0.711373 -0.485167 +v 1.267321 1.573061 0.520270 +v 3.098644 1.788728 0.268910 +v 2.129455 1.680949 -0.449310 +v 3.206269 1.680949 0.196957 +v 3.206269 1.142380 -0.485167 +v 3.098644 0.711373 0.520270 +v 3.170394 0.711373 -0.592978 +f 116 103 118 +f 94 93 97 +f 95 98 100 +f 98 95 101 +f 100 98 102 +f 97 93 103 +f 92 102 106 +f 96 105 107 +f 92 106 107 +f 106 96 107 +f 93 94 108 +f 95 93 108 +f 101 95 108 +f 95 100 109 +f 105 95 109 +f 107 105 109 +f 94 97 110 +f 97 102 110 +f 102 98 110 +f 98 101 111 +f 108 94 111 +f 101 108 111 +f 94 110 111 +f 110 98 111 +f 102 92 112 +f 100 102 112 +f 92 107 112 +f 109 100 112 +f 107 109 112 +f 96 104 113 +f 105 96 113 +f 95 105 113 +f 104 99 114 +f 95 113 114 +f 113 104 114 +f 99 104 115 +f 104 96 115 +f 96 106 115 +f 106 103 115 +f 99 115 116 +f 115 103 116 +f 102 97 117 +f 97 103 117 +f 106 102 117 +f 103 106 117 +f 93 95 118 +f 103 93 118 +f 95 114 118 +f 114 99 118 +f 99 116 118 +o convex_5 +v 0.046375 0.244448 -2.998854 +v -0.635967 2.327226 -1.095963 +v -0.635967 2.327226 -1.167811 +v 1.195494 2.183699 -1.095963 +v -0.851532 0.244652 -1.095963 +v -0.923246 2.291140 -2.927202 +v 1.195494 2.147613 -3.106724 +v 1.195494 0.244448 -1.095963 +v -0.959314 0.244652 -3.034876 +v 1.087500 0.280534 -2.963028 +v -0.923246 2.327226 -1.095963 +v 1.051643 2.183699 -3.106724 +v -0.887389 2.327226 -2.855354 +v -0.959314 0.747406 -3.034876 +v 1.195494 1.932118 -3.106724 +v -0.959314 1.070750 -2.208919 +v 1.195494 0.280534 -1.598703 +v -0.384544 0.244652 -3.034876 +v -0.887389 0.675642 -1.131986 +v -0.671824 2.291140 -2.963028 +v 1.195494 2.183699 -2.244744 +v 0.943861 2.183699 -3.106724 +v -0.923246 1.680741 -1.095963 +v -0.959314 0.244652 -2.783506 +v 1.123569 0.280534 -2.639810 +v 0.836289 2.219377 -1.203834 +f 122 139 144 +f 122 120 123 +f 125 122 126 +f 123 119 126 +f 122 123 126 +f 126 119 128 +f 120 121 129 +f 123 120 129 +f 129 121 131 +f 124 129 131 +f 125 126 133 +f 130 125 133 +f 129 124 134 +f 124 132 134 +f 132 127 134 +f 133 126 135 +f 119 127 136 +f 128 119 136 +f 127 133 136 +f 133 128 136 +f 124 131 138 +f 131 130 138 +f 132 124 138 +f 122 125 139 +f 125 130 139 +f 131 121 139 +f 130 131 139 +f 127 132 140 +f 133 127 140 +f 130 133 140 +f 138 130 140 +f 132 138 140 +f 123 129 141 +f 129 134 141 +f 137 123 141 +f 137 141 142 +f 119 123 142 +f 127 119 142 +f 134 127 142 +f 123 137 142 +f 141 134 142 +f 126 128 143 +f 128 133 143 +f 135 126 143 +f 133 135 143 +f 121 120 144 +f 120 122 144 +f 139 121 144 +o convex_6 +v -0.923352 2.327430 -1.095766 +v 1.267321 0.208683 1.130619 +v 1.267321 0.136975 1.130619 +v -0.887389 0.495948 3.106110 +v 1.087507 2.183579 3.106110 +v -0.851426 0.100795 -0.951810 +v 1.195395 2.183579 -1.095766 +v -0.851426 2.327430 2.961742 +v 1.231358 0.244645 -1.095766 +v 1.159433 0.136975 2.926370 +v -0.887389 0.136757 3.106110 +v 1.159433 2.255504 1.094425 +v -0.959314 0.711506 0.556440 +v 1.231358 0.100795 -0.951810 +v 1.267321 1.680755 0.484462 +v -0.851426 0.244645 -1.095766 +v -0.959314 1.860351 0.664201 +v -0.959314 0.675544 -0.556547 +v 1.267321 0.100795 0.951291 +v 1.159433 0.819394 2.998348 +v -0.456491 2.327430 -0.664720 +v 1.267321 1.680755 -0.448786 +v -0.815464 0.100795 0.987486 +v -0.564161 0.136757 3.106110 +v -0.887389 1.465197 3.034132 +v -0.671831 2.327430 2.961742 +v 1.123470 2.111654 2.890587 +v 1.195395 0.172720 2.782825 +v -0.887389 0.100795 -0.664720 +v -0.707793 2.291467 2.998348 +v 1.267321 0.747469 -0.448786 +v 1.195395 2.219542 -0.197479 +v -0.959314 1.716718 -0.556547 +v -0.887389 2.291467 1.992300 +v -0.133262 2.291467 -1.095766 +v -0.923352 1.716718 -1.095766 +v 0.728534 2.219542 3.069915 +v 1.159433 2.219324 1.669427 +v 0.979837 1.932058 3.106110 +v 1.015800 0.172720 2.961742 +v 1.123470 1.896313 3.069915 +v 0.908130 2.111654 3.106110 +v 1.159433 2.255504 0.879724 +f 176 179 187 +f 145 151 153 +f 149 148 155 +f 150 153 158 +f 146 147 159 +f 145 153 160 +f 153 150 160 +f 155 148 161 +f 157 155 161 +f 157 161 162 +f 155 157 162 +f 150 158 163 +f 159 147 163 +f 145 152 165 +f 153 151 166 +f 159 163 166 +f 150 163 167 +f 167 163 168 +f 149 155 168 +f 163 154 168 +f 155 167 168 +f 152 161 169 +f 161 148 169 +f 165 152 170 +f 156 165 170 +f 147 146 172 +f 146 159 172 +f 163 147 172 +f 154 163 172 +f 164 154 172 +f 160 150 173 +f 155 162 173 +f 162 160 173 +f 150 167 173 +f 167 155 173 +f 169 148 174 +f 152 169 174 +f 149 170 174 +f 170 152 174 +f 158 153 175 +f 163 158 175 +f 153 166 175 +f 166 163 175 +f 166 151 176 +f 159 166 176 +f 161 145 177 +f 162 161 177 +f 145 162 177 +f 152 145 178 +f 145 161 178 +f 161 152 178 +f 151 145 179 +f 145 165 179 +f 176 151 179 +f 145 160 180 +f 162 145 180 +f 160 162 180 +f 149 156 181 +f 170 149 181 +f 156 170 181 +f 156 149 182 +f 149 171 182 +f 171 159 182 +f 176 156 182 +f 159 176 182 +f 164 149 183 +f 149 168 183 +f 183 168 184 +f 154 164 184 +f 168 154 184 +f 164 183 184 +f 149 164 185 +f 171 149 185 +f 159 171 185 +f 164 172 185 +f 172 159 185 +f 148 149 186 +f 174 148 186 +f 149 174 186 +f 165 156 187 +f 156 176 187 +f 179 165 187 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/814/814.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/814/814.urdf new file mode 100644 index 000000000..cfda5a9df --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/814/814.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/815/815.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/815/815.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/815/815.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/815/815.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/815/815.obj new file mode 100644 index 000000000..9630c3cf8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/815/815.obj @@ -0,0 +1,693 @@ +o convex_0 +v 1.019179 -2.341453 0.364293 +v 3.102402 -1.234153 1.415219 +v 3.102402 -1.328071 1.415219 +v 0.155545 -2.228817 1.490309 +v 0.155545 -1.290526 0.458099 +v 3.083364 -2.379110 0.345352 +v 3.027115 -2.210101 1.452764 +v 0.155545 -1.290526 1.452652 +v 2.970866 -1.290526 0.514361 +v 0.155545 -2.303908 0.382897 +v 1.019179 -2.228817 1.490197 +v 3.083364 -2.379110 0.420554 +v 3.064614 -2.304020 0.345352 +v 0.775146 -1.290638 0.458099 +v 3.045865 -2.247646 1.283755 +v 2.670584 -1.234153 1.377562 +v 0.174583 -1.909740 1.490309 +v 0.174583 -2.322736 0.401838 +v 3.045865 -2.003659 1.452764 +v 0.643611 -1.271698 1.433936 +v 3.083364 -1.234153 1.283755 +v 2.670584 -2.379110 0.383009 +v 2.970866 -1.365616 0.495645 +v 2.238767 -1.309355 1.433936 +v 3.102402 -1.421990 1.189949 +v 1.037929 -2.303908 0.364293 +f 5 13 26 +f 5 4 8 +f 4 5 10 +f 11 4 12 +f 6 1 13 +f 9 6 13 +f 13 5 14 +f 7 11 15 +f 12 3 15 +f 11 12 15 +f 8 4 17 +f 4 11 17 +f 10 1 18 +f 4 10 18 +f 3 2 19 +f 11 7 19 +f 15 3 19 +f 7 15 19 +f 17 11 19 +f 8 2 20 +f 5 8 20 +f 2 16 20 +f 16 5 20 +f 9 14 21 +f 14 5 21 +f 16 2 21 +f 5 16 21 +f 1 6 22 +f 12 4 22 +f 6 12 22 +f 18 1 22 +f 4 18 22 +f 9 13 23 +f 14 9 23 +f 13 14 23 +f 2 8 24 +f 8 17 24 +f 19 2 24 +f 17 19 24 +f 2 3 25 +f 6 9 25 +f 3 12 25 +f 12 6 25 +f 21 2 25 +f 9 21 25 +f 1 10 26 +f 10 5 26 +f 13 1 26 +o convex_1 +v -3.035155 -2.022428 0.889619 +v -0.689256 -1.271890 0.458044 +v -0.689256 -1.271890 0.439269 +v 0.155545 -2.304031 0.514319 +v 0.155545 -1.309377 0.908446 +v -3.035155 -1.271890 0.382994 +v -2.978919 -2.247649 0.420494 +v 0.155545 -2.228856 0.908446 +v -2.997455 -1.309377 0.908446 +v 0.155545 -2.247649 0.382994 +v -3.016305 -2.247649 0.908446 +v 0.155545 -1.290482 0.458044 +v -0.426610 -2.304031 0.382994 +v -0.876815 -1.271890 0.420494 +v -3.016305 -1.290583 0.814518 +v -3.035155 -1.497112 0.382994 +v 0.155545 -2.247649 0.889619 +v -2.547251 -1.271890 0.382994 +v -3.054005 -1.684747 0.908446 +v -0.051179 -1.290482 0.439269 +v -0.651870 -2.304031 0.420494 +v -3.035155 -1.271890 0.551869 +f 45 41 48 +f 28 29 32 +f 30 31 34 +f 34 31 35 +f 31 30 36 +f 27 33 37 +f 34 35 37 +f 29 28 38 +f 28 31 38 +f 31 36 38 +f 36 30 39 +f 32 36 39 +f 32 29 40 +f 29 38 40 +f 31 28 41 +f 35 31 41 +f 33 27 42 +f 32 39 42 +f 39 33 42 +f 30 34 43 +f 37 30 43 +f 34 37 43 +f 36 32 44 +f 32 40 44 +f 40 36 44 +f 27 37 45 +f 37 35 45 +f 35 41 45 +f 42 27 45 +f 32 42 45 +f 38 36 46 +f 36 40 46 +f 40 38 46 +f 30 37 47 +f 37 33 47 +f 33 39 47 +f 39 30 47 +f 28 32 48 +f 41 28 48 +f 32 45 48 +o convex_2 +v -3.054011 -1.741075 0.908446 +v 0.155545 -1.290462 1.452729 +v -0.088565 -1.459407 1.471470 +v 0.155545 -2.228887 0.908508 +v -3.054011 -2.228887 1.546619 +v -2.960074 -1.346871 1.490273 +v 0.155545 -1.309296 0.908508 +v 0.155545 -2.228887 1.490210 +v -3.016311 -2.247721 0.908446 +v -2.997460 -1.309296 0.908446 +v -2.359382 -1.328130 1.490273 +v -0.294975 -2.191313 1.509075 +v -2.997460 -1.309296 1.077422 +v -3.054011 -2.172572 1.546619 +v -2.997460 -2.247721 1.096162 +v -2.903838 -1.497075 1.509013 +v 0.080144 -1.290462 1.302556 +v -0.351525 -1.290462 1.452729 +v 0.117844 -1.890998 1.490210 +f 62 60 67 +f 50 52 55 +f 52 50 56 +f 53 49 57 +f 52 57 58 +f 55 52 58 +f 57 49 58 +f 51 50 59 +f 53 56 60 +f 58 49 61 +f 54 59 61 +f 49 53 62 +f 53 60 62 +f 61 49 62 +f 54 61 62 +f 52 56 63 +f 56 53 63 +f 53 57 63 +f 57 52 63 +f 51 59 64 +f 59 54 64 +f 62 51 64 +f 54 62 64 +f 50 55 65 +f 55 58 65 +f 59 50 66 +f 58 61 66 +f 61 59 66 +f 50 65 66 +f 65 58 66 +f 50 51 67 +f 56 50 67 +f 60 56 67 +f 51 62 67 +o convex_3 +v 0.305673 2.050531 4.043001 +v 0.155561 1.900430 1.884884 +v 0.155561 1.919224 1.884884 +v 0.305673 2.106830 1.865918 +v 0.155561 2.181922 3.986315 +v 0.155561 1.956756 3.986315 +v 0.324473 1.956756 3.930055 +v 0.305673 2.181922 1.865918 +v 0.268141 1.900430 2.034911 +v 0.268141 2.181922 4.005068 +v 0.211876 2.181922 2.748174 +f 72 75 78 +f 69 70 71 +f 70 69 72 +f 68 72 73 +f 72 69 73 +f 68 73 74 +f 71 70 75 +f 74 71 75 +f 68 74 75 +f 69 71 76 +f 73 69 76 +f 71 74 76 +f 74 73 76 +f 72 68 77 +f 68 75 77 +f 75 72 77 +f 70 72 78 +f 75 70 78 +o convex_4 +v -0.388692 1.693935 -3.802617 +v 0.268163 1.637625 -0.067844 +v -0.538881 1.693935 0.025951 +v -0.557634 1.618856 0.007273 +v 0.268163 1.675158 -4.084004 +v 0.268163 1.693935 -3.389267 +v 0.268163 1.618856 -0.649702 +v -0.445033 1.675158 -3.708822 +v 0.249329 1.656395 -3.426623 +v 0.268163 1.656395 -0.612346 +v 0.249329 1.618856 -0.049572 +v -0.557634 1.693935 -0.236758 +v 0.268163 1.693935 -4.084004 +v -0.144816 1.675158 -4.103088 +f 91 83 92 +f 80 83 84 +f 79 81 84 +f 83 80 85 +f 85 82 87 +f 83 85 87 +f 81 80 88 +f 80 84 88 +f 84 81 88 +f 80 81 89 +f 81 82 89 +f 85 80 89 +f 82 85 89 +f 81 79 90 +f 82 81 90 +f 79 86 90 +f 86 82 90 +f 84 83 91 +f 79 84 91 +f 86 79 92 +f 82 86 92 +f 87 82 92 +f 83 87 92 +f 79 91 92 +o convex_5 +v -0.538862 2.407172 -4.140628 +v 0.437066 2.744985 -4.028031 +v 0.512079 2.144441 -3.990494 +v -0.576477 2.688648 -4.009248 +v 0.436957 1.675211 -4.084293 +v -0.482603 2.144441 -4.009248 +v -0.463741 2.707392 -4.140628 +v 0.268178 1.675211 -3.990494 +v -0.482603 2.144441 -4.121830 +v 0.530940 2.519637 -4.046785 +v 0.493325 1.675211 -3.990494 +v 0.193057 2.726241 -4.009248 +f 94 96 104 +f 96 93 98 +f 96 94 99 +f 93 96 99 +f 97 93 99 +f 95 96 100 +f 96 98 100 +f 100 98 101 +f 93 97 101 +f 98 93 101 +f 97 100 101 +f 94 95 102 +f 99 94 102 +f 97 99 102 +f 95 100 103 +f 100 97 103 +f 102 95 103 +f 97 102 103 +f 95 94 104 +f 96 95 104 +o convex_6 +v -0.313682 2.181927 3.142051 +v -0.238636 1.956712 1.847097 +v -0.294916 1.975517 1.828166 +v -0.238636 1.956712 3.930382 +v -0.257402 2.181927 1.884548 +v -0.238636 2.144384 3.930382 +v -0.219851 1.994277 1.847097 +v -0.313682 1.994277 1.940931 +v -0.276150 2.181927 3.930382 +v -0.219851 1.956712 3.930382 +f 111 110 114 +f 107 106 108 +f 106 107 111 +f 107 109 111 +f 109 110 111 +f 107 108 112 +f 108 105 112 +f 105 109 112 +f 109 107 112 +f 105 108 113 +f 109 105 113 +f 110 109 113 +f 108 110 113 +f 108 106 114 +f 110 108 114 +f 106 111 114 +o convex_7 +v -0.520172 2.613652 -0.143395 +v -0.482647 2.144410 -4.009240 +v -0.501398 2.163271 -4.009240 +v -0.501398 2.688725 -4.009240 +v -0.445089 2.144410 -2.075348 +v -0.538923 2.144410 -0.049201 +v -0.557708 2.688725 -4.009240 +v -0.482647 2.500964 -0.594210 +v -0.557685 2.538473 -4.009240 +v -0.557708 2.669916 -2.469569 +v -0.463873 2.182026 -4.009240 +v -0.501398 2.144410 -0.331009 +v -0.501398 2.613652 -0.143395 +v -0.538923 2.407190 -0.105795 +f 124 120 128 +f 116 117 118 +f 116 119 120 +f 117 116 120 +f 118 117 121 +f 119 118 122 +f 117 120 123 +f 121 117 123 +f 121 123 124 +f 118 121 124 +f 123 120 124 +f 116 118 125 +f 118 119 125 +f 119 116 125 +f 120 119 126 +f 119 122 126 +f 126 122 127 +f 115 120 127 +f 122 118 127 +f 124 115 127 +f 118 124 127 +f 120 126 127 +f 120 115 128 +f 115 124 128 +o convex_8 +v 0.155545 2.181953 3.967927 +v -0.313627 2.294573 3.930382 +v -0.294889 2.200738 3.930382 +v -0.313627 2.350837 4.024231 +v 0.061674 1.956758 4.005454 +v 0.061582 2.425933 3.986686 +v -0.238585 1.956758 3.930382 +v 0.155545 1.956758 3.930382 +v 0.061582 2.425933 3.930382 +f 136 130 137 +f 130 131 132 +f 133 129 134 +f 132 133 134 +f 131 130 135 +f 132 131 135 +f 133 132 135 +f 133 135 136 +f 129 133 136 +f 135 130 136 +f 130 132 137 +f 134 129 137 +f 132 134 137 +f 129 136 137 +o convex_9 +v -0.313627 2.181950 2.729406 +v 0.061622 2.425933 3.930382 +v -0.050945 2.425933 3.930382 +v 0.061622 2.425933 1.865907 +v -0.257343 2.407161 1.941082 +v -0.313627 2.388390 3.930382 +v -0.257343 2.181950 3.930382 +v -0.257343 2.181950 1.884701 +v 0.061622 2.407161 1.865907 +v 0.061622 2.407161 3.930382 +v -0.294890 2.181950 3.836212 +f 144 143 148 +f 140 139 141 +f 140 141 142 +f 140 142 143 +f 139 140 143 +f 142 138 143 +f 139 143 144 +f 138 142 145 +f 142 141 145 +f 144 138 145 +f 141 139 146 +f 145 141 146 +f 144 145 146 +f 139 144 147 +f 146 139 147 +f 144 146 147 +f 143 138 148 +f 138 144 148 +o convex_10 +v -0.482487 2.651206 -3.276365 +v 0.380696 2.688743 0.026266 +v 0.343132 2.688743 0.026266 +v 0.380696 2.745034 -4.028009 +v -0.445010 2.707482 -3.952607 +v -0.369969 2.594885 -0.199148 +v 0.380696 2.707482 -3.727590 +v -0.501312 2.632437 -0.555921 +v 0.361957 2.651206 -0.011436 +v -0.501312 2.669960 -4.008961 +v -0.501312 2.594885 -0.142795 +v 0.230615 2.745034 -3.990308 +v -0.482487 2.594885 -0.630927 +v -0.388708 2.632437 -0.105490 +v -0.501312 2.688728 -3.220409 +f 156 162 163 +f 152 150 155 +f 150 151 157 +f 154 155 157 +f 155 150 157 +f 153 152 158 +f 155 149 158 +f 152 155 158 +f 156 158 159 +f 157 151 159 +f 154 157 159 +f 151 150 160 +f 150 152 160 +f 152 153 160 +f 153 151 160 +f 149 155 161 +f 155 154 161 +f 158 149 161 +f 159 158 161 +f 154 159 161 +f 156 159 162 +f 159 151 162 +f 151 153 163 +f 153 158 163 +f 158 156 163 +f 162 151 163 +o convex_11 +v 0.155559 2.444694 2.072195 +v 0.362012 2.407166 1.884644 +v 0.362012 2.388415 1.884644 +v 0.268119 2.219528 4.005461 +v 0.286904 2.181950 1.866102 +v 0.061696 2.181950 3.967525 +v 0.193099 2.444694 3.967738 +v 0.061696 2.425943 1.865889 +v 0.061696 2.425943 3.967738 +v 0.268119 2.181950 4.005461 +v 0.268119 2.444694 1.828166 +v 0.324443 2.200752 1.866102 +v 0.061696 2.407166 1.865889 +v 0.230609 2.444694 3.648688 +f 174 170 177 +f 166 165 167 +f 170 164 172 +f 167 170 172 +f 171 169 172 +f 164 171 172 +f 166 167 173 +f 169 168 173 +f 167 172 173 +f 172 169 173 +f 165 166 174 +f 164 170 174 +f 171 164 174 +f 166 173 175 +f 173 168 175 +f 174 166 175 +f 168 174 175 +f 168 169 176 +f 169 171 176 +f 174 168 176 +f 171 174 176 +f 167 165 177 +f 170 167 177 +f 165 174 177 +o convex_12 +v 0.474607 2.745043 -3.108225 +v 0.474607 2.519850 -4.028009 +v 0.437101 2.557371 -4.028009 +v 0.418333 2.519850 0.025898 +v 0.380782 2.745043 -4.028009 +v 0.530926 2.745043 -4.028009 +v 0.418333 2.688717 0.045035 +v 0.530926 2.519850 -3.783611 +v 0.455854 2.688717 -0.142749 +v 0.380782 2.688717 0.025898 +v 0.399565 2.613675 -4.028009 +v 0.455854 2.519850 -0.368010 +v 0.530926 2.745043 -3.445918 +f 189 185 190 +f 180 179 181 +f 179 180 182 +f 182 178 183 +f 179 182 183 +f 181 179 185 +f 179 183 185 +f 178 184 186 +f 184 181 186 +f 178 182 187 +f 184 178 187 +f 181 184 187 +f 180 181 188 +f 182 180 188 +f 187 182 188 +f 181 187 188 +f 181 185 189 +f 186 181 189 +f 186 189 190 +f 183 178 190 +f 185 183 190 +f 178 186 190 +o convex_13 +v -0.520153 1.975394 -0.011496 +v -0.426348 1.693935 -4.121858 +v -0.407549 1.693935 -4.121858 +v -0.407549 2.144410 -4.121858 +v -0.482628 2.144410 -4.121858 +v -0.557708 1.693935 -0.217766 +v -0.538908 2.144410 -0.048852 +v -0.445118 2.144410 -2.094085 +v -0.520153 1.693935 -0.180410 +v -0.407549 1.693935 -3.671152 +v -0.482628 2.031791 -4.121858 +v -0.557708 1.900432 -0.048852 +v -0.501383 2.125581 -0.349323 +f 199 200 203 +f 193 192 194 +f 194 192 195 +f 192 193 196 +f 194 195 197 +f 194 197 198 +f 196 193 199 +f 193 194 200 +f 194 198 200 +f 199 193 200 +f 195 192 201 +f 192 196 201 +f 196 195 201 +f 195 196 202 +f 191 197 202 +f 197 195 202 +f 199 191 202 +f 196 199 202 +f 197 191 203 +f 198 197 203 +f 191 199 203 +f 200 198 203 +o convex_14 +v -0.407549 1.693935 -4.121858 +v 0.268163 2.144410 -4.046775 +v 0.268163 2.144410 -4.065488 +v 0.268163 1.693935 -4.065488 +v -0.407549 1.712764 -3.727693 +v -0.407549 2.144410 -4.121858 +v 0.268163 1.900432 -4.084317 +v -0.182201 2.144410 -4.065488 +f 209 208 211 +f 206 205 207 +f 204 207 208 +f 207 205 208 +f 205 206 209 +f 204 208 209 +f 209 206 210 +f 206 207 210 +f 207 204 210 +f 204 209 210 +f 208 205 211 +f 205 209 211 +o convex_15 +v 0.268163 1.618856 -0.067583 +v 0.493401 1.712705 -3.483597 +v 0.493401 1.693928 -3.483597 +v 0.268163 1.675160 -3.990470 +v 0.399522 1.712705 -0.067583 +v 0.418285 1.618856 -0.086399 +v 0.493401 1.656401 -3.633739 +v 0.268163 1.693928 -3.408334 +v 0.268163 1.618856 -0.668918 +v 0.268163 1.656401 -0.630903 +v 0.474616 1.712705 -3.990470 +f 219 216 222 +f 213 216 217 +f 214 213 217 +f 216 212 217 +f 213 214 218 +f 214 217 218 +f 215 212 219 +f 212 215 220 +f 217 212 220 +f 218 217 220 +f 215 218 220 +f 212 216 221 +f 219 212 221 +f 216 219 221 +f 216 213 222 +f 213 218 222 +f 218 215 222 +f 215 219 222 +o convex_16 +v 0.418329 1.975499 -0.030088 +v 0.474609 1.712826 -3.990308 +v 0.474609 1.956697 -3.990308 +v 0.530940 2.519727 -3.821248 +v 0.418329 2.519727 -0.443214 +v 0.493386 1.712826 -3.445029 +v 0.399552 1.712826 -0.724982 +v 0.455870 2.501004 -0.405513 +v 0.493399 2.519727 -4.028009 +v 0.437119 1.712826 -0.687677 +v 0.512163 1.919252 -3.990308 +v 0.418329 2.519727 0.026266 +v 0.455870 1.731549 -3.501779 +v 0.399552 1.712826 -0.068186 +v 0.437119 2.125519 -0.049137 +v 0.399552 2.181925 -0.049137 +f 236 234 238 +f 224 228 229 +f 224 225 231 +f 227 226 231 +f 229 228 232 +f 228 224 233 +f 224 231 233 +f 231 226 233 +f 226 232 233 +f 232 228 233 +f 226 227 234 +f 230 226 234 +f 225 224 235 +f 224 229 235 +f 231 225 235 +f 227 231 235 +f 229 232 236 +f 223 234 236 +f 226 230 237 +f 232 226 237 +f 234 223 237 +f 230 234 237 +f 223 236 237 +f 236 232 237 +f 234 227 238 +f 235 229 238 +f 227 235 238 +f 229 236 238 +o convex_17 +v -0.013417 1.919180 1.922386 +v 0.155508 1.975482 3.930382 +v -0.219815 1.975482 3.930382 +v -0.219815 1.975482 1.847139 +v -0.144721 1.937942 3.592283 +v 0.155508 1.900403 1.884864 +v 0.136734 1.937942 1.884864 +v 0.155508 1.956705 3.930382 +v 0.117961 1.900403 2.466647 +v -0.219815 1.956705 1.847139 +v -0.107211 1.975482 1.847139 +f 248 242 249 +f 241 240 242 +f 240 244 245 +f 240 241 246 +f 241 243 246 +f 244 240 246 +f 244 246 247 +f 243 239 247 +f 239 244 247 +f 246 243 247 +f 241 242 248 +f 239 243 248 +f 243 241 248 +f 244 239 248 +f 244 248 249 +f 242 240 249 +f 240 245 249 +f 245 244 249 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/815/815.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/815/815.urdf new file mode 100644 index 000000000..c2efeb61e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/815/815.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/816/816.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/816/816.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/816/816.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/816/816.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/816/816.obj new file mode 100644 index 000000000..8e1e5dd16 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/816/816.obj @@ -0,0 +1,1017 @@ +o convex_0 +v 1.337907 0.576696 0.462052 +v 1.066425 -0.720456 -0.201392 +v 1.096653 -0.720456 -0.201392 +v 1.066425 0.727770 -0.503013 +v 1.428413 0.003732 -0.774687 +v 1.428413 -0.478859 0.522407 +v 1.066425 -0.478859 0.582762 +v 1.428413 0.667371 -0.382457 +v 1.066425 0.546572 0.492306 +v 1.428413 0.124079 0.794234 +v 1.428413 -0.508984 -0.533267 +v 1.066425 -0.539259 -0.533267 +v 1.096653 0.788018 0.130176 +v 1.096653 -0.690181 0.401850 +v 1.428413 0.576696 0.431951 +v 1.066425 0.818293 -0.412557 +v 1.428413 0.305126 -0.684078 +v 1.066425 0.063981 -0.563214 +v 1.398256 -0.539259 0.371596 +v 1.398256 0.003732 0.794234 +v 1.398256 0.063981 -0.774687 +v 1.066425 -0.539259 0.582762 +v 1.066425 0.124079 0.552661 +v 1.428413 0.546572 -0.533267 +f 8 17 24 +f 4 2 7 +f 6 5 8 +f 4 7 9 +f 6 8 10 +f 1 9 10 +f 5 6 11 +f 3 2 12 +f 2 4 12 +f 11 3 12 +f 5 11 12 +f 9 1 13 +f 2 3 14 +f 1 10 15 +f 10 8 15 +f 13 1 15 +f 8 13 15 +f 4 9 16 +f 13 8 16 +f 9 13 16 +f 8 5 17 +f 12 4 18 +f 3 11 19 +f 11 6 19 +f 14 3 19 +f 6 14 19 +f 10 9 20 +f 6 10 20 +f 5 12 21 +f 4 17 21 +f 17 5 21 +f 18 4 21 +f 12 18 21 +f 7 2 22 +f 2 14 22 +f 14 6 22 +f 6 20 22 +f 20 7 22 +f 9 7 23 +f 7 20 23 +f 20 9 23 +f 4 16 24 +f 16 8 24 +f 17 4 24 +o convex_1 +v -3.006538 -0.509208 0.130271 +v -1.981030 0.516578 -0.020351 +v -1.981030 0.516578 -0.291871 +v -1.981030 -0.569598 0.371667 +v -2.916127 0.395797 0.462241 +v -3.066854 -0.056599 -0.442794 +v -1.981030 -0.539403 -0.472918 +v -1.981030 0.395797 0.492365 +v -3.247931 0.305318 -0.141049 +v -3.278153 -0.237664 0.341543 +v -3.278153 -0.298054 -0.261747 +v -3.006538 -0.116990 0.492365 +v -2.041473 0.425992 -0.412569 +v -2.946222 -0.479013 -0.382445 +v -1.981030 -0.177274 0.522690 +v -3.006538 0.335513 -0.352220 +v -2.916127 0.456187 -0.050475 +v -1.981030 0.003579 -0.503143 +v -3.217710 0.245034 0.341543 +v -3.066854 -0.388534 0.371667 +v -2.131885 -0.569598 -0.442794 +v -2.011251 -0.479013 0.462241 +v -3.097076 -0.509208 0.039798 +v -2.011251 0.486383 0.341543 +v -3.247931 0.063969 -0.352220 +v -2.011251 0.305318 0.522690 +v -2.795367 0.003579 -0.472918 +v -2.403500 -0.569598 0.250969 +v -3.187615 0.365708 0.069922 +v -3.247931 0.063969 0.401892 +v -3.278153 -0.388534 0.039798 +v -2.011251 -0.358338 -0.503143 +v -2.282740 0.516578 -0.201398 +v -2.976443 0.154448 0.492365 +v -2.493911 -0.056599 0.522690 +v -2.282740 -0.448818 -0.472918 +f 51 56 60 +f 27 26 28 +f 27 28 31 +f 28 26 32 +f 34 33 35 +f 35 30 38 +f 28 32 39 +f 27 37 40 +f 40 33 41 +f 27 31 42 +f 37 27 42 +f 36 34 44 +f 31 28 45 +f 38 31 45 +f 28 39 46 +f 39 36 46 +f 44 28 46 +f 36 44 46 +f 35 38 47 +f 25 44 47 +f 38 45 47 +f 32 26 48 +f 29 32 48 +f 41 29 48 +f 30 35 49 +f 35 33 49 +f 33 40 49 +f 40 30 49 +f 32 29 50 +f 39 32 50 +f 30 40 51 +f 40 37 51 +f 37 42 51 +f 44 25 52 +f 28 44 52 +f 45 28 52 +f 25 47 52 +f 47 45 52 +f 29 41 53 +f 41 33 53 +f 43 29 53 +f 33 43 53 +f 33 34 54 +f 34 36 54 +f 29 43 54 +f 43 33 54 +f 34 35 55 +f 44 34 55 +f 35 47 55 +f 47 44 55 +f 42 31 56 +f 51 42 56 +f 26 27 57 +f 27 40 57 +f 40 41 57 +f 48 26 57 +f 41 48 57 +f 50 29 58 +f 29 54 58 +f 54 36 58 +f 36 39 59 +f 39 50 59 +f 50 58 59 +f 58 36 59 +f 31 38 60 +f 38 30 60 +f 30 51 60 +f 56 31 60 +o convex_2 +v -1.950657 0.033762 -0.503107 +v -1.437868 0.003661 0.583033 +v -1.468060 0.003661 0.583033 +v -1.437868 -0.841143 -0.382350 +v -1.437868 0.848465 -0.201327 +v -1.980903 -0.207209 0.522655 +v -1.980903 0.456164 0.431975 +v -1.980903 -0.569409 -0.472918 +v -1.468060 -0.720409 0.492353 +v -1.437868 -0.147008 -0.563486 +v -1.980903 0.426063 -0.412539 +v -1.437868 0.576897 0.522655 +v -1.980903 -0.569409 0.371708 +v -1.437868 0.516530 -0.442729 +v -1.468060 -0.720409 -0.563486 +v -1.468060 0.788098 0.311330 +v -1.437868 -0.841143 0.190685 +v -1.950657 0.546631 -0.261705 +v -1.980903 0.335430 0.522655 +v -1.980903 -0.599676 -0.322084 +v -1.437868 -0.690143 0.522655 +v -1.950657 0.516530 0.341519 +v -1.468060 0.848465 -0.141060 +v -1.468060 -0.841143 0.190685 +v -1.950657 -0.509043 0.462164 +v -1.980903 -0.478777 -0.503107 +v -1.468060 0.124229 -0.533297 +f 71 74 87 +f 62 64 65 +f 66 67 68 +f 65 64 70 +f 68 67 71 +f 63 62 72 +f 62 65 72 +f 66 68 73 +f 65 70 74 +f 71 65 74 +f 64 68 75 +f 70 64 75 +f 72 65 76 +f 67 72 76 +f 64 62 77 +f 65 71 78 +f 71 67 78 +f 66 63 79 +f 67 66 79 +f 63 72 79 +f 72 67 79 +f 68 64 80 +f 73 68 80 +f 62 63 81 +f 63 66 81 +f 77 62 81 +f 69 77 81 +f 67 76 82 +f 78 67 82 +f 78 82 83 +f 76 65 83 +f 65 78 83 +f 82 76 83 +f 69 73 84 +f 64 77 84 +f 77 69 84 +f 80 64 84 +f 73 80 84 +f 66 73 85 +f 73 69 85 +f 81 66 85 +f 69 81 85 +f 61 70 86 +f 68 71 86 +f 71 61 86 +f 75 68 86 +f 70 75 86 +f 70 61 87 +f 61 71 87 +f 74 70 87 +o convex_3 +v 1.428484 0.003738 -0.804613 +v 2.785941 0.064004 0.341528 +v 2.755908 0.064004 0.371741 +v 1.428484 0.637264 -0.382282 +v 1.428484 -0.479066 0.522481 +v 2.665411 -0.448877 -0.503134 +v 1.760572 0.395862 0.794234 +v 2.574914 0.486318 -0.442708 +v 1.428484 -0.509255 -0.533184 +v 2.574914 -0.388498 0.341528 +v 2.604947 0.486318 0.341528 +v 2.152594 -0.026339 -0.865201 +v 1.428484 0.576885 0.432004 +v 2.092263 -0.147096 0.794234 +v 1.881102 0.305294 -0.834989 +v 1.428484 -0.056641 0.794234 +v 2.755908 0.244916 -0.412495 +v 1.760572 -0.328120 -0.834989 +v 2.695444 -0.479066 -0.080640 +v 2.062097 0.305294 0.794234 +v 2.785941 -0.418688 -0.020864 +v 2.514450 0.546696 0.039561 +v 2.785941 0.395750 -0.110853 +v 1.549279 0.275105 -0.834989 +v 2.755908 0.003850 -0.503134 +v 1.911135 -0.237664 0.794234 +v 2.243091 -0.509255 -0.261755 +v 1.458782 0.275105 0.794234 +v 1.458782 -0.509255 0.341528 +v 2.092263 -0.298043 -0.834989 +v 2.785941 -0.358309 -0.382445 +v 2.785941 -0.267741 0.251052 +v 2.544748 0.456128 -0.503134 +v 2.544748 -0.479066 -0.503134 +v 1.549279 -0.237664 -0.834989 +v 2.092263 0.576885 0.160575 +v 2.785941 0.365560 0.220839 +v 1.428484 0.546696 -0.533184 +v 2.152594 0.094081 0.794234 +v 2.001765 0.546696 0.401791 +v 1.488948 -0.177285 0.794234 +v 1.519114 -0.479066 0.522481 +v 2.152594 0.516507 -0.503134 +v 2.635245 0.516507 -0.141066 +v 2.062097 0.214838 -0.834989 +v 2.635245 0.395750 0.371741 +v 2.725743 -0.116907 -0.533184 +v 1.488948 0.637264 -0.382282 +f 109 131 135 +f 91 88 92 +f 92 88 96 +f 91 92 100 +f 100 92 103 +f 101 94 103 +f 98 94 107 +f 94 101 107 +f 106 93 108 +f 97 106 108 +f 104 95 110 +f 89 108 110 +f 102 99 111 +f 104 110 112 +f 97 101 113 +f 101 103 113 +f 94 100 115 +f 100 103 115 +f 103 94 115 +f 92 96 116 +f 96 114 116 +f 114 106 116 +f 99 93 117 +f 105 99 117 +f 108 93 118 +f 110 108 118 +f 112 110 118 +f 89 90 119 +f 90 101 119 +f 101 97 119 +f 108 89 119 +f 97 108 119 +f 95 104 120 +f 112 99 120 +f 104 112 120 +f 96 105 121 +f 93 106 121 +f 114 96 121 +f 106 114 121 +f 117 93 121 +f 105 117 121 +f 96 88 122 +f 105 96 122 +f 99 105 122 +f 88 111 122 +f 111 99 122 +f 98 109 123 +f 89 110 124 +f 88 91 125 +f 111 88 125 +f 102 111 125 +f 101 90 126 +f 107 101 126 +f 94 98 127 +f 100 94 127 +f 123 100 127 +f 98 123 127 +f 103 92 128 +f 92 113 128 +f 113 103 128 +f 106 97 129 +f 113 92 129 +f 97 113 129 +f 92 116 129 +f 116 106 129 +f 95 120 130 +f 120 102 130 +f 102 125 130 +f 109 98 131 +f 110 95 131 +f 98 124 131 +f 124 110 131 +f 99 102 132 +f 102 120 132 +f 120 99 132 +f 90 89 133 +f 98 107 133 +f 89 124 133 +f 124 98 133 +f 126 90 133 +f 107 126 133 +f 93 99 134 +f 99 112 134 +f 118 93 134 +f 112 118 134 +f 91 100 135 +f 100 123 135 +f 123 109 135 +f 125 91 135 +f 95 130 135 +f 130 125 135 +f 131 95 135 +o convex_4 +v 0.523219 2.718455 0.009641 +v -1.437815 -0.870953 0.130244 +v -1.437815 -0.870953 0.190546 +v 0.553369 -2.741248 0.100093 +v -0.592854 -0.539059 -1.257432 +v -1.166212 2.386562 0.914658 +v 0.070710 -0.448114 1.246808 +v -1.166212 2.416680 -0.804678 +v 0.704124 2.266088 -0.864980 +v -1.075514 -2.318999 0.914658 +v -1.105665 -2.288881 -0.804678 +v 0.643822 -2.379236 -0.864980 +v 1.066425 0.636740 0.492300 +v 0.643822 2.326325 0.824205 +v 0.673973 -2.409945 0.884507 +v 1.066425 -0.629415 -0.563471 +v -0.260950 -3.012904 0.009641 +v -0.351647 3.019639 0.009641 +v 0.100861 0.546385 -1.257432 +v -1.437815 0.696977 -0.442623 +v -0.502402 0.546385 1.246808 +v -1.437815 0.003663 0.612904 +v 0.734275 0.123546 0.944809 +v -1.196362 0.033781 -0.925527 +v 1.066425 -0.539059 0.582998 +v 1.066425 0.847569 -0.382321 +v -1.166212 -0.116220 1.005110 +v -0.230799 2.718455 -0.744377 +v 0.704124 -0.478823 -0.955433 +v -1.437815 -0.810125 -0.563226 +v -0.472251 0.696977 -1.257432 +v -0.230799 2.688337 0.763903 +v -0.291101 -2.681011 -0.744377 +v -0.170742 -2.711129 0.763903 +v -0.954910 -2.681602 0.009641 +v 0.070710 0.455439 1.246808 +v -1.045363 2.748573 0.100093 +v -1.437815 0.968634 0.250848 +v 0.040559 -0.448114 -1.257432 +v -0.442100 -0.478823 1.246808 +v 0.643822 2.386562 -0.864980 +v 1.066425 -0.780597 -0.201170 +v -0.200648 0.696977 1.246808 +v -0.170742 3.020230 0.039792 +v -0.653156 0.093428 -1.257432 +v -1.437815 -0.780597 0.552602 +v -1.105665 -2.228644 -0.834829 +v -0.170742 -0.599296 1.246808 +v -1.105665 -2.349118 -0.713980 +v -0.291101 -0.659533 -1.257432 +v -0.260950 0.787923 -1.257432 +v 0.704124 0.485558 -0.955433 +v 1.066425 0.606622 -0.533075 +v -0.230799 -3.012904 0.100093 +v 0.372464 -2.500300 -0.834829 +v -1.136061 2.356443 -0.834829 +v 0.704124 -1.835923 0.914658 +v 0.613671 -2.349118 0.914658 +v -1.437815 0.124137 -0.563226 +v 0.704124 2.326325 -0.744377 +v 1.066425 0.818041 0.160395 +v -1.316966 1.722775 0.009641 +v 0.131012 -0.116811 -1.257432 +v 0.553369 -2.741248 -0.050416 +f 152 190 199 +f 137 138 155 +f 155 138 157 +f 148 149 158 +f 151 148 160 +f 148 158 160 +f 148 151 161 +f 156 141 162 +f 141 157 162 +f 143 153 163 +f 151 147 164 +f 137 155 165 +f 154 140 166 +f 141 149 167 +f 153 141 167 +f 156 142 171 +f 142 158 171 +f 158 149 171 +f 143 141 172 +f 141 153 172 +f 153 143 172 +f 157 141 173 +f 155 157 173 +f 140 154 174 +f 142 156 175 +f 156 162 175 +f 162 145 175 +f 144 154 176 +f 150 147 177 +f 147 151 177 +f 160 150 177 +f 151 160 177 +f 149 141 178 +f 141 156 178 +f 171 149 178 +f 156 171 178 +f 149 136 179 +f 163 153 179 +f 167 149 179 +f 153 167 179 +f 136 176 179 +f 176 163 179 +f 140 159 180 +f 166 140 180 +f 138 145 181 +f 157 138 181 +f 145 162 181 +f 162 157 181 +f 159 140 182 +f 146 165 182 +f 165 159 182 +f 168 146 182 +f 175 145 183 +f 142 175 183 +f 138 137 184 +f 145 138 184 +f 137 165 184 +f 165 146 184 +f 146 168 184 +f 168 152 184 +f 170 145 184 +f 152 170 184 +f 140 174 185 +f 174 147 185 +f 182 140 185 +f 154 166 186 +f 176 154 186 +f 154 144 187 +f 151 164 187 +f 144 161 188 +f 161 151 188 +f 187 144 188 +f 151 187 188 +f 139 150 189 +f 150 169 189 +f 169 145 189 +f 145 170 189 +f 170 152 189 +f 152 168 190 +f 168 182 190 +f 185 147 190 +f 182 185 190 +f 159 143 191 +f 143 163 191 +f 163 176 191 +f 180 159 191 +f 166 180 191 +f 186 166 191 +f 176 186 191 +f 158 142 192 +f 150 160 192 +f 160 158 192 +f 169 150 193 +f 145 169 193 +f 183 145 193 +f 142 183 193 +f 192 142 193 +f 150 192 193 +f 155 143 194 +f 143 159 194 +f 165 155 194 +f 159 165 194 +f 136 149 195 +f 161 144 195 +f 176 136 195 +f 144 176 195 +f 149 148 196 +f 148 161 196 +f 195 149 196 +f 161 195 196 +f 141 143 197 +f 143 155 197 +f 173 141 197 +f 155 173 197 +f 164 147 198 +f 147 174 198 +f 174 154 198 +f 154 187 198 +f 187 164 198 +f 150 139 199 +f 147 150 199 +f 139 189 199 +f 189 152 199 +f 190 147 199 +o convex_5 +v -0.411905 -0.478918 1.246808 +v -0.170639 0.275140 1.970854 +v -0.200781 0.275140 1.970854 +v -0.170639 0.576921 1.246808 +v 0.070692 -0.418540 1.246808 +v 0.070692 -0.026304 1.970854 +v -0.411905 -0.177250 1.970854 +v -0.472254 0.395785 1.246808 +v 0.070692 0.365708 1.246808 +v -0.170639 -0.358273 1.759650 +v -0.381763 0.214762 1.970854 +v -0.532603 -0.026304 1.307263 +v 0.010343 0.214762 1.940662 +v -0.230923 -0.569598 1.307263 +v 0.131041 0.003661 1.397769 +v 0.010343 -0.177250 1.970854 +v -0.442047 0.063927 1.970854 +v -0.230923 0.576921 1.277071 +v -0.080148 -0.539409 1.277071 +v -0.442047 -0.448729 1.337384 +v -0.442047 0.395785 1.458083 +v 0.070692 0.063927 1.970854 +v 0.131041 -0.086682 1.246808 +v 0.040485 0.425974 1.277071 +v -0.381763 -0.207327 1.970854 +f 219 213 224 +f 200 203 204 +f 201 202 205 +f 205 202 206 +f 203 200 207 +f 204 203 208 +f 206 202 210 +f 207 200 211 +f 203 201 212 +f 204 205 215 +f 205 206 215 +f 206 210 216 +f 207 211 216 +f 211 206 216 +f 202 201 217 +f 201 203 217 +f 203 207 217 +f 210 202 217 +f 200 204 218 +f 213 200 218 +f 209 213 218 +f 204 215 218 +f 215 209 218 +f 211 200 219 +f 206 211 219 +f 200 213 219 +f 216 210 220 +f 207 216 220 +f 217 207 220 +f 210 217 220 +f 201 205 221 +f 212 201 221 +f 205 214 221 +f 214 208 221 +f 205 204 222 +f 204 208 222 +f 214 205 222 +f 208 214 222 +f 208 203 223 +f 203 212 223 +f 212 221 223 +f 221 208 223 +f 213 209 224 +f 215 206 224 +f 209 215 224 +f 206 219 224 +o convex_6 +v -0.442153 0.033809 1.971120 +v 0.070763 0.033809 2.121877 +v 0.070763 0.003661 2.121877 +v -0.230932 0.064004 2.966587 +v -0.230932 -0.237711 2.001232 +v -0.110284 0.245034 1.971120 +v 0.040589 0.033809 2.725102 +v -0.200757 0.245034 2.725102 +v -0.261056 -0.147173 2.694892 +v 0.010414 -0.177368 1.971120 +v -0.411979 0.003661 2.604457 +v -0.351630 0.214838 1.971120 +v -0.411979 -0.147173 1.971120 +v -0.140458 -0.147173 2.725102 +v 0.010414 0.184691 1.971120 +v -0.381754 0.094152 2.694892 +v -0.019760 0.184691 2.544037 +v -0.381754 -0.177368 2.182297 +v -0.110284 0.064004 2.936279 +f 231 241 243 +f 227 226 231 +f 226 227 234 +f 225 230 234 +f 227 231 234 +f 233 228 235 +f 230 225 236 +f 232 230 236 +f 225 234 237 +f 234 229 237 +f 235 225 237 +f 228 233 238 +f 233 229 238 +f 234 231 238 +f 229 234 238 +f 231 226 239 +f 226 234 239 +f 234 230 239 +f 228 232 240 +f 225 235 240 +f 235 228 240 +f 236 225 240 +f 232 236 240 +f 230 232 241 +f 231 239 241 +f 239 230 241 +f 229 233 242 +f 233 235 242 +f 237 229 242 +f 235 237 242 +f 232 228 243 +f 228 238 243 +f 238 231 243 +f 241 232 243 +o convex_7 +v 1.488868 -0.086780 -0.955764 +v 2.122429 0.063992 -0.835030 +v 2.122429 -0.177268 -0.835030 +v 1.790542 0.033788 -3.037554 +v 1.609590 0.275173 -0.835030 +v 1.760459 -0.298022 -1.529032 +v 1.549294 0.003646 -2.645170 +v 1.790542 0.214827 -2.765903 +v 1.971495 -0.026434 -2.735720 +v 2.062004 0.214827 -0.925580 +v 1.549294 -0.237614 -0.835030 +v 1.760459 -0.207472 -2.584588 +v 2.092216 -0.298022 -0.865213 +v 1.549294 0.245031 -1.197446 +v 1.850773 0.305377 -0.835030 +v 1.458655 0.033788 -0.835030 +v 1.609590 0.184685 -2.434102 +v 1.609590 -0.147126 -2.464285 +v 1.971495 0.033788 -2.735720 +v 1.760459 -0.328226 -0.835030 +v 1.881051 -0.177268 -2.554404 +v 1.760459 0.275173 -1.861049 +v 1.730311 -0.086780 -2.916820 +v 1.941347 0.184685 -2.252786 +v 1.730311 0.214827 -2.765903 +v 2.122429 -0.056576 -1.106680 +v 1.820625 0.275173 -1.831081 +v 1.579442 -0.207472 -1.679949 +v 1.549294 0.033788 -2.645170 +v 1.730311 0.033788 -3.037554 +f 250 272 273 +f 246 245 248 +f 246 248 254 +f 252 246 256 +f 249 255 256 +f 248 245 258 +f 245 253 258 +f 250 244 259 +f 244 254 259 +f 254 248 259 +f 248 257 259 +f 247 251 262 +f 252 247 262 +f 253 245 262 +f 246 254 263 +f 254 249 263 +f 256 246 263 +f 249 256 263 +f 252 256 264 +f 256 255 264 +f 257 248 265 +f 248 258 265 +f 247 252 266 +f 261 250 266 +f 255 261 266 +f 252 264 266 +f 264 255 266 +f 262 251 267 +f 253 262 267 +f 251 247 268 +f 260 257 268 +f 257 265 268 +f 265 251 268 +f 245 246 269 +f 246 252 269 +f 252 262 269 +f 262 245 269 +f 258 253 270 +f 265 258 270 +f 251 265 270 +f 267 251 270 +f 253 267 270 +f 244 250 271 +f 254 244 271 +f 249 254 271 +f 255 249 271 +f 250 261 271 +f 261 255 271 +f 250 259 272 +f 259 257 272 +f 257 260 272 +f 260 268 272 +f 272 268 273 +f 247 266 273 +f 266 250 273 +f 268 247 273 +o convex_8 +v -0.411911 -0.086842 -2.645288 +v 0.040592 0.124259 -1.981549 +v 0.040592 0.003691 -1.981549 +v -0.502496 0.063922 -1.981549 +v -0.200810 0.275128 -2.796111 +v -0.381716 -0.237711 -1.981549 +v -0.019799 0.033833 -2.735762 +v -0.230952 0.305377 -1.981549 +v -0.200810 -0.147179 -2.735762 +v -0.049941 -0.177321 -2.041898 +v -0.291236 0.094117 -2.977057 +v -0.411911 0.124259 -2.705537 +v 0.010397 0.244986 -2.041898 +v -0.381716 0.244986 -2.011874 +v -0.019799 0.124259 -2.765886 +v -0.472248 -0.207516 -2.041898 +v -0.442106 0.033833 -2.765886 +v -0.200810 0.033833 -3.007382 +v -0.291236 -0.147179 -2.735762 +v -0.200810 -0.237711 -1.981549 +f 283 276 293 +f 276 275 277 +f 276 277 279 +f 277 275 281 +f 282 280 283 +f 280 276 283 +f 278 284 285 +f 281 275 286 +f 278 281 286 +f 277 281 287 +f 281 278 287 +f 285 277 287 +f 278 285 287 +f 275 276 288 +f 276 280 288 +f 286 275 288 +f 278 286 288 +f 279 277 289 +f 277 285 290 +f 285 284 290 +f 274 289 290 +f 289 277 290 +f 280 282 291 +f 284 278 291 +f 288 280 291 +f 278 288 291 +f 290 284 291 +f 290 291 292 +f 282 279 292 +f 289 274 292 +f 279 289 292 +f 274 290 292 +f 291 282 292 +f 276 279 293 +f 279 282 293 +f 282 283 293 +o convex_9 +v 0.131033 0.093993 -1.378201 +v -0.623109 -0.177285 -1.287695 +v -0.532606 -0.056593 -1.890902 +v -0.351600 0.637045 -1.257432 +v -0.230979 -0.599770 -1.257432 +v 0.040530 0.154277 -1.981478 +v -0.019855 -0.177285 -1.981478 +v 0.070648 0.486211 -1.257432 +v -0.261097 0.305235 -1.981478 +v -0.442103 -0.237694 -1.981478 +v 0.040530 -0.448812 -1.257432 +v -0.532606 0.486211 -1.257432 +v -0.562724 -0.479078 -1.257432 +v -0.170668 0.667436 -1.287695 +v -0.442103 0.214685 -1.951286 +v 0.010338 0.274969 -1.981478 +v 0.070648 -0.026451 -1.830588 +v -0.261097 -0.599770 -1.317887 +v -0.230979 -0.267836 -1.981478 +v -0.623109 0.093993 -1.257432 +v 0.131033 -0.086735 -1.257432 +v -0.502414 0.063851 -1.981478 +v -0.472221 0.576761 -1.287695 +v 0.040530 -0.448812 -1.317887 +v -0.502414 -0.267836 -1.860780 +f 311 306 318 +f 297 298 301 +f 294 299 301 +f 299 300 302 +f 302 300 303 +f 301 298 304 +f 298 297 305 +f 298 305 306 +f 297 301 307 +f 302 297 307 +f 301 299 309 +f 299 302 309 +f 307 301 309 +f 302 307 309 +f 299 294 310 +f 300 299 310 +f 298 306 311 +f 303 300 312 +f 300 311 312 +f 311 303 312 +f 296 295 313 +f 295 306 313 +f 306 305 313 +f 294 301 314 +f 301 304 314 +f 310 294 314 +f 302 303 315 +f 303 296 315 +f 308 302 315 +f 305 308 315 +f 296 313 315 +f 313 305 315 +f 297 302 316 +f 305 297 316 +f 302 308 316 +f 308 305 316 +f 304 298 317 +f 300 310 317 +f 311 300 317 +f 298 311 317 +f 314 304 317 +f 310 314 317 +f 295 296 318 +f 296 303 318 +f 306 295 318 +f 303 311 318 +o convex_10 +v 1.428483 -0.026428 0.794234 +v 2.122429 0.064004 0.975411 +v 2.122429 0.033939 0.975411 +v 1.730285 -0.026428 3.026930 +v 1.669897 0.365720 0.824612 +v 1.881016 -0.237711 0.794234 +v 1.730285 0.244986 2.694954 +v 1.760445 -0.207528 2.694954 +v 1.488871 0.064004 2.543937 +v 1.971563 -0.056611 2.664794 +v 2.031882 0.305353 0.794234 +v 1.488871 -0.177345 1.005571 +v 1.488871 0.305353 0.794234 +v 2.001655 -0.207528 1.760002 +v 1.971563 0.064004 2.604256 +v 2.062042 -0.177345 0.794234 +v 1.549190 -0.086854 2.574096 +v 1.549190 0.244986 2.151860 +v 1.669897 -0.237711 0.794234 +v 1.760445 0.335537 1.699464 +v 1.971563 0.244986 1.790161 +v 1.519099 0.064004 2.785215 +v 1.730285 -0.237711 2.061162 +v 1.428483 0.154495 0.824612 +v 1.760445 0.064004 2.996552 +v 1.519099 -0.147161 1.850262 +v 1.850856 0.365720 0.794234 +v 1.760445 0.244986 2.694954 +v 2.001655 -0.026428 2.513995 +v 1.911107 -0.177345 2.483836 +v 2.092202 0.184679 0.824612 +v 1.730285 -0.207528 2.694954 +f 335 344 350 +f 322 326 328 +f 324 319 329 +f 329 319 331 +f 324 329 334 +f 321 332 334 +f 332 324 334 +f 323 331 336 +f 331 327 336 +f 319 324 337 +f 330 319 337 +f 323 336 338 +f 336 325 338 +f 329 338 339 +f 335 322 340 +f 327 335 340 +f 325 336 340 +f 336 327 340 +f 324 332 341 +f 332 326 341 +f 337 324 341 +f 330 337 341 +f 319 327 342 +f 331 319 342 +f 327 331 342 +f 322 328 343 +f 328 333 343 +f 340 322 343 +f 325 340 343 +f 327 319 344 +f 319 330 344 +f 335 327 344 +f 331 323 345 +f 329 331 345 +f 323 338 345 +f 338 329 345 +f 338 325 346 +f 333 339 346 +f 339 338 346 +f 325 343 346 +f 343 333 346 +f 321 320 347 +f 332 321 347 +f 328 332 347 +f 320 333 347 +f 333 328 347 +f 328 326 348 +f 326 332 348 +f 332 328 348 +f 320 321 349 +f 333 320 349 +f 321 334 349 +f 334 329 349 +f 329 339 349 +f 339 333 349 +f 326 322 350 +f 322 335 350 +f 341 326 350 +f 330 341 350 +f 344 330 350 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/816/816.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/816/816.urdf new file mode 100644 index 000000000..920bac32e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/816/816.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/817/817.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/817/817.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/817/817.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/817/817.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/817/817.obj new file mode 100644 index 000000000..999861b34 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/817/817.obj @@ -0,0 +1,1497 @@ +o convex_0 +v 1.059457 -1.848255 2.709045 +v -0.963676 -1.787564 0.907973 +v -0.963676 -1.807787 1.414304 +v 0.938024 -1.868498 0.907973 +v -0.903061 -1.828021 2.709045 +v -0.680603 -1.767320 1.090443 +v -1.004288 -1.787564 2.709045 +v 0.877409 -1.828021 0.907973 +v 0.938024 -1.828021 2.709045 +v 0.917819 -1.868498 2.709045 +v -0.963676 -1.767320 0.907973 +v 0.857204 -1.868498 0.907973 +v -0.822241 -1.787564 2.668496 +v -0.700808 -1.807787 0.907973 +f 2 12 14 +f 2 3 7 +f 5 1 7 +f 3 5 7 +f 4 2 8 +f 1 4 8 +f 8 6 9 +f 7 1 9 +f 1 8 9 +f 4 1 10 +f 1 5 10 +f 2 7 11 +f 7 6 11 +f 8 2 11 +f 6 8 11 +f 2 4 12 +f 5 3 12 +f 4 10 12 +f 10 5 12 +f 6 7 13 +f 9 6 13 +f 7 9 13 +f 3 2 14 +f 12 3 14 +o convex_1 +v -1.044968 -0.957931 -1.136323 +v -1.085438 -1.848087 -3.179676 +v -1.085438 -1.706394 -3.179676 +v -1.004498 -1.585005 -3.200079 +v -1.024733 -1.747002 -1.136323 +v -1.004498 -0.957931 -3.200079 +v -1.085430 -0.957931 -1.581558 +v -1.085430 -0.957931 -2.612830 +v -1.004498 -1.848087 -3.098871 +v -1.044968 -1.747002 -1.136323 +v -1.024733 -1.261534 -1.136323 +v -1.044968 -0.957931 -3.200079 +v -1.065187 -1.281751 -1.136323 +v -1.085430 -1.747002 -2.774642 +f 27 21 28 +f 17 16 21 +f 15 20 21 +f 21 20 22 +f 17 21 22 +f 16 18 23 +f 18 20 23 +f 19 15 24 +f 16 23 24 +f 23 19 24 +f 15 19 25 +f 20 15 25 +f 19 23 25 +f 23 20 25 +f 16 17 26 +f 18 16 26 +f 20 18 26 +f 22 20 26 +f 17 22 26 +f 15 21 27 +f 24 15 27 +f 24 27 28 +f 21 16 28 +f 16 24 28 +o convex_2 +v 0.614224 -1.767324 2.931628 +v -1.004288 -1.807800 2.709045 +v -1.004288 -1.787567 2.709045 +v 1.059457 -1.868498 2.709045 +v -1.004288 -1.828013 2.891146 +v 1.059457 -1.868498 2.931628 +v 1.059457 -1.767324 2.911387 +v -1.004288 -1.767324 2.891146 +v 0.958249 -1.828013 2.709045 +v -0.903081 -1.828013 2.709045 +f 33 30 38 +f 30 31 32 +f 31 30 33 +f 29 33 34 +f 33 32 34 +f 29 34 35 +f 34 32 35 +f 33 29 36 +f 31 33 36 +f 29 35 36 +f 35 31 36 +f 32 31 37 +f 31 35 37 +f 35 32 37 +f 30 32 38 +f 32 33 38 +o convex_3 +v 0.755866 4.101269 -1.115710 +v -1.105675 0.256361 -1.135947 +v -0.579451 0.256361 -1.156176 +v -1.004382 4.162056 -1.135947 +v 1.019185 0.256744 -1.196650 +v -0.538893 0.256361 -1.115703 +v 1.019185 0.297651 -1.156176 +v 1.019185 3.554181 -1.156176 +v -1.024349 4.101269 -1.115703 +v 1.019185 3.493393 -1.115710 +v -1.105675 0.256361 -1.115703 +v 1.019185 4.080624 -1.135955 +v 0.958243 0.277389 -1.196650 +f 42 46 51 +f 41 40 42 +f 41 43 44 +f 40 41 44 +f 44 43 45 +f 45 43 46 +f 42 40 47 +f 39 42 47 +f 47 44 48 +f 44 45 48 +f 45 46 48 +f 39 47 48 +f 40 44 49 +f 47 40 49 +f 44 47 49 +f 42 39 50 +f 46 42 50 +f 48 46 50 +f 39 48 50 +f 41 42 51 +f 43 41 51 +f 46 43 51 +o convex_4 +v 0.007046 4.202530 0.827030 +v -1.085438 0.256748 0.806801 +v -0.457924 0.256748 0.806801 +v 0.371482 0.256361 0.867500 +v 1.019185 4.141112 0.806790 +v 1.019185 0.256361 0.847259 +v 1.019185 2.563186 0.867500 +v -1.085438 1.066377 0.827030 +v -0.154673 4.202530 0.806801 +v 0.634560 4.161971 0.847259 +v 1.019185 0.256361 0.867500 +v 1.019185 4.141112 0.847259 +v -1.085438 0.256748 0.827030 +v -0.154673 4.202530 0.827030 +v 0.391671 0.256361 0.827030 +v -1.085438 1.066377 0.806801 +v -0.478113 0.297306 0.847259 +f 59 64 68 +f 54 53 56 +f 57 56 58 +f 52 56 60 +f 55 57 62 +f 58 55 62 +f 57 58 62 +f 56 52 63 +f 58 56 63 +f 52 61 63 +f 61 58 63 +f 53 55 64 +f 59 53 64 +f 52 60 65 +f 60 59 65 +f 61 52 65 +f 59 61 65 +f 53 54 66 +f 55 53 66 +f 54 56 66 +f 56 57 66 +f 57 55 66 +f 56 53 67 +f 53 59 67 +f 60 56 67 +f 59 60 67 +f 55 58 68 +f 58 61 68 +f 61 59 68 +f 64 55 68 +o convex_5 +v -0.296240 0.236125 -3.240547 +v -1.044964 -0.957844 -3.200085 +v -1.044964 -0.957844 -3.159616 +v -0.093836 -0.957844 -3.200085 +v -0.093836 0.236125 -3.159616 +v -1.004465 0.236125 -3.159616 +v -1.004465 -0.148502 -3.240547 +v -0.093836 -0.957844 -3.179858 +v -0.984169 0.236125 -3.240547 +v -1.044964 -0.876851 -3.220312 +v -0.093836 0.236125 -3.220312 +v -0.093836 -0.391129 -3.220312 +f 79 72 80 +f 71 70 72 +f 71 73 74 +f 73 69 74 +f 71 72 76 +f 72 73 76 +f 73 71 76 +f 74 69 77 +f 69 75 77 +f 75 74 77 +f 70 71 78 +f 72 70 78 +f 71 74 78 +f 74 75 78 +f 69 73 79 +f 73 72 79 +f 75 69 80 +f 72 78 80 +f 78 75 80 +f 69 79 80 +o convex_6 +v -1.004491 -0.189105 2.870939 +v 0.958194 0.114566 2.749526 +v 0.978401 -0.209211 2.789988 +v 0.998608 -1.301730 2.850694 +v -1.004491 -0.533126 2.850694 +v -0.680378 0.114566 2.870939 +v 0.836952 0.074076 2.729282 +v 1.018815 -1.058933 2.870939 +v -0.984084 0.114566 2.850694 +v -1.004491 -0.533126 2.870939 +v 0.897573 0.094321 2.769771 +v 1.039422 -1.301730 2.870939 +v 0.937987 0.013342 2.729282 +f 92 84 93 +f 86 81 88 +f 85 81 89 +f 86 82 89 +f 81 86 89 +f 82 87 89 +f 87 85 89 +f 81 85 90 +f 85 84 90 +f 88 81 90 +f 83 82 91 +f 82 86 91 +f 88 83 91 +f 86 88 91 +f 82 83 92 +f 83 88 92 +f 90 84 92 +f 88 90 92 +f 84 85 93 +f 87 82 93 +f 85 87 93 +f 82 92 93 +o convex_7 +v 0.411874 4.182281 0.725494 +v -0.984125 4.141812 -1.115703 +v -0.984125 4.141812 -0.791649 +v 1.019047 4.060873 -0.791649 +v 1.039253 4.101360 0.806790 +v 0.917618 4.101360 -0.994135 +v -0.963919 4.243003 0.745818 +v -0.963919 4.202498 0.705358 +v -0.741056 4.162011 -1.115703 +v 1.059659 4.141829 0.421952 +v 0.735566 4.060873 -1.115703 +v -0.943514 4.243003 0.664899 +v -0.781667 4.121613 -1.095191 +v 0.877407 4.162046 0.806790 +v 1.019047 4.081126 -1.115703 +v -0.984125 4.182263 -0.832109 +f 105 102 109 +f 96 98 101 +f 100 96 101 +f 98 100 101 +f 98 97 103 +f 99 94 103 +f 97 98 104 +f 95 102 104 +f 94 99 105 +f 99 102 105 +f 96 95 106 +f 98 96 106 +f 95 104 106 +f 104 98 106 +f 100 98 107 +f 103 94 107 +f 98 103 107 +f 94 105 107 +f 105 100 107 +f 102 99 108 +f 103 97 108 +f 99 103 108 +f 97 104 108 +f 104 102 108 +f 95 96 109 +f 96 100 109 +f 102 95 109 +f 100 105 109 +o convex_8 +v -1.004504 0.053994 -2.552350 +v -1.044970 -0.957844 -3.159615 +v -1.044970 -0.694683 -3.159615 +v -1.105674 -0.391409 -1.804018 +v -1.065185 -0.957844 -1.804018 +v -1.004504 -0.755397 -3.139178 +v -1.004504 0.053994 -3.159615 +v -1.044970 0.053994 -1.824189 +v -1.085424 0.053994 -1.844360 +v -1.085424 -0.957844 -2.592825 +v -0.984266 0.033690 -2.916629 +v -1.085424 -0.957844 -1.804018 +v -1.024743 0.033690 -2.977276 +v -1.024743 -0.957844 -2.936801 +f 115 114 123 +f 111 112 116 +f 115 111 116 +f 113 114 117 +f 110 116 117 +f 117 116 118 +f 112 113 118 +f 113 117 118 +f 112 111 119 +f 113 112 119 +f 111 114 119 +f 114 115 120 +f 116 110 120 +f 115 116 120 +f 110 117 120 +f 117 114 120 +f 114 113 121 +f 113 119 121 +f 119 114 121 +f 116 112 122 +f 118 116 122 +f 112 118 122 +f 114 111 123 +f 111 115 123 +o convex_9 +v 0.230088 0.155194 -1.216886 +v 0.938137 0.256362 -1.156190 +v 0.938137 0.134941 -1.156190 +v -0.093735 0.175434 -1.135947 +v -0.093735 0.256362 -1.156190 +f 127 125 128 +f 124 125 126 +f 126 125 127 +f 124 126 127 +f 124 127 128 +f 125 124 128 +o convex_10 +v 1.019193 0.398166 -1.196650 +v 1.059659 2.745483 -0.103972 +v 1.059659 2.745483 -1.156006 +v 1.059659 0.256362 -0.103972 +v 1.059659 0.256362 -1.196650 +v 1.019193 2.745483 -1.135791 +v 1.039424 0.256362 -0.103972 +v 1.039424 2.745483 -0.103972 +v 1.019193 0.256362 -1.176221 +f 135 134 137 +f 131 130 132 +f 129 131 133 +f 131 132 133 +f 131 129 134 +f 130 131 134 +f 132 130 135 +f 133 132 135 +f 134 135 136 +f 130 134 136 +f 135 130 136 +f 129 133 137 +f 134 129 137 +f 133 135 137 +o convex_11 +v 1.039430 3.635766 -1.156176 +v 1.059651 4.121583 -0.103968 +v 1.079890 4.101110 -0.184923 +v 1.059651 2.745618 -0.103968 +v 1.079890 2.867106 -1.156176 +v 1.019185 2.745618 -1.135783 +v 1.019185 4.121583 -0.103968 +v 1.079890 4.080907 -1.135783 +v 1.019185 4.080907 -1.135783 +v 1.039430 2.745618 -0.103968 +v 1.079890 2.765956 -0.468265 +f 143 142 148 +f 140 139 141 +f 138 142 143 +f 141 139 144 +f 139 140 145 +f 142 138 145 +f 140 142 145 +f 144 139 145 +f 144 145 146 +f 138 143 146 +f 143 144 146 +f 145 138 146 +f 143 141 147 +f 141 144 147 +f 144 143 147 +f 140 141 148 +f 142 140 148 +f 141 143 148 +o convex_12 +v 1.039422 0.256738 -0.103865 +v 1.059659 4.100954 0.806790 +v 1.059659 4.100954 -0.103865 +v 1.039422 4.100954 0.806790 +v 1.059659 0.256738 0.806790 +v 1.039422 4.100954 -0.103865 +v 1.059659 0.256738 -0.103865 +v 1.039422 0.256738 0.806790 +f 153 152 156 +f 150 151 152 +f 151 150 153 +f 150 152 153 +f 151 149 154 +f 152 151 154 +f 149 152 154 +f 149 151 155 +f 153 149 155 +f 151 153 155 +f 152 149 156 +f 149 153 156 +o convex_13 +v 1.079895 -0.978217 -0.043202 +v 0.998956 -1.706458 -0.933572 +v 0.998956 -1.221013 -0.933572 +v 1.039426 -0.978217 0.786553 +v 1.079895 -1.706458 0.786553 +v 1.039426 -1.301920 -0.913198 +v 1.019199 -0.957844 -0.933572 +v 1.039426 -1.706458 0.482972 +v 1.079895 -0.957844 0.786553 +v 1.039426 -1.706458 -0.629991 +v 0.998956 -1.706458 -0.589412 +v 1.079895 -1.666004 0.401983 +v 1.039426 -0.957844 -0.933572 +f 163 165 169 +f 158 159 163 +f 159 160 163 +f 161 160 164 +f 158 161 164 +f 161 157 165 +f 160 161 165 +f 163 160 165 +f 161 158 166 +f 158 162 166 +f 159 158 167 +f 160 159 167 +f 158 164 167 +f 164 160 167 +f 157 161 168 +f 162 157 168 +f 161 166 168 +f 166 162 168 +f 162 158 169 +f 157 162 169 +f 158 163 169 +f 165 157 169 +o convex_14 +v -1.044964 -0.694683 -1.054976 +v -1.085428 -0.957844 -1.803752 +v -1.105669 -0.492335 -1.803752 +v -1.105669 -0.957844 0.523194 +v -1.065205 0.053994 0.746079 +v -1.065211 0.053994 -1.803752 +v -1.105669 0.053994 -0.306200 +v -1.065205 -0.957844 0.746079 +v -1.044964 -0.957844 -1.601084 +v -1.085434 0.053994 0.746079 +v -1.105669 0.053994 -1.479782 +v -1.044964 -0.957844 -0.812123 +v -1.105669 -0.957844 -0.205116 +f 171 173 182 +f 171 172 175 +f 174 170 175 +f 172 173 176 +f 174 175 176 +f 173 171 177 +f 171 175 178 +f 175 170 178 +f 177 171 178 +f 176 173 179 +f 174 176 179 +f 173 177 179 +f 177 174 179 +f 175 172 180 +f 172 176 180 +f 176 175 180 +f 170 174 181 +f 174 177 181 +f 178 170 181 +f 177 178 181 +f 172 171 182 +f 173 172 182 +o convex_15 +v 1.059655 4.141819 0.806794 +v 0.938280 -1.706458 0.827021 +v 0.938280 -1.706458 0.847257 +v 1.079896 -1.706458 0.786567 +v 1.059655 0.257089 0.867492 +v 1.019187 4.141819 0.847257 +v 0.938280 -1.443125 0.806802 +v 1.079896 -1.706458 0.847257 +v 1.019187 4.141819 0.806794 +v 1.059655 2.684330 0.867492 +v 1.019187 2.623076 0.867492 +v 1.039400 -0.957677 0.786567 +f 189 191 194 +f 185 184 186 +f 184 185 189 +f 186 184 189 +f 185 188 189 +f 185 186 190 +f 186 183 190 +f 187 185 190 +f 188 183 191 +f 189 188 191 +f 183 188 192 +f 190 183 192 +f 187 190 192 +f 185 187 193 +f 188 185 193 +f 187 192 193 +f 192 188 193 +f 183 186 194 +f 186 189 194 +f 191 183 194 +o convex_16 +v -1.105674 0.215872 -0.447983 +v -1.004502 0.053994 -3.159615 +v -0.984274 0.053994 -3.159615 +v -1.065189 0.053994 0.705606 +v -0.964045 0.256362 -1.116148 +v -1.004502 0.236097 -3.159615 +v -1.105674 0.053994 -1.459690 +v -1.065189 0.256362 0.705606 +v -1.105674 0.256362 -1.337861 +v -0.964045 0.236097 -3.159615 +v -1.085418 0.053994 0.705606 +v -1.044946 0.195628 0.705606 +v -0.964045 0.236097 -1.116148 +f 199 206 207 +f 196 197 198 +f 197 196 200 +f 196 198 201 +f 200 196 201 +f 201 195 203 +f 200 201 203 +f 195 202 203 +f 202 199 203 +f 197 200 204 +f 203 199 204 +f 200 203 204 +f 195 201 205 +f 201 198 205 +f 202 195 205 +f 198 202 205 +f 202 198 206 +f 199 202 206 +f 198 197 207 +f 197 204 207 +f 204 199 207 +f 206 198 207 +o convex_17 +v -0.923512 -1.544629 -3.200079 +v 0.412083 -0.957844 -3.159603 +v 0.412083 -0.998456 -3.139390 +v 0.371593 -1.848087 -3.139390 +v -1.004491 -1.827868 -3.098905 +v -1.004491 -0.957844 -3.179836 +v -0.053406 -0.957844 -3.200079 +v 0.412083 -1.848087 -3.098905 +v -1.004491 -1.848087 -3.179836 +v -1.004491 -0.957844 -3.200079 +v 0.412083 -1.018675 -3.179836 +v -0.700820 -1.848087 -3.179836 +f 218 211 219 +f 212 210 213 +f 210 209 213 +f 213 209 214 +f 209 210 215 +f 210 212 215 +f 215 212 216 +f 212 213 216 +f 211 215 216 +f 216 213 217 +f 214 208 217 +f 213 214 217 +f 208 216 217 +f 214 209 218 +f 209 215 218 +f 215 211 218 +f 208 214 219 +f 216 208 219 +f 211 216 219 +f 214 218 219 +o convex_18 +v 1.019156 -0.957931 -3.078648 +v 0.412255 -1.848087 -3.119118 +v 0.897653 -1.848087 -3.119118 +v 0.412255 -1.848087 -2.977524 +v 0.412255 -0.957931 -3.179852 +v 1.019156 -0.957931 -2.977504 +v 1.039416 -1.827783 -2.977504 +v 0.998956 -0.957931 -3.159607 +v 0.412255 -0.978322 -3.139343 +v 1.039416 -1.848087 -3.098893 +v 0.452653 -1.787349 -3.139343 +f 227 222 230 +f 221 222 223 +f 221 223 224 +f 220 224 225 +f 220 225 226 +f 225 223 226 +f 224 220 227 +f 224 223 228 +f 223 225 228 +f 225 224 228 +f 223 222 229 +f 220 226 229 +f 226 223 229 +f 227 220 229 +f 222 227 229 +f 222 221 230 +f 221 224 230 +f 224 227 230 +o convex_19 +v 1.039422 -0.290144 -2.147856 +v 0.978726 -0.957844 -3.139379 +v 0.958491 -0.350809 -3.139379 +v 1.019171 -0.957844 -1.803752 +v 0.998953 0.033757 -1.884941 +v 1.019171 -0.957844 -3.058190 +v 0.978726 0.033757 -3.139379 +v 1.039422 0.033757 -1.803752 +v 1.039422 -0.957844 -1.803752 +v 0.958491 0.033757 -2.876202 +v 0.998953 0.013471 -2.936864 +v 1.039422 -0.937558 -2.572496 +f 236 241 242 +f 233 232 234 +f 234 232 236 +f 232 233 237 +f 236 232 237 +f 235 234 238 +f 237 235 238 +f 234 236 239 +f 231 238 239 +f 238 234 239 +f 233 234 240 +f 234 235 240 +f 237 233 240 +f 235 237 240 +f 236 237 241 +f 238 231 241 +f 237 238 241 +f 231 239 242 +f 239 236 242 +f 241 231 242 +o convex_20 +v -0.073512 -0.391381 -3.220325 +v 0.978625 0.033757 -3.139379 +v 0.998949 -0.330619 -3.139379 +v -0.073512 -0.957844 -3.159615 +v 0.998949 -0.957844 -3.159615 +v 0.715590 0.033757 -3.220325 +v -0.093836 0.033757 -3.200089 +v -0.012862 -0.957844 -3.200089 +v 0.452556 -0.957844 -3.139379 +v 0.978625 -0.209096 -3.200089 +v -0.093836 0.033757 -3.220325 +v 0.998949 -0.957844 -3.139379 +f 251 247 254 +f 246 244 249 +f 244 248 249 +f 246 243 250 +f 247 246 250 +f 243 248 250 +f 245 244 251 +f 244 246 251 +f 246 247 251 +f 244 245 252 +f 245 247 252 +f 248 244 252 +f 247 250 252 +f 250 248 252 +f 243 246 253 +f 248 243 253 +f 246 249 253 +f 249 248 253 +f 247 245 254 +f 245 251 254 +o convex_21 +v -0.680572 0.195651 -2.936759 +v -0.094007 0.256362 -1.136308 +v -0.559205 0.256362 -1.115903 +v -0.094007 0.175415 -1.136308 +v -0.094007 0.236109 -3.159215 +v -0.964017 0.256362 -2.329607 +v -0.842480 0.215888 -1.115903 +v -0.094007 0.175415 -2.552263 +v -0.964017 0.215888 -3.159215 +v -0.964017 0.256362 -1.115903 +v -0.964017 0.236109 -3.159215 +v -0.094007 0.195651 -3.017580 +v -0.276100 0.175415 -2.350012 +v -0.964017 0.215888 -2.147562 +f 267 261 268 +f 256 257 258 +f 256 258 259 +f 256 259 260 +f 257 256 260 +f 258 257 261 +f 259 258 262 +f 257 260 264 +f 261 257 264 +f 260 263 264 +f 260 259 265 +f 259 263 265 +f 263 260 265 +f 262 255 266 +f 259 262 266 +f 255 263 266 +f 263 259 266 +f 258 261 267 +f 255 262 267 +f 262 258 267 +f 263 255 268 +f 261 264 268 +f 264 263 268 +f 255 267 268 +o convex_22 +v -0.255635 -1.767314 2.870939 +v -0.882880 0.033757 2.891186 +v -0.842276 0.013483 2.891186 +v 0.614224 -1.767314 2.931649 +v 1.039054 -1.281434 2.870939 +v -1.004288 -1.767314 2.891186 +v -0.923282 0.033757 2.870939 +v 1.059457 -1.726766 2.931649 +v -1.004288 -1.767314 2.870939 +v 1.059457 -1.747040 2.891186 +v 1.018853 -1.261160 2.891186 +v -1.004288 -0.492496 2.891186 +v 0.695231 -1.463727 2.931649 +v 1.039054 -1.524374 2.870939 +f 273 278 282 +f 269 272 274 +f 270 271 275 +f 273 269 275 +f 271 273 275 +f 269 274 277 +f 275 269 277 +f 272 269 278 +f 276 272 278 +f 273 276 278 +f 273 271 279 +f 276 273 279 +f 272 270 280 +f 274 272 280 +f 270 275 280 +f 277 274 280 +f 275 277 280 +f 271 270 281 +f 270 272 281 +f 272 276 281 +f 279 271 281 +f 276 279 281 +f 269 273 282 +f 278 269 282 +o convex_23 +v -1.105674 0.256362 -0.528922 +v -1.024735 2.482187 -0.103964 +v -1.024735 2.482187 -1.115703 +v -1.044978 0.782751 -0.124266 +v -1.065205 2.401137 -1.095302 +v -1.085432 0.256362 -1.115703 +v -1.044978 2.482187 -0.103964 +v -1.085432 0.256362 -0.103964 +v -1.105674 0.681656 -1.115703 +v -1.065205 0.256362 -0.589630 +v -1.024735 1.632251 -0.103964 +v -1.065205 0.641131 -1.115703 +v -1.085432 0.823276 -0.103964 +f 287 291 295 +f 284 285 289 +f 285 287 289 +f 283 288 290 +f 284 289 290 +f 287 285 291 +f 285 288 291 +f 288 283 291 +f 286 290 292 +f 290 288 292 +f 285 284 293 +f 284 290 293 +f 290 286 293 +f 286 292 293 +f 293 292 294 +f 288 285 294 +f 292 288 294 +f 285 293 294 +f 289 287 295 +f 283 290 295 +f 290 289 295 +f 291 283 295 +o convex_24 +v -0.984260 4.080794 -1.115703 +v -0.984260 4.202530 -0.103964 +v -1.044952 4.202530 -0.103964 +v -1.044952 2.482405 -0.103964 +v -1.044952 2.482405 -1.115703 +v -1.004498 2.745576 -0.448010 +v -1.024719 4.161952 -1.095302 +v -1.024719 2.482405 -1.115703 +v -1.024719 2.482405 -0.103964 +v -1.044952 3.251545 -1.115703 +v -1.044952 4.182157 -0.448010 +f 305 298 306 +f 297 298 299 +f 299 298 300 +f 296 297 301 +f 297 296 302 +f 298 297 302 +f 300 296 303 +f 299 300 303 +f 296 301 303 +f 303 301 304 +f 297 299 304 +f 301 297 304 +f 299 303 304 +f 296 300 305 +f 300 298 305 +f 302 296 305 +f 302 305 306 +f 298 302 306 +o convex_25 +v -1.044972 0.519794 0.220068 +v -1.044972 4.101346 0.766316 +v -1.024727 3.837914 0.220068 +v -1.085432 0.803172 -0.103779 +v -1.044972 0.256738 0.766316 +v -1.085432 0.256738 0.644852 +v -1.065193 4.101346 0.199796 +v -1.024727 1.612662 -0.103779 +v -1.024727 4.100969 -0.103865 +v -1.065193 4.101346 0.766316 +v -1.065193 0.256738 -0.103779 +v -1.044966 4.100969 -0.103865 +v -1.024727 1.430517 0.179523 +v -1.065193 0.256738 0.766316 +v -1.085432 0.256738 -0.103779 +f 310 318 321 +f 309 308 311 +f 308 309 315 +f 313 308 315 +f 309 314 315 +f 311 308 316 +f 310 312 316 +f 308 313 316 +f 313 310 316 +f 307 311 317 +f 311 312 317 +f 314 307 317 +f 315 314 317 +f 315 317 318 +f 310 313 318 +f 313 315 318 +f 311 307 319 +f 309 311 319 +f 307 314 319 +f 314 309 319 +f 312 311 320 +f 311 316 320 +f 316 312 320 +f 312 310 321 +f 317 312 321 +f 318 317 321 +o convex_26 +v -0.154547 4.101346 0.786555 +v -1.085438 0.256738 0.786555 +v -1.085438 0.256738 0.806790 +v -1.065118 4.101346 0.766320 +v -0.984202 4.101346 0.806790 +v -1.044798 0.256738 0.766320 +v -0.154547 4.060326 0.806790 +v -1.065118 3.837914 0.806790 +v -0.963974 4.101346 0.766320 +v -1.044798 0.256738 0.806790 +f 327 328 331 +f 323 324 325 +f 322 325 326 +f 324 323 327 +f 323 325 327 +f 322 326 328 +f 326 324 328 +f 327 322 328 +f 325 324 329 +f 326 325 329 +f 324 326 329 +f 325 322 330 +f 322 327 330 +f 327 325 330 +f 324 327 331 +f 328 324 331 +o convex_27 +v -0.964027 4.243003 0.644822 +v -1.044948 4.101374 -0.103865 +v -1.024716 4.101374 -0.103865 +v -0.964027 4.101374 0.806790 +v -1.065191 4.243003 0.786377 +v -0.964027 4.202518 -0.103865 +v -1.065191 4.101374 0.786377 +v -1.065191 4.222746 0.199746 +f 333 338 339 +f 333 334 335 +f 335 332 336 +f 334 333 337 +f 335 334 337 +f 332 335 337 +f 333 335 338 +f 335 336 338 +f 338 336 339 +f 336 332 339 +f 337 333 339 +f 332 337 339 +o convex_28 +v 0.412182 -1.828025 -2.977314 +v 0.918002 -1.726851 -1.237123 +v 0.918002 -1.747093 -1.237123 +v 0.918002 -1.807772 -2.977314 +v 0.614510 -1.787539 -1.237123 +v 0.412182 -1.747093 -1.722932 +v 0.918002 -1.828025 -2.572587 +v 0.412182 -1.787539 -1.237123 +v 0.412182 -1.807772 -2.977314 +v 0.412182 -1.828025 -2.552316 +v 0.918002 -1.767326 -1.298105 +f 344 346 350 +f 341 342 343 +f 342 341 344 +f 341 343 345 +f 343 342 346 +f 340 343 346 +f 344 341 347 +f 341 345 347 +f 345 340 347 +f 343 340 348 +f 345 343 348 +f 340 345 348 +f 340 346 349 +f 346 344 349 +f 344 347 349 +f 347 340 349 +f 342 344 350 +f 346 342 350 +o convex_29 +v 0.412182 -1.787569 -1.237123 +v 0.918002 -1.848241 0.907973 +v 0.918002 -1.868498 0.907973 +v 0.412182 -1.828013 0.907973 +v 0.918002 -1.726869 -1.034708 +v 0.432385 -1.868498 -0.124260 +v 0.918002 -1.767326 -1.095391 +v 0.412182 -1.807770 0.847081 +v 0.412182 -1.767326 -1.115548 +v 0.877447 -1.828013 0.907973 +v 0.412182 -1.868498 0.482986 +v 0.918002 -1.868498 0.624508 +v 0.432385 -1.807770 -1.176231 +v 0.816738 -1.726869 -1.237123 +v 0.634762 -1.807770 0.847081 +f 358 360 365 +f 353 352 354 +f 352 353 355 +f 355 353 357 +f 351 354 358 +f 351 358 359 +f 354 352 360 +f 352 355 360 +f 358 354 360 +f 353 354 361 +f 354 351 361 +f 356 353 361 +f 351 356 361 +f 353 356 362 +f 357 353 362 +f 357 362 363 +f 356 351 363 +f 351 357 363 +f 362 356 363 +f 357 351 364 +f 355 357 364 +f 358 355 364 +f 359 358 364 +f 351 359 364 +f 355 358 365 +f 360 355 365 +o convex_30 +v -0.923544 0.053994 0.806780 +v -1.105674 -1.747078 0.725843 +v -1.085422 -1.747078 0.725843 +v -1.105674 -1.747078 0.867500 +v -1.085422 0.053994 0.746087 +v -0.943796 -1.747078 0.766318 +v -1.085422 0.053994 0.827011 +v -0.923544 -0.451984 0.827011 +v -0.943796 -1.747078 0.806752 +v -1.065169 -0.957787 0.725843 +f 366 371 375 +f 367 368 369 +f 367 369 370 +f 369 368 371 +f 366 370 372 +f 370 369 372 +f 371 366 373 +f 366 372 373 +f 372 369 373 +f 369 371 374 +f 373 369 374 +f 371 373 374 +f 368 367 375 +f 370 366 375 +f 367 370 375 +f 371 368 375 +o convex_31 +v 0.310923 0.074261 0.867472 +v -0.093700 0.256362 0.847256 +v 1.059548 0.256340 0.867472 +v -1.065090 0.053998 0.705634 +v 1.059548 0.256340 0.746081 +v 1.059548 0.033779 0.746081 +v -1.065090 0.256362 0.705634 +v -1.085438 0.053998 0.826993 +v 1.059548 0.033779 0.867472 +v -1.085438 0.256362 0.826993 +f 382 383 385 +f 378 377 376 +f 377 378 380 +f 379 380 381 +f 380 378 381 +f 380 379 382 +f 377 380 382 +f 379 381 383 +f 382 379 383 +f 378 376 384 +f 381 378 384 +f 376 383 384 +f 383 381 384 +f 376 377 385 +f 377 382 385 +f 383 376 385 +o convex_32 +v 0.978722 -0.957844 0.806738 +v 1.059643 0.033757 0.867500 +v 1.079886 -0.047194 0.847214 +v 1.039410 0.033757 -0.124101 +v 1.059643 -0.957844 -0.124101 +v 1.079886 -0.957844 0.847214 +v 1.059643 0.033757 -0.124101 +v 1.039410 0.033757 0.867500 +v 1.039410 -0.957844 -0.124101 +f 389 390 394 +f 390 388 391 +f 388 387 391 +f 386 390 391 +f 387 388 392 +f 389 387 392 +f 390 389 392 +f 388 390 392 +f 387 389 393 +f 389 386 393 +f 391 387 393 +f 386 391 393 +f 386 389 394 +f 390 386 394 +o convex_33 +v 0.978712 0.215862 -2.977508 +v -0.093836 0.033777 -3.220302 +v -0.093836 0.236105 -3.220302 +v 0.978712 0.236105 -3.220302 +v -0.093836 0.236105 -2.997759 +v 0.978712 0.033777 -2.977508 +v 0.978712 0.033777 -3.200051 +v -0.093836 0.195620 -2.977508 +f 400 395 402 +f 396 397 398 +f 395 398 399 +f 397 396 399 +f 398 397 399 +f 398 395 400 +f 396 398 401 +f 400 396 401 +f 398 400 401 +f 395 399 402 +f 399 396 402 +f 396 400 402 +o convex_34 +v 0.938250 0.256340 -1.156064 +v 0.958501 0.033779 -2.977296 +v 0.978740 0.033779 -2.977296 +v 1.039420 0.033779 0.746079 +v 1.059659 0.256340 -1.196520 +v 1.059659 0.256340 0.746079 +v 1.059659 0.033779 -1.419208 +v 0.978740 0.215862 -2.977296 +v 0.938250 0.114712 -1.176474 +v 0.938250 0.215862 -2.977296 +v 1.059659 0.033779 0.746079 +v 1.039420 0.256340 0.746079 +v 0.998955 0.074257 -2.896020 +f 410 407 415 +f 404 405 406 +f 407 403 408 +f 407 408 409 +f 406 405 409 +f 405 404 410 +f 404 406 411 +f 406 403 411 +f 403 407 412 +f 410 404 412 +f 407 410 412 +f 404 411 412 +f 411 403 412 +f 408 406 413 +f 409 408 413 +f 406 409 413 +f 403 406 414 +f 408 403 414 +f 406 408 414 +f 407 409 415 +f 409 405 415 +f 405 410 415 +o convex_35 +v -1.105674 -0.978160 0.543601 +v -1.044978 -1.747078 -1.135939 +v -1.024735 -1.747078 -1.135939 +v -1.105674 -1.747078 0.725843 +v -1.065205 -0.957921 0.725843 +v -1.065205 -0.957921 -1.135939 +v -1.065205 -1.747078 0.685020 +v -1.105674 -0.957921 -0.185002 +v -1.024735 -1.261502 -1.115528 +v -1.024735 -1.747078 -0.629854 +v -1.044978 -0.957921 -1.135939 +v -1.065205 -1.301980 -1.135939 +f 423 421 427 +f 417 418 419 +f 416 419 420 +f 418 417 421 +f 419 418 422 +f 420 419 422 +f 419 416 423 +f 416 420 423 +f 420 421 423 +f 422 418 425 +f 420 422 425 +f 418 424 425 +f 424 420 425 +f 418 421 426 +f 421 420 426 +f 424 418 426 +f 420 424 426 +f 417 419 427 +f 421 417 427 +f 419 423 427 +o convex_36 +v 1.039414 -0.957844 -0.124101 +v 1.019193 -0.957844 -1.803752 +v 1.019193 0.033757 -1.803752 +v 1.059653 -0.391381 -1.702474 +v 1.059653 0.033757 -0.124101 +v 0.998955 -0.937558 -1.115681 +v 1.039414 0.033757 -0.124101 +v 1.059653 -0.957844 -0.610108 +v 1.059653 0.033757 -1.439412 +v 1.039414 -0.957844 -1.803752 +v 1.059653 -0.957844 -0.124101 +v 1.019193 0.033757 -1.398966 +f 434 430 439 +f 429 428 433 +f 430 429 433 +f 433 428 434 +f 428 432 434 +f 432 430 434 +f 428 429 435 +f 431 432 435 +f 431 430 436 +f 432 431 436 +f 430 432 436 +f 429 430 437 +f 430 431 437 +f 435 429 437 +f 431 435 437 +f 432 428 438 +f 428 435 438 +f 435 432 438 +f 430 433 439 +f 433 434 439 +o convex_37 +v -0.053494 4.162074 0.746085 +v -0.862754 4.243003 0.806784 +v -0.417478 4.222746 0.806784 +v -0.964017 4.101374 0.806784 +v -0.964017 4.243003 0.746085 +v 0.452540 4.182275 0.806784 +f 444 442 445 +f 442 441 443 +f 440 443 444 +f 441 442 444 +f 443 441 444 +f 442 443 445 +f 443 440 445 +f 440 444 445 +o convex_38 +v -0.903307 -1.929208 -1.176440 +v -0.903307 -1.767330 0.907973 +v -0.903307 -1.787583 0.907973 +v -1.105635 -1.747078 0.867187 +v -1.065153 -1.747078 -3.098101 +v -1.044932 -1.929208 -0.994471 +v -0.903307 -1.828070 -3.098101 +v -1.085414 -1.868486 -2.997312 +v -1.105635 -1.787583 0.867187 +v -0.943828 -1.747078 0.766006 +v -1.085414 -1.747078 -3.098101 +v -0.903307 -1.848216 -3.098101 +f 453 456 457 +f 446 447 448 +f 448 447 449 +f 446 448 451 +f 447 446 452 +f 446 451 453 +f 453 451 454 +f 448 449 454 +f 451 448 454 +f 449 447 455 +f 450 449 455 +f 452 450 455 +f 447 452 455 +f 449 450 456 +f 450 452 456 +f 453 454 456 +f 454 449 456 +f 452 446 457 +f 446 453 457 +f 456 452 457 +o convex_39 +v 0.108352 -1.767314 -1.804113 +v -0.903269 -1.848253 -3.098905 +v -0.903269 -1.868482 -2.633279 +v 0.412083 -1.848253 -3.098905 +v -0.741296 -1.888735 -1.783773 +v -0.822283 -1.807796 -2.916491 +v 0.412083 -1.787567 -1.783773 +v 0.412083 -1.807796 -2.997464 +v -0.903269 -1.868482 -1.783773 +v 0.412083 -1.767314 -2.148086 +v -0.903269 -1.888735 -2.127747 +v -0.903269 -1.848253 -2.067113 +v -0.903269 -1.828037 -3.098905 +v 0.412083 -1.848253 -2.977124 +f 464 462 471 +f 460 459 461 +f 464 461 465 +f 459 460 466 +f 464 458 466 +f 462 464 466 +f 463 458 467 +f 458 464 467 +f 465 463 467 +f 464 465 467 +f 460 461 468 +f 461 462 468 +f 466 460 468 +f 462 466 468 +f 458 463 469 +f 459 466 469 +f 466 458 469 +f 461 459 470 +f 465 461 470 +f 463 465 470 +f 459 469 470 +f 469 463 470 +f 462 461 471 +f 461 464 471 +o convex_40 +v 0.675018 0.155190 -2.208246 +v 0.938137 0.155190 -1.217059 +v 0.250290 0.195635 -1.217059 +v 0.938137 0.215888 -2.977484 +v -0.093735 0.195635 -2.977484 +v 0.917835 0.114724 -1.277888 +v -0.093735 0.175403 -1.217059 +v -0.093735 0.215888 -2.532036 +v 0.128881 0.155190 -2.127428 +v 0.938137 0.175403 -2.694017 +v 0.938137 0.215888 -2.673683 +v -0.093735 0.215888 -2.977484 +v -0.093735 0.195635 -1.217059 +v -0.093735 0.175403 -2.552370 +f 481 472 485 +f 473 474 478 +f 477 473 478 +f 476 478 479 +f 472 477 480 +f 477 478 480 +f 475 473 481 +f 476 475 481 +f 473 477 481 +f 477 472 481 +f 474 473 482 +f 473 475 482 +f 479 474 482 +f 475 479 482 +f 475 476 483 +f 479 475 483 +f 476 479 483 +f 478 474 484 +f 474 479 484 +f 479 478 484 +f 478 476 485 +f 472 480 485 +f 480 478 485 +f 476 481 485 +o convex_41 +v 0.411954 -1.747078 -1.662004 +v -0.903178 -1.888703 -1.783322 +v -0.903178 -1.908956 -1.641720 +v -0.903178 -1.888703 -0.791914 +v 0.411954 -1.828052 -0.791914 +v 0.411954 -1.787583 -1.783322 +v -0.741233 -1.929208 -0.913426 +v 0.391614 -1.787583 -0.791914 +v -0.761443 -1.848234 -1.783322 +v -0.458021 -1.908956 -0.791914 +v 0.128614 -1.767330 -1.783322 +f 491 494 496 +f 487 488 489 +f 488 487 491 +f 486 490 491 +f 489 488 492 +f 488 491 492 +f 486 489 493 +f 490 486 493 +f 489 490 493 +f 487 489 494 +f 491 487 494 +f 490 489 495 +f 491 490 495 +f 489 492 495 +f 492 491 495 +f 489 486 496 +f 486 491 496 +f 494 489 496 +o convex_42 +v 0.411954 -1.848273 0.098503 +v -0.903178 -1.908962 -0.791914 +v -0.903178 -1.908962 -0.670415 +v -0.903178 -1.828040 -0.144409 +v 0.411954 -1.807788 -0.791914 +v 0.330981 -1.888719 0.098503 +v -0.903178 -1.828040 0.098503 +v -0.437810 -1.908962 -0.791914 +v -0.903178 -1.868486 -0.690723 +v -0.903178 -1.848273 0.098503 +v 0.411954 -1.807788 -0.447723 +v 0.411954 -1.828040 -0.791914 +v 0.189375 -1.807788 -0.791914 +v -0.235571 -1.908962 -0.346706 +f 502 506 510 +f 498 499 500 +f 502 497 503 +f 500 499 503 +f 499 498 504 +f 498 501 504 +f 498 500 505 +f 502 503 506 +f 503 499 506 +f 497 501 507 +f 503 497 507 +f 501 497 508 +f 497 502 508 +f 504 501 508 +f 502 504 508 +f 501 498 509 +f 500 503 509 +f 498 505 509 +f 505 500 509 +f 507 501 509 +f 503 507 509 +f 499 504 510 +f 504 502 510 +f 506 499 510 +o convex_43 +v -0.498443 -1.767314 0.867484 +v -0.903178 -1.848253 0.098503 +v -0.903178 -1.848253 0.138992 +v 0.391614 -1.888735 0.199766 +v 0.411954 -1.848253 0.098503 +v 0.411954 -1.848253 0.907973 +v -0.903178 -1.787567 0.907973 +v -0.903178 -1.807796 0.118787 +v 0.411954 -1.807796 0.725811 +v -0.862627 -1.767314 0.665037 +v -0.700810 -1.807796 0.907973 +v 0.351192 -1.807796 0.907973 +v 0.189375 -1.888735 0.118787 +f 514 516 523 +f 514 515 516 +f 512 513 517 +f 515 512 518 +f 512 517 518 +f 516 515 519 +f 517 511 520 +f 515 518 520 +f 518 517 520 +f 511 519 520 +f 519 515 520 +f 513 516 521 +f 517 513 521 +f 516 517 521 +f 511 517 522 +f 517 516 522 +f 519 511 522 +f 516 519 522 +f 513 512 523 +f 515 514 523 +f 512 515 523 +f 516 513 523 +o convex_44 +v 0.938254 -1.868498 0.664942 +v 1.079896 -1.706604 0.846740 +v 0.938254 -1.706604 0.846740 +v 1.039422 -1.706604 -2.977484 +v 1.079896 -1.848261 0.846740 +v 0.918002 -1.828025 -2.977484 +v 1.039422 -1.828025 -2.977484 +v 0.918002 -1.726857 -1.318102 +v 0.918002 -1.868498 0.907593 +v 0.998949 -1.706604 -2.774768 +v 0.918002 -1.726857 0.846740 +f 532 526 534 +f 526 525 527 +f 527 525 528 +f 528 524 530 +f 527 528 530 +f 524 529 530 +f 529 527 530 +f 531 529 532 +f 525 526 532 +f 524 528 532 +f 528 525 532 +f 529 524 532 +f 526 527 533 +f 527 529 533 +f 531 526 533 +f 529 531 533 +f 526 531 534 +f 531 532 534 +o convex_45 +v 0.998956 -0.978217 -1.075421 +v 1.019187 -1.706458 -2.977484 +v 1.039422 -1.706458 -2.977484 +v 0.998956 -1.706458 -0.933572 +v 1.039422 -0.957844 -0.933572 +v 0.998956 -0.957844 -2.977484 +v 1.039422 -0.957844 -2.572743 +v 1.019187 -1.706458 -0.933572 +v 0.998956 -1.706458 -2.734600 +v 1.039422 -1.241240 -0.933572 +v 1.019187 -0.957844 -2.977484 +f 540 541 545 +f 536 537 538 +f 535 538 539 +f 537 536 540 +f 538 535 540 +f 535 539 540 +f 539 537 541 +f 540 539 541 +f 538 537 542 +f 539 538 542 +f 536 538 543 +f 540 536 543 +f 538 540 543 +f 537 539 544 +f 542 537 544 +f 539 542 544 +f 537 540 545 +f 541 537 545 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/817/817.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/817/817.urdf new file mode 100644 index 000000000..977864b50 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/817/817.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/818/818.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/818/818.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/818/818.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/818/818.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/818/818.obj new file mode 100644 index 000000000..868ea55e3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/818/818.obj @@ -0,0 +1,492 @@ +o convex_0 +v 0.901863 -3.257577 1.012292 +v -0.956308 -2.971475 -1.060324 +v -0.956308 -1.399744 -1.060324 +v 1.044799 -1.399552 -0.952999 +v -1.063562 -1.399744 0.940673 +v -1.063562 -3.364745 0.940673 +v 0.937544 -3.329150 -0.988499 +v 0.973436 -1.399552 1.048204 +v 1.080690 -3.221790 1.048204 +v -0.920416 -3.257385 -1.024411 +v -0.813161 -3.364745 0.976585 +v -0.991989 -1.399744 -0.988705 +v -0.491608 -1.399744 -1.060324 +v 0.544417 -1.506720 1.048204 +v -0.956308 -3.293171 -0.774261 +v 1.009117 -1.578293 1.048204 +v 0.973436 -2.900094 -0.988499 +v -1.063562 -1.399744 0.440372 +v 0.544417 -3.257577 1.048204 +v -0.348671 -3.364745 0.261840 +v 1.044799 -1.721248 -0.952999 +v 1.044799 -1.399552 -0.416785 +v -1.063562 -3.364745 0.833760 +v 0.115819 -3.293171 -1.024411 +v -0.670225 -1.542314 0.976585 +v 1.044799 -3.257577 0.440372 +v -0.956308 -3.186003 -1.024411 +v 1.080690 -3.114622 1.048204 +v -0.991989 -3.364745 0.547697 +v -0.706117 -3.364745 0.940673 +v 0.973436 -2.649972 -0.988499 +v 0.866181 -3.329150 -0.774261 +f 30 20 32 +f 5 6 11 +f 3 2 12 +f 4 3 12 +f 2 3 13 +f 3 4 13 +f 8 5 14 +f 9 8 14 +f 10 7 15 +f 8 9 16 +f 7 13 17 +f 6 5 18 +f 8 4 18 +f 5 8 18 +f 4 12 18 +f 1 9 19 +f 11 1 19 +f 9 14 19 +f 14 11 19 +f 11 6 20 +f 4 9 21 +f 17 4 21 +f 4 8 22 +f 8 16 22 +f 6 18 23 +f 18 12 23 +f 20 6 23 +f 10 2 24 +f 7 10 24 +f 2 13 24 +f 13 7 24 +f 5 11 25 +f 14 5 25 +f 11 14 25 +f 1 7 26 +f 9 1 26 +f 7 17 26 +f 21 9 26 +f 17 21 26 +f 2 10 27 +f 12 2 27 +f 10 15 27 +f 23 12 27 +f 15 23 27 +f 9 4 28 +f 16 9 28 +f 4 22 28 +f 22 16 28 +f 15 7 29 +f 7 20 29 +f 23 15 29 +f 20 23 29 +f 1 11 30 +f 11 20 30 +f 13 4 31 +f 4 17 31 +f 17 13 31 +f 7 1 32 +f 20 7 32 +f 1 30 32 +o convex_1 +v -0.170093 0.816382 2.226490 +v -0.956217 -1.399360 -1.059698 +v -0.491670 -1.399360 -1.059698 +v 0.687516 0.744809 -3.097377 +v 1.116428 -1.399360 3.085257 +v 1.080579 -1.327786 -2.953341 +v -1.027702 0.780595 -2.953947 +v -0.992066 -1.291999 2.941827 +v 0.973457 0.709022 2.906120 +v -0.956217 0.780595 2.941827 +v -1.063551 -1.327786 -3.061066 +v 1.044943 0.816382 0.690515 +v 1.009093 0.637665 -3.096772 +v -1.063551 0.816382 -0.416985 +v -1.063551 -1.399360 0.940459 +v 0.973457 0.816382 -1.095404 +v 1.044943 -1.399360 -0.951974 +v -1.063551 -0.720062 1.440952 +v -0.992066 0.673235 2.798397 +v -1.063551 0.316018 -2.989653 +v 1.116428 -1.149069 3.048945 +v 1.044943 0.816382 1.155302 +v -0.134244 0.780595 2.941222 +v 0.901972 -1.327786 -2.989653 +v 0.973457 0.744809 -3.097377 +v 1.080579 -1.184856 -2.953341 +v 0.937608 0.673235 2.941222 +v -1.027702 -1.291999 2.512746 +v 0.794638 -1.399360 3.048945 +v 1.009093 -1.291999 3.085257 +v -1.063551 0.816382 -1.059698 +v 0.437211 0.065728 -3.097377 +v -0.849096 0.780595 -2.989653 +v 0.973457 0.744809 2.727589 +v -0.491670 0.816382 2.441333 +v -0.348699 0.780595 -2.989653 +v -0.992066 0.244445 2.941827 +v -1.063551 0.780595 -2.524866 +v 1.044943 -0.148559 2.977533 +v -0.992066 -1.077713 -3.061066 +v 1.009093 0.423162 -3.096772 +v -0.956217 0.816382 0.976165 +v -0.527306 0.316018 2.976928 +v -0.455820 -1.327786 2.976928 +v -1.063551 -1.256213 1.583777 +v -0.813246 -1.256213 -3.061066 +f 64 56 78 +f 34 35 37 +f 35 34 43 +f 33 44 46 +f 34 37 47 +f 43 34 47 +f 46 43 47 +f 46 44 48 +f 37 35 49 +f 38 37 49 +f 46 47 50 +f 42 46 51 +f 46 50 51 +f 43 46 52 +f 37 38 53 +f 53 44 54 +f 44 33 54 +f 35 43 56 +f 49 35 56 +f 38 49 56 +f 44 45 57 +f 48 44 57 +f 38 45 58 +f 45 44 58 +f 53 38 58 +f 44 53 58 +f 41 55 59 +f 47 40 60 +f 47 37 61 +f 40 37 62 +f 37 59 62 +f 59 55 62 +f 46 48 63 +f 52 46 63 +f 36 57 64 +f 52 39 65 +f 57 36 65 +f 39 63 65 +f 63 48 65 +f 54 33 66 +f 41 54 66 +f 55 41 66 +f 33 55 66 +f 33 46 67 +f 55 33 67 +f 42 55 67 +f 48 57 68 +f 57 65 68 +f 65 48 68 +f 42 51 69 +f 51 50 69 +f 60 40 69 +f 50 60 69 +f 39 52 70 +f 63 39 70 +f 52 63 70 +f 37 53 71 +f 53 54 71 +f 54 41 71 +f 59 37 71 +f 41 59 71 +f 43 52 72 +f 36 64 72 +f 64 43 72 +f 65 36 72 +f 52 65 72 +f 45 38 73 +f 38 56 73 +f 57 45 73 +f 56 64 73 +f 64 57 73 +f 46 42 74 +f 67 46 74 +f 42 67 74 +f 55 42 75 +f 40 62 75 +f 62 55 75 +f 42 69 75 +f 69 40 75 +f 37 40 76 +f 40 47 76 +f 61 37 76 +f 47 61 76 +f 50 47 77 +f 47 60 77 +f 60 50 77 +f 56 43 78 +f 43 64 78 +o convex_2 +v 2.938908 2.102858 0.476267 +v 1.474074 2.102858 -0.595733 +v 1.474074 2.138561 -0.595733 +v 1.080900 1.602683 0.547869 +v 3.117551 1.209616 -0.524251 +v 3.081862 1.138211 0.619351 +v 1.080900 1.209616 -0.524251 +v 3.045974 2.245781 -0.595733 +v 1.080900 2.174263 0.547869 +v 1.080900 1.102508 0.511949 +v 1.080900 2.138561 -0.559813 +v 2.938908 2.209966 0.440585 +v 2.831842 1.173914 -0.381167 +v 3.081862 1.888417 -0.595733 +v 1.581340 2.209966 0.511949 +v 1.116589 1.388354 -0.559813 +v 3.081862 2.174375 -0.559813 +v 3.010485 2.245781 -0.023873 +v 2.688688 2.245781 -0.595733 +v 1.223854 1.102508 0.369103 +v 1.509763 2.174263 0.547869 +v 3.081862 1.352540 0.583431 +v 1.080900 2.174263 0.011809 +v 3.081862 1.138211 0.297620 +v 1.223854 1.102508 0.547869 +v 3.117551 1.209616 0.190456 +v 3.081862 1.209616 0.619351 +v 3.117551 1.495463 -0.559813 +v 2.903020 1.138211 0.619351 +v 1.080900 1.173914 -0.274002 +f 91 98 108 +f 80 81 86 +f 85 82 87 +f 82 85 88 +f 81 80 89 +f 85 87 89 +f 85 83 91 +f 80 86 92 +f 83 85 94 +f 89 80 94 +f 85 89 94 +f 80 92 94 +f 92 86 95 +f 93 90 96 +f 95 86 96 +f 86 81 97 +f 81 89 97 +f 96 86 97 +f 93 96 97 +f 79 90 99 +f 93 87 99 +f 90 93 99 +f 90 79 100 +f 96 90 100 +f 95 96 100 +f 89 87 101 +f 87 93 101 +f 97 89 101 +f 93 97 101 +f 83 84 102 +f 91 83 102 +f 84 98 102 +f 98 91 102 +f 82 88 103 +f 98 84 103 +f 88 98 103 +f 84 83 104 +f 95 100 104 +f 104 100 105 +f 79 99 105 +f 99 87 105 +f 100 79 105 +f 84 104 105 +f 83 94 106 +f 94 92 106 +f 92 95 106 +f 104 83 106 +f 95 104 106 +f 87 82 107 +f 82 103 107 +f 103 84 107 +f 84 105 107 +f 105 87 107 +f 88 85 108 +f 85 91 108 +f 98 88 108 +o convex_3 +v -2.635940 1.173914 0.440543 +v -1.099300 2.245781 0.476246 +v -1.099300 1.781197 0.511949 +v -1.170803 1.316837 -0.488401 +v -3.028916 2.209966 -0.595621 +v -3.100615 2.138561 0.511949 +v -2.957608 1.245431 -0.559806 +v -1.099300 2.138561 -0.488401 +v -1.099300 1.102508 0.547764 +v -3.028916 1.245431 0.476246 +v -1.099300 1.245431 -0.416883 +v -1.314006 2.174263 -0.524104 +v -2.135611 2.209966 0.511949 +v -1.206653 1.102508 0.333323 +v -2.492933 1.245431 -0.559806 +v -3.064569 2.209966 -0.309663 +v -3.064569 1.566980 0.511949 +v -1.099300 2.245781 0.297620 +v -1.599629 1.102508 0.476246 +v -2.778947 2.209966 -0.595621 +v -2.993262 1.209616 0.047477 +v -2.993262 1.459760 -0.524104 +v -3.100615 2.174263 0.226103 +v -1.242307 1.245431 -0.488401 +v -1.420968 2.245781 0.476246 +v -1.314006 1.102508 0.547764 +v -2.921562 1.817012 -0.595621 +f 128 120 135 +f 110 111 116 +f 116 111 117 +f 112 116 119 +f 116 117 119 +f 116 112 120 +f 111 110 121 +f 117 111 121 +f 119 117 122 +f 120 112 123 +f 122 115 123 +f 110 116 126 +f 116 120 126 +f 115 122 127 +f 122 117 127 +f 113 126 128 +f 126 120 128 +f 109 118 129 +f 118 115 129 +f 127 109 129 +f 115 127 129 +f 113 115 130 +f 115 118 130 +f 124 113 130 +f 118 125 130 +f 130 125 131 +f 114 121 131 +f 121 124 131 +f 125 114 131 +f 124 130 131 +f 112 119 132 +f 119 122 132 +f 122 123 132 +f 123 112 132 +f 121 110 133 +f 113 124 133 +f 124 121 133 +f 110 126 133 +f 126 113 133 +f 118 109 134 +f 121 114 134 +f 117 121 134 +f 114 125 134 +f 125 118 134 +f 109 127 134 +f 127 117 134 +f 115 113 135 +f 123 115 135 +f 120 123 135 +f 113 128 135 +o convex_4 +v 1.044841 2.388676 0.654809 +v 0.615927 0.995239 -1.131800 +v -0.991965 1.531221 -1.095908 +v -0.956115 0.816382 0.976365 +v -1.099300 2.745998 1.012467 +v 0.973355 2.745998 -0.952971 +v 1.044841 0.816382 0.940683 +v -1.027601 2.638840 -1.095908 +v -1.063450 0.816382 -1.060016 +v 0.937719 2.817697 0.976575 +v 0.973355 0.816578 -1.095908 +v 1.080690 2.674494 -0.952971 +v -1.099300 1.066742 0.547764 +v 1.080690 1.209749 -0.523950 +v -1.099300 2.138512 -0.488268 +v -0.991965 1.245403 1.012467 +v 0.365621 2.745998 1.012467 +v 1.080690 2.067008 0.619127 +v -1.099300 2.745998 0.654809 +v 1.009205 1.424064 0.976575 +v -0.670386 2.638840 -1.095908 +v 0.901869 0.852232 -1.131800 +v 0.401470 0.816578 0.976575 +v 1.080690 2.745998 -0.702778 +v -1.063450 2.674494 -0.631415 +v 0.687413 2.817697 0.940893 +v -1.063450 2.174165 -1.095908 +v 1.080690 1.102396 0.512082 +v -1.099300 1.281057 -0.452586 +v -1.063450 0.816382 -0.309649 +v 0.901869 2.745998 -0.952971 +v -0.384444 0.816382 -1.095908 +v 1.044841 1.852498 -1.024334 +v -0.455930 2.781847 0.940683 +f 161 166 169 +f 142 139 144 +f 142 146 149 +f 148 140 150 +f 148 139 151 +f 140 148 151 +f 145 140 152 +f 140 151 152 +f 136 145 153 +f 149 147 153 +f 150 140 154 +f 145 152 155 +f 152 151 155 +f 153 145 155 +f 142 153 155 +f 137 143 156 +f 143 141 156 +f 141 147 156 +f 156 147 157 +f 137 156 157 +f 139 142 158 +f 151 139 158 +f 142 155 158 +f 155 151 158 +f 141 145 159 +f 145 136 159 +f 147 141 159 +f 136 153 159 +f 153 147 159 +f 150 154 160 +f 140 145 161 +f 145 141 161 +f 137 138 162 +f 143 137 162 +f 138 144 162 +f 144 150 162 +f 160 143 162 +f 150 160 162 +f 142 149 163 +f 153 142 163 +f 149 153 163 +f 144 148 164 +f 150 144 164 +f 148 150 164 +f 144 139 165 +f 139 148 165 +f 148 144 165 +f 141 143 166 +f 143 160 166 +f 160 154 166 +f 161 141 166 +f 138 137 167 +f 144 138 167 +f 142 144 167 +f 146 142 167 +f 137 157 167 +f 157 146 167 +f 149 146 168 +f 147 149 168 +f 157 147 168 +f 146 157 168 +f 154 140 169 +f 140 161 169 +f 166 154 169 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/818/818.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/818/818.urdf new file mode 100644 index 000000000..d008147b0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/818/818.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/819/819.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/819/819.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/819/819.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/819/819.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/819/819.obj new file mode 100644 index 000000000..352133c9e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/819/819.obj @@ -0,0 +1,1359 @@ +o convex_0 +v 0.361126 -3.077169 -0.036869 +v -0.322259 -3.225754 -0.096183 +v -0.322259 -3.225754 -0.066494 +v 0.004583 -4.800150 -0.007244 +v -0.054818 -3.077169 0.289903 +v 0.063918 -3.077169 -0.363641 +v -0.262791 -4.473297 -0.096183 +v 0.242189 -4.502980 0.022445 +v 0.063918 -4.502980 -0.215132 +v 0.242189 -3.107021 0.289903 +v -0.054818 -4.532663 0.171083 +v -0.233090 -3.077169 -0.333952 +v -0.262791 -3.077169 0.200708 +v 0.271890 -3.107021 -0.244821 +v -0.203389 -3.938660 -0.274446 +v -0.233090 -4.473297 0.022445 +v 0.301591 -3.077169 0.260214 +v 0.153020 -4.384247 0.141394 +v -0.025118 -4.592198 -0.215132 +v 0.212489 -4.502980 -0.066494 +v -0.025118 -3.255437 -0.363641 +v 0.361126 -3.107021 0.081887 +v -0.233090 -4.592198 -0.096183 +v -0.233090 -3.314973 -0.333952 +v -0.322259 -3.077169 -0.125937 +v -0.203389 -4.265345 0.111640 +v 0.004583 -4.532663 0.171083 +v -0.025118 -3.255437 0.289903 +v 0.004583 -4.800150 -0.066494 +f 23 19 29 +f 5 1 6 +f 3 2 7 +f 5 6 12 +f 5 12 13 +f 6 1 14 +f 9 6 14 +f 3 7 16 +f 4 11 16 +f 13 3 16 +f 1 5 17 +f 5 10 17 +f 17 10 18 +f 8 17 18 +f 1 8 20 +f 14 1 20 +f 9 14 20 +f 6 9 21 +f 12 6 21 +f 9 19 21 +f 19 15 21 +f 8 1 22 +f 1 17 22 +f 17 8 22 +f 7 15 23 +f 16 7 23 +f 4 16 23 +f 15 19 23 +f 15 7 24 +f 12 21 24 +f 21 15 24 +f 2 3 25 +f 7 2 25 +f 3 13 25 +f 13 12 25 +f 24 7 25 +f 12 24 25 +f 11 13 26 +f 16 11 26 +f 13 16 26 +f 4 8 27 +f 11 4 27 +f 18 10 27 +f 8 18 27 +f 10 5 28 +f 5 13 28 +f 13 11 28 +f 27 10 28 +f 11 27 28 +f 8 4 29 +f 19 9 29 +f 20 8 29 +f 9 20 29 +f 4 23 29 +o convex_1 +v 0.420283 -3.046985 0.111536 +v -0.143836 -1.324271 -1.047091 +v -0.143836 -1.294256 -1.047091 +v -0.946173 -1.294256 0.794985 +v 0.925592 -1.294431 0.913677 +v -0.827277 -2.304466 -0.898471 +v 0.776972 -2.244960 -0.898267 +v -0.857001 -2.244785 0.794985 +v 0.895868 -2.333957 0.884157 +v 0.955316 -1.294431 -0.690402 +v -0.262732 -3.077000 -0.303990 +v -0.975685 -1.294256 -0.690199 +v -0.024940 -2.482461 0.913881 +v -0.916449 -2.512302 -0.007157 +v -0.262732 -3.077000 0.200708 +v -0.054664 -1.294256 1.032777 +v 0.925592 -2.512302 -0.036677 +v 1.103936 -1.324097 -0.066401 +v 0.034296 -2.482461 -0.957715 +v 0.331324 -3.017319 -0.333714 +v -1.065069 -1.413443 -0.125849 +v 0.539179 -1.294256 -1.017163 +v 0.271875 -3.077000 0.319604 +v -0.827277 -1.294256 -0.957919 +v 0.064020 -2.779818 -0.719923 +v -0.916449 -2.155962 0.765057 +v 0.598840 -1.353762 1.003053 +v -0.054664 -2.839150 0.586917 +v 1.014764 -1.294431 0.675885 +v 0.539179 -2.839150 0.527469 +v 0.776972 -1.294431 -0.957715 +v -1.065069 -1.294256 0.170984 +v -0.470801 -2.809309 -0.571506 +v -0.916449 -2.482461 -0.215021 +v 0.064020 -3.077000 -0.393162 +v 0.687800 -2.809484 -0.007157 +v -0.292457 -2.423130 -0.957715 +v -0.648933 -1.443109 0.913881 +v 0.539179 -2.690646 -0.601027 +v 0.004784 -2.304466 -0.987439 +v 0.866144 -2.215120 0.913677 +v 1.103936 -1.324097 0.081812 +v -0.322181 -3.077000 -0.125849 +v -0.857001 -2.304466 0.735537 +v -0.708381 -1.858955 -0.957919 +v 0.064020 -1.383428 1.032777 +v 0.925592 -2.512302 0.111536 +v -0.114112 -2.839150 -0.660475 +v 0.123468 -2.482461 0.913881 +v -0.946173 -2.393289 -0.036677 +v 0.806696 -2.155788 -0.868747 +v -1.065069 -1.324271 -0.244542 +v -1.005621 -1.353937 0.616641 +v 0.390772 -3.077000 -0.036474 +v 0.747248 -2.096456 -0.928195 +v -0.886725 -1.324271 -0.927991 +v 0.866144 -2.393464 0.854229 +v 0.925592 -2.155788 0.854229 +v -0.024940 -2.601474 0.824709 +v 0.539179 -1.383428 -1.017163 +v -0.589697 -2.660805 0.497745 +v 0.866144 -1.413269 -0.868747 +v 0.093531 -1.353937 -1.047091 +v -0.916449 -1.294256 0.824505 +f 67 45 93 +f 33 32 41 +f 32 33 45 +f 37 42 45 +f 32 45 51 +f 44 40 52 +f 32 31 53 +f 41 32 53 +f 48 36 54 +f 34 45 56 +f 44 52 57 +f 45 34 58 +f 47 39 58 +f 39 51 58 +f 51 45 58 +f 52 30 59 +f 51 39 60 +f 33 41 61 +f 35 62 63 +f 52 40 64 +f 59 30 65 +f 37 45 67 +f 36 46 68 +f 54 36 68 +f 49 64 68 +f 64 54 68 +f 46 65 68 +f 65 49 68 +f 66 31 69 +f 48 66 69 +f 38 34 70 +f 34 56 70 +f 46 47 71 +f 47 58 71 +f 40 44 72 +f 44 43 72 +f 62 40 72 +f 43 63 72 +f 63 62 72 +f 37 55 73 +f 55 43 73 +f 57 37 73 +f 53 31 74 +f 35 53 74 +f 31 66 74 +f 66 35 74 +f 45 42 75 +f 56 45 75 +f 70 56 75 +f 65 46 76 +f 46 71 76 +f 48 54 77 +f 62 35 77 +f 40 62 77 +f 64 40 77 +f 54 64 77 +f 35 66 77 +f 66 48 77 +f 38 70 78 +f 75 42 78 +f 70 75 78 +f 43 55 79 +f 61 50 79 +f 55 61 79 +f 63 43 79 +f 46 36 80 +f 39 47 80 +f 47 46 80 +f 41 35 81 +f 61 41 81 +f 50 61 81 +f 35 63 81 +f 79 50 81 +f 63 79 81 +f 55 33 82 +f 33 61 82 +f 61 55 82 +f 30 52 83 +f 64 49 83 +f 52 64 83 +f 65 30 83 +f 49 65 83 +f 36 48 84 +f 60 36 84 +f 48 69 84 +f 35 41 85 +f 53 35 85 +f 41 53 85 +f 59 65 86 +f 76 38 86 +f 65 76 86 +f 38 78 86 +f 78 59 86 +f 34 38 87 +f 58 34 87 +f 71 58 87 +f 38 76 87 +f 76 71 87 +f 42 37 88 +f 37 57 88 +f 57 52 88 +f 52 59 88 +f 78 42 88 +f 59 78 88 +f 51 60 89 +f 60 84 89 +f 84 69 89 +f 43 44 90 +f 44 57 90 +f 73 43 90 +f 57 73 90 +f 36 60 91 +f 60 39 91 +f 80 36 91 +f 39 80 91 +f 31 32 92 +f 32 51 92 +f 69 31 92 +f 51 89 92 +f 89 69 92 +f 45 33 93 +f 33 55 93 +f 55 37 93 +f 37 67 93 +o convex_2 +v 1.133602 -1.234790 0.051989 +v -0.173572 -0.610956 -1.195652 +v -0.322221 -0.610956 -1.165734 +v 0.390632 -0.581293 1.181133 +v -1.005510 -1.294256 0.616443 +v -1.421618 -0.581293 -0.007142 +v -0.886701 -1.294256 -0.928032 +v 1.401060 -0.581223 -0.036590 +v 0.806739 -1.294256 -0.957950 +v 0.925548 -1.294256 0.913747 +v -0.946106 -0.581293 0.854381 +v 0.836303 -0.581293 -0.987634 +v -0.559839 -1.294256 0.943430 +v -0.916265 -0.581293 -0.957715 +v 0.925548 -0.581293 0.943430 +v -1.094755 -1.294256 -0.125640 +v -0.024923 -0.610956 1.211051 +v -0.054763 -1.264454 -1.076684 +v 0.034205 -1.264454 1.062399 +v 0.271823 -0.581293 -1.195652 +v -0.916265 -1.294256 0.824462 +v 0.955112 -1.294256 -0.690330 +v 1.222570 -0.610956 -0.482311 +v 1.222570 -0.670422 0.468026 +v -0.381626 -0.581293 1.121766 +v -1.421618 -0.610956 -0.066273 +v 1.014517 -1.294256 0.676045 +v 0.598686 -1.294256 1.003033 +v 1.103762 -1.294256 -0.125875 +v 1.401060 -0.610956 0.051989 +v -0.856861 -1.264454 -0.957715 +v 0.539281 -1.294256 -1.017317 +v -1.213564 -0.640689 0.408424 +v -0.975670 -1.294256 -0.690330 +v -1.183724 -0.670352 -0.511994 +v 0.153014 -0.700085 -1.195652 +v -0.946106 -1.294256 0.794778 +v -1.094755 -1.294256 0.022306 +v 0.242259 -0.700085 1.181133 +v 1.401060 -0.610956 -0.036590 +v -0.470870 -1.294256 -1.017081 +v -0.054763 -0.729818 -1.195652 +v -1.421618 -0.610956 -0.007142 +f 119 131 136 +f 98 100 102 +f 98 102 103 +f 101 99 104 +f 98 103 106 +f 95 96 107 +f 99 101 107 +f 101 97 108 +f 97 103 108 +f 100 98 109 +f 110 106 112 +f 101 105 113 +f 105 102 113 +f 95 107 113 +f 107 101 113 +f 98 106 114 +f 103 102 115 +f 105 101 116 +f 102 105 116 +f 115 102 116 +f 108 103 117 +f 97 101 118 +f 101 104 118 +f 110 97 118 +f 106 110 118 +f 104 114 118 +f 114 106 118 +f 99 107 119 +f 103 115 120 +f 103 97 121 +f 106 103 121 +f 112 106 121 +f 94 120 122 +f 120 115 122 +f 101 108 123 +f 117 103 123 +f 108 117 123 +f 120 94 123 +f 103 120 123 +f 96 95 124 +f 107 96 124 +f 100 107 124 +f 102 100 125 +f 113 102 125 +f 104 99 126 +f 100 109 127 +f 119 100 127 +f 109 119 127 +f 107 100 128 +f 100 119 128 +f 119 107 128 +f 95 113 129 +f 125 111 129 +f 113 125 129 +f 98 114 130 +f 114 104 130 +f 104 126 130 +f 109 98 131 +f 119 109 131 +f 97 110 132 +f 110 112 132 +f 121 97 132 +f 112 121 132 +f 116 101 133 +f 115 116 133 +f 94 122 133 +f 122 115 133 +f 101 123 133 +f 123 94 133 +f 100 124 134 +f 125 100 134 +f 111 125 134 +f 124 95 135 +f 95 129 135 +f 129 111 135 +f 111 134 135 +f 134 124 135 +f 99 119 136 +f 126 99 136 +f 98 130 136 +f 130 126 136 +f 131 98 136 +o convex_3 +v -0.054693 0.963897 1.211051 +v -0.054693 0.845060 -1.284790 +v -0.054693 0.874792 -1.284790 +v 1.727896 0.845060 -0.095991 +v 0.836443 1.082712 -0.957663 +v -1.510755 0.845060 0.022497 +v -1.183593 1.082712 -0.482485 +v 0.866243 1.082712 0.883924 +v 0.271835 0.845060 1.211051 +v -0.945830 1.082712 0.824558 +v -0.916347 1.082712 -0.957907 +v -0.945830 0.845060 0.854363 +v 1.281853 1.082712 -0.155358 +v -0.916347 0.845060 -0.957907 +v 0.836443 0.845060 -0.987468 +v 0.152953 1.082712 -1.225179 +v 0.866243 0.845060 0.913485 +v 0.034389 1.082712 1.181246 +v -1.213392 1.082712 0.260208 +v 1.727896 0.874792 -0.007308 +v -0.292456 0.845060 1.181246 +v 1.192771 1.082712 0.408503 +v 1.222570 1.082712 -0.512046 +v 0.271835 0.874792 -1.254984 +v -0.411338 1.082712 -1.165812 +v -0.411338 1.082712 1.092074 +v -0.352056 0.845060 -1.225179 +v -1.510755 0.874792 -0.007308 +v 0.390716 1.082712 1.121635 +v -1.154110 1.082712 0.497919 +v -1.243192 1.082712 -0.066430 +f 164 155 167 +f 138 140 142 +f 141 143 144 +f 142 140 145 +f 144 143 146 +f 143 141 147 +f 142 145 148 +f 146 142 148 +f 141 144 149 +f 138 142 150 +f 140 138 151 +f 141 140 151 +f 147 141 152 +f 145 140 153 +f 144 145 153 +f 137 145 154 +f 144 146 154 +f 146 143 155 +f 153 140 156 +f 144 153 156 +f 145 137 157 +f 148 145 157 +f 149 144 158 +f 156 149 158 +f 144 156 158 +f 140 141 159 +f 141 149 159 +f 156 140 159 +f 149 156 159 +f 138 139 160 +f 151 138 160 +f 141 151 160 +f 152 141 160 +f 139 152 160 +f 152 139 161 +f 147 152 161 +f 146 148 162 +f 137 154 162 +f 154 146 162 +f 157 137 162 +f 148 157 162 +f 139 138 163 +f 138 150 163 +f 150 147 163 +f 161 139 163 +f 147 161 163 +f 143 147 164 +f 150 142 164 +f 147 150 164 +f 145 144 165 +f 154 145 165 +f 144 154 165 +f 142 146 166 +f 146 155 166 +f 164 142 166 +f 155 164 166 +f 155 143 167 +f 143 164 167 +o convex_4 +v 1.193002 1.082948 0.378918 +v -0.114266 1.082948 -1.225365 +v -0.114266 1.112459 -1.225365 +v -0.946119 1.112672 0.824488 +v -0.025095 3.251740 -0.036869 +v -0.886509 2.330508 -0.868444 +v 0.747148 2.478915 -0.898226 +v 0.747148 2.478915 0.794938 +v -0.856948 2.479128 0.765156 +v -1.213631 1.082948 -0.333760 +v 0.212368 1.082948 1.151627 +v 1.222562 1.082948 -0.482206 +v 0.717587 2.924776 0.022463 +v -0.084461 2.895052 -0.838894 +v -0.827387 2.895052 -0.125750 +v -0.114266 2.924776 0.705824 +v -0.916314 1.082948 -0.957791 +v 0.836319 1.082948 -0.957791 +v 0.866124 1.082948 0.884052 +v -1.213631 1.082948 0.200690 +v -0.054900 1.201632 1.151627 +v 1.282172 1.112672 -0.036869 +v 0.717587 2.895052 -0.214864 +v -0.856948 2.389743 -0.898226 +v 0.271978 1.112459 -1.195583 +v -0.381534 1.082948 1.092062 +v -0.827387 2.895052 -0.007552 +v 0.004710 2.924776 0.705824 +v -1.213631 1.231356 -0.036869 +v -1.154021 1.082948 0.497582 +v -0.084461 3.251740 -0.125983 +v 0.776953 2.419467 0.794938 +v -0.470704 1.142183 -1.136018 +v -1.154021 1.142396 -0.541771 +v 0.360904 1.112672 1.121845 +v 0.717587 2.389956 -0.928008 +v 1.222562 1.201844 -0.363543 +v -0.114266 3.251740 -0.036869 +v -0.054900 1.290804 -1.195583 +v -0.886509 2.419680 0.705824 +v 0.866124 1.231568 0.884052 +v 0.598612 3.013736 -0.095968 +v -0.084461 2.657472 -0.898459 +v 1.193002 1.142396 -0.541771 +v 0.776953 2.478915 0.735374 +v -0.054900 2.895052 -0.838894 +v -0.143826 2.835392 0.735607 +v 1.163197 1.172120 0.438483 +v 0.806758 1.469148 -0.957791 +v 0.093637 2.835392 0.735607 +v -0.856948 2.805880 -0.066186 +v -0.916314 1.469148 0.824488 +v 0.598612 3.013736 -0.036869 +v -0.856948 2.627536 0.497582 +v 0.569051 2.568088 -0.898226 +v -1.213631 1.231356 0.022230 +v 0.955295 2.181887 -0.095968 +v -0.886509 2.389743 -0.779563 +v -0.292363 1.112459 1.121845 +v 0.093637 1.112459 -1.225365 +v 0.360904 1.172120 -1.165801 +v -0.381534 3.132632 -0.096201 +v -0.856948 2.568088 -0.630884 +v 0.063832 3.222016 -0.096201 +f 220 209 231 +f 169 168 177 +f 177 168 178 +f 168 169 179 +f 169 177 184 +f 179 169 185 +f 178 168 186 +f 177 178 187 +f 178 175 188 +f 168 179 189 +f 184 173 191 +f 185 169 192 +f 187 178 193 +f 175 180 195 +f 172 183 195 +f 177 187 196 +f 193 171 197 +f 187 193 197 +f 170 169 200 +f 169 184 200 +f 191 170 200 +f 184 191 200 +f 177 173 201 +f 173 184 201 +f 184 177 201 +f 175 178 202 +f 178 186 202 +f 199 175 202 +f 189 179 204 +f 174 190 204 +f 183 172 205 +f 194 183 205 +f 172 198 205 +f 170 191 206 +f 197 176 207 +f 187 197 207 +f 202 186 208 +f 199 202 208 +f 180 190 209 +f 191 181 210 +f 206 191 210 +f 179 185 211 +f 174 204 211 +f 204 179 211 +f 180 175 212 +f 189 180 212 +f 175 199 212 +f 181 198 213 +f 209 190 213 +f 210 181 213 +f 183 176 214 +f 176 188 214 +f 195 183 214 +f 186 168 215 +f 168 189 215 +f 208 186 215 +f 199 208 215 +f 189 212 215 +f 212 199 215 +f 203 174 216 +f 174 211 216 +f 211 185 216 +f 188 175 217 +f 175 195 217 +f 214 188 217 +f 195 214 217 +f 194 182 218 +f 171 193 219 +f 193 176 219 +f 197 171 219 +f 176 197 219 +f 172 195 220 +f 195 180 220 +f 180 209 220 +f 176 183 221 +f 183 194 221 +f 207 176 221 +f 194 218 221 +f 190 174 222 +f 174 203 222 +f 203 206 222 +f 206 210 222 +f 213 190 222 +f 210 213 222 +f 196 187 223 +f 187 207 223 +f 218 196 223 +f 207 221 223 +f 221 218 223 +f 180 189 224 +f 190 180 224 +f 189 204 224 +f 204 190 224 +f 173 177 225 +f 177 196 225 +f 196 218 225 +f 188 176 226 +f 178 188 226 +f 176 193 226 +f 193 178 226 +f 169 170 227 +f 192 169 227 +f 203 192 227 +f 170 206 227 +f 206 203 227 +f 185 192 228 +f 192 203 228 +f 216 185 228 +f 203 216 228 +f 181 182 229 +f 182 194 229 +f 198 181 229 +f 194 205 229 +f 205 198 229 +f 182 181 230 +f 181 191 230 +f 191 173 230 +f 218 182 230 +f 173 225 230 +f 225 218 230 +f 198 172 231 +f 213 198 231 +f 209 213 231 +f 172 220 231 +o convex_5 +v 0.004510 0.310213 -2.918960 +v -0.025112 -0.046336 -2.057364 +v 0.004510 -0.046336 -2.057364 +v -0.025112 0.429063 -2.027600 +v 0.212564 0.310213 -2.027600 +v -0.233122 0.221053 -2.235755 +v 0.034220 0.042825 -2.829666 +v 0.182767 0.161721 -2.740668 +v 0.182767 0.013182 -2.027600 +v -0.203369 0.042825 -2.027600 +v -0.173659 0.221053 -2.740668 +v -0.203369 0.369638 -2.027600 +v 0.153058 0.339902 -2.621807 +v -0.025112 0.369638 -2.770235 +v 0.034220 0.191363 -3.037821 +v -0.084531 0.042825 -2.681237 +v 0.123392 0.399327 -2.087030 +v 0.153058 0.013182 -2.324753 +f 240 234 249 +f 234 233 238 +f 233 234 240 +f 236 235 240 +f 239 236 240 +f 233 240 241 +f 240 235 241 +f 241 237 242 +f 241 235 243 +f 237 241 243 +f 242 237 243 +f 236 239 244 +f 232 242 245 +f 243 235 245 +f 242 243 245 +f 244 232 245 +f 239 238 246 +f 242 232 246 +f 232 244 246 +f 244 239 246 +f 238 233 247 +f 233 241 247 +f 241 242 247 +f 246 238 247 +f 242 246 247 +f 235 236 248 +f 236 244 248 +f 245 235 248 +f 244 245 248 +f 234 238 249 +f 238 239 249 +f 239 240 249 +o convex_6 +v -0.143915 -0.343396 -1.255077 +v 0.093645 0.845036 -1.255077 +v -0.084525 0.845036 -1.255077 +v 0.242154 0.191515 -2.027600 +v -0.262764 0.250759 -1.997881 +v 0.331344 0.042854 -1.255077 +v -0.381614 0.310126 -1.255077 +v 0.182765 -0.046318 -1.968163 +v 0.034255 0.428981 -2.027600 +v 0.271884 0.755864 -1.284796 +v 0.242154 -0.284029 -1.314514 +v -0.203305 0.042854 -2.027600 +v -0.292424 -0.224540 -1.314514 +v -0.322154 0.637009 -1.284796 +v -0.054795 -0.402884 -1.284796 +v -0.203305 0.369615 -2.027600 +v -0.054795 -0.046318 -2.027600 +v 0.182765 0.399298 -1.997881 +v 0.331344 0.369615 -1.255077 +v -0.381614 0.132026 -1.255077 +v 0.212494 -0.313712 -1.255077 +v -0.262764 0.161709 -1.997881 +v -0.084525 0.845036 -1.284796 +v 0.093645 0.845036 -1.284796 +f 258 272 273 +f 250 251 252 +f 251 250 255 +f 250 252 256 +f 253 255 260 +f 257 253 260 +f 258 253 261 +f 256 252 263 +f 254 256 263 +f 257 260 264 +f 250 262 264 +f 262 261 264 +f 261 254 265 +f 258 261 265 +f 254 263 265 +f 253 257 266 +f 261 253 266 +f 257 264 266 +f 264 261 266 +f 253 258 267 +f 259 253 267 +f 251 255 268 +f 255 253 268 +f 259 251 268 +f 253 259 268 +f 250 256 269 +f 256 254 269 +f 262 250 269 +f 255 250 270 +f 260 255 270 +f 250 264 270 +f 264 260 270 +f 254 261 271 +f 261 262 271 +f 269 254 271 +f 262 269 271 +f 252 251 272 +f 263 252 272 +f 258 265 272 +f 265 263 272 +f 251 259 273 +f 267 258 273 +f 259 267 273 +f 272 251 273 +o convex_7 +v 1.282210 -0.432370 -0.393272 +v 1.817249 0.844897 -0.036863 +v 1.817249 0.844897 -0.066456 +v 3.035070 0.161669 -0.007163 +v 1.282210 -0.373050 0.438456 +v 1.282210 0.844897 -0.482482 +v 1.282210 0.844897 0.379055 +v 2.797409 0.250719 -0.393380 +v 2.797409 0.191259 0.379055 +v 2.797409 -0.194810 -0.036756 +v 2.767723 0.607197 0.022431 +v 1.460671 0.161529 -0.571692 +v 1.490357 -0.581019 0.022431 +v 1.401299 0.220989 0.527666 +v 2.619120 -0.135351 0.260144 +v 2.500204 0.547738 -0.333979 +v 1.935822 -0.224401 -0.393272 +v 1.312068 -0.581019 0.200743 +v 2.589434 0.488418 0.289845 +v 1.401299 0.844897 -0.482482 +v 1.935822 0.191259 0.497750 +v 1.460671 -0.432370 0.408756 +v 1.282210 0.399228 -0.571692 +v 2.797409 -0.194810 0.052131 +v 2.114283 0.220989 -0.512076 +v 2.619120 -0.105621 -0.274469 +v 1.312068 -0.581019 -0.155666 +v 2.767723 0.607197 -0.036756 +v 1.341754 -0.343320 -0.452782 +v 2.797409 0.191259 -0.393380 +v 1.282210 0.102348 0.527666 +v 2.678664 0.161669 0.408756 +v 3.005384 0.280309 0.022431 +v 2.648978 0.220989 0.408756 +v 1.312068 0.844897 0.379055 +v 1.757705 -0.075891 0.468050 +v 2.054739 0.310178 -0.512076 +v 1.282210 0.131939 -0.571692 +v 2.648978 -0.046301 0.319546 +v 1.282210 -0.581019 0.200743 +f 300 291 313 +f 275 276 279 +f 274 278 279 +f 275 279 280 +f 279 278 280 +f 276 275 284 +f 282 284 292 +f 279 276 293 +f 289 281 293 +f 274 279 296 +f 279 293 296 +f 277 282 297 +f 283 277 297 +f 286 283 297 +f 291 286 297 +f 288 295 297 +f 295 291 297 +f 274 290 299 +f 283 286 300 +f 286 291 300 +f 274 299 300 +f 299 283 300 +f 276 284 301 +f 281 289 301 +f 293 276 301 +f 289 293 301 +f 290 274 302 +f 285 298 302 +f 302 298 303 +f 281 277 303 +f 277 283 303 +f 298 281 303 +f 283 299 303 +f 299 290 303 +f 290 302 303 +f 280 278 304 +f 287 280 304 +f 294 287 304 +f 277 281 306 +f 282 277 306 +f 284 282 306 +f 281 301 306 +f 301 284 306 +f 282 292 307 +f 305 282 307 +f 294 305 307 +f 275 280 308 +f 284 275 308 +f 280 287 308 +f 292 284 308 +f 287 294 308 +f 307 292 308 +f 294 307 308 +f 278 295 309 +f 304 278 309 +f 294 304 309 +f 305 294 309 +f 295 305 309 +f 293 281 310 +f 285 296 310 +f 296 293 310 +f 281 298 310 +f 298 285 310 +f 274 296 311 +f 296 285 311 +f 302 274 311 +f 285 302 311 +f 295 288 312 +f 297 282 312 +f 288 297 312 +f 282 305 312 +f 305 295 312 +f 278 274 313 +f 295 278 313 +f 291 295 313 +f 274 300 313 +o convex_8 +v 0.361106 0.191166 1.716049 +v -0.381684 0.161849 1.211124 +v -0.292477 -0.254215 1.211124 +v -0.292477 0.191166 1.953861 +v 0.212532 0.785486 1.211124 +v 0.331344 -0.402762 1.211124 +v 0.063959 -0.105667 1.953861 +v -0.143982 0.488391 1.953861 +v -0.292477 0.696358 1.211124 +v 0.331344 0.221006 1.953861 +v 0.420551 0.250716 1.211124 +v 0.004592 -0.492022 1.240860 +v -0.203348 -0.016539 1.953861 +v 0.212532 0.428973 1.953861 +v -0.054775 0.845036 1.240860 +v 0.271977 -0.075958 1.924053 +v 0.301661 0.726067 1.240860 +v -0.262793 0.488391 1.864654 +v 0.004592 0.518101 1.953861 +v -0.381684 0.250716 1.300258 +v 0.361106 -0.313634 1.240860 +v 0.093642 -0.492022 1.240860 +v 0.331344 0.102299 1.953861 +v 0.420551 0.042880 1.240860 +v -0.262793 -0.224505 1.419128 +v -0.292477 0.636939 1.448864 +v -0.292477 0.310135 1.953861 +f 331 339 340 +f 315 316 317 +f 316 315 318 +f 316 318 319 +f 317 320 321 +f 318 315 322 +f 321 320 323 +f 319 318 324 +f 323 314 324 +f 316 319 325 +f 325 320 326 +f 320 317 326 +f 321 323 327 +f 318 322 328 +f 324 318 330 +f 323 324 330 +f 318 327 330 +f 327 323 330 +f 321 328 331 +f 327 318 332 +f 321 327 332 +f 318 328 332 +f 328 321 332 +f 315 317 333 +f 322 315 333 +f 329 319 334 +f 325 319 335 +f 320 325 335 +f 319 329 335 +f 329 320 335 +f 314 323 336 +f 323 320 336 +f 320 329 336 +f 329 334 336 +f 336 334 337 +f 324 314 337 +f 319 324 337 +f 334 319 337 +f 314 336 337 +f 317 316 338 +f 316 325 338 +f 325 326 338 +f 326 317 338 +f 328 322 339 +f 331 328 339 +f 322 333 339 +f 339 333 340 +f 317 321 340 +f 321 331 340 +f 333 317 340 +o convex_9 +v -0.292547 0.191439 1.953966 +v 0.331414 0.191439 2.013432 +v 0.301669 0.191439 2.369910 +v 0.063959 0.488487 1.953966 +v -0.025091 0.250727 3.023403 +v -0.025091 -0.075993 1.953966 +v 0.004592 0.013188 2.726285 +v -0.233119 0.280454 2.726285 +v 0.271986 -0.046266 1.953966 +v 0.242242 0.221000 2.815378 +v -0.233119 0.458705 2.013432 +v 0.034275 0.399251 2.815378 +v -0.203375 0.013188 2.132258 +v 0.242242 0.399251 1.953966 +v 0.242242 0.102314 2.696552 +v -0.233119 0.221000 2.726285 +v -0.143947 0.399251 2.637087 +v 0.004592 0.191439 3.023403 +v -0.114264 0.488487 1.953966 +v 0.153131 0.369580 2.637087 +v 0.063959 0.013188 2.726285 +v 0.004592 -0.075993 2.102525 +f 349 361 362 +f 341 344 346 +f 342 343 349 +f 346 344 349 +f 341 348 351 +f 345 350 352 +f 341 346 353 +f 343 342 354 +f 342 349 354 +f 349 344 354 +f 350 343 354 +f 349 343 355 +f 343 350 355 +f 348 341 356 +f 345 348 356 +f 341 353 356 +f 353 347 356 +f 348 345 357 +f 351 348 357 +f 345 352 357 +f 350 345 358 +f 355 350 358 +f 345 356 358 +f 356 347 358 +f 344 341 359 +f 341 351 359 +f 352 344 359 +f 351 357 359 +f 357 352 359 +f 344 352 360 +f 352 350 360 +f 354 344 360 +f 350 354 360 +f 349 355 361 +f 358 347 361 +f 355 358 361 +f 346 349 362 +f 353 346 362 +f 347 353 362 +f 361 347 362 +o convex_10 +v -1.510926 -0.580880 -0.066456 +v -1.273221 0.844897 0.260252 +v -1.273221 0.844897 -0.244769 +v -2.966496 0.220928 0.052131 +v -1.273221 -0.432355 0.408756 +v -1.273221 -0.016516 -0.571692 +v -2.669282 0.132008 -0.393272 +v -2.639611 0.161462 0.408756 +v -2.728791 0.577441 -0.036863 +v -2.698954 -0.224366 0.052131 +v -1.332731 0.755698 0.438456 +v -1.303059 -0.491821 -0.423081 +v -1.332731 0.725966 -0.452782 +v -1.273221 0.013217 0.527666 +v -2.580267 0.428917 0.319546 +v -2.580267 -0.165040 -0.215068 +v -2.550430 0.458650 -0.304278 +v -2.045680 0.161462 -0.512076 +v -1.718960 0.132008 0.527666 +v -1.273221 -0.580880 0.171042 +v -2.461415 -0.135307 0.319546 +v -1.332731 -0.432355 -0.482482 +v -1.570436 0.844757 -0.036863 +v -2.698954 0.577441 0.052131 +v -1.273221 0.250660 -0.571692 +v -2.788135 0.161462 -0.304278 +v -1.362402 -0.462088 0.379055 +v -2.728791 0.220928 0.379055 +v -1.273221 0.309986 0.527666 +v -2.698954 -0.224366 -0.007270 +v -1.273221 -0.580880 -0.244769 +v -2.698954 0.250660 -0.363572 +v -2.045680 0.191195 0.497750 +v -2.966496 0.161462 -0.036863 +v -1.926993 -0.194773 0.408756 +v -2.431577 -0.165040 -0.304278 +v -2.758463 0.161462 0.349247 +v -2.639611 0.220928 0.408756 +v -1.926993 0.072683 0.497750 +v -1.332731 0.755698 -0.423081 +v -1.570436 0.844757 0.052131 +v -1.540764 0.102415 -0.571692 +v -2.877316 0.013217 0.052131 +v -1.926993 0.042950 -0.512076 +v -2.520758 0.488383 0.289953 +f 386 377 407 +f 365 364 367 +f 365 367 368 +f 367 364 376 +f 368 367 382 +f 372 363 382 +f 368 374 384 +f 364 365 385 +f 365 371 385 +f 371 366 386 +f 373 364 386 +f 365 368 387 +f 375 365 387 +f 380 375 387 +f 369 378 388 +f 382 367 389 +f 372 382 389 +f 383 372 389 +f 386 366 390 +f 377 386 390 +f 364 373 391 +f 376 364 391 +f 381 376 391 +f 363 372 392 +f 378 374 392 +f 388 378 392 +f 374 368 393 +f 368 382 393 +f 382 363 393 +f 363 392 393 +f 392 374 393 +f 371 379 394 +f 379 375 394 +f 375 380 394 +f 380 369 394 +f 369 388 394 +f 391 373 395 +f 381 391 395 +f 366 371 396 +f 388 392 396 +f 371 394 396 +f 394 388 396 +f 370 383 397 +f 389 367 397 +f 383 389 397 +f 378 369 398 +f 374 378 398 +f 384 374 398 +f 369 384 398 +f 383 370 399 +f 372 383 399 +f 390 366 399 +f 370 390 399 +f 373 377 400 +f 390 370 400 +f 377 390 400 +f 370 395 400 +f 395 373 400 +f 367 376 401 +f 376 381 401 +f 395 370 401 +f 381 395 401 +f 397 367 401 +f 370 397 401 +f 371 365 402 +f 365 375 402 +f 379 371 402 +f 375 379 402 +f 364 385 403 +f 385 371 403 +f 371 386 403 +f 386 364 403 +f 368 384 404 +f 387 368 404 +f 380 387 404 +f 392 372 405 +f 366 396 405 +f 396 392 405 +f 399 366 405 +f 372 399 405 +f 369 380 406 +f 384 369 406 +f 404 384 406 +f 380 404 406 +f 377 373 407 +f 373 386 407 +o convex_11 +v 0.331239 -0.521560 1.211051 +v -0.381614 0.072619 -1.255077 +v -0.381614 0.458688 -1.255077 +v 1.282210 0.339768 -0.601128 +v -0.946144 0.844897 0.854264 +v -1.213526 -0.581019 -0.482360 +v 0.836239 -0.581019 -0.987608 +v 1.282210 0.844897 0.378950 +v -0.916379 0.844897 -0.957674 +v 1.252445 -0.581019 0.438334 +v -0.946144 -0.581019 0.854264 +v 0.301474 0.844897 -1.255077 +v 0.301474 0.844897 1.211051 +v -1.273056 0.785437 0.408642 +v -0.857100 -0.581019 -0.987366 +v -0.381614 0.072619 1.211051 +v 0.925534 -0.581019 0.943582 +v 0.152901 -0.581019 -1.225144 +v 1.282210 0.844897 -0.512052 +v -1.273056 0.161529 -0.601128 +v -1.273056 -0.491830 0.378950 +v 1.282210 -0.521560 -0.393284 +v 0.895769 0.815167 0.913890 +v -1.243291 0.844897 -0.482360 +v 0.836239 0.844897 -0.987608 +v 1.282210 0.250719 0.527410 +v -0.322084 0.844897 1.181118 +v -1.273056 0.131939 0.557102 +v -0.203276 -0.581019 1.181118 +v 0.390769 0.131939 -1.255077 +v 0.450298 0.250719 1.211051 +v -0.946144 -0.016571 -0.987366 +v 0.866004 0.339768 -1.017300 +v -0.975658 0.399228 0.883956 +v -0.381614 0.844897 -1.225144 +v -1.273056 -0.462100 -0.482360 +v 0.925534 0.428958 0.943582 +v -0.084467 -0.432370 -1.255077 +v 1.222681 -0.581019 -0.482360 +v -1.273056 -0.581019 0.200798 +v -0.322084 0.725977 1.211051 +v -0.292320 -0.373050 1.211051 +v -0.916379 -0.432370 -0.987366 +v 0.271710 -0.373050 -1.255077 +v -1.273056 0.844897 -0.333659 +v 1.282210 -0.402640 0.438334 +v 1.282210 0.161529 -0.601128 +v -0.381614 -0.551289 -1.165760 +v -0.946144 0.339768 -0.987366 +v -0.975658 0.042889 0.883956 +v -1.243291 0.844897 0.408642 +v -0.292320 -0.254131 -1.255077 +v 0.866004 0.131939 -1.017300 +v 0.212430 -0.581019 1.211051 +v -0.351849 0.725977 -1.255077 +v 0.390769 -0.373050 1.211051 +v 1.282210 -0.462100 -0.452668 +v 0.895769 0.191259 0.973274 +f 444 438 465 +f 412 415 416 +f 413 414 417 +f 413 417 418 +f 409 410 419 +f 416 415 419 +f 415 412 420 +f 414 413 422 +f 408 420 423 +f 418 417 424 +f 414 422 425 +f 415 411 426 +f 419 415 426 +f 421 427 428 +f 411 415 429 +f 415 420 430 +f 412 416 431 +f 416 427 431 +f 426 411 432 +f 419 426 432 +f 429 415 433 +f 415 430 433 +f 420 412 434 +f 412 421 435 +f 428 418 435 +f 421 428 435 +f 418 424 436 +f 409 419 437 +f 420 408 438 +f 430 420 438 +f 410 409 439 +f 432 411 440 +f 419 432 440 +f 437 419 440 +f 412 435 441 +f 416 419 442 +f 422 413 443 +f 428 427 443 +f 424 433 444 +f 433 430 444 +f 430 438 444 +f 409 437 445 +f 417 414 446 +f 429 417 446 +f 413 418 447 +f 418 428 447 +f 443 413 447 +f 428 443 447 +f 423 420 448 +f 434 412 448 +f 420 434 448 +f 441 423 448 +f 412 441 448 +f 408 423 449 +f 423 418 449 +f 418 436 449 +f 439 409 450 +f 427 439 450 +f 422 443 450 +f 443 427 450 +f 414 425 451 +f 437 414 451 +f 425 445 451 +f 445 437 451 +f 427 421 452 +f 412 431 452 +f 431 427 452 +f 424 417 453 +f 417 429 453 +f 433 424 453 +f 429 433 453 +f 411 429 454 +f 440 411 454 +f 425 422 455 +f 445 425 455 +f 427 416 456 +f 410 439 456 +f 439 427 456 +f 418 423 457 +f 435 418 457 +f 423 441 457 +f 441 435 457 +f 421 412 458 +f 412 452 458 +f 452 421 458 +f 409 445 459 +f 450 409 459 +f 422 450 459 +f 455 422 459 +f 445 455 459 +f 414 437 460 +f 437 440 460 +f 440 454 460 +f 454 414 460 +f 424 408 461 +f 436 424 461 +f 408 449 461 +f 449 436 461 +f 419 410 462 +f 416 442 462 +f 442 419 462 +f 456 416 462 +f 410 456 462 +f 408 424 463 +f 438 408 463 +f 424 438 463 +f 446 414 464 +f 429 446 464 +f 454 429 464 +f 414 454 464 +f 438 424 465 +f 424 444 465 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/819/819.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/819/819.urdf new file mode 100644 index 000000000..34d8b0bf9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/819/819.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/820/820.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/820/820.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/820/820.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/820/820.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/820/820.obj new file mode 100644 index 000000000..518ca16d6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/820/820.obj @@ -0,0 +1,858 @@ +o convex_0 +v -0.769003 -3.271869 -0.363791 +v 0.469513 -1.218846 0.743960 +v 0.469513 -1.218846 -1.211418 +v -1.290470 -1.219092 -0.298706 +v 0.795398 -3.304542 -0.168752 +v -0.149493 -3.174340 0.548271 +v -0.866541 -3.043892 -0.918101 +v 1.284352 -1.219092 -0.461636 +v 0.893189 -3.076565 -0.950426 +v -0.834028 -1.479988 0.711201 +v -0.801516 -1.219092 -1.146116 +v -0.051702 -3.728560 -0.266163 +v 0.762885 -1.871087 0.613573 +v -0.801516 -3.271869 -0.070907 +v 0.013324 -1.414641 -1.309263 +v -0.084215 -1.218846 0.907107 +v -0.116980 -3.239441 -0.983186 +v 0.828163 -1.219092 -1.146116 +v 1.284352 -1.251765 -0.201078 +v 0.013324 -3.239441 0.548271 +v -1.029610 -2.001289 0.222410 +v -0.638447 -2.750568 0.450643 +v 0.795398 -1.219092 0.678658 +v -0.866541 -1.219092 0.678658 +v 0.534790 -2.913689 0.418100 +v 1.023492 -2.099064 0.124782 +v -1.225192 -1.316867 -0.526721 +v -0.019189 -1.349294 0.907107 +v 0.013324 -3.728560 -0.168752 +v 0.762885 -3.304542 -0.070907 +v 0.828163 -1.610191 -1.146116 +v -0.801516 -1.805740 0.678658 +v -1.290470 -1.251520 -0.201078 +v 0.306444 -3.206768 -0.983186 +v -0.769003 -1.642864 -1.146116 +v 0.730372 -1.871087 0.646116 +v 0.925701 -2.978790 -0.950426 +v 1.056005 -1.382214 -0.852798 +v -0.019189 -3.174340 0.581030 +v 0.110862 -1.218846 -1.309263 +v 0.078349 -3.695887 -0.298706 +v 0.860676 -2.978790 -0.983186 +v -0.866541 -2.881016 -0.950426 +v 1.153796 -1.219092 0.092023 +v -0.801516 -3.304542 -0.103450 +v -0.084215 -3.239441 0.548271 +v 0.730372 -3.369643 -0.201078 +v 0.925701 -3.011218 -0.885341 +v -0.051702 -3.728560 -0.168752 +v 0.078349 -3.141666 -1.015728 +v -0.866541 -3.076319 -0.852798 +v -0.996845 -1.251520 0.450643 +v -0.769003 -3.207013 0.026938 +v -0.084215 -2.978545 0.613356 +v -0.834028 -1.284193 -1.113356 +v 0.045836 -3.304788 -0.918101 +v -0.703725 -1.773312 0.711201 +v -0.540656 -2.913444 0.450643 +v -0.084215 -1.218846 -1.309263 +v -0.084215 -3.109239 -1.015728 +v -0.996845 -2.294613 0.124566 +v 0.795398 -1.740393 -1.146116 +v 0.925701 -1.219092 -1.048271 +v -0.834028 -3.207013 -0.298706 +f 51 45 64 +f 3 2 8 +f 2 3 16 +f 12 7 17 +f 2 16 23 +f 16 4 24 +f 10 16 24 +f 5 19 26 +f 7 4 27 +f 4 11 27 +f 23 16 28 +f 20 29 30 +f 13 25 30 +f 25 20 30 +f 5 26 30 +f 26 13 30 +f 10 21 32 +f 24 4 33 +f 13 23 36 +f 25 13 36 +f 20 25 36 +f 23 28 36 +f 8 37 38 +f 20 36 39 +f 36 28 39 +f 16 3 40 +f 3 18 40 +f 18 31 40 +f 29 12 41 +f 34 9 41 +f 9 34 42 +f 37 9 42 +f 31 37 42 +f 7 27 43 +f 35 15 43 +f 8 2 44 +f 19 8 44 +f 2 23 44 +f 23 13 44 +f 26 19 44 +f 13 26 44 +f 1 12 45 +f 29 20 46 +f 39 6 46 +f 20 39 46 +f 9 5 47 +f 30 29 47 +f 5 30 47 +f 41 9 47 +f 29 41 47 +f 5 9 48 +f 8 19 48 +f 19 5 48 +f 9 37 48 +f 37 8 48 +f 12 29 49 +f 45 12 49 +f 29 46 49 +f 46 45 49 +f 34 17 50 +f 15 42 50 +f 42 34 50 +f 4 7 51 +f 12 1 51 +f 7 12 51 +f 33 4 51 +f 1 45 51 +f 21 10 52 +f 10 24 52 +f 33 21 52 +f 24 33 52 +f 32 21 53 +f 22 32 53 +f 14 45 53 +f 45 46 53 +f 32 6 54 +f 6 39 54 +f 39 28 54 +f 27 11 55 +f 11 35 55 +f 43 27 55 +f 35 43 55 +f 12 17 56 +f 17 34 56 +f 41 12 56 +f 34 41 56 +f 16 10 57 +f 28 16 57 +f 10 32 57 +f 32 54 57 +f 54 28 57 +f 32 22 58 +f 6 32 58 +f 46 6 58 +f 22 53 58 +f 53 46 58 +f 11 4 59 +f 4 16 59 +f 35 11 59 +f 15 35 59 +f 40 15 59 +f 16 40 59 +f 17 7 60 +f 7 43 60 +f 43 15 60 +f 15 50 60 +f 50 17 60 +f 21 33 61 +f 45 14 61 +f 33 45 61 +f 14 53 61 +f 53 21 61 +f 15 40 62 +f 40 31 62 +f 42 15 62 +f 31 42 62 +f 3 8 63 +f 18 3 63 +f 31 18 63 +f 37 31 63 +f 38 37 63 +f 8 38 63 +f 45 33 64 +f 33 51 64 +o convex_1 +v -0.345179 1.127931 2.895322 +v 0.404329 1.290842 2.928209 +v 0.339106 1.486321 2.960707 +v 0.013287 1.258274 4.883148 +v -0.214808 1.551598 2.895322 +v 0.176160 0.932452 2.895322 +v 0.111011 1.486321 4.589888 +v 0.273957 1.225705 4.557390 +v -0.182233 1.355978 4.655078 +v -0.051862 1.095433 4.589888 +v 0.143586 1.616804 2.895322 +v -0.051862 0.899743 2.928209 +v 0.306532 0.964950 2.928209 +v 0.273957 1.453823 4.101056 +v -0.312531 1.030226 2.928209 +v 0.111011 1.095433 4.524697 +v -0.345179 1.323340 2.960707 +v -0.182233 1.160569 4.459507 +v 0.045862 1.486321 4.655078 +v -0.051862 1.616804 2.928209 +v -0.117011 1.453823 4.459507 +v 0.306532 1.551598 2.895322 +v 0.339106 1.225705 3.905484 +v -0.214808 1.290842 4.492199 +v 0.273957 1.290842 4.557390 +v 0.045862 1.323340 4.883148 +v -0.279957 0.997658 2.928209 +f 82 79 91 +f 65 69 70 +f 70 69 75 +f 65 70 76 +f 70 66 77 +f 66 67 78 +f 72 68 80 +f 68 74 80 +f 76 70 80 +f 74 76 80 +f 70 77 80 +f 77 72 80 +f 69 65 81 +f 73 69 81 +f 68 73 82 +f 74 68 82 +f 65 79 82 +f 71 75 83 +f 83 75 84 +f 75 69 84 +f 84 69 85 +f 69 73 85 +f 73 83 85 +f 83 84 85 +f 67 66 86 +f 66 70 86 +f 70 75 86 +f 75 71 86 +f 78 67 86 +f 71 78 86 +f 77 66 87 +f 72 77 87 +f 81 65 88 +f 73 81 88 +f 65 82 88 +f 82 73 88 +f 66 78 89 +f 78 71 89 +f 87 66 89 +f 72 87 89 +f 68 72 90 +f 73 68 90 +f 71 83 90 +f 83 73 90 +f 89 71 90 +f 72 89 90 +f 65 76 91 +f 76 74 91 +f 79 65 91 +f 74 82 91 +o convex_2 +v 1.284431 -1.218846 -0.363989 +v 1.577832 -0.436674 -0.168580 +v 1.577832 -0.436674 -0.233576 +v 3.044490 -0.762637 -0.136012 +v 1.284431 -0.827722 0.157453 +v 1.284431 -0.632313 -0.526970 +v 2.816213 -0.730094 -0.396627 +v 2.751090 -0.762637 0.092246 +v 1.284431 -0.469294 0.092246 +v 2.751090 -0.534532 -0.201078 +v 1.317165 -1.120989 0.059608 +v 2.783652 -0.925503 -0.103303 +v 1.317165 -0.892807 -0.559608 +v 1.317165 -0.501913 -0.494402 +v 2.783652 -0.795179 -0.396627 +v 2.653060 -0.599694 0.027040 +v 1.382289 -1.218846 -0.168580 +v 1.349727 -1.186151 -0.429195 +v 1.773547 -0.697398 0.157453 +v 2.360004 -0.567075 -0.396627 +v 2.751090 -0.925503 -0.201078 +v 2.751090 -0.697398 0.092246 +v 1.284431 -0.436674 -0.298853 +v 3.011756 -0.664856 -0.136012 +v 2.620498 -0.892807 0.027040 +v 1.969090 -0.958046 0.092246 +v 2.718528 -0.534532 -0.136012 +v 1.349727 -1.153531 -0.461764 +f 106 109 119 +f 92 96 97 +f 97 96 100 +f 94 93 101 +f 96 92 102 +f 95 99 103 +f 92 97 104 +f 97 98 104 +f 98 97 105 +f 94 101 105 +f 98 95 106 +f 104 98 106 +f 102 92 108 +f 103 102 108 +f 96 99 110 +f 100 96 110 +f 101 98 111 +f 98 105 111 +f 105 101 111 +f 95 103 112 +f 106 95 112 +f 108 92 112 +f 103 108 112 +f 92 109 112 +f 109 106 112 +f 99 95 113 +f 107 100 113 +f 110 99 113 +f 100 110 113 +f 93 94 114 +f 100 93 114 +f 97 100 114 +f 105 97 114 +f 94 105 114 +f 95 98 115 +f 98 101 115 +f 113 95 115 +f 107 113 115 +f 103 99 116 +f 102 103 116 +f 99 96 117 +f 96 102 117 +f 116 99 117 +f 102 116 117 +f 93 100 118 +f 101 93 118 +f 100 107 118 +f 115 101 118 +f 107 115 118 +f 92 104 119 +f 104 106 119 +f 109 92 119 +o convex_3 +v -0.997037 0.215276 -0.266865 +v 1.088869 -0.175842 -0.168758 +v 1.023593 0.215276 -0.136187 +v -0.019361 0.215276 -2.287074 +v -0.964399 -0.208442 0.743632 +v 0.045706 0.215276 1.721950 +v -0.866694 -0.208442 -1.211434 +v 0.958316 -0.208442 -1.113328 +v 0.893039 -0.208442 0.711060 +v -0.931760 0.215276 0.971631 +v 0.860611 0.215276 -1.504184 +v 0.893039 0.215276 1.004595 +v -0.866694 0.215276 -1.504576 +v 0.013278 -0.208442 -1.634862 +v 0.013278 -0.208442 1.134488 +v -1.062314 -0.208442 -0.234294 +v -0.019361 0.182676 1.721950 +v -0.051788 0.182676 -2.287074 +v 0.925678 0.215276 -1.308756 +v -0.931760 -0.208442 0.809167 +v 1.023593 -0.208442 0.319812 +v 0.045706 0.182676 1.721950 +v -0.931760 -0.208442 -1.113328 +v -0.019361 0.182676 -2.287074 +v -1.062314 -0.175842 -0.038866 +v -0.899333 0.215276 -1.374291 +v 0.762696 0.182676 1.134880 +v 0.893039 -0.208442 -1.178470 +v 0.013278 -0.175842 1.200023 +v 0.925678 0.215276 0.873917 +v 0.860611 0.182676 -1.504184 +v -0.866694 0.182676 1.037166 +v -0.866694 0.182676 -1.504576 +f 142 145 152 +f 120 122 123 +f 122 120 125 +f 124 126 127 +f 124 127 128 +f 125 120 129 +f 123 122 130 +f 122 125 131 +f 120 123 132 +f 127 126 133 +f 124 128 134 +f 126 124 135 +f 125 129 136 +f 132 123 137 +f 133 126 137 +f 122 121 138 +f 121 127 138 +f 130 122 138 +f 129 124 139 +f 124 134 139 +f 127 121 140 +f 128 127 140 +f 131 128 140 +f 125 136 141 +f 126 135 142 +f 123 130 143 +f 137 123 143 +f 133 137 143 +f 129 120 144 +f 124 129 144 +f 135 124 144 +f 120 135 144 +f 120 132 145 +f 135 120 145 +f 142 135 145 +f 131 125 146 +f 128 131 146 +f 125 141 146 +f 141 128 146 +f 127 133 147 +f 133 143 147 +f 134 128 148 +f 139 134 148 +f 136 139 148 +f 128 141 148 +f 141 136 148 +f 121 122 149 +f 122 131 149 +f 140 121 149 +f 131 140 149 +f 138 127 150 +f 130 138 150 +f 143 130 150 +f 127 147 150 +f 147 143 150 +f 136 129 151 +f 129 139 151 +f 139 136 151 +f 132 137 152 +f 137 126 152 +f 126 142 152 +f 145 132 152 +o convex_4 +v -0.345074 1.942371 2.829111 +v -0.051858 0.215276 -2.709972 +v -0.116995 0.215486 -2.905623 +v 0.730186 2.040286 -2.905623 +v 0.795526 0.606725 2.569037 +v -0.703630 2.072924 -2.938430 +v -0.931913 0.215276 1.004423 +v 1.023605 0.215276 -0.265522 +v 0.762856 2.040286 2.340579 +v -0.964379 1.355933 2.601248 +v -0.964379 1.225801 -2.970641 +v -0.019188 2.366459 -2.057999 +v 0.665049 0.639364 -3.068467 +v -0.768766 2.072924 2.145524 +v -0.019188 0.378257 2.666267 +v 1.056276 1.323295 1.786432 +v -0.801437 0.508810 -2.970641 +v 0.958469 1.290867 -2.612146 +v 0.045744 2.268333 2.568441 +v -0.019188 2.072924 -3.199100 +v -0.997050 0.215276 -0.266118 +v 0.762856 1.355933 2.829111 +v -0.606028 0.704219 2.829111 +v -1.029720 1.323295 1.069441 +v 0.893129 0.215276 1.036634 +v -0.671164 0.606725 -3.166889 +v 0.925799 0.215276 -1.341008 +v 0.697515 1.583981 -3.199100 +v -0.736300 2.105563 -2.287054 +v 0.990935 1.225801 2.568441 +v 0.534777 0.671792 2.861918 +v -0.997050 1.323295 -2.449302 +v 0.632379 0.411106 -2.970641 +v 0.762856 2.072924 1.884258 +v 0.045744 2.301182 -2.937834 +v -0.899243 0.215276 -1.406027 +v 0.599913 1.909943 2.764092 +v -0.703630 0.573877 2.601845 +v -0.019188 0.215276 1.753624 +v -0.573357 1.909943 -3.166889 +v -0.182131 0.378468 -3.166293 +v 0.632379 2.137990 -2.221440 +v -0.606028 1.877305 2.829111 +v 0.925799 1.192952 -2.905623 +v -0.084325 2.301182 1.884258 +v 0.990935 1.290867 -2.156421 +v 0.762856 2.040286 -2.286458 +v 0.176017 1.616619 2.894726 +v -1.029720 1.323295 1.917065 +v 0.045744 2.366459 -2.090806 +v 0.827992 2.007648 1.819239 +v -0.768766 2.007648 2.601845 +v -0.801437 2.040286 1.558569 +v 0.078414 2.301182 1.949276 +v 0.078414 0.345829 2.601248 +v -0.345074 1.063031 2.894726 +v -0.801437 1.323295 2.829111 +v -0.051858 0.508810 2.861918 +v -0.964379 1.258229 2.601248 +v 0.599913 1.877305 -3.199100 +v 0.990935 1.355933 2.568441 +v 0.762856 1.128097 -3.166293 +v 0.730186 0.541449 2.568441 +v -0.768766 1.388361 -3.166889 +f 192 172 216 +f 159 154 160 +f 154 159 173 +f 159 160 177 +f 169 163 178 +f 154 155 179 +f 160 154 179 +f 178 172 180 +f 164 158 181 +f 166 164 181 +f 160 168 182 +f 177 160 182 +f 157 177 182 +f 157 182 183 +f 182 174 183 +f 158 163 184 +f 163 173 184 +f 173 176 184 +f 181 158 184 +f 179 155 185 +f 171 161 186 +f 158 164 187 +f 172 158 187 +f 155 154 188 +f 169 155 188 +f 163 169 188 +f 154 173 188 +f 173 163 188 +f 171 153 189 +f 161 171 189 +f 159 167 190 +f 159 177 191 +f 158 172 192 +f 155 169 193 +f 169 178 193 +f 178 180 193 +f 165 185 193 +f 185 155 193 +f 156 187 194 +f 153 171 195 +f 156 170 196 +f 170 160 196 +f 160 179 196 +f 180 156 196 +f 185 165 196 +f 179 185 196 +f 164 166 197 +f 166 171 197 +f 168 160 198 +f 170 156 198 +f 160 170 198 +f 156 194 199 +f 194 186 199 +f 198 156 199 +f 168 198 199 +f 183 174 200 +f 189 153 200 +f 174 189 200 +f 153 195 200 +f 173 159 201 +f 176 173 201 +f 187 164 202 +f 186 194 202 +f 194 187 202 +f 186 161 203 +f 168 199 203 +f 199 186 203 +f 171 166 204 +f 195 171 204 +f 201 162 204 +f 166 201 204 +f 166 181 205 +f 184 176 205 +f 181 184 205 +f 201 166 205 +f 176 201 205 +f 171 186 206 +f 164 197 206 +f 197 171 206 +f 186 202 206 +f 202 164 206 +f 167 159 207 +f 159 191 207 +f 191 177 207 +f 183 200 208 +f 200 195 208 +f 204 162 209 +f 195 204 209 +f 175 208 209 +f 208 195 209 +f 190 167 210 +f 175 190 210 +f 167 207 210 +f 207 183 210 +f 208 175 210 +f 183 208 210 +f 159 190 211 +f 190 175 211 +f 201 159 211 +f 162 201 211 +f 209 162 211 +f 175 209 211 +f 156 180 212 +f 180 172 212 +f 187 156 212 +f 172 187 212 +f 182 168 213 +f 174 182 213 +f 161 189 213 +f 189 174 213 +f 203 161 213 +f 168 203 213 +f 165 193 214 +f 193 180 214 +f 180 196 214 +f 196 165 214 +f 177 157 215 +f 157 183 215 +f 207 177 215 +f 183 207 215 +f 163 158 216 +f 178 163 216 +f 172 178 216 +f 158 192 216 +o convex_5 +v -1.225282 -1.120982 0.059621 +v -1.225282 -0.371493 -0.103326 +v -1.225282 -0.371493 -0.168475 +v -3.017935 -0.730024 -0.168475 +v -1.225282 -1.218763 -0.494293 +v -1.355836 -0.632243 0.222567 +v -1.323197 -0.534462 -0.461719 +v -2.626801 -0.925420 -0.005602 +v -2.789642 -0.762618 -0.396570 +v -2.724541 -0.567056 -0.168475 +v -2.789642 -0.958014 -0.201049 +v -2.724541 -0.697430 0.059621 +v -1.225282 -0.469275 0.157344 +v -1.420937 -1.218763 -0.201049 +v -1.225282 -0.762618 -0.526941 +v -2.007725 -0.795128 0.157344 +v -2.007725 -0.534462 -0.396570 +v -1.225282 -0.762618 0.222567 +v -1.486038 -0.795128 -0.526941 +v -2.757179 -0.827639 -0.396570 +v -1.355836 -0.469275 0.157344 +v -1.355836 -1.088389 0.092195 +v -2.724541 -0.567056 -0.233624 +v -2.757179 -0.795128 0.059621 +v -1.225282 -0.469275 -0.429144 +v -2.757179 -0.958014 -0.103326 +v -2.594163 -0.762618 -0.429144 +v -1.290734 -1.218763 -0.135900 +v -2.040188 -0.958014 0.092195 +v -2.561524 -0.599649 -0.005602 +v -3.017935 -0.795128 -0.135900 +f 242 240 247 +f 219 218 217 +f 219 217 221 +f 218 219 226 +f 226 220 228 +f 217 218 229 +f 227 221 230 +f 219 221 231 +f 222 228 232 +f 217 229 234 +f 229 222 234 +f 222 232 234 +f 231 221 235 +f 223 231 235 +f 221 227 236 +f 218 226 237 +f 228 222 237 +f 229 218 237 +f 222 229 237 +f 217 234 238 +f 234 232 238 +f 225 220 239 +f 226 219 239 +f 220 226 239 +f 219 233 239 +f 233 225 239 +f 232 228 240 +f 219 231 241 +f 231 223 241 +f 233 219 241 +f 223 233 241 +f 227 230 242 +f 238 224 242 +f 224 240 242 +f 233 223 243 +f 225 233 243 +f 223 235 243 +f 235 221 243 +f 236 225 243 +f 221 236 243 +f 221 217 244 +f 230 221 244 +f 217 238 244 +f 242 230 244 +f 238 242 244 +f 224 238 245 +f 238 232 245 +f 240 224 245 +f 232 240 245 +f 226 228 246 +f 237 226 246 +f 228 237 246 +f 220 225 247 +f 228 220 247 +f 225 236 247 +f 236 227 247 +f 240 228 247 +f 227 242 247 +o convex_6 +v -0.931715 -0.371535 -1.113490 +v 1.284409 -0.632246 0.189887 +v 1.284409 -0.729864 0.189887 +v -0.899288 -0.404173 0.809135 +v -1.225282 -1.218846 -0.526683 +v 0.860641 -1.218846 -1.146193 +v 0.045777 -1.218846 0.906980 +v 0.958415 -0.208442 -1.113229 +v 0.013350 -0.208442 1.102669 +v -0.019078 -0.208442 -1.570013 +v -0.703494 -1.218846 -1.178633 +v -1.094835 -0.208442 -0.070946 +v 1.284409 -1.218846 -0.461540 +v 0.893068 -0.208442 0.711290 +v -0.833941 -1.186208 0.743992 +v 0.795294 -1.218846 0.678850 +v -1.225282 -0.697424 0.255030 +v 1.284409 -0.404173 -0.298553 +v 0.045777 -1.218846 -1.341621 +v -1.225282 -0.436614 -0.428838 +v -0.866614 -0.208442 -1.211335 +v -0.964388 -0.208442 0.743992 +v -1.225282 -1.218846 -0.103648 +v 1.284409 -1.120931 0.059601 +v 1.121289 -0.208442 -0.168790 +v 1.284409 -0.762503 -0.559385 +v -0.801268 -1.023115 -1.178633 +v -1.225282 -0.436614 0.124483 +v 0.045777 -0.241179 -1.570013 +v 1.284409 -0.436614 0.124744 +v -0.051751 -0.241179 1.102669 +v 0.893068 -0.534529 -1.178633 +v -0.899288 -1.218846 0.646147 +v -0.051751 -1.153471 0.939682 +v -1.225282 -0.957937 -0.591826 +v -0.931715 -0.208442 -1.113490 +v -0.866614 -1.186208 -1.080788 +v 1.219063 -0.990675 -0.657230 +v -1.225282 -1.088293 0.092042 +v 0.860641 -0.567068 0.711290 +v 1.284409 -1.218846 -0.136088 +v 1.284409 -0.501891 -0.494242 +v 0.893068 -0.208442 -1.178633 +v -1.159936 -0.273719 -0.168790 +v -0.019078 -0.241179 -1.570013 +v -0.899288 -0.208442 0.809135 +f 251 278 293 +f 252 253 254 +f 256 255 257 +f 253 252 258 +f 256 257 259 +f 249 250 260 +f 254 253 260 +f 250 249 261 +f 255 256 261 +f 256 254 263 +f 254 260 263 +f 249 260 265 +f 253 258 266 +f 252 264 267 +f 259 257 268 +f 256 259 269 +f 264 251 269 +f 252 254 270 +f 264 252 270 +f 260 250 271 +f 250 263 271 +f 255 261 272 +f 265 255 272 +f 265 260 273 +f 267 264 275 +f 264 269 275 +f 253 266 276 +f 261 249 277 +f 249 265 277 +f 272 261 277 +f 265 272 277 +f 251 262 278 +f 253 276 279 +f 262 251 280 +f 254 262 280 +f 251 264 280 +f 270 254 280 +f 254 256 281 +f 262 254 281 +f 256 278 281 +f 278 262 281 +f 252 267 282 +f 268 248 283 +f 259 268 283 +f 248 282 283 +f 282 267 283 +f 258 252 284 +f 248 268 284 +f 274 258 284 +f 268 274 284 +f 282 248 284 +f 252 282 284 +f 260 253 285 +f 255 273 285 +f 273 260 285 +f 253 279 285 +f 279 255 285 +f 264 270 286 +f 280 264 286 +f 270 280 286 +f 250 261 287 +f 261 256 287 +f 256 263 287 +f 263 250 287 +f 263 260 288 +f 260 271 288 +f 271 263 288 +f 255 265 289 +f 273 255 289 +f 265 273 289 +f 257 255 290 +f 276 257 290 +f 255 279 290 +f 279 276 290 +f 269 259 291 +f 267 275 291 +f 275 269 291 +f 259 283 291 +f 283 267 291 +f 266 258 292 +f 268 257 292 +f 258 274 292 +f 274 268 292 +f 257 276 292 +f 276 266 292 +f 269 251 293 +f 256 269 293 +f 278 256 293 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/820/820.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/820/820.urdf new file mode 100644 index 000000000..61c06b757 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/820/820.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/821/821.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/821/821.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/821/821.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/821/821.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/821/821.obj new file mode 100644 index 000000000..e7e8f4ed3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/821/821.obj @@ -0,0 +1,456 @@ +o convex_0 +v -2.154932 0.238568 -1.960059 +v -3.061761 -0.249696 -2.169338 +v -3.061761 -0.214870 -2.169338 +v -3.061761 -0.319523 -1.576529 +v -1.108770 -0.354408 -2.169338 +v -1.108770 0.203684 -1.471787 +v -2.957262 0.203684 -1.611420 +v -1.108770 -0.214870 -1.541638 +v -1.108770 0.168800 -2.099555 +v -2.922234 0.203684 -2.099555 +v -3.096595 -0.319523 -1.820563 +v -1.841434 -0.354408 -1.890277 +v -2.294459 -0.110159 -2.169338 +v -1.248492 -0.214870 -1.506747 +v -2.922234 0.238568 -1.785808 +v -1.108770 0.203684 -2.064664 +v -3.026928 -0.284639 -2.169338 +v -2.713041 0.203684 -1.576529 +v -2.922234 0.238568 -2.064664 +v -1.248492 0.099031 -1.471787 +v -3.096595 -0.214870 -1.611420 +v -1.178826 -0.354408 -2.029773 +v -1.527547 -0.354408 -2.134447 +v -2.957262 0.203684 -2.064664 +v -1.946128 0.238568 -2.064664 +f 19 1 25 +f 2 3 5 +f 5 6 8 +f 6 5 9 +f 3 2 11 +f 4 11 12 +f 5 3 13 +f 9 5 13 +f 3 10 13 +f 10 9 13 +f 8 6 14 +f 4 12 14 +f 6 1 15 +f 6 9 16 +f 2 5 17 +f 11 2 17 +f 7 4 18 +f 6 15 18 +f 15 7 18 +f 15 1 19 +f 7 15 19 +f 4 14 20 +f 14 6 20 +f 18 4 20 +f 6 18 20 +f 4 7 21 +f 3 11 21 +f 11 4 21 +f 5 8 22 +f 12 5 22 +f 8 14 22 +f 14 12 22 +f 5 12 23 +f 12 11 23 +f 17 5 23 +f 11 17 23 +f 10 3 24 +f 7 19 24 +f 19 10 24 +f 21 7 24 +f 3 21 24 +f 1 6 25 +f 9 10 25 +f 6 16 25 +f 16 9 25 +f 10 19 25 +o convex_1 +v -0.376127 3.063753 1.109258 +v -1.108770 -3.005017 -0.773930 +v 0.983973 -3.075120 0.934826 +v 0.983973 2.993650 -0.843787 +v -1.073709 3.063753 -0.808858 +v -1.073709 -2.899862 1.143975 +v 0.949126 -2.864810 -0.948573 +v 1.018820 2.889099 1.144187 +v -0.934321 3.098805 1.109258 +v 1.053667 -3.075120 1.214044 +v 1.088728 1.005375 -0.948573 +v -1.108770 -0.946639 -0.948362 +v -0.969168 0.935272 1.214044 +v 1.053667 0.970928 1.214044 +v -1.073709 0.970324 -0.948362 +v -1.073709 3.063753 -0.390137 +v -1.038862 -3.005017 1.143975 +v 0.809524 -2.934914 -0.948573 +v -0.969168 -0.946639 1.214044 +v -0.969168 3.063149 1.039612 +v 1.088728 0.168366 -0.948573 +v 1.088728 1.528733 -0.285774 +v -1.108770 1.215081 -0.704284 +v 0.809524 2.958598 1.144187 +v 1.053667 -3.040069 0.760394 +v 0.565381 -3.075120 1.214044 +v -1.038862 -2.969965 -0.808858 +v 1.088728 1.005375 0.132736 +v 1.018820 2.783944 -0.843787 +v -0.236740 3.028097 1.144187 +v 0.949126 -2.969965 -0.669143 +v 1.018820 2.365742 1.179116 +v -1.108770 -3.005017 -0.250634 +v -1.073709 -2.586210 1.143975 +v 0.321239 2.993650 -0.843787 +v -0.934321 3.098805 0.620891 +v -1.108770 -1.051794 -0.948362 +v 0.390932 -3.039464 1.214044 +v 0.983973 2.993650 -0.599709 +v -0.794719 3.098805 1.109258 +v 1.088728 1.493681 -0.843787 +v 1.053667 -0.667435 -0.948573 +v -1.108770 -0.597936 -0.390137 +v -0.376127 -3.040069 1.144187 +v -1.108770 0.970324 -0.878716 +v -0.969168 2.749497 1.109258 +v 0.983973 2.958598 0.620891 +f 64 26 72 +f 38 35 39 +f 34 30 41 +f 36 32 43 +f 40 36 43 +f 37 40 43 +f 38 31 44 +f 35 38 44 +f 31 42 44 +f 34 41 45 +f 32 36 46 +f 46 36 47 +f 37 27 48 +f 41 30 48 +f 46 35 50 +f 27 28 51 +f 28 35 51 +f 35 44 51 +f 43 27 52 +f 39 35 53 +f 33 39 53 +f 35 46 53 +f 46 47 53 +f 47 33 53 +f 29 33 54 +f 36 29 54 +f 33 47 54 +f 34 38 55 +f 28 27 56 +f 35 28 56 +f 27 43 56 +f 43 32 56 +f 50 35 56 +f 32 50 56 +f 38 39 57 +f 39 33 57 +f 33 49 57 +f 55 38 57 +f 49 55 57 +f 42 31 58 +f 48 27 58 +f 31 38 59 +f 45 41 59 +f 41 48 59 +f 58 31 59 +f 30 29 60 +f 29 36 60 +f 40 30 60 +f 36 40 60 +f 29 30 61 +f 30 34 61 +f 27 37 62 +f 37 43 62 +f 52 27 62 +f 43 52 62 +f 44 42 63 +f 42 51 63 +f 51 44 63 +f 33 29 64 +f 49 26 65 +f 34 55 65 +f 55 49 65 +f 29 61 65 +f 61 34 65 +f 64 29 65 +f 26 64 65 +f 47 36 66 +f 36 54 66 +f 54 47 66 +f 32 46 67 +f 50 32 67 +f 46 50 67 +f 48 58 68 +f 59 48 68 +f 58 59 68 +f 27 51 69 +f 51 42 69 +f 42 58 69 +f 58 27 69 +f 30 40 70 +f 40 37 70 +f 37 48 70 +f 48 30 70 +f 38 34 71 +f 34 45 71 +f 59 38 71 +f 45 59 71 +f 26 49 72 +f 49 33 72 +f 33 64 72 +o convex_2 +v -1.039009 -1.052026 2.748640 +v 1.053738 0.971068 1.911836 +v 1.088728 -0.807655 3.132191 +v 1.053738 -1.016975 1.214434 +v -0.969028 0.936016 1.214236 +v -0.969028 0.971068 3.097539 +v -0.969028 -0.947267 1.214236 +v 1.018956 0.936016 3.237139 +v 1.053738 0.971068 1.214434 +v -1.039009 -1.052026 3.167240 +v 1.088728 -0.947267 3.132191 +v 0.879204 -1.052026 1.353835 +v -0.585386 -1.052026 3.167240 +v -1.039009 -0.389015 3.097539 +v 0.425789 0.971068 3.201892 +v -0.096981 0.971068 1.214434 +v 1.053738 -0.702896 3.167042 +v 1.053738 0.552428 3.201892 +v -1.039009 -0.737750 3.167240 +v -1.004018 -0.982121 1.702734 +v 1.053738 -0.981923 2.748640 +v -0.480832 -0.982121 1.214236 +v -1.039009 -0.947267 2.539340 +v -0.969028 0.971068 2.295190 +v 1.018956 0.971068 3.132191 +v -1.004018 0.482721 3.097539 +v 1.088728 -0.912414 2.818341 +v 1.018956 0.831455 3.237139 +v -0.585386 0.971068 3.132191 +v -0.062199 -1.016975 3.167042 +f 89 100 102 +f 74 75 81 +f 78 74 81 +f 82 73 84 +f 82 84 85 +f 73 82 86 +f 74 78 87 +f 81 77 88 +f 78 81 88 +f 75 74 90 +f 83 75 90 +f 89 83 90 +f 82 80 91 +f 86 82 91 +f 80 87 91 +f 77 79 92 +f 76 83 93 +f 84 76 93 +f 85 84 93 +f 83 85 93 +f 79 77 94 +f 81 76 94 +f 77 81 94 +f 76 84 94 +f 84 73 94 +f 73 92 94 +f 92 79 94 +f 73 86 95 +f 86 77 95 +f 92 73 95 +f 77 92 95 +f 88 77 96 +f 78 88 96 +f 74 87 97 +f 87 80 97 +f 90 74 97 +f 80 90 97 +f 77 86 98 +f 91 78 98 +f 86 91 98 +f 96 77 98 +f 78 96 98 +f 81 75 99 +f 76 81 99 +f 75 83 99 +f 83 76 99 +f 80 82 100 +f 82 85 100 +f 90 80 100 +f 89 90 100 +f 87 78 101 +f 78 91 101 +f 91 87 101 +f 85 83 102 +f 83 89 102 +f 100 85 102 +o convex_3 +v -1.108770 -0.388968 -2.204246 +v 0.983976 1.075711 -2.832082 +v 0.983976 1.075711 -2.901756 +v 1.123609 -1.086907 -2.762215 +v 1.088646 1.005853 -0.948573 +v -1.108770 -1.051767 -0.948573 +v -1.073807 0.970924 -0.948573 +v 1.018939 -1.051767 -0.948573 +v -1.073807 1.040570 -2.762215 +v -0.934174 -1.016838 -2.936787 +v 1.123609 0.238479 -2.169020 +v 1.123609 -0.284393 -1.506737 +v -0.306372 -1.051767 -2.901756 +v -1.073807 1.005641 -1.402227 +v -0.969137 -0.772760 -2.936787 +v 1.053684 -1.086907 -1.471900 +v -1.108770 0.203551 -1.471900 +v -1.038845 -1.051767 -1.925359 +v 0.879306 -1.086907 -2.797051 +v -1.073807 0.761564 -2.797246 +v -0.271409 -0.389179 -2.936787 +v 1.088646 0.098976 -0.948573 +v 1.088646 1.005853 -1.332359 +v 0.635222 -1.086907 -2.797246 +v -1.108770 0.168622 -2.413460 +v -1.073807 1.040570 -2.413460 +v 0.983976 0.935996 -2.901756 +v 0.844562 1.040782 -2.901756 +v -0.969137 -0.947192 -2.901756 +v 1.053684 -0.877546 -1.053472 +v 1.123609 0.343054 -1.541768 +v 1.018939 0.691918 -2.866724 +v -0.794760 1.005641 -2.797246 +v 1.018939 -0.912475 -2.797051 +f 123 129 136 +f 105 104 107 +f 108 107 109 +f 107 108 110 +f 104 105 111 +f 106 113 114 +f 107 104 116 +f 109 107 116 +f 110 108 118 +f 103 108 119 +f 108 109 119 +f 109 116 119 +f 108 103 120 +f 112 115 120 +f 106 118 121 +f 115 112 123 +f 112 117 123 +f 107 110 124 +f 114 107 124 +f 105 107 125 +f 113 105 125 +f 118 108 126 +f 108 120 126 +f 120 115 126 +f 115 121 126 +f 121 118 126 +f 103 119 127 +f 119 111 127 +f 111 122 127 +f 104 111 128 +f 116 104 128 +f 111 119 128 +f 119 116 128 +f 105 106 129 +f 123 105 129 +f 105 123 130 +f 123 117 130 +f 117 112 131 +f 120 103 131 +f 112 120 131 +f 122 117 131 +f 103 127 131 +f 127 122 131 +f 106 114 132 +f 118 106 132 +f 110 118 132 +f 124 110 132 +f 114 124 132 +f 107 114 133 +f 114 113 133 +f 125 107 133 +f 113 125 133 +f 106 105 134 +f 105 113 134 +f 113 106 134 +f 111 105 135 +f 122 111 135 +f 117 122 135 +f 105 130 135 +f 130 117 135 +f 121 115 136 +f 106 121 136 +f 115 123 136 +f 129 106 136 +o convex_4 +v 3.041767 -0.145074 -1.646247 +v 1.123998 -0.005564 -2.169276 +v 1.123998 0.238486 -2.169276 +v 1.123998 -0.284646 -1.506798 +v 1.123998 0.343211 -1.541628 +v 3.111823 0.203640 -2.169276 +v 3.076600 -0.214829 -2.064657 +v 3.041767 0.238486 -1.611417 +v 3.006934 -0.249737 -1.506798 +v 1.123998 -0.179921 -2.134447 +v 1.577218 0.343211 -1.646247 +v 3.076600 -0.145074 -2.134447 +v 1.263331 -0.284646 -1.681141 +v 3.041767 0.273395 -1.750866 +v 3.006934 -0.145074 -1.506798 +v 1.681912 -0.110227 -2.169276 +v 2.100494 -0.284646 -1.541628 +v 1.123998 -0.040472 -1.506798 +v 2.518686 0.308303 -1.611417 +v 3.111823 0.029283 -2.169276 +v 1.123998 -0.214829 -2.029828 +f 143 149 157 +f 139 138 140 +f 139 140 141 +f 138 139 142 +f 143 137 145 +f 137 144 145 +f 140 138 146 +f 139 141 147 +f 142 139 147 +f 143 146 148 +f 144 142 150 +f 142 147 150 +f 144 141 151 +f 140 145 151 +f 145 144 151 +f 138 142 152 +f 146 138 152 +f 148 146 152 +f 145 140 153 +f 143 145 153 +f 140 149 153 +f 149 143 153 +f 141 140 154 +f 140 151 154 +f 151 141 154 +f 141 144 155 +f 147 141 155 +f 144 150 155 +f 150 147 155 +f 137 143 156 +f 144 137 156 +f 142 144 156 +f 143 148 156 +f 152 142 156 +f 148 152 156 +f 140 146 157 +f 146 143 157 +f 149 140 157 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/821/821.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/821/821.urdf new file mode 100644 index 000000000..9c1fed4a9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/821/821.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/822/822.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/822/822.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/822/822.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/822/822.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/822/822.obj new file mode 100644 index 000000000..2fd041d87 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/822/822.obj @@ -0,0 +1,696 @@ +o convex_0 +v -0.177037 -2.898304 -0.585367 +v 0.075911 2.221175 1.243446 +v -0.008539 2.221175 1.243446 +v -0.289637 2.221765 -1.232783 +v 0.920209 -0.113736 -0.782428 +v -0.993185 -0.198010 0.680380 +v 0.695009 -2.251813 0.736856 +v 0.835759 2.108614 0.933675 +v -0.852435 2.333737 -0.923012 +v -0.739836 -2.251813 0.764973 +v -0.796136 -2.054389 -0.754311 +v 0.497959 -1.069624 -1.176307 +v 0.751309 2.108614 -0.866779 +v 0.441659 -0.844501 1.243446 +v -0.796136 2.165190 0.849081 +v 0.019812 2.812270 0.145916 +v -0.627236 -0.338270 1.243446 +v 0.666859 -2.279511 -0.754311 +v -0.430387 -0.788515 -1.232783 +v 0.976509 -0.253996 0.793090 +v 0.019812 -2.898304 0.736856 +v -0.993185 -0.225708 -0.782428 +v 0.638709 -0.169722 -1.232783 +v -0.064437 -3.208290 -0.050903 +v -0.824286 -2.420360 0.005331 +v -0.036287 -2.842318 -0.782428 +v -0.008539 2.727407 -0.782428 +v 1.004659 -0.253996 -0.078777 +v 0.723159 -2.476936 0.005331 +v 0.329260 2.080327 -1.232783 +v -1.049485 0.026523 -0.022544 +v -0.458537 -0.985350 1.243446 +v 0.610559 -0.253996 1.243446 +v 0.047761 2.727407 0.793090 +v -0.570936 -0.253407 -1.232783 +v 0.385560 2.136902 1.243446 +v -0.345937 1.827505 1.243446 +v -0.767986 -2.251813 -0.725951 +v 0.075911 -1.013638 -1.232783 +v -0.965035 -0.253996 0.793090 +v -1.049485 -0.309982 0.033206 +v -0.064437 -2.870606 0.764973 +v 0.695009 -2.167539 -0.782428 +v -0.767986 2.221765 0.849081 +v -0.008539 -3.208290 -0.022786 +v -0.880585 2.108614 -0.923255 +v -0.036287 2.812270 0.117799 +v 0.019812 -1.097912 1.243446 +v 0.751309 -2.364374 0.005331 +v 0.863909 1.855793 0.793090 +v -1.021335 -0.198010 -0.613484 +v 0.779459 1.377260 1.046385 +v 0.723159 1.405548 -1.007606 +v -0.796136 2.390312 -0.810545 +v 0.920209 -0.309982 -0.782428 +v -0.092587 -3.180592 0.061565 +v -0.880585 2.165190 -0.810545 +v -0.345937 2.192888 -1.232783 +v 1.004659 -0.142024 -0.022544 +v -0.036287 -2.926592 -0.726194 +v 0.723159 -2.167539 0.736856 +v 0.019812 2.812270 -0.107137 +v -0.486687 2.418600 -1.063839 +v -0.796136 -2.476936 0.089682 +f 24 56 64 +f 2 3 14 +f 14 3 17 +f 7 14 21 +f 19 4 23 +f 10 6 25 +f 23 4 30 +f 4 27 30 +f 27 13 30 +f 6 15 31 +f 17 10 32 +f 14 17 32 +f 2 14 33 +f 3 2 34 +f 8 16 34 +f 4 19 35 +f 19 11 35 +f 11 22 35 +f 2 33 36 +f 34 2 36 +f 8 34 36 +f 17 3 37 +f 15 17 37 +f 11 19 38 +f 1 24 38 +f 25 11 38 +f 19 26 38 +f 23 12 39 +f 19 23 39 +f 12 26 39 +f 26 19 39 +f 6 10 40 +f 15 6 40 +f 10 17 40 +f 17 15 40 +f 25 6 41 +f 6 31 41 +f 21 14 42 +f 32 10 42 +f 12 23 43 +f 26 12 43 +f 18 26 43 +f 29 18 43 +f 9 15 44 +f 3 34 44 +f 37 3 44 +f 15 37 44 +f 7 21 45 +f 29 7 45 +f 18 29 45 +f 35 22 46 +f 34 16 47 +f 44 34 47 +f 14 32 48 +f 42 14 48 +f 32 42 48 +f 28 20 49 +f 43 28 49 +f 29 43 49 +f 13 8 50 +f 8 20 50 +f 22 11 51 +f 11 25 51 +f 25 41 51 +f 41 31 51 +f 31 46 51 +f 46 22 51 +f 20 8 52 +f 33 20 52 +f 36 33 52 +f 8 36 52 +f 13 5 53 +f 5 23 53 +f 30 13 53 +f 23 30 53 +f 27 9 54 +f 9 44 54 +f 44 47 54 +f 23 5 55 +f 5 28 55 +f 43 23 55 +f 28 43 55 +f 21 42 56 +f 42 10 56 +f 45 21 56 +f 24 45 56 +f 15 9 57 +f 31 15 57 +f 9 46 57 +f 46 31 57 +f 4 35 58 +f 46 9 58 +f 35 46 58 +f 5 13 59 +f 28 5 59 +f 20 28 59 +f 13 50 59 +f 50 20 59 +f 24 1 60 +f 26 18 60 +f 1 38 60 +f 38 26 60 +f 18 45 60 +f 45 24 60 +f 14 7 61 +f 7 29 61 +f 33 14 61 +f 20 33 61 +f 49 20 61 +f 29 49 61 +f 8 13 62 +f 16 8 62 +f 13 27 62 +f 47 16 62 +f 27 54 62 +f 54 47 62 +f 27 4 63 +f 9 27 63 +f 4 58 63 +f 58 9 63 +f 10 25 64 +f 38 24 64 +f 25 38 64 +f 56 10 64 +o convex_1 +v -0.542835 -0.254533 2.200102 +v -0.092766 -1.070318 1.243445 +v -0.233354 -1.013963 1.243445 +v 0.469939 0.477325 1.243619 +v 0.413680 -0.254382 2.762851 +v -0.486577 0.392793 1.243445 +v -0.008437 0.167675 2.762677 +v 0.441750 -0.816872 1.243619 +v -0.064578 -0.676287 2.706628 +v -0.486577 -0.873227 1.243445 +v -0.430318 -0.226356 2.762677 +v 0.582574 -0.254382 1.440573 +v -0.036389 -0.282711 3.016201 +v -0.627401 -0.310434 1.243445 +v 0.301163 0.083294 2.622120 +v 0.301163 -0.591754 2.424993 +v -0.402130 -0.620083 2.284262 +v 0.047821 -1.070318 1.271904 +v 0.076010 0.477325 1.271904 +v -0.317801 0.054965 2.565724 +v 0.526197 -0.254382 2.087656 +v -0.514765 0.364767 1.300015 +v 0.582574 -0.113797 1.243619 +v 0.413680 -0.873227 1.299842 +v 0.469939 0.477325 1.299842 +v 0.104080 0.139498 2.762677 +v -0.571024 -0.310434 2.003495 +v -0.430318 -0.310434 2.734739 +v 0.441750 0.195701 2.003322 +v 0.216716 -0.591906 2.593835 +v -0.627401 -0.170152 1.271904 +v -0.486577 -0.873227 1.300015 +v 0.019751 -0.282711 3.016201 +v -0.374059 0.420819 1.271904 +v 0.526197 -0.113797 1.947099 +v -0.289612 -0.591906 2.593835 +v -0.571024 -0.113797 1.834479 +v -0.008437 -0.563728 2.818900 +v 0.019751 -0.113797 2.959631 +v -0.458388 -0.704465 1.890876 +v 0.441750 -0.816872 1.328127 +v 0.413680 -0.226204 2.762851 +v 0.498009 0.392793 1.299842 +v -0.064578 -1.070318 1.328127 +v -0.008437 -0.676287 2.678516 +v -0.092766 -0.648109 2.734739 +v -0.036389 -0.170152 2.987742 +v -0.064578 0.139498 2.762677 +v 0.413680 -0.282408 2.734739 +v -0.233354 -1.013963 1.271904 +v 0.582574 -0.282408 1.243619 +v -0.430318 -0.198178 2.734739 +v 0.329233 0.477325 1.328127 +v -0.627401 -0.282711 1.412287 +v -0.064578 0.448996 1.356065 +v -0.458388 -0.901404 1.271904 +v -0.317801 -0.282711 2.847358 +v -0.542835 0.280234 1.300015 +v -0.345871 -0.001238 2.621946 +v 0.385492 -0.704465 1.862764 +f 105 113 124 +f 66 67 70 +f 68 66 70 +f 70 67 74 +f 70 74 78 +f 66 72 82 +f 68 70 83 +f 71 70 86 +f 66 68 87 +f 82 72 88 +f 68 83 89 +f 79 89 90 +f 89 71 90 +f 75 65 92 +f 65 91 92 +f 89 79 93 +f 88 80 94 +f 82 88 94 +f 70 78 95 +f 78 74 96 +f 70 71 98 +f 83 70 98 +f 85 76 99 +f 76 87 99 +f 92 81 100 +f 91 65 101 +f 97 77 102 +f 69 97 102 +f 90 71 103 +f 81 92 104 +f 92 91 104 +f 96 81 104 +f 91 96 104 +f 76 85 105 +f 88 72 105 +f 69 85 106 +f 79 90 106 +f 93 79 106 +f 97 69 106 +f 85 99 106 +f 99 93 106 +f 90 103 106 +f 103 97 106 +f 87 68 107 +f 68 89 107 +f 89 93 107 +f 99 87 107 +f 93 99 107 +f 66 82 108 +f 82 73 108 +f 73 82 109 +f 82 94 109 +f 102 73 109 +f 94 102 109 +f 100 73 110 +f 92 100 110 +f 73 102 110 +f 102 77 110 +f 77 97 111 +f 103 71 111 +f 97 103 111 +f 71 86 112 +f 86 84 112 +f 111 71 112 +f 75 111 112 +f 85 69 113 +f 94 80 113 +f 69 102 113 +f 102 94 113 +f 105 85 113 +f 67 66 114 +f 66 108 114 +f 108 73 114 +f 72 66 115 +f 66 87 115 +f 87 76 115 +f 105 72 115 +f 76 105 115 +f 65 75 116 +f 101 65 116 +f 75 112 116 +f 83 71 117 +f 71 89 117 +f 89 83 117 +f 95 78 118 +f 78 96 118 +f 96 91 118 +f 91 101 118 +f 101 95 118 +f 71 83 119 +f 98 71 119 +f 83 98 119 +f 74 67 120 +f 96 74 120 +f 81 96 120 +f 73 100 120 +f 100 81 120 +f 67 114 120 +f 114 73 120 +f 75 92 121 +f 110 77 121 +f 92 110 121 +f 111 75 121 +f 77 111 121 +f 86 70 122 +f 70 95 122 +f 95 101 122 +f 116 86 122 +f 101 116 122 +f 84 86 123 +f 112 84 123 +f 86 116 123 +f 116 112 123 +f 80 88 124 +f 88 105 124 +f 113 80 124 +o convex_2 +v -0.008206 2.193802 1.271904 +v -0.064495 1.349633 1.243445 +v -0.148928 1.377811 1.243445 +v 0.047868 1.856002 3.016201 +v 0.385602 1.659173 1.243445 +v -0.346011 1.799730 1.243445 +v 0.357457 2.109270 1.243445 +v 0.019795 2.081092 2.762677 +v 0.244879 1.827907 2.818900 +v -0.148928 1.799730 2.678516 +v 0.076013 1.631078 2.762677 +v 0.244879 1.405988 1.271904 +v -0.289722 2.024902 1.328127 +v -0.261578 1.434166 1.271904 +v -0.148928 1.912357 2.706628 +v 0.216735 1.996807 2.621946 +v 0.385602 2.053080 1.271904 +v 0.216735 1.631078 2.397055 +v 0.076013 2.081092 2.762677 +v 0.019795 1.631078 2.734739 +v 0.244879 2.165625 1.243445 +v -0.346011 1.715528 1.328127 +v -0.008206 1.349633 1.356065 +v -0.148928 2.024902 2.368944 +v -0.261578 2.053080 1.243445 +v -0.120784 1.687433 2.537786 +v 0.244879 1.884263 2.790789 +v 0.329313 2.137447 1.271904 +v -0.177144 1.884263 2.565724 +v 0.385602 1.659173 1.271904 +v 0.273024 1.856002 2.565724 +v -0.261578 2.053080 1.356065 +f 125 149 156 +f 126 127 129 +f 129 127 130 +f 129 130 131 +f 133 128 135 +f 126 129 136 +f 130 127 138 +f 128 132 139 +f 134 128 139 +f 129 131 141 +f 131 140 141 +f 133 135 142 +f 135 136 142 +f 132 128 143 +f 125 132 143 +f 128 134 144 +f 135 128 144 +f 138 127 144 +f 131 130 145 +f 125 143 145 +f 130 138 146 +f 138 134 146 +f 127 126 147 +f 126 136 147 +f 136 135 147 +f 144 127 147 +f 135 144 147 +f 139 132 148 +f 137 139 148 +f 130 137 149 +f 125 145 149 +f 145 130 149 +f 134 138 150 +f 144 134 150 +f 138 144 150 +f 128 133 151 +f 141 140 151 +f 143 128 151 +f 140 143 151 +f 140 131 152 +f 143 140 152 +f 131 145 152 +f 145 143 152 +f 137 130 153 +f 134 139 153 +f 139 137 153 +f 130 146 153 +f 146 134 153 +f 136 129 154 +f 129 141 154 +f 133 142 154 +f 142 136 154 +f 151 133 155 +f 141 151 155 +f 133 154 155 +f 154 141 155 +f 132 125 156 +f 148 132 156 +f 137 148 156 +f 149 137 156 +o convex_3 +v 0.019861 -1.014040 -1.232784 +v -0.064611 0.758715 -1.232784 +v -0.120850 0.758715 -1.232784 +v -0.008258 -0.169656 -2.949093 +v 0.610714 -0.141718 -1.232784 +v -0.542984 -0.253990 -1.289232 +v -0.402160 -0.197941 -2.695745 +v 0.357411 -0.169830 -2.723970 +v 0.469889 -0.845024 -1.261176 +v -0.008258 -0.591675 -2.695745 +v 0.469889 0.477254 -1.261176 +v 0.019861 0.195792 -2.723970 +v -0.458512 0.617984 -1.232784 +v -0.430279 -0.760690 -1.232784 +v 0.526242 -0.226053 -1.964432 +v 0.272939 -0.507340 -2.526903 +v -0.317801 -0.479229 -2.498847 +v -0.289681 0.139569 -2.498847 +v -0.514751 -0.169656 -1.852039 +v 0.273051 0.111458 -2.555128 +v -0.064611 -0.591675 -2.695745 +v -0.430279 -0.760690 -1.317457 +v -0.036491 0.195792 -2.723970 +v 0.357411 -0.226053 -2.723970 +v -0.402160 -0.141718 -2.695745 +v -0.542984 0.026950 -1.232784 +v 0.610714 -0.310387 -1.232784 +v -0.458512 0.617984 -1.261176 +v -0.008258 -1.014040 -1.261176 +v 0.413763 -0.648071 -1.880095 +v 0.413763 0.252015 -1.908320 +v 0.526242 -0.141718 -1.908320 +v -0.064611 -0.197941 -2.949093 +v 0.075988 0.195792 -2.667689 +v -0.064611 0.758715 -1.261176 +v -0.514751 -0.113607 -1.852039 +v 0.469889 0.477254 -1.232784 +v 0.188579 -0.957644 -1.261176 +v -0.205209 0.730430 -1.261176 +v -0.430279 -0.704467 -1.486299 +v -0.008258 -0.226053 -2.949093 +v 0.498122 -0.760690 -1.232784 +v 0.498122 -0.591848 -1.570636 +v -0.317801 -0.845198 -1.261176 +v -0.036491 0.223904 -2.667689 +v -0.064611 -0.113607 -2.920868 +v -0.177089 0.167681 -2.611408 +f 184 201 203 +f 157 158 159 +f 158 157 161 +f 164 160 168 +f 157 159 169 +f 157 169 170 +f 165 166 172 +f 164 168 176 +f 173 163 177 +f 173 177 178 +f 170 162 178 +f 160 164 180 +f 164 171 180 +f 172 166 180 +f 163 175 181 +f 162 170 182 +f 170 169 182 +f 161 157 183 +f 171 161 183 +f 174 181 184 +f 182 169 184 +f 177 166 185 +f 165 172 186 +f 180 171 186 +f 172 180 186 +f 164 176 187 +f 176 167 187 +f 167 161 188 +f 161 171 188 +f 171 164 188 +f 164 187 188 +f 187 167 188 +f 177 163 189 +f 163 181 189 +f 167 176 190 +f 176 168 190 +f 159 158 191 +f 158 167 191 +f 167 190 191 +f 190 168 191 +f 175 162 192 +f 181 175 192 +f 162 182 192 +f 184 181 192 +f 182 184 192 +f 158 161 193 +f 167 158 193 +f 161 167 193 +f 165 157 194 +f 166 165 194 +f 157 185 194 +f 185 166 194 +f 169 159 195 +f 184 169 195 +f 163 173 196 +f 162 175 196 +f 175 163 196 +f 173 178 196 +f 178 162 196 +f 166 177 197 +f 160 180 197 +f 180 166 197 +f 189 160 197 +f 177 189 197 +f 157 165 198 +f 183 157 198 +f 183 198 199 +f 171 183 199 +f 165 186 199 +f 186 171 199 +f 198 165 199 +f 157 170 200 +f 178 177 200 +f 170 178 200 +f 185 157 200 +f 177 185 200 +f 168 179 201 +f 159 191 201 +f 191 168 201 +f 195 159 201 +f 184 195 201 +f 168 160 202 +f 179 168 202 +f 181 179 202 +f 160 189 202 +f 189 181 202 +f 181 174 203 +f 179 181 203 +f 174 184 203 +f 201 179 203 +o convex_4 +v -0.148959 1.799923 -2.808238 +v 0.385602 1.799923 -1.232783 +v 0.385602 1.771828 -1.232783 +v -0.317872 2.165638 -1.232783 +v -0.148959 1.602914 -1.232783 +v 0.188593 1.828018 -2.780127 +v 0.301111 2.081147 -1.261242 +v 0.160429 1.490328 -1.261242 +v -0.008278 1.968630 -2.780127 +v 0.019886 1.659242 -2.752015 +v 0.047843 2.193802 -1.232783 +v 0.301111 1.546724 -1.373688 +v -0.317872 1.912302 -1.345402 +v -0.177122 1.771828 -2.724077 +v 0.188593 1.687337 -2.583173 +v 0.019886 1.771828 -3.005538 +v -0.177122 1.912302 -2.611284 +v -0.148959 1.631147 -1.767768 +v 0.076007 1.490328 -1.317465 +v -0.205286 2.193802 -1.261242 +v 0.216688 1.828018 -2.695966 +v 0.132266 1.940535 -2.611284 +v -0.205286 1.659242 -1.232783 +v -0.064605 1.968630 -2.752015 +v 0.076007 1.659242 -2.752015 +v -0.120864 1.687337 -2.527124 +v 0.273016 1.518561 -1.232783 +v 0.216688 1.771828 -2.667854 +v 0.132266 2.165638 -1.261242 +v -0.205286 1.799923 -2.527124 +v 0.329274 2.024957 -1.232783 +v -0.008278 1.828018 -3.005538 +v -0.233381 1.771828 -1.936263 +v 0.301111 1.856113 -1.964722 +f 224 234 237 +f 206 205 207 +f 206 207 208 +f 207 205 214 +f 217 204 219 +f 213 217 219 +f 204 217 220 +f 211 208 222 +f 208 221 222 +f 207 214 223 +f 214 212 223 +f 209 212 225 +f 210 224 225 +f 224 209 225 +f 208 207 226 +f 207 216 226 +f 221 208 226 +f 204 220 227 +f 220 207 227 +f 207 223 227 +f 223 212 227 +f 218 215 228 +f 213 219 228 +f 211 222 228 +f 222 213 228 +f 217 213 229 +f 221 217 229 +f 213 222 229 +f 222 221 229 +f 206 208 230 +f 208 211 230 +f 215 206 230 +f 211 228 230 +f 228 215 230 +f 206 215 231 +f 215 218 231 +f 219 209 231 +f 224 206 231 +f 209 224 231 +f 218 228 231 +f 228 219 231 +f 214 210 232 +f 212 214 232 +f 225 212 232 +f 210 225 232 +f 216 207 233 +f 207 220 233 +f 220 217 233 +f 214 205 234 +f 210 214 234 +f 224 210 234 +f 212 209 235 +f 219 204 235 +f 209 219 235 +f 204 227 235 +f 227 212 235 +f 217 221 236 +f 226 216 236 +f 221 226 236 +f 216 233 236 +f 233 217 236 +f 205 206 237 +f 206 224 237 +f 234 205 237 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/822/822.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/822/822.urdf new file mode 100644 index 000000000..1e6518c02 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/822/822.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/823/823.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/823/823.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/823/823.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/823/823.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/823/823.obj new file mode 100644 index 000000000..1636bb2cb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/823/823.obj @@ -0,0 +1,564 @@ +o convex_0 +v -0.258214 -0.819818 -2.894390 +v 0.368885 -0.349599 -3.207850 +v 0.368885 -0.349599 -3.286268 +v 0.290424 -0.976640 -2.933599 +v -0.179818 -0.976640 -3.364686 +v -0.297411 -0.467200 -3.443105 +v 0.133633 -0.349599 -2.894390 +v 0.212094 -0.819818 -3.364686 +v -0.219016 -0.428041 -2.933599 +v 0.329687 -0.545580 -2.894390 +v -0.219016 -0.937358 -2.933599 +v 0.329687 -0.937358 -2.894390 +v -0.258214 -0.428041 -3.443105 +f 9 7 13 +f 5 1 6 +f 2 3 7 +f 4 5 8 +f 5 6 8 +f 6 1 9 +f 1 7 9 +f 7 1 10 +f 2 7 10 +f 1 5 11 +f 5 4 11 +f 3 2 12 +f 8 3 12 +f 4 8 12 +f 2 10 12 +f 10 1 12 +f 1 11 12 +f 11 4 12 +f 7 3 13 +f 3 8 13 +f 8 6 13 +f 6 9 13 +o convex_1 +v 1.583693 -1.211635 -1.875468 +v -2.452546 -0.075180 -1.836308 +v -2.452546 -0.075180 -1.875468 +v 3.073264 -0.114428 -2.855119 +v -3.001272 -1.250997 -2.894279 +v 3.033510 -1.211750 -2.815960 +v 2.994358 -0.232056 -1.757879 +v -2.922969 -1.133370 -1.757879 +v -3.080178 -0.192808 -2.815849 +v 2.994358 -1.211750 -1.914627 +v -3.040424 -0.075180 -1.836308 +v 0.290482 -0.349683 -2.894279 +v -2.374243 -1.172387 -1.757879 +v 0.329634 -0.976609 -2.894279 +v -1.081032 -0.349568 -1.757879 +v 3.073264 -0.114428 -2.619941 +v -3.001272 -1.250997 -2.619941 +v 0.447089 -1.250997 -2.855008 +v 1.348180 -0.114428 -2.855008 +v 0.054969 -0.937247 -1.757879 +v -3.040424 -0.075180 -1.993057 +v 2.249874 -1.211635 -2.855008 +v -3.040424 -0.976609 -2.894279 +v 3.033510 -0.192808 -1.953898 +v 3.073264 -0.702106 -2.855119 +v -3.080178 -0.153676 -2.619941 +v 2.994358 -1.054874 -1.875468 +v 3.033510 -1.015742 -2.071376 +v -3.001272 -0.388816 -1.797149 +v -3.040424 -0.349568 -1.953898 +v 2.132419 -1.211635 -1.875468 +v -2.766362 -1.172387 -1.757879 +v -1.159336 -1.250997 -2.894279 +v -1.942972 -0.153676 -1.797149 +v -3.080178 -0.545576 -2.776690 +v 3.033510 -0.310436 -1.797038 +f 41 29 49 +f 16 15 17 +f 15 16 24 +f 20 15 24 +f 20 21 26 +f 25 17 27 +f 18 25 27 +f 21 20 28 +f 17 15 29 +f 19 23 31 +f 30 18 31 +f 23 30 31 +f 17 25 32 +f 25 22 32 +f 20 26 33 +f 16 17 34 +f 24 16 34 +f 17 32 34 +f 19 31 35 +f 25 18 36 +f 22 25 36 +f 18 30 36 +f 15 20 37 +f 29 15 37 +f 27 17 38 +f 17 29 38 +f 19 35 38 +f 35 27 38 +f 32 22 39 +f 24 34 39 +f 34 32 39 +f 20 33 40 +f 23 19 41 +f 38 29 41 +f 19 38 41 +f 24 21 42 +f 21 28 42 +f 21 24 43 +f 30 21 43 +f 26 14 44 +f 14 30 44 +f 30 23 44 +f 33 26 44 +f 23 40 44 +f 40 33 44 +f 14 26 45 +f 26 21 45 +f 30 14 45 +f 21 30 45 +f 18 27 46 +f 31 18 46 +f 27 35 46 +f 35 31 46 +f 20 24 47 +f 28 20 47 +f 24 42 47 +f 42 28 47 +f 22 36 48 +f 36 30 48 +f 39 22 48 +f 24 39 48 +f 43 24 48 +f 30 43 48 +f 37 20 49 +f 29 37 49 +f 40 23 49 +f 20 40 49 +f 23 41 49 +o convex_2 +v -0.219024 -0.584801 -1.757767 +v 0.251303 -0.349599 -1.483410 +v 0.290466 -0.741438 -1.483410 +v 0.329691 -0.584801 -1.757767 +v -0.219024 -0.976640 -1.483410 +v 0.094466 -0.937358 -1.757767 +v -0.258187 -0.428041 -1.483410 +v -0.297411 -0.937358 -1.757767 +v 0.133629 -0.388820 -1.757767 +v 0.212079 -0.976640 -1.483410 +v 0.290466 -0.898198 -1.718558 +f 52 59 60 +f 51 52 53 +f 52 51 54 +f 50 53 55 +f 54 51 56 +f 54 56 57 +f 55 54 57 +f 50 55 57 +f 56 50 57 +f 51 53 58 +f 53 50 58 +f 56 51 58 +f 50 56 58 +f 52 54 59 +f 54 55 59 +f 59 55 60 +f 53 52 60 +f 55 53 60 +o convex_3 +v 0.486421 -3.720021 0.201928 +v -0.571769 -2.740270 -0.464292 +v -0.571769 -2.740270 -0.425129 +v 0.447173 -1.760518 -0.934695 +v 0.486421 -3.720021 -0.895421 +v -0.571769 -1.760518 0.084215 +v 0.447173 -1.760518 0.123490 +v -0.532521 -3.680701 -0.895421 +v -0.532521 -1.760518 -0.934695 +v -0.454026 -3.641572 0.123490 +v 0.604048 -3.484866 -0.895421 +v -0.493158 -3.680701 -0.072437 +v 0.525553 -3.720021 0.084215 +v -0.336398 -3.720021 -0.620945 +v 0.486421 -2.387920 -0.934695 +v 0.604048 -3.720021 -0.699382 +v 0.016140 -1.760518 0.123490 +v -0.493158 -2.779398 0.123490 +v 0.486421 -2.623075 0.162653 +v -0.571769 -2.152764 0.084215 +f 78 66 80 +f 62 63 66 +f 64 66 67 +f 63 62 68 +f 62 66 69 +f 66 64 69 +f 68 62 69 +f 64 67 71 +f 63 68 72 +f 61 70 72 +f 61 65 73 +f 65 61 74 +f 68 65 74 +f 61 72 74 +f 72 68 74 +f 65 68 75 +f 68 69 75 +f 69 64 75 +f 71 65 75 +f 64 71 75 +f 65 71 76 +f 71 67 76 +f 73 65 76 +f 67 66 77 +f 70 61 78 +f 61 77 78 +f 77 66 78 +f 61 73 79 +f 76 67 79 +f 73 76 79 +f 77 61 79 +f 67 77 79 +f 66 63 80 +f 63 72 80 +f 72 70 80 +f 70 78 80 +o convex_4 +v 1.113569 -1.524745 -0.190057 +v -1.120472 -1.642936 0.280162 +v -1.081110 -1.642936 -0.542572 +v -1.081110 4.392721 -0.660277 +v 1.035063 4.353324 0.554673 +v 0.956775 4.432118 -1.287302 +v -1.041965 -1.602933 -1.405007 +v -1.081110 4.392721 0.554673 +v 1.074206 -1.681727 -1.326604 +v 1.113569 -1.603539 0.554673 +v -1.081110 4.353324 -1.483410 +v -1.120472 -1.642936 0.554673 +v 0.290455 -0.897419 -1.483410 +v -0.571802 -1.759916 0.084054 +v 1.074206 -0.662854 -1.326604 +v -0.650090 -1.759916 -1.052093 +v 0.447249 -1.759310 0.123156 +v -0.218852 -0.975608 -1.483410 +v 0.682331 4.432118 -1.326404 +v 0.251093 -0.309491 -1.483410 +v 0.995919 3.216259 -1.287302 +v -1.120472 -0.623457 0.515371 +v 0.447249 -1.759310 -0.934588 +v 0.956775 4.432118 -0.816884 +v -0.571802 4.392721 -1.444109 +v 1.035063 1.062139 -1.326604 +v 1.035063 4.353324 0.436968 +v -1.081110 3.412639 -1.444109 +v -0.179708 4.392115 0.554673 +v -1.041965 0.748173 -1.444109 +v 1.113569 -1.642330 0.162457 +v 0.878269 3.334451 -1.326404 +v -0.493296 -1.602933 -1.405007 +v 0.682331 -1.642330 0.554673 +v 0.407887 4.431512 -1.326604 +v -1.002822 -1.642330 -1.365705 +v 1.113569 -1.289573 0.554673 +v 0.917412 -1.524745 -1.365506 +v 0.995919 4.392721 -0.620776 +v 1.113569 -1.603539 -0.307762 +f 111 89 120 +f 83 82 87 +f 85 88 90 +f 90 88 92 +f 82 83 96 +f 92 82 96 +f 94 92 96 +f 92 94 97 +f 91 93 98 +f 93 91 100 +f 88 84 102 +f 91 82 102 +f 84 91 102 +f 82 92 102 +f 92 88 102 +f 96 89 103 +f 94 96 103 +f 97 94 103 +f 89 97 103 +f 86 99 104 +f 91 84 105 +f 100 91 105 +f 99 100 105 +f 93 100 106 +f 86 101 106 +f 101 95 106 +f 87 82 108 +f 82 91 108 +f 91 87 108 +f 88 85 109 +f 85 104 109 +f 104 88 109 +f 87 91 110 +f 98 87 110 +f 91 98 110 +f 81 90 111 +f 97 89 111 +f 90 97 111 +f 99 86 112 +f 100 99 112 +f 86 106 112 +f 106 100 112 +f 89 87 113 +f 87 98 113 +f 98 93 113 +f 90 92 114 +f 97 90 114 +f 92 97 114 +f 84 88 115 +f 88 104 115 +f 104 99 115 +f 105 84 115 +f 99 105 115 +f 83 87 116 +f 87 89 116 +f 96 83 116 +f 89 96 116 +f 90 81 117 +f 85 90 117 +f 81 107 117 +f 107 85 117 +f 95 89 118 +f 93 106 118 +f 106 95 118 +f 89 113 118 +f 113 93 118 +f 101 86 119 +f 95 101 119 +f 104 85 119 +f 86 104 119 +f 85 107 119 +f 107 95 119 +f 89 95 120 +f 107 81 120 +f 95 107 120 +f 81 111 120 +o convex_5 +v 0.016009 1.728076 0.750642 +v -1.120483 3.883050 0.672224 +v -1.120483 3.883050 0.711414 +v 1.035181 4.353408 0.554673 +v -1.081236 0.473534 0.554673 +v 0.995933 0.473534 0.554673 +v -1.081236 4.392924 0.554673 +v -1.081236 0.473534 0.711414 +v 1.035181 4.353408 0.633072 +v 0.878191 0.473534 0.672224 +v -1.081236 4.392924 0.750642 +v 0.251073 0.473534 0.750642 +v -0.258302 0.513050 0.750642 +v 0.995933 0.473534 0.633072 +v 0.251073 1.100805 0.750642 +f 132 130 135 +f 123 122 125 +f 125 124 126 +f 122 123 127 +f 124 125 127 +f 125 122 127 +f 123 125 128 +f 125 126 128 +f 126 124 129 +f 124 127 129 +f 128 126 130 +f 127 123 131 +f 123 128 131 +f 121 129 131 +f 129 127 131 +f 128 130 132 +f 121 131 132 +f 132 131 133 +f 131 128 133 +f 128 132 133 +f 126 129 134 +f 130 126 134 +f 129 130 134 +f 129 121 135 +f 130 129 135 +f 121 132 135 +o convex_6 +v -2.923387 -1.485887 2.749531 +v -1.120575 -1.642709 0.554673 +v -1.943463 -1.682023 0.633091 +v -1.081213 0.473534 0.554673 +v 1.113569 -1.642924 2.710214 +v -3.119372 0.316497 2.592694 +v 1.113569 0.394908 2.592479 +v 1.113569 -1.603397 0.554673 +v -3.080009 0.159889 0.593989 +v 0.995895 0.473534 0.554673 +v -3.080009 -1.721121 0.711725 +v -3.040646 -1.682023 2.749531 +v 0.760547 -0.271480 2.710214 +v -3.040646 0.355595 0.593989 +v 1.113569 0.277399 0.593989 +v -2.492055 0.355595 2.592694 +v 0.525200 -1.642709 0.554673 +v -0.415361 -1.682023 2.710214 +v -3.080009 -1.485887 2.749531 +v -0.219377 0.394908 2.592479 +v -3.119372 0.003067 2.631581 +v -3.080009 0.355595 1.534582 +v 1.113569 -1.642924 1.456378 +v -3.080009 -1.485887 0.672408 +v -1.551493 -1.682023 2.749531 +v -1.081213 0.473534 0.711510 +v -3.119372 0.316497 1.926244 +v 1.113569 -0.858812 2.710214 +v -3.119372 -0.349676 2.592694 +v -3.080009 -1.682023 2.514061 +v 0.250904 0.473534 0.750826 +v -3.080009 0.003067 0.593989 +v -2.805713 0.355595 2.239918 +f 161 157 168 +f 137 139 143 +f 142 140 143 +f 139 137 144 +f 143 139 145 +f 137 138 146 +f 139 144 149 +f 142 143 150 +f 145 142 150 +f 143 145 150 +f 141 148 151 +f 138 137 152 +f 137 143 152 +f 146 138 152 +f 147 136 154 +f 136 148 154 +f 148 142 155 +f 151 148 155 +f 148 141 156 +f 154 148 156 +f 139 149 157 +f 143 140 158 +f 152 143 158 +f 146 152 158 +f 153 146 158 +f 140 153 158 +f 137 146 159 +f 136 147 160 +f 147 146 160 +f 148 136 160 +f 146 153 160 +f 153 140 160 +f 145 139 161 +f 151 155 161 +f 139 157 161 +f 149 144 162 +f 156 141 162 +f 141 157 162 +f 157 149 162 +f 159 146 162 +f 140 142 163 +f 142 148 163 +f 148 160 163 +f 160 140 163 +f 154 156 164 +f 156 162 164 +f 162 146 164 +f 146 147 165 +f 147 154 165 +f 164 146 165 +f 154 164 165 +f 142 145 166 +f 155 142 166 +f 145 161 166 +f 161 155 166 +f 144 137 167 +f 137 159 167 +f 162 144 167 +f 159 162 167 +f 141 151 168 +f 157 141 168 +f 151 161 168 +o convex_7 +v 2.916358 -1.603481 0.554673 +v 1.192122 -0.897996 2.710337 +v 1.113669 -0.897996 2.710337 +v 2.994619 0.433918 0.633168 +v 3.073264 -1.642579 2.670878 +v 1.113669 -1.603481 0.633379 +v 1.113669 0.394820 2.592594 +v 3.033942 0.433918 2.631842 +v 1.113669 0.277311 0.593920 +v 1.113669 -1.642579 2.710337 +v 3.073264 -1.760518 0.554673 +v 1.231252 0.434133 1.769449 +v 3.033942 0.159802 0.593920 +v 3.073264 -0.624094 2.670878 +v 2.641869 -1.760518 0.672416 +v 3.073264 -1.760518 1.103506 +v 2.641869 -1.642579 2.710337 +v 1.897430 0.081391 2.670878 +v 2.171727 0.394820 0.593920 +v 1.270383 -1.642579 0.633379 +v 3.073264 -0.858898 0.633168 +v 1.152799 0.316624 0.593920 +v 1.113669 -0.349763 0.593920 +v 1.113669 -0.114530 2.670878 +v 2.015013 0.434133 2.592594 +v 1.113669 -1.642579 1.495560 +v 1.858299 -1.682107 0.593920 +v 3.033942 0.433918 1.808486 +f 193 176 196 +f 174 171 175 +f 174 175 177 +f 170 171 178 +f 171 174 178 +f 179 169 181 +f 173 179 182 +f 183 179 184 +f 179 173 184 +f 178 183 184 +f 178 184 185 +f 170 178 185 +f 173 182 185 +f 184 173 185 +f 171 170 186 +f 176 175 186 +f 182 176 186 +f 170 185 186 +f 185 182 186 +f 180 172 187 +f 172 181 187 +f 181 169 187 +f 179 181 189 +f 182 179 189 +f 169 177 190 +f 177 175 190 +f 175 180 190 +f 187 169 190 +f 180 187 190 +f 177 169 191 +f 174 177 191 +f 175 171 192 +f 171 186 192 +f 186 175 192 +f 175 176 193 +f 172 180 193 +f 180 175 193 +f 178 174 194 +f 183 178 194 +f 174 188 194 +f 188 183 194 +f 169 179 195 +f 179 183 195 +f 188 174 195 +f 183 188 195 +f 191 169 195 +f 174 191 195 +f 181 172 196 +f 176 182 196 +f 189 181 196 +f 182 189 196 +f 172 193 196 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/823/823.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/823/823.urdf new file mode 100644 index 000000000..b160c6653 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/823/823.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/824/824.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/824/824.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/824/824.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/824/824.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/824/824.obj new file mode 100644 index 000000000..0c7278506 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/824/824.obj @@ -0,0 +1,957 @@ +o convex_0 +v -0.016815 -0.018597 -0.246522 +v -0.009076 -0.006952 0.005002 +v -0.009076 -0.006952 -0.031116 +v -0.015525 -0.280424 -0.232316 +v -0.011656 -0.246856 -0.001449 +v -0.009076 -0.246882 -0.002754 +v -0.016815 -0.273946 -0.191052 +v -0.011656 -0.006952 -0.029836 +v -0.014235 -0.006952 -0.224585 +v -0.016815 -0.006952 -0.223305 +v -0.015525 -0.280424 -0.238767 +v -0.016815 -0.280424 -0.238767 +v -0.010366 -0.006952 0.005002 +v -0.015525 -0.006952 -0.246522 +v -0.009076 -0.245571 0.005002 +v -0.016815 -0.263640 -0.191052 +v -0.014235 -0.034069 -0.222000 +v -0.011656 -0.224932 -0.002754 +v -0.010366 -0.245571 0.005002 +v -0.016815 -0.010834 -0.222000 +v -0.014235 -0.264898 -0.193637 +v -0.009076 -0.016000 -0.031116 +v -0.011656 -0.025021 -0.027251 +v -0.009076 -0.237835 -0.004034 +v -0.015525 -0.246856 -0.240071 +v -0.016815 -0.006952 -0.246522 +v -0.016815 -0.276542 -0.205233 +v -0.009076 -0.246882 -0.000168 +v -0.015525 -0.018597 -0.246522 +f 25 1 29 +f 3 2 6 +f 2 3 8 +f 8 3 9 +f 8 9 10 +f 1 7 10 +f 6 4 11 +f 7 1 12 +f 11 4 12 +f 2 8 13 +f 10 9 14 +f 6 2 15 +f 2 13 15 +f 7 5 16 +f 10 7 16 +f 11 9 17 +f 5 13 18 +f 16 5 18 +f 13 5 19 +f 15 13 19 +f 8 10 20 +f 10 16 20 +f 16 18 20 +f 6 11 21 +f 11 17 21 +f 3 6 22 +f 9 3 22 +f 17 9 22 +f 13 8 23 +f 18 13 23 +f 8 20 23 +f 20 18 23 +f 6 21 24 +f 21 17 24 +f 22 6 24 +f 17 22 24 +f 9 11 25 +f 12 1 25 +f 11 12 25 +f 1 10 26 +f 10 14 26 +f 14 1 26 +f 5 7 27 +f 7 12 27 +f 12 4 27 +f 4 6 28 +f 6 15 28 +f 19 5 28 +f 15 19 28 +f 27 4 28 +f 5 27 28 +f 14 9 29 +f 1 14 29 +f 9 25 29 +o convex_1 +v -0.032294 0.253620 0.247482 +v -0.014237 -0.006952 0.099191 +v -0.011658 -0.006927 0.001168 +v -0.009076 -0.005651 0.006311 +v -0.024555 0.214901 -0.028501 +v -0.021974 0.217478 -0.027229 +v -0.015527 -0.003050 0.243611 +v -0.033585 0.241989 0.250081 +v -0.018106 -0.005651 0.242339 +v -0.031004 0.244565 0.251381 +v -0.009076 -0.006927 -0.028501 +v -0.011658 0.005954 -0.028501 +v -0.033585 0.253620 0.253953 +v -0.009076 0.008556 -0.028501 +v -0.015527 -0.006952 0.244938 +v -0.031004 0.251018 0.237196 +v -0.032294 0.247141 0.197213 +v -0.018106 -0.005651 0.244938 +v -0.024555 0.218778 -0.022058 +v -0.021974 0.216177 -0.023358 +v -0.020688 0.049825 0.210098 +v -0.016816 0.017585 0.244938 +v -0.029713 0.222630 0.252653 +v -0.021974 0.217478 -0.028501 +v -0.020688 0.150396 -0.024630 +v -0.033585 0.249743 0.233297 +v -0.033585 0.247141 0.253953 +v -0.010367 -0.006927 -0.028501 +v -0.028425 0.241989 0.157202 +v -0.032294 0.241989 0.201056 +v -0.016816 -0.006952 0.197213 +v -0.015527 -0.001774 0.135247 +v -0.032294 0.253620 0.253953 +v -0.009076 -0.006927 0.006311 +v -0.009076 0.008556 -0.027201 +v -0.032294 0.221355 0.252653 +v -0.023264 0.220054 -0.013017 +v -0.024555 0.134939 0.250081 +v -0.024555 0.217478 -0.028501 +v -0.023264 0.123334 0.242339 +v -0.025846 0.230384 0.090176 +v -0.012946 0.026589 -0.028501 +f 61 54 71 +f 32 31 38 +f 34 40 41 +f 40 34 43 +f 33 40 43 +f 33 36 44 +f 42 30 46 +f 37 38 47 +f 35 45 49 +f 38 37 50 +f 36 33 51 +f 44 36 51 +f 44 51 52 +f 51 39 52 +f 43 34 53 +f 35 43 53 +f 37 42 55 +f 42 46 55 +f 42 37 56 +f 31 32 57 +f 40 31 57 +f 32 41 57 +f 41 40 57 +f 45 35 58 +f 30 45 58 +f 46 30 58 +f 35 53 58 +f 50 37 59 +f 34 54 59 +f 54 50 59 +f 55 34 59 +f 37 55 59 +f 38 31 60 +f 31 44 60 +f 47 38 60 +f 44 47 60 +f 32 38 61 +f 38 50 61 +f 50 54 61 +f 30 42 62 +f 45 30 62 +f 39 45 62 +f 52 39 62 +f 42 56 62 +f 31 40 63 +f 40 33 63 +f 33 44 63 +f 44 31 63 +f 43 35 64 +f 33 43 64 +f 35 49 64 +f 49 33 64 +f 37 47 65 +f 56 37 65 +f 47 56 65 +f 48 46 66 +f 53 48 66 +f 46 58 66 +f 58 53 66 +f 47 44 67 +f 44 52 67 +f 56 47 67 +f 52 62 67 +f 62 56 67 +f 46 48 68 +f 53 34 68 +f 48 53 68 +f 34 55 68 +f 55 46 68 +f 45 39 69 +f 51 33 69 +f 39 51 69 +f 33 49 70 +f 49 45 70 +f 45 69 70 +f 69 33 70 +f 41 32 71 +f 34 41 71 +f 54 34 71 +f 32 61 71 +o convex_2 +v -0.010367 -0.006952 0.005034 +v -0.011657 -0.108859 0.239753 +v -0.010367 -0.108859 0.239753 +v -0.016815 -0.006952 0.244943 +v -0.014235 -0.023731 0.243628 +v -0.011657 -0.008249 0.005034 +v -0.010367 -0.006952 0.057919 +v -0.016815 -0.013406 0.211361 +v -0.010367 -0.085627 0.241045 +v -0.015525 -0.006952 0.244943 +v -0.016815 -0.026304 0.243628 +v -0.016815 -0.006952 0.199760 +v -0.012946 -0.086914 0.242336 +v -0.011657 -0.010823 0.010200 +v -0.011657 -0.107552 0.235878 +v -0.010367 -0.010823 0.010200 +v -0.014235 -0.008249 0.207510 +v -0.011657 -0.006952 0.005034 +v -0.011657 -0.064988 0.242336 +v -0.015525 -0.044369 0.234587 +f 86 73 91 +f 74 72 78 +f 72 75 78 +f 74 78 80 +f 78 75 81 +f 75 79 82 +f 75 72 83 +f 79 75 83 +f 77 79 83 +f 73 74 84 +f 74 80 84 +f 81 75 84 +f 82 73 84 +f 75 82 84 +f 79 77 85 +f 74 73 86 +f 72 74 87 +f 77 72 87 +f 85 77 87 +f 86 85 87 +f 74 86 87 +f 78 81 88 +f 81 76 88 +f 72 77 89 +f 83 72 89 +f 77 83 89 +f 80 78 90 +f 76 81 90 +f 84 80 90 +f 81 84 90 +f 88 76 90 +f 78 88 90 +f 73 82 91 +f 82 79 91 +f 79 85 91 +f 85 86 91 +o convex_3 +v -0.016815 0.194269 -0.212974 +v -0.018106 0.111735 -0.031128 +v -0.016815 0.111735 -0.031128 +v -0.023265 0.217491 -0.028547 +v -0.018106 0.190397 -0.215554 +v -0.016815 0.137534 -0.034999 +v -0.023265 0.195563 -0.032418 +v -0.021974 0.217491 -0.028547 +v -0.016815 0.198141 -0.176844 +v -0.023265 0.212325 -0.067257 +v -0.016815 0.133662 -0.028547 +v -0.016815 0.190397 -0.215554 +v -0.018106 0.111735 -0.028547 +v -0.018106 0.194269 -0.212974 +v -0.018106 0.113029 -0.034999 +v -0.020685 0.212325 -0.063386 +v -0.023265 0.195563 -0.028547 +v -0.023265 0.214902 -0.053064 +v -0.023265 0.207169 -0.059515 +v -0.021974 0.217491 -0.032418 +f 92 109 111 +f 94 92 97 +f 97 92 100 +f 98 95 101 +f 94 97 102 +f 99 95 102 +f 97 99 102 +f 92 94 103 +f 96 92 103 +f 93 94 104 +f 98 93 104 +f 94 102 104 +f 102 95 104 +f 92 96 105 +f 96 101 105 +f 94 93 106 +f 93 98 106 +f 103 94 106 +f 96 103 106 +f 99 97 107 +f 97 100 107 +f 100 99 107 +f 95 98 108 +f 98 104 108 +f 104 95 108 +f 101 95 109 +f 92 105 109 +f 105 101 109 +f 101 96 110 +f 98 101 110 +f 106 98 110 +f 96 106 110 +f 95 99 111 +f 99 100 111 +f 100 92 111 +f 109 95 111 +o convex_4 +v -0.010366 -0.245580 0.008891 +v -0.006496 -0.094674 0.106917 +v -0.006496 -0.094674 0.075954 +v -0.010366 -0.094689 0.029539 +v -0.009075 -0.232669 0.094009 +v -0.006496 -0.232669 0.092722 +v -0.009075 -0.094689 0.005010 +v -0.009075 -0.245580 0.005010 +v -0.007786 -0.094674 0.106917 +v -0.006496 -0.231383 0.106917 +v -0.010366 -0.239124 0.046308 +v -0.007786 -0.095975 0.026956 +v -0.010366 -0.094689 0.005010 +v -0.009075 -0.101130 0.078538 +v -0.007786 -0.231383 0.106917 +v -0.007786 -0.232669 0.043724 +v -0.010366 -0.245580 0.005010 +v -0.006496 -0.144991 0.081111 +v -0.009075 -0.227513 0.094009 +v -0.010366 -0.231383 0.046308 +f 122 130 131 +f 114 113 117 +f 113 114 120 +f 117 113 121 +f 112 119 121 +f 119 117 121 +f 113 120 121 +f 115 112 122 +f 112 116 122 +f 118 114 123 +f 119 118 123 +f 112 115 124 +f 114 118 124 +f 118 119 124 +f 120 114 124 +f 115 120 124 +f 120 115 125 +f 116 112 126 +f 120 116 126 +f 121 120 126 +f 112 121 126 +f 117 119 127 +f 119 123 127 +f 119 112 128 +f 112 124 128 +f 124 119 128 +f 114 117 129 +f 123 114 129 +f 117 127 129 +f 127 123 129 +f 116 120 130 +f 122 116 130 +f 120 125 130 +f 130 125 131 +f 115 122 131 +f 125 115 131 +o convex_5 +v -0.006497 -0.089509 0.104334 +v -0.010366 -0.094670 0.005010 +v -0.010366 -0.006952 0.005010 +v -0.010366 -0.049523 0.106917 +v -0.007786 -0.034042 0.020502 +v -0.009075 -0.093373 0.106917 +v -0.007786 -0.094670 0.026956 +v -0.009075 -0.048235 0.105620 +v -0.009075 -0.006952 0.005010 +v -0.009075 -0.094670 0.005010 +v -0.006497 -0.094670 0.075954 +v -0.010366 -0.072723 0.106917 +v -0.006497 -0.094670 0.106917 +v -0.009075 -0.009537 0.015345 +v -0.010366 -0.094670 0.028243 +v -0.006497 -0.077892 0.077241 +v -0.010366 -0.009537 0.015345 +f 139 145 148 +f 134 133 135 +f 133 134 140 +f 136 138 141 +f 138 133 141 +f 140 136 141 +f 133 140 141 +f 138 136 142 +f 133 138 142 +f 135 133 143 +f 137 135 143 +f 135 137 144 +f 139 135 144 +f 132 139 144 +f 142 132 144 +f 133 142 144 +f 136 140 145 +f 140 134 145 +f 143 133 146 +f 137 143 146 +f 133 144 146 +f 144 137 146 +f 139 132 147 +f 132 142 147 +f 142 136 147 +f 136 145 147 +f 145 139 147 +f 134 135 148 +f 135 139 148 +f 145 134 148 +o convex_6 +v -0.016815 0.026606 -0.247808 +v -0.012946 0.127191 -0.167845 +v -0.012946 0.127191 -0.192360 +v -0.012946 -0.006939 -0.167845 +v -0.015525 0.003381 -0.175594 +v -0.016815 0.127191 -0.240067 +v -0.014236 0.124604 -0.241360 +v -0.015525 -0.006939 -0.246523 +v -0.014236 0.127191 -0.167845 +v -0.016815 -0.006939 -0.223300 +v -0.014236 -0.001779 -0.225886 +v -0.015525 0.127191 -0.250394 +v -0.015525 0.127191 -0.191076 +v -0.014236 -0.006939 -0.167845 +v -0.012946 -0.006939 -0.176886 +v -0.016815 0.127191 -0.250394 +v -0.016815 -0.006939 -0.246523 +v -0.015525 -0.006939 -0.175594 +v -0.016815 0.115571 -0.237490 +v -0.012946 0.118158 -0.192360 +f 163 159 168 +f 151 150 152 +f 150 151 154 +f 152 150 157 +f 150 154 157 +f 154 149 158 +f 156 152 158 +f 156 155 159 +f 154 151 160 +f 151 155 160 +f 156 149 160 +f 155 156 160 +f 153 157 161 +f 157 154 161 +f 152 157 162 +f 157 153 162 +f 158 152 162 +f 151 152 163 +f 152 156 163 +f 156 159 163 +f 149 154 164 +f 160 149 164 +f 154 160 164 +f 149 156 165 +f 158 149 165 +f 156 158 165 +f 153 158 166 +f 162 153 166 +f 158 162 166 +f 158 153 167 +f 154 158 167 +f 153 161 167 +f 161 154 167 +f 155 151 168 +f 159 155 168 +f 151 163 168 +o convex_7 +v -0.012946 0.133662 -0.173015 +v -0.016815 0.127217 -0.250387 +v -0.016815 0.164608 -0.251684 +v -0.016815 0.172342 -0.167845 +v -0.014236 0.185246 -0.247810 +v -0.015525 0.129792 -0.167845 +v -0.014236 0.127217 -0.241360 +v -0.015525 0.192992 -0.214278 +v -0.016815 0.189115 -0.251684 +v -0.012946 0.127217 -0.192366 +v -0.015525 0.172342 -0.167845 +v -0.016815 0.150430 -0.167845 +v -0.016815 0.192992 -0.214278 +v -0.012946 0.127217 -0.167845 +v -0.015525 0.127217 -0.250387 +v -0.015525 0.189115 -0.251684 +v -0.012946 0.141402 -0.194943 +v -0.016815 0.127217 -0.240071 +v -0.014236 0.185246 -0.243937 +v -0.015525 0.176212 -0.174303 +v -0.015525 0.127217 -0.191078 +f 186 182 189 +f 171 170 172 +f 171 172 177 +f 170 175 178 +f 172 174 179 +f 172 170 180 +f 174 172 180 +f 176 177 181 +f 177 172 181 +f 178 169 182 +f 170 178 182 +f 169 179 182 +f 179 174 182 +f 170 171 183 +f 173 175 183 +f 175 170 183 +f 176 173 184 +f 177 176 184 +f 171 177 184 +f 183 171 184 +f 173 183 184 +f 175 173 185 +f 169 178 185 +f 178 175 185 +f 180 170 186 +f 174 180 186 +f 170 182 186 +f 173 176 187 +f 169 185 187 +f 185 173 187 +f 179 169 188 +f 172 179 188 +f 181 172 188 +f 176 181 188 +f 169 187 188 +f 187 176 188 +f 182 174 189 +f 174 186 189 +o convex_8 +v -0.005206 -0.226240 0.140462 +v -0.005206 -0.150138 0.179155 +v -0.006496 -0.150138 0.179155 +v -0.006496 -0.150138 0.106917 +v -0.007786 -0.230115 0.115954 +v -0.006496 -0.221081 0.179155 +v -0.007786 -0.150138 0.132727 +v -0.005206 -0.150138 0.131433 +v -0.006496 -0.230115 0.106917 +v -0.007786 -0.150138 0.106917 +v -0.005206 -0.221081 0.179155 +v -0.007786 -0.226240 0.141756 +v -0.007786 -0.230115 0.106917 +f 199 198 202 +f 192 191 193 +f 191 192 195 +f 192 193 196 +f 191 190 197 +f 193 191 197 +f 193 197 198 +f 190 194 198 +f 197 190 198 +f 196 193 199 +f 194 196 199 +f 193 198 199 +f 190 191 200 +f 194 190 200 +f 195 194 200 +f 191 195 200 +f 195 192 201 +f 194 195 201 +f 192 196 201 +f 196 194 201 +f 198 194 202 +f 194 199 202 +o convex_9 +v -0.007786 -0.071462 0.110791 +v -0.009076 -0.150138 0.238486 +v -0.009076 -0.148838 0.234612 +v -0.010366 -0.049531 0.108217 +v -0.009076 -0.106265 0.241073 +v -0.009076 -0.094684 0.108217 +v -0.010366 -0.129487 0.238486 +v -0.007786 -0.150138 0.238486 +v -0.007786 -0.094684 0.108217 +v -0.010366 -0.106265 0.241073 +v -0.010366 -0.072752 0.106917 +v -0.007786 -0.126906 0.239773 +v -0.009076 -0.049531 0.106917 +v -0.009076 -0.052111 0.114665 +v -0.009076 -0.150138 0.239773 +v -0.007786 -0.071462 0.106917 +f 213 215 218 +f 205 204 209 +f 208 205 209 +f 204 205 210 +f 205 208 211 +f 210 205 211 +f 203 210 211 +f 206 209 212 +f 209 206 213 +f 208 209 213 +f 211 208 213 +f 203 207 214 +f 210 203 214 +f 213 206 215 +f 207 203 216 +f 206 212 216 +f 212 207 216 +f 203 215 216 +f 215 206 216 +f 209 204 217 +f 204 210 217 +f 207 212 217 +f 212 209 217 +f 214 207 217 +f 210 214 217 +f 203 211 218 +f 211 213 218 +f 215 203 218 +o convex_10 +v -0.006496 -0.097260 0.122418 +v -0.007786 -0.150127 0.106943 +v -0.007786 -0.092095 0.106943 +v -0.007786 -0.150127 0.239783 +v -0.005206 -0.150127 0.130156 +v -0.005206 -0.148837 0.193332 +v -0.006496 -0.147547 0.239783 +v -0.006496 -0.092095 0.106943 +v -0.005206 -0.121753 0.130156 +v -0.006496 -0.150127 0.106943 +v -0.007786 -0.147547 0.239783 +v -0.006496 -0.150127 0.239783 +v -0.005206 -0.129491 0.127568 +v -0.007786 -0.093391 0.113380 +f 221 229 232 +f 221 220 222 +f 222 220 223 +f 220 221 226 +f 224 223 227 +f 219 225 227 +f 225 224 227 +f 226 219 227 +f 223 220 228 +f 220 226 228 +f 221 222 229 +f 225 219 229 +f 222 225 229 +f 222 223 230 +f 223 224 230 +f 225 222 230 +f 224 225 230 +f 227 223 231 +f 226 227 231 +f 223 228 231 +f 228 226 231 +f 219 226 232 +f 226 221 232 +f 229 219 232 +o convex_11 +v -0.014236 0.018862 -0.129136 +v -0.014236 -0.006952 -0.167844 +v -0.014236 0.069156 -0.167844 +v -0.011656 0.058830 -0.136877 +v -0.011656 -0.006952 -0.087875 +v -0.012946 0.069156 -0.087875 +v -0.012946 -0.006952 -0.167844 +v -0.012946 -0.006952 -0.087875 +v -0.011656 0.069156 -0.087875 +v -0.012946 0.069156 -0.167844 +v -0.011656 -0.006952 -0.127860 +v -0.014236 0.069156 -0.135586 +v -0.014236 -0.006952 -0.126576 +v -0.011656 0.069156 -0.136877 +f 242 241 246 +f 235 234 233 +f 234 235 239 +f 237 234 239 +f 234 237 240 +f 237 238 240 +f 237 236 241 +f 235 238 241 +f 238 237 241 +f 239 235 242 +f 236 239 242 +f 235 241 242 +f 236 237 243 +f 239 236 243 +f 237 239 243 +f 235 233 244 +f 233 238 244 +f 238 235 244 +f 233 234 245 +f 238 233 245 +f 234 240 245 +f 240 238 245 +f 241 236 246 +f 236 242 246 +o convex_12 +v -0.014236 0.151699 -0.166549 +v -0.015526 0.069166 -0.029824 +v -0.016815 0.091092 -0.032402 +v -0.015526 0.114310 -0.029824 +v -0.016815 0.149124 -0.167844 +v -0.016815 0.172342 -0.165253 +v -0.014236 0.071751 -0.036275 +v -0.014236 0.128490 -0.167844 +v -0.014236 0.092384 -0.028529 +v -0.016815 0.113018 -0.028529 +v -0.015526 0.125905 -0.162676 +v -0.015526 0.172342 -0.165253 +v -0.015526 0.172342 -0.167844 +v -0.014236 0.069166 -0.028529 +v -0.016815 0.091092 -0.028529 +f 248 260 261 +f 251 249 252 +f 247 253 254 +f 247 250 255 +f 253 247 255 +f 252 249 256 +f 250 252 256 +f 255 250 256 +f 248 249 257 +f 249 251 257 +f 253 248 257 +f 251 254 257 +f 254 253 257 +f 250 247 258 +f 252 250 258 +f 252 258 259 +f 251 252 259 +f 247 254 259 +f 254 251 259 +f 258 247 259 +f 248 253 260 +f 253 255 260 +f 255 256 260 +f 260 256 261 +f 249 248 261 +f 256 249 261 +o convex_13 +v -0.011656 0.074319 -0.082709 +v -0.014236 0.069156 -0.167844 +v -0.014236 0.131074 -0.167844 +v -0.014236 0.069156 -0.028529 +v -0.011656 0.069156 -0.136861 +v -0.012946 0.131074 -0.167844 +v -0.012946 0.071737 -0.028529 +v -0.012946 0.069156 -0.167844 +v -0.011656 0.097545 -0.140748 +v -0.011656 0.069156 -0.073681 +v -0.014236 0.073034 -0.031120 +v -0.012946 0.131074 -0.166549 +f 264 272 273 +f 264 263 265 +f 265 263 266 +f 263 264 267 +f 266 263 269 +f 263 267 269 +f 269 267 270 +f 262 266 270 +f 266 269 270 +f 266 262 271 +f 265 266 271 +f 262 268 271 +f 268 265 271 +f 264 265 272 +f 265 268 272 +f 272 268 273 +f 267 264 273 +f 268 262 273 +f 270 267 273 +f 262 270 273 +o convex_14 +v -0.003916 -0.209467 0.185605 +v -0.005206 -0.150145 0.192055 +v -0.006496 -0.150145 0.192055 +v -0.005206 -0.150145 0.179158 +v -0.006496 -0.219796 0.179158 +v -0.005206 -0.218494 0.192055 +v -0.003916 -0.169494 0.192055 +v -0.003916 -0.165628 0.180447 +v -0.006496 -0.150145 0.179158 +v -0.006496 -0.219796 0.188184 +v -0.005206 -0.219796 0.179158 +v -0.003916 -0.218494 0.192055 +f 284 274 285 +f 276 275 277 +f 275 276 279 +f 275 279 280 +f 277 275 281 +f 280 274 281 +f 275 280 281 +f 276 277 282 +f 277 278 282 +f 278 276 282 +f 276 278 283 +f 279 276 283 +f 278 277 284 +f 277 281 284 +f 281 274 284 +f 283 278 284 +f 274 280 285 +f 280 279 285 +f 279 283 285 +f 283 284 285 +o convex_15 +v -0.009076 0.009816 -0.029830 +v -0.012946 -0.006952 -0.087861 +v -0.012946 0.025297 -0.087861 +v -0.011655 0.007240 -0.028529 +v -0.010366 -0.006952 -0.080119 +v -0.010366 0.025297 -0.083987 +v -0.011655 0.025297 -0.028529 +v -0.009076 -0.006952 -0.028529 +v -0.011655 -0.006952 -0.029830 +v -0.010366 0.025297 -0.028529 +v -0.012946 -0.006952 -0.078830 +v -0.011655 -0.006952 -0.087861 +v -0.009076 0.004658 -0.033698 +v -0.012946 0.022715 -0.081409 +f 296 292 299 +f 291 288 292 +f 287 290 293 +f 292 289 293 +f 287 293 294 +f 293 289 294 +f 286 291 295 +f 291 292 295 +f 293 286 295 +f 292 293 295 +f 288 287 296 +f 289 292 296 +f 287 294 296 +f 294 289 296 +f 287 288 297 +f 290 287 297 +f 291 290 297 +f 288 291 297 +f 290 291 298 +f 291 286 298 +f 286 293 298 +f 293 290 298 +f 292 288 299 +f 288 296 299 +o convex_16 +v -0.010366 0.030457 -0.029830 +v -0.012945 0.025297 -0.087861 +v -0.012945 0.069156 -0.087861 +v -0.014236 0.048514 -0.028529 +v -0.010366 0.042074 -0.086566 +v -0.012945 0.069156 -0.028529 +v -0.014236 0.069156 -0.074962 +v -0.011656 0.069156 -0.071088 +v -0.012945 0.027881 -0.028529 +v -0.010366 0.025297 -0.083987 +v -0.010366 0.053674 -0.086566 +v -0.010366 0.025297 -0.028529 +v -0.014236 0.069156 -0.028529 +v -0.011656 0.069156 -0.087861 +v -0.011656 0.025297 -0.028529 +v -0.011656 0.051090 -0.028529 +f 305 311 315 +f 302 301 306 +f 301 303 306 +f 305 302 306 +f 302 305 307 +f 303 301 308 +f 305 303 308 +f 304 300 309 +f 301 304 309 +f 300 304 310 +f 307 300 310 +f 305 308 311 +f 309 300 311 +f 301 309 311 +f 303 305 312 +f 306 303 312 +f 305 306 312 +f 301 302 313 +f 304 301 313 +f 302 307 313 +f 310 304 313 +f 307 310 313 +f 308 301 314 +f 301 311 314 +f 311 308 314 +f 300 307 315 +f 307 305 315 +f 311 300 315 +o convex_17 +v -0.005206 -0.213346 0.232043 +v -0.005206 -0.218506 0.192055 +v -0.003916 -0.218506 0.192055 +v -0.005206 -0.191417 0.192055 +v -0.002626 -0.209474 0.237198 +v -0.005206 -0.191417 0.238493 +v -0.003916 -0.191417 0.192055 +v -0.003916 -0.191417 0.238493 +v -0.002626 -0.212054 0.237198 +v -0.005206 -0.212054 0.237198 +f 324 321 325 +f 316 317 318 +f 318 317 319 +f 317 316 319 +f 319 316 321 +f 318 319 322 +f 320 318 322 +f 319 321 322 +f 320 322 323 +f 322 321 323 +f 316 318 324 +f 318 320 324 +f 320 323 324 +f 323 321 324 +f 321 316 325 +f 316 324 325 +o convex_18 +v -0.005206 -0.159172 0.217853 +v -0.005206 -0.191417 0.192055 +v -0.006495 -0.172064 0.192055 +v -0.006495 -0.191417 0.238484 +v -0.007786 -0.150142 0.239783 +v -0.003916 -0.191417 0.238484 +v -0.005206 -0.150142 0.192055 +v -0.007786 -0.150142 0.192055 +v -0.003916 -0.169490 0.192055 +v -0.006495 -0.150142 0.239783 +v -0.007786 -0.170779 0.237200 +v -0.003916 -0.191417 0.192055 +v -0.003916 -0.188831 0.238484 +f 335 331 338 +f 328 327 329 +f 329 327 331 +f 330 329 331 +f 327 328 332 +f 332 328 333 +f 330 332 333 +f 327 332 334 +f 332 326 334 +f 330 331 335 +f 326 332 335 +f 332 330 335 +f 328 329 336 +f 329 330 336 +f 333 328 336 +f 330 333 336 +f 331 327 337 +f 327 334 337 +f 334 331 337 +f 331 334 338 +f 334 326 338 +f 326 335 338 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/824/824.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/824/824.urdf new file mode 100644 index 000000000..cffcbea8a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/824/824.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/825/825.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/825/825.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/825/825.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/825/825.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/825/825.obj new file mode 100644 index 000000000..6038fecf5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/825/825.obj @@ -0,0 +1,681 @@ +o convex_0 +v 1.010624 3.094122 0.968842 +v -1.058511 2.117891 1.476675 +v -1.058511 2.117891 1.593799 +v 1.088816 1.024991 0.968842 +v 0.932643 3.133432 2.804013 +v -0.980320 0.985891 2.647549 +v -0.941434 3.133432 2.686710 +v 0.932643 1.103190 2.686710 +v -0.980320 1.103190 0.968842 +v -1.058511 3.016133 0.968842 +v 0.971738 1.024991 2.491624 +v 0.971738 3.133432 2.608568 +v 0.659182 2.898834 2.804013 +v -0.902338 3.055233 2.725691 +v -1.019416 1.142080 2.491445 +v -0.667974 1.298268 2.686710 +v 1.049720 2.547567 1.008002 +v -0.980320 3.094332 2.413482 +v -0.980320 1.064090 1.281410 +v -0.941434 3.133432 2.491445 +v -1.019416 1.454667 0.968842 +v -1.019416 3.055233 1.320391 +v 0.971738 3.133432 2.179056 +v -1.058511 3.016133 1.320391 +v -0.980320 2.352489 2.686710 +v 0.893547 1.024991 2.647729 +v 1.010624 3.094122 1.710922 +v 1.088816 1.142290 1.008002 +v 0.893547 1.024991 0.968842 +v -0.980320 0.985891 2.530426 +v -1.058511 2.235190 0.968842 +f 10 21 31 +f 1 4 9 +f 2 3 10 +f 1 9 10 +f 6 4 11 +f 5 8 11 +f 7 5 12 +f 5 11 12 +f 8 5 13 +f 5 7 14 +f 13 5 14 +f 3 2 15 +f 6 8 16 +f 8 13 16 +f 14 6 16 +f 13 14 16 +f 4 1 17 +f 15 9 19 +f 10 7 20 +f 7 12 20 +f 10 9 21 +f 15 2 21 +f 9 15 21 +f 1 10 22 +f 20 1 22 +f 10 20 22 +f 12 1 23 +f 1 20 23 +f 20 12 23 +f 10 3 24 +f 7 10 24 +f 3 15 24 +f 18 7 24 +f 18 24 25 +f 14 7 25 +f 6 14 25 +f 15 6 25 +f 7 18 25 +f 24 15 25 +f 8 6 26 +f 6 11 26 +f 11 8 26 +f 1 12 27 +f 17 1 27 +f 17 27 28 +f 11 4 28 +f 12 11 28 +f 4 17 28 +f 27 12 28 +f 9 4 29 +f 19 9 29 +f 19 29 30 +f 4 6 30 +f 6 15 30 +f 15 19 30 +f 29 4 30 +f 2 10 31 +f 21 2 31 +o convex_1 +v -0.590079 0.556303 -2.311330 +v 0.620353 -0.497784 -2.935534 +v 0.581253 -0.380627 -1.569479 +v -0.511880 -0.497784 -1.374129 +v 0.425091 0.556303 -1.374129 +v -0.590079 0.595429 -3.404134 +v 0.581253 0.517287 -3.364985 +v -0.550980 -0.497784 -3.326034 +v -0.550980 0.517287 -1.374129 +v 0.620353 -0.536911 -3.247934 +v 0.542154 -0.419642 -1.374129 +v -0.004295 0.595429 -2.194080 +v 0.464073 0.556303 -3.364985 +v 0.503172 0.556303 -2.037880 +v 0.581253 -0.536911 -2.779334 +v -0.043394 -0.536911 -3.286885 +v -0.590079 -0.029264 -3.364985 +v -0.121475 0.595429 -3.404134 +v -0.199556 -0.497784 -1.374129 +v 0.581253 0.517287 -3.052585 +v -0.590079 0.595429 -2.662283 +v 0.542154 0.361114 -3.364985 +v -0.550980 -0.497784 -2.584183 +v -0.550980 0.165814 -1.374129 +v 0.542154 -0.107296 -1.413279 +v 0.581253 -0.458769 -1.764630 +v 0.112649 0.556303 -1.374129 +v -0.472899 0.361114 -3.404134 +f 49 53 59 +f 35 36 40 +f 38 33 41 +f 36 35 42 +f 44 43 45 +f 43 36 45 +f 38 44 45 +f 39 41 47 +f 46 35 47 +f 41 46 47 +f 32 37 48 +f 37 43 49 +f 44 38 49 +f 43 44 49 +f 42 35 50 +f 35 46 50 +f 34 33 51 +f 33 38 51 +f 38 45 51 +f 37 32 52 +f 32 40 52 +f 43 37 52 +f 38 41 53 +f 41 39 53 +f 49 38 53 +f 47 35 54 +f 39 47 54 +f 48 39 54 +f 48 54 55 +f 40 32 55 +f 35 40 55 +f 32 48 55 +f 54 35 55 +f 42 34 56 +f 36 42 56 +f 45 36 56 +f 34 51 56 +f 51 45 56 +f 33 34 57 +f 41 33 57 +f 34 42 57 +f 46 41 57 +f 42 50 57 +f 50 46 57 +f 40 36 58 +f 36 43 58 +f 52 40 58 +f 43 52 58 +f 48 37 59 +f 39 48 59 +f 37 49 59 +f 53 39 59 +o convex_2 +v -1.097680 1.064320 -1.842727 +v 1.049861 3.094386 -2.389229 +v 1.049861 3.094386 -3.326034 +v 0.971662 1.025105 -1.803577 +v -1.097680 3.055171 -1.374324 +v -1.019480 0.985891 -3.247934 +v -1.058370 3.015957 -3.404333 +v 1.049861 1.103328 -3.287083 +v 0.971662 3.094386 -1.374125 +v 0.503096 1.025105 -1.374125 +v -1.097680 1.103328 -1.374324 +v 0.932562 1.025105 -1.374125 +v 0.425107 3.094386 -3.365184 +v 1.010551 2.781703 -1.452226 +v 0.737484 1.454606 -3.326034 +v -1.097680 3.055171 -2.194078 +v -0.277637 3.094386 -1.374324 +v 1.049861 1.142336 -2.740183 +v -0.433826 0.985891 -3.247934 +v -1.058370 0.985891 -2.701233 +v -1.058370 1.923115 -3.326034 +v -1.097680 1.064320 -1.530326 +v 0.776373 1.064113 -3.287083 +v -0.863292 2.820711 -3.404333 +v 0.971662 1.181344 -1.530326 +v 1.049861 1.884107 -3.326034 +v 0.620185 3.016163 -3.365184 +v 0.229818 1.064113 -3.287083 +v -0.590014 3.055171 -3.326034 +v -1.058370 0.985891 -2.896583 +f 60 80 89 +f 62 61 67 +f 61 62 68 +f 68 64 69 +f 64 60 70 +f 69 64 70 +f 68 69 71 +f 68 62 72 +f 61 68 73 +f 68 71 73 +f 60 64 75 +f 72 75 76 +f 64 68 76 +f 68 72 76 +f 75 64 76 +f 67 61 77 +f 63 67 77 +f 61 73 77 +f 63 71 78 +f 78 71 79 +f 71 69 79 +f 65 78 79 +f 60 75 80 +f 75 66 80 +f 70 60 81 +f 69 70 81 +f 60 79 81 +f 79 69 81 +f 67 63 82 +f 74 67 82 +f 78 65 82 +f 63 78 82 +f 80 66 83 +f 71 63 84 +f 73 71 84 +f 63 77 84 +f 77 73 84 +f 62 67 85 +f 67 74 85 +f 66 72 86 +f 72 62 86 +f 83 66 86 +f 74 83 86 +f 62 85 86 +f 85 74 86 +f 65 80 87 +f 82 65 87 +f 74 82 87 +f 83 74 87 +f 80 83 87 +f 72 66 88 +f 66 75 88 +f 75 72 88 +f 79 60 89 +f 65 79 89 +f 80 65 89 +o convex_3 +v -0.628928 -3.191540 -1.373931 +v 1.088900 -0.888327 0.773610 +v 1.088900 -0.888327 0.070446 +v 1.049801 -5.027224 0.695411 +v -0.980398 -0.888327 0.734511 +v -1.019497 -4.948627 0.656311 +v 0.932504 -4.870841 -1.256631 +v -1.019497 -0.888327 -1.334621 +v 0.971603 -0.888327 -1.334831 +v -1.058595 -4.948627 -1.295521 +v 1.049801 -3.113754 -1.256631 +v 0.112689 -3.074455 0.773610 +v -1.019497 -0.888327 0.343934 +v 1.088900 -3.191540 0.773610 +v 0.503047 -0.927625 -1.373931 +v -0.980398 -3.309031 0.734511 +v 0.268874 -4.909734 -1.295731 +v 0.385961 -5.027224 0.695411 +v 1.049801 -5.027224 0.422134 +v -1.058595 -4.909734 -0.319500 +v -0.980398 -1.982201 -1.373720 +v 1.010702 -0.888327 -1.217742 +v -0.863311 -4.987926 0.656311 +v 0.971603 -4.909734 -0.983354 +v -0.941299 -3.503902 -1.373720 +v 1.010702 -3.621393 0.773610 +v -0.941299 -4.440989 0.695201 +v -0.472743 -4.948627 -1.295731 +v 1.049801 -4.987926 0.187745 +v -1.058595 -4.519180 -1.295521 +v 1.049801 -2.684712 -1.256631 +v 0.112689 -0.888327 -1.373931 +v 1.049801 -0.888327 -0.709866 +v -1.019497 -4.363202 -1.334621 +f 106 117 123 +f 91 92 94 +f 94 92 97 +f 97 92 98 +f 96 98 100 +f 91 94 101 +f 95 94 102 +f 94 97 102 +f 92 91 103 +f 100 92 103 +f 91 101 103 +f 98 96 104 +f 94 95 105 +f 101 94 105 +f 90 104 106 +f 104 96 106 +f 103 93 108 +f 93 107 108 +f 107 99 108 +f 99 95 109 +f 95 102 109 +f 98 92 111 +f 95 99 112 +f 99 107 112 +f 107 95 112 +f 96 100 113 +f 106 96 113 +f 90 106 114 +f 110 90 114 +f 93 103 115 +f 103 101 115 +f 107 93 115 +f 107 115 116 +f 105 95 116 +f 101 105 116 +f 95 107 116 +f 115 101 116 +f 108 99 117 +f 106 113 117 +f 113 108 117 +f 100 103 118 +f 103 108 118 +f 113 100 118 +f 108 113 118 +f 97 99 119 +f 102 97 119 +f 99 109 119 +f 109 102 119 +f 92 100 120 +f 100 98 120 +f 98 111 120 +f 97 98 121 +f 104 90 121 +f 98 104 121 +f 90 110 121 +f 110 97 121 +f 111 92 122 +f 92 120 122 +f 120 111 122 +f 99 97 123 +f 97 110 123 +f 114 106 123 +f 110 114 123 +f 117 99 123 +o convex_4 +v 0.659345 -0.497696 -1.373931 +v 1.010786 3.055011 0.968841 +v -0.199564 3.055011 0.968841 +v 1.088907 -0.888327 0.773458 +v -0.980352 -0.888327 0.734473 +v -1.097642 3.055011 -1.373931 +v 0.971618 3.094386 -1.373931 +v -1.019520 -0.888327 -1.334716 +v -1.058474 3.015636 0.968841 +v 0.971618 -0.888327 -1.334716 +v -0.550790 -0.380351 0.968841 +v 1.088907 1.025060 0.968841 +v -1.097642 0.439894 -0.944407 +v 1.088907 -0.380351 -0.046375 +v 0.542270 -0.458711 0.968841 +v 1.010786 3.094386 -0.905193 +v -1.058474 -0.848952 -0.319270 +v -1.097642 2.976651 0.226750 +v -1.058474 2.234766 0.968841 +v 1.088907 1.805151 0.695487 +v -1.097642 1.103030 -1.373931 +v 1.010786 -0.888327 -1.178547 +v -0.277686 3.094386 -1.217532 +v 1.010786 3.094386 0.461119 +v 1.049739 3.055011 0.812443 +v 0.151662 -0.888327 -1.373931 +v -0.980352 1.103030 0.968841 +v -1.097642 3.055011 -0.670824 +v -1.019520 -0.888327 0.343934 +v -0.511837 -0.497696 -1.373931 +v 1.049739 -0.888327 -0.670824 +v -1.058474 -0.301991 -1.334716 +v 0.932664 0.869119 -1.373931 +f 130 133 156 +f 124 129 130 +f 127 128 131 +f 125 126 132 +f 127 131 133 +f 125 132 134 +f 125 134 135 +f 135 127 137 +f 128 127 138 +f 134 128 138 +f 127 135 138 +f 135 134 138 +f 136 140 141 +f 129 136 141 +f 132 141 142 +f 134 132 142 +f 141 140 142 +f 135 137 143 +f 137 139 143 +f 129 124 144 +f 136 129 144 +f 133 130 145 +f 127 133 145 +f 130 139 145 +f 130 129 146 +f 139 130 146 +f 139 146 147 +f 126 125 147 +f 146 126 147 +f 125 135 148 +f 135 143 148 +f 143 139 148 +f 139 147 148 +f 147 125 148 +f 124 133 149 +f 133 131 149 +f 144 124 149 +f 128 134 150 +f 142 128 150 +f 134 142 150 +f 132 126 151 +f 129 141 151 +f 141 132 151 +f 146 129 151 +f 126 146 151 +f 131 128 152 +f 140 131 152 +f 128 142 152 +f 142 140 152 +f 131 144 153 +f 149 131 153 +f 144 149 153 +f 137 127 154 +f 139 137 154 +f 127 145 154 +f 145 139 154 +f 131 140 155 +f 140 136 155 +f 144 131 155 +f 136 144 155 +f 124 130 156 +f 133 124 156 +o convex_5 +v 1.830785 -0.497811 1.944909 +v 1.674753 0.673521 1.320349 +v 1.674753 0.673521 1.242291 +v 3.080019 0.595322 2.179274 +v 0.581551 0.673521 2.179274 +v 3.040889 -0.458712 1.203214 +v 0.581551 -0.497811 1.203214 +v 0.581551 -0.536911 2.179274 +v 2.962873 -0.380631 2.179274 +v 2.962873 0.634422 1.242291 +v 0.581551 0.673521 1.281368 +v 2.923742 -0.497811 1.242291 +v 3.040889 0.634422 1.905832 +v 3.001759 -0.419730 1.983890 +v 3.040889 -0.263450 1.203214 +v 0.737828 -0.536911 1.788697 +v 0.581551 0.478260 1.242291 +v 3.080019 0.087737 1.632772 +v 3.080019 0.322098 2.179274 +v 0.776958 -0.536911 2.179274 +v 2.572304 0.634422 2.179274 +v 3.080019 0.595322 1.944909 +f 174 166 178 +f 158 159 161 +f 160 161 164 +f 161 163 164 +f 160 164 165 +f 161 159 167 +f 163 161 167 +f 163 162 168 +f 159 158 169 +f 158 161 169 +f 166 159 169 +f 168 162 170 +f 157 168 170 +f 163 159 171 +f 162 163 171 +f 159 166 171 +f 164 163 172 +f 163 168 172 +f 159 163 173 +f 167 159 173 +f 163 167 173 +f 162 171 174 +f 171 166 174 +f 160 165 175 +f 170 162 175 +f 165 170 175 +f 174 160 175 +f 162 174 175 +f 165 164 176 +f 168 157 176 +f 157 170 176 +f 170 165 176 +f 164 172 176 +f 172 168 176 +f 161 160 177 +f 160 169 177 +f 169 161 177 +f 169 160 178 +f 166 169 178 +f 160 174 178 +o convex_6 +v -0.668374 0.634361 2.335459 +v -3.089036 0.282922 1.125026 +v -3.089036 0.556161 1.125026 +v -0.629366 0.361121 1.203226 +v -2.971771 -0.497811 2.218278 +v -0.629366 -0.419726 1.398369 +v -2.971771 0.634475 2.257259 +v -0.629366 -0.536911 2.335340 +v -3.010539 -0.419726 1.203226 +v -0.629366 0.595376 1.203344 +v -1.019687 -0.380627 1.203226 +v -3.089036 0.595376 1.281307 +v -0.629366 0.634361 1.827755 +v -3.049788 -0.185472 1.125026 +v -3.010539 -0.497811 2.062116 +v -0.941671 -0.536911 2.335340 +v -0.629366 -0.536911 2.179178 +v -1.449256 0.595376 1.164126 +v -0.629366 -0.380627 1.242207 +v -2.620459 -0.497811 2.257259 +v -3.010539 0.634475 2.101097 +v -1.644537 -0.536911 2.218278 +v -0.629366 0.634361 2.335459 +v -2.112874 0.634475 1.827636 +v -3.010539 -0.458711 2.179178 +v -0.863414 0.634475 2.335340 +v -2.073384 -0.380627 1.164126 +v -2.581210 0.478076 1.125026 +f 205 192 206 +f 184 182 186 +f 186 182 188 +f 184 187 189 +f 181 180 190 +f 186 188 191 +f 180 181 192 +f 180 192 193 +f 192 187 193 +f 186 179 194 +f 184 186 195 +f 187 184 195 +f 186 194 195 +f 188 182 196 +f 182 189 196 +f 181 190 196 +f 191 188 196 +f 182 184 197 +f 189 182 197 +f 184 189 197 +f 185 183 198 +f 194 185 198 +f 183 194 198 +f 183 193 200 +f 193 187 200 +f 194 183 200 +f 195 194 200 +f 187 195 200 +f 179 186 201 +f 186 191 201 +f 196 190 202 +f 191 196 202 +f 190 199 202 +f 199 185 202 +f 183 185 203 +f 190 180 203 +f 193 183 203 +f 180 193 203 +f 199 190 203 +f 185 199 203 +f 194 179 204 +f 185 194 204 +f 179 201 204 +f 201 191 204 +f 191 202 204 +f 202 185 204 +f 189 187 205 +f 187 192 205 +f 196 189 205 +f 196 205 206 +f 192 181 206 +f 181 196 206 +o convex_7 +v -0.199503 -0.536911 1.866904 +v 0.581307 0.556341 2.764967 +v 0.542207 0.595322 2.608667 +v -0.629125 0.634422 2.335451 +v 0.542207 0.595322 0.968842 +v 0.581307 -0.536911 2.686553 +v -0.550926 -0.380631 0.968842 +v -0.590026 -0.419730 2.686553 +v 0.542207 -0.458712 0.968842 +v -0.472845 0.595322 0.968842 +v -0.472845 0.595322 2.725760 +v 0.581307 0.673521 1.281265 +v -0.629125 -0.536911 2.335451 +v -0.629125 0.595322 1.203203 +v 0.581307 -0.497811 1.203203 +v 0.581307 0.673521 2.179152 +v -0.629125 -0.380631 1.242234 +v 0.503107 0.087737 2.764967 +v -0.160521 0.595322 2.764967 +v 0.268746 0.673521 1.281265 +v -0.550926 -0.146269 2.725760 +v -0.316683 0.634422 2.686553 +v 0.581307 -0.536911 1.788842 +v 0.425026 -0.497811 1.125141 +v 0.581307 0.282998 0.968842 +v -0.629125 0.634422 1.827873 +v 0.268746 -0.536911 2.686553 +v -0.550926 0.204917 2.725760 +v 0.307846 0.673521 2.218182 +f 228 222 235 +f 213 211 215 +f 211 213 216 +f 208 212 218 +f 211 216 218 +f 207 212 219 +f 213 207 219 +f 214 210 219 +f 216 213 220 +f 219 210 220 +f 218 212 221 +f 209 208 222 +f 208 218 222 +f 213 219 223 +f 220 213 223 +f 219 220 223 +f 212 208 224 +f 224 208 225 +f 218 216 226 +f 222 218 226 +f 224 225 227 +f 208 209 228 +f 210 217 228 +f 209 222 228 +f 225 208 228 +f 217 225 228 +f 212 207 229 +f 221 212 229 +f 221 229 230 +f 207 213 230 +f 213 215 230 +f 215 221 230 +f 229 207 230 +f 215 211 231 +f 211 218 231 +f 221 215 231 +f 218 221 231 +f 216 220 232 +f 220 210 232 +f 226 216 232 +f 210 226 232 +f 219 212 233 +f 214 219 233 +f 212 224 233 +f 227 214 233 +f 224 227 233 +f 210 214 234 +f 217 210 234 +f 225 217 234 +f 214 227 234 +f 227 225 234 +f 226 210 235 +f 222 226 235 +f 210 228 235 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/825/825.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/825/825.urdf new file mode 100644 index 000000000..5eab7bd13 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/825/825.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/826/826.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/826/826.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/826/826.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/826/826.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/826/826.obj new file mode 100644 index 000000000..2393fb421 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/826/826.obj @@ -0,0 +1,1023 @@ +o convex_0 +v -0.118087 -3.405657 -0.531656 +v 0.110898 -3.111094 0.647146 +v 0.012617 -3.111094 0.647146 +v -0.019807 -4.846369 0.024951 +v 0.569542 -3.111094 -0.040518 +v -0.576619 -3.111094 0.155889 +v -0.445578 -4.584082 0.057685 +v 0.372868 -4.616867 -0.040518 +v -0.085327 -4.551466 0.450620 +v 0.045377 -4.584082 -0.433453 +v 0.405628 -3.111094 -0.433453 +v 0.438388 -3.504015 0.483354 +v -0.445578 -3.307469 0.548823 +v -0.445578 -3.111094 -0.367983 +v -0.412818 -3.864151 -0.367983 +v 0.372868 -3.962338 -0.400718 +v -0.445578 -3.962338 0.450620 +v 0.045377 -3.111094 -0.564510 +v 0.274699 -4.420492 0.319562 +v -0.576619 -3.634989 0.024951 +v 0.504021 -3.111094 0.450620 +v -0.085327 -4.551466 -0.433453 +v 0.536781 -3.700391 0.057685 +v -0.052567 -3.929552 0.581558 +v -0.445578 -4.584082 -0.040518 +v -0.412818 -3.111094 0.581558 +v 0.045377 -3.896936 -0.531656 +v 0.372868 -3.896936 0.450620 +v -0.019807 -4.616867 0.417885 +v -0.150848 -4.584082 0.417885 +v -0.085327 -4.846369 -0.040518 +v -0.314537 -4.387706 -0.335249 +v 0.274699 -4.420492 -0.335249 +v -0.478338 -3.864151 0.417885 +v 0.504021 -3.831364 -0.073253 +v -0.380057 -4.420492 0.319562 +v -0.576619 -3.111094 -0.040518 +v -0.052567 -3.896936 -0.531656 +v -0.314537 -3.176496 -0.466187 +v 0.405628 -3.405657 -0.433453 +v -0.380057 -3.896936 -0.400718 +v 0.012617 -3.896936 0.581558 +v 0.372868 -4.616867 -0.007784 +v 0.405628 -3.864151 0.417885 +v 0.569542 -3.143710 0.188624 +v 0.471149 -3.176496 0.516089 +v -0.118087 -3.864151 0.581558 +v -0.019807 -4.780627 -0.171457 +v -0.085327 -4.780627 0.155889 +v 0.471149 -3.143710 -0.335249 +v -0.543859 -3.962338 0.057685 +v -0.019807 -4.551466 0.450620 +v -0.052567 -4.649653 -0.367983 +v -0.052567 -3.111094 -0.564510 +v 0.569542 -3.373041 -0.007784 +v 0.405628 -3.864151 -0.367983 +f 55 35 56 +f 3 2 5 +f 3 5 6 +f 6 5 11 +f 6 11 14 +f 14 11 18 +f 5 2 21 +f 21 12 23 +f 2 3 24 +f 20 15 25 +f 3 6 26 +f 6 13 26 +f 16 10 27 +f 9 17 30 +f 29 9 30 +f 7 25 31 +f 25 15 32 +f 22 25 32 +f 8 10 33 +f 16 8 33 +f 10 16 33 +f 13 6 34 +f 7 17 34 +f 17 13 34 +f 6 20 34 +f 23 8 35 +f 17 7 36 +f 7 30 36 +f 30 17 36 +f 6 14 37 +f 14 15 37 +f 20 6 37 +f 15 20 37 +f 10 22 38 +f 27 10 38 +f 18 27 38 +f 1 38 39 +f 18 11 40 +f 16 27 40 +f 27 18 40 +f 15 14 41 +f 32 15 41 +f 22 32 41 +f 38 22 41 +f 14 39 41 +f 39 38 41 +f 2 24 42 +f 28 12 42 +f 4 8 43 +f 8 23 43 +f 29 4 43 +f 19 29 43 +f 23 12 44 +f 12 28 44 +f 28 19 44 +f 43 23 44 +f 19 43 44 +f 5 21 45 +f 21 23 45 +f 21 2 46 +f 12 21 46 +f 2 42 46 +f 42 12 46 +f 17 9 47 +f 13 17 47 +f 24 3 47 +f 9 24 47 +f 3 26 47 +f 26 13 47 +f 8 4 48 +f 10 8 48 +f 4 31 48 +f 4 29 49 +f 30 7 49 +f 29 30 49 +f 31 4 49 +f 7 31 49 +f 11 5 50 +f 40 11 50 +f 25 7 51 +f 20 25 51 +f 7 34 51 +f 34 20 51 +f 24 9 52 +f 19 28 52 +f 9 29 52 +f 29 19 52 +f 42 24 52 +f 28 42 52 +f 22 10 53 +f 25 22 53 +f 31 25 53 +f 10 48 53 +f 48 31 53 +f 14 18 54 +f 38 1 54 +f 18 38 54 +f 39 14 54 +f 1 39 54 +f 23 35 55 +f 5 45 55 +f 45 23 55 +f 50 5 55 +f 50 55 56 +f 8 16 56 +f 35 8 56 +f 16 40 56 +f 40 50 56 +o convex_1 +v -0.641947 -2.881141 -0.465912 +v 1.060753 -1.997623 0.253984 +v 1.060753 -2.030339 0.253984 +v -0.838429 -1.047867 0.974361 +v 0.078346 -1.047867 -1.219218 +v -0.248984 -2.881141 0.908741 +v 0.896984 -1.047665 0.974361 +v 0.864063 -2.586702 -0.760840 +v -0.904061 -1.047867 -0.826220 +v 0.864063 -1.047665 -0.891840 +v 0.504021 -3.110552 0.515983 +v -1.002198 -2.651931 0.057605 +v -0.019791 -2.619216 -0.989909 +v -0.052503 -3.110552 -0.564221 +v 0.700502 -2.750279 0.843361 +v 0.012921 -1.113298 1.236359 +v -0.707580 -2.881141 0.614293 +v -0.740292 -2.651931 -0.728151 +v -1.067831 -1.047867 0.057605 +v -0.609235 -3.110552 0.090295 +v 1.060753 -1.047665 -0.040224 +v 0.962408 -2.750279 0.122985 +v 0.438388 -3.110552 -0.433222 +v -0.805717 -1.080583 -0.957219 +v -0.805717 -2.651931 0.712362 +v -0.969486 -1.080583 0.777982 +v -1.067831 -2.062852 -0.040464 +v -0.412754 -3.110552 0.581603 +v -0.183560 -2.717564 0.974361 +v 0.667790 -2.750279 0.876291 +v 1.027833 -2.193714 0.384984 +v 1.060753 -1.800927 -0.040224 +v -0.085215 -1.047867 1.236359 +v 0.602158 -3.110552 -0.007774 +v -0.052503 -1.080583 -1.219218 +v -0.412754 -3.110552 -0.433222 +v -0.936774 -2.619216 -0.269533 +v 0.143770 -3.110552 0.646982 +v 0.045634 -2.619216 -0.989909 +v 0.896984 -2.553785 -0.695461 +v 0.929696 -1.146215 0.908741 +v 0.045634 -2.684647 0.974361 +v -0.904061 -1.113298 0.941671 +v 0.078346 -1.113298 -1.219218 +v 0.045634 -2.946774 -0.727910 +v -0.674868 -2.651931 -0.760840 +v 0.962408 -2.717564 -0.040224 +v 1.060753 -1.113298 0.122985 +v -1.067831 -1.735496 0.122985 +v -1.067831 -1.244159 -0.073154 +v -0.674868 -2.684647 0.777982 +v -0.838429 -2.553785 0.679672 +v -1.002198 -2.651931 -0.040464 +v 0.733215 -2.717564 0.810672 +v 0.372964 -1.080583 1.138050 +v -0.773004 -2.619216 -0.695221 +v -0.380041 -1.080583 1.138050 +v -0.445466 -1.080583 -1.088219 +v 0.798639 -1.080583 -0.924530 +v -0.609235 -3.077635 -0.073154 +v -1.034910 -2.455437 0.024916 +v 0.602158 -2.783196 0.876291 +v 1.027833 -2.357291 0.286674 +v -1.067831 -1.800927 -0.105843 +f 83 106 120 +f 61 65 66 +f 60 63 75 +f 63 66 75 +f 66 65 75 +f 70 67 76 +f 73 68 76 +f 58 59 77 +f 66 63 77 +f 71 67 78 +f 67 70 79 +f 65 61 80 +f 68 73 81 +f 60 75 82 +f 62 73 84 +f 76 67 84 +f 73 76 84 +f 71 63 86 +f 67 71 86 +f 77 59 88 +f 66 77 88 +f 63 60 89 +f 85 72 89 +f 78 67 90 +f 79 64 90 +f 67 79 90 +f 57 74 92 +f 70 76 92 +f 83 65 93 +f 62 84 94 +f 84 67 94 +f 64 66 96 +f 66 88 96 +f 59 58 97 +f 87 59 97 +f 85 62 98 +f 72 85 98 +f 86 72 98 +f 60 82 99 +f 91 61 100 +f 69 91 100 +f 64 95 100 +f 95 69 100 +f 70 69 101 +f 64 79 101 +f 79 70 101 +f 95 64 101 +f 69 95 101 +f 69 70 102 +f 74 80 102 +f 92 74 102 +f 70 92 102 +f 88 59 103 +f 90 64 103 +f 78 90 103 +f 64 96 103 +f 96 88 103 +f 58 77 104 +f 77 63 104 +f 97 58 104 +f 63 97 104 +f 82 75 105 +f 75 83 105 +f 75 65 106 +f 83 75 106 +f 73 62 107 +f 81 73 107 +f 62 85 107 +f 99 81 107 +f 85 99 107 +f 68 81 108 +f 99 82 108 +f 81 99 108 +f 74 57 109 +f 76 68 109 +f 93 74 109 +f 83 93 109 +f 63 71 110 +f 71 78 110 +f 97 63 110 +f 87 97 110 +f 86 63 111 +f 72 86 111 +f 63 89 111 +f 89 72 111 +f 65 80 112 +f 80 74 112 +f 93 65 112 +f 74 93 112 +f 89 60 113 +f 85 89 113 +f 60 99 113 +f 99 85 113 +f 80 61 114 +f 61 91 114 +f 91 69 114 +f 69 102 114 +f 102 80 114 +f 66 64 115 +f 61 66 115 +f 64 100 115 +f 100 61 115 +f 57 92 116 +f 92 76 116 +f 109 57 116 +f 76 109 116 +f 82 105 117 +f 105 83 117 +f 68 108 117 +f 108 82 117 +f 109 68 117 +f 83 109 117 +f 67 86 118 +f 62 94 118 +f 94 67 118 +f 98 62 118 +f 86 98 118 +f 59 87 119 +f 103 59 119 +f 78 103 119 +f 110 78 119 +f 87 110 119 +f 65 83 120 +f 106 65 120 +o convex_2 +v -0.772986 1.441141 1.006906 +v -0.019782 -1.047665 -1.317470 +v 0.045433 -1.047665 -1.317470 +v 0.012721 0.949519 -2.791285 +v 1.027827 0.164093 1.203853 +v -0.969465 -1.047665 0.777956 +v -1.034888 0.164093 -2.037555 +v 0.929692 1.441141 -0.891984 +v 1.060747 -1.047665 -0.041012 +v 0.765924 0.131448 -2.725636 +v -1.034888 1.441141 -0.073836 +v -0.085206 -0.589175 -2.692811 +v 0.831348 1.441141 0.941668 +v 0.176488 -1.047665 1.203853 +v -1.034888 0.327317 1.203442 +v -0.871330 -1.047665 -0.924398 +v -0.805698 0.229139 -2.758460 +v -0.871330 1.441141 -0.891984 +v 1.027827 0.229139 -2.037965 +v 0.798636 -0.556287 -2.005141 +v 0.274832 1.441141 1.203853 +v 1.027827 1.441141 0.155524 +v 0.896980 -0.851065 1.203853 +v -1.067808 -1.047665 -0.041012 +v -0.019782 0.098560 -2.987821 +v -0.904041 -0.752887 1.203442 +v 0.765924 0.949519 -2.070379 +v 0.045433 1.441141 -1.383119 +v -0.772986 0.949519 -2.103204 +v 0.864268 -1.047665 -0.891984 +v -0.772986 -0.589175 -2.005141 +v -0.871330 1.080586 1.203853 +v 1.060747 0.916874 -0.368435 +v 0.078144 -0.589175 -2.692811 +v 0.929692 -1.047665 0.876019 +v 0.864268 1.015052 1.203853 +v 0.896980 1.441141 -1.055285 +v -0.609219 -0.359930 -2.561514 +v -0.117918 0.949519 -2.758460 +v 0.569446 0.720274 -2.594338 +v -0.936753 1.441141 0.679483 +v 1.060747 0.392851 -1.350294 +v -0.609219 0.753162 -2.594338 +v 0.569446 -0.425463 -2.496275 +v -1.034888 0.261784 -2.004730 +v 1.027827 1.441141 -0.204724 +v 1.027827 -0.163330 1.203853 +v -1.034888 -0.032263 1.203442 +v -0.871330 -1.047665 0.974492 +v 1.060747 -0.359930 0.548596 +v 1.027827 0.098560 -1.972316 +v -0.805698 0.164093 -2.758460 +v -0.936753 1.441141 -0.695448 +v 0.012721 0.229139 -2.987821 +v -0.052494 1.080586 -2.463861 +v -0.281685 1.441141 1.203853 +v -1.067808 -0.687353 0.024227 +v 0.765924 0.196738 -2.725636 +v -1.034888 1.441141 0.155524 +v 0.012721 -0.687353 -2.463861 +v -0.216261 -1.047665 1.203853 +v -0.805698 -0.589175 -1.939492 +v -0.936753 -1.047665 -0.695448 +v 1.060747 -1.047665 0.090286 +f 170 167 184 +f 122 123 126 +f 126 123 129 +f 121 128 131 +f 128 121 133 +f 126 129 134 +f 122 126 136 +f 131 128 138 +f 133 121 141 +f 134 125 141 +f 128 133 142 +f 125 134 143 +f 136 126 144 +f 138 128 148 +f 129 123 150 +f 140 129 150 +f 132 136 151 +f 134 141 152 +f 142 125 153 +f 145 130 154 +f 132 145 154 +f 140 150 154 +f 134 129 155 +f 143 134 155 +f 133 141 156 +f 141 125 156 +f 125 142 156 +f 142 133 156 +f 128 139 157 +f 147 124 157 +f 139 147 157 +f 148 128 157 +f 132 151 158 +f 149 138 159 +f 124 147 160 +f 121 131 161 +f 152 121 161 +f 135 152 161 +f 153 129 162 +f 137 149 163 +f 159 137 163 +f 149 159 163 +f 130 140 164 +f 154 130 164 +f 140 154 164 +f 137 127 165 +f 149 137 165 +f 139 128 166 +f 128 142 166 +f 142 153 166 +f 162 139 166 +f 153 162 166 +f 125 143 167 +f 143 155 167 +f 144 126 168 +f 126 146 168 +f 152 135 168 +f 146 152 168 +f 126 134 169 +f 146 126 169 +f 153 125 170 +f 129 153 170 +f 125 167 170 +f 130 139 171 +f 140 130 171 +f 129 140 171 +f 162 129 171 +f 139 162 171 +f 127 137 172 +f 145 132 172 +f 137 145 172 +f 132 158 172 +f 158 151 172 +f 131 138 173 +f 138 149 173 +f 165 131 173 +f 149 165 173 +f 130 145 174 +f 145 137 174 +f 159 124 174 +f 137 159 174 +f 138 148 175 +f 157 124 175 +f 148 157 175 +f 124 159 175 +f 159 138 175 +f 141 121 176 +f 121 152 176 +f 152 141 176 +f 127 144 177 +f 165 127 177 +f 131 165 177 +f 144 168 177 +f 168 135 177 +f 139 130 178 +f 147 139 178 +f 124 160 178 +f 160 147 178 +f 174 124 178 +f 130 174 178 +f 161 131 179 +f 135 161 179 +f 131 177 179 +f 177 135 179 +f 123 122 180 +f 122 136 180 +f 136 132 180 +f 150 123 180 +f 132 154 180 +f 154 150 180 +f 134 152 181 +f 152 146 181 +f 169 134 181 +f 146 169 181 +f 151 136 182 +f 127 172 182 +f 172 151 182 +f 144 127 183 +f 136 144 183 +f 127 182 183 +f 182 136 183 +f 155 129 184 +f 167 155 184 +f 129 170 184 +o convex_3 +v 0.995089 -0.327042 1.498778 +v -1.034881 -0.064908 1.531391 +v -1.034881 -0.064908 1.793528 +v 0.209313 1.441141 1.204029 +v 0.045534 0.229139 3.004786 +v -0.118043 -1.047665 1.204029 +v -0.838387 1.146363 1.204029 +v -0.052410 -0.621820 2.775438 +v 0.798594 0.196738 2.775615 +v -0.052410 0.916874 2.775438 +v -0.805672 0.196738 2.742825 +v 0.864227 1.015296 1.204029 +v 0.864227 -0.883710 1.204029 +v -0.904020 -0.752643 1.204029 +v 0.765879 0.982407 2.055312 +v -0.838387 -0.588931 1.989910 +v 1.027804 0.196738 2.120714 +v 0.798594 -0.588931 2.055312 +v -0.772956 0.916874 2.022699 +v -0.216391 1.440897 1.236818 +v -1.034881 0.196738 2.088101 +v 1.027804 0.196738 1.204029 +v -1.034881 0.327317 1.204029 +v 0.602100 -0.425463 2.579056 +v -0.609177 -0.425220 2.579056 +v 0.569385 0.753162 2.611845 +v 0.045534 -1.047665 1.302396 +v -0.609177 0.753162 2.513654 +v -0.019694 0.033026 3.004786 +v 0.012819 0.949519 2.742825 +v 0.798594 0.098560 2.775615 +v 0.012819 -0.621820 2.775438 +v -0.772956 0.098803 2.775438 +v 0.012819 1.342719 1.662548 +v 1.027804 0.327317 1.957297 +v 1.027804 -0.163330 1.204029 +v 0.045534 0.916874 2.775438 +v -0.904020 0.982651 1.236818 +v 0.831512 -0.588931 1.989910 +v -0.969451 -0.556287 1.269607 +v 0.831512 1.047941 1.400587 +v 0.864227 -0.883710 1.236642 +v -0.478316 0.196738 2.873806 +v -0.085327 -1.014776 1.400587 +v -1.034881 0.327317 1.891719 +v -0.805672 0.098803 2.742825 +v 1.027804 0.065915 2.022523 +v 0.896942 -0.850821 1.236642 +v -0.969451 -0.163330 2.022699 +v -0.904020 -0.752643 1.269607 +v -0.772956 0.949519 1.957297 +v 0.634815 -0.916598 1.335009 +v -1.034881 -0.032263 1.204029 +v -0.019694 0.949519 2.742825 +v 0.110965 0.131448 3.004786 +v -0.609177 0.654984 2.611669 +v -0.085327 0.164093 3.004786 +v 0.012819 -0.687353 2.579056 +v 0.798594 0.916874 2.055312 +v 0.209313 1.441141 1.236818 +v -0.772956 0.196738 2.775438 +v 0.896942 0.916874 1.204029 +v 0.045534 0.982407 2.644458 +v -0.805672 0.851584 2.022699 +f 235 191 248 +f 188 190 191 +f 190 188 196 +f 190 196 197 +f 191 190 198 +f 188 191 204 +f 186 187 205 +f 197 196 206 +f 191 198 207 +f 186 205 207 +f 200 192 209 +f 193 199 210 +f 190 197 211 +f 194 203 212 +f 203 195 212 +f 201 193 215 +f 208 202 215 +f 202 208 216 +f 213 192 216 +f 208 215 216 +f 209 192 217 +f 192 213 217 +f 201 206 219 +f 197 206 220 +f 206 201 220 +f 189 193 221 +f 194 189 221 +f 193 210 221 +f 210 199 221 +f 214 194 221 +f 199 214 221 +f 191 207 222 +f 215 202 223 +f 187 186 224 +f 196 188 225 +f 219 196 225 +f 211 197 226 +f 202 216 226 +f 223 202 226 +f 192 200 228 +f 190 211 228 +f 207 205 229 +f 222 207 229 +f 195 205 230 +f 200 209 230 +f 217 195 230 +f 209 217 230 +f 201 215 231 +f 185 220 231 +f 220 201 231 +f 215 223 231 +f 231 223 232 +f 220 185 232 +f 197 220 232 +f 226 197 232 +f 223 226 232 +f 185 231 232 +f 205 187 233 +f 187 224 233 +f 224 200 233 +f 200 230 233 +f 230 205 233 +f 198 190 234 +f 200 224 234 +f 224 198 234 +f 190 228 234 +f 228 200 234 +f 203 194 235 +f 204 191 235 +f 211 226 236 +f 186 207 237 +f 207 198 237 +f 224 186 237 +f 198 224 237 +f 194 214 238 +f 218 204 238 +f 214 218 238 +f 235 194 238 +f 204 235 238 +f 193 189 239 +f 189 213 239 +f 215 193 239 +f 213 216 239 +f 216 215 239 +f 194 212 240 +f 212 195 240 +f 189 194 241 +f 213 189 241 +f 217 213 241 +f 194 227 241 +f 227 217 241 +f 216 192 242 +f 226 216 242 +f 192 228 242 +f 228 211 242 +f 211 236 242 +f 236 226 242 +f 199 193 243 +f 193 201 243 +f 201 219 243 +f 225 199 243 +f 219 225 243 +f 188 204 244 +f 204 218 244 +f 225 188 244 +f 199 225 244 +f 195 217 245 +f 227 194 245 +f 217 227 245 +f 194 240 245 +f 240 195 245 +f 206 196 246 +f 196 219 246 +f 219 206 246 +f 214 199 247 +f 218 214 247 +f 199 244 247 +f 244 218 247 +f 195 203 248 +f 205 195 248 +f 191 222 248 +f 229 205 248 +f 222 229 248 +f 203 235 248 +o convex_4 +v -0.314524 3.307563 -0.105892 +v 1.027971 1.768747 0.123033 +v 0.995147 1.867047 0.253955 +v -0.871298 1.441324 0.908821 +v -0.019930 1.441324 -1.284953 +v 0.831438 3.176557 0.253955 +v 0.765995 3.012846 -0.793424 +v -0.805650 2.947251 -0.662502 +v 0.045512 1.441324 1.302095 +v -0.740208 3.012663 0.745231 +v -0.871298 1.441324 -0.891680 +v 0.896880 1.441141 -1.022602 +v 0.831438 2.881840 0.745231 +v -1.035007 2.947251 0.057445 +v 0.798614 1.441141 0.974409 +v -0.019930 3.110963 0.876154 +v -0.248876 3.143669 -0.826345 +v 1.027971 2.587122 -0.302402 +v -1.035007 1.441324 -0.072971 +v 0.602081 3.209263 -0.597167 +v 0.012894 2.979957 0.974409 +v -0.838474 3.176557 -0.072971 +v -0.052549 3.307563 0.319543 +v 1.027971 1.441141 -0.236814 +v -0.674765 3.176557 0.614055 +v 0.602081 3.176557 0.646976 +v -0.052549 1.474030 1.302095 +v 0.962323 3.012846 0.057445 +v 0.242045 3.307563 -0.335069 +v -1.067831 2.096170 0.057445 +v -0.019930 2.914545 -0.924600 +v -0.838474 1.474030 0.974409 +v -0.707384 3.143669 -0.564500 +v 0.045512 1.474030 -1.284953 +v -0.805650 2.947251 0.712311 +v -0.740208 2.947251 0.777898 +v -0.052549 3.209263 0.777898 +v 0.274664 3.307563 0.253955 +v -0.936741 1.506735 -0.695169 +v 0.864057 2.816245 0.712311 +v 0.765995 3.209263 -0.171226 +v 1.027971 2.456116 -0.400404 +v -0.117991 2.947251 0.974409 +v -0.248876 3.307563 -0.302402 +v 1.027971 1.441141 0.123033 +v -1.035007 1.441324 0.155700 +v 0.831438 1.474030 -1.055523 +v -0.183434 3.012663 -0.891933 +v 1.027971 2.194470 0.057445 +v 0.667524 3.078257 -0.793678 +v 0.929704 1.605035 -0.924600 +v 0.831438 1.506918 0.908821 +v -1.035007 2.947251 0.024778 +v 0.078336 2.947251 0.974409 +v -0.871298 1.506735 -0.891680 +v -0.019930 1.474030 -1.284953 +v -0.936741 1.605035 0.679643 +v 0.045512 1.474030 1.302095 +v 0.929704 3.012846 -0.203893 +v -1.035007 2.914545 0.090112 +v -0.248876 3.307563 0.253955 +v -0.838474 3.176557 0.123033 +v -0.740208 2.947251 -0.695169 +v 0.765995 3.078440 -0.728090 +f 289 307 312 +f 259 253 260 +f 257 252 263 +f 259 260 267 +f 260 263 267 +f 263 260 272 +f 266 250 272 +f 261 254 274 +f 264 269 274 +f 254 261 276 +f 268 265 277 +f 249 271 277 +f 252 257 280 +f 257 275 280 +f 265 256 281 +f 260 253 282 +f 258 273 283 +f 273 262 283 +f 252 280 283 +f 283 280 284 +f 280 275 284 +f 258 283 284 +f 258 264 285 +f 273 258 285 +f 264 274 285 +f 285 274 286 +f 274 254 286 +f 277 271 286 +f 271 285 286 +f 259 267 287 +f 267 278 287 +f 251 250 288 +f 261 263 288 +f 276 261 288 +f 254 276 289 +f 268 277 289 +f 286 254 289 +f 277 286 289 +f 255 266 290 +f 266 272 290 +f 264 258 291 +f 269 264 291 +f 275 269 291 +f 258 284 291 +f 284 275 291 +f 270 249 292 +f 249 277 292 +f 277 265 292 +f 265 281 292 +f 281 270 292 +f 272 250 293 +f 263 272 293 +f 263 252 294 +f 267 263 294 +f 278 267 294 +f 255 260 295 +f 260 282 295 +f 282 255 295 +f 250 266 297 +f 266 276 297 +f 288 250 297 +f 276 288 297 +f 265 268 298 +f 255 282 298 +f 282 279 298 +f 296 265 298 +f 279 296 298 +f 260 255 299 +f 272 260 299 +f 255 290 299 +f 290 272 299 +f 250 251 300 +f 251 288 300 +f 288 263 300 +f 293 250 300 +f 263 293 300 +f 262 270 301 +f 278 262 301 +f 281 256 301 +f 270 281 301 +f 287 278 301 +f 261 274 302 +f 274 269 302 +f 253 259 303 +f 259 287 303 +f 301 256 303 +f 287 301 303 +f 282 253 304 +f 279 282 304 +f 296 279 304 +f 253 303 304 +f 294 252 305 +f 278 294 305 +f 257 263 306 +f 263 261 306 +f 275 257 306 +f 269 275 306 +f 261 302 306 +f 302 269 306 +f 276 266 307 +f 289 276 307 +f 262 278 308 +f 252 283 308 +f 283 262 308 +f 305 252 308 +f 278 305 308 +f 271 249 309 +f 273 285 309 +f 285 271 309 +f 249 270 310 +f 270 262 310 +f 262 273 310 +f 309 249 310 +f 273 309 310 +f 256 265 311 +f 265 296 311 +f 303 256 311 +f 296 304 311 +f 304 303 311 +f 266 255 312 +f 268 289 312 +f 255 298 312 +f 298 268 312 +f 307 266 312 +o convex_5 +v -0.052647 3.373516 -0.335278 +v 0.045470 3.340814 0.319671 +v -0.019880 3.340814 0.319671 +v 0.012886 5.174167 0.090414 +v 0.340309 3.307928 -0.073259 +v -0.281892 3.307928 0.090414 +v -0.052647 4.846593 -0.171540 +v 0.209243 4.879296 0.090414 +v 0.209243 4.224879 -0.204236 +v -0.183592 4.879296 0.123174 +v -0.249125 3.307928 -0.269757 +v 0.045470 4.944884 0.254151 +v 0.274715 3.307928 0.221391 +v 0.209243 3.307928 -0.302517 +v -0.183592 3.307928 0.254151 +v -0.183592 4.846593 -0.040499 +v -0.052647 4.846593 0.254151 +v 0.143709 4.813890 -0.106020 +v 0.176476 4.617493 0.221391 +v -0.281892 3.340814 -0.204236 +v 0.045470 4.093886 -0.269757 +v 0.340309 3.340814 0.057653 +v -0.216359 4.682898 0.057653 +v -0.183592 4.224879 -0.204236 +v 0.209243 4.879296 0.024893 +v 0.012886 4.977586 -0.138780 +v 0.045470 4.584607 0.286911 +v 0.241949 3.340814 0.254151 +v -0.118120 3.340814 -0.335278 +v -0.249125 3.340814 0.188630 +v -0.150886 4.388209 0.221391 +v -0.052647 5.141282 0.024893 +v 0.241949 3.569914 -0.269757 +v -0.183592 4.617493 -0.138780 +v 0.274715 4.224879 -0.007803 +f 321 337 347 +f 317 318 323 +f 320 316 324 +f 318 317 325 +f 317 323 326 +f 314 315 327 +f 325 314 327 +f 318 325 327 +f 316 322 329 +f 324 316 329 +f 327 315 329 +f 320 324 331 +f 323 318 332 +f 326 313 333 +f 325 317 334 +f 320 331 334 +f 331 325 334 +f 322 328 335 +f 332 318 335 +f 328 332 335 +f 316 320 337 +f 321 330 337 +f 330 321 338 +f 333 319 338 +f 321 333 338 +f 316 337 338 +f 337 330 338 +f 315 314 339 +f 329 315 339 +f 324 329 339 +f 331 324 339 +f 331 339 340 +f 314 325 340 +f 325 331 340 +f 339 314 340 +f 313 326 341 +f 326 323 341 +f 333 313 341 +f 319 333 341 +f 336 319 341 +f 323 336 341 +f 318 327 342 +f 335 318 342 +f 322 335 342 +f 329 322 343 +f 327 329 343 +f 342 327 343 +f 322 342 343 +f 322 316 344 +f 319 328 344 +f 328 322 344 +f 316 338 344 +f 338 319 344 +f 321 317 345 +f 317 326 345 +f 333 321 345 +f 326 333 345 +f 328 319 346 +f 323 332 346 +f 332 328 346 +f 319 336 346 +f 336 323 346 +f 317 321 347 +f 334 317 347 +f 320 334 347 +f 337 320 347 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/826/826.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/826/826.urdf new file mode 100644 index 000000000..c7b4c6785 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/826/826.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/827/827.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/827/827.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/827/827.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/827/827.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/827/827.obj new file mode 100644 index 000000000..62e4386cb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/827/827.obj @@ -0,0 +1,540 @@ +o convex_0 +v -0.483678 -1.037627 0.626497 +v 0.612451 -0.007910 2.619434 +v 0.545962 -0.007910 2.619434 +v 0.213752 -0.007910 0.626497 +v -0.583411 -0.174066 2.619434 +v 0.512718 -1.037627 2.586076 +v 0.512718 -1.037627 0.626497 +v -0.450433 -1.070859 2.486390 +v -0.450433 -0.107604 0.626497 +v 0.579207 -0.140835 0.626497 +v 0.379857 -1.170553 0.626497 +v 0.014520 -0.007910 0.693020 +v 0.114019 -1.170553 1.058794 +v 0.545845 -0.937819 0.693020 +v -0.384061 -1.104090 0.626497 +v -0.583411 -0.340110 2.287018 +v -0.483678 -0.107604 0.792705 +v -0.383944 -1.104090 2.287018 +v -0.483678 -0.971165 2.519748 +v 0.512718 -0.074372 0.626497 +v 0.612451 -0.107604 2.619434 +v 0.446229 -1.070859 2.353540 +v -0.450433 -0.340110 2.619434 +v -0.483678 -0.140835 2.287018 +v 0.379740 -1.170553 0.959109 +v -0.384061 -0.074372 0.759542 +v 0.545962 -0.439804 2.619434 +f 21 23 27 +f 3 2 4 +f 2 3 5 +f 1 4 7 +f 4 1 9 +f 7 4 10 +f 1 7 11 +f 7 6 11 +f 3 4 12 +f 4 9 12 +f 6 7 14 +f 7 10 14 +f 8 1 15 +f 1 11 15 +f 11 13 15 +f 9 1 17 +f 1 16 17 +f 16 5 17 +f 6 8 18 +f 8 15 18 +f 15 13 18 +f 8 6 19 +f 1 8 19 +f 16 1 19 +f 5 16 19 +f 4 2 20 +f 2 10 20 +f 10 4 20 +f 2 5 21 +f 10 2 21 +f 6 14 21 +f 14 10 21 +f 6 18 22 +f 5 19 23 +f 19 6 23 +f 21 5 23 +f 5 3 24 +f 3 12 24 +f 11 6 25 +f 13 11 25 +f 18 13 25 +f 6 22 25 +f 22 18 25 +f 12 9 26 +f 9 17 26 +f 17 5 26 +f 5 24 26 +f 24 12 26 +f 6 21 27 +f 23 6 27 +o convex_1 +v -0.284419 -1.137224 -3.525658 +v 0.579233 -0.007910 -1.565916 +v 0.479500 -0.007910 -1.565916 +v 0.313395 -1.137224 -1.565916 +v -0.616629 -0.207330 -1.565916 +v 0.579233 -0.107620 -3.392797 +v -0.417163 -0.008020 -3.392602 +v 0.479500 -1.137224 -3.559019 +v -0.583268 -1.137224 -1.964888 +v -0.616629 -1.103951 -3.525658 +v 0.479500 -1.070787 -1.665805 +v -0.550023 -1.137224 -1.565916 +v -0.084953 -0.041294 -1.565916 +v -0.450524 -0.074457 -3.425768 +v -0.616629 -1.004351 -3.525658 +v -0.583268 -0.140894 -1.931526 +v 0.579233 -0.207330 -3.326464 +v -0.217930 -0.008020 -3.359436 +v -0.450524 -0.008020 -3.160047 +v 0.579233 -0.007910 -1.865194 +v 0.512744 -0.871477 -3.525658 +v 0.479500 -1.037514 -1.565916 +v -0.616629 -1.103951 -3.027382 +v -0.516896 -0.140894 -1.565916 +v 0.280150 -1.070787 -3.559019 +v 0.579233 -0.074457 -1.565916 +v 0.545988 -0.207330 -3.425963 +f 48 41 54 +f 29 30 31 +f 31 30 32 +f 31 28 35 +f 28 31 36 +f 35 28 37 +f 28 36 37 +f 31 35 38 +f 31 32 39 +f 36 31 39 +f 32 36 39 +f 32 30 40 +f 34 33 41 +f 37 32 42 +f 41 42 43 +f 42 32 43 +f 33 29 44 +f 33 34 45 +f 30 34 46 +f 40 30 46 +f 34 41 46 +f 41 43 46 +f 30 29 47 +f 29 33 47 +f 34 30 47 +f 33 45 47 +f 45 34 47 +f 38 35 48 +f 33 44 48 +f 44 38 48 +f 29 31 49 +f 31 38 49 +f 36 32 50 +f 32 37 50 +f 37 36 50 +f 32 40 51 +f 43 32 51 +f 40 46 51 +f 46 43 51 +f 35 37 52 +f 37 42 52 +f 42 41 52 +f 48 35 52 +f 41 48 52 +f 44 29 53 +f 38 44 53 +f 29 49 53 +f 49 38 53 +f 41 33 54 +f 33 48 54 +o convex_2 +v -0.085122 1.719446 -3.259937 +v 0.346704 1.287633 -1.565916 +v 0.346704 1.055079 -1.565916 +v -0.284442 1.719446 -1.565916 +v -0.284442 1.221171 -3.492491 +v 0.280264 1.719446 -3.559019 +v -0.251120 1.154773 -1.565916 +v 0.247010 1.121542 -3.459130 +v 0.313382 1.652984 -1.565916 +v -0.350882 1.686215 -3.492491 +v 0.247010 1.055079 -2.296746 +v -0.350882 1.619752 -2.927493 +v -0.218002 1.188004 -3.492491 +v 0.313382 1.686215 -2.097553 +v 0.280264 1.420429 -3.525658 +v -0.085122 1.719446 -1.565916 +v 0.346704 1.055079 -1.798471 +v -0.350882 1.520123 -3.492491 +v 0.313382 1.686215 -2.794827 +v 0.014436 1.088310 -1.632444 +v -0.317560 1.719446 -2.064192 +f 64 66 75 +f 57 56 58 +f 55 58 60 +f 57 58 61 +f 58 56 63 +f 55 60 64 +f 59 60 67 +f 61 59 67 +f 62 65 67 +f 63 56 68 +f 67 60 69 +f 62 67 69 +f 60 58 70 +f 58 63 70 +f 68 60 70 +f 63 68 70 +f 56 57 71 +f 57 65 71 +f 65 62 71 +f 62 69 71 +f 60 59 72 +f 59 61 72 +f 64 60 72 +f 61 66 72 +f 66 64 72 +f 68 56 73 +f 60 68 73 +f 69 60 73 +f 56 71 73 +f 71 69 73 +f 57 61 74 +f 65 57 74 +f 61 67 74 +f 67 65 74 +f 58 55 75 +f 61 58 75 +f 55 64 75 +f 66 61 75 +o convex_3 +v 0.678771 -0.374014 0.626497 +v -1.114905 1.984465 0.493442 +v -1.114905 1.984465 0.559970 +v -1.015113 -3.661645 -1.432860 +v 1.077508 2.383528 -1.399597 +v 1.010981 -3.561730 0.526491 +v 1.044245 -3.695150 -1.565916 +v -0.915536 2.350023 -1.465910 +v -0.915536 -3.561730 0.559970 +v 1.077508 2.383528 0.559970 +v -0.284380 1.718822 -1.565916 +v -1.114905 2.350023 0.393650 +v -0.616590 -1.435390 -1.565916 +v -0.948800 2.417032 -1.399597 +v -0.516798 1.586000 0.626497 +v 0.313512 1.652411 -1.565916 +v 1.077508 -1.468894 -0.735391 +v 1.077508 0.124964 0.559970 +v -0.483534 -1.036925 0.626497 +v -0.948800 -3.561730 0.294073 +v -1.114905 2.350023 0.559970 +v 1.044245 -3.661645 -0.735177 +v 0.545930 1.851644 0.626497 +v 0.180456 -3.561730 0.559970 +v -1.015113 -2.564970 -1.432860 +v -1.015113 -3.661645 -1.233492 +v 0.745084 -3.695150 -1.565916 +v 1.044245 -2.897623 -1.565916 +v 0.379825 -1.170345 0.626497 +v 1.077508 1.718822 -1.432860 +v 1.044245 -2.465654 0.493442 +v -0.184589 2.417032 -1.432860 +v -1.015113 -3.628141 -1.067601 +v 0.977717 2.217202 0.593233 +v -0.616590 -0.008456 -1.565916 +v 1.010981 -3.594636 0.360386 +v -0.815744 -3.595235 0.161232 +v 0.944453 -3.695150 -1.266756 +v -0.948800 -3.129761 0.559970 +v 0.911189 -2.797707 0.559755 +v -0.948800 2.417032 -1.233492 +v 0.678771 2.383528 0.559970 +v 1.077508 0.788473 -1.432860 +v 1.044245 -3.628141 -0.469709 +v 0.280033 -3.695150 -1.532438 +v 1.010981 1.785233 0.593233 +v 0.944453 2.283612 -1.432860 +f 83 107 122 +f 78 77 79 +f 77 78 87 +f 79 77 87 +f 86 82 88 +f 82 86 91 +f 86 83 91 +f 80 85 92 +f 92 85 93 +f 76 90 94 +f 90 78 94 +f 87 78 96 +f 89 87 96 +f 78 90 96 +f 82 92 97 +f 90 76 98 +f 96 90 98 +f 79 87 100 +f 88 79 100 +f 89 83 100 +f 87 89 100 +f 78 79 101 +f 84 95 101 +f 88 82 102 +f 82 91 103 +f 76 94 104 +f 94 84 104 +f 84 99 104 +f 80 92 105 +f 82 103 105 +f 103 91 105 +f 92 93 106 +f 93 81 106 +f 85 80 107 +f 83 89 107 +f 95 78 108 +f 78 101 108 +f 101 95 108 +f 96 98 109 +f 83 86 110 +f 86 88 110 +f 88 100 110 +f 100 83 110 +f 81 99 111 +f 99 84 111 +f 84 101 112 +f 111 84 112 +f 111 112 113 +f 82 97 113 +f 102 82 113 +f 97 111 113 +f 112 101 113 +f 84 94 114 +f 94 78 114 +f 78 95 114 +f 95 84 114 +f 81 93 115 +f 99 81 115 +f 76 104 115 +f 104 99 115 +f 89 96 116 +f 85 107 116 +f 107 89 116 +f 109 85 117 +f 96 109 117 +f 85 116 117 +f 116 96 117 +f 92 82 118 +f 105 92 118 +f 82 105 118 +f 97 92 119 +f 92 106 119 +f 106 81 119 +f 111 97 119 +f 81 111 119 +f 79 88 120 +f 101 79 120 +f 88 102 120 +f 113 101 120 +f 102 113 120 +f 93 85 121 +f 98 76 121 +f 85 109 121 +f 109 98 121 +f 76 115 121 +f 115 93 121 +f 91 83 122 +f 80 105 122 +f 105 91 122 +f 107 80 122 +o convex_4 +v -3.007885 1.188004 1.124851 +v 0.612223 2.018412 1.490283 +v 0.612223 2.018412 1.457051 +v 3.037058 0.889039 0.991925 +v 3.103830 0.955528 2.088106 +v -2.974799 0.955645 2.087992 +v -2.974799 2.018412 2.087992 +v 2.970888 1.951923 1.955067 +v -3.041571 1.819063 0.958808 +v 2.904116 1.985168 1.025271 +v -2.941714 0.822550 1.124851 +v -0.317166 1.121633 0.925463 +v 0.346340 1.719329 0.925463 +v 0.944277 0.889156 1.755792 +v 0.246483 1.752457 2.088106 +v -1.413786 1.885317 0.958808 +v -2.111580 0.822550 1.257777 +v 2.970888 1.918562 1.988412 +v -3.041571 1.619596 0.958808 +v 3.103830 1.121633 2.088106 +v 3.037058 0.889039 1.291008 +v 2.871031 1.985168 1.656098 +v 3.003973 1.320982 0.991925 +v -3.007885 1.021899 2.021643 +v -2.841857 2.018412 1.988298 +v 1.808098 1.985050 1.025157 +v 2.538977 0.922283 1.988298 +v 1.343103 0.855911 1.025157 +v 1.011049 1.985050 2.021643 +v -3.041571 1.852307 1.025157 +v 2.937201 1.985168 1.058502 +v -2.974799 0.822550 1.257777 +v -2.609660 0.855794 1.091620 +v -2.376862 2.018412 2.087992 +v 3.103830 0.988772 1.722561 +v 0.280170 1.188004 0.925463 +v 0.579138 0.855794 1.025157 +v -3.041571 1.785701 1.291008 +v -2.974799 0.922283 1.091620 +v -0.317166 1.719329 0.925463 +v -2.243920 0.822550 1.091620 +v 3.103830 1.154877 1.988412 +v -0.018799 0.922283 1.955181 +f 154 136 165 +f 124 125 129 +f 128 127 137 +f 129 128 137 +f 132 135 138 +f 131 134 141 +f 137 127 142 +f 130 140 142 +f 140 137 142 +f 126 127 143 +f 126 135 145 +f 135 132 145 +f 128 129 146 +f 141 123 146 +f 129 125 147 +f 125 132 148 +f 132 138 148 +f 147 125 148 +f 127 128 149 +f 136 139 149 +f 143 127 149 +f 139 143 149 +f 126 143 150 +f 143 139 150 +f 140 130 151 +f 137 140 151 +f 130 144 151 +f 138 131 152 +f 131 141 152 +f 129 147 152 +f 148 138 152 +f 147 148 152 +f 125 124 153 +f 132 125 153 +f 124 144 153 +f 144 130 153 +f 145 132 153 +f 133 139 154 +f 139 136 154 +f 128 146 154 +f 146 123 154 +f 124 129 156 +f 129 137 156 +f 144 124 156 +f 137 151 156 +f 151 144 156 +f 127 126 157 +f 142 127 157 +f 126 145 157 +f 145 153 157 +f 126 134 158 +f 135 126 158 +f 134 135 158 +f 134 126 159 +f 126 150 159 +f 146 129 160 +f 141 146 160 +f 152 141 160 +f 129 152 160 +f 123 141 161 +f 141 134 161 +f 154 123 161 +f 133 154 161 +f 155 133 161 +f 134 155 161 +f 134 131 162 +f 135 134 162 +f 131 138 162 +f 138 135 162 +f 139 133 163 +f 150 139 163 +f 133 155 163 +f 155 134 163 +f 134 159 163 +f 159 150 163 +f 130 142 164 +f 153 130 164 +f 142 157 164 +f 157 153 164 +f 149 128 165 +f 136 149 165 +f 128 154 165 +o convex_5 +v 0.246990 1.553296 2.519903 +v -0.284445 1.021860 2.486639 +v 0.213814 1.121652 2.088106 +v -0.284445 1.719401 2.088106 +v -0.217969 1.652873 2.586382 +v 0.246990 1.752665 2.088106 +v 0.180576 1.121652 2.586382 +v -0.217969 1.154773 2.088106 +v 0.346704 1.121652 2.154585 +v 0.280228 1.752665 2.453473 +v -0.284445 1.021860 2.586382 +v 0.346704 1.254493 2.088106 +f 175 174 177 +f 168 169 171 +f 166 170 172 +f 168 167 173 +f 169 168 173 +f 167 169 173 +f 167 168 174 +f 166 172 174 +f 170 166 175 +f 169 170 175 +f 171 169 175 +f 166 174 175 +f 169 167 176 +f 170 169 176 +f 172 170 176 +f 167 174 176 +f 174 172 176 +f 168 171 177 +f 174 168 177 +f 171 175 177 +o convex_6 +v -0.217969 1.121516 0.692986 +v 0.346704 1.719446 0.925463 +v 0.346704 1.254493 0.925463 +v 0.346704 1.254493 0.626497 +v -0.317664 1.719446 0.925463 +v -0.251201 1.686202 0.626497 +v -0.317664 1.121516 0.925463 +v 0.213778 1.619713 0.626497 +v -0.217969 1.154760 0.626497 +v 0.280241 1.188004 0.925463 +f 180 184 187 +f 179 180 181 +f 180 179 182 +f 182 179 183 +f 180 182 184 +f 182 183 184 +f 179 181 185 +f 183 179 185 +f 181 183 185 +f 181 178 186 +f 183 181 186 +f 178 184 186 +f 184 183 186 +f 181 180 187 +f 178 181 187 +f 184 178 187 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/827/827.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/827/827.urdf new file mode 100644 index 000000000..b5087962b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/827/827.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/828/828.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/828/828.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/828/828.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/828/828.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/828/828.obj new file mode 100644 index 000000000..8c846a75e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/828/828.obj @@ -0,0 +1,189 @@ +o convex_0 +v 0.988787 0.008292 0.218191 +v -1.016716 -0.467588 -0.007088 +v -1.016716 -0.467588 0.017727 +v -0.515239 2.991190 -0.458229 +v 0.011190 -2.297759 -0.884554 +v -0.013763 -2.071746 0.895193 +v 0.011190 2.288700 0.945406 +v 0.763203 2.690634 -0.784322 +v 0.938680 -2.272712 -0.057301 +v -0.665561 -3.024698 0.042737 +v 0.738049 2.313746 0.744748 +v -0.740823 -0.017351 -0.759312 +v -0.765977 0.208066 0.744748 +v 0.713096 -2.297759 0.669526 +v -0.891346 2.239204 0.067746 +v -0.038917 2.264250 -0.934767 +v 0.713096 -2.272712 -0.658886 +v 0.036143 2.991190 0.669526 +v -0.740823 -2.247666 -0.684090 +v 0.437405 -3.049149 -0.483238 +v -0.715669 -2.297759 0.644322 +v 0.462358 -3.024102 0.519081 +v 0.763203 3.016832 0.168172 +v -0.665561 2.239204 0.694729 +v 0.086250 -0.016754 0.995425 +v -0.690716 2.239204 -0.658886 +v 0.011190 -0.292264 -0.984979 +v 0.988787 1.837866 0.017727 +v -0.966407 -2.247070 -0.007088 +v -0.540192 -3.024698 -0.508442 +v 0.788357 -0.267218 0.769758 +v 1.039095 -0.016754 -0.032098 +v -0.013763 -3.024698 0.644516 +v -0.490085 2.966143 0.418655 +v -0.113978 2.991190 -0.734109 +v 0.763203 -0.091297 -0.759118 +v 0.662988 -3.024698 -0.007088 +v -1.016716 0.032742 -0.057301 +v -0.038917 -0.041801 0.995619 +v 0.963834 2.314343 0.092950 +v 0.537619 2.990593 0.569294 +v -0.465132 -3.024698 0.494071 +v 0.938680 -2.272712 0.067940 +v -0.013763 -2.999652 -0.658886 +v -0.790930 0.008292 -0.709099 +v 0.011190 -3.075387 0.343627 +v 0.788357 0.835417 0.769952 +v -0.740823 -1.419945 0.694535 +v 0.211619 3.016832 -0.583664 +v -0.063870 -0.017351 -0.984979 +v -0.640608 2.941097 0.042737 +v 0.111405 2.263654 0.945406 +v -1.016716 0.133524 0.042737 +v 0.161512 0.534265 -0.959582 +v -0.089025 -2.272712 -0.884554 +v 0.061297 -2.272712 0.870183 +v -0.891346 2.214157 -0.032098 +v 0.813310 -0.016754 -0.658886 +v 0.011190 -2.071746 -0.909757 +v 0.537619 -3.049149 0.393840 +v 0.713096 2.614899 -0.809331 +v -0.966407 -2.197574 -0.057301 +v 0.813310 -0.141390 0.744748 +v -0.113978 -3.075387 -0.282968 +f 20 46 64 +f 13 7 24 +f 15 13 24 +f 7 18 24 +f 16 12 26 +f 3 2 29 +f 10 21 29 +f 10 29 30 +f 8 28 32 +f 18 4 34 +f 24 18 34 +f 26 4 35 +f 16 26 35 +f 17 9 37 +f 20 17 37 +f 2 3 38 +f 7 13 39 +f 25 7 39 +f 6 25 39 +f 8 23 40 +f 23 11 40 +f 28 8 40 +f 1 32 40 +f 32 28 40 +f 11 23 41 +f 23 18 41 +f 21 10 42 +f 33 21 42 +f 32 1 43 +f 9 32 43 +f 37 9 43 +f 5 17 44 +f 17 20 44 +f 20 30 44 +f 12 19 45 +f 26 12 45 +f 38 26 45 +f 42 10 46 +f 33 42 46 +f 25 31 47 +f 1 40 47 +f 40 11 47 +f 13 3 48 +f 21 6 48 +f 3 29 48 +f 29 21 48 +f 39 13 48 +f 6 39 48 +f 4 18 49 +f 23 8 49 +f 18 23 49 +f 8 35 49 +f 35 4 49 +f 12 16 50 +f 19 12 50 +f 15 24 51 +f 34 4 51 +f 24 34 51 +f 18 7 52 +f 7 25 52 +f 11 41 52 +f 41 18 52 +f 47 11 52 +f 25 47 52 +f 3 13 53 +f 13 15 53 +f 38 3 53 +f 36 27 54 +f 50 16 54 +f 27 50 54 +f 30 19 55 +f 5 44 55 +f 44 30 55 +f 19 50 55 +f 6 21 56 +f 22 14 56 +f 25 6 56 +f 14 31 56 +f 31 25 56 +f 21 33 56 +f 33 22 56 +f 4 26 57 +f 26 38 57 +f 51 4 57 +f 15 51 57 +f 53 15 57 +f 38 53 57 +f 9 17 58 +f 32 9 58 +f 8 32 58 +f 17 36 58 +f 36 8 58 +f 17 5 59 +f 36 17 59 +f 27 36 59 +f 50 27 59 +f 5 55 59 +f 55 50 59 +f 14 22 60 +f 22 33 60 +f 20 37 60 +f 43 14 60 +f 37 43 60 +f 46 20 60 +f 33 46 60 +f 35 8 61 +f 16 35 61 +f 8 36 61 +f 54 16 61 +f 36 54 61 +f 29 2 62 +f 19 30 62 +f 30 29 62 +f 2 38 62 +f 45 19 62 +f 38 45 62 +f 31 14 63 +f 43 1 63 +f 14 43 63 +f 1 47 63 +f 47 31 63 +f 10 30 64 +f 30 20 64 +f 46 10 64 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/828/828.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/828/828.urdf new file mode 100644 index 000000000..009755b37 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/828/828.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/829/829.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/829/829.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/829/829.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/829/829.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/829/829.obj new file mode 100644 index 000000000..aa32ec2e4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/829/829.obj @@ -0,0 +1,453 @@ +o convex_0 +v -1.908417 0.321429 -0.584712 +v -4.279701 -0.191270 -0.809140 +v -4.279701 -0.191270 -0.712868 +v -1.876185 -0.319508 -0.648893 +v -4.279701 0.289370 -0.168222 +v -2.196858 -0.287449 -0.136200 +v -1.876185 0.321429 -0.104109 +v -4.119011 0.225188 -0.680915 +v -4.183475 -0.191270 -0.264356 +v -2.100632 0.321429 -0.712868 +v -2.132629 -0.255327 -0.777049 +v -1.876185 -0.319508 -0.232334 +v -2.549292 -0.287449 -0.136200 +v -3.414379 0.321429 -0.424603 +v -1.876185 0.129073 -0.712868 +v -2.164626 -0.127152 -0.104109 +v -2.677749 0.225188 -0.744959 +v -2.164626 -0.319508 -0.168222 +v -4.279701 0.193192 -0.168222 +v -4.247469 0.064954 -0.744959 +v -2.164626 -0.095155 -0.777049 +v -4.279701 0.289370 -0.328538 +f 8 20 22 +f 2 3 5 +f 7 1 10 +f 4 2 11 +f 4 7 12 +f 5 7 14 +f 7 10 14 +f 10 8 14 +f 1 7 15 +f 7 4 15 +f 10 1 15 +f 4 11 15 +f 7 5 16 +f 12 7 16 +f 6 12 16 +f 13 6 16 +f 8 10 17 +f 3 2 18 +f 2 4 18 +f 9 3 18 +f 4 12 18 +f 12 6 18 +f 6 13 18 +f 13 9 18 +f 5 3 19 +f 3 9 19 +f 9 13 19 +f 16 5 19 +f 13 16 19 +f 17 2 20 +f 8 17 20 +f 11 2 21 +f 10 15 21 +f 15 11 21 +f 2 17 21 +f 17 10 21 +f 2 5 22 +f 5 14 22 +f 14 8 22 +f 20 2 22 +o convex_1 +v 1.841036 0.256953 -0.680802 +v -0.369982 -0.287078 -0.680802 +v -0.241628 -2.818502 -1.418006 +v 1.809002 -2.946722 0.472584 +v -0.337731 3.013060 0.536829 +v -0.305697 -3.075540 0.536829 +v -0.177559 2.948950 -1.514172 +v 1.712899 3.044815 0.536829 +v 1.680865 -3.011430 -1.385683 +v 1.809002 2.980705 -1.418006 +v -0.209594 -2.946722 -1.449726 +v 1.841036 0.993912 -0.008044 +v 0.110750 2.019663 -1.514172 +v -0.209594 2.884242 -1.514172 +v 1.744933 1.282105 0.536829 +v 1.809002 3.012461 -1.321639 +v -0.369982 0.192844 -0.776968 +v 1.712899 -3.011430 -1.193552 +v 1.392555 -2.113299 -1.417805 +v 0.014647 -3.075540 0.536829 +v 1.744933 2.948351 0.504506 +v -0.369982 -0.190615 -0.232497 +v 1.776968 1.057422 -1.418006 +v 1.841253 -0.222370 -0.648680 +v -0.305697 -3.075540 0.312174 +v 0.143000 -2.914966 -1.449726 +v 1.071996 -3.010831 0.504706 +v 1.809002 -2.946722 0.216209 +v 0.815721 2.980705 -1.482049 +v -0.337731 3.013060 0.440462 +v -0.209594 1.314459 -1.514172 +v 0.975893 3.044815 0.440462 +v 1.809002 -1.857460 0.472584 +v 1.712899 -2.305627 -1.385683 +v -0.337731 1.730871 0.536829 +v 0.975893 -3.043185 -0.744846 +v 1.776968 -2.979076 0.120043 +v 0.623515 2.980705 -1.482049 +v 0.206853 -2.978477 -1.321639 +v 1.841253 -0.351188 -0.168454 +v 0.175035 -3.043185 0.536829 +v 1.744933 -1.344585 0.504506 +v 1.712899 3.045414 -0.136332 +f 60 54 65 +f 27 28 30 +f 23 32 34 +f 29 35 36 +f 30 28 37 +f 34 32 38 +f 25 24 39 +f 36 25 39 +f 37 28 42 +f 30 37 43 +f 38 30 43 +f 34 38 43 +f 24 28 44 +f 39 24 44 +f 27 39 44 +f 31 41 45 +f 41 35 45 +f 32 23 46 +f 23 34 46 +f 45 32 46 +f 24 25 47 +f 28 24 47 +f 25 33 47 +f 42 28 47 +f 31 33 48 +f 41 31 48 +f 35 41 48 +f 40 46 50 +f 35 29 51 +f 38 32 51 +f 32 45 51 +f 45 35 51 +f 29 36 52 +f 39 27 52 +f 36 39 52 +f 33 25 53 +f 36 35 53 +f 25 36 53 +f 48 33 53 +f 35 48 53 +f 27 30 54 +f 52 27 54 +f 26 34 55 +f 37 26 55 +f 34 43 55 +f 43 37 55 +f 40 31 56 +f 31 45 56 +f 46 40 56 +f 45 46 56 +f 28 27 57 +f 44 28 57 +f 27 44 57 +f 31 40 58 +f 40 42 58 +f 42 47 58 +f 42 40 59 +f 26 49 59 +f 49 42 59 +f 50 26 59 +f 40 50 59 +f 51 29 60 +f 38 51 60 +f 29 52 60 +f 52 54 60 +f 33 31 61 +f 47 33 61 +f 31 58 61 +f 58 47 61 +f 34 26 62 +f 46 34 62 +f 26 50 62 +f 50 46 62 +f 37 42 63 +f 42 49 63 +f 63 49 64 +f 26 37 64 +f 49 26 64 +f 37 63 64 +f 30 38 65 +f 54 30 65 +f 38 60 65 +o convex_2 +v 2.225994 -0.319464 -0.552721 +v 2.770797 0.353476 -0.424593 +v 2.770797 0.353476 -0.456609 +v 3.860206 -0.287442 -0.296400 +v 3.827798 0.321386 -0.777093 +v 3.795786 0.289295 -0.104109 +v 1.841450 -0.351555 -0.168206 +v 1.841450 0.257204 -0.680849 +v 1.841450 0.353476 -0.168206 +v 3.763773 -0.351555 -0.648834 +v 1.841450 -0.223330 -0.648834 +v 3.860206 -0.287442 -0.232303 +v 3.667736 0.257204 -0.777093 +v 3.539489 -0.287442 -0.680849 +v 3.507477 0.193229 -0.104109 +v 1.841450 -0.351555 -0.360497 +v 3.763773 0.321386 -0.296400 +v 3.058908 -0.319464 -0.200287 +f 77 80 83 +f 68 67 70 +f 68 70 73 +f 67 68 74 +f 73 72 74 +f 68 73 74 +f 70 69 75 +f 72 73 76 +f 75 66 76 +f 69 70 77 +f 70 71 77 +f 75 69 77 +f 73 70 78 +f 76 73 78 +f 76 78 79 +f 70 75 79 +f 75 76 79 +f 78 70 79 +f 71 74 80 +f 74 72 80 +f 77 71 80 +f 75 72 81 +f 66 75 81 +f 76 66 81 +f 72 76 81 +f 70 67 82 +f 71 70 82 +f 67 74 82 +f 74 71 82 +f 72 75 83 +f 75 77 83 +f 80 72 83 +o convex_3 +v -1.363356 0.321417 -2.956115 +v -0.946826 -0.191220 -1.514372 +v -0.946826 -0.255402 -1.514372 +v -1.619810 -0.287461 -1.514372 +v -1.427519 -0.255402 -3.565171 +v -1.587729 0.321417 -1.514372 +v -1.010988 0.289295 -3.500733 +v -1.587729 0.289295 -3.404576 +v -1.043070 0.289295 -1.514372 +v -1.010988 -0.223280 -3.500733 +v -1.587729 -0.255402 -3.565171 +v -1.363356 0.353476 -1.995154 +v -1.043070 -0.287461 -1.546491 +v -1.587729 -0.287461 -2.635527 +v -0.978907 -0.223280 -3.180346 +v -1.587729 0.353476 -2.027273 +v -1.107167 0.321417 -3.116308 +v -1.427519 0.353476 -1.514372 +v -1.459469 -0.063108 -3.565171 +f 94 91 102 +f 86 85 87 +f 87 85 89 +f 89 85 92 +f 85 90 92 +f 88 90 93 +f 87 91 94 +f 86 87 96 +f 88 93 96 +f 87 94 97 +f 94 88 97 +f 96 87 97 +f 88 96 97 +f 85 86 98 +f 90 85 98 +f 93 90 98 +f 86 96 98 +f 96 93 98 +f 87 89 99 +f 91 87 99 +f 84 91 99 +f 99 95 100 +f 91 84 100 +f 90 91 100 +f 92 90 100 +f 95 92 100 +f 84 99 100 +f 89 92 101 +f 92 95 101 +f 99 89 101 +f 95 99 101 +f 90 88 102 +f 91 90 102 +f 88 94 102 +o convex_4 +v -1.876069 -0.287420 -0.232563 +v -1.683828 0.353464 -1.514171 +v -1.683828 0.417542 -1.514171 +v -0.369982 0.353360 -0.200378 +v -0.658491 -0.543836 -1.417899 +v -1.811939 0.513711 -0.072062 +v -0.658491 -0.543836 -0.072062 +v -0.690482 0.481620 -1.481987 +v -1.747810 -0.543836 -1.417899 +v -1.747810 -0.543836 -0.072062 +v -1.811939 0.481620 -1.481845 +v -0.369982 -0.287420 -0.681034 +v -0.690482 0.481620 -0.072062 +v -1.043121 -0.287420 -1.514171 +v -0.369982 0.193113 -0.777166 +v -0.369982 -0.191252 -0.232422 +v -1.876069 0.321373 -0.104247 +v -1.876069 -0.319408 -0.681175 +v -1.619698 -0.319408 -1.514171 +v -1.876069 0.257295 -0.681175 +v -0.658491 -0.319408 -1.449943 +v -0.882871 0.385451 -1.514171 +v -1.747810 0.513711 -0.392641 +v -1.811939 -0.447667 -0.072062 +v -1.779948 -0.223342 -1.449943 +f 113 121 127 +f 107 109 111 +f 111 109 112 +f 109 108 112 +f 105 104 113 +f 110 105 113 +f 109 107 114 +f 109 106 115 +f 108 109 115 +f 106 110 115 +f 104 105 116 +f 110 106 117 +f 106 114 117 +f 114 107 117 +f 106 109 118 +f 114 106 118 +f 109 114 118 +f 108 113 119 +f 103 119 120 +f 107 111 121 +f 113 104 121 +f 104 116 121 +f 116 107 121 +f 119 113 122 +f 113 120 122 +f 120 119 122 +f 107 116 123 +f 110 117 123 +f 117 107 123 +f 105 110 124 +f 116 105 124 +f 110 123 124 +f 123 116 124 +f 113 108 125 +f 110 113 125 +f 108 115 125 +f 115 110 125 +f 111 112 126 +f 112 108 126 +f 119 103 126 +f 108 119 126 +f 120 111 126 +f 103 120 126 +f 120 113 127 +f 111 120 127 +f 121 111 127 +o convex_5 +v -1.844104 0.353388 4.061957 +v -0.626357 0.353388 0.408895 +v -0.658422 0.481563 3.228697 +v -0.722551 -0.543836 3.869666 +v -1.747909 -0.543836 -0.072062 +v -1.812039 0.513635 -0.072062 +v -0.658422 -0.543836 -0.072062 +v -1.747909 -0.479692 4.542453 +v -0.690486 0.545707 4.638829 +v -1.844104 0.609851 4.638829 +v -0.690486 0.481563 -0.072062 +v -0.722551 -0.511651 4.478356 +v -1.844104 -0.351517 -0.072062 +v -0.690486 0.513635 0.537089 +v -1.587704 -0.511764 4.542453 +v -1.844104 0.417532 -0.072062 +v -0.690486 -0.543836 3.292794 +v -1.779974 -0.479692 3.805569 +v -0.690486 0.001048 4.574732 +v -1.779974 -0.287373 4.574732 +v -0.690486 0.545707 3.676914 +v -0.786681 0.353388 4.638829 +v -0.626357 0.353388 -0.072062 +v -1.779974 0.545707 1.242155 +v -1.779974 0.609851 4.574732 +v -1.844104 -0.319445 0.665283 +v -0.658422 -0.543836 0.697101 +v -1.747909 -0.511764 3.837387 +v -1.844104 0.481563 4.638829 +v -1.779974 -0.511764 0.985767 +f 155 145 157 +f 131 132 134 +f 132 133 134 +f 134 133 138 +f 133 132 140 +f 128 137 140 +f 138 133 141 +f 132 131 142 +f 131 139 142 +f 137 133 143 +f 133 140 143 +f 140 137 143 +f 129 130 144 +f 131 134 144 +f 139 131 144 +f 130 136 146 +f 142 139 146 +f 144 130 146 +f 139 144 146 +f 135 142 147 +f 145 135 147 +f 136 130 148 +f 130 141 148 +f 136 137 149 +f 146 136 149 +f 142 146 149 +f 147 142 149 +f 130 129 150 +f 129 134 150 +f 134 138 150 +f 141 130 150 +f 138 141 150 +f 133 137 151 +f 141 133 151 +f 141 151 152 +f 137 136 152 +f 136 148 152 +f 148 141 152 +f 151 137 152 +f 128 140 153 +f 145 128 153 +f 140 145 153 +f 134 129 154 +f 129 144 154 +f 144 134 154 +f 132 142 155 +f 142 135 155 +f 135 145 155 +f 137 128 156 +f 128 145 156 +f 145 147 156 +f 149 137 156 +f 147 149 156 +f 140 132 157 +f 145 140 157 +f 132 155 157 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/829/829.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/829/829.urdf new file mode 100644 index 000000000..b542e891a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/829/829.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/830/830.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/830/830.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/830/830.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/830/830.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/830/830.obj new file mode 100644 index 000000000..628237ebc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/830/830.obj @@ -0,0 +1,594 @@ +o convex_0 +v -0.700904 1.047234 1.564818 +v 0.460829 -1.131243 -1.085136 +v 0.932730 -1.131243 -1.085136 +v -0.664440 1.047234 -3.045716 +v 1.005445 1.047234 2.980422 +v -0.954873 -1.131243 3.016674 +v 1.041696 0.974305 -3.081967 +v -1.027588 -0.913097 -3.045716 +v 1.041696 -1.058528 3.052925 +v -1.100303 0.974518 2.871065 +v 1.041696 -1.022063 -3.045716 +v -1.027588 1.047234 -3.009465 +v -1.063839 -1.131243 0.293009 +v 1.078160 1.047234 -1.375145 +v -0.918622 -0.767879 3.089780 +v -0.591938 -0.985599 -3.082571 +v -1.100303 -0.477444 1.601069 +v -0.991337 -1.131243 -0.939528 +v 0.969194 -1.131243 1.237350 +v -1.100303 0.865552 2.943567 +v 1.041696 0.248217 3.016674 +v -1.027588 -0.658913 -3.081967 +v 0.787513 1.010769 -3.081967 +v -0.809656 -1.131243 3.089780 +v -0.954873 1.047234 1.310456 +v 1.078160 0.720121 -1.302643 +v -1.063839 -1.094565 1.418605 +v 1.041696 -0.150758 -3.081967 +v -0.446508 -0.695164 3.089780 +v 1.078160 1.047234 -0.903881 +v 0.787513 1.047234 2.980422 +v 0.533331 -1.022063 -3.045716 +v 1.041696 1.047234 -1.956975 +v -1.027588 0.938267 -3.045716 +v -1.100303 0.684083 2.943567 +v -0.991337 -0.949348 -3.081967 +v 0.351863 1.010769 -3.081967 +v 0.497080 0.575117 3.016674 +v -1.100303 -0.440980 1.527962 +v -0.846120 0.974518 2.944171 +v -1.100303 0.865552 2.581056 +v 1.041696 0.393435 2.980422 +v -0.047322 -1.058314 3.089780 +v -1.027588 1.047234 -0.431409 +v -0.954873 -1.058314 3.089780 +v 1.041696 -0.840595 3.052925 +v 1.041696 1.010556 -2.936963 +v 0.969194 -1.131243 -0.105149 +f 9 19 48 +f 4 1 5 +f 2 3 6 +f 3 2 11 +f 1 4 12 +f 2 6 13 +f 4 5 14 +f 8 13 17 +f 2 13 18 +f 13 8 18 +f 6 3 19 +f 10 17 20 +f 7 16 23 +f 6 19 24 +f 19 9 24 +f 10 1 25 +f 1 12 25 +f 9 11 26 +f 11 14 26 +f 13 6 27 +f 6 17 27 +f 17 13 27 +f 7 14 28 +f 14 11 28 +f 16 7 28 +f 11 16 28 +f 15 24 29 +f 14 5 30 +f 9 26 30 +f 26 14 30 +f 5 1 31 +f 1 10 31 +f 11 2 32 +f 16 11 32 +f 2 18 32 +f 18 16 32 +f 4 14 33 +f 12 4 34 +f 17 6 35 +f 20 17 35 +f 18 8 36 +f 16 18 36 +f 22 16 36 +f 8 22 36 +f 16 22 37 +f 4 23 37 +f 23 16 37 +f 34 4 37 +f 22 34 37 +f 21 5 38 +f 15 29 38 +f 29 21 38 +f 5 31 38 +f 17 10 39 +f 8 17 39 +f 22 8 39 +f 12 34 39 +f 34 22 39 +f 10 20 40 +f 20 15 40 +f 31 10 40 +f 15 38 40 +f 38 31 40 +f 10 12 41 +f 39 10 41 +f 12 39 41 +f 5 21 42 +f 30 5 42 +f 21 30 42 +f 24 9 43 +f 29 24 43 +f 12 10 44 +f 10 25 44 +f 25 12 44 +f 15 20 45 +f 6 24 45 +f 24 15 45 +f 35 6 45 +f 20 35 45 +f 21 29 46 +f 30 21 46 +f 9 30 46 +f 43 9 46 +f 29 43 46 +f 14 7 47 +f 23 4 47 +f 7 23 47 +f 4 33 47 +f 33 14 47 +f 3 11 48 +f 11 9 48 +f 19 3 48 +o convex_1 +v -0.555598 2.535600 1.019857 +v 1.078146 1.120070 -0.940260 +v 1.041662 1.846243 -0.141457 +v -0.991139 3.007643 -1.121942 +v -0.918583 1.047433 1.056535 +v -1.027623 1.047433 -0.940260 +v 0.969106 3.080280 -0.940260 +v 1.005384 1.047433 1.056322 +v 0.969106 2.935005 1.019857 +v -1.027623 3.080280 0.983606 +v 1.078146 1.047433 -1.085477 +v 0.497081 3.080280 0.584418 +v -0.628154 3.080280 -0.758791 +v -1.027623 1.955099 -1.049226 +v 1.005384 2.789731 -0.976511 +v -0.954861 1.265344 1.056535 +v -1.027623 1.047433 -0.431892 +v 1.005384 1.628331 1.056322 +v 0.823788 1.047433 -1.085477 +v -0.809749 3.007643 -1.121942 +v -0.192406 1.846243 1.056322 +v -1.027623 1.120070 -0.976511 +v -1.027623 2.644456 0.983606 +v -1.027623 3.043862 -0.068954 +v 1.005384 2.572018 0.620669 +v 1.041662 1.265344 -1.085477 +v 0.969106 3.080280 -0.504394 +v -0.991139 2.826149 -1.121942 +v 0.678676 2.971225 1.019857 +v 1.041662 1.083851 0.366485 +v 0.751232 3.080280 -0.976511 +v -0.954861 1.519475 1.056535 +v 0.969106 2.971225 0.802138 +v 1.005384 2.063956 0.983606 +v 0.242929 3.080280 -0.976511 +v -0.846027 3.080280 0.983606 +v -1.027623 3.080280 0.656920 +v 0.351969 2.935005 1.019857 +f 80 69 86 +f 53 54 56 +f 56 54 59 +f 55 58 60 +f 58 55 61 +f 54 58 62 +f 51 50 63 +f 50 59 63 +f 54 53 65 +f 58 54 65 +f 53 64 65 +f 53 56 66 +f 59 54 67 +f 66 57 69 +f 54 62 70 +f 67 54 70 +f 62 67 70 +f 64 58 71 +f 58 65 71 +f 65 64 71 +f 62 58 72 +f 52 62 72 +f 51 63 73 +f 63 59 74 +f 59 68 74 +f 68 63 74 +f 55 60 75 +f 63 55 75 +f 62 52 76 +f 59 67 76 +f 67 62 76 +f 52 68 76 +f 68 59 76 +f 57 60 77 +f 69 57 77 +f 50 51 78 +f 59 50 78 +f 56 59 78 +f 66 56 78 +f 61 55 79 +f 55 63 79 +f 68 52 79 +f 63 68 79 +f 49 58 80 +f 64 53 80 +f 58 64 80 +f 53 66 80 +f 66 69 80 +f 60 57 81 +f 73 63 81 +f 57 73 81 +f 75 60 81 +f 63 75 81 +f 57 66 82 +f 51 73 82 +f 73 57 82 +f 78 51 82 +f 66 78 82 +f 52 61 83 +f 79 52 83 +f 61 79 83 +f 60 58 84 +f 58 77 84 +f 77 60 84 +f 61 52 85 +f 58 61 85 +f 52 72 85 +f 72 58 85 +f 58 49 86 +f 77 58 86 +f 69 77 86 +f 49 80 86 +o convex_2 +v -0.519390 3.334958 -0.540915 +v 0.606156 4.931999 0.584532 +v 0.606156 4.931999 0.475576 +v 0.533441 3.080674 0.584532 +v -0.446674 4.895645 0.475576 +v 0.497194 5.040866 -0.613631 +v 0.533441 3.080674 -0.468317 +v -0.483032 3.080674 0.584532 +v -0.446674 5.077220 -0.432077 +v -0.519390 3.080674 -0.613631 +v -0.519390 3.225895 0.548174 +v -0.483032 4.859291 -0.468317 +v -0.410427 4.968158 0.475576 +v 0.388120 4.931999 0.584532 +v 0.133947 5.077220 -0.468317 +v 0.497194 3.298604 -0.504675 +v -0.410427 3.080674 -0.613631 +v 0.424478 5.040866 -0.613631 +v -0.337822 5.077220 -0.286763 +v 0.569689 4.968158 0.402978 +v -0.519390 3.225895 -0.613631 +v 0.606156 4.750424 0.548174 +v -0.483032 4.895645 -0.395719 +v 0.497194 5.040866 -0.286763 +v 0.025315 5.077220 -0.540915 +f 104 107 111 +f 88 89 92 +f 92 89 93 +f 93 90 94 +f 90 88 94 +f 93 94 96 +f 87 96 97 +f 94 91 97 +f 96 94 97 +f 95 91 99 +f 94 88 100 +f 91 94 100 +f 88 99 100 +f 99 91 100 +f 92 93 102 +f 96 92 103 +f 93 96 103 +f 92 102 103 +f 102 93 103 +f 92 96 104 +f 95 99 105 +f 101 95 105 +f 101 105 106 +f 99 88 106 +f 105 99 106 +f 96 87 107 +f 87 98 107 +f 104 96 107 +f 89 88 108 +f 88 90 108 +f 93 89 108 +f 90 93 108 +f 91 95 109 +f 87 97 109 +f 97 91 109 +f 95 98 109 +f 98 87 109 +f 88 92 110 +f 92 101 110 +f 101 106 110 +f 106 88 110 +f 98 95 111 +f 101 92 111 +f 95 101 111 +f 92 104 111 +f 107 98 111 +o convex_3 +v -0.555531 -1.458124 2.037005 +v 0.606156 -2.365656 1.383448 +v 0.606156 -2.401900 1.383448 +v 0.533441 -1.494478 3.089581 +v -0.592006 -2.510742 3.089581 +v -0.592006 -2.583561 1.056869 +v 0.460843 -1.458124 1.056869 +v 0.424485 -2.547096 3.089581 +v -0.592006 -1.458124 3.053162 +v -0.483050 -1.494478 1.056869 +v 0.606156 -2.547207 1.056670 +v 0.206691 -1.458124 3.089581 +v -0.592006 -2.183995 1.056869 +v 0.497083 -1.458124 1.311008 +v 0.460843 -2.547096 2.980522 +v 0.134093 -2.583561 1.093089 +v -0.592006 -2.583561 1.637587 +v -0.592006 -1.494478 3.089581 +v 0.569799 -1.821225 2.436224 +v -0.592006 -2.547096 2.726383 +v -0.047344 -1.458124 1.056869 +v 0.533441 -1.676029 3.089581 +v 0.606156 -2.401900 1.056670 +v -0.047344 -2.547096 3.089581 +v 0.533441 -1.494478 2.436024 +v -0.519290 -1.603431 1.093089 +v -0.592006 -1.458124 2.653744 +v 0.497083 -1.458124 2.290745 +f 125 123 139 +f 115 116 119 +f 117 116 120 +f 118 112 120 +f 113 114 122 +f 116 115 123 +f 118 120 123 +f 117 120 124 +f 122 117 124 +f 118 123 125 +f 122 114 126 +f 122 126 127 +f 117 122 127 +f 126 119 127 +f 127 119 128 +f 116 117 128 +f 117 127 128 +f 120 116 129 +f 116 123 129 +f 123 120 129 +f 114 113 130 +f 116 128 131 +f 112 118 132 +f 121 112 132 +f 115 119 133 +f 126 114 133 +f 119 126 133 +f 114 130 133 +f 130 115 133 +f 113 122 134 +f 124 121 134 +f 122 124 134 +f 118 125 134 +f 130 113 134 +f 132 118 134 +f 121 132 134 +f 119 116 135 +f 128 119 135 +f 116 131 135 +f 131 128 135 +f 125 115 136 +f 115 130 136 +f 134 125 136 +f 130 134 136 +f 112 121 137 +f 121 124 137 +f 137 124 138 +f 120 112 138 +f 124 120 138 +f 112 137 138 +f 123 115 139 +f 115 125 139 +o convex_4 +v 0.460875 -1.494323 -3.082180 +v -0.592006 -2.619648 -1.231051 +v -0.228855 -2.619648 -1.231051 +v 0.497233 -1.494323 -1.085634 +v -0.592006 -1.530787 -2.283562 +v 0.460875 -2.510806 -2.937155 +v -0.483039 -2.474452 -3.009667 +v 0.460875 -2.619648 -1.085634 +v -0.519290 -1.530787 -1.085634 +v -0.592006 -1.530787 -3.009667 +v -0.592006 -2.619648 -1.085634 +v -0.410324 -1.494323 -3.046021 +v 0.460875 -2.547050 -2.682871 +v -0.519290 -2.510806 -2.755579 +v 0.497233 -1.857533 -1.739422 +v -0.592006 -1.784935 -3.009667 +v 0.025116 -1.494323 -1.122184 +v 0.497233 -2.147706 -1.085634 +v -0.555648 -1.530787 -1.303759 +v 0.315551 -2.510806 -2.973313 +v 0.497233 -1.494323 -2.138341 +v -0.301464 -2.510806 -2.973313 +v -0.592006 -2.293012 -1.085634 +v -0.083638 -2.075107 -3.046021 +v -0.592006 -2.583404 -1.485334 +f 155 153 164 +f 141 142 147 +f 147 143 148 +f 141 144 149 +f 144 141 150 +f 141 147 150 +f 147 148 150 +f 143 140 151 +f 149 144 151 +f 142 141 152 +f 147 142 152 +f 141 149 155 +f 151 146 155 +f 149 151 155 +f 146 153 155 +f 148 143 156 +f 143 151 156 +f 151 148 156 +f 143 147 157 +f 152 145 157 +f 147 152 157 +f 154 143 157 +f 145 154 157 +f 148 151 158 +f 151 144 158 +f 140 145 159 +f 145 152 159 +f 140 143 160 +f 145 140 160 +f 143 154 160 +f 154 145 160 +f 152 141 161 +f 153 146 161 +f 141 153 161 +f 146 159 161 +f 159 152 161 +f 144 150 162 +f 150 148 162 +f 158 144 162 +f 148 158 162 +f 151 140 163 +f 146 151 163 +f 140 159 163 +f 159 146 163 +f 153 141 164 +f 141 155 164 +o convex_5 +v -1.027523 -1.204147 -0.540865 +v 1.041852 -2.655967 1.019840 +v 1.005366 -1.785031 1.056535 +v 0.969087 -1.276660 -1.085634 +v -0.954964 -3.091630 -1.012663 +v -0.991244 -3.091630 0.983773 +v -1.064009 -1.131243 0.983773 +v 1.005366 -2.982764 -0.940320 +v 0.969087 -1.131243 1.056535 +v -0.991244 -1.131243 -0.940320 +v 0.896528 -2.982764 1.019840 +v 0.932807 -1.131439 -1.085634 +v -0.628242 -2.583259 1.056535 +v -0.591963 -2.619613 -1.085634 +v -0.737081 -3.127789 0.983773 +v 0.460761 -2.619613 -1.085634 +v -0.519404 -1.567102 -1.085634 +v -1.064009 -1.530943 0.511766 +v -0.700801 -1.349368 1.056535 +v 1.041852 -2.946409 0.148797 +v -0.664522 -3.091630 -1.012663 +v 0.896528 -2.801188 1.056535 +v 1.041852 -2.946409 1.019840 +v -0.918685 -3.127789 0.039760 +v 0.424482 -1.131439 -1.085634 +v -0.991244 -1.930252 -0.976596 +v 0.569806 -3.019118 -0.940320 +v 1.005366 -2.293012 -0.976596 +v -0.192476 -3.055276 1.019840 +v 1.005366 -2.982764 0.148797 +v -1.064009 -1.639810 0.983773 +v -0.991244 -2.619613 -0.577141 +v 0.969087 -1.131243 -0.322790 +v -0.918685 -2.292817 1.019840 +v -1.064009 -1.131243 0.293691 +v -0.846126 -1.131243 1.019840 +v -0.954964 -2.474392 -1.012663 +v -0.809640 -1.131243 -0.976596 +v -0.954964 -3.127789 0.983773 +v 1.005366 -2.655967 -0.976596 +f 192 184 204 +f 171 173 174 +f 167 173 177 +f 176 168 178 +f 178 168 180 +f 169 178 180 +f 176 178 181 +f 177 173 183 +f 168 166 184 +f 180 172 185 +f 169 180 185 +f 167 177 186 +f 166 167 187 +f 184 166 187 +f 172 184 187 +f 167 186 187 +f 186 175 187 +f 169 185 188 +f 176 181 189 +f 165 174 190 +f 185 172 191 +f 179 188 191 +f 188 185 191 +f 168 184 192 +f 179 175 193 +f 175 186 193 +f 186 177 193 +f 175 179 194 +f 172 187 194 +f 187 175 194 +f 191 172 194 +f 179 191 194 +f 182 170 195 +f 171 182 195 +f 169 170 196 +f 182 165 196 +f 170 182 196 +f 165 190 196 +f 190 169 196 +f 167 166 197 +f 166 168 197 +f 173 167 197 +f 174 173 197 +f 168 176 197 +f 170 177 198 +f 183 171 198 +f 177 183 198 +f 195 170 198 +f 171 195 198 +f 171 174 199 +f 174 165 199 +f 165 182 199 +f 182 171 199 +f 173 171 200 +f 171 183 200 +f 183 173 200 +f 178 169 201 +f 174 181 201 +f 181 178 201 +f 190 174 201 +f 169 190 201 +f 181 174 202 +f 176 189 202 +f 189 181 202 +f 174 197 202 +f 197 176 202 +f 170 169 203 +f 177 170 203 +f 169 188 203 +f 188 179 203 +f 193 177 203 +f 179 193 203 +f 180 168 204 +f 172 180 204 +f 184 172 204 +f 168 192 204 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/830/830.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/830/830.urdf new file mode 100644 index 000000000..541172683 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/830/830.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/831/831.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/831/831.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/831/831.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/831/831.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/831/831.obj new file mode 100644 index 000000000..76e68ac92 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/831/831.obj @@ -0,0 +1,792 @@ +o convex_0 +v -0.863574 -0.931498 -0.762704 +v 0.915946 -0.790257 0.761987 +v 0.887548 -0.790257 0.875013 +v 0.859330 -1.270430 0.790244 +v 0.322653 -1.270430 -1.807808 +v -0.411730 -1.270430 1.694065 +v 0.746279 -0.790257 -1.016626 +v -0.806959 -0.790257 0.874626 +v -0.835356 -1.270430 -0.536652 +v -0.496383 -0.790257 -1.214808 +v 0.040295 -1.242135 2.004887 +v -0.439947 -1.270430 -1.723039 +v 0.802895 -1.270430 -0.819217 +v -0.863574 -1.270430 0.677217 +v 0.068513 -0.790257 1.270217 +v -0.016141 -0.790257 -1.383960 +v 0.435524 -1.270430 1.750578 +v -0.920189 -0.790257 0.309883 +v 0.915946 -0.818505 -0.254087 +v -0.100974 -1.242135 -1.949478 +v -0.778921 -0.790257 -1.017013 +v 0.548575 -0.790257 1.213704 +v -0.411730 -0.790257 1.214091 +v 0.435524 -0.790257 -1.270934 +v 0.887548 -1.213886 -0.056678 +v -0.778921 -1.270430 -0.903600 +v 0.859330 -0.790257 -0.790961 +v -0.129192 -1.242135 1.948761 +v -0.806959 -1.270430 0.874626 +v 0.859330 -0.790257 0.959783 +v 0.350870 -1.242135 -1.779552 +v -0.891792 -1.157390 0.535935 +v -0.863574 -0.790257 -0.790961 +v -0.016141 -1.242135 -1.949091 +v 0.435524 -1.242135 1.750578 +v 0.915946 -0.903250 0.733730 +v -0.411730 -1.242135 -1.751295 +v -0.044359 -1.270430 2.004887 +v 0.859330 -0.875002 -0.790961 +v -0.863574 -0.790257 0.705474 +v 0.746279 -1.213886 1.100678 +v -0.722305 -1.157390 -1.101782 +v -0.270461 -1.242135 1.835348 +v 0.915946 -0.987995 -0.056678 +v -0.100974 -1.270430 -1.949478 +v -0.044359 -1.242135 2.004887 +v 0.859330 -1.270430 -0.282343 +v -0.496383 -0.790257 1.157578 +v -0.863574 -1.270430 0.084218 +f 32 18 49 +f 5 4 6 +f 3 2 7 +f 3 7 8 +f 5 6 9 +f 8 7 10 +f 5 9 12 +f 4 5 13 +f 9 6 14 +f 3 8 15 +f 10 7 16 +f 6 4 17 +f 8 10 18 +f 10 16 20 +f 18 10 21 +f 3 15 22 +f 15 11 22 +f 15 8 23 +f 16 7 24 +f 9 1 26 +f 12 9 26 +f 7 2 27 +f 2 19 27 +f 6 8 29 +f 14 6 29 +f 4 3 30 +f 3 22 30 +f 13 5 31 +f 24 7 31 +f 1 18 33 +f 18 21 33 +f 20 16 34 +f 16 24 34 +f 31 5 34 +f 24 31 34 +f 11 17 35 +f 22 11 35 +f 17 30 35 +f 30 22 35 +f 2 3 36 +f 3 4 36 +f 19 2 36 +f 4 25 36 +f 10 20 37 +f 12 21 37 +f 21 10 37 +f 6 17 38 +f 17 11 38 +f 7 27 39 +f 27 19 39 +f 13 31 39 +f 31 7 39 +f 8 18 40 +f 29 8 40 +f 14 29 40 +f 32 14 40 +f 18 32 40 +f 17 4 41 +f 4 30 41 +f 30 17 41 +f 21 12 42 +f 26 1 42 +f 12 26 42 +f 1 33 42 +f 33 21 42 +f 8 6 43 +f 6 38 43 +f 38 28 43 +f 19 36 44 +f 36 25 44 +f 39 19 44 +f 5 12 45 +f 34 5 45 +f 20 34 45 +f 12 37 45 +f 37 20 45 +f 11 15 46 +f 15 23 46 +f 23 28 46 +f 38 11 46 +f 28 38 46 +f 4 13 47 +f 25 4 47 +f 13 39 47 +f 44 25 47 +f 39 44 47 +f 23 8 48 +f 28 23 48 +f 8 43 48 +f 43 28 48 +f 1 9 49 +f 9 14 49 +f 18 1 49 +f 14 32 49 +o convex_1 +v -0.609331 -0.789793 -1.130103 +v 0.124891 -0.761404 1.270820 +v 0.096621 -0.761404 1.270820 +v -0.016060 3.474855 -0.339207 +v 0.944123 -0.196541 -0.791002 +v -0.891832 2.514631 0.140570 +v 0.831043 2.486242 0.846754 +v -0.835292 -0.761404 0.847008 +v 0.802773 2.486242 -0.791002 +v 0.915853 -0.789793 0.790534 +v -0.665871 2.542603 0.733805 +v -0.778752 2.514631 -0.791002 +v 0.407392 -0.789793 -1.271288 +v -0.976642 0.029320 -0.649816 +v 0.972393 2.486242 -0.000361 +v -0.326831 3.474855 0.310248 +v -0.044330 2.712103 -0.904205 +v -0.072600 2.598964 0.931720 +v 0.661622 3.220605 0.084096 +v -0.411641 -0.789793 1.214092 +v 1.028933 0.029320 0.536145 +v -0.072600 -0.761404 -1.328017 +v 0.548742 -0.789793 1.214092 +v -0.920102 -0.789793 0.423196 +v -0.665871 3.248576 0.027621 +v 0.859313 -0.789793 -0.819239 +v 0.266042 3.474855 0.310248 +v -1.004912 0.311960 0.112333 +v -0.835292 0.481461 0.818517 +v -0.807022 -0.761404 -0.988917 +v 0.492202 3.220605 -0.480393 +v -0.016060 3.192215 0.677331 +v 1.000663 0.198821 0.762297 +v 1.028933 0.114071 -0.254241 +v -0.496451 3.220605 -0.480139 +v -0.920102 2.514631 -0.000616 +v -0.496451 3.248576 0.507908 +v 0.944123 0.311960 -0.791002 +v 0.944123 -0.733432 -0.056581 +v -0.778752 2.401492 -0.819239 +v 0.096621 2.683714 -0.904205 +v 0.492202 3.220605 0.507908 +v 0.831043 -0.394431 0.988194 +v -0.072600 3.220605 -0.621579 +v -0.948372 0.340349 -0.762765 +v 0.689892 -0.705043 -1.073628 +v 0.350852 3.474855 -0.113056 +v -0.355101 3.474855 -0.197767 +v -0.468181 -0.705043 -1.214814 +v 0.407392 -0.676653 -1.271288 +v -0.891832 -0.705043 -0.734528 +v 0.689892 3.192215 -0.056581 +v -0.694141 2.486242 0.733805 +v 0.859313 2.288770 0.846754 +v 1.028933 0.961573 -0.028598 +v -0.863562 0.424682 0.762042 +v -0.807022 2.486242 -0.734528 +v -1.004912 0.170431 -0.198022 +v 0.040280 2.570992 0.931465 +v 0.859313 -0.789793 0.959957 +v 0.802773 2.259963 -0.819239 +v 0.520472 2.542603 -0.847731 +v 0.972393 2.486242 -0.028598 +v -0.129140 2.514214 0.931720 +f 102 69 113 +f 59 50 62 +f 52 51 67 +f 56 64 68 +f 51 52 69 +f 50 59 69 +f 52 67 69 +f 62 50 71 +f 56 51 72 +f 51 69 72 +f 69 59 72 +f 50 69 73 +f 69 57 73 +f 59 62 75 +f 53 65 76 +f 73 57 77 +f 57 69 78 +f 50 73 79 +f 76 65 81 +f 59 70 82 +f 70 64 82 +f 61 74 84 +f 55 74 85 +f 77 55 85 +f 60 67 86 +f 65 74 86 +f 81 65 86 +f 67 81 86 +f 83 54 87 +f 70 59 88 +f 75 54 88 +f 59 75 88 +f 54 83 88 +f 83 70 88 +f 61 66 89 +f 66 71 89 +f 50 79 89 +f 71 66 90 +f 80 58 90 +f 56 68 91 +f 68 76 91 +f 81 56 91 +f 76 81 91 +f 66 61 93 +f 53 80 93 +f 84 53 93 +f 61 84 93 +f 90 66 93 +f 80 90 93 +f 79 63 94 +f 63 85 94 +f 89 79 94 +f 54 75 95 +f 75 62 95 +f 87 54 95 +f 53 76 96 +f 76 68 96 +f 80 53 96 +f 65 53 97 +f 74 65 97 +f 53 84 97 +f 84 74 97 +f 71 50 98 +f 50 89 98 +f 89 71 98 +f 62 71 99 +f 71 90 99 +f 95 62 99 +f 73 63 100 +f 63 79 100 +f 79 73 100 +f 68 64 101 +f 58 80 101 +f 96 68 101 +f 80 96 101 +f 74 55 102 +f 78 69 102 +f 60 86 102 +f 86 74 102 +f 64 56 103 +f 56 72 103 +f 82 64 103 +f 72 92 103 +f 92 82 103 +f 64 70 104 +f 70 83 104 +f 55 77 105 +f 77 57 105 +f 57 78 105 +f 102 55 105 +f 78 102 105 +f 74 61 106 +f 85 74 106 +f 61 89 106 +f 94 85 106 +f 89 94 106 +f 63 73 107 +f 73 77 107 +f 85 63 107 +f 77 85 107 +f 51 56 108 +f 67 51 108 +f 56 81 108 +f 81 67 108 +f 72 59 109 +f 59 82 109 +f 92 72 109 +f 82 92 109 +f 58 87 110 +f 87 95 110 +f 95 99 110 +f 110 99 111 +f 90 58 111 +f 99 90 111 +f 58 110 111 +f 87 58 112 +f 83 87 112 +f 58 101 112 +f 101 64 112 +f 64 104 112 +f 104 83 112 +f 67 60 113 +f 69 67 113 +f 60 102 113 +o convex_2 +v 0.124992 4.802743 0.169103 +v -0.411721 3.475444 -0.028532 +v -0.411721 3.475444 0.084353 +v 0.350981 3.475444 0.084353 +v 0.011961 4.972277 -0.226306 +v 0.040181 3.475444 -0.339329 +v -0.129142 3.475444 0.366877 +v -0.213879 4.915709 0.084353 +v -0.326836 3.644978 -0.226306 +v 0.294465 3.503728 -0.254510 +v 0.153213 5.000390 -0.028532 +v 0.237949 3.532013 0.310331 +v -0.044406 5.000390 0.225580 +v -0.326836 3.503728 0.310331 +v -0.213879 4.943993 -0.056805 +v -0.044406 5.226663 -0.028532 +v -0.072626 4.943993 -0.226306 +v -0.072626 3.475444 -0.339329 +v 0.011961 3.701546 0.366877 +v 0.350981 3.644978 -0.028532 +v 0.266170 3.616694 -0.282783 +v -0.016260 4.859140 0.253853 +v -0.242099 4.915709 0.027876 +v 0.181434 4.887424 0.027876 +v 0.266170 3.644978 0.282057 +v 0.153213 4.859140 -0.113282 +v -0.213879 4.604926 0.197307 +v -0.298690 3.475444 -0.254510 +v -0.213879 4.661494 -0.169759 +v 0.040181 5.169923 0.027876 +v 0.068477 3.475444 0.366877 +v -0.411721 3.616694 0.056080 +v -0.072626 3.588581 -0.339329 +v -0.242099 4.859140 -0.028532 +v -0.100847 4.915709 0.225580 +v 0.011961 4.972277 0.225580 +v 0.153213 4.604926 -0.198033 +v -0.100847 5.169923 0.027876 +v -0.072626 3.673262 0.366877 +f 135 148 152 +f 116 115 117 +f 117 115 119 +f 116 117 120 +f 117 119 123 +f 116 120 127 +f 124 118 129 +f 128 129 130 +f 129 118 130 +f 119 115 131 +f 117 123 133 +f 119 118 134 +f 123 119 134 +f 132 125 135 +f 117 133 137 +f 133 124 137 +f 125 117 138 +f 137 114 138 +f 117 137 138 +f 118 124 139 +f 133 123 139 +f 124 133 139 +f 123 134 139 +f 136 127 140 +f 121 136 140 +f 115 122 141 +f 122 130 141 +f 131 115 141 +f 128 130 142 +f 130 122 142 +f 124 129 143 +f 129 126 143 +f 137 124 143 +f 120 117 144 +f 117 125 144 +f 132 120 144 +f 125 132 144 +f 115 116 145 +f 116 127 145 +f 127 136 145 +f 118 119 146 +f 130 118 146 +f 119 131 146 +f 141 130 146 +f 131 141 146 +f 122 115 147 +f 136 128 147 +f 142 122 147 +f 128 142 147 +f 115 145 147 +f 145 136 147 +f 135 126 148 +f 121 140 148 +f 140 127 148 +f 135 125 149 +f 126 135 149 +f 114 137 149 +f 125 138 149 +f 138 114 149 +f 143 126 149 +f 137 143 149 +f 134 118 150 +f 118 139 150 +f 139 134 150 +f 126 129 151 +f 129 128 151 +f 136 121 151 +f 128 136 151 +f 121 148 151 +f 148 126 151 +f 127 120 152 +f 120 132 152 +f 132 135 152 +f 148 127 152 +o convex_3 +v -0.326943 -2.117744 -2.598906 +v 0.548719 -1.468284 -1.243273 +v 0.520376 -1.298800 -1.243273 +v -0.609459 -1.666032 -1.243447 +v 0.011917 -2.343863 -1.243447 +v 0.379232 -1.807146 -2.768403 +v -0.129228 -1.468284 -2.740183 +v -0.552888 -1.270640 -1.299888 +v 0.407461 -2.202434 -1.977879 +v -0.411630 -1.835201 -2.796624 +v 0.068374 -2.230803 -2.768403 +v -0.496430 -2.174169 -1.243447 +v 0.350890 -1.270535 -1.836602 +v 0.407461 -2.146009 -1.243273 +v -0.411630 -2.230803 -2.062541 +v 0.040145 -1.835201 -3.022737 +v -0.439859 -1.270640 -1.751766 +v -0.552888 -1.863571 -2.062541 +v 0.011917 -1.468284 -2.768403 +v 0.011917 -2.343863 -1.921263 +v 0.492148 -1.891731 -2.006099 +v -0.100999 -1.270640 -1.977879 +v 0.350890 -2.061320 -2.598906 +v -0.016426 -2.230803 -2.768403 +v -0.355059 -1.552973 -2.570685 +v -0.552888 -1.270640 -1.243447 +v -0.100999 -2.343863 -1.243447 +v 0.266090 -1.552973 -2.598906 +v -0.411630 -1.891731 -2.796624 +v 0.407461 -1.863571 -2.711962 +v 0.492148 -1.270535 -1.243273 +v -0.044428 -1.891731 -3.022737 +v 0.435690 -2.089479 -1.243273 +v -0.581117 -1.694192 -1.751766 +v -0.072770 -1.468284 -2.796624 +v 0.435690 -1.270535 -1.610663 +v 0.492148 -1.807146 -2.118982 +v -0.439859 -1.835201 -2.711962 +v 0.548719 -1.552973 -1.243273 +v -0.552888 -1.920101 -1.921263 +v 0.350890 -1.863571 -2.796624 +v -0.496430 -1.298800 -1.638883 +v 0.322661 -2.146114 -2.514244 +v 0.040145 -2.259068 -2.683742 +v 0.407461 -1.807146 -2.683742 +v -0.609459 -1.496443 -1.299888 +v -0.072770 -1.440124 -2.711962 +v -0.100999 -1.835201 -2.994516 +v -0.439859 -2.202434 -2.006099 +v -0.468088 -2.202434 -1.243447 +v -0.016426 -2.343863 -1.921263 +v -0.242143 -2.174169 -2.627126 +v 0.068374 -1.891731 -2.994516 +f 193 163 205 +f 154 155 166 +f 157 161 166 +f 156 164 166 +f 160 165 169 +f 158 168 171 +f 161 157 172 +f 169 165 174 +f 159 162 177 +f 169 159 177 +f 165 160 178 +f 157 166 179 +f 172 157 179 +f 158 171 180 +f 171 165 180 +f 153 167 181 +f 173 161 182 +f 161 175 182 +f 166 155 183 +f 156 166 183 +f 178 156 183 +f 165 178 183 +f 163 176 184 +f 176 181 184 +f 154 166 185 +f 166 161 185 +f 161 173 185 +f 170 156 186 +f 162 159 187 +f 171 168 187 +f 158 180 188 +f 180 165 188 +f 183 155 188 +f 165 183 188 +f 155 154 189 +f 173 182 189 +f 177 162 190 +f 162 181 190 +f 181 170 190 +f 186 160 190 +f 170 186 190 +f 154 185 191 +f 185 173 191 +f 189 154 191 +f 173 189 191 +f 164 156 192 +f 156 170 192 +f 168 158 193 +f 175 163 193 +f 158 182 193 +f 182 175 193 +f 160 169 194 +f 169 177 194 +f 190 160 194 +f 177 190 194 +f 161 163 195 +f 175 161 195 +f 163 175 195 +f 163 161 196 +f 161 172 196 +f 167 176 196 +f 176 163 196 +f 182 158 197 +f 188 155 197 +f 158 188 197 +f 155 189 197 +f 189 182 197 +f 156 178 198 +f 178 160 198 +f 186 156 198 +f 160 186 198 +f 159 169 199 +f 165 171 199 +f 169 174 199 +f 174 165 199 +f 187 159 199 +f 171 187 199 +f 181 162 200 +f 168 184 200 +f 184 181 200 +f 162 187 200 +f 187 168 200 +f 167 164 201 +f 181 167 201 +f 170 181 201 +f 164 192 201 +f 192 170 201 +f 166 164 202 +f 164 167 202 +f 179 166 202 +f 167 179 202 +f 179 167 203 +f 172 179 203 +f 196 172 203 +f 167 196 203 +f 167 153 204 +f 176 167 204 +f 153 181 204 +f 181 176 204 +f 184 168 205 +f 163 184 205 +f 168 193 205 +o convex_4 +v -0.552832 -1.948305 -1.243272 +v 0.859449 -1.270577 0.762341 +v 0.859449 -1.355274 0.762341 +v -0.383318 -1.835619 2.767954 +v 0.040215 -2.767440 0.056586 +v -0.863693 -1.270577 0.169474 +v 0.605093 -1.270577 -1.186417 +v -0.778852 -2.174263 0.931673 +v 0.350906 -2.089565 2.513339 +v 0.718103 -2.061284 -0.762881 +v 0.011878 -1.383702 2.739526 +v -0.637674 -1.270577 -1.186005 +v -0.044458 -2.682596 -0.818913 +v 0.746271 -2.089565 0.818785 +v 0.011878 -2.202398 2.711098 +v 0.407411 -2.145982 -1.243272 +v -0.722347 -2.033002 -0.790897 +v -0.835356 -1.270577 0.790769 +v 0.407411 -1.750774 2.711098 +v -0.552832 -2.428503 1.044560 +v 0.040215 -2.739158 0.763165 +v 0.011878 -1.270430 2.146247 +v 0.802776 -1.270577 -0.790897 +v 0.463916 -2.202544 2.004931 +v 0.068383 -1.807337 2.965714 +v -0.468160 -2.202398 -1.243272 +v -0.326813 -1.468400 2.513339 +v 0.774608 -2.061284 -0.197618 +v -0.807188 -1.440119 -0.762469 +v 0.492084 -1.270430 -1.243272 +v 0.435579 -1.270430 1.778744 +v -0.298645 -2.117700 2.485322 +v 0.011878 -2.343658 -1.243272 +v 0.011878 -2.710877 -0.762469 +v -0.807188 -2.061284 0.875229 +v -0.411655 -1.270430 1.779155 +v 0.859449 -1.468253 -0.056714 +v -0.044458 -2.767440 0.000142 +v 0.435579 -1.807191 2.626226 +v 0.294402 -1.468400 2.541354 +v -0.044458 -2.710877 -0.762469 +v -0.552832 -1.270577 -1.243272 +v 0.096719 -2.202544 2.682670 +v 0.774608 -2.033002 0.762341 +v -0.016122 -2.739158 0.734737 +v 0.520421 -2.315523 0.762753 +v -0.665842 -2.315377 0.931673 +v -0.807188 -1.270577 -0.790897 +v -0.383318 -1.779056 2.767954 +v -0.665842 -1.411837 -1.186005 +v -0.750683 -2.004868 -0.678009 +v 0.548589 -1.552951 -1.243272 +v -0.044458 -1.807337 2.965714 +v -0.863693 -1.468253 0.621437 +v -0.044458 -1.383702 2.739526 +v 0.859449 -1.298712 -0.254474 +v 0.802776 -1.355274 -0.790897 +v 0.718103 -1.270577 1.157448 +v 0.802776 -1.948451 0.000142 +v 0.040215 -2.767440 -0.028286 +v 0.379074 -1.807191 2.739114 +v 0.718103 -1.976733 -0.818913 +v -0.863693 -1.326993 0.677881 +v -0.609337 -2.117847 -1.016673 +f 246 252 269 +f 224 216 230 +f 206 221 231 +f 221 206 235 +f 207 228 235 +f 228 212 235 +f 227 216 236 +f 207 235 236 +f 235 227 236 +f 209 213 237 +f 220 209 237 +f 213 225 237 +f 225 220 237 +f 231 221 238 +f 218 231 238 +f 221 215 239 +f 218 238 239 +f 238 221 239 +f 213 209 240 +f 211 223 241 +f 223 232 241 +f 227 235 241 +f 207 208 242 +f 208 207 244 +f 207 224 244 +f 214 229 244 +f 216 224 245 +f 236 216 245 +f 231 218 246 +f 218 239 246 +f 243 225 246 +f 235 206 247 +f 217 235 247 +f 220 226 248 +f 229 214 248 +f 226 229 248 +f 230 220 248 +f 229 219 249 +f 219 233 249 +f 208 244 249 +f 244 229 249 +f 220 225 250 +f 210 226 250 +f 226 220 250 +f 225 243 250 +f 243 210 250 +f 226 210 251 +f 219 229 251 +f 229 226 251 +f 233 219 251 +f 213 222 252 +f 225 213 252 +f 246 225 252 +f 234 211 253 +f 235 217 253 +f 211 241 253 +f 241 235 253 +f 232 223 254 +f 206 222 255 +f 222 234 255 +f 247 206 255 +f 217 247 255 +f 234 253 255 +f 253 217 255 +f 222 213 256 +f 234 222 256 +f 213 240 256 +f 221 235 257 +f 235 212 257 +f 209 220 258 +f 230 216 258 +f 220 230 258 +f 254 209 258 +f 211 234 259 +f 234 256 259 +f 256 240 259 +f 216 227 260 +f 227 241 260 +f 241 232 260 +f 232 254 260 +f 258 216 260 +f 254 258 260 +f 228 207 261 +f 207 242 261 +f 261 242 262 +f 212 228 262 +f 233 215 262 +f 242 233 262 +f 257 212 262 +f 228 261 262 +f 224 207 263 +f 207 236 263 +f 245 224 263 +f 236 245 263 +f 242 208 264 +f 233 242 264 +f 249 233 264 +f 208 249 264 +f 215 233 265 +f 239 215 265 +f 210 243 265 +f 246 239 265 +f 243 246 265 +f 251 210 265 +f 233 251 265 +f 224 230 266 +f 244 224 266 +f 214 244 266 +f 248 214 266 +f 230 248 266 +f 215 221 267 +f 221 257 267 +f 262 215 267 +f 257 262 267 +f 223 211 268 +f 240 209 268 +f 209 254 268 +f 254 223 268 +f 211 259 268 +f 259 240 268 +f 222 206 269 +f 206 231 269 +f 231 246 269 +f 252 222 269 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/831/831.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/831/831.urdf new file mode 100644 index 000000000..5ac294d75 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/831/831.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/832/832.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/832/832.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/832/832.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/832/832.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/832/832.obj new file mode 100644 index 000000000..a02ad8e1d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/832/832.obj @@ -0,0 +1,1044 @@ +o convex_0 +v 0.021449 -2.986383 -0.607319 +v 0.021449 -2.872476 0.615505 +v -0.006886 -2.872476 0.615505 +v -0.063773 -4.578743 0.046705 +v -0.547201 -2.872476 -0.038400 +v 0.561872 -2.872476 -0.095375 +v 0.419656 -4.294310 -0.010031 +v -0.461763 -4.322703 0.075073 +v -0.092108 -4.351096 -0.379656 +v -0.006886 -4.322703 0.416329 +v 0.448099 -2.901036 0.444817 +v -0.433319 -2.872476 -0.436512 +v 0.391212 -3.668656 -0.436632 +v -0.404984 -3.583476 0.444817 +v 0.419656 -2.872476 -0.493488 +v -0.433319 -2.872476 0.444817 +v 0.391212 -3.697216 0.387841 +v -0.404984 -3.640430 -0.379656 +v 0.533320 -3.611870 -0.010031 +v -0.547201 -3.612036 0.018217 +v 0.021449 -4.351096 -0.379656 +v -0.035329 -3.555083 -0.550224 +v 0.021449 -3.498296 0.558529 +v 0.391212 -4.351096 -0.066768 +v -0.347989 -4.123616 0.331105 +v -0.347989 -4.152176 -0.265944 +v 0.305882 -4.180570 0.274249 +v 0.305882 -4.095223 -0.351168 +v -0.035329 -2.872476 -0.607319 +v -0.461763 -4.322703 0.018217 +v 0.561872 -2.872476 0.075073 +v -0.063773 -4.578743 -0.038400 +v -0.547201 -3.583476 0.075073 +v 0.391212 -4.351096 0.018217 +v 0.419656 -2.872476 0.473305 +v 0.533320 -3.583476 -0.066888 +v 0.448099 -2.901036 -0.465000 +v -0.547201 -2.872476 0.075073 +v -0.092108 -3.612036 0.530161 +v -0.035329 -4.322703 0.416329 +v 0.049892 -4.550183 0.046705 +v 0.106779 -3.612036 -0.521976 +v 0.419656 -3.640263 0.359473 +v -0.376433 -2.957823 -0.465000 +v -0.404984 -3.014776 0.473305 +v -0.006886 -4.578743 -0.038400 +v -0.006886 -4.294310 -0.408024 +v -0.433319 -3.640430 -0.322800 +v 0.220552 -3.612036 0.473305 +v -0.433319 -3.612036 0.387961 +v 0.419656 -4.265749 -0.066888 +v 0.362769 -3.526690 -0.465000 +f 13 42 52 +f 3 2 5 +f 5 2 6 +f 5 6 12 +f 12 6 15 +f 3 5 16 +f 5 12 20 +f 9 18 22 +f 2 3 23 +f 14 8 25 +f 18 9 26 +f 17 10 27 +f 24 21 28 +f 15 1 29 +f 12 15 29 +f 1 22 29 +f 4 8 30 +f 8 20 30 +f 26 9 30 +f 18 26 30 +f 6 2 31 +f 19 6 31 +f 9 21 32 +f 4 30 32 +f 30 9 32 +f 5 20 33 +f 20 8 33 +f 7 17 34 +f 24 7 34 +f 27 10 34 +f 17 27 34 +f 17 11 35 +f 2 23 35 +f 31 2 35 +f 11 31 35 +f 6 19 36 +f 19 7 36 +f 15 6 37 +f 13 15 37 +f 6 36 37 +f 36 13 37 +f 16 5 38 +f 5 33 38 +f 33 16 38 +f 3 14 39 +f 23 3 39 +f 23 39 40 +f 8 4 40 +f 4 10 40 +f 10 23 40 +f 25 8 40 +f 14 25 40 +f 39 14 40 +f 10 4 41 +f 34 10 41 +f 24 34 41 +f 22 1 42 +f 17 7 43 +f 11 17 43 +f 7 19 43 +f 31 11 43 +f 19 31 43 +f 18 12 44 +f 22 18 44 +f 12 29 44 +f 29 22 44 +f 14 3 45 +f 3 16 45 +f 16 14 45 +f 21 24 46 +f 32 21 46 +f 4 32 46 +f 41 4 46 +f 24 41 46 +f 21 9 47 +f 9 22 47 +f 13 28 47 +f 28 21 47 +f 42 13 47 +f 22 42 47 +f 12 18 48 +f 20 12 48 +f 30 20 48 +f 18 30 48 +f 10 17 49 +f 23 10 49 +f 17 35 49 +f 35 23 49 +f 8 14 50 +f 14 16 50 +f 33 8 50 +f 16 33 50 +f 7 24 51 +f 28 13 51 +f 24 28 51 +f 13 36 51 +f 36 7 51 +f 1 15 52 +f 15 13 52 +f 42 1 52 +o convex_1 +v -1.030547 -0.398851 -0.749330 +v 1.215889 -0.398851 0.444812 +v 1.215889 -0.398851 -0.123543 +v 0.362728 -2.872476 -0.521839 +v -0.774574 -2.019118 0.785862 +v -0.774574 -0.398851 0.871264 +v 0.817600 -1.990543 0.842735 +v 0.703943 -0.398851 -0.863076 +v -0.888476 -1.933879 -0.749330 +v -0.433359 -2.872476 0.444625 +v -1.286520 -0.427183 0.075045 +v 0.760772 -2.047692 -0.749330 +v 0.760772 -0.398851 0.928137 +v 0.760772 -2.616275 0.046702 +v -0.063730 -1.848398 -0.919949 +v -0.945304 -2.303651 -0.038514 +v -0.433359 -2.872476 -0.436437 +v -0.007146 -1.905304 0.956480 +v 0.078341 -2.872476 0.615244 +v 0.931502 -2.218170 0.018359 +v -0.035316 -2.587700 -0.777673 +v -0.802988 -0.398851 -0.863076 +v -1.201032 -0.398851 0.473155 +v -1.257860 -0.427183 -0.436437 +v 0.447971 -2.872476 0.473155 +v 1.130401 -0.455515 -0.464966 +v -0.007146 -0.398851 0.985010 +v -0.035316 -2.644607 0.785862 +v 0.106755 -0.398851 -0.919949 +v 0.959916 -0.654568 0.814391 +v -0.945304 -2.218170 0.131918 +v 0.590286 -2.872476 -0.066857 +v 0.561627 -2.644607 -0.578712 +v -0.547016 -2.872476 0.075045 +v 0.874673 -0.398851 -0.777673 +v -0.547016 -2.644607 0.586900 +v 0.561627 -2.644607 0.615244 +v 0.903087 -2.275077 0.188604 +v 0.903087 -2.275077 -0.095200 +v 0.732357 -1.990543 -0.777673 +v -0.632258 -2.474129 -0.607055 +v -0.035316 -2.872476 -0.607055 +v -0.802988 -2.019118 0.757519 +v -0.916890 -0.768381 0.757519 +v -0.831403 -1.905304 -0.777673 +v 0.789186 -1.962211 -0.749330 +v -0.205801 -0.398851 -0.919949 +v -1.229446 -0.398851 -0.521839 +v 0.078341 -1.876972 0.956480 +v -1.229446 -0.427183 0.387752 +v 1.187474 -0.455515 0.530028 +v 0.106755 -2.616275 0.785862 +v 1.187474 -0.427183 -0.294348 +v 1.215889 -0.512422 0.018359 +v -0.945304 -2.303651 0.046702 +v -1.286520 -0.455515 -0.095387 +v 0.760772 -0.882195 -0.834546 +v -0.859817 -0.825046 -0.834733 +v -0.007146 -1.791491 -0.919949 +v 0.846259 -0.398851 0.899607 +v 0.049927 -2.559368 -0.777673 +v 0.903087 -0.626235 -0.749330 +v 1.215889 -0.427183 0.444812 +v -0.945304 -2.189596 -0.209132 +f 68 76 116 +f 53 54 55 +f 54 53 58 +f 53 55 60 +f 54 58 65 +f 56 62 69 +f 58 57 70 +f 62 56 71 +f 53 60 74 +f 58 53 75 +f 71 56 77 +f 65 58 79 +f 58 70 79 +f 70 57 80 +f 62 71 80 +f 74 60 81 +f 66 77 84 +f 77 56 84 +f 84 56 85 +f 69 62 86 +f 68 69 86 +f 60 55 87 +f 80 57 88 +f 62 80 88 +f 86 62 88 +f 77 66 89 +f 71 77 89 +f 66 72 90 +f 59 89 90 +f 89 66 90 +f 72 66 91 +f 66 84 91 +f 85 64 91 +f 84 85 91 +f 68 61 93 +f 69 68 93 +f 61 73 93 +f 93 73 94 +f 56 69 94 +f 69 93 94 +f 88 57 95 +f 57 58 96 +f 58 75 96 +f 95 57 96 +f 75 95 96 +f 73 61 97 +f 67 73 97 +f 91 64 98 +f 64 92 98 +f 67 74 99 +f 81 67 99 +f 74 81 99 +f 53 61 100 +f 75 53 100 +f 63 75 100 +f 61 76 100 +f 76 63 100 +f 59 65 101 +f 65 79 101 +f 79 70 101 +f 75 63 102 +f 95 75 102 +f 83 95 102 +f 82 59 103 +f 70 80 104 +f 80 71 104 +f 89 59 104 +f 71 89 104 +f 59 101 104 +f 101 70 104 +f 55 72 105 +f 87 55 105 +f 78 87 105 +f 72 91 105 +f 98 78 105 +f 91 98 105 +f 55 54 106 +f 72 55 106 +f 68 86 107 +f 86 88 107 +f 95 83 107 +f 88 95 107 +f 102 63 107 +f 83 102 107 +f 76 68 108 +f 63 76 108 +f 107 63 108 +f 68 107 108 +f 60 87 109 +f 98 92 109 +f 61 53 110 +f 53 74 110 +f 74 67 110 +f 97 61 110 +f 67 97 110 +f 81 60 111 +f 67 81 111 +f 92 67 111 +f 60 109 111 +f 109 92 111 +f 54 65 112 +f 65 59 112 +f 59 82 112 +f 103 54 112 +f 82 103 112 +f 73 67 113 +f 64 85 113 +f 85 56 113 +f 67 92 113 +f 92 64 113 +f 94 73 113 +f 56 94 113 +f 87 78 114 +f 78 98 114 +f 109 87 114 +f 98 109 114 +f 59 90 115 +f 90 72 115 +f 54 103 115 +f 103 59 115 +f 106 54 115 +f 72 106 115 +f 61 68 116 +f 76 61 116 +o convex_2 +v -0.973449 1.450270 0.643642 +v 0.049860 3.411851 0.018312 +v 0.106811 3.383505 0.046610 +v 0.760714 1.251003 -0.806145 +v 0.931309 1.251003 0.785998 +v -1.058876 1.251003 -0.692433 +v -0.831589 2.502031 -0.664134 +v 0.789190 2.445128 -0.663961 +v -0.803113 2.416782 0.672286 +v 0.817665 2.445128 0.700585 +v 1.301232 1.279560 -0.066929 +v -1.343373 1.251003 -0.038286 +v -0.831589 3.099199 0.018312 +v 0.817665 3.099199 -0.009987 +v -0.035308 1.251214 0.899710 +v -0.092000 2.672741 -0.720904 +v -0.063525 2.644184 0.729056 +v -0.660735 1.279772 -0.834616 +v 1.244281 1.251003 0.501631 +v -0.774638 1.251003 0.814297 +v 1.215806 1.279560 -0.436537 +v -1.257946 1.308118 -0.493479 +v -1.200995 1.279772 0.444689 +v -0.007091 1.365021 -0.863087 +v 0.817665 1.421924 0.842768 +v -0.092000 3.383505 -0.038458 +v 0.476476 2.558934 -0.692433 +v -0.120476 3.383505 0.046610 +v -0.035308 2.530377 0.757527 +v 0.817665 3.099199 0.046610 +v -0.831589 3.099199 -0.038286 +v -0.859806 2.388436 -0.692433 +v 0.049860 2.729433 0.672114 +v 0.049860 3.156103 -0.265882 +v 1.244281 1.365021 0.416391 +v -0.859806 1.251003 -0.806145 +v -1.115827 1.734576 -0.578720 +v -0.063525 2.729433 -0.692433 +v 1.130379 1.251003 -0.521951 +v 0.732238 3.099199 -0.066757 +v 1.272757 1.421713 0.075081 +v 0.476476 2.530377 0.729056 +v 1.130379 1.620769 0.558574 +v -1.343373 1.279772 -0.038286 +v -0.774638 2.047439 0.729056 +v 0.760714 1.308118 -0.806145 +v -0.774638 2.502031 0.615344 +v 0.732238 2.530377 -0.635663 +v 0.021384 2.672741 -0.720904 +v 0.078335 1.279772 0.899710 +v 0.106811 1.251214 -0.863087 +v 0.078335 2.530377 0.757527 +v 0.789190 3.127757 0.046610 +v 0.817665 2.331532 0.729056 +v -0.803113 3.042296 0.103553 +v -0.035308 3.355159 0.103553 +v 0.590119 1.251003 0.871412 +v 0.049860 3.411851 -0.009987 +v -0.234119 2.587281 0.729056 +v 0.760714 2.473685 0.700585 +v -0.803113 2.473685 -0.692433 +v -0.859806 1.365021 -0.806145 +v -0.859806 2.530377 -0.578720 +v -0.035308 1.279772 0.899710 +f 175 161 180 +f 120 121 122 +f 122 121 128 +f 121 120 135 +f 125 117 136 +f 128 121 136 +f 124 130 137 +f 130 127 137 +f 122 128 138 +f 117 125 139 +f 125 129 139 +f 136 117 139 +f 128 136 139 +f 134 132 140 +f 142 123 147 +f 129 144 147 +f 144 142 147 +f 135 127 151 +f 120 122 152 +f 122 138 153 +f 138 147 153 +f 148 122 153 +f 123 142 154 +f 142 150 154 +f 135 120 155 +f 127 135 155 +f 124 137 155 +f 137 127 155 +f 127 130 157 +f 130 146 157 +f 151 127 157 +f 146 151 157 +f 149 133 158 +f 121 135 159 +f 146 126 159 +f 135 151 159 +f 151 146 159 +f 138 128 160 +f 139 129 160 +f 128 139 160 +f 129 147 160 +f 147 138 160 +f 125 136 161 +f 143 124 162 +f 155 120 162 +f 124 155 162 +f 130 124 164 +f 124 143 164 +f 143 150 164 +f 156 130 164 +f 150 156 164 +f 140 132 165 +f 150 143 165 +f 132 154 165 +f 154 150 165 +f 162 140 165 +f 143 162 165 +f 134 140 167 +f 120 152 167 +f 152 134 167 +f 162 120 167 +f 140 162 167 +f 133 145 168 +f 141 158 168 +f 158 133 168 +f 166 141 168 +f 145 166 168 +f 118 119 169 +f 126 146 169 +f 146 130 169 +f 141 121 170 +f 126 158 170 +f 158 141 170 +f 121 159 170 +f 159 126 170 +f 129 125 171 +f 144 129 171 +f 125 163 171 +f 163 144 171 +f 119 118 172 +f 118 144 172 +f 149 119 172 +f 133 149 172 +f 144 163 172 +f 136 121 173 +f 131 136 173 +f 121 141 173 +f 166 131 173 +f 141 166 173 +f 144 118 174 +f 142 144 174 +f 150 142 174 +f 130 156 174 +f 156 150 174 +f 118 169 174 +f 169 130 174 +f 145 133 175 +f 125 161 175 +f 163 125 175 +f 133 172 175 +f 172 163 175 +f 119 149 176 +f 158 126 176 +f 149 158 176 +f 169 119 176 +f 126 169 176 +f 132 134 177 +f 148 123 177 +f 123 154 177 +f 154 132 177 +f 122 148 178 +f 152 122 178 +f 134 152 178 +f 177 134 178 +f 148 177 178 +f 147 123 179 +f 123 148 179 +f 153 147 179 +f 148 153 179 +f 136 131 180 +f 161 136 180 +f 131 166 180 +f 166 145 180 +f 145 175 180 +o convex_3 +v 1.699442 0.284396 0.530058 +v 1.386666 1.251002 0.046594 +v 1.386666 1.251002 -0.010082 +v 3.035790 0.483049 -0.038475 +v 1.301255 -0.170664 -0.408255 +v 1.301255 -0.199224 0.473160 +v 1.301255 0.938109 -0.436648 +v 2.694656 0.454647 -0.436648 +v 1.301255 1.051874 0.473160 +v 2.694656 0.056707 -0.010193 +v 2.779897 0.511450 0.331083 +v 2.779897 0.852745 -0.066868 +v 1.358309 -0.369951 0.018312 +v 1.301255 0.369601 -0.550444 +v 2.552531 0.142071 -0.322853 +v 1.358309 0.568412 0.587067 +v 2.524004 0.795942 0.274185 +v 1.358309 1.023472 -0.408255 +v 2.580888 0.198874 0.274185 +v 2.012219 0.398161 -0.521939 +v 2.552531 0.738980 -0.322853 +v 2.211058 0.454647 0.473160 +v 2.779897 0.398003 -0.408144 +v 2.723013 0.085109 -0.123766 +v 1.472076 1.051874 0.444767 +v 2.751370 0.824344 0.075098 +v 1.301255 1.251002 -0.038475 +v 1.358309 -0.170664 -0.408255 +v 2.723013 0.398003 0.331083 +v 1.301255 0.312798 0.587067 +v 1.329952 -0.199224 0.473160 +v 1.983862 0.568412 0.501665 +v 1.329952 -0.369951 0.074987 +v 3.007433 0.398003 -0.038475 +v 1.983862 0.454647 -0.521939 +v 1.955335 0.028464 -0.408255 +v 2.040576 0.881306 0.387869 +v 2.779897 0.454647 -0.408144 +v 1.329952 1.165639 0.302578 +v 1.500433 0.426563 0.587067 +v 1.358309 -0.113702 -0.436648 +v 2.779897 0.113511 -0.010193 +v 1.358309 0.454647 -0.550444 +v 1.443550 -0.142262 0.473160 +v 2.580888 0.142071 0.217287 +v 2.694656 0.398003 -0.436648 +v 3.007433 0.483049 -0.123766 +v 2.836781 0.454647 0.274185 +v 1.301255 -0.369951 -0.010082 +v 2.779897 0.852745 -0.010193 +v 1.329952 1.222442 -0.095373 +v 2.723013 0.795942 -0.180664 +v 2.865308 0.767382 -0.066868 +v 1.699442 0.909707 -0.408255 +v 2.637772 0.738980 0.274185 +v 2.580888 0.511450 0.387869 +v 1.386666 -0.341232 -0.038475 +f 193 229 237 +f 185 186 187 +f 187 186 189 +f 183 182 192 +f 185 187 194 +f 190 193 204 +f 195 203 204 +f 191 184 206 +f 205 197 206 +f 182 183 207 +f 187 189 207 +f 198 187 207 +f 195 204 208 +f 189 186 210 +f 196 189 210 +f 210 186 211 +f 189 196 212 +f 205 189 212 +f 193 190 213 +f 211 186 213 +f 190 211 213 +f 204 203 214 +f 187 198 215 +f 188 200 215 +f 195 208 216 +f 197 205 217 +f 205 212 217 +f 188 201 218 +f 203 188 218 +f 189 205 219 +f 205 206 219 +f 182 207 219 +f 207 189 219 +f 181 202 220 +f 196 210 220 +f 212 196 220 +f 202 212 220 +f 185 194 221 +f 194 200 221 +f 208 185 221 +f 216 208 221 +f 190 204 222 +f 204 214 222 +f 194 187 223 +f 200 194 223 +f 187 215 223 +f 215 200 223 +f 202 181 224 +f 199 209 224 +f 209 202 224 +f 211 199 224 +f 210 211 224 +f 181 220 224 +f 220 210 224 +f 211 190 225 +f 199 211 225 +f 190 222 225 +f 222 199 225 +f 200 188 226 +f 188 203 226 +f 203 195 226 +f 195 216 226 +f 221 200 226 +f 216 221 226 +f 184 214 227 +f 214 203 227 +f 203 218 227 +f 184 191 228 +f 191 209 228 +f 209 199 228 +f 214 184 228 +f 199 222 228 +f 222 214 228 +f 186 185 229 +f 185 208 229 +f 213 186 229 +f 193 213 229 +f 192 182 230 +f 206 184 230 +f 182 219 230 +f 219 206 230 +f 183 192 231 +f 192 198 231 +f 207 183 231 +f 198 207 231 +f 198 192 232 +f 201 198 232 +f 218 201 232 +f 184 227 233 +f 227 218 233 +f 192 230 233 +f 230 184 233 +f 232 192 233 +f 218 232 233 +f 201 188 234 +f 198 201 234 +f 215 198 234 +f 188 215 234 +f 191 206 235 +f 206 197 235 +f 217 191 235 +f 197 217 235 +f 209 191 236 +f 202 209 236 +f 212 202 236 +f 191 217 236 +f 217 212 236 +f 204 193 237 +f 208 204 237 +f 229 208 237 +o convex_4 +v -1.315035 0.767454 0.473163 +v -2.964251 0.426307 0.018103 +v -2.935836 0.426307 -0.038380 +v -1.315035 -0.398389 0.018217 +v -1.315035 1.051771 -0.493440 +v -1.400443 -0.170742 -0.465028 +v -2.736768 0.482976 0.416338 +v -1.400443 1.251002 -0.010196 +v -1.372027 -0.199319 0.444750 +v -2.736768 0.028328 0.018103 +v -2.708352 0.482976 -0.351263 +v -2.679937 0.881116 0.075043 +v -1.315035 0.398053 -0.607091 +v -1.428858 1.023355 0.387811 +v -1.315035 0.369476 0.558401 +v -2.566115 0.142152 -0.294437 +v -2.026063 0.426307 -0.521967 +v -1.684918 0.994940 -0.436615 +v -2.566115 0.142152 0.302573 +v -2.537699 0.767454 0.330985 +v -1.315035 1.251002 -0.123847 +v -2.509284 0.767454 -0.265910 +v -2.111470 0.454561 0.501690 +v -1.343612 -0.398389 -0.038494 +v -1.315035 -0.170742 -0.465028 +v -2.708352 0.028328 -0.038380 +v -2.708352 0.852701 0.018103 +v -1.940817 0.824285 0.416338 +v -1.315035 1.051771 0.359398 +v -2.708352 0.398053 -0.351263 +v -2.026063 0.028328 -0.408202 +v -1.343612 1.137179 -0.408088 +v -1.372027 0.539969 -0.607091 +v -2.026063 0.482976 -0.521967 +v -2.935836 0.482976 0.131982 +v -1.315035 -0.199319 0.444750 +v -2.708352 0.369637 0.387925 +v -1.883825 0.284391 0.501690 +v -2.935836 0.539807 0.018103 +v -2.651361 0.881116 0.018103 +v -1.343612 -0.341397 0.160395 +v -2.708352 0.056744 0.103455 +v -1.826995 0.454561 0.530103 +v -2.935836 0.426307 0.131982 +v -2.679937 0.852701 0.131982 +v -1.343612 1.194010 0.131982 +v -2.850590 0.198983 -0.010310 +v -1.400443 1.251002 -0.066907 +v -2.736768 0.454561 0.416338 +v -1.969232 0.881116 -0.408202 +v -1.343612 1.222425 -0.209085 +v -1.400443 1.023355 -0.493440 +v -1.485850 -0.028503 -0.493440 +f 268 254 290 +f 238 241 242 +f 242 241 250 +f 241 238 252 +f 238 242 258 +f 241 247 261 +f 250 241 262 +f 243 250 262 +f 241 261 262 +f 261 243 262 +f 253 243 263 +f 243 261 263 +f 261 247 263 +f 259 248 264 +f 238 251 265 +f 257 244 265 +f 251 257 265 +f 244 260 265 +f 251 238 266 +f 238 258 266 +f 240 248 267 +f 248 254 267 +f 253 263 267 +f 243 253 268 +f 253 267 268 +f 267 254 268 +f 242 255 269 +f 258 242 269 +f 242 250 270 +f 250 254 270 +f 270 254 271 +f 254 248 271 +f 241 252 273 +f 252 246 273 +f 256 246 274 +f 246 252 275 +f 240 239 276 +f 248 240 276 +f 264 248 276 +f 249 264 276 +f 239 272 276 +f 255 259 277 +f 264 249 277 +f 259 264 277 +f 269 255 277 +f 247 241 278 +f 241 273 278 +f 273 246 278 +f 246 256 279 +f 256 274 279 +f 278 246 279 +f 247 278 279 +f 252 238 280 +f 238 265 280 +f 265 260 280 +f 275 252 280 +f 260 275 280 +f 244 272 281 +f 272 239 281 +f 247 279 281 +f 279 274 281 +f 245 249 282 +f 244 257 282 +f 257 251 282 +f 272 244 282 +f 249 276 282 +f 276 272 282 +f 258 245 283 +f 251 266 283 +f 266 258 283 +f 245 282 283 +f 282 251 283 +f 239 240 284 +f 263 247 284 +f 240 267 284 +f 267 263 284 +f 281 239 284 +f 247 281 284 +f 249 245 285 +f 245 258 285 +f 277 249 285 +f 260 244 286 +f 274 246 286 +f 246 275 286 +f 275 260 286 +f 244 281 286 +f 281 274 286 +f 248 259 287 +f 259 255 287 +f 271 248 287 +f 258 269 288 +f 269 277 288 +f 285 258 288 +f 277 285 288 +f 255 242 289 +f 242 270 289 +f 270 271 289 +f 287 255 289 +f 271 287 289 +f 250 243 290 +f 254 250 290 +f 243 268 290 +o convex_5 +v 0.675356 1.251002 0.871245 +v -0.291150 0.426307 -0.948573 +v -0.717806 0.426307 -0.919990 +v 0.049714 -0.398389 0.985196 +v 1.158865 -0.398389 -0.436548 +v -1.229485 1.251002 0.387803 +v 0.760892 1.251002 -0.806228 +v -1.257912 -0.398389 -0.493335 +v 1.301255 0.426307 0.615327 +v -1.030499 1.251002 -0.720859 +v -0.774659 -0.398389 0.871245 +v 0.732209 -0.398389 -0.863204 +v 1.301255 1.251002 -0.095261 +v -0.774659 1.251002 0.814458 +v 0.931452 -0.398389 0.842852 +v -1.315021 -0.085495 0.473172 +v 1.301255 0.369476 -0.550310 +v -1.315021 1.080348 -0.493335 +v -0.859939 -0.369812 -0.863015 +v 1.301255 -0.398389 0.046705 +v 0.817746 0.454561 0.956614 +v -0.149017 0.398053 0.985196 +v 1.244145 1.251002 0.501565 +v -1.315021 0.426307 0.558351 +v -1.315021 0.341222 -0.607286 +v -0.262723 1.251002 -0.863204 +v 0.760892 0.483138 -0.891597 +v -0.035310 -0.369812 -0.948573 +v -1.315021 -0.398389 0.046516 +v -0.774659 0.511553 0.899827 +v 1.215719 1.251002 -0.436548 +v 1.301255 -0.199319 0.473172 +v -0.063737 1.251002 0.899827 +v -1.315021 1.251002 0.046516 +v -0.859939 0.625054 -0.891597 +v 0.931452 1.251002 0.785876 +v -0.035310 0.596638 -0.948573 +v 0.789319 -0.398389 0.928221 +v 1.301255 -0.113911 -0.436548 +v -1.201059 -0.398389 0.473172 +v -1.002072 -0.398389 -0.777646 +v 0.391090 0.426307 0.985007 +v -0.774659 1.222425 -0.834621 +v -1.257912 0.511553 -0.664073 +v -0.774659 0.056744 0.899827 +v -1.315021 1.051771 0.387803 +v 1.301255 1.108763 0.473172 +v 0.561906 0.454561 -0.919801 +v 1.215719 -0.398389 0.501565 +v -1.286339 1.251002 -0.436548 +v 0.134994 1.251002 -0.863204 +v 0.874599 -0.398389 -0.777646 +v 1.301255 0.938109 -0.436548 +v -1.315021 -0.227734 -0.465131 +v -0.945219 1.222425 0.700696 +v -0.888366 0.426307 -0.891597 +v 1.301255 0.454561 -0.550310 +v 0.817746 0.284229 0.956614 +v -0.945219 -0.341397 0.757483 +v 1.102012 1.251002 -0.550310 +v -0.660696 0.398053 0.928221 +v -0.006883 -0.398389 0.985196 +v 0.021287 1.051771 0.928221 +v 1.073585 0.454561 0.785876 +f 311 348 354 +f 296 291 297 +f 295 294 298 +f 296 297 300 +f 298 294 301 +f 295 298 302 +f 297 291 303 +f 291 296 304 +f 294 295 305 +f 303 299 307 +f 305 295 310 +f 307 299 310 +f 303 291 313 +f 308 306 314 +f 306 308 315 +f 300 297 316 +f 293 292 318 +f 309 293 318 +f 298 301 319 +f 306 315 319 +f 304 314 320 +f 297 303 321 +f 299 305 322 +f 310 299 322 +f 291 304 323 +f 296 300 324 +f 308 314 324 +f 292 293 325 +f 291 311 326 +f 313 291 326 +f 299 313 326 +f 318 292 327 +f 292 325 327 +f 294 305 328 +f 310 295 329 +f 307 310 329 +f 319 301 330 +f 306 319 330 +f 302 298 331 +f 298 315 331 +f 309 318 331 +f 318 302 331 +f 311 291 332 +f 312 294 332 +f 300 316 333 +f 325 300 333 +f 316 327 333 +f 327 325 333 +f 308 300 334 +f 315 308 334 +f 300 325 334 +f 331 315 334 +f 314 301 335 +f 320 314 335 +f 296 324 336 +f 324 314 336 +f 299 303 337 +f 303 313 337 +f 313 299 337 +f 317 302 338 +f 297 317 338 +f 302 318 338 +f 318 327 338 +f 305 310 339 +f 322 305 339 +f 310 322 339 +f 300 308 340 +f 324 300 340 +f 308 324 340 +f 316 297 341 +f 327 316 341 +f 297 338 341 +f 338 327 341 +f 295 302 342 +f 302 317 342 +f 317 307 342 +f 329 295 342 +f 307 329 342 +f 303 307 343 +f 321 303 343 +f 315 298 344 +f 298 319 344 +f 319 315 344 +f 304 296 345 +f 314 304 345 +f 296 336 345 +f 336 314 345 +f 293 309 346 +f 325 293 346 +f 309 331 346 +f 334 325 346 +f 331 334 346 +f 317 297 347 +f 307 317 347 +f 343 307 347 +f 294 328 348 +f 328 305 348 +f 311 332 348 +f 332 294 348 +f 301 314 349 +f 314 306 349 +f 330 301 349 +f 306 330 349 +f 297 321 350 +f 321 343 350 +f 347 297 350 +f 343 347 350 +f 304 320 351 +f 323 304 351 +f 312 323 351 +f 320 335 351 +f 351 335 352 +f 301 294 352 +f 294 312 352 +f 335 301 352 +f 312 351 352 +f 291 323 353 +f 323 312 353 +f 332 291 353 +f 312 332 353 +f 305 299 354 +f 326 311 354 +f 299 326 354 +f 348 305 354 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/832/832.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/832/832.urdf new file mode 100644 index 000000000..a79c28e68 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/832/832.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/833/833.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/833/833.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/833/833.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/833/833.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/833/833.obj new file mode 100644 index 000000000..cc1bf812a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/833/833.obj @@ -0,0 +1,477 @@ +o convex_0 +v 1.098282 0.517935 1.055077 +v -1.076567 0.977178 -1.027861 +v -1.076567 0.977178 -0.966574 +v -0.953944 -4.045569 0.809927 +v 1.036971 -4.076306 -0.966364 +v 1.098282 1.988477 -1.058505 +v -0.984600 1.957741 1.055077 +v 1.006315 -3.983493 0.993790 +v -0.984600 -3.952756 -0.997008 +v 1.098282 1.927004 1.085721 +v -1.076567 2.080688 -1.027861 +v -1.045911 -4.014832 0.963146 +v 0.516250 2.080085 0.503489 +v 0.975660 -3.034270 1.024434 +v 1.067627 0.578805 -1.058505 +v -1.076567 2.080688 -0.629492 +v -1.015256 -3.983493 -0.690570 +v 0.209907 -4.045569 -0.997008 +v -1.015256 1.987875 0.809927 +v 0.087284 2.049951 -1.058295 +v -1.045911 -1.226828 -1.027861 +v 0.975660 -4.014832 0.993790 +v -0.984600 1.559368 1.055077 +v -0.433224 2.080085 0.472845 +v 0.454939 2.080085 -0.537561 +v 1.067627 -1.472119 -1.027652 +v -0.004470 -3.952756 0.993580 +v 1.036971 -4.076306 -0.659926 +v 0.975660 1.467158 1.085721 +v -1.045911 -2.942662 0.963146 +v -1.045911 -4.014832 0.564777 +v 1.067627 2.018611 -1.058505 +v -1.015256 -2.635897 0.993580 +v 1.036971 -3.554986 -0.997218 +v 0.332316 -4.076306 -0.323054 +v 1.098282 1.620842 -1.058505 +v -1.015256 -1.472119 -1.027861 +v -1.015256 0.793360 1.024224 +v 1.006315 -4.044967 0.350480 +v 1.098282 1.957741 0.656708 +v 0.577349 -4.044967 -0.997218 +v -1.015256 -3.401905 -0.997008 +v 0.179251 1.957138 1.055077 +v -0.831534 -4.045569 0.871005 +v -0.494535 2.080085 -1.027861 +v 0.608005 1.896267 1.085721 +v 1.067627 -0.829661 1.055077 +v 0.669316 -4.076306 -0.905286 +v -0.800666 -3.983493 -0.997008 +f 18 17 49 +f 1 6 10 +f 2 3 11 +f 3 2 12 +f 11 3 16 +f 3 12 16 +f 13 11 16 +f 4 17 18 +f 2 11 20 +f 2 20 21 +f 8 14 22 +f 7 13 24 +f 13 16 24 +f 19 7 24 +f 16 19 24 +f 11 13 25 +f 1 5 26 +f 12 22 27 +f 22 14 27 +f 14 23 27 +f 5 1 28 +f 1 8 28 +f 16 12 30 +f 12 2 31 +f 4 12 31 +f 17 4 31 +f 2 21 31 +f 21 17 31 +f 6 15 32 +f 15 20 32 +f 25 13 32 +f 23 12 33 +f 12 27 33 +f 27 23 33 +f 26 5 34 +f 15 26 34 +f 5 28 35 +f 6 1 36 +f 15 6 36 +f 1 26 36 +f 26 15 36 +f 15 9 37 +f 20 15 37 +f 21 20 37 +f 9 21 37 +f 7 19 38 +f 19 16 38 +f 23 7 38 +f 12 23 38 +f 30 12 38 +f 16 30 38 +f 8 22 39 +f 28 8 39 +f 35 28 39 +f 10 6 40 +f 13 10 40 +f 6 32 40 +f 32 13 40 +f 5 18 41 +f 18 15 41 +f 34 5 41 +f 15 34 41 +f 9 17 42 +f 21 9 42 +f 17 21 42 +f 7 10 43 +f 10 13 43 +f 13 7 43 +f 12 4 44 +f 22 12 44 +f 4 35 44 +f 39 22 44 +f 35 39 44 +f 20 11 45 +f 11 25 45 +f 32 20 45 +f 25 32 45 +f 10 7 46 +f 7 23 46 +f 23 14 46 +f 29 10 46 +f 14 29 46 +f 8 1 47 +f 1 10 47 +f 14 8 47 +f 10 29 47 +f 29 14 47 +f 4 18 48 +f 18 5 48 +f 35 4 48 +f 5 35 48 +f 9 15 49 +f 17 9 49 +f 15 18 49 +o convex_1 +v 0.271086 2.509482 -0.599028 +v 0.516278 2.601326 0.503717 +v -0.310727 2.601326 0.503717 +v 0.516278 2.080688 0.503717 +v -0.463898 2.080688 -0.568372 +v -0.433224 2.080688 0.473061 +v -0.494572 2.601326 -0.537717 +v 0.454931 2.080688 -0.537717 +v 0.454931 2.601326 -0.568372 +v -0.463898 2.601326 0.350546 +v 0.516278 2.080688 0.136063 +v -0.463898 2.295161 0.289234 +v 0.424356 2.111370 -0.568372 +v -0.402649 2.601326 -0.568372 +v -0.310727 2.172634 0.503717 +v 0.516278 2.601326 0.197375 +v -0.433224 2.601326 0.473061 +f 59 55 66 +f 51 52 53 +f 54 53 55 +f 52 51 56 +f 53 54 57 +f 56 51 58 +f 52 56 59 +f 51 53 60 +f 53 57 60 +f 57 58 60 +f 54 55 61 +f 56 54 61 +f 55 59 61 +f 59 56 61 +f 54 50 62 +f 57 54 62 +f 50 58 62 +f 58 57 62 +f 50 54 63 +f 54 56 63 +f 56 58 63 +f 58 50 63 +f 53 52 64 +f 52 55 64 +f 55 53 64 +f 58 51 65 +f 51 60 65 +f 60 58 65 +f 55 52 66 +f 52 59 66 +o convex_2 +v -0.555835 3.642975 -0.476495 +v 0.516278 3.979725 0.595612 +v 0.056726 4.010377 0.503615 +v -0.463904 3.336663 0.472995 +v 0.485634 3.336663 -0.537735 +v 0.363059 3.979725 -0.568216 +v 0.516278 3.336663 0.564855 +v -0.555835 4.071755 -0.262018 +v -0.280146 3.336663 -0.813451 +v -0.463904 3.979725 0.472995 +v -0.555835 4.071755 -0.506977 +v 0.485634 3.949144 -0.568216 +v -0.525191 3.336663 -0.537735 +v -0.188215 3.397969 0.534097 +v -0.494548 4.041030 0.411756 +v -0.371972 4.071755 -0.323258 +v 0.516278 3.949144 0.044180 +v -0.525191 3.367316 -0.078299 +v 0.424347 3.428622 -0.598836 +v -0.249502 3.367316 -0.813451 +v -0.310685 4.041030 -0.537735 +v 0.516278 3.336663 0.258656 +f 71 83 88 +f 70 71 73 +f 71 70 75 +f 67 74 77 +f 72 68 78 +f 75 70 79 +f 67 77 79 +f 77 75 79 +f 73 68 80 +f 70 73 80 +f 68 76 80 +f 76 70 80 +f 68 69 81 +f 76 68 81 +f 70 76 81 +f 69 68 82 +f 68 72 82 +f 72 77 82 +f 77 74 82 +f 81 69 82 +f 74 81 82 +f 68 73 83 +f 78 68 83 +f 71 78 83 +f 74 67 84 +f 67 79 84 +f 79 70 84 +f 81 74 84 +f 70 81 84 +f 71 75 85 +f 78 71 85 +f 78 85 86 +f 75 77 86 +f 72 78 86 +f 85 75 86 +f 77 72 87 +f 72 86 87 +f 86 77 87 +f 73 71 88 +f 83 73 88 +o convex_3 +v -0.218795 2.693336 0.810278 +v 0.363119 2.877138 2.953815 +v 0.363119 2.785327 2.953815 +v -0.341413 2.662692 3.015216 +v -0.341413 3.275328 0.595852 +v -0.310655 3.275328 2.984515 +v 0.271191 3.244684 0.595852 +v 0.209882 2.693336 0.657254 +v 0.209882 3.275328 3.046157 +v -0.188176 2.693336 0.595852 +v -0.218795 2.662692 3.015216 +v -0.280104 2.662692 1.790544 +v -0.341413 3.275328 2.371939 +v 0.271191 3.060881 0.595852 +v 0.240502 3.275328 2.433341 +v -0.341413 3.183397 0.595852 +v 0.240502 2.693336 1.055404 +v 0.026163 3.275328 0.626553 +v 0.301810 2.754623 2.953815 +v 0.363119 2.785327 2.678227 +v -0.341413 2.938426 3.015216 +v 0.179262 2.693336 0.595852 +v -0.341413 2.662692 2.739629 +v 0.271191 3.244684 1.514956 +f 95 103 112 +f 91 90 97 +f 93 94 97 +f 93 95 98 +f 91 97 99 +f 97 92 99 +f 99 92 100 +f 89 98 100 +f 93 92 101 +f 94 93 101 +f 98 95 102 +f 97 90 103 +f 93 97 103 +f 92 93 104 +f 98 89 104 +f 93 98 104 +f 89 100 104 +f 99 100 105 +f 100 96 105 +f 96 102 105 +f 95 93 106 +f 103 95 106 +f 93 103 106 +f 91 99 107 +f 105 91 107 +f 99 105 107 +f 90 91 108 +f 95 90 108 +f 102 95 108 +f 91 105 108 +f 105 102 108 +f 92 97 109 +f 97 94 109 +f 101 92 109 +f 94 101 109 +f 100 98 110 +f 96 100 110 +f 102 96 110 +f 98 102 110 +f 100 92 111 +f 92 104 111 +f 104 100 111 +f 90 95 112 +f 103 90 112 +o convex_4 +v -0.341412 2.969085 -0.782849 +v 0.240520 2.632060 -1.089227 +v 0.271224 2.632060 -1.089227 +v -0.218837 3.275214 -2.957665 +v -0.341412 2.693437 -3.018941 +v 0.209876 3.213974 -0.629660 +v 0.209876 3.122115 -2.988303 +v -0.310769 3.305903 -0.629660 +v 0.179232 2.693437 -3.018941 +v -0.341412 2.785228 -0.629660 +v 0.209876 3.244594 -2.957665 +v 0.209876 2.632060 -0.629660 +v -0.096322 3.336591 -1.211778 +v 0.271224 2.969085 -0.629660 +v -0.341412 2.815917 -3.018941 +v -0.341412 2.693437 -2.375313 +v -0.280125 3.336591 -1.365201 +v 0.209876 2.662749 -2.528736 +v 0.240520 3.213974 -0.874996 +v -0.126966 3.336591 -0.629660 +v -0.341412 2.999567 -2.007659 +v -0.341412 2.754677 -0.997314 +v 0.240520 3.213974 -1.854704 +v 0.026073 3.305903 -1.946384 +v 0.271224 2.632060 -0.629660 +v 0.271224 2.662749 -1.211778 +f 135 126 138 +f 113 117 122 +f 120 113 122 +f 118 120 122 +f 119 116 123 +f 114 115 124 +f 117 114 124 +f 118 122 124 +f 118 124 126 +f 117 113 127 +f 116 119 127 +f 121 117 127 +f 119 121 127 +f 122 117 128 +f 117 124 128 +f 115 114 130 +f 114 117 130 +f 117 121 130 +f 121 119 130 +f 118 126 131 +f 120 118 132 +f 125 129 132 +f 129 120 132 +f 118 131 132 +f 131 125 132 +f 113 120 133 +f 127 113 133 +f 116 127 133 +f 129 116 133 +f 120 129 133 +f 124 122 134 +f 122 128 134 +f 128 124 134 +f 123 131 135 +f 131 126 135 +f 123 116 136 +f 116 129 136 +f 129 125 136 +f 125 131 136 +f 131 123 136 +f 124 115 137 +f 115 126 137 +f 126 124 137 +f 119 123 138 +f 126 115 138 +f 115 130 138 +f 130 119 138 +f 123 135 138 +o convex_5 +v -0.249439 2.754692 -0.629660 +v 0.516278 3.336520 0.564909 +v 0.485490 3.336520 0.564909 +v 0.516278 2.601428 0.534325 +v -0.463934 2.938465 0.473037 +v 0.454907 3.336520 -0.568252 +v -0.525203 3.336520 -0.537549 +v 0.454907 2.601428 -0.568252 +v -0.494518 2.601428 -0.261934 +v -0.341395 3.275214 0.595612 +v -0.433248 2.601428 0.473037 +v -0.463934 3.336520 0.473037 +v -0.494518 2.601428 -0.537549 +v -0.188169 2.693458 0.595612 +v -0.126900 3.336520 -0.629660 +v 0.271098 2.632153 -0.629660 +v 0.485490 3.336520 -0.506965 +v -0.525203 3.275214 -0.108775 +v 0.516278 2.601428 0.197303 +v 0.209828 2.785273 0.595612 +v -0.341395 2.938465 -0.629660 +v 0.240412 3.183328 -0.629660 +v -0.463934 2.601428 0.381166 +v 0.301682 3.244561 0.595612 +v 0.516278 3.336520 0.258590 +v -0.525203 3.060788 -0.537549 +v -0.310709 3.305867 -0.629660 +f 153 159 165 +f 141 140 144 +f 141 144 145 +f 146 142 147 +f 140 141 148 +f 147 142 149 +f 148 143 149 +f 141 145 150 +f 148 141 150 +f 143 148 150 +f 146 147 151 +f 149 142 152 +f 148 149 152 +f 145 144 153 +f 144 146 154 +f 151 139 154 +f 146 151 154 +f 139 153 154 +f 144 140 155 +f 146 144 155 +f 143 150 156 +f 150 145 156 +f 140 142 157 +f 142 146 157 +f 146 155 157 +f 142 140 158 +f 152 142 158 +f 148 152 158 +f 139 151 159 +f 153 139 159 +f 153 144 160 +f 144 154 160 +f 154 153 160 +f 147 149 161 +f 149 143 161 +f 143 156 161 +f 156 147 161 +f 140 148 162 +f 158 140 162 +f 148 158 162 +f 155 140 163 +f 140 157 163 +f 157 155 163 +f 151 147 164 +f 147 156 164 +f 156 145 164 +f 159 151 164 +f 145 159 164 +f 145 153 165 +f 159 145 165 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/833/833.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/833/833.urdf new file mode 100644 index 000000000..a0a5592d5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/833/833.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/834/834.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/834/834.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/834/834.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/834/834.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/834/834.obj new file mode 100644 index 000000000..f58fa71a3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/834/834.obj @@ -0,0 +1,534 @@ +o convex_0 +v 0.006922 2.603984 2.644038 +v -0.525159 0.209991 -1.279253 +v -0.425242 0.209991 -1.279253 +v -0.092793 2.570583 -2.809247 +v 1.037979 0.209991 0.182821 +v -0.924219 1.440141 2.777496 +v 0.904757 1.706113 -2.809247 +v 0.738431 2.371166 2.744131 +v -0.890914 1.772668 -2.743114 +v -0.990830 0.209991 0.914454 +v 0.771737 0.908198 2.676807 +v -0.791199 2.504276 -0.747211 +v 0.738431 0.808489 -2.775883 +v 0.738431 2.471122 -1.845256 +v 1.037979 1.805821 2.011903 +v -0.724790 0.808489 -2.743114 +v -1.024136 1.706113 2.078631 +v -0.059488 0.775335 2.777496 +v -0.691485 2.338012 2.743535 +v 0.073331 2.737341 0.216185 +v 0.505697 0.209991 1.313634 +v -0.525159 2.171749 -3.076162 +v -0.990830 0.209991 -0.614349 +v 0.971368 0.209991 -1.013530 +v -0.525159 1.174417 3.010450 +v -1.024136 1.706113 -1.445479 +v 1.004673 1.739267 -2.077615 +v 0.838348 2.470875 1.313634 +v -0.791199 2.471122 -2.044250 +v -0.824505 0.841643 2.743535 +v 0.505697 2.171502 2.976490 +v 0.505697 1.107862 -3.042202 +v 0.505697 2.171502 -3.008838 +v -0.059488 2.737341 -1.545572 +v 0.006922 2.703693 2.012498 +v 0.073331 0.708781 -2.809247 +v -0.757894 2.437721 2.012498 +v 0.938062 1.672712 2.743535 +v -0.525159 0.209991 1.313634 +v 0.539002 1.240972 2.943126 +v 0.938062 0.209991 1.014547 +v -0.425242 2.171749 2.977086 +v 0.672022 2.371166 -2.709750 +v -0.491853 1.207570 -3.008838 +v -1.024136 0.209991 -0.115671 +v 1.037979 1.739267 -0.847304 +v -0.724790 2.371413 -2.776479 +v -0.891116 1.539850 -2.776479 +v 0.971368 0.941599 -2.011482 +v 0.805042 2.470875 2.111400 +v -0.957525 0.209991 -0.946801 +v -0.990830 1.706113 -2.144343 +v -0.026182 2.703693 -2.110979 +v -0.990830 0.875044 1.945174 +v 0.572106 0.209991 -1.213120 +v 1.037979 1.672959 2.178725 +v 0.771737 2.504276 -0.481487 +v 0.006922 2.304611 -3.075567 +v 1.037979 0.209991 -0.315261 +v -0.957525 1.672959 2.744131 +v -0.092793 2.737341 -0.348626 +v 0.672022 1.539602 -3.042202 +v -0.824505 2.437721 -0.714442 +v 0.006922 2.404320 2.909761 +f 42 31 64 +f 2 3 5 +f 2 5 10 +f 10 5 21 +f 11 18 21 +f 2 10 23 +f 5 3 24 +f 25 6 30 +f 18 25 30 +f 29 12 34 +f 3 2 36 +f 2 16 36 +f 32 13 36 +f 19 1 37 +f 1 35 37 +f 15 8 38 +f 8 31 38 +f 10 21 39 +f 21 18 39 +f 30 10 39 +f 18 30 39 +f 18 11 40 +f 25 18 40 +f 31 25 40 +f 11 38 40 +f 38 31 40 +f 21 5 41 +f 11 21 41 +f 38 11 41 +f 25 31 42 +f 27 7 43 +f 14 27 43 +f 7 33 43 +f 22 32 44 +f 36 16 44 +f 32 36 44 +f 23 10 45 +f 17 26 45 +f 15 5 46 +f 28 15 46 +f 27 28 46 +f 4 22 47 +f 22 9 47 +f 29 4 47 +f 9 22 48 +f 44 16 48 +f 22 44 48 +f 13 7 49 +f 24 13 49 +f 7 27 49 +f 1 8 50 +f 8 15 50 +f 15 28 50 +f 28 20 50 +f 35 1 50 +f 20 35 50 +f 16 2 51 +f 2 23 51 +f 48 16 51 +f 48 51 52 +f 26 29 52 +f 23 45 52 +f 45 26 52 +f 47 9 52 +f 29 47 52 +f 9 48 52 +f 51 23 52 +f 4 29 53 +f 34 14 53 +f 29 34 53 +f 14 43 53 +f 43 4 53 +f 30 6 54 +f 10 30 54 +f 45 10 54 +f 17 45 54 +f 24 3 55 +f 13 24 55 +f 3 36 55 +f 36 13 55 +f 5 15 56 +f 15 38 56 +f 41 5 56 +f 38 41 56 +f 27 14 57 +f 20 28 57 +f 28 27 57 +f 14 34 57 +f 34 20 57 +f 22 4 58 +f 32 22 58 +f 4 43 58 +f 43 33 58 +f 5 24 59 +f 46 5 59 +f 27 46 59 +f 24 49 59 +f 49 27 59 +f 6 25 60 +f 37 17 60 +f 19 37 60 +f 42 19 60 +f 25 42 60 +f 54 6 60 +f 17 54 60 +f 34 12 61 +f 20 34 61 +f 35 20 61 +f 12 37 61 +f 37 35 61 +f 7 13 62 +f 13 32 62 +f 33 7 62 +f 32 58 62 +f 58 33 62 +f 26 17 63 +f 12 29 63 +f 29 26 63 +f 37 12 63 +f 17 37 63 +f 8 1 64 +f 1 19 64 +f 31 8 64 +f 19 42 64 +o convex_1 +v 0.638857 -3.682163 0.083398 +v -0.591770 -3.615564 -0.049434 +v -0.558282 -3.781888 -0.149169 +v -0.026207 -5.078488 0.416033 +v 0.007040 -5.078488 -0.415276 +v 0.040167 -3.582265 -0.581649 +v -0.026207 -3.582265 0.549197 +v -0.425293 -5.078488 0.016982 +v 0.406006 -5.111787 -0.016226 +v 0.472501 -3.582265 0.515768 +v 0.505748 -3.582265 -0.382068 +v -0.425293 -3.781888 0.382825 +v -0.425293 -4.413711 -0.415276 +v 0.406006 -4.513264 0.416033 +v -0.059454 -5.344882 -0.049434 +v -0.425293 -3.582265 -0.481803 +v 0.439253 -4.247560 -0.382068 +v -0.392046 -4.380584 0.349617 +v -0.026207 -4.380584 0.515768 +v -0.425293 -5.045362 -0.115850 +v 0.406006 -5.111787 0.083398 +v 0.572242 -4.313986 0.016982 +v -0.026207 -4.447010 -0.515122 +v -0.425293 -3.582265 0.382825 +v -0.525155 -4.513264 -0.016226 +v 0.339512 -4.845738 -0.282112 +v 0.638857 -3.582265 -0.049434 +v 0.439253 -4.313986 0.449352 +v -0.258937 -4.978763 -0.348639 +v -0.325552 -4.879038 0.283090 +v -0.059454 -5.344882 0.050190 +v 0.272897 -4.945464 0.349617 +v 0.538995 -3.615564 0.449352 +v 0.572242 -4.313986 0.083398 +v 0.073414 -4.347285 -0.515122 +v 0.073414 -3.948212 0.549197 +v -0.525155 -4.513264 -0.082642 +v -0.491787 -3.582265 -0.382068 +v 0.406006 -3.615564 -0.448484 +v 0.007040 -5.344882 -0.049434 +v -0.225690 -4.380584 -0.481803 +v -0.026207 -3.615564 -0.581649 +v -0.591770 -3.582265 -0.016226 +v 0.439253 -4.380584 -0.348639 +v 0.106661 -5.045362 -0.382068 +v -0.059454 -5.145086 -0.348639 +v 0.007040 -5.145086 0.349617 +v 0.073414 -4.347285 0.515768 +v -0.092701 -5.078488 0.382825 +v 0.040167 -5.145086 -0.348639 +v -0.525155 -4.313986 0.050190 +v 0.007040 -5.344882 0.050190 +v -0.059454 -5.045362 -0.415276 +f 110 93 117 +f 70 71 74 +f 70 74 75 +f 71 70 80 +f 76 82 83 +f 71 76 83 +f 82 68 83 +f 79 72 84 +f 85 73 86 +f 76 71 88 +f 71 80 88 +f 72 82 89 +f 75 74 91 +f 81 75 91 +f 65 86 91 +f 68 78 92 +f 78 85 92 +f 84 77 93 +f 82 72 94 +f 72 79 95 +f 78 68 96 +f 85 78 96 +f 65 91 97 +f 91 74 97 +f 74 92 97 +f 97 92 98 +f 86 65 98 +f 85 86 98 +f 92 85 98 +f 65 97 98 +f 69 87 99 +f 87 70 99 +f 74 71 100 +f 71 83 100 +f 66 67 101 +f 67 77 101 +f 84 72 101 +f 77 84 101 +f 89 66 101 +f 72 89 101 +f 67 66 102 +f 77 67 102 +f 80 77 102 +f 88 80 102 +f 70 75 103 +f 75 81 103 +f 81 99 103 +f 99 70 103 +f 73 85 104 +f 95 79 104 +f 77 80 105 +f 87 105 106 +f 80 70 106 +f 70 87 106 +f 105 80 106 +f 76 88 107 +f 66 89 107 +f 102 66 107 +f 88 102 107 +f 86 73 108 +f 73 90 108 +f 81 91 108 +f 91 86 108 +f 90 73 109 +f 69 99 109 +f 99 81 109 +f 81 108 109 +f 108 90 109 +f 79 84 110 +f 84 93 110 +f 104 79 110 +f 96 68 111 +f 85 96 111 +f 83 68 112 +f 92 74 112 +f 68 92 112 +f 74 100 112 +f 100 83 112 +f 68 82 113 +f 94 72 113 +f 82 94 113 +f 72 95 113 +f 111 68 113 +f 95 111 113 +f 73 104 114 +f 109 73 114 +f 69 109 114 +f 110 69 114 +f 104 110 114 +f 82 76 115 +f 89 82 115 +f 76 107 115 +f 107 89 115 +f 104 85 116 +f 95 104 116 +f 111 95 116 +f 85 111 116 +f 87 69 117 +f 93 77 117 +f 77 105 117 +f 105 87 117 +f 69 110 117 +o convex_2 +v 0.106629 -3.581721 -0.581274 +v 0.106629 0.209568 1.314181 +v 0.006913 0.209568 1.314181 +v 0.206344 0.209568 -1.246852 +v -0.990846 0.176167 -0.647958 +v -0.857825 -2.816487 0.848402 +v 0.938062 -2.883287 0.249507 +v 1.004673 0.209568 -0.847506 +v -0.791214 -2.750057 -0.847506 +v -0.990846 0.209568 0.914834 +v 0.938062 0.209568 0.981267 +v 0.638714 -3.348662 0.648603 +v 0.738631 -2.916316 -0.714390 +v -0.591581 -3.581721 0.017119 +v -0.757908 0.209568 -1.180169 +v -0.957541 -2.916687 -0.016223 +v 0.106629 -2.849887 0.981518 +v 0.106629 -2.750057 -0.947280 +v 0.672019 -3.581721 -0.015972 +v 0.771735 -2.883287 0.781719 +v -0.026190 -3.581721 0.582422 +v 1.037979 -1.752506 0.017119 +v 0.572304 0.175796 -1.213511 +v 0.505692 0.175796 1.280840 +v -0.525171 0.175796 1.247498 +v -0.558275 0.042567 -1.246602 +v 0.971367 -2.883287 -0.049063 +v -1.024152 -1.320902 0.216416 +v -0.957541 -1.154272 -0.747732 +v 1.037979 0.209568 0.183075 +v -0.491865 -3.581721 -0.448159 +v 0.971367 0.109367 -0.980371 +v -0.026190 -3.382062 -0.747481 +v -0.990846 -1.354302 0.715286 +v -0.957541 0.209568 -0.947280 +v 0.638714 -3.315633 -0.581525 +v -0.757908 0.209568 1.147724 +v -0.458560 -3.548321 0.415964 +v -0.026190 -3.348662 0.781970 +v -1.024152 0.209568 -0.115746 +v -1.024152 -1.354302 -0.115746 +v -0.757908 -3.382434 -0.082404 +v 0.538998 -3.581721 0.515738 +v 0.838346 -3.348662 0.049959 +v 0.040219 -2.883287 0.981518 +v -0.192517 -2.849887 -0.913938 +v 0.771735 -2.883287 -0.681048 +v 1.004673 -0.522267 0.515738 +v 0.173240 -2.883287 -0.913938 +v 0.505692 -3.581721 -0.415068 +v 1.037979 0.209568 -0.315294 +v 0.904756 0.075967 1.014609 +v -0.957541 -2.883287 0.116392 +v -0.458560 -2.849887 0.914834 +v -0.957541 -2.816487 -0.115746 +v 1.004673 -2.450940 0.083301 +v -0.591581 -3.348662 0.548829 +v -0.791214 -3.315633 0.049959 +v -0.591581 -3.348662 -0.581274 +v 0.938062 0.109367 0.981267 +v 0.938062 0.109367 -1.013712 +v -1.024152 0.209568 0.216416 +v -0.990846 0.009538 0.914834 +v -0.990846 -2.417540 -0.016223 +f 146 172 181 +f 120 119 121 +f 121 119 125 +f 120 121 127 +f 125 119 128 +f 127 121 132 +f 131 118 136 +f 134 129 137 +f 131 136 138 +f 121 125 140 +f 135 121 140 +f 128 119 141 +f 119 134 141 +f 134 137 141 +f 132 121 143 +f 126 132 143 +f 121 135 143 +f 125 139 144 +f 125 128 147 +f 118 131 148 +f 125 144 149 +f 118 148 150 +f 132 126 152 +f 127 132 152 +f 126 146 152 +f 146 122 152 +f 118 150 153 +f 120 127 154 +f 142 120 154 +f 123 142 154 +f 131 138 155 +f 152 122 157 +f 127 152 157 +f 122 146 158 +f 157 122 158 +f 145 157 158 +f 133 126 159 +f 148 131 159 +f 138 136 160 +f 156 138 160 +f 129 156 160 +f 124 137 161 +f 137 129 161 +f 144 124 161 +f 136 153 161 +f 129 160 161 +f 160 136 161 +f 119 120 162 +f 134 119 162 +f 129 134 162 +f 120 142 162 +f 156 129 162 +f 126 143 163 +f 143 135 163 +f 150 126 163 +f 130 149 164 +f 149 144 164 +f 153 130 164 +f 144 161 164 +f 161 153 164 +f 147 128 165 +f 139 147 165 +f 140 130 166 +f 135 140 166 +f 130 153 166 +f 153 150 166 +f 163 135 166 +f 150 163 166 +f 136 118 167 +f 118 153 167 +f 153 136 167 +f 139 125 168 +f 125 147 168 +f 147 139 168 +f 128 141 169 +f 141 137 169 +f 123 151 170 +f 142 123 171 +f 123 156 171 +f 162 142 171 +f 156 162 171 +f 126 133 172 +f 146 126 172 +f 124 144 173 +f 144 139 173 +f 139 165 173 +f 131 155 174 +f 155 138 174 +f 138 156 174 +f 156 123 174 +f 159 131 175 +f 133 159 175 +f 170 133 175 +f 123 170 175 +f 131 174 175 +f 174 123 175 +f 126 150 176 +f 150 148 176 +f 159 126 176 +f 148 159 176 +f 137 124 177 +f 165 128 177 +f 128 169 177 +f 169 137 177 +f 124 173 177 +f 173 165 177 +f 140 125 178 +f 130 140 178 +f 125 149 178 +f 149 130 178 +f 145 127 179 +f 157 145 179 +f 127 157 179 +f 127 145 180 +f 151 123 180 +f 145 151 180 +f 154 127 180 +f 123 154 180 +f 151 145 181 +f 145 158 181 +f 158 146 181 +f 133 170 181 +f 170 151 181 +f 172 133 181 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/834/834.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/834/834.urdf new file mode 100644 index 000000000..10d343c76 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/834/834.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/835/835.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/835/835.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/835/835.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/835/835.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/835/835.obj new file mode 100644 index 000000000..3d49ea768 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/835/835.obj @@ -0,0 +1,891 @@ +o convex_0 +v -4.485146 0.070302 0.022595 +v -2.733927 1.237513 0.056864 +v -2.733927 1.237513 -0.045945 +v -5.858012 0.997084 0.056975 +v -2.733927 0.516578 0.572020 +v -2.733927 0.550925 -0.560989 +v -5.617778 0.653731 -0.423578 +v -5.789473 0.619619 0.434608 +v -2.733927 0.138878 0.434497 +v -2.733927 0.173225 -0.423578 +v -5.789473 0.173225 -0.011564 +v -4.279181 1.065660 -0.389197 +v -4.348066 1.031431 0.400227 +v -4.313450 0.207690 -0.423578 +v -4.587955 0.207690 0.400227 +v -6.270288 0.551043 -0.011564 +v -2.733927 1.065660 -0.457958 +v -2.733927 1.065660 0.434497 +v -2.733927 0.035837 -0.080215 +v -4.485146 1.168702 0.056975 +v -4.348066 0.653731 -0.526609 +v -4.450876 0.619619 0.537639 +v -5.720587 0.516578 -0.389197 +v -5.720587 1.031431 -0.045945 +v -5.411813 0.276267 0.331577 +v -5.514622 0.962737 0.262926 +v -5.377197 0.276267 -0.320547 +v -5.754857 0.688078 -0.389197 +v -2.768543 0.687961 0.572020 +v -2.802813 0.756772 -0.560989 +v -5.342927 0.962737 -0.286277 +v -5.754857 0.551043 0.434608 +v -4.210641 0.207690 0.434608 +v -5.754857 0.173225 0.056975 +v -6.270288 0.551043 0.056975 +v -4.210641 0.070302 -0.080215 +v -2.768543 1.134472 -0.389308 +v -4.313450 1.134355 -0.183246 +v -2.768543 0.035837 0.056864 +v -4.313450 0.173225 0.400227 +v -5.754857 1.031431 0.091245 +v -4.381990 0.962737 0.434608 +v -6.132862 0.756772 -0.011564 +v -4.381990 0.551043 0.537639 +v -2.768543 0.276267 -0.492228 +v -2.768543 0.173225 0.468878 +v -5.480352 0.859813 0.365957 +v -4.210641 0.585272 -0.526609 +v -5.548892 0.138996 -0.011564 +v -6.270288 0.619619 0.056975 +v -4.279181 0.688078 -0.526609 +v -4.107486 0.070302 0.091245 +v -4.485146 1.168702 -0.011564 +v -4.279181 0.173225 -0.354927 +v -5.858012 0.653731 -0.354927 +v -5.617778 0.585272 -0.423578 +f 48 14 56 +f 3 2 5 +f 3 5 6 +f 6 5 9 +f 6 9 10 +f 3 6 17 +f 5 2 18 +f 2 13 18 +f 10 9 19 +f 2 3 20 +f 13 2 20 +f 11 16 23 +f 11 23 27 +f 23 14 27 +f 12 7 28 +f 5 18 29 +f 22 5 29 +f 17 6 30 +f 6 21 30 +f 24 12 31 +f 12 28 31 +f 28 24 31 +f 22 8 32 +f 25 15 32 +f 32 15 33 +f 15 25 34 +f 25 32 34 +f 34 32 35 +f 16 11 35 +f 32 8 35 +f 11 34 35 +f 19 1 36 +f 3 17 37 +f 17 12 37 +f 12 24 38 +f 3 37 38 +f 37 12 38 +f 1 19 39 +f 19 9 39 +f 33 15 40 +f 34 1 40 +f 15 34 40 +f 4 8 41 +f 13 20 41 +f 24 4 41 +f 8 26 41 +f 26 13 41 +f 18 13 42 +f 8 22 42 +f 29 18 42 +f 22 29 42 +f 4 24 43 +f 5 22 44 +f 22 32 44 +f 32 33 44 +f 6 10 45 +f 10 14 45 +f 9 5 46 +f 40 9 46 +f 33 40 46 +f 5 44 46 +f 44 33 46 +f 26 8 47 +f 13 26 47 +f 8 42 47 +f 42 13 47 +f 21 6 48 +f 6 45 48 +f 45 14 48 +f 11 27 49 +f 27 14 49 +f 1 34 49 +f 34 11 49 +f 36 1 49 +f 8 4 50 +f 35 8 50 +f 16 35 50 +f 4 43 50 +f 43 16 50 +f 7 12 51 +f 12 17 51 +f 21 7 51 +f 17 30 51 +f 30 21 51 +f 1 39 52 +f 39 9 52 +f 40 1 52 +f 9 40 52 +f 20 3 53 +f 3 38 53 +f 38 24 53 +f 41 20 53 +f 24 41 53 +f 14 10 54 +f 10 19 54 +f 19 36 54 +f 49 14 54 +f 36 49 54 +f 23 16 55 +f 28 23 55 +f 24 28 55 +f 43 24 55 +f 16 43 55 +f 7 21 56 +f 14 23 56 +f 28 7 56 +f 23 28 56 +f 21 48 56 +o convex_1 +v -2.081592 1.202884 0.709179 +v -2.733927 0.036133 -0.114572 +v -2.733927 0.036133 0.125380 +v -0.570910 -0.685168 -0.011652 +v -0.571122 1.546422 -0.801096 +v -0.571122 0.551056 0.984023 +v -2.081592 0.687961 -0.938518 +v -0.571122 -0.341631 -0.835598 +v -2.733927 1.202884 -0.217492 +v -0.571122 1.924185 0.022460 +v -2.081592 -0.135508 0.709179 +v -0.571122 1.546422 0.812099 +v -0.571122 -0.307405 0.846601 +v -2.115892 -0.101282 -0.698176 +v -2.733927 0.619508 0.606064 +v -1.841280 0.619508 0.949521 +v -2.047292 1.340299 -0.732483 +v -2.733927 0.619508 -0.595256 +v -2.115892 -0.341631 -0.011652 +v -0.639722 0.585282 -1.007326 +v -2.047292 1.546166 -0.011652 +v -2.733927 1.099950 0.400224 +v -2.047292 1.306073 0.674872 +v -1.944180 0.585538 -0.972825 +v -2.733927 0.139067 0.468642 +v -2.081592 0.516575 0.915214 +v -2.733927 0.173293 -0.457834 +v -2.733927 1.099950 -0.457834 +v -0.605422 1.924185 -0.045763 +v -0.571122 1.374525 -0.869904 +v -1.429257 0.585282 0.984023 +v -2.081592 0.310708 -0.869709 +v -1.429257 0.619508 -1.007326 +v -0.605422 -0.685168 0.022655 +v -0.571122 -0.135764 -0.904211 +v -0.674022 -0.341631 0.812294 +v -2.733927 1.237365 0.056767 +v -0.639722 1.580648 0.777988 +v -0.639722 -0.204216 0.880908 +v -0.605422 -0.375857 -0.801291 +v -2.047292 1.546166 -0.080070 +v -0.639722 1.443233 0.846601 +v -2.047292 0.653479 0.915214 +v -2.081592 -0.169990 -0.560754 +v -2.047292 0.962535 -0.869709 +v -0.605422 1.924185 0.022460 +v -2.115892 -0.341631 0.022460 +v -0.571122 0.688216 0.984023 +v -2.733927 1.031243 0.468642 +v -0.605422 -0.685168 -0.011652 +v -1.944180 0.653479 -0.972825 +v -1.292057 0.516575 -1.007326 +v -2.012780 -0.101282 -0.732483 +v -2.047292 1.374525 0.503144 +v -1.978480 1.306073 -0.766789 +v -1.360657 0.653734 0.984023 +v -0.639722 -0.135764 -0.904211 +v -2.012780 1.168658 0.743486 +v -0.571122 0.791149 -0.972825 +v -2.081592 0.551056 -0.938518 +v -2.733927 0.687961 -0.595256 +f 84 101 117 +f 58 59 65 +f 60 61 66 +f 60 66 68 +f 60 62 69 +f 65 59 71 +f 58 65 74 +f 59 58 75 +f 65 71 78 +f 71 59 81 +f 71 81 82 +f 81 67 82 +f 70 58 83 +f 58 74 83 +f 65 73 84 +f 74 65 84 +f 66 61 85 +f 61 73 85 +f 61 60 86 +f 72 82 87 +f 70 83 88 +f 83 74 88 +f 60 69 90 +f 60 64 91 +f 69 67 92 +f 90 69 92 +f 67 90 92 +f 65 78 93 +f 78 79 93 +f 68 66 94 +f 79 68 94 +f 69 62 95 +f 67 69 95 +f 82 67 95 +f 62 87 95 +f 87 82 95 +f 64 60 96 +f 73 65 97 +f 85 73 97 +f 77 85 97 +f 65 93 97 +f 93 77 97 +f 71 82 99 +f 82 72 99 +f 72 98 99 +f 58 70 100 +f 75 58 100 +f 70 96 100 +f 84 73 101 +f 66 85 102 +f 85 77 102 +f 94 66 102 +f 79 94 102 +f 59 75 103 +f 81 59 103 +f 67 81 103 +f 90 67 103 +f 75 90 103 +f 62 60 104 +f 60 68 104 +f 87 62 104 +f 68 98 104 +f 78 71 105 +f 79 78 105 +f 57 79 105 +f 99 57 105 +f 71 99 105 +f 60 90 106 +f 90 75 106 +f 96 60 106 +f 75 100 106 +f 100 96 106 +f 80 63 107 +f 89 80 107 +f 86 89 107 +f 63 101 107 +f 101 86 107 +f 89 76 108 +f 80 89 108 +f 76 91 108 +f 70 88 109 +f 64 96 109 +f 96 70 109 +f 77 93 110 +f 93 79 110 +f 102 77 110 +f 79 102 110 +f 73 61 111 +f 61 86 111 +f 101 73 111 +f 86 101 111 +f 72 87 112 +f 98 72 112 +f 87 104 112 +f 104 98 112 +f 88 80 113 +f 91 64 113 +f 80 108 113 +f 108 91 113 +f 64 109 113 +f 109 88 113 +f 79 57 114 +f 68 79 114 +f 98 68 114 +f 57 99 114 +f 99 98 114 +f 86 60 115 +f 76 89 115 +f 89 86 115 +f 60 91 115 +f 91 76 115 +f 74 63 116 +f 63 80 116 +f 88 74 116 +f 80 88 116 +f 63 74 117 +f 74 84 117 +f 101 63 117 +o convex_2 +v 1.866776 -0.238610 -0.972845 +v 2.622186 0.653728 1.052690 +v 2.484855 0.653728 1.052690 +v 1.901153 2.095853 -0.045878 +v 3.445994 0.688176 -0.732483 +v 1.866776 -0.444746 0.915167 +v 3.445994 -0.169990 0.056962 +v 3.445994 1.374653 0.125521 +v 1.866776 1.614961 -0.835524 +v 1.866776 1.512169 0.812126 +v 3.445994 0.550935 0.846608 +v 1.901153 -0.719502 -0.011598 +v 2.793716 1.408825 -0.732483 +v 2.759517 0.688176 -1.007326 +v 2.622186 -0.169990 -0.801244 +v 2.725318 1.340481 0.777645 +v 3.686279 0.619556 -0.011598 +v 2.656563 -0.204162 0.846406 +v 1.866776 0.688176 1.018209 +v 1.866776 0.790968 -1.007326 +v 3.445994 1.374653 -0.045878 +v 3.239908 0.036146 -0.560882 +v 1.901153 -0.410298 -0.904285 +v 3.274286 -0.032474 0.571764 +v 2.553609 0.379523 1.052690 +v 1.866776 2.095853 0.022682 +v 3.274286 1.065724 0.675007 +v 3.445994 0.585383 -0.732483 +v 3.274286 1.237412 -0.526602 +v 3.686279 0.585383 0.125521 +v 1.901153 -0.273058 0.983929 +v 3.377239 -0.204162 0.022682 +v 2.038485 -0.410298 0.915167 +v 2.587987 0.447867 -1.007326 +v 1.866776 -0.719502 -0.011598 +v 1.935531 1.649409 -0.801244 +v 1.969908 1.512169 0.812126 +v 1.901153 2.095853 0.022682 +v 3.445994 0.585383 0.846608 +v 3.377239 -0.204162 0.056760 +v 1.866776 1.340481 0.880888 +v 3.686279 0.688176 0.091242 +v 1.866776 0.138939 1.018209 +v 2.553609 1.477445 -0.766964 +v 1.901153 -0.719502 0.022682 +v 1.866776 0.207559 -1.007326 +v 3.445994 -0.169990 0.022682 +v 2.725318 0.516763 1.052690 +v 3.171332 -0.032474 0.675007 +v 3.171332 1.202965 0.640526 +v 2.690941 1.202965 0.846406 +v 2.141616 1.306033 -0.904285 +v 2.862471 0.619556 -0.972845 +v 3.583325 0.585383 -0.354799 +v 2.690941 -0.238610 0.743567 +v 2.175816 0.551211 1.052690 +v 3.308663 0.688176 -0.801244 +f 145 170 174 +f 118 123 126 +f 126 123 127 +f 127 123 136 +f 118 126 137 +f 121 125 138 +f 130 121 138 +f 134 122 138 +f 118 132 140 +f 124 128 141 +f 119 120 142 +f 121 126 143 +f 126 127 143 +f 139 132 145 +f 122 130 146 +f 130 138 146 +f 138 122 146 +f 128 124 147 +f 129 140 149 +f 140 132 149 +f 135 142 150 +f 148 123 150 +f 142 148 150 +f 132 118 151 +f 137 131 151 +f 123 118 152 +f 118 140 152 +f 140 129 152 +f 126 121 153 +f 143 127 154 +f 143 154 155 +f 125 121 155 +f 133 125 155 +f 121 143 155 +f 154 133 155 +f 125 144 156 +f 144 133 156 +f 128 147 156 +f 124 141 157 +f 149 124 157 +f 129 149 157 +f 120 119 158 +f 136 120 158 +f 127 136 158 +f 119 154 158 +f 154 127 158 +f 138 125 159 +f 134 138 159 +f 147 134 159 +f 125 156 159 +f 156 147 159 +f 136 123 160 +f 123 148 160 +f 148 142 160 +f 121 130 161 +f 130 131 161 +f 153 121 161 +f 126 153 161 +f 150 123 162 +f 123 152 162 +f 152 129 162 +f 129 157 162 +f 118 137 163 +f 151 118 163 +f 137 151 163 +f 132 139 164 +f 139 145 164 +f 147 124 164 +f 134 147 164 +f 124 149 164 +f 149 132 164 +f 135 128 165 +f 119 142 165 +f 142 135 165 +f 156 119 165 +f 128 156 165 +f 128 135 166 +f 141 128 166 +f 125 133 167 +f 144 125 167 +f 133 144 167 +f 154 119 168 +f 133 154 168 +f 119 156 168 +f 156 133 168 +f 137 126 169 +f 131 137 169 +f 126 161 169 +f 161 131 169 +f 145 132 170 +f 132 151 170 +f 151 131 170 +f 122 134 171 +f 145 122 171 +f 134 164 171 +f 164 145 171 +f 135 150 172 +f 157 141 172 +f 150 162 172 +f 162 157 172 +f 166 135 172 +f 141 166 172 +f 120 136 173 +f 142 120 173 +f 136 160 173 +f 160 142 173 +f 130 122 174 +f 131 130 174 +f 122 145 174 +f 170 131 174 +o convex_3 +v 0.047188 -4.049435 -0.526528 +v 0.802323 -1.406174 1.052485 +v 0.424950 -1.406174 1.052485 +v 0.905243 -1.406174 -1.041455 +v 1.420232 -4.221405 0.022426 +v -0.296073 -1.406473 -0.286079 +v 0.115801 -3.980946 0.812036 +v 1.626266 -1.406473 0.159973 +v 1.454733 -3.568815 0.812240 +v 1.523346 -3.156983 -0.801210 +v 0.321836 -3.774880 -1.007017 +v -0.330575 -3.397143 0.159768 +v -0.193153 -1.406473 0.777803 +v -0.158847 -1.543751 -0.801005 +v 0.974051 -3.843369 1.018047 +v 1.385925 -1.406473 -1.007017 +v 0.630985 -4.289894 -0.766773 +v 1.420232 -1.406473 0.880706 +v -0.193153 -3.500325 -0.732540 +v 0.630985 -4.461565 0.091097 +v 1.660768 -3.465931 0.022631 +v -0.090039 -4.221405 -0.011396 +v 1.248699 -3.946551 -0.801210 +v 0.768016 -4.289894 0.777803 +v 0.253222 -1.406174 -1.007017 +v 1.557653 -1.406473 -0.698102 +v 1.180085 -2.470596 -1.041660 +v -0.090039 -3.294260 0.812036 +v 0.665097 -3.362749 1.052485 +v -0.330575 -1.406473 0.159768 +v -0.330575 -3.465931 -0.114505 +v 1.145779 -1.509356 1.018252 +v 1.489040 -3.534420 0.777803 +v -0.055732 -2.711355 -0.869881 +v 1.626266 -1.921487 -0.354954 +v 1.557653 -3.191078 -0.732335 +v 1.248699 -4.049435 0.606024 +v 0.184414 -1.475261 0.984019 +v 0.047188 -4.015340 0.709132 +v 0.459257 -1.440867 -1.041455 +v 0.665097 -4.289894 0.777803 +v 1.420232 -4.221405 -0.045834 +v 1.489040 -1.406473 0.743365 +v 0.699208 -4.461565 -0.080067 +v 0.905243 -3.671698 1.052485 +v -0.193153 -1.406473 -0.732540 +v 1.042664 -3.774880 1.018047 +v 0.562177 -4.289894 -0.766773 +v 0.905243 -2.882727 -1.041455 +v -0.090039 -4.221405 0.056659 +v 1.283005 -4.015340 -0.698102 +v 1.660768 -2.916822 0.056864 +v 1.523346 -1.406473 -0.835443 +v 1.591960 -2.676662 -0.629431 +v -0.124345 -3.225472 0.777803 +v 0.802323 -3.328654 -1.007017 +v 1.626266 -1.406473 -0.217613 +v -0.330575 -1.406473 -0.114505 +v 0.596483 -4.461565 -0.045834 +v 0.150108 -1.406473 -0.972989 +v -0.330575 -3.534420 0.056659 +v 1.660768 -3.363048 -0.080272 +v 0.699208 -4.461565 0.091097 +v -0.158847 -1.612539 0.812036 +f 229 202 238 +f 177 176 178 +f 178 176 182 +f 185 175 193 +f 193 175 196 +f 191 185 197 +f 177 178 199 +f 178 190 201 +f 190 184 201 +f 184 197 201 +f 176 177 203 +f 202 181 203 +f 186 187 204 +f 187 177 204 +f 177 199 204 +f 180 193 205 +f 193 196 205 +f 186 204 205 +f 192 176 206 +f 183 179 207 +f 192 183 207 +f 179 195 207 +f 185 193 208 +f 193 188 208 +f 197 184 210 +f 179 183 211 +f 198 179 211 +f 189 198 211 +f 177 187 212 +f 203 177 212 +f 202 203 212 +f 181 202 213 +f 199 178 214 +f 185 199 214 +f 178 201 214 +f 189 181 215 +f 198 189 215 +f 194 198 215 +f 181 213 215 +f 195 179 216 +f 210 195 216 +f 182 176 217 +f 176 192 217 +f 192 207 217 +f 216 179 218 +f 191 216 218 +f 181 189 219 +f 176 203 219 +f 203 181 219 +f 206 176 219 +f 193 180 220 +f 188 193 220 +f 180 199 220 +f 183 192 221 +f 192 206 221 +f 211 183 221 +f 189 211 221 +f 219 189 221 +f 206 219 221 +f 175 185 222 +f 185 191 222 +f 196 175 222 +f 191 218 222 +f 185 214 223 +f 214 201 223 +f 194 215 224 +f 215 213 224 +f 191 197 225 +f 197 210 225 +f 216 191 225 +f 210 216 225 +f 207 195 226 +f 182 217 226 +f 217 207 226 +f 190 178 227 +f 184 190 227 +f 178 200 227 +f 210 184 227 +f 210 227 228 +f 200 209 228 +f 227 200 228 +f 187 186 229 +f 186 213 229 +f 213 202 229 +f 197 185 230 +f 201 197 230 +f 185 223 230 +f 223 201 230 +f 178 182 231 +f 200 178 231 +f 209 200 231 +f 182 226 231 +f 199 180 232 +f 204 199 232 +f 180 205 232 +f 205 204 232 +f 218 194 233 +f 196 222 233 +f 222 218 233 +f 194 224 233 +f 224 196 233 +f 199 185 234 +f 185 208 234 +f 208 188 234 +f 188 220 234 +f 220 199 234 +f 186 205 235 +f 205 196 235 +f 213 186 235 +f 196 224 235 +f 224 213 235 +f 195 210 236 +f 226 195 236 +f 210 228 236 +f 228 209 236 +f 209 231 236 +f 231 226 236 +f 179 198 237 +f 198 194 237 +f 218 179 237 +f 194 218 237 +f 212 187 238 +f 202 212 238 +f 187 229 238 +o convex_4 +v 1.385968 3.400177 0.022527 +v -0.570910 -0.787776 -0.011497 +v -0.570910 -0.787776 0.022527 +v 1.660613 -1.406174 -0.011497 +v 0.802317 -1.405687 1.052485 +v 0.459189 -1.405687 -1.041455 +v -0.090102 3.331467 0.056962 +v 1.866537 0.791600 -1.007225 +v 1.866537 0.688777 1.018256 +v -0.570910 1.374424 -0.869898 +v -0.570910 1.477247 0.846493 +v 0.699235 3.331467 -0.766799 +v 0.630753 2.610733 0.983821 +v -0.193183 -1.405687 0.777830 +v 1.385968 -1.406174 -1.007225 +v -0.193183 -1.405687 -0.732365 +v -0.570910 0.551355 0.983821 +v 1.866537 -0.410110 0.949387 +v 0.664875 2.678957 -0.972791 +v 0.699235 3.296867 0.777830 +v 1.866537 1.614669 -0.835463 +v -0.570910 0.345223 -0.972791 +v 1.866537 1.511846 0.812264 +v 1.866537 -0.410110 -0.904127 +v -0.090102 2.679444 -0.732365 +v 1.454689 -1.406174 0.846493 +v 1.866537 2.198468 0.022527 +v -0.570910 2.026447 -0.045727 +v 0.562271 3.572198 0.022527 +v 1.489049 2.678957 -0.732365 +v -0.090102 2.644845 0.743395 +v 1.420328 2.576134 0.743395 +v 0.287625 -1.130844 1.052485 +v -0.570910 -0.341399 0.846493 +v -0.570910 -0.375511 -0.835463 +v 1.454689 3.366066 0.056757 +v 0.596631 -0.066556 -1.041455 +v -0.364747 -1.405687 0.056757 +v 1.866537 -0.821888 -0.011497 +v -0.090102 3.331467 -0.045932 +v 1.282886 3.194045 -0.560808 +v 0.664875 3.400177 -0.732365 +v 1.557770 -1.406174 -0.732365 +v -0.570910 0.791112 -0.972791 +v 0.218904 -1.405687 -1.007020 +v 0.081462 3.125334 0.571838 +v 1.180043 -1.406174 1.018256 +v -0.570910 1.545958 -0.801029 +v 1.180043 3.159446 0.606272 +v 0.081462 3.159933 -0.560808 +v 1.454689 3.366066 -0.045727 +v 0.390707 -0.718578 1.052485 +v 0.802317 3.572198 0.056962 +v 0.184544 -1.405687 0.983821 +v -0.570910 1.580557 0.812059 +v 0.905398 -1.405687 -1.041455 +v 0.767956 2.644358 -0.972791 +v 1.866537 0.173202 -1.007225 +v 1.866537 0.173202 1.018256 +v -0.570910 0.688290 0.983821 +v 0.664875 3.331467 0.743395 +v -0.021381 0.620066 -1.007020 +v 0.287625 -1.165443 -1.041455 +v 0.699235 2.575647 0.983821 +f 270 258 302 +f 240 241 248 +f 248 241 249 +f 249 241 255 +f 246 247 256 +f 247 246 259 +f 240 248 260 +f 247 259 261 +f 246 256 262 +f 257 248 263 +f 250 257 263 +f 253 242 264 +f 242 256 264 +f 261 259 265 +f 248 249 266 +f 249 251 269 +f 251 258 269 +f 247 261 270 +f 255 241 272 +f 240 260 273 +f 261 265 274 +f 270 261 274 +f 241 240 276 +f 254 253 276 +f 272 241 276 +f 252 272 276 +f 240 273 276 +f 273 254 276 +f 256 242 277 +f 262 256 277 +f 266 245 278 +f 245 267 278 +f 268 250 279 +f 250 263 280 +f 278 267 280 +f 279 250 280 +f 242 253 281 +f 253 262 281 +f 277 242 281 +f 262 277 281 +f 248 257 282 +f 260 248 282 +f 244 253 283 +f 253 254 283 +f 254 273 283 +f 273 260 283 +f 245 269 284 +f 253 264 285 +f 264 256 285 +f 276 253 285 +f 252 276 285 +f 263 248 286 +f 248 266 286 +f 278 263 286 +f 266 278 286 +f 258 270 287 +f 274 258 287 +f 270 274 287 +f 263 278 288 +f 280 263 288 +f 278 280 288 +f 265 259 289 +f 259 268 289 +f 239 274 289 +f 274 265 289 +f 268 279 289 +f 279 280 289 +f 243 247 290 +f 247 251 290 +f 271 243 290 +f 274 239 291 +f 280 267 291 +f 239 289 291 +f 289 280 291 +f 243 271 292 +f 271 255 292 +f 255 272 292 +f 272 252 292 +f 285 243 292 +f 252 285 292 +f 245 266 293 +f 266 249 293 +f 269 245 293 +f 249 269 293 +f 253 244 294 +f 244 275 294 +f 275 246 294 +f 257 250 295 +f 259 246 295 +f 250 268 295 +f 268 259 295 +f 246 275 295 +f 275 257 295 +f 246 262 296 +f 262 253 296 +f 253 294 296 +f 294 246 296 +f 247 243 297 +f 256 247 297 +f 243 285 297 +f 285 256 297 +f 251 249 298 +f 249 255 298 +f 255 271 298 +f 290 251 298 +f 271 290 298 +f 267 245 299 +f 269 258 299 +f 258 274 299 +f 245 284 299 +f 284 269 299 +f 291 267 299 +f 274 291 299 +f 257 275 300 +f 282 257 300 +f 282 300 301 +f 275 244 301 +f 260 282 301 +f 244 283 301 +f 283 260 301 +f 300 275 301 +f 251 247 302 +f 258 251 302 +f 247 270 302 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/835/835.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/835/835.urdf new file mode 100644 index 000000000..659b673dc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/835/835.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/836/836.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/836/836.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/836/836.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/836/836.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/836/836.obj new file mode 100644 index 000000000..ab5d787ed --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/836/836.obj @@ -0,0 +1,600 @@ +o convex_0 +v 0.279283 0.672985 -0.456786 +v -1.347456 -5.407676 -1.928270 +v -0.495051 -5.407070 -1.966850 +v 0.473032 -5.485330 0.046847 +v -1.231119 0.479457 0.124634 +v 0.782897 0.557110 -1.928270 +v -1.308530 0.557110 -1.889272 +v -1.192413 -5.368243 0.124634 +v 0.782897 -5.368850 -2.005848 +v 0.744192 0.479457 0.085845 +v 0.899235 -5.524157 0.008267 +v -1.269605 0.634764 -0.263048 +v -1.114782 -0.024687 -1.928270 +v -1.231119 -5.174715 0.085845 +v 0.821603 -0.373523 -1.618165 +v -0.727505 0.672985 -1.502006 +v -1.347456 -4.206468 -1.579376 +v 0.434326 -4.477043 -2.005848 +v -0.572682 0.479457 0.124634 +v 0.395620 0.672985 -1.502006 +v -1.269825 -0.566444 -0.146681 +v -1.347456 -2.310015 -1.850483 +v 0.860309 -5.485330 -0.766473 +v -0.882548 -4.554697 0.124634 +v -1.347456 -5.407676 -1.617957 +v -1.231119 0.634764 -0.108309 +v 0.743972 0.557110 -0.108309 +v 0.628075 -5.524157 0.008267 +v -1.308530 0.595937 -1.269480 +v 0.899235 -5.174108 -0.069103 +v 0.744192 -0.101734 0.085845 +v 0.782897 0.557110 -1.114741 +v 0.821603 -5.524157 -0.301629 +v 0.782897 -5.407676 -1.850483 +v -0.766211 0.672985 -0.495366 +v 0.240358 0.557110 -1.928270 +v 0.782897 -4.360563 -2.005848 +v 0.821603 -5.291196 -1.463217 +v 0.899235 -5.291196 -0.146681 +v 0.821603 -3.702931 0.047056 +v -1.308530 -5.407676 -1.308061 +v -1.269825 0.052967 -0.146681 +f 29 22 42 +f 3 2 13 +f 2 7 13 +f 8 5 14 +f 9 3 18 +f 3 13 18 +f 5 8 19 +f 16 1 20 +f 6 16 20 +f 14 5 21 +f 7 2 22 +f 2 17 22 +f 8 4 24 +f 19 8 24 +f 8 14 25 +f 17 2 25 +f 14 21 25 +f 21 17 25 +f 12 5 26 +f 5 19 26 +f 19 10 26 +f 20 1 27 +f 1 26 27 +f 26 10 27 +f 4 8 28 +f 11 4 28 +f 25 2 28 +f 16 7 29 +f 12 16 29 +f 7 22 29 +f 10 11 30 +f 11 10 31 +f 10 19 31 +f 19 24 31 +f 15 6 32 +f 6 20 32 +f 27 10 32 +f 20 27 32 +f 10 30 32 +f 30 15 32 +f 2 3 33 +f 23 11 33 +f 11 28 33 +f 28 2 33 +f 3 9 34 +f 9 23 34 +f 33 3 34 +f 23 33 34 +f 1 16 35 +f 16 12 35 +f 26 1 35 +f 12 26 35 +f 13 7 36 +f 16 6 36 +f 7 16 36 +f 18 13 36 +f 18 36 37 +f 6 15 37 +f 15 9 37 +f 9 18 37 +f 36 6 37 +f 9 15 38 +f 23 9 38 +f 23 38 39 +f 11 23 39 +f 30 11 39 +f 15 30 39 +f 38 15 39 +f 4 11 40 +f 24 4 40 +f 11 31 40 +f 31 24 40 +f 8 25 41 +f 28 8 41 +f 25 28 41 +f 5 12 42 +f 21 5 42 +f 17 21 42 +f 22 17 42 +f 12 29 42 +o convex_1 +v -0.766317 2.029192 2.138909 +v -1.231189 0.480358 -0.107782 +v -1.231189 0.480358 0.124672 +v -3.322467 2.687668 1.596369 +v 1.053750 2.610085 0.008555 +v 1.053750 0.596407 2.099983 +v -3.206357 0.596191 2.099763 +v -3.322467 2.416454 0.085967 +v 1.053750 2.648985 2.099983 +v 1.053750 0.518825 0.008555 +v -3.322467 0.635090 -0.068636 +v -3.322467 2.687668 1.983646 +v 0.007897 1.835344 -0.107782 +v -3.322467 2.610085 0.163598 +v 0.743979 0.480358 -0.107782 +v 1.053750 0.983669 2.138909 +v -0.456546 1.835344 -0.107782 +v -1.657071 1.409831 2.138909 +v -2.974135 2.571403 2.022572 +v -1.695632 2.687668 1.983866 +v -2.548253 2.610085 0.085967 +v -3.245346 0.596191 0.822035 +v -3.322467 2.261506 1.945160 +v 1.053750 2.261506 -0.030151 +v -3.322467 0.751139 -0.068636 +v -3.322467 0.673773 0.241009 +v 0.743979 0.480358 0.085967 +v -3.206357 0.828937 2.099763 +v 0.743979 2.610085 0.008555 +v -2.470703 2.687668 2.022572 +v -0.921417 2.029192 2.138909 +v -3.245346 0.596191 1.518957 +f 65 68 74 +f 45 48 49 +f 48 47 51 +f 47 48 52 +f 46 50 53 +f 46 53 54 +f 50 46 56 +f 45 44 57 +f 44 55 57 +f 49 48 58 +f 51 43 58 +f 48 51 58 +f 47 55 59 +f 55 44 59 +f 58 43 60 +f 49 58 60 +f 47 46 62 +f 51 47 62 +f 46 54 62 +f 56 46 63 +f 50 56 63 +f 59 50 63 +f 44 45 64 +f 53 44 64 +f 49 54 65 +f 54 53 65 +f 47 52 66 +f 55 47 66 +f 52 57 66 +f 57 55 66 +f 44 53 67 +f 53 50 67 +f 50 59 67 +f 59 44 67 +f 65 53 68 +f 48 45 69 +f 52 48 69 +f 45 57 69 +f 57 52 69 +f 54 49 70 +f 49 60 70 +f 61 54 70 +f 60 61 70 +f 46 47 71 +f 47 59 71 +f 63 46 71 +f 59 63 71 +f 54 61 72 +f 51 62 72 +f 62 54 72 +f 43 51 73 +f 60 43 73 +f 61 60 73 +f 51 72 73 +f 72 61 73 +f 45 49 74 +f 64 45 74 +f 53 64 74 +f 49 65 74 +f 68 53 74 +o convex_2 +v 2.254844 1.874279 -0.069046 +v 1.286747 0.983498 -2.005715 +v 1.906197 0.983498 -2.005715 +v 1.402962 2.029322 -2.044584 +v 1.286747 1.022424 -0.069046 +v 1.325449 2.067918 -0.069046 +v 2.332358 1.990616 -2.044584 +v 2.332358 1.061019 -0.069046 +v 2.332358 1.099725 -2.044584 +v 2.216142 2.106843 -0.069046 +v 1.209233 1.061019 -1.966846 +v 1.286747 1.874279 -2.005715 +v 2.332358 1.022424 -0.921451 +v 1.248045 0.983498 -0.998802 +v 1.286747 1.796868 -0.456573 +v 2.332358 1.022424 -2.005715 +v 2.293546 2.029322 -1.695925 +v 1.325449 2.067918 -0.650143 +v 2.332358 1.254768 -0.069046 +v 2.177330 2.106843 -0.262809 +v 1.596582 1.022424 -0.069046 +v 1.325449 2.029322 -2.005715 +f 92 94 96 +f 79 75 80 +f 75 79 82 +f 81 82 83 +f 77 76 83 +f 76 78 83 +f 78 81 83 +f 80 75 84 +f 75 81 84 +f 78 76 86 +f 76 85 86 +f 83 82 87 +f 76 77 88 +f 85 76 88 +f 79 85 88 +f 77 87 88 +f 79 80 89 +f 85 79 89 +f 80 86 89 +f 86 85 89 +f 77 83 90 +f 87 77 90 +f 83 87 90 +f 81 78 91 +f 84 81 91 +f 86 80 92 +f 81 75 93 +f 75 82 93 +f 82 81 93 +f 80 84 94 +f 91 78 94 +f 84 91 94 +f 92 80 94 +f 82 79 95 +f 87 82 95 +f 79 88 95 +f 88 87 95 +f 78 86 96 +f 86 92 96 +f 94 78 96 +o convex_3 +v 1.209214 2.145356 2.138909 +v 2.680980 0.518874 -0.069046 +v 2.874685 0.518874 -0.069046 +v 2.525945 2.649148 -0.030143 +v 1.054179 0.518874 0.008544 +v 2.680980 0.557660 2.099790 +v 2.719650 2.610154 2.138909 +v 1.054179 2.610154 0.008544 +v 1.054179 0.596445 2.099790 +v 1.054179 2.649148 2.099790 +v 2.874685 2.649148 -0.030143 +v 1.325401 2.067785 -0.069046 +v 2.874685 0.518874 0.279783 +v 2.487275 0.828740 2.138909 +v 1.519106 0.518874 0.977009 +v 2.835837 2.649148 0.783359 +v 2.719650 0.557660 2.061103 +v 1.325401 1.022458 -0.069046 +v 1.325401 2.649148 0.008544 +v 1.054179 0.945096 2.138909 +v 2.216231 2.106570 -0.069046 +v 1.054179 2.029208 -0.030143 +v 2.874685 2.649148 0.318470 +v 2.797168 0.518874 0.783359 +v 1.519106 2.649148 2.099790 +v 1.054179 0.518874 0.667299 +v 2.758498 2.377651 1.712706 +f 119 112 123 +f 98 99 101 +f 104 101 105 +f 104 105 106 +f 97 103 106 +f 100 106 107 +f 99 98 108 +f 104 100 108 +f 101 99 109 +f 99 107 109 +f 103 97 110 +f 102 103 110 +f 105 102 110 +f 102 105 111 +f 101 109 111 +f 107 106 112 +f 103 102 113 +f 98 101 114 +f 108 98 114 +f 100 104 115 +f 104 106 115 +f 106 100 115 +f 106 105 116 +f 97 106 116 +f 110 97 116 +f 105 110 116 +f 107 99 117 +f 100 107 117 +f 99 108 117 +f 108 100 117 +f 101 104 118 +f 104 108 118 +f 114 101 118 +f 108 114 118 +f 109 107 119 +f 107 112 119 +f 102 111 120 +f 111 109 120 +f 113 102 120 +f 109 113 120 +f 106 103 121 +f 103 112 121 +f 112 106 121 +f 105 101 122 +f 111 105 122 +f 101 111 122 +f 112 103 123 +f 103 113 123 +f 113 109 123 +f 109 119 123 +o convex_4 +v 1.248022 2.145462 2.681448 +v 1.248022 0.944880 3.881784 +v 1.286807 0.944880 3.881784 +v 2.371090 0.983661 2.138909 +v 2.371090 1.990453 4.075521 +v 2.216063 2.145462 2.138909 +v 1.248022 1.022443 2.138909 +v 1.364264 2.067899 4.075521 +v 2.254848 1.138552 4.036660 +v 1.209123 2.145462 2.138909 +v 1.209123 0.944880 3.997989 +v 2.254848 2.145462 2.526573 +v 2.293520 1.254779 4.075521 +v 2.371090 2.029235 3.959317 +v 1.325479 2.029235 4.075521 +v 1.209123 1.371006 2.138909 +v 1.480393 0.983661 4.036660 +v 1.209123 2.106680 2.526573 +v 2.332305 1.022443 2.875186 +v 1.828778 0.983661 2.138909 +v 2.371090 1.835562 4.075521 +f 128 136 144 +f 126 125 127 +f 129 127 130 +f 124 129 133 +f 129 130 133 +f 125 126 134 +f 130 125 134 +f 129 124 135 +f 127 129 135 +f 124 131 135 +f 128 131 136 +f 128 127 137 +f 131 128 137 +f 127 135 137 +f 135 131 137 +f 131 124 138 +f 136 131 138 +f 133 130 139 +f 130 134 139 +f 134 133 139 +f 134 126 140 +f 132 136 140 +f 138 134 140 +f 136 138 140 +f 124 133 141 +f 133 134 141 +f 138 124 141 +f 134 138 141 +f 126 127 142 +f 127 136 142 +f 136 132 142 +f 140 126 142 +f 132 140 142 +f 127 125 143 +f 125 130 143 +f 130 127 143 +f 127 128 144 +f 136 127 144 +o convex_5 +v 0.085770 1.680849 -0.107782 +v -0.069383 1.177178 -1.540993 +v 0.201887 1.177178 -1.540993 +v 0.279409 2.649004 -1.540993 +v -0.766415 2.610249 -1.114790 +v -0.727600 1.177178 -0.417708 +v -0.650188 2.532739 -0.378949 +v -0.727600 1.177178 -1.502234 +v 0.356930 2.493984 -0.417708 +v 0.318114 1.177178 -0.456467 +v -0.766415 2.610249 -1.502234 +v 0.356930 1.177178 -1.502234 +v -0.495255 1.332342 -0.107782 +v -0.533961 1.758359 -1.579751 +v -0.495255 1.835869 -0.107782 +v 0.085770 1.293587 -0.107782 +v -0.766415 1.177178 -0.650117 +v -0.030567 2.532739 -0.378949 +v -0.688894 2.493984 -0.378949 +v 0.279409 2.649004 -1.269825 +v 0.008139 1.254833 -1.579751 +v 0.318114 2.261598 -1.540993 +v 0.356930 1.177178 -0.766393 +v -0.766415 1.603483 -1.502234 +v 0.008139 1.835869 -0.107782 +v -0.688894 2.571494 -0.572743 +v -0.572667 2.649004 -1.463475 +v -0.495255 1.254833 -1.579751 +v 0.356930 2.532739 -0.533985 +v 0.124476 1.487218 -0.107782 +f 160 154 174 +f 146 147 150 +f 146 150 152 +f 150 147 154 +f 154 147 156 +f 155 148 158 +f 157 145 159 +f 150 157 159 +f 150 154 160 +f 145 157 160 +f 157 150 160 +f 152 150 161 +f 149 155 161 +f 151 159 162 +f 150 159 163 +f 159 151 163 +f 149 161 163 +f 161 150 163 +f 147 146 165 +f 158 148 165 +f 156 147 166 +f 147 165 166 +f 165 148 166 +f 153 154 167 +f 156 153 167 +f 154 156 167 +f 155 158 168 +f 152 161 168 +f 161 155 168 +f 145 153 169 +f 159 145 169 +f 153 162 169 +f 162 159 169 +f 151 162 170 +f 149 163 170 +f 163 151 170 +f 162 164 170 +f 170 164 171 +f 148 155 171 +f 155 149 171 +f 164 148 171 +f 149 170 171 +f 146 152 172 +f 165 146 172 +f 158 165 172 +f 152 168 172 +f 168 158 172 +f 153 156 173 +f 162 153 173 +f 148 164 173 +f 164 162 173 +f 166 148 173 +f 156 166 173 +f 153 145 174 +f 154 153 174 +f 145 160 174 +o convex_6 +v -0.688837 1.177178 -0.417670 +v -0.030446 1.099642 -1.541015 +v -0.030446 1.177178 -1.541015 +v 0.318088 0.944667 -0.456486 +v -0.727626 0.673610 -1.502090 +v 0.395666 0.673610 -1.502090 +v -0.727626 0.673610 -0.456486 +v -0.727626 1.177178 -1.502090 +v 0.356877 1.177178 -0.766351 +v 0.279412 0.673610 -0.456486 +v 0.356877 1.177178 -1.502090 +v 0.318088 1.177178 -0.456486 +v -0.766415 1.177178 -0.650234 +v -0.766415 0.673610 -0.495192 +v 0.240623 0.789890 -1.541015 +v -0.766415 1.138435 -1.114813 +f 188 187 190 +f 177 176 179 +f 179 180 181 +f 175 177 182 +f 177 179 182 +f 177 175 183 +f 178 180 183 +f 178 175 184 +f 180 178 184 +f 181 180 184 +f 175 181 184 +f 177 183 185 +f 183 180 185 +f 175 178 186 +f 183 175 186 +f 178 183 186 +f 175 182 187 +f 181 175 188 +f 179 181 188 +f 175 187 188 +f 176 177 189 +f 179 176 189 +f 180 179 189 +f 177 185 189 +f 185 180 189 +f 182 179 190 +f 187 182 190 +f 179 188 190 +o convex_7 +v -0.572667 1.758154 -3.671308 +v 0.124445 1.719418 -3.593965 +v 0.124445 1.332187 -3.593965 +v -0.533969 1.758154 -1.579751 +v -0.495202 1.254715 -1.579751 +v 0.046913 1.913163 -1.579751 +v -0.495202 1.254715 -3.903808 +v 0.046913 1.254715 -1.618541 +v 0.124445 1.835626 -3.981386 +v -0.572667 1.874362 -3.903808 +v 0.124445 1.293451 -3.981386 +v -0.572667 1.874362 -3.245098 +v -0.533969 1.409659 -1.579751 +v -0.108016 1.874362 -3.942597 +v -0.108016 1.254715 -3.942597 +v -0.533969 1.796890 -1.657330 +v -0.417738 1.254715 -3.942597 +v -0.030552 1.913163 -1.579751 +f 202 206 208 +f 193 192 196 +f 194 195 196 +f 195 197 198 +f 193 196 198 +f 196 195 198 +f 192 193 199 +f 196 192 199 +f 197 191 200 +f 193 198 201 +f 199 193 201 +f 200 191 202 +f 195 194 203 +f 191 197 203 +f 197 195 203 +f 202 191 203 +f 194 202 203 +f 196 199 204 +f 199 200 204 +f 198 197 205 +f 201 198 205 +f 202 194 206 +f 197 200 207 +f 200 199 207 +f 199 201 207 +f 205 197 207 +f 201 205 207 +f 194 196 208 +f 200 202 208 +f 196 204 208 +f 204 200 208 +f 206 194 208 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/836/836.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/836/836.urdf new file mode 100644 index 000000000..768c466a7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/836/836.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/837/837.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/837/837.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/837/837.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/837/837.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/837/837.obj new file mode 100644 index 000000000..044fc2b2d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/837/837.obj @@ -0,0 +1,549 @@ +o convex_0 +v -0.523088 -3.068367 -0.485413 +v 0.450479 -2.659925 0.582373 +v 0.419120 -2.659925 0.582373 +v -0.365984 -4.638224 0.550750 +v 0.544762 -4.575476 -0.516809 +v 0.481941 -2.659925 -0.548204 +v -0.523088 -4.638224 -0.579713 +v -0.460163 -2.659731 0.456563 +v 0.450479 -4.512535 0.582259 +v -0.523088 -4.638224 0.550750 +v -0.523088 -2.659731 -0.454018 +v 0.544762 -4.104287 -0.265531 +v -0.428805 -4.575283 0.582259 +v 0.513300 -2.754241 -0.548204 +v 0.481941 -4.512729 0.519468 +v -0.460163 -2.722867 0.487959 +v -0.523088 -2.691493 -0.077159 +v 0.262016 -2.659731 -0.548204 +v 0.481941 -2.879736 0.362377 +v -0.523088 -4.167035 0.550750 +v -0.428805 -4.638224 -0.579713 +v 0.544762 -4.575476 -0.328322 +v 0.513300 -3.256804 -0.548204 +v -0.271700 -4.638224 -0.548204 +v 0.356195 -2.659731 0.582259 +v -0.397342 -4.324098 -0.579713 +v -0.491625 -3.978597 0.550750 +v 0.199195 -4.606657 -0.108554 +v 0.481941 -2.659925 0.205400 +v 0.544762 -3.821534 -0.485413 +f 29 12 30 +f 1 7 10 +f 7 4 10 +f 1 10 11 +f 2 3 13 +f 9 2 13 +f 4 9 13 +f 10 4 13 +f 2 9 15 +f 8 11 17 +f 11 10 17 +f 16 8 17 +f 1 11 18 +f 11 8 18 +f 2 15 19 +f 15 12 19 +f 10 13 20 +f 17 10 20 +f 16 17 20 +f 4 7 21 +f 9 4 22 +f 5 12 22 +f 15 9 22 +f 12 15 22 +f 14 5 23 +f 5 21 23 +f 4 21 24 +f 21 5 24 +f 3 2 25 +f 13 3 25 +f 8 16 25 +f 6 18 25 +f 18 8 25 +f 7 1 26 +f 6 14 26 +f 18 6 26 +f 1 18 26 +f 21 7 26 +f 14 23 26 +f 23 21 26 +f 20 13 27 +f 16 20 27 +f 13 25 27 +f 25 16 27 +f 22 4 28 +f 5 22 28 +f 4 24 28 +f 24 5 28 +f 14 6 29 +f 2 19 29 +f 19 12 29 +f 25 2 29 +f 6 25 29 +f 12 5 30 +f 5 14 30 +f 14 29 30 +o convex_1 +v 0.513407 -0.209929 1.022038 +v -1.057019 -2.596663 -0.956317 +v 0.419123 -2.628317 -0.987971 +v -0.805735 -0.209929 -1.019421 +v -0.962735 -2.565250 0.927685 +v 0.984410 -2.596663 1.053488 +v 1.047126 -0.209929 -0.987971 +v -0.962735 -0.209929 0.927685 +v 1.015768 -2.628317 -0.987971 +v 0.984410 -0.209929 1.021835 +v -1.057019 -0.209929 -0.987768 +v -0.428807 -2.659731 0.487781 +v 1.078694 -0.241582 -0.233964 +v 1.015768 -2.628317 0.707936 +v -0.994094 -2.565250 0.770635 +v 1.078694 -1.026689 -0.642418 +v 0.576124 -1.403896 -1.019421 +v 0.764483 -2.596663 1.053488 +v 0.481840 -2.659731 -0.548269 +v -0.994094 -0.209929 0.739184 +v -1.057019 -2.596663 -0.705117 +v -0.554450 -2.659731 -0.453916 +v -0.617166 -0.209929 0.959136 +v 0.984410 -0.492893 1.053488 +v -0.648734 -2.596663 0.959136 +v 0.576124 -0.209929 -1.019421 +v 0.450481 -2.659731 0.582336 +v 1.078694 -0.209929 -0.799266 +v -0.994094 -2.596663 0.362180 +v 1.047126 -2.000040 -0.830920 +v -1.057019 -0.209929 -0.862167 +v 0.952842 -2.628317 0.927685 +v -1.057019 -1.340828 -0.987768 +v 1.047126 -1.340828 -0.987971 +v -0.271597 -2.628317 -0.956317 +v 0.921484 -0.618309 1.053488 +f 54 31 66 +f 34 31 37 +f 31 34 38 +f 37 31 40 +f 38 34 41 +f 35 38 45 +f 43 44 46 +f 33 34 47 +f 39 33 47 +f 33 39 49 +f 39 44 49 +f 38 41 50 +f 45 38 50 +f 45 50 51 +f 41 32 51 +f 49 42 52 +f 51 32 52 +f 31 38 53 +f 40 31 54 +f 43 40 54 +f 44 43 54 +f 36 44 54 +f 48 36 54 +f 38 35 55 +f 35 42 55 +f 53 38 55 +f 48 53 55 +f 34 37 56 +f 47 34 56 +f 37 47 56 +f 42 49 57 +f 49 44 57 +f 37 40 58 +f 40 43 58 +f 43 46 58 +f 42 35 59 +f 35 45 59 +f 45 51 59 +f 52 42 59 +f 51 52 59 +f 44 39 60 +f 46 44 60 +f 50 41 61 +f 51 50 61 +f 41 51 61 +f 44 36 62 +f 36 48 62 +f 55 42 62 +f 48 55 62 +f 57 44 62 +f 42 57 62 +f 33 32 63 +f 34 33 63 +f 32 41 63 +f 41 34 63 +f 47 37 64 +f 39 47 64 +f 37 58 64 +f 58 46 64 +f 60 39 64 +f 46 60 64 +f 32 33 65 +f 33 49 65 +f 52 32 65 +f 49 52 65 +f 31 53 66 +f 53 48 66 +f 48 54 66 +o convex_2 +v 0.984419 3.370540 0.739267 +v -1.088172 1.046620 -1.019206 +v -0.774195 1.046620 -1.050516 +v 0.952999 1.046620 1.021875 +v -0.962710 3.495704 0.927535 +v 1.109880 3.370540 -0.987897 +v -1.088172 3.338889 -1.082237 +v -0.962710 1.046620 0.927535 +v 1.078676 1.046620 -0.987897 +v 0.952999 3.370540 1.022081 +v -1.056968 1.109442 0.550793 +v 1.109880 1.046620 -0.579434 +v -0.931291 3.495704 0.959256 +v -1.025549 3.464532 0.268185 +v -0.742776 2.365155 -1.082237 +v 0.607388 1.046620 1.021875 +v 1.015838 1.863301 0.644927 +v -1.088172 3.338889 -0.610949 +v -0.083404 3.370300 -1.050722 +v -1.088172 1.046620 -0.014629 +v -0.083404 1.046620 -1.050722 +v -0.994130 3.244657 0.896225 +v -0.742776 1.078031 0.959256 +v 1.109880 3.370540 -0.830732 +v -0.711357 3.495704 0.896225 +v 0.701646 3.401711 0.990360 +v -1.088172 3.370300 -1.019206 +v 0.764484 3.370300 1.021875 +v -1.088172 1.329317 -1.050516 +v 1.015838 1.046620 0.550793 +v 0.575969 1.046620 -1.019412 +v -0.994130 3.495704 0.707751 +v -0.742776 3.338889 -1.082237 +v 0.575969 3.370300 -1.019412 +v 1.109880 2.742084 -0.987897 +v 0.984419 2.773495 0.864710 +v -1.088172 2.647852 -1.082237 +v -1.025549 1.800479 0.739061 +f 88 77 104 +f 68 69 70 +f 68 70 74 +f 70 69 75 +f 70 75 78 +f 74 70 82 +f 70 76 82 +f 73 68 84 +f 68 74 86 +f 74 77 86 +f 84 68 86 +f 77 84 86 +f 75 69 87 +f 69 81 87 +f 79 71 88 +f 74 79 88 +f 84 77 88 +f 80 84 88 +f 79 74 89 +f 74 82 89 +f 82 79 89 +f 78 72 90 +f 83 78 90 +f 71 79 91 +f 76 67 92 +f 79 76 92 +f 90 72 92 +f 67 90 92 +f 91 79 92 +f 72 91 92 +f 73 84 93 +f 84 80 93 +f 80 85 93 +f 85 73 93 +f 76 79 94 +f 82 76 94 +f 79 82 94 +f 69 68 95 +f 68 73 95 +f 70 78 96 +f 83 70 96 +f 78 83 96 +f 75 87 97 +f 87 81 97 +f 85 80 98 +f 88 71 98 +f 80 88 98 +f 71 91 98 +f 91 72 98 +f 81 73 99 +f 73 85 99 +f 97 81 99 +f 97 99 100 +f 72 97 100 +f 98 72 100 +f 85 98 100 +f 99 85 100 +f 72 78 101 +f 78 75 101 +f 97 72 101 +f 75 97 101 +f 67 76 102 +f 76 70 102 +f 70 83 102 +f 90 67 102 +f 83 90 102 +f 81 69 103 +f 73 81 103 +f 69 95 103 +f 95 73 103 +f 77 74 104 +f 74 88 104 +o convex_3 +v 1.769805 -0.147095 -0.391156 +v 3.088800 1.014973 -0.328421 +v 3.088800 1.014973 -0.548287 +v 1.110307 0.983430 0.111195 +v 3.057230 -0.115669 0.613780 +v 1.110307 -0.115552 0.456649 +v 3.025852 0.952003 0.582237 +v 1.110307 0.983430 -0.579713 +v 2.963099 -0.178521 -0.422582 +v 1.110307 0.952003 0.456649 +v 1.110307 -0.115552 -0.454009 +v 2.806020 -0.147095 -0.453892 +v 1.330140 0.826416 -0.579713 +v 2.868774 -0.115669 0.613780 +v 2.366161 1.014973 -0.579713 +v 2.774643 0.952003 0.582237 +v 3.057230 0.763563 -0.548287 +v 2.963099 -0.147095 0.299519 +v 3.057230 -0.115669 0.393797 +v 3.057230 0.355490 0.613780 +v 1.424271 0.952003 0.487959 +v 3.088800 0.889151 -0.548287 +v 1.926883 1.014973 -0.548170 +v 1.110307 0.324064 -0.516744 +v 3.057230 0.983546 0.173931 +v 1.424271 -0.115552 0.487959 +v 2.994475 0.041345 -0.453892 +f 126 123 131 +f 110 108 112 +f 110 105 113 +f 108 110 114 +f 105 110 115 +f 110 112 115 +f 113 105 115 +f 113 115 116 +f 106 107 119 +f 117 112 119 +f 116 117 121 +f 117 119 121 +f 113 109 122 +f 110 113 122 +f 109 118 122 +f 109 113 123 +f 109 106 124 +f 118 109 124 +f 111 120 124 +f 120 118 124 +f 108 114 125 +f 114 110 125 +f 120 108 125 +f 118 120 125 +f 107 106 126 +f 106 109 126 +f 119 107 126 +f 121 119 126 +f 109 123 126 +f 108 106 127 +f 112 108 127 +f 106 119 127 +f 119 112 127 +f 115 112 128 +f 116 115 128 +f 112 117 128 +f 117 116 128 +f 106 108 129 +f 108 120 129 +f 120 111 129 +f 124 106 129 +f 111 124 129 +f 110 122 130 +f 122 118 130 +f 125 110 130 +f 118 125 130 +f 113 116 131 +f 116 121 131 +f 123 113 131 +f 121 126 131 +o convex_4 +v -2.219179 0.198464 0.613780 +v -3.035544 0.952068 -0.611121 +v -3.035544 0.983463 -0.611121 +v -1.088470 1.014973 -0.548293 +v -1.088470 -0.084209 -0.485346 +v -1.088470 1.014973 0.613780 +v -3.066920 -0.084209 -0.453932 +v -3.066920 0.983463 0.550952 +v -1.088470 -0.147113 0.488005 +v -3.004168 -0.084209 0.613780 +v -1.088470 0.041373 -0.516759 +v -1.905223 1.014973 -0.171207 +v -2.878469 -0.115604 0.582366 +v -1.151417 -0.147113 0.268108 +v -1.120040 0.763695 0.613780 +v -1.433997 1.014973 0.613780 +v -1.339674 -0.147113 0.519419 +v -3.066920 0.983463 -0.108379 +v -1.999545 -0.084209 -0.485346 +v -1.088470 -0.115604 -0.265568 +v -3.066920 0.700677 0.550952 +v -3.004168 0.072769 0.613780 +v -1.905223 0.952068 -0.579587 +v -3.035544 -0.084209 0.299642 +v -1.559696 -0.147113 0.456711 +v -1.811094 1.014973 -0.548173 +v -2.784340 -0.084209 0.613780 +f 144 148 158 +f 136 135 137 +f 134 133 138 +f 136 137 140 +f 132 137 141 +f 135 136 142 +f 137 135 143 +f 137 132 146 +f 140 137 146 +f 141 137 147 +f 137 143 147 +f 143 139 147 +f 145 140 148 +f 146 132 148 +f 140 146 148 +f 134 138 149 +f 138 139 149 +f 143 134 149 +f 139 143 149 +f 138 133 150 +f 133 142 150 +f 142 136 150 +f 136 140 151 +f 145 138 151 +f 140 145 151 +f 138 150 151 +f 150 136 151 +f 139 138 152 +f 141 139 152 +f 139 141 153 +f 141 147 153 +f 147 139 153 +f 133 134 154 +f 134 135 154 +f 142 133 154 +f 135 142 154 +f 138 144 155 +f 144 141 155 +f 152 138 155 +f 141 152 155 +f 144 138 156 +f 138 145 156 +f 148 144 156 +f 145 148 156 +f 135 134 157 +f 134 143 157 +f 143 135 157 +f 132 141 158 +f 141 144 158 +f 148 132 158 +o convex_5 +v 0.984433 0.889219 1.022081 +v -0.742807 1.014899 -1.050829 +v -0.742807 1.046380 -1.050829 +v -0.962532 1.046380 0.927728 +v -0.994167 -0.209929 0.739227 +v 1.047273 -0.209929 -0.987927 +v 1.078694 1.046380 -0.987927 +v -1.056792 -0.209929 -0.987725 +v 0.984433 -0.209929 1.022081 +v -1.088427 1.046380 -1.019175 +v 0.953013 1.046380 1.022081 +v 1.110114 -0.115607 0.456576 +v -0.962532 -0.209929 0.927728 +v -1.088427 0.794897 0.613627 +v 1.110114 0.951936 0.456576 +v -1.088427 -0.147089 0.488026 +v -0.083202 0.480820 -1.050829 +v 0.513133 -0.209929 1.022081 +v 1.110114 -0.115607 -0.453873 +v -1.088427 0.104149 -1.019175 +v -0.711387 1.046380 0.959179 +v 0.575973 -0.209929 -1.019378 +v 1.110114 1.046380 -0.642375 +v -1.088427 1.014899 0.613627 +v -0.837067 -0.209929 -1.019175 +v 0.607393 1.046380 1.022081 +v -0.083202 1.046380 -1.050829 +v -0.617127 -0.209929 0.959179 +v 1.078694 -0.209929 -0.799426 +v 0.575973 1.046380 -1.019378 +v 1.078694 0.700699 -0.987927 +f 177 187 189 +f 161 162 165 +f 164 163 166 +f 163 164 167 +f 161 160 168 +f 162 161 168 +f 165 162 169 +f 167 159 169 +f 159 167 170 +f 163 167 171 +f 171 162 172 +f 169 159 173 +f 159 170 173 +f 166 163 174 +f 163 171 174 +f 172 168 174 +f 171 172 174 +f 160 161 175 +f 167 169 176 +f 171 167 176 +f 173 170 177 +f 168 160 178 +f 166 174 178 +f 174 168 178 +f 169 162 179 +f 162 171 179 +f 164 166 180 +f 165 169 181 +f 169 173 181 +f 173 177 181 +f 162 168 182 +f 172 162 182 +f 168 172 182 +f 160 175 183 +f 166 178 183 +f 178 160 183 +f 180 166 183 +f 175 180 183 +f 176 169 184 +f 169 179 184 +f 179 176 184 +f 161 165 185 +f 175 161 185 +f 180 175 185 +f 171 176 186 +f 179 171 186 +f 176 179 186 +f 167 164 187 +f 170 167 187 +f 177 170 187 +f 165 180 188 +f 185 165 188 +f 180 185 188 +f 164 180 189 +f 180 165 189 +f 165 181 189 +f 181 177 189 +f 187 164 189 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/837/837.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/837/837.urdf new file mode 100644 index 000000000..a2cea38bf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/837/837.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/838/838.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/838/838.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/838/838.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/838/838.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/838/838.obj new file mode 100644 index 000000000..3ada6455a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/838/838.obj @@ -0,0 +1,552 @@ +o convex_0 +v -1.018674 -2.403775 -1.004311 +v 0.964364 -3.630116 0.978805 +v 0.784106 -3.630116 0.978805 +v 0.964364 -0.132773 0.834555 +v 1.036588 -4.026863 -1.220687 +v -0.982462 -4.062577 0.906680 +v -0.946450 -0.132773 -1.220687 +v -0.910439 -0.132773 0.834339 +v 1.036588 -0.132773 -1.112176 +v -1.018674 -4.098680 -1.112391 +v 1.000376 -3.954268 0.509884 +v -1.018674 -0.132773 -0.139026 +v -0.477699 -4.062577 0.942634 +v -0.946450 -0.782241 0.870294 +v 1.000376 -0.132773 0.726259 +v 1.036588 -0.385883 -1.148561 +v 0.964364 -3.918553 0.978805 +v -0.946450 -0.998471 -1.220687 +v -0.621946 -4.098680 -1.148346 +v -0.477699 -0.132773 -1.220687 +v 1.036588 -4.026863 -0.932186 +v -0.910439 -4.098680 0.906680 +v -1.018674 -1.791963 0.185214 +v -0.585934 -0.493804 0.870509 +v -1.018674 -0.205367 -0.787936 +v -0.766192 -3.990371 0.942634 +v 0.964364 -0.673931 0.870509 +v 0.567636 -4.062965 -1.112391 +v 1.000376 -2.367672 0.726259 +v 1.000376 -4.026863 -0.715811 +v 0.784106 -3.954268 0.978805 +v -0.982462 -1.070677 -1.184301 +v -1.018674 -4.098680 -0.859846 +v 1.036588 -3.161164 -0.860061 +v 0.964364 -4.026863 -1.220687 +v -0.982462 -3.485704 -1.148346 +v -0.441688 -4.098680 -1.148346 +v 1.036588 -0.132773 -1.004096 +f 15 34 38 +f 4 7 8 +f 7 4 9 +f 8 7 12 +f 1 10 12 +f 8 12 14 +f 9 4 15 +f 9 5 16 +f 2 3 17 +f 15 2 17 +f 7 5 18 +f 5 7 20 +f 7 9 20 +f 16 5 20 +f 9 16 20 +f 5 9 21 +f 10 19 22 +f 12 10 23 +f 14 12 23 +f 6 14 23 +f 3 2 24 +f 4 8 24 +f 14 3 24 +f 8 14 24 +f 1 12 25 +f 12 7 25 +f 3 14 26 +f 14 6 26 +f 6 22 26 +f 22 13 26 +f 2 15 27 +f 15 4 27 +f 24 2 27 +f 4 24 27 +f 5 21 28 +f 17 11 29 +f 15 17 29 +f 11 21 29 +f 21 11 30 +f 13 22 30 +f 28 21 30 +f 22 28 30 +f 17 3 31 +f 11 17 31 +f 3 26 31 +f 26 13 31 +f 30 11 31 +f 13 30 31 +f 10 1 32 +f 7 18 32 +f 18 10 32 +f 1 25 32 +f 25 7 32 +f 22 6 33 +f 10 22 33 +f 6 23 33 +f 23 10 33 +f 21 9 34 +f 15 29 34 +f 29 21 34 +f 18 5 35 +f 19 18 35 +f 5 19 35 +f 10 18 36 +f 19 10 36 +f 18 19 36 +f 19 5 37 +f 22 19 37 +f 5 28 37 +f 28 22 37 +f 9 15 38 +f 34 9 38 +o convex_1 +v -1.055127 1.453689 0.365662 +v -3.001603 1.273431 -0.751823 +v -3.073936 0.372028 -0.715709 +v -3.001603 1.525860 0.473883 +v -1.055127 1.489605 -0.607608 +v -1.055127 0.552399 0.293555 +v -1.091096 0.516257 -0.607608 +v -3.001603 0.552399 0.257561 +v -3.001603 1.453689 -0.751823 +v -3.001603 0.624457 0.329669 +v -2.821363 1.417660 0.473883 +v -1.055127 1.489605 0.257561 +v -1.379441 1.489605 -0.643601 +v -3.073936 0.408170 -0.463393 +v -1.055127 0.552399 -0.607608 +v -2.749227 0.408170 -0.715709 +v -3.073936 0.660486 -0.715709 +v -2.749227 1.525860 0.257561 +v -1.451576 1.417660 0.401776 +v -3.001603 0.372028 -0.643601 +v -1.487743 0.588541 -0.643601 +v -1.920359 1.489605 -0.643601 +v -3.001603 1.381631 0.473883 +f 52 48 61 +f 43 39 44 +f 40 41 47 +f 46 44 48 +f 42 39 50 +f 39 43 50 +f 40 47 51 +f 44 46 52 +f 46 48 52 +f 43 44 53 +f 44 45 53 +f 51 43 53 +f 41 40 54 +f 45 41 54 +f 47 41 55 +f 42 47 55 +f 41 52 55 +f 52 42 55 +f 47 42 56 +f 42 50 56 +f 50 43 56 +f 43 51 56 +f 39 42 57 +f 44 39 57 +f 42 49 57 +f 49 44 57 +f 45 44 58 +f 41 45 58 +f 52 41 58 +f 44 52 58 +f 40 51 59 +f 53 45 59 +f 51 53 59 +f 54 40 59 +f 45 54 59 +f 51 47 60 +f 47 56 60 +f 56 51 60 +f 48 44 61 +f 49 42 61 +f 44 49 61 +f 42 52 61 +o convex_2 +v -3.001822 0.696600 1.916233 +v -1.054922 1.273339 1.844238 +v -1.054922 1.273339 1.627916 +v -1.054922 0.660606 2.132555 +v -3.001822 1.237346 2.168637 +v -1.054922 0.660606 1.591778 +v -3.001822 1.237346 1.591778 +v -1.199186 1.201292 2.132555 +v -3.001822 0.660606 2.096473 +v -2.749121 0.768707 1.627916 +v -2.424765 1.273339 1.591778 +v -1.487715 0.660606 1.591778 +v -3.001822 1.057077 2.168637 +v -2.388556 1.237346 2.168637 +v -2.965422 0.840815 1.627916 +v -2.316519 1.273339 1.988340 +v -1.054922 1.201292 2.096473 +v -1.054922 1.021023 1.591778 +v -2.136237 0.660606 2.132555 +f 74 70 80 +f 64 63 65 +f 64 65 67 +f 62 66 68 +f 66 62 70 +f 67 65 70 +f 63 64 72 +f 68 66 72 +f 67 68 72 +f 68 67 73 +f 70 62 73 +f 67 70 73 +f 62 71 73 +f 66 70 74 +f 69 63 75 +f 65 69 75 +f 74 65 75 +f 66 74 75 +f 62 68 76 +f 71 62 76 +f 68 73 76 +f 73 71 76 +f 63 72 77 +f 72 66 77 +f 75 63 77 +f 66 75 77 +f 65 63 78 +f 63 69 78 +f 69 65 78 +f 64 67 79 +f 72 64 79 +f 67 72 79 +f 70 65 80 +f 65 74 80 +o convex_3 +v -0.008948 1.994604 -2.050229 +v -1.018674 -0.096716 -3.167749 +v -0.153195 -0.096716 -3.167749 +v 1.000376 -0.060482 -1.220686 +v 1.036588 1.958370 -3.131579 +v -1.018674 1.958370 -1.220884 +v -1.018674 1.994604 -3.239892 +v -0.946450 -0.060482 -1.220884 +v 0.964364 1.958370 -1.220884 +v 1.000376 -0.096716 -3.131579 +v 1.036588 0.227955 -1.220686 +v -0.982462 -0.096716 -1.725685 +v -0.657957 1.994604 -3.239892 +v -1.018674 1.994604 -1.473482 +v -0.946450 0.083634 -3.203524 +v 0.567636 -0.096716 -3.167551 +v 1.036588 -0.060482 -1.761856 +v 0.279344 1.994604 -3.167551 +v -0.874226 -0.096716 -1.401142 +v 1.000376 -0.096716 -2.446519 +v 1.036588 1.958370 -2.771063 +v 1.036588 1.273205 -3.131579 +v -0.946450 1.345468 -3.239892 +v -1.018674 -0.060482 -2.698722 +v 0.603647 1.958370 -3.167551 +v -0.982462 0.516392 -1.220884 +v -1.018674 1.633905 -1.293027 +f 92 106 107 +f 82 86 87 +f 82 83 90 +f 86 84 91 +f 89 86 91 +f 82 90 92 +f 87 81 93 +f 81 87 94 +f 87 86 94 +f 89 81 94 +f 86 89 94 +f 83 82 95 +f 82 87 95 +f 90 83 96 +f 83 95 96 +f 91 84 97 +f 85 91 97 +f 81 89 98 +f 93 81 98 +f 84 88 99 +f 88 92 99 +f 92 90 99 +f 97 84 100 +f 90 97 100 +f 84 99 100 +f 99 90 100 +f 91 85 101 +f 89 91 101 +f 98 89 101 +f 85 98 101 +f 90 96 102 +f 97 90 102 +f 85 97 102 +f 87 93 103 +f 95 87 103 +f 93 96 103 +f 96 95 103 +f 86 82 104 +f 82 92 104 +f 96 93 105 +f 98 85 105 +f 93 98 105 +f 102 96 105 +f 85 102 105 +f 84 86 106 +f 88 84 106 +f 92 88 106 +f 86 104 107 +f 104 92 107 +f 106 86 107 +o convex_4 +v 0.639846 2.102776 1.555593 +v -0.946517 -0.132773 -1.220686 +v -0.982518 0.516490 -1.220686 +v -1.018519 -0.024453 2.961953 +v 1.036489 -0.132773 -1.112190 +v 1.072490 -0.060341 2.817427 +v -1.054731 2.066669 2.961953 +v 0.964276 1.958349 -1.220686 +v -1.018519 1.958349 -1.220686 +v 1.108703 1.994456 2.925514 +v 1.108703 1.453512 -0.715871 +v -1.054731 0.552597 -0.607375 +v -0.910305 -0.132773 0.834604 +v 1.072490 2.102776 0.690488 +v 1.036489 -0.060341 -1.220686 +v 1.108703 0.444277 0.041966 +v 0.964276 -0.132773 0.835014 +v 1.108703 0.769018 2.889485 +v -1.018519 -0.132773 -0.751900 +v -1.054731 1.706040 -0.896016 +v -1.054731 0.913007 2.961953 +v 0.351416 2.030562 2.961953 +v 0.098987 2.102776 1.807796 +v 0.387417 -0.060341 2.889485 +v 1.108703 2.102776 0.906662 +v -1.018519 -0.060560 2.673311 +v 1.108703 1.453512 2.925514 +v -1.054731 2.066669 2.564815 +v 1.108703 0.552597 -0.643404 +v -0.766090 -0.024453 2.961953 +v 1.108703 0.300069 2.528786 +v 0.928275 2.030562 2.780989 +v -0.405659 2.066669 2.961953 +v 0.928275 1.994456 -0.895607 +v -1.054731 0.660698 2.132057 +v 1.108703 2.102776 1.230923 +v 0.964276 -0.060341 2.853456 +v 1.036489 0.263963 -1.220686 +f 118 122 145 +f 109 110 115 +f 115 110 116 +f 109 112 120 +f 112 109 122 +f 109 115 122 +f 113 112 123 +f 118 117 123 +f 112 113 124 +f 120 112 124 +f 123 117 125 +f 110 109 126 +f 109 120 126 +f 116 110 127 +f 119 114 127 +f 110 126 127 +f 126 119 127 +f 111 114 128 +f 114 119 128 +f 114 111 129 +f 108 121 130 +f 121 116 130 +f 120 124 131 +f 118 115 132 +f 117 118 132 +f 121 108 132 +f 115 121 132 +f 119 126 133 +f 126 120 133 +f 131 111 133 +f 120 131 133 +f 125 117 134 +f 117 129 134 +f 116 127 135 +f 127 114 135 +f 114 130 135 +f 130 116 135 +f 112 122 136 +f 122 118 136 +f 118 123 136 +f 123 112 136 +f 129 111 137 +f 111 131 137 +f 131 125 137 +f 125 134 137 +f 134 129 137 +f 113 123 138 +f 125 113 138 +f 123 125 138 +f 129 117 139 +f 114 129 140 +f 130 114 140 +f 108 130 140 +f 129 139 140 +f 139 108 140 +f 115 116 141 +f 116 121 141 +f 121 115 141 +f 111 128 142 +f 128 119 142 +f 119 133 142 +f 133 111 142 +f 132 108 143 +f 117 132 143 +f 139 117 143 +f 108 139 143 +f 124 113 144 +f 113 125 144 +f 131 124 144 +f 125 131 144 +f 115 118 145 +f 122 115 145 +o convex_5 +v 2.911250 1.597974 0.365733 +v 2.478616 0.480285 -0.751943 +v 1.108703 0.444143 0.041239 +v 1.108703 1.453745 -0.715836 +v 2.947350 0.516314 0.437946 +v 1.108703 1.489774 0.365733 +v 3.019549 1.525804 -0.607632 +v 1.108703 0.552343 -0.643739 +v 2.911250 0.480285 -0.751943 +v 1.144989 0.444143 0.329743 +v 1.181089 1.489774 -0.643739 +v 2.947350 1.021059 0.437946 +v 2.947350 0.696572 -0.751943 +v 2.478616 0.516314 0.437946 +v 2.839238 1.525804 -0.643739 +v 2.947350 0.480285 -0.247032 +v 1.361400 0.516314 -0.679729 +v 1.325300 1.525804 0.365733 +v 1.649822 0.444143 0.365733 +v 2.947350 1.561720 -0.427332 +v 1.108703 1.021059 0.365733 +v 2.875151 1.453745 0.401840 +v 2.839238 1.597974 0.329743 +v 2.947350 1.561720 0.257646 +f 157 152 169 +f 149 148 151 +f 148 149 153 +f 148 147 154 +f 149 151 156 +f 150 152 157 +f 147 149 158 +f 154 147 158 +f 157 151 159 +f 150 157 159 +f 149 156 160 +f 158 149 160 +f 152 158 160 +f 152 150 161 +f 158 152 161 +f 154 158 161 +f 147 148 162 +f 149 147 162 +f 148 153 162 +f 153 149 162 +f 156 151 163 +f 148 154 164 +f 155 148 164 +f 159 155 164 +f 150 159 164 +f 161 150 164 +f 154 161 164 +f 146 152 165 +f 152 160 165 +f 160 156 165 +f 151 148 166 +f 148 155 166 +f 159 151 166 +f 155 159 166 +f 157 146 167 +f 151 157 167 +f 163 151 167 +f 146 163 167 +f 156 163 168 +f 163 146 168 +f 146 165 168 +f 165 156 168 +f 152 146 169 +f 146 157 169 +o convex_6 +v 2.190243 1.273431 1.916247 +v 2.911335 1.201260 1.519663 +v 2.911335 1.237402 1.519663 +v 1.108703 0.912972 1.627909 +v 3.091656 0.732601 2.168630 +v 1.108703 1.273431 2.096466 +v 3.055553 0.768686 1.591891 +v 1.108703 0.768686 2.060448 +v 1.108703 1.309517 1.627909 +v 2.947438 1.201260 2.060448 +v 1.325321 0.768686 1.627909 +v 3.019450 1.237402 1.519663 +v 1.902195 1.273431 2.096466 +v 3.019450 0.732601 1.700010 +v 2.226346 0.732601 2.132548 +v 3.091656 0.840857 2.168630 +v 1.541552 1.309517 1.591891 +v 1.181103 1.309517 2.024366 +v 1.108703 0.768686 1.663991 +v 2.947438 1.237402 1.952266 +v 2.983347 0.876830 1.555809 +v 2.550692 1.273431 1.627909 +f 170 189 191 +f 175 173 177 +f 173 175 178 +f 173 171 180 +f 171 172 181 +f 176 174 183 +f 180 176 183 +f 174 175 184 +f 175 177 184 +f 183 174 184 +f 175 174 185 +f 174 176 185 +f 176 181 185 +f 181 179 185 +f 182 175 185 +f 179 182 185 +f 172 171 186 +f 171 173 186 +f 173 178 186 +f 181 172 186 +f 178 175 187 +f 175 182 187 +f 182 170 187 +f 186 178 187 +f 177 173 188 +f 173 180 188 +f 180 183 188 +f 183 184 188 +f 184 177 188 +f 179 181 189 +f 170 182 189 +f 182 179 189 +f 180 171 190 +f 176 180 190 +f 171 181 190 +f 181 176 190 +f 181 186 191 +f 187 170 191 +f 186 187 191 +f 189 181 191 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/838/838.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/838/838.urdf new file mode 100644 index 000000000..0207ec3b9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/838/838.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/839/839.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/839/839.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/839/839.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/839/839.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/839/839.obj new file mode 100644 index 000000000..dee7e13bb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/839/839.obj @@ -0,0 +1,582 @@ +o convex_0 +v -3.895205 -1.269553 -0.003456 +v -1.938493 -0.291322 0.485722 +v -1.938493 -0.291322 0.335176 +v -1.938493 -1.307260 -0.040997 +v -3.819933 -0.291322 -0.492634 +v -3.857473 -0.667639 0.485722 +v -1.938493 -1.307260 -0.454998 +v -1.938493 -1.269553 0.448085 +v -1.938493 -0.366628 -0.417362 +v -3.895205 -1.382566 0.448085 +v -3.857473 -1.269553 -0.454998 +v -3.819933 -0.366628 0.448085 +v -1.938493 -1.156754 0.485722 +v -3.330755 -0.291322 -0.492634 +v -3.857473 -0.404228 0.485722 +v -3.895205 -1.382566 0.259903 +v -3.819933 -0.291322 -0.229179 +v -3.556382 -1.382566 0.448085 +v -3.819933 -0.667639 -0.492634 +v -2.202235 -0.366628 -0.454998 +v -2.691413 -1.307260 -0.454998 +f 19 7 21 +f 3 2 4 +f 2 3 5 +f 3 4 7 +f 4 2 8 +f 3 7 9 +f 1 5 11 +f 2 6 13 +f 8 2 13 +f 6 10 13 +f 5 3 14 +f 3 9 14 +f 5 1 15 +f 6 2 15 +f 1 10 15 +f 10 6 15 +f 2 12 15 +f 10 1 16 +f 1 11 16 +f 2 5 17 +f 12 2 17 +f 5 15 17 +f 15 12 17 +f 7 4 18 +f 4 8 18 +f 8 13 18 +f 13 10 18 +f 10 16 18 +f 16 7 18 +f 11 5 19 +f 5 14 19 +f 14 7 19 +f 9 7 20 +f 7 14 20 +f 14 9 20 +f 7 16 21 +f 16 11 21 +f 11 19 21 +o convex_1 +v -1.863220 -0.892725 -0.943907 +v 0.018028 4.148715 1.087787 +v 0.018028 4.148715 -1.019280 +v 0.018028 -1.947002 1.012205 +v -1.863028 4.110291 1.049996 +v -1.900761 -1.871353 1.049996 +v 0.018028 -1.908577 -0.981698 +v -1.863028 4.186540 -1.057071 +v -1.825488 -1.909178 -1.019280 +v -1.938493 -0.892725 -0.454932 +v -0.358145 4.110891 -1.057071 +v -1.336309 4.148115 1.087787 +v -1.938493 -0.290537 0.485438 +v -0.245331 4.186540 0.636183 +v -1.825488 1.627095 -1.057071 +v -1.336309 -1.909178 -1.019280 +v -1.938493 -1.532736 0.748927 +v 0.018028 3.621577 1.087787 +v -1.863220 -1.909178 -0.605256 +v -1.863028 4.186540 -0.379559 +v -1.938493 -1.306390 -0.454932 +v -0.019512 -1.947002 0.335113 +v -1.863220 -1.909178 0.071415 +v -1.148031 4.186540 -1.057071 +v -1.712674 -1.870753 1.049996 +v -1.938493 -0.366186 -0.417140 +v -1.863028 4.148115 0.861880 +v -1.900761 0.348873 1.049996 +v -1.900761 -1.871353 0.372695 +v -1.863220 3.094438 -1.057071 +f 42 31 51 +f 24 23 25 +f 24 25 28 +f 24 28 32 +f 23 24 35 +f 33 23 35 +f 29 32 36 +f 36 32 37 +f 32 28 37 +f 30 36 37 +f 26 34 38 +f 34 31 38 +f 25 23 39 +f 23 33 39 +f 33 27 39 +f 29 34 41 +f 35 29 41 +f 22 30 42 +f 38 31 42 +f 30 40 42 +f 28 25 43 +f 37 28 43 +f 30 37 43 +f 40 30 43 +f 40 43 44 +f 25 27 44 +f 27 40 44 +f 43 25 44 +f 24 32 45 +f 32 29 45 +f 35 24 45 +f 29 35 45 +f 27 25 46 +f 25 39 46 +f 39 27 46 +f 29 31 47 +f 34 29 47 +f 31 34 47 +f 26 33 48 +f 34 26 48 +f 33 35 48 +f 41 34 48 +f 35 41 48 +f 27 33 49 +f 33 26 49 +f 26 38 49 +f 38 27 49 +f 27 38 50 +f 40 27 50 +f 38 42 50 +f 42 40 50 +f 30 22 51 +f 31 29 51 +f 29 36 51 +f 36 30 51 +f 22 42 51 +o convex_2 +v 0.958977 -5.935686 -0.266801 +v 1.147034 -3.941344 0.335206 +v 0.808519 -3.941344 0.335206 +v 0.958977 -3.941344 -0.342118 +v 1.335150 -5.860137 0.259888 +v 1.372867 -4.242564 -0.229209 +v 0.770802 -5.860137 0.259888 +v 1.335150 -5.747496 -0.342118 +v 1.372867 -3.941344 0.297547 +v 0.883718 -3.941344 -0.266801 +v 1.372867 -3.941344 -0.191484 +v 1.184692 -5.935686 -0.342118 +v 0.921318 -5.822655 -0.266801 +v 0.846060 -4.543590 0.335206 +v 1.372867 -5.069896 0.259888 +v 0.770802 -5.521434 0.184571 +v 0.770802 -4.694102 0.259888 +v 1.335150 -5.898009 0.222296 +v 0.921318 -4.167406 -0.342118 +v 0.808519 -5.898009 0.071795 +f 69 58 71 +f 54 53 55 +f 55 57 59 +f 55 53 60 +f 53 56 60 +f 54 55 61 +f 57 55 62 +f 55 60 62 +f 60 57 62 +f 55 59 63 +f 63 52 64 +f 53 54 65 +f 56 53 65 +f 54 58 65 +f 58 56 65 +f 59 57 66 +f 60 56 66 +f 57 60 66 +f 58 54 68 +f 54 61 68 +f 67 58 68 +f 61 67 68 +f 56 58 69 +f 52 63 69 +f 63 59 69 +f 66 56 69 +f 59 66 69 +f 61 55 70 +f 55 63 70 +f 64 61 70 +f 63 64 70 +f 64 52 71 +f 61 64 71 +f 58 67 71 +f 67 61 71 +f 52 69 71 +o convex_3 +v 1.786706 -1.983953 -1.094700 +v 0.921499 0.799457 1.087787 +v 2.200707 0.799457 1.049974 +v 2.200707 -3.828114 1.049974 +v 0.733173 -3.940880 -1.094700 +v 0.733173 0.799457 -1.019287 +v 0.733173 -3.790061 1.087787 +v 2.050161 0.799457 -1.019287 +v 2.050161 -3.940880 -1.056887 +v 0.733173 0.799457 1.087787 +v 2.162927 -1.796011 -0.605264 +v 1.109681 0.799457 -1.094700 +v 0.808446 -3.940880 0.335154 +v 2.200707 0.799457 0.447953 +v 2.200707 -3.865703 0.560752 +v 2.125434 0.536337 -0.755876 +v 2.050161 0.460696 -1.056887 +v 2.087798 -3.639707 -0.981687 +v 1.372849 -3.940880 0.297554 +v 1.636160 0.799457 -1.094700 +v 0.733173 0.460696 -1.056887 +v 0.959135 -3.790061 1.087787 +v 2.162927 -0.479946 -0.567878 +v 2.200707 -0.329592 0.297341 +v 2.087798 -3.940880 -0.906274 +v 2.200707 -3.865703 0.824163 +v 1.034264 -3.940880 -1.094700 +v 2.162927 -1.983953 -0.605264 +v 2.087798 -1.720833 -0.981687 +v 1.560887 -3.827650 1.049974 +v 2.087798 -3.940880 -0.643077 +f 96 97 102 +f 73 74 77 +f 77 76 78 +f 77 74 79 +f 73 77 81 +f 78 73 81 +f 77 78 81 +f 72 76 83 +f 77 79 83 +f 78 76 84 +f 76 80 84 +f 74 75 85 +f 79 74 85 +f 85 75 86 +f 79 85 87 +f 80 72 88 +f 79 87 88 +f 80 88 89 +f 84 80 90 +f 72 83 91 +f 83 79 91 +f 88 72 91 +f 79 88 91 +f 76 77 92 +f 83 76 92 +f 77 83 92 +f 74 73 93 +f 75 74 93 +f 73 78 93 +f 78 75 93 +f 82 87 94 +f 87 85 94 +f 85 86 95 +f 82 94 95 +f 94 85 95 +f 80 89 96 +f 90 80 96 +f 86 75 97 +f 84 90 97 +f 96 86 97 +f 76 72 98 +f 72 80 98 +f 80 76 98 +f 89 82 99 +f 82 95 99 +f 95 86 99 +f 86 96 99 +f 96 89 99 +f 87 82 100 +f 88 87 100 +f 89 88 100 +f 82 89 100 +f 75 78 101 +f 78 84 101 +f 97 75 101 +f 84 97 101 +f 90 96 102 +f 97 90 102 +o convex_4 +v 1.824343 2.003920 -1.057071 +v 2.200707 2.229827 1.050158 +v 1.560887 2.229827 1.050158 +v 2.200707 1.514874 1.050158 +v 0.733173 1.514874 -0.981783 +v 0.733173 1.514874 1.050158 +v 0.733173 2.154525 -0.981783 +v 2.050161 1.514874 -1.019324 +v 0.733173 2.192176 1.012411 +v 2.050161 2.192176 -1.019324 +v 2.125434 2.229827 -0.266860 +v 0.996628 2.229827 0.861836 +v 2.200707 1.514874 0.560892 +v 1.260227 1.514874 -1.057071 +v 1.410773 2.192176 -1.019324 +v 0.733173 2.192176 -0.341941 +v 2.087798 1.514874 -0.793667 +v 2.200707 2.229827 0.598432 +v 2.050161 2.229827 -0.492517 +v 1.974888 1.514874 -1.057071 +f 110 116 122 +f 104 105 106 +f 106 105 108 +f 107 106 108 +f 107 108 109 +f 106 107 110 +f 108 105 111 +f 109 108 111 +f 105 104 113 +f 111 105 114 +f 105 113 114 +f 104 106 115 +f 106 110 115 +f 109 103 116 +f 107 109 116 +f 110 107 116 +f 103 109 117 +f 112 103 117 +f 109 111 118 +f 111 114 118 +f 117 109 118 +f 110 112 119 +f 112 113 119 +f 115 110 119 +f 115 119 120 +f 113 104 120 +f 104 115 120 +f 119 113 120 +f 113 112 121 +f 114 113 121 +f 112 117 121 +f 118 114 121 +f 117 118 121 +f 103 112 122 +f 112 110 122 +f 116 103 122 +o convex_5 +v 0.168754 -3.941344 -0.981687 +v 0.620216 1.627235 1.087787 +v 0.544914 1.627235 1.087787 +v 0.733169 2.154373 -0.981687 +v 0.018220 2.191597 -0.944088 +v 0.733099 -3.790647 1.087787 +v 0.018220 -1.946262 1.012375 +v 0.733099 -3.941344 -1.094700 +v 0.018220 2.191597 0.974775 +v 0.168754 -3.752823 1.087787 +v 0.055871 -3.903519 -1.094700 +v 0.733169 2.192198 1.012375 +v 0.695518 0.309988 -1.056887 +v 0.018220 -1.908437 -0.981474 +v 0.055871 -3.903519 -0.680677 +v 0.695518 -3.941344 -0.417052 +v 0.733099 1.551586 1.087787 +v 0.733169 2.192198 -0.304253 +v 0.018220 0.949399 -0.981474 +v 0.168754 -3.790647 0.824376 +v 0.055871 -3.639950 -1.094700 +v 0.168754 2.041501 1.012375 +v 0.168754 -3.376381 1.087787 +v 0.469682 2.116549 -0.981687 +f 135 127 146 +f 124 125 128 +f 127 129 131 +f 128 125 132 +f 130 123 133 +f 125 124 134 +f 130 126 134 +f 128 130 134 +f 127 131 134 +f 126 130 135 +f 129 127 136 +f 133 129 136 +f 132 129 137 +f 129 133 137 +f 133 123 137 +f 123 130 138 +f 130 128 138 +f 124 128 139 +f 134 124 139 +f 128 134 139 +f 126 127 140 +f 134 126 140 +f 127 134 140 +f 127 135 141 +f 136 127 141 +f 133 136 141 +f 128 132 142 +f 132 137 142 +f 137 123 142 +f 123 138 142 +f 138 128 142 +f 130 133 143 +f 135 130 143 +f 141 135 143 +f 133 141 143 +f 125 134 144 +f 134 131 144 +f 131 129 145 +f 129 132 145 +f 132 125 145 +f 144 131 145 +f 125 144 145 +f 127 126 146 +f 126 135 146 +o convex_6 +v 0.168722 4.148911 1.125416 +v 0.018220 2.192198 -0.944069 +v 0.018220 2.305203 -0.981651 +v 0.243994 2.192198 -0.944069 +v 0.131107 4.148911 -1.019442 +v 0.018220 2.192198 0.974882 +v 0.018220 4.148911 1.087625 +v 0.206336 2.229930 0.485696 +v 0.018220 4.148911 -1.019442 +v 0.206336 4.148911 1.125416 +v 0.168722 4.111178 -1.019442 +v 0.131107 2.192198 0.974882 +v 0.206336 4.148911 0.147045 +v 0.243994 2.192198 -0.041071 +v 0.206336 3.584460 1.087625 +v 0.243994 2.342744 -0.944069 +v 0.168722 3.320909 -1.019442 +v 0.018220 2.418016 1.012463 +f 158 161 164 +f 148 149 150 +f 149 148 152 +f 148 150 152 +f 147 151 153 +f 149 152 153 +f 153 151 155 +f 149 153 155 +f 151 147 156 +f 155 151 157 +f 152 150 158 +f 151 156 159 +f 157 151 159 +f 158 150 160 +f 154 158 160 +f 158 154 161 +f 160 156 161 +f 154 160 161 +f 150 157 162 +f 159 156 162 +f 157 159 162 +f 160 150 162 +f 156 160 162 +f 150 149 163 +f 149 155 163 +f 157 150 163 +f 155 157 163 +f 147 153 164 +f 153 152 164 +f 156 147 164 +f 152 158 164 +f 161 156 164 +o convex_7 +v 0.808513 0.875224 -3.013588 +v 1.485681 0.875224 2.442118 +v 1.448040 0.950456 3.005881 +v 1.485681 1.514874 -1.056931 +v 0.883795 1.477223 3.005881 +v 0.733232 0.799922 1.087047 +v 0.733232 1.514874 -0.981282 +v 1.372832 0.837573 -3.051413 +v 1.372832 1.364339 -3.051413 +v 1.485681 1.514874 1.011399 +v 0.770872 1.364339 -3.013588 +v 0.883795 0.988177 3.082129 +v 1.485681 0.799922 -1.094155 +v 1.297550 1.364339 3.082129 +v 0.733232 0.799922 -1.019106 +v 1.448040 0.837573 3.005881 +v 0.733232 1.514874 1.087047 +v 1.485681 0.799922 1.011399 +v 1.034211 1.477223 3.005881 +v 1.335191 0.837573 3.005881 +v 0.770872 0.950456 -3.013588 +v 0.808513 0.837573 -2.750019 +v 1.297550 1.401921 -2.674971 +v 1.335191 1.289037 3.082129 +f 176 180 188 +f 167 166 174 +f 166 168 174 +f 168 171 174 +f 173 172 175 +f 168 166 177 +f 173 168 177 +f 172 173 177 +f 169 176 178 +f 170 171 179 +f 171 175 179 +f 177 170 179 +f 172 177 179 +f 166 167 180 +f 171 170 181 +f 174 171 181 +f 176 169 181 +f 170 176 181 +f 177 166 182 +f 170 177 182 +f 166 180 182 +f 180 170 182 +f 178 174 183 +f 169 178 183 +f 181 169 183 +f 174 181 183 +f 176 170 184 +f 170 180 184 +f 180 176 184 +f 172 165 185 +f 175 172 185 +f 179 175 185 +f 179 185 186 +f 165 172 186 +f 172 179 186 +f 185 165 186 +f 171 168 187 +f 168 173 187 +f 175 171 187 +f 173 175 187 +f 167 174 188 +f 174 178 188 +f 178 176 188 +f 180 167 188 +o convex_8 +v 2.200707 1.439572 0.523182 +v 1.485824 0.799922 -1.094700 +v 1.485824 1.326688 -1.094700 +v 1.485824 0.799922 1.012367 +v 2.087695 0.799922 -0.906374 +v 1.485824 1.514874 1.012367 +v 2.200707 0.799922 1.050158 +v 2.050117 1.514874 -1.019118 +v 2.200707 1.514874 1.050158 +v 1.485824 1.514874 -1.056909 +v 2.012470 0.799922 -1.056909 +v 2.200707 0.799922 0.448019 +v 2.087695 1.514874 -0.906374 +v 1.861950 0.837573 1.050158 +v 1.974822 1.514874 -1.056909 +f 196 199 203 +f 191 190 192 +f 192 190 193 +f 191 192 194 +f 192 193 195 +f 196 194 197 +f 195 189 197 +f 191 194 198 +f 194 196 198 +f 190 191 199 +f 193 190 199 +f 196 193 199 +f 189 195 200 +f 195 193 200 +f 193 196 201 +f 196 197 201 +f 197 189 201 +f 189 200 201 +f 200 193 201 +f 194 192 202 +f 192 195 202 +f 197 194 202 +f 195 197 202 +f 191 198 203 +f 198 196 203 +f 199 191 203 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/839/839.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/839/839.urdf new file mode 100644 index 000000000..931557fbc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/839/839.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/840/840.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/840/840.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/840/840.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/840/840.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/840/840.obj new file mode 100644 index 000000000..127e859ea --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/840/840.obj @@ -0,0 +1,657 @@ +o convex_0 +v 0.999450 -0.437498 0.005016 +v -0.993087 -0.567254 -0.016591 +v -0.993087 -0.567254 0.005016 +v -0.018273 2.551014 0.005016 +v 0.046481 -0.394050 -1.012845 +v -0.018273 -2.710880 0.697995 +v -0.039922 1.793024 0.763010 +v 0.024831 -2.689156 -0.796000 +v 0.024831 1.857609 -0.731178 +v 0.761110 -2.710880 -0.103021 +v 0.782760 -0.351189 -0.796193 +v 0.717811 -0.479771 0.741403 +v 0.761110 1.793024 0.026623 +v -0.754747 -2.710880 -0.038199 +v -0.776397 -0.437498 0.719795 +v -0.733098 -0.372913 -0.731178 +v -0.733098 1.793024 0.004823 +v -0.018273 -3.447146 -0.081414 +v -0.061767 -0.609528 0.958055 +v -0.581551 -2.147819 0.524750 +v 0.587914 1.251687 -0.579540 +v 0.544615 1.229963 0.567965 +v 0.544615 -2.147232 0.503143 +v 0.587914 -2.126095 -0.622755 +v -0.559901 -2.082647 -0.579348 +v -0.559901 1.229963 0.567965 +v -0.538252 1.251687 -0.536133 +v 0.761110 -2.710880 -0.038199 +v 0.782760 -0.523219 -0.796193 +v 0.046481 -0.502082 0.958055 +v 0.999450 -0.415774 -0.081414 +v 0.003182 1.793024 0.763010 +v -0.776397 -2.667432 -0.016591 +v -0.733098 1.793024 0.048231 +v 0.739461 1.793024 -0.059613 +v 0.046481 2.551014 0.026623 +v -0.993087 -0.351189 -0.016591 +v 0.089780 1.814748 -0.731178 +v -0.733098 -0.480358 -0.731178 +v -0.061767 -0.308328 0.958055 +v 0.024831 -3.447146 -0.038199 +v 0.003182 -2.689156 -0.796000 +v -0.061767 -2.732604 0.676195 +v -0.776397 -0.502082 0.719795 +v -0.018273 1.814748 -0.731178 +v -0.105066 -0.394637 -0.969438 +v 0.761110 -0.479771 0.654587 +v -0.039922 -3.338526 0.070031 +v -0.018273 2.551014 0.048231 +v -0.776397 -2.602260 -0.059613 +v -0.061767 -2.668019 0.697995 +v -0.993087 -0.351189 0.026816 +v 0.024831 -3.447146 -0.081414 +v 0.717811 -0.307741 0.719795 +v -0.754747 -2.667432 0.026816 +v 0.761110 1.793024 -0.016784 +v 0.739461 1.814748 0.048231 +v -0.733098 1.771300 -0.016591 +v 0.609564 -1.584757 0.589765 +v 0.003182 -2.732017 0.676388 +v 0.999450 -0.544943 -0.059806 +v 0.046481 -2.667432 -0.796000 +v 0.046481 2.551014 0.005016 +v -0.711448 1.814748 -0.016591 +f 58 17 64 +f 15 7 26 +f 5 11 29 +f 10 24 29 +f 6 12 30 +f 19 6 30 +f 13 1 31 +f 29 11 31 +f 30 12 32 +f 3 2 33 +f 4 17 34 +f 26 7 34 +f 15 26 34 +f 2 3 37 +f 16 2 37 +f 34 17 37 +f 5 9 38 +f 11 5 38 +f 21 11 38 +f 35 21 38 +f 2 16 39 +f 7 15 40 +f 15 19 40 +f 19 30 40 +f 32 7 40 +f 30 32 40 +f 10 28 41 +f 5 8 42 +f 8 18 42 +f 18 14 42 +f 14 25 42 +f 25 39 42 +f 41 6 43 +f 19 15 44 +f 3 33 44 +f 4 9 45 +f 9 5 45 +f 16 27 45 +f 39 16 46 +f 5 42 46 +f 42 39 46 +f 45 5 46 +f 16 45 46 +f 1 13 47 +f 28 1 47 +f 12 28 47 +f 14 18 48 +f 18 41 48 +f 41 43 48 +f 7 32 49 +f 4 34 49 +f 34 7 49 +f 36 4 49 +f 32 36 49 +f 25 14 50 +f 33 2 50 +f 14 33 50 +f 2 39 50 +f 39 25 50 +f 6 19 51 +f 43 6 51 +f 20 43 51 +f 19 44 51 +f 44 20 51 +f 15 34 52 +f 37 3 52 +f 34 37 52 +f 3 44 52 +f 44 15 52 +f 8 10 53 +f 18 8 53 +f 10 41 53 +f 41 18 53 +f 13 22 54 +f 32 12 54 +f 22 32 54 +f 47 13 54 +f 12 47 54 +f 33 14 55 +f 43 20 55 +f 44 33 55 +f 20 44 55 +f 14 48 55 +f 48 43 55 +f 11 21 56 +f 13 31 56 +f 31 11 56 +f 21 35 56 +f 36 13 56 +f 22 13 57 +f 32 22 57 +f 36 32 57 +f 13 36 57 +f 27 16 58 +f 16 37 58 +f 37 17 58 +f 12 6 59 +f 6 23 59 +f 28 12 59 +f 23 28 59 +f 23 6 60 +f 28 23 60 +f 6 41 60 +f 41 28 60 +f 1 28 61 +f 28 10 61 +f 10 29 61 +f 31 1 61 +f 29 31 61 +f 8 5 62 +f 10 8 62 +f 24 10 62 +f 5 29 62 +f 29 24 62 +f 9 4 63 +f 4 36 63 +f 38 9 63 +f 35 38 63 +f 56 35 63 +f 36 56 63 +f 17 4 64 +f 4 45 64 +f 45 27 64 +f 27 58 64 +o convex_1 +v -0.126721 3.569573 -2.918754 +v -0.126721 3.829396 -2.745539 +v 0.068167 3.807733 -3.005345 +v 0.068167 3.396316 -2.745539 +v 0.046502 3.547911 -3.092003 +v 0.003173 3.807733 -3.092003 +v -0.170074 3.547911 -2.745539 +v -0.148409 3.807733 -2.853837 +v 0.003173 3.396316 -2.832163 +v 0.003173 3.547911 -3.092003 +f 69 73 74 +f 67 66 68 +f 67 68 69 +f 67 69 70 +f 66 67 70 +f 68 66 71 +f 66 70 72 +f 70 65 72 +f 71 66 72 +f 65 71 72 +f 69 68 73 +f 71 65 73 +f 68 71 73 +f 70 69 74 +f 65 70 74 +f 73 65 74 +o convex_2 +v 0.068188 3.374615 -2.182242 +v 0.284728 3.526208 -1.944175 +v 0.284728 3.504543 -1.944175 +v 0.068188 3.439609 -0.969529 +v 0.068188 3.526208 -2.940429 +v 0.219756 3.396295 -2.073820 +v 0.263064 3.526208 -0.991329 +v 0.219756 3.504543 -2.766799 +v 0.089853 3.396295 -2.766799 +v 0.241399 3.439609 -1.229589 +v 0.111517 3.417944 -0.969529 +v 0.219756 3.526208 -0.991329 +v 0.241399 3.417944 -2.182242 +v 0.068188 3.374615 -1.835946 +v 0.089853 3.461229 -0.969529 +f 81 86 89 +f 75 78 79 +f 77 76 81 +f 76 79 81 +f 76 77 82 +f 79 76 82 +f 75 79 83 +f 80 75 83 +f 79 82 83 +f 77 81 84 +f 84 81 85 +f 80 84 85 +f 81 79 86 +f 82 77 87 +f 80 83 87 +f 83 82 87 +f 77 84 87 +f 84 80 87 +f 78 75 88 +f 75 80 88 +f 85 78 88 +f 80 85 88 +f 79 78 89 +f 85 81 89 +f 78 85 89 +f 86 79 89 +o convex_3 +v 0.198116 3.699441 2.712428 +v -0.213390 3.569606 2.669088 +v -0.191679 3.526310 2.669088 +v -0.018432 3.591279 2.993930 +v -0.061774 3.894398 2.972213 +v -0.213390 3.851001 2.669088 +v 0.089802 3.417944 2.669088 +v 0.154734 3.916020 2.669088 +v -0.213390 3.569606 2.755736 +v -0.040103 3.396322 2.734114 +v 0.003199 3.851001 2.972213 +v 0.198116 3.591279 2.755736 +v 0.024870 3.569606 2.972213 +v -0.213390 3.851001 2.755736 +v 0.198116 3.569606 2.669088 +v 0.024870 3.417944 2.799044 +v 0.133104 3.916020 2.755736 +f 100 101 106 +f 92 91 95 +f 92 95 96 +f 95 94 97 +f 96 95 97 +f 91 92 98 +f 93 94 98 +f 95 91 98 +f 92 96 99 +f 98 92 99 +f 93 98 99 +f 94 93 100 +f 101 100 102 +f 100 93 102 +f 94 95 103 +f 98 94 103 +f 95 98 103 +f 97 90 104 +f 96 97 104 +f 101 96 104 +f 90 101 104 +f 99 96 105 +f 93 99 105 +f 96 101 105 +f 101 102 105 +f 102 93 105 +f 90 97 106 +f 97 94 106 +f 94 100 106 +f 101 90 106 +o convex_4 +v -0.018445 3.352971 0.979713 +v 0.198116 3.417923 2.170805 +v 0.068192 3.417923 2.712242 +v 0.068192 3.331307 2.019301 +v 0.176431 3.417923 0.979713 +v -0.018445 3.417923 2.755529 +v 0.176431 3.374619 1.153037 +v -0.018445 3.331307 2.192448 +v 0.024884 3.331307 0.979713 +v 0.198116 3.374619 2.040944 +v 0.024884 3.374619 2.712242 +v 0.133123 3.417923 0.979713 +v 0.003220 3.374619 0.979713 +f 118 107 119 +f 109 108 111 +f 109 111 112 +f 112 107 114 +f 107 111 115 +f 113 110 115 +f 111 113 115 +f 110 114 115 +f 114 107 115 +f 108 109 116 +f 111 108 116 +f 110 113 116 +f 113 111 116 +f 109 112 117 +f 114 110 117 +f 112 114 117 +f 116 109 117 +f 110 116 117 +f 111 107 118 +f 112 111 118 +f 112 118 119 +f 107 112 119 +o convex_5 +v -0.213382 3.656189 -1.078062 +v -0.170070 3.569539 -2.745333 +v -0.148422 3.569539 -2.745333 +v -0.126757 3.829438 -2.745333 +v -0.170070 3.569539 -0.991530 +v -0.213382 3.742788 -2.074029 +v -0.170070 3.786113 -1.337827 +v -0.213382 3.569539 -2.225631 +v -0.191717 3.829438 -2.203826 +v -0.191717 3.612864 -2.680263 +v -0.126757 3.699489 -2.680263 +v -0.126757 3.829438 -2.463763 +v -0.213382 3.742788 -1.446163 +v -0.213382 3.591214 -1.121327 +v -0.148422 3.829438 -2.745333 +f 129 128 134 +f 122 121 123 +f 121 122 124 +f 120 124 126 +f 121 124 127 +f 120 125 127 +f 121 127 129 +f 127 125 129 +f 125 128 129 +f 122 123 130 +f 124 122 130 +f 124 130 131 +f 126 124 131 +f 123 128 131 +f 128 126 131 +f 130 123 131 +f 125 120 132 +f 120 126 132 +f 128 125 132 +f 126 128 132 +f 124 120 133 +f 120 127 133 +f 127 124 133 +f 123 121 134 +f 128 123 134 +f 121 129 134 +o convex_6 +v 0.263091 3.634556 -2.485606 +v 0.068186 3.526223 -2.983655 +v 0.068186 3.547919 -3.027062 +v 0.198085 3.829438 -2.529014 +v 0.198085 3.807742 -2.853697 +v 0.241397 3.547919 -2.788718 +v 0.198085 3.526223 -2.507283 +v 0.068186 3.807742 -2.962030 +v 0.068186 3.547919 -2.875374 +v 0.089861 3.807742 -3.027062 +v 0.241397 3.829438 -2.550638 +f 139 144 145 +f 136 137 140 +f 140 135 141 +f 135 138 141 +f 136 140 141 +f 137 136 142 +f 136 141 143 +f 141 138 143 +f 138 142 143 +f 142 136 143 +f 140 137 144 +f 139 140 144 +f 142 138 144 +f 137 142 144 +f 138 135 145 +f 140 139 145 +f 135 140 145 +f 144 138 145 +o convex_7 +v 0.328055 3.807725 -1.229481 +v 0.219785 3.526223 -2.485606 +v 0.219785 3.829379 -2.485606 +v 0.241450 3.526223 -0.991187 +v 0.306391 3.569594 -2.073822 +v 0.284737 3.851065 -1.316080 +v 0.284737 3.851065 -2.182217 +v 0.306391 3.612902 -0.991187 +v 0.263104 3.547940 -2.485606 +v 0.241450 3.591248 -0.991187 +v 0.284737 3.526223 -1.662622 +v 0.328055 3.851065 -1.337876 +v 0.219785 3.829379 -2.355415 +f 155 151 158 +f 148 151 152 +f 150 146 153 +f 147 148 154 +f 148 152 154 +f 152 150 154 +f 146 151 155 +f 153 146 155 +f 149 153 155 +f 149 147 156 +f 150 153 156 +f 153 149 156 +f 147 154 156 +f 154 150 156 +f 146 150 157 +f 151 146 157 +f 150 152 157 +f 152 151 157 +f 148 147 158 +f 147 149 158 +f 151 148 158 +f 149 155 158 +o convex_8 +v -0.235042 3.786067 2.560528 +v -0.235042 3.547881 0.958055 +v -0.235042 3.612911 0.958055 +v -0.170074 3.547881 2.669057 +v -0.256698 3.547881 2.062603 +v -0.213386 3.786067 1.196383 +v -0.191747 3.851096 2.669057 +v -0.256698 3.829400 1.824107 +v -0.213386 3.547881 0.958055 +v -0.256698 3.612911 1.023038 +v -0.213386 3.547881 2.669057 +v -0.170074 3.569577 2.495712 +f 167 164 170 +f 160 162 163 +f 159 165 166 +f 163 159 166 +f 165 164 166 +f 160 161 167 +f 162 160 167 +f 161 164 167 +f 161 160 168 +f 160 163 168 +f 164 161 168 +f 163 166 168 +f 166 164 168 +f 159 163 169 +f 163 162 169 +f 162 165 169 +f 165 159 169 +f 165 162 170 +f 164 165 170 +f 162 167 170 +o convex_9 +v 0.241433 3.721096 1.997473 +v 0.154800 3.417931 0.979940 +v 0.154800 3.461307 0.979940 +v 0.154800 3.417931 2.214111 +v 0.176475 3.894413 2.214111 +v 0.219775 3.786066 1.153177 +v 0.219775 3.417931 1.975834 +v 0.219775 3.526278 0.958055 +v 0.241433 3.591248 2.170709 +v 0.219775 3.894413 1.997473 +v 0.198116 3.786066 1.153177 +v 0.241433 3.569607 1.391330 +v 0.176475 3.894413 1.954195 +v 0.198116 3.439666 0.979940 +f 178 177 184 +f 173 172 174 +f 173 174 175 +f 174 172 177 +f 172 173 178 +f 175 174 179 +f 174 177 179 +f 171 176 180 +f 179 171 180 +f 175 179 180 +f 178 173 181 +f 176 178 181 +f 176 171 182 +f 178 176 182 +f 177 178 182 +f 179 177 182 +f 171 179 182 +f 173 175 183 +f 175 180 183 +f 180 176 183 +f 181 173 183 +f 176 181 183 +f 177 172 184 +f 172 178 184 +o convex_10 +v -0.040145 3.374634 -2.030526 +v 0.068167 3.439600 -0.969703 +v -0.148403 3.569530 -0.991600 +v -0.126740 3.569530 -2.745157 +v -0.170010 3.439600 -1.532961 +v 0.068167 3.417944 -2.745157 +v -0.148375 3.439600 -2.441891 +v -0.213390 3.569530 -2.117249 +v -0.148375 3.461236 -0.969703 +v 0.068167 3.396308 -1.143147 +v -0.018483 3.396308 -2.745157 +v 0.068167 3.374634 -2.377067 +v -0.191700 3.547856 -0.991600 +v -0.170038 3.547856 -2.745157 +v -0.191728 3.461236 -2.095525 +v 0.024842 3.396308 -1.078149 +v -0.148375 3.417944 -2.117249 +f 199 191 201 +f 187 186 188 +f 188 186 190 +f 187 188 192 +f 186 187 193 +f 190 186 194 +f 188 190 195 +f 190 194 196 +f 194 185 196 +f 185 195 196 +f 195 190 196 +f 187 192 197 +f 193 187 197 +f 189 193 197 +f 192 188 198 +f 188 195 198 +f 195 191 198 +f 189 197 199 +f 197 192 199 +f 198 191 199 +f 192 198 199 +f 189 185 200 +f 186 193 200 +f 193 189 200 +f 194 186 200 +f 185 194 200 +f 185 189 201 +f 195 185 201 +f 191 195 201 +f 189 199 201 +o convex_11 +v 0.219775 3.547927 2.322597 +v 0.154766 3.916071 2.669057 +v 0.133142 3.916071 2.669057 +v 0.046509 3.417931 2.669057 +v 0.154766 3.894373 2.257552 +v 0.198100 3.569577 2.669057 +v 0.154766 3.417931 2.214234 +v 0.198100 3.894373 2.214234 +v 0.089842 3.439630 2.322597 +v 0.176458 3.417931 2.409234 +v 0.046509 3.439630 2.560693 +v 0.219775 3.634526 2.495782 +v 0.219775 3.547927 2.214234 +v 0.176458 3.872723 2.669057 +f 213 209 215 +f 203 204 205 +f 203 205 207 +f 208 206 209 +f 204 203 209 +f 206 204 209 +f 208 205 210 +f 206 208 210 +f 202 207 211 +f 207 205 211 +f 205 208 211 +f 205 204 212 +f 204 206 212 +f 210 205 212 +f 206 210 212 +f 207 202 213 +f 209 213 214 +f 208 209 214 +f 202 211 214 +f 211 208 214 +f 213 202 214 +f 203 207 215 +f 209 203 215 +f 207 213 215 +o convex_12 +v -0.256707 3.526174 1.629366 +v -0.018466 3.417978 2.668989 +v -0.040131 3.461201 2.668989 +v -0.018466 3.353005 0.958275 +v -0.213377 3.396313 2.019267 +v -0.213377 3.547881 0.936397 +v -0.213377 3.396313 0.936397 +v -0.191713 3.547881 2.668989 +v -0.061795 3.331319 2.019267 +v -0.126766 3.417978 2.603864 +v -0.105101 3.526174 2.647281 +v -0.061795 3.331319 0.958275 +v -0.018466 3.331319 2.084392 +v -0.256707 3.547881 1.997728 +v -0.191713 3.504509 2.647281 +v -0.061795 3.396313 2.668989 +v -0.235042 3.547881 0.936397 +f 229 221 232 +f 218 217 219 +f 220 216 222 +f 221 219 222 +f 217 218 223 +f 220 222 224 +f 218 219 226 +f 219 221 226 +f 223 218 226 +f 221 223 226 +f 222 219 227 +f 224 222 227 +f 224 227 228 +f 219 217 228 +f 227 219 228 +f 216 220 229 +f 223 221 229 +f 223 229 230 +f 220 225 230 +f 229 220 230 +f 217 223 231 +f 220 224 231 +f 225 220 231 +f 224 228 231 +f 228 217 231 +f 223 230 231 +f 230 225 231 +f 222 216 232 +f 221 222 232 +f 216 229 232 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/840/840.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/840/840.urdf new file mode 100644 index 000000000..765a95244 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/840/840.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/841/841.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/841/841.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/841/841.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/841/841.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/841/841.obj new file mode 100644 index 000000000..4e90760b9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/841/841.obj @@ -0,0 +1,1005 @@ +o convex_0 +v 1.149884 -2.134309 0.639444 +v 1.149884 -2.072029 -0.668040 +v 1.149884 -1.978967 -0.668040 +v 3.017900 -2.165448 -0.014298 +v 1.180972 -1.449473 0.079002 +v 1.149884 -2.663684 -0.107598 +v 2.768831 -1.698710 0.079002 +v 2.488309 -2.414566 0.359159 +v 2.581755 -2.414566 -0.325555 +v 2.083800 -1.698710 -0.387755 +v 2.737560 -2.041246 0.452715 +v 1.149884 -1.636430 0.483687 +v 2.737560 -2.103288 -0.418983 +v 1.180972 -2.539125 0.514915 +v 2.768831 -2.508104 0.047774 +v 1.180972 -2.507985 -0.543511 +v 1.149884 -1.543011 -0.481183 +v 2.114705 -1.698710 0.390387 +v 2.021442 -2.476846 -0.450083 +v 2.768831 -2.134309 0.452715 +v 2.768831 -1.698710 -0.014298 +v 1.149884 -2.663684 0.110102 +v 1.180972 -2.010107 0.639444 +v 1.180972 -1.449473 -0.138698 +v 2.768831 -2.508104 -0.045270 +v 2.581755 -1.792129 -0.294455 +v 3.017900 -2.072267 0.079002 +v 2.083800 -2.072029 -0.543511 +v 2.799919 -2.103288 -0.387883 +v 2.021442 -2.601404 -0.045398 +v 2.052712 -2.476846 0.421487 +v 2.613026 -1.792129 0.328059 +v 2.114705 -1.574151 0.047902 +v 1.149884 -2.539125 -0.512283 +v 2.581755 -2.539125 0.047902 +v 3.017900 -2.072267 -0.014298 +v 2.021442 -1.792129 0.452587 +v 1.149884 -1.574151 0.390387 +v 2.986629 -2.196588 0.079002 +v 2.021442 -1.947827 -0.512283 +v 1.180972 -1.543011 -0.481183 +v 2.301598 -1.605291 -0.014298 +f 41 24 42 +f 3 2 1 +f 1 2 6 +f 3 1 12 +f 3 12 17 +f 13 9 19 +f 16 2 19 +f 1 14 20 +f 8 15 20 +f 1 6 22 +f 14 1 22 +f 12 1 23 +f 1 20 23 +f 20 11 23 +f 17 5 24 +f 4 15 25 +f 19 9 25 +f 13 10 26 +f 10 21 26 +f 7 11 27 +f 11 20 27 +f 21 7 27 +f 2 3 28 +f 19 2 28 +f 13 19 28 +f 9 13 29 +f 4 25 29 +f 25 9 29 +f 13 26 29 +f 26 21 29 +f 22 6 30 +f 19 25 30 +f 15 8 31 +f 20 14 31 +f 8 20 31 +f 11 7 32 +f 7 18 32 +f 18 11 32 +f 5 18 33 +f 18 7 33 +f 24 5 33 +f 6 2 34 +f 2 16 34 +f 16 19 34 +f 30 6 34 +f 19 30 34 +f 14 22 35 +f 25 15 35 +f 22 30 35 +f 30 25 35 +f 15 31 35 +f 31 14 35 +f 27 4 36 +f 21 27 36 +f 4 29 36 +f 29 21 36 +f 11 18 37 +f 18 12 37 +f 12 23 37 +f 23 11 37 +f 5 17 38 +f 17 12 38 +f 18 5 38 +f 12 18 38 +f 15 4 39 +f 20 15 39 +f 27 20 39 +f 4 27 39 +f 10 13 40 +f 28 3 40 +f 13 28 40 +f 3 17 41 +f 21 10 41 +f 17 24 41 +f 10 40 41 +f 40 3 41 +f 7 21 42 +f 33 7 42 +f 24 33 42 +f 21 41 42 +o convex_1 +v 0.526968 -1.324926 -0.979428 +v 0.028781 -1.293576 1.075485 +v -0.033443 -1.293576 1.075485 +v -0.002233 0.979186 -1.010671 +v -0.936382 -1.324926 -0.854863 +v -0.718498 0.979186 0.763868 +v 0.869300 0.979186 0.421417 +v 0.900510 -1.324926 0.919677 +v -0.905172 -1.324926 0.857394 +v -0.967592 0.979186 -0.045191 +v 0.900510 -1.200203 -0.854863 +v 0.091006 0.979186 1.013202 +v 0.744851 0.979186 -0.730298 +v -0.749513 0.979186 -0.761337 +v 0.962735 0.979186 -0.076434 +v 1.025154 -1.324926 -0.014152 +v 0.744851 0.947836 0.795112 +v -0.718498 -1.293576 -0.979428 +v -0.811738 -1.293576 0.950716 +v -0.967592 -1.324926 0.203531 +v -0.064458 0.947836 1.013202 +v 0.962735 0.792213 0.172287 +v 0.744851 -1.231327 0.981959 +v 0.962735 -1.324926 -0.668015 +v -0.282536 -1.324926 -1.010671 +v -0.967592 0.885587 0.078966 +v 0.807076 -1.231327 -0.916941 +v 0.962735 -1.293576 0.701586 +v 0.744851 0.916711 -0.761337 +v -0.967592 -1.324926 -0.418886 +v 0.184440 -1.324926 -1.010671 +v 0.900510 -1.169079 0.919677 +v -0.687288 -1.324926 0.981959 +v -0.874157 -0.577488 -0.854863 +v -0.874157 -1.169079 0.919472 +v 0.589192 -1.324926 1.013202 +v -0.251327 0.885587 -0.948388 +v -0.936382 -1.293576 0.670547 +v -0.687288 0.916711 0.795112 +v -0.905172 -1.293576 -0.916941 +v 0.869300 -1.293576 0.950716 +v 0.215455 0.916711 -0.948388 +v 0.713641 -1.324926 -0.948184 +v -0.811738 0.979186 0.514739 +v -0.593854 0.979186 -0.823619 +f 79 82 87 +f 46 48 49 +f 47 43 50 +f 47 50 51 +f 48 46 52 +f 45 44 54 +f 49 48 54 +f 46 49 55 +f 52 46 56 +f 55 49 57 +f 50 43 58 +f 49 54 59 +f 47 51 62 +f 45 54 63 +f 54 48 63 +f 57 49 64 +f 58 57 64 +f 53 57 66 +f 58 43 66 +f 57 58 66 +f 43 47 67 +f 60 46 67 +f 47 60 67 +f 52 62 68 +f 50 58 70 +f 58 64 70 +f 46 55 71 +f 57 53 71 +f 55 57 71 +f 53 69 71 +f 52 47 72 +f 47 62 72 +f 62 52 72 +f 46 43 73 +f 43 67 73 +f 67 46 73 +f 49 59 74 +f 64 49 74 +f 50 70 74 +f 70 64 74 +f 51 50 75 +f 61 51 75 +f 45 63 75 +f 63 61 75 +f 47 52 76 +f 52 56 76 +f 51 61 77 +f 61 63 77 +f 68 51 77 +f 44 45 78 +f 54 44 78 +f 65 54 78 +f 45 75 78 +f 75 50 78 +f 46 60 79 +f 62 51 80 +f 51 68 80 +f 68 62 80 +f 63 48 81 +f 48 77 81 +f 77 63 81 +f 60 47 82 +f 47 76 82 +f 76 56 82 +f 79 60 82 +f 59 54 83 +f 54 65 83 +f 74 59 83 +f 50 74 83 +f 78 50 83 +f 65 78 83 +f 69 46 84 +f 46 71 84 +f 71 69 84 +f 43 46 85 +f 66 43 85 +f 53 66 85 +f 46 69 85 +f 69 53 85 +f 48 52 86 +f 52 68 86 +f 77 48 86 +f 68 77 86 +f 56 46 87 +f 46 79 87 +f 82 56 87 +o convex_2 +v 0.526826 0.979186 -0.823552 +v -0.002354 3.469484 1.013211 +v -0.002354 4.030035 0.982032 +v -0.967397 0.979186 -0.045276 +v -0.282497 4.653000 -0.761395 +v 0.775863 0.979186 0.701619 +v 0.931583 4.030035 -0.014298 +v -0.998695 3.999218 -0.014298 +v -0.718360 0.979186 0.763978 +v -0.749658 0.979186 -0.761395 +v -0.002354 3.998828 -1.041808 +v -0.064565 4.715023 0.732799 +v 0.713652 3.967622 0.763978 +v -0.749658 3.967622 0.732799 +v 0.713652 3.999218 -0.761395 +v 0.962881 0.979186 -0.076456 +v -0.780763 3.999218 -0.792574 +v 0.682546 4.715023 -0.045276 +v -0.780763 4.746620 -0.014298 +v 0.090963 0.979576 1.013211 +v -0.033460 0.979576 -1.010628 +v -0.033460 4.964287 -0.107635 +v -0.033460 4.746230 -0.792574 +v 0.744757 0.979186 -0.730216 +v 0.962881 2.940920 0.047859 +v 0.713652 0.979186 0.794956 +v -0.189180 3.998828 -1.010628 +v 0.526826 4.528563 0.514745 +v -0.967397 0.979186 0.047658 +v 0.526826 4.528563 -0.574721 +v -0.780763 4.715023 -0.169792 +v -0.593745 4.496966 0.545924 +v -0.406919 0.979576 0.888494 +v -0.749658 3.718748 -0.823754 +v 0.962881 0.979186 0.110218 +v 0.682546 3.967622 -0.792574 +v 0.931583 3.718748 -0.107635 +v -0.936291 3.967622 -0.294309 +v 0.433509 2.723253 0.888494 +v -0.625043 4.528563 -0.636879 +v -0.656149 2.723253 0.795157 +v -0.033460 4.964287 0.016680 +v -0.002354 4.715023 0.732799 +v -0.189180 3.968012 0.950853 +v -0.033460 0.979576 1.013211 +v 0.744757 2.660839 0.763978 +v 0.059857 2.193908 -1.010628 +v 0.869372 3.968012 0.296892 +v 0.713652 0.979186 -0.761395 +v 0.744757 3.469874 -0.699036 +v -0.033460 3.469484 1.013211 +v 0.713652 4.653000 0.016680 +v -0.033460 4.715023 -0.823754 +v 0.028752 3.438667 1.013211 +v -0.687254 0.979186 -0.792574 +v 0.184280 3.687541 -0.979449 +v -0.998695 3.999218 -0.076456 +v -0.811869 0.979186 -0.574520 +v -0.126777 4.964287 -0.076456 +v 0.028752 1.228840 -1.010628 +v -0.095671 4.746230 -0.792574 +v 0.713652 2.100288 0.794956 +v -0.749658 3.999218 -0.823754 +v -0.095671 4.621793 -0.854933 +f 150 92 151 +f 91 88 93 +f 91 93 96 +f 88 91 97 +f 93 88 103 +f 94 102 105 +f 95 101 106 +f 109 105 110 +f 103 88 111 +f 96 93 113 +f 98 108 114 +f 95 91 116 +f 91 96 116 +f 96 101 116 +f 101 95 116 +f 105 102 117 +f 110 105 117 +f 101 99 119 +f 106 101 119 +f 99 106 119 +f 97 104 121 +f 114 108 121 +f 93 103 122 +f 103 112 122 +f 102 111 123 +f 102 94 124 +f 94 112 124 +f 112 103 124 +f 104 118 127 +f 101 96 128 +f 96 120 128 +f 106 99 129 +f 105 109 129 +f 99 90 130 +f 90 100 130 +f 100 115 130 +f 115 105 130 +f 129 99 130 +f 105 129 130 +f 90 99 131 +f 99 101 131 +f 101 128 131 +f 107 89 132 +f 96 113 132 +f 113 107 132 +f 120 96 132 +f 113 93 133 +f 93 122 133 +f 122 112 133 +f 112 94 135 +f 100 133 135 +f 133 112 135 +f 88 108 136 +f 111 88 136 +f 123 111 136 +f 111 102 137 +f 103 111 137 +f 102 124 137 +f 124 103 137 +f 89 90 138 +f 128 120 138 +f 90 131 138 +f 131 128 138 +f 132 89 138 +f 120 132 138 +f 94 105 139 +f 115 100 139 +f 105 115 139 +f 135 94 139 +f 100 135 139 +f 117 102 140 +f 110 117 140 +f 123 98 140 +f 102 123 140 +f 90 89 141 +f 100 90 141 +f 89 107 141 +f 126 100 141 +f 107 126 141 +f 88 97 142 +f 108 88 142 +f 97 121 142 +f 121 108 142 +f 98 123 143 +f 134 98 143 +f 123 136 143 +f 136 134 143 +f 91 95 144 +f 95 106 144 +f 118 104 144 +f 106 118 144 +f 125 91 144 +f 104 125 144 +f 97 91 145 +f 104 97 145 +f 91 125 145 +f 125 104 145 +f 118 106 146 +f 106 129 146 +f 129 109 146 +f 108 98 147 +f 98 134 147 +f 136 108 147 +f 134 136 147 +f 109 110 148 +f 92 127 148 +f 127 118 148 +f 110 140 148 +f 146 109 148 +f 118 146 148 +f 107 113 149 +f 100 126 149 +f 126 107 149 +f 133 100 149 +f 113 133 149 +f 121 104 150 +f 114 121 150 +f 127 92 150 +f 104 127 150 +f 98 114 151 +f 140 98 151 +f 92 148 151 +f 148 140 151 +f 114 150 151 +o convex_3 +v -1.154597 -2.103245 0.670580 +v -1.185646 -2.103245 -0.636903 +v -1.185646 -2.041167 -0.636903 +v -3.053747 -2.134400 -0.014268 +v -1.185646 -1.480610 0.078923 +v -1.154597 -2.663802 -0.076480 +v -2.773383 -1.729733 0.016839 +v -2.804617 -2.445718 -0.014268 +v -2.773383 -2.134400 -0.419032 +v -1.154597 -1.605229 -0.418904 +v -2.742149 -2.072206 0.390241 +v -1.185646 -2.508028 0.546028 +v -1.154597 -1.605229 0.514921 +v -1.154597 -2.539183 -0.481244 +v -1.995317 -1.729733 -0.419032 +v -2.026366 -1.698694 0.421475 +v -2.524253 -2.383524 0.296922 +v -2.586536 -2.352253 -0.325585 +v -2.773383 -2.041167 -0.419032 +v -1.185646 -2.663802 0.110029 +v -2.026366 -2.041167 0.546028 +v -2.773383 -1.729733 -0.045374 +v -1.964269 -2.445718 0.421475 +v -1.185646 -1.978741 0.670580 +v -2.773383 -2.165555 0.359135 +v -2.617584 -1.823314 0.296922 +v -2.026366 -1.605345 -0.045374 +v -2.773383 -2.445718 -0.076480 +v -2.026366 -2.103245 0.546028 +v -2.586536 -1.823314 -0.325585 +v -3.022513 -2.010012 -0.014268 +v -2.804617 -2.041167 0.359135 +v -1.154597 -1.729733 -0.512350 +v -1.154597 -1.480610 -0.014140 +v -1.185646 -2.570222 -0.419032 +v -3.053747 -2.134400 -0.076480 +v -1.185646 -2.476873 -0.512478 +v -1.154597 -2.508028 0.546028 +f 163 171 189 +f 154 153 160 +f 152 157 161 +f 152 161 164 +f 161 157 165 +f 156 158 167 +f 164 156 167 +f 154 160 170 +f 166 154 170 +f 159 157 171 +f 167 162 172 +f 168 159 174 +f 159 171 174 +f 171 163 174 +f 152 164 175 +f 164 167 175 +f 167 172 175 +f 155 159 176 +f 159 168 176 +f 168 174 176 +f 167 158 177 +f 158 156 178 +f 161 166 178 +f 173 158 178 +f 166 173 178 +f 157 159 179 +f 160 169 179 +f 163 152 180 +f 172 162 180 +f 174 163 180 +f 152 175 180 +f 175 172 180 +f 162 176 180 +f 176 174 180 +f 166 170 181 +f 173 166 181 +f 170 173 181 +f 158 173 182 +f 173 170 182 +f 162 167 183 +f 155 176 183 +f 176 162 183 +f 177 158 183 +f 167 177 183 +f 182 155 183 +f 158 182 183 +f 153 154 184 +f 165 153 184 +f 161 165 184 +f 154 166 184 +f 166 161 184 +f 156 164 185 +f 164 161 185 +f 178 156 185 +f 161 178 185 +f 165 157 186 +f 169 165 186 +f 157 179 186 +f 179 169 186 +f 159 155 187 +f 170 160 187 +f 179 159 187 +f 160 179 187 +f 155 182 187 +f 182 170 187 +f 160 153 188 +f 153 165 188 +f 169 160 188 +f 165 169 188 +f 157 152 189 +f 152 163 189 +f 171 157 189 +o convex_4 +v 0.184257 -1.574038 -1.384594 +v 0.028781 -2.726076 -1.353363 +v -0.251449 -2.632611 -1.353363 +v -0.002270 -2.103556 -3.034383 +v -0.438195 -1.729928 -1.290901 +v 0.589241 -2.165403 -1.290901 +v 0.090994 -1.667503 -2.785216 +v -0.375873 -2.072285 -2.722925 +v 0.371224 -2.134479 -2.785216 +v -0.033321 -2.476952 -2.754156 +v 0.464487 -2.570301 -1.290901 +v 0.433436 -1.698658 -1.820465 +v -0.531678 -2.165403 -1.290901 +v -0.344822 -2.539030 -1.976108 +v -0.344822 -1.667503 -2.038400 +v -0.064592 -1.542883 -1.290901 +v 0.402385 -2.508107 -1.945048 +v 0.433436 -1.667503 -1.290901 +v -0.002270 -1.667503 -2.816277 +v 0.371224 -1.947665 -2.722925 +v 0.526919 -2.134479 -2.007169 +v -0.375873 -2.570301 -1.290901 +v 0.059833 -1.574038 -2.162642 +v 0.028781 -2.632611 -2.069460 +v -0.469356 -2.072285 -2.069460 +v 0.277850 -2.383487 -2.598341 +v -0.344822 -1.978936 -2.754156 +v -0.282500 -2.383487 -2.567281 +v 0.340063 -1.760852 -2.536221 +v -0.375873 -2.476952 -2.038400 +v 0.028781 -2.010091 -3.034383 +v -0.251449 -1.760852 -2.598341 +v -0.406925 -1.667503 -1.446886 +v -0.344822 -2.103556 -2.785216 +v 0.589241 -2.103556 -1.384594 +v 0.464487 -2.570301 -1.384594 +v 0.433436 -1.760852 -2.069460 +v 0.059833 -2.445681 -2.754156 +v 0.371224 -2.041246 -2.816277 +v 0.059833 -2.726076 -1.290901 +v -0.064592 -2.632611 -2.007169 +v -0.033321 -1.574038 -2.069460 +v -0.469356 -2.134479 -2.069460 +v 0.246579 -2.570301 -2.007169 +f 225 229 233 +f 195 194 200 +f 200 194 202 +f 194 195 205 +f 201 190 207 +f 205 195 207 +f 190 205 207 +f 206 198 210 +f 200 202 211 +f 203 192 211 +f 190 201 212 +f 201 196 212 +f 205 190 212 +f 196 208 212 +f 202 194 214 +f 198 206 215 +f 197 214 216 +f 214 204 216 +f 199 203 217 +f 196 201 218 +f 209 196 218 +f 211 202 219 +f 203 211 219 +f 197 217 219 +f 217 203 219 +f 208 196 220 +f 216 208 220 +f 204 208 221 +f 208 216 221 +f 216 204 221 +f 194 205 222 +f 205 204 222 +f 214 194 222 +f 204 214 222 +f 193 199 223 +f 197 216 223 +f 217 197 223 +f 199 217 223 +f 220 193 223 +f 216 220 223 +f 201 207 224 +f 207 195 224 +f 195 210 224 +f 195 200 225 +f 210 195 225 +f 206 210 225 +f 210 209 226 +f 218 201 226 +f 209 218 226 +f 201 224 226 +f 224 210 226 +f 193 198 227 +f 199 193 227 +f 213 199 227 +f 198 215 227 +f 198 193 228 +f 196 209 228 +f 209 210 228 +f 210 198 228 +f 193 220 228 +f 220 196 228 +f 192 191 229 +f 211 192 229 +f 200 211 229 +f 191 213 229 +f 225 200 229 +f 191 192 230 +f 192 203 230 +f 203 199 230 +f 213 191 230 +f 199 213 230 +f 204 205 231 +f 208 204 231 +f 205 212 231 +f 212 208 231 +f 202 214 232 +f 214 197 232 +f 219 202 232 +f 197 219 232 +f 215 206 233 +f 206 225 233 +f 213 227 233 +f 227 215 233 +f 229 213 233 +o convex_5 +v -0.905133 -2.072392 -1.010488 +v 1.149701 -2.041213 0.670489 +v 1.149701 -2.134415 0.670489 +v -0.625021 -2.103404 1.262305 +v 0.028575 -3.037442 -0.294461 +v 0.900487 -1.324926 -0.886027 +v -0.874009 -1.325094 0.919661 +v 0.838239 -2.850534 -0.823796 +v -0.874009 -2.819355 0.857431 +v 0.838239 -2.850534 0.888171 +v 0.869363 -1.324926 0.950902 +v -0.936257 -1.325094 -0.854787 +v -0.375806 -2.601435 -1.290901 +v -1.154347 -2.694805 -0.045288 +v 0.433407 -1.667731 -1.290901 +v 0.433407 -2.539076 1.262305 +v 1.149701 -2.539076 -0.543383 +v -1.154347 -1.605205 0.546028 +v -0.749515 -2.850366 -0.886027 +v 0.028575 -1.449476 1.262305 +v 1.149701 -1.418464 -0.107519 +v 0.495880 -2.508064 -1.290901 +v -0.406930 -1.636384 -1.290901 +v -1.154347 -2.103404 -0.667845 +v -0.033447 -3.006095 0.763960 +v -0.780639 -2.974916 0.016692 +v 0.744869 -3.006263 0.047933 +v -0.095694 -2.694637 1.262305 +v 0.059698 -3.006095 -0.792556 +v -1.154347 -2.072392 0.701729 +v 1.149701 -2.694805 0.078923 +v 0.589251 -2.041213 1.262305 +v 1.149701 -1.947842 -0.668095 +v -1.154347 -1.449644 -0.014298 +v 0.090822 -2.725984 -1.290901 +v 0.028575 -1.387285 -1.135199 +v 0.589251 -2.165762 -1.290901 +v 0.962734 -2.134583 0.981892 +v -0.469177 -1.574026 1.262305 +v -1.154347 -2.539076 -0.512393 +v -1.154347 -2.539076 0.514787 +v 1.149701 -1.574193 0.452557 +v -0.967380 -2.041213 0.981892 +v -0.469177 -2.570255 1.262305 +v 1.149701 -2.539076 0.546028 +v -0.562774 -2.134583 -1.290901 +v -0.811762 -2.819355 -0.886027 +v 0.464531 -1.636384 1.262305 +v -0.905133 -1.325094 -0.916767 +v -1.154347 -1.605205 -0.481153 +v 0.931610 -2.103404 -0.948257 +v 0.059698 -1.511835 -1.290901 +v -0.033447 -1.324926 1.106603 +v 1.149701 -1.511835 -0.481153 +v 1.056105 -1.324926 0.016692 +v -0.033447 -3.037442 0.265865 +v -0.033447 -2.975084 0.857431 +v -0.998504 -1.325094 0.141154 +v 0.931610 -1.324926 0.857431 +v 0.807116 -2.974916 -0.138759 +v -0.936257 -2.165595 -0.979498 +v 0.807116 -2.974916 0.203634 +v 0.028575 -1.324926 -1.041478 +v 1.149701 -2.694805 -0.107519 +f 264 293 297 +f 235 236 250 +f 237 249 253 +f 235 250 254 +f 246 248 255 +f 248 246 256 +f 247 251 257 +f 242 247 259 +f 258 242 259 +f 249 237 261 +f 243 249 261 +f 238 259 262 +f 259 252 262 +f 260 238 262 +f 240 251 263 +f 251 247 263 +f 250 236 264 +f 253 249 265 +f 254 250 266 +f 251 240 267 +f 257 251 267 +f 252 246 268 +f 255 241 268 +f 246 255 268 +f 262 252 268 +f 241 262 268 +f 248 239 270 +f 255 248 270 +f 236 235 271 +f 249 243 271 +f 244 265 271 +f 265 249 271 +f 240 237 272 +f 237 253 272 +f 253 240 272 +f 247 257 273 +f 247 242 274 +f 242 263 274 +f 263 247 274 +f 235 254 275 +f 237 240 276 +f 242 237 276 +f 240 263 276 +f 263 242 276 +f 237 242 277 +f 261 237 277 +f 242 261 277 +f 264 236 278 +f 243 264 278 +f 236 271 278 +f 271 243 278 +f 256 246 279 +f 246 252 280 +f 259 247 280 +f 252 259 280 +f 247 273 280 +f 279 246 280 +f 244 253 281 +f 265 244 281 +f 253 265 281 +f 257 245 282 +f 279 234 282 +f 256 279 282 +f 245 257 283 +f 267 245 283 +f 257 267 283 +f 250 241 284 +f 241 255 284 +f 239 266 284 +f 266 250 284 +f 270 239 284 +f 255 270 284 +f 239 248 285 +f 248 256 285 +f 269 239 285 +f 282 269 285 +f 256 282 285 +f 244 239 286 +f 240 253 286 +f 253 244 286 +f 239 254 287 +f 266 239 287 +f 254 266 287 +f 239 244 288 +f 254 239 288 +f 259 238 289 +f 258 259 289 +f 238 260 289 +f 260 258 289 +f 242 258 290 +f 258 243 290 +f 261 242 290 +f 243 261 290 +f 267 240 291 +f 245 267 291 +f 240 286 291 +f 271 235 292 +f 244 271 292 +f 235 275 292 +f 275 254 292 +f 288 244 292 +f 254 288 292 +f 262 241 293 +f 260 262 293 +f 273 257 294 +f 234 279 294 +f 280 273 294 +f 279 280 294 +f 282 234 294 +f 257 282 294 +f 243 258 295 +f 258 260 295 +f 264 243 295 +f 260 293 295 +f 293 264 295 +f 239 269 296 +f 282 245 296 +f 269 282 296 +f 286 239 296 +f 245 291 296 +f 291 286 296 +f 241 250 297 +f 250 264 297 +f 293 241 297 +o convex_6 +v -0.002421 -1.511868 1.636225 +v -0.033429 -2.694820 1.262305 +v -0.251279 -2.632541 1.262305 +v -0.002421 -2.134306 3.005786 +v 0.558101 -2.009985 1.262305 +v -0.500362 -1.698706 1.262305 +v -0.406998 -2.072383 2.694329 +v 0.402269 -2.103166 2.725560 +v 0.028700 -1.698706 2.787681 +v -0.002421 -2.507982 2.694329 +v 0.402269 -2.507982 1.604994 +v 0.433391 -1.636427 1.262305 +v -0.469241 -2.539122 1.324767 +v -0.406998 -1.667567 2.103156 +v -0.593839 -2.072383 1.387058 +v -0.375877 -2.539122 2.009804 +v 0.402269 -1.698706 1.947512 +v -0.095672 -1.480729 1.262305 +v 0.433391 -2.476842 1.262305 +v 0.308905 -2.383423 2.538685 +v -0.313634 -2.321144 2.663268 +v 0.028700 -2.632541 2.009804 +v -0.531484 -2.134306 2.009804 +v 0.526755 -2.103166 1.822929 +v -0.344756 -1.885545 2.663268 +v 0.308905 -1.823265 2.600976 +v -0.469241 -1.605287 1.355998 +v 0.371148 -2.476842 2.040864 +v -0.593839 -2.134306 1.262305 +v 0.090943 -2.476842 2.725560 +v -0.002421 -1.574148 2.165106 +v -0.344756 -2.072383 2.818912 +v -0.033429 -1.698706 2.787681 +v 0.402269 -2.041243 2.725560 +v 0.059822 -1.480729 1.293707 +v 0.028700 -2.041243 3.005786 +v 0.557989 -2.165445 1.293707 +v -0.375877 -2.165445 2.756620 +v -0.095672 -2.476842 2.694329 +v -0.438120 -1.729846 2.072095 +v 0.495633 -2.010103 2.009804 +v 0.308905 -2.570261 1.324767 +v 0.495633 -2.165445 2.009804 +v -0.033429 -2.632541 2.009804 +v -0.126793 -1.574148 2.040864 +f 330 328 342 +f 299 300 302 +f 302 300 303 +f 302 303 309 +f 300 299 313 +f 310 300 313 +f 302 309 314 +f 309 303 315 +f 299 302 316 +f 310 313 320 +f 311 304 322 +f 314 306 323 +f 303 312 324 +f 315 303 324 +f 305 317 325 +f 319 308 325 +f 303 300 326 +f 300 310 326 +f 312 303 326 +f 310 320 326 +f 320 312 326 +f 305 301 327 +f 301 307 327 +f 317 305 327 +f 307 319 327 +f 325 317 327 +f 319 325 327 +f 306 314 328 +f 322 304 329 +f 322 329 330 +f 311 322 330 +f 306 328 330 +f 305 321 331 +f 323 306 331 +f 314 323 331 +f 314 309 332 +f 315 298 332 +f 309 315 332 +f 328 314 332 +f 298 328 332 +f 301 305 333 +f 329 301 333 +f 330 329 333 +f 306 330 333 +f 305 331 333 +f 331 306 333 +f 316 302 334 +f 308 316 334 +f 302 321 334 +f 313 318 335 +f 304 320 335 +f 320 313 335 +f 301 329 335 +f 329 304 335 +f 307 301 336 +f 313 307 336 +f 318 313 336 +f 301 335 336 +f 335 318 336 +f 304 311 337 +f 320 304 337 +f 312 320 337 +f 324 312 337 +f 311 324 337 +f 302 314 338 +f 321 302 338 +f 331 321 338 +f 314 331 338 +f 299 316 339 +f 316 308 339 +f 319 299 339 +f 308 319 339 +f 321 305 340 +f 305 325 340 +f 325 308 340 +f 308 334 340 +f 334 321 340 +f 313 299 341 +f 307 313 341 +f 299 319 341 +f 319 307 341 +f 298 315 342 +f 324 311 342 +f 315 324 342 +f 328 298 342 +f 311 330 342 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/841/841.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/841/841.urdf new file mode 100644 index 000000000..dc7bd78bb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/841/841.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/842/842.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/842/842.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/842/842.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/842/842.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/842/842.obj new file mode 100644 index 000000000..f380fe444 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/842/842.obj @@ -0,0 +1,402 @@ +o convex_0 +v 0.998667 -1.789261 1.022874 +v -1.100689 0.371180 -0.366451 +v -1.100689 0.371180 -0.335418 +v -1.039124 -3.487932 -0.798663 +v 0.967779 0.896058 -1.045700 +v -1.008236 0.896493 0.991840 +v 1.029556 -3.426131 -1.045700 +v -0.946459 -3.549733 0.930184 +v 1.060233 0.896058 1.022874 +v -1.100689 0.896493 -1.045700 +v 0.936890 -3.425695 0.991840 +v -1.039124 -3.487932 -1.076733 +v 1.060233 0.896058 -0.644111 +v 0.257556 -3.487932 0.991840 +v -0.236236 -1.203452 -1.076733 +v 0.195779 -3.457031 -1.076733 +v -0.977347 -3.117123 0.775631 +v -0.174459 0.834257 1.022874 +v 1.060233 -1.511154 -0.798663 +v 0.967779 -2.839016 1.022874 +v 1.060233 0.402081 1.022874 +v -1.008236 0.463883 0.991840 +v 0.658894 -3.457031 -1.045700 +v 1.029556 -3.395230 -0.829491 +v -0.853793 -3.549733 0.528595 +v -1.008236 -0.493170 0.961012 +v -1.039124 -1.789696 -1.076733 +v -1.100689 0.896493 -0.335418 +v 0.782448 -3.456596 0.991840 +v -0.668463 -3.549733 0.868322 +v 0.998667 -0.276865 -1.045700 +v -0.576009 -3.178925 0.961012 +v -0.977347 -3.518833 -0.520798 +v -1.070012 -1.758795 -1.045700 +v -0.977347 -3.549733 0.590251 +v 0.967779 -3.425695 0.621285 +v 0.844225 -2.622711 1.022874 +v -0.514232 -3.487932 -1.076733 +v 1.029556 -2.561345 -1.045700 +v -0.977347 -1.912864 0.961012 +v -0.977347 -2.561345 0.930184 +v -0.298013 -1.142086 -1.076733 +v 1.060233 0.711089 -0.675144 +v 0.319333 -3.487932 0.930184 +f 14 30 44 +f 2 3 10 +f 6 9 13 +f 5 10 13 +f 10 6 13 +f 12 15 16 +f 15 5 16 +f 9 6 18 +f 1 9 18 +f 13 9 19 +f 1 18 20 +f 9 1 21 +f 19 9 21 +f 6 3 22 +f 18 6 22 +f 16 7 23 +f 7 19 24 +f 21 1 24 +f 19 21 24 +f 22 3 26 +f 12 10 27 +f 15 12 27 +f 3 6 28 +f 10 3 28 +f 6 10 28 +f 11 20 29 +f 20 14 29 +f 23 7 29 +f 14 8 30 +f 8 25 30 +f 25 23 30 +f 16 5 31 +f 8 14 32 +f 14 22 32 +f 23 25 33 +f 3 2 34 +f 4 3 34 +f 2 10 34 +f 12 4 34 +f 10 12 34 +f 3 4 35 +f 4 12 35 +f 17 3 35 +f 8 17 35 +f 25 8 35 +f 12 33 35 +f 33 25 35 +f 1 20 36 +f 20 11 36 +f 7 24 36 +f 24 1 36 +f 29 7 36 +f 11 29 36 +f 14 20 37 +f 20 18 37 +f 22 14 37 +f 18 22 37 +f 12 16 38 +f 16 23 38 +f 33 12 38 +f 23 33 38 +f 7 16 39 +f 19 7 39 +f 16 31 39 +f 22 26 40 +f 8 32 40 +f 32 22 40 +f 3 17 41 +f 17 8 41 +f 26 3 41 +f 8 40 41 +f 40 26 41 +f 10 5 42 +f 5 15 42 +f 27 10 42 +f 15 27 42 +f 5 13 43 +f 13 19 43 +f 31 5 43 +f 19 39 43 +f 39 31 43 +f 29 14 44 +f 23 29 44 +f 30 23 44 +o convex_1 +v 2.943815 2.069676 0.436071 +v 2.851086 1.020123 -0.613585 +v 2.851086 1.081882 -0.613585 +v 1.091321 2.131435 0.590602 +v 3.005508 0.958482 0.497954 +v 1.091321 0.989244 -0.489936 +v 1.091321 2.162433 -0.520819 +v 3.036355 2.162433 -0.551702 +v 1.091321 1.081882 0.497836 +v 2.912969 2.069676 0.497954 +v 2.943815 1.051003 -0.613585 +v 2.048510 0.958482 0.065597 +v 3.036355 2.162433 -0.397288 +v 1.338472 0.989244 -0.520819 +v 1.338472 2.069676 0.590602 +v 3.005508 0.958482 0.281658 +v 1.307626 1.051003 0.497836 +v 1.091321 1.977037 0.590602 +v 2.943815 2.100555 0.312658 +v 2.635162 0.958482 0.497954 +v 3.036355 1.977037 -0.551702 +v 2.542432 2.069676 0.528718 +v 1.091321 2.162433 -0.273876 +v 3.005508 1.174521 0.497954 +v 1.091321 0.989244 -0.335641 +v 2.882123 0.958482 0.158245 +v 2.789393 2.162433 -0.551702 +v 1.091321 1.946158 -0.520819 +v 2.326127 2.100555 0.528718 +f 48 66 73 +f 50 48 51 +f 47 46 51 +f 48 50 53 +f 46 47 55 +f 47 52 55 +f 52 51 57 +f 56 50 58 +f 46 55 60 +f 49 56 60 +f 48 53 62 +f 59 48 62 +f 49 59 62 +f 53 61 62 +f 54 45 63 +f 45 57 63 +f 56 49 64 +f 61 56 64 +f 49 62 64 +f 62 61 64 +f 55 52 65 +f 57 49 65 +f 52 57 65 +f 49 60 65 +f 60 55 65 +f 48 59 66 +f 59 49 66 +f 51 48 67 +f 48 57 67 +f 57 51 67 +f 45 54 68 +f 57 45 68 +f 49 57 68 +f 66 49 68 +f 54 66 68 +f 53 50 69 +f 50 56 69 +f 61 53 69 +f 56 61 69 +f 58 46 70 +f 56 58 70 +f 46 60 70 +f 60 56 70 +f 47 51 71 +f 52 47 71 +f 51 52 71 +f 50 51 72 +f 51 46 72 +f 58 50 72 +f 46 58 72 +f 57 48 73 +f 54 63 73 +f 63 57 73 +f 66 54 73 +o convex_2 +v -3.046056 1.081885 -0.026833 +v -1.100958 2.131556 0.497917 +v -1.100958 2.069679 0.528812 +v -1.100958 1.051006 -0.582708 +v -3.107540 1.977040 -0.428235 +v -3.107540 0.927605 0.590602 +v -1.100958 0.958367 0.528812 +v -3.076896 2.038799 0.528697 +v -1.100958 2.069679 -0.551699 +v -2.953338 0.989247 -0.428235 +v -1.378914 1.020126 -0.582708 +v -1.533311 2.131556 0.405233 +v -2.521182 1.267163 0.590602 +v -2.922498 0.958367 -0.212087 +v -2.891461 1.977040 -0.459015 +v -1.533311 0.958367 0.559592 +v -1.100958 0.958367 0.374453 +v -2.675383 2.007920 -0.459015 +v -2.798941 0.989247 -0.459015 +v -3.107540 2.007920 -0.088623 +v -1.224516 2.069679 -0.551699 +v -3.107540 1.267163 0.590602 +v -3.107540 1.822642 -0.428235 +v -1.131995 2.131556 0.127296 +v -1.131995 1.514200 -0.582708 +v -2.212386 0.989247 -0.489909 +v -3.107540 0.927605 0.528697 +v -2.397624 0.958367 0.590602 +v -1.100958 1.020126 -0.489909 +v -3.076896 2.038799 0.405233 +v -1.595188 2.131556 0.497803 +f 85 103 104 +f 75 76 77 +f 77 76 80 +f 75 77 82 +f 80 76 89 +f 79 80 89 +f 77 80 90 +f 80 79 90 +f 88 78 91 +f 87 83 92 +f 88 84 92 +f 78 79 93 +f 91 78 93 +f 85 91 93 +f 88 91 94 +f 76 81 95 +f 86 76 95 +f 79 86 95 +f 93 79 95 +f 81 93 95 +f 79 78 96 +f 83 74 96 +f 78 88 96 +f 92 83 96 +f 88 92 96 +f 75 82 97 +f 85 75 97 +f 91 85 97 +f 82 94 97 +f 94 91 97 +f 82 77 98 +f 77 84 98 +f 84 88 98 +f 94 82 98 +f 88 94 98 +f 90 87 99 +f 87 92 99 +f 92 84 99 +f 74 83 100 +f 83 87 100 +f 90 79 100 +f 87 90 100 +f 79 96 100 +f 96 74 100 +f 76 86 101 +f 86 79 101 +f 89 76 101 +f 79 89 101 +f 84 77 102 +f 77 90 102 +f 99 84 102 +f 90 99 102 +f 93 81 103 +f 85 93 103 +f 76 75 104 +f 81 76 104 +f 75 85 104 +f 103 81 104 +o convex_3 +v 0.905916 2.594442 -0.273930 +v -1.100916 0.896493 -1.045857 +v -1.100916 0.896493 -0.335693 +v 1.060420 0.896493 1.022874 +v -1.039114 2.532840 0.991891 +v 0.967718 0.896493 -1.045857 +v -1.100916 2.563641 -1.014874 +v 1.091321 2.501869 1.022874 +v -1.008214 0.896493 0.991891 +v 0.936817 2.625412 -1.045857 +v 1.091321 2.162212 -0.520777 +v 1.091321 0.989404 -0.489997 +v -1.100916 2.007869 0.528776 +v -0.637619 2.532840 1.022874 +v 0.319231 2.625412 -1.045857 +v -1.100916 0.958434 0.528776 +v -0.730321 2.563641 0.652300 +v -0.174537 0.896493 1.022874 +v -0.853710 2.594611 -0.984095 +v 1.091321 1.483405 1.022874 +v 0.967718 2.625412 -0.767825 +v -1.100916 2.563641 -0.397252 +v -1.100916 1.421464 -1.045857 +v 0.967718 1.976898 -1.045857 +v 0.998618 0.896493 -0.953112 +v 1.091321 2.501869 0.652300 +v -1.039114 1.575977 0.991891 +v -0.267025 2.532670 1.022874 +v 0.566437 2.625412 -0.675283 +v -1.039114 2.563641 0.281727 +v 0.967718 2.594442 -0.984095 +v 1.091321 1.081976 0.497794 +v 1.060420 0.896493 -0.644301 +v -1.100916 2.162212 0.497794 +f 109 126 138 +f 107 106 108 +f 108 106 110 +f 106 107 111 +f 107 108 113 +f 110 106 114 +f 115 112 116 +f 111 107 117 +f 108 112 118 +f 114 106 119 +f 107 113 120 +f 117 107 120 +f 109 117 120 +f 109 118 121 +f 113 108 122 +f 108 118 122 +f 118 113 122 +f 119 111 123 +f 112 108 124 +f 116 112 124 +f 105 112 125 +f 114 119 125 +f 111 117 126 +f 123 111 126 +f 106 111 127 +f 119 106 127 +f 111 119 127 +f 110 114 128 +f 128 115 129 +f 108 110 129 +f 110 128 129 +f 112 115 130 +f 125 112 130 +f 118 109 131 +f 113 118 131 +f 120 113 131 +f 109 120 131 +f 112 105 132 +f 118 112 132 +f 121 118 132 +f 105 125 132 +f 125 121 132 +f 119 123 133 +f 125 119 133 +f 121 125 133 +f 109 121 134 +f 126 109 134 +f 123 126 134 +f 133 123 134 +f 121 133 134 +f 114 125 135 +f 128 114 135 +f 115 128 135 +f 130 115 135 +f 125 130 135 +f 108 116 136 +f 124 108 136 +f 116 124 136 +f 115 116 137 +f 116 108 137 +f 129 115 137 +f 108 129 137 +f 117 109 138 +f 126 117 138 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/842/842.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/842/842.urdf new file mode 100644 index 000000000..1e65c7e86 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/842/842.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/843/843.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/843/843.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/843/843.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/843/843.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/843/843.obj new file mode 100644 index 000000000..6f57d714d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/843/843.obj @@ -0,0 +1,363 @@ +o convex_0 +v 1.056648 -3.679270 -0.472184 +v -1.111274 -0.288265 -0.996854 +v -1.076222 -1.511992 -0.996854 +v -1.041171 -3.784629 1.101180 +v 1.056648 0.166731 0.996159 +v 1.126750 0.166731 -0.961920 +v -0.971288 0.166731 1.031094 +v -1.006339 -3.784629 -0.996854 +v 0.916881 -3.819749 0.926074 +v 1.091699 -3.679270 -1.101875 +v -1.111274 0.166731 -0.996854 +v 1.091699 0.131611 0.926290 +v 0.951713 -3.365143 0.961009 +v 0.462090 -3.714389 -1.101875 +v 1.091699 -2.875418 -1.101875 +v -1.006339 -0.987537 1.066029 +v 1.091699 -3.714389 -0.996854 +v 0.077622 0.166731 -0.996639 +v -0.796469 -3.749509 -1.031789 +v -0.901404 -3.784629 1.101180 +v 1.056648 -0.707750 0.996159 +v -1.111274 0.166731 -0.821964 +v 0.042570 0.166731 1.031094 +v -1.041171 -3.784629 0.366685 +v 0.951713 -3.819749 0.856204 +v 0.077622 -3.819749 0.996159 +v 0.951713 -3.819749 0.611444 +v -1.041171 -3.225055 1.101180 +v 1.091699 -0.288265 -0.996854 +v -0.936236 -0.637901 1.066029 +v 0.846997 -3.819749 0.961009 +v 0.077622 -3.749509 -1.066724 +v 1.126750 -0.078327 -0.926769 +v -0.971288 -3.259784 1.101180 +v -1.041171 -2.910148 1.066029 +v 1.021816 -3.714389 -1.101875 +v -0.831302 -3.784629 -0.996854 +v 0.951713 -3.714389 0.926074 +v -1.041171 0.166731 0.156644 +v 0.357375 -3.819749 0.611444 +f 8 27 40 +f 5 6 7 +f 7 6 11 +f 6 5 12 +f 14 11 15 +f 6 10 15 +f 10 14 15 +f 12 1 17 +f 11 6 18 +f 15 11 18 +f 3 2 19 +f 8 3 19 +f 2 11 19 +f 11 14 19 +f 12 5 21 +f 1 12 21 +f 5 20 21 +f 20 13 21 +f 2 4 22 +f 11 2 22 +f 7 11 22 +f 5 7 23 +f 2 3 24 +f 4 2 24 +f 3 8 24 +f 17 1 25 +f 20 4 26 +f 4 24 26 +f 24 8 26 +f 25 9 26 +f 25 26 27 +f 17 25 27 +f 4 20 28 +f 22 4 28 +f 6 15 29 +f 18 6 29 +f 15 18 29 +f 7 16 30 +f 23 7 30 +f 16 28 30 +f 13 20 31 +f 20 26 31 +f 26 9 31 +f 8 19 32 +f 19 14 32 +f 10 6 33 +f 6 12 33 +f 17 10 33 +f 12 17 33 +f 20 5 34 +f 5 23 34 +f 28 20 34 +f 23 30 34 +f 30 28 34 +f 16 22 35 +f 22 28 35 +f 28 16 35 +f 14 10 36 +f 10 17 36 +f 17 27 36 +f 32 14 36 +f 27 32 36 +f 27 8 37 +f 8 32 37 +f 32 27 37 +f 1 21 38 +f 21 13 38 +f 9 25 38 +f 25 1 38 +f 31 9 38 +f 13 31 38 +f 16 7 39 +f 7 22 39 +f 22 16 39 +f 26 8 40 +f 27 26 40 +o convex_1 +v -1.006339 0.691401 0.995701 +v 1.126750 0.376772 -0.787392 +v 1.021815 1.740311 0.436339 +v -1.006339 2.334635 -3.094711 +v -1.006339 0.201882 -2.989704 +v 0.951713 2.369786 -2.989704 +v -1.076222 2.334635 1.030838 +v 1.056647 0.166731 0.995701 +v 1.091699 0.341837 -3.059978 +v 0.951713 2.334635 1.031241 +v -0.971287 0.166731 1.030838 +v -1.111274 0.166731 -0.997406 +v 1.126750 0.166731 -0.962673 +v -1.111274 1.565205 0.191592 +v -0.551549 0.201882 -3.024437 +v 1.056647 0.936161 1.031241 +v 0.986764 2.054940 -3.024841 +v -1.111274 0.411707 -1.276481 +v -1.006339 0.831357 -3.059574 +v 0.217389 2.369786 -2.954971 +v 1.056647 1.110836 -3.059978 +v 0.986764 2.194896 -1.031735 +v 0.951713 2.369786 -2.115726 +v 0.357375 0.271751 -3.059978 +v 1.091699 0.271967 0.995701 +v -0.621651 2.334635 -3.094711 +v -1.006339 1.810181 -3.094711 +v -1.111274 0.166731 -0.787392 +v 1.056647 0.306902 1.031241 +v -1.076222 1.914985 1.030838 +v -1.076222 2.299700 0.156456 +v 0.986764 2.194896 0.821228 +v 1.126750 0.376772 -1.241344 +v -1.111274 0.796206 -0.962269 +v 0.811946 2.369786 -3.024841 +v 1.091699 0.621532 -3.059978 +v -0.971287 0.201882 -3.024437 +v -0.061926 0.271751 -3.059978 +v -1.006339 0.166731 0.645948 +v 0.811946 0.306686 -3.059978 +v 0.986764 2.089660 -2.885101 +v -1.111274 1.565205 0.121723 +v 1.091699 0.376772 0.960968 +v 0.077622 0.166731 1.031241 +v 1.091699 0.166731 0.926235 +f 65 48 85 +f 48 51 52 +f 48 52 53 +f 53 52 55 +f 45 52 58 +f 52 54 58 +f 45 58 59 +f 44 47 60 +f 47 50 63 +f 46 60 63 +f 60 47 63 +f 62 46 63 +f 53 55 64 +f 58 44 67 +f 59 58 67 +f 44 66 67 +f 66 49 67 +f 52 51 68 +f 54 52 68 +f 56 50 69 +f 48 65 69 +f 65 56 69 +f 41 51 70 +f 47 54 70 +f 54 68 70 +f 47 44 71 +f 50 56 72 +f 43 62 72 +f 63 50 72 +f 62 63 72 +f 43 42 73 +f 42 53 73 +f 53 49 73 +f 62 43 73 +f 44 58 74 +f 58 54 74 +f 46 57 75 +f 44 60 75 +f 60 46 75 +f 57 61 75 +f 66 44 75 +f 61 66 75 +f 49 66 76 +f 66 61 76 +f 73 49 76 +f 61 73 76 +f 52 45 77 +f 55 52 77 +f 45 59 77 +f 64 55 77 +f 64 77 78 +f 59 67 78 +f 67 64 78 +f 77 59 78 +f 51 41 79 +f 68 51 79 +f 41 70 79 +f 70 68 79 +f 49 53 80 +f 53 64 80 +f 67 49 80 +f 64 67 80 +f 57 46 81 +f 61 57 81 +f 46 62 81 +f 73 61 81 +f 62 73 81 +f 54 47 82 +f 71 44 82 +f 47 71 82 +f 44 74 82 +f 74 54 82 +f 42 43 83 +f 65 42 83 +f 56 65 83 +f 43 72 83 +f 72 56 83 +f 50 47 84 +f 51 48 84 +f 48 69 84 +f 69 50 84 +f 47 70 84 +f 70 51 84 +f 53 42 85 +f 48 53 85 +f 42 65 85 +o convex_2 +v 1.021733 1.530226 2.150168 +v -1.076304 1.145887 3.059081 +v -1.041226 0.236717 2.534654 +v -1.076304 2.334769 1.031242 +v 1.056812 0.306751 1.031444 +v 1.056812 0.236930 2.989211 +v 0.881836 2.229718 3.024348 +v 0.951785 2.334557 1.031444 +v -0.971277 0.341768 1.031242 +v -1.076304 2.369786 3.094218 +v -1.041226 0.201700 3.094218 +v 0.986863 2.054845 3.024348 +v 0.706861 0.201700 3.024146 +v -0.761432 0.201700 2.674595 +v -0.516716 2.334769 3.094218 +v 1.056812 0.936209 1.031444 +v -1.076304 1.914989 1.031242 +v -0.306871 2.369786 2.325044 +v -0.656613 0.201700 3.094218 +v 0.462145 0.271734 1.416131 +v 0.497224 2.194913 3.059283 +v 0.986863 2.124879 1.031444 +v 0.951785 2.334557 1.311125 +v -0.936407 0.306751 1.276392 +v 1.021733 1.285743 3.024348 +v 1.056812 0.271947 1.486001 +v 1.056812 0.761548 2.220038 +v 0.951785 2.229718 2.919342 +v 0.077533 0.306751 1.031242 +v -1.006356 0.761336 1.031242 +v -1.076304 2.369786 2.534654 +v -0.901329 2.369786 3.094218 +v -1.041226 0.201700 2.744465 +v 1.021733 1.076065 3.024348 +v 1.021733 0.236930 2.254771 +v -0.516716 0.201700 2.674595 +v 0.986863 2.089862 2.954276 +v 1.056812 0.516641 2.954276 +v -1.006356 0.306751 1.625943 +f 94 118 124 +f 89 87 95 +f 95 87 96 +f 98 96 99 +f 95 96 100 +f 91 90 101 +f 88 87 102 +f 87 89 102 +f 89 94 102 +f 93 89 103 +f 96 98 104 +f 100 96 104 +f 97 92 106 +f 92 100 106 +f 100 104 106 +f 86 101 107 +f 93 103 108 +f 107 93 108 +f 105 99 109 +f 97 106 110 +f 90 91 111 +f 105 90 111 +f 91 101 112 +f 101 86 112 +f 92 97 113 +f 108 92 113 +f 89 93 114 +f 94 89 114 +f 101 90 114 +f 90 105 114 +f 93 107 114 +f 107 101 114 +f 109 94 114 +f 105 109 114 +f 102 94 115 +f 89 95 116 +f 103 89 116 +f 95 103 116 +f 100 92 117 +f 95 100 117 +f 103 95 117 +f 92 108 117 +f 108 103 117 +f 87 88 118 +f 96 87 118 +f 99 96 118 +f 94 109 118 +f 109 99 118 +f 98 91 119 +f 104 98 119 +f 106 104 119 +f 91 110 119 +f 110 106 119 +f 91 98 120 +f 111 91 120 +f 111 120 121 +f 98 99 121 +f 99 105 121 +f 105 111 121 +f 120 98 121 +f 86 107 122 +f 107 108 122 +f 97 110 122 +f 112 86 122 +f 110 112 122 +f 113 97 122 +f 108 113 122 +f 110 91 123 +f 91 112 123 +f 112 110 123 +f 88 102 124 +f 115 94 124 +f 102 115 124 +f 118 88 124 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/843/843.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/843/843.urdf new file mode 100644 index 000000000..9a1ddd4aa --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/843/843.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/844/844.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/844/844.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/844/844.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/844/844.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/844/844.obj new file mode 100644 index 000000000..45ae236e9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/844/844.obj @@ -0,0 +1,582 @@ +o convex_0 +v 3.333250 0.756214 1.119259 +v 1.082945 0.718536 -0.943809 +v 1.082945 0.793891 -0.943809 +v -1.205754 0.756214 1.269623 +v 3.370740 2.856937 0.031826 +v -1.205754 2.819260 1.231924 +v -1.205754 2.781582 -0.793444 +v 3.370740 2.819260 1.269623 +v 3.370740 2.669178 -0.906109 +v -1.205754 0.793682 -0.906109 +v 3.408682 0.793682 -0.868410 +v 2.245587 2.856937 -0.906109 +v -0.455050 0.718536 1.269623 +v -0.605462 0.718536 -0.906109 +v -0.830402 2.819260 1.269623 +v 0.520142 2.856937 -0.831144 +v 2.132666 0.718536 1.119259 +v 3.333250 2.856937 -0.906109 +v 3.370740 2.519096 1.269623 +v 3.145800 0.756214 -0.643513 +v 3.370740 1.168990 1.156742 +v 3.408682 0.793682 -0.080622 +v 3.408682 1.581558 -0.868410 +v -1.205754 0.906295 -0.906109 +v 1.532825 0.943763 -0.943809 +v 0.932984 2.856937 -0.868410 +v 3.370740 2.068852 -0.906109 +v -0.792912 0.718536 1.269623 +v 1.307433 0.718536 -0.943809 +v 1.269943 2.856937 -0.380918 +v 3.370740 0.756214 1.006811 +v -1.205754 0.756214 0.594067 +v -1.205754 2.819260 0.931629 +f 16 7 33 +f 4 6 7 +f 3 2 10 +f 4 7 10 +f 8 4 13 +f 10 2 14 +f 2 13 14 +f 5 6 15 +f 6 4 15 +f 4 8 15 +f 8 5 15 +f 5 12 16 +f 13 2 17 +f 1 13 17 +f 5 9 18 +f 12 5 18 +f 8 13 19 +f 13 1 21 +f 19 13 21 +f 19 21 22 +f 8 19 22 +f 22 11 23 +f 5 8 23 +f 9 5 23 +f 11 9 23 +f 8 22 23 +f 3 10 24 +f 10 7 24 +f 12 3 24 +f 2 3 25 +f 3 12 25 +f 18 9 25 +f 12 18 25 +f 7 16 26 +f 16 12 26 +f 24 7 26 +f 12 24 26 +f 9 11 27 +f 11 25 27 +f 25 9 27 +f 13 4 28 +f 14 13 28 +f 17 2 29 +f 11 20 29 +f 20 17 29 +f 2 25 29 +f 25 11 29 +f 6 5 30 +f 5 16 30 +f 16 6 30 +f 1 17 31 +f 20 11 31 +f 17 20 31 +f 21 1 31 +f 22 21 31 +f 11 22 31 +f 4 10 32 +f 10 14 32 +f 28 4 32 +f 14 28 32 +f 7 6 33 +f 6 16 33 +o convex_1 +v -1.993432 2.144137 -1.581805 +v -1.880884 1.393821 -2.331713 +v -1.805875 1.393821 -2.331713 +v -1.918422 1.468955 -0.943809 +v -1.355883 2.031398 -0.943809 +v -1.506035 1.956411 -2.931951 +v -1.393553 1.393821 -1.994225 +v -2.031036 2.106606 -2.894582 +v -1.355949 2.144137 -1.656737 +v -1.468497 1.431425 -2.819455 +v -1.393487 1.431425 -1.018936 +v -2.030970 1.393821 -1.619368 +v -1.955894 2.106533 -0.943809 +v -1.918422 1.506559 -2.857019 +v -1.355949 1.731742 -1.956662 +v -2.030970 2.144137 -1.619368 +v -2.030970 1.393821 -2.106721 +v -1.993432 1.468955 -1.018936 +v -1.431091 2.144137 -1.994225 +v -1.393487 1.468955 -0.943809 +v -1.955894 1.468955 -2.744328 +f 50 41 54 +f 35 36 40 +f 36 35 43 +f 40 36 43 +f 40 44 45 +f 35 40 45 +f 44 37 45 +f 37 38 46 +f 42 34 46 +f 38 42 46 +f 41 39 47 +f 39 43 47 +f 39 42 48 +f 42 38 48 +f 40 43 48 +f 43 39 48 +f 38 44 48 +f 44 40 48 +f 34 42 49 +f 41 45 49 +f 46 34 49 +f 35 45 50 +f 45 41 50 +f 45 37 51 +f 37 46 51 +f 49 45 51 +f 46 49 51 +f 39 41 52 +f 42 39 52 +f 41 49 52 +f 49 42 52 +f 38 37 53 +f 37 44 53 +f 44 38 53 +f 43 35 54 +f 41 47 54 +f 47 43 54 +f 35 50 54 +o convex_2 +v -1.918550 1.918965 1.419716 +v -1.318301 1.581444 3.107780 +v -1.318301 1.468937 3.107780 +v -1.956070 1.843941 3.220445 +v -1.956070 1.506420 1.419716 +v -1.393340 1.918965 1.269623 +v -1.430860 2.031531 3.182826 +v -1.918550 1.431337 3.220445 +v -1.355821 1.506420 1.269623 +v -1.956070 2.031531 2.882450 +v -1.843512 1.993989 1.269623 +v -1.393340 2.031531 2.882450 +v -1.956070 1.543961 1.269623 +v -1.956070 2.031531 3.220445 +v -1.843512 1.431337 2.845213 +v -1.355821 1.768916 1.269623 +v -1.393340 1.956506 1.419716 +v -1.730891 1.431337 3.220445 +v -1.956070 1.768916 1.307242 +v -1.318301 1.468937 2.695121 +f 72 69 74 +f 57 56 61 +f 58 59 62 +f 59 58 64 +f 60 63 65 +f 55 64 65 +f 61 56 66 +f 64 61 66 +f 65 64 66 +f 63 59 67 +f 59 64 67 +f 65 63 67 +f 58 62 68 +f 64 58 68 +f 61 64 68 +f 62 59 69 +f 59 63 69 +f 63 60 70 +f 66 56 70 +f 66 70 71 +f 60 65 71 +f 65 66 71 +f 70 60 71 +f 57 61 72 +f 68 62 72 +f 61 68 72 +f 62 69 72 +f 64 55 73 +f 55 65 73 +f 67 64 73 +f 65 67 73 +f 56 57 74 +f 69 63 74 +f 70 56 74 +f 63 70 74 +f 57 72 74 +o convex_3 +v -0.492787 -5.246149 1.269623 +v 1.270190 -3.595843 -0.906293 +v 1.232491 -3.558573 -0.906080 +v -0.792864 -5.283631 -0.868593 +v -0.717899 -3.183107 1.231924 +v 1.420120 -5.246149 1.156951 +v 1.270190 -3.183107 1.119465 +v -0.717899 -3.183107 -0.793621 +v 1.270190 -5.358597 -0.831107 +v 1.345155 -3.220803 -0.868593 +v -0.755381 -5.321115 1.269623 +v 1.382638 -4.533551 1.194438 +v -0.792864 -4.571033 -0.868593 +v 1.082561 -3.183107 -0.906080 +v 1.044862 -5.246149 1.231924 +v -0.792864 -5.208879 0.331611 +v -0.755381 -3.220803 -0.718648 +v -0.005298 -5.321115 -0.868593 +v -0.455304 -3.183107 1.231924 +v 1.270190 -5.358597 -0.530790 +v 1.420120 -5.058735 0.931607 +v -0.792864 -4.571033 -0.193199 +v 1.007596 -3.183107 1.156951 +v 1.270190 -4.946074 -0.868593 +v 1.307673 -3.183107 0.444070 +v 0.819967 -5.358597 -0.831107 +v -0.380339 -3.183107 -0.830894 +v 1.420120 -5.021039 1.194438 +v -0.605234 -5.321115 1.269623 +v -0.755381 -4.946074 1.269623 +v 0.632555 -5.321115 -0.868593 +v 1.307673 -3.183107 -0.906293 +f 88 99 106 +f 77 76 78 +f 79 81 82 +f 76 77 88 +f 77 78 88 +f 82 81 88 +f 78 87 88 +f 78 85 90 +f 87 78 90 +f 79 82 91 +f 82 87 91 +f 78 76 92 +f 85 78 92 +f 81 79 93 +f 75 89 93 +f 89 86 93 +f 83 80 94 +f 80 83 95 +f 83 84 95 +f 90 79 96 +f 87 90 96 +f 91 87 96 +f 79 91 96 +f 86 81 97 +f 81 93 97 +f 93 86 97 +f 84 83 98 +f 81 86 99 +f 88 81 99 +f 92 83 100 +f 85 92 100 +f 83 94 100 +f 94 85 100 +f 87 82 101 +f 82 88 101 +f 88 87 101 +f 89 80 102 +f 86 89 102 +f 80 95 102 +f 95 84 102 +f 99 86 102 +f 84 99 102 +f 75 85 103 +f 89 75 103 +f 80 89 103 +f 94 80 103 +f 85 94 103 +f 85 75 104 +f 79 90 104 +f 90 85 104 +f 75 93 104 +f 93 79 104 +f 92 76 105 +f 83 92 105 +f 98 83 105 +f 76 98 105 +f 76 88 106 +f 84 98 106 +f 98 76 106 +f 99 84 106 +o convex_4 +v 1.307804 0.380542 -0.943809 +v -0.455409 0.718536 1.269623 +v -0.793080 0.718536 1.269623 +v -0.718019 -3.183106 1.231924 +v -0.718019 -2.582736 -0.830927 +v 1.270171 -3.183106 1.119259 +v 1.307804 -3.183106 -0.906109 +v -0.605325 0.718536 -0.906109 +v 1.232538 0.718536 1.119259 +v -0.718019 -3.183106 -0.793444 +v 1.307804 0.718536 -0.943809 +v 1.082621 -2.920349 1.156742 +v 1.307804 -3.107869 0.444136 +v 1.270171 0.718536 0.969328 +v -0.642958 0.493207 -0.906109 +v 1.044988 -3.183106 -0.906109 +v -0.680386 -1.120002 1.269623 +v -0.718019 -1.982366 -0.830927 +v -0.793080 0.718536 1.119259 +v 1.307804 0.718536 -0.418400 +v -0.793080 0.268259 1.269623 +v -0.417775 -3.183106 1.231924 +v 1.270171 0.042929 1.119476 +v -0.530470 0.042929 -0.906109 +v 0.895072 0.305686 1.156742 +v -0.417775 0.042929 1.269623 +v -0.417775 -3.183106 -0.830927 +v 1.082621 0.680727 -0.943809 +v -0.755447 -1.569898 1.194224 +f 127 116 135 +f 112 110 113 +f 109 108 114 +f 114 108 115 +f 113 110 116 +f 113 107 117 +f 114 115 117 +f 112 113 119 +f 113 117 119 +f 117 115 120 +f 107 113 122 +f 113 116 122 +f 108 109 123 +f 121 111 124 +f 121 124 125 +f 109 114 125 +f 111 116 125 +f 114 121 125 +f 124 111 125 +f 119 117 126 +f 117 120 126 +f 120 119 126 +f 123 109 127 +f 110 123 127 +f 109 125 127 +f 125 116 127 +f 110 112 128 +f 112 118 128 +f 123 110 128 +f 118 112 129 +f 112 119 129 +f 119 120 129 +f 120 115 129 +f 111 121 130 +f 122 111 130 +f 115 108 131 +f 108 118 131 +f 118 129 131 +f 129 115 131 +f 118 108 132 +f 108 123 132 +f 128 118 132 +f 123 128 132 +f 116 111 133 +f 111 122 133 +f 122 116 133 +f 117 107 134 +f 114 117 134 +f 121 114 134 +f 107 122 134 +f 130 121 134 +f 122 130 134 +f 116 110 135 +f 110 127 135 +o convex_5 +v -1.580974 -0.556964 -1.544061 +v -2.068551 -1.269801 -2.069165 +v -1.618516 -1.232255 -2.144314 +v -2.031010 1.393821 -2.106710 +v -1.393399 1.393821 -2.144314 +v -2.031010 1.393821 -1.619210 +v -1.468482 1.393821 -1.581665 +v -1.430941 -1.269801 -1.544061 +v -1.918451 -1.194710 -1.656638 +v -1.468482 -1.232255 -2.144314 +v -1.993468 0.005953 -1.619210 +v -2.068551 0.530542 -2.106710 +v -2.068551 -1.269801 -1.994192 +v -1.430941 -1.269801 -1.806701 +v -1.430941 -0.219318 -1.544061 +v -1.393399 1.393821 -1.994192 +v -1.543499 -1.269801 -1.544061 +v -1.880976 0.755553 -1.581665 +v -1.393399 0.830643 -2.144314 +v -1.580974 1.393821 -2.144314 +f 147 139 155 +f 140 139 141 +f 140 141 142 +f 137 138 145 +f 138 140 145 +f 138 137 147 +f 141 139 147 +f 141 147 148 +f 137 143 148 +f 146 141 148 +f 144 146 148 +f 147 137 148 +f 143 137 149 +f 137 145 149 +f 136 143 150 +f 150 143 151 +f 140 142 151 +f 142 150 151 +f 143 136 152 +f 146 144 152 +f 148 143 152 +f 144 148 152 +f 142 141 153 +f 141 146 153 +f 150 142 153 +f 136 150 153 +f 152 136 153 +f 146 152 153 +f 145 140 154 +f 143 149 154 +f 149 145 154 +f 151 143 154 +f 140 151 154 +f 139 140 155 +f 140 138 155 +f 138 147 155 +o convex_6 +v -1.318301 3.531986 -1.581695 +v -2.031102 2.144136 -2.106681 +v -1.768407 2.144136 -2.106681 +v -1.468383 4.845274 -2.181764 +v -1.956026 4.807729 -1.544153 +v -1.993564 2.144136 -1.581695 +v -1.355839 2.144136 -1.506612 +v -1.318301 4.732638 -1.544153 +v -1.881020 4.770184 -2.069206 +v -1.430915 2.256772 -2.031664 +v -1.993564 4.470087 -1.544153 +v -1.993564 2.482307 -2.144222 +v -1.430915 4.845274 -2.106681 +v -2.031102 2.369672 -1.581695 +v -2.031102 2.632224 -2.106681 +v -1.505991 2.144136 -2.069206 +v -1.956026 4.807729 -1.731729 +v -1.505991 2.144136 -1.506612 +v -1.355839 3.007411 -1.506612 +v -1.355839 2.144136 -1.656712 +v -1.355839 4.694829 -1.806746 +f 165 168 176 +f 157 158 161 +f 161 158 162 +f 162 156 163 +f 158 157 167 +f 159 158 167 +f 164 159 167 +f 159 160 168 +f 160 163 168 +f 165 159 168 +f 157 161 169 +f 169 166 170 +f 167 157 170 +f 164 167 170 +f 157 169 170 +f 158 159 171 +f 162 158 171 +f 159 165 171 +f 160 159 172 +f 159 164 172 +f 166 160 172 +f 170 166 172 +f 164 170 172 +f 161 162 173 +f 160 166 173 +f 169 161 173 +f 166 169 173 +f 163 160 174 +f 162 163 174 +f 173 162 174 +f 160 173 174 +f 156 162 175 +f 165 156 175 +f 162 171 175 +f 171 165 175 +f 163 156 176 +f 156 165 176 +f 168 163 176 +o convex_7 +v -1.468379 1.956183 1.269623 +v -1.956028 0.756052 0.519102 +v -2.518733 0.793619 -0.906109 +v -2.706301 2.744085 1.194224 +v -1.205754 2.781854 -0.793661 +v -1.205754 0.793619 -0.906109 +v -2.668700 2.706719 -0.943809 +v -2.631245 0.756052 1.269623 +v -1.205754 0.756052 1.269623 +v -1.205754 2.819421 1.231707 +v -2.631245 0.793619 -0.868626 +v -2.706301 2.819421 0.931845 +v -1.356014 2.031520 -0.943809 +v -2.706301 2.293884 0.669249 +v -2.668700 1.056186 1.231707 +v -1.993483 2.106250 1.269623 +v -1.881118 1.469223 -0.943809 +v -2.368619 2.744085 -0.906109 +v -2.668700 1.506387 -0.493582 +v -2.706301 2.781854 0.144274 +v -2.631245 2.819421 1.194224 +v -2.668700 1.843886 -0.906109 +v -2.143596 2.744085 -0.906109 +v -1.205754 0.756052 0.556584 +v -2.631245 0.756052 0.556584 +v -1.205754 2.819421 0.931845 +f 188 186 202 +f 178 179 182 +f 182 181 185 +f 184 178 185 +f 177 184 185 +f 177 185 186 +f 185 181 186 +f 181 182 189 +f 180 188 190 +f 184 180 191 +f 180 190 191 +f 184 177 192 +f 180 184 192 +f 177 186 192 +f 182 179 193 +f 179 183 193 +f 189 182 193 +f 183 189 193 +f 188 181 194 +f 187 191 195 +f 191 190 195 +f 190 188 196 +f 194 183 196 +f 188 194 196 +f 188 180 197 +f 186 188 197 +f 180 192 197 +f 192 186 197 +f 183 179 198 +f 179 187 198 +f 187 195 198 +f 195 190 198 +f 190 196 198 +f 196 183 198 +f 181 189 199 +f 189 183 199 +f 194 181 199 +f 183 194 199 +f 178 182 200 +f 182 185 200 +f 185 178 200 +f 179 178 201 +f 178 184 201 +f 187 179 201 +f 184 191 201 +f 191 187 201 +f 186 181 202 +f 181 188 202 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/844/844.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/844/844.urdf new file mode 100644 index 000000000..41cb747b9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/844/844.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/845/845.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/845/845.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/845/845.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/845/845.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/845/845.obj new file mode 100644 index 000000000..e2e2a80a5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/845/845.obj @@ -0,0 +1,1158 @@ +o convex_0 +v -1.710365 -0.231092 1.107648 +v -1.337937 -0.231092 -1.201039 +v -1.337937 -0.194028 -1.201039 +v -4.317052 -0.267931 -0.046229 +v -1.151722 -1.385524 -0.381474 +v -1.151722 0.923339 0.735310 +v -2.901701 0.848758 -0.418801 +v -3.460343 0.699820 0.697982 +v -3.981805 -1.012842 0.102147 +v -1.151722 -1.273652 0.884385 +v -3.535015 -1.050133 -0.716719 +v -1.151722 0.848758 -0.939982 +v -3.832771 -0.156963 -0.753813 +v -3.795590 -0.231092 0.772404 +v -1.151722 -1.236361 -0.977309 +v -3.944314 0.587948 -0.120883 +v -3.013553 -1.273652 0.362971 +v -1.151722 0.774176 0.995900 +v -2.566763 -1.012842 0.847058 +v -2.529583 0.588174 -0.865794 +v -1.151722 -0.267931 1.182303 +v -1.226394 -1.385524 -0.753813 +v -2.194645 0.588174 0.958573 +v -2.157464 -1.012842 -0.977309 +v -3.572196 -0.826841 0.586234 +v -3.460343 0.401720 -0.642298 +v -4.279561 -0.156963 0.102147 +v -3.497834 -1.087424 -0.716719 +v -3.758100 -0.267931 -0.791140 +v -1.151722 -0.082155 -1.201039 +v -1.226394 0.774176 -1.014637 +v -1.226394 -1.199296 0.958806 +v -3.869952 -0.231092 0.735310 +v -3.981805 -1.012842 -0.046229 +v -2.976372 0.848758 -0.344380 +v -3.050734 -1.273652 0.288316 +v -4.056166 -0.938261 0.102147 +v -2.455221 0.513367 -0.902888 +v -3.944314 0.587948 -0.009368 +v -1.189213 0.923339 0.474719 +v -4.168019 0.178202 -0.083556 +v -1.226394 0.886048 0.884385 +v -1.189213 -0.156737 1.182303 +v -3.795590 -0.379803 -0.753813 +v -1.189213 -0.342513 -1.201039 +v -3.795590 -0.156963 0.772404 +v -1.971250 -1.236361 -0.865794 +v -3.758100 -0.194028 -0.791140 +v -3.497834 0.662304 0.697982 +v -1.226394 -0.267931 1.182303 +v -1.226394 -1.162005 -1.014637 +v -3.869952 -0.156963 0.735310 +v -2.269007 -0.901196 -0.977309 +v -4.317052 -0.267931 0.027726 +v -3.869952 0.550883 -0.232632 +v -3.199767 -1.050133 -0.791140 +v -1.189213 -1.348233 0.102147 +v -3.720919 -0.491676 0.697982 +v -3.572196 -1.050133 -0.679625 +v -1.636003 -1.161779 0.921479 +v -3.423162 -1.124715 -0.530549 +v -4.317052 -0.156963 -0.046229 +v -1.375427 0.737111 0.995900 +v -1.189213 0.923339 0.735310 +f 8 42 64 +f 5 6 10 +f 6 5 12 +f 12 5 15 +f 10 6 18 +f 10 18 21 +f 15 5 22 +f 9 17 25 +f 17 19 25 +f 7 20 26 +f 20 13 26 +f 3 2 29 +f 2 3 30 +f 12 15 30 +f 7 12 31 +f 20 7 31 +f 30 3 31 +f 12 30 31 +f 10 21 32 +f 7 16 35 +f 5 17 36 +f 17 9 36 +f 22 5 36 +f 9 34 36 +f 9 25 37 +f 4 34 37 +f 34 9 37 +f 31 3 38 +f 20 31 38 +f 8 35 39 +f 35 16 39 +f 6 12 40 +f 12 7 40 +f 7 35 40 +f 16 13 41 +f 27 39 41 +f 39 16 41 +f 18 6 42 +f 21 18 43 +f 23 1 43 +f 4 13 44 +f 29 11 44 +f 13 29 44 +f 24 2 45 +f 2 30 45 +f 30 15 45 +f 14 1 46 +f 1 23 46 +f 33 14 46 +f 15 22 47 +f 22 28 47 +f 13 20 48 +f 3 29 48 +f 29 13 48 +f 20 38 48 +f 38 3 48 +f 23 8 49 +f 8 39 49 +f 39 27 49 +f 46 23 49 +f 1 14 50 +f 14 19 50 +f 32 21 50 +f 43 1 50 +f 21 43 50 +f 24 45 51 +f 45 15 51 +f 15 47 51 +f 47 24 51 +f 27 33 52 +f 33 46 52 +f 49 27 52 +f 46 49 52 +f 2 24 53 +f 29 2 53 +f 33 27 54 +f 4 37 54 +f 37 33 54 +f 16 7 55 +f 13 16 55 +f 7 26 55 +f 26 13 55 +f 28 11 56 +f 11 29 56 +f 24 47 56 +f 47 28 56 +f 53 24 56 +f 29 53 56 +f 5 10 57 +f 17 5 57 +f 10 17 57 +f 19 14 58 +f 25 19 58 +f 14 33 58 +f 37 25 58 +f 33 37 58 +f 11 28 59 +f 34 4 59 +f 28 34 59 +f 4 44 59 +f 44 11 59 +f 17 10 60 +f 19 17 60 +f 10 32 60 +f 50 19 60 +f 32 50 60 +f 28 22 61 +f 34 28 61 +f 22 36 61 +f 36 34 61 +f 13 4 62 +f 41 13 62 +f 27 41 62 +f 54 27 62 +f 4 54 62 +f 8 23 63 +f 42 8 63 +f 18 42 63 +f 43 18 63 +f 23 43 63 +f 35 8 64 +f 6 40 64 +f 40 35 64 +f 42 6 64 +o convex_1 +v -0.704798 0.997760 0.660663 +v -0.742067 -1.608962 -0.604919 +v -0.704798 -1.608962 -0.604919 +v -0.816561 0.848685 -1.051796 +v -1.151675 -1.199267 0.958580 +v -1.151675 0.774147 -1.014556 +v -1.151675 -1.236536 -0.977317 +v -1.151675 0.885954 0.884101 +v -0.704798 -0.268332 1.405457 +v -0.704798 -0.268332 -1.498673 +v -0.704798 -1.310811 0.958580 +v -0.704798 1.072298 -0.418721 +v -1.151675 -0.157050 1.182019 +v -1.151675 -0.342607 -1.200755 +v -1.151675 -1.422618 -0.530440 +v -0.704798 0.885954 0.995820 +v -0.816561 -1.534424 0.251026 +v -0.704798 -1.199267 -1.051796 +v -1.151675 0.774147 0.995820 +v -1.151675 0.848685 -0.940077 +v -0.704798 0.885954 -1.014556 +v -1.151675 -1.273542 0.884101 +v -1.151675 0.923222 0.772382 +v -0.742067 -0.156788 -1.498673 +v -0.779292 1.072298 -0.344241 +v -0.742067 -0.193794 1.405457 +v -1.151675 -0.044981 -1.200755 +v -0.704798 -1.534424 0.325505 +v -1.151675 -0.305339 1.182019 +v -1.151675 -1.348080 -0.865597 +v -0.742067 -1.459887 -0.828358 +v -1.114406 0.923222 -0.158043 +v -0.742067 -0.268332 -1.498673 +v -0.742067 -1.273542 0.995820 +v -0.742067 -0.268332 1.405457 +f 98 73 99 +f 69 70 71 +f 70 69 72 +f 67 65 73 +f 65 67 74 +f 67 73 75 +f 65 74 76 +f 72 69 77 +f 71 70 78 +f 69 71 79 +f 65 72 80 +f 73 65 80 +f 79 66 81 +f 74 67 82 +f 72 77 83 +f 80 72 83 +f 68 70 84 +f 70 72 84 +f 84 76 85 +f 76 74 85 +f 68 84 85 +f 69 79 86 +f 79 81 86 +f 72 65 87 +f 84 72 87 +f 70 68 88 +f 68 85 88 +f 85 74 88 +f 65 76 89 +f 76 84 89 +f 87 65 89 +f 73 80 90 +f 83 77 90 +f 80 83 90 +f 78 70 91 +f 70 88 91 +f 88 78 91 +f 66 67 92 +f 67 75 92 +f 81 66 92 +f 75 86 92 +f 86 81 92 +f 77 69 93 +f 90 77 93 +f 66 79 94 +f 79 71 94 +f 67 66 95 +f 82 67 95 +f 71 82 95 +f 66 94 95 +f 94 71 95 +f 84 87 96 +f 89 84 96 +f 87 89 96 +f 71 78 97 +f 82 71 97 +f 74 82 97 +f 78 88 97 +f 88 74 97 +f 75 73 98 +f 69 86 98 +f 86 75 98 +f 73 90 99 +f 93 69 99 +f 90 93 99 +f 69 98 99 +o convex_2 +v 1.864772 -0.752204 -0.567902 +v 1.827536 -0.528919 0.623707 +v 1.790263 -0.528919 0.623707 +v 1.827536 0.476462 -0.046750 +v 1.976462 0.066807 0.474672 +v 1.976462 0.141236 -0.567902 +v 1.976462 -0.938574 0.139376 +v 1.790263 0.178450 -0.679577 +v 1.790263 -1.050366 -0.009525 +v 1.790263 0.141236 0.511897 +v 1.976462 -0.826782 0.474672 +v 1.976462 -0.789568 -0.381641 +v 1.790263 -0.379913 -0.754163 +v 1.790263 -0.975789 0.474672 +v 1.976462 0.364670 -0.009525 +v 1.976462 -0.454491 -0.567902 +v 1.790263 -0.938574 -0.419001 +v 1.790263 0.439099 0.064926 +v 1.864772 -0.677925 0.623707 +v 1.827536 0.290242 -0.567902 +f 114 105 119 +f 105 104 106 +f 102 107 108 +f 102 101 109 +f 101 104 109 +f 107 102 109 +f 106 104 110 +f 105 106 111 +f 107 105 112 +f 108 107 112 +f 108 106 113 +f 102 108 113 +f 106 110 113 +f 104 105 114 +f 111 100 115 +f 105 111 115 +f 100 112 115 +f 112 105 115 +f 106 108 116 +f 100 111 116 +f 111 106 116 +f 112 100 116 +f 108 112 116 +f 103 107 117 +f 109 104 117 +f 107 109 117 +f 114 103 117 +f 104 114 117 +f 101 102 118 +f 104 101 118 +f 110 104 118 +f 102 113 118 +f 113 110 118 +f 107 103 119 +f 105 107 119 +f 103 114 119 +o convex_3 +v 2.051160 -0.901407 -0.046549 +v 2.311918 0.327503 0.027704 +v 2.721559 0.215751 0.213939 +v 3.502977 -0.305477 -0.344438 +v 1.976462 0.141170 -0.567964 +v 1.976462 -0.528981 0.549228 +v 3.465799 -0.379938 0.437356 +v 3.465799 0.141170 0.027704 +v 1.976462 0.066709 0.474646 +v 1.976462 -0.752365 -0.381729 +v 3.428621 -0.715074 0.064995 +v 1.976462 -0.826826 0.437356 +v 2.795914 -0.640492 -0.381729 +v 2.758736 0.178461 -0.381729 +v 3.726729 -0.305477 0.102176 +v 3.242390 0.029538 0.362883 +v 2.423623 -0.342768 -0.530673 +v 2.721559 -0.268427 0.549228 +v 2.758736 -0.715074 0.437356 +v 1.976462 0.327503 -0.121022 +v 2.609854 -0.864117 -0.009368 +v 3.428621 -0.677904 -0.083840 +v 2.684210 0.103999 0.437356 +v 3.502977 -0.268427 0.437356 +v 1.976462 -0.454520 -0.530673 +v 3.502977 -0.231136 -0.344438 +v 3.465799 0.141170 0.102176 +v 3.279568 0.066709 -0.269966 +v 1.976462 0.327503 0.064995 +v 2.684210 -0.715074 -0.344438 +v 3.018981 -0.268427 -0.456201 +v 3.726729 -0.305477 -0.009368 +v 3.465799 -0.677904 0.139467 +v 2.758736 -0.826826 0.139467 +v 1.976462 -0.901407 0.176648 +v 3.279568 -0.603442 -0.269966 +v 2.684210 -0.379938 0.549228 +v 2.609854 0.290213 -0.046549 +v 3.540497 -0.640492 -0.009368 +v 1.976462 -0.305477 0.549228 +v 3.354095 -0.566031 0.362883 +v 2.125687 -0.789656 -0.344438 +v 3.354095 -0.193966 -0.381729 +f 150 124 162 +f 124 125 128 +f 125 124 129 +f 125 129 131 +f 125 131 138 +f 124 128 139 +f 133 124 139 +f 130 140 141 +f 128 137 142 +f 142 137 143 +f 126 134 143 +f 137 126 143 +f 135 142 143 +f 129 124 144 +f 132 129 144 +f 124 136 144 +f 136 132 144 +f 121 122 146 +f 134 127 146 +f 122 142 146 +f 142 135 146 +f 143 134 146 +f 135 143 146 +f 133 127 147 +f 127 145 147 +f 122 121 148 +f 121 139 148 +f 139 128 148 +f 142 122 148 +f 128 142 148 +f 129 132 149 +f 141 140 149 +f 123 132 150 +f 136 124 150 +f 132 136 150 +f 127 134 151 +f 145 127 151 +f 123 145 151 +f 134 126 152 +f 138 130 152 +f 130 138 153 +f 138 131 153 +f 140 130 153 +f 140 153 154 +f 129 120 154 +f 131 129 154 +f 120 140 154 +f 153 131 154 +f 132 123 155 +f 123 141 155 +f 149 132 155 +f 141 149 155 +f 137 125 156 +f 126 137 156 +f 138 126 156 +f 125 138 156 +f 127 133 157 +f 139 121 157 +f 133 139 157 +f 121 146 157 +f 146 127 157 +f 141 123 158 +f 130 141 158 +f 151 134 158 +f 123 151 158 +f 134 152 158 +f 152 130 158 +f 128 125 159 +f 125 137 159 +f 137 128 159 +f 126 138 160 +f 152 126 160 +f 138 152 160 +f 120 129 161 +f 140 120 161 +f 129 149 161 +f 149 140 161 +f 124 133 162 +f 145 123 162 +f 133 147 162 +f 147 145 162 +f 123 150 162 +o convex_4 +v 0.188977 -2.279580 0.995886 +v 0.561163 -1.572003 -1.126560 +v -0.369422 -1.572003 -1.014688 +v 0.673035 -3.098518 -0.790943 +v 1.715733 -1.534483 0.884254 +v -0.704798 -1.534483 0.325614 +v 1.454938 -3.060998 -0.083381 +v 1.678442 -1.534483 -0.902815 +v -0.071577 -3.023820 0.028251 +v 0.821957 -3.060998 0.772622 +v 0.635744 -1.534483 1.331262 +v -0.108868 -2.800411 -0.828474 +v 1.492229 -2.800411 0.809672 +v 1.529279 -2.353935 -1.014447 +v -0.071577 -2.763062 0.735091 +v -0.406713 -1.572003 0.995886 +v 1.715733 -2.279580 -0.009040 +v -0.704798 -1.534483 -0.716843 +v 0.635504 -3.284750 0.065301 +v 0.970880 -2.614180 -1.051738 +v 1.454938 -2.875109 -0.790943 +v 1.715733 -1.981644 0.958835 +v -0.704798 -1.683708 -0.455807 +v 1.454938 -2.316757 1.033176 +v 1.678442 -2.056170 -0.940347 +v 1.529279 -1.534483 1.107758 +v 0.524112 -3.023820 0.772382 +v 1.566570 -1.534483 -1.014447 +v 1.753023 -1.534483 0.362905 +v 1.715733 -2.279580 0.698041 +v -0.108868 -2.986642 0.065301 +v 0.635504 -3.284750 -0.083622 +v 0.821957 -3.098518 -0.790943 +v 1.417647 -2.949293 0.586409 +v -0.071577 -2.875109 0.586169 +v -0.071577 -2.242231 0.958595 +v 0.710326 -1.534483 -1.126560 +v -0.704798 -1.572003 0.325614 +v 0.896298 -3.247229 0.028251 +v 0.635744 -1.572003 1.331262 +v -0.667267 -1.572003 -0.828474 +v -0.108868 -2.949293 -0.307126 +v 0.673035 -2.912116 0.846963 +v -0.481295 -1.534483 0.884254 +v 1.678442 -2.242231 -0.716602 +v 1.492229 -2.986642 -0.046331 +v -0.108868 -2.837589 -0.753893 +v -0.444004 -1.646530 0.921545 +v 1.492229 -1.795412 1.107758 +v -0.704798 -1.646530 -0.642021 +v 1.492229 -2.875109 0.698041 +v 0.710326 -1.572003 1.331262 +v 1.753023 -1.795412 0.586409 +v 1.045461 -2.614180 -1.051738 +v 0.412481 -2.725884 -0.940106 +v 0.747376 -3.284750 -0.083381 +v -0.518345 -1.534483 -0.940106 +v 1.454938 -3.060998 0.065541 +v -0.034287 -2.875109 0.660750 +f 197 171 221 +f 168 167 170 +f 167 168 173 +f 168 170 180 +f 165 164 182 +f 168 180 185 +f 172 175 186 +f 175 184 186 +f 183 176 187 +f 167 173 188 +f 184 167 188 +f 181 172 189 +f 180 170 190 +f 170 187 190 +f 187 176 190 +f 170 167 191 +f 187 170 191 +f 179 187 191 +f 184 175 192 +f 181 171 194 +f 166 182 195 +f 183 169 195 +f 194 166 195 +f 193 171 197 +f 178 177 198 +f 177 189 198 +f 164 165 199 +f 190 176 199 +f 180 190 199 +f 168 185 200 +f 185 193 200 +f 197 177 200 +f 193 197 200 +f 172 181 201 +f 196 172 201 +f 173 178 202 +f 198 163 202 +f 178 198 202 +f 171 193 204 +f 193 185 204 +f 194 171 204 +f 172 186 205 +f 189 172 205 +f 163 198 205 +f 198 189 205 +f 202 163 205 +f 173 168 206 +f 178 173 206 +f 168 200 206 +f 187 179 207 +f 183 187 207 +f 169 183 208 +f 179 192 208 +f 207 179 208 +f 183 207 208 +f 174 166 209 +f 166 194 209 +f 194 204 209 +f 177 178 210 +f 200 177 210 +f 178 206 210 +f 206 200 210 +f 186 184 211 +f 184 188 211 +f 185 180 212 +f 203 174 212 +f 180 203 212 +f 204 185 212 +f 174 209 212 +f 209 204 212 +f 175 172 213 +f 192 175 213 +f 172 196 213 +f 208 192 213 +f 188 173 214 +f 173 202 214 +f 205 186 214 +f 202 205 214 +f 186 211 214 +f 211 188 214 +f 167 184 215 +f 191 167 215 +f 179 191 215 +f 192 179 215 +f 184 192 215 +f 182 164 216 +f 176 183 216 +f 195 182 216 +f 183 195 216 +f 164 199 216 +f 199 176 216 +f 174 165 217 +f 166 174 217 +f 165 182 217 +f 182 166 217 +f 181 194 218 +f 195 169 218 +f 194 195 218 +f 201 181 218 +f 169 201 218 +f 165 174 219 +f 199 165 219 +f 180 199 219 +f 174 203 219 +f 203 180 219 +f 201 169 220 +f 196 201 220 +f 169 208 220 +f 213 196 220 +f 208 213 220 +f 171 181 221 +f 189 177 221 +f 181 189 221 +f 177 197 221 +o convex_5 +v 0.672924 0.737053 2.187397 +v 0.598434 -1.534483 -1.163260 +v 0.672924 -1.534483 -1.163260 +v 0.747413 0.513469 -2.764772 +v -0.704762 0.886026 -1.014447 +v -0.704762 -1.310899 0.958508 +v 1.715774 -1.534483 0.884101 +v 1.715774 0.997818 -0.828430 +v 0.672924 -1.012704 -2.801975 +v 1.417817 -0.305266 2.783239 +v -0.704762 -1.534483 -0.791227 +v 1.454939 -0.789616 -2.540962 +v -0.071725 -0.342447 2.708242 +v -0.704762 0.960389 0.846898 +v -0.145970 -0.305266 -2.764181 +v 0.635801 -1.087315 2.746036 +v 1.678407 0.997818 0.884101 +v 1.678407 -1.534483 -0.902246 +v 1.715774 0.215770 -2.094522 +v -0.443927 -1.534483 0.995711 +v 0.635801 0.513469 2.746036 +v -0.481294 0.997818 -1.051650 +v 1.790263 -0.677575 0.660291 +v -0.704762 -0.268332 -1.573086 +v -0.704762 -0.193969 1.442741 +v 1.305960 -0.156788 -2.839179 +v 0.635801 -0.342447 3.006459 +v 1.641284 -0.231151 2.112990 +v 0.598434 -0.231151 -3.025785 +v 0.710046 -1.534483 1.442150 +v 0.151743 0.364743 -2.615959 +v 0.784780 0.960389 -1.461476 +v 1.268838 0.364743 2.485023 +v -0.332316 0.997818 1.032324 +v 1.790263 -0.640394 -0.865043 +v 1.790263 0.476287 0.064448 +v 1.268838 -0.900912 2.522816 +v 1.492306 0.625261 -2.056729 +v 0.002764 -0.863730 -2.503758 +v 0.114620 0.290132 2.559429 +v 0.077253 -0.900912 2.485613 +v 0.598434 -1.087315 -2.690365 +v -0.704762 0.886026 0.995711 +v 1.454939 -0.082177 -2.764772 +v 0.747413 0.997818 1.256134 +v 1.715774 -0.491421 -1.796306 +v 1.603918 0.997818 -1.088853 +v 1.380450 -0.863730 -2.615368 +v -0.145970 -0.193969 -2.764181 +v 1.752896 -1.534483 0.362665 +v 1.417817 -0.193969 2.783239 +v -0.071725 -0.231151 2.708242 +v 1.790263 0.141159 0.585884 +v 1.566795 -1.534483 1.107321 +v 0.747413 0.513469 2.746036 +v 0.672924 0.737053 -2.206132 +v 0.635801 0.513469 -2.764772 +v -0.406805 -1.534483 -1.014447 +v 1.790263 0.252951 -0.679027 +v 0.710046 -1.087315 2.746036 +v -0.704762 -1.534483 0.362665 +v 1.529428 0.997818 1.070117 +v 0.747413 -0.305266 -3.025785 +v -0.704762 0.997818 -0.567417 +f 255 243 285 +f 223 224 228 +f 227 226 232 +f 223 228 232 +f 226 227 235 +f 228 224 239 +f 232 228 241 +f 238 229 243 +f 232 226 245 +f 236 232 245 +f 227 234 246 +f 235 227 246 +f 234 237 248 +f 231 228 249 +f 228 244 249 +f 230 236 250 +f 241 228 251 +f 237 241 251 +f 226 243 252 +f 242 222 255 +f 235 242 255 +f 238 243 255 +f 244 256 257 +f 229 238 257 +f 228 231 258 +f 229 240 259 +f 236 230 260 +f 232 236 260 +f 234 227 262 +f 237 234 262 +f 227 241 262 +f 241 237 262 +f 224 223 263 +f 239 224 263 +f 260 230 263 +f 232 260 263 +f 242 235 264 +f 235 246 264 +f 261 242 264 +f 240 233 265 +f 247 225 265 +f 259 240 265 +f 225 259 265 +f 255 222 266 +f 238 255 266 +f 239 233 267 +f 233 240 267 +f 256 239 267 +f 240 256 267 +f 243 229 268 +f 253 243 268 +f 229 259 268 +f 259 225 268 +f 233 239 269 +f 239 263 269 +f 263 230 269 +f 265 233 269 +f 247 265 269 +f 245 226 270 +f 236 245 270 +f 250 236 270 +f 226 252 270 +f 228 239 271 +f 244 228 271 +f 239 256 271 +f 256 244 271 +f 248 231 272 +f 231 249 272 +f 249 238 272 +f 238 254 272 +f 246 234 273 +f 234 248 273 +f 248 242 273 +f 242 261 273 +f 264 246 273 +f 261 264 273 +f 238 249 274 +f 249 244 274 +f 244 257 274 +f 257 238 274 +f 251 228 275 +f 228 258 275 +f 222 242 276 +f 242 248 276 +f 248 272 276 +f 272 254 276 +f 243 253 277 +f 268 225 277 +f 253 268 277 +f 225 250 278 +f 252 243 278 +f 250 270 278 +f 270 252 278 +f 277 225 278 +f 243 277 278 +f 223 232 279 +f 263 223 279 +f 232 263 279 +f 240 229 280 +f 256 240 280 +f 257 256 280 +f 229 257 280 +f 231 248 281 +f 248 237 281 +f 237 251 281 +f 258 231 281 +f 251 275 281 +f 275 258 281 +f 227 232 282 +f 241 227 282 +f 232 241 282 +f 254 238 283 +f 266 222 283 +f 238 266 283 +f 222 276 283 +f 276 254 283 +f 225 247 284 +f 250 225 284 +f 230 250 284 +f 269 230 284 +f 247 269 284 +f 226 235 285 +f 243 226 285 +f 235 255 285 +o convex_6 +v 0.784845 2.710788 0.884232 +v 0.598610 0.997818 -1.238279 +v -0.443927 0.997818 -1.051807 +v 1.529549 0.997818 1.070467 +v 1.454912 2.599116 -0.791173 +v -0.630162 0.997818 0.846796 +v 0.040142 3.046003 -0.158068 +v 1.641147 0.997818 -1.014607 +v 1.603948 2.561825 0.809833 +v -0.146093 2.561825 -0.791173 +v -0.146093 2.599116 0.735197 +v 1.157078 3.046003 0.474562 +v 0.598610 1.035109 1.182303 +v -0.704798 1.109691 -0.381503 +v 0.561174 2.673497 -0.940208 +v 1.119879 3.046003 -0.418939 +v 1.715784 2.152028 -0.232704 +v 1.715784 1.146981 0.697997 +v -0.257692 2.599116 0.064893 +v 1.641147 2.673296 -0.083669 +v 0.300776 3.046003 0.474562 +v -0.220492 1.705541 0.958631 +v 0.896444 1.035109 -1.238279 +v 0.189177 3.046003 -0.493102 +v -0.183293 1.854704 -1.014607 +v 0.561174 2.673497 0.921432 +v 1.715784 0.998019 -0.828609 +v -0.704798 1.035109 0.548962 +v 1.454912 2.487243 -0.865809 +v 1.715784 1.519288 0.884232 +v 0.896444 1.035109 1.182303 +v 1.678347 1.631160 -0.865572 +v 1.566748 2.561825 0.847033 +v -0.704798 0.997818 -0.530538 +v -0.369528 0.997818 0.995831 +v 1.566748 1.072400 -1.089244 +v 0.747409 3.046003 -0.567738 +v 1.268677 3.046003 0.064893 +v 0.784845 3.046003 0.586398 +v 1.678347 0.998019 0.884232 +v -0.443927 1.109691 -1.051807 +v 0.040142 3.046003 0.064893 +v -0.257692 2.599116 -0.083669 +v 0.337976 2.263699 -1.014607 +v 0.747409 2.673497 0.921432 +v -0.146093 2.449953 0.809596 +v 1.305877 2.599116 -0.865809 +v 1.641147 2.636206 0.251128 +v 0.449575 2.412662 0.958631 +v 0.151741 3.046003 0.399926 +v -0.183293 2.599116 0.586161 +v 1.715784 1.742832 0.697997 +v 0.635810 2.673497 -0.940208 +v -0.295129 1.333034 0.995831 +v 1.492112 2.599116 -0.716773 +v -0.071694 2.561825 -0.828372 +v 1.529549 1.072400 1.070467 +v -0.704798 1.035109 -0.530538 +v 0.598610 0.997818 1.182303 +v -0.630162 1.035109 0.846796 +v 1.641147 2.300990 0.847033 +v 1.678347 1.854303 -0.716773 +v -0.108894 2.599116 0.772396 +v 0.598610 3.008713 0.623598 +f 348 311 349 +f 288 287 289 +f 288 289 291 +f 289 287 293 +f 292 297 301 +f 297 292 306 +f 293 287 308 +f 295 292 309 +f 292 301 309 +f 302 303 312 +f 304 299 313 +f 303 302 315 +f 311 298 316 +f 312 293 317 +f 302 312 317 +f 294 297 318 +f 288 291 319 +f 291 313 319 +f 313 299 319 +f 291 289 320 +f 293 308 321 +f 308 314 321 +f 317 293 321 +f 314 317 321 +f 300 309 322 +f 309 301 322 +f 297 294 323 +f 301 297 323 +f 305 301 323 +f 297 306 324 +f 318 297 324 +f 286 318 324 +f 289 293 325 +f 293 312 325 +f 312 303 325 +f 315 289 325 +f 303 315 325 +f 287 288 326 +f 310 287 326 +f 295 310 326 +f 288 319 326 +f 292 304 327 +f 306 292 327 +f 292 295 328 +f 304 292 328 +f 299 304 328 +f 308 287 329 +f 300 308 329 +f 287 310 329 +f 311 316 330 +f 318 286 330 +f 316 318 330 +f 286 324 330 +f 301 290 332 +f 290 314 332 +f 314 308 332 +f 322 301 332 +f 302 305 333 +f 323 294 333 +f 305 323 333 +f 307 298 334 +f 298 311 334 +f 331 307 334 +f 311 331 334 +f 327 296 335 +f 306 327 335 +f 313 296 336 +f 304 313 336 +f 327 304 336 +f 296 327 336 +f 315 302 337 +f 302 333 337 +f 308 300 338 +f 300 322 338 +f 332 308 338 +f 322 332 338 +f 298 307 339 +f 320 298 339 +f 290 301 340 +f 301 305 340 +f 314 290 340 +f 317 314 340 +f 295 309 341 +f 309 300 341 +f 310 295 341 +f 300 329 341 +f 329 310 341 +f 289 315 342 +f 316 289 342 +f 318 316 342 +f 319 299 343 +f 295 326 343 +f 326 319 343 +f 328 295 343 +f 299 328 343 +f 289 316 344 +f 316 298 344 +f 320 289 344 +f 298 320 344 +f 313 291 345 +f 296 313 345 +f 291 320 345 +f 331 296 345 +f 307 331 345 +f 339 307 345 +f 320 339 345 +f 294 318 346 +f 333 294 346 +f 315 337 346 +f 337 333 346 +f 342 315 346 +f 318 342 346 +f 305 302 347 +f 302 317 347 +f 340 305 347 +f 317 340 347 +f 296 331 348 +f 331 311 348 +f 335 296 348 +f 306 335 348 +f 324 306 349 +f 311 330 349 +f 330 324 349 +f 306 348 349 +o convex_7 +v 1.157155 4.051213 -0.046549 +v 0.039996 3.046003 -0.121022 +v 0.039996 3.046003 -0.009368 +v 0.226330 4.498210 0.027704 +v 0.822019 3.046003 0.549228 +v 0.747317 3.046003 -0.567964 +v 0.598756 4.498210 -0.381729 +v 0.561585 4.460810 0.362883 +v 1.268907 3.046003 -0.009368 +v 0.189039 3.195276 0.400174 +v 0.189039 3.306984 -0.456201 +v 1.082573 3.679181 0.400174 +v 1.082573 3.642109 -0.418910 +v 1.045403 4.535282 -0.009368 +v 0.598756 4.721791 0.027704 +v 1.119864 3.046003 0.474646 +v 1.119864 3.046003 -0.418910 +v 0.189039 3.790889 0.325593 +v 0.598756 3.679181 0.511828 +v 0.189039 4.423574 -0.046549 +v 0.636047 3.753653 -0.530673 +v 1.007992 4.162921 -0.344438 +v 0.226330 3.046003 -0.493382 +v 0.226330 3.865361 -0.381729 +v 0.822019 4.386502 0.325593 +v 0.077287 3.828289 -0.046549 +v 0.449713 3.046003 0.511828 +v 0.710147 4.498210 -0.381729 +v 1.194325 3.716581 0.102176 +v 0.598756 4.721791 -0.083840 +v 1.045403 3.828289 0.400174 +v 0.672856 4.460810 0.362883 +v 0.263500 4.162921 0.288411 +v 0.337961 4.311866 -0.307257 +v 0.226330 3.790889 0.362883 +v 1.045403 4.423574 -0.158312 +v 0.189039 3.046003 0.400174 +v 1.119864 3.790889 -0.307257 +v 0.524295 3.120804 -0.567964 +v 1.119864 3.195276 0.474646 +v 0.672856 3.679181 0.511828 +v 1.082573 4.423574 0.027704 +v 0.970942 4.349266 0.251120 +v 0.561585 3.195276 0.549228 +v 1.268907 3.120804 0.064995 +f 378 389 394 +f 352 351 354 +f 354 351 355 +f 354 355 358 +f 353 357 364 +f 354 358 365 +f 358 355 366 +f 355 362 366 +f 352 359 367 +f 362 355 370 +f 355 351 372 +f 351 360 372 +f 370 360 373 +f 356 370 373 +f 351 352 375 +f 360 351 375 +f 352 367 375 +f 367 353 375 +f 353 369 375 +f 373 360 375 +f 369 373 375 +f 352 354 376 +f 370 356 377 +f 362 370 377 +f 371 362 377 +f 353 364 379 +f 364 363 379 +f 369 353 379 +f 356 369 379 +f 377 356 379 +f 363 377 379 +f 380 374 381 +f 364 357 381 +f 363 364 381 +f 357 368 381 +f 357 353 382 +f 353 367 382 +f 369 356 383 +f 373 369 383 +f 356 373 383 +f 367 359 384 +f 368 357 384 +f 357 382 384 +f 382 367 384 +f 377 363 385 +f 371 377 385 +f 359 352 386 +f 352 376 386 +f 376 359 386 +f 350 358 387 +f 358 366 387 +f 366 362 387 +f 362 371 387 +f 385 350 387 +f 371 385 387 +f 370 355 388 +f 360 370 388 +f 355 372 388 +f 372 360 388 +f 354 365 389 +f 378 361 389 +f 361 380 389 +f 389 380 390 +f 380 381 390 +f 381 368 390 +f 354 389 390 +f 378 350 391 +f 361 378 391 +f 380 361 391 +f 350 385 391 +f 385 363 391 +f 374 380 392 +f 381 374 392 +f 363 381 392 +f 391 363 392 +f 380 391 392 +f 376 354 393 +f 359 376 393 +f 384 359 393 +f 368 384 393 +f 354 390 393 +f 390 368 393 +f 358 350 394 +f 365 358 394 +f 350 378 394 +f 389 365 394 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/845/845.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/845/845.urdf new file mode 100644 index 000000000..78d50d188 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/845/845.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/846/846.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/846/846.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/846/846.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/846/846.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/846/846.obj new file mode 100644 index 000000000..869aa1ee9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/846/846.obj @@ -0,0 +1,969 @@ +o convex_0 +v -0.907781 0.857288 -0.112556 +v 1.167287 0.456868 0.869794 +v 1.167287 0.420318 0.869794 +v 0.147831 0.420318 2.289919 +v 0.948731 2.094770 1.379730 +v -0.652866 2.094770 1.452533 +v 0.839453 2.094770 -0.221920 +v 0.184392 0.420318 -0.986504 +v -0.689224 2.094770 -0.148797 +v -0.689224 0.420318 1.670619 +v 0.985089 0.420318 -0.476568 +v -0.871220 0.420318 -0.367204 +v 1.167287 2.094770 0.542664 +v 1.094368 0.420318 1.525335 +v -0.907781 2.094770 0.724189 +v 0.220751 2.094770 1.670940 +v 0.075317 2.058056 -0.440327 +v -0.871220 0.420318 0.724189 +v 1.167287 0.420318 0.288017 +v 0.111676 0.456868 -0.986504 +v 0.184392 0.456868 2.289919 +v 0.912372 1.948895 -0.221920 +v -0.871220 0.602416 -0.367204 +v 1.167287 1.948895 0.724189 +v 1.021448 0.566029 -0.403765 +v 0.075317 2.094770 1.670940 +v -0.907781 2.094770 0.542664 +v 0.257109 2.094770 -0.403765 +v 1.057806 0.747964 1.525335 +v -0.907781 0.420318 -0.148797 +v 0.184392 0.456868 -0.986504 +v -0.652866 1.948895 1.488453 +v 0.147831 0.456868 2.289919 +v -0.689224 0.493255 1.670619 +v 0.803094 2.094770 1.452533 +v -0.325234 2.094770 -0.294402 +v -0.579946 2.094770 1.488453 +v 1.167287 2.058056 0.506424 +v 1.130726 0.820737 1.270367 +v 0.766736 0.456868 -0.622172 +v -0.761941 1.439315 -0.257840 +v 0.948731 1.948895 1.415971 +v -0.725583 0.493255 1.525014 +f 34 15 43 +f 6 5 7 +f 3 4 8 +f 6 7 9 +f 8 4 10 +f 3 8 11 +f 8 10 12 +f 2 3 13 +f 7 5 13 +f 4 3 14 +f 6 9 15 +f 5 6 16 +f 12 10 18 +f 3 11 19 +f 13 3 19 +f 8 12 20 +f 4 14 21 +f 7 13 22 +f 20 12 23 +f 2 13 24 +f 13 5 24 +f 19 11 25 +f 11 22 25 +f 16 6 26 +f 21 16 26 +f 1 15 27 +f 15 9 27 +f 23 1 27 +f 9 23 27 +f 9 7 28 +f 21 14 29 +f 15 1 30 +f 12 18 30 +f 18 15 30 +f 1 23 30 +f 23 12 30 +f 8 20 31 +f 20 17 31 +f 7 22 31 +f 28 7 31 +f 17 28 31 +f 6 15 32 +f 10 4 33 +f 4 21 33 +f 21 26 33 +f 6 32 33 +f 33 32 34 +f 32 15 34 +f 10 33 34 +f 5 16 35 +f 21 5 35 +f 16 21 35 +f 20 9 36 +f 17 20 36 +f 9 28 36 +f 28 17 36 +f 26 6 37 +f 6 33 37 +f 33 26 37 +f 13 19 38 +f 22 13 38 +f 19 25 38 +f 25 22 38 +f 3 2 39 +f 14 3 39 +f 2 24 39 +f 24 5 39 +f 29 14 39 +f 5 29 39 +f 11 8 40 +f 22 11 40 +f 8 31 40 +f 31 22 40 +f 9 20 41 +f 23 9 41 +f 20 23 41 +f 5 21 42 +f 21 29 42 +f 29 5 42 +f 18 10 43 +f 15 18 43 +f 10 34 43 +o convex_1 +v 0.002394 2.131560 -0.404029 +v 0.184185 2.349817 1.671039 +v 0.111672 2.349817 1.671039 +v -0.325236 4.206244 -0.112553 +v 1.094361 3.696563 0.615631 +v -0.652664 3.659981 1.379766 +v -0.907781 2.094770 0.579272 +v 1.167280 2.094770 0.651583 +v 0.766730 4.133078 1.270488 +v 0.876008 3.841861 -0.221831 +v 0.948724 2.094770 1.379766 +v -0.652664 2.094770 1.452483 +v -0.652664 3.659981 -0.112553 +v 0.876008 2.094770 -0.185269 +v -0.652664 4.169454 0.760861 +v 0.111672 4.133078 1.452483 +v -0.689225 2.094770 -0.112553 +v 0.002394 3.769109 -0.367468 +v -0.871220 3.696357 0.724503 +v 0.948724 4.133078 0.651583 +v 0.220747 3.623604 1.598119 +v 0.876008 3.659981 1.343204 +v 0.002394 4.169454 -0.258392 +v 0.220747 2.094770 -0.404029 +v -0.579947 4.206244 0.251641 +v -0.470669 4.133285 1.270488 +v 0.184185 2.094770 1.671039 +v 0.002394 3.623604 1.598119 +v 1.167280 2.276858 0.542711 +v 1.094361 3.623604 0.724503 +v -0.907781 2.167729 0.724503 +v 0.621094 4.133078 0.069442 +v 1.021644 4.060532 0.797219 +v -0.507231 2.094770 -0.221831 +v -0.871220 3.696357 0.615631 +v -0.507231 3.659981 1.452483 +v 0.329822 4.169661 1.088493 +v 0.111672 3.114131 -0.404029 +v 0.912366 3.841861 -0.149114 +v 0.912366 2.094770 -0.149114 +v 0.912366 2.823121 1.379766 +v -0.543589 4.133285 -0.003274 +v -0.033964 3.696357 -0.367468 +v 1.130719 3.259636 0.579069 +v -0.579947 4.169454 0.979214 +v -0.106884 4.169454 -0.258392 +v 0.912366 3.914821 -0.075991 +v 0.839447 2.604657 -0.221831 +v 0.184185 3.696563 -0.367468 +v -0.434311 2.131560 1.525403 +v 0.693810 3.951197 -0.221831 +v 0.839447 3.514269 1.379766 +f 84 65 95 +f 50 51 54 +f 50 54 55 +f 51 50 57 +f 50 56 60 +f 57 50 60 +f 46 45 64 +f 52 59 64 +f 52 64 65 +f 57 60 67 +f 45 46 70 +f 54 45 70 +f 55 54 70 +f 46 64 71 +f 64 59 71 +f 54 51 73 +f 55 49 74 +f 50 55 74 +f 49 62 74 +f 47 63 75 +f 66 47 75 +f 63 52 76 +f 52 65 76 +f 73 48 76 +f 65 73 76 +f 60 56 77 +f 44 67 77 +f 67 60 77 +f 56 50 78 +f 62 58 78 +f 58 68 78 +f 50 74 78 +f 74 62 78 +f 49 55 79 +f 69 49 79 +f 59 69 79 +f 71 59 79 +f 59 52 80 +f 63 47 80 +f 52 63 80 +f 47 68 80 +f 53 67 81 +f 67 44 81 +f 51 57 83 +f 57 53 83 +f 72 51 83 +f 53 82 83 +f 82 72 83 +f 45 54 84 +f 54 73 84 +f 73 65 84 +f 47 56 85 +f 68 47 85 +f 56 78 85 +f 78 68 85 +f 77 56 86 +f 44 77 86 +f 81 44 86 +f 61 81 86 +f 51 72 87 +f 73 51 87 +f 48 73 87 +f 82 48 87 +f 72 82 87 +f 62 49 88 +f 58 62 88 +f 68 58 88 +f 49 69 88 +f 69 59 88 +f 59 80 88 +f 80 68 88 +f 56 47 89 +f 66 61 89 +f 47 66 89 +f 86 56 89 +f 61 86 89 +f 75 63 90 +f 76 48 90 +f 63 76 90 +f 82 53 90 +f 48 82 90 +f 53 57 91 +f 67 53 91 +f 57 67 91 +f 61 66 92 +f 81 61 92 +f 53 81 92 +f 70 46 93 +f 55 70 93 +f 46 71 93 +f 79 55 93 +f 71 79 93 +f 66 75 94 +f 75 90 94 +f 90 53 94 +f 53 92 94 +f 92 66 94 +f 64 45 95 +f 65 64 95 +f 45 84 95 +o convex_2 +v -1.563169 -0.562873 -0.076219 +v -1.927056 -1.218058 -0.076219 +v -2.036256 -1.181568 -0.076219 +v -1.854211 -0.963197 1.634467 +v -2.145456 -0.635640 -0.039715 +v -1.563169 -1.036035 -0.039715 +v -2.072611 -0.817735 1.343269 +v -1.854211 -0.671988 1.270427 +v -1.927056 -1.145149 1.379606 +v -1.672369 -0.926778 1.270427 +v -2.109033 -0.963197 1.379606 +v -1.854211 -0.489964 -0.076219 +v -2.181946 -0.963197 -0.076219 +v -1.635946 -1.145149 0.033127 +v -1.490324 -0.890288 -0.076219 +v -1.708791 -0.744825 1.234090 +v -1.927056 -0.708407 1.452447 +v -2.109033 -1.145149 0.142305 +v -1.745146 -1.072311 1.234090 +v -2.109033 -0.599221 0.142305 +v -1.526747 -0.599221 -0.039715 +v -2.181946 -0.744825 -0.076219 +v -1.817991 -1.218058 -0.076219 +v -2.109033 -0.890288 1.379606 +f 117 106 119 +f 96 97 98 +f 98 97 104 +f 104 99 106 +f 96 98 107 +f 103 96 107 +f 107 98 108 +f 97 96 110 +f 105 101 110 +f 96 103 111 +f 99 105 111 +f 103 107 112 +f 111 103 112 +f 99 111 112 +f 98 104 113 +f 104 106 113 +f 108 98 113 +f 106 108 113 +f 99 104 114 +f 101 105 114 +f 105 99 114 +f 109 101 114 +f 104 109 114 +f 107 100 115 +f 102 112 115 +f 112 107 115 +f 110 96 116 +f 105 110 116 +f 96 111 116 +f 111 105 116 +f 100 107 117 +f 108 106 117 +f 107 108 117 +f 104 97 118 +f 101 109 118 +f 109 104 118 +f 97 110 118 +f 110 101 118 +f 106 99 119 +f 112 102 119 +f 99 112 119 +f 115 100 119 +f 102 115 119 +f 100 117 119 +o convex_3 +v -0.798424 0.055804 -2.296618 +v 0.075203 -1.946152 0.796699 +v -0.980590 -1.909555 -1.459081 +v 1.203692 -1.581802 -2.223580 +v 0.147898 -0.053293 3.381148 +v 1.167130 0.420154 0.287831 +v 0.948830 -1.581802 2.653168 +v -0.652820 -0.890163 3.381747 +v -0.871334 0.420154 0.724260 +v 1.203692 0.055804 -2.223580 +v 0.111551 -1.654533 3.417667 +v 1.167130 -0.817432 2.689687 +v -0.980590 -0.926760 -2.406174 +v 1.203692 -1.873190 -1.459081 +v 1.094435 0.420154 1.524679 +v -0.616472 -1.618399 2.726206 +v 0.075203 0.420154 -1.022653 +v 0.912269 -0.853797 3.454785 +v -0.834986 -0.853797 2.762724 +v -0.689167 0.420154 1.670156 +v 0.184246 -1.873190 2.726206 +v -0.980590 -1.691130 -2.223580 +v -0.980590 0.237863 -0.731101 +v 1.203692 -0.926528 -2.442693 +v 0.184246 0.165132 -2.406174 +v -0.980590 -1.836593 -0.403031 +v 0.075203 -0.817432 3.673298 +v 0.220594 0.420154 2.325697 +v 0.803226 -1.909555 0.942774 +v -0.470868 -1.909555 1.270246 +v 0.839574 -0.126024 2.908201 +v -0.871334 0.420154 -0.403031 +v -0.434520 -0.235352 3.163233 +v 1.021526 0.420154 -0.549106 +v -0.980590 -0.016927 -2.296618 +v 1.203692 -0.708567 0.651223 +v -0.652820 0.165132 -2.223580 +v 1.203692 -1.727496 -0.367710 +v -0.980590 -0.817432 0.033398 +v 0.875921 0.164900 -2.223580 +v 0.875921 -1.654533 2.689687 +v 0.693969 -1.472706 3.236271 +v -0.980590 0.237863 -0.367111 +v 1.167130 0.420154 0.869737 +v 0.512017 -1.946152 0.905657 +v -0.033840 -1.909555 -1.423161 +v -0.470868 -1.363378 3.272191 +v -0.616472 -0.744932 3.381747 +v 1.203692 -1.654765 -2.151141 +v 1.167130 -0.890163 2.689687 +v 0.730317 -0.271717 3.236271 +v 0.075203 -0.089658 3.417667 +v 0.948830 -0.089890 2.653168 +v 1.203692 -0.016927 -2.296618 +v -0.616472 -0.089658 2.653168 +v -0.652820 -1.909555 0.724260 +v -0.834986 -0.708567 2.653767 +v -0.143097 -1.946152 1.051732 +v -0.980590 0.165132 -1.714114 +v 0.184246 -1.618168 3.454186 +v -0.980590 -1.618399 -2.260099 +v 0.220594 -0.853797 3.673298 +v -0.798424 -1.072222 2.689687 +v 0.111551 -1.873190 2.726206 +f 149 177 183 +f 123 129 133 +f 125 128 134 +f 128 125 136 +f 134 128 139 +f 122 132 141 +f 132 122 142 +f 129 123 143 +f 143 132 144 +f 142 122 145 +f 127 130 146 +f 134 139 147 +f 147 124 150 +f 134 147 150 +f 128 136 151 +f 142 128 151 +f 125 129 153 +f 136 125 153 +f 132 142 154 +f 120 144 154 +f 144 132 154 +f 133 129 155 +f 144 120 156 +f 136 144 156 +f 151 136 156 +f 120 154 156 +f 133 155 157 +f 145 138 158 +f 142 145 158 +f 144 136 159 +f 153 129 159 +f 136 153 159 +f 148 133 160 +f 140 148 160 +f 157 126 160 +f 133 157 160 +f 126 137 161 +f 160 126 161 +f 128 142 162 +f 158 138 162 +f 142 158 162 +f 129 125 163 +f 125 134 163 +f 134 131 163 +f 155 129 163 +f 131 155 163 +f 133 148 164 +f 148 140 164 +f 121 122 165 +f 122 141 165 +f 141 133 165 +f 164 121 165 +f 133 164 165 +f 130 127 166 +f 127 135 166 +f 135 130 166 +f 127 146 167 +f 123 133 168 +f 141 123 168 +f 133 141 168 +f 137 126 169 +f 131 137 169 +f 155 131 169 +f 126 157 169 +f 157 155 169 +f 124 137 170 +f 150 124 170 +f 137 150 170 +f 124 147 171 +f 147 139 171 +f 139 152 171 +f 167 146 171 +f 152 167 171 +f 131 134 172 +f 137 131 172 +f 134 150 172 +f 150 137 172 +f 129 143 173 +f 143 144 173 +f 144 159 173 +f 159 129 173 +f 152 139 174 +f 167 152 174 +f 135 145 175 +f 145 122 175 +f 149 135 175 +f 138 127 176 +f 139 128 176 +f 128 162 176 +f 162 138 176 +f 127 167 176 +f 174 139 176 +f 167 174 176 +f 122 121 177 +f 121 164 177 +f 164 140 177 +f 175 122 177 +f 149 175 177 +f 142 151 178 +f 154 142 178 +f 151 156 178 +f 156 154 178 +f 130 140 179 +f 146 130 179 +f 140 160 179 +f 161 137 179 +f 160 161 179 +f 141 132 180 +f 123 141 180 +f 143 123 180 +f 132 143 180 +f 137 124 181 +f 124 171 181 +f 171 146 181 +f 146 179 181 +f 179 137 181 +f 135 127 182 +f 127 138 182 +f 145 135 182 +f 138 145 182 +f 130 135 183 +f 140 130 183 +f 135 149 183 +f 177 140 183 +o convex_4 +v 1.203963 0.128802 -1.313976 +v 2.004820 -1.873343 -1.459609 +v 2.150291 -1.873343 -1.459609 +v 1.240330 -0.563058 0.032827 +v 2.950956 -0.126230 -1.386913 +v 1.203963 -0.926649 -2.442693 +v 1.203963 -1.691148 -0.258439 +v 2.914588 -0.854011 -0.622643 +v 2.914588 -0.926649 -2.187774 +v 1.349433 0.019445 -2.260470 +v 1.203963 -1.654829 -2.151427 +v 2.878221 -1.618310 -1.313976 +v 2.223026 -0.089712 -0.659233 +v 2.223026 -1.618310 -2.187774 +v 3.169354 -0.890330 -1.350566 +v 2.186658 0.165321 -1.423261 +v 2.186658 -0.089712 -2.187774 +v 1.203963 -0.271906 -0.040110 +v 2.186658 -0.817891 -2.442693 +v 2.150291 -1.618310 -0.586295 +v 1.203963 -1.873343 -1.459367 +v 1.240330 -0.017073 -0.549705 +v 1.203963 0.055964 -2.187532 +v 2.768925 -0.381063 -2.042141 +v 2.841660 -1.581991 -1.605000 +v 2.768925 -0.381063 -0.768276 +v 2.696190 -1.436315 -0.804623 +v 2.113923 -1.873343 -1.313976 +v 2.914588 -0.089712 -1.495957 +v 1.240330 -0.381063 0.032827 +v 2.914588 -0.817891 -2.187774 +v 2.914588 -0.089712 -1.313976 +v 2.732558 -0.890330 -0.549705 +v 1.313066 0.165321 -1.386671 +v 2.732558 -1.472834 -1.932856 +v 1.203963 -0.199068 -2.333407 +v 2.150291 -0.926649 -2.442693 +v 1.203963 -1.581991 -2.224122 +v 3.132986 -0.890330 -1.568652 +v 1.240330 -1.691148 -0.258439 +v 1.203963 -1.836824 -1.059784 +v 2.878221 -0.745054 -0.622643 +v 2.186658 0.165321 -1.386913 +v 2.914588 -1.581991 -1.423261 +v 2.077555 -0.745054 -2.442693 +v 2.841660 -1.654829 -1.423261 +v 2.150291 -1.727667 -1.932856 +v 2.113923 0.165321 -1.495957 +v 1.276698 -1.727667 -0.367724 +v 3.169354 -0.817891 -1.350566 +v 1.203963 -0.745054 -2.442693 +v 2.150291 -1.581991 -2.224122 +v 2.987323 -0.235388 -1.459609 +v 2.659630 -0.235388 -0.804623 +v 2.768925 -0.235388 -1.896266 +f 212 207 238 +f 184 189 190 +f 190 189 194 +f 191 195 198 +f 184 190 201 +f 190 187 201 +f 185 186 204 +f 190 194 204 +f 184 201 205 +f 201 196 205 +f 189 184 206 +f 195 191 210 +f 191 203 210 +f 203 195 210 +f 195 203 211 +f 204 186 211 +f 201 187 213 +f 196 201 213 +f 209 196 213 +f 192 202 214 +f 202 200 214 +f 200 207 214 +f 207 212 214 +f 188 212 215 +f 212 199 215 +f 203 191 216 +f 213 187 216 +f 191 213 216 +f 184 205 217 +f 206 184 217 +f 197 192 218 +f 192 208 218 +f 208 197 218 +f 189 206 219 +f 206 193 219 +f 192 197 220 +f 189 202 220 +f 202 192 220 +f 194 189 221 +f 189 220 221 +f 192 214 222 +f 187 190 223 +f 216 187 223 +f 203 216 223 +f 190 204 224 +f 204 211 224 +f 213 191 225 +f 209 213 225 +f 191 215 225 +f 215 209 225 +f 205 196 226 +f 196 215 226 +f 215 199 226 +f 217 205 226 +f 199 217 226 +f 198 195 227 +f 208 192 227 +f 222 198 227 +f 192 222 227 +f 193 200 228 +f 202 189 228 +f 200 202 228 +f 219 193 228 +f 197 208 229 +f 211 186 229 +f 195 211 229 +f 227 195 229 +f 208 227 229 +f 186 185 230 +f 194 197 230 +f 185 204 230 +f 204 194 230 +f 229 186 230 +f 197 229 230 +f 200 193 231 +f 193 206 231 +f 199 212 231 +f 212 200 231 +f 217 199 231 +f 206 217 231 +f 211 203 232 +f 223 190 232 +f 203 223 232 +f 190 224 232 +f 224 211 232 +f 191 198 233 +f 188 215 233 +f 215 191 233 +f 198 222 233 +f 189 219 234 +f 228 189 234 +f 219 228 234 +f 197 194 235 +f 220 197 235 +f 194 221 235 +f 221 220 235 +f 212 188 236 +f 214 212 236 +f 222 214 236 +f 188 233 236 +f 233 222 236 +f 196 209 237 +f 215 196 237 +f 209 215 237 +f 207 200 238 +f 200 212 238 +o convex_5 +v -2.254755 -0.926728 -2.734137 +v -1.563066 -0.817663 -2.661289 +v -1.563066 -1.072350 -2.661289 +v -1.854407 -0.817663 -4.371975 +v -1.963414 -0.562773 -2.661289 +v -1.963414 -1.254395 -2.661289 +v -1.890833 -1.108773 -4.080748 +v -1.635918 -0.817663 -4.153429 +v -2.109119 -0.817663 -4.080748 +v -1.781555 -0.672109 -4.080748 +v -1.635918 -1.217973 -2.770645 +v -2.181903 -0.635686 -2.661289 +v -2.072625 -1.035928 -3.971559 +v -1.672412 -0.635686 -2.770645 +v -1.963414 -0.672109 -4.117088 +v -1.672412 -0.999573 -4.007899 +v -2.145477 -1.145128 -2.661289 +v -2.109119 -0.926728 -4.117088 +v -2.218329 -0.672109 -2.770645 +v -1.817913 -1.254395 -2.916175 +v -1.672412 -0.672109 -3.534635 +v -2.109119 -1.145128 -3.098213 +v -1.854407 -0.999573 -4.262618 +v -2.145477 -0.926728 -3.935051 +v -1.926988 -0.635686 -3.971559 +v -1.890833 -0.562773 -2.661289 +v -1.817913 -1.108773 -4.007899 +v -1.635918 -0.890508 -4.153429 +f 254 261 266 +f 241 240 243 +f 241 243 244 +f 240 241 246 +f 246 242 248 +f 241 244 249 +f 244 243 250 +f 242 247 253 +f 248 242 253 +f 250 239 255 +f 244 250 255 +f 247 242 256 +f 245 251 256 +f 239 250 257 +f 253 247 257 +f 250 253 257 +f 244 245 258 +f 249 244 258 +f 240 246 259 +f 246 248 259 +f 252 240 259 +f 245 244 260 +f 251 245 260 +f 255 239 260 +f 244 255 260 +f 256 242 261 +f 245 256 261 +f 247 256 262 +f 256 251 262 +f 239 257 262 +f 257 247 262 +f 260 239 262 +f 251 260 262 +f 250 243 263 +f 248 253 263 +f 253 250 263 +f 243 240 264 +f 240 252 264 +f 259 248 264 +f 252 259 264 +f 263 243 264 +f 248 263 264 +f 254 249 265 +f 258 245 265 +f 249 258 265 +f 245 261 265 +f 261 254 265 +f 246 241 266 +f 242 246 266 +f 241 249 266 +f 249 254 266 +f 261 242 266 +o convex_6 +v -2.036256 0.092429 -1.678123 +v -1.272070 -1.909748 -1.459566 +v -0.980776 -1.909748 -1.459566 +v -1.781651 -0.453581 -0.076640 +v -2.582340 -1.545601 -2.078304 +v -0.980776 -0.016899 -2.296860 +v -0.980776 0.238130 -0.367795 +v -2.800626 -0.817938 -0.586352 +v -0.980776 -1.836792 -0.404221 +v -2.291231 -0.854100 -2.660868 +v -0.980776 -1.654719 -2.260434 +v -2.509517 -1.545601 -0.622778 +v -2.654979 -0.089644 -1.241516 +v -2.582340 -0.162389 -2.187582 +v -2.582340 -0.162389 -0.549926 +v -2.145399 -1.108709 -0.076640 +v -2.800626 -0.854100 -2.114730 +v -0.980776 -0.926425 -0.113066 +v -1.672323 -1.254199 -2.660868 +v -1.927113 -1.800420 -2.151156 +v -1.963432 -1.873165 -1.314368 +v -2.618660 -1.618346 -1.314368 +v -1.817970 -0.563119 -2.660868 +v -1.927113 0.056057 -2.151156 +v -0.980776 0.165175 -1.678123 +v -1.927113 0.165175 -1.314368 +v -2.873635 -0.926635 -1.459566 +v -1.890794 -1.800420 -0.622778 +v -0.980776 -0.853680 -2.405886 +v -2.145399 -1.217827 -2.660868 +v -2.145399 -0.563119 -0.076640 +v -1.890794 0.092429 -0.549926 +v -1.963432 -1.217827 -0.076640 +v -2.545836 -1.581973 -2.151156 +v -1.526675 -0.926425 -2.660868 +v -2.072575 -0.563119 -2.660868 +v -2.873635 -0.781355 -1.459566 +v -1.199247 -1.873165 -0.659204 +v -2.654979 -0.089644 -1.495992 +v -1.636003 -1.181454 -0.076640 +v -2.764307 -0.963008 -2.187582 +v -1.417718 -1.764047 -2.187582 +v -2.509517 -0.235345 -0.440648 +v -1.526675 -0.526536 -0.076640 +v -2.764307 -0.963008 -0.586352 +v -1.854474 0.019684 -2.224008 +v -1.927113 -1.290782 -2.660868 +v -1.162742 0.238130 -0.695630 +v -1.927113 -1.873165 -1.605271 +v -2.764307 -0.744982 -2.187582 +v -1.927113 0.165175 -1.423140 +v -2.363870 -0.417418 -2.478738 +v -1.017095 -0.053271 -2.333286 +v -2.618660 -0.162389 -0.586352 +v -0.980776 -0.781355 -0.112813 +v -2.618660 -1.618346 -1.495992 +v -2.327550 -0.963008 -2.624442 +v -1.089919 -1.836792 -0.404221 +v -1.672323 -1.909748 -1.423140 +v -2.873635 -0.817938 -1.205089 +v -1.017095 0.238130 -0.367795 +v -2.545836 -1.545601 -0.659204 +v -2.291231 -0.890052 -0.149492 +v -1.599499 -1.218037 -2.660868 +f 301 295 330 +f 269 272 273 +f 269 273 275 +f 272 269 277 +f 275 273 284 +f 269 268 286 +f 285 276 289 +f 280 267 290 +f 273 272 291 +f 272 290 291 +f 288 287 294 +f 272 277 295 +f 276 285 296 +f 282 270 297 +f 292 279 298 +f 270 282 299 +f 282 278 299 +f 278 294 299 +f 296 286 300 +f 285 289 301 +f 289 276 302 +f 283 293 303 +f 269 275 304 +f 294 287 304 +f 279 292 305 +f 303 279 305 +f 275 284 306 +f 270 299 306 +f 299 275 306 +f 271 293 307 +f 293 283 307 +f 300 271 307 +f 277 269 308 +f 269 286 308 +f 274 297 309 +f 298 281 309 +f 273 270 310 +f 270 306 310 +f 306 284 310 +f 278 282 311 +f 293 288 311 +f 290 272 312 +f 280 290 312 +f 285 277 313 +f 296 285 313 +f 286 296 313 +f 277 308 313 +f 308 286 313 +f 273 291 314 +f 300 286 315 +f 283 303 316 +f 305 280 316 +f 303 305 316 +f 276 307 316 +f 307 283 316 +f 267 280 317 +f 290 267 317 +f 291 290 317 +f 280 305 317 +f 305 292 317 +f 314 291 317 +f 292 314 317 +f 302 276 318 +f 280 312 318 +f 312 302 318 +f 276 316 318 +f 316 280 318 +f 272 295 319 +f 301 289 319 +f 295 301 319 +f 289 302 319 +f 312 272 319 +f 302 312 319 +f 281 298 320 +f 298 279 320 +f 274 309 320 +f 309 281 320 +f 284 273 321 +f 273 310 321 +f 310 284 321 +f 287 288 322 +f 293 271 322 +f 288 293 322 +f 271 300 322 +f 315 287 322 +f 300 315 322 +f 276 296 323 +f 296 300 323 +f 307 276 323 +f 300 307 323 +f 275 299 324 +f 299 294 324 +f 304 275 324 +f 294 304 324 +f 268 269 325 +f 286 268 325 +f 269 304 325 +f 304 287 325 +f 315 286 325 +f 287 315 325 +f 279 303 326 +f 303 293 326 +f 311 274 326 +f 293 311 326 +f 320 279 326 +f 274 320 326 +f 270 273 327 +f 297 270 327 +f 292 298 327 +f 309 297 327 +f 298 309 327 +f 273 314 327 +f 314 292 327 +f 294 278 328 +f 288 294 328 +f 278 311 328 +f 311 288 328 +f 297 274 329 +f 282 297 329 +f 274 311 329 +f 311 282 329 +f 277 285 330 +f 295 277 330 +f 285 301 330 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/846/846.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/846/846.urdf new file mode 100644 index 000000000..f72fa1d00 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/846/846.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/847/847.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/847/847.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/847/847.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/847/847.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/847/847.obj new file mode 100644 index 000000000..98b0e4644 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/847/847.obj @@ -0,0 +1,564 @@ +o convex_0 +v 0.351954 -1.185814 0.946353 +v 0.693874 -3.427203 -3.004652 +v 0.959859 -3.427203 -3.004652 +v 1.111943 -3.313543 3.111681 +v -0.939789 -3.275363 2.959581 +v -1.091873 -1.261953 -3.004652 +v 1.073760 -1.186033 -2.929201 +v -1.015723 -1.376052 3.036230 +v -1.053690 -3.313323 -2.928602 +v 1.073760 -1.337873 2.997905 +v -1.015723 -1.185814 0.945754 +v -0.977756 -3.351503 1.439779 +v 1.035793 -3.389243 -1.447125 +v 1.073760 -1.186033 0.945754 +v 0.997826 -3.427203 -1.446526 +v -0.863855 -3.389243 -1.294426 +v -1.015723 -2.022029 2.997306 +v 1.073760 -1.717911 -2.966926 +v -0.977756 -1.185814 -1.104601 +v -1.091873 -2.097949 -3.004652 +v 0.275805 -3.313323 3.073955 +v -0.331884 -1.224213 -3.004652 +v 1.111943 -2.857366 2.655381 +v -1.015723 -3.351503 -2.776502 +v -0.103866 -3.389243 0.185853 +v -0.863855 -3.275363 2.997306 +v 1.111943 -3.085564 3.111681 +v 0.275805 -1.338092 2.997905 +v -1.091873 -1.261953 -2.548352 +v 0.313772 -3.427203 -2.434577 +v -1.053690 -3.313323 -2.662726 +v -0.597869 -3.313323 -2.966328 +v -0.331884 -3.351283 1.743979 +v -0.901822 -3.313323 2.503880 +v 0.845742 -3.313323 3.111082 +v -1.091873 -2.135908 -2.928602 +v 0.845742 -1.224213 -2.966328 +v 0.959859 -3.047385 -3.004652 +v -1.015723 -1.566071 3.036230 +v 0.845742 -1.185814 -2.929201 +v 0.997826 -2.971465 -2.966328 +v 1.111943 -3.313543 2.997905 +v -0.977756 -2.743486 2.997306 +v -1.015723 -3.351503 -0.572850 +v -0.787705 -1.376052 3.036230 +f 27 10 45 +f 3 2 6 +f 10 1 11 +f 1 10 14 +f 2 3 15 +f 3 13 15 +f 6 11 19 +f 11 1 19 +f 6 2 20 +f 3 6 22 +f 6 19 22 +f 7 14 23 +f 14 10 23 +f 18 7 23 +f 9 2 24 +f 12 16 25 +f 4 23 27 +f 23 10 27 +f 8 10 28 +f 11 8 28 +f 10 11 28 +f 8 11 29 +f 11 6 29 +f 6 20 29 +f 2 15 30 +f 24 2 30 +f 16 24 30 +f 15 25 30 +f 25 16 30 +f 9 24 31 +f 2 9 32 +f 20 2 32 +f 9 20 32 +f 15 4 33 +f 21 12 33 +f 25 15 33 +f 12 25 33 +f 5 12 34 +f 12 21 34 +f 26 5 34 +f 21 26 34 +f 4 27 35 +f 27 8 35 +f 33 4 35 +f 21 33 35 +f 20 9 36 +f 17 29 36 +f 29 20 36 +f 31 17 36 +f 9 31 36 +f 7 18 37 +f 22 7 37 +f 22 37 38 +f 18 3 38 +f 3 22 38 +f 37 18 38 +f 26 21 39 +f 8 29 39 +f 29 17 39 +f 35 8 39 +f 21 35 39 +f 14 7 40 +f 1 14 40 +f 19 1 40 +f 7 22 40 +f 22 19 40 +f 13 3 41 +f 3 18 41 +f 18 13 41 +f 4 15 42 +f 15 13 42 +f 13 18 42 +f 23 4 42 +f 18 23 42 +f 12 5 43 +f 17 12 43 +f 5 26 43 +f 39 17 43 +f 26 39 43 +f 16 12 44 +f 12 17 44 +f 24 16 44 +f 17 31 44 +f 31 24 44 +f 10 8 45 +f 8 27 45 +o convex_1 +v -0.977792 0.334649 -1.104980 +v -0.407873 1.436274 1.022232 +v 0.997900 3.297261 0.984119 +v 1.035949 0.334649 0.946215 +v 1.035949 3.297261 -1.067076 +v -1.053890 3.297261 -0.649089 +v 1.035949 0.334649 -0.991268 +v -1.053890 3.297261 0.984119 +v -1.015841 0.334649 0.946215 +v -0.977792 3.297261 -1.067076 +v 0.465825 0.334649 1.022232 +v 0.769809 0.372356 -1.067076 +v -1.053890 1.018306 0.984119 +v 1.035949 3.297261 0.490325 +v -0.673808 0.372356 1.022023 +v -0.901898 1.853662 1.022023 +v -0.977792 0.866318 -1.104980 +v 0.997900 2.119642 -1.067076 +v -1.015841 0.334649 0.186259 +v -1.053890 1.018306 0.908103 +f 46 64 65 +f 48 50 51 +f 49 46 52 +f 50 49 52 +f 48 51 53 +f 46 49 54 +f 51 50 55 +f 48 47 56 +f 49 48 56 +f 54 49 56 +f 52 46 57 +f 53 51 58 +f 48 49 59 +f 49 50 59 +f 50 48 59 +f 56 47 60 +f 54 56 60 +f 58 54 60 +f 58 60 61 +f 47 48 61 +f 48 53 61 +f 53 58 61 +f 60 47 61 +f 50 46 62 +f 46 51 62 +f 55 50 62 +f 51 55 62 +f 46 50 63 +f 50 52 63 +f 57 46 63 +f 52 57 63 +f 46 54 64 +f 54 58 64 +f 64 58 65 +f 51 46 65 +f 58 51 65 +o convex_2 +v -0.521712 -0.539730 1.060690 +v 0.579984 -0.235909 3.074029 +v 0.541935 0.181969 3.112075 +v 0.579984 0.219922 1.022849 +v -0.445729 0.257975 3.074029 +v 0.579984 -0.767746 2.997938 +v -0.445729 -0.729693 3.035984 +v 0.427903 -0.767746 1.022849 +v -0.597926 0.181969 1.022849 +v -0.483778 -0.767746 1.022849 +v 0.579984 -0.045946 1.022849 +v -0.597926 0.105964 1.326599 +v -0.141797 -0.767746 3.035984 +v 0.199954 -0.160004 3.112075 +v 0.465952 -0.767746 1.098735 +v -0.217780 0.257975 3.074029 +v 0.579984 -0.767746 2.580052 +v -0.445729 0.257975 2.808120 +v -0.597926 -0.045946 1.098735 +v -0.445729 -0.425772 3.074029 +v 0.579984 0.219922 1.440735 +v -0.103748 0.219922 3.112075 +v -0.483778 -0.767746 1.440735 +f 72 84 88 +f 69 67 71 +f 69 73 74 +f 73 71 75 +f 74 73 75 +f 69 71 76 +f 73 69 76 +f 70 74 77 +f 75 71 78 +f 67 68 79 +f 71 67 79 +f 78 71 79 +f 71 73 80 +f 73 76 80 +f 76 71 82 +f 71 80 82 +f 80 76 82 +f 69 74 83 +f 74 70 83 +f 81 69 83 +f 70 81 83 +f 75 66 84 +f 74 75 84 +f 72 77 84 +f 77 74 84 +f 77 72 85 +f 70 77 85 +f 72 78 85 +f 78 79 85 +f 68 67 86 +f 67 69 86 +f 81 68 86 +f 69 81 86 +f 79 68 87 +f 68 81 87 +f 81 70 87 +f 70 85 87 +f 85 79 87 +f 66 75 88 +f 78 72 88 +f 75 78 88 +f 84 66 88 +o convex_3 +v 1.073760 4.703573 1.022321 +v -0.977770 3.297842 -1.067400 +v -1.015737 3.297842 -0.877236 +v -0.977770 4.703573 -1.029283 +v 1.035577 3.297842 -1.067400 +v -1.053705 3.297842 0.983996 +v 1.111943 4.779727 -1.067400 +v -0.977770 4.741578 0.984413 +v 0.997610 3.297842 0.983996 +v -1.091888 4.057642 -0.383184 +v 1.073760 4.285814 1.060437 +v 1.073760 3.373996 0.338106 +v -0.217561 4.741578 -1.067400 +v 1.111943 4.741578 0.224382 +v 0.503603 4.703573 1.060437 +v -1.091888 3.412000 -0.307369 +v -1.015522 4.589560 0.984413 +v 1.111943 4.399827 -1.067400 +v -1.091888 3.981778 0.224174 +v 0.617721 4.779727 -1.067400 +v 1.111943 4.779727 -0.611256 +v -0.977770 4.741578 0.452454 +v -0.977770 3.981778 -1.067400 +v 1.073760 3.373996 -0.231136 +v -0.635417 4.741578 0.984413 +f 102 109 113 +f 91 90 93 +f 91 93 94 +f 93 90 95 +f 94 93 97 +f 92 91 98 +f 94 97 99 +f 99 97 100 +f 97 93 100 +f 95 90 101 +f 89 99 102 +f 99 100 102 +f 99 89 103 +f 94 99 103 +f 91 94 104 +f 98 91 104 +f 92 98 105 +f 94 103 105 +f 103 96 105 +f 93 95 106 +f 95 102 106 +f 102 100 106 +f 104 94 107 +f 98 104 107 +f 105 98 107 +f 94 105 107 +f 95 101 108 +f 102 95 109 +f 95 108 109 +f 108 96 109 +f 101 92 110 +f 92 105 110 +f 105 96 110 +f 96 108 110 +f 108 101 110 +f 90 91 111 +f 91 92 111 +f 101 90 111 +f 92 101 111 +f 100 93 112 +f 93 106 112 +f 106 100 112 +f 89 102 113 +f 96 103 113 +f 103 89 113 +f 109 96 113 +o convex_4 +v -0.331883 0.295961 -3.043144 +v 0.427854 -0.843729 -1.295516 +v 0.503882 -0.843729 -1.295516 +v 0.503882 0.181947 -1.105397 +v -0.559750 -0.767645 -1.105397 +v 0.465814 -0.729715 -2.929227 +v -0.597818 -0.767645 -3.005236 +v -0.483830 0.143905 -1.105397 +v 0.503882 0.257919 -3.081245 +v -0.521790 0.219877 -3.081245 +v 0.503882 -0.843729 -1.105397 +v -0.597818 -0.539730 -2.511274 +v 0.503882 0.219877 -1.523543 +v 0.503882 0.105975 -3.081245 +v -0.483830 0.295961 -3.005236 +v -0.027988 -0.767645 -2.967134 +v -0.521790 -0.045969 -1.257415 +v 0.123959 0.181947 -1.105397 +v 0.503882 0.257919 -2.435265 +v 0.465814 -0.767645 -2.701200 +v -0.521790 0.030003 -3.081245 +f 123 127 134 +f 116 115 120 +f 115 118 120 +f 118 117 121 +f 117 116 122 +f 114 122 123 +f 115 116 124 +f 116 117 124 +f 117 118 124 +f 118 115 124 +f 120 118 125 +f 123 120 125 +f 117 122 126 +f 116 119 127 +f 122 116 127 +f 123 122 127 +f 114 123 128 +f 123 121 128 +f 126 114 128 +f 116 120 129 +f 127 119 129 +f 120 127 129 +f 118 121 130 +f 121 123 130 +f 125 118 130 +f 123 125 130 +f 121 117 131 +f 117 126 131 +f 128 121 131 +f 126 128 131 +f 122 114 132 +f 114 126 132 +f 126 122 132 +f 119 116 133 +f 116 129 133 +f 129 119 133 +f 120 123 134 +f 127 120 134 +o convex_5 +v -0.901746 0.334069 -1.105188 +v 1.073946 -0.274122 0.946223 +v 1.073946 -1.185814 0.946223 +v -1.015893 -1.185814 0.946223 +v 1.035897 -1.185814 -0.953170 +v -1.015893 0.334069 0.946223 +v 1.035897 0.334069 -0.991070 +v -0.977640 -1.185814 -1.105188 +v 1.035897 0.334069 0.946223 +v 0.503822 -0.843781 -1.105188 +v 0.579921 0.219959 1.022232 +v -0.483819 -0.767757 1.022232 +v -0.977640 0.334069 -1.105188 +v 1.073946 -1.071704 -0.953170 +v 0.503822 0.182021 -1.105188 +v -0.635811 0.334069 1.022232 +v -1.015893 -1.147579 -0.117279 +v 0.427929 -0.767757 1.022232 +v 1.073946 -0.425872 -0.953170 +v -1.015893 0.334069 0.186341 +v 0.921749 0.334069 -1.029179 +v 0.883700 -1.185814 -0.991070 +f 144 148 156 +f 137 138 139 +f 135 140 141 +f 139 138 142 +f 136 141 143 +f 141 140 143 +f 142 135 144 +f 137 136 145 +f 136 143 145 +f 138 137 146 +f 140 135 147 +f 135 142 147 +f 136 137 148 +f 137 139 148 +f 144 135 149 +f 140 138 150 +f 143 140 150 +f 145 143 150 +f 138 146 150 +f 146 145 150 +f 138 140 151 +f 142 138 151 +f 147 142 151 +f 137 145 152 +f 146 137 152 +f 145 146 152 +f 141 136 153 +f 136 148 153 +f 148 141 153 +f 140 147 154 +f 151 140 154 +f 147 151 154 +f 135 141 155 +f 141 148 155 +f 148 144 155 +f 149 135 155 +f 144 149 155 +f 139 142 156 +f 142 144 156 +f 148 139 156 +o convex_6 +v -1.624100 3.753732 -0.307391 +v -1.738091 4.019786 0.224494 +v -1.091888 3.981759 0.224494 +v -2.763443 3.449919 0.262495 +v -2.953492 3.943732 -0.307391 +v -1.091888 3.411892 -0.307391 +v -3.029360 3.335838 -0.345455 +v -1.091888 3.449919 0.224494 +v -2.991426 4.019786 0.186493 +v -1.168135 3.905705 -0.193389 +v -2.991426 3.487946 0.300495 +v -2.497527 3.905705 -0.345455 +v -2.649452 3.335838 -0.193389 +v -1.244192 3.449919 0.262495 +v -1.624100 3.601892 -0.345455 +v -1.776025 4.019786 0.148492 +v -2.725509 3.563865 0.300495 +v -1.091888 3.791759 -0.231389 +v -2.991426 3.943732 0.224494 +v -2.991426 3.791759 -0.345455 +v -1.358184 3.411892 0.110491 +v -2.953492 4.019786 0.034490 +f 172 161 178 +f 162 159 164 +f 163 160 167 +f 161 166 168 +f 160 163 169 +f 163 162 169 +f 164 159 170 +f 167 160 170 +f 160 169 170 +f 162 163 171 +f 168 157 171 +f 163 168 171 +f 158 159 172 +f 165 158 172 +f 159 166 172 +f 166 161 172 +f 159 158 173 +f 170 159 173 +f 167 170 173 +f 159 162 174 +f 166 159 174 +f 157 168 174 +f 168 166 174 +f 171 157 174 +f 162 171 174 +f 158 165 175 +f 165 163 175 +f 163 167 175 +f 173 158 175 +f 167 173 175 +f 165 161 176 +f 163 165 176 +f 161 168 176 +f 168 163 176 +f 162 164 177 +f 169 162 177 +f 164 170 177 +f 170 169 177 +f 161 165 178 +f 165 172 178 +o convex_7 +v 1.302118 3.373836 0.338425 +v 2.973484 4.019786 -0.117458 +v 2.973484 4.019786 -0.231460 +v 1.074136 3.905720 -0.193459 +v 2.935550 3.487901 -0.269461 +v 3.011607 3.867719 0.262424 +v 1.074136 3.905720 0.262424 +v 1.074136 3.373836 -0.231460 +v 2.821559 3.411900 0.376490 +v 1.074136 3.373836 0.338425 +v 2.973484 3.487901 0.376490 +v 1.492167 3.373836 -0.231460 +v 1.074136 3.639841 -0.231460 +v 1.188127 3.943721 -0.193459 +v 1.074136 3.601840 0.338425 +v 2.517519 4.019786 -0.079457 +v 2.289726 3.525902 -0.269461 +v 1.340242 3.943721 0.186422 +f 194 192 196 +f 183 181 184 +f 181 180 184 +f 185 182 186 +f 185 186 188 +f 186 179 188 +f 179 187 188 +f 183 184 189 +f 184 185 189 +f 187 183 189 +f 179 186 190 +f 186 183 190 +f 183 187 190 +f 187 179 190 +f 186 182 191 +f 182 185 192 +f 181 191 192 +f 191 182 192 +f 185 188 193 +f 188 187 193 +f 189 185 193 +f 187 189 193 +f 180 181 194 +f 184 180 194 +f 181 192 194 +f 181 183 195 +f 183 186 195 +f 191 181 195 +f 186 191 195 +f 185 184 196 +f 192 185 196 +f 184 194 196 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/847/847.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/847/847.urdf new file mode 100644 index 000000000..c14b0dff1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/847/847.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/848/848.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/848/848.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/848/848.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/848/848.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/848/848.obj new file mode 100644 index 000000000..5fa38e752 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/848/848.obj @@ -0,0 +1,459 @@ +o convex_0 +v -0.461134 -1.859231 -1.750133 +v 0.478324 -3.067151 -1.649165 +v 0.511927 -3.067151 -1.649165 +v -0.360435 -3.033571 -3.058463 +v 0.511927 -1.859349 -2.957688 +v 0.511927 -2.027129 -1.078624 +v -0.461134 -2.899371 -1.078624 +v -0.528122 -1.859231 -2.957688 +v 0.545529 -3.000110 -3.058463 +v -0.494628 -1.892929 -1.078624 +v -0.561833 -3.033571 -2.890634 +v 0.511927 -3.067151 -1.078624 +v 0.545529 -2.329109 -3.024743 +v -0.494628 -2.932832 -1.313700 +v 0.545529 -3.033689 -1.850521 +v -0.226134 -1.892929 -1.145871 +v -0.528122 -1.926508 -2.991215 +v 0.511927 -1.859349 -2.722805 +v -0.561833 -2.865791 -3.024743 +v 0.545529 -3.033689 -2.856914 +v 0.478324 -1.993668 -1.112344 +v 0.411228 -3.067151 -1.078624 +v 0.277035 -2.765053 -3.058463 +v -0.494628 -2.496652 -1.078624 +v 0.511927 -1.926390 -2.991215 +v 0.142734 -1.859231 -2.118737 +v 0.310529 -3.033571 -3.058463 +f 9 20 27 +f 3 2 4 +f 7 6 10 +f 1 8 10 +f 4 2 11 +f 2 3 12 +f 6 7 12 +f 12 3 15 +f 6 12 15 +f 9 13 15 +f 13 6 15 +f 1 10 16 +f 13 5 18 +f 6 13 18 +f 10 8 19 +f 11 10 19 +f 4 11 19 +f 8 17 19 +f 17 4 19 +f 15 3 20 +f 9 15 20 +f 10 6 21 +f 16 10 21 +f 6 18 21 +f 11 2 22 +f 12 7 22 +f 2 12 22 +f 7 14 22 +f 14 11 22 +f 9 4 23 +f 13 9 23 +f 4 17 23 +f 17 13 23 +f 7 10 24 +f 10 11 24 +f 14 7 24 +f 11 14 24 +f 8 5 25 +f 5 13 25 +f 17 8 25 +f 13 17 25 +f 8 1 26 +f 5 8 26 +f 1 16 26 +f 18 5 26 +f 16 21 26 +f 21 18 26 +f 3 4 27 +f 4 9 27 +f 20 3 27 +o convex_1 +v 0.713228 -1.859231 -1.045067 +v 0.612450 -1.456394 1.102556 +v 0.578926 -1.456394 1.102556 +v -1.064975 1.899109 -1.011432 +v 1.048671 1.899109 -1.011432 +v 1.015147 1.899109 0.968224 +v -1.031451 -1.859231 1.035285 +v -1.031451 1.899109 1.001650 +v -0.997927 -1.859231 -0.944371 +v 1.015147 -1.859231 1.035075 +v 1.048671 -1.859231 -0.810039 +v 0.914577 1.496272 1.035075 +v 1.048671 1.899109 -0.139012 +v 0.209959 -1.859231 -1.045067 +v 1.015147 -1.859231 -0.977796 +v -1.064975 1.899109 0.162656 +v -1.064975 0.825245 -0.977796 +v -0.763055 -1.859231 -0.977796 +v 1.048671 -1.859231 -0.407255 +v 0.981624 1.899109 1.001650 +v -1.064975 1.462795 -1.011432 +v 0.612450 -1.590673 -1.045067 +v 0.948100 -1.859231 -1.011221 +v -1.031451 -1.859231 0.833893 +v 1.048671 0.825245 -1.011432 +v 0.612450 -1.724952 1.068920 +f 34 37 53 +f 32 31 33 +f 33 31 35 +f 34 30 35 +f 28 34 36 +f 34 28 37 +f 37 28 38 +f 30 29 39 +f 35 30 39 +f 29 37 39 +f 32 33 40 +f 33 37 40 +f 38 32 40 +f 28 36 41 +f 38 28 42 +f 35 31 43 +f 34 35 43 +f 43 31 44 +f 34 43 44 +f 41 36 45 +f 37 38 46 +f 40 37 46 +f 38 40 46 +f 33 35 47 +f 37 33 47 +f 35 39 47 +f 39 37 47 +f 31 41 48 +f 44 31 48 +f 36 44 48 +f 45 36 48 +f 41 45 48 +f 32 28 49 +f 31 32 49 +f 28 41 49 +f 41 31 49 +f 42 28 50 +f 36 34 51 +f 44 36 51 +f 34 44 51 +f 28 32 52 +f 32 38 52 +f 38 42 52 +f 50 28 52 +f 42 50 52 +f 29 30 53 +f 30 34 53 +f 37 29 53 +o convex_2 +v -0.830148 4.617195 -0.843307 +v -1.098525 1.999947 -1.011484 +v -1.065004 1.899109 -1.011484 +v -1.031484 1.899109 1.001807 +v 1.048707 1.899109 -1.011274 +v 1.082228 4.549881 1.035443 +v -0.997963 4.516357 1.001807 +v 1.048707 4.482833 -1.044909 +v 0.981666 1.899109 1.001597 +v -0.997963 4.449310 -1.112180 +v -0.997963 2.604173 1.035443 +v -1.098525 2.637430 -0.340037 +v 1.082228 4.516357 -0.776246 +v 1.082228 2.469811 -0.977849 +v -0.662332 4.617195 -1.112180 +v 1.015187 1.899109 0.968172 +v -1.031484 4.214377 1.001807 +v -0.024802 4.549881 1.035443 +v -1.098525 2.905886 -1.044699 +v -1.065004 2.570649 0.934747 +v -0.561770 4.214377 -1.112180 +v 1.048707 3.375485 1.035443 +v -0.964443 4.617195 -0.742821 +v 1.082228 4.180854 1.035443 +v 1.048707 1.899109 -0.138855 +v 1.082228 4.549881 0.397631 +v 0.411178 4.549881 -1.078545 +v -0.997963 4.583405 -0.608489 +v -0.997963 4.147064 -1.112180 +v -0.997963 4.549615 0.666294 +v -0.964443 4.617195 -1.112180 +v 1.048707 3.912397 -1.044909 +v -1.065004 1.899109 0.229874 +v 1.082228 2.771791 -1.011274 +f 58 85 87 +f 57 56 58 +f 57 58 62 +f 57 62 64 +f 66 59 67 +f 54 59 68 +f 62 58 69 +f 57 64 70 +f 64 60 70 +f 60 64 71 +f 64 59 71 +f 55 65 72 +f 65 70 72 +f 57 70 73 +f 70 65 73 +f 63 68 74 +f 59 64 75 +f 64 62 75 +f 62 69 75 +f 59 54 76 +f 54 68 76 +f 71 59 76 +f 67 59 77 +f 59 75 77 +f 75 69 77 +f 58 67 78 +f 69 58 78 +f 67 77 78 +f 77 69 78 +f 59 66 79 +f 68 59 79 +f 66 68 79 +f 66 61 80 +f 68 66 80 +f 74 68 80 +f 63 72 81 +f 72 70 81 +f 56 55 82 +f 58 56 82 +f 55 72 82 +f 72 63 82 +f 74 58 82 +f 63 74 82 +f 70 60 83 +f 60 71 83 +f 71 76 83 +f 81 70 83 +f 76 81 83 +f 68 63 84 +f 76 68 84 +f 63 81 84 +f 81 76 84 +f 58 74 85 +f 80 61 85 +f 74 80 85 +f 55 56 86 +f 56 57 86 +f 65 55 86 +f 57 73 86 +f 73 65 86 +f 61 66 87 +f 66 67 87 +f 67 58 87 +f 85 61 87 +o convex_3 +v 1.082228 -2.932898 -0.138861 +v -1.065004 -3.469731 -1.078410 +v -1.098525 -3.469731 -0.474247 +v -0.997963 -1.859231 -0.944128 +v -1.031484 -1.859231 1.035094 +v 1.015187 -1.859231 -0.977645 +v 1.082228 -3.436231 1.102556 +v 1.015187 -1.859231 1.035094 +v 1.048707 -3.536897 -1.011376 +v -1.098525 -3.469731 1.102342 +v 0.545473 -1.960062 -1.078410 +v -0.125363 -1.993727 1.102342 +v -0.058323 -3.536897 0.028511 +v -0.494516 -1.892896 -1.078410 +v 0.545473 -3.100566 -1.078410 +v 1.048707 -1.859231 -0.843576 +v 1.082228 -3.536897 -0.608529 +v -0.796627 -3.503397 -1.078410 +v 1.082228 -2.865732 0.934543 +v 1.082228 -3.469731 0.901026 +v -1.031484 -2.194896 -0.977645 +v -1.098525 -3.134231 1.102342 +v 0.545473 -1.993727 1.102342 +v -0.763107 -3.503397 0.766744 +v 0.948146 -3.436231 -1.044893 +v 1.048707 -2.295726 -1.011376 +v -0.628811 -2.027227 1.102342 +v -1.065004 -3.067065 -1.078410 +v 0.411178 -3.536897 -1.044679 +v -0.897188 -3.503397 -0.340178 +v 0.276882 -3.469731 1.102342 +v 1.048707 -1.859231 -0.306661 +v 0.746809 -1.859231 -1.044679 +v 1.082228 -3.469731 -0.776328 +v 1.082228 -2.631227 0.229828 +v -0.997963 -1.960062 -0.977645 +v -1.031484 -1.859231 0.665978 +v -0.125363 -3.503232 -1.078410 +v -1.098525 -3.167896 0.733226 +v 1.048707 -2.497059 1.068825 +f 95 110 127 +f 91 92 93 +f 93 92 95 +f 95 92 99 +f 98 89 101 +f 89 98 102 +f 93 95 103 +f 88 94 104 +f 100 96 104 +f 89 102 105 +f 94 88 106 +f 104 94 107 +f 100 104 107 +f 97 94 109 +f 90 97 109 +f 95 99 110 +f 99 94 110 +f 102 98 112 +f 93 103 113 +f 96 112 113 +f 112 98 113 +f 99 92 114 +f 94 99 114 +f 109 94 114 +f 92 109 114 +f 89 90 115 +f 101 89 115 +f 90 108 115 +f 96 100 116 +f 100 105 116 +f 112 96 116 +f 90 89 117 +f 97 90 117 +f 89 105 117 +f 105 100 117 +f 111 97 117 +f 100 111 117 +f 94 97 118 +f 107 94 118 +f 100 107 118 +f 97 111 118 +f 111 100 118 +f 103 95 119 +f 95 106 119 +f 91 93 120 +f 101 91 120 +f 98 101 120 +f 93 113 120 +f 113 98 120 +f 103 88 121 +f 104 96 121 +f 88 104 121 +f 113 103 121 +f 96 113 121 +f 88 103 122 +f 106 88 122 +f 103 119 122 +f 119 106 122 +f 91 101 123 +f 108 91 123 +f 101 115 123 +f 115 108 123 +f 92 91 124 +f 91 108 124 +f 109 92 124 +f 105 102 125 +f 102 112 125 +f 116 105 125 +f 112 116 125 +f 108 90 126 +f 90 109 126 +f 124 108 126 +f 109 124 126 +f 94 106 127 +f 106 95 127 +f 110 94 127 +o convex_4 +v -0.561704 -2.765147 3.014935 +v 0.578977 -2.865873 3.048649 +v 0.545407 -2.597420 3.048649 +v 0.545407 -1.993625 1.102746 +v -0.461110 -3.033600 1.102746 +v -0.461110 -1.893011 2.947887 +v -0.595274 -2.027125 1.102746 +v 0.478383 -2.932875 1.102746 +v 0.444698 -1.893011 3.048649 +v 0.578977 -3.033712 3.048649 +v -0.561704 -3.033600 2.612459 +v -0.427425 -1.893011 3.048649 +v 0.545407 -1.960012 1.337603 +v -0.561704 -2.999988 2.981411 +v -0.595274 -1.993625 1.337603 +v 0.511953 -2.966487 1.438365 +v -0.125528 -3.033600 1.136461 +v -0.595274 -2.228465 1.102746 +v 0.545407 -2.295578 1.102746 +v 0.578977 -3.033712 2.813792 +v -0.494680 -3.033600 1.304080 +v -0.461110 -1.893011 2.813792 +v 0.545407 -1.960012 1.572460 +v -0.494680 -2.329191 3.048649 +v -0.595274 -1.993625 1.471889 +v -0.158982 -1.993625 1.102746 +v -0.125528 -3.033600 3.014935 +v 0.511953 -2.932986 1.270556 +v 0.578977 -3.000100 2.645983 +v -0.393971 -2.999988 3.014935 +v 0.444698 -1.893011 2.914363 +f 140 149 158 +f 131 132 134 +f 132 131 135 +f 129 130 136 +f 129 136 137 +f 136 133 139 +f 137 136 139 +f 129 131 140 +f 132 135 144 +f 135 143 144 +f 134 132 145 +f 138 141 145 +f 142 134 145 +f 135 131 146 +f 129 137 147 +f 137 138 147 +f 144 143 147 +f 132 144 147 +f 145 132 148 +f 138 145 148 +f 132 147 148 +f 147 138 148 +f 133 136 149 +f 142 133 149 +f 130 129 150 +f 136 130 150 +f 129 140 150 +f 140 136 150 +f 133 128 151 +f 139 133 151 +f 137 139 151 +f 128 133 152 +f 141 128 152 +f 133 142 152 +f 145 141 152 +f 142 145 152 +f 131 134 153 +f 140 131 153 +f 134 142 153 +f 149 140 153 +f 142 149 153 +f 138 137 154 +f 141 138 154 +f 143 135 155 +f 135 146 155 +f 147 143 155 +f 147 155 156 +f 131 129 156 +f 146 131 156 +f 129 147 156 +f 155 146 156 +f 128 141 157 +f 151 128 157 +f 137 151 157 +f 154 137 157 +f 141 154 157 +f 136 140 158 +f 149 136 158 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/848/848.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/848/848.urdf new file mode 100644 index 000000000..ccfaa6b2f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/848/848.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/849/849.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/849/849.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/849/849.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/849/849.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/849/849.obj new file mode 100644 index 000000000..a7ca85262 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/849/849.obj @@ -0,0 +1,972 @@ +o convex_0 +v 0.019195 -1.119540 -2.152923 +v -0.013691 0.003819 -0.963973 +v -0.079656 0.003819 -0.963973 +v -0.079656 -2.473778 -1.558642 +v -0.509113 0.003819 -1.756520 +v 0.448749 0.003819 -2.053854 +v 0.316623 -1.449369 -1.162239 +v -0.443050 -1.317194 -1.195219 +v -0.376988 -1.548560 -1.987766 +v 0.349606 -1.482594 -1.987766 +v -0.277845 0.003819 -2.219011 +v 0.448749 0.003819 -1.261308 +v -0.443050 0.003819 -1.063171 +v -0.112736 -2.110239 -1.195219 +v -0.013691 -2.176447 -1.987766 +v -0.443050 -1.746942 -1.591622 +v 0.349606 -1.713959 -1.558642 +v 0.052275 -0.029406 -2.285229 +v 0.349606 0.003819 -1.063171 +v -0.509113 -0.458669 -1.228328 +v -0.344005 -0.458669 -1.030062 +v 0.316623 -0.888174 -2.119943 +v -0.443050 -0.095372 -2.053854 +v 0.481732 -0.029406 -1.624472 +v -0.310925 -0.723017 -2.152923 +v -0.046674 -1.185505 -1.063171 +v -0.013691 -2.440553 -1.558642 +v 0.250464 -0.557860 -1.030062 +v -0.112736 -2.407570 -1.657452 +v -0.013691 -2.077256 -1.195219 +v -0.013691 -2.440553 -1.657452 +v -0.509113 0.003819 -1.195219 +v -0.079656 -2.142979 -1.987766 +v -0.509113 -0.425686 -1.657452 +v -0.443050 -1.581785 -1.360376 +v 0.349606 0.003819 -2.152923 +v -0.443050 -0.557860 -1.987766 +v 0.415669 -0.359720 -1.195219 +v -0.409970 0.003819 -2.119943 +v -0.443050 -1.746942 -1.624601 +v 0.151418 -1.978065 -1.360376 +v 0.448749 -0.227546 -2.020875 +v 0.349606 -1.680734 -1.690431 +v -0.376988 -0.690034 -1.063171 +v 0.349606 -1.416628 -2.020745 +v 0.019195 -2.011048 -2.020745 +f 22 45 46 +f 3 2 5 +f 5 2 6 +f 5 6 11 +f 6 2 12 +f 3 5 13 +f 12 2 19 +f 8 13 20 +f 3 13 21 +f 1 18 22 +f 6 12 24 +f 18 1 25 +f 11 18 25 +f 2 3 26 +f 3 21 26 +f 19 2 28 +f 7 19 28 +f 2 26 28 +f 26 7 28 +f 14 4 30 +f 7 26 30 +f 26 14 30 +f 4 27 30 +f 15 10 31 +f 27 4 31 +f 17 27 31 +f 29 15 31 +f 4 29 31 +f 13 5 32 +f 5 20 32 +f 20 13 32 +f 25 1 33 +f 9 25 33 +f 29 9 33 +f 15 29 33 +f 20 5 34 +f 4 14 35 +f 14 8 35 +f 16 4 35 +f 8 20 35 +f 20 16 35 +f 11 6 36 +f 18 11 36 +f 6 22 36 +f 22 18 36 +f 5 23 37 +f 23 9 37 +f 34 5 37 +f 7 17 38 +f 19 7 38 +f 12 19 38 +f 24 12 38 +f 17 24 38 +f 5 11 39 +f 23 5 39 +f 9 23 39 +f 25 9 39 +f 11 25 39 +f 4 16 40 +f 16 20 40 +f 9 29 40 +f 29 4 40 +f 20 34 40 +f 37 9 40 +f 34 37 40 +f 17 7 41 +f 27 17 41 +f 7 30 41 +f 30 27 41 +f 6 24 42 +f 42 24 43 +f 24 17 43 +f 31 10 43 +f 17 31 43 +f 10 42 43 +f 13 8 44 +f 8 14 44 +f 21 13 44 +f 14 26 44 +f 26 21 44 +f 10 15 45 +f 22 6 45 +f 6 42 45 +f 42 10 45 +f 1 22 46 +f 33 1 46 +f 15 33 46 +f 45 15 46 +o convex_1 +v -3.019250 -1.515580 0.390560 +v 1.836074 -0.359562 0.390356 +v 1.836074 -0.359562 0.324555 +v 2.066857 -2.506813 0.423358 +v 0.976850 -1.614788 -0.666532 +v -1.929244 -1.350795 1.414446 +v -1.136888 -0.359562 -0.534116 +v -1.995520 -2.242400 -0.302896 +v 1.076265 -0.392771 1.315235 +v -1.995520 -2.242400 1.216228 +v 2.099996 -1.515580 1.414650 +v 2.794120 -1.449792 -0.402106 +v -1.037473 -0.359562 1.249434 +v -2.788467 -0.690183 0.423358 +v 2.066857 -2.275399 -0.402106 +v -2.061796 -1.416793 -0.600324 +v 0.878028 -0.359562 -0.600324 +v 2.794120 -1.449792 1.117222 +v 2.066857 -2.242400 1.183022 +v -2.028658 -2.473604 0.423358 +v 2.760983 -0.722972 0.324555 +v 2.794120 -2.242190 0.423562 +v -2.755329 -1.416793 1.183226 +v -2.788467 -1.416793 -0.336102 +v -2.755329 -2.242400 0.489363 +v 2.099996 -1.515580 -0.666532 +v -0.145703 -0.359562 -0.666532 +v -0.145703 -0.359562 1.381444 +v 3.024904 -1.449792 0.324555 +v -1.896105 -0.359562 0.390560 +v 2.034311 -0.722972 -0.435109 +v 2.529607 -0.888178 0.985009 +v -2.458270 -0.822390 -0.236891 +v -2.193757 -0.756181 1.084219 +v -1.995520 -1.548579 1.414446 +v 0.943712 -2.374607 0.919004 +v 1.009988 -2.506813 0.324555 +v -1.995520 -2.143193 -0.368900 +v -2.590230 -2.011197 -0.137884 +v 1.406462 -2.044196 1.282233 +v -1.995520 -2.473604 0.522569 +v 2.628430 -2.010987 -0.236891 +v 1.142541 -0.359562 1.282233 +v -0.145703 -1.515580 -0.666532 +v 2.760983 -1.482791 1.183226 +v -2.590230 -1.977988 1.051013 +v 2.760983 -0.722972 0.423562 +v 2.595883 -2.044196 0.985009 +v 0.844890 -2.209401 -0.435109 +v -1.797283 -0.590976 -0.435109 +v 1.901759 -1.284797 1.414650 +v 2.595883 -0.888178 -0.170887 +v 1.934897 -0.689973 1.183022 +v -2.755329 -1.548579 1.183226 +v -2.788467 -0.690183 0.357761 +v 1.637837 -2.275399 1.183022 +v -2.590230 -0.888388 0.952006 +v 2.001173 -1.350795 -0.666532 +v -3.019250 -1.383794 0.456564 +v -2.755329 -2.209401 0.357761 +v -1.995520 -2.176192 1.249434 +v 2.034311 -1.581578 1.414650 +v -1.995520 -1.515580 -0.600324 +v -2.788467 -1.482581 -0.336102 +f 109 84 110 +f 48 49 53 +f 48 53 59 +f 53 49 63 +f 49 48 67 +f 50 61 68 +f 65 50 68 +f 61 51 72 +f 58 61 72 +f 62 53 73 +f 53 63 73 +f 72 51 73 +f 59 52 74 +f 48 59 74 +f 58 67 75 +f 68 58 75 +f 64 68 75 +f 59 53 76 +f 60 59 76 +f 63 49 77 +f 49 67 77 +f 52 59 80 +f 59 60 80 +f 69 52 80 +f 52 69 81 +f 61 50 83 +f 54 61 83 +f 66 54 83 +f 84 54 85 +f 71 66 87 +f 56 71 87 +f 50 82 87 +f 82 56 87 +f 83 50 87 +f 66 83 87 +f 61 58 88 +f 68 61 88 +f 58 68 88 +f 48 74 89 +f 74 55 89 +f 73 51 90 +f 62 73 90 +f 51 84 90 +f 57 65 91 +f 68 64 91 +f 64 78 91 +f 71 56 92 +f 67 48 93 +f 75 67 93 +f 64 75 93 +f 78 64 93 +f 48 89 93 +f 65 68 94 +f 91 65 94 +f 68 91 94 +f 61 54 95 +f 51 61 95 +f 54 84 95 +f 84 51 95 +f 53 62 96 +f 62 70 96 +f 70 79 96 +f 55 74 97 +f 74 52 97 +f 52 81 97 +f 57 91 97 +f 67 58 98 +f 77 67 98 +f 58 77 98 +f 89 55 99 +f 91 78 99 +f 78 93 99 +f 93 89 99 +f 55 97 99 +f 97 91 99 +f 47 71 100 +f 81 69 100 +f 71 92 100 +f 76 53 101 +f 60 76 101 +f 79 70 101 +f 53 96 101 +f 96 79 101 +f 50 65 102 +f 82 50 102 +f 56 82 102 +f 65 86 102 +f 60 69 103 +f 80 60 103 +f 69 80 103 +f 58 72 104 +f 73 63 104 +f 72 73 104 +f 63 77 104 +f 77 58 104 +f 69 60 105 +f 70 47 105 +f 47 100 105 +f 100 69 105 +f 60 101 105 +f 101 70 105 +f 54 66 106 +f 66 71 106 +f 71 47 106 +f 85 54 106 +f 92 56 107 +f 81 100 107 +f 100 92 107 +f 56 102 107 +f 102 86 107 +f 65 57 108 +f 86 65 108 +f 97 81 108 +f 57 97 108 +f 81 107 108 +f 107 86 108 +f 62 90 109 +f 90 84 109 +f 47 70 110 +f 70 62 110 +f 84 85 110 +f 106 47 110 +f 85 106 110 +f 62 109 110 +o convex_2 +v 0.382260 0.003819 1.513640 +v -0.542197 -0.128323 -0.666532 +v -0.839307 -0.359562 -0.600453 +v 1.770180 -0.359562 0.291721 +v -1.004602 -0.359562 1.249325 +v 0.911277 0.003819 -0.567089 +v -1.334841 0.003819 0.390731 +v 1.076220 -0.359562 1.282256 +v -1.830376 -0.359562 0.291504 +v 0.878147 -0.359562 -0.600237 +v 0.944406 0.003819 1.282256 +v -0.905213 0.003819 1.282472 +v -0.905213 0.003819 -0.567306 +v 1.274293 0.003819 0.291721 +v -0.046663 -0.029225 1.546788 +v -0.145699 -0.359562 1.381482 +v -1.830376 -0.326518 0.390731 +v 1.770180 -0.326518 0.390731 +v -1.037380 -0.359562 -0.567306 +v 0.184187 0.003819 -0.666532 +v 0.184187 -0.359562 -0.666532 +v -1.830376 -0.326518 0.291504 +v 1.770180 -0.326518 0.291721 +v 0.250094 -0.359562 1.381482 +v 1.340552 -0.029225 0.357800 +v 0.944406 -0.062270 -0.567089 +v -0.542197 0.003819 -0.666532 +v -0.971473 0.003819 1.216393 +v -1.499784 -0.095314 0.324652 +v 0.151410 -0.029225 1.546788 +v 0.944406 -0.359562 -0.567089 +v -0.971473 -0.029225 1.249325 +f 138 127 142 +f 113 114 115 +f 111 116 117 +f 115 114 118 +f 113 115 119 +f 114 113 120 +f 116 111 121 +f 111 118 121 +f 111 117 122 +f 117 116 123 +f 116 121 124 +f 111 122 125 +f 122 115 125 +f 115 118 126 +f 125 115 126 +f 119 115 127 +f 118 114 128 +f 121 118 128 +f 112 113 129 +f 113 119 129 +f 116 120 130 +f 123 116 130 +f 113 112 131 +f 120 113 131 +f 112 130 131 +f 130 120 131 +f 119 127 132 +f 129 119 132 +f 123 129 132 +f 116 124 133 +f 128 114 133 +f 126 118 134 +f 125 126 134 +f 124 121 135 +f 121 128 135 +f 133 124 135 +f 128 133 135 +f 120 116 136 +f 133 114 136 +f 116 133 136 +f 112 129 137 +f 129 123 137 +f 130 112 137 +f 123 130 137 +f 122 117 138 +f 117 127 138 +f 117 123 139 +f 127 117 139 +f 123 132 139 +f 132 127 139 +f 118 111 140 +f 111 125 140 +f 134 118 140 +f 125 134 140 +f 114 120 141 +f 136 114 141 +f 120 136 141 +f 115 122 142 +f 127 115 142 +f 122 138 142 +o convex_3 +v 0.019318 1.060775 -0.963999 +v -0.079708 0.003819 -2.285178 +v 0.019318 0.334191 -2.582515 +v 0.481648 0.003819 -1.558674 +v -0.509029 0.003819 -1.162103 +v -0.476124 1.093962 -1.954521 +v 0.481648 1.093962 -2.053754 +v 0.316604 0.499484 -0.798671 +v -0.443115 1.093962 -1.063232 +v -0.476124 0.003819 -1.987840 +v 0.448742 1.093962 -1.195242 +v -0.145829 0.730510 -2.582515 +v 0.448742 0.003819 -2.053754 +v -0.112613 0.268138 -0.798671 +v 0.382518 0.003819 -1.096008 +v 0.250586 0.598404 -2.582515 +v -0.244855 0.631270 -0.798671 +v -0.542245 0.895589 -1.228380 +v 0.085232 1.093962 -2.251858 +v -0.211743 0.499484 -2.582515 +v 0.481648 0.466511 -1.195242 +v -0.542245 0.499484 -1.756598 +v 0.283492 0.763483 -0.798671 +v 0.514863 0.598404 -1.921745 +v 0.052327 0.003819 -0.963999 +v -0.277968 1.093962 -2.251858 +v 0.052327 0.763483 -2.615472 +v 0.514863 0.895589 -1.591812 +v -0.476124 0.631270 -2.053754 +v -0.112613 0.796563 -0.798671 +v -0.443115 0.003819 -1.063232 +v -0.542245 0.136032 -1.393527 +v 0.217474 0.367271 -2.549377 +v -0.376994 0.003819 -2.152987 +v -0.476124 0.730510 -1.063232 +v 0.250586 0.003819 -2.219083 +v 0.481648 0.334191 -2.053754 +v 0.217474 0.334191 -0.798671 +v -0.410003 1.093962 -2.120030 +v -0.509029 1.093962 -1.756598 +v 0.052327 0.499484 -2.648610 +v 0.316604 1.093962 -1.063232 +v 0.448742 0.036899 -1.195242 +v 0.514863 0.466511 -1.525536 +v -0.244855 0.400244 -0.798671 +v 0.382518 1.093962 -2.152987 +v -0.310873 1.093962 -0.996956 +v 0.481648 0.730510 -1.195242 +v -0.211743 0.631270 -2.582515 +v -0.509029 1.093962 -1.195242 +f 182 160 192 +f 144 146 147 +f 149 148 151 +f 144 147 152 +f 149 151 153 +f 146 144 155 +f 147 146 157 +f 156 150 159 +f 148 149 161 +f 150 153 165 +f 159 150 165 +f 147 157 167 +f 148 161 168 +f 168 161 169 +f 154 168 169 +f 149 153 170 +f 166 149 170 +f 162 152 171 +f 152 164 171 +f 164 148 171 +f 165 143 172 +f 159 165 172 +f 147 167 173 +f 167 156 173 +f 152 147 174 +f 147 160 174 +f 164 152 174 +f 160 164 174 +f 158 155 175 +f 145 144 176 +f 144 152 176 +f 162 145 176 +f 152 162 176 +f 159 151 177 +f 160 147 177 +f 147 173 177 +f 144 145 178 +f 155 144 178 +f 145 175 178 +f 175 155 178 +f 146 155 179 +f 158 149 179 +f 155 158 179 +f 149 166 179 +f 166 146 179 +f 150 156 180 +f 157 150 180 +f 156 167 180 +f 167 157 180 +f 148 168 181 +f 171 148 181 +f 151 148 182 +f 148 164 182 +f 164 160 182 +f 145 162 183 +f 169 158 183 +f 154 169 183 +f 175 145 183 +f 158 175 183 +f 153 151 184 +f 143 165 184 +f 165 153 184 +f 157 146 185 +f 150 157 185 +f 163 150 185 +f 163 185 186 +f 146 166 186 +f 166 170 186 +f 185 146 186 +f 156 159 187 +f 173 156 187 +f 159 177 187 +f 177 173 187 +f 149 158 188 +f 161 149 188 +f 158 169 188 +f 169 161 188 +f 151 159 189 +f 172 143 189 +f 159 172 189 +f 143 184 189 +f 184 151 189 +f 153 150 190 +f 150 163 190 +f 170 153 190 +f 163 186 190 +f 186 170 190 +f 168 154 191 +f 162 171 191 +f 181 168 191 +f 171 181 191 +f 183 162 191 +f 154 183 191 +f 177 151 192 +f 160 177 192 +f 151 182 192 +o convex_4 +v 0.085349 2.976897 -2.086925 +v -0.178802 1.193153 -0.996879 +v -0.277847 1.193153 -0.996879 +v -0.277847 1.094204 -2.252195 +v 0.481819 1.093962 -2.053870 +v 0.382677 2.613358 -1.228134 +v -0.409971 2.844481 -1.591605 +v 0.415757 1.094204 -1.129095 +v -0.046678 3.208020 -1.228134 +v -0.509210 1.094204 -1.195203 +v 0.415757 2.613358 -2.053870 +v 0.052270 3.571559 -1.657468 +v -0.376989 2.514409 -2.053870 +v -0.409971 2.547149 -1.195203 +v -0.476131 1.094204 -1.954831 +v 0.448740 2.712549 -1.624537 +v 0.052270 1.127187 -2.252195 +v 0.019190 3.274228 -2.053870 +v 0.481819 1.160170 -1.393404 +v 0.316615 1.754832 -1.096041 +v -0.509210 1.358310 -1.657468 +v 0.349598 1.853781 -2.153033 +v 0.019190 2.283529 -1.096041 +v -0.376989 1.787815 -1.062987 +v -0.013696 3.571559 -1.657468 +v 0.415757 2.877706 -1.591605 +v -0.310830 1.853781 -2.186087 +v 0.151411 1.094204 -1.030056 +v 0.019190 2.085389 -2.186087 +v -0.376989 2.613358 -2.020939 +v 0.052270 3.175037 -1.228134 +v -0.443051 2.316512 -1.195203 +v 0.052270 3.571559 -1.591605 +v -0.409971 1.193153 -2.119856 +v 0.382677 1.094204 -2.153033 +v 0.448740 1.556692 -1.228257 +v -0.376989 1.094204 -1.030056 +v 0.481819 1.787815 -1.591605 +v 0.448740 2.217320 -2.053870 +v -0.013696 3.571559 -1.591605 +v 0.085349 3.241003 -2.053870 +v 0.415757 2.844481 -1.756630 +v -0.409971 2.811740 -1.690522 +v 0.019190 3.075846 -1.195203 +v -0.509210 1.358310 -1.228134 +v -0.443051 2.447958 -1.657468 +v -0.476131 1.292344 -1.129095 +f 224 237 239 +f 196 197 207 +f 197 202 207 +f 200 197 211 +f 200 198 212 +f 207 202 213 +f 193 203 214 +f 195 194 215 +f 201 206 216 +f 195 215 216 +f 204 210 217 +f 198 208 218 +f 205 210 219 +f 194 195 220 +f 197 200 220 +f 200 212 220 +f 215 194 220 +f 212 215 220 +f 209 196 221 +f 210 193 221 +f 193 214 221 +f 214 209 221 +f 196 219 221 +f 219 210 221 +f 205 207 222 +f 210 205 222 +f 207 213 222 +f 217 210 222 +f 206 199 224 +f 216 206 224 +f 204 217 225 +f 198 218 225 +f 218 204 225 +f 223 198 225 +f 201 223 225 +f 196 207 226 +f 207 205 226 +f 219 196 226 +f 205 219 226 +f 197 196 227 +f 196 209 227 +f 209 214 227 +f 198 200 228 +f 208 198 228 +f 200 211 228 +f 202 197 229 +f 195 216 229 +f 220 195 229 +f 197 220 229 +f 211 197 230 +f 208 228 230 +f 228 211 230 +f 203 208 231 +f 214 203 231 +f 197 227 231 +f 227 214 231 +f 230 197 231 +f 208 230 231 +f 206 201 232 +f 199 206 232 +f 217 199 232 +f 201 225 232 +f 225 217 232 +f 203 193 233 +f 193 210 233 +f 210 204 233 +f 208 203 234 +f 204 218 234 +f 218 208 234 +f 203 233 234 +f 233 204 234 +f 199 217 235 +f 217 222 235 +f 212 198 236 +f 215 212 236 +f 201 216 236 +f 216 215 236 +f 198 223 236 +f 223 201 236 +f 213 202 237 +f 237 224 238 +f 222 213 238 +f 224 199 238 +f 199 235 238 +f 235 222 238 +f 213 237 238 +f 216 224 239 +f 202 229 239 +f 229 216 239 +f 237 202 239 +o convex_5 +v 0.911094 2.084535 0.390896 +v -1.268697 0.003819 0.291705 +v -1.268697 0.003819 0.390654 +v -0.740337 3.108829 0.423637 +v 0.349558 0.136177 1.678927 +v 0.844987 0.003819 -0.600288 +v -0.112695 3.142006 -0.402148 +v -0.740337 2.910466 1.249421 +v -0.839374 0.036996 -0.600288 +v 0.151239 3.076001 1.150230 +v 0.944024 0.003819 1.282404 +v 0.679844 2.910466 -0.468114 +v -0.905480 0.003819 1.282162 +v 1.241380 0.070173 0.291705 +v -0.178801 0.796922 -0.798671 +v -0.806443 1.721685 -0.401906 +v 0.019272 3.571559 0.390654 +v 0.745951 3.042475 0.423637 +v 0.844987 1.622503 1.150230 +v -0.277838 1.028113 1.678927 +v 0.283452 0.796922 1.678927 +v 0.316628 0.466550 -0.798671 +v -0.806443 2.943643 0.357913 +v -0.310768 1.952526 -0.633271 +v 0.944024 0.202531 -0.534323 +v -0.277838 0.235359 1.678927 +v -0.971586 0.664913 1.183213 +v -0.376875 0.003819 -0.699480 +v -0.608124 2.712103 -0.204009 +v -0.046589 3.108829 1.183213 +v 0.613738 2.679624 0.952090 +v 0.349558 1.919349 1.414578 +v -0.046589 1.127643 1.678927 +v -0.046589 0.003819 1.579736 +v 1.241380 0.003819 0.390896 +v 0.679844 2.778457 -0.501097 +v 0.844987 1.787689 -0.435131 +v 0.415664 0.400545 1.678927 +v -0.343944 0.697740 1.678927 +v -0.905480 0.169354 -0.534080 +v -0.046589 3.571559 0.423879 +v 0.283452 0.796922 -0.798671 +v -0.211732 0.268187 -0.798671 +v 0.745951 3.042475 0.258722 +v 0.052202 2.051358 -0.633271 +v -0.938656 1.391662 1.150230 +v -0.773513 3.075652 0.357913 +v 0.713020 2.844461 -0.402148 +v -0.839374 1.424839 -0.435131 +v 0.085378 3.174484 1.117247 +v -0.046589 3.472029 0.159531 +v -0.376875 1.820517 -0.633271 +v 0.052202 0.235359 -0.798671 +v -0.773513 2.646098 1.249421 +v -0.971586 0.003819 1.216196 +v -1.268697 0.036996 0.390654 +v -0.641055 2.943294 1.249421 +v -0.839374 1.622503 -0.369166 +v -0.773513 3.009647 0.720725 +v 0.844987 0.169354 -0.600288 +v 1.241380 0.103350 0.357671 +v -0.905480 0.003819 -0.534080 +v 0.944024 0.003819 -0.534323 +v -1.268697 0.036996 0.291705 +f 297 288 303 +f 242 241 245 +f 242 245 250 +f 242 250 252 +f 240 257 258 +f 259 244 260 +f 244 259 265 +f 245 241 267 +f 246 255 268 +f 257 249 270 +f 258 257 270 +f 258 270 271 +f 249 269 271 +f 270 249 271 +f 271 269 272 +f 247 259 272 +f 259 260 272 +f 260 271 272 +f 250 244 273 +f 252 250 273 +f 244 265 273 +f 265 252 273 +f 250 245 274 +f 258 250 274 +f 246 251 275 +f 264 275 276 +f 253 264 276 +f 275 251 276 +f 244 250 277 +f 250 258 277 +f 260 244 277 +f 258 271 277 +f 271 260 277 +f 259 247 278 +f 252 265 278 +f 265 259 278 +f 243 247 280 +f 261 254 281 +f 248 254 282 +f 254 261 282 +f 267 248 282 +f 251 256 283 +f 256 257 283 +f 257 240 283 +f 263 246 284 +f 254 263 284 +f 246 275 284 +f 281 254 284 +f 275 281 284 +f 255 262 286 +f 246 268 286 +f 268 255 286 +f 243 280 286 +f 276 251 287 +f 253 276 287 +f 283 253 287 +f 251 283 287 +f 248 279 288 +f 257 256 289 +f 249 257 289 +f 269 249 289 +f 256 280 289 +f 280 269 289 +f 251 246 290 +f 256 251 290 +f 280 256 290 +f 246 286 290 +f 286 280 290 +f 254 248 291 +f 255 246 291 +f 246 263 291 +f 263 254 291 +f 288 255 291 +f 248 288 291 +f 261 245 292 +f 245 267 292 +f 282 261 292 +f 267 282 292 +f 266 252 293 +f 278 247 293 +f 252 278 293 +f 285 266 293 +f 242 252 294 +f 252 266 294 +f 294 266 295 +f 241 242 295 +f 266 285 295 +f 293 247 295 +f 285 293 295 +f 242 294 295 +f 272 269 296 +f 247 272 296 +f 280 247 296 +f 269 280 296 +f 262 255 297 +f 255 288 297 +f 247 243 298 +f 243 286 298 +f 286 262 298 +f 262 295 298 +f 295 247 298 +f 245 261 299 +f 264 245 299 +f 275 264 299 +f 261 281 299 +f 281 275 299 +f 240 258 300 +f 274 253 300 +f 258 274 300 +f 283 240 300 +f 253 283 300 +f 267 241 301 +f 248 267 301 +f 241 279 301 +f 279 248 301 +f 245 264 302 +f 264 253 302 +f 274 245 302 +f 253 274 302 +f 279 241 303 +f 288 279 303 +f 241 295 303 +f 295 262 303 +f 262 297 303 +o convex_6 +v 0.019428 0.598274 3.297362 +v -0.013642 0.103013 1.679095 +v 0.118435 0.103013 1.679095 +v -0.112785 1.027893 1.679095 +v 0.382725 0.466446 1.679095 +v -0.244930 0.433308 3.132257 +v -0.311002 0.466446 1.679095 +v 0.217510 0.499403 3.165210 +v 0.250580 0.862564 1.745170 +v 0.052295 0.301299 3.165210 +v 0.316652 0.169108 1.778292 +v -0.244930 0.961707 1.745170 +v -0.013642 0.730464 3.066181 +v -0.244930 0.202156 1.712217 +v -0.178857 0.301299 2.901076 +v -0.244930 0.532541 3.099135 +v 0.217510 0.565408 3.165210 +v -0.311002 0.730464 1.679095 +v -0.046712 0.532541 3.396559 +v -0.079715 0.697507 3.165210 +v -0.013642 1.027893 1.679095 +v 0.151437 0.697507 2.934029 +v 0.382725 0.301299 1.712217 +v 0.316652 0.532541 2.405928 +v 0.184507 0.334346 2.967151 +v -0.046712 0.301299 3.165210 +v 0.019428 0.103013 1.811246 +v -0.311002 0.565408 2.009473 +f 319 321 331 +f 306 305 307 +f 306 307 308 +f 307 305 310 +f 313 306 314 +f 309 310 317 +f 310 305 317 +f 309 317 318 +f 316 304 320 +f 307 310 321 +f 315 307 321 +f 319 315 321 +f 313 311 322 +f 319 309 322 +f 320 304 322 +f 311 320 322 +f 307 315 323 +f 304 316 323 +f 316 307 323 +f 315 319 323 +f 322 304 323 +f 319 322 323 +f 308 307 324 +f 312 308 324 +f 307 316 324 +f 324 316 325 +f 320 312 325 +f 316 320 325 +f 312 324 325 +f 306 308 326 +f 314 306 326 +f 308 312 327 +f 320 311 327 +f 312 320 327 +f 326 308 327 +f 311 326 327 +f 311 313 328 +f 313 314 328 +f 326 311 328 +f 314 326 328 +f 309 318 329 +f 322 309 329 +f 313 322 329 +f 305 306 330 +f 306 313 330 +f 317 305 330 +f 318 317 330 +f 313 329 330 +f 329 318 330 +f 310 309 331 +f 309 319 331 +f 321 310 331 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/849/849.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/849/849.urdf new file mode 100644 index 000000000..ded983204 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/849/849.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/850/850.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/850/850.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/850/850.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/850/850.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/850/850.obj new file mode 100644 index 000000000..b9ec7ca8f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/850/850.obj @@ -0,0 +1,675 @@ +o convex_0 +v -0.023914 -1.514115 1.611140 +v -0.299623 -2.156993 3.049816 +v -0.268893 -2.156993 3.049816 +v -0.146503 -2.034497 1.090503 +v 0.343390 -1.544722 3.049816 +v 0.282129 -2.003891 1.090503 +v -0.207632 -1.514115 3.019155 +v -0.238296 -1.544722 1.090503 +v 0.374054 -1.575328 1.090503 +v 0.190270 -2.065104 2.988494 +v 0.343390 -1.452764 2.835389 +v -0.238296 -2.034497 1.090503 +v -0.299623 -2.065104 3.111335 +v -0.238296 -1.514115 2.253628 +v 0.220933 -2.065104 2.651821 +v 0.220933 -1.452764 3.049816 +v -0.299623 -2.065104 2.468055 +v 0.374054 -1.544722 1.213145 +v -0.299623 -1.973215 3.080476 +v -0.268893 -2.156993 3.111335 +v 0.374054 -1.605935 1.304929 +v -0.268893 -2.065104 1.549819 +f 17 8 22 +f 3 4 6 +f 6 4 8 +f 6 8 9 +f 8 4 12 +f 3 6 15 +f 6 5 15 +f 5 10 15 +f 1 8 16 +f 5 11 16 +f 11 1 16 +f 13 5 16 +f 7 13 16 +f 14 7 16 +f 8 14 16 +f 2 13 17 +f 8 1 18 +f 9 8 18 +f 11 5 18 +f 1 11 18 +f 13 7 19 +f 7 14 19 +f 14 8 19 +f 8 17 19 +f 17 13 19 +f 2 3 20 +f 10 5 20 +f 13 2 20 +f 5 13 20 +f 3 15 20 +f 15 10 20 +f 5 6 21 +f 6 9 21 +f 18 5 21 +f 9 18 21 +f 3 2 22 +f 4 3 22 +f 12 4 22 +f 8 12 22 +f 2 17 22 +o convex_1 +v -0.299509 0.598888 -1.114455 +v -0.942519 3.201691 1.090305 +v -1.003738 3.201691 1.090305 +v -1.065165 3.262973 -1.114455 +v 0.986304 3.170919 -0.991872 +v 0.986304 0.598888 0.906431 +v -1.003738 0.598888 1.029014 +v 0.986304 3.262973 0.906431 +v 0.986304 0.598888 -1.022518 +v -1.034348 0.598888 -1.022518 +v 0.496343 0.598888 1.059659 +v 1.047730 1.272993 -0.195517 +v -1.065165 1.517601 -0.654986 +v 0.925085 3.079126 -1.022518 +v 1.047730 0.598888 0.569545 +v 0.986304 3.232201 0.937077 +v -1.034348 3.201691 0.784064 +v -0.881300 3.262973 -1.114455 +v -0.146461 0.690942 -1.114455 +v -0.758861 2.252206 1.090305 +v 1.047730 1.517862 0.569545 +v 0.526952 3.262973 0.967723 +v 0.496343 0.997092 1.059659 +v -0.667032 0.935810 -1.114455 +v 0.925085 0.598888 0.967723 +v 0.986304 3.262973 0.600191 +v -0.330119 0.598888 1.059659 +v -1.065165 3.262973 -0.869290 +v 1.047730 0.598888 -0.226163 +v -1.065165 1.915805 -1.083809 +v -1.065165 3.232201 -0.440682 +v -1.003738 1.303243 1.059659 +v 0.986304 2.588868 -1.022518 +v 0.986304 3.201691 -0.563049 +v -1.034348 0.598888 -0.379391 +v 1.016914 2.497335 0.783849 +v 1.016914 2.313488 -0.654986 +v -0.973129 0.598888 -1.053164 +v -0.820080 3.232201 -1.114455 +f 41 40 61 +f 23 28 29 +f 28 23 31 +f 23 29 32 +f 29 28 33 +f 28 31 37 +f 35 29 39 +f 23 26 40 +f 26 30 40 +f 27 36 40 +f 31 23 41 +f 23 40 41 +f 24 25 42 +f 37 34 43 +f 25 24 44 +f 30 26 44 +f 24 38 44 +f 38 30 44 +f 38 24 45 +f 24 42 45 +f 42 33 45 +f 26 23 46 +f 33 28 47 +f 28 38 47 +f 38 45 47 +f 45 33 47 +f 40 30 48 +f 29 33 49 +f 33 42 49 +f 26 35 50 +f 39 25 50 +f 25 44 50 +f 44 26 50 +f 37 31 51 +f 34 37 51 +f 35 26 52 +f 32 35 52 +f 26 46 52 +f 35 39 53 +f 50 35 53 +f 39 50 53 +f 25 39 54 +f 39 29 54 +f 42 25 54 +f 29 49 54 +f 49 42 54 +f 36 27 55 +f 41 36 55 +f 31 41 55 +f 27 40 56 +f 40 48 56 +f 32 29 57 +f 29 35 57 +f 35 32 57 +f 28 37 58 +f 30 38 58 +f 38 28 58 +f 37 43 58 +f 48 30 58 +f 27 56 58 +f 56 48 58 +f 43 34 59 +f 51 31 59 +f 34 51 59 +f 55 27 59 +f 31 55 59 +f 27 58 59 +f 58 43 59 +f 23 32 60 +f 46 23 60 +f 32 52 60 +f 52 46 60 +f 40 36 61 +f 36 41 61 +o convex_2 +v -0.269001 -2.065197 -2.645368 +v 0.343432 -1.820137 -2.033216 +v 0.312798 -1.575304 -1.084022 +v -0.238368 -1.514025 -3.012621 +v -0.238368 -2.065197 -1.084022 +v 0.343432 -2.065197 -3.012621 +v -0.207734 -1.483385 -1.084022 +v 0.220897 -1.483385 -2.951443 +v 0.220897 -2.003918 -1.084022 +v -0.269001 -2.065197 -2.982032 +v 0.190324 -1.514025 -1.175977 +v 0.343432 -2.065197 -2.553413 +v 0.343432 -1.912056 -3.012621 +v -0.238368 -1.514025 -2.033216 +v -0.054626 -2.065197 -1.084022 +v -0.207734 -1.483385 -2.277925 +v -0.023992 -1.483385 -1.084022 +v 0.312798 -1.667166 -1.145388 +f 70 73 79 +f 66 62 67 +f 66 64 68 +f 64 66 70 +f 62 65 71 +f 65 67 71 +f 67 62 71 +f 64 69 72 +f 67 63 73 +f 66 67 73 +f 64 63 74 +f 63 67 74 +f 67 65 74 +f 69 64 74 +f 65 69 74 +f 65 62 75 +f 62 66 75 +f 68 65 75 +f 66 68 75 +f 70 66 76 +f 66 73 76 +f 73 70 76 +f 65 68 77 +f 69 65 77 +f 68 69 77 +f 68 64 78 +f 69 68 78 +f 64 72 78 +f 72 69 78 +f 63 64 79 +f 64 70 79 +f 73 63 79 +o convex_3 +v -0.850679 -2.677498 -0.961251 +v 0.373912 -0.166654 1.090305 +v 0.955701 -0.166654 0.967510 +v 0.925091 -2.799946 0.998155 +v 1.016920 -0.166654 -1.022329 +v -1.003726 -0.166654 0.998155 +v 1.047530 -2.830625 -1.052975 +v -0.973117 -2.891982 0.967510 +v -1.034543 -0.166654 -0.991684 +v -1.003726 -2.830625 -0.930605 +v 1.078346 -0.289368 0.385881 +v -0.605802 -0.289635 -1.083833 +v -0.238280 -2.034048 1.090305 +v -0.238280 -2.064726 -1.083833 +v 0.955701 -2.830625 0.814494 +v -1.034543 -0.197332 0.263298 +v 0.404521 -2.156762 1.090305 +v -0.973117 -0.166654 1.029014 +v 0.312693 -1.575202 -1.083833 +v -1.003726 -2.861303 -0.501779 +v 0.986311 -2.248531 0.845140 +v 1.078346 -0.166920 0.079637 +v -0.574985 -2.891982 0.967722 +v -1.034543 -1.177181 -0.501779 +v -0.360718 -0.166654 -1.083833 +v 1.016920 -1.177447 -1.052975 +v -1.003726 -1.789419 0.722557 +v -0.942507 -2.891982 0.446959 +v -1.003726 -0.228011 -1.022329 +v 0.129035 -0.166654 1.090305 +v 0.772043 -2.830625 -1.052975 +v 1.078346 -0.962964 -0.134457 +v -0.973117 -2.003903 0.998155 +v 1.047530 -2.830625 -0.961038 +v 0.955701 -2.799946 0.967510 +v 0.986311 -0.166654 0.875785 +v -1.034543 -0.840783 -0.991684 +v -0.238280 -1.544524 1.090305 +v 1.078346 -0.840516 -0.165102 +v -1.003726 -2.095672 -0.961251 +f 116 108 119 +f 82 81 83 +f 81 82 84 +f 81 84 85 +f 85 84 88 +f 85 88 95 +f 83 81 96 +f 87 83 96 +f 81 92 96 +f 92 87 96 +f 81 85 97 +f 86 93 98 +f 93 91 98 +f 83 87 102 +f 94 83 102 +f 95 88 103 +f 89 99 103 +f 88 84 104 +f 98 91 104 +f 98 104 105 +f 84 86 105 +f 86 98 105 +f 104 84 105 +f 87 85 106 +f 85 95 106 +f 99 87 106 +f 95 103 106 +f 103 99 106 +f 99 86 107 +f 87 99 107 +f 102 87 107 +f 86 102 107 +f 88 104 108 +f 104 91 108 +f 92 81 109 +f 81 97 109 +f 89 80 110 +f 80 93 110 +f 93 86 110 +f 86 99 110 +f 99 89 110 +f 90 100 111 +f 101 90 111 +f 85 87 112 +f 87 92 112 +f 97 85 112 +f 92 97 112 +f 94 102 113 +f 102 86 113 +f 86 111 113 +f 111 100 113 +f 82 83 114 +f 83 94 114 +f 94 113 114 +f 113 100 114 +f 84 82 115 +f 100 90 115 +f 101 84 115 +f 90 101 115 +f 82 114 115 +f 114 100 115 +f 103 88 116 +f 89 103 116 +f 88 108 116 +f 97 92 117 +f 92 109 117 +f 109 97 117 +f 86 84 118 +f 84 101 118 +f 111 86 118 +f 101 111 118 +f 80 89 119 +f 93 80 119 +f 91 93 119 +f 108 91 119 +f 89 116 119 +o convex_4 +v -3.024714 -0.105410 -0.165171 +v -2.840948 0.568266 0.171535 +v -2.840948 0.568266 0.140937 +v -1.034741 -0.105410 0.018547 +v -1.034741 0.506939 -0.318292 +v -1.034741 -0.074747 0.355385 +v -1.096062 0.415080 0.355385 +v -2.932732 -0.105410 0.232796 +v -1.034741 -0.105410 -0.287628 +v -2.994054 0.017112 -0.318292 +v -2.963393 0.384482 -0.226367 +v -2.994054 0.568266 0.202265 +v -1.249167 0.537537 -0.257030 +v -2.136743 -0.074747 -0.318292 +v -3.055573 -0.105410 0.202265 +v -1.279828 0.415080 0.355385 +v -1.034741 0.415080 0.324655 +v -3.024714 -0.074747 -0.287628 +v -2.810288 0.537537 0.232796 +v -1.279828 -0.074747 0.355385 +v -1.065401 0.506939 -0.103910 +v -1.279828 0.506939 -0.318292 +v -2.994054 0.506939 0.018547 +v -1.034741 0.200830 -0.318292 +f 133 124 143 +f 123 124 125 +f 120 123 127 +f 123 125 127 +f 123 120 128 +f 124 123 128 +f 121 122 131 +f 126 121 131 +f 122 121 132 +f 129 124 133 +f 120 127 134 +f 127 131 134 +f 125 126 135 +f 126 131 135 +f 125 124 136 +f 126 125 136 +f 128 120 137 +f 130 129 137 +f 133 128 137 +f 129 133 137 +f 120 134 137 +f 131 127 138 +f 127 135 138 +f 135 131 138 +f 127 125 139 +f 125 135 139 +f 135 127 139 +f 121 126 140 +f 132 121 140 +f 124 132 140 +f 136 124 140 +f 126 136 140 +f 124 129 141 +f 129 130 141 +f 132 124 141 +f 132 141 142 +f 131 122 142 +f 122 132 142 +f 134 131 142 +f 130 137 142 +f 137 134 142 +f 141 130 142 +f 124 128 143 +f 128 133 143 +o convex_5 +v 1.568503 0.017082 0.294142 +v 1.231670 0.537645 -0.318196 +v 1.231670 0.537645 -0.348913 +v 3.007200 0.384497 0.294142 +v 2.915442 -0.044164 -0.195703 +v 1.078547 -0.105410 -0.318196 +v 1.078547 0.445744 0.202241 +v 2.915442 0.445744 -0.256949 +v 3.068760 -0.044164 0.202241 +v 1.078547 0.017082 0.294142 +v 1.078547 0.537645 -0.348913 +v 2.700953 -0.074756 0.140994 +v 2.670367 0.476398 -0.287667 +v 1.078547 -0.105410 -0.195703 +v 1.109327 0.139575 0.294142 +v 2.854076 0.476398 -0.226358 +v 1.262451 -0.013509 0.263487 +v 1.446160 0.415089 -0.348913 +v 2.884662 0.292659 -0.256949 +v 2.946028 0.445744 -0.226358 +v 2.670367 -0.044164 0.232895 +f 160 155 164 +f 147 145 150 +f 144 147 153 +f 150 149 153 +f 145 146 154 +f 149 150 154 +f 150 145 154 +f 149 148 155 +f 148 152 155 +f 153 149 157 +f 149 155 157 +f 147 150 158 +f 153 147 158 +f 150 153 158 +f 146 145 159 +f 145 147 159 +f 156 146 159 +f 151 156 159 +f 153 157 160 +f 157 155 160 +f 154 146 161 +f 149 154 161 +f 146 156 161 +f 156 149 161 +f 148 149 162 +f 151 148 162 +f 149 156 162 +f 156 151 162 +f 148 151 163 +f 147 152 163 +f 152 148 163 +f 159 147 163 +f 151 159 163 +f 147 144 164 +f 152 147 164 +f 144 153 164 +f 155 152 164 +f 153 160 164 +o convex_6 +v -0.330149 0.384467 -3.043620 +v 0.282189 0.384467 -1.114455 +v 0.282189 0.323284 -1.114455 +v 0.282189 0.445777 -3.012839 +v 0.220942 -0.136032 -2.921064 +v -0.177064 -0.136032 -1.114455 +v -0.268902 0.507023 -1.114455 +v 0.251534 -0.074786 -1.114455 +v -0.207656 -0.013539 -2.951467 +v -0.360866 0.507023 -3.043620 +v 0.220942 0.507023 -1.114455 +v 0.282189 0.476368 -2.829100 +v 0.282189 0.262038 -2.982059 +v -0.207656 -0.074786 -1.267602 +v 0.251534 -0.105377 -1.359755 +v -0.299620 0.476368 -1.390347 +v -0.360866 0.445777 -2.982059 +v 0.129041 -0.136032 -2.921064 +v -0.146410 0.507023 -3.043620 +v 0.251534 -0.013539 -2.951467 +v -0.238311 0.047707 -2.982059 +f 184 169 185 +f 166 167 168 +f 167 166 170 +f 170 166 171 +f 167 170 172 +f 174 171 175 +f 171 166 175 +f 166 168 176 +f 175 166 176 +f 168 167 177 +f 170 171 178 +f 173 170 178 +f 170 169 179 +f 167 172 179 +f 172 170 179 +f 177 167 179 +f 171 174 180 +f 178 171 180 +f 178 180 181 +f 174 165 181 +f 180 174 181 +f 169 170 182 +f 170 173 182 +f 168 165 183 +f 165 174 183 +f 174 175 183 +f 176 168 183 +f 175 176 183 +f 165 168 184 +f 168 177 184 +f 179 169 184 +f 177 179 184 +f 173 178 185 +f 178 181 185 +f 181 165 185 +f 169 182 185 +f 182 173 185 +f 165 184 185 +o convex_7 +v -1.034543 -0.166654 -0.991872 +v 1.078352 0.537591 0.385671 +v 1.047536 0.598888 0.569329 +v 0.955707 -0.166654 0.967723 +v -1.003726 0.598888 1.029014 +v 0.986316 0.598888 -1.022518 +v 1.016926 -0.166654 -1.022518 +v -1.034543 0.598888 -1.022518 +v -0.973117 -0.166654 1.029014 +v 0.496561 0.598888 1.059659 +v -0.177058 -0.136005 -1.114455 +v 0.374123 -0.166654 1.090305 +v 1.078352 -0.166654 0.385671 +v 0.220867 0.507017 -1.114455 +v 0.986316 0.598888 0.906431 +v -1.034543 -0.074708 0.355025 +v 1.078352 0.537591 -0.348745 +v -0.268887 0.415146 1.090305 +v -0.758849 0.598888 -1.083809 +v 1.078352 -0.105281 -0.318100 +v -0.820068 -0.166654 -1.053164 +v 0.251477 -0.074708 -1.114455 +v -1.034543 0.415146 0.324380 +v -1.003726 -0.166654 0.998152 +v -0.299497 0.598888 -1.114455 +v -0.238278 -0.074708 1.090305 +v 1.016926 0.537591 -1.022518 +v 0.374123 0.507017 1.090305 +v 0.955707 0.445720 0.967723 +f 213 189 214 +f 190 188 191 +f 189 186 192 +f 190 191 193 +f 186 189 194 +f 188 190 195 +f 194 189 197 +f 187 188 198 +f 189 192 198 +f 188 195 200 +f 198 188 200 +f 189 198 200 +f 193 186 201 +f 188 187 202 +f 191 188 202 +f 187 198 202 +f 190 194 203 +f 193 191 204 +f 198 192 205 +f 192 202 205 +f 202 198 205 +f 192 186 206 +f 186 193 206 +f 196 192 206 +f 193 204 206 +f 204 196 206 +f 192 196 207 +f 196 199 207 +f 190 193 208 +f 193 201 208 +f 201 190 208 +f 186 194 209 +f 194 190 209 +f 201 186 209 +f 190 201 209 +f 191 199 210 +f 199 196 210 +f 204 191 210 +f 196 204 210 +f 194 197 211 +f 203 194 211 +f 197 203 211 +f 199 191 212 +f 191 202 212 +f 202 192 212 +f 192 207 212 +f 207 199 212 +f 195 190 213 +f 197 189 213 +f 190 203 213 +f 203 197 213 +f 200 195 214 +f 189 200 214 +f 195 213 214 +o convex_8 +v -0.299623 0.108989 2.927326 +v 0.374054 0.507023 1.243626 +v 0.374054 0.476293 1.243626 +v -0.268893 0.415032 1.090494 +v 0.282129 -0.166654 1.090494 +v 0.312792 0.507023 2.957915 +v 0.312792 -0.166654 2.927326 +v -0.268893 -0.074729 1.090494 +v -0.207632 0.507023 3.019092 +v -0.299623 -0.044131 2.927326 +v 0.251531 0.507023 1.090494 +v -0.268893 0.445696 1.335581 +v 0.251531 -0.166654 2.835560 +v 0.374054 0.445696 1.090494 +v -0.207632 0.507023 2.406752 +v 0.343390 0.476293 2.468118 +v -0.299623 -0.013533 2.131265 +v 0.312792 -0.166654 2.345575 +v -0.085175 0.415032 3.019092 +v 0.220933 -0.166654 1.090494 +f 227 222 234 +f 218 219 222 +f 220 216 223 +f 223 215 224 +f 219 218 225 +f 223 216 225 +f 218 215 226 +f 215 223 226 +f 225 218 226 +f 219 221 227 +f 221 224 227 +f 224 222 227 +f 216 217 228 +f 217 221 228 +f 219 225 228 +f 225 216 228 +f 223 225 229 +f 226 223 229 +f 225 226 229 +f 217 216 230 +f 216 220 230 +f 221 217 230 +f 220 221 230 +f 215 218 231 +f 218 222 231 +f 224 215 231 +f 222 224 231 +f 221 219 232 +f 219 228 232 +f 228 221 232 +f 221 220 233 +f 220 223 233 +f 224 221 233 +f 223 224 233 +f 222 219 234 +f 219 227 234 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/850/850.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/850/850.urdf new file mode 100644 index 000000000..9c3ccc514 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/850/850.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/851/851.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/851/851.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/851/851.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/851/851.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/851/851.obj new file mode 100644 index 000000000..827cb9c12 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/851/851.obj @@ -0,0 +1,522 @@ +o convex_0 +v -1.124323 -1.396235 0.363493 +v 1.094861 -1.355094 -2.347749 +v 1.094861 -1.396235 -2.347749 +v 1.053588 -1.971360 1.514579 +v -0.959883 -3.409384 -3.047113 +v 1.012532 -3.450525 1.514579 +v -1.000939 -3.450525 1.514579 +v 1.094861 -3.327102 -3.128744 +v -0.918827 -1.437377 -3.170477 +v -1.083050 -1.313953 1.391215 +v 0.971476 -1.355094 1.514579 +v 1.094861 -1.313953 -3.170477 +v -1.083050 -1.272812 -1.197122 +v 0.930421 -1.272812 1.020667 +v -1.041995 -3.409384 -1.115491 +v -1.083050 -1.355094 1.514579 +v 1.053588 -3.450525 0.486398 +v -0.138116 -3.409384 -3.087929 +v -1.124323 -1.272812 0.939036 +v 1.012532 -1.272812 -1.238396 +v -0.959883 -1.519446 -3.170477 +v -1.000939 -3.450525 -0.006138 +v 1.053588 -3.409384 1.391215 +v -1.124323 -1.601728 0.980310 +v 1.012532 -3.450525 -0.047412 +v -1.041995 -3.203891 0.980310 +v 1.094861 -2.300063 -3.170477 +v 1.053588 -3.368243 -2.677023 +v -1.083050 -1.478305 -1.238396 +v 0.683652 -3.327102 -3.128744 +v 1.094861 -3.327102 -2.677023 +v -1.000939 -1.396235 -2.594934 +v 1.012532 -1.272812 -0.253324 +v -1.041995 -2.751977 1.514579 +v 1.053588 -3.162750 1.514579 +f 23 31 35 +f 3 2 4 +f 6 4 7 +f 2 3 8 +f 4 2 11 +f 7 4 11 +f 2 8 12 +f 12 9 13 +f 10 11 14 +f 7 11 16 +f 11 10 16 +f 6 7 17 +f 13 1 19 +f 10 14 19 +f 14 13 19 +f 16 10 19 +f 12 13 20 +f 13 14 20 +f 9 12 21 +f 18 5 21 +f 7 15 22 +f 15 5 22 +f 17 7 22 +f 5 18 22 +f 6 17 23 +f 1 15 24 +f 19 1 24 +f 16 19 24 +f 17 22 25 +f 22 18 25 +f 15 7 26 +f 24 15 26 +f 12 8 27 +f 21 12 27 +f 8 17 28 +f 18 8 28 +f 17 25 28 +f 25 18 28 +f 1 13 29 +f 15 1 29 +f 5 15 29 +f 8 18 30 +f 18 21 30 +f 27 8 30 +f 21 27 30 +f 8 3 31 +f 17 8 31 +f 23 17 31 +f 13 9 32 +f 9 21 32 +f 21 5 32 +f 29 13 32 +f 5 29 32 +f 11 2 33 +f 2 12 33 +f 14 11 33 +f 12 20 33 +f 20 14 33 +f 7 16 34 +f 16 24 34 +f 26 7 34 +f 24 26 34 +f 3 4 35 +f 4 6 35 +f 6 23 35 +f 31 3 35 +o convex_1 +v 0.313836 4.604269 -1.197544 +v 1.094789 2.755255 -0.581130 +v 1.012493 4.562821 0.980261 +v -1.000758 2.714178 0.856802 +v -0.959824 4.562821 -1.197765 +v -1.083267 2.714178 -1.156612 +v -1.041906 4.604269 0.856802 +v 1.012493 2.714178 1.021415 +v 0.971346 4.604269 -1.238919 +v 1.094789 2.714178 -1.156612 +v -0.754298 2.960639 -1.197765 +v 1.012493 4.604269 -0.416738 +v -1.041906 3.823253 -1.197765 +v -1.083267 2.714178 -0.457891 +v 1.094789 3.124946 -1.156612 +v -1.041906 4.604269 0.240387 +v -1.041906 3.618054 0.856802 +v -0.466691 4.604269 0.897955 +v -1.083267 3.207285 -1.156612 +v 0.930411 2.837408 1.021415 +v 1.012493 4.521745 -1.197544 +v 0.806968 4.562821 0.980261 +v -1.000758 4.562821 -0.909914 +f 48 51 58 +f 37 38 43 +f 39 41 43 +f 40 36 44 +f 36 42 44 +f 37 43 45 +f 43 41 45 +f 44 45 46 +f 45 41 46 +f 44 42 47 +f 40 44 48 +f 44 46 48 +f 46 41 48 +f 41 39 49 +f 38 37 50 +f 37 45 50 +f 45 44 50 +f 47 38 50 +f 36 40 51 +f 42 36 51 +f 49 39 52 +f 42 49 52 +f 38 47 53 +f 47 42 53 +f 48 41 54 +f 41 49 54 +f 49 42 54 +f 42 51 54 +f 51 48 54 +f 43 38 55 +f 39 43 55 +f 52 39 55 +f 42 52 55 +f 53 42 55 +f 44 47 56 +f 50 44 56 +f 47 50 56 +f 38 53 57 +f 55 38 57 +f 53 55 57 +f 40 48 58 +f 51 40 58 +o convex_2 +v 0.478030 -3.491627 2.911739 +v 0.971159 -1.355420 1.555748 +v 1.094607 -1.395994 2.665133 +v -1.041843 -1.437196 2.706302 +v -1.000694 -3.450425 1.514579 +v 1.012530 -3.450425 1.514579 +v -1.082993 -1.355420 1.514579 +v -1.000694 -3.491627 2.829537 +v 1.135757 -1.437196 2.911739 +v 0.930231 -3.491627 2.911739 +v -1.000694 -1.437196 2.829537 +v -1.124364 -2.628694 2.172195 +v 1.053458 -1.971561 1.514579 +v 1.135757 -2.259344 2.254260 +v -1.000694 -3.491417 1.637950 +v -1.082993 -1.355420 1.925452 +v -1.124364 -2.628694 1.637950 +v 1.094829 -2.094747 1.596781 +v 0.971159 -3.491417 2.048960 +v 0.971159 -1.355420 1.514579 +v 0.806783 -1.437196 2.911739 +v -1.124364 -2.135949 2.213227 +v 1.012530 -3.450425 1.966621 +v -0.425266 -3.121649 2.870707 +v 1.094829 -2.669478 1.596781 +v 1.012530 -1.396203 1.596781 +v 0.971159 -3.203843 2.911739 +f 68 81 85 +f 64 63 65 +f 59 66 68 +f 67 59 68 +f 62 66 69 +f 64 65 71 +f 63 64 73 +f 68 66 73 +f 61 60 74 +f 60 65 74 +f 69 61 74 +f 62 69 74 +f 65 63 75 +f 66 70 75 +f 63 73 75 +f 73 66 75 +f 67 72 76 +f 73 64 77 +f 68 73 77 +f 60 61 78 +f 65 60 78 +f 71 65 78 +f 67 61 79 +f 59 67 79 +f 61 69 79 +f 66 62 80 +f 70 66 80 +f 74 65 80 +f 62 74 80 +f 65 75 80 +f 75 70 80 +f 77 64 81 +f 68 77 81 +f 66 59 82 +f 69 66 82 +f 59 79 82 +f 79 69 82 +f 64 71 83 +f 71 76 83 +f 76 72 83 +f 81 64 83 +f 72 81 83 +f 61 67 84 +f 67 76 84 +f 76 71 84 +f 78 61 84 +f 71 78 84 +f 67 68 85 +f 72 67 85 +f 81 72 85 +o convex_3 +v 0.396039 -0.039939 -1.238919 +v 1.094873 0.494571 0.939108 +v -0.425747 0.494571 0.980261 +v 0.930429 -1.272599 1.021415 +v -1.083090 -1.272599 -1.197544 +v 1.012542 -1.272599 -1.238919 +v -1.124364 -1.272599 0.938887 +v -1.000976 0.494571 -1.074306 +v 1.012542 0.494571 -1.238919 +v -1.124364 0.494571 0.980261 +v 1.053599 -1.067098 -0.827607 +v -1.000976 -0.039939 -1.156391 +v 0.971486 -1.190260 1.021415 +v 1.094873 -0.039939 0.240387 +v -1.124364 0.494571 0.733342 +v 1.053599 0.124566 0.980261 +v -0.507644 0.494571 -1.156391 +v 1.053599 0.453402 -0.704368 +v 0.067151 -1.272599 -1.238919 +v -1.124364 -1.272599 0.322694 +v -1.124364 0.083569 0.980261 +v -1.042033 -0.779258 -1.197544 +v 1.012542 -1.272599 -0.128886 +v 1.094873 0.247901 0.897955 +v -0.302360 -1.272599 0.980261 +f 106 92 110 +f 89 90 91 +f 90 89 92 +f 88 87 93 +f 91 86 94 +f 93 87 94 +f 88 93 95 +f 91 94 96 +f 88 95 98 +f 95 89 98 +f 93 90 100 +f 92 95 100 +f 95 93 100 +f 87 88 101 +f 88 98 101 +f 98 87 101 +f 94 86 102 +f 93 94 102 +f 97 93 102 +f 94 87 103 +f 96 94 103 +f 99 96 103 +f 87 99 103 +f 86 91 104 +f 91 90 104 +f 90 92 105 +f 100 90 105 +f 92 100 105 +f 89 95 106 +f 95 92 106 +f 90 93 107 +f 93 97 107 +f 102 86 107 +f 97 102 107 +f 86 104 107 +f 104 90 107 +f 89 91 108 +f 91 96 108 +f 98 89 108 +f 87 98 109 +f 96 99 109 +f 99 87 109 +f 108 96 109 +f 98 108 109 +f 92 89 110 +f 89 106 110 +o convex_4 +v 2.286177 2.467033 0.980261 +v 0.888679 0.494571 -1.238919 +v 0.190534 0.494571 -1.197544 +v -3.055210 2.590203 -1.197544 +v -2.973146 0.494571 0.980040 +v 3.025958 2.672317 -1.238698 +v 3.066990 0.494571 0.856802 +v -2.973146 2.713808 0.980040 +v -3.055210 0.576902 -1.156612 +v 3.108022 0.494571 -1.238698 +v 2.984926 2.549146 0.938887 +v 1.012378 2.713808 1.021415 +v -1.083265 2.713808 -1.156612 +v -0.384516 0.494571 0.980040 +v -3.014178 2.713808 0.651256 +v 3.066990 2.508090 -1.074306 +v 1.629063 0.576902 0.939108 +v 1.094442 2.713808 -1.156612 +v -1.000598 0.494571 -1.115459 +v -3.055210 1.645246 -1.197544 +v 3.025958 2.672317 -0.704590 +v 0.806615 2.302806 1.021415 +v -3.055210 0.617959 -0.786675 +v -3.014178 0.535845 -0.622283 +v 3.025958 1.070235 0.897955 +v -3.055210 2.631477 -0.663436 +v 3.108022 0.576902 -0.581130 +v 3.066990 0.700289 0.856802 +v 1.094442 1.152131 0.980261 +v -3.014178 0.617959 0.281541 +v 3.025958 2.590203 0.034842 +v 3.108022 1.111291 -1.238698 +v -2.973146 0.494571 0.692410 +v 2.984926 2.056031 0.938887 +v -3.014178 2.713808 0.528018 +v 0.642488 2.343645 1.021415 +f 132 122 146 +f 113 112 115 +f 112 114 116 +f 115 112 117 +f 112 113 119 +f 117 112 120 +f 111 121 122 +f 116 114 123 +f 118 122 123 +f 115 117 124 +f 115 118 125 +f 118 123 125 +f 124 117 127 +f 116 123 128 +f 123 122 128 +f 113 115 129 +f 119 113 129 +f 114 112 130 +f 112 119 130 +f 119 114 130 +f 122 121 131 +f 126 116 131 +f 116 128 131 +f 128 122 131 +f 111 122 132 +f 115 124 132 +f 114 119 133 +f 119 115 133 +f 119 129 134 +f 127 117 135 +f 123 114 136 +f 114 133 136 +f 133 125 136 +f 117 120 137 +f 137 126 138 +f 121 135 138 +f 135 117 138 +f 117 137 138 +f 124 127 139 +f 111 132 139 +f 132 124 139 +f 115 125 140 +f 133 115 140 +f 125 133 140 +f 131 121 141 +f 126 131 141 +f 138 126 141 +f 121 138 141 +f 112 116 142 +f 120 112 142 +f 116 126 142 +f 137 120 142 +f 126 137 142 +f 115 119 143 +f 129 115 143 +f 119 134 143 +f 134 129 143 +f 121 111 144 +f 135 121 144 +f 127 135 144 +f 111 139 144 +f 139 127 144 +f 125 123 145 +f 123 136 145 +f 136 125 145 +f 118 115 146 +f 122 118 146 +f 115 132 146 +o convex_5 +v 2.491905 -2.628731 1.555740 +v 3.067234 -2.053442 2.089852 +v 3.067234 -2.053442 1.884484 +v 1.095267 -2.094607 1.802298 +v 1.095267 -2.710925 2.213227 +v 3.067234 -2.752022 2.172038 +v 1.095267 -2.669828 1.596865 +v 2.944048 -2.053442 1.555740 +v 1.095267 -2.135704 2.213227 +v 3.108625 -2.587634 1.555740 +v 1.095267 -2.094607 1.596865 +v 1.629403 -2.135704 2.213227 +v 3.067234 -2.752022 2.048791 +v 1.916969 -2.053442 1.637990 +v 1.547213 -2.710925 1.761237 +v 1.999159 -2.710925 2.213227 +v 3.108625 -2.094607 2.048791 +v 2.656285 -2.053442 2.089852 +f 160 150 164 +f 151 150 153 +f 148 149 154 +f 150 151 155 +f 154 149 156 +f 147 154 156 +f 147 153 157 +f 153 150 157 +f 154 147 157 +f 152 148 158 +f 148 155 158 +f 155 151 158 +f 152 151 159 +f 156 152 159 +f 147 156 159 +f 148 154 160 +f 157 150 160 +f 154 157 160 +f 153 147 161 +f 151 153 161 +f 159 151 161 +f 147 159 161 +f 151 152 162 +f 152 158 162 +f 158 151 162 +f 149 148 163 +f 148 152 163 +f 156 149 163 +f 152 156 163 +f 155 148 164 +f 150 155 164 +f 148 160 164 +o convex_6 +v -3.055544 -2.669896 1.884516 +v -1.124364 -2.053441 1.802338 +v -1.124364 -2.053441 1.679071 +v -1.124364 -2.628743 1.637982 +v -1.124364 -2.628743 2.172018 +v -3.014519 -2.176780 2.089840 +v -3.014519 -2.382185 1.596773 +v -1.124364 -2.135748 2.213167 +v -3.055544 -2.669896 2.172018 +v -2.850232 -2.176780 1.637982 +v -3.014519 -2.628743 1.596773 +v -1.617793 -2.546557 1.596773 +v -1.823294 -2.669896 2.172018 +v -2.069820 -2.382185 2.213167 +v -3.055544 -2.300059 2.130929 +v -1.124364 -2.464310 2.213167 +v -1.412292 -2.135748 2.213167 +f 179 178 181 +f 167 166 168 +f 168 166 169 +f 166 167 170 +f 169 166 172 +f 170 167 174 +f 167 171 174 +f 171 170 174 +f 168 165 175 +f 165 171 175 +f 175 171 176 +f 167 168 176 +f 171 167 176 +f 168 175 176 +f 165 168 177 +f 168 169 177 +f 173 165 177 +f 170 171 179 +f 171 165 179 +f 165 173 179 +f 173 178 179 +f 169 172 180 +f 177 169 180 +f 173 177 180 +f 178 173 180 +f 172 178 180 +f 166 170 181 +f 172 166 181 +f 178 172 181 +f 170 179 181 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/851/851.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/851/851.urdf new file mode 100644 index 000000000..b4178cfe9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/851/851.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/852/852.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/852/852.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/852/852.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/852/852.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/852/852.obj new file mode 100644 index 000000000..91ba7c198 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/852/852.obj @@ -0,0 +1,615 @@ +o convex_0 +v 1.024363 -0.483292 0.862930 +v -1.091820 -2.019115 -1.116899 +v -1.057606 -2.121663 -1.082586 +v -1.091820 -1.097842 1.033652 +v -1.023391 -0.244198 -1.082586 +v 1.092792 -2.121663 -1.048273 +v 1.024363 -2.121663 0.930924 +v 1.058578 -0.244198 -1.082586 +v -1.057606 -0.244198 1.033652 +v -1.091820 -2.121663 1.033652 +v 0.785501 -0.244198 0.999339 +v -1.091820 -1.370567 -1.116899 +v 1.092792 -1.677842 -0.297391 +v -0.545667 -2.121663 1.033652 +v 1.092792 -0.346746 -1.082586 +v 0.990362 -0.244198 0.965237 +v 1.058578 -1.746023 -1.082586 +v -1.057606 -0.244198 -0.877551 +v 0.205347 -0.244198 1.033652 +v 1.058578 -2.121663 0.623792 +v -0.511452 -1.780205 -1.116899 +v 0.683071 -2.121663 0.965237 +v -1.023391 -0.995478 -1.116899 +v 0.409780 -2.121663 -1.082586 +v 1.024363 -0.892931 0.965237 +v 1.024363 -0.244198 0.726310 +v -1.091820 -1.131840 -0.741353 +f 18 12 27 +f 3 6 7 +f 8 5 9 +f 2 3 10 +f 4 2 10 +f 3 7 10 +f 9 4 10 +f 8 9 11 +f 2 4 12 +f 10 7 14 +f 9 10 14 +f 13 6 15 +f 8 11 16 +f 15 6 17 +f 4 9 18 +f 9 5 18 +f 5 12 18 +f 11 9 19 +f 9 14 19 +f 7 6 20 +f 13 1 20 +f 6 13 20 +f 2 12 21 +f 8 15 21 +f 15 17 21 +f 14 7 22 +f 11 19 22 +f 19 14 22 +f 5 8 23 +f 12 5 23 +f 21 12 23 +f 8 21 23 +f 3 2 24 +f 6 3 24 +f 17 6 24 +f 2 21 24 +f 21 17 24 +f 1 16 25 +f 16 11 25 +f 20 1 25 +f 7 20 25 +f 22 7 25 +f 11 22 25 +f 1 13 26 +f 15 8 26 +f 13 15 26 +f 16 1 26 +f 8 16 26 +f 12 4 27 +f 4 18 27 +o convex_1 +v 0.205130 -0.243894 1.033357 +v 0.921927 2.452046 1.067787 +v 0.990292 2.861849 1.033571 +v 1.058657 -0.243894 -1.082683 +v -0.989393 2.861849 -1.014251 +v -1.057758 -0.243894 0.999355 +v -1.023576 -0.243894 -1.082683 +v 1.024474 2.861849 -1.082683 +v -1.023576 2.861849 0.965140 +v 0.990292 -0.243894 0.965353 +v 0.375835 2.861849 -1.116899 +v -1.057758 -0.209541 -0.843599 +v -1.023576 -0.141443 1.033571 +v 1.058657 -0.175492 -0.229210 +v -1.023576 2.417998 0.999355 +v -0.613800 2.452046 -1.082683 +v 1.058657 1.257904 -1.014251 +v 0.136765 0.780004 1.067787 +v 1.024474 -0.243894 0.692054 +v 1.024474 2.861849 -0.194994 +v 0.956109 1.906049 1.067787 +v -1.057758 0.541358 0.999355 +v -1.023576 2.861849 0.487186 +v -0.989393 1.121405 -1.082683 +v 0.205130 2.861849 1.033571 +v 0.990292 0.029409 0.999355 +v 0.614698 2.281498 1.067787 +v -1.057758 0.507005 0.009232 +v 0.512358 2.827496 -1.116899 +v -0.955211 2.588546 -1.048467 +v 0.170947 0.643504 1.067787 +f 53 48 58 +f 31 28 33 +f 31 33 34 +f 32 30 35 +f 30 32 36 +f 28 31 37 +f 32 35 38 +f 34 33 39 +f 32 34 39 +f 33 28 40 +f 31 35 44 +f 41 31 44 +f 37 31 46 +f 41 30 46 +f 31 41 46 +f 35 30 47 +f 30 41 47 +f 44 35 47 +f 41 44 47 +f 30 29 48 +f 29 45 48 +f 39 33 49 +f 33 40 49 +f 42 36 49 +f 40 42 49 +f 36 32 50 +f 32 39 50 +f 49 36 50 +f 34 32 51 +f 38 34 51 +f 43 38 51 +f 29 30 52 +f 30 36 52 +f 36 42 52 +f 28 37 53 +f 46 30 53 +f 37 46 53 +f 30 48 53 +f 42 40 54 +f 45 29 54 +f 40 45 54 +f 29 52 54 +f 52 42 54 +f 39 49 55 +f 50 39 55 +f 49 50 55 +f 31 34 56 +f 35 31 56 +f 34 38 56 +f 38 35 56 +f 32 38 57 +f 38 43 57 +f 51 32 57 +f 43 51 57 +f 40 28 58 +f 45 40 58 +f 48 45 58 +f 28 53 58 +o convex_2 +v -1.160316 -2.258236 -0.536532 +v -3.003201 -3.247985 -0.570727 +v -3.037483 -3.282278 -0.126863 +v -2.969108 -2.155909 0.043549 +v -1.126223 -3.282278 0.453217 +v -1.126033 -2.155799 0.589887 +v -3.071766 -3.282278 0.521495 +v -1.126223 -3.213802 -0.570727 +v -2.969108 -2.155909 -0.468253 +v -3.003201 -2.224164 0.521495 +v -1.604086 -2.565438 -0.570727 +v -1.365059 -2.394856 0.589887 +v -3.003201 -2.258236 -0.399975 +v -2.559430 -2.155909 -0.468253 +v -1.126033 -2.258346 -0.536532 +v -1.126223 -3.282278 0.248383 +v -2.969108 -2.189981 0.521495 +v -3.037483 -3.179730 -0.502449 +v -3.071766 -3.043110 0.316661 +v -3.003201 -3.077293 -0.570727 +v -2.388778 -3.247985 -0.570727 +v -1.433434 -2.155909 0.589887 +v -1.160316 -3.111475 0.487300 +v -1.126033 -2.155799 0.487300 +f 73 72 82 +f 61 63 65 +f 62 64 67 +f 62 67 68 +f 66 60 69 +f 67 59 69 +f 68 67 71 +f 59 67 72 +f 64 63 73 +f 66 69 73 +f 69 59 73 +f 59 72 73 +f 63 61 74 +f 73 63 74 +f 66 73 74 +f 62 68 75 +f 60 61 76 +f 61 65 76 +f 71 67 76 +f 71 76 77 +f 65 68 77 +f 68 71 77 +f 76 65 77 +f 69 60 78 +f 67 69 78 +f 60 76 78 +f 76 67 78 +f 61 60 79 +f 60 66 79 +f 74 61 79 +f 66 74 79 +f 64 62 80 +f 68 65 80 +f 70 64 80 +f 65 70 80 +f 62 75 80 +f 75 68 80 +f 63 64 81 +f 65 63 81 +f 64 70 81 +f 70 65 81 +f 67 64 82 +f 72 67 82 +f 64 73 82 +o convex_3 +v -0.306769 3.442340 2.808418 +v 0.068704 2.896288 1.102317 +v 0.205260 2.896288 1.102317 +v 0.239399 3.579003 1.102317 +v 0.239399 2.930504 2.945025 +v 0.205260 3.579003 3.115931 +v -0.306769 3.544787 1.102317 +v -0.340908 2.896288 3.013229 +v -0.272573 2.964586 1.102317 +v -0.272573 3.510705 3.047332 +v 0.239399 2.896288 1.853159 +v 0.239399 3.579003 2.432899 +v 0.068704 3.579003 3.081434 +v -0.306769 2.930504 1.682451 +v 0.068704 2.896288 2.979127 +v -0.306769 3.544787 1.887262 +v 0.034508 3.579003 1.102317 +v 0.239399 3.032952 1.102317 +v -0.306769 3.203630 1.102317 +f 91 96 101 +f 85 84 86 +f 86 84 89 +f 84 85 90 +f 89 84 91 +f 83 90 92 +f 90 88 92 +f 86 87 93 +f 90 85 93 +f 87 86 94 +f 86 88 94 +f 88 87 94 +f 88 86 95 +f 92 88 95 +f 84 90 96 +f 91 84 96 +f 87 88 97 +f 88 90 97 +f 93 87 97 +f 90 93 97 +f 90 83 98 +f 89 90 98 +f 83 92 98 +f 92 95 98 +f 98 95 99 +f 86 89 99 +f 95 86 99 +f 89 98 99 +f 85 86 100 +f 93 85 100 +f 86 93 100 +f 90 89 101 +f 89 91 101 +f 96 90 101 +o convex_4 +v -1.057520 -2.941000 -1.048334 +v 1.058657 -2.258333 0.760405 +v 1.058657 -2.429085 0.760405 +v -1.125949 -3.759997 1.101923 +v 0.956227 -3.862585 -0.980116 +v -1.091735 -2.121663 1.033491 +v 1.058657 -2.121663 -1.048548 +v 1.024442 -3.691662 0.931057 +v -1.057520 -2.121663 -1.082550 +v -1.023519 -3.725915 -1.014118 +v 1.024442 -2.121663 0.931057 +v -1.125949 -3.213829 -0.570380 +v 1.058657 -3.350499 -0.468160 +v -0.340723 -2.531332 -1.082550 +v -1.125949 -2.258333 -0.536378 +v -0.477368 -3.759997 1.067707 +v -1.023519 -2.326497 1.067707 +v -0.204292 -3.794250 -1.014332 +v 1.058657 -2.565755 -1.048548 +v 0.956227 -3.862585 -0.741246 +v -1.125949 -2.155915 0.589753 +v 0.444076 -3.725915 0.999275 +v 0.682937 -2.121663 0.965273 +v 0.717152 -3.657580 -1.014332 +v -1.023519 -3.486998 -1.048334 +v -1.091735 -3.759997 0.248450 +v 0.682937 -3.862585 -0.980116 +v -0.921089 -3.657580 1.101923 +v 1.058657 -3.418493 0.657971 +v 0.922012 -3.555163 0.965273 +v 0.341646 -2.155915 -1.082763 +v 0.990227 -3.725915 0.794407 +v -1.057520 -2.736166 -1.082550 +f 132 115 134 +f 103 104 108 +f 104 103 109 +f 107 108 110 +f 103 108 112 +f 108 107 112 +f 109 103 112 +f 102 111 113 +f 108 104 114 +f 109 106 114 +f 113 105 116 +f 110 113 116 +f 107 105 118 +f 108 114 120 +f 114 106 120 +f 106 109 121 +f 117 105 121 +f 105 107 122 +f 107 110 122 +f 116 105 122 +f 110 116 122 +f 112 107 124 +f 107 118 124 +f 106 119 125 +f 120 106 125 +f 119 111 126 +f 125 119 126 +f 115 125 126 +f 105 113 127 +f 113 111 127 +f 111 119 127 +f 127 119 128 +f 119 106 128 +f 121 105 128 +f 106 121 128 +f 105 127 128 +f 105 117 129 +f 118 105 129 +f 117 123 129 +f 124 118 129 +f 104 109 130 +f 114 104 130 +f 109 114 130 +f 109 112 131 +f 123 109 131 +f 112 124 131 +f 129 123 131 +f 124 129 131 +f 110 108 132 +f 108 120 132 +f 125 115 132 +f 120 125 132 +f 121 109 133 +f 117 121 133 +f 109 123 133 +f 123 117 133 +f 111 102 134 +f 102 113 134 +f 113 110 134 +f 126 111 134 +f 115 126 134 +f 110 132 134 +o convex_5 +v 1.058850 -3.350549 -0.331560 +v 3.004065 -2.155799 0.453314 +v 3.004065 -2.155799 0.316694 +v 3.072664 -3.282251 0.453314 +v 1.058850 -2.190065 0.555751 +v 3.072664 -2.258246 -0.570617 +v 1.058850 -2.258246 -0.502252 +v 3.038365 -3.213836 -0.536435 +v 1.058850 -3.248102 0.487386 +v 1.058850 -3.350549 -0.468180 +v 1.195457 -2.224097 -0.399925 +v 1.400268 -2.428991 0.555751 +v 1.605080 -3.316283 -0.502252 +v 3.038365 -2.155916 0.453314 +v 2.867656 -3.248102 -0.536435 +v 3.072664 -2.565471 -0.570617 +v 1.127252 -3.009175 0.521569 +v 2.628742 -2.155799 0.487386 +v 1.058850 -2.702067 -0.502252 +v 3.072664 -3.282251 0.248440 +v 3.072664 -2.224214 0.009493 +v 2.765152 -2.292512 -0.570727 +v 2.492136 -3.282251 0.453314 +v 1.229559 -3.350549 -0.399925 +f 149 154 158 +f 135 139 141 +f 139 135 143 +f 135 141 144 +f 137 140 145 +f 141 139 145 +f 140 141 145 +f 137 136 148 +f 140 137 148 +f 144 147 149 +f 149 147 150 +f 140 138 150 +f 142 149 150 +f 143 138 151 +f 139 143 151 +f 138 146 151 +f 146 139 151 +f 136 137 152 +f 137 145 152 +f 145 139 152 +f 146 138 152 +f 139 146 152 +f 148 136 152 +f 138 148 152 +f 144 141 153 +f 147 144 153 +f 149 142 154 +f 150 138 154 +f 142 150 154 +f 138 140 155 +f 140 148 155 +f 148 138 155 +f 141 140 156 +f 150 147 156 +f 140 150 156 +f 153 141 156 +f 147 153 156 +f 135 138 157 +f 143 135 157 +f 138 143 157 +f 138 135 158 +f 135 144 158 +f 144 149 158 +f 154 138 158 +o convex_6 +v 0.205244 3.613139 -1.117093 +v 0.205244 2.930424 -3.096771 +v 0.307671 2.930424 -3.096771 +v 0.239346 3.613139 -3.096771 +v -0.306772 3.305797 -1.117093 +v -0.306772 3.442460 -2.925855 +v 0.307671 3.067087 -1.117093 +v -0.272610 2.964640 -1.117093 +v -0.204345 2.998722 -2.925855 +v -0.238447 3.544841 -1.117093 +v 0.307671 3.613139 -1.117093 +v 0.307671 3.613139 -2.550305 +v -0.306772 3.510691 -1.731576 +v 0.307671 2.930424 -2.755133 +v -0.136080 2.964640 -1.117093 +v -0.306772 3.305797 -2.618710 +v -0.238447 3.476475 -2.959960 +v 0.273508 3.613139 -3.096771 +v 0.307671 3.032871 -1.321920 +f 165 173 177 +f 161 160 162 +f 159 163 165 +f 165 163 166 +f 160 166 167 +f 159 162 168 +f 163 159 168 +f 162 159 169 +f 165 161 169 +f 159 165 169 +f 169 161 170 +f 162 169 170 +f 164 163 171 +f 168 162 171 +f 163 168 171 +f 160 161 172 +f 161 165 172 +f 166 160 172 +f 166 172 173 +f 165 166 173 +f 163 164 174 +f 166 163 174 +f 164 167 174 +f 167 166 174 +f 162 160 175 +f 167 164 175 +f 160 167 175 +f 164 171 175 +f 171 162 175 +f 161 162 176 +f 170 161 176 +f 162 170 176 +f 172 165 177 +f 173 172 177 +o convex_7 +v -0.306722 3.306139 -1.116899 +v 1.126918 4.193275 0.930994 +v 0.921837 4.227375 0.760499 +v -1.023542 2.862430 0.965310 +v -1.057758 4.295713 0.931211 +v 1.024271 2.862290 -1.082583 +v 1.058486 4.227515 -1.082583 +v 0.990269 2.862290 1.033508 +v -1.023542 4.261474 -0.946187 +v -0.989327 2.862430 -1.014385 +v -0.306722 3.544972 1.101923 +v 0.341666 3.647129 1.101923 +v 0.068796 2.896529 1.101923 +v -1.057758 4.227375 -0.502249 +v 1.058486 2.998826 -1.082583 +v -0.579593 4.295713 0.453174 +v 1.092702 4.227515 -1.048267 +v 0.512317 2.862290 -1.116899 +v 1.024271 2.930628 0.999409 +v -0.921109 4.261474 -0.980286 +v -0.306722 3.510873 -1.116899 +v 0.853620 4.022640 0.999409 +v -0.272507 2.964727 -1.116899 +v -0.272507 2.964727 1.101923 +v -1.023542 3.510873 -0.980286 +v -1.057758 3.783666 0.931211 +v -1.023542 2.862430 0.487273 +v -0.648024 4.295713 0.931211 +v 0.341666 4.261614 -0.399952 +v 0.785402 4.227375 -1.082583 +v 1.126918 4.125077 0.828480 +v -1.057758 4.295713 0.180165 +v 0.307664 3.613030 -1.116899 +v -0.989327 3.340238 -1.014385 +v -0.545591 4.261474 -0.980286 +v -1.023542 3.442675 0.965310 +f 188 182 213 +f 182 188 189 +f 181 185 190 +f 185 189 190 +f 189 188 190 +f 180 179 194 +f 192 184 194 +f 185 181 195 +f 183 185 195 +f 192 183 195 +f 184 192 195 +f 179 185 196 +f 185 183 196 +f 183 192 196 +f 178 187 198 +f 195 178 198 +f 185 179 199 +f 189 185 199 +f 187 178 200 +f 178 195 200 +f 195 187 200 +f 188 181 201 +f 181 190 201 +f 190 188 201 +f 191 186 202 +f 181 182 203 +f 182 191 203 +f 203 191 204 +f 195 181 204 +f 187 195 204 +f 202 187 204 +f 191 202 204 +f 181 203 204 +f 179 180 205 +f 182 189 205 +f 193 182 205 +f 199 179 205 +f 189 199 205 +f 180 194 206 +f 194 184 206 +f 205 180 206 +f 193 205 206 +f 197 184 207 +f 198 197 207 +f 194 179 208 +f 192 194 208 +f 179 196 208 +f 196 192 208 +f 191 182 209 +f 186 191 209 +f 182 193 209 +f 197 186 209 +f 184 195 210 +f 195 198 210 +f 207 184 210 +f 198 207 210 +f 186 197 211 +f 198 187 211 +f 197 198 211 +f 187 202 211 +f 202 186 211 +f 184 197 212 +f 206 184 212 +f 193 206 212 +f 209 193 212 +f 197 209 212 +f 182 181 213 +f 181 188 213 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/852/852.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/852/852.urdf new file mode 100644 index 000000000..b6fb1c60f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/852/852.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/853/853.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/853/853.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/853/853.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/853/853.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/853/853.obj new file mode 100644 index 000000000..7ebe2b32a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/853/853.obj @@ -0,0 +1,2013 @@ +o convex_0 +v -0.413596 -0.830091 0.725713 +v -1.040184 -0.382016 0.636200 +v -1.040184 -0.382016 0.658598 +v -0.995405 1.206321 0.636200 +v -0.973078 -1.076088 0.703324 +v -0.413596 -1.546257 0.703324 +v -1.017794 1.206321 0.658598 +v -0.794088 -0.203109 0.636200 +v -0.973078 -1.546257 0.680970 +v -0.749248 -1.546257 0.725713 +v -0.995405 -0.829822 0.636200 +v -0.413596 -0.830091 0.703324 +v -0.637487 -0.874818 0.725713 +f 10 1 13 +f 2 3 7 +f 4 2 7 +f 1 4 7 +f 3 5 7 +f 2 4 8 +f 3 2 9 +f 5 3 9 +f 5 9 10 +f 6 1 10 +f 9 6 10 +f 2 8 11 +f 8 6 11 +f 6 9 11 +f 9 2 11 +f 4 1 12 +f 1 6 12 +f 8 4 12 +f 6 8 12 +f 1 7 13 +f 7 5 13 +f 5 10 13 +o convex_1 +v 0.548735 -0.830028 0.636209 +v -0.771563 -0.225819 0.658587 +v -0.771563 -0.225819 0.636209 +v -0.794061 -0.830028 0.703326 +v 0.660658 -0.404906 0.658587 +v -0.167233 -0.807613 0.725713 +v -0.794061 -0.382549 0.703326 +v -0.346368 -0.651001 0.636209 +v 0.660658 -0.404906 0.636209 +v -0.794061 -0.830028 0.680956 +v 0.548735 -0.830028 0.658587 +v -0.525360 -0.628586 0.725713 +f 18 20 25 +f 16 15 18 +f 15 16 20 +f 18 15 20 +f 16 14 21 +f 14 16 22 +f 18 14 22 +f 16 18 22 +f 14 17 23 +f 20 16 23 +f 17 20 23 +f 21 14 23 +f 16 21 23 +f 17 14 24 +f 14 18 24 +f 18 19 24 +f 19 17 24 +f 19 18 25 +f 17 19 25 +f 20 17 25 +o convex_2 +v -0.033209 -2.195299 -0.818638 +v 0.973827 -2.240040 -1.467485 +v 0.973827 -2.217653 -1.467485 +v -1.017768 -2.172919 -1.400282 +v -1.017768 -2.240040 -0.818638 +v -1.017768 -2.240040 -1.400282 +v 1.063313 -2.172919 -0.997635 +v 1.063313 -2.240040 -1.020057 +v -1.017768 -2.172919 -0.818638 +v 1.108264 -2.172919 -1.445063 +f 32 33 35 +f 28 27 29 +f 27 30 31 +f 29 27 31 +f 30 29 31 +f 26 30 33 +f 30 27 33 +f 32 26 33 +f 30 26 34 +f 29 30 34 +f 32 29 34 +f 26 32 34 +f 27 28 35 +f 28 29 35 +f 29 32 35 +f 33 27 35 +o convex_3 +v -1.017865 -1.568761 0.076567 +v -1.017865 -2.262427 -0.818451 +v -1.017865 -2.172836 -1.355542 +v -0.950724 -1.591123 -1.355542 +v -0.973108 -2.262427 0.054196 +v -0.973108 -1.546328 0.703341 +v -1.017865 -1.546257 -1.109266 +v -0.973108 -2.262427 -0.795879 +v -0.995480 -1.725370 0.680769 +v -0.995480 -2.262427 0.054196 +v -0.995473 -1.546257 -1.355542 +v -0.995473 -2.172836 -1.355542 +f 39 43 47 +f 38 37 36 +f 40 39 41 +f 38 36 42 +f 36 41 42 +f 39 40 43 +f 40 37 43 +f 41 36 44 +f 40 41 44 +f 36 37 45 +f 37 40 45 +f 44 36 45 +f 40 44 45 +f 39 38 46 +f 41 39 46 +f 38 42 46 +f 42 41 46 +f 37 38 47 +f 38 39 47 +f 43 37 47 +o convex_4 +v 1.018730 2.616665 0.143728 +v 1.063504 4.183101 0.412397 +v 1.063504 4.183101 0.076500 +v 0.974000 4.183101 -0.840900 +v 0.974000 2.594116 0.233285 +v 0.974000 2.549338 -0.840900 +v 1.018730 4.183101 -0.840900 +v 1.018730 4.160712 0.121401 +v 0.951613 2.616665 -0.236579 +v 1.063504 3.511589 0.389947 +v 0.996376 2.549338 0.412397 +v 0.951613 2.549338 -0.840900 +v 1.041106 4.183101 0.412397 +v 0.951613 3.399483 -0.840900 +v 1.018730 3.780097 -0.706566 +v 1.018730 2.549338 0.412397 +f 49 58 63 +f 49 50 51 +f 51 50 54 +f 53 51 54 +f 52 55 56 +f 55 51 56 +f 50 49 57 +f 48 53 57 +f 51 53 59 +f 52 56 59 +f 53 58 59 +f 58 52 59 +f 49 51 60 +f 51 55 60 +f 55 52 60 +f 58 49 60 +f 52 58 60 +f 56 51 61 +f 51 59 61 +f 59 56 61 +f 54 50 62 +f 53 54 62 +f 50 57 62 +f 57 53 62 +f 53 48 63 +f 57 49 63 +f 48 57 63 +f 58 53 63 +o convex_5 +v 0.548678 -2.128145 0.210987 +v 1.063504 -2.150533 -0.706570 +v 1.018634 -2.150533 -0.035424 +v -0.033131 -2.217651 -0.997562 +v -0.033131 -2.195272 0.658580 +v 1.063504 -2.217651 -0.706570 +v -0.033131 -2.172911 -0.639455 +v 0.929215 -2.150533 0.568932 +v -0.033131 -2.150533 0.658580 +v 1.041069 -2.150533 -0.997562 +v 0.929215 -2.128145 0.568932 +v 1.063504 -2.217651 -0.997562 +v 0.280423 -2.195272 0.636047 +v -0.033131 -2.217651 -0.616922 +v 0.145920 -2.150533 -0.236443 +v -0.033131 -2.195272 -0.997562 +v 0.996199 -2.172911 0.210663 +f 71 76 80 +f 65 66 69 +f 67 68 70 +f 70 68 72 +f 66 65 74 +f 64 72 74 +f 65 73 74 +f 73 64 74 +f 65 69 75 +f 69 67 75 +f 73 65 75 +f 67 73 75 +f 72 68 76 +f 71 74 76 +f 74 72 76 +f 68 67 77 +f 67 69 77 +f 76 68 77 +f 69 76 77 +f 72 64 78 +f 70 72 78 +f 64 73 78 +f 73 70 78 +f 67 70 79 +f 73 67 79 +f 70 73 79 +f 69 66 80 +f 66 74 80 +f 74 71 80 +f 76 69 80 +o convex_6 +v -0.950741 2.213391 0.636174 +v -1.040245 -0.494263 0.501918 +v -1.017849 -0.830088 0.501918 +v -0.973110 2.638860 0.501918 +v -0.905989 0.199459 0.613805 +v -1.040245 -0.404619 0.636174 +v -1.017849 1.788261 0.636174 +v -0.905989 2.638860 0.591422 +v -0.995467 -0.830088 0.636174 +v -0.995467 -0.830088 0.501918 +v -0.995467 2.638860 0.501918 +v -0.995467 2.638860 0.613805 +v -0.905989 1.765850 0.636174 +f 89 85 93 +f 83 82 84 +f 82 83 86 +f 86 81 87 +f 82 86 87 +f 86 83 89 +f 81 86 89 +f 83 84 90 +f 84 88 90 +f 88 85 90 +f 85 89 90 +f 89 83 90 +f 84 82 91 +f 82 87 91 +f 88 84 91 +f 88 91 92 +f 87 81 92 +f 81 88 92 +f 91 87 92 +f 88 81 93 +f 85 88 93 +f 81 89 93 +o convex_7 +v -1.017569 -2.172845 -1.400403 +v 1.018544 -1.546257 -1.378036 +v 1.018544 -1.546257 -1.400414 +v 1.018544 -2.172845 -1.467548 +v -0.749051 -1.546257 -1.400403 +v -0.995242 -2.172845 -1.355658 +v 0.280169 -1.546257 -1.445159 +v 0.996217 -2.060849 -1.400414 +v -0.972916 -1.546257 -1.355658 +v 0.794679 -1.725414 -1.355647 +v -0.771378 -2.150458 -1.422781 +v 1.018544 -2.172845 -1.422781 +v 0.861858 -1.546257 -1.355647 +v 1.018544 -1.613541 -1.422781 +f 97 100 107 +f 96 95 97 +f 95 96 98 +f 94 97 99 +f 98 96 100 +f 98 94 102 +f 95 98 102 +f 94 99 102 +f 102 99 103 +f 99 101 103 +f 97 94 104 +f 94 98 104 +f 100 97 104 +f 98 100 104 +f 97 95 105 +f 99 97 105 +f 95 101 105 +f 101 99 105 +f 101 95 106 +f 95 102 106 +f 102 103 106 +f 103 101 106 +f 96 97 107 +f 100 96 107 +o convex_8 +v 0.638278 3.153530 -1.333249 +v -0.145033 1.184274 -1.378027 +v 0.324908 1.184274 -1.378027 +v 0.526333 1.184274 -1.266126 +v -0.145033 3.981264 -1.288515 +v 0.638278 3.981264 -1.288515 +v -0.145033 3.981264 -1.310893 +v -0.145033 1.766398 -1.333260 +v 0.638278 1.184274 -1.288515 +v 0.414387 1.766398 -1.378027 +v -0.145033 3.175983 -1.288515 +v -0.145033 1.811029 -1.378027 +v 0.638278 3.981264 -1.310893 +v 0.638278 1.855935 -1.266126 +v 0.615889 2.415059 -1.355638 +v -0.145033 1.184274 -1.355638 +f 111 115 123 +f 109 110 111 +f 112 113 114 +f 109 112 114 +f 112 109 115 +f 111 110 116 +f 108 113 116 +f 110 109 117 +f 111 112 118 +f 115 111 118 +f 112 115 118 +f 109 114 119 +f 117 109 119 +f 117 119 120 +f 113 108 120 +f 114 113 120 +f 119 114 120 +f 112 111 121 +f 113 112 121 +f 111 116 121 +f 116 113 121 +f 108 116 122 +f 116 110 122 +f 110 117 122 +f 117 120 122 +f 120 108 122 +f 109 111 123 +f 115 109 123 +o convex_9 +v -0.973012 -2.240032 -0.818520 +v -0.033223 -2.172906 0.658502 +v -0.234705 -2.172906 0.680847 +v -0.771530 -2.262410 0.703341 +v -0.033223 -2.217662 -0.818520 +v -0.973012 -2.172906 0.076631 +v -0.033223 -2.172906 -0.639460 +v -0.973012 -2.172906 0.703341 +v -0.055671 -2.217662 0.658502 +v -0.973012 -2.262410 -0.639460 +v -0.659657 -2.195293 -0.818520 +v -0.973012 -2.262410 0.703341 +v -0.973012 -2.217662 -0.818520 +f 129 134 136 +f 126 125 129 +f 125 128 130 +f 129 125 130 +f 127 126 131 +f 126 129 131 +f 129 124 131 +f 125 126 132 +f 126 127 132 +f 127 128 132 +f 128 125 132 +f 124 128 133 +f 128 127 133 +f 131 124 133 +f 128 124 134 +f 129 130 134 +f 130 128 134 +f 127 131 135 +f 133 127 135 +f 131 133 135 +f 124 129 136 +f 134 124 136 +o convex_10 +v 0.929222 5.839242 -1.243745 +v 1.018734 5.794487 0.412397 +v 1.018734 5.749731 0.412397 +v 0.929222 5.794487 0.412397 +v 1.018734 5.749731 -1.243745 +v 0.996348 5.839242 -0.885477 +v 0.929222 5.772117 0.031919 +f 141 139 143 +f 139 138 140 +f 138 139 141 +f 140 138 142 +f 137 140 142 +f 141 137 142 +f 138 141 142 +f 139 140 143 +f 140 137 143 +f 137 141 143 +o convex_11 +v 1.018750 -1.546187 -1.400342 +v 1.063507 -1.546187 -0.997608 +v 1.063498 -0.830289 -1.109527 +v 1.108264 -2.172845 -1.445100 +v 1.041146 -2.172845 -0.997608 +v 1.085877 -0.830289 -1.377940 +v 1.018759 -2.172845 -1.467548 +v 1.018750 -0.830289 -1.355583 +v 1.085877 -2.172845 -1.042413 +v 1.041137 -0.830289 -1.109527 +f 146 151 153 +f 149 147 150 +f 148 144 150 +f 147 148 150 +f 144 148 151 +f 146 149 151 +f 149 150 151 +f 150 144 151 +f 146 145 152 +f 148 147 152 +f 145 148 152 +f 149 146 152 +f 147 149 152 +f 145 146 153 +f 148 145 153 +f 151 148 153 +o convex_12 +v 0.974009 -1.859420 0.591385 +v 1.041097 -2.150337 -0.997457 +v 1.041097 -1.546144 -1.109464 +v 0.929261 -2.150337 0.188566 +v 0.929261 -0.830158 0.300404 +v 1.063504 -0.830158 -0.952755 +v 1.063504 -2.150337 -0.706476 +v 0.951628 -0.830158 0.613820 +v 1.018717 -0.830158 -0.997457 +v 0.929261 -2.150337 0.591385 +v 0.974009 -2.150337 0.591385 +v 1.063504 -1.546144 -1.109464 +v 0.929261 -0.830158 0.613820 +v 1.063504 -0.830158 -1.109464 +f 159 165 167 +f 156 155 157 +f 159 154 160 +f 157 155 160 +f 159 158 161 +f 154 159 161 +f 156 157 162 +f 157 158 162 +f 158 159 162 +f 158 157 163 +f 157 160 163 +f 161 163 164 +f 160 154 164 +f 154 161 164 +f 163 160 164 +f 155 156 165 +f 159 160 165 +f 160 155 165 +f 161 158 166 +f 158 163 166 +f 163 161 166 +f 156 162 167 +f 162 159 167 +f 165 156 167 +o convex_13 +v -0.055522 -1.523860 -3.279996 +v 0.168292 -1.344870 -1.445359 +v 0.123483 -1.344870 -1.445359 +v -0.301695 -1.479103 -1.534746 +v -0.212169 -1.411986 -3.369765 +v 0.168292 -1.479086 -2.944364 +v -0.301695 -1.411986 -1.445168 +v 0.168292 -1.456708 -3.347275 +v -0.212169 -1.523877 -3.369765 +v 0.168292 -1.389643 -1.490339 +v -0.122644 -1.411986 -3.392255 +v -0.167406 -1.456725 -1.467658 +f 173 177 179 +f 171 168 173 +f 169 170 174 +f 172 171 174 +f 170 172 174 +f 169 173 175 +f 173 168 175 +f 168 171 176 +f 171 172 176 +f 175 168 176 +f 173 169 177 +f 170 169 178 +f 172 170 178 +f 169 175 178 +f 176 172 178 +f 175 176 178 +f 171 173 179 +f 169 174 179 +f 174 171 179 +f 177 169 179 +o convex_14 +v -0.189804 -0.897284 -1.445363 +v -0.189822 -1.411976 -3.391790 +v -0.212182 -1.098730 -3.436821 +v -0.301695 -1.411976 -1.445363 +v -0.122670 -1.411976 -3.346955 +v -0.145048 -0.919667 -1.445363 +v -0.145048 -0.964376 -3.436821 +v -0.234543 -0.964376 -3.436821 +v -0.256903 -1.411976 -1.445363 +v -0.145048 -0.830193 -1.557451 +v -0.212182 -1.411976 -3.369373 +v -0.122670 -1.076290 -3.436821 +v -0.189804 -0.852519 -1.759014 +v -0.279282 -1.277622 -1.445363 +f 192 187 193 +f 183 181 184 +f 180 183 185 +f 186 182 187 +f 183 184 188 +f 185 183 188 +f 184 185 188 +f 180 185 189 +f 186 187 189 +f 182 181 190 +f 181 183 190 +f 187 182 190 +f 183 187 190 +f 181 182 191 +f 184 181 191 +f 185 184 191 +f 182 186 191 +f 189 185 191 +f 186 189 191 +f 180 189 192 +f 189 187 192 +f 183 180 193 +f 187 183 193 +f 180 192 193 +o convex_15 +v 0.101162 -1.479099 -3.414620 +v 0.347334 -1.076271 -3.347494 +v 0.347334 -1.076271 -3.436998 +v -0.122652 -1.076271 -3.436998 +v -0.122652 -1.523877 -3.347494 +v 0.324930 -1.456710 -3.347494 +v 0.324930 -1.456710 -3.436998 +v -0.122652 -1.121049 -3.392251 +f 198 195 201 +f 195 196 197 +f 197 194 198 +f 195 198 199 +f 196 195 199 +f 196 199 200 +f 197 196 200 +f 194 197 200 +f 198 194 200 +f 199 198 200 +f 195 197 201 +f 197 198 201 +o convex_16 +v 0.638278 1.184140 -1.266126 +v -0.145033 -0.830088 -1.400399 +v -0.145033 -0.830088 -1.378010 +v 0.638278 -0.830088 -1.310904 +v 0.235428 1.072151 -1.400399 +v -0.145033 1.184140 -1.355636 +v 0.190727 -0.830088 -1.266126 +v -0.055400 -0.337572 -1.422788 +v 0.638278 -0.583830 -1.266126 +v 0.638278 1.049674 -1.310904 +v -0.145033 1.094430 -1.400399 +v 0.503944 1.184140 -1.266126 +v 0.056392 0.333377 -1.422788 +v -0.122567 -0.830088 -1.355636 +v 0.324984 1.184140 -1.378025 +v -0.145033 0.400610 -1.422788 +f 214 209 217 +f 204 203 205 +f 203 204 207 +f 204 205 208 +f 205 203 209 +f 205 202 210 +f 208 205 210 +f 202 208 210 +f 202 205 211 +f 205 206 211 +f 203 207 212 +f 202 207 213 +f 207 208 213 +f 208 202 213 +f 206 205 214 +f 205 209 214 +f 207 204 215 +f 204 208 215 +f 208 207 215 +f 207 202 216 +f 202 211 216 +f 211 206 216 +f 212 207 216 +f 206 212 216 +f 209 203 217 +f 203 212 217 +f 212 206 217 +f 206 214 217 +o convex_17 +v 0.280123 -1.053864 -1.579881 +v 0.347303 -0.852470 -3.011235 +v 0.347303 -0.897259 -3.011235 +v -0.145033 -1.076271 -3.436820 +v -0.145033 -0.830160 -1.445363 +v 0.347303 -1.076271 -3.437015 +v -0.122623 -0.942024 -3.436820 +v 0.280123 -0.852470 -1.445558 +v 0.235352 -1.076271 -1.445558 +v 0.324894 -0.852470 -3.437015 +v -0.145033 -0.874901 -1.535237 +v -0.055491 -0.830160 -1.915593 +v 0.302484 -1.076271 -1.915593 +v -0.145033 -0.942024 -3.369561 +f 229 227 231 +f 219 220 223 +f 225 222 226 +f 221 223 226 +f 218 225 226 +f 219 223 227 +f 223 221 227 +f 221 224 227 +f 222 221 228 +f 226 222 228 +f 221 226 228 +f 225 219 229 +f 222 225 229 +f 219 227 229 +f 220 219 230 +f 223 220 230 +f 225 218 230 +f 219 225 230 +f 218 226 230 +f 226 223 230 +f 221 222 231 +f 224 221 231 +f 227 224 231 +f 222 229 231 +o convex_18 +v -1.040232 4.541242 -0.594524 +v -1.017856 5.682581 0.166214 +v -0.995493 5.682581 -0.124730 +v -0.995493 4.496425 0.166214 +v -0.973104 5.682581 -0.997562 +v -0.973104 4.653286 -0.997562 +v -1.040232 5.682581 0.166214 +v -0.995493 5.682581 -0.997562 +v -1.040232 4.787507 0.166214 +v -1.017856 4.496425 -0.997562 +v -0.973104 5.682581 -0.572196 +v -1.040232 5.682581 -0.147172 +f 239 232 243 +f 234 233 235 +f 233 234 236 +f 235 233 238 +f 233 236 238 +f 238 236 239 +f 236 237 239 +f 232 235 240 +f 235 238 240 +f 238 232 240 +f 235 232 241 +f 237 235 241 +f 232 239 241 +f 239 237 241 +f 234 235 242 +f 236 234 242 +f 235 237 242 +f 237 236 242 +f 232 238 243 +f 238 239 243 +o convex_19 +v 0.951613 -0.830088 -0.012776 +v 0.973972 1.161597 0.636200 +v 0.973972 1.296041 0.613680 +v 0.996363 -0.830088 -0.259012 +v 0.929222 1.296041 -0.259012 +v 0.929222 -0.830088 0.613680 +v 0.929222 1.296041 0.613680 +v 0.973972 1.206343 -0.259012 +v 0.951613 -0.830088 0.613680 +v 0.996363 -0.830088 0.009569 +v 0.996363 0.177201 -0.259012 +v 0.929222 -0.830088 0.300408 +v 0.973972 -0.830088 -0.259012 +f 248 247 256 +f 244 247 249 +f 245 246 250 +f 246 248 250 +f 248 249 250 +f 249 245 250 +f 247 248 251 +f 248 246 251 +f 245 249 252 +f 249 247 252 +f 246 245 253 +f 245 252 253 +f 252 247 253 +f 251 246 254 +f 247 251 254 +f 246 253 254 +f 253 247 254 +f 248 244 255 +f 249 248 255 +f 244 249 255 +f 247 244 256 +f 244 248 256 +o convex_20 +v -0.301695 -1.344872 1.084031 +v 0.302573 -1.322454 2.605627 +v 0.280156 -1.322454 2.627851 +v -0.167367 -1.523877 2.739949 +v 0.280156 -1.479081 1.262802 +v -0.256919 -1.322454 2.694915 +v 0.235380 -1.322474 0.748520 +v -0.234501 -1.479081 0.748520 +v 0.302573 -1.411986 2.605627 +v -0.256919 -1.523877 2.269726 +v -0.256919 -1.322474 0.770744 +v 0.235380 -1.411967 0.748520 +v 0.302573 -1.322474 1.262802 +v -0.301695 -1.479062 1.531445 +v -0.256919 -1.523877 2.739949 +f 262 270 271 +f 259 258 262 +f 260 259 262 +f 258 259 265 +f 259 260 265 +f 260 261 265 +f 261 260 266 +f 264 261 266 +f 262 258 267 +f 257 262 267 +f 258 263 267 +f 264 257 267 +f 263 264 267 +f 261 264 268 +f 264 263 268 +f 263 258 269 +f 258 265 269 +f 265 261 269 +f 261 268 269 +f 268 263 269 +f 262 257 270 +f 257 264 270 +f 264 266 270 +f 270 266 271 +f 260 262 271 +f 266 260 271 +o convex_21 +v -0.145033 1.586985 -1.378027 +v -0.905963 1.586985 -1.310895 +v -0.905963 1.586985 -1.288506 +v -0.905963 3.981678 -1.310895 +v -0.145033 3.981678 -1.288506 +v -0.570114 1.833346 -1.378027 +v -0.145033 1.788574 -1.333267 +v -0.145033 3.981678 -1.310895 +v -0.905963 3.981678 -1.288506 +v -0.145033 3.175790 -1.288506 +v -0.883469 3.086012 -1.333267 +v -0.771668 1.586985 -1.288506 +v -0.570114 1.586985 -1.378027 +v -0.145033 1.810843 -1.378027 +f 277 279 285 +f 274 273 272 +f 273 274 275 +f 272 276 278 +f 276 272 279 +f 275 276 279 +f 277 275 279 +f 275 274 280 +f 276 275 280 +f 274 276 280 +f 276 274 281 +f 278 276 281 +f 273 275 282 +f 275 277 282 +f 274 272 283 +f 272 278 283 +f 281 274 283 +f 278 281 283 +f 272 273 284 +f 277 272 284 +f 273 282 284 +f 282 277 284 +f 272 277 285 +f 279 272 285 +o convex_22 +v -0.973117 0.221511 0.278089 +v -0.995458 -1.546084 -1.243627 +v -0.995458 -1.277501 -1.243627 +v -0.906002 -0.829978 -1.333267 +v -0.995458 -1.546084 -0.124840 +v -0.928370 0.221511 -1.288357 +v -1.040245 -0.226012 0.479464 +v -1.040245 -1.478939 -0.684233 +v -0.995458 -0.829978 0.501918 +v -0.906002 0.221511 -0.885608 +v -1.017838 0.221511 0.255634 +v -1.017851 -1.546084 -0.124840 +v -0.973117 -1.546084 -1.064528 +v -1.040245 -0.516747 0.501918 +v -0.995458 0.221511 0.501918 +v -0.906002 -0.226012 -0.975068 +v -0.906002 0.221511 -1.288357 +f 295 289 302 +f 287 288 289 +f 289 288 291 +f 288 287 293 +f 291 288 293 +f 290 289 294 +f 291 286 295 +f 286 294 295 +f 286 291 296 +f 291 293 296 +f 293 292 296 +f 287 290 297 +f 293 287 297 +f 290 294 297 +f 287 289 298 +f 289 290 298 +f 290 287 298 +f 292 293 299 +f 293 297 299 +f 297 294 299 +f 294 286 300 +f 286 296 300 +f 296 292 300 +f 292 299 300 +f 299 294 300 +f 294 289 301 +f 289 295 301 +f 295 294 301 +f 289 291 302 +f 291 295 302 +o convex_23 +v -0.973110 5.682591 -1.467548 +v -0.905989 5.749709 0.166214 +v -1.040245 5.749709 0.166214 +v -0.905989 5.794472 -1.467548 +v -1.040245 5.682591 0.166214 +v -0.905989 5.682591 -1.445159 +v -0.973110 5.794472 -1.467548 +f 306 303 309 +f 305 304 306 +f 305 303 307 +f 304 305 307 +f 304 307 308 +f 306 304 308 +f 303 306 308 +f 307 303 308 +f 303 305 309 +f 305 306 309 +o convex_24 +v -0.973091 2.638860 0.166214 +v -0.950737 3.489473 0.613820 +v -0.973091 3.489473 0.613820 +v -0.995467 4.787158 0.166214 +v -0.905963 4.787158 0.569042 +v -1.017854 4.787158 0.591431 +v -0.905963 2.638860 0.613820 +v -0.995467 2.638860 0.613820 +v -1.017854 4.294665 0.166214 +v -0.950737 3.802381 0.166214 +v -0.950737 2.638860 0.166214 +v -0.995467 2.638860 0.434751 +f 317 318 321 +f 312 311 315 +f 314 313 315 +f 311 314 315 +f 311 312 316 +f 314 311 316 +f 312 315 317 +f 310 316 317 +f 316 312 317 +f 313 310 318 +f 315 313 318 +f 317 315 318 +f 310 313 319 +f 313 314 319 +f 316 310 320 +f 314 316 320 +f 310 319 320 +f 319 314 320 +f 310 317 321 +f 318 310 321 +o convex_25 +v -1.062625 5.324354 0.233394 +v -0.905978 5.749722 0.591440 +v -0.905978 5.749722 0.166214 +v -0.905978 4.787463 0.591440 +v -1.062625 5.749722 0.591440 +v -1.040223 4.809880 0.166214 +v -1.040223 4.944197 0.591440 +v -1.040223 5.749722 0.166214 +v -0.995465 4.787463 0.166214 +v -1.017851 4.787463 0.591440 +f 330 325 331 +f 324 323 325 +f 323 324 326 +f 325 323 326 +f 326 322 328 +f 325 326 328 +f 322 327 328 +f 322 326 329 +f 326 324 329 +f 327 322 329 +f 324 327 329 +f 324 325 330 +f 327 324 330 +f 327 330 331 +f 325 328 331 +f 328 327 331 +o convex_26 +v 1.018743 5.794487 -1.243745 +v -0.905963 5.749731 -1.467548 +v -0.905963 5.794487 -1.467548 +v -0.905963 5.794487 -1.243745 +v 0.996323 5.839242 -1.422770 +v 1.018743 5.749731 -1.377992 +v 0.996323 5.749731 -1.243745 +v 0.683012 5.839242 -1.243745 +v -0.905963 5.772117 -1.243745 +v 0.459192 5.749731 -1.445159 +f 336 337 341 +f 334 333 335 +f 336 332 337 +f 332 335 338 +f 333 337 338 +f 337 332 338 +f 334 335 339 +f 335 332 339 +f 332 336 339 +f 336 334 339 +f 335 333 340 +f 333 338 340 +f 338 335 340 +f 333 334 341 +f 334 336 341 +f 337 333 341 +o convex_27 +v -1.040232 -1.053982 -0.124649 +v -0.973105 -1.210515 0.703341 +v -0.973105 -0.830289 0.680810 +v -0.950730 -2.172845 0.099206 +v -0.973105 -2.172845 0.703341 +v -0.995492 -0.830289 -0.124649 +v -0.928343 -1.546187 0.680810 +v -1.017845 -0.830289 0.680810 +v -1.017845 -1.546187 -0.124649 +v -0.928343 -2.172845 0.703341 +v -1.040232 -0.830289 0.121576 +v -0.973105 -2.172845 0.099206 +v -1.017845 -1.031639 0.680810 +f 349 352 354 +f 345 347 348 +f 344 343 348 +f 347 344 348 +f 343 344 349 +f 346 343 349 +f 344 347 349 +f 346 342 350 +f 342 347 350 +f 347 345 350 +f 346 345 351 +f 343 346 351 +f 345 348 351 +f 348 343 351 +f 347 342 352 +f 349 347 352 +f 345 346 353 +f 346 350 353 +f 350 345 353 +f 342 346 354 +f 346 349 354 +f 352 342 354 +o convex_28 +v -0.816155 -1.993811 0.725713 +v 0.929222 -1.546257 0.613850 +v 0.929222 -1.546257 0.591462 +v 0.929222 -2.150458 0.613850 +v 0.615567 -2.150458 0.569059 +v -0.928343 -1.546257 0.680952 +v -0.368855 -1.546257 0.725713 +v -0.928343 -2.172845 0.680952 +v 0.347369 -1.546257 0.591462 +v -0.592505 -2.172845 0.703325 +v 0.929222 -2.060910 0.569059 +v -0.010470 -1.591093 0.703309 +v -0.749060 -1.546257 0.725713 +f 361 360 367 +f 357 356 358 +f 356 357 360 +f 356 360 361 +f 360 359 362 +f 355 360 362 +f 360 357 363 +f 359 360 363 +f 359 358 364 +f 355 362 364 +f 362 359 364 +f 357 358 365 +f 358 359 365 +f 363 357 365 +f 359 363 365 +f 358 356 366 +f 361 355 366 +f 356 361 366 +f 364 358 366 +f 355 364 366 +f 360 355 367 +f 355 361 367 +o convex_29 +v 0.929222 4.160721 -1.333217 +v 1.018737 5.749236 -0.796139 +v 1.018737 5.749236 -1.243724 +v 0.996358 2.549651 -0.975308 +v 0.951609 2.549651 -0.840978 +v 0.929222 5.749549 -1.400321 +v 0.996358 2.549651 -1.243663 +v 0.996340 5.615163 -1.422709 +v 0.996358 5.749236 -0.796139 +v 1.018737 4.182962 -0.796139 +v 0.951609 3.422379 -0.840978 +v 1.018728 5.726995 -1.377993 +v 0.973979 2.549651 -1.243663 +f 375 374 380 +f 369 370 373 +f 371 372 374 +f 368 373 375 +f 369 373 376 +f 370 369 377 +f 372 371 377 +f 371 374 377 +f 369 376 377 +f 376 372 377 +f 368 372 378 +f 373 368 378 +f 372 376 378 +f 376 373 378 +f 373 370 379 +f 375 373 379 +f 374 375 379 +f 370 377 379 +f 377 374 379 +f 372 368 380 +f 374 372 380 +f 368 375 380 +o convex_30 +v 1.063491 4.205641 0.054308 +v 1.018752 5.749415 0.412397 +v 0.996363 5.749415 0.412397 +v 1.018752 5.749415 -0.796139 +v 0.996363 4.183254 -0.796139 +v 1.018752 4.362349 0.412397 +v 0.996363 5.749415 -0.796139 +v 1.041115 5.078116 -0.684111 +v 1.063491 4.384736 0.412397 +v 1.018752 4.183254 -0.796139 +v 0.996363 4.183254 -0.348498 +v 0.996363 5.100503 0.412397 +v 1.041115 4.183254 0.412397 +f 391 390 393 +f 383 382 384 +f 382 383 386 +f 383 384 387 +f 384 385 387 +f 385 383 387 +f 384 382 388 +f 382 386 389 +f 388 382 389 +f 381 388 389 +f 385 384 390 +f 388 381 390 +f 384 388 390 +f 383 385 391 +f 385 390 391 +f 386 383 392 +f 383 391 392 +f 391 386 392 +f 389 386 393 +f 381 389 393 +f 390 381 393 +f 386 391 393 +o convex_31 +v -0.100255 -0.986715 1.800051 +v 0.168292 -0.874848 2.560832 +v -0.100255 -0.852468 2.560832 +v -0.256842 -1.031510 2.560832 +v -0.324075 -1.009095 1.800051 +v 0.168292 -0.897246 1.844811 +v -0.256842 -0.852468 2.538414 +v 0.168292 -0.941989 2.381790 +v -0.212165 -1.031510 1.800051 +v 0.145881 -0.941989 1.844811 +f 402 394 403 +f 395 396 397 +f 396 395 399 +f 394 398 399 +f 397 396 400 +f 398 397 400 +f 396 399 400 +f 399 398 400 +f 395 397 401 +f 399 395 401 +f 398 394 402 +f 397 398 402 +f 401 397 402 +f 394 399 403 +f 399 401 403 +f 401 402 403 +o convex_32 +v 0.302560 -1.098706 -1.960176 +v 0.168327 -1.479077 -3.347308 +v 0.168327 -1.456681 -3.347308 +v 0.168327 -1.300030 -1.445354 +v 0.324938 -1.456681 -3.145848 +v 0.324938 -1.076271 -3.347308 +v 0.213083 -1.076271 -1.490227 +v 0.213083 -1.389534 -1.624471 +v 0.347334 -1.255357 -3.347308 +v 0.257822 -1.076271 -1.445354 +v 0.302560 -1.076271 -3.235406 +v 0.347334 -1.076271 -3.190534 +v 0.280182 -1.479077 -3.347308 +v 0.168327 -1.389534 -1.557256 +f 416 411 417 +f 406 405 407 +f 405 406 409 +f 406 407 410 +f 408 404 411 +f 404 408 412 +f 405 409 412 +f 409 410 413 +f 410 407 413 +f 407 411 413 +f 411 404 413 +f 409 406 414 +f 410 409 414 +f 406 410 414 +f 404 412 415 +f 412 409 415 +f 413 404 415 +f 409 413 415 +f 408 411 416 +f 412 408 416 +f 405 412 416 +f 407 405 417 +f 411 407 417 +f 405 416 417 +o convex_33 +v -0.950724 2.638860 -0.997562 +v -0.995473 4.496243 0.166214 +v -1.017865 4.496243 0.166214 +v -0.995473 4.496243 -0.997562 +v -0.995473 2.885214 -0.997562 +v -0.973115 2.638860 0.166214 +v -0.950724 3.780089 0.166214 +v -1.017865 3.869540 -0.997562 +v -0.950724 2.638860 0.166214 +v -0.973115 3.914265 -0.997562 +v -1.017865 4.272433 0.166214 +v -1.017865 4.496243 -0.997562 +v -0.973115 4.317159 0.143772 +v -0.950724 2.974847 -0.930351 +v -0.973115 2.638860 -0.997562 +f 418 423 432 +f 420 419 421 +f 421 418 422 +f 419 420 423 +f 419 423 424 +f 421 422 425 +f 423 418 426 +f 418 424 426 +f 424 423 426 +f 418 421 427 +f 421 424 427 +f 423 420 428 +f 422 423 428 +f 420 425 428 +f 425 422 428 +f 420 421 429 +f 425 420 429 +f 421 425 429 +f 421 419 430 +f 419 424 430 +f 424 421 430 +f 424 418 431 +f 418 427 431 +f 427 424 431 +f 422 418 432 +f 423 422 432 +o convex_34 +v 0.929222 1.989894 -0.527655 +v 0.973991 2.549259 -0.259012 +v 1.018734 2.347478 -1.221286 +v 1.041106 -0.830088 -0.617202 +v 1.041106 -0.830088 -1.243745 +v 0.974005 -0.830088 -0.259012 +v 0.973991 2.549259 -1.243745 +v 1.063504 0.266811 -1.221286 +v 1.018721 -0.785100 -0.303834 +v 0.929222 2.034551 -0.259012 +v 0.929222 2.549259 -0.684290 +v 1.018721 -0.830088 -0.997562 +v 1.063504 -0.695456 -0.975103 +v 0.973991 2.258164 -1.243745 +v 0.929248 1.183760 -0.281568 +v 1.063504 -0.830088 -1.243745 +v 0.974005 -0.807594 -0.348656 +v 0.996350 2.549259 -1.243745 +f 440 448 450 +f 437 436 438 +f 435 434 440 +f 436 434 441 +f 434 438 441 +f 438 436 441 +f 438 434 442 +f 434 439 443 +f 442 434 443 +f 433 442 443 +f 437 438 444 +f 434 436 445 +f 440 434 445 +f 439 437 446 +f 433 443 446 +f 443 439 446 +f 444 433 446 +f 437 444 446 +f 438 442 447 +f 442 433 447 +f 436 437 448 +f 437 439 448 +f 445 436 448 +f 440 445 448 +f 433 444 449 +f 444 438 449 +f 438 447 449 +f 447 433 449 +f 434 435 450 +f 439 434 450 +f 435 440 450 +f 448 439 450 +o convex_35 +v -0.301603 -1.456605 -1.445151 +v 1.018743 -0.830158 -1.333306 +v 1.018743 -0.964461 -1.333306 +v 0.190624 -0.875019 -1.266143 +v -0.167273 -0.830158 -1.445151 +v 1.018743 -1.546257 -1.400381 +v -0.368836 -1.546257 -1.378005 +v 0.682850 -1.546257 -1.333306 +v -0.368836 -0.830158 -1.355647 +v 0.280268 -0.852588 -1.445151 +v 0.392051 -1.546257 -1.445151 +v 0.369776 -1.031613 -1.266143 +v 1.018743 -0.897310 -1.378005 +v 0.481695 -0.830158 -1.266143 +v 1.018743 -1.255219 -1.400381 +f 460 463 465 +f 452 453 456 +f 456 453 458 +f 457 456 458 +f 455 451 459 +f 452 455 459 +f 451 457 459 +f 457 454 459 +f 451 455 460 +f 455 452 460 +f 457 451 461 +f 456 457 461 +f 451 460 461 +f 454 457 462 +f 457 458 462 +f 458 453 462 +f 452 456 463 +f 460 452 463 +f 453 452 464 +f 452 459 464 +f 459 454 464 +f 462 453 464 +f 454 462 464 +f 456 461 465 +f 461 460 465 +f 463 456 465 +o convex_36 +v 0.056318 -0.270339 0.569085 +v -0.905963 -0.024237 0.613811 +v -0.905963 -0.024237 0.636200 +v 0.056318 1.788408 0.613811 +v -0.682159 1.765638 0.546679 +v 0.056318 -0.538751 0.636191 +v -0.905963 1.542076 0.636200 +v -0.480585 -0.225259 0.546696 +v 0.056318 1.788408 0.591439 +v -0.905963 1.788408 0.591448 +v -0.189904 -0.135788 0.546696 +v -0.368683 -0.561292 0.613802 +v -0.212228 1.788408 0.569077 +v -0.861127 -0.225719 0.636200 +f 473 477 479 +f 466 469 471 +f 471 469 472 +f 467 468 472 +f 467 470 473 +f 469 466 474 +f 470 467 475 +f 472 469 475 +f 467 472 475 +f 469 474 475 +f 466 473 476 +f 473 470 476 +f 474 466 476 +f 466 471 477 +f 473 466 477 +f 470 475 478 +f 475 474 478 +f 476 470 478 +f 474 476 478 +f 468 467 479 +f 471 472 479 +f 472 468 479 +f 467 473 479 +f 477 471 479 +o convex_37 +v -0.368774 -1.054044 0.748075 +v 0.929222 -0.830158 0.613840 +v 0.929222 -0.830158 0.591455 +v 0.929222 -1.546257 0.613840 +v 0.302503 -1.501326 0.591455 +v 0.235468 -1.411813 0.748075 +v -0.413596 -1.546257 0.725705 +v -0.413596 -0.830158 0.703320 +v 0.280158 -0.852588 0.748075 +v -0.391120 -1.546257 0.680950 +v 0.168300 -0.830158 0.636226 +v 0.906745 -0.830158 0.636195 +v 0.929222 -1.546257 0.591455 +f 489 484 492 +f 482 481 483 +f 485 480 486 +f 483 485 486 +f 481 482 487 +f 486 480 487 +f 480 485 488 +f 487 480 488 +f 483 486 489 +f 487 484 489 +f 486 487 489 +f 482 484 490 +f 487 482 490 +f 484 487 490 +f 483 481 491 +f 485 483 491 +f 481 487 491 +f 488 485 491 +f 487 488 491 +f 482 483 492 +f 484 482 492 +f 483 489 492 +o convex_38 +v 0.884461 1.788408 0.613820 +v 0.056390 -0.561471 0.613820 +v 0.190781 -0.695780 0.613820 +v 0.660584 -0.113692 0.591440 +v 0.884461 -0.830088 0.636200 +v 0.056390 1.788408 0.613820 +v 0.056390 1.788408 0.591440 +v 0.056390 -0.337710 0.636200 +v 0.884461 0.848251 0.636200 +v 0.884461 1.788408 0.591440 +v 0.123586 -0.449206 0.591440 +v 0.884461 -0.830088 0.613820 +f 503 496 504 +f 494 498 499 +f 498 493 499 +f 494 495 500 +f 495 497 500 +f 498 494 500 +f 498 500 501 +f 497 493 501 +f 493 498 501 +f 500 497 501 +f 493 497 502 +f 496 499 502 +f 499 493 502 +f 495 494 503 +f 494 499 503 +f 499 496 503 +f 497 495 504 +f 502 497 504 +f 496 502 504 +f 495 503 504 +o convex_39 +v -0.905963 4.832332 -1.400408 +v 0.929222 5.749722 -1.400408 +v 0.929222 5.615427 -1.378045 +v 0.929222 3.981743 -1.310904 +v -0.905963 4.071388 -1.288524 +v -0.905963 5.749722 -1.467548 +v -0.905963 5.660077 -1.422753 +v 0.906767 5.570432 -1.422753 +v 0.929222 4.183185 -1.288524 +v 0.750122 4.071388 -1.333284 +v -0.905963 4.049064 -1.333284 +v -0.749139 5.637579 -1.467548 +v 0.302464 5.749722 -1.400408 +v -0.905963 3.981743 -1.288524 +v 0.391924 5.749722 -1.445151 +v 0.929222 3.981743 -1.288524 +f 513 518 520 +f 506 507 508 +f 505 509 510 +f 510 509 511 +f 506 508 512 +f 508 507 513 +f 507 509 513 +f 512 508 514 +f 509 505 515 +f 505 514 515 +f 514 508 515 +f 505 510 516 +f 514 505 516 +f 512 514 516 +f 507 506 517 +f 509 507 517 +f 506 510 517 +f 511 509 517 +f 510 511 517 +f 513 509 518 +f 509 515 518 +f 515 508 518 +f 510 506 519 +f 506 512 519 +f 516 510 519 +f 512 516 519 +f 508 513 520 +f 518 508 520 +o convex_40 +v 0.347334 -0.986802 2.605557 +v 0.190705 -1.322454 1.867211 +v 0.168327 -0.919681 1.844815 +v 0.168327 -1.322454 2.650427 +v 0.168327 -0.852468 2.605557 +v 0.302560 -0.874918 1.844815 +v 0.302560 -1.322454 2.426550 +v 0.347334 -0.852468 2.605557 +v 0.302560 -1.322454 2.605557 +v 0.235461 -1.300004 1.912002 +f 527 522 530 +f 523 522 524 +f 523 524 525 +f 523 525 526 +f 522 523 526 +f 526 521 527 +f 524 522 527 +f 524 521 528 +f 525 524 528 +f 526 525 528 +f 521 526 528 +f 521 524 529 +f 527 521 529 +f 524 527 529 +f 522 526 530 +f 526 527 530 +o convex_41 +v -0.928354 0.221787 -1.288423 +v -0.950713 2.638860 -0.527576 +v -0.973104 2.638860 -0.527576 +v -0.973104 2.638860 -1.310810 +v -0.905963 2.638860 -1.310810 +v -0.928354 0.221787 -0.527576 +v -0.950713 0.221787 -0.527576 +v -0.905963 0.960679 -0.706747 +v -0.973104 1.586714 -1.288423 +v -0.905963 0.221787 -1.288423 +v -0.928354 2.191218 -0.527576 +v -0.950713 0.535277 -1.288423 +v -0.973104 2.146265 -0.527576 +v -0.905963 0.221787 -0.885766 +f 540 538 544 +f 533 532 534 +f 531 534 535 +f 534 532 535 +f 532 533 536 +f 536 533 537 +f 531 536 537 +f 533 534 539 +f 531 535 540 +f 536 531 540 +f 535 538 540 +f 535 532 541 +f 532 536 541 +f 538 535 541 +f 536 538 541 +f 534 531 542 +f 531 537 542 +f 539 534 542 +f 537 539 542 +f 537 533 543 +f 533 539 543 +f 539 537 543 +f 538 536 544 +f 536 540 544 +o convex_42 +v 1.085884 -0.650975 -1.333249 +v 0.638278 -0.830088 -1.310880 +v 0.660667 -0.830088 -1.333249 +v 0.638278 0.065037 -1.310880 +v 1.063495 -0.830088 -1.243746 +v 1.063495 0.065037 -1.243746 +v 1.085884 -0.807567 -1.378014 +v 1.063495 0.020259 -1.333249 +v 0.638278 0.065037 -1.288524 +v 0.638278 -0.830088 -1.288524 +f 549 553 554 +f 547 546 548 +f 546 547 549 +f 549 545 550 +f 547 548 551 +f 545 549 551 +f 549 547 551 +f 550 545 552 +f 548 550 552 +f 551 548 552 +f 545 551 552 +f 548 546 553 +f 550 548 553 +f 549 550 553 +f 546 549 554 +f 553 546 554 +o convex_43 +v 0.973972 3.981678 -1.243745 +v 0.638278 0.065508 -1.310886 +v 1.063504 0.065508 -1.310886 +v 0.638278 3.153589 -1.333267 +v 1.063504 0.065508 -1.243745 +v 0.638278 1.990431 -1.266126 +v 0.973972 3.981678 -1.310886 +v 0.638278 3.981678 -1.288506 +v 0.638278 1.028161 -1.266126 +v 0.794949 3.063496 -1.333267 +v 0.638278 2.257643 -1.333267 +v 0.638278 0.065508 -1.288506 +v 0.996323 3.533513 -1.310886 +v 0.638278 3.981678 -1.310886 +f 562 561 568 +f 556 557 559 +f 558 556 560 +f 558 560 562 +f 560 555 562 +f 555 561 562 +f 559 555 563 +f 560 556 563 +f 555 560 563 +f 558 561 564 +f 557 556 565 +f 556 558 565 +f 564 557 565 +f 558 564 565 +f 556 559 566 +f 559 563 566 +f 563 556 566 +f 555 559 567 +f 559 557 567 +f 561 555 567 +f 557 564 567 +f 564 561 567 +f 561 558 568 +f 558 562 568 +o convex_44 +v 0.817163 3.847054 0.613820 +v -0.905963 1.788408 0.591440 +v -0.905963 1.788408 0.613820 +v -0.905963 5.637444 0.569059 +v 0.884461 1.788408 0.591440 +v 0.884461 5.637444 0.569059 +v -0.816231 1.788408 0.569059 +v -0.905963 5.637444 0.591440 +v 0.884461 1.788408 0.613820 +v 0.884461 5.637444 0.591440 +v 0.884461 3.824449 0.569059 +v -0.905963 2.840714 0.613820 +v -0.212121 1.788408 0.569059 +f 575 579 581 +f 570 571 572 +f 571 570 573 +f 570 572 575 +f 573 570 575 +f 572 574 575 +f 572 571 576 +f 574 572 576 +f 569 571 577 +f 571 573 577 +f 573 574 577 +f 577 574 578 +f 576 569 578 +f 574 576 578 +f 569 577 578 +f 574 573 579 +f 575 574 579 +f 571 569 580 +f 569 576 580 +f 576 571 580 +f 573 575 581 +f 579 573 581 +o convex_45 +v 0.906842 0.691922 0.188638 +v 0.929222 1.028106 0.636200 +v 0.929222 3.869529 0.613769 +v 0.884461 3.847370 0.613769 +v 0.884461 -0.830088 0.636200 +v 0.929222 0.691922 0.188638 +v 0.884461 5.637820 0.568996 +v 0.929222 5.637820 0.568996 +v 0.929222 -0.830088 0.591383 +v 0.884461 -0.830088 0.591383 +f 590 586 591 +f 583 584 585 +f 583 585 586 +f 584 583 587 +f 585 584 588 +f 586 585 588 +f 587 582 588 +f 584 587 589 +f 588 584 589 +f 587 588 589 +f 583 586 590 +f 587 583 590 +f 582 587 590 +f 588 582 591 +f 586 588 591 +f 582 590 591 +o convex_46 +v 0.929222 5.816854 0.054207 +v -0.905963 5.772109 -1.243746 +v -0.905963 5.749731 -1.154014 +v -0.905963 5.749731 0.546679 +v 0.526293 5.749731 0.546679 +v 0.794852 5.794476 -1.198705 +v 0.705393 5.839243 -1.221137 +v -0.905963 5.794476 -1.109324 +v -0.570219 5.727342 0.143763 +v 0.481563 5.794476 0.546679 +v 0.929222 5.772109 0.546679 +v -0.905963 5.727342 0.546679 +v 0.929222 5.839243 -1.243746 +v 0.929222 5.772109 0.009517 +v -0.346390 5.772109 0.524246 +f 601 599 606 +f 593 594 595 +f 594 593 597 +f 593 595 599 +f 598 593 599 +f 594 597 600 +f 595 596 601 +f 592 598 601 +f 598 599 601 +f 592 601 602 +f 601 596 602 +f 595 594 603 +f 596 595 603 +f 594 600 603 +f 600 596 603 +f 597 593 604 +f 598 592 604 +f 593 598 604 +f 592 602 604 +f 604 602 605 +f 596 600 605 +f 600 597 605 +f 602 596 605 +f 597 604 605 +f 599 595 606 +f 595 601 606 +o convex_47 +v -0.905963 5.749709 0.591435 +v 0.929222 5.794482 0.569057 +v 0.929222 5.794482 0.546679 +v 0.929222 5.637836 0.591435 +v -0.905963 5.637836 0.569057 +v 0.929222 5.660223 0.546679 +v -0.905963 5.749709 0.546679 +v 0.526293 5.794482 0.591435 +f 609 613 614 +f 609 608 610 +f 610 607 611 +f 609 610 612 +f 610 611 612 +f 611 607 613 +f 609 612 613 +f 612 611 613 +f 608 609 614 +f 610 608 614 +f 607 610 614 +f 613 607 614 +o convex_48 +v 0.996369 2.549656 0.412397 +v 1.063504 3.892562 0.613780 +v 1.063504 4.384241 0.591405 +v 0.929248 5.704595 0.591405 +v 0.929248 2.549656 0.613780 +v 0.929248 5.794482 0.412397 +v 1.018726 5.794482 0.412397 +v 1.063504 3.489817 0.412397 +v 1.041108 2.639225 0.613780 +v 1.018726 5.704595 0.591405 +v 1.063504 4.384241 0.412397 +f 622 621 625 +f 616 618 619 +f 615 619 620 +f 619 618 620 +f 615 620 621 +f 620 618 621 +f 617 616 622 +f 615 621 622 +f 619 615 623 +f 616 619 623 +f 622 616 623 +f 615 622 623 +f 616 617 624 +f 618 616 624 +f 617 621 624 +f 621 618 624 +f 621 617 625 +f 617 622 625 +o convex_49 +v -0.928262 -0.830158 -1.243746 +v -0.995484 -1.546257 -1.355634 +v -0.973036 -1.546257 -1.378005 +v -0.368897 -1.546257 -1.378005 +v -0.503218 -0.830158 -1.378005 +v -0.973036 -1.546257 -1.243746 +v -0.950649 -0.830158 -1.333247 +v -0.368897 -0.830158 -1.355634 +v -0.368897 -1.009183 -1.400392 +v -0.749229 -1.523757 -1.400392 +f 630 634 635 +f 627 628 629 +f 627 629 631 +f 628 627 632 +f 626 630 632 +f 627 631 632 +f 631 626 632 +f 630 626 633 +f 626 631 633 +f 631 629 633 +f 630 633 634 +f 633 629 634 +f 629 628 635 +f 628 632 635 +f 632 630 635 +f 634 629 635 +o convex_50 +v -0.189817 -0.942090 1.374686 +v -0.256927 -1.322413 0.748167 +v -0.301692 -1.009215 0.748167 +v -0.256940 -1.322413 2.560655 +v -0.324075 -1.031563 1.889422 +v -0.212200 -1.322413 0.748167 +v -0.234583 -1.031563 2.560655 +v -0.212174 -1.322413 2.471228 +v -0.301692 -1.322413 1.061516 +v -0.189817 -0.897312 0.748167 +v -0.279296 -0.897312 0.770702 +v -0.189817 -1.076341 1.352330 +v -0.256940 -1.031563 2.560655 +f 636 646 648 +f 637 638 641 +f 639 637 641 +f 639 641 643 +f 636 642 643 +f 642 639 643 +f 638 637 644 +f 637 639 644 +f 639 640 644 +f 640 638 644 +f 641 638 645 +f 638 640 646 +f 645 638 646 +f 636 645 646 +f 636 643 647 +f 643 641 647 +f 645 636 647 +f 641 645 647 +f 640 639 648 +f 642 636 648 +f 639 642 648 +f 646 640 648 +o convex_51 +v -0.189793 -0.919626 0.748167 +v 0.190672 -0.919626 1.397036 +v 0.145907 -0.919626 1.397036 +v -0.145028 -0.986750 1.419445 +v 0.190672 -0.919626 0.882489 +v -0.010733 -0.874848 0.770576 +v -0.189793 -0.941972 1.397036 +v 0.168289 -0.964361 1.397036 +v 0.190672 -0.874848 0.748167 +v -0.189793 -0.941972 0.792985 +f 657 653 658 +f 650 651 652 +f 651 650 654 +f 654 649 655 +f 652 651 655 +f 651 654 655 +f 650 652 656 +f 653 650 656 +f 650 653 657 +f 654 650 657 +f 649 654 657 +f 655 649 658 +f 652 655 658 +f 656 652 658 +f 653 656 658 +f 649 657 658 +o convex_52 +v 0.973978 1.296041 0.210889 +v 1.018734 2.549093 0.613734 +v 1.018734 2.549093 0.210889 +v 0.929222 2.549093 0.613734 +v 0.929222 1.989728 -0.258927 +v 0.929222 1.296041 0.613734 +v 0.996348 2.549093 -0.236546 +v 0.951618 1.296041 -0.258927 +v 0.996348 1.408160 0.613734 +v 0.951618 2.549093 -0.258927 +v 0.929222 1.296041 -0.258927 +v 1.018734 2.034502 0.568974 +f 660 667 670 +f 660 661 662 +f 660 662 664 +f 662 663 664 +f 662 661 665 +f 659 664 666 +f 665 661 666 +f 660 664 667 +f 664 659 667 +f 663 662 668 +f 662 665 668 +f 666 663 668 +f 665 666 668 +f 664 663 669 +f 663 666 669 +f 666 664 669 +f 661 660 670 +f 659 666 670 +f 666 661 670 +f 667 659 670 +o convex_53 +v 0.347301 -0.897231 1.285137 +v 0.213085 -1.322454 0.748102 +v 0.190689 -0.897231 0.748102 +v 0.190689 -0.941993 1.397004 +v 0.302545 -1.322454 1.374643 +v 0.280202 -0.852468 0.748102 +v 0.257841 -1.322454 0.792950 +v 0.369714 -0.941993 1.374643 +v 0.257841 -1.322454 1.285137 +f 672 675 679 +f 673 672 674 +f 672 673 676 +f 673 674 676 +f 674 671 676 +f 675 672 677 +f 672 676 677 +f 671 674 678 +f 674 675 678 +f 676 671 678 +f 677 676 678 +f 675 677 678 +f 674 672 679 +f 675 674 679 +o convex_54 +v 0.145898 -0.986802 2.650419 +v -0.256934 -1.322454 2.560906 +v -0.234541 -1.322454 2.560906 +v -0.256934 -1.322454 2.695188 +v -0.256934 -0.852468 2.560906 +v 0.168292 -1.322454 2.628047 +v 0.168292 -0.874918 2.560906 +v -0.212147 -0.874918 2.605676 +v 0.033973 -1.210524 2.695188 +f 687 683 688 +f 681 682 683 +f 682 681 684 +f 681 683 684 +f 683 682 685 +f 682 684 686 +f 685 682 686 +f 680 685 686 +f 684 683 687 +f 680 686 687 +f 686 684 687 +f 683 685 688 +f 685 680 688 +f 680 687 688 +o convex_55 +v -0.928343 0.221787 -0.482631 +v -0.973095 2.638785 0.501918 +v -0.950741 2.638785 0.457074 +v -0.973095 2.638785 -0.527576 +v -1.017865 0.221787 0.501918 +v -0.973104 0.221787 -0.527576 +v -0.928343 2.213634 -0.527576 +v -0.973104 0.266739 0.300474 +v -0.995476 2.638785 0.412331 +v -1.017865 0.289215 0.255731 +v -0.928343 2.616309 0.054286 +v -1.017865 1.251424 0.501918 +v -0.973104 1.139281 0.501918 +f 693 696 701 +f 690 691 692 +f 689 693 694 +f 689 694 695 +f 694 692 695 +f 693 689 696 +f 690 692 697 +f 692 694 698 +f 694 693 698 +f 691 689 699 +f 692 691 699 +f 689 695 699 +f 695 692 699 +f 693 690 700 +f 690 697 700 +f 697 692 700 +f 698 693 700 +f 692 698 700 +f 689 691 701 +f 691 690 701 +f 690 693 701 +f 696 689 701 +o convex_56 +v -0.793978 -0.337256 -1.266126 +v -0.905917 -0.830088 -1.333262 +v -0.704457 -0.830088 -1.355636 +v -0.570250 1.586985 -1.378025 +v -0.145061 -0.830088 -1.378025 +v -0.145061 1.586985 -1.355651 +v -0.905917 1.586985 -1.266126 +v -0.257000 0.020714 -1.422788 +v -0.905917 1.586985 -1.310904 +v -0.145061 0.400689 -1.422788 +v -0.905917 -0.807611 -1.288515 +v -0.212239 -0.830088 -1.355651 +v -0.167479 -0.606267 -1.422788 +v -0.145061 1.586985 -1.378025 +f 707 711 715 +f 703 704 706 +f 702 707 708 +f 707 705 708 +f 703 705 709 +f 705 703 710 +f 703 708 710 +f 708 705 710 +f 707 706 711 +f 709 705 711 +f 708 703 712 +f 702 708 712 +f 703 706 713 +f 707 702 713 +f 706 707 713 +f 702 712 713 +f 712 703 713 +f 704 703 714 +f 706 704 714 +f 703 709 714 +f 711 706 714 +f 709 711 714 +f 705 707 715 +f 711 705 715 +o convex_57 +v -0.995465 2.661503 -1.288497 +v -0.973108 5.682581 -0.997562 +v -0.950730 5.682581 -1.042371 +v -0.973086 5.682581 -1.467548 +v -0.905963 2.638860 -1.288497 +v -0.950730 2.638860 -0.997562 +v -1.017865 4.675257 -0.997562 +v -0.905963 5.682581 -1.467548 +v -1.017843 3.982256 -1.310902 +v -0.995465 2.862908 -0.997562 +v -0.905963 4.071339 -1.288497 +v -0.995465 5.682581 -1.064729 +v -0.973086 2.638860 -1.310902 +v -1.017865 3.869934 -0.997562 +f 716 725 729 +f 717 718 719 +f 718 717 721 +f 721 717 722 +f 719 718 723 +f 719 716 724 +f 716 721 725 +f 721 722 725 +f 718 721 726 +f 721 720 726 +f 723 718 726 +f 720 723 726 +f 717 719 727 +f 722 717 727 +f 719 724 727 +f 724 722 727 +f 716 719 728 +f 720 721 728 +f 721 716 728 +f 719 723 728 +f 723 720 728 +f 724 716 729 +f 722 724 729 +f 725 722 729 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/853/853.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/853/853.urdf new file mode 100644 index 000000000..6dce02bee --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/853/853.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/854/854.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/854/854.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/854/854.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/854/854.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/854/854.obj new file mode 100644 index 000000000..8d9f40d48 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/854/854.obj @@ -0,0 +1,801 @@ +o convex_0 +v -0.039138 2.970053 -1.593087 +v 0.433283 1.485082 -1.120695 +v 0.466973 1.485082 -1.120695 +v 0.028242 2.362545 -4.663808 +v -0.511669 1.654003 -1.086378 +v 0.433283 2.835003 -1.086378 +v -0.545467 2.801276 -1.086378 +v 0.433283 1.890232 -3.921428 +v -0.444071 2.396271 -4.191067 +v 0.028242 2.801276 -4.123482 +v -0.140426 1.957685 -4.157449 +v 0.433283 2.396126 -4.157449 +v 0.568370 2.362399 -1.086378 +v -0.410381 2.835003 -2.707007 +v -0.241604 1.518953 -1.255514 +v 0.399485 2.801276 -2.707007 +v -0.477870 2.059009 -3.549888 +v -0.545467 2.565048 -2.774241 +v 0.534571 2.396126 -2.807858 +v 0.568370 1.957685 -1.086378 +v -0.444071 2.936327 -1.086378 +v -0.444071 2.025283 -3.786259 +v -0.342892 2.700098 -3.786259 +v 0.466973 1.923959 -3.786259 +v 0.095840 2.970053 -1.120695 +v 0.028242 2.936327 -2.437019 +v -0.545467 2.227640 -2.470636 +v 0.298306 2.700098 -3.786259 +v -0.039138 2.801276 -4.123482 +v 0.264616 1.890232 -3.955046 +v -0.545467 1.991556 -1.086378 +v -0.444071 2.463723 -4.157449 +v -0.039138 2.396271 -4.663808 +v 0.534571 1.721456 -1.086378 +v -0.072937 1.957685 -4.225034 +v 0.534571 2.463869 -2.537870 +v -0.039138 2.902455 -2.942327 +v -0.275403 1.518953 -1.086378 +v 0.568370 2.261221 -1.761873 +v -0.072937 2.328673 -4.629841 +v 0.433283 2.767550 -2.504253 +v -0.477870 2.497450 -3.819876 +v 0.028242 2.429997 -4.629841 +v 0.264616 2.092880 -4.258651 +f 8 35 44 +f 5 6 7 +f 6 5 13 +f 7 14 18 +f 13 5 20 +f 7 6 21 +f 14 7 21 +f 9 11 22 +f 15 5 22 +f 11 15 22 +f 5 17 22 +f 17 9 22 +f 3 8 24 +f 8 12 24 +f 12 19 24 +f 6 16 25 +f 1 21 25 +f 21 6 25 +f 16 10 26 +f 1 25 26 +f 25 16 26 +f 17 5 27 +f 7 18 27 +f 18 17 27 +f 12 10 28 +f 10 16 28 +f 16 12 28 +f 23 14 29 +f 3 2 30 +f 8 3 30 +f 2 15 30 +f 5 7 31 +f 27 5 31 +f 7 27 31 +f 23 29 32 +f 32 29 33 +f 9 32 33 +f 20 5 34 +f 3 24 34 +f 24 20 34 +f 15 11 35 +f 8 30 35 +f 30 15 35 +f 6 13 36 +f 19 12 36 +f 21 1 37 +f 14 21 37 +f 26 10 37 +f 1 26 37 +f 10 29 37 +f 29 14 37 +f 2 3 38 +f 15 2 38 +f 5 15 38 +f 3 34 38 +f 34 5 38 +f 13 20 39 +f 24 19 39 +f 20 24 39 +f 36 13 39 +f 19 36 39 +f 11 9 40 +f 33 4 40 +f 9 33 40 +f 4 35 40 +f 35 11 40 +f 16 6 41 +f 12 16 41 +f 6 36 41 +f 36 12 41 +f 9 17 42 +f 18 14 42 +f 17 18 42 +f 14 23 42 +f 32 9 42 +f 23 32 42 +f 12 4 43 +f 10 12 43 +f 29 10 43 +f 33 29 43 +f 4 33 43 +f 12 8 44 +f 4 12 44 +f 35 4 44 +o convex_1 +v 0.332101 -3.004081 0.297534 +v -0.342952 -3.139210 0.365073 +v -0.342952 -3.139210 0.398653 +v 0.062041 -4.624148 0.398653 +v 0.062041 -2.936516 0.702450 +v -0.106590 -2.936516 0.061338 +v 0.028275 -4.320189 0.634912 +v 0.028275 -4.387754 0.196289 +v -0.275354 -2.936516 0.668681 +v -0.174122 -4.387754 0.398653 +v 0.230804 -4.353889 0.466192 +v 0.264570 -3.173075 0.128814 +v 0.264570 -2.936516 0.601143 +v -0.241588 -3.206775 0.128814 +v 0.230804 -4.320189 0.331303 +v 0.129572 -2.936516 0.061338 +v -0.342952 -2.936516 0.297534 +v -0.174122 -4.252790 0.499898 +v 0.230804 -3.173075 0.634912 +v -0.140356 -4.151525 0.230059 +v 0.332101 -2.936516 0.432423 +v 0.095806 -4.353889 0.196289 +v -0.275354 -3.240309 0.634912 +v -0.072825 -3.274174 0.702450 +v -0.005425 -3.206775 0.061338 +v -0.005425 -4.320189 0.634912 +f 68 53 70 +f 49 50 53 +f 47 46 54 +f 52 48 54 +f 51 48 55 +f 50 49 57 +f 54 46 58 +f 45 55 59 +f 55 48 59 +f 56 45 59 +f 45 56 60 +f 50 57 60 +f 46 47 61 +f 47 53 61 +f 53 50 61 +f 58 46 61 +f 50 58 61 +f 47 54 62 +f 49 51 63 +f 51 55 63 +f 57 49 63 +f 55 57 63 +f 52 54 64 +f 58 52 64 +f 54 58 64 +f 55 45 65 +f 57 55 65 +f 45 60 65 +f 60 57 65 +f 48 52 66 +f 59 48 66 +f 56 59 66 +f 60 56 66 +f 53 47 67 +f 47 62 67 +f 51 49 68 +f 49 53 68 +f 58 50 69 +f 52 58 69 +f 50 60 69 +f 66 52 69 +f 60 66 69 +f 48 51 70 +f 54 48 70 +f 62 54 70 +f 53 67 70 +f 67 62 70 +f 51 68 70 +o convex_2 +v 0.230840 -2.767753 0.770012 +v -0.039095 -2.801518 -0.073798 +v -0.005375 -2.936516 0.027480 +v -0.410457 -2.801518 0.567370 +v -0.072904 -2.936516 0.736167 +v 0.500865 -2.801518 0.297640 +v 0.298279 -2.936516 0.533697 +v -0.342928 -2.936516 0.297640 +v -0.342928 -2.767753 0.094998 +v 0.365808 -2.767753 -0.006193 +v -0.309120 -2.767753 0.736167 +v 0.298279 -2.936516 0.162517 +v -0.309120 -2.936516 0.634975 +v 0.365808 -2.801518 0.702493 +v -0.241680 -2.936516 0.094998 +f 78 79 85 +f 75 73 77 +f 73 75 78 +f 78 74 79 +f 73 72 80 +f 71 76 80 +f 72 79 80 +f 79 71 80 +f 75 71 81 +f 71 79 81 +f 79 74 81 +f 76 77 82 +f 77 73 82 +f 73 80 82 +f 80 76 82 +f 74 78 83 +f 78 75 83 +f 75 81 83 +f 81 74 83 +f 71 75 84 +f 76 71 84 +f 77 76 84 +f 75 77 84 +f 72 73 85 +f 73 78 85 +f 79 72 85 +o convex_3 +v -0.376321 -2.767753 0.736127 +v 1.546866 -0.270057 0.432234 +v 1.546866 -0.270057 0.297564 +v -2.840106 -0.844116 0.331284 +v 1.850653 -1.856054 -0.579979 +v 2.120952 -1.687602 1.343705 +v -0.477384 -0.270057 1.411144 +v -2.097980 -1.653618 -0.647418 +v -0.443896 -0.270057 -0.647418 +v -2.030406 -2.362391 1.174898 +v 2.829589 -2.463609 0.365211 +v -2.063894 -2.362391 -0.377453 +v 2.593377 -1.012813 -0.141207 +v 0.331718 -2.531332 -0.478820 +v -2.806617 -1.619878 1.174898 +v 2.593377 -1.114031 0.972373 +v -2.806617 -2.362391 0.365211 +v 2.053377 -2.430114 1.140971 +v -1.962831 -1.721097 1.411144 +v 0.635505 -0.270057 1.445072 +v 1.074442 -0.270057 -0.546051 +v -2.840106 -1.552644 -0.411172 +v -1.051470 -0.270057 -0.546051 +v -0.072534 -2.767753 -0.107280 +v 2.762015 -1.586383 -0.377453 +v 2.053377 -2.463609 -0.343733 +v 2.120952 -2.700029 0.432234 +v -1.017383 -0.270057 1.276265 +v 2.795503 -1.653618 1.140971 +v 0.095506 -2.463609 1.276265 +v 2.762015 -0.877855 0.398515 +v -3.076916 -1.653618 0.432442 +v -2.097980 -2.598811 0.398515 +v 3.032313 -1.620123 0.365211 +v 0.432781 -0.270057 -0.681346 +v -1.490406 -0.270057 0.432442 +v -2.603893 -1.046553 0.972164 +v 1.040953 -0.270057 1.276057 +v 0.298230 -2.058491 -0.613698 +v 0.129592 -2.767753 0.837494 +v -2.603893 -1.012813 -0.242366 +v 0.230655 -1.991012 1.377424 +v 2.154440 -1.620123 -0.579979 +v -0.039046 -2.497593 -0.512539 +v -1.962831 -1.485165 1.411144 +v 2.626865 -2.227433 0.972373 +v -2.637980 -2.160198 -0.208438 +v 2.626865 -2.227433 -0.174927 +v -2.637980 -2.227433 0.871006 +v 0.432781 -0.573956 -0.681346 +v -0.983895 -2.396130 1.276265 +v -2.840106 -0.844116 0.398515 +v 0.905804 -2.497593 -0.478820 +v 0.365804 -2.767753 -0.039632 +v 2.727928 -0.844116 0.331492 +v -2.840106 -1.653618 -0.411172 +v 2.795503 -1.687602 -0.343733 +v 2.727928 -0.844116 0.432234 +v -0.983895 -2.430114 -0.478612 +v -3.076916 -1.518905 0.398515 +v 2.086866 -2.700029 0.331492 +v 2.829589 -2.463609 0.432234 +v 0.264143 -1.518905 -0.647418 +v -1.962831 -1.451426 -0.647418 +f 94 120 149 +f 87 88 92 +f 92 88 94 +f 100 95 104 +f 87 92 105 +f 94 88 106 +f 92 94 108 +f 106 98 110 +f 92 108 113 +f 91 103 114 +f 105 91 114 +f 103 91 115 +f 102 100 117 +f 86 95 118 +f 95 102 118 +f 102 97 118 +f 109 86 118 +f 97 109 118 +f 116 114 119 +f 94 106 120 +f 108 89 121 +f 113 108 121 +f 100 113 122 +f 87 105 123 +f 114 101 123 +f 105 114 123 +f 95 86 125 +f 86 109 125 +f 112 103 125 +f 103 115 125 +f 107 89 126 +f 89 108 126 +f 108 107 126 +f 91 105 127 +f 105 104 127 +f 115 91 127 +f 104 115 127 +f 106 110 128 +f 111 90 128 +f 120 106 128 +f 99 109 129 +f 93 124 129 +f 100 104 130 +f 105 92 130 +f 104 105 130 +f 113 100 130 +f 92 113 130 +f 114 103 131 +f 97 102 132 +f 96 111 133 +f 95 100 134 +f 102 95 134 +f 100 102 134 +f 93 120 135 +f 120 128 135 +f 104 95 136 +f 115 104 136 +f 95 125 136 +f 125 115 136 +f 121 89 137 +f 113 121 137 +f 100 122 137 +f 122 113 137 +f 109 99 138 +f 90 111 138 +f 124 90 138 +f 99 129 138 +f 129 124 138 +f 125 109 139 +f 112 125 139 +f 109 138 139 +f 138 111 139 +f 88 87 140 +f 106 88 140 +f 98 106 140 +f 110 98 140 +f 119 110 140 +f 116 119 140 +f 93 97 141 +f 107 93 141 +f 102 117 141 +f 97 132 141 +f 132 102 141 +f 119 96 142 +f 110 119 142 +f 128 110 142 +f 111 128 142 +f 96 133 142 +f 133 111 142 +f 101 114 143 +f 114 116 143 +f 87 123 143 +f 123 101 143 +f 140 87 143 +f 116 140 143 +f 97 93 144 +f 109 97 144 +f 93 129 144 +f 129 109 144 +f 89 107 145 +f 117 100 145 +f 137 89 145 +f 100 137 145 +f 107 141 145 +f 141 117 145 +f 111 96 146 +f 96 112 146 +f 139 111 146 +f 112 139 146 +f 103 112 147 +f 112 96 147 +f 96 119 147 +f 119 114 147 +f 131 103 147 +f 114 131 147 +f 90 124 148 +f 124 93 148 +f 128 90 148 +f 93 135 148 +f 135 128 148 +f 93 107 149 +f 108 94 149 +f 107 108 149 +f 120 93 149 +o convex_4 +v 0.568238 0.776263 1.444850 +v -0.309225 0.843702 -0.816356 +v -0.376678 0.033836 -0.714761 +v 1.513444 -0.270056 0.331069 +v -1.017767 -0.270056 1.275968 +v -1.085219 0.945039 0.398577 +v 0.939517 0.945039 -0.546100 +v -1.085219 -0.270056 -0.512235 +v 1.074422 -0.270056 -0.546100 +v 0.770886 -0.270056 1.410985 +v -0.848845 0.945039 1.377342 +v 1.006969 0.945039 1.174816 +v -1.456789 -0.236277 0.398577 +v -0.984040 0.945039 -0.478592 +v 0.534512 0.945039 -0.816135 +v -0.511583 -0.270056 1.411206 +v 1.108439 0.945039 0.331069 +v 0.433333 -0.270056 -0.681117 +v 1.040696 -0.270056 1.275968 +v 0.905791 0.945039 1.343477 +v -0.950314 0.911260 1.242324 +v -0.882862 0.945039 -0.613609 +v 1.513444 -0.236277 0.398577 +v 0.230685 0.945039 1.444850 +v 0.568238 -0.270056 1.444850 +v 1.006969 0.911260 -0.444727 +v -1.456789 -0.270056 0.330848 +v -1.051493 -0.270056 -0.546100 +v -0.410404 -0.202498 -0.681117 +v -0.579035 0.945039 1.411206 +v 1.074422 -0.134940 -0.546100 +v 1.006969 0.641265 1.242324 +v -0.309225 0.945039 -0.816356 +v -1.017767 0.742365 -0.478592 +v 1.108439 0.945039 0.466086 +v -0.882862 0.742365 1.377342 +v 0.838048 -0.270056 -0.613609 +v 1.513444 -0.236277 0.331069 +v -1.456789 -0.236277 0.330848 +f 163 183 188 +f 153 154 157 +f 153 157 158 +f 154 153 159 +f 156 155 160 +f 156 160 161 +f 155 156 163 +f 163 156 164 +f 154 159 165 +f 156 161 166 +f 152 151 167 +f 158 157 167 +f 151 164 167 +f 159 153 168 +f 150 159 169 +f 161 160 169 +f 159 168 169 +f 160 155 170 +f 162 154 170 +f 155 162 170 +f 163 164 171 +f 168 153 172 +f 150 169 173 +f 169 160 173 +f 159 150 174 +f 165 159 174 +f 150 173 174 +f 173 165 174 +f 156 166 175 +f 157 154 176 +f 154 162 176 +f 151 152 177 +f 167 157 177 +f 171 151 177 +f 157 171 177 +f 152 167 178 +f 177 152 178 +f 167 177 178 +f 165 173 179 +f 173 160 179 +f 153 158 180 +f 158 164 180 +f 164 156 180 +f 156 175 180 +f 161 169 181 +f 169 168 181 +f 172 161 181 +f 168 172 181 +f 164 151 182 +f 151 171 182 +f 171 164 182 +f 171 157 183 +f 163 171 183 +f 166 161 184 +f 172 166 184 +f 161 172 184 +f 154 165 185 +f 170 154 185 +f 160 170 185 +f 179 160 185 +f 165 179 185 +f 164 158 186 +f 158 167 186 +f 167 164 186 +f 172 153 187 +f 166 172 187 +f 175 166 187 +f 153 180 187 +f 180 175 187 +f 162 155 188 +f 155 163 188 +f 157 176 188 +f 176 162 188 +f 183 157 188 +o convex_5 +v -0.241490 2.025441 1.478824 +v -0.308941 0.945280 -0.816198 +v 0.399620 0.979043 -0.850096 +v -0.039134 3.374979 -0.377532 +v 0.973278 0.945280 1.242542 +v -0.950474 0.945280 1.208644 +v -0.815359 3.037354 -0.512371 +v 0.736879 2.936307 1.242542 +v 0.568355 2.396106 -1.086377 +v -0.781527 2.969828 1.309836 +v 1.007109 0.945280 -0.411179 +v -0.984094 0.945280 -0.478724 +v -0.545340 2.835019 -1.086377 +v 0.703259 2.902303 -0.377532 +v -0.005302 3.341217 1.242542 +v -0.511720 1.620290 -1.086377 +v 1.108181 1.046327 0.364960 +v -1.051546 1.147614 0.398607 +v 0.635807 2.835019 1.444926 +v 0.534524 0.945280 1.444926 +v 0.298125 2.902303 -1.086377 +v -0.781527 1.012564 1.411279 +v -0.714075 2.733732 1.478824 +v 0.467072 1.485240 -1.086377 +v 0.770711 2.936307 0.263517 +v -0.039134 3.408501 0.634889 +v 0.973278 1.552765 -0.343634 +v 0.973278 1.620290 1.174746 +v 0.061938 3.408501 0.398607 +v -0.140206 3.138641 1.444926 +v -0.444057 2.969828 -1.052479 +v 0.871994 1.384194 1.377381 +v 0.331957 2.666206 1.478824 +v 0.905826 0.945280 -0.579916 +v 0.230673 3.239929 -0.377532 +v 0.770711 2.936307 0.769979 +v -0.781527 3.071357 -0.546269 +v -0.984094 1.282665 -0.444826 +v 0.061938 3.003591 -1.086377 +v 0.601975 2.261056 -1.086377 +v 0.433240 2.835019 -1.086377 +v -0.882811 0.945280 -0.613814 +v -0.815359 2.801257 1.208644 +v -0.579172 3.071357 1.411279 +v -0.241490 1.485481 -1.086377 +v -1.051546 0.945280 0.229870 +v -0.849190 0.945280 1.377381 +v 1.108181 0.945280 0.465901 +v -0.511720 3.206166 -0.107352 +v -0.950474 1.114093 1.208644 +v 0.703259 2.430110 1.444926 +v 0.061938 3.341217 1.208644 +v -0.747907 3.003832 1.276189 +v 0.534524 0.945280 -0.816198 +v 0.095770 3.138641 1.444926 +v -0.849190 2.733732 -0.512371 +v -0.545340 3.104879 -0.748653 +v -0.747907 1.552765 1.444926 +v 0.568355 1.822866 -1.086377 +v 0.804542 2.463631 -0.343634 +v 0.871994 2.430110 0.398607 +v 0.197053 0.945280 1.444926 +v -0.545340 1.991437 -1.086377 +v -0.072754 3.408501 0.432254 +f 237 241 252 +f 190 193 194 +f 193 190 199 +f 190 194 200 +f 201 197 204 +f 194 193 208 +f 197 201 209 +f 204 197 212 +f 205 199 215 +f 208 193 220 +f 193 216 220 +f 189 208 221 +f 211 189 221 +f 199 190 222 +f 213 202 223 +f 192 217 223 +f 217 213 223 +f 216 205 224 +f 196 216 224 +f 217 196 224 +f 213 217 224 +f 201 195 225 +f 219 201 225 +f 201 200 226 +f 192 209 227 +f 209 201 227 +f 219 192 227 +f 201 219 227 +f 197 202 228 +f 212 197 228 +f 215 199 228 +f 199 222 228 +f 202 197 229 +f 209 192 229 +f 197 209 229 +f 192 223 229 +f 223 202 229 +f 190 200 230 +f 204 190 230 +f 198 195 231 +f 195 206 231 +f 198 211 232 +f 203 214 232 +f 218 203 232 +f 211 218 232 +f 191 190 233 +f 190 204 233 +f 212 191 233 +f 204 212 233 +f 200 194 234 +f 194 206 234 +f 226 200 234 +f 206 226 234 +f 194 208 235 +f 193 199 236 +f 199 205 236 +f 216 193 236 +f 205 216 236 +f 192 225 237 +f 206 194 238 +f 211 198 238 +f 198 231 238 +f 231 206 238 +f 194 235 238 +f 235 211 238 +f 196 207 239 +f 216 196 239 +f 208 220 239 +f 220 216 239 +f 221 208 239 +f 207 221 239 +f 214 203 240 +f 196 217 240 +f 217 214 240 +f 195 198 241 +f 225 195 241 +f 198 232 241 +f 232 214 241 +f 237 225 241 +f 190 191 242 +f 191 212 242 +f 222 190 242 +f 212 222 242 +f 207 196 243 +f 203 218 243 +f 218 211 243 +f 221 207 243 +f 211 221 243 +f 196 240 243 +f 240 203 243 +f 195 201 244 +f 206 195 244 +f 201 226 244 +f 226 206 244 +f 192 219 245 +f 225 192 245 +f 219 225 245 +f 189 211 246 +f 235 210 246 +f 211 235 246 +f 222 212 247 +f 212 228 247 +f 228 222 247 +f 202 213 248 +f 213 215 248 +f 228 202 248 +f 215 228 248 +f 205 215 249 +f 215 213 249 +f 224 205 249 +f 213 224 249 +f 208 189 250 +f 235 208 250 +f 210 235 250 +f 189 246 250 +f 246 210 250 +f 200 201 251 +f 201 204 251 +f 230 200 251 +f 204 230 251 +f 217 192 252 +f 214 217 252 +f 192 237 252 +f 241 214 252 +o convex_6 +v -0.342952 2.160174 1.478824 +v 0.365854 2.430037 1.546432 +v 0.365854 2.396403 1.546432 +v -0.005409 2.362769 3.402725 +v -0.241654 2.666332 1.478824 +v 0.197048 2.058877 1.478824 +v 0.298346 2.700164 1.478824 +v 0.062031 2.598866 3.132483 +v 0.230837 2.362769 3.166381 +v -0.005409 2.160174 3.166381 +v -0.207934 2.396403 3.132483 +v -0.039128 2.733930 1.546432 +v -0.275443 2.092642 1.512722 +v -0.309163 2.598866 1.512722 +v -0.106637 2.565166 2.997644 +v 0.197048 2.160174 2.491057 +v -0.174145 2.261472 3.031165 +v 0.230837 2.598866 2.558665 +v -0.005409 2.598866 3.132483 +v 0.365854 2.362769 1.478824 +v 0.163328 2.733930 1.512722 +v 0.028311 2.092642 2.187858 +f 262 265 274 +f 253 257 258 +f 258 257 259 +f 255 254 261 +f 260 256 261 +f 261 256 262 +f 253 258 265 +f 257 253 266 +f 253 263 266 +f 266 263 267 +f 257 266 267 +f 261 262 268 +f 262 258 268 +f 262 256 269 +f 263 253 269 +f 256 263 269 +f 253 265 269 +f 265 262 269 +f 254 259 270 +f 259 260 270 +f 260 261 270 +f 261 254 270 +f 256 260 271 +f 263 256 271 +f 264 257 271 +f 260 264 271 +f 267 263 271 +f 257 267 271 +f 254 255 272 +f 259 254 272 +f 258 259 272 +f 255 261 272 +f 268 258 272 +f 261 268 272 +f 259 257 273 +f 260 259 273 +f 257 264 273 +f 264 260 273 +f 258 262 274 +f 265 258 274 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/854/854.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/854/854.urdf new file mode 100644 index 000000000..296aa85e8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/854/854.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/855/855.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/855/855.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/855/855.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/855/855.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/855/855.obj new file mode 100644 index 000000000..2d3a514ee --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/855/855.obj @@ -0,0 +1,561 @@ +o convex_0 +v -2.929714 0.657990 0.279039 +v -4.875851 0.091695 -0.322667 +v -4.911199 0.091695 -0.180996 +v -2.929714 0.020846 0.172852 +v -2.929714 0.587078 -0.287249 +v -4.805154 0.657990 0.349874 +v -4.946942 0.091695 0.279039 +v -4.875851 0.551716 -0.216348 +v -2.929714 0.127057 -0.251831 +v -3.142002 0.587078 0.314456 +v -4.238790 0.657990 0.102082 +v -4.805154 0.197844 0.314456 +v -4.415729 0.056271 -0.216348 +v -2.965063 0.056271 0.208269 +v -4.026502 0.339418 -0.322667 +v -4.805154 0.516354 -0.251831 +v -2.965063 0.304056 -0.287249 +v -4.380381 0.091695 -0.322667 +v -4.309486 0.056271 0.243621 +v -3.000411 0.657990 0.137434 +v -2.929714 0.020846 0.102082 +v -4.238790 0.622565 0.349874 +v -3.248245 0.587078 -0.287249 +v -4.805154 0.657990 0.172852 +v -4.946942 0.197844 0.279039 +v -4.345032 0.091695 0.279039 +f 19 14 26 +f 1 4 5 +f 2 3 8 +f 5 4 9 +f 6 1 11 +f 6 7 12 +f 3 2 13 +f 7 3 13 +f 4 1 14 +f 1 10 14 +f 2 8 16 +f 15 2 16 +f 5 9 17 +f 15 5 17 +f 15 17 18 +f 13 2 18 +f 9 13 18 +f 2 15 18 +f 17 9 18 +f 7 13 19 +f 13 4 19 +f 4 14 19 +f 1 5 20 +f 11 1 20 +f 5 11 20 +f 9 4 21 +f 4 13 21 +f 13 9 21 +f 1 6 22 +f 10 1 22 +f 6 12 22 +f 12 10 22 +f 11 5 23 +f 8 11 23 +f 5 15 23 +f 16 8 23 +f 15 16 23 +f 8 6 24 +f 6 11 24 +f 11 8 24 +f 7 6 25 +f 3 7 25 +f 8 3 25 +f 6 8 25 +f 12 7 26 +f 10 12 26 +f 14 10 26 +f 7 19 26 +o convex_1 +v -1.124244 1.365623 0.915982 +v -2.858498 -0.687092 -0.995097 +v -2.893812 -0.191480 -0.818192 +v -0.947288 1.436722 -0.959800 +v -0.947094 -0.615993 0.951490 +v -2.787677 1.294940 1.128606 +v -0.947094 -0.686884 -0.959589 +v -2.893812 -0.651335 0.986997 +v -2.893812 1.365831 -1.030605 +v -0.947288 1.330281 1.022294 +v -2.929320 0.657754 0.278956 +v -2.752169 -0.687092 0.916193 +v -2.681347 1.330281 1.022294 +v -2.185791 1.259598 -1.030605 +v -2.787677 -0.474627 -1.030605 +v -2.929320 -0.049698 -0.428663 +v -2.893812 -0.509969 1.022294 +v -0.947094 -0.686884 -0.216251 +v -1.018109 1.436722 -0.570272 +v -2.929320 -0.474627 0.703781 +v -2.929320 1.082475 -0.853488 +v -2.716855 1.188708 1.128606 +v -2.893812 1.365831 -0.782684 +v -1.690428 -0.686884 -0.995097 +v -1.407531 1.400964 -0.995097 +v -2.893812 -0.226821 1.022294 +v -1.973520 -0.651335 0.986786 +v -1.265693 1.436722 -0.924081 +v -0.947288 1.365623 0.951490 +v -2.893812 -0.687092 0.066332 +v -2.893812 1.330281 -0.534975 +v -1.584293 -0.651335 0.880686 +v -2.893812 0.339473 -1.030605 +f 42 47 59 +f 30 31 33 +f 28 33 38 +f 35 40 41 +f 29 28 42 +f 33 31 44 +f 38 33 44 +f 39 27 45 +f 37 42 46 +f 34 43 46 +f 42 37 47 +f 31 36 48 +f 36 32 48 +f 32 43 48 +f 32 39 49 +f 35 47 49 +f 33 28 50 +f 41 40 50 +f 28 41 50 +f 30 33 51 +f 35 30 51 +f 40 35 51 +f 33 50 51 +f 50 40 51 +f 32 37 52 +f 43 32 52 +f 37 46 52 +f 46 43 52 +f 34 38 53 +f 43 34 53 +f 31 48 53 +f 48 43 53 +f 30 35 54 +f 45 30 54 +f 39 45 54 +f 49 39 54 +f 35 49 54 +f 31 30 55 +f 36 31 55 +f 32 36 55 +f 27 39 55 +f 39 32 55 +f 30 45 55 +f 45 27 55 +f 28 38 56 +f 38 34 56 +f 42 28 56 +f 34 46 56 +f 46 42 56 +f 37 32 57 +f 47 37 57 +f 32 49 57 +f 49 47 57 +f 44 31 58 +f 38 44 58 +f 31 53 58 +f 53 38 58 +f 28 29 59 +f 35 41 59 +f 41 28 59 +f 29 42 59 +f 47 35 59 +o convex_2 +v 2.132547 1.295013 -1.030605 +v 1.495507 1.295013 1.093209 +v 1.247590 1.295013 1.093209 +v 1.283034 -0.757886 -0.676566 +v 3.123455 -0.651574 0.986769 +v 3.158899 1.330309 -0.995055 +v 3.194343 -0.651574 -0.959506 +v 3.088011 1.401325 0.986769 +v 1.247590 -0.616277 1.093209 +v 1.247590 1.365817 -1.030605 +v 1.247590 -0.757886 -0.924372 +v 3.123455 1.401325 0.739171 +v 1.813932 1.401325 -0.357870 +v 2.274132 -0.722378 -0.959506 +v 3.158899 1.365606 -0.853482 +v 1.672346 -0.226749 1.093209 +v 3.158899 -0.580558 0.668280 +v 3.158899 -0.014336 -0.995055 +v 1.247590 1.011585 -1.030605 +v 1.247590 1.330521 0.738963 +v 2.663254 1.401325 0.986769 +v 3.194343 -0.191452 -0.924372 +v 2.698508 -0.686870 0.562048 +v 3.052567 -0.686870 -0.782591 +v 1.353922 -0.651574 0.845195 +v 3.123455 0.976288 0.986977 +v 3.158899 1.330309 -0.464102 +v 3.088011 1.401325 0.208009 +v 2.663254 1.223997 1.022110 +v 1.247590 1.365817 -0.216296 +v 2.910981 1.365606 -0.994847 +v 1.247590 -0.333061 -0.959714 +v 1.636902 -0.616277 1.093209 +v 2.344830 -0.651574 1.022110 +v 1.460063 -0.757886 -0.747249 +v 2.026405 -0.722378 -0.959506 +v 1.460063 1.330521 1.057452 +f 62 80 96 +f 62 61 67 +f 61 62 68 +f 68 62 69 +f 68 69 70 +f 63 68 70 +f 67 71 72 +f 61 68 75 +f 64 66 76 +f 60 65 77 +f 65 66 77 +f 66 73 77 +f 69 60 78 +f 70 69 78 +f 60 77 78 +f 69 62 79 +f 62 67 80 +f 67 72 80 +f 66 65 81 +f 65 74 81 +f 76 66 81 +f 66 64 83 +f 73 66 83 +f 64 82 83 +f 68 63 84 +f 71 67 85 +f 64 76 85 +f 76 71 85 +f 74 71 86 +f 71 76 86 +f 81 74 86 +f 76 81 86 +f 72 71 87 +f 71 74 87 +f 67 61 88 +f 61 75 88 +f 75 64 88 +f 85 67 88 +f 64 85 88 +f 72 69 89 +f 69 79 89 +f 80 72 89 +f 79 80 89 +f 65 60 90 +f 60 69 90 +f 69 72 90 +f 74 65 90 +f 72 87 90 +f 87 74 90 +f 70 78 91 +f 64 75 92 +f 75 68 92 +f 82 64 93 +f 63 82 93 +f 84 63 93 +f 68 84 93 +f 64 92 93 +f 92 68 93 +f 63 70 94 +f 70 73 94 +f 82 63 94 +f 73 83 94 +f 83 82 94 +f 73 70 95 +f 77 73 95 +f 78 77 95 +f 70 91 95 +f 91 78 95 +f 79 62 96 +f 80 79 96 +o convex_3 +v 0.044213 -3.271317 -0.605842 +v -0.097485 -2.740496 0.562256 +v 0.150210 -2.740496 0.526810 +v 0.681080 -4.651293 0.491365 +v -0.416140 -4.686642 0.526810 +v -0.380660 -4.757734 -0.605842 +v 0.681080 -4.545050 -0.570396 +v 0.645711 -2.740496 -0.357953 +v -0.416140 -2.740496 -0.605842 +v 0.716560 -2.740496 0.420588 +v -0.309811 -2.881890 0.562256 +v 0.539382 -2.740496 -0.464175 +v 0.681080 -4.651293 -0.570396 +v 0.716560 -4.261867 0.491365 +v -0.416140 -2.740496 -0.393398 +v -0.416140 -4.049578 -0.605842 +v 0.150210 -4.721991 -0.605842 +v 0.716560 -2.740496 0.172813 +v -0.239073 -4.757734 -0.357953 +v -0.416140 -4.332761 0.526810 +v -0.309811 -3.589849 0.562256 +v 0.716560 -4.651491 0.349812 +v 0.362536 -3.978683 -0.605842 +v -0.274442 -2.740496 0.562256 +v -0.416140 -4.721991 0.279035 +v 0.645711 -2.988133 -0.464175 +v -0.203593 -2.740496 -0.605842 +v 0.716560 -3.165074 0.456034 +v -0.416140 -4.721991 -0.181069 +v 0.645711 -4.191170 -0.570396 +f 122 103 126 +f 98 99 104 +f 97 102 105 +f 98 104 105 +f 104 99 106 +f 105 104 108 +f 99 98 110 +f 98 100 110 +f 98 105 111 +f 105 101 111 +f 101 105 112 +f 105 102 112 +f 102 97 113 +f 104 106 114 +f 109 103 114 +f 106 110 114 +f 102 113 115 +f 101 107 116 +f 111 101 116 +f 107 111 116 +f 100 98 117 +f 101 100 117 +f 98 107 117 +f 107 101 117 +f 110 100 118 +f 113 109 118 +f 109 114 118 +f 114 110 118 +f 100 115 118 +f 115 113 118 +f 103 109 119 +f 113 97 119 +f 109 113 119 +f 107 98 120 +f 98 111 120 +f 111 107 120 +f 100 101 121 +f 101 112 121 +f 115 100 121 +f 102 115 121 +f 108 104 122 +f 114 103 122 +f 104 114 122 +f 97 105 123 +f 108 97 123 +f 105 108 123 +f 106 99 124 +f 110 106 124 +f 99 110 124 +f 112 102 125 +f 121 112 125 +f 102 121 125 +f 97 108 126 +f 119 97 126 +f 103 119 126 +f 108 122 126 +o convex_4 +v 1.105732 -0.439591 1.128606 +v -0.947094 -2.740112 -0.959800 +v 1.035056 -2.633672 -1.030605 +v -0.770082 1.507515 -0.959589 +v -0.876203 -2.633672 1.057802 +v -0.947094 1.365734 0.986786 +v 1.212068 1.507515 -1.030605 +v 1.247514 -2.740112 1.093098 +v 1.247514 1.507515 1.093098 +v 1.247514 -2.633672 -1.030605 +v -0.947094 1.436001 -0.959800 +v -0.805312 1.507515 0.986786 +v 1.247514 1.365318 -1.030605 +v 0.645586 1.507515 -1.030605 +v -0.947094 -0.616298 0.951490 +v 0.610356 -2.740112 -0.428663 +v -0.274490 -2.740112 0.562172 +v -0.593069 1.330392 1.022083 +v 0.220886 -2.703939 1.093098 +v -0.947094 -2.740112 -0.534975 +v 0.893489 1.330392 1.093098 +v 1.247514 -2.740112 0.597469 +v -0.911648 -2.668597 0.491368 +v -0.416057 -2.740112 -0.959589 +v 1.141177 -1.040396 1.128606 +v 0.044089 -1.606690 1.093098 +v 1.247514 -2.668597 -0.747388 +v -0.203814 0.091363 -0.995097 +v 0.964165 -2.668597 -0.995097 +v 0.787368 -2.740112 1.093098 +v 1.035056 -0.616298 1.128606 +f 144 152 157 +f 133 130 135 +f 128 129 136 +f 129 133 136 +f 135 134 136 +f 128 132 137 +f 135 130 138 +f 137 132 138 +f 130 137 138 +f 133 135 139 +f 136 133 139 +f 135 136 139 +f 129 128 140 +f 133 129 140 +f 130 133 140 +f 137 130 140 +f 132 128 141 +f 131 132 141 +f 134 128 142 +f 128 134 143 +f 132 131 144 +f 135 138 144 +f 138 132 144 +f 131 143 145 +f 141 128 146 +f 128 143 146 +f 143 131 146 +f 127 135 147 +f 135 144 147 +f 136 134 148 +f 134 142 148 +f 131 141 149 +f 141 146 149 +f 146 131 149 +f 128 136 150 +f 142 128 150 +f 134 135 151 +f 135 127 151 +f 144 131 152 +f 131 145 152 +f 136 148 153 +f 148 142 153 +f 128 137 154 +f 140 128 154 +f 137 140 154 +f 150 136 155 +f 142 150 155 +f 136 153 155 +f 153 142 155 +f 143 134 156 +f 145 143 156 +f 134 151 156 +f 151 145 156 +f 127 147 157 +f 147 144 157 +f 151 127 157 +f 145 151 157 +f 152 145 157 +o convex_5 +v 0.044265 3.312563 -1.101187 +v 1.247514 1.967734 1.057552 +v -0.663777 3.418899 1.093209 +v -0.769877 1.507706 -0.959634 +v 1.212006 3.277117 -1.101187 +v 1.212006 1.507515 -1.030518 +v -0.805385 1.507706 0.986883 +v 1.247514 3.383453 0.915999 +v -0.911697 3.454344 -1.065960 +v 1.247514 1.507515 1.057552 +v -0.840681 3.418899 1.093209 +v -0.840681 2.357252 1.057552 +v -0.911697 3.206417 -1.065960 +v 1.141202 1.826143 -1.065745 +v 1.247514 3.348008 0.172791 +v -0.663777 3.454344 -1.065960 +v 1.212006 3.383453 0.951441 +v -0.911697 3.454344 -0.499532 +v 0.504175 1.507515 1.057552 +v -0.805385 1.507706 -0.003989 +v 1.247514 1.507515 0.278902 +v 0.610276 1.507515 -1.030518 +v -0.876189 3.064826 -1.065960 +v -0.805385 1.578406 1.022325 +v -0.840681 2.073879 1.022325 +v -0.876189 3.383453 0.668335 +v -0.840681 3.454344 -0.216211 +v -0.805385 1.897034 -0.995076 +v 1.212006 2.781644 -1.101187 +v -0.840681 3.135717 1.093209 +v 0.150366 3.383453 -1.101187 +v 1.247514 2.463207 0.101907 +v -0.805385 1.790697 -0.959634 +v 1.212006 3.312563 -0.640871 +v 1.247514 3.383453 0.845330 +v -0.451575 3.418899 1.057552 +f 165 184 193 +f 159 160 167 +f 165 159 167 +f 166 158 170 +f 165 167 172 +f 160 159 174 +f 159 165 174 +f 166 170 175 +f 173 166 175 +f 163 167 176 +f 164 170 177 +f 161 176 177 +f 176 164 177 +f 167 163 178 +f 172 167 178 +f 171 163 179 +f 176 161 179 +f 163 176 179 +f 170 158 180 +f 158 171 180 +f 171 179 180 +f 164 176 181 +f 176 169 181 +f 170 164 182 +f 175 170 182 +f 164 181 182 +f 181 169 182 +f 168 175 183 +f 182 169 183 +f 175 182 183 +f 168 160 184 +f 165 173 184 +f 175 168 184 +f 173 175 184 +f 179 161 185 +f 170 180 185 +f 180 179 185 +f 158 162 186 +f 171 158 186 +f 163 171 186 +f 167 160 187 +f 160 168 187 +f 176 167 187 +f 169 176 187 +f 168 183 187 +f 183 169 187 +f 162 158 188 +f 158 166 188 +f 166 173 188 +f 162 172 189 +f 178 163 189 +f 172 178 189 +f 186 162 189 +f 163 186 189 +f 161 177 190 +f 177 170 190 +f 185 161 190 +f 170 185 190 +f 172 162 191 +f 162 188 191 +f 191 188 192 +f 165 172 192 +f 173 165 192 +f 188 173 192 +f 172 191 192 +f 160 174 193 +f 174 165 193 +f 184 160 193 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/855/855.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/855/855.urdf new file mode 100644 index 000000000..333309472 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/855/855.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/856/856.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/856/856.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/856/856.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/856/856.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/856/856.obj new file mode 100644 index 000000000..87be8f39a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/856/856.obj @@ -0,0 +1,420 @@ +o convex_0 +v 1.002557 0.745177 -1.466478 +v 0.636048 -1.127606 -5.009071 +v 0.595391 -0.801427 -5.009071 +v -0.951759 -1.046061 -1.099898 +v -0.951759 0.989600 -4.886622 +v -0.992415 0.989600 -1.099898 +v 0.961900 -1.127606 -1.099898 +v 0.961900 0.989600 -5.009071 +v -0.992415 -1.086622 -4.927567 +v 1.043214 -1.127606 -5.009071 +v 0.961900 1.030584 -1.099898 +v -0.626106 -1.127606 -1.099898 +v -0.911102 1.030584 -4.642491 +v 1.043214 -0.190686 -3.257673 +v 0.961900 1.030584 -4.723996 +v -0.911102 1.030584 -1.099898 +v -0.992415 -0.964516 -2.159079 +v 1.002557 -1.127606 -1.670049 +v -0.992415 0.053103 -4.886622 +v 0.554535 0.949039 -5.009071 +v 1.043214 -0.313003 -5.009071 +v -0.788932 0.989600 -4.927567 +v -0.992415 0.989600 -2.769791 +v 1.043214 -1.127606 -3.379739 +v -0.992415 -0.313003 -1.099898 +v 1.002557 0.541738 -4.804735 +v -0.992415 -1.086622 -3.542749 +f 17 9 27 +f 6 4 7 +f 2 3 8 +f 3 2 9 +f 7 2 10 +f 2 8 10 +f 7 1 11 +f 6 7 11 +f 2 7 12 +f 7 4 12 +f 9 2 12 +f 11 1 15 +f 8 13 15 +f 13 11 15 +f 6 11 16 +f 13 6 16 +f 11 13 16 +f 6 9 17 +f 1 7 18 +f 7 10 18 +f 14 1 18 +f 9 6 19 +f 5 9 19 +f 8 3 20 +f 3 9 20 +f 10 8 21 +f 14 10 21 +f 9 5 22 +f 5 13 22 +f 13 8 22 +f 8 20 22 +f 20 9 22 +f 13 5 23 +f 6 13 23 +f 5 19 23 +f 19 6 23 +f 10 14 24 +f 18 10 24 +f 14 18 24 +f 4 6 25 +f 17 4 25 +f 6 17 25 +f 1 14 26 +f 15 1 26 +f 8 15 26 +f 21 8 26 +f 14 21 26 +f 12 4 27 +f 9 12 27 +f 4 17 27 +o convex_1 +v 0.921033 3.066133 0.935731 +v -1.074056 -3.082192 -1.058846 +v -0.788862 -3.082192 -1.058846 +v -1.033283 3.107332 -1.058846 +v -1.033283 -2.389688 0.935731 +v 1.002578 -2.959202 -1.058846 +v 1.043350 -3.000400 0.935930 +v 1.002578 3.066133 -0.977541 +v -1.074056 3.107332 0.935731 +v -0.992511 -3.082192 0.935731 +v 0.961805 1.029818 -1.099499 +v 1.084122 -0.923493 0.935930 +v -0.951739 -1.045878 -1.099499 +v -1.074056 -1.208855 0.935731 +v -1.074056 3.107332 -0.366753 +v 0.961805 3.066133 0.895078 +v 0.758367 3.106726 -0.896036 +v 0.921033 -3.040388 0.813773 +v 0.961805 -1.127064 -1.099499 +v -0.992511 0.989831 -1.099499 +v 1.043350 -2.226710 -0.244595 +v 0.106858 3.106726 0.895078 +v 0.758367 -3.000400 -1.058846 +v -0.625985 3.107332 -1.058846 +v 1.043350 -3.000400 0.080827 +v -0.341002 -3.082192 0.935731 +v 1.002578 3.066133 -0.611068 +v 1.084122 -1.248843 0.813773 +v -1.074056 -3.082192 -0.733226 +f 32 41 56 +f 29 30 37 +f 34 32 37 +f 35 33 38 +f 28 36 39 +f 36 34 39 +f 32 34 41 +f 36 29 41 +f 34 36 41 +f 31 29 42 +f 36 31 42 +f 29 36 42 +f 28 39 43 +f 30 29 46 +f 38 33 46 +f 29 40 46 +f 40 38 46 +f 29 31 47 +f 31 38 47 +f 40 29 47 +f 38 40 47 +f 33 35 48 +f 36 28 49 +f 28 43 49 +f 44 36 49 +f 43 44 49 +f 45 30 50 +f 30 46 50 +f 46 33 50 +f 31 36 51 +f 38 31 51 +f 35 38 51 +f 44 35 51 +f 36 44 51 +f 34 45 52 +f 33 48 52 +f 45 50 52 +f 50 33 52 +f 37 30 53 +f 34 37 53 +f 30 45 53 +f 45 34 53 +f 39 35 54 +f 43 39 54 +f 35 44 54 +f 44 43 54 +f 39 34 55 +f 35 39 55 +f 48 35 55 +f 34 52 55 +f 52 48 55 +f 29 37 56 +f 37 32 56 +f 41 29 56 +o convex_2 +v -2.783864 -1.086714 1.262114 +v 2.956865 1.071304 3.012575 +v 2.997793 1.070874 3.012575 +v 0.717270 -1.005145 3.175569 +v -3.069156 0.949059 3.175569 +v 2.956865 0.989736 1.221174 +v 3.038118 -1.127390 1.221174 +v -3.109482 1.030412 1.221174 +v -3.109482 -1.005360 3.134820 +v 2.956865 -1.005145 3.175569 +v -3.028228 -1.046037 1.221174 +v 1.450360 1.071304 1.221174 +v 2.834683 1.071304 3.053324 +v -2.783864 -1.046037 2.727527 +v -3.109482 0.989736 2.564725 +v 2.997793 -0.150073 3.134820 +v 3.038118 0.541646 2.523976 +v -1.806412 -0.679516 3.175569 +v -2.458248 0.949059 3.175569 +v 3.038118 -1.086498 1.913706 +v 2.997793 0.826598 1.221174 +v -1.969521 -1.086714 1.954263 +v 2.427210 1.071304 3.053324 +v -3.109482 0.460293 1.221174 +v -3.109482 1.030412 1.547161 +v -3.109482 0.215802 3.175569 +v 2.956865 -0.760870 3.175569 +v 3.038118 -0.150073 1.221174 +v -3.109482 -1.005360 2.727527 +v 2.997793 -0.964468 3.012575 +v -1.847340 0.989736 3.134820 +v 2.997793 1.070874 2.768276 +v 1.124743 1.071304 1.262114 +v -3.069156 -1.046037 2.483228 +v 2.997793 -1.127390 1.262114 +f 70 78 91 +f 62 63 64 +f 61 60 66 +f 63 57 67 +f 64 63 67 +f 62 64 68 +f 59 58 69 +f 58 68 69 +f 60 65 70 +f 66 60 70 +f 64 65 71 +f 59 69 72 +f 59 72 73 +f 60 61 74 +f 65 60 74 +f 61 66 75 +f 69 61 75 +f 72 69 75 +f 66 70 76 +f 63 73 76 +f 63 62 77 +f 70 57 78 +f 69 68 79 +f 61 69 79 +f 65 64 80 +f 64 67 80 +f 64 71 81 +f 71 79 81 +f 61 71 82 +f 71 65 82 +f 74 61 82 +f 65 74 82 +f 66 72 83 +f 75 66 83 +f 72 75 83 +f 73 63 84 +f 63 77 84 +f 77 73 84 +f 65 80 85 +f 80 67 85 +f 72 66 86 +f 73 72 86 +f 66 76 86 +f 76 73 86 +f 71 61 87 +f 61 79 87 +f 79 71 87 +f 58 59 88 +f 68 58 88 +f 62 68 88 +f 59 73 88 +f 77 62 88 +f 73 77 88 +f 68 64 89 +f 79 68 89 +f 64 81 89 +f 81 79 89 +f 67 57 90 +f 57 70 90 +f 70 65 90 +f 65 85 90 +f 85 67 90 +f 57 63 91 +f 63 76 91 +f 76 70 91 +f 78 57 91 +o convex_3 +v 2.794230 0.989528 1.058327 +v 1.084134 -0.964484 1.139709 +v 2.427685 -1.086502 1.098976 +v 1.084134 0.989528 0.936158 +v 1.084134 1.071089 1.221146 +v 3.038529 -1.127390 1.221146 +v 2.957032 0.948856 1.221146 +v 2.997781 0.378792 0.976890 +v 1.084134 -0.964484 1.221146 +v 3.038529 -1.127390 1.098976 +v 2.957032 0.948856 0.976890 +v 1.084134 -0.801578 1.098976 +v 1.898720 1.030201 0.936158 +v 2.590487 -0.679345 1.058327 +v 2.997781 0.785950 1.221146 +v 1.165822 1.071089 0.936158 +v 2.916284 0.989528 1.221146 +f 107 96 108 +f 95 93 96 +f 96 97 98 +f 93 94 100 +f 96 93 100 +f 97 96 100 +f 94 97 100 +f 97 94 101 +f 94 93 103 +f 93 95 103 +f 99 95 104 +f 92 102 104 +f 102 99 104 +f 95 99 105 +f 101 94 105 +f 99 101 105 +f 94 103 105 +f 103 95 105 +f 98 97 106 +f 97 101 106 +f 101 99 106 +f 102 98 106 +f 99 102 106 +f 95 96 107 +f 92 104 107 +f 104 95 107 +f 96 98 108 +f 102 92 108 +f 98 102 108 +f 92 107 108 +o convex_4 +v -1.114776 -1.127606 1.139709 +v -3.110083 0.500965 1.180421 +v -3.110083 0.500965 1.221154 +v -1.114776 0.989600 1.221154 +v -1.114776 0.989600 1.017571 +v -2.987623 -1.046061 1.099036 +v -3.069263 1.030584 1.058323 +v -1.237237 -1.127606 1.017571 +v -2.824733 -1.086622 1.221154 +v -1.114776 -1.086622 1.221154 +v -3.110083 1.030584 1.221154 +v -2.092117 1.030584 1.017571 +v -3.028638 -1.046061 1.221154 +v -1.114776 -1.127606 1.017571 +v -3.028638 -0.964516 1.099036 +f 114 121 123 +f 112 109 113 +f 112 111 117 +f 114 116 117 +f 116 109 117 +f 109 112 118 +f 112 117 118 +f 117 109 118 +f 110 111 119 +f 111 112 119 +f 115 110 119 +f 115 119 120 +f 112 113 120 +f 116 115 120 +f 113 116 120 +f 119 112 120 +f 111 110 121 +f 117 111 121 +f 114 117 121 +f 113 109 122 +f 109 116 122 +f 116 113 122 +f 110 115 123 +f 116 114 123 +f 115 116 123 +f 121 110 123 +o convex_5 +v 1.084134 1.071017 0.936158 +v -1.114776 -1.127064 1.017595 +v -1.073880 -1.168262 0.936158 +v -1.073880 3.107332 0.936158 +v 1.084134 -0.964086 1.221146 +v -1.073880 3.107332 1.180413 +v 1.043238 -3.000400 0.936158 +v -0.992519 -3.082192 1.180413 +v 0.921196 3.066133 1.058327 +v -0.992519 -3.082192 0.936158 +v 1.084134 1.029818 1.221146 +v -1.114776 -1.086470 1.221146 +v 0.921196 3.066133 0.936158 +v 1.043238 -3.000400 1.017595 +v -1.114776 0.989831 1.221146 +v 0.798938 3.066133 1.098976 +v -0.748219 -3.082192 1.180413 +v -0.748219 3.107332 1.180413 +v 1.084134 -1.574798 0.936158 +v -1.114776 0.989831 0.976890 +v 0.921196 -3.040388 0.936158 +v 0.961876 2.821363 1.058327 +v -0.300301 -3.082192 1.139709 +f 144 137 146 +f 124 126 127 +f 126 124 130 +f 125 126 133 +f 126 130 133 +f 131 125 133 +f 128 124 134 +f 125 131 135 +f 128 134 135 +f 124 127 136 +f 129 127 138 +f 134 129 138 +f 125 135 138 +f 135 134 138 +f 134 132 139 +f 131 133 140 +f 128 135 140 +f 135 131 140 +f 127 129 141 +f 129 134 141 +f 136 127 141 +f 132 136 141 +f 139 132 141 +f 134 139 141 +f 124 128 142 +f 130 124 142 +f 128 137 142 +f 137 130 142 +f 126 125 143 +f 127 126 143 +f 125 138 143 +f 138 127 143 +f 133 130 144 +f 130 137 144 +f 134 124 145 +f 132 134 145 +f 124 136 145 +f 136 132 145 +f 137 128 146 +f 140 133 146 +f 128 140 146 +f 133 144 146 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/856/856.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/856/856.urdf new file mode 100644 index 000000000..2d5f19951 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/856/856.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/857/857.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/857/857.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/857/857.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/857/857.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/857/857.obj new file mode 100644 index 000000000..2cd99ad60 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/857/857.obj @@ -0,0 +1,327 @@ +o convex_0 +v 0.724480 2.520743 0.052456 +v -1.007129 -0.332661 -0.017320 +v -1.007129 -0.332661 0.005875 +v 0.771365 -2.556205 -0.040706 +v 0.022380 -0.006681 -0.976884 +v 0.022380 -0.286005 0.965439 +v -0.632636 2.778581 0.099417 +v -0.749653 -2.485606 -0.063901 +v 0.677594 2.006295 -0.672493 +v -0.679325 2.029624 -0.649107 +v 0.701037 2.029624 0.637662 +v -0.702768 2.053566 0.707819 +v -0.000865 -2.509549 -0.766225 +v -0.024111 -2.509549 0.708009 +v -0.773096 -0.332661 0.731204 +v -0.749653 -0.286005 -0.742649 +v 0.771365 -0.355989 0.707819 +v 0.771365 -0.332661 -0.695878 +v 1.005398 0.111188 -0.017320 +v -0.024111 -3.258506 -0.040706 +v 0.303299 3.013090 -0.274560 +v 0.022380 2.777967 0.614277 +v -0.913358 2.076280 0.029261 +v -0.024111 2.029010 -0.859766 +v -0.000865 1.959025 0.895092 +v 0.911627 2.006295 -0.064091 +v -0.468734 2.755252 -0.415063 +v 0.584020 -1.970545 0.520735 +v 0.584020 -1.970545 -0.555566 +v -0.585751 -1.900560 0.520735 +v -0.281587 3.012476 0.310076 +v -0.562308 -1.923888 -0.578951 +v 0.490447 2.754639 0.427003 +v 0.467004 2.778581 -0.461834 +v 1.005398 -0.449916 -0.017320 +v 0.677594 -0.286005 -0.766035 +v -0.047554 2.754639 -0.578951 +v -0.445489 2.801909 0.520735 +v -0.047554 -0.286005 -0.976884 +v -0.281587 3.012476 -0.181208 +v 0.771365 -2.532263 0.029261 +v 0.326545 3.013090 0.192959 +v -0.749653 -2.462278 0.005875 +v 0.045823 -2.485606 0.708009 +v 0.654349 2.755252 -0.040706 +v -1.007129 0.087246 -0.017320 +v -0.117685 -0.262677 0.941863 +v -0.773096 0.321755 0.731204 +v 0.771365 0.017875 0.707819 +v -0.726210 -0.262063 -0.766035 +v 0.911627 1.936311 0.052646 +v 0.092709 -3.210621 -0.017320 +v 0.045823 -2.485606 -0.766225 +v -0.913358 2.029624 0.099417 +v 0.045823 -0.309333 -0.976884 +v 0.069266 2.005682 -0.859766 +v 1.005398 -0.309333 0.052646 +v -0.773096 -2.415622 -0.063901 +v -0.024111 1.771786 -0.883152 +v 0.747922 0.227829 -0.719264 +v -0.983686 -0.239349 0.122802 +v 0.139397 2.029010 0.848321 +v -0.047554 2.076280 0.871707 +v -0.632636 2.778581 0.005685 +f 40 27 64 +f 8 13 20 +f 18 4 29 +f 14 15 30 +f 13 8 32 +f 11 1 33 +f 22 11 33 +f 4 18 35 +f 18 19 35 +f 5 9 36 +f 18 29 36 +f 24 10 37 +f 10 27 37 +f 21 34 37 +f 7 12 38 +f 31 7 38 +f 22 31 38 +f 7 31 40 +f 31 21 40 +f 21 37 40 +f 37 27 40 +f 17 28 41 +f 4 35 41 +f 31 22 42 +f 21 31 42 +f 22 33 42 +f 8 20 43 +f 20 14 43 +f 14 30 43 +f 30 15 43 +f 6 14 44 +f 17 6 44 +f 28 17 44 +f 41 28 44 +f 1 26 45 +f 26 9 45 +f 33 1 45 +f 34 21 45 +f 9 34 45 +f 21 42 45 +f 42 33 45 +f 2 3 46 +f 16 2 46 +f 10 16 46 +f 23 10 46 +f 14 6 47 +f 15 14 47 +f 6 25 47 +f 25 12 47 +f 47 12 48 +f 15 47 48 +f 6 17 49 +f 16 10 50 +f 13 32 50 +f 32 16 50 +f 39 13 50 +f 1 11 51 +f 26 1 51 +f 19 26 51 +f 11 49 51 +f 14 20 52 +f 4 41 52 +f 44 14 52 +f 41 44 52 +f 20 13 53 +f 29 4 53 +f 36 29 53 +f 4 52 53 +f 52 20 53 +f 12 7 54 +f 7 23 54 +f 23 46 54 +f 48 12 54 +f 5 36 55 +f 13 39 55 +f 39 5 55 +f 53 13 55 +f 36 53 55 +f 9 5 56 +f 34 9 56 +f 24 37 56 +f 37 34 56 +f 35 19 57 +f 17 41 57 +f 41 35 57 +f 49 17 57 +f 19 51 57 +f 51 49 57 +f 3 2 58 +f 2 16 58 +f 32 8 58 +f 16 32 58 +f 43 3 58 +f 8 43 58 +f 10 24 59 +f 5 39 59 +f 50 10 59 +f 39 50 59 +f 56 5 59 +f 24 56 59 +f 19 18 60 +f 9 26 60 +f 26 19 60 +f 36 9 60 +f 18 36 60 +f 3 43 61 +f 43 15 61 +f 46 3 61 +f 15 48 61 +f 54 46 61 +f 48 54 61 +f 11 22 62 +f 25 6 62 +f 6 49 62 +f 49 11 62 +f 12 25 63 +f 38 12 63 +f 22 38 63 +f 62 22 63 +f 25 62 63 +f 23 7 64 +f 10 23 64 +f 27 10 64 +f 7 40 64 +o convex_1 +v 0.233090 3.902106 0.169702 +v -0.351814 3.013090 0.029306 +v -0.351814 3.013090 0.076064 +v -0.188018 4.487147 0.029306 +v 0.303226 3.013090 -0.251422 +v 0.069293 3.013090 0.333599 +v 0.045915 4.416922 -0.157784 +v -0.258153 3.060074 -0.204603 +v -0.000842 4.393514 0.216521 +v 0.256469 4.487147 0.005990 +v 0.396887 3.013090 -0.017389 +v -0.234775 3.036666 0.310158 +v -0.024221 3.013090 -0.298241 +v 0.326678 3.036666 0.193080 +v 0.045915 4.721231 0.052685 +v -0.164566 4.159597 0.193080 +v 0.162881 4.370105 -0.134405 +v -0.117809 4.276639 -0.111027 +v 0.069293 4.440331 0.193080 +v 0.303226 3.106891 -0.251422 +v 0.256469 4.416922 0.052685 +v -0.188018 4.463739 0.076064 +v 0.092672 3.036666 -0.298241 +v -0.258153 3.083482 0.286780 +v 0.279847 3.060074 0.239899 +v 0.022536 4.510555 -0.134405 +v -0.281605 3.036666 -0.181224 +v -0.000842 3.106891 0.333599 +v 0.256469 4.463739 -0.017389 +v 0.045915 4.721231 0.005990 +v -0.188018 4.463739 0.005990 +v 0.396887 3.036666 -0.040767 +v 0.022536 4.393514 -0.157784 +v -0.047600 4.440331 0.193080 +v -0.024221 3.060074 -0.298241 +v 0.233090 4.112781 -0.134405 +v 0.162881 4.276639 0.169702 +v 0.069293 3.060074 0.333599 +v -0.351814 3.060074 0.076064 +v 0.092672 4.487147 -0.134405 +v 0.069293 4.416922 -0.157784 +v 0.373435 3.270749 0.005990 +v -0.000842 4.580781 0.146323 +v -0.234775 3.013090 0.310158 +v -0.047600 4.651006 0.005990 +v 0.303226 3.153708 0.216521 +v 0.233090 4.487147 0.052685 +f 101 85 111 +f 67 66 69 +f 67 69 70 +f 70 69 75 +f 69 66 77 +f 70 75 78 +f 76 73 80 +f 69 77 87 +f 84 69 87 +f 76 80 88 +f 80 86 88 +f 70 78 89 +f 77 66 91 +f 72 77 91 +f 73 76 92 +f 79 74 94 +f 74 93 94 +f 82 72 95 +f 90 82 95 +f 91 66 95 +f 72 91 95 +f 75 69 96 +f 69 84 96 +f 93 74 96 +f 84 93 96 +f 72 82 97 +f 90 71 97 +f 82 90 97 +f 80 73 98 +f 86 80 98 +f 77 72 99 +f 87 77 99 +f 97 71 99 +f 72 97 99 +f 84 81 100 +f 93 84 100 +f 81 93 100 +f 65 85 101 +f 89 101 102 +f 83 73 102 +f 70 89 102 +f 92 70 102 +f 73 92 102 +f 101 83 102 +f 66 67 103 +f 86 68 103 +f 67 88 103 +f 88 86 103 +f 95 66 103 +f 68 95 103 +f 93 81 104 +f 90 94 104 +f 94 93 104 +f 81 84 105 +f 84 87 105 +f 71 90 105 +f 87 99 105 +f 99 71 105 +f 104 81 105 +f 90 104 105 +f 78 75 106 +f 74 85 106 +f 85 78 106 +f 75 96 106 +f 96 74 106 +f 73 83 107 +f 83 79 107 +f 79 86 107 +f 98 73 107 +f 86 98 107 +f 67 70 108 +f 88 67 108 +f 76 88 108 +f 70 92 108 +f 92 76 108 +f 68 86 109 +f 86 79 109 +f 79 94 109 +f 94 90 109 +f 95 68 109 +f 90 95 109 +f 85 65 110 +f 78 85 110 +f 89 78 110 +f 65 101 110 +f 101 89 110 +f 74 79 111 +f 79 83 111 +f 85 74 111 +f 83 101 111 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/857/857.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/857/857.urdf new file mode 100644 index 000000000..5ba3521d8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/857/857.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/858/858.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/858/858.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/858/858.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/858/858.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/858/858.obj new file mode 100644 index 000000000..b5c3f1280 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/858/858.obj @@ -0,0 +1,3921 @@ +o convex_0 +v 0.837441 -0.998812 1.552413 +v -0.136372 -1.197891 1.729401 +v -0.003493 -2.127413 1.485964 +v 0.837441 -0.932452 1.729401 +v 0.040737 -1.197891 1.840079 +v 0.616007 -1.042971 1.485964 +v 0.195731 -2.016652 1.508114 +v 0.837441 -0.976732 1.485964 +v 0.815231 -0.888172 1.707182 +v -0.003493 -2.016652 1.485964 +v -0.025608 -1.175812 1.840079 +v -0.136372 -1.175812 1.729401 +v -0.003493 -2.127413 1.508114 +f 5 11 13 +f 1 4 7 +f 4 5 7 +f 4 1 8 +f 3 6 8 +f 1 7 8 +f 7 3 8 +f 4 8 9 +f 8 6 9 +f 3 2 10 +f 6 3 10 +f 5 4 11 +f 4 9 11 +f 11 9 12 +f 9 6 12 +f 10 2 12 +f 6 10 12 +f 2 11 12 +f 2 3 13 +f 3 7 13 +f 7 5 13 +f 11 2 13 +o convex_1 +v -0.778322 0.882571 -0.528281 +v -1.132386 1.015607 -0.771617 +v -1.132386 1.015607 -0.749486 +v -0.733981 1.856400 -0.417624 +v -1.110235 0.351459 -0.395419 +v -0.756171 1.082052 -0.771617 +v -0.800472 0.794028 -0.395419 +v -0.800433 1.812054 -0.395419 +v -1.088045 0.727731 -0.660960 +v -1.065933 0.373706 -0.417624 +v -0.733981 1.082052 -0.705223 +f 17 20 24 +f 16 15 18 +f 15 17 19 +f 18 20 21 +f 15 16 21 +f 17 15 21 +f 16 18 21 +f 20 17 21 +f 18 15 22 +f 15 19 22 +f 22 19 23 +f 19 14 23 +f 14 20 23 +f 20 18 23 +f 18 22 23 +f 19 17 24 +f 14 19 24 +f 20 14 24 +o convex_2 +v -0.136398 1.922814 -0.572453 +v -0.733981 1.059805 -0.727391 +v -0.667554 1.059805 -0.727391 +v -0.136398 1.037602 -0.506130 +v -0.733981 1.878672 -0.395451 +v -0.069971 2.387754 -0.395451 +v -0.711752 1.214829 -0.727391 +v -0.069971 1.037602 -0.528260 +v -0.733981 1.790124 -0.395451 +v -0.092135 2.387754 -0.417613 +v -0.114299 2.188456 -0.395451 +v -0.069971 1.414128 -0.550389 +v -0.689588 1.059805 -0.683100 +v -0.733981 1.790124 -0.461872 +f 34 31 38 +f 25 27 31 +f 27 26 31 +f 26 27 32 +f 28 26 32 +f 29 26 33 +f 30 29 33 +f 30 25 34 +f 29 30 34 +f 25 31 34 +f 28 32 35 +f 32 30 35 +f 33 28 35 +f 30 33 35 +f 27 25 36 +f 25 30 36 +f 32 27 36 +f 30 32 36 +f 26 28 37 +f 33 26 37 +f 28 33 37 +f 26 29 38 +f 31 26 38 +f 29 34 38 +o convex_3 +v 1.036670 0.661493 -0.395407 +v 0.793286 2.321353 -0.129867 +v 0.771114 2.321353 -0.129867 +v 0.726879 1.126338 -0.727391 +v 0.903928 0.949401 -0.129867 +v 0.948089 1.944895 -0.152035 +v 0.837484 1.081982 -0.727391 +v 0.704743 1.015692 -0.683056 +v 1.080978 0.661493 -0.129867 +v 0.793286 2.144092 -0.329022 +v 0.704743 1.878442 -0.395466 +v 1.036670 0.661493 -0.129867 +v 1.058805 0.683915 -0.351131 +v 0.704743 1.922636 -0.439742 +f 46 49 52 +f 40 41 43 +f 42 45 46 +f 45 39 46 +f 40 43 47 +f 44 40 47 +f 41 40 48 +f 40 44 48 +f 44 45 48 +f 43 41 49 +f 46 43 49 +f 46 39 50 +f 43 46 50 +f 47 43 50 +f 39 47 50 +f 39 45 51 +f 45 44 51 +f 44 47 51 +f 47 39 51 +f 45 42 52 +f 42 46 52 +f 41 48 52 +f 48 45 52 +f 49 41 52 +o convex_4 +v 1.036711 -0.666671 0.158007 +v 1.058881 0.949068 0.489866 +v 1.080993 0.838313 0.423446 +v 1.036711 0.749744 -0.129694 +v 1.235914 -0.555916 -0.129694 +v 1.213743 0.417826 -0.129694 +v 1.036711 -0.821624 -0.129694 +v 1.058881 -0.467347 0.379165 +v 1.036711 0.949068 0.489866 +v 1.235914 -0.334580 -0.063334 +v 1.213743 -0.733054 -0.107614 +v 1.058881 0.196489 0.467726 +v 1.036711 -0.533730 0.357025 +f 60 64 65 +f 54 55 58 +f 56 54 58 +f 57 56 58 +f 53 56 59 +f 56 57 59 +f 54 56 61 +f 56 53 61 +f 58 55 62 +f 57 58 62 +f 62 60 63 +f 53 59 63 +f 59 57 63 +f 57 62 63 +f 55 54 64 +f 54 61 64 +f 62 55 64 +f 60 62 64 +f 61 53 65 +f 63 60 65 +f 53 63 65 +f 64 61 65 +o convex_5 +v -1.751953 -0.843770 -2.254675 +v -1.309031 -0.777365 -2.564485 +v -1.486414 -0.777365 -2.520205 +v -0.158506 -0.755223 -2.520205 +v -0.158506 -0.976559 -2.564485 +v -0.158506 -0.976559 -2.254675 +v -2.150261 -0.755223 -2.254675 +v -2.172568 -0.799507 -2.298955 +v -0.269183 -0.932275 -2.254675 +v -0.379860 -0.976559 -2.520205 +v -0.247090 -0.755223 -2.564485 +v -1.309031 -0.755223 -2.564485 +f 76 67 77 +f 70 69 71 +f 66 71 72 +f 66 72 73 +f 71 69 74 +f 69 72 74 +f 72 71 74 +f 68 67 75 +f 67 70 75 +f 71 66 75 +f 70 71 75 +f 66 73 75 +f 73 68 75 +f 69 70 76 +f 70 67 76 +f 72 69 76 +f 72 76 77 +f 67 68 77 +f 68 73 77 +f 73 72 77 +o convex_6 +v -1.885021 0.351481 -2.453821 +v -2.814543 -0.002675 -2.254682 +v -2.770141 -0.069010 -2.276822 +v -1.885021 0.771973 -2.232542 +v -1.885021 -0.091213 -2.520211 +v -2.703721 -0.091213 -2.232542 +v -2.217032 0.063752 -2.498071 +v -2.106392 0.794085 -2.254682 +v -2.814543 0.085864 -2.276822 +v -2.792251 0.130179 -2.232542 +v -2.017862 -0.091213 -2.542351 +v -2.084282 0.063752 -2.542351 +f 82 88 89 +f 78 81 82 +f 79 80 83 +f 82 81 83 +f 81 78 85 +f 85 84 86 +f 80 79 86 +f 84 80 86 +f 86 79 87 +f 79 83 87 +f 83 81 87 +f 81 85 87 +f 85 86 87 +f 83 80 88 +f 82 83 88 +f 80 84 88 +f 88 84 89 +f 78 82 89 +f 85 78 89 +f 84 85 89 +o convex_7 +v 0.151472 -0.998693 -2.498045 +v 1.501247 -0.688822 -2.542321 +v 1.501247 -0.688822 -2.564488 +v -0.158107 -0.688822 -2.520212 +v 2.254061 -0.821615 -2.276778 +v -0.158107 -0.976550 -2.298916 +v 2.187469 -0.688852 -2.321111 +v 2.209667 -0.887981 -2.321111 +v -0.135910 -0.998693 -2.564488 +v 1.545641 -0.777391 -2.564516 +v -0.003200 -0.998693 -2.298916 +v -0.158107 -0.799503 -2.564488 +v 0.107314 -0.998693 -2.564488 +v -0.158107 -0.954408 -2.298916 +v 2.209667 -0.688852 -2.365387 +v 1.855693 -0.910124 -2.276778 +f 94 103 105 +f 91 92 93 +f 91 93 96 +f 98 90 100 +f 95 98 100 +f 93 92 101 +f 95 93 101 +f 98 95 101 +f 99 98 101 +f 92 99 101 +f 90 98 102 +f 99 97 102 +f 98 99 102 +f 93 95 103 +f 94 96 103 +f 96 93 103 +f 92 91 104 +f 96 94 104 +f 91 96 104 +f 94 97 104 +f 97 99 104 +f 99 92 104 +f 97 94 105 +f 95 100 105 +f 100 90 105 +f 90 102 105 +f 102 97 105 +f 103 95 105 +o convex_8 +v -0.623312 -1.330537 1.463798 +v -0.977451 -0.047042 1.419546 +v -0.977451 -0.047042 1.485934 +v -0.822463 0.971201 1.419546 +v -0.822463 0.971201 1.485934 +v -0.822463 -1.330537 1.419546 +v -0.800381 -1.286404 1.485934 +v -0.623312 -1.352831 1.485934 +f 110 112 113 +f 107 108 109 +f 106 109 110 +f 109 108 110 +f 108 107 111 +f 107 109 111 +f 109 106 111 +f 110 108 112 +f 108 111 112 +f 112 111 113 +f 106 110 113 +f 111 106 113 +o convex_9 +v 1.213794 -0.710854 -0.218441 +v 2.674160 0.329224 -0.749442 +v 2.762752 -0.024834 -0.749442 +v 2.298110 -0.600268 -0.771617 +v 1.235942 0.285030 -0.240553 +v 1.235942 0.218434 -0.129867 +v 1.213794 -0.710854 -0.129867 +v 1.679050 0.329224 -0.461861 +v 2.762752 -0.113425 -0.727330 +v 1.457419 -0.710854 -0.395399 +v 2.187372 -0.600268 -0.616645 +v 2.630019 0.329224 -0.771617 +v 1.191646 0.285030 -0.129867 +v 2.652167 0.284929 -0.705218 +v 1.258090 -0.400887 -0.129867 +v 2.165685 -0.423188 -0.506148 +v 2.364400 -0.600268 -0.771617 +f 117 125 130 +f 114 118 123 +f 120 114 123 +f 121 117 123 +f 118 121 123 +f 115 116 125 +f 121 115 125 +f 117 121 125 +f 118 114 126 +f 120 119 126 +f 114 120 126 +f 115 121 126 +f 121 118 126 +f 116 115 127 +f 122 116 127 +f 119 122 127 +f 115 126 127 +f 126 119 127 +f 119 120 128 +f 122 119 128 +f 120 122 128 +f 122 120 129 +f 124 122 129 +f 120 124 129 +f 116 122 130 +f 123 117 130 +f 120 123 130 +f 122 124 130 +f 124 120 130 +f 125 116 130 +o convex_10 +v 0.682417 1.945153 -0.439727 +v -0.069895 1.037718 -0.528252 +v 0.638141 1.126293 -0.705242 +v -0.047682 2.454071 -0.417588 +v 0.063008 1.015469 -0.461896 +v -0.069895 2.011478 -0.550331 +v 0.704555 1.900795 -0.395449 +v 0.704555 1.015469 -0.660964 +v 0.704555 1.214868 -0.705242 +v -0.069895 2.299030 -0.395449 +v -0.003406 2.454071 -0.417588 +f 134 140 141 +f 133 132 136 +f 137 135 138 +f 132 133 138 +f 135 132 138 +f 133 136 139 +f 131 137 139 +f 137 138 139 +f 138 133 139 +f 132 135 140 +f 136 132 140 +f 134 136 140 +f 135 137 140 +f 140 137 141 +f 136 134 141 +f 137 131 141 +f 131 139 141 +f 139 136 141 +o convex_11 +v 0.018615 -2.592250 1.308872 +v 0.881775 -2.061108 1.176018 +v 0.881775 -2.127606 1.176018 +v 0.018615 -2.879959 0.689130 +v 0.770934 -2.747131 0.711333 +v 0.040714 -2.747046 1.286669 +v 0.306509 -2.260434 1.286669 +v 0.726822 -2.194104 1.308872 +v 0.815218 -2.592165 0.689130 +v 0.593969 -2.570027 1.131733 +v 0.859590 -2.061108 1.131794 +v 0.040801 -2.924319 0.711333 +v 0.748748 -2.061108 1.308872 +f 152 148 154 +f 142 145 147 +f 145 142 148 +f 142 147 149 +f 143 144 150 +f 146 145 150 +f 144 146 150 +f 146 144 151 +f 147 146 151 +f 144 149 151 +f 149 147 151 +f 145 148 152 +f 143 150 152 +f 150 145 152 +f 145 146 153 +f 147 145 153 +f 146 147 153 +f 144 143 154 +f 148 142 154 +f 149 144 154 +f 142 149 154 +f 143 152 154 +o convex_12 +v -0.911050 0.705875 -0.395393 +v -0.778261 2.188402 -0.129867 +v -0.778261 2.188402 -0.151990 +v -0.800397 0.772243 -0.373244 +v -0.888901 0.661330 -0.129867 +v -0.888901 1.745647 -0.129867 +v -0.800397 1.878533 -0.395393 +v -0.844655 0.661330 -0.129867 +v -0.778261 1.590787 -0.395393 +f 155 161 163 +f 159 156 160 +f 156 157 160 +f 155 159 160 +f 160 157 161 +f 155 160 161 +f 158 156 162 +f 155 158 162 +f 159 155 162 +f 156 159 162 +f 157 156 163 +f 156 158 163 +f 158 155 163 +f 161 157 163 +o convex_13 +v -0.180692 2.808159 -0.129867 +v -0.778248 1.790146 -0.395393 +v -0.778248 1.790146 -0.373244 +v -0.047877 2.365495 -0.395393 +v -0.069976 2.808159 -0.306850 +v -0.645433 2.520433 -0.151990 +v -0.756075 2.144423 -0.129867 +v -0.025704 2.830308 -0.129867 +v -0.202790 2.166572 -0.373244 +v -0.778248 1.900994 -0.395393 +v -0.025704 2.542582 -0.395393 +v -0.778248 2.144423 -0.284727 +f 168 173 175 +f 164 168 169 +f 164 169 170 +f 168 164 171 +f 164 170 171 +f 171 170 172 +f 166 165 172 +f 165 167 172 +f 170 166 172 +f 167 171 172 +f 165 166 173 +f 167 165 173 +f 168 171 174 +f 171 167 174 +f 167 173 174 +f 173 168 174 +f 169 168 175 +f 166 170 175 +f 170 169 175 +f 173 166 175 +o convex_14 +v 0.571904 2.586879 -0.129867 +v -0.025704 2.409819 -0.395393 +v 0.018598 2.343580 -0.395393 +v 0.771107 2.011569 -0.395393 +v -0.003553 2.808159 -0.306850 +v -0.025704 2.808159 -0.129867 +v 0.748878 2.277160 -0.129867 +v 0.129275 2.210830 -0.373244 +v 0.726727 1.923039 -0.373244 +v 0.771107 2.166520 -0.328972 +v 0.461149 2.675409 -0.151990 +v -0.003553 2.520459 -0.395393 +f 177 180 187 +f 178 177 179 +f 180 177 181 +f 176 181 182 +f 177 178 183 +f 181 177 183 +f 182 181 183 +f 178 179 184 +f 179 182 184 +f 182 183 184 +f 183 178 184 +f 179 180 185 +f 176 182 185 +f 182 179 185 +f 180 181 186 +f 181 176 186 +f 176 185 186 +f 185 180 186 +f 179 177 187 +f 180 179 187 +o convex_15 +v 0.018409 2.763805 1.286669 +v -0.778248 1.967352 1.109591 +v -0.756021 1.723866 1.286669 +v -0.003583 2.918729 0.689130 +v -0.689574 2.697444 0.755617 +v -0.756099 2.343560 0.711333 +v -0.733872 2.100195 1.242384 +v -0.202845 2.277077 1.286669 +v -0.578986 2.586802 1.065306 +v -0.047881 2.963010 0.733475 +v -0.778248 2.498240 0.689130 +v 0.018409 2.608882 1.308872 +v -0.025810 2.763805 1.286669 +v -0.756021 1.856588 1.308872 +v -0.733872 1.723866 1.286669 +v -0.689574 2.719524 0.689130 +f 198 192 203 +f 190 189 193 +f 192 194 196 +f 188 191 197 +f 193 189 198 +f 191 193 198 +f 189 194 198 +f 194 192 198 +f 191 188 199 +f 195 191 199 +f 192 196 200 +f 196 194 200 +f 188 197 200 +f 197 192 200 +f 199 188 200 +f 199 200 201 +f 189 190 201 +f 194 189 201 +f 200 194 201 +f 190 193 202 +f 193 191 202 +f 191 195 202 +f 195 199 202 +f 199 201 202 +f 201 190 202 +f 197 191 203 +f 192 197 203 +f 191 198 203 +o convex_16 +v 0.815392 0.661129 2.459605 +v 0.948159 0.107989 1.729537 +v 0.903896 0.218832 1.485964 +v 0.771107 0.107989 3.145964 +v 0.992443 0.152346 2.525901 +v 0.793249 1.103914 1.485964 +v 0.771107 0.882522 1.729537 +v 0.948159 0.263091 1.485964 +v 0.815392 1.103914 1.508225 +v 0.771107 0.683356 2.525901 +v 0.771107 0.107989 3.035145 +v 0.793249 0.152346 3.123703 +v 0.992443 0.107989 2.172160 +f 212 208 216 +f 209 206 210 +f 205 206 211 +f 206 209 211 +f 211 209 212 +f 204 208 212 +f 209 210 213 +f 210 207 213 +f 212 209 213 +f 204 212 213 +f 206 205 214 +f 205 207 214 +f 210 206 214 +f 207 210 214 +f 208 204 215 +f 207 208 215 +f 204 213 215 +f 213 207 215 +f 207 205 216 +f 208 207 216 +f 205 211 216 +f 211 212 216 +o convex_17 +v -2.416012 -0.666584 -2.276815 +v -1.353857 -0.091278 -2.520205 +v -1.531017 -0.732998 -2.453815 +v -1.995743 -0.135598 -2.542345 +v -2.637227 -0.091278 -2.254675 +v -1.553044 -0.732998 -2.564485 +v -2.261013 -0.755158 -2.254675 +v -2.681550 -0.091278 -2.298955 +v -1.353857 -0.755158 -2.564485 +v -1.353857 -0.091278 -2.542345 +v -2.061826 -0.755158 -2.387486 +v -1.995743 -0.091278 -2.542345 +f 224 226 228 +f 219 218 223 +f 221 217 223 +f 218 221 223 +f 220 217 224 +f 217 221 224 +f 221 218 224 +f 218 219 225 +f 219 223 225 +f 224 218 226 +f 218 225 226 +f 225 222 226 +f 217 220 227 +f 220 222 227 +f 223 217 227 +f 222 225 227 +f 225 223 227 +f 222 220 228 +f 220 224 228 +f 226 222 228 +o convex_18 +v 0.947775 -0.666566 -2.564516 +v 1.545784 0.196524 -2.475990 +v 1.545784 0.174260 -2.475990 +v -1.353722 -0.755158 -2.520253 +v -1.353722 -0.091328 -2.542376 +v 1.545784 0.107933 -2.542358 +v 1.235569 -0.666566 -2.520253 +v -0.158272 0.196524 -2.475990 +v -1.353722 -0.578068 -2.564507 +v 1.545784 -0.135484 -2.564516 +v 1.545784 -0.688738 -2.564516 +v -0.069720 0.196524 -2.520253 +v -1.353722 -0.755158 -2.564507 +v -1.353722 -0.091328 -2.520253 +v -0.158272 -0.755158 -2.520253 +v 1.080603 0.107933 -2.475990 +f 243 235 244 +f 230 231 234 +f 231 230 236 +f 232 233 237 +f 233 234 238 +f 234 231 238 +f 229 237 238 +f 237 233 238 +f 231 235 239 +f 238 231 239 +f 229 238 239 +f 230 234 240 +f 234 233 240 +f 236 230 240 +f 233 236 240 +f 237 229 241 +f 232 237 241 +f 229 239 241 +f 233 232 242 +f 232 236 242 +f 236 233 242 +f 239 235 243 +f 232 241 243 +f 241 239 243 +f 235 231 244 +f 231 236 244 +f 236 232 244 +f 232 243 244 +o convex_19 +v -0.756281 1.081869 -2.232542 +v -1.884930 -0.091213 -2.542351 +v -1.884930 -0.091213 -2.520211 +v -0.711962 -0.091213 -2.542351 +v -1.884930 0.794111 -2.232542 +v -1.862655 0.240869 -2.498071 +v -0.778441 1.081869 -2.276822 +v -0.711962 0.063804 -2.542351 +v -0.711962 -0.091213 -2.520211 +v -1.884930 0.816157 -2.276822 +v -0.711962 0.949013 -2.254682 +v -1.309353 0.085966 -2.542351 +f 251 252 256 +f 247 246 248 +f 246 247 249 +f 248 246 252 +f 247 248 253 +f 249 247 253 +f 248 252 253 +f 249 245 254 +f 246 249 254 +f 250 246 254 +f 251 250 254 +f 245 251 254 +f 245 249 255 +f 251 245 255 +f 252 251 255 +f 249 253 255 +f 253 252 255 +f 246 250 256 +f 250 251 256 +f 252 246 256 +o convex_20 +v -0.601135 0.993326 -2.276809 +v -0.711847 -0.091213 -2.542382 +v -0.711847 -0.091213 -2.520218 +v -0.158506 -0.091213 -2.542382 +v -0.224911 1.104003 -2.453810 +v -0.180659 0.285158 -2.431675 +v -0.711847 1.059662 -2.298944 +v -0.711847 0.948868 -2.254673 +v -0.711847 0.063804 -2.542382 +v -0.158506 1.104003 -2.431675 +v -0.158506 -0.068985 -2.498082 +f 266 262 267 +f 259 258 260 +f 258 259 263 +f 262 257 264 +f 257 263 264 +f 263 259 264 +f 260 258 265 +f 261 260 265 +f 258 263 265 +f 263 261 265 +f 260 261 266 +f 257 262 266 +f 263 257 266 +f 261 263 266 +f 259 260 267 +f 262 264 267 +f 264 259 267 +f 260 266 267 +o convex_21 +v 2.254061 -0.976535 -1.590766 +v -0.158107 -0.976535 -2.298830 +v -0.158107 -0.954397 -2.298830 +v -0.158107 -0.976535 -1.612826 +v 2.254061 -0.865906 -2.276770 +v 0.306616 -0.932320 -1.634969 +v 1.501483 -1.020811 -1.457994 +v -0.025397 -0.998689 -2.298830 +v 2.254061 -0.954397 -1.457994 +v 1.789338 -0.865906 -2.121691 +v 2.209667 -0.910182 -2.165975 +v 2.254061 -0.932320 -1.568624 +v -0.158107 -0.954397 -1.612826 +v 1.590036 -1.020811 -1.502279 +f 275 278 281 +f 270 269 271 +f 274 271 275 +f 269 270 275 +f 271 269 275 +f 270 272 275 +f 268 272 276 +f 272 270 277 +f 270 273 277 +f 272 268 278 +f 275 272 278 +f 276 272 279 +f 273 276 279 +f 272 277 279 +f 277 273 279 +f 270 271 280 +f 273 270 280 +f 271 274 280 +f 276 273 280 +f 274 276 280 +f 274 275 281 +f 268 276 281 +f 276 274 281 +f 278 268 281 +o convex_22 +v 2.276199 -0.733122 -2.343093 +v 2.829536 -0.688822 -1.457834 +v 2.807398 -0.688822 -1.457834 +v 2.254061 -0.976503 -1.457834 +v 2.298393 -0.887988 -2.298812 +v 2.807398 -0.777393 -1.502201 +v 2.254061 -0.688822 -2.298812 +v 2.386889 -0.688822 -2.298812 +v 2.320475 -0.976503 -1.502201 +v 2.276199 -0.932259 -1.480104 +v 2.254061 -0.887988 -2.298812 +f 286 290 292 +f 283 284 285 +f 283 285 287 +f 284 283 288 +f 286 282 289 +f 283 287 289 +f 287 286 289 +f 288 283 289 +f 282 288 289 +f 287 285 290 +f 286 287 290 +f 285 284 291 +f 284 288 291 +f 288 285 291 +f 282 286 292 +f 288 282 292 +f 285 288 292 +f 290 285 292 +o convex_23 +v 2.209646 -0.954443 -0.970972 +v 0.571904 -0.976568 -1.612522 +v 0.571904 -0.998706 -1.568320 +v 0.616310 -1.020818 -0.771773 +v 2.209646 -1.020818 -1.236350 +v 0.682737 -1.065094 -0.771773 +v 1.789246 -0.932292 -0.771773 +v 2.386724 -0.932292 -1.457691 +v 0.571904 -0.954430 -1.524035 +v 1.501517 -1.020818 -1.501893 +v 1.589965 -1.042956 -0.771773 +v 1.501517 -0.998706 -1.612522 +v 0.571904 -0.998706 -0.882567 +v 0.571904 -1.065094 -0.860425 +v 2.298094 -0.998680 -1.391346 +v 1.501517 -0.954430 -1.612522 +v 2.431130 -0.932292 -1.236350 +f 307 300 309 +f 296 298 299 +f 299 300 301 +f 294 295 301 +f 297 293 303 +f 298 297 303 +f 293 299 303 +f 299 298 303 +f 295 294 304 +f 302 295 304 +f 296 299 305 +f 299 301 305 +f 301 295 305 +f 297 298 306 +f 298 296 306 +f 295 302 306 +f 302 297 306 +f 305 295 306 +f 296 305 306 +f 297 302 307 +f 304 300 307 +f 302 304 307 +f 301 300 308 +f 294 301 308 +f 304 294 308 +f 300 304 308 +f 293 297 309 +f 299 293 309 +f 300 299 309 +f 297 307 309 +o convex_24 +v 2.519522 -0.688869 -0.970946 +v 2.364608 -0.932244 -1.457767 +v 2.364608 -0.910132 -1.457767 +v 1.877882 -0.932244 -0.771758 +v 2.475274 -0.932244 -1.258579 +v 2.785101 -0.688869 -1.457767 +v 2.254128 -0.688869 -0.793920 +v 2.099214 -0.910132 -0.771758 +v 2.807272 -0.777365 -1.435605 +v 2.276299 -0.777365 -0.771758 +v 1.877882 -0.910132 -0.793920 +f 313 316 320 +f 313 311 314 +f 311 312 315 +f 310 315 316 +f 315 312 316 +f 313 314 317 +f 314 311 318 +f 311 315 318 +f 315 310 318 +f 318 310 319 +f 310 316 319 +f 316 313 319 +f 313 317 319 +f 317 314 319 +f 314 318 319 +f 312 311 320 +f 311 313 320 +f 316 312 320 +o convex_25 +v 0.992443 -0.135745 1.397397 +v 0.040697 -2.260092 1.397397 +v 0.040697 -2.260092 1.419540 +v 0.793076 -2.082862 1.331014 +v 0.948098 -0.025031 1.308872 +v 0.262144 -2.260092 1.308872 +v 0.616068 -2.016565 1.419540 +v 0.948098 -0.025031 1.419540 +v 0.903846 -1.352502 1.308872 +v 0.859501 -1.308304 1.419540 +v 0.682399 -2.171477 1.308872 +f 326 329 331 +f 322 323 325 +f 322 325 326 +f 323 322 326 +f 321 325 328 +f 325 323 328 +f 323 327 328 +f 325 321 329 +f 326 325 329 +f 327 324 330 +f 321 328 330 +f 328 327 330 +f 329 321 330 +f 324 329 330 +f 323 326 331 +f 327 323 331 +f 324 327 331 +f 329 324 331 +o convex_26 +v 2.121485 -0.046994 -2.542321 +v 2.763065 0.063722 -2.232543 +v 2.785268 0.041549 -2.232543 +v 1.567987 -0.688822 -2.520192 +v 1.545784 0.063722 -2.520192 +v 2.364625 -0.688822 -2.232543 +v 2.386828 -0.688822 -2.321093 +v 2.763065 0.019450 -2.343223 +v 1.612272 -0.688822 -2.564516 +v 2.032915 0.063722 -2.564516 +v 1.545784 -0.113364 -2.564516 +v 2.696699 -0.157636 -2.343223 +v 2.718781 0.063722 -2.232543 +v 2.475397 -0.600279 -2.232543 +f 338 343 345 +f 334 333 337 +f 336 335 337 +f 337 335 338 +f 333 334 339 +f 338 335 340 +f 336 333 341 +f 333 339 341 +f 339 332 341 +f 332 340 341 +f 341 340 342 +f 335 336 342 +f 340 335 342 +f 336 341 342 +f 339 334 343 +f 332 339 343 +f 340 332 343 +f 338 340 343 +f 333 336 344 +f 337 333 344 +f 336 337 344 +f 334 337 345 +f 337 338 345 +f 343 334 345 +o convex_27 +v 2.696530 0.240930 -2.232542 +v 1.568065 0.948981 -2.232542 +v 1.568065 0.948981 -2.254682 +v 1.545904 0.063809 -2.520211 +v 2.032867 0.130272 -2.542351 +v 2.055029 0.794043 -2.321072 +v 2.718692 0.063809 -2.232542 +v 2.740854 0.063809 -2.321072 +v 1.545904 0.462245 -2.453821 +v 1.545904 0.904701 -2.232542 +v 2.209685 0.749763 -2.232542 +v 1.545904 0.085992 -2.498071 +v 1.545904 0.926798 -2.298962 +v 2.077072 0.063809 -2.542351 +f 350 353 359 +f 346 347 352 +f 350 351 353 +f 351 346 353 +f 346 352 353 +f 352 349 353 +f 350 349 354 +f 351 350 354 +f 352 347 355 +f 354 349 355 +f 347 346 356 +f 348 347 356 +f 351 348 356 +f 346 351 356 +f 349 352 357 +f 352 355 357 +f 355 349 357 +f 347 348 358 +f 348 351 358 +f 351 354 358 +f 355 347 358 +f 354 355 358 +f 349 350 359 +f 353 349 359 +o convex_28 +v -0.202912 -2.658388 -0.129867 +v -1.021718 -1.198083 -0.417637 +v -1.021718 -1.198083 -0.395462 +v -0.092268 -1.176090 -0.727330 +v -0.003773 -2.658388 -0.284777 +v 0.040630 -2.702687 -0.129867 +v -0.225061 -1.176090 -0.771617 +v -0.933016 -1.375123 -0.439749 +v -0.623130 -2.304309 -0.129867 +v -0.977211 -1.153628 -0.395462 +v 0.040630 -2.348608 -0.395399 +v -0.623130 -2.193717 -0.129867 +v -0.623130 -2.304309 -0.152042 +v -0.955165 -1.153628 -0.506085 +v -0.092268 -1.220233 -0.771617 +f 370 364 374 +f 360 364 365 +f 366 364 367 +f 362 361 368 +f 360 365 368 +f 361 362 369 +f 365 363 369 +f 363 365 370 +f 365 364 370 +f 362 368 371 +f 368 365 371 +f 365 369 371 +f 369 362 371 +f 364 360 372 +f 367 364 372 +f 361 367 372 +f 368 361 372 +f 360 368 372 +f 363 366 373 +f 366 367 373 +f 367 361 373 +f 361 369 373 +f 369 363 373 +f 366 363 374 +f 364 366 374 +f 363 370 374 +o convex_29 +v -0.225063 -1.153622 -0.705333 +v -0.844735 -0.954456 -1.258583 +v -1.575059 -0.954456 -0.771659 +v -1.021527 -0.932316 -0.395419 +v -1.021527 -1.153622 -0.461914 +v -0.269295 -0.954456 -1.236362 +v -0.180692 -1.153598 -0.904564 +v -0.844735 -0.932339 -1.258583 +v -0.158506 -1.042992 -1.258583 +v -1.021527 -1.153622 -0.395419 +v -0.158506 -1.131458 -0.771828 +v -1.575059 -0.932316 -0.749522 +f 384 378 386 +f 377 376 379 +f 375 379 381 +f 379 376 381 +f 376 377 382 +f 378 380 382 +f 382 380 383 +f 381 376 383 +f 376 382 383 +f 375 378 384 +f 379 375 384 +f 377 379 384 +f 378 375 385 +f 380 378 385 +f 375 381 385 +f 383 380 385 +f 381 383 385 +f 382 377 386 +f 378 382 386 +f 377 384 386 +o convex_30 +v -2.238795 -0.710938 -0.771617 +v -1.619704 0.019455 -0.395419 +v -1.531087 -0.047063 -0.395419 +v -1.066242 -0.932292 -0.395419 +v -1.508976 -0.910026 -0.771617 +v -2.814543 0.019455 -0.727354 +v -2.769971 0.019455 -0.771617 +v -1.110287 -0.511664 -0.439756 +v -2.083847 -0.733111 -0.660960 +v -1.818873 -0.002718 -0.417624 +v -1.531087 -0.047063 -0.417624 +v -1.066242 -0.932292 -0.550413 +v -1.641639 -0.932292 -0.749486 +v -2.637309 -0.002718 -0.660960 +v -1.132573 -0.423253 -0.395419 +f 394 397 401 +f 389 388 390 +f 391 387 393 +f 392 388 393 +f 387 392 393 +f 392 387 395 +f 390 388 396 +f 388 392 396 +f 388 389 397 +f 391 393 397 +f 393 388 397 +f 394 391 397 +f 394 390 398 +f 391 394 398 +f 387 391 399 +f 395 387 399 +f 390 395 399 +f 398 390 399 +f 391 398 399 +f 395 390 400 +f 392 395 400 +f 396 392 400 +f 390 396 400 +f 389 390 401 +f 390 394 401 +f 397 389 401 +o convex_31 +v -0.866793 1.413874 1.043198 +v -0.778248 2.055598 1.131759 +v -0.800418 2.055598 1.131759 +v -0.778248 2.432022 0.689130 +v -0.977451 1.900823 0.711313 +v -0.933168 1.413874 0.689130 +v -0.888905 1.413874 1.131759 +v -0.778248 1.834448 1.109619 +v -0.977451 1.413874 0.689130 +v -0.778248 2.299172 0.689130 +v -0.933168 2.099948 0.689130 +f 410 406 412 +f 404 403 405 +f 403 404 408 +f 404 406 408 +f 407 402 408 +f 405 403 409 +f 402 407 409 +f 403 408 409 +f 408 402 409 +f 405 407 410 +f 408 406 410 +f 407 408 410 +f 407 405 411 +f 405 409 411 +f 409 407 411 +f 404 405 412 +f 406 404 412 +f 405 410 412 +o convex_32 +v -2.283370 0.019455 -0.550420 +v -1.110420 1.015469 -0.727369 +v -1.110420 0.993240 -0.705237 +v -2.061993 0.793959 -0.705237 +v -2.770000 0.019455 -0.771634 +v -1.110420 0.329393 -0.395456 +v -1.110420 0.749793 -0.683105 +v -1.641425 0.019455 -0.417625 +v -1.774218 0.063815 -0.395456 +v -1.110420 1.015469 -0.771598 +v -2.150577 0.771827 -0.771634 +v -1.154628 0.395885 -0.395456 +v -2.770000 0.041684 -0.705237 +f 423 417 425 +f 415 414 416 +f 414 415 418 +f 414 418 419 +f 419 418 420 +f 413 417 420 +f 417 419 420 +f 420 418 421 +f 413 420 421 +f 416 414 422 +f 414 419 422 +f 419 417 422 +f 416 422 423 +f 422 417 423 +f 415 416 424 +f 418 415 424 +f 416 421 424 +f 421 418 424 +f 417 413 425 +f 413 421 425 +f 421 416 425 +f 416 423 425 +o convex_33 +v 0.881741 1.015741 1.021058 +v 0.749017 2.453854 1.131759 +v 0.726840 2.453854 1.131759 +v 0.726840 2.741893 0.689130 +v 0.926043 2.166162 0.711313 +v 0.970266 0.971548 0.689130 +v 0.926043 0.993558 1.109619 +v 0.771116 1.657502 1.131759 +v 0.881741 2.453854 0.689130 +v 0.992443 1.015741 0.777733 +v 0.771116 2.520405 1.065339 +v 0.726840 2.675169 0.689130 +f 426 433 437 +f 426 431 432 +f 432 427 433 +f 427 428 433 +f 426 432 433 +f 431 429 434 +f 430 431 434 +f 431 430 435 +f 430 432 435 +f 432 431 435 +f 428 427 436 +f 429 428 436 +f 432 430 436 +f 427 432 436 +f 434 429 436 +f 430 434 436 +f 428 429 437 +f 431 426 437 +f 429 431 437 +f 433 428 437 +o convex_34 +v 0.837404 -1.596427 -0.417589 +v -0.092105 -2.171611 -0.417589 +v -0.092105 -2.171611 -0.395419 +v -0.092105 -1.197896 -0.727387 +v 0.948055 -1.197896 -0.395419 +v 0.062848 -1.220083 -0.771617 +v 0.040697 -2.282444 -0.417589 +v -0.092105 -2.060991 -0.395419 +v 0.948055 -1.197896 -0.483990 +v -0.047803 -1.286434 -0.771617 +v 0.682555 -1.751104 -0.395419 +v 0.439102 -1.906101 -0.439723 +f 444 443 449 +f 439 440 441 +f 440 439 444 +f 441 440 445 +f 442 441 445 +f 440 442 445 +f 442 438 446 +f 441 442 446 +f 438 443 446 +f 443 441 446 +f 439 441 447 +f 441 443 447 +f 444 439 447 +f 443 444 447 +f 438 442 448 +f 442 440 448 +f 444 438 448 +f 440 444 448 +f 443 438 449 +f 438 444 449 +o convex_35 +v 1.523499 -1.020844 -0.727387 +v -0.092105 -1.197896 -0.771617 +v -0.092105 -1.175747 -0.771617 +v 0.948090 -1.197896 -0.395419 +v 0.970054 -1.020844 -0.395419 +v 0.660625 -1.020844 -0.771617 +v 1.545784 -1.042993 -0.771617 +v 0.970054 -1.197896 -0.483990 +v 0.151430 -1.197896 -0.771617 +f 456 457 458 +f 452 451 453 +f 453 450 454 +f 452 453 454 +f 452 454 455 +f 451 452 455 +f 454 450 455 +f 455 450 456 +f 450 453 456 +f 451 455 456 +f 456 453 457 +f 453 451 457 +f 457 451 458 +f 451 456 458 +o convex_36 +v 0.970444 -1.020826 -0.395419 +v 2.342461 -0.600287 -0.749520 +v 2.342461 -0.600287 -0.771617 +v 2.054626 -0.910093 -0.749520 +v 1.501656 -0.998680 -0.771617 +v 1.634492 -0.600287 -0.395419 +v 2.032599 -0.865882 -0.638852 +v 1.722737 -0.622434 -0.395419 +v 1.258279 -0.865882 -0.506124 +v 2.275976 -0.600287 -0.771617 +v 1.612331 -1.020826 -0.727387 +v 2.032599 -0.644580 -0.528258 +f 466 465 470 +f 461 460 462 +f 461 462 463 +f 460 461 464 +f 462 460 465 +f 460 464 466 +f 464 459 466 +f 459 465 466 +f 463 459 467 +f 459 464 467 +f 467 464 468 +f 461 463 468 +f 464 461 468 +f 463 467 468 +f 459 463 469 +f 463 462 469 +f 465 459 469 +f 462 465 469 +f 465 460 470 +f 460 466 470 +o convex_37 +v -0.512571 -2.127476 1.331014 +v -0.977451 -0.047332 1.308872 +v -0.977451 -0.047332 1.419540 +v -0.025704 -2.238055 1.397397 +v -0.800349 -1.529606 1.419540 +v -0.202806 -2.238055 1.308872 +v -0.778083 -1.883831 1.308872 +v -0.955278 0.107989 1.308872 +v -0.025704 -2.238055 1.419540 +v -0.955278 0.107989 1.419540 +v -0.114301 -2.260310 1.419540 +f 474 479 481 +f 473 472 477 +f 471 475 477 +f 475 473 477 +f 472 476 477 +f 476 471 477 +f 472 473 478 +f 476 472 478 +f 474 476 478 +f 473 475 479 +f 474 478 479 +f 479 478 480 +f 478 473 480 +f 473 479 480 +f 475 471 481 +f 471 476 481 +f 476 474 481 +f 479 475 481 +o convex_38 +v 1.169452 0.617119 -0.528258 +v 0.992391 1.015469 -0.749520 +v 0.992391 1.015469 -0.771617 +v 0.549771 0.993244 -0.638852 +v 0.881691 1.015469 -0.395419 +v 1.058751 0.550695 -0.395419 +v 1.169452 0.971169 -0.705253 +v 1.169452 0.572820 -0.395419 +v 0.815452 0.993244 -0.771617 +v 1.169452 0.949044 -0.771617 +f 490 484 491 +f 483 484 486 +f 484 485 486 +f 485 482 487 +f 486 485 487 +f 484 483 488 +f 483 486 488 +f 488 486 489 +f 487 482 489 +f 486 487 489 +f 482 488 489 +f 485 484 490 +f 482 485 490 +f 488 482 491 +f 484 488 491 +f 482 490 491 +o convex_39 +v 1.545895 0.329451 -0.395419 +v 1.302536 0.971138 -0.749520 +v 1.479605 0.948961 -0.749520 +v 2.630112 0.329451 -0.771617 +v 2.585918 0.595010 -0.705253 +v 1.191904 0.683403 -0.616719 +v 1.214001 0.550718 -0.395419 +v 1.966176 0.838328 -0.683119 +v 1.169513 0.948961 -0.771617 +v 2.032614 0.860442 -0.771617 +v 2.342412 0.329451 -0.594585 +v 1.656674 0.351565 -0.395419 +v 1.678771 0.329451 -0.483990 +v 1.236098 0.971138 -0.705253 +v 1.191904 0.484313 -0.417589 +v 2.608015 0.595010 -0.771617 +f 501 496 507 +f 495 497 500 +f 493 494 501 +f 494 499 501 +f 499 496 501 +f 500 493 501 +f 495 500 501 +f 492 495 502 +f 495 496 502 +f 502 496 503 +f 498 492 503 +f 496 499 503 +f 499 498 503 +f 492 502 503 +f 495 492 504 +f 497 495 504 +f 494 493 505 +f 499 494 505 +f 498 499 505 +f 493 500 505 +f 500 498 505 +f 492 498 506 +f 500 497 506 +f 498 500 506 +f 504 492 506 +f 497 504 506 +f 496 495 507 +f 495 501 507 +o convex_40 +v -0.645485 -2.105327 -0.240507 +v -1.043813 -1.352857 -0.151990 +v -1.043813 -1.352857 -0.129867 +v -0.645485 -1.618597 -0.373244 +v -1.043813 -1.153635 -0.395393 +v -1.021664 -1.087227 -0.129867 +v -0.645485 -2.127426 -0.129867 +v -0.888888 -1.529980 -0.395393 +v -0.667634 -2.216043 -0.174113 +v -0.999515 -1.109437 -0.395393 +v -0.645485 -1.729092 -0.395393 +f 517 511 518 +f 509 510 512 +f 512 510 513 +f 511 513 514 +f 508 511 514 +f 513 510 514 +f 509 512 515 +f 510 509 516 +f 508 514 516 +f 514 510 516 +f 509 515 516 +f 515 508 516 +f 512 513 517 +f 513 511 517 +f 515 512 517 +f 515 517 518 +f 511 508 518 +f 508 515 518 +o convex_41 +v -0.003590 -2.326616 1.419546 +v 0.726690 -1.353022 1.441682 +v 0.726690 -1.397250 1.441682 +v -0.711600 -1.353022 1.485934 +v -0.800232 -1.353022 1.419546 +v 0.306099 -2.016732 1.485934 +v 0.549576 -1.353022 1.485934 +v 0.726690 -1.397250 1.419546 +v -0.003590 -2.193740 1.485934 +v 0.505334 -2.016732 1.419546 +v -0.357520 -1.994618 1.441682 +f 527 522 529 +f 522 520 523 +f 522 524 525 +f 521 520 525 +f 520 522 525 +f 524 521 525 +f 520 521 526 +f 519 523 526 +f 523 520 526 +f 519 524 527 +f 524 522 527 +f 524 519 528 +f 521 524 528 +f 526 521 528 +f 519 526 528 +f 523 519 529 +f 522 523 529 +f 519 527 529 +o convex_42 +v -1.043975 -0.379037 -0.129867 +v -1.685660 0.019446 -0.395393 +v -1.685660 0.019446 -0.373244 +v -1.043975 -1.087227 -0.129867 +v -1.021813 -1.087227 -0.395393 +v -1.221001 0.063722 -0.284727 +v -1.221001 0.063722 -0.129867 +v -1.132488 -0.379037 -0.395393 +v -1.574985 0.063722 -0.395393 +v -1.021813 -0.733020 -0.373244 +v -0.999651 -1.020644 -0.129867 +f 534 539 540 +f 532 531 533 +f 533 531 534 +f 532 533 536 +f 533 530 536 +f 530 535 536 +f 534 531 537 +f 535 537 538 +f 531 532 538 +f 532 536 538 +f 536 535 538 +f 537 531 538 +f 535 530 539 +f 534 537 539 +f 537 535 539 +f 530 533 540 +f 533 534 540 +f 539 530 540 +o convex_43 +v -1.397879 0.063722 -0.351121 +v -0.844649 0.661330 -0.129867 +v -0.844649 0.572765 -0.129867 +v -0.889055 0.661330 -0.395393 +v -1.663513 0.085892 -0.373244 +v -1.176731 0.063722 -0.129867 +v -1.110363 0.285076 -0.395393 +v -0.889055 0.661330 -0.129867 +v -1.220977 0.085892 -0.129867 +f 548 545 549 +f 542 543 544 +f 543 542 546 +f 545 541 546 +f 546 541 547 +f 544 543 547 +f 541 545 547 +f 545 544 547 +f 543 546 547 +f 542 544 548 +f 544 545 548 +f 546 542 548 +f 546 548 549 +f 545 546 549 +o convex_44 +v 0.837508 -1.507766 -0.395393 +v 0.040697 -2.747250 -0.151990 +v 0.040697 -2.747250 -0.129867 +v 0.771055 -2.370892 -0.151990 +v 0.815279 -1.684905 -0.129867 +v 0.040697 -2.215835 -0.395393 +v 0.062926 -2.658681 -0.284727 +v 0.704602 -1.884125 -0.373244 +v 0.549701 -2.569991 -0.129867 +v 0.040697 -2.215835 -0.373244 +v 0.062926 -2.326607 -0.395393 +v 0.040697 -2.702966 -0.129867 +v 0.837508 -1.861922 -0.129867 +f 554 558 562 +f 551 552 555 +f 551 555 556 +f 553 556 557 +f 550 553 557 +f 552 551 558 +f 554 552 558 +f 551 556 558 +f 556 553 558 +f 554 550 559 +f 555 552 559 +f 550 555 559 +f 555 550 560 +f 556 555 560 +f 557 556 560 +f 550 557 560 +f 552 554 561 +f 554 559 561 +f 559 552 561 +f 553 550 562 +f 550 554 562 +f 558 553 562 +o convex_45 +v 1.058931 -0.910280 -0.395393 +v 0.837638 -1.729103 -0.151990 +v 0.837638 -1.729103 -0.129867 +v 1.501517 -0.733180 -0.373244 +v 1.103189 -0.733180 -0.129867 +v 0.837638 -1.552004 -0.395393 +v 0.970414 -0.821780 -0.129867 +v 1.213739 -0.733180 -0.129867 +v 1.412870 -0.710956 -0.395393 +v 0.970414 -0.976655 -0.395393 +v 0.859735 -1.729103 -0.129867 +f 566 570 573 +f 564 565 568 +f 567 563 569 +f 565 567 569 +f 568 565 569 +f 567 565 570 +f 567 570 571 +f 563 567 571 +f 566 568 571 +f 568 563 571 +f 570 566 571 +f 563 568 572 +f 569 563 572 +f 568 569 572 +f 565 564 573 +f 564 568 573 +f 568 566 573 +f 570 565 573 +o convex_46 +v 0.748861 1.745517 1.308872 +v -0.003570 2.276904 1.397397 +v -0.003570 2.276904 1.419540 +v 0.948003 -0.024812 1.419540 +v 0.925887 0.019492 1.308872 +v 0.793093 1.413367 1.419540 +v -0.003570 2.653358 1.308872 +v 0.394904 2.254621 1.331014 +v 0.881749 0.949092 1.308872 +v 0.018641 2.387271 1.419540 +v -0.003570 2.542467 1.308872 +v 0.970310 0.086079 1.419540 +f 582 579 585 +f 576 575 578 +f 577 576 578 +f 576 577 579 +f 575 576 580 +f 574 578 580 +f 579 574 581 +f 574 580 581 +f 578 574 582 +f 574 579 582 +f 576 579 583 +f 580 576 583 +f 579 581 583 +f 581 580 583 +f 578 575 584 +f 575 580 584 +f 580 578 584 +f 577 578 585 +f 579 577 585 +f 578 582 585 +o convex_47 +v 1.368611 0.285058 -0.306850 +v 1.081004 0.661330 -0.129867 +v 1.081004 0.661330 -0.284727 +v 1.634319 0.329330 -0.373244 +v 1.191655 0.285058 -0.129867 +v 1.058862 0.550651 -0.395393 +v 1.014577 0.661330 -0.395393 +f 589 591 592 +f 588 587 589 +f 586 589 590 +f 589 587 590 +f 589 586 591 +f 586 590 591 +f 587 588 592 +f 588 589 592 +f 590 587 592 +f 591 590 592 +o convex_48 +v -0.003570 -1.419301 1.662973 +v -0.822515 -1.175892 1.485964 +v -0.822515 -1.175892 1.508102 +v -0.025775 -2.105189 1.508102 +v -0.180650 -1.220140 1.729411 +v -0.003570 -1.994616 1.485964 +v -0.512525 -1.153721 1.552378 +v -0.158525 -1.994616 1.508102 +v -0.003570 -1.397224 1.729411 +v -0.114275 -1.153721 1.707249 +f 597 601 602 +f 594 595 599 +f 598 594 599 +f 593 598 599 +f 595 594 600 +f 597 595 600 +f 594 598 600 +f 598 596 600 +f 598 593 601 +f 596 598 601 +f 600 596 601 +f 597 600 601 +f 595 597 602 +f 599 595 602 +f 593 599 602 +f 601 593 602 +o convex_49 +v 0.793102 1.347639 1.441688 +v -0.069714 1.303411 1.707238 +v -0.069714 1.303411 1.729411 +v -0.025662 2.321219 1.419546 +v 0.793190 0.927123 1.729411 +v 0.815216 0.949306 1.419546 +v 0.018744 1.458280 1.729411 +v -0.069714 1.944931 1.485972 +v 0.018655 2.321219 1.441688 +v 0.616009 0.949167 1.707238 +v 0.195748 2.144028 1.441688 +v 0.793102 1.347639 1.419546 +v -0.069714 1.325456 1.685097 +f 610 608 615 +f 603 607 608 +f 606 605 609 +f 605 607 609 +f 604 605 610 +f 605 606 610 +f 606 608 610 +f 606 609 611 +f 609 607 611 +f 605 604 612 +f 607 605 612 +f 604 608 612 +f 608 607 612 +f 607 603 613 +f 606 611 613 +f 611 607 613 +f 608 606 614 +f 603 608 614 +f 613 603 614 +f 606 613 614 +f 608 604 615 +f 604 610 615 +o convex_50 +v -0.733981 -0.024934 3.190155 +v -0.778300 -0.954425 1.729476 +v -0.733981 -0.954425 1.729476 +v -0.977386 0.085856 1.729476 +v -0.999506 -0.002735 2.459889 +v -0.778300 -0.710851 2.481987 +v -0.866756 -0.799340 1.751721 +v -0.733981 0.085856 3.190155 +v -0.955265 0.085856 1.729476 +v -0.866756 0.085856 2.968733 +v -0.733981 -0.688755 2.548428 +v -0.999506 0.085856 1.818162 +v -0.733981 -0.910028 1.729476 +v -0.778300 0.041458 3.212253 +v -0.977386 0.063555 2.614722 +f 629 625 630 +f 618 617 619 +f 617 618 621 +f 619 617 622 +f 617 621 622 +f 621 620 622 +f 616 618 623 +f 618 619 624 +f 619 623 624 +f 623 619 625 +f 618 616 626 +f 621 618 626 +f 619 622 627 +f 622 620 627 +f 625 619 627 +f 623 618 628 +f 618 624 628 +f 624 623 628 +f 616 623 629 +f 623 625 629 +f 626 616 629 +f 621 626 629 +f 620 621 630 +f 627 620 630 +f 625 627 630 +f 621 629 630 +o convex_51 +v -0.911061 -2.282275 0.511987 +v -0.933173 -1.397098 0.689130 +v -0.822515 -1.751360 -0.107532 +v -1.021718 -1.397098 -0.129735 +v -0.822515 -2.282275 0.689130 +v -0.999547 -1.972389 0.556232 +v -0.844686 -2.481647 0.511987 +v -0.844686 -1.862087 -0.129735 +v -0.999547 -1.419286 0.511987 +v -0.977435 -1.839899 0.689130 +v -0.977435 -1.397098 -0.129735 +v -0.822515 -2.149573 0.689130 +v -1.021718 -1.729172 0.224390 +v -1.021718 -1.441368 -0.129735 +v -0.822515 -2.481647 0.511987 +f 637 638 645 +f 636 631 637 +f 632 634 639 +f 639 636 640 +f 635 632 640 +f 636 637 640 +f 637 635 640 +f 632 639 640 +f 632 633 641 +f 634 632 641 +f 633 638 641 +f 638 634 641 +f 633 632 642 +f 635 633 642 +f 632 635 642 +f 631 636 643 +f 637 631 643 +f 639 634 643 +f 636 639 643 +f 634 638 644 +f 638 637 644 +f 637 643 644 +f 643 634 644 +f 633 635 645 +f 635 637 645 +f 638 633 645 +o convex_52 +v -0.910998 0.616901 1.530245 +v -0.733981 0.882475 2.371223 +v -0.733981 0.904598 2.349040 +v -0.999506 0.174542 2.371223 +v -0.933144 0.130296 1.485964 +v -0.822541 1.104003 1.485964 +v -0.733981 1.015312 1.729549 +v -0.977386 0.085951 2.371223 +v -0.977438 0.174542 1.485964 +v -0.778300 0.860352 2.371223 +v -0.733981 0.838229 2.304760 +v -0.778248 1.104003 1.485964 +v -0.844688 1.037435 1.552428 +v -0.955265 0.085951 2.061348 +f 656 653 659 +f 648 647 652 +f 647 649 653 +f 649 646 654 +f 651 650 654 +f 653 649 654 +f 647 648 655 +f 649 647 655 +f 648 651 655 +f 650 652 656 +f 652 647 656 +f 647 653 656 +f 651 648 657 +f 650 651 657 +f 652 650 657 +f 648 652 657 +f 646 649 658 +f 654 646 658 +f 651 654 658 +f 649 655 658 +f 655 651 658 +f 654 650 659 +f 653 654 659 +f 650 656 659 +o convex_53 +v -0.756155 0.218684 3.190138 +v -0.999532 0.085856 2.371286 +v -0.999532 0.174460 2.371286 +v -0.733981 0.816214 2.371286 +v -0.733981 0.085856 3.190138 +v -0.756155 0.860516 2.504114 +v -0.977409 0.108007 2.614804 +v -0.733981 0.373740 2.769770 +v -0.977409 0.085856 2.371286 +v -0.800401 0.130158 3.190138 +f 665 666 669 +f 661 662 663 +f 663 662 665 +f 660 664 665 +f 664 663 665 +f 662 661 666 +f 661 664 666 +f 665 662 666 +f 663 664 667 +f 667 664 668 +f 661 663 668 +f 664 661 668 +f 663 667 668 +f 664 660 669 +f 660 665 669 +f 666 664 669 +o convex_54 +v -0.003570 -1.175704 1.906826 +v 0.771055 -0.556076 2.614557 +v 0.726698 -0.556076 2.725106 +v -0.003570 -0.578154 3.234333 +v 0.018570 -0.688906 3.234333 +v 0.771055 -0.843812 2.083796 +v 0.527506 -0.976460 1.729551 +v -0.003570 -1.131366 1.862545 +v 0.748838 -0.556076 2.548136 +v 0.771055 -0.688906 2.525995 +v 0.771055 -0.954321 1.729551 +v 0.173480 -1.175704 1.751843 +v 0.306401 -0.578215 3.168064 +v 0.771055 -0.887907 1.773984 +v 0.040711 -1.131366 2.017527 +f 681 675 684 +f 673 670 674 +f 670 673 677 +f 672 671 678 +f 673 672 678 +f 677 673 678 +f 676 677 678 +f 671 672 679 +f 675 671 679 +f 671 675 680 +f 677 676 681 +f 670 677 681 +f 680 675 681 +f 676 680 681 +f 672 673 682 +f 673 674 682 +f 679 672 682 +f 674 679 682 +f 678 671 683 +f 676 678 683 +f 671 680 683 +f 680 676 683 +f 674 670 684 +f 679 674 684 +f 675 679 684 +f 670 681 684 +o convex_55 +v 0.394889 0.107924 3.389430 +v 0.748906 -0.555955 2.548355 +v 0.748906 -0.533795 2.548355 +v 0.771055 0.063605 3.256517 +v 0.262100 -0.555955 3.190188 +v 0.240004 0.085765 3.367207 +v 0.593969 -0.489541 3.057360 +v 0.748906 -0.157666 2.791873 +v 0.771055 0.107924 3.123774 +v 0.240004 -0.511636 3.145827 +v 0.771055 -0.555955 2.636992 +f 693 688 695 +f 688 685 689 +f 689 685 690 +f 688 689 691 +f 687 690 692 +f 692 690 693 +f 685 688 693 +f 690 685 693 +f 687 686 694 +f 686 689 694 +f 690 687 694 +f 689 690 694 +f 686 687 695 +f 689 686 695 +f 688 691 695 +f 691 689 695 +f 687 692 695 +f 692 693 695 +o convex_56 +v 0.903909 -0.290466 2.526092 +v 0.771120 -0.932292 1.729554 +v 0.771120 -0.909991 1.729554 +v 0.771120 0.107989 3.190088 +v 0.793256 -0.666519 2.526092 +v 0.903909 -0.666519 1.729554 +v 0.881760 0.107989 2.725262 +v 0.859624 -0.909991 1.773877 +v 0.903909 0.063694 2.835928 +v 0.771120 0.107989 3.057260 +v 0.771120 -0.710916 2.437873 +v 0.793256 0.063694 3.190088 +f 704 699 707 +f 698 697 699 +f 697 698 701 +f 701 698 702 +f 696 700 703 +f 697 701 703 +f 701 696 703 +f 696 701 704 +f 701 702 704 +f 702 699 704 +f 698 699 705 +f 702 698 705 +f 699 702 705 +f 699 697 706 +f 700 699 706 +f 703 700 706 +f 697 703 706 +f 700 696 707 +f 699 700 707 +f 696 704 707 +o convex_57 +v 0.992443 0.019277 2.526083 +v 0.837508 -0.998693 1.486090 +v 0.881777 -0.998693 1.486090 +v 0.948174 0.196524 1.486090 +v 0.903920 0.107959 2.769464 +v 0.992443 -0.091400 1.486090 +v 0.926032 0.196524 1.486090 +v 0.926047 -0.224072 2.503843 +v 0.837508 -0.821563 1.729471 +v 0.992443 0.107959 2.570311 +v 0.903920 -0.910128 1.530318 +v 0.837508 -0.932240 1.729471 +f 716 709 719 +f 710 709 711 +f 710 711 713 +f 711 709 714 +f 712 711 714 +f 708 712 715 +f 714 709 716 +f 712 714 716 +f 712 708 717 +f 711 712 717 +f 708 713 717 +f 713 711 717 +f 713 708 718 +f 710 713 718 +f 708 715 718 +f 715 710 718 +f 709 710 719 +f 710 715 719 +f 715 712 719 +f 712 716 719 +o convex_58 +v 0.505529 0.683464 3.079476 +v 0.748906 0.107989 3.101553 +v 0.748906 0.152265 3.013058 +v 0.240004 0.107989 3.367133 +v 0.748906 0.661326 2.459914 +v 0.240004 0.683464 3.145895 +v 0.748906 0.152265 3.256467 +v 0.771055 0.683464 2.570580 +v 0.284249 0.683464 3.190142 +v 0.748906 0.329425 2.747664 +v 0.284249 0.130127 3.411474 +v 0.549723 0.661326 3.079476 +v 0.771055 0.107989 3.212219 +v 0.240004 0.329425 3.256467 +f 725 724 733 +f 722 721 723 +f 725 720 727 +f 724 725 727 +f 720 725 728 +f 722 723 729 +f 723 724 729 +f 724 727 729 +f 725 723 730 +f 728 725 730 +f 726 728 730 +f 727 720 731 +f 726 727 731 +f 720 728 731 +f 728 726 731 +f 721 722 732 +f 723 721 732 +f 727 726 732 +f 722 729 732 +f 729 727 732 +f 730 723 732 +f 726 730 732 +f 724 723 733 +f 723 725 733 +o convex_59 +v 0.262162 1.148184 1.729554 +v 0.771055 0.705719 2.570142 +v 0.682457 0.749952 2.725137 +v -0.025704 0.771999 3.234063 +v 0.018595 1.391740 1.751973 +v 0.771055 0.904904 1.729554 +v 0.726756 0.860672 2.526050 +v 0.018595 0.860602 3.234063 +v -0.025704 1.303067 1.729703 +v 0.748906 0.683533 2.415745 +v 0.593937 0.949068 1.751824 +v 0.416975 0.683533 3.123459 +v 0.771055 0.949068 1.751824 +v -0.025704 0.971253 2.946643 +v 0.240012 0.683533 3.145729 +v 0.593937 0.705719 2.946493 +f 741 745 749 +f 736 735 740 +f 740 738 741 +f 738 739 742 +f 739 734 742 +f 739 735 743 +f 739 743 744 +f 734 739 744 +f 742 734 744 +f 737 742 744 +f 741 737 745 +f 743 735 745 +f 739 738 746 +f 735 739 746 +f 740 735 746 +f 738 740 746 +f 737 741 747 +f 741 738 747 +f 742 737 747 +f 738 742 747 +f 744 743 748 +f 737 744 748 +f 745 737 748 +f 743 745 748 +f 735 736 749 +f 736 740 749 +f 740 741 749 +f 745 735 749 +o convex_60 +v -2.880848 -0.688852 -1.502170 +v -2.106266 -0.932261 -1.280955 +v -2.106266 -0.954425 -1.280955 +v -2.106266 -0.799531 -2.254454 +v -2.748099 -0.666744 -1.280955 +v -2.416146 -0.932261 -1.303067 +v -2.349849 -0.666744 -2.232342 +v -2.372000 -0.777395 -2.254454 +v -2.106266 -0.777395 -2.077463 +v -2.858697 -0.733124 -1.457946 +v -2.106266 -0.910126 -1.303067 +v -2.416146 -0.666744 -2.254454 +v -2.372000 -0.843718 -1.922584 +f 759 757 762 +f 751 752 753 +f 752 751 754 +f 752 754 755 +f 751 753 758 +f 753 756 758 +f 756 754 758 +f 754 750 759 +f 755 754 759 +f 750 757 759 +f 754 751 760 +f 751 758 760 +f 758 754 760 +f 750 754 761 +f 756 753 761 +f 754 756 761 +f 753 757 761 +f 757 750 761 +f 753 752 762 +f 752 755 762 +f 757 753 762 +f 755 759 762 +o convex_61 +v -2.925124 -0.578136 -1.480058 +v -2.371870 -0.644550 -2.232342 +v -2.371870 -0.666688 -2.232342 +v -2.748073 -0.091213 -2.254454 +v -2.903025 -0.091213 -1.280955 +v -2.770171 -0.666688 -1.280955 +v -3.035879 -0.091213 -1.502170 +v -2.438362 -0.666688 -2.254454 +v -2.681776 -0.113351 -2.232342 +v -2.903025 -0.666688 -1.457946 +v -2.947288 -0.135489 -1.280955 +v -2.748073 -0.113351 -2.254454 +v -2.858697 -0.224041 -1.280955 +f 767 768 775 +f 765 764 768 +f 767 766 769 +f 764 765 770 +f 766 764 770 +f 765 768 770 +f 764 766 771 +f 766 767 771 +f 767 764 771 +f 769 763 772 +f 770 768 772 +f 768 767 773 +f 767 769 773 +f 772 768 773 +f 769 772 773 +f 763 769 774 +f 769 766 774 +f 766 770 774 +f 772 763 774 +f 770 772 774 +f 764 767 775 +f 768 764 775 +o convex_62 +v -2.128519 -0.799490 -0.793913 +v -2.814474 -0.666697 -1.280665 +v -2.814474 -0.644554 -1.280665 +v -2.106336 -0.932283 -1.280665 +v -2.394097 -0.954425 -1.192174 +v -2.239159 -0.644554 -0.793913 +v -2.460439 -0.666697 -0.882405 +v -2.106336 -0.954425 -1.037264 +v -2.748062 -0.644554 -1.280665 +v -2.482484 -0.910141 -1.280665 +f 780 777 785 +f 777 778 779 +f 776 779 781 +f 778 777 782 +f 780 776 782 +f 777 780 782 +f 776 781 782 +f 781 778 782 +f 779 776 783 +f 776 780 783 +f 780 779 783 +f 779 778 784 +f 778 781 784 +f 781 779 784 +f 777 779 785 +f 779 780 785 +o convex_63 +v -2.725922 -0.644554 -1.236419 +v -2.725922 -0.091213 -0.771741 +v -2.681663 -0.113367 -0.771741 +v -2.902956 -0.091213 -1.280665 +v -2.283336 -0.600248 -0.793913 +v -2.792342 -0.644554 -1.192174 +v -2.615308 -0.555942 -0.882405 +v -2.394080 -0.334736 -0.793913 +v -2.770180 -0.135520 -0.771741 +v -2.349821 -0.644554 -0.771741 +v -2.947280 -0.113367 -1.258542 +f 791 794 796 +f 787 788 789 +f 786 789 790 +f 789 788 793 +f 790 789 793 +f 788 787 794 +f 791 792 794 +f 794 792 795 +f 786 790 795 +f 791 786 795 +f 792 791 795 +f 793 788 795 +f 790 793 795 +f 788 794 795 +f 787 789 796 +f 789 786 796 +f 786 791 796 +f 794 787 796 +o convex_64 +v -0.202929 -0.932296 -1.590863 +v -2.106266 -0.799536 -2.254645 +v -2.106266 -0.954387 -1.325214 +v -0.291394 -0.976549 -2.254645 +v -0.158506 -1.020826 -1.258728 +v -0.711795 -0.932296 -1.258728 +v -1.973187 -0.777374 -2.099545 +v -0.247162 -0.932296 -2.232223 +v -2.106266 -0.910134 -1.303084 +v -1.973187 -0.821675 -2.254645 +v -0.247162 -0.954411 -1.258728 +v -1.951071 -0.777374 -2.254645 +v -2.106266 -0.954387 -1.258728 +v -0.158506 -0.954411 -2.254645 +f 808 804 810 +f 799 800 801 +f 798 799 805 +f 802 803 805 +f 803 798 805 +f 799 798 806 +f 800 799 806 +f 798 800 806 +f 801 797 807 +f 802 801 807 +f 797 803 807 +f 803 802 807 +f 800 798 808 +f 803 797 808 +f 798 803 808 +f 797 804 808 +f 799 801 809 +f 801 802 809 +f 805 799 809 +f 802 805 809 +f 797 801 810 +f 801 800 810 +f 804 797 810 +f 800 808 810 +o convex_65 +v 0.903918 -2.569895 0.689130 +v 0.925989 -0.644555 1.308872 +v 0.925989 -0.644555 1.131794 +v 0.771124 -1.994477 1.286669 +v 1.036711 -2.260250 0.866268 +v 0.903918 -1.308694 0.689130 +v 0.815397 -2.060969 1.308872 +v 0.837521 -2.636582 0.689130 +v 1.014535 -1.950409 0.689130 +v 0.925989 -1.352957 1.286669 +v 0.881768 -0.777538 1.153936 +v 0.948165 -1.330923 0.689130 +v 0.881768 -0.733470 1.308872 +f 821 814 823 +f 813 812 815 +f 811 815 817 +f 814 816 818 +f 816 811 818 +f 817 814 818 +f 811 817 818 +f 815 811 819 +f 813 815 819 +f 811 816 819 +f 815 812 820 +f 812 817 820 +f 817 815 820 +f 813 816 821 +f 816 814 821 +f 816 813 822 +f 813 819 822 +f 819 816 822 +f 812 813 823 +f 817 812 823 +f 814 817 823 +f 813 821 823 +o convex_66 +v -2.039826 -0.755242 -0.771786 +v -2.106266 -0.954425 -1.258583 +v -2.106266 -0.954425 -1.037251 +v -0.844649 -0.954425 -1.258583 +v -0.844649 -0.954425 -0.771786 +v -1.619205 -0.954425 -0.771786 +v -0.844649 -0.932257 -1.258583 +v -2.106266 -0.755242 -0.816014 +v -0.844649 -0.932257 -0.771786 +v -2.106266 -0.932257 -1.258583 +v -2.106266 -0.799520 -0.771786 +f 831 826 834 +f 826 825 827 +f 826 827 828 +f 826 828 829 +f 828 824 829 +f 827 825 830 +f 828 827 830 +f 825 826 831 +f 824 830 831 +f 824 828 832 +f 830 824 832 +f 828 830 832 +f 830 825 833 +f 825 831 833 +f 831 830 833 +f 826 829 834 +f 829 824 834 +f 824 831 834 +o convex_67 +v -0.003644 -2.747090 1.286703 +v -0.756114 -2.127656 1.131802 +v -0.756114 -2.127656 1.153971 +v -0.313472 -2.194005 1.286703 +v -0.003644 -2.747090 1.131802 +v -0.756114 -1.994869 1.308872 +v -0.446213 -2.592187 1.153971 +v -0.733868 -2.039102 1.131802 +v -0.003644 -2.592187 1.308872 +v -0.733868 -1.861905 1.308872 +f 843 838 844 +f 836 837 840 +f 837 836 841 +f 839 835 841 +f 836 839 841 +f 835 840 841 +f 840 837 841 +f 838 839 842 +f 839 836 842 +f 835 839 843 +f 839 838 843 +f 840 835 843 +f 840 843 844 +f 836 840 844 +f 838 842 844 +f 842 836 844 +o convex_68 +v -2.703875 0.307270 -2.188112 +v -2.703875 0.771999 -1.502101 +v -2.792409 0.771999 -1.502101 +v -2.991595 -0.091213 -1.502101 +v -2.726026 -0.091213 -2.166091 +v -2.903060 0.063752 -2.033250 +v -3.058013 0.063752 -1.524265 +v -2.903060 -0.091213 -1.635013 +v -2.836711 0.063752 -2.232511 +v -3.035862 -0.091213 -1.524265 +v -2.792409 0.749776 -1.568593 +v -2.770293 -0.091213 -2.232511 +f 849 854 856 +f 846 847 848 +f 845 846 849 +f 848 847 851 +f 846 848 852 +f 848 849 852 +f 849 846 852 +f 850 853 854 +f 849 848 854 +f 848 851 854 +f 851 850 854 +f 846 845 855 +f 847 846 855 +f 851 847 855 +f 850 851 855 +f 845 853 855 +f 853 850 855 +f 845 849 856 +f 853 845 856 +f 854 853 856 +o convex_69 +v -2.681672 0.771999 -1.524235 +v -2.084133 0.771999 -2.210258 +v -2.106336 0.771999 -2.166030 +v -2.703875 0.152257 -2.232373 +v -2.637387 0.617063 -2.033207 +v -2.416025 0.329334 -2.210258 +v -2.327698 0.749856 -1.834179 +v -2.150620 0.771999 -2.232373 +v -2.703875 0.727714 -1.723539 +v -2.703875 0.329334 -2.188144 +v -2.637387 0.749856 -1.546488 +f 862 863 867 +f 859 858 857 +f 858 859 862 +f 859 857 863 +f 862 859 863 +f 857 858 864 +f 858 862 864 +f 862 860 864 +f 860 857 865 +f 857 864 865 +f 864 861 865 +f 861 864 866 +f 864 860 866 +f 860 865 866 +f 865 861 866 +f 857 860 867 +f 860 862 867 +f 863 857 867 +o convex_70 +v -2.969478 0.329493 -1.501958 +v -2.703875 0.218718 -0.771762 +v -2.703875 0.262994 -0.793924 +v -2.703875 0.749776 -1.457706 +v -2.947293 -0.091213 -1.413454 +v -2.836711 0.041614 -0.793924 +v -2.814595 0.771999 -1.457706 +v -2.748211 -0.091213 -0.816086 +v -3.058013 0.063752 -1.457706 +v -3.035862 -0.091213 -1.501958 +v -2.726026 0.705585 -1.236445 +f 871 874 878 +f 870 869 871 +f 869 870 873 +f 871 868 874 +f 871 869 875 +f 872 871 875 +f 869 873 875 +f 874 868 876 +f 873 874 876 +f 868 871 877 +f 871 872 877 +f 872 875 877 +f 875 873 877 +f 876 868 877 +f 873 876 877 +f 870 871 878 +f 873 870 878 +f 874 873 878 +o convex_71 +v -2.681672 0.152257 -0.793917 +v -2.084133 0.771999 -0.771821 +v -2.084133 0.749856 -0.771821 +v -2.681672 0.771999 -1.435700 +v -2.615305 0.594921 -0.904597 +v -2.305495 0.749856 -1.125760 +v -2.394004 0.351477 -0.793917 +v -2.703875 0.240826 -0.771821 +v -2.703875 0.771999 -1.347053 +v -2.216986 0.749856 -0.771821 +v -2.637387 0.749856 -1.413473 +f 885 879 889 +f 880 881 884 +f 882 880 884 +f 884 881 885 +f 885 881 886 +f 881 880 886 +f 879 885 886 +f 886 883 887 +f 880 882 887 +f 882 879 887 +f 879 886 887 +f 886 880 888 +f 883 886 888 +f 887 883 888 +f 880 887 888 +f 879 882 889 +f 882 884 889 +f 884 885 889 +o convex_72 +v -0.866969 1.104003 -1.922610 +v -2.128170 0.772046 -2.232511 +v -2.770276 0.772046 -1.502287 +v -2.061678 1.059714 -1.502287 +v -1.021986 1.081842 -1.479967 +v -0.933461 1.081842 -2.232511 +v -0.778248 1.059714 -2.188092 +v -2.305222 0.772046 -1.789869 +v -2.084102 0.816303 -2.232511 +v -1.929085 0.794174 -2.210191 +v -2.659326 0.772046 -1.479967 +v -1.154580 1.104003 -1.479967 +v -2.770276 0.794174 -1.502287 +f 900 893 902 +f 893 890 895 +f 890 894 896 +f 891 895 896 +f 895 890 896 +f 892 891 897 +f 895 891 898 +f 893 895 898 +f 896 894 899 +f 891 896 899 +f 897 891 899 +f 894 897 899 +f 892 897 900 +f 897 894 900 +f 890 893 901 +f 894 890 901 +f 893 900 901 +f 900 894 901 +f 891 892 902 +f 898 891 902 +f 893 898 902 +f 892 900 902 +o convex_73 +v -0.136355 -2.503737 1.331014 +v 0.372702 -2.260310 1.331014 +v 0.372702 -2.260310 1.308872 +v -0.291308 -2.260310 1.308872 +v -0.092092 -2.260310 1.419540 +v 0.040697 -2.658716 1.308872 +v 0.018598 -2.393138 1.419540 +f 908 904 909 +f 904 905 906 +f 906 903 907 +f 904 906 907 +f 905 904 908 +f 906 905 908 +f 903 906 908 +f 903 908 909 +f 907 903 909 +f 904 907 909 +o convex_74 +v -0.756231 1.104003 -0.794011 +v -2.770276 0.771999 -1.479898 +v -2.770276 0.771999 -1.457647 +v -2.061930 1.059708 -1.479898 +v -1.021984 1.081807 -1.479898 +v -2.039849 0.771999 -0.771829 +v -2.017769 0.838425 -0.771829 +v -2.349763 0.771999 -1.236389 +v -0.822867 1.059675 -0.816123 +v -0.844947 1.104003 -0.771829 +v -1.154861 1.104003 -1.479898 +v -2.725721 0.816294 -1.457647 +v -2.061930 1.059708 -1.457647 +v -2.659480 0.771999 -1.479898 +f 914 917 923 +f 911 913 914 +f 912 911 915 +f 912 915 916 +f 915 911 917 +f 914 915 917 +f 914 910 918 +f 915 914 918 +f 915 918 919 +f 916 915 919 +f 918 910 919 +f 910 914 920 +f 914 913 920 +f 919 910 920 +f 911 912 921 +f 913 911 921 +f 912 916 921 +f 921 916 922 +f 916 919 922 +f 920 913 922 +f 919 920 922 +f 913 921 922 +f 911 914 923 +f 917 911 923 +o convex_75 +v 0.881790 -1.263941 1.109619 +v 0.903926 0.970978 1.131759 +v 0.926036 0.970978 1.109619 +v 0.903926 -1.109101 0.689130 +v 0.992430 -0.246101 1.131759 +v 0.992430 0.970978 0.689130 +v 0.948159 -1.241853 0.689130 +v 0.859642 0.395571 1.087479 +v 0.948159 0.970978 0.755593 +v 0.992430 -0.400941 0.689130 +v 0.926036 -1.308341 1.131759 +v 0.881790 0.970978 1.131759 +v 0.903926 -1.308341 0.689130 +v 0.926036 -0.091261 0.689130 +f 931 932 937 +f 926 925 928 +f 926 928 929 +f 925 926 929 +f 927 929 930 +f 925 929 932 +f 929 928 933 +f 930 929 933 +f 928 930 933 +f 928 925 934 +f 930 928 934 +f 931 924 935 +f 925 932 935 +f 932 931 935 +f 934 925 935 +f 924 934 935 +f 927 930 936 +f 924 931 936 +f 931 927 936 +f 934 924 936 +f 930 934 936 +f 929 927 937 +f 927 931 937 +f 932 929 937 +o convex_76 +v -0.069921 -1.197854 -0.882496 +v 0.571904 -1.042995 -0.771691 +v 0.527505 -1.042995 -0.771691 +v 0.571904 -0.954426 -1.612605 +v -0.158506 -0.954426 -1.369180 +v -0.158506 -0.976600 -1.612605 +v -0.158506 -1.131460 -0.793918 +v 0.571904 -0.998723 -1.546253 +v 0.040755 -1.219977 -0.771691 +v 0.571904 -0.998723 -0.904640 +v 0.571904 -1.087214 -0.793918 +f 946 945 948 +f 942 941 943 +f 942 943 944 +f 940 942 944 +f 943 938 944 +f 941 939 945 +f 938 943 945 +f 943 941 945 +f 939 940 946 +f 944 938 946 +f 940 944 946 +f 938 945 946 +f 940 939 947 +f 939 941 947 +f 941 942 947 +f 942 940 947 +f 945 939 948 +f 939 946 948 +o convex_77 +v -1.043851 -1.397098 -0.063286 +v -0.933183 -0.511839 0.689130 +v -0.933183 -0.511839 0.600478 +v -0.933183 -1.397098 0.689130 +v -0.999567 -1.397098 -0.129735 +v -1.043851 -0.511839 -0.129735 +v -0.977468 -0.511839 0.622601 +v -0.999567 -0.511839 -0.129735 +v -0.999567 -1.397098 0.489864 +f 952 955 957 +f 951 950 952 +f 952 949 953 +f 951 952 953 +f 950 951 954 +f 953 949 954 +f 952 950 955 +f 950 954 955 +f 951 953 956 +f 954 951 956 +f 953 954 956 +f 949 952 957 +f 954 949 957 +f 955 954 957 +o convex_78 +v -0.756114 -1.994447 1.264604 +v -0.977429 -0.046262 1.131802 +v -0.977429 -0.046262 1.308872 +v -0.756136 2.077883 1.131802 +v -0.756136 1.789912 1.308872 +v -0.778276 -2.083241 1.131802 +v -0.888868 1.479946 1.153971 +v -0.778276 -1.928054 1.308872 +v -0.888890 -1.463308 1.153971 +v -0.756114 -2.083241 1.131802 +v -0.866772 1.325166 1.286703 +v -0.977429 0.174503 1.308872 +f 962 968 969 +f 958 961 962 +f 959 961 963 +f 961 959 964 +f 962 961 964 +f 958 962 965 +f 962 960 965 +f 963 958 965 +f 963 965 966 +f 960 959 966 +f 959 963 966 +f 965 960 966 +f 961 958 967 +f 958 963 967 +f 963 961 967 +f 962 964 968 +f 968 964 969 +f 959 960 969 +f 960 962 969 +f 964 959 969 +o convex_79 +v -0.911043 -1.308564 0.755593 +v -0.866798 1.413874 1.131759 +v -0.888933 1.413874 1.131759 +v -0.933166 1.413874 0.689130 +v -0.977438 -0.046745 1.131759 +v -0.866798 -1.308564 1.131759 +v -0.955302 -1.308564 0.689130 +v -0.844649 0.860379 1.109619 +v -0.977438 0.196026 0.689130 +v -0.955302 1.413874 0.821970 +v -0.911043 0.351388 0.711313 +v -0.911043 -1.308564 1.065339 +v -0.866798 -1.064994 1.021058 +v -0.977438 0.174174 1.131759 +f 979 978 983 +f 972 971 973 +f 971 972 974 +f 971 974 975 +f 970 975 976 +f 973 971 977 +f 971 975 977 +f 976 974 978 +f 973 976 978 +f 972 973 979 +f 973 978 979 +f 970 976 980 +f 976 973 980 +f 973 977 980 +f 975 974 981 +f 974 976 981 +f 976 975 981 +f 975 970 982 +f 977 975 982 +f 970 980 982 +f 980 977 982 +f 974 972 983 +f 978 974 983 +f 972 979 983 +o convex_80 +v 0.748885 1.103914 -2.276822 +v -0.158417 0.196613 -2.498071 +v -0.158417 0.196613 -2.453821 +v 0.748885 0.196613 -2.453821 +v 0.018674 1.103914 -2.520248 +v -0.158417 1.103914 -2.431697 +v 0.748885 0.218818 -2.498071 +v 0.704568 0.971039 -2.254645 +v 0.040788 0.196613 -2.520248 +v 0.660339 1.103914 -2.321072 +f 990 988 993 +f 986 985 987 +f 988 985 989 +f 985 986 989 +f 984 988 989 +f 984 987 990 +f 986 987 991 +f 987 984 991 +f 984 989 991 +f 989 986 991 +f 987 985 992 +f 985 988 992 +f 990 987 992 +f 988 990 992 +f 988 984 993 +f 984 990 993 +o convex_81 +v 1.346523 0.993244 -2.276809 +v 0.749129 0.196613 -2.498089 +v 0.749129 0.196613 -2.453817 +v 1.545784 0.196613 -2.498089 +v 1.545784 0.904690 -2.232511 +v 0.749129 1.103914 -2.276809 +v 1.545784 0.462275 -2.453817 +v 0.771200 1.059593 -2.232511 +v 1.479260 0.240934 -2.453817 +v 1.545784 0.926806 -2.298932 +f 998 1000 1003 +f 996 995 997 +f 995 996 999 +f 997 995 1000 +f 998 997 1000 +f 995 999 1000 +f 998 994 1001 +f 996 998 1001 +f 999 996 1001 +f 994 999 1001 +f 996 997 1002 +f 997 998 1002 +f 998 996 1002 +f 994 998 1003 +f 999 994 1003 +f 1000 999 1003 +o convex_82 +v 2.962264 -0.002679 -1.723515 +v 2.386923 -0.688755 -2.232359 +v 2.386923 -0.644431 -2.232359 +v 2.807343 -0.688755 -1.457834 +v 2.917984 -0.047070 -1.457834 +v 2.785203 -0.047070 -2.232359 +v 2.851563 -0.666593 -1.502190 +v 2.740923 -0.024908 -2.188155 +v 2.409063 -0.666593 -2.099595 +v 2.431204 -0.688755 -2.232359 +v 3.006544 -0.047070 -1.568610 +v 2.984404 -0.002679 -1.457834 +f 1014 1004 1015 +f 1005 1006 1009 +f 1009 1006 1011 +f 1004 1009 1011 +f 1006 1005 1012 +f 1005 1007 1012 +f 1007 1008 1012 +f 1008 1011 1012 +f 1011 1006 1012 +f 1007 1005 1013 +f 1005 1009 1013 +f 1009 1010 1013 +f 1010 1007 1013 +f 1009 1004 1014 +f 1010 1009 1014 +f 1010 1014 1015 +f 1008 1007 1015 +f 1007 1010 1015 +f 1004 1011 1015 +f 1011 1008 1015 +o convex_83 +v 2.519747 0.594929 -2.166015 +v 3.006536 0.041658 -1.502190 +v 2.962238 0.174434 -1.480050 +v 2.298398 0.550593 -2.210295 +v 2.785186 -0.002620 -2.232359 +v 2.829414 0.594929 -1.590750 +v 2.940124 0.019548 -1.457834 +v 2.785186 0.594929 -1.457834 +v 2.674546 0.307151 -2.232359 +v 2.763072 -0.002620 -2.166015 +v 2.807300 0.019548 -2.210295 +v 2.298398 0.594929 -2.232359 +v 3.006536 0.063826 -1.568610 +v 2.386924 0.417817 -2.210295 +f 1027 1020 1029 +f 1017 1018 1022 +f 1020 1017 1022 +f 1018 1021 1023 +f 1021 1016 1023 +f 1022 1018 1023 +f 1019 1022 1023 +f 1016 1021 1024 +f 1020 1022 1025 +f 1020 1024 1026 +f 1024 1021 1026 +f 1023 1016 1027 +f 1019 1023 1027 +f 1016 1024 1027 +f 1024 1020 1027 +f 1018 1017 1028 +f 1017 1020 1028 +f 1021 1018 1028 +f 1020 1026 1028 +f 1026 1021 1028 +f 1022 1019 1029 +f 1020 1025 1029 +f 1025 1022 1029 +f 1019 1027 1029 +o convex_84 +v 2.807391 -0.024813 -0.882433 +v 2.785227 -0.688822 -1.457767 +v 2.276195 -0.688822 -0.793920 +v 2.917942 -0.046977 -1.457767 +v 2.608251 -0.622395 -0.948851 +v 2.763130 -0.157666 -0.771758 +v 2.829488 -0.688822 -1.435605 +v 2.718802 -0.024813 -0.793920 +v 2.962337 -0.046977 -1.369186 +v 2.276195 -0.644429 -0.793920 +v 2.342686 -0.688822 -0.771758 +f 1039 1032 1040 +f 1032 1031 1036 +f 1031 1033 1036 +f 1035 1034 1036 +f 1030 1033 1037 +f 1035 1030 1037 +f 1033 1030 1038 +f 1030 1035 1038 +f 1036 1033 1038 +f 1035 1036 1038 +f 1031 1032 1039 +f 1033 1031 1039 +f 1037 1033 1039 +f 1037 1039 1040 +f 1034 1035 1040 +f 1032 1036 1040 +f 1036 1034 1040 +f 1035 1037 1040 +o convex_85 +v 2.741036 0.108089 -0.771758 +v 2.940187 -0.024691 -1.457767 +v 2.918001 -0.002612 -1.413443 +v 2.807333 0.594869 -1.391348 +v 2.541798 0.572729 -0.793920 +v 2.718937 -0.024691 -0.793920 +v 2.984471 0.041669 -1.435605 +v 2.630368 0.550588 -0.771758 +v 2.763135 0.572729 -1.435605 +f 1044 1047 1049 +f 1043 1042 1046 +f 1041 1045 1046 +f 1045 1043 1046 +f 1046 1042 1047 +f 1041 1046 1047 +f 1045 1041 1048 +f 1044 1045 1048 +f 1047 1044 1048 +f 1041 1047 1048 +f 1042 1043 1049 +f 1045 1044 1049 +f 1043 1045 1049 +f 1047 1042 1049 +o convex_86 +v 2.010591 0.860542 -2.188123 +v 0.793241 1.081837 -2.232446 +v 0.881778 1.059699 -1.966830 +v 1.966144 1.059699 -1.568502 +v 1.036806 1.037589 -1.568502 +v 1.966144 0.816266 -2.166026 +v 0.970433 1.104003 -2.210284 +v 2.010591 0.993313 -1.590729 +v 0.992597 1.081837 -1.679246 +v 1.922054 0.816266 -2.232446 +f 1056 1050 1059 +f 1053 1050 1056 +f 1050 1053 1057 +f 1053 1054 1057 +f 1055 1050 1057 +f 1054 1055 1057 +f 1051 1052 1058 +f 1054 1053 1058 +f 1052 1054 1058 +f 1056 1051 1058 +f 1053 1056 1058 +f 1052 1051 1059 +f 1054 1052 1059 +f 1050 1055 1059 +f 1055 1054 1059 +f 1051 1056 1059 +o convex_87 +v 1.877685 0.904820 -0.793918 +v 1.036845 1.037574 -1.568502 +v 1.014616 1.015434 -1.347092 +v 1.988362 1.059714 -1.524126 +v 0.815374 1.015434 -0.771847 +v 1.988362 0.838400 -0.860364 +v 2.010591 1.015434 -1.568502 +v 1.280194 1.037574 -0.993101 +v 1.014616 1.059714 -1.324943 +v 0.815374 0.993316 -0.771847 +v 2.010591 0.860561 -0.771847 +v 2.010591 1.037574 -1.391311 +f 1060 1070 1071 +f 1062 1061 1065 +f 1061 1063 1066 +f 1065 1061 1066 +f 1064 1060 1067 +f 1064 1067 1068 +f 1063 1061 1068 +f 1061 1064 1068 +f 1067 1063 1068 +f 1061 1062 1069 +f 1064 1061 1069 +f 1062 1065 1069 +f 1069 1065 1070 +f 1060 1064 1070 +f 1065 1066 1070 +f 1064 1069 1070 +f 1070 1066 1071 +f 1066 1063 1071 +f 1063 1067 1071 +f 1067 1060 1071 +o convex_88 +v 2.718761 0.617113 -1.834203 +v 2.010591 0.794191 -2.232511 +v 2.010591 0.794191 -2.210282 +v 2.077120 1.037559 -1.568597 +v 2.785130 0.594929 -1.546435 +v 2.763007 0.794191 -1.568597 +v 2.054997 0.838341 -2.232511 +v 2.276305 0.594929 -2.210282 +v 2.010591 0.993279 -1.568597 +v 2.541699 0.617113 -2.143864 +f 1079 1078 1081 +f 1076 1072 1077 +f 1075 1076 1077 +f 1075 1077 1078 +f 1074 1073 1079 +f 1073 1078 1079 +f 1073 1074 1080 +f 1076 1075 1080 +f 1078 1073 1080 +f 1075 1078 1080 +f 1074 1079 1080 +f 1079 1076 1080 +f 1072 1076 1081 +f 1077 1072 1081 +f 1078 1077 1081 +f 1076 1079 1081 +o convex_89 +v 2.630270 0.639253 -0.882467 +v 2.010591 1.015419 -1.546368 +v 2.010591 0.816244 -0.816047 +v 2.785130 0.594929 -1.524152 +v 2.785130 0.794191 -1.502012 +v 2.032874 0.904761 -0.904607 +v 2.497453 0.594929 -0.771842 +v 2.121366 1.037559 -1.502012 +v 2.099243 0.838341 -0.771842 +v 2.829376 0.594929 -1.546368 +v 2.785130 0.794191 -1.546368 +f 1086 1091 1092 +f 1084 1083 1085 +f 1083 1084 1087 +f 1084 1085 1088 +f 1083 1087 1089 +f 1087 1086 1089 +f 1082 1086 1090 +f 1086 1087 1090 +f 1087 1084 1090 +f 1084 1088 1090 +f 1088 1082 1090 +f 1085 1083 1091 +f 1086 1082 1091 +f 1088 1085 1091 +f 1082 1088 1091 +f 1083 1089 1092 +f 1089 1086 1092 +f 1091 1083 1092 +o convex_90 +v -0.003497 -2.946386 0.423415 +v 0.748973 -2.725045 0.689130 +v 0.660357 -2.725045 0.689130 +v 0.748973 -2.348906 -0.129735 +v -0.003497 -2.879966 0.689130 +v 0.085046 -2.747185 -0.129735 +v 0.748973 -2.791466 0.534110 +v -0.003497 -2.702905 -0.107532 +v 0.748973 -2.503886 -0.107532 +v 0.085046 -2.968526 0.511987 +v 0.726727 -2.348906 -0.107532 +v 0.062948 -2.924246 0.689130 +v 0.195762 -2.813606 0.689130 +v 0.726727 -2.813606 0.600478 +f 1104 1102 1106 +f 1094 1095 1097 +f 1096 1094 1099 +f 1093 1097 1100 +f 1098 1093 1100 +f 1096 1098 1100 +f 1098 1096 1101 +f 1096 1099 1101 +f 1099 1098 1101 +f 1093 1098 1102 +f 1098 1099 1102 +f 1095 1094 1103 +f 1094 1096 1103 +f 1100 1097 1103 +f 1096 1100 1103 +f 1097 1093 1104 +f 1094 1097 1104 +f 1093 1102 1104 +f 1097 1095 1105 +f 1095 1103 1105 +f 1103 1097 1105 +f 1099 1094 1106 +f 1102 1099 1106 +f 1094 1104 1106 +o convex_91 +v -0.291399 -1.153628 1.640859 +v -0.977451 -0.069101 1.596630 +v -0.933157 -0.379072 1.729411 +v -0.822424 -1.153628 1.485964 +v -0.955304 0.107989 1.485964 +v -0.136372 -1.131399 1.729411 +v -0.955304 0.107989 1.729411 +v -0.800277 -0.954308 1.729411 +v -0.733838 -1.109170 1.485964 +v -0.247105 -1.153628 1.729411 +f 1112 1114 1116 +f 1109 1108 1110 +f 1110 1108 1111 +f 1107 1111 1112 +f 1108 1109 1113 +f 1111 1108 1113 +f 1112 1111 1113 +f 1109 1112 1113 +f 1109 1110 1114 +f 1112 1109 1114 +f 1107 1110 1115 +f 1111 1107 1115 +f 1110 1111 1115 +f 1110 1107 1116 +f 1107 1112 1116 +f 1114 1110 1116 +o convex_92 +v -0.711817 -0.976481 1.751702 +v -0.003570 -0.578154 3.278765 +v -0.003570 -0.600380 3.278765 +v -0.003570 -1.153535 1.795983 +v -0.711817 -0.578154 2.570281 +v -0.025734 -0.688878 3.212193 +v -0.733981 -0.644659 2.636701 +v -0.025734 -1.131425 2.017384 +v -0.711817 -0.910093 1.751702 +v -0.733981 -0.733156 2.460035 +v -0.379786 -0.578154 2.858103 +v -0.247160 -0.578154 3.167913 +v -0.158575 -1.175704 1.751702 +v -0.468370 -0.998650 1.729714 +v -0.003570 -0.578154 3.234334 +f 1120 1127 1131 +f 1118 1119 1120 +f 1120 1119 1122 +f 1120 1122 1124 +f 1123 1121 1125 +f 1123 1125 1126 +f 1122 1123 1126 +f 1124 1122 1126 +f 1125 1117 1126 +f 1121 1118 1127 +f 1119 1118 1128 +f 1118 1121 1128 +f 1122 1119 1128 +f 1121 1123 1128 +f 1123 1122 1128 +f 1120 1124 1129 +f 1124 1126 1129 +f 1126 1117 1129 +f 1117 1125 1130 +f 1125 1121 1130 +f 1127 1120 1130 +f 1121 1127 1130 +f 1120 1129 1130 +f 1129 1117 1130 +f 1118 1120 1131 +f 1127 1118 1131 +o convex_93 +v 0.992443 -0.113780 1.419546 +v 0.483370 -1.352831 1.463798 +v 0.483370 -1.352831 1.485934 +v 0.815294 0.949068 1.419546 +v 0.837469 0.949068 1.485934 +v 0.903894 -0.910072 1.485934 +v 0.726844 -1.352831 1.419546 +v 0.992443 -0.025228 1.485934 +v 0.616219 -1.286361 1.419546 +f 1135 1138 1140 +f 1133 1134 1135 +f 1132 1135 1136 +f 1135 1134 1136 +f 1136 1134 1137 +f 1132 1137 1138 +f 1134 1133 1138 +f 1135 1132 1138 +f 1137 1134 1138 +f 1132 1136 1139 +f 1136 1137 1139 +f 1137 1132 1139 +f 1133 1135 1140 +f 1138 1133 1140 +o convex_94 +v -0.689681 0.085856 3.256548 +v -0.733981 -0.578154 2.592623 +v -0.711756 -0.578154 2.592623 +v -0.269207 -0.578154 3.167976 +v -0.224907 0.085856 3.367162 +v -0.601131 -0.445300 3.057362 +v -0.711756 -0.290347 2.747643 +v -0.269207 -0.555990 3.057362 +v -0.733981 -0.046998 3.190099 +v -0.247082 0.041528 3.411407 +v -0.733981 0.085856 3.190099 +v -0.667556 -0.578154 2.814091 +v -0.711756 -0.533826 2.592623 +f 1145 1148 1153 +f 1142 1143 1144 +f 1144 1143 1148 +f 1145 1144 1148 +f 1146 1144 1149 +f 1145 1141 1150 +f 1144 1145 1150 +f 1141 1149 1150 +f 1149 1144 1150 +f 1141 1145 1151 +f 1147 1142 1151 +f 1145 1147 1151 +f 1149 1141 1151 +f 1142 1149 1151 +f 1142 1144 1152 +f 1144 1146 1152 +f 1149 1142 1152 +f 1146 1149 1152 +f 1143 1142 1153 +f 1142 1147 1153 +f 1147 1145 1153 +f 1148 1143 1153 +o convex_95 +v 0.217742 0.085856 3.433684 +v -0.224907 -0.578154 3.145964 +v -0.224907 -0.578154 3.190300 +v 0.239900 -0.578154 3.145964 +v 0.018552 -0.533826 3.300916 +v -0.224907 0.063692 3.367231 +v -0.025672 0.063692 3.500102 +v 0.239900 -0.069097 3.300916 +v 0.239900 -0.578154 3.190300 +v -0.224907 -0.533826 3.145964 +f 1159 1161 1163 +f 1156 1155 1157 +f 1155 1156 1159 +f 1154 1159 1160 +f 1158 1154 1160 +f 1156 1158 1160 +f 1159 1156 1160 +f 1159 1154 1161 +f 1156 1157 1162 +f 1154 1158 1162 +f 1158 1156 1162 +f 1157 1161 1162 +f 1161 1154 1162 +f 1157 1155 1163 +f 1155 1159 1163 +f 1161 1157 1163 +o convex_96 +v -0.313457 0.771931 2.990948 +v -0.733981 0.085923 3.212263 +v -0.667556 0.085923 3.212263 +v -0.711756 0.749772 2.526309 +v -0.224907 0.085923 3.389297 +v -0.556831 0.683360 3.057325 +v -0.247082 0.749772 3.190166 +v -0.733981 0.152335 3.234360 +v -0.711756 0.771931 2.681246 +v -0.711756 0.395755 2.814087 +v -0.291332 0.108082 3.411481 +v -0.224907 0.285091 3.278640 +f 1170 1168 1175 +f 1165 1166 1168 +f 1170 1169 1171 +f 1167 1165 1171 +f 1164 1167 1172 +f 1170 1164 1172 +f 1169 1170 1172 +f 1171 1169 1172 +f 1167 1171 1172 +f 1166 1165 1173 +f 1165 1167 1173 +f 1167 1168 1173 +f 1168 1166 1173 +f 1165 1168 1174 +f 1168 1170 1174 +f 1170 1171 1174 +f 1171 1165 1174 +f 1167 1164 1175 +f 1168 1167 1175 +f 1164 1170 1175 +o convex_97 +v -0.003560 0.771931 3.278744 +v -0.224907 0.085923 3.389358 +v 0.217742 0.108082 3.367261 +v 0.217742 0.749772 3.057430 +v -0.224907 0.771931 3.146033 +v -0.047829 0.108082 3.500016 +v 0.239900 0.108082 3.433639 +v 0.239900 0.771931 3.168130 +v -0.224907 0.727612 3.212410 +v -0.224907 0.307251 3.278744 +f 1177 1180 1185 +f 1177 1178 1182 +f 1178 1179 1182 +f 1181 1177 1182 +f 1176 1181 1182 +f 1180 1176 1183 +f 1179 1180 1183 +f 1182 1179 1183 +f 1176 1182 1183 +f 1176 1180 1184 +f 1180 1177 1184 +f 1177 1181 1184 +f 1181 1176 1184 +f 1178 1177 1185 +f 1179 1178 1185 +f 1180 1179 1185 +o convex_98 +v -0.733981 1.037684 1.884543 +v -0.025704 0.794191 3.278765 +v -0.025704 0.772111 3.278765 +v -0.025704 1.303145 1.729714 +v -0.047890 0.971277 2.946512 +v -0.711726 0.772111 2.504164 +v -0.733981 0.838462 2.570281 +v -0.047890 1.347473 1.751702 +v -0.601144 1.059764 1.729714 +v -0.025704 0.772111 3.234334 +v -0.224959 0.794191 3.190053 +v -0.733981 0.904870 2.393615 +v -0.047890 1.281009 1.729714 +v -0.733981 1.059764 1.729714 +v -0.047890 0.860598 3.256474 +v -0.689609 0.772111 2.703122 +f 1196 1192 1201 +f 1187 1188 1189 +f 1187 1189 1190 +f 1190 1189 1193 +f 1189 1188 1195 +f 1188 1191 1195 +f 1191 1194 1195 +f 1188 1187 1196 +f 1186 1192 1197 +f 1190 1193 1197 +f 1193 1186 1197 +f 1194 1189 1198 +f 1189 1195 1198 +f 1195 1194 1198 +f 1192 1186 1199 +f 1191 1192 1199 +f 1186 1193 1199 +f 1193 1189 1199 +f 1189 1194 1199 +f 1194 1191 1199 +f 1187 1190 1200 +f 1196 1187 1200 +f 1192 1196 1200 +f 1197 1192 1200 +f 1190 1197 1200 +f 1191 1188 1201 +f 1192 1191 1201 +f 1188 1196 1201 +o convex_99 +v 0.992443 -0.113295 1.242436 +v 0.726840 1.679079 1.286703 +v 0.726840 1.679079 1.308872 +v 0.903892 -0.644555 1.131802 +v 0.749017 2.365621 1.131802 +v 0.903892 -0.644555 1.308872 +v 0.881741 0.992832 1.308872 +v 0.992443 -0.179592 1.131802 +v 0.726840 2.121943 1.131802 +v 0.903892 1.059424 1.131802 +v 0.992443 -0.113295 1.308872 +f 1211 1208 1212 +f 1204 1203 1205 +f 1204 1205 1207 +f 1206 1204 1208 +f 1204 1207 1208 +f 1205 1206 1209 +f 1207 1205 1209 +f 1203 1204 1210 +f 1205 1203 1210 +f 1206 1205 1210 +f 1204 1206 1210 +f 1206 1208 1211 +f 1202 1209 1211 +f 1209 1206 1211 +f 1208 1207 1212 +f 1209 1202 1212 +f 1207 1209 1212 +f 1202 1211 1212 +o convex_100 +v -0.733929 -2.680858 0.401293 +v -0.003570 -2.880022 0.689130 +v -0.025721 -2.857910 0.689130 +v -0.025721 -2.680858 -0.129735 +v -0.689627 -2.570181 0.689130 +v -0.025721 -2.968587 0.511987 +v -0.357752 -2.592371 -0.129735 +v -0.733929 -2.747311 0.511987 +v -0.025721 -2.747311 -0.129735 +v -0.800381 -2.570181 0.489864 +v -0.269226 -2.570181 -0.107532 +v -0.711700 -2.703009 0.666846 +v -0.025721 -2.924246 0.689130 +v -0.623252 -2.570181 0.113776 +f 1222 1223 1226 +f 1215 1214 1216 +f 1214 1215 1217 +f 1213 1219 1220 +f 1216 1214 1221 +f 1214 1218 1221 +f 1219 1216 1221 +f 1218 1220 1221 +f 1220 1219 1221 +f 1213 1220 1222 +f 1215 1216 1223 +f 1217 1215 1223 +f 1216 1219 1223 +f 1222 1217 1223 +f 1217 1222 1224 +f 1222 1220 1224 +f 1214 1217 1225 +f 1218 1214 1225 +f 1220 1218 1225 +f 1217 1224 1225 +f 1224 1220 1225 +f 1219 1213 1226 +f 1213 1222 1226 +f 1223 1219 1226 +o convex_101 +v -0.822515 -2.415120 0.644724 +v -0.401991 -2.570181 -0.129735 +v -0.313441 -2.570181 -0.129735 +v -0.822515 -1.817637 -0.129735 +v -0.800290 -2.216008 0.689130 +v -0.800290 -2.570181 0.467661 +v -0.711791 -2.570181 0.689130 +v -0.579041 -2.437293 -0.107532 +v -0.313441 -2.525836 -0.107532 +v -0.800290 -1.817637 -0.107532 +v -0.822515 -1.906254 -0.129735 +f 1234 1232 1237 +f 1229 1228 1230 +f 1230 1227 1231 +f 1228 1229 1232 +f 1231 1227 1233 +f 1227 1232 1233 +f 1232 1229 1233 +f 1228 1232 1234 +f 1229 1230 1235 +f 1231 1233 1235 +f 1233 1229 1235 +f 1230 1231 1236 +f 1235 1230 1236 +f 1231 1235 1236 +f 1230 1228 1237 +f 1227 1230 1237 +f 1232 1227 1237 +f 1228 1234 1237 +o convex_102 +v 0.992426 -1.397068 -0.129735 +v 0.992426 0.639197 0.689130 +v 1.014562 0.639197 0.644724 +v 0.948194 -1.419232 0.689130 +v 0.926058 -0.179863 0.666846 +v 0.948194 -1.352538 -0.129735 +v 1.036698 -0.511517 0.423415 +v 1.036698 -0.777081 -0.129735 +v 0.992426 0.639197 0.511987 +v 0.903909 -1.352538 0.689130 +v 0.970303 -0.821409 -0.129735 +v 1.036698 0.639197 0.467661 +v 0.970303 0.639197 0.622601 +v 0.992426 -1.419232 0.047328 +v 0.992426 -0.422861 0.689130 +f 1241 1244 1252 +f 1238 1243 1245 +f 1239 1240 1246 +f 1241 1239 1247 +f 1239 1242 1247 +f 1242 1243 1247 +f 1243 1241 1247 +f 1243 1242 1248 +f 1245 1243 1248 +f 1248 1246 1249 +f 1240 1244 1249 +f 1244 1245 1249 +f 1246 1240 1249 +f 1245 1248 1249 +f 1242 1239 1250 +f 1239 1246 1250 +f 1248 1242 1250 +f 1246 1248 1250 +f 1243 1238 1251 +f 1241 1243 1251 +f 1244 1241 1251 +f 1238 1245 1251 +f 1245 1244 1251 +f 1240 1239 1252 +f 1239 1241 1252 +f 1244 1240 1252 +o convex_103 +v -0.955306 0.639197 0.202267 +v -0.955306 1.679478 0.689130 +v -0.977438 1.679478 0.689130 +v -0.866798 1.679478 -0.129735 +v -0.933192 0.639197 0.689130 +v -1.021701 1.679478 0.445538 +v -0.844666 0.639197 -0.107532 +v -0.911061 1.568688 -0.129735 +v -0.999569 0.639197 0.511987 +v -0.933192 1.435904 0.689130 +v -0.888929 0.639197 -0.129735 +f 1253 1260 1263 +f 1255 1254 1256 +f 1254 1255 1257 +f 1255 1256 1258 +f 1257 1253 1259 +f 1258 1256 1260 +f 1253 1258 1260 +f 1253 1257 1261 +f 1257 1255 1261 +f 1255 1258 1261 +f 1258 1253 1261 +f 1256 1254 1262 +f 1254 1257 1262 +f 1259 1256 1262 +f 1257 1259 1262 +f 1256 1259 1263 +f 1259 1253 1263 +f 1260 1256 1263 +o convex_104 +v -0.933138 1.701775 -0.019041 +v -0.601196 2.741711 0.689130 +v -0.601196 2.763902 0.666846 +v -1.021670 2.078008 0.489864 +v -0.955282 1.679584 0.689130 +v -0.601196 2.498286 -0.129735 +v -0.800444 2.763902 0.445538 +v -0.844648 2.100199 -0.129735 +v -0.844648 1.723853 -0.107532 +v -0.933138 2.122278 0.689130 +v -0.623380 2.631094 -0.063286 +v -0.601196 2.697442 0.689130 +v -1.021670 1.679584 0.445538 +v -0.601196 2.830362 0.423415 +v -0.711871 2.719633 0.689130 +v -1.021670 2.078008 0.423415 +v -0.888893 1.679584 -0.129735 +f 1268 1276 1280 +f 1266 1265 1269 +f 1267 1268 1273 +f 1268 1265 1273 +f 1270 1267 1273 +f 1271 1270 1274 +f 1269 1271 1274 +f 1265 1268 1275 +f 1269 1265 1275 +f 1272 1269 1275 +f 1268 1272 1275 +f 1268 1267 1276 +f 1266 1269 1277 +f 1270 1266 1277 +f 1269 1274 1277 +f 1274 1270 1277 +f 1265 1266 1278 +f 1266 1270 1278 +f 1273 1265 1278 +f 1270 1273 1278 +f 1267 1270 1279 +f 1270 1271 1279 +f 1271 1264 1279 +f 1264 1276 1279 +f 1276 1267 1279 +f 1264 1271 1280 +f 1271 1269 1280 +f 1269 1272 1280 +f 1272 1268 1280 +f 1276 1264 1280 +o convex_105 +v 0.682469 2.321243 1.198238 +v 0.018563 2.586821 1.286703 +v 0.062865 2.520478 1.286703 +v 0.018563 2.763907 1.131802 +v 0.704585 1.723953 1.286703 +v 0.040749 2.675312 1.308872 +v 0.682469 2.476181 1.131802 +v 0.704585 2.276945 1.131802 +v 0.726840 1.856742 1.308872 +v 0.549771 2.608969 1.153971 +f 1287 1284 1290 +f 1283 1282 1284 +f 1283 1284 1285 +f 1283 1285 1286 +f 1282 1283 1286 +f 1284 1282 1286 +f 1284 1287 1288 +f 1285 1284 1288 +f 1285 1288 1289 +f 1286 1285 1289 +f 1281 1286 1289 +f 1287 1281 1289 +f 1288 1287 1289 +f 1284 1286 1290 +f 1286 1281 1290 +f 1281 1287 1290 +o convex_106 +v -0.601179 2.631231 -0.085409 +v -0.003570 2.963155 0.689130 +v -0.003570 2.941031 0.689130 +v -0.003570 2.808231 -0.129735 +v -0.601179 2.852481 0.445538 +v -0.534726 2.719831 0.689130 +v -0.556896 2.520556 -0.107532 +v -0.047853 3.007405 0.357047 +v -0.092135 2.852481 -0.129735 +v -0.601179 2.741956 0.689130 +v -0.114247 2.874655 0.689130 +v -0.070023 3.029630 0.511987 +f 1300 1292 1302 +f 1292 1293 1294 +f 1293 1292 1296 +f 1292 1294 1298 +f 1295 1298 1299 +f 1291 1295 1299 +f 1297 1291 1299 +f 1294 1297 1299 +f 1298 1294 1299 +f 1295 1291 1300 +f 1296 1292 1300 +f 1291 1297 1300 +f 1297 1296 1300 +f 1294 1293 1301 +f 1293 1296 1301 +f 1296 1297 1301 +f 1297 1294 1301 +f 1292 1298 1302 +f 1298 1295 1302 +f 1295 1300 1302 +o convex_107 +v 0.815361 2.321462 -0.129815 +v 0.018576 2.985363 0.334991 +v 0.018576 2.985363 0.312834 +v 0.704628 2.830306 0.334991 +v 0.018576 2.852446 -0.129815 +v 0.815361 2.210761 -0.107658 +v 0.815361 2.631120 0.334991 +v 0.527620 2.653260 -0.129815 +v 0.018576 2.918866 0.334991 +v -0.003570 2.808166 -0.085546 +v 0.704628 2.830306 0.290722 +v 0.837508 2.608980 0.202183 +f 1313 1306 1314 +f 1305 1304 1306 +f 1307 1303 1308 +f 1306 1304 1309 +f 1303 1307 1310 +f 1309 1304 1311 +f 1308 1309 1311 +f 1304 1305 1312 +f 1305 1307 1312 +f 1307 1308 1312 +f 1311 1304 1312 +f 1308 1311 1312 +f 1305 1306 1313 +f 1307 1305 1313 +f 1310 1307 1313 +f 1310 1313 1314 +f 1308 1303 1314 +f 1306 1309 1314 +f 1309 1308 1314 +f 1303 1310 1314 +o convex_108 +v 0.660417 2.564908 1.131759 +v -0.003570 2.940994 0.334991 +v -0.003488 2.763898 1.109609 +v 0.704628 2.343487 1.109609 +v 0.748921 2.874574 0.401441 +v 0.837508 2.631327 0.357219 +v 0.018576 3.029576 0.512111 +v 0.018659 2.830317 1.109609 +v 0.748921 2.874574 0.467890 +v 0.837508 2.476393 0.667004 +v 0.726775 2.564908 1.087460 +v 0.837508 2.719775 0.334991 +v -0.003570 2.985251 0.334991 +f 1319 1326 1327 +f 1317 1316 1318 +f 1315 1317 1318 +f 1317 1315 1322 +f 1321 1317 1322 +f 1319 1321 1323 +f 1321 1322 1323 +f 1318 1316 1324 +f 1316 1320 1324 +f 1315 1318 1325 +f 1322 1315 1325 +f 1323 1322 1325 +f 1318 1324 1325 +f 1320 1316 1326 +f 1319 1323 1326 +f 1324 1320 1326 +f 1323 1325 1326 +f 1325 1324 1326 +f 1316 1317 1327 +f 1317 1321 1327 +f 1321 1319 1327 +f 1326 1316 1327 +o convex_109 +v 1.036691 0.639396 0.467661 +v 0.859698 2.520457 0.689130 +v 0.837508 2.520457 0.689130 +v 0.837508 2.254780 -0.129735 +v 1.014540 2.387519 0.180145 +v 0.903922 0.971242 -0.129735 +v 1.036691 0.727888 -0.129735 +v 0.970297 0.639396 0.689130 +v 1.036711 1.856565 0.489864 +v 0.837508 2.675318 0.312801 +v 0.970258 1.967180 -0.107532 +v 1.014560 1.037811 0.666846 +v 0.948165 2.055673 0.689130 +v 0.837508 2.431765 0.689130 +v 1.014540 2.387519 0.246513 +f 1329 1340 1342 +f 1333 1331 1334 +f 1333 1334 1335 +f 1329 1330 1335 +f 1334 1328 1335 +f 1328 1334 1336 +f 1334 1332 1336 +f 1330 1329 1337 +f 1331 1330 1337 +f 1332 1331 1337 +f 1331 1332 1338 +f 1332 1334 1338 +f 1334 1331 1338 +f 1335 1328 1339 +f 1328 1336 1339 +f 1339 1336 1340 +f 1329 1335 1340 +f 1335 1339 1340 +f 1330 1331 1341 +f 1331 1333 1341 +f 1333 1335 1341 +f 1335 1330 1341 +f 1336 1332 1342 +f 1337 1329 1342 +f 1332 1337 1342 +f 1340 1336 1342 +o convex_110 +v 0.837560 -2.702862 0.578355 +v 0.948137 -1.419232 0.689130 +v 0.926017 -1.419232 0.689130 +v 0.926017 -1.419232 -0.129735 +v 1.014577 -2.216060 0.666846 +v 0.749051 -2.437297 -0.129735 +v 0.749051 -2.680698 0.689130 +v 0.793293 -1.839810 -0.107532 +v 0.992404 -1.441396 -0.063286 +v 0.793293 -2.503655 -0.041164 +v 1.014525 -1.950496 0.689130 +v 0.749051 -2.791518 0.556152 +v 0.749051 -2.216060 -0.129735 +v 0.992378 -2.326746 0.689130 +v 0.815413 -1.707095 -0.129735 +f 1355 1350 1357 +f 1345 1344 1346 +f 1344 1345 1349 +f 1349 1345 1350 +f 1346 1344 1351 +f 1348 1346 1351 +f 1348 1351 1352 +f 1351 1347 1352 +f 1344 1349 1353 +f 1351 1344 1353 +f 1347 1351 1353 +f 1343 1349 1354 +f 1349 1348 1354 +f 1348 1352 1354 +f 1352 1343 1354 +f 1346 1348 1355 +f 1348 1349 1355 +f 1349 1350 1355 +f 1349 1343 1356 +f 1343 1352 1356 +f 1352 1347 1356 +f 1353 1349 1356 +f 1347 1353 1356 +f 1345 1346 1357 +f 1350 1345 1357 +f 1346 1355 1357 +o convex_111 +v -0.623364 -2.702710 0.733453 +v -0.866748 -1.308564 1.131759 +v -0.866748 -1.308564 1.043198 +v -0.955317 -1.950567 0.689130 +v -0.933131 -1.308564 0.689130 +v -0.822515 -1.994787 1.131759 +v -0.601179 -2.348680 1.131759 +v -0.601179 -2.658491 0.689130 +v -0.711864 -2.658491 0.711313 +v -0.911015 -1.463742 1.087479 +v -0.623364 -2.437256 1.131759 +v -0.955317 -1.330947 0.799830 +f 1367 1359 1369 +f 1359 1360 1362 +f 1360 1359 1364 +f 1359 1363 1364 +f 1361 1362 1365 +f 1362 1360 1365 +f 1360 1364 1365 +f 1363 1361 1366 +f 1365 1358 1366 +f 1361 1365 1366 +f 1363 1359 1367 +f 1361 1363 1367 +f 1364 1363 1368 +f 1358 1365 1368 +f 1365 1364 1368 +f 1363 1366 1368 +f 1366 1358 1368 +f 1362 1361 1369 +f 1359 1362 1369 +f 1361 1367 1369 +o convex_112 +v -0.003638 -2.924319 0.711313 +v -0.578978 -2.393164 1.131759 +v -0.578978 -2.393164 1.109619 +v -0.578978 -2.725084 0.711313 +v -0.025778 -2.791478 1.131759 +v 0.018442 -2.879970 0.689130 +v -0.512558 -2.570251 1.131759 +v 0.018442 -2.747181 1.109619 +v -0.512558 -2.680787 0.689130 +f 1375 1373 1378 +f 1371 1372 1373 +f 1373 1370 1374 +f 1370 1373 1375 +f 1371 1373 1376 +f 1373 1374 1376 +f 1374 1371 1376 +f 1372 1371 1377 +f 1374 1370 1377 +f 1371 1374 1377 +f 1375 1372 1377 +f 1370 1375 1377 +f 1373 1372 1378 +f 1372 1375 1378 +o convex_113 +v -0.069971 1.767917 1.530240 +v -0.778248 1.015469 1.685111 +v -0.778248 1.015469 1.729411 +v -0.069971 1.281168 1.707249 +v -0.733877 1.081943 1.485964 +v -0.092157 2.033616 1.508102 +v -0.092157 1.347543 1.729411 +v -0.778248 1.126293 1.508102 +v -0.778248 1.059918 1.729411 +v -0.645411 1.126293 1.485964 +v -0.069971 2.033616 1.485964 +f 1388 1383 1389 +f 1381 1380 1382 +f 1382 1380 1383 +f 1381 1382 1385 +f 1380 1381 1386 +f 1383 1380 1386 +f 1384 1386 1387 +f 1381 1385 1387 +f 1385 1384 1387 +f 1386 1381 1387 +f 1379 1382 1388 +f 1382 1383 1388 +f 1382 1379 1389 +f 1385 1382 1389 +f 1384 1385 1389 +f 1383 1386 1389 +f 1386 1384 1389 +f 1379 1388 1389 +o convex_114 +v -0.202808 2.055371 1.463784 +v -0.977451 0.108488 1.308872 +v -0.955144 0.108488 1.308872 +v -0.003570 2.652860 1.308872 +v -0.778118 1.745543 1.331022 +v -0.844562 1.037970 1.485934 +v -0.025782 2.033453 1.485934 +v -0.933027 0.130654 1.419536 +v -0.778118 1.745543 1.308872 +v -0.003570 2.519863 1.308872 +v -0.025782 2.652860 1.331022 +v -0.977451 0.152820 1.419536 +v -0.025782 2.033453 1.463784 +f 1399 1396 1402 +f 1392 1391 1393 +f 1390 1394 1395 +f 1390 1395 1396 +f 1391 1392 1397 +f 1396 1395 1397 +f 1393 1391 1398 +f 1392 1393 1399 +f 1393 1396 1399 +f 1394 1390 1400 +f 1396 1393 1400 +f 1390 1396 1400 +f 1393 1398 1400 +f 1398 1394 1400 +f 1395 1394 1401 +f 1391 1397 1401 +f 1397 1395 1401 +f 1398 1391 1401 +f 1394 1398 1401 +f 1397 1392 1402 +f 1396 1397 1402 +f 1392 1399 1402 +o convex_115 +v -0.977481 0.063722 0.689130 +v -1.043875 -0.511753 -0.129735 +v -1.065972 -0.489615 -0.129735 +v -0.955358 -0.511753 0.689130 +v -1.198735 0.041584 -0.063286 +v -0.955358 0.063722 0.445538 +v -0.999604 -0.489615 -0.107532 +v -1.154489 0.063722 -0.107532 +v -0.933183 -0.511753 0.600478 +v -0.933183 -0.046968 0.600478 +f 1406 1411 1412 +f 1405 1404 1406 +f 1406 1403 1407 +f 1405 1406 1407 +f 1404 1405 1410 +f 1407 1403 1410 +f 1405 1407 1410 +f 1403 1408 1410 +f 1408 1409 1410 +f 1409 1404 1410 +f 1406 1404 1411 +f 1404 1409 1411 +f 1411 1409 1412 +f 1403 1406 1412 +f 1408 1403 1412 +f 1409 1408 1412 +o convex_116 +v -0.888946 0.351459 0.113776 +v -1.198718 0.063722 -0.129735 +v -1.176604 0.063722 -0.129735 +v -0.977472 0.063722 0.689130 +v -0.977472 0.639197 0.644724 +v -0.888946 0.639197 -0.129735 +v -0.933209 0.639197 0.689130 +v -0.844649 0.572726 -0.129735 +v -0.955358 0.063722 0.423415 +v -0.933209 0.174412 0.689130 +v -0.999621 0.639197 0.445538 +v -1.198718 0.107998 -0.085409 +f 1417 1423 1424 +f 1414 1415 1416 +f 1415 1414 1418 +f 1417 1416 1419 +f 1418 1417 1419 +f 1418 1419 1420 +f 1413 1415 1420 +f 1415 1418 1420 +f 1415 1413 1421 +f 1416 1415 1421 +f 1416 1421 1422 +f 1419 1416 1422 +f 1420 1419 1422 +f 1413 1420 1422 +f 1421 1413 1422 +f 1417 1418 1423 +f 1423 1418 1424 +f 1414 1416 1424 +f 1416 1417 1424 +f 1418 1414 1424 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/858/858.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/858/858.urdf new file mode 100644 index 000000000..a2d11d90b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/858/858.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/859/859.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/859/859.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/859/859.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/859/859.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/859/859.obj new file mode 100644 index 000000000..4187c92c2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/859/859.obj @@ -0,0 +1,1806 @@ +o convex_0 +v 0.714515 -0.628163 -0.486119 +v 0.526857 -1.353948 -0.035671 +v 0.526857 -1.341231 -0.073221 +v 0.526826 -0.628163 -0.786365 +v 0.827116 -0.628163 -0.010585 +v 0.614461 -1.328869 -0.023128 +v 0.551887 -0.853372 -0.698721 +v 0.526857 -1.328869 -0.010585 +v 0.852145 -0.653242 -0.023128 +v 0.614461 -0.678320 -0.773822 +v 0.526857 -1.266351 -0.248274 +v 0.526826 -0.865947 -0.698721 +v 0.664488 -0.653313 -0.648706 +v 0.614461 -0.628163 -0.786365 +f 1 13 14 +f 1 4 5 +f 2 3 6 +f 5 4 8 +f 2 6 8 +f 6 5 8 +f 1 5 9 +f 5 6 9 +f 6 7 10 +f 6 3 11 +f 7 6 11 +f 7 11 12 +f 3 2 12 +f 2 8 12 +f 8 4 12 +f 4 10 12 +f 10 7 12 +f 11 3 12 +f 1 9 13 +f 9 6 13 +f 6 10 13 +f 13 10 14 +f 4 1 14 +f 10 4 14 +o convex_1 +v -1.049857 -0.553082 0.289750 +v -1.124931 0.322864 0.677658 +v -1.124931 0.322864 0.665114 +v -0.937256 -0.515527 0.677658 +v -1.137453 -0.553082 0.127156 +v -1.137453 0.235235 0.677658 +v -0.962300 -0.540564 0.677658 +v -1.124931 -0.528046 0.064496 +v -0.949798 -0.540564 0.602573 +v -1.137453 0.260272 0.614997 +f 22 19 24 +f 17 16 18 +f 18 16 20 +f 20 19 21 +f 19 15 21 +f 18 20 21 +f 15 19 22 +f 17 18 23 +f 21 15 23 +f 18 21 23 +f 22 17 23 +f 15 22 23 +f 16 17 24 +f 20 16 24 +f 19 20 24 +f 17 22 24 +o convex_2 +v 0.626934 2.425135 -0.773910 +v 0.526826 -0.628164 -0.811450 +v 0.539349 -0.628164 -0.811450 +v 0.526826 2.425135 -0.848991 +v 0.614410 2.212337 -0.823959 +v 0.614410 -0.628164 -0.773910 +v 0.526826 -0.314943 -0.786426 +v 0.526826 2.425135 -0.823959 +v 0.601907 2.161827 -0.773910 +v 0.614410 -0.628164 -0.786426 +v 0.564366 -0.628164 -0.773910 +v 0.539349 2.249696 -0.848991 +v 0.626934 2.425135 -0.798942 +f 34 29 37 +f 26 27 30 +f 28 26 31 +f 28 31 32 +f 25 28 32 +f 25 32 33 +f 30 25 33 +f 32 31 33 +f 27 29 34 +f 30 27 34 +f 25 30 34 +f 26 30 35 +f 31 26 35 +f 30 33 35 +f 33 31 35 +f 27 26 36 +f 26 28 36 +f 28 29 36 +f 29 27 36 +f 28 25 37 +f 29 28 37 +f 25 34 37 +o convex_3 +v 0.651961 -0.640724 0.640159 +v 0.264080 -1.191272 0.627631 +v 0.264080 -1.191272 0.640159 +v 0.264080 -0.615650 0.902875 +v 0.601843 -0.628215 0.802784 +v 0.626864 -0.615650 0.627631 +v 0.464209 -1.028547 0.640159 +v 0.264080 -1.015982 0.677690 +v 0.264080 -0.615650 0.877845 +v 0.301630 -0.628215 0.902875 +v 0.276609 -1.178707 0.652660 +f 47 41 48 +f 39 40 41 +f 42 38 43 +f 41 42 43 +f 40 39 44 +f 38 42 44 +f 39 43 44 +f 43 38 44 +f 39 41 45 +f 43 39 45 +f 43 45 46 +f 41 43 46 +f 45 41 46 +f 42 41 47 +f 42 47 48 +f 41 40 48 +f 40 44 48 +f 44 42 48 +o convex_4 +v -0.123794 -1.253839 -0.761399 +v 0.526757 -0.615650 -0.798947 +v 0.526826 -0.628206 -0.786444 +v -0.173794 -0.615650 -0.986610 +v 0.514274 -0.891078 -0.623787 +v -0.123794 -0.628206 -1.024158 +v -0.111243 -1.241220 -0.798947 +v 0.151516 -1.241220 -0.623787 +v 0.514274 -0.953423 -0.661335 +v 0.514206 -0.665751 -0.811489 +v -0.173794 -1.066118 -0.811489 +v 0.238964 -1.241220 -0.636290 +v 0.301448 -1.041005 -0.636290 +v -0.173794 -1.166132 -0.811489 +v -0.173794 -0.665751 -0.961565 +v 0.439171 -0.615650 -0.811489 +v 0.501654 -0.990967 -0.623787 +f 60 57 65 +f 52 50 54 +f 50 51 57 +f 51 53 57 +f 54 50 58 +f 55 54 58 +f 57 55 58 +f 50 57 58 +f 49 56 59 +f 49 55 60 +f 56 49 60 +f 55 57 60 +f 56 53 61 +f 59 56 61 +f 52 54 62 +f 54 55 62 +f 55 49 62 +f 59 52 62 +f 49 59 62 +f 53 52 63 +f 52 59 63 +f 61 53 63 +f 59 61 63 +f 51 50 64 +f 50 52 64 +f 52 53 64 +f 53 51 64 +f 53 56 65 +f 57 53 65 +f 56 60 65 +o convex_5 +v -1.149988 -0.615650 0.026994 +v -1.149988 0.598161 0.802793 +v -1.162497 0.598161 0.802793 +v -1.162497 0.410434 -0.010585 +v -1.137472 -0.327762 -0.010585 +v -1.175013 0.160091 -0.010585 +v -1.137472 0.585567 0.802793 +v -1.175013 0.498000 0.489894 +v -1.162497 -0.114965 0.352394 +v -1.137472 0.397840 0.752714 +v -1.137472 -0.603056 0.051995 +v -1.149988 0.185161 -0.010585 +v -1.175013 0.410434 -0.010585 +v -1.162497 -0.377664 0.014494 +v -1.149988 0.472931 0.802793 +f 76 75 80 +f 68 67 69 +f 69 70 71 +f 67 68 72 +f 69 67 72 +f 68 73 74 +f 70 72 75 +f 66 70 76 +f 70 75 76 +f 70 69 77 +f 69 72 77 +f 72 70 77 +f 68 69 78 +f 69 71 78 +f 73 68 78 +f 71 73 78 +f 70 66 79 +f 71 70 79 +f 73 71 79 +f 74 73 79 +f 66 74 79 +f 72 68 80 +f 74 66 80 +f 68 74 80 +f 75 72 80 +f 66 76 80 +o convex_6 +v 0.664419 -0.615650 0.615048 +v 0.689454 -1.053623 -0.010585 +v 0.689454 -1.028586 -0.010585 +v 0.414247 -1.053623 0.615048 +v 0.839617 -0.615650 -0.010585 +v 0.714488 -1.053623 0.039515 +v 0.451798 -1.053623 0.627604 +v 0.852134 -0.665766 0.026959 +v 0.639385 -0.615650 0.590060 +v 0.651902 -0.653205 0.627604 +v 0.414247 -1.041105 0.615048 +v 0.814583 -0.665766 -0.010585 +f 91 85 92 +f 83 82 84 +f 82 83 85 +f 84 82 86 +f 84 86 87 +f 85 81 88 +f 82 85 88 +f 86 82 88 +f 81 85 89 +f 87 86 90 +f 88 81 90 +f 86 88 90 +f 81 89 90 +f 90 89 91 +f 83 84 91 +f 84 87 91 +f 89 85 91 +f 87 90 91 +f 85 83 92 +f 83 91 92 +o convex_7 +v 0.614430 2.324821 0.790280 +v 0.589393 -0.615650 0.752739 +v 0.614430 -0.615650 0.752739 +v 0.589393 -0.615650 0.802793 +v 0.676988 1.749273 0.752739 +v 0.589393 2.324821 0.777766 +v 0.626948 2.274811 0.752739 +v 0.676988 2.337540 0.765253 +v 0.601912 -0.615650 0.802793 +f 100 93 101 +f 94 95 96 +f 95 94 97 +f 94 96 98 +f 96 93 98 +f 97 94 99 +f 94 98 99 +f 99 98 100 +f 98 93 100 +f 97 99 100 +f 97 100 101 +f 96 95 101 +f 93 96 101 +f 95 97 101 +o convex_8 +v -0.599341 -1.091144 -0.586207 +v -0.749497 -0.590633 -0.811431 +v -0.261641 -0.615728 -0.986596 +v -0.174020 -1.191208 -0.798937 +v -0.186563 -0.540632 -0.986596 +v -0.699385 -0.540632 -0.798937 +v -0.737014 -1.041016 -0.598743 +v -0.136391 -1.166240 -0.786401 +v -0.586858 -1.191208 -0.586207 +v -0.186563 -0.628276 -1.011625 +v -0.737014 -0.991016 -0.586207 +v -0.311633 -0.540632 -0.974102 +v -0.737014 -0.640760 -0.798937 +v -0.311633 -1.191208 -0.736342 +v -0.536746 -1.191208 -0.586207 +v -0.749497 -0.540632 -0.798937 +f 107 113 117 +f 102 106 107 +f 106 102 109 +f 103 104 111 +f 109 105 111 +f 106 109 111 +f 102 107 112 +f 103 108 112 +f 108 110 112 +f 110 102 112 +f 104 103 113 +f 107 106 113 +f 111 104 113 +f 106 111 113 +f 108 103 114 +f 103 111 114 +f 111 105 114 +f 105 110 115 +f 110 108 115 +f 108 114 115 +f 114 105 115 +f 109 102 116 +f 105 109 116 +f 110 105 116 +f 102 110 116 +f 103 112 117 +f 112 107 117 +f 113 103 117 +o convex_9 +v -0.199020 2.437648 -1.049204 +v -1.137472 1.436665 -1.024184 +v -1.137472 1.436665 -1.011667 +v -0.173931 1.436665 -1.049204 +v -0.862161 2.212290 -1.049204 +v -0.173931 1.899629 -1.036691 +v -0.874611 2.212290 -1.024184 +v -0.186475 1.849659 -1.061716 +v -1.124928 1.461748 -1.036691 +v -0.949687 1.436665 -1.011667 +v -0.173931 2.437648 -1.061716 +v -0.173931 1.436665 -1.036691 +v -0.361716 2.362398 -1.036691 +v -0.561951 1.436665 -1.049204 +v -0.386710 2.374940 -1.061716 +f 128 125 132 +f 120 119 121 +f 119 120 124 +f 119 124 126 +f 124 122 126 +f 120 121 127 +f 124 120 127 +f 118 123 128 +f 123 121 128 +f 121 125 128 +f 121 123 129 +f 127 121 129 +f 123 127 129 +f 123 118 130 +f 118 124 130 +f 127 123 130 +f 124 127 130 +f 121 119 131 +f 125 121 131 +f 119 126 131 +f 126 125 131 +f 124 118 132 +f 122 124 132 +f 126 122 132 +f 125 126 132 +f 118 128 132 +o convex_10 +v -0.111364 2.237392 -1.061715 +v -0.173931 -0.615650 -1.011677 +v -0.173931 -0.615650 -0.999159 +v -0.173931 2.437258 -1.049197 +v -0.111364 -0.177505 -0.999159 +v -0.136401 -0.089876 -1.036686 +v -0.111364 2.450162 -1.036686 +v -0.173931 1.824455 -1.061715 +v -0.111364 -0.477905 -1.024188 +v -0.173931 -0.277738 -0.999159 +f 137 139 142 +f 134 135 136 +f 133 136 139 +f 137 133 139 +f 134 136 140 +f 136 133 140 +f 138 134 140 +f 133 138 140 +f 135 134 141 +f 133 137 141 +f 137 135 141 +f 134 138 141 +f 138 133 141 +f 136 135 142 +f 135 137 142 +f 139 136 142 +o convex_11 +v -0.774605 -0.590623 -0.798937 +v -0.949769 -0.603194 -0.611244 +v -0.949769 -0.603194 -0.598721 +v -0.737040 -1.003569 -0.611244 +v -0.899710 -0.603194 -0.748883 +v -0.737040 -0.603194 -0.773871 +v -0.737040 -0.953446 -0.598721 +v -0.912204 -0.603194 -0.598721 +f 149 148 150 +f 143 144 145 +f 145 144 146 +f 143 146 147 +f 144 143 147 +f 146 144 147 +f 146 143 148 +f 146 148 149 +f 145 146 149 +f 145 149 150 +f 143 145 150 +f 148 143 150 +o convex_12 +v -0.762108 -0.590623 -0.773900 +v -1.162458 0.622943 -0.748888 +v -1.162458 0.622943 -0.736369 +v -0.999761 0.798133 -0.786418 +v -1.162458 0.773302 -0.798937 +v -0.912271 -0.565380 -0.748888 +v -0.787135 -0.578002 -0.798937 +v -0.862217 -0.578002 -0.736369 +v -0.999761 0.798133 -0.798937 +v -0.737040 -0.527791 -0.798937 +v -1.149923 0.698123 -0.736369 +f 158 154 161 +f 152 153 155 +f 153 152 156 +f 152 155 156 +f 156 155 157 +f 151 156 157 +f 151 154 158 +f 156 151 158 +f 153 156 158 +f 155 154 159 +f 157 155 159 +f 157 159 160 +f 154 151 160 +f 151 157 160 +f 159 154 160 +f 154 155 161 +f 155 153 161 +f 153 158 161 +o convex_13 +v 0.639486 -0.565536 -0.623726 +v 0.852177 0.235269 -0.010585 +v 0.852177 0.235269 -0.048169 +v 0.601907 0.235269 -0.773910 +v 0.664474 -0.628163 -0.648756 +v 0.827116 -0.628163 -0.023138 +v 0.601907 0.235269 -0.723848 +v 0.852177 -0.628163 -0.035616 +v 0.827116 0.235269 -0.035616 +v 0.626968 0.210167 -0.748879 +v 0.601907 -0.628163 -0.773910 +v 0.764573 -0.377822 -0.210831 +v 0.626968 -0.227719 -0.761357 +v 0.827116 -0.065107 -0.023138 +f 168 173 175 +f 163 164 165 +f 163 165 168 +f 164 163 169 +f 166 164 169 +f 167 166 169 +f 163 167 169 +f 163 168 170 +f 165 164 171 +f 166 167 172 +f 167 162 172 +f 162 168 172 +f 168 165 172 +f 162 167 173 +f 168 162 173 +f 164 166 174 +f 171 164 174 +f 165 171 174 +f 166 172 174 +f 172 165 174 +f 167 163 175 +f 163 170 175 +f 170 168 175 +f 173 167 175 +o convex_14 +v 0.739542 0.260373 -0.298476 +v 0.877177 1.636701 -0.010585 +v 0.877177 1.636701 -0.060647 +v 0.601934 1.636701 -0.773910 +v 0.614436 0.235406 -0.773910 +v 0.852145 0.235406 -0.048169 +v 0.626966 1.636701 -0.773910 +v 0.852145 1.236135 -0.010585 +v 0.601907 0.235406 -0.723848 +v 0.827086 0.410585 -0.035616 +v 0.601934 1.486489 -0.748879 +v 0.764547 1.636701 -0.285998 +v 0.626966 0.335548 -0.748879 +v 0.877177 1.511456 -0.060647 +v 0.839616 0.235406 -0.010585 +v 0.864675 0.410585 -0.023138 +v 0.864648 1.636701 -0.010585 +v 0.752044 0.235406 -0.361015 +f 189 191 193 +f 177 178 179 +f 179 178 182 +f 180 179 182 +f 179 180 184 +f 180 181 184 +f 184 176 186 +f 179 184 186 +f 176 185 186 +f 177 179 187 +f 185 183 187 +f 186 185 187 +f 179 186 187 +f 180 182 188 +f 188 182 189 +f 178 177 189 +f 182 178 189 +f 177 183 190 +f 176 184 190 +f 184 181 190 +f 185 176 190 +f 183 185 190 +f 189 177 191 +f 177 190 191 +f 190 181 191 +f 183 177 192 +f 177 187 192 +f 187 183 192 +f 181 180 193 +f 180 188 193 +f 188 189 193 +f 191 181 193 +o convex_15 +v -0.724585 0.948427 0.902890 +v -0.324094 1.048648 0.990487 +v -0.324094 1.010993 1.003010 +v -1.137304 1.048648 0.965443 +v -0.361681 0.598205 1.003010 +v -1.087325 0.598205 0.802809 +v -1.162499 0.623294 0.827854 +v -0.349124 0.598205 0.977965 +v -0.474278 1.048648 0.940437 +v -1.137304 1.036038 0.940418 +v -1.162499 0.635816 0.802809 +v -1.137304 1.023515 0.965443 +v -0.361681 1.023515 0.965462 +f 202 195 206 +f 196 195 197 +f 196 197 198 +f 199 198 200 +f 195 196 201 +f 196 198 201 +f 198 199 201 +f 197 195 202 +f 202 194 203 +f 197 202 203 +f 197 203 204 +f 199 200 204 +f 200 197 204 +f 202 199 204 +f 194 202 204 +f 203 194 204 +f 198 197 205 +f 200 198 205 +f 197 200 205 +f 195 201 206 +f 201 199 206 +f 199 202 206 +o convex_16 +v -0.111344 -1.579191 0.001971 +v 0.264042 -1.178797 0.627604 +v 0.264042 -1.203842 0.627604 +v -0.136391 -1.353989 0.627604 +v 0.264042 -1.454009 0.039515 +v -0.111344 -1.541605 -0.010585 +v -0.123809 -1.378994 0.627604 +v 0.238995 -1.429004 -0.010585 +v 0.251460 -1.241388 0.427327 +v -0.036283 -1.303940 0.615048 +v -0.123809 -1.579191 0.039515 +v 0.226491 -1.191339 0.602554 +f 212 216 218 +f 209 208 210 +f 208 209 211 +f 209 210 213 +f 211 209 213 +f 211 207 214 +f 207 212 214 +f 214 212 215 +f 208 211 215 +f 211 214 215 +f 210 208 216 +f 212 210 216 +f 207 211 217 +f 210 212 217 +f 212 207 217 +f 213 210 217 +f 211 213 217 +f 215 212 218 +f 208 215 218 +f 216 208 218 +o convex_17 +v 0.264042 -1.128641 0.640122 +v -0.136391 -1.366406 0.627604 +v -0.136391 -1.366406 0.665176 +v 0.238995 -0.803408 0.790275 +v -0.123809 -1.278773 0.802793 +v 0.251460 -1.203707 0.652641 +v 0.264042 -0.840996 0.802793 +v -0.123809 -1.191196 0.790275 +v 0.113880 -0.891040 0.790275 +v -0.098840 -1.316307 0.777757 +v -0.123809 -1.341329 0.627604 +v 0.251460 -1.028662 0.677661 +f 229 222 230 +f 220 219 224 +f 221 220 224 +f 224 219 225 +f 220 221 226 +f 221 223 226 +f 226 223 227 +f 223 225 227 +f 225 222 227 +f 223 221 228 +f 221 224 228 +f 225 223 228 +f 224 225 228 +f 219 220 229 +f 220 226 229 +f 226 227 229 +f 227 222 229 +f 225 219 230 +f 222 225 230 +f 219 229 230 +o convex_18 +v -0.136391 -0.715976 1.015473 +v -0.849610 -0.553151 0.802839 +v -0.849610 -0.553151 0.815369 +v -0.436800 -1.241261 0.677688 +v -0.136391 -0.465488 1.027965 +v -0.574264 -1.003428 0.665196 +v -0.136391 -1.253839 0.815369 +v -0.386813 -1.228683 0.665196 +v -0.799483 -0.840912 0.665196 +v -0.236504 -0.615734 1.027965 +v -0.824547 -0.615734 0.815369 +v -0.136391 -1.228683 0.790271 +v -0.812120 -0.878493 0.690219 +v -0.161454 -1.253839 0.815369 +v -0.786987 -0.540727 0.802839 +v -0.311624 -0.465488 1.015473 +v -0.161454 -0.565729 1.053064 +f 246 240 247 +f 235 231 237 +f 236 235 238 +f 237 234 238 +f 238 234 239 +f 235 236 239 +f 236 238 239 +f 240 233 241 +f 235 237 242 +f 238 235 242 +f 237 238 242 +f 233 232 243 +f 239 234 243 +f 232 239 243 +f 241 233 243 +f 241 243 244 +f 234 237 244 +f 237 231 244 +f 231 240 244 +f 240 241 244 +f 243 234 244 +f 232 233 245 +f 239 232 245 +f 235 239 245 +f 233 240 246 +f 245 233 246 +f 235 245 246 +f 231 235 247 +f 240 231 247 +f 235 246 247 +o convex_19 +v -0.949535 1.624337 1.053060 +v -1.112445 1.299040 1.040545 +v -0.324188 1.261378 1.015527 +v -0.649511 2.099579 1.015527 +v -0.098872 1.261378 1.040549 +v -0.098872 2.287386 1.028038 +v -0.098872 2.287386 1.015527 +v -0.461798 1.299040 1.053060 +v -0.812024 2.049564 1.040545 +v -0.136474 1.261378 1.015527 +v -0.974736 1.611884 1.028045 +v -0.098872 1.762129 1.040549 +v -1.112445 1.299040 1.053060 +v -0.624509 2.099579 1.040545 +f 248 259 261 +f 250 251 254 +f 253 252 254 +f 254 251 256 +f 253 254 256 +f 252 250 257 +f 250 254 257 +f 254 252 257 +f 250 249 258 +f 251 250 258 +f 249 256 258 +f 256 251 258 +f 252 253 259 +f 248 255 259 +f 255 252 259 +f 249 250 260 +f 250 252 260 +f 255 248 260 +f 252 255 260 +f 256 249 260 +f 248 256 260 +f 256 248 261 +f 253 256 261 +f 259 253 261 +o convex_20 +v 0.514277 2.325027 0.827822 +v -0.098850 -0.465392 1.015517 +v -0.086320 -0.465392 1.002991 +v 0.589393 -0.615650 0.802820 +v -0.073789 1.749326 1.040545 +v 0.564264 2.325027 0.777792 +v -0.098850 2.287030 1.015517 +v 0.551801 -0.615650 0.790293 +v -0.086320 0.110596 1.040545 +v 0.076377 2.312361 0.990490 +v 0.564264 -0.615650 0.815321 +v -0.073789 -0.465392 1.028018 +v 0.576795 -0.052327 0.777792 +v 0.589393 1.286176 0.802820 +v 0.001328 0.998326 1.015492 +v 0.201549 -0.189920 0.902905 +v 0.589393 2.325027 0.777792 +v 0.301592 -0.615650 0.902905 +v -0.098850 2.287030 1.028018 +v 0.526740 2.325027 0.790293 +v 0.564264 1.273510 0.777792 +v 0.289061 -0.615650 0.877877 +v 0.576795 2.325027 0.802820 +v -0.036264 2.299696 1.028018 +v -0.086320 -0.227052 1.002991 +f 281 277 286 +f 264 263 268 +f 269 265 272 +f 270 263 273 +f 265 269 274 +f 262 271 275 +f 271 272 275 +f 272 265 275 +f 266 270 276 +f 271 266 276 +f 270 272 276 +f 272 271 276 +f 274 269 277 +f 267 262 278 +f 274 267 278 +f 265 274 278 +f 275 265 278 +f 272 270 279 +f 269 272 279 +f 273 263 279 +f 270 273 279 +f 268 263 280 +f 263 270 280 +f 270 266 280 +f 262 267 281 +f 271 262 281 +f 268 271 281 +f 277 281 282 +f 267 274 282 +f 274 277 282 +f 281 267 282 +f 263 264 283 +f 264 277 283 +f 277 269 283 +f 279 263 283 +f 269 279 283 +f 262 275 284 +f 278 262 284 +f 275 278 284 +f 266 271 285 +f 271 268 285 +f 268 280 285 +f 280 266 285 +f 264 268 286 +f 277 264 286 +f 268 281 286 +o convex_21 +v 0.238995 -0.778375 0.802793 +v -0.136391 -1.241326 0.802793 +v -0.136391 -1.241326 0.815336 +v -0.136391 -0.465488 1.028007 +v 0.264042 -0.628235 0.915447 +v -0.123809 -0.628235 1.040527 +v 0.264042 -0.465488 0.890408 +v 0.088794 -0.890923 0.802793 +v 0.264042 -0.815891 0.815336 +v -0.136391 -1.178748 0.802793 +v 0.264042 -0.465488 0.915447 +v -0.123809 -0.465488 1.015488 +v -0.123809 -1.241326 0.815336 +v -0.111344 -0.465488 1.040527 +f 297 290 300 +f 288 289 290 +f 290 289 292 +f 287 288 294 +f 293 287 294 +f 288 287 295 +f 287 293 295 +f 293 291 295 +f 288 290 296 +f 294 288 296 +f 293 290 297 +f 291 293 297 +f 290 293 298 +f 293 294 298 +f 296 290 298 +f 294 296 298 +f 289 288 299 +f 292 289 299 +f 291 292 299 +f 288 295 299 +f 295 291 299 +f 292 291 300 +f 290 292 300 +f 291 297 300 +o convex_22 +v 0.264042 -1.441513 0.064503 +v 0.714528 -1.053662 0.027021 +v 0.714528 -1.066205 0.027021 +v 0.439236 -1.053623 0.627604 +v 0.614386 -1.341365 0.039578 +v 0.264042 -1.178778 0.627604 +v 0.276609 -1.416505 -0.010585 +v 0.689438 -1.053662 -0.010523 +v 0.364140 -1.066166 0.615048 +v 0.276609 -1.203785 0.627604 +v 0.614386 -1.341365 -0.010523 +v 0.426713 -1.153731 0.577441 +v 0.451803 -1.066205 0.614985 +v 0.289132 -1.454056 0.026959 +v 0.264042 -1.253839 0.389845 +f 309 307 315 +f 302 303 308 +f 304 302 308 +f 306 304 309 +f 308 307 309 +f 304 308 309 +f 306 301 310 +f 304 306 310 +f 303 305 311 +f 307 308 311 +f 308 303 311 +f 310 305 312 +f 310 312 313 +f 303 302 313 +f 302 304 313 +f 305 303 313 +f 304 310 313 +f 312 305 313 +f 301 307 314 +f 310 301 314 +f 305 310 314 +f 311 305 314 +f 307 311 314 +f 301 306 315 +f 307 301 315 +f 306 309 315 +o convex_23 +v -0.111394 0.948493 1.053064 +v -0.324094 -0.465488 0.990505 +v -0.299027 -0.465488 0.990505 +v -0.324094 1.173648 0.977990 +v -0.324094 1.261378 1.028027 +v -0.098872 -0.465488 1.015527 +v -0.161439 -0.465488 1.053064 +v -0.098872 1.261378 1.028027 +v -0.324094 -0.415284 1.015527 +v -0.299027 1.173648 0.977990 +v -0.098872 -0.302707 1.040542 +v -0.186461 0.360419 1.053064 +v -0.186461 1.248700 1.003019 +f 321 325 328 +f 318 317 319 +f 319 317 320 +f 317 318 321 +f 317 321 322 +f 320 316 323 +f 320 317 324 +f 322 320 324 +f 317 322 324 +f 318 319 325 +f 321 318 325 +f 316 322 326 +f 322 321 326 +f 323 316 326 +f 321 323 326 +f 316 320 327 +f 322 316 327 +f 320 322 327 +f 319 320 328 +f 320 323 328 +f 323 321 328 +f 325 319 328 +o convex_24 +v 0.839626 0.748323 0.002005 +v 0.639497 0.748323 0.752665 +v 0.626972 0.748323 0.752665 +v 0.852151 -0.615650 0.052064 +v 0.601920 -0.615650 0.715083 +v 0.839626 -0.615650 -0.010473 +v 0.864677 0.748323 0.014557 +v 0.626972 -0.527932 0.740112 +v 0.614446 0.510269 0.715083 +v 0.839626 0.548053 -0.010473 +v 0.689523 0.710673 0.477415 +v 0.664472 0.710673 0.677576 +v 0.601920 -0.615650 0.752665 +v 0.601920 0.235098 0.740112 +v 0.864677 0.335366 -0.010473 +v 0.614446 0.735773 0.740112 +v 0.839626 0.748323 0.102123 +f 340 332 345 +f 331 330 329 +f 332 333 334 +f 329 330 335 +f 334 333 338 +f 329 335 338 +f 329 338 339 +f 330 336 340 +f 336 332 340 +f 330 331 341 +f 333 332 341 +f 336 330 341 +f 332 336 341 +f 338 333 342 +f 337 339 342 +f 339 338 342 +f 341 331 342 +f 333 341 342 +f 332 334 343 +f 335 332 343 +f 334 338 343 +f 338 335 343 +f 331 329 344 +f 329 339 344 +f 339 337 344 +f 342 331 344 +f 337 342 344 +f 335 330 345 +f 332 335 345 +f 330 340 345 +o convex_25 +v 0.827128 0.748392 0.039551 +v 0.702052 2.337343 0.752739 +v 0.664501 2.337343 0.752739 +v 0.877179 2.375081 -0.010585 +v 0.626975 0.786129 0.702603 +v 0.864653 0.748392 0.014520 +v 0.652001 0.773710 0.727634 +v 0.889704 2.312185 0.039551 +v 0.864653 2.324924 0.014520 +v 0.852153 1.411742 -0.010585 +v 0.702052 2.262187 0.752739 +v 0.626975 0.748551 0.752739 +v 0.664501 2.337343 0.740112 +v 0.702052 0.773710 0.439893 +v 0.889704 1.836885 -0.010585 +v 0.852153 0.748392 -0.010585 +v 0.864653 0.848547 0.026998 +v 0.839653 0.748392 0.102090 +v 0.877179 2.375081 0.089538 +f 356 353 364 +f 354 349 355 +f 347 348 356 +f 348 350 357 +f 356 348 357 +f 352 356 357 +f 348 349 358 +f 350 348 358 +f 349 354 358 +f 354 350 358 +f 350 354 359 +f 354 355 359 +f 355 346 359 +f 346 357 359 +f 357 350 359 +f 349 353 360 +f 355 349 360 +f 355 360 361 +f 351 346 361 +f 346 355 361 +f 360 351 361 +f 353 356 362 +f 360 353 362 +f 351 360 362 +f 346 351 363 +f 356 352 363 +f 357 346 363 +f 352 357 363 +f 351 362 363 +f 362 356 363 +f 348 347 364 +f 349 348 364 +f 353 349 364 +f 347 356 364 +o convex_26 +v -0.686976 -1.404041 -0.010585 +v -0.136391 -1.241326 0.802757 +v -0.136391 -1.291397 0.802757 +v -0.136391 -1.554122 -0.010585 +v -0.799487 -1.241326 0.214644 +v -0.161460 -1.328934 0.777678 +v -0.149024 -1.579191 0.039492 +v -0.812121 -1.366504 0.026993 +v -0.386681 -1.253860 0.702602 +v -0.536762 -1.241326 0.414795 +v -0.686976 -1.366504 -0.010585 +v -0.799487 -1.253893 0.289800 +v -0.149024 -1.541555 -0.010585 +v -0.136391 -1.241326 0.790178 +v -0.386681 -1.241326 0.702602 +v -0.812121 -1.341435 -0.010585 +f 376 369 380 +f 366 367 368 +f 368 367 371 +f 365 368 371 +f 367 370 371 +f 371 370 372 +f 365 371 372 +f 367 366 373 +f 370 367 373 +f 369 366 374 +f 369 374 375 +f 368 365 375 +f 372 370 376 +f 370 373 376 +f 375 374 377 +f 368 375 377 +f 366 368 378 +f 374 366 378 +f 368 377 378 +f 377 374 378 +f 366 369 379 +f 373 366 379 +f 369 376 379 +f 376 373 379 +f 365 372 380 +f 369 375 380 +f 375 365 380 +f 372 376 380 +o convex_27 +v -1.112409 -0.728356 0.014552 +v -0.812153 -0.703272 0.765177 +v -0.824700 -0.703272 0.765177 +v -0.812153 -1.353884 0.039537 +v -1.112409 -0.603172 -0.010509 +v -0.899764 -1.316258 0.027083 +v -0.949796 -0.603172 0.677614 +v -0.812153 -1.328800 -0.010509 +v -0.824700 -0.853540 0.690145 +v -1.137440 -0.603172 0.089584 +v -0.937312 -0.553082 0.640022 +v -0.812153 -0.703272 0.740191 +v -0.812153 -1.278789 0.214815 +v -0.899764 -1.303795 -0.010509 +v -1.137440 -0.553082 0.114645 +v -0.824700 -0.953640 0.389788 +v -0.874732 -0.715892 0.740191 +v -1.124893 -0.578166 -0.010509 +f 395 391 398 +f 382 384 388 +f 382 383 389 +f 381 386 390 +f 386 387 390 +f 383 382 391 +f 387 383 391 +f 382 388 392 +f 391 382 392 +f 384 382 393 +f 386 384 393 +f 382 389 393 +f 389 386 393 +f 386 381 394 +f 384 386 394 +f 388 384 394 +f 385 388 394 +f 390 387 395 +f 387 391 395 +f 388 385 396 +f 385 392 396 +f 392 388 396 +f 383 387 397 +f 387 386 397 +f 389 383 397 +f 386 389 397 +f 381 390 398 +f 392 385 398 +f 391 392 398 +f 394 381 398 +f 385 394 398 +f 390 395 398 +o convex_28 +v -0.186488 -0.540569 -0.986592 +v -1.012337 0.635609 -0.811480 +v -1.012337 0.635609 -0.798960 +v -0.173931 0.698176 -1.036671 +v -0.711969 -0.490490 -0.798937 +v -0.211518 -0.527958 -1.011631 +v -0.186488 0.698176 -1.011608 +v -0.762030 -0.540569 -0.811503 +v -0.949719 0.698176 -0.798960 +v -0.198962 0.472884 -1.036671 +v -0.987224 0.410437 -0.811480 +v -0.386733 0.698176 -0.986592 +v -0.599289 -0.540569 -0.836519 +v -0.173931 -0.540569 -1.011631 +v -0.762030 -0.540569 -0.798937 +v -1.012337 0.698176 -0.811480 +f 407 410 414 +f 401 403 407 +f 405 402 407 +f 403 405 407 +f 404 400 408 +f 401 400 409 +f 400 404 409 +f 404 406 409 +f 407 402 410 +f 408 400 410 +f 402 408 410 +f 399 405 411 +f 405 403 411 +f 406 399 411 +f 402 405 412 +f 405 399 412 +f 399 406 412 +f 406 404 412 +f 408 402 412 +f 404 408 412 +f 403 401 413 +f 401 409 413 +f 409 406 413 +f 411 403 413 +f 406 411 413 +f 400 401 414 +f 401 407 414 +f 410 400 414 +o convex_29 +v -0.324094 -0.540569 0.977962 +v -1.162499 0.572991 0.802793 +v -1.162499 0.572991 0.815328 +v -0.324094 0.598068 1.002968 +v -0.799513 -0.502897 0.802835 +v -0.374237 -0.377843 1.002989 +v -0.349124 0.598068 0.977941 +v -0.849492 -0.540569 0.815349 +v -1.087325 0.598068 0.802793 +v -0.336650 0.435454 1.015502 +v -0.336732 -0.540569 0.965427 +v -0.336732 -0.515491 1.002989 +v -0.374155 0.598068 1.002968 +v -0.686998 -0.540569 0.840376 +f 425 422 428 +f 418 415 421 +f 417 416 422 +f 416 419 422 +f 416 417 423 +f 419 416 423 +f 418 421 423 +f 421 419 423 +f 417 420 424 +f 421 415 425 +f 415 422 425 +f 415 418 426 +f 420 417 426 +f 417 422 426 +f 422 415 426 +f 418 424 426 +f 424 420 426 +f 423 417 427 +f 418 423 427 +f 417 424 427 +f 424 418 427 +f 419 421 428 +f 422 419 428 +f 421 425 428 +o convex_30 +v -1.149795 1.273891 -0.974119 +v -0.174027 1.436535 -1.036671 +v -0.612000 1.123761 -0.911582 +v -0.174027 1.111247 -1.036671 +v -1.137377 1.436535 -1.024163 +v -1.149795 1.136274 -0.899045 +v -1.049782 1.424022 -0.999134 +v -0.561946 1.436535 -1.049193 +v -1.149795 1.111247 -0.911582 +v -0.424297 1.111247 -0.949119 +v -0.224081 1.111247 -1.036671 +v -0.174027 1.261410 -1.049193 +v -0.211567 1.361454 -1.011641 +v -1.137377 1.411508 -1.024163 +v -1.149795 1.123761 -0.924089 +f 429 442 443 +f 433 429 434 +f 431 430 435 +f 430 433 435 +f 433 434 435 +f 434 431 435 +f 433 430 436 +f 431 434 437 +f 434 429 437 +f 431 437 438 +f 437 432 438 +f 432 437 439 +f 430 432 440 +f 436 430 440 +f 432 439 440 +f 439 436 440 +f 430 431 441 +f 432 430 441 +f 431 438 441 +f 438 432 441 +f 429 433 442 +f 433 436 442 +f 436 439 442 +f 442 439 443 +f 437 429 443 +f 439 437 443 +o convex_31 +v 0.076357 2.450162 -0.999122 +v -0.111364 -0.615650 -1.011640 +v -0.086251 -0.615650 -1.011640 +v 0.526826 -0.615650 -0.798961 +v -0.098807 2.237392 -1.024157 +v 0.501713 2.262000 -0.861525 +v 0.514269 2.262000 -0.823972 +v -0.098807 -0.477905 -0.986604 +v 0.501713 -0.615650 -0.823972 +v -0.073757 2.224788 -1.049193 +v 0.439181 -0.615650 -0.811479 +v -0.111364 2.450162 -1.036650 +v 0.526826 2.424954 -0.849008 +v -0.098807 -0.190109 -1.024157 +v 0.514269 0.385781 -0.798961 +v 0.451675 2.437558 -0.849008 +v -0.111364 1.611685 -1.049193 +v -0.098807 -0.615650 -0.986604 +v 0.526826 0.060173 -0.823972 +f 456 447 462 +f 445 446 447 +f 450 448 451 +f 447 446 452 +f 449 452 453 +f 444 449 453 +f 445 447 454 +f 445 451 455 +f 451 448 455 +f 444 453 455 +f 449 444 456 +f 450 447 456 +f 446 445 457 +f 452 446 457 +f 453 452 457 +f 447 450 458 +f 450 451 458 +f 454 447 458 +f 451 454 458 +f 448 450 459 +f 444 455 459 +f 455 448 459 +f 456 444 459 +f 450 456 459 +f 445 455 460 +f 455 453 460 +f 457 445 460 +f 453 457 460 +f 451 445 461 +f 445 454 461 +f 454 451 461 +f 447 452 462 +f 452 449 462 +f 449 456 462 +o convex_32 +v -0.611843 0.698269 -0.924083 +v -0.173978 1.111175 -1.024157 +v -0.199015 1.098646 -1.011650 +v -0.649352 1.111175 -0.924083 +v -0.636880 0.848461 -0.886532 +v -0.199015 0.698269 -1.036679 +v -0.186496 0.698269 -1.011650 +v -0.224052 1.111175 -1.036679 +v -0.561816 1.111175 -0.911576 +v -0.649352 0.698269 -0.886532 +v -0.624362 1.098646 -0.936605 +f 470 468 473 +f 463 468 469 +f 464 465 469 +f 465 467 469 +f 468 464 469 +f 466 464 470 +f 464 468 470 +f 465 464 471 +f 464 466 471 +f 466 467 471 +f 467 465 471 +f 466 463 472 +f 467 466 472 +f 463 469 472 +f 469 467 472 +f 463 466 473 +f 468 463 473 +f 466 470 473 +o convex_33 +v -0.912176 -1.253845 -0.023207 +v -0.549374 -1.178742 -0.573642 +v -0.549374 -1.191272 -0.573642 +v -0.737021 -1.003624 -0.586151 +v -0.699470 -1.153720 -0.548625 +v -0.737058 -1.353897 -0.010642 +v -0.899684 -1.191272 -0.010642 +v -0.862132 -1.341405 -0.023207 +v -0.624440 -1.091220 -0.573642 +v -0.599418 -1.191272 -0.586151 +v -0.749587 -1.378919 -0.023207 +v -0.737021 -1.053668 -0.586151 +v -0.924706 -1.191272 -0.035659 +f 477 485 486 +f 476 475 479 +f 474 478 481 +f 480 474 481 +f 479 480 481 +f 475 477 482 +f 479 475 482 +f 480 479 482 +f 477 480 482 +f 475 476 483 +f 477 475 483 +f 481 478 483 +f 481 483 484 +f 476 479 484 +f 479 481 484 +f 483 476 484 +f 478 474 485 +f 477 483 485 +f 483 478 485 +f 474 480 486 +f 480 477 486 +f 485 474 486 +o convex_34 +v -0.749621 -1.016063 -0.598721 +v -1.124891 -0.590623 -0.010585 +v -1.137433 -0.590623 -0.010585 +v -0.924773 -1.191272 -0.010585 +v -0.962241 -0.603146 -0.573678 +v -0.737040 -1.053574 -0.461071 +v -0.924773 -0.590623 -0.573678 +v -0.912271 -1.128655 -0.023136 +v -0.937236 -1.178748 -0.023136 +v -0.737040 -1.191272 -0.410985 +v -1.087345 -0.628193 -0.035628 +v -1.137433 -0.615670 -0.035628 +v -0.737040 -0.966028 -0.586113 +v -0.737040 -1.178748 -0.360899 +v -0.824675 -1.191272 -0.260957 +v -0.937236 -0.640716 -0.598721 +f 501 495 502 +f 488 489 490 +f 489 488 493 +f 491 489 493 +f 488 490 494 +f 490 489 495 +f 493 488 497 +f 488 494 497 +f 489 491 498 +f 495 489 498 +f 491 495 498 +f 496 487 499 +f 492 496 499 +f 493 497 499 +f 497 492 499 +f 494 490 500 +f 496 492 500 +f 490 496 500 +f 492 497 500 +f 497 494 500 +f 490 495 501 +f 487 496 501 +f 496 490 501 +f 491 493 502 +f 495 491 502 +f 499 487 502 +f 493 499 502 +f 487 501 502 +o convex_35 +v -1.162497 0.522960 -0.686283 +v -1.162497 0.410390 -0.010585 +v -1.175013 0.410390 -0.010585 +v -1.137472 -0.590623 -0.023160 +v -1.137472 0.635655 -0.723795 +v -1.162497 -0.340120 -0.023160 +v -1.137472 -0.315132 -0.010585 +v -1.175013 0.522960 -0.323462 +v -1.149988 0.197618 -0.010585 +v -1.162497 0.685756 -0.711291 +v -1.149988 -0.590623 -0.010585 +v -1.137472 0.522960 -0.723795 +v -1.162497 0.072554 -0.398414 +v -1.149988 0.535579 -0.310959 +f 507 512 516 +f 504 505 509 +f 506 507 509 +f 508 505 510 +f 504 509 511 +f 509 507 511 +f 510 505 512 +f 503 510 512 +f 505 508 513 +f 506 509 513 +f 509 505 513 +f 507 506 514 +f 503 512 514 +f 512 507 514 +f 513 503 514 +f 506 513 514 +f 510 503 515 +f 508 510 515 +f 503 513 515 +f 513 508 515 +f 505 504 516 +f 504 511 516 +f 511 507 516 +f 512 505 516 +o convex_36 +v -0.962305 -0.552972 -0.611190 +v -1.124931 -0.552972 -0.010585 +v -1.137448 -0.552972 -0.010585 +v -1.124931 0.585648 -0.723795 +v -0.887226 -0.552972 -0.723795 +v -1.137448 0.485361 -0.736369 +v -1.137448 -0.590623 -0.060671 +v -0.912261 -0.590623 -0.736369 +v -0.887226 -0.590623 -0.736369 +v -1.137448 0.585648 -0.736369 +f 520 525 526 +f 519 518 520 +f 520 518 521 +f 518 519 523 +f 522 517 523 +f 519 522 523 +f 517 522 524 +f 523 517 524 +f 523 524 525 +f 520 521 525 +f 521 518 525 +f 518 523 525 +f 524 522 525 +f 525 522 526 +f 519 520 526 +f 522 519 526 +o convex_37 +v -0.186473 -1.316407 -0.748883 +v -0.136391 -1.191272 -0.786414 +v -0.136391 -1.191272 -0.798937 +v -0.549337 -1.191272 -0.611244 +v -0.136391 -1.366441 -0.598721 +v -0.148921 -1.391488 -0.636271 +v -0.499214 -1.191272 -0.598721 +v -0.148921 -1.353938 -0.748883 +v -0.536766 -1.216318 -0.598721 +f 530 534 535 +f 528 529 530 +f 529 527 530 +f 529 528 531 +f 528 530 533 +f 531 528 533 +f 527 529 534 +f 530 527 534 +f 529 531 534 +f 531 532 534 +f 534 532 535 +f 532 531 535 +f 533 530 535 +f 531 533 535 +o convex_38 +v -0.161437 -1.566677 -0.010585 +v -0.561772 -1.203839 -0.598721 +v -0.561772 -1.191272 -0.598721 +v -0.737040 -1.378975 -0.010585 +v -0.148914 -1.403962 -0.586113 +v -0.536784 -1.241358 -0.385942 +v -0.136391 -1.541579 -0.010585 +v -0.148914 -1.366481 -0.573678 +v -0.724458 -1.303938 -0.110700 +v -0.737040 -1.203839 -0.423420 +v -0.586877 -1.191272 -0.473506 +v -0.737040 -1.366481 -0.060671 +v -0.148914 -1.566677 -0.048179 +v -0.711993 -1.353987 -0.010585 +v -0.711993 -1.191272 -0.373449 +v -0.199007 -1.378975 -0.598721 +v -0.486691 -1.203839 -0.586113 +f 543 551 552 +f 539 536 542 +f 542 540 543 +f 542 541 544 +f 538 537 545 +f 539 544 545 +f 541 542 546 +f 539 545 547 +f 536 539 548 +f 540 542 548 +f 542 536 548 +f 539 547 548 +f 547 540 548 +f 539 542 549 +f 544 539 549 +f 542 544 549 +f 544 541 550 +f 538 545 550 +f 545 544 550 +f 541 546 550 +f 546 538 550 +f 537 538 551 +f 543 540 551 +f 545 537 551 +f 540 547 551 +f 547 545 551 +f 542 543 552 +f 546 542 552 +f 538 546 552 +f 551 538 552 +o convex_39 +v -1.012269 0.698269 -0.811455 +v -0.649545 1.111175 -0.911554 +v -0.649545 1.086116 -0.899035 +v -0.649545 0.698269 -0.899035 +v -1.149896 1.111175 -0.911554 +v -0.962259 0.835972 -0.798937 +v -1.162399 0.848461 -0.798937 +v -1.124891 1.073627 -0.874011 +v -0.649545 1.073627 -0.924072 +v -0.724611 0.698269 -0.861504 +v -0.699555 0.698269 -0.899035 +v -1.162399 0.798424 -0.811455 +v -0.949756 1.098646 -0.924072 +v -0.649545 1.048609 -0.886529 +v -0.949756 0.698269 -0.798937 +v -1.149896 1.086116 -0.911554 +f 565 563 568 +f 554 555 556 +f 559 558 560 +f 555 554 560 +f 554 557 560 +f 558 555 560 +f 557 559 560 +f 554 556 561 +f 553 556 562 +f 556 553 563 +f 561 556 563 +f 559 557 564 +f 563 553 564 +f 557 554 565 +f 554 561 565 +f 561 563 565 +f 556 555 566 +f 555 558 566 +f 562 556 566 +f 562 566 567 +f 558 559 567 +f 553 562 567 +f 564 553 567 +f 559 564 567 +f 566 558 567 +f 564 557 568 +f 563 564 568 +f 557 565 568 +o convex_40 +v -0.912271 -0.653051 0.727720 +v -1.137440 0.260135 0.677658 +v -1.124926 0.197574 0.677658 +v -0.812121 -0.690514 0.740226 +v -1.137440 0.535472 0.802793 +v -0.937300 -0.490346 0.790275 +v -0.812121 -0.578003 0.802793 +v -1.124926 0.347792 0.677658 +v -0.874726 -0.703123 0.677658 +v -1.124926 0.360279 0.802793 +v -0.962330 -0.527930 0.690177 +v -1.112411 0.497888 0.790275 +v -0.862212 -0.615466 0.802793 +f 575 578 581 +f 575 572 576 +f 571 570 576 +f 570 573 576 +f 572 569 577 +f 576 572 577 +f 571 576 577 +f 570 571 578 +f 573 570 578 +f 575 573 578 +f 569 574 579 +f 577 569 579 +f 571 577 579 +f 578 571 579 +f 574 578 579 +f 573 575 580 +f 575 576 580 +f 576 573 580 +f 569 572 581 +f 574 569 581 +f 572 575 581 +f 578 574 581 +o convex_41 +v -0.136326 -1.316431 -0.773817 +v 0.526826 -1.341480 -0.010661 +v 0.526826 -1.354005 -0.010661 +v -0.136391 -1.566677 -0.010661 +v -0.136326 -1.253870 -0.761362 +v -0.086273 -1.353944 -0.736301 +v 0.526826 -1.253901 -0.260971 +v -0.061279 -1.504055 -0.048253 +v 0.476708 -1.253901 -0.235909 +v -0.111267 -1.566677 -0.048253 +v 0.163926 -1.266364 -0.661269 +v 0.526826 -1.354005 -0.048253 +v -0.111267 -1.391487 -0.648738 +v 0.489237 -1.341480 -0.010661 +v 0.526826 -1.278919 -0.235909 +v -0.123861 -1.541598 -0.010661 +v 0.276496 -1.253901 -0.398428 +f 589 590 598 +f 584 583 585 +f 582 585 586 +f 583 584 588 +f 583 588 590 +f 588 586 590 +f 584 585 591 +f 582 586 592 +f 587 582 592 +f 586 588 592 +f 588 584 593 +f 584 591 593 +f 587 593 594 +f 585 582 594 +f 582 587 594 +f 591 585 594 +f 593 591 594 +f 585 583 595 +f 590 589 595 +f 583 590 595 +f 587 592 596 +f 592 588 596 +f 588 593 596 +f 593 587 596 +f 586 585 597 +f 589 586 597 +f 585 595 597 +f 595 589 597 +f 586 589 598 +f 590 586 598 +o convex_42 +v -0.812079 -1.066117 0.352313 +v -0.386661 -1.228744 0.665145 +v -0.386661 -1.241326 0.665145 +v -0.812079 -0.891026 0.665145 +v -0.787052 -1.241326 0.327362 +v -0.699437 -1.153721 0.590034 +v -0.799545 -0.853436 0.627546 +v -0.536865 -1.228744 0.452374 +v -0.812079 -1.241326 0.227172 +v -0.799545 -0.978552 0.427423 +v -0.474318 -1.228744 0.665145 +v -0.611863 -1.003638 0.652626 +v -0.799545 -1.191193 0.252208 +f 608 606 611 +f 601 600 602 +f 602 603 604 +f 599 602 605 +f 600 601 606 +f 602 599 607 +f 603 602 607 +f 601 603 607 +f 606 601 607 +f 599 605 608 +f 601 602 609 +f 603 601 609 +f 604 603 609 +f 602 604 609 +f 602 600 610 +f 605 602 610 +f 600 606 610 +f 608 605 610 +f 606 608 610 +f 607 599 611 +f 606 607 611 +f 599 608 611 +o convex_43 +v -0.899657 1.086203 0.952975 +v -0.324094 1.298918 1.040531 +v -0.324094 1.273881 1.040531 +v -1.112337 1.273881 1.053042 +v -0.324094 1.048648 0.990508 +v -1.124959 1.061166 0.977997 +v -0.474295 1.061166 0.940442 +v -0.999765 1.298918 1.028020 +v -0.324094 1.286400 1.015508 +v -1.124959 1.048648 0.952975 +f 615 619 621 +f 614 613 615 +f 613 614 616 +f 614 615 616 +f 616 615 617 +f 615 613 619 +f 613 616 620 +f 616 618 620 +f 618 612 620 +f 612 619 620 +f 619 613 620 +f 617 615 621 +f 616 617 621 +f 618 616 621 +f 612 618 621 +f 619 612 621 +o convex_44 +v 0.314120 -1.091100 -0.623710 +v 0.526826 -1.241321 -0.235829 +v 0.526826 -1.253839 -0.235829 +v 0.526826 -0.941050 -0.623710 +v 0.414150 -1.178695 -0.573630 +v 0.163934 -1.253839 -0.623710 +v 0.514286 -1.003574 -0.435996 +v 0.276609 -1.241321 -0.435996 +v 0.514286 -1.253839 -0.310967 +v 0.276609 -1.228803 -0.623710 +v 0.514286 -0.903461 -0.598651 +v 0.489243 -1.028611 -0.623710 +v 0.176473 -1.241321 -0.586159 +f 628 632 634 +f 623 624 625 +f 622 625 627 +f 623 625 628 +f 624 623 629 +f 627 624 629 +f 623 628 629 +f 625 624 630 +f 624 627 630 +f 630 627 631 +f 627 625 631 +f 626 630 631 +f 625 622 632 +f 628 625 632 +f 625 630 633 +f 630 626 633 +f 631 625 633 +f 626 631 633 +f 622 627 634 +f 627 629 634 +f 629 628 634 +f 632 622 634 +o convex_45 +v 0.789580 1.636860 -0.311020 +v 0.902231 2.374908 -0.010606 +v 0.877185 2.374908 -0.010606 +v 0.614430 2.425058 -0.773856 +v 0.864691 1.636937 -0.010606 +v 0.601907 1.636860 -0.761230 +v 0.639477 2.387407 -0.773856 +v 0.902231 2.324836 -0.060663 +v 0.626983 1.636860 -0.773856 +v 0.889708 1.649436 -0.035634 +v 0.614430 2.399906 -0.748753 +v 0.764563 1.649513 -0.285992 +v 0.864691 1.849649 -0.010606 +v 0.902231 2.387561 -0.060663 +f 642 641 648 +f 636 637 639 +f 635 639 640 +f 641 642 643 +f 640 638 643 +f 635 640 643 +f 638 641 643 +f 635 643 644 +f 639 635 644 +f 636 639 644 +f 642 636 644 +f 643 642 644 +f 637 638 645 +f 638 640 645 +f 645 640 646 +f 640 639 646 +f 646 639 647 +f 639 637 647 +f 637 645 647 +f 645 646 647 +f 637 636 648 +f 638 637 648 +f 641 638 648 +f 636 642 648 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/859/859.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/859/859.urdf new file mode 100644 index 000000000..78af16a2c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/859/859.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/860/860.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/860/860.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/860/860.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/860/860.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/860/860.obj new file mode 100644 index 000000000..f05adb4c5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/860/860.obj @@ -0,0 +1,609 @@ +o convex_0 +v -0.429600 -3.789941 0.437205 +v -2.105371 -0.208774 -0.712726 +v -2.105371 -0.208774 -0.679722 +v 0.129282 -0.175989 0.963147 +v 0.129282 -0.307130 -0.909979 +v -2.006719 -0.767566 0.765895 +v -1.809633 -3.329865 -0.811159 +v -1.875256 -3.297441 0.732891 +v -0.166455 -3.264295 -0.778541 +v -0.133644 -3.198724 0.732891 +v -1.645141 -0.175989 0.930143 +v -1.513678 -0.175989 -1.008605 +v -1.480867 -3.856232 -0.515474 +v -1.020856 -3.363011 0.864521 +v -0.955233 -3.330226 -0.942790 +v -0.035211 -3.330226 -0.055347 +v -2.039530 -2.705503 -0.186784 +v -0.462411 -3.823087 -0.482663 +v -1.480867 -3.823087 0.470209 +v -0.199485 -1.720502 -0.975601 +v 0.129063 -1.359143 0.535831 +v -1.940878 -3.527298 -0.121162 +v -1.776604 -1.786433 -0.975601 +v -1.086478 -1.852004 0.963147 +v 0.096252 -0.175989 -0.909786 +v -2.039530 -0.175989 0.667269 +v -1.776604 -1.786433 0.897332 +v 0.129063 -0.899068 -0.876975 +v -2.039530 -1.490284 0.667269 +v -0.955233 -2.344144 -1.008605 +v -0.199485 -1.753648 0.929950 +v -0.790959 -0.175629 -1.008605 +v -0.856800 -3.823087 0.601646 +v -2.039530 -1.917574 -0.646911 +v -2.006719 -0.175989 -0.844163 +v -0.955233 -3.789941 -0.679915 +v -0.330948 -3.823087 0.075704 +v -1.645141 -3.856232 0.010082 +v -2.072341 -1.194856 0.371390 +v -1.250970 -0.175989 0.963147 +v 0.129063 -1.523430 0.075511 +v -2.039530 -0.866282 -0.811159 +v -0.133644 -3.067223 -0.811352 +v -1.842445 -3.231509 -0.811159 +v -1.776604 -0.175989 -0.975601 +v -1.579519 -1.622146 -1.008605 +v -0.922422 -3.363011 0.864521 +v -1.908067 -3.067223 0.732891 +v 0.129063 -0.865922 0.831517 +v -1.053667 -3.330226 -0.942790 +v -0.725118 -1.786073 0.963147 +v -1.020856 -3.790301 0.634458 +v -1.842445 -0.175989 0.864328 +v -0.133644 -3.264295 0.700080 +v -1.875256 -3.132793 0.765895 +v -1.612330 -1.622146 0.930143 +v -1.119507 -3.856232 -0.614100 +v -0.298137 -3.789941 -0.055540 +v -0.593874 -1.786073 -1.008605 +v -2.039530 -2.607147 -0.022729 +v -1.743793 -3.297441 -0.844163 +v -0.330948 -3.297080 0.765895 +v -0.495222 -3.823087 0.470209 +v -0.035211 -3.330226 0.009889 +f 37 58 64 +f 3 2 17 +f 7 13 22 +f 4 5 25 +f 2 3 26 +f 20 5 28 +f 6 26 29 +f 20 15 30 +f 10 4 31 +f 5 20 32 +f 4 25 32 +f 25 5 32 +f 30 12 32 +f 17 2 34 +f 2 26 35 +f 26 32 35 +f 15 9 36 +f 9 18 36 +f 19 8 38 +f 22 13 38 +f 8 22 38 +f 33 19 38 +f 3 17 39 +f 26 3 39 +f 29 26 39 +f 24 4 40 +f 4 32 40 +f 32 11 40 +f 5 4 41 +f 4 21 41 +f 16 28 41 +f 28 5 41 +f 34 2 42 +f 35 23 42 +f 2 35 42 +f 9 15 43 +f 16 9 43 +f 15 20 43 +f 28 16 43 +f 20 28 43 +f 7 22 44 +f 22 17 44 +f 17 34 44 +f 42 23 44 +f 34 42 44 +f 32 12 45 +f 23 35 45 +f 35 32 45 +f 12 30 46 +f 45 12 46 +f 23 45 46 +f 24 14 47 +f 22 8 48 +f 6 29 48 +f 4 10 49 +f 21 4 49 +f 30 15 50 +f 15 36 50 +f 23 46 50 +f 46 30 50 +f 4 24 51 +f 31 4 51 +f 24 47 51 +f 47 31 51 +f 14 8 52 +f 8 19 52 +f 19 33 52 +f 47 14 52 +f 33 47 52 +f 26 6 53 +f 6 27 53 +f 27 11 53 +f 11 32 53 +f 32 26 53 +f 1 37 54 +f 49 10 54 +f 21 49 54 +f 8 14 55 +f 27 6 55 +f 14 27 55 +f 48 8 55 +f 6 48 55 +f 14 24 56 +f 11 27 56 +f 27 14 56 +f 24 40 56 +f 40 11 56 +f 13 7 57 +f 36 18 57 +f 18 37 57 +f 38 13 57 +f 50 36 57 +f 9 16 58 +f 18 9 58 +f 37 18 58 +f 20 30 59 +f 32 20 59 +f 30 32 59 +f 17 22 60 +f 39 17 60 +f 29 39 60 +f 22 48 60 +f 48 29 60 +f 7 44 61 +f 44 23 61 +f 23 50 61 +f 57 7 61 +f 50 57 61 +f 10 31 62 +f 31 47 62 +f 47 33 62 +f 54 10 62 +f 54 62 63 +f 37 1 63 +f 33 38 63 +f 1 54 63 +f 57 37 63 +f 38 57 63 +f 62 33 63 +f 41 21 64 +f 16 41 64 +f 21 54 64 +f 54 37 64 +f 58 16 64 +o convex_1 +v -2.203958 1.303118 0.568797 +v -2.269950 1.204588 -0.647117 +v -2.269950 1.368804 -0.647117 +v -4.011397 1.204588 0.010114 +v -2.203958 0.580447 0.010114 +v -2.203958 1.796004 0.075695 +v -3.748314 0.777507 -0.022735 +v -3.781221 1.565982 0.042845 +v -3.814129 1.204588 -0.417050 +v -2.203958 0.744663 -0.581180 +v -3.715583 1.106058 0.371461 +v -2.269950 0.678977 0.470010 +v -2.203958 1.697355 -0.515599 +v -2.960124 1.565982 0.404310 +v -2.960124 0.777507 -0.482631 +v -3.123778 1.565982 -0.417050 +v -2.203958 1.664512 0.437160 +v -3.058670 1.138901 0.502859 +v -3.025586 1.204588 -0.581180 +v -3.551045 0.876036 0.273031 +v -3.584130 0.876036 -0.351351 +v -3.715583 1.204588 0.371461 +v -2.236866 1.796004 -0.121165 +v -3.156685 0.678977 -0.088435 +v -3.649591 1.500296 -0.252683 +v -2.203958 0.908999 0.535709 +v -2.302681 0.711820 -0.548330 +v -3.748314 0.777507 -0.088435 +v -4.011397 1.106058 0.010114 +v -3.584130 1.434490 0.305880 +v -2.203958 1.434490 -0.647117 +v -3.025586 1.631669 -0.285414 +v -3.156685 0.678977 -0.022735 +v -2.795763 1.204588 0.535709 +v -3.814129 1.171744 -0.417050 +v -2.894309 1.073215 -0.581180 +v -2.236866 0.580447 -0.055585 +v -3.781221 1.565982 0.010114 +v -2.236866 1.697355 0.371461 +v -3.189770 1.664512 0.042845 +v -2.236866 1.631669 0.470010 +v -2.203958 0.646134 0.371461 +v -2.434134 1.138901 0.568797 +v -4.011397 1.204588 -0.055585 +v -2.302681 0.744663 -0.581180 +v -2.532857 0.876036 0.502859 +v -2.992855 1.467334 0.437160 +f 98 105 111 +f 65 69 70 +f 70 69 74 +f 70 74 77 +f 65 70 81 +f 67 66 83 +f 73 80 83 +f 75 71 84 +f 71 76 84 +f 76 75 84 +f 72 68 86 +f 68 75 86 +f 75 82 86 +f 70 77 87 +f 80 73 89 +f 69 65 90 +f 88 79 91 +f 85 79 92 +f 88 71 92 +f 79 88 92 +f 75 68 93 +f 71 75 93 +f 92 71 93 +f 78 72 94 +f 72 86 94 +f 86 78 94 +f 66 67 95 +f 74 66 95 +f 77 74 95 +f 80 77 95 +f 67 83 95 +f 83 80 95 +f 77 80 96 +f 87 77 96 +f 76 71 97 +f 71 88 97 +f 86 82 98 +f 73 83 99 +f 79 85 99 +f 85 92 99 +f 92 93 99 +f 83 66 100 +f 99 83 100 +f 79 99 100 +f 74 69 101 +f 91 74 101 +f 88 91 101 +f 69 97 101 +f 97 88 101 +f 68 72 102 +f 89 73 102 +f 80 89 102 +f 96 80 102 +f 87 96 102 +f 81 70 103 +f 78 81 103 +f 72 78 104 +f 70 87 104 +f 102 72 104 +f 87 102 104 +f 103 70 104 +f 78 103 104 +f 65 81 105 +f 81 78 105 +f 98 65 105 +f 69 90 106 +f 90 76 106 +f 97 69 106 +f 76 97 106 +f 90 65 107 +f 65 98 107 +f 98 82 107 +f 93 68 108 +f 73 99 108 +f 99 93 108 +f 68 102 108 +f 102 73 108 +f 66 74 109 +f 74 91 109 +f 91 79 109 +f 100 66 109 +f 79 100 109 +f 75 76 110 +f 82 75 110 +f 76 90 110 +f 90 107 110 +f 107 82 110 +f 78 86 111 +f 86 98 111 +f 105 78 111 +o convex_2 +v -2.203958 0.547540 0.009979 +v -0.231744 2.256198 -0.219775 +v -0.231744 2.256198 -0.318299 +v 3.744019 0.416141 -0.153960 +v 2.067944 1.237145 0.996010 +v -1.513376 -0.175629 -1.008560 +v -1.644857 -0.175629 0.930194 +v 3.283835 1.631579 -0.679883 +v -1.743775 2.058862 0.765856 +v -1.907819 1.993163 -0.811314 +v 3.546797 1.894614 0.009979 +v 3.218095 0.284742 0.667133 +v 2.199425 1.171683 -1.041467 +v 0.261002 -0.175629 -0.877129 +v 0.129521 -0.175629 0.962903 +v 2.067944 1.894376 0.765856 +v 0.293565 2.157173 -0.844022 +v 3.579360 1.138596 0.732948 +v 3.579360 1.138596 -0.844221 +v -2.105040 -0.175629 -0.712591 +v -2.203958 1.697278 0.470087 +v -1.020630 1.270232 0.996010 +v 4.072721 1.105984 -0.022729 +v -1.776338 1.204295 -0.975652 +v 2.133684 2.157411 0.009979 +v 2.757912 0.153106 -0.383914 +v -2.006122 -0.175629 0.732948 +v -1.086370 2.190023 0.667333 +v -2.203958 1.401631 -0.679683 +v -1.940996 2.190261 -0.022729 +v 2.002203 1.960313 -0.811114 +v -0.922326 1.894376 0.930194 +v 2.297728 0.416141 -0.876929 +v 0.721186 -0.175629 0.568610 +v 1.903286 0.416141 0.963102 +v -1.053193 2.025775 -0.909837 +v -1.152111 2.222873 -0.745499 +v -1.776338 1.335932 0.897087 +v -0.790845 -0.175629 -1.008560 +v 3.218095 1.664666 0.568610 +v 3.579360 1.894614 -0.088145 +v 3.218095 0.580389 -0.679883 +v -2.203958 1.269994 0.601518 +v -2.203958 1.730128 -0.515544 +v -0.659364 1.237383 -1.008560 +v -0.988067 0.580628 0.996010 +v -2.039300 0.744876 -0.876929 +v -0.691927 2.256198 0.141410 +v 0.063781 1.993163 0.864379 +v 2.067944 1.269994 -1.041467 +v 0.721186 -0.175629 -0.186868 +v 2.002203 0.810575 0.996010 +v -0.494706 2.190023 0.601518 +v 3.579360 1.204533 -0.844221 +v -1.776338 -0.175629 -0.975652 +v 4.039544 1.171683 -0.153960 +v -0.330662 2.256198 -0.548452 +v -2.072477 -0.043992 0.601518 +v -1.907819 2.058862 -0.778406 +v 2.100507 2.157411 -0.055237 +v -1.513376 2.222873 -0.515345 +v 4.039544 1.237145 -0.022729 +v -2.203958 0.711788 -0.581160 +v 1.344799 1.204295 -1.041467 +f 147 161 175 +f 118 117 125 +f 118 125 126 +f 127 116 129 +f 117 118 131 +f 123 115 134 +f 129 123 134 +f 114 113 136 +f 127 122 136 +f 115 123 137 +f 131 118 138 +f 112 132 140 +f 132 120 141 +f 120 139 141 +f 133 116 143 +f 139 120 143 +f 124 130 144 +f 137 125 144 +f 123 126 145 +f 126 125 145 +f 137 123 145 +f 126 123 146 +f 123 129 146 +f 135 121 147 +f 128 147 148 +f 118 133 149 +f 138 118 149 +f 133 143 149 +f 143 120 149 +f 117 124 150 +f 125 117 150 +f 124 144 150 +f 144 125 150 +f 122 127 151 +f 129 122 151 +f 127 129 151 +f 136 122 152 +f 119 142 152 +f 130 115 153 +f 115 137 153 +f 144 130 153 +f 137 144 153 +f 132 112 154 +f 120 132 154 +f 149 120 154 +f 138 149 154 +f 140 132 155 +f 121 140 155 +f 132 141 155 +f 117 135 156 +f 135 147 156 +f 118 126 157 +f 116 133 157 +f 133 118 157 +f 121 135 158 +f 131 140 158 +f 140 121 158 +f 113 114 159 +f 136 113 159 +f 141 139 159 +f 116 127 160 +f 143 116 160 +f 139 143 160 +f 128 142 161 +f 147 128 161 +f 125 137 162 +f 145 125 162 +f 137 145 162 +f 129 116 163 +f 126 146 163 +f 146 129 163 +f 116 157 163 +f 157 126 163 +f 127 136 164 +f 136 159 164 +f 159 139 164 +f 160 127 164 +f 139 160 164 +f 130 124 165 +f 142 119 165 +f 119 152 165 +f 124 161 165 +f 161 142 165 +f 117 131 166 +f 135 117 166 +f 131 158 166 +f 158 135 166 +f 115 130 167 +f 134 115 167 +f 130 165 167 +f 165 152 167 +f 114 136 168 +f 128 148 168 +f 159 114 168 +f 112 131 169 +f 131 138 169 +f 154 112 169 +f 138 154 169 +f 147 121 170 +f 148 147 170 +f 121 155 170 +f 155 141 170 +f 142 128 171 +f 136 152 171 +f 152 142 171 +f 168 136 171 +f 128 168 171 +f 141 159 172 +f 168 148 172 +f 159 168 172 +f 170 141 172 +f 148 170 172 +f 122 129 173 +f 129 134 173 +f 152 122 173 +f 134 167 173 +f 167 152 173 +f 131 112 174 +f 112 140 174 +f 140 131 174 +f 124 117 175 +f 117 156 175 +f 156 147 175 +f 161 124 175 +o convex_3 +v 0.195032 -0.668670 0.831491 +v 0.129301 -1.358600 0.108589 +v 0.129301 -0.832950 -0.778290 +v 0.326457 -0.668670 0.371432 +v 0.129301 -0.537117 0.864389 +v 0.293572 -0.537117 -0.416925 +v 0.129301 -0.537117 -0.876984 +v 0.162167 -1.227127 0.535751 +v 0.162167 -1.358600 0.108589 +v 0.326457 -0.537117 0.568649 +v 0.162167 -0.767254 -0.876984 +v 0.129301 -1.161431 0.601376 +v 0.293572 -0.570085 -0.416925 +v 0.195032 -0.537117 -0.876984 +v 0.293572 -0.734366 0.568649 +f 179 185 190 +f 178 177 180 +f 178 180 182 +f 180 181 182 +f 177 178 184 +f 183 177 184 +f 180 176 185 +f 181 180 185 +f 179 181 185 +f 178 182 186 +f 184 178 186 +f 176 180 187 +f 180 177 187 +f 177 183 187 +f 183 176 187 +f 181 179 188 +f 179 184 188 +f 184 186 188 +f 188 186 189 +f 182 181 189 +f 186 182 189 +f 181 188 189 +f 176 183 190 +f 184 179 190 +f 183 184 190 +f 185 176 190 +o convex_4 +v 0.129391 -0.438500 0.897319 +v 0.687945 -0.175629 -0.153973 +v 0.687945 -0.208501 -0.153973 +v 0.129391 -0.372791 -0.910017 +v 0.129391 -0.175629 0.930285 +v 0.326511 -0.537081 -0.384191 +v 0.129391 -0.175629 -0.877052 +v 0.622165 -0.208501 0.568745 +v 0.326511 -0.537081 0.601531 +v 0.129391 -0.537081 -0.910017 +v 0.129391 -0.537081 0.864534 +v 0.260786 -0.175629 -0.877052 +v 0.195061 -0.537081 -0.877052 +v 0.687945 -0.208501 -0.219904 +v 0.556440 -0.175629 0.634496 +v 0.227924 -0.537081 0.831568 +v 0.523577 -0.372791 -0.285475 +v 0.326511 -0.241373 0.831568 +f 206 198 208 +f 194 191 195 +f 194 195 197 +f 195 192 197 +f 193 192 198 +f 193 198 199 +f 191 194 200 +f 196 199 200 +f 200 199 201 +f 191 200 201 +f 197 192 202 +f 194 197 202 +f 200 194 202 +f 200 202 203 +f 196 200 203 +f 192 193 204 +f 202 192 204 +f 203 202 204 +f 192 195 205 +f 198 192 205 +f 199 198 206 +f 201 199 206 +f 191 201 206 +f 199 196 207 +f 193 199 207 +f 196 203 207 +f 203 204 207 +f 204 193 207 +f 195 191 208 +f 205 195 208 +f 198 205 208 +f 191 206 208 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/860/860.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/860/860.urdf new file mode 100644 index 000000000..8793fd220 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/860/860.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/861/861.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/861/861.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/861/861.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/861/861.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/861/861.obj new file mode 100644 index 000000000..9bb0dac48 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/861/861.obj @@ -0,0 +1,423 @@ +o convex_0 +v 0.629095 4.557966 0.619262 +v -1.114447 -1.644342 -1.056710 +v -1.114447 -1.644342 -0.721431 +v 1.065194 -1.846203 -0.956294 +v 0.495108 -1.846203 1.055586 +v -1.080737 4.557966 0.954751 +v -0.946749 4.659215 -1.056710 +v 0.997987 4.557966 -0.989906 +v 1.065194 4.524217 1.055376 +v -1.047240 -1.846203 1.021764 +v 0.964490 -1.846203 0.921349 +v -0.913252 -1.846203 -1.090532 +v -1.013743 2.948805 1.055376 +v -1.080737 2.813806 -1.023308 +v 1.065194 3.049417 -0.453377 +v -1.080737 -1.711841 1.021764 +v 1.065194 -1.811817 -0.520180 +v -0.980246 -1.846203 1.055376 +v -0.745342 -0.772580 -1.090532 +v -1.114447 0.702856 -1.056710 +v -1.114447 -1.342505 0.116345 +v 1.065194 3.753067 1.055376 +v -1.080737 4.591716 0.686486 +v -0.644851 4.659215 -1.056710 +v 0.763296 -1.811817 -0.989696 +v -1.080737 -1.846203 -1.090532 +v 1.065194 1.506482 -0.922682 +v 0.897497 4.591716 -0.956084 +v 0.428114 4.591716 -1.023308 +v 0.595598 4.524217 1.055586 +v 1.065194 4.524217 0.283984 +v -0.980246 4.659215 -0.754833 +v -1.114447 -0.303268 -1.090532 +v 0.897497 -1.846203 0.954751 +v -0.711845 4.659215 -0.754833 +v -1.047240 4.591716 0.820513 +v 1.031484 3.619342 -0.956294 +v -0.745342 -1.476867 -1.090532 +v -1.047240 1.272781 1.055376 +v 0.997987 4.054904 -0.989906 +v -1.080737 -1.846203 0.552248 +v -0.577857 4.558603 0.988152 +v 1.031484 4.558603 -0.486778 +v -0.980246 4.323628 -1.056710 +f 33 14 44 +f 4 5 10 +f 5 4 11 +f 4 10 12 +f 9 4 15 +f 4 9 17 +f 11 4 17 +f 10 5 18 +f 16 10 18 +f 2 3 20 +f 3 16 21 +f 16 6 21 +f 20 3 21 +f 6 20 21 +f 17 9 22 +f 11 17 22 +f 20 6 23 +f 14 20 23 +f 4 12 25 +f 3 2 26 +f 12 10 26 +f 19 12 26 +f 15 4 27 +f 1 9 28 +f 24 28 29 +f 19 24 29 +f 28 8 29 +f 5 22 30 +f 22 9 30 +f 9 15 31 +f 14 23 32 +f 24 7 32 +f 2 20 33 +f 20 14 33 +f 24 19 33 +f 7 24 33 +f 26 2 33 +f 19 26 33 +f 5 11 34 +f 22 5 34 +f 11 22 34 +f 1 28 35 +f 28 24 35 +f 24 32 35 +f 35 32 36 +f 9 1 36 +f 23 6 36 +f 32 23 36 +f 1 35 36 +f 4 8 37 +f 27 4 37 +f 15 27 37 +f 12 19 38 +f 25 12 38 +f 19 29 38 +f 13 6 39 +f 6 16 39 +f 18 5 39 +f 16 18 39 +f 5 30 39 +f 30 13 39 +f 8 4 40 +f 4 25 40 +f 29 8 40 +f 25 38 40 +f 38 29 40 +f 16 3 41 +f 10 16 41 +f 3 26 41 +f 26 10 41 +f 6 13 42 +f 30 9 42 +f 13 30 42 +f 9 36 42 +f 36 6 42 +f 28 9 43 +f 8 28 43 +f 9 31 43 +f 31 15 43 +f 37 8 43 +f 15 37 43 +f 32 7 44 +f 14 32 44 +f 7 33 44 +o convex_1 +v 0.461421 -2.986328 -2.934720 +v 0.562198 -2.717984 -1.090531 +v 0.495125 -2.282228 -1.090531 +v -0.577927 -2.952614 -1.090728 +v -0.510743 -1.946983 -2.934720 +v 0.495125 -1.946983 -2.968200 +v -0.577927 -1.980486 -1.090728 +v -0.443782 -2.885607 -3.102517 +v 0.427941 -1.913479 -1.157689 +v 0.562198 -2.919111 -1.090531 +v 0.528606 -2.986328 -2.968200 +v -0.544223 -1.946983 -2.833884 +v -0.141899 -1.913479 -2.968004 +v 0.562198 -2.919111 -2.632804 +v -0.577927 -2.952614 -1.358967 +v -0.276044 -1.946983 -1.090728 +v 0.461421 -1.913479 -2.968004 +v -0.108306 -2.952614 -1.090728 +v -0.376597 -2.751488 -3.102517 +v -0.577927 -1.980486 -1.728041 +v -0.376597 -2.919111 -2.800601 +v -0.544223 -1.946983 -1.861963 +v -0.276044 -2.885607 -3.102517 +v 0.427941 -1.946983 -1.090728 +v 0.461421 -1.913479 -1.795002 +v -0.510743 -2.282228 -2.968004 +v 0.427941 -2.986328 -2.699962 +v -0.544223 -2.952614 -1.627205 +v 0.528606 -2.483250 -2.968200 +f 55 67 73 +f 48 47 51 +f 46 47 54 +f 47 48 54 +f 45 52 55 +f 49 56 57 +f 50 46 58 +f 46 54 58 +f 54 55 58 +f 48 51 59 +f 51 47 60 +f 57 53 61 +f 54 48 62 +f 52 49 63 +f 49 57 63 +f 61 50 63 +f 57 61 63 +f 51 56 64 +f 59 51 64 +f 56 59 64 +f 52 45 65 +f 56 51 66 +f 53 57 66 +f 57 56 66 +f 51 60 66 +f 60 53 66 +f 55 52 67 +f 52 63 67 +f 63 50 67 +f 47 53 68 +f 60 47 68 +f 53 60 68 +f 47 46 69 +f 46 50 69 +f 53 47 69 +f 50 61 69 +f 61 53 69 +f 49 52 70 +f 56 49 70 +f 52 59 70 +f 59 56 70 +f 45 55 71 +f 55 54 71 +f 48 59 71 +f 62 48 71 +f 54 62 71 +f 59 52 72 +f 65 45 72 +f 52 65 72 +f 45 71 72 +f 71 59 72 +f 50 58 73 +f 58 55 73 +f 67 50 73 +o convex_2 +v 0.528425 -2.550560 1.089119 +v -1.080923 -1.879838 -1.090531 +v -0.946722 -3.321546 -0.989827 +v 1.065017 -3.355023 -1.056821 +v -0.946722 -3.388668 0.921421 +v 1.065017 -1.846528 -0.956330 +v -1.047213 -1.846528 1.021912 +v 1.098727 -3.489101 0.954918 +v 0.998023 -1.846528 0.921207 +v 0.796828 -3.556390 -1.056821 +v -0.644823 -3.086701 1.089119 +v -0.879515 -3.422146 -0.956330 +v 0.427934 -1.946960 -1.090531 +v 0.461431 -1.880005 1.089119 +v -0.980219 -3.355023 0.921421 +v -0.577829 -2.952624 -1.090531 +v -1.080923 -1.846528 -1.090531 +v 1.065017 -3.556390 -1.056821 +v -1.080923 -2.081038 -0.352745 +v -0.410130 -1.846528 1.089119 +v 1.098727 -3.522578 0.351332 +v 0.562135 -2.952624 1.089119 +v 1.098727 -3.254424 0.954918 +v -0.644823 -3.422146 0.653018 +v -1.080923 -1.879838 0.418326 +v 0.562135 -2.919147 -1.090531 +v 1.065017 -1.846528 -0.553940 +v 0.830325 -3.489101 0.954918 +v 0.964526 -3.556390 -0.620934 +v -0.779024 -2.517082 1.089119 +v -0.946722 -3.388668 -0.822129 +v -1.080923 -1.980605 -1.056821 +v -1.047213 -2.248760 0.988415 +v 1.031520 -2.416482 0.954918 +v -0.443627 -3.120346 1.089119 +v -0.812521 -3.422146 -0.989827 +v 1.098727 -3.455623 0.183421 +v -0.980219 -1.879838 1.055409 +v -0.913012 -3.355023 0.954918 +v -0.879515 -3.422146 -0.721638 +v -0.946722 -3.321546 0.954918 +v 0.562135 -1.846528 -1.023324 +v 0.863822 -3.421978 0.988415 +f 108 101 116 +f 79 80 82 +f 79 77 86 +f 84 74 87 +f 76 75 89 +f 75 86 89 +f 80 79 90 +f 86 75 90 +f 83 89 91 +f 90 75 92 +f 82 80 93 +f 87 82 93 +f 84 87 93 +f 74 84 95 +f 81 94 96 +f 95 81 96 +f 80 90 98 +f 92 88 98 +f 90 92 98 +f 86 77 99 +f 89 86 99 +f 77 91 99 +f 91 89 99 +f 79 82 100 +f 96 79 100 +f 82 96 100 +f 94 81 101 +f 78 97 101 +f 101 97 102 +f 83 91 102 +f 91 94 102 +f 97 83 102 +f 94 101 102 +f 84 93 103 +f 76 85 104 +f 85 78 104 +f 78 88 104 +f 75 76 105 +f 92 75 105 +f 88 92 105 +f 76 104 105 +f 104 88 105 +f 80 98 106 +f 98 88 106 +f 87 74 107 +f 82 87 107 +f 74 95 107 +f 96 82 107 +f 95 96 107 +f 95 84 108 +f 85 76 109 +f 83 85 109 +f 76 89 109 +f 89 83 109 +f 77 79 110 +f 91 77 110 +f 94 91 110 +f 79 96 110 +f 96 94 110 +f 93 80 111 +f 103 93 111 +f 78 101 112 +f 108 84 112 +f 101 108 112 +f 78 85 113 +f 85 83 113 +f 97 78 113 +f 83 97 113 +f 88 78 114 +f 84 103 114 +f 80 106 114 +f 106 88 114 +f 111 80 114 +f 103 111 114 +f 78 112 114 +f 112 84 114 +f 79 86 115 +f 90 79 115 +f 86 90 115 +f 81 95 116 +f 101 81 116 +f 95 108 116 +o convex_3 +v 0.327446 -1.946927 3.067571 +v -0.611460 -3.053394 1.089313 +v -0.510795 -3.053394 1.089313 +v 0.461592 -1.879956 1.089313 +v 0.461592 -2.986193 3.000183 +v -0.577757 -2.014014 2.933183 +v 0.528665 -2.952765 1.089313 +v -0.443611 -1.879956 1.089313 +v -0.611460 -2.952650 2.966683 +v 0.461592 -1.913384 2.899683 +v -0.477315 -1.879956 1.491703 +v 0.528665 -2.885563 1.894094 +v -0.577757 -1.980471 2.731987 +v 0.528665 -2.583904 1.089313 +v -0.611460 -2.282245 2.899683 +v 0.461592 -2.148187 3.067571 +v -0.611460 -2.986193 2.664987 +v 0.360927 -2.986193 1.089313 +v -0.611460 -2.952650 1.089313 +v -0.443611 -2.818477 3.000183 +v -0.041398 -1.879956 1.994788 +v 0.495072 -2.952765 2.798988 +v -0.577757 -1.980471 2.564292 +v -0.477315 -1.879956 1.357702 +v 0.025563 -1.946927 3.000183 +v 0.461592 -1.879956 1.860593 +v 0.461592 -1.946927 3.067571 +v -0.611460 -2.516703 2.966683 +v -0.611460 -3.053394 1.190007 +f 121 133 145 +f 119 118 120 +f 119 120 123 +f 120 118 124 +f 120 124 127 +f 123 120 130 +f 128 123 130 +f 118 125 131 +f 122 129 131 +f 121 125 133 +f 125 118 133 +f 121 119 134 +f 119 123 134 +f 123 121 134 +f 124 118 135 +f 118 131 135 +f 125 121 136 +f 132 117 136 +f 121 132 136 +f 120 127 137 +f 121 123 138 +f 123 128 138 +f 132 121 138 +f 129 127 139 +f 131 129 139 +f 135 131 139 +f 135 139 140 +f 127 124 140 +f 124 135 140 +f 139 127 140 +f 122 117 141 +f 117 126 141 +f 129 122 141 +f 127 129 141 +f 126 137 141 +f 137 127 141 +f 130 120 142 +f 126 130 142 +f 120 137 142 +f 137 126 142 +f 126 117 143 +f 130 126 143 +f 128 130 143 +f 117 132 143 +f 138 128 143 +f 132 138 143 +f 117 122 144 +f 131 125 144 +f 122 131 144 +f 136 117 144 +f 125 136 144 +f 118 119 145 +f 119 121 145 +f 133 118 145 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/861/861.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/861/861.urdf new file mode 100644 index 000000000..f88444168 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/861/861.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/862/862.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/862/862.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/862/862.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/862/862.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/862/862.obj new file mode 100644 index 000000000..28435a6b2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/862/862.obj @@ -0,0 +1,648 @@ +o convex_0 +v -0.593154 -3.971111 -0.494372 +v 0.530954 -3.717337 0.593339 +v 0.494643 -3.644757 0.593339 +v 0.458331 -3.644757 -0.530698 +v 0.422130 -4.043563 -0.603228 +v -0.484331 -4.079896 0.629665 +v -0.484331 -3.644757 0.339423 +v 0.530954 -4.007316 0.593339 +v -0.556843 -3.644757 -0.566903 +v -0.339306 -3.644757 0.557014 +v 0.530954 -4.043563 0.266893 +v -0.013165 -4.043563 -0.566903 +v 0.131970 -3.644757 0.629665 +v -0.593154 -3.681047 -0.421842 +v -0.520532 -4.079896 0.448158 +v -0.157970 -4.079896 0.593339 +v -0.121658 -3.717337 -0.603228 +v -0.593154 -4.007316 -0.349312 +v -0.484331 -3.862327 0.593339 +v 0.494643 -3.644757 -0.276782 +v 0.458331 -4.007316 -0.494372 +f 4 20 21 +f 3 4 7 +f 7 4 9 +f 3 7 10 +f 2 8 11 +f 1 9 12 +f 2 3 13 +f 8 2 13 +f 6 8 13 +f 3 10 13 +f 9 1 14 +f 7 9 14 +f 12 5 15 +f 8 6 16 +f 5 11 16 +f 11 8 16 +f 15 5 16 +f 6 15 16 +f 4 5 17 +f 9 4 17 +f 5 12 17 +f 12 9 17 +f 1 12 18 +f 14 1 18 +f 12 15 18 +f 15 14 18 +f 10 7 19 +f 6 13 19 +f 13 10 19 +f 7 14 19 +f 15 6 19 +f 14 15 19 +f 3 2 20 +f 4 3 20 +f 2 11 20 +f 20 11 21 +f 5 4 21 +f 11 5 21 +o convex_1 +v -1.789849 2.011888 1.064690 +v -1.354771 -0.127387 0.556953 +v -1.282322 -0.127387 0.556953 +v -1.101008 1.975683 -1.001981 +v -3.058858 -0.090969 -1.110890 +v -2.986217 2.011888 1.101065 +v -2.949993 1.975471 -1.001981 +v -3.022442 0.017858 0.992156 +v -1.100816 -0.054552 -0.965606 +v -1.101008 2.048093 1.028531 +v -1.100816 -0.090969 0.955781 +v -3.022442 1.794234 0.810930 +v -2.696229 0.307922 -1.110890 +v -1.209681 2.048306 0.411886 +v -1.137232 0.017858 -1.001764 +v -3.058858 -0.018347 0.339569 +v -3.058858 0.271717 -1.110890 +v -1.427412 1.612997 -1.038140 +v -1.101008 2.011888 -0.856913 +v -1.100816 -0.090969 -0.675471 +v -2.949993 1.794234 1.101065 +v -1.137232 -0.127387 0.919622 +v -3.022442 0.453167 1.028531 +v -2.986217 1.504170 -1.038356 +v -2.768678 -0.090969 -1.110890 +v -1.681175 2.048306 0.955781 +v -3.058858 0.561781 -0.530620 +v -3.022442 1.685406 1.064473 +v -1.101008 0.743018 0.992156 +v -2.261152 2.011888 -0.276643 +v -2.406241 -0.018347 0.992156 +v -3.022442 -0.090969 -0.929447 +v -2.804903 1.612997 -1.038356 +v -2.696229 -0.018347 0.883464 +v -2.986217 1.975471 -0.059259 +v -2.732454 1.939266 1.101065 +f 32 50 57 +f 24 23 26 +f 27 22 31 +f 30 31 32 +f 25 30 36 +f 34 26 38 +f 26 37 38 +f 25 36 39 +f 36 34 39 +f 25 28 40 +f 30 25 40 +f 31 30 40 +f 35 31 40 +f 30 32 41 +f 23 24 43 +f 24 41 43 +f 41 32 43 +f 37 29 44 +f 42 27 44 +f 24 26 46 +f 26 34 46 +f 36 30 46 +f 34 36 46 +f 41 24 46 +f 30 41 46 +f 27 31 47 +f 31 35 47 +f 38 37 48 +f 45 38 48 +f 27 33 49 +f 44 27 49 +f 37 44 49 +f 33 48 49 +f 48 37 49 +f 31 22 50 +f 32 31 50 +f 28 27 51 +f 40 28 51 +f 35 40 51 +f 27 47 51 +f 47 35 51 +f 32 42 52 +f 29 43 52 +f 43 32 52 +f 44 29 52 +f 42 44 52 +f 26 23 53 +f 37 26 53 +f 23 43 53 +f 28 25 54 +f 34 38 54 +f 39 34 54 +f 25 39 54 +f 45 28 54 +f 38 45 54 +f 29 37 55 +f 43 29 55 +f 37 53 55 +f 53 43 55 +f 27 28 56 +f 33 27 56 +f 28 45 56 +f 48 33 56 +f 45 48 56 +f 22 27 57 +f 27 42 57 +f 42 32 57 +f 50 22 57 +o convex_2 +v -1.173676 -2.484388 0.557056 +v -2.913741 -2.883293 -0.566967 +v -2.913741 -3.173272 -0.530620 +v -0.629647 -3.499598 -0.566967 +v -2.986417 -3.644757 0.448357 +v -0.629647 -3.608411 0.520823 +v -0.629647 -2.593314 -0.458040 +v -2.949963 -2.484388 0.593403 +v -2.913741 -2.593314 -0.566967 +v -2.949963 -3.535831 -0.458153 +v -0.629647 -2.484388 0.520823 +v -0.810990 -3.644757 0.448357 +v -2.986417 -2.992106 0.557056 +v -2.659722 -2.556968 -0.349340 +v -2.333488 -2.593314 -0.566967 +v -2.949963 -2.738361 -0.458153 +v -2.261044 -2.593314 0.593403 +v -0.629647 -3.318318 -0.566967 +v -2.986417 -3.608411 0.085571 +v -2.949963 -2.484388 0.448357 +v -0.629647 -2.520735 0.085571 +v -2.949963 -2.738361 0.593403 +v -1.101001 -3.499598 -0.566967 +v -2.188368 -3.644757 0.484590 +v -2.986417 -2.774594 0.520710 +v -2.949963 -3.427018 -0.494387 +v -2.877288 -3.644757 0.339544 +v -0.629647 -2.484388 0.448243 +v -2.986417 -3.173272 0.013218 +v -0.629647 -2.557081 -0.240527 +v -0.629647 -3.608411 0.194498 +v -2.949963 -2.556968 -0.240527 +f 73 86 89 +f 63 61 64 +f 61 59 66 +f 58 63 68 +f 63 64 68 +f 65 58 68 +f 61 66 72 +f 66 71 72 +f 63 58 74 +f 58 65 74 +f 64 61 75 +f 61 72 75 +f 72 64 75 +f 62 70 76 +f 65 68 77 +f 68 64 78 +f 65 70 79 +f 63 74 79 +f 74 65 79 +f 60 59 80 +f 59 61 80 +f 61 67 80 +f 69 63 81 +f 62 69 81 +f 70 62 81 +f 63 79 81 +f 79 70 81 +f 70 65 82 +f 76 70 82 +f 65 77 82 +f 59 60 83 +f 66 59 83 +f 73 66 83 +f 67 76 83 +f 60 80 83 +f 80 67 83 +f 69 62 84 +f 67 69 84 +f 62 76 84 +f 76 67 84 +f 77 68 85 +f 71 77 85 +f 68 78 85 +f 78 71 85 +f 76 82 86 +f 73 83 86 +f 83 76 86 +f 64 72 87 +f 72 71 87 +f 78 64 87 +f 71 78 87 +f 61 63 88 +f 67 61 88 +f 63 69 88 +f 69 67 88 +f 71 66 89 +f 66 73 89 +f 77 71 89 +f 82 77 89 +f 86 82 89 +o convex_3 +v 0.349923 -3.535824 0.629665 +v -0.629416 -3.499629 -0.566967 +v -0.629416 -3.318308 -0.566967 +v 2.960286 -3.318308 -0.530538 +v -0.592849 -2.448126 0.520848 +v 3.032696 -2.557060 0.593353 +v 0.530947 -2.448126 -0.530655 +v 3.069262 -3.572018 0.593353 +v 2.960286 -2.484555 -0.458150 +v -0.629416 -3.608446 0.520848 +v 2.924081 -3.572018 -0.566967 +v -0.520439 -2.448126 -0.494344 +v -0.592849 -3.644757 -0.566967 +v 1.038537 -2.448126 0.593353 +v 0.494742 -3.644757 0.593353 +v 2.778900 -3.245802 -0.566967 +v -0.629416 -2.593254 -0.421839 +v 0.458537 -3.644757 -0.530655 +v 2.996491 -2.484555 -0.385527 +v 0.313718 -2.448126 0.593353 +v 0.205104 -3.644757 0.629665 +v 2.960286 -2.557060 -0.494344 +v 2.996491 -2.484555 -0.023001 +v -0.629416 -2.484437 0.520848 +v 3.069262 -3.572018 0.411914 +v 1.981309 -3.064480 -0.566967 +v -0.447668 -3.644757 0.520848 +v 2.670286 -2.520749 0.593353 +v 0.059923 -2.448126 -0.530655 +v 3.069262 -3.245802 0.557042 +v 2.706491 -2.484555 -0.494344 +f 105 115 120 +f 95 90 97 +f 92 91 99 +f 91 92 100 +f 94 96 101 +f 99 91 102 +f 91 100 102 +f 96 94 103 +f 100 92 105 +f 92 99 106 +f 101 92 106 +f 102 100 107 +f 104 102 107 +f 98 96 108 +f 96 103 108 +f 90 103 109 +f 103 94 109 +f 97 90 110 +f 104 97 110 +f 102 104 110 +f 90 109 110 +f 93 100 111 +f 100 105 111 +f 108 93 111 +f 98 108 111 +f 95 108 112 +f 108 103 112 +f 94 101 113 +f 106 99 113 +f 101 106 113 +f 109 94 113 +f 99 110 113 +f 110 109 113 +f 100 93 114 +f 97 104 114 +f 107 100 114 +f 104 107 114 +f 93 108 114 +f 105 92 115 +f 99 102 116 +f 110 99 116 +f 102 110 116 +f 90 95 117 +f 103 90 117 +f 95 112 117 +f 112 103 117 +f 92 101 118 +f 101 96 118 +f 115 92 118 +f 96 115 118 +f 95 97 119 +f 108 95 119 +f 97 114 119 +f 114 108 119 +f 96 98 120 +f 98 111 120 +f 111 105 120 +f 115 96 120 +o convex_4 +v 1.365111 -0.090948 0.411914 +v 2.996736 1.250385 1.064803 +v 2.960375 1.250385 1.064803 +v 2.525152 2.012044 -0.965687 +v 2.996551 -0.127387 -1.002105 +v 1.111323 2.012044 -0.965687 +v 1.111323 1.939166 0.919537 +v 1.111323 0.054180 -0.929472 +v 2.996551 -0.018489 1.064803 +v 1.111323 -0.054509 0.955752 +v 2.996736 1.939376 0.665624 +v 2.960375 1.975605 -0.965687 +v 2.996736 1.903146 1.028386 +v 1.183860 0.017950 0.992170 +v 2.343901 -0.090948 -1.002105 +v 1.183860 1.939166 0.955752 +v 1.147499 2.012044 -0.313001 +v 2.960375 1.214155 -1.002105 +v 2.996736 1.975605 -0.458065 +v 2.960375 -0.127387 -0.566913 +v 1.836326 -0.054509 1.028386 +v 1.111323 0.017950 -0.856839 +v 1.437648 0.017950 -0.965687 +v 1.872686 1.939166 0.992170 +v 2.488975 0.053970 1.064803 +v 2.380262 -0.127387 -0.530698 +v 2.960375 -0.054718 0.738258 +v 1.401472 -0.090948 0.556978 +v 1.111323 1.322844 -0.965687 +v 1.111323 1.794248 0.955752 +v 1.111323 -0.054509 0.266850 +v 2.996551 0.416685 -1.002105 +v 2.561512 1.903146 1.028386 +f 133 144 153 +f 127 126 128 +f 122 123 129 +f 125 122 129 +f 127 128 130 +f 123 122 133 +f 122 131 133 +f 124 126 137 +f 126 127 137 +f 131 124 137 +f 127 136 137 +f 126 124 138 +f 124 132 138 +f 125 135 138 +f 135 126 138 +f 122 125 139 +f 124 131 139 +f 131 122 139 +f 132 124 139 +f 125 129 140 +f 134 130 141 +f 130 128 142 +f 135 142 143 +f 142 128 143 +f 133 131 144 +f 131 137 144 +f 137 136 144 +f 129 123 145 +f 141 129 145 +f 134 141 145 +f 135 125 146 +f 125 140 146 +f 121 142 146 +f 142 135 146 +f 140 129 147 +f 129 141 147 +f 147 141 148 +f 130 121 148 +f 141 130 148 +f 121 146 148 +f 146 140 148 +f 140 147 148 +f 128 126 149 +f 126 135 149 +f 135 143 149 +f 143 128 149 +f 127 130 150 +f 130 134 150 +f 136 127 150 +f 123 144 150 +f 144 136 150 +f 145 123 150 +f 134 145 150 +f 121 130 151 +f 130 142 151 +f 142 121 151 +f 138 132 152 +f 125 138 152 +f 139 125 152 +f 132 139 152 +f 123 133 153 +f 144 123 153 +o convex_5 +v 1.002240 -0.635333 0.375699 +v -1.028293 -0.562639 -0.530496 +v -1.028293 -0.562639 -0.458065 +v -0.593119 -2.448126 0.013343 +v 1.111139 -2.012647 -1.002105 +v 1.002240 -2.085340 1.064803 +v -0.991854 -0.127387 0.955752 +v 0.966011 -0.127387 -0.929472 +v -0.955624 -1.940408 -0.965687 +v -0.955624 -2.085340 1.064803 +v 0.929781 -0.127387 0.955955 +v -1.028293 -0.127387 -0.965687 +v 0.530837 -2.448126 -0.530698 +v 0.530837 -2.448126 0.593396 +v -0.520660 -2.448126 -0.494280 +v -0.593119 -2.448126 0.520763 +v 0.966011 -0.961545 1.028386 +v -0.991854 -1.831595 0.847106 +v 1.038470 -0.744146 -0.965687 +v 1.111139 -1.795248 -0.748193 +v -1.028293 -0.127387 0.303066 +v 1.002240 -0.236427 -0.820623 +v 1.002240 -1.795248 1.064803 +v 0.023413 -0.127387 -0.965687 +v -0.991854 -1.432689 -0.965687 +v 0.893342 -0.308894 0.992170 +v -0.991854 -1.359996 1.028386 +v 0.893342 -2.012874 -1.002105 +v 0.966011 -0.236427 0.738258 +v 1.074700 -2.048994 -0.059291 +v 0.820883 -1.613742 1.064803 +v -0.085276 -2.448126 -0.530698 +v -0.991854 -0.671452 0.992170 +v -0.955624 -2.085340 0.810891 +v 1.111139 -1.904061 -1.002105 +v 0.966011 -0.127387 0.411914 +f 182 173 189 +f 161 160 164 +f 155 156 165 +f 160 161 165 +f 159 163 167 +f 157 166 167 +f 157 162 168 +f 166 157 168 +f 163 157 169 +f 157 167 169 +f 167 163 169 +f 156 155 171 +f 165 156 174 +f 160 165 174 +f 156 171 174 +f 172 161 175 +f 173 172 175 +f 163 159 176 +f 173 154 176 +f 165 161 177 +f 161 172 177 +f 155 165 178 +f 171 155 178 +f 162 171 178 +f 164 160 179 +f 170 164 179 +f 171 163 180 +f 174 171 180 +f 158 166 181 +f 162 178 181 +f 178 165 181 +f 164 170 182 +f 154 173 182 +f 176 154 182 +f 170 176 182 +f 166 158 183 +f 159 167 183 +f 167 166 183 +f 158 173 183 +f 176 159 183 +f 173 176 183 +f 163 176 184 +f 176 170 184 +f 170 179 184 +f 180 163 184 +f 168 162 185 +f 166 168 185 +f 181 166 185 +f 162 181 185 +f 160 174 186 +f 179 160 186 +f 174 180 186 +f 184 179 186 +f 180 184 186 +f 162 157 187 +f 157 163 187 +f 171 162 187 +f 163 171 187 +f 173 158 188 +f 172 173 188 +f 165 177 188 +f 177 172 188 +f 158 181 188 +f 181 165 188 +f 161 164 189 +f 175 161 189 +f 173 175 189 +f 164 182 189 +o convex_6 +v 1.002230 4.006075 -0.349262 +v -1.100816 -0.127387 0.629565 +v -1.100816 -0.127387 0.955909 +v 1.111139 -0.054509 0.955909 +v 0.966071 -0.127387 -0.929518 +v -1.064441 4.006075 -0.965531 +v -0.991907 4.078953 0.955909 +v -1.100816 -0.054509 -0.965531 +v 1.110922 4.078953 1.028542 +v 0.929696 3.933609 -1.038367 +v 1.111139 2.012016 -0.965734 +v -1.100816 2.048249 1.028542 +v 1.111139 0.054191 -0.929518 +v -1.100816 0.489400 -1.001949 +v -1.100816 2.736679 -1.001949 +v 0.929696 -0.127387 0.955909 +v -1.028282 -0.127387 -0.965531 +v -1.064441 4.042308 -0.602973 +v 0.059507 -0.090742 -0.965734 +v -1.028282 4.078953 0.919491 +v 1.110922 4.078953 0.810845 +v -0.339320 4.006075 -1.001949 +v 1.110922 3.571277 1.028542 +v 0.603402 4.078953 1.028542 +v -1.064441 1.830850 1.028542 +v 0.966071 3.969430 -0.856885 +v -0.955748 3.969430 -1.001949 +v -1.028282 4.078953 0.520717 +v 0.712095 3.716209 -1.038367 +v 0.929696 3.824909 -1.038367 +v 1.074763 4.078953 0.738414 +v 1.111139 1.323174 -0.965734 +v -1.100816 0.779265 0.992124 +v 1.111139 -0.054509 0.303222 +f 194 202 223 +f 192 191 194 +f 191 192 197 +f 198 193 200 +f 197 192 201 +f 200 193 202 +f 197 201 203 +f 203 201 204 +f 194 193 205 +f 192 194 205 +f 194 191 206 +f 191 197 206 +f 197 203 206 +f 204 201 207 +f 195 204 207 +f 202 194 208 +f 194 206 208 +f 206 203 208 +f 196 198 209 +f 201 196 209 +f 207 201 209 +f 198 200 210 +f 209 198 210 +f 195 207 211 +f 193 198 212 +f 198 201 212 +f 198 196 213 +f 196 201 213 +f 201 198 213 +f 205 193 214 +f 193 212 214 +f 212 201 214 +f 200 199 215 +f 210 200 215 +f 190 210 215 +f 211 190 215 +f 199 211 215 +f 204 195 216 +f 211 199 216 +f 195 211 216 +f 207 209 217 +f 209 210 217 +f 203 204 218 +f 204 216 218 +f 216 199 218 +f 199 200 219 +f 208 203 219 +f 203 218 219 +f 218 199 219 +f 210 190 220 +f 190 211 220 +f 211 207 220 +f 207 217 220 +f 217 210 220 +f 200 202 221 +f 202 208 221 +f 219 200 221 +f 208 219 221 +f 201 192 222 +f 192 205 222 +f 214 201 222 +f 205 214 222 +f 193 194 223 +f 202 193 223 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/862/862.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/862/862.urdf new file mode 100644 index 000000000..a8e4e2901 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/862/862.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/863/863.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/863/863.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/863/863.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/863/863.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/863/863.obj new file mode 100644 index 000000000..a00cd3c07 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/863/863.obj @@ -0,0 +1,396 @@ +o convex_0 +v 0.290555 0.873813 1.113933 +v -1.112342 -0.934882 -1.005778 +v -0.551183 -0.934882 -1.005778 +v -1.112342 3.554338 -1.037152 +v 1.007495 3.491939 -0.912289 +v -0.987543 3.367141 1.051397 +v 1.101093 -0.934882 0.583742 +v 1.101093 3.554338 1.113933 +v -0.987543 -0.934882 1.082560 +v 0.945096 -0.934443 -0.974615 +v 0.945096 -0.872044 1.020234 +v -0.800346 3.398341 1.082560 +v -0.426385 1.652044 -1.037152 +v -1.018743 3.398341 0.770720 +v 0.913896 3.398341 -0.943452 +v 1.038694 -0.934882 0.926535 +v 0.602117 -0.934443 -1.005778 +v 1.101093 3.523139 0.770930 +v 0.009759 -0.934443 1.082560 +v -1.081142 -0.934882 -0.319983 +v -1.112342 3.554338 -0.912289 +v 1.101093 -0.934882 0.490253 +v -0.800346 3.554338 -1.037152 +v 1.101093 2.930787 1.113933 +v -0.052423 0.281461 1.113933 +v 0.633317 3.523139 1.113933 +v 0.976295 0.499858 -0.943452 +v -0.987543 2.774789 1.082560 +v -1.112342 1.621284 -1.037152 +v 1.038694 3.523139 -0.226494 +v 0.415137 3.429101 1.113933 +v -1.018743 3.554338 -0.756264 +v -0.582166 3.554338 -1.005778 +v 0.945096 0.250262 -0.974615 +v 1.007495 -0.716046 1.020234 +v -1.112342 2.837188 -0.880916 +v 1.101093 3.554338 0.895372 +v -0.987543 3.398341 0.926535 +v 0.321538 3.523139 -0.974615 +v -1.112342 -0.092494 -0.912289 +v -0.021224 0.125463 1.113933 +v 1.101093 -0.435689 0.677231 +v 1.101093 -0.716485 0.490253 +v 1.038694 -0.248492 1.020234 +v 1.007495 3.554338 1.113933 +v 1.007495 3.367141 -0.912289 +f 22 27 46 +f 2 3 7 +f 2 7 9 +f 9 7 16 +f 10 3 17 +f 8 7 18 +f 11 1 19 +f 9 16 19 +f 16 11 19 +f 2 9 20 +f 9 14 20 +f 4 2 21 +f 8 4 21 +f 7 3 22 +f 3 10 22 +f 18 7 22 +f 4 8 23 +f 13 4 23 +f 15 13 23 +f 7 8 24 +f 8 1 24 +f 1 8 25 +f 25 8 26 +f 22 10 27 +f 12 6 28 +f 14 9 28 +f 6 14 28 +f 9 25 28 +f 3 2 29 +f 2 4 29 +f 4 13 29 +f 17 3 29 +f 13 17 29 +f 26 12 31 +f 25 26 31 +f 12 28 31 +f 28 25 31 +f 8 21 32 +f 23 8 33 +f 5 10 34 +f 15 5 34 +f 13 15 34 +f 10 17 34 +f 17 13 34 +f 1 11 35 +f 11 16 35 +f 24 1 35 +f 20 14 36 +f 14 21 36 +f 21 2 36 +f 18 5 37 +f 8 18 37 +f 5 30 37 +f 33 8 37 +f 30 33 37 +f 6 12 38 +f 14 6 38 +f 21 14 38 +f 12 26 38 +f 32 21 38 +f 26 32 38 +f 5 15 39 +f 15 23 39 +f 30 5 39 +f 23 33 39 +f 33 30 39 +f 2 20 40 +f 36 2 40 +f 20 36 40 +f 19 1 41 +f 9 19 41 +f 1 25 41 +f 25 9 41 +f 16 7 42 +f 7 24 42 +f 5 18 43 +f 22 5 43 +f 18 22 43 +f 35 16 44 +f 24 35 44 +f 16 42 44 +f 42 24 44 +f 26 8 45 +f 8 32 45 +f 32 26 45 +f 10 5 46 +f 5 22 46 +f 27 10 46 +o convex_1 +v -3.107386 -2.025936 -0.382318 +v -1.112537 -0.966057 0.583849 +v -1.112537 -1.340238 0.583849 +v -1.112537 -0.966057 -0.475880 +v -2.920302 -0.966057 0.552768 +v -1.112537 -2.119537 -0.444693 +v -2.951548 -2.119537 0.490394 +v -2.920302 -0.966057 -0.507174 +v -1.112537 -1.994660 0.521581 +v -3.107386 -2.025936 -0.507174 +v -2.951548 -1.870121 0.521581 +v -1.922975 -1.028496 -0.507174 +v -2.421541 -0.997446 0.583956 +v -1.112537 -1.558379 -0.475880 +v -3.045090 -2.088262 -0.039364 +v -3.045090 -1.558379 -0.039364 +v -1.392968 -2.025936 0.521581 +v -2.702167 -2.119537 0.490394 +v -1.392968 -2.119537 -0.444693 +v -1.642544 -2.088262 -0.475880 +v -1.112537 -2.119537 -0.351238 +v -2.982793 -1.215473 -0.507174 +v -2.951548 -1.059659 0.459206 +v -2.982793 -2.119537 0.396832 +v -2.733217 -1.963497 0.521581 +v -2.858006 -2.057099 -0.475880 +v -1.455264 -1.340238 0.583849 +v -3.107386 -1.901171 -0.507174 +v -2.920302 -1.340238 0.552768 +f 71 59 75 +f 48 49 50 +f 48 50 51 +f 50 49 52 +f 51 50 54 +f 52 49 55 +f 54 50 58 +f 56 54 58 +f 49 48 59 +f 48 51 59 +f 50 52 60 +f 58 50 60 +f 47 56 61 +f 55 49 63 +f 53 52 64 +f 63 53 64 +f 52 53 65 +f 56 58 66 +f 60 52 66 +f 58 60 66 +f 52 65 66 +f 65 56 66 +f 52 55 67 +f 55 63 67 +f 64 52 67 +f 63 64 67 +f 54 56 68 +f 68 62 69 +f 51 54 69 +f 57 51 69 +f 54 68 69 +f 57 69 70 +f 53 57 70 +f 47 61 70 +f 62 47 70 +f 65 53 70 +f 61 65 70 +f 69 62 70 +f 57 53 71 +f 53 63 71 +f 61 56 72 +f 56 65 72 +f 65 61 72 +f 49 59 73 +f 63 49 73 +f 59 71 73 +f 71 63 73 +f 56 47 74 +f 47 62 74 +f 68 56 74 +f 62 68 74 +f 51 57 75 +f 59 51 75 +f 57 71 75 +o convex_2 +v -0.301586 -1.745539 1.082758 +v -1.112342 -1.621004 -1.005976 +v -1.112342 -0.934882 -1.005976 +v 0.945096 -0.934882 -0.974490 +v 0.945096 -2.555693 -0.849976 +v 1.007495 -0.934882 0.988912 +v -0.987543 -2.618297 1.082758 +v 0.976295 -2.649515 0.957835 +v -0.987543 -0.934882 1.082758 +v -1.081142 -2.649515 -0.974694 +v 1.101093 -2.088097 -0.444537 +v -1.112342 -1.994779 0.521319 +v 0.851497 -2.275236 -1.005976 +v 1.101093 -0.934882 0.583678 +v -1.112342 -0.966268 0.583678 +v 1.101093 -0.966268 -0.569256 +v 1.101093 -2.119314 0.583678 +v 0.945096 -2.524643 -0.974490 +v 0.009759 -0.934882 1.082758 +v -1.049942 -2.649515 0.084803 +v 0.602334 -0.934882 -1.005976 +v 0.227939 -2.649515 1.020194 +v -0.800563 -2.649515 -0.974694 +v 0.882697 -1.028535 1.020399 +v 0.976295 -2.649515 0.739679 +v -1.081142 -2.212968 -1.005976 +v -0.644565 -2.587079 1.082758 +v -1.112342 -2.119314 -0.444741 +v 1.007495 -1.683104 0.988912 +v -1.081142 -2.649515 -0.444741 +v 0.726915 -2.555693 0.988912 +v 1.038694 -0.934882 0.895475 +v 0.009759 -2.649515 1.020194 +v 0.789315 -2.555693 -0.974490 +f 98 88 109 +f 79 78 81 +f 81 78 84 +f 82 76 84 +f 78 77 87 +f 77 78 88 +f 79 81 89 +f 84 78 90 +f 82 84 90 +f 78 87 90 +f 87 82 90 +f 79 89 91 +f 89 86 91 +f 86 89 92 +f 86 80 93 +f 88 79 93 +f 79 91 93 +f 91 86 93 +f 84 76 94 +f 81 84 94 +f 85 83 95 +f 82 87 95 +f 78 79 96 +f 88 78 96 +f 79 88 96 +f 95 83 97 +f 83 85 98 +f 85 88 98 +f 94 76 99 +f 81 94 99 +f 80 86 100 +f 92 83 100 +f 86 92 100 +f 98 80 100 +f 83 98 100 +f 85 77 101 +f 77 88 101 +f 88 85 101 +f 76 82 102 +f 82 97 102 +f 77 85 103 +f 87 77 103 +f 83 92 104 +f 81 99 104 +f 85 95 105 +f 95 87 105 +f 103 85 105 +f 87 103 105 +f 97 83 106 +f 99 76 106 +f 76 102 106 +f 102 97 106 +f 83 104 106 +f 104 99 106 +f 89 81 107 +f 92 89 107 +f 81 104 107 +f 104 92 107 +f 82 95 108 +f 97 82 108 +f 95 97 108 +f 93 80 109 +f 88 93 109 +f 80 98 109 +o convex_3 +v 1.132387 -2.119406 0.209775 +v 3.065084 -0.966057 -0.507086 +v 3.065084 -0.966057 -0.538249 +v 1.101438 -0.966057 -0.569525 +v 1.101438 -1.059720 0.552567 +v 2.971468 -2.088225 0.490354 +v 2.940326 -2.181888 -0.538249 +v 3.002609 -1.090901 0.552680 +v 1.101438 -2.088225 -0.444647 +v 1.101438 -2.119406 0.583956 +v 3.002609 -2.119525 0.428028 +v 1.226004 -1.028539 0.459191 +v 2.878043 -2.150587 0.490354 +v 1.101438 -0.966057 -0.226393 +v 1.568753 -1.838775 0.583956 +v 2.659860 -2.150587 -0.538249 +v 3.002609 -1.277869 0.552680 +v 2.878043 -1.059720 0.396752 +v 1.444187 -2.088225 -0.475810 +v 1.880553 -2.150706 0.085123 +v 3.033751 -1.121963 0.147449 +v 3.065084 -1.028419 -0.538249 +v 1.163529 -1.776412 0.583956 +v 1.288287 -0.997357 -0.569525 +v 2.129685 -1.059720 0.552567 +v 2.878043 -2.181888 -0.538249 +v 1.101438 -0.997357 -0.569525 +f 135 125 136 +f 111 112 113 +f 114 113 118 +f 118 110 119 +f 114 118 119 +f 116 120 122 +f 120 115 122 +f 111 113 123 +f 113 114 123 +f 121 111 123 +f 114 121 123 +f 119 122 124 +f 115 120 126 +f 122 115 126 +f 117 124 126 +f 124 122 126 +f 117 111 127 +f 111 121 127 +f 119 110 129 +f 122 119 129 +f 111 117 130 +f 120 111 130 +f 117 126 130 +f 126 120 130 +f 112 111 131 +f 111 120 131 +f 120 116 131 +f 114 119 132 +f 124 117 132 +f 119 124 132 +f 113 112 133 +f 112 131 133 +f 131 116 133 +f 121 114 134 +f 117 127 134 +f 127 121 134 +f 114 132 134 +f 132 117 134 +f 110 118 135 +f 116 122 135 +f 118 128 135 +f 128 125 135 +f 129 110 135 +f 122 129 135 +f 133 116 135 +f 133 135 136 +f 118 113 136 +f 128 118 136 +f 125 128 136 +f 113 133 136 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/863/863.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/863/863.urdf new file mode 100644 index 000000000..9becd3b5b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/863/863.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/864/864.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/864/864.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/864/864.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/864/864.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/864/864.obj new file mode 100644 index 000000000..4f8ff853b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/864/864.obj @@ -0,0 +1,621 @@ +o convex_0 +v -3.022522 -2.831573 -0.946777 +v 2.989603 -0.645204 -0.181381 +v 2.989603 -0.645204 -0.910160 +v -3.022522 -0.754780 0.947879 +v 3.062871 -2.685615 0.984287 +v 2.880595 -2.685615 -1.056210 +v -3.022522 -0.754780 -1.019592 +v -3.022522 -2.685615 1.057101 +v 2.953267 -0.645204 1.093719 +v 1.094768 -2.831573 1.057101 +v -1.455307 -0.645204 -1.056210 +v -1.090755 -2.794762 -1.056210 +v -1.054419 -0.645204 1.020694 +v -1.127687 -2.831573 0.947669 +v 2.953267 -2.539871 -1.056210 +v 0.730216 -2.794762 -0.618690 +v 1.750604 -2.066044 1.093719 +v 2.989603 -0.681801 -0.946777 +v -0.434920 -0.645204 -1.056210 +v -1.673919 -0.645204 0.838447 +v 3.062871 -2.102641 0.437755 +v 2.989603 -2.685615 -0.800727 +v -3.022522 -2.430510 1.057101 +v -1.528575 -2.794762 -1.056210 +v 2.989603 -0.754780 1.093719 +v 2.406439 -0.682015 1.093719 +v -3.022522 -2.831573 -0.655098 +v -3.022522 -0.973288 0.984287 +v -2.366091 -2.831573 -0.982974 +v 3.062871 -2.284767 1.020694 +v 2.734655 -2.721997 0.801829 +v -2.002135 -1.702006 -1.056210 +v 2.989603 -1.155414 1.093719 +v 1.568328 -2.794762 1.057101 +v -2.694306 -0.718183 0.911472 +v -2.766978 -2.576468 -0.982974 +v 3.062871 -2.685615 0.474162 +v -1.856195 -0.681801 -1.056210 +v 2.989603 -2.394128 -0.873963 +f 37 22 39 +f 1 4 7 +f 4 1 8 +f 2 3 9 +f 9 3 11 +f 11 6 12 +f 9 11 13 +f 1 10 14 +f 10 8 14 +f 6 11 15 +f 6 10 16 +f 12 6 16 +f 8 10 17 +f 18 15 19 +f 11 3 19 +f 15 11 19 +f 3 18 19 +f 11 7 20 +f 13 11 20 +f 3 2 21 +f 18 3 21 +f 10 6 22 +f 6 15 22 +f 4 8 23 +f 8 17 23 +f 11 12 24 +f 2 9 25 +f 9 17 25 +f 21 2 25 +f 9 13 26 +f 17 9 26 +f 13 23 26 +f 23 17 26 +f 8 1 27 +f 1 14 27 +f 14 8 27 +f 13 4 28 +f 4 23 28 +f 23 13 28 +f 10 1 29 +f 16 10 29 +f 12 16 29 +f 1 24 29 +f 24 12 29 +f 5 21 30 +f 21 25 30 +f 5 10 31 +f 10 22 31 +f 24 7 32 +f 11 24 32 +f 25 17 33 +f 30 25 33 +f 30 33 34 +f 10 5 34 +f 17 10 34 +f 5 30 34 +f 33 17 34 +f 7 4 35 +f 4 13 35 +f 20 7 35 +f 13 20 35 +f 1 7 36 +f 24 1 36 +f 7 24 36 +f 21 5 37 +f 5 31 37 +f 31 22 37 +f 7 11 38 +f 32 7 38 +f 11 32 38 +f 15 18 39 +f 18 21 39 +f 22 15 39 +f 21 37 39 +o convex_1 +v 0.985592 -0.062173 1.020662 +v -0.981558 -0.645204 -1.056210 +v -1.164109 -0.645204 0.765372 +v 1.058699 -0.645204 0.765578 +v 0.366139 -0.062173 -1.056210 +v -1.054448 -0.062173 0.984251 +v 0.985592 -0.645204 -0.946770 +v -0.981558 -0.062173 -1.056210 +v 1.058699 -0.062173 -0.764509 +v -1.054448 -0.645204 1.020455 +v 0.985592 -0.645204 0.984251 +v -0.835996 -0.390042 1.057280 +v 0.949256 -0.062173 -0.983181 +v 1.058699 -0.645204 -0.837537 +v 1.058699 -0.062173 0.729167 +v -1.054448 -0.062173 -0.144902 +v 0.912920 -0.645204 -0.983181 +v -0.690217 -0.062173 1.057280 +v 0.803477 -0.572325 1.020455 +v -0.435212 -0.645204 -1.056210 +f 44 56 59 +f 42 41 43 +f 40 44 45 +f 43 41 46 +f 41 42 47 +f 44 41 47 +f 45 44 47 +f 44 40 48 +f 42 43 49 +f 45 42 49 +f 43 40 50 +f 49 43 50 +f 45 49 51 +f 44 48 52 +f 52 48 53 +f 43 46 53 +f 48 43 53 +f 46 52 53 +f 40 43 54 +f 48 40 54 +f 43 48 54 +f 42 45 55 +f 47 42 55 +f 45 47 55 +f 46 41 56 +f 44 52 56 +f 52 46 56 +f 40 45 57 +f 45 51 57 +f 57 51 58 +f 50 40 58 +f 49 50 58 +f 51 49 58 +f 40 57 58 +f 41 44 59 +f 56 41 59 +o convex_2 +v 1.095139 2.852523 0.437552 +v -1.091230 0.666981 0.656274 +v -1.018037 0.666981 -1.092649 +v -1.091230 3.399310 0.546913 +v 0.985778 0.666981 1.020526 +v 0.985778 3.290167 -1.019457 +v 0.985778 0.666981 -0.983074 +v -1.091230 3.290167 -1.092649 +v 1.022160 3.290167 1.093719 +v -1.054419 1.577579 0.984358 +v -1.054633 3.399310 0.947761 +v -0.289319 0.666981 1.093719 +v 1.095139 0.666981 -0.618822 +v 0.548333 3.399310 -0.545629 +v 0.584929 1.249614 -1.056053 +v 1.095139 2.852523 -0.545629 +v -0.180171 3.290167 -1.092649 +v -1.054419 0.666981 0.984358 +v 1.058542 0.666981 0.656274 +v 0.548333 3.399310 0.474148 +v 1.058542 3.253518 1.093719 +v -1.091230 3.326548 -1.055839 +v -1.091230 2.415682 -1.092649 +v 1.095139 1.796668 0.546913 +v 1.022160 1.395406 1.057123 +v 1.022160 3.180756 -0.983074 +v 0.475568 0.666981 -1.056053 +v -1.091230 3.399310 0.874783 +v 0.694076 3.290167 -1.055839 +v 0.912799 3.326548 -0.946478 +v 0.985778 1.723638 -1.019457 +v 1.058542 3.289899 0.583295 +v -0.070810 0.703362 1.093719 +v 0.949181 3.290167 1.093719 +v -1.091230 0.666981 0.874997 +v -0.762932 0.776124 -1.092649 +v -1.054419 1.395406 -1.092649 +v 1.058542 3.034696 1.093719 +v -0.763146 3.399310 0.947761 +f 79 70 98 +f 61 62 64 +f 64 62 66 +f 61 63 67 +f 61 64 71 +f 70 69 71 +f 64 66 72 +f 63 70 73 +f 60 72 75 +f 62 67 76 +f 61 71 77 +f 71 69 77 +f 64 72 78 +f 73 70 79 +f 68 71 80 +f 67 63 81 +f 63 73 81 +f 76 67 81 +f 67 62 82 +f 61 67 82 +f 72 60 83 +f 78 72 83 +f 60 80 83 +f 64 78 84 +f 72 66 85 +f 75 72 85 +f 66 62 86 +f 76 74 86 +f 63 61 87 +f 69 70 87 +f 70 63 87 +f 74 76 88 +f 76 81 88 +f 88 81 89 +f 73 79 89 +f 81 73 89 +f 65 88 89 +f 65 85 90 +f 85 66 90 +f 66 86 90 +f 86 74 90 +f 88 65 90 +f 74 88 90 +f 60 75 91 +f 79 68 91 +f 68 80 91 +f 80 60 91 +f 85 65 91 +f 75 85 91 +f 65 89 91 +f 89 79 91 +f 71 64 92 +f 80 71 92 +f 64 84 92 +f 68 70 93 +f 71 68 93 +f 70 71 93 +f 61 77 94 +f 77 69 94 +f 87 61 94 +f 69 87 94 +f 62 76 95 +f 86 62 95 +f 76 86 95 +f 62 61 96 +f 82 62 96 +f 61 82 96 +f 78 83 97 +f 83 80 97 +f 84 78 97 +f 80 92 97 +f 92 84 97 +f 70 68 98 +f 68 79 98 +o convex_3 +v -3.022226 1.723362 -0.509561 +v -2.402692 2.889425 0.546927 +v -2.402692 2.889425 0.510630 +v -1.091429 1.723362 -0.509561 +v -3.095205 1.723362 0.583567 +v -3.058715 2.816489 -0.582497 +v -1.091429 2.852900 0.474105 +v -1.091429 1.759887 0.583567 +v -1.127723 2.852900 -0.473150 +v -3.022226 2.889425 0.583567 +v -1.309973 1.905759 -0.545972 +v -2.985737 1.723362 -0.545972 +v -2.293420 2.852900 -0.545972 +v -1.091429 2.051403 0.583567 +v -3.058715 2.379101 -0.582497 +v -2.111169 1.723362 0.583567 +v -1.091429 2.816489 -0.473150 +v -3.058715 2.743667 0.583567 +v -1.382756 2.852900 0.510630 +v -3.058715 2.852900 -0.290867 +v -1.601496 1.723362 -0.545972 +v -2.621432 2.634320 -0.582497 +v -3.095205 1.723362 0.328348 +v -3.095205 2.087928 0.583567 +f 104 121 122 +f 99 102 103 +f 101 100 105 +f 102 105 106 +f 101 105 107 +f 100 101 108 +f 103 106 108 +f 102 99 110 +f 101 107 111 +f 108 101 111 +f 106 105 112 +f 108 106 112 +f 110 99 113 +f 103 102 114 +f 102 106 114 +f 106 103 114 +f 105 102 115 +f 107 105 115 +f 102 109 115 +f 109 107 115 +f 103 108 116 +f 105 100 117 +f 100 108 117 +f 112 105 117 +f 108 112 117 +f 108 111 118 +f 111 104 118 +f 116 108 118 +f 109 102 119 +f 102 110 119 +f 110 113 119 +f 119 113 120 +f 107 109 120 +f 111 107 120 +f 104 111 120 +f 113 104 120 +f 109 119 120 +f 99 103 121 +f 113 99 121 +f 104 113 121 +f 103 116 122 +f 118 104 122 +f 116 118 122 +f 121 103 122 +o convex_4 +v -0.253065 0.047149 3.061208 +v 0.329910 0.047149 1.349120 +v 0.293442 0.083653 2.150239 +v -0.326001 0.593734 1.494867 +v 0.184102 0.593734 3.024723 +v -0.289533 0.010706 1.093915 +v 0.293442 0.593734 1.093915 +v -0.326001 0.630177 3.097694 +v 0.220570 0.010706 3.097694 +v -0.326001 0.557231 1.093915 +v 0.329910 0.010706 1.093915 +v -0.326001 0.047149 1.276148 +v -0.253065 0.010706 2.915461 +v -0.326001 0.411459 3.097694 +v 0.256974 0.047149 3.024723 +v 0.293442 0.593734 1.458381 +v -0.107321 0.630177 3.097694 +f 127 138 139 +f 129 126 130 +f 126 129 132 +f 129 128 132 +f 130 126 132 +f 128 129 133 +f 129 124 133 +f 131 128 133 +f 132 128 134 +f 130 132 134 +f 128 131 135 +f 131 123 135 +f 134 128 135 +f 134 135 136 +f 123 131 136 +f 131 130 136 +f 130 134 136 +f 135 123 136 +f 124 125 137 +f 127 131 137 +f 133 124 137 +f 131 133 137 +f 125 124 138 +f 124 129 138 +f 137 125 138 +f 127 137 138 +f 129 130 139 +f 131 127 139 +f 130 131 139 +f 138 129 139 +o convex_5 +v -1.091230 0.375058 0.729253 +v 1.058699 0.156479 0.729039 +v 1.058699 -0.062173 0.729039 +v -1.018204 0.411441 -1.092649 +v 0.985674 0.666617 -0.983074 +v -0.981587 -0.062173 -1.055839 +v -0.289426 0.666617 1.093719 +v -1.054612 -0.062173 0.984358 +v 0.949267 -0.062173 -0.983074 +v 0.985674 0.666617 1.020526 +v -1.018204 0.666617 -1.092649 +v -1.054612 0.666617 0.984358 +v 0.985674 -0.062173 1.020526 +v 0.256895 -0.062173 -1.092649 +v 1.058699 0.666617 -0.655205 +v 0.329710 0.010735 1.093719 +v 1.058699 -0.062173 -0.764566 +v -0.580895 0.083642 1.093719 +v 0.256895 0.520802 -1.092649 +v -1.054612 -0.062173 -0.144995 +v 1.058699 0.666617 0.656274 +v -1.091230 0.666617 0.874997 +v 0.293303 0.593709 1.093719 +v -1.091230 -0.025719 0.874997 +v -0.690328 -0.062173 1.057123 +v 0.803427 0.666617 -1.019671 +v -0.981587 0.083642 -1.092649 +f 153 145 166 +f 145 142 147 +f 142 145 148 +f 142 141 149 +f 144 146 149 +f 143 140 150 +f 146 144 150 +f 146 150 151 +f 147 142 152 +f 142 149 152 +f 148 145 153 +f 143 150 153 +f 141 142 154 +f 144 149 154 +f 152 149 155 +f 148 144 156 +f 142 148 156 +f 154 142 156 +f 144 154 156 +f 146 151 157 +f 151 147 157 +f 155 146 157 +f 153 150 158 +f 140 143 159 +f 143 145 159 +f 145 147 159 +f 149 141 160 +f 141 154 160 +f 154 149 160 +f 150 140 161 +f 151 150 161 +f 147 151 161 +f 149 146 162 +f 146 155 162 +f 155 149 162 +f 140 159 163 +f 159 147 163 +f 161 140 163 +f 147 161 163 +f 147 152 164 +f 152 155 164 +f 157 147 164 +f 155 157 164 +f 144 148 165 +f 150 144 165 +f 148 153 165 +f 158 150 165 +f 153 158 165 +f 145 143 166 +f 143 153 166 +o convex_6 +v 1.933529 2.270050 0.583566 +v 2.953367 2.889307 -0.436700 +v 2.953367 2.889307 -0.473078 +v 3.099310 1.796369 -0.181495 +v 1.095531 1.687040 -0.436700 +v 1.095531 2.852825 -0.546057 +v 1.131821 2.852825 0.474209 +v 2.916881 2.779978 0.583566 +v 1.095531 1.796369 0.546966 +v 3.026142 1.760005 0.474209 +v 3.099310 1.832851 -0.473078 +v 1.095531 2.524955 -0.546057 +v 1.824071 2.852825 -0.546057 +v 3.099310 2.051392 -0.363831 +v 1.095531 2.852825 0.437609 +v 1.678324 2.852825 0.474209 +v 1.095531 1.832851 -0.473078 +v 3.062628 1.832851 0.328472 +v 2.734648 2.852825 -0.509457 +v 1.095531 1.760005 0.328472 +v 1.095531 2.124239 0.546966 +v 2.625386 2.779978 0.583566 +v 2.880395 2.561320 0.583566 +v 1.605548 1.796369 0.546966 +v 2.953367 2.634167 0.546966 +v 2.843909 1.796369 -0.473078 +v 2.552415 2.889307 -0.290963 +f 173 182 193 +f 172 171 175 +f 171 170 176 +f 171 172 178 +f 172 169 179 +f 178 172 179 +f 177 178 179 +f 169 168 180 +f 177 169 180 +f 170 177 180 +f 172 175 181 +f 174 168 182 +f 173 174 182 +f 171 178 183 +f 176 170 184 +f 170 180 184 +f 169 177 185 +f 179 169 185 +f 177 179 185 +f 175 171 186 +f 171 176 186 +f 176 175 186 +f 175 167 187 +f 173 181 187 +f 181 175 187 +f 167 174 188 +f 174 173 188 +f 187 167 188 +f 173 187 188 +f 174 167 189 +f 176 174 189 +f 176 189 190 +f 167 175 190 +f 175 176 190 +f 189 167 190 +f 168 174 191 +f 174 176 191 +f 180 168 191 +f 176 184 191 +f 184 180 191 +f 170 171 192 +f 177 170 192 +f 178 177 192 +f 171 183 192 +f 183 178 192 +f 168 169 193 +f 169 172 193 +f 172 181 193 +f 181 173 193 +f 182 168 193 +o convex_7 +v -0.107357 0.630177 -1.092846 +v -0.180228 -0.062173 -2.950877 +v -0.034485 -0.062173 -2.950877 +v 0.184131 0.630177 -3.060138 +v 0.257002 -0.062173 -1.092846 +v -0.362440 0.083603 -1.092846 +v -0.216632 0.520795 -3.096624 +v 0.293470 0.484402 -1.092846 +v 0.220534 0.010749 -2.987167 +v -0.180228 0.593717 -1.092846 +v 0.257002 0.120064 -2.659383 +v -0.216632 0.557256 -2.950877 +v -0.216632 -0.062173 -2.732158 +v 0.111259 -0.062173 -1.092846 +v 0.257002 0.557256 -1.967329 +v -0.362440 0.120064 -1.202303 +v 0.257002 -0.062173 -1.639545 +v 0.220534 0.447941 -3.023653 +v 0.074791 0.630177 -2.950877 +v 0.293470 0.265840 -1.129331 +v -0.325972 0.047210 -1.238593 +v -0.070889 0.411480 -3.096624 +f 197 202 215 +f 195 196 198 +f 198 194 199 +f 194 198 201 +f 196 195 202 +f 199 194 203 +f 203 194 205 +f 195 198 206 +f 200 195 206 +f 198 199 207 +f 206 198 207 +f 197 194 208 +f 194 201 208 +f 201 204 208 +f 199 203 209 +f 205 200 209 +f 203 205 209 +f 206 199 209 +f 200 206 209 +f 198 196 210 +f 196 202 210 +f 202 204 210 +f 202 197 211 +f 204 202 211 +f 197 208 211 +f 208 204 211 +f 194 197 212 +f 197 200 212 +f 205 194 212 +f 200 205 212 +f 201 198 213 +f 204 201 213 +f 198 210 213 +f 210 204 213 +f 199 206 214 +f 207 199 214 +f 206 207 214 +f 195 200 215 +f 200 197 215 +f 202 195 215 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/864/864.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/864/864.urdf new file mode 100644 index 000000000..d7cde136f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/864/864.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/865/865.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/865/865.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/865/865.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/865/865.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/865/865.obj new file mode 100644 index 000000000..d7296ddc6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/865/865.obj @@ -0,0 +1,285 @@ +o convex_0 +v 1.028759 -2.378946 -0.171359 +v -1.114176 -3.726211 -1.035476 +v -1.079565 -4.935925 -1.035476 +v -0.975942 -4.970722 1.038239 +v -1.044954 -0.823307 0.969102 +v 0.994148 -4.935925 1.072705 +v 0.752082 -0.823307 -0.966132 +v 0.924926 -5.005519 -1.000804 +v 0.924926 -0.823307 0.934430 +v -1.079565 -0.823307 -1.035476 +v 1.028759 -0.823307 -0.931460 +v -1.044954 -4.970722 0.243054 +v -0.077110 -3.000382 -1.035476 +v -1.114176 -1.030862 -0.482169 +v 0.406393 -0.823307 0.969102 +v 0.959537 -0.823307 0.796155 +v -1.044954 -2.413743 0.969102 +v 0.959537 -4.244894 -1.000804 +v 0.924926 -4.486836 1.072705 +v 0.164537 -4.970722 1.038239 +v -0.353787 -4.970722 -1.035476 +v 1.028759 -0.823307 -0.447703 +v -1.114176 -0.858514 -1.000598 +v 1.028759 -1.756690 -0.931460 +v -0.664655 -0.823307 -1.035476 +v 0.337381 -4.901537 1.072912 +v -1.079565 -1.100456 0.519810 +v -1.079565 -4.935925 -0.447703 +v -1.010343 -4.797964 1.003567 +v 0.924926 -5.005519 -0.447703 +v 0.959537 -3.830193 -1.000804 +v 0.475615 -5.005519 -1.000804 +v 0.994148 -4.935925 0.934430 +v -1.079565 -2.378946 0.277726 +v 0.994148 -4.694391 1.072705 +v -0.975942 -4.728779 1.038239 +v 0.959537 -2.551703 1.003567 +v 0.959537 -4.970722 0.554276 +v 0.959537 -4.970722 -0.274963 +v -1.114176 -3.657026 -0.966132 +v -1.010343 -2.655686 1.003567 +v -1.079565 -0.823307 0.346863 +v -1.044954 -4.970722 0.070313 +v 0.994148 -1.860672 -0.966339 +v 1.028759 -2.482519 -0.240291 +v -0.249954 -4.866740 -1.035476 +f 21 13 46 +f 7 5 9 +f 3 2 10 +f 5 7 10 +f 7 9 11 +f 3 10 13 +f 9 5 15 +f 11 9 16 +f 4 5 17 +f 8 13 18 +f 15 5 19 +f 6 4 20 +f 3 13 21 +f 1 11 22 +f 11 16 22 +f 10 2 23 +f 2 14 23 +f 11 1 24 +f 10 7 25 +f 13 10 25 +f 4 6 26 +f 19 5 26 +f 17 5 27 +f 2 3 28 +f 3 12 28 +f 28 12 29 +f 12 4 29 +f 4 17 29 +f 20 4 30 +f 18 13 31 +f 25 7 31 +f 13 25 31 +f 4 12 32 +f 21 8 32 +f 8 30 32 +f 30 4 32 +f 17 27 34 +f 28 29 34 +f 29 17 34 +f 6 1 35 +f 1 22 35 +f 22 16 35 +f 26 6 35 +f 19 26 35 +f 5 4 36 +f 4 26 36 +f 9 15 37 +f 16 9 37 +f 15 19 37 +f 35 16 37 +f 19 35 37 +f 6 20 38 +f 30 8 38 +f 20 30 38 +f 33 6 38 +f 33 38 39 +f 8 18 39 +f 18 33 39 +f 38 8 39 +f 14 2 40 +f 27 14 40 +f 2 28 40 +f 34 27 40 +f 28 34 40 +f 26 5 41 +f 5 36 41 +f 36 26 41 +f 5 10 42 +f 10 23 42 +f 23 14 42 +f 14 27 42 +f 27 5 42 +f 12 3 43 +f 3 21 43 +f 32 12 43 +f 21 32 43 +f 7 11 44 +f 11 24 44 +f 24 18 44 +f 31 7 44 +f 18 31 44 +f 1 6 45 +f 24 1 45 +f 18 24 45 +f 6 33 45 +f 33 18 45 +f 13 8 46 +f 8 21 46 +o convex_1 +v 0.095459 1.320314 -1.069959 +v 0.994084 3.427701 1.107475 +v 0.959554 3.427701 1.107475 +v 0.648361 -0.823307 0.969112 +v -1.044873 5.017443 1.072830 +v 0.959554 5.052528 -1.035314 +v -1.079616 -0.823307 -1.035314 +v -1.044873 4.948424 -1.104604 +v 1.063143 -0.615674 -0.966241 +v -1.044873 -0.823307 0.968895 +v 1.028614 5.017443 1.072830 +v 0.959554 -0.823307 0.796320 +v 0.925025 0.836030 1.107475 +v 1.097886 0.663482 -1.035314 +v 1.028614 -0.823307 -0.931596 +v 1.097886 1.665986 -1.035314 +v -1.079616 -0.823307 0.312374 +v 1.097886 0.697991 -0.724376 +v -0.491971 3.911410 -1.104604 +v -0.699363 0.871114 1.037969 +v 1.028614 5.017443 0.243084 +v 1.028614 3.876901 1.072830 +v -0.975813 0.283301 -1.069742 +v 0.613831 0.939559 1.107475 +v -0.941284 4.982934 -1.104604 +v 0.579301 1.977147 -1.069959 +v 0.925025 -0.788222 0.968895 +v 0.994084 5.052528 -0.551368 +v -0.664833 -0.823307 -1.035314 +v -1.044873 4.360610 1.072830 +v 0.544772 5.052528 -1.035098 +v -0.664833 -0.546080 1.003540 +v -1.079616 -0.408041 -0.551368 +v 0.302851 5.017443 -1.069959 +v -1.010343 3.289087 -1.104604 +v 0.959554 5.052528 -0.136495 +v -1.044873 5.017443 0.554239 +v -1.010343 0.110753 1.003540 +v 0.994084 4.499224 -1.035314 +v -0.561031 4.913339 -1.104604 +v 1.028614 -0.823307 -0.413221 +v 1.028614 -0.719203 -0.966241 +v -0.180778 0.939559 -1.069742 +v 0.994084 2.770868 1.107475 +v 1.097886 1.078172 -0.724376 +v 0.821222 0.801520 1.107475 +v 0.994084 -0.477636 0.415876 +v -1.044873 4.982934 -0.897167 +v -1.079616 -0.477061 -1.035314 +v 1.097886 0.352320 -0.931596 +v -0.388169 -0.546080 1.003540 +f 92 78 97 +f 49 48 51 +f 53 50 56 +f 51 48 57 +f 50 53 58 +f 48 49 59 +f 58 53 61 +f 53 56 63 +f 60 62 64 +f 57 62 67 +f 57 48 68 +f 64 57 68 +f 49 51 70 +f 59 49 70 +f 65 54 71 +f 60 47 72 +f 62 60 72 +f 47 65 72 +f 50 58 73 +f 57 67 74 +f 67 62 74 +f 61 53 75 +f 53 69 75 +f 51 63 76 +f 63 56 76 +f 70 51 76 +f 66 70 76 +f 52 71 77 +f 74 52 77 +f 56 50 78 +f 63 51 79 +f 53 63 79 +f 71 52 80 +f 52 72 80 +f 53 54 81 +f 54 65 81 +f 69 53 81 +f 51 57 82 +f 57 74 82 +f 77 51 82 +f 74 77 82 +f 51 77 83 +f 77 71 83 +f 79 51 83 +f 70 66 84 +f 76 56 84 +f 66 76 84 +f 56 78 84 +f 78 70 84 +f 72 52 85 +f 62 72 85 +f 52 74 85 +f 74 62 85 +f 65 71 86 +f 72 65 86 +f 71 80 86 +f 80 72 86 +f 61 55 87 +f 58 61 87 +f 60 55 88 +f 55 61 88 +f 75 60 88 +f 61 75 88 +f 47 60 89 +f 65 47 89 +f 60 75 89 +f 75 69 89 +f 81 65 89 +f 69 81 89 +f 48 59 90 +f 68 48 90 +f 58 68 90 +f 73 58 90 +f 59 73 90 +f 62 57 91 +f 57 64 91 +f 64 62 91 +f 59 70 92 +f 50 73 92 +f 73 59 92 +f 70 78 92 +f 68 58 93 +f 64 68 93 +f 58 87 93 +f 71 54 94 +f 83 71 94 +f 79 83 94 +f 54 53 95 +f 53 79 95 +f 94 54 95 +f 79 94 95 +f 55 60 96 +f 60 64 96 +f 87 55 96 +f 64 93 96 +f 93 87 96 +f 78 50 97 +f 50 92 97 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/865/865.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/865/865.urdf new file mode 100644 index 000000000..e3096c8ce --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/865/865.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/866/866.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/866/866.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/866/866.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/866/866.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/866/866.obj new file mode 100644 index 000000000..d2cb448ad --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/866/866.obj @@ -0,0 +1,474 @@ +o convex_0 +v 0.176136 -4.813977 -0.027131 +v -0.344497 -4.813977 0.146371 +v -0.205640 -4.744275 -0.304845 +v 0.314993 -2.904929 0.319935 +v -0.309766 -2.904929 -0.200695 +v 0.314993 -2.904929 -0.304845 +v 0.314993 -4.779219 0.285197 +v -0.344497 -2.904929 0.181047 +v 0.280262 -4.779219 -0.235371 +v -0.344497 -4.813977 0.215784 +v 0.176136 -2.904929 0.319935 +v -0.032053 -4.813977 -0.304845 +v 0.314993 -4.779219 -0.096544 +v -0.344497 -2.939686 -0.096544 +v -0.309766 -3.321458 0.215784 +v 0.280262 -4.605618 -0.270108 +v 0.245532 -3.599145 0.319935 +v -0.309766 -3.356216 -0.200695 +v 0.245532 -2.904929 -0.304845 +v -0.205640 -4.397447 0.250460 +v 0.176136 -4.744275 0.285197 +v -0.205640 -4.570861 -0.304845 +f 5 19 22 +f 5 4 6 +f 6 4 7 +f 4 5 8 +f 2 1 10 +f 1 7 10 +f 8 2 10 +f 4 8 11 +f 1 2 12 +f 2 3 12 +f 3 6 12 +f 9 1 12 +f 7 1 13 +f 6 7 13 +f 1 9 13 +f 2 8 14 +f 8 5 14 +f 8 10 15 +f 11 8 15 +f 12 6 16 +f 9 12 16 +f 6 13 16 +f 13 9 16 +f 7 4 17 +f 4 11 17 +f 3 2 18 +f 5 3 18 +f 2 14 18 +f 14 5 18 +f 6 3 19 +f 5 6 19 +f 15 10 20 +f 11 15 20 +f 17 11 20 +f 17 20 21 +f 10 7 21 +f 7 17 21 +f 20 10 21 +f 3 5 22 +f 19 3 22 +o convex_1 +v -1.073406 -1.863895 0.180911 +v 1.009192 -1.725052 1.048586 +v 1.009192 -2.314700 1.048586 +v 0.974332 -2.002351 -0.998949 +v -0.934376 -2.904929 1.013828 +v -1.073406 -0.926654 1.048796 +v 0.974332 -0.926654 -0.963981 +v -1.038547 -2.800554 -1.068464 +v -1.038547 -0.926654 -1.068464 +v 0.974332 -2.904929 -0.998949 +v 0.974332 -0.926654 1.083554 +v 1.009192 -2.765892 1.014039 +v -0.760894 -2.731036 1.048796 +v 0.314857 -2.904929 0.319520 +v -0.205589 -2.835217 -1.068464 +v -1.038547 -2.835217 -0.721310 +v 1.009192 -2.765892 0.146154 +v 0.210890 -1.655533 1.083554 +v -1.073406 -2.453543 -0.686342 +v -0.344415 -2.904929 -0.165821 +v -1.073406 -0.926654 -0.235126 +v -0.795550 -0.926654 -1.068464 +v 0.696680 -2.835217 -1.033707 +v -1.073406 -1.204341 1.048796 +v -0.726238 -2.835217 -1.068464 +v 0.072064 -0.926654 1.083554 +v -0.760894 -2.904929 1.013828 +v 0.939677 -2.904929 -0.755857 +v 0.905021 -1.516690 1.083554 +v 0.731335 -2.904929 -0.998738 +v -0.969031 -2.765892 0.701642 +v -1.038547 -2.835217 -0.582280 +v -0.934376 -2.904929 0.805704 +f 38 42 55 +f 28 29 31 +f 25 24 33 +f 29 28 33 +f 24 29 33 +f 24 25 34 +f 34 25 35 +f 27 32 36 +f 30 31 37 +f 29 24 39 +f 26 29 39 +f 32 26 39 +f 24 34 39 +f 34 32 39 +f 23 28 41 +f 31 30 41 +f 30 38 41 +f 32 27 42 +f 28 31 43 +f 41 28 43 +f 31 41 43 +f 29 26 44 +f 31 29 44 +f 37 31 44 +f 37 44 45 +f 26 32 45 +f 32 37 45 +f 44 26 45 +f 28 23 46 +f 27 35 46 +f 35 40 46 +f 30 37 47 +f 37 32 47 +f 38 30 47 +f 42 38 47 +f 33 28 48 +f 40 33 48 +f 28 46 48 +f 46 40 48 +f 35 27 49 +f 34 35 49 +f 27 36 49 +f 36 34 49 +f 32 34 50 +f 36 32 50 +f 34 36 50 +f 25 33 51 +f 35 25 51 +f 33 40 51 +f 40 35 51 +f 32 42 52 +f 47 32 52 +f 42 47 52 +f 46 23 53 +f 27 46 53 +f 38 27 54 +f 23 41 54 +f 41 38 54 +f 27 53 54 +f 53 23 54 +f 27 38 55 +f 42 27 55 +o convex_2 +v -1.003816 1.572884 0.146243 +v 1.009182 3.169060 0.493360 +v 1.009182 3.134394 0.493360 +v 0.939623 1.294977 -1.102967 +v -0.969137 3.169254 -0.998728 +v 0.939623 1.294977 0.979325 +v -1.038696 3.273445 1.013726 +v 1.009182 3.099729 -0.998728 +v -0.934458 1.294977 -0.998728 +v -1.003816 1.294977 0.909694 +v 0.974302 3.203726 0.944510 +v 0.870264 3.134394 -0.998935 +v 1.009182 2.370972 -0.790457 +v -1.038696 3.273445 0.666816 +v -1.003816 1.364502 0.944510 +v 1.009182 2.960872 -1.033543 +v -0.760861 1.294977 -1.033543 +v 0.592630 3.203726 0.979325 +v -1.003816 3.099729 -0.547578 +v -1.038696 2.995538 1.013726 +v -0.656824 3.273445 1.013726 +v 0.835385 1.434027 -1.102967 +v 0.974302 1.607550 -1.068359 +v -0.969137 2.232503 -0.998728 +v -1.038696 2.405444 0.909694 +v -0.587465 3.273445 0.944510 +v 0.974302 1.781073 0.285090 +v -0.622145 3.169254 -0.998728 +v 1.009182 3.169060 -0.027213 +v -1.003816 1.294977 0.319698 +v 0.974302 2.336113 0.944510 +v 0.731347 1.329836 -1.102967 +v -0.969137 1.294977 -0.478155 +v 1.009182 2.440304 -0.339515 +v -1.003816 2.405444 -0.304492 +v 0.974302 3.203726 0.805663 +v 0.835385 1.294977 0.979325 +f 75 70 92 +f 57 58 63 +f 59 61 64 +f 64 61 65 +f 58 57 66 +f 63 58 68 +f 67 63 71 +f 63 68 71 +f 59 64 72 +f 61 66 73 +f 69 60 74 +f 62 69 75 +f 69 62 76 +f 61 73 76 +f 73 66 76 +f 75 61 76 +f 62 75 76 +f 71 59 77 +f 60 71 77 +f 61 59 78 +f 59 71 78 +f 71 68 78 +f 60 72 79 +f 72 64 79 +f 74 60 79 +f 65 70 80 +f 69 74 80 +f 75 69 80 +f 70 75 80 +f 67 69 81 +f 76 66 81 +f 69 76 81 +f 61 78 82 +f 78 68 82 +f 60 69 83 +f 69 67 83 +f 71 60 83 +f 67 71 83 +f 57 63 84 +f 66 57 84 +f 63 67 84 +f 67 81 84 +f 64 65 85 +f 80 56 85 +f 65 80 85 +f 58 66 86 +f 66 61 86 +f 82 58 86 +f 61 82 86 +f 59 72 87 +f 72 60 87 +f 77 59 87 +f 60 77 87 +f 56 79 88 +f 79 64 88 +f 64 85 88 +f 85 56 88 +f 68 58 89 +f 58 82 89 +f 82 68 89 +f 79 56 90 +f 74 79 90 +f 56 80 90 +f 80 74 90 +f 81 66 91 +f 66 84 91 +f 84 81 91 +f 65 61 92 +f 70 65 92 +f 61 75 92 +o convex_3 +v -2.635253 -0.926461 -0.998738 +v -2.774104 1.190799 1.083554 +v -1.906528 1.190799 1.013828 +v -2.947619 1.225557 -1.068464 +v -1.073423 1.190799 -1.033496 +v -1.073423 -0.891703 1.048796 +v -3.051806 -0.822188 1.083554 +v -1.073423 -0.787431 -1.068464 +v -1.073423 1.190799 0.944524 +v -2.982284 -0.926461 -0.859919 +v -3.051806 1.190799 1.083554 +v -1.316460 -0.926461 0.736189 +v -3.017142 1.225557 -0.131064 +v -1.767677 1.225557 -0.894676 +v -1.142945 -0.822188 -1.068464 +v -3.051806 -0.405519 0.701642 +v -2.947619 -0.926461 -0.964191 +v -2.947619 -0.926461 -0.478218 +v -2.982284 1.225557 -0.929434 +v -2.427074 -0.822188 1.083554 +v -2.079850 1.225557 -0.027002 +v -1.733013 -0.891703 1.048796 +v -3.051806 1.190799 0.666885 +v -1.073423 -0.891703 0.354488 +v -1.073423 -0.475034 -1.068464 +v -2.843433 1.225557 0.180701 +v -2.947619 1.121284 -1.068464 +v -2.565925 -0.926461 -0.998738 +v -1.247132 -0.822188 -1.068464 +v -1.073423 -0.822188 1.048796 +v -2.947619 -0.544549 -0.998738 +v -3.051806 -0.822188 0.736189 +v -2.808769 1.225557 -1.068464 +v -2.982284 0.461734 -0.929434 +f 119 123 126 +f 97 98 100 +f 98 97 101 +f 99 94 103 +f 102 93 104 +f 101 97 106 +f 96 105 106 +f 96 100 107 +f 99 103 108 +f 93 102 109 +f 99 102 110 +f 102 104 110 +f 105 96 111 +f 99 98 112 +f 94 99 112 +f 101 106 113 +f 106 105 113 +f 98 99 114 +f 104 98 114 +f 99 110 114 +f 110 104 114 +f 103 105 115 +f 108 103 115 +f 100 98 116 +f 98 104 116 +f 107 100 116 +f 100 96 117 +f 97 100 117 +f 94 95 118 +f 95 101 118 +f 103 94 118 +f 105 103 118 +f 101 113 118 +f 113 105 118 +f 96 107 119 +f 111 96 119 +f 104 93 120 +f 93 107 120 +f 116 104 120 +f 107 116 120 +f 107 93 121 +f 93 119 121 +f 119 107 121 +f 95 94 122 +f 101 95 122 +f 98 101 122 +f 94 112 122 +f 112 98 122 +f 93 109 123 +f 109 102 123 +f 119 93 123 +f 102 99 124 +f 99 108 124 +f 108 102 124 +f 96 106 125 +f 106 97 125 +f 117 96 125 +f 97 117 125 +f 102 108 126 +f 105 111 126 +f 115 105 126 +f 108 115 126 +f 111 119 126 +f 123 102 126 +o convex_4 +v -1.073406 -0.787512 -1.068284 +v 3.091773 1.294977 -0.894690 +v 3.056710 1.190602 0.562772 +v 3.056710 -0.891669 -0.964042 +v -1.073406 -0.926461 1.048664 +v -1.003687 1.294977 0.909960 +v 3.056710 -0.891669 0.944422 +v -1.073406 1.190820 -1.033608 +v 3.022054 1.121237 0.979312 +v 0.939873 1.294977 -1.103174 +v -0.795347 -0.926461 -1.068284 +v 0.974936 -0.926461 1.083554 +v 0.939873 1.294977 0.979312 +v 2.987399 1.259968 -1.033608 +v 3.056710 -0.822086 -0.998718 +v -0.934376 1.294977 -0.998932 +v -1.073406 1.051871 0.944422 +v 1.390801 -0.440467 1.083554 +v 1.356146 1.086663 -1.103174 +v 0.072263 0.287980 -1.103174 +v 0.974936 -0.926461 -0.964256 +v 0.072263 -0.822304 1.083554 +v 3.056710 1.156028 0.944422 +v -1.038343 -0.926461 -1.068284 +v 3.091773 0.774192 -0.998718 +v 2.779058 -0.822086 0.979312 +v 0.905217 -0.440467 1.083554 +v -0.622070 1.294977 0.944422 +v 0.696877 1.294977 -1.103174 +v -1.073406 1.190820 0.909960 +v 1.321083 -0.891669 1.083554 +v 3.091773 0.982288 -0.721096 +v -1.073406 -0.405675 -1.068284 +v 3.091773 1.294977 -0.998718 +v -1.073406 -0.822304 1.048664 +v 0.210885 0.322989 -1.103174 +v 3.022054 0.912923 0.979312 +f 144 152 163 +f 127 131 134 +f 132 128 136 +f 130 133 138 +f 131 137 138 +f 129 128 139 +f 128 132 139 +f 130 137 141 +f 134 132 142 +f 132 136 142 +f 134 131 143 +f 135 139 144 +f 136 140 145 +f 140 141 145 +f 136 145 146 +f 137 130 147 +f 130 138 147 +f 138 137 147 +f 131 138 148 +f 138 144 148 +f 128 129 149 +f 135 133 149 +f 129 139 149 +f 139 135 149 +f 131 127 150 +f 137 131 150 +f 127 146 150 +f 146 137 150 +f 133 130 151 +f 141 140 151 +f 130 141 151 +f 144 139 153 +f 148 144 153 +f 148 153 154 +f 139 132 154 +f 132 143 154 +f 143 148 154 +f 153 139 154 +f 134 142 155 +f 142 136 155 +f 146 134 155 +f 136 146 155 +f 132 134 156 +f 134 143 156 +f 143 132 156 +f 138 133 157 +f 144 138 157 +f 133 152 157 +f 152 144 157 +f 128 149 158 +f 149 133 158 +f 151 128 158 +f 133 151 158 +f 127 134 159 +f 146 127 159 +f 134 146 159 +f 136 128 160 +f 140 136 160 +f 128 151 160 +f 151 140 160 +f 143 131 161 +f 131 148 161 +f 148 143 161 +f 141 137 162 +f 145 141 162 +f 146 145 162 +f 137 146 162 +f 133 135 163 +f 135 144 163 +f 152 133 163 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/866/866.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/866/866.urdf new file mode 100644 index 000000000..c7eb504c9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/866/866.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/867/867.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/867/867.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/867/867.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/867/867.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/867/867.obj new file mode 100644 index 000000000..b6166eba9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/867/867.obj @@ -0,0 +1,615 @@ +o convex_0 +v 0.006354 -4.629308 -1.008440 +v 0.040174 -0.937713 1.057895 +v 0.480440 -0.937713 0.922377 +v 0.040174 -4.934886 1.023914 +v -1.009858 -0.937713 -0.025839 +v 0.751603 -0.937713 -0.703425 +v 0.988546 -4.900846 0.143052 +v -0.874178 -4.934886 0.481845 +v -0.738696 -0.937713 -0.737406 +v -0.738696 -4.900846 -0.771184 +v -0.772716 -0.937713 0.820638 +v 0.785423 -4.900846 -0.771184 +v 0.988546 -0.937713 0.143052 +v 0.785423 -4.900846 0.752880 +v 0.073995 -0.937713 -0.940480 +v -0.806536 -4.663739 0.820638 +v -1.009858 -4.900846 -0.025839 +v 0.751603 -0.937713 0.820638 +v 1.022566 -2.564206 0.007939 +v -0.129128 -3.952418 1.057895 +v -1.009858 -1.547697 0.143052 +v -0.095108 -4.900846 -1.008440 +v 0.649942 -4.460281 0.854619 +v 0.141835 -4.799117 -1.008440 +v -0.095108 -0.937713 -0.940480 +v 0.988546 -4.900846 -0.127578 +v 1.022566 -2.631504 0.109274 +v 0.040174 -4.392592 1.057895 +v -1.009858 -4.426632 0.143052 +v -0.840357 -2.597855 -0.534130 +v -0.061288 -0.937713 1.057895 +v 0.988546 -0.937713 -0.025839 +v -0.806536 -2.564206 0.820638 +v -0.671055 -4.934886 -0.229115 +v -0.738696 -4.934886 0.786860 +v -0.095108 -4.731428 1.057895 +v 0.548281 -4.833158 -0.872721 +v 0.785423 -2.360748 -0.703425 +v -0.772716 -0.937713 -0.703425 +v 0.819244 -2.530166 0.685121 +v 0.311138 -4.934886 0.617362 +v -0.908197 -3.714919 0.515826 +v 0.717583 -4.900846 0.820638 +v -0.908197 -0.937713 0.448067 +v -1.009858 -2.191720 -0.059819 +v -0.671055 -4.833158 -0.804962 +v -0.738696 -3.680879 0.854417 +v 0.785423 -0.937713 0.752880 +v 0.683762 -2.225369 0.854417 +v 0.751603 -3.884337 0.820638 +v -0.806536 -4.900846 -0.601889 +v -1.009858 -3.308394 -0.059819 +v 0.277317 -0.937713 -0.872721 +v -0.908197 -4.934886 -0.059819 +v -0.874178 -0.937713 -0.432391 +v 1.022566 -3.308785 0.041515 +v -0.535374 -0.937713 -0.804962 +v 0.141835 -4.900846 -1.008440 +v -1.009858 -0.937713 0.109274 +v -0.095108 -4.934886 1.023914 +v -1.009858 -4.799117 0.075293 +v 0.006354 -4.799117 1.057895 +v 0.717583 -4.765077 -0.804962 +v -0.806536 -1.480008 0.786860 +f 44 33 64 +f 2 3 5 +f 5 3 6 +f 5 6 9 +f 2 5 11 +f 6 3 13 +f 9 6 15 +f 13 3 18 +f 5 17 21 +f 1 15 24 +f 22 1 24 +f 15 1 25 +f 9 15 25 +f 1 22 25 +f 12 19 26 +f 14 7 27 +f 19 13 27 +f 3 2 28 +f 2 20 28 +f 21 17 29 +f 2 11 31 +f 20 2 31 +f 6 13 32 +f 13 19 32 +f 4 8 34 +f 10 22 34 +f 8 4 35 +f 16 8 35 +f 20 16 36 +f 28 20 36 +f 12 6 38 +f 19 12 38 +f 6 32 38 +f 32 19 38 +f 5 9 39 +f 9 10 39 +f 10 30 39 +f 14 27 40 +f 14 4 41 +f 7 14 41 +f 26 7 41 +f 12 26 41 +f 4 34 41 +f 34 12 41 +f 29 16 42 +f 21 29 42 +f 16 33 42 +f 33 21 42 +f 4 14 43 +f 23 28 43 +f 11 5 44 +f 21 33 44 +f 17 5 45 +f 10 9 46 +f 22 10 46 +f 9 22 46 +f 16 20 47 +f 31 11 47 +f 20 31 47 +f 11 33 47 +f 33 16 47 +f 13 18 48 +f 27 13 48 +f 18 40 48 +f 40 27 48 +f 18 3 49 +f 3 28 49 +f 28 23 49 +f 14 40 50 +f 40 18 50 +f 43 14 50 +f 23 43 50 +f 18 49 50 +f 49 23 50 +f 30 10 51 +f 17 45 52 +f 45 30 52 +f 30 51 52 +f 51 17 52 +f 15 6 53 +f 24 15 53 +f 6 37 53 +f 37 24 53 +f 8 17 54 +f 34 8 54 +f 10 34 54 +f 51 10 54 +f 17 51 54 +f 5 39 55 +f 39 30 55 +f 45 5 55 +f 30 45 55 +f 7 26 56 +f 26 19 56 +f 19 27 56 +f 27 7 56 +f 22 9 57 +f 9 25 57 +f 25 22 57 +f 22 24 58 +f 12 34 58 +f 34 22 58 +f 37 12 58 +f 24 37 58 +f 5 21 59 +f 44 5 59 +f 21 44 59 +f 35 4 60 +f 16 35 60 +f 36 16 60 +f 8 16 61 +f 17 8 61 +f 16 29 61 +f 29 17 61 +f 28 36 62 +f 4 43 62 +f 43 28 62 +f 60 4 62 +f 36 60 62 +f 6 12 63 +f 37 6 63 +f 12 37 63 +f 33 11 64 +f 11 44 64 +o convex_1 +v -0.908038 0.247750 -0.669419 +v 0.988728 -0.158666 0.210970 +v 0.988728 -0.768219 0.210970 +v -0.806509 0.484814 1.023636 +v -0.941881 -0.937571 0.346414 +v 0.006306 -0.903643 -0.974414 +v 0.785280 0.518741 -0.906446 +v 0.819123 0.518741 1.023881 +v 0.040149 -0.937571 1.057742 +v -0.535571 0.518741 -1.042136 +v 0.751437 -0.937571 -0.703280 +v -0.772667 -0.937571 -0.703280 +v 0.751437 -0.937571 0.820715 +v 0.040149 0.518741 1.295015 +v -1.009763 0.518741 0.176863 +v -0.772667 -0.937571 0.820469 +v 0.006306 0.484814 -1.211687 +v -1.009763 -0.903643 -0.059674 +v 0.988728 0.518741 -0.026058 +v 0.988728 -0.937571 -0.026058 +v -0.840352 0.518741 -0.906446 +v -0.908038 0.518741 0.854330 +v -0.061184 0.450887 1.295015 +v -0.772667 -0.903643 -0.737141 +v 0.853161 0.383174 -0.737141 +v 0.887004 0.450887 0.854576 +v -1.009763 -0.768219 0.176863 +v -1.009763 0.518741 -0.093535 +v -0.061184 -0.937571 1.057742 +v 0.785280 -0.497227 0.888437 +v -0.061184 0.315462 -1.177335 +v 0.040149 0.450887 1.295015 +v -0.230594 -0.937571 -0.906446 +v -0.806509 0.417102 -0.940307 +v 0.785280 0.417102 -0.906446 +v -0.840352 0.112325 0.956159 +v 0.988728 0.518741 0.143002 +v 0.480498 -0.937571 0.922298 +v -0.027341 0.518741 -1.211687 +v -0.874195 0.484814 -0.838969 +v 0.819123 0.450887 1.023881 +v -0.806509 -0.869716 0.786608 +v 0.988728 -0.937571 0.143002 +v 0.988728 -0.260163 -0.059674 +v 0.785280 -0.327875 -0.771002 +v 0.040149 -0.869716 -0.974414 +v 0.785280 -0.768219 0.820715 +f 77 107 111 +f 72 71 74 +f 73 69 75 +f 75 69 76 +f 73 75 77 +f 72 74 78 +f 78 74 79 +f 69 73 80 +f 76 69 82 +f 66 67 83 +f 71 72 83 +f 77 75 84 +f 83 67 84 +f 79 74 85 +f 68 78 86 +f 78 79 86 +f 78 68 87 +f 76 82 88 +f 71 83 89 +f 67 66 90 +f 82 69 91 +f 79 82 91 +f 86 79 91 +f 69 86 91 +f 65 82 92 +f 82 79 92 +f 79 85 92 +f 80 73 93 +f 73 87 93 +f 87 80 93 +f 81 70 95 +f 72 78 96 +f 78 87 96 +f 87 73 96 +f 70 75 97 +f 75 76 97 +f 76 88 97 +f 95 70 97 +f 88 95 97 +f 85 74 98 +f 88 85 98 +f 95 88 98 +f 81 71 99 +f 75 81 99 +f 71 89 99 +f 68 86 100 +f 86 69 100 +f 87 68 100 +f 80 87 100 +f 66 83 101 +f 83 72 101 +f 90 66 101 +f 72 90 101 +f 73 77 102 +f 77 94 102 +f 96 73 102 +f 94 96 102 +f 74 71 103 +f 71 81 103 +f 81 95 103 +f 98 74 103 +f 95 98 103 +f 82 65 104 +f 88 82 104 +f 85 88 104 +f 65 92 104 +f 92 85 104 +f 90 72 105 +f 94 90 105 +f 72 96 105 +f 96 94 105 +f 69 80 106 +f 100 69 106 +f 80 100 106 +f 84 67 107 +f 77 84 107 +f 83 84 108 +f 89 83 108 +f 84 89 108 +f 84 75 109 +f 89 84 109 +f 75 99 109 +f 99 89 109 +f 75 70 110 +f 70 81 110 +f 81 75 110 +f 67 90 111 +f 94 77 111 +f 90 94 111 +f 107 67 111 +o convex_2 +v -1.009858 0.925376 0.176499 +v 0.988728 0.925376 0.142757 +v 0.988728 0.518924 0.142757 +v -0.061234 0.891439 -1.787550 +v -0.874285 0.518924 0.955721 +v 0.006064 0.925376 1.803131 +v -0.840440 0.518924 -0.940493 +v 0.819310 0.518924 -0.872658 +v 0.819310 0.518924 1.023908 +v -0.840440 0.925376 -1.143295 +v 0.819310 0.925376 -1.007976 +v -0.874285 0.925376 1.125133 +v 0.853154 0.925376 1.057650 +v -0.095274 0.518924 1.294545 +v 0.006064 0.518924 -1.245223 +v -1.009858 0.518924 -0.093787 +v 0.006064 0.925376 -1.787550 +v -0.061234 0.891439 1.803131 +v -1.009858 0.518924 0.176499 +v 0.988728 0.518924 -0.025952 +v -1.009858 0.925376 -0.093787 +v 0.073948 0.518924 1.294545 +v 0.683736 0.891439 -1.177388 +v 0.006064 0.891439 -1.787550 +v -0.806400 0.518924 1.023908 +v 0.886999 0.518924 0.854145 +v 0.988728 0.925376 -0.025952 +v 0.006064 0.857581 1.769037 +v 0.107793 0.891439 1.735296 +v -0.806400 0.891439 1.192968 +v -0.061234 0.518924 -1.245223 +v 0.853154 0.789826 1.057650 +v 0.785465 0.518924 -0.906751 +v -0.840440 0.891439 -1.143295 +f 127 121 145 +f 113 112 117 +f 114 116 118 +f 114 118 119 +f 116 114 120 +f 112 113 121 +f 121 113 122 +f 117 112 123 +f 113 117 124 +f 116 120 125 +f 119 118 126 +f 118 116 127 +f 115 121 128 +f 121 122 128 +f 117 123 129 +f 123 112 130 +f 116 123 130 +f 112 127 130 +f 127 116 130 +f 113 114 131 +f 114 119 131 +f 119 122 131 +f 112 121 132 +f 127 112 132 +f 121 127 132 +f 125 120 133 +f 122 119 134 +f 128 122 134 +f 128 134 135 +f 126 115 135 +f 115 128 135 +f 116 125 136 +f 125 129 136 +f 114 113 137 +f 120 114 137 +f 113 124 137 +f 122 113 138 +f 113 131 138 +f 131 122 138 +f 117 129 139 +f 129 125 139 +f 133 120 139 +f 125 133 139 +f 124 117 140 +f 117 139 140 +f 139 120 140 +f 123 116 141 +f 129 123 141 +f 116 136 141 +f 136 129 141 +f 118 115 142 +f 115 126 142 +f 126 118 142 +f 120 137 143 +f 137 124 143 +f 124 140 143 +f 140 120 143 +f 119 126 144 +f 134 119 144 +f 135 134 144 +f 126 135 144 +f 115 118 145 +f 121 115 145 +f 118 127 145 +o convex_3 +v 0.006367 2.381781 2.920653 +v -0.061315 0.925595 -1.820904 +v 0.006367 0.925595 -1.820904 +v 0.006367 3.127162 -2.092052 +v -1.077375 2.991479 0.007873 +v 1.056268 3.161083 0.108820 +v 0.040208 0.925595 1.836650 +v 0.988586 0.925595 -0.025580 +v 0.819173 2.043230 -2.735293 +v -1.009693 0.925595 0.210940 +v -0.772599 2.043230 -2.701253 +v 0.819173 2.043230 2.649505 +v -0.806440 2.076931 2.716999 +v -0.027474 3.093242 2.039717 +v -0.061315 1.331988 2.785079 +v 0.616128 2.686630 -2.633759 +v 0.006367 1.298067 -2.735880 +v -0.840280 0.925595 -1.177076 +v -1.009693 2.043230 -2.058012 +v -0.772599 2.856015 -2.058012 +v 0.751492 2.822313 2.107798 +v 0.853014 0.925595 1.125329 +v -0.806440 2.856015 2.005677 +v 1.022427 2.043230 2.039717 +v -1.043534 2.110633 2.073757 +v 0.040208 2.788392 -2.837414 +v -0.874330 0.925595 1.158782 +v 1.022427 2.110633 -2.058012 +v 0.785333 0.925595 -1.177076 +v -0.874121 3.127162 -0.567288 +v 0.819173 2.889936 -2.092052 +v -0.027474 2.856015 2.717586 +v 0.006367 2.009747 -3.007027 +v 0.717651 1.365908 2.208744 +v -0.738758 1.366127 2.208744 +v -0.637235 1.433750 -2.396652 +v 0.548238 1.467452 -2.566266 +v -1.043534 3.093023 0.075366 +v 0.751492 2.110633 2.784492 +v -0.027474 1.975826 2.988733 +v -1.043534 1.298067 0.007873 +v 0.819173 3.161083 -0.804395 +v 0.887064 3.161083 0.583034 +v -0.738758 2.178475 -2.735293 +v 0.006367 2.856015 -2.803373 +v -0.603395 2.618788 2.581425 +v 1.056268 2.788392 -0.025580 +v 0.548238 1.501373 2.616052 +v -0.095156 3.161083 -0.703449 +v 0.751492 1.264146 -1.956478 +v -1.077375 2.347860 0.007873 +v 1.022427 2.009747 -2.023971 +v 0.514397 2.686630 2.582012 +v -0.772599 1.264365 -1.955891 +v 0.751492 2.043230 -2.802786 +v -1.009693 0.925595 -0.127114 +v 1.056268 3.161083 -0.127114 +v -0.772599 2.178475 2.751039 +v -1.043534 2.009528 2.039717 +v -0.467822 2.686630 -2.633759 +v -0.637235 1.603135 2.615465 +v -1.043534 3.093023 -0.160567 +v 0.006367 1.331988 2.785079 +v 1.022427 2.144554 2.005677 +f 166 184 209 +f 147 148 152 +f 152 148 153 +f 147 152 155 +f 148 147 162 +f 147 155 163 +f 162 147 163 +f 152 153 167 +f 167 153 169 +f 155 152 172 +f 152 160 172 +f 153 148 174 +f 148 162 174 +f 149 165 175 +f 154 161 176 +f 173 154 176 +f 166 159 177 +f 159 168 177 +f 162 156 178 +f 169 157 179 +f 167 169 179 +f 172 160 180 +f 156 162 181 +f 168 159 183 +f 150 170 183 +f 170 168 183 +f 159 175 183 +f 177 146 184 +f 158 160 185 +f 184 146 185 +f 176 149 187 +f 166 151 188 +f 159 166 188 +f 151 187 188 +f 156 164 189 +f 164 165 189 +f 178 156 189 +f 171 178 189 +f 165 149 190 +f 161 171 190 +f 149 176 190 +f 176 161 190 +f 171 189 190 +f 177 168 191 +f 151 169 192 +f 169 153 192 +f 179 157 193 +f 157 184 193 +f 149 175 194 +f 175 159 194 +f 187 149 194 +f 159 188 194 +f 188 187 194 +f 174 162 195 +f 182 154 195 +f 162 182 195 +f 150 164 196 +f 170 150 196 +f 164 186 196 +f 154 173 197 +f 153 174 197 +f 192 153 197 +f 173 192 197 +f 195 154 197 +f 174 195 197 +f 166 177 198 +f 184 166 198 +f 177 184 198 +f 162 163 199 +f 163 164 199 +f 164 156 199 +f 156 181 199 +f 181 162 199 +f 161 154 200 +f 171 161 200 +f 162 178 200 +f 178 171 200 +f 154 182 200 +f 182 162 200 +f 163 155 201 +f 164 163 201 +f 155 186 201 +f 186 164 201 +f 173 176 202 +f 187 151 202 +f 176 187 202 +f 151 192 202 +f 192 173 202 +f 170 158 203 +f 168 170 203 +f 146 177 203 +f 185 146 203 +f 158 185 203 +f 191 168 203 +f 177 191 203 +f 158 170 204 +f 155 172 204 +f 180 158 204 +f 172 180 204 +f 186 155 204 +f 170 196 204 +f 196 186 204 +f 189 165 205 +f 165 190 205 +f 190 189 205 +f 160 158 206 +f 158 180 206 +f 180 160 206 +f 164 150 207 +f 165 164 207 +f 175 165 207 +f 150 183 207 +f 183 175 207 +f 160 152 208 +f 152 167 208 +f 167 179 208 +f 185 160 208 +f 184 185 208 +f 179 193 208 +f 193 184 208 +f 151 166 209 +f 169 151 209 +f 157 169 209 +f 184 157 209 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/867/867.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/867/867.urdf new file mode 100644 index 000000000..2ed563a39 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/867/867.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/868/868.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/868/868.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/868/868.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/868/868.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/868/868.obj new file mode 100644 index 000000000..d2fa0fac4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/868/868.obj @@ -0,0 +1,567 @@ +o convex_0 +v 0.601422 -3.942440 0.672263 +v -1.497812 0.417081 -0.974589 +v -1.497812 0.417081 -0.942249 +v 0.666023 0.546711 1.027589 +v -1.400804 -3.748215 0.930568 +v 0.504414 -3.813250 -0.974589 +v 0.601422 0.546711 -0.942249 +v -1.465405 0.546711 0.995249 +v -1.336202 -3.942440 -0.909908 +v 0.666023 -3.231892 0.995249 +v -1.045601 0.546711 -1.071610 +v 0.181406 -0.680599 1.059929 +v 0.407617 -3.942440 0.962909 +v -1.368609 -3.683619 -0.942249 +v 0.601422 -0.260949 -0.974589 +v -1.433210 -2.746768 0.962909 +v -0.884203 -3.813250 0.962909 +v 0.633617 -3.909923 0.510770 +v -1.400804 -3.812810 0.220125 +v -1.465405 0.546711 -1.006929 +v -0.141390 0.546711 1.059929 +v 0.536820 -3.360643 -0.974589 +v -0.109196 -3.845327 -0.974589 +v -0.980999 0.191217 -1.071610 +v 0.666023 0.546711 0.769075 +v 0.601422 -3.586946 0.995249 +v -0.851796 0.546711 -1.071610 +v -1.465405 -0.035086 0.995249 +v -1.400804 -3.780293 0.898228 +v 0.633617 -3.942440 0.962909 +v 0.407617 0.482116 1.059929 +v 0.213812 -3.845327 -0.974589 +v -1.400804 -3.134779 0.962909 +v 0.666023 -3.425239 0.930568 +v -1.433210 -0.616443 0.995249 +v 0.569015 0.546711 -0.974589 +v -1.368609 -3.909923 -0.877568 +v -1.336202 -3.942440 -0.813096 +v -1.433210 -2.876399 0.865888 +v -1.336202 -3.813250 -0.942249 +v -1.142397 -3.942440 -0.845228 +v 0.536820 -3.813250 -0.845228 +f 22 15 42 +f 2 3 8 +f 4 7 8 +f 8 7 11 +f 9 1 13 +f 2 8 20 +f 8 11 20 +f 14 2 20 +f 11 14 20 +f 4 8 21 +f 14 11 24 +f 7 4 25 +f 4 10 25 +f 15 7 25 +f 12 17 26 +f 17 13 26 +f 11 7 27 +f 22 6 27 +f 15 22 27 +f 24 11 27 +f 6 24 27 +f 8 3 28 +f 21 8 28 +f 17 5 29 +f 13 17 29 +f 13 1 30 +f 1 18 30 +f 10 26 30 +f 26 13 30 +f 10 4 31 +f 4 21 31 +f 21 12 31 +f 26 10 31 +f 12 26 31 +f 6 1 32 +f 9 23 32 +f 23 24 32 +f 24 6 32 +f 16 5 33 +f 5 17 33 +f 17 12 33 +f 18 15 34 +f 25 10 34 +f 15 25 34 +f 30 18 34 +f 10 30 34 +f 12 21 35 +f 28 16 35 +f 21 28 35 +f 16 33 35 +f 33 12 35 +f 7 15 36 +f 27 7 36 +f 15 27 36 +f 2 14 37 +f 14 9 37 +f 19 2 37 +f 29 19 37 +f 29 37 38 +f 9 13 38 +f 13 29 38 +f 37 9 38 +f 3 2 39 +f 5 16 39 +f 2 19 39 +f 28 3 39 +f 16 28 39 +f 29 5 39 +f 19 29 39 +f 9 14 40 +f 23 9 40 +f 14 24 40 +f 24 23 40 +f 1 9 41 +f 32 1 41 +f 9 32 41 +f 1 6 42 +f 18 1 42 +f 15 18 42 +f 6 22 42 +o convex_1 +v -2.305422 0.611407 -0.231799 +v -1.530304 1.773961 0.510859 +v -1.530304 1.483293 0.543167 +v -3.532283 1.612427 0.543167 +v -1.530304 1.709277 -0.457960 +v -1.530304 0.643691 0.607785 +v -3.435467 0.675974 -0.522577 +v -3.467608 0.675974 0.543167 +v -3.370792 1.612427 -0.457960 +v -1.530304 0.579007 -0.522577 +v -3.435467 0.934358 -0.522577 +v -1.756469 1.773961 0.413933 +v -1.562445 1.741561 -0.425651 +v -1.982439 0.643691 0.607785 +v -3.370792 1.644593 0.543167 +v -1.530304 0.869675 0.607785 +v -3.080147 1.644593 -0.457960 +v -3.176964 0.675974 0.575476 +v -1.562445 0.579007 -0.328614 +v -3.467608 0.675974 -0.167181 +v -3.532283 1.612427 0.413933 +v -2.854177 0.966642 -0.522577 +v -3.499946 0.869792 0.543167 +f 63 62 65 +f 44 45 47 +f 47 45 48 +f 47 48 52 +f 43 49 52 +f 52 49 53 +f 44 47 55 +f 54 44 55 +f 45 44 57 +f 44 54 57 +f 48 45 58 +f 46 56 58 +f 56 48 58 +f 45 57 58 +f 57 46 58 +f 53 51 59 +f 54 55 59 +f 55 47 59 +f 51 57 59 +f 57 54 59 +f 56 46 60 +f 50 56 60 +f 50 43 61 +f 52 48 61 +f 43 52 61 +f 48 56 61 +f 56 50 61 +f 49 43 62 +f 43 50 62 +f 53 49 63 +f 51 53 63 +f 46 57 63 +f 57 51 63 +f 49 62 63 +f 47 52 64 +f 52 53 64 +f 53 59 64 +f 59 47 64 +f 60 46 65 +f 50 60 65 +f 62 50 65 +f 46 63 65 +o convex_2 +v 0.730976 1.612354 0.607785 +v 2.571352 1.773961 -0.264133 +v 2.571352 1.773961 -0.457928 +v 2.603616 0.643738 -0.425575 +v 0.730976 0.708267 -0.490281 +v 2.603616 0.708267 0.543186 +v 0.730976 0.611303 0.607785 +v 0.730976 1.741640 -0.457928 +v 2.474372 1.773961 0.543186 +v 2.635880 1.354011 0.317038 +v 0.827769 0.675946 -0.490281 +v 0.859847 1.644676 0.607785 +v 2.312864 0.675946 -0.457928 +v 1.150599 1.418654 0.607785 +v 2.635880 1.418654 -0.296378 +v 1.118335 0.611303 0.575432 +v 0.730976 0.611303 0.349391 +v 2.119277 1.773961 0.381637 +v 2.635880 0.837553 0.220087 +v 0.730976 1.741640 -0.328731 +v 2.539087 1.676997 0.510833 +v 2.054562 1.773961 -0.457928 +f 85 83 87 +f 66 70 72 +f 70 66 73 +f 67 68 74 +f 70 68 76 +f 66 72 77 +f 68 69 78 +f 76 68 78 +f 69 76 78 +f 72 71 79 +f 71 74 79 +f 77 72 79 +f 74 77 79 +f 68 67 80 +f 69 68 80 +f 67 75 80 +f 69 71 81 +f 71 72 81 +f 81 72 82 +f 72 70 82 +f 76 69 82 +f 70 76 82 +f 69 81 82 +f 74 68 83 +f 77 74 83 +f 71 69 84 +f 75 71 84 +f 69 80 84 +f 80 75 84 +f 73 66 85 +f 66 77 85 +f 77 83 85 +f 67 74 86 +f 74 71 86 +f 75 67 86 +f 71 75 86 +f 68 70 87 +f 70 73 87 +f 83 68 87 +f 73 85 87 +o convex_3 +v 3.217766 0.966661 0.349416 +v 6.446660 1.160304 -0.296505 +v 6.446660 1.418648 -0.296505 +v 2.636478 1.257155 -0.296441 +v 6.091406 1.386383 0.252490 +v 2.636478 1.354062 0.317108 +v 6.543870 0.902018 0.058701 +v 2.636478 0.902018 -0.167207 +v 2.636478 1.418704 -0.296441 +v 2.636478 0.837376 0.349416 +v 6.543870 0.902018 0.220182 +v 6.672694 0.998925 -0.296505 +v 6.672694 1.386383 0.220182 +v 3.153354 0.934340 -0.231887 +v 6.640686 1.418648 -0.070344 +v 3.056538 1.418704 -0.134961 +v 3.766650 0.837376 0.284799 +v 5.897380 0.869697 0.252490 +v 6.640686 0.966604 -0.231887 +v 6.285037 1.289419 0.252490 +v 6.608282 1.418648 -0.296505 +v 4.961234 1.386383 0.252490 +v 6.059002 0.869697 0.187936 +f 105 104 110 +f 90 89 91 +f 88 92 93 +f 93 91 95 +f 90 91 96 +f 91 93 96 +f 88 93 97 +f 93 95 97 +f 89 90 99 +f 91 89 99 +f 98 99 100 +f 95 91 101 +f 91 99 101 +f 100 99 102 +f 92 100 102 +f 96 93 103 +f 97 95 104 +f 88 97 105 +f 97 104 105 +f 94 95 106 +f 98 94 106 +f 99 98 106 +f 95 101 106 +f 101 99 106 +f 92 88 107 +f 98 100 107 +f 100 92 107 +f 88 105 107 +f 105 98 107 +f 90 96 108 +f 99 90 108 +f 102 99 108 +f 96 103 108 +f 103 102 108 +f 93 92 109 +f 92 102 109 +f 103 93 109 +f 102 103 109 +f 95 94 110 +f 94 98 110 +f 104 95 110 +f 98 105 110 +o convex_4 +v -0.528766 1.257076 3.062117 +v 0.020039 0.579007 2.383966 +v -0.109195 0.611407 1.802808 +v 0.181583 1.676994 1.060129 +v -0.884051 0.675974 1.060129 +v -0.916360 1.773961 1.286378 +v 0.181583 1.773961 2.965324 +v -0.948779 0.579007 3.094581 +v -0.884051 1.773961 3.029853 +v 0.084657 0.579007 3.029654 +v 0.052348 0.675974 1.060129 +v -0.916360 1.741561 1.060129 +v 0.116965 0.708375 3.029654 +v -0.948779 1.063492 3.094581 +v -0.948779 0.611407 2.480561 +v 0.181583 1.547860 1.060129 +v 0.181583 1.773961 2.513024 +v 0.020039 0.611407 3.062117 +v -0.916360 1.612427 3.062117 +v 0.052348 0.643691 1.124657 +v -0.464259 1.741561 1.060129 +v -0.916360 0.579007 2.835868 +v 0.181583 1.580144 2.965324 +v 0.084657 0.611407 2.061123 +v -0.044578 1.773961 2.997588 +f 119 129 135 +f 117 116 119 +f 118 112 120 +f 115 114 121 +f 114 115 122 +f 116 122 124 +f 122 115 125 +f 124 122 125 +f 118 124 125 +f 114 117 126 +f 121 114 126 +f 117 114 127 +f 116 117 127 +f 118 120 128 +f 123 117 128 +f 120 123 128 +f 111 124 128 +f 124 118 128 +f 119 116 129 +f 124 111 129 +f 116 124 129 +f 112 113 130 +f 115 121 130 +f 121 126 130 +f 114 122 131 +f 122 116 131 +f 127 114 131 +f 116 127 131 +f 113 112 132 +f 112 118 132 +f 125 115 132 +f 118 125 132 +f 130 113 132 +f 115 130 132 +f 117 123 133 +f 126 117 133 +f 123 126 133 +f 120 112 134 +f 123 120 134 +f 126 123 134 +f 112 130 134 +f 130 126 134 +f 117 119 135 +f 111 128 135 +f 128 117 135 +f 129 111 135 +o convex_5 +v -0.981075 1.095839 -1.071610 +v 0.181583 1.741608 -2.815439 +v 0.181583 1.644657 -2.815439 +v -0.916318 1.644764 -3.041625 +v 0.052297 0.740601 -3.073965 +v 0.052297 1.773854 -1.071610 +v 0.052297 0.740601 -1.071610 +v -0.948640 0.708248 -2.750758 +v -0.948640 1.644764 -1.071610 +v -0.981075 0.676003 -1.071610 +v 0.181583 1.741608 -3.041429 +v -0.916318 0.740601 -2.976944 +v -0.399746 1.741608 -1.879138 +v 0.116940 1.773854 -2.815439 +v 0.084619 0.902044 -1.265456 +v -0.690297 0.676003 -1.103950 +v -0.948640 1.644764 -2.331118 +v -0.851790 1.676902 -2.944604 +v -0.884111 1.676902 -1.071610 +v -0.173724 1.773854 -1.071610 +v 0.084619 0.902044 -3.073965 +v -0.981075 0.676003 -1.523786 +v 0.084619 1.773854 -1.362477 +v -0.948640 1.450861 -2.653933 +v -0.109195 0.740601 -3.073965 +v -0.916318 0.676003 -1.717828 +f 151 157 161 +f 141 136 142 +f 136 141 144 +f 142 136 145 +f 137 138 146 +f 143 139 147 +f 137 146 149 +f 138 137 150 +f 142 140 150 +f 141 142 150 +f 140 142 151 +f 142 145 151 +f 136 144 152 +f 146 139 153 +f 149 146 153 +f 148 149 153 +f 139 152 153 +f 153 152 154 +f 144 141 154 +f 152 144 154 +f 148 153 154 +f 148 154 155 +f 141 149 155 +f 149 148 155 +f 154 141 155 +f 146 138 156 +f 139 146 156 +f 138 150 156 +f 150 140 156 +f 145 136 157 +f 151 145 157 +f 137 149 158 +f 149 141 158 +f 150 137 158 +f 141 150 158 +f 139 143 159 +f 136 152 159 +f 152 139 159 +f 143 157 159 +f 157 136 159 +f 140 143 160 +f 147 139 160 +f 143 147 160 +f 139 156 160 +f 156 140 160 +f 143 140 161 +f 140 151 161 +f 157 143 161 +o convex_6 +v 0.730616 0.611540 0.607582 +v -1.207021 1.741559 -1.071610 +v -1.207021 1.838393 -1.071610 +v -1.465490 1.903062 1.027589 +v 0.665777 2.258402 1.027380 +v -1.465490 0.547040 0.995249 +v 0.569072 0.547040 -0.974589 +v 0.633690 2.096731 -0.942249 +v -1.497578 0.547040 -0.974589 +v -1.530108 2.129065 -1.006929 +v 0.407529 0.547040 1.059929 +v -1.303947 2.193733 1.027589 +v 0.052133 0.740709 -1.071610 +v 0.730616 1.741391 -0.457770 +v -1.530108 0.643707 0.607582 +v 0.730616 0.708375 -0.490110 +v 0.665777 0.547040 1.027380 +v -1.497578 2.129065 0.962909 +v 0.052133 1.773725 -1.071610 +v 0.665777 2.258402 0.672263 +v -1.045477 0.547040 -1.071610 +v -0.916464 1.741559 1.059929 +v 0.633690 2.225900 1.059929 +v -0.884155 0.676041 1.059929 +v 0.052133 2.258402 0.995249 +v 0.730616 1.612222 0.607582 +v 0.633690 2.128898 -0.813096 +v -1.530108 1.870560 0.639923 +v -1.530108 0.579206 -0.490110 +v 0.569072 2.064397 -0.974589 +v -1.497578 0.708375 -1.006929 +v 0.601381 0.547040 -0.942249 +v -1.497578 2.161399 0.090972 +v -1.271638 2.129065 -1.006929 +v -1.530108 1.483221 -1.006929 +f 192 170 196 +f 168 167 170 +f 164 163 171 +f 167 168 172 +f 163 164 174 +f 175 162 177 +f 169 175 177 +f 162 166 178 +f 172 168 178 +f 167 165 179 +f 165 173 179 +f 176 167 179 +f 174 164 180 +f 168 174 180 +f 166 175 181 +f 168 170 182 +f 163 174 182 +f 174 168 182 +f 173 165 183 +f 173 183 184 +f 166 173 184 +f 178 166 184 +f 172 178 184 +f 183 172 184 +f 165 167 185 +f 167 172 185 +f 183 165 185 +f 172 183 185 +f 173 166 186 +f 181 171 186 +f 166 181 186 +f 166 162 187 +f 162 175 187 +f 175 166 187 +f 175 169 188 +f 181 175 188 +f 171 176 189 +f 179 171 189 +f 176 179 189 +f 170 167 190 +f 167 176 190 +f 176 171 190 +f 169 168 191 +f 168 180 191 +f 163 182 192 +f 182 170 192 +f 168 169 193 +f 177 162 193 +f 169 177 193 +f 162 178 193 +f 178 168 193 +f 179 173 194 +f 171 179 194 +f 186 171 194 +f 173 186 194 +f 164 171 195 +f 180 164 195 +f 171 181 195 +f 188 169 195 +f 181 188 195 +f 169 191 195 +f 191 180 195 +f 171 163 196 +f 170 190 196 +f 190 171 196 +f 163 192 196 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/868/868.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/868/868.urdf new file mode 100644 index 000000000..6ab338534 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/868/868.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/869/869.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/869/869.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/869/869.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/869/869.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/869/869.obj new file mode 100644 index 000000000..389564e58 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/869/869.obj @@ -0,0 +1,618 @@ +o convex_0 +v -0.035142 3.931316 0.050826 +v -2.049505 -0.750591 -0.053571 +v -1.604545 -1.274038 -0.001372 +v -0.819590 1.655719 1.071118 +v 0.540644 -0.619878 -0.263173 +v -1.657028 3.513034 -0.733968 +v -0.715386 1.447172 -0.995768 +v -1.499834 3.748317 0.312221 +v -0.035142 -0.541450 0.756918 +v 0.095684 3.460155 0.757120 +v -1.657028 -0.802877 0.783017 +v -1.526202 -0.646021 -0.681770 +v -0.244311 3.303298 -0.603068 +v 0.017340 -0.829614 -0.760067 +v -0.819590 4.638355 -0.001372 +v -0.087371 -1.326324 0.050826 +v -0.819590 3.879625 0.809116 +v -1.578431 1.759695 0.861516 +v 0.540644 -0.567593 0.312221 +v -2.049505 0.086567 0.233722 +v -0.793476 3.879625 -0.760269 +v -0.061257 1.707410 -0.838769 +v -0.009028 1.290316 0.966317 +v -1.526202 1.290316 -0.917066 +v -2.049505 -0.201596 -0.419969 +v -1.578431 3.983601 0.102822 +v 0.540644 -0.175454 -0.236871 +v -0.035142 3.931316 -0.079872 +v -2.049505 -0.593736 0.416820 +v -0.819590 -1.431488 -0.001372 +v -2.049505 0.583277 -0.184673 +v -1.840082 1.917145 0.338321 +v -0.584560 -0.646021 0.809116 +v -0.636789 -0.750591 -0.760067 +v -0.819590 1.760289 -0.995768 +v -1.369262 3.277156 0.652319 +v -1.840082 -0.960327 0.495320 +v -0.793476 -1.431488 0.076723 +v -0.767361 4.638355 0.050624 +v 0.540644 -0.070289 0.207623 +v 0.069569 3.538582 0.757120 +v -1.526202 -1.352466 0.024524 +v 0.174281 2.074001 -0.315371 +v -2.049505 -0.567593 -0.341672 +v -0.061257 1.394887 0.992619 +v -0.061257 -0.619878 0.756918 +v -0.793476 -0.593736 0.835620 +v -1.552316 1.708004 0.887818 +v 0.226510 1.080581 0.704719 +v -1.630913 -0.672164 0.809318 +v -2.049505 0.479300 -0.367771 +v 0.069569 3.407869 0.783017 +v 0.148166 -0.933590 -0.498469 +v -1.578431 -0.829019 0.783017 +v -0.061257 -0.855162 -0.760067 +v -1.552316 -0.698306 -0.655468 +v -0.741500 3.879625 0.809116 +v -1.578431 2.021716 -0.864666 +v -0.819590 1.394887 -0.995768 +v -0.035142 -0.698306 -0.786368 +v -0.009028 3.879625 0.050826 +v -0.793476 -0.698306 -0.760269 +v 0.540644 -0.672164 0.076925 +v -0.087371 -1.326324 -0.001372 +f 63 16 64 +f 6 15 21 +f 5 14 22 +f 21 13 22 +f 9 19 23 +f 24 12 25 +f 2 20 25 +f 15 6 26 +f 8 17 26 +f 18 8 26 +f 19 5 27 +f 5 22 27 +f 13 21 28 +f 21 15 28 +f 22 13 28 +f 20 2 29 +f 25 20 31 +f 26 6 31 +f 26 31 32 +f 18 26 32 +f 29 18 32 +f 20 29 32 +f 31 20 32 +f 6 21 35 +f 22 7 35 +f 21 22 35 +f 17 8 36 +f 8 18 36 +f 2 3 37 +f 29 2 37 +f 11 29 37 +f 15 26 39 +f 26 17 39 +f 1 28 39 +f 28 15 39 +f 10 19 40 +f 27 10 40 +f 19 27 40 +f 1 39 41 +f 37 3 42 +f 30 38 42 +f 27 22 43 +f 22 28 43 +f 28 27 43 +f 3 2 44 +f 2 25 44 +f 19 9 46 +f 16 19 46 +f 9 23 46 +f 38 16 46 +f 23 45 46 +f 45 33 46 +f 45 4 47 +f 33 45 47 +f 4 17 48 +f 18 29 48 +f 17 36 48 +f 36 18 48 +f 19 10 49 +f 10 23 49 +f 23 19 49 +f 29 11 50 +f 47 4 50 +f 4 48 50 +f 48 29 50 +f 6 25 51 +f 25 31 51 +f 31 6 51 +f 23 10 52 +f 10 41 52 +f 45 23 52 +f 4 45 52 +f 14 5 53 +f 11 37 54 +f 37 42 54 +f 42 38 54 +f 38 46 54 +f 46 33 54 +f 33 47 54 +f 50 11 54 +f 47 50 54 +f 30 42 55 +f 55 42 56 +f 25 12 56 +f 12 34 56 +f 42 3 56 +f 3 44 56 +f 44 25 56 +f 34 55 56 +f 17 4 57 +f 39 17 57 +f 41 39 57 +f 4 52 57 +f 52 41 57 +f 24 25 58 +f 25 6 58 +f 6 35 58 +f 35 24 58 +f 35 7 59 +f 24 35 59 +f 7 22 60 +f 22 14 60 +f 14 55 60 +f 55 34 60 +f 59 7 60 +f 34 59 60 +f 10 27 61 +f 27 28 61 +f 28 1 61 +f 1 41 61 +f 41 10 61 +f 12 24 62 +f 34 12 62 +f 24 59 62 +f 59 34 62 +f 5 19 63 +f 19 16 63 +f 38 30 64 +f 16 38 64 +f 53 5 64 +f 14 53 64 +f 55 14 64 +f 30 55 64 +f 5 63 64 +o convex_1 +v 1.534909 -0.541899 -0.498605 +v 2.214951 -0.385007 0.076902 +v 2.188851 -0.385007 0.155220 +v 1.534909 -0.175702 -0.393955 +v 1.534909 -0.437246 0.730998 +v 1.927195 -0.594225 0.260005 +v 2.110354 -0.201865 -0.053809 +v 1.534909 -0.620432 0.600151 +v 1.534909 -0.201865 0.207612 +v 1.561075 -0.358844 -0.655648 +v 2.084189 -0.411083 -0.210851 +v 2.110354 -0.228028 0.076902 +v 1.953360 -0.568062 -0.001552 +v 2.162686 -0.437246 0.233809 +v 1.561075 -0.411083 0.730998 +v 1.561075 -0.201865 -0.550862 +v 2.110354 -0.332681 -0.210851 +v 1.796566 -0.175702 0.076902 +v 1.587240 -0.620432 0.260005 +v 2.214951 -0.411083 -0.027612 +v 1.561075 -0.515736 -0.550862 +f 75 77 85 +f 68 65 69 +f 69 65 72 +f 68 69 73 +f 65 68 74 +f 67 66 76 +f 66 71 76 +f 66 67 78 +f 72 70 78 +f 67 76 78 +f 69 72 79 +f 73 69 79 +f 72 78 79 +f 78 76 79 +f 68 71 80 +f 74 68 80 +f 74 80 81 +f 75 74 81 +f 80 71 81 +f 71 68 82 +f 68 73 82 +f 76 71 82 +f 73 79 82 +f 79 76 82 +f 72 65 83 +f 70 72 83 +f 77 70 83 +f 65 77 83 +f 71 66 84 +f 70 77 84 +f 77 75 84 +f 66 78 84 +f 78 70 84 +f 81 71 84 +f 75 81 84 +f 65 74 85 +f 74 75 85 +f 77 65 85 +o convex_2 +v -3.043827 -0.384923 0.286225 +v -2.965330 -0.384923 -0.341690 +v -2.965330 -0.358801 -0.341690 +v -3.828498 -0.332678 -0.053793 +v -2.808336 -0.097169 -0.027733 +v -2.808336 -0.620432 0.076879 +v -3.593007 -0.568085 -0.027733 +v -2.808336 -0.568085 -0.263201 +v -3.514510 -0.332678 -0.289323 +v -3.593007 -0.175689 -0.001611 +v -3.593007 -0.411096 0.207735 +v -2.808336 -0.175689 0.207735 +v -2.808336 -0.175689 -0.263201 +v -2.808336 -0.541860 0.260041 +v -3.514510 -0.175689 -0.132283 +v -3.436013 -0.489616 -0.236956 +v -3.566841 -0.332678 0.207735 +v -3.409847 -0.541860 0.155368 +v -2.860667 -0.620432 -0.106161 +v -3.802332 -0.411096 -0.053793 +v -2.808336 -0.306505 0.286225 +v -2.965330 -0.568085 -0.263201 +v -2.965330 -0.175689 -0.263201 +v -3.436013 -0.227985 0.155368 +v -3.593007 -0.384923 -0.263201 +v -2.808336 -0.411096 -0.341690 +f 93 107 111 +f 90 91 93 +f 88 87 94 +f 91 90 97 +f 90 95 97 +f 90 93 98 +f 86 96 99 +f 91 97 99 +f 94 89 100 +f 89 95 100 +f 95 90 100 +f 95 89 102 +f 96 86 102 +f 89 96 102 +f 92 91 103 +f 96 92 103 +f 91 99 103 +f 99 96 103 +f 91 92 104 +f 93 91 104 +f 96 89 105 +f 92 96 105 +f 86 99 106 +f 99 97 106 +f 102 86 106 +f 97 102 106 +f 92 101 107 +f 104 92 107 +f 93 104 107 +f 88 94 108 +f 98 88 108 +f 90 98 108 +f 94 100 108 +f 100 90 108 +f 97 95 109 +f 95 102 109 +f 102 97 109 +f 94 87 110 +f 89 94 110 +f 101 92 110 +f 105 89 110 +f 92 105 110 +f 87 107 110 +f 107 101 110 +f 87 88 111 +f 88 98 111 +f 98 93 111 +f 107 87 111 +o convex_3 +v -2.389698 -0.280239 -0.393906 +v -2.049505 -0.437203 0.390798 +v -2.075794 -0.437203 0.390798 +v -2.049505 0.452256 -0.106171 +v -2.808162 -0.201758 0.233794 +v -2.049505 -0.725084 -0.079977 +v -2.781947 -0.646372 -0.001634 +v -2.808162 -0.149437 -0.263096 +v -2.049505 0.347499 -0.341598 +v -2.808162 -0.568006 -0.289290 +v -2.049505 -0.568006 -0.341598 +v -2.703453 -0.594051 0.259987 +v -2.075794 0.085893 0.233794 +v -2.049505 -0.698808 0.312296 +v -2.781947 -0.384882 0.312296 +v -2.781947 -0.071070 -0.027669 +v -2.808162 -0.306285 -0.341598 +v -2.049505 -0.097231 -0.420100 +v -2.075794 0.452256 -0.184673 +v -2.808162 -0.594051 0.207679 +v -2.075794 -0.568006 0.390798 +v -2.781947 -0.149437 0.207679 +v -2.206568 -0.725084 -0.027669 +v -2.075794 0.452256 -0.106171 +v -2.781947 -0.437203 -0.341598 +v -2.363558 -0.594051 -0.315404 +f 121 136 137 +f 115 113 117 +f 115 117 120 +f 116 119 121 +f 120 117 122 +f 114 113 124 +f 113 115 124 +f 117 113 125 +f 114 124 126 +f 124 116 126 +f 119 116 127 +f 119 120 128 +f 121 119 128 +f 120 122 129 +f 122 112 129 +f 112 128 129 +f 128 120 129 +f 115 120 130 +f 120 119 130 +f 119 127 130 +f 121 118 131 +f 116 121 131 +f 118 125 131 +f 125 123 131 +f 126 116 131 +f 123 126 131 +f 113 114 132 +f 125 113 132 +f 123 125 132 +f 114 126 132 +f 126 123 132 +f 116 124 133 +f 127 116 133 +f 121 117 134 +f 118 121 134 +f 117 125 134 +f 125 118 134 +f 124 115 135 +f 115 130 135 +f 130 127 135 +f 133 124 135 +f 127 133 135 +f 112 122 136 +f 128 112 136 +f 121 128 136 +f 117 121 137 +f 122 117 137 +f 136 122 137 +o convex_4 +v 0.854601 -0.175759 -0.237012 +v 0.540644 -0.672758 -0.027712 +v 0.619133 -0.672758 -0.027712 +v 0.828418 -0.358852 0.809487 +v 0.540644 -0.097226 0.103134 +v 0.854601 -0.594169 -0.524765 +v 0.540644 -0.201899 -0.237012 +v 0.854601 -0.594169 0.312298 +v 0.540644 -0.568029 0.312298 +v 0.854601 -0.201899 0.469341 +v 0.828418 -0.201899 -0.472373 +v 0.540644 -0.620365 -0.263073 +v 0.828418 -0.384992 -0.577158 +v 0.540644 -0.228039 0.260041 +v 0.854601 -0.646505 -0.001516 +v 0.854601 -0.384992 0.809487 +v 0.566827 -0.097226 -0.053773 +v 0.540644 -0.672758 0.076938 +v 0.540644 -0.358852 -0.289269 +f 150 149 156 +f 140 139 143 +f 139 142 144 +f 143 138 145 +f 142 139 146 +f 142 141 147 +f 145 138 147 +f 138 143 148 +f 143 139 149 +f 139 144 149 +f 148 143 150 +f 144 148 150 +f 143 149 150 +f 141 142 151 +f 146 141 151 +f 142 146 151 +f 140 143 152 +f 143 145 152 +f 141 146 153 +f 147 141 153 +f 145 147 153 +f 144 142 154 +f 147 138 154 +f 142 147 154 +f 138 148 154 +f 148 144 154 +f 139 140 155 +f 146 139 155 +f 140 152 155 +f 152 145 155 +f 153 146 155 +f 145 153 155 +f 149 144 156 +f 144 150 156 +o convex_5 +v 1.168620 -0.411086 -3.010328 +v 1.534842 -0.411086 0.966205 +v 1.534842 -0.437259 0.966205 +v 0.907004 -0.358842 2.457036 +v 0.854601 -0.646595 0.050265 +v 0.854601 -0.175679 -0.210086 +v 1.351665 -0.123332 2.274438 +v 1.430169 -0.201853 -2.120306 +v 1.534842 -0.620422 0.625746 +v 1.168620 -0.568024 2.692648 +v 1.220890 -0.594248 -2.669870 +v 1.011677 -0.384964 -2.643363 +v 1.090049 -0.149506 2.692648 +v 1.534842 -0.175679 -0.419780 +v 1.404001 -0.437208 -2.591529 +v 1.351665 -0.384964 2.718565 +v 1.142452 -0.201853 -2.329411 +v 1.142452 -0.123332 1.227144 +v 1.220890 -0.646595 -1.728013 +v 0.854601 -0.620422 -0.524038 +v 1.534842 -0.541850 -0.550544 +v 1.116284 -0.332719 3.007189 +v 1.194722 -0.620422 1.959896 +v 0.985442 -0.515728 2.404613 +v 1.404001 -0.149506 -0.524627 +v 1.037712 -0.123332 2.195508 +v 1.430169 -0.228077 -2.407752 +v 1.063881 -0.568024 -2.433669 +v 0.854601 -0.358842 1.279568 +v 0.907004 -0.201853 1.698367 +v 1.351665 -0.568024 -2.276988 +v 1.377833 -0.594248 1.881555 +v 0.854601 -0.411086 -0.812073 +v 1.168620 -0.254199 -2.826551 +v 0.933106 -0.384964 2.692648 +v 1.534842 -0.201853 0.207536 +v 1.116284 -0.568024 2.692648 +v 1.037712 -0.280321 -2.407752 +v 1.194722 -0.646595 -0.524038 +v 1.534842 -0.384964 -0.812073 +v 1.116284 -0.646595 -1.596659 +v 1.168620 -0.149506 2.718565 +v 1.534842 -0.620422 0.259370 +v 0.854601 -0.201853 -0.498121 +v 1.273160 -0.411086 -2.931399 +v 1.011677 -0.437208 -2.643363 +v 0.985442 -0.201853 2.509460 +v 1.168620 -0.594248 -2.669870 +v 1.325563 -0.541850 2.430530 +v 0.854601 -0.175679 0.233453 +v 1.351665 -0.332719 2.692648 +v 1.168620 -0.384964 3.007189 +v 1.377833 -0.489606 -2.616857 +v 1.090049 -0.175679 2.823412 +v 1.351665 -0.620422 1.645944 +v 1.299328 -0.228077 -2.643363 +f 201 190 212 +f 158 159 165 +f 158 165 170 +f 159 158 172 +f 165 159 172 +f 173 162 174 +f 161 162 176 +f 170 165 177 +f 163 170 181 +f 170 164 181 +f 164 173 181 +f 174 163 181 +f 173 174 181 +f 174 162 182 +f 163 174 182 +f 164 170 183 +f 161 160 185 +f 162 161 185 +f 185 160 186 +f 175 167 187 +f 165 172 188 +f 176 162 189 +f 157 168 190 +f 160 161 191 +f 161 180 191 +f 163 158 192 +f 158 170 192 +f 170 163 192 +f 161 179 193 +f 179 166 193 +f 180 161 193 +f 178 191 193 +f 191 180 193 +f 190 168 194 +f 173 190 194 +f 161 175 195 +f 175 165 195 +f 179 161 195 +f 170 177 196 +f 177 171 196 +f 183 170 196 +f 171 183 196 +f 175 161 197 +f 161 176 197 +f 182 169 198 +f 163 182 198 +f 165 175 199 +f 177 165 199 +f 175 187 199 +f 187 177 199 +f 162 173 200 +f 189 162 200 +f 168 189 200 +f 194 168 200 +f 173 194 200 +f 167 157 201 +f 183 171 201 +f 157 190 201 +f 168 157 202 +f 184 176 202 +f 189 168 202 +f 176 189 202 +f 169 182 203 +f 186 160 203 +f 182 186 203 +f 160 191 203 +f 157 167 204 +f 167 175 204 +f 176 184 204 +f 175 197 204 +f 197 176 204 +f 202 157 204 +f 184 202 204 +f 172 166 205 +f 188 172 205 +f 166 188 205 +f 182 162 206 +f 162 185 206 +f 185 186 206 +f 186 182 206 +f 158 163 207 +f 172 158 207 +f 163 198 207 +f 207 198 208 +f 166 172 208 +f 193 166 208 +f 178 193 208 +f 198 178 208 +f 172 207 208 +f 171 177 209 +f 187 167 209 +f 177 187 209 +f 167 201 209 +f 201 171 209 +f 191 178 210 +f 198 169 210 +f 178 198 210 +f 169 203 210 +f 203 191 210 +f 166 179 211 +f 165 188 211 +f 188 166 211 +f 195 165 211 +f 179 195 211 +f 173 164 212 +f 164 183 212 +f 190 173 212 +f 183 201 212 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/869/869.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/869/869.urdf new file mode 100644 index 000000000..600f258ee --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/869/869.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/870/870.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/870/870.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/870/870.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/870/870.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/870/870.obj new file mode 100644 index 000000000..0ca053de3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/870/870.obj @@ -0,0 +1,372 @@ +o convex_0 +v -0.181647 -1.258737 -3.811783 +v 0.602768 -0.511693 -1.832310 +v 0.602768 -1.370739 -1.832310 +v -0.555264 -0.399581 -1.832310 +v 0.415959 -0.474395 -3.774384 +v -0.443156 -1.482850 -1.832310 +v 0.527954 -1.520257 -3.699584 +v -0.517857 -0.474395 -3.774384 +v -0.517857 -1.520257 -3.811783 +v 0.565361 -1.520257 -2.392725 +v 0.565361 -1.333441 -3.438174 +v 0.565361 -0.474395 -2.355325 +v -0.555264 -0.922622 -2.579530 +v 0.565361 -1.482850 -1.832310 +v -0.555264 -0.436988 -3.027358 +v 0.453253 -0.474395 -3.662184 +v -0.368455 -0.399581 -1.907109 +v -0.480450 -0.436988 -3.475573 +v -0.517857 -0.847917 -3.811783 +v 0.602768 -0.735806 -2.280719 +v 0.415959 -1.520257 -3.736984 +v -0.555264 -0.661102 -1.832310 +v -0.517857 -1.520257 -3.587579 +v 0.527954 -0.474395 -1.832310 +v 0.565361 -1.520257 -3.326168 +v -0.480450 -1.296034 -1.907109 +v -0.517857 -0.399581 -2.280719 +v 0.527954 -1.221330 -3.699584 +f 16 11 28 +f 3 2 4 +f 3 4 6 +f 9 7 10 +f 3 6 14 +f 10 3 14 +f 6 10 14 +f 13 4 15 +f 9 13 15 +f 12 16 17 +f 16 5 17 +f 5 8 18 +f 8 15 18 +f 5 1 19 +f 8 5 19 +f 1 9 19 +f 15 8 19 +f 9 15 19 +f 2 3 20 +f 12 2 20 +f 11 16 20 +f 16 12 20 +f 1 5 21 +f 5 7 21 +f 9 1 21 +f 7 9 21 +f 6 4 22 +f 4 13 22 +f 10 6 23 +f 9 10 23 +f 13 9 23 +f 4 2 24 +f 2 12 24 +f 12 17 24 +f 17 4 24 +f 3 10 25 +f 10 7 25 +f 7 11 25 +f 20 3 25 +f 11 20 25 +f 6 22 26 +f 22 13 26 +f 23 6 26 +f 13 23 26 +f 15 4 27 +f 4 17 27 +f 17 5 27 +f 5 18 27 +f 18 15 27 +f 7 5 28 +f 11 7 28 +f 5 16 28 +o convex_1 +v 0.938887 4.120090 -0.263499 +v -1.115372 -1.893033 -1.832116 +v -1.115372 -1.893033 -1.607890 +v 0.976210 -2.043239 -0.188692 +v -0.966081 3.783654 0.147551 +v 0.976210 4.082845 -1.719906 +v -1.115372 4.194583 -1.682503 +v -1.078049 -2.004772 0.147551 +v 0.976210 -2.043239 -1.794713 +v 1.088178 4.082845 0.147551 +v 0.938887 -2.005383 0.147551 +v -0.966081 4.044988 0.035534 +v -0.330948 -0.398911 -1.832116 +v 0.602767 -0.511260 -1.832116 +v 0.042279 4.157337 -1.719906 +v 0.752058 4.120090 0.147551 +v -0.555100 -2.042629 -0.263499 +v -1.115372 3.409971 -1.719906 +v -1.078049 -1.333119 0.147551 +v 1.088178 4.045598 -0.039079 +v -0.928758 -1.930279 -1.832116 +v -1.115372 4.194583 -1.607890 +v -0.741929 4.193973 -1.271647 +v 0.976210 -1.818541 0.147744 +v 0.976210 -0.324419 -1.794713 +v -0.555100 -0.398911 -1.832116 +v 0.565445 -1.482714 -1.832116 +v 0.639874 -2.043239 -1.757309 +v 1.088178 3.858757 0.147551 +v -0.741929 4.044988 0.147551 +v -1.078049 -2.004772 -0.300902 +v 0.752058 4.120090 -1.719906 +v -1.003404 4.044988 -0.300902 +v 0.976210 2.513619 -1.757116 +v -1.115372 -1.594453 -1.832116 +v 1.013533 4.082845 -1.196840 +v 0.976210 4.120090 0.147744 +v -0.667283 4.193973 -1.570486 +v -0.069473 4.157337 -1.719906 +v -1.078049 4.157337 -1.159630 +v -1.078049 -1.930279 -1.682503 +f 45 59 69 +f 30 31 35 +f 31 30 36 +f 36 32 39 +f 30 41 42 +f 32 36 45 +f 30 35 46 +f 31 36 47 +f 30 42 49 +f 35 31 50 +f 31 47 50 +f 39 32 52 +f 36 39 52 +f 47 36 52 +f 37 42 53 +f 48 37 53 +f 41 30 54 +f 43 41 54 +f 42 37 55 +f 49 42 55 +f 37 49 55 +f 37 32 56 +f 32 45 56 +f 49 37 56 +f 32 37 57 +f 37 48 57 +f 48 38 57 +f 52 32 57 +f 38 52 57 +f 40 33 58 +f 44 51 58 +f 51 40 58 +f 36 30 59 +f 45 36 59 +f 29 34 60 +f 34 42 60 +f 42 41 60 +f 43 29 60 +f 41 43 60 +f 33 40 61 +f 47 33 61 +f 42 34 62 +f 53 42 62 +f 30 46 63 +f 54 30 63 +f 46 54 63 +f 38 48 64 +f 48 53 64 +f 62 34 64 +f 53 62 64 +f 34 29 65 +f 33 47 65 +f 51 44 65 +f 52 38 65 +f 47 52 65 +f 58 33 65 +f 44 58 65 +f 64 34 65 +f 38 64 65 +f 29 43 66 +f 43 35 66 +f 35 50 66 +f 50 51 66 +f 65 29 66 +f 51 65 66 +f 35 43 67 +f 46 35 67 +f 43 54 67 +f 54 46 67 +f 50 47 68 +f 40 51 68 +f 51 50 68 +f 61 40 68 +f 47 61 68 +f 30 49 69 +f 56 45 69 +f 49 56 69 +f 59 30 69 +o convex_2 +v 0.826689 4.120478 0.185126 +v -1.115386 -3.873070 0.222485 +v -1.115386 -3.873070 0.371836 +v 1.013518 -3.985744 0.147744 +v 1.013518 -3.985744 0.371836 +v -0.966095 2.028064 0.371836 +v -0.928773 4.007804 0.147744 +v 1.088164 4.082391 0.334498 +v 1.088164 4.082391 0.147744 +v -1.078063 -2.004417 0.147744 +v -0.928773 4.007804 0.259801 +v 0.976196 2.028064 0.371836 +v -0.592437 -3.910363 0.185126 +v -1.078063 -1.257750 0.371836 +v -0.256317 4.045097 0.297139 +v -0.966095 3.297636 0.147744 +v -1.115386 -2.938346 0.259801 +v 0.864227 4.082391 0.334498 +v 1.088164 3.672160 0.259801 +v -1.078063 -1.332337 0.147744 +v 0.714721 -3.985744 0.371836 +v -1.003418 1.317896 0.371836 +f 85 83 91 +f 72 74 75 +f 76 70 78 +f 73 76 78 +f 70 77 78 +f 76 73 79 +f 70 76 80 +f 75 74 81 +f 74 77 81 +f 77 75 81 +f 72 71 82 +f 71 79 82 +f 79 73 82 +f 72 75 83 +f 80 75 84 +f 70 80 84 +f 76 79 85 +f 80 76 85 +f 71 72 86 +f 72 83 86 +f 77 70 87 +f 75 77 87 +f 70 84 87 +f 84 75 87 +f 74 73 88 +f 77 74 88 +f 73 78 88 +f 78 77 88 +f 79 71 89 +f 85 79 89 +f 83 85 89 +f 86 83 89 +f 71 86 89 +f 73 74 90 +f 74 72 90 +f 72 82 90 +f 82 73 90 +f 75 80 91 +f 83 75 91 +f 80 85 91 +o convex_3 +v 0.117031 1.243791 2.314337 +v -1.115587 -3.910645 0.969753 +v -1.115587 -3.910645 1.231189 +v 1.013500 -3.985744 0.857542 +v -0.966070 2.027566 0.371880 +v 0.976173 2.027566 0.371880 +v 1.013500 -3.910048 2.314337 +v -1.078049 2.028162 2.351740 +v 1.051038 2.065712 2.164917 +v -1.115587 -3.873095 0.371880 +v -1.078049 -3.948194 2.239530 +v 1.013500 -3.985744 0.371880 +v 0.565371 -0.324950 2.351740 +v -0.741900 2.103261 0.371880 +v 0.117031 -3.948194 2.314337 +v -1.078049 -1.220778 0.371880 +v 1.013500 2.027566 0.521493 +v 1.051038 2.027566 2.202127 +v -1.078049 -3.350380 2.276934 +v 1.051038 -0.250447 2.239530 +v 1.051038 2.065712 1.641657 +v -1.078049 1.131142 2.351740 +v -1.003396 1.990613 0.708123 +v -1.115587 -3.013625 0.371880 +v -1.078049 1.953659 2.089916 +v 1.013500 -2.565413 2.314337 +v 0.752003 -3.985744 0.371880 +v -0.779226 1.953063 2.351740 +v 1.013500 -3.947598 2.202127 +v 1.013500 2.065712 1.081769 +v 0.565371 2.065712 2.202127 +v -1.078049 -3.948194 1.866078 +v -0.928743 2.065116 1.567238 +v -0.816552 -3.948194 2.276934 +v -1.003396 1.355248 0.371880 +v 0.490507 -0.400645 2.351740 +v -0.928743 2.065116 0.745526 +f 124 105 128 +f 93 94 101 +f 96 97 101 +f 94 93 102 +f 101 97 103 +f 97 96 105 +f 96 101 107 +f 103 97 108 +f 92 104 109 +f 94 102 110 +f 95 103 111 +f 100 109 111 +f 105 100 112 +f 103 108 112 +f 111 103 112 +f 100 111 112 +f 99 94 113 +f 104 99 113 +f 94 110 113 +f 110 106 113 +f 99 96 114 +f 94 99 115 +f 101 94 115 +f 107 101 115 +f 107 115 116 +f 99 114 116 +f 114 107 116 +f 115 99 116 +f 104 98 117 +f 109 104 117 +f 98 111 117 +f 111 109 117 +f 93 101 118 +f 95 102 118 +f 103 95 118 +f 101 103 118 +f 104 92 119 +f 99 104 119 +f 92 109 119 +f 109 99 119 +f 106 95 120 +f 98 106 120 +f 95 111 120 +f 111 98 120 +f 97 105 121 +f 108 97 121 +f 105 112 121 +f 112 108 121 +f 100 105 122 +f 99 109 122 +f 109 100 122 +f 102 93 123 +f 93 118 123 +f 118 102 123 +f 99 122 124 +f 122 105 124 +f 102 95 125 +f 95 106 125 +f 110 102 125 +f 106 110 125 +f 96 107 126 +f 114 96 126 +f 107 114 126 +f 98 104 127 +f 106 98 127 +f 104 113 127 +f 113 106 127 +f 96 99 128 +f 105 96 128 +f 99 124 128 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/870/870.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/870/870.urdf new file mode 100644 index 000000000..2fba70b87 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/870/870.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/871/871.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/871/871.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/871/871.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/871/871.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/871/871.obj new file mode 100644 index 000000000..5efa4dec6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/871/871.obj @@ -0,0 +1,1323 @@ +o convex_0 +v 0.041962 -3.642250 -0.555845 +v 0.041962 -3.244561 0.607139 +v -0.080296 -3.244561 0.607139 +v 0.041962 -5.019139 0.362270 +v 0.592958 -3.244561 -0.035485 +v -0.539404 -3.244561 -0.035485 +v -0.049704 -4.957983 -0.433354 +v -0.355628 -4.835672 0.239779 +v 0.348108 -4.713360 -0.402731 +v 0.348108 -4.896828 0.301024 +v 0.439885 -3.244561 -0.463977 +v -0.325035 -4.774516 -0.371995 +v -0.447516 -3.397450 0.484648 +v -0.386220 -3.244561 -0.402731 +v 0.470477 -3.244561 0.423402 +v 0.378589 -5.019139 -0.096731 +v -0.386220 -4.988738 -0.066108 +v 0.011481 -4.774516 0.454025 +v -0.019112 -4.560294 -0.525223 +v -0.539404 -3.244561 0.178647 +v -0.049704 -3.244561 -0.555845 +v 0.225627 -5.050071 -0.280354 +v 0.470477 -4.560294 -0.066108 +v 0.378589 -4.682606 0.331647 +v -0.263851 -5.019139 0.270288 +v -0.447516 -4.621450 -0.004862 +v -0.325035 -4.774516 0.331647 +v 0.317515 -4.743762 -0.433354 +v 0.317515 -4.774516 0.362270 +v 0.592958 -3.275139 0.025647 +v -0.294554 -4.988738 -0.310977 +v 0.439885 -3.336294 0.454025 +v 0.256220 -5.050071 0.178647 +v -0.447516 -3.244561 0.484648 +v 0.133850 -3.305717 -0.555845 +v 0.439885 -4.743762 0.056156 +v -0.355628 -5.019139 -0.096731 +v 0.286812 -4.957983 -0.371995 +v 0.133850 -4.682606 -0.494486 +v 0.470477 -3.305717 -0.402731 +v -0.416923 -4.713360 -0.127354 +v -0.325035 -3.428028 -0.433354 +v 0.439885 -4.743762 -0.127354 +v 0.041962 -3.305717 0.607139 +v 0.317515 -5.019139 0.270288 +v -0.080296 -4.743762 -0.494486 +v -0.416923 -4.743762 0.086778 +v -0.019112 -4.743762 0.454025 +v 0.072666 -5.050071 -0.280354 +v 0.041962 -4.774516 0.454025 +v -0.539404 -3.458783 0.025647 +f 41 26 51 +f 3 2 5 +f 3 5 6 +f 6 5 11 +f 6 11 14 +f 12 6 14 +f 5 2 15 +f 3 6 20 +f 14 11 21 +f 1 19 21 +f 8 17 25 +f 4 18 25 +f 13 8 27 +f 8 25 27 +f 11 9 28 +f 10 24 29 +f 5 15 30 +f 23 5 30 +f 15 24 30 +f 17 12 31 +f 15 2 32 +f 24 15 32 +f 29 24 32 +f 22 16 33 +f 4 25 33 +f 13 3 34 +f 3 20 34 +f 20 13 34 +f 19 1 35 +f 1 21 35 +f 21 11 35 +f 24 10 36 +f 23 30 36 +f 30 24 36 +f 25 17 37 +f 17 31 37 +f 9 16 38 +f 22 7 38 +f 16 22 38 +f 28 9 38 +f 28 38 39 +f 11 28 39 +f 19 35 39 +f 35 11 39 +f 38 7 39 +f 11 5 40 +f 9 11 40 +f 6 12 41 +f 12 17 41 +f 17 26 41 +f 12 14 42 +f 14 21 42 +f 16 9 43 +f 5 23 43 +f 36 16 43 +f 23 36 43 +f 40 5 43 +f 9 40 43 +f 2 3 44 +f 3 18 44 +f 32 2 44 +f 29 32 44 +f 29 4 45 +f 10 29 45 +f 4 33 45 +f 33 16 45 +f 36 10 45 +f 16 36 45 +f 21 19 46 +f 7 31 46 +f 31 12 46 +f 39 7 46 +f 19 39 46 +f 12 42 46 +f 42 21 46 +f 8 13 47 +f 17 8 47 +f 13 20 47 +f 26 17 47 +f 20 26 47 +f 3 13 48 +f 18 3 48 +f 25 18 48 +f 13 27 48 +f 27 25 48 +f 7 22 49 +f 31 7 49 +f 22 33 49 +f 33 25 49 +f 25 37 49 +f 37 31 49 +f 18 4 50 +f 4 29 50 +f 44 18 50 +f 29 44 50 +f 20 6 51 +f 26 20 51 +f 6 41 51 +o convex_1 +v 0.806973 -0.735032 1.004696 +v -0.049687 -3.244384 -0.555426 +v 0.011531 -3.091342 -0.708579 +v -0.998477 -0.734787 -0.188455 +v 0.531589 -0.735032 -1.259532 +v -0.906548 -2.264963 0.943535 +v 0.806973 -2.968761 0.117105 +v -0.814620 -2.448221 -0.953475 +v -0.814620 -0.734787 1.004945 +v 0.042040 -2.968761 0.820962 +v 0.868392 -2.417760 -0.831151 +v 1.052048 -0.734787 -0.004970 +v -0.569946 -0.735032 -1.167541 +v 0.868392 -2.326131 0.912954 +v -0.478017 -3.244384 0.423162 +v 0.103058 -0.765493 1.249592 +v 0.103058 -2.724090 -0.984056 +v 0.501080 -3.244384 0.423162 +v 0.960120 -0.734787 -0.800570 +v 1.021339 -2.111675 -0.004970 +v 0.042040 -2.631970 1.004696 +v 0.439862 -3.244384 -0.463932 +v -0.967767 -2.264963 -0.065883 +v -0.753602 -2.999467 0.025362 +v -0.906548 -0.734787 -0.861483 +v -0.202634 -0.765493 -1.290113 +v -0.967767 -0.734787 0.820962 +v 0.960120 -0.734787 0.821211 +v -0.386290 -3.244384 -0.402522 +v 0.439862 -0.735032 1.219011 +v -0.447508 -0.735032 1.188182 +v 0.806973 -2.999222 -0.065883 +v -0.202634 -3.244384 0.576315 +v -0.998477 -1.561411 0.055943 +v -0.692383 -2.785012 0.729468 +v -0.845330 -2.295424 -0.953475 +v 0.684736 -2.876886 -0.647417 +v 0.990629 -2.356592 0.056192 +v 0.684736 -2.815719 0.698888 +v -0.049687 -2.631970 1.004696 +v 0.898901 -2.019801 0.912954 +v -0.325071 -2.601509 -0.984056 +v -0.019178 -0.765493 1.249592 +v 0.225696 -0.765493 -1.290362 +v 0.592808 -3.244384 -0.065883 +v 0.837683 -1.132991 -0.953475 +v -0.539236 -3.244384 -0.035302 +v -0.814620 -2.570802 -0.769989 +v -0.784111 -2.938054 0.117354 +v 0.072549 -3.244384 0.606896 +v 0.654027 -2.479173 -0.892313 +v 0.929611 -2.356592 -0.525094 +v 0.684736 -2.387053 0.943535 +v -0.967767 -2.234257 0.178515 +v -0.447508 -0.735032 -1.228703 +v -0.172125 -2.968761 0.790382 +v -0.753602 -2.570802 -0.892064 +v 1.021339 -2.050753 0.056192 +v -0.814620 -1.255327 -0.984056 +v -0.998477 -0.734787 0.331420 +v 0.531589 -0.765493 -1.259532 +v 0.868392 -2.264718 -0.861732 +v 0.898901 -2.295424 0.821211 +v 0.592808 -3.060635 -0.555426 +f 83 96 115 +f 55 60 63 +f 66 53 69 +f 55 63 70 +f 70 63 71 +f 53 54 73 +f 54 68 73 +f 69 53 73 +f 70 56 76 +f 55 70 76 +f 74 55 76 +f 60 55 78 +f 57 60 78 +f 63 60 79 +f 53 66 80 +f 67 72 81 +f 52 79 81 +f 79 60 81 +f 60 57 82 +f 81 60 82 +f 66 69 84 +f 55 74 85 +f 66 84 86 +f 74 76 87 +f 62 83 88 +f 58 83 89 +f 58 65 90 +f 69 58 90 +f 61 72 91 +f 72 67 91 +f 79 52 92 +f 52 81 92 +f 81 65 92 +f 68 54 93 +f 59 77 93 +f 77 68 93 +f 67 81 94 +f 82 57 94 +f 81 82 94 +f 91 67 94 +f 57 91 94 +f 77 56 95 +f 68 77 95 +f 58 69 96 +f 69 73 96 +f 83 58 96 +f 56 70 97 +f 66 75 98 +f 80 66 98 +f 80 98 99 +f 87 59 99 +f 74 87 99 +f 98 75 99 +f 75 66 100 +f 86 57 100 +f 66 86 100 +f 74 99 100 +f 99 75 100 +f 61 84 101 +f 84 69 101 +f 90 61 101 +f 69 90 101 +f 62 88 102 +f 88 68 102 +f 62 70 103 +f 70 71 103 +f 83 62 103 +f 71 89 103 +f 89 83 103 +f 72 61 104 +f 65 81 104 +f 81 72 104 +f 61 90 104 +f 90 65 104 +f 57 78 105 +f 85 74 105 +f 78 85 105 +f 100 57 105 +f 74 100 105 +f 76 56 106 +f 64 76 106 +f 56 77 106 +f 77 59 106 +f 59 87 106 +f 87 64 106 +f 84 61 107 +f 57 86 107 +f 86 84 107 +f 61 91 107 +f 91 57 107 +f 54 53 108 +f 53 80 108 +f 93 54 108 +f 59 93 108 +f 80 99 108 +f 99 59 108 +f 71 63 109 +f 63 79 109 +f 89 71 109 +f 79 92 109 +f 76 64 110 +f 64 87 110 +f 87 76 110 +f 78 55 111 +f 55 85 111 +f 85 78 111 +f 95 56 112 +f 68 95 112 +f 56 97 112 +f 102 68 112 +f 102 112 113 +f 70 62 113 +f 97 70 113 +f 62 102 113 +f 112 97 113 +f 65 58 114 +f 58 89 114 +f 92 65 114 +f 89 109 114 +f 109 92 114 +f 73 68 115 +f 68 88 115 +f 88 83 115 +f 96 73 115 +o convex_2 +v -0.447438 0.550590 1.249841 +v -0.019065 -0.734787 1.249841 +v 0.072595 -0.734787 1.249841 +v -0.049766 0.060883 3.024575 +v 0.439899 0.519895 1.249841 +v 0.439899 0.030188 2.626889 +v -0.539320 0.060883 2.045735 +v -0.080245 0.489342 2.688044 +v 0.470489 -0.551041 1.249841 +v 0.011304 -0.336741 2.810530 +v -0.416959 -0.550900 1.249841 +v -0.416959 0.060883 2.779778 +v 0.011304 0.703641 1.433656 +v 0.348018 0.428093 2.290184 +v 0.562371 0.060742 1.831516 +v -0.447438 0.489342 2.015157 +v -0.569910 0.060883 1.249841 +v 0.409198 0.091437 2.779778 +v 0.256247 -0.275492 2.657466 +v 0.562371 0.091437 1.249841 +v -0.294376 -0.214243 2.596311 +v 0.409198 0.489342 1.892672 +v -0.110835 0.703641 1.249841 +v 0.042005 0.458788 2.718622 +v 0.439788 -0.336741 2.045735 +v 0.072595 -0.336741 2.810530 +v -0.355668 0.366985 2.565559 +v -0.416959 -0.550900 1.311344 +v 0.439788 -0.581594 1.280766 +v -0.569910 -0.061333 1.280766 +v 0.531670 0.152685 2.014983 +v 0.133776 0.091437 2.963419 +v 0.562371 -0.153136 1.341922 +v 0.531670 0.030188 2.137295 +v 0.409198 0.030329 2.779778 +v -0.539320 0.152685 1.984579 +v -0.080245 0.458788 2.749200 +v 0.072595 0.703641 1.249841 +v -0.110835 -0.704092 1.280766 +v -0.416959 0.091437 2.779778 +v -0.447438 -0.459238 1.403078 +v -0.049766 0.703641 1.433656 +v 0.164366 -0.704092 1.280766 +v 0.286837 0.366985 2.565559 +v -0.019065 0.519895 2.534981 +v -0.478139 0.458788 1.464234 +v -0.019065 0.152685 2.993997 +v 0.011304 0.030329 3.024575 +v 0.348018 -0.214243 2.596311 +v 0.531670 -0.122582 1.831516 +v 0.011304 -0.734787 1.311344 +v 0.348018 0.489342 2.045735 +v -0.386258 -0.581594 1.280766 +f 154 125 168 +f 118 117 116 +f 118 116 120 +f 118 120 124 +f 116 117 126 +f 125 119 127 +f 116 126 132 +f 124 120 135 +f 120 130 135 +f 125 127 136 +f 129 133 137 +f 120 116 138 +f 116 131 138 +f 123 131 142 +f 136 127 143 +f 118 124 144 +f 124 140 144 +f 140 134 144 +f 134 141 144 +f 122 132 145 +f 132 126 145 +f 130 120 146 +f 120 137 146 +f 137 133 146 +f 133 139 147 +f 124 135 148 +f 135 130 148 +f 133 121 149 +f 121 140 149 +f 130 146 149 +f 146 133 149 +f 121 133 150 +f 140 121 150 +f 141 134 150 +f 133 147 150 +f 132 122 151 +f 139 123 152 +f 123 142 152 +f 137 120 153 +f 128 137 153 +f 120 138 153 +f 138 128 153 +f 122 127 155 +f 127 119 155 +f 142 131 155 +f 151 122 155 +f 131 151 155 +f 152 142 155 +f 127 122 156 +f 126 143 156 +f 143 127 156 +f 122 145 156 +f 145 126 156 +f 131 123 157 +f 128 138 157 +f 138 131 157 +f 118 144 158 +f 144 141 158 +f 133 129 159 +f 139 133 159 +f 129 139 159 +f 123 139 160 +f 157 123 160 +f 128 157 160 +f 131 116 161 +f 116 132 161 +f 151 131 161 +f 132 151 161 +f 147 139 162 +f 139 152 162 +f 155 119 162 +f 152 155 162 +f 119 125 163 +f 125 141 163 +f 141 150 163 +f 150 147 163 +f 162 119 163 +f 147 162 163 +f 134 140 164 +f 140 150 164 +f 150 134 164 +f 140 124 165 +f 124 148 165 +f 148 130 165 +f 149 140 165 +f 130 149 165 +f 117 118 166 +f 141 125 166 +f 154 117 166 +f 125 154 166 +f 118 158 166 +f 158 141 166 +f 137 128 167 +f 129 137 167 +f 139 129 167 +f 128 160 167 +f 160 139 167 +f 126 117 168 +f 125 136 168 +f 143 126 168 +f 136 143 168 +f 117 154 168 +o convex_3 +v 0.133867 2.478663 -1.994489 +v -0.386212 1.223924 -1.290622 +v -0.324996 1.223924 -1.290622 +v -0.019121 1.866782 -2.942763 +v 0.439945 1.591422 -1.259925 +v -0.416871 2.386657 -1.259925 +v -0.386212 2.050135 -2.759080 +v 0.409287 2.417369 -1.259925 +v 0.378730 1.958261 -2.728550 +v 0.011436 1.591422 -2.759080 +v 0.041992 2.386657 -2.728550 +v -0.539404 1.713614 -1.259925 +v 0.378730 1.591422 -2.025019 +v -0.355655 2.417369 -2.025019 +v -0.019121 2.570537 -1.259925 +v 0.501059 2.019554 -1.841336 +v 0.378730 2.386657 -1.902564 +v -0.294439 1.683164 -2.575565 +v -0.478086 2.080848 -2.025019 +v -0.386212 1.958261 -2.759080 +v 0.011436 2.050135 -2.973461 +v 0.041992 1.346379 -1.259925 +v 0.501059 2.142009 -1.259757 +v -0.019121 2.509112 -2.055717 +v 0.286855 2.295046 -2.514337 +v -0.447428 1.315798 -1.259925 +v -0.263780 2.325495 -2.544867 +v 0.286855 1.683164 -2.544867 +v -0.080133 1.591422 -2.728550 +v -0.019121 2.386657 -2.728550 +v 0.348071 1.560577 -1.963791 +v 0.470502 1.866782 -1.963791 +v 0.378730 2.019422 -2.698020 +v -0.508643 1.958261 -1.810806 +v 0.501161 1.897231 -1.259925 +v -0.416871 1.254637 -1.321152 +v 0.072651 2.539825 -1.566063 +v 0.011436 1.560577 -2.636793 +v 0.409287 1.560577 -1.535366 +v -0.172008 2.019422 -2.912233 +v -0.049576 1.315798 -1.321152 +v 0.041992 1.958261 -2.973461 +v -0.386212 2.417369 -1.259925 +v -0.508643 1.836201 -1.719049 +f 202 188 212 +f 179 169 185 +f 174 182 187 +f 182 175 187 +f 174 180 191 +f 176 183 191 +f 185 176 191 +f 184 185 191 +f 190 173 191 +f 169 179 192 +f 182 183 192 +f 179 185 193 +f 170 171 194 +f 171 190 194 +f 191 180 194 +f 190 191 194 +f 175 182 195 +f 178 177 196 +f 177 181 196 +f 181 178 196 +f 178 170 197 +f 172 178 197 +f 188 172 197 +f 186 188 197 +f 179 189 198 +f 192 179 198 +f 182 192 198 +f 175 195 198 +f 195 182 198 +f 181 177 200 +f 177 184 200 +f 184 177 201 +f 185 184 201 +f 177 189 201 +f 189 179 201 +f 179 193 201 +f 193 185 201 +f 180 174 202 +f 174 187 202 +f 187 175 202 +f 175 188 202 +f 191 173 203 +f 184 191 203 +f 173 200 203 +f 200 184 203 +f 188 186 204 +f 170 194 204 +f 194 188 204 +f 197 170 204 +f 186 197 204 +f 183 176 205 +f 185 169 205 +f 176 185 205 +f 169 192 205 +f 192 183 205 +f 171 170 206 +f 170 178 206 +f 178 181 206 +f 181 199 206 +f 173 190 207 +f 199 181 207 +f 190 199 207 +f 200 173 207 +f 181 200 207 +f 172 188 208 +f 188 175 208 +f 175 198 208 +f 198 189 208 +f 190 171 209 +f 199 190 209 +f 171 206 209 +f 206 199 209 +f 178 172 210 +f 177 178 210 +f 189 177 210 +f 172 208 210 +f 208 189 210 +f 182 174 211 +f 183 182 211 +f 174 191 211 +f 191 183 211 +f 194 180 212 +f 188 194 212 +f 180 202 212 +o convex_4 +v 0.409221 0.764851 -1.259757 +v -0.202667 -0.734787 -1.382416 +v -0.110798 -0.734787 -1.382416 +v -0.019043 0.091512 -3.034491 +v -0.416913 0.489321 -1.351838 +v 0.531712 -0.673427 -1.259757 +v 0.439844 -0.000234 -2.759116 +v -0.539404 -0.581681 -1.259757 +v -0.325044 0.428108 -2.575475 +v -0.080289 -0.336831 -2.789694 +v -0.416913 0.030299 -2.759116 +v 0.103220 0.428108 -2.789694 +v 0.562335 0.642279 -1.412820 +v 0.623581 -0.122660 -1.259757 +v 0.317466 -0.367510 -2.544898 +v -0.508667 0.183257 -1.994495 +v -0.202667 0.611746 -1.259757 +v 0.562335 0.030152 -2.116807 +v 0.378598 0.366895 -2.544898 +v -0.539404 -0.030767 -1.259757 +v -0.325044 -0.275618 -2.575475 +v 0.225598 -0.734787 -1.351838 +v -0.539404 -0.030767 -1.902588 +v -0.325044 0.458788 -2.483742 +v -0.294535 -0.734787 -1.290683 +v 0.348089 0.764851 -1.321260 +v 0.623581 0.244470 -1.259757 +v 0.409221 -0.000234 -2.820446 +v -0.447535 0.428108 -1.963917 +v -0.019043 -0.000234 -3.034491 +v 0.409221 0.152724 -2.759116 +v -0.416913 0.091512 -2.759116 +v -0.478044 -0.367510 -1.963917 +v -0.019043 -0.336831 -2.789694 +v 0.501089 0.458641 -2.024899 +v 0.348089 -0.336831 -2.575475 +v 0.501089 -0.704107 -1.290509 +v 0.011466 0.428108 -2.789694 +v -0.202667 0.611746 -1.382416 +v -0.386290 -0.673574 -1.351838 +v -0.110798 -0.367510 -2.697961 +v 0.592958 0.550387 -1.259757 +v -0.416913 0.458788 -1.259757 +v 0.531712 -0.673427 -1.290509 +v 0.042088 0.458788 -2.697961 +v 0.164352 0.428108 -2.728539 +v 0.623581 0.091365 -1.474150 +v 0.103220 0.060832 -3.003913 +v 0.562335 0.244470 -1.933166 +v -0.294535 -0.734787 -1.259757 +v 0.439844 0.060832 -2.759116 +v 0.286843 -0.306298 -2.667383 +v 0.042088 -0.030767 -3.003913 +v -0.416913 0.458788 -1.994495 +v -0.478044 0.336362 -1.872010 +f 241 228 267 +f 218 213 220 +f 213 218 226 +f 220 213 229 +f 220 229 232 +f 223 222 233 +f 214 215 234 +f 232 228 235 +f 220 232 235 +f 214 234 237 +f 229 213 238 +f 213 226 239 +f 236 221 241 +f 223 216 242 +f 222 223 242 +f 221 216 244 +f 216 223 244 +f 223 235 244 +f 235 228 244 +f 241 221 244 +f 228 241 244 +f 233 220 245 +f 223 233 245 +f 220 235 245 +f 235 223 245 +f 227 234 246 +f 222 242 246 +f 231 225 247 +f 243 231 247 +f 240 219 248 +f 234 227 249 +f 227 248 249 +f 216 221 250 +f 224 216 250 +f 221 236 250 +f 217 229 251 +f 229 238 251 +f 238 236 251 +f 220 233 252 +f 237 220 252 +f 237 252 253 +f 215 214 253 +f 233 222 253 +f 234 215 253 +f 214 237 253 +f 222 246 253 +f 246 234 253 +f 252 233 253 +f 225 213 254 +f 213 239 254 +f 229 217 255 +f 217 232 255 +f 232 229 255 +f 226 218 256 +f 219 230 256 +f 230 226 256 +f 248 219 256 +f 218 249 256 +f 249 248 256 +f 238 224 257 +f 236 238 257 +f 224 250 257 +f 250 236 257 +f 213 225 258 +f 225 231 258 +f 238 213 258 +f 224 238 258 +f 243 224 258 +f 231 243 258 +f 226 230 259 +f 239 226 259 +f 254 239 259 +f 216 224 260 +f 242 216 260 +f 224 243 260 +f 243 240 260 +f 247 225 261 +f 225 254 261 +f 259 230 261 +f 254 259 261 +f 218 220 262 +f 220 237 262 +f 237 234 262 +f 234 249 262 +f 249 218 262 +f 230 219 263 +f 219 240 263 +f 240 243 263 +f 243 247 263 +f 261 230 263 +f 247 261 263 +f 227 246 264 +f 248 227 264 +f 240 248 264 +f 246 242 265 +f 242 260 265 +f 260 240 265 +f 240 264 265 +f 264 246 265 +f 241 217 266 +f 236 241 266 +f 217 251 266 +f 251 236 266 +f 232 217 267 +f 228 232 267 +f 217 241 267 +o convex_5 +v -0.967764 0.642276 -0.096587 +v 1.052048 0.122209 0.270174 +v 1.021288 0.275072 0.576258 +v -0.814776 -0.734787 1.004678 +v -0.386164 -0.734787 -1.259511 +v 0.653994 1.162714 -1.076008 +v -0.539356 1.162714 1.157966 +v 0.960174 -0.734787 -0.800630 +v 0.470448 -0.734787 1.219134 +v -0.692344 1.162714 -1.106715 +v 0.745868 1.162714 1.096798 +v -0.906446 -0.734787 -0.861552 +v 0.929617 1.162714 -0.831091 +v 0.960174 -0.734787 0.821175 +v 0.653994 -0.061300 -1.259511 +v -0.875889 1.162714 0.820929 +v -0.967764 -0.734787 0.851636 +v -0.569913 0.061101 1.249595 +v 0.348017 0.795324 -1.259511 +v 0.378778 0.611815 1.249595 +v 0.562323 -0.734787 -1.259511 +v -1.029082 0.061101 -0.127294 +v -0.845333 1.132067 -0.800630 +v 0.898856 1.162714 0.790714 +v -0.539356 -0.030839 -1.259511 +v -0.998321 0.336180 0.790714 +v -0.416925 -0.581738 1.249595 +v 0.592880 -0.122594 1.249595 +v 1.052048 -0.734787 -0.004958 +v 1.021288 0.061101 -0.586420 +v -1.029082 -0.551091 -0.004958 +v -0.937207 0.336180 -0.800630 +v -0.784015 1.162714 1.035385 +v 0.990731 0.917726 -0.249629 +v 0.960174 0.489228 0.851882 +v -0.906446 1.162714 -0.096587 +v 0.470448 1.162714 1.188182 +v -0.325050 0.550521 -1.259511 +v -0.416925 0.581168 1.249595 +v 0.592880 0.642276 -1.259511 +v -0.539356 -0.581738 -1.259511 +v -0.080187 -0.734787 1.249595 +v 0.960174 0.244425 -0.831091 +v 1.052048 0.213964 -0.127048 +v 0.929617 -0.734787 0.882343 +v -0.508595 1.162714 -1.137176 +v -0.998321 -0.734787 -0.188216 +v 0.960174 1.162714 -0.525007 +v -1.029082 0.122209 0.331587 +v 0.868300 1.162714 -0.922966 +v -0.049630 0.734216 1.249595 +v 0.531766 1.101421 -1.137176 +v 0.990731 -0.122594 0.790468 +v 0.684551 0.122209 -1.229050 +v 0.470448 -0.642846 1.249595 +v -0.906446 1.070774 0.760007 +v 0.990731 -0.336750 -0.769924 +v -0.967764 0.091562 -0.616881 +v 0.837743 -0.642846 -0.984134 +v 0.806982 -0.734787 1.004678 +v -0.937207 0.948372 0.025503 +v 0.990731 0.305719 -0.769924 +v 0.806982 1.009666 1.035385 +v 0.990731 0.458581 0.760007 +f 302 320 331 +f 271 272 275 +f 271 275 276 +f 274 273 277 +f 273 274 278 +f 272 271 279 +f 273 278 280 +f 276 275 281 +f 274 277 283 +f 279 271 284 +f 282 272 286 +f 275 272 288 +f 272 282 288 +f 280 278 291 +f 286 272 292 +f 285 271 294 +f 287 285 294 +f 287 294 295 +f 281 275 296 +f 277 279 299 +f 289 268 299 +f 290 277 299 +f 268 290 299 +f 274 283 300 +f 284 271 300 +f 271 285 300 +f 285 274 300 +f 283 293 300 +f 293 284 300 +f 270 269 301 +f 283 277 303 +f 277 290 303 +f 290 268 303 +f 278 274 304 +f 287 295 304 +f 295 278 304 +f 292 277 305 +f 286 292 305 +f 274 285 306 +f 285 287 306 +f 282 286 307 +f 272 279 308 +f 279 277 308 +f 292 272 308 +f 277 292 308 +f 271 276 309 +f 294 271 309 +f 295 294 309 +f 269 296 311 +f 296 297 311 +f 301 269 311 +f 276 281 312 +f 277 273 313 +f 305 277 313 +f 286 305 313 +f 279 284 314 +f 284 298 314 +f 280 291 315 +f 291 301 315 +f 301 311 315 +f 284 293 316 +f 298 284 316 +f 289 298 316 +f 273 280 317 +f 307 273 317 +f 280 310 317 +f 304 274 318 +f 287 304 318 +f 274 306 318 +f 306 287 318 +f 273 307 319 +f 307 286 319 +f 313 273 319 +f 286 313 319 +f 269 270 320 +f 296 269 320 +f 281 296 320 +f 312 281 320 +f 302 312 320 +f 282 307 321 +f 307 317 321 +f 317 310 321 +f 309 276 322 +f 295 309 322 +f 293 283 323 +f 283 303 323 +f 296 275 324 +f 297 296 324 +f 298 289 325 +f 299 279 325 +f 289 299 325 +f 279 314 325 +f 314 298 325 +f 275 288 326 +f 288 282 326 +f 282 321 326 +f 321 310 326 +f 324 275 326 +f 310 324 326 +f 276 312 327 +f 312 295 327 +f 322 276 327 +f 295 322 327 +f 268 289 328 +f 303 268 328 +f 289 316 328 +f 316 293 328 +f 293 323 328 +f 323 303 328 +f 310 280 329 +f 311 297 329 +f 280 315 329 +f 315 311 329 +f 297 324 329 +f 324 310 329 +f 291 278 330 +f 278 295 330 +f 302 291 330 +f 295 312 330 +f 312 302 330 +f 270 301 331 +f 301 291 331 +f 291 302 331 +f 320 270 331 +o convex_6 +v -0.814743 1.162894 -0.830921 +v 0.960234 1.193451 -0.280270 +v 0.899015 1.224008 0.759876 +v -0.019082 2.999005 -0.157710 +v -0.569868 1.897338 1.280197 +v 0.837796 2.478639 -0.892077 +v 0.501002 2.356231 1.249371 +v -0.447431 2.356231 -1.259509 +v 0.623440 1.162894 -1.075793 +v -0.539350 1.162894 1.157637 +v -0.753524 2.264381 0.729298 +v 0.042136 2.968089 0.759876 +v 0.470484 1.162894 1.188215 +v -0.875961 1.162894 0.821031 +v -0.723006 2.233644 -0.769765 +v -0.416913 1.224008 -1.259509 +v 0.409266 2.417345 -1.259509 +v 0.745877 2.325495 0.790454 +v -0.019082 2.906975 -0.800343 +v -0.386212 2.417345 1.280197 +v 0.929533 1.162894 -0.830921 +v 0.592922 1.652703 1.280197 +v -0.906662 1.193451 -0.065976 +v 0.501002 1.866781 -1.259509 +v -0.508649 1.315858 1.280197 +v -0.784225 2.233644 -0.065976 +v 0.072654 2.570489 1.280197 +v -0.569868 1.652703 -1.259509 +v 0.745877 1.162894 1.096481 +v -0.049600 2.570489 -1.259509 +v -0.019082 2.968089 0.759876 +v 0.868314 2.294938 -0.769765 +v 0.531703 2.631603 -0.984059 +v 0.103172 2.968089 -0.096554 +v 0.439784 1.254565 1.280197 +v -0.661787 1.162894 -1.106370 +v 0.409266 1.560673 -1.259509 +v 0.776578 2.203087 0.790454 +v 0.807096 2.509196 -0.769765 +v -0.753524 1.162894 1.065903 +v 0.807096 1.162894 -0.984059 +v -0.875961 1.285301 0.790454 +v 0.592922 1.836045 1.280197 +v -0.814743 1.407709 -0.800343 +v 0.899015 1.162894 0.790454 +v 0.042136 2.937712 -0.678031 +v -0.049600 2.906975 -0.769765 +v -0.723006 2.264381 -0.647453 +v -0.569868 2.356231 1.035325 +v 0.501002 2.141973 -1.259509 +v -0.447431 2.570310 0.759876 +v 0.592922 2.478639 0.759876 +v 0.042136 2.601046 -1.228682 +v -0.692305 2.264381 -0.830921 +v 0.837796 1.469002 -0.953481 +v 0.776578 2.264381 0.729298 +v 0.042136 1.346415 -1.259509 +v 0.439784 2.386788 1.280197 +v -0.355694 2.448082 -1.259509 +v 0.960234 1.224008 -0.494315 +v -0.784225 2.233644 0.117243 +v -0.692305 1.469002 1.157637 +v -0.753524 2.172530 0.790454 +v -0.019082 2.999005 0.270381 +f 382 362 395 +f 332 340 341 +f 341 340 344 +f 332 341 345 +f 347 339 348 +f 344 340 352 +f 351 336 353 +f 332 345 354 +f 347 348 355 +f 353 336 356 +f 342 335 357 +f 346 354 357 +f 351 353 358 +f 339 347 359 +f 344 352 360 +f 348 339 361 +f 358 343 362 +f 351 358 362 +f 334 333 363 +f 352 337 363 +f 337 348 364 +f 341 344 366 +f 356 341 366 +f 353 356 366 +f 344 360 366 +f 360 353 366 +f 340 332 367 +f 347 340 367 +f 332 359 367 +f 359 347 367 +f 347 355 368 +f 349 338 369 +f 349 337 370 +f 365 343 370 +f 345 341 371 +f 341 356 371 +f 352 340 372 +f 340 368 372 +f 368 355 372 +f 354 345 373 +f 358 353 374 +f 353 360 374 +f 369 338 374 +f 332 354 375 +f 354 346 375 +f 359 332 375 +f 333 334 376 +f 352 333 376 +f 360 352 376 +f 334 369 376 +f 374 360 376 +f 369 374 376 +f 337 364 377 +f 364 350 377 +f 335 365 377 +f 370 337 377 +f 365 370 377 +f 335 377 378 +f 377 350 378 +f 357 335 379 +f 346 357 379 +f 335 378 379 +f 336 351 380 +f 351 362 380 +f 348 337 381 +f 355 348 381 +f 372 355 381 +f 342 380 382 +f 380 362 382 +f 343 338 383 +f 338 349 383 +f 349 370 383 +f 370 343 383 +f 348 361 384 +f 361 350 384 +f 364 348 384 +f 350 364 384 +f 339 359 385 +f 375 346 385 +f 359 375 385 +f 346 379 385 +f 379 378 385 +f 337 352 386 +f 352 372 386 +f 381 337 386 +f 372 381 386 +f 337 349 387 +f 334 363 387 +f 363 337 387 +f 349 369 387 +f 369 334 387 +f 340 347 388 +f 368 340 388 +f 347 368 388 +f 338 343 389 +f 343 358 389 +f 374 338 389 +f 358 374 389 +f 361 339 390 +f 350 361 390 +f 378 350 390 +f 339 385 390 +f 385 378 390 +f 333 352 391 +f 363 333 391 +f 352 363 391 +f 342 357 392 +f 357 354 392 +f 373 342 392 +f 354 373 392 +f 356 336 393 +f 345 371 393 +f 371 356 393 +f 373 345 393 +f 373 393 394 +f 342 373 394 +f 336 380 394 +f 380 342 394 +f 393 336 394 +f 335 342 395 +f 362 343 395 +f 365 335 395 +f 343 365 395 +f 342 382 395 +o convex_7 +v -0.019146 2.539879 2.076340 +v 0.317359 1.254529 1.280446 +v 0.409340 1.254529 1.280446 +v 0.011476 1.988922 3.055180 +v -0.570009 1.652449 1.280446 +v 0.470471 2.356184 1.280446 +v 0.439848 2.080641 2.810383 +v -0.416897 2.386714 1.280446 +v 0.011476 1.591260 2.749227 +v -0.386274 2.050111 2.688071 +v -0.478028 1.315846 1.372527 +v 0.011476 2.447902 2.810383 +v 0.592961 1.713637 1.341775 +v 0.439848 2.417372 2.076340 +v 0.072493 2.570537 1.280446 +v -0.355652 2.417372 2.076340 +v -0.508764 2.050111 2.015184 +v -0.294407 1.713766 2.596164 +v 0.317359 1.713766 2.626915 +v 0.531716 2.111429 2.045588 +v 0.409340 1.958264 2.810383 +v -0.447519 1.285187 1.280446 +v 0.348095 2.356055 2.626915 +v 0.439848 1.285187 1.341949 +v -0.355652 1.988922 2.779805 +v 0.072493 2.539879 2.198478 +v -0.570009 1.866803 1.280446 +v -0.019146 1.621790 2.810383 +v -0.263898 2.325525 2.596164 +v 0.592961 1.805485 1.280446 +v 0.011476 2.080641 3.055180 +v 0.072493 2.447902 2.810383 +v -0.080277 2.539879 1.280446 +v -0.416897 1.285187 1.341949 +v 0.041985 1.621790 2.810383 +v -0.386274 1.988922 2.688071 +v -0.325143 2.447902 2.015184 +v 0.470471 2.386842 1.464261 +v -0.325143 2.050111 2.810383 +v 0.439848 2.019452 2.810383 +v 0.194983 2.019452 2.994024 +v 0.317359 1.254529 1.311371 +v 0.531716 1.988922 2.167900 +v -0.508764 1.346376 1.311371 +v -0.447519 2.325525 1.311371 +v 0.501093 2.294995 1.280446 +v -0.570009 1.805614 1.464261 +v 0.072493 2.570537 1.678480 +v 0.470471 1.346376 1.341949 +v 0.072493 2.080641 3.055180 +v 0.011476 2.570537 1.617324 +v 0.011476 2.478690 2.688071 +v 0.103229 1.621790 2.749227 +v -0.386274 2.417372 1.770387 +f 440 412 449 +f 398 397 400 +f 398 400 401 +f 401 400 403 +f 401 403 410 +f 405 411 412 +f 409 402 415 +f 400 397 417 +f 402 409 418 +f 416 414 419 +f 403 400 422 +f 406 404 423 +f 413 406 423 +f 399 420 423 +f 420 413 423 +f 411 405 424 +f 407 411 424 +f 398 401 425 +f 408 398 425 +f 402 418 427 +f 418 409 427 +f 409 421 427 +f 407 426 427 +f 410 403 428 +f 404 406 429 +f 406 417 429 +f 423 404 430 +f 399 423 430 +f 405 412 431 +f 406 413 431 +f 420 405 431 +f 413 420 431 +f 401 410 433 +f 410 409 433 +f 409 415 433 +f 420 399 434 +f 405 420 434 +f 424 405 434 +f 407 424 434 +f 399 426 434 +f 426 407 434 +f 399 430 436 +f 430 416 436 +f 435 402 436 +f 416 435 436 +f 397 398 437 +f 398 404 437 +f 417 397 437 +f 404 429 437 +f 429 417 437 +f 415 402 438 +f 408 425 438 +f 425 415 438 +f 402 435 438 +f 435 408 438 +f 400 417 439 +f 417 406 439 +f 406 431 439 +f 403 422 440 +f 422 412 440 +f 425 401 441 +f 415 425 441 +f 401 433 441 +f 433 415 441 +f 422 400 442 +f 412 422 442 +f 431 412 442 +f 400 439 442 +f 439 431 442 +f 409 410 443 +f 421 409 443 +f 398 408 444 +f 419 398 444 +f 416 419 444 +f 408 435 444 +f 435 416 444 +f 426 399 445 +f 402 427 445 +f 427 426 445 +f 399 436 445 +f 436 402 445 +f 396 421 446 +f 410 428 446 +f 432 396 446 +f 428 432 446 +f 443 410 446 +f 421 443 446 +f 411 407 447 +f 421 396 447 +f 407 427 447 +f 427 421 447 +f 396 432 447 +f 432 411 447 +f 404 398 448 +f 414 416 448 +f 398 419 448 +f 419 414 448 +f 430 404 448 +f 416 430 448 +f 412 411 449 +f 428 403 449 +f 411 432 449 +f 432 428 449 +f 403 440 449 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/871/871.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/871/871.urdf new file mode 100644 index 000000000..8ff7ed47c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/871/871.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/872/872.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/872/872.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/872/872.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/872/872.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/872/872.obj new file mode 100644 index 000000000..50f71cbf9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/872/872.obj @@ -0,0 +1,393 @@ +o convex_0 +v -0.802414 3.350294 -1.004636 +v 0.660479 0.050954 1.112134 +v 0.629397 0.050954 1.112134 +v 0.785011 -0.914400 -1.098099 +v -1.020190 -0.914400 1.018671 +v 1.065364 3.506066 1.049825 +v -1.020190 3.443757 0.956146 +v -1.051479 -0.914400 -0.973481 +v 1.065364 3.381448 -1.098099 +v 1.065364 -0.914400 1.080980 +v -1.020190 3.443757 -0.973481 +v 1.034076 -0.914400 -0.973481 +v -1.051479 1.731129 0.396015 +v -0.086301 3.506066 -0.008343 +v 0.598316 3.381448 -1.098099 +v -0.771126 3.506066 0.676189 +v 0.971913 2.852256 1.080980 +v -1.051479 2.291476 -0.973481 +v 1.065364 1.389296 -1.066945 +v 0.629397 -0.914400 -1.098099 +v 0.349251 -0.852092 1.112134 +v -1.051479 -0.914400 0.396015 +v 0.722848 3.443757 -0.693092 +v 1.065364 -0.882813 0.053316 +v 1.065364 3.506066 0.675972 +v 0.629397 3.506066 1.049825 +v -0.989109 3.474912 0.894053 +v 1.065364 2.384939 1.080980 +v 0.442702 3.474912 -0.413135 +v -0.490980 3.474912 0.987516 +v 0.567235 -0.914400 1.112134 +v -0.553350 3.506066 0.177934 +v 1.034076 -0.664732 -1.004636 +v -1.020190 -0.789783 1.018671 +v 1.065364 2.260322 -1.098099 +v 0.567235 -0.073664 1.112134 +v 0.909543 2.727638 1.080980 +v -0.833496 3.443757 -0.973481 +f 29 23 38 +f 4 5 8 +f 9 6 10 +f 5 4 10 +f 10 4 12 +f 9 4 15 +f 1 11 15 +f 11 9 15 +f 6 14 16 +f 3 2 17 +f 1 8 18 +f 7 11 18 +f 11 1 18 +f 13 7 18 +f 8 13 18 +f 9 10 19 +f 8 1 20 +f 4 8 20 +f 1 15 20 +f 15 4 20 +f 2 3 21 +f 8 5 22 +f 5 13 22 +f 13 8 22 +f 10 12 24 +f 19 10 24 +f 12 19 24 +f 6 9 25 +f 14 6 25 +f 9 23 25 +f 6 16 26 +f 17 6 26 +f 11 7 27 +f 16 11 27 +f 26 16 27 +f 10 6 28 +f 2 10 28 +f 17 2 28 +f 6 17 28 +f 14 25 29 +f 25 23 29 +f 27 7 30 +f 26 27 30 +f 10 2 31 +f 5 10 31 +f 2 21 31 +f 21 5 31 +f 14 11 32 +f 11 16 32 +f 16 14 32 +f 12 4 33 +f 4 19 33 +f 19 12 33 +f 13 5 34 +f 7 13 34 +f 5 21 34 +f 21 7 34 +f 4 9 35 +f 19 4 35 +f 9 19 35 +f 21 3 36 +f 7 21 36 +f 30 7 36 +f 30 36 37 +f 3 17 37 +f 17 26 37 +f 26 30 37 +f 36 3 37 +f 9 11 38 +f 11 14 38 +f 23 9 38 +f 14 29 38 +o convex_1 +v -0.522117 -1.319256 -2.716605 +v 0.598276 -1.910439 -1.098294 +v 0.598276 -2.159602 -1.098294 +v 0.567244 -1.038948 -3.090422 +v -0.553265 -0.976773 -1.098294 +v -0.584413 -2.066050 -2.965621 +v 0.536097 -1.972730 -3.090422 +v -0.491085 -2.003875 -1.098294 +v 0.473801 -1.038948 -1.098294 +v -0.459821 -0.976773 -3.090422 +v -0.148575 -0.976773 -1.098294 +v 0.598276 -2.097196 -1.876542 +v -0.491085 -2.034905 -1.191699 +v -0.242019 -2.066050 -2.996821 +v 0.504949 -1.038948 -1.347505 +v -0.553265 -2.066050 -2.996821 +v -0.553265 -1.225820 -1.098294 +v -0.553265 -2.066050 -2.311979 +v -0.242019 -0.976773 -3.090422 +v 0.567244 -2.003875 -2.810011 +v -0.459821 -1.194675 -3.090422 +v 0.536097 -2.159602 -1.098294 +v 0.380474 -1.972730 -3.090422 +v 0.567244 -1.038948 -2.903416 +v -0.584413 -2.003875 -2.965621 +v 0.598276 -2.159602 -1.191699 +v 0.380358 -2.003875 -3.059027 +v 0.567244 -1.412577 -3.090422 +v 0.224735 -1.007919 -2.872216 +v 0.224735 -1.007919 -1.098294 +v -0.584413 -2.034905 -2.810011 +v -0.491085 -1.132384 -2.965621 +f 48 63 70 +f 41 40 43 +f 41 43 46 +f 43 40 47 +f 42 45 48 +f 43 47 49 +f 48 43 49 +f 40 41 50 +f 42 40 50 +f 47 40 53 +f 45 52 54 +f 46 43 55 +f 51 46 56 +f 42 48 57 +f 48 49 57 +f 44 48 59 +f 48 45 59 +f 54 44 59 +f 41 46 60 +f 46 51 60 +f 56 44 60 +f 51 56 60 +f 45 54 61 +f 59 45 61 +f 54 59 61 +f 40 42 62 +f 53 40 62 +f 43 39 63 +f 48 44 63 +f 50 41 64 +f 52 50 64 +f 44 54 64 +f 54 52 64 +f 41 60 64 +f 60 44 64 +f 52 45 65 +f 50 52 65 +f 45 58 65 +f 58 50 65 +f 45 42 66 +f 42 50 66 +f 58 45 66 +f 50 58 66 +f 42 57 67 +f 57 49 67 +f 62 42 67 +f 62 67 68 +f 49 47 68 +f 47 53 68 +f 53 62 68 +f 67 49 68 +f 55 43 69 +f 46 55 69 +f 56 46 69 +f 44 56 69 +f 43 63 69 +f 63 44 69 +f 39 43 70 +f 43 48 70 +f 63 39 70 +o convex_2 +v -0.553395 -0.976907 -1.098099 +v 1.065364 -0.914568 1.080980 +v 0.567268 -0.914568 1.112134 +v -0.490949 -2.626553 -0.444289 +v 1.002918 -2.626553 -0.942327 +v -1.020163 -2.532876 1.018671 +v 1.065364 -2.501874 1.080980 +v 1.034036 -0.914568 -0.973481 +v -1.020163 -0.914568 1.018671 +v -1.082609 -2.564046 -0.973481 +v -1.082609 -0.914568 -0.973481 +v 0.660622 -2.221683 -1.098099 +v -0.584513 -2.003830 1.112134 +v 0.753975 -0.914568 -1.098099 +v -0.490949 -1.972660 -1.098099 +v 0.442586 -2.564046 0.551787 +v -1.082609 -2.564046 -0.506598 +v -0.553395 -1.008077 1.112134 +v 0.753975 -2.315024 1.112134 +v 1.034036 -2.595216 -0.226424 +v 1.065364 -0.945738 0.084687 +v -1.051281 -0.914568 0.396015 +v -0.802338 -2.532876 1.049825 +v -0.615631 -2.626553 -0.662154 +v 1.002918 -2.626553 -0.662154 +v -1.082609 -1.101418 -0.506598 +v -0.522277 -2.595216 -0.973481 +v -1.051281 -2.532876 0.427170 +v 1.034036 -1.225929 -0.973481 +v 1.065364 -2.470705 0.831961 +v 1.002918 -1.008077 -1.004636 +v 0.131198 -2.501874 1.080980 +v -0.366478 -2.532876 1.049825 +v 1.034036 -2.595216 -0.288517 +f 100 77 104 +f 73 72 78 +f 73 78 79 +f 79 78 81 +f 71 80 81 +f 79 76 83 +f 71 81 84 +f 81 78 84 +f 82 71 84 +f 80 71 85 +f 71 82 85 +f 82 80 85 +f 81 80 87 +f 73 79 88 +f 83 73 88 +f 79 83 88 +f 72 73 89 +f 77 72 89 +f 73 83 89 +f 77 86 90 +f 72 77 91 +f 78 72 91 +f 79 81 92 +f 76 74 93 +f 83 76 93 +f 75 74 94 +f 74 76 94 +f 76 87 94 +f 87 80 94 +f 74 75 95 +f 86 74 95 +f 75 90 95 +f 90 86 95 +f 81 87 96 +f 92 81 96 +f 82 75 97 +f 80 82 97 +f 75 94 97 +f 94 80 97 +f 76 79 98 +f 87 76 98 +f 79 92 98 +f 96 87 98 +f 92 96 98 +f 78 91 99 +f 99 91 100 +f 91 77 100 +f 75 82 101 +f 84 78 101 +f 82 84 101 +f 99 75 101 +f 78 99 101 +f 77 89 102 +f 89 83 102 +f 83 93 102 +f 93 77 102 +f 74 86 103 +f 86 77 103 +f 93 74 103 +f 77 93 103 +f 90 75 104 +f 77 90 104 +f 75 99 104 +f 99 100 104 +o convex_3 +v 0.255867 -1.194712 3.104457 +v 0.380451 -2.159602 1.112521 +v 0.442687 -2.159602 1.112521 +v 0.536153 -0.976779 1.112521 +v -0.553310 -1.007913 1.112521 +v -0.615658 -2.066084 3.104457 +v 0.473805 -1.972684 2.948651 +v -0.522192 -0.976779 2.979656 +v -0.584428 -2.003818 1.112521 +v 0.536153 -0.945765 3.073256 +v -0.553310 -0.976779 1.579353 +v 0.504923 -1.848152 2.824045 +v 0.473805 -2.128350 1.517148 +v -0.304254 -2.066084 3.073061 +v 0.504923 -0.945765 1.579353 +v -0.179783 -0.945646 3.010856 +v -0.584428 -2.034951 1.454748 +v -0.553310 -1.163460 3.010856 +v 0.536153 -1.163579 3.073256 +v 0.442687 -2.003818 2.948651 +v -0.584428 -1.630219 1.112521 +v -0.273136 -0.976779 1.112521 +v -0.584428 -2.066084 2.419418 +v -0.615658 -2.003818 3.104457 +v 0.473805 -2.066084 1.112521 +v -0.553310 -0.976779 2.201407 +v 0.536153 -1.070179 1.298942 +v -0.366603 -1.972684 3.104457 +v 0.255867 -0.945646 3.073061 +v -0.397721 -1.723738 3.104457 +v -0.615658 -2.066084 2.824045 +f 128 125 135 +f 107 106 108 +f 108 106 109 +f 106 107 110 +f 109 106 113 +f 116 111 117 +f 110 107 118 +f 107 117 118 +f 114 108 119 +f 119 115 120 +f 113 106 121 +f 108 114 123 +f 114 105 123 +f 111 116 123 +f 117 111 124 +f 118 117 124 +f 109 113 125 +f 108 109 126 +f 109 115 126 +f 119 108 126 +f 115 119 126 +f 121 106 127 +f 110 105 128 +f 115 109 128 +f 109 125 128 +f 107 108 129 +f 117 107 129 +f 116 117 129 +f 120 115 130 +f 112 120 130 +f 122 112 130 +f 115 128 130 +f 128 122 130 +f 108 123 131 +f 123 116 131 +f 129 108 131 +f 116 129 131 +f 105 110 132 +f 110 118 132 +f 123 105 132 +f 111 123 132 +f 124 111 132 +f 118 124 132 +f 105 114 133 +f 114 119 133 +f 119 120 133 +f 120 112 133 +f 112 122 133 +f 133 122 134 +f 128 105 134 +f 122 128 134 +f 105 133 134 +f 106 110 135 +f 113 121 135 +f 125 113 135 +f 127 106 135 +f 121 127 135 +f 110 128 135 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/872/872.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/872/872.urdf new file mode 100644 index 000000000..cc77fbbaf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/872/872.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/873/873.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/873/873.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/873/873.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/873/873.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/873/873.obj new file mode 100644 index 000000000..5ae2b2a25 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/873/873.obj @@ -0,0 +1,849 @@ +o convex_0 +v -0.704364 0.678164 2.237997 +v -0.600431 -1.575521 0.989266 +v -0.877655 -1.471211 0.989266 +v -0.011201 -1.020524 4.248481 +v 0.994382 0.643229 0.989616 +v 0.925024 -1.298022 0.989616 +v 0.716951 0.608542 3.693334 +v -0.808504 -0.223458 4.040126 +v -0.981795 0.608790 0.989266 +v 0.751733 -0.292833 4.040475 +v -1.051153 -1.089898 2.549830 +v -0.114927 0.470040 4.213871 +v -0.288218 0.955663 1.058834 +v -0.773722 -1.159273 3.762902 +v 0.301012 -1.263335 3.311933 +v 1.028957 -0.257898 2.584439 +v -0.011201 -0.223458 4.560663 +v -0.357576 0.747539 3.208105 +v 0.682169 0.920976 0.989616 +v 0.821091 -0.985836 2.861313 +v 0.301012 -1.575521 1.024575 +v -0.877655 0.470040 2.757835 +v -1.085728 -0.258146 2.584439 +v -1.085728 -0.916462 0.989266 +v 0.994382 0.504728 2.445652 +v 1.028957 -0.639211 0.989616 +v 0.578236 -0.847087 3.727943 +v 0.890449 0.851353 1.128053 +v -0.635213 0.296604 3.728293 +v -1.085728 -0.188771 0.989266 +v -1.051153 -1.298022 1.197621 +v 0.890449 -1.332710 1.128053 +v 1.028957 0.400666 0.989616 +v -0.947012 0.678164 1.128403 +v -0.808504 -0.396647 4.040126 +v 0.058156 -1.020524 4.248481 +v 0.751733 -0.154084 4.040475 +v -0.114927 -0.258146 4.525704 +v 0.613018 0.920976 1.128403 +v 0.127514 0.539415 4.075085 +v -0.912437 -1.298022 2.307215 +v -0.323000 0.955663 0.989266 +v 0.855666 -0.985836 2.723226 +v -0.600431 -1.575521 1.024575 +v 0.370370 -1.263335 3.173496 +v 0.959806 -1.089898 1.266840 +v 0.925024 0.712604 1.960423 +v -0.912437 0.539415 2.237997 +v -0.149710 0.539415 4.075085 +v -0.392358 0.747539 3.138537 +v -0.288218 0.747539 3.208105 +v -1.085728 -0.396647 2.584439 +v 0.058156 -0.223458 4.525704 +v -0.496291 -1.193960 3.624115 +v 0.855666 -1.054963 2.514871 +v -1.051153 -1.298022 0.989266 +v 0.092939 -1.055211 4.144303 +v -0.011201 0.262164 4.317699 +v 0.023581 -0.534901 4.456136 +v 1.028957 -0.327025 2.480262 +v -0.496291 0.574102 3.381151 +v -0.461716 -0.708338 4.144303 +v 0.821091 -0.258146 3.727943 +v -0.877655 -0.327273 3.728293 +f 23 52 64 +f 2 3 9 +f 2 6 21 +f 8 22 23 +f 9 3 24 +f 6 2 26 +f 20 10 27 +f 5 19 28 +f 19 7 28 +f 8 12 29 +f 22 8 29 +f 23 9 30 +f 9 24 30 +f 24 23 30 +f 11 24 31 +f 21 6 32 +f 5 25 33 +f 25 16 33 +f 16 26 33 +f 11 14 35 +f 27 10 36 +f 25 7 37 +f 12 8 38 +f 17 12 38 +f 8 35 38 +f 19 13 39 +f 7 19 39 +f 14 11 41 +f 31 3 41 +f 11 31 41 +f 2 9 42 +f 18 13 42 +f 13 19 42 +f 19 5 42 +f 26 2 42 +f 5 33 42 +f 33 26 42 +f 9 34 42 +f 10 20 43 +f 3 2 44 +f 2 21 44 +f 21 15 44 +f 41 3 44 +f 14 41 44 +f 15 21 45 +f 27 15 45 +f 20 27 45 +f 21 32 45 +f 6 26 46 +f 7 25 47 +f 25 5 47 +f 5 28 47 +f 28 7 47 +f 9 23 48 +f 23 22 48 +f 34 9 48 +f 1 34 48 +f 29 12 49 +f 12 40 49 +f 40 18 49 +f 34 1 50 +f 18 42 50 +f 42 34 50 +f 1 48 50 +f 48 22 50 +f 13 18 51 +f 7 39 51 +f 39 13 51 +f 40 7 51 +f 18 40 51 +f 24 11 52 +f 23 24 52 +f 10 37 53 +f 37 7 53 +f 14 44 54 +f 44 15 54 +f 32 6 55 +f 43 20 55 +f 20 45 55 +f 45 32 55 +f 6 46 55 +f 46 43 55 +f 24 3 56 +f 3 31 56 +f 31 24 56 +f 4 14 57 +f 15 27 57 +f 36 4 57 +f 27 36 57 +f 14 54 57 +f 54 15 57 +f 12 17 58 +f 7 40 58 +f 40 12 58 +f 17 53 58 +f 53 7 58 +f 4 36 59 +f 36 10 59 +f 38 4 59 +f 17 38 59 +f 53 17 59 +f 10 53 59 +f 26 16 60 +f 16 43 60 +f 46 26 60 +f 43 46 60 +f 22 29 61 +f 29 49 61 +f 49 18 61 +f 18 50 61 +f 50 22 61 +f 14 4 62 +f 35 14 62 +f 4 38 62 +f 38 35 62 +f 16 25 63 +f 37 10 63 +f 25 37 63 +f 43 16 63 +f 10 43 63 +f 8 23 64 +f 11 35 64 +f 35 8 64 +f 52 11 64 +o convex_1 +v 0.474282 0.088799 -2.998215 +v -0.461712 -0.292314 -3.032902 +v -0.461712 -0.292314 -2.998215 +v 0.023625 -1.194110 -3.032902 +v 0.162252 -0.257667 -3.483648 +v -0.010960 0.816968 -3.032902 +v -0.357671 -0.223021 -3.448961 +v 0.508963 -0.084631 -3.344898 +v 0.404921 -0.777957 -2.998215 +v 0.092891 -0.673820 -3.448961 +v -0.392351 0.331522 -2.998215 +v -0.322990 -0.604330 -3.379538 +v 0.092891 0.123445 -3.414273 +v 0.404921 -0.535234 -3.379538 +v -0.392351 -0.743114 -2.998215 +v -0.427032 -0.049985 -3.344898 +v 0.404921 0.400815 -2.998215 +v -0.288310 -0.223021 -3.483648 +v 0.508963 -0.223021 -2.998215 +v -0.010960 -1.194110 -2.998215 +v -0.253629 0.123445 -3.344898 +v 0.404921 0.192739 -3.240932 +v 0.023625 0.816968 -2.998215 +v -0.427032 -0.223021 -3.344898 +v 0.439602 -0.153924 -3.414273 +v 0.508963 -0.223021 -3.310211 +v 0.474282 0.227385 -3.136965 +v 0.023625 0.816968 -3.032902 +v -0.357671 0.365972 -3.067590 +v 0.023625 -0.673820 -3.448961 +v 0.439602 -0.361607 -3.414273 +v -0.080321 0.088799 -3.414273 +f 82 85 96 +f 65 67 73 +f 67 65 75 +f 66 67 75 +f 73 68 78 +f 68 74 78 +f 67 66 79 +f 73 67 79 +f 66 75 80 +f 75 65 81 +f 76 71 82 +f 77 69 82 +f 71 80 82 +f 65 73 83 +f 68 73 84 +f 76 68 84 +f 73 79 84 +f 79 76 84 +f 80 70 85 +f 82 80 85 +f 70 75 87 +f 75 81 87 +f 71 76 88 +f 79 66 88 +f 76 79 88 +f 66 80 88 +f 80 71 88 +f 69 77 89 +f 77 86 89 +f 86 72 89 +f 73 78 90 +f 72 83 90 +f 83 73 90 +f 81 65 91 +f 65 83 91 +f 83 72 91 +f 72 86 91 +f 77 70 92 +f 86 77 92 +f 87 81 92 +f 70 87 92 +f 81 91 92 +f 91 86 92 +f 75 70 93 +f 80 75 93 +f 70 80 93 +f 74 68 94 +f 69 74 94 +f 68 76 94 +f 82 69 94 +f 76 82 94 +f 74 69 95 +f 78 74 95 +f 69 89 95 +f 89 72 95 +f 72 90 95 +f 90 78 95 +f 70 77 96 +f 77 82 96 +f 85 70 96 +o convex_2 +v -0.704351 -2.511091 -1.368386 +v 0.613019 0.989814 0.989266 +v -0.322991 0.989814 0.989266 +v -0.045563 3.000193 -1.021703 +v 0.855665 -2.753607 -0.917749 +v -1.051136 -1.297900 0.989266 +v 0.994379 1.510277 -1.264432 +v -0.947204 1.648945 -1.264175 +v 0.925022 -1.332720 0.989266 +v -0.773708 2.480952 0.399337 +v -0.080345 -2.996735 0.330465 +v 0.786308 2.480952 0.399337 +v 0.543662 -0.291795 -1.645939 +v -1.051136 -2.268575 -0.536243 +v 1.028954 0.400323 0.989266 +v 0.994379 -2.580120 -0.085864 +v -0.877847 1.405818 -1.472339 +v 0.855665 2.411313 -1.229609 +v -0.773708 -2.996735 -0.397466 +v -1.085918 -0.188557 0.989266 +v -0.912422 -2.025448 -1.472339 +v -0.947204 2.480952 -0.432032 +v 0.058162 -2.961304 -1.229609 +v 0.404948 3.000193 -0.051299 +v 0.925022 -1.817141 -1.229609 +v 0.959804 2.480341 -0.293513 +v 0.023587 2.515161 0.572679 +v -0.461705 3.000804 0.018089 +v 0.474305 -3.134791 -0.362901 +v -0.773708 -2.788427 0.364772 +v 0.682376 -2.823247 0.330465 +v 0.058162 2.376493 -1.368386 +v -0.461705 0.122377 -1.645939 +v 0.613019 -2.164116 -1.403209 +v -0.808490 2.377104 -1.229609 +v -1.085918 -0.742618 -0.466855 +v -0.600419 -1.644264 0.989266 +v 1.029161 1.579306 -1.195044 +v -0.981779 0.608020 0.989266 +v -0.496280 3.000804 -0.848361 +v -1.016561 -2.095088 -1.195044 +v 0.474305 3.001415 -0.813538 +v 0.855665 1.128482 -1.472339 +v -0.045563 -3.239251 -0.432290 +v -0.739133 -2.788427 -1.195044 +v -1.016561 1.752793 -0.466855 +v 0.162301 -0.812257 -1.645939 +v 1.028954 -1.263080 -0.397466 +v -0.184277 -2.268575 -1.472339 +v -1.016561 -2.268575 0.365030 +v 0.751733 -2.788427 -1.160221 +v -0.981779 1.717973 0.365030 +v 0.335590 -1.574625 0.989266 +v 0.474305 0.122987 -1.645939 +v 1.028954 -0.638770 0.989266 +v 0.716951 -3.065763 -0.432290 +v 0.994379 0.018528 -1.298998 +v 1.029161 1.961100 -0.362901 +v 0.786308 -1.748724 -1.403209 +v 0.716951 2.480952 0.468984 +v -1.016561 -1.019954 -1.229609 +v 0.959804 -2.267964 0.399595 +v -0.669776 2.931776 -0.466855 +v 0.023587 3.000193 0.122042 +f 123 156 160 +f 98 99 102 +f 98 102 105 +f 98 105 111 +f 102 99 116 +f 110 102 116 +f 112 101 121 +f 108 111 122 +f 120 108 122 +f 99 98 123 +f 106 123 124 +f 107 125 127 +f 100 114 128 +f 117 113 129 +f 113 128 129 +f 113 104 131 +f 104 118 131 +f 100 128 131 +f 128 113 131 +f 110 116 132 +f 105 102 133 +f 102 126 133 +f 126 107 133 +f 103 114 134 +f 114 122 134 +f 116 99 135 +f 99 123 135 +f 123 106 135 +f 100 131 136 +f 110 132 137 +f 114 100 138 +f 122 114 138 +f 120 122 138 +f 124 120 138 +f 100 136 138 +f 136 124 138 +f 114 103 139 +f 128 114 139 +f 125 107 140 +f 107 126 140 +f 126 115 140 +f 115 110 141 +f 117 97 141 +f 97 119 141 +f 110 137 141 +f 137 117 141 +f 140 115 141 +f 119 140 141 +f 118 104 142 +f 132 116 142 +f 104 132 142 +f 129 109 143 +f 117 129 143 +f 109 130 143 +f 112 121 144 +f 97 117 145 +f 119 97 145 +f 130 119 145 +f 117 143 145 +f 143 130 145 +f 102 110 146 +f 110 115 146 +f 126 102 146 +f 115 126 146 +f 121 101 147 +f 119 130 147 +f 106 118 148 +f 116 135 148 +f 135 106 148 +f 118 142 148 +f 142 116 148 +f 127 105 149 +f 107 127 149 +f 105 133 149 +f 133 107 149 +f 109 129 150 +f 129 128 150 +f 139 109 150 +f 128 139 150 +f 111 105 151 +f 112 144 151 +f 144 134 151 +f 101 112 152 +f 112 127 152 +f 127 125 152 +f 140 119 152 +f 125 140 152 +f 147 101 152 +f 119 147 152 +f 103 134 153 +f 139 103 153 +f 144 121 153 +f 134 144 153 +f 122 111 154 +f 134 122 154 +f 111 151 154 +f 151 134 154 +f 130 109 155 +f 109 139 155 +f 121 147 155 +f 147 130 155 +f 153 121 155 +f 139 153 155 +f 98 111 156 +f 111 108 156 +f 108 120 156 +f 123 98 156 +f 104 113 157 +f 113 117 157 +f 132 104 157 +f 117 137 157 +f 137 132 157 +f 105 127 158 +f 127 112 158 +f 151 105 158 +f 112 151 158 +f 118 106 159 +f 106 124 159 +f 131 118 159 +f 124 136 159 +f 136 131 159 +f 120 124 160 +f 124 123 160 +f 156 120 160 +o convex_3 +v 0.474177 3.902817 -0.397847 +v -0.600502 3.001415 -0.501569 +v -0.496451 3.001415 -0.848253 +v -0.392399 4.561560 -0.397847 +v 0.058082 3.001415 0.087749 +v 0.439568 3.001415 -0.883008 +v 0.023472 4.492155 -0.779068 +v -0.011249 4.526771 -0.016300 +v -0.461729 3.036377 -0.016300 +v 0.404846 3.001415 -0.050946 +v 0.370237 4.526771 -0.397847 +v -0.045634 3.036377 -1.021811 +v -0.427120 3.764353 -0.813606 +v 0.023472 4.769603 -0.432493 +v 0.370237 3.833758 -0.813606 +v 0.370237 3.799142 -0.085810 +v 0.543732 3.001415 -0.397847 +v -0.392399 3.868374 -0.050946 +v -0.531060 3.868374 -0.397847 +v -0.080355 4.492155 -0.779068 +v -0.045634 3.417673 0.087749 +v -0.011249 3.660331 -0.952410 +v 0.509010 3.660331 -0.501569 +v 0.266185 4.353518 -0.120348 +v -0.253738 4.388134 -0.085810 +v 0.335516 4.388134 -0.605509 +v 0.058082 3.764353 0.052885 +v -0.323068 4.353518 -0.674911 +v 0.439568 3.175014 -0.883008 +v -0.392399 3.001415 0.018347 +v 0.023472 4.734814 -0.293690 +v -0.600502 3.070993 -0.397847 +v -0.392399 4.526771 -0.328445 +v -0.461729 3.764353 -0.744313 +v 0.543732 3.140398 -0.536216 +v 0.370237 3.036377 -0.016300 +v 0.023472 3.001415 -1.021811 +v 0.023472 4.526771 -0.016300 +v 0.404846 4.388134 -0.467031 +v -0.219016 3.799142 0.018347 +v -0.461729 3.070993 -0.883008 +v -0.149686 3.695121 -0.917763 +v -0.045634 4.769603 -0.432493 +v -0.045634 4.734814 -0.293690 +f 191 203 204 +f 162 163 165 +f 165 163 166 +f 165 166 170 +f 161 171 176 +f 170 166 177 +f 161 176 177 +f 176 170 177 +f 169 178 179 +f 174 167 180 +f 167 175 182 +f 180 167 182 +f 161 177 183 +f 176 171 184 +f 178 168 185 +f 167 174 186 +f 174 171 186 +f 175 167 186 +f 181 165 187 +f 180 173 188 +f 164 180 188 +f 182 175 189 +f 175 183 189 +f 162 165 190 +f 169 162 190 +f 178 169 190 +f 165 181 190 +f 171 174 191 +f 162 169 192 +f 169 179 192 +f 179 162 192 +f 179 178 193 +f 164 179 193 +f 185 168 193 +f 178 185 193 +f 163 162 194 +f 173 163 194 +f 162 179 194 +f 179 164 194 +f 164 188 194 +f 188 173 194 +f 177 166 195 +f 183 177 195 +f 166 189 195 +f 189 183 195 +f 165 170 196 +f 170 176 196 +f 187 165 196 +f 176 187 196 +f 166 163 197 +f 163 172 197 +f 172 182 197 +f 189 166 197 +f 182 189 197 +f 168 181 198 +f 184 171 198 +f 176 184 198 +f 187 176 198 +f 181 187 198 +f 191 168 198 +f 171 191 198 +f 171 161 199 +f 161 183 199 +f 183 175 199 +f 186 171 199 +f 175 186 199 +f 168 178 200 +f 181 168 200 +f 178 190 200 +f 190 181 200 +f 172 163 201 +f 163 173 201 +f 201 173 202 +f 173 180 202 +f 182 172 202 +f 180 182 202 +f 172 201 202 +f 180 164 203 +f 174 180 203 +f 191 174 203 +f 168 191 204 +f 164 193 204 +f 193 168 204 +f 203 164 204 +o convex_4 +v -0.323051 -2.753814 -2.685978 +v 0.023612 0.677540 -1.853981 +v 0.023612 1.197674 -1.888811 +v 0.474313 -0.360966 -2.998103 +v -0.323051 2.099395 -2.755302 +v 0.370274 -2.199045 -2.027459 +v -0.496481 -0.465462 -1.853981 +v 0.405020 2.307800 -2.443289 +v -0.461736 -0.292280 -2.998103 +v 0.509058 -0.085048 -1.853981 +v -0.080328 -2.823087 -1.958135 +v 0.404921 -2.857724 -2.408907 +v -0.357698 2.411710 -2.374190 +v -0.010937 2.411123 -2.859344 +v 0.023612 -2.996269 -2.790020 +v -0.427089 -2.926996 -2.374190 +v 0.092905 2.411123 -2.062177 +v -0.461736 1.717807 -2.443289 +v 0.509058 -2.095135 -2.408907 +v -0.357698 1.509988 -2.027459 +v 0.023612 -3.273948 -2.339584 +v -0.010937 -1.575002 -2.998103 +v 0.404921 0.435085 -2.998103 +v 0.404921 -1.991226 -2.824738 +v -0.496481 -1.990639 -2.547331 +v 0.058258 2.723438 -2.478007 +v 0.023612 -1.782820 -1.853981 +v 0.474313 1.683171 -2.512613 +v -0.045583 1.336219 -2.998103 +v 0.335628 1.683171 -2.859344 +v -0.392443 -2.129772 -1.992853 +v -0.392443 -2.060499 -2.824738 +v 0.370274 1.787080 -2.096895 +v 0.474313 -0.847050 -1.853981 +v 0.023612 -2.961633 -1.992853 +v -0.496481 -0.258818 -2.616655 +v -0.496481 -0.119685 -1.853981 +v 0.509058 -0.881099 -2.443289 +v 0.370274 2.376486 -2.547331 +v -0.080328 2.411123 -2.859344 +v -0.496481 -2.337590 -2.374190 +v -0.392443 0.331176 -2.998103 +v 0.370274 -2.926996 -2.304866 +v -0.045583 2.341850 -2.062177 +v 0.023612 -2.199045 -2.928668 +v 0.300883 -2.753814 -2.685978 +v 0.474313 0.053497 -2.998103 +v -0.392443 1.440128 -2.824738 +v -0.357698 2.445759 -2.478007 +v -0.115073 -2.926996 -1.992853 +v -0.288405 -3.100766 -2.408907 +v 0.023612 1.579261 -1.923529 +v 0.404921 -0.812413 -2.998103 +v -0.392443 -0.777777 -2.998103 +v -0.010937 2.723438 -2.408907 +v 0.370274 2.411123 -2.408907 +v -0.427089 -0.881686 -1.853981 +v -0.323051 -2.684541 -2.062177 +v 0.370274 -2.961633 -2.408907 +v 0.127650 1.440716 -2.963385 +v -0.461736 1.509988 -2.304866 +v -0.045583 -2.164408 -2.928668 +v -0.427089 0.157994 -1.853981 +v 0.509058 -2.025862 -2.478007 +f 251 242 268 +f 207 206 214 +f 206 211 214 +f 213 208 226 +f 208 213 227 +f 214 211 231 +f 212 214 232 +f 227 213 233 +f 219 205 236 +f 205 220 236 +f 229 213 236 +f 220 229 236 +f 214 212 237 +f 221 214 237 +f 223 214 238 +f 210 223 238 +f 214 231 238 +f 238 231 239 +f 231 215 239 +f 210 238 239 +f 222 213 240 +f 213 229 240 +f 229 211 240 +f 211 206 241 +f 222 240 241 +f 240 211 241 +f 214 223 242 +f 232 214 242 +f 218 230 243 +f 212 232 243 +f 234 218 243 +f 232 234 243 +f 230 218 244 +f 218 233 244 +f 229 220 245 +f 211 229 245 +f 235 211 245 +f 220 235 245 +f 233 213 246 +f 244 233 246 +f 223 210 247 +f 216 223 247 +f 210 239 247 +f 239 225 247 +f 217 224 248 +f 228 219 249 +f 228 216 250 +f 219 228 250 +f 208 227 251 +f 227 234 251 +f 234 232 251 +f 232 242 251 +f 213 222 252 +f 209 244 252 +f 246 213 252 +f 244 246 252 +f 222 217 253 +f 244 209 253 +f 209 252 253 +f 252 222 253 +f 215 235 254 +f 239 215 254 +f 225 239 254 +f 205 219 255 +f 220 205 255 +f 219 225 255 +f 254 220 255 +f 225 254 255 +f 207 214 256 +f 214 221 256 +f 221 248 256 +f 248 224 256 +f 226 208 257 +f 208 228 257 +f 249 226 257 +f 228 249 257 +f 213 226 258 +f 236 213 258 +f 221 230 259 +f 230 244 259 +f 248 221 259 +f 217 248 259 +f 253 217 259 +f 244 253 259 +f 230 221 260 +f 237 212 260 +f 221 237 260 +f 212 243 260 +f 243 230 260 +f 231 211 261 +f 215 231 261 +f 211 235 261 +f 235 215 261 +f 235 220 262 +f 220 254 262 +f 254 235 262 +f 225 219 263 +f 216 247 263 +f 247 225 263 +f 250 216 263 +f 219 250 263 +f 233 218 264 +f 227 233 264 +f 218 234 264 +f 234 227 264 +f 217 222 265 +f 224 217 265 +f 241 224 265 +f 222 241 265 +f 219 236 266 +f 226 249 266 +f 249 219 266 +f 258 226 266 +f 236 258 266 +f 206 207 267 +f 241 206 267 +f 224 241 267 +f 207 256 267 +f 256 224 267 +f 223 216 268 +f 216 228 268 +f 228 208 268 +f 242 223 268 +f 208 251 268 +o convex_5 +v 0.543528 -0.431175 -1.715313 +v -0.496278 -0.535166 -1.749950 +v -0.461665 -0.708484 -1.853961 +v -0.045702 0.470078 -1.853961 +v -0.461665 0.088626 -1.645959 +v 0.474201 -0.812474 -1.853961 +v -0.010987 -0.812474 -1.645959 +v 0.508915 0.053962 -1.645959 +v 0.508915 -0.084692 -1.853961 +v -0.496278 -0.084692 -1.853961 +v -0.010987 -1.089936 -1.819284 +v 0.439588 -0.708484 -1.645959 +v -0.392338 -0.708484 -1.645959 +v 0.023625 0.227280 -1.645959 +v -0.392338 -0.881802 -1.853961 +v -0.392338 0.192616 -1.853961 +v 0.023625 0.470078 -1.819284 +v -0.496278 -0.535166 -1.645959 +v 0.058238 -1.089936 -1.853961 +v 0.370261 0.123289 -1.853961 +v 0.543528 -0.465839 -1.645959 +f 276 280 289 +f 271 272 274 +f 273 275 276 +f 269 274 277 +f 274 272 277 +f 276 269 277 +f 271 270 278 +f 272 271 278 +f 275 279 280 +f 276 275 280 +f 275 273 281 +f 279 275 281 +f 273 276 282 +f 271 274 283 +f 279 281 283 +f 273 272 284 +f 272 278 284 +f 278 273 284 +f 272 273 285 +f 273 282 285 +f 282 276 285 +f 270 271 286 +f 278 270 286 +f 273 278 286 +f 281 273 286 +f 271 283 286 +f 283 281 286 +f 280 279 287 +f 274 280 287 +f 283 274 287 +f 279 283 287 +f 277 272 288 +f 276 277 288 +f 272 285 288 +f 285 276 288 +f 274 269 289 +f 269 276 289 +f 280 274 289 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/873/873.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/873/873.urdf new file mode 100644 index 000000000..918d99d00 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/873/873.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/874/874.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/874/874.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/874/874.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/874/874.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/874/874.obj new file mode 100644 index 000000000..cc40d0368 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/874/874.obj @@ -0,0 +1,798 @@ +o convex_0 +v 1.262516 1.725185 0.175659 +v 1.378194 2.331533 0.002383 +v 1.378194 2.331533 -0.055289 +v 2.995303 1.927279 0.088988 +v 1.262516 1.696286 -0.286367 +v 1.262516 2.129304 0.320066 +v 2.648610 1.985010 -0.199696 +v 1.262516 2.187036 -0.315235 +v 2.677614 2.187036 0.031251 +v 2.677614 1.754017 0.117857 +v 2.764118 1.956178 0.262264 +v 1.262516 2.273666 0.233396 +v 2.590771 1.782917 -0.113026 +v 1.407028 1.638487 -0.055289 +v 1.638213 1.782917 0.262264 +v 2.013402 2.187036 -0.228565 +v 1.435863 1.927279 -0.344169 +v 2.475263 2.129304 0.204527 +v 1.262516 1.985010 0.320066 +v 1.291520 1.638487 -0.199696 +v 2.735283 1.754017 0.002383 +v 2.764118 1.927279 -0.170763 +v 1.262516 2.273666 -0.257498 +v 2.735283 2.158204 -0.026420 +v 1.407028 1.638487 0.002383 +v 2.966299 2.013774 0.060120 +v 2.561937 1.840648 0.233396 +v 1.407028 1.667386 -0.257498 +v 2.648610 1.927279 -0.199696 +v 2.764118 1.985010 0.262264 +v 1.262516 1.840648 0.291133 +v 2.244417 1.956178 0.291133 +v 1.926898 2.013774 -0.286367 +v 1.320355 2.273666 0.233396 +v 2.677614 2.042674 -0.170763 +v 2.648610 2.158204 0.117857 +v 2.532933 1.725185 0.031251 +v 1.291520 1.869547 -0.344169 +f 17 29 38 +f 5 1 6 +f 5 6 8 +f 3 2 9 +f 10 4 11 +f 2 3 12 +f 8 6 12 +f 3 9 16 +f 6 1 19 +f 1 5 20 +f 4 10 21 +f 21 13 22 +f 4 21 22 +f 12 3 23 +f 8 12 23 +f 16 8 23 +f 3 16 23 +f 16 9 24 +f 15 1 25 +f 10 15 25 +f 1 20 25 +f 20 14 25 +f 4 22 26 +f 24 9 26 +f 10 11 27 +f 15 10 27 +f 20 5 28 +f 21 20 28 +f 13 21 28 +f 22 13 29 +f 7 22 29 +f 28 5 29 +f 13 28 29 +f 11 4 30 +f 4 26 30 +f 1 15 31 +f 19 1 31 +f 19 31 32 +f 6 19 32 +f 27 11 32 +f 15 27 32 +f 30 6 32 +f 11 30 32 +f 31 15 32 +f 16 7 33 +f 8 16 33 +f 17 8 33 +f 29 17 33 +f 7 29 33 +f 9 2 34 +f 2 12 34 +f 12 6 34 +f 6 30 34 +f 30 18 34 +f 7 16 35 +f 22 7 35 +f 16 24 35 +f 26 22 35 +f 24 26 35 +f 26 9 36 +f 18 30 36 +f 30 26 36 +f 9 34 36 +f 34 18 36 +f 14 20 37 +f 20 21 37 +f 21 10 37 +f 10 25 37 +f 25 14 37 +f 5 8 38 +f 8 17 38 +f 29 5 38 +o convex_1 +v -1.452251 1.638571 0.060058 +v -1.278904 2.418173 0.031167 +v -1.278904 2.418173 -0.113119 +v -3.011691 2.013910 -0.055280 +v -1.278904 1.927287 -0.286409 +v -1.278904 2.215927 0.291186 +v -2.722667 2.042682 0.204513 +v -2.780506 1.985061 -0.228627 +v -2.751671 2.244775 -0.026389 +v -1.278904 1.782891 0.262295 +v -2.809340 1.782891 0.031167 +v -1.278904 1.667420 -0.170845 +v -1.307908 2.331398 -0.286409 +v -1.394582 2.360323 0.204513 +v -2.145298 1.811816 0.233404 +v -2.664998 2.215927 -0.142010 +v -2.607159 1.811816 -0.142010 +v -1.654601 2.071531 0.291186 +v -2.520486 2.215927 0.117896 +v -2.000955 1.782891 -0.199736 +v -2.664998 1.754042 0.002389 +v -1.712101 1.985061 -0.286409 +v -1.278904 1.638571 0.089005 +v -2.694002 1.782891 0.089005 +v -2.751671 2.244775 -0.084228 +v -1.452251 2.418173 -0.084228 +v -2.953852 2.013910 0.060058 +v -1.336743 1.869514 0.291186 +v -2.433813 2.215927 -0.199736 +v -1.394582 1.667420 -0.170845 +v -1.423416 2.418173 0.002389 +v -2.780506 2.013910 -0.228627 +v -2.578325 1.840665 0.175622 +v -1.827948 1.811816 0.262295 +f 66 56 72 +f 41 40 43 +f 43 40 44 +f 43 44 48 +f 42 46 49 +f 43 48 50 +f 41 43 51 +f 44 40 52 +f 45 44 52 +f 49 46 55 +f 44 45 56 +f 47 45 57 +f 45 52 57 +f 52 47 57 +f 55 46 58 +f 49 55 59 +f 51 43 60 +f 43 58 60 +f 58 46 60 +f 39 50 61 +f 50 48 61 +f 53 39 61 +f 45 49 62 +f 39 53 62 +f 59 39 62 +f 49 59 62 +f 42 47 63 +f 40 41 64 +f 41 51 64 +f 63 47 64 +f 51 63 64 +f 47 42 65 +f 45 47 65 +f 49 45 65 +f 42 49 65 +f 48 44 66 +f 44 56 66 +f 63 51 67 +f 54 63 67 +f 50 39 68 +f 43 50 68 +f 58 43 68 +f 55 58 68 +f 39 59 68 +f 59 55 68 +f 52 40 69 +f 47 52 69 +f 40 64 69 +f 64 47 69 +f 46 42 70 +f 51 60 70 +f 60 46 70 +f 42 63 70 +f 63 54 70 +f 67 51 70 +f 54 67 70 +f 53 45 71 +f 45 62 71 +f 62 53 71 +f 45 53 72 +f 56 45 72 +f 61 48 72 +f 53 61 72 +f 48 66 72 +o convex_2 +v 0.367243 -3.271316 -0.055258 +v -0.383631 -3.329078 -0.055258 +v -0.383631 -3.329078 -0.026491 +v 0.049503 -5.032638 0.002343 +v 0.020618 -3.271316 0.320066 +v -0.094777 -3.271316 -0.373048 +v -0.210318 -4.801588 0.002343 +v 0.049503 -4.686064 -0.228604 +v 0.251701 -4.772621 0.002343 +v 0.280587 -3.300283 -0.286341 +v -0.296975 -3.271316 0.262261 +v -0.008194 -4.772621 0.175622 +v 0.280587 -3.329078 0.233427 +v -0.268089 -3.415808 -0.315176 +v -0.210318 -4.801588 -0.055258 +v 0.251701 -4.686064 -0.084160 +v 0.136160 -4.686064 0.146788 +v 0.078389 -3.271316 -0.373048 +v -0.152548 -4.599334 -0.170800 +v -0.181433 -4.455014 0.146788 +v -0.383631 -3.271316 -0.084160 +v -0.325860 -3.300283 0.233427 +v 0.049503 -5.032638 -0.055258 +v 0.136160 -4.657096 -0.199702 +v -0.037006 -3.386841 0.320066 +v 0.367243 -3.329078 0.002343 +v 0.049503 -4.743826 0.175622 +v 0.020618 -4.686064 -0.228604 +v -0.296975 -3.329078 -0.286341 +v -0.008194 -3.415808 -0.373048 +v 0.193931 -4.628301 0.117885 +v 0.280587 -3.271316 0.233427 +v 0.222816 -4.310694 -0.199702 +f 96 82 105 +f 77 73 78 +f 75 74 79 +f 77 78 83 +f 79 76 84 +f 79 74 87 +f 76 79 87 +f 82 73 88 +f 76 81 89 +f 78 73 90 +f 73 82 90 +f 87 86 91 +f 79 84 92 +f 84 83 92 +f 74 75 93 +f 83 78 93 +f 87 74 93 +f 75 79 94 +f 79 92 94 +f 92 83 94 +f 93 75 94 +f 83 93 94 +f 81 76 95 +f 76 87 95 +f 88 81 95 +f 88 95 96 +f 80 90 96 +f 90 82 96 +f 95 80 96 +f 77 83 97 +f 83 84 97 +f 85 81 98 +f 81 88 98 +f 88 73 98 +f 84 76 99 +f 85 77 99 +f 76 89 99 +f 89 85 99 +f 77 97 99 +f 97 84 99 +f 86 78 100 +f 91 86 100 +f 87 91 100 +f 80 95 100 +f 95 87 100 +f 78 86 101 +f 86 87 101 +f 93 78 101 +f 87 93 101 +f 78 90 102 +f 90 80 102 +f 100 78 102 +f 80 100 102 +f 81 85 103 +f 89 81 103 +f 85 89 103 +f 73 77 104 +f 77 85 104 +f 98 73 104 +f 85 98 104 +f 82 88 105 +f 88 96 105 +o convex_3 +v 0.973676 2.966236 -0.026672 +v -1.278904 -0.584892 -0.026672 +v -1.278904 -0.584892 0.088938 +v 0.915713 -2.663812 -0.084070 +v -0.008205 0.453330 -1.095043 +v -0.932124 2.648640 0.753082 +v 0.858000 -2.086815 0.781984 +v -0.845553 2.561967 -0.863824 +v -0.874410 -2.375314 -0.834921 +v -0.845553 -2.375314 0.724180 +v 1.002533 2.475293 0.868488 +v 0.944819 2.821986 -0.892726 +v 0.800286 -2.346216 -0.834921 +v 1.262494 -0.498218 -0.343988 +v -0.297023 -3.270525 0.291051 +v -0.123633 -0.008514 0.984301 +v -1.278904 2.331044 -0.286183 +v -0.499021 3.052909 0.377758 +v 1.262494 2.129220 0.319953 +v 0.078365 -3.270525 -0.372687 +v 1.262494 -0.555794 0.291051 +v -1.278904 0.021202 0.406457 +v -0.960981 -2.692909 -0.112972 +v -0.037062 3.023811 -0.806223 +v 0.020652 -2.231065 -1.008132 +v 0.800286 0.049680 -1.008336 +v 0.049509 -2.260162 0.897594 +v 0.482611 -3.010505 0.435359 +v -0.787839 -0.353350 -0.979433 +v -0.903267 2.966855 -0.084070 +v 0.684858 -0.007895 0.955399 +v 1.262494 2.186795 -0.315085 +v 0.136079 3.023811 0.637676 +v -0.787839 -0.238199 0.868692 +v -1.249799 -0.036993 -0.401793 +v -1.278904 2.331044 0.233246 +v -0.065919 2.359523 -1.008132 +v 0.020652 2.012830 0.926496 +v -0.527878 -3.010505 -0.575003 +v 1.262494 -0.094569 -0.459597 +v 0.049509 -3.010505 0.608774 +v 0.020652 -3.010505 -0.690409 +v 0.367183 -3.270525 -0.055371 +v 0.858000 -2.346216 0.753082 +v 0.973676 2.619543 0.868488 +v 1.262494 -0.151525 0.377758 +v 0.713715 3.024431 0.319750 +v 0.482611 -2.982026 -0.517402 +v -0.787839 0.482428 -0.979433 +v -1.278904 -0.498218 -0.257281 +v -0.412451 -3.270525 -0.083866 +v -0.008205 -0.324872 -1.095043 +v -0.527878 -3.039602 0.435359 +v 0.424897 3.052909 -0.343988 +v 0.829143 -0.267296 0.926293 +v 0.193793 0.453330 0.984301 +v -0.874410 2.591064 0.781984 +v 0.944819 -2.606855 -0.055371 +v 0.858000 2.763792 -0.921629 +v -0.094776 -2.231065 -1.008132 +v -1.278904 -0.469121 0.291051 +v 1.262494 2.331044 0.031133 +v -0.470165 3.023811 -0.517402 +v 0.915962 2.417718 0.897594 +f 143 161 169 +f 107 108 122 +f 119 124 126 +f 122 108 127 +f 108 107 128 +f 118 130 131 +f 113 122 135 +f 111 123 135 +f 121 132 136 +f 124 119 137 +f 123 111 138 +f 127 115 139 +f 111 127 139 +f 115 132 139 +f 132 121 139 +f 122 113 140 +f 134 114 140 +f 127 111 141 +f 122 127 141 +f 111 135 141 +f 135 122 141 +f 113 129 142 +f 128 114 144 +f 119 118 145 +f 131 117 145 +f 118 131 145 +f 117 137 145 +f 137 119 145 +f 132 115 146 +f 120 133 146 +f 130 118 147 +f 125 144 147 +f 144 114 147 +f 120 125 148 +f 109 133 148 +f 133 120 148 +f 112 132 149 +f 133 109 149 +f 132 146 149 +f 146 133 149 +f 116 124 150 +f 138 111 150 +f 116 112 151 +f 124 116 151 +f 126 124 151 +f 149 126 151 +f 112 149 151 +f 123 138 152 +f 150 106 152 +f 138 150 152 +f 118 109 153 +f 147 118 153 +f 125 147 153 +f 109 148 153 +f 148 125 153 +f 110 134 154 +f 140 113 154 +f 134 140 154 +f 142 110 154 +f 113 142 154 +f 107 122 155 +f 128 107 155 +f 114 128 155 +f 140 114 155 +f 122 140 155 +f 125 120 156 +f 144 125 156 +f 128 144 156 +f 110 131 157 +f 131 130 157 +f 134 110 157 +f 115 128 158 +f 146 115 158 +f 120 146 158 +f 156 120 158 +f 128 156 158 +f 106 117 159 +f 117 129 159 +f 152 106 159 +f 123 152 159 +f 112 116 160 +f 132 112 160 +f 136 132 160 +f 121 136 161 +f 143 121 161 +f 111 139 162 +f 139 121 162 +f 121 143 162 +f 150 111 162 +f 143 150 162 +f 109 118 163 +f 118 119 163 +f 119 126 163 +f 149 109 163 +f 126 149 163 +f 129 117 164 +f 131 110 164 +f 117 131 164 +f 110 142 164 +f 142 129 164 +f 114 134 165 +f 147 114 165 +f 130 147 165 +f 157 130 165 +f 134 157 165 +f 127 108 166 +f 115 127 166 +f 108 128 166 +f 128 115 166 +f 117 106 167 +f 137 117 167 +f 124 137 167 +f 106 150 167 +f 150 124 167 +f 129 113 168 +f 113 135 168 +f 135 123 168 +f 159 129 168 +f 123 159 168 +f 116 150 169 +f 150 143 169 +f 160 116 169 +f 136 160 169 +f 161 136 169 +o convex_4 +v 1.378129 -0.036676 -0.430808 +v 1.291515 0.078764 0.348946 +v 1.695662 0.194320 0.291167 +v 1.320361 -0.643084 -0.055280 +v 2.042118 -0.180860 -0.286321 +v 1.262669 0.483151 -0.315249 +v 2.042118 -0.209720 0.204536 +v 2.042118 0.252155 -0.055280 +v 1.262669 -0.556272 0.233387 +v 1.262669 0.540987 0.088977 +v 1.262669 -0.469692 -0.344101 +v 2.042118 0.194320 -0.257394 +v 2.013272 0.194320 0.204536 +v 1.262669 0.425431 0.291167 +v 2.042118 -0.296416 -0.084132 +v 1.897812 -0.036676 0.291167 +v 1.955504 -0.007816 -0.344101 +v 1.262669 -0.123140 0.348946 +v 1.262669 0.078764 -0.430808 +v 1.320361 0.483151 -0.315249 +v 1.406974 -0.440716 -0.344101 +v 1.926658 -0.267556 -0.286321 +v 2.013272 -0.267556 0.146756 +v 1.291515 -0.643084 -0.112983 +v 2.042118 0.021044 0.262239 +v 1.291515 0.540987 0.088977 +v 1.291515 -0.556272 0.233387 +v 2.042118 0.252155 0.031198 +f 195 182 197 +f 176 174 177 +f 175 178 179 +f 178 175 180 +f 177 174 181 +f 171 172 183 +f 179 178 183 +f 172 182 183 +f 174 176 184 +f 172 171 185 +f 181 174 186 +f 171 183 187 +f 183 178 187 +f 185 171 187 +f 170 180 188 +f 180 175 188 +f 186 170 188 +f 186 188 189 +f 175 179 189 +f 177 181 189 +f 181 186 189 +f 188 175 189 +f 180 170 190 +f 170 186 190 +f 186 174 190 +f 174 184 191 +f 190 174 191 +f 173 184 192 +f 184 176 192 +f 173 178 193 +f 178 180 193 +f 184 173 193 +f 180 190 193 +f 191 184 193 +f 190 191 193 +f 176 177 194 +f 182 172 194 +f 172 185 194 +f 185 176 194 +f 179 183 195 +f 183 182 195 +f 177 189 195 +f 189 179 195 +f 178 173 196 +f 176 185 196 +f 187 178 196 +f 185 187 196 +f 173 192 196 +f 192 176 196 +f 194 177 197 +f 182 194 197 +f 177 195 197 +o convex_5 +v 2.215617 -0.036586 0.262307 +v 2.042270 -0.065468 -0.315289 +v 2.042270 0.021083 -0.315289 +v 3.053062 0.021083 -0.026491 +v 2.042270 0.223310 0.089017 +v 2.042270 -0.267647 0.060126 +v 2.793142 -0.209833 -0.055269 +v 2.821934 -0.036586 0.204525 +v 2.793142 0.021083 -0.228559 +v 2.648686 0.194379 -0.026491 +v 2.128943 0.194379 -0.228559 +v 2.186726 -0.209833 -0.257507 +v 2.619795 0.136614 0.175633 +v 2.042270 -0.238764 0.175633 +v 2.042270 0.136614 0.233416 +v 2.793142 -0.065468 -0.228559 +v 2.042270 -0.267647 -0.141942 +v 2.793142 -0.209833 0.002343 +v 2.821934 0.165496 -0.026491 +v 2.821934 0.021083 0.204525 +v 2.042270 0.223310 -0.141942 +v 3.053062 -0.036586 0.031235 +v 2.821934 0.165496 0.031235 +v 2.677577 -0.123234 0.175633 +v 2.302191 -0.267647 -0.026491 +f 215 211 222 +f 200 199 202 +f 202 199 203 +f 199 200 206 +f 206 200 208 +f 202 203 211 +f 210 202 212 +f 211 198 212 +f 202 211 212 +f 199 206 213 +f 206 201 213 +f 209 199 213 +f 204 209 213 +f 203 199 214 +f 199 209 214 +f 209 204 214 +f 201 206 216 +f 206 208 216 +f 208 207 216 +f 198 205 217 +f 212 198 217 +f 210 212 217 +f 200 202 218 +f 202 207 218 +f 207 208 218 +f 208 200 218 +f 213 201 219 +f 204 213 219 +f 215 204 219 +f 205 215 219 +f 217 205 219 +f 201 217 219 +f 207 202 220 +f 202 210 220 +f 201 216 220 +f 216 207 220 +f 210 217 220 +f 217 201 220 +f 205 198 221 +f 198 211 221 +f 215 205 221 +f 211 215 221 +f 211 203 222 +f 203 214 222 +f 214 204 222 +f 204 215 222 +o convex_6 +v -2.000992 0.021083 0.320066 +v -2.491733 -0.036586 -0.228650 +v -2.491733 -0.007729 -0.228650 +v -2.953838 -0.065443 0.031314 +v -2.000992 -0.238767 -0.055323 +v -2.000992 0.223310 0.002417 +v -2.693869 0.165550 0.031314 +v -2.665046 -0.065443 0.233376 +v -2.000992 0.136648 -0.199753 +v -2.058825 -0.209864 0.204479 +v -2.693869 -0.209864 0.002417 +v -2.145388 0.165550 0.262219 +v -2.780525 -0.065443 -0.199753 +v -2.000992 -0.152105 -0.199753 +v -2.722786 0.021083 0.233376 +v -2.607306 0.107791 -0.141959 +v -2.953838 0.021083 0.002417 +v -2.491733 -0.181007 -0.141959 +v -2.000992 0.194407 0.233376 +v -2.000992 -0.094300 0.291116 +v -2.087648 0.165550 -0.170856 +v -2.520650 0.136648 0.204479 +v -2.000992 -0.238767 0.117843 +v -2.000992 -0.094300 -0.228650 +v -2.607306 -0.181007 0.117843 +f 226 233 247 +f 223 227 228 +f 228 227 231 +f 225 224 235 +f 233 226 235 +f 231 227 236 +f 230 223 237 +f 226 230 237 +f 223 234 237 +f 225 235 238 +f 238 235 239 +f 235 226 239 +f 226 237 239 +f 237 229 239 +f 229 238 239 +f 227 233 240 +f 233 235 240 +f 235 236 240 +f 236 227 240 +f 223 228 241 +f 228 229 241 +f 234 223 241 +f 227 223 242 +f 223 230 242 +f 230 232 242 +f 229 228 243 +f 231 225 243 +f 228 231 243 +f 238 229 243 +f 225 238 243 +f 229 237 244 +f 237 234 244 +f 241 229 244 +f 234 241 244 +f 232 233 245 +f 233 227 245 +f 227 242 245 +f 242 232 245 +f 224 225 246 +f 225 231 246 +f 235 224 246 +f 236 235 246 +f 231 236 246 +f 230 226 247 +f 232 230 247 +f 233 232 247 +o convex_7 +v -1.278904 0.483103 0.262216 +v -2.000899 -0.238671 -0.084205 +v -1.971993 -0.267567 0.002434 +v -1.278904 -0.469737 -0.170845 +v -1.278904 -0.411944 0.319953 +v -1.278904 0.396413 -0.199747 +v -2.000899 0.136557 0.291119 +v -1.971993 0.165347 -0.199747 +v -1.307809 -0.094294 -0.315289 +v -1.278904 0.280934 0.377826 +v -2.000899 -0.036608 0.319953 +v -1.307809 -0.585324 0.060035 +v -2.000899 -0.094294 -0.228650 +v -1.971993 0.252037 0.031268 +v -1.971993 -0.209881 0.233382 +v -1.336715 0.512107 0.117840 +v -1.336715 -0.152088 0.377826 +v -1.452265 -0.383154 -0.228650 +v -1.278904 0.049867 -0.315289 +v -1.365620 0.425417 0.348856 +v -1.394454 -0.440840 0.291119 +v -2.000899 0.223140 0.146675 +v -1.943088 -0.036608 -0.257484 +v -1.481099 0.367516 -0.170845 +v -2.000899 -0.209881 -0.170845 +v -1.307809 -0.585324 0.002434 +v -1.538839 0.020970 0.377826 +f 267 258 274 +f 251 248 252 +f 248 251 253 +f 252 248 257 +f 254 249 258 +f 251 252 259 +f 249 254 260 +f 249 250 262 +f 258 249 262 +f 250 259 262 +f 248 253 263 +f 252 257 264 +f 258 252 264 +f 256 251 265 +f 253 251 266 +f 255 253 266 +f 251 256 266 +f 257 248 267 +f 254 258 267 +f 248 263 267 +f 252 258 268 +f 259 252 268 +f 258 262 268 +f 262 259 268 +f 260 254 269 +f 255 260 269 +f 261 255 269 +f 263 261 269 +f 254 267 269 +f 267 263 269 +f 260 255 270 +f 256 265 270 +f 265 260 270 +f 255 266 270 +f 266 256 270 +f 253 255 271 +f 255 261 271 +f 263 253 271 +f 261 263 271 +f 249 260 272 +f 260 265 272 +f 272 265 273 +f 250 249 273 +f 259 250 273 +f 251 259 273 +f 265 251 273 +f 249 272 273 +f 264 257 274 +f 258 264 274 +f 257 267 274 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/874/874.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/874/874.urdf new file mode 100644 index 000000000..b06babeb7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/874/874.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/875/875.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/875/875.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/875/875.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/875/875.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/875/875.obj new file mode 100644 index 000000000..cdd2a766d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/875/875.obj @@ -0,0 +1,729 @@ +o convex_0 +v 0.317446 -1.590820 0.875349 +v -1.449242 -0.392003 -0.039451 +v -1.449242 -0.392003 0.023382 +v -0.723390 -3.515028 -0.039251 +v 0.790774 -0.360465 -0.859701 +v -0.124165 -3.388873 -0.796666 +v 0.633161 -3.388873 -0.008135 +v 0.759056 -0.360465 0.843631 +v -1.133527 -0.360122 -0.891218 +v -1.165001 -0.360122 0.875148 +v -0.187357 -3.357334 0.717563 +v -0.975913 -3.293914 -0.039451 +v 1.043298 -0.581236 0.023382 +v -0.155639 -1.906208 -1.049205 +v -0.218587 -1.874669 1.001619 +v -0.944439 -1.906208 -0.796666 +v -0.124165 -3.862298 -0.008135 +v 0.601443 -2.000824 -0.765149 +v -0.975913 -1.843473 0.749080 +v 0.569969 -1.906550 0.749080 +v 0.001974 -0.360465 -1.017487 +v 0.001974 -0.360465 1.001619 +v -0.755108 -2.978526 -0.607162 +v -0.755108 -2.946987 0.559776 +v 0.443585 -3.041604 -0.575845 +v 0.380637 -2.978526 0.559776 +v 1.043298 -0.423542 -0.102486 +v 0.633161 -3.388873 -0.070969 +v -0.218587 -3.357334 -0.796666 +v -0.439637 -0.360465 1.001619 +v -0.376445 -0.423542 -1.017487 +v 0.727826 -1.054661 -0.828183 +v 0.443585 -0.644314 0.938384 +v 0.759056 -0.486620 0.843631 +v -0.124165 -3.830416 -0.134204 +v 0.633161 -0.423542 -0.922936 +v 1.043298 -0.360465 0.117934 +v -0.975913 -3.293914 -0.008135 +v -0.250305 -3.325796 0.717563 +v -0.092691 -3.294257 0.717563 +v -0.912721 -0.612775 0.938384 +v -0.944439 -1.811591 0.780597 +v -0.944439 -3.293914 -0.134204 +v -1.196719 -0.423542 0.812114 +v -0.124165 -1.780052 1.001619 +v -0.187357 -1.906208 -1.049205 +v 0.412111 -1.906208 -0.859701 +v -0.250305 -3.830416 -0.008135 +v -0.944439 -3.357334 -0.008135 +v -0.187357 -3.672722 -0.386341 +v -1.038861 -0.392003 -0.922735 +v -0.912721 -1.811591 -0.827983 +v -0.975913 -1.811591 -0.765149 +v -1.449242 -0.360122 0.023382 +v -1.070579 -2.694677 -0.070969 +v -0.124165 -3.388873 0.654328 +v -0.281779 -1.780052 1.001619 +v 0.443585 -3.041604 0.465225 +v 0.822248 -0.392003 -0.828183 +v 1.043298 -0.549697 0.054899 +v -1.386050 -0.802007 0.023382 +v -1.007387 -1.748857 0.717563 +v -0.092691 -3.357334 -0.796666 +v -0.881247 -3.167759 0.244203 +f 38 49 64 +f 9 5 21 +f 8 10 22 +f 13 7 28 +f 7 17 28 +f 25 18 28 +f 27 13 28 +f 23 16 29 +f 22 10 30 +f 15 22 30 +f 9 21 31 +f 28 18 32 +f 1 20 33 +f 8 22 33 +f 20 7 34 +f 33 20 34 +f 8 33 34 +f 6 28 35 +f 28 17 35 +f 21 5 36 +f 14 21 36 +f 5 32 36 +f 5 9 37 +f 10 8 37 +f 9 10 37 +f 27 5 37 +f 13 27 37 +f 8 34 37 +f 11 15 39 +f 15 11 40 +f 26 20 40 +f 30 10 41 +f 10 19 42 +f 19 24 42 +f 24 39 42 +f 41 10 42 +f 16 23 43 +f 23 29 43 +f 19 10 44 +f 20 1 45 +f 22 15 45 +f 1 33 45 +f 33 22 45 +f 15 40 45 +f 40 20 45 +f 14 6 46 +f 21 14 46 +f 6 29 46 +f 31 21 46 +f 32 18 47 +f 14 36 47 +f 36 32 47 +f 17 11 48 +f 35 17 48 +f 11 39 48 +f 48 39 49 +f 38 12 49 +f 12 43 49 +f 43 4 49 +f 4 48 49 +f 29 6 50 +f 6 35 50 +f 4 43 50 +f 43 29 50 +f 48 4 50 +f 35 48 50 +f 9 31 51 +f 31 46 51 +f 51 46 52 +f 16 9 52 +f 29 16 52 +f 46 29 52 +f 9 51 52 +f 2 9 53 +f 9 16 53 +f 16 43 53 +f 2 3 54 +f 9 2 54 +f 10 9 54 +f 3 44 54 +f 44 10 54 +f 12 2 55 +f 43 12 55 +f 2 53 55 +f 53 43 55 +f 17 7 56 +f 11 17 56 +f 7 40 56 +f 40 11 56 +f 15 30 57 +f 39 15 57 +f 30 41 57 +f 42 39 57 +f 41 42 57 +f 7 20 58 +f 20 26 58 +f 40 7 58 +f 26 40 58 +f 5 27 59 +f 27 28 59 +f 32 5 59 +f 28 32 59 +f 7 13 60 +f 34 7 60 +f 13 37 60 +f 37 34 60 +f 3 2 61 +f 2 12 61 +f 12 38 61 +f 44 3 61 +f 44 61 62 +f 38 19 62 +f 19 44 62 +f 61 38 62 +f 6 14 63 +f 18 25 63 +f 28 6 63 +f 25 28 63 +f 14 47 63 +f 47 18 63 +f 24 19 64 +f 19 38 64 +f 39 24 64 +f 49 39 64 +o convex_1 +v 1.042977 -0.360122 0.118168 +v 1.106400 2.163969 0.054933 +v 1.106400 1.974465 0.780631 +v -3.184555 1.185810 0.054933 +v 0.001740 -0.360122 -1.017654 +v -1.102081 -0.360122 0.906900 +v -2.206321 1.911461 -0.765115 +v -2.174819 1.943086 0.749114 +v 1.106400 1.816832 -0.922902 +v -2.648185 0.492031 -0.607329 +v 1.106400 0.334152 0.938417 +v -2.206321 1.185810 1.033170 +v -2.206321 1.153937 -1.017654 +v -2.931701 0.334152 0.054933 +v -1.133582 -0.360122 -0.891184 +v 1.106400 0.176519 -0.922902 +v -2.237823 2.163969 0.023416 +v -2.963623 1.154184 0.780430 +v 0.001740 -0.360122 1.001452 +v 1.106400 2.037468 -0.828149 +v -2.931701 1.911214 -0.039417 +v -2.900199 1.059556 -0.764914 +v 1.106400 1.658953 0.938417 +v -1.480521 -0.360122 0.023416 +v 1.106400 1.343442 -0.985936 +v 0.822044 -0.360122 -0.828149 +v 0.727539 -0.360122 0.875182 +v -2.742691 0.555281 0.622844 +v 1.106400 1.312064 0.969935 +v -2.174819 2.163969 -0.102653 +v -2.742691 1.753582 0.559609 +v 1.074478 1.816832 0.906700 +v 1.105980 -0.328496 -0.039417 +v -2.742691 1.690331 -0.575611 +v -0.471206 1.185810 -1.017654 +v -2.174819 2.163969 0.086250 +v -2.269325 0.428780 0.812148 +v 1.106400 2.163969 -0.134170 +v -1.606948 1.185810 1.033170 +v -2.931701 0.365777 -0.070935 +v -0.345199 -0.360122 -1.017654 +v -0.439705 -0.360122 1.001452 +v -1.196586 -0.360122 0.843665 +v -2.931701 1.154184 -0.733397 +v -3.184555 1.059556 -0.007900 +v 1.042977 1.943086 -0.891184 +v 1.106400 0.144894 0.843665 +v -2.174819 1.091181 1.033170 +v -2.900199 1.911214 0.086450 +v -2.174819 1.059309 -1.017654 +v -2.963623 0.365777 0.086450 +v -2.174819 1.722204 0.843665 +v -2.931701 1.248813 0.780430 +v -2.174819 1.974465 -0.638645 +v -2.237823 0.365777 -0.765115 +v 1.106400 0.365777 -0.954419 +v 0.633034 -0.360122 -0.922902 +v 1.106400 0.744292 0.969935 +v -0.850067 -0.360122 -0.954218 +v -0.061264 1.153937 1.001452 +v -2.900199 1.154184 -0.764914 +v -1.480521 -0.360122 -0.039217 +v -3.184555 1.154184 -0.039417 +v -2.931701 1.059556 -0.733397 +f 127 108 128 +f 69 65 70 +f 66 67 73 +f 73 67 75 +f 69 70 79 +f 73 75 80 +f 70 65 83 +f 66 73 84 +f 75 67 87 +f 79 70 88 +f 73 80 89 +f 65 69 90 +f 83 65 91 +f 75 83 91 +f 75 87 93 +f 81 66 94 +f 85 81 94 +f 67 72 96 +f 87 67 96 +f 76 87 96 +f 65 90 97 +f 90 80 97 +f 85 71 98 +f 69 77 99 +f 77 73 99 +f 89 69 99 +f 73 89 99 +f 67 66 100 +f 72 67 100 +f 66 81 100 +f 81 72 100 +f 92 70 101 +f 82 92 101 +f 66 84 102 +f 94 66 102 +f 84 94 102 +f 87 76 103 +f 93 87 103 +f 74 79 104 +f 79 78 104 +f 77 69 105 +f 69 79 105 +f 70 83 106 +f 88 70 107 +f 78 88 107 +f 70 92 107 +f 85 98 108 +f 82 68 109 +f 77 71 110 +f 73 77 110 +f 84 73 110 +f 71 84 110 +f 80 75 111 +f 91 65 111 +f 75 91 111 +f 65 97 111 +f 97 80 111 +f 76 82 112 +f 101 70 112 +f 82 101 112 +f 103 76 112 +f 83 103 112 +f 70 106 112 +f 106 83 112 +f 72 81 113 +f 85 68 113 +f 81 85 113 +f 95 72 113 +f 86 77 114 +f 77 105 114 +f 92 82 115 +f 104 78 115 +f 78 107 115 +f 107 92 115 +f 82 109 115 +f 109 104 115 +f 96 72 116 +f 76 96 116 +f 82 76 117 +f 68 82 117 +f 72 95 117 +f 113 68 117 +f 95 113 117 +f 116 72 117 +f 76 116 117 +f 84 71 118 +f 71 85 118 +f 94 84 118 +f 85 94 118 +f 79 74 119 +f 74 86 119 +f 86 114 119 +f 114 79 119 +f 69 89 120 +f 89 80 120 +f 90 69 121 +f 80 90 121 +f 69 120 121 +f 120 80 121 +f 83 75 122 +f 75 93 122 +f 93 83 122 +f 105 79 123 +f 79 114 123 +f 114 105 123 +f 83 93 124 +f 103 83 124 +f 93 103 124 +f 71 77 125 +f 77 86 125 +f 98 71 125 +f 86 108 125 +f 108 98 125 +f 78 79 126 +f 88 78 126 +f 79 88 126 +f 68 85 127 +f 85 108 127 +f 109 68 127 +f 109 127 128 +f 86 74 128 +f 74 104 128 +f 108 86 128 +f 104 109 128 +o convex_2 +v 2.052875 1.532823 -1.270236 +v 1.800608 0.838822 -1.301883 +v 1.895095 0.838822 -1.301883 +v 1.863578 1.154358 -3.036927 +v 1.579729 1.469819 -1.270236 +v 1.611311 1.122856 -2.815745 +v 2.147491 1.028128 -1.270236 +v 1.800608 1.406668 -2.721150 +v 2.052875 1.122856 -2.784271 +v 1.548212 0.933475 -1.270236 +v 1.863578 0.933475 -2.815745 +v 1.800608 1.596049 -1.365004 +v 2.179138 1.248937 -1.333357 +v 2.115974 0.933475 -1.396478 +v 1.989776 1.343590 -2.595081 +v 1.516694 1.248937 -1.428124 +v 1.769026 0.933475 -2.752797 +v 1.611311 1.185933 -2.815745 +v 1.611311 1.532823 -1.301883 +v 1.926677 0.933475 -2.721150 +v 2.052875 1.217435 -2.721150 +v 2.084392 1.501395 -1.365004 +v 1.863578 1.406668 -2.689676 +v 1.674410 1.343590 -2.626555 +v 1.895095 1.596049 -1.270236 +v 2.052875 0.965051 -2.248003 +v 1.642828 1.028128 -2.658029 +v 1.800608 1.122856 -3.036927 +v 1.863578 1.375092 -2.815745 +f 132 156 157 +f 129 133 135 +f 130 131 138 +f 131 135 138 +f 135 133 138 +f 131 130 139 +f 132 137 139 +f 129 135 141 +f 135 137 141 +f 135 131 142 +f 137 135 142 +f 134 138 144 +f 138 133 144 +f 130 138 145 +f 139 130 145 +f 144 133 146 +f 134 144 146 +f 140 136 147 +f 146 133 147 +f 131 139 148 +f 139 137 148 +f 142 131 148 +f 137 132 149 +f 141 137 149 +f 149 143 150 +f 129 141 150 +f 141 149 150 +f 136 140 151 +f 150 143 151 +f 129 150 151 +f 136 146 152 +f 147 136 152 +f 146 147 152 +f 133 129 153 +f 147 133 153 +f 140 147 153 +f 129 151 153 +f 151 140 153 +f 137 142 154 +f 148 137 154 +f 142 148 154 +f 138 134 155 +f 134 145 155 +f 145 138 155 +f 132 139 156 +f 145 134 156 +f 139 145 156 +f 134 146 156 +f 156 146 157 +f 146 136 157 +f 149 132 157 +f 143 149 157 +f 136 151 157 +f 151 143 157 +o convex_3 +v 1.832274 2.163969 0.055038 +v 1.106573 -0.297019 -0.039522 +v 1.106573 0.081668 -0.796759 +v 2.809964 1.122578 -0.638908 +v 2.147390 0.839044 1.285579 +v 1.106573 1.879953 0.875315 +v 1.106573 1.974625 -0.891320 +v 2.494502 1.848396 0.717464 +v 2.652233 0.397241 0.149349 +v 2.052786 1.532823 -1.270063 +v 1.106573 0.208138 0.906836 +v 2.557801 0.491913 -0.733468 +v 2.526152 1.879953 -0.796509 +v 2.589106 0.428799 0.717464 +v 1.516639 1.469708 1.285579 +v 1.548289 0.902158 -1.270063 +v 2.778486 1.154135 0.717464 +v 2.147390 0.933475 -1.270063 +v 2.084436 1.469708 1.285579 +v 1.106573 2.163969 0.023518 +v 1.832274 2.069056 0.717464 +v 1.863751 2.100614 -0.796759 +v 2.873264 1.217250 0.023268 +v 2.557801 1.942827 -0.007752 +v 2.778486 1.248807 -0.796509 +v 1.422035 1.091020 1.285579 +v 1.106573 0.176581 -0.922840 +v 1.485162 1.248807 -1.270063 +v 1.169527 -0.297019 0.023518 +v 1.674370 0.208138 0.780755 +v 2.652233 0.397241 -0.070793 +v 1.769147 1.595937 -1.270063 +v 1.863751 0.744372 1.285579 +v 1.737497 1.564380 1.285579 +v 1.106573 1.343479 -0.985880 +v 2.873264 1.091261 0.023268 +v 1.895228 0.807486 -1.270063 +v 1.106573 1.438151 0.969876 +v 1.106573 1.974625 0.780755 +v 2.210517 1.185692 1.285579 +v 1.232654 0.113226 -0.828279 +v 1.106573 2.037740 -0.828279 +v 2.179040 1.280364 -1.270063 +v 1.516639 0.839044 1.285579 +v 2.368421 0.365684 0.748984 +v 2.620756 1.848396 -0.133833 +v 1.201177 0.144783 0.843795 +v 2.683883 0.807486 -0.764989 +v 1.832274 2.163969 -0.228644 +v 2.463025 1.879953 0.717464 +v 1.106573 2.163969 -0.134083 +v 1.926705 0.271253 -0.733468 +v 2.463025 1.816598 -0.891320 +v 2.431548 1.816598 0.812025 +v 1.106573 0.681498 0.969876 +v 1.800624 1.974384 0.843795 +v 1.169527 -0.297019 -0.008002 +v 1.611416 1.532823 -1.270063 +v 2.620756 0.555028 0.748984 +v 2.589106 1.879953 0.117829 +v 1.106573 0.334368 -0.954360 +v 1.138050 -0.297019 0.055038 +v 1.674370 2.100614 -0.796759 +v 1.674370 2.069056 0.717464 +f 196 213 221 +f 160 159 163 +f 160 163 164 +f 163 159 168 +f 173 167 175 +f 172 162 176 +f 164 163 177 +f 170 179 181 +f 180 161 182 +f 162 172 183 +f 160 164 184 +f 167 173 185 +f 166 171 186 +f 166 186 188 +f 179 167 189 +f 167 185 189 +f 162 183 190 +f 163 172 191 +f 172 176 191 +f 184 164 192 +f 164 185 192 +f 171 166 193 +f 161 180 193 +f 180 174 193 +f 188 161 193 +f 166 188 193 +f 175 169 194 +f 173 175 194 +f 184 173 194 +f 163 168 195 +f 172 163 195 +f 183 172 195 +f 177 163 196 +f 163 191 196 +f 162 174 197 +f 176 162 197 +f 159 160 198 +f 160 184 198 +f 194 169 198 +f 184 194 198 +f 164 177 199 +f 175 167 200 +f 182 175 200 +f 183 168 201 +f 168 190 201 +f 190 183 201 +f 171 162 202 +f 162 190 202 +f 190 187 202 +f 170 181 203 +f 182 170 203 +f 180 182 203 +f 190 168 204 +f 187 190 204 +f 169 175 205 +f 182 161 205 +f 175 182 205 +f 161 188 205 +f 188 169 205 +f 177 158 206 +f 158 181 206 +f 181 179 206 +f 158 178 207 +f 181 158 207 +f 165 181 207 +f 199 177 208 +f 177 206 208 +f 198 169 209 +f 167 179 210 +f 179 170 210 +f 170 182 210 +f 200 167 210 +f 182 200 210 +f 174 165 211 +f 197 174 211 +f 176 197 211 +f 165 207 211 +f 207 178 211 +f 168 183 212 +f 195 168 212 +f 183 195 212 +f 191 176 213 +f 196 191 213 +f 176 211 213 +f 211 178 213 +f 186 159 214 +f 169 188 214 +f 188 186 214 +f 159 198 214 +f 209 169 214 +f 198 209 214 +f 185 164 215 +f 164 189 215 +f 189 185 215 +f 162 171 216 +f 174 162 216 +f 171 193 216 +f 193 174 216 +f 165 174 217 +f 174 180 217 +f 181 165 217 +f 180 203 217 +f 203 181 217 +f 173 184 218 +f 185 173 218 +f 184 192 218 +f 192 185 218 +f 168 159 219 +f 159 186 219 +f 186 171 219 +f 171 202 219 +f 202 187 219 +f 204 168 219 +f 187 204 219 +f 189 164 220 +f 179 189 220 +f 164 199 220 +f 206 179 220 +f 199 208 220 +f 208 206 220 +f 158 177 221 +f 178 158 221 +f 177 196 221 +f 213 178 221 +o convex_4 +v 1.800602 1.532869 1.475127 +v 1.800602 0.744245 1.285579 +v 1.863609 0.744245 1.285579 +v 1.895076 1.154268 3.020722 +v 2.179138 1.217342 1.285579 +v 1.453462 1.248918 1.285579 +v 1.674447 1.122846 2.799752 +v 1.831999 1.406643 2.736740 +v 1.926686 0.933546 2.768331 +v 1.516682 0.838896 1.317340 +v 2.147529 0.870471 1.380523 +v 2.084380 1.185767 2.705148 +v 2.052841 1.469718 1.285579 +v 1.516682 1.438219 1.380523 +v 1.800602 0.933546 2.673557 +v 1.674447 1.248918 2.736740 +v 1.453462 1.122846 1.475127 +v 1.895076 1.406643 2.705148 +v 1.642837 1.501293 1.285579 +v 2.052841 0.996698 2.547362 +v 1.642837 0.902047 2.137694 +v 2.179138 1.028196 1.285579 +v 2.021374 1.343569 2.484349 +v 2.084380 1.438219 1.317340 +v 2.115990 0.838896 1.380523 +v 1.642837 1.375067 2.263550 +v 1.642837 1.122846 2.673557 +f 231 242 248 +f 224 223 226 +f 226 223 227 +f 223 224 230 +f 227 223 231 +f 225 230 233 +f 226 227 234 +f 225 228 236 +f 223 230 236 +f 230 225 236 +f 228 225 237 +f 225 229 237 +f 235 227 237 +f 227 231 238 +f 237 227 238 +f 222 229 239 +f 229 225 239 +f 225 233 239 +f 234 222 239 +f 229 222 240 +f 222 234 240 +f 234 227 240 +f 227 235 240 +f 235 229 240 +f 233 230 241 +f 232 233 241 +f 231 223 242 +f 236 228 242 +f 223 236 242 +f 224 226 243 +f 233 232 243 +f 226 233 243 +f 239 233 244 +f 234 239 244 +f 233 226 245 +f 226 234 245 +f 244 233 245 +f 234 244 245 +f 230 224 246 +f 241 230 246 +f 232 241 246 +f 224 243 246 +f 243 232 246 +f 229 235 247 +f 237 229 247 +f 235 237 247 +f 228 237 248 +f 238 231 248 +f 237 238 248 +f 242 228 248 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/875/875.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/875/875.urdf new file mode 100644 index 000000000..2b5e83f9c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/875/875.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/876/876.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/876/876.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/876/876.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/876/876.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/876/876.obj new file mode 100644 index 000000000..5a4e44aa7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/876/876.obj @@ -0,0 +1,189 @@ +o convex_0 +v -0.085723 3.042225 -1.008275 +v 0.087437 -1.638311 1.043972 +v 0.058713 -1.638311 1.043972 +v 0.116365 -3.777825 -0.950419 +v 1.041445 2.869697 0.003385 +v -1.010803 3.013603 0.032109 +v -0.895091 -3.777825 -0.083195 +v 0.781298 -3.806448 0.494547 +v 0.665586 3.794355 0.754694 +v 0.810022 -3.082940 -0.776852 +v -0.750452 3.013603 0.754694 +v 0.781298 3.939056 -0.747924 +v -0.721728 3.678276 -0.747924 +v -0.692800 -3.863692 0.697042 +v -0.692800 -2.910412 -0.776852 +v -0.056795 3.765733 0.928261 +v 0.781298 -2.910412 0.783622 +v 1.041445 -2.822955 0.003385 +v -0.577089 3.967679 0.234400 +v 0.607731 -4.037811 -0.574561 +v 0.001061 -3.863692 0.928261 +v 0.087437 -3.083735 -1.037203 +v 0.838950 0.961545 0.754694 +v -0.779380 1.048207 -0.777056 +v -0.606017 -4.008394 -0.516705 +v -0.721728 -3.228437 0.754694 +v 0.029785 3.043020 1.015045 +v 0.058713 -4.067228 0.754898 +v 0.752370 4.054341 0.176545 +v -0.114651 3.997096 -0.776852 +v -0.952947 -3.083735 -0.025543 +v 1.070372 1.308193 -0.054267 +v 0.925733 -3.835865 -0.083195 +v -0.924019 3.737110 -0.025543 +v -0.692800 3.707693 0.668114 +v 0.752370 3.129682 0.783622 +v -0.692800 -4.067228 0.321184 +v -0.952947 3.013603 -0.285486 +v 0.058713 3.128887 -1.008275 +v 0.810225 -2.245739 -0.805780 +v 0.116365 4.025718 0.639186 +v 0.925733 3.822977 0.089965 +v 0.607731 -3.979771 0.638983 +v 0.001061 -3.025696 -1.036999 +v -0.750452 3.071643 -0.805780 +v 0.723442 -3.806448 -0.776852 +v -0.663872 -3.777030 -0.690272 +v 1.070372 -0.048980 0.061037 +v -0.519233 3.997096 -0.516705 +v -0.027867 -3.083735 1.014841 +v -0.085723 3.765733 -0.950419 +v -0.721728 1.857581 0.783622 +v 0.810225 -2.302984 0.783622 +v -1.010803 1.394855 0.032109 +v 1.070372 -1.581066 -0.025339 +v 0.781298 -4.037811 0.003385 +v 0.116365 -1.666933 -1.037203 +v 0.665586 3.794355 -0.805780 +v 0.694514 -3.806448 0.725766 +v -0.952947 -3.113153 0.032109 +v 0.001061 -4.008394 -0.776852 +v 0.087437 -3.055113 1.015045 +v -0.634944 -2.158282 0.812550 +v -0.692800 -1.291663 -0.805780 +f 45 44 64 +f 17 8 18 +f 3 2 27 +f 9 16 27 +f 16 11 27 +f 21 14 28 +f 29 12 30 +f 15 7 31 +f 24 15 31 +f 12 5 32 +f 10 18 33 +f 18 8 33 +f 6 11 35 +f 11 16 35 +f 34 6 35 +f 19 34 35 +f 23 5 36 +f 27 2 36 +f 9 27 36 +f 14 7 37 +f 7 25 37 +f 20 28 37 +f 28 14 37 +f 24 31 38 +f 6 34 38 +f 34 13 38 +f 10 22 40 +f 12 32 40 +f 16 9 41 +f 9 29 41 +f 35 16 41 +f 19 35 41 +f 5 12 42 +f 29 9 42 +f 12 29 42 +f 36 5 42 +f 9 36 42 +f 21 28 43 +f 22 4 44 +f 38 13 45 +f 24 38 45 +f 1 44 45 +f 4 22 46 +f 22 10 46 +f 10 33 46 +f 33 20 46 +f 7 15 47 +f 25 7 47 +f 44 4 47 +f 15 44 47 +f 5 23 48 +f 32 5 48 +f 29 30 49 +f 30 13 49 +f 13 34 49 +f 34 19 49 +f 41 29 49 +f 19 41 49 +f 2 3 50 +f 14 21 50 +f 26 14 50 +f 30 12 51 +f 13 30 51 +f 39 1 51 +f 1 45 51 +f 45 13 51 +f 11 26 52 +f 3 27 52 +f 27 11 52 +f 2 17 53 +f 17 18 53 +f 36 2 53 +f 23 36 53 +f 18 48 53 +f 48 23 53 +f 11 6 54 +f 26 11 54 +f 6 38 54 +f 38 31 54 +f 18 10 55 +f 10 40 55 +f 40 32 55 +f 48 18 55 +f 32 48 55 +f 28 20 56 +f 33 8 56 +f 20 33 56 +f 8 43 56 +f 43 28 56 +f 1 39 57 +f 40 22 57 +f 22 44 57 +f 44 1 57 +f 12 40 58 +f 51 12 58 +f 39 51 58 +f 57 39 58 +f 40 57 58 +f 8 17 59 +f 43 8 59 +f 21 43 59 +f 7 14 60 +f 14 26 60 +f 31 7 60 +f 26 54 60 +f 54 31 60 +f 37 25 61 +f 20 37 61 +f 4 46 61 +f 46 20 61 +f 25 47 61 +f 47 4 61 +f 17 2 62 +f 2 50 62 +f 50 21 62 +f 59 17 62 +f 21 59 62 +f 50 3 63 +f 26 50 63 +f 52 26 63 +f 3 52 63 +f 15 24 64 +f 44 15 64 +f 24 45 64 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/876/876.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/876/876.urdf new file mode 100644 index 000000000..1088bfc2d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/876/876.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/877/877.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/877/877.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/877/877.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/877/877.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/877/877.obj new file mode 100644 index 000000000..c33a1d9b7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/877/877.obj @@ -0,0 +1,561 @@ +o convex_0 +v -0.957592 -1.960203 3.085102 +v 1.107002 -3.245538 0.046021 +v 1.067923 -2.155075 1.019684 +v -1.035537 -1.375784 -2.952692 +v -1.035537 -3.362616 -3.070182 +v 1.067923 -1.375784 -2.991855 +v -1.035537 -3.284628 3.006775 +v 0.989978 -1.375784 3.006775 +v 1.067923 -3.284628 -2.991855 +v 0.951112 -3.245538 2.967612 +v -0.996672 -1.375784 2.773000 +v -1.074617 -3.362616 0.007460 +v 1.029057 -3.323330 -1.004763 +v -1.074617 -2.349751 0.007460 +v 1.067923 -3.284628 1.526398 +v -0.957592 -3.362616 1.098011 +v -0.957592 -1.375784 3.085102 +v -1.074617 -3.323525 -2.445977 +v -0.568078 -3.362616 -3.070182 +v -1.035537 -1.375784 1.214898 +v 1.107002 -3.284628 -1.706090 +v -1.035537 -3.089563 3.045938 +v -1.035537 -3.011964 -3.070182 +v 0.483652 -3.284434 2.539224 +v 1.029057 -1.375784 1.058847 +v 0.989978 -3.245538 2.772397 +v 1.067923 -2.583325 1.643286 +v 0.249816 -1.375784 -2.991855 +v 0.327761 -3.323330 1.058847 +v -0.606944 -1.453771 3.085102 +v -0.490133 -3.284628 3.006775 +v 0.444573 -3.245538 -3.031018 +v -0.957592 -3.245538 3.045938 +v -0.996672 -1.531759 3.085102 +v 1.067923 -1.375784 -2.602028 +v 1.029057 -1.882410 2.383776 +v -1.035537 -1.804423 -2.991252 +v 0.094138 -3.245538 3.006775 +v 1.029057 -3.284434 1.798734 +f 16 29 39 +f 6 4 8 +f 8 4 11 +f 12 5 16 +f 7 12 16 +f 8 11 17 +f 5 12 18 +f 14 4 18 +f 12 14 18 +f 9 13 19 +f 13 16 19 +f 16 5 19 +f 11 4 20 +f 4 14 20 +f 6 2 21 +f 9 6 21 +f 13 9 21 +f 2 15 21 +f 15 13 21 +f 12 7 22 +f 14 12 22 +f 20 14 22 +f 5 18 23 +f 19 5 23 +f 6 19 23 +f 6 8 25 +f 8 10 26 +f 2 3 27 +f 15 2 27 +f 4 6 28 +f 6 23 28 +f 16 13 29 +f 10 8 30 +f 17 1 30 +f 8 17 30 +f 7 16 31 +f 24 10 31 +f 16 24 31 +f 6 9 32 +f 19 6 32 +f 9 19 32 +f 1 22 33 +f 22 7 33 +f 7 31 33 +f 1 17 34 +f 17 11 34 +f 11 20 34 +f 22 1 34 +f 20 22 34 +f 3 2 35 +f 2 6 35 +f 25 3 35 +f 6 25 35 +f 3 25 36 +f 25 8 36 +f 8 26 36 +f 26 15 36 +f 15 27 36 +f 27 3 36 +f 18 4 37 +f 23 18 37 +f 4 28 37 +f 28 23 37 +f 30 1 38 +f 10 30 38 +f 31 10 38 +f 1 33 38 +f 33 31 38 +f 13 15 39 +f 10 24 39 +f 24 16 39 +f 26 10 39 +f 15 26 39 +f 29 13 39 +o convex_1 +v 1.457575 -0.869046 1.059099 +v 0.678081 0.493886 -1.122307 +v 0.678081 0.610965 -1.122307 +v -3.061331 0.610965 0.981154 +v -2.982903 -1.180996 -0.966202 +v 2.976449 -1.180996 -1.005069 +v 3.054877 0.649861 1.020020 +v -3.022416 -1.180996 0.942288 +v -2.982903 0.649861 -0.966202 +v 2.937534 0.727849 -0.966202 +v 2.937534 -1.180996 0.981154 +v -1.074282 0.805836 1.059313 +v 1.106743 0.805836 -1.122307 +v -3.061331 0.805836 0.864342 +v 1.106743 0.805836 0.942074 +v -0.996452 0.805836 -0.966202 +v -0.723450 -1.063918 -1.044362 +v 0.483507 -1.180996 1.059099 +v -1.736432 0.688952 1.059313 +v 3.054877 -0.012546 0.280071 +v 2.976449 0.727849 -0.615768 +v 2.976449 -0.401705 -1.005069 +v -2.982903 0.688952 -0.810311 +v 2.976449 -1.025021 0.903208 +v 2.392128 0.766745 -1.005282 +v 3.015364 -0.908137 -0.654634 +v 3.054877 0.182326 1.020020 +v -0.412132 0.805836 1.059313 +v -3.061331 0.805836 0.981154 +v 2.353214 -1.180996 1.020233 +v -2.009434 -1.180996 0.981154 +v 2.976449 0.727849 -0.421011 +v -1.892690 -1.180996 -1.005069 +v -3.061331 0.727849 0.747317 +v 3.054877 0.610770 0.513694 +v 0.716996 0.805836 -1.122307 +v 0.912169 0.493886 -1.122307 +v 2.976449 -1.180996 0.435962 +v 3.015364 0.688758 0.435962 +v -3.022416 -1.180996 0.708451 +v -3.022416 0.727849 -0.187175 +f 73 53 80 +f 42 41 44 +f 44 45 47 +f 42 44 48 +f 47 45 50 +f 41 42 52 +f 51 52 53 +f 52 51 54 +f 53 52 55 +f 47 50 57 +f 43 47 58 +f 45 52 61 +f 52 49 61 +f 49 60 61 +f 55 48 62 +f 53 55 62 +f 49 52 64 +f 52 54 64 +f 60 49 64 +f 61 60 65 +f 45 61 65 +f 46 40 66 +f 59 46 66 +f 50 63 66 +f 65 59 66 +f 40 46 67 +f 46 54 67 +f 54 51 67 +f 57 40 67 +f 51 58 67 +f 58 57 67 +f 51 53 68 +f 53 43 68 +f 58 51 68 +f 43 58 68 +f 40 57 69 +f 57 50 69 +f 66 40 69 +f 50 66 69 +f 47 57 70 +f 57 58 70 +f 58 47 70 +f 46 60 71 +f 64 54 71 +f 60 64 71 +f 44 41 72 +f 45 44 72 +f 41 56 72 +f 56 45 72 +f 43 53 73 +f 46 59 74 +f 60 46 74 +f 59 65 74 +f 65 60 74 +f 42 48 75 +f 52 42 75 +f 48 55 75 +f 55 52 75 +f 41 52 76 +f 52 45 76 +f 56 41 76 +f 45 56 76 +f 50 45 77 +f 63 50 77 +f 45 65 77 +f 66 63 77 +f 65 66 77 +f 54 46 78 +f 46 71 78 +f 71 54 78 +f 47 43 79 +f 44 47 79 +f 43 73 79 +f 73 44 79 +f 48 44 80 +f 62 48 80 +f 53 62 80 +f 44 73 80 +o convex_2 +v 2.353292 -1.180996 1.019657 +v 0.210965 -1.375784 -2.991870 +v -1.035202 -1.375784 -2.953008 +v 1.223402 -1.375784 1.058916 +v -3.022492 -1.180996 0.941933 +v 1.067778 -1.219969 -2.991870 +v 2.976963 -1.297857 -0.538399 +v -1.035202 -1.375784 1.059312 +v -2.983146 -1.180996 -0.966279 +v -2.827522 -1.297857 -0.966279 +v 2.976963 -1.180996 -1.005141 +v 2.937616 -1.336811 0.980795 +v 1.067778 -1.375784 -2.991870 +v -3.022492 -1.258922 0.941933 +v 2.937616 -1.180996 0.980795 +v -1.035202 -1.336811 -2.953008 +v 0.639078 -1.219969 -2.991870 +v 0.522213 -1.180996 1.058916 +v 2.976963 -1.258922 -1.005141 +v 1.535238 -1.375784 -1.044003 +v -2.983146 -1.258922 -0.966279 +v -1.425143 -1.258922 1.059312 +v 2.937616 -1.336811 0.707967 +f 100 93 103 +f 83 82 84 +f 83 84 88 +f 85 81 89 +f 83 88 90 +f 89 81 91 +f 81 84 92 +f 84 82 93 +f 82 86 93 +f 86 91 93 +f 85 89 94 +f 90 88 94 +f 91 81 95 +f 87 91 95 +f 81 92 95 +f 92 87 95 +f 82 83 96 +f 83 89 96 +f 96 89 97 +f 86 82 97 +f 91 86 97 +f 89 91 97 +f 82 96 97 +f 84 81 98 +f 81 85 98 +f 91 87 99 +f 87 93 99 +f 93 91 99 +f 92 84 100 +f 84 93 100 +f 89 83 101 +f 83 90 101 +f 94 89 101 +f 90 94 101 +f 88 84 102 +f 85 94 102 +f 94 88 102 +f 84 98 102 +f 98 85 102 +f 87 92 103 +f 93 87 103 +f 92 100 103 +o convex_3 +v -1.035263 -1.375768 1.215341 +v 0.989734 -1.258938 3.006989 +v 0.989734 -1.375768 3.006989 +v 0.950875 -1.375768 1.059709 +v -0.996405 -1.219969 2.773244 +v -0.451198 -1.258938 1.059709 +v -0.957546 -1.375768 3.084904 +v 0.950875 -1.297876 1.215341 +v -0.996405 -1.258938 1.059709 +v -0.528915 -1.219969 3.084904 +v 0.989734 -1.258938 2.617414 +v -0.918490 -1.219969 2.266896 +v -1.035263 -1.375768 1.059709 +v -0.957546 -1.219969 3.084904 +v 0.795045 -1.297876 1.059709 +f 109 111 118 +f 106 104 107 +f 104 106 110 +f 108 104 110 +f 109 107 112 +f 106 105 113 +f 110 106 113 +f 105 106 114 +f 106 107 114 +f 107 111 114 +f 111 109 114 +f 113 105 114 +f 113 114 115 +f 112 108 115 +f 109 112 115 +f 108 113 115 +f 114 109 115 +f 107 104 116 +f 104 108 116 +f 112 107 116 +f 108 112 116 +f 108 110 117 +f 113 108 117 +f 110 113 117 +f 107 109 118 +f 111 107 118 +o convex_4 +v -2.788651 1.351241 -0.031459 +v -1.113575 2.052476 0.280079 +v -1.113575 2.052476 -0.226178 +v -3.061316 2.013419 -0.265158 +v -1.113575 1.429217 -0.265158 +v -3.100407 1.429217 0.280079 +v -1.113575 1.351241 0.241099 +v -2.983328 1.896593 0.318998 +v -2.983328 1.351241 -0.304078 +v -2.866639 2.052476 -0.148278 +v -1.113575 1.740709 -0.265158 +v -2.243323 1.857605 0.318998 +v -2.710664 1.390229 0.280079 +v -1.191562 1.351241 0.046380 +v -3.061316 1.663008 0.318998 +v -1.386434 2.052476 0.280079 +v -3.061316 2.013419 -0.070439 +f 126 134 135 +f 121 120 123 +f 123 120 125 +f 124 122 127 +f 119 124 127 +f 125 119 127 +f 120 121 128 +f 121 122 128 +f 122 121 129 +f 121 123 129 +f 127 122 129 +f 123 127 129 +f 125 120 130 +f 120 126 130 +f 124 119 131 +f 119 125 131 +f 123 125 132 +f 127 123 132 +f 125 127 132 +f 125 130 133 +f 130 126 133 +f 124 131 133 +f 131 125 133 +f 126 120 134 +f 120 128 134 +f 134 128 135 +f 122 124 135 +f 128 122 135 +f 124 133 135 +f 133 126 135 +o convex_5 +v 1.145728 1.935550 0.319025 +v 0.756239 0.805836 -1.122307 +v 0.756239 0.883820 -1.122307 +v -1.074427 0.844923 1.098270 +v -1.035500 2.714624 -1.083182 +v -1.035500 2.714624 1.098270 +v 1.067874 2.636831 -1.083182 +v 1.106801 0.805836 0.942204 +v -0.996573 0.805836 -0.966241 +v 1.028947 2.753711 0.981329 +v 0.990020 0.922716 -1.122307 +v -1.113353 1.429324 -0.265029 +v 1.145728 1.429324 -0.303937 +v -1.113353 2.286000 0.474874 +v -1.074427 0.805836 1.059145 +v 1.067874 2.753711 0.513565 +v -0.529230 2.558847 1.098270 +v 0.951094 0.805836 0.981329 +v -1.035500 1.585101 -1.044056 +v -0.178668 2.714624 -1.083182 +v 1.067874 0.805836 -0.420878 +v 0.211042 2.753711 0.981329 +v 1.067874 2.714624 0.981329 +v -1.074427 0.805836 -0.187213 +v -1.074427 2.558847 -0.771484 +v 1.067874 2.675727 -0.849299 +v -0.996573 0.922907 -1.005366 +v -1.035500 2.208016 -1.083182 +v 1.145728 2.052430 0.124051 +v 0.990020 1.273357 -1.122307 +v 1.067874 2.091136 -1.083182 +v -1.113353 2.286000 -0.265029 +v -1.113353 1.351340 0.240992 +v -1.074427 1.624188 1.098270 +v 0.951094 0.805836 -1.122307 +v 1.145728 1.935550 -0.265029 +v 1.145728 1.351340 0.240992 +f 143 148 172 +f 138 137 140 +f 137 143 144 +f 137 138 146 +f 144 143 150 +f 141 139 152 +f 145 141 152 +f 139 150 153 +f 150 143 153 +f 152 139 153 +f 144 147 154 +f 140 151 155 +f 143 137 156 +f 148 143 156 +f 146 148 156 +f 140 141 157 +f 141 145 157 +f 151 140 157 +f 145 151 157 +f 143 136 158 +f 151 145 158 +f 145 152 158 +f 152 153 158 +f 153 143 158 +f 147 144 159 +f 144 150 159 +f 141 140 160 +f 149 141 160 +f 154 147 160 +f 142 155 161 +f 155 151 161 +f 137 144 162 +f 144 154 162 +f 162 154 163 +f 140 137 163 +f 160 140 163 +f 154 160 163 +f 137 162 163 +f 136 148 164 +f 158 136 164 +f 151 158 164 +f 142 161 164 +f 161 151 164 +f 138 140 165 +f 146 138 165 +f 142 146 165 +f 140 155 165 +f 155 142 165 +f 146 142 166 +f 142 148 166 +f 148 146 166 +f 147 149 167 +f 149 160 167 +f 160 147 167 +f 139 149 168 +f 149 147 168 +f 150 139 168 +f 147 159 168 +f 159 150 168 +f 139 141 169 +f 149 139 169 +f 141 149 169 +f 137 146 170 +f 156 137 170 +f 146 156 170 +f 148 142 171 +f 164 148 171 +f 142 164 171 +f 136 143 172 +f 148 136 172 +o convex_6 +v 1.379888 1.390309 -0.304169 +v 3.015668 2.052476 0.280102 +v 3.054561 1.896570 0.319090 +v 1.146151 2.052476 0.319090 +v 2.937692 2.013427 -0.304169 +v 3.093835 1.390309 0.358078 +v 3.054561 1.312356 -0.343157 +v 1.146151 1.351333 0.241182 +v 1.146151 1.935474 -0.265181 +v 1.146151 1.701759 -0.304169 +v 1.496757 2.052476 0.046311 +v 1.146151 1.351333 -0.031459 +v 3.015668 1.701759 -0.343157 +v 1.535840 1.351333 0.280102 +v 1.847363 1.974450 -0.304169 +v 1.964231 1.429286 -0.343157 +v 3.093835 1.624024 0.358078 +v 2.665062 1.390309 0.358078 +v 1.146151 1.429286 -0.304169 +v 1.224127 1.974450 -0.265181 +v 3.093835 1.351333 0.124218 +v 3.054561 1.974450 0.241182 +f 189 179 194 +f 175 174 176 +f 180 176 181 +f 180 181 182 +f 176 174 183 +f 174 177 183 +f 173 179 184 +f 179 180 184 +f 180 182 184 +f 180 179 186 +f 176 180 186 +f 177 185 187 +f 187 185 188 +f 179 173 188 +f 185 179 188 +f 182 187 188 +f 175 176 189 +f 176 186 190 +f 186 178 190 +f 189 176 190 +f 178 189 190 +f 173 184 191 +f 184 182 191 +f 188 173 191 +f 182 188 191 +f 181 176 192 +f 182 181 192 +f 176 183 192 +f 183 177 192 +f 187 182 192 +f 177 187 192 +f 178 186 193 +f 186 179 193 +f 189 178 193 +f 179 189 193 +f 174 175 194 +f 177 174 194 +f 185 177 194 +f 179 185 194 +f 175 189 194 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/877/877.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/877/877.urdf new file mode 100644 index 000000000..a12943f7f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/877/877.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/878/878.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/878/878.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/878/878.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/878/878.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/878/878.obj new file mode 100644 index 000000000..2cf600ddf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/878/878.obj @@ -0,0 +1,1194 @@ +o convex_0 +v 2.504525 -1.963840 0.673157 +v 0.626147 -1.362836 -1.205479 +v 0.626147 -1.175119 -1.205479 +v 0.626147 -1.325327 1.236891 +v 3.256289 -0.536088 -0.078011 +v 0.626147 -0.536261 1.048980 +v 1.528006 -2.114048 -0.867191 +v 0.626147 -2.301764 0.034354 +v 2.091571 -0.536261 -1.055102 +v 3.030760 -0.536261 0.785760 +v 3.030760 -2.001348 -0.078011 +v 2.955584 -1.250137 -0.791883 +v 0.626147 -0.536261 -1.055102 +v 0.626147 -2.151556 0.748226 +v 2.354430 -2.264428 -0.003181 +v 3.068348 -1.287646 0.748226 +v 0.626147 -2.189065 -0.829656 +v 2.279254 -2.038857 -0.791883 +v 2.354430 -0.536261 1.011206 +v 2.279254 -1.362836 -1.017329 +v 2.955584 -0.536261 -0.791883 +v 2.316842 -1.287646 1.011206 +v 0.663735 -1.700760 1.161583 +v 3.256289 -1.325154 -0.040476 +v 2.316842 -2.001348 0.748226 +v 2.279254 -2.264428 -0.153319 +v 2.842819 -1.775778 -0.604210 +v 2.993172 -2.001348 0.109423 +v 0.663735 -1.663079 -1.130171 +v 3.256289 -0.536088 0.109423 +v 2.880407 -1.813459 0.560314 +v 3.030760 -1.250137 -0.679279 +v 1.227300 -2.038857 0.861068 +v 2.279254 -2.264428 0.071888 +v 2.354430 -0.536261 -1.017329 +v 0.663735 -1.512871 1.236891 +v 0.889264 -2.301764 -0.115784 +v 2.316842 -2.076539 0.597849 +v 3.256289 -1.249964 0.109423 +v 2.354430 -1.250137 -1.017329 +v 3.030760 -1.175119 0.785760 +v 0.663735 -2.226747 -0.679279 +v 1.152124 -2.151556 -0.867191 +v 1.189712 -0.536261 1.048980 +v 3.105936 -0.536088 0.635622 +v 3.030760 -2.001348 0.034354 +v 3.030760 -0.536261 -0.679279 +v 2.880407 -2.076539 -0.078011 +v 0.626147 -0.649133 -1.092637 +v 3.218701 -1.249964 -0.190853 +f 32 47 50 +f 3 2 4 +f 3 4 6 +f 4 2 8 +f 2 3 9 +f 3 6 13 +f 5 9 13 +f 4 8 14 +f 8 2 17 +f 18 7 20 +f 12 18 20 +f 4 14 23 +f 1 16 25 +f 16 22 25 +f 7 18 26 +f 18 12 27 +f 11 18 27 +f 17 2 29 +f 2 20 29 +f 20 7 29 +f 24 5 30 +f 16 1 31 +f 1 28 31 +f 12 21 32 +f 24 11 32 +f 11 27 32 +f 27 12 32 +f 23 14 33 +f 14 25 33 +f 25 23 33 +f 14 8 34 +f 9 5 35 +f 5 21 35 +f 21 12 35 +f 19 4 36 +f 22 19 36 +f 4 23 36 +f 25 22 36 +f 23 25 36 +f 26 15 37 +f 34 8 37 +f 15 34 37 +f 25 14 38 +f 1 25 38 +f 28 1 38 +f 15 28 38 +f 14 34 38 +f 34 15 38 +f 24 30 39 +f 2 9 40 +f 20 2 40 +f 12 20 40 +f 9 35 40 +f 35 12 40 +f 16 10 41 +f 10 19 41 +f 22 16 41 +f 19 22 41 +f 8 17 42 +f 37 8 42 +f 26 37 42 +f 7 26 43 +f 17 29 43 +f 29 7 43 +f 42 17 43 +f 26 42 43 +f 6 4 44 +f 4 19 44 +f 13 6 45 +f 5 13 45 +f 10 16 45 +f 19 10 45 +f 30 5 45 +f 16 39 45 +f 39 30 45 +f 6 44 45 +f 44 19 45 +f 11 24 46 +f 28 15 46 +f 16 31 46 +f 31 28 46 +f 24 39 46 +f 39 16 46 +f 21 5 47 +f 32 21 47 +f 18 11 48 +f 15 26 48 +f 26 18 48 +f 11 46 48 +f 46 15 48 +f 9 3 49 +f 3 13 49 +f 13 9 49 +f 5 24 50 +f 24 32 50 +f 47 5 50 +o convex_1 +v -2.718025 -0.536088 0.184470 +v 1.602475 1.981432 0.034302 +v 1.752769 1.943728 -0.003239 +v 2.354527 -0.535842 1.011258 +v 2.354527 -0.535842 -1.017520 +v -1.703398 1.492517 -0.867136 +v -0.726197 1.981432 0.973716 +v -2.417438 -0.536088 -1.017520 +v 1.151594 1.981432 -1.054845 +v 3.030556 1.530467 0.034302 +v -2.567732 -0.460681 0.898415 +v -2.492293 1.492763 0.034085 +v 3.030556 0.778611 0.748248 +v 3.256289 -0.536088 -0.078106 +v 3.030556 0.816315 -0.754510 +v 0.550420 1.981432 1.011258 +v -0.575904 1.981432 -0.942436 +v -1.778252 -0.498138 -1.167904 +v -1.778252 -0.536088 1.049017 +v -2.492293 0.778858 0.785573 +v -2.454865 0.816315 -0.829594 +v -1.665386 0.816315 -1.092603 +v 3.067983 -0.536088 0.748248 +v -2.718025 0.816315 -0.078106 +v 2.241661 0.816315 1.011258 +v 2.203649 1.567677 0.748248 +v 3.256289 0.891476 0.034302 +v -1.891119 0.741401 1.011258 +v 2.993129 -0.535842 -0.754510 +v 2.203649 -0.197741 -1.055062 +v -1.026785 1.981432 -0.078106 +v 0.475566 1.042044 1.048800 +v -2.567732 -0.536088 -0.904677 +v 1.189606 1.981432 0.823332 +v 2.729969 1.379899 -0.604126 +v 2.316515 0.778611 -1.017520 +v -2.267145 1.342441 0.597864 +v -2.454865 1.530220 -0.078106 +v 1.227034 -0.498384 1.048800 +v 2.804823 1.379899 0.560322 +v -0.350756 1.981432 1.011258 +v -0.951930 1.981432 0.748031 +v -0.125023 1.981432 -1.017303 +v -2.605159 -0.536088 0.860874 +v -2.718025 0.703943 0.109386 +v 1.414754 1.981432 -0.791835 +v -2.718025 -0.536088 -0.190949 +v -2.191706 1.342441 -0.679426 +v -0.726197 1.981432 -0.867136 +v 2.955117 -0.084876 0.823332 +v -1.665386 -0.535842 -1.167904 +v 3.256289 -0.536088 0.109603 +v 2.955117 1.567677 -0.040564 +v 1.828208 0.891722 -1.054845 +v 0.062697 1.116959 1.048800 +v 3.256289 0.816315 0.109603 +v 3.256289 0.816315 -0.078106 +v -2.492293 0.516164 -0.867136 +v 2.091368 -0.535842 -1.055062 +v 2.993129 0.891476 0.748248 +v -2.492293 1.492763 -0.115648 +v -1.816264 1.455306 0.785573 +v -2.718025 0.741401 -0.153190 +v -1.778252 0.666240 -1.092603 +f 108 71 114 +f 57 52 59 +f 51 58 64 +f 58 55 64 +f 52 57 66 +f 57 59 67 +f 51 64 69 +f 56 67 72 +f 59 68 72 +f 71 56 72 +f 69 64 73 +f 54 69 73 +f 66 75 76 +f 61 69 78 +f 70 61 78 +f 64 55 79 +f 55 65 79 +f 65 64 79 +f 57 67 81 +f 75 66 82 +f 58 51 83 +f 53 52 84 +f 52 66 84 +f 76 60 84 +f 66 76 84 +f 65 59 85 +f 60 65 85 +f 65 55 86 +f 59 65 86 +f 55 80 86 +f 62 70 87 +f 69 54 89 +f 54 75 89 +f 82 69 89 +f 75 82 89 +f 60 76 90 +f 66 57 91 +f 57 78 91 +f 57 81 92 +f 87 57 92 +f 62 87 92 +f 88 62 92 +f 81 88 92 +f 67 59 93 +f 72 67 93 +f 59 72 93 +f 51 69 94 +f 69 61 94 +f 61 70 94 +f 70 62 95 +f 74 51 95 +f 62 74 95 +f 51 94 95 +f 94 70 95 +f 52 53 96 +f 59 52 96 +f 51 74 97 +f 83 51 97 +f 56 71 98 +f 67 56 99 +f 81 67 99 +f 88 81 99 +f 54 73 100 +f 73 63 100 +f 75 54 100 +f 63 75 100 +f 58 68 101 +f 68 59 101 +f 73 64 102 +f 64 77 102 +f 53 84 103 +f 84 60 103 +f 85 59 103 +f 60 85 103 +f 96 53 103 +f 59 96 103 +f 59 86 104 +f 86 80 104 +f 101 59 104 +f 80 101 104 +f 78 69 105 +f 69 82 105 +f 82 66 105 +f 66 91 105 +f 91 78 105 +f 63 73 106 +f 77 60 106 +f 73 102 106 +f 102 77 106 +f 64 65 107 +f 65 60 107 +f 60 77 107 +f 77 64 107 +f 58 83 108 +f 55 58 109 +f 80 55 109 +f 58 101 109 +f 101 80 109 +f 75 63 110 +f 76 75 110 +f 60 90 110 +f 90 76 110 +f 106 60 110 +f 63 106 110 +f 74 62 111 +f 62 88 111 +f 56 98 111 +f 98 71 111 +f 99 56 111 +f 88 99 111 +f 78 57 112 +f 70 78 112 +f 57 87 112 +f 87 70 112 +f 97 74 113 +f 83 97 113 +f 71 108 113 +f 108 83 113 +f 74 111 113 +f 111 71 113 +f 68 58 114 +f 72 68 114 +f 71 72 114 +f 58 108 114 +o convex_2 +v -0.388383 3.371381 0.748259 +v 0.926599 1.981609 -1.055179 +v 0.926599 2.056641 -1.055179 +v 1.189499 1.981609 0.823512 +v -0.989678 1.981432 0.485279 +v 0.250295 3.559579 -0.754370 +v 0.963983 3.559402 0.034368 +v -0.688909 2.019036 -0.904674 +v -0.538646 3.484370 -0.115530 +v 1.377388 2.056641 -0.829623 +v -0.688909 1.981432 0.973613 +v 0.362688 2.808198 1.011441 +v 1.001609 3.333953 -0.904876 +v 0.250295 3.559579 0.710633 +v 1.490267 2.019213 -0.003258 +v 0.175285 3.785028 -0.115530 +v -0.613656 3.258921 0.823512 +v 0.100032 2.845802 -1.017553 +v 1.001609 2.808198 0.748259 +v -0.989678 2.094245 -0.078106 +v -0.538646 2.770594 -0.791794 +v 0.513194 1.981609 1.011441 +v -0.125484 1.981432 -1.017553 +v 1.076862 2.470112 -1.055179 +v -0.313131 2.695385 1.011441 +v 0.137658 3.521975 -0.791794 +v 0.776336 3.371557 0.560329 +v 0.137658 3.785028 0.034368 +v -0.951809 2.056641 0.748259 +v 1.001609 3.484194 -0.416137 +v -0.350757 3.334129 -0.604067 +v -0.576030 3.446766 0.184470 +v 1.377388 1.981609 -0.829623 +v 1.039236 3.296348 -0.904876 +v 0.287678 3.446766 0.785683 +v -0.989678 1.981432 -0.153157 +v -0.651283 2.432331 0.973613 +v 0.287678 3.785028 -0.078106 +v 0.926599 3.371557 -0.904876 +v 1.151872 1.981609 -1.055179 +v -0.350757 1.981432 1.011441 +v 0.813963 3.634434 -0.003258 +v -0.576030 1.981432 -0.942300 +v 1.114246 2.019213 0.861138 +v 0.137658 3.559579 -0.754370 +v -0.538646 3.296525 0.823512 +v -0.989678 2.094245 0.109419 +v -0.651283 3.221316 -0.040480 +v -0.087858 2.545144 -1.017553 +v 1.490267 1.981609 -0.078106 +v 0.250295 3.785028 0.034368 +v 0.625831 3.070899 -0.979926 +v 1.490267 2.019213 -0.078106 +v 1.189499 2.094422 0.785885 +v -0.688909 2.131849 -0.867249 +v -0.425767 3.559579 -0.040480 +f 159 123 170 +f 129 121 133 +f 117 116 137 +f 125 119 137 +f 116 117 138 +f 136 126 139 +f 132 135 140 +f 121 128 141 +f 133 121 141 +f 115 128 142 +f 119 125 143 +f 121 129 144 +f 135 123 145 +f 140 135 145 +f 124 138 148 +f 138 127 148 +f 127 144 148 +f 126 133 149 +f 141 128 149 +f 133 141 149 +f 119 134 150 +f 137 119 150 +f 125 139 151 +f 139 131 151 +f 143 125 151 +f 131 143 151 +f 120 130 152 +f 130 142 152 +f 152 144 153 +f 127 138 153 +f 140 120 153 +f 132 140 153 +f 144 127 153 +f 120 152 153 +f 137 116 154 +f 116 138 154 +f 138 124 154 +f 124 147 154 +f 147 137 154 +f 118 136 155 +f 125 137 155 +f 139 125 155 +f 136 139 155 +f 128 121 156 +f 121 144 156 +f 144 152 156 +f 150 122 157 +f 137 150 157 +f 118 133 158 +f 133 126 158 +f 136 118 158 +f 126 136 158 +f 130 120 159 +f 120 140 159 +f 145 123 159 +f 140 145 159 +f 128 115 160 +f 131 139 160 +f 139 126 160 +f 115 142 160 +f 146 131 160 +f 142 146 160 +f 126 149 160 +f 149 128 160 +f 134 119 161 +f 119 143 161 +f 143 131 161 +f 131 146 161 +f 161 146 162 +f 123 135 162 +f 135 134 162 +f 146 123 162 +f 134 161 162 +f 122 135 163 +f 135 132 163 +f 117 137 163 +f 138 117 163 +f 132 138 163 +f 157 122 163 +f 137 157 163 +f 129 118 164 +f 147 124 164 +f 137 147 164 +f 118 155 164 +f 155 137 164 +f 142 128 165 +f 152 142 165 +f 128 156 165 +f 156 152 165 +f 138 132 166 +f 153 138 166 +f 132 153 166 +f 144 129 167 +f 124 148 167 +f 148 144 167 +f 129 164 167 +f 164 124 167 +f 118 129 168 +f 133 118 168 +f 129 133 168 +f 135 122 169 +f 134 135 169 +f 150 134 169 +f 122 150 169 +f 142 130 170 +f 123 146 170 +f 146 142 170 +f 130 159 170 +o convex_3 +v -2.379829 -1.325154 1.349778 +v -1.139978 -1.212496 1.424920 +v -1.139978 -1.287528 1.424920 +v -1.816216 -1.212496 3.002913 +v -1.853717 -0.686388 1.312041 +v -1.628588 -1.813636 1.312041 +v -1.703712 -1.625724 2.777320 +v -1.403215 -1.024584 2.626869 +v -2.079211 -0.911926 2.551892 +v -2.191958 -1.588098 2.063632 +v -1.290469 -0.799157 1.312041 +v -1.703712 -0.836893 2.739583 +v -1.365593 -1.625724 2.176180 +v -2.154335 -1.250012 2.777320 +v -2.229459 -0.836893 1.312041 +v -1.365593 -1.287528 2.777320 +v -2.191958 -1.700867 1.312041 +v -1.290469 -1.700867 1.312041 +v -2.191958 -0.836893 2.026226 +v -1.327970 -0.836893 1.988489 +v -1.778593 -1.775899 1.913347 +v -1.741335 -0.724014 2.063632 +v -2.304584 -1.212496 2.101203 +v -1.215344 -1.287528 2.101203 +v -1.778593 -1.625724 2.777320 +v -2.379829 -1.212496 1.312041 +v -2.154335 -1.137353 2.739583 +v -1.703712 -1.174869 3.002913 +v -1.666211 -0.686388 1.462492 +v -1.290469 -1.700867 1.500063 +v -1.778593 -0.836893 2.739583 +v -2.079211 -1.475439 2.626869 +v -2.229459 -1.663130 1.575371 +v -1.853717 -1.813636 1.424920 +v -1.440717 -1.550582 2.589298 +v -1.139978 -1.212496 1.312041 +v -1.215344 -1.212496 2.101203 +v -2.079211 -1.663130 2.026226 +v -1.703712 -1.287528 3.002913 +v -1.365593 -1.212496 2.777320 +v -1.666211 -1.738272 2.063632 +v -1.290469 -0.799157 1.537634 +v -1.816216 -0.724014 2.026226 +f 201 192 213 +f 176 175 181 +f 175 176 185 +f 185 176 187 +f 176 181 188 +f 175 185 189 +f 182 178 190 +f 182 190 192 +f 171 180 193 +f 180 184 193 +f 173 172 194 +f 186 183 194 +f 174 184 195 +f 191 177 195 +f 187 171 196 +f 185 187 196 +f 189 185 196 +f 171 193 196 +f 193 189 196 +f 184 174 197 +f 179 189 197 +f 193 184 197 +f 189 193 197 +f 181 175 199 +f 188 173 200 +f 176 188 200 +f 173 194 200 +f 194 183 200 +f 189 179 201 +f 182 192 201 +f 197 174 201 +f 179 197 201 +f 174 198 201 +f 198 182 201 +f 184 180 202 +f 195 184 202 +f 180 195 202 +f 180 171 203 +f 171 187 203 +f 187 176 204 +f 176 191 204 +f 203 187 204 +f 177 183 205 +f 186 177 205 +f 183 186 205 +f 172 173 206 +f 181 172 206 +f 173 188 206 +f 188 181 206 +f 172 190 207 +f 194 172 207 +f 186 194 207 +f 195 180 208 +f 191 195 208 +f 180 203 208 +f 204 191 208 +f 203 204 208 +f 177 186 209 +f 174 195 209 +f 195 177 209 +f 198 174 209 +f 186 198 209 +f 178 182 210 +f 190 178 210 +f 182 198 210 +f 198 186 210 +f 186 207 210 +f 207 190 210 +f 183 177 211 +f 177 191 211 +f 191 176 211 +f 176 200 211 +f 200 183 211 +f 172 181 212 +f 190 172 212 +f 192 190 212 +f 181 199 212 +f 199 192 212 +f 175 189 213 +f 199 175 213 +f 192 199 213 +f 189 201 213 +o convex_4 +v -0.163030 -0.724110 0.785646 +v -0.839378 -2.339684 -0.115740 +v -0.200634 -2.226871 -0.791897 +v -0.839378 -0.536088 -1.054782 +v -0.839378 -0.536088 1.011111 +v -0.163030 -2.151663 0.860958 +v -0.163096 -0.536088 -0.979941 +v -0.839378 -2.151663 0.898378 +v -0.839378 -2.076631 -0.942050 +v -0.163030 -1.325250 1.274231 +v -0.163030 -1.475137 -1.130094 +v -0.163096 -0.536088 1.048766 +v -0.163030 -2.339684 0.034648 +v -0.839378 -1.437886 1.011111 +v -0.163030 -2.076631 -0.942050 +v -0.764169 -2.189267 -0.904630 +v -0.839378 -2.189267 0.860958 +v -0.200634 -1.175185 1.274231 +v -0.839378 -1.437886 -1.017362 +v -0.839378 -2.339684 0.109489 +v -0.163030 -1.700587 1.123843 +v -0.163030 -2.189267 0.823302 +v -0.839378 -2.076631 0.936034 +v -0.651489 -0.536088 1.048766 +v -0.163030 -1.363031 -1.130094 +f 224 217 238 +f 217 215 218 +f 217 218 220 +f 218 215 221 +f 215 217 222 +f 219 214 223 +f 214 219 224 +f 214 220 225 +f 220 218 225 +f 223 214 225 +f 215 216 226 +f 224 219 226 +f 218 221 227 +f 222 224 228 +f 226 216 228 +f 224 226 228 +f 216 215 229 +f 215 222 229 +f 228 216 229 +f 222 228 229 +f 221 215 230 +f 219 221 230 +f 223 225 231 +f 218 227 231 +f 227 223 231 +f 222 217 232 +f 217 224 232 +f 224 222 232 +f 215 226 233 +f 230 215 233 +f 221 219 234 +f 219 223 234 +f 226 219 235 +f 219 230 235 +f 233 226 235 +f 230 233 235 +f 227 221 236 +f 223 227 236 +f 221 234 236 +f 234 223 236 +f 225 218 237 +f 218 231 237 +f 231 225 237 +f 217 220 238 +f 220 214 238 +f 214 224 238 +o convex_5 +v -2.267082 -1.249865 -2.370125 +v -1.139978 -1.175009 -1.318373 +v -1.139978 -1.324956 -1.318373 +v -1.403215 -1.287528 -2.858529 +v -1.816216 -0.611238 -1.318373 +v -2.004087 -1.775855 -1.318373 +v -1.741335 -1.700764 -2.783416 +v -1.703712 -0.836746 -2.820973 +v -2.267082 -0.799201 -1.318373 +v -1.327970 -1.738427 -1.393655 +v -1.290469 -0.799201 -1.694108 +v -2.267082 -1.663336 -1.356099 +v -2.154335 -1.249865 -2.820973 +v -2.191958 -0.799201 -2.107399 +v -1.816216 -1.287528 -3.046481 +v -2.379829 -1.099918 -1.318373 +v -1.365593 -1.663336 -2.144955 +v -2.154335 -1.625673 -2.219899 +v -1.816216 -1.813636 -1.957173 +v -1.215344 -1.249865 -2.107399 +v -1.403215 -0.911837 -2.482795 +v -1.290469 -0.761538 -1.318373 +v -1.741335 -0.686564 -2.144955 +v -1.816216 -0.836746 -2.820973 +v -1.628588 -1.813636 -1.318373 +v -2.342206 -1.249865 -1.957173 +v -1.365593 -1.324956 -2.820973 +v -1.327970 -0.836746 -2.107399 +v -2.116713 -1.475373 -2.670747 +v -2.079211 -0.949501 -2.670747 +v -1.703712 -1.287528 -3.046481 +v -2.379829 -1.324956 -1.318373 +v -1.628588 -1.775855 -2.032285 +v -1.816216 -1.700764 -2.745860 +v -2.191958 -1.663336 -1.957173 +v -1.365593 -1.175009 -2.745860 +v -1.703712 -0.611238 -1.356099 +v -2.191958 -0.724110 -1.393655 +v -1.515841 -1.625673 -2.633190 +v -2.229459 -0.874292 -2.107399 +v -1.252846 -1.625673 -1.318373 +v -1.215344 -1.324956 -2.069842 +v -1.365593 -1.700764 -2.032285 +v -1.816216 -0.686564 -2.107399 +v -1.478340 -0.761538 -2.069842 +f 261 275 283 +f 241 240 243 +f 241 243 244 +f 244 243 247 +f 244 247 254 +f 240 241 258 +f 243 240 260 +f 240 249 260 +f 246 253 262 +f 253 251 262 +f 261 246 262 +f 241 244 263 +f 244 257 263 +f 249 240 266 +f 240 258 266 +f 259 246 266 +f 239 251 267 +f 256 239 267 +f 252 262 268 +f 262 251 268 +f 246 242 269 +f 245 253 269 +f 253 246 269 +f 242 265 269 +f 265 245 269 +f 250 244 270 +f 244 254 270 +f 264 250 270 +f 254 264 270 +f 257 245 271 +f 248 263 271 +f 263 257 271 +f 253 245 272 +f 251 253 272 +f 245 257 272 +f 267 251 272 +f 256 267 272 +f 244 250 273 +f 239 256 273 +f 257 244 273 +f 264 239 273 +f 250 264 273 +f 272 257 273 +f 256 272 273 +f 242 246 274 +f 246 259 274 +f 265 242 274 +f 258 265 274 +f 259 266 274 +f 266 258 274 +f 243 260 275 +f 261 243 275 +f 247 243 276 +f 252 247 276 +f 245 265 277 +f 265 255 277 +f 251 239 278 +f 247 252 278 +f 254 247 278 +f 239 264 278 +f 264 254 278 +f 268 251 278 +f 252 268 278 +f 241 263 279 +f 263 248 279 +f 258 241 280 +f 255 265 280 +f 265 258 280 +f 241 279 280 +f 280 279 281 +f 271 245 281 +f 248 271 281 +f 245 277 281 +f 277 255 281 +f 279 248 281 +f 255 280 281 +f 243 261 282 +f 262 252 282 +f 261 262 282 +f 276 243 282 +f 252 276 282 +f 260 249 283 +f 246 261 283 +f 249 266 283 +f 266 246 283 +f 275 260 283 +o convex_6 +v -2.755699 -1.363031 -0.228104 +v -0.839382 -0.536265 1.011324 +v -0.877086 -0.536088 1.011324 +v -1.741267 -2.226871 0.860965 +v -0.839570 -2.114235 -0.942050 +v -1.703563 -0.536088 -1.242767 +v -2.605260 -0.536088 0.860965 +v -2.492525 -2.001422 -0.791691 +v -0.839382 -0.536265 -1.055076 +v -0.839570 -2.189267 0.860965 +v -2.267053 -1.663336 1.311783 +v -2.530041 -0.536088 -0.979640 +v -2.116802 -1.738191 -1.317946 +v -2.492525 -2.039026 0.785786 +v -1.778970 -2.339684 -0.152925 +v -1.327840 -0.761714 1.311783 +v -1.140073 -1.325250 -1.317946 +v -1.252808 -1.663336 1.311783 +v -2.417305 -1.175185 -1.317946 +v -2.717996 -1.363031 0.785786 +v -0.839570 -2.339684 0.109430 +v -1.816299 -2.264476 -0.754102 +v -2.229537 -0.836746 1.311783 +v -2.755699 -0.648901 -0.040156 +v -2.717996 -1.325250 -0.791691 +v -2.530041 -2.076631 -0.265694 +v -1.741267 -1.851181 -1.317946 +v -1.778783 -1.851181 1.311783 +v -2.267053 -0.724110 -1.317946 +v -1.741267 -2.302080 0.710607 +v -1.252808 -0.761714 -1.317946 +v -1.853815 -0.686505 1.311783 +v -2.379789 -1.175185 1.311783 +v -1.140073 -1.325250 1.311783 +v -0.839570 -2.189267 -0.866871 +v -2.530041 -2.076631 0.297378 +v -1.327840 -1.738191 -1.317946 +v -0.839570 -2.339684 -0.115335 +v -2.717996 -0.536088 -0.190515 +v -0.839570 -2.076631 0.936145 +v -1.816299 -0.536088 1.086503 +v -2.267053 -1.663336 -1.317946 +v -1.816299 -2.339684 0.109430 +v -2.530041 -2.001422 -0.754102 +v -2.755699 -1.400635 0.034251 +v -2.680480 -1.024591 -0.829281 +v -0.839570 -1.437886 1.011324 +v -2.417305 -2.076631 0.785786 +v -1.628531 -0.611297 -1.317946 +v -1.140073 -2.226871 -0.829281 +v -0.839570 -1.512742 -1.017229 +v -2.717996 -1.250041 0.785786 +v -2.492525 -2.114235 0.071840 +v -0.989821 -2.151663 0.936145 +v -0.989821 -2.226871 0.823376 +v -2.717996 -0.536088 0.184609 +v -2.567744 -0.573692 -0.942050 +v -2.492525 -0.536088 0.936145 +v -2.605260 -1.888785 -0.115335 +v -2.417305 -1.963818 0.936145 +f 331 287 343 +f 286 289 290 +f 286 285 292 +f 289 286 292 +f 290 289 295 +f 299 294 301 +f 300 296 302 +f 297 294 303 +f 292 285 304 +f 285 293 304 +f 291 296 305 +f 294 299 306 +f 284 307 308 +f 305 298 309 +f 296 300 310 +f 305 296 310 +f 301 294 311 +f 295 289 312 +f 302 295 312 +f 300 302 312 +f 292 300 314 +f 300 312 314 +f 299 285 315 +f 306 299 315 +f 303 294 316 +f 306 290 316 +f 294 306 316 +f 285 299 317 +f 299 301 317 +f 288 292 318 +f 310 288 318 +f 297 303 319 +f 300 288 320 +f 288 310 320 +f 310 300 320 +f 292 304 321 +f 304 298 321 +f 298 305 321 +f 318 292 321 +f 290 295 322 +f 293 285 323 +f 317 301 323 +f 285 286 324 +f 286 290 324 +f 315 285 324 +f 296 291 325 +f 302 296 325 +f 308 302 325 +f 298 304 326 +f 304 313 326 +f 291 305 327 +f 284 308 327 +f 305 309 327 +f 325 291 327 +f 308 325 327 +f 307 284 328 +f 319 303 328 +f 302 308 329 +f 308 307 329 +f 307 322 329 +f 285 317 330 +f 323 285 330 +f 317 323 330 +f 313 287 331 +f 297 319 331 +f 326 313 331 +f 289 292 332 +f 312 289 332 +f 292 314 332 +f 314 312 332 +f 305 310 333 +f 310 318 333 +f 321 305 333 +f 318 321 333 +f 292 288 334 +f 288 300 334 +f 300 292 334 +f 316 290 335 +f 303 316 335 +f 307 328 335 +f 328 303 335 +f 309 298 336 +f 319 309 336 +f 298 326 336 +f 331 319 336 +f 326 331 336 +f 311 287 337 +f 301 311 337 +f 293 323 337 +f 323 301 337 +f 304 293 338 +f 287 313 338 +f 313 304 338 +f 337 287 338 +f 293 337 338 +f 290 322 339 +f 322 307 339 +f 335 290 339 +f 307 335 339 +f 295 302 340 +f 322 295 340 +f 302 329 340 +f 329 322 340 +f 290 306 341 +f 306 315 341 +f 324 290 341 +f 315 324 341 +f 309 319 342 +f 284 327 342 +f 327 309 342 +f 328 284 342 +f 319 328 342 +f 294 297 343 +f 287 311 343 +f 311 294 343 +f 297 331 343 +o convex_7 +v 0.175152 -0.874332 -1.431175 +v 0.212823 -1.588186 -1.393619 +v 0.287767 -1.588186 -1.393619 +v 0.250295 -1.249916 -2.971163 +v 0.588469 -1.174939 -1.243054 +v -0.087880 -1.362626 -1.243054 +v 0.513260 -1.174939 -2.745823 +v 0.100010 -1.062229 -2.558041 +v 0.475722 -0.874332 -1.243054 +v 0.513260 -1.550523 -1.243054 +v -0.050275 -0.987112 -1.243054 +v 0.250295 -1.400219 -2.745823 +v 0.325437 -1.024636 -2.745823 +v 0.062472 -1.287509 -2.633154 +v -0.012671 -1.512930 -1.356062 +v 0.438052 -1.400219 -2.558041 +v -0.050275 -1.174939 -1.844466 +v 0.550865 -1.512930 -1.280949 +v 0.513260 -1.249916 -2.745823 +v 0.062472 -1.174939 -2.708267 +v 0.175152 -1.588186 -1.243054 +v 0.250295 -0.987112 -2.558041 +v 0.475722 -0.874332 -1.356062 +v 0.588469 -1.287509 -1.468732 +v 0.062472 -1.024636 -2.257419 +f 365 351 368 +f 349 348 352 +f 348 349 353 +f 349 352 354 +f 352 344 354 +f 346 345 355 +f 350 347 356 +f 347 355 357 +f 357 355 358 +f 355 345 358 +f 349 357 358 +f 353 346 359 +f 346 355 359 +f 349 354 360 +f 357 349 360 +f 348 353 361 +f 353 359 361 +f 361 359 362 +f 347 350 362 +f 355 347 362 +f 359 355 362 +f 356 347 363 +f 351 356 363 +f 347 357 363 +f 357 360 363 +f 345 346 364 +f 346 353 364 +f 353 349 364 +f 358 345 364 +f 349 358 364 +f 356 351 365 +f 356 365 366 +f 348 350 366 +f 352 348 366 +f 344 352 366 +f 350 356 366 +f 365 344 366 +f 350 348 367 +f 348 361 367 +f 361 362 367 +f 362 350 367 +f 354 344 368 +f 360 354 368 +f 351 363 368 +f 363 360 368 +f 344 365 368 +o convex_8 +v 0.475737 -0.874527 -1.242642 +v -0.163029 -2.339684 -0.040597 +v -0.050261 -2.339684 -0.040597 +v 0.250199 -1.212613 2.965338 +v -0.163029 -0.536088 -0.979823 +v 0.626044 -2.301904 0.034788 +v 0.626044 -0.536265 1.048987 +v -0.163029 -0.536088 1.048575 +v -0.163029 -2.076631 -0.942337 +v 0.626044 -2.189090 -0.829053 +v 0.626044 -0.536265 -1.054797 +v -0.163029 -2.189267 0.786169 +v 0.475737 -1.287822 2.739182 +v 0.062508 -1.287645 2.739594 +v 0.325353 -1.475137 2.739594 +v 0.626044 -2.151663 0.748682 +v -0.012645 -1.550523 -1.243054 +v 0.550813 -1.550346 -1.242642 +v -0.163029 -1.287645 1.424266 +v 0.287814 -1.024591 2.702107 +v 0.626044 -1.362854 1.349292 +v -0.125414 -1.287645 -1.243054 +v -0.125414 -2.226871 -0.829465 +v 0.438122 -2.189267 0.748682 +v 0.626044 -1.325250 -1.242642 +v 0.137662 -0.874351 -1.243054 +v 0.325353 -2.264476 -0.679106 +v 0.062508 -1.212613 2.739594 +v 0.475737 -1.212613 2.739182 +v 0.250199 -1.475137 2.739594 +v 0.287814 -1.625731 -1.243054 +v 0.212738 -1.062196 2.777081 +v 0.438122 -0.536265 -1.092283 +v -0.163029 -1.475137 -1.167669 +v 0.626044 -2.301904 -0.153057 +v -0.050261 -0.987164 -1.243054 +v -0.125414 -2.339684 0.034788 +v -0.163029 -2.001422 0.973190 +v 0.626044 -1.625555 1.236420 +f 384 389 407 +f 375 373 376 +f 373 370 376 +f 370 373 377 +f 375 374 378 +f 373 375 379 +f 375 378 379 +f 376 370 380 +f 381 372 383 +f 381 383 384 +f 374 375 384 +f 376 380 387 +f 375 376 388 +f 384 375 389 +f 370 377 391 +f 377 378 391 +f 383 380 392 +f 384 383 392 +f 374 384 392 +f 369 379 393 +f 379 378 393 +f 378 386 393 +f 385 390 394 +f 369 393 394 +f 371 370 395 +f 370 391 395 +f 391 378 395 +f 382 372 396 +f 376 387 396 +f 387 382 396 +f 372 381 397 +f 375 388 397 +f 388 372 397 +f 389 375 397 +f 381 389 397 +f 372 382 398 +f 382 380 398 +f 380 383 398 +f 383 372 398 +f 378 377 399 +f 377 385 399 +f 386 378 399 +f 393 386 399 +f 385 394 399 +f 394 393 399 +f 388 376 400 +f 372 388 400 +f 396 372 400 +f 376 396 400 +f 379 369 401 +f 373 379 401 +f 369 394 401 +f 394 373 401 +f 377 373 402 +f 385 377 402 +f 373 390 402 +f 390 385 402 +f 374 371 403 +f 378 374 403 +f 371 395 403 +f 395 378 403 +f 390 373 404 +f 373 394 404 +f 394 390 404 +f 370 371 405 +f 371 374 405 +f 380 370 405 +f 374 392 405 +f 392 380 405 +f 380 382 406 +f 387 380 406 +f 382 387 406 +f 381 384 407 +f 389 381 407 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/878/878.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/878/878.urdf new file mode 100644 index 000000000..8fa7fc2de --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/878/878.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/879/879.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/879/879.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/879/879.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/879/879.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/879/879.obj new file mode 100644 index 000000000..1dbc539b8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/879/879.obj @@ -0,0 +1,666 @@ +o convex_0 +v -3.502140 -1.042566 0.502519 +v -1.852787 -0.621980 0.470225 +v -1.820341 -0.816088 0.502627 +v -1.690942 -1.689289 -0.500004 +v -3.372741 -0.621980 -0.500004 +v -3.404994 -1.753915 0.599725 +v -3.502140 -1.786399 -0.500004 +v -1.561543 -1.721659 0.437823 +v -1.561543 -0.686721 -0.435200 +v -3.534586 -0.621980 0.437823 +v -1.561543 -0.622094 0.470225 +v -1.561543 -1.656918 -0.500004 +v -1.820534 -1.753915 0.470225 +v -1.561543 -0.622094 -0.208817 +v -3.502140 -0.913085 -0.273513 +v -1.561543 -1.171934 -0.500004 +v -3.469694 -1.786399 0.049861 +v -3.210896 -1.786399 -0.500004 +v -3.534586 -0.751462 0.470225 +v -3.308042 -1.689289 0.599725 +v -1.561543 -1.721659 0.082047 +v -1.690942 -1.656918 0.470225 +v -3.534586 -0.621980 0.308431 +v -3.404994 -0.686721 -0.500004 +v -2.435082 -0.621980 0.470225 +v -2.725747 -0.621980 -0.467602 +v -3.502140 -1.786399 -0.273513 +f 19 7 27 +f 5 4 7 +f 2 5 10 +f 2 3 11 +f 8 9 11 +f 4 5 12 +f 9 8 12 +f 2 11 14 +f 11 9 14 +f 5 9 16 +f 12 5 16 +f 9 12 16 +f 6 1 17 +f 13 6 17 +f 13 17 18 +f 7 4 18 +f 17 7 18 +f 1 6 19 +f 6 13 20 +f 19 6 20 +f 4 12 21 +f 12 8 21 +f 8 13 21 +f 13 18 21 +f 18 4 21 +f 11 3 22 +f 8 11 22 +f 13 8 22 +f 3 20 22 +f 20 13 22 +f 10 5 23 +f 15 7 23 +f 19 10 23 +f 7 19 23 +f 5 7 24 +f 7 15 24 +f 23 5 24 +f 15 23 24 +f 3 2 25 +f 2 10 25 +f 10 19 25 +f 20 3 25 +f 19 20 25 +f 5 2 26 +f 9 5 26 +f 2 14 26 +f 14 9 26 +f 17 1 27 +f 7 17 27 +f 1 19 27 +o convex_1 +v 1.737575 -4.276886 -0.597039 +v 1.058480 -1.818985 0.599725 +v 2.028683 -1.819229 0.470279 +v 1.155476 -4.244466 0.567276 +v 0.961365 -1.818985 -0.435260 +v 2.158012 -1.916248 -0.499925 +v 1.996351 -4.244222 0.405497 +v 0.961365 -4.147446 -0.564589 +v 2.125680 -4.309308 -0.597039 +v 2.158012 -1.819229 0.276168 +v 0.993815 -1.916004 0.599725 +v 1.058480 -4.244466 0.405497 +v 0.961365 -3.726705 -0.564589 +v 2.158012 -1.819229 -0.467475 +v 2.158012 -3.112412 -0.176484 +v 1.996351 -4.050183 0.437947 +v 0.961365 -1.980846 -0.467592 +v 2.093348 -3.856145 -0.597039 +v 2.028683 -4.276643 0.243718 +v 1.220258 -4.276886 0.340950 +v 0.961365 -4.147446 -0.435260 +v 1.058480 -3.791547 0.567276 +v 2.158012 -2.174885 0.243718 +v 2.093348 -1.948425 0.437947 +v 0.993815 -4.179624 -0.467592 +v 1.381920 -4.147446 -0.597039 +v 2.093348 -4.309308 -0.273481 +v 2.158012 -3.048058 -0.532257 +v 2.028683 -3.920743 0.405497 +v 1.187926 -4.082604 0.567276 +v 2.093348 -1.916248 -0.499925 +v 1.931686 -4.309308 -0.564589 +v 1.220258 -4.276886 0.437829 +v 1.252591 -1.818985 -0.467592 +v 0.993815 -1.818985 0.599725 +f 32 38 62 +f 29 30 37 +f 31 29 38 +f 35 32 40 +f 37 33 41 +f 33 37 42 +f 31 34 43 +f 40 32 44 +f 36 28 45 +f 33 36 45 +f 32 35 48 +f 38 32 48 +f 35 39 48 +f 48 39 49 +f 31 38 49 +f 39 31 49 +f 38 48 49 +f 42 37 50 +f 37 30 51 +f 30 43 51 +f 50 37 51 +f 35 28 52 +f 39 35 52 +f 47 39 52 +f 28 35 53 +f 35 40 53 +f 45 28 53 +f 36 42 54 +f 42 46 54 +f 36 33 55 +f 33 42 55 +f 42 36 55 +f 43 34 56 +f 34 46 56 +f 46 42 56 +f 42 50 56 +f 51 43 56 +f 50 51 56 +f 30 29 57 +f 29 31 57 +f 43 30 57 +f 31 43 57 +f 40 44 58 +f 33 45 58 +f 53 40 58 +f 45 53 58 +f 28 36 59 +f 52 28 59 +f 47 52 59 +f 36 54 59 +f 59 54 60 +f 34 31 60 +f 31 39 60 +f 46 34 60 +f 39 47 60 +f 54 46 60 +f 47 59 60 +f 32 29 61 +f 29 37 61 +f 41 33 61 +f 37 41 61 +f 44 32 61 +f 33 58 61 +f 58 44 61 +f 29 32 62 +f 38 29 62 +o convex_2 +v -1.108710 2.159577 -1.049869 +v -1.238046 3.776500 1.084900 +v -1.302713 3.776500 1.084900 +v -0.752998 -2.173729 0.955343 +v -1.529169 -2.206292 -0.985090 +v -0.752918 3.776500 -1.017479 +v -0.752998 -2.206292 -0.985090 +v -1.432128 -2.173729 0.923162 +v -0.752918 3.776500 1.020121 +v -1.367381 3.711373 -1.049869 +v -1.496796 3.614867 1.052302 +v -1.561543 -1.720801 0.437950 +v -1.561543 -0.685876 -0.435099 +v -1.464502 3.161347 1.084900 +v -0.817665 3.841627 -0.370529 +v -1.432128 3.743936 -0.047054 +v -0.785292 1.900846 -1.049869 +v -1.399755 2.903208 -1.049869 +v -1.496796 -2.206292 0.017516 +v -1.141083 -2.173729 0.955343 +v -1.561543 -0.621341 0.470130 +v -0.850039 3.679401 1.052511 +v -1.529169 -1.365563 -0.985090 +v -1.464502 -0.039343 0.987523 +v -0.752918 -0.653904 -1.017270 +v -1.561543 -1.656858 -0.499877 +v -1.399755 3.776500 0.923162 +v -0.947080 3.744528 -1.049869 +v -0.752918 3.841627 -0.144013 +v -1.464502 3.743936 0.502519 +v -1.399755 3.679401 -0.661615 +v -1.399755 -2.206884 0.211434 +v -1.464502 -2.109194 0.825994 +v -1.432128 -1.430098 0.955343 +v -1.496796 3.194502 1.052302 +v -1.270419 3.744528 -0.952701 +v -1.464502 -0.006780 -1.017270 +v -1.464502 3.743936 1.084900 +v -1.529169 -2.206292 -0.532058 +v -0.752918 2.806109 1.020121 +f 87 71 102 +f 64 65 76 +f 66 64 76 +f 63 72 79 +f 72 63 80 +f 66 76 82 +f 73 75 83 +f 75 74 83 +f 64 66 84 +f 71 64 84 +f 80 67 85 +f 75 80 85 +f 69 67 87 +f 66 69 87 +f 68 71 87 +f 63 79 87 +f 79 68 87 +f 67 74 88 +f 74 75 88 +f 85 67 88 +f 75 85 88 +f 77 78 89 +f 72 68 90 +f 68 79 90 +f 79 72 90 +f 65 64 91 +f 64 71 91 +f 71 68 91 +f 68 77 91 +f 89 65 91 +f 77 89 91 +f 75 73 92 +f 89 78 92 +f 78 72 93 +f 72 80 93 +f 80 75 93 +f 75 92 93 +f 92 78 93 +f 67 69 94 +f 69 66 94 +f 70 81 94 +f 66 82 94 +f 82 70 94 +f 81 70 95 +f 74 81 95 +f 70 86 95 +f 86 74 95 +f 82 76 96 +f 70 82 96 +f 86 70 96 +f 76 86 96 +f 76 73 97 +f 73 83 97 +f 83 74 97 +f 74 86 97 +f 86 76 97 +f 68 72 98 +f 77 68 98 +f 72 78 98 +f 78 77 98 +f 80 63 99 +f 67 80 99 +f 63 87 99 +f 87 67 99 +f 76 65 100 +f 73 76 100 +f 65 89 100 +f 92 73 100 +f 89 92 100 +f 74 67 101 +f 81 74 101 +f 67 94 101 +f 94 81 101 +f 84 66 102 +f 71 84 102 +f 66 87 102 +o convex_3 +v 0.088035 1.026600 -1.017321 +v 0.573112 -0.912578 1.052352 +v 0.540846 -0.912578 1.052352 +v -0.170636 3.841145 0.987510 +v -0.752918 -2.173956 0.955292 +v -0.752918 3.776709 -1.017321 +v 0.573112 3.873971 -0.920261 +v 0.508444 -2.173956 -0.984900 +v -0.752918 -2.206783 -0.985102 +v -0.752918 3.808319 1.020134 +v 0.605514 3.873971 0.923074 +v 0.540846 -2.206175 1.052150 +v 0.637916 -1.786121 -0.564441 +v -0.138370 -2.336264 -0.176200 +v 0.637916 -1.688858 0.567051 +v 0.540846 3.873971 -0.985102 +v 0.637916 0.413844 -0.467583 +v -0.688115 -2.206175 0.987510 +v -0.752918 3.841145 -0.435162 +v 0.314440 -1.591595 -1.017118 +v 0.120301 -2.206175 1.052150 +v -0.752918 -0.653616 -1.017321 +v -0.429443 3.808319 1.020134 +v 0.605514 3.097084 0.955495 +v 0.605514 3.873971 0.308291 +v 0.476042 -2.239001 0.923074 +v -0.170636 3.744490 -1.017321 +v 0.573112 2.935385 -0.952479 +v -0.041437 3.873363 -0.693922 +v 0.637916 -0.750271 0.599472 +v -0.752918 2.870340 1.020134 +v -0.202902 -2.336264 -0.241041 +v 0.573112 -2.109520 0.987713 +v 0.379108 3.873363 0.923074 +v 0.540846 -2.206175 0.211231 +v 0.540846 0.316581 -0.985102 +v 0.637916 -0.750271 -0.596861 +v -0.720517 -2.173956 0.987510 +v -0.752918 3.841145 -0.208823 +v 0.573112 -1.591595 1.052352 +v 0.605514 2.159105 0.955495 +v 0.379108 3.841145 0.955292 +v 0.120301 -2.271219 -0.564441 +v 0.540846 -1.688858 -0.920261 +v 0.314440 3.873363 -0.984900 +v 0.573112 3.841145 -0.952479 +f 139 130 148 +f 107 108 111 +f 105 104 112 +f 108 107 112 +f 113 109 118 +f 117 115 119 +f 107 111 120 +f 108 112 121 +f 110 111 122 +f 103 118 122 +f 105 112 123 +f 108 103 124 +f 111 108 124 +f 103 122 124 +f 122 111 124 +f 112 104 125 +f 106 112 125 +f 125 104 126 +f 109 113 127 +f 113 119 127 +f 120 116 128 +f 114 123 128 +f 123 120 128 +f 103 108 129 +f 118 103 129 +f 108 118 129 +f 113 118 131 +f 119 113 132 +f 117 119 132 +f 113 126 132 +f 112 107 133 +f 123 112 133 +f 120 111 134 +f 116 120 134 +f 115 117 135 +f 112 106 136 +f 106 113 136 +f 113 131 136 +f 110 115 137 +f 114 128 137 +f 128 116 137 +f 135 114 137 +f 115 135 137 +f 110 122 138 +f 122 118 138 +f 130 115 138 +f 118 130 138 +f 119 115 139 +f 115 130 139 +f 107 120 140 +f 120 123 140 +f 133 107 140 +f 123 133 140 +f 121 112 141 +f 131 121 141 +f 112 136 141 +f 136 131 141 +f 104 105 142 +f 105 123 142 +f 123 114 142 +f 126 104 142 +f 114 135 142 +f 135 117 142 +f 117 132 143 +f 132 126 143 +f 126 142 143 +f 142 117 143 +f 113 106 144 +f 106 125 144 +f 126 113 144 +f 125 126 144 +f 111 110 145 +f 134 111 145 +f 116 134 145 +f 110 137 145 +f 137 116 145 +f 115 110 146 +f 110 138 146 +f 138 115 146 +f 118 108 147 +f 108 121 147 +f 131 118 147 +f 121 131 147 +f 118 109 148 +f 109 127 148 +f 127 119 148 +f 130 118 148 +f 119 139 148 +o convex_4 +v 2.093368 -0.589395 0.276188 +v 0.993916 -0.589395 -0.467639 +v 0.993916 -0.589395 -0.435174 +v 1.123236 1.868583 0.470205 +v 2.028708 1.771140 -0.532238 +v 1.058459 -0.589395 0.567380 +v 2.158027 1.868583 0.437851 +v 2.158027 -0.589395 -0.564592 +v 1.123236 1.738899 -0.532349 +v 2.028708 -0.556914 0.470205 +v 1.090789 1.868583 0.567380 +v 2.190475 1.609456 0.373252 +v 1.058459 0.865518 -0.532349 +v 2.190475 -0.556914 -0.176446 +v 1.252555 1.868583 0.567380 +v 1.026129 0.154543 0.373252 +v 1.866941 -0.589395 0.502671 +v 2.158027 -0.265787 -0.564592 +v 2.158027 1.868583 0.211478 +v 1.155566 1.771140 -0.499883 +v 2.093368 0.736316 0.470205 +v 1.252555 -0.589395 0.567380 +v 1.187896 -0.589395 -0.499883 +v 2.061038 1.771140 -0.435284 +v 1.090789 1.803621 0.017460 +v 0.993916 -0.459951 -0.467639 +v 1.026129 -0.589395 0.405496 +v 2.028708 1.868583 0.470205 +v 1.058459 1.156645 0.502671 +v 2.061038 -0.589395 -0.564592 +v 2.158027 1.059683 0.405496 +v 2.190475 -0.492192 -0.273511 +v 2.061038 1.835861 -0.111737 +v 1.090789 1.512494 -0.532349 +v 2.190475 1.577215 0.308542 +v 1.899271 1.868583 0.211478 +f 181 168 184 +f 151 150 149 +f 151 149 154 +f 149 150 156 +f 155 152 159 +f 149 156 162 +f 155 159 163 +f 159 154 163 +f 154 149 165 +f 149 158 165 +f 157 153 166 +f 152 155 167 +f 155 160 167 +f 153 157 168 +f 159 152 168 +f 165 158 169 +f 163 165 169 +f 163 154 170 +f 154 165 170 +f 165 163 170 +f 156 150 171 +f 150 161 171 +f 166 153 172 +f 153 167 172 +f 168 157 173 +f 159 168 173 +f 150 151 174 +f 161 150 174 +f 151 164 174 +f 173 161 174 +f 151 154 175 +f 164 151 175 +f 155 163 176 +f 169 155 176 +f 163 169 176 +f 154 159 177 +f 159 173 177 +f 174 164 177 +f 173 174 177 +f 175 154 177 +f 164 175 177 +f 157 166 178 +f 166 156 178 +f 156 171 178 +f 171 161 178 +f 158 149 179 +f 160 155 179 +f 149 162 179 +f 162 160 179 +f 155 169 179 +f 169 158 179 +f 162 156 180 +f 160 162 180 +f 156 166 180 +f 167 153 181 +f 153 168 181 +f 161 173 182 +f 173 157 182 +f 157 178 182 +f 178 161 182 +f 167 160 183 +f 166 172 183 +f 172 167 183 +f 160 180 183 +f 180 166 183 +f 152 167 184 +f 168 152 184 +f 167 181 184 +o convex_5 +v 0.638049 -0.880911 0.599725 +v 1.996272 -0.589635 0.470244 +v 1.996405 -0.719091 0.470244 +v 0.638049 -1.074975 -0.564694 +v 1.996405 -1.818744 0.470244 +v 1.996272 -0.589635 -0.532324 +v 0.961549 -1.818744 -0.435213 +v 0.638049 -1.689289 0.567241 +v 1.996405 -1.818744 -0.467583 +v 0.993859 -0.589635 -0.467583 +v 1.058612 -0.589635 0.567241 +v 1.058612 -1.818744 0.599725 +v 0.638049 -1.689289 -0.499953 +v 0.638049 -0.719091 -0.564694 +v 0.670492 -0.719091 0.599725 +v 1.899208 -0.589635 0.502614 +v 1.996405 -1.074975 -0.532210 +v 1.284916 -0.654363 0.567241 +v 0.638049 -1.721653 -0.047111 +v 0.993859 -1.818744 0.599725 +v 0.638049 -0.719091 0.373247 +v 0.864486 -0.719091 0.599725 +f 196 202 206 +f 186 187 190 +f 185 188 192 +f 187 189 193 +f 189 191 193 +f 186 190 194 +f 186 194 195 +f 191 189 196 +f 192 188 197 +f 188 193 197 +f 193 191 197 +f 188 185 198 +f 190 188 198 +f 194 190 198 +f 185 196 199 +f 187 186 200 +f 189 187 200 +f 186 195 200 +f 196 189 200 +f 190 187 201 +f 188 190 201 +f 187 193 201 +f 193 188 201 +f 200 195 202 +f 196 200 202 +f 197 191 203 +f 192 197 203 +f 185 192 204 +f 191 196 204 +f 196 185 204 +f 203 191 204 +f 192 203 204 +f 195 194 205 +f 198 185 205 +f 194 198 205 +f 199 195 205 +f 185 199 205 +f 195 199 206 +f 199 196 206 +f 202 195 206 +o convex_6 +v 2.416823 -0.686727 -0.597039 +v 2.546177 -0.913155 0.535035 +v 2.513823 -0.913155 0.535035 +v 1.996468 -1.818744 -0.467497 +v 1.996468 -0.589635 0.437962 +v 2.643304 -1.754017 0.535035 +v 1.996468 -1.818744 0.470320 +v 2.578532 -1.818744 -0.435251 +v 2.610886 -0.621999 -0.597039 +v 1.996468 -0.589635 -0.532324 +v 2.546177 -0.686727 0.470320 +v 2.125886 -0.654363 0.502678 +v 2.610886 -1.204190 -0.532324 +v 2.449177 -1.754017 0.535035 +v 2.610886 -0.654363 -0.305820 +v 2.028822 -0.719091 -0.564570 +v 2.449177 -0.654363 0.502678 +v 2.190531 -1.818744 0.470320 +v 2.610886 -0.783819 -0.597039 +v 2.546177 -1.754017 -0.467497 +v 2.158240 -0.589635 -0.564570 +v 2.578532 -1.818744 -0.176390 +v 2.643304 -1.689289 0.535035 +f 221 217 229 +f 208 209 212 +f 211 210 213 +f 213 210 214 +f 210 211 216 +f 209 208 218 +f 211 213 218 +f 212 214 219 +f 212 209 220 +f 213 212 220 +f 209 218 220 +f 218 213 220 +f 215 217 221 +f 207 210 222 +f 210 216 222 +f 215 211 223 +f 208 217 223 +f 217 215 223 +f 218 208 223 +f 211 218 223 +f 212 213 224 +f 213 214 224 +f 210 207 225 +f 207 215 225 +f 215 212 225 +f 212 219 225 +f 225 219 226 +f 214 210 226 +f 219 214 226 +f 210 225 226 +f 215 207 227 +f 211 215 227 +f 216 211 227 +f 207 222 227 +f 222 216 227 +f 214 212 228 +f 212 224 228 +f 224 214 228 +f 208 212 229 +f 212 215 229 +f 217 208 229 +f 215 221 229 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/879/879.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/879/879.urdf new file mode 100644 index 000000000..ba2730d5b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/879/879.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/880/880.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/880/880.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/880/880.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/880/880.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/880/880.obj new file mode 100644 index 000000000..3765926b9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/880/880.obj @@ -0,0 +1,432 @@ +o convex_0 +v -0.618024 -3.555064 0.119270 +v -0.955788 -1.527557 1.071253 +v -0.925026 0.928272 1.040350 +v -0.004020 -3.432185 1.009654 +v -0.004020 0.927833 -0.985778 +v -1.047970 0.928272 -1.047584 +v -0.004020 -3.493624 -1.016681 +v -0.986549 -3.493624 -1.047584 +v -0.004020 0.927833 0.978751 +v -0.955788 -3.401465 1.071253 +v -1.047970 0.497756 1.040350 +v -1.017209 -2.418431 -1.016681 +v -0.065441 -3.432185 1.040350 +v -0.341681 -3.555064 0.518314 +v -0.004020 -0.116202 -1.016681 +v -1.047970 0.928272 1.040350 +v -0.986549 -3.462905 -0.218384 +v -1.047970 -0.300521 -1.047584 +v -0.679445 -2.664190 -1.047584 +v -0.065441 -3.524344 0.518314 +v -0.925026 -3.432185 1.040350 +v -0.894367 0.928272 -1.047584 +v -0.986549 -2.295552 1.071253 +v -0.740866 -3.432185 1.071253 +v -0.556603 -3.555064 0.549010 +v -0.986549 -3.493624 -0.679027 +v -0.679445 -3.493624 -1.047584 +v -0.832946 -3.524344 -0.586940 +v -0.004020 -3.493624 0.579706 +v -0.955788 -3.432185 0.978958 +f 17 26 30 +f 5 4 7 +f 4 5 9 +f 3 2 13 +f 9 3 13 +f 4 9 13 +f 1 7 14 +f 4 13 14 +f 5 7 15 +f 2 3 16 +f 3 6 16 +f 6 11 16 +f 11 12 17 +f 6 8 18 +f 11 6 18 +f 12 11 18 +f 8 12 18 +f 8 6 19 +f 15 7 19 +f 14 7 20 +f 4 14 20 +f 6 3 22 +f 3 9 22 +f 9 5 22 +f 5 15 22 +f 19 6 22 +f 15 19 22 +f 10 2 23 +f 2 16 23 +f 16 11 23 +f 17 10 23 +f 11 17 23 +f 2 10 24 +f 13 2 24 +f 10 21 24 +f 24 21 25 +f 14 13 25 +f 1 14 25 +f 13 24 25 +f 1 25 26 +f 12 8 26 +f 17 12 26 +f 8 19 27 +f 19 7 27 +f 7 1 28 +f 1 26 28 +f 26 8 28 +f 27 7 28 +f 8 27 28 +f 7 4 29 +f 4 20 29 +f 20 7 29 +f 10 17 30 +f 21 10 30 +f 25 21 30 +f 26 25 30 +o convex_1 +v 0.088244 -3.524344 -0.525347 +v 0.978693 0.928272 1.040545 +v 1.040132 0.928272 -0.771034 +v -0.003915 0.928272 -0.986060 +v 0.947973 -3.493624 -0.986060 +v -0.003915 -3.431746 1.009681 +v 1.070851 -3.493624 0.979021 +v -0.003915 0.928272 0.979021 +v -0.003915 -3.493186 -1.016720 +v 1.040132 0.928272 -1.047584 +v 0.978693 -2.970949 -0.986060 +v 0.579548 -3.555064 -0.218342 +v 1.070851 -3.493624 0.733131 +v 1.040132 -1.405117 1.009681 +v -0.003915 -0.085482 -1.016720 +v -0.003915 -3.493186 0.579628 +v 0.579548 -3.462905 1.009681 +v 1.040132 0.190996 -1.016720 +v 0.395335 -3.493624 -1.016720 +v 1.070851 -2.879228 0.979021 +v 0.825094 0.928272 1.040545 +v 0.610267 -3.555064 -0.648190 +v 1.009412 0.068117 1.009681 +v -0.003915 -2.326272 1.009681 +v 0.978693 0.313876 1.040545 +v 0.978693 -2.019074 -1.016720 +v 0.978693 -3.493624 -0.801693 +v 0.333896 -3.555064 -0.556211 +v 0.118964 -3.462905 1.009681 +v 1.040132 -1.865475 1.009681 +v 0.825094 -3.524344 -0.863013 +v 1.009412 0.804954 -1.047584 +f 56 49 62 +f 32 33 34 +f 32 34 38 +f 34 36 38 +f 36 34 39 +f 34 33 40 +f 39 34 45 +f 34 40 45 +f 39 31 46 +f 36 39 46 +f 42 37 46 +f 41 40 48 +f 40 43 48 +f 43 41 48 +f 40 33 50 +f 37 43 50 +f 43 40 50 +f 33 44 50 +f 44 37 50 +f 32 38 51 +f 37 42 52 +f 43 37 52 +f 33 32 53 +f 44 33 53 +f 32 44 53 +f 38 36 54 +f 51 38 54 +f 36 51 54 +f 44 32 55 +f 32 51 55 +f 51 36 55 +f 41 35 56 +f 40 41 56 +f 35 49 56 +f 35 41 57 +f 41 43 57 +f 31 39 58 +f 46 31 58 +f 42 46 58 +f 39 52 58 +f 52 42 58 +f 36 46 59 +f 46 37 59 +f 37 47 59 +f 55 36 59 +f 47 55 59 +f 37 44 60 +f 47 37 60 +f 44 55 60 +f 55 47 60 +f 49 35 61 +f 39 49 61 +f 52 39 61 +f 43 52 61 +f 35 57 61 +f 57 43 61 +f 39 45 62 +f 45 40 62 +f 49 39 62 +f 40 56 62 +o convex_2 +v -0.310904 0.959087 -3.105005 +v 0.579533 2.033622 -1.078682 +v 0.579533 1.112623 -1.078682 +v -0.556562 1.358346 -1.078682 +v 0.487342 2.064459 -3.012764 +v -0.525868 2.064459 -3.012566 +v 0.579533 0.959087 -2.920523 +v -0.525868 2.033622 -1.078682 +v -0.556562 0.989816 -1.078682 +v -0.433677 0.959087 -3.105005 +v 0.579533 0.959087 -2.613451 +v 0.518035 1.941436 -3.012764 +v 0.518035 2.064459 -2.306576 +v -0.341598 0.989816 -1.078682 +v -0.525868 1.849358 -3.012566 +v 0.395262 1.941436 -3.043511 +v 0.579533 1.082003 -1.170527 +v -0.464482 0.959087 -2.244884 +v -0.556562 0.989816 -1.262767 +v 0.579533 1.174081 -2.889776 +v -0.433677 1.174081 -3.105005 +v -0.525868 2.064459 -2.582704 +v 0.548729 1.082003 -2.951270 +v -0.464482 0.959087 -2.736240 +v 0.518035 2.064459 -2.766987 +f 82 74 87 +f 65 64 66 +f 64 65 69 +f 66 64 70 +f 65 66 71 +f 63 69 72 +f 69 65 73 +f 72 69 73 +f 67 68 75 +f 70 64 75 +f 65 71 76 +f 68 72 77 +f 68 67 78 +f 67 74 78 +f 73 65 79 +f 65 76 79 +f 76 73 79 +f 72 73 80 +f 76 71 80 +f 73 76 80 +f 66 68 81 +f 71 66 81 +f 68 77 81 +f 80 71 81 +f 64 69 82 +f 69 74 82 +f 63 72 83 +f 72 68 83 +f 68 78 83 +f 78 63 83 +f 68 66 84 +f 66 70 84 +f 75 68 84 +f 70 75 84 +f 69 63 85 +f 74 69 85 +f 63 78 85 +f 78 74 85 +f 77 72 86 +f 72 80 86 +f 81 77 86 +f 80 81 86 +f 74 67 87 +f 75 64 87 +f 67 75 87 +f 64 82 87 +o convex_3 +v -0.587382 1.327545 1.071253 +v 1.070852 2.494224 -0.801814 +v 1.070852 2.432953 -0.801814 +v -1.078687 2.494224 -1.047572 +v 1.040132 0.928440 -1.047572 +v 0.947973 2.586299 1.071253 +v -1.047757 0.928272 -1.047572 +v 0.978692 0.928440 1.040533 +v -1.078687 2.616935 1.040533 +v -1.047757 0.928272 1.040533 +v -0.495012 2.647907 -0.556055 +v 1.070852 2.494224 -1.047572 +v 0.518107 2.647907 -0.156908 +v -0.525943 2.371513 -1.078292 +v 0.579336 1.112590 -1.078292 +v -1.078687 1.880165 1.040533 +v 0.456668 0.989711 1.071253 +v -0.556662 0.989879 -1.078292 +v -0.925088 2.555663 -0.924693 +v -1.078687 1.818557 -1.047572 +v -0.249465 2.647907 0.242028 +v 0.487387 2.310073 -1.078292 +v 1.070852 1.818725 -0.985922 +v -0.925088 2.309905 -1.078292 +v 0.978692 1.542499 1.040533 +v -0.464503 2.095119 1.071253 +v 1.009202 2.555495 0.211309 +v -0.341624 2.617103 1.040533 +v 1.040132 0.928440 -0.771094 +v -1.078687 2.616935 0.794775 +v -0.617891 0.989879 1.071253 +v -0.280185 2.617103 -0.709654 +v 0.487387 2.647907 -0.034029 +v -1.047757 2.524859 -1.016852 +v -0.710050 2.616935 -0.586775 +f 106 117 122 +f 90 89 95 +f 94 92 97 +f 89 90 99 +f 91 99 101 +f 99 92 102 +f 96 91 103 +f 93 88 104 +f 95 93 104 +f 97 95 104 +f 92 94 105 +f 101 102 105 +f 102 92 105 +f 94 97 107 +f 103 91 107 +f 97 103 107 +f 98 96 108 +f 100 98 108 +f 101 99 109 +f 99 102 109 +f 102 101 109 +f 90 95 110 +f 99 90 110 +f 92 99 110 +f 91 101 111 +f 105 94 111 +f 101 105 111 +f 94 107 111 +f 107 91 111 +f 95 89 112 +f 93 95 112 +f 88 93 113 +f 93 96 113 +f 96 88 113 +f 89 99 114 +f 99 100 114 +f 100 93 114 +f 112 89 114 +f 93 112 114 +f 96 93 115 +f 108 96 115 +f 97 92 116 +f 95 97 116 +f 92 110 116 +f 110 95 116 +f 91 96 117 +f 96 98 117 +f 88 96 118 +f 96 103 118 +f 103 97 118 +f 104 88 118 +f 97 104 118 +f 98 100 119 +f 100 99 119 +f 106 98 119 +f 99 106 119 +f 93 100 120 +f 100 108 120 +f 115 93 120 +f 108 115 120 +f 99 91 121 +f 106 99 121 +f 91 117 121 +f 117 106 121 +f 98 106 122 +f 117 98 122 +o convex_4 +v -0.525876 2.033574 2.544965 +v -0.618070 0.989798 1.071253 +v 0.456666 0.989798 1.071253 +v 0.456666 0.989798 3.005464 +v 0.425935 2.125764 1.071253 +v 0.487398 2.094960 2.944115 +v -0.464413 0.989798 2.974789 +v -0.464413 2.094960 1.071253 +v -0.556499 2.002882 2.974789 +v 0.487398 1.481105 1.839067 +v 0.364472 2.094960 2.974789 +v -0.587231 1.757228 2.452940 +v 0.487398 1.389026 3.005464 +v -0.188046 1.634457 3.005464 +v -0.495144 1.051295 2.882765 +v -0.618070 1.143373 1.102306 +v 0.456666 2.125764 1.655019 +v 0.456666 1.634457 1.071253 +v -0.188046 0.989798 3.005464 +v -0.556499 1.787921 2.974789 +v -0.464413 2.094960 1.225005 +v -0.525876 2.033574 2.023305 +v 0.487398 2.094960 2.514290 +v -0.618070 1.112680 1.286544 +v 0.395203 2.125764 1.747043 +v 0.180191 2.125764 1.071253 +v -0.341595 2.033574 2.974789 +f 133 143 149 +f 124 125 126 +f 125 124 127 +f 124 126 129 +f 127 124 130 +f 126 125 135 +f 125 132 135 +f 132 128 135 +f 128 133 135 +f 135 133 136 +f 126 135 136 +f 124 129 137 +f 130 124 138 +f 125 127 140 +f 132 125 140 +f 127 139 140 +f 129 126 141 +f 126 136 141 +f 136 131 141 +f 131 134 142 +f 137 129 142 +f 129 141 142 +f 141 131 142 +f 130 123 143 +f 123 130 144 +f 131 123 144 +f 134 131 144 +f 130 138 144 +f 138 134 144 +f 128 132 145 +f 139 128 145 +f 132 140 145 +f 140 139 145 +f 124 137 146 +f 138 124 146 +f 134 138 146 +f 142 134 146 +f 137 142 146 +f 133 128 147 +f 139 127 147 +f 128 139 147 +f 143 133 147 +f 143 147 148 +f 127 130 148 +f 130 143 148 +f 147 127 148 +f 123 131 149 +f 136 133 149 +f 131 136 149 +f 143 123 149 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/880/880.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/880/880.urdf new file mode 100644 index 000000000..54d022563 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/880/880.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/881/881.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/881/881.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/881/881.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/881/881.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/881/881.obj new file mode 100644 index 000000000..b4765ed02 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/881/881.obj @@ -0,0 +1,330 @@ +o convex_0 +v 0.013658 -5.838611 -0.061404 +v 0.207014 -3.808702 0.357536 +v 0.045964 -3.808702 0.357536 +v 0.271566 -3.808702 -0.222514 +v -0.243950 -3.808702 -0.222514 +v -0.243950 -5.387122 0.260816 +v 0.239320 -5.838611 0.260816 +v 0.207014 -5.773828 -0.319233 +v -0.179578 -5.806021 -0.222514 +v -0.340748 -3.808702 0.293078 +v -0.211824 -5.741636 0.228621 +v -0.340748 -4.163017 0.164164 +v 0.239320 -4.066440 0.357536 +v 0.239320 -5.483898 -0.319233 +v 0.110396 -5.419314 -0.319233 +v -0.147332 -5.806021 -0.254776 +v -0.147332 -4.130825 -0.254776 +v -0.276196 -3.873087 0.325274 +v 0.045964 -5.806021 0.260816 +v 0.271566 -4.066440 -0.125861 +v 0.239320 -5.806021 -0.125861 +v -0.211824 -5.097192 -0.222514 +v -0.340748 -4.227601 0.293078 +v -0.211824 -5.741636 0.099706 +v -0.340748 -3.808702 0.131836 +v 0.239320 -3.808702 0.325274 +v 0.142642 -4.034247 0.357536 +v -0.276196 -3.840894 -0.125861 +f 12 25 28 +f 3 2 4 +f 3 4 5 +f 3 5 10 +f 9 1 11 +f 2 3 13 +f 14 8 15 +f 8 1 16 +f 1 9 16 +f 15 8 16 +f 15 16 17 +f 5 4 17 +f 4 14 17 +f 14 15 17 +f 16 5 17 +f 3 10 18 +f 1 7 19 +f 11 1 19 +f 6 11 19 +f 7 13 19 +f 13 7 20 +f 14 4 20 +f 14 20 21 +f 7 1 21 +f 1 8 21 +f 8 14 21 +f 20 7 21 +f 9 12 22 +f 5 16 22 +f 16 9 22 +f 10 12 23 +f 6 18 23 +f 18 10 23 +f 11 6 24 +f 9 11 24 +f 12 9 24 +f 6 23 24 +f 23 12 24 +f 10 5 25 +f 12 10 25 +f 4 2 26 +f 2 13 26 +f 20 4 26 +f 13 20 26 +f 13 3 27 +f 3 18 27 +f 18 6 27 +f 6 19 27 +f 19 13 27 +f 5 22 28 +f 22 12 28 +f 25 5 28 +o convex_1 +v 1.044815 1.701984 0.228564 +v -1.113967 1.186827 -0.447883 +v -1.113967 1.186827 -0.415611 +v 0.980387 -3.807766 -0.093524 +v -1.017325 -3.743574 1.034304 +v -1.049539 -3.807766 -0.963598 +v 1.109243 1.670157 -1.028140 +v -1.049539 1.701984 0.937490 +v 0.915958 -3.807766 0.937490 +v 1.044815 -3.775939 -1.060203 +v 0.980387 1.701984 0.937490 +v -1.081753 1.701984 -0.963598 +v 0.787102 -1.938098 -1.092683 +v -1.049539 -0.940150 1.034304 +v 0.948172 -3.807766 0.872948 +v 0.819316 -1.809174 0.969761 +v 1.109243 0.219627 -1.060203 +v -1.081753 -0.875958 0.679529 +v -1.049539 1.605425 0.969761 +v -0.598324 -1.680249 1.034304 +v -1.081753 1.701984 0.872948 +v -0.469467 1.701984 -0.995869 +v -1.049539 -3.775939 0.099479 +v 1.109243 1.701984 -0.738115 +v 1.044815 -3.775939 -0.770178 +v -0.695184 -3.743574 1.034304 +v -1.113967 1.701984 -0.866784 +v 1.044815 -1.068535 -1.092474 +v -0.662969 -3.420994 -0.995869 +v -0.372825 -3.807766 0.292898 +v -1.049539 -2.615084 1.034304 +v 1.012601 1.670157 0.711800 +v 1.109243 1.540694 -0.738115 +v 0.851530 -3.775939 -1.060203 +v 1.077029 -2.422507 -1.092474 +v 0.626031 -3.807766 -0.576967 +v 0.980387 0.606399 0.937490 +v 1.109243 0.251993 -0.995869 +v -0.340611 -3.775939 1.001825 +v 1.109243 1.701984 -0.995869 +v -1.113967 1.701984 -0.383548 +v 1.012601 -2.550891 -1.092683 +v -1.017325 -3.775939 0.292898 +v 0.819316 -1.648423 0.969761 +v -1.017325 -0.940150 1.034304 +v 0.690459 -3.807766 0.937490 +v -0.695184 -3.807766 -0.963598 +v 1.044815 0.316724 -1.060203 +f 56 50 76 +f 31 30 34 +f 34 32 37 +f 29 36 39 +f 36 29 40 +f 37 32 43 +f 39 36 47 +f 42 33 48 +f 36 40 49 +f 31 46 49 +f 42 47 49 +f 47 36 49 +f 40 29 50 +f 41 40 50 +f 31 34 51 +f 46 31 51 +f 45 35 52 +f 50 29 52 +f 32 38 53 +f 43 32 53 +f 37 44 54 +f 48 33 54 +f 44 48 54 +f 30 31 55 +f 34 30 55 +f 40 34 55 +f 49 40 55 +f 35 45 56 +f 41 50 56 +f 34 40 57 +f 40 41 57 +f 34 37 58 +f 33 42 59 +f 49 46 59 +f 42 49 59 +f 51 33 59 +f 46 51 59 +f 29 39 60 +f 52 29 61 +f 45 52 61 +f 29 60 61 +f 60 43 61 +f 38 34 62 +f 34 57 62 +f 53 38 63 +f 56 45 63 +f 32 34 64 +f 38 32 64 +f 37 43 65 +f 44 37 65 +f 39 44 65 +f 60 39 65 +f 43 60 65 +f 43 53 66 +f 45 61 66 +f 61 43 66 +f 53 63 66 +f 63 45 66 +f 54 33 67 +f 37 54 67 +f 33 58 67 +f 35 50 68 +f 52 35 68 +f 50 52 68 +f 31 49 69 +f 55 31 69 +f 49 55 69 +f 41 56 70 +f 57 41 70 +f 38 62 70 +f 62 57 70 +f 63 38 70 +f 56 63 70 +f 51 34 71 +f 33 51 71 +f 34 58 71 +f 58 33 71 +f 44 39 72 +f 39 48 72 +f 48 44 72 +f 47 42 73 +f 39 47 73 +f 42 48 73 +f 48 39 73 +f 58 37 74 +f 37 67 74 +f 67 58 74 +f 34 38 75 +f 64 34 75 +f 38 64 75 +f 50 35 76 +f 35 56 76 +o convex_2 +v 0.271459 4.377370 0.712008 +v -1.114197 1.702523 -0.899295 +v -1.081765 1.702523 -0.963698 +v 0.980395 1.702523 0.937320 +v 0.948180 4.280231 -0.996001 +v -1.049551 4.377370 1.066531 +v 1.109470 1.702785 -0.996001 +v -0.985122 4.344903 -0.963698 +v -1.049551 1.702523 0.937320 +v 0.948180 4.344903 1.066531 +v -1.114197 2.540900 -0.996001 +v 1.109470 2.508433 -0.673579 +v 0.980395 3.410173 1.034026 +v -1.081765 2.057302 0.905219 +v -0.179543 4.344903 -0.996001 +v 0.980395 4.216083 0.969623 +v 1.012609 2.315203 0.840815 +v 0.948180 4.312436 -0.834689 +v -0.985122 4.377370 -0.351359 +v 0.819322 3.925714 1.066531 +v -1.114197 2.282999 -0.319056 +v -1.049551 4.183616 1.066531 +v 1.109470 1.702785 -0.705680 +v -0.501688 1.702523 -0.996001 +v 1.109470 2.444023 -0.996001 +v 0.593604 4.377370 1.001724 +v -0.791835 4.344903 -0.996001 +v -1.081765 1.702523 0.873118 +v 0.948180 4.344903 0.131567 +v 1.012609 1.702785 0.711806 +v -1.017336 4.377370 0.003164 +v 0.980395 4.216083 0.744109 +v -1.114197 1.702523 -0.383662 +v -1.114197 2.186122 -0.996001 +v 0.819322 4.312436 -0.996001 +v -1.081765 2.218327 0.905219 +v 1.109470 2.057302 -0.641276 +f 93 99 113 +f 78 79 80 +f 78 80 85 +f 81 83 87 +f 81 87 91 +f 86 89 92 +f 92 89 93 +f 89 80 93 +f 88 92 93 +f 88 81 94 +f 82 77 95 +f 77 91 95 +f 85 80 96 +f 86 82 96 +f 89 86 96 +f 80 89 96 +f 87 78 97 +f 82 87 97 +f 90 85 98 +f 82 90 98 +f 85 96 98 +f 96 82 98 +f 80 83 99 +f 83 88 99 +f 80 79 100 +f 83 80 100 +f 87 83 100 +f 83 81 101 +f 88 83 101 +f 81 88 101 +f 77 82 102 +f 82 86 102 +f 91 77 102 +f 87 84 103 +f 91 87 103 +f 84 95 103 +f 95 91 103 +f 78 85 104 +f 85 90 104 +f 90 97 104 +f 86 92 105 +f 102 86 105 +f 91 102 105 +f 93 80 106 +f 80 99 106 +f 99 93 106 +f 87 82 107 +f 84 87 107 +f 82 95 107 +f 95 84 107 +f 92 88 108 +f 88 94 108 +f 105 92 108 +f 94 105 108 +f 97 78 109 +f 78 104 109 +f 104 97 109 +f 79 78 110 +f 78 87 110 +f 100 79 110 +f 87 100 110 +f 81 91 111 +f 94 81 111 +f 91 105 111 +f 105 94 111 +f 90 82 112 +f 82 97 112 +f 97 90 112 +f 88 93 113 +f 99 88 113 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/881/881.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/881/881.urdf new file mode 100644 index 000000000..c28769eb0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/881/881.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/882/882.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/882/882.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/882/882.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/882/882.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/882/882.obj new file mode 100644 index 000000000..74cb4b694 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/882/882.obj @@ -0,0 +1,1581 @@ +o convex_0 +v 3.232385 0.220050 -1.377402 +v 1.737578 0.198392 -1.464033 +v 1.737578 0.198392 -0.944096 +v 1.737578 0.328376 -1.420717 +v 3.254208 0.198392 -1.420717 +v 1.802602 0.220050 -0.944096 +f 1 4 6 +f 2 3 4 +f 4 1 5 +f 1 3 5 +f 3 2 5 +f 2 4 5 +f 3 1 6 +f 4 3 6 +o convex_1 +v -1.621142 0.328325 -1.398901 +v -1.664487 -0.343340 -1.009016 +v -1.664487 -0.278250 -1.312045 +v -1.577822 -0.321553 -2.265139 +v -1.621129 -0.321621 1.656095 +v -1.534477 0.241584 -0.532662 +v -1.664474 0.328258 1.656095 +v -1.642814 0.241584 -2.287528 +v -1.621129 0.350045 1.656095 +v -1.534477 0.284955 -1.182341 +v -1.664487 0.306606 -1.398901 +v -1.642801 -0.321621 1.656095 +v -1.534477 0.089958 -0.965781 +v -1.599482 0.198282 -2.287528 +v -1.621142 -0.169926 -2.265139 +f 14 10 21 +f 8 9 10 +f 8 10 11 +f 11 12 15 +f 13 11 15 +f 14 7 16 +f 7 15 16 +f 15 12 16 +f 9 8 17 +f 8 13 17 +f 14 9 17 +f 7 14 17 +f 15 7 17 +f 13 15 17 +f 8 11 18 +f 11 13 18 +f 13 8 18 +f 11 10 19 +f 12 11 19 +f 10 16 19 +f 16 12 19 +f 10 14 20 +f 16 10 20 +f 14 16 20 +f 10 9 21 +f 9 14 21 +o convex_2 +v -1.101167 0.133328 1.677899 +v -1.664487 0.111630 1.959400 +v -1.664487 0.111630 2.002715 +v -1.577758 -0.321672 1.699508 +v -1.014439 -0.213248 2.154465 +v -1.122865 0.306649 2.154465 +v -1.642725 0.350045 1.656144 +v -1.642725 -0.299908 2.154465 +v -1.036201 -0.213248 1.656144 +v -1.642725 0.285016 2.154465 +v -1.642725 -0.321672 1.656144 +v -1.144499 0.241555 1.656144 +v -1.664487 0.350045 1.916084 +f 28 32 34 +f 26 22 27 +f 25 26 29 +f 26 27 29 +f 22 26 30 +f 26 25 30 +f 24 29 31 +f 29 27 31 +f 24 23 32 +f 29 24 32 +f 25 29 32 +f 30 25 32 +f 28 30 32 +f 27 22 33 +f 28 27 33 +f 22 30 33 +f 30 28 33 +f 23 24 34 +f 27 28 34 +f 31 27 34 +f 24 31 34 +f 32 23 34 +o convex_3 +v -1.144427 0.241610 1.656095 +v -1.079477 -0.321671 -2.221904 +v -1.122767 0.133317 -2.243522 +v -1.014454 0.263371 -0.965781 +v -1.036128 -0.213264 1.656095 +v -1.144427 -0.256616 -0.532662 +v -1.166116 0.263371 -1.723933 +v -1.014454 -0.321671 -1.030633 +v -1.166102 0.154907 1.590857 +v -1.014454 0.263371 -1.485370 +v -1.036143 -0.278320 -2.221904 +v -1.101093 0.263371 -2.287528 +v -1.079463 -0.234911 1.222590 +v -1.036128 -0.126562 1.656095 +v -1.122767 -0.321671 -0.814074 +v -1.166116 0.155022 -1.593457 +f 43 41 50 +f 35 38 41 +f 38 39 42 +f 39 35 43 +f 35 41 43 +f 41 38 44 +f 38 42 44 +f 44 42 45 +f 42 36 45 +f 45 36 46 +f 36 37 46 +f 37 41 46 +f 41 44 46 +f 44 45 46 +f 42 39 47 +f 39 43 47 +f 43 40 47 +f 38 35 48 +f 35 39 48 +f 39 38 48 +f 40 36 49 +f 36 42 49 +f 42 47 49 +f 47 40 49 +f 37 36 50 +f 36 40 50 +f 41 37 50 +f 40 43 50 +o convex_4 +v -0.884546 0.133633 3.216238 +v -1.621150 -1.491503 3.281186 +v -1.621078 -2.942886 3.216225 +v -0.927812 -2.986867 3.324528 +v -1.339416 2.560207 3.324515 +v -0.884546 2.516226 3.237896 +v -0.927812 -2.986867 3.216225 +v -1.209474 -0.213330 3.194541 +v -0.971150 2.125824 3.324515 +v -1.621150 -0.863276 3.324528 +v -1.621150 -0.170435 3.281186 +v -1.556107 -2.877729 3.281186 +v -1.339416 2.560207 3.302844 +v -0.884546 2.560207 3.281186 +v -1.036193 0.674984 3.194541 +v -1.556035 -0.192154 3.259554 +v -1.079604 -2.986867 3.324528 +v -0.884546 0.133633 3.302844 +v -1.057826 -0.732961 3.194541 +f 58 65 69 +f 51 54 57 +f 52 53 60 +f 54 59 60 +f 59 55 60 +f 53 52 61 +f 52 60 61 +f 60 55 61 +f 60 53 62 +f 61 55 63 +f 51 56 64 +f 55 59 64 +f 63 55 64 +f 56 63 64 +f 56 51 65 +f 51 57 65 +f 63 56 65 +f 58 63 65 +f 58 53 66 +f 53 61 66 +f 63 58 66 +f 61 63 66 +f 53 57 67 +f 57 54 67 +f 54 60 67 +f 62 53 67 +f 60 62 67 +f 54 51 68 +f 59 54 68 +f 51 64 68 +f 64 59 68 +f 57 53 69 +f 53 58 69 +f 65 57 69 +o convex_5 +v -1.664300 -0.234948 3.389598 +v -0.992836 0.350045 3.736146 +v -1.101236 0.328325 3.757819 +v -1.144554 -0.213228 3.757861 +v -1.685994 -0.191645 3.801249 +v -1.642676 0.241652 3.389598 +v -1.057918 -0.104972 3.389598 +v -1.599358 0.241652 3.822836 +v -1.144554 0.328325 3.389598 +v -1.317896 -0.299901 3.432943 +v -1.685994 -0.343340 3.801249 +v -1.079612 -0.213228 3.389598 +v -1.707757 -0.148275 3.389598 +f 80 74 82 +f 71 72 73 +f 70 75 76 +f 72 71 77 +f 73 72 77 +f 75 74 77 +f 71 75 77 +f 75 71 78 +f 76 75 78 +f 71 76 78 +f 73 77 80 +f 77 74 80 +f 70 79 80 +f 79 73 80 +f 71 73 81 +f 70 76 81 +f 76 71 81 +f 79 70 81 +f 73 79 81 +f 74 75 82 +f 75 70 82 +f 70 80 82 +o convex_6 +v -0.884501 -1.080274 2.241138 +v -1.621091 -2.943285 2.262806 +v -1.469374 -2.986867 2.241138 +v -1.621091 -0.257144 2.262806 +v -0.927839 -0.321937 2.197802 +v -1.014513 -0.018602 2.284466 +v -0.927839 -2.986867 2.262798 +v -1.621091 -2.943285 2.284466 +v -0.927839 -2.358116 2.197802 +v -1.621091 -0.257144 2.284466 +v -0.927839 -2.986867 2.219478 +v -0.884501 -0.321937 2.262798 +f 88 89 94 +f 85 84 86 +f 85 86 87 +f 87 86 88 +f 89 88 90 +f 84 85 90 +f 86 84 90 +f 85 89 90 +f 87 83 91 +f 85 87 91 +f 88 86 92 +f 90 88 92 +f 86 90 92 +f 89 85 93 +f 83 89 93 +f 91 83 93 +f 85 91 93 +f 83 87 94 +f 87 88 94 +f 89 83 94 +o convex_7 +v -2.379346 -0.213216 -1.529053 +v -1.664565 0.306644 -1.377442 +v -1.664487 0.263312 -1.052509 +v -1.664565 -0.343276 -1.009209 +v -2.401004 0.285010 -0.944136 +v -2.466055 0.176648 -1.572476 +v -2.379346 -0.169947 -0.944136 +v -1.664565 -0.256612 -1.399153 +v -1.664565 -0.278246 -0.944136 +v -2.314373 -0.278310 -1.464103 +v -1.707959 0.306644 -1.420742 +f 102 100 105 +f 97 96 99 +f 99 100 101 +f 100 95 101 +f 96 97 102 +f 97 98 102 +f 95 100 102 +f 98 97 103 +f 97 99 103 +f 99 101 103 +f 101 98 103 +f 101 95 104 +f 98 101 104 +f 102 98 104 +f 95 102 104 +f 99 96 105 +f 100 99 105 +f 96 102 105 +o convex_8 +v 1.542454 -1.643283 -1.637485 +v 1.737430 -0.278591 -1.572476 +v 1.737430 -0.278591 -1.637485 +v 1.585782 -2.899938 -1.854146 +v 1.585782 -0.278591 -2.114182 +v 1.585782 -2.791389 -2.114182 +v 1.564118 -2.899938 -1.572476 +v 1.542454 -2.899938 -2.114182 +v 1.629110 -0.582170 -2.092495 +v 1.542454 -1.557059 -1.572476 +v 1.737430 -0.516989 -1.637485 +v 1.694064 -0.278591 -1.615850 +v 1.585782 -2.899938 -1.572476 +f 109 116 118 +f 107 108 110 +f 109 112 113 +f 106 110 113 +f 110 111 113 +f 111 109 113 +f 110 108 114 +f 111 110 114 +f 110 106 115 +f 112 107 115 +f 113 112 115 +f 106 113 115 +f 108 107 116 +f 109 111 116 +f 114 108 116 +f 111 114 116 +f 107 110 117 +f 110 115 117 +f 115 107 117 +f 107 112 118 +f 112 109 118 +f 116 107 118 +o convex_9 +v -1.534384 0.176745 -1.399261 +v -0.451064 0.285006 -0.987595 +v -0.819452 0.285006 -0.987595 +v -1.101098 0.328348 -2.287414 +v -0.451064 0.198408 -1.507601 +v -1.252738 0.350028 -1.356004 +v -1.101098 0.263378 -2.287414 +v -0.451064 0.198408 -1.009289 +v -1.534384 0.285006 -1.139324 +v -0.451064 0.306686 -1.507601 +v -1.014356 0.220053 -0.944206 +v -1.014463 0.350028 -1.399524 +f 120 128 130 +f 121 120 124 +f 119 122 125 +f 123 119 125 +f 122 123 125 +f 119 123 126 +f 123 120 126 +f 122 119 127 +f 121 124 127 +f 124 122 127 +f 123 122 128 +f 120 123 128 +f 120 121 129 +f 119 126 129 +f 126 120 129 +f 127 119 129 +f 121 127 129 +f 124 120 130 +f 122 124 130 +f 128 122 130 +o convex_10 +v 1.629106 -0.277703 -2.092505 +v 1.650782 2.950236 -1.572476 +v 1.737430 0.307213 -1.615821 +v 1.672400 2.950236 -2.135850 +v 1.585752 2.950236 -2.135850 +v 1.629106 0.740448 -1.572476 +v 1.585752 -0.277703 -2.135850 +v 1.715739 -0.277703 -1.572476 +v 1.737430 -0.212923 -1.659166 +v 1.629106 2.950236 -1.572476 +v 1.585752 -0.277703 -2.070833 +v 1.629106 0.068949 -2.135850 +f 139 131 142 +f 132 133 134 +f 132 134 135 +f 135 134 137 +f 133 132 138 +f 132 136 138 +f 137 131 138 +f 134 133 139 +f 138 131 139 +f 133 138 139 +f 132 135 140 +f 136 132 140 +f 136 140 141 +f 135 137 141 +f 138 136 141 +f 137 138 141 +f 140 135 141 +f 131 137 142 +f 137 134 142 +f 134 139 142 +o convex_11 +v -1.859501 -3.008510 2.284564 +v -0.927766 -2.900212 3.216031 +v -1.621095 -2.900212 3.259546 +v -1.751060 -2.878526 2.262806 +v -0.971270 -2.986851 2.262904 +v -0.927766 -2.986838 3.216031 +v -1.794473 -2.943531 3.237789 +v -0.927766 -2.900212 2.804398 +v -1.837794 -2.878526 2.761176 +v -1.469332 -3.008523 2.761079 +f 149 143 152 +f 143 146 147 +f 144 145 148 +f 148 145 149 +f 146 144 150 +f 147 146 150 +f 144 148 150 +f 148 147 150 +f 145 144 151 +f 144 146 151 +f 146 143 151 +f 149 145 151 +f 143 149 151 +f 143 147 152 +f 147 148 152 +f 148 149 152 +o convex_12 +v 1.195423 2.819954 -0.185707 +v -0.342572 -0.820042 -0.207392 +v -0.320889 -0.820042 -0.207392 +v -0.342422 2.928567 -0.272380 +v 1.195423 2.776656 -0.229044 +v -0.342572 0.263885 -0.185707 +v 1.195423 1.736762 -0.185707 +v -0.017476 2.906551 -0.229044 +v -0.299206 2.321657 -0.272380 +v -0.320889 -0.820042 -0.185707 +v 1.173890 1.693464 -0.207375 +v -0.342422 2.343306 -0.229044 +v 0.653797 2.928567 -0.250712 +f 157 161 165 +f 156 154 158 +f 157 153 159 +f 153 158 159 +f 158 153 160 +f 155 154 161 +f 154 156 161 +f 154 155 162 +f 158 154 162 +f 159 158 162 +f 159 162 163 +f 157 159 163 +f 155 161 163 +f 161 157 163 +f 162 155 163 +f 156 158 164 +f 160 156 164 +f 158 160 164 +f 153 157 165 +f 160 153 165 +f 156 160 165 +f 161 156 165 +o convex_13 +v 2.105901 -0.278250 -1.550776 +v 3.557494 0.198367 -1.399130 +v 3.579192 0.176681 -1.399130 +v 1.737430 -0.234982 -1.399130 +v 3.752578 -0.321672 -1.420813 +v 1.737430 0.198367 -1.464145 +v 1.867618 -0.213245 -1.572459 +v 3.535599 -0.278250 -1.485794 +v 3.557494 0.198367 -1.420813 +v 1.824222 0.198367 -1.420813 +v 3.752578 -0.299935 -1.399130 +v 1.737430 -0.256616 -1.572459 +f 172 173 177 +f 168 167 169 +f 169 166 170 +f 170 166 173 +f 173 172 174 +f 167 168 174 +f 168 170 174 +f 171 167 174 +f 172 171 174 +f 170 173 174 +f 169 167 175 +f 167 171 175 +f 171 169 175 +f 168 169 176 +f 169 170 176 +f 170 168 176 +f 166 169 177 +f 169 171 177 +f 171 172 177 +f 173 166 177 +o convex_14 +v -0.819526 2.126469 2.241129 +v -1.859399 2.581438 2.241129 +v -1.837716 2.278342 2.241129 +v -1.642772 -0.299929 2.154475 +v -1.642670 -0.278186 2.262796 +v -0.819526 2.906602 2.176142 +v -0.884677 -0.321671 2.197808 +v -0.819526 2.993572 2.262796 +v -0.884677 -0.321671 2.262796 +v -1.772667 2.993572 2.262796 +v -1.014572 -0.212959 2.154475 +v -1.642772 0.285171 2.154475 +v -1.772667 2.993572 2.241129 +f 183 189 190 +f 180 179 181 +f 179 180 182 +f 180 181 182 +f 183 178 184 +f 178 183 185 +f 178 185 186 +f 182 181 186 +f 181 184 186 +f 184 178 186 +f 185 182 186 +f 179 182 187 +f 182 185 187 +f 184 181 188 +f 183 184 188 +f 181 179 189 +f 188 181 189 +f 183 188 189 +f 185 183 190 +f 179 187 190 +f 187 185 190 +f 189 179 190 +o convex_15 +v -1.036107 1.519683 3.324551 +v -1.837833 1.087039 3.324551 +v -1.707796 -0.191170 3.324551 +v -1.707796 -0.212802 3.389556 +v -1.837833 2.949635 3.367883 +v -1.057924 -0.126273 3.389556 +v -1.079505 -0.234434 3.324551 +v -1.404559 2.949635 3.324551 +v -1.382899 2.884739 3.346223 +v -1.837833 2.971904 3.324551 +v -1.729455 1.389890 3.389556 +v -1.621078 2.949635 3.367883 +v -1.036107 1.519683 3.346223 +f 199 196 203 +f 193 192 191 +f 192 193 194 +f 192 194 195 +f 193 191 197 +f 194 193 197 +f 191 196 197 +f 196 194 197 +f 191 192 198 +f 191 198 199 +f 192 195 200 +f 198 192 200 +f 195 194 201 +f 194 196 201 +f 201 196 202 +f 196 199 202 +f 199 198 202 +f 200 195 202 +f 198 200 202 +f 195 201 202 +f 196 191 203 +f 191 199 203 +o convex_16 +v -0.386059 1.303966 -1.897387 +v -0.364387 2.950121 -0.900760 +v -0.321055 3.015240 -1.572380 +v -0.321055 0.956951 -0.900760 +v -0.321055 0.805078 -2.200658 +v -0.364387 2.992957 -2.222523 +v -0.386059 0.805078 -1.572380 +v -0.386059 2.950121 -0.900760 +v -0.321055 2.992957 -2.222523 +v -0.364387 1.520309 -0.900760 +v -0.364387 0.805078 -2.092366 +v -0.386059 2.148137 -2.005680 +v -0.342727 2.603323 -0.900760 +v -0.364387 1.758503 -2.222523 +f 204 215 217 +f 206 207 208 +f 208 207 210 +f 205 206 211 +f 207 205 211 +f 206 209 211 +f 204 210 211 +f 206 208 212 +f 209 206 212 +f 210 207 213 +f 207 211 213 +f 211 210 213 +f 210 204 214 +f 208 210 214 +f 211 209 215 +f 204 211 215 +f 206 205 216 +f 207 206 216 +f 205 207 216 +f 212 208 217 +f 209 212 217 +f 208 214 217 +f 214 204 217 +f 215 209 217 +o convex_17 +v 1.477297 -2.986867 -0.250756 +v 0.914017 -2.986867 -0.900760 +v -0.342723 -2.986867 -0.467377 +v 0.870496 -2.856858 -0.207432 +v 0.502293 -3.030197 -0.185805 +v 1.607285 -3.008494 -0.900760 +v 0.199370 -2.856858 -0.207432 +v 1.607285 -2.943556 -0.900760 +v 1.563956 -3.051862 -0.424123 +v -0.342723 -2.986867 -0.185805 +v 1.173992 -2.856858 -0.272453 +v 0.914017 -2.965202 -0.900760 +v 1.607285 -2.943556 -0.467517 +v -0.342723 -2.965164 -0.467377 +v 1.563956 -3.051862 -0.272453 +v 1.282220 -3.008494 -0.900760 +f 223 226 233 +f 218 221 222 +f 223 219 225 +f 222 220 226 +f 222 221 227 +f 220 222 227 +f 221 224 227 +f 221 218 228 +f 224 221 228 +f 225 224 228 +f 219 220 229 +f 225 219 229 +f 224 225 229 +f 223 225 230 +f 228 218 230 +f 225 228 230 +f 220 227 231 +f 227 224 231 +f 229 220 231 +f 224 229 231 +f 218 222 232 +f 222 226 232 +f 226 223 232 +f 223 230 232 +f 230 218 232 +f 220 219 233 +f 219 223 233 +f 226 220 233 +o convex_18 +v -0.624444 -0.321672 -1.182453 +v -0.451064 0.198367 -1.485739 +v -0.775986 -0.278250 -1.074106 +v -1.014439 -0.278250 -1.550718 +v -1.014439 0.198367 -1.464128 +v -0.451064 -0.278250 -1.572476 +v -0.451064 -0.299935 -1.074106 +v -1.014439 -0.299935 -1.074106 +v -1.014439 0.198367 -1.507448 +f 235 239 242 +f 236 235 238 +f 234 237 239 +f 234 239 240 +f 235 236 240 +f 239 235 240 +f 237 234 241 +f 236 238 241 +f 238 237 241 +f 234 240 241 +f 240 236 241 +f 238 235 242 +f 237 238 242 +f 239 237 242 +o convex_19 +v -0.971094 -0.321672 -1.052414 +v -0.451064 0.198367 -1.009076 +v -0.451064 0.198367 -1.030752 +v -1.014439 0.198367 -1.009076 +v -0.971094 -0.321672 -0.922428 +v -0.451064 -0.321672 -1.074106 +v -0.451064 -0.321672 -0.987443 +v -1.014439 -0.278250 -1.074106 +f 248 243 250 +f 244 245 246 +f 244 246 247 +f 245 244 248 +f 247 243 248 +f 244 247 249 +f 248 244 249 +f 247 248 249 +f 246 245 250 +f 243 247 250 +f 247 246 250 +f 245 248 250 +o convex_20 +v 1.737430 -0.429915 -1.572344 +v 1.737430 0.198091 -0.900760 +v 1.737430 0.219764 -0.944217 +v 1.650757 0.761742 -1.550714 +v 1.650757 -0.928383 -1.550714 +v 1.650757 0.198091 -0.900760 +v 1.737430 -0.169845 -0.922521 +v 1.737430 0.306454 -1.442367 +v 1.650757 -0.169845 -0.922521 +v 1.672425 0.761742 -1.572344 +f 253 258 260 +f 253 252 251 +f 252 254 256 +f 254 255 256 +f 251 252 257 +f 255 251 257 +f 252 256 257 +f 253 251 258 +f 256 255 259 +f 255 257 259 +f 257 256 259 +f 252 253 260 +f 254 252 260 +f 251 255 260 +f 255 254 260 +f 258 251 260 +o convex_21 +v 0.415944 -0.581447 -0.142371 +v -0.429396 -2.986388 -0.185703 +v -0.234188 -3.008535 -0.185703 +v 1.282397 1.910159 -0.185703 +v -0.429396 -0.906439 -0.164037 +v -0.104329 -3.008535 -0.142371 +v 0.220737 -2.986388 -0.164037 +v -0.429396 -0.906439 -0.185703 +v 1.282397 1.910159 -0.164037 +v -0.429396 -1.946413 -0.142371 +v 0.220737 -2.986388 -0.185703 +v -0.429396 -2.986388 -0.142371 +f 266 270 272 +f 263 262 264 +f 264 262 268 +f 265 264 268 +f 262 265 268 +f 264 265 269 +f 261 266 269 +f 266 267 269 +f 267 264 269 +f 265 262 270 +f 266 261 270 +f 261 269 270 +f 269 265 270 +f 263 264 271 +f 266 263 271 +f 267 266 271 +f 264 267 271 +f 262 263 272 +f 263 266 272 +f 270 262 272 +o convex_22 +v 3.708985 -0.234973 -0.987515 +v 1.737430 -0.234973 -1.399083 +v 1.737430 -0.234973 -1.312393 +v 1.737430 -0.148325 -1.009165 +v 3.708985 -0.148325 -1.399083 +v 3.752578 -0.300003 -1.399083 +v 3.708985 -0.148325 -0.965820 +v 1.781023 -0.191664 -0.965820 +v 3.405806 -0.300003 -1.334042 +v 1.737430 -0.191664 -1.334042 +v 1.737430 -0.148325 -0.922475 +f 280 273 283 +f 274 275 276 +f 274 277 278 +f 277 276 279 +f 278 277 279 +f 273 278 279 +f 275 274 281 +f 274 278 281 +f 278 273 281 +f 280 275 281 +f 273 280 281 +f 274 276 282 +f 276 277 282 +f 277 274 282 +f 276 275 283 +f 273 279 283 +f 279 276 283 +f 275 280 283 +o convex_23 +v -0.906098 -0.992997 2.262906 +v -0.862761 2.949867 3.281068 +v -0.841093 2.949867 3.151082 +v -0.906098 2.993572 2.262906 +v -0.819425 2.993572 2.262906 +v -0.906098 0.025498 2.804484 +v -0.884429 -0.992997 2.284537 +v -0.906098 2.971329 2.804484 +v -0.862761 1.715185 3.281068 +v -0.819425 2.213116 2.284537 +v -0.884429 1.715185 3.281068 +v -0.884429 2.949867 3.281068 +f 291 294 295 +f 284 287 288 +f 285 286 288 +f 287 284 289 +f 284 288 290 +f 289 284 290 +f 288 287 291 +f 285 288 291 +f 287 289 291 +f 286 285 292 +f 289 290 292 +f 292 290 293 +f 288 286 293 +f 290 288 293 +f 286 292 293 +f 291 289 294 +f 292 285 294 +f 289 292 294 +f 285 291 295 +f 294 285 295 +o convex_24 +v 3.492145 0.198367 -0.857423 +v 3.145563 0.176681 -1.399077 +v 1.738009 -0.148325 -0.944119 +v 3.687242 -0.148325 -1.399077 +v 1.738009 0.198367 -0.900798 +v 3.709049 -0.148325 -0.944119 +v 3.578984 0.198367 -1.377389 +v 3.709049 0.176681 -0.857423 +v 1.781235 0.198367 -0.987441 +v 1.976139 -0.083304 -0.900798 +f 301 303 305 +f 298 297 299 +f 298 299 301 +f 299 297 302 +f 300 296 302 +f 301 299 303 +f 299 302 303 +f 302 296 303 +f 297 298 304 +f 298 300 304 +f 302 297 304 +f 300 302 304 +f 296 300 305 +f 300 298 305 +f 298 301 305 +f 303 296 305 +o convex_25 +v -0.364408 -0.884827 -1.572344 +v -0.321080 0.956669 -0.900760 +v -0.299416 0.523290 -0.944279 +v -0.451064 -0.321762 -0.987600 +v -0.386038 0.934781 -1.572344 +v -0.299433 -0.906715 -0.900760 +v -0.277769 -0.863121 -1.312348 +v -0.451064 -0.278352 -1.572344 +v -0.342744 0.956669 -1.572344 +v -0.451047 0.285077 -0.987600 +v -0.321097 -0.906715 -1.572344 +v -0.321080 0.956669 -1.442314 +v -0.451047 0.306600 -1.507329 +v -0.277769 -0.235123 -1.009228 +v -0.342744 0.956669 -0.900760 +v -0.321097 -0.906715 -0.900760 +f 320 309 321 +f 308 307 311 +f 306 309 313 +f 310 306 313 +f 306 310 314 +f 313 309 315 +f 312 311 316 +f 306 314 316 +f 314 312 316 +f 307 308 317 +f 314 307 317 +f 312 314 317 +f 310 313 318 +f 315 310 318 +f 313 315 318 +f 308 311 319 +f 311 312 319 +f 317 308 319 +f 312 317 319 +f 311 307 320 +f 307 314 320 +f 314 310 320 +f 315 309 320 +f 310 315 320 +f 309 306 321 +f 306 316 321 +f 316 311 321 +f 311 320 321 +o convex_26 +v 1.564084 1.671808 -0.207384 +v 0.220652 -2.856447 -0.207394 +v 0.220652 -2.856447 -0.185707 +v 1.564084 -2.986867 -0.272350 +v 0.589123 1.671808 -0.207384 +v 1.542255 -2.509417 -0.294048 +v 1.542255 1.606598 -0.185707 +v 0.567425 -2.856447 -0.185707 +v 0.589123 1.671808 -0.185707 +v 1.564084 1.671808 -0.229050 +v 1.564084 -2.639838 -0.250705 +v 1.455594 -2.986867 -0.294048 +f 327 325 333 +f 323 324 326 +f 324 325 329 +f 328 324 329 +f 322 326 330 +f 326 324 330 +f 324 328 330 +f 328 322 330 +f 322 325 331 +f 326 322 331 +f 327 326 331 +f 325 327 331 +f 325 322 332 +f 322 328 332 +f 329 325 332 +f 328 329 332 +f 324 323 333 +f 325 324 333 +f 323 326 333 +f 326 327 333 +o convex_27 +v -1.816177 -2.964658 2.804471 +v -1.794502 2.971410 3.324551 +v -1.837826 2.971410 3.324551 +v -1.859493 2.993572 2.263090 +v -1.881167 -0.797976 2.306317 +v -1.816177 -2.877758 2.458133 +v -1.794502 2.971410 2.804471 +v -1.859493 2.885092 3.302833 +v -1.794502 -1.143829 3.280908 +v -1.859493 -2.877758 2.479746 +v -1.881167 2.993572 2.566201 +v -1.816177 -2.941913 3.021024 +v -1.794502 -2.877758 2.739630 +v -1.837826 -2.877758 2.306421 +v -1.837826 0.371391 2.306421 +v -1.837826 0.955783 3.324447 +v -1.881167 2.993572 2.263090 +v -1.881167 -0.754817 2.263090 +v -1.794502 -2.941913 3.021024 +f 346 342 352 +f 337 335 340 +f 340 335 342 +f 341 338 343 +f 336 335 344 +f 335 337 344 +f 341 336 344 +f 338 341 344 +f 343 334 345 +f 334 339 346 +f 339 340 346 +f 340 342 346 +f 339 334 347 +f 334 343 347 +f 337 340 348 +f 340 339 348 +f 347 337 348 +f 339 347 348 +f 335 336 349 +f 336 341 349 +f 342 335 349 +f 341 343 349 +f 345 342 349 +f 343 345 349 +f 344 337 350 +f 338 344 350 +f 343 338 351 +f 337 347 351 +f 347 343 351 +f 350 337 351 +f 338 350 351 +f 345 334 352 +f 342 345 352 +f 334 346 352 +o convex_28 +v -0.364374 -1.448158 -1.832548 +v -0.364374 0.804709 -1.572537 +v -0.277718 0.804709 -2.179085 +v -0.277718 -2.965199 -1.572537 +v -0.277718 -2.965199 -2.200794 +v -0.342710 0.804709 -2.200794 +v -0.342710 -2.965199 -1.572537 +v -0.277718 -1.491333 -1.572537 +v -0.321067 -2.726444 -2.135791 +v -0.386049 0.674445 -1.810901 +v -0.386049 -0.603840 -1.572537 +v -0.342710 -0.322278 -2.200794 +v -0.342710 -2.965199 -1.745898 +f 363 353 365 +f 355 356 357 +f 355 357 358 +f 354 355 358 +f 356 354 359 +f 357 356 359 +f 355 354 360 +f 356 355 360 +f 354 356 360 +f 354 358 362 +f 359 354 363 +f 354 362 363 +f 362 353 363 +f 358 357 364 +f 357 361 364 +f 361 353 364 +f 362 358 364 +f 353 362 364 +f 357 359 365 +f 361 357 365 +f 353 361 365 +f 359 363 365 +o convex_29 +v -1.274600 2.993572 2.479521 +v -1.859501 2.625212 2.262806 +v -1.859501 2.993572 2.262806 +v -1.859501 2.625212 2.804513 +v -0.906191 2.971902 2.262806 +v -0.906191 2.950232 2.804513 +v -1.859501 2.971902 2.804513 +f 371 366 372 +f 368 367 369 +f 368 366 370 +f 367 368 370 +f 367 370 371 +f 369 367 371 +f 370 366 371 +f 369 371 372 +f 366 368 372 +f 368 369 372 +o convex_30 +v 1.412084 -2.965193 -0.900825 +v -0.277379 -2.965193 -2.200624 +v -0.277379 -2.900205 -2.200624 +v -0.407727 -2.943537 -0.467503 +v 1.563702 -2.900205 -2.135643 +v 1.542238 -3.008514 -1.009411 +v 0.415929 -3.008525 -0.467503 +v 1.585752 -2.900205 -1.572357 +v -0.363823 -2.986848 -1.398960 +v 1.563702 -2.921871 -2.135643 +v 0.913909 -2.986859 -0.467503 +v -0.385873 -2.921871 -0.900825 +v -0.407727 -2.986859 -0.467503 +v 0.155817 -2.965193 -2.179077 +f 382 378 386 +f 374 375 377 +f 377 375 380 +f 373 378 380 +f 375 374 381 +f 374 378 381 +f 378 379 381 +f 374 377 382 +f 377 380 382 +f 380 378 382 +f 378 373 383 +f 376 379 383 +f 379 378 383 +f 380 376 383 +f 373 380 383 +f 380 375 384 +f 376 380 384 +f 375 381 384 +f 381 376 384 +f 379 376 385 +f 376 381 385 +f 381 379 385 +f 378 374 386 +f 374 382 386 +o convex_31 +v 1.672425 3.080245 -1.962466 +v -0.321054 2.950248 -2.222523 +v -0.321054 2.993581 -2.222523 +v -0.321054 3.015228 -1.572476 +v 1.650570 2.950236 -1.572476 +v 1.672425 2.950236 -2.135732 +v 1.650570 3.058573 -1.572476 +v 1.238840 3.080245 -2.157430 +v -0.147581 2.971921 -1.572476 +v -0.212560 3.015228 -2.222523 +f 394 392 396 +f 389 388 390 +f 391 388 392 +f 387 391 392 +f 387 390 393 +f 391 387 393 +f 390 391 393 +f 390 387 394 +f 387 392 394 +f 390 388 395 +f 391 390 395 +f 388 391 395 +f 388 389 396 +f 389 390 396 +f 392 388 396 +f 390 394 396 +o convex_32 +v -1.642846 0.306487 2.284477 +v -1.859501 -2.878526 2.284477 +v -1.859501 -2.878526 2.306143 +v -1.859501 2.625211 2.262810 +v -1.621173 -2.878526 2.262810 +v -1.707840 -1.231607 2.306143 +v -1.859501 2.625211 2.284477 +v -1.859501 -0.820012 2.262810 +v -1.621173 0.003178 2.262810 +v -1.621173 -2.878526 2.284477 +f 405 397 406 +f 398 399 400 +f 399 398 401 +f 400 399 403 +f 397 400 403 +f 399 402 403 +f 402 397 403 +f 398 400 404 +f 400 401 404 +f 401 398 404 +f 400 397 405 +f 401 400 405 +f 401 405 406 +f 399 401 406 +f 402 399 406 +f 397 402 406 +o convex_33 +v -0.342746 -2.596109 -0.900760 +v -0.364378 2.971904 -0.467394 +v -0.386053 2.971904 -0.467394 +v -0.407717 -2.943531 -0.467394 +v -0.386053 2.971904 -0.900760 +v -0.299386 -0.841629 -0.835729 +v -0.386032 -2.943531 -0.900760 +v -0.364368 -2.400974 -0.467394 +v -0.321061 1.541684 -0.900760 +v -0.342736 2.321646 -0.467394 +v -0.407717 -2.921527 -0.727346 +v -0.342736 2.581054 -0.900760 +v -0.364368 -2.943531 -0.684077 +f 412 414 419 +f 408 409 410 +f 409 408 411 +f 411 407 413 +f 408 410 414 +f 407 411 415 +f 412 407 415 +f 412 415 416 +f 408 414 416 +f 414 412 416 +f 410 409 417 +f 409 411 417 +f 413 410 417 +f 411 413 417 +f 411 408 418 +f 415 411 418 +f 416 415 418 +f 408 416 418 +f 407 412 419 +f 413 407 419 +f 410 413 419 +f 414 410 419 +o convex_34 +v 1.607421 -0.278355 -2.114182 +v 0.415781 -0.277209 -2.179181 +v 0.415781 -0.277209 -2.157504 +v 1.585725 2.950236 -2.135859 +v 1.477245 -2.877605 -2.157504 +v 0.589231 -2.899938 -2.135859 +v 0.415781 2.950236 -2.157504 +v 0.914203 2.950236 -2.179181 +v 1.412158 2.950236 -2.114182 +v 0.416014 -2.899938 -2.179181 +v 1.433970 -2.899938 -2.114182 +v 0.957594 -1.123584 -2.179181 +v 1.433970 2.950236 -2.157504 +v 0.415781 2.950236 -2.179181 +v 1.585491 -2.661144 -2.135859 +v 1.585725 2.950236 -2.114195 +v 1.498941 -1.751206 -2.157504 +f 434 424 436 +f 422 425 426 +f 421 422 426 +f 426 423 427 +f 426 425 428 +f 423 426 428 +f 422 421 429 +f 425 422 429 +f 421 427 429 +f 420 428 430 +f 428 425 430 +f 429 424 430 +f 425 429 430 +f 424 429 431 +f 429 427 431 +f 427 423 432 +f 421 426 433 +f 427 421 433 +f 426 427 433 +f 423 420 434 +f 420 430 434 +f 430 424 434 +f 420 423 435 +f 428 420 435 +f 423 428 435 +f 424 431 436 +f 431 427 436 +f 432 423 436 +f 427 432 436 +f 423 434 436 +o convex_35 +v 1.542416 -0.473180 -0.879083 +v 1.650736 2.950236 -0.467394 +v 1.650736 2.950236 -0.900760 +v 1.607419 -2.943531 -0.467394 +v 1.607419 -2.943531 -0.900760 +v 1.585776 1.822943 -0.467394 +v 1.650736 0.176427 -0.900760 +v 1.585755 -2.943531 -0.467394 +v 1.629061 2.950236 -0.900760 +v 1.564090 -2.379885 -0.900760 +v 1.542426 0.046621 -0.900760 +v 1.650736 1.779675 -0.467394 +v 1.564090 -1.642587 -0.597412 +f 446 444 449 +f 440 438 442 +f 439 438 443 +f 440 441 443 +f 441 439 443 +f 441 440 444 +f 440 442 444 +f 438 439 445 +f 439 441 445 +f 442 438 445 +f 441 444 446 +f 445 441 446 +f 445 446 447 +f 437 442 447 +f 442 445 447 +f 446 437 447 +f 438 440 448 +f 443 438 448 +f 440 443 448 +f 442 437 449 +f 444 442 449 +f 437 446 449 +o convex_36 +v -0.407728 2.516294 -0.272416 +v -0.342723 0.241260 -0.185762 +v -0.342723 1.281209 -0.207405 +v -0.342723 -2.986867 -0.467367 +v -0.429396 -2.986867 -0.185762 +v -0.386059 2.928567 -0.467367 +v -0.429396 -2.986867 -0.402328 +v -0.342723 -2.986867 -0.185762 +v -0.342723 2.928567 -0.272416 +v -0.429396 -0.624978 -0.185762 +v -0.407728 -2.986867 -0.467367 +v -0.364400 2.928567 -0.467367 +v -0.386059 2.928567 -0.250746 +f 459 452 462 +f 452 451 453 +f 453 454 456 +f 450 455 456 +f 453 451 457 +f 454 453 457 +f 451 454 457 +f 452 453 458 +f 451 452 459 +f 454 451 459 +f 450 456 459 +f 456 454 459 +f 455 453 460 +f 453 456 460 +f 456 455 460 +f 453 455 461 +f 458 453 461 +f 455 458 461 +f 455 450 462 +f 452 458 462 +f 458 455 462 +f 450 459 462 +o convex_37 +v 1.650558 2.993567 -0.402342 +v -0.386059 2.993567 -1.572236 +v -0.386059 3.015212 -1.572236 +v -0.386059 3.058554 -0.250880 +v -0.386059 2.928567 -0.250880 +v 1.564029 3.058554 -1.572236 +v 1.650757 2.950238 -0.900700 +v -0.342596 2.950251 -1.572236 +v 1.650558 2.928567 -0.185735 +v 1.564029 3.015225 -1.572236 +v 1.650558 2.928567 -0.467351 +v 1.303844 2.993567 -0.185735 +v -0.386059 3.036870 -1.139022 +v 0.654081 2.971922 -1.572236 +f 470 472 476 +f 465 464 466 +f 466 464 467 +f 464 465 468 +f 466 463 468 +f 468 463 469 +f 467 464 470 +f 464 468 470 +f 469 463 471 +f 468 469 472 +f 470 468 472 +f 470 469 473 +f 467 470 473 +f 471 467 473 +f 469 471 473 +f 463 466 474 +f 466 467 474 +f 467 471 474 +f 471 463 474 +f 465 466 475 +f 468 465 475 +f 466 468 475 +f 469 470 476 +f 472 469 476 +o convex_38 +v 1.564084 -3.051872 -0.424028 +v 1.629082 1.671808 -0.207375 +v 1.564084 1.671808 -0.207375 +v 1.607412 1.671808 -0.467369 +v 1.629082 -3.051872 -0.272399 +v 1.629082 -3.051872 -0.424028 +v 1.564084 -2.531694 -0.250742 +v 1.585761 1.671808 -0.467369 +v 1.629082 1.671808 -0.445686 +v 1.564084 -3.008408 -0.467369 +f 484 480 486 +f 479 478 480 +f 478 481 482 +f 481 477 482 +f 479 477 483 +f 478 479 483 +f 477 481 483 +f 481 478 483 +f 479 480 484 +f 480 478 485 +f 478 482 485 +f 482 480 485 +f 477 479 486 +f 480 482 486 +f 482 477 486 +f 479 484 486 +o convex_39 +v 1.650668 2.928567 -0.185735 +v 1.195724 1.671931 -0.207405 +v 1.585689 1.671931 -0.467367 +v 1.195724 2.928567 -0.229075 +v 1.650668 2.928567 -0.467367 +v 1.629023 1.671931 -0.207405 +v 1.195724 2.863374 -0.185735 +v 1.650668 1.867020 -0.467367 +v 1.542354 1.671931 -0.185735 +f 493 488 495 +f 489 488 490 +f 490 487 491 +f 489 490 491 +f 488 489 492 +f 490 488 493 +f 487 490 493 +f 491 487 494 +f 489 491 494 +f 492 489 494 +f 487 492 494 +f 488 492 495 +f 492 487 495 +f 487 493 495 +o convex_40 +v -1.664487 -1.577964 3.302823 +v -1.772794 0.978044 3.324551 +v -1.794496 0.978044 3.324551 +v -1.772794 -2.509561 2.999590 +v -1.794496 -2.812881 3.259495 +v -1.621150 -0.170318 3.281159 +v -1.621150 -2.900194 3.237831 +v -1.794496 -2.900194 2.999590 +v -1.772794 -1.924561 3.021254 +v -1.621150 -0.776957 3.324551 +v -1.794496 -0.062125 3.324551 +f 496 505 506 +f 499 501 502 +f 496 500 502 +f 502 500 503 +f 500 498 503 +f 499 502 503 +f 499 503 504 +f 498 497 504 +f 497 501 504 +f 501 499 504 +f 503 498 504 +f 497 498 505 +f 501 497 505 +f 502 501 505 +f 496 502 505 +f 500 496 506 +f 498 500 506 +f 505 498 506 +o convex_41 +v -0.884436 1.237961 2.804462 +v -0.884436 1.736359 3.216116 +v -0.884436 1.736359 3.172814 +v -0.971096 -2.965138 2.804462 +v -0.927766 -2.899486 3.216116 +v -0.906109 -2.054798 2.262899 +v -0.971096 -2.965138 2.262899 +v -0.906109 1.736359 3.216116 +v -0.927766 -0.928547 2.262899 +v -0.884436 0.111247 3.216116 +v -0.949422 -1.447750 3.216116 +v -0.927766 -2.986867 2.262899 +v -0.906109 1.692437 3.021068 +v -0.906109 -0.928547 2.262899 +v -0.949422 -2.899486 3.216116 +f 511 517 521 +f 509 508 507 +f 508 509 514 +f 511 508 514 +f 513 510 514 +f 512 513 515 +f 507 508 516 +f 508 511 516 +f 511 512 516 +f 512 507 516 +f 514 510 517 +f 511 514 517 +f 511 510 518 +f 512 511 518 +f 510 513 518 +f 513 512 518 +f 509 507 519 +f 514 509 519 +f 513 514 519 +f 515 513 519 +f 507 515 519 +f 507 512 520 +f 515 507 520 +f 512 515 520 +f 510 511 521 +f 517 510 521 +o convex_42 +v -0.277718 -1.773449 -1.572344 +v -0.299403 -0.906714 -0.900760 +v -0.277718 -0.906714 -1.204173 +v -0.342710 -0.906714 -1.572344 +v -0.386049 -2.921863 -0.900760 +v -0.342710 -2.921863 -1.572344 +v -0.342710 -2.921863 -1.009173 +v -0.342710 -0.928412 -0.900760 +v -0.299403 -2.596788 -1.550714 +v -0.386049 -2.834873 -1.030869 +f 526 529 531 +f 523 524 525 +f 524 522 525 +f 525 522 527 +f 526 527 528 +f 524 523 528 +f 523 526 528 +f 523 525 529 +f 526 523 529 +f 522 524 530 +f 527 522 530 +f 528 527 530 +f 524 528 530 +f 525 527 531 +f 527 526 531 +f 529 525 531 +o convex_43 +v 1.542416 -2.964872 -1.572344 +v 1.650747 0.068056 -0.900760 +v 1.564101 0.068056 -0.900760 +v 1.607408 -3.008235 -0.900760 +v 1.650747 -0.841943 -1.572344 +v 1.542416 -3.008235 -0.900760 +v 1.542416 -1.513150 -1.572344 +v 1.585765 -2.964872 -1.572344 +v 1.542416 0.003013 -0.922521 +v 1.629072 -0.213797 -1.290693 +v 1.650747 -1.080434 -1.572344 +f 539 536 542 +f 533 534 535 +f 535 534 537 +f 532 535 537 +f 536 532 538 +f 532 537 538 +f 535 532 539 +f 532 536 539 +f 537 534 540 +f 538 537 540 +f 538 540 541 +f 534 533 541 +f 533 536 541 +f 536 538 541 +f 540 534 541 +f 533 535 542 +f 536 533 542 +f 535 539 542 +o convex_44 +v -0.949542 2.885180 3.302866 +v -1.794407 2.950182 2.804513 +v -1.339418 2.560207 3.302866 +v -1.794407 2.971904 3.324551 +v -0.884518 2.971904 2.804513 +v -0.884518 2.560207 3.259495 +v -0.884518 2.950182 3.281130 +v -1.101235 2.560207 3.324551 +f 545 548 550 +f 544 545 546 +f 544 546 547 +f 544 547 548 +f 545 544 548 +f 546 543 549 +f 547 546 549 +f 548 547 549 +f 543 548 549 +f 546 545 550 +f 543 546 550 +f 548 543 550 +o convex_45 +v 1.629072 0.458526 -1.529018 +v 1.650757 3.014965 -0.900760 +v 1.650757 3.036624 -1.117521 +v 1.564084 3.014965 -0.900760 +v 1.650757 0.068357 -0.900760 +v 1.564084 3.058577 -1.572344 +v 1.585752 0.068357 -0.900760 +v 1.650757 3.058577 -1.572344 +v 1.650757 0.653464 -1.572344 +v 1.650757 0.198609 -1.464062 +f 551 559 560 +f 552 553 554 +f 553 552 555 +f 552 554 555 +f 554 553 556 +f 554 556 557 +f 555 554 557 +f 556 551 557 +f 553 555 558 +f 556 553 558 +f 556 558 559 +f 551 556 559 +f 558 555 559 +f 559 555 560 +f 557 551 560 +f 555 557 560 +o convex_46 +v 0.415666 2.950235 -2.179191 +v -0.321055 0.805002 -2.200851 +v -0.277714 -2.900194 -2.200851 +v -0.255935 -2.900194 -2.157525 +v 0.415666 -2.900194 -2.179191 +v -0.125985 2.950235 -2.222523 +v 0.372326 2.950235 -2.157519 +v -0.147691 2.950235 -2.179191 +v 0.415666 0.544435 -2.200851 +v 0.415666 -2.900194 -2.157525 +v -0.321055 2.950235 -2.222523 +v -0.321055 1.411463 -2.179191 +v 0.393888 2.950235 -2.200851 +v -0.299348 1.260277 -2.222523 +f 571 566 574 +f 564 563 565 +f 561 566 567 +f 567 566 568 +f 561 565 569 +f 565 563 569 +f 565 561 570 +f 564 565 570 +f 561 567 570 +f 567 564 570 +f 563 562 571 +f 568 566 571 +f 568 571 572 +f 562 563 572 +f 563 564 572 +f 564 567 572 +f 567 568 572 +f 571 562 572 +f 566 561 573 +f 561 569 573 +f 569 566 573 +f 569 563 574 +f 566 569 574 +f 563 571 574 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/882/882.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/882/882.urdf new file mode 100644 index 000000000..240c41804 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/882/882.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/883/883.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/883/883.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/883/883.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/883/883.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/883/883.obj new file mode 100644 index 000000000..69f571a4c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/883/883.obj @@ -0,0 +1,1035 @@ +o convex_0 +v -0.926760 -1.101223 -0.488698 +v 1.008137 -1.855794 0.429184 +v 1.008137 -1.921401 0.429184 +v -0.861154 -1.035813 0.953758 +v -0.533318 -3.036317 0.068260 +v 0.811319 -1.035813 -0.980642 +v 0.089649 -2.609777 -1.013273 +v 0.778417 -1.035813 0.986637 +v 0.122550 -3.036317 0.593330 +v 0.844024 -2.544171 -0.751233 +v -0.762842 -1.035813 -1.046399 +v -0.894055 -2.577072 -0.128022 +v -0.008467 -2.445860 0.986884 +v -0.697236 -2.511466 0.724350 +v 0.745712 -2.511466 0.756981 +v -0.664531 -2.609777 -0.783864 +v 0.417680 -3.036317 -0.423188 +v 0.089649 -1.166830 -1.308933 +v 0.056943 -1.101223 1.216540 +v 0.975236 -2.609582 0.101139 +v 1.008137 -1.035813 -0.128022 +v -0.336499 -3.036317 -0.521577 +v 0.515992 -3.036317 0.396552 +v -0.992562 -1.823089 0.002750 +v -0.992562 -1.035813 0.166896 +v -0.402105 -3.036317 0.462062 +v -0.041172 -1.068518 -1.308933 +v -0.894055 -2.577072 0.068260 +v 0.876729 -1.035813 0.888248 +v -0.106779 -1.035813 1.216540 +v 0.844024 -2.511466 -0.783864 +v 0.581598 -3.036317 -0.029881 +v -0.861154 -1.101223 -0.816743 +v 1.008137 -1.757483 -0.128022 +v 0.876729 -1.068714 -0.849622 +v -0.008467 -2.609777 -1.013273 +v 0.089649 -3.036317 -0.587334 +v -0.008467 -2.544171 0.954006 +v 0.876729 -2.511466 -0.718354 +v 0.220861 -1.035813 -1.276055 +v -0.533318 -3.036317 -0.128022 +v -0.926760 -1.068518 0.724350 +v 1.008137 -1.035813 0.134018 +v 0.352074 -2.511466 0.888496 +v -0.992562 -1.035813 -0.128022 +v -0.992562 -1.855598 -0.062265 +v -0.435006 -2.577072 -0.882500 +v -0.861154 -1.068518 0.953758 +v 0.253567 -2.577072 -0.980889 +v 0.975236 -2.609582 0.002750 +v 1.008137 -2.281746 0.265285 +v -0.270893 -2.511466 0.888248 +v -0.926760 -2.511466 0.002750 +v -0.729941 -2.511466 0.658592 +v 0.844024 -1.101419 0.954006 +v -0.008467 -3.003416 0.625961 +v 0.483287 -3.003416 0.494941 +v -0.435006 -3.036317 0.429184 +v -0.402105 -1.068518 1.117904 +v -0.762842 -1.068518 -1.046399 +v -0.762842 -2.544171 -0.554456 +v 0.745712 -2.347352 0.789860 +v -0.795548 -1.068518 -1.013520 +v 0.811319 -1.101419 -0.980642 +f 31 40 64 +f 6 4 8 +f 4 6 11 +f 9 5 17 +f 2 3 21 +f 6 8 21 +f 17 5 22 +f 9 17 23 +f 20 15 23 +f 4 11 25 +f 5 9 26 +f 12 5 28 +f 3 2 29 +f 21 8 29 +f 8 4 30 +f 19 8 30 +f 13 19 30 +f 17 10 32 +f 23 17 32 +f 20 23 32 +f 21 3 34 +f 6 21 35 +f 21 34 35 +f 18 7 36 +f 22 16 36 +f 27 18 36 +f 10 17 37 +f 17 22 37 +f 36 7 37 +f 22 36 37 +f 10 31 39 +f 35 34 39 +f 11 6 40 +f 27 11 40 +f 18 27 40 +f 31 18 40 +f 5 12 41 +f 12 16 41 +f 22 5 41 +f 16 22 41 +f 4 25 42 +f 25 24 42 +f 2 21 43 +f 29 2 43 +f 21 29 43 +f 9 15 44 +f 19 13 44 +f 13 38 44 +f 38 9 44 +f 25 11 45 +f 24 25 45 +f 33 1 45 +f 1 33 46 +f 33 12 46 +f 45 1 46 +f 24 45 46 +f 36 16 47 +f 27 36 47 +f 4 42 48 +f 7 18 49 +f 31 10 49 +f 18 31 49 +f 37 7 49 +f 10 37 49 +f 32 10 50 +f 20 32 50 +f 10 39 50 +f 39 34 50 +f 3 15 51 +f 15 20 51 +f 34 3 51 +f 20 50 51 +f 50 34 51 +f 14 26 52 +f 38 13 52 +f 48 14 52 +f 12 28 53 +f 42 24 53 +f 46 12 53 +f 24 46 53 +f 48 42 53 +f 48 53 54 +f 14 48 54 +f 53 28 54 +f 15 3 55 +f 3 29 55 +f 29 8 55 +f 26 9 56 +f 9 38 56 +f 52 26 56 +f 38 52 56 +f 15 9 57 +f 9 23 57 +f 23 15 57 +f 5 26 58 +f 26 14 58 +f 28 5 58 +f 14 54 58 +f 54 28 58 +f 30 4 59 +f 13 30 59 +f 4 48 59 +f 52 13 59 +f 48 52 59 +f 11 27 60 +f 47 16 60 +f 27 47 60 +f 16 12 61 +f 12 33 61 +f 8 19 62 +f 44 15 62 +f 19 44 62 +f 15 55 62 +f 55 8 62 +f 45 11 63 +f 33 45 63 +f 11 60 63 +f 60 16 63 +f 16 61 63 +f 61 33 63 +f 6 35 64 +f 39 31 64 +f 35 39 64 +f 40 6 64 +o convex_1 +v 0.319292 -5.037236 0.166983 +v -0.270999 -6.053513 -0.029717 +v -0.238120 -5.890018 -0.160924 +v 0.188143 -6.545584 -0.062519 +v 0.220900 -5.004219 -0.292184 +v -0.139728 -5.004219 0.232586 +v -0.041336 -6.545584 0.166983 +v -0.238120 -5.004219 -0.193725 +v -0.041336 -6.578248 -0.226527 +v 0.352170 -5.004219 -0.095320 +v -0.238120 -6.578248 0.002975 +v 0.253717 -5.594811 0.199785 +v -0.270999 -5.004219 0.068578 +v -0.041336 -5.496467 -0.292184 +v 0.220900 -5.660315 -0.259383 +v 0.155326 -5.004219 0.265388 +v -0.008519 -6.807952 0.002975 +v -0.205302 -5.922329 0.166983 +v 0.024299 -5.463627 0.265388 +v 0.155326 -6.348721 0.134181 +v 0.286474 -5.890018 -0.062519 +v -0.041336 -5.004219 -0.292184 +v -0.139728 -6.479904 -0.193725 +v 0.122508 -6.414401 -0.193725 +v 0.188143 -6.545584 0.002975 +v 0.024299 -6.545584 0.166983 +v 0.286474 -5.037236 -0.259383 +v -0.041336 -6.807952 -0.062519 +v -0.238120 -6.545584 -0.062519 +v -0.238120 -5.561971 -0.193725 +v -0.270999 -5.004219 -0.095320 +v 0.253717 -5.791498 0.166983 +v 0.352170 -5.135580 0.002975 +v -0.270999 -5.988009 0.035777 +v -0.172546 -5.791498 0.199785 +f 83 70 99 +f 70 69 72 +f 69 70 74 +f 70 72 77 +f 73 78 79 +f 78 69 79 +f 65 74 80 +f 74 70 80 +f 76 65 80 +f 71 75 81 +f 75 71 82 +f 70 77 82 +f 80 70 83 +f 76 80 83 +f 68 79 85 +f 72 69 86 +f 78 72 86 +f 69 78 86 +f 78 73 87 +f 68 73 88 +f 73 79 88 +f 79 68 88 +f 81 68 89 +f 68 85 89 +f 71 81 90 +f 83 71 90 +f 76 83 90 +f 84 76 90 +f 81 89 90 +f 89 84 90 +f 69 74 91 +f 79 69 91 +f 74 85 91 +f 85 79 91 +f 73 68 92 +f 68 81 92 +f 81 75 92 +f 66 67 93 +f 75 66 93 +f 67 87 93 +f 87 73 93 +f 73 92 93 +f 92 75 93 +f 67 66 94 +f 72 78 94 +f 87 67 94 +f 78 87 94 +f 66 77 95 +f 77 72 95 +f 94 66 95 +f 72 94 95 +f 65 76 96 +f 76 84 96 +f 84 89 96 +f 89 85 96 +f 74 65 97 +f 85 74 97 +f 65 96 97 +f 96 85 97 +f 66 75 98 +f 77 66 98 +f 75 82 98 +f 82 77 98 +f 70 82 99 +f 82 71 99 +f 71 83 99 +o convex_2 +v 0.089639 -4.905785 -0.357717 +v 0.056902 -3.036510 0.593371 +v 0.024164 -3.036510 0.593371 +v 0.056902 -3.036510 -0.587370 +v -0.500481 -3.462798 -0.062532 +v 0.581653 -3.036317 0.101357 +v 0.122482 -5.004218 0.298071 +v -0.336476 -4.577737 0.330895 +v -0.336476 -4.544990 -0.390541 +v 0.352068 -4.544990 -0.390541 +v 0.384805 -4.544990 0.396543 +v -0.402057 -3.036510 0.429367 +v -0.402057 -3.036510 -0.456073 +v -0.303633 -4.971279 -0.029708 +v 0.417648 -3.036510 -0.423365 +v 0.384805 -4.938531 -0.062532 +v -0.008467 -4.577737 0.494899 +v 0.483229 -3.036510 0.462075 +v -0.041310 -4.512050 -0.521722 +v -0.434794 -4.577737 0.003001 +v -0.074048 -5.004218 -0.292184 +v 0.483229 -4.315376 0.003001 +v -0.500481 -3.036510 0.101357 +v -0.172472 -5.004218 0.232538 +v 0.581653 -3.134750 0.003001 +v 0.253644 -5.004218 -0.292184 +v -0.303633 -3.102004 -0.521722 +v 0.253644 -4.479303 -0.456073 +v 0.286487 -5.004218 0.232538 +v 0.220906 -4.544990 0.462075 +v -0.434794 -4.544990 -0.095356 +v -0.500481 -3.102004 -0.160888 +v 0.483229 -3.200437 0.462075 +v 0.056902 -4.512050 -0.521722 +v -0.041310 -3.265931 -0.587370 +v -0.402057 -3.134750 0.429367 +v -0.238052 -5.004218 -0.193712 +v 0.450386 -4.512050 0.134181 +v -0.303633 -4.577737 0.363719 +v 0.450386 -4.512050 -0.095356 +v -0.434794 -4.544990 0.035709 +v -0.369214 -3.265931 -0.488898 +v 0.352068 -5.004218 0.068533 +v -0.369214 -4.512050 -0.324893 +v -0.074048 -4.446363 -0.521722 +v -0.303633 -4.971279 0.035709 +v 0.319224 -4.774604 -0.357717 +f 133 127 146 +f 102 101 105 +f 102 105 111 +f 105 103 112 +f 103 105 114 +f 101 102 116 +f 105 101 117 +f 118 100 120 +f 108 118 120 +f 111 105 122 +f 105 112 122 +f 106 116 123 +f 120 106 123 +f 114 105 124 +f 109 114 124 +f 105 121 124 +f 106 120 125 +f 120 100 125 +f 112 103 126 +f 103 114 127 +f 114 109 127 +f 106 125 128 +f 101 116 129 +f 116 106 129 +f 106 128 129 +f 128 110 129 +f 119 104 130 +f 113 119 130 +f 122 112 131 +f 104 122 131 +f 130 104 131 +f 117 101 132 +f 105 117 132 +f 101 129 132 +f 129 110 132 +f 100 118 133 +f 125 100 133 +f 103 127 133 +f 126 103 134 +f 133 118 134 +f 103 133 134 +f 102 111 135 +f 116 102 135 +f 111 122 135 +f 108 120 136 +f 120 123 136 +f 130 108 136 +f 113 130 136 +f 121 105 137 +f 115 121 137 +f 105 132 137 +f 132 110 137 +f 107 123 138 +f 123 116 138 +f 116 135 138 +f 135 107 138 +f 115 109 139 +f 121 115 139 +f 109 124 139 +f 124 121 139 +f 104 119 140 +f 119 107 140 +f 122 104 140 +f 107 135 140 +f 135 122 140 +f 108 112 141 +f 112 126 141 +f 125 115 142 +f 110 128 142 +f 128 125 142 +f 137 110 142 +f 115 137 142 +f 112 108 143 +f 108 130 143 +f 131 112 143 +f 130 131 143 +f 118 108 144 +f 126 134 144 +f 134 118 144 +f 108 141 144 +f 141 126 144 +f 107 119 145 +f 119 113 145 +f 123 107 145 +f 113 136 145 +f 136 123 145 +f 109 115 146 +f 115 125 146 +f 127 109 146 +f 125 133 146 +o convex_3 +v -0.992434 -0.740489 -0.160696 +v 1.008067 -0.740489 0.133982 +v 0.843969 -0.740489 1.216110 +v 0.843969 -1.035617 -0.980340 +v -0.861234 -1.035617 0.953627 +v -0.008632 -0.740489 -1.997320 +v -0.795635 -1.035617 -1.013293 +v 0.843969 -1.035617 0.953627 +v -0.041334 -0.740489 1.872129 +v -0.893936 -0.740489 1.019532 +v 0.876867 -0.740489 -1.046245 +v -0.795635 -0.740489 -1.275776 +v 0.089669 -1.035617 -1.341302 +v -0.008632 -1.035617 1.249063 +v -0.992434 -1.035617 -0.128122 +v 1.008067 -1.035617 0.133982 +v 0.056772 -0.773281 1.872129 +v 0.056772 -0.773281 -1.997320 +v 1.008067 -1.035617 -0.127743 +v -0.992434 -1.035617 0.166935 +v 0.778370 -0.773281 1.314589 +v -0.008632 -0.773281 -1.997320 +v -0.041334 -0.773281 1.872129 +v 1.008067 -0.740489 -0.193648 +v -0.992434 -0.740489 0.199509 +v -0.631537 -0.773281 -1.439780 +v 0.024070 -1.002767 -1.439780 +v -0.893936 -0.806073 1.019532 +v 0.876867 -0.871657 -1.013671 +v 0.811267 -1.035617 0.986579 +v -0.926834 -1.002767 0.757049 +f 174 156 177 +f 149 148 147 +f 147 148 152 +f 150 151 153 +f 151 150 154 +f 149 147 155 +f 155 147 156 +f 152 148 157 +f 147 152 158 +f 150 153 159 +f 151 154 160 +f 153 151 161 +f 147 158 161 +f 158 153 161 +f 148 149 162 +f 149 154 162 +f 154 150 162 +f 149 155 163 +f 152 157 164 +f 150 159 164 +f 148 162 165 +f 162 150 165 +f 161 151 166 +f 147 161 166 +f 154 149 167 +f 149 163 167 +f 152 164 168 +f 155 156 169 +f 151 160 169 +f 163 155 169 +f 160 163 169 +f 157 148 170 +f 148 165 170 +f 165 157 170 +f 156 147 171 +f 147 166 171 +f 158 152 172 +f 153 158 172 +f 152 168 172 +f 168 153 172 +f 159 153 173 +f 164 159 173 +f 153 168 173 +f 168 164 173 +f 151 169 174 +f 169 156 174 +f 150 164 175 +f 164 157 175 +f 157 165 175 +f 165 150 175 +f 160 154 176 +f 163 160 176 +f 154 167 176 +f 167 163 176 +f 166 151 177 +f 156 171 177 +f 171 166 177 +f 151 174 177 +o convex_4 +v -0.008628 0.342184 2.987651 +v -0.008628 -0.740432 -2.095568 +v -0.008628 -0.707466 -2.194271 +v -1.058159 1.194479 -0.094476 +v 0.975169 1.489857 -0.062163 +v 1.008137 -0.740432 0.166383 +v -0.894126 -0.740432 1.085263 +v -0.795625 0.276690 -2.817042 +v 0.712837 0.309437 -2.751240 +v -0.106926 1.030526 -2.751240 +v -0.926892 1.489857 0.953659 +v 0.614336 -0.215607 2.593426 +v -0.795625 0.210977 2.757344 +v -0.041394 0.997779 2.790832 +v -0.861157 1.489857 -0.980456 +v 0.975169 0.276690 2.068771 +v -0.992424 -0.740432 -0.160278 +v -0.041192 -0.510548 2.692129 +v -1.058159 0.210977 2.035870 +v 0.811338 1.489857 0.953659 +v 0.811135 1.489857 -0.947554 +v 0.975169 0.178231 -1.964551 +v 0.778369 -0.478019 -2.030353 +v -1.025191 0.243943 -2.128469 +v -0.730092 -0.543513 -2.062667 +v 0.024139 -0.478019 -2.784728 +v 0.811135 -0.740432 1.347297 +v 0.745603 0.276690 2.757344 +v 0.024139 0.276690 -3.014448 +v -0.762858 0.965032 2.232689 +v -0.041192 1.489857 1.478901 +v -0.795625 -0.478019 2.035870 +v -0.828391 0.965032 -2.095568 +v 0.548803 0.866572 -2.489206 +v 0.712837 0.997779 2.068771 +v -1.058159 1.489857 -0.029261 +v 0.909636 -0.740432 -0.914653 +v -0.041192 -0.740432 1.970655 +v -0.041192 1.456891 -1.406995 +v -0.795625 -0.740432 -1.374094 +v 0.975169 0.374712 -1.964551 +v 1.008137 0.407459 -1.045670 +v 0.778369 -0.478019 2.002969 +v -0.533292 -0.346813 -2.620223 +v -1.058159 0.210977 0.264498 +v 0.680070 1.030526 -2.062667 +v -0.008628 -0.018470 2.921849 +v -0.664560 0.833825 -2.554420 +v 0.581772 -0.215607 -2.587322 +v -1.058159 0.342184 2.003556 +v 0.450504 0.833825 2.626327 +v -1.025191 -0.543513 -0.029261 +v -0.566059 -0.313848 2.560525 +v -0.631793 0.801078 2.594013 +v 1.008137 0.342184 -0.127377 +v -0.041394 1.030526 -2.751240 +v 0.122437 -0.478019 2.692129 +v -1.025191 0.145484 -2.062667 +v 0.876870 1.489857 0.756840 +v 1.008137 -0.740432 -0.226080 +v -0.795625 0.210977 -2.817042 +v -0.139693 0.276690 -3.014448 +v 0.975169 0.145484 2.002969 +v -0.992424 -0.740432 0.232185 +f 196 229 241 +f 179 183 184 +f 190 178 191 +f 188 182 192 +f 179 184 194 +f 182 188 197 +f 192 182 198 +f 179 180 200 +f 186 199 200 +f 180 179 202 +f 200 180 203 +f 180 202 203 +f 184 183 204 +f 191 178 205 +f 186 203 206 +f 191 188 207 +f 188 191 208 +f 197 188 208 +f 191 197 208 +f 196 184 209 +f 190 196 209 +f 185 201 210 +f 197 191 212 +f 205 193 212 +f 188 192 213 +f 181 196 213 +f 201 181 213 +f 192 210 213 +f 210 201 213 +f 183 179 214 +f 179 200 214 +f 200 199 214 +f 184 204 215 +f 209 184 215 +f 195 209 215 +f 187 192 216 +f 192 198 216 +f 179 194 217 +f 202 179 217 +f 198 182 218 +f 199 186 218 +f 218 182 219 +f 199 218 219 +f 205 189 220 +f 203 202 221 +f 196 181 222 +f 181 201 222 +f 186 211 223 +f 198 218 223 +f 218 186 223 +f 178 190 224 +f 190 195 224 +f 205 178 224 +f 187 185 225 +f 192 187 225 +f 185 210 225 +f 210 192 225 +f 186 200 226 +f 203 186 226 +f 200 203 226 +f 196 190 227 +f 207 188 227 +f 190 207 227 +f 188 213 227 +f 213 196 227 +f 191 205 228 +f 212 191 228 +f 205 212 228 +f 196 222 229 +f 195 190 230 +f 209 195 230 +f 190 209 230 +f 190 191 231 +f 191 207 231 +f 207 190 231 +f 182 193 232 +f 193 183 232 +f 219 182 232 +f 183 219 232 +f 206 187 233 +f 186 206 233 +f 211 186 233 +f 187 216 233 +f 216 198 233 +f 198 223 233 +f 223 211 233 +f 189 205 234 +f 215 204 234 +f 195 215 234 +f 220 189 234 +f 204 220 234 +f 224 195 234 +f 205 224 234 +f 217 194 235 +f 202 217 235 +f 222 201 235 +f 194 229 235 +f 229 222 235 +f 193 182 236 +f 182 197 236 +f 197 212 236 +f 212 193 236 +f 183 214 237 +f 214 199 237 +f 219 183 237 +f 199 219 237 +f 201 185 238 +f 221 202 238 +f 203 221 238 +f 235 201 238 +f 202 235 238 +f 185 187 239 +f 187 206 239 +f 206 203 239 +f 238 185 239 +f 203 238 239 +f 183 193 240 +f 204 183 240 +f 193 205 240 +f 220 204 240 +f 205 220 240 +f 194 184 241 +f 184 196 241 +f 229 194 241 +o convex_5 +v -0.992474 1.522758 -0.455939 +v 0.975098 2.178821 0.134114 +v 0.942455 1.916396 0.363478 +v -0.697288 3.064018 0.757193 +v 0.056898 3.129624 -0.849654 +v -0.106917 1.489857 1.380532 +v 0.778441 1.489857 -0.980719 +v 0.647269 3.129624 0.691661 +v -0.500432 3.490557 -0.423172 +v 0.745598 2.998411 -0.751095 +v -0.074074 1.489857 -1.276135 +v -0.893946 1.489857 1.019583 +v 0.811283 1.489857 0.954051 +v -0.926789 3.031312 0.003049 +v -0.861302 1.588364 -0.947953 +v 0.450412 3.490557 0.396244 +v 0.024055 3.064018 0.986557 +v 0.942455 3.031312 0.035815 +v 0.450412 3.490557 -0.423172 +v -0.467788 3.490557 0.429010 +v -0.664446 3.031312 -0.685562 +v -1.057960 1.489857 0.068582 +v 0.975098 1.489857 -0.062483 +v 0.680112 3.031312 0.757193 +v -0.008588 2.998411 -0.947693 +v -1.025316 2.342935 0.035815 +v -0.041431 1.522758 1.380532 +v 0.876770 1.686676 -0.652796 +v -0.631802 3.490557 0.035815 +v 0.056898 3.490557 0.560075 +v -0.008588 1.522758 -1.276135 +v -0.762974 1.489857 -1.013485 +v 0.614427 3.457656 -0.062483 +v -0.926789 3.031312 0.101348 +v -0.074074 3.064018 0.986557 +v -0.074074 3.490557 -0.554497 +v -0.730131 3.031312 0.757193 +v -0.959631 1.621069 0.757193 +v 0.942455 2.998411 -0.062483 +v 0.089741 2.998411 -0.947693 +v -0.697288 3.031312 -0.652796 +v -0.697288 2.998411 0.789959 +v -0.926789 1.555463 -0.783861 +v -0.893946 1.555463 1.019583 +v -0.172403 1.522758 -1.243109 +v 0.811283 1.522758 -0.947953 +v 0.975098 2.441247 -0.029457 +v 0.876770 1.522758 0.757193 +v 0.778441 3.031312 0.527569 +v -0.106917 1.522758 1.380532 +v 0.319241 3.064018 0.888258 +v -0.336616 3.490557 0.494543 +v 0.581584 3.490557 0.035815 +v -0.533274 2.998411 -0.751095 +v -0.467788 3.490557 -0.455939 +v 0.811283 1.522758 0.954051 +v -1.025316 2.211722 -0.062483 +v -0.762974 1.522758 -1.013485 +v 0.647269 2.965706 0.789959 +v -1.025316 2.146116 0.166880 +v 0.909612 1.489857 0.593102 +v -0.893946 1.489857 -0.882420 +v 0.024055 3.457656 -0.587264 +v -0.730131 3.064018 0.724427 +f 275 278 305 +f 248 247 252 +f 252 247 253 +f 247 248 254 +f 244 243 259 +f 250 257 260 +f 257 250 261 +f 252 253 263 +f 254 248 264 +f 247 254 268 +f 250 255 270 +f 261 250 270 +f 249 257 271 +f 257 261 271 +f 251 248 272 +f 248 252 272 +f 252 266 272 +f 252 263 273 +f 251 260 274 +f 255 267 275 +f 270 255 275 +f 268 258 276 +f 258 271 276 +f 250 260 277 +f 246 266 277 +f 263 253 279 +f 251 274 280 +f 274 259 280 +f 246 251 281 +f 266 246 281 +f 251 272 281 +f 272 266 281 +f 255 250 282 +f 262 256 282 +f 276 245 283 +f 245 278 283 +f 255 282 284 +f 282 256 284 +f 253 247 285 +f 278 275 285 +f 279 253 285 +f 275 279 285 +f 283 278 285 +f 266 252 286 +f 252 273 286 +f 248 251 287 +f 264 248 287 +f 269 264 287 +f 251 280 287 +f 280 269 287 +f 259 243 288 +f 243 264 288 +f 264 269 288 +f 280 259 288 +f 269 280 288 +f 244 259 289 +f 259 249 290 +f 249 265 290 +f 247 268 291 +f 268 276 291 +f 276 283 291 +f 285 247 291 +f 283 285 291 +f 265 249 292 +f 258 268 292 +f 249 271 292 +f 271 258 292 +f 261 245 293 +f 271 261 293 +f 245 276 293 +f 276 271 293 +f 257 249 294 +f 249 259 294 +f 260 257 294 +f 259 274 294 +f 274 260 294 +f 262 266 295 +f 266 286 295 +f 266 262 296 +f 250 277 296 +f 277 266 296 +f 282 250 296 +f 262 282 296 +f 268 254 297 +f 289 259 297 +f 254 289 297 +f 259 290 297 +f 290 265 297 +f 242 263 298 +f 267 255 298 +f 263 267 298 +f 255 284 298 +f 284 242 298 +f 256 262 299 +f 273 256 299 +f 286 273 299 +f 262 295 299 +f 295 286 299 +f 265 292 300 +f 292 268 300 +f 268 297 300 +f 297 265 300 +f 267 263 301 +f 275 267 301 +f 263 279 301 +f 279 275 301 +f 243 244 302 +f 264 243 302 +f 254 264 302 +f 244 289 302 +f 289 254 302 +f 263 242 303 +f 256 273 303 +f 273 263 303 +f 242 284 303 +f 284 256 303 +f 251 246 304 +f 260 251 304 +f 246 277 304 +f 277 260 304 +f 245 261 305 +f 261 270 305 +f 270 275 305 +f 278 245 305 +o convex_6 +v 0.581759 3.654703 0.003001 +v -0.598982 3.490730 -0.062544 +v -0.598982 3.490730 0.035671 +v -0.008612 5.261322 -0.029772 +v 0.056921 3.490730 0.527775 +v 0.122569 3.490730 -0.521773 +v -0.008612 5.031829 0.363603 +v -0.336390 4.867857 -0.226511 +v 0.384930 4.900617 -0.128193 +v -0.369214 4.343353 0.363603 +v 0.417754 4.277833 0.330830 +v -0.467686 3.654703 -0.423352 +v 0.024097 4.999069 -0.357704 +v 0.450463 3.490730 -0.423352 +v -0.402038 4.999069 0.035671 +v -0.434862 3.490730 0.429251 +v 0.450463 3.490730 0.363603 +v 0.417754 4.999069 0.003001 +v -0.434862 4.179380 -0.390477 +v 0.024097 4.179380 -0.488897 +v 0.417754 4.146620 -0.357704 +v -0.270857 3.490730 -0.488897 +v -0.533334 4.245073 0.035671 +v 0.056921 5.031829 0.363603 +v -0.074029 3.523663 0.527775 +v 0.548935 4.113861 -0.029772 +v 0.319282 4.835097 0.265285 +v 0.581759 3.490730 -0.062544 +v -0.074029 4.966310 -0.357704 +v 0.056921 4.310593 0.462024 +v -0.369214 5.064589 -0.029772 +v -0.303681 4.900617 0.232410 +v -0.533334 4.277833 -0.029772 +v 0.056921 5.228561 0.101216 +v 0.319282 4.802337 -0.259386 +v -0.041205 3.851608 -0.521773 +v -0.500510 3.490730 -0.390477 +v -0.434862 4.310593 -0.357704 +v -0.369214 5.064589 0.035671 +v 0.417754 3.556423 0.396478 +v 0.417754 4.999069 -0.029772 +v -0.008612 4.310593 0.462024 +v 0.056921 5.261322 -0.029772 +v -0.139677 4.277833 -0.456125 +v 0.516111 4.343353 0.035671 +v 0.384930 4.277833 -0.357704 +v 0.516111 4.146620 -0.128193 +f 346 331 352 +f 308 307 310 +f 310 307 311 +f 310 311 319 +f 308 310 321 +f 306 316 322 +f 310 319 322 +f 319 311 325 +f 311 307 327 +f 315 320 328 +f 308 321 328 +f 321 315 328 +f 321 310 330 +f 315 321 330 +f 316 323 332 +f 329 316 332 +f 323 329 332 +f 306 322 333 +f 322 319 333 +f 331 306 333 +f 309 318 334 +f 318 325 334 +f 329 312 335 +f 316 329 335 +f 330 310 335 +f 309 334 336 +f 334 313 336 +f 315 312 337 +f 320 315 337 +f 307 308 338 +f 308 328 338 +f 328 320 338 +f 312 329 339 +f 329 323 339 +f 317 324 341 +f 325 311 341 +f 311 327 341 +f 327 317 341 +f 324 317 342 +f 327 307 342 +f 317 327 342 +f 313 334 343 +f 334 324 343 +f 320 336 343 +f 336 313 343 +f 307 338 343 +f 338 320 343 +f 342 307 343 +f 324 342 343 +f 309 336 344 +f 336 320 344 +f 337 312 344 +f 320 337 344 +f 339 309 344 +f 312 339 344 +f 322 316 345 +f 310 322 345 +f 335 310 345 +f 316 335 345 +f 326 314 346 +f 314 340 346 +f 340 318 346 +f 312 315 347 +f 315 330 347 +f 335 312 347 +f 330 335 347 +f 318 309 348 +f 309 339 348 +f 339 323 348 +f 346 318 348 +f 323 346 348 +f 324 334 349 +f 334 325 349 +f 341 324 349 +f 325 341 349 +f 316 306 350 +f 323 316 350 +f 306 331 350 +f 346 323 350 +f 331 346 350 +f 325 318 351 +f 319 325 351 +f 314 326 351 +f 326 319 351 +f 340 314 351 +f 318 340 351 +f 319 326 352 +f 333 319 352 +f 331 333 352 +f 326 346 352 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/883/883.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/883/883.urdf new file mode 100644 index 000000000..1d2b3447a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/883/883.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/884/884.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/884/884.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/884/884.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/884/884.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/884/884.obj new file mode 100644 index 000000000..944844cf6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/884/884.obj @@ -0,0 +1,516 @@ +o convex_0 +v 0.560967 1.865732 -1.068931 +v -0.544953 1.475451 -1.166569 +v -0.544953 1.475451 -1.134095 +v 0.560967 -0.605884 -1.491848 +v -0.317187 1.768222 -2.142298 +v -0.479784 -0.606126 -1.101513 +v -0.512260 -0.606126 -2.012078 +v 0.560967 1.833067 -2.012078 +v 0.528383 -0.605884 -2.044660 +v 0.560967 -0.605884 -1.036457 +v -0.544953 1.800645 -1.036565 +v -0.479784 1.768222 -2.142298 +v 0.203080 1.833309 -1.036565 +v 0.495907 1.833067 -2.044660 +v -0.512260 -0.345777 -2.044551 +v -0.512260 1.052506 -1.036565 +v -0.317187 1.800645 -2.109607 +v -0.479784 1.475451 -2.142298 +v 0.268141 -0.606126 -1.036565 +v -0.512260 -0.606126 -1.686799 +v -0.056945 -0.606126 -2.044551 +v 0.560967 0.987419 -1.036457 +v -0.479784 -0.053006 -1.069039 +v -0.512260 0.044745 -2.044551 +v 0.495907 1.865732 -1.133986 +v 0.528383 1.345277 -2.044660 +v -0.512260 1.800645 -1.491848 +f 25 17 27 +f 3 2 7 +f 1 4 8 +f 8 4 9 +f 4 1 10 +f 2 3 11 +f 3 6 11 +f 2 11 12 +f 1 11 13 +f 7 2 15 +f 11 6 16 +f 10 11 16 +f 5 12 17 +f 14 5 17 +f 5 9 18 +f 12 5 18 +f 15 12 18 +f 6 7 19 +f 9 4 19 +f 4 10 19 +f 10 16 19 +f 6 3 20 +f 7 6 20 +f 3 7 20 +f 7 15 21 +f 18 9 21 +f 15 18 21 +f 19 7 21 +f 9 19 21 +f 10 1 22 +f 11 10 22 +f 1 13 22 +f 13 11 22 +f 16 6 23 +f 6 19 23 +f 19 16 23 +f 2 12 24 +f 15 2 24 +f 12 15 24 +f 1 8 25 +f 11 1 25 +f 8 14 25 +f 14 17 25 +f 8 9 26 +f 9 5 26 +f 14 8 26 +f 5 14 26 +f 12 11 27 +f 17 12 27 +f 11 25 27 +o convex_1 +v -0.577400 -1.386216 -0.646027 +v 1.016319 -0.638386 1.533324 +v 0.983747 -0.638386 1.533324 +v 0.983747 3.817632 -0.483045 +v -1.065351 3.784884 1.370342 +v -1.032779 -2.265035 1.468260 +v 0.918603 -2.265035 -0.646027 +v -1.065351 3.719390 -0.483258 +v 0.951175 3.752137 1.435621 +v -1.097923 -2.166793 -0.515897 +v 1.048891 -2.265035 1.533324 +v -0.447322 -0.735437 1.533324 +v 0.593303 -0.280547 -0.646027 +v -1.097923 2.710772 1.012806 +v 0.983747 3.069206 1.468046 +v 1.048891 -0.638386 0.980167 +v -1.032779 3.459197 -0.515684 +v 0.951175 -2.167388 -0.548323 +v 0.983747 3.394298 -0.515897 +v -1.097923 -2.199540 -0.060230 +v -0.479684 3.784884 1.402981 +v -1.097923 0.304737 -0.515897 +v -0.609972 -1.744055 1.533324 +v -0.577400 -0.703285 -0.646027 +v 0.983747 3.817632 0.037260 +v -1.065351 3.752137 -0.255638 +v -1.065351 0.402384 1.403195 +v -1.032779 -2.265035 0.882676 +v 1.048891 -2.265035 1.142936 +v 0.593303 3.817632 -0.483045 +v 1.048891 -0.898578 1.533324 +v 1.016319 1.898043 0.134964 +v -0.544828 -1.679155 -0.646027 +v 0.365718 3.752137 1.435621 +v 0.983747 3.362146 1.435621 +v -0.707478 -2.199540 -0.548323 +v -1.065351 2.353529 1.403195 +v -1.065351 3.784884 0.784972 +v 0.951175 3.491945 -0.515897 +v 0.593303 -2.265035 -0.613174 +v 0.333146 -2.265035 1.533324 +v 0.951175 -0.573487 -0.613174 +v 0.951175 3.784884 0.979953 +v 0.983747 2.646468 -0.515897 +v -1.065351 -2.231692 0.817611 +v 0.983747 3.784884 0.622417 +v -1.065351 3.329399 -0.515684 +v 0.007846 3.784884 1.402981 +v -1.032779 -1.744055 1.468260 +v -0.935062 -2.166793 -0.548323 +v 0.755953 -2.265035 -0.646027 +v -0.870129 3.752137 -0.483258 +v -1.097923 2.385681 0.980167 +v 0.918603 3.069206 1.468260 +v 0.918603 -1.776802 -0.646027 +f 46 69 82 +f 29 30 38 +f 33 34 38 +f 38 30 39 +f 34 28 40 +f 41 37 47 +f 32 39 48 +f 28 37 49 +f 41 35 49 +f 37 41 49 +f 38 39 50 +f 40 28 51 +f 44 40 51 +f 28 49 51 +f 32 48 52 +f 35 41 53 +f 34 33 55 +f 33 47 55 +f 38 34 56 +f 43 38 56 +f 34 45 56 +f 52 31 57 +f 32 52 57 +f 29 38 58 +f 42 29 58 +f 38 43 58 +f 46 31 59 +f 31 52 59 +f 43 56 59 +f 58 43 59 +f 28 34 60 +f 37 28 60 +f 36 48 61 +f 48 39 61 +f 36 42 62 +f 42 58 62 +f 47 37 63 +f 55 47 63 +f 39 32 64 +f 32 41 64 +f 50 39 64 +f 54 33 64 +f 41 54 64 +f 41 32 65 +f 53 41 65 +f 32 57 65 +f 57 53 65 +f 40 44 66 +f 46 40 66 +f 31 46 66 +f 57 31 66 +f 44 57 66 +f 34 55 67 +f 55 63 67 +f 33 38 68 +f 50 33 68 +f 38 50 68 +f 45 34 69 +f 56 45 71 +f 46 59 71 +f 59 56 71 +f 45 69 71 +f 69 46 71 +f 47 33 72 +f 33 54 72 +f 59 52 73 +f 58 59 73 +f 36 62 73 +f 62 58 73 +f 70 36 73 +f 52 70 73 +f 35 44 74 +f 49 35 74 +f 44 51 74 +f 51 49 74 +f 48 36 75 +f 52 48 75 +f 36 70 75 +f 70 52 75 +f 33 50 76 +f 64 33 76 +f 50 64 76 +f 37 60 77 +f 63 37 77 +f 63 77 78 +f 60 34 78 +f 34 67 78 +f 67 63 78 +f 77 60 78 +f 44 35 79 +f 35 53 79 +f 57 44 79 +f 53 57 79 +f 41 47 80 +f 54 41 80 +f 47 72 80 +f 72 54 80 +f 30 29 81 +f 39 30 81 +f 29 42 81 +f 42 36 81 +f 36 61 81 +f 61 39 81 +f 34 40 82 +f 40 46 82 +f 69 34 82 +o convex_2 +v -0.610008 -1.549249 1.631127 +v 0.560974 -0.638768 3.484982 +v 0.528421 -0.638768 3.484982 +v -0.284596 -1.809533 3.484982 +v 0.495868 -1.744548 1.533515 +v -0.447245 -0.736418 1.533515 +v -0.610008 -0.768968 3.387179 +v 0.560974 -0.671203 1.533515 +v 0.430763 -1.776983 3.419653 +v -0.610008 -1.809533 3.484982 +v -0.610008 -1.744434 1.533515 +v 0.495868 -1.777098 2.086520 +v -0.544788 -0.736418 2.476775 +v 0.560974 -1.061573 1.533515 +v -0.252043 -0.703868 1.533515 +v 0.365772 -0.638768 3.452127 +v 0.463315 -1.711884 3.387179 +v -0.610008 -1.516699 3.484982 +v 0.528421 -1.516699 1.988909 +v 0.333219 -1.809533 3.387179 +v -0.479797 -1.809533 3.127009 +v 0.560974 -0.736303 3.452127 +v -0.479797 -0.801403 1.533515 +v 0.495868 -0.638768 2.801701 +v 0.170455 -1.776983 1.988909 +v -0.382139 -0.736418 3.419653 +v -0.610008 -0.768968 3.224430 +v -0.447245 -0.736418 3.387179 +v 0.528421 -1.581799 1.533515 +f 96 101 111 +f 84 85 86 +f 87 88 90 +f 84 86 91 +f 86 85 92 +f 89 83 92 +f 88 87 93 +f 92 83 93 +f 90 84 96 +f 87 90 96 +f 90 88 97 +f 88 95 97 +f 97 95 98 +f 85 84 98 +f 84 91 99 +f 91 94 99 +f 92 85 100 +f 89 92 100 +f 99 94 101 +f 91 86 102 +f 86 92 102 +f 94 91 102 +f 94 102 103 +f 92 93 103 +f 102 92 103 +f 96 84 104 +f 84 99 104 +f 101 96 104 +f 99 101 104 +f 88 93 105 +f 93 83 105 +f 95 88 105 +f 83 95 105 +f 84 90 106 +f 90 97 106 +f 97 98 106 +f 98 84 106 +f 93 87 107 +f 87 94 107 +f 94 103 107 +f 103 93 107 +f 85 98 108 +f 100 85 108 +f 89 100 108 +f 83 89 109 +f 95 83 109 +f 89 95 109 +f 95 89 110 +f 98 95 110 +f 89 108 110 +f 108 98 110 +f 94 87 111 +f 87 96 111 +f 101 94 111 +o convex_3 +v 0.593498 -3.045723 -1.134068 +v -0.577274 -4.216317 -2.109745 +v -0.577274 -4.216317 -1.751890 +v -0.512368 -1.842175 -1.101630 +v 0.593498 -1.842175 -2.109630 +v 0.528357 -4.281748 -1.101515 +v -0.447227 -1.907606 -2.142298 +v 0.463334 -4.086171 -2.044638 +v -0.544880 -4.151602 -0.971303 +v 0.625892 -1.842175 -1.068962 +v -0.512368 -1.842175 -1.036409 +v 0.495845 -1.842175 -2.142183 +v 0.560869 -4.053695 -1.264166 +v -0.252158 -4.216317 -2.109745 +v -0.414716 -1.842175 -2.142298 +v -0.512368 -2.948293 -2.142298 +v 0.593498 -2.167898 -2.109630 +v 0.463334 -4.184079 -1.979647 +v -0.414716 -4.086171 -0.971303 +v -0.544880 -3.728689 -0.971303 +v 0.203123 -4.281748 -1.426817 +v 0.593498 -2.688002 -1.068962 +v -0.577274 -3.988980 -2.109745 +v 0.495845 -3.533590 -2.077077 +v -0.479857 -3.338252 -2.142298 +v 0.593498 -2.752955 -1.751890 +v -0.479857 -2.623288 -1.003856 +v 0.365799 -4.281748 -1.101515 +v -0.414716 -4.249032 -1.979647 +v 0.625892 -1.874891 -1.296719 +v 0.333169 -4.249032 -1.069077 +v 0.528357 -4.281748 -1.264166 +v 0.560869 -4.118887 -1.101515 +v -0.577274 -4.151602 -1.686783 +v 0.398311 -4.184079 -2.044638 +f 143 140 146 +f 116 115 121 +f 121 115 122 +f 115 116 123 +f 118 115 126 +f 115 123 126 +f 115 118 127 +f 118 126 127 +f 123 116 128 +f 124 119 128 +f 119 124 129 +f 120 130 131 +f 130 121 131 +f 121 130 133 +f 113 114 134 +f 122 115 134 +f 127 113 134 +f 115 127 134 +f 119 125 135 +f 125 123 135 +f 123 128 135 +f 128 119 135 +f 125 113 136 +f 123 125 136 +f 126 123 136 +f 127 126 136 +f 113 127 136 +f 112 124 137 +f 124 128 137 +f 121 122 138 +f 131 121 138 +f 122 131 138 +f 120 114 139 +f 117 120 139 +f 132 117 139 +f 132 139 140 +f 114 113 140 +f 113 125 140 +f 139 114 140 +f 121 112 141 +f 116 121 141 +f 128 116 141 +f 112 137 141 +f 137 128 141 +f 120 117 142 +f 130 120 142 +f 133 130 142 +f 129 124 143 +f 117 132 143 +f 132 140 143 +f 112 121 144 +f 124 112 144 +f 121 133 144 +f 142 117 144 +f 133 142 144 +f 117 143 144 +f 143 124 144 +f 114 120 145 +f 120 131 145 +f 131 122 145 +f 134 114 145 +f 122 134 145 +f 125 119 146 +f 119 129 146 +f 140 125 146 +f 129 143 146 +o convex_4 +v -0.544915 -1.126650 -2.434973 +v 0.625921 -1.711893 -1.036578 +v 0.625921 -1.809514 -1.036578 +v -0.577341 -0.703868 -0.646027 +v 0.528401 -0.606247 -2.044422 +v -0.609887 -1.776974 -2.565157 +v -0.544915 -1.711893 -0.646027 +v 0.560948 -0.606247 -0.646027 +v 0.463308 -1.646812 -2.532470 +v -0.447275 -0.671327 -2.532470 +v 0.528401 -0.768948 -2.532282 +v 0.560948 -1.744433 -0.646027 +v 0.593495 -1.842054 -2.142107 +v -0.512247 -1.842054 -1.036578 +v -0.512247 -0.606247 -2.012111 +v -0.479821 -0.606247 -1.101576 +v -0.414728 -1.842054 -2.142294 +v 0.593495 -1.224151 -1.719244 +v 0.625921 -1.842054 -1.069077 +v -0.577341 -1.321651 -0.646027 +v 0.593495 -0.866449 -0.711400 +v 0.008017 -1.711893 -2.565157 +v -0.479821 -1.191731 -2.565157 +v -0.577341 -0.671327 -0.678714 +v 0.560948 -0.606247 -1.491939 +v -0.609887 -1.679353 -2.565157 +v 0.593495 -1.419272 -2.109608 +v -0.154475 -0.671327 -2.532470 +v 0.463308 -1.776974 -0.711400 +v 0.593495 -1.776974 -2.207104 +v 0.625921 -1.776974 -1.394442 +f 159 176 177 +f 150 153 154 +f 154 153 158 +f 153 152 160 +f 154 151 161 +f 156 147 161 +f 151 156 161 +f 154 161 162 +f 152 159 163 +f 160 152 163 +f 159 160 163 +f 148 149 165 +f 149 158 165 +f 160 159 165 +f 150 152 166 +f 153 150 166 +f 152 153 166 +f 149 148 167 +f 158 149 167 +f 154 158 167 +f 157 155 168 +f 159 152 168 +f 155 159 168 +f 168 152 169 +f 157 168 169 +f 150 154 170 +f 154 162 170 +f 162 161 170 +f 151 154 171 +f 157 151 171 +f 154 167 171 +f 167 164 171 +f 152 150 172 +f 147 156 172 +f 161 147 172 +f 169 152 172 +f 156 169 172 +f 150 170 172 +f 170 161 172 +f 157 171 173 +f 171 164 173 +f 156 151 174 +f 151 157 174 +f 169 156 174 +f 157 169 174 +f 158 153 175 +f 153 160 175 +f 165 158 175 +f 160 165 175 +f 155 157 176 +f 159 155 176 +f 157 173 176 +f 176 173 177 +f 148 165 177 +f 165 159 177 +f 167 148 177 +f 164 167 177 +f 173 164 177 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/884/884.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/884/884.urdf new file mode 100644 index 000000000..dfce6737a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/884/884.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/885/885.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/885/885.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/885/885.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/885/885.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/885/885.obj new file mode 100644 index 000000000..83e1c93bb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/885/885.obj @@ -0,0 +1,750 @@ +o convex_0 +v 2.941806 -1.949374 0.314319 +v 1.443794 -1.878143 -0.327930 +v 1.086736 -1.878199 -0.327864 +v 2.870542 -2.199100 -0.292228 +v 2.977715 -1.628361 -0.256392 +v 1.086736 -2.020772 0.278616 +v 1.086736 -1.664004 0.207277 +v 1.086736 -2.127814 -0.292228 +v 2.941806 -2.163401 0.278484 +v 2.941806 -1.664116 0.207277 +v 1.086736 -1.699703 -0.327864 +v 1.229633 -2.092114 0.278616 +v 2.371143 -2.199100 -0.185120 +v 2.513670 -2.056415 0.350022 +v 2.763555 -1.628361 -0.292228 +v 1.907653 -1.628361 -0.006673 +v 2.977715 -2.092058 -0.256392 +v 1.550781 -1.664116 -0.327930 +v 2.977715 -1.628361 -0.042376 +v 2.941806 -2.127758 0.350022 +v 2.941806 -2.199100 0.028831 +f 17 9 21 +f 3 2 4 +f 3 6 7 +f 3 4 8 +f 6 3 8 +f 7 1 10 +f 2 3 11 +f 3 7 11 +f 6 8 12 +f 8 4 13 +f 12 8 13 +f 1 7 14 +f 7 6 14 +f 6 12 14 +f 5 4 15 +f 7 10 16 +f 5 15 16 +f 4 5 17 +f 4 2 18 +f 2 11 18 +f 11 7 18 +f 15 4 18 +f 16 15 18 +f 7 16 18 +f 10 1 19 +f 5 16 19 +f 16 10 19 +f 17 5 19 +f 17 19 20 +f 12 9 20 +f 1 14 20 +f 14 12 20 +f 9 17 20 +f 19 1 20 +f 9 12 21 +f 12 13 21 +f 13 4 21 +f 4 17 21 +o convex_1 +v 0.979544 2.902916 -1.005736 +v -1.125528 -2.555198 0.207155 +v -1.125528 -2.555198 0.349644 +v 1.086736 -2.984209 1.063607 +v -1.125528 3.152468 0.956415 +v -1.054067 -2.734053 -0.970005 +v 0.979544 3.045517 1.063607 +v 0.979544 -2.947955 -1.005736 +v -0.982606 3.188723 -1.077197 +v -1.089798 -2.947955 0.920684 +v 1.086736 1.190496 -1.112927 +v -0.625950 -0.556971 1.099337 +v -1.125528 -1.164233 -1.041466 +v 1.086736 1.118591 1.099337 +v 0.979544 3.081168 -0.970005 +v -1.125528 -0.985378 1.063607 +v -1.125528 1.118591 -0.934275 +v 0.836839 -2.984209 1.099337 +v -1.054067 -2.876654 -0.863030 +v -0.875631 -0.628271 -1.077197 +v 1.086736 -2.126790 -0.292207 +v 0.479966 3.081168 1.063607 +v -0.839900 -2.984209 0.956415 +v -1.089798 3.188723 0.207155 +v 0.479966 0.654534 -1.112927 +v -0.625950 3.188723 -1.077197 +v 0.908300 2.652761 1.099337 +v 1.086736 -0.770872 -0.970005 +v -1.125528 -0.129168 1.063607 +v 0.729863 3.081168 0.992145 +v -1.054067 -1.378135 1.063607 +v 1.051006 -2.984209 0.314130 +v -1.125528 -2.448247 -0.434696 +v -0.554489 3.152468 0.956415 +v -0.947092 -2.984209 0.885170 +v 0.979544 3.081168 -0.006795 +v 1.086736 -2.984209 1.099337 +v 0.872569 -2.947955 -1.005736 +v -1.089798 -1.378135 -1.041466 +v 1.015275 1.368143 -1.112927 +v 1.086736 0.868435 -1.112927 +v -1.018337 3.188723 -0.755838 +v -1.089798 -2.698403 -0.791569 +v -0.982606 -2.876654 -0.934491 +v -1.125528 3.152468 0.671003 +v -0.447513 3.152468 -1.077197 +v 1.015275 -2.947955 -0.613349 +v 0.587158 3.116818 -1.005736 +v -1.054067 -2.947955 0.278400 +v 1.015275 -2.662753 -0.863030 +v -1.125528 -0.378719 -1.041466 +v -1.018337 3.188723 0.349861 +f 55 51 73 +f 23 24 26 +f 24 23 31 +f 23 26 34 +f 25 32 35 +f 32 22 36 +f 26 24 37 +f 24 31 37 +f 34 26 38 +f 35 33 39 +f 34 30 41 +f 32 25 42 +f 25 39 44 +f 29 41 46 +f 41 30 46 +f 30 45 47 +f 35 28 48 +f 33 35 48 +f 28 43 48 +f 32 42 49 +f 26 37 50 +f 37 33 50 +f 43 26 50 +f 33 48 50 +f 48 43 50 +f 43 28 51 +f 37 31 52 +f 33 37 52 +f 39 33 52 +f 31 44 52 +f 44 39 52 +f 25 44 53 +f 23 34 54 +f 26 43 55 +f 43 51 55 +f 44 31 56 +f 53 44 56 +f 28 35 57 +f 35 32 57 +f 32 36 57 +f 51 28 57 +f 47 51 57 +f 25 35 58 +f 39 25 58 +f 35 39 58 +f 41 29 59 +f 29 53 59 +f 53 56 59 +f 27 34 60 +f 34 41 60 +f 59 27 60 +f 41 59 60 +f 22 32 61 +f 32 46 61 +f 46 30 61 +f 30 47 61 +f 29 46 62 +f 46 32 62 +f 49 29 62 +f 32 49 62 +f 30 38 63 +f 45 30 63 +f 38 45 63 +f 31 23 64 +f 34 27 64 +f 27 40 64 +f 40 31 64 +f 23 54 64 +f 54 34 64 +f 40 27 65 +f 27 59 65 +f 38 26 66 +f 26 45 66 +f 45 38 66 +f 22 61 67 +f 61 47 67 +f 42 25 68 +f 25 53 68 +f 53 29 68 +f 36 22 69 +f 57 36 69 +f 47 57 69 +f 22 67 69 +f 67 47 69 +f 31 40 70 +f 56 31 70 +f 59 56 70 +f 40 65 70 +f 65 59 70 +f 29 49 71 +f 49 42 71 +f 42 68 71 +f 68 29 71 +f 30 34 72 +f 38 30 72 +f 34 38 72 +f 45 26 73 +f 47 45 73 +f 51 47 73 +f 26 55 73 +o convex_2 +v 1.657643 0.048822 1.170969 +v 2.299850 0.227129 2.990096 +v 2.299850 -0.129663 2.990096 +v 1.693412 0.298499 2.990096 +v 2.192795 0.298499 1.099337 +v 2.228438 -0.236719 1.099337 +v 1.764762 -0.201034 2.954558 +v 1.657643 -0.201034 1.099337 +v 1.729118 0.298499 1.099337 +v 2.299850 0.369870 2.740401 +v 1.836111 0.334184 1.206693 +v 1.657643 0.191444 2.597692 +v 1.764762 0.334184 2.990096 +v 1.943166 -0.201034 2.990096 +v 1.657643 -0.201034 1.634821 +v 2.192795 0.369870 2.954558 +v 2.192795 0.334184 1.206693 +v 2.014390 -0.236719 1.135246 +v 1.693412 0.298499 1.741807 +v 1.693412 0.120073 2.990096 +f 85 88 93 +f 76 75 77 +f 78 79 81 +f 81 74 82 +f 78 81 82 +f 75 76 83 +f 79 78 83 +f 76 79 83 +f 78 82 84 +f 74 81 85 +f 77 75 86 +f 76 77 87 +f 79 76 87 +f 85 81 88 +f 75 83 89 +f 83 84 89 +f 86 75 89 +f 84 86 89 +f 83 78 90 +f 78 84 90 +f 84 83 90 +f 81 79 91 +f 79 87 91 +f 87 80 91 +f 80 88 91 +f 88 81 91 +f 82 74 92 +f 84 82 92 +f 85 77 92 +f 74 85 92 +f 77 86 92 +f 86 84 92 +f 77 85 93 +f 87 77 93 +f 80 87 93 +f 88 80 93 +o convex_3 +v -2.195920 -2.805734 -0.292140 +v -1.839221 -2.734374 0.314340 +v -1.874903 -2.734374 0.314340 +v -2.017511 -2.199285 -0.256438 +v -2.231601 -2.199285 0.207166 +v -2.267283 -2.948454 0.278637 +v -1.803540 -2.805734 -0.363612 +v -1.696495 -2.199285 0.207166 +v -2.303024 -2.627297 -0.256438 +v -1.839221 -2.912737 0.314340 +v -1.803540 -2.199285 -0.256438 +v -2.231601 -2.199285 -0.220868 +v -2.303024 -2.841377 -0.256438 +v -2.124556 -2.948454 0.135893 +v -1.910585 -2.734374 -0.363612 +v -2.267283 -2.270645 0.100190 +f 105 102 109 +f 96 95 98 +f 96 98 99 +f 97 98 101 +f 98 95 101 +f 95 96 103 +f 96 99 103 +f 101 95 103 +f 100 101 103 +f 97 101 104 +f 101 100 104 +f 98 97 105 +f 94 100 106 +f 102 94 106 +f 99 102 106 +f 103 99 107 +f 100 103 107 +f 106 100 107 +f 99 106 107 +f 100 94 108 +f 94 102 108 +f 97 104 108 +f 104 100 108 +f 105 97 108 +f 102 105 108 +f 99 98 109 +f 102 99 109 +f 98 105 109 +o convex_4 +v -1.125528 0.655138 -0.969900 +v -2.980920 0.298269 1.099128 +v -2.516974 1.083381 1.063296 +v -1.125528 -0.986034 1.063505 +v -3.123703 -0.843074 -1.041145 +v -3.123703 1.190335 -0.969900 +v -1.125528 1.047801 0.992051 +v -1.125528 -0.843287 -1.041564 +v -2.980920 -0.914447 1.099128 +v -1.125528 1.154755 -0.755747 +v -3.087909 1.083381 1.063296 +v -2.374192 -0.986034 -0.220574 +v -1.732257 1.190548 0.314179 +v -1.304104 -0.986034 1.099128 +v -1.125528 -0.950241 -0.541804 +v -1.125528 1.119175 -0.934278 +v -1.125528 -0.379250 -1.041564 +v -1.232713 1.190548 -0.292029 +v -3.123703 -0.843074 -0.755747 +v -2.267202 1.190548 0.349802 +v -1.125528 0.797886 1.027673 +v -3.123703 0.512390 -1.005523 +v -3.123703 1.190335 -0.684503 +v -3.016518 -0.914447 0.706653 +v -2.624159 -0.950028 1.099128 +v -2.338594 1.154755 -0.969900 +v -3.087909 0.904840 1.063296 +v -2.873735 -0.878867 -0.934278 +v -1.732257 -0.986034 -0.220574 +v -3.087909 -0.878867 -0.613048 +v -1.125528 -0.878867 -0.969900 +v -3.123703 1.118961 -0.434727 +v -2.267202 1.190548 -0.862824 +v -2.873735 1.118961 0.884975 +v -1.625268 -0.986034 1.099128 +v -1.125528 -0.093968 1.063505 +v -3.123703 -0.664532 -1.041145 +v -1.125528 1.083381 0.742276 +f 127 122 147 +f 113 110 116 +f 110 113 117 +f 116 110 119 +f 111 112 120 +f 118 111 120 +f 112 116 122 +f 112 111 123 +f 111 118 123 +f 121 113 123 +f 117 113 124 +f 119 110 125 +f 110 117 126 +f 117 114 126 +f 115 114 128 +f 122 127 129 +f 116 112 130 +f 113 116 130 +f 114 115 131 +f 115 128 132 +f 129 115 132 +f 123 118 134 +f 118 133 134 +f 133 121 134 +f 125 110 135 +f 115 125 135 +f 110 126 135 +f 131 115 135 +f 126 131 135 +f 118 120 136 +f 133 118 136 +f 128 133 136 +f 124 121 137 +f 113 121 138 +f 124 113 138 +f 121 124 138 +f 128 114 139 +f 121 133 139 +f 133 128 139 +f 114 137 139 +f 137 121 139 +f 114 117 140 +f 117 124 140 +f 137 114 140 +f 124 137 140 +f 132 128 141 +f 120 132 141 +f 136 120 141 +f 128 136 141 +f 125 115 142 +f 119 125 142 +f 127 119 142 +f 115 129 142 +f 129 127 142 +f 120 112 143 +f 112 122 143 +f 122 129 143 +f 132 120 143 +f 129 132 143 +f 121 123 144 +f 123 134 144 +f 134 121 144 +f 112 123 145 +f 123 113 145 +f 130 112 145 +f 113 130 145 +f 126 114 146 +f 114 131 146 +f 131 126 146 +f 116 119 147 +f 122 116 147 +f 119 127 147 +o convex_5 +v -1.946263 2.546264 -0.327916 +v -2.160192 1.333513 0.350022 +v -2.231591 1.333513 0.350022 +v -1.839232 3.188527 0.207239 +v -1.696435 1.190549 -0.256525 +v -2.338622 2.724627 -0.292221 +v -2.267224 1.190549 -0.363612 +v -2.374321 3.081353 0.207239 +v -1.696435 1.190549 0.278630 +v -1.767900 3.188527 -0.292221 +v -1.732201 2.974374 0.242935 +v -2.267224 1.190549 0.350022 +v -2.338622 3.117143 -0.256525 +v -1.732201 3.188527 -0.078117 +v -1.732201 1.619050 0.314326 +v -2.088861 1.690239 -0.363612 +v -1.696435 2.118545 0.171613 +v -2.338622 2.867396 0.242935 +v -2.302923 1.619050 0.314326 +f 165 155 166 +f 153 154 155 +f 154 152 156 +f 148 153 157 +f 150 149 158 +f 149 150 159 +f 156 149 159 +f 154 156 159 +f 153 155 160 +f 155 151 160 +f 157 153 160 +f 151 157 160 +f 152 157 161 +f 157 151 161 +f 151 158 161 +f 149 156 162 +f 158 149 162 +f 156 158 162 +f 153 148 163 +f 152 154 163 +f 154 153 163 +f 148 157 163 +f 157 152 163 +f 156 152 164 +f 158 156 164 +f 152 161 164 +f 161 158 164 +f 151 155 165 +f 150 158 165 +f 158 151 165 +f 159 150 165 +f 159 165 166 +f 155 154 166 +f 154 159 166 +o convex_6 +v -1.946291 -1.200184 0.314340 +v -2.338625 -1.592564 -0.327930 +v -2.338625 -1.592564 -0.256511 +v -1.660823 -1.592564 0.028789 +v -1.696516 -0.986094 -0.220864 +v -2.374317 -0.986094 -0.220864 +v -2.195857 -1.592564 0.314340 +v -2.231549 -0.986094 0.242858 +v -1.696516 -1.592564 -0.256511 +v -1.803592 -0.986094 0.278630 +v -1.660823 -1.592564 0.207274 +v -2.160234 -1.414155 -0.327930 +v -2.267241 -1.521200 0.207274 +v -1.874907 -0.986094 -0.256511 +f 175 178 180 +f 169 168 170 +f 168 169 172 +f 169 170 173 +f 173 167 174 +f 171 172 174 +f 170 168 175 +f 171 170 175 +f 174 167 176 +f 171 174 176 +f 170 171 177 +f 173 170 177 +f 167 173 177 +f 176 167 177 +f 171 176 177 +f 168 172 178 +f 175 168 178 +f 172 169 179 +f 169 173 179 +f 173 174 179 +f 174 172 179 +f 172 171 180 +f 171 175 180 +f 178 172 180 +o convex_7 +v 2.442437 0.262688 1.099337 +v 1.086736 -0.986034 -0.113770 +v 1.158218 -0.986034 -0.113770 +v 1.086736 1.190548 -1.112927 +v 2.906409 -0.878867 -1.041466 +v 3.013537 1.083381 -1.041250 +v 1.086736 1.119175 1.099337 +v 2.906409 -0.986034 0.992145 +v 2.906409 1.190548 1.027876 +v 1.086736 -0.914661 1.099337 +v 1.086736 -0.807280 -0.970005 +v 2.228369 -0.200496 -1.112927 +v 2.977702 1.047375 -1.077197 +v 1.122571 -0.878867 -0.934491 +v 1.086736 1.154755 0.706734 +v 1.693482 -0.058174 -1.112927 +v 2.371144 -0.379250 1.099337 +v 2.942055 -0.521998 -1.041466 +v 2.942055 1.083381 0.599759 +v 2.478273 -0.914661 -0.827299 +v 1.086736 -0.986034 0.242886 +v 3.013537 0.869047 -1.005736 +v 1.229511 1.190548 -1.112927 +v 2.763634 0.905053 1.063607 +v 1.086736 1.190548 -0.577618 +v 1.086736 0.833466 -1.112927 +v 2.549566 -0.878867 -1.041466 +v 3.013537 1.083381 -0.827299 +v 2.799280 -0.843287 1.027876 +v 1.586354 -0.949815 1.063607 +v 1.515061 1.118748 1.099337 +v 2.906409 -0.986034 0.885170 +v 2.335498 -0.129548 -1.112927 +v 1.586354 1.154329 -1.112927 +v 2.906409 -0.093968 1.027876 +v 1.550707 1.154329 1.063607 +f 189 195 216 +f 184 182 187 +f 182 183 188 +f 187 182 190 +f 181 187 190 +f 182 184 191 +f 182 191 194 +f 184 187 195 +f 184 192 196 +f 181 190 197 +f 193 186 198 +f 185 193 198 +f 183 182 200 +f 182 194 200 +f 182 188 201 +f 190 182 201 +f 188 198 202 +f 198 186 202 +f 184 189 203 +f 189 186 203 +f 192 184 203 +f 189 184 205 +f 184 195 205 +f 195 189 205 +f 191 184 206 +f 184 196 206 +f 196 191 206 +f 192 185 207 +f 194 191 207 +f 191 196 207 +f 196 192 207 +f 185 200 207 +f 200 194 207 +f 186 189 208 +f 199 188 208 +f 189 199 208 +f 188 202 208 +f 202 186 208 +f 190 188 209 +f 197 190 209 +f 188 190 210 +f 201 188 210 +f 190 201 210 +f 187 181 211 +f 189 187 211 +f 181 204 211 +f 204 189 211 +f 188 183 212 +f 185 198 212 +f 198 188 212 +f 183 200 212 +f 200 185 212 +f 185 192 213 +f 193 185 213 +f 192 203 213 +f 213 203 214 +f 186 193 214 +f 203 186 214 +f 193 213 214 +f 181 197 215 +f 188 199 215 +f 199 189 215 +f 204 181 215 +f 189 204 215 +f 209 188 215 +f 197 209 215 +f 187 189 216 +f 195 187 216 +o convex_8 +v 1.800422 0.048741 -3.075116 +v 2.335525 -0.129618 -1.112928 +v 2.264141 0.084451 -1.112928 +v 1.693416 -0.058262 -1.112928 +v 1.693416 0.441233 -1.112928 +v 2.264141 0.369751 -2.968138 +v 2.192757 -0.201037 -3.110906 +v 1.622031 0.334104 -2.968138 +v 2.157064 0.369751 -1.112928 +v 1.764800 -0.093971 -3.003732 +v 2.192757 -0.201037 -1.220297 +v 2.192757 0.405523 -2.753985 +v 2.050058 -0.201037 -2.682600 +v 1.622031 0.227038 -3.039522 +v 2.335525 -0.201037 -1.255892 +v 1.943191 0.441233 -1.755387 +v 1.622031 0.298395 -2.432853 +v 1.871807 0.334104 -3.039522 +v 2.264141 0.227038 -3.003732 +v 1.764800 -0.093971 -1.112928 +v 2.264141 0.369751 -2.682600 +v 2.085750 0.405523 -1.112928 +v 1.693416 0.441233 -1.434255 +f 232 228 239 +f 218 219 220 +f 220 219 221 +f 221 219 225 +f 217 223 226 +f 222 224 228 +f 226 223 229 +f 223 227 229 +f 217 226 230 +f 226 220 230 +f 222 218 231 +f 218 227 231 +f 227 223 231 +f 220 221 233 +f 221 224 233 +f 230 220 233 +f 224 230 233 +f 223 217 234 +f 224 222 234 +f 217 230 234 +f 230 224 234 +f 222 231 235 +f 231 223 235 +f 223 234 235 +f 234 222 235 +f 218 220 236 +f 220 226 236 +f 227 218 236 +f 226 229 236 +f 229 227 236 +f 219 218 237 +f 218 222 237 +f 225 219 237 +f 222 228 237 +f 237 228 238 +f 221 225 238 +f 232 221 238 +f 228 232 238 +f 225 237 238 +f 224 221 239 +f 228 224 239 +f 221 232 239 +o convex_9 +v -1.125529 -1.628364 0.350022 +v -2.516838 -1.771091 -0.327930 +v -2.516838 -1.628364 -0.327930 +v -3.052123 -2.163471 0.314319 +v -1.125529 -2.163471 -0.220756 +v -3.087717 -1.664046 0.207277 +v -2.980739 -2.127789 -0.220756 +v -1.125529 -2.199152 0.207277 +v -1.161514 -1.664046 -0.327930 +v -1.982140 -2.199152 -0.256459 +v -3.123507 -1.699728 -0.185120 +v -2.195707 -1.592623 0.314319 +v -1.661009 -1.592623 -0.256459 +v -2.623817 -1.592623 -0.185120 +v -1.125529 -1.842454 -0.327930 +v -1.161514 -1.592623 0.278550 +v -2.944949 -2.092107 -0.256459 +v -2.231497 -2.199152 0.207277 +v -3.052123 -2.163471 0.135872 +v -3.016333 -1.628364 0.135872 +v -3.052123 -2.056426 0.314319 +f 251 245 260 +f 240 243 247 +f 244 240 247 +f 241 242 248 +f 244 247 249 +f 243 245 250 +f 248 242 252 +f 251 252 253 +f 242 250 253 +f 252 242 253 +f 240 244 254 +f 248 240 254 +f 241 248 254 +f 244 249 254 +f 249 241 254 +f 240 248 255 +f 251 240 255 +f 248 252 255 +f 252 251 255 +f 242 241 256 +f 249 246 256 +f 241 249 256 +f 250 242 256 +f 246 250 256 +f 247 243 257 +f 249 247 257 +f 249 257 258 +f 246 249 258 +f 243 250 258 +f 250 246 258 +f 257 243 258 +f 250 245 259 +f 245 251 259 +f 251 253 259 +f 253 250 259 +f 243 240 260 +f 245 243 260 +f 240 251 260 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/885/885.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/885/885.urdf new file mode 100644 index 000000000..b0a21bafe --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/885/885.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/886/886.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/886/886.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/886/886.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/886/886.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/886/886.obj new file mode 100644 index 000000000..f282bad89 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/886/886.obj @@ -0,0 +1,429 @@ +o convex_0 +v 1.022867 -1.256590 -1.040445 +v -1.071204 -0.106998 0.905980 +v -1.071204 -0.106998 0.935465 +v -1.041505 -3.321023 0.935465 +v 1.052352 1.397281 0.965149 +v -1.012020 1.397281 -1.040445 +v 0.934413 -3.261986 0.935465 +v -0.953050 -3.262450 -0.981474 +v 0.963898 1.397281 -0.981474 +v 1.111536 -3.261986 -1.040445 +v -1.071204 1.397281 0.935465 +v 1.081837 1.043524 -0.362085 +v -0.835111 1.308958 -1.070129 +v 0.433169 -3.351238 0.080194 +v 0.049651 -3.292201 0.965149 +v -0.982535 -2.466150 -1.010960 +v -1.041505 -3.321023 0.463502 +v 0.521624 -1.699135 -1.070129 +v 1.052352 0.630266 0.965149 +v -0.304168 1.397281 -1.070129 +v 0.079136 1.397746 0.965149 +v -1.012020 -0.225072 -1.040445 +v 0.993383 0.807377 -1.010960 +v 0.904928 -3.262450 0.965149 +v 0.315015 -3.262450 -1.040445 +v 1.111536 -3.232700 -0.951989 +v -0.982535 -3.262450 -0.951989 +v 1.052352 1.397281 -0.480026 +v 0.433169 -3.351238 0.375046 +v -0.982535 -3.291737 -0.656937 +v -1.071204 1.397281 0.728869 +v 1.111536 -2.672081 -0.981474 +v 0.816473 1.397746 -1.010960 +v 0.108621 -3.351238 0.227620 +v -0.422108 -3.321023 0.935465 +v -0.599018 -3.262450 -1.010960 +v 1.111536 -2.613509 -0.922504 +v 0.993383 1.397281 -0.892819 +v -1.012020 -3.321023 0.198135 +v 0.786988 -3.292201 0.788039 +v 0.551109 -1.581061 -1.070129 +v -1.071204 -0.047961 0.876494 +v 1.081837 -2.023605 -1.040445 +f 10 41 43 +f 3 2 4 +f 2 3 11 +f 3 4 15 +f 11 3 15 +f 4 2 17 +f 16 13 18 +f 5 15 19 +f 13 6 20 +f 18 13 20 +f 15 5 21 +f 11 15 21 +f 6 13 22 +f 13 16 22 +f 7 19 24 +f 19 15 24 +f 10 14 25 +f 18 10 25 +f 16 18 25 +f 7 10 26 +f 19 7 26 +f 16 8 27 +f 22 16 27 +f 17 22 27 +f 5 12 28 +f 14 10 29 +f 25 14 30 +f 27 8 30 +f 17 27 30 +f 2 11 31 +f 21 6 31 +f 11 21 31 +f 6 22 31 +f 26 10 32 +f 20 6 33 +f 21 5 33 +f 6 21 33 +f 9 23 33 +f 23 20 33 +f 5 28 33 +f 4 17 34 +f 29 4 34 +f 14 29 34 +f 30 14 34 +f 15 4 35 +f 24 15 35 +f 4 29 35 +f 8 16 36 +f 16 25 36 +f 30 8 36 +f 25 30 36 +f 12 5 37 +f 5 19 37 +f 19 26 37 +f 32 12 37 +f 26 32 37 +f 23 9 38 +f 28 12 38 +f 12 32 38 +f 9 33 38 +f 33 28 38 +f 17 30 39 +f 34 17 39 +f 30 34 39 +f 10 7 40 +f 7 24 40 +f 29 10 40 +f 24 35 40 +f 35 29 40 +f 10 18 41 +f 18 20 41 +f 23 1 41 +f 20 23 41 +f 17 2 42 +f 22 17 42 +f 2 31 42 +f 31 22 42 +f 1 23 43 +f 32 10 43 +f 23 38 43 +f 38 32 43 +f 41 1 43 +o convex_1 +v 0.993393 2.105741 -0.715908 +v -1.041516 2.666041 -1.070129 +v -1.071215 2.105741 0.670098 +v 1.111547 2.813496 0.965149 +v -1.071215 2.813496 0.876494 +v 0.934422 2.813496 -0.981474 +v 1.081849 2.105741 0.965149 +v -1.012031 2.105741 -1.070129 +v -1.041516 2.843016 -1.070129 +v -1.071215 2.105741 0.935465 +v 0.934422 2.105741 -0.981474 +v 0.403474 2.843016 -1.010960 +v -0.481297 2.843016 -0.096519 +v -0.009319 2.813496 0.965149 +v -0.510782 2.105741 -1.070129 +v -1.071215 2.783977 0.935465 +v 1.111547 2.813496 0.847009 +v 0.020166 2.105741 0.965149 +v -0.717179 2.843016 -1.070129 +v 1.081849 2.282716 0.581443 +v 0.609871 2.164780 -1.010960 +v -1.071215 2.813496 0.375046 +v -1.041516 2.843016 -0.391371 +v 0.521629 2.843016 -0.951989 +v 0.993393 2.282716 -0.686622 +v 1.111547 2.518514 0.935465 +f 50 63 69 +f 46 44 50 +f 44 46 51 +f 46 45 51 +f 51 45 52 +f 48 46 53 +f 46 50 53 +f 49 44 54 +f 44 51 54 +f 55 52 56 +f 56 48 57 +f 50 47 57 +f 47 56 57 +f 51 52 58 +f 54 51 58 +f 48 53 59 +f 57 48 59 +f 53 57 59 +f 53 50 61 +f 50 57 61 +f 57 53 61 +f 52 55 62 +f 58 52 62 +f 50 44 63 +f 49 54 64 +f 55 49 64 +f 54 58 64 +f 62 55 64 +f 58 62 64 +f 45 46 65 +f 46 48 65 +f 52 45 65 +f 48 52 65 +f 52 48 66 +f 56 52 66 +f 48 56 66 +f 49 55 67 +f 55 56 67 +f 56 47 67 +f 60 49 67 +f 47 60 67 +f 44 49 68 +f 60 44 68 +f 49 60 68 +f 47 50 69 +f 44 60 69 +f 60 47 69 +f 63 44 69 +o convex_2 +v -2.929395 1.515831 -0.362206 +v -1.100712 2.105669 -0.126125 +v -1.100712 2.105669 -0.185162 +v -3.047400 2.046565 0.286668 +v -1.100712 1.574801 0.316220 +v -2.958993 1.427242 0.198213 +v -1.100712 1.574801 -0.362206 +v -3.076997 2.017080 -0.273684 +v -1.100712 1.958109 0.316220 +v -1.307317 1.545316 -0.362206 +v -1.248315 1.545316 0.316220 +v -1.100712 1.633772 -0.362206 +v -2.781986 1.427242 0.139176 +v -3.017995 1.781132 -0.332655 +v -1.484324 1.545316 0.316220 +v -2.958993 1.456794 -0.096706 +v -1.631732 1.987595 0.316220 +v -1.366319 2.105669 -0.185162 +v -2.634190 2.017080 -0.273684 +v -3.017995 1.958109 0.286668 +v -3.076997 1.928624 -0.214714 +v -3.047400 2.046565 0.080205 +v -2.811197 2.046565 0.286668 +v -2.958993 1.604287 -0.362206 +v -2.899991 1.486279 -0.273684 +f 79 85 94 +f 72 71 74 +f 72 74 76 +f 74 71 78 +f 70 76 79 +f 79 76 80 +f 76 74 80 +f 74 78 80 +f 76 70 81 +f 72 76 81 +f 79 80 82 +f 80 75 82 +f 75 80 84 +f 80 78 84 +f 82 75 85 +f 79 82 85 +f 78 71 86 +f 84 78 86 +f 71 72 87 +f 73 71 87 +f 72 77 87 +f 77 72 88 +f 72 81 88 +f 83 77 88 +f 81 83 88 +f 73 75 89 +f 75 84 89 +f 86 73 89 +f 84 86 89 +f 75 73 90 +f 73 77 90 +f 77 83 90 +f 85 75 90 +f 83 85 90 +f 77 73 91 +f 73 87 91 +f 87 77 91 +f 71 73 92 +f 86 71 92 +f 73 86 92 +f 81 70 93 +f 83 81 93 +f 70 85 93 +f 85 83 93 +f 70 79 94 +f 85 70 94 +o convex_3 +v 1.082051 1.486366 -0.273430 +v -1.012043 1.722294 -1.070129 +v -1.012043 2.105599 -1.070129 +v -1.071013 1.397746 0.935465 +v 1.082051 2.105599 0.965149 +v -1.071013 2.105599 0.935465 +v 0.934411 2.105599 -0.981474 +v 0.816470 1.397746 -1.010960 +v 1.052352 1.397746 0.965149 +v -1.012043 1.397746 -1.040445 +v -1.100712 1.574848 -0.362085 +v 0.963896 1.397746 -0.981474 +v 1.082051 1.928567 -0.214460 +v -1.100712 2.105599 -0.184974 +v -0.304183 1.397746 -1.070129 +v 0.020154 2.105599 0.965149 +v -0.510794 2.105599 -1.070129 +v -1.100712 1.574848 0.345561 +v 0.963896 2.105599 -0.922504 +v 0.079125 1.397746 0.965149 +v 1.082051 1.574848 0.965149 +v 1.052352 1.397746 -0.480026 +v 0.639558 2.046565 -1.010960 +v 0.993381 1.515814 -0.863533 +v -1.100712 1.958084 0.316076 +v 0.993381 2.105599 -0.715908 +v -0.864617 1.397746 -1.070129 +f 109 104 121 +f 99 97 100 +f 97 99 101 +f 98 102 103 +f 102 98 104 +f 97 96 105 +f 96 104 105 +f 104 98 105 +f 102 101 106 +f 103 102 106 +f 99 95 107 +f 100 97 108 +f 97 105 108 +f 96 97 109 +f 102 104 109 +f 99 100 110 +f 100 98 110 +f 103 99 110 +f 97 101 111 +f 109 97 111 +f 98 100 112 +f 105 98 112 +f 108 105 112 +f 101 99 113 +f 106 101 113 +f 98 103 114 +f 110 98 114 +f 103 110 114 +f 95 99 115 +f 103 95 115 +f 99 103 115 +f 95 103 116 +f 103 106 116 +f 101 102 117 +f 102 109 117 +f 111 101 117 +f 109 111 117 +f 107 95 118 +f 106 113 118 +f 113 107 118 +f 95 116 118 +f 116 106 118 +f 100 108 119 +f 112 100 119 +f 108 112 119 +f 99 107 120 +f 113 99 120 +f 107 113 120 +f 104 96 121 +f 96 109 121 +o convex_4 +v 1.465653 1.751649 0.345717 +v 2.999302 1.456791 -0.332709 +v 2.999302 1.486308 -0.332709 +v 1.082051 1.486308 -0.273673 +v 1.082051 1.928595 -0.214702 +v 3.028839 1.958112 0.257195 +v 2.999302 1.456791 0.198224 +v 2.969765 1.928595 -0.214702 +v 1.082051 1.987681 0.345717 +v 1.082051 1.545290 0.345717 +v 2.704311 1.840148 0.286680 +v 3.028839 1.633789 -0.303158 +v 1.082051 1.486308 -0.096695 +v 2.055445 1.456791 -0.273673 +v 1.672033 1.515825 0.316165 +v 1.878603 1.958112 -0.037724 +v 1.672033 1.515825 -0.303158 +v 2.969765 1.899130 -0.244187 +v 3.028839 1.456791 -0.008239 +v 2.969765 1.545290 0.227709 +v 1.170662 1.810631 -0.244187 +v 1.436116 1.515825 0.316165 +v 2.792732 1.456791 0.198224 +v 1.406579 1.958112 0.345717 +v 2.910690 1.958112 0.139187 +v 1.141125 1.987681 0.286680 +v 1.436116 1.604272 0.345717 +f 136 141 148 +f 126 125 130 +f 122 130 131 +f 130 125 131 +f 123 124 133 +f 129 127 133 +f 131 125 134 +f 125 123 135 +f 123 128 135 +f 134 125 135 +f 129 126 137 +f 124 123 138 +f 123 125 138 +f 126 129 139 +f 129 133 139 +f 127 128 140 +f 128 123 140 +f 123 133 140 +f 133 127 140 +f 128 127 141 +f 127 132 141 +f 136 128 141 +f 125 126 142 +f 133 124 142 +f 124 138 142 +f 138 125 142 +f 126 139 142 +f 139 133 142 +f 131 134 143 +f 136 131 143 +f 128 136 143 +f 135 128 144 +f 134 135 144 +f 128 143 144 +f 143 134 144 +f 127 130 145 +f 130 122 145 +f 132 127 145 +f 122 132 145 +f 127 129 146 +f 129 137 146 +f 146 137 147 +f 130 127 147 +f 126 130 147 +f 137 126 147 +f 127 146 147 +f 122 131 148 +f 132 122 148 +f 131 136 148 +f 141 132 148 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/886/886.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/886/886.urdf new file mode 100644 index 000000000..eef64fb10 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/886/886.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/887/887.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/887/887.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/887/887.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/887/887.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/887/887.obj new file mode 100644 index 000000000..60b7ed65b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/887/887.obj @@ -0,0 +1,525 @@ +o convex_0 +v -0.992026 -4.206064 -1.051846 +v -0.617150 -1.785686 1.096097 +v -0.685290 -1.785686 1.096097 +v 0.269094 -1.785686 -1.120183 +v 0.951133 -4.342277 0.993483 +v -1.094556 -4.342531 1.027543 +v 1.053450 -4.376774 -0.949449 +v 1.019273 -1.785432 1.027543 +v -1.026203 -1.785686 -1.085906 +v 1.087626 -1.819676 -1.017569 +v -1.094556 -1.785686 1.027543 +v -1.060380 -4.240054 -1.017569 +v 1.087626 -4.172074 -0.983509 +v 0.916956 -4.342277 1.027543 +v 1.053450 -2.297309 0.516428 +v 0.030498 -1.956396 1.095880 +v -1.094556 -2.297309 0.448091 +v -0.344164 -4.308288 -1.017569 +v 1.019273 -2.672211 1.027543 +v 0.712537 -1.785432 -1.085906 +v 1.053450 -4.376774 -0.472177 +v 0.746500 -4.376774 -0.983509 +v -1.026203 -2.945144 -1.085906 +v 1.087626 -2.229075 -0.472177 +v 0.405587 -1.819929 -1.120183 +v 1.053450 -2.263065 -1.051846 +v -1.060380 -4.274298 -0.778933 +v 0.985096 -4.376774 -0.097084 +v 0.951133 -4.376774 -0.983509 +v -1.094556 -4.308288 0.584331 +v -1.060380 -2.228822 -0.540296 +v 1.053450 -1.785432 -1.017569 +v -0.719467 -1.956396 1.096097 +v -1.094556 -1.785686 0.721004 +v -1.094556 -4.342531 0.925364 +v -1.094556 -2.842667 0.311635 +v 1.087626 -4.137831 -0.915389 +v -0.958063 -2.092355 1.061820 +v 0.576044 -2.126599 1.061820 +f 19 8 39 +f 3 2 8 +f 3 8 11 +f 8 2 16 +f 6 11 17 +f 12 1 18 +f 14 5 19 +f 15 8 19 +f 4 9 20 +f 11 8 20 +f 7 13 21 +f 19 5 21 +f 7 21 22 +f 9 4 23 +f 12 9 23 +f 1 12 23 +f 10 8 24 +f 13 10 24 +f 8 15 24 +f 4 20 25 +f 1 23 25 +f 23 4 25 +f 10 13 26 +f 20 10 26 +f 13 25 26 +f 25 20 26 +f 12 18 27 +f 18 22 27 +f 14 6 28 +f 5 14 28 +f 21 5 28 +f 6 22 28 +f 22 21 28 +f 13 7 29 +f 18 1 29 +f 7 22 29 +f 22 18 29 +f 1 25 29 +f 25 13 29 +f 6 17 30 +f 12 27 30 +f 9 12 31 +f 8 10 32 +f 20 8 32 +f 10 20 32 +f 2 3 33 +f 6 14 33 +f 16 2 33 +f 14 16 33 +f 17 11 34 +f 20 9 34 +f 11 20 34 +f 9 31 34 +f 31 17 34 +f 22 6 35 +f 27 22 35 +f 6 30 35 +f 30 27 35 +f 30 17 36 +f 12 30 36 +f 31 12 36 +f 17 31 36 +f 15 19 37 +f 21 13 37 +f 19 21 37 +f 13 24 37 +f 24 15 37 +f 3 11 38 +f 11 6 38 +f 33 3 38 +f 6 33 38 +f 8 16 39 +f 16 14 39 +f 14 19 39 +o convex_1 +v 1.087626 3.533244 -0.813159 +v -1.094543 3.499401 0.720947 +v -1.094543 3.499401 0.959600 +v 1.019273 -0.659811 1.027727 +v -1.026190 -0.660244 -1.086086 +v -1.060367 -0.660244 0.993664 +v 1.019273 -0.659811 -1.017749 +v -0.992227 3.737603 -1.017749 +v 0.985310 3.738037 0.993453 +v 1.087626 3.669483 -1.017749 +v -1.094543 3.772314 0.959600 +v -0.582964 -0.319212 1.062000 +v -1.026190 1.964754 -1.086086 +v 0.473731 3.772314 -0.438043 +v 0.882995 -0.660244 -1.051812 +v 0.132820 3.772314 0.993664 +v 0.985310 2.340063 1.027727 +v 0.848818 1.691841 -1.051812 +v -1.060367 3.772314 -0.029074 +v -1.060367 -0.660244 0.311768 +v 1.019273 1.999030 0.857200 +v -0.617140 1.726117 -1.086086 +v -0.207877 -0.660244 1.062000 +v 0.916957 3.703760 -1.017749 +v -0.923874 -0.660244 1.027727 +v 1.019273 3.738037 0.072905 +v -1.026190 3.669483 -0.813159 +v 0.610223 3.772314 0.993664 +v 1.019273 0.670044 1.027727 +v -0.719456 -0.660244 -1.086086 +v -1.060367 2.578265 -0.267517 +v -0.582964 3.772314 -0.574507 +v -0.139737 3.737603 -1.017749 +v -0.958051 2.987852 -1.051812 +v 1.019273 3.738037 0.413958 +v 1.053450 3.703760 -0.881286 +f 65 74 75 +f 42 41 45 +f 40 43 46 +f 40 46 49 +f 41 42 50 +f 42 45 50 +f 45 44 54 +f 46 43 54 +f 49 46 54 +f 50 51 55 +f 53 50 55 +f 55 51 56 +f 49 54 57 +f 41 50 58 +f 50 53 58 +f 41 44 59 +f 45 41 59 +f 44 45 59 +f 44 52 61 +f 52 49 61 +f 49 57 61 +f 57 54 61 +f 54 43 62 +f 45 54 62 +f 56 51 62 +f 49 52 63 +f 50 45 64 +f 51 50 64 +f 45 62 64 +f 62 51 64 +f 47 52 66 +f 58 47 66 +f 53 55 67 +f 56 48 67 +f 55 56 67 +f 65 53 67 +f 43 40 68 +f 48 56 68 +f 40 60 68 +f 60 48 68 +f 62 43 68 +f 56 62 68 +f 54 44 69 +f 44 61 69 +f 61 54 69 +f 44 41 70 +f 52 44 70 +f 41 58 70 +f 66 52 70 +f 58 66 70 +f 47 58 71 +f 58 53 71 +f 53 63 72 +f 47 71 72 +f 71 53 72 +f 52 47 73 +f 63 52 73 +f 47 72 73 +f 72 63 73 +f 40 49 74 +f 60 40 74 +f 48 60 74 +f 67 48 74 +f 65 67 74 +f 49 63 75 +f 63 53 75 +f 53 65 75 +f 74 49 75 +o convex_2 +v 0.576167 5.681537 0.550551 +v -0.583107 3.772314 -0.574637 +v -0.446709 3.772314 -0.574637 +v -0.412439 5.783667 -0.540383 +v -0.548837 5.681537 0.516408 +v 0.235171 3.772314 0.516408 +v 0.473698 3.772314 -0.438174 +v 0.439655 5.818110 -0.506350 +v -0.583107 3.772314 0.448121 +v 0.507968 3.772314 0.516408 +v -0.583107 5.749623 -0.540383 +v 0.576167 5.715580 0.380055 +v 0.542011 3.977174 0.482265 +v -0.548837 5.476877 -0.574637 +v 0.473698 5.818110 -0.472317 +v -0.480752 5.715781 0.448121 +v -0.583107 4.386293 0.482265 +v 0.269214 5.818110 -0.335854 +v -0.583107 5.749623 -0.165467 +v 0.439655 5.408791 -0.506350 +v 0.030573 5.783667 -0.540383 +v 0.576167 5.101801 0.482265 +v -0.548837 5.408791 0.516408 +f 92 81 98 +f 77 78 81 +f 81 78 82 +f 77 81 84 +f 76 81 85 +f 81 82 85 +f 77 84 86 +f 76 85 88 +f 85 82 88 +f 78 77 89 +f 77 86 89 +f 86 79 89 +f 87 82 90 +f 80 76 91 +f 76 87 91 +f 84 81 92 +f 86 84 92 +f 83 79 93 +f 90 83 93 +f 87 90 93 +f 91 87 93 +f 91 93 94 +f 79 86 94 +f 80 91 94 +f 92 80 94 +f 86 92 94 +f 93 79 94 +f 82 78 95 +f 90 82 95 +f 83 90 95 +f 79 83 96 +f 78 89 96 +f 89 79 96 +f 95 78 96 +f 83 95 96 +f 87 76 97 +f 82 87 97 +f 76 88 97 +f 88 82 97 +f 76 80 98 +f 81 76 98 +f 80 92 98 +o convex_3 +v -0.583107 -1.580713 3.073339 +v 0.507984 -1.137740 2.085112 +v 0.507984 -1.171807 2.085112 +v -0.514861 -1.785432 1.096293 +v -0.446721 -0.796754 1.266807 +v 0.507984 -1.785432 1.096293 +v 0.473807 -0.762688 3.107600 +v 0.473807 -1.751152 3.005213 +v 0.507877 -0.830821 1.096293 +v -0.480791 -0.694448 3.107600 +v -0.412544 -1.717086 3.073339 +v -0.446721 -0.830821 1.096293 +v -0.276158 -0.694448 2.766573 +v -0.583107 -1.717086 2.766573 +v 0.439738 -1.785432 2.085112 +v -0.514861 -1.512579 1.096293 +v 0.473807 -1.035434 3.107600 +v -0.514861 -1.239940 3.107600 +v 0.507877 -0.796647 2.016788 +v -0.480791 -1.069500 1.198680 +v -0.514861 -1.785432 1.266807 +v 0.303244 -1.751152 3.005213 +v 0.473807 -1.614779 3.039276 +v 0.303244 -0.796754 1.437320 +v -0.173841 -0.694448 3.039276 +f 122 111 123 +f 100 101 104 +f 101 100 105 +f 104 101 106 +f 100 104 107 +f 104 102 107 +f 107 102 110 +f 103 107 110 +f 103 108 111 +f 109 99 112 +f 102 104 113 +f 104 106 113 +f 110 102 114 +f 112 99 114 +f 102 112 114 +f 101 105 115 +f 105 108 115 +f 109 115 116 +f 108 99 116 +f 99 109 116 +f 115 108 116 +f 105 100 117 +f 100 107 117 +f 99 108 118 +f 108 103 118 +f 103 110 118 +f 114 99 118 +f 110 114 118 +f 109 112 119 +f 112 102 119 +f 102 113 119 +f 119 113 120 +f 106 109 120 +f 113 106 120 +f 109 119 120 +f 106 101 121 +f 109 106 121 +f 101 115 121 +f 115 109 121 +f 107 103 122 +f 103 111 122 +f 117 107 122 +f 117 122 123 +f 108 105 123 +f 111 108 123 +f 105 117 123 +o convex_4 +v -0.548820 -1.239937 -2.858932 +v 0.507874 -0.796818 -1.120183 +v 0.098785 -0.762678 -1.120183 +v -0.344331 -1.717096 -1.120183 +v 0.473737 -1.751336 -3.097592 +v 0.507874 -0.830858 -2.995199 +v 0.473737 -1.751336 -1.120183 +v -0.446631 -0.728538 -1.120183 +v -0.617094 -0.864998 -2.927065 +v -0.412494 -1.717096 -3.063332 +v -0.480657 -1.682956 -1.120183 +v -0.037652 -0.830858 -2.995199 +v -0.173868 -1.751336 -2.415680 +v 0.507874 -1.410236 -1.734155 +v 0.507874 -1.205897 -3.063332 +v -0.514794 -0.762678 -1.666022 +v -0.446631 -1.682956 -3.063332 +v 0.507874 -0.796818 -1.938748 +v -0.378357 -0.830858 -2.961132 +v -0.514794 -1.512556 -1.427362 +v 0.098785 -1.751336 -1.120183 +v -0.412494 -0.728538 -1.222769 +v 0.098785 -1.751336 -3.097592 +v -0.480657 -1.137717 -1.120183 +v -0.446631 -1.717096 -1.563629 +v -0.582957 -0.864998 -2.961132 +v 0.439601 -0.864998 -3.029265 +v -0.582957 -0.830858 -2.858932 +v -0.310194 -1.546596 -3.063332 +v -0.617094 -0.899037 -2.858932 +v -0.480657 -1.682956 -1.597695 +f 143 153 154 +f 125 126 127 +f 125 127 130 +f 127 126 131 +f 127 131 134 +f 128 130 136 +f 129 125 137 +f 125 130 137 +f 130 128 137 +f 129 137 138 +f 137 128 138 +f 126 125 141 +f 125 129 141 +f 130 127 144 +f 136 130 144 +f 131 126 145 +f 129 135 145 +f 139 131 145 +f 126 141 145 +f 141 129 145 +f 135 142 145 +f 128 136 146 +f 136 133 146 +f 138 128 146 +f 133 140 146 +f 134 131 147 +f 131 139 147 +f 143 134 147 +f 127 134 148 +f 133 136 148 +f 144 127 148 +f 136 144 148 +f 140 132 149 +f 142 135 149 +f 135 129 150 +f 129 138 150 +f 132 139 151 +f 139 145 151 +f 145 142 151 +f 149 132 151 +f 142 149 151 +f 138 146 152 +f 146 140 152 +f 140 149 152 +f 149 135 152 +f 135 150 152 +f 150 138 152 +f 139 132 153 +f 140 124 153 +f 132 140 153 +f 147 139 153 +f 143 147 153 +f 124 140 154 +f 140 133 154 +f 134 143 154 +f 148 134 154 +f 133 148 154 +f 153 124 154 +o convex_5 +v -0.480787 -1.683012 -1.120182 +v 1.053530 -1.751182 -0.097084 +v 1.053530 -1.785322 -0.097084 +v -1.094556 -1.512533 1.027760 +v 1.019256 -0.660244 -1.017786 +v 1.019256 -0.660244 1.027760 +v -1.026220 -0.660244 -1.085906 +v -1.060283 -0.660244 0.993700 +v 1.019256 -1.785322 1.027760 +v -1.026220 -1.785322 -1.085906 +v 1.053530 -1.785322 -1.017786 +v -0.685167 -1.785322 1.096097 +v 0.507887 -0.796804 -1.120182 +v -1.094556 -1.785322 1.027760 +v 0.507887 -0.830834 1.096097 +v 0.507887 -1.785322 -1.120182 +v -0.446724 -0.830834 1.096097 +v 0.507887 -1.785322 1.096097 +v 1.053530 -1.035454 -1.017786 +v -0.446724 -0.728635 -1.120182 +v -1.094556 -1.785322 0.721004 +v -0.617040 -0.660244 1.061820 +v -1.060283 -0.660244 0.277575 +v -1.094556 -1.307913 0.959423 +v -0.958093 -0.728635 1.027760 +v 0.883003 -0.660244 -1.051846 +v 0.916856 -1.785322 -1.051846 +f 180 173 181 +f 157 156 160 +f 160 159 161 +f 160 161 162 +f 157 160 163 +f 161 155 164 +f 157 163 164 +f 156 157 165 +f 157 164 165 +f 164 163 166 +f 166 158 168 +f 164 166 168 +f 163 160 169 +f 164 155 170 +f 165 164 170 +f 155 167 170 +f 166 169 171 +f 166 163 172 +f 163 169 172 +f 169 166 172 +f 160 156 173 +f 159 160 173 +f 156 165 173 +f 155 161 174 +f 167 155 174 +f 161 164 175 +f 168 158 175 +f 164 168 175 +f 160 162 176 +f 169 160 176 +f 171 169 176 +f 162 161 177 +f 158 162 178 +f 175 158 178 +f 161 175 178 +f 162 177 178 +f 177 161 178 +f 162 158 179 +f 158 166 179 +f 166 171 179 +f 176 162 179 +f 171 176 179 +f 161 159 180 +f 159 173 180 +f 174 161 180 +f 167 174 180 +f 165 170 181 +f 170 167 181 +f 173 165 181 +f 167 180 181 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/887/887.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/887/887.urdf new file mode 100644 index 000000000..16c812d28 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/887/887.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/888/888.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/888/888.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/888/888.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/888/888.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/888/888.obj new file mode 100644 index 000000000..4a48d3f27 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/888/888.obj @@ -0,0 +1,477 @@ +o convex_0 +v 1.015792 1.454315 -0.013321 +v -1.005907 0.416189 -0.041617 +v -1.005907 0.416189 -0.013516 +v 0.060947 6.143610 0.042491 +v 0.060947 1.117893 0.997344 +v 0.004943 -1.155430 -0.968174 +v 0.060947 -2.280136 0.716528 +v -0.079163 3.419251 -0.911972 +v 0.734979 -1.156255 -0.687163 +v -0.696992 2.660652 0.688232 +v -0.725093 3.391216 -0.715459 +v -0.640790 -1.914029 -0.574758 +v -0.696992 -1.212325 0.744434 +v 0.678777 3.391216 0.688427 +v 0.763080 -1.128220 0.688232 +v 0.678777 3.419251 -0.659062 +v 0.510368 -2.280136 -0.266036 +v -0.921603 3.391216 -0.041617 +v 0.004943 3.363181 0.884940 +v -0.781097 0.584400 -0.799568 +v 0.903388 3.475321 0.042491 +v 0.987691 -1.128220 -0.041422 +v -0.809198 -1.886819 0.070592 +v -0.051061 -2.280136 -0.631156 +v -0.668891 3.447286 0.632029 +v 0.734979 1.398245 -0.743560 +v 0.060947 -1.211501 0.941142 +v 0.790983 1.230033 0.744434 +v 0.285559 5.889645 -0.013321 +v -0.752996 -1.212325 -0.743365 +v 0.089048 5.890470 -0.181928 +v -0.022960 1.763526 -0.996276 +v -0.135365 5.918505 -0.013321 +v 0.622574 -1.914029 0.547921 +v -0.500284 -2.280136 0.210903 +v -0.725093 1.539245 0.744434 +v 0.032846 5.918505 0.182997 +v -0.949704 -1.268395 0.042491 +v 0.622574 -1.886819 -0.574954 +v -0.584587 -1.914029 0.632029 +v 0.819084 -1.886819 -0.013321 +v -0.781097 1.454315 -0.799568 +v 0.454165 -2.280136 0.463618 +v -1.005907 1.454315 -0.013516 +v -0.472381 -2.280136 -0.434448 +v 0.173352 3.419251 -0.855770 +v 1.015792 1.201998 0.070592 +v 0.734979 3.419251 0.603928 +v -0.135365 1.258893 -0.996276 +v 0.060947 0.808681 -0.996276 +v -0.781097 1.173963 0.660326 +v 0.819084 1.201998 -0.574954 +v 0.650675 -1.156255 -0.743365 +v -0.079163 1.173963 0.969243 +v 0.903388 3.447286 -0.041422 +v -0.696992 3.391216 -0.743365 +v -0.163466 -1.128220 -0.939878 +v 0.117150 5.890470 0.182997 +v -0.949704 -1.184290 -0.097624 +v -0.135365 5.918505 0.042491 +v -1.005907 1.145928 -0.097624 +v -0.022960 -1.155430 0.941142 +v 0.847186 -1.128220 0.463618 +v 0.117150 -1.016079 0.941142 +f 28 5 64 +f 5 14 19 +f 17 7 24 +f 18 10 25 +f 10 19 25 +f 7 15 27 +f 14 5 28 +f 4 29 31 +f 29 16 31 +f 11 18 33 +f 4 31 33 +f 15 7 34 +f 24 7 35 +f 19 10 36 +f 25 19 37 +f 3 2 38 +f 23 13 38 +f 9 22 39 +f 24 6 39 +f 17 24 39 +f 13 23 40 +f 35 7 40 +f 23 35 40 +f 39 22 41 +f 17 39 41 +f 7 17 43 +f 34 7 43 +f 41 34 43 +f 17 41 43 +f 2 3 44 +f 23 12 45 +f 12 24 45 +f 35 23 45 +f 24 35 45 +f 16 26 46 +f 8 31 46 +f 31 16 46 +f 32 8 46 +f 26 32 46 +f 1 21 47 +f 22 1 47 +f 28 47 48 +f 14 28 48 +f 29 14 48 +f 21 29 48 +f 47 21 48 +f 8 32 49 +f 20 42 49 +f 32 26 50 +f 6 49 50 +f 49 32 50 +f 10 18 51 +f 13 36 51 +f 36 10 51 +f 3 38 51 +f 38 13 51 +f 44 3 51 +f 18 44 51 +f 16 1 52 +f 1 22 52 +f 22 9 52 +f 9 26 52 +f 26 16 52 +f 26 9 53 +f 39 6 53 +f 9 39 53 +f 6 50 53 +f 50 26 53 +f 5 19 54 +f 36 13 54 +f 19 36 54 +f 1 16 55 +f 21 1 55 +f 16 29 55 +f 29 21 55 +f 31 8 56 +f 11 33 56 +f 33 31 56 +f 42 11 56 +f 8 49 56 +f 49 42 56 +f 6 24 57 +f 24 12 57 +f 12 30 57 +f 30 20 57 +f 49 6 57 +f 20 49 57 +f 19 14 58 +f 29 4 58 +f 14 29 58 +f 37 19 58 +f 4 37 58 +f 2 20 59 +f 12 23 59 +f 30 12 59 +f 20 30 59 +f 38 2 59 +f 23 38 59 +f 18 25 60 +f 33 18 60 +f 4 33 60 +f 25 37 60 +f 37 4 60 +f 18 11 61 +f 20 2 61 +f 11 42 61 +f 42 20 61 +f 2 44 61 +f 44 18 61 +f 27 5 62 +f 7 27 62 +f 13 40 62 +f 40 7 62 +f 5 54 62 +f 54 13 62 +f 28 15 63 +f 15 34 63 +f 41 22 63 +f 34 41 63 +f 22 47 63 +f 47 28 63 +f 5 27 64 +f 27 15 64 +f 15 28 64 +o convex_1 +v -0.556640 -3.627990 -0.125816 +v 0.538447 -3.487540 0.295324 +v 0.510362 -3.487540 0.407542 +v 0.397916 -3.880571 0.014456 +v 0.004839 -3.487540 -0.855880 +v -0.472386 -3.487540 0.547814 +v -0.388132 -3.852497 -0.013599 +v 0.004839 -3.852497 0.407542 +v 0.426108 -3.515696 -0.630958 +v -0.023032 -3.852497 -0.434577 +v 0.032816 -3.515696 0.800790 +v -0.472386 -3.487540 -0.490848 +v 0.426108 -3.684138 0.407542 +v 0.538447 -3.712129 -0.041491 +v 0.397916 -3.712129 -0.462631 +v -0.416110 -3.712129 0.379487 +v -0.388132 -3.712129 -0.378468 +v -0.079094 -3.908644 0.042510 +v 0.538447 -3.487540 -0.209980 +v -0.051009 -3.515696 -0.855880 +v -0.556640 -3.684138 0.042510 +v -0.556640 -3.487540 0.154890 +v 0.201431 -3.852497 -0.378468 +v -0.051009 -3.487540 0.800790 +v -0.219624 -3.824423 0.351433 +v -0.051009 -3.515696 0.800790 +v 0.004839 -3.880571 -0.378468 +v 0.482278 -3.515696 0.491705 +v 0.004839 -3.515696 -0.855880 +v -0.444302 -3.824423 0.042510 +v -0.219624 -3.824423 -0.350414 +v 0.313770 -3.824423 0.267270 +v 0.145155 -3.908644 0.014456 +v 0.426108 -3.487540 -0.630958 +f 83 73 98 +f 67 66 69 +f 67 69 70 +f 70 69 76 +f 75 72 77 +f 77 68 78 +f 73 78 79 +f 78 68 79 +f 65 76 81 +f 69 66 83 +f 66 78 83 +f 78 73 83 +f 76 69 84 +f 81 76 84 +f 80 70 85 +f 76 65 86 +f 70 76 86 +f 65 85 86 +f 85 70 86 +f 79 68 87 +f 67 70 88 +f 71 82 89 +f 82 72 89 +f 89 72 90 +f 72 75 90 +f 70 80 90 +f 88 70 90 +f 75 88 90 +f 80 89 90 +f 82 71 91 +f 87 68 91 +f 74 87 91 +f 66 67 92 +f 75 77 92 +f 78 66 92 +f 77 78 92 +f 67 88 92 +f 88 75 92 +f 69 73 93 +f 73 79 93 +f 84 69 93 +f 74 84 93 +f 79 87 93 +f 87 74 93 +f 65 81 94 +f 81 71 94 +f 85 65 94 +f 80 85 94 +f 89 80 94 +f 71 89 94 +f 71 81 95 +f 84 74 95 +f 81 84 95 +f 91 71 95 +f 74 91 95 +f 72 68 96 +f 68 77 96 +f 77 72 96 +f 68 72 97 +f 72 82 97 +f 82 91 97 +f 91 68 97 +f 73 69 98 +f 69 83 98 +o convex_2 +v 0.257577 -2.560949 2.484836 +v -0.051128 -3.487539 -0.995196 +v -0.051128 -3.431282 -1.613316 +v -0.500443 -2.280136 0.210317 +v 0.369933 -2.504810 -1.950151 +v -0.444265 -3.318886 1.838941 +v 0.538357 -3.487539 0.350960 +v -0.472299 -2.870009 -2.652184 +v 0.538357 -2.280136 0.098630 +v 0.397967 -2.897666 -2.624410 +v -0.556621 -3.487539 -0.181474 +v -0.051128 -2.448789 -2.708915 +v -0.079272 -2.897666 3.019043 +v -0.472299 -2.870009 2.625479 +v -0.051128 -2.448789 2.709983 +v -0.051128 -3.318886 2.709983 +v 0.369933 -2.897666 2.709983 +v -0.023094 -3.262865 -2.708915 +v 0.538357 -3.487539 -0.209249 +v 0.510323 -2.841881 1.839532 +v -0.472299 -2.280136 -0.462170 +v -0.556621 -2.841881 -1.950742 +v -0.556621 -2.897666 1.782802 +v 0.510323 -2.870009 -1.838463 +v -0.023094 -2.813752 -3.017975 +v -0.051128 -3.459411 1.558837 +v -0.444265 -3.262865 -1.866237 +v 0.369933 -3.290757 -1.866237 +v -0.360053 -2.532939 -2.371489 +v 0.004940 -2.336393 1.782802 +v 0.341789 -3.262865 2.064088 +v 0.538357 -2.280136 -0.209249 +v 0.566501 -3.375143 -0.069196 +v -0.360053 -2.532939 2.232506 +v -0.500443 -3.487539 0.519377 +v 0.369933 -2.476918 1.867306 +v 0.032974 -2.280136 -0.687317 +v 0.454145 -3.487539 -0.602813 +v 0.454145 -2.280136 0.491603 +v -0.444265 -2.785624 -2.736688 +v 0.004940 -2.448789 -2.708323 +v -0.388087 -3.178597 2.457062 +v -0.360053 -3.150469 -2.483767 +v 0.397967 -2.841881 -2.624410 +v -0.472299 -3.487539 -0.518309 +v 0.285721 -3.178597 -2.455402 +v -0.556621 -3.487539 0.154769 +v -0.107306 -3.318886 2.681618 +v 0.004940 -2.364403 -1.837873 +v -0.388087 -2.870009 -2.792828 +v 0.004940 -2.280136 0.771708 +v 0.538357 -2.785624 1.052403 +v 0.285721 -2.560949 -2.455402 +v 0.257577 -3.206726 2.484836 +v -0.079272 -3.262865 -2.679959 +v 0.369933 -2.897666 -2.708915 +v 0.341789 -2.870009 2.766122 +v 0.510323 -2.925794 1.811167 +v 0.397967 -3.290757 1.783393 +v 0.004940 -3.487539 1.025220 +v -0.023094 -2.448789 2.709983 +v 0.510323 -2.925794 -1.838463 +v -0.023094 -3.431282 1.895671 +v -0.444265 -2.504810 -1.753959 +f 127 138 162 +f 100 105 109 +f 112 111 113 +f 105 100 117 +f 102 107 119 +f 102 119 120 +f 112 102 121 +f 104 112 121 +f 102 120 121 +f 120 109 121 +f 109 120 125 +f 120 106 125 +f 119 110 127 +f 102 113 128 +f 119 107 130 +f 122 130 131 +f 105 117 131 +f 130 107 131 +f 102 112 132 +f 112 113 132 +f 113 102 132 +f 109 105 133 +f 99 115 134 +f 118 107 134 +f 115 118 134 +f 119 130 135 +f 100 101 136 +f 101 116 136 +f 117 100 136 +f 116 126 136 +f 126 117 136 +f 107 102 137 +f 134 107 137 +f 106 120 138 +f 110 123 138 +f 127 110 138 +f 123 110 139 +f 130 103 139 +f 112 104 140 +f 125 106 141 +f 122 108 142 +f 103 130 142 +f 130 122 142 +f 101 100 143 +f 100 109 143 +f 109 125 143 +f 126 116 144 +f 108 126 144 +f 104 121 145 +f 121 109 145 +f 133 104 145 +f 109 133 145 +f 111 112 146 +f 114 111 146 +f 104 133 146 +f 140 104 146 +f 112 140 146 +f 110 119 147 +f 119 135 147 +f 135 130 147 +f 139 110 147 +f 130 139 147 +f 123 116 148 +f 106 138 148 +f 138 123 148 +f 141 106 148 +f 102 128 149 +f 137 102 149 +f 128 137 149 +f 107 118 150 +f 131 107 150 +f 139 103 151 +f 103 142 151 +f 142 139 151 +f 115 114 152 +f 114 129 152 +f 129 115 152 +f 116 101 153 +f 125 141 153 +f 101 143 153 +f 143 125 153 +f 148 116 153 +f 141 148 153 +f 116 123 154 +f 123 139 154 +f 142 108 154 +f 139 142 154 +f 108 144 154 +f 144 116 154 +f 111 114 155 +f 115 99 155 +f 114 115 155 +f 118 115 156 +f 105 131 156 +f 150 118 156 +f 131 150 156 +f 114 105 157 +f 129 114 157 +f 115 129 157 +f 156 115 157 +f 105 156 157 +f 105 124 158 +f 133 105 158 +f 124 133 158 +f 113 111 159 +f 128 113 159 +f 99 134 159 +f 137 128 159 +f 134 137 159 +f 111 155 159 +f 155 99 159 +f 108 122 160 +f 126 108 160 +f 117 126 160 +f 122 131 160 +f 131 117 160 +f 105 114 161 +f 124 105 161 +f 133 124 161 +f 114 146 161 +f 146 133 161 +f 120 119 162 +f 119 127 162 +f 138 120 162 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/888/888.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/888/888.urdf new file mode 100644 index 000000000..8dbec64e6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/888/888.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/889/889.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/889/889.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/889/889.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/889/889.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/889/889.obj new file mode 100644 index 000000000..3dae91612 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/889/889.obj @@ -0,0 +1,786 @@ +o convex_0 +v 1.005529 -2.226424 -1.244187 +v -1.340324 -0.708358 -0.795863 +v -1.340324 -0.708358 -0.727123 +v -0.098253 -4.985576 -0.864603 +v 0.039530 -0.639007 0.446115 +v 0.177566 -0.639007 -1.934382 +v -0.132699 -4.226543 -1.692744 +v -0.926216 -3.847027 -0.140621 +v 0.833047 -3.847027 -0.175107 +v 1.247155 -0.639007 -0.623664 +v -0.857325 -1.950721 -1.761717 +v -0.857325 -4.295468 -1.002782 +v 0.729457 -4.330357 -1.037268 +v 0.798601 -0.673895 -1.830689 +v -0.891770 -0.639007 0.135504 +v -0.891770 -0.639007 -1.761717 +v 0.867493 -0.639007 0.066298 +v 0.005084 -4.226543 -0.105901 +v 0.729457 -2.123035 -1.796203 +v -0.098253 -2.295349 -1.934382 +v 0.522529 -3.743638 -1.554798 +v -1.340324 -0.639007 -0.554691 +v -1.098698 -2.364275 -1.209700 +v -0.650144 -3.605361 -1.554565 +v -0.029362 -0.777709 0.446115 +v 1.143565 -0.639007 -1.175214 +v -0.029362 -4.261006 -1.692744 +v -0.201590 -0.639007 -1.934382 +v 0.074229 -4.916224 -0.933809 +v 1.212456 -0.673895 -0.485485 +v 0.798601 -3.778101 -0.140621 +v -0.132699 -4.226543 -0.106134 +v 1.247155 -0.673895 -0.795630 +v -0.960662 -3.709175 -0.175107 +v -0.098253 -4.881762 -1.071755 +v 0.074229 -2.088573 -1.934382 +v -1.029553 -0.811747 -1.520078 +v 0.798601 -3.915952 -0.175107 +v -0.926216 -3.605787 -0.105901 +v 0.798601 -1.329540 0.066298 +v -0.098253 -0.674321 0.446115 +v -0.822626 -2.329812 -1.727230 +v 0.729457 -4.364820 -0.968295 +v -0.029362 -4.123155 -1.727230 +v 0.039530 -4.916224 -0.830117 +v 0.764156 -4.157618 -1.002782 +v -0.201590 -2.054110 -1.934382 +v 0.039530 -0.743247 0.446115 +v -0.857325 -1.432928 0.100784 +v -0.684590 -0.674321 -1.830689 +v -0.960662 -3.605787 -0.140621 +v 0.833047 -3.639824 -0.140621 +v -0.822626 -4.019766 -0.244080 +v 0.936638 -2.295349 -1.382133 +v -1.236734 -0.639007 -1.071755 +v -0.098253 -4.123155 -1.727230 +v -0.857325 -4.226543 -0.761377 +v -0.926216 -3.950415 -0.451232 +v 0.591421 -3.984878 -0.140388 +v -0.719289 -2.088573 -1.796203 +v -0.822626 -4.192080 -1.106241 +v -1.098698 -2.226424 -1.244187 +v 0.695011 -4.226543 -1.140728 +v 0.453385 -0.639007 -1.899662 +f 14 36 64 +f 6 5 10 +f 5 6 15 +f 15 6 16 +f 10 5 17 +f 2 3 22 +f 15 16 22 +f 12 2 23 +f 6 10 26 +f 16 6 28 +f 6 20 28 +f 27 13 29 +f 9 10 30 +f 10 17 30 +f 4 18 32 +f 25 8 32 +f 18 25 32 +f 10 9 33 +f 1 26 33 +f 26 10 33 +f 3 2 34 +f 22 3 34 +f 4 12 35 +f 12 7 35 +f 7 27 35 +f 29 4 35 +f 27 29 35 +f 14 19 36 +f 20 6 36 +f 16 11 37 +f 9 31 38 +f 8 25 39 +f 5 15 41 +f 25 5 41 +f 39 25 41 +f 23 11 42 +f 7 24 42 +f 29 13 43 +f 9 38 43 +f 19 21 44 +f 21 27 44 +f 36 19 44 +f 20 36 44 +f 18 4 45 +f 4 29 45 +f 29 43 45 +f 43 38 45 +f 13 1 46 +f 33 9 46 +f 1 33 46 +f 43 13 46 +f 9 43 46 +f 28 20 47 +f 17 5 48 +f 5 25 48 +f 25 18 48 +f 40 17 48 +f 15 39 49 +f 41 15 49 +f 39 41 49 +f 11 16 50 +f 16 28 50 +f 28 47 50 +f 15 22 51 +f 34 8 51 +f 22 34 51 +f 39 15 51 +f 8 39 51 +f 9 30 52 +f 30 17 52 +f 31 9 52 +f 17 40 52 +f 48 31 52 +f 40 48 52 +f 4 32 53 +f 32 8 53 +f 1 13 54 +f 19 14 54 +f 26 1 54 +f 14 26 54 +f 2 22 55 +f 22 16 55 +f 16 37 55 +f 27 7 56 +f 7 42 56 +f 20 44 56 +f 44 27 56 +f 12 4 57 +f 4 53 57 +f 53 8 57 +f 2 12 58 +f 34 2 58 +f 8 34 58 +f 12 57 58 +f 57 8 58 +f 38 31 59 +f 18 45 59 +f 45 38 59 +f 48 18 59 +f 31 48 59 +f 42 11 60 +f 47 20 60 +f 11 50 60 +f 50 47 60 +f 56 42 60 +f 20 56 60 +f 7 12 61 +f 12 23 61 +f 24 7 61 +f 23 42 61 +f 42 24 61 +f 23 2 62 +f 11 23 62 +f 37 11 62 +f 2 55 62 +f 55 37 62 +f 21 19 63 +f 13 27 63 +f 27 21 63 +f 54 13 63 +f 19 54 63 +f 6 26 64 +f 26 14 64 +f 36 6 64 +o convex_1 +v -0.995217 0.637576 -1.692696 +v 1.246926 0.395995 -0.898910 +v 1.005578 0.947991 -0.623120 +v 0.005181 0.913487 2.067613 +v -0.960703 0.361492 0.135500 +v -0.960703 0.947991 -1.761446 +v 0.763984 0.361492 -1.864967 +v 0.039448 0.361492 0.997641 +v 0.833011 0.947991 -1.864967 +v -0.891676 0.947991 0.859746 +v -1.271078 0.361492 -0.968056 +v 0.867524 0.947991 1.066786 +v 0.936551 0.361492 0.100730 +v -0.201654 0.361492 -1.933717 +v -0.063846 0.947991 -1.968882 +v -0.960703 0.361492 -1.761446 +v -1.029730 0.947991 -0.553975 +v 1.177899 0.361492 -1.312991 +v 0.005181 0.947991 2.067613 +v 1.005578 0.947991 -1.175096 +v 0.971064 0.947991 0.445666 +v -1.271078 0.395995 -0.829765 +v 0.074208 0.913487 2.032447 +v -0.029333 0.465002 1.204682 +v 0.867524 0.913487 1.066786 +v -1.029730 0.947991 -1.278616 +v -0.788136 0.913487 -1.830591 +v -0.891676 0.913487 0.859746 +v -0.960703 0.947991 0.480041 +v 0.867524 0.465002 -1.830196 +v 0.177501 0.361492 -1.934112 +v -1.202051 0.361492 -1.243846 +v 0.902038 0.947991 -1.727071 +v 1.246926 0.361492 -0.898910 +v -0.063846 0.913487 1.998072 +v 1.246926 0.395995 -1.002826 +f 98 82 100 +f 69 71 72 +f 70 67 73 +f 67 70 74 +f 71 69 75 +f 67 74 76 +f 72 71 77 +f 71 75 78 +f 70 73 79 +f 65 70 80 +f 78 75 80 +f 74 70 81 +f 77 71 82 +f 76 74 83 +f 67 66 84 +f 73 67 84 +f 66 67 85 +f 67 76 85 +f 76 66 85 +f 75 69 86 +f 68 72 87 +f 72 77 87 +f 83 68 87 +f 76 83 87 +f 68 69 88 +f 72 68 88 +f 69 72 88 +f 66 76 89 +f 87 77 89 +f 76 87 89 +f 70 75 90 +f 81 70 90 +f 75 86 90 +f 86 81 90 +f 70 79 91 +f 79 78 91 +f 78 80 91 +f 80 70 91 +f 86 69 92 +f 74 86 92 +f 74 81 93 +f 86 74 93 +f 81 86 93 +f 71 73 94 +f 73 82 94 +f 82 71 94 +f 73 71 95 +f 71 78 95 +f 79 73 95 +f 78 79 95 +f 70 65 96 +f 75 70 96 +f 65 80 96 +f 80 75 96 +f 82 73 97 +f 73 84 97 +f 77 82 98 +f 66 89 98 +f 89 77 98 +f 69 68 99 +f 68 83 99 +f 83 74 99 +f 92 69 99 +f 74 92 99 +f 84 66 100 +f 82 97 100 +f 97 84 100 +f 66 98 100 +o convex_2 +v 1.005267 0.361492 -0.140330 +v -1.305825 -0.535490 -0.519884 +v -1.305825 -0.190467 -0.519884 +v -0.029326 0.326921 0.929114 +v 1.212436 -0.639007 -0.485276 +v -0.029326 -0.639007 0.480487 +v -1.064169 0.361492 -0.519884 +v 1.040004 0.361492 -0.519884 +v -0.891737 -0.639007 0.135825 +v -0.960460 0.361492 0.135825 +v 0.867321 -0.639007 0.066751 +v 0.936544 0.361492 0.101217 +v -1.271088 -0.639007 -0.519884 +v 0.039397 0.361492 0.929114 +v 1.247172 -0.293984 -0.519884 +v -0.926224 -0.018200 0.170291 +v -1.202115 0.223306 -0.485276 +v 1.212436 -0.639007 -0.519884 +v -1.305825 -0.535490 -0.485276 +v 0.039397 0.326921 0.929114 +v 1.247172 -0.431973 -0.485276 +v 0.902058 -0.087146 0.101217 +v 1.143463 0.188833 -0.485276 +v 0.004910 -0.639007 0.480487 +f 111 120 124 +f 102 103 107 +f 102 107 108 +f 107 101 108 +f 105 106 109 +f 106 104 109 +f 101 107 110 +f 106 105 111 +f 101 110 112 +f 102 108 113 +f 105 109 113 +f 110 104 114 +f 112 110 114 +f 113 108 115 +f 109 104 116 +f 104 110 116 +f 107 103 117 +f 103 110 117 +f 110 107 117 +f 105 113 118 +f 113 115 118 +f 103 102 119 +f 110 103 119 +f 102 113 119 +f 113 109 119 +f 109 116 119 +f 116 110 119 +f 104 106 120 +f 114 104 120 +f 112 114 120 +f 111 105 121 +f 115 112 121 +f 105 118 121 +f 118 115 121 +f 120 111 122 +f 112 120 122 +f 111 121 122 +f 121 112 122 +f 108 101 123 +f 101 112 123 +f 115 108 123 +f 112 115 123 +f 106 111 124 +f 120 106 124 +o convex_3 +v -0.374326 1.982935 -2.245104 +v 0.350173 2.086395 -2.176050 +v 0.350173 1.879547 -2.176050 +v 0.005157 1.982935 -3.900879 +v -0.132779 1.603561 -2.176050 +v -0.063704 2.327918 -2.176050 +v -0.063704 1.741554 -3.659106 +v -0.063704 2.189925 -3.659106 +v -0.236319 1.914081 -3.659106 +v 0.177630 2.017398 -3.659106 +v 0.246633 1.672557 -2.210661 +v 0.281170 2.258921 -2.210661 +v -0.305322 1.672557 -2.314158 +v -0.270785 2.224388 -2.314158 +v 0.143164 1.810550 -3.486724 +v 0.074160 2.189925 -3.590221 +v 0.039623 1.741554 -3.624663 +v -0.201782 2.086395 -3.521167 +v -0.374326 1.914081 -2.176050 +v 0.039623 1.603561 -2.210661 +v 0.039623 2.327918 -2.314158 +v 0.177630 2.155391 -3.348616 +v -0.201782 1.810550 -3.555609 +v 0.212167 1.982935 -3.486724 +f 134 146 148 +f 127 126 129 +f 129 126 130 +f 128 131 133 +f 132 128 133 +f 127 129 135 +f 130 126 136 +f 131 129 137 +f 130 132 138 +f 127 135 139 +f 128 132 140 +f 134 128 140 +f 131 128 141 +f 128 134 141 +f 134 139 141 +f 139 135 141 +f 133 125 142 +f 132 133 142 +f 125 138 142 +f 138 132 142 +f 129 130 143 +f 125 133 143 +f 137 129 143 +f 133 137 143 +f 138 125 143 +f 130 138 143 +f 129 131 144 +f 135 129 144 +f 131 141 144 +f 141 135 144 +f 132 130 145 +f 130 136 145 +f 140 132 145 +f 136 140 145 +f 136 126 146 +f 134 140 146 +f 140 136 146 +f 133 131 147 +f 131 137 147 +f 137 133 147 +f 126 127 148 +f 127 139 148 +f 139 134 148 +f 146 126 148 +o convex_4 +v 0.660511 2.017489 3.619401 +v -0.063773 0.947991 -1.968753 +v -0.305201 1.638098 -2.175881 +v 0.936546 2.879914 -1.588916 +v -0.788262 2.741725 2.687633 +v -0.891673 0.947991 0.929195 +v 0.970948 0.947991 0.515554 +v -0.857271 2.879914 -1.450626 +v 0.005030 1.224159 3.620016 +v 0.488092 3.086988 1.480512 +v -1.029690 0.947991 -1.277917 +v 0.867537 0.947991 -1.830463 +v -0.788262 1.983152 3.516145 +v 0.695118 2.810820 2.929179 +v 1.040162 2.051827 1.790897 +v -1.029690 2.120712 1.756478 +v -0.029165 2.120922 4.067462 +v 0.315673 2.293239 -2.175881 +v 1.040162 1.396686 -1.209694 +v -0.098174 2.776272 3.516145 +v -0.477826 3.017894 -1.450626 +v -0.512227 3.017894 1.376641 +v 0.660511 1.362348 2.963598 +v 0.971153 2.845367 1.066871 +v -0.960681 0.947991 -1.761625 +v 0.039431 0.947991 2.135701 +v 0.660511 3.086988 -0.761019 +v -0.960681 2.776272 0.997419 +v -1.029690 1.810625 -1.244112 +v 0.798528 1.983152 3.481726 +v -0.581236 1.431233 3.205145 +v -0.029165 2.948799 -1.796044 +v -0.270593 2.224354 -2.175881 +v 0.867537 0.982538 1.307803 +v 1.040162 2.155469 -0.691566 +v 0.764127 3.086988 0.653844 +v -1.064298 0.982748 -0.898694 +v 0.936546 1.983152 -1.796044 +v -0.926280 2.051827 -1.692787 +v 0.281065 1.638098 -2.175881 +v -1.029690 1.672645 1.307803 +v -0.063773 1.948604 4.103110 +v -0.650245 3.017894 0.343459 +v 0.108646 3.086988 -0.277925 +v -0.753655 2.741725 2.929179 +v -0.098174 3.052441 1.721445 +v 1.005555 0.947991 -1.174660 +v 1.040162 1.638098 1.238966 +v -0.822664 1.983152 3.412888 +v 0.557101 3.017894 -1.450626 +v 0.419083 2.017489 -2.175881 +v -0.822664 2.845157 -1.553883 +v -0.374209 1.983152 -2.175881 +v 0.074039 1.224159 3.585597 +v -1.029690 2.051827 -0.381181 +v -0.960681 0.947991 0.515554 +v 0.005030 2.776272 3.516145 +v -0.788262 2.051827 3.516145 +v 0.833136 1.189612 1.998025 +v 0.039431 1.948604 4.103110 +v 1.040162 1.707192 -1.312950 +v 1.040162 2.293448 1.446093 +v 0.660511 1.534666 3.274598 +v 0.177655 2.948799 -1.796044 +f 180 198 212 +f 154 150 155 +f 150 154 159 +f 155 150 160 +f 151 150 173 +f 150 159 173 +f 154 155 174 +f 157 154 174 +f 164 153 176 +f 153 170 176 +f 173 159 177 +f 162 149 178 +f 154 157 179 +f 157 161 179 +f 166 151 181 +f 180 166 181 +f 174 155 182 +f 163 167 183 +f 152 172 183 +f 158 162 184 +f 172 152 184 +f 162 172 184 +f 152 175 184 +f 175 158 184 +f 177 159 185 +f 177 156 187 +f 173 177 187 +f 150 151 188 +f 160 150 188 +f 151 166 188 +f 164 185 189 +f 161 157 190 +f 169 156 191 +f 156 176 191 +f 176 170 191 +f 175 169 192 +f 158 175 192 +f 169 191 192 +f 170 153 193 +f 170 193 194 +f 191 170 194 +f 158 192 194 +f 192 191 194 +f 193 168 194 +f 155 160 195 +f 160 167 195 +f 195 167 196 +f 167 163 196 +f 163 178 196 +f 155 195 196 +f 153 164 197 +f 154 179 197 +f 179 161 197 +f 164 189 197 +f 193 153 197 +f 175 152 198 +f 169 175 198 +f 180 169 198 +f 166 152 199 +f 152 186 199 +f 186 160 199 +f 160 188 199 +f 188 166 199 +f 156 169 200 +f 169 180 200 +f 180 181 200 +f 187 156 200 +f 187 200 201 +f 151 173 201 +f 181 151 201 +f 173 187 201 +f 200 181 201 +f 157 174 202 +f 182 171 202 +f 174 182 202 +f 176 156 203 +f 164 176 203 +f 156 177 203 +f 185 164 203 +f 177 185 203 +f 159 154 204 +f 185 159 204 +f 189 185 204 +f 154 197 204 +f 197 189 204 +f 149 162 205 +f 162 158 205 +f 165 149 205 +f 168 165 205 +f 158 194 205 +f 194 168 205 +f 165 168 206 +f 161 190 206 +f 190 165 206 +f 168 193 206 +f 197 161 206 +f 193 197 206 +f 171 182 207 +f 182 155 207 +f 196 178 207 +f 155 196 207 +f 149 165 208 +f 178 149 208 +f 190 157 208 +f 165 190 208 +f 157 202 208 +f 202 178 208 +f 167 160 209 +f 152 183 209 +f 183 167 209 +f 186 152 209 +f 160 186 209 +f 172 162 210 +f 162 178 210 +f 178 163 210 +f 163 183 210 +f 183 172 210 +f 178 202 211 +f 202 171 211 +f 171 207 211 +f 207 178 211 +f 152 166 212 +f 166 180 212 +f 198 152 212 +o convex_5 +v -0.546798 -0.639007 -1.865301 +v 1.212618 0.361492 -1.244450 +v 1.247145 0.326921 -1.244450 +v -1.133271 -0.639007 -1.244450 +v -0.960636 0.361492 -1.761781 +v 0.798538 -0.639007 -1.830794 +v 0.764011 0.361492 -1.865301 +v 1.074510 -0.639007 -1.244450 +v -1.167798 0.361492 -1.244450 +v -0.201772 0.361492 -1.934314 +v 0.177539 -0.639007 -1.934314 +v -0.926109 -0.639007 -1.727342 +v 1.281672 0.050844 -1.278957 +v -1.202325 0.085414 -1.278957 +v 0.867592 0.361492 -1.796287 +v 0.177539 0.361492 -1.934314 +v -0.201772 -0.639007 -1.934314 +v -0.926109 -0.500919 -1.761781 +v -0.719190 0.361492 -1.830794 +v 0.488038 -0.569963 -1.899808 +f 223 228 232 +f 215 214 216 +f 216 213 218 +f 217 214 219 +f 215 216 220 +f 216 218 220 +f 216 214 221 +f 214 217 221 +f 217 219 222 +f 218 213 223 +f 213 216 224 +f 215 220 225 +f 220 218 225 +f 216 221 226 +f 221 217 226 +f 224 216 226 +f 214 215 227 +f 218 219 227 +f 219 214 227 +f 225 218 227 +f 215 225 227 +f 222 219 228 +f 223 222 228 +f 213 222 229 +f 222 223 229 +f 223 213 229 +f 213 224 230 +f 226 217 230 +f 224 226 230 +f 222 213 231 +f 217 222 231 +f 213 230 231 +f 230 217 231 +f 219 218 232 +f 218 223 232 +f 228 219 232 +o convex_6 +v -2.823390 -0.224940 -0.864971 +v 1.281267 0.361492 -0.899295 +v 1.281267 0.361492 -1.002765 +v 1.246794 -0.639007 -0.830434 +v -1.133027 -0.639007 -1.244383 +v -1.305986 -0.639007 -0.519884 +v 1.039956 0.361492 -0.519884 +v -1.201973 0.361492 -1.244383 +v 2.799265 -0.018200 -1.106376 +v -1.098554 0.361492 -0.519884 +v 1.212321 -0.639007 -0.519884 +v 1.108902 -0.639007 -1.244383 +v 2.764792 0.050844 -0.657890 +v -2.754444 0.050844 -1.106376 +v 1.212321 0.361492 -1.244383 +v -2.788917 -0.018200 -0.657890 +v -2.685498 0.223306 -0.864971 +v 2.799265 0.188833 -0.968299 +v 2.799265 -0.155994 -0.830434 +v -3.030822 -0.052673 -0.933833 +v -1.408811 -0.639007 -0.795968 +v -2.788917 -0.052673 -1.106376 +v 1.523172 0.016371 -1.244383 +v -1.546703 -0.155994 -0.519884 +v 3.041170 0.050844 -0.864971 +v -1.512230 0.361492 -0.864971 +v -2.788917 -0.087146 -0.657890 +v 1.316334 -0.224940 -0.519884 +v -2.547606 -0.018200 -1.140771 +v -2.685498 0.188833 -1.002765 +v 2.799265 0.188833 -0.899295 +v -2.651025 0.154360 -0.726894 +v 2.799265 0.050844 -1.106376 +v 2.833738 -0.018200 -0.692427 +v -2.788917 -0.224940 -0.933833 +v -2.995754 0.050844 -0.864971 +v 2.799265 -0.155994 -0.864971 +f 257 251 269 +f 237 236 238 +f 234 235 239 +f 239 235 240 +f 238 239 242 +f 239 240 242 +f 238 236 243 +f 239 238 243 +f 236 237 244 +f 237 240 244 +f 240 235 247 +f 244 240 247 +f 235 234 250 +f 247 235 250 +f 243 236 251 +f 238 233 253 +f 237 238 253 +f 252 246 254 +f 241 244 255 +f 244 247 255 +f 238 242 256 +f 242 248 256 +f 242 240 258 +f 240 249 258 +f 249 242 258 +f 233 238 259 +f 252 233 259 +f 238 256 259 +f 256 248 259 +f 239 243 260 +f 245 239 260 +f 243 245 260 +f 240 237 261 +f 246 240 261 +f 237 254 261 +f 254 246 261 +f 240 246 262 +f 249 240 262 +f 234 239 263 +f 239 245 263 +f 250 234 263 +f 245 257 263 +f 257 250 263 +f 248 242 264 +f 242 249 264 +f 247 250 265 +f 241 255 265 +f 255 247 265 +f 250 257 265 +f 257 241 265 +f 245 243 266 +f 243 251 266 +f 257 245 266 +f 251 257 266 +f 233 252 267 +f 253 233 267 +f 237 253 267 +f 254 237 267 +f 252 254 267 +f 246 252 268 +f 252 259 268 +f 259 248 268 +f 262 246 268 +f 249 262 268 +f 248 264 268 +f 264 249 268 +f 236 244 269 +f 244 241 269 +f 251 236 269 +f 241 257 269 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/889/889.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/889/889.urdf new file mode 100644 index 000000000..0f6f3dddc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/889/889.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/890/890.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/890/890.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/890/890.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/890/890.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/890/890.obj new file mode 100644 index 000000000..f7b1641c5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/890/890.obj @@ -0,0 +1,627 @@ +o convex_0 +v -0.065264 -2.054460 -2.240668 +v -0.751895 -1.814350 -2.206339 +v -0.751895 -1.814350 -2.171961 +v -0.717483 -1.265207 -2.206339 +v -0.339957 -1.677145 -2.686934 +v -0.717483 -2.294784 -2.549520 +v -0.065264 -2.329085 -2.171961 +v -0.065264 -2.260483 -2.549520 +v -0.099609 -1.677145 -2.686934 +v -0.168299 -1.711447 -2.171961 +v -0.717483 -2.260483 -2.171961 +v -0.648793 -1.745748 -2.618227 +v -0.751895 -1.265207 -2.171961 +v -0.374302 -2.363494 -2.275046 +v -0.099609 -1.814350 -2.686934 +v -0.099609 -1.677145 -2.515192 +f 10 1 16 +f 3 2 6 +f 1 7 8 +f 5 4 9 +f 1 8 9 +f 3 7 10 +f 7 1 10 +f 3 6 11 +f 7 3 11 +f 4 5 12 +f 5 6 12 +f 12 6 13 +f 2 3 13 +f 6 2 13 +f 3 10 13 +f 10 4 13 +f 4 12 13 +f 8 7 14 +f 6 8 14 +f 11 6 14 +f 7 11 14 +f 6 5 15 +f 8 6 15 +f 9 8 15 +f 5 9 15 +f 1 9 16 +f 9 4 16 +f 4 10 16 +o convex_1 +v -1.404033 1.378538 1.398209 +v -1.472858 -3.015902 -0.661160 +v 0.724362 -3.015902 -0.661160 +v 0.689950 1.378538 -0.626866 +v 0.655538 -3.015902 1.329620 +v -1.472858 -2.947077 1.363914 +v -1.404033 1.378538 -0.626654 +v 0.655538 1.378538 1.329620 +v -0.099811 -2.328517 1.501093 +v -1.472858 1.378538 0.094168 +v -1.369621 1.378538 1.466798 +v -1.404033 0.313910 -0.661160 +v 0.689950 1.206477 1.054840 +v -0.717510 -2.294106 1.501093 +v 0.312276 1.275301 1.398209 +v 0.689950 -2.741034 1.295325 +v -1.472858 1.344126 0.745977 +v -1.335424 -2.981489 1.363914 +v -0.168420 -1.401969 1.501093 +v -0.957750 1.378538 1.466798 +v -1.472858 -1.676836 -0.661160 +v -1.404033 1.069258 1.467010 +v 0.724362 -2.638227 -0.661160 +v -1.472858 -1.779643 1.363914 +v 0.072035 -3.015902 1.329620 +v 0.552516 -2.843840 1.364126 +v 0.518319 1.378538 1.364126 +v 0.689950 1.378538 1.020545 +v 0.689950 -3.015902 1.226736 +v 0.724362 -2.981489 -0.558065 +f 45 19 46 +f 18 19 21 +f 17 20 23 +f 20 17 24 +f 18 22 26 +f 17 23 26 +f 24 17 27 +f 19 18 28 +f 23 20 28 +f 24 21 32 +f 29 24 32 +f 26 22 33 +f 17 26 33 +f 22 18 34 +f 21 25 34 +f 30 22 34 +f 25 30 34 +f 30 25 35 +f 27 30 35 +f 25 31 35 +f 35 31 36 +f 24 27 36 +f 27 35 36 +f 18 26 37 +f 26 23 37 +f 28 18 37 +f 23 28 37 +f 27 17 38 +f 22 30 38 +f 30 27 38 +f 17 33 38 +f 19 28 39 +f 28 20 39 +f 33 22 40 +f 22 38 40 +f 38 33 40 +f 18 21 41 +f 34 18 41 +f 21 34 41 +f 21 24 42 +f 25 21 42 +f 25 42 43 +f 31 25 43 +f 36 31 43 +f 24 36 43 +f 42 24 43 +f 20 24 44 +f 24 29 44 +f 39 20 44 +f 21 19 45 +f 32 21 45 +f 32 45 46 +f 29 32 46 +f 19 39 46 +f 44 29 46 +f 39 44 46 +o convex_2 +v -0.751895 -1.917372 2.737143 +v -0.065264 -2.157495 3.355152 +v -0.065264 -2.226178 3.355152 +v -0.099609 -2.260520 1.501516 +v -0.236922 -1.642706 1.501516 +v -0.717483 -2.294862 1.501516 +v -0.751895 -1.745731 3.492552 +v -0.717483 -2.191837 3.423754 +v -0.648793 -1.642706 1.501516 +v -0.202644 -1.780073 3.389453 +v -0.099609 -2.329136 1.913717 +v -0.545825 -2.226178 3.423754 +v -0.202644 -1.677048 1.501516 +v -0.442857 -2.329136 1.536207 +v -0.683205 -1.711390 3.080546 +v -0.717483 -2.226178 3.252248 +v -0.717483 -2.088879 1.501516 +v -0.065264 -2.226178 2.497034 +v -0.065264 -2.260520 3.183450 +v -0.751895 -1.985921 3.458055 +f 62 54 66 +f 51 50 52 +f 51 52 55 +f 47 53 55 +f 49 48 56 +f 53 49 56 +f 49 53 58 +f 50 51 59 +f 56 48 59 +f 51 56 59 +f 52 50 60 +f 50 57 60 +f 51 55 61 +f 55 53 61 +f 56 51 61 +f 53 56 61 +f 58 54 62 +f 57 58 62 +f 52 60 62 +f 60 57 62 +f 52 47 63 +f 47 55 63 +f 55 52 63 +f 48 49 64 +f 57 50 64 +f 59 48 64 +f 50 59 64 +f 49 58 65 +f 58 57 65 +f 64 49 65 +f 57 64 65 +f 47 52 66 +f 53 47 66 +f 58 53 66 +f 54 58 66 +f 52 62 66 +o convex_3 +v -1.472858 2.168070 0.677455 +v -3.361016 1.756293 0.093922 +v -3.361016 1.893592 0.093922 +v -3.395318 1.721938 0.746222 +v -3.361016 2.305430 0.711870 +v -1.472858 1.687522 0.540112 +v -1.472858 2.236720 0.162690 +v -3.498420 2.236720 0.162690 +v -1.610261 1.790588 0.162690 +v -1.644563 2.065126 0.711870 +v -1.472858 1.687522 0.608879 +v -2.948806 1.721938 0.196977 +v -1.747665 2.133775 0.128274 +v -2.159677 2.236720 0.711870 +v -1.472858 1.790588 0.196977 +v -3.463722 2.168070 0.128274 +v -3.429619 2.271075 0.334257 +f 73 74 83 +f 67 72 73 +f 68 70 74 +f 70 71 74 +f 72 67 77 +f 70 72 77 +f 67 76 77 +f 76 70 77 +f 70 68 78 +f 72 70 78 +f 68 75 78 +f 75 72 78 +f 68 69 79 +f 75 68 79 +f 73 75 79 +f 71 70 80 +f 67 73 80 +f 73 71 80 +f 76 67 80 +f 70 76 80 +f 73 72 81 +f 72 75 81 +f 75 73 81 +f 69 68 82 +f 68 74 82 +f 74 73 82 +f 79 69 82 +f 73 79 82 +f 71 73 83 +f 74 71 83 +o convex_4 +v -1.232349 2.442680 1.501516 +v -1.369782 1.378861 -0.627041 +v -1.404141 1.378861 -0.592662 +v 0.655695 1.378861 1.329623 +v 0.690054 2.991960 -0.627041 +v -1.335424 3.060785 -0.627041 +v 0.586740 2.991960 1.329623 +v 0.690054 1.378861 -0.627041 +v -1.404141 1.378861 1.398380 +v -1.335424 3.026208 1.501516 +v 0.964683 2.202452 0.608714 +v -1.472858 2.236700 0.197004 +v 0.964683 1.756244 0.094077 +v 0.655695 2.957548 1.329832 +v -0.957958 1.378861 1.467138 +v 0.964683 2.339772 0.025528 +v -1.472858 1.378861 0.711850 +v -0.957958 3.060785 -0.077608 +v 0.518262 1.378861 1.364002 +v 0.964683 1.756244 0.643093 +v -1.369782 2.923300 1.432759 +v -0.786166 3.026208 1.467138 +v -1.369782 2.991960 -0.592662 +v -1.335424 3.060785 0.849156 +v -1.472858 2.168369 0.677471 +v -1.369782 1.378861 1.467138 +v -1.472858 1.378861 0.094077 +v 0.690054 2.991960 0.162834 +v 0.003362 3.026372 -0.627041 +v 0.964683 1.721996 0.539957 +v 0.690054 1.378861 1.020632 +v 0.483903 2.168369 1.364002 +v -1.163632 3.026208 1.501516 +f 102 115 116 +f 86 85 87 +f 88 85 89 +f 85 86 89 +f 87 85 91 +f 85 88 91 +f 86 87 92 +f 92 87 98 +f 91 88 99 +f 96 91 99 +f 94 96 99 +f 97 94 99 +f 86 92 100 +f 87 97 102 +f 84 98 102 +f 98 87 102 +f 96 94 103 +f 97 87 103 +f 94 97 103 +f 92 93 104 +f 97 90 105 +f 89 86 106 +f 86 95 106 +f 95 104 106 +f 106 104 107 +f 101 89 107 +f 90 101 107 +f 104 93 107 +f 105 90 107 +f 89 106 107 +f 100 92 108 +f 95 100 108 +f 92 104 108 +f 104 95 108 +f 93 92 109 +f 84 93 109 +f 98 84 109 +f 92 98 109 +f 95 86 110 +f 86 100 110 +f 100 95 110 +f 90 97 111 +f 99 88 111 +f 97 99 111 +f 88 89 112 +f 89 101 112 +f 101 90 112 +f 90 111 112 +f 111 88 112 +f 91 96 113 +f 103 87 113 +f 96 103 113 +f 87 91 114 +f 113 87 114 +f 91 113 114 +f 102 97 115 +f 97 105 115 +f 115 105 116 +f 93 84 116 +f 84 102 116 +f 107 93 116 +f 105 107 116 +o convex_5 +v 1.170713 1.687637 -2.721266 +v 2.200498 1.962289 0.677098 +v 2.200498 1.790689 0.677098 +v 0.999041 2.339651 3.388734 +v 2.131902 2.442703 -2.720658 +v 1.067758 1.481647 3.424013 +v 2.166261 2.580029 3.492747 +v 1.067758 2.442703 -2.549128 +v 2.166261 1.412870 -2.583190 +v 2.097544 1.412870 3.389342 +v 1.033400 1.412870 -2.720658 +v 0.999041 2.545640 3.388734 +v 0.964683 1.756300 0.094382 +v 0.964683 2.339651 0.025649 +v 2.200498 2.339651 0.129053 +v 1.308025 2.545640 1.775013 +v 2.131902 2.476977 -2.274193 +v 1.033400 1.412870 -1.072874 +v 1.822918 1.412870 3.286546 +v 0.999041 2.545640 2.324883 +v 1.033400 1.550310 2.874144 +v 1.651247 2.580029 3.286546 +v 2.200498 1.653362 0.197787 +v 0.999041 1.722025 -1.862399 +v 0.964683 1.722025 0.402164 +v 1.033400 2.030724 -2.617253 +v 2.166261 1.516036 -2.617253 +v 2.166261 2.580029 2.977548 +v 1.033400 1.447259 1.295093 +v 1.067758 2.476977 -1.209733 +v 1.033400 1.722025 3.424013 +v 1.411101 1.447373 3.423405 +v 1.205071 1.412870 -2.720658 +v 2.166261 2.511366 3.492747 +v 0.999041 1.515922 -1.656198 +v 2.028948 2.442703 -2.721266 +v 1.651247 2.580029 3.458076 +v 1.033400 2.408314 -1.931133 +v 2.166261 1.412870 -1.793665 +f 139 126 155 +f 119 118 123 +f 125 126 127 +f 118 119 131 +f 123 118 131 +f 131 121 133 +f 127 126 134 +f 134 126 135 +f 130 128 136 +f 133 132 138 +f 136 128 138 +f 132 136 138 +f 119 126 139 +f 131 119 139 +f 129 130 140 +f 120 128 141 +f 128 130 141 +f 130 129 141 +f 124 117 142 +f 117 127 142 +f 127 140 142 +f 140 130 142 +f 121 131 143 +f 139 125 143 +f 131 139 143 +f 123 131 144 +f 131 133 144 +f 138 123 144 +f 133 138 144 +f 122 137 145 +f 137 141 145 +f 133 124 146 +f 132 133 146 +f 124 136 146 +f 136 132 146 +f 128 120 147 +f 137 122 147 +f 120 141 147 +f 141 137 147 +f 135 126 148 +f 134 135 148 +f 122 145 148 +f 145 134 148 +f 127 117 149 +f 125 127 149 +f 121 143 149 +f 143 125 149 +f 119 123 150 +f 126 119 150 +f 147 122 150 +f 123 147 150 +f 122 148 150 +f 148 126 150 +f 127 134 151 +f 140 127 151 +f 129 140 151 +f 141 129 151 +f 134 145 151 +f 145 141 151 +f 117 124 152 +f 133 121 152 +f 124 133 152 +f 149 117 152 +f 121 149 152 +f 123 138 153 +f 138 128 153 +f 147 123 153 +f 128 147 153 +f 130 136 154 +f 136 124 154 +f 124 142 154 +f 142 130 154 +f 126 125 155 +f 125 139 155 +o convex_6 +v 2.200619 1.653325 0.196937 +v 2.646886 2.236730 0.711890 +v 2.646886 2.271071 0.574517 +v 2.200619 2.271071 0.643173 +v 2.200619 2.339755 0.128281 +v 2.646886 1.790624 0.162639 +v 2.612507 1.790624 0.677532 +v 2.681214 2.339755 0.093922 +v 2.200619 1.790624 0.677532 +v 2.269326 1.653325 0.093922 +v 2.681214 1.721941 0.471502 +v 2.715592 1.893582 0.677532 +v 2.646886 1.653325 0.265593 +f 166 164 168 +f 157 158 159 +f 156 159 160 +f 158 157 163 +f 159 158 163 +f 160 159 163 +f 157 159 164 +f 159 156 164 +f 162 157 164 +f 156 160 165 +f 160 163 165 +f 163 161 165 +f 161 163 166 +f 162 164 166 +f 157 162 167 +f 163 157 167 +f 162 166 167 +f 166 163 167 +f 164 156 168 +f 156 165 168 +f 165 161 168 +f 161 166 168 +o convex_7 +v 0.175044 -5.040949 -1.725593 +v -0.992216 0.073358 -1.142128 +v -0.992216 0.073358 -1.107854 +v 0.106354 1.000333 -1.725479 +v -0.889181 -4.044796 -2.103184 +v -0.683111 -5.075237 -1.004688 +v 0.072009 1.035223 -1.073465 +v -0.957871 0.863182 -2.103184 +v 0.106354 -5.110126 -2.103184 +v 0.209389 -5.110126 -1.142128 +v 0.106354 0.966045 -2.068795 +v -0.923526 -5.110126 -2.068795 +v -0.992216 1.000333 -1.107854 +v -0.854836 -5.040949 -1.004688 +v -0.065254 -2.122871 -2.171847 +v -0.065254 -1.745704 -1.004688 +v -0.820491 -0.544426 -2.171847 +v -0.614421 -1.779992 -1.004688 +v -0.992216 0.931757 -1.897194 +v -0.580194 -2.844119 -2.171847 +v 0.209389 -4.217439 -1.142128 +v -0.923526 -5.110126 -1.759868 +v -0.957871 -3.289862 -2.068795 +v 0.037664 0.381948 -1.039191 +v -0.580194 1.035223 -1.073465 +v -0.031026 -2.294912 -1.004688 +v -0.099599 -4.456852 -2.137458 +v 0.140699 -5.110126 -2.034520 +v 0.209389 -4.972373 -1.382392 +v -0.442814 0.966045 -2.068795 +v 0.106354 0.039070 -1.073465 +v -0.957871 0.038468 -1.073465 +v 0.106354 -1.437715 -2.103184 +v -0.751801 -2.568613 -2.171847 +v 0.003319 1.035223 -1.485444 +v -0.923526 -2.568613 -1.039191 +v -0.854836 -3.908247 -1.004688 +v -0.957871 0.966045 -1.759868 +v -0.168289 -1.712018 -2.171847 +v 0.175044 -2.775543 -1.107740 +f 199 194 208 +f 177 178 180 +f 170 171 181 +f 182 174 184 +f 173 176 185 +f 176 179 185 +f 182 184 186 +f 170 181 187 +f 185 183 188 +f 179 172 189 +f 178 174 190 +f 180 178 190 +f 174 182 190 +f 171 170 191 +f 176 173 191 +f 173 180 191 +f 187 176 191 +f 170 187 191 +f 190 171 191 +f 180 190 191 +f 186 184 192 +f 192 175 193 +f 186 192 193 +f 174 178 194 +f 184 174 194 +f 192 184 194 +f 177 180 195 +f 183 177 195 +f 180 188 195 +f 188 183 195 +f 169 178 196 +f 178 177 196 +f 179 169 196 +f 178 169 197 +f 169 179 197 +f 189 178 197 +f 179 189 197 +f 179 176 198 +f 176 187 198 +f 172 175 199 +f 175 192 199 +f 192 194 199 +f 181 171 200 +f 193 181 200 +f 186 193 200 +f 177 183 201 +f 183 179 201 +f 196 177 201 +f 179 196 201 +f 180 173 202 +f 173 185 202 +f 188 180 202 +f 185 188 202 +f 175 172 203 +f 172 179 203 +f 193 175 203 +f 179 198 203 +f 171 190 204 +f 190 182 204 +f 200 171 204 +f 200 204 205 +f 182 186 205 +f 186 200 205 +f 204 182 205 +f 187 181 206 +f 181 193 206 +f 198 187 206 +f 193 203 206 +f 203 198 206 +f 179 183 207 +f 185 179 207 +f 183 185 207 +f 189 172 208 +f 178 189 208 +f 194 178 208 +f 172 199 208 +o convex_8 +v -0.030932 -1.780063 -0.833030 +v -0.614569 -2.294841 -0.730062 +v -0.614569 -2.294841 -0.661372 +v -0.099602 -2.363538 -0.661372 +v -0.030932 -2.294841 -1.004688 +v -0.614569 -1.780063 -1.004688 +v -0.580234 -1.814411 -0.661372 +v -0.030932 -1.711302 -0.661372 +v -0.614569 -2.260493 -1.004688 +v -0.065267 -1.745714 -1.004688 +f 214 216 218 +f 211 210 212 +f 210 211 214 +f 214 211 215 +f 211 212 215 +f 213 209 216 +f 212 213 216 +f 214 215 216 +f 215 212 216 +f 212 210 217 +f 213 212 217 +f 210 214 217 +f 214 213 217 +f 209 213 218 +f 213 214 218 +f 216 209 218 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/890/890.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/890/890.urdf new file mode 100644 index 000000000..b86292a53 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/890/890.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/891/891.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/891/891.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/891/891.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/891/891.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/891/891.obj new file mode 100644 index 000000000..299a2015c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/891/891.obj @@ -0,0 +1,810 @@ +o convex_0 +v 0.608912 -0.272848 1.269255 +v -0.030353 -2.543104 -2.056280 +v 0.033353 -2.543104 -2.056280 +v 0.001500 -2.287076 2.772248 +v -0.989752 -0.272848 -0.009525 +v 1.024805 -1.487652 -1.992135 +v -0.030353 -0.688450 -2.759520 +v -0.829886 -2.127057 -2.055691 +v -0.797832 -1.423645 2.707514 +v 0.768778 -2.223068 2.067830 +v 0.992751 -0.272848 -0.712766 +v 0.033353 -0.656447 2.803437 +v -0.797832 -2.255072 2.004862 +v 0.992751 -1.423645 2.036640 +v -1.021805 -1.487652 -2.056280 +v 0.768778 -2.287076 -2.023913 +v 0.033353 -1.775240 -2.919589 +v -1.021805 -1.519655 2.004273 +v -0.893792 -0.272848 -1.032903 +v 0.768778 -1.455648 2.804026 +v 0.001500 -2.511101 2.036052 +v -0.829886 -0.272848 1.045041 +v -0.765779 -1.455648 -2.791299 +v 0.768778 -1.423645 -2.695375 +v 0.001500 -2.287076 -2.759520 +v 0.960698 -0.272848 -1.064681 +v 0.768778 -0.496651 1.652359 +v -0.094260 -1.487429 3.028239 +v -0.765779 -2.287076 -2.055691 +v -0.030353 -0.272848 -1.704365 +v -0.765779 -0.656669 2.036640 +v -0.030353 -0.272848 1.844205 +v 0.992751 -0.272848 0.181732 +v -0.606113 -0.880250 -2.535307 +v 0.577059 -0.880472 -2.535307 +v 0.033353 -1.423645 -2.983734 +v 0.545005 -0.848468 2.612180 +v -0.861739 -2.127280 -0.041304 +v 0.673019 -2.287076 2.068419 +v -0.574059 -2.063272 2.579813 +v -1.021805 -1.359859 1.972495 +v 0.608912 -2.031269 -2.567674 +v 0.577059 -2.095276 2.580401 +v -0.510153 -0.848246 2.643958 +v -0.062407 -2.543104 -1.192382 +v -0.733926 -1.455648 2.803437 +v -0.606113 -2.031269 -2.599452 +v -0.797832 -0.720676 -1.992135 +v 0.129313 -1.487429 3.028239 +v 0.353085 -2.447093 -2.023913 +v -1.021805 -1.551659 -2.056280 +v 0.992751 -1.615666 -1.416007 +v 0.768778 -1.551659 -2.695375 +v 0.992751 -1.487652 2.036640 +v -0.062407 -2.511101 2.036052 +v -0.030353 -0.656447 2.803437 +v -0.542006 -2.383086 -2.023913 +v 0.736925 -0.656447 2.036052 +v 0.768778 -1.519655 2.804026 +v -0.765779 -1.519433 -2.791299 +v -0.989752 -1.679451 1.268666 +v 0.001500 -0.688450 -2.759520 +v -1.021805 -1.168060 -0.041304 +v 0.800831 -0.304851 1.172743 +f 27 33 64 +f 5 1 11 +f 13 9 18 +f 5 11 19 +f 15 5 19 +f 1 5 22 +f 3 2 25 +f 11 6 26 +f 19 11 26 +f 6 24 26 +f 7 19 30 +f 19 26 30 +f 12 1 32 +f 1 22 32 +f 6 11 33 +f 11 1 33 +f 14 6 33 +f 27 14 33 +f 19 7 34 +f 7 23 34 +f 26 24 35 +f 23 7 36 +f 12 20 37 +f 29 13 38 +f 8 29 38 +f 16 10 39 +f 4 21 39 +f 13 4 40 +f 18 9 41 +f 15 18 41 +f 22 5 41 +f 9 31 41 +f 31 22 41 +f 16 25 42 +f 4 39 43 +f 39 10 43 +f 31 9 44 +f 2 3 45 +f 3 21 45 +f 9 13 46 +f 4 28 46 +f 40 4 46 +f 13 40 46 +f 44 9 46 +f 25 29 47 +f 15 19 48 +f 23 15 48 +f 19 34 48 +f 34 23 48 +f 20 12 49 +f 28 4 49 +f 12 28 49 +f 21 3 50 +f 3 25 50 +f 25 16 50 +f 16 39 50 +f 39 21 50 +f 18 15 51 +f 15 23 51 +f 8 38 51 +f 16 6 52 +f 10 16 52 +f 6 16 53 +f 24 6 53 +f 25 17 53 +f 17 36 53 +f 36 24 53 +f 16 42 53 +f 42 25 53 +f 6 14 54 +f 14 20 54 +f 10 52 54 +f 52 6 54 +f 4 13 55 +f 21 4 55 +f 45 21 55 +f 13 45 55 +f 28 12 56 +f 22 31 56 +f 32 22 56 +f 12 32 56 +f 31 44 56 +f 46 28 56 +f 44 46 56 +f 25 2 57 +f 13 29 57 +f 29 25 57 +f 2 45 57 +f 45 13 57 +f 20 14 58 +f 27 12 58 +f 14 27 58 +f 12 37 58 +f 37 20 58 +f 4 43 59 +f 43 10 59 +f 49 4 59 +f 20 49 59 +f 10 54 59 +f 54 20 59 +f 17 25 60 +f 29 8 60 +f 23 36 60 +f 36 17 60 +f 25 47 60 +f 47 29 60 +f 8 51 60 +f 51 23 60 +f 13 18 61 +f 38 13 61 +f 18 51 61 +f 51 38 61 +f 7 30 62 +f 30 26 62 +f 35 24 62 +f 26 35 62 +f 36 7 62 +f 24 36 62 +f 5 15 63 +f 41 5 63 +f 15 41 63 +f 1 12 64 +f 12 27 64 +f 33 1 64 +o convex_1 +v -0.989846 -0.112692 0.149904 +v 0.992826 0.398925 0.341926 +v 0.960610 0.398925 0.501831 +v 0.992826 -0.272626 0.213799 +v 0.033319 -0.240613 -1.672612 +v -0.925801 0.398925 -0.904863 +v -0.062360 -0.272626 1.781074 +v -0.797905 0.398925 0.981547 +v 0.960610 0.398925 -0.904525 +v -0.893778 -0.272626 -1.000874 +v 0.960610 -0.272626 -1.032652 +v 0.768863 0.398925 0.981209 +v -0.829734 -0.272626 1.013326 +v 0.800886 -0.272626 1.013326 +v 0.065341 0.398925 -1.224674 +v 0.097363 0.398925 1.205347 +v -0.989846 0.398925 0.213799 +v 0.033319 -0.240613 1.781074 +v -0.989846 -0.272626 -0.009663 +v 0.992826 0.366912 -0.872747 +v 0.001490 -0.272626 -1.672612 +v -0.861756 0.398925 -0.968758 +v -0.094383 0.398925 1.205347 +v -0.893778 0.271004 0.789526 +v 0.832714 -0.144705 0.981209 +v 0.992826 -0.272626 -0.712841 +v 0.928781 0.398925 -0.936979 +v -0.062360 -0.240613 1.781074 +v -0.829734 -0.016784 1.013326 +v 0.800886 0.302951 0.981209 +v -0.861756 -0.240613 0.949431 +v -0.893778 -0.048732 -1.000874 +v 0.193431 -0.240613 -1.576263 +v -0.925801 0.143083 -0.936979 +v 0.001490 -0.240613 -1.672612 +v 0.896759 0.398925 0.757409 +f 94 89 100 +f 66 67 68 +f 67 66 70 +f 67 70 72 +f 70 66 73 +f 68 71 74 +f 68 74 75 +f 67 72 76 +f 74 71 77 +f 71 68 78 +f 70 73 79 +f 76 72 80 +f 72 70 81 +f 71 78 82 +f 76 80 82 +f 74 77 83 +f 65 81 83 +f 81 70 83 +f 66 68 84 +f 73 66 84 +f 75 73 84 +f 75 74 85 +f 70 79 86 +f 80 72 87 +f 82 80 87 +f 72 81 88 +f 68 67 89 +f 78 68 89 +f 82 78 89 +f 68 75 90 +f 84 68 90 +f 75 84 90 +f 73 75 91 +f 69 79 91 +f 79 73 91 +f 77 71 92 +f 71 82 92 +f 87 72 92 +f 82 87 92 +f 72 88 93 +f 92 72 93 +f 77 92 93 +f 76 82 94 +f 82 89 94 +f 81 65 95 +f 65 83 95 +f 83 77 95 +f 88 81 95 +f 77 93 95 +f 93 88 95 +f 85 74 96 +f 70 86 96 +f 85 69 97 +f 75 85 97 +f 91 75 97 +f 69 91 97 +f 83 70 98 +f 74 83 98 +f 70 96 98 +f 96 74 98 +f 79 69 99 +f 69 85 99 +f 86 79 99 +f 85 96 99 +f 96 86 99 +f 67 76 100 +f 89 67 100 +f 76 94 100 +o convex_2 +v 0.033482 1.230317 1.109440 +v -0.062390 0.398925 -1.192933 +v -0.765842 0.398925 -1.000658 +v -0.765842 1.997853 -0.872944 +v 1.184651 1.997853 -0.297292 +v 0.896799 0.398925 0.757522 +v -0.797720 0.398925 0.949328 +v -1.117449 1.997853 0.277890 +v 0.832805 1.997853 0.853542 +v 0.928677 0.398925 -0.937036 +v 0.800928 1.997853 -0.841015 +v -0.733964 1.997853 0.853542 +v -1.245674 1.965768 -0.137415 +v 0.097237 0.398925 1.205460 +v -0.989700 0.398925 0.149942 +v -0.925707 0.398925 -0.904872 +v 1.024548 0.558880 0.245962 +v 1.120657 1.997853 0.277890 +v 0.097237 1.997853 -0.937036 +v 0.800928 0.398925 0.949562 +v 0.321096 1.997853 0.981491 +v -1.021578 1.997853 -0.681138 +v 0.065360 0.558880 -1.192933 +v 0.992670 0.398925 -0.841015 +v -0.094267 0.431010 1.205460 +v -0.254132 1.997853 0.981491 +v -0.925707 0.398925 0.629808 +v 0.800928 1.710027 -0.904872 +v 1.024548 1.869826 -0.648975 +v -0.765842 1.646014 -0.936801 +v -1.213558 1.997853 -0.361149 +v 1.184651 1.933840 -0.041395 +v -0.765842 0.494867 0.981256 +v 0.129353 0.431010 -1.192933 +v -0.797720 1.102603 -0.968729 +v -1.245674 1.965768 -0.073558 +v 1.056664 1.997853 0.437768 +v -0.222254 1.582000 -1.000893 +v 0.992670 0.398925 0.341982 +v 0.800928 0.654979 0.949562 +v -0.669971 1.965768 0.885471 +v 1.184651 1.901755 -0.297292 +v 0.033482 0.590965 1.205460 +v -0.957822 0.431010 -0.585118 +v -1.149565 1.933840 0.214033 +v -0.765842 1.997853 0.821614 +v 0.928677 0.398925 0.661502 +v -0.797720 0.526952 0.949328 +v -0.925707 0.623050 -0.904872 +v 0.065360 1.134688 -1.096913 +v -0.638093 1.582000 -0.968729 +v 0.896799 0.686751 -0.937036 +v 0.992670 0.623050 -0.841015 +f 152 129 153 +f 103 102 106 +f 103 106 107 +f 105 104 108 +f 105 108 109 +f 106 102 110 +f 104 105 111 +f 109 108 112 +f 107 106 114 +f 103 107 115 +f 103 115 116 +f 105 109 118 +f 104 111 119 +f 114 106 120 +f 109 112 121 +f 108 104 122 +f 106 110 124 +f 107 114 125 +f 101 121 126 +f 121 112 126 +f 115 107 127 +f 119 111 128 +f 111 105 129 +f 128 111 129 +f 122 104 130 +f 116 113 131 +f 108 122 131 +f 105 118 132 +f 107 125 133 +f 110 102 134 +f 102 123 134 +f 123 128 134 +f 102 103 135 +f 130 102 135 +f 122 130 135 +f 113 115 136 +f 115 127 136 +f 108 131 136 +f 131 113 136 +f 118 109 137 +f 106 118 137 +f 120 106 137 +f 104 119 138 +f 106 124 139 +f 124 117 139 +f 109 114 140 +f 114 120 140 +f 137 109 140 +f 120 137 140 +f 126 112 141 +f 125 126 141 +f 112 133 141 +f 133 125 141 +f 124 105 142 +f 117 124 142 +f 105 132 142 +f 132 117 142 +f 114 109 143 +f 121 101 143 +f 109 121 143 +f 125 114 143 +f 101 126 143 +f 126 125 143 +f 115 113 144 +f 113 116 144 +f 116 115 144 +f 127 107 145 +f 108 136 145 +f 136 127 145 +f 112 108 146 +f 118 106 147 +f 132 118 147 +f 117 132 147 +f 106 139 147 +f 139 117 147 +f 107 133 148 +f 133 112 148 +f 145 107 148 +f 108 145 148 +f 146 108 148 +f 112 146 148 +f 103 116 149 +f 116 131 149 +f 131 122 149 +f 135 103 149 +f 122 135 149 +f 119 128 150 +f 128 123 150 +f 138 119 150 +f 123 138 150 +f 123 102 151 +f 102 130 151 +f 130 104 151 +f 104 138 151 +f 138 123 151 +f 128 129 152 +f 110 134 152 +f 134 128 152 +f 105 124 153 +f 124 110 153 +f 129 105 153 +f 110 152 153 +o convex_3 +v 1.280633 2.093892 -0.233538 +v 1.408864 2.861275 0.054184 +v 1.408864 2.861275 -0.009710 +v 2.975332 2.477466 -0.009710 +v 1.280633 2.509392 0.342038 +v 1.280633 2.733260 -0.265551 +v 2.623486 2.413694 0.214118 +v 2.751385 2.701257 0.086197 +v 2.751385 2.509392 -0.169578 +v 1.312815 2.061889 -0.009710 +v 1.280633 2.797189 0.310025 +v 2.751385 2.317761 0.022237 +v 1.312815 2.381690 -0.329512 +v 1.440714 2.253754 0.246065 +v 2.655502 2.541395 0.246065 +v 2.687518 2.701257 -0.041658 +v 1.376848 2.093892 -0.233538 +v 2.527604 2.349686 0.182105 +v 2.687518 2.445619 -0.169578 +v 1.408864 2.797189 0.310025 +v 2.175924 2.701257 -0.169578 +v 1.568613 2.605324 0.342038 +v 1.280633 2.253754 0.246065 +v 2.911299 2.477466 0.118145 +v 1.376848 2.733260 -0.265551 +v 1.888442 2.509392 0.310025 +v 1.280633 2.861275 -0.009710 +v 2.591470 2.669331 0.182105 +f 173 168 181 +f 154 158 159 +f 156 155 161 +f 159 158 164 +f 154 159 166 +f 156 161 169 +f 161 157 169 +f 157 162 169 +f 163 154 170 +f 165 163 170 +f 154 166 170 +f 165 160 171 +f 163 165 171 +f 160 167 171 +f 167 163 171 +f 162 157 172 +f 157 165 172 +f 166 162 172 +f 165 170 172 +f 170 166 172 +f 161 155 173 +f 155 164 173 +f 156 169 174 +f 169 162 174 +f 164 158 175 +f 173 164 175 +f 168 173 175 +f 158 154 176 +f 154 163 176 +f 167 158 176 +f 163 167 176 +f 157 161 177 +f 165 157 177 +f 160 165 177 +f 168 160 177 +f 161 168 177 +f 159 156 178 +f 166 159 178 +f 162 166 178 +f 156 174 178 +f 174 162 178 +f 158 167 179 +f 167 160 179 +f 160 168 179 +f 175 158 179 +f 168 175 179 +f 155 156 180 +f 156 159 180 +f 164 155 180 +f 159 164 180 +f 168 161 181 +f 161 173 181 +o convex_4 +v -1.309900 1.997853 -0.105630 +v -1.246012 2.893253 0.022234 +v -1.246012 2.861262 0.182136 +v -2.972517 2.541439 0.086166 +v -1.246012 2.477457 -0.393469 +v -1.246012 2.125905 0.214102 +v -2.748401 2.573430 -0.169562 +v -2.716457 2.509360 0.278034 +v -1.246012 2.637412 0.342038 +v -2.748401 2.317677 0.054200 +v -1.277956 2.093827 -0.329465 +v -2.748401 2.733210 0.086166 +v -1.277956 2.797280 -0.297499 +v -1.373789 2.829184 0.278034 +v -2.748401 2.477457 -0.169562 +v -2.716457 2.733210 -0.009732 +v -1.341844 2.509360 0.342038 +v -2.684513 2.317677 -0.041698 +v -2.524623 2.349668 0.214102 +v -1.246012 1.997853 -0.041698 +v -2.556567 2.701307 0.214102 +v -1.277956 2.317677 -0.393469 +v -1.246012 2.669403 -0.361431 +v -1.277956 2.893253 -0.041698 +v -1.341844 2.125905 0.214102 +v -2.524623 2.701307 -0.137596 +v -1.309900 2.061923 -0.297499 +v -2.556567 2.765201 0.086166 +v -1.277956 2.797280 0.310000 +v -2.620455 2.541439 -0.201528 +v -2.716457 2.541439 0.278034 +v -2.972517 2.509360 0.022234 +v -2.077236 2.477457 0.310000 +f 190 212 214 +f 183 184 186 +f 186 184 187 +f 187 184 190 +f 189 185 191 +f 185 193 197 +f 187 190 198 +f 182 191 199 +f 189 191 200 +f 186 187 201 +f 191 182 201 +f 192 186 201 +f 186 192 203 +f 192 196 203 +f 183 186 204 +f 194 183 204 +f 188 194 204 +f 183 194 205 +f 194 197 205 +f 187 198 206 +f 189 200 206 +f 200 191 206 +f 191 201 206 +f 201 187 206 +f 194 188 207 +f 188 197 207 +f 197 194 207 +f 196 192 208 +f 182 199 208 +f 199 196 208 +f 201 182 208 +f 192 201 208 +f 184 183 209 +f 195 184 209 +f 197 193 209 +f 193 202 209 +f 202 195 209 +f 183 205 209 +f 205 197 209 +f 190 184 210 +f 184 195 210 +f 195 202 210 +f 196 188 211 +f 186 203 211 +f 203 196 211 +f 204 186 211 +f 188 204 211 +f 185 189 212 +f 193 185 212 +f 202 193 212 +f 190 210 212 +f 210 202 212 +f 191 185 213 +f 188 196 213 +f 185 197 213 +f 197 188 213 +f 199 191 213 +f 196 199 213 +f 198 190 214 +f 206 198 214 +f 189 206 214 +f 212 189 214 +o convex_5 +v 0.289251 2.030073 0.981610 +v -0.350240 1.997853 -0.905126 +v -0.733785 1.997853 -0.872991 +v -0.126195 3.500846 0.022359 +v 1.280633 2.605465 -0.297330 +v -1.245674 2.669463 0.341863 +v 0.928741 3.052861 0.789723 +v -0.765933 3.117007 0.821673 +v 1.184438 1.997853 0.022359 +v -0.765933 2.957085 -0.680919 +v -0.765933 1.997853 0.821673 +v 0.800892 2.957085 -0.680919 +v 0.800892 1.997853 -0.841040 +v -1.245674 2.030073 -0.297330 +v 0.800892 3.404776 0.022359 +v -1.245674 2.861162 -0.233244 +v 0.832792 1.997853 0.853624 +v 1.280633 2.829237 0.341863 +v -0.733785 3.436701 0.022359 +v 0.193302 2.989158 -0.745189 +v 1.280633 2.061851 -0.233429 +v -1.245674 2.093924 0.182111 +v -1.245674 2.445691 -0.425316 +v -1.245674 2.925013 0.053940 +v 1.280633 2.253845 0.246012 +v -0.254291 1.997853 0.981610 +v 0.161402 3.500846 0.086075 +v 1.248486 2.925013 -0.041542 +v 0.065454 2.189847 -0.905126 +v -0.190243 2.989011 -0.745189 +v -1.021630 1.997853 -0.680919 +v -0.957829 3.117007 0.533750 +v 0.161402 3.468627 -0.041357 +v 0.896593 2.957085 0.821673 +v 1.088737 3.053009 0.501800 +v -1.245674 1.997853 -0.041357 +v -0.797833 3.084934 0.821673 +v 1.280633 2.765239 -0.265379 +v -0.733785 3.436701 0.086075 +v -0.765933 2.893088 -0.713239 +v 1.024689 1.997853 -0.617203 +v -1.117578 2.829237 -0.457266 +v 1.280633 2.509689 0.341863 +v 0.800892 3.404776 0.086075 +v 0.225203 2.893235 0.853624 +v -0.733785 2.061998 -0.872991 +v 0.800892 3.052861 -0.553118 +v -0.350240 3.308853 0.469849 +v -1.245674 2.509689 0.341863 +v 0.800892 2.445838 -0.777140 +v -0.638084 1.997853 0.885574 +v -0.733785 3.404776 -0.041357 +v -1.245674 2.797164 0.309728 +v 1.280633 2.093924 0.054125 +v 0.321151 2.030073 -0.905126 +v 1.280633 2.413766 -0.329280 +v -0.254291 2.061998 0.981610 +v 0.832792 3.340778 -0.073677 +v 1.280633 2.893088 0.118026 +v 0.896593 2.541614 0.821673 +v -0.094295 3.500846 0.086075 +v 1.088737 1.997853 0.373814 +f 268 239 276 +f 217 216 223 +f 217 223 225 +f 223 216 227 +f 228 220 230 +f 225 223 231 +f 219 232 235 +f 220 228 236 +f 228 230 237 +f 230 220 238 +f 233 230 238 +f 235 232 239 +f 231 215 240 +f 225 231 240 +f 234 243 244 +f 217 225 245 +f 228 237 245 +f 218 241 247 +f 241 229 247 +f 234 244 247 +f 244 218 247 +f 221 222 248 +f 215 231 248 +f 221 232 249 +f 225 236 250 +f 236 228 250 +f 245 225 250 +f 228 245 250 +f 222 246 251 +f 219 226 252 +f 232 219 252 +f 218 233 253 +f 233 238 253 +f 246 222 253 +f 238 246 253 +f 224 244 254 +f 223 227 255 +f 235 223 255 +f 237 230 256 +f 245 237 256 +f 224 254 256 +f 254 245 256 +f 232 221 257 +f 231 239 257 +f 239 232 257 +f 241 221 258 +f 229 241 258 +f 221 249 258 +f 215 248 259 +f 248 222 259 +f 216 217 260 +f 243 216 260 +f 244 243 260 +f 217 245 260 +f 254 244 260 +f 245 254 260 +f 226 234 261 +f 247 229 261 +f 234 247 261 +f 252 226 261 +f 222 221 262 +f 221 241 262 +f 220 236 263 +f 236 225 263 +f 251 220 263 +f 225 251 263 +f 226 219 264 +f 234 226 264 +f 243 234 264 +f 225 240 265 +f 251 225 265 +f 233 218 266 +f 230 233 266 +f 244 224 266 +f 218 244 266 +f 224 256 266 +f 256 230 266 +f 238 220 267 +f 246 238 267 +f 220 251 267 +f 251 246 267 +f 223 235 268 +f 235 239 268 +f 227 216 269 +f 216 243 269 +f 264 227 269 +f 243 264 269 +f 219 235 270 +f 255 227 270 +f 235 255 270 +f 264 219 270 +f 227 264 270 +f 240 215 271 +f 222 251 271 +f 215 259 271 +f 259 222 271 +f 265 240 271 +f 251 265 271 +f 229 242 272 +f 242 252 272 +f 261 229 272 +f 252 261 272 +f 242 229 273 +f 249 232 273 +f 232 252 273 +f 252 242 273 +f 229 258 273 +f 258 249 273 +f 221 248 274 +f 248 231 274 +f 257 221 274 +f 231 257 274 +f 241 218 275 +f 218 253 275 +f 253 222 275 +f 222 262 275 +f 262 241 275 +f 231 223 276 +f 239 231 276 +f 223 268 276 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/891/891.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/891/891.urdf new file mode 100644 index 000000000..e4bcc83d6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/891/891.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/892/892.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/892/892.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/892/892.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/892/892.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/892/892.obj new file mode 100644 index 000000000..1175bbe92 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/892/892.obj @@ -0,0 +1,636 @@ +o convex_0 +v 0.000939 -2.556751 1.850363 +v 0.588819 -2.463954 3.118694 +v 0.526845 -2.463954 3.118694 +v 0.000939 -1.938023 1.107320 +v 0.495925 -2.525840 1.107320 +v -0.091954 -2.402069 3.087390 +v 0.495925 -2.030883 2.932835 +v 0.495925 -2.061794 1.107320 +v 0.062779 -2.061794 2.870816 +v 0.062779 -2.587725 1.138428 +v 0.588819 -2.525840 3.118694 +v -0.060968 -2.494865 2.932835 +v 0.155606 -1.938023 1.447734 +v 0.279286 -2.587725 1.695415 +v 0.526845 -2.525840 1.293179 +v 0.000939 -2.092769 1.107320 +v 0.434019 -1.999909 2.654440 +v 0.000939 -1.968998 1.664504 +v -0.091954 -2.463954 2.932835 +v 0.279286 -2.587725 1.107320 +v 0.588819 -2.432980 2.932835 +v 0.310206 -2.030883 2.932835 +f 18 9 22 +f 3 2 7 +f 5 4 8 +f 2 3 11 +f 3 6 11 +f 11 6 12 +f 8 4 13 +f 1 10 14 +f 11 12 14 +f 12 1 14 +f 5 8 15 +f 4 5 16 +f 10 1 16 +f 7 8 17 +f 8 13 17 +f 4 6 18 +f 6 9 18 +f 13 4 18 +f 6 4 19 +f 12 6 19 +f 1 12 19 +f 4 16 19 +f 16 1 19 +f 14 10 20 +f 11 14 20 +f 5 15 20 +f 15 11 20 +f 16 5 20 +f 10 16 20 +f 7 2 21 +f 8 7 21 +f 2 11 21 +f 15 8 21 +f 11 15 21 +f 6 3 22 +f 3 7 22 +f 9 6 22 +f 7 17 22 +f 17 13 22 +f 13 18 22 +o convex_1 +v 0.062803 -1.907143 -2.977188 +v 0.619763 -2.402035 -1.027832 +v 0.619763 -2.494895 -1.027832 +v -0.030066 -2.030850 -1.027832 +v 0.031826 -2.556844 -3.008099 +v 0.557808 -2.556844 -3.008099 +v 0.495916 -1.907143 -1.089850 +v 0.000912 -2.494895 -1.027832 +v 0.464939 -2.030850 -2.946277 +v -0.030066 -1.938054 -1.027832 +v 0.155609 -1.907143 -3.008099 +v 0.031826 -2.556844 -2.451112 +v 0.526830 -1.968965 -1.027832 +v 0.000912 -1.907143 -1.708659 +v 0.495916 -2.123710 -2.915169 +v 0.557808 -2.556844 -2.574952 +v 0.062803 -2.309239 -3.039206 +v 0.495916 -1.968965 -2.048876 +v 0.557808 -2.494895 -3.008099 +f 39 33 41 +f 25 24 26 +f 24 25 28 +f 25 26 30 +f 26 27 30 +f 26 24 32 +f 27 26 32 +f 23 29 33 +f 27 28 34 +f 25 30 34 +f 30 27 34 +f 32 24 35 +f 29 32 35 +f 23 27 36 +f 29 23 36 +f 27 32 36 +f 32 29 36 +f 28 25 38 +f 25 34 38 +f 34 28 38 +f 27 23 39 +f 28 27 39 +f 23 33 39 +f 33 29 40 +f 31 33 40 +f 35 24 40 +f 29 35 40 +f 24 37 40 +f 37 31 40 +f 24 28 41 +f 33 31 41 +f 37 24 41 +f 31 37 41 +f 28 39 41 +o convex_2 +v 0.495977 -2.061961 1.107320 +v -0.184684 -2.185807 -1.027832 +v -0.184684 -2.154712 -1.027832 +v 1.238575 -1.597670 -0.996691 +v 1.300512 -3.330450 0.797581 +v -0.865560 -3.206425 1.014314 +v -0.803623 -1.504920 1.014314 +v -0.834376 -3.206425 -0.934826 +v 1.207606 -3.206604 -0.934826 +v 1.331265 -1.504920 1.045246 +v -0.803623 -1.504920 -0.965758 +v 1.300512 -3.330450 1.107111 +v 1.238575 -1.504920 -0.996691 +v -0.834376 -1.504920 -0.872753 +v -0.648781 -3.237342 -0.749025 +v 0.619636 -2.494798 -1.027832 +v 0.000912 -1.938114 1.107320 +v 1.331480 -3.144769 1.045246 +v 1.238575 -3.237520 -0.687160 +v -0.060810 -1.504920 -1.027832 +v -0.834376 -1.504920 0.611988 +v -0.772654 -3.113674 -0.965758 +v 1.145669 -1.504920 1.076179 +v 0.464793 -3.299354 1.045246 +v 0.093817 -2.587549 1.107320 +v 1.300512 -1.535836 0.116865 +v 1.238575 -2.371309 -0.965758 +v -0.617812 -3.237342 0.859654 +v 0.248229 -1.504920 1.075970 +v 1.022011 -3.330450 0.797581 +v 0.619636 -1.504920 -1.027832 +v 1.207606 -2.835243 -0.965758 +v 0.000912 -2.494798 -1.027832 +v 1.331265 -1.504920 0.859654 +f 59 67 75 +f 48 51 52 +f 44 43 52 +f 52 51 54 +f 49 47 55 +f 48 52 55 +f 52 49 55 +f 47 49 56 +f 49 50 56 +f 43 44 57 +f 54 45 57 +f 48 47 58 +f 53 46 59 +f 51 53 59 +f 46 56 60 +f 56 50 60 +f 59 46 60 +f 44 52 61 +f 52 54 61 +f 57 44 61 +f 47 48 62 +f 55 47 62 +f 48 55 62 +f 50 49 63 +f 52 43 63 +f 49 52 63 +f 57 50 63 +f 51 48 64 +f 42 53 64 +f 53 51 64 +f 58 42 64 +f 53 47 65 +f 47 53 66 +f 53 42 66 +f 58 47 66 +f 42 58 66 +f 45 54 67 +f 60 50 68 +f 59 60 68 +f 45 67 68 +f 67 59 68 +f 47 56 69 +f 65 47 69 +f 56 65 69 +f 48 58 70 +f 64 48 70 +f 58 64 70 +f 46 53 71 +f 56 46 71 +f 53 65 71 +f 65 56 71 +f 54 57 72 +f 61 54 72 +f 57 61 72 +f 57 45 73 +f 50 57 73 +f 45 68 73 +f 68 50 73 +f 43 57 74 +f 63 43 74 +f 57 63 74 +f 54 51 75 +f 51 59 75 +f 67 54 75 +o convex_3 +v -1.453545 0.599272 0.333714 +v -2.103329 -1.350020 -0.378003 +v -2.041325 -1.350020 -0.378003 +v -2.041325 1.373072 -0.285137 +v -1.391612 1.373072 -0.223273 +v -1.948599 1.373072 0.302712 +v -1.453545 -1.195153 0.271780 +v -2.072257 -1.256993 0.178984 +v -1.484478 -1.256993 -0.192271 +v -1.391612 1.373072 0.333714 +v -1.422683 -1.133313 0.240848 +v -2.041325 -0.638060 0.240848 +v -2.041325 1.310965 -0.130407 +v -1.484478 -1.318833 -0.068543 +v -1.484478 1.218205 -0.254205 +v -2.072257 0.661112 -0.316069 +v -1.639208 -1.133313 0.271780 +v -1.546342 -1.318833 -0.223273 +v -1.391612 0.568353 0.333714 +v -2.103329 -1.350020 -0.223273 +v -2.010463 0.258886 0.271780 +v -1.886665 1.373072 -0.285137 +v -2.041325 -1.256993 0.209916 +v -1.670210 1.341885 0.333714 +v -1.422683 0.475593 -0.223273 +f 93 78 100 +f 80 79 81 +f 80 81 85 +f 81 79 88 +f 86 82 89 +f 84 86 89 +f 78 77 91 +f 83 88 91 +f 88 79 91 +f 89 78 93 +f 84 89 93 +f 85 76 94 +f 80 85 94 +f 82 86 94 +f 86 80 94 +f 76 92 94 +f 92 82 94 +f 77 78 95 +f 78 89 95 +f 91 77 95 +f 83 91 95 +f 83 87 96 +f 88 83 96 +f 81 88 96 +f 87 92 96 +f 79 80 97 +f 90 78 97 +f 80 90 97 +f 78 91 97 +f 91 79 97 +f 87 83 98 +f 89 82 98 +f 82 92 98 +f 92 87 98 +f 95 89 98 +f 83 95 98 +f 76 85 99 +f 85 81 99 +f 92 76 99 +f 81 96 99 +f 96 92 99 +f 80 86 100 +f 86 84 100 +f 78 90 100 +f 90 80 100 +f 84 93 100 +o convex_4 +v 0.990953 1.558337 -1.089720 +v -0.432185 2.734539 1.076375 +v -0.679835 2.734539 1.076375 +v 0.248428 -1.504741 1.076375 +v -0.803659 -1.504741 -0.965895 +v 1.331471 -1.504741 1.045419 +v -0.741535 2.858395 -0.965683 +v 1.331471 2.703362 0.952338 +v 1.238602 -1.504741 -0.996639 +v -0.803659 -1.504741 1.014251 +v 1.300515 2.796467 -1.089508 +v -0.834616 2.053333 0.333635 +v 0.279384 -0.823535 -1.058764 +v -0.834616 -1.380458 -0.872814 +v -0.648878 2.827217 -0.996851 +v 1.145734 -1.442813 1.076375 +v 1.331471 1.372981 -0.192198 +v -0.834616 1.712943 -0.439849 +v -0.803659 -1.009318 1.045419 +v -0.834616 -1.504741 0.581074 +v 1.331471 2.734539 0.735856 +v 1.269559 -0.359290 -1.027596 +v 1.331471 2.022583 0.983294 +v -0.060922 -1.504741 -1.027808 +v -0.710791 2.239116 1.076375 +v 0.990953 2.796467 -1.089720 +v 1.331471 -1.504741 0.859469 +v 1.300515 1.496410 -1.058552 +v 1.331471 2.765289 -0.099329 +v 0.557778 2.734539 1.014251 +v -0.772703 2.610683 -0.872814 +v -0.710791 2.765289 0.642987 +v 0.743303 -0.421645 -1.058764 +v -0.679835 2.858395 -0.934939 +v -0.648878 2.765289 0.766812 +v 0.619690 -1.504741 -1.027596 +v 1.300515 2.115688 -1.089508 +v -0.803659 -0.019327 -0.965895 +v -0.710791 1.620265 1.076375 +v 1.300515 -1.504741 0.116941 +v -0.741535 2.827217 -0.408681 +v -0.834616 2.053333 -0.254111 +v 1.331471 -0.607001 1.045419 +f 106 123 143 +f 102 103 104 +f 104 105 106 +f 106 105 109 +f 105 104 110 +f 102 104 116 +f 104 106 116 +f 108 106 117 +f 114 112 118 +f 110 104 119 +f 119 112 120 +f 105 110 120 +f 114 105 120 +f 112 114 120 +f 110 119 120 +f 108 117 121 +f 106 108 123 +f 109 105 124 +f 105 115 124 +f 115 113 124 +f 104 103 125 +f 103 112 125 +f 112 119 125 +f 111 101 126 +f 107 111 126 +f 101 113 126 +f 115 107 126 +f 113 115 126 +f 106 109 127 +f 117 106 127 +f 117 127 128 +f 117 111 129 +f 121 117 129 +f 108 121 130 +f 102 123 130 +f 123 108 130 +f 112 103 132 +f 113 101 133 +f 122 109 133 +f 111 107 134 +f 129 111 134 +f 121 129 134 +f 130 121 134 +f 103 102 135 +f 102 130 135 +f 132 103 135 +f 134 107 135 +f 130 134 135 +f 109 124 136 +f 124 113 136 +f 113 133 136 +f 133 109 136 +f 101 111 137 +f 111 117 137 +f 128 122 137 +f 117 128 137 +f 133 101 137 +f 122 133 137 +f 105 114 138 +f 115 105 138 +f 107 115 138 +f 114 118 138 +f 131 107 138 +f 118 131 138 +f 119 104 139 +f 104 125 139 +f 125 119 139 +f 109 122 140 +f 127 109 140 +f 122 128 140 +f 128 127 140 +f 107 131 141 +f 131 112 141 +f 112 132 141 +f 132 135 141 +f 135 107 141 +f 118 112 142 +f 112 131 142 +f 131 118 142 +f 102 116 143 +f 116 106 143 +f 123 102 143 +o convex_5 +v 2.971339 1.404143 -0.285116 +v 1.641231 2.084789 0.271771 +v 2.507100 1.558874 0.271771 +v 1.331674 1.373072 -0.192283 +v 3.218869 1.930059 -0.285116 +v 1.331674 2.022855 -0.254153 +v 1.331674 1.404143 0.240809 +v 3.311717 1.558874 0.240809 +v 3.187855 1.960921 0.209846 +v 1.331674 2.084789 0.271771 +v 3.280703 1.435006 -0.161321 +v 2.259958 1.991923 -0.285116 +v 1.795913 1.435006 0.271771 +v 1.331674 1.806191 -0.254153 +v 3.280703 1.435006 -0.285116 +v 1.393702 2.084789 0.055198 +v 3.249689 1.775329 0.240809 +v 3.311717 1.527802 0.209846 +v 3.249689 1.898987 -0.285116 +v 1.331674 1.435006 0.271771 +f 150 156 163 +f 147 144 150 +f 149 147 150 +f 148 145 152 +f 146 145 153 +f 149 150 153 +f 150 144 154 +f 148 144 155 +f 151 146 156 +f 146 153 156 +f 150 154 156 +f 144 147 157 +f 147 149 157 +f 155 144 157 +f 149 155 157 +f 144 148 158 +f 154 144 158 +f 145 148 159 +f 153 145 159 +f 149 153 159 +f 148 155 159 +f 155 149 159 +f 145 146 160 +f 146 151 160 +f 152 145 160 +f 151 156 161 +f 156 154 161 +f 154 158 161 +f 161 158 162 +f 148 152 162 +f 158 148 162 +f 160 151 162 +f 152 160 162 +f 151 161 162 +f 153 150 163 +f 156 153 163 +o convex_6 +v -1.391612 4.776458 0.024226 +v -2.103329 3.910250 -0.099493 +v -2.103329 3.910250 -0.068515 +v -1.515479 2.115734 0.302770 +v -1.917527 2.115734 -0.347059 +v -2.072257 2.115734 0.302770 +v -2.010463 4.745541 0.240878 +v -1.422683 4.714624 -0.316081 +v -2.103329 4.776458 -0.254190 +v -1.391612 4.838558 0.302770 +v -1.515479 2.115734 -0.192298 +v -2.041325 2.115734 -0.347059 +v -2.072257 4.745541 0.148009 +v -1.484478 2.301768 0.302770 +v -2.041325 2.765789 -0.347059 +v -1.515479 4.838558 0.302770 +v -1.484478 2.734872 -0.223276 +v -1.391612 4.374271 0.240878 +v -2.072257 2.394519 0.302770 +v -1.948599 4.807375 -0.130407 +v -1.515479 2.394519 -0.223276 +f 180 174 184 +f 166 165 169 +f 168 167 169 +f 165 166 172 +f 169 167 173 +f 164 171 173 +f 167 168 174 +f 169 165 175 +f 168 169 175 +f 165 172 175 +f 172 166 176 +f 173 167 177 +f 167 174 177 +f 171 168 178 +f 172 171 178 +f 168 175 178 +f 175 172 178 +f 169 173 179 +f 176 170 179 +f 171 164 180 +f 177 174 180 +f 177 180 181 +f 164 173 181 +f 173 177 181 +f 180 164 181 +f 166 169 182 +f 176 166 182 +f 170 176 182 +f 169 179 182 +f 179 170 182 +f 171 172 183 +f 173 171 183 +f 172 176 183 +f 179 173 183 +f 176 179 183 +f 168 171 184 +f 174 168 184 +f 171 180 184 +o convex_7 +v -2.814946 1.651624 0.333714 +v -2.320057 2.022822 -0.347059 +v -2.629287 2.022822 -0.316072 +v -2.103429 1.527872 -0.285152 +v -2.072385 2.053775 0.302728 +v -2.103429 1.527872 0.302728 +v -2.722117 1.496918 -0.068512 +v -2.814946 2.084789 -0.192326 +v -2.072385 2.053775 -0.347059 +v -2.691148 1.960915 0.302728 +v -2.845839 1.466026 0.333714 +v -2.722117 1.651624 -0.223246 +v -2.072385 1.527872 -0.285152 +v -2.814946 1.991868 -0.285152 +v -2.258120 1.496918 -0.099499 +v -2.567426 2.084789 -0.316072 +v -2.072385 1.558825 0.302728 +v -2.443779 1.496918 0.333714 +f 190 201 202 +f 187 186 188 +f 185 189 194 +f 192 185 194 +f 189 192 194 +f 185 192 195 +f 188 191 196 +f 188 186 197 +f 186 193 197 +f 193 189 197 +f 187 188 198 +f 191 195 198 +f 195 192 198 +f 188 196 198 +f 196 191 198 +f 191 188 199 +f 195 191 199 +f 188 197 199 +f 197 190 199 +f 186 187 200 +f 192 189 200 +f 193 186 200 +f 189 193 200 +f 187 198 200 +f 198 192 200 +f 197 189 201 +f 190 197 201 +f 189 185 202 +f 185 195 202 +f 199 190 202 +f 195 199 202 +f 201 189 202 +o convex_8 +v -1.546239 1.373072 -0.254205 +v -1.515225 2.115733 0.302712 +v -0.834858 2.053797 0.333714 +v -1.917557 2.115733 -0.347001 +v -1.948450 1.373072 0.302712 +v -0.834858 1.496873 -0.347001 +v -0.865751 1.373072 0.240848 +v -0.834858 2.053797 -0.254205 +v -2.072385 2.115733 0.302712 +v -2.041250 1.373072 -0.285137 +v -2.010357 2.053797 -0.378003 +v -1.267962 1.373072 0.333714 +v -2.072385 1.558737 0.302712 +v -2.072385 2.053797 -0.347001 +v -1.700945 1.558737 0.333714 +v -0.834858 1.373072 0.147982 +v -0.834858 1.620674 -0.347001 +v -1.515225 2.115733 -0.192271 +v -2.072385 1.527914 -0.285137 +f 215 216 221 +f 207 203 209 +f 204 205 210 +f 205 208 210 +f 205 204 211 +f 204 206 211 +f 203 207 212 +f 208 203 212 +f 208 212 213 +f 206 210 213 +f 207 209 214 +f 209 205 214 +f 212 207 215 +f 211 206 216 +f 213 212 216 +f 206 213 216 +f 215 211 216 +f 205 211 217 +f 207 214 217 +f 214 205 217 +f 211 215 217 +f 215 207 217 +f 208 205 218 +f 203 208 218 +f 209 203 218 +f 205 209 218 +f 210 208 219 +f 208 213 219 +f 213 210 219 +f 206 204 220 +f 204 210 220 +f 210 206 220 +f 212 215 221 +f 216 212 221 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/892/892.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/892/892.urdf new file mode 100644 index 000000000..a49b05952 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/892/892.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/893/893.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/893/893.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/893/893.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/893/893.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/893/893.obj new file mode 100644 index 000000000..dccd09517 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/893/893.obj @@ -0,0 +1,456 @@ +o convex_0 +v -3.206984 -0.794777 -0.088689 +v 0.954266 1.639330 1.088780 +v 1.347181 1.599814 1.088780 +v 0.875964 1.639330 -1.031101 +v 1.543170 -2.522484 -0.991670 +v -0.969052 -2.364827 1.127992 +v -3.167599 1.560298 0.970923 +v -3.128213 -2.404343 -1.031101 +v -3.167599 1.639330 -0.991670 +v 1.543170 -2.404343 0.970923 +v -3.206984 -2.443859 0.970923 +v 1.543639 1.599814 -0.991889 +v -3.246369 -0.127893 1.088780 +v -2.775152 -0.441577 -1.109526 +v 1.543639 1.560705 1.049567 +v 1.543170 -1.147977 1.088780 +v -1.243812 -0.441577 1.127992 +v -3.128213 -2.443859 -0.991670 +v -1.126125 1.639330 1.010136 +v -2.461007 -2.443859 1.049348 +v -3.128213 -0.285142 -1.109526 +v 0.875964 -2.522484 -0.638539 +v 1.268411 1.560298 -1.031101 +v -3.246369 -0.637528 1.088780 +v -3.206984 1.128473 1.010355 +v -3.167599 1.167989 -1.031101 +v -3.246369 0.107574 0.578361 +v -3.049911 -0.755261 -1.109526 +v 1.543170 -1.893894 1.049348 +v 0.483517 -2.522484 -0.952457 +v -3.167599 1.639330 -0.520683 +v -3.167599 -2.050735 -0.599107 +v 1.464869 -2.443452 0.539149 +v -1.283197 -2.364827 1.127992 +v -3.246369 -0.715745 0.695998 +v -3.167599 0.107574 -1.031101 +v -3.167599 1.246206 1.010355 +v -0.733678 -1.972518 1.127992 +v -3.206984 -2.286610 1.010355 +v 0.797193 1.639330 1.088780 +v 1.543170 -2.522484 -0.677751 +v 0.365361 1.639330 -1.031101 +v -3.206984 0.971631 -0.324401 +v -2.775152 -0.519794 -1.109526 +v -3.167599 -2.443859 -0.285189 +f 35 32 45 +f 2 4 9 +f 2 3 12 +f 4 2 12 +f 12 3 15 +f 5 12 15 +f 15 3 16 +f 3 2 17 +f 8 5 18 +f 2 9 19 +f 10 6 20 +f 20 11 22 +f 4 12 23 +f 12 5 23 +f 21 4 23 +f 14 21 23 +f 24 13 27 +f 13 25 27 +f 5 8 28 +f 8 21 28 +f 21 14 28 +f 6 10 29 +f 10 15 29 +f 16 6 29 +f 15 16 29 +f 18 5 30 +f 5 22 30 +f 22 11 30 +f 7 19 31 +f 19 9 31 +f 25 7 31 +f 9 25 31 +f 10 20 33 +f 6 17 34 +f 17 13 34 +f 20 6 34 +f 13 24 34 +f 11 24 35 +f 24 27 35 +f 1 32 35 +f 21 8 36 +f 26 21 36 +f 8 32 36 +f 32 1 36 +f 1 35 36 +f 35 27 36 +f 7 25 37 +f 25 13 37 +f 16 3 38 +f 6 16 38 +f 3 17 38 +f 17 6 38 +f 11 20 39 +f 24 11 39 +f 20 34 39 +f 34 24 39 +f 17 2 40 +f 13 17 40 +f 2 19 40 +f 19 7 40 +f 7 37 40 +f 37 13 40 +f 15 10 41 +f 5 15 41 +f 22 5 41 +f 20 22 41 +f 10 33 41 +f 33 20 41 +f 9 4 42 +f 4 21 42 +f 26 9 42 +f 21 26 42 +f 25 9 43 +f 9 26 43 +f 27 25 43 +f 26 36 43 +f 36 27 43 +f 23 5 44 +f 14 23 44 +f 5 28 44 +f 28 14 44 +f 8 18 45 +f 18 30 45 +f 30 11 45 +f 32 8 45 +f 11 35 45 +o convex_1 +v 0.954603 1.639526 1.088949 +v -1.204725 2.934814 -1.031220 +v -1.204725 3.680974 -1.031220 +v 0.875975 1.639526 -1.031220 +v -1.126096 1.639725 1.010293 +v 0.797557 3.641608 1.049517 +v 0.836660 3.602242 -1.031220 +v -1.165199 3.484343 1.049517 +v -1.126096 1.639725 -0.991789 +v 0.875975 3.288311 -1.031220 +v -1.204725 3.602242 0.028864 +v 0.836660 3.641608 -0.010152 +v 0.405048 3.641608 1.049517 +v 0.954603 1.914490 1.088949 +v 0.915289 1.639526 -0.795254 +v -1.165199 2.816916 1.049517 +v 0.954603 1.678892 0.342863 +v -1.165199 3.523709 0.970862 +v 0.836660 2.464018 1.088949 +v -1.165199 2.032189 -0.913134 +v 0.287106 3.641608 -1.031220 +v 0.365734 1.639526 -1.031220 +v 0.797557 1.639526 1.088949 +v -1.008153 3.680974 -1.031220 +v -1.126096 2.581917 1.049517 +v -1.204725 3.680974 -0.952565 +f 51 69 71 +f 47 48 49 +f 49 48 52 +f 49 52 55 +f 48 47 56 +f 55 52 57 +f 57 51 59 +f 55 57 59 +f 46 49 60 +f 49 55 60 +f 47 50 61 +f 56 47 61 +f 53 56 61 +f 59 46 62 +f 55 59 62 +f 46 60 62 +f 60 55 62 +f 56 53 63 +f 53 58 63 +f 58 56 63 +f 51 58 64 +f 58 53 64 +f 46 59 64 +f 59 51 64 +f 50 47 65 +f 47 54 65 +f 54 50 65 +f 52 48 66 +f 57 52 66 +f 47 49 67 +f 49 46 67 +f 54 47 67 +f 50 54 67 +f 53 61 68 +f 64 53 68 +f 46 64 68 +f 67 46 68 +f 50 67 68 +f 51 57 69 +f 66 48 69 +f 57 66 69 +f 61 50 70 +f 50 68 70 +f 68 61 70 +f 48 56 71 +f 58 51 71 +f 56 58 71 +f 69 48 71 +o convex_2 +v 1.779253 -0.402311 -1.031220 +v 2.682126 -0.677040 1.088949 +v 2.564390 -0.677040 1.088949 +v 2.446654 1.560571 1.049517 +v 2.957028 1.639330 -0.952357 +v 1.543643 1.560571 1.049517 +v 2.917737 -1.069775 -1.031220 +v 1.543643 -1.069775 1.088949 +v 1.543643 1.599818 -0.991581 +v 2.957028 1.050359 1.049517 +v 1.543643 -1.069775 -0.952357 +v 2.917737 -1.069775 1.010293 +v 2.917737 1.521324 1.049517 +v 2.957028 -0.677040 1.049517 +v 2.917737 0.343383 -1.031220 +v 1.936419 1.639330 -0.991581 +v 2.957028 1.639330 -0.481255 +v 2.957028 0.382895 -0.991581 +v 1.543643 -0.912522 -0.991581 +v 2.564390 -1.069775 1.088949 +v 2.132600 -1.069775 -1.031220 +v 2.957028 -0.402311 -0.206480 +v 2.485807 1.639330 -0.991581 +v 2.957028 1.560571 0.578415 +v 2.957028 1.285576 -0.991581 +f 86 94 96 +f 74 73 75 +f 74 75 77 +f 73 74 79 +f 74 77 79 +f 79 77 80 +f 78 79 82 +f 79 80 82 +f 79 78 83 +f 75 73 84 +f 73 81 84 +f 81 73 85 +f 76 81 85 +f 83 78 85 +f 78 72 86 +f 72 80 86 +f 86 80 87 +f 80 77 87 +f 87 77 88 +f 77 75 88 +f 81 76 88 +f 76 87 88 +f 76 85 89 +f 78 86 89 +f 80 72 90 +f 82 80 90 +f 73 79 91 +f 79 83 91 +f 85 73 91 +f 83 85 91 +f 72 78 92 +f 78 82 92 +f 90 72 92 +f 82 90 92 +f 85 78 93 +f 89 85 93 +f 78 89 93 +f 86 87 94 +f 87 76 94 +f 75 84 95 +f 84 81 95 +f 88 75 95 +f 81 88 95 +f 76 89 96 +f 89 86 96 +f 94 76 96 +o convex_3 +v 2.250170 -2.522484 -0.716925 +v 2.917692 -1.776499 -0.599192 +v 2.917692 -1.815784 -0.599192 +v 1.543912 -1.894428 1.049686 +v 2.839144 -2.365415 0.971062 +v 1.543912 -1.776499 -0.952596 +v 1.543912 -2.404628 0.931749 +v 2.878418 -1.776499 1.010374 +v 2.917692 -2.522484 -0.991908 +v 1.543912 -2.522484 -0.991908 +v 2.917692 -1.776499 -1.031220 +v 1.543912 -1.776499 1.049686 +v 2.917692 -2.522484 -0.834862 +v 2.525087 -1.972926 1.049686 +v 1.543912 -2.208273 1.010374 +v 1.583051 -2.443913 0.499925 +v 1.543912 -2.522484 -0.677817 +v 2.642775 -2.404628 0.656970 +v 2.014930 -1.776499 -0.991908 +f 102 107 115 +f 100 102 103 +f 99 98 104 +f 98 102 104 +f 98 99 105 +f 103 102 106 +f 105 97 106 +f 105 106 107 +f 102 98 107 +f 98 105 107 +f 102 100 108 +f 104 102 108 +f 99 104 109 +f 104 101 109 +f 105 99 109 +f 97 105 109 +f 101 104 110 +f 108 100 110 +f 104 108 110 +f 100 103 111 +f 103 101 111 +f 110 100 111 +f 101 110 111 +f 97 109 112 +f 103 106 113 +f 106 97 113 +f 112 103 113 +f 97 112 113 +f 101 103 114 +f 109 101 114 +f 103 112 114 +f 112 109 114 +f 106 102 115 +f 107 106 115 +o convex_4 +v 1.779263 -1.737140 2.344323 +v 2.250366 -1.069914 1.088588 +v 1.700816 -1.148423 2.580816 +v 1.583005 -1.501612 -2.955024 +v 2.250366 -1.776498 -0.991001 +v 2.171780 -1.148423 -2.993744 +v 2.171780 -1.658631 3.091331 +v 1.543643 -1.069914 -0.952281 +v 1.543643 -1.776498 1.205941 +v 1.818557 -1.697851 -2.955024 +v 2.211073 -1.187643 3.051419 +v 1.661522 -1.383951 3.052015 +v 1.543643 -1.069914 1.087992 +v 1.543643 -1.776498 -0.952281 +v 1.661522 -1.148423 -2.837075 +v 2.132487 -1.658631 -2.955024 +v 2.250366 -1.776498 1.048676 +v 2.250366 -1.069914 -1.030913 +v 1.661522 -1.619341 3.052015 +v 2.132487 -1.737140 3.091331 +v 1.583005 -1.697851 -2.955024 +v 1.661522 -1.187643 2.973382 +v 2.014677 -1.109134 -2.523141 +v 2.171780 -1.462322 -2.994340 +v 1.818557 -1.776498 1.991669 +v 1.936229 -1.148423 -2.994340 +v 2.132487 -1.697851 -2.837075 +v 2.093194 -1.776498 -1.227494 +v 2.211073 -1.423172 3.051419 +v 1.740040 -1.462322 3.091331 +v 1.622298 -1.305442 -2.955024 +f 130 141 146 +f 117 118 126 +f 124 127 128 +f 118 117 128 +f 117 123 128 +f 123 124 128 +f 123 119 129 +f 120 124 129 +f 124 123 129 +f 120 117 132 +f 124 120 132 +f 117 120 133 +f 123 117 133 +f 124 116 134 +f 127 124 134 +f 132 122 135 +f 134 116 135 +f 129 119 136 +f 126 118 137 +f 127 126 137 +f 128 127 137 +f 118 128 137 +f 130 123 138 +f 133 121 138 +f 123 133 138 +f 120 131 139 +f 131 125 139 +f 133 120 139 +f 121 133 139 +f 125 136 139 +f 116 124 140 +f 124 132 140 +f 135 116 140 +f 132 135 140 +f 136 119 141 +f 138 121 141 +f 130 138 141 +f 121 139 141 +f 139 136 141 +f 131 120 142 +f 125 131 142 +f 120 129 143 +f 136 125 143 +f 129 136 143 +f 142 120 143 +f 125 142 143 +f 117 126 144 +f 126 122 144 +f 132 117 144 +f 122 132 144 +f 122 126 145 +f 126 127 145 +f 127 134 145 +f 134 135 145 +f 135 122 145 +f 119 123 146 +f 123 130 146 +f 141 119 146 +o convex_5 +v 2.407481 -1.501612 1.088949 +v 2.799974 -1.776498 -1.031220 +v 2.917827 -1.776498 -1.031220 +v 2.917827 -1.069914 -1.031220 +v 2.250432 -1.069914 -1.031220 +v 2.917827 -1.069914 1.010293 +v 2.250432 -1.776498 -0.991581 +v 2.878499 -1.776498 1.010293 +v 2.250432 -1.069914 1.088949 +v 2.250432 -1.776498 1.049517 +v 2.917827 -1.305442 1.010293 +v 2.839236 -1.069914 1.049517 +f 157 152 158 +f 149 148 150 +f 150 148 151 +f 149 150 152 +f 150 151 152 +f 148 149 153 +f 151 148 153 +f 153 149 154 +f 152 151 155 +f 151 153 155 +f 155 153 156 +f 154 147 156 +f 153 154 156 +f 147 155 156 +f 149 152 157 +f 154 149 157 +f 154 157 158 +f 147 154 158 +f 155 147 158 +f 152 155 158 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/893/893.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/893/893.urdf new file mode 100644 index 000000000..dbfe7f201 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/893/893.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/894/894.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/894/894.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/894/894.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/894/894.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/894/894.obj new file mode 100644 index 000000000..4a7c4dd9a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/894/894.obj @@ -0,0 +1,450 @@ +o convex_0 +v 2.889705 -1.123141 0.601490 +v 2.225928 1.007876 1.090992 +v 1.737000 1.007876 1.090992 +v 1.073031 1.077897 -1.110045 +v 1.073031 -1.053120 0.986068 +v 2.994462 -1.052904 -1.074927 +v 3.029509 0.972757 -1.040024 +v 1.073031 -0.983098 -1.110045 +v 2.959607 1.077681 1.020971 +v 1.073031 0.937854 1.090992 +v 3.029509 -1.123141 0.916262 +v 1.457394 1.077897 -1.110045 +v 2.959607 -1.052904 0.950949 +v 1.562150 -1.018217 -1.110045 +v 1.317782 -1.088022 0.916262 +v 3.029509 1.007660 -0.865294 +v 2.959607 -1.088022 -0.725683 +v 1.142933 0.518588 1.090992 +v 1.073031 1.077897 -0.725683 +v 2.959607 0.728221 1.055874 +v 3.029509 0.099323 -1.040024 +v 3.029509 1.007660 -0.480931 +v 2.994462 -0.424221 -1.074927 +v 1.142933 0.972757 1.090992 +v 2.854659 1.077681 1.055874 +v 1.073031 -1.053120 0.252245 +v 1.317782 -1.053120 0.986068 +v 3.029509 -0.983314 0.916262 +v 1.701953 -0.948195 -1.110045 +v 2.365540 -1.053120 -1.074927 +v 2.575053 -1.123141 0.950949 +v 2.225928 1.042778 -1.074927 +v 2.086125 0.902951 1.090992 +v 2.330493 1.007876 -1.074927 +v 2.959607 1.077681 0.950949 +v 1.073031 -1.018217 -0.620758 +v 3.029509 -1.123141 0.776435 +f 21 11 37 +f 5 4 8 +f 2 3 10 +f 4 5 10 +f 8 4 12 +f 8 12 14 +f 11 7 16 +f 1 15 17 +f 2 10 18 +f 10 5 18 +f 4 10 19 +f 12 4 19 +f 9 12 19 +f 13 11 20 +f 6 7 21 +f 7 11 21 +f 11 16 22 +f 16 9 22 +f 7 6 23 +f 10 3 24 +f 19 10 24 +f 19 24 25 +f 3 2 25 +f 9 19 25 +f 2 20 25 +f 20 9 25 +f 24 3 25 +f 5 8 26 +f 15 5 26 +f 18 5 27 +f 13 18 27 +f 9 20 28 +f 20 11 28 +f 22 9 28 +f 11 22 28 +f 6 14 29 +f 14 12 29 +f 23 6 29 +f 12 23 29 +f 14 6 30 +f 6 17 30 +f 17 15 30 +f 15 26 30 +f 1 11 31 +f 11 13 31 +f 5 15 31 +f 15 1 31 +f 27 5 31 +f 13 27 31 +f 16 7 32 +f 2 18 33 +f 18 13 33 +f 20 2 33 +f 13 20 33 +f 7 23 34 +f 23 12 34 +f 32 7 34 +f 12 32 34 +f 12 9 35 +f 9 16 35 +f 32 12 35 +f 16 32 35 +f 8 14 36 +f 26 8 36 +f 14 30 36 +f 30 26 36 +f 11 1 37 +f 1 17 37 +f 17 6 37 +f 6 21 37 +o convex_1 +v -1.163053 0.099572 -1.040171 +v -2.490417 1.007694 1.090992 +v -3.084484 1.007694 1.090992 +v -2.245857 -1.053085 0.986061 +v -3.084484 -1.017967 -0.935032 +v -2.944681 1.042812 -0.935032 +v -1.128007 1.112834 1.021107 +v -1.128007 -1.088204 -0.376165 +v -1.128007 -1.018182 1.021107 +v -1.128007 1.007910 -1.004916 +v -2.944681 -1.053085 0.951014 +v -1.128007 -1.088204 -0.970078 +v -1.582271 1.007910 -1.040171 +v -2.909635 -0.878355 -0.970287 +v -3.084484 0.763158 1.090992 +v -1.687219 -1.088204 -0.970078 +v -1.268001 1.077715 1.055945 +v -3.014583 -1.053085 0.147447 +v -3.084484 0.938104 0.741361 +v -1.268001 1.112834 0.776199 +v -2.979536 0.902985 -0.760634 +v -1.722074 0.309205 -1.040171 +v -3.084484 -0.738528 -0.830309 +v -1.582271 -1.018182 1.020899 +v -1.128007 -0.703841 -1.004916 +v -1.756929 -1.053085 0.986061 +v -2.979536 -0.773431 0.951014 +v -1.128007 0.973007 -1.040171 +v -2.455562 -1.053085 -0.970287 +v -2.944681 1.042812 -0.620656 +v -3.084484 -0.843452 -0.620656 +v -2.734977 1.042812 -0.935032 +v -3.084484 0.413914 0.776408 +v -2.909635 -0.703625 -0.970287 +v -1.163053 1.112834 0.776199 +v -3.014583 -1.053085 -0.026742 +v -2.979536 0.693353 -0.935032 +f 43 71 74 +f 45 44 46 +f 44 45 47 +f 45 41 48 +f 47 45 49 +f 39 40 52 +f 40 42 52 +f 46 39 52 +f 48 41 52 +f 45 48 53 +f 49 45 53 +f 40 39 54 +f 44 40 54 +f 39 46 54 +f 46 44 54 +f 53 48 55 +f 42 40 56 +f 40 43 56 +f 40 44 57 +f 56 43 58 +f 50 38 59 +f 42 56 60 +f 56 58 60 +f 41 46 61 +f 46 52 61 +f 52 41 61 +f 47 49 62 +f 49 53 62 +f 41 45 63 +f 46 41 63 +f 45 46 63 +f 48 52 64 +f 55 48 64 +f 38 50 65 +f 50 47 65 +f 62 38 65 +f 47 62 65 +f 42 51 66 +f 59 38 66 +f 51 59 66 +f 38 62 66 +f 62 53 66 +f 43 40 67 +f 40 57 67 +f 57 43 67 +f 52 42 68 +f 42 55 68 +f 50 43 69 +f 47 50 69 +f 43 57 69 +f 64 52 70 +f 55 64 70 +f 52 68 70 +f 68 55 70 +f 43 50 71 +f 51 42 71 +f 50 59 71 +f 59 51 71 +f 44 47 72 +f 57 44 72 +f 47 69 72 +f 69 57 72 +f 55 42 73 +f 53 55 73 +f 42 66 73 +f 66 53 73 +f 58 43 74 +f 42 60 74 +f 60 58 74 +f 71 42 74 +o convex_2 +v 0.129565 -1.088590 1.021070 +v 0.513925 -1.472762 -1.110046 +v 0.513925 -1.402983 -1.110046 +v -1.128007 -3.009450 -1.039864 +v 1.073014 -3.044339 1.056055 +v -0.953063 -1.088395 1.056055 +v -0.918160 -2.974756 1.056055 +v 1.037896 -3.079618 -0.935333 +v -0.953063 -1.088395 -0.970106 +v 1.073014 -1.088590 -0.795605 +v 0.933188 -1.088590 0.986085 +v 1.073014 -1.088590 -1.110046 +v 1.073014 -3.079618 0.741614 +v -0.778549 -3.044534 -1.039864 +v 1.037896 -2.310690 1.056055 +v -1.023083 -2.939672 -1.075061 +v -0.953063 -2.974756 0.986085 +v -0.988181 -1.367899 -1.005091 +v 1.073014 -1.996686 -1.039864 +v -1.023083 -1.717182 0.287233 +v 0.723557 -3.079618 -0.970106 +v -0.988181 -1.228147 -0.970106 +v 0.374099 -3.044339 1.021070 +v 1.073014 -3.079618 -0.201284 +v -1.023083 -3.009450 -0.061768 +v 0.968090 -1.333010 0.986085 +v -1.128007 -2.939672 -0.970106 +v 1.073014 -2.729946 1.056055 +v 0.234489 -1.088590 -1.075061 +v 0.409002 -3.079618 -0.935333 +v 0.653536 -1.437873 -1.110046 +v -0.988181 -1.297926 0.461734 +v -1.092889 -2.485526 -1.039864 +v -1.023083 -2.869698 -1.075061 +v -0.918160 -2.904782 -1.075061 +v 1.073014 -2.275800 -1.005091 +v -0.953063 -1.961797 1.056055 +v -0.778549 -1.088395 -1.005091 +f 103 92 112 +f 79 80 81 +f 80 75 85 +f 76 77 86 +f 84 79 86 +f 86 79 87 +f 75 80 89 +f 80 79 89 +f 85 75 89 +f 77 76 90 +f 88 78 90 +f 86 87 93 +f 82 87 95 +f 88 90 95 +f 93 82 95 +f 80 83 96 +f 83 92 96 +f 79 81 97 +f 87 79 97 +f 88 87 97 +f 87 82 98 +f 93 87 98 +f 78 88 99 +f 91 78 99 +f 81 91 99 +f 97 81 99 +f 88 97 99 +f 84 85 100 +f 85 89 100 +f 78 91 101 +f 79 84 102 +f 89 79 102 +f 84 100 102 +f 100 89 102 +f 86 77 103 +f 77 92 103 +f 87 88 104 +f 95 87 104 +f 88 95 104 +f 76 86 105 +f 90 76 105 +f 86 93 105 +f 93 95 105 +f 94 80 106 +f 80 96 106 +f 96 92 107 +f 78 101 107 +f 101 94 107 +f 94 106 107 +f 106 96 107 +f 77 90 108 +f 90 78 108 +f 92 77 108 +f 78 107 108 +f 107 92 108 +f 95 90 109 +f 90 105 109 +f 105 95 109 +f 82 93 110 +f 98 82 110 +f 93 98 110 +f 81 80 111 +f 91 81 111 +f 80 94 111 +f 101 91 111 +f 94 101 111 +f 83 80 112 +f 80 85 112 +f 85 84 112 +f 84 86 112 +f 92 83 112 +f 86 103 112 +o convex_3 +v 0.933204 3.104249 0.846025 +v -1.128007 -1.088204 -0.970003 +v -0.743428 -1.088204 -1.005121 +v 0.933204 -1.088204 0.986068 +v -1.092888 2.999191 1.090992 +v 0.968107 2.999191 -0.970218 +v -0.918158 3.104249 -1.074927 +v 1.073031 -1.088204 -1.110045 +v -1.128007 -1.018029 1.020971 +v 1.073031 1.321964 1.090992 +v -1.128007 0.973550 -1.074927 +v 1.073031 3.068956 0.951165 +v 1.073031 1.077377 -1.110045 +v 1.073031 -1.052501 0.986068 +v 0.199381 0.065377 1.090992 +v -0.953277 -1.088204 1.020971 +v -0.918158 -1.018029 1.055874 +v -1.128007 1.112259 1.020971 +v -0.568914 3.104249 -1.074927 +v -0.953061 3.104249 -0.865294 +v 0.269402 1.042905 -1.110045 +v 1.003010 3.034073 -0.620758 +v -0.638720 2.999191 1.090992 +v 0.758474 -1.088204 -1.110045 +v 1.073031 0.484376 1.090992 +v 1.073031 3.068956 0.566587 +v 1.003010 1.322374 -1.110045 +v -0.953061 3.034073 0.776435 +v 0.793377 3.068956 0.986068 +v -1.057985 2.160372 1.090992 +v -1.092888 2.999191 0.950949 +v -1.128007 -0.703267 -1.005121 +v 0.583744 3.034073 -1.005121 +v -0.953061 3.104249 -0.690564 +v 0.129575 -1.088204 1.020755 +v 1.003010 3.104249 0.811338 +v 0.234284 3.068956 1.020755 +v -1.128007 0.903786 -1.074927 +v 1.003010 2.999191 -0.690780 +v 0.059769 3.068956 -1.040024 +v -1.128007 -1.088204 -0.341104 +v 1.003010 2.230547 -1.040024 +f 152 145 154 +f 114 115 116 +f 116 115 120 +f 114 121 123 +f 122 120 124 +f 124 120 125 +f 116 120 126 +f 120 122 126 +f 122 117 127 +f 114 116 128 +f 121 128 129 +f 121 117 130 +f 123 121 130 +f 119 113 131 +f 113 119 132 +f 119 123 132 +f 123 119 133 +f 125 120 133 +f 117 122 135 +f 120 115 136 +f 133 120 136 +f 126 122 137 +f 122 127 137 +f 124 125 138 +f 119 131 139 +f 133 119 139 +f 125 133 139 +f 124 113 141 +f 122 124 141 +f 135 122 141 +f 117 121 142 +f 127 117 142 +f 121 129 142 +f 129 127 142 +f 130 117 143 +f 123 130 143 +f 117 132 143 +f 132 123 143 +f 115 114 144 +f 114 123 144 +f 136 115 144 +f 134 118 145 +f 113 132 146 +f 132 117 146 +f 117 140 146 +f 116 126 147 +f 128 116 147 +f 127 129 147 +f 129 128 147 +f 126 137 147 +f 137 127 147 +f 113 124 148 +f 131 113 148 +f 134 131 148 +f 124 138 148 +f 138 134 148 +f 117 135 149 +f 140 117 149 +f 141 113 149 +f 135 141 149 +f 113 146 149 +f 146 140 149 +f 123 133 150 +f 133 136 150 +f 144 123 150 +f 136 144 150 +f 125 118 151 +f 118 134 151 +f 138 125 151 +f 134 138 151 +f 131 134 152 +f 139 131 152 +f 134 145 152 +f 121 114 153 +f 114 128 153 +f 128 121 153 +f 118 125 154 +f 125 139 154 +f 145 118 154 +f 139 152 154 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/894/894.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/894/894.urdf new file mode 100644 index 000000000..aa1b6d979 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/894/894.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/895/895.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/895/895.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/895/895.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/895/895.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/895/895.obj new file mode 100644 index 000000000..8b4ebb047 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/895/895.obj @@ -0,0 +1,1530 @@ +o convex_0 +v -0.307037 1.630414 1.518945 +v 0.348370 1.292870 1.101870 +v 0.348370 1.272999 1.101870 +v -0.287021 1.372356 0.863438 +v 0.189458 1.809203 0.863438 +v 0.288706 1.809258 1.419659 +v -0.307037 1.332559 1.598374 +v -0.247309 1.809258 1.300371 +v 0.348370 1.253073 0.863438 +v 0.328546 1.312796 1.419659 +v -0.187773 1.729717 0.863438 +v -0.287149 1.670211 1.558660 +v -0.267261 1.809258 1.419659 +v -0.028989 1.312687 1.538802 +v 0.249058 1.253073 0.863438 +f 3 14 15 +f 1 4 7 +f 6 5 8 +f 2 3 9 +f 4 5 9 +f 6 2 9 +f 5 6 9 +f 3 2 10 +f 2 6 10 +f 5 4 11 +f 4 8 11 +f 8 5 11 +f 1 7 12 +f 7 6 12 +f 4 1 13 +f 8 4 13 +f 6 8 13 +f 1 12 13 +f 12 6 13 +f 6 7 14 +f 3 10 14 +f 10 6 14 +f 7 4 15 +f 9 3 15 +f 4 9 15 +f 14 7 15 +o convex_1 +v -0.227316 1.987795 0.843538 +v -0.287203 0.677146 0.803873 +v 0.388070 0.756776 0.764120 +v 0.884830 0.676971 0.863438 +v -0.028727 2.464871 0.764120 +v 0.884830 2.464871 0.843567 +v -0.287203 1.372460 0.863438 +v 0.705973 2.464871 0.863438 +v -0.287203 2.464871 0.764120 +v 0.864868 0.676971 0.823705 +v 0.705973 1.987970 0.803843 +v -0.287203 0.677146 0.823686 +v 0.407917 1.412013 0.764120 +v -0.287203 2.464871 0.783991 +v 0.845020 2.325739 0.823705 +f 26 28 30 +f 22 19 23 +f 21 20 23 +f 19 21 23 +f 16 22 23 +f 18 17 24 +f 20 18 24 +f 17 22 24 +f 23 20 24 +f 17 18 25 +f 21 19 25 +f 22 17 27 +f 19 22 27 +f 17 25 27 +f 25 19 27 +f 18 20 28 +f 25 18 28 +f 26 25 28 +f 22 16 29 +f 16 23 29 +f 24 22 29 +f 23 24 29 +f 20 21 30 +f 21 25 30 +f 25 26 30 +f 28 20 30 +o convex_2 +v -0.088567 1.849039 -1.719247 +v -0.207741 1.551085 -3.327997 +v -0.207741 1.709949 -3.327997 +v -0.068695 1.650422 -3.307966 +v -0.187856 1.551085 -1.322165 +v -0.187856 1.849039 -1.322165 +v -0.068695 1.551085 -3.248463 +v -0.068695 1.809257 -1.322165 +v -0.068695 1.769534 -3.228629 +v -0.167998 1.551085 -1.322165 +f 37 38 40 +f 32 33 34 +f 33 32 35 +f 33 35 36 +f 32 34 37 +f 35 32 37 +f 31 36 38 +f 36 35 38 +f 37 34 38 +f 34 33 39 +f 36 31 39 +f 33 36 39 +f 31 38 39 +f 38 34 39 +f 35 37 40 +f 38 35 40 +o convex_3 +v -0.267337 1.253119 -3.248749 +v 0.070377 1.551056 -3.228878 +v 0.070377 1.551056 -3.248749 +v 0.070377 1.233207 -3.209020 +v -0.227602 1.531144 -3.189148 +v -0.227602 1.551056 -3.328194 +v -0.207735 1.233207 -3.308309 +f 46 43 47 +f 43 42 44 +f 41 44 45 +f 44 42 45 +f 45 42 46 +f 42 43 46 +f 41 45 46 +f 41 46 47 +f 43 44 47 +f 44 41 47 +o convex_4 +v -0.148123 1.253097 -3.189051 +v 0.328629 1.292799 -1.322142 +v -0.068648 1.312669 -1.321957 +v 0.288822 1.213357 -1.322142 +v 0.268989 1.292799 -3.149153 +v 0.268989 1.233227 -3.149153 +v -0.148123 1.233208 -2.851208 +v -0.148123 1.292780 -1.321957 +v -0.148123 1.312669 -1.719278 +v 0.070420 1.292799 -3.208816 +v 0.328629 1.213357 -1.739227 +f 51 54 58 +f 49 50 51 +f 50 49 52 +f 48 53 54 +f 54 51 55 +f 51 50 55 +f 48 54 55 +f 55 50 56 +f 50 52 56 +f 48 55 56 +f 56 52 57 +f 52 53 57 +f 53 48 57 +f 48 56 57 +f 49 51 58 +f 52 49 58 +f 53 52 58 +f 54 53 58 +o convex_5 +v 0.308682 1.590792 -1.322156 +v 0.070402 1.292804 -3.208592 +v 0.110141 1.292804 -3.208592 +v 0.030701 1.749692 -3.308134 +v 0.209373 1.749692 -3.268084 +v 0.269020 1.292804 -3.168931 +v 0.308760 1.292804 -1.321961 +v -0.068608 1.749692 -3.208592 +v 0.249073 1.749692 -1.342181 +v -0.068608 1.551033 -3.248253 +v 0.288851 1.749692 -1.421503 +v 0.328629 1.312705 -1.560512 +v 0.288851 1.372321 -1.321961 +f 67 68 71 +f 61 60 62 +f 61 62 63 +f 61 63 64 +f 60 61 64 +f 60 64 65 +f 63 62 66 +f 63 66 67 +f 62 60 68 +f 60 65 68 +f 66 62 68 +f 67 66 68 +f 64 63 69 +f 67 59 69 +f 63 67 69 +f 59 65 70 +f 65 64 70 +f 64 69 70 +f 69 59 70 +f 65 59 71 +f 59 67 71 +f 68 65 71 +o convex_6 +v 1.023924 2.305947 -1.301892 +v -0.187757 0.875627 -1.262176 +v 0.070568 0.875627 -1.282042 +v -0.187757 1.848961 -1.321773 +v -0.187757 2.305947 -1.262176 +v 1.023924 0.875627 -1.262176 +v 1.023924 1.114200 -1.301892 +v 1.023924 2.305947 -1.321773 +v -0.187757 1.292850 -1.321773 +v 0.070568 0.955151 -1.242311 +v 1.023924 1.153823 -1.262176 +v 0.010909 2.305947 -1.301892 +v 0.328773 1.213606 -1.321773 +v 0.030835 2.305947 -1.262176 +v -0.187757 1.411997 -1.242311 +v 0.427809 0.915389 -1.301892 +v 1.023924 1.928486 -1.282042 +f 85 82 88 +f 75 73 76 +f 73 74 77 +f 72 77 78 +f 76 72 79 +f 72 78 79 +f 74 73 80 +f 73 75 80 +f 75 79 80 +f 73 77 81 +f 81 77 82 +f 77 72 82 +f 75 76 83 +f 79 75 83 +f 76 79 83 +f 79 78 84 +f 80 79 84 +f 72 76 85 +f 82 85 86 +f 76 73 86 +f 73 81 86 +f 81 82 86 +f 85 76 86 +f 77 74 87 +f 78 77 87 +f 74 80 87 +f 84 78 87 +f 80 84 87 +f 82 72 88 +f 72 85 88 +o convex_7 +v 0.090262 1.829158 -2.910706 +v 0.288898 1.769583 -1.321967 +v 0.288898 1.749712 -1.321967 +v -0.068682 1.829158 -1.321967 +v -0.068682 1.749712 -3.308134 +v 0.209409 1.749712 -3.208777 +v -0.048801 1.789439 -1.321967 +v 0.189563 1.809294 -3.288107 +v -0.068682 1.829158 -2.275483 +v 0.169647 1.749712 -1.321967 +f 95 93 98 +f 91 90 92 +f 90 89 92 +f 91 93 94 +f 90 91 94 +f 91 92 95 +f 92 93 95 +f 89 90 96 +f 93 89 96 +f 94 93 96 +f 90 94 96 +f 92 89 97 +f 89 93 97 +f 93 92 97 +f 93 91 98 +f 91 95 98 +o convex_8 +v 0.884865 2.504396 0.148278 +v 0.944450 2.484505 0.863438 +v 0.964311 2.504396 0.625005 +v 0.944450 0.677333 0.148278 +v 0.884865 0.677333 0.863438 +v 0.944450 0.677333 0.863438 +v 0.984183 2.524468 0.148278 +v 0.884865 2.484505 0.863438 +v 0.924608 0.677333 0.148278 +v 0.984183 1.769340 0.168159 +v 0.964311 0.796497 0.148278 +v 0.984183 2.524468 0.366900 +f 108 105 110 +f 100 103 104 +f 101 100 104 +f 103 102 104 +f 102 99 105 +f 100 101 106 +f 99 103 106 +f 103 100 106 +f 99 102 107 +f 103 99 107 +f 102 103 107 +f 105 108 109 +f 104 102 109 +f 102 105 109 +f 108 104 109 +f 101 104 110 +f 105 99 110 +f 106 101 110 +f 99 106 110 +f 104 108 110 +o convex_9 +v 2.969884 1.729871 2.055338 +v 0.010929 1.749743 1.876581 +v -3.008121 1.690128 1.916324 +v -3.008121 1.789431 2.075210 +v -3.008121 1.690128 2.095103 +v 0.328661 1.829174 1.995746 +v 3.050210 1.709986 1.876581 +v -3.028351 1.789431 1.916324 +v 2.850883 1.709986 2.075231 +v 1.222952 1.769573 1.876581 +v -0.187802 1.690128 1.975938 +v -1.379595 1.789431 2.075210 +v 3.050210 1.729871 1.876581 +v -2.690389 1.769559 2.095103 +v 2.850883 1.729871 2.075231 +f 124 119 125 +f 113 112 117 +f 112 113 118 +f 115 114 118 +f 113 115 118 +f 114 116 118 +f 117 111 119 +f 117 112 120 +f 112 118 120 +f 118 116 120 +f 115 113 121 +f 113 117 121 +f 119 115 121 +f 117 119 121 +f 116 114 122 +f 116 111 123 +f 111 117 123 +f 117 120 123 +f 120 116 123 +f 114 115 124 +f 115 119 124 +f 122 114 124 +f 122 124 125 +f 111 116 125 +f 119 111 125 +f 116 122 125 +o convex_10 +v 3.050210 1.709980 1.876537 +v 0.011375 1.789423 1.419718 +v 0.011375 1.809292 1.419718 +v 0.011375 1.749731 1.876537 +v 0.269594 1.709980 1.419718 +v 3.029981 1.729861 1.499179 +v 0.070873 1.829174 1.558785 +v 3.050210 1.729861 1.876537 +v 0.011375 1.789423 1.836784 +v 3.029981 1.709980 1.499179 +v 2.136031 1.709980 1.876537 +v 2.672401 1.749731 1.519033 +v 0.289228 1.709980 1.558785 +v 1.242676 1.769577 1.876537 +f 132 134 139 +f 128 127 129 +f 127 128 130 +f 129 127 130 +f 130 128 131 +f 129 126 133 +f 126 131 133 +f 128 129 134 +f 132 128 134 +f 126 130 135 +f 131 126 135 +f 130 131 135 +f 126 129 136 +f 130 126 136 +f 131 128 137 +f 128 132 137 +f 133 131 137 +f 132 133 137 +f 129 130 138 +f 136 129 138 +f 130 136 138 +f 133 132 139 +f 129 133 139 +f 134 129 139 +o convex_11 +v 1.023929 1.133941 -1.301890 +v 1.083520 2.305947 -1.222445 +v 1.063647 2.305947 -1.222445 +v 1.083520 2.305947 -1.321773 +v 1.063647 0.875627 -1.222445 +f 143 141 144 +f 142 141 143 +f 140 142 143 +f 140 143 144 +f 142 140 144 +f 141 142 144 +o convex_12 +v -0.207729 1.551056 -2.493627 +v -0.247462 1.233207 -3.189135 +v -0.148144 1.233207 -3.189135 +v -0.207729 1.292850 -1.321773 +v -0.168025 1.551056 -1.321773 +v -0.187887 1.551056 -3.189135 +v -0.148144 1.292850 -1.321773 +v -0.247462 1.392131 -3.169211 +v -0.187887 1.551056 -1.321773 +v -0.168025 1.551056 -2.612804 +f 149 151 154 +f 146 147 148 +f 147 146 150 +f 145 149 150 +f 148 147 151 +f 149 148 151 +f 146 148 152 +f 150 146 152 +f 145 150 152 +f 149 145 153 +f 148 149 153 +f 152 148 153 +f 145 152 153 +f 147 150 154 +f 150 149 154 +f 151 147 154 +o convex_13 +v 0.686225 -2.401772 0.863438 +v -0.068682 -3.395069 0.783976 +v 0.229546 -3.395069 0.783976 +v 0.130073 0.676971 0.783976 +v 0.050609 0.100205 0.843573 +v 0.864876 0.676971 0.823715 +v 0.845058 -3.395069 0.823715 +v 0.904703 0.676971 0.863438 +v 0.586848 -0.038505 0.783976 +v 0.904703 -3.395069 0.863438 +v -0.068682 -3.395069 0.803865 +v -0.068682 0.676971 0.823691 +v 0.904703 -2.937881 0.823715 +v -0.068682 -1.290092 0.783976 +v 0.566934 0.676971 0.783976 +v -0.068682 -1.448732 0.823691 +v 0.805326 -3.354811 0.863438 +v -0.068682 0.676971 0.803865 +f 168 166 172 +f 157 156 158 +f 156 157 161 +f 159 155 162 +f 160 158 162 +f 157 158 163 +f 156 161 164 +f 162 155 164 +f 156 164 165 +f 159 162 166 +f 162 158 166 +f 156 165 166 +f 161 157 167 +f 160 162 167 +f 157 163 167 +f 163 160 167 +f 164 161 167 +f 162 164 167 +f 158 156 168 +f 156 166 168 +f 158 160 169 +f 163 158 169 +f 160 163 169 +f 159 166 170 +f 166 165 170 +f 155 159 171 +f 164 155 171 +f 165 164 171 +f 159 170 171 +f 170 165 171 +f 166 158 172 +f 158 168 172 +o convex_14 +v -0.724130 -3.534514 -1.162817 +v -0.187953 -3.455080 0.148278 +v -0.962509 -3.415333 0.148278 +v -0.187953 -3.415333 -1.222301 +v -0.922766 -3.415333 -1.242311 +v -0.982497 -3.474924 0.068785 +v -0.187953 -3.514647 -0.427912 +v -0.922766 -3.534514 -1.242311 +v -0.207863 -3.494779 -1.222301 +v -0.187953 -3.474924 0.148278 +v -0.902934 -3.534514 -1.023704 +f 178 180 183 +f 175 174 176 +f 175 176 177 +f 175 177 178 +f 176 174 179 +f 177 176 180 +f 178 177 180 +f 179 173 181 +f 176 179 181 +f 173 180 181 +f 180 176 181 +f 174 175 182 +f 175 178 182 +f 178 179 182 +f 179 174 182 +f 173 179 183 +f 179 178 183 +f 180 173 183 +o convex_15 +v -0.902934 2.504610 -1.202517 +v -0.187953 2.564183 0.148278 +v -0.187953 2.544326 0.148278 +v -0.982497 2.504610 0.148278 +v -0.187953 2.504610 -1.282042 +v -0.962509 2.464871 0.148278 +v -0.227773 2.584064 -0.110036 +v -0.982497 2.544326 0.148278 +v -0.942677 2.464871 -1.202517 +v -0.187953 2.544326 -1.262161 +f 184 190 193 +f 186 185 187 +f 185 186 188 +f 188 186 189 +f 186 187 189 +f 187 185 191 +f 185 190 191 +f 190 184 191 +f 184 188 192 +f 188 189 192 +f 189 187 192 +f 187 191 192 +f 191 184 192 +f 188 184 193 +f 185 188 193 +f 190 185 193 +o convex_16 +v 0.785444 -3.474922 0.625005 +v -0.982388 -3.455050 0.148278 +v -1.002363 -3.435194 0.426474 +v 0.904730 -3.415339 0.148278 +v 0.904730 -3.395467 0.863438 +v -0.982388 -3.395467 0.148278 +v -1.002363 -3.435194 0.744151 +v 0.586819 -3.474922 0.148278 +v -1.002363 -3.395467 0.744151 +v 0.904730 -3.455050 0.863438 +v -0.724214 -3.474922 0.168159 +v 0.904730 -3.455050 0.227873 +v 0.070284 -3.455050 0.803795 +f 204 194 206 +f 195 196 199 +f 197 195 199 +f 198 197 199 +f 196 195 200 +f 195 197 201 +f 199 196 202 +f 198 199 202 +f 196 200 202 +f 200 198 202 +f 197 198 203 +f 198 200 203 +f 200 195 204 +f 195 201 204 +f 201 194 204 +f 194 201 205 +f 201 197 205 +f 203 194 205 +f 197 203 205 +f 194 203 206 +f 203 200 206 +f 200 204 206 +o convex_17 +v 0.984185 -3.415282 0.486117 +v 0.904738 -3.455025 0.267565 +v 0.904738 -3.435153 0.148278 +v 0.904738 -3.057753 0.863438 +v 0.964313 -3.057753 0.148278 +v 0.984185 -3.455025 0.863438 +v 0.984185 -3.097534 0.863438 +v 0.904738 -3.455025 0.863438 +v 0.964313 -3.435153 0.148278 +f 207 212 215 +f 209 208 210 +f 209 210 211 +f 207 211 213 +f 211 210 213 +f 212 207 213 +f 210 212 213 +f 210 208 214 +f 208 212 214 +f 212 210 214 +f 208 209 215 +f 211 207 215 +f 209 211 215 +f 212 208 215 +o convex_18 +v 0.944452 -3.057753 0.148278 +v 0.944452 0.676971 0.863438 +v 0.904730 0.676971 0.863438 +v 0.944452 0.676971 0.148278 +v 0.964327 -3.057753 0.863438 +v 0.904730 -3.057753 0.843557 +v 0.924606 0.676971 0.148278 +v 0.964327 -0.753527 0.148278 +v 0.964327 -0.117791 0.863438 +v 0.964327 -3.057753 0.148278 +v 0.924606 -0.793741 0.148278 +f 221 222 226 +f 218 217 219 +f 217 218 220 +f 216 220 221 +f 220 218 221 +f 218 219 222 +f 219 216 222 +f 221 218 222 +f 216 219 223 +f 220 223 224 +f 219 217 224 +f 217 220 224 +f 223 219 224 +f 220 216 225 +f 216 223 225 +f 223 220 225 +f 216 221 226 +f 222 216 226 +o convex_19 +v -0.307030 2.544318 0.724340 +v -0.982412 2.464871 0.148278 +v -1.002363 2.464871 0.247614 +v 0.884865 2.464871 0.863438 +v 0.706044 2.544318 0.148278 +v -0.704205 2.564180 0.148278 +v -1.002363 2.464871 0.724340 +v -1.002363 2.564180 0.724340 +v 0.884865 2.504614 0.148278 +v 0.844963 2.504614 0.783844 +v -0.982412 2.544318 0.148278 +v 0.090145 2.564180 0.168159 +v 0.884865 2.464871 0.724340 +f 235 230 239 +f 229 228 230 +f 231 228 232 +f 229 230 233 +f 229 233 234 +f 233 230 234 +f 228 231 235 +f 235 231 236 +f 227 234 236 +f 234 230 236 +f 230 235 236 +f 228 229 237 +f 232 228 237 +f 229 234 237 +f 234 232 237 +f 231 232 238 +f 234 227 238 +f 232 234 238 +f 236 231 238 +f 227 236 238 +f 230 228 239 +f 228 235 239 +o convex_20 +v -2.929298 1.690025 1.479384 +v -2.790263 1.213415 2.114968 +v -3.028646 1.213415 2.114968 +v -2.909479 1.690025 2.095078 +v -3.048515 1.848959 1.618422 +v -2.949193 1.312805 1.578771 +v -2.790263 1.690025 2.055298 +v -2.790263 1.233306 1.876544 +v -3.008751 1.690025 2.095078 +v -3.048515 1.789351 1.459494 +v -2.949193 1.848959 1.459494 +v -2.949193 1.809178 1.916260 +v -3.028646 1.193525 2.075188 +f 249 245 252 +f 242 241 243 +f 243 241 246 +f 245 240 247 +f 246 241 247 +f 240 246 247 +f 242 243 248 +f 244 242 248 +f 240 245 249 +f 246 240 250 +f 240 249 250 +f 249 244 250 +f 243 246 251 +f 248 243 251 +f 244 248 251 +f 246 250 251 +f 250 244 251 +f 241 242 252 +f 242 244 252 +f 247 241 252 +f 245 247 252 +f 244 249 252 +o convex_21 +v 0.984185 -2.779417 -1.202579 +v 0.964321 -1.985013 -0.884793 +v 0.984185 -1.985013 -0.904641 +v 0.964321 -3.415333 -0.884793 +v 0.904730 -2.004894 -1.202579 +v 0.904730 -3.415333 -0.884793 +v 0.904730 -3.395452 -1.182669 +v 1.004058 -1.985013 -1.202579 +v 0.964321 -3.395452 -1.182669 +v 0.944467 -1.985013 -0.884793 +f 260 257 262 +f 255 254 256 +f 256 254 258 +f 257 253 259 +f 258 257 259 +f 256 258 259 +f 254 255 260 +f 255 256 260 +f 256 253 260 +f 253 257 260 +f 253 256 261 +f 259 253 261 +f 256 259 261 +f 258 254 262 +f 257 258 262 +f 254 260 262 +o convex_22 +v -0.068734 -1.310420 0.823699 +v -1.002363 -3.395069 0.704522 +v -0.982440 -3.395069 0.704522 +v -1.002363 0.676971 0.704522 +v -0.088657 -3.395069 0.764110 +v -1.002363 -3.395069 0.744255 +v -0.346831 0.676971 0.823699 +v -0.068734 0.676971 0.803821 +v -0.128411 -3.354811 0.803821 +v -0.883100 0.676971 0.704522 +v -0.922763 0.656643 0.744255 +v -0.863178 -2.481092 0.764110 +v -0.068734 -1.131053 0.783966 +v -0.068734 0.676971 0.823699 +v -0.068734 -3.395069 0.803821 +f 267 275 277 +f 265 264 266 +f 264 265 267 +f 266 264 268 +f 264 267 268 +f 266 269 270 +f 263 269 271 +f 265 266 272 +f 267 265 272 +f 266 270 272 +f 266 268 273 +f 269 266 273 +f 269 273 274 +f 268 271 274 +f 271 269 274 +f 273 268 274 +f 270 263 275 +f 267 272 275 +f 272 270 275 +f 269 263 276 +f 263 270 276 +f 270 269 276 +f 268 267 277 +f 263 271 277 +f 271 268 277 +f 275 263 277 +o convex_23 +v 3.109807 1.253073 1.677935 +v 0.010780 1.332504 1.419714 +v 0.010780 1.352373 1.419714 +v 0.269235 1.332515 2.055371 +v 3.089786 1.372266 1.836787 +v 0.289256 1.253084 2.055371 +v 3.089786 1.372266 1.558842 +v 2.334747 1.312658 2.035460 +v 2.255269 1.253073 1.538931 +v 0.288953 1.372266 1.419714 +v 0.746101 1.292835 1.439625 +v 0.289256 1.253084 1.916306 +v 2.990590 1.253073 1.558842 +v 3.089786 1.312658 1.916306 +v 0.726384 1.253084 2.055371 +v 0.746101 1.352373 1.419714 +v 2.334747 1.332515 2.035460 +f 281 292 294 +f 280 279 281 +f 281 279 283 +f 282 278 284 +f 278 283 286 +f 279 280 287 +f 280 281 287 +f 281 282 287 +f 282 284 287 +f 283 279 289 +f 286 283 289 +f 279 288 289 +f 288 286 289 +f 284 278 290 +f 278 286 290 +f 286 288 290 +f 278 282 291 +f 291 285 292 +f 283 278 292 +f 281 283 292 +f 278 291 292 +f 287 284 293 +f 279 287 293 +f 288 279 293 +f 284 290 293 +f 290 288 293 +f 282 281 294 +f 291 282 294 +f 285 291 294 +f 292 285 294 +o convex_24 +v -2.929322 1.412018 1.519021 +v -0.307325 1.690115 1.538867 +v -0.307325 1.650360 1.558713 +v -0.327344 1.352424 1.558713 +v -2.929322 1.372338 1.598464 +v -2.929322 1.690115 1.479270 +v -2.929322 1.690115 1.519021 +v -0.327344 1.312669 1.598464 +v -2.929322 1.312669 1.558713 +v -0.307325 1.630446 1.519021 +v -0.307325 1.392178 1.598464 +v -2.710394 1.670238 1.479270 +f 300 304 306 +f 295 299 300 +f 297 296 301 +f 299 297 301 +f 300 299 301 +f 296 300 301 +f 302 299 303 +f 295 298 303 +f 299 295 303 +f 298 302 303 +f 296 297 304 +f 300 296 304 +f 297 299 305 +f 302 298 305 +f 299 302 305 +f 304 297 305 +f 298 304 305 +f 298 295 306 +f 295 300 306 +f 304 298 306 +o convex_25 +v -0.982490 -2.341883 -0.189701 +v -0.962616 2.464755 0.148278 +v -0.942774 2.464755 -0.427860 +v -0.903035 -3.415333 -1.043622 +v -0.962616 2.464755 -1.122870 +v -0.962624 -3.415333 0.148140 +v -0.942766 -3.394612 -1.083246 +v -0.903035 1.272736 -1.262038 +v -0.982490 2.464755 0.148278 +v -0.942766 -3.295613 -0.050533 +v -0.922908 -2.997464 -1.262038 +v -0.982490 -3.415333 0.148140 +v -0.982490 2.464755 -0.447879 +v -0.922901 2.464755 -1.202533 +v -0.942766 -1.626441 -1.262176 +v -0.903035 -3.415333 -1.242157 +v -0.942766 1.272736 -1.262038 +v -0.982490 -0.177716 -0.408117 +v -0.903035 1.272736 -1.242157 +v -0.982490 -3.415333 -0.070414 +f 322 318 326 +f 308 309 311 +f 308 311 315 +f 312 308 315 +f 308 312 316 +f 312 310 316 +f 310 312 318 +f 315 307 318 +f 312 315 318 +f 307 315 319 +f 315 311 319 +f 311 309 320 +f 313 307 321 +f 317 313 321 +f 314 317 321 +f 314 310 322 +f 313 317 322 +f 317 314 322 +f 310 318 322 +f 311 320 323 +f 320 314 323 +f 314 321 323 +f 321 311 323 +f 307 319 324 +f 319 311 324 +f 321 307 324 +f 311 321 324 +f 309 308 325 +f 310 314 325 +f 308 316 325 +f 316 310 325 +f 320 309 325 +f 314 320 325 +f 307 313 326 +f 318 307 326 +f 313 322 326 +o convex_26 +v 0.408091 -0.793663 -1.202579 +v -0.903035 -3.415136 -1.242297 +v -0.406486 -3.415136 -1.242297 +v -0.903035 1.272938 -1.262170 +v 0.408091 -0.316862 -1.242297 +v -0.426250 -3.335205 -1.202579 +v -0.903035 1.272938 -1.242297 +v -0.843357 -3.216237 -1.262170 +v -0.187922 1.272938 -1.262170 +v 0.070299 -3.474620 -1.222459 +v -0.903035 -3.415136 -1.222459 +v 0.408091 -2.123685 -1.202579 +v -0.187922 1.272938 -1.242297 +v 0.408091 -0.833164 -1.242297 +v 0.249078 -0.595228 -1.202579 +v -0.148136 -0.396793 -1.262170 +v 0.070299 -3.474620 -1.202579 +v 0.408091 -2.123685 -1.222459 +f 340 338 344 +f 330 328 333 +f 329 328 334 +f 328 330 334 +f 330 333 335 +f 334 330 335 +f 328 329 336 +f 333 328 337 +f 332 333 337 +f 328 336 337 +f 331 327 338 +f 327 332 338 +f 327 331 339 +f 331 335 339 +f 335 333 339 +f 329 334 340 +f 336 329 340 +f 331 338 340 +f 332 327 341 +f 333 332 341 +f 327 339 341 +f 339 333 341 +f 335 331 342 +f 334 335 342 +f 340 334 342 +f 331 340 342 +f 332 337 343 +f 337 336 343 +f 338 332 343 +f 336 338 343 +f 338 336 344 +f 336 340 344 +o convex_27 +v -0.187875 2.504482 -1.262161 +v -0.942692 1.272938 -1.262161 +v -0.942692 1.272938 -1.202579 +v -0.187875 1.272938 -1.262161 +v -0.883066 2.504482 -1.202579 +v -0.644711 2.504482 -1.282042 +v -0.525681 2.484591 -1.202579 +v -0.187875 1.392283 -1.282042 +v -0.942692 2.484591 -1.262161 +v -0.187875 1.272938 -1.242311 +v -0.187875 2.504482 -1.282042 +f 352 350 355 +f 347 346 348 +f 349 345 350 +f 345 349 351 +f 349 347 351 +f 348 346 352 +f 345 348 352 +f 346 350 352 +f 346 347 353 +f 347 349 353 +f 350 346 353 +f 349 350 353 +f 347 348 354 +f 348 345 354 +f 351 347 354 +f 345 351 354 +f 350 345 355 +f 345 352 355 +o convex_28 +v 0.070601 2.524476 0.148278 +v 1.083476 2.584047 -0.983883 +v 1.083476 2.504602 -0.983883 +v -0.187875 2.524476 -1.222445 +v -0.187875 2.584057 -0.050434 +v 0.984042 2.524485 0.148278 +v 0.765638 2.603910 -1.222445 +v 0.686241 2.504602 0.148278 +v 1.083476 2.504602 -1.222445 +v 1.083476 2.603910 -1.063449 +v -0.187875 2.544349 -1.222445 +v 0.745851 2.544349 0.148278 +v -0.187875 2.544349 0.148278 +v 1.003954 2.504602 0.088571 +f 365 361 369 +f 356 359 363 +f 361 356 363 +f 357 358 364 +f 359 362 364 +f 358 363 364 +f 363 359 364 +f 362 360 365 +f 357 364 365 +f 364 362 365 +f 359 360 366 +f 362 359 366 +f 360 362 366 +f 356 361 367 +f 361 365 367 +f 365 360 367 +f 359 356 368 +f 360 359 368 +f 356 367 368 +f 367 360 368 +f 358 357 369 +f 363 358 369 +f 361 363 369 +f 357 365 369 +o convex_29 +v 1.023840 -1.170349 -1.222461 +v -0.187875 -0.316564 -1.262161 +v 0.408121 -2.044277 -1.222461 +v 0.010831 0.418376 -1.222453 +v 1.063655 0.875627 -1.282042 +v 1.023840 -0.316564 -1.202579 +v 1.063655 0.875627 -1.222453 +v -0.187875 0.875627 -1.262161 +v 0.408121 -2.044277 -1.202579 +v 1.003871 -2.004567 -1.222461 +v 0.447690 0.160255 -1.282042 +v -0.167907 -0.316564 -1.222453 +v 0.070492 0.875627 -1.282042 +v 1.003871 -2.004567 -1.202579 +v 0.408121 -0.812951 -1.202579 +v 1.043686 0.358809 -1.282042 +v -0.187875 0.875627 -1.242311 +f 381 373 386 +f 370 374 376 +f 373 375 376 +f 376 374 377 +f 371 372 378 +f 374 370 379 +f 378 372 379 +f 372 371 380 +f 379 372 380 +f 371 378 381 +f 371 377 382 +f 377 374 382 +f 374 380 382 +f 380 371 382 +f 370 376 383 +f 376 375 383 +f 375 378 383 +f 378 379 383 +f 379 370 383 +f 375 373 384 +f 378 375 384 +f 373 381 384 +f 381 378 384 +f 374 379 385 +f 380 374 385 +f 379 380 385 +f 373 376 386 +f 377 371 386 +f 376 377 386 +f 371 381 386 +o convex_30 +v -0.147987 -3.494783 -1.083277 +v 0.904730 -3.415349 0.148278 +v 0.825167 -3.415349 0.148278 +v 0.904730 -3.375602 -1.162848 +v -0.187768 -3.455048 0.148278 +v 0.864842 -3.455048 0.148278 +v -0.187768 -3.455048 -1.162848 +v 0.904730 -3.415349 -1.162848 +v 0.249295 -3.494783 0.108493 +v -0.187768 -3.494783 -0.050393 +f 395 391 396 +f 389 388 390 +f 388 389 391 +f 389 390 391 +f 388 391 392 +f 391 390 393 +f 390 388 394 +f 388 392 394 +f 392 387 394 +f 387 393 394 +f 393 390 394 +f 387 392 395 +f 392 391 395 +f 393 387 396 +f 391 393 396 +f 387 395 396 +o convex_31 +v 0.984200 -0.216901 -0.983883 +v 0.984200 2.504602 0.148278 +v 1.004064 2.504602 0.088571 +v 1.063641 2.504602 -1.222445 +v 1.043777 -0.197019 -1.202453 +v 0.944472 -0.316306 0.148278 +v 0.924608 0.816365 0.128286 +v 1.083520 2.424802 -1.003875 +v 0.964336 2.464840 0.048855 +v 0.924608 -0.316306 -0.189438 +v 1.004064 -0.316306 -1.222445 +v 1.043792 2.106980 -1.142880 +v 1.083520 1.729791 -1.222445 +v 0.924608 -0.316306 0.148278 +f 403 406 410 +f 398 399 400 +f 399 398 402 +f 400 399 404 +f 399 402 404 +f 402 401 404 +f 398 400 405 +f 397 403 405 +f 403 398 405 +f 403 397 406 +f 401 402 407 +f 406 397 407 +f 402 406 407 +f 405 400 408 +f 397 405 408 +f 407 397 408 +f 400 407 408 +f 400 404 409 +f 404 401 409 +f 407 400 409 +f 401 407 409 +f 402 398 410 +f 398 403 410 +f 406 402 410 +o convex_32 +v -1.002363 -2.282277 0.307247 +v -0.942766 2.464871 0.724379 +v -1.002363 2.464871 0.724379 +v -0.962647 2.464871 0.148278 +v -0.962636 -3.395069 0.446141 +v -1.002363 -3.395069 0.704473 +v -0.962636 -3.395069 0.148278 +v -1.002363 2.464871 0.247641 +v -0.942766 0.676947 0.724379 +v -0.982493 -3.395069 0.148278 +v -0.982493 -3.395069 0.704473 +v -0.982482 2.464871 0.148278 +f 420 418 422 +f 413 412 414 +f 413 411 416 +f 414 412 417 +f 415 416 417 +f 411 413 418 +f 413 414 418 +f 412 413 419 +f 413 416 419 +f 417 412 419 +f 415 417 419 +f 416 411 420 +f 414 417 420 +f 417 416 420 +f 411 418 420 +f 416 415 421 +f 415 419 421 +f 419 416 421 +f 418 414 422 +f 414 420 422 +o convex_33 +v 0.904730 -3.435056 -0.427683 +v 0.964327 -1.985155 0.148278 +v 0.964327 -1.985155 -0.884731 +v 0.964327 -3.435056 0.148278 +v 0.964327 -3.415185 -0.884731 +v 0.904730 -3.415185 0.148278 +v 0.944452 -1.985155 -0.884731 +v 0.904730 -3.395313 -0.884731 +v 0.944452 -1.985155 0.148278 +f 429 430 431 +f 425 424 426 +f 426 423 427 +f 425 426 427 +f 426 424 428 +f 423 426 428 +f 424 425 429 +f 425 427 429 +f 427 423 430 +f 423 428 430 +f 429 427 430 +f 428 424 431 +f 424 429 431 +f 430 428 431 +o convex_34 +v -0.207741 1.272934 2.114968 +v -2.929322 1.312658 1.598464 +v -2.929322 1.292811 1.638253 +v -2.790259 1.312658 2.095048 +v -2.790259 1.193487 2.114968 +v -0.267682 1.312658 1.598464 +v -0.267682 1.352381 1.618384 +v -0.207741 1.213365 2.095048 +v -0.207741 1.312658 2.095048 +v -2.492153 1.193487 2.035440 +v -2.929322 1.332519 1.598464 +f 435 438 442 +f 432 435 436 +f 435 434 436 +f 434 433 437 +f 432 436 439 +f 439 437 440 +f 435 432 440 +f 437 438 440 +f 438 435 440 +f 432 439 440 +f 436 434 441 +f 434 437 441 +f 439 436 441 +f 437 439 441 +f 433 434 442 +f 434 435 442 +f 437 433 442 +f 438 437 442 +o convex_35 +v -0.307158 2.305788 0.803830 +v -0.942766 0.676971 0.704514 +v -0.883094 0.676971 0.704514 +v -0.287267 0.676971 0.823688 +v -0.307158 2.444920 0.744257 +v -0.883094 2.444920 0.744257 +v -0.346875 1.828886 0.843559 +v -0.902920 0.676971 0.744257 +v -0.942766 2.464871 0.704514 +v -0.327049 0.676971 0.783958 +v -0.823485 2.464871 0.704514 +f 451 447 453 +f 444 445 446 +f 443 446 447 +f 443 447 448 +f 446 443 449 +f 443 448 449 +f 449 448 450 +f 444 446 450 +f 446 449 450 +f 445 444 451 +f 448 447 451 +f 450 448 451 +f 444 450 451 +f 446 445 452 +f 447 446 452 +f 445 447 452 +f 447 445 453 +f 445 451 453 +o convex_36 +v -2.492221 1.650360 2.035481 +v -0.227711 1.690115 1.975921 +v -0.207741 1.332546 2.095087 +v -2.253838 1.332546 2.035481 +v -2.790263 1.690115 2.075223 +v -0.327059 1.670238 1.936194 +v -2.790263 1.312669 2.095087 +v -0.207741 1.312669 2.055344 +v -2.472250 1.690115 2.075223 +v -2.790263 1.511257 2.095087 +v -2.670945 1.312669 2.055344 +f 461 460 464 +f 457 454 459 +f 454 458 459 +f 458 455 459 +f 455 456 461 +f 459 455 461 +f 457 459 461 +f 456 460 461 +f 456 455 462 +f 455 458 462 +f 462 458 463 +f 460 456 463 +f 458 460 463 +f 456 462 463 +f 454 457 464 +f 458 454 464 +f 460 458 464 +f 457 461 464 +o convex_37 +v -1.399956 1.690130 1.538840 +v -0.943328 1.849024 1.518976 +v -0.943328 1.849024 1.499128 +v -2.949187 1.849024 1.578583 +v -2.949187 1.789417 1.459416 +v -0.247666 1.690130 1.419689 +v 0.010780 1.769569 1.578583 +v -0.227674 1.829144 1.419689 +v -2.949187 1.690130 1.479280 +v -2.949187 1.849024 1.459416 +v 0.010780 1.829144 1.558703 +v -0.247666 1.690130 1.538840 +v -2.730145 1.690130 1.518976 +f 468 473 477 +f 466 467 468 +f 468 465 471 +f 468 469 473 +f 469 470 473 +f 470 465 473 +f 468 467 474 +f 469 468 474 +f 470 469 474 +f 467 472 474 +f 472 470 474 +f 467 466 475 +f 466 468 475 +f 471 470 475 +f 468 471 475 +f 472 467 475 +f 470 472 475 +f 465 470 476 +f 471 465 476 +f 470 471 476 +f 465 468 477 +f 473 465 477 +o convex_38 +v 0.010780 1.749711 1.916246 +v -2.949187 1.829156 1.578598 +v -2.949187 1.849039 1.578598 +v -2.949187 1.809293 1.916246 +v -2.949187 1.769594 1.896414 +v 0.010780 1.769594 1.578598 +v 0.010780 1.789458 1.836817 +v -0.366749 1.809293 1.578598 +v -2.869509 1.809293 1.578598 +v -2.611062 1.849039 1.598497 +v -1.201485 1.749711 1.916246 +v -0.406733 1.769594 1.578598 +f 488 482 489 +f 480 479 481 +f 481 479 482 +f 479 480 483 +f 481 478 484 +f 478 483 484 +f 483 480 485 +f 484 483 485 +f 482 479 486 +f 479 483 486 +f 480 481 487 +f 481 484 487 +f 485 480 487 +f 484 485 487 +f 478 481 488 +f 481 482 488 +f 483 478 488 +f 483 488 489 +f 482 486 489 +f 486 483 489 +o convex_39 +v 2.493691 1.471627 1.499128 +v 3.010479 1.709914 1.538840 +v 3.010479 1.431896 1.578583 +v 0.289425 1.709914 1.558703 +v 0.289425 1.372266 1.419689 +v 0.289425 1.709914 1.419689 +v 3.010479 1.709914 1.499128 +v 0.309281 1.372266 1.459416 +v 2.870951 1.372266 1.578583 +v 0.785821 1.372266 1.419689 +v 2.950375 1.372266 1.538840 +v 0.289425 1.670216 1.558703 +f 498 493 501 +f 492 491 493 +f 494 493 495 +f 493 491 495 +f 491 492 496 +f 495 491 496 +f 497 494 498 +f 492 493 498 +f 494 495 499 +f 496 490 499 +f 495 496 499 +f 498 494 499 +f 498 499 500 +f 490 496 500 +f 496 492 500 +f 492 498 500 +f 499 490 500 +f 493 494 501 +f 494 497 501 +f 497 498 501 +o convex_40 +v 3.050214 1.709914 1.836850 +v 3.010487 1.372266 1.558738 +v 3.010487 1.412030 1.538871 +v 3.089941 1.372266 1.558738 +v 3.030358 1.709914 1.499136 +v 3.089941 1.372266 1.836850 +f 505 502 507 +f 504 503 502 +f 503 504 505 +f 502 505 506 +f 504 502 506 +f 505 504 506 +f 502 503 507 +f 503 505 507 +o convex_41 +v 0.249323 1.471601 2.015644 +v 2.295319 1.709980 2.055371 +v 2.295319 1.431884 2.055371 +v 2.295319 1.471601 2.015644 +v 0.269141 1.332535 2.055371 +v 0.229301 1.709980 1.995775 +v 2.295319 1.332535 2.015644 +v 0.288960 1.690103 2.035502 +v 1.798634 1.709980 2.015644 +f 511 513 516 +f 509 510 511 +f 510 509 512 +f 508 512 513 +f 511 510 514 +f 512 508 514 +f 510 512 514 +f 513 511 514 +f 508 513 514 +f 512 509 515 +f 509 513 515 +f 513 512 515 +f 509 511 516 +f 513 509 516 +o convex_42 +v 3.069947 1.332535 1.836850 +v 3.050097 1.709980 2.075214 +v 3.050097 1.690103 2.075214 +v 2.295399 1.471601 2.015599 +v 3.030247 1.709980 1.836850 +v 3.109727 1.352412 2.015599 +v 2.295399 1.709980 2.055335 +v 2.295399 1.332535 2.035479 +v 2.315329 1.332535 1.995744 +f 524 520 525 +f 521 518 522 +f 518 519 522 +f 517 521 522 +f 519 518 523 +f 521 520 523 +f 518 521 523 +f 522 519 524 +f 517 522 524 +f 519 523 524 +f 523 520 524 +f 521 517 525 +f 520 521 525 +f 517 524 525 +o convex_43 +v 0.924606 -1.289500 -0.467779 +v 0.944477 -0.316306 0.148278 +v 1.023924 -0.316306 -0.984004 +v 0.964339 -1.985013 0.148278 +v 1.004043 -1.985013 -1.202579 +v 1.004043 -0.316306 -1.202579 +v 0.964339 -1.985013 -1.202579 +v 0.924606 -0.316306 -0.189568 +v 0.944477 -1.985013 0.148278 +v 0.964339 -0.773502 0.148278 +v 1.023924 -1.091203 -1.182480 +v 0.924606 -0.813031 0.148278 +v 0.944477 -1.985013 -0.924236 +v 0.984181 -0.435546 -1.043639 +f 533 531 539 +f 527 528 531 +f 530 529 532 +f 531 530 532 +f 527 531 533 +f 529 527 534 +f 532 529 534 +f 528 527 535 +f 529 528 535 +f 527 529 535 +f 528 529 536 +f 529 530 536 +f 531 528 536 +f 530 531 536 +f 527 533 537 +f 533 526 537 +f 534 527 537 +f 526 534 537 +f 526 532 538 +f 534 526 538 +f 532 534 538 +f 532 526 539 +f 531 532 539 +f 526 533 539 +o convex_44 +v -0.187749 2.305976 -1.282026 +v 1.103386 2.603930 -1.242328 +v 1.103386 2.603930 -1.321773 +v 1.083291 2.305976 -1.222445 +v -0.187749 2.544287 -1.222445 +v 1.083291 2.305976 -1.321773 +v -0.028758 2.544287 -1.301890 +v 0.785405 2.603930 -1.222445 +f 542 546 547 +f 542 541 543 +f 540 543 544 +f 542 543 545 +f 543 540 545 +f 540 544 546 +f 545 540 546 +f 542 545 546 +f 541 542 547 +f 543 541 547 +f 544 543 547 +f 546 544 547 +o convex_45 +v 0.904730 -2.779480 -1.162848 +v -0.187768 -3.474560 -1.202579 +v -0.187768 -3.474560 -1.162848 +v 0.507341 -1.587886 -1.182714 +v 0.566907 -3.434846 -1.202579 +v 0.904730 -2.005157 -1.202579 +v 0.904730 -3.395133 -1.162848 +v 0.487451 -1.627785 -1.202579 +v 0.904730 -2.799244 -1.202579 +f 554 552 556 +f 550 548 551 +f 550 549 552 +f 552 549 553 +f 551 548 553 +f 553 548 554 +f 548 550 554 +f 550 552 554 +f 549 550 555 +f 550 551 555 +f 553 549 555 +f 551 553 555 +f 552 553 556 +f 553 554 556 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/895/895.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/895/895.urdf new file mode 100644 index 000000000..2203ec3a7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/895/895.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/896/896.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/896/896.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/896/896.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/896/896.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/896/896.obj new file mode 100644 index 000000000..0aa2f83e6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/896/896.obj @@ -0,0 +1,450 @@ +o convex_0 +v 2.918616 -0.180586 1.130350 +v 2.281976 -2.053781 -1.117253 +v 1.682338 -2.053781 -1.079628 +v 0.633351 0.119133 -0.967413 +v 4.454713 -0.030835 -1.079628 +v 4.492476 -2.091219 1.092945 +v 0.595588 -2.053781 1.092945 +v 0.595588 0.006603 1.055540 +v 4.454713 0.006603 1.018135 +v 4.417331 -1.941467 -1.079628 +v 0.595588 -2.053781 -1.004818 +v 2.656178 0.081695 1.130350 +v 2.881233 0.081695 -0.892383 +v 3.667783 -0.817680 -1.117253 +v 0.595588 0.119133 -0.630108 +v 3.031143 -2.053781 -1.117253 +v 1.382518 0.006603 1.130570 +v 4.454713 -1.978905 -0.779948 +v 3.405727 -0.855118 1.130350 +v 4.492476 -1.304373 1.092945 +v 4.080130 0.044258 0.568614 +v 4.492476 -2.016343 0.118873 +v 4.004984 0.006820 -1.079628 +v 1.307754 0.119133 -0.967413 +v 0.595588 -0.030835 1.092945 +v 4.454713 -1.828937 -1.079628 +v 4.492476 -0.967648 0.980730 +v 4.492476 -2.091219 0.943324 +v 4.230039 -0.143149 1.055540 +v 0.595588 0.081695 -0.967413 +v 3.031143 0.081695 -0.255397 +v 2.581414 -1.678969 -1.117253 +v 4.454713 0.006603 0.006658 +v 3.967602 0.044041 1.055540 +v 0.933171 0.119133 -0.405237 +v 4.304803 -2.091219 1.092945 +v 2.544032 0.081695 1.130350 +v 3.330963 -1.978905 -1.117253 +f 26 10 38 +f 7 8 11 +f 11 8 15 +f 2 14 16 +f 1 12 17 +f 16 10 18 +f 1 17 19 +f 17 7 19 +f 19 6 20 +f 1 19 20 +f 20 6 22 +f 14 4 23 +f 5 14 23 +f 4 15 24 +f 23 4 24 +f 13 23 24 +f 8 7 25 +f 7 17 25 +f 17 8 25 +f 14 5 26 +f 18 10 26 +f 5 22 26 +f 22 18 26 +f 9 20 27 +f 22 5 27 +f 20 22 27 +f 3 2 28 +f 11 3 28 +f 2 16 28 +f 16 18 28 +f 18 22 28 +f 22 6 28 +f 12 1 29 +f 20 9 29 +f 1 20 29 +f 2 3 30 +f 3 11 30 +f 15 4 30 +f 11 15 30 +f 21 13 31 +f 24 12 31 +f 13 24 31 +f 14 2 32 +f 4 14 32 +f 2 30 32 +f 30 4 32 +f 21 9 33 +f 13 21 33 +f 23 13 33 +f 5 23 33 +f 27 5 33 +f 9 27 33 +f 9 21 34 +f 12 29 34 +f 29 9 34 +f 31 12 34 +f 21 31 34 +f 15 8 35 +f 12 24 35 +f 24 15 35 +f 7 11 36 +f 6 19 36 +f 19 7 36 +f 11 28 36 +f 28 6 36 +f 8 17 37 +f 17 12 37 +f 35 8 37 +f 12 35 37 +f 10 16 38 +f 16 14 38 +f 14 26 38 +o convex_1 +v -0.903092 4.053797 0.980576 +v -1.615274 -1.978633 0.456064 +v 0.033285 -2.053964 -0.967304 +v 0.595500 -2.053964 1.093311 +v 0.595500 3.940801 -0.967520 +v -1.465307 4.015534 -1.079607 +v 0.408095 4.016132 1.018227 +v -1.615274 -1.940968 -1.004738 +v -1.577620 4.053797 1.093095 +v 0.595500 -2.053964 -1.004954 +v -1.615274 -1.903901 1.093095 +v -1.615274 0.045130 -1.117257 +v 0.595500 -0.030200 1.093311 +v 0.445533 3.753670 -1.004954 +v -1.352777 0.345257 -1.117257 +v 0.557846 3.977869 -0.292838 +v -1.615274 0.757184 1.093095 +v -1.577620 4.053797 0.680885 +v 0.445533 1.430377 1.093311 +v 0.445533 3.977869 0.980576 +v -0.715903 4.015534 -1.042172 +v 0.108160 -2.053964 1.093311 +v -1.165588 4.015534 -1.079607 +v -1.615274 -1.603774 -1.042172 +v -0.228996 4.016132 1.055661 +v -1.465307 4.053797 -0.255404 +v -1.615274 -1.978633 0.868273 +v -1.502744 -0.180264 -1.117257 +v 0.295565 3.977869 -1.004738 +v 0.595500 3.940801 -0.742482 +v -1.502744 3.978467 -0.592528 +v 0.445533 3.041616 1.055661 +v -1.390431 4.053797 1.093095 +v -1.465307 1.055518 -1.117257 +v -1.577620 -1.940968 1.093095 +f 65 60 73 +f 41 40 46 +f 42 41 48 +f 43 42 48 +f 41 46 48 +f 46 40 49 +f 46 49 50 +f 42 43 51 +f 43 48 52 +f 52 48 53 +f 50 49 55 +f 47 39 56 +f 55 47 56 +f 50 55 56 +f 42 51 57 +f 54 45 58 +f 51 54 58 +f 41 42 60 +f 47 55 60 +f 55 49 60 +f 57 47 60 +f 42 57 60 +f 48 46 62 +f 46 50 62 +f 39 45 64 +f 56 39 64 +f 44 56 64 +f 45 59 64 +f 61 44 64 +f 59 61 64 +f 40 41 65 +f 49 40 65 +f 41 60 65 +f 50 53 66 +f 53 48 66 +f 48 62 66 +f 62 50 66 +f 43 52 67 +f 54 43 67 +f 45 54 67 +f 59 45 67 +f 52 61 67 +f 61 59 67 +f 51 43 68 +f 43 54 68 +f 54 51 68 +f 44 50 69 +f 56 44 69 +f 50 56 69 +f 57 51 70 +f 58 45 70 +f 51 58 70 +f 45 63 70 +f 63 57 70 +f 45 39 71 +f 39 47 71 +f 47 57 71 +f 63 45 71 +f 57 63 71 +f 50 44 72 +f 53 50 72 +f 52 53 72 +f 61 52 72 +f 44 61 72 +f 60 49 73 +f 49 65 73 +o convex_2 +v -2.514496 1.992559 -0.330500 +v -2.626982 0.381980 0.343823 +v -2.814355 0.381980 0.343823 +v -2.776818 0.119350 -0.293014 +v -2.252360 0.119350 -0.218112 +v -2.289835 2.105309 0.193950 +v -2.814355 2.067791 0.231366 +v -2.289835 0.119350 0.343823 +v -2.177349 1.992559 -0.218112 +v -2.701869 1.992559 -0.367985 +v -2.814355 0.119350 0.343823 +v -2.177349 1.430557 -0.030754 +v -2.814355 0.157063 -0.180627 +v -2.289835 1.542919 0.268852 +v -2.252360 0.157063 0.268852 +v -2.739343 1.655280 -0.330500 +v -2.814355 2.067791 0.156465 +v -2.177349 1.355520 -0.218112 +v -2.177349 1.992559 -0.068240 +v -2.664456 1.917910 -0.367985 +v -2.514496 2.105309 0.231366 +v -2.439734 0.119350 -0.255528 +f 77 93 95 +f 75 76 81 +f 77 78 81 +f 74 79 82 +f 79 74 83 +f 76 80 84 +f 81 76 84 +f 77 81 84 +f 84 80 86 +f 77 84 86 +f 76 75 87 +f 75 81 87 +f 81 78 88 +f 87 81 88 +f 83 77 89 +f 77 86 89 +f 89 86 90 +f 86 80 90 +f 83 89 90 +f 78 74 91 +f 74 82 91 +f 82 85 91 +f 85 88 91 +f 88 78 91 +f 82 79 92 +f 85 82 92 +f 79 87 92 +f 88 85 92 +f 87 88 92 +f 74 78 93 +f 83 74 93 +f 77 83 93 +f 80 76 94 +f 79 83 94 +f 76 87 94 +f 87 79 94 +f 90 80 94 +f 83 90 94 +f 78 77 95 +f 93 78 95 +o convex_3 +v -2.739325 -4.114865 -0.255528 +v -2.327233 -2.053964 0.343823 +v -2.776884 -2.053964 0.343823 +v -2.327233 -2.053964 -0.293014 +v -2.327233 -4.039619 0.193950 +v -2.851826 -4.039619 0.306338 +v -2.851826 -2.053964 -0.255528 +v -2.252291 -4.114865 -0.293014 +v -2.814267 -4.114865 -0.367985 +v -2.289850 -2.166733 0.268852 +v -2.289850 -2.203851 -0.293014 +v -2.664383 -3.665001 -0.367985 +v -2.252291 -3.402547 -0.030754 +v -2.814267 -2.728760 0.343823 +v -2.439734 -2.578873 0.343823 +v -2.851826 -4.077141 0.156465 +v -2.252291 -4.114865 -0.143141 +v -2.814267 -2.391261 -0.293014 +v -2.739325 -3.964978 0.306338 +v -2.252291 -3.365428 -0.293014 +f 105 108 115 +f 98 97 99 +f 98 99 102 +f 103 96 104 +f 99 97 105 +f 97 100 105 +f 99 105 106 +f 103 104 107 +f 99 106 107 +f 105 100 108 +f 97 98 109 +f 98 102 109 +f 102 101 109 +f 100 97 110 +f 97 109 110 +f 109 101 110 +f 100 101 111 +f 101 102 111 +f 104 96 111 +f 102 104 111 +f 96 103 112 +f 108 100 112 +f 103 108 112 +f 100 111 112 +f 111 96 112 +f 102 99 113 +f 104 102 113 +f 99 107 113 +f 107 104 113 +f 101 100 114 +f 100 110 114 +f 110 101 114 +f 106 105 115 +f 103 107 115 +f 107 106 115 +f 108 103 115 +o convex_4 +v -1.615472 0.006812 1.093095 +v -2.214816 -2.053964 -0.442857 +v -3.226443 -2.016310 -0.667657 +v -1.615472 0.044254 -1.117257 +v -3.488703 0.081695 0.980587 +v -1.615285 -1.941427 1.055448 +v -3.488703 0.044254 -1.079826 +v -3.451291 -2.053964 0.943373 +v -1.615285 -1.941427 -1.004749 +v -3.526302 -1.978868 -1.004965 +v -2.252415 0.119350 -0.218057 +v -3.001595 -2.016310 1.018234 +v -3.488703 0.081695 -1.042396 +v -2.065167 -2.053964 0.119034 +v -3.114019 -1.566585 -1.042396 +v -3.526302 -0.705216 -1.042396 +v -2.289828 0.119350 0.343618 +v -1.652884 -1.641681 1.093095 +v -3.526302 -1.978868 -0.592580 +v -2.439664 0.044254 1.055448 +v -1.615285 -1.978868 0.868295 +v -2.964183 0.119350 -0.068119 +v -1.727896 -0.180608 -1.117257 +v -1.615285 -1.604240 -1.042180 +v -3.488703 -0.442912 0.980587 +v -3.413878 -2.053964 0.980587 +v -1.652884 -1.978868 -0.667657 +v -2.851759 -2.053964 -0.255488 +v -1.802720 -0.517795 1.093095 +v -3.076607 0.044254 1.018234 +v -3.488703 -0.142954 -1.079826 +v -1.802720 -1.978868 1.055448 +v -1.615472 0.044254 -0.442857 +v -2.739336 -1.978868 -1.004965 +v -3.488703 -2.016310 -0.480288 +v -3.189031 -2.053964 0.980587 +v -2.851759 0.119350 -0.405427 +v -2.177404 0.044254 1.055448 +v -3.039195 -1.866544 1.018234 +v -3.526302 -1.304494 -1.042396 +f 146 138 155 +f 117 118 125 +f 119 122 128 +f 123 117 129 +f 128 122 131 +f 120 128 131 +f 121 116 133 +f 125 123 134 +f 131 125 134 +f 120 131 134 +f 124 121 136 +f 128 120 137 +f 120 132 137 +f 132 126 137 +f 122 119 138 +f 130 138 139 +f 116 121 139 +f 121 124 139 +f 125 130 139 +f 138 119 139 +f 120 134 140 +f 134 123 140 +f 123 129 141 +f 140 123 141 +f 117 124 142 +f 129 117 142 +f 124 136 142 +f 136 129 142 +f 118 117 143 +f 117 123 143 +f 133 116 144 +f 116 135 144 +f 144 135 145 +f 135 120 145 +f 120 140 145 +f 131 122 146 +f 122 138 146 +f 121 133 147 +f 133 127 147 +f 136 121 147 +f 129 136 147 +f 119 126 148 +f 132 116 148 +f 126 132 148 +f 116 139 148 +f 139 119 148 +f 124 117 149 +f 117 125 149 +f 139 124 149 +f 125 139 149 +f 125 118 150 +f 123 125 150 +f 118 143 150 +f 143 123 150 +f 127 141 151 +f 141 129 151 +f 147 127 151 +f 129 147 151 +f 126 119 152 +f 119 128 152 +f 128 137 152 +f 137 126 152 +f 116 132 153 +f 132 120 153 +f 120 135 153 +f 135 116 153 +f 127 133 154 +f 141 127 154 +f 140 141 154 +f 133 144 154 +f 144 145 154 +f 145 140 154 +f 130 125 155 +f 125 131 155 +f 138 130 155 +f 131 146 155 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/896/896.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/896/896.urdf new file mode 100644 index 000000000..20d881ded --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/896/896.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/897/897.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/897/897.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/897/897.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/897/897.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/897/897.obj new file mode 100644 index 000000000..e7042b6bb --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/897/897.obj @@ -0,0 +1,1383 @@ +o convex_0 +v -0.996584 -2.392838 0.246911 +v -0.953871 0.917492 0.802435 +v -0.953871 0.917492 -1.183705 +v -0.953867 -2.713422 0.311064 +v -0.975225 -2.713422 -1.226606 +v -0.975225 0.917492 -1.183705 +v -0.975225 0.917492 0.802435 +v -0.996584 -2.713422 0.738282 +v -0.953867 -2.713422 -1.226606 +v -0.996584 -0.684717 0.097355 +v -0.953867 -2.008280 0.738282 +v -0.996584 -1.944305 0.738282 +v -0.975225 -2.713422 0.738282 +f 4 11 13 +f 3 5 6 +f 2 3 6 +f 2 6 7 +f 1 5 8 +f 5 4 8 +f 2 7 8 +f 4 5 9 +f 5 3 9 +f 5 1 10 +f 6 5 10 +f 7 6 10 +f 1 8 10 +f 3 2 11 +f 9 3 11 +f 4 9 11 +f 8 7 12 +f 7 10 12 +f 10 8 12 +f 2 8 13 +f 8 4 13 +f 11 2 13 +o convex_1 +v 0.925664 -2.563059 -1.226154 +v 0.968374 3.266328 0.844938 +v 0.947019 3.266328 0.844938 +v 0.989729 3.266328 -1.333184 +v 0.925664 -2.648768 0.652412 +v 0.882965 -2.307090 0.780763 +v 0.947019 2.412131 -1.012521 +v 0.968364 -1.089787 -1.226154 +v 0.925675 2.647252 0.802083 +v 0.925664 -1.026084 -1.247688 +v 0.989729 3.245480 -0.393368 +v 0.968374 3.266328 -1.333184 +v 0.968374 2.604398 0.823617 +v 0.947009 -2.584486 -0.606788 +v 0.882965 -2.648768 0.802083 +v 0.989729 1.707346 -1.311650 +v 0.904320 -2.520784 -0.628109 +v 0.925664 -2.349944 0.802083 +v 0.947019 3.266328 -0.436009 +v 0.947009 -2.563059 -1.226154 +v 0.947019 1.728773 -1.311863 +f 25 29 34 +f 16 15 17 +f 20 19 22 +f 17 15 24 +f 16 17 25 +f 24 15 26 +f 21 24 26 +f 26 18 27 +f 21 26 27 +f 15 16 28 +f 14 18 28 +f 16 22 28 +f 22 19 28 +f 17 24 29 +f 24 21 29 +f 25 17 29 +f 19 20 30 +f 23 14 30 +f 20 23 30 +f 14 28 30 +f 28 19 30 +f 26 15 31 +f 18 26 31 +f 15 28 31 +f 28 18 31 +f 22 16 32 +f 20 22 32 +f 16 25 32 +f 25 20 32 +f 18 14 33 +f 27 18 33 +f 21 27 33 +f 14 29 33 +f 29 21 33 +f 14 23 34 +f 23 20 34 +f 20 25 34 +f 29 14 34 +o convex_2 +v -0.505359 0.874765 -1.953274 +v -0.462652 0.234088 -3.255358 +v -0.484006 0.383611 -3.276682 +v -0.612092 0.789341 -1.248286 +v -0.484006 0.234088 -1.184100 +v -0.441282 0.767954 -3.319332 +v -0.484006 0.874765 -1.248286 +v -0.526712 0.853377 -3.212497 +v -0.526696 0.298125 -2.123873 +v -0.441282 0.234088 -2.935062 +v -0.612092 0.874765 -1.461957 +v -0.526696 0.276800 -1.205636 +v -0.484006 0.853377 -3.341079 +v -0.505376 0.234088 -2.550581 +f 46 43 48 +f 38 39 41 +f 39 36 44 +f 36 40 44 +f 40 41 44 +f 41 39 44 +f 41 35 45 +f 38 41 45 +f 42 37 45 +f 35 42 45 +f 39 38 46 +f 38 43 46 +f 36 37 47 +f 40 36 47 +f 35 41 47 +f 41 40 47 +f 37 42 47 +f 42 35 47 +f 37 36 48 +f 36 39 48 +f 43 38 48 +f 38 45 48 +f 45 37 48 +f 39 46 48 +o convex_3 +v 0.541187 0.810612 2.681926 +v 0.562567 -0.086261 0.717282 +v 0.519852 0.127201 0.695758 +v 0.519852 -0.086261 2.767400 +v 0.434436 0.810612 0.653125 +v 0.583917 0.191301 1.315388 +v 0.477166 0.789275 0.674648 +v 0.562538 0.767850 2.681926 +v 0.498502 0.810612 2.339826 +v 0.541202 -0.086261 2.767400 +v 0.583917 -0.086261 0.717282 +v 0.519852 -0.086261 1.976823 +v 0.434436 0.746512 0.696172 +v 0.583917 -0.086261 1.208391 +v 0.434436 0.789275 0.824278 +v 0.519837 0.810612 2.681926 +f 57 52 64 +f 53 49 55 +f 54 55 56 +f 55 49 56 +f 49 53 57 +f 52 50 58 +f 49 52 58 +f 56 49 58 +f 50 51 59 +f 51 53 59 +f 53 55 59 +f 55 54 59 +f 58 50 59 +f 51 50 60 +f 50 52 60 +f 53 51 61 +f 51 60 61 +f 60 52 61 +f 54 56 62 +f 56 58 62 +f 59 54 62 +f 58 59 62 +f 52 57 63 +f 57 53 63 +f 53 61 63 +f 61 52 63 +f 52 49 64 +f 49 57 64 +o convex_4 +v -0.975221 0.917492 -1.183889 +v -0.932509 3.330982 0.866510 +v -0.953867 3.330982 0.866510 +v -0.953867 3.330982 -1.162414 +v -0.932509 1.515667 0.823559 +v -0.975221 1.259576 0.823760 +v -0.975225 3.330982 -1.162414 +v -0.953867 0.917492 -1.183889 +v -0.932509 3.330982 -0.073390 +v -0.953867 0.917492 0.802284 +v -0.975225 3.330982 -0.030640 +v -0.975221 0.917492 0.802284 +f 75 65 76 +f 67 66 68 +f 69 66 70 +f 66 67 70 +f 67 68 71 +f 68 65 71 +f 65 68 72 +f 68 66 73 +f 66 69 73 +f 72 68 73 +f 69 72 73 +f 69 70 74 +f 65 72 74 +f 72 69 74 +f 70 67 75 +f 71 65 75 +f 67 71 75 +f 74 70 76 +f 65 74 76 +f 70 75 76 +o convex_5 +v -0.911151 3.395057 0.866510 +v -0.975213 3.330982 -1.162531 +v -0.975213 3.459132 -1.162531 +v -1.017932 3.352357 0.738006 +v -0.911151 3.352357 -1.162531 +v -0.932526 3.330982 0.866510 +v -0.911151 3.459132 -1.162531 +v -0.975213 3.416394 0.823410 +f 83 79 84 +f 79 78 80 +f 78 79 81 +f 78 81 82 +f 80 78 82 +f 81 77 82 +f 77 81 83 +f 81 79 83 +f 79 80 84 +f 80 82 84 +f 82 77 84 +f 77 83 84 +o convex_6 +v -0.398601 3.395074 -1.226535 +v 0.049974 3.373707 -0.180048 +v 0.049974 3.352340 -0.180048 +v -0.911151 3.373707 -0.180048 +v -0.911151 3.459132 -1.141026 +v -0.911151 3.352340 -1.162455 +v 0.049974 3.373707 -1.247964 +v -0.142326 3.437765 -1.183885 +v -0.056901 3.395074 -0.201478 +v 0.049974 3.352340 -1.247964 +v -0.911151 3.352340 -0.180048 +v 0.049974 3.416398 -1.162455 +f 92 93 96 +f 87 86 88 +f 89 85 90 +f 88 89 90 +f 86 87 91 +f 85 89 92 +f 91 85 92 +f 88 86 93 +f 89 88 93 +f 92 89 93 +f 90 85 94 +f 87 90 94 +f 91 87 94 +f 85 91 94 +f 87 88 95 +f 90 87 95 +f 88 90 95 +f 86 91 96 +f 91 92 96 +f 93 86 96 +o convex_7 +v -0.441219 3.330982 0.716943 +v 0.049974 3.373698 0.866510 +v 0.049974 3.352357 0.866510 +v 0.049974 3.373698 -0.180048 +v -0.911151 3.416415 0.866510 +v -0.911151 3.352357 -0.180048 +v 0.049974 3.330982 0.396604 +v -0.911151 3.352357 0.759661 +v -0.291820 3.416415 0.845099 +v -0.911151 3.373698 -0.180048 +v 0.049974 3.352357 -0.180048 +v 0.049974 3.395040 0.823791 +v 0.028523 3.330982 0.845099 +f 101 104 109 +f 98 99 100 +f 99 98 101 +f 100 99 103 +f 97 102 103 +f 102 97 104 +f 101 102 104 +f 101 98 105 +f 101 105 106 +f 100 102 106 +f 102 101 106 +f 105 100 106 +f 102 100 107 +f 100 103 107 +f 103 102 107 +f 98 100 108 +f 105 98 108 +f 100 105 108 +f 99 101 109 +f 97 103 109 +f 103 99 109 +f 104 97 109 +o convex_8 +v 0.968292 3.352323 0.866422 +v 0.050064 3.352323 -0.030540 +v 0.050064 3.330988 0.375358 +v 0.968292 3.266932 -0.030540 +v 0.968292 3.373684 0.183165 +v 0.050064 3.395057 0.844999 +v 0.946900 3.266932 0.844999 +v 0.050064 3.330988 0.844999 +v 0.669256 3.373684 -0.030540 +v 0.968292 3.395057 0.844999 +v 0.050064 3.373684 -0.030540 +v 0.968292 3.395057 0.652805 +f 120 115 121 +f 112 111 113 +f 110 113 114 +f 111 112 115 +f 112 113 116 +f 113 110 116 +f 116 110 117 +f 110 115 117 +f 115 112 117 +f 112 116 117 +f 113 111 118 +f 114 113 118 +f 110 114 119 +f 115 110 119 +f 111 115 120 +f 118 111 120 +f 118 120 121 +f 114 118 121 +f 115 119 121 +f 119 114 121 +o convex_9 +v 0.050174 3.416405 -1.162378 +v 0.989648 3.331002 -0.351025 +v 0.989648 3.309640 -0.351025 +v 0.050174 3.373681 -0.030667 +v 0.882860 3.266946 -1.333397 +v 0.925538 3.395043 -1.226526 +v 0.114192 3.331002 -1.268994 +v 0.946878 3.266946 -0.030540 +v 0.946878 3.373681 -0.201432 +v 0.050174 3.352349 -0.030667 +v 0.989648 3.266946 -1.333397 +v 0.690716 3.373681 -0.030540 +v 0.519819 3.416405 -1.204973 +v 0.071422 3.395028 -0.286877 +v 0.989648 3.309640 -1.333397 +v 0.050174 3.373681 -1.247824 +f 136 128 137 +f 128 126 129 +f 124 123 129 +f 123 127 130 +f 129 123 130 +f 125 122 131 +f 128 129 131 +f 123 124 132 +f 129 126 132 +f 124 129 132 +f 129 130 133 +f 125 131 133 +f 131 129 133 +f 130 127 134 +f 133 130 134 +f 133 134 135 +f 122 125 135 +f 125 133 135 +f 134 122 135 +f 127 123 136 +f 126 128 136 +f 123 132 136 +f 132 126 136 +f 134 127 136 +f 134 136 137 +f 131 122 137 +f 128 131 137 +f 122 134 137 +o convex_10 +v 0.348874 0.853347 2.810068 +v -0.505319 -0.171664 2.681981 +v -0.483891 -0.171664 2.681981 +v 0.391626 -0.128912 2.852796 +v 0.541099 0.298193 2.681981 +v -0.483891 0.832023 2.767379 +v -0.483891 0.832023 2.660627 +v -0.334418 0.148613 2.852814 +v 0.541099 0.831918 2.681981 +v 0.541099 0.511746 2.852814 +v 0.541204 -0.107588 2.767398 +v -0.505319 -0.171664 2.767398 +v -0.291562 0.533070 2.852814 +v 0.541099 0.831918 2.831460 +v -0.270238 0.447670 2.660627 +v 0.242048 -0.150340 2.724708 +v 0.092574 0.874775 2.681981 +v 0.284904 0.853347 2.831460 +v 0.541204 -0.043512 2.852796 +v -0.270238 -0.192988 2.788733 +v 0.562528 0.789271 2.681981 +f 156 148 158 +f 139 143 144 +f 145 141 147 +f 143 139 149 +f 145 143 149 +f 143 145 150 +f 145 147 150 +f 146 138 151 +f 140 139 152 +f 142 140 152 +f 139 144 152 +f 144 146 152 +f 140 142 153 +f 148 141 153 +f 142 148 153 +f 144 143 154 +f 138 146 154 +f 146 144 154 +f 143 150 155 +f 150 147 155 +f 147 151 155 +f 151 138 155 +f 138 154 155 +f 154 143 155 +f 147 141 156 +f 141 148 156 +f 139 140 157 +f 141 145 157 +f 149 139 157 +f 145 149 157 +f 140 153 157 +f 153 141 157 +f 148 142 158 +f 151 147 158 +f 146 151 158 +f 142 152 158 +f 152 146 158 +f 147 156 158 +o convex_11 +v -0.099530 -1.154265 2.767345 +v 0.583932 -1.111557 0.887926 +v 0.583932 -1.132898 0.887926 +v -0.142251 -1.090202 0.738360 +v 0.455769 -1.132898 2.831475 +v 0.562465 -1.154265 0.759873 +v -0.142251 -1.111557 2.724524 +v -0.142251 -1.111557 0.738360 +v -0.035342 -1.090202 1.571426 +v 0.477023 -1.154265 2.746037 +v -0.142251 -1.154265 2.660600 +v 0.199515 -1.090202 0.738360 +v 0.562465 -1.111557 1.251189 +f 160 170 171 +f 160 161 164 +f 159 163 165 +f 165 162 166 +f 162 165 167 +f 165 163 167 +f 161 160 168 +f 163 159 168 +f 164 161 168 +f 159 164 168 +f 164 159 169 +f 159 165 169 +f 166 164 169 +f 165 166 169 +f 160 164 170 +f 166 162 170 +f 164 166 170 +f 162 167 170 +f 170 167 171 +f 167 163 171 +f 168 160 171 +f 163 168 171 +o convex_12 +v 0.178125 0.404825 4.817677 +v 0.242202 0.105876 2.853029 +v 0.242202 0.575675 2.853029 +v 0.327603 0.575675 2.895867 +v 0.114049 0.511600 4.753617 +v 0.178125 0.170001 4.774839 +v 0.114049 0.170001 4.518402 +v 0.284913 0.105876 2.895867 +v 0.263568 0.618475 3.856772 +v 0.114049 0.170001 4.839096 +v 0.199470 0.511600 4.732198 +v 0.199470 0.170001 4.518402 +v 0.242202 0.618475 3.429572 +f 176 180 184 +f 173 174 175 +f 174 173 178 +f 176 174 178 +f 173 175 179 +f 172 176 181 +f 177 172 181 +f 176 178 181 +f 178 173 181 +f 173 179 181 +f 179 177 181 +f 176 172 182 +f 172 177 182 +f 175 180 182 +f 180 176 182 +f 179 175 183 +f 177 179 183 +f 175 182 183 +f 182 177 183 +f 175 174 184 +f 174 176 184 +f 180 175 184 +o convex_13 +v 0.455692 -1.816354 -3.277019 +v -0.462626 -1.602760 -3.298354 +v -0.462626 -1.602760 -3.255652 +v 0.412994 -1.154265 -3.277007 +v -0.120774 -2.179412 -3.319715 +v -0.462536 -2.200823 -3.255646 +v 0.434298 -2.072564 -3.255646 +v 0.434298 -1.837765 -3.319715 +v -0.441142 -1.197086 -3.255652 +v -0.462536 -1.816354 -3.319715 +v 0.412994 -1.154265 -3.255652 +v -0.441142 -1.197086 -3.277007 +v 0.434298 -2.072564 -3.319715 +v -0.462536 -2.200823 -3.319715 +f 194 189 198 +f 187 186 190 +f 190 189 191 +f 188 185 192 +f 186 187 193 +f 187 190 193 +f 190 191 193 +f 192 189 194 +f 188 192 194 +f 185 188 195 +f 191 185 195 +f 188 193 195 +f 193 191 195 +f 186 193 196 +f 193 188 196 +f 194 186 196 +f 188 194 196 +f 185 191 197 +f 191 189 197 +f 189 192 197 +f 192 185 197 +f 190 186 198 +f 189 190 198 +f 186 194 198 +o convex_14 +v -0.099476 -2.158085 -3.319721 +v 0.498498 -2.072685 -1.248572 +v -0.227707 -2.072673 -1.269456 +v 0.434336 -2.072685 -3.319721 +v -0.462626 -2.072673 -3.255447 +v -0.462626 -2.200823 -3.233955 +v 0.498498 -2.115385 -1.248572 +v -0.462626 -2.115410 -1.333729 +v 0.412979 -2.136735 -3.319721 +v -0.462626 -2.072673 -1.269456 +v -0.419819 -2.200823 -3.255447 +f 207 205 209 +f 201 200 202 +f 202 199 203 +f 201 202 203 +f 202 200 205 +f 203 204 206 +f 204 205 206 +f 199 202 207 +f 202 205 207 +f 200 201 208 +f 201 203 208 +f 205 200 208 +f 203 206 208 +f 206 205 208 +f 203 199 209 +f 204 203 209 +f 205 204 209 +f 199 207 209 +o convex_15 +v -0.184968 0.020443 4.304908 +v 0.242199 0.169951 3.707281 +v 0.220832 0.169951 4.091442 +v -0.184968 0.148584 2.853027 +v -0.184968 0.169951 4.710649 +v 0.242199 0.105851 2.853027 +v 0.114040 0.148584 4.838963 +v -0.163601 0.020443 4.603916 +v -0.184968 0.105851 3.045302 +v 0.242199 0.169951 3.280154 +v 0.242199 0.105851 3.216192 +v 0.178099 0.148584 2.853027 +f 219 215 221 +f 213 210 214 +f 212 211 214 +f 212 214 216 +f 214 210 217 +f 210 215 217 +f 216 214 217 +f 210 213 218 +f 215 210 218 +f 213 215 218 +f 213 214 219 +f 214 211 219 +f 211 215 219 +f 211 212 220 +f 215 211 220 +f 212 216 220 +f 217 215 220 +f 216 217 220 +f 215 213 221 +f 213 219 221 +o convex_16 +v 0.477119 -1.795065 -1.269322 +v 0.413074 -2.072583 -3.255462 +v 0.413065 -1.602861 -3.298362 +v 0.413065 -1.218453 -1.312223 +v 0.477136 -1.154355 -3.276912 +v 0.498473 -2.072583 -1.718190 +v 0.455774 -2.072583 -1.654037 +v 0.413065 -1.154355 -3.276912 +v 0.434428 -1.154355 -1.333872 +v 0.498473 -1.858983 -1.269322 +v 0.455774 -1.795065 -3.255462 +v 0.413074 -2.072583 -2.721190 +v 0.477136 -1.154355 -2.742640 +v 0.413065 -1.389261 -1.312223 +v 0.477119 -2.072583 -1.269322 +v 0.477136 -1.431873 -3.276912 +v 0.434436 -2.072583 -3.255462 +f 224 237 238 +f 223 227 228 +f 224 225 229 +f 226 224 229 +f 226 229 230 +f 229 225 230 +f 230 225 231 +f 225 222 231 +f 227 226 231 +f 224 223 233 +f 223 228 233 +f 226 230 234 +f 230 231 234 +f 231 226 234 +f 225 224 235 +f 222 225 235 +f 224 233 235 +f 233 228 235 +f 228 227 236 +f 231 222 236 +f 227 231 236 +f 222 235 236 +f 235 228 236 +f 224 226 237 +f 226 227 237 +f 227 232 237 +f 237 232 238 +f 223 224 238 +f 227 223 238 +f 232 227 238 +o convex_17 +v -0.441278 -1.944542 2.703047 +v -0.526684 -2.136729 2.425349 +v -0.505330 -2.136729 2.425349 +v -0.505330 -1.944542 0.802623 +v -0.441278 -2.115356 0.802623 +v -0.548049 -2.115356 0.802623 +v -0.526684 -1.965914 2.724495 +v -0.441278 -2.115356 2.724495 +v -0.526684 -1.944542 0.802623 +f 245 239 247 +f 242 239 243 +f 241 240 243 +f 243 240 244 +f 242 243 244 +f 244 240 245 +f 245 240 246 +f 240 241 246 +f 243 239 246 +f 241 243 246 +f 239 245 246 +f 239 242 247 +f 242 244 247 +f 244 245 247 +o convex_18 +v -0.419901 -2.115373 0.781106 +v -0.142251 -1.944523 2.746042 +v -0.142251 -1.965896 2.746042 +v -0.441268 -1.944523 2.724654 +v -0.441268 -2.115373 2.724654 +v -0.142251 -2.072644 0.759718 +v -0.163618 -2.115373 2.703266 +v -0.441268 -2.072644 0.952012 +v -0.206380 -2.115373 0.781106 +v -0.142251 -2.094017 2.724654 +f 252 254 257 +f 250 249 251 +f 250 251 252 +f 249 250 253 +f 251 249 253 +f 252 248 254 +f 248 252 255 +f 252 251 255 +f 251 253 255 +f 253 248 255 +f 248 253 256 +f 254 248 256 +f 253 254 256 +f 250 252 257 +f 253 250 257 +f 254 253 257 +o convex_19 +v 0.306182 -1.154324 2.831475 +v -0.505255 -1.944515 2.660613 +v -0.483917 -1.944515 2.660613 +v -0.462580 -1.175665 2.660613 +v 0.391619 -2.051222 2.681987 +v -0.398480 -1.944515 2.746027 +v 0.327607 -1.154324 2.788743 +v -0.355717 -1.111548 2.724703 +v 0.370282 -1.325240 2.831475 +v 0.049957 -2.051222 2.724703 +v -0.142167 -1.111548 2.703345 +v -0.505255 -1.730731 2.724703 +v 0.391619 -1.923081 2.681987 +f 268 264 270 +f 260 259 261 +f 259 260 262 +f 260 261 262 +f 258 263 266 +f 264 258 266 +f 259 262 267 +f 263 259 267 +f 266 263 267 +f 262 266 267 +f 258 264 268 +f 261 265 268 +f 265 258 268 +f 261 259 269 +f 259 263 269 +f 263 258 269 +f 265 261 269 +f 258 265 269 +f 262 261 270 +f 266 262 270 +f 264 266 270 +f 261 268 270 +o convex_20 +v -0.142186 -2.094023 2.724683 +v 0.519792 -2.051319 0.866650 +v 0.519792 -2.072671 0.866650 +v -0.142186 -2.072671 0.759795 +v -0.142186 -2.051319 2.724683 +v 0.413005 -2.051319 2.703233 +v 0.519792 -2.094023 0.695643 +v -0.142186 -2.094023 0.759795 +v 0.413005 -2.072671 2.703233 +v 0.135474 -2.094023 2.703233 +v 0.498409 -2.051319 0.695643 +v -0.014015 -2.051319 1.827544 +f 275 281 282 +f 274 271 275 +f 272 275 276 +f 273 272 276 +f 275 271 276 +f 272 273 277 +f 277 271 278 +f 271 274 278 +f 276 271 279 +f 273 276 279 +f 277 273 279 +f 277 279 280 +f 271 277 280 +f 279 271 280 +f 275 272 281 +f 272 277 281 +f 277 278 281 +f 278 274 281 +f 274 275 282 +f 281 274 282 +o convex_21 +v 0.007184 0.767984 -3.276974 +v -0.462561 0.105759 -3.191593 +v -0.462561 0.105759 -3.170238 +v 0.455681 -0.192990 -3.276993 +v 0.477113 0.234009 -3.127511 +v -0.441222 0.618358 -3.319721 +v -0.419790 -0.257216 -3.191593 +v 0.391663 -0.214365 -3.127511 +v 0.391663 0.746508 -3.191612 +v -0.355680 0.767984 -3.276974 +v -0.462561 0.234109 -3.170238 +v 0.370231 0.682483 -3.170238 +v -0.441130 -0.043566 -3.234246 +v -0.313001 0.767984 -3.319721 +v 0.199423 -0.214365 -3.127511 +v 0.391663 0.746508 -3.212948 +f 291 287 298 +f 285 284 289 +f 286 287 290 +f 289 286 290 +f 291 283 292 +f 284 285 293 +f 288 284 293 +f 292 288 293 +f 287 291 294 +f 291 292 294 +f 292 293 294 +f 293 287 294 +f 284 288 295 +f 288 286 295 +f 286 289 295 +f 289 284 295 +f 283 286 296 +f 286 288 296 +f 292 283 296 +f 288 292 296 +f 285 289 297 +f 290 287 297 +f 289 290 297 +f 293 285 297 +f 287 293 297 +f 286 283 298 +f 287 286 298 +f 283 291 298 +o convex_22 +v -0.526648 -0.235857 2.083436 +v 0.583898 -0.086355 1.187284 +v 0.583898 -0.107736 1.187284 +v 0.541130 -0.086355 2.767262 +v -0.548032 -0.171775 0.824077 +v -0.505263 -0.171775 2.767262 +v -0.441221 -0.235857 0.824077 +v 0.284850 -0.150423 2.767262 +v 0.583898 -0.129072 0.717001 +v -0.462495 -0.235857 2.767262 +v 0.434319 -0.086355 2.681479 +v 0.562403 -0.086355 0.717001 +v 0.476977 -0.129072 2.702976 +v -0.548032 -0.235857 0.845574 +v 0.391550 -0.150423 1.208375 +f 311 308 313 +f 301 300 302 +f 303 299 304 +f 302 304 306 +f 300 301 307 +f 301 302 307 +f 305 303 307 +f 304 299 308 +f 299 305 308 +f 306 304 308 +f 302 300 309 +f 304 302 309 +f 303 304 309 +f 300 307 310 +f 307 303 310 +f 309 300 310 +f 303 309 310 +f 302 306 311 +f 307 302 311 +f 306 308 311 +f 299 303 312 +f 305 299 312 +f 303 305 312 +f 305 307 313 +f 308 305 313 +f 307 311 313 +o convex_23 +v 0.455781 -1.432090 2.809943 +v 0.498486 -2.051314 0.695814 +v 0.498486 -1.944452 0.695814 +v 0.583915 -1.154265 0.845495 +v 0.391724 -1.154265 2.809943 +v 0.434429 -2.051314 2.511000 +v 0.391724 -2.051314 2.468354 +v 0.541172 -1.154265 0.802639 +v 0.519820 -2.051314 0.888350 +v 0.477152 -1.154265 2.745973 +v 0.477152 -2.029801 0.845495 +v 0.391724 -2.051314 2.703118 +v 0.583915 -1.218365 0.802639 +v 0.498486 -1.816252 0.717347 +f 324 318 327 +f 315 319 320 +f 318 317 321 +f 319 315 322 +f 318 314 323 +f 317 318 323 +f 314 319 323 +f 316 315 324 +f 315 320 324 +f 320 318 324 +f 314 318 325 +f 319 314 325 +f 318 320 325 +f 320 319 325 +f 315 316 326 +f 316 321 326 +f 321 317 326 +f 322 315 326 +f 319 322 326 +f 317 323 326 +f 323 319 326 +f 321 316 327 +f 318 321 327 +f 316 324 327 +o convex_24 +v -0.419924 -1.389273 -1.183889 +v -0.462626 -2.072673 -3.255646 +v -0.462626 -1.602857 -3.255646 +v -0.419924 -1.282482 -3.255646 +v -0.419911 -1.965797 -2.870740 +v -0.462626 -2.072673 -1.269672 +v -0.441259 -1.239832 -1.183889 +v -0.398563 -1.261157 -1.183889 +v -0.462620 -1.218340 -3.234150 +v -0.441265 -2.072673 -1.269672 +v -0.462626 -1.688240 -1.226679 +v -0.398563 -1.218340 -1.526005 +v -0.441265 -2.072673 -3.255646 +f 332 337 340 +f 329 330 331 +f 330 329 333 +f 334 328 335 +f 331 330 336 +f 333 329 337 +f 328 333 337 +f 335 328 337 +f 332 335 337 +f 333 328 338 +f 330 333 338 +f 328 334 338 +f 336 330 338 +f 334 336 338 +f 332 331 339 +f 334 335 339 +f 335 332 339 +f 331 336 339 +f 336 334 339 +f 329 331 340 +f 331 332 340 +f 337 329 340 +o convex_25 +v -0.441274 0.810638 1.379427 +v -0.548042 -0.171782 0.824136 +v -0.548042 -0.043453 0.824136 +v -0.505329 -0.171782 2.681967 +v -0.483977 0.832059 2.660232 +v -0.462636 -0.022130 2.681967 +v -0.441274 0.832059 0.717001 +v -0.483977 0.810638 0.717001 +v -0.505329 -0.064972 0.824136 +v -0.462636 0.832059 2.660232 +v -0.483998 -0.171782 1.998191 +v -0.548042 -0.022130 1.165928 +v -0.505329 0.597017 2.233040 +v -0.441274 0.789217 0.717001 +f 351 349 354 +f 345 344 346 +f 342 343 348 +f 345 347 348 +f 346 341 350 +f 345 346 350 +f 341 347 350 +f 347 345 350 +f 344 342 351 +f 346 344 351 +f 342 349 351 +f 343 342 352 +f 342 344 352 +f 348 343 352 +f 348 352 353 +f 344 345 353 +f 345 348 353 +f 352 344 353 +f 341 346 354 +f 347 341 354 +f 342 348 354 +f 348 347 354 +f 349 342 354 +f 346 351 354 +o convex_26 +v -0.441284 -1.453348 2.617708 +v -0.526690 -1.944523 0.781260 +v -0.526690 -1.837648 0.781260 +v -0.419920 -1.303874 0.738360 +v -0.462638 -1.175623 2.660608 +v -0.483972 -1.944523 2.660608 +v -0.462638 -1.282498 0.738360 +v -0.505326 -1.688097 2.660608 +v -0.483972 -1.880322 0.887947 +v -0.419920 -1.175623 2.403957 +v -0.419920 -1.175623 0.738360 +v -0.526690 -1.944523 1.827433 +v -0.462638 -1.794897 2.147682 +f 358 364 367 +f 355 359 360 +f 356 357 361 +f 358 356 361 +f 357 359 361 +f 359 357 362 +f 360 359 362 +f 356 358 363 +f 360 356 363 +f 359 355 364 +f 358 361 365 +f 361 359 365 +f 364 358 365 +f 359 364 365 +f 357 356 366 +f 356 360 366 +f 362 357 366 +f 360 362 366 +f 355 360 367 +f 363 358 367 +f 360 363 367 +f 364 355 367 +o convex_27 +v -0.227584 0.896127 1.080469 +v 0.541215 0.832086 2.681955 +v 0.541215 0.810721 2.681955 +v -0.483984 0.832065 2.767255 +v 0.434340 0.810721 0.653336 +v 0.476990 0.917471 1.101794 +v -0.419859 0.917492 2.788580 +v -0.462509 0.832065 0.695986 +v 0.199515 0.917471 0.653336 +v -0.462509 0.917492 2.489608 +v 0.092640 0.874773 2.809906 +v -0.462509 0.853419 0.695986 +v 0.455715 0.917471 0.653336 +v 0.370215 0.810721 2.681955 +v 0.476990 0.810721 0.802822 +v 0.541215 0.853429 2.425211 +f 382 373 383 +f 372 375 376 +f 371 374 377 +f 376 368 377 +f 370 369 378 +f 371 370 378 +f 373 374 378 +f 374 371 378 +f 375 371 379 +f 368 376 379 +f 376 375 379 +f 371 377 379 +f 377 368 379 +f 374 373 380 +f 372 376 380 +f 377 374 380 +f 376 377 380 +f 370 371 381 +f 372 370 381 +f 371 375 381 +f 375 372 381 +f 370 372 382 +f 372 380 382 +f 380 373 382 +f 369 370 383 +f 378 369 383 +f 373 378 383 +f 370 382 383 +o convex_28 +v -0.441267 -1.154265 -1.867543 +v 0.413021 -1.154265 -1.333611 +v 0.391614 -1.154265 -1.312302 +v -0.184964 -1.218340 -3.212825 +v -0.419860 -1.218340 -1.184249 +v 0.413021 -1.154265 -3.255646 +v -0.441267 -1.196971 -3.255646 +v 0.413021 -1.175627 -1.333611 +v -0.419860 -1.154265 -1.162531 +v 0.413021 -1.175627 -3.255646 +v 0.178125 -1.154265 -3.255646 +v -0.441267 -1.218340 -3.255646 +v 0.199365 -1.196977 -3.255646 +f 387 395 396 +f 386 385 384 +f 384 385 389 +f 385 386 391 +f 388 387 391 +f 386 388 391 +f 389 385 391 +f 386 384 392 +f 384 388 392 +f 388 386 392 +f 390 389 393 +f 389 391 393 +f 384 389 394 +f 389 390 394 +f 390 384 394 +f 388 384 395 +f 387 388 395 +f 384 390 395 +f 390 393 395 +f 395 393 396 +f 391 387 396 +f 393 391 396 +o convex_29 +v -0.270380 0.447544 3.856526 +v -0.227705 0.020491 4.326363 +v -0.184968 0.020491 4.326363 +v -0.184968 0.127278 2.852833 +v -0.184968 0.511684 4.732181 +v -0.313118 0.127278 2.852833 +v -0.270380 0.511684 2.852833 +v -0.270380 0.020491 4.518602 +v -0.227705 0.511684 4.710658 +v -0.313118 0.383452 2.895880 +v -0.184968 0.020491 4.689318 +v -0.249043 0.511684 3.045257 +v -0.313118 0.148674 3.387057 +v -0.291743 0.511684 3.109459 +v -0.249043 0.020491 4.689318 +f 404 407 411 +f 399 398 400 +f 399 400 401 +f 400 398 402 +f 400 402 403 +f 398 399 404 +f 402 398 404 +f 401 403 405 +f 403 402 406 +f 399 401 407 +f 404 399 407 +f 401 400 408 +f 400 403 408 +f 403 401 408 +f 402 404 409 +f 405 397 409 +f 404 405 409 +f 406 402 409 +f 397 406 409 +f 397 405 410 +f 405 403 410 +f 403 406 410 +f 406 397 410 +f 401 405 411 +f 405 404 411 +f 407 401 411 +o convex_30 +v -0.270382 0.554432 3.579133 +v 0.242199 0.639825 4.177107 +v 0.242199 0.618473 4.177107 +v 0.242199 0.575755 2.853021 +v 0.199444 0.511684 4.753443 +v -0.206251 0.639825 4.732181 +v -0.291759 0.511684 2.853021 +v -0.227628 0.511684 4.689468 +v 0.242199 0.511684 3.686008 +v 0.199444 0.661192 4.732181 +v -0.270382 0.554432 3.109296 +v 0.156742 0.661192 4.411743 +v 0.135313 0.533065 2.853021 +v 0.092663 0.575755 2.874283 +f 422 423 425 +f 413 414 415 +f 414 413 416 +f 417 412 419 +f 416 417 419 +f 412 418 419 +f 418 416 419 +f 415 414 420 +f 414 416 420 +f 416 418 420 +f 416 413 421 +f 417 416 421 +f 412 417 422 +f 418 412 422 +f 413 415 423 +f 421 413 423 +f 417 421 423 +f 422 417 423 +f 418 415 424 +f 415 420 424 +f 420 418 424 +f 415 418 425 +f 418 422 425 +f 423 415 425 +o convex_31 +v -0.419855 -1.111561 0.717001 +v -0.142282 -1.111561 2.703325 +v -0.441209 -1.111561 2.703325 +v -0.334438 -1.175623 2.703325 +v -0.142282 -1.090207 0.738389 +v -0.441209 -1.175623 0.738389 +v -0.441209 -1.068842 1.016039 +v -0.142282 -1.132894 1.678471 +v -0.462626 -1.175623 2.703325 +v -0.291793 -1.068842 0.738389 +v -0.142282 -1.111561 0.738389 +f 433 431 436 +f 427 428 429 +f 428 427 432 +f 426 431 432 +f 427 429 433 +f 430 427 433 +f 429 431 433 +f 429 428 434 +f 431 429 434 +f 428 432 434 +f 432 431 434 +f 430 426 435 +f 427 430 435 +f 432 427 435 +f 426 432 435 +f 426 430 436 +f 431 426 436 +f 430 433 436 +o convex_32 +v -0.056768 0.468942 4.796427 +v -0.184968 0.169984 4.689680 +v 0.092682 0.169984 4.668307 +v 0.114049 0.169984 4.839139 +v 0.114049 0.511650 4.753732 +v -0.184968 0.511650 4.711036 +f 437 441 442 +f 438 439 440 +f 437 438 440 +f 437 440 441 +f 440 439 441 +f 441 439 442 +f 438 437 442 +f 439 438 442 +o convex_33 +v -0.483976 0.105782 -1.162819 +v -0.419918 -0.257216 -3.170014 +v -0.398551 -0.257216 -3.170014 +v -0.462620 0.234026 -3.170014 +v -0.398551 -0.107670 -1.141371 +v -0.505342 0.191230 -2.465202 +v -0.462620 -0.107670 -1.141371 +v -0.441274 0.234026 -2.892379 +v -0.483976 0.234026 -1.184267 +v -0.419918 0.127180 -3.170014 +v -0.505342 0.148578 -1.184267 +v -0.441274 -0.193118 -2.956326 +v -0.398551 -0.107670 -3.170014 +v -0.419918 -0.150370 -1.226965 +f 449 444 456 +f 445 444 446 +f 447 443 449 +f 443 447 451 +f 446 448 451 +f 450 446 451 +f 447 450 451 +f 445 446 452 +f 446 450 452 +f 450 447 452 +f 449 443 453 +f 443 451 453 +f 451 448 453 +f 446 444 454 +f 448 446 454 +f 444 449 454 +f 449 453 454 +f 453 448 454 +f 447 445 455 +f 445 452 455 +f 452 447 455 +f 444 445 456 +f 445 447 456 +f 447 449 456 +o convex_34 +v -0.398551 -0.214486 -3.126923 +v 0.477113 -0.171787 -1.141570 +v -0.355779 -0.107722 -1.141371 +v 0.455684 -0.171787 -3.127122 +v 0.348883 -0.235851 -1.141570 +v -0.398551 -0.257216 -3.062982 +v 0.455684 -0.214486 -2.998842 +v -0.398551 -0.150437 -1.184462 +v 0.477113 -0.235851 -1.910452 +v -0.398551 -0.107722 -1.248403 +v -0.334436 -0.257216 -3.169816 +v -0.014119 -0.193122 -3.169816 +v 0.477113 -0.235851 -1.141570 +f 467 465 469 +f 459 458 460 +f 461 459 464 +f 457 462 464 +f 462 461 464 +f 460 458 465 +f 463 460 465 +f 459 460 466 +f 457 464 466 +f 464 459 466 +f 462 457 467 +f 460 463 467 +f 463 465 467 +f 466 460 468 +f 457 466 468 +f 467 457 468 +f 460 467 468 +f 458 459 469 +f 459 461 469 +f 461 462 469 +f 465 458 469 +f 462 467 469 +o convex_35 +v 0.113963 0.746650 -3.255598 +v 0.391680 0.874752 -1.226606 +v 0.113963 0.874765 -1.248338 +v -0.462555 0.853393 -3.319347 +v -0.483984 0.853393 -1.248338 +v -0.483984 0.767996 -3.340872 +v 0.391680 0.789368 -3.148591 +v 0.391680 0.832035 -1.248131 +v -0.483984 0.874765 -1.931775 +v 0.391680 0.746650 -3.084635 +v -0.483984 0.874765 -1.248338 +v 0.306222 0.853393 -1.953094 +f 476 473 481 +f 473 470 475 +f 470 474 475 +f 470 473 476 +f 471 474 477 +f 476 471 477 +f 472 471 478 +f 471 473 478 +f 473 475 478 +f 475 474 478 +f 474 470 479 +f 470 476 479 +f 477 474 479 +f 476 477 479 +f 471 472 480 +f 474 471 480 +f 472 478 480 +f 478 474 480 +f 473 471 481 +f 471 476 481 +o convex_36 +v 0.477132 0.191356 -1.184169 +v 0.434430 -0.171680 -3.127116 +v 0.391707 0.234175 -3.234250 +v 0.498498 0.767871 -3.191438 +v 0.391738 0.874712 -1.226776 +v 0.455776 -0.171680 -1.141561 +v 0.391707 0.767871 -3.212741 +v 0.477132 -0.171680 -2.230103 +v 0.455765 0.853201 -1.611269 +v 0.477132 0.234175 -3.234250 +v 0.477132 -0.171680 -1.141561 +v 0.434430 -0.171680 -2.144888 +v 0.498498 0.789280 -2.892365 +v 0.498498 0.554290 -3.212741 +v 0.434430 0.853201 -1.226776 +v 0.455776 -0.171680 -3.127116 +v 0.391738 0.831791 -1.226776 +f 493 487 498 +f 487 483 489 +f 483 484 491 +f 484 488 491 +f 486 487 492 +f 487 489 492 +f 484 483 493 +f 483 487 493 +f 485 488 494 +f 488 486 494 +f 490 482 494 +f 486 490 494 +f 482 492 494 +f 494 492 495 +f 488 485 495 +f 491 488 495 +f 492 489 495 +f 485 494 495 +f 482 490 496 +f 490 486 496 +f 492 482 496 +f 486 492 496 +f 489 483 497 +f 483 491 497 +f 491 495 497 +f 495 489 497 +f 487 486 498 +f 488 484 498 +f 486 488 498 +f 484 493 498 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/897/897.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/897/897.urdf new file mode 100644 index 000000000..194f05821 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/897/897.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/898/898.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/898/898.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/898/898.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/898/898.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/898/898.obj new file mode 100644 index 000000000..1dcd2f420 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/898/898.obj @@ -0,0 +1,276 @@ +o convex_0 +v 0.249771 -2.987588 0.499017 +v -0.585462 -4.538300 -0.455410 +v -0.257228 -4.538300 -0.485266 +v -0.495913 -2.569683 -0.515121 +v 0.548156 -2.569683 -0.485266 +v 0.488457 -4.568430 0.409556 +v -0.555502 -4.538300 0.558833 +v -0.495913 -2.569683 0.439306 +v 0.518306 -4.568430 -0.485266 +v 0.458607 -2.569683 0.469267 +v 0.040935 -4.568430 0.499017 +v 0.548156 -3.166411 -0.216672 +v -0.585462 -4.180459 -0.336094 +v 0.011085 -3.494514 -0.515121 +v -0.495913 -2.629355 0.469162 +v -0.287077 -4.031178 0.558833 +v 0.488457 -4.150720 0.439411 +v 0.488457 -2.569683 0.349950 +v -0.525652 -2.838504 -0.485266 +v 0.548156 -3.762944 -0.485266 +v -0.555502 -4.299609 0.558833 +v -0.525652 -2.987588 0.170818 +v 0.518306 -4.538300 -0.097355 +v -0.048503 -2.569683 -0.515121 +v 0.130484 -4.568430 -0.485266 +v 0.548156 -2.689028 -0.216672 +v -0.316816 -4.449084 0.558833 +v -0.555502 -4.031178 -0.485266 +v -0.078241 -4.568430 0.439306 +v -0.585462 -4.538300 -0.037750 +v 0.458607 -2.987588 0.469267 +v -0.495913 -4.061113 0.558833 +v 0.518306 -3.912029 0.141067 +v 0.428757 -4.568430 0.439411 +v -0.197529 -2.569683 0.469162 +f 15 32 35 +f 5 4 8 +f 5 8 10 +f 9 6 11 +f 5 10 18 +f 10 17 18 +f 8 4 19 +f 2 13 19 +f 5 12 20 +f 14 5 20 +f 9 14 20 +f 15 8 21 +f 7 16 21 +f 8 19 22 +f 19 13 22 +f 13 21 22 +f 21 8 22 +f 6 9 23 +f 9 20 23 +f 20 12 23 +f 4 5 24 +f 14 4 24 +f 5 14 24 +f 2 3 25 +f 9 11 25 +f 3 14 25 +f 14 9 25 +f 12 5 26 +f 5 18 26 +f 7 11 27 +f 1 16 27 +f 16 7 27 +f 3 2 28 +f 14 3 28 +f 4 14 28 +f 2 19 28 +f 19 4 28 +f 11 7 29 +f 2 25 29 +f 25 11 29 +f 13 2 30 +f 7 21 30 +f 21 13 30 +f 2 29 30 +f 29 7 30 +f 10 1 31 +f 17 10 31 +f 1 27 31 +f 27 17 31 +f 16 1 32 +f 15 21 32 +f 21 16 32 +f 17 6 33 +f 18 17 33 +f 6 23 33 +f 23 12 33 +f 12 26 33 +f 26 18 33 +f 11 6 34 +f 6 17 34 +f 27 11 34 +f 17 27 34 +f 1 10 35 +f 10 8 35 +f 8 15 35 +f 32 1 35 +o convex_1 +v -0.167676 1.217983 -1.081918 +v -0.078146 3.605015 1.065978 +v 0.906077 3.605015 1.065765 +v -0.287051 -2.539313 0.946390 +v 1.055295 -2.539313 -0.992174 +v -1.032934 -2.569075 -0.962330 +v 0.995608 3.485359 -0.962543 +v -0.973247 3.635384 -0.097288 +v 0.995608 -2.479182 0.946390 +v -0.973247 -1.883335 0.976447 +v -0.973247 3.605015 -1.111762 +v -0.943404 3.635384 1.065765 +v -0.973247 -2.539313 0.946390 +v 0.965764 1.069781 1.035921 +v -1.032934 -1.077332 -1.022018 +v 1.025451 -2.389896 0.737484 +v 0.607642 -2.569683 0.588265 +v 0.995608 3.515729 -0.693950 +v 0.846390 -1.942252 -1.022231 +v -0.257207 3.635384 -0.365669 +v -1.032934 -1.584501 -0.604419 +v 0.458629 2.351975 1.065765 +v 0.935921 3.605015 0.976233 +v -0.973247 2.411499 0.677796 +v 1.055295 -1.495215 -0.992174 +v -0.764343 -2.569683 -0.992387 +v -0.048302 3.575253 -1.052075 +v -0.704656 -2.569683 0.856858 +v 0.816547 -2.569683 -0.992387 +v -0.943404 3.038322 1.065765 +v -0.764343 2.799012 -1.111762 +v 0.995608 -1.614263 0.976447 +v -1.003091 2.113272 -1.022018 +v 1.055295 -2.539313 -0.515101 +v 0.995608 3.515729 -0.872799 +v -1.032934 -2.569075 -0.544731 +v -0.615125 -1.942859 0.976233 +v -0.973247 3.635384 -0.932700 +v 1.025451 0.025683 -0.992174 +v -0.734499 3.456205 -1.111762 +v 1.025451 1.338246 -0.902856 +v 0.995608 -0.599926 0.946603 +v 0.935921 2.411499 1.065765 +v -0.973247 2.918667 -1.111762 +v -0.674812 3.635384 1.065765 +v 0.846390 -1.674394 -1.022231 +v -1.032934 -2.419658 -0.992174 +v 0.667329 3.515121 -0.992387 +v -0.973247 -2.569075 0.588478 +v 0.935921 3.396074 1.065765 +v -0.495955 3.605015 -1.081705 +v 0.637486 -1.882728 -1.022231 +v 0.935921 3.605015 0.916546 +v 0.995608 3.396074 -0.634262 +v 1.055295 -1.584501 -0.902856 +v 1.025451 -2.509551 0.349728 +v -1.003091 2.113272 -1.081918 +v -1.032934 -1.077332 -0.902643 +v 0.697173 2.351975 1.065765 +f 67 78 94 +f 44 39 52 +f 43 47 55 +f 50 41 56 +f 47 43 59 +f 45 47 59 +f 56 45 59 +f 40 54 60 +f 39 48 63 +f 52 39 63 +f 61 52 63 +f 54 40 64 +f 52 61 64 +f 61 54 64 +f 37 47 65 +f 47 45 65 +f 57 37 65 +f 45 57 65 +f 36 54 66 +f 44 51 67 +f 59 43 68 +f 40 60 69 +f 64 40 69 +f 52 64 69 +f 58 53 70 +f 48 45 71 +f 45 56 71 +f 56 41 71 +f 41 61 71 +f 61 63 71 +f 39 44 72 +f 48 39 72 +f 45 48 72 +f 57 45 72 +f 44 67 72 +f 43 55 73 +f 68 43 73 +f 42 60 74 +f 66 46 75 +f 36 66 75 +f 60 42 76 +f 70 53 76 +f 42 70 76 +f 49 67 77 +f 67 51 77 +f 67 49 78 +f 46 66 79 +f 66 61 79 +f 37 38 80 +f 47 37 80 +f 55 47 80 +f 38 58 80 +f 58 55 80 +f 54 36 81 +f 60 54 81 +f 74 60 81 +f 36 75 81 +f 41 50 82 +f 61 41 82 +f 50 79 82 +f 79 61 82 +f 70 42 83 +f 62 70 83 +f 42 74 83 +f 75 62 83 +f 74 81 83 +f 81 75 83 +f 63 48 84 +f 48 71 84 +f 71 63 84 +f 38 37 85 +f 58 38 85 +f 49 77 85 +f 37 78 85 +f 78 49 85 +f 55 70 86 +f 70 62 86 +f 73 55 86 +f 46 73 86 +f 62 75 86 +f 75 46 86 +f 54 61 87 +f 66 54 87 +f 61 66 87 +f 55 58 88 +f 58 70 88 +f 70 55 88 +f 53 58 89 +f 51 76 89 +f 76 53 89 +f 77 51 89 +f 58 85 89 +f 85 77 89 +f 51 69 90 +f 69 60 90 +f 76 51 90 +f 60 76 90 +f 51 44 91 +f 44 52 91 +f 69 51 91 +f 52 69 91 +f 50 68 92 +f 73 46 92 +f 68 73 92 +f 46 79 92 +f 79 50 92 +f 50 56 93 +f 56 59 93 +f 68 50 93 +f 59 68 93 +f 37 57 94 +f 57 72 94 +f 72 67 94 +f 78 37 94 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/898/898.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/898/898.urdf new file mode 100644 index 000000000..1e8b5427b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/898/898.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/899/899.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/899/899.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/899/899.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/899/899.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/899/899.obj new file mode 100644 index 000000000..12b8112c1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/899/899.obj @@ -0,0 +1,390 @@ +o convex_0 +v -1.049254 -5.149893 -0.442582 +v 1.075236 0.664605 1.085421 +v 1.075236 0.664605 0.302690 +v -1.012008 0.664605 0.973264 +v 1.000533 -5.187365 1.047963 +v 1.037778 0.664605 -0.927376 +v 1.000533 -5.224837 -1.113801 +v -0.974762 0.664605 -1.001645 +v -1.086711 -5.187365 1.047963 +v -1.012008 -5.224837 -1.076344 +v -0.937517 -2.988048 1.085421 +v 1.037778 -4.255177 -1.076129 +v -1.012008 -1.162298 -0.964402 +v -0.974762 0.664605 1.010506 +v -0.341161 0.627133 -1.001645 +v 1.037778 -4.329545 0.153507 +v -1.086711 -5.149893 0.414201 +v 0.441423 0.627133 1.085421 +v 1.075236 -0.006431 1.085421 +v 0.963287 0.105408 -0.964618 +v -1.049254 -5.224837 -0.330856 +v -0.900271 -3.397934 1.085421 +v -1.012008 0.664605 0.675112 +v 0.851550 -5.149893 -1.113801 +v -1.086711 -4.814375 1.047963 +v 1.000533 -5.112998 -1.113801 +v 0.963287 -5.224837 -0.740735 +v 0.665109 0.589661 -0.964618 +v -1.012008 -5.074949 -1.076344 +v -0.229212 -5.224837 -0.330856 +v 1.075236 -0.118271 1.047963 +v 1.037778 -0.043903 -0.964618 +f 26 20 32 +f 2 3 4 +f 4 3 6 +f 4 6 8 +f 2 4 14 +f 8 6 15 +f 5 7 16 +f 7 12 16 +f 13 1 17 +f 11 2 18 +f 2 14 18 +f 14 11 18 +f 3 2 19 +f 2 11 19 +f 5 9 21 +f 10 7 21 +f 1 10 21 +f 9 17 21 +f 17 1 21 +f 9 5 22 +f 11 9 22 +f 19 11 22 +f 5 19 22 +f 4 8 23 +f 8 13 23 +f 13 17 23 +f 7 10 24 +f 9 11 25 +f 14 4 25 +f 11 14 25 +f 17 9 25 +f 4 23 25 +f 23 17 25 +f 12 7 26 +f 8 15 26 +f 7 24 26 +f 24 8 26 +f 7 5 27 +f 21 7 27 +f 15 6 28 +f 6 20 28 +f 26 15 28 +f 20 26 28 +f 10 1 29 +f 13 8 29 +f 1 13 29 +f 24 10 29 +f 8 24 29 +f 5 21 30 +f 27 5 30 +f 21 27 30 +f 12 3 31 +f 5 16 31 +f 16 12 31 +f 3 19 31 +f 19 5 31 +f 6 3 32 +f 3 12 32 +f 20 6 32 +f 12 26 32 +o convex_1 +v 0.068768 3.497669 -0.554590 +v -0.452990 3.907292 0.600846 +v -0.490236 3.907292 0.600846 +v 0.217857 4.801804 -0.591952 +v 0.553386 2.863827 0.526238 +v 0.553386 4.839042 0.488992 +v -0.490236 2.863827 -0.517344 +v -0.452990 4.764762 -0.554590 +v 0.553386 2.863827 -0.442852 +v -0.527587 2.863827 0.600846 +v -0.490236 4.801804 0.563484 +v 0.553386 4.801804 -0.591952 +v 0.404192 4.876675 0.526238 +v -0.490236 4.205397 -0.554590 +v -0.415744 2.975937 -0.554590 +v -0.341147 4.801804 -0.442852 +v 0.217857 3.497669 0.563484 +v 0.553386 4.876675 0.190793 +v -0.266655 4.839042 0.563484 +v 0.404192 2.938501 -0.480098 +v -0.527587 2.901460 0.377138 +v -0.005617 4.801804 0.563484 +v 0.553386 4.056246 0.526238 +v 0.516035 4.615414 -0.591952 +v 0.329594 4.876675 0.265284 +v 0.217857 2.863827 0.563484 +f 37 49 58 +f 38 37 41 +f 37 39 41 +f 34 35 42 +f 39 37 42 +f 42 35 43 +f 38 41 44 +f 40 36 46 +f 43 40 46 +f 41 39 47 +f 46 36 47 +f 39 46 47 +f 36 40 48 +f 40 43 48 +f 44 36 50 +f 38 44 50 +f 45 38 50 +f 36 48 50 +f 35 34 51 +f 43 35 51 +f 48 43 51 +f 47 33 52 +f 41 47 52 +f 39 42 53 +f 42 43 53 +f 46 39 53 +f 43 46 53 +f 34 49 54 +f 51 34 54 +f 45 51 54 +f 37 38 55 +f 38 45 55 +f 49 37 55 +f 54 49 55 +f 45 54 55 +f 36 44 56 +f 44 41 56 +f 33 47 56 +f 47 36 56 +f 52 33 56 +f 41 52 56 +f 45 50 57 +f 50 48 57 +f 48 51 57 +f 51 45 57 +f 34 42 58 +f 42 37 58 +f 49 34 58 +o convex_2 +v -2.875653 2.826552 0.004323 +v -3.024957 0.701880 0.563385 +v -2.950305 0.739316 0.004323 +v -1.012362 0.813979 1.010721 +v -1.012362 2.341763 -1.113801 +v -1.012362 2.714454 1.085421 +v -3.024957 0.813771 -1.038887 +v -3.024957 2.826552 1.085421 +v -1.012362 0.813979 -1.001860 +v -3.062284 2.789117 -1.038887 +v -3.024957 0.850998 1.085421 +v -1.012362 2.714454 -1.113801 +v -2.316766 0.701880 1.047963 +v -1.310569 2.751889 1.085421 +v -3.062284 2.043527 -0.256157 +v -1.012362 0.776543 0.041565 +v -1.310569 0.776543 -0.629008 +v -1.534124 2.751889 -1.076129 +v -1.385020 2.304535 -1.113801 +v -3.024957 0.701880 1.047963 +v -2.652098 2.826552 0.712354 +v -3.062284 2.826552 -0.368098 +v -1.012362 0.776543 0.973479 +v -1.086813 1.112215 -1.038887 +v -1.310569 2.229872 1.085421 +v -1.385020 2.751889 -0.591551 +v -2.465870 0.701880 0.563385 +v -3.062284 2.117982 -1.038887 +v -2.391418 2.789117 -1.038887 +v -3.062284 2.826552 -0.144430 +v -2.018559 0.739524 1.047963 +v -1.496998 0.739524 0.898995 +v -1.385020 2.714454 -1.113801 +v -2.652098 2.826552 1.085421 +v -2.763876 0.813771 -1.038887 +f 82 67 93 +f 62 63 64 +f 61 60 65 +f 63 62 67 +f 64 66 69 +f 64 63 70 +f 66 64 72 +f 64 70 72 +f 65 60 73 +f 67 62 74 +f 60 61 75 +f 61 65 75 +f 67 74 75 +f 70 63 77 +f 60 71 78 +f 71 69 78 +f 73 60 78 +f 69 73 78 +f 59 66 79 +f 76 59 79 +f 66 59 80 +f 68 73 80 +f 62 71 81 +f 74 62 81 +f 63 67 82 +f 62 64 83 +f 64 69 83 +f 72 70 84 +f 70 76 84 +f 79 72 84 +f 76 79 84 +f 71 60 85 +f 75 74 85 +f 60 75 85 +f 65 73 86 +f 73 68 86 +f 77 65 86 +f 68 77 86 +f 70 68 87 +f 59 76 87 +f 76 70 87 +f 80 59 87 +f 68 80 87 +f 69 66 88 +f 73 69 88 +f 66 80 88 +f 80 73 88 +f 71 62 89 +f 69 71 89 +f 62 83 89 +f 83 69 89 +f 81 71 90 +f 74 81 90 +f 71 85 90 +f 85 74 90 +f 68 70 91 +f 77 68 91 +f 70 77 91 +f 66 72 92 +f 79 66 92 +f 72 79 92 +f 75 65 93 +f 67 75 93 +f 77 63 93 +f 65 77 93 +f 63 82 93 +o convex_3 +v 1.932204 0.813990 1.085421 +v -1.012078 2.341628 -1.113801 +v -1.012078 1.149351 -1.038887 +v 3.088083 2.341843 -1.076344 +v -1.012078 2.714443 1.085421 +v 2.976107 2.863827 1.010506 +v 3.013433 0.813990 -0.964618 +v -1.012078 0.664820 0.973479 +v 2.081505 2.863612 -1.076344 +v 2.938782 0.702059 1.047963 +v -0.974752 0.664820 -1.001860 +v -0.490327 2.863827 -0.517067 +v -1.012078 2.714443 -1.113801 +v 3.088083 2.863827 -1.076344 +v 1.038003 0.664820 -0.927376 +v -0.527250 2.863827 0.600843 +v 0.478926 0.664820 1.085421 +v 3.013433 2.826158 0.936237 +v 2.491682 2.379081 1.047963 +v 3.013433 0.776751 -0.629008 +v 3.088083 2.714443 -0.480040 +v -0.974752 0.664820 1.010721 +v 3.013433 1.149351 -1.001860 +v 2.938782 0.702059 0.563385 +v 1.410453 2.826374 1.047963 +v 1.671730 1.484928 1.085421 +v 1.074927 0.664820 1.085421 +v -0.415676 2.751681 -1.113801 +v 3.088083 2.080958 -1.001860 +v -0.378351 0.664820 -1.001860 +v -1.012078 0.813990 -1.001860 +v 2.976107 0.739513 0.376959 +v 2.976107 1.633882 1.010506 +v 2.938782 1.261282 1.047963 +v -1.012078 2.565274 1.085421 +v -0.900102 1.149351 -1.038887 +v -0.825451 2.714443 1.085421 +v 1.001079 2.826158 -1.076129 +v -0.117475 2.714443 -1.113801 +v 3.088083 2.863827 -0.405340 +v 2.305055 2.863612 1.010506 +f 118 99 134 +f 95 96 98 +f 98 96 101 +f 95 98 106 +f 105 99 107 +f 102 105 107 +f 101 104 108 +f 99 105 109 +f 105 106 109 +f 106 98 109 +f 94 98 110 +f 101 108 110 +f 108 100 113 +f 97 107 114 +f 101 110 115 +f 97 100 116 +f 113 103 117 +f 108 113 117 +f 109 98 118 +f 112 99 118 +f 98 94 119 +f 103 94 120 +f 94 110 120 +f 110 108 120 +f 117 103 120 +f 108 117 120 +f 106 105 121 +f 95 106 121 +f 102 107 121 +f 100 97 122 +f 113 100 122 +f 97 114 122 +f 104 96 123 +f 100 108 123 +f 108 104 123 +f 116 100 123 +f 101 96 124 +f 104 101 124 +f 96 104 124 +f 103 113 125 +f 113 122 125 +f 122 114 125 +f 99 103 126 +f 111 99 126 +f 114 111 126 +f 103 125 126 +f 125 114 126 +f 103 99 127 +f 94 103 127 +f 99 112 127 +f 119 94 127 +f 112 119 127 +f 98 101 128 +f 110 98 128 +f 101 115 128 +f 115 110 128 +f 96 95 129 +f 95 97 129 +f 97 116 129 +f 123 96 129 +f 116 123 129 +f 118 98 130 +f 112 118 130 +f 98 119 130 +f 119 112 130 +f 105 102 131 +f 102 121 131 +f 121 105 131 +f 97 95 132 +f 107 97 132 +f 95 121 132 +f 121 107 132 +f 107 99 133 +f 99 111 133 +f 114 107 133 +f 111 114 133 +f 99 109 134 +f 109 118 134 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/899/899.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/899/899.urdf new file mode 100644 index 000000000..0d4bd3d0c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/899/899.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/900/900.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/900/900.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/900/900.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/900/900.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/900/900.obj new file mode 100644 index 000000000..f4fd3715a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/900/900.obj @@ -0,0 +1,492 @@ +o convex_0 +v -1.068921 -3.791312 -1.044487 +v 1.056130 -1.543959 1.080692 +v 1.097266 -0.563388 1.039645 +v -0.987074 -1.135420 1.039645 +v 0.974495 -0.562996 -1.085319 +v 1.056130 -4.568398 0.998813 +v -1.068921 -0.562996 -1.003440 +v -1.068921 -4.486455 1.080692 +v 0.933572 -4.568398 -0.921777 +v -1.027998 -4.445288 -1.126366 +v -0.946151 -0.562996 0.998813 +v 1.097266 -2.892292 -0.921777 +v 0.851937 -4.568398 -0.962608 +v -0.987074 -1.830171 1.080692 +v 1.097266 -1.952889 -0.962608 +v 1.015419 -2.688023 1.080692 +v 1.097266 -3.587435 0.058826 +v 0.524973 -0.562996 -1.085319 +v 0.524973 -4.568398 -0.962608 +v -1.068921 -3.750537 1.080692 +v -1.068921 -4.486455 -0.104284 +v 1.097266 -0.563388 0.385694 +v -0.987074 -0.604163 0.917150 +v -0.496629 -4.486063 1.080692 +v 0.974495 -4.568398 -0.554078 +v 0.157086 -0.562996 1.039645 +v 0.729379 -4.568398 0.998813 +v -0.905227 -4.486455 -1.085319 +v 0.974495 -0.726490 -1.085319 +v -0.414782 -0.562996 -1.044487 +v 1.097266 -1.298914 1.039645 +v -0.047107 -4.527230 -1.044487 +v 1.056130 -3.750537 1.039645 +v -1.068921 -0.562996 -0.921993 +v -0.292224 -4.527230 1.039645 +v 1.056130 -4.526838 0.712777 +v 1.015419 -0.931151 -1.044487 +f 15 29 37 +f 7 1 8 +f 1 7 10 +f 5 7 11 +f 12 9 13 +f 9 6 13 +f 8 2 14 +f 3 12 15 +f 2 8 16 +f 12 3 17 +f 7 5 18 +f 5 10 18 +f 13 6 19 +f 7 8 20 +f 14 4 20 +f 8 14 20 +f 8 1 21 +f 1 10 21 +f 5 3 22 +f 3 15 22 +f 4 11 23 +f 20 4 23 +f 8 6 24 +f 16 8 24 +f 6 9 25 +f 9 12 25 +f 2 3 26 +f 3 5 26 +f 11 4 26 +f 5 11 26 +f 14 2 26 +f 4 14 26 +f 6 8 27 +f 19 6 27 +f 21 10 28 +f 19 21 28 +f 10 5 29 +f 12 13 29 +f 15 12 29 +f 10 7 30 +f 7 18 30 +f 18 10 30 +f 3 2 31 +f 17 3 31 +f 6 17 31 +f 13 19 32 +f 28 10 32 +f 19 28 32 +f 10 29 32 +f 29 13 32 +f 2 16 33 +f 24 6 33 +f 16 24 33 +f 31 2 33 +f 6 31 33 +f 11 7 34 +f 7 20 34 +f 23 11 34 +f 20 23 34 +f 8 21 35 +f 21 19 35 +f 27 8 35 +f 19 27 35 +f 17 6 36 +f 12 17 36 +f 6 25 36 +f 25 12 36 +f 5 22 37 +f 22 15 37 +f 29 5 37 +o convex_1 +v -1.027938 2.052910 -1.085438 +v 1.056394 3.605604 -0.186135 +v 1.015411 3.564837 0.671802 +v 0.933652 1.644451 -1.126366 +v -0.946179 1.644255 1.121564 +v -0.946179 3.564837 -1.085438 +v -1.027938 3.483106 1.039489 +v 0.933652 1.644451 0.957854 +v 1.056394 3.646568 -1.085218 +v -1.068921 1.644255 -1.044291 +v 1.015411 3.523873 0.957854 +v -1.027938 3.524069 0.917146 +v 0.974427 1.725986 -1.126366 +v 0.974427 2.012142 0.957854 +v -1.068921 2.175605 -1.044291 +v -1.068921 1.644255 -0.513114 +v 0.565841 3.646568 -1.003584 +v -0.986954 3.564837 -0.676604 +v -0.986954 1.930215 1.080416 +v 1.056394 3.278680 -0.758239 +v 0.974427 3.646568 -0.717532 +v 0.933652 2.175605 -1.126366 +v -1.027938 2.870025 1.039489 +v 0.116063 3.524069 0.998781 +v 0.647600 1.644451 -1.126366 +v 1.015411 3.033487 0.957854 +v 0.974427 1.848680 0.630874 +v -1.027938 3.524069 0.344822 +v -0.905195 1.685022 1.121564 +v -0.905195 1.644255 -1.085438 +v 0.565841 1.644451 0.998781 +v -0.905195 3.524069 0.998781 +v -0.374074 3.605800 -1.085438 +f 46 59 70 +f 39 40 48 +f 45 41 50 +f 43 38 52 +f 38 47 52 +f 44 49 52 +f 47 42 53 +f 52 47 53 +f 44 52 53 +f 43 52 55 +f 53 42 56 +f 46 39 57 +f 50 46 57 +f 40 39 58 +f 39 46 58 +f 46 54 58 +f 54 49 58 +f 50 41 59 +f 46 50 59 +f 42 44 60 +f 44 53 60 +f 56 42 60 +f 53 56 60 +f 48 40 61 +f 38 43 62 +f 59 41 62 +f 43 59 62 +f 39 48 63 +f 57 39 63 +f 57 63 64 +f 45 50 64 +f 51 45 64 +f 50 57 64 +f 63 51 64 +f 52 49 65 +f 49 55 65 +f 55 52 65 +f 44 42 66 +f 61 44 66 +f 48 61 66 +f 45 42 67 +f 41 45 67 +f 47 38 67 +f 42 47 67 +f 38 62 67 +f 62 41 67 +f 42 45 68 +f 45 51 68 +f 63 48 68 +f 51 63 68 +f 66 42 68 +f 48 66 68 +f 49 44 69 +f 40 58 69 +f 58 49 69 +f 44 61 69 +f 61 40 69 +f 54 46 70 +f 49 54 70 +f 55 49 70 +f 43 55 70 +f 59 43 70 +o convex_2 +v 2.364258 -0.562996 0.385694 +v 2.977224 1.644063 1.080692 +v 3.018025 1.644063 0.385694 +v 1.138137 1.562184 -1.126366 +v 1.138137 0.418039 1.039645 +v 2.936422 -0.521948 -1.044487 +v 1.138137 -0.481117 -1.085319 +v 3.059015 1.644063 -1.044487 +v 3.059015 -0.562996 0.957766 +v 1.138137 1.521352 0.957982 +v 1.138137 -0.440285 1.039645 +v 3.059015 -0.562996 0.303815 +v 2.691048 1.644063 1.080692 +v 2.854630 1.644063 -1.085319 +v 1.914686 0.418039 1.080692 +v 3.059015 0.254497 0.998813 +v 2.977224 -0.358623 -1.044487 +v 1.710490 -0.481117 -1.085319 +v 1.546907 -0.521948 -0.554078 +v 1.587897 -0.481117 1.039645 +v 1.260919 1.521352 0.998813 +v 3.059015 1.276148 -1.044487 +v 2.977224 1.357810 1.080692 +v 2.936422 -0.562996 -0.186163 +v 2.609444 1.644063 1.039645 +v 1.138137 -0.481117 -0.063452 +v 2.241476 -0.521948 -1.044487 +v 1.138137 1.562184 -0.717404 +v 3.059015 1.644063 -0.635741 +v 2.568642 -0.562996 0.916934 +v 1.546907 1.562184 0.998813 +f 95 98 101 +f 75 74 77 +f 72 73 78 +f 74 75 80 +f 75 77 81 +f 78 79 82 +f 79 71 82 +f 72 78 83 +f 83 78 84 +f 75 81 85 +f 72 83 85 +f 83 75 85 +f 73 72 86 +f 79 78 86 +f 82 76 87 +f 76 84 87 +f 77 74 88 +f 76 77 88 +f 74 84 88 +f 84 76 88 +f 79 85 90 +f 85 81 90 +f 80 75 91 +f 75 83 91 +f 78 82 92 +f 84 78 92 +f 82 87 92 +f 87 84 92 +f 72 85 93 +f 85 79 93 +f 86 72 93 +f 79 86 93 +f 82 71 94 +f 76 82 94 +f 71 89 94 +f 84 74 95 +f 83 84 95 +f 81 77 96 +f 89 71 96 +f 77 89 96 +f 90 81 96 +f 77 76 97 +f 89 77 97 +f 76 94 97 +f 94 89 97 +f 74 80 98 +f 95 74 98 +f 78 73 99 +f 73 86 99 +f 86 78 99 +f 71 79 100 +f 79 90 100 +f 96 71 100 +f 90 96 100 +f 80 91 101 +f 91 83 101 +f 83 95 101 +f 98 80 101 +o convex_3 +v -3.112494 1.112482 -0.717448 +v -1.069009 1.480369 1.121564 +v -1.069009 1.521292 0.753677 +v -1.069009 -0.522124 -1.003700 +v -2.989676 -0.480989 1.080640 +v -1.069009 1.644063 -1.044623 +v -3.112494 1.562004 0.998793 +v -1.069009 -0.522124 0.998793 +v -2.948871 -0.440277 -1.044623 +v -3.112494 1.521292 -1.044623 +v -2.867059 -0.522124 0.998793 +v -3.030682 -0.399354 0.876023 +v -2.907865 1.562004 1.039505 +v -1.559477 1.644063 -0.553966 +v -1.845517 -0.522124 -1.003700 +v -2.948871 1.562004 -1.044623 +v -2.989676 -0.480989 -0.349772 +v -1.069009 0.377344 -1.044623 +v -1.069009 1.153405 1.121564 +v -3.112494 1.235040 0.998793 +v -2.989676 -0.276796 -1.003488 +v -2.785248 -0.480989 -1.003488 +v -1.069009 1.644063 -0.717448 +v -1.886523 -0.522124 1.039717 +v -3.112494 1.562004 -0.186079 +v -1.355249 1.112694 1.121564 +v -1.477866 1.644063 -1.044623 +v -2.989676 -0.276796 1.080640 +v -2.785248 1.562004 1.039505 +v -2.458403 1.603139 0.344654 +f 114 130 131 +f 104 103 105 +f 104 105 107 +f 105 103 109 +f 107 110 111 +f 102 108 111 +f 105 109 112 +f 110 105 116 +f 105 112 116 +f 107 111 117 +f 112 106 118 +f 106 113 118 +f 107 105 119 +f 105 110 119 +f 110 107 119 +f 109 103 120 +f 108 102 121 +f 106 108 121 +f 102 113 121 +f 113 106 121 +f 111 110 122 +f 102 111 122 +f 113 102 122 +f 110 118 122 +f 118 113 122 +f 110 116 123 +f 116 112 123 +f 118 110 123 +f 112 118 123 +f 104 107 124 +f 107 115 124 +f 112 109 125 +f 106 112 125 +f 120 106 125 +f 109 120 125 +f 111 108 126 +f 117 111 126 +f 103 114 127 +f 120 103 127 +f 106 120 127 +f 115 107 128 +f 107 117 128 +f 117 126 128 +f 108 106 129 +f 114 108 129 +f 127 114 129 +f 106 127 129 +f 103 104 130 +f 114 103 130 +f 104 124 130 +f 130 124 131 +f 108 114 131 +f 124 115 131 +f 126 108 131 +f 115 128 131 +f 128 126 131 +o convex_4 +v -0.414970 -0.562996 -1.043743 +v 1.138137 1.644063 3.001055 +v 0.484186 1.644063 3.001055 +v 1.097090 1.521352 -3.087004 +v -1.068921 1.480521 -2.883751 +v -1.068921 -0.481117 2.960523 +v 1.097090 -0.562996 1.038857 +v -1.068921 1.644063 2.919395 +v 0.974595 -0.481117 -2.964813 +v -1.068921 -0.440285 -3.047068 +v 0.933548 -0.481117 3.001055 +v -0.987042 1.644063 -1.330444 +v 1.138137 -0.481117 -1.084871 +v 0.933548 1.644063 -1.125402 +v -0.987042 -0.562996 0.875539 +v 1.138137 1.562184 -1.125402 +v 1.138137 -0.440285 1.038857 +v -0.905379 1.480521 -2.965410 +v 0.974595 -0.562996 -1.084871 +v -1.068921 -0.562996 -1.003212 +v -1.068921 -0.521948 2.510505 +v 1.097090 1.153437 -3.087004 +v 0.974595 -0.481117 2.918799 +v 0.565849 -0.481117 -3.005345 +v -1.068921 0.132003 -3.047068 +v 1.015427 -0.399454 -2.964813 +v 0.770222 1.521352 -3.087004 +v 0.238765 -0.521948 -2.310946 +v -0.701006 1.562184 2.960523 +v -1.068921 1.644063 -1.289316 +v -0.292260 -0.440285 -3.047068 +v 0.443139 -0.481117 3.001055 +v 0.606680 1.562184 -2.597050 +v 1.138137 1.562184 3.001055 +v 0.157102 -0.481117 -3.005345 +v -1.068921 0.132003 2.960523 +v 0.320644 1.030943 3.001055 +v -1.068921 1.316763 -2.965410 +f 158 156 169 +f 134 133 139 +f 136 137 139 +f 137 136 141 +f 133 134 142 +f 139 133 143 +f 143 133 145 +f 132 138 146 +f 133 144 147 +f 145 133 147 +f 135 145 147 +f 144 133 148 +f 138 144 148 +f 136 143 149 +f 138 132 150 +f 144 138 150 +f 140 144 150 +f 137 141 151 +f 132 146 151 +f 151 146 152 +f 138 142 152 +f 146 138 152 +f 137 151 152 +f 147 144 153 +f 135 147 153 +f 142 138 154 +f 138 148 154 +f 153 140 155 +f 141 136 156 +f 144 140 157 +f 140 153 157 +f 153 144 157 +f 149 143 158 +f 135 153 158 +f 153 141 158 +f 141 156 158 +f 150 132 159 +f 140 150 159 +f 132 151 159 +f 155 140 159 +f 134 139 160 +f 136 139 161 +f 143 136 161 +f 139 143 161 +f 141 153 162 +f 155 141 162 +f 153 155 162 +f 142 134 163 +f 137 152 163 +f 152 142 163 +f 145 135 164 +f 143 145 164 +f 135 158 164 +f 158 143 164 +f 133 142 165 +f 148 133 165 +f 142 154 165 +f 154 148 165 +f 151 141 166 +f 141 155 166 +f 159 151 166 +f 155 159 166 +f 139 137 167 +f 160 139 167 +f 134 160 168 +f 163 134 168 +f 137 163 168 +f 167 137 168 +f 160 167 168 +f 136 149 169 +f 156 136 169 +f 149 158 169 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/900/900.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/900/900.urdf new file mode 100644 index 000000000..2020a2915 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/900/900.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/901/901.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/901/901.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/901/901.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/901/901.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/901/901.obj new file mode 100644 index 000000000..d9280487a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/901/901.obj @@ -0,0 +1,498 @@ +o convex_0 +v -1.035720 1.609388 -0.469948 +v 0.997236 3.548810 1.093907 +v 0.590518 3.548810 1.093907 +v 0.965966 -0.767829 1.062612 +v 0.934696 3.580328 -1.095833 +v 0.934696 -0.767829 -1.095833 +v -1.066989 -0.767397 0.999810 +v -1.098470 3.642932 1.031318 +v -0.973180 -0.767397 -0.970656 +v -0.910641 3.548810 -1.001736 +v 1.059987 -0.767829 0.999810 +v -1.098470 -0.673276 0.124214 +v -0.410114 -0.767397 1.062612 +v -0.629213 -0.485464 -1.033244 +v 1.028506 -0.736311 -0.219808 +v 1.028506 3.047980 1.093907 +v -0.973180 3.548810 -0.970656 +v 0.621999 3.580328 -1.095833 +v -1.098470 3.610982 0.624493 +v 0.371630 1.546353 1.093907 +v -1.098470 1.172457 1.031318 +v 0.965966 3.580328 -0.407359 +v -0.535193 3.610982 1.062612 +v 0.965966 -0.767829 -1.001950 +v 1.028506 1.391354 1.093907 +v -1.098470 -0.767397 0.718376 +v -0.879371 3.642932 1.031104 +v -1.098470 3.642932 0.812259 +v -0.066147 0.859438 -1.064538 +v 0.965966 2.172391 -0.876773 +v 0.152742 3.580328 -1.064538 +v 1.059987 -0.266999 1.062398 +v 0.997236 3.486207 0.342845 +v -1.004450 2.797565 -0.751596 +v -1.098470 -0.110273 0.124214 +v -0.597943 -0.767397 -1.033244 +v -0.941910 3.204274 -1.001736 +v 0.559460 2.579099 -1.095833 +v 0.872157 -0.767829 -1.095833 +v 0.997236 -0.642621 -0.657713 +v -1.004450 3.579896 -0.469948 +f 28 31 41 +f 4 6 11 +f 1 9 12 +f 7 4 13 +f 2 3 16 +f 5 6 18 +f 12 8 19 +f 16 3 20 +f 8 12 21 +f 7 13 21 +f 3 2 23 +f 20 3 23 +f 13 20 23 +f 8 21 23 +f 21 13 23 +f 6 5 24 +f 11 6 24 +f 15 11 24 +f 13 4 25 +f 20 13 25 +f 16 20 25 +f 4 7 26 +f 12 9 26 +f 21 12 26 +f 7 21 26 +f 2 22 27 +f 22 5 27 +f 23 2 27 +f 8 23 27 +f 5 18 28 +f 19 8 28 +f 17 19 28 +f 27 5 28 +f 8 27 28 +f 5 22 30 +f 24 5 30 +f 10 17 31 +f 18 10 31 +f 28 18 31 +f 4 11 32 +f 11 15 32 +f 15 16 32 +f 25 4 32 +f 16 25 32 +f 16 15 33 +f 2 16 33 +f 22 2 33 +f 30 22 33 +f 15 30 33 +f 9 1 34 +f 17 9 34 +f 19 17 34 +f 19 34 35 +f 1 12 35 +f 12 19 35 +f 34 1 35 +f 9 14 36 +f 14 29 36 +f 14 9 37 +f 9 17 37 +f 17 10 37 +f 10 18 37 +f 29 14 37 +f 18 29 37 +f 18 6 38 +f 29 18 38 +f 29 38 39 +f 6 4 39 +f 4 26 39 +f 26 9 39 +f 9 36 39 +f 36 29 39 +f 38 6 39 +f 15 24 40 +f 30 15 40 +f 24 30 40 +f 17 28 41 +f 31 17 41 +o convex_1 +v -2.287045 -1.643666 0.280538 +v -1.192528 -1.205853 -0.251219 +v -1.192528 -1.174556 -0.251219 +v -2.943793 -1.549774 -0.188630 +v -2.943793 -1.080722 0.374421 +v -1.098471 -1.049366 0.374421 +v -1.098471 -1.643666 -0.219925 +v -1.098471 -1.643666 0.343127 +v -2.912563 -1.205853 -0.188630 +v -2.975023 -1.612369 0.311832 +v -2.943793 -1.643666 -0.157275 +v -2.943793 -1.080722 0.249183 +v -1.098471 -1.143317 -0.125981 +v -1.130068 -1.424701 0.374421 +v -2.380735 -1.612369 0.343127 +v -1.911919 -1.643666 -0.219925 +v -1.505378 -1.049366 0.311832 +v -2.943793 -1.174556 -0.094809 +v -2.349505 -1.237150 -0.219925 +f 57 45 60 +f 43 44 48 +f 42 48 49 +f 48 47 49 +f 42 49 51 +f 48 42 52 +f 51 45 52 +f 42 51 52 +f 51 46 53 +f 47 48 54 +f 48 44 54 +f 44 53 54 +f 47 46 55 +f 49 47 55 +f 46 51 56 +f 51 49 56 +f 55 46 56 +f 49 55 56 +f 43 48 57 +f 48 52 57 +f 52 45 57 +f 46 47 58 +f 53 46 58 +f 47 54 58 +f 54 53 58 +f 44 50 59 +f 50 45 59 +f 45 51 59 +f 53 44 59 +f 51 53 59 +f 44 43 60 +f 50 44 60 +f 45 50 60 +f 43 57 60 +o convex_2 +v 2.624031 -1.643636 0.280446 +v 1.091269 -1.205880 -0.313783 +v 1.091269 -1.143286 -0.313783 +v 1.091269 -1.643636 0.374421 +v 2.561458 -1.174583 0.311771 +v 2.968090 -1.643636 -0.219876 +v 1.091269 -1.706288 -0.219876 +v 2.936710 -1.111989 -0.219876 +v 1.091269 -1.143286 0.280446 +v 2.936710 -1.706288 0.217931 +v 2.936710 -1.205880 0.311771 +v 1.154029 -1.706288 0.374421 +v 2.279972 -1.111989 -0.032196 +v 1.717000 -1.706288 -0.219876 +v 2.999470 -1.487265 -0.219876 +v 2.936710 -1.299714 0.311771 +f 70 75 76 +f 63 62 64 +f 64 62 67 +f 63 64 69 +f 64 65 69 +f 65 64 71 +f 68 65 71 +f 64 67 72 +f 70 61 72 +f 67 70 72 +f 71 64 72 +f 65 68 73 +f 68 63 73 +f 63 69 73 +f 69 65 73 +f 62 66 74 +f 67 62 74 +f 66 70 74 +f 70 67 74 +f 62 63 75 +f 66 62 75 +f 63 68 75 +f 70 66 75 +f 68 71 75 +f 75 71 76 +f 61 70 76 +f 72 61 76 +f 71 72 76 +o convex_3 +v -0.535263 -1.049535 2.095028 +v 0.622039 -0.955671 3.033053 +v 0.590631 -1.643651 3.095954 +v 0.496886 -1.987700 1.094298 +v -0.441518 -1.893836 3.001897 +v 0.434310 -0.799111 1.094298 +v -0.472687 -1.987700 1.094298 +v -0.597959 -0.799111 2.970544 +v -0.441518 -0.924383 1.094298 +v 0.590631 -1.862668 3.095954 +v 0.465598 -2.019108 1.156807 +v -0.441518 -0.799111 3.001897 +v -0.441518 -1.925244 2.845527 +v 0.465598 -0.799111 1.125455 +v -0.472687 -1.956412 2.157341 +v 0.246581 -0.799111 1.094298 +v 0.496886 -0.830399 1.813640 +v 0.622039 -1.049535 2.908036 +v -0.566551 -1.080704 3.001897 +v -0.441518 -0.892975 1.219316 +v 0.559462 -0.924383 3.001897 +v -0.503975 -1.768684 1.438195 +v 0.403022 -1.862668 3.095954 +v 0.559462 -1.925244 2.407573 +v -0.472687 -1.987700 1.563409 +v -0.472687 -1.831379 3.001897 +v 0.590631 -1.862668 2.845527 +v -0.566551 -0.799111 2.720313 +v 0.152717 -1.893836 3.033053 +f 100 86 105 +f 82 80 83 +f 77 84 85 +f 82 83 85 +f 78 79 86 +f 83 80 87 +f 79 78 88 +f 82 84 88 +f 80 82 90 +f 82 88 90 +f 84 82 92 +f 82 85 92 +f 78 90 93 +f 90 88 93 +f 78 86 94 +f 90 78 94 +f 80 90 94 +f 88 84 95 +f 85 84 96 +f 92 85 96 +f 88 78 97 +f 78 93 97 +f 93 88 97 +f 84 77 98 +f 77 85 98 +f 85 83 98 +f 95 84 98 +f 91 95 98 +f 86 79 99 +f 79 88 99 +f 88 95 99 +f 87 80 100 +f 83 87 101 +f 87 89 101 +f 89 91 101 +f 98 83 101 +f 91 98 101 +f 89 81 102 +f 91 89 102 +f 95 91 102 +f 81 99 102 +f 99 95 102 +f 94 86 103 +f 80 94 103 +f 100 80 103 +f 86 100 103 +f 84 92 104 +f 96 84 104 +f 92 96 104 +f 81 89 105 +f 89 87 105 +f 86 99 105 +f 99 81 105 +f 87 100 105 +o convex_4 +v -0.566677 -0.893067 -1.659196 +v 0.622039 -0.893067 -2.941118 +v 0.590738 -0.893067 -2.534516 +v 0.434237 -2.019108 -1.096224 +v -0.535260 -1.831379 -3.097880 +v 0.465537 -1.987802 -3.097880 +v -0.503960 -2.019108 -1.096224 +v 0.465537 -0.955570 -1.096224 +v -0.503960 -0.893067 -2.941118 +v -0.566677 -0.893067 -1.096224 +v 0.622039 -0.893067 -3.066332 +v -0.535260 -1.925078 -2.221776 +v 0.309151 -1.987802 -3.097880 +v -0.566677 -1.299720 -1.158733 +v -0.535260 -1.393530 -3.034979 +v -0.159888 -2.019108 -1.815566 +v 0.496837 -0.986876 -1.283751 +v -0.566677 -1.393530 -2.096954 +v 0.528138 -1.581038 -3.097880 +v 0.465537 -0.893067 -3.066332 +v -0.316390 -0.893067 -1.189890 +v -0.503960 -1.862686 -3.034979 +v 0.622039 -0.955570 -2.972470 +v 0.465537 -1.987802 -2.628377 +v -0.535260 -1.800073 -1.096224 +v -0.535260 -0.893067 -2.628377 +f 120 123 131 +f 108 107 106 +f 112 109 113 +f 106 107 114 +f 108 106 115 +f 112 113 115 +f 114 107 116 +f 110 111 118 +f 115 106 119 +f 111 109 121 +f 109 112 121 +f 112 117 121 +f 118 111 121 +f 107 108 122 +f 108 113 122 +f 113 109 122 +f 110 117 123 +f 119 106 123 +f 117 119 123 +f 120 110 123 +f 111 110 124 +f 116 124 125 +f 114 116 125 +f 110 120 125 +f 120 114 125 +f 124 110 125 +f 113 108 126 +f 108 115 126 +f 115 113 126 +f 117 110 127 +f 110 118 127 +f 121 117 127 +f 118 121 127 +f 116 107 128 +f 107 122 128 +f 122 109 128 +f 124 116 128 +f 124 128 129 +f 109 111 129 +f 111 124 129 +f 128 109 129 +f 112 115 130 +f 117 112 130 +f 115 119 130 +f 119 117 130 +f 106 114 131 +f 114 120 131 +f 123 106 131 +o convex_5 +v -0.629223 -2.457013 -1.001950 +v 1.091269 -1.987814 0.718376 +v 1.059761 -0.767997 1.062612 +v -1.035823 -2.425688 1.000024 +v -0.973236 -0.768165 -0.970656 +v 0.934802 -0.767997 -1.095833 +v -1.067116 -0.768165 1.000024 +v 0.934802 -2.394363 -1.095833 +v 1.059761 -2.363039 1.062612 +v -0.973236 -2.488338 -0.908067 +v -1.098409 -1.643409 -0.219808 +v -0.566637 -1.268521 -1.095833 +v -0.629223 -2.112777 1.093907 +v 1.091269 -1.143390 -0.313477 +v -0.347583 -0.893128 1.093907 +v -1.098409 -0.768165 0.155080 +v -1.035823 -2.457013 0.906141 +v -0.660517 -2.488338 -0.908067 +v -0.504050 -2.018802 -1.095833 +v 0.966095 -2.363039 -1.064324 +v -1.098409 -1.581433 0.624493 +v 0.465401 -2.206583 1.093907 +v 0.653162 -2.394363 1.031104 +v 1.091269 -1.737383 -0.219808 +v -0.566637 -0.893128 -1.095833 +v -0.941943 -2.488338 -0.970656 +v 0.434108 -0.799322 1.093907 +v -1.067116 -2.269064 0.937435 +v 0.966095 -0.767997 -1.001736 +v 1.059761 -2.363039 0.624493 +v -1.098409 -1.174715 -0.251103 +v 1.028468 -0.767997 -0.219808 +v -0.941943 -2.488338 -0.313691 +v -1.035823 -2.457013 0.436942 +v -1.098409 -0.768165 0.718376 +v -0.378876 -2.425520 1.031318 +v 1.091269 -1.143390 0.280256 +v -0.973236 -1.456302 -0.970656 +v -0.941943 -2.363039 1.031318 +v -0.597930 -0.768165 -1.033244 +v 0.934802 -2.394363 -0.845264 +f 154 149 172 +f 133 134 140 +f 137 139 143 +f 138 144 146 +f 137 136 147 +f 139 132 150 +f 143 139 150 +f 139 137 151 +f 147 142 152 +f 140 134 153 +f 146 144 153 +f 145 133 155 +f 151 145 155 +f 143 136 156 +f 137 143 156 +f 132 139 157 +f 139 149 157 +f 149 141 157 +f 150 132 157 +f 143 150 157 +f 134 138 158 +f 138 146 158 +f 153 134 158 +f 146 153 158 +f 135 138 159 +f 148 135 159 +f 152 142 159 +f 137 134 160 +f 151 137 160 +f 145 151 160 +f 133 140 161 +f 140 139 161 +f 139 151 161 +f 155 133 161 +f 151 155 161 +f 141 142 162 +f 147 136 162 +f 142 147 162 +f 134 145 163 +f 160 134 163 +f 145 160 163 +f 148 141 164 +f 141 149 164 +f 154 148 164 +f 149 154 164 +f 142 141 165 +f 141 148 165 +f 159 142 165 +f 148 159 165 +f 134 137 166 +f 138 134 166 +f 137 147 166 +f 147 152 166 +f 159 138 166 +f 152 159 166 +f 135 148 167 +f 140 153 167 +f 153 144 167 +f 154 140 167 +f 148 154 167 +f 134 133 168 +f 145 134 168 +f 133 145 168 +f 136 143 169 +f 157 141 169 +f 143 157 169 +f 162 136 169 +f 141 162 169 +f 138 135 170 +f 144 138 170 +f 135 167 170 +f 167 144 170 +f 136 137 171 +f 156 136 171 +f 137 156 171 +f 139 140 172 +f 149 139 172 +f 140 154 172 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/901/901.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/901/901.urdf new file mode 100644 index 000000000..fc47782a6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/901/901.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/902/902.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/902/902.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/902/902.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/902/902.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/902/902.obj new file mode 100644 index 000000000..79eebaffd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/902/902.obj @@ -0,0 +1,486 @@ +o convex_0 +v -2.248409 -1.305624 0.545885 +v -1.263241 -1.459498 -0.624012 +v -1.263241 -1.397949 -0.624012 +v -3.018089 -2.352084 -0.562303 +v -1.078700 -2.352307 0.484410 +v -2.987332 -2.321309 0.453497 +v -2.925819 -1.336399 -0.500711 +v -1.078700 -2.352307 -0.439236 +v -1.078700 -1.336287 0.484410 +v -3.018089 -1.213187 0.576798 +v -1.078700 -1.274849 -0.624012 +v -2.771845 -2.228984 -0.593216 +v -3.018089 -1.213187 0.361226 +v -2.648628 -1.213187 0.545885 +v -1.140214 -2.321420 -0.470032 +v -1.078700 -1.274849 -0.285256 +v -2.987332 -1.951898 -0.562303 +v -1.540432 -1.274849 -0.593216 +v -1.447972 -2.352307 0.484410 +v -2.987332 -2.352084 -0.192868 +v -3.018089 -1.521160 0.545885 +v -2.710141 -1.367174 -0.531507 +v -1.509676 -1.305624 0.515089 +v -1.355702 -1.305512 0.484410 +v -2.586924 -2.352084 -0.562303 +v -1.201728 -1.459498 -0.624012 +v -1.786867 -2.352084 0.453497 +f 20 19 27 +f 5 8 9 +f 5 1 10 +f 2 3 11 +f 9 8 11 +f 3 2 12 +f 4 10 13 +f 11 13 14 +f 13 10 14 +f 11 8 15 +f 9 11 16 +f 11 14 16 +f 3 12 17 +f 12 4 17 +f 4 13 17 +f 13 7 17 +f 7 13 18 +f 13 11 18 +f 4 8 19 +f 8 5 19 +f 5 10 19 +f 6 4 20 +f 4 19 20 +f 4 6 21 +f 10 4 21 +f 6 19 21 +f 19 10 21 +f 11 3 22 +f 17 7 22 +f 3 17 22 +f 18 11 22 +f 7 18 22 +f 1 5 23 +f 5 9 23 +f 10 1 23 +f 14 10 23 +f 14 23 24 +f 9 16 24 +f 16 14 24 +f 23 9 24 +f 8 4 25 +f 4 12 25 +f 15 8 25 +f 15 25 26 +f 2 11 26 +f 12 2 26 +f 11 15 26 +f 25 12 26 +f 19 6 27 +f 6 20 27 +o convex_1 +v -0.986062 0.265412 -1.054835 +v 1.076833 3.313058 1.100229 +v 1.076833 3.313058 0.792087 +v 1.076833 -1.182286 -0.839350 +v -1.016864 -1.182286 0.946158 +v -0.924458 3.220212 -1.085649 +v -0.924458 3.251014 1.038601 +v 1.015018 -1.182286 0.976972 +v 0.984427 3.189850 -0.931792 +v -1.016864 -1.182286 -1.024021 +v 1.076833 -1.182286 -0.962606 +v -1.078468 -1.151044 0.391932 +v 0.738011 2.450600 1.100229 +v -0.401033 3.313058 -0.315938 +v -0.708843 -1.151044 0.976758 +v 1.046031 -0.627848 1.007573 +v -0.955260 2.881829 -0.962392 +v 0.306992 -0.443036 -1.024235 +v -0.955260 2.881829 0.976758 +v -0.647239 2.573808 -1.085649 +v 1.015229 2.758181 -0.931792 +v 0.430201 3.313058 -0.285123 +v 0.799615 3.159048 -0.962392 +v 1.076833 1.711790 1.069201 +v 0.491594 3.313058 1.100015 +v 1.076833 -0.627848 -0.962606 +v -1.016864 -0.381432 0.976758 +v 1.076833 3.282256 0.607417 +v -0.401033 3.313058 0.484160 +v -0.401033 -1.151484 -1.024021 +v -0.247023 -0.473838 1.007573 +v -0.924458 2.973795 1.038601 +v -0.339429 3.220652 -1.055049 +v -1.078468 -1.182286 0.514974 +v -1.016864 -0.904627 -1.024021 +v 1.076833 2.388996 1.100229 +v 0.738011 -1.182286 -0.993421 +v -0.955260 2.204183 -1.085863 +v -0.924458 3.251014 -0.069638 +v -0.739645 3.282256 0.853716 +v 0.892021 3.220652 -0.808536 +v 0.953625 -0.689452 1.007787 +v 0.738011 -0.781859 -0.993421 +v -1.047666 -1.058637 0.853716 +v -0.801250 3.251014 -0.900978 +v 1.015229 3.189850 -0.746907 +v -0.955260 2.635413 -1.085649 +v 0.430201 3.220652 1.100015 +f 34 59 75 +f 30 29 31 +f 32 31 35 +f 31 32 37 +f 30 31 38 +f 31 37 38 +f 29 30 41 +f 32 35 42 +f 35 31 43 +f 34 44 46 +f 44 39 46 +f 41 30 49 +f 31 29 51 +f 43 31 51 +f 29 41 52 +f 30 38 53 +f 36 48 53 +f 50 36 53 +f 32 42 54 +f 34 46 54 +f 30 53 55 +f 53 48 55 +f 52 41 56 +f 37 28 57 +f 40 42 58 +f 42 40 59 +f 34 54 59 +f 54 42 59 +f 47 33 60 +f 36 50 60 +f 50 47 60 +f 37 32 61 +f 39 37 61 +f 46 39 61 +f 37 39 62 +f 29 40 63 +f 51 29 63 +f 43 51 63 +f 38 37 64 +f 53 38 64 +f 37 57 64 +f 57 45 64 +f 28 37 65 +f 33 47 65 +f 47 45 65 +f 57 28 65 +f 45 57 65 +f 37 62 65 +f 33 44 66 +f 44 34 66 +f 34 52 67 +f 56 41 67 +f 52 56 67 +f 66 34 67 +f 41 66 67 +f 30 36 68 +f 49 30 68 +f 36 60 68 +f 60 49 68 +f 42 35 69 +f 35 43 69 +f 40 58 69 +f 58 42 69 +f 63 40 69 +f 43 63 69 +f 45 47 70 +f 47 50 70 +f 50 53 70 +f 64 45 70 +f 53 64 70 +f 32 54 71 +f 54 46 71 +f 61 32 71 +f 46 61 71 +f 41 49 72 +f 60 33 72 +f 49 60 72 +f 66 41 72 +f 33 66 72 +f 36 30 73 +f 48 36 73 +f 30 55 73 +f 55 48 73 +f 44 33 74 +f 39 44 74 +f 62 39 74 +f 33 65 74 +f 65 62 74 +f 40 29 75 +f 29 52 75 +f 52 34 75 +f 59 40 75 +o convex_2 +v 0.214704 5.314215 -0.100540 +v -0.339508 3.313254 -0.254499 +v -0.339508 3.313254 -0.162096 +v 0.368663 3.313254 -0.192943 +v 0.214704 3.313254 0.361268 +v -0.185479 5.252511 0.207240 +v -0.185479 5.221757 -0.346902 +v 0.307038 5.252511 0.299574 +v -0.216257 3.313254 0.330352 +v 0.214704 5.067792 -0.254499 +v -0.093076 5.006284 -0.346902 +v -0.216257 5.098546 0.176393 +v 0.307038 5.252511 0.145615 +v -0.216257 3.559677 0.330352 +v -0.277813 3.590431 -0.285277 +v 0.122300 5.314215 -0.285277 +v 0.307038 4.698354 0.299574 +v -0.339508 3.528923 -0.162096 +v 0.368663 3.313254 -0.131318 +v 0.183856 5.129300 0.299574 +v -0.247105 3.344204 0.268865 +v -0.123854 5.283265 0.145615 +v 0.183856 4.390423 0.330352 +v -0.185479 4.975530 0.238018 +v 0.276260 4.144588 0.330352 +v -0.185479 5.252511 -0.285277 +f 97 91 101 +f 78 77 79 +f 78 79 80 +f 78 80 84 +f 76 83 88 +f 83 79 88 +f 85 76 88 +f 79 85 88 +f 84 80 89 +f 79 77 90 +f 77 82 90 +f 86 79 90 +f 82 86 90 +f 76 85 91 +f 85 79 91 +f 79 86 91 +f 86 82 91 +f 77 78 93 +f 82 77 93 +f 80 79 94 +f 79 83 94 +f 83 92 94 +f 83 81 95 +f 78 84 96 +f 84 89 96 +f 89 87 96 +f 93 78 96 +f 87 93 96 +f 83 76 97 +f 81 83 97 +f 76 91 97 +f 80 83 98 +f 89 80 98 +f 83 95 98 +f 95 89 98 +f 81 87 99 +f 87 89 99 +f 95 81 99 +f 89 95 99 +f 83 80 100 +f 92 83 100 +f 80 94 100 +f 94 92 100 +f 87 81 101 +f 91 82 101 +f 82 93 101 +f 93 87 101 +f 81 97 101 +o convex_3 +v 0.368533 -1.613473 0.977069 +v -1.016781 -1.675071 -1.024283 +v -1.016781 -1.182454 -1.024283 +v 1.107624 -2.752447 -0.962573 +v -1.047595 -2.783162 0.915163 +v 1.076810 -1.182286 -0.962573 +v 1.015184 -2.721733 0.946116 +v -1.016781 -1.182454 0.946116 +v -1.047595 -2.906190 -0.993330 +v 1.015184 -1.182286 0.977069 +v 1.107624 -1.182286 0.514932 +v -1.078408 -1.182454 0.391709 +v 1.015184 -2.752447 0.915163 +v 1.107624 -2.259831 0.484371 +v -1.078408 -2.475171 -0.562342 +v 0.799705 -1.890580 -0.993330 +v -0.801302 -2.906190 -0.931816 +v -1.078408 -1.274936 -0.623856 +v -1.016781 -2.813877 0.761183 +v -0.616637 -1.397964 0.977069 +v -1.078408 -2.321260 0.761183 +v -0.893528 -2.413742 0.946116 +v -0.185465 -2.844760 -0.993330 +v 1.107624 -1.274767 -0.500828 +v -0.985968 -2.906190 -0.716322 +v 0.768891 -1.182286 -0.993330 +v 0.830518 -2.783331 -0.962573 +v 0.091427 -2.783162 0.915163 +v -1.078408 -2.659966 0.545689 +v -1.047595 -1.428847 0.946116 +v -0.493384 -1.213338 -1.024283 +v -0.678049 -1.182454 0.977069 +v 1.015184 -1.705785 0.977069 +v -1.047595 -2.136635 0.946116 +v 1.107624 -2.752447 -0.808593 +v -1.078408 -1.182454 0.514932 +v 1.107624 -2.352144 -0.962573 +f 107 125 138 +f 104 103 110 +f 107 111 112 +f 105 112 115 +f 108 114 115 +f 104 110 119 +f 113 104 119 +f 110 116 119 +f 116 113 119 +f 106 110 120 +f 102 111 121 +f 113 116 122 +f 108 102 123 +f 106 108 123 +f 102 121 123 +f 110 103 124 +f 117 105 124 +f 112 105 125 +f 107 112 125 +f 110 118 126 +f 118 114 126 +f 120 110 126 +f 111 107 127 +f 104 113 127 +f 107 117 127 +f 118 110 128 +f 114 118 128 +f 110 124 128 +f 124 105 128 +f 108 106 129 +f 114 108 129 +f 106 120 129 +f 126 114 129 +f 120 126 129 +f 110 106 130 +f 116 110 130 +f 106 122 130 +f 122 116 130 +f 103 104 132 +f 124 103 132 +f 117 124 132 +f 104 127 132 +f 127 117 132 +f 111 109 133 +f 121 111 133 +f 109 131 133 +f 102 108 134 +f 111 102 134 +f 112 111 134 +f 115 112 134 +f 108 115 134 +f 122 106 135 +f 106 123 135 +f 123 121 135 +f 131 122 135 +f 121 133 135 +f 133 131 135 +f 105 115 136 +f 115 114 136 +f 128 105 136 +f 114 128 136 +f 109 111 137 +f 113 122 137 +f 111 127 137 +f 127 113 137 +f 131 109 137 +f 122 131 137 +f 117 107 138 +f 105 117 138 +f 125 105 138 +o convex_4 +v 1.200088 -2.413887 -0.531498 +v 2.616244 -1.213076 0.515110 +v 2.616244 -1.213076 0.484302 +v 2.924197 -2.259789 -0.593114 +v 1.107819 -1.243872 -0.469882 +v 1.107819 -2.259907 0.484302 +v 2.924197 -2.229110 0.515110 +v 2.954953 -1.305464 -0.377566 +v 1.107819 -1.213076 0.515110 +v 3.108930 -1.243872 0.515110 +v 1.107819 -2.413887 -0.469882 +v 2.893245 -1.305464 -0.439182 +v 1.107819 -1.274668 -0.500690 +v 1.908264 -2.259907 0.515110 +v 2.924197 -2.259789 0.268754 +v 2.862489 -2.290703 -0.593114 +v 3.108930 -1.367056 0.484302 +v 2.924197 -2.167518 -0.593114 +v 1.723727 -2.321499 -0.562306 +v 3.077978 -1.243872 0.268754 +v 1.107819 -1.213076 0.022506 +v 2.308290 -2.259907 0.515110 +v 1.354065 -1.274668 -0.500690 +v 2.554535 -2.259907 -0.593114 +v 1.107819 -2.321499 -0.531498 +v 3.108930 -1.243872 0.391878 +v 1.107819 -1.551950 0.515110 +v 2.924197 -1.798083 -0.531498 +v 2.954953 -2.136605 0.515110 +f 155 148 167 +f 140 141 147 +f 143 144 147 +f 145 140 147 +f 141 140 148 +f 140 145 148 +f 144 143 149 +f 149 143 151 +f 145 147 152 +f 144 149 152 +f 149 139 153 +f 153 139 154 +f 142 153 154 +f 142 154 156 +f 143 141 158 +f 150 143 158 +f 146 150 158 +f 141 143 159 +f 147 141 159 +f 143 147 159 +f 145 152 160 +f 152 149 160 +f 153 145 160 +f 149 153 160 +f 143 150 161 +f 151 143 161 +f 156 151 161 +f 154 139 162 +f 151 156 162 +f 156 154 162 +f 139 157 162 +f 157 151 162 +f 139 149 163 +f 149 151 163 +f 157 139 163 +f 151 157 163 +f 141 148 164 +f 155 142 164 +f 148 155 164 +f 156 146 164 +f 142 156 164 +f 158 141 164 +f 146 158 164 +f 147 144 165 +f 144 152 165 +f 152 147 165 +f 150 146 166 +f 146 156 166 +f 161 150 166 +f 156 161 166 +f 148 145 167 +f 153 142 167 +f 145 153 167 +f 142 155 167 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/902/902.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/902/902.urdf new file mode 100644 index 000000000..b75688104 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/902/902.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/903/903.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/903/903.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/903/903.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/903/903.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/903/903.obj new file mode 100644 index 000000000..9a9917784 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/903/903.obj @@ -0,0 +1,693 @@ +o convex_0 +v 1.223301 0.575042 -0.400610 +v -1.263956 0.546225 -0.114765 +v -1.263956 0.546225 -0.000544 +v 0.165593 -3.513746 0.485530 +v -0.005810 -2.770111 -0.915484 +v 0.737362 0.574642 0.914200 +v -0.720712 -2.741695 0.771375 +v -0.005810 0.575042 -1.001297 +v -0.835066 -2.684061 -0.772268 +v 0.909020 -2.941411 0.056468 +v -0.806287 0.575042 0.828387 +v 0.765886 -2.684061 0.799783 +v 0.794666 -2.770111 -0.743859 +v 1.252081 0.517408 0.513938 +v -0.034335 -2.712478 0.971604 +v -0.720712 -3.484929 -0.028953 +v -0.949420 0.575042 -0.772268 +v 0.823191 0.574642 -0.943892 +v 0.136813 -3.456512 -0.715059 +v -0.920640 -2.855761 0.113676 +v 0.765886 -3.456112 0.113480 +v -0.034335 -3.484929 0.799979 +v -0.063115 0.288875 1.000208 +v -0.691933 -0.225826 -0.944088 +v -1.149348 0.460175 0.456730 +v 1.337910 0.545825 -0.000544 +v 0.708837 -0.225826 0.971604 +v -0.577579 -3.513746 0.570950 +v 0.794666 -0.511993 -0.943892 +v -0.520530 -3.456512 -0.572235 +v -1.206652 0.575042 -0.457818 +v -0.777762 -0.368709 0.856991 +v 0.594483 -3.456112 -0.543631 +v 0.537179 -3.456512 0.628354 +v 0.051239 -0.854993 -1.001297 +v 1.023373 0.517408 -0.772268 +v -0.063115 -1.455744 1.000208 +v 1.023373 0.575042 0.742771 +v -0.377396 -3.513746 -0.085965 +v 0.823191 -2.455528 -0.772464 +v 0.708837 -0.283059 -0.972692 +v 0.108289 -2.712478 -0.915484 +v 0.909020 -2.884178 -0.086161 +v -0.749237 0.575042 -0.886684 +v -0.920640 -2.741294 0.199489 +v -0.148689 0.575042 0.971604 +v -0.063115 -3.456512 -0.715059 +v -0.863591 -2.655644 -0.657851 +v 0.794666 -2.512761 0.799783 +v 0.765886 -3.456112 -0.028953 +v -0.091639 -2.684061 -0.915484 +v 1.337910 0.575042 0.085072 +v 0.909020 -2.855761 0.142280 +v 0.565704 -2.655644 0.857187 +v -0.863591 -2.369878 -0.772268 +v -0.148689 -0.168592 1.000208 +v 0.823191 -2.712878 -0.686455 +v -1.206652 0.431758 -0.457818 +v -0.920640 -2.798528 -0.029148 +v 0.336996 -0.311476 1.000208 +v 1.194777 0.402941 -0.457818 +v -1.149348 0.575042 0.456730 +v -0.749237 -0.568826 -0.915288 +v 0.765886 -2.712878 -0.772464 +f 42 29 64 +f 1 8 11 +f 11 8 17 +f 8 1 18 +f 3 2 20 +f 15 7 22 +f 6 23 27 +f 7 20 28 +f 20 16 28 +f 22 7 28 +f 4 22 28 +f 16 9 30 +f 2 3 31 +f 11 17 31 +f 7 15 32 +f 11 25 32 +f 25 7 32 +f 19 13 33 +f 4 21 34 +f 21 12 34 +f 12 22 34 +f 22 4 34 +f 24 8 35 +f 18 1 36 +f 29 18 36 +f 32 15 37 +f 1 11 38 +f 6 27 38 +f 4 28 39 +f 28 16 39 +f 16 30 39 +f 33 4 39 +f 19 33 39 +f 29 36 40 +f 8 18 41 +f 18 29 41 +f 35 8 41 +f 35 41 42 +f 19 5 42 +f 5 35 42 +f 41 29 42 +f 26 10 43 +f 17 8 44 +f 8 24 44 +f 24 17 44 +f 3 20 45 +f 20 7 45 +f 25 3 45 +f 7 25 45 +f 23 6 46 +f 38 11 46 +f 6 38 46 +f 9 5 47 +f 5 19 47 +f 30 9 47 +f 39 30 47 +f 19 39 47 +f 9 16 48 +f 27 12 49 +f 14 38 49 +f 38 27 49 +f 21 4 50 +f 10 21 50 +f 4 33 50 +f 33 13 50 +f 43 10 50 +f 5 9 51 +f 35 5 51 +f 24 35 51 +f 26 1 52 +f 10 26 52 +f 1 38 52 +f 38 14 52 +f 12 21 53 +f 21 10 53 +f 49 12 53 +f 14 49 53 +f 10 52 53 +f 52 14 53 +f 15 22 54 +f 22 12 54 +f 12 27 54 +f 27 15 54 +f 11 32 56 +f 37 23 56 +f 32 37 56 +f 23 46 56 +f 46 11 56 +f 13 40 57 +f 26 43 57 +f 50 13 57 +f 43 50 57 +f 2 31 58 +f 31 17 58 +f 9 48 58 +f 48 2 58 +f 55 9 58 +f 17 55 58 +f 20 2 59 +f 16 20 59 +f 48 16 59 +f 2 48 59 +f 15 27 60 +f 27 23 60 +f 37 15 60 +f 23 37 60 +f 1 26 61 +f 36 1 61 +f 40 36 61 +f 57 40 61 +f 26 57 61 +f 3 25 62 +f 25 11 62 +f 31 3 62 +f 11 31 62 +f 17 24 63 +f 51 9 63 +f 24 51 63 +f 9 55 63 +f 55 17 63 +f 13 19 64 +f 40 13 64 +f 29 40 64 +f 19 42 64 +o convex_1 +v 1.223681 0.861212 -0.486618 +v 1.309569 2.176246 -0.057674 +v 1.309569 2.176246 -0.086239 +v 2.996266 1.575696 -0.028992 +v 1.223681 0.575199 0.514095 +v 1.967000 1.661422 0.514095 +v 2.024259 1.975801 -0.457936 +v 1.223681 1.918755 0.428165 +v 2.710320 2.004481 -0.000544 +v 2.567347 1.318676 -0.314876 +v 2.767579 1.575696 0.399718 +v 1.223681 1.890076 -0.515183 +v 2.738949 1.204271 -0.028992 +v 1.252310 0.575199 -0.229181 +v 2.710320 1.604376 -0.429371 +v 1.995630 2.004481 0.342353 +v 1.423912 1.347199 -0.600996 +v 1.252310 1.261474 0.599907 +v 1.252310 0.689604 -0.429371 +v 2.624432 1.261474 0.256658 +v 2.738949 2.004481 -0.086239 +v 1.366653 0.575199 0.085033 +v 1.967000 1.661422 -0.543748 +v 2.052715 2.118886 -0.086239 +v 2.738949 1.204271 0.056468 +v 1.223681 2.118886 0.113598 +v 2.595977 1.861553 0.285223 +v 1.223681 1.432611 -0.600996 +v 2.567347 1.890233 -0.343558 +v 1.252310 0.575199 0.514095 +v 1.223681 1.975801 -0.457936 +v 2.710320 1.575696 -0.429371 +v 1.223681 1.347199 0.599907 +v 2.081344 1.575696 0.514095 +v 2.996266 1.632899 -0.028992 +v 1.223681 2.004481 0.371035 +v 1.995630 2.004481 -0.429371 +v 2.767579 1.604376 0.399718 +v 2.767579 1.975958 -0.000544 +v 1.366653 0.575199 -0.029109 +v 2.024259 2.118886 -0.029109 +v 1.223681 0.575199 -0.229181 +v 1.223681 2.176246 -0.029109 +v 2.767579 1.632899 -0.372123 +v 1.280939 0.775486 -0.457936 +v 2.996266 1.575696 0.027903 +v 1.681228 2.004481 0.371035 +v 2.052715 1.575696 -0.543748 +v 2.567347 1.318676 0.342470 +v 2.796034 1.575696 -0.343558 +v 2.595977 1.918755 0.228093 +v 1.223681 1.261474 -0.600996 +v 2.595977 1.261474 -0.229181 +v 2.967636 1.661422 0.027903 +v 1.423912 1.890076 -0.515183 +f 87 92 119 +f 65 69 72 +f 65 72 76 +f 77 78 83 +f 69 78 86 +f 71 79 87 +f 67 66 88 +f 73 85 88 +f 77 68 89 +f 75 84 89 +f 86 77 89 +f 76 72 90 +f 65 76 92 +f 87 81 92 +f 79 71 93 +f 82 69 94 +f 69 86 94 +f 89 84 94 +f 86 89 94 +f 71 76 95 +f 76 90 95 +f 74 83 96 +f 72 69 97 +f 70 72 97 +f 69 82 97 +f 97 82 98 +f 82 94 98 +f 94 75 98 +f 70 97 98 +f 90 72 100 +f 67 88 101 +f 88 85 101 +f 93 71 101 +f 85 93 101 +f 95 67 101 +f 71 95 101 +f 80 70 102 +f 91 80 102 +f 70 98 102 +f 98 75 102 +f 85 73 103 +f 99 85 103 +f 78 77 104 +f 77 86 104 +f 86 78 104 +f 80 73 105 +f 88 66 105 +f 73 88 105 +f 69 65 106 +f 78 69 106 +f 65 83 106 +f 83 78 106 +f 66 67 107 +f 67 95 107 +f 95 90 107 +f 105 66 107 +f 80 105 107 +f 79 93 108 +f 93 85 108 +f 96 79 108 +f 85 99 108 +f 83 65 109 +f 96 83 109 +f 81 96 109 +f 89 68 110 +f 75 89 110 +f 68 99 110 +f 102 75 110 +f 72 70 111 +f 70 80 111 +f 100 72 111 +f 90 100 111 +f 80 107 111 +f 107 90 111 +f 87 79 112 +f 81 87 112 +f 79 96 112 +f 96 81 112 +f 84 75 113 +f 75 94 113 +f 94 84 113 +f 68 77 114 +f 77 96 114 +f 99 68 114 +f 96 108 114 +f 108 99 114 +f 73 80 115 +f 80 91 115 +f 91 102 115 +f 102 103 115 +f 103 73 115 +f 65 92 116 +f 92 81 116 +f 109 65 116 +f 81 109 116 +f 83 74 117 +f 77 83 117 +f 74 96 117 +f 96 77 117 +f 99 103 118 +f 103 102 118 +f 110 99 118 +f 102 110 118 +f 76 71 119 +f 71 87 119 +f 92 76 119 +o convex_2 +v -1.264001 0.718222 0.142420 +v -1.264001 2.175949 -0.000544 +v -1.264001 2.175949 -0.057641 +v -2.950819 1.518430 -0.028980 +v -1.264001 1.318637 -0.572403 +v -1.349870 1.661414 0.571314 +v -2.693544 1.518430 -0.429326 +v -2.664811 1.604161 0.371029 +v -1.292734 0.746849 -0.400778 +v -2.722111 1.147027 -0.000544 +v -2.693544 1.976009 -0.028980 +v -1.921885 1.976009 -0.457986 +v -1.264001 0.918311 0.456898 +v -1.893152 2.004487 0.371029 +v -1.264001 1.975860 -0.486534 +v -1.264001 2.004487 0.428350 +v -2.064723 1.147027 0.399689 +v -2.007588 1.547056 0.514106 +v -1.979020 1.604161 -0.543743 +v -1.292734 0.660821 -0.086301 +v -2.550540 1.232758 -0.286362 +v -1.950287 2.118845 -0.057529 +v -2.664811 1.632936 -0.429326 +v -2.722111 1.518430 0.342481 +v -2.521807 1.890277 0.256725 +v -2.722111 1.147027 -0.057529 +v -2.521807 1.890277 -0.314910 +v -1.349870 0.889833 0.428350 +v -2.550540 1.232758 0.256725 +v -2.950819 1.604161 -0.057529 +v -1.264001 1.575682 0.571314 +v -1.292734 0.660821 0.028004 +v -1.264001 0.803953 -0.429438 +v -2.579108 1.518430 -0.457986 +v -2.750679 1.604161 0.313933 +v -2.664811 1.976009 -0.086189 +v -1.979020 1.690040 0.485446 +v -1.292734 2.061591 0.371141 +v -1.435738 1.375742 -0.572403 +v -1.921885 2.118845 -0.000544 +v -1.321302 0.803953 -0.429438 +v -2.550540 1.290011 -0.343570 +v -2.007588 1.976009 0.371029 +v -1.950287 1.489803 0.514106 +v -1.264001 1.432698 -0.572403 +v -2.922251 1.518430 -0.114737 +v -1.292734 2.147471 -0.143509 +v -1.950287 2.033113 -0.314910 +v -1.321302 0.918311 0.456898 +v -2.779247 1.575682 -0.343570 +v -2.750679 1.890277 -0.086189 +v -2.550540 1.547056 0.399689 +f 163 137 171 +f 122 121 120 +f 122 120 124 +f 120 121 132 +f 122 124 134 +f 132 121 135 +f 133 125 135 +f 131 134 138 +f 121 122 141 +f 131 138 142 +f 123 129 143 +f 129 123 145 +f 128 139 145 +f 139 129 145 +f 140 128 145 +f 131 142 146 +f 120 132 147 +f 147 136 148 +f 143 129 148 +f 136 143 148 +f 129 147 148 +f 132 135 150 +f 135 125 150 +f 139 120 151 +f 129 139 151 +f 120 147 151 +f 147 129 151 +f 124 120 152 +f 120 139 152 +f 139 128 152 +f 126 142 153 +f 142 138 153 +f 123 143 154 +f 143 127 154 +f 127 144 154 +f 144 130 154 +f 149 123 154 +f 130 149 154 +f 130 141 155 +f 131 146 155 +f 137 125 156 +f 127 137 156 +f 135 121 157 +f 133 135 157 +f 153 138 158 +f 130 133 159 +f 121 141 159 +f 141 130 159 +f 157 121 159 +f 133 157 159 +f 124 152 160 +f 152 128 160 +f 126 153 160 +f 158 124 160 +f 153 158 160 +f 128 140 161 +f 145 126 161 +f 140 145 161 +f 126 160 161 +f 160 128 161 +f 125 133 162 +f 133 130 162 +f 144 127 162 +f 130 144 162 +f 156 125 162 +f 127 156 162 +f 125 137 163 +f 150 125 163 +f 134 124 164 +f 138 134 164 +f 124 158 164 +f 158 138 164 +f 145 123 165 +f 126 145 165 +f 123 149 165 +f 122 134 166 +f 134 131 166 +f 141 122 166 +f 141 166 167 +f 131 155 167 +f 155 141 167 +f 166 131 167 +f 147 132 168 +f 136 147 168 +f 132 150 168 +f 163 136 168 +f 150 163 168 +f 142 126 169 +f 126 165 169 +f 165 149 169 +f 146 142 170 +f 149 130 170 +f 130 155 170 +f 155 146 170 +f 142 169 170 +f 169 149 170 +f 137 127 171 +f 127 143 171 +f 143 136 171 +f 136 163 171 +o convex_3 +v -1.264001 0.632273 -0.286367 +v 0.194070 2.605139 0.685411 +v 0.194070 2.605139 0.657023 +v 1.223583 0.575042 0.542503 +v 0.908982 2.290371 -0.886776 +v 0.823027 0.575042 -0.943940 +v -0.749245 2.204724 -0.772449 +v -1.264001 1.689847 0.571085 +v -0.320200 0.575042 0.942840 +v 0.766049 2.147295 0.828513 +v -0.749245 0.575042 -0.886776 +v -0.749245 2.605139 -0.086102 +v 1.223583 2.176108 -0.086102 +v -1.264001 1.976000 -0.486439 +v -0.806467 2.175910 0.799931 +v -0.148777 2.576524 -0.886583 +v 1.223583 1.147150 -0.600766 +v 0.937472 2.547909 0.085195 +v -1.149557 0.575042 0.456758 +v 0.737316 0.575042 0.914258 +v -0.006086 1.804507 -1.001296 +v -0.034332 1.890154 0.942840 +v 1.223583 2.004417 0.399594 +v -1.264001 2.090461 0.285267 +v -0.806467 0.575042 0.828513 +v -0.577578 2.605139 0.514114 +v 1.223583 0.575042 -0.429276 +v -0.006086 0.575042 -1.001296 +v -1.264001 1.318643 -0.572184 +v 1.223583 1.347258 0.599666 +v -0.577578 2.605139 -0.600959 +v 0.280025 2.576524 -0.801031 +v 0.622871 2.576524 0.599666 +v 1.223583 1.947186 -0.515021 +v -0.777734 2.118878 -0.801031 +v -0.892178 2.547909 -0.057520 +v -1.264001 0.889612 0.456758 +v -1.178046 0.575042 -0.515021 +v -0.063065 2.547909 0.742768 +v 0.108358 0.575042 0.971615 +v -1.264001 2.175910 -0.086102 +v 0.823027 2.233140 -0.915358 +v 0.594382 2.547909 -0.657929 +v 0.737316 0.832381 0.914258 +v 0.851760 2.576524 0.142166 +v 1.223583 1.290027 -0.629348 +v 0.966205 2.490479 -0.172040 +v 0.994694 0.575042 0.771350 +v 1.023427 0.575042 -0.772256 +v -1.264001 2.061846 0.370819 +v -0.234488 2.605139 -0.572377 +v -1.264001 0.575042 0.027839 +v -0.749245 0.775349 -0.886776 +v -0.949401 0.575042 -0.772449 +v -0.892178 2.118878 0.771350 +v -0.063065 1.089720 0.971615 +v -0.720512 2.404832 0.656830 +v 1.166361 1.118534 0.657023 +v 0.908982 2.318986 -0.858195 +v 0.051136 1.775693 -1.001296 +v -0.892178 2.547909 -0.000743 +v 0.880250 0.975458 -0.915358 +v -1.264001 1.432905 -0.572184 +v -0.063065 2.605139 0.713993 +f 197 228 235 +f 177 175 180 +f 177 180 182 +f 173 174 183 +f 172 179 185 +f 184 175 188 +f 182 180 190 +f 180 175 191 +f 175 184 194 +f 184 189 194 +f 185 179 195 +f 180 186 196 +f 190 180 196 +f 173 183 197 +f 175 177 198 +f 188 175 198 +f 177 182 199 +f 182 192 199 +f 172 185 200 +f 175 194 201 +f 194 181 201 +f 183 174 202 +f 178 185 202 +f 187 178 202 +f 176 187 203 +f 173 181 204 +f 181 194 204 +f 194 189 204 +f 184 188 205 +f 185 178 206 +f 178 187 206 +f 187 192 206 +f 183 202 207 +f 179 172 208 +f 196 179 208 +f 190 196 208 +f 182 190 209 +f 172 200 209 +f 181 173 210 +f 193 181 210 +f 186 193 210 +f 180 191 211 +f 185 195 212 +f 202 185 212 +f 207 202 212 +f 176 177 213 +f 187 176 213 +f 192 187 213 +f 181 193 215 +f 211 191 215 +f 174 173 216 +f 204 189 216 +f 173 204 216 +f 189 214 216 +f 214 203 216 +f 176 205 217 +f 205 188 217 +f 189 184 218 +f 214 189 218 +f 191 175 219 +f 215 191 219 +f 198 177 220 +f 188 198 220 +f 217 188 220 +f 195 179 221 +f 202 174 222 +f 187 202 222 +f 203 187 222 +f 174 216 222 +f 216 203 222 +f 208 172 223 +f 190 208 223 +f 172 209 223 +f 209 190 223 +f 192 182 224 +f 206 192 224 +f 182 209 225 +f 209 200 225 +f 224 182 225 +f 179 196 226 +f 196 186 226 +f 221 179 226 +f 186 180 227 +f 193 186 227 +f 180 211 227 +f 215 193 227 +f 211 215 227 +f 197 221 228 +f 226 186 228 +f 221 226 228 +f 175 201 229 +f 201 181 229 +f 181 215 229 +f 219 175 229 +f 215 219 229 +f 176 203 230 +f 205 176 230 +f 184 205 230 +f 203 214 230 +f 218 184 230 +f 214 218 230 +f 177 199 231 +f 199 192 231 +f 213 177 231 +f 192 213 231 +f 197 183 232 +f 183 207 232 +f 212 195 232 +f 207 212 232 +f 195 221 232 +f 221 197 232 +f 177 176 233 +f 176 217 233 +f 220 177 233 +f 217 220 233 +f 200 185 234 +f 185 206 234 +f 206 224 234 +f 225 200 234 +f 224 225 234 +f 173 197 235 +f 210 173 235 +f 186 210 235 +f 228 186 235 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/903/903.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/903/903.urdf new file mode 100644 index 000000000..976fe6480 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/903/903.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/904/904.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/904/904.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/904/904.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/904/904.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/904/904.obj new file mode 100644 index 000000000..c63fc6361 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/904/904.obj @@ -0,0 +1,1197 @@ +o convex_0 +v -2.133398 -1.023575 2.144800 +v -1.065422 0.187051 0.863280 +v -0.673846 0.151134 0.863280 +v -1.385685 -1.771384 0.827896 +v -0.495778 -0.845554 2.501081 +v -0.246396 -1.699941 0.827708 +v -2.347123 -0.275962 0.827896 +v -1.278931 -0.026888 2.287275 +v -1.207833 -1.557641 2.536653 +v -2.240368 -1.450866 0.827896 +v -0.388807 0.080081 0.827708 +v -2.062300 -0.062414 1.753512 +v -1.314588 -0.738975 2.750459 +v -2.062300 -1.557641 1.966754 +v -0.923011 -1.807105 2.038085 +v -2.097957 -0.738975 2.394178 +v -0.246396 -0.774501 1.753512 +v -0.673846 -0.204714 2.180560 +v -0.424464 -1.593167 1.824467 +v -2.382779 -0.810027 1.397419 +v -2.062300 0.044555 0.827896 +v -0.175299 -0.774501 0.827708 +v -2.382779 -1.272845 0.827896 +v -1.314588 0.187051 1.041514 +v -0.531218 -0.596479 2.429750 +v -2.026644 -1.628888 0.899040 +v -0.638189 -1.379424 2.322846 +v -0.495778 -0.026888 1.468750 +v -1.243490 0.008834 2.216132 +v -1.243490 -1.521919 2.572225 +v -1.350245 -1.771384 1.433179 +v -2.275809 -0.240436 1.255132 +v -0.887354 -1.771384 0.827708 +v -0.246396 -0.881080 1.753512 +v -1.990987 -0.062414 1.860039 +v -0.424464 0.115803 0.898851 +v -1.243490 -0.738975 2.750459 +v -1.172177 -1.522114 2.572225 +v -0.175299 -1.130154 0.863280 +v -0.388807 -1.522114 1.824467 +v -0.460121 -0.738975 2.465321 +v -1.456999 0.187051 0.827896 +v -2.097957 -0.987854 2.287275 +v -0.994109 -1.807105 2.038085 +v -0.246396 -1.699941 0.898851 +v -2.382779 -1.237123 1.005754 +v -2.097957 -0.489705 2.180560 +v -1.990987 -1.593362 1.895610 +v -2.382779 -0.596675 1.219561 +v -1.065422 -0.062609 2.251703 +v -0.531218 -0.810027 2.536653 +v -0.353366 -0.026888 0.898851 +v -0.388807 -1.735857 1.005754 +v -2.133398 -1.379619 1.895610 +v -1.350245 0.008834 2.180560 +v -2.097957 -1.557641 1.789084 +v -2.382779 -0.525232 0.827896 +v -2.097957 -0.774696 2.394178 +v -2.097957 -1.593362 0.827896 +f 26 56 59 +f 13 8 16 +f 11 7 21 +f 6 11 22 +f 3 2 24 +f 15 19 27 +f 18 25 28 +f 3 24 29 +f 14 9 30 +f 26 4 31 +f 21 7 32 +f 12 21 32 +f 11 6 33 +f 7 11 33 +f 10 23 33 +f 24 12 35 +f 11 3 36 +f 28 11 36 +f 3 29 36 +f 29 28 36 +f 8 13 37 +f 9 15 38 +f 27 5 38 +f 15 27 38 +f 30 9 38 +f 13 30 38 +f 37 13 38 +f 6 22 39 +f 22 17 39 +f 17 34 39 +f 5 27 40 +f 27 19 40 +f 40 34 41 +f 17 28 41 +f 28 25 41 +f 34 17 41 +f 5 40 41 +f 2 3 42 +f 3 11 42 +f 11 21 42 +f 21 12 42 +f 24 2 42 +f 12 24 42 +f 20 1 43 +f 14 30 43 +f 9 14 44 +f 15 9 44 +f 31 4 44 +f 4 33 44 +f 33 15 44 +f 19 15 45 +f 6 39 45 +f 39 34 45 +f 40 19 45 +f 34 40 45 +f 20 23 46 +f 16 8 47 +f 12 32 47 +f 35 12 47 +f 8 35 47 +f 26 31 48 +f 44 14 48 +f 31 44 48 +f 20 16 49 +f 23 20 49 +f 32 7 49 +f 16 47 49 +f 47 32 49 +f 25 18 50 +f 18 28 50 +f 29 8 50 +f 28 29 50 +f 8 37 50 +f 37 25 50 +f 25 37 51 +f 38 5 51 +f 37 38 51 +f 41 25 51 +f 5 41 51 +f 22 11 52 +f 17 22 52 +f 11 28 52 +f 28 17 52 +f 33 6 53 +f 15 33 53 +f 6 45 53 +f 45 15 53 +f 1 20 54 +f 43 1 54 +f 14 43 54 +f 46 14 54 +f 20 46 54 +f 8 29 55 +f 29 24 55 +f 35 8 55 +f 24 35 55 +f 23 10 56 +f 14 46 56 +f 46 23 56 +f 48 14 56 +f 26 48 56 +f 7 33 57 +f 33 23 57 +f 49 7 57 +f 23 49 57 +f 13 16 58 +f 16 20 58 +f 30 13 58 +f 20 43 58 +f 43 30 58 +f 4 26 59 +f 33 4 59 +f 10 33 59 +f 56 10 59 +o convex_1 +v 1.890648 -1.130321 -0.561194 +v 1.961750 -0.133648 -0.383186 +v 1.961750 -0.133648 -0.418800 +v 3.706222 -0.809947 -0.347632 +v 1.890648 -0.987910 -0.062725 +v 1.890648 -0.418471 -0.668094 +v 3.421283 -0.845498 -0.098338 +v 3.456833 -0.774292 -0.561194 +v 1.890648 -0.276060 -0.133952 +v 3.314453 -1.023565 -0.347632 +v 3.456833 -0.596434 -0.276465 +v 1.926199 -1.130321 -0.098338 +v 1.961750 -0.169198 -0.596867 +v 1.926199 -0.952359 -0.668094 +v 3.314453 -0.952359 -0.525581 +v 1.926199 -1.201632 -0.454354 +v 2.495899 -0.703086 -0.062725 +v 3.350004 -0.738741 -0.098338 +v 3.421283 -0.596434 -0.383186 +v 1.890648 -1.201632 -0.276465 +v 3.492562 -0.987910 -0.312019 +v 1.890648 -0.133648 -0.561194 +v 1.890648 -0.667640 -0.062725 +v 2.816033 -1.023565 -0.561194 +v 2.139859 -0.596434 -0.668094 +v 3.456833 -0.845498 -0.561194 +f 84 67 85 +f 60 64 65 +f 65 64 68 +f 62 61 70 +f 61 68 70 +f 66 64 71 +f 67 65 72 +f 60 65 73 +f 64 66 76 +f 68 76 77 +f 66 63 77 +f 63 70 77 +f 70 68 77 +f 76 66 77 +f 63 67 78 +f 62 70 78 +f 70 63 78 +f 67 72 78 +f 64 60 79 +f 71 64 79 +f 75 69 79 +f 60 75 79 +f 63 66 80 +f 66 71 80 +f 69 74 80 +f 71 79 80 +f 79 69 80 +f 61 62 81 +f 68 61 81 +f 65 68 81 +f 72 65 81 +f 62 78 81 +f 78 72 81 +f 68 64 82 +f 64 76 82 +f 76 68 82 +f 60 73 83 +f 74 69 83 +f 69 75 83 +f 75 60 83 +f 65 67 84 +f 73 65 84 +f 73 84 85 +f 67 63 85 +f 63 80 85 +f 80 74 85 +f 83 73 85 +f 74 83 85 +o convex_2 +v 1.071028 0.828029 0.684826 +v -0.673433 0.436320 -1.736147 +v -0.673433 0.471940 -1.736147 +v 1.605225 0.436320 -1.237511 +v -0.424261 0.436320 0.649209 +v -0.388665 0.828029 -1.451212 +v 1.605225 0.828029 -1.237511 +v 1.569630 0.436320 0.471368 +v -0.424261 0.828029 0.577975 +v 1.747609 0.828029 -0.062885 +v -0.851671 0.471940 -1.095287 +v 1.177816 0.792409 -1.451212 +v 1.783463 0.436320 -0.739118 +v 0.572684 0.436320 0.756059 +v 1.177816 0.436320 -1.486829 +v 0.110194 0.828029 0.756059 +v -0.566387 0.828029 -0.667884 +v 1.534034 0.828029 0.506741 +v -0.744625 0.436320 -0.419054 +v 1.747609 0.436320 -0.027512 +v 0.999836 0.436320 0.720443 +v 1.747609 0.792409 -0.774735 +v -0.566387 0.792409 -0.062885 +v 0.074340 0.436320 0.756059 +v -0.851671 0.471940 -1.237511 +v 0.679214 0.828029 -1.451212 +v 0.964240 0.828029 0.720443 +v 1.177816 0.614384 -1.486829 +v -0.495453 0.828029 -1.166277 +v -0.388665 0.828029 0.649209 +f 109 101 115 +f 87 89 90 +f 91 86 92 +f 90 89 93 +f 86 91 94 +f 92 86 95 +f 89 92 98 +f 93 89 98 +f 90 93 99 +f 87 88 100 +f 89 87 100 +f 92 89 100 +f 86 94 101 +f 94 91 102 +f 95 86 103 +f 93 95 103 +f 87 90 104 +f 90 94 104 +f 95 93 105 +f 93 98 105 +f 98 95 105 +f 99 93 106 +f 103 86 106 +f 93 103 106 +f 92 95 107 +f 98 92 107 +f 95 98 107 +f 94 102 108 +f 102 96 108 +f 104 94 108 +f 96 104 108 +f 90 99 109 +f 99 101 109 +f 88 87 110 +f 96 102 110 +f 87 104 110 +f 104 96 110 +f 88 91 111 +f 91 92 111 +f 97 88 111 +f 92 97 111 +f 86 101 112 +f 101 99 112 +f 106 86 112 +f 99 106 112 +f 88 97 113 +f 97 92 113 +f 100 88 113 +f 92 100 113 +f 91 88 114 +f 102 91 114 +f 88 110 114 +f 110 102 114 +f 94 90 115 +f 101 94 115 +f 90 109 115 +o convex_3 +v 1.640983 2.038896 -0.027324 +v -0.531182 0.828360 -0.917063 +v -0.531182 0.828360 -0.347604 +v 0.608329 4.210310 -0.312162 +v 1.249248 0.828360 -1.415853 +v 0.252511 0.828360 0.756303 +v -0.246081 3.391477 0.542351 +v -0.103754 3.213671 -1.166458 +v 1.534126 3.391477 -1.130800 +v 1.534126 0.828360 0.506908 +v 0.786126 3.533854 0.435591 +v -0.388631 0.934977 -1.451512 +v 1.712146 0.828360 -0.810303 +v -0.388631 0.828360 0.649327 +v 1.427269 3.569614 -0.169743 +v 0.608329 2.679261 -1.380195 +v 0.608329 3.854368 -1.095141 +v -0.174917 3.605374 -0.454148 +v 1.000064 1.611765 0.684986 +v 1.534126 1.433628 0.506908 +v -0.424325 2.110415 -0.667884 +v 1.605289 0.828360 -1.237776 +v 1.747839 0.863789 -0.062983 +v 1.284718 2.999775 0.293172 +v -0.388631 2.110415 0.399932 +v -0.032590 3.783510 -0.454148 +v 0.750656 4.174881 -0.312162 +v -0.352938 1.896519 -1.237776 +v 0.964370 0.828360 0.720645 +v 0.679269 0.828360 -1.451512 +v 1.534126 3.284860 -1.166242 +v 0.038574 1.433628 0.720645 +v 1.462739 3.569614 -0.240844 +v 1.569596 3.142483 -1.024040 +v -0.388631 0.828360 -1.451512 +v -0.531182 1.148874 -0.561124 +v -0.459795 1.113114 0.364490 +v 0.501695 1.362771 -1.451512 +v 0.501695 2.679261 -1.380195 +v -0.281774 3.213671 0.435591 +v 0.181124 3.462666 0.506908 +v 1.142391 3.605374 -1.130800 +v -0.317468 1.754473 0.649327 +v 0.394838 1.896850 0.684986 +v 1.676453 1.824999 -0.062983 +v 0.679269 4.210310 -0.383047 +v 0.679269 4.174881 -0.241060 +v -0.246081 3.427237 0.506908 +v 1.712146 1.006166 -0.810303 +v 0.038574 3.035535 -1.237776 +v 1.355882 3.676231 -0.205402 +v 1.534126 3.427237 -1.059698 +v 1.569596 2.786209 -1.166242 +v -0.495488 0.899549 -1.130800 +v -0.424325 0.934977 0.578226 +v 1.249248 0.899549 -1.415853 +v 0.537165 3.747751 -1.130800 +v 0.608329 4.210310 -0.383047 +v 0.109960 0.935308 0.756303 +v -0.139447 3.640802 -0.561124 +v 0.786126 3.356048 0.471250 +v 1.427269 3.462997 -0.098642 +v -0.139447 3.676562 -0.240844 +v 1.676453 1.576005 0.079436 +f 138 160 179 +f 118 117 120 +f 118 120 121 +f 121 120 125 +f 125 120 128 +f 118 121 129 +f 128 120 137 +f 125 128 138 +f 135 125 138 +f 126 135 139 +f 123 127 143 +f 133 123 143 +f 136 133 143 +f 121 125 144 +f 134 121 144 +f 135 134 144 +f 125 135 144 +f 120 117 145 +f 145 117 150 +f 127 145 150 +f 117 118 151 +f 136 117 151 +f 140 151 152 +f 151 118 152 +f 145 127 153 +f 131 153 154 +f 153 127 154 +f 133 136 155 +f 140 122 155 +f 136 151 155 +f 151 140 155 +f 122 134 156 +f 124 146 157 +f 146 131 157 +f 147 122 158 +f 134 122 159 +f 122 147 159 +f 148 116 160 +f 138 149 160 +f 149 148 160 +f 119 142 161 +f 157 132 161 +f 142 119 162 +f 156 126 162 +f 156 162 163 +f 155 122 163 +f 133 155 163 +f 122 156 163 +f 162 119 163 +f 128 137 164 +f 138 128 164 +f 149 138 164 +f 127 123 165 +f 154 127 165 +f 126 130 166 +f 130 148 166 +f 162 126 166 +f 142 162 166 +f 149 124 167 +f 148 149 167 +f 124 157 167 +f 161 142 167 +f 157 161 167 +f 142 166 167 +f 166 148 167 +f 146 124 168 +f 137 146 168 +f 124 149 168 +f 164 137 168 +f 149 164 168 +f 117 136 169 +f 143 127 169 +f 136 143 169 +f 150 117 169 +f 127 150 169 +f 118 129 170 +f 122 140 170 +f 140 152 170 +f 152 118 170 +f 158 122 170 +f 129 158 170 +f 137 120 171 +f 120 145 171 +f 131 146 171 +f 146 137 171 +f 153 131 171 +f 145 153 171 +f 123 132 172 +f 131 154 172 +f 157 131 172 +f 132 157 172 +f 165 123 172 +f 154 165 172 +f 141 119 173 +f 132 141 173 +f 119 161 173 +f 161 132 173 +f 129 121 174 +f 121 134 174 +f 158 129 174 +f 147 158 174 +f 134 159 174 +f 159 147 174 +f 132 123 175 +f 123 133 175 +f 141 132 175 +f 135 126 176 +f 134 135 176 +f 126 156 176 +f 156 134 176 +f 130 126 177 +f 135 116 177 +f 126 139 177 +f 139 135 177 +f 116 148 177 +f 148 130 177 +f 119 141 178 +f 163 119 178 +f 133 163 178 +f 175 133 178 +f 141 175 178 +f 116 135 179 +f 135 138 179 +f 160 116 179 +o convex_4 +v 0.572864 -3.516145 1.361773 +v 0.715191 0.364149 2.287387 +v 0.679508 0.364149 2.287387 +v 0.643926 1.789142 1.255038 +v 1.142474 -0.916519 1.254895 +v 0.323590 -0.454088 0.827809 +v 0.145480 -0.525367 2.073630 +v 0.999945 -2.803354 2.073630 +v 0.252326 -2.874633 2.038052 +v 0.999945 1.218909 2.109352 +v 0.252326 1.539370 1.753280 +v 0.964364 -0.809306 0.827809 +v 1.035527 -2.803354 1.219316 +v 0.999945 1.290777 1.255038 +v 0.252326 -2.768008 1.290616 +v 0.608446 1.860421 2.109352 +v 0.109797 -0.667926 1.575245 +v 0.999945 -1.023143 2.287387 +v 0.643926 -3.801261 1.682123 +v 0.465917 -1.165112 2.287387 +v 0.679508 2.216816 1.682123 +v 1.142474 -0.739205 1.824580 +v 0.287907 1.290188 1.290616 +v 0.252326 1.147630 2.109352 +v 0.608446 -3.444865 1.255038 +v 0.608446 -3.373586 2.073630 +v 0.216744 -3.052536 1.717702 +v 0.394652 -1.022554 0.827809 +v 1.035527 1.433335 1.682123 +v 1.035527 -2.981846 1.682123 +v 0.821936 -0.347464 0.827809 +v 0.145480 -0.774550 1.290616 +v 1.106791 -0.951864 2.109352 +v 0.394652 0.400083 2.251666 +v 0.572864 2.180882 1.646402 +v 0.145480 -1.129767 2.073630 +v 0.216744 1.325533 1.682123 +v 0.964364 0.400083 2.251666 +v 0.394652 -0.240840 0.827809 +v 0.893099 -0.987209 0.827809 +v 0.287907 -0.915930 2.216087 +v 1.142474 -0.667926 1.254895 +v 0.608446 1.931700 1.290616 +v 0.109797 -1.129767 1.682123 +v 0.572864 -3.765327 1.717702 +v 0.715191 -3.409520 1.255038 +v 0.252326 -2.768008 2.073630 +v 1.035527 1.076940 1.255038 +v 0.964364 -1.201635 2.287387 +v 0.679508 1.860421 2.109352 +v 0.216744 -2.981257 1.575245 +v 0.323590 -0.774550 0.827809 +v 0.643926 0.899037 2.251666 +v 0.252326 0.969727 1.290616 +v 0.679508 1.931700 1.290616 +v 0.109797 -0.703271 1.860016 +v 1.071210 -0.774550 2.216230 +v 0.999945 -3.124404 1.610823 +v 0.679508 -3.444865 2.038052 +v 1.142474 -1.059077 1.682123 +v 0.572864 -3.480210 2.038052 +v 0.572864 2.180882 1.753280 +v 0.287907 1.290188 2.109352 +v 1.106791 -0.525367 2.073773 +f 189 236 243 +f 191 184 192 +f 181 182 197 +f 197 182 199 +f 180 194 204 +f 198 180 204 +f 185 191 207 +f 204 194 207 +f 193 200 208 +f 200 189 208 +f 192 184 209 +f 191 185 210 +f 193 191 210 +f 187 209 212 +f 199 182 213 +f 202 190 214 +f 206 188 215 +f 190 202 216 +f 203 190 216 +f 181 197 217 +f 185 202 218 +f 183 210 218 +f 210 185 218 +f 191 192 219 +f 207 191 219 +f 204 207 219 +f 203 186 220 +f 199 213 220 +f 213 203 220 +f 186 215 220 +f 184 191 221 +f 201 184 221 +f 208 201 221 +f 214 200 222 +f 202 214 222 +f 183 218 222 +f 218 202 222 +f 196 211 223 +f 206 215 223 +f 180 198 224 +f 188 206 224 +f 198 204 225 +f 219 192 225 +f 204 219 225 +f 205 199 226 +f 215 188 226 +f 199 220 226 +f 220 215 226 +f 191 193 227 +f 193 208 227 +f 221 191 227 +f 208 221 227 +f 187 197 228 +f 197 199 228 +f 205 187 228 +f 199 205 228 +f 189 200 229 +f 217 189 229 +f 194 180 230 +f 211 194 230 +f 206 223 230 +f 223 211 230 +f 180 224 230 +f 224 206 230 +f 185 207 231 +f 207 194 231 +f 211 185 231 +f 194 211 231 +f 182 181 232 +f 213 182 232 +f 181 217 232 +f 229 195 232 +f 217 229 232 +f 202 185 233 +f 185 211 233 +f 211 196 233 +f 196 216 233 +f 216 202 233 +f 200 193 234 +f 210 183 234 +f 193 210 234 +f 183 222 234 +f 222 200 234 +f 186 203 235 +f 215 186 235 +f 216 196 235 +f 203 216 235 +f 196 223 235 +f 223 215 235 +f 197 187 236 +f 187 212 236 +f 189 217 236 +f 217 197 236 +f 187 198 237 +f 192 209 237 +f 209 187 237 +f 225 192 237 +f 198 225 237 +f 198 187 238 +f 187 205 238 +f 184 201 239 +f 209 184 239 +f 201 212 239 +f 212 209 239 +f 224 198 240 +f 188 224 240 +f 226 188 240 +f 205 226 240 +f 198 238 240 +f 238 205 240 +f 214 190 241 +f 200 214 241 +f 195 229 241 +f 229 200 241 +f 190 203 242 +f 203 213 242 +f 232 195 242 +f 213 232 242 +f 241 190 242 +f 195 241 242 +f 208 189 243 +f 201 208 243 +f 212 201 243 +f 236 212 243 +o convex_5 +v 0.857549 -0.311506 2.323189 +v 0.430286 -0.916704 2.287530 +v 0.465924 -1.130499 2.287530 +v 0.643946 -0.774274 2.679240 +v 0.964407 -1.165980 2.287530 +v 0.501562 -0.311506 2.287530 +v 0.964407 -0.774274 2.572378 +v 0.750748 -0.560782 2.643581 +v 0.501562 -0.703211 2.607960 +v 0.786385 -0.952387 2.607960 +v 1.000045 -0.703211 2.287530 +v 0.679583 -1.237346 2.323189 +v 0.643946 -0.204659 2.323189 +v 0.572782 -0.881223 2.607960 +v 0.928769 -0.382771 2.287530 +f 249 256 258 +f 246 245 248 +f 248 245 249 +f 250 244 251 +f 247 250 251 +f 245 246 252 +f 249 245 252 +f 247 251 252 +f 250 247 253 +f 248 250 253 +f 248 249 254 +f 250 248 254 +f 246 248 255 +f 248 253 255 +f 251 244 256 +f 249 252 256 +f 252 251 256 +f 252 246 257 +f 247 252 257 +f 253 247 257 +f 246 255 257 +f 255 253 257 +f 244 250 258 +f 254 249 258 +f 250 254 258 +f 256 244 258 +o convex_6 +v -2.240378 -0.987861 -2.127759 +v -0.139473 -0.845355 0.827523 +v -0.139473 -1.059004 0.827523 +v -0.495663 -0.774212 -3.124781 +v -0.424512 0.436100 0.649013 +v -2.062283 -1.629028 0.791739 +v -0.923003 -1.771095 -2.697427 +v -1.991133 0.115517 -2.483956 +v -2.347103 -0.275990 0.827523 +v -0.139473 0.436100 -1.415776 +v -0.139473 -1.806666 -0.526107 +v -2.026708 -1.557665 -2.626270 +v -1.172248 -0.026989 -3.088997 +v -0.246418 -1.699951 0.827523 +v -2.062283 0.151308 0.008188 +v -1.314548 -0.809783 -3.374448 +v -2.382898 -1.272653 0.827523 +v -0.139473 -1.593237 -1.451149 +v -0.709333 0.436100 -1.807346 +v -2.311528 -0.240638 -1.593464 +v -2.026708 -0.703288 -3.017839 +v -0.139473 0.436100 0.684798 +v -1.385698 -1.771095 0.827523 +v -1.243617 -1.521874 -3.231722 +v -2.097858 -1.664380 -0.597264 +v -1.634943 0.151308 0.827523 +v -2.311528 -1.237301 -1.593464 +v -0.638182 -0.204847 -2.946682 +v -0.495663 -1.557446 -2.519329 +v -0.887428 0.436100 -1.166932 +v -1.314548 -1.771095 -2.092386 +v -2.347103 -0.133704 -0.348009 +v -0.317568 -0.774212 -2.519329 +v -2.382898 -0.489859 -0.348009 +v -0.424512 0.115517 0.827523 +v -2.347103 -1.379588 -0.490323 +v -0.139473 -1.735523 0.577856 +v -0.958578 -1.806666 -0.383382 +v -0.673757 -1.308225 -3.018251 +v -2.311528 -0.703288 -1.949660 +v -1.101097 0.008802 -3.053624 +v -2.062283 0.044374 0.827523 +v -1.919763 0.115517 -2.590897 +v -0.602607 -0.738640 -3.195938 +v -1.065303 -1.771095 -2.768584 +v -1.492643 -1.771095 -0.383382 +v -0.139473 -1.806666 -0.062969 +v -0.139473 -1.664380 -1.344619 +v -2.097858 -1.664380 -0.027596 +v -1.172248 -0.738860 -3.374448 +v -2.026708 -0.774212 -3.017839 +v -2.382898 -0.489859 0.755955 +v -0.887428 -1.771095 0.827523 +v -0.744908 0.436100 -0.419577 +v -2.062283 -0.738860 -2.946682 +v -0.531238 -0.845355 -3.160565 +v -1.278973 -0.703288 -3.374448 +v -1.919763 -1.593237 -2.625859 +v -0.887428 0.436100 -1.344208 +v -0.495663 -0.098132 -2.626270 +v -1.172248 -1.557665 -3.196349 +v -1.314548 0.222451 0.827523 +v -2.382898 -0.809783 -0.205694 +v -2.275953 -1.486522 -0.348009 +f 283 307 322 +f 261 260 267 +f 260 261 268 +f 268 261 269 +f 261 267 272 +f 272 267 275 +f 268 269 276 +f 263 268 277 +f 260 268 280 +f 268 263 280 +f 275 264 281 +f 272 275 281 +f 267 260 284 +f 259 270 285 +f 262 276 287 +f 263 277 288 +f 273 266 290 +f 267 273 290 +f 266 278 290 +f 262 268 291 +f 276 262 291 +f 268 276 291 +f 290 278 292 +f 260 280 293 +f 284 260 293 +f 285 270 294 +f 269 261 295 +f 261 272 295 +f 287 265 297 +f 259 285 298 +f 292 278 298 +f 277 268 299 +f 268 286 299 +f 273 267 300 +f 267 284 300 +f 284 273 300 +f 266 277 301 +f 279 266 301 +f 271 279 301 +f 299 271 301 +f 277 299 301 +f 286 262 302 +f 299 286 302 +f 265 269 303 +f 269 296 303 +f 296 289 303 +f 283 289 304 +f 296 281 304 +f 289 296 304 +f 269 295 305 +f 296 269 305 +f 281 296 305 +f 269 265 306 +f 276 269 306 +f 287 276 306 +f 265 287 306 +f 264 275 307 +f 281 264 307 +f 304 281 307 +f 283 304 307 +f 282 274 308 +f 271 299 308 +f 299 302 308 +f 279 274 309 +f 282 270 309 +f 274 282 309 +f 275 267 310 +f 267 290 310 +f 292 275 310 +f 290 292 310 +f 272 281 311 +f 295 272 311 +f 305 295 311 +f 281 305 311 +f 273 263 312 +f 263 288 312 +f 288 273 312 +f 270 259 313 +f 278 266 313 +f 266 279 313 +f 259 298 313 +f 298 278 313 +f 309 270 313 +f 279 309 313 +f 262 287 314 +f 287 297 314 +f 302 262 314 +f 282 308 314 +f 308 302 314 +f 279 271 315 +f 274 279 315 +f 271 308 315 +f 308 274 315 +f 270 282 316 +f 283 270 316 +f 289 283 316 +f 303 289 316 +f 266 273 317 +f 277 266 317 +f 273 288 317 +f 288 277 317 +f 268 262 318 +f 262 286 318 +f 286 268 318 +f 297 265 319 +f 265 303 319 +f 282 314 319 +f 314 297 319 +f 316 282 319 +f 303 316 319 +f 263 273 320 +f 280 263 320 +f 273 284 320 +f 293 280 320 +f 284 293 320 +f 275 292 321 +f 294 275 321 +f 285 294 321 +f 298 285 321 +f 292 298 321 +f 270 283 322 +f 294 270 322 +f 275 294 322 +f 307 275 322 +o convex_7 +v 0.750748 -0.062219 -1.593952 +v 0.679583 -1.201736 -1.629649 +v 0.715166 -1.201736 -1.629649 +v 0.644078 -0.774417 -3.338838 +v 0.323456 -0.738724 -1.593952 +v 1.106875 -0.631978 -1.593952 +v 0.394697 -0.169077 -1.665175 +v 0.857570 -0.809888 -3.089471 +v 1.035557 -0.098024 -1.629649 +v 0.465938 -0.845470 -3.089471 +v 1.035557 -1.023603 -1.593952 +v 0.715166 -1.023603 -3.125168 +v 0.430356 -1.094879 -1.736398 +v 0.608419 -0.560925 -3.053945 +v 0.857570 -0.738724 -3.089471 +v 0.323456 -0.916857 -1.593952 +v 0.465938 -0.703030 -3.018077 +v 1.106875 -0.418485 -1.629649 +v 0.679583 -0.560925 -3.053945 +v 0.928811 -1.023603 -2.270659 +v 0.644078 -1.023603 -3.053945 +v 0.359115 -0.347098 -1.593952 +v 0.928811 -0.062219 -1.629649 +v 0.893076 -1.130461 -1.593952 +f 334 342 346 +f 323 327 328 +f 323 328 331 +f 328 327 333 +f 330 328 333 +f 325 324 334 +f 326 330 334 +f 332 326 334 +f 329 323 336 +f 330 326 337 +f 327 332 338 +f 333 327 338 +f 332 335 338 +f 335 324 338 +f 326 332 339 +f 332 327 339 +f 329 336 339 +f 336 326 339 +f 328 330 340 +f 331 328 340 +f 330 337 340 +f 337 331 340 +f 326 336 341 +f 337 326 341 +f 331 337 341 +f 330 333 342 +f 334 330 342 +f 334 324 343 +f 332 334 343 +f 335 332 343 +f 324 335 343 +f 327 323 344 +f 323 329 344 +f 339 327 344 +f 329 339 344 +f 323 331 345 +f 336 323 345 +f 331 341 345 +f 341 336 345 +f 324 325 346 +f 325 334 346 +f 338 324 346 +f 333 338 346 +f 342 333 346 +o convex_8 +v 1.890293 -0.026804 -0.560985 +v 0.644141 -1.842715 -0.560985 +v 0.715270 -1.842715 -0.560985 +v 0.501684 -0.133662 0.827523 +v -0.139473 0.436320 -1.451498 +v -0.139473 -1.664470 0.756178 +v 1.569814 -1.486449 0.506825 +v -0.139473 -1.593306 -1.451498 +v 1.498486 -1.379591 -1.166591 +v -0.139473 0.436320 0.685070 +v 1.569814 0.436320 0.471271 +v 1.142443 0.436320 -1.522606 +v 0.999787 -1.094711 -1.593952 +v 1.890293 -1.165876 -0.098544 +v 1.605379 0.436320 -1.201908 +v 1.462922 -1.771328 -0.276552 +v 0.964421 -0.845526 0.827523 +v 1.890293 -1.059018 -0.667884 +v 0.679706 -1.735857 -1.166354 +v -0.139473 -1.807021 -0.560985 +v 0.394791 -0.133662 -1.593952 +v 0.679706 -1.771328 0.435716 +v 0.999787 0.436320 0.720624 +v 1.747637 0.436320 -0.027436 +v 1.142443 -0.525399 -1.593952 +v 1.890293 -0.809832 -0.027436 +v 0.287899 -0.952383 -1.593952 +v -0.139473 -0.881219 0.791732 +v 1.890293 -1.272733 -0.383214 +v 0.038748 -1.842715 -0.312106 +v 0.252334 0.329239 0.791732 +v 1.462922 -1.771328 -0.418531 +v 0.822163 -1.059241 0.827523 +v 1.818965 0.364933 -0.703439 +v 0.750835 -1.237263 -1.593952 +v 1.890293 -0.454012 -0.738993 +v -0.103709 -1.735857 0.613724 +v 0.715270 -1.842715 -0.134098 +v 1.534051 -1.237263 -1.166591 +v 0.786598 0.115524 -1.593952 +v 1.890293 -0.275990 -0.134098 +v -0.139473 -1.664470 -1.380153 +v 1.569814 -0.382848 0.506825 +v 1.605379 0.115524 -1.201908 +v 0.359028 -0.988077 0.827523 +v 1.462922 0.436320 0.542616 +v 0.715270 -1.771328 -1.059454 +v 0.893093 -0.383071 0.827523 +v 1.498486 -1.628777 -0.703439 +v 1.178007 -1.379591 0.649278 +v 1.569814 -1.522142 0.435479 +v 0.074312 0.436320 0.756178 +v -0.068145 -1.664470 0.756178 +v 1.320465 -1.807021 -0.347660 +v 0.323463 -0.169355 0.827523 +v 1.142443 -0.311907 -1.593952 +v 1.071115 -0.952383 -1.593952 +v 0.501684 0.293546 0.791732 +v 1.534051 0.436320 -1.273253 +v 1.783401 0.436320 -0.738993 +v 1.534051 -1.379591 -1.130800 +v 1.284701 -1.486449 -1.166354 +f 395 365 408 +f 352 351 354 +f 351 352 356 +f 351 356 357 +f 351 357 358 +f 358 357 361 +f 347 360 364 +f 352 354 366 +f 357 356 369 +f 361 357 370 +f 359 367 371 +f 360 347 372 +f 353 360 372 +f 354 351 373 +f 351 367 373 +f 367 359 373 +f 356 352 374 +f 364 360 375 +f 348 349 376 +f 366 348 376 +f 375 362 378 +f 363 350 379 +f 353 363 379 +f 370 347 380 +f 359 355 381 +f 365 354 381 +f 354 373 381 +f 373 359 381 +f 347 364 382 +f 380 347 382 +f 361 380 382 +f 352 366 383 +f 366 376 383 +f 383 376 384 +f 376 349 384 +f 368 383 384 +f 382 364 385 +f 351 358 386 +f 367 351 386 +f 371 367 386 +f 347 370 387 +f 370 357 387 +f 357 372 387 +f 372 347 387 +f 354 365 388 +f 366 354 388 +f 363 353 389 +f 353 372 389 +f 372 357 389 +f 361 382 390 +f 385 371 390 +f 382 385 390 +f 374 352 391 +f 352 379 391 +f 379 350 391 +f 357 369 392 +f 363 389 392 +f 389 357 392 +f 349 348 393 +f 348 366 393 +f 388 365 393 +f 366 388 393 +f 350 363 394 +f 392 369 394 +f 363 392 394 +f 375 378 395 +f 378 393 395 +f 393 365 395 +f 353 379 396 +f 360 353 397 +f 353 368 397 +f 368 362 397 +f 375 360 397 +f 362 375 397 +f 369 356 398 +f 356 374 398 +f 377 369 398 +f 374 377 398 +f 368 353 399 +f 379 352 399 +f 352 383 399 +f 383 368 399 +f 353 396 399 +f 396 379 399 +f 362 368 400 +f 378 362 400 +f 384 349 400 +f 368 384 400 +f 349 393 400 +f 393 378 400 +f 350 377 401 +f 377 374 401 +f 391 350 401 +f 374 391 401 +f 386 358 402 +f 371 386 402 +f 355 359 403 +f 359 371 403 +f 385 355 403 +f 371 385 403 +f 377 350 404 +f 369 377 404 +f 350 394 404 +f 394 369 404 +f 358 361 405 +f 361 390 405 +f 390 371 405 +f 402 358 405 +f 371 402 405 +f 361 370 406 +f 380 361 406 +f 370 380 406 +f 364 375 407 +f 355 385 407 +f 385 364 407 +f 395 355 407 +f 375 395 407 +f 381 355 408 +f 365 381 408 +f 355 395 408 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/904/904.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/904/904.urdf new file mode 100644 index 000000000..169f6c8fc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/904/904.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/905/905.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/905/905.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/905/905.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/905/905.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/905/905.obj new file mode 100644 index 000000000..258070ee7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/905/905.obj @@ -0,0 +1,618 @@ +o convex_0 +v 1.064563 1.601056 -1.851255 +v -1.099819 -3.929802 -1.090244 +v -1.099819 -3.929802 -0.849568 +v -1.059565 2.162359 -2.572718 +v 1.024309 -3.929802 -2.733169 +v 1.064563 2.001641 -0.849380 +v 1.064563 -3.889320 -0.849380 +v -0.979482 2.121877 -0.849568 +v -1.019524 -4.010160 -2.652755 +v 1.024309 2.162359 -2.652755 +v -1.019524 0.799281 -2.773282 +v -1.099819 -1.844703 -2.652755 +v 1.064563 0.718922 -2.693057 +v -1.059565 2.162359 -2.732981 +v 0.824099 -4.010160 -2.652944 +v 0.222835 -1.324486 -2.773282 +v -1.019524 -0.323325 -2.773282 +v 0.864141 2.001641 -2.692868 +v 1.064563 -3.929802 -1.090056 +v 0.463298 2.162359 -2.011706 +v -0.939440 -4.010160 -2.171968 +v 1.064563 -1.084014 -2.693057 +v 1.024309 -1.044137 -2.733169 +v -1.099819 -3.528612 -0.849568 +v 0.984267 2.041518 -0.969906 +v -0.177796 -4.010160 -2.693057 +v -1.099819 -2.286375 -2.612831 +v 1.064563 -3.929802 -1.490806 +v 0.302919 -3.929802 -0.849568 +v 0.302919 -1.244128 -2.773282 +v -1.099819 -1.604231 -2.332042 +v -1.019524 2.162359 -2.011706 +v -0.578639 0.398695 -2.773282 +v -0.739018 2.162359 -2.732981 +v -1.019524 2.121877 -1.651068 +v -0.779060 2.121877 -0.849568 +v -1.059565 -3.969679 -1.330543 +v 1.024309 2.162359 -2.372343 +f 20 25 38 +f 6 3 7 +f 1 6 7 +f 3 2 9 +f 6 1 10 +f 2 3 12 +f 1 7 13 +f 10 1 13 +f 4 10 14 +f 9 12 17 +f 14 11 17 +f 12 14 17 +f 16 5 17 +f 11 16 17 +f 10 13 18 +f 13 7 19 +f 10 4 20 +f 9 15 21 +f 5 13 22 +f 13 19 22 +f 13 5 23 +f 18 13 23 +f 3 6 24 +f 6 8 24 +f 12 3 24 +f 5 15 26 +f 15 9 26 +f 17 5 26 +f 9 17 26 +f 9 2 27 +f 2 12 27 +f 12 9 27 +f 15 5 28 +f 19 15 28 +f 5 22 28 +f 22 19 28 +f 7 3 29 +f 19 7 29 +f 15 19 29 +f 21 15 29 +f 5 16 30 +f 16 11 30 +f 23 5 30 +f 18 23 30 +f 4 14 31 +f 14 12 31 +f 24 4 31 +f 12 24 31 +f 4 8 32 +f 20 4 32 +f 8 20 32 +f 30 11 33 +f 18 30 33 +f 14 10 34 +f 11 14 34 +f 10 18 34 +f 33 11 34 +f 18 33 34 +f 8 4 35 +f 4 24 35 +f 24 8 35 +f 8 6 36 +f 20 8 36 +f 6 25 36 +f 25 20 36 +f 3 9 37 +f 9 21 37 +f 29 3 37 +f 21 29 37 +f 6 10 38 +f 10 20 38 +f 25 6 38 +o convex_1 +v 1.104652 4.005439 -0.448578 +v -1.099819 -3.929998 -0.849329 +v 0.142677 -3.929998 -0.849329 +v 0.342927 -2.045989 -0.328374 +v -1.099819 3.965420 -0.809243 +v -1.099819 4.005439 -0.328374 +v 1.064300 2.001374 -0.849329 +v 1.064300 -3.889194 -0.648903 +v -0.939274 -1.925148 -0.328374 +v 1.104652 3.564451 -0.328323 +v 1.104652 4.086261 -0.729073 +v 1.064300 -3.889194 -0.849329 +v 0.944107 -2.045204 -0.328374 +v -1.099819 -3.929998 -0.729073 +v -0.979411 2.081411 -0.849329 +v 1.064516 4.086261 -0.328323 +v 1.104652 1.520367 -0.328323 +v 0.262870 -3.889194 -0.648903 +v -1.059683 0.317458 -0.328374 +v -0.297958 4.005439 -0.809243 +v 1.104652 3.604469 -0.769158 +v -1.059683 4.005439 -0.809243 +v 0.302791 4.086261 -0.368459 +v -0.578696 -3.929998 -0.688988 +v -0.899354 -1.965167 -0.328374 +f 52 62 63 +f 43 40 44 +f 41 40 45 +f 39 48 49 +f 41 45 50 +f 46 41 50 +f 42 46 51 +f 40 41 52 +f 44 40 52 +f 40 43 53 +f 45 40 53 +f 48 39 54 +f 39 49 54 +f 49 48 55 +f 46 50 55 +f 42 51 55 +f 51 46 55 +f 48 54 55 +f 46 42 56 +f 44 52 57 +f 52 47 57 +f 54 44 57 +f 47 55 57 +f 55 54 57 +f 45 53 58 +f 50 45 59 +f 49 55 59 +f 55 50 59 +f 58 49 59 +f 45 58 59 +f 43 44 60 +f 53 43 60 +f 49 58 60 +f 58 53 60 +f 44 54 61 +f 54 49 61 +f 60 44 61 +f 49 60 61 +f 41 46 62 +f 52 41 62 +f 46 56 62 +f 62 56 63 +f 47 52 63 +f 55 47 63 +f 42 55 63 +f 56 42 63 +o convex_2 +v 1.746125 1.561018 0.633522 +v 2.787980 0.519147 -0.288128 +v 2.787980 0.559240 -0.288128 +v 1.104652 0.679520 -0.207930 +v 1.305333 0.519147 0.793804 +v 2.988465 0.639426 0.874002 +v 3.108717 1.601221 -0.167888 +v 1.104652 1.520925 -0.127732 +v 2.988465 1.480832 0.874002 +v 1.104652 1.520925 0.874002 +v 1.104652 0.479054 -0.207930 +v 2.988465 0.519147 -0.047648 +v 1.104652 0.519147 0.753762 +v 1.625874 1.561018 -0.167888 +v 3.108717 1.440739 -0.207930 +v 2.827999 0.599333 0.874002 +v 3.108717 1.601221 0.032550 +v 2.988465 0.519147 -0.288128 +v 1.144867 0.479054 0.393042 +v 1.104652 1.240383 0.874002 +v 1.144867 1.480832 -0.167888 +v 1.665892 0.519147 0.753762 +v 2.266758 1.520925 0.874002 +v 2.547477 1.601221 0.112634 +v 1.505622 1.561018 0.633522 +v 1.665892 0.479054 -0.207930 +v 2.507458 0.599333 0.874002 +f 79 83 90 +f 66 65 67 +f 71 67 73 +f 69 72 73 +f 67 65 74 +f 73 67 74 +f 73 74 76 +f 69 75 78 +f 77 70 78 +f 69 73 79 +f 75 69 79 +f 72 69 80 +f 69 78 80 +f 78 70 80 +f 65 66 81 +f 74 65 81 +f 66 78 81 +f 78 75 81 +f 68 76 82 +f 76 74 82 +f 76 68 83 +f 73 76 83 +f 79 73 83 +f 66 67 84 +f 67 71 84 +f 71 77 84 +f 78 66 84 +f 77 78 84 +f 79 68 85 +f 75 79 85 +f 68 82 85 +f 82 75 85 +f 64 73 86 +f 73 72 86 +f 80 64 86 +f 72 80 86 +f 70 77 87 +f 64 80 87 +f 80 70 87 +f 71 73 88 +f 73 64 88 +f 77 71 88 +f 87 77 88 +f 64 87 88 +f 74 81 89 +f 81 75 89 +f 75 82 89 +f 82 74 89 +f 68 79 90 +f 83 68 90 +o convex_3 +v 1.064571 -1.164338 2.517426 +v 2.988461 -1.124202 1.916230 +v 2.988461 -1.084183 1.916230 +v 3.028480 -0.963951 2.637693 +v 1.064571 -0.723604 2.036497 +v 2.948242 -0.683468 2.597510 +v 1.064571 -0.643332 2.637693 +v 3.028480 -0.683468 1.996455 +v 1.184826 -1.244551 2.076680 +v 2.908024 -1.204415 2.637693 +v 3.068498 -1.164338 2.076680 +v 3.108717 -0.723604 2.597510 +v 1.064571 -1.244551 2.236919 +v 2.467220 -1.204415 2.637693 +v 3.108717 -1.044106 1.916230 +v 1.265264 -0.643332 2.477242 +f 98 95 106 +f 93 92 95 +f 95 91 97 +f 94 96 97 +f 95 92 99 +f 94 97 100 +f 100 99 101 +f 99 92 101 +f 94 100 101 +f 94 101 102 +f 96 94 102 +f 98 96 102 +f 91 95 103 +f 95 99 103 +f 99 100 103 +f 103 100 104 +f 97 91 104 +f 100 97 104 +f 91 103 104 +f 92 93 105 +f 93 95 105 +f 95 98 105 +f 101 92 105 +f 102 101 105 +f 98 102 105 +f 95 97 106 +f 97 96 106 +f 96 98 106 +o convex_4 +v -2.943307 0.559150 -0.328323 +v -2.502633 1.681383 0.833980 +v -2.502633 1.681383 0.793844 +v -1.099819 0.438863 0.753707 +v -1.099819 1.641247 -0.288187 +v -3.023721 0.599286 0.874116 +v -2.943307 1.480824 -0.288187 +v -1.099819 1.641247 0.753707 +v -1.139932 0.599286 -0.127877 +v -2.983608 1.681383 0.874116 +v -2.542557 0.559150 0.874116 +v -2.983608 1.561096 0.032432 +v -1.901696 1.040298 -0.328323 +v -1.099819 0.679437 -0.167896 +v -2.622783 0.519136 -0.167896 +v -1.420532 1.641247 0.793844 +v -1.300383 0.438863 0.553379 +v -2.863271 0.559150 0.713571 +v -2.582482 1.681383 0.874116 +v -1.099819 1.320644 -0.288187 +v -2.983608 1.681383 0.753707 +v -3.023721 1.360658 0.833980 +v -3.023721 0.599286 0.593516 +v -2.382107 0.559150 -0.288187 +v -1.420532 0.478999 0.793844 +v -2.783233 1.520960 -0.288187 +f 111 119 132 +f 109 108 111 +f 110 111 114 +f 111 108 114 +f 108 109 116 +f 116 112 117 +f 113 107 118 +f 107 113 119 +f 111 110 120 +f 110 115 120 +f 110 114 122 +f 115 110 123 +f 121 123 124 +f 112 107 124 +f 110 117 124 +f 117 112 124 +f 107 121 124 +f 123 110 124 +f 114 108 125 +f 108 116 125 +f 116 117 125 +f 122 114 125 +f 117 122 125 +f 119 111 126 +f 111 120 126 +f 120 119 126 +f 109 111 127 +f 116 109 127 +f 111 118 127 +f 127 118 128 +f 112 116 128 +f 116 127 128 +f 107 112 129 +f 118 107 129 +f 128 118 129 +f 112 128 129 +f 107 119 130 +f 120 115 130 +f 119 120 130 +f 121 107 130 +f 115 123 130 +f 123 121 130 +f 117 110 131 +f 110 122 131 +f 122 117 131 +f 113 118 132 +f 118 111 132 +f 119 113 132 +o convex_5 +v 1.064516 2.522663 1.154414 +v -1.099819 0.439836 0.593425 +v -1.099819 0.439836 0.753609 +v 1.024379 -2.046177 1.435082 +v 0.944107 -2.046177 -0.328150 +v -1.099819 4.005270 -0.328150 +v -1.059683 4.126287 1.314771 +v 1.064516 4.085543 -0.328323 +v -0.979411 -1.925161 -0.328150 +v -1.059683 -2.006041 1.435082 +v 0.984243 4.166423 1.394863 +v 1.104652 0.479364 -0.207840 +v -0.979411 0.079218 1.435082 +v -1.099819 0.479364 -0.247886 +v 1.104652 0.720181 1.114541 +v 1.064516 0.159490 1.435082 +v 1.104652 3.404443 -0.328323 +v -0.458503 4.166423 1.354817 +v -1.099819 4.085543 0.313103 +v 0.984243 4.126287 -0.167794 +v 0.182598 -2.046177 -0.127748 +v -1.059683 -2.006041 1.034276 +v 1.024379 -2.046177 0.833874 +v 1.024379 4.166423 0.913966 +v 1.064516 -1.203317 1.274725 +v 0.543392 4.166423 1.394863 +v -0.899354 -1.965297 -0.328150 +v 1.104652 1.801427 0.954012 +v 0.984243 -2.046177 -0.047483 +v 0.102541 -2.046177 1.435082 +v -1.099819 4.045406 -0.247886 +v 1.064516 4.125679 0.232839 +v 1.104652 1.440809 -0.328323 +v -1.059683 4.126287 0.833874 +v -1.099819 1.640882 0.753609 +v 1.024379 3.484716 1.314771 +v -1.059683 0.318819 -0.328150 +f 165 141 169 +f 134 135 138 +f 135 134 142 +f 142 136 145 +f 139 142 145 +f 134 138 146 +f 145 136 148 +f 147 144 149 +f 139 145 150 +f 138 135 151 +f 137 136 153 +f 142 134 154 +f 134 146 154 +f 146 141 154 +f 136 137 155 +f 150 143 156 +f 152 150 156 +f 144 147 157 +f 148 136 157 +f 147 148 157 +f 136 155 157 +f 155 144 157 +f 148 143 158 +f 145 148 158 +f 143 150 158 +f 150 145 158 +f 137 153 159 +f 153 154 159 +f 154 141 159 +f 133 147 160 +f 147 149 160 +f 137 144 161 +f 155 137 161 +f 144 155 161 +f 136 142 162 +f 153 136 162 +f 142 154 162 +f 154 153 162 +f 140 138 163 +f 138 151 163 +f 152 140 163 +f 149 140 164 +f 140 152 164 +f 152 156 164 +f 160 149 164 +f 156 160 164 +f 144 137 165 +f 140 149 165 +f 149 144 165 +f 137 159 165 +f 159 141 165 +f 139 150 166 +f 151 139 166 +f 150 152 166 +f 163 151 166 +f 152 163 166 +f 135 142 167 +f 142 139 167 +f 151 135 167 +f 139 151 167 +f 147 133 168 +f 143 148 168 +f 148 147 168 +f 156 143 168 +f 133 160 168 +f 160 156 168 +f 138 140 169 +f 146 138 169 +f 141 146 169 +f 140 165 169 +o convex_6 +v -1.140277 -0.843817 2.517449 +v -3.023506 -0.803751 1.956311 +v -3.063803 -0.923901 1.996486 +v -1.140277 -1.164389 2.076586 +v -2.943288 -1.164389 2.597612 +v -1.140277 -0.683413 1.996486 +v -2.943288 -0.723526 2.477336 +v -1.140277 -1.124229 2.557436 +v -3.063803 -1.164389 2.116762 +v -3.023506 -0.683413 1.956311 +v -1.140277 -0.683413 2.196862 +v -1.701235 -0.723526 2.477336 +v -1.861670 -1.084210 2.597612 +v -1.140277 -1.164389 2.357061 +v -2.943288 -0.803751 2.517449 +v -2.983397 -0.683413 2.196862 +v -2.342221 -0.763591 1.956311 +f 179 175 186 +f 172 171 173 +f 170 173 175 +f 173 170 177 +f 172 173 178 +f 173 174 178 +f 176 172 178 +f 171 172 179 +f 170 175 180 +f 175 179 180 +f 180 176 181 +f 170 180 181 +f 177 170 182 +f 174 177 182 +f 174 173 183 +f 173 177 183 +f 177 174 183 +f 178 174 184 +f 176 178 184 +f 170 181 184 +f 181 176 184 +f 182 170 184 +f 174 182 184 +f 172 176 185 +f 179 172 185 +f 176 180 185 +f 180 179 185 +f 173 171 186 +f 175 173 186 +f 171 179 186 +o convex_7 +v -1.139900 -1.164259 2.357457 +v 1.064571 0.158294 2.317086 +v 1.064571 0.158294 1.435254 +v 1.024434 -2.046177 1.435254 +v 0.984298 -2.046177 3.318879 +v -1.059628 0.118158 3.238712 +v -0.979356 0.078022 1.435446 +v -1.099764 -2.006041 3.318879 +v -1.059628 -2.006041 1.435446 +v 1.064571 0.118158 3.399238 +v -1.019492 -1.845496 3.359058 +v -1.139900 -0.683704 1.996612 +v 1.064571 -1.204180 2.437047 +v -1.099764 -0.402966 3.278892 +v 0.102596 -2.046177 1.435254 +v 0.423254 0.158294 1.435254 +v 1.024434 -1.364509 3.358866 +v -1.059628 0.118158 2.557393 +v 0.142517 -2.046177 3.318879 +v -0.819026 0.118158 3.278892 +v 1.064571 -0.924089 1.435254 +v -1.019492 0.078022 1.555600 +v -1.099764 -2.006041 2.196932 +v 1.024434 -2.046177 2.397444 +v 1.064571 -0.683704 3.358866 +v 1.024434 -1.645247 3.318879 +v -1.139900 -0.963794 2.557393 +v -1.139900 -1.164259 2.076778 +f 195 209 214 +f 189 188 196 +f 189 196 199 +f 194 197 200 +f 192 198 200 +f 189 190 201 +f 190 191 201 +f 195 193 201 +f 188 189 202 +f 192 188 202 +f 189 201 202 +f 201 193 202 +f 197 191 203 +f 196 197 203 +f 198 192 204 +f 192 202 204 +f 202 193 204 +f 191 197 205 +f 197 194 205 +f 201 191 205 +f 194 201 205 +f 188 192 206 +f 196 188 206 +f 197 196 206 +f 192 200 206 +f 200 197 206 +f 190 189 207 +f 189 199 207 +f 199 190 207 +f 193 195 208 +f 195 198 208 +f 198 204 208 +f 204 193 208 +f 194 187 209 +f 201 194 209 +f 195 201 209 +f 191 190 210 +f 190 199 210 +f 199 196 211 +f 196 203 211 +f 199 211 212 +f 203 191 212 +f 191 210 212 +f 210 199 212 +f 211 203 212 +f 187 194 213 +f 198 187 213 +f 194 200 213 +f 200 198 213 +f 187 198 214 +f 198 195 214 +f 209 187 214 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/905/905.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/905/905.urdf new file mode 100644 index 000000000..84d79c7f8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/905/905.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/906/906.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/906/906.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/906/906.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/906/906.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/906/906.obj new file mode 100644 index 000000000..57820a372 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/906/906.obj @@ -0,0 +1,432 @@ +o convex_0 +v 1.050466 -3.647463 0.957698 +v -1.117734 -2.324639 -1.026680 +v -1.117734 -1.736431 -1.026680 +v -1.007435 -3.353260 1.105013 +v 1.087376 -1.736629 1.068080 +v 0.976862 -3.720865 -1.026471 +v 1.087376 -1.736629 -0.953022 +v -0.970741 -1.736431 0.994631 +v -1.080824 -3.647265 -0.953022 +v -1.007435 -3.757666 1.105013 +v 0.793174 -3.757666 0.957906 +v -1.044130 -3.757666 0.847733 +v 1.050466 -3.721063 0.222789 +v 1.087376 -3.059255 0.994631 +v -0.272470 -1.736431 -1.026680 +v -0.713449 -3.757666 1.105013 +v -1.117734 -1.736431 -0.769400 +v 1.013772 -3.353260 -1.026471 +v 0.646181 -3.720865 -1.026471 +v -1.007435 -2.765250 1.068080 +v 1.087376 -2.067434 -0.953022 +v -1.117734 -2.655444 -0.953022 +v 1.050466 -2.214436 -0.989747 +v 0.829869 -1.736431 1.068080 +v 0.352196 -3.684065 -1.026471 +v -1.080824 -3.647265 -0.328079 +v -1.044130 -3.757666 0.773866 +v 1.087376 -1.883631 1.068080 +v -1.007435 -1.736431 0.663901 +v 1.050466 -3.721063 0.921182 +v 0.940167 -2.949053 -1.026471 +v 1.087376 -3.132855 0.921182 +f 14 30 32 +f 11 10 12 +f 10 4 12 +f 11 6 13 +f 7 5 14 +f 2 3 15 +f 6 2 15 +f 3 8 15 +f 5 4 16 +f 4 10 16 +f 11 1 16 +f 10 11 16 +f 1 14 16 +f 3 2 17 +f 8 3 17 +f 13 6 18 +f 6 15 18 +f 2 6 19 +f 12 4 20 +f 17 12 20 +f 7 14 21 +f 13 18 21 +f 18 7 21 +f 2 9 22 +f 17 2 22 +f 12 17 22 +f 15 7 23 +f 7 18 23 +f 4 5 24 +f 5 7 24 +f 7 15 24 +f 15 8 24 +f 20 4 24 +f 8 20 24 +f 9 2 25 +f 2 19 25 +f 19 9 25 +f 9 12 26 +f 22 9 26 +f 12 22 26 +f 6 11 27 +f 11 12 27 +f 12 9 27 +f 19 6 27 +f 9 19 27 +f 14 5 28 +f 5 16 28 +f 16 14 28 +f 8 17 29 +f 20 8 29 +f 17 20 29 +f 1 11 30 +f 11 13 30 +f 14 1 30 +f 18 15 31 +f 15 23 31 +f 23 18 31 +f 21 14 32 +f 13 21 32 +f 30 13 32 +o convex_1 +v -1.117824 0.137860 0.516758 +v 1.087376 -1.662812 2.354137 +v 1.087376 -1.699519 2.354137 +v 1.013769 -0.670710 -3.084867 +v -0.970609 -1.736430 -2.974261 +v 0.977073 0.248185 3.015956 +v -0.933913 -1.625901 3.015351 +v -1.080912 0.248185 -3.011130 +v 1.013769 0.321598 -3.084867 +v -1.044216 0.284891 3.089693 +v 0.977073 -1.662607 -3.047394 +v -1.117824 -1.736430 -0.768802 +v 1.050464 -1.662607 3.015956 +v -1.117824 0.358509 1.251105 +v 1.087376 -1.736430 -0.952540 +v 0.940161 0.358509 1.067972 +v -1.007520 0.358509 -1.099410 +v -0.970609 -1.736430 1.398579 +v 1.013769 0.358509 -0.401327 +v -1.080912 0.248185 2.868482 +v 1.087376 -1.148305 -0.952540 +v 1.013769 0.064447 2.868482 +v -1.117824 -1.736430 -1.283147 +v 1.087376 -1.736430 1.472316 +v 0.609468 -1.258425 3.052824 +v -1.007520 0.321598 2.685349 +v 0.977073 -1.699314 2.758481 +v 0.205167 0.284891 3.052824 +v -0.970609 -1.331838 2.979087 +v -1.080912 -0.045878 -3.011130 +v 1.087376 -1.699519 -1.320016 +v -0.382613 -1.662607 3.015351 +v 1.050464 -0.229616 -0.878803 +v 0.535860 -1.662607 -3.047394 +v 1.087376 -1.368750 1.434843 +v -1.044216 -0.082585 3.089693 +v 0.535860 0.211478 -3.084867 +v -1.080912 0.358509 1.839187 +v 1.013769 0.358509 -0.952540 +v -1.007520 -1.736430 -2.716786 +v 0.977073 0.284891 2.721613 +v 1.050464 -0.927861 3.015956 +v 0.205167 -1.699314 -3.010525 +v 0.830074 0.321598 -3.084867 +v -0.676611 0.284891 3.089693 +v -0.970609 -1.074687 3.052220 +v -1.044216 -0.229616 3.052220 +v -0.933913 -1.662607 2.794745 +v 1.013769 -1.662607 -2.643050 +v -1.044216 -0.266322 -3.011130 +v -0.198918 0.284891 -3.047998 +v 0.315470 0.248185 3.052824 +v -0.823610 -1.736430 -2.974261 +v -1.117824 0.358509 0.773629 +f 49 40 86 +f 35 34 45 +f 33 44 46 +f 34 35 47 +f 44 37 47 +f 46 48 49 +f 44 47 50 +f 49 48 51 +f 46 44 52 +f 34 47 53 +f 33 40 55 +f 37 44 55 +f 44 33 55 +f 47 35 56 +f 50 47 56 +f 35 45 59 +f 56 35 59 +f 50 56 59 +f 48 58 60 +f 44 39 61 +f 55 40 62 +f 36 41 63 +f 53 47 63 +f 41 53 63 +f 57 39 64 +f 45 57 64 +f 59 45 64 +f 50 59 64 +f 53 41 65 +f 51 54 65 +f 36 43 66 +f 43 37 66 +f 34 53 67 +f 54 34 67 +f 53 65 67 +f 65 54 67 +f 42 52 68 +f 41 36 69 +f 62 40 69 +f 36 66 69 +f 48 46 70 +f 52 42 70 +f 46 52 70 +f 42 58 70 +f 58 48 70 +f 41 49 71 +f 49 51 71 +f 65 41 71 +f 51 65 71 +f 37 55 72 +f 62 37 72 +f 55 62 72 +f 51 48 73 +f 54 51 73 +f 38 54 73 +f 60 38 73 +f 48 60 73 +f 45 34 74 +f 34 54 74 +f 54 38 74 +f 38 57 74 +f 57 45 74 +f 43 47 75 +f 49 41 76 +f 41 69 76 +f 58 42 77 +f 60 58 77 +f 42 68 77 +f 68 57 77 +f 39 57 78 +f 57 68 78 +f 78 68 79 +f 52 44 79 +f 61 39 79 +f 44 61 79 +f 68 52 79 +f 39 78 79 +f 39 44 80 +f 44 50 80 +f 64 39 80 +f 50 64 80 +f 43 36 81 +f 47 43 81 +f 36 63 81 +f 63 47 81 +f 37 62 82 +f 66 37 82 +f 62 69 82 +f 69 66 82 +f 40 49 83 +f 69 40 83 +f 49 76 83 +f 76 69 83 +f 57 38 84 +f 38 60 84 +f 77 57 84 +f 60 77 84 +f 37 43 85 +f 47 37 85 +f 43 75 85 +f 75 47 85 +f 40 33 86 +f 33 46 86 +f 46 49 86 +o convex_2 +v 1.050623 1.681457 0.994606 +v -1.007449 0.358510 -1.100187 +v -1.080891 0.358510 0.149387 +v -1.007449 1.754999 -1.026533 +v 1.013690 0.358510 -0.952878 +v -1.007449 1.754999 1.068260 +v 0.976969 0.358510 1.068260 +v 0.940248 1.754999 -1.026533 +v -1.117824 0.358510 0.994606 +v 1.050623 1.754999 0.553530 +v -1.044170 1.718228 -0.401640 +v 0.976969 1.203703 -1.026533 +v -0.933794 0.762994 -1.100187 +v 1.050623 1.754999 0.957885 +v -0.676535 0.358510 -1.100187 +v 1.050623 1.313880 0.994606 +v -1.044170 1.644686 1.031327 +v 0.976969 0.726223 1.068260 +v 0.499172 0.358510 1.068260 +v 0.976969 1.534371 -1.026533 +v -1.117824 0.505732 0.810789 +v -0.970728 1.424194 -1.063254 +v 1.013690 0.689451 -0.952878 +v 1.013690 0.358510 -0.475082 +v 0.976969 0.652680 -0.989599 +v -1.007449 1.644686 1.068260 +v -0.897073 1.754999 1.068260 +f 92 104 113 +f 88 89 90 +f 89 88 91 +f 89 91 93 +f 90 92 94 +f 89 93 95 +f 94 92 96 +f 90 89 97 +f 92 90 97 +f 87 96 100 +f 96 92 100 +f 91 88 101 +f 88 99 101 +f 99 94 101 +f 87 93 102 +f 96 87 102 +f 91 96 102 +f 95 92 103 +f 92 97 103 +f 93 87 104 +f 92 93 104 +f 93 92 105 +f 95 93 105 +f 94 96 106 +f 91 98 106 +f 98 101 106 +f 101 94 106 +f 89 95 107 +f 97 89 107 +f 95 103 107 +f 103 97 107 +f 88 90 108 +f 90 94 108 +f 99 88 108 +f 94 99 108 +f 96 91 109 +f 91 106 109 +f 106 96 109 +f 93 91 110 +f 102 93 110 +f 91 102 110 +f 98 91 111 +f 91 101 111 +f 101 98 111 +f 92 95 112 +f 105 92 112 +f 95 105 112 +f 87 100 113 +f 100 92 113 +f 104 87 113 +o convex_3 +v 1.087222 3.629491 1.031147 +v -1.117604 4.217238 0.847542 +v -1.117604 4.217238 0.957705 +v -1.007440 1.755391 1.068080 +v 0.940190 1.755136 -1.063433 +v -1.080956 4.290803 -0.952846 +v 1.123871 4.364623 -0.989567 +v -1.007440 1.755391 -1.026500 +v 1.087222 1.791918 0.957705 +v 1.050574 4.254276 1.068080 +v 0.462445 2.747742 -1.063433 +v -1.007440 2.637396 1.104801 +v -1.117604 4.254021 0.957705 +v -0.676727 2.343394 1.104801 +v 1.123871 2.306612 0.847542 +v 1.050574 1.755136 0.957705 +v 1.013706 4.364623 -0.622145 +v 1.087222 3.813146 -1.026500 +v -1.080956 4.290803 0.075765 +v 1.087222 4.291059 0.627004 +v 0.646125 4.364623 -0.989779 +v -0.162114 3.041999 1.105013 +v -1.007440 2.086175 -1.026500 +v 0.977058 4.291059 0.737167 +v 0.903542 3.004961 -1.063433 +v 1.123871 2.490267 0.920984 +v 0.131732 2.233048 -1.063433 +v 0.866674 4.217238 1.068080 +v 1.123871 4.364623 -0.695587 +v 1.123871 4.254276 -0.989567 +v -0.933924 2.086175 1.104801 +v 1.050574 4.143930 1.068080 +v 1.013706 3.886711 -1.026500 +v -1.080956 4.217238 -0.952846 +v -0.382662 3.041999 1.105013 +f 144 135 148 +f 116 115 117 +f 117 115 121 +f 118 117 121 +f 116 117 125 +f 115 116 126 +f 119 115 126 +f 116 125 126 +f 122 118 128 +f 117 118 129 +f 118 122 129 +f 122 127 129 +f 119 126 132 +f 126 130 132 +f 123 114 133 +f 130 120 134 +f 119 132 134 +f 132 130 134 +f 127 122 135 +f 121 119 136 +f 119 124 136 +f 126 123 137 +f 130 126 137 +f 123 133 137 +f 118 124 138 +f 131 118 138 +f 114 122 139 +f 128 120 139 +f 122 128 139 +f 133 114 139 +f 118 121 140 +f 124 118 140 +f 121 136 140 +f 136 124 140 +f 123 126 141 +f 120 130 142 +f 130 137 142 +f 137 133 142 +f 139 120 142 +f 133 139 142 +f 128 118 143 +f 120 128 143 +f 131 120 143 +f 118 131 143 +f 125 117 144 +f 117 129 144 +f 129 127 144 +f 127 135 144 +f 122 114 145 +f 114 123 145 +f 135 122 145 +f 123 135 145 +f 124 119 146 +f 120 131 146 +f 119 134 146 +f 134 120 146 +f 138 124 146 +f 131 138 146 +f 115 119 147 +f 121 115 147 +f 119 121 147 +f 126 125 148 +f 135 123 148 +f 123 141 148 +f 141 126 148 +f 125 144 148 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/906/906.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/906/906.urdf new file mode 100644 index 000000000..b4983e8f0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/906/906.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/907/907.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/907/907.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/907/907.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/907/907.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/907/907.obj new file mode 100644 index 000000000..e2c8ed9ab --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/907/907.obj @@ -0,0 +1,1218 @@ +o convex_0 +v 1.255556 -2.256648 -1.735685 +v 1.443001 -1.582374 -1.848020 +v 1.443001 -1.582374 -1.885443 +v 3.053619 -1.994357 -1.848020 +v 1.255556 -1.994357 -2.185157 +v 1.255556 -1.769753 -1.510884 +v 2.828861 -1.769753 -1.885443 +v 2.828861 -1.994357 -1.660774 +v 2.791372 -2.181670 -1.922866 +v 1.368023 -2.181670 -1.548373 +v 2.641416 -1.919511 -2.072690 +v 1.255556 -1.694841 -2.110179 +v 1.405512 -2.181670 -2.110179 +v 1.293045 -1.582374 -1.623351 +v 2.678729 -1.807176 -1.698262 +v 2.716218 -2.181670 -1.810597 +v 1.255556 -2.256648 -1.922866 +v 2.604103 -2.106758 -2.035267 +v 2.716218 -1.732264 -1.810597 +v 2.491460 -1.769753 -1.997778 +v 1.480314 -1.919511 -1.510884 +v 1.293045 -1.882088 -2.185157 +v 1.255556 -2.219159 -1.585927 +v 3.016130 -1.994357 -1.922866 +v 2.529125 -2.144181 -1.698262 +f 23 16 25 +f 5 1 6 +f 5 6 12 +f 2 3 14 +f 3 12 14 +f 12 6 14 +f 6 8 15 +f 8 4 15 +f 14 6 15 +f 4 8 16 +f 9 4 16 +f 1 9 16 +f 1 5 17 +f 9 1 17 +f 5 13 17 +f 13 9 17 +f 5 11 18 +f 13 5 18 +f 9 13 18 +f 3 2 19 +f 7 3 19 +f 4 7 19 +f 2 14 19 +f 15 4 19 +f 14 15 19 +f 3 7 20 +f 7 11 20 +f 12 3 20 +f 11 12 20 +f 8 6 21 +f 6 10 21 +f 10 8 21 +f 11 5 22 +f 5 12 22 +f 12 11 22 +f 6 1 23 +f 10 6 23 +f 1 16 23 +f 7 4 24 +f 4 9 24 +f 11 7 24 +f 18 11 24 +f 9 18 24 +f 8 10 25 +f 16 8 25 +f 10 23 25 +o convex_1 +v -0.055536 -2.968036 0.737509 +v 1.330215 -1.207778 0.175461 +v 0.955856 -1.207778 1.560463 +v -1.066668 -1.207950 -1.286126 +v -0.804773 -1.994595 2.833834 +v 0.880881 -2.743502 -1.286126 +v 0.768417 -2.706109 2.197365 +v -0.954464 -2.668542 -1.286126 +v -0.018048 -1.207778 2.871045 +v 1.068060 -1.207778 -1.286126 +v -1.328823 -1.207950 0.137818 +v -0.804773 -2.743330 2.084869 +v 0.843393 -1.994595 2.871477 +v -0.018048 -2.743330 2.834267 +v -0.879489 -1.207950 1.935162 +v -0.055536 -2.930643 -1.286126 +v 0.019180 -1.994595 3.134113 +v 0.056667 -2.968036 2.084869 +v -1.029440 -2.106604 2.122079 +v 1.030572 -2.031989 2.122079 +v 0.993344 -2.518623 -1.286126 +v -0.842001 -2.780896 -1.286126 +v 0.618465 -1.395091 2.721771 +v -1.029440 -2.518795 -1.286126 +v -0.579846 -1.432829 2.721771 +v 1.105548 -1.957029 -1.286126 +v -1.066668 -1.545182 1.747813 +v -0.092763 -2.968036 2.084869 +v -1.104156 -2.031816 -1.286126 +v 0.805905 -2.780896 -1.286126 +v -0.542358 -2.593583 2.646485 +v -0.018048 -1.282910 2.946763 +v 0.618465 -2.518795 2.684128 +v 0.805905 -1.207778 2.084869 +v 0.805905 -2.668542 2.122512 +v 1.330215 -1.245344 0.062532 +v 0.730929 -2.743502 2.122512 +v -0.692309 -2.031816 2.909120 +v 0.056667 -2.930643 -1.286126 +v 0.993344 -1.919463 2.309861 +v 0.955856 -2.630976 -1.098343 +v -1.328823 -1.245344 0.100175 +v 0.131643 -1.245516 2.909120 +v -1.066668 -1.207950 1.447967 +v -1.029440 -1.957029 2.196932 +v 0.768417 -1.919636 2.908688 +v 0.056667 -2.968036 1.298260 +v 0.019180 -2.743330 2.834267 +v -0.354918 -2.893249 2.084869 +v -0.804773 -1.245344 2.159722 +v 0.880881 -2.481230 2.122512 +v -0.767025 -2.106604 2.833834 +v -1.029440 -2.518795 -1.210840 +v 0.169131 -2.031989 3.096470 +v 1.330215 -1.245344 0.175461 +v -0.767025 -1.957029 2.871477 +v 0.843393 -1.882242 2.796624 +v 0.094155 -1.844848 3.096470 +v 0.918368 -2.706109 -0.910994 +v -0.916977 -2.443836 2.084869 +v -1.104156 -1.807282 -1.286126 +f 54 67 86 +f 29 31 33 +f 28 27 34 +f 31 29 35 +f 34 27 35 +f 29 34 35 +f 34 29 36 +f 33 31 41 +f 31 35 46 +f 37 33 47 +f 41 26 47 +f 33 41 47 +f 29 33 49 +f 46 35 51 +f 26 43 53 +f 43 39 53 +f 47 26 53 +f 29 49 54 +f 41 31 55 +f 37 39 56 +f 34 50 57 +f 32 38 58 +f 28 34 59 +f 35 27 61 +f 51 35 61 +f 46 51 61 +f 55 31 62 +f 43 55 62 +f 39 42 63 +f 26 41 64 +f 41 55 64 +f 27 28 65 +f 45 27 65 +f 38 45 65 +f 31 46 66 +f 36 29 67 +f 44 36 67 +f 54 49 67 +f 34 57 68 +f 59 34 68 +f 48 59 68 +f 34 36 69 +f 30 40 69 +f 40 34 69 +f 52 30 69 +f 36 52 69 +f 36 44 70 +f 44 30 70 +f 30 52 70 +f 52 36 70 +f 48 68 71 +f 43 26 72 +f 55 43 72 +f 26 64 72 +f 64 55 72 +f 42 39 73 +f 39 43 73 +f 32 58 73 +f 58 38 73 +f 62 32 73 +f 43 62 73 +f 39 37 74 +f 37 47 74 +f 53 39 74 +f 47 53 74 +f 40 30 75 +f 34 40 75 +f 50 34 75 +f 38 32 76 +f 45 38 76 +f 32 60 76 +f 66 45 76 +f 30 44 77 +f 37 56 77 +f 56 39 77 +f 39 63 77 +f 63 30 77 +f 33 37 78 +f 49 33 78 +f 44 67 78 +f 67 49 78 +f 38 71 79 +f 73 38 79 +f 42 73 79 +f 27 45 80 +f 61 27 80 +f 46 61 80 +f 66 46 80 +f 45 66 80 +f 42 57 81 +f 57 50 81 +f 63 42 81 +f 30 63 81 +f 75 30 81 +f 50 75 81 +f 28 59 82 +f 59 48 82 +f 65 28 82 +f 38 65 82 +f 71 38 82 +f 48 71 82 +f 57 42 83 +f 68 57 83 +f 71 68 83 +f 79 71 83 +f 42 79 83 +f 60 32 84 +f 62 31 84 +f 32 62 84 +f 31 66 84 +f 76 60 84 +f 66 76 84 +f 77 44 85 +f 37 77 85 +f 78 37 85 +f 44 78 85 +f 29 54 86 +f 67 29 86 +o convex_2 +v -0.018121 -0.758262 1.485280 +v -1.066727 -1.207777 -1.286126 +v -1.403590 -1.207777 0.062950 +v -2.752099 -0.758262 0.137788 +v 2.079090 -0.758262 -0.574169 +v 0.056855 -1.207777 2.759120 +v 1.442852 -1.207777 0.062554 +v 2.640881 -0.758262 0.175010 +v -0.317496 -0.758262 -1.285334 +v 1.067972 -1.207777 -1.285334 +v -0.879287 -1.207777 1.897882 +v -2.002869 -0.758262 0.961013 +v 0.805557 -1.207777 2.009942 +v 1.742227 -0.758262 0.961013 +v -1.778469 -0.758262 -0.761463 +v -0.018121 -1.170288 2.759120 +v 0.955509 -0.983019 -1.285334 +v -2.752099 -0.795751 0.175010 +v 2.640881 -0.795751 0.100171 +v -0.991751 -0.908174 -1.286126 +v 0.243766 -0.758262 -1.285334 +v -1.928421 -1.057909 0.137788 +v 2.116578 -0.983019 0.175010 +v 0.056855 -1.170288 2.759120 +v -1.441606 -0.758262 1.148308 +v 1.929666 -0.758262 -0.686229 +v -1.066727 -1.207777 1.410837 +v 1.442852 -1.207777 0.175010 +v 2.640881 -0.795751 0.175010 +v -2.115332 -0.795751 0.848953 +v 2.229042 -0.945574 0.100171 +v -2.752099 -0.795751 0.137788 +v 2.079090 -0.795751 -0.574169 +f 96 112 119 +f 90 87 91 +f 89 88 92 +f 92 88 93 +f 91 87 94 +f 90 91 95 +f 93 88 96 +f 89 92 97 +f 87 90 98 +f 92 93 99 +f 94 87 100 +f 90 95 101 +f 97 92 102 +f 98 90 104 +f 91 94 105 +f 96 88 106 +f 88 101 106 +f 101 95 106 +f 103 96 106 +f 103 106 107 +f 95 91 107 +f 106 95 107 +f 88 89 108 +f 92 94 110 +f 100 87 110 +f 94 100 110 +f 102 92 110 +f 87 102 110 +f 87 98 111 +f 98 102 111 +f 102 87 111 +f 96 103 112 +f 103 107 112 +f 107 91 112 +f 89 97 113 +f 97 104 113 +f 108 89 113 +f 104 108 113 +f 99 93 114 +f 109 99 114 +f 94 92 115 +f 92 99 115 +f 105 94 115 +f 99 109 115 +f 97 102 116 +f 102 98 116 +f 104 97 116 +f 98 104 116 +f 93 96 117 +f 96 105 117 +f 114 93 117 +f 109 114 117 +f 105 115 117 +f 115 109 117 +f 101 88 118 +f 90 101 118 +f 104 90 118 +f 88 108 118 +f 108 104 118 +f 91 105 119 +f 105 96 119 +f 112 91 119 +o convex_3 +v -0.092311 -0.158907 1.223630 +v -0.018157 -0.758262 -1.435964 +v -0.018157 -0.720773 -1.435964 +v 2.940492 -0.233826 0.174478 +v 1.292872 -0.758262 1.110878 +v -2.752025 -0.158907 -0.536691 +v -2.827338 -0.758262 0.212154 +v 1.929558 -0.158907 -0.873849 +v 2.716290 -0.758262 0.099676 +v -2.677291 -0.158907 0.923873 +v -1.478653 -0.758262 1.148553 +v 2.678634 -0.158907 0.811395 +v -1.853481 -0.158907 -0.948651 +v -1.928214 -0.758262 -0.723970 +v 2.491510 -0.608306 -0.499015 +v -0.018157 -0.645853 1.373509 +v 1.891901 -0.158907 1.110878 +v -1.965292 -0.158907 1.185954 +v 2.678634 -0.158907 -0.611493 +v 1.929558 -0.758262 0.923873 +v 0.018921 -0.158907 -1.023728 +v -2.976806 -0.158907 0.249555 +v 2.079605 -0.758262 -0.649168 +v -2.152995 -0.758262 0.923873 +v -2.639634 -0.570934 -0.424213 +v 0.056577 -0.758262 1.373509 +v 2.603900 -0.570934 0.624115 +v -2.677291 -0.496015 0.773994 +v 2.791025 -0.720773 0.174478 +v -2.714947 -0.196396 -0.611493 +v -2.827338 -0.758262 0.099676 +v 2.716290 -0.233826 -0.574092 +v -0.167624 -0.758262 1.373509 +v -2.976806 -0.271315 0.099676 +v -2.752025 -0.196396 0.886197 +v 2.940492 -0.158907 0.099676 +v -1.928214 -0.233826 -0.911250 +v 0.018921 -0.758262 -1.435964 +v 2.791025 -0.720773 0.099676 +v 2.640977 -0.271315 0.811395 +v -1.778747 -0.383724 1.185954 +v 2.678634 -0.196396 -0.611493 +v 1.891901 -0.196396 1.110878 +f 139 159 162 +f 121 124 126 +f 125 120 127 +f 124 121 128 +f 120 125 129 +f 126 124 130 +f 127 120 131 +f 122 121 132 +f 125 127 132 +f 121 126 133 +f 131 120 136 +f 120 135 136 +f 120 129 137 +f 135 120 137 +f 127 131 138 +f 124 128 139 +f 127 122 140 +f 122 132 140 +f 132 127 140 +f 129 125 141 +f 128 121 142 +f 126 130 143 +f 130 124 145 +f 136 135 145 +f 126 143 147 +f 123 131 148 +f 139 128 148 +f 146 139 148 +f 125 132 149 +f 133 144 149 +f 149 144 150 +f 133 126 150 +f 144 133 150 +f 134 142 151 +f 135 137 152 +f 130 145 152 +f 145 135 152 +f 141 125 153 +f 126 141 153 +f 125 149 153 +f 149 150 153 +f 150 126 153 +f 137 129 154 +f 141 126 154 +f 129 141 154 +f 126 147 154 +f 147 143 154 +f 131 123 155 +f 138 131 155 +f 151 138 155 +f 132 121 156 +f 121 133 156 +f 149 132 156 +f 133 149 156 +f 121 122 157 +f 122 127 157 +f 142 121 157 +f 128 142 158 +f 142 134 158 +f 123 148 158 +f 148 128 158 +f 134 151 158 +f 155 123 158 +f 151 155 158 +f 139 146 159 +f 148 131 159 +f 146 148 159 +f 143 130 160 +f 130 152 160 +f 152 137 160 +f 137 154 160 +f 154 143 160 +f 127 138 161 +f 138 151 161 +f 151 142 161 +f 157 127 161 +f 142 157 161 +f 131 136 162 +f 124 139 162 +f 145 124 162 +f 136 145 162 +f 159 131 162 +o convex_4 +v -0.018072 -0.046275 1.186211 +v -0.130341 -0.158760 -0.986449 +v -1.891004 -0.158907 -0.948806 +v -0.242610 1.339332 -0.911375 +v 3.016159 0.103461 0.099881 +v -0.879395 1.339332 1.036277 +v -3.014287 0.066063 0.361894 +v 0.918096 1.339332 0.998847 +v -2.789749 0.852287 0.062664 +v 2.678758 -0.158907 0.848913 +v -2.714903 -0.158907 0.923774 +v 2.529067 0.627610 -0.461786 +v 1.967128 -0.158907 -0.873732 +v 2.716181 0.852287 0.137312 +v -2.789749 0.103461 -0.686581 +v 0.880673 1.339332 -0.724011 +v -0.916818 1.339332 -0.799084 +v 2.004550 0.103461 1.148355 +v -2.152965 0.066063 1.186211 +v -2.565211 0.665007 0.774052 +v 0.169042 1.339332 1.148568 +v 2.716181 0.215799 0.886343 +v 2.753604 -0.046422 -0.648938 +v -2.003273 0.889831 -0.724011 +v -2.752326 -0.158907 -0.611507 +v -1.478757 1.301788 0.137312 +v 2.041974 0.103461 -0.873732 +v -2.040696 0.178402 -0.948806 +v 1.817436 -0.158907 1.148355 +v 1.217480 1.339332 0.099881 +v -2.003273 -0.158907 1.186211 +v 2.491643 0.665007 0.736409 +v 2.940719 -0.158907 0.062664 +v -2.827172 0.066063 0.961204 +v -3.052304 -0.046422 0.099881 +v 0.131619 1.339332 -0.911375 +v -2.040696 0.814890 0.961204 +v -2.789749 0.852287 0.174529 +v 1.967128 0.815036 -0.648938 +v -2.602634 0.665007 -0.499216 +v 2.753604 0.141005 -0.611507 +v -0.991664 1.339332 0.998847 +v 1.967128 0.815036 0.923774 +v -3.014287 -0.158907 0.174529 +v -0.242610 1.339332 1.148568 +v 0.018756 -0.046275 -0.986449 +v 2.716181 -0.158907 -0.611507 +v 2.716181 0.815036 0.025233 +v -3.052304 0.103461 0.099881 +v 0.693558 1.339332 -0.799084 +v -2.078118 1.114508 0.099881 +v 2.716181 0.066063 0.923774 +v 0.656135 1.339332 1.073707 +v -1.329065 1.339332 0.062664 +v -0.804549 1.339332 -0.836515 +v 3.016159 0.066063 0.174742 +v -2.078118 0.140858 1.186211 +v -0.991664 1.339332 -0.724224 +v 1.217480 1.339332 0.212172 +v 2.753604 0.777492 0.174742 +v -2.714903 0.028519 -0.724011 +v -0.729703 1.339332 1.073707 +v 0.955519 1.339332 -0.611720 +v -2.714903 0.889831 0.062664 +f 213 220 226 +f 166 168 170 +f 165 172 173 +f 165 164 175 +f 172 165 175 +f 166 170 178 +f 168 166 179 +f 170 168 183 +f 163 180 183 +f 165 173 187 +f 185 175 189 +f 164 165 190 +f 177 186 190 +f 173 172 191 +f 180 163 191 +f 178 170 192 +f 163 181 193 +f 191 163 193 +f 173 191 193 +f 176 170 194 +f 172 175 195 +f 185 167 195 +f 193 181 196 +f 173 193 196 +f 177 187 197 +f 166 178 198 +f 182 196 199 +f 169 196 200 +f 196 182 200 +f 177 171 202 +f 186 177 202 +f 171 186 202 +f 167 185 203 +f 185 189 203 +f 201 174 203 +f 189 201 203 +f 168 179 204 +f 199 168 204 +f 182 199 204 +f 200 182 204 +f 180 184 205 +f 194 170 205 +f 184 194 205 +f 187 173 206 +f 196 169 206 +f 173 196 206 +f 169 197 206 +f 197 187 206 +f 183 168 207 +f 175 164 208 +f 189 175 208 +f 164 190 208 +f 190 166 208 +f 166 198 208 +f 198 189 208 +f 175 185 209 +f 195 175 209 +f 185 195 209 +f 178 176 210 +f 174 201 210 +f 201 178 210 +f 167 203 210 +f 203 174 210 +f 171 177 211 +f 197 169 211 +f 177 197 211 +f 200 171 211 +f 169 200 211 +f 198 178 212 +f 189 198 212 +f 178 201 212 +f 201 189 212 +f 204 188 213 +f 200 204 213 +f 184 180 214 +f 191 172 214 +f 180 191 214 +f 170 183 215 +f 183 180 215 +f 205 170 215 +f 180 205 215 +f 204 179 216 +f 188 204 216 +f 213 188 216 +f 179 166 217 +f 186 179 217 +f 166 190 217 +f 190 186 217 +f 195 167 218 +f 172 195 218 +f 214 172 218 +f 184 214 218 +f 181 163 219 +f 163 183 219 +f 196 181 219 +f 199 196 219 +f 183 207 219 +f 179 186 220 +f 216 179 220 +f 213 216 220 +f 170 176 221 +f 192 170 221 +f 176 192 221 +f 176 194 222 +f 194 184 222 +f 167 210 222 +f 210 176 222 +f 218 167 222 +f 184 218 222 +f 165 187 223 +f 187 177 223 +f 190 165 223 +f 177 190 223 +f 168 199 224 +f 207 168 224 +f 199 219 224 +f 219 207 224 +f 176 178 225 +f 192 176 225 +f 178 192 225 +f 186 171 226 +f 171 200 226 +f 200 213 226 +f 220 186 226 +o convex_5 +v 0.168826 1.339479 1.148751 +v -0.055473 1.863873 -0.948989 +v -0.055473 2.051212 -0.948989 +v -1.291701 1.339479 0.137253 +v -0.729600 2.051212 0.923906 +v 1.218096 1.339479 0.099881 +v 0.768269 2.051212 0.923906 +v -0.804531 1.339479 -0.836463 +v -0.842119 2.051212 -0.611823 +v 0.768269 2.051212 -0.649194 +v 0.880787 1.339479 -0.724143 +v -0.954146 1.339479 0.998854 +v 0.880787 1.339479 0.998854 +v -0.092816 2.051212 1.148751 +v -1.066664 2.013731 0.137253 +v 1.030648 2.013731 0.099881 +v 0.131484 1.339479 -0.911412 +v -0.916803 1.601711 -0.761515 +v -0.916803 1.601711 0.961277 +v 0.131484 1.938697 1.148751 +v -0.242676 1.339479 1.148751 +v 1.180508 1.376960 0.286945 +v -0.991979 1.339479 -0.686771 +v -0.804531 2.013731 -0.724143 +v 0.168826 1.976179 -0.911412 +v -1.291701 1.376960 0.099881 +v 0.993305 2.051212 0.249573 +v -0.954146 2.051212 0.436842 +v 0.918375 1.451993 0.961277 +v 0.918375 1.414512 -0.686566 +v -0.729600 1.414512 1.073803 +v 0.768269 2.013731 -0.686771 +v 0.693584 1.376960 -0.798886 +v -0.280019 1.339479 -0.911412 +v 0.655996 1.376960 1.073803 +v -1.029322 2.051212 -0.012234 +v -1.253867 1.376960 0.249573 +v 1.218096 1.376960 0.099881 +f 256 258 264 +f 227 230 232 +f 229 231 233 +f 229 228 234 +f 232 230 234 +f 231 229 235 +f 229 233 236 +f 232 234 237 +f 230 227 238 +f 227 232 239 +f 233 231 240 +f 237 234 243 +f 229 234 244 +f 233 240 246 +f 240 227 246 +f 238 227 247 +f 227 240 247 +f 239 232 248 +f 234 230 249 +f 244 234 249 +f 235 229 250 +f 229 244 250 +f 244 235 250 +f 228 229 251 +f 243 228 251 +f 235 244 252 +f 249 230 252 +f 244 249 252 +f 236 233 253 +f 242 236 253 +f 233 248 253 +f 231 235 254 +f 245 231 254 +f 233 239 255 +f 239 248 255 +f 248 233 255 +f 232 237 256 +f 240 231 257 +f 245 238 257 +f 231 245 257 +f 238 247 257 +f 247 240 257 +f 229 236 258 +f 236 242 258 +f 251 229 258 +f 256 237 258 +f 237 243 259 +f 243 251 259 +f 251 258 259 +f 258 237 259 +f 234 228 260 +f 228 243 260 +f 243 234 260 +f 227 239 261 +f 239 233 261 +f 246 227 261 +f 233 246 261 +f 252 241 262 +f 235 252 262 +f 254 235 262 +f 241 254 262 +f 230 238 263 +f 238 245 263 +f 252 230 263 +f 241 252 263 +f 254 241 263 +f 245 254 263 +f 248 232 264 +f 242 253 264 +f 253 248 264 +f 232 256 264 +f 258 242 264 +o convex_6 +v 0.131708 4.073637 -0.911412 +v 0.056759 4.073637 1.148751 +v -0.017984 4.073637 1.148751 +v 0.056759 2.051212 1.148751 +v -1.029483 2.051509 0.025343 +v 0.993309 2.051212 -0.012234 +v -0.804637 4.860333 0.062510 +v 0.806040 4.785495 0.211996 +v -0.767060 2.051509 -0.724143 +v -0.767060 4.073934 0.886329 +v 0.768463 2.088929 -0.686566 +v 0.806040 4.036218 0.886329 +v -0.804637 4.186192 -0.686566 +v 0.843412 4.073637 -0.611617 +v 0.056759 4.860333 -0.649194 +v 0.056759 4.822914 0.886329 +v -0.767060 2.051509 0.886329 +v 0.768463 2.051212 0.923906 +v 1.068257 4.036218 0.137048 +v -0.055356 2.051212 -0.948989 +v -1.029483 4.073934 0.211996 +v 0.056759 5.085146 0.174625 +v -0.280202 4.111353 -0.874040 +v -1.029483 4.111353 -0.049605 +v -0.505048 4.673237 0.736431 +v 0.618566 4.635521 -0.461720 +v 1.030680 2.164064 0.137048 +v -0.092933 4.860333 -0.649194 +v 0.768463 4.073637 -0.686566 +v -0.804637 4.860333 0.174625 +v -0.842009 3.475225 -0.649194 +v 0.618566 4.560682 0.736637 +v -0.617368 4.673237 -0.499297 +v -0.505048 2.051509 0.998854 +v -1.029483 2.051509 0.174625 +v 0.056759 3.362670 -0.948989 +v -0.055356 4.785495 0.923906 +v 0.768463 4.823211 0.099881 +v -0.804637 2.051509 0.848957 +v 1.030680 2.950464 -0.012234 +v 0.806040 2.800786 -0.686566 +v -0.092933 5.085146 0.174625 +v 0.768463 4.036218 0.923906 +v 0.244028 2.051212 -0.874040 +v -0.055356 2.051212 1.148751 +v 0.806040 2.088929 0.848752 +v -0.654740 4.111353 -0.761515 +v -0.055356 4.036218 1.148751 +v 0.731091 3.325251 -0.724143 +v 0.843412 4.710360 0.099881 +v -0.055356 3.661728 -0.948989 +v -0.804637 2.051509 -0.686566 +v -0.017984 4.186192 -0.911412 +v -0.692111 4.073934 0.923906 +v 0.019387 5.047430 -0.087182 +v 1.030680 3.474928 0.249573 +v 0.056759 4.785495 0.923906 +v 0.768463 4.823211 0.211996 +v 0.431297 4.036218 1.036226 +v -0.055356 4.822914 0.886329 +v -0.804637 4.073934 0.811380 +v 1.068257 4.036218 0.099881 +v -0.617368 4.560682 0.736431 +v 0.918360 4.036218 0.586534 +f 310 320 328 +f 266 267 268 +f 268 270 282 +f 270 268 284 +f 271 277 288 +f 269 285 288 +f 282 270 291 +f 265 279 293 +f 290 278 293 +f 279 290 293 +f 271 288 294 +f 288 285 294 +f 277 273 295 +f 269 288 295 +f 288 277 295 +f 276 272 296 +f 277 271 297 +f 271 292 297 +f 292 277 297 +f 269 284 299 +f 285 269 299 +f 267 266 301 +f 290 279 302 +f 281 274 303 +f 285 299 303 +f 291 270 304 +f 270 275 305 +f 293 278 305 +f 304 270 305 +f 278 304 305 +f 280 286 306 +f 271 294 306 +f 282 276 307 +f 276 296 307 +f 275 270 308 +f 270 284 308 +f 284 300 308 +f 268 267 309 +f 284 268 309 +f 298 281 309 +f 299 284 309 +f 281 303 309 +f 303 299 309 +f 276 282 310 +f 282 291 310 +f 273 277 311 +f 284 273 311 +f 277 292 311 +f 292 287 311 +f 267 301 312 +f 309 267 312 +f 298 309 312 +f 265 293 313 +f 300 265 313 +f 305 275 313 +f 293 305 313 +f 275 308 313 +f 308 300 313 +f 272 283 314 +f 278 290 314 +f 302 272 314 +f 290 302 314 +f 300 284 315 +f 265 300 315 +f 284 311 315 +f 311 287 315 +f 284 269 316 +f 273 284 316 +f 269 295 316 +f 295 273 316 +f 279 265 317 +f 292 279 317 +f 287 292 317 +f 265 315 317 +f 315 287 317 +f 274 281 318 +f 281 298 318 +f 301 274 318 +f 298 312 318 +f 312 301 318 +f 292 271 319 +f 279 292 319 +f 302 279 319 +f 286 302 319 +f 306 286 319 +f 271 306 319 +f 291 283 320 +f 310 291 320 +f 296 280 321 +f 301 266 321 +f 280 301 321 +f 307 296 321 +f 286 280 322 +f 296 272 322 +f 280 296 322 +f 272 302 322 +f 302 286 322 +f 266 268 323 +f 268 282 323 +f 282 307 323 +f 321 266 323 +f 307 321 323 +f 294 289 324 +f 301 280 324 +f 289 301 324 +f 280 306 324 +f 306 294 324 +f 274 294 325 +f 294 285 325 +f 303 274 325 +f 285 303 325 +f 283 291 326 +f 304 278 326 +f 291 304 326 +f 314 283 326 +f 278 314 326 +f 294 274 327 +f 289 294 327 +f 274 301 327 +f 301 289 327 +f 272 276 328 +f 283 272 328 +f 276 310 328 +f 320 283 328 +o convex_7 +v -1.291873 -1.844643 -1.473424 +v -1.404398 -2.031831 -2.260077 +v -1.404398 -1.956970 -2.260077 +v -3.052132 -1.956970 -1.885385 +v -1.291873 -2.331493 -1.773116 +v -1.291873 -1.582520 -1.997731 +v -2.714899 -2.219092 -1.848116 +v -2.789859 -1.732315 -1.960385 +v -1.329439 -1.582520 -1.623347 +v -2.789859 -2.031831 -2.110231 +v -1.291873 -2.256559 -2.147654 +v -2.714899 -1.919577 -1.698193 +v -1.479186 -2.256559 -1.585847 +v -1.441792 -1.694848 -2.185076 +v -2.640112 -1.732315 -1.810693 +v -2.452799 -1.807176 -2.110231 +v -1.329439 -1.994364 -1.473424 +v -2.677506 -2.106765 -1.735770 +v -1.479186 -2.256559 -2.147654 +v -1.516752 -2.331493 -1.922808 +v -2.565152 -2.181625 -2.035308 +v -1.291873 -1.769709 -2.222577 +v -1.329439 -1.657381 -1.548347 +v -1.516752 -1.582520 -1.922808 +v -2.752465 -1.732315 -1.997731 +v -1.291873 -2.219092 -1.548347 +f 345 341 354 +f 329 333 334 +f 329 334 337 +f 331 330 338 +f 335 332 338 +f 334 333 339 +f 335 333 341 +f 336 332 343 +f 337 336 343 +f 332 340 343 +f 331 338 344 +f 329 340 345 +f 341 345 346 +f 332 335 346 +f 340 332 346 +f 335 341 346 +f 345 340 346 +f 338 330 347 +f 330 339 347 +f 347 339 348 +f 333 335 348 +f 339 333 348 +f 348 335 349 +f 335 338 349 +f 338 347 349 +f 347 348 349 +f 330 331 350 +f 339 330 350 +f 334 339 350 +f 342 334 350 +f 331 344 350 +f 344 342 350 +f 329 337 351 +f 340 329 351 +f 337 343 351 +f 343 340 351 +f 337 334 352 +f 336 337 352 +f 332 336 353 +f 338 332 353 +f 334 342 353 +f 344 338 353 +f 342 344 353 +f 352 334 353 +f 336 352 353 +f 333 329 354 +f 341 333 354 +f 329 345 354 +o convex_8 +v 0.094131 -2.930708 -1.773346 +v 0.094131 -0.758262 -1.286433 +v 0.206583 -0.758474 -1.286433 +v 0.056730 -1.844485 -2.859431 +v -1.291700 -2.031618 -1.436110 +v 0.993250 -2.556017 -1.286433 +v 1.255556 -1.881699 -2.184959 +v -0.804490 -1.170593 -2.522041 +v -0.804490 -2.630870 -2.522041 +v 0.805746 -2.593656 -2.559614 +v 0.768345 -1.245446 -2.559614 +v -0.841891 -2.780789 -1.286433 +v 1.030651 -1.058100 -1.286433 +v -1.066796 -1.020674 -1.286433 +v -1.291700 -2.031618 -2.259952 +v -0.804490 -1.881912 -2.784284 +v 0.019079 -1.133166 -2.634453 +v 0.768345 -1.881699 -2.784284 +v 0.843147 -2.781002 -1.286433 +v 1.255556 -2.218964 -1.548522 +v -0.018072 -2.668509 -2.634453 +v -0.804490 -2.855642 -1.885604 +v -1.291700 -2.331244 -1.960597 +v -1.291700 -1.545072 -1.923178 +v -0.018072 -0.758262 -1.548522 +v 0.805746 -2.818429 -1.923178 +v 1.255556 -1.545072 -1.885604 +v 0.056730 -2.930708 -1.286433 +v 0.805746 -1.020674 -1.923178 +v -0.954344 -0.908394 -1.398691 +v 1.255556 -2.256603 -1.923178 +v 1.255556 -1.881699 -1.436110 +v -0.767089 -0.945820 -1.923178 +v -0.991745 -2.630870 -1.286433 +v 0.056730 -1.994192 -2.859431 +v 0.056730 -2.743362 -2.484622 +v -1.291700 -1.732418 -2.222378 +v -0.804490 -1.245446 -2.597034 +v -0.804490 -2.069045 -2.746865 +v -0.055473 -2.930708 -1.885604 +v -1.291700 -1.582711 -1.548522 +v -0.280378 -0.758262 -1.286433 +v -1.291700 -2.293818 -1.548522 +v 0.955600 -0.983247 -1.361272 +v -1.141598 -2.031618 -1.286433 +v 1.255556 -2.106684 -2.147540 +v 0.805746 -2.031618 -2.746865 +v -0.542434 -2.668509 -2.559614 +v 1.105453 -2.069045 -1.286433 +v 1.255556 -1.582711 -1.548522 +v -1.291700 -2.293818 -2.110120 +v 0.805746 -1.282873 -2.559614 +v -0.092874 -1.844485 -2.859431 +v -0.055473 -2.930708 -1.286433 +v 0.805746 -1.208019 -2.447202 +v 1.255556 -1.657564 -2.072855 +v -0.841891 -2.818216 -1.511103 +v -1.066796 -1.058313 -1.473684 +v 0.918199 -2.705936 -1.286433 +v 0.693543 -2.631083 -2.559614 +v -0.167926 -1.956765 -2.859431 +f 370 407 415 +f 357 356 360 +f 360 356 366 +f 357 360 367 +f 366 356 368 +f 371 365 372 +f 358 371 372 +f 360 366 373 +f 359 369 377 +f 369 359 378 +f 356 357 379 +f 374 361 381 +f 373 366 382 +f 355 380 382 +f 380 373 382 +f 379 357 383 +f 371 379 383 +f 361 374 385 +f 380 364 385 +f 360 374 386 +f 374 381 386 +f 371 362 387 +f 379 371 387 +f 362 384 387 +f 366 368 388 +f 358 372 389 +f 364 375 389 +f 370 369 391 +f 378 362 391 +f 369 378 391 +f 362 371 392 +f 391 362 392 +f 370 391 392 +f 363 369 393 +f 369 370 393 +f 380 355 394 +f 355 382 394 +f 390 380 394 +f 359 368 395 +f 368 378 395 +f 378 359 395 +f 368 356 396 +f 356 379 396 +f 384 368 396 +f 379 387 396 +f 387 384 396 +f 359 377 397 +f 388 359 397 +f 377 388 397 +f 357 367 398 +f 367 381 398 +f 383 357 398 +f 368 359 399 +f 359 388 399 +f 388 368 399 +f 361 385 400 +f 385 364 400 +f 372 361 401 +f 389 372 401 +f 364 389 401 +f 400 364 401 +f 361 400 401 +f 376 363 402 +f 375 390 402 +f 363 393 402 +f 393 375 402 +f 394 376 402 +f 390 394 402 +f 367 360 403 +f 360 386 403 +f 386 367 403 +f 381 367 404 +f 367 386 404 +f 386 381 404 +f 369 363 405 +f 363 376 405 +f 377 369 405 +f 376 377 405 +f 361 372 406 +f 372 365 406 +f 371 358 407 +f 358 389 407 +f 370 392 407 +f 392 371 407 +f 382 366 408 +f 376 394 408 +f 394 382 408 +f 365 371 409 +f 371 383 409 +f 398 381 409 +f 383 398 409 +f 406 365 409 +f 406 409 410 +f 381 361 410 +f 361 406 410 +f 409 381 410 +f 377 376 411 +f 366 388 411 +f 388 377 411 +f 408 366 411 +f 376 408 411 +f 362 378 412 +f 378 368 412 +f 368 384 412 +f 384 362 412 +f 360 373 413 +f 374 360 413 +f 373 380 413 +f 385 374 413 +f 380 385 413 +f 375 364 414 +f 364 380 414 +f 390 375 414 +f 380 390 414 +f 389 375 415 +f 393 370 415 +f 375 393 415 +f 407 389 415 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/907/907.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/907/907.urdf new file mode 100644 index 000000000..b887860f2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/907/907.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/908/908.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/908/908.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/908/908.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/908/908.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/908/908.obj new file mode 100644 index 000000000..f8b91d138 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/908/908.obj @@ -0,0 +1,504 @@ +o convex_0 +v -2.289969 -1.327469 2.758642 +v -1.754729 -1.611008 2.160357 +v -1.723271 -1.611008 2.160357 +v -2.164007 -0.981268 0.586358 +v -1.817710 -1.012729 3.042078 +v -1.628832 -1.107177 0.586358 +v -2.132484 -1.485034 0.586358 +v -2.258446 -0.949677 2.979255 +v -2.038046 -1.579417 3.010667 +v -1.691748 -1.547956 0.586358 +v -1.754729 -1.611008 3.010667 +v -2.289969 -1.516495 2.979255 +v -2.195465 -1.012729 0.618014 +v -1.723271 -1.044190 2.380970 +v -2.258446 -1.516495 2.223424 +v -1.628832 -1.138638 0.964274 +v -2.069504 -1.516495 0.618014 +v -1.786252 -1.044190 3.073977 +v -2.258446 -0.949677 2.380970 +v -1.912214 -1.611008 2.947599 +v -1.754729 -1.233216 3.042078 +v -1.628832 -1.264677 0.618014 +v -2.132484 -0.981268 0.586358 +v -2.164007 -1.485034 0.775316 +v -2.195465 -0.949677 2.412382 +f 23 19 25 +f 4 6 7 +f 3 2 10 +f 7 6 10 +f 2 3 11 +f 8 1 12 +f 4 7 13 +f 12 1 15 +f 1 13 15 +f 6 14 16 +f 10 2 17 +f 7 10 17 +f 5 8 18 +f 9 11 18 +f 8 12 18 +f 12 9 18 +f 14 5 18 +f 1 8 19 +f 4 13 19 +f 13 1 19 +f 2 11 20 +f 11 9 20 +f 9 12 20 +f 12 15 20 +f 17 2 20 +f 15 17 20 +f 11 16 21 +f 16 14 21 +f 18 11 21 +f 14 18 21 +f 3 10 22 +f 10 6 22 +f 11 3 22 +f 6 16 22 +f 16 11 22 +f 6 4 23 +f 5 14 23 +f 14 6 23 +f 4 19 23 +f 13 7 24 +f 15 13 24 +f 7 17 24 +f 17 15 24 +f 8 5 25 +f 19 8 25 +f 5 23 25 +o convex_1 +v -0.274433 2.986392 1.058494 +v -1.061848 -2.398306 0.806521 +v -1.030156 -2.335150 0.050604 +v 1.079402 -2.366121 -0.452928 +v -0.998676 3.742448 -1.051466 +v 1.047923 3.774026 -0.956666 +v 0.984964 -2.303571 1.058494 +v -0.967197 -2.240415 -1.019866 +v 0.953484 3.805604 0.995501 +v -1.030156 3.647106 1.058494 +v 1.079402 -2.398306 -1.051259 +v 1.111095 -0.728910 0.491349 +v -1.061848 -2.398306 0.932507 +v -1.061848 -0.823038 -0.578707 +v -0.526482 3.774026 -1.051466 +v -1.030156 3.742448 -0.452721 +v 0.544037 -2.271386 1.058494 +v -0.998676 -0.004432 -1.051466 +v 1.111095 -0.949350 -0.515921 +v 1.016443 3.805604 0.081997 +v 0.984964 -0.382157 1.058494 +v 1.111095 -1.736377 0.522949 +v -1.030156 2.765344 1.058494 +v 1.079402 -1.515937 -1.051259 +v -1.061848 -1.767956 -0.547314 +v 0.134802 -2.334542 -1.051466 +v -1.030156 3.742448 -0.925479 +v 0.984964 3.364116 0.932301 +v -1.061848 -1.232340 0.963901 +v 1.079402 -2.398306 -0.673300 +v -0.872758 3.679291 1.058494 +v -0.117035 -2.366728 0.995501 +v 1.079402 1.348574 -0.988266 +v 1.047923 3.774026 -0.641907 +v -0.841278 3.774026 -1.019866 +v 1.111095 -1.894269 -0.578914 +v 0.859045 3.805604 0.995501 +v 0.984964 3.805604 0.806315 +v 0.890525 -2.398306 -1.051466 +v -0.998676 -2.240415 -0.862486 +v 1.016443 -2.335150 0.585942 +v -0.998676 -1.169184 -1.019866 +v -0.778319 -2.398306 0.932507 +v -0.526482 3.647713 1.058494 +v -1.061848 -0.949350 0.963901 +v 1.079402 0.279165 -1.019866 +v -0.715360 -2.366121 0.963901 +f 38 57 72 +f 32 26 35 +f 27 36 38 +f 27 38 39 +f 39 35 41 +f 32 35 42 +f 30 40 43 +f 31 37 44 +f 31 40 45 +f 26 32 46 +f 34 26 46 +f 37 46 47 +f 44 37 47 +f 46 32 47 +f 42 35 48 +f 27 39 50 +f 28 33 51 +f 33 43 51 +f 43 40 51 +f 39 41 52 +f 43 39 52 +f 30 43 52 +f 34 46 53 +f 46 37 53 +f 39 38 54 +f 48 35 54 +f 38 36 55 +f 47 29 55 +f 35 26 56 +f 41 35 56 +f 32 42 57 +f 31 44 58 +f 37 31 59 +f 31 45 59 +f 45 37 59 +f 40 30 60 +f 45 40 60 +f 30 52 60 +f 52 41 60 +f 44 47 61 +f 36 49 61 +f 55 36 61 +f 47 55 61 +f 58 44 61 +f 34 45 62 +f 56 34 62 +f 41 56 62 +f 60 41 62 +f 45 60 62 +f 37 45 63 +f 45 34 63 +f 53 37 63 +f 34 53 63 +f 27 28 64 +f 36 27 64 +f 40 49 64 +f 49 36 64 +f 28 51 64 +f 51 40 64 +f 28 27 65 +f 33 28 65 +f 27 50 65 +f 29 47 66 +f 47 32 66 +f 55 29 66 +f 32 57 66 +f 57 55 66 +f 43 33 67 +f 39 43 67 +f 50 39 67 +f 33 65 67 +f 65 50 67 +f 38 55 68 +f 57 38 68 +f 55 57 68 +f 26 34 69 +f 56 26 69 +f 34 56 69 +f 35 39 70 +f 54 35 70 +f 39 54 70 +f 40 31 71 +f 49 40 71 +f 31 58 71 +f 61 49 71 +f 58 61 71 +f 42 48 72 +f 54 38 72 +f 48 54 72 +f 57 42 72 +o convex_2 +v -2.289969 -0.981234 -2.405366 +v -1.628832 -1.610912 -0.610579 +v -1.628832 -1.642435 -0.610579 +v -1.691748 -1.453493 -3.066782 +v -2.289969 -1.547931 -3.098441 +v -2.289969 -1.516473 -0.610579 +v -1.754729 -1.044215 -0.610579 +v -1.786252 -1.044215 -3.066782 +v -2.289969 -1.012757 -0.705067 +v -2.289969 -0.981234 -3.098441 +v -1.691748 -1.579454 -2.751903 +v -2.069504 -1.610912 -2.122145 +v -1.754729 -1.075737 -3.066782 +v -1.849233 -1.012757 -0.799798 +v -2.289969 -1.547931 -0.831213 +v -1.817710 -1.642435 -0.705067 +v -2.164007 -0.981234 -3.098441 +v -2.289969 -1.044215 -0.610579 +v -2.258446 -1.579454 -2.972051 +v -1.691748 -1.547931 -3.066782 +v -1.660290 -1.642435 -1.209166 +f 84 91 93 +f 74 75 76 +f 75 74 78 +f 73 77 78 +f 78 74 79 +f 73 78 81 +f 77 73 82 +f 74 76 85 +f 79 74 85 +f 80 79 85 +f 79 80 86 +f 73 81 86 +f 81 79 86 +f 78 77 87 +f 87 84 88 +f 75 78 88 +f 78 87 88 +f 82 73 89 +f 77 82 89 +f 85 76 89 +f 80 85 89 +f 86 80 89 +f 73 86 89 +f 78 79 90 +f 81 78 90 +f 79 81 90 +f 87 77 91 +f 84 87 91 +f 76 75 92 +f 75 83 92 +f 89 76 92 +f 77 89 92 +f 91 77 92 +f 83 91 92 +f 83 75 93 +f 88 84 93 +f 75 88 93 +f 91 83 93 +o convex_3 +v -1.628925 -1.264794 0.586115 +v -2.289996 -1.516372 -0.610579 +v -2.289996 -1.044178 -0.610579 +v -3.045840 -0.918333 0.586115 +v -1.062042 -0.823784 -0.578951 +v -1.062042 -1.799910 0.491584 +v -2.982723 -1.831427 0.586115 +v -1.124965 -1.799910 -0.547441 +v -3.045840 -1.862943 -0.453026 +v -1.062042 -0.855300 0.460073 +v -2.888340 -0.823784 -0.453026 +v -3.045840 -0.729234 0.586115 +v -2.888340 -0.855300 -0.547558 +v -1.062042 -1.673844 -0.578951 +v -1.534347 -1.673844 -0.610579 +v -2.762301 -0.729234 0.397052 +v -2.415841 -1.831427 0.586115 +v -2.982723 -1.359011 -0.516047 +v -1.124965 -1.107211 -0.610579 +v -1.628925 -1.107322 0.586115 +v -1.408309 -0.792267 -0.295591 +v -3.045840 -0.729234 0.460073 +v -3.045840 -1.862943 -0.232571 +v -1.408309 -0.823784 0.491584 +v -1.187887 -1.799910 0.523094 +v -2.730840 -0.855300 -0.579068 +v -2.856685 -1.862943 -0.421516 +v -1.062042 -0.823784 -0.012232 +v -1.691847 -1.547999 0.586115 +v -1.786425 -0.823784 -0.579068 +f 119 104 123 +f 94 97 100 +f 99 98 103 +f 97 94 105 +f 102 97 105 +f 98 99 107 +f 99 101 107 +f 107 101 108 +f 95 96 108 +f 102 95 108 +f 101 102 108 +f 94 100 110 +f 95 102 111 +f 96 98 112 +f 98 107 112 +f 107 108 112 +f 108 96 112 +f 105 94 113 +f 102 105 115 +f 104 106 115 +f 109 104 115 +f 105 109 115 +f 111 102 115 +f 106 111 115 +f 100 97 116 +f 97 102 116 +f 110 100 116 +f 109 105 117 +f 113 103 117 +f 105 113 117 +f 99 103 118 +f 110 99 118 +f 113 94 118 +f 103 113 118 +f 96 95 119 +f 106 104 119 +f 95 111 119 +f 111 106 119 +f 101 99 120 +f 102 101 120 +f 99 110 120 +f 116 102 120 +f 110 116 120 +f 103 98 121 +f 98 114 121 +f 114 109 121 +f 109 117 121 +f 117 103 121 +f 94 110 122 +f 118 94 122 +f 110 118 122 +f 98 96 123 +f 104 109 123 +f 114 98 123 +f 109 114 123 +f 96 119 123 +o convex_4 +v 1.520663 -1.862811 -0.200989 +v 3.063447 -0.697973 -0.390095 +v 3.031881 -0.823885 0.302684 +v 1.111095 -0.729246 0.491562 +v 3.031881 -1.768288 0.586115 +v 1.111095 -0.823885 -0.484534 +v 3.000512 -1.862928 -0.452940 +v 1.111095 -1.736898 0.523041 +v 1.111095 -1.894435 -0.579087 +v 3.063447 -0.697973 -0.547493 +v 3.031881 -0.918291 0.459968 +v 3.126578 -1.642376 -0.201103 +v 3.126578 -0.981188 0.208131 +v 2.370575 -0.729246 -0.547493 +v 1.803967 -0.760871 0.491562 +v 2.465075 -1.768288 0.586115 +v 3.031881 -0.981188 -0.547493 +v 3.031881 -1.610985 0.586115 +v 1.111095 -1.768288 0.491562 +v 1.268727 -1.547853 -0.579087 +v 3.126578 -1.547853 0.365529 +v 3.126578 -1.107218 -0.358501 +v 3.000512 -1.862928 -0.327022 +v 2.181574 -1.170233 -0.579087 +v 1.142858 -0.918291 -0.516013 +v 1.111095 -0.729246 0.365644 +v 2.968946 -1.799796 0.365529 +v 2.748577 -0.697973 -0.547493 +v 2.685445 -1.831303 -0.484534 +f 132 140 152 +f 127 129 131 +f 131 129 132 +f 125 126 136 +f 133 125 136 +f 126 134 136 +f 126 125 138 +f 125 127 138 +f 134 126 138 +f 127 131 139 +f 133 130 140 +f 138 127 141 +f 134 138 141 +f 139 128 141 +f 127 139 141 +f 131 132 142 +f 132 124 142 +f 124 139 142 +f 139 131 142 +f 128 135 144 +f 136 134 144 +f 135 136 144 +f 134 141 144 +f 141 128 144 +f 130 133 145 +f 135 130 145 +f 133 136 145 +f 136 135 145 +f 124 132 146 +f 132 130 146 +f 135 128 146 +f 130 135 146 +f 140 132 147 +f 133 140 147 +f 132 143 147 +f 143 137 147 +f 132 129 148 +f 129 137 148 +f 143 132 148 +f 137 143 148 +f 129 127 149 +f 139 124 150 +f 128 139 150 +f 124 146 150 +f 146 128 150 +f 127 125 151 +f 125 133 151 +f 137 129 151 +f 133 147 151 +f 147 137 151 +f 149 127 151 +f 129 149 151 +f 130 132 152 +f 140 130 152 +o convex_5 +v 4.449203 -1.673991 -0.264106 +v 3.662027 -0.949748 0.208175 +v 3.662027 -0.949748 0.176707 +v 5.016094 -0.981295 0.271177 +v 3.126578 -1.516467 0.334179 +v 3.126578 -1.044248 -0.358643 +v 4.984282 -1.044248 -0.264106 +v 5.016094 -1.579420 0.302644 +v 3.126578 -1.642373 -0.201171 +v 4.952839 -1.673991 -0.295641 +v 3.126578 -0.949748 0.208175 +v 3.126578 -1.642373 -0.075166 +v 4.952839 -1.012772 -0.201171 +v 4.984282 -1.170225 -0.295641 +v 3.158391 -1.421967 0.334179 +v 4.606416 -1.673991 -0.295641 +v 3.977008 -1.547944 0.334179 +v 5.016094 -1.610897 0.176707 +v 3.126578 -0.981295 -0.075166 +v 3.126578 -1.107201 -0.358643 +v 5.016094 -0.981295 0.082238 +v 3.473187 -1.547944 0.334179 +f 164 170 174 +f 155 154 156 +f 157 158 161 +f 154 155 163 +f 156 154 163 +f 158 157 163 +f 157 161 164 +f 161 153 164 +f 159 158 165 +f 158 159 166 +f 156 163 167 +f 163 157 167 +f 153 161 168 +f 162 153 168 +f 160 156 169 +f 156 167 169 +f 167 157 169 +f 156 160 170 +f 153 162 170 +f 164 153 170 +f 162 166 170 +f 163 155 171 +f 158 163 171 +f 155 165 171 +f 165 158 171 +f 161 158 172 +f 158 166 172 +f 166 162 172 +f 168 161 172 +f 162 168 172 +f 155 156 173 +f 165 155 173 +f 159 165 173 +f 166 159 173 +f 156 170 173 +f 170 166 173 +f 157 164 174 +f 160 169 174 +f 169 157 174 +f 170 160 174 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/908/908.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/908/908.urdf new file mode 100644 index 000000000..54f4758ff --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/908/908.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/909/909.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/909/909.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/909/909.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/909/909.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/909/909.obj new file mode 100644 index 000000000..dc362783d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/909/909.obj @@ -0,0 +1,714 @@ +o convex_0 +v -2.798049 -1.776861 -0.341022 +v -2.939754 -2.733264 0.367879 +v -2.975212 -2.733264 0.367879 +v -2.479249 -0.465189 0.226044 +v -2.372872 -2.839797 -0.199186 +v -3.010803 -0.465189 0.190654 +v -2.408397 -0.465189 -0.270104 +v -2.975212 -2.768935 -0.341022 +v -2.408331 -2.875228 0.332421 +v -2.868901 -0.465189 -0.270104 +v -2.337545 -0.465189 0.226044 +v -3.010737 -2.910899 0.226044 +v -2.833508 -2.804366 -0.341022 +v -3.010803 -0.465189 0.084208 +v -2.479249 -0.748878 -0.305563 +v -2.975212 -2.272659 -0.341022 +v -3.010737 -2.839797 -0.092879 +v -2.372938 -0.465189 -0.199186 +v -3.010737 -2.910899 0.367879 +v -2.372872 -2.875228 -0.021961 +v -2.372872 -1.883155 0.296962 +v -2.372872 -2.024640 -0.234645 +f 18 11 22 +f 3 2 4 +f 3 4 6 +f 6 4 7 +f 6 7 10 +f 4 2 11 +f 7 4 11 +f 8 1 13 +f 6 10 14 +f 12 6 14 +f 10 7 15 +f 1 10 15 +f 13 1 15 +f 1 8 16 +f 10 1 16 +f 14 10 16 +f 14 16 17 +f 8 13 17 +f 13 12 17 +f 12 14 17 +f 16 8 17 +f 7 11 18 +f 2 3 19 +f 3 6 19 +f 9 2 19 +f 6 12 19 +f 19 12 20 +f 5 11 20 +f 13 5 20 +f 12 13 20 +f 9 19 20 +f 2 9 21 +f 11 2 21 +f 20 11 21 +f 9 20 21 +f 11 5 22 +f 5 13 22 +f 15 7 22 +f 13 15 22 +f 7 18 22 +o convex_1 +v -0.990435 -1.599490 1.644068 +v -0.317045 -1.953823 1.502441 +v -0.317045 -2.060158 1.502441 +v -0.494291 -1.634935 3.025958 +v -0.919444 -2.131048 2.955047 +v -0.848585 -2.060158 1.076781 +v -0.423432 -1.528600 1.076781 +v -0.387969 -2.060158 2.955047 +v -0.919444 -1.634935 3.061510 +v -0.317045 -2.095603 1.076781 +v -0.990435 -1.564045 1.076781 +v -0.387969 -1.634935 2.990599 +v -0.919444 -2.131048 2.387953 +v -0.529753 -2.131048 1.714979 +v -0.423432 -2.095603 2.955047 +v -0.529753 -1.528600 1.325066 +v -0.387969 -1.564045 1.076781 +v -0.954907 -1.634935 2.990599 +v -0.990435 -1.634935 1.076781 +v -0.813123 -1.776716 3.061510 +v -0.636074 -2.095603 1.076781 +f 36 35 43 +f 24 25 32 +f 28 29 32 +f 25 30 32 +f 29 28 33 +f 25 24 34 +f 30 25 34 +f 26 30 34 +f 27 35 36 +f 32 30 37 +f 27 36 37 +f 36 32 37 +f 31 26 38 +f 29 33 38 +f 34 29 38 +f 26 34 38 +f 24 32 39 +f 32 29 39 +f 34 24 39 +f 29 34 39 +f 23 27 40 +f 27 31 40 +f 33 23 40 +f 31 38 40 +f 38 33 40 +f 27 23 41 +f 23 33 41 +f 33 28 41 +f 35 27 41 +f 28 35 41 +f 30 26 42 +f 31 27 42 +f 26 31 42 +f 37 30 42 +f 27 37 42 +f 28 32 43 +f 35 28 43 +f 32 36 43 +o convex_2 +v -3.010682 2.299178 -0.270024 +v -2.372855 3.185157 0.332434 +v -2.372855 3.185157 0.155105 +v -2.408321 0.740033 -0.057427 +v -3.010744 0.740033 0.296903 +v -2.904346 3.149688 0.261371 +v -2.479190 3.256341 -0.341022 +v -2.975278 0.740033 -0.341022 +v -2.408321 0.810970 0.261371 +v -2.443787 0.740033 -0.305556 +v -3.010682 3.149688 -0.199158 +v -2.975278 0.846439 0.332434 +v -2.372855 2.440807 0.332434 +v -2.514657 0.740033 -0.341022 +v -2.585526 3.043529 0.332434 +v -2.443787 3.220626 -0.270024 +v -2.372855 1.272063 0.225971 +v -2.975216 1.839070 0.296903 +v -2.550060 3.220626 -0.341022 +v -3.010744 0.740033 -0.021895 +v -3.010682 3.149688 -0.128226 +v -2.975216 1.272063 -0.341022 +v -2.443787 0.740033 0.261371 +f 52 55 66 +f 45 46 50 +f 49 45 50 +f 47 48 51 +f 46 47 53 +f 47 51 53 +f 55 52 56 +f 46 45 56 +f 45 55 56 +f 51 50 57 +f 50 53 57 +f 53 51 57 +f 45 49 58 +f 55 45 58 +f 50 46 59 +f 46 53 59 +f 53 50 59 +f 47 46 60 +f 52 47 60 +f 56 52 60 +f 46 56 60 +f 48 55 61 +f 58 49 61 +f 55 58 61 +f 50 51 62 +f 44 54 62 +f 54 50 62 +f 44 51 63 +f 51 48 63 +f 54 44 63 +f 48 54 63 +f 49 50 64 +f 54 48 64 +f 50 54 64 +f 48 61 64 +f 61 49 64 +f 51 44 65 +f 44 62 65 +f 62 51 65 +f 48 47 66 +f 47 52 66 +f 55 48 66 +o convex_3 +v 0.462792 1.271726 0.934889 +v -0.919438 3.079102 -1.049923 +v -0.919438 3.149901 -1.049923 +v -1.699336 1.200926 0.970303 +v -1.521981 3.185302 0.970303 +v -1.592880 1.200926 -0.978891 +v 0.285436 3.185499 -1.049718 +v 0.427236 1.200728 -0.978891 +v 0.285436 3.221097 0.934889 +v -1.628225 3.114699 -1.014304 +v -1.238381 1.200926 1.041336 +v 0.108081 1.200728 -1.049718 +v -1.628225 2.901904 0.970303 +v 0.462792 1.200728 0.934889 +v 0.462792 1.307126 -0.943477 +v -1.628225 1.980714 -1.014304 +v 0.214537 3.221097 -0.447069 +v -1.415525 1.945314 1.041336 +v -1.628225 1.200926 -0.872649 +v 0.320992 2.901904 -1.014304 +v -0.565150 3.221097 0.934685 +v -1.592880 3.149901 0.970303 +v -1.699336 1.413524 0.934889 +v -1.557325 2.760107 1.005717 +v -0.246207 3.185499 -1.014304 +v -0.848538 3.185302 0.970303 +v 0.356336 2.476709 0.934889 +v -1.628225 1.200926 1.005717 +v -1.699336 1.200926 0.864062 +f 89 76 95 +f 68 69 73 +f 69 68 76 +f 71 69 76 +f 68 73 78 +f 73 74 78 +f 67 77 80 +f 70 78 80 +f 78 74 80 +f 74 73 81 +f 67 80 81 +f 80 74 81 +f 76 68 82 +f 68 78 82 +f 78 72 82 +f 75 73 83 +f 77 75 84 +f 72 78 85 +f 82 72 85 +f 73 75 86 +f 81 73 86 +f 71 75 87 +f 83 71 87 +f 75 83 87 +f 71 76 88 +f 76 79 88 +f 70 79 89 +f 79 76 89 +f 71 88 90 +f 88 79 90 +f 69 71 91 +f 73 69 91 +f 71 83 91 +f 83 73 91 +f 75 71 92 +f 84 75 92 +f 71 90 92 +f 90 84 92 +f 77 67 93 +f 75 77 93 +f 67 81 93 +f 86 75 93 +f 81 86 93 +f 79 70 94 +f 70 80 94 +f 80 77 94 +f 77 84 94 +f 90 79 94 +f 84 90 94 +f 78 70 95 +f 76 82 95 +f 85 78 95 +f 82 85 95 +f 70 89 95 +o convex_4 +v -0.352542 -1.564066 -1.971658 +v -0.954990 -2.237442 -1.298295 +v -0.919486 -2.237442 -1.298295 +v -0.494263 -2.166462 -3.070097 +v -0.954990 -1.634977 -3.070097 +v -0.884041 -1.634977 -1.085368 +v -0.352542 -2.060165 -1.085368 +v -0.352542 -1.528610 -3.034545 +v -0.954990 -2.201918 -2.999187 +v -0.387928 -1.634977 -1.085368 +v -0.387928 -2.166462 -2.857365 +v -0.884041 -2.237442 -1.085368 +v -0.529708 -1.528610 -2.892723 +v -0.919486 -1.634977 -1.404564 +v -0.352542 -2.095551 -1.298295 +v -0.954990 -2.131007 -1.085368 +v -0.671370 -2.201918 -3.034545 +v -0.352542 -1.741274 -3.034545 +f 110 106 113 +f 99 100 103 +f 96 102 103 +f 100 99 104 +f 97 100 104 +f 96 101 105 +f 102 96 105 +f 101 102 105 +f 97 98 107 +f 102 101 107 +f 101 96 108 +f 103 100 108 +f 96 103 108 +f 108 100 109 +f 101 108 109 +f 103 102 110 +f 102 107 110 +f 107 106 110 +f 100 97 111 +f 97 107 111 +f 107 101 111 +f 109 100 111 +f 101 109 111 +f 98 97 112 +f 97 104 112 +f 104 99 112 +f 99 106 112 +f 107 98 112 +f 106 107 112 +f 99 103 113 +f 106 99 113 +f 103 110 113 +o convex_5 +v -1.592921 -1.067755 -0.943567 +v 0.356477 -2.520836 0.970112 +v 0.356477 -2.910899 0.970112 +v -1.734781 -1.067755 1.005669 +v -1.628335 -2.910899 -0.908011 +v 0.356477 -1.067755 -0.943355 +v 0.356477 -2.875356 -1.085368 +v -1.663749 -2.839995 1.005669 +v 0.356477 -1.067755 0.934768 +v -0.565101 -1.067755 1.076781 +v -0.884030 -1.634987 -1.085368 +v -0.317000 -2.095593 1.076781 +v -0.954858 -2.237221 -1.085368 +v -0.175344 -1.067755 -1.014256 +v -1.663749 -2.875356 0.757622 +v -1.628335 -1.457818 -0.943567 +v -0.671547 -2.910899 -1.014256 +v -0.990476 -1.634987 1.076781 +v -1.663749 -2.875356 -0.199217 +v -0.388032 -1.634987 -1.085368 +v -1.592921 -2.839995 -0.943567 +v -1.628335 -2.910899 -0.376363 +v 0.356477 -2.910899 0.013061 +v -1.380233 -2.875356 1.005669 +v 0.356477 -1.316010 -0.978911 +v -1.734781 -1.245286 0.970112 +v -0.068898 -2.910899 0.970112 +v -1.380233 -1.067755 -0.978700 +v -0.636133 -2.875356 1.005669 +v -1.628335 -1.067755 -0.766210 +v -0.848616 -2.060051 1.076781 +f 121 137 144 +f 115 116 119 +f 114 117 119 +f 119 116 120 +f 115 119 122 +f 119 117 122 +f 122 117 123 +f 116 115 125 +f 115 122 125 +f 122 123 125 +f 114 124 126 +f 124 120 126 +f 114 119 127 +f 114 126 129 +f 116 118 130 +f 126 120 130 +f 117 121 131 +f 123 117 131 +f 125 123 131 +f 118 128 132 +f 120 124 133 +f 124 127 133 +f 118 129 134 +f 129 126 134 +f 130 118 134 +f 126 130 134 +f 118 116 135 +f 128 118 135 +f 120 116 136 +f 116 130 136 +f 130 120 136 +f 121 128 137 +f 128 135 137 +f 119 120 138 +f 127 119 138 +f 120 133 138 +f 133 127 138 +f 121 117 139 +f 128 121 139 +f 117 129 139 +f 129 118 139 +f 118 132 139 +f 132 128 139 +f 135 116 140 +f 116 137 140 +f 137 135 140 +f 124 114 141 +f 114 127 141 +f 127 124 141 +f 116 125 142 +f 137 116 142 +f 125 137 142 +f 117 114 143 +f 114 129 143 +f 129 117 143 +f 131 121 144 +f 125 131 144 +f 137 125 144 +o convex_6 +v -3.683958 -0.394292 0.190463 +v -1.734975 0.739943 0.580435 +v -1.734975 0.739943 -0.518150 +v -1.734781 -0.429682 0.438575 +v -3.648600 0.704435 0.474069 +v -3.613047 -0.394292 -0.482771 +v -3.648600 0.739943 -0.589137 +v -1.734975 -0.358667 -0.482656 +v -3.719511 -0.358785 0.544942 +v -2.408532 -0.465189 -0.270038 +v -3.081506 -0.465189 0.225957 +v -2.904326 0.066598 0.580550 +v -1.734975 -0.394292 0.474069 +v -3.613047 0.633538 0.509448 +v -1.734975 0.031208 -0.518150 +v -3.648600 0.243545 -0.553644 +v -1.734975 0.456354 0.580435 +v -2.089530 0.739943 0.580550 +v -3.719511 -0.110704 0.544942 +v -1.770528 -0.394292 -0.447277 +v -3.152417 -0.358785 0.544942 +v -2.089530 -0.465189 0.296830 +v -2.231352 0.739943 -0.553644 +v -3.010595 0.739943 0.296830 +v -3.719511 -0.358785 0.367703 +v -3.542136 -0.394292 0.509448 +v -2.833415 -0.465189 -0.270038 +v -3.577689 0.633538 -0.589137 +f 167 159 172 +f 147 146 148 +f 146 147 151 +f 145 150 155 +f 147 148 159 +f 148 152 159 +f 152 150 160 +f 148 146 161 +f 157 148 161 +f 146 151 162 +f 149 158 162 +f 158 156 162 +f 161 146 162 +f 156 161 162 +f 149 151 163 +f 153 156 163 +f 158 149 163 +f 156 158 163 +f 150 152 164 +f 152 148 164 +f 154 150 164 +f 156 153 165 +f 148 157 165 +f 161 156 165 +f 157 161 165 +f 155 154 166 +f 164 148 166 +f 154 164 166 +f 151 147 167 +f 147 159 167 +f 151 149 168 +f 162 151 168 +f 149 162 168 +f 150 145 169 +f 145 153 169 +f 160 150 169 +f 151 160 169 +f 163 151 169 +f 153 163 169 +f 153 145 170 +f 145 155 170 +f 148 165 170 +f 165 153 170 +f 166 148 170 +f 155 166 170 +f 150 154 171 +f 155 150 171 +f 154 155 171 +f 159 152 172 +f 152 160 172 +f 160 151 172 +f 151 167 172 +o convex_7 +v 0.498039 1.200728 -0.659864 +v -1.734563 -1.067755 0.970213 +v -1.628332 -1.067755 -0.766109 +v -1.628332 1.200728 -0.872566 +v 0.356398 -1.067755 -0.943466 +v 0.462629 1.200728 0.934657 +v 0.498039 -0.819501 0.934657 +v -1.628332 1.200728 1.005558 +v 0.108307 1.200728 -1.049711 +v -0.529736 -1.067755 1.076670 +v -1.274009 -1.067755 -0.979022 +v -1.734563 0.810805 -0.588964 +v 0.498039 -0.819501 -0.943466 +v -1.628332 1.129672 -0.979022 +v -0.317055 -0.925864 -1.049923 +v -0.565146 -0.642304 1.112226 +v 0.356398 -1.067755 0.934657 +v -1.699152 1.200728 0.970213 +v 0.498039 1.094365 -0.943466 +v -1.451061 1.200728 1.041325 +v -1.734563 -0.358521 -0.482507 +v -1.663742 -0.394272 1.041325 +v -1.592921 -1.067755 -0.943255 +v 0.498039 1.058837 0.934657 +v -1.734563 0.101571 1.005558 +v 0.498039 -0.961393 0.686823 +v -0.706788 -0.890336 1.112226 +v -1.202970 1.200728 1.041325 +v -1.734563 -1.067755 1.005558 +v -1.734563 0.739748 0.580366 +v -0.210824 -0.819501 -1.049923 +v -1.592921 0.491494 -0.979022 +v -0.140003 -1.067755 -1.014367 +v 0.001857 1.094365 -1.049923 +v 0.391808 1.200728 -0.978811 +v -1.592921 1.200728 -0.979022 +f 206 186 208 +f 174 175 177 +f 173 176 178 +f 178 176 180 +f 176 173 181 +f 174 177 182 +f 177 175 183 +f 173 179 185 +f 184 176 186 +f 182 179 188 +f 182 177 189 +f 179 182 189 +f 180 176 190 +f 176 184 190 +f 173 185 191 +f 178 180 192 +f 175 174 193 +f 174 184 193 +f 192 180 194 +f 183 175 195 +f 184 186 195 +f 175 193 195 +f 193 184 195 +f 173 178 196 +f 179 173 196 +f 178 188 196 +f 188 179 196 +f 184 174 197 +f 180 190 197 +f 194 180 197 +f 185 179 198 +f 177 185 198 +f 189 177 198 +f 179 189 198 +f 182 188 199 +f 188 192 199 +f 192 194 199 +f 188 178 200 +f 178 192 200 +f 192 188 200 +f 174 182 201 +f 197 174 201 +f 194 197 201 +f 182 199 201 +f 199 194 201 +f 190 184 202 +f 184 197 202 +f 197 190 202 +f 185 177 203 +f 181 185 203 +f 187 183 204 +f 186 187 204 +f 183 195 204 +f 195 186 204 +f 177 183 205 +f 183 187 205 +f 203 177 205 +f 187 203 205 +f 187 186 206 +f 181 203 206 +f 203 187 206 +f 181 173 207 +f 185 181 207 +f 173 191 207 +f 191 185 207 +f 176 181 208 +f 186 176 208 +f 181 206 208 +o convex_8 +v 3.581595 0.739769 -1.085368 +v 1.207425 1.200728 -0.659788 +v 1.207425 1.200728 -0.730616 +v 0.498723 -0.961420 0.438655 +v 4.396774 1.094060 1.005890 +v 4.361664 -0.890520 -0.978922 +v 4.290679 -0.890520 0.970272 +v 0.498723 1.058716 0.934653 +v 0.498723 -0.819408 -0.943303 +v 4.290679 1.129828 -1.085368 +v 0.498723 1.094060 -0.943303 +v 0.498723 -0.819408 0.934653 +v 0.498723 1.165172 0.580515 +v 3.049973 0.456167 1.005890 +v 1.810031 -0.961420 0.757584 +v 4.326171 -0.606918 1.005890 +v 4.361664 -0.145958 -1.049749 +v 2.801908 -0.890308 -0.978922 +v 4.396774 -0.748719 -0.766234 +v 0.498723 1.200728 -0.057343 +v 0.888375 1.058716 -0.978717 +v 4.326171 1.129828 -0.978922 +v 1.561966 1.094272 0.970067 +v 3.510611 -0.925864 0.899444 +v 0.959360 -0.854752 -0.943303 +v 4.255187 -0.819408 -1.014336 +v 4.396774 1.023371 0.509483 +v 0.604818 -0.961420 0.721966 +v 2.235176 -0.854964 0.970067 +v 4.396774 0.668869 1.005890 +v 0.498723 1.200728 -0.695202 +v 3.652580 1.129616 -1.085368 +v 4.326171 -0.890520 0.793203 +v 3.049973 1.094060 1.005890 +v 1.561966 -0.252203 0.970067 +v 1.171932 -0.429349 -0.978717 +v 4.326171 1.129828 -0.730820 +v 4.290679 0.491511 -1.085368 +v 4.396774 -0.677607 -0.837062 +f 230 235 247 +f 212 216 217 +f 217 216 219 +f 216 212 220 +f 219 216 221 +f 212 214 223 +f 213 222 224 +f 214 212 226 +f 210 211 228 +f 213 210 228 +f 221 213 228 +f 219 221 228 +f 217 219 229 +f 211 210 230 +f 218 211 230 +f 225 218 230 +f 216 220 231 +f 221 216 231 +f 223 214 232 +f 212 217 233 +f 226 212 233 +f 217 226 233 +f 225 214 234 +f 214 226 234 +f 226 217 234 +f 213 227 235 +f 230 213 235 +f 220 212 236 +f 212 223 236 +f 223 232 236 +f 236 232 237 +f 215 224 237 +f 224 222 237 +f 232 215 237 +f 220 236 237 +f 213 224 238 +f 227 213 238 +f 228 211 239 +f 219 228 239 +f 218 209 240 +f 211 218 240 +f 209 229 240 +f 229 219 240 +f 239 211 240 +f 219 239 240 +f 224 215 241 +f 214 227 241 +f 232 214 241 +f 215 232 241 +f 238 224 241 +f 227 238 241 +f 213 221 242 +f 222 213 242 +f 221 231 242 +f 231 222 242 +f 231 220 243 +f 222 231 243 +f 220 237 243 +f 237 222 243 +f 229 209 244 +f 217 229 244 +f 234 217 244 +f 210 213 245 +f 230 210 245 +f 213 230 245 +f 209 218 246 +f 218 225 246 +f 225 234 246 +f 244 209 246 +f 234 244 246 +f 214 225 247 +f 227 214 247 +f 225 230 247 +f 235 227 247 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/909/909.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/909/909.urdf new file mode 100644 index 000000000..73ad07e33 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/909/909.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/910/910.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/910/910.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/910/910.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/910/910.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/910/910.obj new file mode 100644 index 000000000..a4ccaba15 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/910/910.obj @@ -0,0 +1,603 @@ +o convex_0 +v -0.999184 -1.059808 -3.344931 +v 1.053991 0.423256 -1.367492 +v 1.092204 -0.223282 -1.367492 +v -1.113393 -1.668266 -1.367492 +v 0.977995 -1.591901 -3.230729 +v -1.113393 0.346891 -3.306799 +v 0.977995 0.423256 -3.268667 +v -0.999184 0.346891 -1.367492 +v 1.053991 -1.630186 -1.367492 +v -0.961186 -1.515947 -3.344931 +v 0.939997 0.384971 -3.306799 +v 1.092204 -1.592106 -1.633835 +v -1.075179 -1.668266 -1.747844 +v -1.037181 0.346891 -1.519633 +v 1.015993 0.423256 -2.888316 +v -0.542995 -1.515947 -3.344931 +v 0.711795 0.423256 -1.443756 +v -0.961186 -1.554026 -3.192791 +v -0.124588 -1.668266 -1.405624 +v 0.787790 -1.515947 -3.268667 +v -1.113393 -1.668266 -1.557765 +v -1.113393 -1.401912 -1.367492 +v 1.015993 -1.591901 -2.850378 +v -0.770981 -0.755375 -3.344931 +v -1.113393 0.233061 -3.306799 +v -1.113393 0.346891 -3.154659 +v 1.053991 0.423256 -2.090063 +v -0.162585 0.384971 -3.306799 +v 0.977995 -1.097683 -3.268667 +v 1.092204 -1.592106 -1.367492 +v -0.276794 -0.907489 -3.344931 +f 29 16 31 +f 3 2 4 +f 4 2 8 +f 3 4 9 +f 7 2 15 +f 10 1 16 +f 5 10 16 +f 2 7 17 +f 8 2 17 +f 14 8 17 +f 10 5 18 +f 5 13 18 +f 9 4 19 +f 5 9 19 +f 4 13 19 +f 13 5 19 +f 5 16 20 +f 4 6 21 +f 13 4 21 +f 10 18 21 +f 18 13 21 +f 6 4 22 +f 4 8 22 +f 8 14 22 +f 9 5 23 +f 12 9 23 +f 15 12 23 +f 1 6 24 +f 16 1 24 +f 6 1 25 +f 1 10 25 +f 21 6 25 +f 10 21 25 +f 17 6 26 +f 14 17 26 +f 6 22 26 +f 22 14 26 +f 2 3 27 +f 3 12 27 +f 15 2 27 +f 12 15 27 +f 7 11 28 +f 17 7 28 +f 6 17 28 +f 24 6 28 +f 11 24 28 +f 11 7 29 +f 7 15 29 +f 5 20 29 +f 20 16 29 +f 23 5 29 +f 15 23 29 +f 3 9 30 +f 12 3 30 +f 9 12 30 +f 24 11 31 +f 16 24 31 +f 11 29 31 +o convex_1 +v 1.016038 0.422988 -1.367277 +v -1.113378 -3.569083 0.343589 +v -1.075165 -3.607490 -0.454642 +v -1.037171 2.171955 -1.215099 +v 1.016038 2.172528 0.723709 +v 1.130239 -3.531249 0.685718 +v -0.961183 2.172528 0.761699 +v 0.978044 -3.683732 -1.253089 +v -1.113378 -1.667633 -1.367277 +v 1.092026 2.171955 -1.253089 +v -1.037171 -1.591965 0.837896 +v -1.037171 -3.644751 -1.215099 +v 1.054032 0.498656 0.837896 +v -1.113378 -3.530676 0.685718 +v 1.092026 -1.895784 -1.367277 +v -0.999177 0.346173 -1.367277 +v 1.092026 -1.629799 0.837896 +v -0.999177 1.373426 0.799690 +v 1.092026 2.020045 -0.302681 +v -1.037171 2.134120 -0.606820 +v 0.673873 2.096287 -1.291080 +v -0.999177 0.499229 0.837896 +v 0.711867 -3.683732 -0.986940 +v -1.113378 -3.112781 0.685718 +v -1.113378 -1.287572 -1.253089 +v -0.466823 -3.683732 -1.177109 +v -0.999177 2.134120 0.533541 +v 0.141299 2.172528 0.761699 +v -0.923189 1.639984 0.799690 +v 1.092026 1.145275 0.153420 +v 1.130239 -3.340932 0.457560 +v 1.092026 -3.569083 0.381579 +v -1.113378 -2.086101 -1.291080 +v 1.016038 -3.569083 -0.948950 +v 1.092026 -0.033888 -1.367277 +v -1.037171 -3.644751 -0.720791 +v -1.113378 -3.569083 0.381579 +v 1.054032 1.183109 0.723709 +v -1.113378 -1.591965 -0.796772 +v -0.162432 2.172528 -1.253089 +v -0.961183 -3.226856 -1.253089 +v 1.092026 2.171955 -0.416652 +v 0.978044 -1.934191 -1.367277 +v 0.863843 -3.683732 -1.253089 +v -0.846981 -1.629799 0.837896 +v -1.113378 -1.325406 -1.367277 +v 1.130239 -3.378766 0.685718 +v 1.092026 1.677819 -1.291080 +v -1.037171 -0.755602 0.837896 +f 49 55 80 +f 40 33 45 +f 40 32 46 +f 32 40 47 +f 44 42 48 +f 32 47 52 +f 42 44 53 +f 40 45 55 +f 45 42 55 +f 51 35 56 +f 40 55 56 +f 39 54 57 +f 38 35 58 +f 49 38 58 +f 35 51 58 +f 55 49 58 +f 51 55 58 +f 36 38 59 +f 44 36 59 +f 38 49 60 +f 53 44 60 +f 49 53 60 +f 59 38 60 +f 44 59 60 +f 39 37 63 +f 54 39 63 +f 34 33 64 +f 33 40 64 +f 43 34 64 +f 40 43 64 +f 37 39 65 +f 39 46 65 +f 62 37 65 +f 46 62 65 +f 46 32 66 +f 62 46 66 +f 34 43 67 +f 43 57 67 +f 67 57 68 +f 33 34 68 +f 45 33 68 +f 37 45 68 +f 57 54 68 +f 63 37 68 +f 54 63 68 +f 34 67 68 +f 36 44 69 +f 44 48 69 +f 50 36 69 +f 48 61 69 +f 61 50 69 +f 55 51 70 +f 51 56 70 +f 56 55 70 +f 35 38 71 +f 38 36 71 +f 36 41 71 +f 47 35 71 +f 41 52 71 +f 52 47 71 +f 43 40 72 +f 41 36 73 +f 36 50 73 +f 62 41 73 +f 46 39 74 +f 40 46 74 +f 57 43 75 +f 39 57 75 +f 72 40 75 +f 43 72 75 +f 74 39 75 +f 40 74 75 +f 45 37 76 +f 42 45 76 +f 37 48 76 +f 48 42 76 +f 35 47 77 +f 47 40 77 +f 56 35 77 +f 40 56 77 +f 48 37 78 +f 61 48 78 +f 50 61 78 +f 37 62 78 +f 73 50 78 +f 62 73 78 +f 32 52 79 +f 52 41 79 +f 41 62 79 +f 66 32 79 +f 62 66 79 +f 42 53 80 +f 53 49 80 +f 55 42 80 +o convex_2 +v -0.694890 4.149568 -1.367277 +v 0.673840 4.416160 0.838112 +v -0.162547 4.416160 0.838112 +v 0.141497 2.172963 0.761908 +v 1.130224 2.324925 -1.253078 +v -1.037338 2.172963 -1.177090 +v 0.939905 4.377730 -1.329282 +v -0.999146 4.416160 0.837680 +v -0.961167 2.172963 0.761692 +v 1.015863 2.172963 0.723914 +v 1.092033 4.377950 0.837896 +v -0.961167 4.339740 -1.367277 +v 1.092033 2.172744 -1.253078 +v 0.369583 4.416160 -0.758722 +v -0.124568 2.172963 -1.253294 +v 1.092033 2.971203 -1.291288 +v -0.961167 3.883415 0.837680 +v -0.999146 2.172963 0.495517 +v -1.037338 2.971423 -0.644740 +v 1.092033 2.515098 -1.291288 +v 1.092033 4.149787 0.837896 +v 0.977884 4.225769 -1.329282 +v -0.999146 2.172963 -1.215084 +v 1.092033 2.172744 -0.416559 +v 1.092033 4.377950 0.609715 +v -0.961167 4.416160 0.267336 +v -0.162547 4.377730 -1.329282 +v -0.656911 2.857232 0.799686 +v -1.037338 2.172963 -0.644740 +v -0.961167 4.187778 -1.367277 +v -1.037338 2.705270 -1.215084 +v 0.977884 3.883415 -1.329282 +v 1.130224 2.553088 -1.253078 +v 1.016075 2.667060 0.761908 +v -0.923188 4.377730 -0.758722 +v 0.711819 4.035596 0.838112 +v 1.130224 2.362916 -1.139096 +f 113 91 117 +f 83 82 88 +f 87 81 92 +f 82 87 94 +f 88 82 94 +f 83 88 97 +f 88 89 97 +f 89 88 98 +f 88 92 99 +f 85 93 100 +f 93 95 100 +f 96 85 100 +f 81 87 102 +f 96 100 102 +f 93 86 103 +f 95 93 103 +f 84 89 104 +f 90 84 104 +f 86 93 104 +f 93 85 104 +f 89 98 104 +f 101 90 104 +f 87 82 105 +f 82 91 105 +f 102 87 105 +f 96 102 105 +f 92 88 106 +f 88 94 106 +f 87 92 107 +f 94 87 107 +f 89 84 108 +f 97 89 108 +f 98 88 109 +f 99 86 109 +f 88 99 109 +f 86 104 109 +f 104 98 109 +f 92 81 110 +f 81 100 110 +f 100 95 110 +f 95 103 110 +f 110 103 111 +f 86 99 111 +f 99 92 111 +f 103 86 111 +f 92 110 111 +f 100 81 112 +f 81 102 112 +f 102 100 112 +f 85 96 113 +f 105 91 113 +f 96 105 113 +f 84 90 114 +f 101 84 114 +f 90 101 114 +f 92 106 115 +f 106 94 115 +f 94 107 115 +f 107 92 115 +f 82 83 116 +f 91 82 116 +f 83 97 116 +f 84 101 116 +f 101 91 116 +f 108 84 116 +f 97 108 116 +f 91 101 117 +f 104 85 117 +f 101 104 117 +f 85 113 117 +o convex_3 +v 0.597852 -1.934772 2.169080 +v -0.619033 -2.124936 1.484761 +v -0.619033 -2.124936 1.560876 +v 0.331509 -3.607390 2.130844 +v 0.483620 -3.569318 1.104306 +v -0.542918 -3.683732 2.206959 +v 0.559616 -1.668463 1.142422 +v -0.580916 -1.668463 2.245076 +v -0.542918 -3.531245 1.104306 +v -0.619033 -1.668463 1.294533 +v 0.597852 -1.668463 2.321191 +v 0.483620 -3.569318 2.169080 +v 0.521737 -3.227061 1.104306 +v -0.580916 -2.694838 2.245076 +v 0.331509 -1.668463 1.142422 +v -0.580916 -3.379153 2.054848 +v -0.580916 -3.074969 1.142422 +v -0.010591 -3.645462 2.206959 +v -0.619033 -1.668463 2.092965 +v 0.597852 -1.706535 1.636752 +v 0.597852 -1.820752 2.321191 +v -0.542918 -3.683732 2.054848 +v 0.369507 -1.706535 2.321191 +v 0.483620 -3.417226 2.206959 +v -0.048588 -3.569318 1.104306 +v 0.483620 -2.960949 1.104306 +v -0.619033 -1.972844 1.256654 +v 0.559616 -2.314903 1.142422 +v -0.238697 -1.668463 2.283074 +v -0.352810 -3.683732 2.169080 +v 0.521737 -3.074969 2.206959 +f 138 141 148 +f 119 120 127 +f 125 124 127 +f 124 125 128 +f 121 122 129 +f 122 126 130 +f 129 122 130 +f 127 124 132 +f 120 119 133 +f 123 131 133 +f 132 126 134 +f 133 119 134 +f 126 133 134 +f 121 129 135 +f 127 120 136 +f 125 127 136 +f 131 125 136 +f 120 133 136 +f 133 131 136 +f 128 118 137 +f 124 128 137 +f 118 130 137 +f 118 128 138 +f 123 135 138 +f 133 126 139 +f 123 133 139 +f 131 123 140 +f 138 128 140 +f 123 138 140 +f 135 129 141 +f 138 135 141 +f 126 122 142 +f 122 139 142 +f 139 126 142 +f 124 130 143 +f 130 126 143 +f 132 124 143 +f 126 132 143 +f 119 127 144 +f 127 132 144 +f 134 119 144 +f 132 134 144 +f 130 124 145 +f 124 137 145 +f 137 130 145 +f 128 125 146 +f 125 131 146 +f 140 128 146 +f 131 140 146 +f 122 121 147 +f 121 135 147 +f 135 123 147 +f 139 122 147 +f 123 139 147 +f 130 118 148 +f 129 130 148 +f 118 138 148 +f 141 129 148 +o convex_4 +v -1.075179 -1.592095 1.674739 +v 1.053998 0.499311 1.104458 +v 1.053998 0.499311 0.838112 +v 1.092212 -1.668266 2.663239 +v -0.961185 0.461120 2.777523 +v 1.092212 -1.629862 0.838112 +v -0.999183 0.499311 0.838112 +v 0.939788 0.499311 2.701207 +v -1.113393 -1.516137 2.701396 +v -1.037181 -1.592095 0.838112 +v -0.618989 -1.668266 2.130736 +v 1.053998 -1.553904 2.701396 +v 0.369604 -1.668266 1.142426 +v 0.825795 0.499311 2.739365 +v 0.978002 0.308990 2.701207 +v -0.999183 0.499311 1.408772 +v -0.884974 -1.629862 0.838112 +v -0.732982 0.195052 2.777523 +v -1.075179 -1.553904 2.701396 +v -0.352787 0.499311 2.739365 +v -1.075179 -1.553904 1.332646 +v -1.037181 -0.907407 2.739365 +v 1.092212 -1.516137 2.663239 +v -0.999183 0.156861 2.739365 +v 1.092212 -1.668266 1.446741 +v -0.618989 -1.668266 1.294488 +v 0.141401 -1.629862 2.701207 +v -1.113393 -1.439754 2.625081 +v -0.580991 -1.668266 2.245020 +v -1.037181 -0.793257 0.838112 +v 0.978002 0.499311 2.511176 +v 0.978002 -1.629862 2.701207 +f 170 175 180 +f 150 151 155 +f 151 154 155 +f 150 155 156 +f 155 154 158 +f 152 159 161 +f 156 155 162 +f 162 160 163 +f 156 162 163 +f 162 155 164 +f 149 158 165 +f 158 154 165 +f 159 149 165 +f 154 161 165 +f 162 153 166 +f 160 162 166 +f 157 149 167 +f 149 159 167 +f 153 162 168 +f 164 153 168 +f 162 164 168 +f 149 157 169 +f 158 149 169 +f 153 157 170 +f 166 153 170 +f 157 167 170 +f 151 150 171 +f 154 151 171 +f 152 154 171 +f 160 152 171 +f 163 160 171 +f 157 153 172 +f 153 164 172 +f 154 152 173 +f 152 161 173 +f 161 154 173 +f 161 159 174 +f 159 165 174 +f 165 161 174 +f 170 167 175 +f 164 155 176 +f 169 157 176 +f 157 172 176 +f 172 164 176 +f 159 152 177 +f 167 159 177 +f 152 175 177 +f 175 167 177 +f 155 158 178 +f 158 169 178 +f 176 155 178 +f 169 176 178 +f 150 156 179 +f 156 163 179 +f 171 150 179 +f 163 171 179 +f 152 160 180 +f 160 166 180 +f 166 170 180 +f 175 152 180 +o convex_5 +v 0.407505 2.248442 2.283111 +v -0.619033 0.499311 1.256520 +v -0.276695 0.499311 1.218441 +v -0.352810 2.362473 1.180361 +v 0.597852 2.020183 1.180361 +v 0.597852 0.499311 2.207063 +v -0.466922 2.400352 2.321191 +v -0.466922 0.499311 2.321191 +v 0.445622 0.499311 1.180361 +v 0.597852 2.514777 2.245031 +v -0.542918 2.020183 1.180361 +v 0.597852 2.362473 1.218441 +v -0.504920 2.286321 2.245031 +v -0.504920 2.362473 1.218441 +v -0.238697 0.613539 2.321191 +v -0.504920 0.499311 2.245031 +v -0.428805 2.438625 2.321191 +v 0.483620 0.499311 1.256520 +v -0.619033 0.651615 1.370536 +v 0.521737 2.514777 2.131015 +v 0.597852 0.499311 2.054856 +v -0.124584 2.438625 2.321191 +v 0.103284 0.499311 1.180361 +v 0.597852 2.400352 1.332568 +v 0.597852 1.601741 2.245031 +v -0.504920 2.400352 2.016887 +v 0.331509 2.362473 1.180361 +f 204 192 207 +f 182 183 186 +f 182 186 188 +f 184 185 189 +f 186 183 189 +f 186 185 190 +f 183 182 191 +f 184 189 191 +f 190 185 192 +f 188 187 193 +f 184 191 194 +f 188 186 195 +f 187 188 195 +f 182 188 196 +f 188 193 196 +f 187 195 197 +f 189 185 198 +f 186 189 198 +f 191 182 199 +f 182 196 199 +f 196 193 199 +f 184 194 200 +f 197 190 200 +f 194 197 200 +f 185 186 201 +f 198 185 201 +f 186 198 201 +f 181 190 202 +f 195 181 202 +f 190 197 202 +f 197 195 202 +f 189 183 203 +f 183 191 203 +f 191 189 203 +f 190 192 204 +f 184 200 204 +f 200 190 204 +f 186 190 205 +f 190 181 205 +f 181 195 205 +f 195 186 205 +f 193 187 206 +f 194 191 206 +f 197 194 206 +f 187 197 206 +f 191 199 206 +f 199 193 206 +f 185 184 207 +f 192 185 207 +f 184 204 207 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/910/910.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/910/910.urdf new file mode 100644 index 000000000..d08da7ea8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/910/910.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/911/911.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/911/911.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/911/911.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/911/911.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/911/911.obj new file mode 100644 index 000000000..0eaa86f67 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/911/911.obj @@ -0,0 +1,828 @@ +o convex_0 +v -1.987563 -1.747255 0.961371 +v 0.497354 -0.718205 -1.345948 +v -2.022801 -1.534759 -1.061814 +v 1.988538 -2.528574 -0.138633 +v 0.923742 -0.682608 1.210241 +v -2.803926 -0.682608 -0.032337 +v 2.733837 -0.682608 -0.067600 +v -2.697035 -2.315356 -0.032337 +v 2.059603 -2.315356 -0.848714 +v 2.024364 -2.279759 0.677491 +v 2.804902 -1.605591 -0.848714 +v 2.769663 -1.534759 0.677491 +v -1.703304 -0.682608 1.103438 +v -1.987563 -2.350772 0.748524 +v -2.022801 -2.279759 -0.777680 +v -2.768100 -1.357138 0.748524 +v -2.093866 -0.682608 -0.813197 +v -2.768100 -1.534759 -0.813197 +v -2.022801 -2.528574 -0.067600 +v 2.769663 -2.208747 -0.067600 +v 2.556469 -0.860230 -0.813197 +v 2.272797 -1.853864 -1.061814 +v -3.017120 -1.570175 0.002926 +v -1.667478 -1.818268 0.997141 +v 2.024364 -1.605591 0.926108 +v 2.982857 -1.428150 -0.174150 +v -2.590732 -2.066721 0.748524 +v 1.136349 -0.682608 -1.239398 +v 2.272797 -0.789217 0.641974 +v 2.024364 -2.386369 -0.777680 +v 1.136349 -2.244343 0.784041 +v 0.568418 -0.718205 1.245758 +v -1.312741 -0.682608 -1.061561 +v 1.597976 -2.528574 0.002926 +v -1.987563 -2.173331 -0.848714 +v -2.484428 -0.753621 0.571194 +v -2.625971 -0.931243 -0.635614 +v 2.769663 -1.428150 0.677491 +v -2.554906 -2.102318 -0.600350 +v 2.520643 -2.137734 -0.671130 +v 2.201732 -0.682608 -0.777680 +v 2.591707 -2.066721 0.464390 +v -2.768100 -2.279759 0.038443 +v 2.627533 -2.315356 -0.067600 +v -0.176293 -0.682608 -1.274915 +v -1.987563 -2.492797 0.180510 +v -1.916498 -1.286125 -1.061814 +v 2.982857 -1.428150 0.002926 +v 2.591707 -0.895646 0.499907 +v -3.017120 -1.428150 -0.067600 +v 1.988538 -0.682608 0.713007 +v 2.308036 -1.782852 -1.061814 +v -2.768100 -1.463747 -0.813197 +v 2.769663 -0.718205 -0.032590 +v -2.803926 -0.682608 -0.103116 +v 1.243240 -2.244343 -0.884231 +v -1.774369 -1.818268 0.997141 +v -1.987563 -1.499163 0.996887 +v 2.982857 -1.570175 -0.032590 +v 2.094842 -1.463747 0.926108 +v 2.698598 -2.244343 -0.245183 +v 1.988538 -2.528574 -0.032590 +v -2.768100 -2.279759 -0.032337 +v -2.732861 -1.215112 0.713007 +f 13 36 64 +f 6 5 7 +f 5 6 13 +f 6 7 17 +f 8 15 19 +f 3 2 22 +f 10 12 25 +f 11 21 26 +f 16 23 27 +f 17 7 28 +f 15 9 30 +f 4 19 30 +f 19 15 30 +f 14 10 31 +f 24 14 31 +f 10 25 31 +f 31 25 32 +f 5 13 32 +f 25 5 32 +f 24 31 32 +f 17 28 33 +f 10 14 34 +f 19 4 34 +f 18 3 35 +f 15 18 35 +f 3 22 35 +f 13 6 36 +f 29 5 38 +f 15 8 39 +f 18 15 39 +f 22 11 40 +f 9 22 40 +f 30 9 40 +f 7 21 41 +f 28 7 41 +f 21 28 41 +f 12 10 42 +f 20 12 42 +f 14 27 43 +f 27 23 43 +f 4 30 44 +f 42 10 44 +f 20 42 44 +f 2 3 45 +f 28 2 45 +f 33 28 45 +f 8 19 46 +f 34 14 46 +f 19 34 46 +f 14 43 46 +f 43 8 46 +f 17 33 47 +f 45 3 47 +f 33 45 47 +f 38 12 48 +f 29 38 49 +f 16 6 50 +f 23 16 50 +f 18 23 50 +f 7 5 51 +f 5 29 51 +f 29 7 51 +f 21 11 52 +f 11 22 52 +f 22 2 52 +f 2 28 52 +f 28 21 52 +f 3 18 53 +f 37 17 53 +f 47 3 53 +f 17 47 53 +f 18 50 53 +f 21 7 54 +f 26 21 54 +f 7 29 54 +f 48 26 54 +f 38 48 54 +f 29 49 54 +f 49 38 54 +f 6 17 55 +f 17 37 55 +f 50 6 55 +f 37 53 55 +f 53 50 55 +f 9 15 56 +f 22 9 56 +f 15 35 56 +f 35 22 56 +f 14 24 57 +f 27 14 57 +f 1 27 57 +f 32 13 57 +f 24 32 57 +f 13 16 58 +f 27 1 58 +f 16 27 58 +f 1 57 58 +f 57 13 58 +f 20 11 59 +f 12 20 59 +f 11 26 59 +f 48 12 59 +f 26 48 59 +f 5 25 60 +f 25 12 60 +f 38 5 60 +f 12 38 60 +f 11 20 61 +f 40 11 61 +f 30 40 61 +f 44 30 61 +f 20 44 61 +f 34 4 62 +f 10 34 62 +f 4 44 62 +f 44 10 62 +f 23 18 63 +f 39 8 63 +f 18 39 63 +f 8 43 63 +f 43 23 63 +f 6 16 64 +f 16 13 64 +f 36 6 64 +o convex_1 +v 0.639521 -0.682427 1.245550 +v 0.284260 -0.398464 -2.446536 +v 0.284260 -0.362902 -2.446536 +v -2.733098 -0.682427 -0.032907 +v 0.036050 -0.362902 2.204161 +v 2.627829 -0.682427 -0.068496 +v -1.951733 -0.362902 -0.068496 +v 0.426469 -0.682427 -1.452335 +v 1.562570 -0.362902 -0.245058 +v -1.667839 -0.682427 1.103191 +v -0.957842 -0.362902 1.778009 +v 0.390786 -0.398464 2.275340 +v -1.951733 -0.682427 -0.848696 +v -0.460371 -0.362902 -2.162280 +v 1.988674 -0.433932 -0.032444 +v 2.094675 -0.682427 -0.777517 +v 0.923415 -0.362902 -1.913614 +v 0.639521 -0.362902 1.955495 +v 1.882148 -0.682427 0.712628 +v -2.733098 -0.646866 -0.103624 +v -1.702998 -0.362902 0.819398 +v 2.627829 -0.646866 -0.032444 +v -2.271311 -0.646866 0.641911 +v 0.532995 -0.540399 -1.984794 +v 0.923415 -0.682427 1.245087 +v -0.212161 -0.682427 -1.345566 +v -0.318687 -0.398464 -2.268587 +v -1.100051 -0.682427 1.174370 +v 0.036050 -0.398464 2.204161 +v 1.065625 -0.682427 -1.274849 +v 0.461628 -0.504931 1.919905 +v -0.035317 -0.504931 -2.020383 +v -0.957842 -0.398464 1.778009 +v -2.733098 -0.646866 -0.032907 +v 2.166042 -0.646866 -0.706338 +v 1.029941 -0.362902 1.245087 +v 0.319944 -0.398464 -2.446536 +v 2.627829 -0.646866 -0.068496 +v -2.022576 -0.504931 0.712628 +v 0.426469 -0.362902 2.239750 +v -2.271311 -0.682427 0.641911 +v 0.249101 -0.398464 2.275340 +v 2.308251 -0.540399 0.002683 +v 1.988674 -0.433932 -0.068496 +f 79 107 108 +f 65 68 70 +f 69 67 71 +f 70 68 72 +f 67 69 73 +f 68 65 74 +f 69 71 75 +f 72 68 77 +f 71 67 78 +f 70 72 80 +f 67 73 81 +f 73 69 82 +f 65 70 83 +f 77 68 84 +f 71 78 84 +f 78 77 84 +f 75 71 85 +f 83 70 86 +f 76 83 86 +f 65 83 89 +f 83 76 89 +f 72 77 90 +f 67 66 91 +f 78 67 91 +f 77 78 91 +f 74 65 92 +f 69 75 93 +f 80 72 94 +f 72 88 94 +f 88 80 94 +f 65 89 95 +f 89 76 95 +f 92 65 95 +f 66 88 96 +f 88 72 96 +f 90 77 96 +f 72 90 96 +f 91 66 96 +f 77 91 96 +f 75 87 97 +f 93 75 97 +f 74 93 97 +f 84 68 98 +f 71 84 98 +f 85 71 98 +f 68 87 98 +f 70 80 99 +f 80 81 99 +f 79 73 100 +f 73 82 100 +f 82 79 100 +f 66 67 101 +f 67 81 101 +f 81 80 101 +f 88 66 101 +f 80 88 101 +f 86 70 102 +f 70 99 102 +f 99 81 102 +f 75 85 103 +f 87 75 103 +f 85 98 103 +f 98 87 103 +f 82 69 104 +f 76 86 104 +f 86 82 104 +f 68 74 105 +f 87 68 105 +f 74 97 105 +f 97 87 105 +f 74 92 106 +f 69 93 106 +f 93 74 106 +f 95 76 106 +f 92 95 106 +f 104 69 106 +f 76 104 106 +f 79 82 107 +f 82 86 107 +f 86 102 107 +f 107 102 108 +f 73 79 108 +f 81 73 108 +f 102 81 108 +o convex_2 +v -1.028788 1.802770 -0.351869 +v 1.030202 2.513036 0.073748 +v 1.030202 2.335469 0.073748 +v -0.070236 1.802770 1.245758 +v -0.780282 3.329110 0.002937 +v 0.107121 1.802770 -1.274915 +v 0.710548 3.364728 0.038217 +v -0.034970 3.293667 -0.777736 +v 0.781491 1.802770 -0.955389 +v 0.000502 3.329110 0.748580 +v -0.922169 1.838562 0.926233 +v 0.781491 1.802770 0.925983 +v -0.851226 1.909449 -0.990920 +v 0.781491 2.584097 -0.777736 +v 0.781491 2.584097 0.748329 +v -0.034970 3.577564 -0.067374 +v -1.064465 2.584097 -0.067374 +v -0.815754 2.619540 0.748580 +v -0.780282 2.619540 -0.777736 +v 1.030202 1.802770 -0.103155 +v 0.781491 3.329110 -0.067624 +v -0.070236 1.838562 -1.310445 +v 0.071650 3.293667 -0.777736 +v 1.030202 2.584097 -0.103155 +v 0.603928 3.116100 0.570926 +v -0.567248 3.151718 0.571177 +v -1.064465 1.802770 0.109529 +v -0.531777 3.151718 -0.600333 +v 0.036178 1.838562 1.245508 +v 0.603928 3.116100 -0.600333 +v -0.922169 1.802770 -0.884328 +v -0.070236 3.329110 0.748580 +v -1.064465 2.584097 0.038468 +v -0.034970 3.577564 0.038468 +v 0.781491 3.329110 0.038217 +v -0.780282 3.293667 -0.103155 +v -0.957845 1.802770 0.819641 +v 0.746019 1.909449 -0.990670 +v 0.852434 1.945067 0.748329 +v -0.070236 1.838562 1.245758 +v 0.036178 2.228964 -1.168323 +v 0.071650 3.577564 -0.032344 +v 0.071650 3.329110 -0.742205 +v 1.030202 1.802770 0.038217 +v -0.709339 2.619540 -0.813267 +v -0.851226 2.477592 0.784110 +v -0.673663 3.009595 0.606707 +v 0.036178 3.435616 0.464335 +v 0.816962 2.584097 0.677268 +v 0.639400 2.548479 -0.848797 +v 1.030202 2.619540 0.002687 +v -0.780282 1.802770 -1.026200 +v -0.105913 3.293667 -0.742205 +v -0.780282 3.293667 0.073998 +v -0.957845 2.584097 0.393524 +v 0.107121 1.838562 -1.274915 +v 0.781491 2.371087 -0.848797 +v -0.886902 1.945067 0.926233 +v -0.602720 3.045213 -0.635864 +v 0.071650 3.329110 0.712799 +v -0.886902 1.945067 -0.919859 +v -0.070236 3.364728 0.677518 +f 162 140 170 +f 112 109 114 +f 112 114 117 +f 112 117 120 +f 110 111 128 +f 120 117 128 +f 110 128 132 +f 128 117 132 +f 122 129 132 +f 118 123 133 +f 109 112 135 +f 125 109 135 +f 112 120 137 +f 123 118 137 +f 120 123 137 +f 129 122 138 +f 122 131 138 +f 114 109 139 +f 109 125 139 +f 113 125 141 +f 125 135 141 +f 124 113 142 +f 129 115 143 +f 133 123 143 +f 113 124 144 +f 125 113 144 +f 127 125 144 +f 112 119 145 +f 135 112 145 +f 119 141 145 +f 141 135 145 +f 117 114 146 +f 111 110 147 +f 119 112 148 +f 112 137 148 +f 137 118 148 +f 118 140 148 +f 140 126 148 +f 130 116 149 +f 116 131 149 +f 115 129 150 +f 124 142 150 +f 116 124 151 +f 131 116 151 +f 129 138 151 +f 138 131 151 +f 150 129 151 +f 124 150 151 +f 128 111 152 +f 120 128 152 +f 111 147 152 +f 147 120 152 +f 121 127 153 +f 116 130 153 +f 130 121 153 +f 148 126 154 +f 126 140 155 +f 140 134 155 +f 115 150 156 +f 150 142 156 +f 123 120 157 +f 143 123 157 +f 147 110 157 +f 120 147 157 +f 131 122 158 +f 149 131 158 +f 110 132 159 +f 132 129 159 +f 129 143 159 +f 157 110 159 +f 143 157 159 +f 130 114 160 +f 121 130 160 +f 114 139 160 +f 139 121 160 +f 124 116 161 +f 144 124 161 +f 136 144 161 +f 134 140 162 +f 113 141 162 +f 126 155 162 +f 155 134 162 +f 141 119 163 +f 154 126 163 +f 119 154 163 +f 162 141 163 +f 126 162 163 +f 114 130 164 +f 146 114 164 +f 130 149 164 +f 149 158 164 +f 164 158 165 +f 132 117 165 +f 122 132 165 +f 117 146 165 +f 158 122 165 +f 146 164 165 +f 119 148 166 +f 154 119 166 +f 148 154 166 +f 127 144 167 +f 144 136 167 +f 116 153 167 +f 153 127 167 +f 161 116 167 +f 136 161 167 +f 118 133 168 +f 143 115 168 +f 133 143 168 +f 115 156 168 +f 156 118 168 +f 127 121 169 +f 125 127 169 +f 139 125 169 +f 121 139 169 +f 140 118 170 +f 142 113 170 +f 118 156 170 +f 156 142 170 +f 113 162 170 +o convex_3 +v -1.241569 -0.043439 0.073251 +v 1.349727 -0.327344 -0.351417 +v 1.349727 -0.362902 -0.351417 +v 0.071438 -0.043439 2.843385 +v -1.632218 -0.362902 0.819637 +v 0.142437 -0.043439 -2.872570 +v -0.389897 -0.362902 -2.375165 +v 0.320090 -0.362902 2.381789 +v 1.101075 -0.043439 0.854886 +v -0.886888 -0.043439 -2.055685 +v -1.845527 -0.362902 -0.067746 +v -0.673892 -0.043439 2.629653 +v 0.675083 -0.043439 -2.552530 +v 0.888079 -0.362902 -1.984627 +v -0.602893 -0.256352 2.558595 +v 0.888079 -0.220856 1.777519 +v 1.101075 -0.043439 -1.309858 +v -1.099884 -0.043439 1.848576 +v -0.602893 -0.220856 -2.587779 +v 0.177780 -0.291848 -2.765703 +v 0.604085 -0.043439 2.452288 +v 1.030077 -0.362902 1.280674 +v -0.922231 -0.362902 1.848576 +v -1.845527 -0.327344 0.002753 +v -0.638236 -0.043439 -2.623588 +v 0.142437 -0.256352 2.736519 +v -0.567238 -0.291848 -2.552530 +v 1.172074 -0.362902 -1.203551 +v 0.284434 -0.362902 -2.552530 +v -1.028886 -0.043439 -1.523031 +v 0.497430 -0.362902 2.203865 +v -0.638236 -0.220856 2.594403 +v 0.639427 -0.114431 -2.588339 +v 0.000439 -0.078935 -2.872570 +v 1.101075 -0.114431 -1.416724 +v -0.176901 -0.362902 2.274923 +v 1.136418 -0.327344 0.854886 +v 0.923422 -0.078935 1.600154 +v -1.738873 -0.327344 0.499598 +v -0.638236 -0.114431 -2.623588 +v -1.845527 -0.327344 -0.067746 +v 0.604085 -0.078935 2.452288 +v -0.034904 -0.220856 2.772328 +v 0.036095 -0.256352 -2.801512 +v -0.531895 -0.362902 -2.233050 +v -1.241569 -0.043439 -0.067746 +v 0.888079 -0.291848 1.706461 +f 212 201 217 +f 171 174 176 +f 173 175 177 +f 175 173 178 +f 176 174 179 +f 171 176 180 +f 177 175 181 +f 174 171 182 +f 176 179 183 +f 173 177 184 +f 179 172 187 +f 183 179 187 +f 175 182 188 +f 182 171 188 +f 179 174 191 +f 178 173 192 +f 175 178 193 +f 188 171 194 +f 180 176 195 +f 181 189 197 +f 190 177 197 +f 172 173 198 +f 173 184 198 +f 184 177 199 +f 177 190 199 +f 190 184 199 +f 171 180 200 +f 178 192 201 +f 196 178 201 +f 182 175 202 +f 175 193 202 +f 193 185 202 +f 176 183 203 +f 183 184 203 +f 190 176 203 +f 184 190 203 +f 195 176 204 +f 184 183 205 +f 187 172 205 +f 183 187 205 +f 172 198 205 +f 198 184 205 +f 193 178 206 +f 185 193 206 +f 196 185 206 +f 178 196 206 +f 173 172 207 +f 172 179 207 +f 192 173 207 +f 192 207 208 +f 179 191 208 +f 191 186 208 +f 186 192 208 +f 207 179 208 +f 181 175 209 +f 175 188 209 +f 194 181 209 +f 188 194 209 +f 189 181 210 +f 181 195 210 +f 195 204 210 +f 204 189 210 +f 194 171 211 +f 181 194 211 +f 180 195 211 +f 195 181 211 +f 200 180 211 +f 191 174 212 +f 186 191 212 +f 174 196 212 +f 196 201 212 +f 174 182 213 +f 196 174 213 +f 185 196 213 +f 182 202 213 +f 202 185 213 +f 176 190 214 +f 197 189 214 +f 190 197 214 +f 204 176 214 +f 189 204 214 +f 177 181 215 +f 197 177 215 +f 181 197 215 +f 171 200 216 +f 211 171 216 +f 200 211 216 +f 192 186 217 +f 201 192 217 +f 186 212 217 +o convex_4 +v -1.028769 -0.043377 -1.558367 +v 1.065458 -0.007777 0.996363 +v 1.065458 -0.043377 0.996363 +v -0.780336 0.382741 2.807508 +v 0.781661 1.802770 -0.955250 +v -1.064355 1.802770 -0.138143 +v 0.035915 0.453760 -3.085587 +v 0.710489 1.341233 2.132662 +v 0.994509 -0.043377 -1.700629 +v -1.099719 -0.043377 1.884003 +v -0.638215 1.128175 -2.623535 +v 0.107086 -0.043377 2.842774 +v -0.070398 1.341233 2.700512 +v 1.030094 1.802770 0.038190 +v 0.817024 1.163414 -2.303746 +v -0.922457 1.802770 0.925232 +v -0.070398 1.305633 -2.836928 +v -0.638215 -0.043377 -2.658802 +v 0.746075 0.595980 2.487718 +v -1.028769 0.595980 -2.126816 +v -1.206254 -0.043377 -0.174007 +v -0.886871 1.802770 -0.989919 +v 0.675126 -0.007777 -2.623535 +v 0.675126 1.802770 1.068091 +v -0.780336 1.128175 2.558849 +v 0.000551 0.595980 3.020900 +v -0.815922 0.489180 -2.801064 +v 1.065458 -0.007777 -1.487236 +v 0.746075 0.453760 -2.729933 +v 0.603954 -0.043377 2.452451 +v -1.028769 0.950536 1.707073 +v 0.000551 1.802770 -1.345573 +v -0.035035 1.802770 1.352017 +v -0.673801 -0.043377 2.665246 +v 0.142450 -0.043377 -2.872194 +v -0.815922 1.341233 -2.090951 +v 0.035915 1.305633 2.771643 +v 0.781661 1.234614 2.026265 +v -1.206254 -0.007777 0.286251 +v 0.000551 1.270214 -2.872194 +v 1.030094 1.802770 -0.103474 +v -1.064355 1.802770 0.109320 +v -0.105761 0.489180 -3.085587 +v 0.817024 1.234614 -2.232615 +v -0.780336 1.021555 2.629979 +v 0.781661 1.802770 0.996363 +v -0.780336 0.631219 -2.801064 +v 0.746075 0.311721 -2.729933 +v -0.105761 0.560199 3.020900 +v 0.746075 0.489180 2.487718 +v -1.064355 0.737838 1.564811 +v -0.105761 1.270214 -2.872194 +v -0.922457 -0.043377 -1.983956 +v 0.923559 -0.043377 1.564811 +v -1.028769 0.489180 -2.126816 +v -1.206254 0.098662 -0.067610 +v -0.070398 1.305633 2.771643 +v -0.957820 1.802770 -0.741858 +v 0.746075 1.305633 2.132662 +v 1.065458 0.134263 0.925830 +v 0.000551 0.453760 3.020900 +v 0.781661 0.453760 -2.659400 +v -0.957820 1.802770 0.818835 +v 0.284571 1.270214 -2.659400 +f 261 232 281 +f 220 218 226 +f 218 220 227 +f 227 220 229 +f 222 223 231 +f 231 223 233 +f 226 218 235 +f 220 219 236 +f 218 227 238 +f 223 222 239 +f 231 233 241 +f 230 233 242 +f 219 220 245 +f 220 226 245 +f 229 220 247 +f 222 234 249 +f 239 222 249 +f 234 239 249 +f 233 230 250 +f 241 233 250 +f 221 227 251 +f 227 229 251 +f 226 235 252 +f 240 226 252 +f 239 234 253 +f 243 236 254 +f 250 230 254 +f 241 250 254 +f 236 219 255 +f 238 227 256 +f 246 224 257 +f 222 231 258 +f 245 232 258 +f 233 223 259 +f 235 244 260 +f 252 235 260 +f 224 252 260 +f 257 224 260 +f 222 258 261 +f 258 232 261 +f 227 221 262 +f 248 227 262 +f 242 248 262 +f 231 241 263 +f 254 225 263 +f 241 254 263 +f 244 237 264 +f 253 228 264 +f 237 253 264 +f 260 244 264 +f 226 240 265 +f 245 226 265 +f 224 246 265 +f 252 224 265 +f 240 252 265 +f 262 221 266 +f 220 236 267 +f 236 243 267 +f 229 247 267 +f 227 248 268 +f 256 227 268 +f 248 259 268 +f 259 256 268 +f 228 253 269 +f 253 234 269 +f 234 257 269 +f 257 260 269 +f 264 228 269 +f 260 264 269 +f 235 218 270 +f 244 235 270 +f 247 220 271 +f 220 267 271 +f 267 247 271 +f 218 238 272 +f 238 237 272 +f 237 244 272 +f 270 218 272 +f 244 270 272 +f 223 237 273 +f 237 238 273 +f 238 256 273 +f 259 223 273 +f 256 259 273 +f 230 242 274 +f 254 230 274 +f 243 254 274 +f 242 262 274 +f 266 243 274 +f 262 266 274 +f 237 223 275 +f 223 239 275 +f 253 237 275 +f 239 253 275 +f 225 254 276 +f 254 236 276 +f 255 231 276 +f 236 255 276 +f 263 225 276 +f 231 263 276 +f 219 245 277 +f 255 219 277 +f 231 255 277 +f 258 231 277 +f 245 258 277 +f 221 251 278 +f 251 229 278 +f 266 221 278 +f 243 266 278 +f 229 267 278 +f 267 243 278 +f 232 245 279 +f 246 232 279 +f 245 265 279 +f 265 246 279 +f 242 233 280 +f 248 242 280 +f 233 259 280 +f 259 248 280 +f 234 222 281 +f 232 246 281 +f 257 234 281 +f 246 257 281 +f 222 261 281 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/911/911.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/911/911.urdf new file mode 100644 index 000000000..ea31e87cc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/911/911.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/912/912.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/912/912.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/912/912.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/912/912.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/912/912.obj new file mode 100644 index 000000000..d0218c75f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/912/912.obj @@ -0,0 +1,333 @@ +o convex_0 +v -0.374381 0.463767 -3.015853 +v 0.611131 -0.552267 -2.677042 +v 0.580209 -0.552267 -1.322384 +v -0.528287 -0.614015 -3.015853 +v -0.497482 0.556331 -1.106634 +v 0.611131 0.463881 -3.046814 +v -0.528287 -0.583083 -1.106634 +v 0.549404 0.433065 -1.106634 +v -0.590013 0.556331 -2.985284 +v 0.611131 -0.613900 -3.108541 +v 0.549404 -0.583083 -1.106634 +v -0.004843 -0.614015 -1.691961 +v -0.343459 0.556331 -1.106634 +v -0.559091 -0.490748 -3.015853 +v -0.528287 0.556331 -1.322384 +v 0.426303 -0.429115 -3.108541 +v -0.374381 0.556331 -2.985284 +v 0.364694 0.494583 -2.461684 +v 0.549404 0.340615 -3.077580 +v 0.580209 -0.613900 -1.876945 +v -0.590013 0.494583 -2.800299 +v -0.374381 -0.490748 -3.046814 +v -0.528287 -0.614015 -2.030772 +v 0.611131 0.463881 -2.892792 +v -0.528287 0.155829 -1.106634 +v 0.364694 0.494583 -3.046814 +v 0.395499 0.463881 -1.229892 +v -0.590013 0.340615 -2.954322 +v -0.559091 0.032563 -3.015853 +f 16 22 29 +f 5 7 8 +f 2 3 10 +f 6 2 10 +f 8 7 11 +f 3 8 11 +f 4 10 12 +f 11 7 12 +f 5 8 13 +f 9 5 13 +f 5 9 15 +f 9 13 17 +f 6 10 19 +f 16 1 19 +f 10 16 19 +f 10 3 20 +f 3 11 20 +f 12 10 20 +f 11 12 20 +f 15 9 21 +f 10 4 22 +f 4 14 22 +f 16 10 22 +f 4 12 23 +f 12 7 23 +f 14 4 23 +f 7 14 23 +f 3 2 24 +f 2 6 24 +f 8 3 24 +f 6 18 24 +f 7 5 25 +f 5 15 25 +f 21 7 25 +f 15 21 25 +f 1 9 26 +f 9 17 26 +f 17 13 26 +f 13 18 26 +f 18 6 26 +f 19 1 26 +f 6 19 26 +f 13 8 27 +f 18 13 27 +f 8 24 27 +f 24 18 27 +f 14 7 28 +f 9 14 28 +f 7 21 28 +f 21 9 28 +f 9 1 29 +f 14 9 29 +f 1 16 29 +f 22 14 29 +o convex_1 +v -0.097182 -3.046891 -0.705978 +v 0.919012 3.081815 1.110647 +v 0.919012 3.081815 0.679388 +v -1.082673 3.020006 -0.274937 +v -0.928760 -3.108699 0.925729 +v 0.949915 -3.077795 1.110647 +v 0.919012 2.958198 -1.075814 +v -1.113577 -2.954179 -0.921716 +v -1.051971 2.958198 1.080044 +v 0.919012 -3.077795 -1.044994 +v -1.082673 3.020006 -0.983355 +v -0.528423 -0.582441 -1.106200 +v -0.497519 -0.552143 1.110647 +v 0.949915 2.157116 1.049007 +v 0.949915 -3.077795 -0.244117 +v 0.610982 -0.335814 -1.106200 +v -0.497519 0.555557 -1.106200 +v -1.113577 -2.954179 -0.736798 +v -0.374307 3.081209 0.340589 +v -1.051971 2.342540 1.080044 +v -0.867154 -3.108699 0.956765 +v -1.113577 0.340440 -0.921716 +v -0.743942 3.019400 -1.013958 +v 0.549376 -3.046285 -1.044777 +v 0.857406 -2.492435 -1.075814 +v -0.959462 -2.184000 0.956765 +v -1.082673 2.989102 0.217527 +v 0.734194 -3.046285 1.110647 +v -1.113577 -1.352620 -0.952535 +v 0.641886 3.081815 1.110647 +v -0.066480 -3.108093 0.987368 +v 0.641886 1.079108 -1.106200 +v -0.374307 3.020006 -1.013958 +v -0.928760 -3.108699 0.741028 +v -0.559125 0.555557 1.110647 +v -0.836250 -2.954179 -0.952318 +v -0.158788 3.081209 0.094248 +v -1.082673 1.356639 -0.983355 +v -0.928760 -2.892370 0.956765 +v 0.919012 2.988496 -0.767617 +v -0.928760 2.988496 0.956765 +v -1.051971 2.095913 1.049007 +v -1.021068 -3.046891 0.155888 +v 0.949915 2.188020 1.110647 +v -0.836250 -2.985083 -0.859859 +v 0.857406 2.958198 -1.075814 +v 0.826704 -3.077795 -1.044777 +v 0.549376 -0.582441 -1.106200 +v 0.919012 1.263927 -1.075814 +v -0.405211 -3.108699 0.648569 +v 0.518675 3.081815 1.079827 +v 0.949915 -2.923275 -0.244117 +v -0.959462 -3.077189 0.741028 +v -0.897856 2.741870 -1.014175 +v -1.082673 -2.985083 -0.428818 +f 47 72 84 +f 35 31 42 +f 43 35 44 +f 45 41 46 +f 41 40 46 +f 40 33 48 +f 33 40 51 +f 37 47 51 +f 53 41 54 +f 38 33 56 +f 49 38 56 +f 47 49 56 +f 33 51 56 +f 51 47 56 +f 35 42 57 +f 50 35 57 +f 42 50 57 +f 41 37 58 +f 37 51 58 +f 51 40 58 +f 31 32 59 +f 42 31 59 +f 44 35 60 +f 39 44 60 +f 35 50 60 +f 45 46 61 +f 54 45 61 +f 50 34 63 +f 49 42 64 +f 38 49 64 +f 42 59 64 +f 59 38 64 +f 37 41 65 +f 53 37 65 +f 41 53 65 +f 40 48 66 +f 52 40 66 +f 32 62 66 +f 62 52 66 +f 40 41 67 +f 58 40 67 +f 41 58 67 +f 42 49 68 +f 34 50 68 +f 50 42 68 +f 55 34 68 +f 49 55 68 +f 62 32 69 +f 36 62 69 +f 33 38 70 +f 48 33 70 +f 49 47 71 +f 55 49 71 +f 47 37 72 +f 37 63 72 +f 63 34 72 +f 32 31 73 +f 31 35 73 +f 35 43 73 +f 43 36 73 +f 69 32 73 +f 36 69 73 +f 30 63 74 +f 63 37 74 +f 46 52 75 +f 61 46 75 +f 36 61 75 +f 62 36 75 +f 52 62 75 +f 37 53 76 +f 53 54 76 +f 54 39 76 +f 63 30 76 +f 30 74 76 +f 74 37 76 +f 41 45 77 +f 54 41 77 +f 45 54 77 +f 44 39 78 +f 36 44 78 +f 39 54 78 +f 61 36 78 +f 54 61 78 +f 39 60 79 +f 60 50 79 +f 50 63 79 +f 76 39 79 +f 63 76 79 +f 59 32 80 +f 38 59 80 +f 32 66 80 +f 66 48 80 +f 70 38 80 +f 48 70 80 +f 36 43 81 +f 44 36 81 +f 43 44 81 +f 34 55 82 +f 55 72 82 +f 72 34 82 +f 46 40 83 +f 52 46 83 +f 40 52 83 +f 71 47 84 +f 55 71 84 +f 72 55 84 +o convex_2 +v -0.590014 0.248243 2.311891 +v 0.580333 0.525433 1.603698 +v 0.580333 0.494647 1.603698 +v 0.487883 0.432962 3.112771 +v 0.487883 -0.552206 1.110864 +v -0.497563 -0.583216 3.112771 +v -0.559082 0.556331 1.110864 +v -0.497563 -0.552318 1.110864 +v 0.487883 -0.429060 2.958748 +v -0.559082 0.463860 3.020083 +v 0.580333 0.556220 1.110864 +v -0.590014 0.494647 2.804529 +v 0.580333 0.556220 1.542364 +v -0.590014 0.556331 1.603698 +v 0.487883 -0.552206 1.511402 +v 0.518699 0.463860 2.866060 +v -0.497563 -0.583216 1.850410 +v -0.405113 -0.583216 3.112771 +v 0.580333 0.309816 1.141825 +v -0.590014 0.217457 3.020083 +v -0.528266 -0.367487 1.388144 +v 0.487883 -0.459847 2.804529 +v -0.559082 0.155772 1.110864 +v 0.179830 0.309816 3.112771 +v 0.487883 0.309816 3.112771 +v -0.343480 -0.583216 3.081810 +v 0.056678 0.463860 3.051044 +v 0.364730 -0.459847 2.989514 +v -0.497563 -0.459958 3.112771 +v -0.590014 0.494647 1.419106 +f 107 105 114 +f 91 89 92 +f 86 87 95 +f 89 91 95 +f 95 91 97 +f 86 95 97 +f 96 97 98 +f 85 96 98 +f 97 91 98 +f 87 86 100 +f 93 87 100 +f 86 97 100 +f 92 89 101 +f 88 90 102 +f 90 101 102 +f 87 93 103 +f 95 87 103 +f 89 95 103 +f 99 89 103 +f 96 85 104 +f 94 96 104 +f 101 90 105 +f 92 101 105 +f 104 85 105 +f 90 104 105 +f 103 93 106 +f 99 103 106 +f 91 92 107 +f 92 105 107 +f 90 88 108 +f 88 94 108 +f 93 100 109 +f 100 88 109 +f 88 102 109 +f 89 99 110 +f 101 89 110 +f 102 101 110 +f 99 106 110 +f 94 88 111 +f 96 94 111 +f 97 96 111 +f 88 100 111 +f 100 97 111 +f 106 93 112 +f 93 109 112 +f 109 102 112 +f 102 110 112 +f 110 106 112 +f 104 90 113 +f 94 104 113 +f 90 108 113 +f 108 94 113 +f 85 98 114 +f 98 91 114 +f 105 85 114 +f 91 107 114 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/912/912.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/912/912.urdf new file mode 100644 index 000000000..3927db59c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/912/912.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/913/913.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/913/913.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/913/913.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/913/913.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/913/913.obj new file mode 100644 index 000000000..d5e4aa200 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/913/913.obj @@ -0,0 +1,612 @@ +o convex_0 +v 1.948698 -1.861857 -0.544398 +v 3.030146 -0.710486 0.502314 +v 3.030146 -0.710486 0.327721 +v 1.111184 -0.780283 0.502208 +v 2.960256 -1.861857 0.467269 +v 2.925408 -0.710486 -0.474625 +v 1.111184 -1.861857 0.502208 +v 1.111184 -0.780283 -0.544398 +v 2.995298 -1.896930 -0.474625 +v 1.111184 -1.861857 -0.579338 +v 3.100036 -1.861973 0.223113 +v 2.018588 -0.710486 0.048520 +v 1.146032 -0.745559 0.502208 +v 3.100036 -1.757219 0.467269 +v 1.948698 -1.861857 0.502208 +v 1.460245 -0.745559 -0.509459 +v 2.122742 -1.896930 -0.474625 +v 3.030146 -1.896930 -0.195424 +v 2.960256 -0.919995 -0.439685 +v 2.436955 -0.989676 -0.509459 +v 2.716127 -1.896930 -0.509459 +v 3.100036 -1.547826 0.327721 +v 2.192632 -0.710486 -0.474625 +v 1.320660 -0.780283 -0.544398 +v 3.030146 -1.024633 0.502208 +v 2.297370 -0.710486 0.502208 +v 1.146032 -1.722262 -0.579338 +v 2.995298 -1.652464 -0.474625 +f 19 22 28 +f 2 3 6 +f 2 4 7 +f 7 4 8 +f 7 8 10 +f 2 6 12 +f 4 2 13 +f 8 4 13 +f 5 11 14 +f 2 7 15 +f 5 14 15 +f 8 13 16 +f 13 12 16 +f 7 10 17 +f 11 5 18 +f 9 11 18 +f 15 7 18 +f 5 15 18 +f 7 17 18 +f 17 9 18 +f 6 3 19 +f 10 1 21 +f 9 17 21 +f 17 10 21 +f 20 6 21 +f 1 20 21 +f 3 2 22 +f 2 14 22 +f 14 11 22 +f 19 3 22 +f 6 8 23 +f 12 6 23 +f 8 16 23 +f 16 12 23 +f 8 6 24 +f 6 20 24 +f 14 2 25 +f 2 15 25 +f 15 14 25 +f 2 12 26 +f 12 13 26 +f 13 2 26 +f 1 10 27 +f 10 8 27 +f 20 1 27 +f 8 24 27 +f 24 20 27 +f 11 9 28 +f 6 19 28 +f 21 6 28 +f 9 21 28 +f 22 11 28 +o convex_1 +v 3.065140 2.185959 0.223123 +v 1.215819 3.302490 -0.404953 +v 1.774173 3.267416 -0.090802 +v 1.110996 2.151118 0.467388 +v 1.110996 2.255640 -0.579444 +v 2.925313 3.162894 -0.544501 +v 3.065140 3.162894 0.572105 +v 1.110996 3.232576 0.502219 +v 3.065140 2.116045 -0.474727 +v 3.065140 2.255640 0.502219 +v 1.110996 3.302490 -0.579444 +v 2.646040 2.116045 -0.474727 +v 2.890499 3.197619 0.502219 +v 3.065140 3.162894 0.257954 +v 2.751054 3.197619 -0.544501 +v 2.715858 3.127937 0.572105 +v 1.110996 2.151118 0.223123 +v 1.669542 2.151118 0.467388 +v 2.960318 2.988342 -0.544501 +v 3.065140 2.116045 -0.230462 +v 2.646040 2.151118 -0.509558 +v 1.704546 3.232576 0.502219 +v 2.890499 2.220916 0.502219 +v 2.995322 2.988342 0.572105 +v 1.494900 3.267416 -0.579444 +v 1.774173 2.185959 -0.544501 +v 1.250824 2.255640 -0.579444 +v 3.065140 2.255640 -0.474727 +v 2.960318 3.162894 -0.474727 +v 1.110996 3.058140 0.502219 +f 44 36 58 +f 33 32 36 +f 35 29 37 +f 29 35 38 +f 36 30 39 +f 33 36 39 +f 30 31 41 +f 35 37 42 +f 41 35 42 +f 41 42 43 +f 39 30 43 +f 30 41 43 +f 35 36 44 +f 32 33 45 +f 40 32 45 +f 37 29 48 +f 32 40 48 +f 40 37 48 +f 29 46 48 +f 46 32 48 +f 47 37 49 +f 31 30 50 +f 30 36 50 +f 36 35 50 +f 41 31 50 +f 35 41 50 +f 29 38 51 +f 46 29 51 +f 32 46 51 +f 38 35 52 +f 44 32 52 +f 35 44 52 +f 51 38 52 +f 32 51 52 +f 33 39 53 +f 39 43 53 +f 43 34 53 +f 34 47 53 +f 37 40 54 +f 45 33 54 +f 40 45 54 +f 49 37 54 +f 49 54 55 +f 47 49 55 +f 33 53 55 +f 53 47 55 +f 54 33 55 +f 42 37 56 +f 37 47 56 +f 56 47 57 +f 43 42 57 +f 34 43 57 +f 47 34 57 +f 42 56 57 +f 36 32 58 +f 32 44 58 +o convex_2 +v -2.064649 -1.652635 0.537210 +v -2.936611 -0.989738 -0.614340 +v -2.971548 -1.233931 -0.579396 +v -1.157388 -1.861987 -0.544453 +v -1.157388 -0.885010 0.467211 +v -2.971548 -1.896930 0.537210 +v -3.006484 -0.885010 0.432493 +v -1.157388 -0.850067 -0.509623 +v -1.157388 -1.792203 0.502154 +v -2.971548 -1.861987 -0.474679 +v -2.936611 -0.885010 -0.614340 +v -1.297134 -0.989738 0.502154 +v -2.099223 -0.850067 -0.579396 +v -1.227261 -0.850067 0.013625 +v -2.901675 -1.652635 0.537210 +v -2.657482 -1.896930 0.537210 +v -3.006484 -0.989738 0.467211 +v -2.971548 -1.896930 0.118342 +v -2.413289 -0.850067 -0.544453 +v -3.006484 -1.199090 0.153172 +v -1.157388 -1.861987 -0.404905 +v -2.971548 -1.722419 -0.509623 +v -1.785520 -1.826941 0.537210 +v -2.657482 -0.885010 -0.614340 +v -2.517917 -0.885010 0.467211 +v -2.971548 -0.885010 -0.439849 +v -1.331889 -1.861987 -0.544453 +v -1.157388 -1.687373 -0.544453 +v -1.157388 -1.024579 0.502154 +f 81 67 87 +f 63 62 66 +f 62 63 67 +f 60 61 69 +f 63 66 72 +f 66 71 72 +f 64 59 73 +f 59 70 73 +f 59 64 74 +f 64 73 75 +f 62 74 76 +f 74 64 76 +f 71 69 77 +f 65 72 77 +f 72 71 77 +f 64 75 78 +f 75 65 78 +f 68 76 78 +f 76 64 78 +f 62 67 79 +f 74 62 79 +f 67 74 79 +f 78 61 80 +f 68 78 80 +f 59 74 81 +f 74 67 81 +f 62 60 82 +f 60 69 82 +f 69 71 82 +f 70 63 83 +f 63 72 83 +f 72 65 83 +f 73 70 83 +f 65 75 83 +f 75 73 83 +f 69 61 84 +f 65 77 84 +f 77 69 84 +f 61 78 84 +f 78 65 84 +f 61 60 85 +f 60 62 85 +f 62 76 85 +f 76 68 85 +f 80 61 85 +f 68 80 85 +f 66 62 86 +f 71 66 86 +f 62 82 86 +f 82 71 86 +f 67 63 87 +f 70 59 87 +f 63 70 87 +f 59 81 87 +o convex_3 +v 1.110996 -0.780881 -0.544467 +v -1.157187 -1.861280 -0.544255 +v -1.157187 -1.861280 -0.404906 +v 1.006202 -4.409402 0.990495 +v -1.052392 1.417566 0.990495 +v 1.006202 1.416996 1.095325 +v -0.843025 1.418136 -0.963151 +v 1.110996 -4.234279 -0.963151 +v -1.122107 -4.269076 1.025650 +v -1.017534 -4.304442 -1.033037 +v 1.041059 1.418136 -1.067769 +v 1.110996 -0.536736 0.571811 +v -0.982677 1.418136 -0.928207 +v 1.075917 -2.454530 -1.067769 +v -1.157187 -0.885840 0.467193 +v 0.378100 0.544804 1.095325 +v -1.157187 -0.851044 -0.509312 +v 1.006202 -0.048445 1.095325 +v -0.877882 -4.339239 -0.893264 +v -0.424290 -4.339239 1.025438 +v 1.075917 -4.339239 0.048510 +v 0.796834 1.416996 -1.067769 +v -1.017534 -3.501844 -1.033037 +v 1.110996 -1.861851 0.502137 +v -0.703595 1.418136 1.025650 +v -1.052392 -4.304442 -0.788434 +v -1.052392 1.417566 0.327632 +v 1.041059 -2.280548 1.025650 +v -0.389433 -4.303872 -1.033037 +v 0.587467 -4.409402 0.571811 +v 1.041059 1.418136 -0.090628 +v -0.982677 1.103258 -0.963151 +v 1.075917 0.614967 -0.858321 +v 0.133875 -4.164687 1.025650 +v 1.110996 -4.269646 -0.753703 +v 0.412957 1.416996 1.095325 +v -1.087250 -4.304442 0.711373 +v 1.041059 -4.373465 0.746528 +v 0.761977 -2.315344 -1.067769 +v 1.110996 -3.711193 -0.998094 +v 1.006202 -3.292495 1.025438 +v -1.122107 -4.269076 0.851146 +v -1.157187 -1.791687 0.502137 +v 1.041059 0.998869 0.920820 +v 0.971344 -4.409402 0.711373 +v -0.982677 -3.222332 -1.033037 +v -1.087250 -3.466477 1.025650 +v 1.110996 -4.269646 -0.614142 +v -0.180065 -4.303872 -0.997882 +v 0.657182 -4.409402 0.920820 +v -1.157187 -1.025026 0.502137 +v 0.378100 1.173421 1.095325 +v 1.041059 0.649764 0.955764 +f 99 131 140 +f 90 89 96 +f 95 88 99 +f 98 94 100 +f 89 90 102 +f 89 102 104 +f 102 92 104 +f 93 103 105 +f 103 96 105 +f 105 96 107 +f 94 98 109 +f 98 101 109 +f 97 89 110 +f 89 104 110 +f 95 99 111 +f 100 92 112 +f 98 100 112 +f 89 97 113 +f 97 106 113 +f 92 100 114 +f 104 92 114 +f 100 104 114 +f 93 105 115 +f 111 99 115 +f 97 101 116 +f 106 97 116 +f 112 93 118 +f 98 112 118 +f 100 94 119 +f 104 100 119 +f 94 109 119 +f 110 104 119 +f 99 88 120 +f 118 99 120 +f 98 118 120 +f 107 91 121 +f 105 107 121 +f 95 111 122 +f 103 93 123 +f 93 112 123 +f 107 96 124 +f 113 106 124 +f 91 108 125 +f 115 91 125 +f 111 115 125 +f 101 97 126 +f 109 101 126 +f 97 110 126 +f 110 109 126 +f 88 95 127 +f 101 98 127 +f 95 116 127 +f 116 101 127 +f 120 88 127 +f 98 120 127 +f 91 115 128 +f 115 105 128 +f 121 91 128 +f 105 121 128 +f 96 89 129 +f 89 113 129 +f 124 96 129 +f 113 124 129 +f 90 96 130 +f 102 90 130 +f 118 93 131 +f 99 118 131 +f 108 91 132 +f 91 117 132 +f 117 106 132 +f 122 108 132 +f 109 110 133 +f 119 109 133 +f 110 119 133 +f 92 96 134 +f 112 92 134 +f 122 111 135 +f 108 122 135 +f 125 108 135 +f 111 125 135 +f 116 95 136 +f 106 116 136 +f 95 122 136 +f 132 106 136 +f 122 132 136 +f 91 107 137 +f 117 91 137 +f 106 117 137 +f 107 124 137 +f 124 106 137 +f 96 92 138 +f 92 102 138 +f 130 96 138 +f 102 130 138 +f 96 103 139 +f 103 123 139 +f 123 112 139 +f 134 96 139 +f 112 134 139 +f 93 115 140 +f 115 99 140 +f 131 93 140 +o convex_4 +v -3.041561 2.151087 0.188214 +v -1.087607 3.302490 0.502246 +v -1.087607 2.779092 0.537087 +v -1.087607 2.813882 -0.544371 +v -2.936546 3.267581 -0.474690 +v -3.006365 3.197762 0.607001 +v -1.087416 2.081149 -0.474690 +v -2.971742 2.151087 -0.579444 +v -1.087416 2.185877 0.537203 +v -1.087607 3.232671 -0.544371 +v -3.041561 2.185877 0.467405 +v -1.192239 2.151087 0.502246 +v -2.971742 3.267581 -0.020946 +v -2.553025 2.116058 -0.579444 +v -2.971742 2.395331 -0.579444 +v -1.436698 3.267581 -0.509646 +v -2.971742 2.151087 0.397491 +v -1.576335 2.185877 0.537203 +v -1.959857 2.744064 -0.579444 +v -2.483015 3.267581 -0.509646 +v -1.262057 2.081149 -0.335094 +v -3.006365 3.093035 0.607001 +v -2.762288 3.197762 0.607001 +v -2.762288 3.232552 0.571928 +v -2.971742 3.058126 -0.335094 +v -2.727283 2.116058 -0.509646 +v -1.366689 3.267581 0.537203 +v -3.041561 2.604666 0.467405 +v -1.087607 3.302490 0.362651 +v -1.401694 2.116058 -0.509646 +v -1.262057 3.302490 0.502246 +f 169 145 171 +f 142 143 149 +f 149 147 150 +f 147 144 150 +f 147 149 152 +f 148 141 155 +f 154 148 155 +f 151 141 157 +f 152 151 157 +f 152 149 158 +f 151 152 158 +f 150 144 159 +f 144 154 159 +f 154 155 159 +f 159 155 160 +f 155 145 160 +f 156 150 160 +f 150 159 160 +f 147 152 161 +f 152 157 161 +f 146 151 162 +f 158 149 162 +f 151 158 162 +f 149 143 163 +f 146 162 163 +f 162 149 163 +f 153 146 164 +f 153 145 165 +f 146 153 165 +f 155 141 165 +f 145 155 165 +f 141 148 166 +f 154 147 166 +f 148 154 166 +f 157 141 166 +f 147 161 166 +f 161 157 166 +f 143 142 167 +f 163 143 167 +f 146 163 167 +f 141 151 168 +f 151 146 168 +f 165 141 168 +f 146 165 168 +f 142 149 169 +f 149 150 169 +f 150 156 169 +f 160 145 169 +f 156 160 169 +f 144 147 170 +f 147 154 170 +f 154 144 170 +f 145 153 171 +f 164 146 171 +f 153 164 171 +f 167 142 171 +f 146 167 171 +f 142 169 171 +o convex_5 +v -1.087416 2.395536 -0.509571 +v 1.006197 1.732400 1.130432 +v 0.936475 1.732400 1.130432 +v -0.668651 3.721112 1.060477 +v 1.006197 3.791026 -1.102876 +v 1.041058 1.418136 -1.067680 +v -1.087416 1.418136 0.990741 +v -0.982617 3.721112 -1.067898 +v 1.110996 3.720880 0.955764 +v -0.982617 1.418136 -0.928207 +v -1.017478 3.721112 1.060477 +v 1.006197 1.418136 1.095236 +v 1.110996 2.255708 -0.579308 +v -1.087416 3.372007 0.641623 +v 1.110996 2.150954 0.432414 +v 1.110996 3.302326 -0.579308 +v 0.412910 3.791026 -1.102876 +v 1.041058 3.791026 -0.544549 +v 0.761953 1.418136 -1.067680 +v -1.087416 3.232412 -0.544330 +v -0.808096 1.418136 -0.962966 +v 1.041058 2.743712 -1.102876 +v -0.773234 3.755953 -1.067898 +v -0.982617 3.511603 -1.067898 +v -1.017478 3.232412 1.060477 +v 0.412910 1.418136 1.095455 +v -1.087416 2.081505 -0.474375 +v 1.075920 3.755953 0.502150 +v -1.017478 3.721112 -0.718780 +v 1.075920 3.441689 0.990741 +v 1.041058 1.418136 -0.125694 +v -0.703512 1.418136 1.025500 +v 1.041058 3.791026 -0.928207 +v 1.110996 3.372007 0.955764 +v 0.552570 3.791026 -0.649044 +v 0.238388 3.616357 -1.102876 +v -1.052340 3.581284 0.921005 +v 1.110996 3.720880 0.537128 +v -1.087416 1.837155 0.990741 +f 208 185 210 +f 174 173 175 +f 177 178 181 +f 174 175 182 +f 178 177 183 +f 172 178 185 +f 184 180 186 +f 177 184 186 +f 180 184 187 +f 176 188 189 +f 177 181 190 +f 172 185 191 +f 190 181 192 +f 184 177 193 +f 187 184 193 +f 188 176 193 +f 177 190 193 +f 188 179 194 +f 181 172 195 +f 172 191 195 +f 191 179 195 +f 192 181 195 +f 190 192 195 +f 174 182 196 +f 182 178 196 +f 173 174 197 +f 183 173 197 +f 178 183 197 +f 174 196 197 +f 178 172 198 +f 172 181 198 +f 181 178 198 +f 175 180 199 +f 182 175 199 +f 180 189 199 +f 179 191 200 +f 191 185 200 +f 194 179 200 +f 182 194 200 +f 175 173 201 +f 173 180 201 +f 180 175 201 +f 183 177 202 +f 177 186 202 +f 186 183 202 +f 196 178 203 +f 178 197 203 +f 197 196 203 +f 189 180 204 +f 176 189 204 +f 193 176 204 +f 187 193 204 +f 180 173 205 +f 173 183 205 +f 183 186 205 +f 186 180 205 +f 189 188 206 +f 194 182 206 +f 188 194 206 +f 182 199 206 +f 199 189 206 +f 179 188 207 +f 188 193 207 +f 193 190 207 +f 195 179 207 +f 190 195 207 +f 182 200 208 +f 200 185 208 +f 180 187 209 +f 204 180 209 +f 187 204 209 +f 178 182 210 +f 185 178 210 +f 182 208 210 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/913/913.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/913/913.urdf new file mode 100644 index 000000000..7d5d6bc36 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/913/913.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/914/914.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/914/914.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/914/914.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/914/914.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/914/914.obj new file mode 100644 index 000000000..7c74cb4ad --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/914/914.obj @@ -0,0 +1,603 @@ +o convex_0 +v -1.894750 -0.076326 0.834080 +v -0.935653 0.077038 -1.045737 +v -0.935653 0.192392 -1.045737 +v 0.291584 -1.303901 0.910627 +v -1.856635 -1.495937 -0.930496 +v 0.215131 -1.342408 -1.045737 +v 0.215131 0.192392 0.949111 +v -1.818076 -1.495937 1.102625 +v 0.215131 0.192392 -1.045737 +v -1.894750 0.192392 -0.968980 +v -1.856413 0.192392 1.064142 +v 0.023002 -1.457431 1.025868 +v 0.023002 -1.495937 -1.045737 +v 0.330365 0.153886 -0.470162 +v 0.099898 -1.303901 1.102625 +v -1.933531 -0.920160 0.565325 +v 0.330365 -0.920160 -0.470162 +v 0.330365 0.038697 0.488778 +v -1.894750 -0.881819 -0.968980 +v -1.933531 0.192392 -0.431889 +v -0.744188 -1.495937 1.064142 +v -1.779739 -1.495937 -0.968980 +v -1.818076 -0.613266 1.102625 +v -1.510934 0.192392 1.064142 +v 0.253469 -1.342408 -0.930496 +v -1.933531 0.192392 0.527051 +v -1.933531 -0.843478 -0.431889 +v 0.291584 -1.342408 0.910627 +v -0.322256 -1.495937 -1.045737 +v 0.330365 -0.997007 0.450294 +v -1.664505 0.077038 -1.007253 +v -1.856635 -1.495937 0.412020 +v -1.856413 -1.303901 1.025868 +f 32 8 33 +f 2 3 6 +f 6 3 9 +f 3 7 9 +f 7 3 10 +f 7 10 11 +f 2 6 13 +f 8 5 13 +f 9 7 14 +f 4 7 15 +f 17 14 18 +f 7 4 18 +f 14 7 18 +f 11 10 20 +f 10 19 20 +f 8 13 21 +f 13 12 21 +f 15 8 21 +f 12 15 21 +f 13 5 22 +f 5 19 22 +f 11 8 23 +f 8 15 23 +f 23 15 24 +f 7 11 24 +f 15 7 24 +f 11 23 24 +f 6 9 25 +f 13 6 25 +f 9 14 25 +f 14 17 25 +f 1 11 26 +f 16 1 26 +f 20 16 26 +f 11 20 26 +f 5 16 27 +f 19 5 27 +f 16 20 27 +f 20 19 27 +f 12 13 28 +f 4 15 28 +f 15 12 28 +f 18 4 28 +f 13 25 28 +f 25 17 28 +f 2 13 29 +f 22 2 29 +f 13 22 29 +f 17 18 30 +f 28 17 30 +f 18 28 30 +f 3 2 31 +f 10 3 31 +f 19 10 31 +f 2 22 31 +f 22 19 31 +f 5 8 32 +f 16 5 32 +f 16 32 33 +f 11 1 33 +f 8 11 33 +f 1 16 33 +o convex_1 +v 0.023610 -1.688033 -3.040585 +v 2.210550 -3.299200 -2.119606 +v 2.210550 -3.375972 -2.119606 +v 0.176899 -3.375972 3.021061 +v 2.133691 -1.380944 2.982360 +v 2.172014 -1.457716 -3.117988 +v 0.138577 -1.419435 2.905561 +v 0.100255 -3.337691 -3.079286 +v 2.057047 -3.491025 3.059763 +v 0.023610 -1.342663 -1.045031 +v 2.210550 -3.337481 -2.963786 +v 0.599087 -3.452744 -1.006934 +v 0.023610 -1.419435 -3.079286 +v 0.023610 -1.342663 0.948709 +v 1.404711 -1.342663 -0.316351 +v 0.138577 -3.260708 2.866859 +v 2.095369 -3.491025 2.445374 +v 0.061932 -2.915338 -3.040585 +v 1.366175 -1.419225 -3.117988 +v 2.133691 -2.110176 3.021061 +v 2.172014 -1.419435 0.564716 +v 2.095369 -3.375762 -2.772092 +v 1.443034 -3.491025 0.872515 +v 0.330617 -3.414253 3.021061 +v 0.637409 -1.380944 2.944263 +v 2.210550 -2.685232 -3.040585 +v 2.172014 -1.419435 -1.927912 +v 0.023610 -1.457716 1.025508 +v 0.100255 -3.337691 -0.892038 +v 0.215436 -3.375972 -2.657196 +v 0.637409 -3.337481 -3.079286 +v 0.138577 -1.457716 2.944263 +v 1.558215 -3.452744 -0.930740 +v 1.673181 -3.491025 3.059763 +v 0.176899 -3.068883 3.021061 +v 2.133691 -1.380944 0.795112 +v 2.210550 -2.378563 -2.963786 +v 0.138577 -3.375972 -0.892038 +v 2.172014 -1.726314 -3.117988 +v 1.634859 -1.380944 2.982965 +v 2.095369 -3.030602 3.059763 +v 1.327853 -1.342663 0.334925 +v 0.138577 -3.375972 2.368576 +v 1.980188 -3.337691 -3.002487 +v 2.095369 -3.491025 2.215583 +v 0.061932 -1.342663 1.102306 +v 1.327853 -3.375762 3.059763 +v 2.210550 -3.375972 -2.580398 +f 78 66 81 +f 35 36 44 +f 34 43 46 +f 43 34 47 +f 43 47 48 +f 34 46 51 +f 46 41 51 +f 41 46 52 +f 46 43 52 +f 43 48 52 +f 50 36 53 +f 36 35 54 +f 53 36 54 +f 38 53 54 +f 50 42 56 +f 45 56 57 +f 35 44 59 +f 39 52 60 +f 52 48 60 +f 38 54 60 +f 47 34 61 +f 34 51 61 +f 61 51 62 +f 51 41 62 +f 41 55 63 +f 55 45 63 +f 55 41 64 +f 40 47 65 +f 49 37 65 +f 58 40 65 +f 47 61 65 +f 61 49 65 +f 45 55 66 +f 56 45 66 +f 56 42 67 +f 57 56 67 +f 37 57 67 +f 65 37 68 +f 48 38 69 +f 38 60 69 +f 60 48 69 +f 54 35 70 +f 59 39 70 +f 35 59 70 +f 60 54 70 +f 39 60 70 +f 45 57 71 +f 62 41 71 +f 41 63 71 +f 63 45 71 +f 52 39 72 +f 41 52 72 +f 39 59 72 +f 64 41 72 +f 59 64 72 +f 53 38 73 +f 58 65 73 +f 65 68 73 +f 42 50 74 +f 50 53 74 +f 67 42 74 +f 53 73 74 +f 48 47 75 +f 38 48 75 +f 37 49 76 +f 57 37 76 +f 49 61 76 +f 61 62 76 +f 71 57 76 +f 62 71 76 +f 44 55 77 +f 59 44 77 +f 55 64 77 +f 64 59 77 +f 36 50 78 +f 50 56 78 +f 56 66 78 +f 47 40 79 +f 40 58 79 +f 73 38 79 +f 58 73 79 +f 38 75 79 +f 75 47 79 +f 37 67 80 +f 68 37 80 +f 73 68 80 +f 74 73 80 +f 67 74 80 +f 44 36 81 +f 55 44 81 +f 66 55 81 +f 36 78 81 +o convex_2 +v -3.967201 -0.153049 -0.124909 +v -1.933531 0.192280 -0.240018 +v -1.933531 0.192280 -0.431904 +v -1.933531 -0.920209 0.258536 +v -3.813322 -0.958741 -0.547014 +v -3.890162 -0.651607 0.527089 +v -1.933531 0.038712 0.488755 +v -1.933531 -0.881789 -0.431904 +v -3.967201 0.153860 -0.431904 +v -3.813322 0.038712 0.450421 +v -2.432393 -0.920209 0.565531 +v -3.890162 -0.843482 0.527089 +v -1.933531 -0.574880 0.565531 +v -3.736681 0.077132 0.411979 +v -2.202471 -0.038015 -0.470238 +v -1.933531 -0.920209 0.565531 +v -1.933531 0.077132 0.450421 +v -3.890162 -0.881789 0.296978 +v -3.928581 -0.076322 -0.470238 +v -3.967201 0.153860 -0.316794 +v -3.161377 -0.805062 0.565531 +v -2.317332 -0.805062 -0.470238 +v -2.355951 0.038712 0.488755 +v -3.813322 -0.958741 -0.431904 +f 92 99 105 +f 84 83 85 +f 85 83 88 +f 84 85 89 +f 85 86 89 +f 83 84 90 +f 86 82 90 +f 82 87 91 +f 87 82 93 +f 85 88 94 +f 84 89 96 +f 90 84 96 +f 86 85 97 +f 85 94 97 +f 94 92 97 +f 88 83 98 +f 83 95 98 +f 82 86 99 +f 93 82 99 +f 92 93 99 +f 86 90 100 +f 96 86 100 +f 90 96 100 +f 83 90 101 +f 90 82 101 +f 82 91 101 +f 95 83 101 +f 91 95 101 +f 91 87 102 +f 87 93 102 +f 93 92 102 +f 92 94 102 +f 89 86 103 +f 96 89 103 +f 86 96 103 +f 94 88 104 +f 95 91 104 +f 88 98 104 +f 98 95 104 +f 91 102 104 +f 102 94 104 +f 86 97 105 +f 97 92 105 +f 99 86 105 +o convex_3 +v 1.481499 1.420411 -0.125021 +v 0.790954 2.302729 0.258664 +v 0.790954 2.302729 0.297038 +v 0.829283 0.192392 -0.201771 +v 1.327909 0.192392 0.258664 +v 0.867681 2.686515 -0.278521 +v 1.404636 2.609611 0.181914 +v 1.481499 0.192392 -0.316896 +v 1.481499 2.686515 -0.201771 +v 0.906011 0.230966 0.220289 +v 0.867681 2.532952 0.335413 +v 1.136192 1.496826 -0.316896 +v 1.327909 2.225581 0.258664 +v 0.829283 0.461189 -0.240146 +v 1.366306 0.192392 0.220289 +v 1.366306 2.647941 -0.240146 +v 0.790954 2.571281 0.220289 +v 0.790954 2.379388 0.335413 +v 1.481499 0.192392 -0.163396 +v 0.829283 0.192392 -0.086647 +v 1.327909 0.192392 -0.316896 +v 1.481499 0.653082 -0.316896 +v 1.097862 2.647941 -0.278521 +f 127 117 128 +f 108 107 109 +f 110 109 113 +f 112 106 114 +f 111 112 114 +f 106 113 114 +f 116 110 118 +f 112 116 118 +f 111 117 119 +f 110 113 120 +f 118 110 120 +f 112 118 120 +f 107 108 122 +f 109 107 122 +f 112 111 122 +f 116 112 122 +f 119 109 122 +f 111 119 122 +f 115 110 123 +f 110 116 123 +f 122 108 123 +f 116 122 123 +f 106 112 124 +f 113 106 124 +f 112 120 124 +f 120 113 124 +f 108 109 125 +f 109 110 125 +f 110 115 125 +f 123 108 125 +f 115 123 125 +f 113 109 126 +f 117 113 126 +f 109 119 126 +f 119 117 126 +f 114 113 127 +f 113 117 127 +f 121 114 127 +f 121 127 128 +f 111 114 128 +f 117 111 128 +f 114 121 128 +o convex_4 +v -1.165966 5.372824 0.565531 +v -0.974197 6.600159 0.565531 +v -1.434707 6.600159 0.565531 +v -0.437121 6.677112 -0.547014 +v -1.434707 4.681813 -0.547014 +v -0.437121 4.681813 0.488755 +v -0.437121 4.681813 -0.547014 +v -1.319503 6.638440 -0.547014 +v -1.434707 4.681813 0.565531 +v -0.398686 6.600159 0.488755 +v -0.398686 5.219309 -0.240018 +v -1.434707 6.600159 0.373645 +v -0.475455 6.677112 -0.201685 +v -1.434707 4.989038 -0.547014 +v -0.398686 5.603096 0.488755 +v -0.398686 6.638440 -0.048242 +v -1.012429 6.677112 -0.508571 +v -0.513890 6.600159 0.527089 +v -0.398686 6.638440 0.373645 +f 146 138 147 +f 129 130 131 +f 134 133 135 +f 133 132 135 +f 132 133 136 +f 129 131 137 +f 131 133 137 +f 134 129 137 +f 133 134 137 +f 134 135 139 +f 135 132 139 +f 133 131 140 +f 131 136 140 +f 136 133 142 +f 133 140 142 +f 140 136 142 +f 134 139 143 +f 139 138 143 +f 139 132 144 +f 138 139 144 +f 136 131 145 +f 132 136 145 +f 131 141 145 +f 141 132 145 +f 130 129 146 +f 129 134 146 +f 134 143 146 +f 143 138 146 +f 131 130 147 +f 141 131 147 +f 132 141 147 +f 144 132 147 +f 138 144 147 +f 130 146 147 +o convex_5 +v 0.944457 -1.342453 0.335233 +v 1.481258 0.192392 -0.163306 +v 2.056889 0.115620 -0.163306 +v 2.056889 0.077159 0.565640 +v 0.330549 0.038848 0.488871 +v 0.330549 -0.920280 -0.470380 +v 2.210550 -0.843508 -0.431945 +v 0.330549 0.153931 -0.470380 +v 2.056889 -0.958591 0.488871 +v 0.330549 -0.997053 0.450436 +v 1.404520 -1.342453 -0.316742 +v 2.095166 0.077159 -0.431945 +v 0.944457 0.192392 0.220232 +v 0.906180 -1.342453 -0.316742 +v 1.519720 -0.229780 0.565640 +v 1.634735 0.115620 -0.470380 +v 1.366243 -1.342453 0.297001 +v 1.519720 -0.881819 -0.470380 +v 0.484026 0.038848 0.527205 +v 2.095166 -0.958591 0.412103 +v 0.484026 -0.843508 0.488871 +v 2.095166 -0.037925 0.488871 +v 2.056889 -0.766585 0.527205 +v 1.481258 0.192392 -0.316742 +v 0.330549 0.153931 -0.124871 +v 1.327781 0.192392 0.258667 +v 2.210550 -0.728425 -0.355177 +v 0.982918 -0.958591 0.488871 +v 0.790980 0.192392 -0.239973 +f 172 160 176 +f 153 152 155 +f 152 153 157 +f 150 151 159 +f 157 153 161 +f 148 157 161 +f 158 148 161 +f 153 158 161 +f 153 155 163 +f 159 154 163 +f 156 148 164 +f 148 158 164 +f 158 153 165 +f 154 158 165 +f 153 163 165 +f 163 154 165 +f 152 157 166 +f 160 152 166 +f 162 151 166 +f 158 154 167 +f 156 164 167 +f 164 158 167 +f 166 157 168 +f 162 166 168 +f 159 151 169 +f 167 169 170 +f 151 162 170 +f 156 167 170 +f 169 151 170 +f 149 150 171 +f 150 159 171 +f 160 149 171 +f 163 155 171 +f 159 163 171 +f 155 152 172 +f 152 160 172 +f 150 149 173 +f 151 150 173 +f 149 160 173 +f 166 151 173 +f 160 166 173 +f 154 159 174 +f 167 154 174 +f 159 169 174 +f 169 167 174 +f 148 156 175 +f 157 148 175 +f 168 157 175 +f 162 168 175 +f 170 162 175 +f 156 170 175 +f 160 171 176 +f 171 155 176 +f 155 172 176 +o convex_6 +v -1.856697 2.993172 1.026041 +v -1.971876 2.418428 -0.355147 +v -1.971876 2.418428 -0.316723 +v 0.215233 0.192392 0.949193 +v 0.215233 4.642706 -1.045947 +v -1.895019 0.192392 -0.969100 +v 0.215233 0.192392 -1.045947 +v 0.100054 4.604477 0.987617 +v -1.971876 4.604477 -1.045947 +v -1.856697 0.192392 1.064465 +v -1.933340 4.681374 0.987617 +v -1.933340 0.192392 0.527152 +v -0.974232 0.192392 -1.045947 +v 0.176697 2.379760 0.987617 +v -0.437089 4.681374 -0.547059 +v 0.138376 4.642706 0.680434 +v -1.933340 1.036932 -1.007523 +v -1.971876 4.642706 -0.930676 +v -1.549697 0.307956 1.064465 +v -1.971876 2.954504 -1.045947 +v -1.971876 4.642706 -0.048170 +v -1.856697 1.190725 1.064465 +v -1.434519 4.681374 -0.547059 +v -0.437089 4.681374 0.488729 +v 0.176697 1.650784 0.987617 +v 0.215233 0.768455 0.949193 +v -0.053446 4.642706 0.987617 +v 0.215233 4.642706 -0.930676 +v -1.895019 1.689452 1.026041 +v -1.741519 0.269728 -1.007523 +v -1.741519 4.642706 -1.045947 +v 0.138376 4.028854 0.987617 +f 204 192 208 +f 180 182 183 +f 181 180 183 +f 178 179 185 +f 181 183 185 +f 182 180 186 +f 179 178 188 +f 182 186 188 +f 183 182 189 +f 185 183 189 +f 188 178 193 +f 182 188 193 +f 185 179 194 +f 186 180 195 +f 178 185 196 +f 185 189 196 +f 193 178 196 +f 188 187 197 +f 179 188 197 +f 194 179 197 +f 187 194 197 +f 177 187 198 +f 195 184 198 +f 186 195 198 +f 191 181 199 +f 187 191 199 +f 194 187 199 +f 181 191 200 +f 191 187 200 +f 180 190 201 +f 195 180 201 +f 190 195 201 +f 180 181 202 +f 190 180 202 +f 187 177 203 +f 184 192 203 +f 177 198 203 +f 198 184 203 +f 200 187 203 +f 192 200 203 +f 181 200 204 +f 200 192 204 +f 202 181 204 +f 190 202 204 +f 188 186 205 +f 187 188 205 +f 198 187 205 +f 186 198 205 +f 189 182 206 +f 182 193 206 +f 196 189 206 +f 193 196 206 +f 181 185 207 +f 185 194 207 +f 199 181 207 +f 194 199 207 +f 192 184 208 +f 184 195 208 +f 195 190 208 +f 190 204 208 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/914/914.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/914/914.urdf new file mode 100644 index 000000000..96c3dcba0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/914/914.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/915/915.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/915/915.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/915/915.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/915/915.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/915/915.obj new file mode 100644 index 000000000..b92402a39 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/915/915.obj @@ -0,0 +1,534 @@ +o convex_0 +v -0.622650 2.902098 -0.271697 +v 0.009959 0.244031 1.848071 +v -0.053016 0.244031 1.848071 +v 0.041650 0.212324 -1.063013 +v 0.769539 3.376639 0.329270 +v 1.022869 0.212324 0.392529 +v -1.034234 0.212680 0.171121 +v -0.654342 2.997220 0.866977 +v 0.801231 1.889603 -0.461761 +v 0.041650 3.344931 -0.461761 +v -0.021529 3.376639 1.088386 +v -0.875980 0.212680 1.373339 +v 0.801231 0.655869 1.246820 +v -0.812596 3.376639 0.329555 +v -0.907467 0.244387 -0.619910 +v 0.896102 0.212324 -0.651540 +v -0.053016 3.851892 0.266010 +v -1.065926 1.858252 0.392529 +v 1.022869 1.953017 0.297640 +v 0.737847 1.953017 1.057041 +v -0.812596 1.953017 1.120300 +v -0.812596 1.700072 -0.461761 +v 0.832923 0.212324 1.246820 +v 0.611285 2.996864 -0.240352 +v -0.053016 0.244031 -1.063013 +v 0.516414 3.028927 0.898607 +v -0.053016 3.313224 -0.461761 +v -0.084708 3.376639 1.088386 +v -1.034234 0.212680 0.550678 +v -1.065926 1.858252 0.297925 +v 0.769539 3.376639 0.266010 +v -0.021529 3.820184 0.424159 +v 0.927794 0.244387 -0.588280 +v -0.812596 3.345288 0.266295 +v 1.022869 1.857896 0.360900 +v -0.939159 0.212680 -0.525021 +v 1.022869 1.700072 0.171121 +v 0.896102 0.370860 -0.651540 +v 0.073342 3.820184 0.266010 +v 0.009959 0.212324 1.848071 +v 1.022869 0.212324 0.202750 +v -0.781109 1.953017 -0.430131 +v -0.844288 1.320297 1.215190 +v 0.041650 0.244031 -1.063013 +v -0.559471 3.060278 0.930236 +v -1.065926 0.877464 0.329555 +v 0.864410 0.370860 1.151930 +v 0.832923 1.858252 -0.398501 +v -0.812596 3.313580 0.392529 +v 0.801231 0.244387 1.310079 +v -0.053016 3.756770 0.107861 +v -0.907467 0.402567 1.246820 +v 0.769539 1.352004 1.151930 +v -0.812596 1.826545 -0.430131 +v -0.875980 0.434275 -0.619910 +v -0.053016 3.820184 0.424159 +v -0.021529 3.440053 1.025126 +v 0.516414 3.028927 -0.303612 +v -0.654342 3.060278 -0.145178 +v 0.041650 3.851892 0.329270 +v 1.022869 1.953017 0.266010 +v -0.875980 0.276095 1.373339 +v -0.844288 1.921310 1.057041 +v 0.579593 2.870391 0.898607 +f 26 20 64 +f 3 2 11 +f 6 4 16 +f 11 2 20 +f 4 6 23 +f 4 15 25 +f 5 11 26 +f 11 20 26 +f 10 25 27 +f 3 11 28 +f 21 3 28 +f 18 14 30 +f 5 19 31 +f 9 24 31 +f 14 17 34 +f 30 14 34 +f 19 5 35 +f 6 19 35 +f 5 20 35 +f 4 7 36 +f 15 4 36 +f 30 15 36 +f 19 6 37 +f 16 4 38 +f 33 16 38 +f 31 10 39 +f 2 3 40 +f 7 4 40 +f 3 12 40 +f 4 23 40 +f 29 7 40 +f 12 29 40 +f 6 16 41 +f 16 33 41 +f 37 6 41 +f 33 37 41 +f 25 22 42 +f 1 27 42 +f 27 25 42 +f 3 21 43 +f 10 9 44 +f 4 25 44 +f 25 10 44 +f 38 4 44 +f 9 38 44 +f 8 21 45 +f 28 14 45 +f 21 28 45 +f 7 29 46 +f 29 18 46 +f 18 30 46 +f 36 7 46 +f 30 36 46 +f 23 6 47 +f 13 23 47 +f 6 35 47 +f 35 13 47 +f 9 31 48 +f 37 33 48 +f 33 38 48 +f 38 9 48 +f 14 18 49 +f 21 8 49 +f 8 45 49 +f 45 14 49 +f 13 2 50 +f 23 13 50 +f 2 40 50 +f 40 23 50 +f 10 27 51 +f 34 17 51 +f 27 34 51 +f 39 10 51 +f 17 39 51 +f 29 12 52 +f 18 29 52 +f 43 18 52 +f 2 13 53 +f 20 2 53 +f 35 20 53 +f 13 35 53 +f 22 15 54 +f 15 30 54 +f 30 34 54 +f 42 22 54 +f 34 42 54 +f 15 22 55 +f 25 15 55 +f 22 25 55 +f 17 14 56 +f 14 28 56 +f 32 56 57 +f 11 5 57 +f 28 11 57 +f 56 28 57 +f 9 10 58 +f 24 9 58 +f 10 31 58 +f 31 24 58 +f 27 1 59 +f 34 27 59 +f 1 42 59 +f 42 34 59 +f 5 31 60 +f 39 17 60 +f 31 39 60 +f 17 56 60 +f 56 32 60 +f 32 57 60 +f 57 5 60 +f 31 19 61 +f 19 37 61 +f 48 31 61 +f 37 48 61 +f 12 3 62 +f 3 43 62 +f 52 12 62 +f 43 52 62 +f 18 43 63 +f 43 21 63 +f 49 18 63 +f 21 49 63 +f 20 5 64 +f 5 26 64 +o convex_1 +v 0.389808 -0.737296 -2.898906 +v -0.021529 -1.781526 -2.962453 +v 0.010027 -1.781526 -2.962453 +v -0.053084 -1.085373 -4.639398 +v -0.496087 -0.737296 -2.898906 +v 0.358141 -1.591500 -3.658582 +v -0.369531 -1.591500 -3.658582 +v -0.021529 -0.705663 -4.417747 +v 0.358141 -1.148639 -4.354541 +v 0.010027 -1.591500 -4.386230 +v -0.401198 -1.117006 -4.322852 +v 0.548031 -1.211790 -2.898906 +v -0.591088 -1.243423 -2.898906 +v -0.148085 -0.610650 -2.898906 +v 0.389808 -1.654765 -2.898906 +v -0.401198 -1.654765 -2.898906 +v 0.326474 -0.768929 -3.816514 +v -0.432865 -0.768929 -3.658582 +v -0.021529 -0.610650 -3.405414 +v -0.021529 -1.718031 -3.690271 +v -0.369531 -1.243423 -4.322852 +v -0.527754 -1.180272 -3.563687 +v 0.326474 -1.211790 -4.417747 +v -0.148085 -0.642397 -3.690271 +v -0.337864 -0.895461 -4.259645 +v 0.263140 -1.496601 -4.196268 +v 0.294807 -0.990474 -4.354541 +v 0.453030 -1.148639 -3.753648 +v -0.242974 -1.496601 -4.227956 +v -0.053084 -1.180272 -4.639398 +v 0.516364 -1.053740 -2.930765 +v -0.591088 -1.117006 -2.930765 +v 0.041694 -1.718031 -3.658582 +v 0.041694 -0.610650 -2.898906 +v 0.136583 -0.674030 -3.690271 +v -0.116418 -0.737296 -4.386230 +v 0.263140 -1.117006 -4.481125 +v -0.021529 -1.591500 -4.386230 +v 0.453030 -1.211790 -3.753648 +v 0.421363 -1.623132 -2.994142 +v 0.263140 -0.832195 -4.196268 +v -0.306308 -1.117006 -4.449436 +v -0.432865 -1.623132 -3.025661 +v 0.041694 -1.781526 -2.898906 +v 0.073361 -1.180272 -4.607709 +v -0.401198 -0.737296 -3.658582 +v -0.084751 -1.718031 -3.563687 +v 0.421363 -0.768929 -2.930765 +v 0.326474 -1.623132 -3.595375 +v -0.432865 -1.433220 -3.658582 +v 0.010027 -1.085373 -4.639398 +v -0.337864 -1.180272 -4.417747 +v 0.358141 -0.800562 -3.690271 +f 112 95 117 +f 65 69 76 +f 76 69 77 +f 69 65 78 +f 76 77 79 +f 79 77 80 +f 67 66 84 +f 82 75 86 +f 75 85 86 +f 73 70 87 +f 69 78 88 +f 78 83 88 +f 83 72 88 +f 75 82 89 +f 70 74 90 +f 87 70 90 +f 74 87 90 +f 81 73 91 +f 71 85 93 +f 65 76 95 +f 76 92 95 +f 77 69 96 +f 69 82 96 +f 86 77 96 +f 82 86 96 +f 67 84 97 +f 84 74 97 +f 78 65 98 +f 83 78 98 +f 83 98 99 +f 65 81 99 +f 81 72 99 +f 72 83 99 +f 98 65 99 +f 72 68 100 +f 88 72 100 +f 73 87 101 +f 72 91 101 +f 91 73 101 +f 74 84 102 +f 71 93 102 +f 94 74 102 +f 70 73 103 +f 76 70 103 +f 73 92 103 +f 92 76 103 +f 70 76 104 +f 76 79 104 +f 72 81 105 +f 91 72 105 +f 81 91 105 +f 75 89 106 +f 68 94 106 +f 100 68 106 +f 89 100 106 +f 80 77 107 +f 71 80 107 +f 66 67 108 +f 79 80 108 +f 80 66 108 +f 67 97 108 +f 87 74 109 +f 74 94 109 +f 101 87 109 +f 82 69 110 +f 69 88 110 +f 89 82 110 +f 88 100 110 +f 100 89 110 +f 66 80 111 +f 80 71 111 +f 84 66 111 +f 102 84 111 +f 71 102 111 +f 81 65 112 +f 65 95 112 +f 74 70 113 +f 97 74 113 +f 70 104 113 +f 104 79 113 +f 79 108 113 +f 108 97 113 +f 85 71 114 +f 77 86 114 +f 86 85 114 +f 71 107 114 +f 107 77 114 +f 68 72 115 +f 94 68 115 +f 72 101 115 +f 109 94 115 +f 101 109 115 +f 85 75 116 +f 93 85 116 +f 102 93 116 +f 94 102 116 +f 75 106 116 +f 106 94 116 +f 73 81 117 +f 92 73 117 +f 95 92 117 +f 81 112 117 +o convex_2 +v -0.021519 -0.262821 -2.454855 +v -0.021519 -2.161307 -1.790619 +v 0.009968 -2.161307 -1.790619 +v -0.021519 -0.610873 3.208628 +v 1.022869 0.212324 0.392220 +v -1.034216 0.212091 0.550459 +v 0.041659 -2.161307 2.448713 +v 0.832924 -1.686395 -2.423575 +v -0.970833 -1.274913 -2.455469 +v -0.780889 -1.844622 2.448713 +v 0.991177 -1.211715 2.354260 +v 0.769541 -1.907820 2.417433 +v -1.002525 -1.116687 2.449327 +v 0.959486 -1.148285 -2.423575 +v -0.717710 -1.876221 -2.486748 +v -0.907450 0.212324 -0.619160 +v 0.009968 0.212324 1.910823 +v -0.527765 -0.769099 -2.898906 +v 0.896103 0.212091 -0.651053 +v 0.706363 -1.021890 3.081669 +v -0.053006 -1.908052 3.144842 +v -0.686019 -0.895495 3.082282 +v 0.073351 -1.781424 -2.898292 +v 0.421344 -0.737500 -2.898906 +v -1.065908 -1.211483 -1.727446 +v 0.737850 -0.357617 2.385540 +v -0.875963 0.212324 1.372933 +v 0.769541 -1.939418 -1.822513 +v 1.022665 -1.243314 -1.758726 +v -0.780889 -0.452414 -2.423575 +v -0.021519 -0.357385 3.081669 +v -0.780889 -1.907820 -1.758726 +v 0.706363 -0.484245 -2.423575 +v -0.021519 0.212324 -1.125770 +v 0.832924 0.212324 1.277867 +v -0.749402 -1.243314 3.145455 +v 0.104838 -2.097877 -2.486748 +v 0.009968 -1.211715 3.366867 +v -0.527765 -2.002848 2.417433 +v -0.496074 -1.559767 -2.898906 +v 0.421344 -1.654564 -2.898906 +v -1.002525 -1.148285 -2.455469 +v -1.065908 -1.179884 -0.145057 +v 0.737850 -1.211715 3.081669 +v 0.801233 -1.907820 1.404827 +v -0.591148 -0.547443 2.892150 +v -0.875963 -1.749593 -0.555987 +v 0.737850 -1.907820 -2.455469 +v 0.991177 -1.053489 2.354260 +v 1.022665 -1.148285 0.993282 +v -0.116389 -0.579274 -2.898292 +v -1.034216 0.212091 0.170808 +v 0.579597 -1.749593 2.892150 +v 0.104838 -0.389448 3.081669 +v -0.591148 -1.749593 2.924043 +v -0.179568 -0.262821 -2.423575 +v -0.053006 -2.161307 2.417433 +v 0.548110 -1.306512 -2.898906 +v -0.749402 -1.907820 2.448713 +v 0.073351 -2.161307 2.417433 +v -0.780889 -0.357617 2.353647 +v -0.053006 -2.161307 -1.726833 +v 0.737850 -1.939418 2.385540 +v 0.927794 0.212091 -0.587881 +f 131 150 181 +f 119 120 124 +f 122 133 134 +f 123 130 144 +f 133 123 144 +f 134 133 144 +f 131 122 146 +f 125 131 146 +f 145 125 146 +f 139 121 148 +f 134 144 148 +f 126 132 149 +f 142 126 149 +f 118 136 150 +f 131 141 150 +f 141 118 150 +f 133 122 151 +f 136 118 151 +f 122 136 151 +f 122 134 152 +f 130 127 153 +f 139 130 153 +f 120 119 154 +f 119 132 154 +f 132 140 154 +f 145 120 154 +f 137 121 155 +f 121 139 155 +f 153 138 155 +f 139 153 155 +f 132 126 157 +f 140 132 157 +f 135 141 157 +f 157 141 158 +f 140 157 158 +f 126 142 159 +f 133 147 159 +f 147 135 159 +f 157 126 159 +f 135 157 159 +f 130 123 160 +f 127 130 160 +f 129 128 161 +f 137 155 161 +f 155 138 161 +f 128 129 162 +f 146 128 162 +f 145 146 162 +f 139 148 163 +f 148 144 163 +f 142 149 164 +f 127 160 164 +f 160 142 164 +f 125 145 165 +f 154 140 165 +f 145 154 165 +f 140 158 165 +f 143 137 166 +f 122 152 166 +f 152 143 166 +f 161 128 166 +f 137 161 166 +f 146 122 167 +f 128 146 167 +f 122 166 167 +f 166 128 167 +f 141 135 168 +f 118 141 168 +f 135 147 168 +f 123 133 169 +f 133 159 169 +f 159 142 169 +f 160 123 169 +f 142 160 169 +f 129 161 170 +f 161 138 170 +f 121 137 171 +f 137 143 171 +f 148 121 171 +f 134 148 171 +f 152 134 171 +f 143 152 171 +f 138 153 172 +f 147 133 173 +f 151 118 173 +f 133 151 173 +f 118 168 173 +f 168 147 173 +f 119 124 174 +f 124 138 174 +f 138 156 174 +f 131 125 175 +f 141 131 175 +f 158 141 175 +f 125 165 175 +f 165 158 175 +f 153 127 176 +f 156 138 176 +f 149 156 176 +f 127 164 176 +f 164 149 176 +f 172 153 176 +f 138 172 176 +f 124 120 177 +f 120 145 177 +f 130 139 178 +f 144 130 178 +f 139 163 178 +f 163 144 178 +f 132 119 179 +f 149 132 179 +f 156 149 179 +f 119 174 179 +f 174 156 179 +f 138 124 180 +f 162 129 180 +f 145 162 180 +f 129 170 180 +f 170 138 180 +f 124 177 180 +f 177 145 180 +f 122 131 181 +f 136 122 181 +f 150 136 181 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/915/915.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/915/915.urdf new file mode 100644 index 000000000..ac8c55ff3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/915/915.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/916/916.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/916/916.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/916/916.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/916/916.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/916/916.obj new file mode 100644 index 000000000..f7cb25100 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/916/916.obj @@ -0,0 +1,1155 @@ +o convex_0 +v 2.068952 -1.701505 0.835654 +v -1.034055 -0.755545 -1.056494 +v -1.034055 -0.642189 -1.056494 +v -1.753050 -0.377124 0.949129 +v 2.144334 -0.112059 -0.753618 +v 0.100643 -2.042141 -0.980775 +v 1.955217 -0.112059 0.949129 +v -1.601845 -1.549985 0.797899 +v -2.131282 -0.112248 -0.564424 +v 1.917306 -2.042141 -0.905056 +v 0.025261 -2.042141 0.987093 +v -1.526022 -1.625745 -0.677899 +v 2.333891 -2.042141 0.267865 +v -0.920761 -0.112248 1.062812 +v 1.198311 -0.112059 -1.018531 +v 1.236223 -2.042141 0.986885 +v -1.753050 -0.112248 -0.942812 +v -2.131282 -0.112248 0.495022 +v -1.677227 -1.625745 -0.034597 +v 2.144334 -0.112059 0.684216 +v 1.198311 -2.042141 -1.018531 +v 2.295979 -2.042141 -0.412985 +v -0.769116 -1.587960 1.024641 +v 0.555139 -0.150033 1.062812 +v -1.980077 -0.906876 -0.299510 +v -1.753050 -0.869091 -0.867093 +v 1.879395 -0.490669 -0.942604 +v -0.163414 -2.042141 0.835654 +v 1.879395 -2.042141 0.911166 +v 0.327671 -0.112059 -1.056494 +v 1.085018 -1.739102 1.024848 +v -0.920761 -1.852836 -0.299510 +v -0.882850 -1.587771 -0.942812 +v 2.106422 -1.398654 -0.829337 +v -1.677227 -1.474414 0.759935 +v 0.706344 -1.133589 -1.056494 +v -1.753050 -0.112248 0.949129 +v 2.295979 -2.042141 0.457266 +v 2.333891 -1.928407 -0.034597 +v -0.693293 -0.112059 -1.056494 +v 1.312046 -0.112059 1.024848 +v 1.841483 -1.815050 0.949129 +v 2.106422 -0.490669 0.835654 +v -0.087592 -0.604215 1.062812 +v 1.690278 -1.474414 -0.980568 +v -1.677227 -0.755545 0.949129 +v -2.169635 -0.188007 -0.223791 +v 1.955217 -0.112059 -0.905056 +v -0.920761 -1.852836 0.381547 +v 0.592610 -2.042141 -1.018531 +v -0.012210 -1.852647 1.024641 +v -1.753050 -1.512200 -0.110316 +v -2.131282 -0.150222 0.495022 +v -0.920761 -0.906876 -1.056494 +v 1.614455 -1.474414 0.986885 +v 1.349516 -1.322894 -1.018531 +v -1.185701 -0.679974 1.024641 +v 2.106422 -2.004167 -0.753618 +v -1.715138 -1.587771 0.154390 +v -0.920761 -1.625745 0.987093 +v 2.333891 -2.004167 -0.261547 +v 2.106422 -1.360869 0.835654 +v -2.131282 -0.188007 -0.564424 +v -1.980077 -0.755545 0.230109 +f 25 59 64 +f 6 10 11 +f 11 10 13 +f 7 5 15 +f 11 13 16 +f 3 2 17 +f 5 7 20 +f 10 6 21 +f 13 10 22 +f 17 2 26 +f 12 25 26 +f 6 11 28 +f 11 8 28 +f 16 13 29 +f 2 3 30 +f 7 15 30 +f 12 6 32 +f 19 12 32 +f 6 28 32 +f 6 12 33 +f 12 26 33 +f 5 22 34 +f 10 27 34 +f 2 30 36 +f 30 15 36 +f 4 14 37 +f 18 4 37 +f 13 20 38 +f 1 29 38 +f 29 13 38 +f 5 20 39 +f 20 13 39 +f 3 17 40 +f 17 9 40 +f 9 18 40 +f 30 3 40 +f 7 30 40 +f 18 37 40 +f 40 37 41 +f 14 24 41 +f 24 31 41 +f 37 14 41 +f 7 40 41 +f 29 1 42 +f 16 29 42 +f 31 16 42 +f 20 7 43 +f 38 20 43 +f 14 23 44 +f 24 14 44 +f 31 24 44 +f 10 21 45 +f 27 10 45 +f 15 27 45 +f 4 35 46 +f 35 8 46 +f 18 9 47 +f 15 5 48 +f 27 15 48 +f 5 34 48 +f 34 27 48 +f 8 19 49 +f 28 8 49 +f 19 32 49 +f 32 28 49 +f 21 6 50 +f 36 21 50 +f 11 16 51 +f 23 11 51 +f 16 31 51 +f 44 23 51 +f 31 44 51 +f 12 19 52 +f 25 12 52 +f 4 18 53 +f 35 4 53 +f 18 47 53 +f 47 25 53 +f 26 2 54 +f 6 33 54 +f 33 26 54 +f 2 36 54 +f 50 6 54 +f 36 50 54 +f 7 41 55 +f 41 31 55 +f 31 42 55 +f 42 7 55 +f 21 36 56 +f 36 15 56 +f 45 21 56 +f 15 45 56 +f 14 4 57 +f 23 14 57 +f 4 46 57 +f 46 23 57 +f 22 10 58 +f 34 22 58 +f 10 34 58 +f 19 8 59 +f 8 35 59 +f 52 19 59 +f 25 52 59 +f 8 11 60 +f 11 23 60 +f 46 8 60 +f 23 46 60 +f 22 5 61 +f 13 22 61 +f 5 39 61 +f 39 13 61 +f 1 38 62 +f 42 1 62 +f 7 42 62 +f 43 7 62 +f 38 43 62 +f 9 17 63 +f 17 26 63 +f 26 25 63 +f 47 9 63 +f 25 47 63 +f 35 53 64 +f 53 25 64 +f 59 35 64 +o convex_1 +v -0.277371 3.747972 0.532752 +v -1.412780 2.386047 -0.980805 +v -1.412780 2.423740 -0.980805 +v -1.980229 2.386047 0.873396 +v 0.441653 2.385870 0.078626 +v -0.920736 3.975019 -0.715751 +v -1.639760 3.975019 0.040733 +v -0.163881 2.385870 0.948985 +v -1.980229 2.461611 -0.867126 +v -0.920736 3.937148 0.759717 +v -0.126051 3.142751 -0.715555 +v -0.126051 3.937148 -0.034464 +v -0.315457 2.385870 -0.905019 +v -2.169635 2.499482 0.040733 +v -0.845331 3.180622 1.024967 +v -0.845331 4.202065 0.040733 +v -0.882906 3.294056 -0.980805 +v -0.126051 3.218315 0.759913 +v -1.601675 3.445184 -0.715751 +v -1.677590 3.142751 0.797610 +v -1.337121 2.386047 1.024967 +v -0.088477 2.461433 -0.829233 +v -0.315457 3.747972 -0.564179 +v -2.131549 2.386047 -0.337411 +v -1.639760 3.975019 -0.034660 +v -1.412780 3.747972 0.608341 +v 0.441653 2.423740 0.003233 +v -0.012817 2.423740 0.873396 +v -0.807501 3.937148 -0.753447 +v -0.126051 3.937148 0.040733 +v -1.450355 3.785665 -0.602268 +v -0.996395 3.142751 1.024967 +v -2.055889 2.423740 0.684127 +v -0.845331 3.937148 0.759717 +v -1.072055 3.180622 -0.980805 +v -0.845331 2.386047 -0.980805 +v -0.769416 2.386047 1.024967 +v -1.677590 3.218493 -0.791537 +v -0.958566 3.937148 -0.753447 +v -0.845331 4.202065 -0.034660 +v -1.791080 2.423740 0.948985 +v -0.163881 3.256363 -0.715555 +v -2.055889 2.423740 -0.677858 +v 0.441653 2.423740 0.078626 +v -1.866740 2.386047 -0.905019 +v -0.731586 3.029317 -0.980609 +v -1.677590 3.899277 -0.034660 +v -0.050647 2.385870 -0.791340 +v -2.169635 2.499482 -0.034660 +v -0.920736 4.202065 0.040733 +v -1.866740 2.726528 0.835699 +v -2.169635 2.386047 0.154215 +v -0.088477 3.861584 -0.034464 +v -0.920736 4.202065 -0.034660 +v -1.563845 3.180622 0.835699 +v -1.563845 3.483055 0.684127 +v -0.391117 3.785843 0.608538 +v -0.391117 3.180622 0.873396 +v -0.088477 3.861584 0.040733 +v -0.088477 2.688480 -0.791340 +v -0.126051 3.218315 -0.677858 +v -1.715164 3.785665 0.040733 +v -0.315457 3.218315 -0.791340 +v -1.601675 2.650787 -0.942716 +f 109 73 128 +f 69 72 77 +f 66 67 81 +f 68 72 85 +f 74 71 90 +f 72 69 92 +f 82 72 92 +f 76 87 93 +f 76 80 94 +f 65 82 94 +f 89 70 95 +f 83 89 95 +f 79 74 96 +f 85 79 96 +f 74 79 98 +f 80 74 98 +f 94 80 98 +f 81 67 99 +f 77 66 100 +f 66 81 100 +f 72 79 101 +f 85 72 101 +f 79 85 101 +f 99 102 103 +f 70 93 103 +f 93 81 103 +f 95 70 103 +f 83 95 103 +f 81 99 103 +f 102 83 103 +f 80 76 104 +f 93 70 104 +f 76 93 104 +f 68 85 105 +f 85 96 105 +f 93 87 106 +f 69 91 108 +f 92 69 108 +f 82 92 108 +f 67 66 109 +f 66 77 109 +f 77 88 109 +f 107 73 109 +f 88 107 109 +f 86 77 110 +f 77 100 110 +f 100 81 110 +f 71 89 111 +f 89 83 111 +f 83 102 111 +f 102 73 111 +f 73 107 111 +f 69 77 112 +f 77 86 112 +f 91 69 112 +f 107 88 113 +f 78 111 113 +f 111 107 113 +f 71 74 114 +f 74 80 114 +f 89 71 114 +f 80 104 114 +f 84 71 115 +f 71 97 115 +f 97 68 115 +f 68 105 115 +f 72 68 116 +f 77 72 116 +f 88 77 116 +f 97 78 116 +f 68 97 116 +f 78 113 116 +f 113 88 116 +f 87 76 117 +f 76 94 117 +f 106 87 117 +f 108 91 117 +f 70 89 118 +f 104 70 118 +f 89 114 118 +f 114 104 118 +f 96 74 119 +f 105 96 119 +f 84 115 119 +f 115 105 119 +f 71 84 120 +f 90 71 120 +f 74 90 120 +f 119 74 120 +f 84 119 120 +f 82 65 121 +f 65 94 121 +f 98 82 121 +f 94 98 121 +f 79 72 122 +f 72 82 122 +f 98 79 122 +f 82 98 122 +f 94 82 123 +f 82 108 123 +f 117 94 123 +f 108 117 123 +f 75 91 124 +f 106 75 124 +f 112 86 124 +f 91 112 124 +f 91 75 125 +f 75 106 125 +f 106 117 125 +f 117 91 125 +f 97 71 126 +f 78 97 126 +f 71 111 126 +f 111 78 126 +f 81 93 127 +f 93 106 127 +f 86 110 127 +f 110 81 127 +f 106 124 127 +f 124 86 127 +f 99 67 128 +f 73 102 128 +f 102 99 128 +f 67 109 128 +o convex_2 +v -0.201756 -3.442397 0.040800 +v -0.126018 -2.155675 0.003248 +v -0.126018 -2.155675 -0.148109 +v -1.904721 -2.799036 0.003248 +v -0.126018 -2.874607 0.608675 +v -0.126018 -2.874607 -0.564513 +v -1.677334 -2.836822 -0.375259 +v -1.639727 -2.836822 0.381410 +v -1.639727 -3.252966 -0.034649 +v -0.921002 -3.290877 0.419307 +v -1.677334 -2.420804 0.003248 +v -0.731745 -2.420804 0.419307 +v -0.163974 -2.307195 -0.488605 +v -0.126018 -3.290877 -0.375259 +v -0.126018 -3.328789 0.495100 +v -0.996566 -2.382892 -0.375259 +v -0.845265 -3.215180 -0.375259 +v -0.126018 -2.458589 0.495100 +v -0.921002 -2.836822 0.532767 +v -0.996566 -2.761251 -0.488605 +v -1.034173 -3.366574 0.003248 +v -0.958784 -2.420804 0.381410 +v -1.450469 -3.177269 0.305732 +v -1.639727 -2.723465 -0.375259 +v -0.163974 -3.025875 0.608675 +v -0.958784 -2.269284 0.003248 +v -1.488425 -3.101572 -0.299581 +v -1.639727 -2.912519 0.381410 +v -1.601771 -2.458589 -0.186006 +v -1.488425 -2.572197 0.305732 +v -0.126018 -2.609857 -0.564513 +v -1.639727 -3.252966 0.040800 +v -1.866765 -2.950178 -0.034649 +v -0.996566 -2.836822 -0.488605 +v -0.921002 -2.912519 0.532767 +v -0.126018 -3.442397 0.078696 +v -0.315449 -2.382892 0.419307 +v -0.807309 -3.366574 0.192157 +v -0.277493 -3.328789 0.495100 +v -1.904721 -2.874607 0.040800 +v -0.996566 -2.307195 -0.148109 +v -0.126018 -2.269284 -0.450938 +v -1.866765 -2.799036 -0.110327 +f 161 168 171 +f 131 130 133 +f 131 133 134 +f 132 136 139 +f 134 133 142 +f 142 133 143 +f 134 142 145 +f 133 130 146 +f 146 140 147 +f 133 146 147 +f 142 129 149 +f 137 145 149 +f 145 142 149 +f 147 140 150 +f 136 147 150 +f 144 141 152 +f 141 148 152 +f 148 135 152 +f 143 133 153 +f 133 147 153 +f 130 131 154 +f 150 130 154 +f 139 150 154 +f 137 135 155 +f 135 145 155 +f 145 137 155 +f 147 136 156 +f 151 138 156 +f 144 152 157 +f 139 136 158 +f 150 139 158 +f 136 150 158 +f 131 134 159 +f 134 148 159 +f 148 141 159 +f 137 149 160 +f 138 151 160 +f 151 156 160 +f 135 137 161 +f 137 160 161 +f 134 145 162 +f 145 135 162 +f 148 134 162 +f 135 148 162 +f 138 153 163 +f 153 147 163 +f 147 156 163 +f 156 138 163 +f 129 142 164 +f 142 143 164 +f 146 130 165 +f 140 146 165 +f 130 150 165 +f 150 140 165 +f 149 129 166 +f 160 149 166 +f 138 160 166 +f 129 164 166 +f 166 164 167 +f 153 138 167 +f 143 153 167 +f 164 143 167 +f 138 166 167 +f 136 132 168 +f 156 136 168 +f 160 156 168 +f 161 160 168 +f 131 144 169 +f 154 131 169 +f 139 154 169 +f 157 139 169 +f 144 157 169 +f 144 131 170 +f 141 144 170 +f 131 159 170 +f 159 141 170 +f 132 139 171 +f 152 135 171 +f 139 157 171 +f 157 152 171 +f 135 161 171 +f 168 132 171 +o convex_3 +v -3.872476 1.136818 -0.299507 +v 0.554603 2.385695 0.078459 +v 0.554603 2.385695 0.003288 +v 2.144390 -0.112059 -0.715692 +v 0.554603 -0.111814 1.062649 +v -3.190964 1.552703 1.100657 +v -1.412308 2.385695 -0.980690 +v -1.790655 -0.111814 -0.942682 +v 1.879120 1.779838 0.797650 +v -1.790655 -0.111814 0.949048 +v 1.841835 1.212367 -0.942682 +v -1.336517 2.385695 1.024641 +v -3.569310 1.969077 0.003500 +v -3.304651 1.515051 -1.056494 +v 2.106495 -0.112059 0.797650 +v 2.333869 1.628496 -0.412896 +v -3.682997 0.418005 0.116678 +v 0.327840 -0.111814 -1.056283 +v -3.493518 0.455902 -0.867089 +v 1.160324 1.212367 1.062649 +v -3.720893 1.212122 0.835447 +v -0.164194 2.385695 -0.867089 +v -2.018029 2.385695 0.835447 +v 2.333869 1.023617 0.646253 +v -2.018029 2.385695 -0.867089 +v 1.841835 2.082522 -0.034508 +v -0.164194 2.385695 0.949048 +v -3.418338 0.607244 0.835447 +v 1.841835 1.855631 -0.715692 +v -2.169001 -0.111814 -0.602091 +v 1.879120 1.212367 0.986845 +v 1.009352 1.136818 -1.018487 +v 1.803940 -0.112059 -0.942682 +v -3.796684 1.287916 -0.791285 +v 2.333869 1.628496 0.457059 +v 2.333869 0.493798 0.003288 +v 1.954912 -0.112059 0.949048 +v -3.153068 1.931425 0.797862 +v -3.039992 2.006973 -0.791285 +v -0.920275 -0.111814 1.062649 +v 2.333869 1.212367 -0.602091 +v -1.260725 -0.111814 -1.018487 +v -3.910371 1.250264 0.078670 +v -2.169001 -0.111814 0.343458 +v -2.282688 2.385695 0.040874 +v -3.645101 1.931425 0.116678 +v 1.879120 1.893528 0.684049 +v -3.228859 1.401361 1.100657 +v -0.882379 2.385695 -0.980690 +v -1.147650 2.196456 1.062649 +v 1.841835 2.082522 0.116467 +v -3.720893 1.325812 0.835447 +v -3.569310 0.455902 -0.753699 +v 1.198219 -0.112059 -1.018487 +v -3.569310 1.817735 -0.450693 +v -1.298621 2.044870 -1.018487 +v -2.661034 0.418249 -0.980690 +v 1.954912 -0.112059 -0.904886 +v 2.295973 1.779838 0.078670 +v -0.618332 -0.111814 -1.056283 +v -0.769915 2.385695 1.024641 +v 0.214152 0.266663 -1.056283 +v 1.311906 -0.112059 1.024852 +v -1.942238 2.385695 0.911251 +f 194 209 235 +f 173 174 178 +f 173 178 183 +f 178 174 193 +f 183 178 194 +f 178 185 196 +f 194 178 196 +f 174 173 197 +f 193 174 197 +f 173 183 198 +f 188 181 199 +f 192 188 199 +f 182 193 200 +f 197 187 200 +f 193 197 200 +f 190 179 201 +f 180 198 202 +f 175 186 204 +f 185 190 205 +f 195 187 206 +f 202 195 206 +f 180 202 206 +f 186 175 207 +f 195 186 207 +f 187 195 207 +f 186 195 208 +f 195 202 208 +f 204 186 208 +f 196 185 210 +f 184 196 210 +f 182 200 212 +f 200 187 212 +f 207 175 212 +f 187 207 212 +f 172 188 214 +f 188 192 214 +f 205 172 214 +f 181 188 215 +f 188 201 215 +f 184 194 216 +f 196 184 216 +f 194 196 216 +f 194 184 217 +f 209 194 217 +f 205 214 217 +f 198 180 218 +f 180 206 218 +f 176 191 219 +f 191 177 219 +f 199 181 219 +f 192 199 219 +f 211 176 219 +f 181 211 219 +f 178 193 220 +f 193 182 220 +f 182 203 220 +f 183 177 221 +f 177 191 221 +f 197 173 222 +f 173 198 222 +f 198 218 222 +f 177 209 223 +f 214 192 223 +f 209 217 223 +f 217 214 223 +f 219 177 223 +f 192 219 223 +f 188 172 224 +f 201 188 224 +f 190 201 224 +f 172 205 224 +f 205 190 224 +f 201 179 225 +f 203 182 225 +f 189 203 225 +f 182 204 225 +f 204 208 225 +f 179 213 225 +f 215 201 225 +f 185 205 226 +f 210 185 226 +f 184 210 226 +f 217 184 226 +f 205 217 226 +f 185 178 227 +f 178 220 227 +f 220 203 227 +f 190 185 228 +f 179 190 228 +f 185 213 228 +f 213 179 228 +f 175 204 229 +f 204 182 229 +f 212 175 229 +f 182 212 229 +f 187 197 230 +f 206 187 230 +f 218 206 230 +f 197 222 230 +f 222 218 230 +f 185 189 231 +f 213 185 231 +f 189 225 231 +f 225 213 231 +f 198 183 232 +f 191 202 232 +f 202 198 232 +f 183 221 232 +f 221 191 232 +f 189 185 233 +f 203 189 233 +f 185 227 233 +f 227 203 233 +f 191 176 234 +f 202 191 234 +f 208 202 234 +f 176 211 234 +f 211 181 234 +f 181 215 234 +f 225 208 234 +f 215 225 234 +f 177 183 235 +f 183 194 235 +f 209 177 235 +o convex_4 +v 3.242062 1.212341 0.532952 +v 2.334062 1.099122 -0.602357 +v 2.334062 1.136670 -0.602357 +v 3.847452 1.099122 -0.450893 +v 2.334062 0.531417 0.078682 +v 2.334062 1.704490 0.154353 +v 3.733973 1.590811 -0.072416 +v 3.809626 0.758545 0.078682 +v 2.334062 0.644981 0.532952 +v 2.372058 0.644981 -0.488790 +v 2.372058 1.590811 -0.450893 +v 2.334062 1.552918 0.494933 +v 3.809626 1.212341 0.419262 +v 3.128753 1.590811 0.381366 +v 4.074580 1.212341 0.003255 +v 3.166579 0.720652 -0.413119 +v 2.334062 1.174563 0.646520 +v 3.128753 0.758545 0.457159 +v 3.166579 1.515140 -0.413119 +v 3.885278 1.552918 0.003255 +v 3.090927 0.607203 0.040785 +v 2.826143 1.704490 -0.034642 +v 3.847452 0.758545 -0.034642 +v 3.658321 1.439469 -0.337325 +v 3.317714 1.099122 -0.526564 +v 3.696147 0.909887 0.343591 +v 4.074580 1.099122 0.003255 +v 3.658321 1.477247 0.305695 +v 2.334062 0.607203 -0.413119 +v 2.977448 1.099122 0.570604 +v 3.658321 0.834216 -0.337325 +v 2.334062 1.704490 -0.110313 +v 3.166579 1.666482 0.078682 +v 3.128753 1.552918 0.419262 +v 3.090927 0.607203 -0.034642 +v 3.923104 1.136670 0.305695 +v 3.128753 1.212341 -0.526564 +v 3.847452 1.136670 -0.450893 +v 3.128753 1.552918 -0.375222 +v 3.923104 1.477247 -0.072416 +v 3.090927 0.985558 -0.526564 +v 2.372058 0.758545 0.570604 +v 3.847452 1.250234 0.381366 +v 4.074580 1.099122 -0.072416 +v 2.599016 1.590811 0.457159 +v 2.372058 0.531417 -0.034642 +f 264 270 281 +f 238 237 240 +f 238 240 241 +f 241 240 244 +f 241 244 247 +f 247 244 252 +f 244 240 256 +f 243 253 256 +f 253 244 256 +f 243 256 258 +f 237 238 260 +f 253 243 261 +f 248 253 261 +f 243 258 262 +f 255 249 263 +f 240 237 264 +f 237 245 264 +f 245 251 264 +f 248 236 265 +f 236 252 265 +f 253 248 265 +f 251 239 266 +f 239 258 266 +f 258 251 266 +f 238 241 267 +f 246 238 267 +f 241 257 267 +f 257 246 267 +f 241 249 268 +f 255 242 268 +f 249 255 268 +f 257 241 268 +f 242 257 268 +f 236 248 269 +f 252 236 269 +f 248 263 269 +f 263 249 269 +f 251 258 270 +f 258 256 270 +f 264 251 270 +f 261 243 271 +f 248 261 271 +f 262 250 271 +f 243 262 271 +f 238 246 272 +f 246 254 272 +f 260 238 272 +f 260 272 273 +f 254 259 273 +f 239 260 273 +f 272 254 273 +f 254 246 274 +f 246 257 274 +f 257 242 274 +f 259 254 274 +f 242 259 274 +f 242 255 275 +f 255 250 275 +f 259 242 275 +f 250 273 275 +f 273 259 275 +f 245 237 276 +f 239 251 276 +f 251 245 276 +f 237 260 276 +f 260 239 276 +f 252 244 277 +f 244 253 277 +f 265 252 277 +f 253 265 277 +f 250 255 278 +f 263 248 278 +f 255 263 278 +f 248 271 278 +f 271 250 278 +f 258 239 279 +f 250 262 279 +f 262 258 279 +f 239 273 279 +f 273 250 279 +f 241 247 280 +f 249 241 280 +f 247 252 280 +f 269 249 280 +f 252 269 280 +f 256 240 281 +f 240 264 281 +f 270 256 281 +o convex_5 +v 2.371736 -2.307236 0.494907 +v 0.479595 -2.837070 -1.018650 +v 0.479595 -2.534282 -1.018650 +v -0.012328 -2.042319 0.949033 +v 0.630937 -3.669158 0.759765 +v 2.371736 -3.290807 -0.450845 +v 1.917465 -2.042319 -0.904971 +v 0.252704 -3.631465 -0.640113 +v 0.063465 -2.042319 -0.904971 +v 1.879569 -3.290807 0.835551 +v -0.126018 -3.366548 0.494907 +v 1.879569 -2.042319 0.911140 +v 1.803776 -3.782770 -0.034612 +v 1.841672 -3.366548 -0.867078 +v 0.555143 -3.215065 0.987122 +v -0.126018 -2.874940 -0.602024 +v 2.333839 -2.042319 -0.337363 +v 0.252704 -3.820641 0.078478 +v 2.371736 -3.252936 0.381228 +v 1.047310 -3.707029 -0.753596 +v 0.101117 -3.593595 0.835551 +v -0.126018 -2.118060 -0.110201 +v 0.895724 -3.215065 -1.018650 +v -0.126018 -3.328677 -0.337363 +v 1.198408 -2.042319 -1.018650 +v 0.214807 -2.874940 -0.980560 +v 1.047310 -3.669158 0.759765 +v 1.160511 -3.858689 0.040781 +v 1.236304 -2.193802 0.987122 +v 2.371736 -2.610023 -0.526631 +v 2.371736 -2.761328 0.570497 +v -0.087877 -2.042319 0.835551 +v 0.895724 -3.215065 0.987122 +v 2.333839 -2.042319 0.381228 +v 0.290356 -3.631465 -0.715703 +v 0.063465 -2.042319 0.987122 +v 0.101117 -2.042319 -0.980560 +v 2.333839 -3.442112 0.040781 +v 1.841672 -3.707029 0.154264 +v 0.290356 -3.820641 -0.110201 +v 0.214807 -2.988019 0.987122 +v -0.126018 -3.442112 0.002888 +v -0.126018 -2.269543 -0.526631 +v 1.160511 -2.685765 -1.018650 +v 0.668833 -3.215065 -1.018650 +v 0.971517 -3.744900 -0.678006 +v 1.879569 -3.328677 -0.867078 +v -0.126018 -3.101631 0.608586 +v 2.371736 -2.231672 -0.412952 +v 1.085207 -3.858689 -0.110201 +v 2.030911 -2.042319 -0.829381 +v 1.841672 -3.328677 0.835551 +v 2.371736 -2.912811 -0.526631 +v 1.879569 -2.193802 0.911140 +v 1.122859 -3.669158 -0.791292 +v 1.765879 -2.080189 -0.942864 +v 1.841672 -3.744900 -0.110201 +v 0.176911 -3.555724 0.873247 +v 0.668833 -3.858689 0.040781 +v 1.009414 -3.707029 0.683979 +v -0.126018 -2.382977 0.494907 +v -0.012328 -2.193802 0.949033 +v 0.820175 -3.669158 -0.791292 +v 1.955362 -2.042319 0.873247 +f 335 312 345 +f 285 288 290 +f 288 285 293 +f 288 293 298 +f 287 282 300 +f 299 286 302 +f 297 292 303 +f 283 284 304 +f 292 297 305 +f 290 288 306 +f 304 284 306 +f 302 286 308 +f 282 287 311 +f 300 282 312 +f 291 300 312 +f 285 290 313 +f 290 303 313 +f 310 296 314 +f 298 293 315 +f 289 305 316 +f 305 297 316 +f 297 307 316 +f 293 285 317 +f 310 293 317 +f 296 310 317 +f 284 283 318 +f 297 290 318 +f 306 284 318 +f 290 306 318 +f 283 307 318 +f 307 297 318 +f 287 300 319 +f 319 300 320 +f 294 319 320 +f 289 316 321 +f 296 317 322 +f 302 292 323 +f 299 302 323 +f 305 289 323 +f 292 305 323 +f 289 321 323 +f 321 299 323 +f 290 297 324 +f 303 290 324 +f 297 303 324 +f 304 306 325 +f 283 304 326 +f 307 283 326 +f 316 307 326 +f 301 294 327 +f 321 316 327 +f 287 295 328 +f 295 304 328 +f 304 325 328 +f 292 302 329 +f 303 292 329 +f 282 311 330 +f 315 282 330 +f 298 315 330 +f 294 309 331 +f 327 294 331 +f 321 327 331 +f 288 298 332 +f 328 288 332 +f 298 330 332 +f 330 311 332 +f 300 291 333 +f 291 314 333 +f 314 308 333 +f 320 300 333 +f 308 320 333 +f 311 287 334 +f 287 328 334 +f 332 311 334 +f 328 332 334 +f 293 310 335 +f 291 312 335 +f 314 291 335 +f 310 314 335 +f 304 295 336 +f 326 304 336 +f 306 288 337 +f 325 306 337 +f 288 328 337 +f 328 325 337 +f 295 287 338 +f 294 301 338 +f 287 319 338 +f 319 294 338 +f 336 295 338 +f 301 336 338 +f 302 308 339 +f 314 296 339 +f 308 314 339 +f 322 302 339 +f 296 322 339 +f 286 299 340 +f 299 321 340 +f 331 309 340 +f 321 331 340 +f 308 286 341 +f 309 294 341 +f 320 308 341 +f 294 320 341 +f 286 340 341 +f 340 309 341 +f 313 303 342 +f 303 329 342 +f 329 313 342 +f 285 313 343 +f 317 285 343 +f 302 322 343 +f 322 317 343 +f 329 302 343 +f 313 329 343 +f 316 326 344 +f 301 327 344 +f 327 316 344 +f 336 301 344 +f 326 336 344 +f 312 282 345 +f 282 315 345 +f 315 293 345 +f 293 335 345 +o convex_6 +v 2.371910 -3.290929 -0.413115 +v 2.447640 -2.042141 0.040881 +v 2.447640 -2.042141 0.003174 +v 4.150265 -2.836837 -0.034642 +v 2.371910 -3.177306 0.457170 +v 3.923074 -2.723347 0.419355 +v 2.371910 -2.269387 -0.413115 +v 3.847518 -3.215314 0.040881 +v 3.885296 -2.798829 -0.375192 +v 2.371910 -2.231380 0.457170 +v 3.923074 -2.420618 -0.034642 +v 2.447640 -3.404552 0.040881 +v 3.015356 -2.836837 -0.526668 +v 3.204421 -3.252921 -0.375192 +v 2.901848 -2.723347 0.570830 +v 3.166642 -3.177306 0.419355 +v 3.809566 -2.458626 0.230064 +v 2.371910 -2.647865 -0.526668 +v 3.923074 -2.836837 0.419355 +v 3.469041 -2.496500 -0.337377 +v 2.371910 -2.572116 0.570830 +v 2.409862 -2.155764 0.419355 +v 3.771788 -3.026075 -0.337377 +v 2.485592 -2.231380 -0.375192 +v 3.923074 -2.420618 0.078696 +v 3.204421 -3.328804 0.040881 +v 3.053134 -2.912452 0.532800 +v 3.658280 -3.101691 0.343617 +v 2.447640 -3.252921 -0.450930 +v 4.150265 -2.836837 0.078696 +v 3.279803 -2.912452 -0.488745 +v 2.371910 -3.404552 -0.034642 +v 2.371910 -2.042141 -0.034642 +v 3.204421 -2.420618 0.419355 +v 3.090912 -2.496500 -0.413115 +v 2.371910 -2.912452 -0.526668 +v 2.371910 -2.760954 0.570830 +v 3.015356 -2.609857 0.532800 +v 3.885296 -3.177306 -0.034642 +v 3.771788 -2.496500 -0.223825 +v 4.150265 -2.760954 0.078696 +v 3.885296 -2.874578 -0.375192 +v 3.696058 -2.496500 0.343617 +v 3.317755 -2.798829 0.532800 +v 3.053134 -3.252921 -0.413115 +v 2.485592 -2.269387 -0.413115 +v 3.204421 -3.101691 0.457170 +f 389 372 392 +f 346 350 352 +f 352 350 355 +f 348 347 356 +f 349 354 356 +f 350 357 361 +f 346 352 363 +f 355 350 366 +f 348 356 369 +f 356 347 370 +f 362 351 370 +f 347 367 370 +f 367 362 370 +f 359 353 371 +f 353 361 371 +f 361 357 371 +f 361 353 373 +f 353 364 373 +f 351 364 375 +f 364 353 375 +f 358 354 376 +f 350 346 377 +f 357 350 377 +f 359 371 377 +f 371 357 377 +f 347 348 378 +f 352 355 378 +f 367 347 378 +f 355 367 378 +f 348 369 378 +f 369 352 378 +f 354 358 380 +f 365 354 380 +f 346 363 381 +f 363 358 381 +f 358 374 381 +f 374 346 381 +f 366 350 382 +f 360 366 382 +f 350 372 382 +f 372 360 382 +f 355 366 383 +f 366 360 383 +f 367 355 383 +f 351 379 383 +f 379 367 383 +f 353 359 384 +f 359 368 384 +f 349 375 384 +f 375 353 384 +f 356 354 385 +f 354 365 385 +f 369 356 385 +f 365 369 385 +f 349 356 386 +f 370 351 386 +f 356 370 386 +f 375 349 386 +f 351 375 386 +f 354 349 387 +f 376 354 387 +f 349 384 387 +f 384 368 387 +f 351 362 388 +f 362 367 388 +f 379 351 388 +f 367 379 388 +f 364 351 389 +f 360 372 389 +f 351 383 389 +f 383 360 389 +f 368 359 390 +f 374 358 390 +f 346 374 390 +f 358 376 390 +f 377 346 390 +f 359 377 390 +f 387 368 390 +f 376 387 390 +f 363 352 391 +f 358 363 391 +f 352 369 391 +f 369 365 391 +f 380 358 391 +f 365 380 391 +f 350 361 392 +f 372 350 392 +f 361 373 392 +f 373 364 392 +f 364 389 392 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/916/916.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/916/916.urdf new file mode 100644 index 000000000..4224c6959 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/916/916.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/917/917.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/917/917.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/917/917.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/917/917.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/917/917.obj new file mode 100644 index 000000000..0a71550e7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/917/917.obj @@ -0,0 +1,501 @@ +o convex_0 +v -0.122178 0.818055 1.065165 +v -1.111434 -1.698712 0.974966 +v -1.111434 -1.698712 1.005171 +v 0.956646 -3.557715 -0.013679 +v -0.961450 1.207582 -1.062943 +v -1.021444 -3.497536 -1.032946 +v 0.926649 1.208049 -0.972953 +v 0.956646 -3.527392 1.064956 +v 1.046636 1.207582 0.975174 +v 0.926649 -3.557715 -1.032738 +v -1.111434 1.207582 1.065165 +v -1.081437 -3.497536 0.945177 +v 0.297142 0.997657 -1.062943 +v -1.051440 -2.658303 -0.763183 +v -1.111434 1.207582 0.735200 +v 0.596897 -3.527392 1.064956 +v -0.991447 -0.710666 -1.062943 +v 0.986643 -3.257289 1.064956 +v 1.046636 1.177726 0.795193 +v -1.111434 0.068856 1.065165 +v -1.021444 -3.497536 0.975174 +v 0.956646 1.207582 -0.733187 +v -1.081437 -3.497536 0.195882 +v 0.387132 -3.557715 -1.032738 +v 0.297142 -0.800700 -1.062943 +v 0.986643 -2.628447 1.064956 +v 0.836659 1.147870 -1.002950 +v 0.896653 -3.557715 0.495642 +v 1.046636 0.637986 0.944969 +v -1.081437 1.117548 0.285664 +v -0.601702 -3.527392 -1.032946 +v -0.451930 -3.527392 0.345658 +v -0.242164 1.207582 1.065165 +v 0.267145 1.207582 -1.062943 +v -0.152174 -3.527392 1.005171 +v -1.021444 -2.208130 -1.032946 +v 0.926649 -2.987652 -1.032738 +v -1.051440 -3.497536 -0.703190 +v 1.016639 0.098712 1.004963 +v -0.991447 0.997657 -0.793180 +v 0.926649 0.128568 -1.002950 +f 22 37 41 +f 2 3 11 +f 3 2 12 +f 7 5 15 +f 2 11 15 +f 11 7 15 +f 5 13 17 +f 1 8 18 +f 8 4 18 +f 8 1 20 +f 11 3 20 +f 1 11 20 +f 16 8 20 +f 16 20 21 +f 3 12 21 +f 20 3 21 +f 7 9 22 +f 9 19 22 +f 19 10 22 +f 12 2 23 +f 2 15 23 +f 10 4 24 +f 13 10 25 +f 17 13 25 +f 10 24 25 +f 1 18 26 +f 18 9 26 +f 4 8 28 +f 8 16 28 +f 24 4 28 +f 4 10 29 +f 18 4 29 +f 9 18 29 +f 19 9 29 +f 10 19 29 +f 15 5 30 +f 14 15 30 +f 6 17 31 +f 12 23 31 +f 17 25 31 +f 25 24 31 +f 24 28 32 +f 12 31 32 +f 31 24 32 +f 9 7 33 +f 7 11 33 +f 11 1 33 +f 1 26 33 +f 5 7 34 +f 13 5 34 +f 7 27 34 +f 27 13 34 +f 16 21 35 +f 21 12 35 +f 28 16 35 +f 12 32 35 +f 32 28 35 +f 6 14 36 +f 17 6 36 +f 5 17 36 +f 14 30 36 +f 10 13 37 +f 22 10 37 +f 14 6 38 +f 15 14 38 +f 23 15 38 +f 6 31 38 +f 31 23 38 +f 26 9 39 +f 9 33 39 +f 33 26 39 +f 30 5 40 +f 5 36 40 +f 36 30 40 +f 7 22 41 +f 27 7 41 +f 13 27 41 +f 37 13 41 +o convex_1 +v -0.122272 4.624817 -0.133717 +v -0.362100 2.646770 -0.253645 +v -0.332071 2.646770 -0.283595 +v 0.327287 2.646770 0.255826 +v -0.332071 4.534782 0.345804 +v 0.297258 4.504771 -0.313609 +v 0.237267 4.504771 0.315790 +v -0.302109 2.646770 0.285840 +v 0.207306 2.646770 -0.283595 +v -0.182195 4.624817 -0.223631 +v 0.327287 3.995350 -0.163731 +v 0.147315 2.676975 0.285840 +v -0.332071 4.534782 0.225876 +v -0.302109 3.276430 -0.283595 +v 0.267297 3.606169 -0.313609 +v 0.177412 4.504771 -0.313609 +v -0.242186 3.036725 0.315790 +v 0.327287 2.646770 0.165911 +v -0.332071 3.635793 0.315790 +v 0.237267 4.205043 0.315790 +v 0.297258 4.474953 -0.073817 +v 0.327287 2.886861 0.255826 +v -0.362100 2.976702 -0.103767 +v -0.212224 4.624817 -0.163731 +v -0.212224 4.534782 0.345804 +v 0.297258 3.995350 -0.313609 +f 52 59 67 +f 43 44 45 +f 47 42 48 +f 43 45 49 +f 45 44 50 +f 42 47 51 +f 49 45 53 +f 44 43 55 +f 43 54 55 +f 50 44 56 +f 51 47 57 +f 55 51 57 +f 44 55 57 +f 56 44 57 +f 47 56 57 +f 49 53 58 +f 45 50 59 +f 52 45 59 +f 58 46 60 +f 49 58 60 +f 45 48 61 +f 53 45 61 +f 58 53 61 +f 47 48 62 +f 52 47 62 +f 52 62 63 +f 48 45 63 +f 45 52 63 +f 62 48 63 +f 43 49 64 +f 54 43 64 +f 46 54 64 +f 60 46 64 +f 49 60 64 +f 46 42 65 +f 42 51 65 +f 54 46 65 +f 51 55 65 +f 55 54 65 +f 42 46 66 +f 48 42 66 +f 46 58 66 +f 61 48 66 +f 58 61 66 +f 47 52 67 +f 56 47 67 +f 50 56 67 +f 59 50 67 +o convex_2 +v -0.961450 1.867538 -0.972853 +v 1.046648 2.616793 0.945125 +v 1.046648 1.867538 0.945125 +v -1.111434 2.526788 1.125111 +v 0.956446 2.616717 -0.972853 +v -1.111434 1.867538 1.094933 +v -0.931453 2.526788 -1.092917 +v 0.926660 1.867538 -0.972853 +v -0.362147 2.646693 -0.283519 +v 0.117380 1.957467 1.064754 +v -0.421929 1.867538 -1.062738 +v -0.302153 2.646693 0.285752 +v 0.447134 2.646693 -0.013647 +v 1.046648 1.867538 0.615330 +v -1.111434 2.526788 0.915163 +v 0.746679 2.167301 -1.002815 +v 1.046648 2.616793 0.435560 +v 0.477131 2.616717 -1.002815 +v -0.931453 1.867538 -1.062738 +v -1.111434 1.867538 0.795317 +v 0.956446 1.867538 -0.853007 +v -0.721686 2.257078 -1.092917 +v -0.661693 1.867538 1.094933 +v -0.961450 2.526788 -0.853007 +v 0.447134 2.047396 1.035010 +v 0.746679 1.867538 -1.002815 +v -1.021232 2.526788 1.125111 +v -0.661693 2.556764 -1.062738 +v 0.357143 2.646693 0.315714 +v 0.806673 2.556764 0.975086 +v 0.387140 1.867538 1.035010 +f 92 77 98 +f 68 70 73 +f 70 68 75 +f 75 68 78 +f 71 69 79 +f 76 71 79 +f 76 79 80 +f 72 76 80 +f 69 70 81 +f 70 75 81 +f 73 71 82 +f 71 76 82 +f 80 69 84 +f 72 80 84 +f 69 81 84 +f 76 72 85 +f 68 74 86 +f 78 68 86 +f 68 73 87 +f 82 68 87 +f 73 82 87 +f 75 72 88 +f 81 75 88 +f 72 84 88 +f 84 81 88 +f 72 83 89 +f 85 72 89 +f 74 85 89 +f 86 74 89 +f 78 86 89 +f 73 70 90 +f 71 73 90 +f 74 68 91 +f 76 74 91 +f 68 82 91 +f 82 76 91 +f 70 69 92 +f 72 75 93 +f 75 78 93 +f 83 72 93 +f 89 83 93 +f 78 89 93 +f 69 71 94 +f 71 90 94 +f 90 77 94 +f 77 92 94 +f 74 76 95 +f 76 85 95 +f 85 74 95 +f 79 69 96 +f 80 79 96 +f 69 80 96 +f 92 69 97 +f 69 94 97 +f 94 92 97 +f 90 70 98 +f 77 90 98 +f 70 92 98 +o convex_3 +v -0.332126 1.298083 1.095138 +v 0.357261 1.717534 3.103156 +v 0.267308 1.717534 3.103156 +v 0.297270 1.867462 1.095138 +v 0.327231 1.208113 1.095138 +v -0.332126 1.657575 3.073083 +v -0.212145 1.238124 3.013134 +v -0.272136 1.717534 1.215234 +v 0.237347 1.238124 2.923307 +v -0.332126 1.717534 3.073083 +v 0.177356 1.867462 1.395083 +v -0.092231 1.208113 2.353884 +v 0.327231 1.867462 1.125408 +v -0.182251 1.747481 1.095138 +v -0.302097 1.268071 1.095138 +v -0.242107 1.238124 2.953184 +v 0.357261 1.567670 2.683509 +v 0.267308 1.238124 2.803408 +v 0.117433 1.208113 1.095138 +v 0.357261 1.657575 3.103156 +v 0.297270 1.208113 1.754781 +v -0.272136 1.238124 2.084406 +v 0.177356 1.867462 1.095138 +v 0.327231 1.867462 1.395083 +v -0.332126 1.357977 1.155285 +f 108 106 123 +f 99 102 103 +f 104 101 108 +f 99 104 108 +f 101 100 109 +f 108 101 109 +f 107 105 110 +f 103 102 111 +f 102 109 111 +f 102 99 112 +f 99 106 112 +f 106 108 112 +f 99 103 113 +f 104 99 114 +f 105 104 114 +f 110 105 114 +f 103 111 115 +f 111 100 115 +f 103 115 116 +f 103 110 117 +f 113 103 117 +f 100 101 118 +f 101 104 118 +f 104 105 118 +f 105 107 118 +f 115 100 118 +f 107 116 118 +f 116 115 118 +f 110 103 119 +f 107 110 119 +f 116 107 119 +f 103 116 119 +f 99 113 120 +f 110 114 120 +f 114 99 120 +f 117 110 120 +f 113 117 120 +f 108 109 121 +f 109 102 121 +f 102 112 121 +f 112 108 121 +f 109 100 122 +f 100 111 122 +f 111 109 122 +f 106 99 123 +f 99 108 123 +o convex_4 +v -0.332033 1.327977 -2.441671 +v 0.357261 1.837489 -1.062943 +v 0.357261 1.747534 -1.062943 +v 0.237344 1.297992 -2.951141 +v -0.182260 1.717549 -3.041185 +v -0.212116 1.327977 -1.062943 +v -0.182260 1.717549 -1.062943 +v 0.207276 1.297992 -1.243030 +v 0.207276 1.747534 -2.981156 +v -0.362100 1.268007 -2.981156 +v 0.237344 1.238022 -2.771055 +v 0.237344 1.837489 -1.392908 +v 0.237344 1.357962 -1.062943 +v -0.242183 1.297992 -1.482952 +v -0.362100 1.327977 -2.861098 +v 0.237344 1.777519 -2.681399 +v -0.122266 1.747534 -1.062943 +v 0.027507 1.238022 -2.951141 +v -0.212116 1.657578 -1.212822 +v 0.357261 1.837489 -1.183195 +v -0.302106 1.477903 -3.010977 +v -0.182260 1.567682 -3.041185 +v 0.237344 1.238022 -2.951141 +v -0.092340 1.747534 -2.741428 +v -0.242183 1.327977 -1.273044 +v 0.177420 1.238022 -2.651384 +f 137 141 149 +f 126 125 129 +f 129 125 130 +f 126 129 136 +f 129 131 136 +f 134 126 136 +f 131 134 136 +f 131 129 137 +f 133 124 138 +f 127 132 139 +f 132 128 139 +f 128 130 140 +f 130 125 140 +f 125 135 140 +f 137 133 141 +f 129 130 142 +f 138 124 142 +f 125 126 143 +f 135 125 143 +f 127 139 143 +f 139 135 143 +f 130 128 144 +f 133 138 144 +f 142 130 144 +f 138 142 144 +f 128 132 145 +f 144 128 145 +f 133 144 145 +f 132 127 146 +f 126 134 146 +f 141 133 146 +f 134 141 146 +f 143 126 146 +f 127 143 146 +f 145 132 146 +f 133 145 146 +f 139 128 147 +f 135 139 147 +f 128 140 147 +f 140 135 147 +f 124 133 148 +f 137 129 148 +f 133 137 148 +f 142 124 148 +f 129 142 148 +f 134 131 149 +f 131 137 149 +f 141 134 149 +o convex_5 +v -0.961450 1.747481 -1.002950 +v 1.046648 1.447882 0.975151 +v 1.046648 1.208113 0.975151 +v -1.111434 1.867462 1.095138 +v 0.926660 1.867462 -0.972953 +v -0.961450 1.208113 -1.062943 +v -1.111434 1.208113 1.095138 +v 0.926660 1.208113 -0.972953 +v 1.046648 1.867462 0.945154 +v -0.931453 1.867462 -1.062943 +v 0.327146 1.807439 1.095138 +v 0.357143 1.747481 -1.062943 +v 0.327146 1.208113 1.095138 +v -1.111434 1.507841 0.705391 +v 0.267153 1.208113 -1.062943 +v 0.956657 1.777428 -0.852966 +v 1.046648 1.208113 0.795381 +v -1.111434 1.867462 0.795381 +v 1.046648 1.867462 0.645397 +v 0.956657 1.208113 -0.762975 +v -1.081437 1.208113 0.315643 +v 0.297361 1.867462 1.095138 +v 0.357143 1.837386 -1.062943 +v 0.806673 1.208113 -1.002950 +f 172 154 173 +f 155 152 156 +f 152 155 157 +f 151 152 158 +f 154 153 158 +f 153 154 159 +f 155 150 159 +f 152 151 160 +f 153 156 160 +f 151 158 160 +f 155 159 161 +f 156 152 162 +f 152 160 162 +f 160 156 162 +f 156 153 163 +f 157 155 164 +f 155 161 164 +f 157 154 165 +f 152 157 166 +f 158 152 166 +f 159 150 167 +f 153 159 167 +f 150 163 167 +f 163 153 167 +f 154 158 168 +f 165 154 168 +f 158 166 168 +f 168 166 169 +f 157 165 169 +f 166 157 169 +f 165 168 169 +f 150 155 170 +f 155 156 170 +f 163 150 170 +f 156 163 170 +f 158 153 171 +f 153 160 171 +f 160 158 171 +f 159 154 172 +f 161 159 172 +f 161 172 173 +f 154 157 173 +f 157 164 173 +f 164 161 173 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/917/917.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/917/917.urdf new file mode 100644 index 000000000..9f46335f2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/917/917.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/918/918.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/918/918.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/918/918.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/918/918.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/918/918.obj new file mode 100644 index 000000000..3757c6946 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/918/918.obj @@ -0,0 +1,561 @@ +o convex_0 +v 1.068186 -1.136232 -0.675315 +v -1.112897 -3.575483 0.766027 +v -1.112897 -3.575483 1.098930 +v 1.031038 -3.612574 -0.971091 +v -1.001878 -1.135990 -0.933965 +v 0.920233 -1.136232 1.098930 +v 0.957168 -3.538393 1.098930 +v -1.075748 -1.135990 1.098930 +v -1.001878 -3.538393 -0.971091 +v 0.994103 -1.136232 -1.008218 +v 1.031038 -1.173080 0.359489 +v 1.031038 -3.612574 -0.490507 +v -1.001878 -1.283867 -0.971091 +v 0.883298 -2.872944 -1.008218 +v -1.038813 -1.283867 -0.490507 +v -1.038813 -3.538393 -0.712442 +v 0.439438 -3.612574 -0.971091 +v -1.038813 -3.575483 -0.379539 +v 0.550457 -1.136232 -1.008218 +v 0.957168 -1.136232 1.061803 +v -1.112897 -2.577189 1.061803 +v -0.188669 -3.575241 1.098930 +v 1.068186 -2.023254 -0.675315 +v -0.706185 -3.575483 -0.971091 +v 1.031038 -2.060103 -0.971091 +v -1.038813 -1.135990 -0.453586 +v 1.068186 -1.173080 -0.379745 +f 7 23 27 +f 6 3 7 +f 1 5 8 +f 3 6 8 +f 5 1 10 +f 10 4 14 +f 15 13 16 +f 13 9 16 +f 2 15 16 +f 3 2 17 +f 12 3 17 +f 4 12 17 +f 14 4 17 +f 2 16 18 +f 16 9 18 +f 17 2 18 +f 5 10 19 +f 13 5 19 +f 9 13 19 +f 10 14 19 +f 14 9 19 +f 6 7 20 +f 1 8 20 +f 8 6 20 +f 11 1 20 +f 7 11 20 +f 2 3 21 +f 3 8 21 +f 7 3 22 +f 12 7 22 +f 3 12 22 +f 4 1 23 +f 7 12 23 +f 12 4 23 +f 9 14 24 +f 14 17 24 +f 18 9 24 +f 17 18 24 +f 1 4 25 +f 10 1 25 +f 4 10 25 +f 8 5 26 +f 5 13 26 +f 15 2 26 +f 13 15 26 +f 2 21 26 +f 21 8 26 +f 1 11 27 +f 11 7 27 +f 23 1 27 +o convex_1 +v -0.595098 0.047140 -1.082153 +v 1.068186 0.379917 0.618348 +v 0.957161 0.379917 1.061354 +v 0.957161 -1.135751 1.061568 +v -1.038781 0.379917 1.098930 +v -1.075929 -1.135751 0.248358 +v 0.994099 -1.135751 -1.007856 +v 0.957161 0.379917 -1.007643 +v -1.001842 -1.135751 -0.933986 +v -1.075929 -1.135751 1.098930 +v -1.001632 0.379917 -0.822755 +v 1.068186 -1.135751 -0.638293 +v -1.075929 -0.063835 -0.453405 +v 0.920222 -1.135751 1.098930 +v 1.068186 -1.135751 0.544051 +v -0.521221 -0.987834 -1.045005 +v -0.816939 0.379917 -1.007643 +v 1.068186 -0.063835 -0.601359 +v -0.040600 0.121025 -1.082153 +v 0.624504 -0.950743 -1.045005 +v 0.920222 -0.396314 1.098930 +v -1.075929 -1.024776 -0.453405 +v -1.075929 -0.322578 1.098930 +v 1.031038 0.379917 -0.748885 +v -1.038781 0.379917 -0.675228 +v 0.624504 0.342826 -1.044578 +v -1.075929 0.047140 0.506903 +v -0.964904 0.379917 -0.934200 +v 0.994099 -0.322578 -1.007856 +f 47 53 56 +f 29 30 31 +f 30 29 32 +f 31 33 34 +f 32 29 35 +f 34 33 36 +f 33 31 37 +f 32 35 38 +f 31 34 39 +f 33 37 40 +f 37 31 41 +f 32 37 41 +f 29 31 42 +f 39 29 42 +f 31 39 42 +f 36 28 43 +f 34 36 43 +f 28 36 44 +f 38 35 44 +f 29 39 45 +f 28 44 46 +f 43 28 47 +f 34 43 47 +f 28 46 47 +f 31 30 48 +f 30 32 48 +f 41 31 48 +f 32 41 48 +f 36 33 49 +f 33 40 49 +f 40 36 49 +f 37 32 50 +f 40 37 50 +f 35 29 51 +f 29 45 51 +f 32 38 52 +f 38 36 52 +f 36 40 52 +f 44 35 53 +f 46 44 53 +f 47 46 53 +f 50 32 54 +f 40 50 54 +f 32 52 54 +f 52 40 54 +f 36 38 55 +f 44 36 55 +f 38 44 55 +f 39 34 56 +f 45 39 56 +f 34 47 56 +f 35 51 56 +f 51 45 56 +f 53 35 56 +o convex_2 +v -1.075929 1.156618 1.061803 +v 1.105154 2.560999 1.357340 +v 0.994135 2.560999 1.393982 +v -1.075929 2.523637 -3.003639 +v 1.031070 0.379917 -3.115366 +v 0.994135 0.491148 2.946755 +v -1.001846 2.449768 3.021240 +v -1.001846 0.454214 -3.114765 +v 1.105154 2.486916 -3.114765 +v -1.038781 0.379917 2.983997 +v 0.957200 2.413046 2.909512 +v 1.068005 0.379917 0.654538 +v -1.075929 2.560999 1.505109 +v -1.038781 0.379917 -0.674780 +v -1.001846 2.560999 -2.596974 +v 1.105154 1.193339 0.765665 +v -0.151702 1.599837 3.021240 +v -1.075929 1.895317 -3.040280 +v 0.217861 0.417279 2.983397 +v 0.513554 2.523637 -3.078124 +v 0.994135 1.636772 2.946755 +v -0.447395 2.449768 3.021240 +v -1.038781 0.749693 3.021240 +v 0.439684 0.379917 -3.114765 +v -1.001846 2.413046 -3.040280 +v 1.105154 2.154288 -3.114765 +v 1.105154 2.560999 0.581254 +v 1.068005 0.417279 -0.379242 +v -1.001846 0.897860 -3.114765 +v 0.994135 2.449768 2.687859 +v 0.920265 0.454214 2.946755 +v 0.735377 0.712972 2.983397 +v -0.484330 0.379917 2.983997 +v 0.846396 2.413046 2.946755 +v -1.075929 2.523637 1.727363 +v -1.038781 1.008665 -3.077523 +v 0.957200 0.379917 1.061803 +v 0.957200 2.486916 -3.115366 +v -0.410246 2.486916 2.577333 +v -1.038781 1.193339 3.021240 +v -0.964911 0.379917 -0.933675 +f 80 70 97 +f 66 61 68 +f 59 58 69 +f 60 57 69 +f 61 66 70 +f 66 57 70 +f 69 58 71 +f 60 69 71 +f 58 62 72 +f 65 58 72 +f 62 68 72 +f 57 60 74 +f 70 57 74 +f 60 71 76 +f 62 58 77 +f 63 73 78 +f 73 63 79 +f 64 61 80 +f 61 70 80 +f 74 60 81 +f 61 65 82 +f 65 72 82 +f 58 65 83 +f 71 58 83 +f 65 76 83 +f 76 71 83 +f 68 61 84 +f 72 68 84 +f 61 82 84 +f 82 72 84 +f 64 74 85 +f 74 81 85 +f 58 59 86 +f 77 58 86 +f 67 77 86 +f 59 78 86 +f 68 62 87 +f 62 75 87 +f 75 62 88 +f 62 77 88 +f 73 79 88 +f 79 75 88 +f 66 68 89 +f 79 66 89 +f 75 79 89 +f 77 67 90 +f 78 73 90 +f 67 86 90 +f 86 78 90 +f 88 77 90 +f 73 88 90 +f 57 66 91 +f 69 57 91 +f 63 69 91 +f 66 79 91 +f 64 70 92 +f 74 64 92 +f 70 74 92 +f 68 87 93 +f 87 75 93 +f 89 68 93 +f 75 89 93 +f 61 64 94 +f 65 61 94 +f 76 65 94 +f 60 76 94 +f 81 60 94 +f 64 85 94 +f 85 81 94 +f 59 69 95 +f 69 63 95 +f 78 59 95 +f 63 78 95 +f 79 63 96 +f 63 91 96 +f 91 79 96 +f 70 64 97 +f 64 80 97 +o convex_3 +v -0.521359 -0.655126 -3.041380 +v 0.587609 -0.100751 -2.560542 +v 0.550554 -0.063733 -1.969446 +v 0.513616 -0.987841 -1.045186 +v -0.558297 0.047209 -1.045186 +v -0.521359 -0.987841 -1.045186 +v 0.513616 -1.061653 -2.967344 +v -0.595352 0.010079 -2.967344 +v -0.447366 -1.098783 -3.078398 +v 0.439623 -0.026827 -1.045186 +v 0.587609 -0.100751 -3.078398 +v -0.003871 0.047209 -1.082204 +v 0.587609 -0.507390 -3.041380 +v 0.513616 -1.024635 -1.488807 +v -0.595352 -0.211582 -2.856289 +v -0.373489 0.010079 -2.967344 +v -0.373489 -1.098783 -2.819470 +v 0.513616 -0.544184 -1.045186 +v -0.188680 -1.098783 -3.078398 +v 0.550554 -0.950823 -2.930525 +v -0.595352 -0.026827 -2.302012 +v 0.513616 -1.061653 -2.449886 +v 0.476677 -0.063733 -1.045186 +v -0.447366 -0.876899 -3.078398 +v -0.521359 -0.987841 -1.304114 +f 103 112 122 +f 101 102 103 +f 102 101 107 +f 100 99 108 +f 105 102 109 +f 107 100 109 +f 102 107 109 +f 100 108 109 +f 99 101 110 +f 108 99 110 +f 101 103 111 +f 105 98 112 +f 108 105 113 +f 105 109 113 +f 109 108 113 +f 103 106 114 +f 111 103 114 +f 99 100 115 +f 101 99 115 +f 107 101 115 +f 106 108 116 +f 110 104 116 +f 108 110 116 +f 114 106 116 +f 110 101 117 +f 104 110 117 +f 101 111 117 +f 103 102 118 +f 102 105 118 +f 112 103 118 +f 105 112 118 +f 111 114 119 +f 116 104 119 +f 114 116 119 +f 104 117 119 +f 117 111 119 +f 100 107 120 +f 115 100 120 +f 107 115 120 +f 98 105 121 +f 106 98 121 +f 105 108 121 +f 108 106 121 +f 98 106 122 +f 106 103 122 +f 112 98 122 +o convex_4 +v -0.558384 -0.839924 1.098930 +v 0.550641 -0.063871 3.058016 +v 0.439695 -0.026936 3.058016 +v -0.521366 -0.987769 3.058016 +v 0.513623 -1.061639 1.098930 +v -0.410420 -0.063871 1.098930 +v 0.402677 -1.098679 2.946983 +v 0.476605 -0.100806 1.098930 +v -0.447438 -0.063871 2.983994 +v -0.558384 -0.987769 1.098930 +v 0.513623 -0.544340 3.021005 +v -0.262564 -0.026936 3.021005 +v -0.373510 -1.024704 1.283984 +v -0.558384 -0.950729 2.688290 +v 0.550641 -0.507405 2.023244 +v -0.447438 -0.100806 1.098930 +v 0.070056 -0.063871 1.098930 +v -0.410420 -0.026936 2.207723 +v -0.373510 -1.024704 3.021005 +v 0.439695 -1.061639 2.946983 +v 0.550641 -0.063871 2.392586 +v 0.550641 -0.359560 2.909972 +v -0.558384 -0.802884 1.247165 +v -0.521366 -0.802884 3.058016 +v -0.373510 -0.987769 3.058016 +f 129 133 147 +f 124 125 126 +f 127 123 128 +f 127 128 130 +f 123 127 132 +f 127 129 135 +f 132 127 135 +f 123 132 136 +f 132 126 136 +f 127 130 137 +f 128 123 138 +f 125 130 139 +f 130 128 139 +f 134 125 140 +f 131 134 140 +f 128 138 140 +f 138 131 140 +f 125 139 140 +f 139 128 140 +f 129 126 141 +f 126 132 141 +f 135 129 141 +f 132 135 141 +f 129 127 142 +f 133 129 142 +f 125 124 143 +f 130 125 143 +f 124 137 143 +f 137 130 143 +f 124 133 144 +f 137 124 144 +f 127 137 144 +f 142 127 144 +f 133 142 144 +f 136 131 145 +f 123 136 145 +f 138 123 145 +f 131 138 145 +f 126 125 146 +f 125 134 146 +f 134 131 146 +f 136 126 146 +f 131 136 146 +f 124 126 147 +f 126 129 147 +f 133 124 147 +o convex_5 +v -1.926467 -1.135751 0.359420 +v -1.076327 0.047209 0.507449 +v -1.076327 -0.470510 0.507449 +v -1.076327 -0.063722 -0.453677 +v -3.109141 0.010155 0.507449 +v -3.071928 -1.061642 -0.527641 +v -1.076327 -1.061642 -0.416695 +v -3.034914 -0.026784 -0.527641 +v -2.997899 -1.098697 0.433486 +v -1.076327 -1.135751 0.470467 +v -2.406462 -1.061642 -0.527641 +v -2.406462 -0.026784 -0.527641 +v -3.109141 -0.211592 0.507449 +v -3.071928 0.010155 -0.157922 +v -1.076327 -1.024820 -0.453677 +v -3.034914 -1.098697 -0.231886 +v -1.076327 -1.135751 0.248677 +v -1.630749 -1.135751 0.470467 +v -1.593734 -0.285585 -0.490659 +v -3.034914 -1.098697 0.211695 +v -1.076327 0.047209 0.433486 +v -1.815424 0.047209 0.470467 +v -3.034914 -0.802957 0.470467 +v -3.109141 0.010155 0.248677 +f 152 169 171 +f 149 150 151 +f 150 149 152 +f 151 150 154 +f 154 150 157 +f 153 155 158 +f 158 155 159 +f 150 152 160 +f 155 153 161 +f 159 155 161 +f 151 154 162 +f 154 158 162 +f 153 158 163 +f 163 158 164 +f 157 148 164 +f 154 157 164 +f 158 154 164 +f 148 163 164 +f 156 148 165 +f 157 150 165 +f 148 157 165 +f 150 160 165 +f 158 159 166 +f 159 151 166 +f 151 162 166 +f 162 158 166 +f 148 156 167 +f 160 153 167 +f 163 148 167 +f 153 163 167 +f 149 151 168 +f 151 159 168 +f 159 161 168 +f 168 161 169 +f 152 149 169 +f 149 168 169 +f 156 165 170 +f 165 160 170 +f 167 156 170 +f 160 167 170 +f 160 152 171 +f 153 160 171 +f 161 153 171 +f 169 161 171 +o convex_6 +v 2.842297 -0.433571 0.544330 +v 1.068584 -1.061642 -0.601576 +v 1.068584 -1.098697 -0.194904 +v 1.068584 0.047209 0.581384 +v 3.064185 -0.063722 -0.453590 +v 3.101398 -1.061642 0.470453 +v 1.068584 -0.063722 -0.601576 +v 2.990156 -1.024820 -0.564521 +v 1.068584 -1.135751 0.544330 +v 2.990156 0.010155 0.544330 +v 2.214045 0.047209 0.581384 +v 2.768467 -1.098697 0.396460 +v 3.064185 -0.100661 -0.490644 +v 1.659822 -1.061642 -0.601576 +v 3.027171 0.010155 0.248590 +v 1.438132 0.047209 0.433399 +v 2.990156 -0.802957 -0.564521 +v 3.064185 -1.061642 -0.047034 +v 1.142414 -0.470510 0.581384 +v 1.438132 -1.098697 0.544330 +v 2.509763 -0.026784 0.581384 +v 3.101398 -0.876950 0.470453 +v 1.807681 -0.063722 -0.564521 +f 184 188 194 +f 173 174 175 +f 173 175 178 +f 175 174 180 +f 172 177 181 +f 177 180 183 +f 180 174 183 +f 174 173 185 +f 173 178 185 +f 183 174 185 +f 182 181 186 +f 182 186 187 +f 178 175 187 +f 175 182 187 +f 186 176 187 +f 184 179 188 +f 185 178 188 +f 179 185 188 +f 177 183 189 +f 184 177 189 +f 179 184 189 +f 185 179 189 +f 183 185 189 +f 175 180 190 +f 182 175 190 +f 177 172 191 +f 180 177 191 +f 190 180 191 +f 190 191 192 +f 172 181 192 +f 181 182 192 +f 182 190 192 +f 191 172 192 +f 181 177 193 +f 184 176 193 +f 177 184 193 +f 176 186 193 +f 186 181 193 +f 176 184 194 +f 178 187 194 +f 187 176 194 +f 188 178 194 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/918/918.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/918/918.urdf new file mode 100644 index 000000000..8f92dc6f1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/918/918.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/919/919.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/919/919.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/919/919.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/919/919.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/919/919.obj new file mode 100644 index 000000000..d94e97b76 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/919/919.obj @@ -0,0 +1,540 @@ +o convex_0 +v -0.308374 -4.095528 -1.382675 +v 0.215743 -3.386230 -1.321023 +v 0.246717 -3.447967 -1.321023 +v -0.154137 -3.386230 -1.845139 +v -0.585965 -3.386230 -1.135857 +v 0.339277 -4.157265 -1.290127 +v -0.185020 -4.126396 -1.721765 +v 0.215743 -3.663820 -1.721765 +v -0.185020 -3.386230 -1.135857 +v 0.215743 -3.386230 -1.721765 +v -0.308374 -4.064734 -1.259301 +v 0.185040 -4.002997 -1.690938 +v -0.185020 -3.417098 -1.845139 +v -0.215814 -3.509628 -1.135857 +v -0.585965 -3.417098 -1.166822 +v 0.339277 -4.157265 -1.351849 +f 12 8 16 +f 2 4 5 +f 6 1 7 +f 3 2 9 +f 2 5 9 +f 6 3 9 +f 2 3 10 +f 4 2 10 +f 8 4 10 +f 1 6 11 +f 4 8 12 +f 5 4 13 +f 4 12 13 +f 12 7 13 +f 9 5 14 +f 6 9 14 +f 5 11 14 +f 11 6 14 +f 7 1 15 +f 1 11 15 +f 11 5 15 +f 5 13 15 +f 13 7 15 +f 3 6 16 +f 6 7 16 +f 10 3 16 +f 8 10 16 +f 7 12 16 +o convex_1 +v -0.370075 -1.073101 2.441881 +v 0.370119 -0.703028 3.582877 +v 0.308388 -0.703028 3.582877 +v -0.061637 -1.381539 3.490144 +v 0.339253 -1.350655 1.609221 +v 0.246729 -0.703028 1.609221 +v -0.370075 -0.826430 3.520862 +v -0.339209 -1.319772 1.609221 +v -0.246685 -0.703028 1.609221 +v 0.339253 -1.319772 3.428323 +v -0.246685 -1.381539 3.335977 +v -0.370075 -0.919015 3.551773 +v -0.277478 -0.703028 1.886839 +v -0.246685 -1.381539 2.750023 +v 0.339253 -1.196436 1.701760 +v -0.339209 -1.103918 1.609221 +v 0.370119 -0.795613 3.582877 +v -0.339209 -1.319772 1.979378 +v -0.277478 -1.227320 3.520862 +f 33 28 35 +f 19 18 22 +f 22 21 24 +f 22 24 25 +f 19 22 25 +f 20 21 26 +f 19 23 28 +f 23 17 28 +f 23 19 29 +f 17 23 29 +f 19 25 29 +f 21 20 30 +f 24 21 30 +f 20 27 30 +f 27 24 30 +f 18 21 31 +f 22 18 31 +f 21 22 31 +f 24 17 32 +f 25 24 32 +f 17 29 32 +f 29 25 32 +f 18 19 33 +f 21 18 33 +f 20 26 33 +f 26 21 33 +f 19 28 33 +f 17 24 34 +f 24 27 34 +f 27 28 34 +f 28 17 34 +f 27 20 35 +f 28 27 35 +f 20 33 35 +o convex_2 +v 0.277594 -1.659279 -1.752542 +v -0.339233 -2.707595 -1.351865 +v -0.339233 -2.707595 -1.259295 +v -0.246613 -1.443427 -1.444377 +v 0.277594 -2.399289 -1.228381 +v -0.277527 -2.707595 -1.721743 +v 0.277594 -2.707595 -1.690944 +v 0.277594 -1.443427 -1.290151 +v -0.184966 -1.443427 -1.814313 +v -0.246613 -1.443427 -1.290151 +v 0.277594 -2.707595 -1.228381 +v 0.277594 -1.443427 -1.752542 +v -0.215759 -1.813494 -1.814313 +v -0.308380 -2.060040 -1.259237 +v -0.123320 -2.676777 -1.228381 +v -0.030820 -1.536005 -1.814313 +v 0.061681 -2.707595 -1.721743 +f 51 42 52 +f 38 37 41 +f 36 40 42 +f 38 41 42 +f 40 36 43 +f 39 43 44 +f 43 39 45 +f 40 43 45 +f 42 40 46 +f 38 42 46 +f 43 36 47 +f 44 43 47 +f 37 39 48 +f 41 37 48 +f 39 44 48 +f 37 38 49 +f 39 37 49 +f 45 39 49 +f 40 45 49 +f 38 46 50 +f 46 40 50 +f 49 38 50 +f 40 49 50 +f 36 42 51 +f 47 36 51 +f 44 47 51 +f 48 44 51 +f 48 51 52 +f 42 41 52 +f 41 48 52 +o convex_3 +v 1.110101 -1.010790 -0.426384 +v 0.246626 -0.702593 1.609028 +v -0.246607 -0.702593 1.609028 +v -0.770904 4.045943 -0.487900 +v 1.110101 4.015609 1.423835 +v -0.956025 -2.151967 -0.457035 +v -1.048374 3.891238 1.578162 +v 1.017752 3.891845 -0.580711 +v 0.956045 -1.997262 1.609028 +v -0.925172 -2.121026 1.454700 +v 1.110101 -1.966928 -0.488115 +v -0.986879 4.045337 -0.488115 +v -0.184900 -1.349927 -0.580711 +v -0.956025 -1.720006 1.485351 +v 0.493243 -1.504026 -0.580711 +v 1.048605 4.015609 1.454700 +v -0.801758 3.922179 1.578162 +v 0.493243 3.922179 -0.580711 +v -1.017732 3.953120 -0.117943 +v 0.925191 -2.028810 1.609028 +v -0.339167 -1.318986 1.608814 +v 1.079458 -1.997869 0.067036 +v -0.277460 -0.794809 -0.580711 +v -0.986879 0.315427 -0.457035 +v -1.048374 3.613982 1.578162 +v -0.801758 -2.151967 -0.364653 +v -1.017732 4.015002 0.221364 +v -0.956025 -2.121026 1.022797 +v 1.017752 2.472805 -0.580711 +v -0.647490 4.015002 -0.518980 +v 1.079458 3.984061 0.714570 +v 1.110101 -1.843770 -0.241190 +v -0.986879 1.948628 -0.488115 +v 1.048605 2.503746 -0.549846 +v 1.110101 3.860904 1.423835 +v 0.832631 4.015609 1.454486 +v -0.832611 -2.090085 1.485351 +v 0.986898 -1.997262 -0.488115 +v -0.986879 3.922179 1.578162 +v 0.770924 3.922786 -0.580711 +v -1.048374 3.860904 1.331238 +v -1.017732 3.058864 1.578162 +v 1.110101 3.984061 1.362103 +v -0.986879 4.045337 -0.241405 +v 0.986898 -0.856691 1.578162 +v -0.832611 -2.121026 1.454700 +v 1.048605 3.891845 -0.055997 +v 1.079458 4.015609 1.207990 +f 83 56 100 +f 54 55 61 +f 53 57 63 +f 65 60 67 +f 58 65 67 +f 55 54 69 +f 54 61 69 +f 61 68 69 +f 60 65 70 +f 61 55 72 +f 55 59 73 +f 72 55 73 +f 61 72 74 +f 65 58 75 +f 70 65 75 +f 73 59 77 +f 76 58 77 +f 62 58 78 +f 74 72 78 +f 64 71 79 +f 58 62 80 +f 62 66 80 +f 77 58 80 +f 66 77 80 +f 67 60 81 +f 63 67 81 +f 64 56 82 +f 75 64 82 +f 70 75 82 +f 63 57 84 +f 61 74 84 +f 74 63 84 +f 71 64 85 +f 75 58 85 +f 64 75 85 +f 58 76 85 +f 76 71 85 +f 53 63 86 +f 81 60 86 +f 63 81 86 +f 84 57 87 +f 66 62 89 +f 62 72 89 +f 73 66 89 +f 72 73 89 +f 67 63 90 +f 58 67 90 +f 63 74 90 +f 78 58 90 +f 74 78 90 +f 59 55 91 +f 69 68 91 +f 55 69 91 +f 79 59 91 +f 68 88 91 +f 88 79 91 +f 60 70 92 +f 82 56 92 +f 70 82 92 +f 56 83 92 +f 83 60 92 +f 71 76 93 +f 76 77 93 +f 77 59 93 +f 59 79 93 +f 79 71 93 +f 66 73 94 +f 77 66 94 +f 73 77 94 +f 57 53 95 +f 83 57 95 +f 57 56 96 +f 56 64 96 +f 68 57 96 +f 64 79 96 +f 88 68 96 +f 79 88 96 +f 57 68 97 +f 68 61 97 +f 61 84 97 +f 87 57 97 +f 84 87 97 +f 72 62 98 +f 62 78 98 +f 78 72 98 +f 60 83 99 +f 53 86 99 +f 86 60 99 +f 95 53 99 +f 83 95 99 +f 56 57 100 +f 57 83 100 +o convex_4 +v 0.215785 -3.386230 -1.320953 +v -2.929699 -3.231944 -1.845139 +v -2.929699 -3.262761 -1.814244 +v -3.084118 -2.707719 -1.228474 +v 0.277552 -2.707719 -1.690938 +v -0.123603 -3.386230 -1.845139 +v -2.837049 -3.355279 -1.290127 +v 0.277552 -2.707719 -1.228405 +v -2.929699 -2.769420 -1.783417 +v -0.154487 -3.386230 -1.135857 +v -0.154487 -3.139426 -1.845139 +v 0.308104 -3.324529 -1.721765 +v -0.771164 -2.707719 -1.752591 +v -3.022018 -3.324529 -1.444328 +v -1.480492 -3.386230 -1.197648 +v -0.216254 -3.231944 -1.135857 +v 0.308104 -3.262761 -1.290127 +v -3.084118 -2.707719 -1.321023 +v -0.586194 -3.386230 -1.135857 +v -2.929699 -3.355279 -1.351849 +v 0.308104 -2.769420 -1.228405 +v -3.052902 -3.231944 -1.290127 +v -2.991135 -2.738669 -1.629216 +v -2.929699 -3.170243 -1.845139 +v -0.216254 -2.738669 -1.752591 +v 0.215785 -2.862004 -1.197579 +f 117 121 126 +f 103 102 106 +f 105 104 108 +f 106 101 110 +f 106 102 111 +f 101 106 112 +f 106 111 112 +f 111 105 112 +f 104 105 113 +f 111 109 113 +f 102 103 114 +f 106 110 115 +f 110 101 117 +f 101 112 117 +f 104 113 118 +f 102 114 118 +f 104 115 119 +f 115 110 119 +f 116 104 119 +f 110 116 119 +f 103 106 120 +f 114 103 120 +f 106 115 120 +f 115 107 120 +f 105 108 121 +f 112 105 121 +f 117 112 121 +f 107 115 122 +f 115 104 122 +f 104 118 122 +f 118 114 122 +f 120 107 122 +f 114 120 122 +f 113 109 123 +f 118 113 123 +f 118 123 124 +f 111 102 124 +f 109 111 124 +f 102 118 124 +f 123 109 124 +f 105 111 125 +f 113 105 125 +f 111 113 125 +f 108 104 126 +f 104 116 126 +f 116 110 126 +f 110 117 126 +f 121 108 126 +o convex_5 +v 2.960334 -2.985340 -1.197539 +v 2.127650 -3.355331 -1.783468 +v 1.172164 -3.355331 -1.752612 +v 0.308436 -2.862029 -1.690899 +v 0.462830 -3.324475 -1.290166 +v 2.991378 -2.892828 -1.752612 +v 0.308436 -2.769402 -1.228453 +v 3.022147 -3.324475 -1.197539 +v 3.083685 -3.355331 -1.783468 +v 3.115003 -2.862029 -1.228453 +v 0.308436 -3.324475 -1.721756 +v 2.960334 -2.862029 -1.721756 +v 2.991378 -3.355331 -1.351822 +v 2.991378 -2.831172 -1.228453 +v 0.308436 -2.923684 -1.228453 +v 2.436163 -3.324475 -1.197539 +v 0.339480 -2.769402 -1.320965 +v 0.647719 -3.293618 -1.752612 +v 0.308436 -3.324475 -1.320965 +v 0.308436 -2.831172 -1.629243 +v 3.115003 -3.262762 -1.660100 +f 136 134 147 +f 129 128 135 +f 128 132 135 +f 127 134 136 +f 133 130 137 +f 132 130 138 +f 136 132 138 +f 135 134 139 +f 129 135 139 +f 133 127 140 +f 127 136 140 +f 136 138 140 +f 133 137 141 +f 127 133 142 +f 134 127 142 +f 131 139 142 +f 139 134 142 +f 133 141 142 +f 141 131 142 +f 133 140 143 +f 140 138 143 +f 128 129 144 +f 132 128 144 +f 130 132 144 +f 129 137 144 +f 137 130 144 +f 137 129 145 +f 129 139 145 +f 139 131 145 +f 131 141 145 +f 141 137 145 +f 130 133 146 +f 138 130 146 +f 133 143 146 +f 143 138 146 +f 134 135 147 +f 135 132 147 +f 132 136 147 +o convex_6 +v -0.184990 -0.178640 -1.845209 +v 0.030969 0.715537 -1.197539 +v 0.000109 0.715537 -1.197539 +v 0.215897 1.918370 -1.752648 +v 0.339277 -0.703028 -1.290100 +v -0.246709 1.918370 -1.228414 +v -0.246709 -0.703028 -1.228414 +v 0.215897 2.072697 -1.259225 +v 0.277558 -0.703028 -1.721837 +v -0.184990 1.918370 -1.752648 +v 0.339277 1.887124 -1.752648 +v -0.246709 -0.703028 -1.845209 +v 0.339277 -0.456049 -1.197539 +v 0.308418 0.037365 -1.752648 +v 0.339277 1.918370 -1.629277 +v -0.123271 -0.703028 -1.845209 +v 0.000109 -0.703028 -1.197539 +v 0.339277 0.838619 -1.752648 +v -0.246709 1.918370 -1.320911 +v 0.246699 1.363007 -1.228414 +f 160 162 167 +f 150 149 153 +f 150 153 154 +f 152 154 156 +f 151 148 157 +f 155 151 157 +f 148 151 158 +f 151 155 158 +f 154 153 159 +f 156 154 159 +f 157 148 159 +f 149 150 160 +f 152 158 160 +f 152 156 161 +f 158 155 162 +f 160 158 162 +f 148 158 163 +f 159 148 163 +f 156 159 163 +f 161 156 163 +f 150 154 164 +f 154 152 164 +f 160 150 164 +f 152 160 164 +f 158 152 165 +f 152 161 165 +f 163 158 165 +f 161 163 165 +f 153 155 166 +f 155 157 166 +f 159 153 166 +f 157 159 166 +f 153 149 167 +f 155 153 167 +f 149 160 167 +f 162 155 167 +o convex_7 +v -0.246643 -0.703101 -1.166915 +v -0.184957 -1.443149 -1.844895 +v -0.154146 -1.443149 -1.844895 +v -0.308392 -0.857341 -2.523647 +v 0.339277 -0.703101 -1.320905 +v -0.184957 -1.350634 -0.580711 +v 0.246653 -1.258119 -2.431098 +v 0.277528 -1.350634 -0.580711 +v -0.277517 -0.795688 -0.580711 +v 0.246653 -0.857341 -2.523647 +v 0.339277 -0.795688 -0.611625 +v -0.215768 -1.412287 -2.554561 +v 0.277528 -1.443149 -1.752540 +v -0.246643 -1.443149 -1.290377 +v -0.184957 -0.703101 -1.968357 +v -0.308392 -1.011508 -2.431098 +v 0.339277 -0.980718 -0.580711 +v 0.277528 -0.703101 -1.721626 +v 0.277528 -1.443149 -1.290377 +v 0.185031 -1.288909 -2.523647 +v 0.339277 -0.857341 -1.320905 +f 184 180 188 +f 168 171 176 +f 173 175 176 +f 172 168 178 +f 168 176 178 +f 170 169 179 +f 171 177 179 +f 169 170 180 +f 170 179 180 +f 175 173 181 +f 173 176 181 +f 179 169 181 +f 169 180 181 +f 171 168 182 +f 168 172 182 +f 177 171 182 +f 176 171 183 +f 171 179 183 +f 181 176 183 +f 179 181 183 +f 176 175 184 +f 172 178 184 +f 178 176 184 +f 172 177 185 +f 182 172 185 +f 177 182 185 +f 175 181 186 +f 181 180 186 +f 184 175 186 +f 180 184 186 +f 177 174 187 +f 179 177 187 +f 174 180 187 +f 180 179 187 +f 177 172 188 +f 174 177 188 +f 180 174 188 +f 172 184 188 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/919/919.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/919/919.urdf new file mode 100644 index 000000000..58c4e4424 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/919/919.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/920/920.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/920/920.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/920/920.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/920/920.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/920/920.obj new file mode 100644 index 000000000..31d40e08c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/920/920.obj @@ -0,0 +1,690 @@ +o convex_0 +v 0.882806 -3.035013 -0.026457 +v -1.308814 0.541055 0.002410 +v -1.308814 0.541055 0.088806 +v 1.257709 0.570305 0.059940 +v -0.011230 0.397174 -1.064837 +v -0.934163 -2.688355 0.780992 +v -0.616803 -3.352420 -0.660909 +v 0.738574 0.483344 0.896255 +v 0.825264 -2.659895 -0.833905 +v 0.565697 -3.352025 0.636863 +v -0.818577 0.570305 0.925324 +v -0.818577 0.570305 -0.891638 +v 0.940600 0.570305 -0.833905 +v -0.039875 -2.486764 0.983057 +v 0.796368 -2.457909 0.809858 +v -0.011230 -2.688751 -1.006901 +v 0.565697 -3.438986 -0.631840 +v -0.789680 -3.438986 0.031073 +v -0.732138 -2.717606 -0.776172 +v -0.991705 -2.688355 -0.141719 +v -0.097669 -3.410131 0.780992 +v 0.738574 -0.266496 -1.007104 +v 1.200167 0.570305 0.463664 +v -1.193479 0.454489 -0.459047 +v 1.229063 0.512199 -0.429978 +v -1.222376 0.569910 0.492530 +v -0.011230 0.108622 1.011924 +v -0.818577 -0.554652 0.953988 +v 0.738574 -0.583507 0.925121 +v -0.761035 -0.525797 -0.920505 +v 0.017666 -3.467841 -0.776375 +v -0.559010 -3.438986 0.607793 +v 0.738574 -3.438986 0.031073 +v 0.911703 -2.919592 0.031073 +v 0.738574 0.570305 -0.978034 +v 0.969496 0.570305 0.752125 +v -0.039875 -0.843204 -1.064837 +v 0.767471 -2.659895 0.809858 +v -1.049498 0.541055 0.752125 +v 0.046563 0.570305 0.983057 +v -0.962809 -2.486764 0.780992 +v -0.732138 -0.179930 0.983057 +v 0.017666 -3.410131 -0.833905 +v -0.587906 -3.467841 -0.631840 +v -0.357236 -3.467841 0.319535 +v -0.905267 -2.659895 0.809858 +v 0.652136 -0.151075 0.954191 +v 0.911703 -2.861882 -0.141719 +v -0.039875 -1.218717 1.011924 +v -0.357236 0.570305 -1.006901 +v 0.046563 -3.410131 0.780992 +v 0.969496 0.108622 -0.805039 +v -0.097669 -2.746066 0.954191 +v 0.911703 -2.804172 0.146336 +v -0.962809 -2.688355 0.550263 +v -0.732138 -2.515620 -0.805039 +v 0.767471 -3.409735 -0.055120 +v 0.104105 -2.659895 0.954191 +v -0.962809 -2.861882 -0.141719 +v -1.251272 0.454489 0.434797 +v 0.565697 -3.409735 0.607996 +v -1.193479 0.569910 -0.459047 +v 0.305879 -2.688751 -0.949371 +v 1.200167 0.512199 0.463664 +f 15 54 64 +f 11 4 12 +f 12 4 13 +f 16 7 19 +f 3 2 20 +f 4 11 23 +f 20 2 24 +f 19 20 24 +f 13 4 25 +f 2 3 26 +f 11 12 26 +f 24 12 30 +f 6 18 32 +f 31 17 33 +f 12 13 35 +f 13 22 35 +f 22 5 35 +f 23 11 36 +f 29 15 36 +f 8 29 36 +f 5 22 37 +f 22 16 37 +f 16 30 37 +f 15 29 38 +f 33 34 38 +f 11 26 39 +f 28 11 39 +f 11 27 40 +f 8 36 40 +f 36 11 40 +f 39 26 41 +f 28 39 41 +f 27 11 42 +f 28 14 42 +f 11 28 42 +f 7 16 43 +f 9 17 43 +f 17 31 43 +f 43 31 44 +f 7 43 44 +f 32 18 45 +f 31 33 45 +f 44 31 45 +f 18 44 45 +f 14 28 46 +f 6 32 46 +f 32 21 46 +f 41 6 46 +f 28 41 46 +f 29 8 47 +f 8 40 47 +f 40 27 47 +f 25 4 48 +f 9 25 48 +f 34 1 48 +f 4 34 48 +f 27 42 49 +f 42 14 49 +f 14 47 49 +f 47 27 49 +f 30 12 50 +f 35 5 50 +f 12 35 50 +f 5 37 50 +f 37 30 50 +f 21 32 51 +f 10 38 51 +f 32 45 51 +f 9 22 52 +f 22 13 52 +f 25 9 52 +f 13 25 52 +f 14 46 53 +f 46 21 53 +f 21 51 53 +f 34 4 54 +f 15 38 54 +f 38 34 54 +f 18 6 55 +f 3 20 55 +f 41 3 55 +f 6 41 55 +f 16 19 56 +f 19 24 56 +f 30 16 56 +f 24 30 56 +f 17 9 57 +f 33 17 57 +f 1 34 57 +f 34 33 57 +f 48 1 57 +f 9 48 57 +f 38 29 58 +f 47 14 58 +f 29 47 58 +f 51 38 58 +f 14 53 58 +f 53 51 58 +f 19 7 59 +f 20 19 59 +f 44 18 59 +f 7 44 59 +f 18 55 59 +f 55 20 59 +f 26 3 60 +f 3 41 60 +f 41 26 60 +f 38 10 61 +f 33 38 61 +f 45 33 61 +f 10 51 61 +f 51 45 61 +f 24 2 62 +f 12 24 62 +f 2 26 62 +f 26 12 62 +f 22 9 63 +f 16 22 63 +f 9 43 63 +f 43 16 63 +f 4 23 64 +f 23 36 64 +f 36 15 64 +f 54 4 64 +o convex_1 +v 1.229268 0.570305 0.117695 +v 1.546616 2.099032 0.002387 +v 1.546616 2.099032 -0.026299 +v 3.017477 1.522018 0.059985 +v 1.258150 1.233961 -0.574491 +v 1.229268 1.377765 0.579265 +v 2.757718 1.550899 -0.401247 +v 2.700130 1.608510 0.463844 +v 1.229268 1.896868 -0.459070 +v 2.757718 1.954629 0.002387 +v 1.229268 1.954629 0.406134 +v 1.258150 0.685828 -0.430158 +v 2.815481 1.205080 0.031073 +v 1.258150 0.743439 0.435046 +v 2.065610 1.925748 -0.401360 +v 2.036903 1.954629 0.406134 +v 2.036903 1.608660 -0.516780 +v 2.008021 1.608660 0.550354 +v 2.584778 1.320453 0.348424 +v 1.229268 2.099032 -0.084009 +v 1.315913 0.570305 0.002387 +v 2.613660 1.291572 -0.285939 +v 2.757718 1.666272 -0.372448 +v 2.700130 1.954629 0.117695 +v 1.229268 1.377765 -0.574491 +v 3.017477 1.637391 0.059985 +v 2.757718 1.550899 0.434933 +v 2.008021 2.070151 0.002387 +v 1.229268 0.801200 0.463844 +v 2.555897 1.868137 0.348424 +v 2.815481 1.205080 0.002387 +v 2.584778 1.868137 -0.285939 +v 2.036903 1.954629 -0.372561 +v 1.229268 1.925748 0.435046 +v 1.950258 1.521869 0.550354 +v 2.815481 1.550899 -0.372448 +v 1.229268 0.685828 -0.430158 +v 1.258150 0.570305 -0.112808 +v 1.979140 1.867987 0.463844 +v 1.229268 2.070151 0.117695 +v 2.700130 1.233811 0.175293 +v 1.258150 0.570305 0.117695 +v 1.719555 1.406496 -0.545466 +v 1.460146 1.810525 -0.487869 +v 2.786599 1.608510 0.406134 +v 3.017477 1.608510 -0.026411 +v 2.671248 1.983510 0.002387 +v 1.979140 1.983510 0.348424 +v 2.700130 1.579780 0.463844 +v 1.777319 1.925748 -0.430158 +v 1.777319 1.608660 0.550354 +v 2.757718 1.205080 0.088783 +v 1.258150 0.656947 -0.372561 +v 2.815481 1.897017 0.059985 +v 1.344620 1.233961 0.550354 +v 2.671248 1.983510 0.059985 +v 1.315913 0.829931 0.463844 +f 99 119 121 +f 65 70 73 +f 73 70 75 +f 66 67 84 +f 73 75 84 +f 76 71 86 +f 71 81 87 +f 81 79 87 +f 65 73 89 +f 77 68 91 +f 78 83 91 +f 67 66 92 +f 70 65 93 +f 65 78 93 +f 80 72 94 +f 88 80 94 +f 68 77 95 +f 77 85 95 +f 76 86 95 +f 74 87 96 +f 87 79 96 +f 84 67 97 +f 67 92 97 +f 96 79 97 +f 75 70 98 +f 80 75 98 +f 82 70 99 +f 86 71 100 +f 71 87 100 +f 68 95 100 +f 95 86 100 +f 69 76 101 +f 65 89 101 +f 89 69 101 +f 85 65 102 +f 95 85 102 +f 65 101 102 +f 72 80 103 +f 82 72 103 +f 80 98 103 +f 66 84 104 +f 84 75 104 +f 83 78 105 +f 77 91 105 +f 91 83 105 +f 78 65 106 +f 65 85 106 +f 85 77 106 +f 71 76 107 +f 76 69 107 +f 81 71 107 +f 69 89 107 +f 89 81 107 +f 89 73 108 +f 81 89 108 +f 68 90 109 +f 91 68 109 +f 72 91 109 +f 94 72 109 +f 88 94 109 +f 87 74 110 +f 90 68 110 +f 74 90 110 +f 100 87 110 +f 68 100 110 +f 74 96 111 +f 97 92 111 +f 96 97 111 +f 75 80 112 +f 92 66 112 +f 66 104 112 +f 104 75 112 +f 72 82 113 +f 91 72 113 +f 82 99 113 +f 79 81 114 +f 73 84 114 +f 97 79 114 +f 84 97 114 +f 108 73 114 +f 81 108 114 +f 70 82 115 +f 98 70 115 +f 82 103 115 +f 103 98 115 +f 77 105 116 +f 105 78 116 +f 78 106 116 +f 106 77 116 +f 76 95 117 +f 101 76 117 +f 95 102 117 +f 102 101 117 +f 74 88 118 +f 90 74 118 +f 109 90 118 +f 88 109 118 +f 70 93 119 +f 99 70 119 +f 88 74 120 +f 80 88 120 +f 74 111 120 +f 111 92 120 +f 112 80 120 +f 92 112 120 +f 78 91 121 +f 93 78 121 +f 91 113 121 +f 113 99 121 +f 119 93 121 +o convex_2 +v -1.799625 1.204995 -0.487925 +v -1.280444 2.156564 0.031079 +v -1.280444 2.156564 0.002283 +v -2.924267 1.666108 0.002170 +v -1.280444 0.685816 0.405990 +v -1.280444 1.666263 -0.603222 +v -1.857257 1.868253 0.435012 +v -2.722392 1.118517 0.002170 +v -1.280444 0.570616 -0.026400 +v -2.751207 1.493152 0.348398 +v -2.722392 1.579785 -0.401312 +v -1.280444 1.406674 0.550308 +v -2.751207 1.925853 -0.026400 +v -1.366891 2.041209 -0.458903 +v -1.366891 0.858928 -0.430108 +v -2.491533 1.204995 -0.343607 +v -1.280444 1.925853 0.463695 +v -2.087948 1.925853 0.377307 +v -2.030317 1.954731 -0.401312 +v -2.001501 1.493152 0.492717 +v -2.981899 1.493152 -0.055196 +v -2.059299 2.070086 -0.026400 +v -2.030317 1.550752 -0.545630 +v -2.722392 1.118517 -0.083992 +v -1.280444 0.887805 -0.458903 +v -2.578147 1.839219 0.261898 +v -2.520515 1.204995 0.261898 +v -1.309260 0.570616 0.117692 +v -1.366891 1.233873 0.550308 +v -2.751207 1.522030 -0.401312 +v -2.549165 1.839219 -0.314811 +v -2.664594 1.493152 0.377307 +v -1.309260 0.685816 0.405990 +v -2.751207 1.925853 0.031079 +v -2.087948 1.147395 -0.430220 +v -1.280444 2.069931 -0.401312 +v -2.001501 2.070086 0.059875 +v -2.001501 1.925853 0.406103 +v -1.309260 0.570616 -0.026400 +v -2.693409 1.608508 0.348398 +v -1.366891 1.608508 -0.603222 +v -2.953083 1.493152 0.059875 +v -1.972686 1.550752 0.492717 +v -2.953083 1.550752 -0.112788 +v -2.030317 1.522030 -0.545630 +v -2.001501 1.666108 -0.516721 +v -1.915054 1.954731 0.377307 +v -2.606962 1.176117 0.175284 +v -1.338076 2.069931 -0.401312 +f 157 135 170 +f 124 123 126 +f 124 126 127 +f 127 126 130 +f 126 123 133 +f 133 123 138 +f 123 124 143 +f 140 134 143 +f 129 142 145 +f 127 130 146 +f 130 136 146 +f 130 126 149 +f 129 145 149 +f 126 133 150 +f 133 141 150 +f 132 144 151 +f 137 145 151 +f 145 142 151 +f 132 134 152 +f 140 132 152 +f 134 140 152 +f 150 141 153 +f 150 153 154 +f 131 148 154 +f 149 126 154 +f 129 149 154 +f 126 150 154 +f 153 131 154 +f 134 125 155 +f 143 134 155 +f 147 139 155 +f 136 137 156 +f 122 146 156 +f 146 136 156 +f 137 151 156 +f 124 127 157 +f 127 135 157 +f 123 143 158 +f 155 139 158 +f 143 155 158 +f 128 138 159 +f 139 147 159 +f 136 130 160 +f 137 136 160 +f 145 137 160 +f 130 149 160 +f 149 145 160 +f 125 131 161 +f 131 153 161 +f 155 125 161 +f 147 155 161 +f 159 147 161 +f 144 127 162 +f 127 146 162 +f 131 125 163 +f 129 131 163 +f 125 142 163 +f 142 129 163 +f 138 128 164 +f 133 138 164 +f 141 133 164 +f 153 141 164 +f 128 159 164 +f 161 153 164 +f 159 161 164 +f 125 134 165 +f 134 132 165 +f 142 125 165 +f 132 151 165 +f 151 142 165 +f 146 122 166 +f 151 144 166 +f 122 156 166 +f 156 151 166 +f 144 162 166 +f 162 146 166 +f 135 127 167 +f 132 140 167 +f 140 135 167 +f 127 144 167 +f 144 132 167 +f 138 123 168 +f 123 158 168 +f 158 139 168 +f 159 138 168 +f 139 159 168 +f 131 129 169 +f 148 131 169 +f 129 154 169 +f 154 148 169 +f 135 140 170 +f 143 124 170 +f 140 143 170 +f 124 157 170 +o convex_3 +v -1.222540 0.570305 -0.372521 +v 0.796309 2.618222 0.088767 +v 0.825294 2.589355 0.175332 +v 1.200129 0.570305 -0.487744 +v 0.046395 0.570305 0.983080 +v -0.732013 2.473890 -0.718586 +v -0.818721 2.098826 0.809751 +v 0.796309 2.358424 -0.891519 +v -0.184008 0.570305 -1.035993 +v 1.229113 1.378166 0.579107 +v 0.133103 2.560489 0.752041 +v -1.280264 1.176100 0.550252 +v -1.280264 1.983560 -0.487744 +v -0.847460 0.570305 0.896317 +v 1.229113 1.925827 -0.430034 +v 0.883018 0.570305 0.809949 +v -0.876445 2.185225 -0.891519 +v -0.789737 2.589355 0.031056 +v 0.738586 0.570305 -0.978085 +v -0.241732 2.589355 -0.891717 +v 0.796309 2.127692 0.752041 +v -0.818721 0.570305 -0.891519 +v -1.280264 1.925827 0.463884 +v 0.017656 1.810562 0.954225 +v -0.039822 1.867894 -1.035993 +v 1.229113 1.954694 0.405976 +v 1.229113 0.599172 0.348266 +v -1.280264 0.570305 0.348266 +v 1.229113 1.262700 -0.603165 +v -0.559088 2.560489 0.607962 +v -1.280264 1.580031 -0.603165 +v -1.280264 2.156358 0.031056 +v 0.594400 2.589355 0.607962 +v 0.507937 2.618222 -0.516600 +v -0.645551 2.618222 -0.603165 +v 0.767570 0.772371 0.867461 +v 1.229113 2.098826 -0.083969 +v 0.190581 2.618222 0.405976 +v -0.789737 0.656905 0.925370 +v -1.280264 0.887836 -0.459087 +v -0.818721 1.983560 0.838804 +v -0.068807 2.531422 0.781094 +v 0.911757 2.502756 -0.170535 +v -1.280264 2.070160 -0.430034 +v -0.934168 2.502756 0.059911 +v -1.020385 0.570305 0.780896 +v 1.200129 0.570305 0.463686 +v 1.055943 0.714638 -0.747441 +v -0.097546 2.618222 -0.862862 +v 0.133103 0.570305 -1.035993 +v -1.280264 1.435899 0.550252 +v -0.934168 2.502756 -0.083969 +v 1.229113 0.570305 -0.430034 +v -0.068807 0.945369 0.983080 +v -0.760998 0.570305 -0.920572 +v -0.039822 1.810562 0.954225 +v 0.796309 1.867894 0.780896 +v -0.097546 1.867894 -1.035993 +v -0.039822 2.589355 0.694528 +v 0.796309 0.656905 -0.949230 +v 0.911757 2.531622 0.059911 +v -1.251279 0.570305 0.463884 +v -0.357179 0.714638 -1.007138 +v 1.229113 1.839228 -0.487744 +f 185 199 234 +f 171 174 175 +f 174 171 179 +f 171 175 184 +f 175 174 186 +f 174 179 189 +f 187 176 190 +f 179 171 192 +f 183 182 193 +f 191 181 194 +f 178 189 195 +f 190 178 195 +f 180 185 196 +f 191 180 196 +f 185 180 197 +f 182 183 198 +f 171 184 198 +f 185 197 199 +f 193 177 200 +f 183 187 201 +f 187 192 201 +f 198 183 201 +f 183 193 202 +f 173 172 203 +f 181 191 203 +f 196 173 203 +f 191 196 203 +f 190 176 205 +f 172 204 205 +f 175 186 206 +f 186 180 206 +f 194 175 206 +f 185 178 207 +f 196 185 207 +f 203 172 208 +f 172 205 208 +f 205 188 208 +f 184 175 209 +f 192 171 210 +f 171 198 210 +f 201 192 210 +f 198 201 210 +f 177 193 211 +f 184 209 211 +f 194 181 212 +f 200 177 212 +f 177 211 212 +f 204 172 213 +f 178 204 213 +f 207 178 213 +f 176 187 214 +f 187 183 214 +f 183 202 214 +f 205 176 214 +f 200 188 215 +f 193 200 215 +f 202 193 215 +f 198 184 216 +f 184 211 216 +f 186 174 217 +f 180 186 217 +f 197 180 217 +f 174 189 218 +f 199 174 218 +f 178 190 219 +f 204 178 219 +f 190 205 219 +f 205 204 219 +f 189 179 220 +f 179 195 220 +f 195 189 220 +f 193 182 221 +f 211 193 221 +f 182 216 221 +f 216 211 221 +f 188 205 222 +f 214 202 222 +f 205 214 222 +f 215 188 222 +f 202 215 222 +f 174 199 223 +f 199 197 223 +f 217 174 223 +f 197 217 223 +f 175 194 224 +f 209 175 224 +f 179 192 225 +f 192 187 225 +f 211 209 226 +f 194 212 226 +f 212 211 226 +f 224 194 226 +f 209 224 226 +f 180 191 227 +f 191 194 227 +f 206 180 227 +f 194 206 227 +f 187 190 228 +f 195 179 228 +f 190 195 228 +f 188 200 229 +f 181 203 229 +f 208 188 229 +f 203 208 229 +f 212 181 229 +f 200 212 229 +f 189 178 230 +f 178 199 230 +f 218 189 230 +f 199 218 230 +f 172 173 231 +f 173 196 231 +f 196 207 231 +f 213 172 231 +f 207 213 231 +f 182 198 232 +f 216 182 232 +f 198 216 232 +f 179 225 233 +f 225 187 233 +f 228 179 233 +f 187 228 233 +f 178 185 234 +f 199 178 234 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/920/920.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/920/920.urdf new file mode 100644 index 000000000..482438faf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/920/920.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/921/921.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/921/921.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/921/921.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/921/921.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/921/921.obj new file mode 100644 index 000000000..28a466fed --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/921/921.obj @@ -0,0 +1,420 @@ +o convex_0 +v 0.355379 -2.568622 -0.245056 +v 1.015260 -0.379085 1.005741 +v 1.050076 -0.379299 1.005526 +v -3.085312 -0.379299 -1.114141 +v -2.980865 -2.464246 1.040461 +v 1.050076 -0.379299 -1.044271 +v -2.946049 -2.498967 -1.009551 +v -2.980865 -0.518181 1.005741 +v 1.050480 -2.394805 0.971020 +v 1.050480 -2.464032 -1.079206 +v -1.104051 -0.379085 1.075396 +v -0.895966 -2.429312 1.075396 +v -1.382172 -2.498967 -1.079206 +v 0.563464 -2.533688 0.553945 +v 0.667911 -2.568622 -0.627196 +v 1.050076 -1.248170 -1.078992 +v -3.085312 -0.379299 -0.766507 +v -2.042458 -1.421987 1.075396 +v -0.340127 -0.448740 1.075396 +v 0.911217 -1.943010 1.005741 +v -3.085312 -0.692213 -0.940324 +v -0.548617 -2.533688 0.658107 +v 1.050480 -2.429526 0.936085 +v -2.946049 -2.498967 -0.523035 +v -2.980865 -0.483675 0.797203 +v -1.695109 -0.553116 1.075396 +v 0.667911 -2.429526 1.005741 +v -3.085312 -0.483675 -1.114141 +v -0.062006 -2.498967 -1.079206 +v 0.494237 -0.587622 1.040461 +v 0.181300 -2.568622 -0.557755 +v -3.015681 -1.908075 0.484290 +v 0.563464 -2.568622 -0.071453 +v -1.347356 -2.429312 1.075396 +v 0.980849 -2.498967 -0.940324 +v -2.980865 -2.081892 1.040461 +v -2.980865 -2.464246 0.762268 +v -2.285764 -2.464032 1.040461 +v -2.980865 -0.379299 -1.114141 +v 1.050076 -1.491214 1.005526 +v -3.050497 -0.379299 -0.696852 +f 17 25 41 +f 2 3 6 +f 6 3 9 +f 6 9 10 +f 3 2 11 +f 2 4 11 +f 7 13 15 +f 6 10 16 +f 11 4 17 +f 12 11 18 +f 3 11 19 +f 11 12 19 +f 17 4 21 +f 10 9 23 +f 5 7 24 +f 1 22 24 +f 22 5 24 +f 8 11 25 +f 17 8 25 +f 11 8 26 +f 18 11 26 +f 20 12 27 +f 9 20 27 +f 22 14 27 +f 14 23 27 +f 23 9 27 +f 13 7 28 +f 21 4 28 +f 7 21 28 +f 15 13 29 +f 28 10 29 +f 13 28 29 +f 3 19 30 +f 19 12 30 +f 12 20 30 +f 15 1 31 +f 7 15 31 +f 1 24 31 +f 24 7 31 +f 8 17 32 +f 17 21 32 +f 1 15 33 +f 22 1 33 +f 14 22 33 +f 23 14 33 +f 15 23 33 +f 5 12 34 +f 18 5 34 +f 12 18 34 +f 10 23 35 +f 23 15 35 +f 29 10 35 +f 15 29 35 +f 5 18 36 +f 26 8 36 +f 18 26 36 +f 32 5 36 +f 8 32 36 +f 7 5 37 +f 21 7 37 +f 5 32 37 +f 32 21 37 +f 12 5 38 +f 5 22 38 +f 27 12 38 +f 22 27 38 +f 4 2 39 +f 2 6 39 +f 6 16 39 +f 16 10 39 +f 28 4 39 +f 10 28 39 +f 9 3 40 +f 20 9 40 +f 3 30 40 +f 30 20 40 +f 11 17 41 +f 25 11 41 +o convex_1 +v 2.093148 -0.379292 0.901433 +v 2.475350 -2.499113 0.414835 +v 2.544770 -2.499113 0.414835 +v 1.050481 -0.518318 -1.044537 +v 2.961876 -0.518318 -0.940341 +v 1.050481 -2.464253 -1.079128 +v 1.050481 -2.394533 0.970826 +v 3.031491 -2.429393 -1.114141 +v 3.031491 -2.499113 1.040642 +v 1.050481 -0.413945 1.005839 +v 2.961876 -0.379292 0.971037 +v 2.996586 -0.692203 -0.974932 +v 1.050481 -2.429393 0.936235 +v 2.961876 -0.414153 0.136839 +v 1.571911 -2.464253 -1.114141 +v 1.224420 -0.483665 -0.801132 +v 3.031491 -2.464046 -0.905539 +v 2.996586 -2.220855 -1.114141 +v 1.537201 -2.429393 1.005839 +v 2.996586 -0.970253 0.901433 +v 1.398166 -0.518318 -1.044537 +v 1.050481 -1.248095 -1.079128 +v 2.961876 -0.483665 -0.801343 +v 1.571911 -0.413945 1.005839 +v 2.579481 -0.379292 0.623226 +v 1.050481 -1.387120 1.005839 +v 1.050481 -2.464253 -0.522926 +v 2.718516 -2.499113 1.005839 +v 1.050481 -0.413945 0.797237 +v 3.031491 -2.394533 1.005839 +v 2.753420 -0.518318 -0.974932 +v 2.266894 -2.464046 -1.114141 +v 3.031491 -2.499113 0.554044 +v 3.031491 -2.325021 -1.114141 +v 2.996586 -1.803780 -1.079339 +f 75 59 76 +f 45 47 48 +f 43 44 50 +f 45 48 51 +f 42 51 52 +f 48 47 54 +f 52 53 55 +f 44 43 56 +f 43 47 56 +f 49 50 58 +f 49 56 59 +f 48 54 60 +f 52 50 61 +f 53 52 61 +f 62 59 63 +f 47 45 63 +f 56 47 63 +f 59 56 63 +f 45 62 63 +f 53 46 64 +f 55 53 64 +f 45 57 64 +f 57 55 64 +f 62 45 64 +f 51 50 65 +f 50 52 65 +f 52 51 65 +f 42 52 66 +f 52 55 66 +f 57 42 66 +f 55 57 66 +f 51 48 67 +f 50 51 67 +f 48 60 67 +f 60 50 67 +f 47 43 68 +f 54 47 68 +f 54 68 69 +f 43 50 69 +f 50 60 69 +f 60 54 69 +f 68 43 69 +f 51 42 70 +f 45 51 70 +f 57 45 70 +f 42 57 70 +f 50 49 71 +f 61 50 71 +f 53 61 71 +f 46 53 72 +f 64 46 72 +f 62 64 72 +f 44 56 73 +f 56 49 73 +f 58 44 73 +f 49 58 73 +f 50 44 74 +f 44 58 74 +f 58 50 74 +f 49 59 75 +f 71 49 75 +f 53 71 75 +f 59 62 76 +f 72 53 76 +f 62 72 76 +f 53 75 76 +o convex_2 +v 1.050480 1.810187 0.380196 +v -1.104302 -0.378697 1.005792 +v -1.104302 -0.378697 1.075185 +v -0.999896 3.513127 -0.905376 +v 1.050480 -0.378697 -1.044374 +v -0.999896 3.443318 1.075185 +v 1.050270 3.548031 -1.079387 +v -0.930502 -0.378697 -1.009571 +v 1.050480 -0.378697 1.005581 +v 0.980876 3.443318 0.936187 +v 0.042483 3.582935 0.310592 +v -0.791294 3.478223 -0.974980 +v -0.652296 0.108023 -1.044585 +v -0.965094 0.003698 -1.009571 +v -0.687098 3.582935 -0.696984 +v -1.034698 3.235056 1.075185 +v -0.374300 -0.378697 1.075396 +v 1.050480 0.351189 1.005581 +v -0.826096 3.443318 1.075396 +v 0.737683 3.443318 0.970990 +v 0.737683 3.513127 0.727585 +v 1.050270 3.548031 -0.766378 +v 0.841878 3.235056 -1.079176 +v -0.478707 -0.378697 -1.044585 +v -0.999896 3.478223 0.831992 +v -0.965094 2.887565 -0.974769 +v 0.181480 3.582935 -0.801180 +v 1.050270 2.783240 -1.079387 +v 0.459476 -0.274372 1.040383 +v 0.216283 3.582935 0.310592 +v 1.015678 2.192583 0.970779 +v -0.235302 3.582935 0.206396 +v 0.946074 3.478223 0.901385 +v -0.965094 -0.378697 -0.870574 +v -0.826096 3.547643 -0.905587 +v -1.104302 -0.239856 1.040383 +v -0.965094 0.976751 -1.009571 +v 1.050270 3.443706 -0.627380 +v 0.980876 2.609495 0.970779 +v 1.050480 0.837910 0.970779 +v -0.999896 3.513127 -0.245189 +v 0.390083 3.547643 -1.044374 +f 111 103 118 +f 79 78 81 +f 77 81 83 +f 81 78 84 +f 81 77 85 +f 79 81 85 +f 78 80 90 +f 89 84 90 +f 79 85 93 +f 85 77 94 +f 92 79 95 +f 82 92 95 +f 79 93 95 +f 87 82 97 +f 82 95 97 +f 77 83 98 +f 89 88 99 +f 89 99 100 +f 81 84 100 +f 84 89 100 +f 82 87 101 +f 92 82 101 +f 80 88 102 +f 91 87 103 +f 83 81 104 +f 99 83 104 +f 100 99 104 +f 81 100 104 +f 93 85 105 +f 85 94 105 +f 94 95 105 +f 95 93 105 +f 87 97 106 +f 97 98 106 +f 98 83 106 +f 83 103 106 +f 103 87 106 +f 87 91 108 +f 101 87 108 +f 91 101 108 +f 96 86 109 +f 95 96 109 +f 97 95 109 +f 98 97 109 +f 86 98 109 +f 84 78 110 +f 78 90 110 +f 90 84 110 +f 88 80 111 +f 80 91 111 +f 91 103 111 +f 78 79 112 +f 80 78 112 +f 79 92 112 +f 92 80 112 +f 88 89 113 +f 90 80 113 +f 89 90 113 +f 80 102 113 +f 102 88 113 +f 77 98 114 +f 98 86 114 +f 107 77 114 +f 86 107 114 +f 95 94 115 +f 86 96 115 +f 96 95 115 +f 94 107 115 +f 107 86 115 +f 94 77 116 +f 77 107 116 +f 107 94 116 +f 91 80 117 +f 80 92 117 +f 101 91 117 +f 92 101 117 +f 83 99 118 +f 99 88 118 +f 103 83 118 +f 88 111 118 +o convex_3 +v 0.216317 4.591035 -0.314701 +v -0.026911 4.521594 0.310796 +v -0.096413 4.521594 0.310796 +v -0.304920 5.633253 0.276021 +v -0.270138 3.583136 -0.210441 +v -0.339702 5.633253 -0.210441 +v 0.251098 5.633253 0.241246 +v 0.216317 3.583136 0.310796 +v 0.285880 3.618057 -0.245151 +v 0.216317 5.563612 -0.349541 +v -0.235418 3.583136 0.206471 +v -0.339702 5.077123 0.241246 +v 0.077312 5.181485 -0.349541 +v 0.285880 4.660075 0.067500 +v 0.251098 5.528891 0.276021 +v 0.285880 3.583136 -0.036631 +v -0.304920 4.069826 -0.210441 +v 0.042591 3.583136 0.310796 +v -0.339702 5.355088 0.276021 +v -0.270138 3.583136 -0.002050 +v 0.251098 5.633253 0.102211 +v 0.285880 4.104546 -0.245151 +v -0.270138 5.598332 -0.245151 +v -0.200636 3.896022 -0.245151 +v 0.251098 4.556314 0.276021 +v 0.216317 4.451952 0.310796 +f 126 133 144 +f 121 120 122 +f 124 122 125 +f 120 121 126 +f 127 119 128 +f 123 126 129 +f 128 119 131 +f 122 120 133 +f 125 122 133 +f 132 125 133 +f 126 123 134 +f 123 127 134 +f 127 132 134 +f 130 124 135 +f 126 121 136 +f 129 126 136 +f 129 136 137 +f 121 122 137 +f 122 124 137 +f 124 130 137 +f 130 129 137 +f 136 121 137 +f 123 129 138 +f 129 130 138 +f 130 135 138 +f 135 123 138 +f 124 125 139 +f 128 124 139 +f 125 132 139 +f 139 132 140 +f 127 128 140 +f 132 127 140 +f 128 139 140 +f 124 128 141 +f 128 131 141 +f 135 124 141 +f 135 141 142 +f 119 127 142 +f 127 123 142 +f 131 119 142 +f 123 135 142 +f 141 131 142 +f 133 126 143 +f 132 133 143 +f 126 134 143 +f 134 132 143 +f 120 126 144 +f 133 120 144 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/921/921.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/921/921.urdf new file mode 100644 index 000000000..450eb65b5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/921/921.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/922/922.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/922/922.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/922/922.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/922/922.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/922/922.obj new file mode 100644 index 000000000..18368f5d6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/922/922.obj @@ -0,0 +1,2118 @@ +o convex_0 +v -1.043195 0.304839 -2.421863 +v -1.068703 -0.485909 -2.957601 +v -1.068703 -0.460339 -2.957601 +v -1.068703 0.049780 -0.049754 +v -1.043195 -0.485909 -2.600347 +v -1.068703 0.330409 -2.396243 +v -1.043195 0.330409 -0.049754 +v -1.043195 0.049780 -0.049754 +v -1.068703 0.330409 -0.049754 +f 7 6 9 +f 3 2 4 +f 3 1 5 +f 2 3 5 +f 4 2 5 +f 1 3 6 +f 3 4 6 +f 5 1 7 +f 1 6 7 +f 5 7 8 +f 4 5 8 +f 7 4 8 +f 6 4 9 +f 4 7 9 +o convex_1 +v 0.181174 5.126134 -1.070151 +v -0.941153 3.672495 -1.197681 +v 0.181284 3.672495 -1.197681 +v -0.099326 5.126134 -1.172175 +v -0.915444 4.871124 -1.070151 +v -0.915444 3.672495 -1.121188 +v -0.915444 5.126134 -1.095670 +v 0.181284 3.698109 -1.146681 +v 0.181284 5.126134 -1.172175 +v -0.941153 3.927646 -1.197681 +v 0.130194 4.029679 -1.121188 +f 15 17 20 +f 14 11 15 +f 11 12 15 +f 10 14 15 +f 10 13 16 +f 14 10 16 +f 15 12 17 +f 13 10 18 +f 10 17 18 +f 17 12 18 +f 12 11 19 +f 11 14 19 +f 16 13 19 +f 14 16 19 +f 18 12 19 +f 13 18 19 +f 10 15 20 +f 17 10 20 +o convex_2 +v 0.972091 5.151781 -0.100774 +v 0.181269 5.100770 -1.146681 +v -0.915536 5.075256 -0.534555 +v -0.915536 5.126268 -1.070101 +v -0.736862 5.126268 -0.100774 +v 0.436253 5.100770 -0.100774 +v 0.972091 5.151781 -1.146681 +v 0.844414 5.100770 -1.070101 +v -0.915536 5.075256 -0.100774 +v 0.410755 5.151781 -0.100774 +v 0.972091 5.126268 -0.100774 +v -0.915536 5.100770 -1.070101 +f 24 22 32 +f 21 25 26 +f 22 24 27 +f 23 22 28 +f 22 27 28 +f 24 23 29 +f 25 24 29 +f 26 25 29 +f 23 28 29 +f 28 26 29 +f 25 21 30 +f 24 25 30 +f 21 27 30 +f 27 24 30 +f 21 26 31 +f 27 21 31 +f 26 28 31 +f 28 27 31 +f 22 23 32 +f 23 24 32 +o convex_3 +v 1.074131 5.151667 -0.100886 +v 0.972101 4.539548 -1.248608 +v 1.048614 4.539548 -1.248608 +v 0.972101 5.151667 -1.248608 +v 0.997619 4.539548 -0.100886 +v 0.972101 5.151667 -0.100886 +v 1.074131 5.151667 -1.095481 +v 1.048614 4.565135 -0.100886 +v 1.074131 4.973155 -0.100886 +f 40 35 41 +f 35 34 36 +f 34 35 37 +f 34 37 38 +f 36 34 38 +f 33 36 38 +f 37 33 38 +f 35 36 39 +f 36 33 39 +f 33 37 40 +f 37 35 40 +f 39 33 41 +f 35 39 41 +f 33 40 41 +o convex_4 +v -1.068693 3.212906 0.664409 +v -0.992183 1.402095 0.945133 +v -1.017673 1.402095 0.945133 +v -1.043173 1.223329 -0.100774 +v -0.966673 5.100007 -0.100774 +v -0.966683 5.100766 0.894046 +v -0.966663 1.835536 -0.100774 +v -1.068693 4.896191 0.894046 +v -1.017673 5.049148 -0.024194 +v -0.966663 1.223329 0.945133 +v -1.068693 2.728986 0.868451 +v -1.043173 1.223329 0.638917 +v -1.043153 5.100007 0.434773 +v -1.017673 1.223329 -0.100774 +v -1.043173 1.555052 -0.100774 +v -1.017673 4.513609 -0.100774 +v -1.043173 1.605911 0.919539 +f 52 53 58 +f 44 43 47 +f 45 46 48 +f 44 47 49 +f 43 44 51 +f 47 43 51 +f 46 47 51 +f 48 46 51 +f 42 45 52 +f 49 42 52 +f 51 44 53 +f 45 51 53 +f 52 45 53 +f 47 46 54 +f 49 47 54 +f 46 50 54 +f 45 48 55 +f 51 45 55 +f 48 51 55 +f 45 42 56 +f 46 45 56 +f 42 49 56 +f 49 54 56 +f 54 50 56 +f 50 46 57 +f 46 56 57 +f 56 50 57 +f 44 49 58 +f 49 52 58 +f 53 44 58 +o convex_5 +v 0.946581 5.177274 0.817471 +v -0.966663 5.075264 -0.100774 +v -0.966663 5.049759 0.868599 +v 0.946581 5.075264 0.791956 +v 0.946581 5.151768 -0.100774 +v -0.736872 5.126250 0.894114 +v -0.711402 5.126250 -0.100774 +v 0.436433 5.100782 -0.100774 +v 0.053634 5.049759 0.868599 +v 0.920924 5.177274 0.281950 +v 0.691320 5.177274 0.817471 +v -0.966663 5.100770 0.894114 +v 0.946581 5.126263 -0.100774 +f 66 63 71 +f 59 62 63 +f 63 60 65 +f 60 63 66 +f 61 60 67 +f 62 59 67 +f 59 64 67 +f 60 66 67 +f 66 62 67 +f 59 63 68 +f 63 65 68 +f 68 65 69 +f 64 59 69 +f 65 64 69 +f 59 68 69 +f 60 61 70 +f 64 65 70 +f 65 60 70 +f 61 67 70 +f 67 64 70 +f 63 62 71 +f 62 66 71 +o convex_6 +v 0.436083 -2.756292 -0.482943 +v 0.768012 -2.909294 0.740874 +v -0.022996 -2.909329 0.741054 +v 0.768012 -2.858294 -1.095481 +v -0.941153 -2.807328 -1.095661 +v -0.941153 -2.934847 0.741054 +v 0.232308 -2.934829 -0.024484 +v -0.941153 -2.883811 0.638934 +v 0.359793 -2.756292 -0.202474 +v -0.941153 -2.781828 -1.095661 +v 0.768012 -2.832863 0.383635 +v -0.941153 -2.832846 -0.993541 +v 0.768012 -2.934829 0.740874 +v 0.768012 -2.807328 -0.942302 +v 0.232308 -2.858294 -1.095481 +v -0.941153 -2.781828 -0.942302 +v -0.915389 -2.934847 0.587875 +v 0.768012 -2.883811 0.715344 +v 0.768012 -2.934829 0.434515 +v -0.583795 -2.781828 -1.095661 +f 85 75 91 +f 77 74 79 +f 76 77 79 +f 76 79 81 +f 80 72 81 +f 73 75 82 +f 72 80 82 +f 80 79 82 +f 77 76 83 +f 73 74 84 +f 75 73 84 +f 74 77 84 +f 82 75 85 +f 72 82 85 +f 76 75 86 +f 75 78 86 +f 83 76 86 +f 78 83 86 +f 79 80 87 +f 81 79 87 +f 80 81 87 +f 77 83 88 +f 83 78 88 +f 84 77 88 +f 74 73 89 +f 79 74 89 +f 73 82 89 +f 82 79 89 +f 78 75 90 +f 75 84 90 +f 88 78 90 +f 84 88 90 +f 75 76 91 +f 81 72 91 +f 76 81 91 +f 72 85 91 +o convex_7 +v 0.895369 -1.608433 -3.212972 +v -1.068511 -1.225554 -3.085466 +v -1.068511 -1.225554 -3.059961 +v -0.915491 -2.756180 -3.085466 +v 0.895369 -0.486241 -3.136456 +v -1.042943 -0.486241 -3.110951 +v 0.538195 -2.756180 -3.238478 +v -0.813414 -2.756180 -3.059941 +v -1.017376 -0.486241 -3.034435 +v 0.767917 -2.756180 -3.212952 +v 0.869610 -0.766900 -3.187447 +v 0.742350 -2.093087 -3.238478 +v 0.895369 -0.817787 -3.136456 +v -0.838981 -2.756180 -3.110971 +v -1.017376 -1.608433 -3.034435 +v -1.068511 -0.868675 -3.110951 +v 0.538195 -0.511796 -3.110971 +v 0.487253 -2.347969 -3.238478 +v 0.563763 -2.756180 -3.187447 +v 0.487061 -0.486241 -3.161942 +f 102 97 111 +f 94 93 95 +f 95 98 99 +f 96 97 100 +f 99 98 101 +f 96 92 102 +f 92 101 103 +f 101 98 103 +f 102 92 103 +f 97 102 103 +f 92 96 104 +f 101 92 104 +f 98 95 105 +f 94 95 106 +f 95 99 106 +f 100 94 106 +f 93 94 107 +f 95 93 107 +f 94 100 107 +f 100 97 107 +f 105 95 107 +f 96 100 108 +f 104 96 108 +f 99 104 108 +f 106 99 108 +f 100 106 108 +f 97 103 109 +f 103 98 109 +f 98 105 109 +f 107 97 109 +f 105 107 109 +f 99 101 110 +f 104 99 110 +f 101 104 110 +f 97 96 111 +f 96 102 111 +o convex_8 +v 0.997556 -2.832836 -3.237913 +v 1.099576 -2.807332 2.934908 +v 1.074071 -2.807332 2.934908 +v 0.946547 -2.934850 0.970746 +v 0.768077 -2.832848 2.908816 +v 0.768077 -2.807320 -3.237913 +v 0.768077 -2.934850 0.460440 +v 1.099576 -2.934850 0.689804 +v 1.099576 -2.883830 2.934908 +v 1.099576 -2.807320 -0.737960 +v 0.768077 -2.883830 2.755906 +v 0.972052 -2.858327 -2.753699 +v 0.768077 -2.807320 -0.406656 +v 0.768077 -2.832836 -3.237913 +v 0.997556 -2.807320 -3.237913 +v 1.074071 -2.858327 -1.656632 +f 112 126 127 +f 116 117 118 +f 115 118 119 +f 113 114 120 +f 114 116 120 +f 115 119 120 +f 119 113 120 +f 113 119 121 +f 116 118 122 +f 118 115 122 +f 120 116 122 +f 115 120 122 +f 119 118 123 +f 112 119 123 +f 114 113 124 +f 116 114 124 +f 117 116 124 +f 113 121 124 +f 121 117 124 +f 117 112 125 +f 118 117 125 +f 112 123 125 +f 123 118 125 +f 112 117 126 +f 117 121 126 +f 126 121 127 +f 119 112 127 +f 121 119 127 +o convex_9 +v -0.992173 -1.582639 2.398960 +v -1.043183 -1.608346 0.894114 +v -1.043183 -1.174510 0.894114 +v -1.068688 -1.251082 2.705319 +v -0.992173 -0.486019 0.894114 +v -1.043183 -0.486019 2.705319 +v -0.992173 -1.608346 1.149235 +v -0.992173 -0.486019 2.067248 +v -1.068688 -0.843173 2.220428 +v -1.043183 -1.608346 2.705319 +v -1.017693 -0.486019 0.894114 +v -1.017693 -0.486019 2.705319 +v -1.068688 -0.664650 2.705319 +v -1.017693 -1.608346 2.705319 +v -0.992173 -1.225594 0.894114 +f 132 134 142 +f 129 130 132 +f 132 128 134 +f 128 132 135 +f 132 133 135 +f 130 129 136 +f 129 131 136 +f 131 129 137 +f 133 131 137 +f 129 134 137 +f 132 130 138 +f 133 132 138 +f 130 136 138 +f 128 135 139 +f 135 133 139 +f 133 137 139 +f 131 133 140 +f 136 131 140 +f 133 138 140 +f 138 136 140 +f 134 128 141 +f 137 134 141 +f 128 139 141 +f 139 137 141 +f 129 132 142 +f 134 129 142 +o convex_10 +v 0.793562 -2.654053 -3.264005 +v 0.997579 -2.271492 -2.677334 +v 0.997579 -1.608463 -3.187397 +v 0.997579 -2.807078 -3.264005 +v 0.768012 -1.608463 -3.212895 +v 0.972051 -2.807078 -2.677334 +v 0.768012 -2.807078 -3.212895 +v 0.768012 -1.608463 -3.187397 +v 0.997579 -1.889047 -3.238392 +f 147 145 151 +f 145 144 146 +f 146 144 148 +f 143 146 149 +f 147 143 149 +f 146 148 149 +f 144 145 150 +f 145 147 150 +f 148 144 150 +f 147 149 150 +f 149 148 150 +f 145 146 151 +f 146 143 151 +f 143 147 151 +o convex_11 +v -0.941171 -1.940135 -3.110945 +v -0.992163 -1.608458 -2.779381 +v -0.915656 -1.685085 -3.059888 +v -0.992163 -2.756180 -2.779381 +v -1.043168 -1.608458 -3.085401 +v -1.043168 -2.756180 -3.085401 +v -0.915656 -2.756180 -3.085401 +v -1.043168 -1.608458 -2.804861 +v -1.017666 -2.756180 -2.779381 +f 153 159 160 +f 154 153 155 +f 154 152 156 +f 153 154 156 +f 156 152 157 +f 152 154 158 +f 154 155 158 +f 157 152 158 +f 155 157 158 +f 153 156 159 +f 156 157 159 +f 159 157 160 +f 155 153 160 +f 157 155 160 +o convex_12 +v -0.915653 -0.868702 -0.457443 +v -0.992161 -2.756068 -1.478078 +v -0.992161 -2.194858 -1.478078 +v -1.068703 -2.756068 0.868569 +v -1.043183 -1.098279 0.817479 +v -0.966676 -2.756068 -0.891474 +v -0.915653 -0.843235 -1.248638 +v -0.992143 -1.200335 0.893881 +v -0.890134 -1.123746 -1.146226 +v -1.043166 -2.756068 0.868569 +v -1.068703 -2.730413 0.306813 +v -1.017663 -0.843235 0.460315 +v -0.941191 -2.220325 -1.478078 +v -0.966676 -1.608555 -1.478078 +v -0.992143 -0.843235 0.893881 +v -1.068703 -1.991122 0.817247 +v -0.890134 -0.843235 -1.248638 +v -0.941191 -0.843235 -0.993189 +v -1.017663 -2.756068 0.358135 +v -1.017663 -2.067710 0.868569 +f 179 169 180 +f 164 162 166 +f 164 166 170 +f 168 164 170 +f 163 162 171 +f 162 164 171 +f 163 165 172 +f 162 163 173 +f 166 162 173 +f 169 166 173 +f 163 172 174 +f 173 163 174 +f 165 164 175 +f 168 161 175 +f 164 168 175 +f 172 165 175 +f 167 172 175 +f 164 165 176 +f 165 163 176 +f 163 171 176 +f 171 164 176 +f 161 169 177 +f 169 173 177 +f 174 167 177 +f 173 174 177 +f 175 161 177 +f 167 175 177 +f 172 167 178 +f 174 172 178 +f 167 174 178 +f 166 169 179 +f 170 166 179 +f 170 179 180 +f 161 168 180 +f 169 161 180 +f 168 170 180 +o convex_13 +v -0.890134 -0.919515 2.756356 +v 0.895562 -0.485954 2.858366 +v 0.895562 -0.562491 2.858366 +v -0.890134 -0.919515 2.858366 +v -0.890134 -0.485954 2.858366 +v 0.895562 -0.919515 2.807348 +v 0.895562 -0.537008 2.807348 +v -0.762534 -0.868505 2.730841 +v -0.890134 -0.485954 2.832851 +v 0.895562 -0.919515 2.832851 +v 0.793482 -0.919515 2.781858 +f 181 188 191 +f 183 182 184 +f 181 184 185 +f 184 182 185 +f 182 183 186 +f 184 181 186 +f 182 186 187 +f 181 185 189 +f 185 182 189 +f 182 187 189 +f 187 188 189 +f 188 181 189 +f 183 184 190 +f 186 183 190 +f 184 186 190 +f 186 181 191 +f 187 186 191 +f 188 187 191 +o convex_14 +v 1.048621 -0.486019 -3.085448 +v 0.895562 -1.608346 -3.212973 +v 0.895562 -1.608346 -3.187458 +v 0.895562 -0.486019 -3.161955 +v 1.048621 -0.613566 -3.187458 +v 1.023091 -1.608346 -3.085448 +v 1.023091 -1.608346 -3.212973 +f 196 197 198 +f 193 194 195 +f 195 192 196 +f 193 195 196 +f 194 193 197 +f 195 194 197 +f 192 195 197 +f 196 192 197 +f 193 196 198 +f 197 193 198 +o convex_15 +v 1.099641 -0.843174 -0.994141 +v 0.997611 -2.806850 -2.702377 +v 1.023119 -2.806850 -2.702377 +v 1.048626 -0.486246 -3.085425 +v 1.023119 -0.486246 -1.657109 +v 1.099641 -2.806850 -0.687502 +v 1.048626 -2.806850 -0.713222 +v 1.048626 -0.486246 -0.841071 +v 0.997611 -1.276669 -3.085425 +v 0.997611 -1.786957 -2.141289 +v 1.048626 -1.327789 -3.085425 +v 1.074114 -0.843174 -2.498118 +v 0.997611 -2.042100 -3.238495 +v 1.074114 -2.806850 -1.657359 +v 1.023119 -0.486246 -3.085425 +v 1.074114 -0.486246 -0.841071 +v 0.997611 -2.806850 -2.141289 +v 1.099641 -1.608606 -0.687502 +v 1.023119 -2.042100 -3.238495 +v 1.074114 -0.486246 -1.733769 +f 202 214 218 +f 200 201 204 +f 200 204 205 +f 202 203 206 +f 203 207 208 +f 206 203 208 +f 205 206 208 +f 207 200 208 +f 199 204 210 +f 209 202 210 +f 201 200 211 +f 200 207 211 +f 204 201 212 +f 210 204 212 +f 209 210 212 +f 203 202 213 +f 207 203 213 +f 211 207 213 +f 202 211 213 +f 202 206 214 +f 200 205 215 +f 208 200 215 +f 205 208 215 +f 204 199 216 +f 205 204 216 +f 206 205 216 +f 199 214 216 +f 214 206 216 +f 202 209 217 +f 201 211 217 +f 211 202 217 +f 212 201 217 +f 209 212 217 +f 199 210 218 +f 210 202 218 +f 214 199 218 +o convex_16 +v 1.048594 -0.486019 2.909386 +v 0.895562 -0.919745 2.807376 +v 1.048594 -1.608346 2.781861 +v 1.048594 -1.608346 2.909386 +v 1.048594 -0.486019 2.781861 +v 0.895562 -0.486019 2.858368 +f 219 223 224 +f 220 221 222 +f 221 219 222 +f 219 221 223 +f 221 220 223 +f 223 220 224 +f 220 222 224 +f 222 219 224 +o convex_17 +v 1.048606 0.279349 -3.110876 +v 0.972091 -0.485909 -3.161965 +v 1.048606 -0.485909 -3.161965 +v 1.048606 -0.485909 -2.039528 +v 0.997611 0.330409 -2.039528 +v 0.972091 0.330409 -3.136256 +v 0.997611 -0.103160 -2.039528 +v 1.023101 0.330409 -2.039528 +v 1.048606 -0.077750 -2.039528 +v 1.023101 -0.485909 -2.039528 +f 228 231 234 +f 226 227 228 +f 227 225 228 +f 225 227 230 +f 227 226 230 +f 228 229 231 +f 230 226 231 +f 229 230 231 +f 229 228 232 +f 230 229 232 +f 225 230 232 +f 228 225 233 +f 225 232 233 +f 232 228 233 +f 226 228 234 +f 231 226 234 +o convex_18 +v -1.094213 1.121227 -1.427110 +v -0.788094 1.223257 0.945093 +v -0.864624 1.223257 2.832868 +v -0.864624 1.121227 2.832868 +v -0.788094 1.121227 -2.141268 +v -1.094213 1.223257 -1.196882 +v -0.966623 1.121227 2.832868 +v -0.788094 1.223257 -1.196882 +v -0.966623 1.223257 2.832868 +v -1.017683 1.146754 -2.269118 +v -1.094213 1.121227 -0.789362 +f 241 243 245 +f 236 237 238 +f 238 235 239 +f 236 238 239 +f 237 236 240 +f 238 237 241 +f 235 238 241 +f 236 239 242 +f 240 236 242 +f 237 240 243 +f 241 237 243 +f 239 235 244 +f 235 240 244 +f 242 239 244 +f 240 242 244 +f 240 235 245 +f 235 241 245 +f 243 240 245 +o convex_19 +v 0.997601 1.095663 2.067141 +v 0.997601 0.330451 -0.049656 +v 0.972116 0.764095 -0.891207 +v 0.921072 0.509082 2.832664 +v 1.074131 0.330451 0.996758 +v 1.074101 1.223257 0.537594 +v 0.921072 1.095663 2.015831 +v 1.023101 1.223257 -0.814804 +v 0.972116 0.330451 2.832664 +v 1.048601 0.330451 0.001653 +v 1.074131 1.095663 1.046944 +v 0.921072 1.095663 2.679110 +v 0.972116 1.095663 -0.891207 +v 0.921072 0.509082 2.348032 +v 0.946586 0.866082 2.934908 +v 0.946586 0.330451 1.990738 +v 1.023101 0.764095 -0.814430 +v 0.997601 1.223257 -0.814804 +v 1.074101 1.223257 0.869046 +f 263 257 264 +f 247 250 254 +f 247 248 255 +f 250 247 255 +f 251 250 255 +f 250 251 256 +f 254 250 256 +f 252 249 257 +f 248 252 258 +f 253 248 258 +f 252 248 259 +f 249 252 259 +f 249 254 260 +f 256 246 260 +f 254 256 260 +f 246 257 260 +f 257 249 260 +f 248 247 261 +f 247 254 261 +f 254 249 261 +f 259 248 261 +f 249 259 261 +f 253 251 262 +f 248 253 262 +f 255 248 262 +f 251 255 262 +f 251 253 263 +f 252 257 263 +f 258 252 263 +f 253 258 263 +f 246 256 264 +f 256 251 264 +f 257 246 264 +f 251 263 264 +o convex_20 +v -0.915683 3.671970 -1.121183 +v -1.094213 1.223496 -1.197691 +v -1.094213 1.223496 -1.121183 +v -0.890134 1.223496 -1.197691 +v -0.941153 3.263772 -1.248708 +v -0.966703 3.544213 -1.146698 +v -0.890134 2.600538 -1.248708 +v -0.890134 1.223496 -1.172201 +v -0.890134 3.671970 -1.197691 +f 265 272 273 +f 267 266 268 +f 269 266 270 +f 267 265 270 +f 266 267 270 +f 268 266 271 +f 266 269 271 +f 265 267 272 +f 267 268 272 +f 268 271 272 +f 272 271 273 +f 269 270 273 +f 270 265 273 +f 271 269 273 +o convex_21 +v -1.068686 1.223257 -1.121071 +v -0.966681 2.677323 -0.100973 +v -0.941168 2.677323 -0.509012 +v -1.017676 1.223257 -0.100973 +v -1.068686 1.248876 -0.126438 +v -0.992193 2.651703 -1.121071 +v -0.941168 2.600605 -1.095506 +v -1.094198 1.350929 -1.095506 +v -0.992193 2.677323 -0.100973 +v -0.966681 1.861047 -0.100973 +v -1.043173 1.299974 -1.121071 +v -0.941168 2.294449 -0.381488 +f 283 284 285 +f 274 277 278 +f 279 276 280 +f 274 278 281 +f 279 274 281 +f 279 281 282 +f 275 276 282 +f 277 275 282 +f 278 277 282 +f 276 279 282 +f 281 278 282 +f 275 277 283 +f 277 274 284 +f 274 279 284 +f 279 280 284 +f 283 277 284 +f 276 275 285 +f 280 276 285 +f 275 283 285 +f 284 280 285 +o convex_22 +v -0.941178 1.095707 2.807348 +v -1.043191 0.330451 -0.049424 +v -1.017681 0.330451 -0.049424 +v -1.068672 1.095707 -0.891582 +v -0.992185 0.330451 2.832868 +v -1.094198 1.095707 -0.789137 +v -0.941163 0.458019 2.092791 +v -1.017681 1.095707 -0.100099 +v -0.992185 0.764016 2.832868 +v -0.941163 0.330451 2.832868 +v -1.094198 0.789560 -0.840177 +v -1.043162 0.764016 -0.891582 +v -0.941178 1.095707 2.092791 +v -0.966689 1.095707 2.807348 +v -1.043191 0.330451 0.664769 +f 290 296 300 +f 287 288 290 +f 286 289 291 +f 289 286 293 +f 291 290 294 +f 290 288 295 +f 288 292 295 +f 292 286 295 +f 286 294 295 +f 294 290 295 +f 290 291 296 +f 291 289 296 +f 288 287 297 +f 292 288 297 +f 289 293 297 +f 287 296 297 +f 296 289 297 +f 286 292 298 +f 293 286 298 +f 292 297 298 +f 297 293 298 +f 286 291 299 +f 294 286 299 +f 291 294 299 +f 287 290 300 +f 296 287 300 +o convex_23 +v -0.890134 -0.486019 2.858363 +v -1.068703 -1.302057 2.781848 +v -1.043166 -1.608346 2.705334 +v -1.043166 -0.486019 2.705334 +v -0.890134 -0.894147 2.730844 +v -1.017663 -1.608346 2.858363 +v -1.068703 -0.639163 2.858363 +f 302 306 307 +f 303 302 304 +f 304 301 305 +f 303 304 305 +f 303 305 306 +f 302 303 306 +f 305 301 306 +f 306 301 307 +f 304 302 307 +f 301 304 307 +o convex_24 +v 0.716875 5.151402 -1.197696 +v 0.181284 1.223641 -1.223193 +v 0.972091 1.223641 -1.223193 +v 0.512980 3.620521 -1.146691 +v 0.972091 5.151402 -1.248711 +v 0.972091 5.151402 -1.146681 +v 0.206828 5.126021 -1.197696 +v 0.181284 5.126021 -1.146681 +v 0.972091 1.223641 -1.197696 +v 0.181284 2.091178 -1.172208 +v 0.181284 3.391331 -1.223193 +v 0.818977 5.151402 -1.248711 +v 0.972091 4.411918 -1.248711 +v 0.181284 1.223641 -1.197696 +v 0.181284 3.697430 -1.146691 +f 317 311 322 +f 310 312 313 +f 312 308 313 +f 311 313 315 +f 313 308 315 +f 308 314 315 +f 309 310 316 +f 310 313 316 +f 313 311 316 +f 315 309 317 +f 316 311 317 +f 309 315 318 +f 315 314 318 +f 308 312 319 +f 314 308 319 +f 309 318 319 +f 318 314 319 +f 310 309 320 +f 312 310 320 +f 319 312 320 +f 309 319 320 +f 309 316 321 +f 317 309 321 +f 316 317 321 +f 311 315 322 +f 315 317 322 +o convex_25 +v -0.966476 0.764078 -3.085418 +v 0.946394 1.095707 -2.983408 +v 0.946394 1.095707 -3.110933 +v -0.966476 1.095707 -2.983408 +v 0.946394 0.764078 -3.110933 +v -0.966476 1.095707 -3.110933 +v 0.946394 0.764078 -3.085418 +v -0.966476 1.044677 -2.983408 +v -0.966476 0.764078 -3.110933 +f 328 327 331 +f 324 325 326 +f 325 324 327 +f 326 325 328 +f 323 326 328 +f 325 327 328 +f 323 327 329 +f 327 324 329 +f 324 326 330 +f 326 323 330 +f 329 324 330 +f 323 329 330 +f 327 323 331 +f 323 328 331 +o convex_26 +v 1.023101 1.504051 -1.197641 +v 1.023101 4.539547 -0.738572 +v 0.997611 4.539547 -0.738572 +v 0.972091 4.539547 -1.248671 +v 0.972091 1.223257 -0.917126 +v 1.048606 4.539547 -1.248671 +v 1.048606 1.912095 -0.738572 +v 0.972091 1.223257 -1.223156 +v 0.997611 1.223257 -0.738572 +v 1.048606 4.539547 -0.764087 +v 1.048606 2.473358 -1.223156 +v 1.023101 1.223257 -0.968156 +f 342 338 343 +f 334 333 335 +f 334 335 336 +f 335 333 337 +f 333 334 338 +f 336 335 339 +f 335 337 339 +f 334 336 340 +f 338 334 340 +f 336 339 340 +f 337 333 341 +f 333 338 341 +f 338 337 341 +f 337 338 342 +f 332 339 342 +f 339 337 342 +f 339 332 343 +f 338 340 343 +f 340 339 343 +f 332 342 343 +o convex_27 +v 1.023116 1.223257 -0.100774 +v 1.023116 4.539547 -0.100774 +v 1.023116 4.539547 -0.738522 +v 1.074131 2.116279 -0.100774 +v 0.997619 1.223257 -0.738522 +v 0.972101 4.181819 -0.100774 +v 1.048614 1.861454 -0.738522 +v 0.997619 4.539547 -0.738522 +v 0.997619 1.223257 -0.177308 +v 0.972101 3.110907 -0.355973 +v 1.048614 1.223257 -0.228373 +v 1.048614 3.008327 -0.738522 +v 0.972101 2.932042 -0.100774 +f 353 348 356 +f 346 345 347 +f 345 344 347 +f 344 345 349 +f 348 346 350 +f 345 346 351 +f 346 348 351 +f 349 345 351 +f 348 344 352 +f 351 348 353 +f 349 351 353 +f 347 344 354 +f 344 348 354 +f 350 347 354 +f 348 350 354 +f 346 347 355 +f 350 346 355 +f 347 350 355 +f 344 349 356 +f 352 344 356 +f 348 352 356 +f 349 353 356 +o convex_28 +v -0.941044 0.330444 2.807358 +v 0.359683 1.095707 2.909397 +v 0.359683 1.095707 2.883869 +v 0.920852 -0.485909 2.858403 +v -0.915614 -0.485909 2.858403 +v 0.946282 0.763933 2.832874 +v 0.972091 0.330444 2.934888 +v -0.966663 1.095707 2.832887 +v 0.920852 -0.485909 2.832887 +v -0.838754 1.095707 2.807358 +v -0.864374 1.095707 2.858390 +v -0.481595 -0.358029 2.883869 +v -0.915614 -0.485909 2.832887 +v 0.946282 0.763933 2.934888 +v 0.180914 1.095707 2.909397 +f 370 358 371 +f 359 358 362 +f 358 359 364 +f 360 361 365 +f 363 360 365 +f 362 363 365 +f 359 362 366 +f 364 359 366 +f 357 364 366 +f 365 357 366 +f 362 365 366 +f 358 364 367 +f 364 361 367 +f 361 360 368 +f 360 363 368 +f 367 361 368 +f 364 357 369 +f 361 364 369 +f 357 365 369 +f 365 361 369 +f 362 358 370 +f 363 362 370 +f 368 363 370 +f 368 370 371 +f 358 367 371 +f 367 368 371 +o convex_29 +v -0.660424 1.172366 0.919614 +v 0.078904 3.085299 0.817621 +v 0.946482 3.008782 0.792084 +v 1.073931 1.146797 0.945116 +v 1.073931 1.121227 0.868591 +v 0.359773 2.932264 0.766564 +v -0.966464 2.881125 0.868574 +v -0.940894 1.300024 0.894059 +v -0.966464 1.376733 0.945133 +v -0.966464 3.085299 0.817621 +v 0.844402 2.753468 0.766564 +v -0.481635 3.085299 0.843141 +v -0.558145 3.059729 0.792084 +v 0.946482 2.779037 0.817639 +v 0.946482 3.008782 0.766564 +v -0.966464 1.223506 0.945133 +v 0.563733 2.804607 0.766564 +f 377 382 388 +f 375 372 376 +f 376 372 379 +f 375 378 380 +f 380 378 381 +f 374 373 383 +f 378 375 383 +f 373 381 383 +f 381 378 383 +f 377 379 384 +f 381 373 384 +f 379 381 384 +f 375 374 385 +f 374 383 385 +f 383 375 385 +f 373 374 386 +f 374 375 386 +f 375 376 386 +f 376 382 386 +f 382 377 386 +f 384 373 386 +f 377 384 386 +f 372 375 387 +f 379 372 387 +f 375 380 387 +f 381 379 387 +f 380 381 387 +f 376 379 388 +f 379 377 388 +f 382 376 388 +o convex_30 +v 0.079104 5.075256 0.843077 +v -0.966663 3.085811 0.817577 +v 0.257768 3.008952 0.766575 +v 0.334366 3.008952 0.817559 +v 0.946581 4.692375 0.766575 +v -0.966663 5.049366 0.894114 +v 0.589253 5.024084 0.843077 +v 0.946581 3.008952 0.792076 +v 0.920924 3.238923 0.715557 +v -0.558207 5.049366 0.843077 +v -0.941006 4.360666 0.894114 +v -0.966663 3.596117 0.817577 +v 0.946581 5.075256 0.817559 +v -0.966663 3.085811 0.843077 +v -0.507267 5.023881 0.894114 +v 0.563783 5.075256 0.792076 +v -0.966663 5.049366 0.868578 +v -0.941006 3.519460 0.868578 +v 0.946581 3.136579 0.715557 +f 397 393 407 +f 392 391 396 +f 390 394 400 +f 397 390 400 +f 398 397 400 +f 389 394 401 +f 396 393 401 +f 395 396 401 +f 390 391 402 +f 391 392 402 +f 394 390 402 +f 399 394 402 +f 392 396 403 +f 396 395 403 +f 399 392 403 +f 394 399 403 +f 401 394 403 +f 395 401 403 +f 393 397 404 +f 397 398 404 +f 389 401 404 +f 401 393 404 +f 394 389 405 +f 400 394 405 +f 398 400 405 +f 389 404 405 +f 404 398 405 +f 392 399 406 +f 402 392 406 +f 399 402 406 +f 391 390 407 +f 396 391 407 +f 393 396 407 +f 390 397 407 +o convex_31 +v 0.283238 1.095705 -1.835666 +v -0.966476 1.070197 -2.983166 +v -0.966476 1.070197 -2.626087 +v 0.946394 1.070197 -2.983166 +v -0.966476 1.095705 -2.983166 +v 0.946394 1.095705 -2.983166 +v 0.946394 1.070197 -1.835666 +v 0.946394 1.095705 -1.835666 +v 0.334178 1.070197 -1.809939 +v -0.966476 1.095705 -2.626087 +f 412 410 417 +f 410 409 411 +f 409 410 412 +f 411 409 412 +f 412 408 413 +f 411 412 413 +f 410 411 414 +f 411 413 414 +f 414 413 415 +f 413 408 415 +f 415 408 416 +f 408 410 416 +f 410 414 416 +f 414 415 416 +f 410 408 417 +f 408 412 417 +o convex_32 +v -0.941153 -2.220464 -1.478310 +v -1.017676 -2.756180 -2.779062 +v -1.017676 -1.608458 -2.779062 +v -1.017676 -2.756180 -1.631497 +v -0.966673 -1.608458 -1.478310 +v -0.941153 -1.659580 -2.192418 +v -0.992163 -2.756180 -2.779062 +v -0.966673 -2.756180 -1.478310 +v -0.966673 -2.347989 -2.626130 +v -1.017676 -1.608458 -2.473070 +v -0.992163 -1.608458 -2.779062 +v -0.941153 -1.608458 -1.478310 +f 423 428 429 +f 420 419 421 +f 419 420 424 +f 421 419 424 +f 421 424 425 +f 418 422 425 +f 422 421 425 +f 423 418 426 +f 425 424 426 +f 418 425 426 +f 420 421 427 +f 421 422 427 +f 422 420 427 +f 420 422 428 +f 424 420 428 +f 423 426 428 +f 426 424 428 +f 422 418 429 +f 418 423 429 +f 428 422 429 +o convex_33 +v 1.074119 2.090913 -0.100774 +v 0.972121 1.402147 0.919611 +v 1.048591 1.733817 0.894042 +v 0.946606 3.161822 0.766394 +v 1.023089 1.223598 -0.100774 +v 0.972121 3.161822 -0.100774 +v 0.946606 1.223598 0.894042 +v 1.074119 1.223598 0.919611 +v 0.997624 3.161822 0.230931 +v 0.946606 3.136017 0.179992 +v 1.048591 1.223598 -0.100774 +v 0.972121 3.110591 0.792063 +v 1.023089 2.957469 -0.100774 +v 1.074119 1.376531 0.868572 +v 1.074119 1.223598 0.511297 +f 437 440 444 +f 430 434 435 +f 431 433 436 +f 432 431 437 +f 431 436 437 +f 436 434 437 +f 435 433 438 +f 435 434 439 +f 433 435 439 +f 436 433 439 +f 434 436 439 +f 434 430 440 +f 437 434 440 +f 431 432 441 +f 433 431 441 +f 438 433 441 +f 430 435 442 +f 438 430 442 +f 435 438 442 +f 437 430 443 +f 432 437 443 +f 430 438 443 +f 441 432 443 +f 438 441 443 +f 430 437 444 +f 440 430 444 +o convex_34 +v -1.017606 1.095709 1.403823 +v 0.385363 1.121217 2.909398 +v 0.206736 1.121217 2.909398 +v -1.042941 1.121217 -0.406893 +v -0.966651 1.121217 2.832788 +v 0.385363 1.095709 2.526674 +v -1.042941 1.095709 -0.406893 +v -0.966651 1.095709 2.832788 +v 0.385363 1.121217 2.526674 +v 0.385363 1.095709 2.909398 +f 452 450 454 +f 447 446 448 +f 448 445 449 +f 447 448 449 +f 450 445 451 +f 445 448 451 +f 448 450 451 +f 449 445 452 +f 447 449 452 +f 445 450 452 +f 448 446 453 +f 446 450 453 +f 450 448 453 +f 446 447 454 +f 450 446 454 +f 447 452 454 +o convex_35 +v 0.946591 3.162012 0.179875 +v 1.074119 5.177099 0.817584 +v 1.074119 5.177099 0.026786 +v 0.946604 5.177099 0.817584 +v 0.946604 5.151651 -0.100774 +v 0.972119 3.187854 0.766524 +v 0.997610 3.162012 -0.100774 +v 1.074119 4.845689 0.817584 +v 1.074119 4.973124 -0.100774 +v 0.946591 3.417473 0.792054 +v 0.972119 3.162012 -0.100774 +v 0.997610 3.162012 0.205405 +f 461 462 466 +f 456 457 458 +f 458 457 459 +f 457 456 462 +f 456 458 462 +f 459 457 463 +f 461 459 463 +f 462 461 463 +f 457 462 463 +f 459 455 464 +f 458 459 464 +f 455 460 464 +f 460 462 464 +f 462 458 464 +f 455 459 465 +f 461 455 465 +f 459 461 465 +f 460 455 466 +f 455 461 466 +f 462 460 466 +o convex_36 +v -1.017663 0.330409 -1.172548 +v -1.043193 -0.485909 -3.085435 +v -1.043193 -0.077750 -3.085435 +v -0.915656 -0.485909 -1.351009 +v -0.992171 0.330409 -3.085435 +v -1.043193 -0.485909 -2.269158 +v -0.966678 0.228210 -1.172548 +v -0.966678 -0.383709 -1.172548 +v -1.043168 0.330409 -1.351009 +v -0.992171 -0.154140 -3.085435 +v -1.043193 0.330409 -2.779074 +v -0.915656 -0.332649 -1.172548 +v -1.017676 -0.485909 -3.085435 +f 476 470 479 +f 468 469 471 +f 469 468 472 +f 468 470 472 +f 471 467 473 +f 472 470 474 +f 473 467 474 +f 467 471 475 +f 474 467 475 +f 472 474 475 +f 471 470 476 +f 468 471 476 +f 471 469 477 +f 469 472 477 +f 475 471 477 +f 472 475 477 +f 470 471 478 +f 471 473 478 +f 474 470 478 +f 473 474 478 +f 470 468 479 +f 468 476 479 +o convex_37 +v -0.788071 -2.756292 -3.059926 +v 0.538420 -2.832822 -3.238478 +v 0.257768 -2.807300 -3.212960 +v 0.768012 -2.807300 -3.059926 +v -1.043193 -2.832822 -3.059926 +v 0.768012 -2.756292 -3.238478 +v -0.838954 -2.756292 -3.110960 +v 0.768012 -2.832822 -3.059926 +f 485 483 487 +f 483 480 484 +f 481 482 485 +f 480 483 485 +f 482 481 486 +f 484 480 486 +f 481 484 486 +f 480 485 486 +f 485 482 486 +f 483 484 487 +f 484 481 487 +f 481 485 487 +o convex_38 +v -0.966663 -0.817433 0.485935 +v -0.915648 -0.843048 -1.248721 +v -0.941178 -0.715433 -1.248721 +v -1.017663 0.330409 0.383785 +v -1.043193 -0.689933 0.613464 +v -1.043163 0.330409 -0.942272 +v -0.890134 -0.613433 -1.146152 +v -0.966663 0.228180 -1.172161 +v -0.992148 -0.485819 0.894114 +v -1.043163 0.330409 0.383785 +v -1.017663 -0.843048 0.894114 +v -0.890134 -0.843048 -0.916892 +v -1.017663 0.330409 -1.172161 +v -1.017663 -0.843048 0.409375 +f 498 492 501 +f 490 492 493 +f 489 490 495 +f 491 494 495 +f 494 489 495 +f 494 491 496 +f 493 492 497 +f 491 493 497 +f 496 491 497 +f 496 497 498 +f 488 496 498 +f 497 492 498 +f 489 494 499 +f 496 488 499 +f 494 496 499 +f 498 489 499 +f 488 498 499 +f 490 493 500 +f 493 491 500 +f 495 490 500 +f 491 495 500 +f 490 489 501 +f 492 490 501 +f 489 498 501 +o convex_39 +v 1.099641 -2.577422 2.883538 +v 1.074131 -2.807078 -0.687192 +v 1.048621 -1.353207 -0.330193 +v 1.099641 -0.970756 -0.840562 +v 1.048621 -0.919762 2.781539 +v 1.048621 -2.628416 2.934908 +v 1.099641 -2.807078 -0.687192 +v 1.074131 -0.919762 2.781539 +v 1.048621 -0.919762 -0.840562 +v 1.099641 -2.807078 2.934908 +v 1.048621 -2.092983 0.818043 +v 1.074131 -2.807078 2.934908 +v 1.074131 -1.608545 2.934908 +f 511 509 514 +f 506 504 507 +f 503 505 508 +f 505 502 508 +f 502 505 509 +f 503 504 510 +f 505 503 510 +f 504 506 510 +f 509 505 510 +f 506 509 510 +f 508 502 511 +f 503 508 511 +f 502 509 511 +f 504 503 512 +f 507 504 512 +f 503 507 512 +f 507 503 513 +f 503 511 513 +f 511 507 513 +f 506 507 514 +f 509 506 514 +f 507 511 514 +o convex_40 +v -0.890134 -1.098047 -1.274413 +v -1.043166 -1.608346 -3.034066 +v -1.068703 -0.945232 -3.034066 +v -0.966693 -1.608346 -1.427517 +v -0.966693 -0.486019 -1.325448 +v -1.017663 -0.486019 -3.034066 +v -0.941156 -1.608346 -2.166824 +v -1.068703 -0.486019 -2.625962 +v -0.890134 -0.741113 -1.350965 +v -0.915653 -1.608346 -1.248721 +v -0.915653 -0.486019 -1.248721 +v -0.992143 -1.608346 -2.830102 +v -1.043166 -1.608346 -2.804584 +f 518 522 527 +f 516 517 520 +f 518 516 521 +f 518 519 522 +f 520 517 522 +f 519 520 522 +f 515 521 523 +f 521 520 523 +f 519 518 524 +f 521 515 524 +f 518 521 524 +f 520 519 525 +f 515 523 525 +f 523 520 525 +f 524 515 525 +f 519 524 525 +f 516 520 526 +f 520 521 526 +f 521 516 526 +f 517 516 527 +f 516 518 527 +f 522 517 527 +o convex_41 +v -0.915656 0.330409 2.858378 +v -1.043178 -0.485909 0.383915 +v -1.043178 0.330409 0.383915 +v -1.043166 -0.485909 2.858378 +v -0.915656 -0.485909 2.832703 +v -1.017664 0.304839 2.832703 +v -0.992174 0.330409 0.639451 +v -0.992174 -0.485909 0.639451 +v -1.043166 -0.154140 2.832703 +v -1.017664 -0.485909 0.383915 +f 535 529 537 +f 530 529 531 +f 528 531 532 +f 531 529 532 +f 528 530 533 +f 531 528 533 +f 530 528 534 +f 528 532 534 +f 534 532 535 +f 532 529 535 +f 530 531 536 +f 533 530 536 +f 531 533 536 +f 529 530 537 +f 530 534 537 +f 534 535 537 +o convex_42 +v 0.997609 -0.485994 2.781848 +v 1.048611 -0.919577 -0.840562 +v 1.074124 -0.919577 -0.840562 +v 1.048611 -0.919577 2.781848 +v 1.074124 -0.485994 0.945468 +v 1.048611 -0.485994 -0.840562 +v 1.074124 -0.868515 2.781848 +v 1.048611 -0.485994 2.781848 +v 1.023121 -0.894025 2.781848 +v 0.997609 -0.511461 1.735831 +v 1.074124 -0.485994 -0.840562 +v 1.023121 -0.485994 -0.304788 +v 1.023121 -0.868515 1.200058 +f 546 547 550 +f 539 540 541 +f 540 539 543 +f 538 542 543 +f 541 540 544 +f 538 541 544 +f 540 542 544 +f 544 542 545 +f 542 538 545 +f 538 544 545 +f 539 541 546 +f 541 538 546 +f 546 538 547 +f 542 540 548 +f 540 543 548 +f 543 542 548 +f 543 539 549 +f 538 543 549 +f 539 547 549 +f 547 538 549 +f 539 546 550 +f 547 539 550 +o convex_43 +v -1.043193 -0.485909 -3.110949 +v 1.023111 0.764078 -3.059933 +v 1.023111 0.764078 -3.136447 +v 0.971939 -0.485909 -3.136437 +v -0.966536 0.764078 -3.085451 +v -1.043193 -0.485909 -3.085441 +v 0.512805 -0.460336 -3.161965 +v -0.966536 0.764078 -3.110949 +v 1.023111 0.330449 -3.059933 +v -0.073551 -0.485909 -3.085441 +v 0.971939 0.024437 -3.161965 +f 557 558 561 +f 552 553 555 +f 552 555 556 +f 551 554 556 +f 555 551 556 +f 554 551 557 +f 551 555 558 +f 555 553 558 +f 557 551 558 +f 553 552 559 +f 554 553 559 +f 552 556 559 +f 559 556 560 +f 556 554 560 +f 554 559 560 +f 553 554 561 +f 554 557 561 +f 558 553 561 +o convex_44 +v -1.017706 0.764016 -0.049754 +v -1.017706 0.330451 -3.110945 +v -1.017706 0.432550 -3.110945 +v -1.094188 0.559968 -1.860819 +v -0.966676 1.095707 -3.008466 +v -1.094188 1.095707 -1.478769 +v -1.017706 0.330451 -0.049754 +v -1.068673 0.330451 -0.049754 +v -0.966676 0.330451 -3.110945 +v -1.094188 1.095707 -0.892061 +v -0.966676 1.095707 -2.574877 +v -1.094188 0.381538 -1.937229 +v -0.992203 0.330451 -0.917231 +v -0.992203 1.044620 -3.059406 +v -1.068673 0.764016 -0.075523 +v -1.068673 1.095707 -0.892061 +f 572 571 577 +f 564 565 567 +f 568 562 569 +f 563 568 569 +f 563 564 570 +f 568 563 570 +f 566 567 571 +f 567 565 571 +f 570 566 572 +f 566 571 572 +f 564 563 573 +f 565 564 573 +f 563 569 573 +f 571 565 573 +f 569 571 573 +f 562 568 574 +f 568 570 574 +f 572 562 574 +f 570 572 574 +f 564 567 575 +f 567 566 575 +f 570 564 575 +f 566 570 575 +f 569 562 576 +f 562 571 576 +f 571 569 576 +f 571 562 577 +f 562 572 577 +o convex_45 +v 0.997589 1.095707 -0.891915 +v 0.997596 0.330451 -3.059497 +v 0.946589 0.764016 -3.110728 +v 0.997596 0.330451 -0.050048 +v 1.023096 1.095707 -3.110728 +v 0.946589 1.095707 -1.861110 +v 1.023104 0.330451 -0.050048 +v 1.023104 0.330451 -3.059497 +v 1.023104 0.764016 -0.050048 +v 0.946589 1.095707 -3.110728 +v 0.972104 1.095707 -0.891915 +v 0.997596 0.764016 -0.050048 +v 1.023096 1.095707 -2.013605 +f 586 582 590 +f 580 579 581 +f 580 581 583 +f 578 582 583 +f 581 579 584 +f 579 580 585 +f 580 582 585 +f 584 579 585 +f 581 584 586 +f 585 582 586 +f 584 585 586 +f 582 580 587 +f 580 583 587 +f 583 582 587 +f 583 581 588 +f 578 583 588 +f 586 578 588 +f 586 588 589 +f 581 586 589 +f 588 581 589 +f 582 578 590 +f 578 586 590 +o convex_46 +v 1.074124 -0.281749 -1.248516 +v 1.023121 -0.485909 -2.039528 +v 0.997609 -0.103160 -2.039528 +v 1.023121 -0.485909 0.996153 +v 1.074124 0.330409 0.996153 +v 0.997609 0.330409 0.052109 +v 1.023121 0.330409 -2.039528 +v 1.074124 -0.485909 0.945044 +v 1.074124 -0.485909 -1.682354 +v 1.023121 0.330409 0.996153 +v 0.997609 -0.077750 0.103218 +v 0.997609 0.330409 -2.039528 +v 1.048611 0.304839 -1.197406 +v 1.048611 -0.052260 -2.039528 +f 597 603 604 +f 593 592 594 +f 592 593 597 +f 596 595 597 +f 594 592 598 +f 591 595 598 +f 595 594 598 +f 598 592 599 +f 591 598 599 +f 594 595 600 +f 595 596 600 +f 600 596 601 +f 593 594 601 +f 596 593 601 +f 594 600 601 +f 593 596 602 +f 597 593 602 +f 596 597 602 +f 595 591 603 +f 597 595 603 +f 592 597 604 +f 599 592 604 +f 591 599 604 +f 603 591 604 +o convex_47 +v 0.972101 -0.179710 2.934908 +v 1.023094 -0.485909 0.996153 +v 1.048596 -0.485909 0.996153 +v 1.023094 0.330409 0.996153 +v 0.921084 -0.485909 2.832808 +v 1.023094 -0.485909 2.909288 +v 0.946599 0.330409 2.934908 +v 1.048596 0.330409 1.353312 +v 0.946599 0.330409 1.990771 +v 0.997591 0.177310 2.934908 +v 0.921084 0.330409 2.909288 +v 0.997591 -0.485909 1.277022 +v 1.048596 -0.485909 1.761521 +v 1.023094 -0.154140 2.934908 +f 610 617 618 +f 607 606 608 +f 606 607 609 +f 605 609 610 +f 609 607 610 +f 607 608 612 +f 608 611 612 +f 611 608 613 +f 611 605 614 +f 612 611 614 +f 609 605 615 +f 605 611 615 +f 613 609 615 +f 611 613 615 +f 608 606 616 +f 606 609 616 +f 613 608 616 +f 609 613 616 +f 610 607 617 +f 607 612 617 +f 617 612 618 +f 605 610 618 +f 614 605 618 +f 612 614 618 +o convex_48 +v 0.512990 1.095709 2.909398 +v 1.074131 1.121217 1.047103 +v 1.023094 1.121217 1.735781 +v 0.385363 1.121217 -1.835299 +v 0.997541 1.095709 -1.886469 +v 0.385363 1.121217 2.909398 +v 0.385363 1.095709 -1.835299 +v 1.023094 1.095709 1.735781 +v 0.997541 1.121217 -1.886469 +v 0.385363 1.095709 2.909398 +f 625 619 628 +f 621 620 622 +f 619 621 624 +f 621 622 624 +f 624 622 625 +f 623 619 625 +f 622 623 625 +f 621 619 626 +f 620 621 626 +f 619 623 626 +f 623 620 626 +f 622 620 627 +f 623 622 627 +f 620 623 627 +f 619 624 628 +f 624 625 628 +o convex_49 +v 1.023111 1.121227 -0.815052 +v -0.788094 1.121227 -2.116058 +v -0.788094 1.146744 -2.116058 +v -0.788094 1.223257 -1.172268 +v 0.997581 1.223257 -1.223463 +v -0.737034 1.146744 -1.172268 +v 1.023111 1.223257 -0.815052 +v 0.997581 1.121227 -1.223463 +v -0.788094 1.121227 -1.656834 +f 634 632 637 +f 631 630 632 +f 630 631 633 +f 631 632 633 +f 629 632 634 +f 632 629 635 +f 629 633 635 +f 633 632 635 +f 629 630 636 +f 633 629 636 +f 630 633 636 +f 630 629 637 +f 632 630 637 +f 629 634 637 +o convex_50 +v 0.895552 1.121227 1.608773 +v -0.864624 1.197729 0.945133 +v -0.864434 1.121227 2.807194 +v -0.660234 1.223257 2.858243 +v 0.742023 1.172242 0.945133 +v 0.232094 1.146754 2.883863 +v 0.716593 1.121227 0.945133 +v -0.634615 1.223257 0.945133 +v 1.048132 1.146754 1.302667 +v -0.864434 1.223257 2.832814 +v -0.660045 1.172242 0.945133 +v 0.232094 1.121227 2.883863 +v -0.405365 1.223257 2.347942 +v 1.074131 1.121227 0.945133 +v -0.864624 1.223257 0.945133 +f 647 645 652 +f 638 640 644 +f 639 642 644 +f 642 639 645 +f 643 638 646 +f 641 643 646 +f 639 640 647 +f 640 641 647 +f 641 645 647 +f 640 639 648 +f 644 640 648 +f 639 644 648 +f 640 638 649 +f 641 640 649 +f 638 643 649 +f 643 641 649 +f 645 641 650 +f 642 645 650 +f 641 646 650 +f 646 642 650 +f 638 644 651 +f 644 642 651 +f 642 646 651 +f 646 638 651 +f 645 639 652 +f 639 647 652 +o convex_51 +v 0.895474 1.070160 2.067571 +v 0.921072 1.070160 2.934738 +v 0.818957 1.095707 2.934738 +v 0.359908 0.764078 2.909271 +v 0.921072 0.764078 2.934738 +v 0.359908 1.095707 2.883803 +v 0.921072 1.095707 2.067571 +v 0.921072 0.764078 2.883803 +v 0.359908 0.764078 2.883803 +f 660 656 661 +f 654 655 657 +f 655 656 657 +f 656 655 658 +f 655 654 659 +f 654 657 659 +f 653 658 659 +f 658 655 659 +f 657 656 660 +f 653 659 660 +f 659 657 660 +f 658 653 661 +f 656 658 661 +f 653 660 661 +o convex_52 +v -0.583894 3.544441 -1.223201 +v -0.890134 1.223257 -1.197703 +v -0.890134 1.223257 -1.172191 +v 0.181284 1.223257 -1.223201 +v 0.181284 3.671970 -1.172198 +v -0.890134 3.671970 -1.172198 +v -0.890134 2.600673 -1.248713 +v 0.053439 3.085622 -1.248713 +v -0.048501 1.223257 -1.172191 +v -0.890134 3.263731 -1.248713 +v 0.181284 3.671970 -1.197711 +v 0.181284 2.014085 -1.172191 +v -0.099470 1.223257 -1.223201 +f 668 665 674 +f 664 663 665 +f 663 664 667 +f 663 667 668 +f 665 668 669 +f 664 665 670 +f 667 662 671 +f 668 667 671 +f 669 668 671 +f 662 669 671 +f 666 665 672 +f 667 666 672 +f 662 667 672 +f 665 669 672 +f 669 662 672 +f 665 666 673 +f 667 664 673 +f 666 667 673 +f 664 670 673 +f 670 665 673 +f 665 663 674 +f 663 668 674 +o convex_53 +v -0.966673 -1.940135 2.016386 +v -1.068703 -2.756180 0.868604 +v -1.068703 -2.042154 0.868604 +v -1.043186 -1.889125 2.858378 +v -0.966673 -2.756180 2.858378 +v -1.017688 -1.608458 0.868604 +v -1.017688 -1.608458 2.858378 +v -1.017688 -2.705058 1.251328 +v -1.017688 -2.756180 2.526684 +v -1.043186 -1.608458 2.858378 +v -1.068703 -2.756180 1.327872 +v -0.992181 -1.608458 1.149268 +v -1.043186 -1.608458 0.868604 +v -0.966673 -2.756180 2.475654 +v -0.992181 -1.608458 2.424624 +v -1.043186 -2.756180 0.868604 +v -0.966673 -2.424504 2.858378 +f 689 681 691 +f 676 677 680 +f 678 679 681 +f 679 678 683 +f 676 679 683 +f 678 681 684 +f 681 680 684 +f 677 676 685 +f 676 683 685 +f 683 678 685 +f 684 677 685 +f 678 684 685 +f 680 681 686 +f 680 677 687 +f 677 684 687 +f 684 680 687 +f 675 679 688 +f 679 676 688 +f 686 675 688 +f 682 686 688 +f 675 686 689 +f 686 681 689 +f 676 680 690 +f 680 686 690 +f 686 682 690 +f 688 676 690 +f 682 688 690 +f 679 675 691 +f 681 679 691 +f 675 689 691 +o convex_54 +v -1.017683 3.545005 -0.228511 +v -0.915653 5.100629 -0.100774 +v -0.915653 5.126276 -0.509052 +v -0.941163 2.677547 -1.121071 +v -0.966663 5.100629 -0.917032 +v -0.966663 2.677547 -0.100973 +v -0.992163 5.100629 -0.100774 +v -0.915643 3.519358 -1.121071 +v -0.966663 2.677547 -1.121071 +v -0.915653 5.126276 -1.095604 +v -1.017683 2.754250 -0.100973 +v -0.941163 2.677547 -0.509052 +v -0.966663 3.723578 -1.121071 +v -1.017683 4.360449 -0.126441 +f 696 704 705 +f 693 694 698 +f 697 693 698 +f 694 693 699 +f 695 697 700 +f 699 695 700 +f 698 694 701 +f 696 698 701 +f 694 699 701 +f 697 698 702 +f 692 700 702 +f 700 697 702 +f 693 697 703 +f 697 695 703 +f 699 693 703 +f 695 699 703 +f 700 692 704 +f 699 700 704 +f 701 699 704 +f 696 701 704 +f 698 696 705 +f 692 702 705 +f 702 698 705 +f 704 692 705 +o convex_55 +v -1.043164 -2.781827 1.965081 +v -0.966692 -2.934844 0.613524 +v -0.941166 -2.934844 0.613524 +v -0.966692 -2.756292 -1.095661 +v -1.094200 -2.934844 0.818270 +v -0.966677 -2.756292 2.858378 +v -1.068690 -2.756292 0.281828 +v -1.017668 -2.832862 -0.942005 +v -0.941166 -2.781827 -1.095661 +v -0.992202 -2.781827 2.858378 +v -0.966677 -2.934844 1.021468 +v -1.068675 -2.756292 1.353552 +f 715 711 717 +f 707 708 710 +f 711 709 712 +f 708 707 713 +f 707 710 713 +f 710 712 713 +f 712 709 713 +f 711 708 714 +f 709 711 714 +f 708 713 714 +f 713 709 714 +f 706 710 715 +f 711 715 716 +f 710 708 716 +f 708 711 716 +f 715 710 716 +f 710 706 717 +f 712 710 717 +f 711 712 717 +f 706 715 717 +o convex_56 +v -0.966663 -2.934862 1.021945 +v 0.768012 -2.832825 2.909298 +v 0.563913 -2.807343 2.909298 +v 0.768012 -2.909344 0.741166 +v -0.966663 -2.756307 2.526437 +v 0.742372 -2.883809 2.730601 +v -0.966663 -2.781825 2.858151 +v -0.966663 -2.909344 0.741166 +v 0.768012 -2.934862 0.971010 +v 0.768012 -2.883844 0.945331 +v -0.456415 -2.756307 2.832683 +v -0.966663 -2.934862 0.741166 +v 0.130074 -2.909326 2.042130 +v 0.538273 -2.858308 2.909298 +v -0.966663 -2.883844 0.996478 +v 0.768012 -2.934862 0.741166 +v -0.941023 -2.807343 2.603051 +f 731 724 734 +f 722 718 724 +f 718 722 725 +f 721 719 726 +f 719 723 726 +f 720 719 727 +f 719 721 727 +f 721 725 727 +f 724 720 728 +f 722 724 728 +f 720 727 728 +f 727 722 728 +f 718 725 729 +f 725 721 729 +f 726 718 729 +f 726 723 730 +f 718 726 730 +f 719 720 731 +f 723 719 731 +f 720 724 731 +f 725 722 732 +f 722 727 732 +f 727 725 732 +f 721 726 733 +f 729 721 733 +f 726 729 733 +f 724 718 734 +f 718 730 734 +f 730 723 734 +f 723 731 734 +o convex_57 +v -0.991963 1.095709 -2.677277 +v 0.385363 1.121217 -1.351090 +v 0.385363 1.095709 -1.351090 +v -1.068578 1.121217 -0.407115 +v -0.941128 1.121217 -2.677277 +v -1.068578 1.095709 -0.407115 +v 0.359728 1.095709 -1.860632 +v 0.385363 1.121217 -1.835299 +f 737 741 742 +f 737 736 738 +f 735 738 739 +f 738 736 739 +f 735 737 740 +f 737 738 740 +f 738 735 740 +f 737 735 741 +f 735 739 741 +f 741 739 742 +f 736 737 742 +f 739 736 742 +o convex_58 +v -1.043193 -2.807300 -2.906507 +v -0.150346 -2.807300 -1.095853 +v -0.150346 -2.832822 -1.095853 +v -0.150346 -2.807300 -3.059733 +v -0.992153 -2.756292 -1.095853 +v -1.017586 -2.832822 -1.835649 +v -1.043193 -2.756292 -3.059733 +v -0.175953 -2.781815 -1.988683 +v -0.150346 -2.832822 -3.059733 +v -1.043193 -2.832822 -3.059733 +v -0.992153 -2.807300 -1.095853 +f 747 748 753 +f 744 745 746 +f 745 744 747 +f 748 747 749 +f 743 748 749 +f 746 749 750 +f 744 746 750 +f 747 744 750 +f 749 747 750 +f 746 745 751 +f 745 748 751 +f 749 746 751 +f 749 751 752 +f 748 743 752 +f 743 749 752 +f 751 748 752 +f 745 747 753 +f 748 745 753 +o convex_59 +v 0.410808 -2.858327 -1.529579 +v 0.768012 -2.832820 -1.095853 +v 0.308878 -2.807312 -1.146993 +v 0.768012 -2.807312 -3.059733 +v -0.150256 -2.832820 -3.059733 +v -0.150256 -2.807312 -1.095853 +v 0.768012 -2.858327 -2.243421 +v -0.150256 -2.807312 -3.059733 +v 0.232386 -2.858327 -1.095853 +v -0.150256 -2.832820 -1.095853 +v 0.768012 -2.832820 -3.059733 +v 0.768012 -2.858327 -1.095853 +v 0.768012 -2.807312 -2.166903 +f 755 757 766 +f 755 756 759 +f 756 757 759 +f 757 755 760 +f 754 758 760 +f 757 758 761 +f 759 757 761 +f 758 759 761 +f 758 754 762 +f 755 759 762 +f 754 760 762 +f 759 758 763 +f 758 762 763 +f 762 759 763 +f 758 757 764 +f 757 760 764 +f 760 758 764 +f 760 755 765 +f 755 762 765 +f 762 760 765 +f 756 755 766 +f 757 756 766 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/922/922.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/922/922.urdf new file mode 100644 index 000000000..8714601ed --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/922/922.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/923/923.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/923/923.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/923/923.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/923/923.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/923/923.obj new file mode 100644 index 000000000..a449a68ad --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/923/923.obj @@ -0,0 +1,501 @@ +o convex_0 +v 0.988853 1.102825 -0.829857 +v -1.102668 -3.408991 0.574124 +v -1.042922 -3.348827 -1.039212 +v 1.108343 -3.558711 -0.770252 +v -1.042922 1.133137 0.992832 +v 0.958980 -3.408991 0.992832 +v -0.983177 1.133137 -1.099027 +v 1.048598 1.133137 0.962925 +v -1.102668 -3.408991 1.052648 +v 1.108343 -3.558711 -0.949488 +v -1.102668 0.206341 -0.023189 +v 0.958980 1.133137 -0.949488 +v -0.803941 -3.468695 -1.099027 +v -1.102668 -2.153821 1.052648 +v -1.072795 1.133137 -0.530990 +v 1.018725 -1.974707 0.962714 +v -1.013050 0.893860 1.022740 +v -1.013050 -3.468695 -1.099027 +v 0.809617 -3.558711 -0.979185 +v 1.048598 -0.092181 -0.471385 +v -0.893559 1.133137 -1.099027 +v -0.684450 -3.289123 1.052648 +v 1.018725 -3.438843 0.633939 +v 1.108343 -3.140321 -0.919580 +v -0.684450 -3.498547 -1.039212 +v 1.048598 0.057080 0.962925 +v 1.048598 1.133137 0.634150 +v -1.072795 0.086932 1.022740 +v -1.072795 -0.719996 -0.680318 +v 0.660253 0.535174 -0.979185 +v -1.042922 -1.974707 1.052648 +v 0.719999 -3.558711 -0.919580 +v 1.018725 1.133137 -0.381662 +v -1.013050 -0.899109 -1.099027 +v 0.988853 0.834156 -0.949488 +v 0.988853 -3.438843 0.693965 +v 0.032711 1.133137 0.992622 +v 0.809617 -3.140321 -0.979185 +v -1.042922 -3.468695 -0.620713 +v 0.988853 -3.408991 0.962714 +v 1.018725 -3.558711 -0.740134 +v -1.072795 1.133137 -0.142399 +v -0.385507 -3.289123 -1.069119 +v -1.013050 1.102825 -0.949488 +v -1.042922 -2.751324 -1.039212 +f 29 44 45 +f 7 5 8 +f 2 9 11 +f 7 8 12 +f 11 9 14 +f 5 7 15 +f 7 13 18 +f 18 13 19 +f 10 4 19 +f 7 12 21 +f 13 7 21 +f 6 8 22 +f 9 6 22 +f 14 9 22 +f 8 4 24 +f 4 10 24 +f 18 19 25 +f 4 8 26 +f 8 6 26 +f 6 16 26 +f 23 4 26 +f 16 23 26 +f 12 8 27 +f 8 24 27 +f 24 20 27 +f 5 11 28 +f 11 14 28 +f 17 5 28 +f 14 17 28 +f 3 2 29 +f 2 11 29 +f 11 15 29 +f 21 12 30 +f 17 14 31 +f 22 8 31 +f 14 22 31 +f 19 4 32 +f 25 19 32 +f 1 12 33 +f 20 24 33 +f 12 27 33 +f 27 20 33 +f 18 3 34 +f 7 18 34 +f 12 1 35 +f 24 10 35 +f 30 12 35 +f 1 33 35 +f 33 24 35 +f 6 9 36 +f 4 23 36 +f 8 5 37 +f 5 17 37 +f 31 8 37 +f 17 31 37 +f 10 19 38 +f 21 30 38 +f 35 10 38 +f 30 35 38 +f 2 3 39 +f 9 2 39 +f 3 18 39 +f 18 25 39 +f 32 9 39 +f 25 32 39 +f 16 6 40 +f 23 16 40 +f 6 36 40 +f 36 23 40 +f 32 4 41 +f 9 32 41 +f 36 9 41 +f 4 36 41 +f 11 5 42 +f 5 15 42 +f 15 11 42 +f 19 13 43 +f 13 21 43 +f 38 19 43 +f 21 38 43 +f 15 7 44 +f 29 15 44 +f 7 34 44 +f 44 34 45 +f 3 29 45 +f 34 3 45 +o convex_1 +v -0.236114 2.836769 -0.262165 +v 0.331566 4.450186 0.335423 +v 0.301641 4.510060 0.156052 +v -0.325890 4.599573 0.185992 +v 0.152207 2.597471 0.335423 +v 0.211993 4.629609 -0.321978 +v 0.271780 2.597471 -0.262165 +v -0.295965 2.597471 0.275610 +v -0.295965 4.629609 -0.351918 +v 0.271780 2.717021 0.335423 +v -0.236114 2.597471 -0.202420 +v 0.301641 2.717021 -0.202420 +v -0.295965 4.270762 -0.351918 +v 0.211993 4.450186 0.335423 +v 0.032699 4.599573 -0.351918 +v -0.325890 4.539897 -0.142607 +v -0.325890 3.971989 0.215865 +v -0.295965 2.597471 0.215865 +v 0.331566 4.300600 0.245670 +v 0.271780 2.597471 0.245670 +v 0.241854 4.151213 -0.292038 +v 0.211993 4.629609 -0.232292 +v 0.331566 4.240726 0.305483 +v 0.122346 2.597471 -0.262165 +f 58 52 69 +f 47 48 49 +f 52 50 53 +f 47 50 55 +f 52 53 56 +f 46 56 58 +f 47 49 59 +f 50 47 59 +f 53 50 59 +f 51 52 60 +f 54 51 60 +f 52 58 60 +f 58 54 60 +f 49 54 61 +f 54 58 61 +f 59 49 62 +f 53 59 62 +f 49 61 62 +f 62 61 63 +f 56 53 63 +f 58 56 63 +f 61 58 63 +f 53 62 63 +f 48 47 64 +f 51 48 64 +f 50 52 65 +f 55 50 65 +f 52 57 65 +f 57 55 65 +f 52 51 66 +f 57 52 66 +f 51 64 66 +f 64 57 66 +f 49 48 67 +f 48 51 67 +f 54 49 67 +f 51 54 67 +f 47 55 68 +f 55 57 68 +f 64 47 68 +f 57 64 68 +f 56 46 69 +f 52 56 69 +f 46 58 69 +o convex_2 +v -2.447400 1.193028 -0.262206 +v -2.955359 1.850362 0.275613 +v -2.955359 1.850362 0.215763 +v -1.102884 1.790482 -0.232345 +v -1.192660 1.252774 0.275613 +v -2.985477 1.730804 -0.351918 +v -2.955359 1.342459 0.305539 +v -1.102884 1.312452 -0.351918 +v -1.102884 1.790482 0.275613 +v -2.985477 1.163021 -0.172559 +v -3.075253 1.850362 0.215763 +v -1.312361 1.730804 0.305539 +v -1.102884 1.252774 0.066393 +v -2.417475 1.760609 -0.321992 +v -3.015403 1.641118 0.305539 +v -2.985477 1.193028 -0.232345 +v -2.985477 1.670924 -0.351918 +v -2.477326 1.312452 0.305539 +v -1.102884 1.372264 -0.351918 +v -1.102884 1.312452 0.275613 +v -3.075253 1.760609 0.275613 +v -3.015403 1.760609 -0.262206 +v -1.491720 1.252774 0.275613 +v -2.985477 1.222901 0.006607 +v -1.850245 1.820354 -0.023189 +v -2.835850 1.163021 -0.232345 +v -2.029604 1.312452 0.305539 +f 81 87 96 +f 77 73 78 +f 71 72 80 +f 78 71 81 +f 70 77 82 +f 77 78 82 +f 76 81 84 +f 81 71 84 +f 77 70 86 +f 75 77 86 +f 70 85 86 +f 81 76 87 +f 73 77 88 +f 77 75 88 +f 83 73 88 +f 75 83 88 +f 81 74 89 +f 78 81 89 +f 74 82 89 +f 82 78 89 +f 71 80 90 +f 76 84 90 +f 84 71 90 +f 85 79 90 +f 80 85 90 +f 83 75 91 +f 80 83 91 +f 85 80 91 +f 86 85 91 +f 75 86 91 +f 79 74 92 +f 74 87 92 +f 92 87 93 +f 87 76 93 +f 76 90 93 +f 90 79 93 +f 79 92 93 +f 72 71 94 +f 71 78 94 +f 78 73 94 +f 80 72 94 +f 73 83 94 +f 83 80 94 +f 74 79 95 +f 70 82 95 +f 82 74 95 +f 85 70 95 +f 79 85 95 +f 74 81 96 +f 87 74 96 +o convex_3 +v 0.660211 2.537556 0.753506 +v -0.983180 1.133137 -1.099027 +v -1.042924 1.133137 -0.740274 +v 1.048547 1.133137 0.962983 +v 0.929059 2.567370 -0.949342 +v -1.042924 2.477928 0.962779 +v 0.958931 1.133137 -0.949342 +v -0.953308 2.447970 -1.069131 +v -1.042924 1.133137 0.992879 +v 1.078635 2.477785 0.962983 +v -0.475140 2.597471 0.395163 +v 1.108507 1.820726 -0.351830 +v -1.102884 1.790625 -0.232246 +v 1.108507 1.193052 0.006514 +v -0.266036 2.477928 0.992879 +v 0.480763 2.597471 -0.531206 +v -0.923436 2.418013 -1.099027 +v -1.102884 1.252680 0.245477 +v -1.013052 2.507742 0.962779 +v -0.983180 2.388199 -1.039235 +v 0.002812 1.133137 0.992879 +v -0.206076 2.597471 -0.232246 +v -1.102884 1.969654 0.484441 +v 0.241787 2.597471 0.335166 +v -0.833820 2.477928 -1.009339 +v 1.108507 1.939839 -0.351830 +v -1.013052 2.477928 0.992879 +v -1.102884 1.312595 -0.351830 +v 1.108507 1.252823 -0.261937 +v 0.958931 2.507742 0.902986 +v 0.630339 1.133137 -0.979443 +v 1.108507 1.193052 0.215581 +v -0.893564 1.133137 -1.099027 +v 0.958931 1.850397 -0.949342 +v -0.983180 2.477928 -0.351830 +v 1.048547 2.507742 0.484646 +v -0.266036 2.597471 0.454750 +v 1.108507 1.760811 0.275578 +v -1.102884 1.909882 0.066101 +v -1.072796 1.133137 -0.531206 +v 0.540724 2.597471 -0.471209 +v 1.078635 2.119154 0.962983 +v -0.983180 2.447970 -0.919651 +v 0.600467 2.388055 -0.979443 +v -0.983180 1.790625 -1.099027 +v -0.714332 2.477928 -1.069131 +v 1.048547 2.507742 0.693919 +f 137 120 143 +f 99 98 100 +f 100 98 103 +f 99 100 105 +f 100 103 110 +f 111 106 115 +f 105 100 117 +f 111 105 117 +f 106 111 117 +f 107 112 118 +f 105 102 119 +f 114 105 119 +f 109 114 119 +f 112 107 120 +f 107 118 121 +f 108 103 122 +f 110 108 122 +f 102 105 123 +f 105 111 123 +f 115 102 123 +f 111 115 123 +f 114 109 124 +f 109 116 124 +f 103 108 125 +f 110 103 125 +f 108 110 125 +f 97 115 126 +f 115 106 126 +f 120 97 126 +f 103 98 127 +f 100 110 128 +f 110 122 128 +f 98 113 129 +f 127 98 129 +f 113 127 129 +f 101 122 130 +f 122 103 130 +f 103 127 130 +f 102 115 131 +f 115 107 131 +f 121 104 131 +f 107 121 131 +f 122 101 132 +f 106 122 132 +f 115 97 133 +f 107 115 133 +f 97 120 133 +f 120 107 133 +f 122 106 134 +f 128 122 134 +f 119 102 135 +f 109 119 135 +f 99 105 136 +f 105 114 136 +f 124 99 136 +f 114 124 136 +f 101 112 137 +f 112 120 137 +f 117 100 138 +f 106 117 138 +f 100 128 138 +f 134 106 138 +f 128 134 138 +f 104 116 139 +f 116 109 139 +f 102 131 139 +f 131 104 139 +f 135 102 139 +f 109 135 139 +f 113 101 140 +f 127 113 140 +f 101 130 140 +f 130 127 140 +f 98 99 141 +f 113 98 141 +f 104 113 141 +f 116 104 141 +f 99 124 141 +f 124 116 141 +f 112 101 142 +f 101 113 142 +f 113 104 142 +f 118 112 142 +f 104 121 142 +f 121 118 142 +f 126 106 143 +f 120 126 143 +f 132 101 143 +f 106 132 143 +f 101 137 143 +o convex_4 +v 2.124483 1.670956 0.335368 +v 1.766186 1.760595 -0.322033 +v 1.766186 1.790517 -0.322033 +v 3.021160 1.700879 -0.322033 +v 1.108747 1.192905 0.036506 +v 2.931305 1.252750 -0.202475 +v 2.931305 1.372311 0.305495 +v 1.108747 1.760595 0.275555 +v 1.108747 1.252750 -0.262221 +v 2.931305 1.760595 0.365307 +v 1.108747 1.850297 -0.292093 +v 1.108747 1.192905 0.215877 +v 2.662302 1.551460 -0.322033 +v 3.021160 1.730736 -0.262221 +v 2.931305 1.312531 0.185937 +v 1.347986 1.850297 -0.172603 +v 1.377751 1.192905 0.215877 +v 2.751970 1.670956 0.365307 +v 1.108747 1.790517 0.185937 +v 2.901354 1.282673 -0.232281 +v 2.931305 1.252750 -0.082917 +v 2.512918 1.790517 0.215877 +v 1.407702 1.730736 0.305495 +v 1.318034 1.850297 -0.292093 +v 3.021160 1.611240 -0.322033 +v 1.108747 1.551460 -0.292093 +v 1.587038 1.372311 -0.292093 +v 1.138699 1.222892 -0.172603 +v 2.961070 1.760595 0.275555 +f 150 168 172 +f 145 146 147 +f 148 151 152 +f 146 145 154 +f 152 151 154 +f 151 148 155 +f 145 147 156 +f 148 149 160 +f 155 148 160 +f 150 155 160 +f 158 150 160 +f 150 153 161 +f 144 155 161 +f 155 150 161 +f 151 153 162 +f 154 151 162 +f 159 154 162 +f 149 152 163 +f 160 149 164 +f 158 160 164 +f 162 153 165 +f 159 162 165 +f 153 151 166 +f 155 144 166 +f 151 155 166 +f 144 161 166 +f 161 153 166 +f 147 146 167 +f 146 154 167 +f 157 147 167 +f 154 159 167 +f 165 157 167 +f 159 165 167 +f 156 147 168 +f 147 157 168 +f 150 158 168 +f 149 163 168 +f 163 156 168 +f 164 149 168 +f 158 164 168 +f 154 145 169 +f 152 154 169 +f 145 156 170 +f 163 152 170 +f 156 163 170 +f 169 145 170 +f 152 169 170 +f 149 148 171 +f 148 152 171 +f 152 149 171 +f 153 150 172 +f 165 153 172 +f 157 165 172 +f 168 157 172 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/923/923.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/923/923.urdf new file mode 100644 index 000000000..78b710345 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/923/923.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/924/924.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/924/924.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/924/924.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/924/924.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/924/924.obj new file mode 100644 index 000000000..581996374 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/924/924.obj @@ -0,0 +1,249 @@ +o convex_0 +v 0.579321 -3.265494 -0.155404 +v -0.606585 -4.481552 0.179088 +v -0.606585 -4.481552 0.483143 +v -0.485022 -2.565607 -0.489897 +v 0.579321 -4.542266 -0.611647 +v 0.548901 -2.565607 0.483250 +v 0.548901 -4.572918 0.483250 +v -0.454486 -2.565607 0.483143 +v 0.488178 -2.565607 -0.520334 +v -0.576165 -4.481552 -0.429021 +v 0.579321 -2.565607 0.452705 +v -0.576165 -4.177193 -0.459459 +v -0.515326 -2.809054 -0.277048 +v 0.579321 -3.690691 0.483250 +v 0.305659 -4.542266 -0.581209 +v 0.335963 -4.572918 0.422375 +v -0.485022 -2.687429 0.483143 +v -0.059262 -2.565607 -0.520334 +v 0.579321 -4.359926 -0.611647 +v -0.515326 -2.869769 -0.489897 +v 0.579321 -2.565607 0.178981 +v -0.606585 -4.359926 0.452812 +v 0.579321 -4.542266 -0.094529 +v 0.518482 -3.052305 -0.550772 +v -0.271968 -4.511810 -0.489897 +v 0.518482 -4.572918 -0.094529 +v 0.518482 -4.390382 -0.611647 +v -0.515326 -3.265494 -0.489897 +v -0.363343 -4.511810 0.483143 +v -0.576165 -4.055568 -0.429021 +v -0.485022 -2.565607 0.179088 +f 13 22 31 +f 6 3 7 +f 6 4 8 +f 4 6 9 +f 5 1 11 +f 9 6 11 +f 10 2 12 +f 6 7 14 +f 5 11 14 +f 11 6 14 +f 3 6 17 +f 6 8 17 +f 4 9 18 +f 1 5 19 +f 13 4 20 +f 11 1 21 +f 9 11 21 +f 2 3 22 +f 3 17 22 +f 13 20 22 +f 7 5 23 +f 5 14 23 +f 14 7 23 +f 18 9 24 +f 19 18 24 +f 1 19 24 +f 21 1 24 +f 9 21 24 +f 10 12 25 +f 12 15 25 +f 16 25 26 +f 5 7 26 +f 15 5 26 +f 7 16 26 +f 25 15 26 +f 5 15 27 +f 4 18 27 +f 18 19 27 +f 19 5 27 +f 20 4 27 +f 20 27 28 +f 15 12 28 +f 12 20 28 +f 27 15 28 +f 3 2 29 +f 7 3 29 +f 2 10 29 +f 16 7 29 +f 10 25 29 +f 25 16 29 +f 12 2 30 +f 20 12 30 +f 2 22 30 +f 22 20 30 +f 8 4 31 +f 4 13 31 +f 17 8 31 +f 22 17 31 +o convex_1 +v 1.065847 1.661191 -1.037179 +v -1.032441 -0.709660 1.091526 +v -1.062878 -0.709660 1.091526 +v -0.697839 3.608395 1.091312 +v -1.032441 3.486317 -0.976517 +v -1.062878 -2.534785 -1.037393 +v 1.005183 -2.443529 1.091312 +v 0.944308 3.577573 0.908686 +v 1.035621 -2.443529 -1.098054 +v -1.093316 -2.503964 1.091526 +v 1.066058 3.486317 -0.915642 +v -0.941128 3.607790 1.091312 +v 0.579269 -2.565003 0.452550 +v -0.150387 3.608395 -0.398631 +v -1.062878 2.847522 -0.733231 +v 1.005183 -0.618403 1.060874 +v 1.065847 -1.592005 -1.098054 +v -0.971566 -2.534181 -1.067616 +v 1.035621 -2.443529 0.756927 +v 1.066058 3.273587 -1.006955 +v -1.032441 2.512715 -1.006955 +v 0.609706 -2.565003 -0.641704 +v 0.913870 3.516534 0.939124 +v 1.066058 3.486317 -0.733231 +v -0.454551 -2.565607 0.482988 +v -1.093316 -0.709660 0.452765 +v 1.005183 -1.409493 1.091312 +v 0.366418 -2.382490 -1.098268 +v -0.971566 3.577573 0.665399 +v -0.424113 3.608395 -0.398631 +v 1.065847 -2.230799 -1.067616 +v 1.035621 3.485712 -0.976303 +v -1.093316 -2.503964 0.361452 +v -0.484988 -2.565607 -0.489944 +v 0.974746 3.546751 0.543863 +v -1.032441 3.486317 -0.459507 +v -1.093316 -1.865774 1.091526 +v -1.062878 -1.834952 -1.037393 +v 0.944308 3.577573 0.726275 +v -0.697839 -2.504568 1.091312 +v -1.062878 -2.534785 -0.276881 +v -0.971566 2.755662 1.091312 +v -1.062878 2.573754 -0.794106 +v 1.005183 -1.592005 -1.098054 +v -1.093316 -0.770699 0.543863 +v -0.667402 3.547356 1.091312 +v -1.002003 3.546751 -0.003371 +v -0.819378 -2.534785 -1.067616 +v 0.549043 -2.565003 0.482988 +v 0.944308 2.513319 0.969561 +v -0.971566 -2.473746 -1.067616 +v -0.728277 3.547356 -0.702793 +v 0.944308 -2.474351 0.026638 +v 1.066058 3.091074 -0.733231 +f 62 51 85 +f 34 33 35 +f 33 34 41 +f 38 33 41 +f 34 35 43 +f 35 39 45 +f 38 44 50 +f 48 32 51 +f 36 51 52 +f 39 35 54 +f 42 39 55 +f 47 50 55 +f 51 42 55 +f 53 44 56 +f 33 38 58 +f 38 50 58 +f 50 47 58 +f 48 40 59 +f 40 49 59 +f 43 35 61 +f 35 45 61 +f 40 48 62 +f 50 40 62 +f 48 51 62 +f 45 42 63 +f 51 36 63 +f 42 51 63 +f 37 41 64 +f 41 57 64 +f 37 49 65 +f 49 53 65 +f 53 56 65 +f 39 47 66 +f 55 39 66 +f 47 55 66 +f 36 46 67 +f 41 34 68 +f 57 41 68 +f 49 37 69 +f 36 52 69 +f 37 64 69 +f 64 57 69 +f 39 42 70 +f 45 39 70 +f 42 45 70 +f 38 41 71 +f 41 56 71 +f 41 37 72 +f 56 41 72 +f 37 65 72 +f 65 56 72 +f 34 43 73 +f 43 60 73 +f 60 67 73 +f 46 36 74 +f 57 46 74 +f 36 69 74 +f 69 57 74 +f 32 48 75 +f 51 32 75 +f 52 51 75 +f 48 59 75 +f 59 52 75 +f 46 57 76 +f 67 46 76 +f 68 34 76 +f 57 68 76 +f 34 73 76 +f 73 67 76 +f 35 33 77 +f 54 35 77 +f 33 58 77 +f 60 43 78 +f 43 61 78 +f 36 67 78 +f 67 60 78 +f 49 40 79 +f 53 49 79 +f 40 53 79 +f 44 38 80 +f 56 44 80 +f 38 71 80 +f 71 56 80 +f 47 39 81 +f 39 54 81 +f 58 47 81 +f 54 77 81 +f 77 58 81 +f 59 49 82 +f 52 59 82 +f 49 69 82 +f 69 52 82 +f 61 45 83 +f 63 36 83 +f 45 63 83 +f 78 61 83 +f 36 78 83 +f 40 50 84 +f 50 44 84 +f 44 53 84 +f 53 40 84 +f 55 50 85 +f 51 55 85 +f 50 62 85 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/924/924.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/924/924.urdf new file mode 100644 index 000000000..551ead174 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/924/924.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/925/925.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/925/925.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/925/925.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/925/925.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/925/925.obj new file mode 100644 index 000000000..1d138199a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/925/925.obj @@ -0,0 +1,654 @@ +o convex_0 +v 0.315529 -6.316641 0.093861 +v -0.107872 -2.407151 0.615311 +v -0.466178 -2.407151 0.615311 +v -0.335874 -2.407151 -0.590095 +v -0.466178 -6.283730 0.549994 +v 0.543646 -2.407534 0.582592 +v 0.576250 -5.990595 -0.459702 +v -0.466178 -6.283730 -0.459702 +v 0.445832 -2.407151 -0.524899 +v 0.543646 -6.316641 0.452199 +v -0.596596 -2.407151 -0.590095 +v 0.511041 -4.394042 -0.622694 +v 0.576250 -4.426569 0.615311 +v -0.531387 -4.394042 0.452320 +v 0.576250 -6.218674 -0.427104 +v -0.596596 -2.798253 -0.264113 +v 0.543646 -4.459480 -0.590095 +v -0.563992 -2.961276 -0.590095 +v 0.478437 -2.798253 -0.557497 +v -0.173081 -6.283730 0.549994 +v -0.466178 -5.860483 -0.492180 +v 0.543646 -2.440062 0.387124 +v -0.498783 -5.599493 0.517396 +v -0.107872 -6.283730 -0.459702 +v 0.576250 -3.906121 0.615311 +v -0.498783 -2.440062 0.484919 +v 0.576250 -6.250819 -0.003691 +v 0.576250 -5.632403 -0.459702 +v -0.107872 -6.316641 -0.133842 +v 0.413227 -4.329751 -0.622694 +v 0.348133 -6.316641 0.484797 +v 0.511041 -4.199638 -0.622694 +v -0.596596 -2.407151 -0.329431 +v -0.596596 -2.602702 -0.590095 +v -0.531387 -4.036615 0.452320 +v 0.576250 -5.013223 0.549994 +v 0.315529 -4.036615 0.615311 +f 5 13 37 +f 3 2 4 +f 4 2 9 +f 2 6 9 +f 3 4 11 +f 2 3 13 +f 10 1 15 +f 7 13 15 +f 7 12 17 +f 4 9 19 +f 13 5 20 +f 12 8 21 +f 9 6 22 +f 19 9 22 +f 17 19 22 +f 5 3 23 +f 8 5 23 +f 3 14 23 +f 16 8 23 +f 14 16 23 +f 8 12 24 +f 12 7 24 +f 15 1 24 +f 7 15 24 +f 6 2 25 +f 2 13 25 +f 13 7 25 +f 22 6 25 +f 10 15 27 +f 15 13 27 +f 7 17 28 +f 17 22 28 +f 25 7 28 +f 22 25 28 +f 5 8 29 +f 1 10 29 +f 24 1 29 +f 8 24 29 +f 12 21 30 +f 21 18 30 +f 10 13 31 +f 20 5 31 +f 13 20 31 +f 5 29 31 +f 29 10 31 +f 11 4 32 +f 17 12 32 +f 4 19 32 +f 19 17 32 +f 30 11 32 +f 12 30 32 +f 3 11 33 +f 11 16 33 +f 26 3 33 +f 16 26 33 +f 8 16 34 +f 16 11 34 +f 21 8 34 +f 18 21 34 +f 11 30 34 +f 30 18 34 +f 14 3 35 +f 16 14 35 +f 3 26 35 +f 26 16 35 +f 13 10 36 +f 10 27 36 +f 27 13 36 +f 3 5 37 +f 13 3 37 +o convex_1 +v 0.934489 -0.647996 -1.078801 +v -0.987424 0.101438 1.103998 +v 0.706296 -0.452534 1.038830 +v -1.019901 -2.374492 1.103998 +v -1.085069 0.101438 -0.980942 +v 1.097302 -2.244103 -1.078801 +v -1.085069 -2.276516 -0.980942 +v 0.934489 -2.309175 0.940971 +v 1.064825 0.101438 -0.752748 +v 0.967180 0.101438 0.875804 +v 0.445838 -2.407151 -0.524768 +v -0.531250 0.101438 -1.078801 +v -1.052592 0.101438 1.103998 +v 1.064825 0.101438 -1.013419 +v -0.596418 -2.407151 -0.589936 +v 0.543697 -2.407151 0.582442 +v -0.759444 -2.374492 1.103998 +v 0.608651 0.101438 1.038830 +v -1.085069 -2.309175 -0.557459 +v 0.087309 -2.276762 -1.046110 +v -1.085069 0.101438 0.159172 +v 1.097302 -2.244103 -0.948252 +v 0.901799 -2.015737 0.973449 +v 0.804154 0.101438 -1.078801 +v 0.967180 -2.309175 0.680301 +v -0.531250 -0.257072 -1.078801 +v -0.466082 -2.407151 0.614919 +v -0.954733 -1.820521 -1.013419 +v 0.934489 0.101438 0.940971 +v 1.064825 -2.276762 -0.817916 +v 1.097302 -1.494669 -1.013419 +v -0.987424 0.101438 -1.013419 +v -1.052592 -2.341834 0.386939 +v 0.804154 -2.244103 -1.078801 +v 0.673819 -2.276762 -1.045896 +v -1.019901 -2.374492 0.647610 +v -1.085069 -2.309175 -0.817916 +v 0.315503 -2.341834 1.005926 +v 1.064825 -0.322390 -1.045896 +v 0.706296 -0.550265 1.038830 +f 54 60 77 +f 42 39 46 +f 46 39 47 +f 38 43 49 +f 42 46 49 +f 41 39 50 +f 39 42 50 +f 49 46 51 +f 52 48 53 +f 40 39 54 +f 39 41 54 +f 39 40 55 +f 47 39 55 +f 42 44 56 +f 52 44 57 +f 50 42 58 +f 42 56 58 +f 38 49 61 +f 49 51 61 +f 47 45 62 +f 45 53 62 +f 59 47 62 +f 49 43 63 +f 41 52 64 +f 52 53 64 +f 54 41 64 +f 53 54 64 +f 57 44 65 +f 63 57 65 +f 45 47 66 +f 55 40 66 +f 47 55 66 +f 40 60 66 +f 60 45 66 +f 48 43 67 +f 53 48 67 +f 43 59 67 +f 62 53 67 +f 59 62 67 +f 46 47 68 +f 43 51 68 +f 51 46 68 +f 59 43 68 +f 47 59 68 +f 44 42 69 +f 42 49 69 +f 49 63 69 +f 65 44 69 +f 63 65 69 +f 41 50 70 +f 50 58 70 +f 58 56 70 +f 43 57 71 +f 63 43 71 +f 57 63 71 +f 43 48 72 +f 48 52 72 +f 57 43 72 +f 52 57 72 +f 52 41 73 +f 41 70 73 +f 73 70 74 +f 44 52 74 +f 56 44 74 +f 70 56 74 +f 52 73 74 +f 53 45 75 +f 54 53 75 +f 45 60 75 +f 60 54 75 +f 43 38 76 +f 51 43 76 +f 38 61 76 +f 61 51 76 +f 40 54 77 +f 60 40 77 +o convex_2 +v 0.543649 1.306864 -1.697991 +v 0.282917 0.134017 -3.000957 +v -0.531314 0.166622 -2.577269 +v 0.478466 0.264435 -1.078801 +v -0.498722 1.176330 -1.078801 +v -0.466242 1.274259 -3.066124 +v 0.576241 1.241540 -2.935595 +v -0.433539 0.134017 -1.078801 +v 0.511058 1.306864 -1.078995 +v 0.543649 0.134017 -3.000762 +v -0.564017 0.199226 -3.066124 +v 0.511058 0.231831 -1.307179 +v -0.564017 0.525042 -2.414447 +v -0.140327 1.306864 -2.316793 +v 0.576241 0.622741 -2.903108 +v 0.380692 1.274259 -2.968081 +v -0.466242 0.134017 -1.241817 +v 0.315508 1.306864 -1.078801 +v -0.303285 1.274259 -3.066124 +v 0.543649 0.134017 -2.772578 +v 0.511058 0.264435 -1.111676 +v 0.576241 1.274259 -2.479420 +v -0.335765 0.134017 -1.078801 +v -0.564017 0.492438 -2.968081 +v -0.335765 0.199226 -3.066124 +v -0.564017 0.199226 -2.609756 +v -0.498722 0.948443 -1.078801 +v -0.466242 1.274259 -2.642437 +v 0.576241 0.850744 -2.968081 +v 0.543649 0.166622 -2.316598 +v -0.498722 1.143841 -1.925981 +f 101 90 108 +f 81 82 85 +f 85 79 87 +f 79 80 88 +f 86 78 91 +f 91 78 93 +f 80 79 94 +f 79 85 94 +f 82 81 95 +f 81 86 95 +f 86 91 95 +f 88 83 96 +f 83 91 96 +f 91 93 96 +f 85 87 97 +f 87 92 97 +f 78 86 98 +f 86 81 98 +f 81 89 98 +f 92 84 99 +f 93 78 99 +f 84 93 99 +f 98 92 99 +f 78 98 99 +f 81 85 100 +f 89 81 100 +f 85 97 100 +f 97 89 100 +f 83 88 101 +f 88 90 101 +f 87 79 102 +f 79 88 102 +f 88 96 102 +f 96 87 102 +f 88 80 103 +f 90 88 103 +f 80 94 103 +f 103 94 104 +f 85 82 104 +f 82 90 104 +f 94 85 104 +f 90 103 104 +f 83 82 105 +f 91 83 105 +f 82 95 105 +f 95 91 105 +f 84 92 106 +f 92 87 106 +f 93 84 106 +f 87 96 106 +f 96 93 106 +f 89 97 107 +f 97 92 107 +f 92 98 107 +f 98 89 107 +f 82 83 108 +f 90 82 108 +f 83 101 108 +o convex_3 +v 0.185148 3.847783 0.224043 +v -1.085283 1.306864 -1.013343 +v -0.759466 1.828231 -1.046177 +v 0.967065 1.307113 0.940923 +v -1.085283 3.782861 1.071418 +v -1.052659 1.306864 1.071418 +v 1.064937 1.307113 -0.980929 +v 1.032313 3.847783 -0.915892 +v -1.085283 3.684856 -1.013343 +v 0.934442 3.717690 0.973337 +v 0.576212 1.665304 -1.078801 +v 0.478551 1.307113 1.038795 +v 0.999689 3.750027 0.680355 +v -0.335779 3.847783 -0.199013 +v -1.085283 1.306864 0.517447 +v 0.999689 3.684856 -0.948306 +v 0.022240 1.307113 -1.078801 +v -1.020035 3.717441 -1.013343 +v -0.954788 3.782861 1.071418 +v 1.064937 1.860817 -0.980929 +v -0.792090 3.717441 -1.013343 +v 1.032313 3.815446 -0.427168 +v 1.064937 1.307113 -0.883058 +v 0.901818 1.307113 0.973337 +v 0.608625 1.307113 -1.078801 +v 0.804157 3.847783 -0.915682 +v 0.315643 3.750027 1.005960 +v 0.967065 3.717690 0.940923 +v 1.032313 3.847783 -0.720361 +v -1.085283 3.782861 0.810639 +v -0.270742 3.847783 0.289291 +v 0.999689 3.652270 0.712978 +v -0.889751 1.306864 1.071418 +v 0.999689 1.339449 -1.013343 +v -1.085283 3.130903 1.071418 +v -1.085283 3.717441 -0.915682 +v -0.759466 2.382184 -1.046177 +f 119 125 145 +f 111 110 117 +f 110 113 117 +f 109 116 122 +f 113 110 123 +f 110 114 123 +f 110 111 125 +f 119 117 126 +f 113 114 127 +f 124 116 128 +f 116 124 129 +f 124 119 129 +f 119 126 129 +f 126 116 129 +f 115 128 131 +f 112 118 132 +f 118 120 132 +f 115 110 133 +f 110 125 133 +f 125 119 133 +f 122 116 134 +f 126 122 134 +f 116 126 134 +f 120 118 135 +f 121 109 135 +f 118 121 135 +f 109 127 135 +f 127 120 135 +f 118 112 136 +f 121 118 136 +f 116 109 137 +f 109 121 137 +f 128 116 137 +f 121 130 137 +f 130 128 137 +f 117 113 138 +f 113 122 138 +f 109 122 139 +f 122 113 139 +f 127 109 139 +f 113 127 139 +f 130 121 140 +f 128 130 140 +f 112 131 140 +f 131 128 140 +f 136 112 140 +f 121 136 140 +f 114 110 141 +f 110 115 141 +f 127 114 141 +f 120 127 141 +f 131 112 141 +f 115 131 141 +f 112 132 141 +f 132 120 141 +f 119 124 142 +f 128 115 142 +f 124 128 142 +f 115 133 142 +f 133 119 142 +f 114 113 143 +f 113 123 143 +f 123 114 143 +f 126 117 144 +f 122 126 144 +f 117 138 144 +f 138 122 144 +f 111 117 145 +f 117 119 145 +f 125 111 145 +o convex_4 +v 0.120067 5.802484 0.224343 +v -0.335964 3.848032 -0.199115 +v -0.335964 3.848032 -0.133905 +v 0.315618 3.848032 -0.166567 +v -0.205596 5.737322 -0.264324 +v -0.270780 3.848032 0.289495 +v -0.238188 5.835161 0.322100 +v 0.315618 5.770000 -0.199115 +v 0.250370 5.476676 0.322100 +v 0.185187 3.848032 0.224343 +v 0.087475 4.499840 -0.231662 +v 0.282962 5.770000 0.256890 +v -0.270780 3.880904 -0.231662 +v 0.282962 5.770000 -0.231662 +v -0.075293 3.848032 0.289495 +v -0.238188 4.565001 0.322100 +v -0.270780 5.379032 0.224343 +v 0.250370 3.848032 -0.199115 +v -0.042701 5.281193 -0.264324 +v 0.185187 3.978549 0.256890 +v 0.315618 3.848032 -0.133905 +v -0.238188 5.346354 -0.264324 +v 0.315618 5.770000 -0.036206 +v 0.250370 5.770000 0.322100 +v -0.107885 5.835161 0.159191 +f 153 159 170 +f 148 147 149 +f 148 149 151 +f 151 149 155 +f 153 149 159 +f 151 155 160 +f 152 151 161 +f 154 152 161 +f 151 160 161 +f 160 154 161 +f 147 148 162 +f 148 151 162 +f 152 150 162 +f 151 152 162 +f 149 147 163 +f 147 158 163 +f 158 156 163 +f 159 149 163 +f 159 163 164 +f 156 158 164 +f 150 159 164 +f 163 156 164 +f 154 160 165 +f 160 155 165 +f 149 153 166 +f 155 149 166 +f 157 154 166 +f 154 165 166 +f 165 155 166 +f 158 147 167 +f 147 162 167 +f 162 150 167 +f 150 164 167 +f 164 158 167 +f 153 146 168 +f 146 157 168 +f 166 153 168 +f 157 166 168 +f 146 152 169 +f 152 154 169 +f 157 146 169 +f 154 157 169 +f 152 146 170 +f 150 152 170 +f 146 153 170 +f 159 150 170 +o convex_5 +v -1.085283 1.306746 -0.980942 +v 1.064924 0.427423 -0.785439 +v 1.064924 0.101438 -0.785439 +v -1.052449 0.231926 1.103998 +v 0.967053 1.306746 0.940972 +v -1.085283 0.101438 -0.980942 +v 0.934430 0.101438 0.940972 +v -1.052449 1.306746 1.071307 +v 0.999677 1.306746 -1.013633 +v 0.804146 0.101438 -1.078801 +v 0.510955 1.143812 1.103998 +v -1.052449 0.101438 1.103998 +v -0.498901 1.176375 -1.078801 +v 0.608615 0.264489 1.103998 +v -0.498901 0.101438 -1.078801 +v 1.064924 1.306746 -0.980729 +v -1.085283 1.306746 0.517488 +v 0.641239 1.306746 -1.078801 +v 1.064924 0.101438 -1.013633 +v 0.967053 0.297053 0.940972 +v -0.010179 1.306746 1.103998 +v -1.085283 0.101438 0.158959 +v -1.052449 1.306746 -1.013633 +v 0.608615 0.101438 1.038616 +v -0.466277 1.274065 1.103998 +v -1.020036 0.166800 -1.013633 +v 0.478332 1.306746 1.103998 +v 0.967053 0.101438 0.875804 +v 1.064924 1.306746 -0.883084 +f 186 175 199 +f 173 172 175 +f 176 173 177 +f 175 171 178 +f 171 175 179 +f 173 176 180 +f 176 177 182 +f 181 174 182 +f 175 181 184 +f 181 182 184 +f 180 176 185 +f 183 180 185 +f 172 173 186 +f 179 175 186 +f 171 176 187 +f 178 171 187 +f 174 178 187 +f 182 174 187 +f 171 179 188 +f 179 180 188 +f 180 183 188 +f 173 180 189 +f 180 179 189 +f 186 173 189 +f 179 186 189 +f 173 175 190 +f 175 184 190 +f 184 177 190 +f 175 178 191 +f 174 181 191 +f 176 182 192 +f 187 176 192 +f 182 187 192 +f 176 171 193 +f 183 185 193 +f 171 188 193 +f 188 183 193 +f 182 177 194 +f 177 184 194 +f 184 182 194 +f 178 174 195 +f 174 191 195 +f 191 178 195 +f 185 176 196 +f 176 193 196 +f 193 185 196 +f 181 175 197 +f 175 191 197 +f 191 181 197 +f 177 173 198 +f 173 190 198 +f 190 177 198 +f 175 172 199 +f 172 186 199 +o convex_6 +v -0.107725 0.166596 2.113850 +v 0.608829 1.209088 3.123703 +v 0.478437 1.274272 2.081625 +v -0.629175 1.176385 3.091082 +v -0.498783 1.241568 1.104195 +v 0.608829 0.264483 1.104195 +v 0.576231 0.297075 2.960798 +v -0.466184 0.166596 1.104195 +v -0.466184 0.166596 3.058462 +v 0.478437 1.306864 1.104195 +v 0.152576 1.306864 1.462626 +v 0.576231 0.231891 1.104195 +v -0.498783 0.296963 1.267100 +v -0.010173 0.199188 3.025841 +v -0.531381 1.208977 2.830513 +v -0.433586 1.274272 1.104195 +v 0.511035 1.306864 1.430005 +v -0.629175 1.111201 2.993221 +v 0.608829 1.111313 3.123703 +v -0.172922 0.166596 1.104195 +v 0.576231 0.231891 1.430005 +v 0.608829 0.329555 1.104195 +v -0.172922 0.166596 2.830513 +v 0.511035 0.264371 2.765272 +v 0.282847 1.143793 3.123703 +v 0.608829 1.176385 2.928177 +f 221 216 225 +f 204 205 207 +f 207 200 208 +f 205 204 209 +f 207 205 211 +f 204 207 212 +f 207 208 212 +f 201 202 214 +f 203 201 214 +f 202 210 214 +f 214 210 215 +f 204 203 215 +f 209 204 215 +f 210 209 215 +f 203 214 215 +f 202 201 216 +f 210 202 216 +f 209 210 216 +f 203 204 217 +f 208 203 217 +f 204 212 217 +f 212 208 217 +f 205 201 218 +f 206 205 218 +f 213 206 218 +f 208 213 218 +f 200 207 219 +f 211 200 219 +f 207 211 219 +f 205 206 220 +f 200 211 220 +f 211 205 220 +f 201 205 221 +f 205 209 221 +f 209 216 221 +f 208 200 222 +f 213 208 222 +f 200 220 222 +f 222 220 223 +f 206 213 223 +f 220 206 223 +f 213 222 223 +f 201 203 224 +f 203 208 224 +f 218 201 224 +f 208 218 224 +f 216 201 225 +f 201 221 225 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/925/925.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/925/925.urdf new file mode 100644 index 000000000..33aa47b89 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/925/925.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/926/926.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/926/926.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/926/926.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/926/926.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/926/926.obj new file mode 100644 index 000000000..c27d0842d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/926/926.obj @@ -0,0 +1,393 @@ +o convex_0 +v 0.575689 -3.513190 -0.997149 +v -0.950329 0.940810 1.089514 +v 0.762497 0.939932 1.058169 +v -0.701252 0.940810 -1.059629 +v -0.981463 -3.450854 1.089514 +v 1.042709 -3.543920 1.089514 +v 1.011574 0.939932 -0.997149 +v -1.075078 -3.482022 -1.059629 +v -1.075078 0.940810 -1.028284 +v 0.949305 -3.512751 -0.966014 +v 1.074054 0.939932 1.027034 +v -1.075078 0.940810 1.089514 +v 1.042709 -3.543920 0.559802 +v -0.483099 -3.543920 0.248454 +v -0.545368 -3.481583 -1.059629 +v -1.012598 -3.139170 1.089514 +v 1.011574 0.099265 -0.997149 +v -1.075078 -3.482022 -0.623321 +v 0.824766 -1.053086 1.089514 +v -0.296291 0.815698 -1.059629 +v -1.075078 0.099265 1.089514 +v 0.980439 -1.643968 -0.997149 +v -0.950329 -3.481583 1.027034 +v 1.074054 0.036928 0.995899 +v 0.980439 -3.543920 -0.156299 +v 0.046190 -3.513190 -1.028284 +v -1.075078 -0.772571 -1.059629 +v 1.042709 -1.861707 1.089514 +v 0.980439 -3.512751 -0.529917 +v -0.483099 -3.543920 0.030300 +v -0.451964 -3.543920 0.466397 +v -1.012598 -3.450854 0.933630 +v 0.669093 -3.512751 -0.997149 +v -0.296291 0.192770 -1.059629 +v 0.855901 -3.543920 1.089514 +v 1.042709 -0.056577 1.058169 +f 19 28 36 +f 2 5 6 +f 2 4 9 +f 2 3 11 +f 4 2 11 +f 7 4 11 +f 5 2 12 +f 2 9 12 +f 9 8 12 +f 13 6 14 +f 8 4 15 +f 5 12 16 +f 12 8 18 +f 8 14 18 +f 3 2 19 +f 2 6 19 +f 4 7 20 +f 15 4 20 +f 7 17 20 +f 16 12 21 +f 12 18 21 +f 18 16 21 +f 17 10 22 +f 18 14 23 +f 11 6 24 +f 7 11 24 +f 6 13 24 +f 17 7 24 +f 13 17 24 +f 1 10 25 +f 10 13 25 +f 13 14 25 +f 8 15 26 +f 1 25 26 +f 4 8 27 +f 9 4 27 +f 8 9 27 +f 6 11 28 +f 19 6 28 +f 13 10 29 +f 10 17 29 +f 17 13 29 +f 14 8 30 +f 25 14 30 +f 26 25 30 +f 8 26 30 +f 14 6 31 +f 23 14 31 +f 5 16 32 +f 16 18 32 +f 23 5 32 +f 18 23 32 +f 10 1 33 +f 22 10 33 +f 15 22 33 +f 26 15 33 +f 1 26 33 +f 15 20 34 +f 20 17 34 +f 22 15 34 +f 17 22 34 +f 6 5 35 +f 5 23 35 +f 31 6 35 +f 23 31 35 +f 11 3 36 +f 3 19 36 +f 28 11 36 +o convex_1 +v 0.139515 2.061950 -1.558271 +v -0.483175 1.003104 -3.115331 +v -0.483175 1.470410 -3.115331 +v 0.513420 1.003104 -3.115331 +v -0.452076 1.065551 -1.090776 +v 0.482218 1.096609 -1.090776 +v 0.513420 1.999613 -2.959566 +v -0.545578 2.124287 -1.090776 +v -0.452076 2.061950 -3.083822 +v 0.451120 1.999613 -1.090776 +v -0.265176 2.124287 -1.495846 +v -0.483175 1.034382 -1.651611 +v 0.513420 1.003104 -2.710262 +v -0.202876 2.061950 -3.083822 +v -0.514273 1.252451 -2.647837 +v 0.482218 1.657091 -1.090776 +v 0.513420 1.096609 -1.869802 +v -0.202876 1.034382 -1.495846 +v -0.514273 2.124287 -1.869802 +v -0.483175 1.003104 -2.460958 +v 0.482218 1.812823 -3.021793 +v -0.140576 1.781654 -3.115331 +v -0.545578 1.999613 -1.090776 +v 0.357618 2.030782 -2.741177 +v -0.389673 2.093118 -2.803602 +v -0.296274 2.124287 -1.090776 +v -0.483175 1.158946 -1.090776 +v 0.326519 2.030782 -1.184315 +v 0.482218 1.158946 -3.115331 +v 0.482218 1.999613 -1.713838 +v 0.233017 1.003104 -2.460958 +v -0.545578 1.999613 -1.340080 +f 51 59 68 +f 38 39 40 +f 41 42 44 +f 44 42 46 +f 38 40 49 +f 40 43 49 +f 39 38 51 +f 46 42 52 +f 42 49 53 +f 49 43 53 +f 43 52 53 +f 52 42 53 +f 42 41 54 +f 41 48 54 +f 49 42 54 +f 45 39 55 +f 44 47 55 +f 38 49 56 +f 51 38 56 +f 48 51 56 +f 54 48 56 +f 43 40 57 +f 50 43 57 +f 50 57 58 +f 40 39 58 +f 39 45 58 +f 45 50 58 +f 41 44 59 +f 51 48 59 +f 47 37 60 +f 43 50 60 +f 60 50 61 +f 50 45 61 +f 45 55 61 +f 55 47 61 +f 47 60 61 +f 44 46 62 +f 47 44 62 +f 48 41 63 +f 41 59 63 +f 59 48 63 +f 37 47 64 +f 60 37 64 +f 43 60 64 +f 62 46 64 +f 47 62 64 +f 57 40 65 +f 58 57 65 +f 40 58 65 +f 52 43 66 +f 46 52 66 +f 43 64 66 +f 64 46 66 +f 49 54 67 +f 56 49 67 +f 54 56 67 +f 39 51 68 +f 55 39 68 +f 44 55 68 +f 59 44 68 +o convex_2 +v -1.106011 2.092944 0.653285 +v 1.073792 1.626361 1.027196 +v 0.606843 2.093109 1.089514 +v 1.042847 2.591467 -1.028458 +v -1.074853 0.940810 -1.028458 +v 1.011688 0.940810 -0.997299 +v -1.074853 0.940810 1.089514 +v -1.074853 2.529069 -0.997299 +v -1.106011 2.529069 1.089514 +v 1.073792 0.940810 1.027196 +v 1.073792 2.529069 0.996037 +v -0.234005 2.622748 -0.093895 +v -0.545588 2.155342 -1.090776 +v 0.451052 1.096557 -1.090776 +v 0.575685 1.034489 1.089514 +v -1.012536 2.560351 0.996037 +v 0.669160 2.622748 -0.654547 +v 0.513368 2.061993 -1.090776 +v -0.451900 1.065441 -1.090776 +v -1.043694 2.529069 -1.028458 +v 0.077152 2.622748 -0.031577 +v -1.106011 1.688594 1.089514 +v -0.856958 2.560351 -0.841503 +v -1.106011 2.529069 0.279588 +v 1.042847 2.093109 -0.997299 +v -0.638850 2.529069 1.089514 +v -0.264950 2.622748 -0.312010 +v -0.327480 0.940810 -1.059617 +v 0.731477 2.529069 1.027196 +v 1.073792 2.467001 0.840241 +v 0.793580 2.591467 -1.028458 +v 0.357577 2.622748 -0.218532 +v -1.074853 2.466836 -1.028458 +v 0.482210 1.128003 -1.090776 +v -0.856958 2.560351 0.996037 +v 1.073792 0.972091 0.964877 +f 93 98 104 +f 73 74 75 +f 75 71 77 +f 70 71 78 +f 75 74 78 +f 71 70 79 +f 70 78 79 +f 71 75 83 +f 78 71 83 +f 75 78 83 +f 79 72 85 +f 81 72 86 +f 82 81 86 +f 73 81 87 +f 81 82 87 +f 80 84 89 +f 85 80 89 +f 69 73 90 +f 73 75 90 +f 77 69 90 +f 75 77 90 +f 76 84 91 +f 88 76 91 +f 73 69 92 +f 69 77 92 +f 84 76 92 +f 77 84 92 +f 74 72 93 +f 77 71 94 +f 84 77 94 +f 84 80 95 +f 80 85 95 +f 91 84 95 +f 85 91 95 +f 74 73 96 +f 82 74 96 +f 73 87 96 +f 87 82 96 +f 71 79 97 +f 94 71 97 +f 72 79 98 +f 79 78 98 +f 93 72 98 +f 72 81 99 +f 85 72 99 +f 81 88 99 +f 91 85 99 +f 88 91 99 +f 79 85 100 +f 89 79 100 +f 85 89 100 +f 81 73 101 +f 76 88 101 +f 88 81 101 +f 73 92 101 +f 92 76 101 +f 72 74 102 +f 74 82 102 +f 86 72 102 +f 82 86 102 +f 79 89 103 +f 89 84 103 +f 84 94 103 +f 97 79 103 +f 94 97 103 +f 78 74 104 +f 74 93 104 +f 98 78 104 +o convex_3 +v 0.015153 2.093115 2.522121 +v -0.451979 0.940810 1.089514 +v -0.483150 1.563653 1.338818 +v 0.606751 2.093115 1.089514 +v 0.513346 1.096637 3.114069 +v -0.483150 0.971976 3.051644 +v 0.575689 1.034306 1.089514 +v -0.514322 2.030900 3.082560 +v 0.606751 2.093115 2.958304 +v -0.483150 2.124396 1.089514 +v 0.482285 1.003141 1.151939 +v -0.514322 1.314794 3.082560 +v -0.389746 2.030900 3.114069 +v -0.296341 0.971976 3.051644 +v 0.544518 1.127802 3.114069 +v -0.514322 2.093115 2.024107 +v 0.108448 2.124396 2.024107 +v -0.420917 0.940810 1.868540 +v 0.170681 2.124396 1.089514 +v 0.606751 1.750529 1.089514 +v 0.575689 1.034306 1.494584 +v 0.544518 1.065471 2.522121 +v -0.514322 1.688198 3.114069 +v 0.606751 1.968570 2.833652 +v -0.296341 1.003141 3.082560 +v 0.513346 2.062066 2.989219 +v -0.483150 0.971976 2.273015 +v -0.483150 2.124396 1.525697 +v -0.514322 2.030900 1.899653 +v 0.544518 1.190133 3.114069 +v -0.483150 1.750413 1.089514 +f 133 114 135 +f 106 108 111 +f 105 112 113 +f 108 106 114 +f 106 111 115 +f 113 112 117 +f 117 109 119 +f 116 112 120 +f 105 113 121 +f 110 106 122 +f 106 115 122 +f 118 110 122 +f 115 118 122 +f 113 108 123 +f 108 114 123 +f 121 113 123 +f 114 121 123 +f 111 108 124 +f 108 113 124 +f 115 111 125 +f 111 124 125 +f 125 119 126 +f 109 118 126 +f 118 115 126 +f 119 109 126 +f 115 125 126 +f 112 116 127 +f 109 117 127 +f 117 112 127 +f 113 119 128 +f 124 113 128 +f 125 124 128 +f 119 125 128 +f 116 110 129 +f 110 118 129 +f 118 109 129 +f 109 127 129 +f 127 116 129 +f 113 117 130 +f 107 106 131 +f 106 110 131 +f 110 116 131 +f 112 105 132 +f 120 112 132 +f 114 120 132 +f 105 121 132 +f 121 114 132 +f 120 114 133 +f 116 120 133 +f 107 131 133 +f 131 116 133 +f 119 113 134 +f 117 119 134 +f 113 130 134 +f 130 117 134 +f 106 107 135 +f 114 106 135 +f 107 133 135 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/926/926.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/926/926.urdf new file mode 100644 index 000000000..64a24ba2b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/926/926.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/927/927.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/927/927.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/927/927.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/927/927.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/927/927.obj new file mode 100644 index 000000000..2433e50ce --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/927/927.obj @@ -0,0 +1,543 @@ +o convex_0 +v -0.366829 1.216121 -1.048114 +v 0.418562 0.073863 1.129432 +v 0.382813 0.073863 1.129432 +v -0.223834 3.928065 1.057882 +v 1.025426 3.964524 -0.941119 +v -1.009225 3.892769 -0.940899 +v -0.973476 0.002496 0.950887 +v 1.096924 0.002108 -1.047894 +v 1.025426 3.928065 1.057882 +v -1.116472 0.002496 -0.940899 +v -1.080723 3.928452 1.022217 +v 1.096924 0.002108 1.093327 +v 0.561341 0.180913 -1.119664 +v 1.061175 2.821877 1.093327 +v -1.044974 0.037791 0.629462 +v -0.937944 3.678281 -0.976784 +v -1.080723 2.928928 1.022217 +v -0.580889 0.002496 -1.048114 +v 1.096924 0.680482 -1.047894 +v -1.080723 3.892769 0.379587 +v -0.045523 3.964524 -0.048613 +v -0.973476 0.573431 0.986332 +v -0.794949 2.964223 1.057882 +v 0.882647 3.285762 1.093547 +v 1.025426 3.964524 0.129711 +v 0.739869 0.002496 -1.119664 +v 0.240035 3.964524 -0.905454 +v 0.882647 3.357129 -0.976564 +v -1.080723 1.930179 0.808007 +v 0.347065 0.002496 1.129432 +v 1.061175 2.571705 -0.869569 +v 1.096924 0.787532 -0.548364 +v 1.061175 0.109546 -1.083779 +v -0.866446 3.713964 -0.976784 +v -0.973476 3.071661 -0.976784 +v -0.473642 3.928065 -0.941119 +v 1.096924 0.252280 1.093327 +v -1.116472 0.073475 -0.940899 +v -0.973476 0.002496 -0.976784 +v 0.989677 3.285762 -0.976564 +v -0.223834 1.323172 1.093547 +f 30 23 41 +f 7 10 12 +f 10 8 12 +f 10 7 15 +f 13 1 16 +f 11 10 17 +f 15 7 17 +f 1 13 18 +f 16 1 18 +f 12 8 19 +f 11 6 20 +f 17 7 22 +f 17 22 23 +f 3 4 23 +f 4 11 23 +f 11 17 23 +f 3 2 24 +f 4 3 24 +f 9 4 24 +f 2 14 24 +f 14 9 24 +f 4 9 25 +f 11 4 25 +f 14 5 25 +f 9 14 25 +f 5 21 25 +f 21 11 25 +f 8 18 26 +f 18 13 26 +f 21 5 27 +f 10 15 29 +f 17 10 29 +f 15 17 29 +f 2 3 30 +f 12 2 30 +f 7 12 30 +f 22 7 30 +f 3 23 30 +f 5 14 31 +f 19 5 31 +f 19 31 32 +f 12 19 32 +f 31 14 32 +f 19 8 33 +f 5 19 33 +f 8 26 33 +f 16 6 34 +f 13 16 34 +f 5 28 34 +f 28 13 34 +f 6 16 35 +f 16 18 35 +f 6 11 36 +f 11 21 36 +f 27 5 36 +f 21 27 36 +f 5 34 36 +f 34 6 36 +f 2 12 37 +f 14 2 37 +f 12 32 37 +f 32 14 37 +f 10 11 38 +f 20 6 38 +f 11 20 38 +f 6 35 38 +f 35 10 38 +f 8 10 39 +f 18 8 39 +f 10 35 39 +f 35 18 39 +f 26 13 40 +f 28 5 40 +f 13 28 40 +f 5 33 40 +f 33 26 40 +f 23 22 41 +f 22 30 41 +o convex_1 +v 1.382530 -1.676065 0.201206 +v 1.454220 -0.497967 -0.405665 +v 1.454220 -0.497967 -0.477009 +v 3.060420 -0.747978 0.558149 +v 2.952981 -1.604567 -0.441337 +v 1.096924 -0.533716 0.593933 +v 1.096924 -1.604567 -0.512681 +v 2.952981 -0.605098 -0.548465 +v 2.845927 -1.533185 0.558149 +v 1.096924 -1.676065 0.451133 +v 3.024479 -0.533716 0.558149 +v 1.096924 -0.497967 -0.477009 +v 2.988922 -1.497436 0.558149 +v 1.953743 -1.140409 -0.548465 +v 1.096924 -0.497967 0.165422 +v 2.632010 -0.569465 -0.548465 +v 2.489207 -1.533185 0.558149 +v 2.988922 -1.568934 0.094078 +v 1.882630 -0.533716 0.593933 +v 3.060420 -0.569465 0.379677 +v 1.096924 -0.640847 0.593933 +v 2.952981 -0.819361 -0.548465 +v 1.204363 -0.890859 -0.512681 +v 2.988922 -1.568934 -0.191410 +v 1.418471 -1.604567 -0.512681 +v 2.346212 -0.569465 -0.548465 +v 2.310655 -1.640316 -0.155738 +v 1.096924 -1.640316 -0.227082 +f 46 68 69 +f 47 48 51 +f 44 43 52 +f 43 44 53 +f 48 47 53 +f 52 43 56 +f 43 53 56 +f 53 47 56 +f 44 52 57 +f 52 49 57 +f 53 44 57 +f 49 55 57 +f 51 50 58 +f 50 51 59 +f 45 54 59 +f 54 50 59 +f 45 52 60 +f 54 45 60 +f 50 54 60 +f 52 56 60 +f 56 47 60 +f 52 45 61 +f 49 52 61 +f 47 51 62 +f 58 50 62 +f 51 58 62 +f 60 47 62 +f 50 60 62 +f 55 49 63 +f 49 61 63 +f 48 53 64 +f 55 48 64 +f 59 46 65 +f 45 59 65 +f 61 45 65 +f 46 63 65 +f 63 61 65 +f 48 55 66 +f 63 46 66 +f 55 63 66 +f 53 57 67 +f 57 55 67 +f 64 53 67 +f 55 64 67 +f 51 42 68 +f 46 59 68 +f 59 51 68 +f 42 51 69 +f 51 48 69 +f 66 46 69 +f 48 66 69 +f 68 42 69 +o convex_2 +v -2.258695 -1.640365 -0.084320 +v -2.901419 -0.462383 0.593933 +v -2.901419 -0.462383 0.558184 +v -1.116472 -0.605249 -0.512765 +v -1.116472 -1.604504 0.593933 +v -2.937084 -0.533873 -0.512765 +v -2.972749 -1.604504 0.593933 +v -1.116472 -0.605249 0.558184 +v -1.116472 -1.497383 -0.477016 +v -3.044079 -1.640365 -0.405627 +v -3.008414 -0.462383 0.593933 +v -2.865754 -1.640365 -0.441267 +v -1.794861 -0.533873 0.593933 +v -2.222841 -0.962241 -0.512765 +v -1.223655 -1.533129 -0.477016 +v -3.044079 -0.890750 0.201020 +v -1.116472 -1.604504 0.308159 +v -1.223655 -0.569503 0.486686 +v -3.044079 -1.426008 -0.441267 +v -3.044079 -1.640365 -0.191459 +v -1.830526 -0.569503 -0.512765 +v -2.937084 -0.747999 -0.512765 +v -1.116472 -1.069016 0.593933 +v -1.116472 -0.890750 -0.512765 +v -3.008414 -0.997871 0.593933 +v -3.008414 -0.533873 0.201020 +f 88 85 95 +f 70 74 76 +f 74 71 76 +f 74 73 77 +f 73 74 78 +f 71 72 80 +f 72 75 80 +f 76 71 80 +f 70 79 81 +f 71 74 82 +f 75 73 83 +f 81 83 84 +f 70 81 84 +f 74 70 86 +f 78 74 86 +f 70 84 86 +f 84 78 86 +f 72 71 87 +f 73 72 87 +f 77 73 87 +f 71 82 87 +f 82 77 87 +f 81 79 88 +f 79 85 88 +f 70 76 89 +f 79 70 89 +f 85 79 89 +f 72 73 90 +f 75 72 90 +f 73 75 90 +f 75 83 91 +f 83 81 91 +f 88 75 91 +f 81 88 91 +f 74 77 92 +f 82 74 92 +f 77 82 92 +f 73 78 93 +f 83 73 93 +f 84 83 93 +f 78 84 93 +f 76 80 94 +f 80 85 94 +f 89 76 94 +f 85 89 94 +f 80 75 95 +f 85 80 95 +f 75 88 95 +o convex_3 +v -1.116472 -0.426735 -1.119126 +v 1.096924 -0.141164 1.129432 +v -0.937944 -0.105520 1.129432 +v -0.937944 -1.997169 1.129432 +v 0.953929 -2.068666 -3.046873 +v 0.953929 -0.141164 -2.939662 +v -1.044974 -2.032813 -3.011411 +v 1.061175 -1.997169 1.129432 +v -0.937944 -0.105520 -3.011411 +v 1.096924 0.001832 -1.083663 +v -1.116472 -2.104310 -0.834190 +v -1.044974 0.001832 0.593374 +v 0.953929 -2.140164 -0.834602 +v 1.096924 0.001832 1.093557 +v -1.116472 -1.604455 0.593374 +v -1.116472 0.001832 -0.941402 +v 1.096924 -1.604455 -0.512555 +v 0.525592 -1.069166 -3.083160 +v 0.882648 -2.140164 -1.369424 +v -1.116472 -0.605165 0.557499 +v -1.080723 -1.390172 -2.404428 +v 1.025426 -1.283240 -2.261342 +v -0.188085 -0.105520 -3.011411 +v -0.973476 -2.032813 0.771923 +v 1.061175 -2.033022 0.807797 +v -0.973476 -0.319803 -3.011411 +v 0.240035 -1.533167 -3.083160 +v -0.973476 0.001832 0.950471 +v -0.580889 -0.069876 -2.582977 +v -0.973476 -0.105520 1.129432 +v -1.116472 -2.104310 -1.083663 +v 0.382814 -2.068666 -3.046873 +v 1.096924 -1.675743 0.450700 +v 1.096924 -0.355447 -1.262212 +v 0.989677 -0.212452 -2.690188 +v 0.882648 -0.212452 -2.975536 +v -1.116472 -2.068456 -1.369011 +v 0.597090 0.001832 -1.226750 +v 0.347065 0.001832 1.129020 +v 0.418346 -2.140164 -0.941814 +v -0.973476 -1.461670 1.129432 +v 0.739869 -1.604665 -3.083160 +v -1.044974 -1.604455 -3.011411 +v 0.989677 -1.782885 -2.725651 +v 0.561341 -0.569521 -3.046873 +v -1.080723 -2.032813 -2.475765 +v -0.331080 -2.032813 -3.047286 +v 0.953929 -2.104100 -2.404428 +v -0.973476 -0.105520 -2.868325 +v 1.096924 -0.641019 1.129432 +v -1.116472 -0.034232 -1.012326 +v -0.973476 -1.997169 0.985934 +f 106 119 147 +f 97 98 99 +f 97 99 103 +f 97 105 109 +f 105 107 109 +f 96 106 110 +f 107 105 111 +f 96 110 111 +f 105 97 112 +f 107 111 115 +f 111 110 115 +f 105 101 118 +f 103 99 120 +f 100 112 120 +f 99 119 120 +f 119 108 120 +f 104 113 122 +f 121 104 122 +f 109 107 123 +f 104 111 124 +f 118 104 124 +f 99 98 125 +f 107 115 125 +f 115 110 125 +f 123 107 125 +f 106 96 126 +f 126 102 127 +f 114 126 127 +f 112 97 128 +f 103 120 128 +f 120 112 128 +f 105 112 129 +f 112 117 129 +f 129 117 130 +f 100 101 130 +f 101 105 130 +f 105 129 130 +f 101 100 131 +f 118 101 131 +f 96 116 132 +f 126 96 132 +f 111 105 133 +f 105 118 133 +f 124 111 133 +f 118 124 133 +f 98 97 134 +f 97 109 134 +f 109 123 134 +f 125 98 134 +f 123 125 134 +f 114 108 135 +f 108 119 135 +f 119 106 135 +f 106 126 135 +f 126 114 135 +f 110 99 136 +f 99 125 136 +f 125 110 136 +f 122 113 137 +f 100 127 137 +f 131 100 137 +f 113 131 137 +f 122 102 138 +f 121 122 138 +f 112 100 139 +f 117 112 139 +f 130 117 139 +f 100 130 139 +f 113 104 140 +f 104 118 140 +f 131 113 140 +f 118 131 140 +f 102 126 141 +f 132 116 141 +f 126 132 141 +f 138 102 141 +f 116 138 141 +f 102 122 142 +f 127 102 142 +f 122 137 142 +f 137 127 142 +f 108 114 143 +f 100 120 143 +f 120 108 143 +f 127 100 143 +f 114 127 143 +f 111 104 144 +f 104 121 144 +f 121 138 144 +f 97 103 145 +f 128 97 145 +f 103 128 145 +f 96 111 146 +f 116 96 146 +f 138 116 146 +f 111 144 146 +f 144 138 146 +f 99 110 147 +f 110 106 147 +f 119 99 147 +o convex_4 +v -0.152336 -1.997284 1.129624 +v 1.025426 -0.033868 2.985682 +v 1.025426 -0.319628 3.021238 +v -1.116472 -0.141286 2.950125 +v -0.937944 -2.068415 3.092928 +v -0.973476 -0.105617 1.129432 +v 1.061175 -1.997078 1.129624 +v 1.096924 -0.141286 1.129624 +v 0.989677 -2.140164 3.021238 +v -0.937944 -1.997078 1.129432 +v -0.545357 -0.033868 1.129432 +v -0.794949 -2.032746 1.200929 +v -0.973476 -1.890072 1.165373 +v 1.025426 -2.068415 2.700075 +v -1.116472 -0.355503 2.699883 +v 0.704120 -2.140164 2.735824 +v -0.009774 -0.069743 2.985682 +v 0.775401 -1.961615 3.057179 +v 1.061175 -2.032952 1.272427 +v -0.937944 -1.818529 3.092928 +v 1.061175 -0.141286 2.592828 +v -0.188301 -0.033868 1.200929 +v 1.061175 -1.997078 1.700837 +v 0.668371 -1.033616 3.057179 +v 0.953929 -0.141080 3.021238 +v 1.025426 -0.033868 2.664326 +v -1.009225 -0.105617 1.415038 +v -0.937944 -2.068415 2.664518 +v 1.025426 -1.425970 3.021238 +v -0.402361 -2.068415 3.092928 +v 0.632622 -0.033868 2.985682 +v 1.096924 -0.533845 1.165181 +v -1.080506 -0.712394 2.985489 +v -0.687919 -0.105617 2.950125 +v 0.525592 -2.140164 2.985682 +v 1.061175 -0.105411 1.522285 +v -1.044974 -0.926611 3.021430 +v -0.973476 -1.854404 1.129432 +v 0.989677 -2.140164 2.735824 +f 166 156 186 +f 154 148 157 +f 155 154 158 +f 157 153 158 +f 154 157 158 +f 148 154 159 +f 157 148 159 +f 159 154 166 +f 161 156 166 +f 149 150 168 +f 155 149 168 +f 158 149 169 +f 155 158 169 +f 161 166 170 +f 165 150 171 +f 167 171 172 +f 150 149 172 +f 171 150 172 +f 149 155 173 +f 169 149 173 +f 151 158 174 +f 158 153 174 +f 162 151 174 +f 157 159 175 +f 152 160 175 +f 160 157 175 +f 156 161 176 +f 150 165 176 +f 165 156 176 +f 168 150 176 +f 161 170 176 +f 170 168 176 +f 152 156 177 +f 156 165 177 +f 167 152 177 +f 165 171 177 +f 171 167 177 +f 149 158 178 +f 172 149 178 +f 164 172 178 +f 154 155 179 +f 166 154 179 +f 155 168 179 +f 170 166 179 +f 168 170 179 +f 160 152 180 +f 151 162 180 +f 162 160 180 +f 158 151 181 +f 151 164 181 +f 178 158 181 +f 164 178 181 +f 156 152 182 +f 163 156 182 +f 159 163 182 +f 175 159 182 +f 152 175 182 +f 155 169 183 +f 173 155 183 +f 169 173 183 +f 164 151 184 +f 152 167 184 +f 167 172 184 +f 172 164 184 +f 180 152 184 +f 151 180 184 +f 153 157 185 +f 157 160 185 +f 160 162 185 +f 174 153 185 +f 162 174 185 +f 156 163 186 +f 163 159 186 +f 159 166 186 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/927/927.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/927/927.urdf new file mode 100644 index 000000000..e83301648 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/927/927.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/928/928.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/928/928.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/928/928.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/928/928.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/928/928.obj new file mode 100644 index 000000000..ab10401e5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/928/928.obj @@ -0,0 +1,369 @@ +o convex_0 +v 0.983937 -3.484304 -0.233967 +v 0.891997 -3.115997 1.085671 +v 0.769205 -3.115997 1.085671 +v -1.072470 0.964714 -1.093673 +v -1.041619 -3.791615 -1.032234 +v 0.953290 0.965179 -1.062953 +v -1.072470 0.964714 1.054952 +v -1.041619 -3.791615 1.054952 +v 0.953290 0.934448 0.962795 +v 0.953290 -3.791615 -1.062953 +v 1.014788 -3.760884 1.085671 +v -1.072470 -3.515035 1.054952 +v 0.983937 0.965179 -0.725258 +v 0.799851 0.964714 0.993514 +v -0.734741 -3.760884 -1.062953 +v 0.400829 -3.760884 1.085671 +v -0.028841 -3.791615 1.024233 +v -1.072470 0.504679 -1.093673 +v 0.983937 0.965179 -0.387562 +v -0.857533 0.964714 -1.093673 +v -1.041619 -3.361846 -1.062953 +v 0.953290 0.780793 0.993514 +v -1.072470 -0.017283 -1.062953 +v 1.014788 -3.484304 0.993301 +v 0.953290 -3.791615 -0.510438 +v -1.010972 0.964714 1.054952 +v 0.983937 -3.208190 1.085671 +v 0.953290 0.965179 0.932076 +v 1.014788 -3.607694 0.962795 +f 13 24 29 +f 3 2 7 +f 6 4 7 +f 8 5 10 +f 2 3 11 +f 10 1 11 +f 7 4 12 +f 5 8 12 +f 1 10 13 +f 10 6 13 +f 10 5 15 +f 3 7 16 +f 8 11 16 +f 11 3 16 +f 7 12 16 +f 12 8 16 +f 8 10 17 +f 11 8 17 +f 12 4 18 +f 10 15 18 +f 13 6 19 +f 4 6 20 +f 6 10 20 +f 18 4 20 +f 10 18 20 +f 15 5 21 +f 18 15 21 +f 11 9 22 +f 9 14 22 +f 5 12 23 +f 12 18 23 +f 21 5 23 +f 18 21 23 +f 9 11 24 +f 19 9 24 +f 13 19 24 +f 10 11 25 +f 17 10 25 +f 11 17 25 +f 7 2 26 +f 22 14 26 +f 22 26 27 +f 2 11 27 +f 11 22 27 +f 26 2 27 +f 6 7 28 +f 14 9 28 +f 19 6 28 +f 9 19 28 +f 7 26 28 +f 26 14 28 +f 11 1 29 +f 1 13 29 +f 24 11 29 +o convex_1 +v -0.366338 2.469961 -0.510369 +v 0.063216 4.311179 0.594552 +v -0.120767 4.311179 0.594552 +v 0.431517 4.403481 -0.541163 +v 0.431517 2.439002 0.533075 +v -0.550656 4.280604 -0.449003 +v -0.550656 2.439002 0.533075 +v 0.585041 2.439002 -0.510369 +v 0.462200 4.341754 0.563758 +v -0.519862 4.280604 0.563758 +v -0.458497 2.439002 -0.479686 +v -0.550656 3.850634 -0.479686 +v -0.519862 3.635842 0.594552 +v 0.554247 3.145106 -0.510369 +v 0.585041 2.439002 -0.356954 +v 0.277994 4.403481 -0.418209 +v -0.489180 4.311179 -0.479686 +v -0.550656 2.439002 0.318294 +v -0.550656 4.280604 0.011464 +v 0.462200 4.280604 -0.510369 +v 0.462200 3.881594 0.563758 +v -0.550656 2.899739 0.563758 +v 0.462200 4.372714 0.226134 +v 0.585041 2.746096 -0.479686 +v -0.519862 4.188496 0.594552 +f 39 51 54 +f 30 33 37 +f 34 36 37 +f 32 31 38 +f 30 37 40 +f 37 36 40 +f 36 35 41 +f 30 40 41 +f 31 32 42 +f 34 31 42 +f 37 33 43 +f 34 37 44 +f 39 32 45 +f 39 45 46 +f 33 30 46 +f 30 41 46 +f 41 35 46 +f 45 33 46 +f 40 36 47 +f 36 41 47 +f 41 40 47 +f 35 36 48 +f 39 46 48 +f 46 35 48 +f 43 33 49 +f 31 34 50 +f 38 31 50 +f 44 38 50 +f 34 44 50 +f 36 34 51 +f 34 42 51 +f 48 36 51 +f 39 48 51 +f 32 38 52 +f 33 45 52 +f 45 32 52 +f 49 33 52 +f 43 49 52 +f 37 43 53 +f 38 44 53 +f 44 37 53 +f 52 38 53 +f 43 52 53 +f 32 39 54 +f 42 32 54 +f 51 42 54 +o convex_2 +v -0.151621 0.996397 -2.137254 +v 0.308804 1.579473 -2.751057 +v -0.120914 1.610237 -2.935275 +v -0.305096 1.487361 -1.093673 +v 0.247390 0.996397 -1.093673 +v 0.216683 1.088509 -3.027192 +v 0.216683 1.548769 -1.093673 +v -0.212975 0.996397 -3.027192 +v -0.305096 1.610237 -3.058151 +v -0.212975 1.088509 -1.093673 +v 0.308804 1.456717 -3.027192 +v -0.305096 1.395309 -1.431341 +v 0.247390 0.996397 -1.492876 +v 0.308804 1.579473 -3.027192 +v -0.059500 1.579473 -1.830352 +v 0.032501 0.996397 -1.124632 +v -0.059500 0.996397 -2.935275 +v -0.274389 1.333901 -3.058151 +v 0.247390 1.149857 -3.027192 +v -0.182268 1.027101 -1.554217 +v 0.063208 1.548769 -1.093673 +v 0.032501 1.518065 -3.058151 +v -0.305096 1.610237 -2.873934 +v -0.305096 1.395309 -1.093673 +v -0.182268 1.119213 -3.058151 +f 72 76 79 +f 56 57 61 +f 58 59 61 +f 59 56 61 +f 59 55 62 +f 59 58 64 +f 56 59 65 +f 58 63 66 +f 59 62 67 +f 65 59 67 +f 57 56 68 +f 63 57 68 +f 56 65 68 +f 61 57 69 +f 55 59 70 +f 59 64 70 +f 62 60 71 +f 67 62 71 +f 60 67 71 +f 62 66 72 +f 66 63 72 +f 67 60 73 +f 65 67 73 +f 62 55 74 +f 64 62 74 +f 55 70 74 +f 70 64 74 +f 58 61 75 +f 61 69 75 +f 69 58 75 +f 63 68 76 +f 68 65 76 +f 72 63 76 +f 73 60 76 +f 65 73 76 +f 57 63 77 +f 63 58 77 +f 69 57 77 +f 58 69 77 +f 64 58 78 +f 62 64 78 +f 66 62 78 +f 58 66 78 +f 60 62 79 +f 62 72 79 +f 76 60 79 +o convex_3 +v -0.397095 2.439002 -0.510450 +v 0.984051 0.996361 -0.418118 +v 0.984051 0.965642 -0.418118 +v -1.072470 2.315981 1.054976 +v -1.072470 0.965642 -1.093673 +v -1.072470 0.965642 1.054976 +v 0.922654 2.346700 0.931938 +v 0.953252 2.377419 -1.093673 +v 0.922654 0.965642 0.962645 +v -1.072470 2.408138 -1.093673 +v 0.953252 0.965642 -1.062755 +v 0.370074 1.641028 1.054976 +v 0.431472 2.439002 0.532957 +v -0.550489 2.439002 0.532957 +v 0.585067 2.439002 -0.510239 +v 0.953252 1.119237 -1.093673 +v 0.339275 1.088518 1.054976 +v 0.953252 2.377419 -0.080552 +v 0.953252 0.996361 0.931938 +v 0.830456 2.346700 0.962645 +v 0.984051 1.518440 -0.786392 +v 0.953252 2.346700 0.103270 +v 0.922654 2.131956 0.962645 +v 0.769059 0.965642 0.993562 +v -1.072470 2.346700 0.502461 +v -0.734682 2.408138 -1.093673 +v -0.980273 2.315981 1.054976 +f 91 99 106 +f 84 82 85 +f 83 84 85 +f 85 82 88 +f 84 83 89 +f 87 84 89 +f 82 84 90 +f 83 85 91 +f 80 89 93 +f 92 80 93 +f 80 92 94 +f 84 87 95 +f 90 84 95 +f 91 85 96 +f 92 86 97 +f 87 94 97 +f 94 92 97 +f 82 81 98 +f 88 82 98 +f 86 92 99 +f 93 83 99 +f 92 93 99 +f 81 82 100 +f 82 90 100 +f 95 87 100 +f 90 95 100 +f 87 97 100 +f 97 86 101 +f 98 81 101 +f 86 98 101 +f 81 100 101 +f 100 97 101 +f 88 98 102 +f 98 86 102 +f 86 99 102 +f 99 91 102 +f 85 88 103 +f 96 85 103 +f 91 96 103 +f 88 102 103 +f 102 91 103 +f 89 83 104 +f 83 93 104 +f 93 89 104 +f 89 80 105 +f 87 89 105 +f 94 87 105 +f 80 94 105 +f 83 91 106 +f 99 83 106 +o convex_4 +v -0.274368 1.426013 2.374611 +v 0.339499 1.303317 1.392648 +v 0.339499 1.088509 1.392648 +v -0.366486 1.456717 1.054976 +v -0.182181 1.027101 3.050150 +v 0.216698 1.518065 2.988631 +v -0.335734 0.996397 1.054976 +v 0.339499 1.610237 1.054976 +v -0.213002 1.518065 3.019293 +v 0.216698 1.057805 2.927307 +v -0.366486 1.579473 1.054976 +v 0.339499 1.088509 1.054976 +v -0.151498 1.548769 2.742945 +v -0.182181 0.996397 1.054976 +v -0.335734 1.579473 1.577011 +v 0.339499 1.610237 1.239339 +v 0.247381 1.548769 2.620297 +v -0.305051 0.996397 1.546349 +v -0.120884 1.027101 3.050150 +v -0.243685 1.426013 2.804464 +v 0.124511 1.610237 1.147158 +v -0.213002 0.996397 1.699854 +f 116 125 128 +f 108 109 114 +f 113 110 114 +f 114 110 117 +f 114 109 118 +f 113 114 118 +f 109 116 118 +f 115 112 119 +f 113 118 120 +f 118 116 120 +f 110 107 121 +f 117 110 121 +f 115 119 121 +f 108 114 122 +f 109 108 123 +f 116 109 123 +f 112 116 123 +f 119 112 123 +f 122 119 123 +f 108 122 123 +f 107 110 124 +f 110 113 124 +f 113 120 124 +f 115 111 125 +f 112 115 125 +f 116 112 125 +f 111 115 126 +f 121 107 126 +f 115 121 126 +f 107 124 126 +f 124 111 126 +f 114 117 127 +f 117 121 127 +f 121 119 127 +f 119 122 127 +f 122 114 127 +f 120 116 128 +f 111 124 128 +f 124 120 128 +f 125 111 128 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/928/928.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/928/928.urdf new file mode 100644 index 000000000..8ed55e0c0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/928/928.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/929/929.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/929/929.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/929/929.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/929/929.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/929/929.obj new file mode 100644 index 000000000..be72a5fe0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/929/929.obj @@ -0,0 +1,474 @@ +o convex_0 +v 1.118596 1.725143 -0.855679 +v -1.073713 -0.499785 0.812633 +v -1.008262 -0.499785 -0.986743 +v -1.073713 4.212044 0.714335 +v 0.987693 -0.499324 1.041782 +v 1.020311 4.081058 1.041782 +v -1.008262 4.048311 -1.085040 +v 0.987693 4.113804 -1.052274 +v 0.987693 -0.499324 -1.052274 +v -1.040880 2.510140 1.009016 +v -0.419197 -0.499785 1.074548 +v -1.073713 1.824305 -1.085040 +v -1.073713 4.212044 0.943485 +v 0.562149 -0.499324 -1.085040 +v 1.085763 -0.041332 -1.019297 +v -1.073713 -0.499785 0.976250 +v 1.118596 2.281375 -1.052274 +v 0.856789 4.146551 -0.921211 +v 1.020311 -0.467038 0.681780 +v -0.124771 4.048311 -1.085040 +v 1.020311 1.300359 1.009016 +v 1.020311 4.113804 0.256247 +v -1.040880 -0.204604 -0.986743 +v -1.040880 4.081058 -0.725038 +v -0.746455 4.212044 0.878164 +v -0.811907 1.202580 1.041782 +v 1.053144 -0.499324 -0.201419 +v -1.073713 2.314122 -1.085040 +v 0.791338 3.917324 1.041782 +v 0.627601 0.122402 -1.085040 +v -1.040880 0.090116 -1.019297 +v 1.118596 1.986655 -0.790359 +v 1.020311 3.819084 -1.052274 +v 0.431461 -0.499324 -1.085040 +v 1.053144 -0.499324 -1.019508 +v -1.073713 4.179297 0.354544 +v 1.053144 1.921162 0.485397 +v 0.758504 4.113804 1.008805 +v 0.202272 3.000879 -1.085040 +v 1.020311 4.113804 -0.135887 +v 1.085763 0.187895 -1.052274 +v 0.333176 4.113804 -1.052063 +v -0.779074 4.212044 0.550717 +v -1.040880 3.623065 -1.085040 +v -1.073713 3.393839 0.976250 +v -1.040880 1.202580 1.009016 +v -0.353745 -0.499785 1.074548 +v 1.053144 -0.073617 0.092629 +v 1.118596 1.529124 -1.052274 +f 41 30 49 +f 2 3 11 +f 2 4 12 +f 4 2 13 +f 9 3 14 +f 12 7 14 +f 2 11 16 +f 13 2 16 +f 7 8 20 +f 14 7 20 +f 6 5 21 +f 5 19 21 +f 6 17 22 +f 3 2 23 +f 2 12 23 +f 4 13 25 +f 22 18 25 +f 15 1 27 +f 19 5 27 +f 12 4 28 +f 7 12 28 +f 11 6 29 +f 6 13 29 +f 10 26 29 +f 26 11 29 +f 14 20 30 +f 3 23 31 +f 23 12 31 +f 1 17 32 +f 17 6 32 +f 30 8 33 +f 17 30 33 +f 14 3 34 +f 12 14 34 +f 3 31 34 +f 31 12 34 +f 3 9 35 +f 15 27 35 +f 28 4 36 +f 6 21 37 +f 21 19 37 +f 32 6 37 +f 19 32 37 +f 13 6 38 +f 6 22 38 +f 25 13 38 +f 22 25 38 +f 20 8 39 +f 8 30 39 +f 30 20 39 +f 8 18 40 +f 22 17 40 +f 18 22 40 +f 17 33 40 +f 33 8 40 +f 9 14 41 +f 14 30 41 +f 35 9 41 +f 15 35 41 +f 8 7 42 +f 18 8 42 +f 7 24 42 +f 4 25 43 +f 25 18 43 +f 36 4 43 +f 24 36 43 +f 18 42 43 +f 42 24 43 +f 24 7 44 +f 7 28 44 +f 36 24 44 +f 28 36 44 +f 16 10 45 +f 13 16 45 +f 29 13 45 +f 10 29 45 +f 10 16 46 +f 16 11 46 +f 26 10 46 +f 11 26 46 +f 5 6 47 +f 6 11 47 +f 11 3 47 +f 27 5 47 +f 3 35 47 +f 35 27 47 +f 27 1 48 +f 19 27 48 +f 1 32 48 +f 32 19 48 +f 1 15 49 +f 17 1 49 +f 30 17 49 +f 15 41 49 +o convex_1 +v 1.085875 -3.215367 0.321734 +v -1.106434 -3.902548 0.845331 +v 0.562261 -3.935234 -0.954054 +v -1.008150 -1.285346 -0.953845 +v 0.987590 -1.285605 1.074548 +v 1.053042 -1.285605 -1.019425 +v -1.073601 -1.285346 0.943389 +v -1.073601 -3.836917 -1.019425 +v 1.085875 -3.902289 1.008760 +v 0.954757 -3.935234 -0.921368 +v -0.811795 -3.607857 1.041654 +v -0.255563 -1.285346 1.074548 +v -0.059208 -1.285346 -1.052319 +v 0.823854 -1.710781 -1.052319 +v -1.106434 -3.902548 1.008760 +v 1.020423 -2.757247 1.074548 +v 1.020423 -3.935234 0.648800 +v -1.073601 -3.444428 -1.019425 +v 1.085875 -3.542485 1.041654 +v -0.779176 -3.869863 -1.019425 +v -1.106434 -3.836917 -0.135868 +v -1.073601 -1.285346 0.616114 +v -1.106434 -3.313684 1.008760 +v 1.020423 -2.561391 -0.986739 +v 0.954757 -3.738860 -0.954054 +v 1.020423 -1.285605 0.321734 +v 0.136718 -2.724561 1.074548 +v 1.085875 -3.869603 0.681694 +v -0.779176 -1.285346 1.008760 +v 1.085875 -3.706174 1.041654 +v -1.106434 -2.790192 0.943389 +v 1.053042 -1.285605 -0.757731 +v -0.648273 -3.869863 -1.019425 +v 1.053042 -2.201587 -0.790416 +v 0.856687 -1.285605 -1.052319 +v 1.020423 -2.234273 -1.019425 +v 0.987590 -3.935234 -0.561408 +v -1.073601 -3.346370 -0.986531 +v -0.975531 -1.285346 0.976074 +f 72 78 88 +f 53 56 61 +f 53 61 62 +f 61 54 62 +f 57 62 63 +f 51 52 64 +f 54 61 65 +f 52 59 66 +f 64 52 66 +f 58 64 66 +f 53 62 67 +f 62 57 67 +f 58 50 68 +f 54 65 68 +f 52 51 69 +f 51 57 69 +f 57 63 69 +f 57 51 70 +f 51 64 70 +f 67 57 70 +f 56 53 71 +f 60 61 72 +f 64 60 72 +f 70 64 72 +f 59 52 74 +f 73 59 74 +f 62 54 75 +f 54 68 75 +f 61 60 76 +f 65 61 76 +f 50 58 77 +f 61 56 78 +f 72 61 78 +f 64 58 79 +f 60 64 79 +f 58 68 79 +f 68 65 79 +f 76 60 79 +f 65 76 79 +f 71 70 80 +f 56 71 80 +f 72 56 80 +f 70 72 80 +f 50 55 81 +f 55 62 81 +f 68 50 81 +f 62 75 81 +f 75 68 81 +f 52 69 82 +f 69 63 82 +f 63 74 82 +f 74 52 82 +f 55 50 83 +f 73 55 83 +f 50 77 83 +f 62 55 84 +f 63 62 84 +f 63 84 85 +f 55 73 85 +f 74 63 85 +f 73 74 85 +f 84 55 85 +f 66 59 86 +f 58 66 86 +f 59 73 86 +f 77 58 86 +f 73 83 86 +f 83 77 86 +f 53 67 87 +f 67 70 87 +f 70 71 87 +f 71 53 87 +f 56 72 88 +f 78 56 88 +o convex_2 +v -0.091980 -0.957764 -3.015252 +v 0.300570 -0.990565 -1.085040 +v 0.267836 -0.794306 -1.085040 +v -0.288319 -1.121465 -1.085040 +v -0.353851 -0.532506 -2.917060 +v 0.300570 -1.121465 -2.917060 +v 0.300570 -0.728947 -3.047918 +v -0.222851 -0.597986 -1.085040 +v -0.190117 -1.121465 -2.851727 +v 0.300570 -1.154205 -1.085040 +v 0.235102 -0.663406 -1.085040 +v -0.353851 -0.630727 -3.015252 +v 0.169635 -0.663406 -3.047918 +v -0.222851 -1.154205 -1.118091 +v -0.288319 -1.121465 -1.608859 +v 0.235102 -1.154205 -1.935909 +v -0.288319 -0.957764 -1.085040 +v -0.157448 -0.565246 -2.393625 +v -0.190117 -1.088725 -2.982585 +v -0.222851 -1.121465 -2.655343 +v 0.300570 -1.055985 -2.982585 +v -0.124714 -0.597986 -1.150758 +v -0.321117 -0.532506 -3.015252 +f 93 110 111 +f 90 91 92 +f 91 90 95 +f 90 94 95 +f 92 91 96 +f 90 92 98 +f 94 90 98 +f 91 95 99 +f 96 91 99 +f 92 93 100 +f 95 89 101 +f 99 95 101 +f 89 100 101 +f 98 92 102 +f 92 100 103 +f 102 92 103 +f 97 94 104 +f 94 98 104 +f 102 97 104 +f 98 102 104 +f 93 92 105 +f 96 93 105 +f 92 96 105 +f 99 101 106 +f 94 97 107 +f 100 89 107 +f 100 107 108 +f 97 102 108 +f 103 100 108 +f 102 103 108 +f 107 97 108 +f 89 95 109 +f 95 94 109 +f 107 89 109 +f 94 107 109 +f 93 96 110 +f 96 99 110 +f 99 106 110 +f 110 106 111 +f 100 93 111 +f 101 100 111 +f 106 101 111 +o convex_3 +v -1.073713 -1.285013 0.943485 +v 1.053154 -0.499862 -0.234184 +v 1.053154 -0.565342 -0.234184 +v -1.008134 -0.499862 -0.986743 +v 1.053154 -1.285013 -1.019508 +v 0.987574 -0.532602 1.074548 +v 0.987574 -1.285013 1.074548 +v -1.040819 -0.499862 0.976250 +v -1.008134 -1.285013 -0.953977 +v 0.987574 -0.499862 -1.052274 +v -0.321107 -1.121388 -1.085040 +v -0.353793 -1.219532 1.074548 +v -0.419165 -0.499862 1.074548 +v -0.222842 -0.598005 -1.085040 +v 0.431291 -1.285013 -1.085040 +v -1.073713 -0.499862 0.812633 +v 0.987574 -0.499862 1.041782 +v 1.053154 -0.499862 -1.019508 +v -1.073713 -1.285013 0.616037 +v 0.529556 -0.499862 -1.085040 +v 1.020260 -1.023244 0.550928 +v -0.779125 -1.285013 1.009016 +v 1.020260 -0.499862 0.649015 +v 1.053154 -1.285013 -0.757804 +v 0.889308 -1.285013 -1.052274 +f 126 131 136 +f 113 114 116 +f 112 116 118 +f 113 115 119 +f 116 112 120 +f 115 113 121 +f 120 115 122 +f 118 117 123 +f 113 119 124 +f 123 117 124 +f 122 115 125 +f 122 125 126 +f 116 120 126 +f 120 122 126 +f 119 115 127 +f 112 119 127 +f 113 124 128 +f 124 117 128 +f 113 116 129 +f 116 121 129 +f 121 113 129 +f 120 112 130 +f 115 120 130 +f 127 115 130 +f 112 127 130 +f 115 121 131 +f 125 115 131 +f 126 125 131 +f 112 118 133 +f 119 112 133 +f 118 123 133 +f 124 119 133 +f 123 124 133 +f 114 113 134 +f 117 118 134 +f 113 128 134 +f 128 117 134 +f 132 114 134 +f 118 132 134 +f 116 114 135 +f 118 116 135 +f 114 132 135 +f 132 118 135 +f 121 116 136 +f 116 126 136 +f 131 121 136 +o convex_4 +v 0.136965 -0.630672 1.074548 +v -0.190117 -1.252369 2.513999 +v -0.157448 -1.252369 2.513999 +v 0.071497 -0.663496 3.004900 +v -0.353851 -0.597983 1.467383 +v 0.300570 -1.121411 1.074548 +v -0.255585 -1.154167 1.074548 +v 0.300570 -1.154167 2.972023 +v -0.353851 -0.794386 2.939333 +v 0.267836 -0.696117 3.004900 +v -0.190117 -1.252369 3.004900 +v -0.321117 -0.565227 1.074548 +v 0.235102 -0.696117 1.074548 +v -0.353851 -0.696117 2.939333 +v -0.288319 -1.088722 1.074548 +v 0.235102 -0.663496 3.004900 +v -0.288319 -0.565227 1.434694 +v -0.026640 -1.252369 3.004900 +v -0.157448 -0.565227 1.140304 +v -0.255585 -1.186923 1.631017 +v 0.300570 -1.023209 1.500072 +v 0.300570 -0.957831 2.972023 +v 0.235102 -0.663496 1.271060 +v -0.353851 -0.597983 1.860029 +v -0.353851 -0.794386 2.415931 +v 0.202369 -1.154167 1.369316 +v 0.300570 -1.154167 2.383242 +f 162 142 163 +f 137 142 143 +f 139 138 143 +f 138 139 147 +f 146 140 147 +f 137 143 148 +f 142 137 149 +f 141 145 150 +f 147 140 150 +f 145 147 150 +f 141 148 151 +f 148 143 151 +f 140 146 152 +f 140 152 153 +f 144 146 154 +f 146 147 154 +f 147 139 154 +f 137 148 155 +f 152 137 155 +f 148 153 155 +f 153 152 155 +f 143 138 156 +f 138 147 156 +f 147 145 156 +f 145 151 156 +f 151 143 156 +f 144 142 157 +f 142 149 157 +f 146 144 158 +f 144 157 158 +f 157 146 158 +f 149 137 159 +f 152 146 159 +f 137 152 159 +f 146 157 159 +f 157 149 159 +f 148 141 160 +f 141 150 160 +f 150 140 160 +f 153 148 160 +f 140 153 160 +f 145 141 161 +f 141 151 161 +f 151 145 161 +f 143 142 162 +f 139 143 162 +f 154 139 162 +f 154 162 163 +f 142 144 163 +f 144 154 163 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/929/929.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/929/929.urdf new file mode 100644 index 000000000..c5881dd8c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/929/929.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/930/930.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/930/930.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/930/930.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/930/930.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/930/930.obj new file mode 100644 index 000000000..b276be93e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/930/930.obj @@ -0,0 +1,498 @@ +o convex_0 +v 1.018594 -4.597214 -0.647629 +v -0.653042 -4.229395 1.023938 +v -0.953883 -4.229395 1.023938 +v -0.920479 -2.223475 -1.082488 +v 1.085402 -2.223475 0.956908 +v -0.987493 -4.563990 -1.116003 +v 1.051998 -2.223475 -1.048973 +v -0.953883 -2.223475 0.956908 +v 1.119012 -4.597214 0.990423 +v 0.985190 -4.597214 -1.015458 +v -0.853671 -4.497071 0.956908 +v -0.251783 -4.630673 0.388617 +v 1.085402 -2.758827 -0.781480 +v -0.987493 -3.293707 0.120915 +v -0.953883 -2.223475 -1.048973 +v 0.416706 -4.630673 -0.681144 +v 1.018594 -3.727738 -1.048973 +v -0.953883 -4.463611 1.023938 +v 1.085402 -2.223475 -0.614323 +v -0.452412 -4.630673 -0.279801 +v -0.820267 -4.563990 -1.116003 +v 0.416706 -4.630673 0.655900 +v 0.751157 -4.597214 -1.048973 +v 1.085402 -3.995414 0.990423 +v -0.586234 -2.223475 -1.082488 +v 1.051998 -3.193329 -1.048973 +v -0.987493 -4.563990 -0.915331 +v -0.987493 -4.262854 -1.116003 +v 1.119012 -4.597214 0.923392 +v 0.784561 -4.597214 0.990423 +v -0.051154 -4.597214 -1.048973 +v -0.987493 -3.327167 0.187735 +v -0.351995 -4.630673 -0.447167 +v -0.452412 -4.497071 1.023938 +v -0.987493 -4.028638 -1.048973 +v 1.018594 -4.129016 -0.982152 +f 26 29 36 +f 3 2 5 +f 4 5 7 +f 5 4 8 +f 3 5 8 +f 14 8 15 +f 8 4 15 +f 10 1 16 +f 2 3 18 +f 7 5 19 +f 5 9 19 +f 13 7 19 +f 12 11 20 +f 16 12 20 +f 11 12 22 +f 16 9 22 +f 12 16 22 +f 10 16 23 +f 17 10 23 +f 6 21 23 +f 21 17 23 +f 5 2 24 +f 9 5 24 +f 4 7 25 +f 7 13 26 +f 10 17 26 +f 21 7 26 +f 17 21 26 +f 14 6 27 +f 11 18 27 +f 6 20 27 +f 20 11 27 +f 6 14 28 +f 15 4 28 +f 21 6 28 +f 7 21 28 +f 4 25 28 +f 25 7 28 +f 16 1 29 +f 9 16 29 +f 19 9 29 +f 13 19 29 +f 26 13 29 +f 18 11 30 +f 22 9 30 +f 11 22 30 +f 6 23 31 +f 23 16 31 +f 3 8 32 +f 8 14 32 +f 18 3 32 +f 14 27 32 +f 27 18 32 +f 20 6 33 +f 16 20 33 +f 6 31 33 +f 31 16 33 +f 2 18 34 +f 24 2 34 +f 9 24 34 +f 30 9 34 +f 18 30 34 +f 14 15 35 +f 28 14 35 +f 15 28 35 +f 1 10 36 +f 10 26 36 +f 29 1 36 +o convex_1 +v -1.054189 0.183841 -1.015556 +v 0.684335 1.855388 1.090811 +v 0.015475 1.855388 1.090811 +v 1.085565 -2.223075 0.956881 +v 1.018552 1.754784 -1.116003 +v -0.953988 -2.223075 0.956881 +v 1.051952 -2.223075 -1.048822 +v -0.987388 1.855388 1.023630 +v -0.920375 -2.223075 -1.082521 +v -1.054189 1.855388 -0.948591 +v 1.018552 1.855388 1.023846 +v -0.519357 1.554374 -1.082521 +v -1.087802 1.353565 -0.614199 +v 1.018552 1.855388 -1.082305 +v -0.987388 -1.955596 0.956881 +v 1.085565 -1.052952 0.187866 +v -0.987388 -2.156006 -1.048822 +v 1.051952 -1.253362 -1.082305 +v -0.151527 1.621044 1.090811 +v -1.087802 0.852140 -0.982074 +v 1.085565 -2.189541 -0.580933 +v -0.987388 0.384251 1.023630 +v 0.650722 -1.520842 0.990364 +v -1.020789 1.487304 0.689454 +v 1.051952 0.651730 -0.680948 +v 0.650722 1.754784 -1.116003 +v 1.018552 0.785470 -1.116003 +v 1.085565 -1.320432 0.956881 +v -0.853574 -1.387102 0.990148 +v 1.051952 0.083237 -1.082305 +v -1.087802 1.654579 -0.681164 +v 0.082489 1.855388 -1.082521 +v -1.087802 1.454169 -0.982074 +v -0.586158 -2.223075 -1.082521 +v 0.918351 1.788319 1.057328 +v 0.684335 1.754784 1.090811 +v -1.054189 1.855388 -0.112827 +v 1.051952 -0.985883 0.990364 +v -0.987388 -1.186692 0.990364 +v -0.920375 -2.055801 -1.082521 +f 48 62 76 +f 40 42 43 +f 39 38 44 +f 43 42 45 +f 44 38 46 +f 46 38 47 +f 46 47 50 +f 37 45 53 +f 45 42 53 +f 42 51 53 +f 38 39 55 +f 39 44 55 +f 51 49 56 +f 37 53 56 +f 53 51 56 +f 40 43 57 +f 52 40 57 +f 43 54 57 +f 55 44 58 +f 42 40 59 +f 49 51 60 +f 58 44 60 +f 50 47 61 +f 47 52 61 +f 41 54 63 +f 62 41 63 +f 45 62 63 +f 47 40 64 +f 40 52 64 +f 52 47 64 +f 42 59 65 +f 59 55 65 +f 41 50 66 +f 54 41 66 +f 52 57 66 +f 57 54 66 +f 50 61 66 +f 61 52 66 +f 56 49 67 +f 49 60 67 +f 48 46 68 +f 50 41 68 +f 46 50 68 +f 41 62 68 +f 62 48 68 +f 48 37 69 +f 46 48 69 +f 37 56 69 +f 67 46 69 +f 56 67 69 +f 43 45 70 +f 54 43 70 +f 63 54 70 +f 45 63 70 +f 47 38 71 +f 38 55 72 +f 59 40 72 +f 55 59 72 +f 71 38 72 +f 44 46 73 +f 60 44 73 +f 46 67 73 +f 67 60 73 +f 40 47 74 +f 47 71 74 +f 72 40 74 +f 71 72 74 +f 51 42 75 +f 55 58 75 +f 60 51 75 +f 58 60 75 +f 42 65 75 +f 65 55 75 +f 45 37 76 +f 37 48 76 +f 62 45 76 +o convex_2 +v 0.282980 2.892186 -3.088761 +v 0.584027 2.925633 -1.116196 +v 0.082396 2.959080 -1.316812 +v -0.586254 1.889339 -1.116196 +v 0.517127 1.956233 -2.988163 +v -0.485905 2.925633 -3.054971 +v 0.450113 1.922786 -1.116196 +v -0.485905 1.922786 -2.921356 +v -0.586254 2.959080 -1.116196 +v 0.517127 3.059422 -3.088761 +v -0.519240 1.889339 -2.553527 +v 0.584027 2.557942 -1.718045 +v 0.282980 1.889339 -1.149793 +v -0.519240 2.925633 -2.787547 +v -0.452340 2.959080 -3.054971 +v 0.349879 3.059308 -2.854355 +v 0.416778 2.056575 -3.021567 +v -0.586254 1.889339 -1.417217 +v 0.584027 2.624836 -1.216601 +v 0.048832 1.922786 -2.954760 +v -0.351991 1.956233 -2.954760 +v 0.584027 2.959080 -1.718045 +v 0.483563 1.922786 -1.985469 +v -0.586254 2.925633 -1.316812 +v 0.517127 3.059422 -2.887952 +v 0.550577 2.223697 -2.419719 +v -0.452340 1.889339 -2.653932 +v 0.517127 2.825406 -3.088761 +f 86 102 104 +f 78 80 83 +f 78 79 85 +f 80 78 85 +f 83 80 89 +f 80 87 89 +f 82 84 90 +f 84 87 90 +f 77 82 91 +f 86 77 91 +f 82 90 91 +f 90 85 91 +f 91 85 92 +f 86 91 92 +f 82 77 93 +f 80 85 94 +f 87 80 94 +f 90 87 94 +f 78 83 95 +f 88 78 95 +f 84 82 97 +f 82 93 97 +f 93 81 97 +f 96 84 97 +f 81 96 97 +f 78 88 98 +f 83 89 99 +f 95 83 99 +f 96 81 99 +f 89 96 99 +f 85 90 100 +f 94 85 100 +f 90 94 100 +f 79 78 101 +f 85 79 101 +f 92 85 101 +f 86 92 101 +f 78 98 101 +f 98 86 101 +f 88 95 102 +f 86 98 102 +f 98 88 102 +f 95 99 102 +f 99 81 102 +f 87 84 103 +f 89 87 103 +f 84 96 103 +f 96 89 103 +f 77 86 104 +f 93 77 104 +f 81 93 104 +f 102 81 104 +o convex_3 +v -1.020851 1.855951 0.555633 +v 1.085552 3.527617 1.057145 +v 1.085552 2.958939 1.057145 +v 1.018523 2.357533 -1.082452 +v -0.954031 3.460684 -0.915354 +v -0.954031 3.360204 1.057364 +v 1.018523 1.855951 1.023594 +v -1.054366 1.855951 -0.948686 +v 1.052038 3.494069 -1.015350 +v 1.018523 1.855951 -1.082452 +v -0.586206 1.922719 1.124247 +v -0.619721 2.992487 -1.116003 +v -0.987336 1.855951 1.023813 +v -0.586206 1.889335 -1.116003 +v 0.550573 2.959103 1.124247 +v 0.583878 2.925555 -1.116003 +v 1.085552 3.527617 -0.045656 +v 0.517058 1.922719 1.124247 +v -0.920516 3.393752 1.057364 +v -1.054366 2.257052 -0.948686 +v -0.519386 2.959103 1.124247 +v 0.851368 3.527617 1.057145 +v 0.015593 3.494069 -0.982237 +v -0.987336 3.092803 0.756281 +v -0.987336 3.360204 -0.915354 +v 1.052038 3.427136 1.090696 +v 1.052038 2.625097 -1.048901 +v -1.054366 2.089968 -0.179422 +v -0.954031 3.460684 -0.580939 +v 1.052038 2.156900 0.990262 +v 0.450028 1.922719 -1.116003 +v -0.987336 2.357533 1.057364 +v 0.717518 1.855951 1.090696 +v -0.887001 3.360204 -0.982237 +v 1.018523 3.527617 -0.446954 +v -0.084532 3.494069 -0.948686 +v 0.483543 3.360368 -1.049120 +v 1.052038 2.390917 1.057145 +v -1.054366 1.855951 -0.112759 +f 132 112 143 +f 111 105 112 +f 111 112 114 +f 105 111 117 +f 114 112 118 +f 112 116 118 +f 113 108 120 +f 108 114 120 +f 118 116 120 +f 106 107 121 +f 119 115 122 +f 116 112 124 +f 110 115 125 +f 115 119 125 +f 123 110 125 +f 106 121 126 +f 124 128 129 +f 128 110 129 +f 107 106 130 +f 119 122 130 +f 125 119 130 +f 123 125 130 +f 126 123 130 +f 106 126 130 +f 108 113 131 +f 114 108 131 +f 121 107 131 +f 113 121 131 +f 124 112 132 +f 128 124 132 +f 110 123 133 +f 123 126 133 +f 109 129 133 +f 129 110 133 +f 111 114 134 +f 131 107 134 +f 114 131 134 +f 114 118 135 +f 120 114 135 +f 118 120 135 +f 115 110 136 +f 105 117 136 +f 117 115 136 +f 110 128 136 +f 132 105 136 +f 128 132 136 +f 117 111 137 +f 115 117 137 +f 122 115 137 +f 116 124 138 +f 109 127 138 +f 124 129 138 +f 129 109 138 +f 121 113 139 +f 126 121 139 +f 113 127 139 +f 139 127 140 +f 127 109 140 +f 133 126 140 +f 109 133 140 +f 126 139 140 +f 113 120 141 +f 120 116 141 +f 127 113 141 +f 116 138 141 +f 138 127 141 +f 107 130 142 +f 130 122 142 +f 134 107 142 +f 111 134 142 +f 137 111 142 +f 122 137 142 +f 112 105 143 +f 105 132 143 +o convex_4 +v -0.586142 1.922707 1.425386 +v 0.550469 2.959149 1.291587 +v 0.517085 2.959149 1.960214 +v 0.517085 1.989563 2.996696 +v -0.418889 2.992631 2.962971 +v -0.519263 2.959149 1.124247 +v 0.450095 1.989563 1.124247 +v -0.519263 1.889224 2.929613 +v 0.450095 2.925558 2.996696 +v -0.586142 1.922707 1.124247 +v 0.550469 2.959149 1.124247 +v 0.383327 1.956189 1.124247 +v -0.452384 2.992631 2.862714 +v -0.285242 1.889224 2.829356 +v 0.483701 1.989563 1.258229 +v -0.519263 1.889224 1.592726 +v -0.552647 2.691614 1.157972 +v -0.519263 2.023046 2.929613 +v 0.316448 2.959149 2.962971 +v 0.349832 1.956189 2.962971 +v 0.483701 2.691614 2.996696 +v 0.550469 2.825327 1.124247 +v -0.452384 2.658239 2.962971 +v 0.517085 1.989563 2.595300 +v -0.519263 2.959149 1.525643 +v 0.517085 2.156868 2.996696 +v -0.151484 1.922707 2.962971 +v -0.418889 2.992631 2.662199 +f 156 148 171 +f 146 145 148 +f 149 150 153 +f 151 144 153 +f 148 145 154 +f 150 149 154 +f 153 150 155 +f 155 150 158 +f 151 153 159 +f 153 155 159 +f 157 151 159 +f 155 157 159 +f 153 144 160 +f 149 153 160 +f 144 151 161 +f 160 144 161 +f 146 148 162 +f 152 146 162 +f 148 152 162 +f 155 147 163 +f 151 157 163 +f 157 155 163 +f 145 146 164 +f 146 152 164 +f 152 147 164 +f 145 147 165 +f 154 145 165 +f 150 154 165 +f 158 150 165 +f 147 152 166 +f 152 148 166 +f 148 156 166 +f 156 161 166 +f 161 151 166 +f 147 155 167 +f 155 158 167 +f 165 147 167 +f 158 165 167 +f 156 149 168 +f 149 160 168 +f 161 156 168 +f 160 161 168 +f 147 145 169 +f 145 164 169 +f 164 147 169 +f 163 147 170 +f 151 163 170 +f 147 166 170 +f 166 151 170 +f 148 154 171 +f 154 149 171 +f 149 156 171 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/930/930.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/930/930.urdf new file mode 100644 index 000000000..7cf0a6933 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/930/930.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/931/931.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/931/931.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/931/931.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/931/931.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/931/931.obj new file mode 100644 index 000000000..c7e256b6b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/931/931.obj @@ -0,0 +1,447 @@ +o convex_0 +v -0.863795 -2.888208 0.607391 +v 1.271765 -2.438760 1.057056 +v 0.821909 -2.438760 1.057056 +v 1.196719 -2.438760 -1.003234 +v 1.084255 -4.311742 0.982183 +v -0.788749 -4.274148 -1.078320 +v -0.826167 -4.274148 1.094705 +v -0.826167 -2.438760 -0.928361 +v 1.084255 -4.349336 -1.003234 +v -0.863795 -2.438760 0.982183 +v 1.121882 -4.236740 -0.928148 +v 1.159301 -3.787292 1.019619 +v 1.234137 -2.476167 -0.965797 +v -0.226848 -4.311742 -1.078320 +v -0.788749 -3.862106 -1.078320 +v -0.826167 -4.274148 -0.216427 +v 1.271765 -2.625983 0.757350 +v 1.009418 -4.349336 -0.216427 +v -0.863795 -3.449878 1.056843 +v -0.264266 -2.438760 -0.965797 +v 0.634818 -4.349336 -0.928148 +v 0.672236 -4.311742 1.019619 +v -0.863795 -2.700984 1.019619 +v 1.234137 -2.850988 1.057056 +v 0.597399 -4.311742 -1.040671 +v -0.863795 -3.787105 1.019619 +v 1.121882 -4.199146 0.719914 +v 0.821909 -2.438760 -1.003234 +v -0.788749 -2.625983 -0.965797 +v -0.151802 -4.236740 -1.078320 +v 1.271765 -2.625983 1.057056 +f 12 27 31 +f 3 2 4 +f 2 3 7 +f 3 4 8 +f 8 1 10 +f 3 8 10 +f 5 9 11 +f 4 2 13 +f 9 4 13 +f 11 9 13 +f 6 8 15 +f 14 6 15 +f 1 8 16 +f 8 6 16 +f 6 14 16 +f 14 7 16 +f 13 2 17 +f 11 13 17 +f 9 5 18 +f 7 3 19 +f 10 1 19 +f 8 4 20 +f 7 14 21 +f 14 9 21 +f 18 7 21 +f 9 18 21 +f 5 12 22 +f 12 7 22 +f 18 5 22 +f 7 18 22 +f 3 10 23 +f 19 3 23 +f 10 19 23 +f 7 12 24 +f 4 9 25 +f 9 14 25 +f 1 16 26 +f 16 7 26 +f 7 19 26 +f 19 1 26 +f 5 11 27 +f 12 5 27 +f 4 15 28 +f 20 4 28 +f 20 28 29 +f 15 8 29 +f 8 20 29 +f 28 15 29 +f 15 4 30 +f 14 15 30 +f 4 25 30 +f 25 14 30 +f 2 7 31 +f 17 2 31 +f 11 17 31 +f 7 24 31 +f 24 12 31 +f 27 11 31 +o convex_1 +v -0.863645 -1.913873 -0.928405 +v 1.271754 -2.176029 1.056839 +v 1.196672 -1.277238 1.094705 +v 1.196672 -0.453266 -1.115786 +v -0.938727 -0.453266 1.094705 +v 1.234104 -2.438378 -1.003271 +v -0.863645 -2.438378 0.981974 +v -0.938727 -0.453266 -1.115786 +v 1.121806 -0.453266 1.094705 +v -0.826212 -2.438378 -0.928405 +v 1.271754 -2.438378 1.056839 +v -0.938727 -0.752927 1.094705 +v -0.938727 -0.902758 -0.591076 +v 0.784479 -2.438378 1.056839 +v 1.271754 -2.325860 0.195233 +v -0.264288 -2.438378 -0.965838 +v 1.234104 -1.876367 -1.040487 +v 1.196672 -0.453266 -0.778457 +v -0.901077 -1.801549 0.344964 +v 0.821911 -2.438378 -1.003271 +v 1.196672 -0.640409 -1.115786 +v -0.264288 -2.438378 1.019406 +v 1.159239 -1.539199 1.094705 +v -0.938727 -0.490578 -1.115786 +v -0.863645 -2.438378 0.420047 +v -0.863645 -1.801549 -1.003271 +v -0.938727 -0.752927 -1.040487 +f 57 41 58 +f 36 35 39 +f 35 36 40 +f 36 34 40 +f 37 38 41 +f 33 34 42 +f 38 37 42 +f 34 36 43 +f 36 39 43 +f 43 39 44 +f 38 42 45 +f 35 33 46 +f 33 42 46 +f 42 37 46 +f 37 41 47 +f 35 46 48 +f 46 37 48 +f 34 33 49 +f 33 35 49 +f 40 34 49 +f 35 40 49 +f 38 43 50 +f 43 44 50 +f 37 47 51 +f 48 37 51 +f 39 35 52 +f 35 48 52 +f 43 38 53 +f 38 45 53 +f 45 43 53 +f 42 34 54 +f 34 43 54 +f 45 42 54 +f 43 45 54 +f 44 39 55 +f 48 51 55 +f 39 52 55 +f 52 48 55 +f 32 41 56 +f 41 38 56 +f 38 50 56 +f 50 44 56 +f 47 41 57 +f 51 47 57 +f 55 51 57 +f 55 57 58 +f 41 32 58 +f 44 55 58 +f 32 56 58 +f 56 44 58 +o convex_2 +v 0.559857 3.780386 0.869730 +v -0.901110 1.795080 -1.078320 +v -0.901110 1.795080 1.057239 +v 1.234299 1.795274 0.270201 +v 1.234082 3.630735 -0.965856 +v -0.976193 3.593225 -0.928438 +v -0.863677 3.705561 0.944775 +v 1.121783 1.795274 -1.078320 +v 1.196649 3.068669 0.944775 +v 1.234299 1.795274 0.907148 +v 1.159216 3.780386 0.944775 +v -0.826244 3.593225 1.019403 +v -0.938543 3.630735 -0.853183 +v -0.901110 2.132475 -1.078320 +v -0.526348 1.795080 1.057239 +v 1.234082 3.668051 -0.628674 +v -0.938543 2.394656 0.345247 +v -0.638863 3.743265 0.982193 +v 0.409908 3.630541 -0.965647 +v 1.196649 3.256025 -1.003274 +v 1.084134 1.795274 0.944775 +v 0.896969 3.780386 0.682429 +v 1.234082 3.181199 -0.928229 +v -0.826244 2.469676 1.057239 +v 1.234082 2.319830 0.907357 +v 1.121783 1.982630 -1.078320 +v -0.938543 2.432166 -1.040484 +v 1.159216 1.982630 -0.928438 +v -0.938543 3.330850 -0.965856 +v -0.976193 3.555716 -0.778347 +v -0.901110 2.207495 1.057239 +v 1.234082 3.668051 -0.516210 +v -0.863677 3.705561 0.420292 +v 0.185094 3.743071 0.982193 +f 82 69 92 +f 66 60 72 +f 61 60 73 +f 60 66 73 +f 66 62 73 +f 62 68 73 +f 67 69 73 +f 62 63 74 +f 68 62 74 +f 60 61 75 +f 69 59 76 +f 65 70 76 +f 64 71 77 +f 74 63 77 +f 71 74 77 +f 72 77 78 +f 77 63 78 +f 68 67 79 +f 73 68 79 +f 67 73 79 +f 59 69 80 +f 71 59 80 +f 69 74 80 +f 74 71 80 +f 63 62 81 +f 66 63 81 +f 61 73 82 +f 73 69 82 +f 67 68 83 +f 63 66 84 +f 66 72 84 +f 78 63 84 +f 72 78 84 +f 72 60 85 +f 60 75 85 +f 62 66 86 +f 81 62 86 +f 66 81 86 +f 64 77 87 +f 77 72 87 +f 72 85 87 +f 85 64 87 +f 65 64 88 +f 64 85 88 +f 85 75 88 +f 70 65 89 +f 75 61 89 +f 61 82 89 +f 82 70 89 +f 65 88 89 +f 88 75 89 +f 69 67 90 +f 68 74 90 +f 74 69 90 +f 67 83 90 +f 83 68 90 +f 64 65 91 +f 59 71 91 +f 71 64 91 +f 76 59 91 +f 65 76 91 +f 69 76 92 +f 76 70 92 +f 70 82 92 +o convex_3 +v -4.909956 0.296442 -0.216526 +v -2.924422 1.008295 -0.029303 +v -3.074535 0.970737 0.270454 +v -4.909956 1.008295 0.158045 +v -3.036908 0.446324 0.232984 +v -2.924422 0.558718 -0.366467 +v -4.909956 0.970737 -0.291528 +v -4.797470 0.296442 0.232984 +v -2.924422 1.008295 -0.216526 +v -4.947583 0.333930 -0.328997 +v -3.111964 0.446324 -0.366467 +v -4.909956 0.933319 0.232984 +v -2.924422 0.708461 0.270454 +v -3.898573 0.596276 0.270454 +v -3.748856 1.008295 -0.253996 +v -4.684984 0.296442 0.120576 +v -4.947583 0.521369 -0.328997 +v -2.924422 0.483812 0.232984 +v -4.947583 0.333930 -0.216526 +v -3.598941 0.970737 0.270454 +v -2.924422 0.933319 0.270454 +v -2.924422 0.483812 -0.366467 +v -3.523884 0.483812 -0.366467 +f 102 109 115 +f 95 94 96 +f 96 94 101 +f 94 98 101 +f 93 102 103 +f 98 94 105 +f 100 97 106 +f 104 100 106 +f 105 95 106 +f 97 105 106 +f 99 96 107 +f 98 99 107 +f 96 101 107 +f 101 98 107 +f 100 93 108 +f 97 100 108 +f 103 97 108 +f 93 103 108 +f 96 99 109 +f 104 96 109 +f 98 105 110 +f 105 97 110 +f 93 100 111 +f 102 93 111 +f 100 104 111 +f 109 102 111 +f 104 109 111 +f 95 96 112 +f 96 104 112 +f 106 95 112 +f 104 106 112 +f 94 95 113 +f 95 105 113 +f 105 94 113 +f 97 103 114 +f 103 98 114 +f 110 97 114 +f 98 110 114 +f 99 98 115 +f 98 103 115 +f 103 102 115 +f 109 99 115 +o convex_4 +v -2.924422 0.296808 0.232856 +v 3.145062 1.795080 -0.853275 +v 3.145062 1.757232 1.094544 +v 3.107038 -0.340435 -1.115786 +v -2.886398 1.645010 -1.077939 +v 1.121505 -0.452877 1.094544 +v -2.848969 1.757452 1.132171 +v -2.924422 -0.452877 -1.115786 +v -2.774110 -0.377623 1.056916 +v 3.145062 -0.340435 0.944694 +v 1.121505 1.795080 -1.077939 +v 1.196363 -0.452877 -1.115786 +v -1.051175 1.607603 -1.115786 +v 3.145062 1.607383 -1.040531 +v -0.900864 1.795080 -1.077939 +v -0.900864 1.795080 1.056916 +v -0.938294 -0.452877 1.094544 +v 3.145062 1.232870 1.094544 +v -2.924422 1.157836 -0.703426 +v 1.233793 1.795080 0.907287 +v -2.848969 1.757452 0.607589 +v 3.145062 0.296588 -1.077939 +v 2.994751 -0.340435 0.982102 +v 1.608679 1.757232 -1.077939 +v -2.924422 0.708288 0.419892 +v -2.924422 0.259181 -1.115786 +v -2.848969 -0.415030 0.195229 +v 3.145062 1.795080 -1.003124 +v 1.646109 -0.190366 1.094544 +v -1.650044 -0.377623 1.094544 +v 3.107038 -0.190586 -1.115786 +v -0.676289 1.607603 -1.115786 +v -2.811540 -0.190366 0.944694 +v -2.886398 1.682418 -0.553357 +v -2.924422 0.970579 0.232856 +v -2.924422 -0.452877 -1.003124 +v -2.774110 1.719825 1.132171 +v -2.811540 0.559099 1.094324 +v -2.886398 1.682418 -0.253658 +f 134 150 154 +f 117 118 125 +f 123 119 127 +f 121 123 127 +f 119 125 127 +f 125 121 127 +f 119 123 128 +f 117 125 129 +f 117 126 130 +f 128 120 130 +f 126 128 130 +f 122 118 131 +f 117 130 131 +f 130 122 131 +f 123 121 132 +f 125 118 133 +f 123 116 134 +f 118 117 135 +f 131 118 135 +f 117 131 135 +f 122 130 136 +f 125 119 137 +f 129 125 137 +f 121 125 138 +f 125 133 138 +f 134 116 140 +f 120 128 141 +f 128 123 141 +f 134 120 141 +f 123 134 141 +f 132 124 142 +f 126 117 143 +f 117 129 143 +f 139 126 143 +f 129 139 143 +f 121 138 144 +f 138 133 144 +f 124 132 145 +f 119 128 146 +f 137 119 146 +f 129 137 146 +f 139 129 146 +f 139 146 147 +f 128 126 147 +f 126 139 147 +f 146 128 147 +f 140 116 148 +f 122 140 148 +f 116 142 148 +f 142 124 148 +f 130 120 149 +f 120 134 149 +f 122 136 149 +f 136 130 149 +f 140 122 150 +f 134 140 150 +f 116 123 151 +f 123 132 151 +f 142 116 151 +f 132 142 151 +f 118 122 152 +f 132 121 152 +f 133 118 152 +f 121 144 152 +f 144 133 152 +f 122 145 152 +f 145 132 152 +f 145 122 153 +f 124 145 153 +f 122 148 153 +f 148 124 153 +f 122 149 154 +f 149 134 154 +f 150 122 154 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/931/931.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/931/931.urdf new file mode 100644 index 000000000..2cb415a2e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/931/931.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/932/932.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/932/932.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/932/932.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/932/932.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/932/932.obj new file mode 100644 index 000000000..281bdcb52 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/932/932.obj @@ -0,0 +1,909 @@ +o convex_0 +v 1.286532 -0.476238 0.135209 +v -1.190503 -0.606761 -0.059954 +v -1.190503 -0.606761 0.004966 +v 0.048015 -3.930712 -0.059954 +v 0.764987 -0.476576 -1.037980 +v -0.668958 -0.476238 1.015151 +v 0.764987 -3.050863 0.754464 +v 0.699764 -3.083324 -0.809453 +v -0.766672 -1.943105 -0.842214 +v -0.668958 -3.018401 0.721904 +v 0.993148 -0.476238 0.949828 +v -0.994833 -0.476238 -0.874775 +v -0.734181 -3.376495 -0.125277 +v -0.114923 -3.311233 -0.809654 +v -0.342841 -1.975904 -1.037779 +v 0.797478 -3.409295 -0.027394 +v 0.112996 -2.008366 0.982389 +v 1.123353 -0.509038 -0.809654 +v -1.027323 -0.476238 0.787025 +v -0.017209 -3.474218 0.721703 +v -0.571244 -0.476576 -1.037779 +v -0.571244 -1.715196 0.982389 +v 0.797478 -0.802546 1.015352 +v 1.090862 -0.932732 0.852146 +v 1.286532 -0.607099 0.004966 +v -0.734181 -3.376495 0.069886 +v 0.732254 -2.920339 -0.842214 +v -0.603735 -3.018401 -0.614089 +v -0.831895 -1.878181 -0.809654 +v -0.897119 -1.714858 0.721904 +v -0.114923 -3.441757 -0.744532 +v 0.993148 -1.845381 0.754464 +v 0.048015 -3.930712 0.037326 +v 0.667031 -1.715196 0.982590 +v 0.145729 -3.408957 0.754464 +v 0.732254 -1.584672 -0.972658 +v 0.764987 -2.855078 -0.809453 +v 0.797478 -3.409295 0.070087 +v -1.190503 -0.476238 -0.125277 +v 1.123353 -0.476238 0.884908 +v -0.212637 -3.800189 0.004765 +v 0.764987 -2.953139 0.787025 +v -0.017209 -3.408957 0.754464 +v -0.734181 -0.900270 0.982590 +v 0.243442 -1.877843 -1.005018 +v 0.797478 -0.476576 1.015352 +v 0.764987 -3.474218 -0.027394 +v -1.027323 -0.541838 -0.809654 +v 0.993148 -1.552211 -0.744532 +v 1.058129 -0.476238 -0.874976 +v -0.017209 -3.930712 -0.059954 +v -0.017209 -3.441757 -0.744532 +v -0.701448 -2.920339 0.721904 +v -1.027323 -0.574638 0.787025 +v 1.286532 -0.607099 0.069886 +v 0.699764 -3.507018 0.070087 +v 0.699764 -2.985601 -0.842214 +v -0.636468 -3.507018 -0.059954 +v -0.179904 -3.344033 -0.776892 +v 0.112996 -3.865450 -0.125277 +v 0.797478 -2.953139 0.754464 +v -0.408064 -1.747658 -1.037779 +v 0.145729 -3.474218 0.689343 +v -1.190503 -0.541838 -0.125277 +f 39 48 64 +f 1 6 11 +f 6 1 12 +f 3 2 13 +f 6 12 19 +f 12 5 21 +f 17 6 22 +f 6 17 23 +f 18 1 25 +f 3 13 26 +f 12 9 29 +f 9 28 29 +f 28 13 29 +f 3 26 30 +f 23 17 34 +f 24 23 34 +f 16 8 37 +f 25 16 37 +f 8 27 37 +f 27 18 37 +f 16 25 38 +f 2 3 39 +f 3 19 39 +f 19 12 39 +f 1 11 40 +f 11 23 40 +f 24 1 40 +f 23 24 40 +f 20 10 41 +f 10 26 41 +f 33 20 41 +f 34 17 42 +f 24 34 42 +f 17 35 42 +f 35 7 42 +f 10 20 43 +f 17 22 43 +f 22 10 43 +f 35 17 43 +f 20 35 43 +f 6 19 44 +f 22 6 44 +f 15 5 45 +f 5 36 45 +f 11 6 46 +f 6 23 46 +f 23 11 46 +f 8 16 47 +f 33 4 47 +f 16 38 47 +f 12 29 48 +f 39 12 48 +f 18 25 49 +f 25 37 49 +f 37 18 49 +f 12 1 50 +f 5 12 50 +f 1 18 50 +f 18 27 50 +f 36 5 50 +f 27 36 50 +f 31 4 51 +f 4 33 51 +f 33 41 51 +f 14 8 52 +f 4 31 52 +f 31 14 52 +f 10 22 53 +f 26 10 53 +f 30 26 53 +f 22 44 53 +f 53 44 54 +f 19 3 54 +f 3 30 54 +f 44 19 54 +f 30 53 54 +f 1 24 55 +f 25 1 55 +f 24 32 55 +f 38 25 55 +f 32 38 55 +f 38 7 56 +f 33 47 56 +f 47 38 56 +f 8 14 57 +f 14 15 57 +f 27 8 57 +f 36 27 57 +f 15 45 57 +f 45 36 57 +f 26 13 58 +f 13 31 58 +f 41 26 58 +f 31 51 58 +f 51 41 58 +f 9 15 59 +f 15 14 59 +f 28 9 59 +f 13 28 59 +f 31 13 59 +f 14 31 59 +f 47 4 60 +f 8 47 60 +f 4 52 60 +f 52 8 60 +f 32 24 61 +f 7 38 61 +f 38 32 61 +f 42 7 61 +f 24 42 61 +f 9 12 62 +f 5 15 62 +f 15 9 62 +f 21 5 62 +f 12 21 62 +f 20 33 63 +f 35 20 63 +f 7 35 63 +f 56 7 63 +f 33 56 63 +f 13 2 64 +f 29 13 64 +f 2 39 64 +f 48 29 64 +o convex_1 +v -0.538601 -0.150376 1.080537 +v 0.602114 -0.248119 -1.070573 +v 0.602114 -0.150376 -1.070573 +v 1.742828 -0.150376 0.037409 +v 0.992969 -0.476238 0.949988 +v -1.027336 -0.476238 -0.842112 +v 1.123365 -0.476238 -0.809686 +v -1.613951 -0.150376 -0.092719 +v -0.929456 -0.476238 0.884713 +v 1.123365 -0.150376 0.917351 +v -0.896940 -0.150376 -0.940024 +v -0.603633 -0.476238 -1.037936 +v 1.318793 -0.476238 0.069835 +v -1.190248 -0.476238 0.102473 +v 1.123365 -0.150376 -0.874749 +v -1.059852 -0.150376 0.819649 +v 0.699662 -0.476238 1.047899 +v 0.765026 -0.476238 -1.037725 +v -1.646799 -0.182946 0.037409 +v -0.636149 -0.411002 1.047689 +v 1.123365 -0.476238 0.884924 +v 0.732178 -0.150376 1.047899 +v 1.742828 -0.182946 -0.027445 +v -0.636149 -0.150376 -1.037936 +v -1.059852 -0.150376 -0.874960 +v -1.027336 -0.476238 0.787012 +v -1.190248 -0.476238 -0.157783 +v -0.668665 -0.476238 1.015052 +v 0.699662 -0.378432 -1.070573 +v 1.155881 -0.378432 0.884924 +f 69 85 94 +f 67 65 68 +f 69 70 71 +f 65 67 72 +f 70 69 73 +f 68 65 74 +f 72 67 75 +f 71 70 76 +f 69 71 77 +f 70 73 78 +f 67 68 79 +f 65 72 80 +f 73 69 81 +f 69 74 81 +f 71 76 82 +f 79 71 82 +f 72 70 83 +f 80 72 83 +f 65 80 84 +f 80 73 84 +f 81 65 84 +f 69 77 85 +f 74 65 86 +f 65 81 86 +f 81 74 86 +f 77 71 87 +f 79 68 87 +f 71 79 87 +f 68 85 87 +f 85 77 87 +f 67 66 88 +f 75 67 88 +f 66 76 88 +f 76 75 88 +f 70 72 89 +f 72 75 89 +f 76 70 89 +f 75 76 89 +f 78 73 90 +f 73 80 90 +f 83 78 90 +f 80 83 90 +f 70 78 91 +f 83 70 91 +f 78 83 91 +f 73 81 92 +f 84 73 92 +f 81 84 92 +f 66 67 93 +f 76 66 93 +f 67 79 93 +f 82 76 93 +f 79 82 93 +f 68 74 94 +f 74 69 94 +f 85 68 94 +o convex_2 +v 0.015429 1.609517 1.993307 +v -0.049731 0.468946 1.146092 +v 0.145748 0.468946 1.146092 +v 0.048008 1.088145 3.036091 +v -0.571244 1.251066 1.146092 +v 0.504126 1.446596 1.146092 +v -0.408227 1.120632 2.742461 +v 0.406504 1.055779 2.775025 +v -0.408227 1.642126 1.146092 +v -0.440807 0.534285 1.178656 +v -0.017151 0.729815 2.709897 +v 0.471664 0.534285 1.211219 +v 0.048008 1.479204 2.807774 +v 0.634681 0.990562 1.146092 +v -0.375647 1.511692 2.090999 +v 0.080588 1.707343 1.178656 +v 0.373924 1.413987 2.221069 +v 0.276067 0.795032 2.579642 +v -0.310488 0.827640 2.481765 +v -0.571244 1.023170 1.146092 +v 0.406504 1.153240 2.742461 +v -0.082311 1.479204 2.775025 +v 0.439084 1.544300 1.178656 +v -0.375647 1.218457 2.775025 +v -0.473387 1.609517 1.178656 +v -0.147470 1.707343 1.178656 +v 0.048008 1.511692 2.709897 +v -0.473387 1.185849 2.221069 +v 0.634681 1.055779 1.178656 +v -0.147470 1.120632 2.970593 +v 0.048008 0.762423 2.775025 +v 0.308647 1.381379 2.612206 +v -0.310488 1.446596 2.514329 +v 0.048008 1.218457 3.003157 +v -0.343067 1.544300 2.025871 +v 0.439084 0.599502 1.569607 +v 0.373924 0.534285 1.374039 +v 0.471664 0.534285 1.146092 +v 0.439084 1.055779 2.612206 +v -0.017151 0.762423 2.775025 +v -0.017151 1.511692 2.709897 +v -0.375647 1.055779 2.742461 +f 134 124 136 +f 97 96 99 +f 97 99 100 +f 100 99 103 +f 96 97 105 +f 104 96 105 +f 97 100 108 +f 100 103 110 +f 104 105 113 +f 99 96 114 +f 96 104 114 +f 104 101 114 +f 100 111 115 +f 100 110 117 +f 111 100 117 +f 103 99 119 +f 95 110 120 +f 110 103 120 +f 110 95 121 +f 117 110 121 +f 111 117 121 +f 99 114 122 +f 114 101 122 +f 101 118 122 +f 118 109 122 +f 119 99 122 +f 109 119 122 +f 108 100 123 +f 100 115 123 +f 118 101 124 +f 116 118 124 +f 102 98 125 +f 112 102 125 +f 107 115 126 +f 115 111 126 +f 121 107 126 +f 111 121 126 +f 109 118 127 +f 118 116 127 +f 98 102 128 +f 102 115 128 +f 115 107 128 +f 107 116 128 +f 124 98 128 +f 116 124 128 +f 103 119 129 +f 119 109 129 +f 120 103 129 +f 109 127 129 +f 127 116 129 +f 102 112 130 +f 112 125 130 +f 130 125 131 +f 105 97 131 +f 97 106 131 +f 125 105 131 +f 106 130 131 +f 106 97 132 +f 97 108 132 +f 108 106 132 +f 106 108 133 +f 115 102 133 +f 108 123 133 +f 123 115 133 +f 130 106 133 +f 102 130 133 +f 113 105 134 +f 98 124 134 +f 125 98 134 +f 105 125 134 +f 116 107 135 +f 95 120 135 +f 121 95 135 +f 107 121 135 +f 120 129 135 +f 129 116 135 +f 101 104 136 +f 104 113 136 +f 124 101 136 +f 113 134 136 +o convex_3 +v -0.017072 1.740057 -1.168350 +v 0.015499 0.371303 -1.201045 +v 0.047938 0.371303 -1.201045 +v -0.017072 1.088103 -2.993534 +v 0.699866 1.153352 -1.201045 +v -0.636429 1.120661 -1.168350 +v 0.406472 1.055680 -2.765386 +v -0.180053 0.697279 -2.634786 +v 0.536753 0.501666 -1.168350 +v -0.245194 1.381388 -2.602270 +v 0.439043 1.446503 -2.080942 +v -0.538457 0.664722 -1.168350 +v -0.375606 1.023122 -2.732692 +v 0.113079 0.664722 -2.700176 +v -0.505887 1.576867 -1.201045 +v 0.080508 1.446503 -2.765386 +v 0.569454 1.577001 -1.168529 +v -0.408176 0.664722 -2.080942 +v -0.538457 1.088103 -2.048426 +v 0.406472 0.958007 -2.732692 +v 0.699866 0.957873 -1.201045 +v -0.375606 1.446503 -2.145974 +v -0.017072 0.632030 -2.700176 +v 0.373771 0.664722 -2.243880 +v 0.080508 1.740057 -1.201045 +v -0.375606 1.120661 -2.732692 +v -0.636429 1.283582 -1.201045 +v 0.015499 1.446503 -2.765386 +v 0.504183 0.501666 -1.331466 +v 0.341201 1.348831 -2.569754 +v -0.017072 0.958007 -2.960840 +v -0.473316 1.609559 -1.168350 +v -0.538457 0.990565 -1.983216 +v 0.504183 1.609559 -1.201045 +v 0.471613 0.990565 -2.504544 +v -0.505887 0.632030 -1.266256 +v 0.178219 1.023122 -2.928324 +v 0.406472 1.120661 -2.732692 +v -0.114913 0.534358 -2.015910 +v -0.408176 1.446503 -2.048426 +v 0.015499 1.479195 -2.634786 +v 0.471613 1.413946 -2.015910 +v 0.047938 0.632030 -2.667302 +v 0.015499 0.371303 -1.168350 +v -0.017072 0.664722 -2.765386 +v 0.308631 0.729837 -2.569754 +v -0.310334 0.762394 -2.537238 +v -0.473316 1.609559 -1.201045 +f 177 158 184 +f 137 142 145 +f 145 142 148 +f 137 145 153 +f 153 145 157 +f 141 153 157 +f 139 138 159 +f 154 144 159 +f 137 153 161 +f 140 149 162 +f 149 155 162 +f 158 146 162 +f 155 142 163 +f 152 140 164 +f 146 158 164 +f 140 162 164 +f 162 146 164 +f 145 139 165 +f 150 160 165 +f 160 156 165 +f 152 147 166 +f 149 140 167 +f 142 137 168 +f 163 142 168 +f 151 163 168 +f 148 142 169 +f 154 148 169 +f 149 154 169 +f 155 149 169 +f 142 155 169 +f 147 152 170 +f 153 147 170 +f 152 161 170 +f 161 153 170 +f 156 143 171 +f 141 157 171 +f 157 145 171 +f 145 165 171 +f 165 156 171 +f 154 138 172 +f 148 154 172 +f 140 152 173 +f 143 156 173 +f 156 150 173 +f 167 140 173 +f 166 147 174 +f 152 166 174 +f 141 171 174 +f 171 143 174 +f 173 152 174 +f 143 173 174 +f 138 154 175 +f 159 138 175 +f 154 159 175 +f 162 155 176 +f 158 162 176 +f 163 151 176 +f 155 163 176 +f 137 161 177 +f 161 152 177 +f 152 164 177 +f 164 158 177 +f 147 153 178 +f 153 141 178 +f 141 174 178 +f 174 147 178 +f 139 159 179 +f 159 150 179 +f 165 139 179 +f 150 165 179 +f 138 139 180 +f 139 145 180 +f 145 148 180 +f 172 138 180 +f 148 172 180 +f 144 149 181 +f 159 144 181 +f 150 159 181 +f 149 167 181 +f 173 150 181 +f 167 173 181 +f 150 156 182 +f 160 150 182 +f 156 160 182 +f 149 144 183 +f 144 154 183 +f 154 149 183 +f 168 137 184 +f 151 168 184 +f 158 176 184 +f 176 151 184 +f 137 177 184 +o convex_4 +v -0.897195 2.131167 0.102586 +v -3.048279 0.990427 0.005079 +v -3.048279 0.990427 0.037318 +v -0.897195 -0.150312 0.884815 +v -0.897195 -0.150312 -0.907489 +v -2.037801 1.870325 -0.776952 +v -2.037801 1.902707 0.786913 +v -2.754758 0.306162 0.167656 +v -2.787395 1.023033 -0.777150 +v -0.897195 1.935535 -0.874854 +v -2.754758 1.055415 0.819745 +v -0.897195 1.935535 0.884815 +v -2.787395 1.870101 -0.059991 +v -2.037801 1.088020 -1.004995 +v -2.103074 1.120625 1.015154 +v -1.712064 -0.150312 -0.027357 +v -2.070437 2.131167 -0.027357 +v -2.624421 0.436584 -0.483641 +v -0.897195 0.990427 -1.004995 +v -2.005164 0.306162 0.786913 +v -1.158080 1.088020 1.014956 +v -2.787395 0.273780 0.005079 +v -2.624421 1.707298 0.558870 +v -1.060169 -0.150312 -0.874854 +v -2.591784 1.674469 -0.581543 +v -2.787395 1.185836 0.786913 +v -2.591784 0.501794 0.624138 +v -1.027743 -0.150312 0.852181 +v -2.037801 0.273557 -0.744318 +v -2.787395 1.870101 0.037318 +v -1.940100 0.925440 -1.004995 +v -0.897195 1.316257 0.982520 +v -2.037801 2.131167 0.069952 +v -3.048279 1.120625 -0.027555 +v -2.787395 1.088020 -0.777150 +v -2.005164 0.990427 1.014956 +v -1.907674 1.250823 1.014956 +v -0.897195 2.131167 -0.059991 +v -0.897195 0.664598 -1.004995 +v -2.820032 1.055415 0.754477 +v -1.907674 1.185836 -1.004995 +v -2.722121 0.240952 0.069952 +v -1.972737 2.131167 -0.092625 +v -3.048279 1.120625 0.069952 +v -1.158080 1.968141 0.787111 +v -1.027743 1.935535 -0.874854 +v -1.712064 -0.150312 0.037318 +v -2.820032 0.338768 0.069952 +v -0.962469 -0.150312 0.884815 +v -1.125443 1.968141 -0.776952 +v -2.526721 0.436584 -0.581543 +v -2.885095 1.642087 0.037318 +v -0.897195 0.925440 0.982520 +v -2.754758 1.153231 0.819745 +v -1.940100 2.131167 0.102586 +v -1.321053 1.935535 0.852181 +v -2.037801 1.414073 0.949886 +v -2.820032 1.023033 -0.711882 +v -2.820032 1.837496 -0.027555 +v -0.962469 -0.150312 -0.907489 +v -1.907674 0.240952 -0.776952 +f 215 244 245 +f 185 188 189 +f 185 189 194 +f 188 185 196 +f 189 188 200 +f 190 197 201 +f 194 189 203 +f 193 202 206 +f 189 200 208 +f 200 206 208 +f 197 190 209 +f 191 207 210 +f 204 195 211 +f 204 211 212 +f 200 188 212 +f 211 192 212 +f 201 197 214 +f 207 191 214 +f 210 207 214 +f 193 198 215 +f 198 203 215 +f 188 196 216 +f 185 201 217 +f 214 191 217 +f 201 214 217 +f 186 187 218 +f 190 198 219 +f 198 193 219 +f 209 190 219 +f 197 209 219 +f 199 195 220 +f 195 204 220 +f 188 205 220 +f 205 199 220 +f 199 205 221 +f 216 196 221 +f 205 216 221 +f 185 194 222 +f 201 185 222 +f 203 189 223 +f 215 203 223 +f 192 211 224 +f 211 195 224 +f 198 190 225 +f 194 203 225 +f 203 198 225 +f 192 206 226 +f 206 200 226 +f 212 192 226 +f 190 201 227 +f 201 222 227 +f 218 187 228 +f 187 224 228 +f 224 210 228 +f 196 185 229 +f 225 190 230 +f 194 225 230 +f 200 212 231 +f 226 200 231 +f 212 226 231 +f 187 186 232 +f 186 206 232 +f 206 192 232 +f 224 187 232 +f 192 224 232 +f 204 212 233 +f 212 188 233 +f 188 220 233 +f 220 204 233 +f 222 194 234 +f 190 227 234 +f 227 222 234 +f 230 190 234 +f 194 230 234 +f 202 193 235 +f 206 202 235 +f 208 206 235 +f 193 213 235 +f 213 208 235 +f 210 214 236 +f 228 210 236 +f 218 228 236 +f 205 188 237 +f 188 216 237 +f 216 205 237 +f 195 199 238 +f 191 210 238 +f 224 195 238 +f 210 224 238 +f 185 217 239 +f 217 191 239 +f 229 185 239 +f 229 239 240 +f 221 196 240 +f 196 229 240 +f 239 191 240 +f 199 221 241 +f 191 238 241 +f 238 199 241 +f 240 191 241 +f 221 240 241 +f 206 186 242 +f 193 206 242 +f 186 218 242 +f 219 193 242 +f 218 219 242 +f 214 197 243 +f 197 219 243 +f 219 218 243 +f 236 214 243 +f 218 236 243 +f 189 208 244 +f 223 189 244 +f 215 223 244 +f 213 193 245 +f 208 213 245 +f 193 215 245 +f 244 208 245 +o convex_5 +v 2.296785 1.739903 0.656677 +v -0.668959 1.250823 -1.168350 +v -0.668959 1.283652 -1.168350 +v -0.897122 1.316257 0.982631 +v 1.775161 -0.150312 0.070004 +v -0.571012 -0.150312 1.080485 +v 2.720463 1.088020 -0.809778 +v -0.897122 -0.150312 -0.940024 +v -0.897122 2.131167 -0.059788 +v 2.003324 1.870101 -0.809551 +v 2.655165 1.055638 0.787149 +v 0.667373 -0.150312 -1.102888 +v 0.048181 1.739903 1.145722 +v 0.635103 -0.150312 1.080485 +v 2.720463 0.273557 0.004768 +v 0.048181 1.772509 -1.168350 +v 2.003324 2.098562 0.004768 +v 2.753112 1.805114 -0.092633 +v -0.897122 1.935535 -0.874788 +v -0.799175 1.968141 0.852385 +v -0.897122 -0.150312 0.917395 +v 2.068622 1.088020 -1.037878 +v 2.068622 1.088020 1.015249 +v 0.080830 2.065733 -0.809778 +v 2.981276 1.055638 0.037386 +v 2.003324 0.273557 0.787149 +v 1.938026 1.837496 0.787149 +v 2.035973 0.273557 -0.777160 +v 0.048181 2.033351 0.787149 +v 0.569805 0.273557 -1.168350 +v 0.471858 0.468966 1.145722 +v -0.603661 1.218441 1.145722 +v -0.506093 0.599387 -1.168350 +v 1.155969 -0.150312 -0.842170 +v 1.123320 -0.150312 0.917395 +v 2.785382 1.055638 0.689295 +v 0.569805 1.609482 -1.168350 +v 2.590247 0.436584 -0.516442 +v 2.590247 0.501794 0.558823 +v -0.897122 1.935535 0.884777 +v 2.557598 1.609482 -0.646688 +v 0.504507 1.544495 1.145722 +v -0.636310 -0.150312 -1.037878 +v 2.753112 0.306162 -0.092633 +v 2.720463 1.805114 0.070004 +v -0.473444 0.306162 1.145722 +v -0.897122 2.131167 0.102622 +v 2.720463 1.023033 -0.809778 +v 1.318834 1.935312 -0.874788 +v -0.473444 1.642087 1.145722 +v 2.981276 1.120625 -0.092633 +v 2.003324 2.098562 -0.060015 +v -0.897122 0.958045 -1.005260 +v 2.753112 1.153231 0.721687 +v -0.473444 1.642087 -1.168350 +v 0.048181 2.098562 -0.613843 +v 2.068622 1.022810 1.015249 +v 2.557598 1.642087 0.558823 +v 2.687814 1.870325 -0.027397 +v 2.753112 0.306162 0.037386 +v 1.970675 1.837496 -0.842170 +v 1.775161 -0.150312 -0.027397 +v 2.003324 1.739903 0.819541 +v 0.732671 1.120625 -1.168350 +f 275 282 309 +f 250 251 253 +f 253 249 254 +f 250 253 257 +f 251 250 259 +f 247 248 261 +f 253 254 264 +f 249 253 266 +f 253 251 266 +f 264 254 269 +f 261 264 269 +f 265 258 274 +f 272 262 274 +f 258 272 274 +f 247 261 275 +f 267 257 275 +f 249 266 277 +f 266 251 277 +f 276 258 277 +f 253 247 278 +f 247 275 278 +f 250 257 279 +f 257 273 279 +f 259 250 280 +f 250 260 280 +f 271 259 280 +f 275 261 282 +f 256 271 284 +f 281 256 284 +f 254 249 285 +f 258 265 285 +f 263 252 286 +f 255 263 286 +f 258 276 287 +f 257 253 288 +f 275 257 288 +f 253 278 288 +f 278 275 288 +f 279 273 289 +f 273 283 289 +f 270 263 290 +f 251 259 291 +f 259 276 291 +f 277 251 291 +f 276 277 291 +f 262 254 292 +f 274 262 292 +f 265 274 292 +f 254 285 292 +f 285 265 292 +f 267 252 293 +f 257 267 293 +f 273 257 293 +f 283 273 293 +f 289 283 293 +f 261 269 294 +f 249 277 295 +f 277 258 295 +f 285 249 295 +f 258 285 295 +f 252 263 296 +f 263 270 296 +f 270 289 296 +f 293 252 296 +f 289 293 296 +f 254 262 297 +f 255 294 297 +f 294 269 297 +f 248 247 298 +f 247 253 298 +f 264 248 298 +f 253 264 298 +f 268 256 299 +f 256 281 299 +f 281 270 299 +f 270 290 299 +f 261 248 300 +f 248 264 300 +f 264 261 300 +f 269 254 301 +f 254 297 301 +f 297 269 301 +f 256 268 302 +f 259 271 302 +f 271 256 302 +f 276 259 302 +f 268 287 302 +f 287 276 302 +f 290 246 303 +f 246 299 303 +f 299 290 303 +f 263 255 304 +f 272 246 304 +f 262 272 304 +f 290 263 304 +f 246 290 304 +f 297 262 304 +f 255 297 304 +f 280 260 305 +f 271 280 305 +f 270 281 305 +f 284 271 305 +f 281 284 305 +f 260 289 305 +f 289 270 305 +f 252 267 306 +f 282 261 306 +f 267 282 306 +f 286 252 306 +f 255 286 306 +f 294 255 306 +f 261 294 306 +f 260 250 307 +f 250 279 307 +f 289 260 307 +f 279 289 307 +f 246 272 308 +f 272 258 308 +f 258 287 308 +f 287 268 308 +f 268 299 308 +f 299 246 308 +f 267 275 309 +f 282 267 309 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/932/932.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/932/932.urdf new file mode 100644 index 000000000..ff9b24826 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/932/932.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/933/933.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/933/933.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/933/933.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/933/933.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/933/933.obj new file mode 100644 index 000000000..7105ccc53 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/933/933.obj @@ -0,0 +1,2391 @@ +o convex_0 +v -0.340604 0.326616 0.675656 +v -0.019551 0.336349 1.531768 +v -0.029312 0.336349 1.531768 +v -0.019551 0.433651 0.675740 +v -0.379542 0.336360 0.792486 +v -0.146020 0.326616 1.016341 +v -0.048763 0.433651 0.763321 +v -0.019551 0.326616 1.453909 +v -0.039037 0.414184 0.675740 +v -0.350330 0.346082 0.675656 +v -0.379542 0.326616 0.792486 +v -0.029312 0.365549 1.337163 +v -0.039037 0.326616 1.521962 +v -0.019551 0.433651 0.802292 +f 7 12 14 +f 4 2 8 +f 1 6 8 +f 8 6 9 +f 1 4 9 +f 6 1 9 +f 4 8 9 +f 4 1 10 +f 7 4 10 +f 5 7 10 +f 1 8 11 +f 10 1 11 +f 5 10 11 +f 3 2 12 +f 5 3 12 +f 7 5 12 +f 2 3 13 +f 3 5 13 +f 8 2 13 +f 5 11 13 +f 11 8 13 +f 2 4 14 +f 4 7 14 +f 12 2 14 +o convex_1 +v 0.428049 0.054201 -0.394801 +v 0.428049 0.005535 -1.494234 +v 0.418320 0.015273 -1.494234 +v 0.359966 0.248772 -1.494234 +v 0.350229 0.239010 -0.394801 +v 0.418320 0.005535 -0.394801 +v 0.350229 0.219558 -1.494234 +v 0.369695 0.248772 -0.394801 +v 0.437786 0.025011 -1.494234 +v 0.437786 0.005535 -0.394801 +v 0.369695 0.239010 -1.250800 +v 0.398863 0.161177 -0.686770 +v 0.350229 0.248772 -1.494234 +v 0.437786 0.025011 -0.589483 +v 0.350229 0.219558 -1.241114 +f 21 20 29 +f 16 17 18 +f 17 16 20 +f 15 19 20 +f 18 17 21 +f 17 20 21 +f 19 15 22 +f 16 18 23 +f 20 16 24 +f 15 20 24 +f 16 23 24 +f 18 22 25 +f 23 18 25 +f 23 25 26 +f 22 15 26 +f 25 22 26 +f 18 21 27 +f 21 19 27 +f 22 18 27 +f 19 22 27 +f 15 24 28 +f 24 23 28 +f 23 26 28 +f 26 15 28 +f 20 19 29 +f 19 21 29 +o convex_2 +v -0.360087 0.336357 -2.038942 +v -0.282268 0.375267 -1.143938 +v -0.301735 0.375267 -1.143938 +v -0.282268 0.394729 -2.262939 +v -0.369820 0.355819 -1.143938 +v -0.340630 0.326616 -1.941785 +v -0.369820 0.326616 -1.143938 +v -0.340630 0.375267 -2.262939 +v -0.282268 0.375267 -2.262939 +v -0.292001 0.355819 -1.143938 +v -0.340630 0.326616 -2.262939 +v -0.379554 0.346078 -1.280198 +v -0.292001 0.394729 -2.194809 +v -0.282268 0.365526 -1.932036 +v -0.379554 0.326616 -1.367935 +f 36 41 44 +f 31 32 34 +f 31 34 36 +f 33 31 38 +f 37 33 38 +f 31 36 39 +f 36 35 39 +f 35 36 40 +f 30 37 40 +f 37 38 40 +f 39 35 40 +f 36 34 41 +f 37 30 41 +f 34 37 41 +f 32 31 42 +f 31 33 42 +f 34 32 42 +f 37 34 42 +f 33 37 42 +f 38 31 43 +f 31 39 43 +f 40 38 43 +f 39 40 43 +f 30 40 44 +f 40 36 44 +f 41 30 44 +o convex_3 +v 0.320979 -0.023642 1.531962 +v -0.019537 0.180655 1.590318 +v -0.019537 0.180655 1.619496 +v -0.019500 -0.033411 1.755736 +v 0.165324 0.141727 1.434713 +v -0.009801 0.336329 1.522215 +v -0.019537 0.326597 1.424933 +v 0.350184 0.005554 1.424933 +v -0.009765 -0.033411 1.716745 +v 0.106985 0.297401 1.434681 +v 0.350184 0.015286 1.483354 +v 0.097286 -0.023642 1.687567 +v -0.009801 0.287669 1.561140 +v 0.330714 0.073640 1.424933 +v 0.301508 -0.033411 1.512532 +v 0.301508 -0.023642 1.551425 +v 0.340413 0.005554 1.424933 +v -0.009765 -0.023642 1.755736 +v -0.000066 0.346060 1.424933 +f 54 58 63 +f 47 46 48 +f 46 47 51 +f 48 46 51 +f 47 50 51 +f 48 51 53 +f 51 49 53 +f 45 52 55 +f 54 50 55 +f 47 48 57 +f 50 47 57 +f 55 50 57 +f 52 51 58 +f 55 52 58 +f 54 55 58 +f 52 45 59 +f 48 53 59 +f 45 55 60 +f 56 48 60 +f 55 57 60 +f 57 56 60 +f 59 45 60 +f 48 59 60 +f 49 51 61 +f 51 52 61 +f 53 49 61 +f 52 59 61 +f 59 53 61 +f 48 56 62 +f 57 48 62 +f 56 57 62 +f 51 50 63 +f 50 54 63 +f 58 51 63 +o convex_4 +v -0.418472 -0.335055 0.841104 +v -0.350387 -0.432359 0.772961 +v -0.330920 -0.432359 0.772961 +v -0.340654 -0.344798 1.201100 +v -0.408739 -0.403156 0.782725 +v -0.330920 -0.335055 1.123234 +v -0.408739 -0.335055 0.772961 +v -0.330920 -0.412881 0.772961 +f 66 70 71 +f 65 66 67 +f 67 64 68 +f 65 67 68 +f 67 66 69 +f 64 67 69 +f 66 65 70 +f 68 64 70 +f 65 68 70 +f 64 69 70 +f 70 69 71 +f 69 66 71 +o convex_5 +v -0.233604 -0.549125 -0.384949 +v -0.019537 -0.549125 0.714578 +v -0.039010 -0.539394 0.714578 +v -0.019537 -0.558855 -0.258396 +v -0.214104 -0.529664 -0.365393 +v -0.029315 -0.568585 0.325141 +v -0.282219 -0.539394 -0.161065 +v -0.068206 -0.529664 0.714578 +v -0.058511 -0.558855 0.704688 +v -0.077929 -0.568585 -0.287618 +v -0.301720 -0.529664 -0.433615 +v -0.107152 -0.529664 0.704688 +v -0.068206 -0.549125 -0.297284 +v -0.019537 -0.568585 -0.258396 +v -0.107152 -0.539394 0.704688 +v -0.282219 -0.529664 -0.161065 +f 83 82 87 +f 74 73 75 +f 72 77 78 +f 73 74 79 +f 74 75 79 +f 77 73 80 +f 78 77 80 +f 73 79 80 +f 77 72 81 +f 72 78 82 +f 79 76 82 +f 79 82 83 +f 79 75 84 +f 76 79 84 +f 82 76 84 +f 72 82 84 +f 75 73 85 +f 73 77 85 +f 81 72 85 +f 77 81 85 +f 84 75 85 +f 72 84 85 +f 78 80 86 +f 80 79 86 +f 83 78 86 +f 79 83 86 +f 82 78 87 +f 78 83 87 +o convex_6 +v -0.330887 -0.529664 -0.453076 +v -0.087650 -0.519920 0.714578 +v -0.282221 -0.442103 0.714578 +v -0.155792 -0.519920 0.704748 +v -0.291959 -0.519920 -0.433531 +v -0.330887 -0.451837 0.675603 +v -0.330887 -0.529664 -0.277859 +v -0.321149 -0.432359 0.617197 +v -0.087650 -0.529664 0.695033 +v -0.330887 -0.519920 -0.453076 +v -0.126602 -0.529664 0.714578 +v -0.184983 -0.481011 0.685318 +v -0.330887 -0.432359 0.714578 +v -0.291959 -0.529664 -0.433531 +f 92 96 101 +f 91 93 94 +f 93 88 94 +f 92 89 96 +f 94 88 96 +f 92 88 97 +f 88 93 97 +f 95 92 97 +f 89 90 98 +f 93 91 98 +f 91 94 98 +f 96 89 98 +f 94 96 98 +f 90 89 99 +f 89 92 99 +f 95 90 99 +f 92 95 99 +f 90 95 100 +f 97 93 100 +f 95 97 100 +f 98 90 100 +f 93 98 100 +f 88 92 101 +f 96 88 101 +o convex_7 +v -0.019537 -0.393437 1.512442 +v -0.272528 -0.344793 1.337327 +v -0.272528 -0.344793 1.347091 +v -0.048734 -0.451820 1.347091 +v -0.019537 -0.335055 1.522186 +v -0.019537 -0.422629 1.347091 +v -0.048734 -0.422629 1.502740 +v -0.048734 -0.335055 1.551396 +v -0.233599 -0.335055 1.337327 +v -0.029269 -0.451820 1.337327 +f 110 107 111 +f 104 103 105 +f 106 102 107 +f 104 105 108 +f 102 106 109 +f 104 108 109 +f 108 102 109 +f 103 104 110 +f 106 107 110 +f 104 109 110 +f 109 106 110 +f 105 103 111 +f 107 102 111 +f 108 105 111 +f 102 108 111 +f 103 110 111 +o convex_8 +v -0.330911 -0.335047 1.191386 +v -0.243337 -0.325310 1.356771 +v -0.243337 -0.335047 1.356771 +v -0.330911 -0.257219 1.356771 +v -0.321173 -0.325310 1.317849 +v -0.291984 -0.266948 1.347041 +f 112 115 117 +f 112 113 114 +f 114 113 115 +f 115 112 116 +f 112 114 116 +f 114 115 116 +f 113 112 117 +f 115 113 117 +o convex_9 +v -0.418459 0.268240 0.880070 +v -0.077944 0.326594 1.356736 +v -0.107157 0.326594 1.356736 +v -0.321128 0.180673 1.356736 +v -0.165548 0.316851 1.035774 +v -0.408733 0.326594 0.792525 +v -0.418459 0.248784 0.782691 +v -0.321128 0.239070 1.327517 +v -0.340616 0.326594 0.802245 +v -0.077944 0.316851 1.327517 +v -0.321128 0.180673 1.327517 +v -0.330854 0.209886 1.356736 +v -0.437911 0.248784 0.802245 +v -0.408733 0.316866 0.841186 +v -0.155822 0.326594 1.055216 +v -0.223869 0.277939 1.356736 +f 131 125 133 +f 119 120 121 +f 120 119 123 +f 123 119 126 +f 124 123 126 +f 122 124 126 +f 119 121 127 +f 122 127 128 +f 124 122 128 +f 127 121 128 +f 121 120 129 +f 123 124 130 +f 128 121 130 +f 124 128 130 +f 121 129 130 +f 129 118 130 +f 120 123 131 +f 118 129 131 +f 129 125 131 +f 130 118 131 +f 123 130 131 +f 126 119 132 +f 122 126 132 +f 119 127 132 +f 127 122 132 +f 129 120 133 +f 125 129 133 +f 120 131 133 +o convex_10 +v -0.282259 0.394754 -2.262799 +v -0.019537 0.443372 -1.144049 +v -0.058472 0.443372 -1.144049 +v -0.029283 0.501764 -2.282299 +v -0.272512 0.385006 -1.212132 +v -0.253044 0.375285 -2.039049 +v -0.019537 0.482282 -2.282299 +v -0.253044 0.365538 -1.144049 +v -0.019537 0.433651 -1.299827 +v -0.204414 0.433664 -2.253105 +v -0.282259 0.375285 -2.204410 +v -0.029283 0.501764 -2.194716 +v -0.282259 0.365538 -1.144049 +v -0.233603 0.394740 -1.144049 +v -0.272512 0.404475 -2.223910 +v -0.019537 0.453106 -1.182938 +v -0.272512 0.365538 -1.698632 +v -0.233603 0.394754 -2.262799 +v -0.068193 0.443372 -1.163549 +v -0.019537 0.433651 -1.144049 +f 142 135 153 +f 134 137 140 +f 135 136 141 +f 140 135 142 +f 139 140 142 +f 137 134 143 +f 140 137 145 +f 137 143 145 +f 143 138 145 +f 138 134 146 +f 141 136 146 +f 134 144 146 +f 145 138 147 +f 138 146 147 +f 146 136 147 +f 134 138 148 +f 143 134 148 +f 138 143 148 +f 136 135 149 +f 135 140 149 +f 140 145 149 +f 139 142 150 +f 142 141 150 +f 144 139 150 +f 141 146 150 +f 146 144 150 +f 134 140 151 +f 140 139 151 +f 144 134 151 +f 139 144 151 +f 147 136 152 +f 145 147 152 +f 136 149 152 +f 149 145 152 +f 135 141 153 +f 141 142 153 +o convex_11 +v -0.467137 -0.043168 -0.803372 +v -0.428229 -0.344785 0.111208 +v -0.437963 -0.315585 0.072277 +v -0.506046 -0.023680 0.237786 +v -0.418485 -0.305810 0.237786 +v -0.496311 -0.043168 -0.647647 +v -0.418485 -0.257154 -0.803372 +v -0.515789 -0.062624 0.237786 +v -0.418485 -0.208529 -0.754657 +v -0.428229 -0.257154 -0.803372 +v -0.476862 -0.023680 -0.628181 +v -0.486587 -0.023680 -0.803372 +v -0.418485 -0.344785 0.237786 +v -0.515789 -0.023680 -0.063881 +v -0.506046 -0.101536 0.218320 +v -0.496311 -0.023680 0.004198 +v -0.428229 -0.344785 0.237786 +v -0.486587 -0.062624 -0.783906 +f 163 168 171 +f 158 157 161 +f 160 154 162 +f 158 160 162 +f 155 156 163 +f 160 155 163 +f 154 160 163 +f 162 154 164 +f 158 162 164 +f 154 163 165 +f 157 164 165 +f 164 154 165 +f 155 160 166 +f 160 158 166 +f 158 161 166 +f 161 157 167 +f 159 161 167 +f 157 165 167 +f 165 159 167 +f 161 159 168 +f 163 156 168 +f 157 158 169 +f 164 157 169 +f 158 164 169 +f 156 155 170 +f 155 166 170 +f 166 161 170 +f 168 156 170 +f 161 168 170 +f 159 165 171 +f 165 163 171 +f 168 159 171 +o convex_12 +v -0.399024 0.326616 -0.560086 +v -0.243337 0.375266 0.675656 +v -0.253075 0.375266 0.675656 +v -0.243337 0.384998 -1.143937 +v -0.243337 0.355807 -0.404416 +v -0.340626 0.326616 0.675656 +v -0.389286 0.336354 0.568611 +v -0.369795 0.355807 -1.143937 +v -0.369795 0.326616 -1.143937 +v -0.243337 0.355807 0.675656 +v -0.253075 0.365534 -1.143937 +v -0.262798 0.384998 -0.939465 +v -0.379563 0.326616 0.675656 +v -0.272566 0.346080 -0.307167 +v -0.389286 0.346080 -0.871248 +f 179 180 186 +f 175 173 176 +f 173 174 177 +f 178 174 179 +f 177 172 180 +f 179 175 180 +f 176 173 181 +f 173 177 181 +f 175 176 182 +f 180 175 182 +f 176 180 182 +f 174 173 183 +f 173 175 183 +f 179 174 183 +f 175 179 183 +f 172 177 184 +f 177 174 184 +f 174 178 184 +f 178 172 184 +f 180 176 185 +f 177 180 185 +f 176 181 185 +f 181 177 185 +f 172 178 186 +f 178 179 186 +f 180 172 186 +o convex_13 +v -0.048738 0.423907 -1.143937 +v -0.019537 0.423907 -0.248736 +v -0.039012 0.423907 -0.248736 +v -0.243337 0.355816 -0.248736 +v -0.233588 0.394738 -1.066037 +v -0.058465 0.443373 -1.085490 +v -0.243337 0.375281 -0.248736 +v -0.223840 0.375281 -1.143937 +v -0.029285 0.404450 -0.346090 +v -0.019537 0.443373 -1.143937 +v -0.243337 0.385010 -1.143937 +v -0.184933 0.365553 -0.248736 +v -0.019537 0.423907 -0.939590 +v -0.243337 0.385010 -0.569891 +v -0.019537 0.443373 -0.851963 +f 188 196 201 +f 188 189 190 +f 190 189 193 +f 187 194 196 +f 191 192 197 +f 190 193 197 +f 194 190 197 +f 192 196 197 +f 196 194 197 +f 188 190 198 +f 190 194 198 +f 195 188 198 +f 194 195 198 +f 194 187 199 +f 188 195 199 +f 195 194 199 +f 196 188 199 +f 187 196 199 +f 189 192 200 +f 192 191 200 +f 193 189 200 +f 191 197 200 +f 197 193 200 +f 189 188 201 +f 192 189 201 +f 196 192 201 +o convex_14 +v -0.330929 -0.237705 1.356643 +v -0.428210 -0.335055 0.773019 +v -0.437910 -0.325301 0.773019 +v -0.515770 -0.023680 0.773019 +v -0.447690 -0.062602 1.366460 +v -0.535250 -0.052879 0.792537 +v -0.428250 -0.023680 1.317723 +v -0.340669 -0.335055 1.220423 +v -0.350409 -0.325301 1.055217 +v -0.408789 -0.325301 0.782836 +v -0.330929 -0.276596 1.230182 +v -0.447690 -0.023680 1.356643 +v -0.350409 -0.257181 1.366460 +v -0.437910 -0.325301 0.782836 +v -0.535250 -0.023680 0.802296 +v -0.467150 -0.052879 1.269102 +v -0.428250 -0.023680 1.366460 +v -0.330929 -0.335055 1.152342 +v -0.496310 -0.023680 0.880136 +f 208 212 220 +f 203 204 205 +f 205 204 207 +f 203 205 211 +f 205 210 211 +f 208 202 212 +f 210 205 212 +f 208 205 213 +f 209 202 214 +f 209 214 215 +f 204 203 215 +f 207 204 215 +f 203 209 215 +f 214 206 215 +f 205 207 216 +f 213 205 216 +f 213 216 217 +f 206 213 217 +f 207 215 217 +f 215 206 217 +f 216 207 217 +f 202 208 218 +f 213 206 218 +f 208 213 218 +f 214 202 218 +f 206 214 218 +f 209 203 219 +f 202 209 219 +f 203 211 219 +f 211 210 219 +f 212 202 219 +f 210 212 219 +f 205 208 220 +f 212 205 220 +o convex_15 +v -0.243337 0.355815 -0.248736 +v -0.019537 0.433643 0.675656 +v -0.019537 0.423914 0.675656 +v -0.243337 0.365552 0.675656 +v -0.243337 0.375281 -0.248736 +v -0.029285 0.404455 -0.248736 +v -0.039012 0.423914 -0.248736 +v -0.204408 0.365552 0.675656 +v -0.048738 0.433643 0.675656 +v -0.223840 0.385011 0.490705 +v -0.019537 0.414184 0.471251 +v -0.184933 0.365552 -0.209737 +v -0.243337 0.375281 0.675656 +v -0.019537 0.423914 -0.248736 +v -0.029285 0.404455 -0.102694 +v -0.223840 0.385011 0.130757 +f 230 229 236 +f 223 222 224 +f 221 224 225 +f 221 225 226 +f 226 225 227 +f 223 224 228 +f 224 221 228 +f 224 222 229 +f 222 227 229 +f 222 223 231 +f 223 228 231 +f 221 226 232 +f 228 221 232 +f 225 224 233 +f 224 229 233 +f 230 225 233 +f 229 230 233 +f 227 222 234 +f 226 227 234 +f 222 231 234 +f 231 226 234 +f 226 231 235 +f 231 228 235 +f 232 226 235 +f 228 232 235 +f 227 225 236 +f 229 227 236 +f 225 230 236 +o convex_16 +v 0.087501 -0.588039 -0.306974 +v 0.321010 -0.549130 -0.044458 +v 0.321010 -0.558867 -0.044458 +v -0.019537 -0.549136 0.734039 +v -0.019537 -0.558867 -0.267999 +v 0.321010 -0.607507 -0.550380 +v 0.009698 -0.568587 0.568332 +v 0.321010 -0.549130 -0.161132 +v 0.301543 -0.607507 -0.423774 +v -0.000036 -0.578313 -0.277806 +v 0.282075 -0.588033 -0.511279 +v -0.019537 -0.549136 0.315496 +v -0.009769 -0.558867 0.734039 +v -0.019537 -0.568587 0.393195 +v 0.272342 -0.607507 -0.452942 +f 243 250 251 +f 238 239 242 +f 240 238 244 +f 238 242 244 +f 242 239 245 +f 241 242 246 +f 242 241 247 +f 241 244 247 +f 244 242 247 +f 241 240 248 +f 240 244 248 +f 244 241 248 +f 239 238 249 +f 238 240 249 +f 245 239 249 +f 243 245 249 +f 240 241 250 +f 241 246 250 +f 246 237 250 +f 249 240 250 +f 243 249 250 +f 242 245 251 +f 245 243 251 +f 246 242 251 +f 237 246 251 +f 250 237 251 +o convex_17 +v 0.389129 -0.354516 0.549067 +v 0.321044 -0.597777 -0.462765 +v 0.330781 -0.597777 -0.462765 +v 0.398865 -0.354539 -0.462765 +v 0.321044 -0.451834 0.675474 +v 0.379400 -0.364278 -0.462765 +v 0.340509 -0.471265 0.685189 +v 0.398865 -0.383756 0.023778 +v 0.359951 -0.364278 0.704848 +v 0.321044 -0.558821 -0.452936 +v 0.369672 -0.403187 0.695018 +v 0.340509 -0.578275 -0.443221 +v 0.321044 -0.471265 0.704848 +v 0.389129 -0.412926 -0.462765 +v 0.369672 -0.354516 0.704848 +v 0.340509 -0.510149 0.344712 +f 258 264 267 +f 254 253 255 +f 255 253 257 +f 255 252 259 +f 257 256 260 +f 253 256 261 +f 257 253 261 +f 256 257 261 +f 259 252 262 +f 259 262 263 +f 253 254 264 +f 256 253 264 +f 260 256 264 +f 258 262 264 +f 254 255 265 +f 255 259 265 +f 263 254 265 +f 259 263 265 +f 252 255 266 +f 255 257 266 +f 257 260 266 +f 262 252 266 +f 260 264 266 +f 264 262 266 +f 262 258 267 +f 254 263 267 +f 263 262 267 +f 264 254 267 +o convex_18 +v 0.320996 -0.549125 -0.073588 +v 0.320996 -0.451820 0.724308 +v 0.301527 -0.451820 0.724308 +v 0.029135 -0.549125 0.724308 +v -0.019536 -0.539381 0.704783 +v 0.320996 -0.481023 0.646362 +v 0.311262 -0.539381 -0.073588 +v 0.320996 -0.549125 0.043331 +v -0.019536 -0.549125 0.704783 +v 0.320996 -0.471298 0.724308 +v 0.301527 -0.451820 0.714546 +f 274 272 278 +f 269 270 271 +f 271 270 272 +f 268 269 273 +f 269 268 274 +f 271 268 275 +f 268 273 275 +f 273 271 275 +f 268 271 276 +f 271 272 276 +f 274 268 276 +f 272 274 276 +f 269 271 277 +f 273 269 277 +f 271 273 277 +f 270 269 278 +f 272 270 278 +f 269 274 278 +o convex_19 +v -0.009770 -0.403178 1.424841 +v 0.320996 -0.373982 0.948238 +v 0.311229 -0.373982 0.996920 +v 0.029163 -0.549107 0.734175 +v 0.320996 -0.461553 0.763316 +v -0.009770 -0.529632 0.743912 +v -0.009770 -0.432357 1.415036 +v 0.311229 -0.373982 0.889889 +v 0.106996 -0.383720 1.405299 +v 0.048630 -0.373982 1.415036 +v 0.291796 -0.451833 0.724370 +v 0.282029 -0.383720 1.103815 +v 0.165263 -0.373982 1.152359 +v -0.019536 -0.549107 0.782857 +v 0.282029 -0.481012 0.734175 +v -0.019536 -0.519928 0.802261 +v 0.320996 -0.432357 0.880152 +v -0.019536 -0.412899 1.376159 +v -0.019536 -0.539370 0.724370 +v 0.106996 -0.373982 1.405299 +f 287 290 298 +f 281 280 286 +f 280 283 286 +f 279 285 287 +f 281 286 288 +f 286 283 289 +f 288 286 291 +f 282 285 292 +f 285 282 293 +f 283 285 293 +f 289 283 293 +f 286 284 294 +f 291 286 294 +f 288 291 294 +f 280 281 295 +f 283 280 295 +f 285 283 295 +f 287 285 295 +f 281 290 295 +f 290 287 295 +f 285 279 296 +f 279 288 296 +f 292 285 296 +f 288 294 296 +f 294 292 296 +f 284 286 297 +f 286 289 297 +f 282 292 297 +f 293 282 297 +f 289 293 297 +f 294 284 297 +f 292 294 297 +f 279 287 298 +f 288 279 298 +f 281 288 298 +f 290 281 298 +o convex_20 +v -0.535250 -0.023714 0.626961 +v -0.418498 -0.364213 0.237786 +v -0.428230 -0.344778 0.237786 +v -0.506044 -0.023714 0.237786 +v -0.408767 -0.335043 0.772961 +v -0.428230 -0.354512 0.772961 +v -0.515775 -0.023714 0.763165 +v -0.408767 -0.335043 0.237786 +v -0.535250 -0.052916 0.772961 +v -0.525506 -0.043182 0.286453 +v -0.515775 -0.111289 0.607473 +v -0.486581 -0.169694 0.237786 +v -0.408767 -0.364213 0.772961 +v -0.506044 -0.023714 0.374042 +f 305 303 312 +f 300 301 302 +f 301 300 304 +f 302 299 305 +f 300 302 306 +f 302 303 306 +f 304 303 307 +f 305 299 307 +f 303 305 307 +f 299 302 308 +f 307 299 308 +f 307 308 309 +f 301 304 309 +f 304 307 309 +f 302 301 310 +f 308 302 310 +f 309 308 310 +f 301 309 310 +f 304 300 311 +f 303 304 311 +f 300 306 311 +f 306 303 311 +f 303 302 312 +f 302 305 312 +o convex_21 +v -0.408774 0.190365 -0.744686 +v -0.486580 -0.023657 -0.803372 +v -0.486580 -0.004171 -0.803372 +v -0.535231 -0.023627 0.782691 +v -0.408760 0.277963 -0.803372 +v -0.418502 0.258448 0.782691 +v -0.467110 -0.013914 -0.744686 +v -0.437957 0.268191 0.597474 +v -0.506049 -0.004171 0.782691 +v -0.389305 0.277963 -0.803372 +v -0.535231 -0.013914 0.753348 +v -0.428229 0.277963 -0.054122 +v -0.428229 0.277904 0.782691 +v -0.506049 -0.004171 -0.268215 +v -0.515776 -0.023627 0.782691 +v -0.428243 0.112539 -0.803372 +v -0.389305 0.268220 -0.696092 +v -0.437957 0.268191 0.782691 +v -0.418502 0.277904 0.782691 +v -0.496307 -0.013914 -0.637872 +f 323 326 332 +f 314 315 317 +f 318 316 321 +f 319 318 321 +f 314 317 322 +f 323 320 324 +f 322 317 324 +f 316 318 325 +f 323 324 326 +f 324 317 326 +f 316 314 327 +f 314 319 327 +f 321 316 327 +f 319 321 327 +f 313 318 328 +f 319 314 328 +f 318 319 328 +f 314 322 328 +f 328 322 329 +f 318 313 329 +f 313 328 329 +f 323 316 330 +f 320 323 330 +f 324 320 330 +f 325 324 330 +f 316 325 330 +f 322 324 331 +f 324 325 331 +f 325 318 331 +f 329 322 331 +f 318 329 331 +f 315 314 332 +f 314 316 332 +f 317 315 332 +f 316 323 332 +f 326 317 332 +o convex_22 +v 0.447523 0.005501 -1.543050 +v 0.457249 -0.091784 -2.204387 +v 0.447523 -0.062596 -2.223871 +v 0.447523 -0.091784 -1.231512 +v 0.466978 -0.072319 -1.231512 +v 0.428068 0.005501 -1.231512 +v 0.457249 0.005501 -2.262838 +v 0.428068 -0.004231 -1.688926 +v 0.466978 -0.091784 -2.204387 +v 0.447523 0.005501 -2.262838 +v 0.447523 -0.004231 -1.231512 +v 0.466978 -0.052864 -2.223871 +v 0.457249 0.005501 -1.883359 +v 0.466978 -0.091784 -1.290064 +f 341 337 346 +f 335 334 336 +f 336 337 338 +f 338 333 339 +f 335 336 340 +f 336 338 340 +f 334 335 341 +f 336 334 341 +f 335 339 341 +f 339 335 342 +f 338 339 342 +f 340 338 342 +f 335 340 342 +f 333 338 343 +f 338 337 343 +f 337 341 344 +f 341 339 344 +f 339 333 345 +f 333 343 345 +f 343 337 345 +f 337 344 345 +f 344 339 345 +f 337 336 346 +f 336 341 346 +o convex_23 +v 0.447523 -0.004227 -0.822855 +v 0.437797 -0.169637 -1.231511 +v 0.447523 -0.169637 -1.231511 +v 0.457249 -0.169637 -0.462806 +v 0.428068 -0.023686 -0.462806 +v 0.428068 0.005511 -1.231511 +v 0.466978 -0.072359 -1.231511 +v 0.466978 -0.082063 -0.462806 +v 0.428068 -0.169637 -0.900583 +v 0.437797 -0.169637 -0.462806 +v 0.437797 0.005511 -0.462806 +v 0.466978 -0.140440 -0.482295 +v 0.447523 -0.004227 -1.231511 +v 0.428068 -0.169637 -1.192534 +f 355 352 360 +f 348 349 350 +f 349 348 352 +f 349 352 353 +f 353 347 354 +f 351 350 354 +f 348 350 355 +f 351 352 355 +f 350 351 356 +f 355 350 356 +f 351 355 356 +f 352 351 357 +f 354 347 357 +f 351 354 357 +f 350 349 358 +f 349 353 358 +f 353 354 358 +f 354 350 358 +f 353 352 359 +f 347 353 359 +f 352 357 359 +f 357 347 359 +f 352 348 360 +f 348 355 360 +o convex_24 +v 0.457253 0.005499 0.704848 +v 0.457253 -0.120972 -0.462806 +v 0.447528 -0.101512 -0.365425 +v 0.457253 -0.120972 0.704848 +v 0.428064 0.005499 -0.462806 +v 0.476716 -0.101512 -0.083227 +v 0.428064 -0.004232 0.111305 +v 0.476716 -0.120972 0.695018 +v 0.447528 -0.013962 -0.462806 +v 0.476716 -0.052884 0.578321 +v 0.437798 0.005499 0.597752 +v 0.428064 -0.033423 -0.355710 +v 0.466982 -0.082051 -0.462806 +v 0.457253 0.005499 0.442080 +v 0.466982 -0.120972 -0.462806 +f 373 366 375 +f 363 362 364 +f 364 362 368 +f 361 364 368 +f 362 365 369 +f 361 368 370 +f 368 366 370 +f 364 361 371 +f 361 365 371 +f 367 364 371 +f 365 367 371 +f 362 363 372 +f 363 364 372 +f 365 362 372 +f 364 367 372 +f 367 365 372 +f 362 369 373 +f 370 366 373 +f 369 370 373 +f 365 361 374 +f 369 365 374 +f 370 369 374 +f 361 370 374 +f 368 362 375 +f 366 368 375 +f 362 373 375 +o convex_25 +v 0.311318 0.112561 1.414948 +v 0.466962 -0.082063 0.704847 +v 0.457242 -0.062587 0.704847 +v 0.389148 0.239019 0.753585 +v 0.301581 0.258461 0.987155 +v 0.321038 -0.082063 1.473401 +v 0.369708 -0.033407 1.483117 +v 0.476716 -0.072291 0.782731 +v 0.321055 0.268233 1.045608 +v 0.379428 0.209805 0.714644 +v 0.359988 -0.082063 1.444337 +v 0.301581 0.151376 1.162029 +v 0.408589 0.190363 0.734074 +v 0.301581 0.112561 1.414948 +v 0.321038 -0.023669 1.531936 +v 0.359988 -0.013931 1.502628 +v 0.359988 0.268233 0.860696 +v 0.466962 -0.013931 0.704847 +v 0.301581 0.268233 1.074673 +v 0.340530 0.268233 0.831469 +v 0.457242 -0.082063 0.909353 +f 382 386 396 +f 378 377 381 +f 378 380 385 +f 381 377 386 +f 380 378 387 +f 378 381 387 +f 379 382 388 +f 382 383 388 +f 385 379 388 +f 380 387 389 +f 387 381 389 +f 381 386 390 +f 386 382 390 +f 376 389 390 +f 389 381 390 +f 382 379 391 +f 384 376 391 +f 376 390 391 +f 390 382 391 +f 391 379 392 +f 384 391 392 +f 377 378 393 +f 383 377 393 +f 378 385 393 +f 388 383 393 +f 385 388 393 +f 376 384 394 +f 389 376 394 +f 380 389 394 +f 384 392 394 +f 394 392 395 +f 379 385 395 +f 385 380 395 +f 392 379 395 +f 380 394 395 +f 383 382 396 +f 377 383 396 +f 386 377 396 +o convex_26 +v -0.019536 0.453093 -1.270433 +v 0.320996 0.287722 -0.336310 +v 0.301527 0.297457 -0.336310 +v -0.019536 0.404435 -0.336310 +v 0.301527 0.297457 -1.260650 +v 0.320996 0.316909 -1.250957 +v -0.000068 0.423888 -0.346094 +v 0.311262 0.268251 -0.355787 +v -0.019536 0.433623 -1.270433 +v 0.019401 0.443358 -1.250957 +v 0.311262 0.297457 -0.404431 +v 0.320996 0.297457 -1.270433 +v -0.019536 0.423888 -0.336310 +v -0.019536 0.423888 -0.997950 +v 0.320996 0.268251 -0.336310 +f 404 408 411 +f 398 399 400 +f 400 401 404 +f 400 397 405 +f 402 397 406 +f 397 403 406 +f 406 403 407 +f 399 398 407 +f 398 402 407 +f 403 399 407 +f 402 406 407 +f 402 398 408 +f 397 402 408 +f 404 401 408 +f 405 397 408 +f 401 405 408 +f 400 399 409 +f 397 400 409 +f 399 403 409 +f 403 397 409 +f 401 400 410 +f 400 405 410 +f 405 401 410 +f 398 400 411 +f 400 404 411 +f 408 398 411 +o convex_27 +v -0.019537 0.423919 0.870410 +v 0.359951 0.277981 0.841226 +v 0.359951 0.268233 0.841226 +v 0.136144 0.277981 1.424901 +v -0.019499 0.414155 0.646465 +v 0.106984 0.268233 1.415071 +v -0.009767 0.355783 1.395564 +v 0.311252 0.326638 0.753523 +v 0.291824 0.307191 0.646465 +v -0.019537 0.336353 1.346950 +v -0.000035 0.433651 0.665971 +v 0.184769 0.268233 1.162018 +v 0.330754 0.277981 0.977391 +v -0.009767 0.433651 0.802137 +v 0.320984 0.316906 0.646465 +v 0.165341 0.277981 1.385887 +v -0.019537 0.336353 1.424901 +v 0.165341 0.268233 1.385887 +v 0.068055 0.316906 1.424901 +v 0.340486 0.268233 0.831473 +f 423 420 431 +f 412 416 421 +f 416 417 421 +f 414 417 423 +f 417 416 423 +f 416 420 423 +f 414 413 424 +f 413 419 424 +f 416 412 425 +f 412 418 425 +f 418 419 425 +f 422 416 425 +f 419 422 425 +f 413 414 426 +f 419 413 426 +f 414 420 426 +f 420 416 426 +f 416 422 426 +f 422 419 426 +f 417 415 428 +f 418 412 428 +f 412 421 428 +f 421 417 428 +f 417 414 429 +f 415 417 429 +f 414 424 429 +f 427 415 429 +f 424 427 429 +f 419 418 430 +f 424 419 430 +f 415 427 430 +f 427 424 430 +f 428 415 430 +f 418 428 430 +f 420 414 431 +f 414 423 431 +o convex_28 +v 0.369676 0.297411 0.772898 +v 0.350229 0.239042 -0.394693 +v 0.321036 0.268238 -0.394693 +v 0.350229 0.239042 0.831343 +v 0.321036 0.316870 0.763177 +v 0.389136 0.239042 0.578239 +v 0.350229 0.277960 -0.394693 +v 0.369676 0.258516 -0.365410 +v 0.369676 0.307148 0.675569 +v 0.321036 0.287689 0.831343 +v 0.321036 0.287689 -0.394693 +v 0.389136 0.248779 0.743735 +v 0.369676 0.239042 -0.394693 +v 0.330769 0.316870 0.578239 +f 440 442 445 +f 434 433 435 +f 435 433 437 +f 433 434 438 +f 439 438 440 +f 436 432 440 +f 434 435 441 +f 435 432 441 +f 432 436 441 +f 436 434 441 +f 434 436 442 +f 438 434 442 +f 440 438 442 +f 432 435 443 +f 435 437 443 +f 437 439 443 +f 439 440 443 +f 440 432 443 +f 437 433 444 +f 433 438 444 +f 439 437 444 +f 438 439 444 +f 436 440 445 +f 442 436 445 +o convex_29 +v 0.282080 0.248747 1.239960 +v 0.291815 0.073624 1.415113 +v 0.301550 0.073624 1.415113 +v 0.291815 0.258481 1.006491 +v 0.116690 0.248747 1.415113 +v 0.184818 0.268214 1.385914 +v 0.165366 0.170919 1.415113 +v 0.301550 0.102843 1.424860 +v 0.301550 0.268214 1.094129 +v 0.116690 0.268214 1.424860 +v 0.282080 0.209833 1.337263 +v 0.291815 0.161224 1.201138 +v 0.194553 0.258481 1.201138 +v 0.301550 0.268214 1.006491 +f 449 458 459 +f 447 448 453 +f 452 447 453 +f 451 446 454 +f 453 448 454 +f 450 452 455 +f 452 453 455 +f 453 451 455 +f 451 454 455 +f 446 451 456 +f 451 453 456 +f 454 446 456 +f 453 454 456 +f 448 447 457 +f 447 452 457 +f 452 449 457 +f 449 452 458 +f 452 450 458 +f 450 455 458 +f 458 455 459 +f 454 448 459 +f 455 454 459 +f 448 457 459 +f 457 449 459 +o convex_30 +v 0.466976 -0.120985 0.704848 +v 0.389158 -0.354516 0.159942 +v 0.398881 -0.354516 0.159942 +v 0.466976 -0.120985 0.159942 +v 0.369691 -0.335017 0.704848 +v 0.389158 -0.354516 0.665910 +v 0.447510 -0.140461 0.159942 +v 0.457243 -0.189106 0.500508 +v 0.447510 -0.130723 0.704848 +v 0.408615 -0.344778 0.159942 +v 0.379424 -0.344778 0.247524 +v 0.466976 -0.150222 0.159942 +v 0.466976 -0.140461 0.704848 +v 0.369691 -0.354516 0.704848 +f 465 472 473 +f 462 461 463 +f 461 462 465 +f 463 461 466 +f 460 463 468 +f 464 460 468 +f 463 466 468 +f 466 464 468 +f 462 463 469 +f 465 462 469 +f 467 465 469 +f 466 461 470 +f 464 466 470 +f 463 460 471 +f 469 463 471 +f 467 469 471 +f 460 464 472 +f 465 467 472 +f 471 460 472 +f 467 471 472 +f 461 465 473 +f 470 461 473 +f 464 470 473 +f 472 464 473 +o convex_31 +v 0.077797 0.365515 -0.015196 +v 0.320996 0.316906 0.646465 +v 0.301496 0.326638 0.646465 +v 0.282029 0.307191 -0.336310 +v -0.009770 0.423919 -0.336310 +v -0.019536 0.433651 0.646465 +v 0.311229 0.268233 -0.199996 +v -0.019536 0.414155 0.646465 +v -0.019536 0.404456 -0.336310 +v 0.311229 0.297443 0.587976 +v 0.320996 0.268233 -0.336310 +v -0.009770 0.433651 0.354595 +v 0.320996 0.316906 0.490718 +v 0.019430 0.414172 -0.336310 +v 0.320996 0.287728 -0.336310 +v 0.116730 0.365515 0.646465 +v -0.000037 0.394693 -0.209712 +v 0.165263 0.375246 0.636652 +v 0.301496 0.326638 0.568543 +f 485 491 492 +f 475 476 479 +f 475 479 481 +f 474 480 481 +f 478 477 482 +f 479 478 482 +f 481 479 482 +f 482 477 484 +f 480 482 484 +f 475 483 484 +f 483 480 484 +f 478 479 485 +f 476 475 486 +f 475 484 486 +f 477 478 487 +f 478 485 487 +f 486 477 487 +f 484 477 488 +f 477 486 488 +f 486 484 488 +f 475 481 489 +f 481 480 489 +f 483 475 489 +f 480 483 489 +f 480 474 490 +f 474 481 490 +f 482 480 490 +f 481 482 490 +f 479 476 491 +f 485 479 491 +f 476 486 492 +f 487 485 492 +f 486 487 492 +f 491 476 492 +o convex_32 +v -0.330918 -0.432382 0.772840 +v -0.350376 -0.529647 -0.462685 +v -0.360104 -0.519916 -0.462685 +v -0.389290 -0.364246 -0.462685 +v -0.418485 -0.383725 0.772840 +v -0.330918 -0.519916 -0.452889 +v -0.399019 -0.364246 0.772840 +v -0.408748 -0.373994 -0.297239 +v -0.399019 -0.422634 0.694954 +v -0.330918 -0.422651 0.685279 +v -0.379562 -0.373994 -0.462685 +v -0.340656 -0.529647 -0.326386 +v -0.418485 -0.373994 0.218208 +v -0.340656 -0.442113 0.743572 +v -0.418485 -0.364246 0.218208 +v -0.369833 -0.500453 -0.112442 +v -0.399019 -0.383725 -0.462685 +v -0.330918 -0.529647 -0.326386 +f 506 504 510 +f 494 495 496 +f 497 493 499 +f 493 498 502 +f 499 493 502 +f 496 499 502 +f 494 496 503 +f 498 494 503 +f 502 498 503 +f 496 502 503 +f 500 495 505 +f 493 497 506 +f 497 501 506 +f 499 496 507 +f 497 499 507 +f 496 500 507 +f 505 497 507 +f 500 505 507 +f 495 494 508 +f 501 497 508 +f 494 504 508 +f 505 495 508 +f 497 505 508 +f 506 501 508 +f 504 506 508 +f 496 495 509 +f 495 500 509 +f 500 496 509 +f 494 498 510 +f 498 493 510 +f 504 494 510 +f 493 506 510 +o convex_33 +v -0.447673 -0.033411 -2.155741 +v -0.447687 -0.549125 -1.309460 +v -0.437954 -0.549125 -1.309460 +v -0.476864 -0.033411 -1.221834 +v -0.428215 -0.033411 -2.078008 +v -0.447673 -0.451747 -1.961308 +v -0.457406 -0.082075 -1.221834 +v -0.428215 -0.461439 -1.990483 +v -0.457406 -0.519846 -1.221834 +v -0.437954 -0.510153 -1.221834 +v -0.428215 -0.062690 -2.253059 +v -0.476864 -0.072382 -1.290077 +v -0.447673 -0.072433 -2.194709 +v -0.457406 -0.033411 -1.280285 +v -0.428215 -0.471182 -1.883474 +v -0.437954 -0.062690 -2.253059 +v -0.447673 -0.480925 -1.863990 +f 519 516 527 +f 511 514 515 +f 512 513 519 +f 517 514 519 +f 517 519 520 +f 519 513 520 +f 511 515 521 +f 515 518 521 +f 514 511 522 +f 516 519 522 +f 519 514 522 +f 522 511 523 +f 516 522 523 +f 515 514 524 +f 514 517 524 +f 517 520 524 +f 520 515 524 +f 513 518 525 +f 518 515 525 +f 515 520 525 +f 520 513 525 +f 518 516 526 +f 511 521 526 +f 521 518 526 +f 523 511 526 +f 516 523 526 +f 513 512 527 +f 518 513 527 +f 516 518 527 +f 512 519 527 +o convex_34 +v 0.321029 0.326584 -1.503996 +v 0.447521 0.005534 -2.262764 +v 0.457242 0.005534 -2.262764 +v 0.321029 0.355796 -2.292130 +v 0.418318 0.015305 -1.611075 +v 0.350219 0.297407 -1.494234 +v 0.321029 0.316847 -2.292130 +v 0.437787 0.025042 -1.494234 +v 0.447521 0.054219 -2.204421 +v 0.330763 0.355796 -2.292130 +v 0.321029 0.307110 -1.494234 +v 0.418318 0.063922 -2.272527 +v 0.428039 0.005534 -1.494234 +v 0.330763 0.355796 -1.970972 +v 0.457242 0.015305 -2.019552 +v 0.330763 0.277967 -2.116868 +v 0.340498 0.326584 -1.572180 +v 0.418318 0.132013 -2.272527 +f 544 536 545 +f 528 531 534 +f 534 531 537 +f 533 528 538 +f 528 534 538 +f 535 533 538 +f 530 529 539 +f 529 532 539 +f 534 537 539 +f 529 530 540 +f 532 529 540 +f 538 532 540 +f 535 538 540 +f 531 528 541 +f 537 531 541 +f 533 535 542 +f 536 533 542 +f 530 536 542 +f 540 530 542 +f 535 540 542 +f 538 534 543 +f 532 538 543 +f 539 532 543 +f 534 539 543 +f 528 533 544 +f 533 536 544 +f 541 528 544 +f 541 544 545 +f 536 530 545 +f 530 539 545 +f 539 537 545 +f 537 541 545 +o convex_35 +v -0.418490 -0.296133 -0.842358 +v -0.447663 -0.558855 -1.221781 +v -0.437933 -0.558855 -1.221781 +v -0.399031 -0.539387 -0.803413 +v -0.399031 -0.305880 -0.861811 +v -0.467129 -0.296133 -1.211994 +v -0.447663 -0.296133 -1.221781 +v -0.389301 -0.529641 -0.861811 +v -0.447663 -0.539387 -1.134143 +v -0.399031 -0.296133 -0.803413 +v -0.408768 -0.422659 -0.803413 +f 549 555 556 +f 547 548 549 +f 551 546 552 +f 548 547 552 +f 547 551 552 +f 552 550 553 +f 549 548 553 +f 548 552 553 +f 547 549 554 +f 551 547 554 +f 552 546 555 +f 550 552 555 +f 553 550 555 +f 549 553 555 +f 546 551 556 +f 554 549 556 +f 551 554 556 +f 555 546 556 +o convex_36 +v -0.418498 -0.198805 -0.852064 +v -0.467124 -0.296133 -1.221781 +v -0.447667 -0.296133 -1.221781 +v -0.476852 -0.033437 -1.221781 +v -0.486589 -0.052902 -0.803413 +v -0.418498 -0.286362 -0.803413 +v -0.457395 -0.043182 -1.211994 +v -0.399033 -0.296133 -0.852064 +v -0.467124 -0.043182 -0.803413 +v -0.486589 -0.033437 -0.978566 +v -0.399033 -0.276642 -0.803413 +f 557 565 567 +f 559 558 560 +f 561 558 562 +f 559 560 563 +f 558 559 564 +f 562 558 564 +f 559 563 564 +f 561 562 565 +f 557 563 565 +f 563 560 565 +f 560 558 566 +f 558 561 566 +f 565 560 566 +f 561 565 566 +f 563 557 567 +f 562 564 567 +f 564 563 567 +f 565 562 567 +o convex_37 +v -0.399047 0.307127 -0.803515 +v -0.437936 -0.033411 -2.253160 +v -0.437936 -0.013922 -2.253160 +v -0.340656 0.287674 -2.262733 +v -0.467110 -0.023614 -0.832802 +v -0.486598 -0.004160 -0.842517 +v -0.360115 0.326616 -2.126583 +v -0.379588 0.297401 -0.803515 +v -0.418477 -0.023649 -2.214016 +v -0.369858 0.326616 -0.978667 +v -0.389317 0.326616 -1.095387 +v -0.476840 -0.023614 -1.289968 +v -0.340656 0.326616 -2.262733 +v -0.428192 0.112594 -0.803515 +v -0.486598 -0.033340 -0.803515 +v -0.379574 0.229244 -2.253018 +v -0.428207 -0.033411 -2.019434 +v -0.340656 0.316854 -2.029149 +v -0.447666 -0.023649 -2.087581 +f 579 583 586 +f 569 570 571 +f 571 575 576 +f 569 571 576 +f 568 575 577 +f 573 568 578 +f 574 573 578 +f 577 574 578 +f 568 577 578 +f 573 574 579 +f 571 570 580 +f 574 577 580 +f 575 568 581 +f 576 575 581 +f 572 576 581 +f 568 573 582 +f 579 569 582 +f 573 579 582 +f 572 581 582 +f 581 568 582 +f 579 574 583 +f 580 570 583 +f 574 580 583 +f 569 576 584 +f 576 572 584 +f 582 569 584 +f 572 582 584 +f 575 571 585 +f 577 575 585 +f 571 580 585 +f 580 577 585 +f 570 569 586 +f 569 579 586 +f 583 570 586 +o convex_38 +v -0.340679 0.248772 1.239944 +v -0.525520 -0.023680 0.782749 +v -0.525520 0.005522 0.782749 +v -0.437918 -0.023680 1.376248 +v -0.330926 0.180659 1.269111 +v -0.447671 0.239038 0.792510 +v -0.418508 0.239038 0.792510 +v -0.496319 -0.023680 0.850843 +v -0.418470 -0.023680 1.346966 +v -0.340679 0.190367 1.366429 +v -0.447652 -0.013946 1.327502 +v -0.330926 0.151456 1.376248 +v -0.330926 0.219569 1.201133 +v -0.496319 0.015257 0.782749 +v -0.525520 0.005522 0.802213 +v -0.418508 0.248772 0.909235 +v -0.330926 0.248772 1.181669 +f 593 602 603 +f 590 588 594 +f 590 594 595 +f 594 591 595 +f 588 590 597 +f 590 596 597 +f 590 595 598 +f 595 591 598 +f 596 590 598 +f 598 591 599 +f 588 589 600 +f 589 592 600 +f 592 593 600 +f 591 594 600 +f 594 588 600 +f 593 599 600 +f 599 591 600 +f 589 588 601 +f 592 589 601 +f 597 592 601 +f 588 597 601 +f 593 592 602 +f 596 587 602 +f 592 597 602 +f 597 596 602 +f 587 596 603 +f 596 598 603 +f 599 593 603 +f 598 599 603 +f 602 587 603 +o convex_39 +v 0.447511 -0.130740 -0.326571 +v 0.389156 -0.373937 -0.949233 +v 0.398885 -0.373937 -0.949233 +v 0.398885 -0.354500 0.159942 +v 0.466986 -0.150227 0.159942 +v 0.389147 -0.335013 0.159942 +v 0.428054 -0.169639 -0.949233 +v 0.466986 -0.140471 -0.462720 +v 0.379427 -0.335013 -0.929799 +v 0.447511 -0.140471 0.159942 +v 0.447511 -0.179419 -0.910256 +v 0.408613 -0.344769 0.159942 +v 0.379427 -0.373937 -0.462720 +v 0.408613 -0.228049 -0.890821 +v 0.466986 -0.120985 -0.462720 +v 0.466986 -0.120985 0.159942 +v 0.466986 -0.150227 -0.336342 +v 0.428062 -0.286384 0.140291 +f 606 620 621 +f 607 608 609 +f 606 605 610 +f 610 605 612 +f 609 608 613 +f 604 610 613 +f 606 610 614 +f 611 606 614 +f 607 606 615 +f 608 607 615 +f 605 606 616 +f 606 607 616 +f 607 609 616 +f 612 605 616 +f 609 612 616 +f 612 609 617 +f 610 612 617 +f 609 613 617 +f 613 610 617 +f 610 604 618 +f 608 611 618 +f 614 610 618 +f 611 614 618 +f 604 613 619 +f 613 608 619 +f 618 604 619 +f 608 618 619 +f 611 608 620 +f 606 611 620 +f 615 606 621 +f 608 615 621 +f 620 608 621 +o convex_40 +v 0.136204 0.433660 -2.292130 +v 0.321012 0.316913 -1.270533 +v 0.136204 0.394758 -1.270533 +v 0.048633 0.404458 -1.290033 +v 0.311245 0.346075 -2.292130 +v 0.321012 0.375276 -2.214031 +v -0.000036 0.501764 -2.204431 +v -0.009769 0.482283 -2.282230 +v 0.311245 0.297432 -1.358133 +v -0.000036 0.453081 -1.290033 +v -0.019537 0.433660 -1.270533 +v -0.019537 0.501764 -2.282230 +v 0.301544 0.385017 -2.292130 +v 0.321012 0.297432 -1.270533 +v -0.019537 0.453081 -1.270533 +v -0.019537 0.462822 -1.854132 +v 0.321012 0.346075 -2.292130 +f 635 630 638 +f 624 623 627 +f 622 626 629 +f 625 626 630 +f 624 627 631 +f 627 628 631 +f 623 624 632 +f 622 629 633 +f 626 622 634 +f 628 627 634 +f 622 633 634 +f 633 628 634 +f 627 623 635 +f 625 630 635 +f 623 632 635 +f 632 625 635 +f 624 631 636 +f 631 628 636 +f 632 624 636 +f 633 632 636 +f 628 633 636 +f 626 625 637 +f 629 626 637 +f 625 632 637 +f 632 633 637 +f 633 629 637 +f 630 626 638 +f 626 634 638 +f 634 627 638 +f 627 635 638 +o convex_41 +v -0.418485 -0.120973 1.366538 +v -0.330911 -0.033453 1.570837 +v -0.340649 -0.033453 1.570837 +v -0.340649 0.170910 1.376257 +v -0.330911 -0.247481 1.366538 +v -0.428212 -0.052865 1.512443 +v -0.447676 -0.033453 1.366538 +v -0.330911 0.170910 1.386016 +v -0.350376 -0.247481 1.376297 +v -0.428212 -0.033453 1.512443 +v -0.350376 -0.052865 1.570837 +f 648 644 649 +f 643 639 645 +f 642 643 645 +f 639 644 645 +f 641 640 646 +f 643 642 646 +f 640 643 646 +f 639 643 647 +f 644 639 647 +f 642 645 648 +f 645 644 648 +f 641 646 648 +f 646 642 648 +f 640 641 649 +f 643 640 649 +f 647 643 649 +f 644 647 649 +f 641 648 649 +o convex_42 +v -0.418477 0.287698 -0.306873 +v -0.369833 0.326616 0.782691 +v -0.369833 0.316881 0.782691 +v -0.379571 0.326616 -0.803372 +v -0.418477 0.326616 0.763129 +v -0.428215 0.277963 0.782691 +v -0.389297 0.277963 -0.803372 +v -0.399024 0.326616 -0.676841 +v -0.408751 0.277963 0.617192 +v -0.408751 0.277963 -0.705873 +v -0.379571 0.297427 -0.803372 +v -0.428215 0.287698 0.276567 +f 659 655 661 +f 651 652 653 +f 651 653 654 +f 651 654 655 +f 652 651 655 +f 654 653 657 +f 652 655 658 +f 656 652 658 +f 655 656 658 +f 656 655 659 +f 653 656 659 +f 650 657 659 +f 657 653 659 +f 653 652 660 +f 652 656 660 +f 656 653 660 +f 655 654 661 +f 657 650 661 +f 654 657 661 +f 650 659 661 +o convex_43 +v -0.399024 -0.354502 0.228002 +v -0.408751 -0.364246 -0.803372 +v -0.418485 -0.286420 -0.803372 +v -0.379563 -0.344771 -0.725509 +v -0.408751 -0.237763 -0.803372 +v -0.418485 -0.364246 0.237786 +v -0.379563 -0.364246 -0.608715 +v -0.418485 -0.335039 0.237786 +v -0.418485 -0.237763 -0.793588 +f 664 669 670 +f 662 665 666 +f 663 664 666 +f 665 663 666 +f 664 663 667 +f 663 665 668 +f 665 662 668 +f 667 663 668 +f 662 667 668 +f 662 666 669 +f 667 662 669 +f 664 667 669 +f 666 664 670 +f 669 666 670 +o convex_44 +v -0.321158 -0.422682 0.734144 +v -0.019557 -0.432365 1.337327 +v -0.194709 -0.354530 1.337327 +v -0.058477 -0.451840 1.327513 +v -0.019557 -0.539358 0.724391 +v -0.330911 -0.442092 0.773031 +v -0.048754 -0.558855 0.743835 +v -0.330911 -0.344825 1.210729 +v -0.272486 -0.335055 1.230234 +v -0.019557 -0.442113 1.239864 +v -0.272486 -0.344825 1.337327 +v -0.019557 -0.539358 0.860619 +v -0.321158 -0.451796 0.714639 +v -0.330911 -0.335055 1.142645 +v -0.301683 -0.432343 0.714639 +v -0.019557 -0.558855 0.714639 +v -0.029280 -0.461545 1.298317 +f 677 682 687 +f 674 676 677 +f 676 674 678 +f 673 672 680 +f 672 675 680 +f 679 673 680 +f 675 679 680 +f 672 673 681 +f 674 672 681 +f 678 674 681 +f 673 679 681 +f 675 672 682 +f 676 671 683 +f 677 676 683 +f 671 676 684 +f 676 678 684 +f 678 681 684 +f 681 679 684 +f 679 675 685 +f 683 671 685 +f 671 684 685 +f 684 679 685 +f 675 682 686 +f 682 677 686 +f 677 683 686 +f 685 675 686 +f 683 685 686 +f 672 674 687 +f 674 677 687 +f 682 672 687 +o convex_45 +v 0.330762 0.297419 -0.696456 +v 0.340488 0.248779 -1.494234 +v 0.359943 0.248779 -1.494234 +v 0.321033 0.316879 -1.494234 +v 0.321033 0.268239 -0.394801 +v 0.359943 0.277972 -0.433759 +v 0.359943 0.248779 -0.394801 +v 0.340488 0.316879 -1.494234 +v 0.321033 0.287685 -0.394801 +v 0.321033 0.297419 -1.426003 +v 0.350214 0.297419 -1.494234 +f 695 693 698 +f 690 689 691 +f 689 690 694 +f 692 689 694 +f 690 693 694 +f 690 691 695 +f 691 688 695 +f 688 693 695 +f 688 691 696 +f 691 692 696 +f 693 688 696 +f 692 694 696 +f 694 693 696 +f 691 689 697 +f 692 691 697 +f 689 692 697 +f 693 690 698 +f 690 695 698 +o convex_46 +v -0.330858 -0.266937 1.366588 +v -0.019567 -0.033411 1.765440 +v -0.048733 -0.033411 1.765440 +v -0.029289 -0.335055 1.561113 +v -0.330858 -0.052898 1.580514 +v -0.262772 -0.266937 1.366588 +v -0.321135 -0.033411 1.551353 +v -0.019567 -0.043155 1.726478 +v -0.019567 -0.325311 1.522272 +v -0.048733 -0.325311 1.570874 +v -0.262772 -0.335055 1.366588 +v -0.039011 -0.052898 1.765440 +v -0.321135 -0.237705 1.356787 +v -0.233575 -0.335055 1.356787 +f 711 704 712 +f 701 700 705 +f 699 703 705 +f 703 701 705 +f 705 700 706 +f 700 702 707 +f 704 706 707 +f 706 700 707 +f 708 703 709 +f 703 699 709 +f 702 708 709 +f 700 701 710 +f 702 700 710 +f 701 703 710 +f 708 702 710 +f 703 708 710 +f 699 705 711 +f 706 704 711 +f 705 706 711 +f 707 702 712 +f 704 707 712 +f 709 699 712 +f 702 709 712 +f 699 711 712 +o convex_47 +v 0.379406 -0.374022 -0.462806 +v 0.330774 -0.607484 -0.628282 +v 0.340503 -0.607484 -0.628282 +v 0.398865 -0.374022 -0.949233 +v 0.398865 -0.588010 -0.900614 +v 0.369677 -0.374022 -0.871424 +v 0.389136 -0.412925 -0.462806 +v 0.321037 -0.568559 -0.462806 +v 0.389136 -0.578273 -0.949233 +v 0.340503 -0.578273 -0.462806 +v 0.321037 -0.558822 -0.599092 +v 0.369677 -0.393474 -0.462806 +f 718 723 724 +f 715 714 717 +f 713 716 718 +f 716 713 719 +f 717 716 719 +f 719 713 720 +f 716 717 721 +f 717 714 721 +f 718 716 721 +f 714 715 722 +f 715 717 722 +f 717 719 722 +f 720 714 722 +f 719 720 722 +f 714 720 723 +f 721 714 723 +f 718 721 723 +f 713 718 724 +f 720 713 724 +f 723 720 724 +o convex_48 +v -0.019537 0.248787 1.590318 +v -0.282259 0.239042 1.356787 +v -0.282259 0.239042 1.366548 +v -0.107128 0.326599 1.356787 +v -0.029283 0.326599 1.541651 +v -0.068193 0.316870 1.366548 +v -0.019537 0.239042 1.561104 +v -0.223856 0.248787 1.356787 +v -0.262791 0.258516 1.376286 +v -0.048751 0.248787 1.580557 +v -0.019537 0.326599 1.512459 +v -0.077939 0.326599 1.483245 +f 733 729 736 +f 727 726 731 +f 731 726 732 +f 726 728 732 +f 728 730 732 +f 730 731 732 +f 726 727 733 +f 728 726 733 +f 729 733 734 +f 725 729 734 +f 731 725 734 +f 727 731 734 +f 733 727 734 +f 729 725 735 +f 728 729 735 +f 730 728 735 +f 731 730 735 +f 725 731 735 +f 729 728 736 +f 728 733 736 +o convex_49 +v 0.272377 -0.296117 1.317817 +v 0.272377 -0.169637 1.424868 +v 0.272377 -0.198857 1.424868 +v 0.058307 -0.373937 1.424868 +v 0.262633 -0.364217 1.094065 +v 0.175065 -0.228037 1.415122 +v 0.136153 -0.373937 1.385947 +v 0.175065 -0.364217 1.181688 +v 0.272377 -0.373937 1.142766 +v 0.252910 -0.335037 1.308103 +v 0.262633 -0.169637 1.415122 +v 0.087517 -0.325297 1.415122 +f 742 744 748 +f 737 738 739 +f 739 738 740 +f 740 738 742 +f 739 740 743 +f 738 737 745 +f 741 738 745 +f 743 740 745 +f 740 744 745 +f 744 741 745 +f 737 739 746 +f 739 743 746 +f 745 737 746 +f 743 745 746 +f 738 741 747 +f 742 738 747 +f 741 744 747 +f 744 742 747 +f 740 742 748 +f 744 740 748 +o convex_50 +v 0.340523 -0.082080 1.483141 +v 0.321042 -0.461551 0.704964 +v 0.321042 -0.451781 0.704964 +v 0.476716 -0.082155 0.704964 +v 0.272377 -0.159936 1.415034 +v 0.350244 -0.451781 0.724478 +v 0.282118 -0.373963 1.133042 +v 0.476716 -0.091849 0.782866 +v 0.447514 -0.091849 0.763429 +v 0.350244 -0.091849 1.463704 +v 0.272377 -0.334998 1.103809 +v 0.272377 -0.266912 1.346927 +v 0.321062 -0.082080 1.463704 +v 0.457254 -0.169705 0.704964 +v 0.282118 -0.266912 1.171839 +v 0.369686 -0.091849 1.366364 +v 0.291859 -0.237791 1.376160 +v 0.272377 -0.373963 1.065012 +v 0.457254 -0.101581 0.704964 +f 763 757 767 +f 750 751 752 +f 750 754 755 +f 752 749 756 +f 755 754 758 +f 753 759 760 +f 749 752 761 +f 753 749 761 +f 752 757 761 +f 757 753 761 +f 750 752 762 +f 754 750 762 +f 752 756 762 +f 756 754 762 +f 753 757 763 +f 751 759 763 +f 759 753 763 +f 756 749 764 +f 754 756 764 +f 749 758 764 +f 758 754 764 +f 749 753 765 +f 758 749 765 +f 755 758 765 +f 753 760 765 +f 760 755 765 +f 751 750 766 +f 750 755 766 +f 759 751 766 +f 755 760 766 +f 760 759 766 +f 752 751 767 +f 757 752 767 +f 751 763 767 +o convex_51 +v 0.116730 -0.033411 1.677852 +v -0.019537 -0.422629 1.424933 +v -0.019537 -0.422629 1.463826 +v 0.320996 -0.150184 1.424933 +v -0.000037 -0.052917 1.697315 +v 0.145930 -0.228020 1.434681 +v 0.320996 -0.043164 1.541710 +v -0.009770 -0.383654 1.512499 +v 0.282029 -0.033411 1.531995 +v -0.009770 -0.043164 1.755736 +v 0.038897 -0.403122 1.454143 +v 0.311229 -0.121000 1.424933 +v -0.019503 -0.033411 1.736241 +v 0.077797 -0.052917 1.697315 +v -0.019537 -0.412875 1.424933 +v 0.048597 -0.403122 1.424933 +v 0.301496 -0.169614 1.434681 +f 783 771 784 +f 768 774 776 +f 770 775 777 +f 775 770 778 +f 774 775 778 +f 771 769 779 +f 773 772 779 +f 774 771 779 +f 772 776 779 +f 776 774 779 +f 768 776 780 +f 776 772 780 +f 770 777 780 +f 777 768 780 +f 774 768 781 +f 775 774 781 +f 768 777 781 +f 777 775 781 +f 769 770 782 +f 772 773 782 +f 779 769 782 +f 773 779 782 +f 770 780 782 +f 780 772 782 +f 770 769 783 +f 769 771 783 +f 778 770 783 +f 778 783 784 +f 771 774 784 +f 774 778 784 +o convex_52 +v -0.282236 0.239042 1.366548 +v -0.019537 -0.013942 1.755665 +v -0.029290 -0.023677 1.765466 +v -0.039013 0.239042 1.590330 +v -0.330911 -0.023677 1.570808 +v -0.272513 0.190370 1.366548 +v -0.019537 -0.023677 1.726462 +v -0.019537 0.229307 1.570888 +v -0.321158 -0.033411 1.541645 +v -0.330911 0.200105 1.366548 +v -0.058489 -0.023677 1.755665 +v -0.321158 0.131992 1.386030 +v -0.243283 0.229307 1.366548 +v -0.087657 0.239042 1.551446 +f 794 789 798 +f 787 786 788 +f 786 787 791 +f 788 786 792 +f 785 788 792 +f 786 791 792 +f 791 787 793 +f 785 790 794 +f 787 788 795 +f 788 789 795 +f 789 793 795 +f 793 787 795 +f 790 791 796 +f 793 789 796 +f 791 793 796 +f 789 794 796 +f 794 790 796 +f 790 785 797 +f 791 790 797 +f 785 792 797 +f 792 791 797 +f 788 785 798 +f 789 788 798 +f 785 794 798 +o convex_53 +v 0.466990 -0.257278 -2.087706 +v 0.457258 -0.549080 -1.338648 +v 0.466990 -0.549080 -1.338648 +v 0.457258 -0.091794 -1.309442 +v 0.486447 -0.383640 -1.980673 +v 0.457258 -0.091794 -2.194826 +v 0.466990 -0.091794 -1.309442 +v 0.466990 -0.091794 -2.194826 +v 0.466990 -0.383640 -1.980673 +v 0.476712 -0.480952 -1.572214 +v 0.457258 -0.218335 -2.107120 +v 0.476712 -0.208622 -1.630541 +v 0.466990 -0.549080 -1.309442 +v 0.457258 -0.490666 -1.572214 +f 809 807 812 +f 800 802 804 +f 804 802 805 +f 803 799 806 +f 799 804 806 +f 804 805 806 +f 799 803 807 +f 801 803 808 +f 800 804 809 +f 804 799 809 +f 799 807 809 +f 803 806 810 +f 806 805 810 +f 808 803 810 +f 805 808 810 +f 800 801 811 +f 802 800 811 +f 805 802 811 +f 801 808 811 +f 808 805 811 +f 801 800 812 +f 803 801 812 +f 807 803 812 +f 800 809 812 +o convex_54 +v 0.437793 -0.510119 -1.221710 +v 0.437793 -0.169706 -0.949364 +v 0.466983 -0.159943 -1.280140 +v 0.389150 -0.296241 -0.978544 +v 0.428055 -0.578316 -1.046701 +v 0.447523 -0.091794 -1.299593 +v 0.466983 -0.558838 -1.250960 +v 0.389150 -0.578316 -0.949364 +v 0.457245 -0.549075 -1.309320 +v 0.408610 -0.578316 -0.949364 +v 0.466983 -0.091794 -1.309320 +v 0.408610 -0.228092 -0.949364 +v 0.437793 -0.208614 -0.949364 +f 822 817 825 +f 813 816 818 +f 815 814 819 +f 816 813 820 +f 813 818 821 +f 819 817 821 +f 820 813 821 +f 817 820 821 +f 814 820 822 +f 820 817 822 +f 814 815 823 +f 818 814 823 +f 815 819 823 +f 821 818 823 +f 819 821 823 +f 814 818 824 +f 818 816 824 +f 820 814 824 +f 816 820 824 +f 819 814 825 +f 817 819 825 +f 814 822 825 +o convex_55 +v 0.428053 0.122276 0.714578 +v 0.418328 0.005534 -0.394693 +v 0.437777 0.005534 -0.394693 +v 0.359951 0.239042 -0.394693 +v 0.437777 0.005534 0.714578 +v 0.369685 0.229304 0.588080 +v 0.379429 0.239042 -0.092944 +v 0.457255 0.015272 0.588080 +v 0.389154 0.239042 0.714578 +v 0.369685 0.170921 -0.297295 +v 0.389154 0.190374 -0.394693 +v 0.418328 0.005534 -0.229106 +v 0.428053 0.054201 -0.394693 +v 0.398878 0.219566 0.646389 +v 0.457255 0.005534 0.714578 +v 0.379429 0.209850 0.714578 +v 0.359951 0.209850 -0.394693 +f 835 831 842 +f 828 827 829 +f 827 828 830 +f 830 826 834 +f 829 831 834 +f 832 829 834 +f 828 829 836 +f 829 832 836 +f 827 830 837 +f 830 831 837 +f 835 827 837 +f 831 835 837 +f 833 828 838 +f 828 836 838 +f 836 833 838 +f 826 833 839 +f 834 826 839 +f 832 834 839 +f 836 832 839 +f 833 836 839 +f 826 830 840 +f 830 828 840 +f 833 826 840 +f 828 833 840 +f 831 830 841 +f 830 834 841 +f 834 831 841 +f 829 827 842 +f 831 829 842 +f 827 835 842 +o convex_56 +v -0.360103 -0.510183 -0.462873 +v -0.399014 -0.539377 -0.803372 +v -0.389293 -0.539377 -0.803372 +v -0.408754 -0.364246 -0.803372 +v -0.399014 -0.383737 -0.462873 +v -0.369844 -0.383737 -0.667106 +v -0.340641 -0.500446 -0.482306 +v -0.379552 -0.364246 -0.501773 +v -0.389293 -0.364246 -0.803372 +v -0.379552 -0.539377 -0.783872 +v -0.379552 -0.539377 -0.628272 +v -0.340641 -0.529640 -0.462873 +f 843 853 854 +f 845 844 846 +f 846 844 847 +f 846 847 850 +f 849 848 850 +f 845 846 851 +f 846 850 851 +f 850 848 851 +f 844 845 852 +f 848 849 852 +f 845 851 852 +f 851 848 852 +f 843 847 853 +f 847 844 853 +f 844 852 853 +f 853 852 854 +f 847 843 854 +f 850 847 854 +f 849 850 854 +f 852 849 854 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/933/933.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/933/933.urdf new file mode 100644 index 000000000..12c0a5f09 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/933/933.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/934/934.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/934/934.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/934/934.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/934/934.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/934/934.obj new file mode 100644 index 000000000..83ec5c499 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/934/934.obj @@ -0,0 +1,399 @@ +o convex_0 +v -0.108355 -0.055109 2.818039 +v 0.259144 -0.723514 2.851427 +v 0.292531 -0.723514 2.851427 +v 0.025313 -0.690081 1.114115 +v 0.359424 -0.088542 1.114115 +v -0.242141 -0.690081 1.114115 +v -0.208694 -0.656647 3.085719 +v -0.208694 -0.155409 1.414989 +v 0.292531 -0.222210 2.985170 +v -0.242141 -0.055109 3.085719 +v 0.292531 -0.623214 1.181083 +v -0.141801 -0.155409 1.114115 +v 0.292531 -0.723514 3.018558 +v 0.325978 -0.188842 2.684489 +v 0.359424 -0.255643 1.548539 +v 0.259144 -0.656647 1.114115 +v 0.192310 -0.088542 1.214471 +v -0.041521 -0.222210 3.085719 +v -0.208694 -0.690081 2.049932 +v -0.242141 -0.222210 3.085719 +v 0.359424 -0.255643 1.147695 +v -0.242141 -0.055109 2.985170 +v 0.359424 -0.088542 1.247858 +f 15 5 23 +f 3 2 4 +f 4 2 6 +f 5 4 6 +f 9 1 10 +f 5 6 12 +f 6 8 12 +f 2 3 13 +f 1 9 14 +f 9 13 14 +f 14 13 15 +f 13 3 15 +f 3 4 16 +f 4 5 16 +f 11 3 16 +f 1 5 17 +f 5 12 17 +f 10 7 18 +f 9 10 18 +f 7 13 18 +f 13 9 18 +f 6 2 19 +f 7 6 19 +f 2 13 19 +f 13 7 19 +f 6 7 20 +f 7 10 20 +f 10 6 20 +f 3 11 21 +f 15 3 21 +f 5 15 21 +f 16 5 21 +f 11 16 21 +f 8 6 22 +f 10 1 22 +f 6 10 22 +f 12 8 22 +f 1 17 22 +f 17 12 22 +f 5 1 23 +f 1 14 23 +f 14 15 23 +o convex_1 +v -0.275548 -0.088529 -2.562018 +v 0.325991 -0.790355 -2.996446 +v 0.359424 -0.790355 -2.996446 +v 0.225691 -0.756898 -1.125423 +v 0.225691 -0.188829 -1.125423 +v -0.275548 -0.689986 -1.125423 +v 0.292558 -0.188829 -3.030006 +v -0.208681 -0.623211 -2.963071 +v -0.208681 -0.121985 -1.158984 +v -0.308981 -0.088529 -2.996446 +v -0.308981 -0.255673 -2.996446 +v 0.359424 -0.689986 -2.829387 +v -0.308981 -0.088529 -2.562018 +v -0.108447 -0.121985 -1.125423 +v 0.192323 -0.155373 -3.030006 +v -0.175248 -0.656667 -2.963071 +v 0.292558 -0.188829 -2.528643 +v 0.092023 -0.756898 -1.125423 +v -0.275548 -0.689986 -1.292669 +v -0.275548 -0.589754 -1.125423 +v 0.292558 -0.790355 -2.896322 +v 0.292558 -0.522911 -3.030006 +v -0.242115 -0.656667 -2.328210 +f 39 42 46 +f 27 28 29 +f 27 26 35 +f 28 27 35 +f 26 30 35 +f 24 33 36 +f 34 29 36 +f 33 34 36 +f 29 28 37 +f 24 36 37 +f 36 32 37 +f 33 24 38 +f 34 33 38 +f 37 28 38 +f 24 37 38 +f 31 34 39 +f 28 35 40 +f 35 30 40 +f 30 38 40 +f 38 28 40 +f 27 29 41 +f 41 29 42 +f 29 34 42 +f 32 36 43 +f 36 29 43 +f 29 37 43 +f 37 32 43 +f 25 26 44 +f 26 27 44 +f 39 25 44 +f 27 41 44 +f 41 42 44 +f 42 39 44 +f 26 25 45 +f 30 26 45 +f 38 30 45 +f 34 38 45 +f 25 39 45 +f 39 34 45 +f 34 31 46 +f 31 39 46 +f 42 34 46 +o convex_2 +v -0.275473 -5.468913 -0.456825 +v -0.075000 -4.633420 0.612618 +v -0.141716 -4.633420 0.612618 +v 0.493060 -3.531011 -0.523561 +v -0.576344 -3.531207 -0.490193 +v 0.526526 -5.368818 0.478812 +v 0.493060 -3.531011 0.579139 +v 0.526526 -5.502474 -0.523561 +v -0.442587 -5.368622 0.612618 +v -0.542770 -3.531207 0.512291 +v -0.442587 -5.401987 -0.490193 +v -0.275473 -5.536035 0.378597 +v -0.576344 -3.865247 -0.189436 +v 0.526526 -4.566691 -0.523561 +v 0.526526 -5.335454 0.512180 +v -0.576344 -3.564572 0.445444 +v -0.375763 -5.502277 -0.323131 +v 0.225655 -3.764956 -0.523672 +v 0.526526 -5.502474 -0.289540 +v 0.125365 -5.468913 0.445444 +v 0.259121 -3.531207 0.579139 +v -0.275473 -5.368622 0.612618 +v -0.576344 -3.865247 -0.490193 +v -0.308831 -5.536035 0.077841 +v 0.526526 -5.068143 0.512180 +v -0.442587 -5.067947 0.612618 +v 0.493060 -3.664666 0.579139 +f 68 61 73 +f 49 48 53 +f 50 51 53 +f 48 49 55 +f 53 51 56 +f 54 47 57 +f 57 55 59 +f 50 53 60 +f 52 54 60 +f 52 60 61 +f 56 51 62 +f 55 56 62 +f 51 59 62 +f 59 55 62 +f 47 54 63 +f 57 47 63 +f 55 57 63 +f 51 50 64 +f 54 57 64 +f 50 60 64 +f 60 54 64 +f 54 52 65 +f 58 54 65 +f 58 65 66 +f 65 52 66 +f 49 53 67 +f 56 49 67 +f 53 56 67 +f 48 55 68 +f 55 58 68 +f 52 61 68 +f 58 66 68 +f 66 52 68 +f 59 51 69 +f 57 59 69 +f 51 64 69 +f 64 57 69 +f 58 55 70 +f 54 58 70 +f 63 54 70 +f 55 63 70 +f 60 53 71 +f 53 61 71 +f 61 60 71 +f 55 49 72 +f 56 55 72 +f 49 56 72 +f 53 48 73 +f 61 53 73 +f 48 68 73 +o convex_3 +v 0.192171 -3.463248 -0.991536 +v -0.542783 4.590311 1.113922 +v -0.943726 4.590311 1.113922 +v -0.709896 4.590311 -1.058387 +v 0.994273 4.521946 -1.058167 +v 0.960807 -3.363085 1.013317 +v -1.111055 -3.363085 1.046852 +v 0.960807 4.521946 1.080387 +v -0.943942 -3.396473 -1.024852 +v 1.027739 -3.329698 -0.958001 +v -0.977192 4.590311 -1.058387 +v 1.094671 2.450327 -1.125237 +v 1.094671 -1.558567 0.980002 +v 0.259103 -0.655512 1.113922 +v -0.275488 -0.688900 -1.125237 +v -1.111055 -1.056958 1.080387 +v 1.061205 2.885160 1.047071 +v 0.492932 -3.530023 0.578900 +v 1.027739 -1.525179 -1.091702 +v -1.010657 2.116451 -1.024852 +v -0.576249 -3.530818 -0.490049 +v 0.994273 -3.530023 -0.924467 +v -0.977192 4.289028 1.080387 +v -1.111055 -3.363085 0.812766 +v 1.094671 2.583877 0.178017 +v -1.111055 -2.594376 1.080387 +v -0.576249 -3.530818 0.478734 +v 1.094671 1.247579 -1.091483 +v 1.027739 2.818385 1.080387 +v -1.044123 1.715800 -0.556899 +v -0.509317 -3.029209 -1.058387 +v 1.027739 4.188865 -0.991317 +v 0.593330 -3.029209 1.046852 +v -0.242022 -0.688900 1.113922 +v 0.994273 -3.463248 0.111166 +v 0.225637 -0.756470 -1.125237 +v 1.094671 -1.525179 0.578900 +v -0.141840 4.556129 1.113922 +v -0.977192 -3.396473 -0.723916 +v 1.094671 2.651447 -1.125237 +v 1.094671 0.313522 1.013317 +v -1.010657 3.253218 0.345033 +v 0.359285 -0.221474 1.113922 +v -1.111055 -1.056958 0.846301 +v 1.061205 -1.157121 -1.091702 +v -0.208556 -0.188086 -1.125237 +v 0.292569 4.556129 -1.058387 +v 1.027739 -3.429860 -0.757450 +v 0.994273 -3.061802 1.013317 +v 1.094671 2.951935 -1.091483 +v 0.726978 -3.530023 -0.958001 +v -0.275488 -3.362290 1.047071 +v -1.010657 3.185648 -0.958001 +v -0.977192 3.954357 -1.058387 +v 0.994273 4.521946 -0.323032 +v -1.010657 3.118873 1.046852 +v -0.242022 -2.293888 1.080387 +v -0.977192 4.590311 -0.389883 +v 0.927557 -3.396473 0.946686 +v -0.576249 -3.429860 -1.024633 +v 1.027739 2.617265 -1.125237 +v 0.994273 -3.530023 -0.657065 +v 1.027739 3.653869 -1.091702 +v 1.027739 -2.560988 1.013317 +f 122 121 137 +f 76 75 77 +f 76 77 84 +f 75 76 87 +f 83 74 92 +f 89 76 96 +f 80 89 97 +f 94 80 97 +f 86 85 98 +f 76 89 99 +f 89 80 99 +f 91 80 100 +f 80 94 100 +f 94 95 100 +f 85 86 101 +f 90 81 102 +f 93 97 103 +f 82 88 104 +f 92 74 104 +f 90 98 105 +f 79 87 106 +f 87 76 107 +f 76 99 107 +f 99 87 107 +f 88 85 109 +f 85 92 109 +f 104 88 109 +f 92 104 109 +f 101 86 110 +f 81 75 111 +f 75 87 111 +f 93 82 112 +f 82 94 112 +f 97 93 112 +f 94 97 112 +f 85 88 113 +f 98 85 113 +f 86 98 114 +f 98 90 114 +f 90 102 114 +f 87 79 116 +f 79 102 116 +f 102 81 116 +f 81 111 116 +f 111 87 116 +f 97 89 117 +f 103 97 117 +f 89 115 117 +f 83 92 118 +f 92 85 118 +f 85 101 118 +f 110 83 118 +f 101 110 118 +f 88 84 119 +f 113 88 119 +f 77 75 120 +f 75 81 120 +f 95 83 121 +f 83 110 121 +f 110 86 121 +f 102 79 122 +f 79 108 122 +f 108 121 122 +f 78 105 123 +f 105 98 123 +f 113 78 123 +f 98 113 123 +f 74 83 124 +f 95 94 124 +f 83 95 124 +f 80 91 125 +f 99 80 125 +f 79 106 125 +f 84 93 126 +f 93 103 126 +f 115 84 126 +f 103 117 126 +f 117 115 126 +f 88 82 127 +f 84 88 127 +f 82 93 127 +f 93 84 127 +f 81 90 128 +f 105 78 128 +f 90 105 128 +f 120 81 128 +f 78 120 128 +f 89 96 129 +f 115 89 129 +f 87 99 130 +f 106 87 130 +f 99 125 130 +f 125 106 130 +f 76 84 131 +f 96 76 131 +f 84 115 131 +f 129 96 131 +f 115 129 131 +f 108 79 132 +f 91 108 132 +f 79 125 132 +f 125 91 132 +f 94 82 133 +f 104 74 133 +f 82 104 133 +f 74 124 133 +f 124 94 133 +f 84 113 134 +f 119 84 134 +f 113 119 134 +f 91 100 135 +f 100 95 135 +f 108 91 135 +f 95 121 135 +f 121 108 135 +f 84 77 136 +f 78 113 136 +f 113 84 136 +f 77 120 136 +f 120 78 136 +f 86 114 137 +f 114 102 137 +f 121 86 137 +f 102 122 137 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/934/934.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/934/934.urdf new file mode 100644 index 000000000..8a89751f6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/934/934.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/935/935.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/935/935.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/935/935.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/935/935.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/935/935.obj new file mode 100644 index 000000000..f4fffc422 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/935/935.obj @@ -0,0 +1,567 @@ +o convex_0 +v 2.033932 2.008606 0.328466 +v 1.110186 2.187257 -0.297272 +v 1.110186 1.770242 -0.207846 +v 3.017086 1.770242 -0.267443 +v 3.046985 2.336205 0.239040 +v 3.106588 1.740477 0.179443 +v 1.110186 1.770242 0.298637 +v 1.169789 2.217083 0.209272 +v 2.868176 2.217083 -0.237675 +v 1.110186 2.306439 -0.297272 +v 2.719072 2.336205 0.328466 +v 1.110186 1.710589 -0.178078 +v 3.046985 2.187257 -0.207846 +v 3.046985 2.217083 0.328466 +v 2.629570 1.740477 -0.267443 +v 1.110186 1.889424 0.298637 +v 2.242445 1.740477 0.239040 +v 1.288995 2.306439 -0.297272 +v 1.110186 2.127666 0.239040 +v 3.046985 1.740477 -0.178078 +v 3.017086 1.919250 -0.267443 +v 1.110186 2.306439 -0.237675 +v 3.106588 1.889424 0.060249 +v 1.110186 1.710589 -0.118481 +f 6 17 24 +f 2 3 7 +f 2 7 10 +f 5 10 11 +f 7 3 12 +f 9 5 13 +f 6 5 14 +f 11 1 14 +f 5 11 14 +f 3 2 15 +f 2 4 15 +f 12 3 15 +f 7 1 16 +f 10 7 16 +f 1 11 16 +f 1 7 17 +f 14 1 17 +f 6 14 17 +f 4 2 18 +f 5 9 18 +f 10 5 18 +f 2 10 18 +f 11 8 19 +f 10 16 19 +f 16 11 19 +f 6 12 20 +f 4 13 20 +f 15 4 20 +f 12 15 20 +f 13 4 21 +f 9 13 21 +f 4 18 21 +f 18 9 21 +f 8 11 22 +f 11 10 22 +f 19 8 22 +f 10 19 22 +f 5 6 23 +f 13 5 23 +f 6 20 23 +f 20 13 23 +f 12 6 24 +f 7 12 24 +f 17 7 24 +o convex_1 +v -1.124693 -1.686378 -0.148234 +v -3.091196 -2.282094 -0.356866 +v -3.091196 -2.282094 -0.237657 +v -1.094794 -2.311944 0.030411 +v -3.001694 -1.626679 0.268828 +v -1.094794 -2.311944 0.328466 +v -2.941895 -2.252312 0.238976 +v -3.001694 -1.775725 -0.237657 +v -1.094794 -1.805575 0.298614 +v -1.094794 -2.282094 -0.297228 +v -1.094794 -1.686378 -0.297228 +v -3.001694 -2.013985 0.268828 +v -1.869826 -1.716161 0.298614 +v -1.393004 -1.686378 -0.297228 +v -2.912387 -2.162964 -0.356866 +v -1.303502 -2.311944 0.328466 +v -2.524871 -1.745943 -0.267443 +v -1.661119 -1.865140 -0.327013 +v -2.941895 -1.626679 0.209190 +v -1.541913 -2.311944 0.298614 +v -2.763087 -2.282094 -0.356866 +v -1.094794 -1.775725 0.268828 +v -3.091196 -2.192747 -0.356866 +v -2.852784 -1.626679 0.268828 +v -1.631220 -1.656596 -0.118449 +f 48 25 49 +f 30 28 33 +f 33 28 34 +f 33 34 35 +f 29 27 36 +f 27 31 36 +f 30 33 37 +f 28 30 40 +f 29 36 40 +f 36 31 40 +f 37 29 40 +f 30 37 40 +f 38 39 41 +f 35 34 42 +f 38 35 42 +f 39 38 42 +f 32 29 43 +f 41 32 43 +f 38 41 43 +f 27 26 44 +f 26 28 44 +f 31 27 44 +f 28 40 44 +f 40 31 44 +f 28 26 45 +f 34 28 45 +f 26 39 45 +f 42 34 45 +f 39 42 45 +f 33 35 46 +f 35 25 46 +f 25 37 46 +f 37 33 46 +f 26 27 47 +f 27 29 47 +f 29 32 47 +f 39 26 47 +f 32 41 47 +f 41 39 47 +f 37 25 48 +f 29 37 48 +f 43 29 48 +f 43 48 49 +f 25 35 49 +f 35 38 49 +f 38 43 49 +o convex_2 +v -2.733567 1.770259 -0.327069 +v -1.094794 2.336260 -0.088681 +v -1.392788 2.246845 0.239072 +v -1.094794 1.650995 -0.088681 +v -3.061399 2.336260 0.298669 +v -2.971885 1.800041 0.268840 +v -3.061399 2.187280 -0.237643 +v -1.094794 1.680912 0.268840 +v -1.094794 1.710694 -0.327069 +v -1.094794 2.336260 -0.207875 +v -3.031561 1.859674 -0.327069 +v -1.094794 2.217063 0.209243 +v -1.303467 1.650995 -0.327069 +v -1.452464 2.336260 -0.207875 +v -3.061399 2.336260 0.209243 +v -3.031561 1.800041 -0.118449 +v -1.094794 2.246845 -0.237643 +v -2.465411 2.246845 -0.237643 +v -2.852726 2.336260 0.298669 +v -1.094794 1.800041 0.268840 +v -3.031561 2.187280 0.298669 +v -2.614408 1.770259 0.268840 +f 57 70 71 +f 53 51 57 +f 51 53 58 +f 54 51 59 +f 51 58 59 +f 58 50 60 +f 51 52 61 +f 57 51 61 +f 55 50 62 +f 58 53 62 +f 50 58 62 +f 54 59 63 +f 56 54 64 +f 54 63 64 +f 55 54 65 +f 50 55 65 +f 54 56 65 +f 60 50 65 +f 56 60 65 +f 59 58 66 +f 58 60 66 +f 63 59 66 +f 63 66 67 +f 60 56 67 +f 56 64 67 +f 64 63 67 +f 66 60 67 +f 52 51 68 +f 51 54 68 +f 68 57 69 +f 61 52 69 +f 57 61 69 +f 52 68 69 +f 54 55 70 +f 68 54 70 +f 57 68 70 +f 53 57 71 +f 62 53 71 +f 55 62 71 +f 70 55 71 +o convex_3 +v 1.110186 -2.460296 0.239019 +v -1.094780 -2.371001 -0.386380 +v -1.094780 -2.371001 -0.237485 +v 1.080185 1.590943 0.000871 +v -0.945638 1.591401 0.954087 +v -0.945638 1.591401 -1.012401 +v 0.961045 -3.026746 -0.952760 +v -1.005208 -2.967216 1.103189 +v 1.020615 1.590943 0.983700 +v 1.020615 -3.086734 0.983907 +v 0.990830 1.591401 -1.012194 +v -0.915853 -3.056511 -1.012401 +v -1.005208 1.591401 -0.833478 +v -1.094780 -1.805009 0.298453 +v 1.110186 -1.745479 -0.267306 +v 0.424696 1.412353 1.013728 +v -0.349719 -3.056511 -1.012401 +v 1.080185 1.590943 0.566629 +v -0.975423 0.220381 1.013728 +v -1.005208 1.591401 -0.148024 +v 0.990830 0.399429 -1.012194 +v -0.945638 -2.967216 -1.012401 +v 1.110186 -2.430989 0.447555 +v -1.094780 -1.387842 -0.416200 +v 0.663193 -2.460754 1.013728 +v -0.975423 -3.026746 -0.058770 +v 1.020615 -3.086734 0.506989 +v 0.752548 -3.086734 0.983700 +v -1.034994 -2.788168 0.953880 +v 1.050400 1.590943 0.864626 +v -0.945638 -2.847698 1.103189 +v -0.558431 1.591401 0.983907 +v 1.050400 -2.966758 0.864626 +v 1.020615 1.531413 -0.773838 +v -0.975423 0.697079 0.983907 +v 0.961045 -3.056511 -0.565095 +v 1.110186 -2.191953 -0.177844 +v -1.005208 -2.996981 0.596450 +v -0.945638 -3.056511 -0.744017 +v -1.094780 -2.311929 0.328273 +v 0.990830 -2.967216 -0.773838 +v 0.514267 1.174234 1.013728 +v -1.005208 -1.417607 1.043341 +v 0.663193 -3.056511 1.013728 +v -0.975423 0.905433 -0.952760 +v 1.110186 -1.775244 0.298453 +v -0.945638 1.263071 0.983907 +v -1.005208 -2.847698 1.103189 +v -0.945638 -3.056511 -0.893119 +v 0.007703 -3.056511 -0.982373 +v -0.677571 -2.996981 1.073369 +f 79 109 122 +f 77 76 82 +f 76 77 84 +f 73 74 85 +f 77 82 88 +f 83 77 88 +f 75 82 89 +f 86 75 89 +f 76 84 91 +f 86 78 92 +f 82 86 92 +f 78 88 92 +f 88 82 92 +f 77 83 93 +f 72 86 94 +f 73 85 95 +f 91 84 95 +f 85 91 95 +f 93 73 95 +f 81 80 96 +f 83 88 98 +f 98 81 99 +f 83 98 99 +f 80 81 101 +f 82 80 101 +f 89 82 101 +f 94 89 101 +f 82 76 103 +f 80 82 103 +f 87 80 103 +f 72 94 104 +f 98 72 104 +f 81 98 104 +f 101 81 104 +f 94 101 104 +f 82 75 105 +f 75 86 105 +f 86 82 105 +f 76 91 106 +f 91 85 106 +f 78 98 107 +f 86 72 108 +f 78 86 108 +f 74 73 109 +f 100 74 109 +f 79 100 109 +f 99 97 110 +f 85 74 111 +f 74 100 111 +f 100 85 111 +f 72 98 112 +f 98 78 112 +f 108 72 112 +f 78 108 112 +f 80 87 113 +f 96 80 113 +f 87 102 113 +f 102 96 113 +f 85 100 114 +f 90 106 114 +f 106 85 114 +f 79 81 115 +f 81 96 115 +f 102 79 115 +f 96 102 115 +f 84 77 116 +f 77 93 116 +f 95 84 116 +f 93 95 116 +f 86 89 117 +f 94 86 117 +f 89 94 117 +f 103 76 118 +f 87 103 118 +f 106 90 118 +f 76 106 118 +f 100 79 119 +f 79 102 119 +f 102 87 119 +f 90 114 119 +f 114 100 119 +f 87 118 119 +f 118 90 119 +f 73 93 120 +f 93 83 120 +f 83 99 120 +f 109 73 120 +f 97 109 120 +f 110 97 120 +f 99 110 120 +f 88 78 121 +f 98 88 121 +f 78 107 121 +f 107 98 121 +f 81 79 122 +f 99 81 122 +f 97 99 122 +f 109 97 122 +o convex_4 +v 1.110146 2.217322 0.149602 +v 0.156600 2.961854 -1.042198 +v -0.945654 1.591401 -1.012249 +v -0.915870 2.961854 0.924302 +v -0.945654 1.591401 0.954052 +v 0.990790 1.591544 -1.012249 +v 1.020575 3.021446 0.954052 +v 1.020575 1.591544 0.984001 +v -0.945654 2.961854 -1.012249 +v 0.990790 3.051313 -1.042198 +v -1.094794 2.217322 0.209103 +v -1.094794 1.651135 -0.326999 +v 0.365093 3.051313 -0.982498 +v 1.110146 1.710726 -0.178049 +v 0.931221 2.842672 0.984001 +v -0.647806 2.991722 0.924302 +v -0.498882 1.621411 0.984001 +v -1.094794 2.365943 -0.207799 +v -0.886085 2.991722 -1.012249 +v 1.110146 2.306638 -0.297248 +v 1.020575 3.051313 0.000652 +v 0.990790 2.157731 -1.042198 +v -0.945654 2.961854 0.894353 +v -1.094794 1.681002 0.268604 +v 1.080361 1.591544 0.566702 +v 1.050360 2.872539 0.894551 +v -0.945654 2.276913 0.954052 +v -1.005224 1.591401 -0.833548 +v -0.975439 2.693766 -0.952748 +v -0.081679 2.991722 0.954052 +v 1.110146 1.770317 0.298354 +v 1.050360 1.591544 0.864801 +v 1.020575 3.051313 -0.237549 +v 0.812082 3.021446 0.954052 +v 1.080361 1.591544 0.000652 +f 136 147 157 +f 124 125 131 +f 130 129 137 +f 127 130 139 +f 130 137 139 +f 134 133 140 +f 124 131 141 +f 132 124 141 +f 135 132 141 +f 138 135 141 +f 136 128 142 +f 123 136 142 +f 132 135 143 +f 135 138 143 +f 125 124 144 +f 128 125 144 +f 124 132 144 +f 142 128 144 +f 132 142 144 +f 126 138 145 +f 131 140 145 +f 140 133 145 +f 141 131 145 +f 138 141 145 +f 133 134 146 +f 134 127 146 +f 145 133 146 +f 127 125 147 +f 129 130 148 +f 123 142 148 +f 143 129 148 +f 127 139 149 +f 139 137 149 +f 126 145 149 +f 146 127 149 +f 145 146 149 +f 125 127 150 +f 127 134 150 +f 150 134 151 +f 131 125 151 +f 140 131 151 +f 134 140 151 +f 125 150 151 +f 138 126 152 +f 126 149 152 +f 149 137 152 +f 136 123 153 +f 147 136 153 +f 123 148 153 +f 153 148 154 +f 130 127 154 +f 127 147 154 +f 148 130 154 +f 147 153 154 +f 142 132 155 +f 132 143 155 +f 148 142 155 +f 143 148 155 +f 137 129 156 +f 129 143 156 +f 143 138 156 +f 152 137 156 +f 138 152 156 +f 125 128 157 +f 128 136 157 +f 147 125 157 +o convex_5 +v 1.110186 -2.073564 -0.207857 +v 2.123286 -1.656543 0.000745 +v 2.123286 -1.656543 -0.029063 +v 2.123286 -2.252326 -0.267475 +v 1.110186 -2.341741 0.328466 +v 2.123286 -2.252326 0.328466 +v 1.140036 -1.775740 0.328466 +v 1.110186 -1.686393 -0.267475 +v 2.123286 -1.716175 -0.267475 +v 2.123286 -1.716175 0.238982 +v 1.110186 -2.192761 -0.178049 +v 1.289085 -1.656543 -0.148240 +v 1.944387 -2.252326 -0.267475 +v 1.705987 -1.745957 0.298657 +v 1.289085 -2.341741 0.298657 +v 1.110186 -1.775740 0.298657 +v 1.110186 -2.341741 0.268849 +v 2.123286 -2.162912 0.328466 +v 1.944387 -2.282109 0.328466 +f 172 161 176 +f 160 159 161 +f 161 159 163 +f 162 163 164 +f 158 162 165 +f 160 161 166 +f 161 165 166 +f 163 159 167 +f 162 158 168 +f 159 160 169 +f 164 159 169 +f 160 166 169 +f 166 165 169 +f 165 161 170 +f 158 165 170 +f 168 158 170 +f 159 164 171 +f 167 159 171 +f 162 164 173 +f 165 162 173 +f 164 169 173 +f 169 165 173 +f 162 168 174 +f 170 161 174 +f 168 170 174 +f 172 162 174 +f 161 172 174 +f 164 163 175 +f 163 167 175 +f 171 164 175 +f 167 171 175 +f 163 162 176 +f 161 163 176 +f 162 172 176 +o convex_6 +v 2.302120 -1.656476 0.060269 +v 2.927753 -2.311947 -0.356866 +v 2.719080 -2.311947 -0.327045 +v 2.927753 -2.192735 0.358263 +v 2.123286 -2.252341 0.328443 +v 3.076750 -1.656476 0.179411 +v 2.123286 -1.716146 -0.267405 +v 2.957591 -1.775752 -0.297225 +v 2.123286 -2.252341 -0.267405 +v 2.123286 -1.716146 0.239052 +v 3.106588 -2.311947 -0.297225 +v 3.106588 -2.252341 -0.356866 +v 2.808594 -2.133129 0.358263 +v 3.076750 -1.656476 0.119840 +v 3.076750 -1.716146 0.209231 +v 2.361796 -1.745981 -0.297225 +v 3.076750 -2.311947 -0.207834 +v 2.302120 -2.282112 -0.297225 +v 2.123286 -1.656476 -0.029052 +v 2.153123 -2.133129 0.328443 +f 189 186 196 +f 181 183 185 +f 182 177 186 +f 183 181 186 +f 179 178 187 +f 187 178 188 +f 182 187 188 +f 181 180 189 +f 177 182 190 +f 184 183 190 +f 182 188 190 +f 188 184 190 +f 182 186 191 +f 180 187 191 +f 187 182 191 +f 189 180 191 +f 186 189 191 +f 183 184 192 +f 188 178 192 +f 184 188 192 +f 180 181 193 +f 181 179 193 +f 179 187 193 +f 187 180 193 +f 178 179 194 +f 179 181 194 +f 181 185 194 +f 185 183 194 +f 183 192 194 +f 192 178 194 +f 186 177 195 +f 183 186 195 +f 177 190 195 +f 190 183 195 +f 186 181 196 +f 181 189 196 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/935/935.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/935/935.urdf new file mode 100644 index 000000000..d46c4df62 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/935/935.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/936/936.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/936/936.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/936/936.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/936/936.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/936/936.obj new file mode 100644 index 000000000..cfd690e73 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/936/936.obj @@ -0,0 +1,579 @@ +o convex_0 +v -0.573000 -0.452579 -1.311805 +v 0.172532 2.280124 0.862903 +v 0.980175 2.777462 0.831824 +v 1.011230 -3.155784 0.831824 +v 1.042495 2.746194 -1.249434 +v -1.101147 2.839998 0.769665 +v -1.007771 -3.155784 0.769665 +v 0.949120 -3.187052 -1.280513 +v -0.914606 2.808730 -1.249647 +v -0.976716 -3.124516 -1.156408 +v -0.603845 -0.732221 0.862903 +v 0.452028 1.907269 -1.311805 +v 0.949120 -2.813606 0.862903 +v -0.945661 -3.124516 -1.218354 +v -0.976716 2.839998 -0.783455 +v 1.011230 -0.390043 -1.280726 +v -1.101147 2.777462 0.552109 +v 1.042495 2.746194 -0.690217 +v -1.038827 -1.974680 0.769665 +v 0.700679 -1.384128 -1.311805 +v 0.483083 -3.187052 -1.280513 +v -0.635110 1.192825 0.862903 +v 0.607513 2.808730 0.831824 +v -0.200129 2.156233 -1.311805 +v 0.980175 -3.187052 -0.721296 +v 1.042495 1.503735 -1.249434 +v 0.793844 2.777462 -1.218354 +v -0.945661 1.006397 -1.249647 +v -1.101147 1.907859 0.707293 +v 1.011230 -1.322772 0.831824 +v -0.448570 -3.155784 -1.249647 +v 1.011230 -3.155784 0.396712 +v -0.262239 2.839998 0.676427 +v 0.887009 2.528498 -1.280513 +v -0.479625 -3.155784 0.800745 +v -1.007771 -3.155784 0.210448 +v -0.262239 2.156233 0.862903 +v -0.541945 -0.700953 -1.311805 +v -0.603845 0.260685 -1.311805 +v 1.011230 2.777462 0.116997 +v -0.821441 1.783377 0.831824 +v -0.138019 2.808730 -1.249647 +v 0.607513 0.323221 0.862903 +v 0.980175 -2.285000 -1.280726 +v 0.918065 -3.187052 -0.535033 +v -0.914606 -2.005948 0.800532 +v 0.327808 -3.155784 0.831824 +v 1.011230 2.777462 -0.596979 +v -0.883551 2.652980 0.800532 +v -0.448570 2.839998 0.086130 +v -0.945661 2.808730 -1.094037 +v -1.101147 1.876590 0.769665 +v -0.510680 -3.124516 -1.249647 +v -0.386460 2.839998 0.800745 +f 49 37 54 +f 2 11 13 +f 6 15 17 +f 1 12 20 +f 20 8 21 +f 11 2 22 +f 2 3 23 +f 12 1 24 +f 21 8 25 +f 16 5 26 +f 18 4 26 +f 5 18 26 +f 14 10 28 +f 10 17 28 +f 17 15 28 +f 6 17 29 +f 17 10 29 +f 3 13 30 +f 13 4 30 +f 4 18 30 +f 10 14 31 +f 4 25 32 +f 16 26 32 +f 26 4 32 +f 15 6 33 +f 5 16 34 +f 20 12 34 +f 16 20 34 +f 24 9 34 +f 12 24 34 +f 11 7 35 +f 7 19 36 +f 21 7 36 +f 29 10 36 +f 19 29 36 +f 10 31 36 +f 31 21 36 +f 22 2 37 +f 2 23 37 +f 14 1 38 +f 1 20 38 +f 20 21 38 +f 1 14 39 +f 24 1 39 +f 9 24 39 +f 28 9 39 +f 14 28 39 +f 18 5 40 +f 23 3 40 +f 3 30 40 +f 30 18 40 +f 11 22 41 +f 22 37 41 +f 9 15 42 +f 27 5 42 +f 5 34 42 +f 34 9 42 +f 3 2 43 +f 13 3 43 +f 2 13 43 +f 8 20 44 +f 20 16 44 +f 25 8 44 +f 32 25 44 +f 16 32 44 +f 7 21 45 +f 25 4 45 +f 21 25 45 +f 35 7 45 +f 7 11 46 +f 19 7 46 +f 11 41 46 +f 4 13 47 +f 13 11 47 +f 11 35 47 +f 45 4 47 +f 35 45 47 +f 5 27 48 +f 33 23 48 +f 40 5 48 +f 23 40 48 +f 6 41 49 +f 41 37 49 +f 15 33 50 +f 42 15 50 +f 27 42 50 +f 48 27 50 +f 33 48 50 +f 15 9 51 +f 9 28 51 +f 28 15 51 +f 6 29 52 +f 29 19 52 +f 41 6 52 +f 19 46 52 +f 46 41 52 +f 31 14 53 +f 21 31 53 +f 14 38 53 +f 38 21 53 +f 33 6 54 +f 23 33 54 +f 37 23 54 +f 6 49 54 +o convex_1 +v 0.172557 2.001103 2.788904 +v -0.324465 1.442032 2.074381 +v -0.324465 1.473108 0.862903 +v -0.324465 2.063256 2.788904 +v 0.203642 2.063256 0.862903 +v 0.265813 1.628430 2.913343 +v -0.231208 2.063256 0.862903 +v 0.203642 1.628430 0.862903 +v -0.324465 1.442032 2.851123 +v 0.203642 2.032179 2.323059 +v -0.324465 1.690582 0.894013 +v -0.262294 1.442032 2.540226 +v 0.265813 1.628430 2.353767 +v 0.265813 1.752674 2.882233 +v 0.048330 1.566338 0.894013 +v -0.324465 2.063256 2.291949 +v -0.169095 2.063256 2.788904 +v -0.262294 1.473108 0.862903 +v -0.262294 1.504185 2.882233 +v 0.203642 1.597353 2.913343 +v 0.172557 1.690582 2.913343 +f 74 60 75 +f 57 56 58 +f 58 59 61 +f 59 57 61 +f 57 59 62 +f 58 56 63 +f 57 58 65 +f 61 57 65 +f 63 56 66 +f 62 59 67 +f 64 55 68 +f 59 64 68 +f 67 59 68 +f 60 67 68 +f 62 67 69 +f 58 61 70 +f 65 58 70 +f 61 65 70 +f 59 58 71 +f 55 64 71 +f 64 59 71 +f 68 55 71 +f 56 57 72 +f 57 62 72 +f 66 56 72 +f 62 69 72 +f 69 66 72 +f 58 63 73 +f 73 63 74 +f 63 66 74 +f 67 60 74 +f 66 69 74 +f 69 67 74 +f 60 68 75 +f 71 58 75 +f 68 71 75 +f 58 73 75 +f 73 74 75 +o convex_2 +v -0.572878 -0.297629 -2.429935 +v 0.607553 0.323473 -1.311805 +v 0.607553 0.292418 -1.311805 +v 0.452186 -0.546294 -3.300111 +v -0.479658 0.416751 -3.268970 +v -0.541805 -0.701570 -1.311805 +v -0.604070 0.261363 -1.311805 +v 0.514333 -0.732738 -1.311805 +v -0.510732 -0.670515 -3.206690 +v 0.545406 0.261363 -3.144604 +v 0.452186 -0.670515 -3.300111 +v 0.514333 -0.701570 -2.057420 +v -0.541805 -0.701570 -2.461270 +v -0.604070 0.292306 -1.436172 +v -0.510732 0.385584 -3.144604 +v 0.483260 0.292418 -3.144604 +v 0.483260 -0.701570 -2.678668 +v -0.604070 -0.049300 -1.311805 +v -0.541805 -0.639460 -3.113658 +v 0.141453 0.354529 -1.840022 +v 0.576361 0.323473 -1.933443 +v -0.510732 -0.453017 -3.237830 +v 0.545406 0.168085 -3.144604 +v 0.265746 -0.670515 -3.300111 +v 0.514333 -0.732738 -1.653570 +v 0.390040 0.292306 -3.175744 +v -0.604070 0.137143 -1.684905 +v -0.448704 0.416751 -3.268970 +v 0.327893 0.323473 -1.311805 +v 0.483260 -0.453017 -3.268970 +v -0.479658 0.105975 -3.268970 +v -0.572878 -0.453017 -1.342946 +f 93 94 107 +f 78 77 81 +f 81 77 82 +f 78 81 83 +f 77 78 85 +f 83 81 88 +f 89 80 90 +f 88 84 92 +f 81 82 93 +f 82 89 93 +f 84 88 94 +f 76 90 94 +f 93 76 94 +f 80 89 95 +f 77 85 96 +f 85 91 96 +f 90 80 97 +f 84 94 97 +f 94 90 97 +f 85 78 98 +f 78 87 98 +f 80 79 99 +f 79 86 99 +f 86 92 99 +f 92 84 99 +f 84 97 99 +f 78 83 100 +f 87 78 100 +f 83 88 100 +f 92 87 100 +f 88 92 100 +f 85 79 101 +f 91 85 101 +f 90 76 102 +f 89 90 102 +f 76 93 102 +f 93 89 102 +f 79 80 103 +f 95 77 103 +f 80 95 103 +f 77 96 103 +f 96 91 103 +f 101 79 103 +f 91 101 103 +f 82 77 104 +f 89 82 104 +f 77 95 104 +f 95 89 104 +f 79 85 105 +f 86 79 105 +f 92 86 105 +f 87 92 105 +f 85 98 105 +f 98 87 105 +f 97 80 106 +f 80 99 106 +f 99 97 106 +f 88 81 107 +f 81 93 107 +f 94 88 107 +o convex_3 +v 0.265789 2.001094 -1.405032 +v -0.137964 1.504106 -3.237830 +v -0.075836 1.504106 -3.237830 +v 0.141532 2.125357 -3.113658 +v -0.200092 2.156454 -1.311805 +v 0.296880 1.628433 -1.311805 +v -0.200092 1.597399 -1.311805 +v -0.262330 2.063225 -3.175744 +v 0.203660 1.597399 -3.300111 +v 0.234697 2.156454 -1.311805 +v 0.203660 2.094323 -3.175744 +v -0.200092 1.504106 -2.771699 +v -0.262330 1.845797 -3.082518 +v -0.262330 2.094323 -2.461270 +v 0.265789 1.597399 -2.398795 +v 0.110440 1.597399 -1.311805 +v 0.296880 1.690564 -1.560344 +v 0.234697 1.597399 -3.175744 +v -0.200092 1.504106 -3.206690 +v 0.234697 2.156454 -1.746796 +v -0.200092 1.566301 -1.498258 +v -0.262330 2.094323 -2.709614 +v -0.137964 2.156454 -1.622819 +v 0.265789 1.597399 -1.902108 +f 113 123 131 +f 113 112 114 +f 110 109 116 +f 109 115 116 +f 112 113 117 +f 113 108 117 +f 115 111 118 +f 116 115 118 +f 109 110 119 +f 114 112 121 +f 120 114 121 +f 115 120 121 +f 113 114 123 +f 119 110 123 +f 108 113 124 +f 118 108 124 +f 113 122 124 +f 124 122 125 +f 110 116 125 +f 116 118 125 +f 122 110 125 +f 118 124 125 +f 115 109 126 +f 109 119 126 +f 120 115 126 +f 119 120 126 +f 117 108 127 +f 112 117 127 +f 108 118 127 +f 118 111 127 +f 114 120 128 +f 120 119 128 +f 123 114 128 +f 119 123 128 +f 111 115 129 +f 121 112 129 +f 115 121 129 +f 127 111 130 +f 112 127 130 +f 111 129 130 +f 129 112 130 +f 110 122 131 +f 122 113 131 +f 123 110 131 +o convex_4 +v -0.044835 0.074987 3.472773 +v -0.262327 -0.484199 4.683976 +v -0.200187 -0.484199 4.683976 +v 0.017202 -0.422041 2.913343 +v 0.172605 0.074987 4.870581 +v 0.234746 -0.422041 2.913343 +v 0.172605 -0.453120 4.808124 +v -0.231257 0.012828 2.913343 +v -0.169116 0.137146 4.870581 +v 0.234746 0.074987 2.975800 +v -0.293398 -0.359821 2.913343 +v 0.234746 0.012828 3.658994 +v -0.262327 -0.390961 4.777087 +v -0.231257 0.043908 3.565883 +v 0.203624 -0.453120 3.255131 +v 0.203624 -0.453120 4.311343 +v 0.203624 0.074987 4.559638 +v 0.234746 0.043908 2.913343 +v -0.293398 -0.266643 2.975800 +v -0.013868 -0.484199 4.777087 +v -0.200187 0.043908 4.808124 +v -0.293398 -0.390961 3.162021 +v -0.169116 0.012828 4.870581 +v -0.262327 -0.484199 4.777087 +f 138 154 155 +f 137 135 139 +f 132 139 140 +f 139 132 141 +f 132 140 141 +f 139 135 142 +f 137 141 143 +f 140 139 145 +f 134 133 146 +f 133 135 146 +f 135 137 146 +f 137 143 147 +f 146 137 147 +f 136 138 148 +f 140 136 148 +f 141 140 148 +f 143 141 148 +f 138 147 148 +f 147 143 148 +f 137 139 149 +f 141 137 149 +f 139 141 149 +f 139 142 150 +f 145 139 150 +f 133 134 151 +f 134 146 151 +f 147 138 151 +f 146 147 151 +f 144 140 152 +f 140 145 152 +f 150 144 152 +f 145 150 152 +f 135 133 153 +f 142 135 153 +f 150 142 153 +f 144 150 153 +f 138 136 154 +f 136 140 154 +f 140 144 154 +f 154 144 155 +f 133 151 155 +f 151 138 155 +f 153 133 155 +f 144 153 155 +o convex_5 +v -0.231263 -0.018239 2.913343 +v -0.604070 -0.732738 0.862903 +v -0.604070 -0.608380 0.862903 +v 0.141544 -0.701616 0.862903 +v -0.448612 0.603155 0.862903 +v -0.541887 -0.701616 2.882233 +v 0.141544 0.323449 2.788904 +v 0.141544 -0.639502 2.913343 +v -0.510796 0.416684 2.757794 +v 0.141544 0.323449 0.862903 +v -0.541887 0.261205 2.540226 +v -0.479777 0.603155 0.862903 +v -0.075951 -0.732738 0.894013 +v 0.141544 -0.670494 2.851123 +v 0.141544 0.043874 2.913343 +v -0.604070 -0.732738 1.328949 +v 0.079361 0.354440 2.788904 +v -0.541887 -0.080222 2.820014 +v -0.510796 -0.732738 1.857214 +v -0.604070 -0.515145 1.111581 +v -0.417667 0.416684 2.757794 +v -0.572906 -0.639502 2.291949 +v -0.355411 -0.453032 2.913343 +f 163 156 178 +f 157 158 159 +f 159 158 160 +f 159 162 163 +f 159 160 165 +f 162 159 165 +f 166 164 167 +f 160 158 167 +f 164 160 167 +f 157 159 168 +f 159 163 169 +f 163 161 169 +f 168 159 169 +f 163 162 170 +f 156 163 170 +f 164 156 170 +f 158 157 171 +f 157 168 171 +f 165 160 172 +f 162 165 172 +f 170 162 172 +f 164 170 172 +f 161 156 173 +f 156 164 173 +f 164 166 173 +f 169 161 174 +f 168 169 174 +f 161 171 174 +f 171 168 174 +f 166 167 175 +f 167 158 175 +f 158 171 175 +f 171 166 175 +f 160 164 176 +f 172 160 176 +f 164 172 176 +f 166 171 177 +f 171 161 177 +f 161 173 177 +f 173 166 177 +f 156 161 178 +f 161 163 178 +o convex_6 +v 0.483217 0.199256 2.851123 +v 0.576401 -0.825939 0.862903 +v 0.607553 -0.825939 0.862903 +v 0.545339 0.416751 0.862903 +v 0.141590 -0.701622 0.862903 +v 0.141590 -0.639463 2.913343 +v 0.141590 0.323452 0.862903 +v 0.141590 0.323452 2.788904 +v 0.514278 -0.577182 2.913343 +v 0.607553 0.292434 2.788904 +v 0.607553 0.323452 0.862903 +v 0.141590 0.043920 2.913343 +v 0.514278 -0.670603 2.633555 +v 0.141590 -0.670603 2.788904 +v 0.607553 -0.018239 2.540226 +v 0.607553 -0.763781 1.236021 +v 0.483217 0.416751 1.049362 +v 0.359064 0.323452 2.788904 +v 0.203758 0.354593 0.862903 +v 0.141590 -0.701622 1.546517 +v 0.483217 -0.639463 2.913343 +v 0.545339 0.416751 1.080472 +f 186 196 200 +f 181 180 182 +f 182 180 183 +f 182 183 185 +f 183 184 185 +f 185 184 186 +f 179 187 188 +f 181 182 189 +f 188 181 189 +f 186 184 190 +f 179 186 190 +f 187 179 190 +f 184 187 190 +f 180 181 192 +f 184 183 192 +f 181 191 192 +f 181 188 193 +f 188 187 193 +f 191 181 194 +f 187 191 194 +f 181 193 194 +f 193 187 194 +f 186 179 196 +f 179 188 196 +f 182 185 197 +f 185 186 197 +f 195 182 197 +f 186 195 197 +f 183 180 198 +f 180 192 198 +f 192 183 198 +f 187 184 199 +f 191 187 199 +f 184 192 199 +f 192 191 199 +f 189 182 200 +f 188 189 200 +f 182 195 200 +f 195 186 200 +f 196 188 200 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/936/936.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/936/936.urdf new file mode 100644 index 000000000..818237e04 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/936/936.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/937/937.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/937/937.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/937/937.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/937/937.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/937/937.obj new file mode 100644 index 000000000..678a5864d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/937/937.obj @@ -0,0 +1,429 @@ +o convex_0 +v 1.056316 3.332415 0.034725 +v -1.109477 -1.354363 0.212610 +v -1.109477 -1.354363 0.301870 +v 1.056316 -1.354825 1.014045 +v 1.056316 -1.354825 -1.062903 +v -0.931305 3.273305 -0.914277 +v -1.020284 3.213733 1.043516 +v 1.086190 3.273767 -1.062903 +v -0.960965 -1.354825 -0.914277 +v 0.996997 3.362894 1.043728 +v -1.049943 -1.354363 1.103094 +v -0.278580 3.362894 0.598486 +v -0.783007 3.273305 -0.944171 +v -1.049943 2.650341 1.013833 +v 0.848699 -0.286226 -1.062903 +v 1.056316 0.574102 1.014045 +v 1.086190 0.633211 -1.033008 +v -0.783007 -1.354825 -0.944171 +v -0.960965 2.798578 -0.795545 +v 1.026656 1.166587 1.043728 +v -1.049943 1.938250 1.073199 +v 0.848699 3.273767 -1.062903 +v -1.020284 3.213733 0.509438 +v -0.842326 -1.354825 1.102882 +v 1.086190 3.273767 -0.706709 +v -0.842326 3.303322 -0.617661 +v 1.026656 3.362894 0.865419 +v -0.960965 0.900592 -0.914277 +v -1.020284 -0.583162 1.103094 +v -1.109477 -1.146554 0.212610 +v -0.604835 3.332415 0.657852 +v -0.397218 -1.354825 -0.973854 +v 1.056316 3.303322 -0.617661 +v 0.759720 3.362894 1.043728 +v 1.026656 2.887243 1.043728 +v -0.990624 -1.354363 -0.736392 +v 0.878358 -1.354825 -1.062903 +v -0.960965 3.273305 -0.587978 +v -1.020284 1.226159 -0.409881 +v 1.026656 3.362894 0.687535 +v -0.960965 3.243750 0.776583 +v -0.664369 3.332415 0.123773 +v 0.018016 1.968267 -1.003537 +f 32 13 43 +f 3 2 9 +f 5 4 9 +f 8 5 15 +f 4 5 17 +f 5 8 17 +f 5 9 18 +f 9 13 18 +f 4 16 20 +f 3 11 21 +f 14 3 21 +f 7 14 21 +f 8 15 22 +f 14 7 23 +f 3 9 24 +f 9 4 24 +f 11 3 24 +f 4 20 24 +f 8 1 25 +f 16 4 25 +f 4 17 25 +f 17 8 25 +f 13 6 26 +f 8 22 26 +f 22 13 26 +f 12 10 27 +f 25 1 27 +f 13 9 28 +f 6 13 28 +f 19 6 28 +f 10 21 29 +f 21 11 29 +f 11 24 29 +f 24 10 29 +f 2 3 30 +f 3 14 30 +f 14 23 30 +f 5 18 32 +f 18 13 32 +f 1 8 33 +f 8 26 33 +f 26 12 33 +f 10 12 34 +f 7 21 34 +f 21 10 34 +f 31 7 34 +f 12 31 34 +f 20 16 35 +f 10 24 35 +f 24 20 35 +f 16 25 35 +f 27 10 35 +f 25 27 35 +f 9 2 36 +f 28 9 36 +f 2 30 36 +f 30 28 36 +f 15 5 37 +f 5 32 37 +f 32 15 37 +f 6 19 38 +f 23 7 38 +f 26 6 38 +f 19 28 39 +f 30 23 39 +f 28 30 39 +f 38 19 39 +f 23 38 39 +f 27 1 40 +f 12 27 40 +f 1 33 40 +f 33 12 40 +f 7 31 41 +f 38 7 41 +f 38 41 42 +f 12 26 42 +f 31 12 42 +f 26 38 42 +f 41 31 42 +f 13 22 43 +f 22 15 43 +f 15 32 43 +o convex_1 +v -1.079806 -2.066933 0.093879 +v 0.878410 -2.749251 -1.062903 +v 0.878410 -2.066933 -1.062903 +v 1.086190 -2.066933 1.013833 +v -1.049911 -2.808640 1.103094 +v -0.960863 -2.749251 -0.914489 +v 1.026612 -2.719629 1.013833 +v -1.049911 -2.066933 1.103094 +v -0.960863 -2.066933 -0.914489 +v 1.056295 -2.749251 -1.062903 +v 1.056295 -2.066933 -1.062903 +v -0.723613 -2.808640 1.103094 +v -1.049911 -2.808640 0.657852 +v 1.086190 -2.719629 0.865419 +v 1.086190 -2.274721 -0.528612 +v -0.812661 -2.749251 -0.944171 +v -0.990546 -2.719629 -0.855123 +v 1.056295 -2.749251 -0.261467 +v -0.990546 -2.778946 -0.380410 +v -0.516045 -2.749251 1.103094 +v -1.079806 -2.571230 0.895314 +v -0.664247 -2.066933 1.103094 +v -0.812661 -2.066933 -0.944171 +v -0.990546 -2.066933 -0.795757 +v -1.079806 -2.066933 0.776583 +v 1.086190 -2.719629 0.123773 +v 1.086190 -2.689935 1.013833 +v 1.086190 -2.066933 -0.291362 +v -0.990546 -2.808640 0.598274 +v -1.079806 -2.215405 0.212610 +f 56 64 73 +f 46 44 47 +f 47 44 51 +f 44 46 52 +f 45 46 53 +f 46 47 54 +f 53 46 54 +f 51 48 55 +f 55 48 56 +f 53 54 58 +f 47 57 58 +f 46 45 59 +f 49 52 59 +f 52 49 60 +f 50 55 61 +f 55 53 61 +f 57 50 61 +f 53 57 61 +f 45 53 62 +f 59 45 62 +f 49 59 62 +f 60 49 62 +f 56 60 62 +f 55 50 63 +f 51 55 63 +f 48 51 64 +f 56 48 64 +f 47 51 65 +f 63 47 65 +f 51 63 65 +f 52 46 66 +f 46 59 66 +f 59 52 66 +f 44 52 67 +f 60 44 67 +f 52 60 67 +f 51 44 68 +f 44 64 68 +f 64 51 68 +f 57 53 69 +f 53 58 69 +f 58 57 69 +f 57 47 70 +f 50 57 70 +f 47 63 70 +f 63 50 70 +f 54 47 71 +f 47 58 71 +f 58 54 71 +f 53 55 72 +f 55 56 72 +f 62 53 72 +f 56 62 72 +f 44 60 73 +f 60 56 73 +f 64 44 73 +o convex_2 +v 2.955202 -1.384496 0.331643 +v 2.658461 -1.948190 -0.321123 +v 2.302447 -1.977902 -0.291411 +v 3.044300 -2.037262 0.331643 +v 1.116239 -1.384496 0.272283 +v 1.116239 -2.037262 0.212923 +v 1.116239 -1.503215 -0.232051 +v 3.044300 -1.414208 -0.172755 +v 1.175511 -2.037262 -0.202403 +v 3.014474 -1.829534 -0.321123 +v 3.014474 -1.948190 -0.261763 +v 2.272811 -1.414208 0.331643 +v 2.302447 -2.037262 0.301931 +v 3.044300 -2.037262 0.242571 +v 1.116239 -1.384496 0.212923 +v 1.145875 -1.562575 0.272283 +v 2.272811 -1.443856 -0.202403 +v 1.116239 -2.037262 -0.172755 +v 2.984838 -1.384496 0.123916 +v 1.294245 -2.037262 0.242571 +v 3.044300 -1.859182 0.331643 +v 2.836468 -2.037262 0.331643 +v 1.116239 -1.621871 -0.232051 +v 1.383155 -2.037262 -0.202403 +v 3.044300 -1.977902 -0.054036 +f 87 84 98 +f 79 78 80 +f 75 76 82 +f 77 79 82 +f 75 80 83 +f 76 75 84 +f 75 83 84 +f 77 74 85 +f 74 78 85 +f 79 77 86 +f 81 77 87 +f 77 82 87 +f 76 84 87 +f 78 74 88 +f 80 78 88 +f 78 79 89 +f 85 78 89 +f 83 80 90 +f 81 83 90 +f 80 88 90 +f 88 81 90 +f 79 80 91 +f 82 79 91 +f 74 81 92 +f 88 74 92 +f 81 88 92 +f 79 86 93 +f 89 79 93 +f 86 89 93 +f 74 77 94 +f 77 81 94 +f 81 74 94 +f 77 85 95 +f 86 77 95 +f 85 89 95 +f 89 86 95 +f 80 75 96 +f 75 82 96 +f 91 80 96 +f 82 91 96 +f 82 76 97 +f 76 87 97 +f 87 82 97 +f 83 81 98 +f 84 83 98 +f 81 87 98 +o convex_3 +v -2.177466 -1.473512 0.064585 +v -3.067775 -1.592203 -0.321123 +v -3.067775 -1.414167 -0.321123 +v -1.109669 -1.859226 -0.232011 +v -3.037875 -1.918571 0.242609 +v -1.109669 -1.977916 0.361314 +v -3.008166 -2.037262 -0.291330 +v -3.037875 -1.473512 0.301928 +v -1.109669 -1.562561 0.301928 +v -1.109669 -1.503215 -0.202418 +v -1.109669 -2.037262 -0.232011 +v -2.652042 -1.414167 -0.321123 +v -2.978457 -1.918571 -0.321123 +v -3.008166 -2.037262 -0.202418 +v -1.139378 -1.562561 0.331588 +v -1.109669 -2.007559 0.242609 +v -1.643855 -1.977916 0.331588 +v -3.067775 -1.414167 -0.113306 +v -1.525211 -1.473512 -0.172692 +v -3.037875 -1.592203 0.301928 +v -2.296110 -1.532857 0.331588 +v -1.643855 -2.037262 -0.261670 +v -1.109669 -1.799820 0.361314 +v -2.859813 -1.473512 0.301928 +v -2.533398 -1.948213 0.272269 +f 115 103 123 +f 103 100 105 +f 104 102 107 +f 107 102 108 +f 102 104 109 +f 100 101 110 +f 108 102 110 +f 102 109 110 +f 105 100 111 +f 100 110 111 +f 103 105 112 +f 105 109 112 +f 107 108 113 +f 109 104 114 +f 112 109 114 +f 112 114 115 +f 114 104 115 +f 101 100 116 +f 100 103 116 +f 110 101 116 +f 110 116 117 +f 108 110 117 +f 99 113 117 +f 113 108 117 +f 116 99 117 +f 103 115 118 +f 115 104 118 +f 116 103 118 +f 106 116 118 +f 118 104 119 +f 106 118 119 +f 109 105 120 +f 110 109 120 +f 105 111 120 +f 111 110 120 +f 104 107 121 +f 107 113 121 +f 113 119 121 +f 119 104 121 +f 113 99 122 +f 99 116 122 +f 116 106 122 +f 106 119 122 +f 119 113 122 +f 103 112 123 +f 112 115 123 +o convex_4 +v -1.109477 -2.007474 0.242293 +v 0.878428 -2.066933 -1.062903 +v 0.878428 -1.354825 -1.062903 +v 1.086019 -2.066933 1.014045 +v -1.050010 -1.354825 1.103094 +v -0.960918 -1.354825 -0.914489 +v 1.056394 -1.354825 1.014045 +v -0.960918 -2.066933 -0.914489 +v -1.050010 -2.066933 1.103094 +v 1.056394 -1.354825 -1.062903 +v 1.056394 -2.066933 -1.062903 +v -1.109477 -1.503297 -0.202313 +v 1.115861 -1.503227 -0.231996 +v 1.115861 -2.037239 -0.172631 +v -1.109477 -1.354825 0.331341 +v -1.109477 -2.037239 -0.231996 +v 1.115861 -1.384519 0.272187 +v -0.812577 -1.651560 -0.944172 +v -0.693860 -1.948155 1.103094 +v -1.109477 -1.948155 0.568803 +v -0.812577 -2.066933 -0.944172 +v -0.842202 -1.354825 1.103094 +v -0.397177 -1.354825 -0.973854 +v 1.115861 -2.037239 0.212822 +v 1.086019 -1.770198 1.014045 +f 130 142 148 +f 128 126 129 +f 126 128 130 +f 125 127 131 +f 131 127 132 +f 125 126 133 +f 126 130 133 +f 127 125 134 +f 125 133 134 +f 134 133 136 +f 134 136 137 +f 127 134 137 +f 128 129 138 +f 135 124 138 +f 129 135 138 +f 129 131 139 +f 132 124 139 +f 131 132 139 +f 124 135 139 +f 135 129 139 +f 133 130 140 +f 136 133 140 +f 137 136 140 +f 131 129 141 +f 128 132 142 +f 132 127 142 +f 124 132 143 +f 132 128 143 +f 128 138 143 +f 138 124 143 +f 125 131 144 +f 131 141 144 +f 130 128 145 +f 142 130 145 +f 128 142 145 +f 126 125 146 +f 129 126 146 +f 141 129 146 +f 125 144 146 +f 144 141 146 +f 127 137 147 +f 140 127 147 +f 137 140 147 +f 127 140 148 +f 140 130 148 +f 142 127 148 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/937/937.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/937/937.urdf new file mode 100644 index 000000000..d1db02ea7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/937/937.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/938/938.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/938/938.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/938/938.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/938/938.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/938/938.obj new file mode 100644 index 000000000..17b6659c5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/938/938.obj @@ -0,0 +1,561 @@ +o convex_0 +v 1.094057 -0.576483 -0.088541 +v -1.084682 -1.810862 0.455879 +v -1.048214 -1.265983 -1.069168 +v -1.011958 0.404211 1.036790 +v 1.021333 -1.810862 1.073070 +v 1.021333 -1.810862 -0.996187 +v 0.985077 0.404211 -1.032677 +v 1.094057 0.404211 1.073070 +v -1.084682 0.404211 -1.032677 +v -0.939234 -1.810862 1.073280 +v -1.011958 -1.810862 -1.069168 +v 0.403923 -0.721322 -1.069168 +v -0.975490 0.404211 1.073280 +v -1.084682 0.041031 -1.069168 +v 1.094057 0.404211 0.020092 +v 1.057588 -1.810862 -0.669451 +v -1.084682 0.404211 -0.415486 +v 1.057588 -1.375046 1.073070 +v 0.113453 -1.810862 -1.069168 +v 1.021333 0.222513 -0.959906 +v -0.975490 -1.556527 1.073280 +v 1.094057 -0.830384 -0.052260 +v 0.985077 -0.576483 -1.032677 +v -1.084682 -0.395002 -1.069168 +v -1.048214 -0.612910 0.782615 +v 1.057588 -1.810862 -0.124821 +v 0.694394 -1.738226 -1.032677 +v 1.094057 0.186303 1.073070 +v -1.084682 -1.738226 0.492160 +f 21 25 29 +f 5 2 6 +f 7 4 8 +f 4 7 9 +f 2 5 10 +f 2 3 11 +f 6 2 11 +f 11 3 12 +f 8 4 13 +f 10 8 13 +f 2 9 14 +f 9 7 14 +f 7 12 14 +f 12 3 14 +f 8 1 15 +f 7 8 15 +f 5 6 16 +f 9 2 17 +f 4 9 17 +f 10 5 18 +f 6 11 19 +f 11 12 19 +f 6 7 20 +f 15 1 20 +f 7 15 20 +f 1 16 20 +f 16 6 20 +f 2 10 21 +f 13 4 21 +f 10 13 21 +f 1 8 22 +f 16 1 22 +f 7 6 23 +f 12 7 23 +f 3 2 24 +f 14 3 24 +f 2 14 24 +f 4 17 25 +f 21 4 25 +f 5 16 26 +f 18 5 26 +f 16 22 26 +f 22 18 26 +f 6 19 27 +f 19 12 27 +f 23 6 27 +f 12 23 27 +f 8 10 28 +f 10 18 28 +f 22 8 28 +f 18 22 28 +f 17 2 29 +f 2 21 29 +f 25 17 29 +o convex_1 +v -1.955550 1.602288 -1.105480 +v 2.982276 2.655597 -0.669664 +v 2.945633 2.619017 0.709986 +v 3.054962 0.440563 -0.923565 +v -2.936508 0.440563 1.036957 +v -3.081879 2.510161 1.000314 +v 3.018319 0.440563 1.072949 +v -3.009193 0.513501 -1.069054 +v -2.972550 2.582879 -1.032628 +v 2.909591 2.582879 1.109593 +v 1.420434 2.619017 -1.069054 +v 0.984920 0.404645 -1.032628 +v -0.394308 2.655597 0.346806 +v 3.018319 2.546520 -0.923565 +v -0.975193 0.404645 1.073166 +v -1.084522 0.404645 -1.032628 +v -3.009193 1.783862 1.036957 +v 0.149934 2.619017 -1.105480 +v -3.081879 2.546299 0.819049 +v 2.982276 1.783862 1.109593 +v -1.955550 0.585999 1.073166 +v 2.364748 2.655597 -0.996418 +v 3.054962 0.477142 0.528505 +v 1.093648 0.404645 1.073166 +v 1.020962 1.348656 -1.068837 +v 2.473476 2.582879 1.109593 +v 2.945633 1.130723 1.109593 +v -0.249537 2.655597 -0.342694 +v -1.447351 2.582879 -1.105480 +v -3.009193 2.582879 -0.669447 +v 2.691533 0.477142 -0.960208 +v -3.081879 2.255868 1.000314 +v -1.483994 0.513281 -1.068837 +v -3.009193 1.239579 -1.069054 +v -3.009193 0.513501 -0.633238 +v 2.836905 2.655597 -0.960208 +v 0.585448 2.546299 -1.105480 +v -2.972550 0.477142 -0.342694 +v -3.009193 2.582879 -0.197422 +v 3.018319 1.094364 1.072949 +v 3.054962 1.021646 -0.923565 +v -3.081879 2.546299 0.637350 +v -2.972550 0.803932 1.036957 +v 2.945633 2.510161 1.109593 +v 2.292062 1.856580 1.109593 +v 1.311705 0.549860 -1.032628 +v 0.948276 1.275938 -1.068837 +v 0.331348 2.655597 0.237744 +v 2.982276 2.619017 0.020269 +v -2.936508 0.440563 0.891468 +v -2.318979 2.546299 -1.069054 +f 63 38 80 +f 39 32 42 +f 41 44 45 +f 37 41 45 +f 44 34 45 +f 34 44 50 +f 42 31 51 +f 47 38 51 +f 40 47 51 +f 36 33 52 +f 33 36 53 +f 41 33 53 +f 44 41 53 +f 39 42 55 +f 35 46 55 +f 48 35 55 +f 42 48 55 +f 49 39 55 +f 46 50 55 +f 36 49 56 +f 50 44 56 +f 53 36 56 +f 44 53 56 +f 49 55 56 +f 38 42 57 +f 42 51 57 +f 51 38 57 +f 47 30 58 +f 38 47 58 +f 42 38 59 +f 33 41 60 +f 54 40 60 +f 46 35 61 +f 35 48 61 +f 37 30 62 +f 41 37 62 +f 30 37 63 +f 58 30 63 +f 59 38 63 +f 37 34 64 +f 61 37 64 +f 31 43 65 +f 40 51 65 +f 51 31 65 +f 33 60 65 +f 60 40 65 +f 30 47 66 +f 47 40 66 +f 40 54 66 +f 37 45 67 +f 48 42 68 +f 42 59 68 +f 59 48 68 +f 49 36 69 +f 36 52 69 +f 52 43 69 +f 52 33 70 +f 43 52 70 +f 65 43 70 +f 33 65 70 +f 48 59 71 +f 37 61 71 +f 61 48 71 +f 63 37 71 +f 59 63 71 +f 34 50 72 +f 50 46 72 +f 46 61 72 +f 64 34 72 +f 61 64 72 +f 32 39 73 +f 39 49 73 +f 55 50 74 +f 50 56 74 +f 56 55 74 +f 60 41 75 +f 54 60 75 +f 62 30 76 +f 41 62 76 +f 30 66 76 +f 66 54 76 +f 75 41 76 +f 54 75 76 +f 32 31 77 +f 42 32 77 +f 31 42 77 +f 31 32 78 +f 43 31 78 +f 69 43 78 +f 49 69 78 +f 32 73 78 +f 73 49 78 +f 34 37 79 +f 45 34 79 +f 37 67 79 +f 67 45 79 +f 38 58 80 +f 58 63 80 +o convex_2 +v -0.140539 3.091498 -0.342914 +v 0.295196 4.580012 0.310714 +v 0.331512 4.471181 0.129136 +v 0.331512 2.655597 0.238032 +v -0.285804 4.616481 0.274373 +v 0.331512 4.543543 -0.270232 +v -0.249487 2.655597 0.201755 +v 0.331512 2.655597 -0.270232 +v -0.213171 4.580012 -0.233955 +v -0.249487 2.655597 -0.342914 +v -0.285804 3.091498 0.238032 +v -0.285804 4.616481 0.092795 +v 0.222563 4.144303 -0.306573 +v -0.213171 4.434712 -0.270232 +v 0.331512 3.091498 0.274373 +v 0.222563 2.655597 -0.306573 +v -0.140539 4.616481 -0.197614 +v 0.258879 4.325881 0.310714 +v -0.104223 2.655597 0.238032 +v 0.186247 4.616481 0.238032 +v -0.249487 3.563485 -0.306573 +f 92 94 101 +f 82 83 86 +f 83 84 86 +f 86 84 88 +f 84 87 88 +f 88 87 90 +f 90 87 91 +f 90 91 92 +f 91 85 92 +f 86 88 93 +f 89 86 94 +f 92 89 94 +f 86 93 94 +f 93 81 94 +f 83 82 95 +f 84 83 95 +f 90 81 96 +f 88 90 96 +f 93 88 96 +f 81 93 96 +f 86 89 97 +f 92 85 97 +f 89 92 97 +f 82 85 98 +f 85 91 98 +f 95 82 98 +f 95 98 99 +f 87 84 99 +f 91 87 99 +f 84 95 99 +f 98 91 99 +f 85 82 100 +f 82 86 100 +f 97 85 100 +f 86 97 100 +f 81 90 101 +f 90 92 101 +f 94 81 101 +o convex_3 +v -1.992769 -2.536963 0.528590 +v -2.391736 -1.847175 -0.451806 +v -2.391736 -1.847175 -0.488090 +v -3.045378 -2.972672 0.129051 +v -1.120995 -2.900111 -0.524478 +v -1.120995 -1.956244 0.455918 +v -2.936312 -1.992525 0.492203 +v -1.120995 -2.936391 0.528590 +v -2.972668 -3.008953 -0.415419 +v -1.120995 -1.919964 -0.524478 +v -2.936312 -1.847175 -0.488090 +v -2.936312 -2.972672 0.455918 +v -1.411838 -2.936391 -0.524478 +v -1.557071 -1.956244 0.492203 +v -3.045378 -2.718480 0.455918 +v -2.863790 -3.008953 -0.451806 +v -2.936312 -1.847175 -0.306463 +v -1.811181 -2.972672 0.492203 +v -2.500614 -2.210437 0.528590 +v -1.193894 -2.936391 -0.524478 +v -1.847537 -2.464401 -0.524478 +v -3.009023 -3.008953 0.056482 +v -1.120995 -2.682199 0.528590 +v -1.883703 -1.883683 -0.524478 +v -2.682202 -3.008953 -0.451806 +v -2.972668 -2.464401 0.492203 +v -2.972668 -2.573243 -0.451806 +v -2.936312 -2.065200 -0.488090 +v -1.883703 -1.956244 0.492203 +v -3.045378 -2.972672 0.419634 +v -3.045378 -2.718480 0.201722 +f 112 128 132 +f 106 107 109 +f 104 103 111 +f 107 106 111 +f 103 107 111 +f 103 104 112 +f 109 102 113 +f 111 106 114 +f 107 103 118 +f 103 112 118 +f 115 107 118 +f 116 108 118 +f 112 116 118 +f 109 113 119 +f 102 109 120 +f 106 109 121 +f 114 106 121 +f 117 114 121 +f 109 119 121 +f 111 114 122 +f 114 117 122 +f 105 110 123 +f 110 117 123 +f 119 113 123 +f 109 107 124 +f 107 115 124 +f 120 109 124 +f 115 120 124 +f 104 111 125 +f 112 104 125 +f 111 122 125 +f 117 121 126 +f 121 119 126 +f 123 117 126 +f 119 123 126 +f 113 102 127 +f 108 116 127 +f 116 113 127 +f 102 120 127 +f 120 108 127 +f 110 105 128 +f 117 110 128 +f 117 128 129 +f 122 117 129 +f 112 125 129 +f 125 122 129 +f 128 112 129 +f 115 118 130 +f 118 108 130 +f 108 120 130 +f 120 115 130 +f 116 105 131 +f 113 116 131 +f 105 123 131 +f 123 113 131 +f 116 112 132 +f 105 116 132 +f 128 105 132 +o convex_4 +v 1.094071 -1.919953 -0.161123 +v -0.939297 -3.517557 -1.105480 +v -0.939297 -3.517557 -0.560790 +v -1.084569 -1.810862 0.419609 +v 0.985009 -3.408467 1.073280 +v 1.021218 -3.444719 -0.960031 +v -1.011933 -1.810862 -1.069011 +v -0.939297 -3.444719 1.036811 +v 1.021218 -1.810862 1.073280 +v 1.021218 -1.810862 -0.996286 +v -0.939297 -1.810862 1.073280 +v -1.120995 -2.899933 -0.524321 +v 1.094071 -3.045276 0.601102 +v -1.120995 -2.936519 0.528590 +v 0.113596 -1.810862 -1.069011 +v 0.767101 -3.444719 0.818850 +v -1.120995 -1.956205 -0.524321 +v -0.939297 -3.335962 1.073280 +v 1.094071 -2.863847 -0.451596 +v 0.258868 -3.481138 -1.032542 +v 1.094071 -1.883533 0.528377 +v -1.120995 -1.956205 0.455865 +v 1.021218 -2.609915 -0.996286 +v -0.503699 -3.517557 -0.851263 +v -0.975507 -1.810862 1.036811 +v 0.113596 -3.444719 1.073280 +v 1.021218 -3.444719 -0.197592 +v -0.757816 -3.263124 -1.105480 +v 1.094071 -1.956205 -0.488065 +v 1.057644 -3.263290 -0.814581 +v 1.021218 -2.900100 1.073280 +v -0.939297 -3.480971 0.419609 +v -1.011933 -2.101381 -1.069011 +v 1.057644 -1.811029 -0.669558 +v 0.803528 -3.444719 -0.996286 +v -0.939297 -3.118114 -1.105480 +f 147 160 168 +f 139 136 141 +f 139 141 142 +f 137 141 143 +f 141 136 143 +f 134 135 146 +f 144 134 146 +f 139 142 147 +f 136 139 149 +f 139 144 149 +f 144 146 149 +f 137 143 150 +f 146 140 150 +f 133 145 151 +f 145 133 153 +f 141 145 153 +f 136 149 154 +f 149 146 154 +f 147 142 155 +f 135 134 156 +f 148 135 156 +f 134 152 156 +f 143 136 157 +f 150 143 157 +f 146 150 157 +f 136 154 157 +f 154 146 157 +f 135 148 158 +f 148 137 158 +f 137 150 158 +f 150 140 158 +f 145 137 159 +f 137 148 159 +f 152 138 159 +f 148 156 159 +f 156 152 159 +f 152 134 160 +f 147 155 160 +f 133 151 161 +f 151 145 162 +f 155 142 162 +f 138 155 162 +f 145 159 162 +f 159 138 162 +f 142 161 162 +f 161 151 162 +f 141 137 163 +f 137 145 163 +f 145 141 163 +f 146 135 164 +f 140 146 164 +f 135 158 164 +f 158 140 164 +f 139 134 165 +f 134 144 165 +f 144 139 165 +f 142 141 166 +f 153 133 166 +f 141 153 166 +f 133 161 166 +f 161 142 166 +f 138 152 167 +f 155 138 167 +f 152 160 167 +f 160 155 167 +f 134 139 168 +f 139 147 168 +f 160 134 168 +o convex_5 +v 1.276011 -2.900129 -0.451753 +v 1.239385 -1.883605 0.528490 +v 1.239385 -1.883605 0.492238 +v 3.091161 -1.992564 -0.524478 +v 3.127588 -3.081688 0.564853 +v 1.094078 -3.045330 0.601215 +v 3.018507 -1.992564 0.601215 +v 1.094078 -1.956322 -0.488115 +v 3.018507 -2.936370 -0.488115 +v 1.130504 -2.754810 -0.488115 +v 1.094078 -1.883605 0.528490 +v 1.094078 -3.045330 0.419623 +v 2.945654 -2.972729 -0.415500 +v 2.183088 -2.392042 -0.524478 +v 2.510130 -1.956322 0.601215 +v 1.094078 -2.863770 -0.451753 +v 3.054934 -2.609609 0.601215 +v 3.054934 -2.609609 -0.524478 +v 2.147060 -1.956322 -0.488115 +v 1.094078 -2.791169 0.601215 +v 1.384693 -2.900129 -0.488115 +v 3.127588 -3.081688 0.492238 +v 3.054934 -2.174124 0.601215 +v 2.147060 -1.992564 -0.524478 +v 1.094078 -1.919963 -0.124932 +f 187 176 193 +f 170 171 179 +f 176 174 179 +f 173 174 180 +f 174 176 180 +f 171 170 183 +f 172 171 183 +f 175 172 183 +f 174 175 183 +f 170 179 183 +f 176 178 184 +f 180 176 184 +f 169 180 184 +f 174 173 185 +f 175 174 185 +f 182 172 186 +f 171 172 187 +f 172 176 187 +f 179 174 188 +f 174 183 188 +f 183 179 188 +f 180 169 189 +f 177 181 189 +f 181 180 189 +f 178 182 189 +f 169 184 189 +f 184 178 189 +f 186 177 189 +f 182 186 189 +f 172 173 190 +f 173 180 190 +f 181 177 190 +f 180 181 190 +f 186 172 190 +f 177 186 190 +f 173 172 191 +f 172 175 191 +f 185 173 191 +f 175 185 191 +f 176 172 192 +f 178 176 192 +f 172 182 192 +f 182 178 192 +f 179 171 193 +f 176 179 193 +f 171 187 193 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/938/938.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/938/938.urdf new file mode 100644 index 000000000..02de3fd77 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/938/938.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/939/939.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/939/939.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/939/939.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/939/939.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/939/939.obj new file mode 100644 index 000000000..cc5ed049b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/939/939.obj @@ -0,0 +1,246 @@ +o convex_0 +v 0.310785 -3.739423 0.010305 +v -0.367822 -4.830995 -0.196220 +v 0.222268 -4.830995 -0.225648 +v 0.251797 -4.771880 0.334807 +v -0.249707 -2.824608 0.364368 +v 0.251797 -2.824608 -0.314263 +v 0.251797 -2.824608 0.334807 +v -0.220248 -2.883724 -0.166726 +v -0.249707 -4.653649 0.187270 +v 0.340314 -3.060873 -0.314263 +v 0.281257 -4.771880 -0.225648 +v -0.279305 -2.913183 0.334807 +v 0.163280 -4.771880 0.334807 +v 0.192740 -2.854264 0.364368 +v -0.161190 -2.824608 -0.196220 +v 0.340314 -2.824608 -0.196220 +v -0.367822 -4.830995 -0.137166 +v -0.249707 -3.945640 0.275752 +v 0.281257 -4.388121 0.216830 +v -0.367822 -4.742420 -0.196220 +v -0.190788 -4.712961 0.216830 +v 0.251797 -4.830995 -0.048683 +v -0.249707 -2.824608 0.098788 +v -0.249707 -2.942643 0.364368 +v 0.281257 -3.060873 -0.314263 +v 0.281257 -2.883724 0.187270 +f 19 16 26 +f 6 5 7 +f 10 1 11 +f 3 10 11 +f 4 7 14 +f 7 5 14 +f 5 6 15 +f 6 7 16 +f 1 10 16 +f 10 6 16 +f 2 3 17 +f 9 12 17 +f 12 9 18 +f 7 4 19 +f 4 11 19 +f 11 1 19 +f 1 16 19 +f 6 2 20 +f 15 6 20 +f 8 15 20 +f 2 17 20 +f 17 12 20 +f 9 17 21 +f 17 13 21 +f 18 9 21 +f 13 18 21 +f 3 11 22 +f 11 4 22 +f 4 13 22 +f 17 3 22 +f 13 17 22 +f 12 5 23 +f 5 15 23 +f 15 8 23 +f 8 20 23 +f 20 12 23 +f 5 12 24 +f 13 4 24 +f 4 14 24 +f 14 5 24 +f 12 18 24 +f 18 13 24 +f 3 2 25 +f 2 6 25 +f 10 3 25 +f 6 10 25 +f 16 7 26 +f 7 19 26 +o convex_1 +v -1.075953 -2.676826 -0.609023 +v 1.018945 3.312575 1.102010 +v 1.018945 3.312575 0.305088 +v 1.018945 -2.794571 0.334764 +v -1.046424 3.253101 0.983955 +v -0.839723 3.223064 -1.110917 +v 1.018945 -2.765135 -0.933727 +v -0.987367 -2.794571 0.983955 +v 1.018945 3.282538 -0.933727 +v 0.989416 -2.794571 0.924820 +v -1.075953 -2.765135 -1.051781 +v -1.016896 3.223665 -1.110917 +v -1.075953 2.427081 0.718170 +v -1.075953 -1.732459 -1.081241 +v 0.251609 -2.824608 -0.313995 +v -0.810195 3.281937 1.013415 +v -0.692285 -1.879641 1.013415 +v -1.016896 -2.469570 0.983955 +v 0.812244 -2.322388 -0.963186 +v -1.046424 3.253101 -0.372914 +v 0.812244 2.780918 1.102010 +v -0.898781 3.253101 -1.081241 +v -0.810195 2.692609 -1.110917 +v -0.692285 -2.706262 -1.051781 +v 0.989416 -2.086296 0.954279 +v -0.898781 2.751482 1.013415 +v -0.249764 -2.824608 0.364223 +v -0.869252 -2.793971 -0.845132 +v -1.046424 1.688769 -1.110917 +v 0.635277 -2.824608 0.629575 +v -0.574375 -2.793971 0.983955 +v 1.018945 1.954297 1.072117 +v 0.369723 3.312575 1.013415 +v 0.812244 -0.669746 -0.963186 +v -1.075953 -1.260275 -1.081241 +v -1.046424 -2.794571 0.128114 +v -1.046424 0.479474 0.983955 +v 0.723658 3.282538 -0.963186 +v 0.812244 3.312575 1.102010 +v 0.900830 2.810955 1.102010 +v 1.018945 1.128276 1.042658 +v 0.428781 3.253101 -0.992862 +v 0.812244 -2.794571 -0.490968 +v -0.721814 -1.614113 1.013415 +v 0.723658 -2.765135 -0.963186 +v -0.220236 -2.824608 -0.107562 +v -1.016896 -2.794571 0.895360 +v -1.016896 -1.703022 -1.081241 +v 1.018945 -2.794571 0.393683 +v -1.075953 2.427081 0.659251 +v 0.782715 3.312575 0.452818 +v 0.340195 -2.794571 0.954279 +v -1.046424 -2.794571 -0.343671 +v -1.016896 3.253101 -0.904051 +v -0.898781 3.253101 1.013415 +v -1.075953 2.249862 0.688711 +v 0.340195 -2.824608 -0.313995 +v -0.721814 -2.765135 -1.051781 +f 40 74 84 +f 29 28 30 +f 29 30 33 +f 29 33 35 +f 37 27 39 +f 37 39 40 +f 35 33 45 +f 39 31 46 +f 31 42 46 +f 32 38 48 +f 38 32 49 +f 49 45 50 +f 46 38 55 +f 38 49 55 +f 34 53 56 +f 53 41 56 +f 43 34 57 +f 34 56 57 +f 30 28 58 +f 28 29 59 +f 35 45 60 +f 45 49 60 +f 40 39 61 +f 55 40 61 +f 46 55 61 +f 27 37 62 +f 44 27 62 +f 31 39 63 +f 52 31 63 +f 44 52 63 +f 29 35 64 +f 32 48 64 +f 47 28 65 +f 52 47 65 +f 28 59 65 +f 59 42 65 +f 28 47 66 +f 47 43 66 +f 43 57 66 +f 57 51 66 +f 58 28 66 +f 51 58 66 +f 51 36 67 +f 30 58 67 +f 58 51 67 +f 49 32 68 +f 35 60 68 +f 60 49 68 +f 64 35 68 +f 32 64 68 +f 33 30 69 +f 30 56 69 +f 34 43 70 +f 44 34 70 +f 43 47 70 +f 52 44 70 +f 47 52 70 +f 45 33 71 +f 50 45 71 +f 33 54 71 +f 41 53 72 +f 54 41 72 +f 34 44 73 +f 53 34 73 +f 44 62 73 +f 62 53 73 +f 49 50 74 +f 40 55 74 +f 55 49 74 +f 56 30 75 +f 36 56 75 +f 30 67 75 +f 67 36 75 +f 39 46 76 +f 61 39 76 +f 46 61 76 +f 59 29 77 +f 48 59 77 +f 29 64 77 +f 64 48 77 +f 36 51 78 +f 56 36 78 +f 51 57 78 +f 57 56 78 +f 37 54 79 +f 62 37 79 +f 53 62 79 +f 72 53 79 +f 54 72 79 +f 38 46 80 +f 46 42 80 +f 48 38 80 +f 42 59 80 +f 59 48 80 +f 42 31 81 +f 31 52 81 +f 65 42 81 +f 52 65 81 +f 39 27 82 +f 27 44 82 +f 63 39 82 +f 44 63 82 +f 41 54 83 +f 54 33 83 +f 56 41 83 +f 33 69 83 +f 69 56 83 +f 37 40 84 +f 54 37 84 +f 50 71 84 +f 71 54 84 +f 74 50 84 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/939/939.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/939/939.urdf new file mode 100644 index 000000000..a71ddc1cd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/939/939.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/940/940.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/940/940.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/940/940.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/940/940.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/940/940.obj new file mode 100644 index 000000000..8f5049e2d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/940/940.obj @@ -0,0 +1,912 @@ +o convex_0 +v 1.011922 2.844833 -1.285706 +v 0.301957 -0.853597 0.993614 +v 0.264676 -0.853597 0.993614 +v 0.264676 -1.675802 -1.547390 +v 2.357087 -1.152310 -0.351921 +v 1.945979 3.367729 0.358096 +v 0.376722 3.629475 0.208830 +v 1.908494 1.051962 -1.285706 +v 0.301957 3.330762 -1.173555 +v 1.908494 3.554946 -0.538304 +v 1.796448 -1.227435 0.358096 +v 0.301957 -1.863019 0.507630 +v 1.945979 -1.301964 -1.285706 +v 0.264676 2.508558 0.694547 +v 0.264676 -0.853597 -1.734307 +v 1.198733 4.228092 -0.500921 +v 1.833728 -1.712768 -0.500921 +v 2.357087 -0.405231 -0.687838 +v 1.945979 0.715687 0.432863 +v 1.124173 4.115404 0.283330 +v 1.236219 3.517383 -1.173555 +v 2.357087 0.192791 -0.090237 +v 0.899876 3.592508 0.545014 +v 0.414003 3.928187 -0.463538 +v 1.161453 1.723320 -1.435239 +v 0.264676 3.330762 -0.613071 +v 2.357087 -0.442793 -0.015471 +v 0.264676 -1.863019 -0.240038 +v 1.908494 1.462170 -1.248322 +v 2.132790 1.574261 -0.799988 +v 2.357087 -0.965689 -0.799988 +v 1.721682 2.994487 -1.024022 +v 1.983259 3.367729 0.320713 +v 1.049407 -1.825456 -0.500921 +v 1.945979 1.649387 0.432863 +v 0.339237 3.293200 -1.210672 +v 1.871213 -1.077781 0.358096 +v 1.908494 -1.638239 -0.351921 +v 1.086687 -1.638239 -1.248322 +v 2.357087 -1.040218 -0.127621 +v 0.301957 -0.928126 -1.734307 +v 0.264676 2.994487 -1.210939 +v 0.601019 -1.787894 0.470247 +v 2.132790 -1.339527 -0.911871 +v 0.301957 -0.928126 0.993614 +v 1.124173 3.591912 -1.173555 +v 0.376722 3.442854 -1.136172 +v 1.908494 3.480417 0.320713 +v 0.787625 3.592508 0.545014 +v 1.049407 4.115404 0.283330 +v 1.871213 1.424607 -1.285706 +v 1.198733 2.956924 0.545014 +v 1.945979 3.293200 -0.575688 +v 1.124173 4.228092 -0.500921 +v 1.833728 -0.442197 -1.323089 +v 0.264676 -1.787894 0.582130 +v 0.264676 3.293200 -0.202655 +v 2.357087 0.080699 -0.351921 +v 1.198733 4.228092 -0.351921 +v 0.376722 -1.825456 -0.687571 +v 1.908494 -1.675802 -0.538304 +v 1.011922 -1.675206 0.358096 +v 0.638299 -1.863019 0.059296 +v 1.983259 3.367729 0.208563 +f 58 53 64 +f 3 2 14 +f 4 3 14 +f 4 14 15 +f 16 10 21 +f 5 18 22 +f 14 2 23 +f 6 20 23 +f 15 14 26 +f 24 9 26 +f 5 22 27 +f 3 4 28 +f 29 30 31 +f 13 8 31 +f 18 5 31 +f 8 29 31 +f 30 18 31 +f 21 10 32 +f 27 22 33 +f 6 2 35 +f 2 19 35 +f 19 27 35 +f 33 6 35 +f 27 33 35 +f 1 25 36 +f 25 15 36 +f 27 19 37 +f 4 13 39 +f 34 4 39 +f 17 34 39 +f 5 27 40 +f 37 11 40 +f 27 37 40 +f 38 5 40 +f 11 38 40 +f 13 4 41 +f 4 15 41 +f 15 25 41 +f 26 9 42 +f 15 26 42 +f 9 36 42 +f 36 15 42 +f 12 17 43 +f 17 38 43 +f 13 31 44 +f 31 5 44 +f 2 3 45 +f 19 2 45 +f 11 37 45 +f 37 19 45 +f 16 21 46 +f 25 1 46 +f 21 25 46 +f 1 36 46 +f 46 36 47 +f 9 24 47 +f 36 9 47 +f 20 6 48 +f 33 10 48 +f 6 33 48 +f 7 14 49 +f 14 23 49 +f 23 20 49 +f 24 7 50 +f 7 49 50 +f 49 20 50 +f 25 21 51 +f 29 8 51 +f 21 32 51 +f 32 29 51 +f 8 41 51 +f 41 25 51 +f 2 6 52 +f 23 2 52 +f 6 23 52 +f 30 29 53 +f 32 10 53 +f 29 32 53 +f 16 46 54 +f 46 47 54 +f 47 24 54 +f 24 50 54 +f 8 13 55 +f 13 41 55 +f 41 8 55 +f 3 28 56 +f 28 12 56 +f 43 11 56 +f 12 43 56 +f 45 3 56 +f 11 45 56 +f 14 7 57 +f 7 24 57 +f 26 14 57 +f 24 26 57 +f 22 18 58 +f 18 30 58 +f 30 53 58 +f 10 16 59 +f 48 10 59 +f 20 48 59 +f 50 20 59 +f 16 54 59 +f 54 50 59 +f 28 4 60 +f 4 34 60 +f 34 28 60 +f 5 38 61 +f 38 17 61 +f 39 13 61 +f 17 39 61 +f 44 5 61 +f 13 44 61 +f 38 11 62 +f 11 43 62 +f 43 38 62 +f 17 12 63 +f 12 28 63 +f 34 17 63 +f 28 34 63 +f 10 33 64 +f 33 22 64 +f 53 10 64 +f 22 58 64 +o convex_1 +v 2.357123 -1.115486 -0.650553 +v 2.394763 -0.032168 -0.164935 +v 2.394763 -0.032168 -0.202318 +v 4.188193 -0.853901 -0.426399 +v 2.357123 -1.003347 -0.127551 +v 2.357123 -0.405783 -0.687937 +v 3.963970 -0.779178 -0.650553 +v 3.777027 -0.966040 -0.277012 +v 2.394763 -0.928624 -0.800087 +v 2.357123 -0.480506 -0.052785 +v 3.889049 -1.040763 -0.463709 +v 3.814308 -0.779178 -0.239629 +v 3.963970 -0.629732 -0.501093 +v 2.544066 -1.153012 -0.389162 +v 2.394763 -0.106891 -0.389162 +v 3.627545 -1.003347 -0.613243 +v 3.254018 -1.003347 -0.202318 +v 4.150554 -0.779178 -0.389162 +v 3.814308 -0.629732 -0.575860 +v 2.357123 -0.106891 -0.127551 +v 2.544066 -1.078070 -0.725320 +v 3.963970 -0.853901 -0.650553 +v 3.889049 -1.040763 -0.389162 +v 2.357123 -0.853901 -0.800087 +v 2.394763 -0.555229 -0.052785 +v 3.963970 -0.779178 -0.277012 +v 2.357123 -1.153012 -0.501093 +f 75 78 91 +f 65 69 70 +f 70 69 74 +f 67 66 77 +f 68 71 77 +f 67 77 79 +f 72 76 81 +f 69 78 81 +f 77 66 82 +f 68 77 82 +f 71 70 83 +f 77 71 83 +f 70 79 83 +f 79 77 83 +f 66 67 84 +f 70 74 84 +f 76 66 84 +f 74 76 84 +f 67 79 84 +f 79 70 84 +f 65 73 85 +f 75 65 85 +f 80 75 85 +f 80 85 86 +f 71 68 86 +f 73 71 86 +f 68 75 86 +f 75 80 86 +f 85 73 86 +f 68 72 87 +f 75 68 87 +f 78 75 87 +f 72 81 87 +f 81 78 87 +f 65 70 88 +f 70 71 88 +f 73 65 88 +f 71 73 88 +f 74 69 89 +f 76 74 89 +f 69 81 89 +f 81 76 89 +f 72 68 90 +f 66 76 90 +f 76 72 90 +f 82 66 90 +f 68 82 90 +f 69 65 91 +f 65 75 91 +f 78 69 91 +o convex_2 +v -1.790672 -1.825079 0.208870 +v -0.856610 0.603024 2.563103 +v -0.520258 0.826813 2.450876 +v -0.146783 -3.544127 1.665978 +v -0.034479 2.097695 0.657548 +v -1.790672 0.191961 2.263985 +v -1.603748 -2.833894 2.263985 +v -0.034479 -1.862181 0.208870 +v -1.641245 1.948110 1.479317 +v -1.790672 0.266753 0.208870 +v -0.109286 -2.684898 2.301317 +v -1.005851 -3.544127 0.769544 +v -0.034479 1.200775 2.114656 +v -0.931417 1.947521 2.263985 +v -1.865479 -2.871584 1.479087 +v -0.893920 -3.544127 2.263985 +v -0.034479 0.341545 0.208870 +v -1.902790 1.237877 1.479087 +v -0.893920 -2.796792 2.525541 +v -1.641245 -3.544127 1.441754 +v -1.940286 -1.152536 0.208870 +v -1.641245 1.200775 2.301317 +v -0.034665 -3.319750 1.479317 +v -1.304893 1.798525 0.881771 +v -1.902790 -1.077744 1.965097 +v -0.034479 2.210178 0.956436 +v -1.603748 -0.890468 2.413544 +v -0.856610 -3.806195 1.591314 +v -0.296210 -3.432233 1.031100 +v -0.109286 1.200775 2.301317 +v -0.931417 -2.199042 0.208870 +v -0.893920 2.210178 1.479087 +v -0.258900 1.798525 2.039761 +v -0.893920 1.275567 2.525541 +v -0.632562 2.022903 0.732212 +v -1.940286 -1.264431 1.441754 +v -1.491817 -3.357441 0.956436 +v -0.034665 -2.833894 2.039761 +v -1.902790 -0.107209 0.208870 +v -0.893920 -3.507026 0.732212 +v -1.678555 1.200775 0.732212 +v -0.931417 0.452851 0.208870 +v -0.296210 -3.394543 2.077093 +v -0.109286 -3.581818 1.479317 +v -1.716052 -2.012355 2.263985 +v -0.781990 1.947521 2.263985 +v -0.856610 -1.077744 2.563103 +v -1.603748 -3.507026 1.665978 +v -1.491817 1.798525 2.002198 +v -1.865479 -2.796792 1.628646 +v -1.902790 1.125983 1.628646 +v -0.034479 2.022903 1.404653 +v -0.781990 -3.544127 2.263985 +v -0.856610 -3.806195 1.441985 +v -1.379700 -3.357441 2.114425 +v -1.940286 -0.555964 0.321327 +v -0.109286 2.172488 0.694880 +v -1.753362 -1.899872 0.208870 +v -1.641245 1.948110 1.553982 +v -1.940286 -0.630756 1.516419 +v -0.146783 -2.833894 2.301317 +v -0.781990 -3.544127 0.806877 +v -0.819300 -2.796792 2.525541 +v -1.005851 0.976398 2.525541 +f 125 113 155 +f 99 92 101 +f 99 96 104 +f 96 99 108 +f 99 101 108 +f 98 107 110 +f 106 92 111 +f 101 92 112 +f 92 106 112 +f 104 96 117 +f 98 110 118 +f 113 97 118 +f 94 102 121 +f 102 104 121 +f 92 99 122 +f 93 94 125 +f 105 113 125 +f 94 121 125 +f 115 100 126 +f 101 115 126 +f 100 123 126 +f 112 106 127 +f 111 92 128 +f 103 111 128 +f 99 104 129 +f 104 102 129 +f 114 99 129 +f 101 112 130 +f 122 99 131 +f 109 100 132 +f 100 115 132 +f 115 101 132 +f 101 130 132 +f 130 109 132 +f 101 96 133 +f 96 108 133 +f 108 101 133 +f 99 114 135 +f 95 119 135 +f 120 99 135 +f 129 95 135 +f 114 129 135 +f 97 116 136 +f 118 97 136 +f 98 118 136 +f 123 105 137 +f 117 123 137 +f 121 124 137 +f 105 125 137 +f 125 121 137 +f 94 93 138 +f 102 94 138 +f 93 118 138 +f 118 110 138 +f 119 107 139 +f 111 119 139 +f 113 105 140 +f 106 111 141 +f 127 106 141 +f 116 127 141 +f 98 136 141 +f 136 116 141 +f 139 98 141 +f 111 139 141 +f 97 113 142 +f 116 97 142 +f 104 117 143 +f 121 104 143 +f 124 121 143 +f 117 137 143 +f 137 124 143 +f 110 107 144 +f 119 95 144 +f 107 119 144 +f 95 134 144 +f 111 103 145 +f 119 111 145 +f 135 119 145 +f 107 98 146 +f 98 139 146 +f 139 107 146 +f 112 127 147 +f 109 130 147 +f 130 112 147 +f 96 101 148 +f 117 96 148 +f 123 117 148 +f 101 126 148 +f 126 123 148 +f 92 122 149 +f 128 92 149 +f 103 128 149 +f 131 103 149 +f 122 131 149 +f 100 109 150 +f 123 100 150 +f 105 123 150 +f 140 105 150 +f 113 140 150 +f 109 142 150 +f 142 113 150 +f 127 116 151 +f 142 109 151 +f 116 142 151 +f 147 127 151 +f 109 147 151 +f 95 129 152 +f 129 102 152 +f 134 95 152 +f 144 134 152 +f 99 120 153 +f 103 131 153 +f 131 99 153 +f 120 135 153 +f 145 103 153 +f 135 145 153 +f 102 138 154 +f 138 110 154 +f 110 144 154 +f 152 102 154 +f 144 152 154 +f 118 93 155 +f 113 118 155 +f 93 125 155 +o convex_3 +v -0.034479 0.378669 0.209188 +v 0.002919 0.229165 2.039940 +v -0.034479 0.229165 2.039940 +v 0.002919 -3.208295 1.516612 +v 0.264472 2.433498 0.209009 +v 0.264472 -1.862756 0.209009 +v 0.264472 -0.928068 1.142934 +v -0.034479 2.209813 0.919086 +v -0.034479 -1.862185 0.209188 +v 0.152365 1.238034 1.628805 +v 0.077628 -2.833963 1.703361 +v 0.264472 2.583573 0.620144 +v -0.034479 1.238034 2.002304 +v -0.034479 -2.833963 1.927568 +v -0.034479 2.135060 0.657422 +v 0.114997 -2.833963 1.553890 +v 0.152365 -0.330050 1.628805 +v -0.034479 2.060308 1.292405 +v 0.264472 -1.862756 0.545408 +v 0.227074 2.433498 0.209009 +v 0.002919 -2.833963 1.927568 +v 0.002919 1.238034 2.002304 +v -0.034479 -3.208295 1.516612 +v 0.227074 2.621235 0.545408 +v 0.264472 2.433498 0.694700 +v 0.002919 1.910804 1.441877 +f 168 177 181 +f 161 160 162 +f 156 158 163 +f 158 156 164 +f 162 160 167 +f 158 157 168 +f 163 158 168 +f 157 158 169 +f 158 164 169 +f 156 163 170 +f 159 161 171 +f 166 159 171 +f 162 166 171 +f 165 157 172 +f 162 165 172 +f 166 162 172 +f 163 168 173 +f 161 162 174 +f 171 161 174 +f 162 171 174 +f 160 161 175 +f 164 156 175 +f 161 164 175 +f 156 170 175 +f 159 166 176 +f 157 169 176 +f 169 159 176 +f 172 157 176 +f 166 172 176 +f 157 165 177 +f 165 167 177 +f 168 157 177 +f 161 159 178 +f 164 161 178 +f 169 164 178 +f 159 169 178 +f 167 160 179 +f 170 163 179 +f 163 173 179 +f 173 167 179 +f 160 175 179 +f 175 170 179 +f 165 162 180 +f 162 167 180 +f 167 165 180 +f 167 173 181 +f 173 168 181 +f 177 167 181 +o convex_4 +v -1.790733 -1.563930 -1.996049 +v 0.114827 0.192264 -1.622380 +v 0.152161 0.117402 -1.622380 +v -0.856512 -0.779361 -3.453091 +v 0.114827 -1.676124 -1.622380 +v -1.753183 -0.069456 -1.622380 +v -1.603846 0.005208 -2.817764 +v -0.258732 -1.451933 -3.041965 +v -1.641180 -1.638594 -2.855220 +v -0.333616 -0.256315 -3.079422 +v -1.678515 -1.713259 -1.622380 +v -0.557838 -1.825650 -2.892677 +v -0.109394 -0.854025 -3.191612 +v -1.940286 -0.966022 -1.996049 +v -0.744725 -0.069456 -3.228890 +v -1.678515 -0.779361 -3.079422 +v -0.856512 -1.638594 -3.303624 +v 0.264380 -0.928690 -1.884038 +v -0.557838 0.154537 -2.780486 +v -1.566512 0.079872 -1.622380 +v -0.034726 -1.601262 -2.593562 +v -0.707175 -1.825453 -1.622380 +v -1.940286 -1.376874 -1.622380 +v -0.034726 -0.069456 -2.481909 +v -1.902736 -0.368509 -1.809304 +v -0.894062 -0.106986 -3.266167 +v 0.264380 -1.302407 -1.622380 +v 0.114827 -0.816693 -2.519007 +v -0.782060 -1.825453 -2.817764 +v -1.678515 -0.966022 -3.079422 +v -0.968515 -0.816693 -3.453091 +v -0.968515 0.154537 -1.622380 +v -0.146729 -0.966022 -3.228890 +v -0.408285 -1.825650 -2.593562 +v -1.940286 -1.339739 -1.884038 +v 0.264380 -0.443371 -1.659836 +v -0.146729 -0.779558 -3.228890 +v -0.968515 -1.825453 -1.622380 +v -1.902736 -0.779361 -2.182973 +v -0.782060 -1.638594 -3.303624 +v -1.902736 -0.330979 -1.622380 +v -1.678515 -1.638594 -2.780486 +v -1.566512 -1.675926 -2.817764 +v -0.856512 -0.966022 -3.453091 +v -1.267621 -0.032124 -3.041965 +v -0.669841 0.154537 -2.668475 +v -0.782060 -0.181651 -3.303624 +v 0.114827 -0.966022 -2.481909 +v -1.678515 -1.713259 -1.809304 +v -0.221397 0.192264 -1.659836 +v -1.416959 0.042540 -2.817764 +v -0.894062 -1.489265 -3.340901 +v 0.114827 -1.676124 -1.734570 +v 0.002824 -0.256315 -2.519007 +v -0.296066 0.042738 -2.668475 +v -1.603846 -0.742226 -3.116699 +v 0.264380 -1.302407 -1.659836 +v -1.080734 -1.638594 -3.191433 +v -0.146729 -0.181651 -2.780486 +f 236 205 240 +f 184 183 186 +f 186 183 187 +f 186 187 192 +f 191 196 200 +f 187 183 201 +f 188 187 201 +f 193 189 202 +f 186 192 203 +f 192 187 204 +f 183 184 205 +f 184 186 208 +f 198 193 210 +f 211 197 212 +f 201 183 213 +f 202 189 214 +f 194 202 214 +f 193 202 215 +f 186 203 215 +f 204 195 216 +f 195 211 216 +f 184 208 217 +f 208 199 217 +f 199 209 217 +f 196 191 218 +f 205 194 218 +f 214 185 218 +f 194 214 218 +f 203 192 219 +f 210 193 219 +f 193 215 219 +f 215 203 219 +f 188 197 220 +f 206 188 220 +f 195 206 220 +f 211 195 220 +f 197 211 220 +f 189 193 221 +f 193 198 221 +f 214 189 221 +f 187 188 222 +f 204 187 222 +f 195 204 222 +f 188 206 222 +f 206 195 222 +f 182 204 223 +f 211 190 223 +f 204 216 223 +f 216 211 223 +f 223 190 224 +f 212 185 225 +f 185 214 225 +f 214 221 225 +f 200 196 226 +f 196 207 226 +f 201 213 227 +f 207 196 228 +f 185 212 228 +f 212 207 228 +f 218 185 228 +f 196 218 228 +f 202 194 229 +f 209 199 229 +f 194 209 229 +f 204 182 230 +f 192 204 230 +f 219 192 230 +f 210 219 230 +f 182 223 230 +f 224 210 230 +f 223 224 230 +f 183 200 231 +f 213 183 231 +f 200 227 231 +f 227 213 231 +f 188 201 232 +f 226 188 232 +f 200 226 232 +f 227 200 232 +f 201 227 232 +f 211 212 233 +f 221 198 233 +f 212 225 233 +f 225 221 233 +f 208 186 234 +f 215 202 234 +f 186 215 234 +f 205 184 235 +f 194 205 235 +f 209 194 235 +f 184 217 235 +f 217 209 235 +f 200 183 236 +f 191 200 236 +f 183 205 236 +f 197 188 237 +f 207 212 237 +f 212 197 237 +f 188 226 237 +f 226 207 237 +f 199 208 238 +f 202 229 238 +f 229 199 238 +f 208 234 238 +f 234 202 238 +f 198 210 239 +f 190 211 239 +f 224 190 239 +f 210 224 239 +f 233 198 239 +f 211 233 239 +f 218 191 240 +f 205 218 240 +f 191 236 240 +o convex_5 +v 0.114703 0.192235 -1.622200 +v -1.940188 -1.451699 -1.099012 +v -1.940188 -1.451699 -0.501261 +v 0.264472 -1.862814 0.208870 +v -1.715967 0.304165 0.208870 +v 0.264256 0.565952 0.208870 +v 0.264472 -1.638689 -1.584740 +v -1.641298 0.042643 -1.622200 +v -1.715967 -1.900212 0.208870 +v -1.454412 -1.750620 -1.622200 +v 0.264256 0.565952 -1.547459 +v -0.893751 -2.124600 0.171410 +v -1.902853 -0.331075 -1.622200 +v -1.940188 -0.630259 0.208870 +v -0.146852 0.565952 -1.323235 +v -0.707080 -1.825153 -1.622200 +v -1.940188 -1.376903 -1.622200 +v 0.264472 -1.825153 -0.725306 +v -1.678633 -1.713485 -1.622200 +v -1.902853 -0.106950 0.208870 +v -0.258854 0.565952 -0.389060 +v -1.902853 -1.489097 0.208870 +v -1.753301 0.266767 -0.052814 +v 0.264256 -1.451699 -1.622200 +v -1.603748 0.079777 -1.584740 +v 0.002701 0.565952 0.208870 +v -1.790635 -1.825416 0.059388 +v -0.968636 -1.825416 -1.622200 +v -1.940188 -0.928653 -1.622200 +v -0.931086 -2.124600 0.208870 +v -1.790635 -0.106950 -1.622200 +v -1.790635 0.266767 0.171410 +v 0.226922 -1.675824 -1.584740 +v -1.902853 -0.181746 -0.949529 +v 0.264472 -1.862814 -0.239577 +v -1.715967 -1.900212 0.096668 +v -0.296189 0.565952 -0.725306 +v 0.152253 0.565952 -1.547459 +v -1.940188 -1.152778 0.208870 +v -0.931086 -2.124600 0.171410 +v 0.264256 -0.256542 -1.622200 +v -1.043520 0.416360 0.208870 +f 266 261 282 +f 245 244 246 +f 246 244 247 +f 244 245 249 +f 248 241 250 +f 246 247 251 +f 248 250 253 +f 242 243 254 +f 249 245 254 +f 246 251 255 +f 250 241 256 +f 253 250 257 +f 242 254 257 +f 247 244 258 +f 252 256 258 +f 257 250 259 +f 254 245 260 +f 246 255 261 +f 249 254 262 +f 245 255 263 +f 256 241 264 +f 248 263 265 +f 263 255 265 +f 245 246 266 +f 246 261 266 +f 243 242 267 +f 242 257 267 +f 257 259 267 +f 262 243 267 +f 249 262 267 +f 250 256 268 +f 256 252 268 +f 253 257 269 +f 257 254 269 +f 244 249 270 +f 252 244 270 +f 248 253 271 +f 263 248 271 +f 263 271 272 +f 260 245 272 +f 245 263 272 +f 247 258 273 +f 258 256 273 +f 264 247 273 +f 256 264 273 +f 254 260 274 +f 253 269 274 +f 269 254 274 +f 271 253 274 +f 272 271 274 +f 260 272 274 +f 244 252 275 +f 258 244 275 +f 252 258 275 +f 249 267 276 +f 267 259 276 +f 270 249 276 +f 255 245 277 +f 245 261 277 +f 261 255 277 +f 241 248 278 +f 251 241 278 +f 255 251 278 +f 248 265 278 +f 265 255 278 +f 254 243 279 +f 243 262 279 +f 262 254 279 +f 259 250 280 +f 250 268 280 +f 268 252 280 +f 252 270 280 +f 276 259 280 +f 270 276 280 +f 241 251 281 +f 251 247 281 +f 264 241 281 +f 247 264 281 +f 261 245 282 +f 245 266 282 +o convex_6 +v -0.221323 0.565952 -0.463944 +v 0.264472 0.902238 0.208870 +v 0.040167 0.902238 0.208870 +v 0.264472 0.902238 -1.509926 +v 0.264472 0.565952 0.208870 +v 0.264472 0.565952 -1.509926 +v 0.040167 0.902238 -1.323005 +v -0.146570 0.565952 -1.285654 +v 0.002934 0.565952 0.208870 +v -0.221323 0.603379 -0.799930 +v -0.034442 0.864843 0.059131 +v 0.114920 0.603379 -1.509926 +f 290 289 294 +f 285 284 286 +f 284 285 287 +f 286 284 287 +f 287 283 288 +f 286 287 288 +f 285 286 289 +f 288 283 290 +f 283 287 291 +f 287 285 291 +f 290 283 292 +f 289 290 292 +f 285 289 293 +f 283 291 293 +f 291 285 293 +f 292 283 293 +f 289 292 293 +f 286 288 294 +f 289 286 294 +f 288 290 294 +o convex_7 +v 0.264472 3.144061 -0.762623 +v 0.264472 2.508872 0.208870 +v 0.227088 2.508872 0.208870 +v 0.264472 0.902494 -1.472725 +v 0.002890 0.902494 -0.127581 +v 0.264472 0.902494 0.208870 +v 0.040274 1.051976 -1.285570 +v 0.152347 2.845096 -0.426666 +v 0.227088 2.658355 -1.211005 +v 0.002890 1.014717 0.133975 +v 0.227088 3.032061 -0.127581 +v 0.077631 0.902494 -1.360465 +v 0.040274 0.902494 0.208870 +v 0.227088 3.106802 -0.837189 +v 0.264472 2.658355 -1.211005 +v 0.189730 1.014717 -1.472725 +v 0.264472 3.181766 -0.314406 +v 0.227088 3.181766 -0.314406 +f 305 311 312 +f 295 296 298 +f 296 297 300 +f 298 296 300 +f 299 298 300 +f 301 299 304 +f 302 301 304 +f 302 304 305 +f 297 296 305 +f 304 297 305 +f 298 299 306 +f 299 301 306 +f 301 303 306 +f 300 297 307 +f 299 300 307 +f 297 304 307 +f 304 299 307 +f 301 302 308 +f 303 301 308 +f 295 298 309 +f 308 295 309 +f 303 308 309 +f 298 306 310 +f 306 303 310 +f 309 298 310 +f 303 309 310 +f 296 295 311 +f 305 296 311 +f 302 305 312 +f 308 302 312 +f 295 308 312 +f 311 295 312 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/940/940.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/940/940.urdf new file mode 100644 index 000000000..48865b37e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/940/940.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/941/941.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/941/941.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/941/941.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/941/941.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/941/941.obj new file mode 100644 index 000000000..61c0a5696 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/941/941.obj @@ -0,0 +1,852 @@ +o convex_0 +v -2.322228 1.050566 1.378663 +v -1.098137 1.114897 1.314149 +v -1.098137 1.082731 1.314149 +v -1.678071 1.082731 3.053603 +v -1.774407 1.630405 1.281892 +v -1.678071 0.535058 1.281892 +v -1.678071 0.631769 2.827803 +v -1.774407 1.469255 2.763463 +v -2.128717 1.050566 2.763463 +v -2.160949 0.663935 1.281892 +v -2.193181 1.501528 1.281892 +v -1.291528 1.082731 2.731206 +v -1.259296 1.501528 1.443004 +v -1.227064 0.696208 1.281892 +v -2.128717 1.469255 2.119535 +v -2.096605 0.696208 2.183529 +v -1.291528 0.696208 2.055021 +v -1.452567 1.372651 2.634608 +v -1.710183 1.565966 2.183529 +v -1.323640 1.533694 1.281892 +v -2.257645 1.114897 2.087278 +v -1.323640 0.954069 2.763463 +v -1.291528 1.437089 1.990680 +v -1.742175 0.567331 2.119535 +v -1.967678 0.728374 2.666865 +v -2.322228 1.179336 1.281892 +v -2.096605 1.082731 2.827803 +v -1.162601 1.050566 1.958423 +v -1.678071 1.469255 2.763463 +v -2.032142 1.372651 2.602351 +v -1.645839 0.567331 2.087278 +v -1.388104 0.760646 2.634608 +v -1.259296 0.663935 1.410747 +v -1.323640 1.050566 2.827803 +v -2.160949 0.792812 2.087278 +v -1.742175 0.889631 2.988915 +v -1.645839 1.630405 1.314149 +v -1.838870 1.565966 2.055021 +v -2.160949 1.533694 1.314149 +v -2.160949 1.469255 1.958423 +v -1.806638 1.082731 3.021173 +v -1.162601 1.114897 1.926166 +v -2.257645 1.050566 2.087278 +v -1.323640 1.469255 1.958423 +v -2.193181 0.696208 1.314149 +v -2.064373 0.663935 2.087278 +v -1.710183 0.631769 2.827803 +v -1.967678 0.599497 1.314149 +v -1.613607 1.018400 3.021173 +v -2.128717 1.114897 2.731206 +f 27 30 50 +f 5 6 10 +f 5 10 11 +f 2 3 14 +f 6 5 14 +f 13 2 20 +f 2 14 20 +f 14 5 20 +f 2 13 23 +f 18 12 23 +f 9 16 25 +f 11 10 26 +f 1 21 26 +f 9 25 27 +f 3 2 28 +f 14 3 28 +f 17 14 28 +f 12 22 28 +f 22 17 28 +f 8 4 29 +f 19 8 29 +f 8 15 30 +f 27 8 30 +f 17 7 31 +f 24 6 31 +f 7 24 31 +f 7 17 32 +f 22 7 32 +f 17 22 32 +f 6 14 33 +f 14 17 33 +f 31 6 33 +f 17 31 33 +f 12 18 34 +f 7 22 34 +f 22 12 34 +f 29 4 34 +f 18 29 34 +f 16 9 35 +f 19 13 37 +f 5 19 37 +f 13 20 37 +f 20 5 37 +f 15 8 38 +f 19 5 38 +f 8 19 38 +f 5 11 39 +f 38 5 39 +f 15 38 39 +f 21 15 40 +f 11 26 40 +f 26 21 40 +f 39 11 40 +f 15 39 40 +f 4 8 41 +f 8 27 41 +f 36 4 41 +f 27 36 41 +f 2 23 42 +f 23 12 42 +f 28 2 42 +f 12 28 42 +f 21 1 43 +f 9 21 43 +f 1 35 43 +f 35 9 43 +f 13 19 44 +f 23 13 44 +f 18 23 44 +f 29 18 44 +f 19 29 44 +f 10 16 45 +f 1 26 45 +f 26 10 45 +f 35 1 45 +f 16 35 45 +f 16 10 46 +f 24 7 47 +f 25 16 47 +f 27 25 47 +f 7 36 47 +f 36 27 47 +f 16 46 47 +f 46 24 47 +f 10 6 48 +f 6 24 48 +f 46 10 48 +f 24 46 48 +f 34 4 49 +f 7 34 49 +f 4 36 49 +f 36 7 49 +f 21 9 50 +f 15 21 50 +f 9 27 50 +f 30 15 50 +o convex_1 +v 1.414680 -0.592825 0.443873 +v -0.969153 -0.592825 0.025276 +v -0.969153 -0.592825 0.089446 +v 0.383820 -3.974849 -0.006909 +v 1.124704 -0.463937 -0.876488 +v -0.485859 -0.464280 0.991607 +v -0.485859 -1.978286 -0.779934 +v 0.287410 -3.459297 0.733932 +v -0.421337 -3.491605 -0.006710 +v 1.060431 -3.426989 -0.103462 +v 0.351434 -3.491605 -0.779934 +v -0.614655 -0.464280 -0.876488 +v 1.285885 -0.463937 0.798301 +v 0.255274 -2.010251 -1.005623 +v 1.575861 -0.496245 -0.039093 +v -0.453723 -1.978286 0.765918 +v 0.351434 -2.074867 0.991607 +v 1.092567 -2.009907 0.733932 +v 1.060431 -1.977943 -0.747749 +v 1.060431 -3.426989 0.121631 +v 0.351434 -0.464280 1.023990 +v -0.228020 -3.137249 -0.619011 +v 0.029571 -0.464280 -0.973240 +v -0.711313 -0.464280 0.862670 +v 0.899250 -3.072633 0.572612 +v -0.421337 -3.459297 -0.135647 +v -0.260156 -3.104940 0.508441 +v 0.899250 -3.008360 -0.586628 +v -0.711313 -0.464280 -0.844303 +v 0.383820 -3.459297 0.733932 +v 1.253748 -0.528553 -0.779934 +v 0.287410 -3.974849 -0.039093 +v 0.287410 -3.491605 -0.779934 +v 0.351434 -1.913670 -1.005623 +v 0.480479 -0.464280 -0.973041 +v 1.124704 -0.592825 0.862670 +v -0.969153 -0.464280 0.121631 +v 1.092567 -3.459641 0.025077 +v 0.287410 -2.074867 0.991607 +v -0.678928 -0.560517 0.927039 +v 1.575861 -0.463937 -0.006909 +v 1.060431 -1.945978 0.766116 +v -0.550381 -2.879472 -0.006710 +v -0.389201 -1.978286 0.798301 +v 0.415956 -1.945978 0.991408 +v 1.285885 -0.657441 0.798301 +v 0.415956 -3.942542 -0.071079 +v -0.485859 -3.233829 -0.071278 +v 0.319298 -3.974849 0.025276 +v -0.002566 -3.266137 0.637378 +v 0.255274 -1.044105 -1.005623 +v 1.189226 -0.914873 -0.812118 +v -0.711313 -0.592825 -0.812118 +v -0.453723 -0.689405 -0.908871 +v 1.060431 -3.491605 -0.039093 +v -0.485859 -0.560517 0.991607 +v -0.485859 -2.010251 0.669364 +v 0.802591 -3.685109 0.025077 +v 0.190752 -3.910233 -0.071278 +v 0.899250 -3.137249 -0.522259 +v 1.511339 -0.850601 0.025077 +v 0.287410 -3.588185 0.572810 +v -0.421337 -2.171103 0.733733 +v 0.287410 -3.330409 -0.812317 +f 64 84 114 +f 65 60 69 +f 63 56 71 +f 62 55 73 +f 56 63 74 +f 70 68 75 +f 57 72 76 +f 69 60 78 +f 61 69 78 +f 55 62 79 +f 62 57 79 +f 67 58 80 +f 70 75 80 +f 72 57 83 +f 76 72 83 +f 61 82 83 +f 69 61 84 +f 73 55 85 +f 55 84 85 +f 63 71 86 +f 52 53 87 +f 63 55 87 +f 53 74 87 +f 74 63 87 +f 79 52 87 +f 55 79 87 +f 60 65 88 +f 68 70 88 +f 58 67 89 +f 67 71 89 +f 74 53 90 +f 56 74 90 +f 63 51 91 +f 55 63 91 +f 81 55 91 +f 65 81 91 +f 75 68 92 +f 67 80 92 +f 80 75 92 +f 58 89 94 +f 90 66 94 +f 71 67 95 +f 86 71 95 +f 67 92 95 +f 92 86 95 +f 51 63 96 +f 68 51 96 +f 63 86 96 +f 92 68 96 +f 86 92 96 +f 54 82 97 +f 82 61 97 +f 53 52 98 +f 52 57 98 +f 57 76 98 +f 76 59 98 +f 93 53 98 +f 59 93 98 +f 54 80 99 +f 82 54 99 +f 59 82 99 +f 59 58 100 +f 77 59 100 +f 84 64 101 +f 73 85 101 +f 85 84 101 +f 65 69 102 +f 55 81 102 +f 81 65 102 +f 69 84 102 +f 84 55 102 +f 57 52 103 +f 52 79 103 +f 79 57 103 +f 57 62 104 +f 64 57 104 +f 62 73 104 +f 101 64 104 +f 73 101 104 +f 61 60 105 +f 60 88 105 +f 97 61 105 +f 71 56 106 +f 89 71 106 +f 56 90 106 +f 94 89 106 +f 90 94 106 +f 59 66 107 +f 90 53 107 +f 66 90 107 +f 53 93 107 +f 93 59 107 +f 80 54 108 +f 70 80 108 +f 88 70 108 +f 54 97 108 +f 105 88 108 +f 97 105 108 +f 59 76 109 +f 82 59 109 +f 76 83 109 +f 83 82 109 +f 60 61 110 +f 78 60 110 +f 61 78 110 +f 51 68 111 +f 88 65 111 +f 68 88 111 +f 91 51 111 +f 65 91 111 +f 58 59 112 +f 80 58 112 +f 59 99 112 +f 99 80 112 +f 66 59 113 +f 59 77 113 +f 58 94 113 +f 94 66 113 +f 100 58 113 +f 77 100 113 +f 57 64 114 +f 61 83 114 +f 83 57 114 +f 84 61 114 +o convex_2 +v -0.968730 -0.463640 -0.039090 +v 2.348851 2.113646 0.025291 +v 2.348851 1.984479 0.411783 +v -0.968730 1.952440 0.798477 +v -0.968730 1.855564 -0.941040 +v 2.348851 0.309848 -0.779984 +v 1.125094 -0.463640 0.862657 +v 0.029798 -0.463640 -0.973130 +v 3.057498 1.050288 0.766186 +v 2.348851 1.146911 -1.005623 +v -0.968730 0.148642 1.023914 +v 3.122151 0.277557 -0.038888 +v 2.348851 1.114872 0.991623 +v 2.896499 1.662570 -0.586436 +v 1.221440 -0.463640 -0.844366 +v -0.968730 -0.012565 -0.876658 +v -0.517850 -0.463640 0.991421 +v -0.968730 2.113646 -0.071180 +v 2.348851 1.855564 -0.779984 +v 3.122151 1.018249 -0.747693 +v -0.968730 1.146911 1.056206 +v 2.316736 1.855564 0.765984 +v 3.057498 1.855816 0.025291 +v 3.347379 1.082580 0.025291 +v -0.968730 0.921374 -1.005623 +v 1.608089 -0.463640 0.025291 +v 0.351795 -0.463640 1.023914 +v 2.896499 0.471055 0.572637 +v -0.904500 1.790981 0.927241 +v -0.840270 1.919896 -0.876658 +v -0.711386 -0.463640 -0.844366 +v 1.318208 -0.463640 0.798276 +v 2.864384 0.438511 -0.586436 +v 2.316736 2.113646 -0.071180 +v 2.348851 0.985957 -1.005623 +v 2.896499 1.630279 0.572637 +v 0.255027 0.052019 -1.005623 +v 0.480678 -0.463640 -0.973331 +v -0.743501 -0.463640 0.798477 +v -0.968730 1.275574 -1.005623 +v 3.122151 0.277557 0.025291 +v 2.316736 0.985957 0.991623 +v 3.057498 1.855816 -0.071180 +v 2.380966 0.277557 0.733692 +v -0.968730 -0.044604 0.959533 +v 3.057498 1.179203 0.733894 +v 3.025383 1.018249 -0.812074 +v 0.899443 2.113646 0.057381 +v -0.936615 1.726902 -0.973331 +v -0.968730 0.245265 -0.941040 +v 3.122151 1.082580 -0.747693 +v 1.608089 -0.463640 -0.071180 +v 2.316736 1.791233 -0.812074 +v 3.347379 1.018249 -0.038888 +v -0.968730 1.919896 0.862859 +v 1.125094 -0.463640 -0.876456 +v -0.968730 2.113646 -0.006798 +v -0.968730 -0.463640 0.154055 +v 2.316736 1.887856 -0.715603 +v 3.090035 1.050288 0.733894 +v 2.993268 0.374180 -0.361201 +v 2.316736 1.662570 0.830567 +v -0.807732 1.952440 0.798477 +v -0.936615 1.662318 0.959533 +f 143 169 178 +f 115 118 119 +f 121 115 122 +f 118 115 125 +f 121 122 129 +f 115 119 130 +f 115 121 131 +f 119 118 132 +f 118 125 135 +f 116 117 137 +f 117 136 137 +f 130 119 139 +f 121 129 140 +f 131 121 141 +f 125 131 141 +f 135 125 141 +f 127 135 141 +f 119 132 144 +f 133 119 144 +f 122 115 145 +f 115 130 145 +f 121 140 146 +f 129 120 147 +f 132 116 148 +f 144 132 148 +f 139 124 149 +f 137 136 150 +f 122 139 151 +f 139 149 151 +f 151 149 152 +f 129 122 152 +f 122 151 152 +f 115 131 153 +f 139 119 154 +f 124 139 154 +f 140 126 155 +f 146 140 155 +f 142 146 155 +f 123 127 156 +f 141 121 156 +f 127 141 156 +f 128 133 157 +f 116 137 157 +f 137 138 157 +f 148 116 157 +f 133 148 157 +f 142 123 158 +f 121 146 158 +f 146 142 158 +f 123 156 158 +f 156 121 158 +f 125 115 159 +f 131 125 159 +f 153 131 159 +f 127 123 160 +f 138 137 160 +f 150 136 160 +f 137 150 160 +f 147 120 161 +f 134 147 161 +f 120 149 161 +f 149 124 161 +f 116 132 162 +f 119 124 163 +f 154 119 163 +f 124 154 163 +f 139 122 164 +f 130 139 164 +f 122 145 164 +f 145 130 164 +f 133 128 165 +f 128 157 165 +f 157 138 165 +f 161 133 165 +f 134 161 165 +f 129 126 166 +f 126 140 166 +f 140 129 166 +f 124 119 167 +f 119 133 167 +f 161 124 167 +f 133 161 167 +f 126 134 168 +f 138 155 168 +f 155 126 168 +f 134 165 168 +f 165 138 168 +f 118 135 169 +f 143 136 169 +f 120 129 170 +f 149 120 170 +f 152 149 170 +f 129 152 170 +f 132 118 171 +f 118 162 171 +f 162 132 171 +f 115 153 172 +f 159 115 172 +f 153 159 172 +f 133 144 173 +f 148 133 173 +f 144 148 173 +f 123 142 174 +f 155 138 174 +f 142 155 174 +f 160 123 174 +f 138 160 174 +f 126 129 175 +f 134 126 175 +f 129 147 175 +f 147 134 175 +f 143 127 176 +f 136 143 176 +f 127 160 176 +f 160 136 176 +f 117 116 177 +f 136 117 177 +f 116 162 177 +f 162 118 177 +f 118 169 177 +f 169 136 177 +f 135 127 178 +f 127 143 178 +f 169 135 178 +o convex_3 +v -2.290012 1.050623 -1.424684 +v -1.130460 1.179291 -1.231136 +v -1.162585 1.275959 -1.231136 +v -1.645817 1.082624 -3.035236 +v -1.678055 0.503063 -1.231136 +v -1.838905 1.598072 -1.231136 +v -1.710179 0.664064 -2.777407 +v -1.678055 1.469183 -2.745266 +v -1.259299 1.050623 -2.648492 +v -2.096583 1.114847 -2.777407 +v -2.193184 0.664064 -1.231136 +v -1.259299 0.664064 -1.360050 +v -1.259299 1.469183 -2.036765 +v -2.160946 1.469183 -1.231136 +v -2.096583 0.696287 -2.229607 +v -2.096583 1.436960 -2.004624 +v -1.549216 1.598072 -1.231136 +v -1.323662 0.696287 -2.069082 +v -1.162585 1.050623 -2.036765 +v -1.291424 1.114847 -2.777407 +v -2.096583 1.018400 -2.809724 +v -1.678055 1.565850 -2.101045 +v -1.259299 1.501405 -1.231136 +v -2.225422 1.082624 -2.133186 +v -1.194823 0.792843 -1.231136 +v -1.774429 0.567397 -2.036765 +v -1.355900 1.372515 -2.584034 +v -1.323662 0.953955 -2.712949 +v -2.096583 0.599620 -1.263453 +v -2.290012 1.147069 -1.231136 +v -2.032107 0.760731 -2.616351 +v -2.225422 0.986178 -2.069082 +v -1.935506 1.372515 -2.616351 +v -1.742190 1.082624 -3.035236 +v -1.162585 1.147069 -2.036765 +v -1.678055 0.567397 -2.004624 +v -1.388138 0.760731 -2.487260 +v -1.613578 1.404738 -2.809724 +v -1.774429 0.696287 -2.809724 +v -1.678055 1.630184 -1.295593 +v -1.130460 0.986178 -1.295593 +v -2.128821 1.501405 -1.327910 +v -1.581340 1.565850 -2.004624 +v -1.388138 0.599620 -1.263453 +v -2.128821 0.664064 -1.907850 +v -1.613578 1.469183 -2.712949 +v -1.678055 0.825066 -2.906321 +f 217 212 225 +f 180 181 183 +f 183 181 184 +f 183 184 189 +f 181 180 191 +f 189 184 192 +f 184 181 195 +f 190 196 197 +f 196 187 197 +f 186 194 200 +f 181 191 201 +f 195 181 201 +f 191 195 201 +f 194 188 202 +f 188 199 202 +f 180 183 203 +f 190 197 203 +f 193 185 204 +f 191 198 205 +f 187 196 206 +f 198 187 206 +f 182 198 206 +f 183 189 207 +f 204 183 207 +f 179 189 208 +f 189 192 208 +f 192 194 208 +f 202 179 208 +f 194 202 208 +f 193 199 209 +f 189 179 210 +f 199 193 210 +f 179 202 210 +f 202 199 210 +f 186 188 211 +f 194 186 211 +f 188 194 211 +f 188 186 212 +f 199 188 212 +f 191 180 213 +f 197 187 213 +f 187 198 213 +f 198 191 213 +f 185 196 214 +f 183 204 214 +f 204 185 214 +f 196 185 215 +f 185 206 215 +f 206 196 215 +f 198 182 216 +f 205 198 216 +f 182 212 216 +f 212 186 216 +f 185 193 217 +f 193 209 217 +f 209 199 217 +f 199 212 217 +f 184 195 218 +f 200 184 218 +f 180 203 219 +f 203 197 219 +f 213 180 219 +f 197 213 219 +f 192 184 220 +f 194 192 220 +f 184 200 220 +f 200 194 220 +f 195 191 221 +f 218 195 221 +f 200 218 221 +f 196 190 222 +f 203 183 222 +f 190 203 222 +f 183 214 222 +f 214 196 222 +f 193 204 223 +f 207 189 223 +f 204 207 223 +f 189 210 223 +f 210 193 223 +f 186 200 224 +f 191 205 224 +f 216 186 224 +f 205 216 224 +f 221 191 224 +f 200 221 224 +f 182 206 225 +f 206 185 225 +f 212 182 225 +f 185 217 225 +o convex_4 +v -1.420247 0.567511 -1.230890 +v -1.613525 1.630112 1.281473 +v -1.677894 1.759105 1.152608 +v -2.418819 0.341963 0.669367 +v -0.969153 -0.495601 0.089478 +v -0.969153 1.920283 -0.876513 +v -2.418819 1.791290 -0.747648 +v -2.418819 0.374148 -0.747648 +v -0.969153 0.116672 1.023744 +v -0.969153 1.952468 0.830448 +v -2.451004 1.855659 0.766015 +v -2.161003 0.631880 1.281473 +v -2.708651 1.082719 0.282774 +v -2.161003 1.501373 -1.230890 +v -0.969153 0.019862 -0.876513 +v -1.742433 2.113646 -0.135543 +v -1.098061 1.050279 1.281473 +v -2.386465 1.114903 1.249257 +v -2.644281 1.147088 -0.747648 +v -2.161003 0.599695 -1.230890 +v -1.098061 1.147088 -1.230890 +v -1.710078 2.081206 0.669367 +v -0.969153 2.113391 -0.071111 +v -1.774618 2.016582 -0.779864 +v -1.549156 0.052047 0.862664 +v -2.451004 0.309779 -0.071111 +v -2.483189 1.855659 -0.167759 +v -2.644281 1.050534 0.830448 +v -1.613525 1.630112 -1.230890 +v -2.225542 1.533558 1.281473 +v -2.386465 0.341963 0.830448 +v -1.613525 0.084232 -0.747648 +v -1.291339 0.631880 1.281473 +v -2.354280 1.082719 -1.198673 +v -1.065877 0.019862 0.991528 +v -1.001508 -0.495601 0.057262 +v -2.708651 1.082719 -0.167759 +v -1.259154 1.501373 1.281473 +v -0.969153 1.114903 1.120392 +v -1.259154 1.533558 -1.230890 +v -0.969153 1.114903 -1.037593 +v -1.774618 2.049021 0.766015 +v -1.065877 -0.012322 -0.844297 +v -2.644281 1.018350 -0.747648 +v -2.708651 1.179272 -0.006679 +v -2.612097 1.340195 0.798231 +v -1.226970 0.664320 -1.230890 +v -2.451004 0.309779 0.186126 +v -1.838987 0.502886 -1.230890 +v -1.581340 0.535326 1.281473 +v -1.774618 2.113646 0.025292 +v -2.451004 1.887843 -0.071111 +v -2.483189 1.855659 0.379422 +v -1.549156 2.016582 -0.779864 +v -0.969153 1.855914 -0.940945 +v -0.969153 1.888099 0.894880 +v -1.001508 -0.495601 0.089478 +v -2.322096 0.953725 1.281473 +v -1.033692 -0.044507 0.927096 +v -1.033692 1.984652 0.798231 +v -1.742433 1.726665 -1.134241 +v -2.451004 0.341963 -0.361055 +v -2.193357 1.887843 -0.747648 +v -2.644281 0.985910 0.766015 +f 238 273 289 +f 230 231 234 +f 234 231 235 +f 228 227 235 +f 231 230 240 +f 227 237 242 +f 239 226 245 +f 226 239 246 +f 235 231 248 +f 232 244 252 +f 246 239 254 +f 227 228 255 +f 237 227 255 +f 250 237 256 +f 233 245 257 +f 234 242 258 +f 242 237 258 +f 232 239 259 +f 244 232 259 +f 239 245 259 +f 245 233 259 +f 237 250 260 +f 240 230 261 +f 233 257 261 +f 251 238 262 +f 227 242 263 +f 234 235 264 +f 242 234 264 +f 246 254 265 +f 231 240 266 +f 240 246 266 +f 247 236 267 +f 255 228 267 +f 236 255 267 +f 257 245 268 +f 240 261 268 +f 261 257 268 +f 259 233 269 +f 244 259 269 +f 262 244 269 +f 252 244 270 +f 244 262 270 +f 262 238 270 +f 238 253 271 +f 253 243 271 +f 255 236 271 +f 243 255 271 +f 270 238 271 +f 240 226 272 +f 226 246 272 +f 246 240 272 +f 238 251 273 +f 251 261 273 +f 226 240 274 +f 245 226 274 +f 240 268 274 +f 268 245 274 +f 234 258 275 +f 258 237 275 +f 260 234 275 +f 237 260 275 +f 236 247 276 +f 248 241 276 +f 247 248 276 +f 232 252 277 +f 236 276 277 +f 276 241 277 +f 252 270 278 +f 271 236 278 +f 270 271 278 +f 236 277 278 +f 277 252 278 +f 241 248 279 +f 248 231 279 +f 249 241 279 +f 254 231 280 +f 246 265 280 +f 265 254 280 +f 231 266 280 +f 266 246 280 +f 235 227 281 +f 227 263 281 +f 263 242 281 +f 264 235 281 +f 242 264 281 +f 256 229 282 +f 250 256 282 +f 261 230 282 +f 229 273 282 +f 273 261 282 +f 243 253 283 +f 237 255 283 +f 255 243 283 +f 256 237 283 +f 253 256 283 +f 230 234 284 +f 234 260 284 +f 260 250 284 +f 250 282 284 +f 282 230 284 +f 228 235 285 +f 248 247 285 +f 235 248 285 +f 267 228 285 +f 247 267 285 +f 239 249 286 +f 254 239 286 +f 231 254 286 +f 279 231 286 +f 249 279 286 +f 261 251 287 +f 233 261 287 +f 251 262 287 +f 269 233 287 +f 262 269 287 +f 239 232 288 +f 249 239 288 +f 241 249 288 +f 232 277 288 +f 277 241 288 +f 253 238 289 +f 229 256 289 +f 256 253 289 +f 273 229 289 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/941/941.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/941/941.urdf new file mode 100644 index 000000000..77f62caad --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/941/941.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/942/942.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/942/942.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/942/942.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/942/942.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/942/942.obj new file mode 100644 index 000000000..a595d532c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/942/942.obj @@ -0,0 +1,354 @@ +o convex_0 +v 1.047772 -2.737769 1.057016 +v -0.092317 -1.114459 -1.050414 +v -0.092317 -1.079741 -1.050414 +v -0.990621 -1.079741 0.953427 +v -1.094305 -2.945096 -1.015814 +v 1.047772 -1.079741 -1.050414 +v 0.978505 -3.014139 -0.981215 +v -0.921571 -3.083379 0.918827 +v 0.978505 -1.079741 0.953427 +v -1.163572 -1.079741 -1.015814 +v 1.047772 -3.083379 1.091825 +v -0.956204 -2.668725 0.953427 +v 0.702087 -3.014139 -1.015814 +v -1.094305 -2.841530 -0.601039 +v 0.978505 -1.114459 0.988027 +v 1.047772 -3.083379 0.676840 +v -1.025255 -1.356308 0.711440 +v -0.956204 -3.083379 0.711440 +v 0.080201 -1.840005 -1.050414 +v 1.013139 -2.564963 -1.015814 +v 0.909455 -3.014139 1.091825 +v 1.047772 -1.079741 -0.670238 +v 1.013139 -3.048661 -0.324661 +v -0.852521 -3.083379 0.953427 +v 1.047772 -1.321589 -1.050414 +v -1.163572 -1.114459 -0.946615 +v -0.610736 -3.083379 0.538861 +v -0.645153 -2.979617 -0.877416 +v 0.978505 -2.910574 1.091825 +v 1.013139 -1.390829 0.607850 +v 1.013139 -1.667200 -1.050414 +v 1.013139 -3.014139 -0.601039 +v -0.990621 -1.701722 0.953427 +v -1.094305 -2.945096 -0.670028 +v 0.978505 -2.945096 -1.015814 +f 31 25 35 +f 2 3 6 +f 3 4 6 +f 6 4 9 +f 3 2 10 +f 4 3 10 +f 2 5 10 +f 6 1 11 +f 9 4 15 +f 11 1 15 +f 6 11 16 +f 11 8 16 +f 8 12 18 +f 12 14 18 +f 16 8 18 +f 5 2 19 +f 2 6 19 +f 13 5 19 +f 1 6 22 +f 6 9 22 +f 13 7 23 +f 8 11 24 +f 12 8 24 +f 11 21 24 +f 21 12 24 +f 6 16 25 +f 19 6 25 +f 4 10 26 +f 10 5 26 +f 17 4 26 +f 14 17 26 +f 16 18 27 +f 13 23 27 +f 23 16 27 +f 5 13 28 +f 18 5 28 +f 13 27 28 +f 27 18 28 +f 15 4 29 +f 11 15 29 +f 21 11 29 +f 4 21 29 +f 15 1 30 +f 9 15 30 +f 1 22 30 +f 22 9 30 +f 13 19 31 +f 19 25 31 +f 7 20 32 +f 23 7 32 +f 16 23 32 +f 25 16 32 +f 20 25 32 +f 14 12 33 +f 4 17 33 +f 17 14 33 +f 12 21 33 +f 21 4 33 +f 5 18 34 +f 18 14 34 +f 26 5 34 +f 14 26 34 +f 7 13 35 +f 20 7 35 +f 25 20 35 +f 13 31 35 +o convex_1 +v -2.683793 -1.044813 -0.981215 +v 3.085749 1.097248 0.988027 +v 3.085749 0.820674 0.988027 +v -2.959859 -0.872008 1.091825 +v -3.097893 0.993266 -1.050414 +v 3.016733 -1.044813 -1.015815 +v 2.913208 1.027997 -1.015815 +v -2.994368 1.027997 0.988027 +v 2.913208 -1.044813 0.953427 +v -1.336154 -1.079545 0.988027 +v -1.024974 1.097248 -1.050414 +v -2.994368 -1.044813 -0.946615 +v 1.047339 -1.079331 -1.050414 +v -0.955957 1.097248 0.988027 +v 1.047339 1.097248 -1.050414 +v 3.016733 0.993266 -0.877416 +v -2.994368 -0.975776 0.573460 +v -1.647334 -1.079545 -1.015605 +v 1.876749 -1.079331 0.953427 +v 2.982224 -0.319074 0.988027 +v 3.051241 -0.699203 -0.601039 +v -3.097893 0.682387 -1.050414 +v -3.028876 1.027997 0.711649 +v -2.890843 -0.941258 1.091825 +v 3.085749 1.097248 0.608060 +v -1.405170 0.613350 1.022417 +v 1.703602 -0.595647 -1.050414 +v -3.028876 -0.941258 -0.877626 +v -3.097893 0.682387 -0.739437 +v -0.092040 -1.079331 -1.050414 +v -2.994368 -0.802971 0.919037 +v 2.947716 -1.044813 0.746249 +v 3.016733 1.062516 -0.462850 +v -2.787318 -0.975776 1.057016 +v -2.095942 -1.079545 -0.912016 +v 1.600682 0.958748 -1.050414 +v 3.016733 0.682387 -0.981005 +v -2.856334 -0.837489 1.091825 +v -2.994368 -0.215518 1.057016 +v -3.028876 -0.802971 -0.981215 +v 3.051241 -0.630166 -0.670028 +v 3.016733 -1.044813 -0.497240 +v 3.085749 0.613350 0.435062 +v -2.994368 -1.044813 -0.877626 +v -3.028876 1.027997 0.538861 +v 3.016733 -0.042713 -1.015815 +v 1.703602 -1.010295 -1.050414 +v -3.097893 0.993266 -0.670238 +v 2.947716 -0.906526 0.953427 +f 67 56 84 +f 40 46 48 +f 37 46 49 +f 46 37 50 +f 48 46 50 +f 47 36 53 +f 53 48 54 +f 48 41 54 +f 45 53 54 +f 40 48 57 +f 43 49 58 +f 49 46 58 +f 39 52 59 +f 54 44 59 +f 45 54 59 +f 44 55 59 +f 37 38 60 +f 50 37 60 +f 37 49 61 +f 49 43 61 +f 48 50 62 +f 57 63 64 +f 40 57 64 +f 48 53 65 +f 57 48 65 +f 53 57 65 +f 52 39 66 +f 63 52 66 +f 64 63 66 +f 58 64 66 +f 44 54 67 +f 42 50 68 +f 51 42 68 +f 50 60 68 +f 60 51 68 +f 59 52 69 +f 45 59 69 +f 47 53 70 +f 53 45 70 +f 50 42 71 +f 62 50 71 +f 42 51 72 +f 38 37 73 +f 55 38 73 +f 39 59 73 +f 59 55 73 +f 37 61 73 +f 73 61 74 +f 43 58 74 +f 61 43 74 +f 66 39 74 +f 58 66 74 +f 39 73 74 +f 36 47 75 +f 53 36 75 +f 57 53 75 +f 47 63 75 +f 63 57 75 +f 56 41 76 +f 54 41 77 +f 41 56 77 +f 67 54 77 +f 56 67 77 +f 38 56 78 +f 60 38 78 +f 51 60 78 +f 72 51 78 +f 56 76 78 +f 76 72 78 +f 63 47 79 +f 52 63 79 +f 45 69 79 +f 69 52 79 +f 70 45 79 +f 47 70 79 +f 46 40 80 +f 40 58 80 +f 58 46 80 +f 41 62 81 +f 71 42 81 +f 62 71 81 +f 42 72 81 +f 76 41 81 +f 72 76 81 +f 41 48 82 +f 62 41 82 +f 48 62 82 +f 58 40 83 +f 40 64 83 +f 64 58 83 +f 38 55 84 +f 55 44 84 +f 56 38 84 +f 44 67 84 +o convex_2 +v -1.025157 2.790142 -0.946406 +v 1.082101 2.928202 0.987817 +v 1.082101 2.686360 0.987817 +v 1.047647 1.097437 -1.050414 +v -0.956043 1.097437 0.987817 +v -0.956043 2.963049 1.091825 +v 0.909419 3.031984 -1.015605 +v -1.025157 1.097437 -1.050205 +v 1.013193 1.097437 0.918827 +v -1.025157 2.928202 -0.911806 +v 1.047647 1.373936 0.953427 +v -1.025157 1.650246 -0.255462 +v 0.840305 2.962859 1.022417 +v 1.013193 1.822963 -1.050414 +v 0.598509 3.031984 -1.015605 +v -0.886928 1.235686 1.022417 +v -0.645132 2.859267 1.091825 +v 0.944079 3.031984 -0.497240 +v -0.990703 2.963049 0.504052 +v 0.944079 3.031984 -0.877416 +v 0.944079 1.132094 0.953427 +v 1.082101 2.962859 0.884228 +v 1.013193 2.893734 1.022626 +v -0.437996 1.684903 -1.050205 +v -0.990703 2.479175 0.676840 +v -0.990703 2.963049 -0.082674 +v 1.047647 1.373936 -1.050414 +v -1.025157 1.097437 -0.393651 +v 0.494734 3.031984 -0.981215 +v 1.047647 1.097437 -0.117273 +v -0.645132 2.963049 -0.946406 +v -0.886928 2.651892 1.091825 +v -1.025157 1.753838 -1.015605 +v -0.126880 1.097437 0.988027 +v -0.956043 1.235686 1.022417 +v 0.944079 2.893734 -1.015605 +v -0.576225 2.963049 1.091825 +f 101 107 121 +f 88 89 92 +f 89 88 93 +f 85 92 94 +f 94 92 96 +f 88 92 98 +f 91 98 99 +f 91 99 102 +f 94 96 103 +f 91 102 104 +f 93 95 105 +f 86 87 106 +f 87 88 106 +f 97 86 106 +f 102 97 106 +f 104 102 106 +f 87 86 107 +f 95 87 107 +f 86 97 107 +f 105 95 107 +f 101 105 107 +f 98 92 108 +f 99 98 108 +f 90 103 109 +f 103 96 109 +f 94 103 110 +f 88 98 111 +f 106 88 111 +f 92 89 112 +f 96 92 112 +f 89 109 112 +f 109 96 112 +f 90 102 113 +f 102 99 113 +f 103 90 113 +f 110 103 113 +f 88 87 114 +f 93 88 114 +f 87 95 114 +f 95 93 114 +f 85 94 115 +f 99 85 115 +f 94 110 115 +f 113 99 115 +f 110 113 115 +f 101 90 116 +f 100 105 116 +f 105 101 116 +f 92 85 117 +f 85 99 117 +f 108 92 117 +f 99 108 117 +f 89 93 118 +f 93 105 118 +f 105 100 118 +f 109 89 119 +f 90 109 119 +f 116 90 119 +f 100 116 119 +f 89 118 119 +f 118 100 119 +f 98 91 120 +f 91 104 120 +f 104 106 120 +f 111 98 120 +f 106 111 120 +f 90 101 121 +f 97 102 121 +f 102 90 121 +f 107 97 121 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/942/942.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/942/942.urdf new file mode 100644 index 000000000..fb09c2572 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/942/942.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/943/943.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/943/943.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/943/943.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/943/943.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/943/943.obj new file mode 100644 index 000000000..fc36479cf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/943/943.obj @@ -0,0 +1,417 @@ +o convex_0 +v -2.944165 -1.010686 -1.011044 +v -2.978895 -0.663065 1.109951 +v -3.048550 -0.663065 1.109951 +v -1.170974 1.075466 -1.011255 +v -1.101320 -1.010900 1.005484 +v -2.978895 1.005771 1.005484 +v -1.101320 1.005771 0.970662 +v -1.101320 -1.010900 -0.976221 +v -2.944165 1.040511 -1.046077 +v -3.083474 -1.045641 1.109951 +v -2.978895 -1.115336 -0.767499 +v -1.101320 1.075466 -0.698065 +v -1.136244 0.796898 1.005484 +v -3.083474 -0.767501 0.831373 +v -1.136244 -1.045641 -0.976221 +v -1.101320 0.518759 -1.011255 +v -2.214050 -1.045641 1.075129 +v -2.596473 -1.115336 -0.976432 +v -2.944165 0.727631 1.040306 +v -2.944165 1.040511 -0.420120 +v -2.457551 0.971030 -1.046077 +v -3.013820 0.553714 0.936051 +v -1.101320 1.040511 0.379527 +v -2.909434 -1.115336 -0.558987 +v -2.770319 -0.732546 1.109951 +v -1.727437 1.005771 1.005484 +v -2.214050 1.040511 0.205626 +v -2.874704 0.553714 -1.046077 +v -1.101320 1.075466 -1.011255 +v -1.518666 1.075252 -0.976221 +v -3.083474 -0.697806 1.109951 +v -3.083474 -1.045641 0.796972 +v -2.978895 1.005771 0.449171 +v -2.944165 -1.115336 -0.976432 +v -2.596473 -1.115336 -0.906788 +f 24 18 35 +f 7 5 8 +f 2 3 10 +f 9 1 11 +f 7 8 12 +f 5 7 13 +f 8 5 15 +f 12 8 16 +f 8 15 16 +f 1 15 18 +f 3 2 19 +f 9 6 20 +f 7 12 23 +f 10 11 24 +f 17 10 24 +f 11 18 24 +f 2 10 25 +f 5 13 25 +f 10 17 25 +f 17 5 25 +f 19 2 25 +f 19 25 26 +f 13 7 26 +f 6 19 26 +f 23 6 26 +f 7 23 26 +f 25 13 26 +f 20 6 27 +f 6 23 27 +f 23 12 27 +f 1 9 28 +f 15 1 28 +f 16 15 28 +f 9 21 28 +f 21 16 28 +f 9 4 29 +f 4 12 29 +f 12 16 29 +f 21 9 29 +f 16 21 29 +f 4 9 30 +f 12 4 30 +f 9 20 30 +f 20 27 30 +f 27 12 30 +f 10 3 31 +f 14 10 31 +f 3 19 31 +f 19 6 31 +f 6 22 31 +f 22 14 31 +f 9 11 32 +f 11 10 32 +f 14 9 32 +f 10 14 32 +f 6 9 33 +f 9 14 33 +f 22 6 33 +f 14 22 33 +f 11 1 34 +f 1 18 34 +f 18 11 34 +f 15 5 35 +f 5 17 35 +f 18 15 35 +f 17 24 35 +o convex_1 +v 1.750315 1.075466 -0.419956 +v 2.341193 -1.080562 -1.080671 +v 1.228732 -1.045739 -1.115412 +v 1.993734 -1.045739 1.040221 +v 3.071449 1.005611 -1.080671 +v 1.089748 1.040433 1.005481 +v 2.967211 1.040644 1.075176 +v 2.967211 -1.080562 0.727341 +v 1.089748 1.075466 -1.080671 +v 1.089748 -1.010706 1.005481 +v 3.106392 -1.080562 -1.080671 +v 1.089748 -1.010706 -1.115412 +v 2.932465 -1.045739 1.040221 +v 3.106392 -0.767372 -0.802317 +v 1.124297 0.831710 -1.115412 +v 2.410685 0.483909 1.075176 +v 1.367913 -1.045739 1.005481 +v 1.854750 -0.106803 -1.115626 +v 2.202209 1.075255 0.275285 +v 3.001957 0.692843 0.727341 +v 1.506896 1.040433 1.040221 +v 2.932465 -0.280704 1.075176 +v 3.001957 1.040644 -0.002855 +v 3.071449 0.970999 -0.872013 +v 1.576388 -0.384749 1.040221 +v 1.089748 1.075466 -0.454697 +v 3.106392 -1.080562 -0.837273 +v 2.967211 0.414476 1.075176 +v 1.785061 -1.045739 -1.115412 +v 3.106392 -0.245671 -1.080671 +v 2.897522 -1.080562 0.831563 +v 2.410685 1.040433 1.075176 +v 1.332969 1.075466 -1.010976 +v 3.001957 1.040644 0.553424 +f 55 59 69 +f 41 44 45 +f 37 38 46 +f 43 37 46 +f 45 44 47 +f 38 45 47 +f 44 40 50 +f 47 44 50 +f 38 37 52 +f 45 38 52 +f 39 45 52 +f 38 47 53 +f 50 40 53 +f 47 50 53 +f 41 45 56 +f 54 41 56 +f 39 48 57 +f 42 51 57 +f 51 39 57 +f 36 54 58 +f 55 49 59 +f 45 39 60 +f 39 51 60 +f 56 45 60 +f 51 56 60 +f 36 44 61 +f 44 41 61 +f 54 36 61 +f 41 54 61 +f 43 46 62 +f 46 49 62 +f 49 55 62 +f 62 55 63 +f 48 43 63 +f 55 42 63 +f 57 48 63 +f 42 57 63 +f 43 62 63 +f 46 38 64 +f 38 53 64 +f 53 46 64 +f 49 46 65 +f 46 53 65 +f 53 40 65 +f 40 59 65 +f 59 49 65 +f 37 43 66 +f 48 39 66 +f 43 48 66 +f 52 37 66 +f 39 52 66 +f 51 42 67 +f 42 54 67 +f 56 51 67 +f 54 56 67 +f 44 36 68 +f 40 44 68 +f 36 58 68 +f 58 40 68 +f 54 42 69 +f 42 55 69 +f 40 58 69 +f 58 54 69 +f 59 40 69 +o convex_2 +v -0.370917 -1.289390 -1.045931 +v 1.089459 -2.645196 1.075176 +v 1.089459 -3.062716 1.075176 +v -1.031625 -3.027578 1.005266 +v -0.962144 -1.046182 0.970740 +v -1.101320 -3.027578 -1.010976 +v 0.950284 -1.046182 -1.115626 +v 0.985024 -2.923346 -1.011190 +v 1.019764 -1.046182 1.005481 +v -0.962144 -1.046182 -0.976235 +v -0.996884 -1.185158 0.831563 +v -0.440612 -3.062716 1.040221 +v 1.089459 -3.062716 0.762082 +v 0.985024 -1.254646 -0.802532 +v -1.031625 -2.193129 1.005266 +v 0.672148 -2.992834 -0.698310 +v -1.101320 -2.784172 -0.732836 +v 0.011440 -1.046182 1.005481 +v -0.996884 -1.219902 -0.976235 +v 0.985024 -2.471279 -1.045931 +v -1.066365 -3.027578 0.831563 +v -0.614313 -2.540767 -1.045931 +v -0.857709 -1.046182 -1.010976 +v 0.463492 -3.027578 1.075176 +v 1.019764 -2.958090 -0.698310 +v 1.019764 -1.046182 0.518683 +v 0.776368 -1.150414 -1.115626 +v -0.996884 -1.950118 1.005266 +v 1.019764 -2.471279 1.075176 +v -0.649268 -3.062716 0.970740 +v 0.637193 -3.027578 -0.246253 +v 0.672148 -2.958090 -1.011190 +v 1.089459 -2.853858 0.796823 +v 0.950284 -3.062716 0.622905 +v 0.985024 -1.845886 -1.045931 +v -1.066365 -2.262617 -1.010976 +v 1.054505 -1.671969 1.040221 +v -0.996884 -3.027578 -1.010976 +v -1.101320 -2.958090 -0.454697 +v 0.985024 -2.958090 -0.837273 +f 101 77 109 +f 76 74 78 +f 74 76 79 +f 74 79 80 +f 71 72 82 +f 72 81 82 +f 74 80 84 +f 73 81 84 +f 78 74 87 +f 80 79 88 +f 73 84 90 +f 79 76 92 +f 88 79 92 +f 70 91 92 +f 72 71 93 +f 81 72 93 +f 77 89 94 +f 76 78 95 +f 83 76 95 +f 76 89 96 +f 91 70 96 +f 89 91 96 +f 70 92 96 +f 92 76 96 +f 74 84 97 +f 84 81 97 +f 87 74 97 +f 81 93 97 +f 97 93 98 +f 93 71 98 +f 87 97 98 +f 81 73 99 +f 82 81 99 +f 73 90 99 +f 90 75 99 +f 89 77 101 +f 91 89 101 +f 71 82 102 +f 82 94 102 +f 95 71 102 +f 83 95 102 +f 99 75 103 +f 82 99 103 +f 100 82 103 +f 76 83 104 +f 89 76 104 +f 94 89 104 +f 102 94 104 +f 83 102 104 +f 75 86 105 +f 86 80 105 +f 80 88 105 +f 91 75 105 +f 88 92 105 +f 92 91 105 +f 78 87 106 +f 71 95 106 +f 95 78 106 +f 98 71 106 +f 87 98 106 +f 75 91 107 +f 85 100 107 +f 101 85 107 +f 91 101 107 +f 103 75 107 +f 100 103 107 +f 84 80 108 +f 86 75 108 +f 80 86 108 +f 75 90 108 +f 90 84 108 +f 94 82 109 +f 77 94 109 +f 82 100 109 +f 100 85 109 +f 85 101 109 +o convex_3 +v 1.089483 1.075412 -0.454707 +v -1.101320 -1.010659 -0.976300 +v -0.822966 -1.045787 -1.010975 +v 1.019787 -1.045787 1.005627 +v -0.962143 3.127170 1.005627 +v -0.962143 3.057322 -1.011183 +v 0.985047 3.092042 0.936068 +v -1.101320 -1.010659 0.970536 +v 1.089269 -1.010659 -1.115626 +v 0.985047 3.057322 -1.115626 +v -1.101320 1.075412 -1.011183 +v 1.089483 1.040692 1.005627 +v -1.101320 1.005971 0.970536 +v 0.776389 -1.045787 -1.115626 +v 1.089269 -1.010659 1.005627 +v 1.019787 2.952753 -0.976507 +v 0.637426 3.057322 -1.115626 +v 0.046193 -1.045787 1.005627 +v 0.985047 3.092042 -0.524059 +v -0.301428 3.127170 1.005419 +v 1.089483 1.075412 -1.080743 +v -0.649048 3.057322 -1.046067 +v -0.962143 -1.045787 0.970536 +v -0.962143 1.770632 1.005627 +v 0.985047 2.605142 0.970743 +v -1.101320 0.554201 -1.011183 +v -0.962143 3.092042 -0.211145 +v 0.115674 3.127170 0.935860 +v 1.019787 1.492054 1.005627 +v -0.962143 3.127170 0.866300 +v 0.950306 -1.045787 -1.115626 +v -0.962143 -1.045787 -0.976300 +v 1.089483 0.867091 -1.115626 +v 0.567731 3.092042 0.970536 +f 129 134 143 +f 111 117 120 +f 114 113 121 +f 117 114 122 +f 114 120 122 +f 120 117 122 +f 113 112 123 +f 119 118 123 +f 113 118 124 +f 121 113 124 +f 121 110 125 +f 116 121 125 +f 119 123 126 +f 112 113 127 +f 113 114 127 +f 125 119 128 +f 116 125 128 +f 119 126 128 +f 110 121 130 +f 125 110 130 +f 119 125 130 +f 120 115 131 +f 126 123 131 +f 115 128 131 +f 128 126 131 +f 117 111 132 +f 112 127 132 +f 127 117 132 +f 114 117 133 +f 127 114 133 +f 117 127 133 +f 121 116 134 +f 112 111 135 +f 111 120 135 +f 123 112 135 +f 120 131 135 +f 131 123 135 +f 115 120 136 +f 128 115 136 +f 116 128 137 +f 114 129 137 +f 129 116 137 +f 114 121 138 +f 129 114 138 +f 121 134 138 +f 134 129 138 +f 120 114 139 +f 136 120 139 +f 128 136 139 +f 114 137 139 +f 137 128 139 +f 118 113 140 +f 113 123 140 +f 123 118 140 +f 111 112 141 +f 112 132 141 +f 132 111 141 +f 118 119 142 +f 124 118 142 +f 121 124 142 +f 119 130 142 +f 130 121 142 +f 116 129 143 +f 134 116 143 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/943/943.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/943/943.urdf new file mode 100644 index 000000000..04c774c73 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/943/943.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/944/944.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/944/944.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/944/944.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/944/944.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/944/944.obj new file mode 100644 index 000000000..4e37cdec3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/944/944.obj @@ -0,0 +1,966 @@ +o convex_0 +v -0.238895 0.496683 1.009149 +v 0.447283 0.084815 -1.393180 +v 0.447283 0.119164 -1.393180 +v -1.955113 0.462334 -0.089489 +v -1.028232 0.084815 0.905916 +v 1.991956 0.496683 -0.089489 +v 1.031075 0.084815 0.871584 +v 0.584827 0.496683 -1.221518 +v -1.062231 0.084815 -0.981191 +v -1.302935 0.496683 -0.947093 +v 1.373777 0.084815 -0.089489 +v 1.373777 0.496683 0.802919 +v -1.508479 0.496683 0.802919 +v 1.545708 0.462334 -0.843861 +v -1.405707 0.084815 0.013744 +v 1.099461 0.084815 -0.878193 +v 0.756372 0.084815 1.008913 +v -0.787915 0.084815 1.009149 +v 0.756372 0.496683 1.008913 +v 1.991956 0.462334 -0.020824 +v -0.238895 0.153513 -1.290182 +v -0.822301 0.496683 1.009149 +v -1.955113 0.496683 0.013744 +v -0.101737 0.462334 -1.187420 +v -1.920340 0.427984 0.013744 +v 1.511322 0.496683 -0.878193 +v 0.516055 0.084815 -1.393180 +v -1.096617 0.084815 0.837251 +v 1.991956 0.462334 -0.089489 +v -0.273281 0.084815 -1.290182 +v 1.442550 0.119164 0.013509 +v 0.516055 0.153513 -1.393180 +v -1.405707 0.084815 -0.089489 +v -1.508479 0.462334 0.802919 +v 1.442550 0.462334 0.734254 +v -0.685143 0.496683 -1.084423 +v -1.096617 0.084815 -0.947093 +f 9 33 37 +f 5 2 7 +f 1 6 8 +f 2 5 9 +f 1 8 10 +f 7 2 11 +f 6 1 12 +f 1 10 13 +f 9 5 15 +f 11 2 16 +f 5 7 17 +f 7 12 17 +f 17 1 18 +f 5 17 18 +f 12 1 19 +f 1 17 19 +f 17 12 19 +f 6 12 20 +f 1 13 22 +f 18 1 22 +f 10 4 23 +f 13 10 23 +f 23 4 25 +f 8 6 26 +f 6 14 26 +f 26 14 27 +f 2 3 27 +f 16 2 27 +f 14 16 27 +f 15 5 28 +f 25 15 28 +f 14 6 29 +f 11 16 29 +f 16 14 29 +f 6 20 29 +f 3 2 30 +f 2 9 30 +f 9 10 30 +f 21 3 30 +f 10 21 30 +f 7 11 31 +f 20 7 31 +f 11 29 31 +f 29 20 31 +f 3 21 32 +f 24 8 32 +f 21 24 32 +f 8 26 32 +f 26 27 32 +f 27 3 32 +f 9 15 33 +f 25 4 33 +f 15 25 33 +f 5 18 34 +f 22 13 34 +f 18 22 34 +f 13 23 34 +f 23 25 34 +f 28 5 34 +f 25 28 34 +f 12 7 35 +f 7 20 35 +f 20 12 35 +f 10 8 36 +f 21 10 36 +f 8 24 36 +f 24 21 36 +f 4 10 37 +f 10 9 37 +f 33 4 37 +o convex_1 +v -1.886173 1.286271 0.974531 +v 0.618578 0.496683 -1.187481 +v 0.618578 0.565623 -1.187481 +v 2.678080 1.457816 0.734355 +v -2.023355 2.315538 -0.809693 +v 2.094466 2.521553 -0.054763 +v -2.057650 0.496683 -0.020790 +v 0.722056 0.496683 1.009149 +v -2.091945 2.281269 0.734355 +v 2.780966 1.594688 -0.844096 +v 2.746670 0.737167 -0.123354 +v -2.744150 1.492084 -0.809693 +v 1.065011 2.178262 0.871752 +v 1.682920 2.281068 -0.844096 +v -2.847036 1.560621 0.562770 +v -2.195423 2.521553 -0.054763 +v -1.474036 0.496683 0.837349 +v -1.336854 0.496683 -0.947090 +v -2.023355 1.628957 -1.050084 +v -2.744150 0.736966 -0.089166 +v 2.746670 2.315739 0.013613 +v -2.812741 2.281269 -0.054763 +v 1.580034 0.496683 -0.878499 +v 1.957284 1.629158 -1.050084 +v -0.204513 1.869442 1.008934 +v 1.957284 1.526353 0.974746 +v 1.991579 2.281068 0.699952 +v 1.442261 0.496683 0.802946 +v 3.021626 1.526353 -0.020575 +v -0.033035 2.350008 0.734355 +v -3.019105 1.492084 -0.089166 +v -1.165377 2.212531 -0.947090 +v -2.606968 1.011719 0.562770 +v -2.057650 2.556023 -0.089166 +v 2.025875 2.315739 -0.775290 +v -0.822422 0.496683 1.008934 +v -2.057650 1.560621 0.974746 +v 2.438011 0.874443 0.562770 +v 2.060170 0.496683 -0.020790 +v 2.609488 0.942980 -0.638108 +v -0.170217 1.834971 -1.049869 +v -2.538377 0.942980 -0.638108 +v -0.959604 2.178262 0.905940 +v 1.991579 2.521553 0.082419 +v -2.744150 1.560621 0.734355 +v -2.057650 2.556023 0.013613 +v -0.684649 0.496683 -1.084272 +v -2.572673 2.109523 -0.638108 +v 2.609488 2.178463 -0.535114 +v 2.712375 1.594688 0.699952 +v -2.641264 2.041188 0.562770 +v 2.746670 0.771436 0.047801 +v -2.057650 1.492084 -1.050084 +v 1.991579 2.521553 -0.157757 +v -0.033035 2.350008 -0.741102 +v 2.540898 2.109725 0.528582 +v 2.094466 1.492286 -1.050084 +v 1.991579 0.702697 -0.844096 +v 1.167897 2.212531 -0.912902 +v 2.746670 2.315739 -0.123354 +v -2.744150 2.349807 -0.020790 +v -2.744150 1.594688 -0.809693 +v -1.886173 0.668429 0.768758 +v -1.542627 1.423748 1.008934 +f 74 38 101 +f 44 39 45 +f 44 45 54 +f 39 44 55 +f 44 54 57 +f 55 44 57 +f 45 39 60 +f 50 62 63 +f 62 45 63 +f 50 63 64 +f 45 60 65 +f 41 63 65 +f 63 45 65 +f 48 47 66 +f 50 64 67 +f 49 57 68 +f 57 52 68 +f 52 59 68 +f 42 51 69 +f 56 42 69 +f 52 57 70 +f 47 61 72 +f 61 51 72 +f 38 54 73 +f 54 45 73 +f 41 65 75 +f 60 48 76 +f 65 60 76 +f 47 48 77 +f 40 56 78 +f 61 40 78 +f 56 69 78 +f 49 55 79 +f 57 49 79 +f 55 57 79 +f 62 50 80 +f 67 46 80 +f 50 67 80 +f 74 62 80 +f 46 74 80 +f 58 43 81 +f 64 58 81 +f 67 64 81 +f 52 70 82 +f 74 46 82 +f 38 74 82 +f 46 67 83 +f 43 71 83 +f 71 53 83 +f 81 43 83 +f 67 81 83 +f 39 55 84 +f 47 72 86 +f 63 41 87 +f 64 63 87 +f 41 66 87 +f 66 58 87 +f 59 52 88 +f 82 46 88 +f 52 82 88 +f 66 41 89 +f 48 66 89 +f 41 75 89 +f 75 65 89 +f 76 48 89 +f 65 76 89 +f 40 39 90 +f 55 49 90 +f 56 40 90 +f 39 84 90 +f 84 55 90 +f 71 43 91 +f 91 72 92 +f 51 42 92 +f 42 71 92 +f 72 51 92 +f 71 91 92 +f 58 64 93 +f 87 58 93 +f 64 87 93 +f 39 40 94 +f 40 61 94 +f 61 47 94 +f 60 39 95 +f 48 60 95 +f 47 77 95 +f 77 48 95 +f 39 94 95 +f 94 47 95 +f 51 61 96 +f 69 51 96 +f 61 78 96 +f 78 69 96 +f 43 58 97 +f 66 47 97 +f 58 66 97 +f 47 86 97 +f 86 72 97 +f 91 43 97 +f 72 91 97 +f 71 42 98 +f 53 71 98 +f 46 83 98 +f 83 53 98 +f 42 85 98 +f 85 59 98 +f 88 46 98 +f 59 88 98 +f 42 56 99 +f 49 68 99 +f 68 59 99 +f 85 42 99 +f 59 85 99 +f 90 49 99 +f 56 90 99 +f 54 38 100 +f 57 54 100 +f 70 57 100 +f 38 82 100 +f 82 70 100 +f 45 62 101 +f 38 73 101 +f 73 45 101 +f 62 74 101 +o convex_2 +v -0.273144 0.084815 -1.496382 +v -0.204687 -1.288079 -1.530986 +v -0.135989 -1.288079 -1.530986 +v 0.069744 -0.430020 -5.031582 +v 0.584740 -0.533229 -1.496382 +v -0.582166 -0.533095 -2.972266 +v 0.412994 -0.876049 -4.276165 +v 0.447343 -0.052663 -3.280592 +v -0.376191 -0.052528 -4.207648 +v -0.273144 -0.807512 -4.310770 +v -0.616515 -1.150736 -1.496382 +v 0.550391 -1.150736 -1.496382 +v -0.582166 -0.018260 -1.496382 +v 0.447343 0.016009 -1.496382 +v 0.172791 0.050412 -3.864371 +v 0.447343 -0.395752 -4.585184 +v -0.067290 -0.876184 -4.619096 +v -0.410541 -0.498692 -4.516321 +v 0.104093 -0.052528 -4.688305 +v 0.550391 -0.498826 -3.246680 +v -0.582166 -1.219273 -1.530986 +v -0.650864 -0.430020 -1.530986 +v -0.547696 -0.121200 -2.938007 +v 0.550391 -0.910452 -2.800973 +v 0.207140 0.084815 -1.496382 +v 0.344416 -1.219407 -1.565245 +v -0.067290 -0.430020 -4.962719 +v 0.481692 -0.018260 -1.668020 +v 0.344416 -0.121334 -4.241907 +v -0.479118 -0.876184 -3.247026 +v 0.550391 -0.395752 -3.075387 +v 0.138442 -0.876184 -4.550925 +v 0.584740 -1.047661 -1.530986 +v 0.069744 -0.498692 -5.031582 +v 0.241490 0.050412 -3.623869 +v -0.650864 -0.635766 -1.771142 +v 0.069744 0.050412 -3.795854 +v -0.444769 -0.018260 -3.213113 +v 0.447343 -0.464423 -4.585184 +v 0.035515 -0.052528 -4.688305 +v -0.033062 -0.738706 -4.825339 +v -0.616515 -0.121200 -1.496382 +v 0.550391 -1.150736 -1.599503 +v -0.273144 -0.018260 -4.070268 +f 138 141 145 +f 103 104 112 +f 106 102 112 +f 112 104 113 +f 106 112 113 +f 112 102 114 +f 102 106 115 +f 104 103 118 +f 118 111 119 +f 117 105 120 +f 103 112 122 +f 118 103 122 +f 111 118 122 +f 110 119 124 +f 119 107 124 +f 107 123 124 +f 102 115 126 +f 116 102 126 +f 104 108 127 +f 113 104 127 +f 119 110 128 +f 115 106 129 +f 109 115 129 +f 109 117 130 +f 120 116 130 +f 117 120 130 +f 112 107 131 +f 107 119 131 +f 119 111 131 +f 122 112 131 +f 111 122 131 +f 117 109 132 +f 106 121 132 +f 121 117 132 +f 129 106 132 +f 109 129 132 +f 108 104 133 +f 104 118 133 +f 106 113 134 +f 121 106 134 +f 125 121 134 +f 105 117 135 +f 128 105 135 +f 108 133 135 +f 115 109 136 +f 126 115 136 +f 116 126 136 +f 109 130 136 +f 130 116 136 +f 107 112 137 +f 123 107 137 +f 112 123 137 +f 102 116 138 +f 114 102 139 +f 124 114 139 +f 110 124 139 +f 117 121 140 +f 125 108 140 +f 121 125 140 +f 135 117 140 +f 108 135 140 +f 120 105 141 +f 116 120 141 +f 105 128 141 +f 128 110 141 +f 138 116 141 +f 118 119 142 +f 119 128 142 +f 133 118 142 +f 128 135 142 +f 135 133 142 +f 112 114 143 +f 123 112 143 +f 114 124 143 +f 124 123 143 +f 108 125 144 +f 127 108 144 +f 113 127 144 +f 134 113 144 +f 125 134 144 +f 102 138 145 +f 139 102 145 +f 110 139 145 +f 141 110 145 +o convex_3 +v 1.168213 -0.361416 2.553654 +v -0.307520 -0.498665 1.180760 +v -0.307520 -0.258409 1.180760 +v -2.709848 -0.498665 2.381908 +v 2.197698 -0.910506 1.935879 +v 2.197698 -0.086824 1.901476 +v -2.057821 -0.841741 1.558387 +v -2.160711 -0.121160 2.004281 +v -0.307520 -0.944748 2.381908 +v 1.991919 -0.876170 1.524118 +v -0.204630 -0.052582 2.484982 +v 2.643946 -0.498665 2.416311 +v 2.609257 -0.464423 1.558387 +v -2.675159 -0.464423 1.558387 +v -0.135841 -0.018152 1.592655 +v -0.135841 -0.979178 1.523984 +v -1.954931 -0.841741 2.381908 +v 1.923130 -0.121160 2.450445 +v -0.169942 -0.773163 2.553654 +v 1.854340 -0.876170 2.381908 +v 0.069938 -0.738733 1.180760 +v -2.057821 -0.155590 1.558387 +v 2.026019 -0.121160 1.592655 +v 2.987303 -0.464423 1.970147 +v -3.019105 -0.532813 1.935610 +v -1.371106 -0.155590 2.484982 +v 0.069938 -0.224167 1.180760 +v -0.238731 -0.018152 2.416311 +v -2.091922 -0.876170 2.004281 +v -2.126022 -0.155590 2.381908 +v 0.035250 -0.979178 2.244699 +v -0.101152 -0.121160 2.553654 +v -3.019105 -0.464423 1.935610 +v -1.783253 -0.498665 2.484982 +v 0.790167 -0.018152 2.038819 +v -2.538169 -0.567148 1.524118 +v 2.128909 -0.086824 2.210296 +v 2.987303 -0.532907 2.004416 +v 1.270515 -0.773163 2.484982 +v 2.060120 -0.841741 2.381908 +v 0.275718 -0.567148 1.180760 +v 0.206929 -0.979178 1.523984 +v -2.297701 -0.841741 2.004281 +v -2.366490 -0.155590 1.970013 +v -0.582088 -0.018152 1.970013 +v 1.202313 -0.189831 2.553654 +v -0.067052 -0.738733 1.180760 +v 0.927745 -0.052582 1.592655 +v 2.575156 -0.567243 1.558387 +v -0.445098 -0.979178 1.970013 +v -1.611574 -0.807405 2.450579 +v 0.619076 -0.979178 2.004281 +v 0.206929 -0.018152 2.416311 +v 2.609257 -0.430088 2.416311 +v 1.648561 -0.498665 2.519251 +v -0.479199 -0.224167 2.553654 +v 0.241617 -0.292744 1.180760 +v -2.881527 -0.532813 2.176027 +v -1.611574 -0.876170 1.524118 +v -2.675159 -0.430182 2.381908 +v -2.572270 -0.464423 1.524118 +v 0.412708 -0.944748 2.381908 +v 1.579772 -0.910412 1.523984 +v 2.266487 -0.876170 2.072953 +f 183 185 209 +f 147 148 166 +f 153 160 167 +f 158 168 169 +f 168 151 169 +f 166 148 172 +f 148 167 172 +f 167 160 172 +f 154 162 174 +f 171 156 175 +f 173 153 175 +f 156 173 175 +f 163 156 177 +f 164 146 177 +f 156 171 177 +f 167 159 178 +f 159 170 178 +f 160 173 180 +f 152 170 181 +f 170 159 181 +f 169 151 182 +f 151 180 182 +f 150 155 183 +f 169 157 183 +f 164 165 184 +f 184 165 185 +f 183 157 185 +f 157 184 185 +f 166 172 186 +f 161 166 187 +f 176 161 187 +f 170 152 188 +f 152 174 188 +f 174 162 188 +f 153 167 189 +f 175 153 189 +f 167 178 189 +f 178 175 189 +f 160 153 190 +f 173 160 190 +f 153 173 190 +f 177 146 191 +f 163 177 191 +f 147 166 192 +f 166 161 192 +f 181 147 192 +f 152 181 192 +f 151 168 193 +f 172 160 193 +f 168 172 193 +f 180 151 193 +f 160 180 193 +f 155 166 194 +f 158 169 194 +f 183 155 194 +f 169 183 194 +f 186 158 194 +f 166 186 194 +f 174 161 195 +f 154 174 195 +f 161 176 195 +f 176 154 195 +f 149 162 196 +f 162 154 196 +f 154 164 196 +f 179 149 196 +f 164 179 196 +f 150 165 197 +f 165 176 197 +f 187 150 197 +f 176 187 197 +f 156 163 198 +f 173 156 198 +f 180 173 198 +f 163 182 198 +f 182 180 198 +f 157 169 199 +f 182 163 199 +f 169 182 199 +f 191 157 199 +f 163 191 199 +f 146 164 200 +f 184 157 200 +f 164 184 200 +f 191 146 200 +f 157 191 200 +f 164 177 201 +f 177 171 201 +f 179 164 201 +f 171 179 201 +f 168 158 202 +f 172 168 202 +f 158 186 202 +f 186 172 202 +f 162 149 203 +f 178 170 203 +f 188 162 203 +f 170 188 203 +f 174 152 204 +f 161 174 204 +f 152 192 204 +f 192 161 204 +f 171 175 205 +f 175 178 205 +f 149 179 205 +f 179 171 205 +f 203 149 205 +f 178 203 205 +f 148 147 206 +f 167 148 206 +f 159 167 206 +f 147 181 206 +f 181 159 206 +f 164 154 207 +f 165 164 207 +f 176 165 207 +f 154 176 207 +f 155 150 208 +f 166 155 208 +f 150 187 208 +f 187 166 208 +f 165 150 209 +f 150 183 209 +f 185 165 209 +o convex_4 +v -0.135844 -0.773183 2.553654 +v 0.069817 -0.155563 2.587983 +v 0.069817 -0.155563 2.553654 +v 0.619062 -0.292825 2.587983 +v -0.067217 -0.532944 2.999844 +v -0.513575 -0.464373 2.553654 +v -0.067217 -0.292825 2.965515 +v 0.378698 -0.670206 2.553654 +v 0.001411 -0.704491 2.896857 +v -0.410467 -0.224194 2.587983 +v 0.172815 -0.498598 2.965515 +v -0.376097 -0.738837 2.587983 +v 0.619062 -0.224194 2.553654 +v 0.550323 -0.498598 2.587983 +v 0.001411 -0.258479 2.931142 +v -0.170214 -0.567229 2.931142 +f 221 218 225 +f 212 210 215 +f 210 212 217 +f 210 217 218 +f 211 212 219 +f 212 215 219 +f 215 216 219 +f 216 214 220 +f 214 218 220 +f 215 210 221 +f 210 218 221 +f 212 211 222 +f 217 212 222 +f 220 213 222 +f 218 217 223 +f 213 220 223 +f 220 218 223 +f 217 222 223 +f 222 213 223 +f 211 219 224 +f 219 216 224 +f 216 220 224 +f 222 211 224 +f 220 222 224 +f 214 216 225 +f 216 215 225 +f 218 214 225 +f 215 221 225 +o convex_5 +v -1.028319 -1.631389 -0.260563 +v 0.996608 -1.494207 0.219654 +v 0.962119 -1.494207 0.562797 +v 0.035481 -3.484513 0.048083 +v 0.653306 -1.494402 -1.255951 +v -0.753796 -1.494207 0.974705 +v -0.822378 -2.832315 -0.912580 +v -0.822378 -2.866805 0.837174 +v 0.824759 -2.832315 0.871671 +v 0.790468 -2.798214 -0.809774 +v -0.719308 -1.494207 -1.290448 +v 0.619015 -1.528698 1.043471 +v 0.035481 -3.141169 -0.775505 +v 0.104062 -2.214802 1.043471 +v -0.032902 -3.209955 0.768866 +v -0.959738 -1.494207 0.768637 +v 0.927829 -1.494207 -0.775505 +v -0.822378 -3.003987 -0.157757 +v -0.994029 -1.494207 -0.844042 +v 0.790468 -2.969497 -0.089220 +v -0.067192 -3.484513 -0.054951 +v 0.275713 -1.528698 -1.290448 +v 0.996608 -1.631389 -0.054951 +v 0.927829 -1.494207 0.803134 +v 0.756178 -2.009224 1.008974 +v -0.856668 -2.763724 -0.912580 +v -1.028319 -1.665880 0.082352 +v -0.376204 -2.180701 1.008974 +v 0.035481 -3.484513 -0.054951 +v 0.001191 -1.494402 1.043471 +v -0.067192 -3.484513 0.048083 +v 0.550236 -2.214802 1.043471 +v 0.172842 -3.141169 0.803134 +v -0.822378 -3.003987 0.082352 +v 0.824759 -2.866805 0.803134 +v 0.756178 -2.763919 -0.844042 +v -0.135972 -3.141364 -0.775277 +v -0.719308 -1.562798 -1.290448 +v -0.753796 -1.837552 0.974705 +v 0.790468 -2.798214 0.906168 +v 0.756178 -3.003987 0.116620 +v -0.616436 -2.935201 -0.878311 +v -0.856668 -2.729429 0.734369 +v -1.028319 -1.494207 0.185157 +v 0.756178 -1.494402 1.008974 +v 0.927829 -1.597094 -0.775505 +v -0.753796 -2.935201 0.768637 +v -0.067192 -2.352373 1.008974 +v -0.616436 -3.038282 -0.637974 +v 0.413074 -2.969497 -0.809774 +v -0.890959 -2.592052 0.013586 +v 0.721887 -2.900906 0.871671 +v 0.859248 -2.626347 0.768866 +f 260 248 278 +f 228 227 231 +f 231 227 236 +f 231 236 241 +f 236 227 242 +f 230 236 242 +f 241 236 244 +f 236 230 247 +f 242 227 248 +f 245 235 248 +f 228 231 249 +f 234 249 250 +f 232 243 251 +f 226 244 251 +f 226 251 252 +f 235 245 254 +f 229 246 254 +f 239 237 255 +f 253 239 255 +f 229 240 256 +f 246 229 256 +f 243 246 256 +f 237 239 257 +f 250 237 257 +f 240 229 258 +f 233 240 258 +f 243 256 259 +f 245 248 260 +f 230 235 261 +f 247 230 261 +f 238 254 262 +f 254 246 262 +f 244 236 263 +f 236 247 263 +f 247 232 263 +f 232 251 263 +f 251 244 263 +f 231 241 264 +f 241 233 264 +f 233 253 264 +f 255 231 264 +f 253 255 264 +f 234 250 265 +f 257 239 265 +f 250 257 265 +f 229 254 266 +f 254 245 266 +f 260 229 266 +f 245 260 266 +f 232 247 267 +f 247 238 267 +f 238 262 267 +f 262 246 267 +f 233 241 268 +f 241 252 268 +f 259 233 268 +f 244 226 269 +f 241 244 269 +f 252 241 269 +f 226 252 269 +f 249 231 270 +f 237 250 270 +f 250 249 270 +f 255 237 270 +f 231 255 270 +f 235 230 271 +f 230 242 271 +f 242 248 271 +f 248 235 271 +f 240 233 272 +f 256 240 272 +f 233 259 272 +f 259 256 272 +f 253 233 273 +f 239 253 273 +f 233 258 273 +f 265 239 273 +f 258 265 273 +f 243 232 274 +f 246 243 274 +f 232 267 274 +f 267 246 274 +f 238 247 275 +f 235 254 275 +f 254 238 275 +f 261 235 275 +f 247 261 275 +f 251 243 276 +f 252 251 276 +f 243 259 276 +f 268 252 276 +f 259 268 276 +f 258 229 277 +f 260 234 277 +f 229 260 277 +f 234 265 277 +f 265 258 277 +f 227 228 278 +f 248 227 278 +f 228 249 278 +f 249 234 278 +f 234 260 278 +o convex_6 +v 0.962148 0.084815 0.906128 +v -0.685008 -0.738908 -1.496382 +v -0.685008 -0.601827 -1.496382 +v -1.096930 0.016042 0.837208 +v 0.584464 -1.494013 1.043444 +v 1.099367 0.084815 -0.878459 +v 0.653207 -1.494013 -1.290407 +v -1.028188 -1.494013 0.219547 +v -1.096930 0.084815 -0.946855 +v 0.996386 -1.494013 0.253876 +v 0.447246 0.016042 -1.496382 +v -0.719512 -1.494013 -1.290145 +v -0.753751 -1.494013 0.974786 +v -0.238848 -0.258429 1.180760 +v -1.371633 0.084815 -0.055086 +v 1.339831 0.050351 -0.089415 +v -0.993950 -1.494013 -0.844130 +v 0.584464 -1.219387 -1.496382 +v 0.927909 -1.459549 -0.809801 +v 0.927909 -1.494013 0.803141 +v -0.273087 0.084815 -1.496382 +v -0.787989 0.084815 1.009115 +v -0.959446 -1.494013 0.768550 +v 0.241285 -0.635981 1.180760 +v -0.616532 -1.253696 -1.496382 +v 1.065128 0.084815 0.837208 +v 0.756187 0.084815 1.009115 +v 0.756187 -1.494013 1.009115 +v -0.582028 -0.018267 -1.496382 +v -0.170106 -0.704599 1.180760 +v 0.618703 -0.670290 -1.496382 +v 0.996386 -1.494013 -0.226207 +v 1.339831 0.084815 0.013573 +v -1.062692 -1.459549 -0.055086 +v -0.753751 -1.253696 1.009115 +v -0.170106 -1.322314 -1.496382 +v -1.371633 0.050351 -0.020757 +v 0.275788 -0.327201 1.180760 +v 1.099367 -0.018267 -0.878459 +v 0.001351 -1.494013 1.043444 +v -1.028188 0.084815 0.906128 +v 0.481484 0.084815 -1.427724 +v 0.790691 -0.876144 1.009115 +v 0.069828 -0.224120 1.180760 +v -0.273087 -0.533055 1.180760 +v -1.096930 0.016042 -0.946855 +v -0.685008 -1.459549 -1.358804 +v 0.962148 -1.494013 -0.569497 +v 1.339831 0.050351 0.013573 +v 0.481484 -0.018267 -1.496382 +v 1.030625 -1.390931 -0.020757 +f 294 327 329 +f 285 283 286 +f 281 280 287 +f 279 284 287 +f 283 285 288 +f 280 281 289 +f 285 286 290 +f 286 283 291 +f 279 287 293 +f 290 286 295 +f 280 289 296 +f 285 296 297 +f 283 288 298 +f 287 284 299 +f 289 281 299 +f 279 293 300 +f 286 291 301 +f 280 296 303 +f 284 279 304 +f 279 300 305 +f 283 298 306 +f 302 283 306 +f 298 304 306 +f 281 287 307 +f 299 281 307 +f 287 299 307 +f 283 302 308 +f 302 292 308 +f 296 289 309 +f 288 285 310 +f 294 284 311 +f 284 304 311 +f 295 286 312 +f 282 301 313 +f 301 291 313 +f 291 308 313 +f 296 285 314 +f 303 296 314 +f 282 293 315 +f 293 295 315 +f 301 282 315 +f 286 301 315 +f 312 286 315 +f 295 312 315 +f 292 302 316 +f 302 306 316 +f 284 294 317 +f 294 297 317 +f 297 296 317 +f 309 284 317 +f 296 309 317 +f 291 283 318 +f 283 308 318 +f 308 291 318 +f 293 282 319 +f 300 293 319 +f 282 313 319 +f 313 300 319 +f 299 284 320 +f 289 299 320 +f 304 279 321 +f 279 305 321 +f 306 304 321 +f 305 316 321 +f 316 306 321 +f 300 292 322 +f 305 300 322 +f 292 316 322 +f 316 305 322 +f 292 300 323 +f 308 292 323 +f 300 313 323 +f 313 308 323 +f 287 280 324 +f 293 287 324 +f 280 295 324 +f 295 293 324 +f 285 290 325 +f 295 280 325 +f 290 295 325 +f 280 303 325 +f 314 285 325 +f 303 314 325 +f 285 297 326 +f 297 294 326 +f 310 285 326 +f 294 310 326 +f 298 288 327 +f 304 298 327 +f 294 311 327 +f 311 304 327 +f 284 309 328 +f 309 289 328 +f 320 284 328 +f 289 320 328 +f 288 310 329 +f 310 294 329 +f 327 288 329 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/944/944.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/944/944.urdf new file mode 100644 index 000000000..aeec58aa0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/944/944.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/945/945.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/945/945.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/945/945.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/945/945.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/945/945.obj new file mode 100644 index 000000000..228b2d035 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/945/945.obj @@ -0,0 +1,642 @@ +o convex_0 +v 1.154185 -0.882363 1.110335 +v -1.151266 -2.655588 -1.124402 +v -1.648037 -2.655588 -1.088527 +v -1.044343 -0.421286 -1.017871 +v -2.959946 -0.563021 1.110335 +v 2.998306 -2.477981 0.968367 +v 2.927424 -0.598455 -1.053308 +v -2.959946 -2.513415 0.968148 +v 2.998306 -0.456501 1.074679 +v 3.033746 -2.477981 -0.982215 +v -3.030828 -0.775843 -0.946778 +v -3.101709 -2.584283 -0.982215 +v 0.763736 -2.584501 1.039241 +v -1.044343 -0.421286 1.074679 +v 0.976381 -0.421067 -1.017871 +v -1.470233 -2.477981 1.074679 +v -2.995387 -0.598455 -0.946778 +v 0.657414 -2.619935 0.577900 +v -1.044343 -0.527587 -1.053308 +v -2.995387 -2.548849 0.684431 +v 3.033746 -2.442547 -1.017652 +v 0.940940 -0.421067 1.110335 +v 2.962865 -2.477981 1.003804 +v -2.995387 -0.563021 0.755524 +v 3.033746 -1.130400 0.329839 +v -0.477291 -2.655588 -0.521093 +v -0.157724 -2.513415 1.074679 +v 2.962865 -0.917578 -1.053308 +v 2.998306 -0.492153 0.365277 +v -2.959946 -0.811277 1.110335 +v 1.437711 -2.584501 1.003585 +v -1.079784 -2.442547 -1.124402 +v -2.924505 -2.619935 -0.946778 +v -0.938021 -2.655588 -1.124402 +v -2.995387 -0.563021 -0.024533 +v -2.959946 -2.300593 1.003804 +v -3.101709 -2.548849 -0.840466 +v 3.033746 -2.477981 -0.237376 +v 3.033746 -2.087771 -1.017652 +v 2.998306 -1.626693 1.039023 +v -2.818183 -2.548849 0.790743 +v -2.570098 -0.527368 0.684431 +v -1.328470 -2.655588 -0.804810 +v 2.962865 -1.130400 -1.053308 +v -3.101709 -2.407113 -0.982215 +v 1.686397 -0.598455 1.110335 +v -2.463776 -0.598455 -0.982215 +v 2.573017 -2.513634 1.003804 +v 2.998306 -0.456501 0.826399 +v -0.725376 -2.655588 -1.017871 +v -2.073327 -2.513634 1.039241 +v 0.834618 -0.953231 1.110335 +f 30 16 52 +f 4 15 19 +f 15 7 19 +f 17 4 19 +f 5 1 22 +f 4 14 22 +f 14 5 22 +f 9 15 22 +f 15 4 22 +f 10 21 25 +f 3 2 26 +f 10 18 26 +f 13 23 27 +f 7 15 29 +f 28 7 29 +f 1 5 30 +f 5 24 30 +f 24 20 30 +f 18 10 31 +f 13 18 31 +f 19 7 32 +f 12 3 33 +f 20 12 33 +f 21 10 34 +f 26 2 34 +f 7 28 34 +f 2 32 34 +f 32 7 34 +f 4 17 35 +f 17 11 35 +f 11 24 35 +f 20 8 36 +f 30 20 36 +f 12 20 37 +f 20 24 37 +f 25 6 38 +f 10 25 38 +f 25 21 39 +f 21 28 39 +f 29 25 39 +f 28 29 39 +f 23 6 40 +f 6 25 40 +f 25 9 40 +f 27 23 40 +f 13 8 41 +f 18 13 41 +f 8 20 41 +f 14 4 42 +f 5 14 42 +f 24 5 42 +f 4 35 42 +f 35 24 42 +f 3 26 43 +f 26 18 43 +f 33 3 43 +f 20 33 43 +f 18 41 43 +f 41 20 43 +f 28 21 44 +f 21 34 44 +f 34 28 44 +f 2 3 45 +f 3 12 45 +f 11 17 45 +f 24 11 45 +f 32 2 45 +f 17 32 45 +f 12 37 45 +f 37 24 45 +f 22 1 46 +f 9 22 46 +f 1 27 46 +f 40 9 46 +f 27 40 46 +f 17 19 47 +f 32 17 47 +f 19 32 47 +f 6 23 48 +f 23 13 48 +f 31 10 48 +f 13 31 48 +f 38 6 48 +f 10 38 48 +f 15 9 49 +f 9 25 49 +f 25 29 49 +f 29 15 49 +f 10 26 50 +f 34 10 50 +f 26 34 50 +f 8 13 51 +f 27 16 51 +f 13 27 51 +f 16 30 51 +f 36 8 51 +f 30 36 51 +f 27 1 52 +f 16 27 52 +f 1 30 52 +o convex_1 +v 1.118751 1.813881 0.649025 +v -0.370856 0.820669 -1.053458 +v -1.044788 0.820669 -1.017663 +v 0.231987 2.133133 -1.053458 +v -1.080223 2.133133 0.968214 +v 1.012226 0.820669 1.110335 +v 0.976790 0.820669 -1.017875 +v -1.044788 0.820669 1.039380 +v -1.080223 2.133133 -0.982291 +v 1.047661 2.133133 1.110335 +v 0.941354 2.133133 -1.053458 +v -1.115878 0.820669 -0.379285 +v 1.083315 0.820669 -0.414868 +v 1.047661 2.133133 -0.414868 +v 1.118751 0.820669 0.400790 +v -1.080223 1.033546 1.039380 +v -1.115878 2.133133 -0.663102 +v -1.080223 1.955714 -1.017663 +v -1.080223 1.955714 1.003585 +v 0.515690 1.246423 1.110335 +v 0.976790 2.097546 -0.982503 +v 0.196551 2.133133 1.074751 +v 1.083315 2.133133 0.046018 +v -1.080223 1.104591 -1.017663 +v 1.083315 1.352797 -0.379073 +v -1.115878 0.820669 -0.166421 +v -0.016281 0.820669 -1.053458 +v 1.083315 2.133133 0.932843 +v 0.551344 0.856255 1.110335 +f 72 68 81 +f 55 54 58 +f 58 54 59 +f 55 58 60 +f 57 56 61 +f 56 57 62 +f 54 56 63 +f 56 62 63 +f 55 60 64 +f 58 59 65 +f 63 62 66 +f 53 58 67 +f 58 65 67 +f 57 61 69 +f 56 54 70 +f 61 56 70 +f 69 61 70 +f 58 62 72 +f 59 63 73 +f 65 59 73 +f 63 66 73 +f 62 57 74 +f 57 71 74 +f 71 68 74 +f 72 62 74 +f 68 72 74 +f 66 62 75 +f 54 55 76 +f 55 64 76 +f 64 69 76 +f 69 70 76 +f 70 54 76 +f 53 67 77 +f 67 65 77 +f 65 73 77 +f 73 66 77 +f 75 53 77 +f 66 75 77 +f 64 60 78 +f 60 68 78 +f 57 69 78 +f 69 64 78 +f 71 57 78 +f 68 71 78 +f 59 54 79 +f 54 63 79 +f 63 59 79 +f 58 53 80 +f 62 58 80 +f 53 75 80 +f 75 62 80 +f 60 58 81 +f 68 60 81 +f 58 72 81 +o convex_2 +v 2.892233 0.111229 -0.202001 +v 1.296445 0.820669 -0.202001 +v 1.296445 0.820669 -0.237560 +v 2.998594 0.785183 0.152531 +v 1.260927 0.253172 0.223517 +v 3.069437 0.182200 0.365357 +v 1.118859 0.785183 0.294437 +v 1.118859 0.217686 -0.272987 +v 3.069437 0.643239 -0.308480 +v 2.963077 0.785183 0.329930 +v 3.034111 0.146714 -0.272987 +v 1.118859 0.820669 -0.237560 +v 1.615717 0.395046 -0.308480 +v 1.118859 0.217686 -0.024669 +v 2.998594 0.146714 0.258944 +v 2.998594 0.678725 -0.308480 +v 1.118859 0.678725 0.294437 +v 1.296445 0.182200 -0.272987 +v 1.686560 0.217686 0.258944 +v 1.118859 0.253172 0.188024 +f 95 100 101 +f 84 83 85 +f 85 87 90 +f 85 83 91 +f 87 85 91 +f 88 87 91 +f 83 88 91 +f 90 87 92 +f 83 84 93 +f 88 83 93 +f 89 88 93 +f 90 92 94 +f 89 93 94 +f 88 89 95 +f 82 92 96 +f 92 87 96 +f 84 85 97 +f 85 90 97 +f 93 84 97 +f 90 94 97 +f 94 93 97 +f 87 88 98 +f 88 95 98 +f 92 82 99 +f 89 94 99 +f 94 92 99 +f 95 89 99 +f 82 96 99 +f 96 95 99 +f 96 87 100 +f 95 96 100 +f 98 86 100 +f 87 98 100 +f 86 98 101 +f 98 95 101 +f 100 86 101 +o convex_3 +v 0.267218 2.133202 -1.052982 +v 1.083171 3.516541 1.110335 +v 0.870305 3.516541 1.110335 +v 1.047658 2.133202 1.110335 +v -1.079933 2.133202 0.967836 +v -1.115662 3.480928 -0.982378 +v 0.941117 3.445451 -1.053412 +v -1.080149 3.445451 0.932749 +v -1.079933 2.133202 -0.982163 +v 0.976630 2.133202 -0.946861 +v -0.335223 2.878087 1.110335 +v 1.083171 2.133202 0.045897 +v -0.370736 2.700701 -1.088714 +v -0.193599 2.133202 1.110119 +v 0.941117 2.133202 -1.053412 +v 0.976630 3.480928 -0.627637 +v -1.115662 2.133202 -0.521086 +v -0.796255 3.480928 0.968266 +v 0.267218 2.168815 -1.088714 +v 1.083171 3.516541 0.861715 +v -0.512576 3.480928 -1.017680 +v 1.083171 2.168815 0.968266 +v 1.012144 2.417020 -0.733974 +v -1.080149 3.480928 0.365336 +v 0.373544 3.480928 -1.017680 +v -0.193599 2.204292 -1.088714 +v -1.080149 2.913564 0.968266 +v 1.083171 3.480928 0.719861 +v -0.938094 3.303542 -1.017680 +v -1.115662 3.480928 -0.698672 +v 0.444571 3.445451 -1.053412 +v -0.973608 3.409974 0.968266 +f 109 128 133 +f 103 104 105 +f 102 105 106 +f 102 106 110 +f 105 102 111 +f 105 104 112 +f 105 111 113 +f 106 105 115 +f 105 112 115 +f 112 106 115 +f 111 102 116 +f 108 111 116 +f 110 106 118 +f 107 110 118 +f 102 110 120 +f 114 108 120 +f 116 102 120 +f 108 116 120 +f 104 103 121 +f 107 104 121 +f 103 113 121 +f 107 121 122 +f 103 105 123 +f 113 103 123 +f 105 113 123 +f 111 108 124 +f 113 111 124 +f 108 117 124 +f 119 104 125 +f 109 119 125 +f 117 108 126 +f 121 117 126 +f 122 121 126 +f 108 122 126 +f 110 114 127 +f 120 110 127 +f 114 120 127 +f 106 112 128 +f 118 106 128 +f 109 118 128 +f 121 113 129 +f 117 121 129 +f 113 124 129 +f 124 117 129 +f 110 107 130 +f 114 110 130 +f 122 114 130 +f 107 122 130 +f 104 107 131 +f 118 109 131 +f 107 118 131 +f 125 104 131 +f 109 125 131 +f 108 114 132 +f 122 108 132 +f 114 122 132 +f 112 104 133 +f 104 119 133 +f 119 109 133 +f 128 112 133 +o convex_4 +v -2.073840 0.430508 0.329885 +v -1.293418 0.714166 -0.343952 +v -1.293418 0.749725 -0.343952 +v -2.995567 0.607739 -0.273032 +v -1.151541 0.146787 -0.273032 +v -1.151541 0.678670 0.329885 +v -2.960241 0.146787 0.294392 +v -1.151541 0.111353 0.329885 +v -3.102119 0.643236 0.223406 +v -2.995567 0.253214 -0.166619 +v -1.151541 0.749725 -0.095700 +v -2.605452 0.714166 -0.273032 +v -2.073840 0.678670 0.294392 +v -2.960241 0.146787 0.187979 +v -1.577173 0.182284 -0.273032 +v -2.002806 0.111353 0.258899 +v -1.151541 0.749725 -0.343952 +v -3.031085 0.678670 -0.024714 +v -2.995567 0.288648 -0.202112 +v -3.102119 0.536809 0.116994 +f 152 143 153 +f 136 135 137 +f 139 134 141 +f 138 139 141 +f 134 140 141 +f 140 134 142 +f 139 138 144 +f 136 137 145 +f 144 136 145 +f 134 139 146 +f 142 134 146 +f 139 144 146 +f 143 138 147 +f 137 135 148 +f 135 138 148 +f 138 143 148 +f 138 141 149 +f 141 140 149 +f 147 138 149 +f 140 147 149 +f 135 136 150 +f 138 135 150 +f 136 144 150 +f 144 138 150 +f 137 142 151 +f 144 145 151 +f 145 137 151 +f 142 146 151 +f 146 144 151 +f 137 148 152 +f 148 143 152 +f 142 137 153 +f 140 142 153 +f 147 140 153 +f 143 147 153 +f 137 152 153 +o convex_5 +v 1.083303 0.678725 0.613654 +v -0.796463 -0.066114 -1.053458 +v -0.796463 0.040465 -1.053458 +v -1.044684 0.075951 1.074751 +v 0.976860 -0.420852 1.039168 +v 1.012415 -0.420852 -0.982291 +v -1.044684 0.820669 -1.017875 +v 0.976860 0.820669 -1.017875 +v -1.044684 0.820669 1.039380 +v -1.080239 -0.420852 0.755562 +v 0.976860 0.820669 1.110335 +v -1.044684 -0.420852 -1.017875 +v -1.151350 0.749697 -0.343913 +v -1.044684 -0.420852 1.074751 +v 1.118859 0.217530 -0.272959 +v 0.941304 -0.420852 1.110335 +v -1.151350 0.111437 0.329836 +v 1.118859 0.820669 -0.237376 +v 0.976860 -0.420852 -1.017875 +v -0.051579 0.820669 -1.053458 +v 1.118859 0.182409 0.187927 +v -0.016245 -0.385366 1.110335 +v -1.151350 0.146923 -0.272959 +v -1.151350 0.678725 0.329836 +v 1.047748 -0.349880 -0.450239 +v 0.586640 0.820669 1.110335 +v 1.118859 0.820669 0.400579 +v 1.012415 0.678725 1.074540 +v -1.080239 -0.420852 0.932843 +v -1.115794 0.820669 -0.166633 +f 166 177 183 +f 156 155 160 +f 161 160 162 +f 159 158 163 +f 161 162 164 +f 160 155 165 +f 159 163 165 +f 160 165 166 +f 163 158 167 +f 167 158 169 +f 159 161 171 +f 161 164 171 +f 168 159 171 +f 161 159 172 +f 165 155 172 +f 159 165 172 +f 155 156 173 +f 156 160 173 +f 160 161 173 +f 172 155 173 +f 161 172 173 +f 168 171 174 +f 157 167 175 +f 169 164 175 +f 167 169 175 +f 165 163 176 +f 166 165 176 +f 163 170 176 +f 170 166 176 +f 166 170 177 +f 158 159 178 +f 159 168 178 +f 174 158 178 +f 168 174 178 +f 162 157 179 +f 164 162 179 +f 157 175 179 +f 175 164 179 +f 154 158 180 +f 171 164 180 +f 158 174 180 +f 174 171 180 +f 158 154 181 +f 169 158 181 +f 164 169 181 +f 154 180 181 +f 180 164 181 +f 157 162 182 +f 167 157 182 +f 163 167 182 +f 170 163 182 +f 162 177 182 +f 177 170 182 +f 162 160 183 +f 160 166 183 +f 177 162 183 +o convex_6 +v -0.300018 2.700612 -1.231054 +v 0.090153 2.168667 -3.075167 +v 0.232055 2.168667 -3.075167 +v 0.125629 2.807039 -3.075167 +v 0.267531 2.168667 -1.089124 +v -0.264484 2.168667 -3.004203 +v 0.232055 2.665116 -1.089124 +v -0.193592 2.204164 -1.089124 +v -0.193592 2.807039 -2.862273 +v 0.232055 2.736046 -2.401099 +v -0.335494 2.594186 -1.089124 +v -0.300018 2.204164 -2.755923 +v 0.196580 2.807039 -2.968623 +v 0.267531 2.594186 -1.160089 +v -0.335494 2.665116 -1.302019 +v 0.267531 2.204164 -2.082243 +v -0.264484 2.381520 -2.968623 +v 0.019202 2.168667 -1.089124 +v 0.232055 2.381520 -3.075167 +v -0.087106 2.807039 -2.720343 +f 196 192 203 +f 186 185 187 +f 185 186 188 +f 187 185 189 +f 185 188 189 +f 188 190 191 +f 190 184 194 +f 191 190 194 +f 189 191 195 +f 191 194 195 +f 187 192 196 +f 190 193 196 +f 190 188 197 +f 193 190 197 +f 184 192 198 +f 194 184 198 +f 195 194 198 +f 188 186 199 +f 197 188 199 +f 193 197 199 +f 187 189 200 +f 192 187 200 +f 189 195 200 +f 198 192 200 +f 195 198 200 +f 189 188 201 +f 188 191 201 +f 191 189 201 +f 186 187 202 +f 187 196 202 +f 196 193 202 +f 199 186 202 +f 193 199 202 +f 184 190 203 +f 192 184 203 +f 190 196 203 +o convex_7 +v -0.087176 2.807035 3.060993 +v -0.193602 2.133133 1.110335 +v 0.338471 2.133133 1.110335 +v -0.229078 2.807035 1.110335 +v -0.229078 2.204178 2.990028 +v 0.267520 2.736057 3.096573 +v 0.302937 2.771546 1.110335 +v 0.373947 2.204178 3.025608 +v -0.193602 2.807035 3.060993 +v 0.338471 2.736057 1.110335 +v -0.229078 2.168689 1.571703 +v 0.338471 2.736057 1.749018 +v 0.232045 2.771546 3.096573 +v 0.267520 2.133133 1.394388 +v -0.229078 2.275091 3.025608 +v 0.019251 2.807035 1.110335 +v -0.229078 2.807035 1.961913 +v 0.373947 2.275091 3.025608 +v 0.373947 2.239667 2.564434 +f 213 221 222 +f 206 205 207 +f 206 207 210 +f 204 207 212 +f 206 210 213 +f 207 205 214 +f 208 207 214 +f 205 208 214 +f 213 210 215 +f 204 212 216 +f 209 215 216 +f 215 210 216 +f 205 206 217 +f 208 205 217 +f 206 211 217 +f 211 208 217 +f 207 208 218 +f 211 209 218 +f 208 211 218 +f 216 212 218 +f 209 216 218 +f 207 204 219 +f 210 207 219 +f 204 216 219 +f 216 210 219 +f 212 207 220 +f 207 218 220 +f 218 212 220 +f 209 211 221 +f 215 209 221 +f 213 215 221 +f 211 206 222 +f 206 213 222 +f 221 211 222 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/945/945.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/945/945.urdf new file mode 100644 index 000000000..867a841c0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/945/945.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/946/946.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/946/946.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/946/946.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/946/946.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/946/946.obj new file mode 100644 index 000000000..f5d073b5b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/946/946.obj @@ -0,0 +1,360 @@ +o convex_0 +v -0.146361 4.424004 0.395420 +v -1.100044 2.802088 0.967742 +v -1.100044 2.802088 0.999479 +v 1.061242 -1.647231 -1.034647 +v -1.068304 4.264669 -0.939012 +v -1.036564 -1.647231 -1.097909 +v 0.934281 -1.615491 1.031428 +v 1.029501 4.264669 -1.034647 +v 0.997762 4.296409 0.999479 +v -1.036564 -1.647231 1.063165 +v -1.100044 4.296409 0.967742 +v 0.361903 -2.061121 0.268472 +v -0.210053 -2.061121 -0.208005 +v 1.029501 3.756194 0.872532 +v 0.997762 3.247083 1.031428 +v -0.527876 -0.152910 -1.097909 +v 0.616246 4.391629 -0.525798 +v 0.393854 -1.615491 1.063165 +v -1.036564 -0.279870 1.063165 +v 1.061242 -0.216390 -0.494061 +v -1.100044 4.232294 -0.017372 +v 0.489074 2.770348 -1.066383 +v -0.527876 4.424004 0.141313 +v -0.210053 4.296409 0.999691 +v 1.061242 1.689917 -1.034647 +v 0.266683 -2.061121 -0.239742 +v -1.068304 -0.312245 0.999479 +v -1.068304 2.261873 -1.002698 +v -0.210053 -2.061121 0.268472 +v 0.393854 -1.647231 -1.066383 +v -0.686788 4.359889 -0.652957 +v 1.029501 4.296409 0.777109 +v 0.616246 4.391629 0.586264 +v 0.679938 4.264034 -1.034647 +v -0.591357 4.424004 0.522579 +v -1.068304 1.403622 -1.002698 +v 1.061242 -1.647231 -0.843802 +v -1.100044 3.215343 0.999479 +v -0.527876 -1.647231 -1.097909 +v -1.036564 -1.043535 -1.097909 +v -0.210053 -1.647231 1.063165 +v -1.004823 4.295774 -0.875539 +v 0.520814 2.007318 -1.066383 +v 0.966021 -1.520271 0.618001 +v 0.838850 4.328149 0.936005 +v -0.591357 4.232294 -0.970961 +v -1.100044 4.296409 0.141313 +v 0.997762 2.388833 1.031428 +v 0.361903 -2.061121 -0.017372 +v -0.750480 4.328149 0.904057 +v -0.559617 4.391629 -0.366901 +v -0.909392 -0.788980 -1.097909 +f 46 34 52 +f 2 3 11 +f 10 6 13 +f 14 9 15 +f 18 15 19 +f 3 10 19 +f 10 18 19 +f 2 11 21 +f 1 17 23 +f 15 9 24 +f 19 15 24 +f 20 4 25 +f 12 13 26 +f 13 6 26 +f 3 2 27 +f 2 6 27 +f 10 3 27 +f 6 10 27 +f 21 5 28 +f 12 10 29 +f 10 13 29 +f 13 12 29 +f 4 26 30 +f 17 8 31 +f 9 14 32 +f 8 17 32 +f 14 20 32 +f 25 8 32 +f 20 25 32 +f 17 1 33 +f 9 32 33 +f 32 17 33 +f 8 22 34 +f 31 8 34 +f 1 23 35 +f 33 1 35 +f 6 2 36 +f 2 21 36 +f 28 6 36 +f 21 28 36 +f 12 4 37 +f 7 12 37 +f 4 20 37 +f 11 3 38 +f 3 19 38 +f 24 11 38 +f 19 24 38 +f 6 16 39 +f 26 6 39 +f 30 26 39 +f 16 6 40 +f 6 28 40 +f 12 7 41 +f 10 12 41 +f 7 18 41 +f 18 10 41 +f 23 31 42 +f 34 5 42 +f 31 34 42 +f 35 23 42 +f 22 8 43 +f 16 22 43 +f 8 25 43 +f 25 4 43 +f 4 30 43 +f 39 16 43 +f 30 39 43 +f 20 14 44 +f 7 37 44 +f 37 20 44 +f 24 9 45 +f 9 33 45 +f 33 35 45 +f 28 5 46 +f 5 34 46 +f 5 21 47 +f 21 11 47 +f 11 35 47 +f 42 5 47 +f 35 42 47 +f 14 15 48 +f 18 7 48 +f 15 18 48 +f 7 44 48 +f 44 14 48 +f 4 12 49 +f 26 4 49 +f 12 26 49 +f 11 24 50 +f 35 11 50 +f 24 45 50 +f 45 35 50 +f 23 17 51 +f 17 31 51 +f 31 23 51 +f 22 16 52 +f 34 22 52 +f 16 40 52 +f 40 28 52 +f 28 46 52 +o convex_1 +v 0.171263 -3.428146 0.236788 +v -0.178344 -3.745935 -0.303533 +v -0.210103 -3.714105 -0.144600 +v -0.305509 -3.269135 -0.239960 +v 0.266605 -3.269135 -0.303533 +v 0.362077 -3.745935 0.141428 +v -0.241927 -3.618754 0.236788 +v -0.241927 -3.269135 0.205001 +v 0.298494 -3.269135 0.205001 +v 0.203022 -3.618754 -0.271747 +v 0.139439 -3.714105 0.205001 +v -0.305509 -3.269135 0.173215 +v 0.330188 -3.682322 0.205001 +v -0.114761 -3.745935 -0.112813 +v -0.273685 -3.459929 -0.271747 +v -0.051178 -3.269135 0.236788 +f 61 60 68 +f 57 56 60 +f 58 57 61 +f 57 60 61 +f 54 57 62 +f 58 54 62 +f 57 58 62 +f 59 60 64 +f 60 56 64 +f 53 59 65 +f 58 61 65 +f 61 53 65 +f 63 58 65 +f 59 63 65 +f 55 54 66 +f 54 58 66 +f 59 55 66 +f 58 63 66 +f 63 59 66 +f 54 55 67 +f 56 57 67 +f 57 54 67 +f 55 59 67 +f 64 56 67 +f 59 64 67 +f 59 53 68 +f 60 59 68 +f 53 61 68 +o convex_2 +v -1.099847 -3.269135 0.077742 +v 0.362098 -2.061121 0.268519 +v 2.491986 -2.220164 0.522924 +v 2.968747 -3.078284 -0.526065 +v -2.943560 -2.188473 -0.430733 +v 2.904820 -2.124738 -0.430621 +v -3.007486 -2.124856 0.554739 +v -2.911895 -3.269135 -0.589695 +v 3.096002 -3.141901 0.459183 +v -2.943560 -3.141901 0.522924 +v 0.266507 -3.269135 -0.303474 +v 3.032076 -2.220164 0.395666 +v -0.019071 -2.061121 -0.239957 +v 3.032076 -2.283781 -0.462436 +v -2.816304 -2.982976 0.554739 +v 0.266507 -3.269135 0.236816 +v 2.714236 -3.141901 -0.494251 +v -2.784640 -3.141901 -0.589695 +v -2.562390 -2.092929 0.522924 +v 1.919635 -3.141901 0.490998 +v -2.943560 -2.156665 -0.398918 +v -2.943560 -2.283781 -0.462436 +v 2.809826 -2.283781 0.522924 +v -0.400838 -2.156665 0.554627 +v -2.943560 -3.237208 -0.144625 +v -2.085630 -3.269135 -0.589695 +v 3.063740 -3.141901 0.046040 +v 2.586980 -3.173709 0.427480 +v 3.032076 -2.156547 -0.144625 +v -2.975224 -2.220164 -0.271771 +v -1.831119 -3.205399 0.395778 +v -1.831119 -3.205399 -0.589695 +v -0.654752 -3.141901 0.522924 +v -3.007486 -2.411015 0.554739 +v 3.063740 -2.855742 0.491110 +v -2.466799 -2.156665 -0.430733 +v -2.943560 -2.982976 -0.526065 +v -2.975224 -2.124856 0.109669 +v 3.032076 -2.251972 0.491110 +v -0.559758 -2.061121 0.300221 +v -2.911895 -3.269135 -0.367104 +v 3.000411 -3.110092 -0.462436 +v 3.096002 -2.919359 0.459183 +v -0.209656 -2.061121 -0.208142 +v 2.555315 -3.141901 -0.526065 +v -0.177991 -2.220282 0.554627 +v -2.975224 -2.951050 0.554739 +v -2.848566 -3.173591 0.395778 +v 3.032076 -3.141901 -0.112698 +v 0.266507 -2.061121 -0.208030 +v -3.007486 -2.124856 0.268519 +v -2.911895 -2.919241 -0.557880 +v 3.032076 -2.156547 -0.430621 +v 3.096002 -3.141901 0.300221 +v 0.107587 -3.173591 0.459295 +f 101 99 123 +f 69 76 79 +f 70 71 80 +f 69 79 84 +f 74 82 90 +f 71 70 92 +f 70 87 92 +f 87 75 92 +f 91 71 92 +f 79 76 94 +f 76 86 94 +f 84 79 96 +f 77 88 96 +f 74 70 97 +f 70 80 97 +f 89 73 98 +f 73 90 98 +f 69 84 99 +f 82 72 100 +f 86 82 100 +f 72 94 100 +f 94 86 100 +f 83 78 101 +f 91 83 101 +f 88 91 101 +f 78 99 101 +f 83 75 102 +f 88 77 103 +f 91 88 103 +f 81 74 104 +f 73 89 104 +f 89 81 104 +f 90 73 104 +f 74 90 104 +f 76 93 105 +f 98 90 105 +f 93 102 105 +f 80 71 107 +f 71 91 107 +f 91 103 107 +f 70 81 108 +f 87 70 108 +f 76 69 109 +f 93 76 109 +f 72 82 110 +f 85 72 110 +f 82 95 110 +f 97 80 111 +f 103 77 111 +f 80 107 111 +f 107 103 111 +f 81 89 112 +f 106 87 112 +f 89 106 112 +f 108 81 112 +f 87 108 112 +f 72 85 113 +f 85 79 113 +f 79 94 113 +f 94 72 113 +f 75 83 114 +f 83 91 114 +f 92 75 114 +f 91 92 114 +f 78 83 115 +f 93 78 115 +f 83 102 115 +f 102 93 115 +f 78 93 116 +f 69 99 116 +f 99 78 116 +f 109 69 116 +f 93 109 116 +f 79 85 117 +f 96 79 117 +f 95 96 117 +f 85 110 117 +f 110 95 117 +f 70 74 118 +f 81 70 118 +f 74 81 118 +f 75 87 119 +f 89 98 119 +f 102 75 119 +f 98 105 119 +f 105 102 119 +f 87 106 119 +f 106 89 119 +f 86 76 120 +f 82 86 120 +f 90 82 120 +f 76 105 120 +f 105 90 120 +f 82 74 121 +f 74 97 121 +f 97 111 121 +f 121 111 122 +f 95 82 122 +f 77 96 122 +f 96 95 122 +f 111 77 122 +f 82 121 122 +f 84 96 123 +f 96 88 123 +f 99 84 123 +f 88 101 123 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/946/946.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/946/946.urdf new file mode 100644 index 000000000..cde70ef5f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/946/946.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/947/947.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/947/947.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/947/947.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/947/947.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/947/947.obj new file mode 100644 index 000000000..8b12e30a0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/947/947.obj @@ -0,0 +1,507 @@ +o convex_0 +v 1.600350 -2.956349 1.029242 +v 1.026142 -0.741128 0.373173 +v 2.954318 -0.782327 2.382876 +v -3.117011 -1.807973 2.341593 +v -3.117011 -2.833185 0.290819 +v -3.075779 -0.823310 0.413818 +v 3.077405 -2.874167 2.382876 +v 3.077405 -2.874167 0.249748 +v -3.117011 -2.791986 2.341593 +v -3.075779 -0.823310 2.300735 +v 3.077405 -0.905491 0.291031 +v -0.983890 -0.741128 0.209103 +v 0.697503 -2.956349 0.209103 +v -2.460339 -2.463909 2.382876 +v 1.026142 -0.741128 0.209103 +v 0.903054 -0.782327 2.382876 +v 2.994943 -2.915150 2.300735 +v -2.050450 -2.833185 2.341593 +v -0.983890 -2.792203 0.209103 +v -3.117011 -1.807973 0.331889 +v -3.117011 -2.833185 1.316312 +v 2.954318 -0.782327 1.849381 +v -3.117011 -1.274550 2.300735 +v -0.081043 -0.782327 2.341593 +v 3.077405 -1.971686 0.249748 +v 3.077405 -1.233785 0.947313 +v -0.901427 -1.438697 2.382876 +v -1.229460 -2.832968 2.382876 +v -3.075779 -0.946474 0.372960 +v 1.436031 -2.956349 0.291031 +v -0.983890 -0.741128 0.414031 +v 3.077405 -2.627839 2.382876 +v 0.738735 -2.956349 0.414031 +v 0.984910 -2.956349 0.209103 +v 3.036174 -0.864292 0.701314 +v 0.533790 -2.873951 2.382876 +v 2.379503 -2.915150 0.291031 +f 30 34 37 +f 4 5 9 +f 7 8 11 +f 6 10 12 +f 7 3 14 +f 4 9 14 +f 2 3 15 +f 12 2 15 +f 13 12 15 +f 14 3 16 +f 8 7 17 +f 5 12 19 +f 13 5 19 +f 12 13 19 +f 5 4 20 +f 12 5 20 +f 9 5 21 +f 5 13 21 +f 18 9 21 +f 3 11 22 +f 15 3 22 +f 4 10 23 +f 10 6 23 +f 20 4 23 +f 6 20 23 +f 10 16 24 +f 11 8 25 +f 15 11 25 +f 8 15 25 +f 11 3 26 +f 7 11 26 +f 10 4 27 +f 4 14 27 +f 16 10 27 +f 14 16 27 +f 7 14 28 +f 14 9 28 +f 9 18 28 +f 6 12 29 +f 20 6 29 +f 12 20 29 +f 1 13 30 +f 17 1 30 +f 3 2 31 +f 2 12 31 +f 12 10 31 +f 16 3 31 +f 10 24 31 +f 24 16 31 +f 3 7 32 +f 26 3 32 +f 7 26 32 +f 13 1 33 +f 1 18 33 +f 21 13 33 +f 18 21 33 +f 15 8 34 +f 13 15 34 +f 30 13 34 +f 11 15 35 +f 22 11 35 +f 15 22 35 +f 1 17 36 +f 17 7 36 +f 18 1 36 +f 7 28 36 +f 28 18 36 +f 8 17 37 +f 17 30 37 +f 34 8 37 +o convex_1 +v 0.369913 4.960985 -0.816844 +v -0.327472 3.279089 -0.529774 +v -0.286445 4.017497 -0.980979 +v -0.286445 5.166066 -0.447737 +v 0.287859 3.320144 -0.447737 +v 0.328886 3.279089 -0.898881 +v -0.327472 5.248175 -0.980979 +v 0.328886 5.248175 -0.365640 +v -0.327472 3.279089 -0.406718 +v 0.369913 5.083956 -0.939900 +v -0.245419 3.279089 -0.980979 +v -0.327472 4.099606 -0.406718 +v -0.081312 3.279089 -0.980979 +v 0.041700 5.166066 -0.980979 +v 0.328886 3.279089 -0.693788 +v 0.369913 4.345549 -0.939900 +v -0.040285 3.279089 -0.406718 +f 46 52 54 +f 40 39 44 +f 44 41 45 +f 39 43 46 +f 44 39 46 +f 45 38 47 +f 39 40 48 +f 43 39 48 +f 40 44 48 +f 41 44 49 +f 45 41 49 +f 46 45 49 +f 44 46 49 +f 43 48 50 +f 48 44 50 +f 44 45 51 +f 45 47 51 +f 50 44 51 +f 38 45 52 +f 45 42 52 +f 46 43 52 +f 47 38 53 +f 43 50 53 +f 51 47 53 +f 50 51 53 +f 38 52 53 +f 52 43 53 +f 42 45 54 +f 45 46 54 +f 52 42 54 +o convex_2 +v 0.123673 -1.479535 -3.072848 +v 0.041651 -2.176919 -2.252990 +v 0.082690 -2.176919 -2.252990 +v 0.246845 -1.479535 -1.801432 +v -0.327472 -1.561656 -1.801432 +v -0.204356 -2.094866 -3.606122 +v 0.205806 -1.930760 -3.647172 +v -0.204356 -1.602615 -3.770325 +v -0.245338 -2.135893 -1.801432 +v 0.205806 -2.135893 -1.801432 +v 0.205806 -1.479535 -3.770325 +v 0.164711 -2.094866 -3.606122 +v -0.245338 -2.094866 -3.401061 +v 0.246845 -1.766790 -2.663111 +v -0.286433 -2.094866 -1.883726 +v -0.245338 -1.602615 -3.524020 +v 0.123673 -1.479535 -3.770325 +v -0.245338 -2.135893 -3.072848 +v 0.246845 -1.479535 -3.154949 +v -0.327472 -1.684668 -2.006878 +v -0.122335 -2.176919 -1.801432 +v -0.163373 -1.520561 -1.801432 +f 71 59 76 +f 58 59 63 +f 58 63 64 +f 55 58 65 +f 62 65 66 +f 60 62 66 +f 64 57 66 +f 61 64 66 +f 65 61 66 +f 62 60 67 +f 64 61 68 +f 58 64 68 +f 63 59 69 +f 62 67 70 +f 55 65 71 +f 65 62 71 +f 70 59 71 +f 62 70 71 +f 57 56 72 +f 66 57 72 +f 60 66 72 +f 67 60 72 +f 63 69 72 +f 69 67 72 +f 65 58 73 +f 61 65 73 +f 68 61 73 +f 58 68 73 +f 69 59 74 +f 67 69 74 +f 59 70 74 +f 70 67 74 +f 56 57 75 +f 57 64 75 +f 64 63 75 +f 72 56 75 +f 63 72 75 +f 58 55 76 +f 59 58 76 +f 55 71 76 +o convex_3 +v 1.067297 -0.864292 -1.144841 +v -1.024856 -2.792203 -1.719185 +v -0.286377 -2.094633 -1.801431 +v -0.983693 -0.741128 0.208677 +v 0.985176 -2.956349 0.208677 +v -0.983693 -0.741128 -1.719185 +v 0.985176 -2.956349 -1.637333 +v -0.983693 -2.792203 0.208677 +v 1.026134 -0.741128 0.208677 +v 1.067297 -0.741128 -1.637333 +v 0.451898 -0.741128 -1.760112 +v 1.026134 -2.956349 -1.596013 +v -1.024856 -1.726008 -0.529766 +v 0.697853 -2.956349 0.208677 +v 0.205738 -2.135616 -1.801431 +v -1.024856 -1.315750 -1.719185 +v -0.655617 -2.832968 -1.719185 +v -0.327335 -1.561861 -1.801431 +v -0.737533 -2.832968 0.208677 +v 0.739016 -2.956349 -1.431915 +v 0.287859 -1.479679 -1.801431 +v 1.026134 -1.520662 0.085505 +v 1.026134 -2.956349 -1.308939 +v -1.024856 -2.792203 -1.062791 +v 1.067297 -1.274550 -1.637333 +v -0.737533 -2.832968 -0.652939 +f 96 90 102 +f 81 80 84 +f 80 81 85 +f 82 80 85 +f 82 85 86 +f 85 77 86 +f 82 86 87 +f 81 83 88 +f 84 80 89 +f 83 81 90 +f 81 84 90 +f 80 82 92 +f 78 89 92 +f 89 80 92 +f 78 79 93 +f 79 91 93 +f 91 83 93 +f 79 78 94 +f 82 87 94 +f 91 79 94 +f 78 92 94 +f 92 82 94 +f 90 84 95 +f 83 90 96 +f 93 83 96 +f 87 86 97 +f 83 91 97 +f 94 87 97 +f 91 94 97 +f 77 85 98 +f 85 81 98 +f 81 88 99 +f 77 98 99 +f 98 81 99 +f 89 78 100 +f 84 89 100 +f 78 95 100 +f 95 84 100 +f 86 77 101 +f 88 83 101 +f 83 97 101 +f 97 86 101 +f 77 99 101 +f 99 88 101 +f 78 93 102 +f 95 78 102 +f 90 95 102 +f 93 96 102 +o convex_4 +v -1.024591 1.022701 -1.349934 +v 1.108320 0.899729 -1.349934 +v 1.108320 0.858739 -1.349934 +v 0.574986 -0.535822 0.454813 +v -0.983517 -0.741128 -1.719209 +v -1.065879 1.063868 0.290449 +v 1.067245 -0.741128 -1.637028 +v -0.983517 -0.741128 0.413614 +v 0.985096 1.063868 0.331649 +v 0.779934 1.063868 -1.760409 +v 1.026170 -0.741128 0.372414 +v -0.983517 1.063868 -1.719209 +v -0.696419 1.063868 0.372631 +v 0.451974 -0.741128 -1.760409 +v 1.108320 1.063868 -1.637028 +v -1.024591 -0.658793 0.413614 +v -1.065879 0.366323 0.290449 +v 1.026170 1.022701 0.085537 +v 0.164663 1.063868 0.372631 +v -1.065879 1.063868 -0.365704 +v -1.024591 -0.289525 0.413614 +v 1.067245 -0.741128 -1.062840 +v 0.616060 -0.741128 0.454813 +v -0.122222 0.448480 0.413614 +v 0.287888 -0.658793 -1.760409 +v 0.492836 1.063868 -1.760409 +v 0.862084 0.694600 0.372414 +v 0.328750 -0.453841 0.454813 +v 1.026170 -0.453841 0.372414 +f 129 125 131 +f 107 109 110 +f 108 111 112 +f 105 104 113 +f 110 109 113 +f 107 103 114 +f 108 112 114 +f 111 108 115 +f 109 107 116 +f 112 109 116 +f 104 105 117 +f 105 109 117 +f 109 112 117 +f 112 111 117 +f 107 110 118 +f 107 118 119 +f 118 108 119 +f 104 117 120 +f 117 111 120 +f 111 115 121 +f 103 107 122 +f 114 103 122 +f 108 114 122 +f 107 119 122 +f 119 108 122 +f 115 108 123 +f 108 118 123 +f 109 105 124 +f 105 113 124 +f 113 109 124 +f 110 113 125 +f 106 121 126 +f 121 115 126 +f 115 123 126 +f 107 114 127 +f 116 107 127 +f 112 116 127 +f 114 112 128 +f 127 114 128 +f 112 127 128 +f 121 106 129 +f 111 121 129 +f 106 125 129 +f 118 110 130 +f 123 118 130 +f 125 106 130 +f 110 125 130 +f 106 126 130 +f 126 123 130 +f 113 104 131 +f 104 120 131 +f 120 111 131 +f 125 113 131 +f 111 129 131 +o convex_5 +v -2.009327 3.279089 -0.530067 +v -1.844892 1.556308 -1.760409 +v -2.911616 1.351179 -1.760192 +v 2.994822 1.063868 0.413614 +v 3.036383 3.155708 -1.760409 +v -2.952574 1.228232 0.290666 +v 3.036383 3.114726 0.454813 +v 3.036383 1.146050 -1.719209 +v -2.911616 3.114726 -1.596262 +v -2.952574 3.237890 0.331432 +v -3.117010 1.146050 -1.719209 +v -1.229311 3.278872 -1.760409 +v -1.188353 2.909814 0.454813 +v -0.696250 1.063868 0.372414 +v 0.779456 1.063868 -1.760409 +v 0.246395 3.278872 -0.447886 +v -1.681058 1.063868 -1.719209 +v -1.270270 1.063868 0.249684 +v 3.036383 1.063868 0.044555 +v -2.993533 2.745667 -1.637028 +v -1.147395 3.196908 0.454813 +v 3.036383 1.310197 -1.760409 +v 3.036383 2.335409 0.454813 +v 2.708114 1.105067 -1.719209 +v -2.952574 3.237890 -0.078827 +v 0.328914 3.278872 -0.898693 +v 3.036383 3.155708 -1.021857 +v -3.075450 1.146050 -1.226986 +v -2.132202 3.237890 0.372631 +v -0.901644 2.704684 0.454813 +v -2.624305 1.597507 0.331432 +v -3.117010 1.228232 -1.596262 +v -2.952574 2.950579 -1.637028 +v -0.778769 3.278872 -1.760409 +v -2.624305 1.105067 -1.678227 +v 1.436597 1.063868 -1.678010 +v -2.296638 3.279089 -0.365921 +v -2.952574 2.663485 0.331432 +v -3.075450 1.761654 -1.719209 +v -2.624305 1.187249 0.290666 +v -1.393747 3.196908 -1.760409 +v -2.952574 3.114726 -1.555063 +v -2.993533 1.228232 -0.119809 +v -0.778769 1.843402 0.413614 +f 161 162 175 +f 136 138 139 +f 136 133 143 +f 134 133 146 +f 133 136 146 +f 142 134 146 +f 135 145 146 +f 142 146 148 +f 146 145 148 +f 148 145 149 +f 139 138 150 +f 135 146 150 +f 144 138 152 +f 141 144 152 +f 136 139 153 +f 146 136 153 +f 138 144 154 +f 135 150 154 +f 150 138 154 +f 139 150 155 +f 153 139 155 +f 146 153 155 +f 132 147 157 +f 157 147 158 +f 138 136 158 +f 147 138 158 +f 136 157 158 +f 138 147 160 +f 152 138 160 +f 141 152 160 +f 135 154 161 +f 154 144 161 +f 137 145 162 +f 161 144 162 +f 140 143 164 +f 143 132 165 +f 136 143 165 +f 132 157 165 +f 157 136 165 +f 142 148 166 +f 148 149 166 +f 159 142 166 +f 149 159 166 +f 150 146 167 +f 155 150 167 +f 146 155 167 +f 132 143 168 +f 147 132 168 +f 156 141 168 +f 143 156 168 +f 141 160 168 +f 160 147 168 +f 144 141 169 +f 137 162 169 +f 162 144 169 +f 134 142 170 +f 141 156 170 +f 156 151 170 +f 163 141 170 +f 142 163 170 +f 151 164 170 +f 145 137 171 +f 149 145 171 +f 137 159 171 +f 159 149 171 +f 133 134 172 +f 143 133 172 +f 164 143 172 +f 134 170 172 +f 170 164 172 +f 143 140 173 +f 156 143 173 +f 151 156 173 +f 140 164 173 +f 164 151 173 +f 159 137 174 +f 142 159 174 +f 141 163 174 +f 163 142 174 +f 169 141 174 +f 137 169 174 +f 145 135 175 +f 135 161 175 +f 162 145 175 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/947/947.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/947/947.urdf new file mode 100644 index 000000000..bd0c8b85d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/947/947.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/948/948.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/948/948.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/948/948.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/948/948.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/948/948.obj new file mode 100644 index 000000000..7b26a58d0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/948/948.obj @@ -0,0 +1,654 @@ +o convex_0 +v -0.021646 1.470570 -1.953429 +v 0.081701 0.057045 -2.022564 +v 0.185161 0.057045 -2.022564 +v 0.012877 1.022133 -3.746019 +v -0.538830 0.918775 -1.953429 +v 0.598886 0.780965 -1.953429 +v 0.426491 1.022133 -3.504574 +v -0.366436 0.918775 -3.504574 +v -0.400848 0.264037 -1.953429 +v 0.047178 0.574387 -3.504574 +v 0.495427 0.126226 -1.953429 +v -0.056058 1.367074 -3.435614 +v 0.391967 1.332483 -2.815508 +v -0.366436 1.332483 -2.574238 +v 0.460903 1.263440 -1.953429 +v 0.564362 0.953228 -2.643197 +v -0.400848 1.332483 -1.953429 +v 0.357444 0.677745 -3.297696 +v -0.262977 0.643292 -3.297696 +v 0.047178 1.367074 -3.504574 +v -0.469783 0.884322 -2.884116 +v -0.331912 0.195132 -1.988172 +v -0.297389 1.263440 -3.228912 +v 0.529839 0.195132 -1.988172 +v -0.021646 1.435979 -2.918508 +v 0.426491 0.953228 -3.504574 +v -0.366436 0.987819 -3.504574 +v 0.047178 1.470570 -1.953429 +v 0.081701 0.574387 -3.504574 +v -0.469783 1.022133 -2.712157 +v 0.323032 1.263440 -3.297696 +v -0.366436 0.470891 -2.643197 +v 0.116114 1.435979 -2.746548 +v 0.081701 0.953228 -3.746019 +v 0.012877 0.057045 -1.988172 +v 0.495427 0.126226 -1.988172 +v -0.538830 0.987819 -1.988172 +v 0.529839 1.056724 -2.746548 +v -0.021646 0.953228 -3.746019 +v 0.598886 0.608840 -2.022564 +v -0.469783 0.712198 -2.539671 +v -0.021646 1.332483 -3.539141 +v 0.529839 0.953228 -2.918508 +v 0.391967 1.332483 -2.264009 +v -0.366436 1.298031 -2.781116 +v -0.090582 1.435979 -2.677589 +v -0.331912 1.367074 -2.160483 +f 1 46 47 +f 1 5 6 +f 6 5 9 +f 3 2 10 +f 6 9 11 +f 1 6 15 +f 15 6 16 +f 5 1 17 +f 8 10 19 +f 7 4 20 +f 19 10 22 +f 14 12 23 +f 6 11 24 +f 20 12 25 +f 24 18 26 +f 8 21 27 +f 1 15 28 +f 25 1 28 +f 3 10 29 +f 26 18 29 +f 27 21 30 +f 13 7 31 +f 7 20 31 +f 20 13 31 +f 8 19 32 +f 21 8 32 +f 22 9 32 +f 19 22 32 +f 13 20 33 +f 20 25 33 +f 28 13 33 +f 25 28 33 +f 4 7 34 +f 7 26 34 +f 29 10 34 +f 26 29 34 +f 2 3 35 +f 10 2 35 +f 3 11 35 +f 11 9 35 +f 9 22 35 +f 22 10 35 +f 11 3 36 +f 24 11 36 +f 18 24 36 +f 3 29 36 +f 29 18 36 +f 5 17 37 +f 17 14 37 +f 21 5 37 +f 30 21 37 +f 7 13 38 +f 13 15 38 +f 15 16 38 +f 10 8 39 +f 27 4 39 +f 8 27 39 +f 4 34 39 +f 34 10 39 +f 16 6 40 +f 6 24 40 +f 9 5 41 +f 5 21 41 +f 32 9 41 +f 21 32 41 +f 20 4 42 +f 12 20 42 +f 23 12 42 +f 4 27 42 +f 27 23 42 +f 26 7 43 +f 24 26 43 +f 7 38 43 +f 38 16 43 +f 16 40 43 +f 40 24 43 +f 15 13 44 +f 28 15 44 +f 13 28 44 +f 14 23 45 +f 23 27 45 +f 27 30 45 +f 37 14 45 +f 30 37 45 +f 12 14 46 +f 1 25 46 +f 25 12 46 +f 17 1 47 +f 14 17 47 +f 46 14 47 +o convex_1 +v 0.598728 2.469643 2.286980 +v -1.055751 -0.149090 0.287526 +v -1.055751 -0.149090 0.322171 +v 0.943554 -2.631535 0.322171 +v 0.771242 2.986874 0.425509 +v -0.642081 -1.355742 2.045660 +v -0.814596 3.331252 1.838785 +v 0.736618 -1.666214 1.942322 +v -0.779971 2.917733 0.322171 +v 1.012398 3.297346 1.046132 +v -0.779971 -2.390205 0.287725 +v -0.814596 0.849472 2.286980 +v 0.081589 3.952860 1.287651 +v 0.943554 0.746425 2.045461 +v -0.159567 -1.803832 2.080106 +v -1.021330 3.297346 0.839258 +v 1.012398 0.091575 0.287725 +v -0.986908 0.642712 2.011214 +v 0.840086 3.159063 2.045660 +v 0.633352 0.092240 2.286980 +v 0.012745 3.710865 0.459955 +v 0.012745 3.607153 2.080106 +v 0.219479 -2.838959 0.287725 +v -0.883439 -1.459454 1.390591 +v -0.228411 2.573355 2.321625 +v 0.012745 3.159063 0.287725 +v -0.711127 3.814577 1.149669 +v 0.771242 3.780007 1.184115 +v 0.977976 -1.527931 1.183916 +v -0.642081 -0.459562 2.286980 +v -0.400723 -2.079733 1.597266 +v -0.814596 3.228204 1.976768 +v -1.055751 0.402712 1.287253 +v -0.814596 -1.183553 2.011015 +v -0.918064 -2.010592 0.322171 +v 0.633352 -2.804389 0.322171 +v 1.012398 0.367476 1.321699 +v 0.840086 2.021553 0.287725 +v 0.667774 1.366703 2.321625 +v 0.012745 -0.976794 2.252534 +v -0.918064 2.193742 0.287526 +v 1.012398 -1.390313 0.287725 +v -0.607659 2.332025 2.286980 +v -0.573237 3.504106 0.563492 +v -1.021330 2.573355 1.252807 +v -0.297457 0.436618 2.321625 +v 1.012398 3.193634 0.908349 +v 0.598728 3.538011 0.666829 +v 0.771242 0.814901 2.286980 +v 0.047167 3.676294 2.011015 +v 1.012398 2.538784 1.321699 +v 0.564306 -0.528704 2.252534 +v -0.986908 0.987090 2.011214 +v 0.047167 2.745544 2.321625 +v 0.633352 -1.735355 1.942322 +v -1.055751 1.469751 1.184115 +v 0.977976 -2.459346 0.287725 +v 0.943554 -2.114304 0.977240 +v -0.090520 -1.838403 2.045660 +v 0.771242 3.780007 1.253206 +v 0.219479 -2.838959 0.322171 +v -0.021677 -0.632416 2.286980 +v -0.779971 -2.390205 0.322171 +v -0.021677 3.676294 2.011015 +f 97 60 111 +f 58 49 70 +f 68 52 73 +f 56 68 73 +f 63 54 74 +f 60 68 74 +f 68 60 75 +f 61 55 76 +f 53 62 77 +f 62 53 78 +f 54 63 79 +f 72 69 79 +f 49 50 80 +f 71 65 80 +f 59 65 81 +f 65 71 81 +f 53 77 81 +f 77 59 81 +f 78 53 81 +f 50 49 82 +f 49 58 82 +f 80 50 82 +f 71 80 82 +f 64 57 84 +f 61 76 84 +f 73 52 85 +f 62 55 87 +f 77 62 87 +f 49 63 88 +f 63 56 88 +f 56 73 88 +f 85 64 88 +f 73 85 88 +f 64 84 89 +f 84 76 89 +f 88 64 89 +f 59 72 90 +f 79 59 90 +f 72 79 90 +f 56 63 91 +f 68 56 91 +f 63 74 91 +f 74 68 91 +f 79 63 92 +f 72 59 93 +f 59 77 93 +f 86 72 93 +f 57 64 94 +f 75 57 94 +f 85 52 94 +f 64 85 94 +f 52 68 95 +f 68 75 95 +f 94 52 95 +f 75 94 95 +f 55 61 96 +f 66 48 96 +f 61 66 96 +f 48 86 96 +f 86 67 96 +f 69 66 97 +f 57 66 98 +f 66 61 98 +f 84 57 98 +f 61 84 98 +f 87 55 99 +f 55 96 99 +f 96 67 99 +f 65 59 100 +f 59 79 100 +f 80 65 100 +f 79 92 100 +f 48 66 101 +f 66 69 101 +f 69 72 101 +f 86 48 101 +f 72 86 101 +f 51 55 102 +f 55 62 102 +f 83 51 102 +f 63 49 103 +f 49 80 103 +f 92 63 103 +f 80 100 103 +f 100 92 103 +f 70 49 104 +f 51 83 104 +f 83 70 104 +f 49 88 104 +f 89 76 104 +f 88 89 104 +f 55 51 105 +f 76 55 105 +f 51 104 105 +f 104 76 105 +f 62 78 106 +f 102 62 106 +f 83 102 106 +f 66 57 107 +f 57 75 107 +f 75 60 107 +f 97 66 107 +f 60 97 107 +f 58 70 108 +f 70 83 108 +f 106 78 108 +f 83 106 108 +f 67 86 109 +f 77 87 109 +f 93 77 109 +f 86 93 109 +f 87 99 109 +f 99 67 109 +f 81 71 110 +f 78 81 110 +f 82 58 110 +f 71 82 110 +f 58 108 110 +f 108 78 110 +f 74 54 111 +f 60 74 111 +f 54 79 111 +f 79 69 111 +f 69 97 111 +o convex_2 +v 1.012601 -0.598665 -0.850325 +v -1.055974 -3.424347 -0.436637 +v -1.055974 -3.424347 -0.402241 +v -0.883458 1.711479 -0.022949 +v -0.538830 1.056063 -1.953429 +v 0.771240 -3.252095 -1.573948 +v 0.977976 -3.252095 -0.022949 +v 0.840084 1.642456 -0.022949 +v 0.460832 1.263133 -1.953429 +v -0.814613 -3.148865 -1.332614 +v -0.745566 -3.700441 -0.022949 +v 0.047158 -4.114581 -0.781345 +v -0.814613 1.263133 -1.608532 +v -0.021687 1.814709 -1.505157 +v 0.943554 -0.632872 -1.504968 +v -1.055974 -0.460619 -0.850136 +v -0.228423 -3.459165 -1.505157 +v 0.012735 2.125619 -0.022949 +v 0.116205 -0.116113 -1.953429 +v -1.055974 -0.081296 -0.022949 +v 0.736615 -3.941106 -0.574407 +v -0.814613 -3.941717 -0.677970 +v -0.917880 -1.287067 -1.504968 +v 0.977976 -3.459165 -0.574596 +v 0.736615 1.194109 -1.470573 +v -0.435361 -1.390296 -1.780886 +v 0.081580 -3.872694 -0.022949 +v 1.012601 -0.115502 -0.022760 +v 0.598724 0.505097 -1.953429 +v -1.021349 -3.183071 -0.022949 +v -0.504206 1.539226 -1.746491 +v 0.702193 -3.734647 -0.022949 +v 0.564301 1.883732 -0.057344 +v -0.400939 1.987573 -0.057344 +v -0.952505 1.297339 -0.057533 +v -0.056109 1.469592 -1.953429 +v 0.736615 -3.975924 -0.712366 +v -0.883458 -3.217277 -1.229239 +v -1.055974 -2.631495 -0.712555 +v 1.012601 -1.873460 -0.677970 +v 0.909131 1.125086 -0.057533 +v -0.400939 0.228393 -1.953429 +v 0.943554 -0.874759 -1.504968 +v 0.529879 0.090957 -1.953429 +v -0.056109 -3.976534 -0.264282 +v 0.805662 -3.252095 -1.504968 +v 0.667771 0.469670 -1.884450 +v -0.159376 -3.493982 -1.505157 +v -0.124954 -4.114581 -0.781345 +v 0.012735 1.814709 -1.505157 +v -0.366314 -1.734802 -1.746491 +v -0.504206 -1.734802 -1.712096 +v 0.460832 1.297950 -1.918845 +v 1.012601 -1.528343 -0.022760 +v 0.977976 -3.493371 -0.367657 +v -0.917880 -0.770918 -1.504968 +v 0.667771 -3.390141 -1.470573 +v -0.814613 -3.941717 -0.608991 +v 0.805662 1.676662 -0.091928 +v -0.676519 1.848915 -0.091739 +v -0.538830 0.883810 -1.953429 +v -0.435361 1.332156 -1.953429 +v -0.090531 2.125619 -0.057344 +v -0.124954 -3.355935 -1.539552 +f 128 162 175 +f 113 114 127 +f 116 120 130 +f 127 114 131 +f 114 113 133 +f 129 115 139 +f 119 129 139 +f 115 131 139 +f 130 120 140 +f 114 122 141 +f 131 114 141 +f 124 115 142 +f 138 132 143 +f 129 119 144 +f 115 129 145 +f 125 142 145 +f 115 124 146 +f 124 127 146 +f 131 115 146 +f 127 131 146 +f 120 116 147 +f 142 125 147 +f 132 123 148 +f 121 128 149 +f 133 113 149 +f 128 133 149 +f 134 121 149 +f 134 149 150 +f 113 127 150 +f 127 134 150 +f 149 113 150 +f 112 139 151 +f 112 126 152 +f 136 119 152 +f 126 136 152 +f 139 112 152 +f 119 139 152 +f 116 130 153 +f 130 137 153 +f 126 112 154 +f 112 151 154 +f 151 135 154 +f 117 130 155 +f 140 117 155 +f 130 140 155 +f 123 132 156 +f 138 122 156 +f 132 138 156 +f 148 117 157 +f 135 148 157 +f 117 154 157 +f 154 135 157 +f 120 136 158 +f 136 126 158 +f 117 140 158 +f 140 120 158 +f 126 154 158 +f 154 117 158 +f 133 128 159 +f 123 156 160 +f 159 123 160 +f 133 159 160 +f 129 144 161 +f 147 125 161 +f 130 117 162 +f 137 130 162 +f 128 121 163 +f 121 134 163 +f 162 128 163 +f 137 162 163 +f 136 120 164 +f 120 147 164 +f 147 161 164 +f 122 138 165 +f 139 131 165 +f 141 122 165 +f 131 141 165 +f 143 118 165 +f 138 143 165 +f 151 139 165 +f 151 165 166 +f 118 143 166 +f 143 132 166 +f 132 148 166 +f 148 135 166 +f 135 151 166 +f 165 118 166 +f 124 116 167 +f 127 124 167 +f 116 134 167 +f 134 127 167 +f 117 148 168 +f 148 123 168 +f 159 117 168 +f 123 159 168 +f 122 114 169 +f 114 133 169 +f 156 122 169 +f 160 156 169 +f 133 160 169 +f 119 136 170 +f 144 119 170 +f 161 144 170 +f 136 164 170 +f 164 161 170 +f 142 115 171 +f 115 145 171 +f 145 142 171 +f 134 116 172 +f 116 153 172 +f 153 137 172 +f 163 134 172 +f 137 163 172 +f 116 124 173 +f 124 142 173 +f 147 116 173 +f 142 147 173 +f 145 129 174 +f 125 145 174 +f 161 125 174 +f 129 161 174 +f 117 159 175 +f 159 128 175 +f 162 117 175 +o convex_3 +v 1.012601 -0.081434 -0.022760 +v -1.055974 -0.357511 -0.022760 +v -1.055974 -0.357511 0.011774 +v 0.012735 -3.872569 0.011774 +v 0.150627 2.952695 0.287526 +v 0.702193 -2.907319 0.287526 +v -0.917880 -2.424354 0.287526 +v -0.883458 1.711368 -0.022760 +v -0.917880 2.090549 0.287526 +v 0.977976 -3.217311 -0.022760 +v 1.012601 0.056265 0.287526 +v 0.840084 1.676773 -0.022760 +v -1.021349 -3.148801 -0.022760 +v 0.874507 1.779878 0.287526 +v -0.745566 -3.251905 0.184047 +v -1.055974 -0.150623 0.287526 +v 0.047158 2.125143 -0.022760 +v 0.977976 -2.596648 0.287526 +v -0.297267 2.952695 0.252993 +v 0.736615 -3.700275 -0.022760 +v -0.779989 -3.665681 -0.022760 +v -1.021349 -3.045018 0.115162 +v 0.116205 -2.976507 0.287526 +v 0.012735 3.055799 0.252993 +v -0.849036 2.400542 0.287526 +v -0.779989 -3.665681 0.046247 +v 0.736615 -3.700275 0.011774 +v 1.012601 -1.424509 0.287526 +v -1.055974 -0.047518 -0.022760 +v -0.952302 -2.735025 0.252993 +v -0.124954 2.125143 -0.022760 +v -0.607675 -3.045018 0.252993 +v -0.952302 1.332186 -0.022760 +v 0.977976 -3.045018 0.149574 +v 1.012601 -1.528292 -0.022760 +v -0.849036 2.400542 0.252993 +v 0.633348 1.849067 -0.022760 +v 0.908929 1.193809 -0.022760 +v -0.090531 -3.872569 -0.022760 +v 0.840084 1.849067 0.218550 +v -0.297267 2.952695 0.287526 +v -0.779989 1.814472 -0.022760 +v -1.055974 0.056265 0.287526 +v 0.943554 -2.735025 0.287526 +v -0.056109 -3.666359 0.080689 +v 0.150627 2.952695 0.252993 +v 0.736615 -3.321094 0.149574 +f 202 219 222 +f 181 180 182 +f 176 177 183 +f 182 180 184 +f 177 176 185 +f 180 181 186 +f 176 183 187 +f 178 177 188 +f 177 185 188 +f 186 176 189 +f 180 186 189 +f 177 178 191 +f 182 184 191 +f 178 188 191 +f 187 183 192 +f 186 181 193 +f 188 185 195 +f 188 195 196 +f 191 188 197 +f 181 182 198 +f 184 180 200 +f 188 196 201 +f 197 188 201 +f 179 195 202 +f 195 185 202 +f 176 186 203 +f 186 193 203 +f 183 177 204 +f 177 191 204 +f 182 191 205 +f 191 197 205 +f 201 190 205 +f 197 201 205 +f 192 183 206 +f 199 192 206 +f 194 199 206 +f 198 182 207 +f 182 205 207 +f 205 190 207 +f 184 183 208 +f 183 204 208 +f 204 184 208 +f 202 185 209 +f 185 203 209 +f 203 193 209 +f 185 176 210 +f 176 203 210 +f 203 185 210 +f 183 184 211 +f 194 183 211 +f 184 200 211 +f 200 194 211 +f 187 192 212 +f 192 199 212 +f 176 187 213 +f 189 176 213 +f 187 189 213 +f 195 179 214 +f 196 195 214 +f 179 201 214 +f 201 196 214 +f 180 189 215 +f 189 187 215 +f 180 199 216 +f 199 194 216 +f 200 180 216 +f 194 200 216 +f 183 194 217 +f 206 183 217 +f 194 206 217 +f 191 184 218 +f 184 204 218 +f 204 191 218 +f 193 181 219 +f 209 193 219 +f 202 209 219 +f 179 181 220 +f 181 198 220 +f 201 179 220 +f 190 201 220 +f 207 190 220 +f 198 207 220 +f 199 180 221 +f 187 212 221 +f 212 199 221 +f 180 215 221 +f 215 187 221 +f 181 179 222 +f 179 202 222 +f 219 181 222 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/948/948.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/948/948.urdf new file mode 100644 index 000000000..e69de29bb diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/949/949.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/949/949.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/949/949.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/949/949.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/949/949.obj new file mode 100644 index 000000000..31e72b67b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/949/949.obj @@ -0,0 +1,402 @@ +o convex_0 +v -0.951814 0.022008 1.039799 +v -1.075224 -0.902237 -1.055457 +v -0.520401 -0.902237 -1.055457 +v -1.044216 3.410620 -0.993723 +v 1.050835 3.472294 1.008830 +v 0.989026 -0.902237 -1.055252 +v 1.050835 -0.902237 0.978065 +v 1.019827 3.349375 -0.962754 +v -0.982615 3.472294 0.978065 +v -1.013415 -0.902237 1.039799 +v 1.050835 3.441457 -0.654700 +v -1.075224 2.363029 -1.024487 +v 1.050835 -0.902237 -0.038388 +v 0.896625 -0.810155 1.008830 +v 0.989026 -0.131748 -1.055252 +v -0.458800 3.472294 1.008830 +v -1.044216 3.441885 -0.284913 +v -0.304798 3.410620 -0.993723 +v 1.019827 0.361212 -1.024487 +v -1.013415 0.823334 1.008830 +v -1.044216 -0.840992 0.300225 +v -1.075224 0.392048 -1.055457 +v -1.044216 3.441885 -0.685465 +v 1.050835 3.472294 0.454251 +v -0.982615 2.825579 1.008830 +v -0.890214 2.516784 -1.024487 +v 1.019827 3.441885 -0.777963 +v -1.075224 -0.902237 -0.777758 +v 1.050835 0.638314 1.008830 +v -0.982615 3.472294 0.577514 +v -1.075224 2.332192 -0.962959 +v 1.050835 2.393865 -0.654700 +v 1.019827 -0.902237 -0.777963 +v -1.013415 3.441885 0.454251 +v 0.958226 3.410620 -0.962754 +v -1.013415 0.114518 1.039799 +v -0.921014 -0.902237 1.039799 +v -0.643811 0.422457 -1.055457 +v 1.019827 1.039191 -1.024487 +f 18 35 39 +f 2 3 6 +f 2 6 7 +f 2 7 10 +f 5 7 11 +f 7 6 13 +f 11 7 13 +f 6 3 15 +f 5 9 16 +f 6 15 19 +f 3 2 22 +f 2 12 22 +f 4 12 23 +f 17 9 23 +f 12 17 23 +f 9 5 24 +f 5 11 24 +f 16 9 25 +f 9 20 25 +f 12 4 26 +f 4 18 26 +f 18 15 26 +f 22 12 26 +f 11 8 27 +f 18 4 27 +f 4 23 27 +f 24 11 27 +f 23 24 27 +f 2 10 28 +f 12 2 28 +f 10 21 28 +f 7 5 29 +f 14 7 29 +f 23 9 30 +f 9 24 30 +f 24 23 30 +f 17 12 31 +f 20 17 31 +f 21 20 31 +f 12 28 31 +f 28 21 31 +f 11 13 32 +f 19 11 32 +f 13 19 32 +f 13 6 33 +f 6 19 33 +f 19 13 33 +f 9 17 34 +f 20 9 34 +f 17 20 34 +f 27 8 35 +f 18 27 35 +f 1 5 36 +f 10 1 36 +f 5 16 36 +f 21 10 36 +f 20 21 36 +f 16 25 36 +f 25 20 36 +f 5 1 37 +f 1 10 37 +f 10 7 37 +f 7 14 37 +f 29 5 37 +f 14 29 37 +f 15 3 38 +f 3 22 38 +f 26 15 38 +f 22 26 38 +f 8 11 39 +f 15 18 39 +f 11 19 39 +f 19 15 39 +f 35 8 39 +o convex_1 +v -0.243142 -0.995121 -1.117275 +v -0.551287 -2.135169 -3.058012 +v -0.582232 -1.981015 -3.027131 +v 0.496167 -1.087613 -2.934871 +v 0.496167 -2.011846 -1.117082 +v -0.520451 -2.011846 -1.148157 +v -0.582232 -0.964291 -2.965560 +v 0.434494 -2.011846 -2.965560 +v 0.527003 -1.118444 -1.117082 +v -0.520451 -0.964291 -1.117275 +v -0.150742 -1.796146 -3.088895 +v 0.372931 -2.042562 -1.148157 +v -0.582232 -1.025952 -2.441725 +v 0.496167 -1.426636 -2.934871 +v 0.403767 -2.042677 -2.965560 +v -0.428051 -0.964291 -2.965560 +v -0.489723 -2.011846 -1.117275 +v 0.496167 -2.011846 -1.671799 +v 0.496167 -1.087613 -1.826016 +v 0.342094 -1.056897 -2.842225 +v -0.304815 -1.703768 -3.088895 +v -0.489723 -2.135169 -2.965560 +v 0.527003 -1.149275 -1.610228 +v 0.465331 -1.796146 -2.965560 +v -0.458887 -0.964291 -1.117275 +v -0.551287 -2.104338 -2.472607 +v 0.434494 -1.087613 -1.209728 +v -0.551287 -1.087613 -2.996442 +v 0.403767 -2.042677 -1.240610 +v 0.342094 -2.011846 -2.996442 +v -0.428051 -2.042562 -1.456204 +v -0.397215 -1.950185 -3.088895 +f 50 69 71 +f 44 48 49 +f 42 45 52 +f 46 42 52 +f 45 49 52 +f 49 46 52 +f 46 49 55 +f 44 49 56 +f 49 45 56 +f 51 44 56 +f 44 54 57 +f 54 47 57 +f 48 43 58 +f 43 55 59 +f 58 43 59 +f 43 50 60 +f 41 54 61 +f 43 48 62 +f 48 44 62 +f 53 43 62 +f 44 57 62 +f 57 53 62 +f 50 43 63 +f 43 53 63 +f 57 47 63 +f 53 57 63 +f 48 40 64 +f 49 48 64 +f 55 49 64 +f 59 55 64 +f 58 59 64 +f 42 41 65 +f 45 42 65 +f 41 61 65 +f 61 51 65 +f 40 48 66 +f 48 58 66 +f 64 40 66 +f 58 64 66 +f 41 42 67 +f 42 46 67 +f 55 43 67 +f 46 55 67 +f 43 60 67 +f 44 51 68 +f 54 44 68 +f 61 54 68 +f 51 61 68 +f 47 54 69 +f 54 41 69 +f 50 63 69 +f 63 47 69 +f 56 45 70 +f 51 56 70 +f 45 65 70 +f 65 51 70 +f 60 50 71 +f 41 67 71 +f 67 60 71 +f 69 41 71 +o convex_2 +v -0.489607 -0.964315 -1.117082 +v 1.050835 -0.902665 0.978077 +v 0.865824 -0.902665 1.008914 +v 1.050835 -2.597261 0.978077 +v -1.013424 -2.535612 1.070588 +v 0.989026 -2.628170 -1.117082 +v -1.075233 -2.628170 -1.086028 +v -1.013424 -0.902665 1.039751 +v 0.989026 -0.902665 -1.055409 +v -1.075233 -0.902665 -1.055409 +v 0.527018 -1.118353 1.101424 +v -1.044225 -2.566521 0.731384 +v 1.050835 -0.902665 -0.038449 +v 0.465417 -2.011677 1.101424 +v -0.551416 -1.087782 1.101207 +v 0.527018 -1.118353 -1.117082 +v 1.019827 -2.628170 -0.469728 +v -1.075233 -2.628170 -0.808932 +v -0.489607 -2.011677 -1.117082 +v -0.767020 -2.258275 1.101207 +v -1.075233 -0.902665 -0.778095 +v 1.050835 -2.597261 0.269484 +v 0.650220 -2.597261 0.978077 +v -1.044225 -2.473963 0.885567 +v 1.019827 -0.964315 -0.777878 +v -1.075233 -2.597261 -0.408272 +v 0.958225 -2.628170 -0.223252 +v -1.044225 -0.933574 0.330723 +v -1.075233 -1.734678 -1.086028 +v 0.989026 -1.272561 -1.086028 +v -0.551416 -2.566521 1.039751 +v 0.557819 -2.628170 -1.117082 +v -0.921023 -2.535612 1.070588 +f 76 102 104 +f 74 73 79 +f 79 73 80 +f 79 80 81 +f 80 72 81 +f 73 74 82 +f 75 73 82 +f 74 79 82 +f 73 75 84 +f 80 73 84 +f 75 82 85 +f 82 79 86 +f 77 72 87 +f 72 80 87 +f 78 77 88 +f 81 78 89 +f 78 88 89 +f 72 77 90 +f 78 72 90 +f 79 76 91 +f 85 82 91 +f 82 86 91 +f 86 79 91 +f 79 81 92 +f 81 89 92 +f 84 75 93 +f 75 88 93 +f 76 79 95 +f 83 76 95 +f 80 84 96 +f 88 77 96 +f 84 93 96 +f 93 88 96 +f 89 83 97 +f 92 89 97 +f 83 95 97 +f 95 92 97 +f 88 75 98 +f 89 88 98 +f 75 94 98 +f 94 89 98 +f 79 92 99 +f 95 79 99 +f 92 95 99 +f 72 78 100 +f 81 72 100 +f 78 81 100 +f 77 87 101 +f 87 80 101 +f 96 77 101 +f 80 96 101 +f 76 83 102 +f 83 89 102 +f 94 75 102 +f 89 94 102 +f 77 78 103 +f 90 77 103 +f 78 90 103 +f 75 85 104 +f 91 76 104 +f 85 91 104 +f 102 75 104 +o convex_3 +v 0.496167 -0.995245 2.672546 +v -0.582232 -2.104356 1.101424 +v -0.582232 -1.642055 1.101424 +v -0.520451 -1.026073 3.042487 +v 0.496167 -2.073529 3.042487 +v 0.527003 -1.118441 1.101424 +v -0.551287 -2.073414 2.919174 +v 0.465331 -2.011758 1.101424 +v -0.551287 -1.087614 1.101424 +v 0.465331 -0.933590 3.104242 +v -0.243142 -1.919390 3.073267 +v -0.520451 -0.995245 2.703326 +v 0.496167 -2.073529 2.487870 +v 0.527003 -1.056901 1.594483 +v -0.520451 -1.056901 1.378831 +v -0.582232 -2.104356 1.687017 +v 0.527003 -1.364949 1.101424 +v -0.428051 -2.104356 1.101424 +v 0.496167 -1.703710 3.073267 +v -0.181578 -0.964303 3.073267 +v -0.582232 -2.011758 1.872086 +v 0.095622 -1.087614 1.101424 +v 0.403767 -0.933590 3.042487 +v 0.465331 -2.042586 1.563704 +v 0.527003 -1.087614 1.810331 +v 0.218858 -0.964303 3.104242 +v 0.465331 -1.210810 3.104242 +v -0.551287 -1.087614 1.471365 +v -0.582232 -1.796079 1.594483 +v 0.064677 -1.950217 3.073267 +v -0.551287 -1.888562 2.919174 +v -0.304815 -1.672882 3.073267 +v -0.520451 -2.042586 2.949953 +v 0.280422 -2.073414 3.042487 +f 115 137 138 +f 106 107 110 +f 106 110 112 +f 110 107 113 +f 114 105 118 +f 113 116 119 +f 107 106 120 +f 112 110 121 +f 109 117 121 +f 117 112 121 +f 110 118 121 +f 106 112 122 +f 117 109 122 +f 120 106 122 +f 109 120 122 +f 105 114 123 +f 116 108 124 +f 107 120 125 +f 120 111 125 +f 110 113 126 +f 118 110 126 +f 113 119 126 +f 126 119 127 +f 114 118 127 +f 119 116 127 +f 124 114 127 +f 116 124 127 +f 118 126 127 +f 112 117 128 +f 122 112 128 +f 117 122 128 +f 118 105 129 +f 109 121 129 +f 121 118 129 +f 105 123 129 +f 123 109 129 +f 114 124 130 +f 123 114 131 +f 114 130 131 +f 130 115 131 +f 113 107 132 +f 108 116 132 +f 116 113 132 +f 107 125 133 +f 125 108 133 +f 132 107 133 +f 108 132 133 +f 109 123 134 +f 123 131 134 +f 131 115 134 +f 111 108 135 +f 108 125 135 +f 125 111 135 +f 124 108 136 +f 115 130 136 +f 130 124 136 +f 108 111 137 +f 136 108 137 +f 115 136 137 +f 120 109 138 +f 111 120 138 +f 109 134 138 +f 134 115 138 +f 137 111 138 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/949/949.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/949/949.urdf new file mode 100644 index 000000000..5e055b3b1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/949/949.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/950/950.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/950/950.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/950/950.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/950/950.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/950/950.obj new file mode 100644 index 000000000..6e3d7ae6b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/950/950.obj @@ -0,0 +1,318 @@ +o convex_0 +v 0.371086 -3.513822 -0.067710 +v -0.377453 -3.647610 0.012423 +v -0.377453 -3.647610 0.039088 +v 0.023487 -5.224435 0.012423 +v 0.023487 -3.513822 0.359891 +v -0.056525 -3.513822 -0.335046 +v -0.003183 -5.010441 0.226223 +v -0.003183 -4.876821 -0.201378 +v -0.216989 -4.930403 -0.040977 +v -0.297221 -3.513822 0.306424 +v -0.297221 -3.513822 -0.281579 +v 0.210622 -4.983818 0.039088 +v 0.290854 -3.540613 0.226223 +v 0.317598 -3.567404 -0.228111 +v -0.216989 -4.903612 0.119289 +v 0.157208 -4.823406 -0.147911 +v -0.083342 -4.983818 0.226223 +v 0.050158 -3.567404 -0.335046 +v 0.371086 -3.647610 0.039088 +v -0.297221 -3.620819 -0.281579 +v 0.210622 -4.983818 -0.014243 +v -0.190318 -4.609579 -0.174644 +v -0.056525 -3.620819 0.359891 +v -0.216989 -5.010441 0.065822 +v -0.243733 -4.075264 0.279690 +v 0.050158 -4.850197 -0.201378 +v 0.264037 -3.567404 0.252957 +v 0.157208 -4.796782 0.146022 +v 0.023487 -5.037232 -0.147911 +v -0.377453 -3.513822 -0.040977 +v -0.243733 -4.903612 0.012423 +v -0.029854 -5.224435 0.012423 +v -0.190318 -4.823406 0.199490 +v -0.056525 -4.930403 -0.174644 +v 0.023487 -3.594028 0.359891 +v 0.317598 -3.513822 -0.228111 +v -0.243733 -4.876821 0.065822 +v -0.297221 -3.567404 0.306424 +v -0.243733 -3.540613 0.333157 +v 0.210622 -4.609579 -0.147911 +v 0.371086 -3.513822 0.065822 +v 0.371086 -3.674234 -0.014243 +v -0.056525 -3.567404 -0.335046 +v -0.377453 -3.567404 -0.040977 +f 31 2 44 +f 5 1 6 +f 5 6 10 +f 10 6 11 +f 7 4 12 +f 13 12 19 +f 11 6 20 +f 12 4 21 +f 20 8 22 +f 9 20 22 +f 17 7 23 +f 8 18 26 +f 18 14 26 +f 13 5 27 +f 13 27 28 +f 7 12 28 +f 12 13 28 +f 27 7 28 +f 21 4 29 +f 16 21 29 +f 8 26 29 +f 26 16 29 +f 2 3 30 +f 3 10 30 +f 10 11 30 +f 11 20 30 +f 3 2 31 +f 20 9 31 +f 9 24 31 +f 4 7 32 +f 7 17 32 +f 24 9 32 +f 17 24 32 +f 29 4 32 +f 15 24 33 +f 24 17 33 +f 17 25 33 +f 22 8 34 +f 9 22 34 +f 8 29 34 +f 32 9 34 +f 29 32 34 +f 5 23 35 +f 23 7 35 +f 27 5 35 +f 7 27 35 +f 6 1 36 +f 1 14 36 +f 18 6 36 +f 14 18 36 +f 24 15 37 +f 3 31 37 +f 31 24 37 +f 10 3 38 +f 15 33 38 +f 33 25 38 +f 3 37 38 +f 37 15 38 +f 5 10 39 +f 23 5 39 +f 17 23 39 +f 25 17 39 +f 10 38 39 +f 38 25 39 +f 14 21 40 +f 21 16 40 +f 26 14 40 +f 16 26 40 +f 1 5 41 +f 5 13 41 +f 19 1 41 +f 13 19 41 +f 14 1 42 +f 1 19 42 +f 19 12 42 +f 12 21 42 +f 21 14 42 +f 6 18 43 +f 18 8 43 +f 20 6 43 +f 8 20 43 +f 2 30 44 +f 30 20 44 +f 20 31 44 +o convex_1 +v 0.985943 0.228971 -0.334954 +v -1.019059 -0.626095 0.039188 +v -1.019059 -0.626095 0.065782 +v -0.083201 4.719477 0.065782 +v 0.023550 -0.331134 1.054830 +v 0.023550 -2.577192 -0.896267 +v 0.477906 -3.271883 0.466720 +v -0.002985 1.939102 -0.976455 +v 0.772032 2.046288 0.760674 +v 0.825510 2.420228 -0.869672 +v -0.724932 -2.550597 0.734080 +v -0.751671 2.018887 0.760876 +v -0.698193 1.965697 -0.709096 +v -0.671454 -2.630382 -0.629110 +v 0.745294 -2.524003 -0.709096 +v 0.745294 -2.496602 0.653892 +v -0.270373 -3.513655 -0.308158 +v -0.965581 1.993098 0.012593 +v 0.344212 4.264946 0.333142 +v -0.083201 4.531701 -0.334753 +v -0.002985 2.126072 0.974441 +v 1.012681 1.832723 0.038986 +v 0.985943 -2.283037 -0.014405 +v -0.430805 4.478511 0.092377 +v 0.050289 -2.523197 0.947846 +v -0.484283 -3.298478 0.546908 +v -0.912104 -2.630382 0.039188 +v 0.825510 -0.305345 0.760674 +v 0.531383 -3.271883 -0.468734 +v 0.023550 -0.572099 -1.003251 +v -0.083201 4.505106 0.386533 +v 0.370950 4.452722 -0.014002 +v -0.805148 -0.171564 0.814267 +v -0.724932 -0.385129 -0.736094 +v 1.066159 -0.198159 0.038986 +v 0.290734 -3.513655 0.252753 +v 0.691816 -3.245288 0.012391 +v -0.430805 3.917601 -0.361750 +v -0.484283 -3.325879 -0.441938 +v -0.163417 4.023980 -0.495329 +v 0.985943 2.100284 0.038986 +v 0.825510 0.416747 -0.816281 +v 0.050289 -3.271883 -0.628908 +v 0.317473 4.238351 -0.361750 +v -0.671454 -3.272689 0.065782 +v 0.050289 -3.271883 0.653691 +v -0.644716 -2.550597 0.787471 +v -0.297111 -3.513655 0.333142 +v 0.344212 -3.513655 -0.227970 +v -0.002985 1.885913 1.001237 +v 0.130301 -0.144163 -1.003251 +v 1.066159 -0.251349 -0.067595 +v 0.798771 -0.358534 0.787471 +v 0.852249 2.367038 -0.842876 +v -0.698193 -2.229847 -0.655704 +v -1.019059 0.202376 0.039188 +v -0.430805 4.478511 -0.040799 +v -0.029927 -0.277944 1.055032 +v 0.959204 -2.524003 -0.067796 +v -0.912104 1.993098 0.252753 +v -0.751671 -0.411724 -0.709096 +v -0.350589 4.291541 0.306345 +v -0.938842 -2.283037 0.119174 +v 0.611600 -2.497408 0.734080 +f 60 97 108 +f 53 63 65 +f 60 67 72 +f 63 48 75 +f 56 65 75 +f 65 63 75 +f 48 68 75 +f 48 63 76 +f 64 48 76 +f 57 52 78 +f 52 74 78 +f 66 53 79 +f 53 72 79 +f 72 67 79 +f 60 51 81 +f 51 80 81 +f 57 62 82 +f 58 50 83 +f 71 58 83 +f 54 52 84 +f 52 57 84 +f 64 54 84 +f 57 82 84 +f 82 64 84 +f 63 53 85 +f 53 66 85 +f 76 63 85 +f 50 59 87 +f 59 73 87 +f 83 50 87 +f 61 83 87 +f 54 64 88 +f 76 54 88 +f 64 76 88 +f 70 55 89 +f 55 71 89 +f 83 61 89 +f 71 83 89 +f 69 70 90 +f 80 51 90 +f 55 70 91 +f 70 69 91 +f 77 55 91 +f 61 80 92 +f 70 89 92 +f 89 61 92 +f 90 70 92 +f 80 90 92 +f 80 61 93 +f 73 81 93 +f 81 80 93 +f 87 73 93 +f 61 87 93 +f 49 53 94 +f 53 65 94 +f 65 56 94 +f 56 77 94 +f 52 54 95 +f 59 50 95 +f 74 52 95 +f 50 74 95 +f 54 86 95 +f 86 59 95 +f 66 79 96 +f 79 67 96 +f 86 45 96 +f 59 86 96 +f 53 49 97 +f 49 69 97 +f 72 53 97 +f 60 72 97 +f 54 76 98 +f 85 66 98 +f 76 85 98 +f 45 86 98 +f 86 54 98 +f 96 45 98 +f 66 96 98 +f 50 58 99 +f 71 46 99 +f 58 71 99 +f 74 50 99 +f 78 74 99 +f 46 47 100 +f 62 57 100 +f 47 77 100 +f 48 64 101 +f 62 68 101 +f 68 48 101 +f 82 62 101 +f 64 82 101 +f 69 49 102 +f 91 69 102 +f 77 91 102 +f 49 94 102 +f 94 77 102 +f 67 60 103 +f 73 59 103 +f 81 73 103 +f 60 81 103 +f 59 96 103 +f 96 67 103 +f 56 68 104 +f 68 62 104 +f 77 56 104 +f 62 100 104 +f 100 77 104 +f 57 78 105 +f 99 46 105 +f 78 99 105 +f 46 100 105 +f 100 57 105 +f 68 56 106 +f 56 75 106 +f 75 68 106 +f 47 46 107 +f 46 71 107 +f 71 55 107 +f 77 47 107 +f 55 77 107 +f 51 60 108 +f 90 51 108 +f 69 90 108 +f 97 69 108 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/950/950.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/950/950.urdf new file mode 100644 index 000000000..8ef0c6607 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/950/950.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/951/951.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/951/951.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/951/951.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/951/951.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/951/951.obj new file mode 100644 index 000000000..68c0df62c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/951/951.obj @@ -0,0 +1,576 @@ +o convex_0 +v -2.071838 -3.743110 -1.092553 +v 0.511336 -1.571424 0.966666 +v 0.511336 -1.571424 0.067798 +v 2.383757 -3.705477 1.041715 +v -3.532290 -3.555810 0.966666 +v -3.681986 -1.608841 -1.129970 +v 2.533453 -1.796141 -0.980087 +v 2.196332 -3.705477 -1.092553 +v -3.607138 -1.721308 1.041715 +v 2.383757 -1.608841 1.079132 +v -3.644866 -3.780527 -0.980087 +v 0.361640 -3.780527 1.079132 +v -3.532290 -3.780527 0.929249 +v 0.436488 -1.571424 -1.017503 +v -1.547901 -1.571424 1.004082 +v 2.383757 -3.555810 -1.054920 +v 0.773609 -3.742894 -1.129970 +v -1.322748 -1.571424 -1.092553 +v -3.644866 -2.020858 -1.129970 +v 2.533453 -1.758724 -0.793003 +v 0.698761 -3.780527 1.079132 +v -3.570019 -2.133108 1.041715 +v 0.961033 -1.721308 1.079132 +v 2.421485 -1.683891 0.929465 +v -3.457442 -3.780527 -1.017503 +v 2.496334 -2.357825 -1.017503 +v 2.346637 -3.705477 -1.054920 +v -0.537147 -3.705477 -1.129970 +v 2.383757 -2.769409 1.079132 +v -2.708352 -1.683891 -1.129970 +v -3.644866 -3.780527 -0.830204 +v -3.644866 -1.646474 -0.156269 +v 0.137095 -3.742894 1.079132 +v 0.549064 -3.780527 0.741949 +v 0.848457 -3.630643 -1.129970 +v 1.822092 -3.742894 1.004082 +v 2.533453 -1.833558 -0.680537 +v 2.533453 -2.020858 -0.980087 +v 2.383757 -3.705477 -0.306153 +v 2.383757 -1.608841 0.966882 +v 2.196332 -3.630860 -1.092553 +v -0.985627 -1.571424 1.041715 +v 1.373003 -3.742894 1.079132 +v -3.570019 -2.844243 1.004082 +v -1.622749 -1.571424 -0.867837 +v -3.681986 -1.608841 -1.054920 +v 0.436488 -2.507708 1.079132 +v -3.607138 -1.683891 0.554865 +f 15 32 48 +f 3 2 10 +f 11 12 13 +f 2 3 14 +f 2 14 15 +f 14 7 18 +f 15 14 18 +f 11 6 19 +f 6 17 19 +f 7 14 20 +f 10 12 21 +f 12 11 21 +f 10 9 23 +f 12 10 23 +f 20 10 24 +f 1 17 25 +f 19 1 25 +f 11 19 25 +f 21 11 25 +f 18 7 26 +f 8 16 27 +f 17 8 27 +f 17 1 28 +f 1 19 28 +f 19 17 28 +f 10 21 29 +f 4 24 29 +f 24 10 29 +f 17 6 30 +f 6 18 30 +f 6 11 31 +f 11 13 31 +f 13 12 33 +f 5 13 33 +f 9 22 33 +f 12 23 33 +f 25 17 34 +f 21 25 34 +f 17 27 34 +f 27 21 34 +f 8 17 35 +f 17 30 35 +f 30 18 35 +f 4 21 36 +f 21 27 36 +f 7 20 37 +f 24 4 37 +f 20 24 37 +f 26 7 38 +f 16 26 38 +f 7 37 38 +f 37 4 38 +f 27 16 39 +f 4 36 39 +f 36 27 39 +f 38 4 39 +f 16 38 39 +f 3 10 40 +f 14 3 40 +f 10 20 40 +f 20 14 40 +f 16 8 41 +f 26 16 41 +f 18 26 41 +f 8 35 41 +f 35 18 41 +f 10 2 42 +f 9 10 42 +f 15 9 42 +f 2 15 42 +f 21 4 43 +f 4 29 43 +f 29 21 43 +f 13 5 44 +f 22 9 44 +f 9 31 44 +f 31 13 44 +f 5 33 44 +f 33 22 44 +f 18 6 45 +f 15 18 45 +f 6 31 46 +f 31 9 46 +f 9 32 46 +f 32 15 46 +f 45 6 46 +f 15 45 46 +f 23 9 47 +f 9 33 47 +f 33 23 47 +f 9 15 48 +f 32 9 48 +o convex_1 +v -1.622709 -1.570992 -0.867697 +v 0.436726 0.638110 0.966886 +v 0.436726 0.151355 1.004288 +v 0.436726 -1.570992 -1.017515 +v -1.660126 0.638110 -1.055126 +v -1.547875 -1.495957 1.041690 +v 0.436726 0.638110 -1.017724 +v -1.547875 0.638110 1.041690 +v 0.474143 -1.570992 1.041690 +v -1.697542 -1.570992 0.816859 +v -1.622709 -1.533366 -1.092528 +v 0.511560 -0.522447 0.180188 +v 0.249426 0.638110 -1.055126 +v -1.622709 0.638110 0.442421 +v 0.511560 -1.570992 0.966886 +v 0.511560 -1.570992 0.067982 +v 0.474143 0.563075 -0.455856 +v -1.173492 -0.971792 -1.092528 +v 0.474143 -0.971792 1.041690 +v 0.474143 -1.308694 -0.643076 +v -1.323159 -1.570992 -1.092528 +v -1.585292 0.638110 0.929275 +v -1.547875 -1.570992 1.004079 +v 0.511560 -0.821939 0.742264 +v -1.622709 -0.784529 -1.092528 +v -1.285742 0.638110 1.041690 +v -0.312258 -1.533366 -1.055126 +f 69 61 75 +f 53 50 55 +f 50 53 56 +f 56 54 57 +f 49 52 57 +f 54 56 58 +f 49 57 58 +f 49 58 59 +f 58 53 59 +f 55 52 61 +f 53 55 61 +f 56 53 62 +f 53 58 62 +f 57 52 63 +f 60 63 64 +f 63 52 64 +f 55 50 65 +f 50 60 65 +f 60 64 65 +f 50 51 67 +f 56 57 67 +f 63 50 67 +f 57 63 67 +f 52 55 68 +f 64 52 68 +f 55 65 68 +f 65 64 68 +f 52 49 69 +f 49 59 69 +f 59 66 69 +f 66 61 69 +f 58 56 70 +f 56 62 70 +f 62 58 70 +f 57 54 71 +f 54 58 71 +f 58 57 71 +f 60 50 72 +f 50 63 72 +f 63 60 72 +f 59 53 73 +f 53 61 73 +f 66 59 73 +f 61 66 73 +f 51 50 74 +f 50 56 74 +f 67 51 74 +f 56 67 74 +f 61 52 75 +f 52 69 75 +o convex_2 +v -1.660309 1.125305 0.480050 +v -2.072447 0.713384 -0.605890 +v -2.072447 0.750881 -0.605890 +v -3.682595 0.825766 0.555052 +v -3.644984 1.761661 -0.493500 +v -1.660309 1.799048 0.555052 +v -1.660309 1.724164 -0.455886 +v -3.644984 1.724164 0.517551 +v -3.682595 0.788269 -0.455886 +v -1.660309 0.750881 0.217997 +v -1.660309 0.675776 -0.605890 +v -1.772746 0.788269 0.442662 +v -1.660309 0.900651 -0.605890 +v -1.660309 1.799048 0.142995 +v -1.772746 0.675776 -0.455886 +v -2.222099 1.799048 0.517551 +v -2.110058 1.761661 -0.455886 +v -3.382895 0.825766 0.555052 +v -3.607571 1.274855 0.555052 +v -3.270457 0.750881 -0.455886 +v -3.682595 1.200190 -0.455886 +v -3.644984 1.761661 -0.118831 +v -3.420308 0.788269 -0.493500 +v -3.158020 1.761661 -0.493500 +v -1.660309 1.686776 0.555052 +f 93 87 100 +f 78 77 80 +f 81 76 82 +f 82 76 85 +f 82 85 86 +f 77 78 86 +f 84 77 86 +f 79 85 87 +f 85 76 87 +f 78 80 88 +f 82 86 88 +f 86 78 88 +f 81 82 89 +f 85 79 90 +f 86 85 90 +f 83 81 91 +f 89 80 91 +f 81 89 91 +f 89 82 92 +f 81 79 93 +f 79 87 93 +f 79 81 94 +f 83 79 94 +f 81 83 94 +f 79 84 95 +f 84 86 95 +f 90 79 95 +f 86 90 95 +f 79 83 96 +f 84 79 96 +f 80 84 96 +f 91 80 97 +f 83 91 97 +f 96 83 97 +f 80 96 97 +f 80 77 98 +f 77 84 98 +f 84 80 98 +f 88 80 99 +f 82 88 99 +f 80 89 99 +f 92 82 99 +f 89 92 99 +f 76 81 100 +f 87 76 100 +f 81 93 100 +o convex_3 +v -0.049946 2.323411 0.966765 +v -1.660309 0.638326 -1.055082 +v -1.660309 0.638326 -1.017515 +v 0.811366 0.788235 -0.568147 +v -1.547806 0.638326 1.041693 +v -1.660309 2.323411 -1.055082 +v 0.474100 2.248372 -1.055082 +v 0.436841 0.638495 0.966765 +v -1.547806 2.361015 1.041693 +v 0.811366 1.836586 0.554759 +v 0.436841 0.638495 -1.017720 +v 0.399098 2.323411 0.929403 +v -1.660309 1.799151 0.554759 +v 0.811366 0.788235 0.554759 +v 0.811366 1.836586 -0.530785 +v -1.061020 2.361015 1.041693 +v -1.660309 0.788235 0.405106 +v 0.249336 0.638495 -1.055082 +v 0.436841 2.323411 0.704822 +v -1.622566 2.361015 0.180525 +v -1.248040 2.323411 -1.055082 +v 0.436841 1.275229 0.966765 +v -1.248040 0.638326 1.041693 +v -1.585307 2.285976 1.004126 +v -1.585307 0.638326 0.929198 +v -0.124947 2.285807 -1.017720 +f 121 119 126 +f 103 102 105 +f 102 103 106 +f 102 106 107 +f 107 104 111 +f 104 108 111 +f 106 103 113 +f 108 104 114 +f 104 110 114 +f 110 108 114 +f 104 107 115 +f 110 104 115 +f 109 105 116 +f 101 112 116 +f 113 103 117 +f 102 107 118 +f 111 102 118 +f 107 111 118 +f 112 110 119 +f 115 107 119 +f 110 115 119 +f 116 112 119 +f 116 119 120 +f 106 113 120 +f 109 116 120 +f 107 106 121 +f 120 119 121 +f 106 120 121 +f 108 110 122 +f 112 101 122 +f 110 112 122 +f 101 116 122 +f 116 108 122 +f 105 102 123 +f 102 111 123 +f 111 108 123 +f 108 116 123 +f 116 105 123 +f 105 109 124 +f 120 113 124 +f 109 120 124 +f 103 105 125 +f 117 103 125 +f 113 117 125 +f 105 124 125 +f 124 113 125 +f 119 107 126 +f 107 121 126 +o convex_4 +v 2.346751 1.836557 0.030565 +v 2.009813 0.713340 -0.530888 +v 2.009813 0.750837 -0.793139 +v 2.384204 0.713340 -0.530888 +v 2.009813 0.750837 0.517602 +v 2.009813 1.874168 -0.568352 +v 2.421658 1.050362 0.517602 +v 2.009813 1.724178 0.442545 +v 2.421658 1.874168 -0.493423 +v 2.496612 1.761676 0.480010 +v 2.346751 0.750837 0.517602 +v 2.496612 1.499535 0.217759 +v 2.047266 1.312275 0.517602 +v 2.459111 1.874168 -0.306230 +v 2.384204 0.713340 -0.044364 +v 2.047266 0.825718 -0.793139 +v 2.047266 1.799060 0.217759 +f 136 127 143 +f 128 129 130 +f 129 128 131 +f 129 131 132 +f 132 131 134 +f 133 131 137 +f 136 133 138 +f 131 133 139 +f 134 131 139 +f 133 136 139 +f 136 134 139 +f 132 127 140 +f 130 135 140 +f 135 132 140 +f 127 136 140 +f 138 130 140 +f 136 138 140 +f 128 130 141 +f 131 128 141 +f 137 131 141 +f 133 137 141 +f 130 138 141 +f 138 133 141 +f 130 129 142 +f 129 132 142 +f 135 130 142 +f 132 135 142 +f 127 132 143 +f 132 134 143 +f 134 136 143 +o convex_5 +v 2.009765 1.799093 0.180445 +v 0.961290 0.675776 -3.039493 +v 0.923870 1.387233 -3.039493 +v 0.811374 0.788155 0.554781 +v 1.972228 0.788272 -2.066291 +v 0.811374 1.836630 0.554781 +v 1.897387 1.836630 -2.927767 +v 2.009765 0.750852 0.517419 +v 0.923870 1.874168 -3.039493 +v 1.897387 0.825693 -3.077573 +v 2.009765 1.874051 -0.568587 +v 1.934807 1.761672 0.592502 +v 0.811374 0.788155 -0.568587 +v 1.934807 1.799093 -2.965128 +v 0.811374 1.836630 -0.531225 +v 2.009765 0.788272 -1.429344 +v 0.848912 0.788155 0.592502 +v 1.335729 0.713314 -3.077573 +v 1.897387 0.825693 0.592502 +v 0.998711 1.836630 0.592502 +v 1.635092 0.750734 0.554781 +v 2.009765 0.750852 -0.793476 +v 1.410570 1.874168 -3.002490 +v 0.961290 0.675776 -2.665516 +v 0.923870 1.874168 -2.028570 +v 1.111089 0.675776 -3.039493 +v 2.009765 1.874051 -0.381419 +v 1.897387 1.012912 -3.077573 +v 1.934807 1.312392 -3.002490 +v 1.597672 1.874168 -0.568587 +v 2.009765 1.686831 0.442695 +v 1.185930 1.874168 -3.039493 +f 171 152 175 +f 144 151 154 +f 146 145 156 +f 145 147 156 +f 147 149 156 +f 152 146 156 +f 150 154 157 +f 149 152 158 +f 156 149 158 +f 152 156 158 +f 154 151 159 +f 157 154 159 +f 149 147 160 +f 145 146 161 +f 146 152 161 +f 153 148 161 +f 151 155 162 +f 155 160 162 +f 149 160 163 +f 160 155 163 +f 160 147 164 +f 151 162 164 +f 162 160 164 +f 148 159 165 +f 159 151 165 +f 161 148 165 +f 154 150 166 +f 150 157 166 +f 147 145 167 +f 164 147 167 +f 151 164 167 +f 152 149 168 +f 166 152 168 +f 145 161 169 +f 165 151 169 +f 161 165 169 +f 167 145 169 +f 151 167 169 +f 144 154 170 +f 155 144 170 +f 149 163 170 +f 163 155 170 +f 161 152 171 +f 153 161 171 +f 148 153 172 +f 159 148 172 +f 157 159 172 +f 153 171 172 +f 171 157 172 +f 154 166 173 +f 168 149 173 +f 166 168 173 +f 170 154 173 +f 149 170 173 +f 151 144 174 +f 144 155 174 +f 155 151 174 +f 152 166 175 +f 166 157 175 +f 157 171 175 +o convex_6 +v 1.036198 1.836630 0.592985 +v 1.859823 0.675776 2.801729 +v 1.897321 0.675776 2.801729 +v 1.373235 1.874168 3.063943 +v 0.848930 0.750734 3.026449 +v 1.897321 0.825693 0.592985 +v 1.972316 1.874168 2.352530 +v 0.848930 0.788155 0.592985 +v 0.886427 1.874168 3.026449 +v 1.934818 1.761789 0.592985 +v 1.972316 1.649411 3.063943 +v 0.923815 1.836630 0.592985 +v 1.934818 0.675776 2.951462 +v 1.972316 1.874168 3.063943 +v 0.848930 1.087753 0.592985 +v 1.972316 1.237552 3.026449 +v 0.923815 1.874168 1.940582 +v 1.111083 0.750734 1.154424 +v 1.934818 0.750734 1.978076 +v 1.934818 1.499612 0.592985 +v 1.934818 1.799210 0.929945 +v 0.848930 0.750734 2.427275 +v 0.848930 0.937954 3.026449 +v 1.148580 0.750734 3.026449 +f 188 191 199 +f 176 181 183 +f 179 182 184 +f 181 176 185 +f 179 180 186 +f 176 183 187 +f 177 178 188 +f 180 177 188 +f 178 181 188 +f 182 179 189 +f 179 186 189 +f 186 182 189 +f 183 180 190 +f 187 183 190 +f 184 187 190 +f 182 186 191 +f 182 176 192 +f 184 182 192 +f 176 187 192 +f 187 184 192 +f 178 177 193 +f 181 178 193 +f 183 181 193 +f 188 181 194 +f 191 188 194 +f 191 194 195 +f 181 185 195 +f 185 182 195 +f 182 191 195 +f 194 181 195 +f 176 182 196 +f 185 176 196 +f 182 185 196 +f 177 180 197 +f 180 183 197 +f 193 177 197 +f 183 193 197 +f 180 179 198 +f 179 184 198 +f 190 180 198 +f 184 190 198 +f 186 180 199 +f 180 188 199 +f 191 186 199 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/951/951.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/951/951.urdf new file mode 100644 index 000000000..30023454a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/951/951.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/952/952.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/952/952.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/952/952.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/952/952.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/952/952.obj new file mode 100644 index 000000000..a87f94142 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/952/952.obj @@ -0,0 +1,606 @@ +o convex_0 +v -0.164214 -3.875851 -1.211551 +v -0.831084 -0.155381 0.894265 +v 0.151197 -0.295955 0.858847 +v 1.028690 -0.155381 -1.141134 +v 0.958483 -3.805564 0.788430 +v -1.076707 -0.155381 -1.141134 +v -1.112125 -3.805200 0.894265 +v 0.958483 -3.875851 -1.246760 +v -1.041708 -3.840161 -1.106135 +v 0.923483 -0.155381 0.823848 +v -1.041708 -0.225668 0.894265 +v 1.028690 -1.103343 0.191977 +v -0.550462 -3.805564 0.894056 +v 0.993691 -3.349246 -1.211342 +v -1.041708 -3.664626 -1.176552 +v -0.480045 -0.892483 -1.176552 +v -1.076707 -0.295955 0.262185 +v 0.958483 -3.840526 0.437600 +v 0.783068 -3.805564 0.824058 +v 0.993482 -0.155381 0.437600 +v -0.550462 -3.805564 -1.211551 +v -1.076917 -1.419452 -1.141134 +v 1.028900 -1.173630 -1.176552 +v -1.112125 -3.805200 0.578225 +v -1.076917 -3.840161 -0.018646 +v 0.818276 -3.594704 -1.246760 +v -1.112125 -3.278959 0.894265 +v 0.888484 -3.875851 -0.649889 +v -1.041708 -2.120864 -1.176552 +v -0.480255 -2.471935 0.894056 +v 0.958483 -1.313840 0.788430 +v 1.028690 -0.401203 0.156978 +v -1.006709 -0.155381 0.894265 +v 0.923483 -1.419088 0.824058 +v 0.993691 -2.576818 0.507808 +f 12 31 35 +f 2 4 6 +f 2 3 10 +f 4 2 10 +f 7 2 11 +f 2 7 13 +f 6 4 16 +f 11 6 17 +f 13 7 18 +f 8 14 18 +f 14 5 18 +f 13 18 19 +f 18 5 19 +f 4 10 20 +f 8 1 21 +f 1 9 21 +f 9 15 21 +f 14 8 23 +f 12 14 23 +f 16 4 23 +f 15 9 24 +f 6 22 24 +f 22 15 24 +f 9 1 25 +f 18 7 25 +f 7 24 25 +f 24 9 25 +f 8 21 26 +f 21 16 26 +f 23 8 26 +f 16 23 26 +f 7 11 27 +f 17 6 27 +f 11 17 27 +f 6 24 27 +f 24 7 27 +f 1 8 28 +f 8 18 28 +f 25 1 28 +f 18 25 28 +f 6 16 29 +f 21 15 29 +f 16 21 29 +f 22 6 29 +f 15 22 29 +f 3 2 30 +f 10 3 30 +f 2 13 30 +f 20 10 31 +f 20 31 32 +f 4 20 32 +f 23 4 32 +f 12 23 32 +f 31 12 32 +f 2 6 33 +f 11 2 33 +f 6 11 33 +f 19 5 34 +f 13 19 34 +f 10 30 34 +f 30 13 34 +f 5 31 34 +f 31 10 34 +f 5 14 35 +f 14 12 35 +f 31 5 35 +o convex_1 +v 0.326925 -1.348626 1.701624 +v -0.339952 -1.138106 2.052328 +v -0.339887 -1.383876 2.052459 +v -0.269648 -0.506544 1.526043 +v 0.256686 0.125409 2.087510 +v -0.339952 0.125409 2.192858 +v 0.221566 -1.875221 2.087510 +v 0.291805 0.125409 1.596341 +v -0.164355 -1.699559 1.526109 +v -0.304768 0.125409 1.561225 +v 0.326925 -1.839971 1.631457 +v -0.304768 -1.699559 2.087510 +v 0.291805 0.090159 2.017277 +v -0.304768 -1.699559 1.912060 +v 0.116273 -1.489038 2.122691 +v -0.059062 -1.699559 1.526109 +v 0.186447 0.125409 2.122561 +v 0.116273 0.125409 1.561225 +v 0.116273 -1.875221 2.017343 +v 0.256686 -1.173160 2.087510 +v 0.326925 -1.734809 1.736740 +v -0.199475 -1.699559 1.561225 +f 54 49 57 +f 37 38 41 +f 41 40 43 +f 38 37 45 +f 37 41 45 +f 41 43 45 +f 43 36 46 +f 41 38 47 +f 36 43 48 +f 43 40 48 +f 38 45 49 +f 45 39 49 +f 47 38 49 +f 41 47 50 +f 47 42 50 +f 44 39 51 +f 43 46 51 +f 46 44 51 +f 40 41 52 +f 41 50 52 +f 39 45 53 +f 45 43 53 +f 51 39 53 +f 43 51 53 +f 46 42 54 +f 42 47 54 +f 47 49 54 +f 48 40 55 +f 50 42 55 +f 40 52 55 +f 52 50 55 +f 46 36 56 +f 42 46 56 +f 36 48 56 +f 55 42 56 +f 48 55 56 +f 39 44 57 +f 44 46 57 +f 49 39 57 +f 46 54 57 +o convex_2 +v -3.007082 -0.822134 -0.018427 +v -1.077027 -0.436171 -0.334175 +v -1.077027 -0.471284 -0.123719 +v -1.077027 -1.138147 -0.369229 +v -1.077027 -0.997697 0.192290 +v -2.936984 -1.067922 -0.369229 +v -2.972127 -0.471284 0.051812 +v -2.972127 -0.541509 -0.369229 +v -3.007082 -1.067922 0.051812 +v -1.182646 -0.436171 -0.474587 +v -1.077027 -0.541509 0.086866 +v -1.077027 -0.541509 -0.474587 +v -1.709042 -1.032741 0.157170 +v -1.182646 -0.927472 0.192290 +v -2.445731 -0.927472 -0.404348 +v -2.972127 -0.471284 -0.053481 +f 67 65 73 +f 59 60 61 +f 61 60 62 +f 60 59 64 +f 63 61 66 +f 64 58 66 +f 58 65 66 +f 65 63 66 +f 64 59 67 +f 62 60 68 +f 60 64 68 +f 59 61 69 +f 67 59 69 +f 61 62 70 +f 66 61 70 +f 64 66 70 +f 62 68 71 +f 68 64 71 +f 70 62 71 +f 64 70 71 +f 61 63 72 +f 63 65 72 +f 65 67 72 +f 69 61 72 +f 67 69 72 +f 58 64 73 +f 65 58 73 +f 64 67 73 +o convex_3 +v -0.339952 2.301533 1.912030 +v 0.326924 2.336632 1.455969 +v 0.326924 2.301533 1.455969 +v 0.186512 2.441928 2.192920 +v -0.304833 2.441928 1.491051 +v 0.186512 2.301533 2.192920 +v -0.304833 2.441928 2.052436 +v -0.304833 2.301533 1.491051 +v 0.186512 2.441928 1.526133 +f 75 78 82 +f 76 75 77 +f 75 76 78 +f 74 76 79 +f 76 77 79 +f 79 77 80 +f 78 74 80 +f 77 78 80 +f 74 79 80 +f 76 74 81 +f 74 78 81 +f 78 76 81 +f 77 75 82 +f 78 77 82 +o convex_4 +v -0.094230 4.267020 1.526122 +v 0.186430 2.512215 2.192851 +v 0.186430 3.845845 2.087524 +v -0.304853 2.722894 2.052415 +v 0.186430 2.441928 1.526122 +v -0.304853 2.441928 1.490945 +v 0.221628 4.302164 1.526122 +v -0.199516 4.161408 1.982266 +v -0.304853 4.196733 1.490945 +v 0.186430 4.267020 2.052415 +v -0.304853 2.441928 2.052415 +v 0.221628 2.617646 1.526122 +v -0.164421 4.161408 2.017306 +v 0.221628 4.302164 1.806926 +v 0.151334 2.441928 2.192851 +v -0.094230 2.441928 1.490945 +v -0.304853 4.196733 1.631450 +f 90 92 99 +f 88 86 91 +f 83 89 91 +f 88 87 93 +f 86 88 93 +f 84 87 94 +f 84 85 95 +f 90 86 95 +f 85 92 95 +f 92 90 95 +f 85 84 96 +f 89 83 96 +f 83 92 96 +f 92 85 96 +f 84 94 96 +f 94 89 96 +f 87 84 97 +f 86 93 97 +f 93 87 97 +f 84 95 97 +f 95 86 97 +f 87 88 98 +f 88 91 98 +f 91 89 98 +f 94 87 98 +f 89 94 98 +f 86 90 99 +f 91 86 99 +f 83 91 99 +f 92 83 99 +o convex_5 +v 1.941688 -0.962571 0.157170 +v 2.818814 -0.576649 -0.474587 +v 2.818814 -0.506410 -0.474587 +v 1.028900 -1.032744 -0.439468 +v 1.028900 -0.471291 0.086866 +v 3.134827 -0.436171 0.086866 +v 3.029283 -1.103048 -0.299055 +v 1.028900 -0.436171 -0.404348 +v 1.028900 -1.103048 0.192290 +v 3.064533 -1.067863 0.051812 +v 3.099577 -0.471291 -0.474587 +v 2.959195 -0.506410 0.121986 +v 2.923945 -1.032744 -0.369229 +v 1.134444 -1.103048 -0.088600 +v 1.028900 -0.962571 0.192290 +v 1.625882 -0.436171 -0.439468 +v 1.028900 -0.436171 -0.158643 +v 1.976938 -1.067863 -0.404348 +v 3.099577 -0.962571 -0.018427 +v 2.081863 -1.103048 0.121986 +v 1.028900 -0.681877 -0.439468 +f 107 115 120 +f 102 101 103 +f 103 104 107 +f 104 103 108 +f 101 102 110 +f 105 104 111 +f 108 100 111 +f 100 109 111 +f 109 105 111 +f 101 110 112 +f 110 106 112 +f 108 103 113 +f 106 108 113 +f 104 108 114 +f 111 104 114 +f 108 111 114 +f 107 105 115 +f 105 110 115 +f 110 102 115 +f 104 105 116 +f 107 104 116 +f 105 107 116 +f 103 101 117 +f 101 112 117 +f 112 106 117 +f 113 103 117 +f 106 113 117 +f 109 106 118 +f 105 109 118 +f 110 105 118 +f 106 110 118 +f 100 108 119 +f 108 106 119 +f 106 109 119 +f 109 100 119 +f 102 103 120 +f 103 107 120 +f 115 102 120 +o convex_6 +v 0.396919 0.371341 -3.247188 +v -0.655779 2.301533 -1.387355 +v -0.655779 2.301533 -1.422622 +v 1.063999 2.266325 -1.633008 +v 1.028790 0.160508 -1.176563 +v -1.077027 0.265925 -1.176563 +v -1.077027 2.231116 -3.211920 +v 1.028790 2.266325 -3.141792 +v -1.006609 0.195717 -3.176856 +v 0.993581 0.195926 -3.211920 +v -0.971610 2.301533 -1.176563 +v 1.063999 2.231116 -1.176563 +v -1.077027 2.266115 -2.685549 +v 0.958582 0.581965 -3.247188 +v -0.445156 1.599245 -3.247188 +v 1.063999 0.968003 -1.212033 +v -1.077027 1.529247 -3.211920 +v -1.077027 0.687172 -1.176563 +v 0.291712 2.266325 -3.176856 +v -1.077027 0.265925 -1.738404 +v 1.028790 0.160508 -1.633008 +v 0.818167 0.160508 -1.176563 +v 1.028790 1.774869 -3.141792 +v 0.853166 2.266325 -1.176563 +v 1.028790 0.195926 -2.054187 +v 0.958582 0.195926 -3.247188 +v -1.041818 2.266115 -2.896138 +v 1.063999 2.196117 -1.948993 +v -0.374948 2.196117 -3.211920 +v -1.006609 2.266115 -1.562879 +v -0.304740 2.266325 -3.176856 +f 127 147 151 +f 123 122 124 +f 123 124 128 +f 122 123 131 +f 126 125 131 +f 131 125 132 +f 127 126 133 +f 128 130 134 +f 121 129 135 +f 134 121 135 +f 124 132 136 +f 132 125 136 +f 126 127 137 +f 127 135 137 +f 135 129 137 +f 126 131 138 +f 133 126 138 +f 123 128 139 +f 128 134 139 +f 129 126 140 +f 126 137 140 +f 137 129 140 +f 136 125 141 +f 125 126 142 +f 126 129 142 +f 141 125 142 +f 129 141 142 +f 130 128 143 +f 124 122 144 +f 122 131 144 +f 132 124 144 +f 131 132 144 +f 141 130 145 +f 136 141 145 +f 130 143 145 +f 143 136 145 +f 129 121 146 +f 121 134 146 +f 134 130 146 +f 141 129 146 +f 130 141 146 +f 131 123 147 +f 127 133 147 +f 133 131 147 +f 128 124 148 +f 124 136 148 +f 143 128 148 +f 136 143 148 +f 135 127 149 +f 134 135 149 +f 127 139 149 +f 139 134 149 +f 131 133 150 +f 138 131 150 +f 133 138 150 +f 123 139 151 +f 139 127 151 +f 147 123 151 +o convex_7 +v -1.006610 1.774605 0.507911 +v -1.077027 -0.155381 -1.141292 +v 1.028753 -0.155381 -1.141292 +v -0.971612 2.301533 -1.176563 +v 0.923548 0.125759 0.894265 +v 0.958546 2.231068 0.578047 +v -1.006610 -0.155381 0.894265 +v 1.063961 2.231068 -1.176563 +v -0.971612 2.231068 0.894265 +v 0.923548 2.231068 0.894265 +v 0.958546 -0.155381 0.683453 +v -1.077027 0.722432 -1.176563 +v 1.028753 0.160631 -1.176563 +v -1.041818 0.160631 0.718723 +v 0.818133 2.266421 -1.141292 +v 1.063961 0.932866 -1.106224 +v 0.923548 -0.155381 0.823724 +v 1.063961 2.231068 -1.001021 +v -1.077027 0.651966 -0.579801 +v -0.971612 2.266421 0.227165 +v -1.077027 0.265969 -1.176563 +v -0.901405 2.301533 -1.001021 +v 1.028753 -0.120028 -0.825479 +v -1.006610 1.844830 0.367639 +v -1.041818 -0.155381 0.507911 +v -1.077027 0.301082 -0.369191 +v -1.006610 1.213045 0.894265 +f 152 165 178 +f 153 154 158 +f 158 156 160 +f 160 156 161 +f 158 154 162 +f 161 156 162 +f 157 161 162 +f 155 159 163 +f 163 159 164 +f 154 153 164 +f 159 155 166 +f 161 157 166 +f 164 159 167 +f 154 164 167 +f 156 158 168 +f 158 162 168 +f 162 156 168 +f 157 162 169 +f 159 166 169 +f 166 157 169 +f 167 159 169 +f 162 167 169 +f 163 153 170 +f 165 152 170 +f 160 161 171 +f 153 163 172 +f 163 164 172 +f 164 153 172 +f 166 155 173 +f 161 166 173 +f 155 171 173 +f 171 161 173 +f 162 154 174 +f 154 167 174 +f 167 162 174 +f 152 160 175 +f 155 163 175 +f 163 170 175 +f 170 152 175 +f 171 155 175 +f 160 171 175 +f 153 158 176 +f 158 165 176 +f 170 153 177 +f 165 170 177 +f 153 176 177 +f 176 165 177 +f 160 152 178 +f 158 160 178 +f 165 158 178 +o convex_8 +v 1.028900 0.687278 2.403207 +v -1.112125 0.125409 2.754301 +v -1.112125 0.125409 2.894896 +v -0.971500 2.301320 2.824403 +v -0.971500 2.231033 0.894461 +v 0.923483 0.125409 0.894461 +v 1.028900 2.301320 2.824403 +v 0.923483 2.231033 0.894461 +v -1.006709 0.301126 0.894461 +v 1.028900 0.231052 2.894896 +v 0.467237 2.301320 1.140208 +v -1.076917 0.932856 2.894896 +v 0.853276 2.125816 2.859453 +v 0.958692 2.231033 1.034860 +v -0.304630 0.125409 1.561403 +v 0.958692 0.125409 1.070106 +v 1.028900 0.195909 2.789352 +v -1.041708 0.266196 1.105157 +v -1.112125 0.231052 2.438453 +v 0.256614 0.125409 2.087359 +v -0.971500 2.301320 2.298055 +v -0.129215 1.143504 2.894896 +v 0.818276 2.266177 0.894461 +v -0.901292 1.880025 2.859453 +v 0.712860 0.125409 0.894461 +v -0.304630 2.301320 1.491106 +v 1.028900 2.301320 2.648953 +v -1.112125 0.476630 2.859453 +v -1.006709 0.266196 0.999809 +v -0.796085 0.125409 2.894896 +v 1.028900 0.195909 2.368156 +v -1.006709 1.213365 0.894461 +v -0.971500 2.266177 1.350708 +f 206 199 211 +f 181 180 184 +f 184 183 186 +f 183 184 187 +f 179 185 188 +f 182 185 189 +f 181 188 190 +f 185 182 191 +f 188 185 191 +f 184 186 192 +f 184 180 193 +f 181 184 194 +f 184 192 194 +f 179 188 195 +f 180 181 197 +f 196 180 197 +f 181 194 198 +f 194 195 198 +f 182 189 199 +f 190 188 200 +f 188 191 200 +f 186 183 201 +f 183 189 201 +f 192 186 201 +f 182 190 202 +f 191 182 202 +f 190 200 202 +f 200 191 202 +f 187 184 203 +f 184 193 203 +f 189 183 204 +f 199 189 204 +f 185 179 205 +f 189 185 205 +f 179 192 205 +f 201 189 205 +f 192 201 205 +f 181 190 206 +f 190 182 206 +f 197 181 206 +f 183 197 206 +f 182 199 206 +f 193 180 207 +f 180 196 207 +f 196 187 207 +f 187 203 207 +f 203 193 207 +f 188 181 208 +f 195 188 208 +f 181 198 208 +f 198 195 208 +f 192 179 209 +f 194 192 209 +f 179 195 209 +f 195 194 209 +f 183 187 210 +f 187 196 210 +f 197 183 210 +f 196 197 210 +f 204 183 211 +f 199 204 211 +f 183 206 211 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/952/952.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/952/952.urdf new file mode 100644 index 000000000..eca49a334 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/952/952.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/953/953.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/953/953.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/953/953.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/953/953.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/953/953.obj new file mode 100644 index 000000000..154ec25ff --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/953/953.obj @@ -0,0 +1,468 @@ +o convex_0 +v 0.947289 -3.116798 0.946620 +v -0.947476 -1.440549 -1.094190 +v -1.020467 -2.278772 -1.057566 +v -1.093457 -1.404250 1.019661 +v 1.020280 -1.404053 -0.948107 +v -1.056855 -3.335379 -0.911897 +v 1.093271 -3.335379 -1.057566 +v -0.947476 -3.408370 0.946413 +v 1.093271 -1.404053 0.946620 +v -1.093457 -1.404250 -0.656770 +v 0.947289 -3.262584 0.837368 +v -1.093457 -3.298884 -0.984731 +v 0.400607 -2.715935 0.983037 +v 1.056668 -3.335379 -0.547312 +v 1.093271 -1.659327 0.946620 +v -0.692329 -3.408370 0.946413 +v 1.020280 -1.695822 -0.984731 +v -1.093457 -1.586335 1.019661 +v -0.655941 -3.335379 -1.020942 +v -0.947476 -3.408370 0.545824 +v -0.874699 -1.404250 -1.094190 +v -0.692329 -1.404250 1.019661 +v 1.056668 -2.133181 -0.984731 +v 0.837910 -3.262584 0.946620 +v -1.020467 -3.371875 0.071987 +v 1.093271 -1.404053 0.764327 +v 0.837910 -3.335379 -1.057566 +v 1.093271 -3.262584 -1.057566 +f 23 26 28 +f 5 4 9 +f 2 3 10 +f 4 5 10 +f 10 3 12 +f 4 10 12 +f 11 14 15 +f 7 9 15 +f 1 11 15 +f 13 1 15 +f 9 13 15 +f 14 7 15 +f 13 8 16 +f 7 14 16 +f 14 11 16 +f 4 12 18 +f 8 13 18 +f 12 3 19 +f 6 12 19 +f 7 16 20 +f 16 8 20 +f 6 19 20 +f 7 2 21 +f 2 10 21 +f 10 5 21 +f 5 17 21 +f 9 4 22 +f 13 9 22 +f 4 18 22 +f 18 13 22 +f 17 5 23 +f 11 1 24 +f 1 13 24 +f 16 11 24 +f 13 16 24 +f 12 6 25 +f 8 18 25 +f 18 12 25 +f 6 20 25 +f 20 8 25 +f 5 9 26 +f 9 7 26 +f 23 5 26 +f 3 2 27 +f 2 7 27 +f 19 3 27 +f 7 20 27 +f 20 19 27 +f 7 21 28 +f 21 17 28 +f 17 23 28 +f 26 7 28 +o convex_1 +v 0.364219 2.677809 1.056107 +v 0.364219 0.782689 -1.021298 +v 0.364219 0.928529 -1.021298 +v -1.093457 1.183849 1.056107 +v -1.093457 2.641249 -0.948093 +v 1.020280 2.787089 -1.021298 +v 1.056668 0.782889 0.946705 +v -0.984078 0.782689 -0.911897 +v -1.056855 2.823649 0.983105 +v 1.093271 2.641249 1.056107 +v 1.056668 0.782889 -1.021298 +v -1.093457 0.782689 1.056107 +v -0.510173 2.823649 -0.547294 +v 0.473598 2.823649 0.472904 +v -1.093457 1.001449 -0.583693 +v 1.093271 2.094449 1.056107 +v -0.984078 0.855609 -0.948093 +v -1.093457 2.750529 -0.000694 +v 1.056668 0.855809 0.983105 +v 1.093271 2.677609 0.691503 +v 0.692142 2.787089 -1.021298 +v 1.093271 1.402409 0.691503 +v -0.692329 0.782689 1.056107 +v 0.473598 2.823649 -0.547497 +v -1.020467 2.677809 -0.948093 +v 1.056668 2.750529 -0.292295 +v -1.056855 0.782689 -0.656695 +v 0.546374 2.750529 -1.021298 +v -1.093457 1.730449 1.019504 +v 0.801521 2.677809 1.056107 +v -1.093457 2.276849 -0.948093 +f 45 43 59 +f 31 30 33 +f 30 31 34 +f 32 29 37 +f 29 32 38 +f 30 34 39 +f 35 30 39 +f 32 33 40 +f 36 30 40 +f 38 32 40 +f 41 37 42 +f 40 33 43 +f 38 40 44 +f 30 36 45 +f 33 32 46 +f 37 41 46 +f 35 44 47 +f 42 38 48 +f 38 44 48 +f 34 31 49 +f 35 39 50 +f 44 35 50 +f 39 48 50 +f 48 44 50 +f 30 35 51 +f 40 30 51 +f 44 40 51 +f 35 47 51 +f 47 44 51 +f 41 42 52 +f 42 34 52 +f 34 49 52 +f 49 41 52 +f 33 46 53 +f 46 41 53 +f 41 49 53 +f 39 34 54 +f 34 42 54 +f 48 39 54 +f 42 48 54 +f 36 40 55 +f 40 43 55 +f 45 36 55 +f 43 45 55 +f 31 33 56 +f 49 31 56 +f 33 53 56 +f 53 49 56 +f 32 37 57 +f 46 32 57 +f 37 46 57 +f 37 29 58 +f 29 38 58 +f 42 37 58 +f 38 42 58 +f 33 30 59 +f 43 33 59 +f 30 45 59 +o convex_2 +v 0.437080 4.791717 -0.110156 +v -0.619421 2.823841 0.509393 +v -0.583036 3.006066 -0.000790 +v 0.473587 2.823841 -0.547504 +v -0.473759 4.718518 -0.510973 +v 0.619369 4.718711 0.582227 +v -0.619421 4.754925 0.472975 +v 0.473587 2.823841 0.472975 +v -0.510144 2.823841 -0.547504 +v 0.473587 4.718518 -0.474556 +v -0.619421 2.823841 0.618758 +v -0.619421 4.791717 0.290661 +v 0.509972 4.791717 -0.401721 +v -0.327976 2.860440 0.618758 +v 0.619248 4.499887 0.582227 +v -0.546651 3.151885 -0.438139 +v -0.510144 4.572700 -0.510973 +v 0.182021 3.443521 -0.547504 +v 0.109129 4.754925 0.545810 +v 0.509972 3.151885 0.509393 +v 0.619369 4.645898 0.436444 +v 0.254912 4.791717 -0.474556 +v -0.291470 4.791717 0.472975 +v -0.255085 3.334110 0.618758 +v -0.510144 3.334110 -0.547504 +f 64 77 84 +f 61 63 67 +f 61 62 68 +f 63 61 68 +f 66 61 70 +f 61 67 70 +f 62 61 71 +f 61 66 71 +f 60 65 72 +f 63 69 72 +f 71 60 72 +f 70 67 73 +f 68 62 75 +f 62 71 75 +f 75 71 76 +f 71 64 76 +f 63 68 77 +f 64 69 77 +f 69 63 77 +f 67 63 79 +f 73 67 79 +f 63 74 79 +f 74 73 79 +f 63 72 80 +f 72 65 80 +f 74 63 80 +f 65 74 80 +f 69 64 81 +f 64 71 81 +f 72 69 81 +f 71 72 81 +f 65 60 82 +f 60 71 82 +f 71 66 82 +f 78 65 82 +f 66 78 82 +f 66 70 83 +f 70 73 83 +f 74 65 83 +f 73 74 83 +f 65 78 83 +f 78 66 83 +f 68 75 84 +f 75 76 84 +f 76 64 84 +f 77 68 84 +o convex_3 +v 1.421492 0.199458 0.618758 +v 2.660211 -0.019195 -0.583950 +v 2.660211 0.017301 -0.583950 +v 3.024907 -0.820922 0.582145 +v 1.093663 -0.747931 -0.474581 +v 1.093663 -0.784426 0.545649 +v 3.024907 0.235954 0.545649 +v 1.093663 0.163069 -0.474581 +v 2.988230 -0.747931 -0.583950 +v 2.988230 0.126574 -0.583950 +v 1.093663 0.272449 0.618758 +v 3.024907 0.199458 -0.073599 +v 1.275727 -0.784426 -0.365211 +v 1.239428 0.272449 0.363407 +v 2.988230 0.235954 0.582145 +v 1.348704 -0.675046 -0.510959 +v 1.785999 -0.784426 0.582145 +v 3.024907 -0.784426 -0.146591 +v 2.477957 0.163069 -0.510959 +v 2.222916 0.272449 0.545649 +v 3.024907 -0.456393 -0.328716 +v 2.805976 -0.820922 0.472776 +v 1.093663 0.126574 0.618758 +f 90 101 107 +f 89 90 92 +f 86 87 93 +f 87 92 94 +f 93 87 94 +f 92 90 95 +f 91 88 96 +f 90 89 97 +f 89 93 97 +f 92 95 98 +f 85 88 99 +f 88 91 99 +f 95 85 99 +f 87 86 100 +f 92 87 100 +f 89 92 100 +f 86 93 100 +f 93 89 100 +f 90 88 101 +f 96 88 102 +f 97 93 102 +f 94 92 103 +f 96 94 103 +f 92 98 103 +f 98 96 103 +f 91 96 104 +f 98 95 104 +f 96 98 104 +f 99 91 104 +f 95 99 104 +f 93 94 105 +f 94 96 105 +f 102 93 105 +f 96 102 105 +f 88 90 106 +f 90 97 106 +f 102 88 106 +f 97 102 106 +f 88 85 107 +f 85 95 107 +f 95 90 107 +f 101 88 107 +o convex_4 +v -3.024891 -0.820822 0.400056 +v -1.093647 0.236004 0.545817 +v -1.093647 -0.747941 0.582313 +v -1.093647 -0.820822 -0.547504 +v -3.024891 0.199508 -0.547504 +v -2.988402 0.236004 0.472936 +v -1.093647 0.163012 -0.547504 +v -3.024891 -0.893813 -0.547504 +v -1.130135 -0.820822 0.582313 +v -2.878937 -0.784437 0.509211 +v -2.696872 0.236004 0.509211 +v -1.093647 0.236004 0.181192 +v -2.988402 0.236004 -0.146494 +v -1.640407 0.199508 -0.547504 +v -1.676895 -0.857317 -0.511009 +v -2.951914 -0.893813 -0.438128 +v -3.024891 -0.711556 0.472936 +v -3.024891 0.199508 -0.146494 +f 124 113 125 +f 109 110 111 +f 109 111 114 +f 111 112 114 +f 108 112 115 +f 112 111 115 +f 111 110 116 +f 108 116 117 +f 117 116 118 +f 110 109 118 +f 109 113 118 +f 116 110 118 +f 113 117 118 +f 113 109 119 +f 109 114 119 +f 112 113 120 +f 113 119 120 +f 120 119 121 +f 114 112 121 +f 119 114 121 +f 112 120 121 +f 115 111 122 +f 111 116 122 +f 122 116 123 +f 108 115 123 +f 116 108 123 +f 115 122 123 +f 112 108 124 +f 108 117 124 +f 117 113 124 +f 113 112 125 +f 112 124 125 +o convex_5 +v -0.911086 -1.258070 -2.988977 +v 1.093285 -0.930145 3.024175 +v 0.983905 0.673309 2.987236 +v -0.984078 -1.367450 2.987236 +v -1.093457 0.782689 1.055736 +v 0.910914 0.746087 -3.062258 +v 1.093285 -1.367450 -3.025320 +v -1.056855 0.782689 -3.062258 +v -0.947475 0.709698 3.024175 +v 1.093285 -1.404053 3.024175 +v -1.093457 -1.404053 -0.656520 +v 1.056682 0.782689 0.946709 +v 1.056682 0.782689 -1.021134 +v 0.947302 0.782689 2.987236 +v -1.056855 -1.221682 -2.952635 +v -1.093457 -1.404053 1.018798 +v 1.093285 0.272392 0.363446 +v 1.020293 -1.404053 -0.947854 +v 1.056682 -0.602219 -3.062258 +v -1.056855 0.636707 1.893395 +v -0.947475 -1.404053 -1.093819 +v 0.291451 -1.404053 3.024175 +v 0.400831 0.782689 -3.062258 +v -1.093457 -1.258070 1.384007 +v 1.093285 -0.456450 -2.224003 +v -0.364401 0.746087 3.024175 +v -0.984078 0.709698 2.987236 +v -1.093457 0.163012 -0.546898 +v 0.947302 0.709698 -2.988977 +v 0.182071 -1.294673 -3.025320 +v -0.947475 -0.456450 3.024175 +v 0.364228 0.782689 2.987236 +v 0.145682 0.673309 3.024175 +v -1.056855 0.673309 -3.062258 +v -1.093457 0.709698 1.310727 +v 1.020293 -0.347071 3.024175 +v -1.056855 -1.258070 -2.806670 +f 146 136 162 +f 132 127 135 +f 127 134 135 +f 128 127 137 +f 133 130 137 +f 133 137 138 +f 128 137 139 +f 137 130 139 +f 130 136 141 +f 136 135 141 +f 127 132 142 +f 137 127 142 +f 138 137 142 +f 132 135 143 +f 135 136 143 +f 133 131 144 +f 126 132 146 +f 132 143 146 +f 143 136 146 +f 135 134 147 +f 129 141 147 +f 141 135 147 +f 131 133 148 +f 138 131 148 +f 133 138 148 +f 141 129 149 +f 130 141 149 +f 142 132 150 +f 138 142 150 +f 132 144 150 +f 144 138 150 +f 134 127 151 +f 129 134 152 +f 149 129 152 +f 145 149 152 +f 134 151 152 +f 151 130 152 +f 130 133 153 +f 136 130 153 +f 133 136 153 +f 131 138 154 +f 144 131 154 +f 138 144 154 +f 132 126 155 +f 144 132 155 +f 134 129 156 +f 129 147 156 +f 147 134 156 +f 139 130 157 +f 130 151 157 +f 151 139 157 +f 151 127 158 +f 139 151 158 +f 136 133 159 +f 126 140 159 +f 140 136 159 +f 133 144 159 +f 155 126 159 +f 144 155 159 +f 130 149 160 +f 149 145 160 +f 152 130 160 +f 145 152 160 +f 127 128 161 +f 128 139 161 +f 158 127 161 +f 139 158 161 +f 140 126 162 +f 136 140 162 +f 126 146 162 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/953/953.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/953/953.urdf new file mode 100644 index 000000000..8d7bd8a52 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/953/953.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/954/954.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/954/954.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/954/954.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/954/954.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/954/954.obj new file mode 100644 index 000000000..8d340513f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/954/954.obj @@ -0,0 +1,501 @@ +o convex_0 +v 1.081023 -2.027154 0.778490 +v -1.104184 0.437861 0.466070 +v -1.104184 0.437861 0.653305 +v -1.041700 -4.243828 -0.969545 +v 0.987296 1.749207 -0.969328 +v 1.081023 -4.305585 -1.125755 +v -0.916732 -4.212293 0.965508 +v 1.018538 1.780743 1.090693 +v -1.104184 1.749207 -0.969545 +v 1.112264 -4.274707 0.996750 +v -1.104184 1.655258 1.059451 +v -0.542261 2.373345 0.528554 +v 0.519100 2.374002 -0.470106 +v -0.511019 2.373345 -0.563616 +v -1.041700 -4.243828 -1.032029 +v -0.947974 -3.743861 0.996967 +v 0.550342 2.374002 0.559579 +v -1.041700 1.530431 -1.000570 +v 1.018538 1.093534 -1.000570 +v 1.049780 0.281498 1.090693 +v 0.238139 -4.337778 -0.501348 +v -0.261083 1.717672 1.090693 +v 1.018538 1.780743 -0.407405 +v 1.081023 -3.494206 -1.094296 +v -1.104184 0.531153 -1.000570 +v -0.261083 -4.243172 0.996750 +v 1.049780 -3.338500 1.028209 +v 1.018538 -4.181415 -1.125755 +v -1.104184 1.124413 1.059451 +v 0.612609 -4.337778 -0.188928 +v 0.612609 0.500932 1.090693 +v 1.018538 1.530431 -0.875602 +v -1.010458 -4.243828 -0.407622 +v -1.041700 0.594224 1.059451 +v 0.487858 1.780743 1.090693 +v 1.112264 -4.180758 0.934483 +v -1.104184 1.686793 0.871999 +v 0.612609 -4.337778 -0.782093 +v 0.924812 -4.306242 0.559579 +v -0.791764 -3.962638 0.996967 +v 0.456616 2.374002 -0.501348 +v -0.542261 2.373345 -0.220170 +v -1.104184 1.749207 -0.563616 +v 0.987296 -4.243828 -1.125755 +v -0.729496 1.499552 -1.000570 +v -0.729496 -4.274050 -0.657342 +v -1.041700 -4.119001 -0.875819 +v 1.049780 0.343912 1.028209 +v -0.947974 -4.212293 0.715789 +v 0.987296 1.780743 -0.938086 +v -0.354809 -4.274707 -1.063271 +v 0.675093 -4.274707 0.996967 +v -0.979216 1.686793 1.059451 +v 1.049780 -1.527844 -1.063271 +f 28 45 54 +f 3 2 4 +f 2 3 9 +f 9 3 11 +f 5 9 14 +f 4 2 15 +f 9 5 18 +f 20 8 22 +f 17 8 23 +f 13 17 23 +f 2 9 25 +f 15 2 25 +f 9 18 25 +f 18 15 25 +f 7 21 26 +f 10 20 27 +f 11 3 29 +f 22 11 29 +f 26 21 30 +f 20 22 31 +f 27 20 31 +f 19 5 32 +f 24 19 32 +f 29 16 34 +f 22 29 34 +f 31 22 34 +f 8 17 35 +f 17 12 35 +f 12 22 35 +f 22 8 35 +f 10 6 36 +f 20 10 36 +f 6 24 36 +f 32 1 36 +f 24 32 36 +f 9 11 37 +f 11 12 37 +f 6 30 38 +f 30 21 38 +f 6 10 39 +f 30 6 39 +f 16 7 40 +f 7 26 40 +f 26 27 40 +f 27 31 40 +f 34 16 40 +f 31 34 40 +f 5 14 41 +f 12 17 41 +f 17 13 41 +f 9 12 42 +f 14 9 42 +f 41 14 42 +f 12 41 42 +f 12 9 43 +f 9 37 43 +f 37 12 43 +f 15 18 44 +f 28 6 44 +f 18 28 44 +f 18 5 45 +f 5 19 45 +f 28 18 45 +f 4 15 46 +f 21 7 46 +f 15 21 46 +f 7 33 46 +f 33 4 46 +f 3 4 47 +f 29 3 47 +f 16 29 47 +f 4 33 47 +f 8 20 48 +f 23 8 48 +f 1 32 48 +f 32 23 48 +f 36 1 48 +f 20 36 48 +f 7 16 49 +f 33 7 49 +f 16 47 49 +f 47 33 49 +f 13 23 50 +f 32 5 50 +f 23 32 50 +f 5 41 50 +f 41 13 50 +f 21 15 51 +f 6 38 51 +f 38 21 51 +f 44 6 51 +f 15 44 51 +f 10 27 52 +f 27 26 52 +f 26 30 52 +f 39 10 52 +f 30 39 52 +f 12 11 53 +f 11 22 53 +f 22 12 53 +f 24 6 54 +f 19 24 54 +f 6 28 54 +f 45 19 54 +o convex_1 +v -0.292508 2.467716 0.622503 +v 0.331825 2.779749 1.777578 +v 0.331825 2.748565 1.777578 +v -0.292508 2.436532 3.088619 +v -0.261248 3.060661 3.088619 +v -0.354962 2.998293 0.716131 +v 0.269371 3.029477 0.591212 +v 0.300565 2.998293 3.057328 +v 0.331825 2.498965 0.747422 +v 0.175725 2.405220 2.994746 +v -0.354962 2.655013 0.591212 +v 0.331825 2.530149 0.591212 +v -0.292508 3.029477 2.963699 +v 0.206918 2.467716 3.026037 +v -0.354962 2.967045 0.591212 +v 0.175725 3.029477 3.057328 +v -0.323701 2.467716 2.057974 +v 0.300565 2.935861 0.591212 +v 0.082078 3.029477 0.591212 +v -0.292508 2.436532 2.120800 +v -0.354962 2.998293 0.965970 +v 0.019625 2.686261 3.088619 +v 0.238111 2.436532 2.464022 +v 0.300565 2.904613 2.994746 +v -0.323701 2.467716 0.653794 +v 0.269371 3.029477 2.120800 +v 0.331825 2.748565 0.653794 +v 0.300565 2.998293 1.590321 +f 56 81 82 +f 57 56 62 +f 56 57 63 +f 55 63 64 +f 65 61 66 +f 56 63 66 +f 63 55 66 +f 55 65 66 +f 58 59 67 +f 58 64 68 +f 65 60 69 +f 61 65 69 +f 59 62 70 +f 66 61 72 +f 60 59 73 +f 59 61 73 +f 69 60 73 +f 61 69 73 +f 64 58 74 +f 58 71 74 +f 59 60 75 +f 60 65 75 +f 58 67 75 +f 67 59 75 +f 71 58 75 +f 65 71 75 +f 59 58 76 +f 62 59 76 +f 68 62 76 +f 58 68 76 +f 63 57 77 +f 64 63 77 +f 68 64 77 +f 68 77 78 +f 57 62 78 +f 62 68 78 +f 77 57 78 +f 55 64 79 +f 65 55 79 +f 71 65 79 +f 64 74 79 +f 74 71 79 +f 61 59 80 +f 62 61 80 +f 59 70 80 +f 70 62 80 +f 56 66 81 +f 66 72 81 +f 81 72 82 +f 62 56 82 +f 61 62 82 +f 72 61 82 +o convex_2 +v 0.581465 3.185601 -0.532584 +v -0.354922 3.372882 0.591212 +v -0.386014 3.372882 0.591212 +v 0.456417 2.374002 0.559976 +v -0.510949 2.374002 -0.563820 +v -0.448538 3.809919 -0.470112 +v 0.425325 3.747444 0.528624 +v -0.542267 2.374002 0.497504 +v 0.519054 2.374002 -0.470112 +v 0.612783 3.653804 -0.532584 +v -0.417220 3.778610 0.559860 +v 0.331709 3.841228 -0.282697 +v 0.519054 2.374002 0.559976 +v -0.510949 3.528854 -0.282697 +v 0.269185 3.029486 -0.595056 +v -0.261306 3.091961 -0.595056 +v 0.300390 2.498952 -0.595056 +v -0.323604 2.498952 0.591212 +v -0.292398 3.841228 0.310089 +v 0.456643 3.528854 0.559860 +v 0.331596 2.717542 0.591212 +v 0.550259 2.405455 -0.470112 +v 0.300390 3.841228 0.247617 +v 0.519054 2.779874 0.559976 +v -0.542267 2.436621 -0.189221 +v 0.612783 3.653804 -0.438876 +v -0.448538 3.778610 0.341209 +v -0.323604 2.374002 -0.595056 +v -0.417220 3.841228 -0.376521 +v -0.510949 2.967155 -0.532584 +v 0.612783 3.435357 -0.501348 +v 0.518941 3.716279 0.122789 +v -0.479744 3.809919 -0.438876 +v 0.550259 3.684969 -0.532584 +v -0.542267 2.842205 0.029082 +v 0.362801 3.684969 0.559860 +v -0.510949 2.374002 0.528740 +v 0.300390 3.684969 -0.532584 +f 116 98 120 +f 87 86 90 +f 86 87 91 +f 85 84 93 +f 86 91 95 +f 92 83 99 +f 97 92 99 +f 98 97 99 +f 84 85 100 +f 86 95 100 +f 84 100 103 +f 100 95 103 +f 95 91 104 +f 99 83 104 +f 91 99 104 +f 93 89 105 +f 101 93 105 +f 94 101 105 +f 103 95 106 +f 102 103 106 +f 87 90 107 +f 92 94 108 +f 106 95 108 +f 90 93 109 +f 91 87 110 +f 87 98 110 +f 99 91 110 +f 98 99 110 +f 94 88 111 +f 93 101 111 +f 101 94 111 +f 109 93 111 +f 98 87 112 +f 88 98 112 +f 87 107 112 +f 107 96 112 +f 83 92 113 +f 104 83 113 +f 95 104 113 +f 92 108 113 +f 108 95 113 +f 89 102 114 +f 105 89 114 +f 94 105 114 +f 102 106 114 +f 108 94 114 +f 106 108 114 +f 96 109 115 +f 111 88 115 +f 109 111 115 +f 88 112 115 +f 112 96 115 +f 88 94 116 +f 94 92 116 +f 92 97 116 +f 97 98 116 +f 107 90 117 +f 96 107 117 +f 90 109 117 +f 109 96 117 +f 93 84 118 +f 89 93 118 +f 102 89 118 +f 103 102 118 +f 84 103 118 +f 90 86 119 +f 85 93 119 +f 93 90 119 +f 100 85 119 +f 86 100 119 +f 98 88 120 +f 88 116 120 +o convex_3 +v 0.331767 4.684240 -0.282880 +v -0.354962 5.214570 0.185383 +v -0.354962 5.214570 0.216552 +v -0.292481 3.841424 0.310242 +v 0.331767 5.714002 0.341471 +v -0.292481 5.714002 -0.189191 +v 0.300562 3.841424 0.247782 +v -0.198865 3.841424 -0.189191 +v 0.363043 5.838958 -0.251650 +v 0.331767 3.841424 -0.282880 +v -0.354962 5.745290 0.185383 +v 0.331767 4.777908 0.310242 +v -0.230070 5.557954 -0.220421 +v 0.019643 4.777908 0.341471 +v -0.323686 5.651622 -0.157961 +v -0.011562 3.872712 0.310242 +v -0.292481 3.841424 0.216552 +v 0.363043 5.776382 0.060464 +v 0.238151 3.841424 -0.282880 +v -0.011562 5.745290 0.279012 +v 0.113259 5.807670 -0.251650 +v -0.323686 5.589242 0.216552 +v -0.323686 5.776382 0.154154 +v 0.331767 3.841424 -0.095563 +v -0.105178 3.841424 -0.220421 +v 0.363043 5.838958 -0.157961 +v 0.331767 5.339525 0.341471 +v 0.300562 3.966380 0.279012 +f 147 136 148 +f 123 122 124 +f 127 124 128 +f 127 128 130 +f 121 129 130 +f 122 123 131 +f 128 126 133 +f 126 128 135 +f 122 131 135 +f 131 126 135 +f 124 127 136 +f 134 124 136 +f 124 122 137 +f 128 124 137 +f 122 135 137 +f 135 128 137 +f 130 129 138 +f 121 130 139 +f 130 128 139 +f 134 125 140 +f 129 121 141 +f 133 126 141 +f 121 139 141 +f 139 133 141 +f 123 124 142 +f 131 123 142 +f 124 134 142 +f 140 131 142 +f 134 140 142 +f 126 131 143 +f 131 140 143 +f 129 141 143 +f 141 126 143 +f 127 130 144 +f 132 127 144 +f 130 138 144 +f 138 132 144 +f 128 133 145 +f 139 128 145 +f 133 139 145 +f 138 129 146 +f 125 138 146 +f 140 125 146 +f 143 140 146 +f 129 143 146 +f 125 134 147 +f 134 136 147 +f 138 125 147 +f 132 138 147 +f 127 132 148 +f 136 127 148 +f 132 147 148 +o convex_4 +v 0.082078 3.060664 -0.813643 +v -0.011568 2.374002 -2.155755 +v -0.292508 2.436548 -2.530341 +v 0.331825 2.967057 -2.936222 +v -0.354962 2.967057 -2.998810 +v -0.323701 2.374002 -0.595056 +v 0.300565 2.498952 -0.595056 +v -0.261248 3.091937 -0.595056 +v 0.206918 2.405345 -2.998810 +v 0.269371 3.029462 -0.595056 +v -0.354962 2.467750 -2.967516 +v -0.292508 3.091937 -0.938584 +v 0.331825 2.842178 -2.967516 +v -0.354962 2.998259 -2.467989 +v 0.331825 2.967057 -2.155755 +v -0.136341 2.374002 -0.938584 +v 0.206918 2.405345 -2.280695 +v -0.323701 2.592629 -0.595056 +v 0.238111 2.998259 -2.530341 +v -0.354962 2.436548 -2.155755 +v 0.238111 2.467750 -2.998810 +v 0.019625 2.405345 -2.998810 +v -0.105215 3.091937 -0.813643 +v 0.300565 2.655034 -0.595056 +f 155 163 172 +f 151 150 154 +f 154 155 156 +f 156 155 158 +f 153 152 161 +f 153 159 162 +f 160 153 162 +f 152 158 163 +f 161 152 163 +f 155 161 163 +f 154 150 164 +f 155 154 164 +f 150 157 165 +f 157 155 165 +f 164 150 165 +f 155 164 165 +f 154 156 166 +f 156 160 166 +f 160 162 166 +f 152 153 167 +f 149 158 167 +f 158 152 167 +f 153 160 167 +f 151 154 168 +f 159 151 168 +f 162 159 168 +f 154 166 168 +f 166 162 168 +f 157 153 169 +f 155 157 169 +f 153 161 169 +f 161 155 169 +f 150 151 170 +f 157 150 170 +f 153 157 170 +f 151 159 170 +f 159 153 170 +f 158 149 171 +f 156 158 171 +f 160 156 171 +f 149 167 171 +f 167 160 171 +f 158 155 172 +f 163 158 172 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/954/954.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/954/954.urdf new file mode 100644 index 000000000..bc55543b8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/954/954.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/955/955.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/955/955.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/955/955.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/955/955.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/955/955.obj new file mode 100644 index 000000000..91a54ce4f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/955/955.obj @@ -0,0 +1,414 @@ +o convex_0 +v 1.032383 4.248480 0.324710 +v -1.130208 4.871581 -0.957908 +v -1.130208 4.871581 -0.884663 +v -1.056889 -0.956040 0.544653 +v 1.032383 -0.956040 -1.067984 +v -0.946801 4.907619 0.984539 +v 1.032383 -0.956040 0.911294 +v 1.068933 4.944818 -0.957908 +v -0.946801 -0.956040 -0.994531 +v 0.959064 4.871581 0.984539 +v -1.056889 -0.956040 1.057784 +v -1.056889 3.809054 -1.030945 +v 1.105702 0.473837 -0.371533 +v -1.056889 2.598309 0.947916 +v -1.056889 4.982018 -0.224627 +v 1.032383 0.363980 0.947708 +v -0.983570 0.107649 -1.031153 +v 1.105702 4.211861 -0.921286 +v -0.250377 3.661998 -1.031153 +v -1.130208 4.982018 -0.957908 +v -0.690293 4.944818 0.984539 +v 1.105702 1.463707 -0.994531 +v 1.068933 -0.956040 -0.627890 +v 1.068933 4.944818 -0.554645 +v 0.445828 -0.956040 -1.067984 +v 1.105702 3.001697 -0.518022 +v 1.032383 -0.368977 -1.067984 +v 0.592467 4.468774 -0.994531 +v -1.056889 4.834381 -0.994323 +v -0.946801 -0.956040 1.057784 +v 0.042463 4.982018 -0.921078 +v -0.983570 -0.918840 -0.664512 +v 0.995614 4.614668 0.801218 +v 0.848975 -0.956040 0.947708 +v -1.056889 3.075516 0.837841 +v -0.946801 -0.772365 -1.031153 +v 1.068933 -0.956040 0.031314 +v 0.995614 4.908199 0.471408 +v 0.959064 4.394955 0.984539 +v -1.056889 -0.772365 1.057784 +v -1.130208 4.982018 -0.884663 +v 1.032383 0.584274 0.947708 +v 1.068933 -0.259121 -1.031153 +v -1.020120 -0.956040 -0.078137 +v -0.946801 4.944818 0.947916 +v 0.995614 4.944818 -0.407947 +v 0.372509 4.908199 0.984539 +v 0.995614 3.735235 0.947708 +v -0.983570 4.211861 0.984539 +v 0.995614 4.871581 0.727765 +f 24 38 50 +f 3 2 4 +f 4 5 7 +f 5 4 9 +f 3 4 11 +f 4 7 11 +f 7 13 16 +f 2 12 17 +f 2 3 20 +f 12 2 20 +f 8 18 22 +f 18 13 22 +f 7 5 23 +f 22 13 23 +f 18 8 24 +f 1 18 24 +f 5 9 25 +f 17 12 25 +f 18 1 26 +f 13 18 26 +f 12 19 27 +f 22 5 27 +f 8 22 27 +f 5 25 27 +f 25 12 27 +f 8 27 28 +f 27 19 28 +f 19 12 29 +f 20 8 29 +f 12 20 29 +f 28 19 29 +f 8 28 29 +f 11 7 30 +f 8 20 31 +f 20 15 31 +f 15 21 31 +f 24 8 31 +f 2 17 32 +f 17 9 32 +f 26 1 33 +f 7 16 34 +f 30 7 34 +f 16 30 34 +f 9 17 36 +f 25 9 36 +f 17 25 36 +f 13 7 37 +f 7 23 37 +f 23 13 37 +f 16 10 39 +f 10 30 39 +f 30 16 39 +f 3 11 40 +f 21 6 40 +f 11 30 40 +f 30 10 40 +f 20 3 41 +f 15 20 41 +f 14 35 41 +f 3 40 41 +f 40 14 41 +f 10 16 42 +f 16 13 42 +f 13 26 42 +f 26 33 42 +f 5 22 43 +f 23 5 43 +f 22 23 43 +f 4 2 44 +f 9 4 44 +f 2 32 44 +f 32 9 44 +f 6 21 45 +f 21 15 45 +f 41 6 45 +f 15 41 45 +f 31 21 46 +f 24 31 46 +f 21 38 46 +f 38 24 46 +f 10 38 47 +f 38 21 47 +f 40 10 47 +f 21 40 47 +f 33 10 48 +f 10 42 48 +f 42 33 48 +f 35 14 49 +f 14 40 49 +f 40 6 49 +f 6 41 49 +f 41 35 49 +f 1 24 50 +f 10 33 50 +f 33 1 50 +f 38 10 50 +o convex_1 +v -1.790067 -1.212710 -1.067826 +v -2.926260 -3.191976 0.654614 +v -2.889492 -3.191976 0.654614 +v -2.926260 -0.992911 1.094643 +v -1.056917 -3.045156 0.947823 +v -2.999394 -3.081969 -1.067826 +v -1.056917 -1.102702 1.057615 +v -1.056917 -3.008559 -0.957819 +v -3.036162 -1.066105 -1.031228 +v -1.056917 -0.992695 -1.031013 +v -2.926260 -3.191976 1.021233 +v -3.109497 -1.799127 0.434815 +v -1.056917 -3.155164 0.691212 +v -2.926260 -2.751948 -1.104638 +v -3.036162 -1.102702 -1.104638 +v -1.460361 -3.045156 -0.994416 +v -1.533696 -1.725932 1.057830 +v -3.109497 -1.615925 -0.041595 +v -1.313690 -1.066105 1.057830 +v -2.962827 -1.066105 1.021233 +v -2.962827 -3.155164 0.544823 +v -2.669687 -3.191976 1.021233 +v -2.706254 -3.081969 -1.067826 +v -1.056917 -1.322717 -1.031013 +v -1.350257 -0.992911 -1.031013 +v -2.852924 -1.286119 1.094643 +v -1.056917 -3.155164 0.911226 +v -3.036162 -1.909134 -1.104638 +v -2.596352 -1.066105 -1.104638 +v -3.109497 -1.909134 0.361406 +v -2.926260 -0.992911 0.874629 +v -2.413115 -3.008559 -1.067826 +v -2.779589 -0.992911 1.094643 +v -3.072729 -1.249307 -0.738020 +v -2.083207 -3.191976 0.911226 +v -1.056917 -2.422142 -0.994416 +v -1.056917 -0.992695 -0.921221 +v -2.926260 -2.422142 1.057830 +v -1.056917 -1.322717 1.057615 +v -1.056917 -3.045156 -0.774402 +v -2.999394 -3.081969 -0.701422 +v -3.036162 -2.715350 -0.738020 +v -3.109497 -1.689335 0.398003 +v -3.036162 -1.066105 -0.628013 +f 93 70 94 +f 53 52 56 +f 57 55 58 +f 57 58 60 +f 52 53 61 +f 58 55 63 +f 62 61 70 +f 56 52 71 +f 52 61 71 +f 61 53 72 +f 55 67 72 +f 53 56 73 +f 56 64 73 +f 66 63 73 +f 60 58 74 +f 51 60 74 +f 64 51 74 +f 63 55 77 +f 55 72 77 +f 64 56 78 +f 65 64 78 +f 60 51 79 +f 51 64 79 +f 65 59 79 +f 64 65 79 +f 59 75 79 +f 75 60 79 +f 61 62 80 +f 62 68 80 +f 71 61 80 +f 59 54 81 +f 54 60 81 +f 75 59 81 +f 60 75 81 +f 73 64 82 +f 66 73 82 +f 64 74 82 +f 57 69 83 +f 54 76 83 +f 59 65 84 +f 65 78 84 +f 78 68 84 +f 72 53 85 +f 53 73 85 +f 73 63 85 +f 63 77 85 +f 77 72 85 +f 58 66 86 +f 74 58 86 +f 66 82 86 +f 82 74 86 +f 60 54 87 +f 57 60 87 +f 69 57 87 +f 54 83 87 +f 83 69 87 +f 54 70 88 +f 70 61 88 +f 61 72 88 +f 72 67 88 +f 76 54 88 +f 67 76 88 +f 55 57 89 +f 67 55 89 +f 76 67 89 +f 57 83 89 +f 83 76 89 +f 58 63 90 +f 66 58 90 +f 63 66 90 +f 56 71 91 +f 71 80 91 +f 91 80 92 +f 78 56 92 +f 68 78 92 +f 80 68 92 +f 56 91 92 +f 68 62 93 +f 62 70 93 +f 84 68 93 +f 84 93 94 +f 54 59 94 +f 70 54 94 +f 59 84 94 +o convex_2 +v -1.056508 -3.045117 -0.774645 +v 1.508918 -0.956041 0.178083 +v 2.571574 -0.993029 0.691171 +v 2.938064 -3.008348 -1.104638 +v 0.226205 -3.191976 0.984334 +v -1.056508 -0.993029 -1.030977 +v -1.056508 -0.956041 1.057784 +v 2.974876 -3.191757 1.021165 +v 3.048092 -1.102900 -0.957739 +v 3.121308 -1.139669 0.984334 +v -1.056508 -3.155207 0.911308 +v -0.140284 -3.045336 -1.030977 +v 1.032400 -0.956041 -1.067596 +v 1.105616 -3.045336 -1.104638 +v 3.084905 -1.982741 0.031395 +v 1.178832 -3.081887 -0.994358 +v -1.056508 -3.008348 -0.957739 +v 3.121308 -1.029580 0.947715 +v -0.763235 -1.506051 1.057784 +v -0.946888 -0.956041 -0.994358 +v 2.901660 -3.191757 0.801239 +v 3.048092 -1.249321 -0.994358 +v 2.901660 -3.045117 -1.067596 +v 3.084905 -1.066130 -0.444651 +v 3.011280 -2.935246 1.021165 +v -0.983292 -3.155207 0.654552 +v 1.032400 -0.956041 0.911096 +v 1.691754 -3.191976 1.021165 +v -1.056508 -3.045117 0.947927 +v 0.959184 -3.191976 0.764620 +v 3.011280 -2.605196 1.021165 +v 0.409450 -0.956041 -1.067596 +v 2.938064 -2.861926 -1.104638 +v 0.885968 -3.081887 -0.994358 +v -1.056508 -1.249540 -1.030977 +v 3.084905 -1.506051 -0.444651 +v 2.974876 -3.118437 0.141464 +v 3.084905 -1.029580 0.361389 +v 3.121308 -1.359411 0.654552 +v 2.974876 -1.066130 -0.774433 +v 1.472106 -1.139450 -1.067596 +v 0.739127 -2.935246 1.020953 +v -0.910076 -0.956041 1.057784 +v -1.056508 -2.348685 -0.994358 +v 2.974876 -2.568646 -1.067596 +v -1.056508 -1.322860 1.057784 +v 0.409450 -3.045336 -1.067596 +f 138 129 141 +f 100 95 101 +f 101 95 105 +f 96 97 107 +f 101 96 107 +f 95 100 111 +f 106 95 111 +f 100 101 114 +f 101 107 114 +f 107 103 116 +f 108 98 117 +f 110 108 117 +f 102 115 117 +f 115 110 117 +f 116 103 118 +f 113 102 119 +f 105 95 120 +f 99 105 120 +f 97 96 121 +f 96 101 121 +f 112 97 121 +f 102 113 122 +f 115 102 122 +f 105 99 123 +f 101 105 123 +f 110 115 124 +f 99 120 124 +f 122 99 124 +f 115 122 124 +f 119 104 125 +f 113 119 125 +f 108 100 126 +f 100 114 126 +f 114 107 126 +f 98 108 127 +f 116 98 127 +f 126 107 127 +f 108 126 127 +f 95 106 128 +f 108 110 128 +f 120 95 128 +f 110 124 128 +f 124 120 128 +f 100 108 129 +f 111 100 129 +f 116 118 130 +f 98 109 131 +f 117 98 131 +f 102 117 131 +f 119 102 131 +f 109 119 131 +f 107 97 132 +f 97 112 132 +f 112 118 132 +f 112 104 133 +f 118 112 133 +f 104 119 133 +f 119 109 133 +f 109 130 133 +f 130 118 133 +f 103 107 134 +f 118 103 134 +f 107 132 134 +f 132 118 134 +f 107 116 135 +f 116 127 135 +f 127 107 135 +f 99 122 136 +f 122 113 136 +f 123 99 136 +f 113 123 136 +f 104 112 137 +f 101 113 137 +f 121 101 137 +f 112 121 137 +f 125 104 137 +f 113 125 137 +f 106 111 138 +f 111 129 138 +f 109 98 139 +f 98 116 139 +f 130 109 139 +f 116 130 139 +f 113 101 140 +f 101 123 140 +f 123 113 140 +f 128 106 141 +f 108 128 141 +f 129 108 141 +f 106 138 141 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/955/955.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/955/955.urdf new file mode 100644 index 000000000..3499c57b4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/955/955.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/956/956.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/956/956.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/956/956.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/956/956.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/956/956.obj new file mode 100644 index 000000000..7eafb6d37 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/956/956.obj @@ -0,0 +1,519 @@ +o convex_0 +v -1.432888 0.944141 1.123225 +v -3.249121 -1.085810 -0.942290 +v -1.539679 -1.085810 -0.942290 +v -1.397161 1.015516 -1.084948 +v -3.391640 0.979726 0.980567 +v -1.397161 -1.014436 1.051896 +v -3.249121 -0.978646 1.051680 +v -3.213394 0.943936 -0.977738 +v -1.397161 -0.907683 -0.977954 +v -3.249121 -1.085810 -0.265529 +v -1.397161 0.979726 0.695684 +v -3.284653 0.979726 -0.514748 +v -3.071071 -0.943062 -0.977738 +v -3.391640 0.694640 0.695684 +v -2.786229 -0.551223 1.087561 +v -3.284653 -0.800519 1.051680 +v -3.284653 -0.836309 -0.692854 +v -3.249121 -1.014230 0.980567 +v -1.397161 0.588093 1.123225 +v -1.468615 0.801804 -1.084948 +v -1.646666 0.979726 1.087561 +v -1.931508 1.015516 -1.049283 +v -1.397161 1.015516 -0.514964 +v -1.397161 -1.050020 -0.942290 +v -2.536724 -1.085810 -0.229864 +v -3.249121 0.837183 -0.942290 +v -3.355913 0.303007 1.016232 +v -1.468615 -0.480260 1.087561 +v -3.213394 0.124879 -0.977738 +v -3.071071 0.979726 -0.977738 +v -1.397161 -1.050020 0.090252 +v -2.394400 -1.014436 1.051896 +v -3.391640 0.872767 0.695684 +v -3.284653 -0.444470 1.051680 +v -3.391640 0.694640 0.980567 +v -2.679242 0.979726 -1.013619 +f 30 22 36 +f 4 6 9 +f 2 3 10 +f 6 4 11 +f 3 2 13 +f 9 3 13 +f 7 15 16 +f 2 10 17 +f 10 16 17 +f 7 16 18 +f 16 10 18 +f 11 1 19 +f 6 11 19 +f 1 15 19 +f 4 9 20 +f 9 13 20 +f 5 1 21 +f 1 11 21 +f 12 5 22 +f 11 4 23 +f 5 21 23 +f 21 11 23 +f 4 22 23 +f 22 5 23 +f 3 9 24 +f 9 6 24 +f 10 3 25 +f 8 2 26 +f 12 8 26 +f 2 17 26 +f 1 5 27 +f 15 6 28 +f 6 19 28 +f 19 15 28 +f 2 8 29 +f 13 2 29 +f 20 13 29 +f 8 12 30 +f 12 22 30 +f 3 24 31 +f 24 6 31 +f 25 3 31 +f 6 25 31 +f 6 15 32 +f 15 7 32 +f 7 18 32 +f 18 10 32 +f 25 6 32 +f 10 25 32 +f 5 12 33 +f 14 5 33 +f 17 14 33 +f 12 26 33 +f 26 17 33 +f 15 1 34 +f 16 15 34 +f 1 27 34 +f 27 16 34 +f 5 14 35 +f 14 17 35 +f 17 16 35 +f 27 5 35 +f 16 27 35 +f 4 20 36 +f 22 4 36 +f 29 8 36 +f 20 29 36 +f 8 30 36 +o convex_1 +v -0.969610 2.760081 -1.084948 +v -0.720393 1.477883 1.123225 +v 0.739674 2.974079 1.087561 +v 0.739674 -2.972557 -0.977954 +v -1.397147 -2.937387 1.016232 +v 0.739674 -2.972557 1.016232 +v -1.361483 -3.044088 -0.942290 +v 0.811002 3.045610 -1.084948 +v -1.325819 2.937717 0.980567 +v -1.397147 1.015313 -1.084948 +v -1.254490 2.938313 -1.013619 +v 0.811002 -0.978622 0.980567 +v -1.397147 0.587318 1.123225 +v 0.811002 -1.050153 -0.977954 +v 0.811002 1.371182 1.051680 +v -1.397147 -3.044088 -0.728735 +v -1.397147 -2.545157 1.051896 +v 0.668346 -3.008919 -0.906625 +v 0.704010 3.009845 0.945119 +v -1.254490 0.801316 -1.084948 +v -1.076386 2.973483 -1.049283 +v -1.147714 -2.973153 1.016232 +v 0.811002 3.045610 -0.692854 +v -1.397147 0.943782 1.123225 +v 0.775338 2.653380 -1.084948 +v -1.325819 2.937717 0.482129 +v 0.739674 2.546679 1.087561 +v -0.862834 0.943782 1.123225 +v -1.076386 2.760081 1.016232 +v -0.470961 2.973483 1.016232 +v 0.597234 3.045610 -1.013619 +v -1.397147 -3.044088 -0.906841 +v -1.254490 2.368447 -1.084948 +v 0.561569 2.973483 1.087561 +v -1.397147 0.801316 -1.084948 +v 0.775338 3.009845 0.375135 +v -1.219043 0.587318 1.123225 +v 0.241025 1.014717 1.087561 +v -1.005274 -3.043492 -0.906841 +v -1.183378 1.192950 1.123225 +v -1.397147 -2.973153 0.945119 +v -0.791505 2.973483 -1.084948 +v 0.668346 -2.972557 -0.977954 +v -1.254490 2.902548 -1.049283 +v 0.811002 0.659445 1.051680 +v 0.775338 2.332682 1.051680 +v 0.811002 3.009845 -0.550413 +f 82 51 83 +f 37 44 46 +f 46 41 49 +f 42 40 50 +f 40 44 50 +f 48 42 50 +f 44 48 50 +f 48 44 51 +f 41 46 52 +f 49 41 53 +f 40 42 54 +f 43 40 54 +f 46 44 56 +f 52 42 58 +f 53 41 58 +f 42 53 58 +f 51 44 59 +f 45 46 60 +f 49 38 60 +f 46 49 60 +f 44 40 61 +f 40 56 61 +f 56 44 61 +f 46 45 62 +f 47 46 62 +f 45 57 62 +f 57 47 62 +f 39 38 63 +f 51 39 63 +f 38 49 64 +f 63 38 64 +f 45 60 65 +f 55 59 66 +f 66 59 67 +f 44 57 67 +f 57 45 67 +f 59 44 67 +f 45 66 67 +f 43 52 68 +f 52 46 68 +f 37 46 69 +f 38 39 70 +f 39 55 70 +f 45 65 70 +f 66 45 70 +f 55 66 70 +f 56 40 71 +f 46 56 71 +f 43 68 71 +f 68 46 71 +f 55 39 72 +f 59 55 72 +f 53 42 73 +f 49 53 73 +f 64 49 73 +f 42 64 73 +f 42 63 74 +f 64 42 74 +f 63 64 74 +f 42 52 75 +f 52 43 75 +f 54 42 75 +f 43 54 75 +f 60 38 76 +f 65 60 76 +f 38 70 76 +f 70 65 76 +f 41 52 77 +f 58 41 77 +f 52 58 77 +f 44 37 78 +f 57 44 78 +f 40 43 79 +f 71 40 79 +f 43 71 79 +f 46 47 80 +f 47 57 80 +f 37 69 80 +f 69 46 80 +f 78 37 80 +f 57 78 80 +f 42 48 81 +f 48 51 81 +f 63 42 81 +f 51 63 81 +f 39 51 82 +f 72 39 82 +f 72 82 83 +f 51 59 83 +f 59 72 83 +o convex_2 +v 2.235428 3.045307 0.197092 +v 1.131669 1.086747 -0.479481 +v 1.594732 1.086747 -0.479481 +v 2.128664 1.086747 0.553374 +v 1.238547 2.938527 0.482098 +v 1.238547 3.045307 -0.479481 +v 2.306757 2.689241 -0.443792 +v 1.274212 1.086747 0.446409 +v 2.164214 1.086747 -0.443792 +v 2.164214 3.081031 0.553374 +v 2.306757 2.938527 -0.443792 +v 1.131669 1.514456 -0.230164 +v 1.381090 2.974055 0.517685 +v 1.914907 1.086747 0.553374 +v 1.914907 3.081031 0.553374 +v 1.238547 2.119418 0.482098 +v 1.665946 3.009779 -0.479481 +v 1.131669 1.086747 -0.230164 +v 2.306757 2.867274 -0.301340 +v 2.199878 3.081031 0.339645 +v 1.238547 1.193919 0.410720 +v 1.238547 2.974055 0.410720 +v 1.131669 1.549985 -0.479481 +v 1.381090 1.086747 0.482098 +v 2.164214 2.332979 0.553374 +v 1.202998 2.546736 0.268369 +v 1.772479 2.938527 0.553374 +v 1.238547 3.045307 -0.301340 +v 2.199878 1.443204 -0.408204 +v 1.416640 3.045307 -0.479481 +f 89 103 113 +f 85 86 87 +f 86 85 89 +f 85 87 91 +f 87 86 92 +f 86 90 92 +f 91 87 97 +f 87 93 97 +f 97 93 98 +f 96 88 99 +f 86 89 100 +f 90 86 100 +f 94 90 100 +f 85 91 101 +f 95 85 101 +f 87 90 102 +f 94 84 102 +f 90 94 102 +f 93 84 103 +f 84 94 103 +f 89 98 103 +f 98 93 103 +f 91 99 104 +f 101 91 104 +f 99 101 104 +f 88 96 105 +f 96 98 105 +f 89 85 106 +f 85 95 106 +f 97 96 107 +f 91 97 107 +f 99 91 107 +f 96 99 107 +f 84 93 108 +f 93 87 108 +f 102 84 108 +f 87 102 108 +f 99 88 109 +f 95 101 109 +f 101 99 109 +f 88 105 109 +f 106 95 109 +f 96 97 110 +f 98 96 110 +f 97 98 110 +f 98 89 111 +f 105 98 111 +f 89 106 111 +f 109 105 111 +f 106 109 111 +f 90 87 112 +f 87 92 112 +f 92 90 112 +f 100 89 113 +f 94 100 113 +f 103 94 113 +o convex_3 +v 2.200025 -2.759518 -0.479383 +v 1.202956 -2.973150 0.624606 +v 1.167270 -2.973150 0.624606 +v 1.380979 -1.121614 0.482063 +v 1.167270 -1.513492 -0.479383 +v 2.164238 -1.121614 0.446513 +v 2.200025 -1.121614 -0.550712 +v 1.167270 -3.044297 -0.479383 +v 2.128654 -3.008723 0.410849 +v 1.167270 -1.121614 -0.301291 +v 1.167270 -1.121614 0.482063 +v 2.200025 -2.937576 -0.443834 +v 1.416563 -1.121614 -0.515048 +v 2.164238 -2.332255 0.446513 +v 1.808092 -1.762697 -0.550712 +v 1.202956 -3.044297 0.624606 +v 2.200025 -1.121614 0.125878 +v 2.057384 -1.264098 0.482063 +v 1.380979 -3.044297 -0.479383 +v 2.164238 -3.008723 0.303970 +v 1.559102 -3.044297 0.553277 +v 2.200025 -1.655787 -0.550712 +v 1.202956 -1.121614 -0.479383 +v 2.128654 -2.866428 0.446513 +v 2.200025 -2.937576 -0.265741 +v 2.093070 -2.973150 -0.408169 +v 1.808092 -1.121614 -0.550712 +f 128 126 140 +f 116 115 117 +f 117 119 120 +f 116 118 121 +f 118 116 123 +f 117 120 123 +f 116 117 124 +f 123 116 124 +f 117 123 124 +f 114 120 125 +f 121 118 126 +f 123 120 126 +f 121 126 128 +f 115 116 129 +f 116 121 129 +f 120 119 130 +f 125 120 130 +f 119 127 130 +f 117 115 131 +f 119 117 131 +f 127 119 131 +f 115 129 131 +f 114 125 132 +f 121 128 132 +f 129 121 132 +f 130 127 133 +f 129 132 134 +f 132 133 134 +f 133 122 134 +f 120 114 135 +f 128 120 135 +f 114 132 135 +f 132 128 135 +f 118 123 136 +f 126 118 136 +f 123 126 136 +f 127 131 137 +f 131 129 137 +f 122 133 137 +f 133 127 137 +f 134 122 137 +f 129 134 137 +f 125 130 138 +f 133 125 138 +f 130 133 138 +f 132 125 139 +f 133 132 139 +f 125 133 139 +f 126 120 140 +f 120 128 140 +o convex_4 +v 2.164346 -1.121426 0.446444 +v 0.989143 1.086747 1.051994 +v 2.128682 1.086747 0.553196 +v 0.811013 0.944089 -0.977752 +v 2.698547 1.050866 -1.049332 +v 0.811013 -1.050097 -0.977752 +v 0.811013 -0.978768 0.980414 +v 2.769876 -1.085545 0.944830 +v 2.662883 -1.121426 -1.013542 +v 2.627218 0.944089 1.051994 +v 0.811013 1.086747 1.051994 +v 1.131801 1.086747 -0.479160 +v 1.167274 -1.121426 0.446238 +v 2.698547 -0.266343 -1.049332 +v 2.769876 -0.800662 0.980414 +v 2.235484 1.051083 -1.049332 +v 2.662883 0.766199 1.051994 +v 2.734211 0.587876 -0.621703 +v 1.202939 -0.444665 -1.013542 +v 1.202939 -1.121426 -0.479160 +v 2.698547 -1.121426 -0.906789 +v 0.811013 0.659205 1.051994 +v 1.594673 -1.085762 -1.013542 +v 2.698547 1.050866 -0.550535 +v 2.769876 -1.014433 0.517612 +v 0.846677 1.015418 -0.764246 +v 2.164346 1.086747 -0.443782 +v 2.662883 0.694870 1.051994 +v 2.484752 -1.085762 0.945035 +v 2.769876 -0.515778 0.517612 +v 1.380878 0.979754 -1.013542 +v 2.662883 -0.871991 0.980620 +v 1.452207 -0.195230 1.016204 +v 2.662883 0.979754 0.588987 +v 2.199819 0.516764 -1.049332 +v 2.698547 -1.121426 -0.336823 +v 0.882342 0.979754 -0.977752 +v 2.698547 0.837312 -0.016358 +f 164 174 178 +f 144 146 147 +f 143 142 150 +f 142 143 151 +f 144 147 151 +f 150 142 151 +f 151 143 152 +f 147 146 153 +f 149 141 153 +f 152 145 156 +f 145 154 156 +f 150 151 157 +f 154 145 158 +f 146 144 159 +f 153 146 160 +f 149 153 160 +f 141 149 161 +f 149 154 161 +f 154 158 161 +f 151 147 162 +f 157 151 162 +f 154 149 163 +f 146 159 163 +f 160 146 163 +f 149 160 163 +f 158 145 164 +f 155 148 165 +f 148 161 165 +f 161 158 165 +f 144 151 166 +f 151 152 166 +f 145 152 167 +f 152 143 167 +f 143 164 167 +f 164 145 167 +f 155 157 168 +f 157 162 168 +f 141 148 169 +f 148 147 169 +f 147 153 169 +f 153 141 169 +f 157 155 170 +f 155 165 170 +f 165 158 170 +f 159 144 171 +f 156 159 171 +f 147 148 172 +f 148 155 172 +f 155 168 172 +f 172 168 173 +f 162 147 173 +f 168 162 173 +f 147 172 173 +f 143 150 174 +f 150 157 174 +f 164 143 174 +f 156 154 175 +f 159 156 175 +f 154 163 175 +f 163 159 175 +f 148 141 176 +f 141 161 176 +f 161 148 176 +f 152 156 177 +f 144 166 177 +f 166 152 177 +f 171 144 177 +f 156 171 177 +f 158 164 178 +f 157 170 178 +f 170 158 178 +f 174 157 178 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/956/956.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/956/956.urdf new file mode 100644 index 000000000..4cb50b7bc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/956/956.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/957/957.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/957/957.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/957/957.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/957/957.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/957/957.obj new file mode 100644 index 000000000..bede59bdf --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/957/957.obj @@ -0,0 +1,666 @@ +o convex_0 +v -0.317004 -1.318715 0.854400 +v 0.339289 -1.756175 2.130477 +v 0.339289 -1.902041 2.130477 +v 0.302805 -1.245748 0.307404 +v -0.280521 -1.865558 0.307404 +v -0.171139 -1.318715 2.203608 +v -0.317004 -1.938524 2.166857 +v 0.266322 -1.792659 0.307404 +v 0.302805 -1.282231 2.166857 +v -0.353487 -1.318715 0.307404 +v 0.120457 -1.245748 0.854400 +v 0.120457 -1.938524 2.166857 +v 0.266322 -1.829074 0.453294 +v -0.244037 -1.938524 1.510536 +v -0.353487 -1.464580 0.307404 +v -0.207622 -1.318715 2.057532 +v 0.302805 -1.245748 1.473970 +f 4 11 17 +f 2 3 4 +f 4 3 8 +f 5 4 8 +f 3 2 9 +f 4 5 10 +f 7 1 10 +f 10 1 11 +f 4 10 11 +f 6 7 12 +f 3 9 12 +f 9 6 12 +f 8 3 13 +f 5 8 13 +f 3 12 13 +f 13 12 14 +f 7 5 14 +f 12 7 14 +f 5 13 14 +f 5 7 15 +f 10 5 15 +f 7 10 15 +f 1 7 16 +f 7 6 16 +f 11 1 16 +f 6 11 16 +f 2 4 17 +f 9 2 17 +f 6 9 17 +f 11 6 17 +o convex_1 +v 1.032168 3.495097 0.270599 +v 0.521545 1.489886 -1.880710 +v 0.521545 1.562721 -1.880710 +v -1.009898 3.312716 0.161171 +v 0.959130 1.489886 0.307004 +v 1.104992 3.349232 -1.771281 +v -1.082722 1.489886 -1.807900 +v -0.936860 3.385747 -1.734876 +v -0.936860 1.489886 0.234194 +v 0.995542 1.489886 -1.734662 +v -1.009898 3.458778 0.161171 +v -0.754586 3.422066 -1.661853 +v 1.104992 3.203366 -1.807900 +v 0.703818 3.495294 0.270385 +v 1.104992 2.984469 -1.588829 +v 1.104992 3.385747 -1.588829 +v -0.827410 3.458778 0.197575 +v 0.959130 2.692738 0.307004 +v -1.046310 2.000318 -1.807900 +v 0.849680 3.495294 -0.021282 +v -0.973486 1.671875 0.051742 +v 1.068580 3.385747 -0.312948 +v 1.032168 3.276201 -1.807900 +v 0.995542 2.182699 0.307004 +v 0.630994 1.489886 -1.880710 +v 1.032168 1.890968 -1.698472 +v -0.936860 3.422066 -1.625448 +v -0.936860 1.708586 0.234194 +v -1.009898 3.458778 0.088147 +v 0.557956 3.385551 -1.771281 +v 0.813268 1.489886 0.307004 +f 35 45 48 +f 20 19 24 +f 19 22 24 +f 24 22 26 +f 22 19 27 +f 24 21 28 +f 21 26 28 +f 30 23 32 +f 32 23 33 +f 31 28 34 +f 31 34 35 +f 18 31 35 +f 20 24 36 +f 31 18 37 +f 18 33 37 +f 33 29 37 +f 21 24 38 +f 26 21 38 +f 24 26 38 +f 33 18 39 +f 32 33 39 +f 23 30 40 +f 20 36 40 +f 36 25 40 +f 22 32 41 +f 18 35 41 +f 35 22 41 +f 39 18 41 +f 32 39 41 +f 19 20 42 +f 27 19 42 +f 30 27 42 +f 20 40 42 +f 40 30 42 +f 22 27 43 +f 27 30 43 +f 32 22 43 +f 30 32 43 +f 29 25 44 +f 37 29 44 +f 28 26 45 +f 34 28 45 +f 35 34 45 +f 24 28 46 +f 28 31 46 +f 36 24 46 +f 25 36 46 +f 31 37 46 +f 44 25 46 +f 37 44 46 +f 25 29 47 +f 29 33 47 +f 33 23 47 +f 23 40 47 +f 40 25 47 +f 26 22 48 +f 22 35 48 +f 45 26 48 +o convex_2 +v -0.207658 -1.865597 -3.777128 +v 0.339356 -1.282149 -1.880924 +v 0.229864 -1.282149 -1.880924 +v -0.171160 -1.865597 -1.880924 +v -0.317086 -1.318700 -3.777128 +v 0.266297 -1.829103 -3.740563 +v 0.302795 -1.318700 -3.704183 +v 0.339356 -1.792609 -1.880924 +v -0.207658 -1.318700 -1.880924 +v -0.244091 -1.865597 -1.880924 +v 0.339356 -1.355137 -2.938351 +v 0.302795 -1.829103 -3.047676 +v 0.011135 -1.865597 -3.777128 +v -0.244091 -1.792609 -3.777128 +v 0.302795 -1.464562 -3.740563 +f 54 61 63 +f 50 51 52 +f 51 50 53 +f 53 50 55 +f 50 52 56 +f 52 51 57 +f 51 53 57 +f 57 53 58 +f 49 52 58 +f 52 57 58 +f 55 50 59 +f 50 56 59 +f 59 56 60 +f 56 52 60 +f 52 49 61 +f 49 53 61 +f 60 52 61 +f 54 60 61 +f 53 49 62 +f 58 53 62 +f 49 58 62 +f 53 55 63 +f 55 59 63 +f 59 60 63 +f 60 54 63 +f 61 53 63 +o convex_3 +v 0.521541 0.978881 -3.011210 +v -0.462923 -0.188078 -3.777007 +v -0.389996 -0.188078 -3.777007 +v 0.156794 -0.188078 -1.880924 +v -0.535850 0.905960 -1.880924 +v -0.572369 0.942362 -3.813436 +v 0.448724 -0.078639 -3.849866 +v 0.558171 0.905960 -1.880924 +v -0.499331 -0.042120 -1.880924 +v 0.521541 1.015400 -3.813436 +v 0.485133 -0.188078 -1.880924 +v 0.521541 0.614162 -3.813436 +v 0.485133 -0.188078 -2.391712 +v -0.499331 -0.115040 -2.646913 +v -0.535850 0.431685 -1.880924 +v 0.339278 -0.115040 -3.849866 +v -0.280549 0.978881 -3.777007 +v 0.485133 0.577643 -3.849866 +v 0.558171 0.833040 -2.391712 +v -0.535850 0.468204 -3.813436 +v 0.485133 0.067319 -3.777007 +v 0.558171 0.942362 -2.282422 +f 82 73 85 +f 65 66 67 +f 68 67 71 +f 67 68 72 +f 68 64 73 +f 67 66 74 +f 71 67 74 +f 74 66 76 +f 65 67 77 +f 67 72 77 +f 77 72 78 +f 68 69 78 +f 72 68 78 +f 69 77 78 +f 66 65 79 +f 76 66 79 +f 70 76 79 +f 69 68 80 +f 68 73 80 +f 73 69 80 +f 69 73 81 +f 75 70 81 +f 73 75 81 +f 79 69 81 +f 70 79 81 +f 71 74 82 +f 75 73 82 +f 74 76 82 +f 65 77 83 +f 77 69 83 +f 79 65 83 +f 69 79 83 +f 70 75 84 +f 76 70 84 +f 75 82 84 +f 82 76 84 +f 64 68 85 +f 68 71 85 +f 73 64 85 +f 71 82 85 +o convex_4 +v 3.111003 -2.193640 -1.151372 +v 1.761895 -0.990397 -1.260922 +v 1.761895 -0.990397 -1.333803 +v 1.105402 -2.047813 -1.297362 +v 1.105402 -1.027030 -0.203348 +v 3.111003 -1.099944 -0.239903 +v 1.105402 -2.011416 -0.312784 +v 3.074291 -1.063546 -1.370357 +v 2.964941 -2.047813 -0.276343 +v 1.105402 -0.990397 -1.297362 +v 3.111003 -2.011416 -1.333803 +v 1.141918 -1.938385 -1.333803 +v 2.709529 -2.193640 -1.297362 +v 1.105402 -1.282285 -0.203348 +v 3.111003 -1.063546 -0.750412 +v 2.162583 -2.047813 -0.276343 +v 3.037776 -1.646733 -0.239903 +v 2.381480 -1.391714 -1.370357 +v 2.199099 -1.063546 -0.203348 +v 2.964941 -1.027030 -1.370357 +v 3.037776 -2.193640 -1.078605 +v 3.111003 -1.391714 -1.370357 +v 1.397133 -2.084329 -1.260922 +v 1.287783 -1.027030 -0.203348 +f 100 105 109 +f 90 89 92 +f 87 88 95 +f 89 90 95 +f 90 87 95 +f 91 86 96 +f 95 88 97 +f 89 95 97 +f 89 97 98 +f 96 86 98 +f 97 96 98 +f 90 92 99 +f 91 96 100 +f 99 92 101 +f 94 99 101 +f 86 91 102 +f 94 86 102 +f 99 94 102 +f 96 97 103 +f 97 88 103 +f 90 99 104 +f 91 100 104 +f 102 91 104 +f 99 102 104 +f 88 87 105 +f 100 93 105 +f 103 88 105 +f 93 103 105 +f 86 94 106 +f 98 86 106 +f 92 98 106 +f 101 92 106 +f 94 101 106 +f 93 100 107 +f 100 96 107 +f 103 93 107 +f 96 103 107 +f 92 89 108 +f 89 98 108 +f 98 92 108 +f 87 90 109 +f 90 104 109 +f 104 100 109 +f 105 87 109 +o convex_5 +v -0.535910 0.395265 -1.880706 +v 0.959308 1.489497 0.343687 +v 0.995719 1.489497 -1.625301 +v 1.068542 -0.953928 0.161007 +v -0.936862 1.343600 0.343687 +v -1.009899 -0.953928 -1.807764 +v 0.995719 -0.953928 -1.880706 +v -0.936862 -0.953928 0.161007 +v -1.082722 1.489497 -1.807764 +v 1.068542 -0.661894 0.343687 +v 0.630964 1.489497 -1.880706 +v -0.936862 -0.552590 0.343687 +v -0.936862 1.489497 0.233948 +v 1.104953 -0.588945 0.161007 +v 1.068542 -0.953928 -1.515998 +v -0.134530 -0.953928 0.306890 +v 0.995719 1.489497 -1.734823 +v -1.082722 1.234057 -1.771185 +v 0.521516 -0.953928 -1.880706 +v -0.535910 0.905907 -1.880706 +v 0.995719 1.088159 0.343687 +v -0.499285 -0.041949 -1.880706 +v 0.959308 -0.151492 -1.880706 +v -1.009899 -0.953928 -1.625301 +v 1.068542 -0.005355 0.343687 +v 0.302834 -0.953928 0.306890 +f 119 125 135 +f 113 115 116 +f 115 113 117 +f 111 112 118 +f 110 115 118 +f 111 114 119 +f 116 110 120 +f 118 112 120 +f 119 114 121 +f 114 111 122 +f 111 118 122 +f 118 114 122 +f 119 113 123 +f 113 116 124 +f 123 113 124 +f 117 113 125 +f 121 117 125 +f 119 121 125 +f 120 112 126 +f 112 123 126 +f 124 116 126 +f 123 124 126 +f 118 115 127 +f 114 118 127 +f 117 121 127 +f 121 114 127 +f 110 116 128 +f 116 115 128 +f 110 118 129 +f 120 110 129 +f 118 120 129 +f 112 111 130 +f 111 119 130 +f 115 110 131 +f 110 128 131 +f 128 115 131 +f 116 120 132 +f 126 116 132 +f 120 126 132 +f 115 117 133 +f 127 115 133 +f 117 127 133 +f 123 112 134 +f 119 123 134 +f 112 130 134 +f 130 119 134 +f 113 119 135 +f 125 113 135 +o convex_6 +v -1.082936 0.650606 4.099744 +v 1.068737 1.088270 3.589235 +v 1.068737 1.015396 3.589235 +v -0.936978 1.343539 0.344076 +v 1.068737 -0.662176 0.344076 +v -1.082936 -0.552654 4.135931 +v -0.936978 -0.552654 0.344076 +v 0.995653 -0.588881 4.135931 +v 0.959216 1.489497 0.344076 +v -0.718145 1.379765 4.245660 +v 1.032089 1.452639 4.318812 +v -1.046288 1.343539 4.209084 +v -0.791019 -0.625528 1.146416 +v -1.009851 -0.589091 4.026981 +v 1.068737 -0.662176 1.328908 +v 1.032089 -0.151427 4.209084 +v 0.667510 1.489497 0.964314 +v 1.068737 0.030968 0.380652 +v -0.900541 -0.406696 4.172896 +v -0.754582 1.379976 0.416839 +v -1.046288 -0.552654 2.859658 +v 0.776821 1.197370 4.318812 +v -0.754582 -0.625528 0.344076 +v 0.448678 -0.662176 1.292332 +v 0.995653 1.489497 1.437858 +v 0.995653 -0.333612 4.209084 +v -1.046288 1.343539 3.297404 +v -0.827456 1.379976 3.917253 +v 1.068737 -0.625318 1.985333 +v -1.082936 0.650606 4.209084 +v 0.886342 1.452639 4.318812 +v -0.973414 -0.552654 1.000501 +v -0.973414 1.343539 1.182603 +v -1.082936 -0.406696 3.807913 +v -0.316918 -0.552654 4.172507 +v -1.046288 -0.589091 3.406743 +v 1.032089 -0.588881 3.771726 +v -0.900541 1.306891 4.245660 +v 1.032089 1.452639 2.968997 +f 153 160 174 +f 137 138 140 +f 139 140 142 +f 140 139 144 +f 138 137 146 +f 143 141 149 +f 140 138 150 +f 143 149 150 +f 138 146 151 +f 137 140 153 +f 140 144 153 +f 144 139 155 +f 152 144 155 +f 142 140 158 +f 148 158 159 +f 149 148 159 +f 150 149 159 +f 140 150 159 +f 158 140 159 +f 144 152 160 +f 153 144 160 +f 143 151 161 +f 151 146 161 +f 146 157 161 +f 136 147 162 +f 155 162 163 +f 147 145 163 +f 152 155 163 +f 162 147 163 +f 150 138 164 +f 138 151 164 +f 136 141 165 +f 147 136 165 +f 141 154 165 +f 157 146 166 +f 146 160 166 +f 160 152 166 +f 163 145 166 +f 152 163 166 +f 139 142 167 +f 155 139 168 +f 136 162 168 +f 162 155 168 +f 139 167 168 +f 168 167 169 +f 141 136 169 +f 156 141 169 +f 167 156 169 +f 136 168 169 +f 141 143 170 +f 154 141 170 +f 157 154 170 +f 143 161 170 +f 161 157 170 +f 149 141 171 +f 148 149 171 +f 141 156 171 +f 142 158 171 +f 158 148 171 +f 167 142 171 +f 156 167 171 +f 143 150 172 +f 151 143 172 +f 150 164 172 +f 164 151 172 +f 145 147 173 +f 154 157 173 +f 147 165 173 +f 165 154 173 +f 166 145 173 +f 157 166 173 +f 146 137 174 +f 137 153 174 +f 160 146 174 +o convex_7 +v -2.541394 -2.120773 -1.042007 +v -1.083132 -1.026866 -0.239917 +v -1.083132 -2.047785 -0.239917 +v -3.088536 -1.209393 -0.166879 +v -1.083132 -1.026866 -1.260900 +v -2.942671 -1.172842 -1.297419 +v -1.083132 -2.157210 -1.297419 +v -2.978990 -2.157210 -0.239917 +v -3.088536 -1.026866 -0.166879 +v -2.906155 -2.011348 -1.224381 +v -1.083132 -2.193761 -1.260900 +v -1.776140 -1.063532 -1.297419 +v -2.942671 -2.084336 -1.115046 +v -3.088536 -1.026866 -0.349253 +v -2.942671 -1.428129 -1.297419 +v -1.411378 -2.084336 -0.239917 +v -2.760290 -1.026866 -0.166879 +v -2.978990 -1.136405 -1.151454 +v -2.796805 -2.084336 -1.224381 +v -2.978990 -2.157210 -0.349253 +v -1.411378 -1.063532 -1.297419 +f 186 179 195 +f 176 177 179 +f 179 177 181 +f 176 179 183 +f 181 177 185 +f 181 180 186 +f 178 183 188 +f 183 179 188 +f 179 186 188 +f 187 178 188 +f 180 181 189 +f 184 187 189 +f 177 178 190 +f 178 182 190 +f 185 177 190 +f 182 185 190 +f 177 176 191 +f 178 177 191 +f 176 183 191 +f 183 178 191 +f 186 180 192 +f 188 186 192 +f 187 188 192 +f 189 187 192 +f 180 189 192 +f 181 185 193 +f 185 175 193 +f 187 184 193 +f 189 181 193 +f 184 189 193 +f 182 178 194 +f 185 182 194 +f 175 185 194 +f 178 187 194 +f 193 175 194 +f 187 193 194 +f 179 181 195 +f 181 186 195 +o convex_8 +v -0.134727 -0.953928 0.307004 +v 1.032168 -2.157320 -1.880924 +v 1.032168 -2.084325 -1.880924 +v -1.046310 -2.704442 -1.880710 +v 1.032168 -2.631446 0.270381 +v 0.995542 -0.953928 -1.880710 +v -1.009898 -0.953928 -1.807679 +v -0.936860 -2.558451 0.124534 +v 1.068580 -0.954099 0.161156 +v -1.082722 -1.026923 -0.240192 +v 1.068580 -2.594777 -1.844087 +v -0.936860 -0.953928 0.160942 +v 1.104992 -0.954099 -1.333513 +v -0.280589 -1.865511 0.307004 +v 1.104992 -2.084325 -0.276386 +v -1.082722 -2.047828 -0.240192 +v -1.082722 -1.026923 -1.260697 +v 0.375897 -1.027095 0.307004 +v -1.046310 -2.704442 -1.625423 +v -0.681548 -2.704442 -1.880710 +v -0.171139 -1.318733 -1.880710 +v 1.068580 -2.631446 -0.531887 +v 0.776856 -2.631446 0.270381 +v -1.082722 -2.376135 -1.479575 +v -0.900448 -2.521954 0.160942 +v 1.104992 -1.756190 -1.552392 +v 1.068580 -1.683366 0.234187 +v 1.104992 -1.026923 -0.203570 +v -0.353412 -1.318733 0.307004 +v 1.068580 -2.376135 -1.880710 +v 1.104992 -2.230316 -0.896185 +v -1.046310 -1.865511 -1.844087 +v -1.009898 -1.501049 -1.844087 +v 0.849680 -0.953928 0.233973 +v 1.068580 -2.521954 0.088126 +v 0.266447 -1.792858 0.307004 +f 213 209 231 +f 198 197 199 +f 196 201 202 +f 196 202 207 +f 202 205 207 +f 201 204 208 +f 203 207 211 +f 207 205 211 +f 205 202 212 +f 211 205 212 +f 196 209 213 +f 203 211 214 +f 199 197 215 +f 214 199 215 +f 200 214 215 +f 198 199 216 +f 201 198 216 +f 202 201 216 +f 215 206 217 +f 200 215 217 +f 200 209 218 +f 214 200 218 +f 203 214 218 +f 211 212 219 +f 199 214 219 +f 214 211 219 +f 207 203 220 +f 218 209 220 +f 203 218 220 +f 201 208 221 +f 208 210 221 +f 213 200 222 +f 208 204 223 +f 210 208 223 +f 222 210 223 +f 204 222 223 +f 196 207 224 +f 209 196 224 +f 207 220 224 +f 220 209 224 +f 197 198 225 +f 198 201 225 +f 215 197 225 +f 206 215 225 +f 201 221 225 +f 221 206 225 +f 217 206 226 +f 206 221 226 +f 221 210 226 +f 212 202 227 +f 199 219 227 +f 219 212 227 +f 216 199 228 +f 202 216 228 +f 199 227 228 +f 227 202 228 +f 201 196 229 +f 204 201 229 +f 196 213 229 +f 222 204 229 +f 213 222 229 +f 200 217 230 +f 222 200 230 +f 210 222 230 +f 226 210 230 +f 217 226 230 +f 209 200 231 +f 200 213 231 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/957/957.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/957/957.urdf new file mode 100644 index 000000000..b653aff21 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/957/957.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/958/958.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/958/958.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/958/958.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/958/958.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/958/958.obj new file mode 100644 index 000000000..98d999756 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/958/958.obj @@ -0,0 +1,534 @@ +o convex_0 +v -3.356079 -0.693416 0.643293 +v -1.349461 -2.055045 -1.112583 +v -1.349461 -1.768296 -1.112583 +v 0.800399 -0.442403 1.001732 +v 0.764691 -0.012280 -1.004921 +v 0.800399 -2.019094 0.965845 +v -3.320371 -0.048231 -0.933363 +v -3.392197 -2.090568 0.929957 +v -3.284663 -0.120132 1.109395 +v 0.800399 -2.054831 -1.040591 +v -3.356079 -2.019094 -1.076696 +v 0.728983 -0.012280 1.001732 +v -0.776083 -2.198420 -0.467261 +v -1.278045 -2.162469 0.965845 +v -1.349461 -0.012280 0.965845 +v 0.191313 -2.126518 0.535848 +v -3.320371 -0.335194 1.109395 +v 0.800399 -0.729152 -1.040808 +v -0.238823 -0.012280 -1.004921 +v -3.356079 -1.266272 -1.040591 +v -3.392197 -2.090568 0.320741 +v -3.356079 -0.227556 -0.753926 +v -0.955443 -2.198420 -0.538819 +v 0.585331 -2.054831 -1.076696 +v -3.320371 -0.048231 -0.288041 +v -2.460099 -2.126518 0.965845 +v -1.385169 -0.012280 -0.969033 +v 0.800399 -0.083967 1.001732 +v -2.890235 -2.126732 0.929957 +v -2.460099 -1.983144 -1.112366 +v 0.477797 -0.370930 -1.040591 +v -3.392197 -1.875720 0.965845 +v 0.800399 -0.119918 -1.004703 +v -0.166997 -2.162469 0.213296 +v -0.776083 -1.911671 -1.112583 +v -3.069595 -0.191605 1.109395 +v -3.356079 -2.054831 -0.574924 +v 0.800399 -2.054831 0.284853 +v -3.320371 -0.155868 1.037620 +v -3.320371 -0.370930 -0.969033 +v -2.245031 -2.054831 -1.112366 +v -3.392197 -1.588971 0.822513 +v -1.635945 -2.162255 0.965845 +v -3.320371 -1.696609 -1.076696 +v -3.392197 -2.019094 0.105633 +v -0.704667 -2.198420 -0.252154 +v -1.134393 -2.126732 -0.861588 +v -1.134393 -1.696609 -1.112583 +v -3.356079 -0.478354 0.248966 +f 42 1 49 +f 4 6 10 +f 12 5 15 +f 9 12 15 +f 6 14 16 +f 14 6 17 +f 4 10 18 +f 15 5 19 +f 7 20 22 +f 10 13 23 +f 18 10 24 +f 10 23 24 +f 9 15 25 +f 7 22 25 +f 19 7 27 +f 15 19 27 +f 7 25 27 +f 25 15 27 +f 5 12 28 +f 4 18 28 +f 8 21 29 +f 21 23 29 +f 26 8 29 +f 3 2 30 +f 5 18 31 +f 19 5 31 +f 21 8 32 +f 8 26 32 +f 26 17 32 +f 18 5 33 +f 5 28 33 +f 28 18 33 +f 10 16 34 +f 16 14 34 +f 2 3 35 +f 24 2 35 +f 18 24 35 +f 31 18 35 +f 6 4 36 +f 12 9 36 +f 17 6 36 +f 9 17 36 +f 4 28 36 +f 28 12 36 +f 21 11 37 +f 11 23 37 +f 23 21 37 +f 10 6 38 +f 6 16 38 +f 16 10 38 +f 17 9 39 +f 9 25 39 +f 25 22 39 +f 32 17 39 +f 7 19 40 +f 20 7 40 +f 23 11 41 +f 30 2 41 +f 11 30 41 +f 21 32 42 +f 39 1 42 +f 32 39 42 +f 14 17 43 +f 17 26 43 +f 29 23 43 +f 26 29 43 +f 11 20 44 +f 30 11 44 +f 19 30 44 +f 40 19 44 +f 20 40 44 +f 20 11 45 +f 11 21 45 +f 22 20 45 +f 21 42 45 +f 42 22 45 +f 13 10 46 +f 23 13 46 +f 10 34 46 +f 34 14 46 +f 14 43 46 +f 43 23 46 +f 2 24 47 +f 24 23 47 +f 41 2 47 +f 23 41 47 +f 3 30 48 +f 30 19 48 +f 19 31 48 +f 35 3 48 +f 31 35 48 +f 1 39 49 +f 39 22 49 +f 22 42 49 +o convex_1 +v 0.119839 4.037454 1.037543 +v -1.385120 -0.011883 -0.969054 +v -0.238615 -0.011883 -1.005068 +v 0.728979 -0.012280 1.001529 +v 0.657414 3.893953 -1.004865 +v -1.241780 4.000984 1.073353 +v -1.349338 -0.011883 0.965922 +v -1.349338 3.857880 -0.969054 +v 0.764761 -0.012280 -1.004865 +v 0.764761 4.037454 1.001529 +v 0.693196 3.929630 -0.861623 +v -1.349338 3.893953 -0.323859 +v -1.277773 3.033741 1.073353 +v -1.313555 3.893953 -0.969054 +v 0.764761 -0.012280 0.464171 +v -1.385120 2.782814 -0.933041 +v 0.764761 4.037454 0.679236 +v -0.596858 3.929630 1.073557 +v -0.095276 3.893953 -1.005068 +v 0.764761 0.668754 -1.004865 +v -1.277773 3.965307 0.894098 +v 0.764761 1.170610 1.001529 +v -1.385120 -0.011883 -0.682368 +v 0.514075 -0.012280 1.001529 +v 0.764761 3.643025 0.392347 +v 0.083846 4.037454 0.965922 +v 0.693196 3.678702 -1.004865 +v -1.349338 0.095544 0.965922 +v -1.277773 3.463451 1.073353 +v -1.313555 0.955755 1.001733 +f 56 73 79 +f 52 51 57 +f 51 52 58 +f 61 55 63 +f 57 61 63 +f 53 58 64 +f 58 59 64 +f 57 51 65 +f 61 57 65 +f 59 58 66 +f 50 59 66 +f 60 63 66 +f 50 55 67 +f 62 53 67 +f 52 57 68 +f 58 52 68 +f 60 54 68 +f 57 63 68 +f 63 60 68 +f 66 58 69 +f 58 68 69 +f 55 61 70 +f 59 50 71 +f 53 64 71 +f 64 59 71 +f 50 67 71 +f 67 53 71 +f 65 51 72 +f 51 58 73 +f 58 53 73 +f 53 62 73 +f 72 51 73 +f 56 72 73 +f 60 66 74 +f 66 69 74 +f 55 50 75 +f 63 55 75 +f 50 66 75 +f 66 63 75 +f 54 60 76 +f 68 54 76 +f 69 68 76 +f 60 74 76 +f 74 69 76 +f 56 62 77 +f 61 65 77 +f 72 56 77 +f 65 72 77 +f 67 55 78 +f 62 67 78 +f 70 61 78 +f 55 70 78 +f 77 62 78 +f 61 77 78 +f 62 56 79 +f 73 62 79 +o convex_2 +v 1.302610 0.955538 -0.574945 +v 1.230950 2.030310 0.607658 +v 1.481931 2.030310 0.571756 +v 2.270182 0.023755 0.500073 +v 2.270066 1.887125 -0.431577 +v 1.087516 0.023755 0.428389 +v 2.090861 0.023755 -0.467479 +v 1.087516 2.030310 -0.503261 +v 2.270066 1.994563 0.428389 +v 1.123404 0.023755 -0.610846 +v 1.123404 1.886928 0.607658 +v 2.198407 0.346265 -0.431577 +v 2.198407 1.707800 -0.467479 +v 1.087516 1.027032 0.535974 +v 1.302610 0.310518 -0.610846 +v 2.234295 1.994366 0.464290 +v 1.266838 2.030310 -0.503261 +v 1.087516 0.023755 -0.109060 +v 2.270066 1.385486 -0.431577 +v 1.983430 0.023755 0.500073 +v 1.087516 1.779294 -0.539162 +v 2.270182 0.023755 0.320923 +v 2.270182 0.633028 0.500073 +v 1.123404 2.030310 0.607658 +v 1.087516 0.167136 0.464290 +v 2.162636 0.023755 -0.431577 +v 2.270066 1.922872 -0.288210 +v 1.517703 0.059698 -0.574945 +v 1.481931 1.994366 -0.503261 +v 1.087516 2.030310 -0.252428 +f 93 103 109 +f 83 85 86 +f 81 82 87 +f 86 85 89 +f 83 81 90 +f 87 85 93 +f 80 92 94 +f 88 82 95 +f 87 82 96 +f 82 88 96 +f 85 87 97 +f 89 85 97 +f 91 86 98 +f 86 92 98 +f 92 84 98 +f 85 83 99 +f 83 90 99 +f 90 93 99 +f 80 94 100 +f 94 89 100 +f 87 96 100 +f 97 87 100 +f 89 97 100 +f 83 86 101 +f 98 84 101 +f 91 98 101 +f 82 81 102 +f 81 83 102 +f 95 82 102 +f 88 95 102 +f 83 101 102 +f 101 84 102 +f 81 87 103 +f 90 81 103 +f 93 90 103 +f 93 85 104 +f 85 99 104 +f 99 93 104 +f 86 91 105 +f 101 86 105 +f 91 101 105 +f 96 88 106 +f 84 96 106 +f 102 84 106 +f 88 102 106 +f 86 89 107 +f 92 86 107 +f 89 94 107 +f 94 92 107 +f 92 80 108 +f 84 92 108 +f 96 84 108 +f 80 100 108 +f 100 96 108 +f 87 93 109 +f 103 87 109 +o convex_3 +v 1.230870 -2.126743 -0.610846 +v 1.123439 -3.488467 0.571820 +v 1.087516 -3.488467 0.571820 +v 2.234344 -4.133536 -0.610846 +v 2.162611 -2.126743 0.535932 +v 1.087516 -4.169529 -0.574959 +v 2.234344 -4.097744 0.464273 +v 2.234231 -2.198728 -0.539071 +v 1.123439 -2.126743 0.464273 +v 1.087516 -4.025958 0.571820 +v 2.126688 -2.126743 -0.574959 +v 1.159249 -2.807805 -0.610846 +v 2.090990 -4.133536 0.392614 +v 1.374335 -4.025958 0.571820 +v 1.123439 -2.126743 0.213408 +v 2.234231 -3.452674 0.428385 +v 1.087516 -2.951176 0.535932 +v 1.410258 -4.169529 -0.216547 +v 1.660930 -2.234321 -0.610846 +v 1.875904 -2.126743 0.535932 +v 2.162611 -2.592848 0.535932 +v 1.087516 -3.918580 -0.574959 +v 2.198421 -2.126743 0.177520 +v 1.696740 -4.169529 -0.574959 +v 2.019258 -4.097744 0.500045 +v 1.195059 -2.270314 -0.610846 +v 2.234344 -4.133536 0.320839 +v 1.087516 -2.807805 0.464273 +v 2.055068 -4.133536 -0.610846 +v 1.087516 -4.169529 -0.395753 +v 2.234231 -2.377692 -0.574959 +f 128 120 140 +f 112 111 114 +f 116 113 117 +f 114 110 118 +f 111 112 119 +f 112 115 119 +f 110 114 120 +f 110 113 121 +f 114 111 123 +f 111 119 123 +f 118 110 124 +f 114 116 125 +f 116 117 125 +f 115 112 126 +f 122 119 127 +f 113 110 128 +f 110 120 128 +f 112 114 129 +f 114 118 129 +f 126 112 129 +f 118 126 129 +f 116 114 130 +f 114 123 130 +f 121 115 131 +f 124 121 131 +f 115 126 131 +f 120 114 132 +f 117 120 132 +f 114 125 132 +f 125 117 132 +f 115 113 133 +f 127 115 133 +f 122 116 134 +f 119 122 134 +f 123 119 134 +f 116 130 134 +f 130 123 134 +f 110 121 135 +f 124 110 135 +f 121 124 135 +f 113 116 136 +f 116 122 136 +f 122 127 136 +f 133 113 136 +f 127 133 136 +f 118 124 137 +f 126 118 137 +f 124 131 137 +f 131 126 137 +f 113 115 138 +f 121 113 138 +f 115 121 138 +f 119 115 139 +f 115 127 139 +f 127 119 139 +f 117 113 140 +f 120 117 140 +f 113 128 140 +o convex_4 +v 1.195055 -2.126743 -0.467331 +v 2.449322 -0.119991 1.037718 +v 1.661185 -0.119991 1.037718 +v 2.700137 -0.012434 -1.004893 +v 2.628365 -2.090750 1.001501 +v 0.800890 -0.119991 -1.004893 +v 0.800890 -2.018975 0.965691 +v 2.736023 -2.126532 -1.004893 +v 0.800890 -2.054968 -1.040906 +v 0.800890 -0.083999 1.001705 +v 2.771909 -0.406670 0.571778 +v 1.087591 0.023558 0.428333 +v 2.700137 -0.155774 1.037515 +v 2.270086 0.023558 0.499750 +v 1.087591 0.023558 -0.682193 +v 1.123477 -2.126743 0.464143 +v 2.736023 -1.624739 0.571778 +v 1.732764 -1.051592 -1.040906 +v 2.771909 -0.514227 -0.359697 +v 2.664251 -1.409835 1.037718 +v 2.126736 -2.126743 -1.040906 +v 2.700137 -2.126743 0.105633 +v 0.800890 -0.729131 -1.040906 +v 2.771909 -1.122946 0.464143 +v 2.234200 0.023558 -0.861651 +v 2.736023 -0.155774 -0.861651 +v 2.700137 -0.012434 -0.539155 +v 1.875921 -2.054968 1.001501 +v 0.872662 -2.090750 -0.467331 +v 2.736023 -2.126532 -0.503142 +v 0.800890 -0.514017 1.001705 +v 2.664251 -0.119991 1.001501 +v 2.162429 -2.126743 0.535764 +v 2.736023 -0.693349 -1.004893 +v 2.270086 -2.090750 1.001501 +v 2.270086 -0.012434 -1.004893 +v 0.800890 -2.054968 0.643195 +v 1.123477 -2.090750 -1.040906 +v 1.302520 -1.374053 1.001705 +v 0.836776 -0.083999 -0.933272 +v 2.664251 -1.983193 0.929880 +v 2.736023 -0.119991 -0.395711 +v 2.019271 -0.764913 1.037718 +f 171 179 183 +f 147 146 149 +f 143 142 150 +f 146 147 150 +f 150 142 154 +f 152 150 154 +f 150 152 155 +f 152 154 155 +f 142 143 160 +f 153 142 160 +f 156 141 161 +f 158 144 161 +f 149 158 161 +f 161 148 162 +f 156 161 162 +f 149 146 163 +f 144 158 163 +f 158 149 163 +f 151 153 164 +f 148 159 164 +f 159 151 164 +f 153 160 164 +f 154 144 165 +f 155 154 165 +f 151 159 166 +f 144 154 167 +f 149 141 169 +f 141 156 169 +f 157 162 170 +f 162 148 170 +f 148 164 170 +f 164 157 170 +f 143 150 171 +f 150 147 171 +f 142 153 172 +f 154 142 172 +f 153 167 172 +f 167 154 172 +f 162 145 173 +f 156 162 173 +f 159 148 174 +f 161 144 174 +f 148 161 174 +f 144 166 174 +f 166 159 174 +f 147 156 175 +f 145 160 175 +f 168 147 175 +f 160 168 175 +f 173 145 175 +f 156 173 175 +f 144 163 176 +f 163 146 176 +f 165 144 176 +f 155 165 176 +f 147 149 177 +f 156 147 177 +f 149 169 177 +f 169 156 177 +f 141 149 178 +f 161 141 178 +f 149 161 178 +f 147 168 179 +f 171 147 179 +f 146 150 180 +f 150 155 180 +f 176 146 180 +f 155 176 180 +f 160 145 181 +f 145 162 181 +f 162 157 181 +f 157 164 181 +f 164 160 181 +f 153 151 182 +f 166 144 182 +f 151 166 182 +f 167 153 182 +f 144 167 182 +f 160 143 183 +f 168 160 183 +f 143 171 183 +f 179 168 183 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/958/958.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/958/958.urdf new file mode 100644 index 000000000..f9883ee2f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/958/958.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/959/959.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/959/959.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/959/959.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/959/959.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/959/959.obj new file mode 100644 index 000000000..4fa58efb6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/959/959.obj @@ -0,0 +1,345 @@ +o convex_0 +v -0.947839 -0.892535 -1.013481 +v 1.104991 0.889310 1.000506 +v 1.104991 0.734254 1.000506 +v -1.063985 0.114375 1.078220 +v -0.947839 0.889310 -1.090983 +v 0.949776 -0.892535 -1.090983 +v 0.949776 -0.892535 1.039363 +v 1.066134 0.889310 -1.090983 +v -1.063985 -0.892535 1.078220 +v -1.064197 0.889310 1.039363 +v -0.909194 -0.892535 -1.090983 +v -0.056892 -0.853640 1.078220 +v -1.064197 0.230886 0.884359 +v 0.988421 -0.621142 1.039363 +v -0.133969 0.889310 1.039363 +v 0.988421 -0.543701 -0.664617 +v 0.988421 -0.195215 1.039363 +v 1.066134 0.734254 -1.013057 +v -0.986271 0.889310 -0.509613 +v -1.063985 -0.776199 0.923217 +v 1.104991 0.734254 0.690499 +v -0.947839 -0.388819 -1.090983 +f 1 20 22 +f 1 6 7 +f 5 2 8 +f 6 5 8 +f 1 7 9 +f 2 5 10 +f 9 4 10 +f 5 6 11 +f 6 1 11 +f 4 9 12 +f 9 7 12 +f 9 10 13 +f 3 2 14 +f 7 6 14 +f 12 7 14 +f 2 10 15 +f 10 4 15 +f 4 12 15 +f 14 6 16 +f 14 2 17 +f 12 14 17 +f 2 15 17 +f 15 12 17 +f 6 8 18 +f 16 6 18 +f 10 5 19 +f 13 10 19 +f 13 19 20 +f 1 9 20 +f 9 13 20 +f 2 3 21 +f 8 2 21 +f 3 14 21 +f 14 16 21 +f 18 8 21 +f 16 18 21 +f 11 1 22 +f 5 11 22 +f 19 5 22 +f 20 19 22 +o convex_1 +v -1.025344 -1.009027 1.813844 +v 0.911142 -3.100475 -1.361705 +v 0.988731 -3.100475 -1.361705 +v 1.105006 -3.100475 2.937045 +v 0.950044 -0.892535 -1.090544 +v -0.986657 -3.022886 -1.361705 +v -1.064030 -2.945297 2.937045 +v 0.988731 -0.892535 3.014581 +v -1.064030 -0.970124 -1.361705 +v -0.947971 -1.009027 3.014581 +v -1.064030 -0.892751 1.077894 +v -1.102933 -3.022886 1.310502 +v 0.950044 -1.047497 -1.361705 +v -0.947971 -2.984199 2.975599 +v 1.105006 -3.022886 1.929934 +v -0.637831 -3.061572 1.504128 +v -0.909284 -0.892751 -1.090544 +v -0.328123 -2.286762 3.014581 +v 0.368883 -3.100475 -0.548220 +v 1.027417 -1.396108 2.510811 +v 1.066104 -3.022886 0.303819 +v -1.025344 -3.022886 -1.013007 +v 0.678807 -3.100475 2.626901 +v 1.027417 -1.512384 3.014581 +v -0.560458 -3.061572 -0.974025 +v -1.102933 -3.022886 0.923251 +v 1.066104 -2.402821 1.077894 +v -1.064030 -1.280049 -1.361705 +v -0.715420 -3.061572 0.458891 +v -0.134474 -3.022670 2.975599 +v 1.066104 -2.209173 1.697754 +v -0.134474 -0.970124 -1.361705 +v -0.366809 -0.970124 3.014581 +v 0.988731 -0.892535 2.317185 +v -1.064030 -2.984199 2.820527 +f 38 45 57 +f 24 25 26 +f 25 24 28 +f 25 28 31 +f 23 29 32 +f 29 23 33 +f 30 27 33 +f 23 32 33 +f 29 33 34 +f 25 31 35 +f 32 29 36 +f 27 31 39 +f 33 27 39 +f 31 33 39 +f 30 32 40 +f 32 36 40 +f 24 26 41 +f 26 37 42 +f 26 25 43 +f 25 35 43 +f 37 26 43 +f 26 36 45 +f 41 26 45 +f 38 41 45 +f 30 40 46 +f 26 42 46 +f 42 30 46 +f 28 24 47 +f 24 41 47 +f 44 28 47 +f 33 31 48 +f 34 33 48 +f 35 27 49 +f 43 35 49 +f 37 43 49 +f 31 28 50 +f 28 44 50 +f 44 48 50 +f 48 31 50 +f 38 34 51 +f 41 38 51 +f 47 41 51 +f 44 47 51 +f 48 44 51 +f 34 48 51 +f 36 26 52 +f 40 36 52 +f 26 46 52 +f 46 40 52 +f 27 42 53 +f 42 37 53 +f 49 27 53 +f 37 49 53 +f 31 27 54 +f 27 35 54 +f 35 31 54 +f 32 30 55 +f 30 33 55 +f 33 32 55 +f 27 30 56 +f 30 42 56 +f 42 27 56 +f 29 34 57 +f 36 29 57 +f 34 38 57 +f 45 36 57 +o convex_2 +v -2.458517 0.928429 1.000631 +v 3.002652 3.097250 -0.664617 +v 3.041592 2.438715 -0.354693 +v -2.961740 0.967116 -1.090817 +v -2.961740 2.942072 1.039318 +v 3.079932 0.889310 1.078220 +v -3.039021 3.019661 -1.052130 +v 3.079932 0.928213 -1.090600 +v 2.963712 3.019661 1.078220 +v 3.002652 3.097250 -1.129719 +v -2.961740 0.928429 0.961729 +v -0.947650 0.889526 -1.090817 +v -1.063870 0.889526 1.039318 +v -3.000680 3.019661 -0.354693 +v -3.039021 2.826012 -1.090817 +v -0.056825 1.857985 1.078220 +v 1.065842 0.889526 -1.090817 +v 3.079932 1.509159 1.000631 +v -2.961740 2.980758 0.574431 +v -2.961740 2.322223 1.039318 +v 2.925371 3.058131 0.380783 +v 3.079932 1.586964 -1.090600 +v -3.039021 3.019661 -0.548557 +v 0.833401 2.942072 1.078220 +v -1.606033 0.928213 1.039318 +v -2.961740 0.928429 0.264723 +v -3.039021 2.554775 -1.013227 +v 2.460489 3.097250 -1.013444 +v 3.079932 0.889310 0.574648 +v 2.886431 2.980974 -1.129719 +v 2.576709 3.019661 1.078220 +v 3.002652 2.632364 1.078220 +v 2.925371 3.097250 -0.587028 +v -3.000680 2.903385 0.380783 +v -3.000680 1.664337 -1.090817 +v 2.770211 0.889310 1.078220 +f 69 86 93 +f 59 60 67 +f 58 68 70 +f 64 67 72 +f 63 66 73 +f 63 65 75 +f 68 58 77 +f 73 62 77 +f 66 59 78 +f 71 76 78 +f 67 60 79 +f 65 67 79 +f 60 75 79 +f 75 65 79 +f 64 72 80 +f 62 76 80 +f 76 71 80 +f 62 73 81 +f 73 66 81 +f 58 70 82 +f 77 58 82 +f 73 77 82 +f 61 69 83 +f 70 68 83 +f 69 70 83 +f 80 72 84 +f 68 80 84 +f 59 67 85 +f 67 64 85 +f 64 80 85 +f 80 71 85 +f 65 63 86 +f 74 65 86 +f 69 74 86 +f 67 65 87 +f 69 61 87 +f 72 67 87 +f 65 74 87 +f 74 69 87 +f 76 62 88 +f 66 78 88 +f 78 76 88 +f 62 81 88 +f 81 66 88 +f 60 59 89 +f 59 66 89 +f 66 63 89 +f 75 60 89 +f 63 75 89 +f 78 59 90 +f 71 78 90 +f 59 85 90 +f 85 71 90 +f 77 62 91 +f 68 77 91 +f 80 68 91 +f 62 80 91 +f 61 83 92 +f 83 68 92 +f 84 72 92 +f 68 84 92 +f 87 61 92 +f 72 87 92 +f 70 69 93 +f 63 73 93 +f 82 70 93 +f 73 82 93 +f 86 63 93 +o convex_3 +v -1.025332 -2.712844 -3.066175 +v -0.095765 -0.970007 -1.556116 +v -0.095765 -0.970007 -1.943398 +v 0.949896 -3.061739 -1.943227 +v 0.988799 -1.047607 -3.066345 +v -0.986634 -3.022632 -1.362475 +v -1.102933 -1.008910 -2.949990 +v 0.949896 -1.047607 -1.362304 +v 0.949896 -2.984138 -3.027617 +v -1.064030 -0.970007 -1.362475 +v 0.949896 -3.061739 -1.362304 +v -0.986634 -3.061739 -3.105073 +v -1.102933 -1.047607 -1.478659 +v 0.988799 -1.977175 -3.066345 +v 0.446415 -1.047607 -3.066345 +v 0.988799 -1.047607 -2.214325 +v -0.986634 -3.061739 -1.943398 +v -0.560549 -3.061739 -3.105073 +v -0.986634 -2.790240 -3.105073 +v 0.988799 -2.519150 -2.988889 +v -1.102933 -1.396502 -2.911262 +v 0.601411 -1.008910 -2.679063 +v -1.025332 -0.970007 -2.214495 +v -0.676642 -1.008910 -2.988718 +v 0.059027 -3.061739 -1.362475 +v 0.485113 -1.008910 -1.362304 +f 101 115 119 +f 95 96 103 +f 97 104 105 +f 103 100 106 +f 99 103 106 +f 101 104 109 +f 107 98 109 +f 99 94 110 +f 105 104 110 +f 94 105 110 +f 102 97 111 +f 97 105 111 +f 107 102 111 +f 98 107 111 +f 94 100 112 +f 105 94 112 +f 108 98 112 +f 98 111 112 +f 111 105 112 +f 97 102 113 +f 104 97 113 +f 102 107 113 +f 109 104 113 +f 107 109 113 +f 94 99 114 +f 100 94 114 +f 99 106 114 +f 106 100 114 +f 96 95 115 +f 109 98 115 +f 101 109 115 +f 103 96 116 +f 100 103 116 +f 96 115 116 +f 116 115 117 +f 98 108 117 +f 112 100 117 +f 108 112 117 +f 115 98 117 +f 100 116 117 +f 104 99 118 +f 99 110 118 +f 110 104 118 +f 95 103 119 +f 103 99 119 +f 104 101 119 +f 99 104 119 +f 115 95 119 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/959/959.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/959/959.urdf new file mode 100644 index 000000000..19ec58bc2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/959/959.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/960/960.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/960/960.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/960/960.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/960/960.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/960/960.obj new file mode 100644 index 000000000..0bfeb7577 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/960/960.obj @@ -0,0 +1,675 @@ +o convex_0 +v -0.542461 -0.875203 -1.063451 +v 0.842812 -1.666853 1.080526 +v 0.809860 -1.666853 1.080526 +v 0.480123 0.576269 1.047279 +v 1.073901 0.576269 -1.030418 +v -1.070334 0.576269 1.014246 +v -1.037171 -1.765895 0.981212 +v 1.040739 -1.765895 -1.030631 +v -1.070334 0.576269 -0.964564 +v -1.037171 -1.765895 -0.997384 +v 1.007786 0.576269 1.014246 +v 1.040739 -1.765895 1.047279 +v -0.509298 0.576269 -1.096698 +v -1.070334 -0.776161 -0.997384 +v -1.037171 -1.073059 1.014246 +v 1.040739 -0.413465 1.014246 +v -0.905360 -1.765895 -1.030418 +v 1.073901 -0.479493 -1.030418 +v -1.070334 -0.743147 0.156655 +v 1.073901 0.576269 -0.898497 +v 0.809860 -1.765895 1.080526 +v -1.070334 -0.182825 -0.997384 +v -0.476346 0.510241 -1.096698 +v 1.040739 -0.841960 1.047279 +v 0.578981 0.576269 1.047279 +f 24 11 25 +f 3 2 4 +f 3 4 6 +f 4 5 6 +f 6 5 9 +f 8 7 10 +f 5 4 11 +f 7 8 12 +f 9 5 13 +f 6 9 14 +f 10 7 14 +f 6 7 15 +f 1 8 17 +f 8 10 17 +f 10 14 17 +f 12 8 18 +f 7 6 19 +f 6 14 19 +f 14 7 19 +f 5 11 20 +f 11 16 20 +f 18 5 20 +f 12 18 20 +f 2 3 21 +f 3 6 21 +f 12 2 21 +f 7 12 21 +f 6 15 21 +f 15 7 21 +f 9 13 22 +f 14 9 22 +f 13 17 22 +f 17 14 22 +f 8 1 23 +f 13 5 23 +f 1 17 23 +f 17 13 23 +f 5 18 23 +f 18 8 23 +f 2 12 24 +f 16 11 24 +f 20 16 24 +f 12 20 24 +f 4 2 25 +f 11 4 25 +f 2 24 25 +o convex_1 +v -0.476442 4.699798 -0.205973 +v -0.608499 2.753492 -0.469870 +v 0.579078 2.753492 -0.469870 +v -0.542471 2.753492 0.552714 +v 0.513049 4.567580 0.453597 +v 0.347979 4.666648 -0.469870 +v 0.579078 2.753492 0.486712 +v -0.443428 4.666648 0.453597 +v -0.575368 4.666648 -0.601874 +v 0.480035 4.666648 -0.304977 +v -0.542471 3.182343 0.552714 +v 0.579078 3.545465 0.486712 +v 0.579078 3.149574 -0.469870 +v -0.608499 2.852751 -0.502871 +v -0.575368 2.819792 0.486599 +v 0.546064 4.402784 0.321706 +v -0.476442 4.699798 -0.601874 +v -0.476442 4.336866 0.486599 +v -0.179548 2.819792 0.552714 +v -0.509457 4.501662 -0.601874 +v 0.480035 4.600540 0.453597 +v -0.608499 3.281601 -0.403867 +v 0.480035 4.534812 -0.436868 +v -0.542471 4.699798 -0.271976 +v 0.018071 4.699798 -0.469870 +v 0.381110 2.753492 0.519600 +v 0.480035 4.666648 -0.205973 +v -0.344502 4.666648 0.453597 +v -0.575368 4.600540 -0.502871 +f 40 49 54 +f 27 28 29 +f 29 28 32 +f 32 28 37 +f 37 28 38 +f 28 27 39 +f 27 29 40 +f 29 36 40 +f 35 30 41 +f 30 37 41 +f 37 38 41 +f 38 28 42 +f 31 38 42 +f 40 36 43 +f 36 29 44 +f 30 36 44 +f 37 30 44 +f 28 39 45 +f 39 34 45 +f 34 42 45 +f 42 28 45 +f 36 30 46 +f 43 36 46 +f 39 27 47 +f 34 39 47 +f 27 40 47 +f 31 35 48 +f 38 31 48 +f 35 41 48 +f 41 38 48 +f 33 26 49 +f 26 42 49 +f 42 34 49 +f 43 33 49 +f 40 43 49 +f 35 31 50 +f 42 26 50 +f 31 42 50 +f 29 32 51 +f 32 37 51 +f 44 29 51 +f 37 44 51 +f 30 35 52 +f 46 30 52 +f 35 50 52 +f 52 50 53 +f 26 33 53 +f 33 43 53 +f 43 46 53 +f 50 26 53 +f 46 52 53 +f 34 47 54 +f 47 40 54 +f 49 34 54 +o convex_2 +v -0.344457 -2.854391 1.080526 +v 0.611946 -2.590459 2.993685 +v 0.545996 -2.524476 2.993685 +v 0.611946 -1.897913 1.080716 +v -0.608379 -1.831930 2.927583 +v -0.575404 -2.887437 3.026641 +v -0.542429 -1.831930 1.080526 +v 0.513021 -2.920484 1.080526 +v 0.545996 -1.798993 2.927583 +v 0.611946 -2.887437 2.993685 +v -0.476478 -2.821454 1.080526 +v -0.608379 -2.689488 3.026641 +v 0.611946 -1.864976 1.344745 +v -0.575404 -1.864976 1.476569 +v -0.575404 -2.887437 2.597833 +v 0.545996 -2.920484 1.377701 +v -0.311482 -1.898023 2.960539 +v 0.249099 -2.920484 1.080526 +v -0.179581 -1.831930 1.080526 +v 0.513021 -2.920484 1.971479 +v 0.611946 -2.887437 2.597833 +v 0.578971 -2.062925 2.960539 +v -0.278507 -2.590459 3.026641 +v -0.608379 -1.831930 2.333804 +v -0.542429 -2.095971 1.113863 +v 0.611946 -2.029989 1.080716 +v 0.183148 -2.887437 3.026641 +v 0.480045 -1.798993 2.729656 +v -0.476478 -2.854391 1.311789 +v -0.608379 -1.898023 2.960539 +f 66 77 84 +f 55 61 62 +f 58 56 64 +f 61 55 65 +f 56 58 67 +f 66 68 69 +f 60 66 69 +f 55 62 72 +f 60 69 72 +f 62 70 72 +f 58 62 73 +f 62 61 73 +f 67 58 73 +f 70 64 74 +f 60 72 74 +f 72 70 74 +f 58 64 75 +f 64 70 75 +f 57 56 76 +f 56 67 76 +f 67 63 76 +f 63 71 76 +f 76 71 77 +f 66 60 77 +f 57 76 77 +f 66 59 78 +f 61 68 78 +f 68 66 78 +f 61 65 79 +f 68 61 79 +f 69 68 79 +f 65 69 79 +f 62 58 80 +f 70 62 80 +f 58 75 80 +f 75 70 80 +f 56 57 81 +f 64 56 81 +f 60 74 81 +f 74 64 81 +f 57 77 81 +f 77 60 81 +f 59 63 82 +f 63 67 82 +f 73 61 82 +f 67 73 82 +f 78 59 82 +f 61 78 82 +f 65 55 83 +f 69 65 83 +f 55 72 83 +f 72 69 83 +f 63 59 84 +f 59 66 84 +f 71 63 84 +f 77 71 84 +o convex_3 +v 0.447041 1.598943 3.059716 +v -0.509379 1.104081 1.080723 +v -0.542445 1.401062 1.608415 +v 0.447041 2.126626 1.080526 +v -0.575510 2.159659 3.092808 +v -0.542445 1.104081 3.092808 +v 0.480107 1.170148 1.080526 +v -0.443455 2.192692 1.080723 +v 0.447041 2.192586 2.960639 +v 0.414079 1.170148 3.092808 +v -0.179551 1.104081 2.432749 +v -0.509379 2.192692 1.905254 +v 0.480107 1.796717 1.113814 +v -0.113626 2.192692 1.080723 +v -0.179551 1.104081 1.080723 +v 0.216099 1.137114 3.092808 +v -0.344568 2.159659 3.092808 +v 0.447041 1.170148 2.861758 +v -0.542445 1.104081 1.971240 +v -0.575510 1.730757 3.059716 +v -0.509379 1.433989 1.080723 +v 0.084147 2.192692 2.993730 +v -0.575510 2.027632 2.795772 +v 0.447041 2.192586 2.630905 +v 0.480107 1.302175 1.377562 +v 0.216099 1.137114 1.080723 +f 91 100 110 +f 86 88 91 +f 89 90 94 +f 90 86 95 +f 91 88 97 +f 88 92 98 +f 92 96 98 +f 86 91 99 +f 95 86 99 +f 95 99 100 +f 94 90 100 +f 90 95 100 +f 85 93 101 +f 94 85 101 +f 89 94 101 +f 85 94 102 +f 94 100 102 +f 100 91 102 +f 87 86 103 +f 86 90 103 +f 103 90 104 +f 90 89 104 +f 87 103 104 +f 86 87 105 +f 88 86 105 +f 92 88 105 +f 96 92 105 +f 96 89 106 +f 98 96 106 +f 89 101 106 +f 101 93 106 +f 89 96 107 +f 87 104 107 +f 104 89 107 +f 105 87 107 +f 96 105 107 +f 97 88 108 +f 93 97 108 +f 88 98 108 +f 106 93 108 +f 98 106 108 +f 93 85 109 +f 91 97 109 +f 97 93 109 +f 85 102 109 +f 102 91 109 +f 99 91 110 +f 100 99 110 +o convex_4 +v 0.018194 -1.765895 -2.119071 +v -0.443422 -2.953472 -2.976694 +v -0.476455 -2.689476 -2.976694 +v -0.509489 -2.557535 -1.030915 +v 0.546089 -2.821415 -1.030915 +v 0.480023 -2.821415 -2.976694 +v 0.546089 -1.930966 -1.030915 +v -0.542522 -1.765895 -1.030915 +v 0.413956 -1.798909 -2.943761 +v -0.542522 -1.930849 -3.009628 +v -0.476455 -2.821415 -1.064042 +v 0.513056 -2.821415 -2.911021 +v 0.446989 -1.798909 -2.877701 +v -0.476455 -1.897952 -3.009628 +v 0.513056 -1.897952 -1.096975 +v -0.311501 -2.953472 -2.877701 +v -0.542522 -2.161832 -2.646974 +v 0.446989 -2.854429 -2.976694 +v -0.311501 -1.765895 -1.030915 +v -0.542522 -1.765895 -1.393763 +v -0.080587 -2.260874 -3.009628 +v 0.546089 -2.821415 -1.888538 +v -0.542522 -2.161832 -1.030915 +v -0.476455 -2.854429 -1.492757 +v 0.480023 -2.359684 -2.976694 +v 0.216075 -1.798909 -2.844767 +v 0.446989 -1.798909 -2.712840 +v -0.443422 -2.953472 -2.778901 +v -0.509489 -2.392465 -3.009628 +v 0.150114 -1.831923 -2.976694 +v 0.546089 -1.930966 -1.096975 +v -0.476455 -2.788401 -1.030915 +f 121 115 142 +f 114 115 117 +f 114 117 118 +f 119 111 123 +f 118 120 127 +f 116 122 128 +f 126 112 128 +f 115 126 128 +f 111 118 129 +f 118 117 129 +f 117 125 129 +f 118 111 130 +f 120 118 130 +f 124 120 130 +f 120 124 131 +f 116 128 131 +f 117 115 132 +f 115 128 132 +f 128 122 132 +f 114 118 133 +f 127 114 133 +f 118 127 133 +f 113 112 134 +f 121 114 134 +f 115 121 134 +f 127 113 134 +f 114 127 134 +f 122 116 135 +f 119 123 135 +f 116 131 135 +f 111 119 136 +f 119 124 136 +f 130 111 136 +f 124 130 136 +f 123 111 137 +f 117 123 137 +f 125 117 137 +f 111 129 137 +f 129 125 137 +f 112 126 138 +f 126 115 138 +f 134 112 138 +f 115 134 138 +f 112 113 139 +f 113 127 139 +f 127 120 139 +f 128 112 139 +f 120 131 139 +f 131 128 139 +f 124 119 140 +f 131 124 140 +f 119 135 140 +f 135 131 140 +f 123 117 141 +f 117 132 141 +f 132 122 141 +f 122 135 141 +f 135 123 141 +f 115 114 142 +f 114 121 142 +o convex_5 +v 1.073901 -2.557690 1.047460 +v -1.037346 -2.986360 -1.030721 +v -1.037346 -1.963844 -1.030721 +v 1.040835 -3.316220 -1.030721 +v -1.004280 -3.349156 0.948469 +v -1.037346 -1.766060 0.981535 +v 1.040835 -1.765895 -1.030721 +v 1.073901 -3.448295 1.080526 +v 1.040835 -1.765895 1.047460 +v -1.004280 -3.349156 -1.030721 +v -1.037346 -1.766060 -0.997656 +v -0.542393 -2.062983 1.080526 +v 1.073901 -3.415194 0.189611 +v -0.476468 -2.821348 1.080526 +v -0.641384 -3.382093 -0.667825 +v 0.842854 -1.765895 1.080526 +v -1.037346 -2.722373 0.981535 +v -0.707308 -3.382093 0.981535 +v 1.040835 -3.349321 -0.997656 +v 0.710798 -3.448295 0.717629 +v -0.542393 -1.831933 1.080526 +v 0.776930 -3.448295 1.080526 +v -0.905289 -1.766060 -1.030721 +v -1.037346 -2.953259 0.618639 +v -0.872224 -3.349156 0.981535 +v 1.073901 -3.448295 0.750488 +v 1.073901 -2.590627 1.080526 +f 151 158 169 +f 144 145 146 +f 145 144 148 +f 146 145 149 +f 143 149 151 +f 144 146 152 +f 147 144 152 +f 145 148 153 +f 146 149 155 +f 149 143 155 +f 143 150 155 +f 150 154 156 +f 151 149 158 +f 153 148 158 +f 149 153 158 +f 154 150 158 +f 148 144 159 +f 154 148 159 +f 156 154 159 +f 147 152 160 +f 152 157 160 +f 152 146 161 +f 146 155 161 +f 157 152 161 +f 160 157 162 +f 148 154 163 +f 158 148 163 +f 154 158 163 +f 150 156 164 +f 162 150 164 +f 160 162 164 +f 149 145 165 +f 145 153 165 +f 153 149 165 +f 144 147 166 +f 159 144 166 +f 147 159 166 +f 159 147 167 +f 156 159 167 +f 147 160 167 +f 164 156 167 +f 160 164 167 +f 155 150 168 +f 161 155 168 +f 157 161 168 +f 162 157 168 +f 150 162 168 +f 150 143 169 +f 143 151 169 +f 158 150 169 +o convex_6 +v 0.084099 1.170222 -3.009828 +v 0.579078 2.159578 -1.096885 +v -0.509457 2.159578 -1.096885 +v 0.579078 1.038104 -1.096885 +v 0.546064 2.192692 -2.976681 +v -0.608499 2.192692 -2.976681 +v -0.509457 1.203110 -1.096885 +v -0.443428 1.170222 -2.943722 +v 0.447021 1.071218 -3.009828 +v -0.542471 2.192692 -1.525729 +v 0.579078 2.192692 -2.778926 +v 0.546064 1.895682 -3.009828 +v -0.476442 1.170222 -2.613943 +v 0.546064 1.038104 -1.822736 +v -0.476442 2.060688 -3.009828 +v -0.608499 2.060688 -2.976681 +v 0.249169 1.071218 -1.096885 +v -0.542471 2.126577 -1.228909 +v 0.282067 1.071218 -3.009828 +v 0.579078 2.192692 -2.119181 +v -0.608499 2.159578 -2.646902 +v -0.509457 1.434118 -2.976681 +v 0.579078 1.038104 -1.393892 +v 0.480035 1.038104 -1.888654 +v -0.377400 1.170222 -1.096885 +v -0.245460 1.137108 -2.976681 +f 188 193 195 +f 171 172 173 +f 173 172 176 +f 172 171 179 +f 174 175 179 +f 171 173 180 +f 174 179 180 +f 178 170 181 +f 174 180 181 +f 178 181 183 +f 175 174 184 +f 181 170 184 +f 174 181 184 +f 182 176 185 +f 175 184 185 +f 173 176 186 +f 176 172 187 +f 172 179 187 +f 170 178 188 +f 179 171 189 +f 171 180 189 +f 180 179 189 +f 179 175 190 +f 175 185 190 +f 185 176 190 +f 176 187 190 +f 187 179 190 +f 177 182 191 +f 184 170 191 +f 182 185 191 +f 185 184 191 +f 180 173 192 +f 181 180 192 +f 173 183 192 +f 183 181 192 +f 178 183 193 +f 183 173 193 +f 173 186 193 +f 188 178 193 +f 176 182 194 +f 186 176 194 +f 182 186 194 +f 182 177 195 +f 186 182 195 +f 170 188 195 +f 191 170 195 +f 177 191 195 +f 193 186 195 +o convex_7 +v -0.443465 0.576269 -1.096698 +v -1.004166 2.687426 1.080526 +v -0.740332 2.687426 1.047492 +v 1.007836 0.576269 1.014246 +v 1.073901 2.720459 -1.063664 +v -1.070232 0.576269 1.014246 +v -1.103264 2.555505 -0.931744 +v 0.974804 2.621359 0.981425 +v 1.073901 0.576482 -1.030631 +v -1.070232 0.576269 -0.964564 +v -0.608415 2.753492 -0.469915 +v 0.579052 2.753492 0.486350 +v -0.509317 2.159530 -1.096698 +v 0.479954 1.170445 1.080526 +v -1.070232 2.687426 1.080526 +v 0.579052 1.038311 -1.096698 +v 0.447135 2.126496 1.080526 +v 1.073901 2.687212 -0.634656 +v -0.509317 1.104378 1.080526 +v -1.103264 1.434286 -0.535769 +v -1.103264 2.621359 0.255542 +v -0.542350 2.753492 0.552417 +v 1.007836 2.654392 0.651304 +v -1.070232 2.588325 -0.931744 +v 0.579052 0.576269 1.047492 +v 0.809854 2.753492 -0.733756 +v -1.070232 0.741223 1.047492 +v 0.579052 2.159530 -1.096698 +v -1.103264 1.599240 -0.964564 +v 1.007836 1.697701 0.981425 +v -0.542350 0.807290 -1.096698 +v 1.073901 1.071344 -1.063664 +v 0.380857 2.687426 -1.030631 +v 1.073901 0.609516 -0.865677 +v 1.073901 2.720459 -0.733756 +v -1.103264 2.621359 -0.304961 +v 0.512987 2.654392 0.981425 +v 1.007836 0.873357 1.014246 +f 213 225 233 +f 196 199 201 +f 199 196 204 +f 196 201 205 +f 197 198 207 +f 209 197 210 +f 204 196 211 +f 196 208 211 +f 203 197 212 +f 197 209 212 +f 204 200 213 +f 209 210 214 +f 205 201 215 +f 215 201 216 +f 202 215 216 +f 197 207 217 +f 207 206 217 +f 206 210 217 +f 210 197 217 +f 207 203 218 +f 208 202 219 +f 201 199 220 +f 199 209 220 +f 209 214 220 +f 200 206 221 +f 206 207 221 +f 214 210 222 +f 216 201 222 +f 210 216 222 +f 201 220 222 +f 220 214 222 +f 208 200 223 +f 200 211 223 +f 211 208 223 +f 202 208 224 +f 205 215 224 +f 215 202 224 +f 218 203 225 +f 213 218 225 +f 196 205 226 +f 208 196 226 +f 224 208 226 +f 205 224 226 +f 200 204 227 +f 204 211 227 +f 211 200 227 +f 206 200 228 +f 200 208 228 +f 219 206 228 +f 208 219 228 +f 199 204 229 +f 213 199 229 +f 204 213 229 +f 213 200 230 +f 207 218 230 +f 218 213 230 +f 200 221 230 +f 221 207 230 +f 210 206 231 +f 216 210 231 +f 202 216 231 +f 206 219 231 +f 219 202 231 +f 198 197 232 +f 197 203 232 +f 207 198 232 +f 203 207 232 +f 209 199 233 +f 203 212 233 +f 212 209 233 +f 199 213 233 +f 225 203 233 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/960/960.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/960/960.urdf new file mode 100644 index 000000000..725387c0e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/960/960.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/961/961.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/961/961.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/961/961.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/961/961.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/961/961.obj new file mode 100644 index 000000000..6e9ae14d4 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/961/961.obj @@ -0,0 +1,396 @@ +o convex_0 +v -0.327073 -0.055469 -3.081386 +v 0.338814 -0.055469 -2.748531 +v 0.338814 -0.085784 -2.748531 +v -0.357334 -0.116033 -1.053834 +v 0.217700 -0.570102 -2.990717 +v 0.278291 -0.509538 -1.053834 +v -0.327073 -0.448974 -1.053834 +v -0.236289 0.095909 -1.053834 +v -0.236289 -0.479223 -3.112011 +v 0.187439 -0.055469 -1.053834 +v -0.327073 0.095909 -3.081386 +v 0.278291 -0.025220 -3.020940 +v 0.338814 -0.448974 -2.990717 +v -0.357334 0.095909 -1.053834 +v 0.308552 -0.539722 -1.568429 +v -0.327073 -0.448974 -1.628874 +v -0.236289 -0.479223 -1.235373 +v -0.236289 0.095909 -3.081386 +v 0.278291 -0.388410 -1.053834 +v 0.308552 -0.570102 -2.990717 +v -0.296812 -0.297596 -3.112011 +v 0.278291 -0.025220 -2.597014 +v 0.338814 -0.055469 -3.020940 +v 0.066325 -0.509538 -1.053834 +v -0.357334 0.065594 -1.871060 +v -0.084914 0.065594 -1.598651 +v 0.248030 -0.570102 -2.627438 +v 0.217700 -0.055469 -1.295818 +v -0.175698 -0.479223 -3.112011 +v -0.266550 -0.116033 -3.112011 +f 29 21 30 +f 6 4 7 +f 4 6 8 +f 8 6 10 +f 2 3 13 +f 4 8 14 +f 8 11 14 +f 3 2 15 +f 13 3 15 +f 7 4 16 +f 9 7 16 +f 9 5 17 +f 7 9 17 +f 11 8 18 +f 10 6 19 +f 15 2 19 +f 6 15 19 +f 5 9 20 +f 13 15 20 +f 1 11 21 +f 16 1 21 +f 9 16 21 +f 2 12 22 +f 12 2 23 +f 2 13 23 +f 18 12 23 +f 13 20 23 +f 6 7 24 +f 15 6 24 +f 7 17 24 +f 11 1 25 +f 4 14 25 +f 14 11 25 +f 1 16 25 +f 16 4 25 +f 18 8 26 +f 12 18 26 +f 22 12 26 +f 17 5 27 +f 5 20 27 +f 20 15 27 +f 15 24 27 +f 24 17 27 +f 8 10 28 +f 19 2 28 +f 10 19 28 +f 2 22 28 +f 26 8 28 +f 22 26 28 +f 20 9 29 +f 9 21 29 +f 23 20 29 +f 23 29 30 +f 11 18 30 +f 21 11 30 +f 18 23 30 +o convex_1 +v 0.187451 -0.509556 2.185539 +v 0.369155 0.095909 3.063689 +v 0.308564 0.095909 3.063689 +v 0.217780 0.035339 1.126284 +v -0.296800 0.005054 2.912310 +v -0.266538 -0.418701 1.095969 +v -0.236277 -0.418701 3.094003 +v -0.327129 -0.055457 1.095969 +v 0.308564 -0.509556 2.972744 +v 0.187451 -0.479271 1.095969 +v 0.278303 -0.025231 1.156599 +v -0.145425 -0.479271 1.610733 +v -0.175754 0.035339 2.972744 +v -0.327129 -0.176598 1.186913 +v 0.308564 -0.509556 2.730422 +v -0.327129 -0.025231 1.550103 +v 0.157121 -0.509556 2.821366 +v -0.236277 -0.448986 2.397547 +v -0.054641 -0.479271 1.095969 +v 0.248042 0.005054 1.095969 +v 0.278303 0.095909 2.912310 +v -0.266538 -0.055457 3.002863 +v -0.327129 -0.085742 1.792426 +v 0.338826 -0.297620 2.942625 +v 0.278303 0.035339 1.156599 +f 34 51 55 +f 32 33 37 +f 32 37 39 +f 36 38 40 +f 36 37 44 +f 38 36 44 +f 39 31 45 +f 31 40 45 +f 40 41 45 +f 34 38 46 +f 35 43 46 +f 38 44 46 +f 31 39 47 +f 39 37 47 +f 42 31 47 +f 42 47 48 +f 37 36 48 +f 36 42 48 +f 47 37 48 +f 40 31 49 +f 36 40 49 +f 42 36 49 +f 31 42 49 +f 38 34 50 +f 40 38 50 +f 41 40 50 +f 33 32 51 +f 43 33 51 +f 34 46 51 +f 46 43 51 +f 35 37 52 +f 37 33 52 +f 33 43 52 +f 43 35 52 +f 37 35 53 +f 44 37 53 +f 35 46 53 +f 46 44 53 +f 32 39 54 +f 41 32 54 +f 39 45 54 +f 45 41 54 +f 32 41 55 +f 50 34 55 +f 41 50 55 +f 51 32 55 +o convex_2 +v 0.974570 0.912913 1.035375 +v -1.114008 -3.233137 -0.962330 +v -0.599597 -3.172997 -0.992837 +v -1.114008 2.820400 -0.962330 +v -0.962800 -3.355241 1.095969 +v 1.095494 -3.294493 -1.053431 +v 1.065425 2.789418 -0.932033 +v -1.053655 2.698904 1.035165 +v 1.065425 -3.264119 0.944484 +v 0.944285 2.729278 1.065672 +v -0.357318 0.095852 -1.053431 +v 0.338803 2.850774 0.399560 +v 1.095494 2.033106 -0.962540 +v 0.247948 -0.146532 1.095969 +v -1.114008 -1.961682 -0.477999 +v 0.974570 2.729278 1.035375 +v 1.095494 -3.294493 0.066504 +v -1.083940 2.759044 0.490241 +v -0.387603 0.035104 1.095969 +v 0.308518 2.819792 -0.962540 +v 0.187378 -0.056018 -1.053431 +v 0.732291 -3.324867 -0.750462 +v 1.065425 2.789418 -0.478210 +v -0.750806 -3.355241 1.095969 +v -1.053655 1.760347 1.035165 +v -1.023370 -3.324259 0.429647 +v 1.065425 -2.748976 0.944484 +v 0.671721 -3.293885 -1.053431 +v -0.357318 2.850774 0.187482 +v 1.095494 -2.264814 -1.053431 +v 0.792861 -3.293885 0.974781 +v -1.114008 2.789418 -0.447702 +v -1.023370 2.728670 1.035165 +v 0.308518 2.850774 -0.357022 +v -0.932515 2.032498 -0.992837 +v 0.944285 2.759652 1.005078 +v 1.035140 2.820400 -0.811055 +v -0.962800 -2.113552 1.095969 +v -0.993085 -2.688835 0.974571 +v -0.327033 -0.447842 -1.053431 +v -0.417888 -3.355241 0.459944 +v -1.114008 -3.233137 -0.720375 +v 1.034924 -2.264814 0.974781 +v -1.083940 0.973053 0.490241 +v 1.065425 2.245116 -0.962330 +v -1.083940 -3.264119 -0.629484 +v 1.095494 2.033106 -0.901946 +v 0.853431 -3.324259 -0.720165 +v -0.539027 -3.355241 1.004868 +v -1.114008 2.820400 -0.659781 +v 0.187378 -0.448449 1.095969 +v 1.065425 2.517267 -0.387109 +v -0.508742 -3.263511 -0.992837 +v -0.962800 -3.355241 0.793000 +v -0.266463 2.850774 -0.296428 +v 0.853431 2.729278 1.065672 +v 1.065425 -3.294493 0.369263 +v 0.823146 -3.233745 0.974781 +v 0.429658 2.850774 0.217778 +f 91 92 114 +f 56 64 65 +f 56 65 69 +f 59 57 70 +f 61 68 72 +f 60 69 74 +f 69 65 74 +f 61 66 76 +f 66 75 76 +f 68 62 78 +f 69 60 79 +f 60 63 80 +f 63 73 80 +f 65 64 82 +f 71 65 82 +f 64 72 82 +f 66 61 83 +f 61 77 83 +f 68 61 85 +f 61 76 85 +f 59 70 87 +f 73 63 88 +f 63 74 88 +f 67 84 88 +f 84 73 88 +f 75 59 89 +f 84 67 89 +f 57 59 90 +f 66 57 90 +f 59 75 90 +f 75 66 90 +f 65 71 91 +f 71 78 91 +f 67 88 91 +f 62 75 92 +f 78 62 92 +f 75 89 92 +f 91 78 92 +f 63 60 93 +f 60 74 93 +f 74 63 93 +f 60 80 94 +f 81 60 94 +f 58 57 95 +f 57 66 95 +f 83 58 95 +f 66 83 95 +f 79 60 96 +f 70 57 97 +f 81 94 97 +f 64 56 98 +f 56 69 98 +f 80 73 99 +f 87 70 99 +f 73 87 99 +f 94 80 99 +f 70 97 99 +f 97 94 99 +f 62 68 100 +f 75 62 100 +f 76 75 100 +f 68 85 100 +f 85 76 100 +f 97 57 101 +f 81 97 101 +f 72 68 102 +f 68 78 102 +f 82 72 102 +f 61 72 103 +f 77 61 103 +f 96 77 103 +f 96 103 104 +f 86 79 104 +f 79 96 104 +f 84 59 105 +f 73 84 105 +f 59 87 105 +f 87 73 105 +f 69 79 106 +f 98 69 106 +f 78 71 107 +f 71 82 107 +f 102 78 107 +f 82 102 107 +f 57 58 108 +f 58 83 108 +f 83 77 108 +f 101 57 108 +f 77 101 108 +f 60 81 109 +f 77 96 109 +f 96 60 109 +f 101 77 109 +f 81 101 109 +f 59 84 110 +f 89 59 110 +f 84 89 110 +f 74 65 111 +f 88 74 111 +f 65 91 111 +f 91 88 111 +f 72 64 112 +f 64 86 112 +f 103 72 112 +f 104 103 112 +f 86 104 112 +f 86 64 113 +f 79 86 113 +f 64 98 113 +f 106 79 113 +f 98 106 113 +f 89 67 114 +f 67 91 114 +f 92 89 114 +o convex_3 +v -0.357403 3.123491 -0.024135 +v -0.084896 4.787912 0.339070 +v 0.308609 4.818535 -0.236033 +v 0.308609 2.850966 0.339070 +v 0.308609 2.850966 -0.357078 +v -0.357403 4.757674 -0.205771 +v -0.357403 2.850966 0.187695 +v 0.308609 4.697199 0.308809 +v -0.266524 2.850966 -0.296556 +v 0.187480 4.818535 -0.357078 +v -0.206024 4.757674 0.339070 +v 0.157231 2.911634 0.339070 +v -0.357403 4.424675 -0.236033 +v 0.308609 4.818535 -0.357078 +v -0.357403 4.636531 -0.084658 +v -0.236274 3.970724 0.308809 +v 0.126916 2.850966 -0.357078 +v 0.217730 4.727437 0.339070 +v -0.115211 3.486728 -0.326817 +v -0.327088 2.850966 0.217956 +v -0.236274 4.787912 0.217956 +v -0.357403 3.032778 0.187695 +f 125 129 136 +f 117 118 119 +f 120 115 121 +f 119 118 121 +f 118 117 122 +f 121 115 123 +f 119 121 123 +f 118 116 125 +f 118 125 126 +f 115 120 127 +f 123 115 127 +f 120 124 127 +f 117 119 128 +f 124 117 128 +f 119 124 128 +f 120 121 129 +f 125 121 130 +f 126 125 130 +f 119 123 131 +f 124 119 131 +f 117 116 132 +f 116 118 132 +f 122 117 132 +f 118 122 132 +f 123 127 133 +f 127 124 133 +f 131 123 133 +f 124 131 133 +f 121 118 134 +f 118 126 134 +f 130 121 134 +f 126 130 134 +f 116 117 135 +f 117 124 135 +f 124 120 135 +f 125 116 135 +f 120 129 135 +f 129 125 135 +f 121 125 136 +f 129 121 136 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/961/961.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/961/961.urdf new file mode 100644 index 000000000..91f1f0cc9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/961/961.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/962/962.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/962/962.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/962/962.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/962/962.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/962/962.obj new file mode 100644 index 000000000..4d76cadfd --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/962/962.obj @@ -0,0 +1,495 @@ +o convex_0 +v 1.080857 -2.134200 1.057209 +v -0.141404 -1.750076 -1.038424 +v -0.141404 -1.295820 -1.038424 +v -1.014567 -1.295820 0.952181 +v -0.944705 -3.146687 -1.003141 +v -0.979532 -3.111903 0.952181 +v 1.046030 -3.181658 -1.038424 +v 1.010995 -1.295820 -0.933602 +v 1.010995 -3.216442 1.057209 +v 1.115892 -1.295820 1.022132 +v -1.014567 -1.295820 -1.003141 +v 0.975960 -1.295820 -1.038424 +v 0.696515 -3.216442 1.057209 +v 0.207694 -3.181658 -1.038424 +v -0.979532 -2.972016 -1.003141 +v -1.014567 -2.169172 0.952181 +v 1.115892 -1.505651 0.637918 +v 0.382452 -1.295820 1.022132 +v -0.769948 -3.041960 0.987259 +v 0.941134 -3.216442 -0.164970 +v -0.281127 -3.181658 -0.164970 +v -1.014567 -1.645161 -1.003141 +v 1.046030 -1.645161 1.057209 +v -0.350988 -1.365952 -1.038219 +v -0.979532 -3.111903 -0.688878 +v 1.115892 -1.610377 0.882436 +v -0.490711 -1.680321 0.987259 +v -0.944705 -3.146687 -0.479233 +v -0.490711 -3.146687 0.987259 +v 0.557001 -3.216442 0.707869 +v 0.696515 -3.006988 1.057209 +v 1.010995 -1.540622 -1.038424 +v -0.176231 -3.181658 -0.549388 +v 1.046030 -2.727591 1.022132 +v -1.014567 -1.994502 -0.164970 +f 22 25 35 +f 2 3 7 +f 3 4 8 +f 8 4 10 +f 4 3 11 +f 7 3 12 +f 3 8 12 +f 9 1 13 +f 2 7 14 +f 4 11 16 +f 8 10 17 +f 10 4 18 +f 4 16 19 +f 16 6 19 +f 7 9 20 +f 9 13 20 +f 14 7 20 +f 16 11 22 +f 1 10 23 +f 13 1 23 +f 10 18 23 +f 3 2 24 +f 11 3 24 +f 2 14 24 +f 14 5 24 +f 5 15 24 +f 22 11 24 +f 15 22 24 +f 5 6 25 +f 15 5 25 +f 6 16 25 +f 22 15 25 +f 10 1 26 +f 7 17 26 +f 17 10 26 +f 18 4 27 +f 4 19 27 +f 23 18 27 +f 6 5 28 +f 5 21 28 +f 28 21 29 +f 13 19 29 +f 19 6 29 +f 6 28 29 +f 20 13 30 +f 29 21 30 +f 13 29 30 +f 19 13 31 +f 13 23 31 +f 27 19 31 +f 23 27 31 +f 7 12 32 +f 12 8 32 +f 17 7 32 +f 8 17 32 +f 5 14 33 +f 14 20 33 +f 21 5 33 +f 20 30 33 +f 30 21 33 +f 1 9 34 +f 9 7 34 +f 26 1 34 +f 7 26 34 +f 16 22 35 +f 25 16 35 +o convex_1 +v 0.871232 2.022252 1.022029 +v -0.246165 1.673035 -1.108067 +v -0.246165 1.708112 -1.108067 +v -1.084428 2.650922 0.952093 +v -0.979537 0.939522 0.987273 +v 1.080798 2.895296 -1.108067 +v 1.115905 0.939522 -1.073098 +v -1.084428 2.860413 -1.038130 +v -1.084428 0.939522 -1.073310 +v 1.011015 2.860218 1.056997 +v 0.941231 0.939522 0.952093 +v -0.281057 2.930374 0.288544 +v -1.084428 2.755375 0.952093 +v 1.045906 2.545884 0.847400 +v 1.115905 1.009482 -0.688872 +v 0.242750 2.930374 -0.549210 +v -1.014429 1.079248 0.952093 +v 1.080798 2.895296 -0.619147 +v 0.521884 2.895296 -1.108067 +v 0.277642 2.930374 0.218819 +v 0.731450 2.650922 1.056997 +v 0.976123 1.254052 0.952093 +v -1.084428 1.987175 -1.073310 +v -0.420839 2.930374 -0.409549 +v -1.084428 0.939522 -0.793776 +v 1.080798 2.092018 -1.108067 +v 1.115905 1.708112 -1.038130 +v -0.455731 0.939522 0.987273 +v -1.084428 2.860413 -0.793776 +v 1.045906 2.825531 0.777463 +v -0.979537 1.184091 0.987273 +v -0.525514 2.825531 -1.073310 +v 1.011015 2.650727 1.056997 +v 0.207643 2.825531 1.022029 +v 0.976123 0.939522 0.777463 +v -0.176166 1.638152 1.022029 +f 63 68 71 +f 37 38 41 +f 38 37 44 +f 42 40 44 +f 37 42 44 +f 39 43 44 +f 40 42 46 +f 39 40 48 +f 43 39 48 +f 40 39 52 +f 41 38 54 +f 51 41 54 +f 47 45 55 +f 41 51 55 +f 51 47 55 +f 45 53 55 +f 53 41 55 +f 50 49 57 +f 38 44 58 +f 44 43 58 +f 54 38 58 +f 47 51 59 +f 54 43 59 +f 51 54 59 +f 39 44 60 +f 44 40 60 +f 52 39 60 +f 40 52 60 +f 37 41 61 +f 42 37 61 +f 41 42 61 +f 42 41 62 +f 50 42 62 +f 41 53 62 +f 46 36 63 +f 40 46 63 +f 48 47 64 +f 43 48 64 +f 59 43 64 +f 47 59 64 +f 45 49 65 +f 49 50 65 +f 53 45 65 +f 50 62 65 +f 62 53 65 +f 48 40 66 +f 56 48 66 +f 43 54 67 +f 58 43 67 +f 54 58 67 +f 36 46 68 +f 49 45 68 +f 45 56 68 +f 46 57 68 +f 57 49 68 +f 63 36 68 +f 45 47 69 +f 47 48 69 +f 56 45 69 +f 48 56 69 +f 46 42 70 +f 42 50 70 +f 57 46 70 +f 50 57 70 +f 40 63 71 +f 66 40 71 +f 56 66 71 +f 68 56 71 +o convex_2 +v 0.312483 4.816444 -0.095345 +v -0.316111 4.012796 0.253805 +v -0.316111 4.012796 0.288745 +v 0.347424 2.930374 -0.095345 +v -0.246229 2.930374 -0.235043 +v 0.172788 4.781366 -0.374742 +v 0.207729 2.965451 0.253805 +v 0.382434 4.816444 0.288745 +v -0.246229 4.781366 -0.200102 +v -0.281170 2.930374 0.288745 +v -0.316111 4.746473 0.288745 +v 0.347424 2.930374 -0.200102 +v 0.312483 3.244965 0.253805 +v 0.242602 4.676687 -0.374742 +v -0.281170 2.930374 -0.095345 +v -0.246229 4.222339 -0.235043 +v 0.033161 2.930374 -0.235043 +v 0.312483 4.117660 0.288745 +v 0.277542 2.930374 0.218864 +v 0.347424 3.244965 -0.200102 +v -0.316111 4.746473 0.218864 +v 0.172788 4.816444 0.288745 +v -0.281170 3.803807 -0.095345 +f 86 92 94 +f 72 77 80 +f 74 73 81 +f 76 75 81 +f 79 74 81 +f 73 74 82 +f 74 79 82 +f 75 76 83 +f 79 75 83 +f 75 79 84 +f 77 72 85 +f 76 77 85 +f 81 73 86 +f 76 81 86 +f 77 76 87 +f 80 77 87 +f 76 86 87 +f 83 76 88 +f 76 85 88 +f 85 83 88 +f 81 78 89 +f 79 81 89 +f 78 84 89 +f 84 79 89 +f 81 75 90 +f 78 81 90 +f 75 84 90 +f 84 78 90 +f 72 79 91 +f 79 83 91 +f 85 72 91 +f 83 85 91 +f 73 82 92 +f 82 80 92 +f 86 73 92 +f 79 72 93 +f 72 80 93 +f 82 79 93 +f 80 82 93 +f 80 87 94 +f 87 86 94 +f 92 80 94 +o convex_3 +v -1.468778 0.869657 1.021974 +v -3.075163 -1.191039 0.009393 +v -2.970464 -1.191039 0.009393 +v -1.259379 0.939522 -1.073351 +v -1.049583 -1.191039 0.952236 +v -3.075163 0.939522 1.092137 +v -1.049583 -1.120965 -1.003189 +v -3.005364 0.834621 -0.968214 +v -3.040264 -1.191039 1.021974 +v -3.075163 -1.155793 -0.933451 +v -1.049583 0.869657 0.987211 +v -1.049583 0.939522 -1.073351 +v -3.075163 0.171010 1.092137 +v -1.503678 0.764756 -1.073351 +v -3.040264 0.380604 -0.968214 +v -1.084681 -0.771850 -1.038164 +v -2.725966 0.939522 1.092137 +v -2.935564 0.729928 -1.003401 +v -3.075163 0.939522 0.847523 +v -1.643476 -1.191039 0.288557 +v -3.005364 -0.981444 1.056949 +v -1.049583 0.939522 -0.758788 +v -2.376770 -1.155793 -0.933451 +v -3.075163 -0.597084 -0.933451 +v -3.040264 0.869657 -0.444436 +v -1.643476 -1.191039 0.987211 +v -2.656167 0.869657 1.092137 +v -3.075163 -1.155793 0.498196 +v -1.713474 0.904277 1.021974 +v -2.656167 -0.806678 -0.968214 +v -1.049583 0.310740 0.987211 +v -1.084681 0.205838 -1.073351 +v -1.573676 -1.120965 -1.003401 +v -1.049583 -1.191039 0.637884 +v -3.075163 -0.387699 1.056949 +v -3.005364 0.171010 1.092137 +v -3.075163 0.729928 0.463221 +v -2.935564 0.834621 -1.003401 +f 112 109 132 +f 96 97 99 +f 96 99 103 +f 97 96 104 +f 96 100 104 +f 99 101 105 +f 105 101 106 +f 98 100 106 +f 100 96 107 +f 98 106 108 +f 95 105 111 +f 106 100 111 +f 100 107 111 +f 104 109 112 +f 100 98 113 +f 104 100 113 +f 99 97 114 +f 105 106 116 +f 106 111 116 +f 97 104 117 +f 114 97 117 +f 101 114 117 +f 109 104 118 +f 104 113 118 +f 98 102 119 +f 102 109 119 +f 113 98 119 +f 103 99 120 +f 115 103 120 +f 95 111 121 +f 111 107 121 +f 96 103 122 +f 107 96 122 +f 111 105 123 +f 105 116 123 +f 116 111 123 +f 112 108 124 +f 104 112 124 +f 105 95 125 +f 99 105 125 +f 120 99 125 +f 121 120 125 +f 95 121 125 +f 106 101 126 +f 108 106 126 +f 101 110 126 +f 110 124 126 +f 124 108 126 +f 110 101 127 +f 117 104 127 +f 101 117 127 +f 104 124 127 +f 124 110 127 +f 101 99 128 +f 99 114 128 +f 114 101 128 +f 103 115 129 +f 115 107 129 +f 122 103 129 +f 107 122 129 +f 107 115 130 +f 115 120 130 +f 120 121 130 +f 121 107 130 +f 109 118 131 +f 118 113 131 +f 113 119 131 +f 119 109 131 +f 102 98 132 +f 98 108 132 +f 109 102 132 +f 108 112 132 +o convex_4 +v 1.779218 -1.295820 1.057161 +v 1.115652 0.939522 -0.758788 +v 1.115652 0.939522 -1.073139 +v -1.049583 -1.191011 0.637884 +v 3.001791 -1.190792 -1.038376 +v 3.001791 0.799704 1.091924 +v -0.979605 0.939522 0.987211 +v -1.014594 -1.295820 -1.003189 +v -1.049583 0.939522 -1.073139 +v 2.931813 0.834713 -0.968426 +v 3.106757 -1.260811 1.091924 +v -1.014594 -1.295820 0.952236 +v 0.976511 -1.295820 -1.038164 +v 0.941522 0.939522 0.917473 +v -1.049583 0.869503 0.987211 +v 2.966802 0.834713 -0.863501 +v 1.220618 -1.295820 1.057161 +v -1.049583 0.205859 -1.073139 +v 3.106757 -1.260811 0.812548 +v -1.049583 -0.806784 -1.038164 +v 3.036779 -1.120993 -0.793763 +v 2.687299 0.520067 1.091924 +v 2.966802 0.834713 0.044156 +v 3.001791 -0.841575 -1.038376 +v 3.036779 0.345677 1.022186 +v -0.385610 -1.295820 -1.038164 +v -1.049583 0.380686 0.987211 +v 1.080663 0.345677 -1.073139 +v 2.512762 -1.260811 1.091924 +v 3.106757 -1.051193 0.917261 +v -0.385610 -1.295820 0.987211 +v -1.049583 -1.120993 -0.968426 +v -1.049583 -1.191011 0.952236 +v 2.966802 0.764695 -0.968426 +v 3.036779 -1.225583 -0.235009 +v 2.966802 0.101050 -1.003189 +v 3.001791 0.799704 0.533171 +v 0.836556 0.939522 0.952236 +f 146 139 170 +f 134 135 139 +f 139 135 141 +f 136 140 144 +f 140 133 144 +f 133 140 145 +f 134 139 146 +f 139 141 147 +f 141 136 147 +f 135 134 148 +f 142 135 148 +f 133 143 149 +f 144 133 149 +f 141 135 150 +f 136 141 150 +f 137 145 150 +f 143 133 151 +f 133 145 151 +f 136 150 152 +f 151 137 153 +f 138 139 154 +f 143 138 154 +f 139 147 154 +f 147 149 154 +f 146 138 155 +f 134 146 155 +f 148 134 155 +f 138 148 155 +f 137 135 156 +f 153 137 156 +f 138 143 157 +f 145 140 158 +f 150 145 158 +f 140 152 158 +f 152 150 158 +f 147 136 159 +f 149 147 159 +f 135 137 160 +f 150 135 160 +f 137 150 160 +f 149 143 161 +f 143 154 161 +f 154 149 161 +f 143 151 162 +f 151 153 162 +f 157 143 162 +f 144 149 163 +f 159 144 163 +f 149 159 163 +f 140 136 164 +f 136 152 164 +f 152 140 164 +f 136 144 165 +f 159 136 165 +f 144 159 165 +f 142 148 166 +f 153 156 166 +f 148 162 166 +f 162 153 166 +f 145 137 167 +f 137 151 167 +f 151 145 167 +f 135 142 168 +f 156 135 168 +f 142 166 168 +f 166 156 168 +f 148 138 169 +f 138 157 169 +f 162 148 169 +f 157 162 169 +f 139 138 170 +f 138 146 170 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/962/962.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/962/962.urdf new file mode 100644 index 000000000..d084aac34 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/962/962.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/963/963.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/963/963.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/963/963.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/963/963.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/963/963.obj new file mode 100644 index 000000000..f2908861f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/963/963.obj @@ -0,0 +1,285 @@ +o convex_0 +v 0.958349 -3.604366 -0.685100 +v -1.112976 1.455092 -0.951413 +v -1.112976 1.455092 -0.921867 +v 1.017511 2.490353 0.676013 +v -0.935275 -3.485704 0.912583 +v -0.994437 2.550289 1.001617 +v 1.076888 -3.634636 0.942327 +v 0.928767 2.520624 -0.951413 +v -0.964856 -3.515975 -0.980960 +v -1.112976 2.520018 -0.951413 +v 0.928767 -3.604366 -1.010703 +v 1.017511 2.490353 1.001617 +v -0.521138 -3.634636 0.587177 +v -0.964856 -2.953544 0.942327 +v -1.024018 -3.515975 -0.536973 +v -1.024018 2.283301 -0.980960 +v -0.964856 0.715274 1.001617 +v 0.958349 2.017523 -0.803483 +v 0.248186 -1.622235 -1.010703 +v 0.751280 2.550289 -0.122730 +v 0.928767 1.277100 -0.980960 +v -1.053599 2.550289 0.232026 +v -1.053599 -2.627830 -0.951413 +v 1.017511 1.424821 1.001617 +v 1.076888 -3.486310 0.853490 +v -0.994437 -3.545640 -0.862576 +v 0.721699 2.550289 0.734909 +v -0.935275 -3.308923 0.942327 +v -0.521138 2.550289 -0.536973 +v 0.603375 -3.604971 -1.010703 +v -1.112976 2.372297 -0.714646 +v -0.964856 -3.456644 0.853490 +v -0.521138 -3.634636 0.350410 +v -0.994437 1.277100 1.001617 +v 0.928767 -1.947343 -1.010703 +v 0.129862 -3.575305 0.942327 +v 1.047092 -3.634636 0.468793 +v 0.958349 2.520624 0.942327 +v 1.047092 0.330230 0.971873 +v 0.277767 -3.575305 -1.010703 +v -1.024018 -3.515975 -0.951413 +v 0.958349 2.520624 -0.685100 +v 0.455469 2.550289 -0.566716 +v 1.047092 -1.237191 0.971873 +v -0.905694 -3.515975 0.823943 +v 0.958349 -2.894213 -0.714646 +v -0.106788 2.550289 1.001617 +v -1.024018 -0.025149 -0.980960 +v -1.053599 2.550289 -0.241113 +v -0.402599 -3.634636 0.646270 +v -0.787369 -3.515975 0.912583 +v 0.958349 1.661539 -0.803483 +v -0.669044 2.135579 -0.980960 +v -1.024018 2.431022 0.676013 +v -0.816950 -3.545640 -0.980960 +v 0.987930 2.520624 0.528083 +v 0.928767 -3.634636 0.942327 +v -1.053599 2.490353 0.232026 +v 0.248186 -2.923878 -1.010703 +f 9 48 59 +f 2 3 10 +f 10 8 16 +f 2 10 16 +f 12 6 17 +f 8 18 21 +f 6 20 22 +f 3 2 23 +f 15 3 23 +f 7 12 24 +f 12 17 24 +f 18 4 25 +f 20 6 27 +f 14 5 28 +f 17 14 28 +f 22 20 29 +f 19 11 30 +f 10 3 31 +f 22 10 31 +f 5 14 32 +f 3 15 32 +f 15 5 32 +f 31 3 32 +f 14 31 32 +f 7 13 33 +f 13 26 33 +f 26 30 33 +f 17 6 34 +f 14 17 34 +f 18 11 35 +f 11 19 35 +f 21 18 35 +f 28 5 36 +f 17 28 36 +f 11 1 37 +f 25 7 37 +f 30 11 37 +f 7 33 37 +f 33 30 37 +f 4 12 39 +f 12 7 39 +f 7 25 39 +f 25 4 39 +f 19 30 40 +f 23 9 41 +f 15 23 41 +f 26 15 41 +f 4 18 42 +f 18 8 42 +f 8 20 42 +f 8 10 43 +f 20 8 43 +f 10 29 43 +f 29 20 43 +f 17 7 44 +f 7 24 44 +f 24 17 44 +f 5 15 45 +f 26 13 45 +f 15 26 45 +f 1 11 46 +f 37 1 46 +f 25 37 46 +f 6 12 47 +f 27 6 47 +f 12 38 47 +f 38 27 47 +f 2 16 48 +f 16 19 48 +f 23 2 48 +f 9 23 48 +f 10 22 49 +f 29 10 49 +f 22 29 49 +f 13 7 50 +f 36 5 51 +f 5 45 51 +f 45 13 51 +f 13 50 51 +f 50 36 51 +f 11 18 52 +f 18 25 52 +f 46 11 52 +f 25 46 52 +f 16 8 53 +f 19 16 53 +f 8 21 53 +f 35 19 53 +f 21 35 53 +f 6 22 54 +f 34 6 54 +f 30 26 55 +f 9 40 55 +f 40 30 55 +f 41 9 55 +f 26 41 55 +f 12 4 56 +f 20 27 56 +f 38 12 56 +f 27 38 56 +f 4 42 56 +f 42 20 56 +f 7 17 57 +f 17 36 57 +f 50 7 57 +f 36 50 57 +f 31 14 58 +f 22 31 58 +f 14 34 58 +f 54 22 58 +f 34 54 58 +f 40 9 59 +f 19 40 59 +f 48 19 59 +o convex_1 +v 0.307391 2.964967 -0.566809 +v -0.077270 3.763350 0.587316 +v -0.106755 3.763350 0.587316 +v -0.284343 4.503423 -0.418816 +v -0.521014 2.550289 -0.537211 +v 0.603258 2.550289 0.587316 +v 0.573773 4.503423 0.468921 +v -0.491416 2.550289 0.528118 +v -0.550612 4.503423 0.557717 +v 0.544175 4.384698 -0.507612 +v 0.455381 2.550289 -0.566809 +v -0.461818 4.444156 -0.418816 +v 0.603258 3.852251 0.528118 +v -0.521014 2.757532 -0.537211 +v -0.521014 2.816799 0.528118 +v 0.484979 2.816799 -0.566809 +v 0.573773 4.444156 -0.122828 +v -0.313828 4.444156 -0.448414 +v 0.188999 2.550289 0.587316 +v 0.425783 4.503423 0.498519 +v 0.544175 4.118570 -0.507612 +v 0.603258 2.994409 0.587316 +v -0.521014 3.852251 0.557717 +v -0.106755 2.579923 -0.566809 +v 0.366587 4.266356 -0.507612 +v -0.461818 4.503423 -0.389217 +v 0.573773 4.503423 0.291328 +v 0.603258 2.550289 0.557717 +v -0.343539 4.503423 0.557717 +v -0.491416 3.704275 -0.478013 +v -0.521014 2.550289 0.024940 +v 0.544175 4.414331 -0.418816 +v -0.550612 4.503423 0.528118 +v -0.254632 3.083118 -0.537211 +v -0.521014 2.935333 -0.507612 +v 0.603258 3.911518 0.468921 +v -0.550612 4.414331 0.557717 +v 0.484979 2.550289 -0.418816 +f 75 87 97 +f 61 62 65 +f 64 65 67 +f 62 61 68 +f 66 63 68 +f 65 64 70 +f 60 69 75 +f 70 60 75 +f 63 69 77 +f 65 62 78 +f 67 65 78 +f 66 68 79 +f 72 66 79 +f 75 69 80 +f 69 76 80 +f 61 65 81 +f 65 72 81 +f 72 79 81 +f 74 67 82 +f 78 62 82 +f 67 78 82 +f 60 70 83 +f 70 64 83 +f 64 73 83 +f 69 60 84 +f 77 69 84 +f 68 63 85 +f 63 77 85 +f 77 71 85 +f 63 66 86 +f 65 70 87 +f 72 65 87 +f 75 80 87 +f 80 76 87 +f 68 61 88 +f 79 68 88 +f 61 81 88 +f 81 79 88 +f 71 77 89 +f 77 73 89 +f 64 67 90 +f 67 74 90 +f 69 63 91 +f 76 69 91 +f 63 86 91 +f 86 76 91 +f 73 64 92 +f 68 85 92 +f 85 71 92 +f 71 89 92 +f 73 77 93 +f 60 83 93 +f 83 73 93 +f 84 60 93 +f 77 84 93 +f 89 73 94 +f 73 92 94 +f 92 89 94 +f 66 72 95 +f 86 66 95 +f 76 86 95 +f 72 87 95 +f 87 76 95 +f 62 68 96 +f 82 62 96 +f 74 82 96 +f 64 90 96 +f 90 74 96 +f 92 64 96 +f 68 92 96 +f 70 75 97 +f 87 70 97 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/963/963.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/963/963.urdf new file mode 100644 index 000000000..bca38ae1f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/963/963.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/964/964.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/964/964.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/964/964.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/964/964.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/964/964.obj new file mode 100644 index 000000000..2cec7506b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/964/964.obj @@ -0,0 +1,507 @@ +o convex_0 +v -0.155646 0.573056 1.054570 +v -1.088021 -3.652846 0.246386 +v -1.056920 -3.715024 -1.027222 +v 0.994000 -3.683935 0.930250 +v 1.056202 0.822213 -0.933930 +v -1.088021 0.821769 -1.058457 +v 0.994000 -3.621313 -0.996194 +v -1.088021 0.821769 1.054777 +v 1.149505 0.822213 0.588318 +v -1.088021 -3.621757 0.961278 +v 0.994000 0.822213 0.930250 +v 1.025101 -3.217598 -0.996194 +v -0.963617 -3.186509 0.992306 +v 1.056202 0.573056 -0.964959 +v 0.745410 -3.652402 0.961485 +v 0.123826 0.821769 1.054570 +v -0.093443 -3.683935 -1.027222 +v -0.839213 0.821769 -1.058457 +v -1.088021 -0.731800 -1.058457 +v -1.088021 -3.652846 0.743666 +v 1.025101 -2.005566 -0.996194 +v 1.056202 -0.763333 -0.964959 +v -1.056920 -3.715024 -0.654262 +v 1.025101 -2.906707 0.868193 +v 1.149505 0.790680 0.495233 +v -1.088021 0.449144 1.054777 +v -0.715027 -3.715024 -1.027222 +v -1.025819 -1.291848 -1.058457 +v -0.031241 -3.652402 -1.027222 +v -0.621724 -3.652846 0.961278 +v -1.088021 -3.186509 0.992306 +f 30 15 31 +f 6 2 8 +f 8 2 10 +f 5 6 11 +f 6 8 11 +f 9 5 11 +f 4 7 12 +f 1 13 15 +f 4 11 16 +f 11 8 16 +f 15 4 16 +f 1 15 16 +f 7 4 17 +f 6 5 18 +f 5 14 18 +f 3 2 19 +f 2 6 19 +f 6 18 19 +f 2 3 20 +f 10 2 20 +f 14 12 21 +f 12 18 21 +f 18 14 21 +f 12 14 22 +f 20 3 23 +f 11 4 24 +f 9 11 24 +f 4 12 24 +f 24 12 25 +f 5 9 25 +f 14 5 25 +f 12 22 25 +f 22 14 25 +f 9 24 25 +f 8 10 26 +f 13 1 26 +f 1 16 26 +f 16 8 26 +f 17 4 27 +f 23 3 27 +f 4 23 27 +f 3 19 28 +f 19 18 28 +f 17 27 28 +f 27 3 28 +f 12 7 29 +f 7 17 29 +f 18 12 29 +f 17 28 29 +f 28 18 29 +f 4 15 30 +f 10 20 30 +f 23 4 30 +f 20 23 30 +f 15 13 31 +f 26 10 31 +f 13 26 31 +f 10 30 31 +o convex_1 +v 0.248227 1.443643 -3.016306 +v 0.341519 1.132995 -1.089534 +v 0.217175 1.723445 -1.120842 +v -0.342174 1.101906 -1.928631 +v -0.342174 1.692356 -2.922948 +v -0.311055 1.599089 -1.089534 +v -0.311055 1.132995 -2.984998 +v 0.341519 1.692356 -3.016306 +v 0.186122 1.164084 -2.984998 +v -0.311055 1.101906 -1.089534 +v 0.310400 1.101906 -1.618190 +v 0.341519 1.567939 -3.016306 +v 0.341519 1.692356 -2.643249 +v 0.155003 1.723445 -1.089534 +v -0.342174 1.257291 -2.984998 +v -0.311055 1.692356 -2.425789 +v 0.341519 1.101906 -1.089534 +v -0.342174 1.412675 -1.959939 +f 35 37 49 +f 36 34 39 +f 38 32 40 +f 33 37 41 +f 37 35 41 +f 35 38 42 +f 38 40 42 +f 41 35 42 +f 39 33 43 +f 32 39 43 +f 40 32 43 +f 42 40 43 +f 34 33 44 +f 33 39 44 +f 39 34 44 +f 33 34 45 +f 34 36 45 +f 37 33 45 +f 35 36 46 +f 32 38 46 +f 38 35 46 +f 36 39 46 +f 39 32 46 +f 36 37 47 +f 45 36 47 +f 37 45 47 +f 33 41 48 +f 41 42 48 +f 43 33 48 +f 42 43 48 +f 36 35 49 +f 37 36 49 +o convex_2 +v 0.248197 1.630147 1.955942 +v 0.123907 1.039752 1.085854 +v 0.030722 1.070862 1.085854 +v -0.311042 1.101973 2.297855 +v -0.373187 1.630147 1.085854 +v -0.311042 1.692368 2.297855 +v 0.217157 1.070862 2.297855 +v 0.279301 1.630147 1.085854 +v -0.248898 1.195176 1.085854 +v 0.248197 1.599037 2.266654 +v 0.186052 1.039752 1.085854 +v -0.342083 1.692368 1.893776 +v 0.279301 1.474723 1.085854 +v -0.311042 1.101973 2.080274 +v -0.217793 1.692368 2.297855 +v -0.373187 1.568054 1.085854 +v 0.279301 1.630147 1.614265 +f 57 64 66 +f 51 52 54 +f 53 51 56 +f 55 53 56 +f 51 54 57 +f 54 52 58 +f 56 51 60 +f 51 57 60 +f 53 55 61 +f 57 54 61 +f 56 60 62 +f 60 57 62 +f 52 51 63 +f 51 53 63 +f 58 52 63 +f 55 56 64 +f 59 50 64 +f 56 59 64 +f 61 55 64 +f 57 61 64 +f 54 58 65 +f 53 61 65 +f 61 54 65 +f 63 53 65 +f 58 63 65 +f 50 59 66 +f 59 56 66 +f 56 62 66 +f 62 57 66 +f 64 50 66 +o convex_3 +v -0.062481 1.692259 3.074703 +v -0.342174 1.039822 2.857168 +v -0.342174 1.070953 2.484369 +v 0.217211 1.102015 2.297931 +v -0.311073 1.723320 2.329030 +v 0.217211 1.102015 3.074703 +v 0.217211 1.599073 2.297931 +v -0.279971 1.754452 3.074703 +v 0.186110 1.599073 3.043605 +v -0.311073 1.102015 2.297931 +v -0.342174 1.226332 2.981485 +v -0.217824 1.754452 2.919288 +v 0.217211 1.599073 2.888266 +v -0.279971 1.039822 2.950387 +v -0.311073 1.692259 2.297931 +v -0.342174 1.381641 2.981485 +f 77 74 82 +f 68 69 70 +f 72 70 73 +f 72 67 74 +f 67 72 75 +f 70 69 76 +f 73 70 76 +f 69 68 77 +f 72 74 77 +f 73 71 78 +f 71 74 78 +f 74 67 78 +f 72 73 79 +f 67 75 79 +f 75 72 79 +f 73 78 79 +f 78 67 79 +f 68 70 80 +f 70 72 80 +f 77 68 80 +f 72 77 80 +f 69 71 81 +f 71 73 81 +f 76 69 81 +f 73 76 81 +f 71 69 82 +f 74 71 82 +f 69 77 82 +o convex_4 +v -1.119098 0.977695 0.588622 +v -2.952275 1.381535 -0.530149 +v -2.983619 0.946597 -0.374642 +v -3.014575 1.474775 0.495318 +v -1.119098 1.474775 -0.436735 +v -1.119098 0.915499 -0.436735 +v -3.108024 0.946597 0.433225 +v -1.119098 1.474775 0.495318 +v -2.952275 1.474775 -0.530149 +v -2.952275 0.946597 -0.467946 +v -1.802840 0.946597 0.557521 +v -1.119098 0.915499 -0.001646 +v -2.020695 0.915499 -0.436735 +v -1.181593 1.133022 0.588622 +v -3.045530 1.412578 0.495318 +v -3.108024 0.977695 0.308929 +v -1.119098 1.443676 0.526419 +v -2.765959 1.443676 -0.530149 +v -3.045530 1.288295 0.495318 +v -1.430209 1.008739 0.588622 +f 101 93 102 +f 87 83 88 +f 83 87 90 +f 87 86 90 +f 84 85 91 +f 86 87 91 +f 85 84 92 +f 84 88 92 +f 93 89 94 +f 88 83 94 +f 83 93 94 +f 88 94 95 +f 89 85 95 +f 85 92 95 +f 92 88 95 +f 94 89 95 +f 86 91 97 +f 89 97 98 +f 85 89 98 +f 91 85 98 +f 97 91 98 +f 83 90 99 +f 90 86 99 +f 96 83 99 +f 86 96 99 +f 88 84 100 +f 87 88 100 +f 84 91 100 +f 91 87 100 +f 89 93 101 +f 97 89 101 +f 97 101 102 +f 93 83 102 +f 83 96 102 +f 96 86 102 +f 86 97 102 +o convex_5 +v -1.119284 1.909864 0.153490 +v -2.921279 1.630251 -0.561226 +v -2.921279 1.847716 -0.561226 +v -2.921279 1.940938 0.588622 +v -1.119284 1.474881 0.495315 +v -3.014793 1.474881 0.495315 +v -1.119284 1.474881 -0.436742 +v -1.119284 1.940938 -0.467919 +v -2.952451 1.474881 -0.530048 +v -1.150455 1.909864 0.464138 +v -2.921279 2.003086 0.433185 +v -1.616540 1.940938 -0.498984 +v -2.641666 2.003086 0.557445 +v -2.921279 1.878790 -0.498984 +v -3.014793 1.505955 0.526380 +v -1.989481 1.847716 -0.530048 +v -3.014793 1.599177 0.464138 +v -1.119284 1.940938 -0.188223 +v -2.828137 2.003086 0.588622 +v -2.952451 1.972012 0.557445 +f 121 113 122 +f 103 107 109 +f 107 108 109 +f 103 109 110 +f 105 104 111 +f 104 109 111 +f 109 108 111 +f 107 103 112 +f 113 110 114 +f 110 113 115 +f 114 105 116 +f 113 114 116 +f 107 106 117 +f 108 107 117 +f 104 105 118 +f 109 104 118 +f 110 109 118 +f 105 114 118 +f 114 110 118 +f 105 111 119 +f 111 108 119 +f 116 105 119 +f 108 117 119 +f 103 110 120 +f 112 103 120 +f 115 112 120 +f 110 115 120 +f 106 107 121 +f 107 112 121 +f 112 115 121 +f 115 113 121 +f 113 116 122 +f 117 106 122 +f 116 119 122 +f 119 117 122 +f 106 121 122 +o convex_6 +v 0.745468 2.407065 0.961284 +v -1.056896 2.375790 -1.089534 +v -1.087781 0.822529 -1.058232 +v 1.056049 0.822368 -0.933876 +v -1.087781 0.822529 1.054551 +v -1.119098 2.469292 1.085854 +v 1.087366 2.407065 -0.934089 +v 0.994063 0.822368 0.930195 +v 1.087366 2.065138 0.650606 +v 0.341367 1.071116 -1.089534 +v 0.217178 1.164295 1.085854 +v -1.087781 2.469292 -1.058232 +v 0.994063 2.407065 0.930195 +v 1.087366 0.822368 0.588214 +v -1.119098 0.915709 -0.436662 +v -0.590592 2.469292 1.054551 +v 0.186077 1.723211 -1.089534 +v 0.279165 1.630354 1.085854 +v -1.119098 1.040002 1.054551 +v -0.746099 2.469292 -1.058232 +v 1.087366 0.884434 -0.529930 +v -1.119098 1.940845 -0.467964 +v 0.123874 0.822529 1.054551 +v 0.341367 2.438018 -0.964965 +v -0.310896 1.102068 -1.089534 +v 0.341367 2.438018 0.961284 +v -0.248694 1.195409 1.085854 +v -1.119098 2.469292 0.308625 +v 1.087366 1.692420 -0.934089 +v -0.590592 2.438018 -1.058232 +v 0.186077 1.040002 1.085854 +f 133 149 153 +f 125 126 130 +f 127 125 130 +f 126 125 132 +f 124 125 134 +f 130 131 135 +f 131 129 135 +f 130 126 136 +f 131 130 136 +f 129 131 136 +f 125 127 137 +f 134 128 138 +f 123 135 138 +f 132 124 139 +f 129 132 139 +f 128 133 140 +f 133 130 140 +f 135 123 140 +f 130 135 140 +f 138 128 140 +f 123 138 140 +f 127 128 141 +f 137 127 141 +f 128 137 141 +f 124 134 142 +f 134 138 142 +f 136 126 143 +f 129 136 143 +f 134 125 144 +f 125 137 144 +f 137 128 144 +f 127 130 145 +f 142 138 146 +f 129 142 146 +f 125 124 147 +f 132 125 147 +f 124 132 147 +f 135 129 148 +f 138 135 148 +f 129 146 148 +f 146 138 148 +f 128 127 149 +f 133 128 149 +f 128 134 150 +f 134 144 150 +f 144 128 150 +f 126 132 151 +f 132 129 151 +f 143 126 151 +f 129 143 151 +f 139 124 152 +f 129 139 152 +f 124 142 152 +f 142 129 152 +f 130 133 153 +f 127 145 153 +f 145 130 153 +f 149 127 153 +o convex_7 +v 1.522594 0.853418 -0.250453 +v 3.014138 2.003138 0.588522 +v 3.014138 1.381755 0.619699 +v 3.014138 0.946579 -0.498972 +v 1.087710 1.878653 -0.436842 +v 1.087710 0.822441 0.588522 +v 1.087710 1.940838 0.557457 +v 3.014138 1.847677 -0.498972 +v 1.087710 0.884510 -0.530149 +v 2.983021 0.977671 0.619699 +v 2.796508 0.884394 -0.405665 +v 1.118639 1.630031 -0.498972 +v 1.491666 0.822441 0.588522 +v 3.014138 1.878653 -0.436842 +v 1.087710 1.350547 0.588522 +v 2.983021 0.946579 0.433198 +v 2.143804 1.972046 0.588522 +v 1.211801 0.822441 0.091260 +v 1.677991 1.972046 0.526392 +v 2.920787 2.003138 0.526392 +v 2.268084 0.915602 0.619699 +v 2.330317 1.847677 -0.498972 +v 1.709108 0.822441 0.184567 +v 2.983021 0.915487 -0.498972 +f 169 164 177 +f 155 156 157 +f 158 159 160 +f 155 157 161 +f 159 158 162 +f 161 157 162 +f 157 156 163 +f 154 162 164 +f 162 158 165 +f 155 161 167 +f 161 158 167 +f 160 159 168 +f 157 163 169 +f 163 166 169 +f 166 164 169 +f 156 155 170 +f 168 156 170 +f 160 168 170 +f 162 154 171 +f 159 162 171 +f 166 159 171 +f 158 160 172 +f 170 155 172 +f 160 170 172 +f 155 167 173 +f 167 158 173 +f 172 155 173 +f 158 172 173 +f 163 156 174 +f 159 166 174 +f 166 163 174 +f 156 168 174 +f 168 159 174 +f 158 161 175 +f 161 162 175 +f 165 158 175 +f 162 165 175 +f 154 164 176 +f 164 166 176 +f 171 154 176 +f 166 171 176 +f 162 157 177 +f 164 162 177 +f 157 169 177 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/964/964.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/964/964.urdf new file mode 100644 index 000000000..9df9875de --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/964/964.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/965/965.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/965/965.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/965/965.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/965/965.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/965/965.obj new file mode 100644 index 000000000..8d94a23cc --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/965/965.obj @@ -0,0 +1,1032 @@ +o convex_0 +v -3.034144 -2.611261 -0.016996 +v 1.489423 -1.186638 0.018184 +v 1.489423 -1.186638 -0.088180 +v 2.629355 -3.395206 0.053982 +v -2.322206 -2.148508 1.051588 +v -0.077909 -1.186638 -1.050194 +v -2.286638 -3.359572 -0.765046 +v 2.344224 -2.433335 -1.014396 +v 2.379792 -2.255410 1.015790 +v -2.072642 -3.288060 0.837624 +v -1.074979 -1.186638 0.873422 +v -2.535609 -1.899315 -0.622472 +v 0.848026 -3.680033 -0.515490 +v 2.094660 -3.288304 0.873422 +v 2.771625 -1.899315 -0.052588 +v -2.393340 -2.326678 -1.014396 +v 0.990296 -1.186638 0.909014 +v -1.253408 -3.608765 0.481498 +v 1.275427 -1.222516 -0.943212 +v -2.820741 -1.792414 0.053982 +v -1.182274 -1.186638 -0.907620 +v 2.165795 -3.359328 -0.800638 +v -0.042342 -3.359328 -0.907414 +v 3.020596 -2.647139 0.018390 +v -0.077909 -3.323694 0.944400 +v 1.275427 -3.573131 0.552682 +v -2.677878 -3.359572 0.053982 +v -2.856308 -2.504603 0.802032 +v 2.878326 -2.540237 0.766440 +v 2.842759 -2.504603 -0.729454 +v -1.360110 -3.644399 -0.480104 +v 0.206629 -1.186638 1.015790 +v -2.891875 -2.539993 -0.729248 +v -1.609674 -1.186638 0.089574 +v 2.593195 -1.970583 0.552682 +v -2.571177 -1.899315 0.659458 +v 1.560558 -3.644643 -0.088180 +v -0.042342 -2.718162 -1.014396 +v 1.773962 -2.646894 1.015790 +v 2.593195 -2.006217 -0.622472 +v 2.344224 -3.288304 0.837624 +v -0.540877 -3.680033 0.018390 +v 2.236929 -2.113119 -1.014396 +v -0.291313 -3.680033 -0.586880 +v -1.645241 -3.644399 0.053777 +v 2.700490 -3.359328 -0.016996 +v -0.220178 -3.573131 0.659458 +v 1.168132 -1.222516 0.873422 +v 2.700490 -1.828048 0.018390 +v -2.214911 -3.288060 0.802032 +v -2.393340 -2.220020 -1.014396 +v -2.286638 -2.255654 1.051588 +v 2.308657 -3.359328 -0.729454 +v -1.680809 -2.575627 -1.014396 +v -1.823078 -1.543221 0.837624 +v -0.006774 -1.614488 -1.050194 +v 2.807192 -2.611505 -0.765046 +v 1.738394 -2.611261 -1.014396 +v 0.028793 -3.573131 -0.729248 +v 1.809529 -3.573131 0.196350 +v 1.382129 -3.644399 -0.480104 +v 1.275427 -1.186638 -0.836230 +v 2.700490 -1.828048 -0.088180 +v -2.286638 -3.288060 -0.800638 +f 54 23 64 +f 2 3 6 +f 2 6 11 +f 2 11 17 +f 12 20 21 +f 11 6 21 +f 20 1 28 +f 1 27 28 +f 24 15 29 +f 15 24 30 +f 5 9 32 +f 11 5 32 +f 9 17 32 +f 17 11 32 +f 1 20 33 +f 20 12 33 +f 27 1 33 +f 7 27 33 +f 21 20 34 +f 11 21 34 +f 9 29 35 +f 28 5 36 +f 20 28 36 +f 14 9 39 +f 25 14 39 +f 15 30 40 +f 9 14 41 +f 14 26 41 +f 29 9 41 +f 13 37 42 +f 37 26 42 +f 8 6 43 +f 6 19 43 +f 30 8 43 +f 19 40 43 +f 40 30 43 +f 31 7 44 +f 13 42 44 +f 44 42 45 +f 27 7 45 +f 7 31 45 +f 42 18 45 +f 31 44 45 +f 24 29 46 +f 41 4 46 +f 29 41 46 +f 10 18 47 +f 25 10 47 +f 14 25 47 +f 26 14 47 +f 18 42 47 +f 42 26 47 +f 17 9 48 +f 2 17 48 +f 9 35 48 +f 48 35 49 +f 3 2 49 +f 29 15 49 +f 35 29 49 +f 2 48 49 +f 18 10 50 +f 28 27 50 +f 45 18 50 +f 27 45 50 +f 6 16 51 +f 12 21 51 +f 21 6 51 +f 16 33 51 +f 33 12 51 +f 9 5 52 +f 10 25 52 +f 5 28 52 +f 39 9 52 +f 25 39 52 +f 50 10 52 +f 28 50 52 +f 46 4 53 +f 38 23 54 +f 5 11 55 +f 11 34 55 +f 34 20 55 +f 36 5 55 +f 20 36 55 +f 6 8 56 +f 16 6 56 +f 54 16 56 +f 38 54 56 +f 22 8 57 +f 8 30 57 +f 30 24 57 +f 24 46 57 +f 53 22 57 +f 46 53 57 +f 8 22 58 +f 22 23 58 +f 23 38 58 +f 56 8 58 +f 38 56 58 +f 22 13 59 +f 7 23 59 +f 23 22 59 +f 13 44 59 +f 44 7 59 +f 37 4 60 +f 26 37 60 +f 4 41 60 +f 41 26 60 +f 13 22 61 +f 37 13 61 +f 4 37 61 +f 22 53 61 +f 53 4 61 +f 6 3 62 +f 19 6 62 +f 40 19 63 +f 15 40 63 +f 3 49 63 +f 49 15 63 +f 62 3 63 +f 19 62 63 +f 23 7 64 +f 7 33 64 +f 33 16 64 +f 16 54 64 +o convex_1 +v 0.242450 -0.474309 1.015964 +v -0.113728 -0.545507 -1.050194 +v -0.113728 -0.474309 -1.050194 +v -1.574177 -1.186638 0.089672 +v 1.418190 -1.186638 -0.159294 +v 0.206715 -1.186638 1.015964 +v -0.968439 -0.474309 0.873380 +v -0.077993 -1.186638 -1.050194 +v 1.097454 -0.474309 -0.907407 +v -1.075351 -0.474309 -0.872014 +v 1.025984 -0.474309 0.873178 +v -1.146528 -1.186638 -0.907609 +v 1.168631 -1.186638 -0.943205 +v -1.039616 -1.186638 0.873380 +v 1.061719 -1.186638 0.873178 +v -1.181970 -0.474309 0.232054 +v 1.204366 -0.509873 0.018279 +v -0.184905 -0.474309 1.015964 +v 1.418190 -1.150934 0.053874 +v -1.574177 -1.150934 -0.017115 +v 0.135538 -0.474309 -1.050194 +v 1.025984 -0.581141 0.908976 +v -0.149170 -1.186638 1.015964 +v -0.932704 -0.830438 0.908976 +v -0.861527 -0.474309 -0.943205 +v 1.061719 -0.474309 -0.943205 +v 1.061719 -0.545507 0.873178 +v -1.039616 -0.901567 0.873380 +v 1.204366 -1.150934 -0.907407 +v 0.135538 -1.150934 -1.050194 +v -1.181970 -0.474309 0.018481 +v -1.181970 -1.150934 -0.872014 +v 1.025984 -1.044033 0.908976 +v 1.418190 -1.150934 -0.159294 +v -1.574177 -1.150934 0.089672 +v -1.075351 -0.474309 0.624009 +v 1.168631 -0.474309 0.160661 +v 1.382455 -1.186638 0.160661 +f 83 91 102 +f 68 69 70 +f 65 67 71 +f 66 67 72 +f 69 68 72 +f 67 65 73 +f 71 67 74 +f 73 65 75 +f 67 66 76 +f 66 72 76 +f 72 68 76 +f 69 72 77 +f 68 70 78 +f 70 69 79 +f 71 74 80 +f 70 65 82 +f 65 71 82 +f 76 68 84 +f 72 67 85 +f 67 73 85 +f 75 65 86 +f 78 70 87 +f 70 82 87 +f 87 82 88 +f 82 71 88 +f 78 87 88 +f 74 67 89 +f 67 76 89 +f 76 74 89 +f 85 73 90 +f 77 85 90 +f 75 86 91 +f 86 79 91 +f 68 78 92 +f 88 71 92 +f 78 88 92 +f 69 77 93 +f 90 73 93 +f 77 90 93 +f 77 72 94 +f 72 85 94 +f 85 77 94 +f 80 74 95 +f 74 84 95 +f 84 80 95 +f 74 76 96 +f 76 84 96 +f 84 74 96 +f 65 70 97 +f 70 79 97 +f 86 65 97 +f 79 86 97 +f 73 81 98 +f 83 69 98 +f 81 83 98 +f 69 93 98 +f 93 73 98 +f 84 68 99 +f 80 84 99 +f 68 92 99 +f 92 71 99 +f 71 80 100 +f 99 71 100 +f 80 99 100 +f 73 75 101 +f 81 73 101 +f 83 81 101 +f 75 91 101 +f 91 83 101 +f 79 69 102 +f 69 83 102 +f 91 79 102 +o convex_2 +v 0.028926 0.238334 1.051588 +v -0.113533 -0.474169 -1.050194 +v -0.861499 -0.474169 -0.943212 +v -0.754713 1.022014 -0.978804 +v 1.061810 1.022014 -0.872028 +v 1.026137 -0.474169 0.873422 +v -0.968516 -0.474169 0.873422 +v -0.077861 1.022014 1.051588 +v 1.097482 -0.474169 -0.907620 +v 1.026137 1.022014 0.837624 +v -0.968516 1.022014 0.445700 +v -1.075302 0.986279 -0.836436 +v -1.182319 -0.474169 0.231942 +v 1.168826 -0.438434 0.125372 +v 0.206827 1.022014 -1.050194 +v -0.719040 1.022014 0.908808 +v -1.075302 -0.474169 -0.872028 +v 0.776892 1.022014 0.979992 +v 0.242499 -0.474169 1.015584 +v 0.954793 0.309364 -0.978804 +v -0.719040 -0.438434 0.944400 +v 1.097482 0.737013 -0.836436 +v -1.075302 1.022014 -0.622678 +v 0.135712 -0.474169 -1.050194 +v 1.061810 1.022014 0.231942 +v 0.919351 1.022014 -0.978804 +v 0.919351 0.024656 0.944400 +v -1.182319 -0.331669 0.196350 +v -0.113533 1.022014 -1.050194 +v 1.168826 -0.474169 -0.195162 +v -0.790155 0.950544 0.873422 +v -1.039630 -0.438434 0.730642 +v 1.168826 -0.260345 0.018390 +v -0.184877 -0.474169 1.015584 +v 1.061810 -0.474169 -0.943212 +v -1.182319 -0.402846 0.053777 +v -0.932844 0.594512 -0.943212 +v -1.003958 0.914955 0.374516 +v 0.990695 -0.474169 0.908808 +v -0.932844 -0.117845 -0.943212 +v 0.100040 1.022014 1.051588 +f 120 110 143 +f 105 104 108 +f 105 108 109 +f 107 106 110 +f 108 104 111 +f 107 110 112 +f 110 106 113 +f 105 109 115 +f 112 108 116 +f 106 107 117 +f 110 113 118 +f 105 115 119 +f 112 110 120 +f 109 108 121 +f 120 103 121 +f 118 109 123 +f 110 118 123 +f 111 107 124 +f 113 106 125 +f 106 114 125 +f 111 104 126 +f 104 117 126 +f 117 122 126 +f 107 112 127 +f 124 107 127 +f 117 107 128 +f 122 117 128 +f 112 120 129 +f 120 121 129 +f 125 114 130 +f 104 106 131 +f 117 104 131 +f 106 117 131 +f 108 111 132 +f 116 108 132 +f 111 124 132 +f 109 118 133 +f 118 113 133 +f 115 109 134 +f 130 115 134 +f 109 133 134 +f 133 113 134 +f 112 116 135 +f 127 112 135 +f 124 127 135 +f 116 132 135 +f 132 124 135 +f 103 110 136 +f 109 121 136 +f 121 103 136 +f 110 123 136 +f 123 109 136 +f 107 111 137 +f 111 126 137 +f 126 122 137 +f 128 107 137 +f 122 128 137 +f 114 119 138 +f 119 115 138 +f 115 130 138 +f 130 114 138 +f 114 106 139 +f 119 114 139 +f 113 125 140 +f 125 130 140 +f 134 113 140 +f 130 134 140 +f 108 112 141 +f 121 108 141 +f 112 129 141 +f 129 121 141 +f 104 105 142 +f 106 104 142 +f 105 119 142 +f 139 106 142 +f 119 139 142 +f 110 103 143 +f 103 120 143 +o convex_3 +v -0.042391 1.948014 1.015584 +v -0.184686 1.414063 -1.050194 +v -0.184686 1.485213 -1.050194 +v 1.311320 2.339931 -0.016996 +v 0.990583 1.022147 0.837624 +v -1.289189 2.375439 -0.444512 +v -0.932816 1.022147 0.516884 +v 1.061858 1.022147 -0.872028 +v 0.848034 2.375439 -0.907620 +v -1.075365 1.022147 -0.800638 +v -0.754629 2.375439 0.873422 +v 0.990583 2.375439 0.801826 +v -0.255960 1.022147 1.015584 +v -0.825904 2.375439 -0.872028 +v 0.812397 1.057787 0.979992 +v 0.206816 1.022147 -1.050194 +v 1.275428 2.375439 -0.444512 +v -1.075365 2.375439 0.410108 +v -0.718992 1.022147 0.908808 +v -0.790266 1.022147 -0.978804 +v 1.097496 1.022147 0.053777 +v 0.741122 2.375439 0.908808 +v 1.240045 2.375439 0.481292 +v 0.741122 1.663417 -1.014396 +v -1.039728 2.375439 -0.800638 +v -0.149303 2.375439 -0.943212 +v -0.327235 2.339931 0.979992 +v 0.171179 1.485213 1.051588 +v -1.253298 2.304290 -0.123978 +v 1.061858 2.375439 -0.800638 +v -0.790266 1.698793 -0.978804 +v -1.004091 1.022147 0.160758 +v 0.883671 1.022147 -0.978804 +v 0.741122 1.805583 0.979992 +v 1.311320 2.339931 0.125166 +v -0.078028 1.022147 1.051588 +v -0.790266 1.022147 0.837624 +v -1.289189 2.339931 -0.515696 +v -1.075365 1.022147 -0.622678 +v 0.848034 1.876864 -0.978804 +v 0.099904 2.161726 -0.978804 +v -1.039728 1.663417 -0.836436 +v 0.278091 1.520854 -1.050194 +v -1.075365 2.054936 0.374516 +v 1.275428 2.197367 -0.373328 +v 0.741122 2.268649 -0.943212 +v 0.028629 2.268649 0.979992 +v 1.097496 1.022147 -0.123978 +v 0.990583 1.698793 0.837624 +v -0.718992 2.339931 -0.907620 +v -0.897178 1.022147 -0.943212 +v -0.042391 1.556494 1.051588 +v -0.113411 1.022147 -1.050194 +v -1.004091 1.235992 0.374516 +f 187 172 197 +f 148 150 151 +f 151 150 153 +f 152 149 154 +f 152 154 155 +f 150 148 156 +f 149 152 157 +f 145 146 159 +f 151 153 159 +f 152 155 160 +f 154 149 161 +f 150 156 162 +f 146 145 163 +f 159 153 163 +f 148 151 164 +f 155 154 165 +f 160 155 166 +f 149 157 168 +f 157 152 169 +f 154 162 170 +f 162 156 170 +f 165 154 170 +f 161 149 172 +f 160 151 173 +f 152 160 173 +f 146 163 174 +f 168 157 174 +f 153 150 175 +f 151 159 176 +f 159 167 176 +f 158 155 177 +f 155 165 177 +f 171 158 177 +f 147 160 178 +f 164 147 178 +f 148 164 178 +f 166 148 178 +f 160 166 178 +f 156 148 179 +f 148 158 179 +f 158 171 179 +f 154 161 180 +f 162 154 180 +f 150 162 180 +f 149 168 181 +f 172 149 181 +f 153 175 182 +f 175 172 182 +f 181 153 182 +f 172 181 182 +f 173 151 183 +f 152 173 183 +f 151 176 183 +f 176 167 183 +f 146 169 184 +f 168 174 185 +f 181 168 185 +f 153 181 185 +f 159 146 186 +f 167 159 186 +f 146 184 186 +f 161 172 187 +f 150 180 187 +f 180 161 187 +f 160 147 188 +f 151 160 188 +f 169 152 189 +f 152 183 189 +f 183 167 189 +f 184 169 189 +f 167 186 189 +f 186 184 189 +f 170 144 190 +f 165 170 190 +f 144 171 190 +f 177 165 190 +f 171 177 190 +f 147 164 191 +f 164 151 191 +f 188 147 191 +f 151 188 191 +f 155 158 192 +f 158 148 192 +f 148 166 192 +f 166 155 192 +f 169 146 193 +f 157 169 193 +f 146 174 193 +f 174 157 193 +f 163 153 194 +f 174 163 194 +f 153 185 194 +f 185 174 194 +f 144 170 195 +f 170 156 195 +f 171 144 195 +f 156 179 195 +f 179 171 195 +f 145 159 196 +f 163 145 196 +f 159 163 196 +f 175 150 197 +f 172 175 197 +f 150 187 197 +o convex_4 +v -1.610055 2.981511 0.410143 +v -1.289517 3.978615 0.053965 +v -1.289517 3.978615 -0.017115 +v -2.963326 3.479848 0.053965 +v -1.289517 2.518341 -0.480191 +v -2.001878 3.479848 -0.515787 +v -1.289517 3.515444 0.552860 +v -2.713910 2.981511 -0.052710 +v -2.749471 3.408657 0.410143 +v -2.713910 3.836090 0.089560 +v -1.325078 3.800494 -0.444596 +v -2.713910 3.479848 -0.373293 +v -1.289517 2.518341 -0.052710 +v -1.859307 3.800494 0.445962 +v -2.001878 3.836090 -0.373293 +v -2.428933 3.052702 0.303357 +v -1.289517 3.017107 -0.587089 +v -1.289517 2.767795 0.338952 +v -2.713910 3.373062 -0.373293 +v -1.289517 3.871685 0.410143 +v -2.001878 3.337323 0.517153 +v -2.571503 3.088298 -0.302102 +v -2.001878 3.942876 0.053965 +v -2.642625 3.800494 -0.123901 +v -2.713910 2.981511 0.018369 +v -2.500218 3.729160 0.338952 +v -1.289517 3.408657 -0.551382 +v -2.963326 3.444253 -0.052710 +v -1.325078 2.518341 -0.480191 +v -1.823746 3.301728 -0.551382 +v -1.289517 3.408657 0.552860 +v -2.713910 3.337323 0.410143 +v -2.927602 3.301728 0.053965 +v -1.325078 2.518341 -0.052710 +v -2.001878 3.444253 0.517153 +v -2.642625 3.408657 -0.408889 +v -1.930592 2.981511 0.374548 +v -2.571503 3.693564 -0.302102 +v -1.396363 2.696461 -0.515787 +v -1.966153 3.942876 -0.017115 +v -1.289517 3.800494 0.481446 +v -2.785195 3.052702 -0.052710 +v -1.360638 2.518341 -0.088306 +v -2.713910 3.836090 0.018369 +f 220 237 241 +f 200 199 202 +f 202 199 204 +f 201 206 207 +f 202 204 210 +f 200 208 212 +f 208 203 212 +f 203 209 212 +f 200 202 214 +f 210 204 215 +f 204 199 217 +f 199 200 220 +f 207 211 220 +f 217 199 220 +f 211 217 220 +f 207 206 223 +f 206 211 223 +f 211 207 223 +f 208 200 224 +f 203 208 224 +f 200 214 224 +f 209 216 225 +f 221 209 225 +f 202 210 226 +f 214 202 226 +f 205 219 226 +f 219 216 226 +f 203 224 227 +f 224 214 227 +f 198 215 228 +f 215 204 228 +f 218 198 228 +f 204 218 228 +f 218 206 229 +f 222 213 229 +f 222 229 230 +f 206 201 230 +f 201 225 230 +f 229 206 230 +f 210 215 231 +f 215 213 231 +f 213 222 231 +f 226 210 231 +f 204 211 232 +f 211 206 232 +f 218 204 232 +f 206 218 232 +f 209 203 233 +f 216 209 233 +f 226 216 233 +f 203 227 233 +f 215 198 234 +f 213 215 234 +f 198 218 234 +f 229 213 234 +f 218 229 234 +f 212 209 235 +f 209 221 235 +f 221 212 235 +f 214 226 236 +f 227 214 236 +f 226 233 236 +f 233 227 236 +f 200 212 237 +f 220 200 237 +f 211 204 238 +f 204 217 238 +f 217 211 238 +f 219 205 239 +f 216 219 239 +f 205 222 239 +f 225 216 239 +f 222 230 239 +f 230 225 239 +f 222 205 240 +f 205 226 240 +f 231 222 240 +f 226 231 240 +f 201 207 241 +f 207 220 241 +f 212 221 241 +f 225 201 241 +f 221 225 241 +f 237 212 241 +o convex_5 +v -1.075367 2.375704 -0.765165 +v 0.278078 4.406239 0.054108 +v 0.598557 4.370462 0.054108 +v -0.469791 2.375704 0.944533 +v 1.275662 2.375704 -0.444331 +v -1.289189 3.871772 0.410241 +v 0.776743 3.622129 0.766559 +v -0.006509 3.657906 -0.800649 +v 0.990565 2.375704 0.802043 +v 1.311299 3.836194 -0.373178 +v -1.253298 3.800417 -0.444515 +v 0.848017 2.375704 -0.907655 +v -0.790270 3.835995 0.837711 +v -1.289189 2.767659 0.339088 +v 1.311299 3.764839 0.445910 +v -0.647977 4.370462 0.018439 +v 0.812380 3.693683 -0.765165 +v -1.289189 2.375704 -0.515668 +v 1.311299 2.553992 0.481393 +v -0.754633 2.375704 0.873380 +v -0.790270 2.553992 -0.871801 +v 0.741106 2.447059 0.909049 +v -0.754633 3.657906 -0.729311 +v -1.289189 3.408661 0.552546 +v 1.311299 3.301927 -0.551337 +v 0.776743 4.334884 -0.052714 +v -0.932819 4.049861 0.623884 +v -0.042146 2.447059 -0.943323 +v -1.289189 3.230770 -0.586821 +v 1.311299 3.266349 0.588215 +v -0.113420 4.406239 -0.017045 +v -1.289189 3.978705 -0.016860 +v 1.311299 4.014283 0.018439 +v -1.110749 2.375704 0.339088 +v -0.077783 2.660925 0.944718 +v 0.028873 3.657906 0.837711 +v 0.776743 3.943127 0.481578 +v 1.311299 2.375704 0.196413 +v 1.061839 2.411481 -0.800649 +v 0.812380 4.334884 0.054108 +v -0.647977 3.835995 0.837711 +v -0.647977 3.729261 -0.693827 +v 0.776743 2.553992 -0.907655 +v -0.576702 2.375704 -0.907655 +v -0.718996 3.586750 0.873380 +v 1.311299 3.836194 0.410241 +v 1.311299 2.518215 -0.444331 +v -0.754633 4.334884 0.053923 +v 0.527538 4.014085 -0.444515 +v -1.253298 2.375704 -0.088198 +v -0.220332 4.406239 0.053923 +v 0.776743 3.693683 0.730890 +v -1.289189 3.729261 -0.479999 +v -0.754633 4.299107 -0.052529 +v -1.289189 3.800417 0.481578 +v 0.242696 2.375704 0.944718 +v 1.275662 3.800417 -0.444331 +v -0.006509 4.014085 -0.444515 +v -1.182278 2.803237 -0.693827 +v 1.240025 2.375704 0.517062 +v -0.968456 4.085440 0.517062 +v -0.434154 2.767659 0.944533 +v -0.754633 3.444040 -0.765165 +v 0.812380 3.835995 -0.622674 +f 267 298 305 +f 245 242 246 +f 245 246 250 +f 246 242 253 +f 242 245 259 +f 255 247 259 +f 251 256 260 +f 259 245 261 +f 247 255 265 +f 261 254 265 +f 255 261 265 +f 251 260 266 +f 243 244 267 +f 262 249 269 +f 259 247 270 +f 256 248 271 +f 250 260 271 +f 260 256 271 +f 263 250 271 +f 248 263 271 +f 243 267 272 +f 270 247 273 +f 256 251 274 +f 251 267 274 +f 261 255 275 +f 259 261 275 +f 276 263 277 +f 263 248 277 +f 250 246 279 +f 266 260 279 +f 246 253 280 +f 253 258 280 +f 258 266 280 +f 267 244 281 +f 274 267 281 +f 244 278 281 +f 244 243 282 +f 243 268 282 +f 268 254 282 +f 277 248 282 +f 278 244 282 +f 264 252 283 +f 249 264 283 +f 249 258 284 +f 258 253 284 +f 253 269 284 +f 269 249 284 +f 253 242 285 +f 242 262 285 +f 269 253 285 +f 262 269 285 +f 254 261 286 +f 261 245 286 +f 276 277 286 +f 282 254 286 +f 277 282 286 +f 256 274 287 +f 274 281 287 +f 281 278 287 +f 279 246 288 +f 266 279 288 +f 246 280 288 +f 280 266 288 +f 268 257 289 +f 272 267 290 +f 255 259 291 +f 275 255 291 +f 259 275 291 +f 268 243 292 +f 257 268 292 +f 243 272 292 +f 272 257 292 +f 248 256 293 +f 282 248 293 +f 278 282 293 +f 256 287 293 +f 287 278 293 +f 252 264 294 +f 264 270 294 +f 273 252 294 +f 270 273 294 +f 257 272 295 +f 252 273 295 +f 283 252 295 +f 272 283 295 +f 289 257 295 +f 273 289 295 +f 247 265 296 +f 265 254 296 +f 254 268 296 +f 268 247 296 +f 245 250 297 +f 250 263 297 +f 276 245 297 +f 263 276 297 +f 251 266 298 +f 266 258 298 +f 267 251 298 +f 258 249 299 +f 249 283 299 +f 283 272 299 +f 290 258 299 +f 272 290 299 +f 242 259 300 +f 262 242 300 +f 259 270 300 +f 260 250 301 +f 250 279 301 +f 279 260 301 +f 247 268 302 +f 273 247 302 +f 268 289 302 +f 289 273 302 +f 245 276 303 +f 286 245 303 +f 276 286 303 +f 249 262 304 +f 264 249 304 +f 270 264 304 +f 262 300 304 +f 300 270 304 +f 258 290 305 +f 290 267 305 +f 298 258 305 +o convex_6 +v 1.311320 2.375861 -0.052682 +v 1.703435 3.978601 -0.017087 +v 1.703435 3.978601 -0.052682 +v 3.092491 3.301731 0.018509 +v 1.311320 3.088346 0.588483 +v 1.311320 3.301731 -0.551466 +v 2.807427 3.337348 -0.408861 +v 2.771685 3.372964 0.410283 +v 1.311320 3.835978 0.410283 +v 2.807427 3.800362 -0.017087 +v 1.347236 2.554100 0.481585 +v 2.842820 2.945881 0.054104 +v 1.347236 2.554100 -0.408861 +v 1.311320 3.764745 -0.444568 +v 2.059460 3.835978 0.374687 +v 2.059460 3.764745 -0.408861 +v 2.059460 3.479814 0.517181 +v 2.771685 2.981497 -0.123873 +v 1.311320 3.978601 0.089700 +v 2.024067 3.337348 -0.515759 +v 1.382629 2.375861 0.089700 +v 2.593672 3.052730 0.339092 +v 2.807427 3.479814 0.374687 +v 2.664982 3.657896 -0.302074 +v 1.382629 3.088346 -0.551466 +v 3.092491 3.408581 -0.017087 +v 1.311320 3.266115 0.588483 +v 2.735943 3.159579 -0.337670 +v 2.629240 3.729129 0.267677 +v 2.842820 2.945881 -0.017087 +v 1.382629 2.660949 0.517181 +v 2.059460 3.942827 -0.052682 +v 1.311320 3.978601 -0.088278 +v 2.878736 3.337348 0.339092 +v 2.807427 3.800362 -0.052682 +v 2.130770 3.372964 0.517181 +v 2.949872 3.372964 -0.266367 +v 1.311320 2.554100 0.481585 +v 1.347236 2.375861 -0.052682 +v 1.347236 3.835978 -0.373265 +v 1.311320 2.660949 -0.444568 +v 1.453939 3.764745 0.445990 +v 2.059460 3.515430 -0.480163 +v 1.453939 2.696565 -0.444568 +v 2.914129 3.301731 -0.302074 +v 2.878736 3.729129 0.018509 +f 340 315 351 +f 306 310 311 +f 311 310 314 +f 311 314 319 +f 307 308 324 +f 319 314 324 +f 314 320 324 +f 320 307 324 +f 317 316 326 +f 316 317 327 +f 322 313 328 +f 320 322 328 +f 312 321 329 +f 311 325 330 +f 325 312 330 +f 314 310 332 +f 318 312 333 +f 323 318 333 +f 315 320 334 +f 320 328 334 +f 309 317 335 +f 318 323 335 +f 317 326 335 +f 327 313 336 +f 316 327 336 +f 308 307 337 +f 307 320 337 +f 320 315 337 +f 321 308 337 +f 324 308 338 +f 319 324 338 +f 317 309 339 +f 313 327 339 +f 327 317 339 +f 328 313 339 +f 309 331 339 +f 331 328 339 +f 329 321 340 +f 337 315 340 +f 321 337 340 +f 313 322 341 +f 332 310 341 +f 322 332 341 +f 310 336 341 +f 336 313 341 +f 312 329 342 +f 331 309 342 +f 329 340 342 +f 340 331 342 +f 310 306 343 +f 306 326 343 +f 326 316 343 +f 336 310 343 +f 316 336 343 +f 306 318 344 +f 326 306 344 +f 318 335 344 +f 335 326 344 +f 308 321 345 +f 321 319 345 +f 338 308 345 +f 319 338 345 +f 306 311 346 +f 318 306 346 +f 311 330 346 +f 320 314 347 +f 322 320 347 +f 314 332 347 +f 332 322 347 +f 311 319 348 +f 321 312 348 +f 319 321 348 +f 325 311 348 +f 312 325 348 +f 312 318 349 +f 330 312 349 +f 318 346 349 +f 346 330 349 +f 333 312 350 +f 323 333 350 +f 309 335 350 +f 335 323 350 +f 312 342 350 +f 342 309 350 +f 328 331 351 +f 315 334 351 +f 334 328 351 +f 331 340 351 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/965/965.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/965/965.urdf new file mode 100644 index 000000000..e4a5034f1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/965/965.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/966/966.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/966/966.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/966/966.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/966/966.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/966/966.obj new file mode 100644 index 000000000..868a36808 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/966/966.obj @@ -0,0 +1,285 @@ +o convex_0 +v -3.047807 -3.790455 0.650511 +v 1.121993 -1.685831 -0.752333 +v 1.121993 -1.685831 -0.946971 +v 2.992630 -3.829401 -0.947185 +v 2.953944 -1.725219 1.001542 +v -3.047807 -1.764165 -0.986070 +v 2.953944 -3.790234 1.040427 +v -2.969839 -1.881003 1.001329 +v -2.969839 -3.946239 -0.908086 +v 3.031316 -1.841835 -1.103151 +v -3.047807 -3.751288 1.001329 +v 0.342313 -1.685831 1.079525 +v -0.436772 -3.946460 -0.440400 +v -1.878882 -3.790455 1.040427 +v -2.813903 -3.907293 -0.946971 +v -1.060516 -1.685831 1.040427 +v -2.813903 -1.764165 -1.025168 +v -0.982548 -1.685831 -1.025168 +v 2.758726 -3.868347 -0.947185 +v 2.875381 -2.036786 -1.102938 +v 2.992630 -3.673397 -0.986070 +v 3.031316 -1.802890 -0.791218 +v -3.009121 -1.841835 0.572527 +v 0.966057 -1.685831 1.079525 +v -2.969839 -3.946239 -0.674350 +v 2.953944 -2.426687 1.040427 +v -2.307409 -3.712342 1.040427 +v 2.953944 -3.829401 0.299693 +v -3.047807 -2.309850 -0.986070 +v 2.992630 -1.764165 0.650511 +v -3.047807 -3.790455 0.962444 +v 2.174263 -1.880781 -1.102938 +v -1.800914 -3.946460 -0.946971 +v -3.047807 -1.764165 -0.713021 +v -3.009121 -1.919948 1.001329 +v 2.992630 -3.829401 -0.362417 +v -0.163586 -3.946460 -0.557268 +v 0.264345 -1.841835 1.079525 +v 2.953944 -1.725219 0.767379 +v -3.047807 -3.127934 0.884247 +v -2.969839 -2.816145 -0.986070 +v -3.047807 -1.802890 -0.323532 +v -3.009121 -3.478446 -0.713021 +v -2.502626 -3.946239 -0.946971 +v 3.031316 -1.802890 -0.868988 +v -2.969839 -3.868347 -0.946971 +v 3.031316 -2.192791 -1.063839 +v -2.775217 -1.841835 -1.025168 +v 0.888089 -1.685831 -0.986070 +f 10 18 49 +f 3 2 5 +f 6 1 11 +f 2 3 12 +f 13 7 14 +f 8 12 16 +f 12 3 16 +f 16 3 18 +f 6 16 18 +f 17 6 18 +f 10 17 18 +f 4 19 21 +f 20 10 21 +f 8 16 23 +f 5 2 24 +f 2 12 24 +f 1 9 25 +f 5 24 26 +f 24 7 26 +f 11 14 27 +f 1 6 29 +f 6 17 29 +f 22 5 30 +f 5 26 30 +f 26 7 30 +f 11 1 31 +f 14 11 31 +f 13 14 31 +f 1 25 31 +f 25 13 31 +f 17 10 32 +f 20 15 32 +f 10 20 32 +f 21 19 33 +f 25 9 33 +f 13 25 33 +f 6 11 34 +f 16 6 34 +f 23 16 34 +f 12 8 35 +f 8 23 35 +f 11 27 35 +f 27 12 35 +f 19 4 36 +f 7 28 36 +f 28 19 36 +f 22 30 36 +f 30 7 36 +f 7 13 37 +f 28 7 37 +f 19 28 37 +f 13 33 37 +f 33 19 37 +f 14 7 38 +f 7 24 38 +f 24 12 38 +f 12 27 38 +f 27 14 38 +f 3 5 39 +f 5 22 39 +f 34 11 40 +f 11 35 40 +f 29 17 41 +f 23 34 42 +f 35 23 42 +f 34 40 42 +f 40 35 42 +f 9 1 43 +f 1 29 43 +f 29 9 43 +f 9 15 44 +f 15 20 44 +f 20 21 44 +f 33 9 44 +f 21 33 44 +f 10 3 45 +f 22 10 45 +f 3 39 45 +f 39 22 45 +f 15 9 46 +f 9 29 46 +f 32 15 46 +f 29 41 46 +f 41 32 46 +f 4 21 47 +f 21 10 47 +f 10 22 47 +f 36 4 47 +f 22 36 47 +f 17 32 48 +f 41 17 48 +f 32 41 48 +f 3 10 49 +f 18 3 49 +o convex_1 +v 0.381377 6.226372 0.026858 +v -1.099355 -0.593798 -0.323532 +v -1.099355 -0.593798 -0.284434 +v 1.121852 -1.685831 -0.713021 +v 0.966146 -1.685831 1.079525 +v -0.982575 6.186873 1.040427 +v -1.099355 6.148149 -1.102938 +v 1.043999 6.226372 1.040427 +v 1.005072 5.914252 -1.064053 +v -1.060428 -1.685831 1.040427 +v -0.982575 -1.685831 -1.024954 +v 1.082925 -1.529383 -0.986070 +v 1.121852 -0.087281 0.962444 +v -1.021502 4.238253 1.079525 +v 1.005072 2.096010 -1.064053 +v -1.099355 -0.009057 -1.064053 +v 1.005072 6.109424 -1.025168 +v -1.099355 4.198754 -0.167566 +v 1.043999 6.186873 0.143940 +v 1.121852 -1.685831 -0.946971 +v 1.121852 1.003978 0.923345 +v -1.060428 4.198754 0.767379 +v -0.358880 6.226372 -0.401302 +v -0.475877 6.148149 -1.102938 +v -0.358880 -1.685831 -1.024954 +v 0.381377 -1.685831 1.079525 +v -0.592875 6.226372 0.611626 +v -1.060428 -1.685831 0.299693 +v 0.810222 6.148149 -0.946971 +v -1.021502 -0.242953 -1.064053 +v 1.043999 -0.242953 -1.025168 +v -1.099355 5.991701 -0.830103 +v -0.787725 4.160029 1.079525 +v 1.082925 3.146995 1.040427 +v -1.021502 6.186873 0.455873 +v -0.397807 6.069925 -1.102938 +v 1.121852 -1.529383 -0.908086 +v -1.021502 -1.334212 -0.947185 +v -1.021502 5.094841 1.040427 +v 1.005072 -1.412435 1.001329 +v -0.047033 6.226372 -0.401302 +v 0.342451 6.226372 1.040427 +v -1.060428 -1.139814 1.040427 +v 1.043999 6.226372 0.806477 +v -1.021502 4.043081 1.079525 +v -1.099355 5.796530 -1.102938 +v 0.966146 6.148149 -0.830103 +v 0.849148 6.109424 -1.064053 +f 85 73 97 +f 51 52 56 +f 52 51 59 +f 53 54 59 +f 53 59 60 +f 51 56 65 +f 56 52 67 +f 52 59 67 +f 53 60 69 +f 62 53 69 +f 58 66 69 +f 62 69 70 +f 57 50 72 +f 56 72 73 +f 69 60 74 +f 61 69 74 +f 59 54 75 +f 54 63 75 +f 57 72 76 +f 59 51 77 +f 60 59 77 +f 60 65 79 +f 74 60 79 +f 74 79 80 +f 64 58 80 +f 58 69 80 +f 69 61 80 +f 61 74 80 +f 79 64 80 +f 56 67 81 +f 67 71 81 +f 54 57 82 +f 63 54 82 +f 57 63 82 +f 57 54 83 +f 54 62 83 +f 62 70 83 +f 70 57 83 +f 72 56 84 +f 55 76 84 +f 76 72 84 +f 56 81 84 +f 58 64 85 +f 56 73 85 +f 64 79 85 +f 66 68 86 +f 69 66 86 +f 70 69 86 +f 68 70 86 +f 51 65 87 +f 65 60 87 +f 77 51 87 +f 60 77 87 +f 63 55 88 +f 81 71 88 +f 55 84 88 +f 84 81 88 +f 54 53 89 +f 53 62 89 +f 62 54 89 +f 72 50 90 +f 73 72 90 +f 78 73 90 +f 55 63 91 +f 63 57 91 +f 76 55 91 +f 57 76 91 +f 59 63 92 +f 67 59 92 +f 71 67 92 +f 63 88 92 +f 88 71 92 +f 50 57 93 +f 57 70 93 +f 70 68 93 +f 63 59 94 +f 59 75 94 +f 75 63 94 +f 65 56 95 +f 79 65 95 +f 56 85 95 +f 85 79 95 +f 68 66 96 +f 66 78 96 +f 90 50 96 +f 78 90 96 +f 50 93 96 +f 93 68 96 +f 66 58 97 +f 78 66 97 +f 73 78 97 +f 58 85 97 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/966/966.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/966/966.urdf new file mode 100644 index 000000000..4694776f2 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/966/966.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/967/967.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/967/967.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/967/967.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/967/967.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/967/967.obj new file mode 100644 index 000000000..b3a7b9c33 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/967/967.obj @@ -0,0 +1,531 @@ +o convex_0 +v -0.427583 -1.519350 -1.092560 +v 0.798597 0.572653 1.107857 +v 0.654328 0.572653 1.107857 +v 0.618314 -1.663837 1.107857 +v -1.076900 0.536531 1.071672 +v 1.051121 0.572653 -1.056375 +v -1.004659 0.572653 -0.948034 +v -1.076900 -1.663837 1.071672 +v 1.015106 -1.663837 -1.020189 +v -1.040673 -1.663837 -1.020189 +v 0.979092 -1.591594 1.071457 +v 0.979092 0.572653 0.891176 +v 1.087347 0.500409 -0.948034 +v -1.076900 0.572653 0.674925 +v 1.051121 -1.338959 -1.020189 +v -1.040673 -0.870032 -1.020189 +v 0.979092 -0.004640 1.071457 +v -0.896404 0.283897 -0.984219 +v -1.076900 -1.663837 0.277962 +v 0.979092 -1.663837 1.035486 +v -0.355343 -1.663837 -1.092560 +v -1.040673 0.572653 -0.515101 +v 0.943078 0.572653 1.107642 +v -1.076900 0.572653 1.035486 +v 0.943078 0.572653 -1.056375 +v -0.968645 -1.663837 -1.056159 +v -1.040673 -0.437665 -0.984219 +v 0.762583 -1.663837 1.107857 +f 11 23 28 +f 2 3 4 +f 4 3 5 +f 3 2 6 +f 3 6 7 +f 4 5 8 +f 4 8 9 +f 9 8 10 +f 6 2 12 +f 6 12 13 +f 3 7 14 +f 8 5 14 +f 9 6 15 +f 6 13 15 +f 11 13 17 +f 13 12 17 +f 1 16 18 +f 16 7 18 +f 10 8 19 +f 8 14 19 +f 16 10 19 +f 4 9 20 +f 13 11 20 +f 9 15 20 +f 15 13 20 +f 1 6 21 +f 6 9 21 +f 9 10 21 +f 14 7 22 +f 12 2 23 +f 11 17 23 +f 17 12 23 +f 5 3 24 +f 3 14 24 +f 14 5 24 +f 6 1 25 +f 7 6 25 +f 1 18 25 +f 18 7 25 +f 16 1 26 +f 10 16 26 +f 1 21 26 +f 21 10 26 +f 7 16 27 +f 19 14 27 +f 16 19 27 +f 22 7 27 +f 14 22 27 +f 2 4 28 +f 4 20 28 +f 20 11 28 +f 23 2 28 +o convex_1 +v -2.736160 2.195558 -1.056488 +v -2.808333 2.809142 1.071785 +v -2.952679 2.809142 1.071785 +v -2.772147 0.609156 0.963455 +v -1.077168 2.700812 1.035536 +v -1.076970 0.681088 -0.948157 +v -1.077168 2.664630 -1.020239 +v -3.096827 0.645122 -0.984198 +v -1.076970 0.753237 1.035536 +v -3.024654 2.772745 -1.056488 +v -2.952679 0.609156 0.927414 +v -3.024654 2.809142 -0.767746 +v -1.257502 2.736778 0.638672 +v -3.096827 0.933715 -0.695665 +v -1.546194 2.700597 -1.056488 +v -3.060840 0.609156 -0.371090 +v -2.952679 2.448185 1.071785 +v -1.401848 0.717270 1.035536 +v -1.077168 1.258275 -0.983990 +v -2.231146 2.772960 1.071785 +v -2.988667 2.412003 0.710754 +v -2.483850 2.772745 -1.056488 +v -2.772147 0.645122 -0.984198 +v -1.076970 0.681088 -0.695665 +v -1.618169 0.717270 1.035536 +v -3.060840 2.159591 -0.984198 +v -2.988667 0.789419 0.602840 +v -2.086998 0.644907 -0.948157 +v -1.257502 2.736778 1.035536 +v -3.024654 2.123410 -1.056488 +v -2.952679 2.809142 -0.767746 +v -1.113155 2.015295 -1.020239 +v -2.952679 0.753237 0.963455 +v -2.736160 0.609156 0.963455 +f 44 56 62 +f 35 33 37 +f 34 35 37 +f 31 30 40 +f 33 35 41 +f 29 38 43 +f 41 35 43 +f 32 39 44 +f 42 36 44 +f 30 31 45 +f 37 45 46 +f 35 34 47 +f 37 33 48 +f 30 45 48 +f 45 37 48 +f 31 40 49 +f 45 31 49 +f 38 40 50 +f 43 38 50 +f 41 43 50 +f 44 36 51 +f 47 34 51 +f 34 37 52 +f 37 46 52 +f 32 46 53 +f 46 45 53 +f 38 36 54 +f 40 38 54 +f 36 42 54 +f 49 40 54 +f 42 49 54 +f 44 39 55 +f 42 44 55 +f 49 42 55 +f 51 34 56 +f 44 51 56 +f 41 30 57 +f 33 41 57 +f 48 33 57 +f 30 48 57 +f 38 29 58 +f 36 38 58 +f 29 51 58 +f 51 36 58 +f 40 30 59 +f 30 41 59 +f 50 40 59 +f 41 50 59 +f 29 43 60 +f 43 35 60 +f 35 47 60 +f 51 29 60 +f 47 51 60 +f 39 32 61 +f 45 49 61 +f 32 53 61 +f 53 45 61 +f 55 39 61 +f 49 55 61 +f 32 44 62 +f 46 32 62 +f 34 52 62 +f 52 46 62 +f 56 34 62 +o convex_2 +v -1.040754 0.572653 -0.515189 +v 2.999073 2.809142 1.035402 +v 3.071351 2.808923 1.035614 +v 3.035212 2.808923 -1.020260 +v 2.962934 0.645115 0.999386 +v -1.076892 2.700558 1.035402 +v -1.076892 2.664655 -1.020048 +v 3.034806 0.753043 -0.948016 +v -1.076892 0.572653 1.035402 +v 0.979363 0.572653 -1.056488 +v -1.076892 0.681018 -0.948016 +v 1.123512 0.572653 1.107857 +v 0.799075 2.773020 1.107857 +v 1.844663 2.809142 0.133733 +v -0.932337 0.717140 1.071418 +v 2.674230 2.303874 1.071418 +v -0.644039 2.736898 0.999386 +v 3.034806 1.654994 1.035402 +v -0.535623 0.572653 -0.984032 +v 3.071351 2.773020 -0.479174 +v 2.999073 2.015337 -1.020048 +v 2.602359 2.809142 -1.020048 +v 2.493942 0.608993 1.035402 +v 2.962934 0.645115 0.638803 +v -1.076892 2.051240 -1.020048 +v 1.087373 0.572653 -1.056488 +v -1.076892 2.700558 0.061701 +v 3.071351 2.412240 1.035614 +v 1.231522 2.773020 1.107857 +v 0.618787 0.572653 1.107857 +v 2.999073 0.681018 0.602787 +v 2.710369 0.645115 1.035402 +v 1.195383 0.789165 -1.056488 +v 2.674230 2.809142 1.071418 +v 0.366222 2.773020 1.071418 +v 2.746508 0.861408 -0.984032 +v -1.004615 0.572653 -0.948016 +v 1.339532 0.572653 1.035614 +v -0.932337 0.969555 1.071418 +v 3.034806 0.753043 -0.695481 +f 90 93 102 +f 64 65 66 +f 68 69 71 +f 71 63 72 +f 63 71 73 +f 71 69 73 +f 71 72 74 +f 68 71 77 +f 72 63 81 +f 66 65 82 +f 70 66 82 +f 66 70 83 +f 64 66 84 +f 76 64 84 +f 67 85 86 +f 69 72 87 +f 73 69 87 +f 72 81 87 +f 74 72 88 +f 70 86 88 +f 86 85 88 +f 69 68 89 +f 68 79 89 +f 79 76 89 +f 84 69 89 +f 76 84 89 +f 65 78 90 +f 78 80 90 +f 82 65 90 +f 70 82 90 +f 75 74 91 +f 74 78 91 +f 71 74 92 +f 74 75 92 +f 77 71 92 +f 80 67 93 +f 67 86 93 +f 86 70 93 +f 90 80 93 +f 78 74 94 +f 67 80 94 +f 80 78 94 +f 85 67 94 +f 74 85 94 +f 72 69 95 +f 66 83 95 +f 84 66 95 +f 69 84 95 +f 88 72 95 +f 83 88 95 +f 65 64 96 +f 64 76 96 +f 78 65 96 +f 75 91 96 +f 91 78 96 +f 68 75 97 +f 79 68 97 +f 76 79 97 +f 96 76 97 +f 75 96 97 +f 83 70 98 +f 88 83 98 +f 70 88 98 +f 63 73 99 +f 81 63 99 +f 73 87 99 +f 87 81 99 +f 85 74 100 +f 74 88 100 +f 88 85 100 +f 75 68 101 +f 68 77 101 +f 92 75 101 +f 77 92 101 +f 70 90 102 +f 93 70 102 +o convex_3 +v -0.355352 -1.736145 -2.571262 +v 0.365870 -2.890067 -2.931901 +v 0.474003 -2.890067 -2.931901 +v 0.257625 -2.854065 -1.092920 +v 0.582361 -1.699910 -1.092722 +v -0.463598 -2.637588 -1.092920 +v 0.510160 -1.700026 -3.112418 +v -0.427554 -2.817946 -3.040250 +v -0.499642 -1.700026 -1.092920 +v -0.571956 -1.808265 -3.004068 +v 0.546204 -2.890067 -1.309224 +v -0.427554 -2.745826 -1.092920 +v 0.546204 -1.772263 -2.751581 +v -0.571956 -2.060743 -2.968083 +v 0.546204 -2.854065 -1.092920 +v -0.535799 -1.700026 -1.489543 +v 0.510160 -2.349107 -3.040250 +v -0.463598 -1.772263 -3.040250 +v 0.546204 -2.890067 -1.669863 +v -0.463598 -2.745826 -3.040250 +v -0.571956 -1.808265 -2.282790 +v 0.401801 -1.700026 -3.112418 +v -0.427554 -2.817946 -2.823748 +v 0.582361 -1.952505 -1.128905 +v 0.510160 -1.880385 -3.112418 +v 0.041134 -2.854065 -3.004068 +f 127 119 128 +f 108 107 111 +f 104 105 113 +f 106 107 114 +f 107 108 114 +f 109 107 115 +f 107 106 117 +f 106 113 117 +f 111 107 118 +f 108 111 118 +f 118 103 120 +f 112 118 120 +f 113 105 121 +f 105 119 121 +f 119 115 121 +f 114 108 122 +f 108 116 122 +f 116 112 122 +f 112 120 122 +f 116 108 123 +f 112 116 123 +f 108 118 123 +f 118 112 123 +f 107 109 124 +f 103 118 124 +f 118 107 124 +f 120 103 124 +f 110 122 124 +f 122 120 124 +f 110 104 125 +f 104 113 125 +f 113 106 125 +f 106 114 125 +f 122 110 125 +f 114 122 125 +f 115 107 126 +f 107 117 126 +f 117 113 126 +f 113 121 126 +f 121 115 126 +f 109 115 127 +f 115 119 127 +f 124 109 127 +f 110 124 127 +f 105 104 128 +f 104 110 128 +f 119 105 128 +f 110 127 128 +o convex_4 +v 0.221644 -3.395313 -0.984219 +v 1.015025 -1.772309 1.035702 +v 0.978981 -1.664007 1.035702 +v -1.076765 -3.250741 1.107857 +v -1.040721 -1.664007 -1.020404 +v 1.015025 -1.664007 -1.020404 +v 1.015025 -3.250741 0.927361 +v -1.076765 -1.664007 1.071672 +v -1.040721 -3.359043 -1.092560 +v 0.978981 -3.395313 -0.984219 +v 0.618335 -2.854142 1.107857 +v 0.582290 -1.699938 -1.092560 +v 0.762511 -1.663837 1.107857 +v -1.076765 -3.250741 -0.876094 +v 0.546042 -2.854142 -1.092560 +v 1.015025 -3.359043 -0.334820 +v 1.015025 -3.178709 1.035702 +v -0.499854 -1.664007 -1.092560 +v -0.824251 -3.287011 0.747080 +v -0.463605 -1.808240 1.107857 +v 0.834600 -3.395313 -0.695597 +v -1.076765 -1.664007 0.278178 +v -1.040721 -1.736039 -1.056375 +v 1.015025 -3.034307 -0.984004 +v -0.535898 -3.359043 -1.092560 +v 0.005174 -3.250741 1.071672 +v -1.076765 -3.322942 -0.190725 +v -1.076765 -2.529575 1.107857 +v -1.040721 -2.601607 -1.092560 +v 0.654379 -3.395313 -1.020404 +f 153 143 158 +f 131 130 134 +f 134 130 135 +f 130 131 141 +f 131 134 141 +f 132 139 141 +f 132 136 142 +f 134 138 143 +f 140 134 143 +f 137 140 143 +f 134 135 144 +f 135 130 145 +f 130 141 145 +f 141 139 145 +f 134 140 146 +f 140 137 146 +f 141 134 146 +f 133 141 146 +f 132 141 148 +f 141 136 148 +f 129 138 149 +f 144 135 149 +f 138 144 149 +f 147 129 149 +f 141 133 150 +f 136 141 150 +f 142 136 150 +f 133 142 150 +f 142 133 151 +f 133 146 151 +f 138 134 152 +f 134 144 152 +f 144 138 152 +f 137 143 153 +f 139 132 154 +f 135 145 154 +f 145 139 154 +f 132 147 154 +f 149 135 154 +f 147 149 154 +f 137 129 155 +f 132 142 155 +f 142 137 155 +f 147 132 155 +f 129 147 155 +f 136 132 156 +f 132 148 156 +f 148 136 156 +f 137 142 157 +f 146 137 157 +f 142 151 157 +f 151 146 157 +f 129 137 158 +f 138 129 158 +f 143 138 158 +f 137 153 158 +o convex_5 +v 0.437973 -1.772263 2.983623 +v -0.463651 -2.890183 1.107857 +v -0.319382 -2.890183 1.107857 +v 0.437973 -1.808265 1.107857 +v -0.608029 -1.699910 2.839305 +v 0.474094 -2.745826 2.947452 +v -0.463651 -2.745826 2.947452 +v -0.463651 -1.808265 1.107857 +v 0.510216 -2.781945 1.107857 +v 0.510216 -1.808265 1.721117 +v -0.608029 -1.844383 2.947452 +v -0.499773 -2.781945 1.107857 +v -0.499773 -1.772263 1.252175 +v 0.401960 -2.781945 2.730791 +v 0.510216 -2.781945 2.117532 +v 0.474094 -2.060743 2.983623 +v 0.510216 -1.808265 1.180016 +v 0.041179 -1.736145 2.983623 +v -0.463651 -2.781945 2.730791 +v -0.608029 -1.916503 2.622644 +v -0.066858 -2.312989 2.983623 +v 0.474094 -1.772263 2.730791 +v -0.499773 -1.916503 1.144029 +v -0.535785 -1.699910 2.947452 +v 0.329826 -2.817946 1.288347 +f 173 172 183 +f 161 160 162 +f 162 160 166 +f 161 162 167 +f 166 160 170 +f 163 162 171 +f 162 166 171 +f 160 161 172 +f 164 165 172 +f 167 168 173 +f 164 172 173 +f 164 173 174 +f 173 168 174 +f 162 163 175 +f 167 162 175 +f 168 167 175 +f 174 159 176 +f 170 160 177 +f 160 172 177 +f 172 165 177 +f 169 163 178 +f 165 169 178 +f 163 171 178 +f 177 165 178 +f 170 177 178 +f 165 164 179 +f 169 165 179 +f 164 174 179 +f 176 169 179 +f 174 176 179 +f 159 174 180 +f 174 168 180 +f 168 175 180 +f 176 159 180 +f 175 176 180 +f 166 170 181 +f 171 166 181 +f 178 171 181 +f 170 178 181 +f 163 169 182 +f 175 163 182 +f 169 176 182 +f 176 175 182 +f 161 167 183 +f 172 161 183 +f 167 173 183 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/967/967.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/967/967.urdf new file mode 100644 index 000000000..1184642a9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/967/967.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/968/968.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/968/968.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/968/968.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/968/968.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/968/968.obj new file mode 100644 index 000000000..bf00f19c8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/968/968.obj @@ -0,0 +1,432 @@ +o convex_0 +v -3.021938 -0.868709 -1.558403 +v 3.027361 1.119251 -2.234722 +v 3.027361 1.076893 -1.008394 +v 3.069697 -1.080278 -2.530941 +v -2.979006 0.992397 -2.996288 +v -2.936669 1.077113 -1.008589 +v 3.069697 -1.080278 -1.008394 +v -2.936669 -1.122416 -2.826964 +v 3.027361 1.119251 -2.911820 +v -3.021938 -0.953205 -1.008589 +v 3.069697 -1.037701 -2.911820 +v 0.573653 -1.122197 -1.008394 +v 0.827670 1.119251 -1.050822 +v -2.936669 1.077113 -1.600831 +v -2.979006 0.696113 -2.996288 +v -3.021938 0.907901 -2.911626 +v -1.413761 -1.122416 -1.558403 +v -1.710114 0.992397 -2.996288 +v 3.069697 0.146340 -1.727531 +v -1.118004 -1.122416 -2.826964 +v 2.519328 1.119251 -2.911820 +v 1.377444 -1.122197 -1.050822 +v -3.021938 -0.318717 -1.093056 +v -1.667778 1.034755 -2.954054 +v -2.936669 -0.741636 -2.869198 +v -2.979006 -1.080058 -2.150061 +v 3.069697 0.061625 -2.911820 +v 2.646336 -1.037701 -2.911820 +v -0.863987 -1.080058 -1.008394 +v 2.604000 -1.080278 -2.869198 +v -3.021938 -0.995562 -1.262379 +v -2.979006 -0.403432 -2.869198 +v -2.979006 1.034536 -1.727726 +v -2.979006 1.034536 -2.446279 +v -2.894929 -1.122416 -2.530941 +v 0.742998 1.077113 -2.954054 +v -2.979006 0.527121 -1.008589 +f 33 23 37 +f 7 4 11 +f 7 3 12 +f 3 2 13 +f 6 3 13 +f 2 9 13 +f 6 13 14 +f 1 10 16 +f 5 15 16 +f 15 5 18 +f 11 15 18 +f 2 3 19 +f 3 7 19 +f 9 2 19 +f 7 11 19 +f 17 8 20 +f 13 9 21 +f 14 13 21 +f 4 7 22 +f 7 12 22 +f 12 17 22 +f 17 20 22 +f 16 10 23 +f 8 15 25 +f 9 19 27 +f 19 11 27 +f 15 11 28 +f 8 25 28 +f 25 15 28 +f 3 6 29 +f 12 3 29 +f 17 12 29 +f 11 4 30 +f 20 8 30 +f 4 22 30 +f 22 20 30 +f 8 28 30 +f 28 11 30 +f 10 1 31 +f 1 26 31 +f 29 10 31 +f 17 29 31 +f 15 8 32 +f 1 16 32 +f 16 15 32 +f 26 1 32 +f 8 26 32 +f 6 14 33 +f 16 23 33 +f 5 16 34 +f 14 21 34 +f 24 5 34 +f 21 24 34 +f 33 14 34 +f 16 33 34 +f 8 17 35 +f 26 8 35 +f 31 26 35 +f 17 31 35 +f 18 5 36 +f 11 18 36 +f 21 9 36 +f 5 24 36 +f 24 21 36 +f 9 27 36 +f 27 11 36 +f 23 10 37 +f 29 6 37 +f 10 29 37 +f 6 33 37 +o convex_1 +v 1.081539 2.007297 0.134038 +v -1.118263 2.726124 -0.754376 +v -1.118263 2.726124 -0.711923 +v -0.991219 -3.110309 0.726193 +v 0.954495 -3.110309 -0.754376 +v -0.991219 3.106536 1.106995 +v 0.996914 -2.941102 1.106995 +v -1.033639 -2.983099 -0.754376 +v 0.996914 3.022541 -0.754376 +v 1.039119 3.107753 1.106995 +v -0.949015 -3.110309 1.106995 +v 1.081539 0.019416 -0.754376 +v -1.118263 2.979935 -0.754376 +v -0.991219 -3.110309 1.064542 +v -1.033639 -3.067703 0.007226 +v -1.118263 2.937937 -0.542840 +v 1.081539 1.838090 -0.754376 +v -0.695142 3.106536 0.683740 +v 1.039119 -1.460234 -0.754376 +v -0.695142 -3.110309 1.106995 +v -1.033639 3.022541 -0.500387 +v -1.033639 -3.025705 -0.711923 +v 0.996914 3.107753 0.768464 +v -1.033639 3.064538 0.599017 +v -1.033639 -3.067703 0.134038 +v 0.108467 3.022541 -0.754376 +v 0.319920 3.064538 -0.119768 +f 63 55 64 +f 39 42 45 +f 42 39 46 +f 43 44 47 +f 44 38 47 +f 41 42 48 +f 44 43 48 +f 38 44 49 +f 42 46 49 +f 39 40 50 +f 46 39 50 +f 41 48 51 +f 48 43 51 +f 40 39 52 +f 42 41 52 +f 41 51 52 +f 50 40 53 +f 46 47 54 +f 47 38 54 +f 38 49 54 +f 49 46 54 +f 44 42 56 +f 49 44 56 +f 42 49 56 +f 42 44 57 +f 48 42 57 +f 44 48 57 +f 50 43 58 +f 43 55 58 +f 39 45 59 +f 45 42 59 +f 52 39 59 +f 42 52 59 +f 43 47 60 +f 47 46 60 +f 55 43 60 +f 43 50 61 +f 51 43 61 +f 53 51 61 +f 50 53 61 +f 40 52 62 +f 52 51 62 +f 51 53 62 +f 53 40 62 +f 46 50 63 +f 50 58 63 +f 58 55 63 +f 60 46 64 +f 55 60 64 +f 46 63 64 +o convex_2 +v 1.123842 -0.487243 3.095062 +v -1.075959 1.161454 3.095269 +v -1.033540 -1.502997 3.137300 +v -0.948915 -3.110309 1.106995 +v 1.039218 3.107149 1.106995 +v 0.996798 -2.941118 1.106995 +v -0.991335 3.106540 1.106995 +v 0.954594 2.980560 3.137300 +v 1.123842 -3.068316 3.221982 +v -1.075959 3.022553 3.222189 +v -0.991335 -2.983112 3.179744 +v 1.081423 2.937958 3.095062 +v -0.991335 -2.898516 1.149439 +v -1.075959 3.022553 2.629620 +v 1.123842 -3.068316 2.968142 +v -0.991335 -3.025714 3.095269 +v -1.075959 1.457234 3.222189 +v 1.081423 3.022553 2.503114 +v -0.991335 -3.110309 1.530199 +v -0.822086 2.895356 3.222189 +v 1.039218 3.107149 1.361042 +v -0.695042 -3.110309 1.106995 +v -0.991335 3.106540 1.530199 +v -1.075959 1.541829 2.629620 +v 1.123842 -2.602737 2.883667 +v 0.489052 -3.067707 3.179744 +v 1.039218 2.642178 1.106995 +v 1.081423 2.556974 3.137506 +v -1.033540 1.669027 1.826277 +v 1.039218 -2.771928 1.657119 +v 0.996798 -3.067707 3.222189 +v 1.123842 -2.941118 3.221982 +v 1.081423 2.937958 2.333749 +v -0.991335 -1.502997 1.106995 +v 1.123842 -1.883372 2.883667 +f 69 97 99 +f 68 69 70 +f 69 68 71 +f 67 66 77 +f 66 74 78 +f 74 71 78 +f 65 73 79 +f 75 67 80 +f 66 67 81 +f 74 66 81 +f 67 75 81 +f 76 65 82 +f 72 76 82 +f 67 77 83 +f 77 68 83 +f 80 67 83 +f 72 74 84 +f 74 81 84 +f 69 71 85 +f 74 72 85 +f 82 69 85 +f 72 82 85 +f 68 70 86 +f 70 79 86 +f 79 73 86 +f 83 68 86 +f 73 83 86 +f 71 74 87 +f 85 71 87 +f 74 85 87 +f 77 66 88 +f 66 78 88 +f 65 79 89 +f 75 80 90 +f 83 73 90 +f 80 83 90 +f 70 69 91 +f 69 89 91 +f 65 76 92 +f 76 72 92 +f 78 71 93 +f 88 78 93 +f 79 70 94 +f 89 79 94 +f 70 91 94 +f 91 89 94 +f 81 75 95 +f 84 81 95 +f 90 73 95 +f 75 90 95 +f 73 65 96 +f 72 84 96 +f 65 92 96 +f 92 72 96 +f 95 73 96 +f 84 95 96 +f 82 65 97 +f 69 82 97 +f 71 68 98 +f 68 77 98 +f 77 88 98 +f 93 71 98 +f 88 93 98 +f 65 89 99 +f 89 69 99 +f 97 65 99 +o convex_3 +v -1.964548 1.077167 -0.839021 +v -3.021752 -0.953316 -1.008200 +v -2.091062 -0.995724 -1.008200 +v -1.118450 1.034759 -1.008200 +v -1.118450 -0.995724 -0.881321 +v -2.936974 1.077167 -0.796680 +v -2.936974 1.077167 -1.008200 +v -3.021752 -0.911112 -0.923559 +v -1.118450 -0.995724 -1.008200 +v -1.118450 1.034759 -0.923559 +v -2.936974 0.569292 -0.796680 +v -2.387131 0.992555 -0.796680 +v -1.795366 -0.995724 -0.881321 +v -1.330114 1.034759 -0.881321 +v -1.118450 -0.064993 -0.881321 +f 109 113 114 +f 102 101 103 +f 103 101 106 +f 100 103 106 +f 105 100 106 +f 105 106 107 +f 106 101 107 +f 102 103 108 +f 103 104 108 +f 104 102 108 +f 103 100 109 +f 104 103 109 +f 105 107 110 +f 100 105 111 +f 110 104 111 +f 105 110 111 +f 101 102 112 +f 102 104 112 +f 107 101 112 +f 104 110 112 +f 110 107 112 +f 109 100 113 +f 100 111 113 +f 113 111 114 +f 104 109 114 +f 111 104 114 +o convex_4 +v 1.039127 2.473145 -0.754376 +v -1.118044 -0.994978 -1.008175 +v -1.075906 -1.037009 -1.008175 +v -1.033548 -2.983625 -0.754376 +v 0.954412 -3.068287 -0.881276 +v -1.118044 2.980514 -0.754376 +v 0.996770 2.980514 -0.965867 +v 1.123623 -1.122271 -1.008175 +v 0.954412 -3.110918 -0.754376 +v -1.118044 1.033898 -1.008175 +v -1.033548 -2.940994 -0.923559 +v -0.737483 2.980514 -0.881276 +v 1.123623 1.077129 -1.008175 +v 0.996770 3.023145 -0.754376 +v 1.123623 -1.122271 -0.839017 +v 0.489355 2.980514 -0.965867 +v -1.075906 -2.983625 -0.796709 +v -1.118044 2.980514 -0.839017 +v 1.123623 1.119160 -0.796709 +v 1.081485 -0.106932 -0.754376 +v -0.864336 -3.025656 -0.881276 +v 0.912274 -3.110918 -0.881276 +v -1.118044 -0.994978 -0.881276 +v 0.700704 3.023145 -0.881276 +f 126 132 138 +f 118 115 120 +f 117 116 122 +f 115 118 123 +f 119 122 123 +f 116 120 124 +f 122 116 124 +f 116 117 125 +f 117 122 125 +f 121 115 127 +f 122 124 127 +f 120 115 128 +f 115 121 128 +f 123 122 129 +f 122 127 129 +f 124 126 130 +f 121 127 130 +f 127 124 130 +f 118 120 131 +f 116 125 131 +f 124 120 132 +f 126 124 132 +f 127 115 133 +f 129 127 133 +f 129 133 134 +f 115 123 134 +f 123 129 134 +f 133 115 134 +f 123 118 135 +f 118 131 135 +f 131 125 135 +f 122 119 136 +f 119 123 136 +f 125 122 136 +f 123 135 136 +f 135 125 136 +f 120 116 137 +f 116 131 137 +f 131 120 137 +f 120 128 138 +f 128 121 138 +f 130 126 138 +f 121 130 138 +f 132 120 138 +o convex_5 +v 1.166507 0.992542 -0.881317 +v 1.123843 -1.122635 -1.008200 +v 1.462489 -1.122635 -1.008200 +v 1.123843 -1.122635 -0.839000 +v 3.027157 1.077167 -0.923600 +v 3.069441 -1.080216 -0.923600 +v 3.027157 1.077167 -1.008200 +v 1.123843 1.077167 -1.008200 +v 3.069441 -1.080216 -1.008200 +v 1.377923 -0.699514 -0.839000 +v 2.265870 0.273128 -0.881317 +v 2.308153 -1.080216 -0.881317 +f 149 148 150 +f 140 141 142 +f 142 141 144 +f 141 140 145 +f 143 144 145 +f 140 142 146 +f 142 139 146 +f 139 143 146 +f 145 140 146 +f 143 145 146 +f 144 141 147 +f 141 145 147 +f 145 144 147 +f 139 142 148 +f 143 139 149 +f 139 148 149 +f 143 149 150 +f 144 143 150 +f 142 144 150 +f 148 142 150 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/968/968.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/968/968.urdf new file mode 100644 index 000000000..e6d36551b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/968/968.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/969/969.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/969/969.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/969/969.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/969/969.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/969/969.obj new file mode 100644 index 000000000..ad91735b5 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/969/969.obj @@ -0,0 +1,369 @@ +o convex_0 +v -0.288759 0.288357 -1.219997 +v 0.168725 -0.310066 -1.395971 +v 0.203949 -0.310066 -1.395971 +v 0.098338 0.217908 -3.085475 +v -0.323983 -0.239617 -3.014854 +v 0.239112 0.217908 -1.114451 +v 0.309561 -0.204392 -2.979544 +v -0.218372 -0.239617 -1.114451 +v -0.218372 0.358806 -2.979544 +v 0.239112 0.182749 -3.085475 +v 0.203949 -0.310066 -1.114451 +v -0.288759 0.077141 -1.114451 +v 0.274336 0.147459 -1.360660 +v -0.147985 0.358806 -2.768452 +v -0.323983 -0.063626 -3.014854 +v -0.183147 -0.274841 -1.114451 +v -0.323983 0.006823 -1.818347 +v 0.309561 -0.063626 -2.346076 +v -0.042374 0.323581 -3.014854 +v -0.323983 -0.239617 -2.557168 +v -0.147985 -0.239617 -3.014854 +v -0.288759 0.253132 -1.114451 +v 0.274336 -0.239617 -2.662714 +v 0.309561 -0.204392 -2.557168 +v 0.239112 0.217908 -1.853658 +v 0.063176 -0.310066 -1.184686 +f 11 16 26 +f 3 2 5 +f 5 4 10 +f 2 3 11 +f 3 7 11 +f 6 8 11 +f 8 6 12 +f 6 11 13 +f 1 6 14 +f 9 1 14 +f 4 5 15 +f 1 9 15 +f 9 4 15 +f 11 8 16 +f 15 5 17 +f 1 15 17 +f 7 10 18 +f 10 13 18 +f 4 9 19 +f 10 4 19 +f 14 6 19 +f 9 14 19 +f 8 12 20 +f 5 16 20 +f 16 8 20 +f 17 5 20 +f 12 17 20 +f 3 5 21 +f 5 10 21 +f 10 7 21 +f 6 1 22 +f 12 6 22 +f 1 17 22 +f 17 12 22 +f 7 3 23 +f 3 21 23 +f 21 7 23 +f 11 7 24 +f 13 11 24 +f 7 18 24 +f 18 13 24 +f 6 13 25 +f 13 10 25 +f 19 6 25 +f 10 19 25 +f 5 2 26 +f 2 11 26 +f 16 5 26 +o convex_1 +v 0.168725 0.217929 3.039978 +v -0.042374 -0.345269 1.103771 +v 0.274336 -0.345269 1.103771 +v 0.063176 0.253153 1.103771 +v -0.218372 -0.310045 2.969474 +v -0.323983 0.323602 2.370948 +v -0.323983 -0.310045 1.103771 +v 0.274336 -0.169213 3.039978 +v 0.309561 0.217929 1.103771 +v -0.288759 0.253153 1.103771 +v -0.323983 0.323602 3.004537 +v 0.239112 0.182704 3.039978 +v -0.183147 0.323602 3.004537 +v -0.112761 -0.310045 3.004537 +v 0.309561 -0.274821 1.139213 +v 0.309561 0.217929 1.702487 +v 0.274336 -0.345269 1.456102 +v -0.323983 -0.310045 1.420850 +v -0.288759 0.041937 3.004537 +v -0.323983 0.041937 1.103771 +v 0.098338 -0.239596 3.039978 +f 45 40 47 +f 29 28 30 +f 30 28 33 +f 29 30 35 +f 32 30 36 +f 30 33 36 +f 32 33 37 +f 27 34 38 +f 30 32 39 +f 35 30 39 +f 32 37 39 +f 37 27 39 +f 29 35 41 +f 41 35 42 +f 27 38 42 +f 38 34 42 +f 35 39 42 +f 39 27 42 +f 34 41 42 +f 28 29 43 +f 31 28 43 +f 40 31 43 +f 29 41 43 +f 41 34 43 +f 28 31 44 +f 33 28 44 +f 37 33 44 +f 37 44 45 +f 31 40 45 +f 44 31 45 +f 33 32 46 +f 32 36 46 +f 36 33 46 +f 34 27 47 +f 27 37 47 +f 40 43 47 +f 43 34 47 +f 37 45 47 +o convex_2 +v -0.499971 -5.097777 -1.008340 +v 0.063158 0.252670 1.103771 +v -0.288719 0.252670 1.103771 +v -0.781641 0.922066 -1.078679 +v 1.048792 -0.909343 -1.043510 +v 1.048792 -5.062422 1.103771 +v -0.957579 -5.062422 1.068385 +v 0.943270 0.922066 1.068385 +v 0.978374 -5.026477 -1.078679 +v -1.027997 0.922066 1.068385 +v -1.063310 -5.097777 -1.043510 +v 0.978374 0.922066 -0.972954 +v -0.957579 0.922066 -1.078679 +v 1.084105 -0.733155 1.068385 +v 0.239096 0.217904 -1.114065 +v -1.063310 -1.894580 1.032999 +v -1.063310 -0.416136 0.575581 +v -0.429554 -0.345425 -1.114065 +v 1.084105 -2.703039 1.103771 +v 1.048792 -5.062422 0.645919 +v -0.112780 -5.062422 1.103771 +v -0.992893 -5.097777 0.153115 +v 0.450349 -5.026477 -1.078679 +v -0.992893 0.640401 -0.585875 +v 0.978374 0.780644 1.068385 +v 1.084105 -0.909343 0.434686 +v 1.084105 -1.296484 1.103771 +v 1.048792 -1.190418 -1.043510 +v -1.063310 -5.097777 -0.902615 +v -0.570389 0.428858 -1.114065 +v -1.063310 0.077072 0.998047 +v -1.063310 -4.886234 -1.043510 +v -0.183198 -5.097777 -0.163409 +v 0.485452 -5.062422 -1.008340 +v -1.027997 0.922066 0.645919 +v 0.978374 -3.971119 -1.078679 +v 1.013688 -5.026477 -0.304086 +v -0.324033 -0.310069 1.103771 +v -0.992893 -4.005885 1.068385 +v 0.063158 -0.416136 -1.114065 +v 0.309514 0.217904 1.103771 +v -0.957579 -0.310069 -1.078679 +v 1.084105 -2.668273 1.033216 +v 0.978374 -5.062422 0.223453 +v 1.013688 -3.301724 -1.043510 +f 75 84 92 +f 49 50 53 +f 50 49 55 +f 50 55 57 +f 55 51 57 +f 56 48 58 +f 51 55 59 +f 57 51 60 +f 51 59 62 +f 59 52 62 +f 58 63 64 +f 49 53 66 +f 66 53 67 +f 53 50 68 +f 68 54 69 +f 58 48 69 +f 53 68 69 +f 56 58 70 +f 58 65 70 +f 59 55 72 +f 61 59 72 +f 52 59 73 +f 59 61 73 +f 61 66 73 +f 49 66 74 +f 66 61 74 +f 72 55 74 +f 61 72 74 +f 56 52 75 +f 52 73 75 +f 63 58 76 +f 69 54 76 +f 58 69 76 +f 60 51 77 +f 51 62 77 +f 65 58 77 +f 62 65 77 +f 63 57 78 +f 64 63 78 +f 60 58 79 +f 58 64 79 +f 71 60 79 +f 64 71 79 +f 67 53 80 +f 69 48 80 +f 53 69 80 +f 48 56 81 +f 57 60 82 +f 60 71 82 +f 71 64 82 +f 78 57 82 +f 64 78 82 +f 52 56 83 +f 62 52 83 +f 56 62 83 +f 67 56 84 +f 75 67 84 +f 50 57 85 +f 68 50 85 +f 54 68 85 +f 57 63 86 +f 76 54 86 +f 63 76 86 +f 85 57 86 +f 54 85 86 +f 62 56 87 +f 65 62 87 +f 56 70 87 +f 70 65 87 +f 55 49 88 +f 49 74 88 +f 74 55 88 +f 58 60 89 +f 60 77 89 +f 77 58 89 +f 66 67 90 +f 73 66 90 +f 67 75 90 +f 75 73 90 +f 56 67 91 +f 80 48 91 +f 67 80 91 +f 48 81 91 +f 81 56 91 +f 56 75 92 +f 84 56 92 +o convex_3 +v -0.640769 1.028383 -1.078861 +v -0.711273 5.005702 1.103771 +v 0.133535 5.005702 1.033267 +v 0.943194 0.922865 1.068519 +v 1.013698 4.970129 -0.973105 +v -1.098528 4.969730 -1.008358 +v -1.028024 0.922865 1.068306 +v 0.978342 0.922865 -0.972892 +v 0.978342 4.970129 0.962763 +v -0.957727 0.922865 -1.078861 +v -1.063172 5.005702 1.103771 +v 0.591087 1.767411 1.103771 +v 0.908045 4.793866 -1.008358 +v -1.098528 4.019666 -0.550722 +v -1.098528 5.005702 0.575419 +v -1.063172 2.928911 1.103771 +v 0.943194 5.005702 -0.128126 +v -0.992875 1.943674 -1.078861 +v -1.028024 0.922865 0.680961 +v 0.978342 4.230702 0.962763 +v 0.978342 0.922865 -0.797059 +v 1.013698 4.899784 -0.726555 +v 0.943194 1.943674 1.068519 +v -1.063172 2.189883 0.469876 +v 0.978342 5.005302 0.927511 +v -0.535116 1.626720 -1.078861 +v -1.098528 4.476912 -1.008358 +v -0.992875 0.922865 -0.339424 +v 0.485435 0.958038 -1.008144 +v 0.555939 1.661893 1.103771 +v -0.464819 4.969730 -1.008358 +v 0.908045 4.547657 -1.008358 +v -0.535116 1.908102 -1.078861 +v -1.028024 5.005702 0.399372 +v 1.013698 4.477311 -0.937853 +f 97 114 127 +f 96 99 100 +f 100 99 102 +f 94 95 103 +f 94 103 104 +f 103 95 107 +f 98 106 107 +f 104 103 108 +f 103 107 108 +f 107 95 109 +f 93 102 110 +f 102 99 111 +f 101 96 112 +f 96 100 113 +f 112 96 113 +f 101 112 114 +f 95 94 115 +f 101 95 115 +f 96 101 115 +f 94 104 115 +f 104 96 115 +f 107 106 116 +f 108 107 116 +f 99 108 116 +f 111 99 116 +f 106 111 116 +f 95 101 117 +f 97 109 117 +f 109 95 117 +f 114 97 117 +f 101 114 117 +f 93 110 118 +f 106 98 119 +f 110 102 119 +f 98 110 119 +f 102 111 120 +f 111 106 120 +f 106 119 120 +f 119 102 120 +f 102 93 121 +f 100 102 121 +f 93 118 121 +f 99 96 122 +f 96 104 122 +f 108 99 122 +f 104 108 122 +f 97 105 123 +f 109 97 123 +f 98 109 123 +f 110 98 123 +f 97 100 124 +f 105 97 124 +f 118 105 124 +f 100 121 124 +f 121 118 124 +f 105 118 125 +f 118 110 125 +f 123 105 125 +f 110 123 125 +f 98 107 126 +f 109 98 126 +f 107 109 126 +f 100 97 127 +f 113 100 127 +f 112 113 127 +f 114 112 127 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/969/969.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/969/969.urdf new file mode 100644 index 000000000..192848fb9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/969/969.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/970/970.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/970/970.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/970/970.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/970/970.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/970/970.obj new file mode 100644 index 000000000..90831a038 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/970/970.obj @@ -0,0 +1,972 @@ +o convex_0 +v 1.154134 -1.145726 -0.302891 +v -1.158978 -1.177896 -0.270595 +v -1.158978 -1.177896 -0.174319 +v -0.998219 2.356024 -0.077839 +v 0.350794 -1.177896 1.046197 +v 0.768540 2.356024 -0.784475 +v 0.736388 2.356024 0.789257 +v -0.805535 1.745475 0.821349 +v -0.805535 -1.177896 -0.880955 +v -0.837687 2.002493 -0.816771 +v 0.768540 -1.177896 -0.913251 +v -0.773384 -1.177896 0.917625 +v -0.034347 2.356024 1.046197 +v 0.961223 -1.177896 0.885533 +v -0.098651 2.356024 -1.009732 +v 0.993375 2.356024 0.114509 +v 0.864768 1.134926 0.917625 +v -0.966067 1.263608 -0.849068 +v -0.998219 -1.145726 0.628593 +v 1.089830 -1.081385 -0.656107 +v 1.057678 -0.888707 0.692777 +v -0.773384 2.356024 0.756961 +v -0.227258 -1.177896 -0.945139 +v 0.832617 -0.984873 1.014105 +v 0.029730 -0.438665 1.078494 +v -0.998219 2.291682 0.114509 +v 0.993375 2.356024 -0.110135 +v 0.093807 2.356024 -1.009732 +v -1.030371 -0.984873 -0.688403 +v -0.773384 2.356024 -0.784679 +v -0.676929 0.203709 0.949921 +v -0.837687 0.139368 -0.913251 +v -0.034347 1.424115 -1.009732 +v 0.061655 2.356024 1.046197 +v 0.961223 -1.177896 -0.816771 +v 0.896920 1.359774 0.821349 +v 1.089830 -1.177896 0.532317 +v -0.837687 1.359774 0.821349 +v -0.002422 0.813566 1.078494 +v -1.030371 0.460727 -0.752383 +v 0.800691 2.356024 -0.752587 +v -0.709080 -1.177896 0.949921 +v 0.768540 0.171538 -0.880955 +v 0.286490 -1.177896 -0.945139 +v 0.704236 0.171538 1.014105 +v 1.154134 -1.177896 -0.431259 +v 0.993375 2.195171 0.210784 +v -0.098651 -1.177896 1.046197 +v -1.062523 -1.017043 0.339357 +v -0.901764 -1.177896 0.789053 +v -1.158978 -1.017043 -0.270595 +v -0.162954 2.227341 -1.009732 +v 0.768540 2.163000 0.821349 +v -0.998219 1.970323 -0.334983 +v -0.548322 2.259512 0.885533 +v -1.030371 -0.021139 -0.752383 +v -0.869839 1.359774 -0.880955 +v -0.612625 -1.177896 -0.913251 +v 1.057678 -1.049214 -0.720495 +v 0.864768 2.356024 -0.559831 +v -0.034347 -0.278158 -0.977435 +v -0.066499 2.291682 1.046197 +v 0.832617 -1.177896 1.014105 +v 0.061655 0.589064 1.078494 +f 63 24 64 +f 3 2 5 +f 6 4 7 +f 5 2 9 +f 5 9 11 +f 3 5 12 +f 7 4 13 +f 5 11 14 +f 4 6 15 +f 6 7 16 +f 17 14 21 +f 13 4 22 +f 11 9 23 +f 14 17 24 +f 22 4 26 +f 8 22 26 +f 16 1 27 +f 6 16 27 +f 15 6 28 +f 9 2 29 +f 4 15 30 +f 28 11 33 +f 15 28 33 +f 7 13 34 +f 14 11 35 +f 17 21 36 +f 21 14 37 +f 14 35 37 +f 26 19 38 +f 8 26 38 +f 31 8 38 +f 12 31 38 +f 34 13 39 +f 6 27 41 +f 12 5 42 +f 31 12 42 +f 25 39 42 +f 39 31 42 +f 28 6 43 +f 11 28 43 +f 6 35 43 +f 35 11 43 +f 11 23 44 +f 33 11 44 +f 24 17 45 +f 17 34 45 +f 27 1 46 +f 20 27 46 +f 35 20 46 +f 1 37 46 +f 37 35 46 +f 1 16 47 +f 36 21 47 +f 37 1 47 +f 21 37 47 +f 5 25 48 +f 42 5 48 +f 25 42 48 +f 3 19 49 +f 26 3 49 +f 19 26 49 +f 3 12 50 +f 19 3 50 +f 12 38 50 +f 38 19 50 +f 2 3 51 +f 3 26 51 +f 26 4 51 +f 40 2 51 +f 10 30 52 +f 30 15 52 +f 15 33 52 +f 33 32 52 +f 16 7 53 +f 7 34 53 +f 34 17 53 +f 17 36 53 +f 47 16 53 +f 36 47 53 +f 10 18 54 +f 4 30 54 +f 30 10 54 +f 18 40 54 +f 51 4 54 +f 40 51 54 +f 22 8 55 +f 13 22 55 +f 8 31 55 +f 29 2 56 +f 9 29 56 +f 18 32 56 +f 32 9 56 +f 2 40 56 +f 40 18 56 +f 18 10 57 +f 32 18 57 +f 10 52 57 +f 52 32 57 +f 23 9 58 +f 9 32 58 +f 33 23 58 +f 32 33 58 +f 35 6 59 +f 20 35 59 +f 6 41 59 +f 41 20 59 +f 27 20 60 +f 41 27 60 +f 20 41 60 +f 23 33 61 +f 44 23 61 +f 33 44 61 +f 39 13 62 +f 31 39 62 +f 13 55 62 +f 55 31 62 +f 5 14 63 +f 14 24 63 +f 25 5 63 +f 25 63 64 +f 39 25 64 +f 34 39 64 +f 24 45 64 +f 45 34 64 +o convex_1 +v 0.254541 2.356322 -0.945174 +v -0.002416 2.645213 1.046367 +v -0.034510 2.645213 1.046367 +v 0.061576 5.408045 -0.077669 +v -0.998345 2.356322 -0.077873 +v 0.993316 2.356322 0.114474 +v -0.805380 5.086591 -0.077873 +v 0.093869 4.412015 -1.041858 +v 0.768454 4.508213 0.725039 +v 0.832842 4.412015 -0.784714 +v -0.773285 4.411716 0.757131 +v -0.773285 2.356322 -0.784714 +v -0.709095 2.356322 0.821315 +v -0.034510 5.150822 0.756926 +v -0.741190 4.379750 -0.784714 +v 0.832842 5.118856 -0.013689 +v 0.736359 2.356322 0.789223 +v 0.093869 5.118856 -0.784714 +v 0.800549 2.517049 -0.784714 +v 1.025609 4.540179 -0.077873 +v -0.998345 4.411716 -0.077873 +v 0.029481 4.507914 0.981979 +v -0.002416 2.613246 -1.041858 +v -0.998345 2.356322 0.082382 +v -0.066605 5.118856 -0.784714 +v -0.773285 5.150822 0.017994 +v 0.993316 2.356322 -0.110170 +v 0.607782 5.054326 0.467894 +v 0.029481 2.356621 1.046367 +v 0.800549 5.182788 -0.077873 +v -0.612811 4.990095 0.500191 +v 0.993316 4.475948 0.146566 +v 0.607782 4.957830 -0.624050 +v -0.998345 4.411716 0.050290 +v 0.736359 3.770003 -0.848898 +v 0.029481 5.214755 0.692947 +v -0.002416 4.412015 -1.041858 +v -0.580518 4.893898 -0.624050 +v 1.025609 3.737440 -0.142262 +v 0.736359 4.476246 0.757131 +v -0.098700 4.443982 0.981979 +v -0.773285 2.356322 0.757131 +v 0.125964 2.356621 -1.009562 +v 0.768454 2.356322 0.757131 +v 0.800549 2.356322 -0.752622 +v -0.066605 5.408045 -0.045781 +v 0.832842 3.191625 -0.784714 +v 0.800549 4.443982 -0.816806 +v 0.125964 3.256155 -1.041858 +v -0.773285 5.150822 -0.077873 +v 0.800549 5.182788 0.018198 +v -0.677001 3.384318 0.821315 +v 1.025609 2.613246 0.018198 +v -0.066605 5.214755 0.660650 +v 0.029481 5.150822 0.756926 +v 0.832842 4.476246 0.596467 +v -0.677001 4.379750 -0.816806 +v 0.029481 5.408045 0.050290 +v 0.415213 2.388288 0.917590 +v 0.029481 3.769705 1.014071 +v 0.800549 3.159659 -0.816806 +v -0.773285 4.379750 -0.720530 +v 0.993316 4.443982 -0.270629 +v 0.640075 4.412015 -0.880990 +f 99 113 128 +f 69 65 70 +f 65 69 76 +f 69 70 77 +f 77 70 81 +f 76 69 85 +f 69 77 88 +f 85 69 88 +f 68 82 89 +f 82 72 89 +f 70 65 91 +f 66 67 93 +f 67 77 93 +f 77 81 93 +f 82 68 94 +f 84 74 94 +f 80 84 94 +f 75 78 95 +f 90 75 95 +f 84 80 96 +f 82 94 97 +f 71 85 98 +f 88 75 98 +f 85 88 98 +f 75 90 98 +f 90 71 98 +f 87 76 101 +f 72 87 101 +f 89 72 101 +f 79 71 102 +f 89 79 102 +f 81 73 104 +f 78 75 105 +f 86 78 105 +f 77 75 106 +f 88 77 106 +f 75 88 106 +f 65 76 107 +f 76 87 107 +f 81 70 108 +f 73 81 108 +f 70 96 108 +f 91 65 109 +f 83 91 109 +f 65 107 109 +f 107 83 109 +f 68 89 110 +f 91 83 111 +f 103 91 111 +f 94 74 112 +f 82 97 112 +f 97 94 112 +f 74 111 112 +f 87 72 113 +f 107 87 113 +f 71 90 114 +f 102 71 114 +f 89 102 114 +f 110 89 114 +f 90 110 114 +f 92 73 115 +f 94 68 115 +f 80 94 115 +f 96 80 115 +f 100 92 115 +f 77 67 116 +f 75 77 116 +f 67 105 116 +f 105 75 116 +f 70 91 117 +f 96 70 117 +f 84 96 117 +f 103 84 117 +f 91 103 117 +f 95 78 118 +f 90 95 118 +f 78 100 118 +f 110 90 118 +f 78 86 119 +f 73 92 119 +f 100 78 119 +f 92 100 119 +f 104 73 119 +f 86 104 119 +f 73 108 120 +f 108 96 120 +f 115 73 120 +f 96 115 120 +f 76 79 121 +f 79 89 121 +f 101 76 121 +f 89 101 121 +f 68 110 122 +f 115 68 122 +f 100 115 122 +f 118 100 122 +f 110 118 122 +f 93 81 123 +f 81 104 123 +f 123 104 124 +f 67 66 124 +f 66 93 124 +f 104 86 124 +f 105 67 124 +f 86 105 124 +f 93 123 124 +f 83 107 125 +f 111 83 125 +f 99 112 125 +f 112 111 125 +f 113 99 125 +f 107 113 125 +f 71 79 126 +f 79 76 126 +f 85 71 126 +f 76 85 126 +f 74 84 127 +f 84 103 127 +f 111 74 127 +f 103 111 127 +f 72 82 128 +f 82 112 128 +f 112 99 128 +f 113 72 128 +o convex_2 +v 0.350970 -4.840495 -0.077958 +v -0.387941 -5.033327 -0.013730 +v -0.387941 -5.033327 0.050425 +v 0.061800 -6.607109 0.018311 +v 0.093914 -4.840495 0.371710 +v -0.098770 -4.840495 -0.367201 +v -0.002428 -6.382110 -0.206486 +v -0.162998 -6.189452 0.146767 +v 0.222442 -6.317948 0.082539 +v -0.323640 -4.840495 0.275295 +v 0.222442 -5.001159 -0.302828 +v 0.318784 -4.904830 0.275295 +v 0.061800 -6.350116 0.211068 +v -0.195112 -6.221619 -0.110072 +v -0.323640 -4.840495 -0.270714 +v 0.222442 -6.317948 -0.077958 +v -0.066656 -4.904830 0.371710 +v -0.195112 -6.350116 0.018311 +v -0.259412 -5.482979 -0.238600 +v -0.002428 -6.350116 0.211068 +v 0.254556 -6.253613 0.018311 +v -0.291526 -5.097489 0.275295 +v 0.029686 -4.840495 -0.367201 +v 0.029686 -6.189452 -0.238600 +v 0.286670 -5.161823 0.275295 +v 0.350970 -4.840495 0.114653 +v -0.002428 -6.607109 -0.045844 +v -0.034542 -6.189452 -0.238600 +v 0.158141 -6.189452 -0.174372 +v -0.387941 -4.840495 0.114653 +v 0.254556 -4.840495 -0.270714 +v -0.066656 -5.001159 -0.367201 +f 152 156 160 +f 133 129 134 +f 133 134 138 +f 132 137 141 +f 138 134 143 +f 137 132 144 +f 133 138 145 +f 141 133 145 +f 131 130 146 +f 130 142 146 +f 142 130 147 +f 130 143 147 +f 132 141 148 +f 141 145 148 +f 136 146 148 +f 140 137 149 +f 144 129 149 +f 137 144 149 +f 145 138 150 +f 131 146 150 +f 146 136 150 +f 136 148 150 +f 148 145 150 +f 134 129 151 +f 151 139 152 +f 140 133 153 +f 137 140 153 +f 141 137 153 +f 133 141 153 +f 129 133 154 +f 133 140 154 +f 149 129 154 +f 140 149 154 +f 142 135 155 +f 144 132 155 +f 135 144 155 +f 146 142 155 +f 132 148 155 +f 148 146 155 +f 135 142 156 +f 142 147 156 +f 152 135 156 +f 144 135 157 +f 139 144 157 +f 152 139 157 +f 135 152 157 +f 130 131 158 +f 143 130 158 +f 138 143 158 +f 131 150 158 +f 150 138 158 +f 129 144 159 +f 144 139 159 +f 151 129 159 +f 139 151 159 +f 143 134 160 +f 147 143 160 +f 134 151 160 +f 151 152 160 +f 156 147 160 +o convex_3 +v 0.929179 -4.229683 -0.078043 +v -1.223231 -2.045426 -0.013507 +v -1.223231 -2.045426 0.018469 +v 1.186260 -1.981340 -0.110019 +v 0.157934 -1.981060 1.046367 +v -0.644915 -4.358136 0.757027 +v -0.034523 -4.325953 -0.881138 +v 0.897102 -1.981060 -0.848967 +v 0.736249 -4.325953 0.724856 +v -0.773456 -1.981340 -0.848967 +v -0.676991 -4.358136 -0.591992 +v 0.382939 -4.839764 -0.045678 +v 1.025407 -1.981340 0.853539 +v -0.805532 -1.981340 0.885514 +v 0.061705 -4.293769 0.982026 +v 0.704173 -4.358136 -0.656139 +v -0.869685 -4.358136 0.082420 +v -0.291369 -4.839764 0.307419 +v -0.227217 -4.839764 -0.335018 +v -1.223231 -1.981340 0.307224 +v -0.066600 -1.981060 -0.945479 +v 0.993331 -2.431064 -0.784626 +v 1.057719 -3.651505 0.082420 +v 0.832714 -2.013523 0.981831 +v 0.061705 -3.779958 -0.945479 +v -0.002683 -3.683409 1.046367 +v -0.934073 -2.045426 -0.752455 +v 0.318787 -4.839764 0.339394 +v 0.929179 -4.358136 0.082420 +v -0.676991 -4.133133 -0.688309 +v -0.869685 -2.623883 0.821173 +v 0.832714 -3.554956 0.821368 +v 0.222322 -4.839764 -0.335018 +v -0.419910 -4.839764 -0.013507 +v 0.029629 -4.518771 0.789198 +v 0.157934 -3.522773 1.046367 +v -0.002683 -1.981060 1.046367 +v -0.837608 -4.358136 -0.110019 +v 1.186260 -2.045706 0.018469 +v 0.157934 -1.981060 -0.945479 +v 0.029629 -4.358136 -0.881138 +v 1.025407 -1.981340 -0.784626 +v -1.223231 -2.013243 -0.045678 +v -0.066600 -3.490590 -0.945479 +v 0.672097 -4.422222 0.692881 +v -0.644915 -4.358136 -0.656139 +v 0.929179 -2.688250 0.885514 +v 1.057719 -3.426503 -0.077848 +v 0.157934 -3.522773 -0.945479 +v -0.676991 -4.293769 0.724856 +v 1.057719 -3.554956 0.146566 +v -0.644915 -3.651505 -0.752455 +v -0.034523 -4.839764 0.403736 +v -0.066600 -4.839764 -0.399164 +v -0.066600 -4.358136 0.949855 +v -0.676991 -4.261866 -0.656139 +v -1.223231 -2.013243 0.307224 +v 0.929179 -4.358136 -0.013702 +v -0.805532 -4.358136 0.307224 +v -0.355757 -4.839764 -0.238311 +v 0.318787 -4.358136 0.885514 +v -0.676991 -3.972777 0.789198 +v 1.057719 -2.045706 0.725051 +v -0.934073 -1.981340 0.757027 +f 217 191 224 +f 164 168 173 +f 168 165 173 +f 163 162 177 +f 172 178 179 +f 162 163 180 +f 165 168 181 +f 170 180 181 +f 161 176 182 +f 173 165 184 +f 178 172 188 +f 188 172 189 +f 187 170 190 +f 186 174 191 +f 176 172 193 +f 172 179 193 +f 178 166 194 +f 179 178 194 +f 184 165 196 +f 165 186 196 +f 186 175 196 +f 175 192 196 +f 165 181 197 +f 181 180 197 +f 174 186 197 +f 186 165 197 +f 194 177 198 +f 164 173 199 +f 183 164 199 +f 181 168 200 +f 185 181 200 +f 167 185 201 +f 185 176 201 +f 176 193 201 +f 168 164 202 +f 164 182 202 +f 182 168 202 +f 177 162 203 +f 162 180 203 +f 180 170 203 +f 170 187 203 +f 198 177 203 +f 170 181 204 +f 185 167 204 +f 181 185 204 +f 189 169 205 +f 188 189 205 +f 190 167 206 +f 167 201 206 +f 173 184 207 +f 184 196 207 +f 196 192 207 +f 182 164 208 +f 164 183 208 +f 168 182 209 +f 182 176 209 +f 176 185 209 +f 200 168 209 +f 185 200 209 +f 166 191 210 +f 189 183 211 +f 169 189 211 +f 192 169 211 +f 183 199 211 +f 173 207 211 +f 207 192 211 +f 167 190 212 +f 190 170 212 +f 170 204 212 +f 204 167 212 +f 166 178 213 +f 178 188 213 +f 188 195 213 +f 193 179 214 +f 201 193 214 +f 179 206 214 +f 206 201 214 +f 186 166 215 +f 175 186 215 +f 166 213 215 +f 213 195 215 +f 187 190 216 +f 171 198 216 +f 203 187 216 +f 198 203 216 +f 190 206 216 +f 206 171 216 +f 163 177 217 +f 180 163 217 +f 210 191 217 +f 176 161 218 +f 172 176 218 +f 161 182 218 +f 189 172 218 +f 183 189 218 +f 182 208 218 +f 208 183 218 +f 194 166 219 +f 177 194 219 +f 166 210 219 +f 217 177 219 +f 210 217 219 +f 179 194 220 +f 198 171 220 +f 194 198 220 +f 171 206 220 +f 206 179 220 +f 169 192 221 +f 192 175 221 +f 195 188 221 +f 205 169 221 +f 188 205 221 +f 175 215 221 +f 215 195 221 +f 166 186 222 +f 191 166 222 +f 186 191 222 +f 199 173 223 +f 173 211 223 +f 211 199 223 +f 191 174 224 +f 174 197 224 +f 197 180 224 +f 180 217 224 +o convex_4 +v 1.315021 -1.916807 0.018305 +v 1.379183 -1.274339 0.114682 +v 1.379183 -1.274339 -0.110097 +v 3.017300 -1.627583 0.018305 +v 1.250513 -1.691855 -0.367201 +v 1.250513 -1.756127 0.243204 +v 2.631810 -1.467092 -0.174388 +v 2.792301 -1.788200 -0.013840 +v 1.250513 -1.306475 -0.335055 +v 2.760307 -1.659719 0.178913 +v 2.760307 -1.435019 -0.013840 +v 1.250513 -1.274339 0.178913 +v 2.728139 -1.595573 -0.206534 +v 1.315021 -1.852472 -0.270705 +v 2.406811 -1.788200 0.146767 +v 2.695972 -1.595573 0.178913 +v 1.539847 -1.627583 0.243204 +v 1.250513 -1.916807 -0.077952 +v 1.539847 -1.402883 -0.335055 +v 2.631810 -1.691855 -0.174388 +v 1.732679 -1.788200 0.211058 +v 3.017300 -1.595573 -0.045986 +v 2.728139 -1.435019 -0.077952 +v 2.760307 -1.788200 0.050391 +v 2.631810 -1.531364 0.146767 +f 236 240 249 +f 229 230 233 +f 227 226 235 +f 226 227 236 +f 227 233 236 +f 233 230 236 +f 235 226 236 +f 234 228 240 +f 228 235 240 +f 240 236 241 +f 230 234 241 +f 236 230 241 +f 234 240 241 +f 225 230 242 +f 230 229 242 +f 232 225 242 +f 229 238 242 +f 238 232 242 +f 229 233 243 +f 233 231 243 +f 231 237 243 +f 237 229 243 +f 229 237 244 +f 237 232 244 +f 238 229 244 +f 232 238 244 +f 230 225 245 +f 234 230 245 +f 225 239 245 +f 239 234 245 +f 228 232 246 +f 235 228 246 +f 237 231 246 +f 232 237 246 +f 233 227 247 +f 231 233 247 +f 227 235 247 +f 235 246 247 +f 246 231 247 +f 225 232 248 +f 232 228 248 +f 228 234 248 +f 239 225 248 +f 234 239 248 +f 235 236 249 +f 240 235 249 +o convex_5 +v -1.319834 -1.981060 -0.013715 +v -1.159160 -1.210098 0.050419 +v -1.159160 -1.210098 -0.238563 +v -3.022135 -1.531357 -0.045816 +v -1.159160 -1.852466 0.371710 +v -1.159160 -1.723947 -0.335074 +v -2.829363 -1.595579 -0.238563 +v -2.572395 -1.402914 0.114691 +v -2.764984 -1.756095 -0.013715 +v -1.287735 -1.306544 0.243166 +v -2.764984 -1.370766 -0.077986 +v -2.764984 -1.563506 0.146792 +v -1.191441 -1.981060 0.339539 +v -2.347524 -1.756095 -0.238563 +v -1.159160 -1.981060 -0.077986 +v -1.191441 -1.338617 -0.302904 +v -2.604493 -1.563506 -0.270802 +v -1.159160 -1.756095 0.371710 +v -2.764984 -1.756095 -0.110088 +v -2.700788 -1.499284 -0.238563 +v -2.732886 -1.499284 0.146792 +v -2.540114 -1.338617 -0.013715 +v -1.641181 -1.756095 -0.302904 +v -2.572395 -1.723947 0.114691 +v -1.416311 -1.627577 -0.335074 +v -1.159160 -1.306544 0.243166 +v -3.022135 -1.595579 -0.045816 +f 268 258 276 +f 252 251 254 +f 252 254 255 +f 256 253 260 +f 258 250 262 +f 254 261 262 +f 255 254 264 +f 262 250 264 +f 254 262 264 +f 252 255 265 +f 263 256 266 +f 254 251 267 +f 261 254 267 +f 250 258 268 +f 256 263 268 +f 264 250 268 +f 263 264 268 +f 260 252 269 +f 256 260 269 +f 252 265 269 +f 266 256 269 +f 265 266 269 +f 259 257 270 +f 260 253 270 +f 257 260 270 +f 253 261 270 +f 267 259 270 +f 261 267 270 +f 251 252 271 +f 259 251 271 +f 257 259 271 +f 252 260 271 +f 260 257 271 +f 255 264 272 +f 264 263 272 +f 263 266 272 +f 261 258 273 +f 258 262 273 +f 262 261 273 +f 265 255 274 +f 266 265 274 +f 255 272 274 +f 272 266 274 +f 251 259 275 +f 267 251 275 +f 259 267 275 +f 253 256 276 +f 261 253 276 +f 258 261 276 +f 256 268 276 +o convex_6 +v -0.098575 -1.177896 1.046367 +v -0.227116 -1.627514 -0.945479 +v -0.227116 -1.177896 -0.945479 +v 1.250513 -1.691823 -0.399164 +v -1.158978 -1.981060 0.371565 +v 0.864891 -1.981060 0.982026 +v 1.057584 -1.177896 0.725051 +v 0.896967 -1.981060 -0.848967 +v -1.158978 -1.177896 -0.238311 +v -0.901660 -1.981060 -0.784821 +v 0.929043 -1.177896 -0.848967 +v -0.773119 -1.884595 0.917685 +v -0.933972 -1.177896 0.757222 +v 1.250513 -1.948905 0.018664 +v -0.805432 -1.177896 -0.881138 +v 1.250513 -1.242285 -0.077848 +v 0.832579 -1.177896 1.014197 +v -0.002347 -1.981060 1.046367 +v 1.089660 -1.756055 0.789198 +v 0.158035 -1.981060 -0.945479 +v -1.158978 -1.723978 -0.335018 +v 0.800503 -1.177896 -0.913308 +v -0.708967 -1.177896 0.949855 +v -1.158978 -1.306437 0.243078 +v -0.998125 -1.274361 -0.720480 +v 1.089660 -1.177896 -0.688309 +v 1.025508 -1.981060 -0.784821 +v 1.250513 -1.274361 0.178932 +v -0.933972 -1.981060 0.757222 +v -0.773119 -1.820364 -0.881138 +v 1.025508 -1.981060 0.853539 +v 0.511581 -1.659747 1.046367 +v -1.158978 -1.981060 -0.109824 +v 1.250513 -1.756055 0.243078 +v 0.832579 -1.563519 -0.913308 +v 1.089660 -1.402902 -0.752455 +v -0.966048 -1.884595 -0.752455 +v 1.250513 -1.306437 -0.335018 +v 0.286575 -1.177896 -0.945479 +v 0.864891 -1.756055 1.014197 +v -0.708967 -1.659747 0.949855 +v 1.218201 -1.981060 -0.077848 +v 1.089660 -1.595438 0.789198 +v -0.644815 -1.659747 -0.913308 +v -0.066499 -1.981060 -0.945479 +v 1.250513 -1.852519 -0.302847 +v -0.966048 -1.242285 0.725051 +v -0.805432 -1.981060 0.885709 +v -1.158978 -1.177896 0.018664 +v 1.154049 -1.177896 -0.431334 +v 0.350964 -1.177896 1.046367 +v 0.993432 -1.306437 0.885709 +v -1.158978 -1.723978 0.371565 +v -1.030201 -1.177896 -0.624163 +v -0.805432 -1.981060 -0.848967 +f 321 286 331 +f 279 277 283 +f 282 281 284 +f 277 279 285 +f 284 281 286 +f 279 283 287 +f 277 285 289 +f 285 279 291 +f 290 280 292 +f 283 277 293 +f 281 282 294 +f 278 279 296 +f 284 286 296 +f 281 285 297 +f 279 287 298 +f 277 289 299 +f 289 288 299 +f 285 281 300 +f 287 283 302 +f 282 284 303 +f 292 283 304 +f 290 292 304 +f 281 294 305 +f 282 303 307 +f 277 294 308 +f 286 281 309 +f 281 297 309 +f 290 304 310 +f 307 290 310 +f 295 307 310 +f 284 296 311 +f 298 287 311 +f 303 284 311 +f 303 311 312 +f 287 302 312 +f 280 303 312 +f 311 287 312 +f 301 291 313 +f 297 301 313 +f 291 306 313 +f 286 309 313 +f 309 297 313 +f 292 280 314 +f 280 312 314 +f 312 302 314 +f 296 279 315 +f 279 298 315 +f 311 296 315 +f 298 311 315 +f 294 282 316 +f 282 307 316 +f 293 308 316 +f 308 294 316 +f 294 277 317 +f 288 294 317 +f 277 299 317 +f 299 288 317 +f 290 307 318 +f 307 303 318 +f 304 283 319 +f 307 295 319 +f 310 304 319 +f 295 310 319 +f 279 278 320 +f 291 279 320 +f 306 291 320 +f 306 320 321 +f 278 296 321 +f 296 286 321 +f 320 278 321 +f 280 290 322 +f 303 280 322 +f 290 318 322 +f 318 303 322 +f 289 300 323 +f 281 305 323 +f 305 289 323 +f 288 289 324 +f 294 288 324 +f 289 305 324 +f 305 294 324 +f 289 285 325 +f 285 300 325 +f 300 289 325 +f 283 292 326 +f 302 283 326 +f 292 314 326 +f 314 302 326 +f 293 277 327 +f 277 308 327 +f 308 293 327 +f 283 293 328 +f 293 316 328 +f 316 307 328 +f 319 283 328 +f 307 319 328 +f 300 281 329 +f 281 323 329 +f 323 300 329 +f 285 291 330 +f 297 285 330 +f 291 301 330 +f 301 297 330 +f 313 306 331 +f 286 313 331 +f 306 321 331 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/970/970.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/970/970.urdf new file mode 100644 index 000000000..766b61ca7 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/970/970.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/971/971.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/971/971.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/971/971.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/971/971.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/971/971.obj new file mode 100644 index 000000000..70ae9c7ff --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/971/971.obj @@ -0,0 +1,537 @@ +o convex_0 +v 0.139213 -3.352276 -1.653648 +v -0.711183 -0.139363 0.110319 +v -0.837214 -0.139363 0.110319 +v 0.296648 -0.139008 -2.189411 +v 0.895396 -0.170925 0.110094 +v -0.931633 -1.619927 -1.874256 +v -0.112641 -3.289153 -0.299383 +v 0.737755 -2.784874 -1.937062 +v -0.837214 -3.257591 -1.118110 +v 0.737755 -2.910767 -0.204836 +v 0.958411 -0.139363 -1.905771 +v -1.057664 -0.139363 -1.370233 +v 0.989816 -1.871712 -1.055304 +v -0.175657 -3.226029 -1.905546 +v -0.018222 -3.761870 -1.054854 +v -0.553542 -0.139008 -2.126380 +v -1.089275 -1.840150 -1.055079 +v -0.900022 -1.808589 -0.330898 +v -0.333091 -1.934835 -2.126380 +v -0.207061 -1.084442 0.110094 +v 0.737755 -3.257591 -1.118110 +v 0.832381 -1.179127 -2.126380 +v -0.994648 -0.139363 0.015547 +v 1.021427 -0.139363 -1.055304 +v 0.958411 -1.651489 -1.874031 +v 0.958411 -1.619927 -0.393929 +v -0.963037 -0.139363 -1.874256 +v -0.900022 -1.871712 -1.905546 +v -0.648168 -2.911121 -0.519991 +v -0.679572 -2.879560 -1.716679 +v 0.706350 -2.910767 -1.937062 +v -1.089275 -0.139363 -0.897951 +v -1.089275 -1.840150 -1.181141 +v 0.769366 -0.139363 -2.126380 +v -0.018222 -3.761870 -1.149400 +v -0.427511 -0.989757 0.110094 +v 0.170824 -0.958195 0.110094 +v 0.895396 -0.139363 0.110094 +v 0.611931 -2.847998 -1.968577 +v -0.742587 -3.352276 -1.149625 +v -0.868618 -1.808589 -0.299608 +v -0.805603 -3.257591 -1.023788 +v -0.144046 -3.289153 -1.874031 +v -0.081030 -1.903628 -2.126380 +v 0.737755 -3.257591 -1.024013 +v -0.081030 -3.761870 -1.054854 +v -0.238672 -1.179127 -2.157895 +v 0.391274 -0.359586 -2.189411 +v 0.926800 -1.777381 -0.299383 +v -1.026053 -0.423064 -0.204836 +v 1.021427 -0.391147 -1.149625 +v -0.396107 -1.808943 -2.126380 +v 0.674739 -2.942328 -0.204836 +v -0.081030 -3.761870 -1.149400 +v -0.805603 -3.226029 -1.244172 +v 0.989816 -1.745820 -1.370233 +v 0.926800 -0.139363 -2.000093 +v -1.089275 -0.139363 -1.181141 +v -0.081030 -3.257591 -1.905546 +v -0.018222 -3.320715 -0.362413 +v 0.674739 -1.368143 -2.126380 +v 0.989816 -1.714258 -0.834921 +v -0.585153 -2.973890 -0.488475 +v 0.958411 -0.832303 -1.937287 +f 22 57 64 +f 3 2 16 +f 17 9 18 +f 2 3 20 +f 3 16 23 +f 11 4 24 +f 21 8 25 +f 8 22 25 +f 12 16 27 +f 19 14 28 +f 27 16 28 +f 6 27 28 +f 28 14 30 +f 8 21 31 +f 22 8 31 +f 23 16 32 +f 9 17 33 +f 12 27 33 +f 27 6 33 +f 28 9 33 +f 6 28 33 +f 17 32 33 +f 21 15 35 +f 1 31 35 +f 31 21 35 +f 20 3 36 +f 7 20 36 +f 5 2 37 +f 10 5 37 +f 2 20 37 +f 2 5 38 +f 16 2 38 +f 4 16 38 +f 24 4 38 +f 5 26 38 +f 26 24 38 +f 22 31 39 +f 3 23 41 +f 23 18 41 +f 18 29 41 +f 36 3 41 +f 7 36 41 +f 18 9 42 +f 29 18 42 +f 9 40 42 +f 39 19 44 +f 13 10 45 +f 10 15 45 +f 21 13 45 +f 15 21 45 +f 15 7 46 +f 35 15 46 +f 7 42 46 +f 42 40 46 +f 16 4 47 +f 4 34 48 +f 34 22 48 +f 44 19 48 +f 47 4 48 +f 19 47 48 +f 5 10 49 +f 10 13 49 +f 26 5 49 +f 17 18 50 +f 18 23 50 +f 32 17 50 +f 23 32 50 +f 11 24 51 +f 19 28 52 +f 28 16 52 +f 16 47 52 +f 47 19 52 +f 15 10 53 +f 20 7 53 +f 10 37 53 +f 37 20 53 +f 43 35 54 +f 40 43 54 +f 35 46 54 +f 46 40 54 +f 9 28 55 +f 30 14 55 +f 28 30 55 +f 40 9 55 +f 14 43 55 +f 43 40 55 +f 13 21 56 +f 21 25 56 +f 51 13 56 +f 25 51 56 +f 4 11 57 +f 34 4 57 +f 22 34 57 +f 16 12 58 +f 32 16 58 +f 12 33 58 +f 33 32 58 +f 14 19 59 +f 31 1 59 +f 1 35 59 +f 19 39 59 +f 39 31 59 +f 43 14 59 +f 35 43 59 +f 7 15 60 +f 53 7 60 +f 15 53 60 +f 22 39 61 +f 39 44 61 +f 48 22 61 +f 44 48 61 +f 24 26 62 +f 49 13 62 +f 26 49 62 +f 51 24 62 +f 13 51 62 +f 7 41 63 +f 41 29 63 +f 42 7 63 +f 29 42 63 +f 25 22 64 +f 11 51 64 +f 51 25 64 +f 57 11 64 +o convex_1 +v -0.081119 1.215621 -4.079408 +v 0.422805 1.247111 -2.378430 +v 0.422805 1.121148 -2.378430 +v -0.301625 1.247111 -2.378430 +v -0.018137 0.837589 -2.410201 +v 0.107755 1.562161 -2.410201 +v 0.233719 1.184130 -3.890334 +v 0.044845 1.436127 -3.921932 +v -0.238644 1.530599 -2.378430 +v -0.018137 0.963623 -3.764284 +v 0.296842 0.837589 -2.536251 +v -0.207153 1.184130 -3.890334 +v -0.238644 0.995114 -2.599103 +v 0.328333 1.467618 -2.410201 +v -0.207153 1.247111 -3.890334 +v 0.076265 0.995114 -3.858908 +v -0.207153 0.995114 -3.197752 +v 0.233719 1.247111 -3.890334 +v 0.044845 1.184130 -4.142433 +v 0.296842 0.837589 -2.378430 +v -0.018137 1.436127 -3.890334 +v -0.238644 0.995114 -2.378430 +v -0.049628 0.995114 -3.890334 +v -0.301625 1.373075 -2.410201 +v -0.112609 1.562161 -2.378430 +v 0.202228 1.404636 -3.480759 +v 0.170737 1.026676 -3.764284 +v 0.202228 1.530599 -2.378430 +v -0.144171 1.373075 -3.669833 +v 0.044845 1.247111 -4.142433 +f 85 72 94 +f 67 66 68 +f 66 67 71 +f 68 66 73 +f 71 67 75 +f 69 74 75 +f 65 76 79 +f 75 74 80 +f 74 69 81 +f 68 76 81 +f 77 68 81 +f 69 77 81 +f 66 71 82 +f 78 66 82 +f 71 80 83 +f 82 71 83 +f 67 68 84 +f 75 67 84 +f 69 75 84 +f 65 79 85 +f 68 77 86 +f 77 69 86 +f 84 68 86 +f 69 84 86 +f 76 65 87 +f 80 74 87 +f 74 81 87 +f 81 76 87 +f 65 83 87 +f 83 80 87 +f 68 73 88 +f 76 68 88 +f 73 79 88 +f 79 76 88 +f 70 72 89 +f 73 66 89 +f 72 85 89 +f 85 73 89 +f 72 78 90 +f 82 72 90 +f 78 82 90 +f 71 75 91 +f 80 71 91 +f 75 80 91 +f 72 70 92 +f 66 78 92 +f 78 72 92 +f 70 89 92 +f 89 66 92 +f 79 73 93 +f 73 85 93 +f 85 79 93 +f 72 82 94 +f 83 65 94 +f 82 83 94 +f 65 85 94 +o convex_2 +v -0.049609 0.932502 3.732985 +v 0.296869 -0.138777 -2.188810 +v 0.422692 -0.138777 -2.188810 +v -0.018205 2.160357 -1.748204 +v -1.089250 -0.138777 -1.180570 +v 1.021436 1.309948 1.905513 +v -0.711161 1.971403 1.968720 +v 1.021436 -0.138777 -1.054770 +v -0.805580 1.845356 -1.968507 +v 0.737766 1.939949 -1.936596 +v -0.585132 0.365177 3.071463 +v 0.076214 2.002857 3.386269 +v 0.359884 0.207677 2.629629 +v -0.994624 1.215355 1.937424 +v 0.800781 1.183901 3.417566 +v 0.769377 2.034542 1.905513 +v -0.711161 1.278494 3.385655 +v -0.585132 -0.138777 0.583695 +v -0.333072 1.309948 -2.378430 +v -0.963220 -0.138777 -1.874003 +v 0.958214 1.246809 -1.936596 +v 0.013199 2.223727 2.031927 +v -1.057639 1.215355 -1.180570 +v 0.895406 -0.138777 0.110565 +v 0.800781 2.034542 -1.211867 +v 0.296869 1.530356 -2.378430 +v 0.926810 -0.138777 -1.999803 +v 0.139229 0.460001 3.575275 +v -0.931610 0.459770 1.811010 +v 0.863796 0.459770 2.031313 +v -0.049609 2.223727 -1.243777 +v 0.107618 1.247040 3.890696 +v 1.021436 1.341402 -1.180570 +v -0.994624 -0.138777 0.016062 +v -0.553728 -0.138777 -2.125603 +v 0.454303 1.120994 -2.378430 +v -0.774176 1.939949 -1.211867 +v 0.643347 1.782449 3.007642 +v 0.170633 2.223727 1.905513 +v 0.643347 0.648724 3.102759 +v -0.963220 1.152448 -1.874003 +v -0.490506 1.813903 3.007642 +v 0.013199 1.624949 -2.378430 +v -0.018205 0.806456 -2.378430 +v 0.832391 1.939949 1.905513 +v 1.021436 1.120994 1.873603 +v 0.107618 2.223727 -1.212481 +v 0.076214 2.129135 -1.905300 +v -0.616742 0.396631 3.102759 +v -1.089250 0.648724 -1.117977 +v -1.089250 -0.138777 -0.897061 +v -0.742565 1.939949 1.811010 +v 0.359884 -0.138777 0.425985 +v -0.774176 1.877042 -1.999803 +v -0.490506 2.065996 1.905513 +v -0.711161 1.183901 3.385655 +v 0.013199 1.247040 3.890696 +v 0.769377 1.372856 3.323062 +v -1.057639 1.183901 -0.298744 +v -0.837191 1.813903 -1.054770 +v 0.769377 -0.138777 -2.125603 +v 0.958214 0.333724 -1.968507 +v 0.391288 -0.107092 -2.220720 +v 0.044603 2.002857 3.386269 +f 111 151 158 +f 96 97 99 +f 99 97 102 +f 101 108 111 +f 99 102 112 +f 107 105 112 +f 96 99 114 +f 112 102 118 +f 115 104 119 +f 102 97 121 +f 105 107 122 +f 118 102 124 +f 107 118 124 +f 122 109 126 +f 100 102 127 +f 115 119 127 +f 99 112 128 +f 112 105 128 +f 96 114 129 +f 114 113 129 +f 104 115 130 +f 120 104 130 +f 113 120 130 +f 110 106 132 +f 106 110 133 +f 116 106 133 +f 110 119 133 +f 125 116 133 +f 122 107 134 +f 109 122 134 +f 124 109 134 +f 107 124 134 +f 114 99 135 +f 113 114 135 +f 117 103 135 +f 101 111 136 +f 104 120 137 +f 120 113 137 +f 129 113 138 +f 113 130 138 +f 119 110 139 +f 100 127 139 +f 127 119 139 +f 110 132 139 +f 102 100 140 +f 100 109 140 +f 124 102 140 +f 109 124 140 +f 98 125 141 +f 133 119 141 +f 125 133 141 +f 119 104 142 +f 104 137 142 +f 98 141 142 +f 141 119 142 +f 122 95 143 +f 105 122 143 +f 128 105 143 +f 123 128 143 +f 135 99 144 +f 117 135 144 +f 123 108 145 +f 99 128 145 +f 128 123 145 +f 144 99 145 +f 108 144 145 +f 108 101 146 +f 101 131 146 +f 107 112 147 +f 118 107 147 +f 112 118 147 +f 125 98 148 +f 103 131 148 +f 131 125 148 +f 135 103 148 +f 113 135 148 +f 137 113 148 +f 98 142 148 +f 142 137 148 +f 116 125 149 +f 131 101 149 +f 125 131 149 +f 111 108 150 +f 108 123 150 +f 143 95 150 +f 123 143 150 +f 95 122 151 +f 126 106 151 +f 122 126 151 +f 111 150 151 +f 150 95 151 +f 109 100 152 +f 106 126 152 +f 126 109 152 +f 132 106 152 +f 100 139 152 +f 139 132 152 +f 144 108 153 +f 117 144 153 +f 108 146 153 +f 153 146 154 +f 103 117 154 +f 131 103 154 +f 146 131 154 +f 117 153 154 +f 121 97 155 +f 130 121 155 +f 102 121 156 +f 127 102 156 +f 115 127 156 +f 130 115 156 +f 121 130 156 +f 97 96 157 +f 96 129 157 +f 129 138 157 +f 138 130 157 +f 155 97 157 +f 130 155 157 +f 106 116 158 +f 101 136 158 +f 136 111 158 +f 149 101 158 +f 116 149 158 +f 151 106 158 +o convex_3 +v -0.175579 -0.958090 0.110319 +v 0.517386 -0.265021 0.141849 +v 0.517386 -0.296567 0.141849 +v -0.522181 -0.265021 0.267834 +v -0.711237 -0.265021 0.110319 +v 0.422858 -0.296567 0.236303 +v -0.364634 -0.895065 0.141849 +v 0.517386 -0.265021 0.110319 +v 0.013116 -0.391071 0.267834 +v 0.107644 -0.863451 0.141849 +v -0.459162 -0.832040 0.141849 +v -0.175579 -0.958090 0.141849 +v -0.711237 -0.328046 0.141849 +v -0.459162 -0.832040 0.110319 +v 0.139154 -0.832040 0.110319 +f 168 159 173 +f 162 160 163 +f 161 160 164 +f 160 162 164 +f 160 161 166 +f 159 163 166 +f 163 160 166 +f 164 162 167 +f 161 164 168 +f 164 167 168 +f 165 162 169 +f 162 165 170 +f 165 159 170 +f 167 162 170 +f 168 167 170 +f 159 168 170 +f 162 163 171 +f 169 162 171 +f 169 171 172 +f 163 159 172 +f 159 165 172 +f 165 169 172 +f 171 163 172 +f 159 166 173 +f 166 161 173 +f 161 168 173 +o convex_4 +v 0.422870 -0.265021 0.267890 +v -0.774243 -0.202015 0.110359 +v -0.774243 -0.139008 0.110359 +v -0.553678 -0.170512 0.519859 +v 0.548889 -0.139008 0.110359 +v 0.359796 -0.139008 0.393794 +v -0.742512 -0.265021 0.110359 +v 0.517157 -0.265021 0.110359 +v -0.522206 -0.265021 0.330782 +v -0.553678 -0.139008 0.519859 +v 0.391268 -0.265021 0.299396 +f 177 182 184 +f 176 175 177 +f 175 176 178 +f 178 176 179 +f 174 178 179 +f 177 175 180 +f 175 178 180 +f 180 178 181 +f 178 174 181 +f 174 180 181 +f 177 180 182 +f 180 174 182 +f 176 177 183 +f 179 176 183 +f 177 179 183 +f 179 177 184 +f 174 179 184 +f 182 174 184 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/971/971.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/971/971.urdf new file mode 100644 index 000000000..23f70b900 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/971/971.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/972/972.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/972/972.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/972/972.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/972/972.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/972/972.obj new file mode 100644 index 000000000..03172283e --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/972/972.obj @@ -0,0 +1,648 @@ +o convex_0 +v 0.368051 -0.222022 -0.970887 +v 0.650024 3.926964 1.245113 +v 0.650024 3.926964 -0.728810 +v 0.690346 -4.090202 1.124075 +v 0.206856 3.926964 1.245113 +v 0.206856 -2.156112 1.245113 +v 0.690346 -4.090202 -0.849848 +v 0.206856 3.967981 -0.809719 +v 0.206856 -2.074867 -0.849848 +v 0.488829 -4.090202 -0.849848 +v 0.690346 -0.061110 -0.970887 +v 0.690299 1.993663 1.164204 +v 0.690346 -2.598618 1.245113 +v 0.206856 0.704007 -0.970887 +v 0.609749 3.967981 -0.809719 +v 0.690299 2.033891 -0.769156 +v 0.609749 -4.090202 0.761611 +v 0.206856 -0.181005 -0.970887 +v 0.247178 3.967981 0.117374 +v 0.650024 -4.090202 1.124075 +v 0.488829 -4.090202 -0.728810 +f 10 17 21 +f 2 5 6 +f 6 5 8 +f 6 8 9 +f 1 7 10 +f 7 4 10 +f 6 9 10 +f 7 1 11 +f 4 7 11 +f 11 12 13 +f 2 6 13 +f 4 11 13 +f 12 2 13 +f 9 8 14 +f 11 1 14 +f 11 14 15 +f 2 3 15 +f 3 11 15 +f 14 8 15 +f 3 2 16 +f 11 3 16 +f 2 12 16 +f 12 11 16 +f 10 4 17 +f 1 10 18 +f 10 9 18 +f 9 14 18 +f 14 1 18 +f 5 2 19 +f 8 5 19 +f 2 15 19 +f 15 8 19 +f 13 6 20 +f 4 13 20 +f 17 4 20 +f 6 17 20 +f 6 10 21 +f 17 6 21 +o convex_1 +v 2.342244 -4.170784 -0.889977 +v 1.576932 -0.988212 1.245113 +v 1.536508 -0.988212 1.245113 +v 0.932304 2.034017 -0.769373 +v 2.624232 1.993324 1.124075 +v 0.690346 -4.090005 -0.849848 +v 2.624232 -4.089397 1.083729 +v 0.690346 1.992716 1.164204 +v 0.690346 -4.090005 1.124075 +v 2.543579 1.912545 -0.809502 +v 2.664459 -3.243344 -0.930540 +v 0.690346 -0.061379 -0.970887 +v 2.704884 -2.196253 1.164421 +v 0.690346 1.912545 -0.809719 +v 0.690346 -2.598933 1.244897 +v 2.664459 -1.833658 -0.930540 +v 2.624232 -4.170177 -0.930540 +v 2.624232 0.180351 1.204767 +v 2.624232 1.993324 0.559880 +v 2.301819 -0.021293 -0.930540 +v 0.690346 0.098965 1.244897 +v 1.173867 -4.130091 -0.890194 +v 2.624232 -4.130091 1.003254 +v 2.704884 -1.994609 0.519751 +v 1.052987 -4.130091 0.680918 +v 2.583807 1.953238 -0.406692 +v 2.664459 -3.686717 -0.446821 +v 1.455855 1.993324 1.164204 +v 0.690346 2.034017 0.117157 +v 1.214095 -2.236339 1.244897 +v 1.657388 2.034017 0.237762 +v 2.100483 -4.170784 -0.325999 +v 2.221167 -3.807582 1.124075 +v 2.704884 -1.591929 1.164421 +v 2.583807 -0.665703 -0.930540 +v 2.664459 -0.263023 1.204767 +v 2.543579 1.469171 1.164421 +v 0.690346 -0.222937 -0.970887 +v 0.851651 -0.102072 -0.970887 +v 2.624232 1.953238 0.439059 +v 0.690346 2.034017 -0.769373 +v 1.173867 -4.090005 1.124075 +v 2.503352 -4.170177 -0.930540 +v 2.100483 -2.074781 1.204550 +v 1.052987 -4.130091 -0.849848 +v 2.624232 -4.170177 -0.245524 +f 44 53 67 +f 29 27 30 +f 27 29 33 +f 25 31 35 +f 31 33 35 +f 33 29 35 +f 23 24 36 +f 29 30 36 +f 24 23 42 +f 36 24 42 +f 29 36 42 +f 23 39 42 +f 34 28 44 +f 32 37 45 +f 30 27 46 +f 44 30 46 +f 31 25 47 +f 37 31 47 +f 25 40 47 +f 38 32 48 +f 34 44 48 +f 45 34 48 +f 32 45 48 +f 29 42 49 +f 35 29 50 +f 23 36 51 +f 40 25 52 +f 26 40 52 +f 49 26 52 +f 29 49 52 +f 25 50 52 +f 50 29 52 +f 44 46 53 +f 28 34 54 +f 51 36 54 +f 40 26 55 +f 34 45 55 +f 31 37 56 +f 41 31 56 +f 39 23 57 +f 26 39 57 +f 23 51 57 +f 55 26 57 +f 34 55 57 +f 39 26 58 +f 42 39 58 +f 26 49 58 +f 49 42 58 +f 27 33 59 +f 43 27 59 +f 33 31 60 +f 37 32 60 +f 32 38 60 +f 31 41 60 +f 56 37 60 +f 41 56 60 +f 59 33 60 +f 38 59 60 +f 45 37 61 +f 37 47 61 +f 47 40 61 +f 40 55 61 +f 55 45 61 +f 25 35 62 +f 50 25 62 +f 35 50 62 +f 36 30 63 +f 30 44 63 +f 44 28 63 +f 28 54 63 +f 54 36 63 +f 38 22 64 +f 22 43 64 +f 59 38 64 +f 43 59 64 +f 54 34 65 +f 51 54 65 +f 57 51 65 +f 34 57 65 +f 27 43 66 +f 43 22 66 +f 46 27 66 +f 22 53 66 +f 53 46 66 +f 22 38 67 +f 38 48 67 +f 48 44 67 +f 53 22 67 +o convex_2 +v -0.155763 0.059545 -1.575250 +v -0.760126 -2.075337 -1.776744 +v -0.719721 -2.156238 -2.139209 +v -0.155763 -2.075337 -1.615656 +v -0.316970 0.059545 -2.139209 +v -0.639206 0.059545 -1.575250 +v -0.196109 -2.115679 -2.139209 +v -0.679434 0.059545 -2.179614 +v -0.760126 -2.034995 -1.575250 +v -0.155763 0.059545 -2.018407 +v -0.357257 -1.229236 -2.179614 +v -0.276683 -2.075337 -1.575250 +v -0.155763 -2.075337 -1.897546 +v -0.196109 0.059545 -2.098922 +f 78 72 81 +f 68 72 73 +f 71 70 74 +f 70 69 75 +f 73 72 75 +f 73 75 76 +f 69 70 76 +f 68 73 76 +f 75 69 76 +f 68 71 77 +f 72 68 77 +f 74 70 78 +f 75 72 78 +f 70 75 78 +f 70 71 79 +f 71 68 79 +f 76 70 79 +f 68 76 79 +f 71 74 80 +f 77 71 80 +f 74 77 80 +f 72 77 81 +f 77 74 81 +f 74 78 81 +o convex_3 +v -1.888017 -2.035302 1.204550 +v 0.206851 0.059541 1.204767 +v 0.206851 -0.101465 1.245113 +v 0.206493 -2.075498 -0.849848 +v -3.459617 0.019345 -0.889978 +v 0.206851 0.059541 -0.970887 +v -3.378866 -1.994885 -0.970887 +v -3.419062 -0.101685 1.204767 +v 0.206493 -2.156112 1.245113 +v -3.378866 -2.156112 1.083729 +v -1.445141 -2.196529 -0.809502 +v -1.485696 0.059541 1.204550 +v -3.419062 -1.511426 -0.970887 +v -1.123212 -2.035302 1.245113 +v -3.257918 -2.035081 -0.970887 +v -1.404945 0.059541 -0.889978 +v -3.459617 -0.021072 -0.084140 +v 0.045349 -2.115695 -0.849848 +v -3.419062 -0.061268 1.043600 +v 0.206493 -0.867181 -0.930541 +v -0.317135 0.059541 -0.970887 +v -3.459617 -0.585145 -0.809502 +v -3.419062 -0.303108 1.204767 +v -3.016023 -2.035081 -0.970887 +v -3.459617 0.019345 -0.607988 +v -3.338311 -1.833658 1.124075 +v -3.419062 -1.753266 -0.970887 +v -3.378866 -2.156112 0.962691 +v -1.283997 -2.196529 -0.769373 +v 0.206851 -0.141882 -0.970887 +v 0.206493 -1.551622 -0.890194 +v -2.129912 -0.020851 -0.930541 +f 102 94 113 +f 83 84 87 +f 84 83 93 +f 83 87 93 +f 89 84 93 +f 87 88 94 +f 84 89 95 +f 90 84 95 +f 82 91 95 +f 91 90 95 +f 88 87 96 +f 93 87 97 +f 86 93 97 +f 85 90 99 +f 89 93 100 +f 98 89 100 +f 87 94 102 +f 86 97 102 +f 97 87 102 +f 91 98 103 +f 98 86 103 +f 82 95 104 +f 95 89 104 +f 89 98 104 +f 98 91 104 +f 96 87 105 +f 92 96 105 +f 85 99 105 +f 99 92 105 +f 93 86 106 +f 86 98 106 +f 100 93 106 +f 98 100 106 +f 91 82 107 +f 82 104 107 +f 104 91 107 +f 86 94 108 +f 94 88 108 +f 103 86 108 +f 91 103 108 +f 92 91 109 +f 88 96 109 +f 96 92 109 +f 108 88 109 +f 91 108 109 +f 90 91 110 +f 91 92 110 +f 99 90 110 +f 92 99 110 +f 87 84 111 +f 84 90 111 +f 90 85 111 +f 105 87 111 +f 101 105 111 +f 85 105 112 +f 105 101 112 +f 111 85 112 +f 101 111 112 +f 94 86 113 +f 86 102 113 +o convex_4 +v -1.445017 1.510235 1.204491 +v -1.364427 0.059904 -0.930422 +v -0.961581 0.059904 -0.930422 +v -1.404722 0.059904 1.204491 +v -0.961581 1.469774 1.446568 +v -0.961581 1.510235 -0.849967 +v -0.961581 0.059904 1.164500 +v -1.364427 1.510235 -0.890195 +v -1.485260 0.059904 0.842204 +v -1.404722 1.429456 -0.487206 +v -1.404722 0.059904 -0.890195 +v -1.485260 0.825104 1.204491 +v -0.961581 0.543442 -0.970887 +v -1.445017 1.510235 0.398989 +v -0.961581 1.510235 1.083571 +v -1.485260 0.059904 1.204491 +v -1.001927 1.429456 1.446568 +v -1.163106 0.140541 -0.970887 +f 121 126 131 +f 115 116 117 +f 118 116 119 +f 117 116 120 +f 116 118 120 +f 114 119 121 +f 115 117 122 +f 121 115 124 +f 115 122 124 +f 123 121 124 +f 119 116 126 +f 121 119 126 +f 114 121 127 +f 121 123 127 +f 124 122 127 +f 123 124 127 +f 125 114 127 +f 122 125 127 +f 114 118 128 +f 118 119 128 +f 119 114 128 +f 122 117 129 +f 125 122 129 +f 125 129 130 +f 118 114 130 +f 117 120 130 +f 120 118 130 +f 114 125 130 +f 129 117 130 +f 116 115 131 +f 115 121 131 +f 126 116 131 +o convex_5 +v -0.075181 3.444002 -1.696190 +v -0.760126 3.726200 -1.736481 +v -0.719831 3.726200 -1.937801 +v -0.598947 1.510235 -2.179547 +v -0.558585 1.550652 -1.575317 +v -0.196065 1.510235 -2.219838 +v -0.155771 3.967981 -2.139256 +v -0.075181 3.846970 -1.535027 +v -0.155771 1.550652 -1.655899 +v -0.639175 3.927564 -2.139256 +v -0.719831 3.887146 -1.655899 +v -0.639175 1.510235 -1.615608 +v -0.639175 3.604948 -2.179547 +v -0.196065 3.806553 -1.535027 +v -0.155771 1.873267 -2.098965 +v -0.639175 1.832610 -2.098965 +v -0.760126 3.806553 -1.655899 +v -0.437768 3.967981 -1.937801 +v -0.075181 3.565012 -1.535027 +v -0.196065 1.994038 -2.219838 +v -0.316950 1.510235 -1.615608 +v -0.357245 1.510235 -2.219838 +f 144 151 153 +f 132 138 139 +f 134 133 141 +f 135 137 143 +f 134 141 144 +f 141 138 144 +f 139 142 145 +f 138 132 146 +f 137 138 146 +f 132 140 146 +f 140 137 146 +f 133 134 147 +f 143 133 147 +f 135 143 147 +f 134 144 147 +f 144 135 147 +f 141 133 148 +f 142 141 148 +f 133 143 148 +f 143 136 148 +f 136 145 148 +f 145 142 148 +f 139 138 149 +f 138 141 149 +f 142 139 149 +f 141 142 149 +f 132 139 150 +f 140 132 150 +f 145 136 150 +f 139 145 150 +f 138 137 151 +f 144 138 151 +f 137 140 152 +f 143 137 152 +f 136 143 152 +f 140 150 152 +f 150 136 152 +f 137 135 153 +f 135 144 153 +f 151 137 153 +o convex_6 +v -1.404647 2.638460 -0.124431 +v 0.206855 3.927335 1.245113 +v 0.206855 3.967926 0.197471 +v 0.206855 1.510235 -0.849963 +v -1.445072 1.510480 1.204771 +v -1.324120 4.008027 -0.769278 +v 0.206855 1.510235 1.245113 +v -1.404647 3.886989 1.204771 +v -1.364383 1.510480 -0.890305 +v 0.206855 3.967926 -0.809621 +v -0.961427 3.886989 1.245113 +v -1.364383 4.008027 -0.406617 +v 0.166430 1.550826 -0.890305 +v -1.445072 3.040943 1.164429 +v -1.445072 1.510480 0.439106 +v -1.324120 3.725849 -0.809621 +v -1.364383 3.202083 -0.809621 +v -1.404647 3.927335 0.882452 +v -0.840637 4.008027 -0.285799 +v -1.404647 1.590927 -0.446750 +v -0.639159 4.008027 -0.769278 +v -1.364383 1.590927 -0.890305 +v -1.404647 3.927335 0.519790 +v -0.196101 3.967926 0.560133 +f 172 165 177 +f 156 155 157 +f 157 155 160 +f 158 157 160 +f 156 157 163 +f 160 155 164 +f 158 160 164 +f 161 158 164 +f 155 161 164 +f 157 162 166 +f 163 157 166 +f 158 161 167 +f 157 158 168 +f 162 157 168 +f 167 154 168 +f 158 167 168 +f 159 163 169 +f 165 159 170 +f 159 169 170 +f 161 155 171 +f 167 161 171 +f 159 165 172 +f 168 154 173 +f 162 168 173 +f 154 170 173 +f 163 159 174 +f 156 163 174 +f 172 156 174 +f 159 172 174 +f 166 162 175 +f 163 166 175 +f 169 163 175 +f 170 169 175 +f 162 173 175 +f 173 170 175 +f 154 167 176 +f 165 170 176 +f 170 154 176 +f 171 165 176 +f 167 171 176 +f 155 156 177 +f 171 155 177 +f 165 171 177 +f 156 172 177 +o convex_7 +v -0.639177 1.510235 -2.300014 +v -0.679435 0.059904 -2.179027 +v -0.478032 0.059904 -2.179027 +v 0.126175 1.510235 1.245113 +v -0.961466 0.059904 1.163908 +v 0.206690 0.341992 -2.823744 +v 0.206690 0.059904 1.204101 +v -0.961466 1.469774 1.244703 +v -0.961466 1.348819 -2.944731 +v 0.166547 1.389138 -2.904539 +v -0.921209 0.422629 -2.823744 +v 0.206690 1.510235 -0.889591 +v 0.206690 0.059904 -0.970796 +v -0.961466 0.059904 -0.930194 +v 0.206690 1.510235 1.204101 +v -0.961466 1.510235 -0.849809 +v -0.880951 0.462805 1.244703 +v -0.115485 1.510235 -2.380808 +v -0.155743 0.059904 -2.058450 +v -0.961466 1.510235 1.083524 +v -0.961466 1.147510 -2.944731 +v 0.166547 0.341992 1.245113 +v -0.276744 1.389138 -2.944731 +v -0.921209 1.389138 -2.863936 +v -0.155743 0.341992 -2.823744 +v -0.961466 0.905741 -2.904129 +v 0.166547 1.066873 -2.904539 +f 198 200 204 +f 179 180 182 +f 180 179 183 +f 182 180 184 +f 182 185 186 +f 178 181 189 +f 184 183 189 +f 183 187 189 +f 183 184 190 +f 184 180 190 +f 179 182 191 +f 182 186 191 +f 188 179 191 +f 189 181 192 +f 184 189 192 +f 181 178 193 +f 186 185 193 +f 182 184 194 +f 185 182 194 +f 178 189 195 +f 189 187 195 +f 180 183 196 +f 190 180 196 +f 183 190 196 +f 185 181 197 +f 181 193 197 +f 193 185 197 +f 191 186 198 +f 181 185 199 +f 192 181 199 +f 184 192 199 +f 194 184 199 +f 185 194 199 +f 195 187 200 +f 198 186 200 +f 193 178 201 +f 186 193 201 +f 178 195 201 +f 200 186 201 +f 195 200 201 +f 183 179 202 +f 179 188 202 +f 198 183 202 +f 188 198 202 +f 188 191 203 +f 198 188 203 +f 191 198 203 +f 187 183 204 +f 183 198 204 +f 200 187 204 +o convex_8 +v -0.477995 1.469944 1.930315 +v 0.045558 0.341799 1.245114 +v -0.880873 0.462719 1.245114 +v -0.921172 0.382105 3.138597 +v 0.166344 1.429637 3.138597 +v 0.166344 0.341799 3.058019 +v 0.126155 1.389331 1.245114 +v -0.880873 1.389331 3.058019 +v -0.961470 1.469944 1.245114 +v 0.166344 0.341799 1.245114 +v -0.840574 1.389331 3.219175 +v -0.961470 1.469944 1.809352 +v 0.126155 0.341799 3.098212 +v -0.679489 0.341799 3.058019 +v -0.961470 1.026571 1.245114 +v 0.166344 1.389331 1.608004 +v -0.921172 0.382105 2.574552 +v 0.005259 1.429637 1.325885 +v -0.880873 1.429637 2.856478 +v -0.759976 1.268411 3.219175 +v -0.921172 0.704559 3.138597 +f 212 216 225 +f 206 207 211 +f 211 207 213 +f 210 206 214 +f 209 210 214 +f 206 211 214 +f 209 205 216 +f 205 213 216 +f 206 210 217 +f 210 209 217 +f 206 217 218 +f 217 208 218 +f 213 207 219 +f 208 216 219 +f 216 213 219 +f 209 214 220 +f 214 211 220 +f 207 206 221 +f 206 218 221 +f 218 208 221 +f 219 207 221 +f 208 219 221 +f 205 209 222 +f 213 205 222 +f 211 213 222 +f 209 220 222 +f 220 211 222 +f 215 209 223 +f 212 215 223 +f 209 216 223 +f 216 212 223 +f 209 215 224 +f 215 208 224 +f 208 217 224 +f 217 209 224 +f 208 215 225 +f 215 212 225 +f 216 208 225 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/972/972.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/972/972.urdf new file mode 100644 index 000000000..d2913841c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/972/972.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/973/973.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/973/973.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/973/973.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/973/973.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/973/973.obj new file mode 100644 index 000000000..9b2ecda2a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/973/973.obj @@ -0,0 +1,654 @@ +o convex_0 +v -1.695490 -3.432281 -0.843236 +v 0.372649 -4.641505 1.107658 +v 0.177474 -4.641505 1.107658 +v -1.578259 -0.505482 0.990517 +v 0.294705 -0.505482 -1.077517 +v 0.294705 -5.148939 -0.921402 +v -1.656413 -5.071013 1.068466 +v 0.411726 -0.505482 0.990300 +v -1.617336 -0.505482 -0.999351 +v -1.695490 -5.188360 -1.116709 +v 0.372649 -5.188360 1.107658 +v 0.450803 -0.661792 0.248917 +v -1.656413 -0.505482 0.405032 +v -1.383084 -5.109518 1.107658 +v -0.603015 -5.188360 -1.038325 +v -1.578259 -1.247151 1.029274 +v -1.695490 -4.446691 -1.116709 +v 0.333572 -5.148939 -0.414082 +v 0.294705 -4.875741 -0.960376 +v -1.695490 -5.188360 -0.648146 +v -1.656413 -0.544903 -0.609172 +v 0.411726 -1.559313 1.029492 +v 0.294705 -0.934990 -1.077517 +v -1.461238 -5.188360 -1.116709 +v -1.656413 -1.676201 -1.038543 +v 0.099530 -0.505482 -1.077517 +v 0.450803 -0.505482 0.444006 +v -1.617336 -1.949400 1.029274 +v -1.695490 -4.993088 -0.453057 +v 0.333572 -5.188360 0.131994 +v -1.656413 -5.109518 0.990517 +v 0.138397 -5.188360 1.107658 +v -1.617336 -3.198045 1.068466 +v 0.372649 -5.188360 0.990300 +v 0.411726 -2.574181 1.029492 +v -0.290820 -5.188360 -0.999568 +v -1.695490 -3.314934 -0.726313 +v -1.617336 -1.559313 -1.038543 +v -1.656413 -4.289922 0.990517 +v -1.617336 -0.661792 0.834185 +f 39 28 40 +f 5 4 8 +f 4 5 9 +f 2 3 11 +f 4 9 13 +f 11 3 14 +f 11 10 15 +f 3 2 16 +f 8 4 16 +f 10 1 17 +f 6 12 18 +f 12 6 19 +f 1 10 20 +f 10 11 20 +f 13 9 21 +f 2 11 22 +f 16 2 22 +f 8 16 22 +f 5 12 23 +f 12 19 23 +f 19 15 23 +f 15 10 24 +f 17 5 24 +f 10 17 24 +f 5 23 24 +f 23 15 24 +f 17 1 25 +f 1 21 25 +f 21 9 25 +f 9 5 26 +f 5 17 26 +f 5 8 27 +f 12 5 27 +f 11 12 27 +f 8 22 27 +f 16 4 28 +f 1 20 29 +f 20 7 29 +f 11 15 30 +f 6 18 30 +f 14 7 31 +f 7 20 31 +f 31 20 32 +f 11 14 32 +f 20 11 32 +f 14 31 32 +f 14 3 33 +f 7 14 33 +f 3 16 33 +f 28 7 33 +f 16 28 33 +f 12 11 34 +f 18 12 34 +f 11 30 34 +f 30 18 34 +f 22 11 35 +f 11 27 35 +f 27 22 35 +f 19 6 36 +f 15 19 36 +f 6 30 36 +f 30 15 36 +f 21 1 37 +f 13 21 37 +f 29 13 37 +f 1 29 37 +f 25 9 38 +f 17 25 38 +f 9 26 38 +f 26 17 38 +f 7 28 39 +f 29 7 39 +f 13 29 39 +f 4 13 40 +f 28 4 40 +f 13 39 40 +o convex_1 +v 1.192327 -3.119890 -0.219035 +v 1.192327 -1.793594 0.327178 +v 1.231313 -0.505482 0.288124 +v 1.621476 -2.885853 0.288124 +v 1.699509 -0.505482 -0.297205 +v 1.114294 -0.505482 -0.297205 +v 1.582429 -2.963779 -0.297205 +v 1.114294 -3.119890 0.327178 +v 1.621476 -0.544704 0.210076 +v 1.075248 -3.159113 -0.180042 +v 1.582429 -3.041705 0.327178 +v 1.153341 -0.505482 0.288124 +v 1.075248 -2.417520 -0.140987 +v 1.660462 -0.505482 0.093034 +v 1.582429 -3.041705 -0.258090 +v 1.582429 -2.651556 0.327178 +v 1.231313 -3.159113 -0.023946 +v 1.699509 -0.700816 -0.180042 +v 1.114294 -0.583667 -0.062939 +v 1.621476 -2.339334 -0.297205 +v 1.114294 -2.729482 0.327178 +f 59 53 61 +f 43 45 46 +f 41 46 47 +f 46 45 47 +f 46 41 50 +f 42 48 51 +f 42 43 52 +f 43 46 52 +f 46 50 53 +f 50 48 53 +f 45 43 54 +f 43 49 54 +f 49 44 54 +f 41 47 55 +f 50 41 55 +f 44 51 55 +f 43 42 56 +f 49 43 56 +f 44 49 56 +f 42 51 56 +f 51 44 56 +f 48 50 57 +f 51 48 57 +f 50 55 57 +f 55 51 57 +f 54 44 58 +f 45 54 58 +f 52 46 59 +f 46 53 59 +f 47 45 60 +f 44 55 60 +f 55 47 60 +f 58 44 60 +f 45 58 60 +f 48 42 61 +f 42 52 61 +f 53 48 61 +f 52 59 61 +o convex_2 +v -3.646456 1.758192 0.365870 +v -1.032326 3.006677 0.795302 +v -0.993104 2.967485 0.951402 +v -0.993104 0.782310 -0.999530 +v -3.607494 3.006677 -1.038608 +v -0.993104 0.782310 0.951402 +v -3.607494 0.938643 -1.038608 +v -0.993104 2.850562 -1.077475 +v -3.568531 2.811370 0.990269 +v -3.646456 0.938643 1.068424 +v -2.007690 0.782310 -0.960453 +v -1.890802 3.006677 0.951402 +v -3.568531 0.899450 0.990269 +v -1.032326 1.719000 -1.077475 +v -3.646456 0.938643 -0.843431 +v -1.578582 0.782310 0.951402 +v -2.046912 2.538114 -1.077475 +v -3.568531 2.850562 0.951402 +v -2.983313 0.860476 -1.038608 +v -3.607494 2.538332 0.990269 +v -1.617804 0.860476 0.990269 +v -3.607494 2.967485 -0.453076 +v -3.529309 0.977617 1.068424 +v -3.490346 3.006677 -1.038608 +v -0.993104 1.055565 -1.038398 +v -3.490346 0.899450 -0.765276 +v -2.007690 0.782310 -0.492153 +v -3.295274 2.889318 0.873457 +v -1.032326 3.006677 0.756225 +v -3.646456 1.484936 1.029347 +v -3.334496 3.006677 -0.609176 +v -3.607494 1.055565 1.068424 +f 71 84 93 +f 65 64 67 +f 64 65 69 +f 65 67 72 +f 64 63 73 +f 63 66 73 +f 70 64 73 +f 62 66 76 +f 66 68 76 +f 71 62 76 +f 74 71 76 +f 67 71 77 +f 72 67 77 +f 71 74 77 +f 68 66 78 +f 66 69 78 +f 75 68 78 +f 69 75 78 +f 70 73 79 +f 65 72 80 +f 68 75 80 +f 71 70 81 +f 70 79 81 +f 67 64 82 +f 71 67 82 +f 66 62 83 +f 62 81 83 +f 81 79 83 +f 82 64 84 +f 71 82 84 +f 66 63 85 +f 69 66 85 +f 69 65 86 +f 75 69 86 +f 65 80 86 +f 80 75 86 +f 72 74 87 +f 76 68 87 +f 74 76 87 +f 80 72 87 +f 68 80 87 +f 74 72 88 +f 72 77 88 +f 77 74 88 +f 79 73 89 +f 83 79 89 +f 63 64 90 +f 64 69 90 +f 85 63 90 +f 69 85 90 +f 62 71 91 +f 81 62 91 +f 71 81 91 +f 73 66 92 +f 66 83 92 +f 89 73 92 +f 83 89 92 +f 64 70 93 +f 70 71 93 +f 84 64 93 +o convex_3 +v -0.836928 0.782310 -1.038344 +v 2.518845 3.006677 -0.999477 +v 2.518845 3.006677 -1.038344 +v 4.470273 0.860476 -0.765432 +v -0.993085 2.967485 0.951245 +v 4.313581 0.860476 0.990533 +v 4.314116 2.967485 0.912378 +v -0.993085 0.782310 0.951245 +v -0.993085 2.850344 -1.077421 +v 4.353155 2.811370 -0.999477 +v 0.567951 0.782310 -1.116709 +v 4.470273 0.860476 -0.999477 +v 1.153540 2.889536 1.029610 +v -0.993085 0.782310 -0.999477 +v 1.700090 0.938425 1.029610 +v 3.026355 2.811370 1.029610 +v 2.323648 2.967485 -1.077631 +v 1.700090 0.782310 0.210034 +v -0.993085 2.967485 0.326846 +v 3.845645 2.889318 -1.038554 +v -0.251339 1.328821 -1.116709 +v 3.650448 0.860476 1.029610 +v 4.353155 2.928293 0.131879 +v -0.758849 2.889536 -1.077421 +v 4.236037 2.967485 0.951455 +v 2.011334 3.006677 -1.038344 +v 0.451368 0.782310 0.951455 +v 4.314116 1.680026 0.990533 +v 4.392195 2.616281 -0.999477 +v -0.251339 2.850344 0.990533 +v -0.993085 1.680026 -1.077421 +v 1.700090 0.782310 -0.297133 +v 0.763147 1.211681 -1.116709 +v 3.923723 2.772396 -1.038554 +v 4.353155 0.860476 0.678123 +v 4.353155 2.928293 0.405001 +v 4.470273 1.133732 -0.921322 +v 3.767566 1.484936 1.029610 +v 0.100014 0.782310 -1.116709 +v 4.353155 2.850344 -0.921322 +v 4.314116 2.967485 0.639256 +v 2.245570 3.006677 -0.921532 +v 0.880265 0.782310 -1.077631 +v 4.314116 2.850344 0.951245 +f 129 100 137 +f 96 95 100 +f 101 98 102 +f 101 94 104 +f 94 101 107 +f 101 102 107 +f 106 108 109 +f 101 104 111 +f 105 97 111 +f 102 98 112 +f 110 96 113 +f 108 101 115 +f 109 108 115 +f 113 96 116 +f 102 112 117 +f 114 102 117 +f 110 114 117 +f 100 95 118 +f 98 106 118 +f 106 109 118 +f 95 96 119 +f 96 110 119 +f 112 98 119 +f 110 117 119 +f 117 112 119 +f 111 99 120 +f 101 111 120 +f 99 115 120 +f 115 101 120 +f 98 101 123 +f 106 98 123 +f 101 108 123 +f 108 106 123 +f 94 107 124 +f 107 102 124 +f 102 114 124 +f 111 104 125 +f 105 111 125 +f 105 104 126 +f 104 114 126 +f 114 110 126 +f 113 103 127 +f 110 113 127 +f 122 105 127 +f 103 122 127 +f 105 126 127 +f 126 110 127 +f 111 97 128 +f 99 111 128 +f 121 99 128 +f 116 100 129 +f 122 116 129 +f 122 129 130 +f 97 105 130 +f 105 122 130 +f 129 97 130 +f 115 99 131 +f 109 115 131 +f 99 121 131 +f 121 109 131 +f 104 94 132 +f 114 104 132 +f 94 124 132 +f 124 114 132 +f 103 113 133 +f 113 116 133 +f 122 103 133 +f 116 122 133 +f 96 100 134 +f 116 96 134 +f 100 116 134 +f 118 95 135 +f 98 118 135 +f 95 119 135 +f 119 98 135 +f 104 105 136 +f 125 104 136 +f 105 125 136 +f 100 118 137 +f 118 109 137 +f 109 121 137 +f 128 97 137 +f 121 128 137 +f 97 129 137 +o convex_4 +v -3.607375 -0.388349 -0.180080 +v -1.968994 0.235974 -0.219134 +v -1.968994 0.235974 -0.258120 +v -1.695517 -0.388349 0.327148 +v -3.607375 0.235974 0.366202 +v -1.695517 0.196919 0.366202 +v -1.695517 -0.349363 -0.219134 +v -3.646334 -0.466458 0.288093 +v -3.568416 0.235974 -0.180080 +v -3.568416 -0.310308 -0.336229 +v -1.695517 0.196919 -0.297175 +v -2.046912 0.079825 -0.336229 +v -3.022034 -0.466458 0.210053 +v -3.607375 0.040839 0.366202 +v -3.568416 -0.154228 -0.336229 +v -2.515185 -0.349363 -0.297175 +v -2.007953 -0.427403 0.327148 +v -2.632253 0.235974 -0.258120 +v -3.412389 -0.466458 0.132013 +v -2.904966 0.235974 0.366202 +v -1.695517 -0.037202 -0.297175 +v -2.944116 -0.310308 -0.336229 +f 149 158 159 +f 139 140 142 +f 140 139 143 +f 143 141 144 +f 142 140 146 +f 138 145 146 +f 145 142 146 +f 140 143 148 +f 143 144 148 +f 143 142 151 +f 142 145 151 +f 138 146 152 +f 147 138 152 +f 149 147 152 +f 138 147 153 +f 141 143 154 +f 144 141 154 +f 150 144 154 +f 145 150 154 +f 143 151 154 +f 151 145 154 +f 146 140 155 +f 140 148 155 +f 148 149 155 +f 152 146 155 +f 149 152 155 +f 145 138 156 +f 144 150 156 +f 150 145 156 +f 138 153 156 +f 153 144 156 +f 139 142 157 +f 143 139 157 +f 142 143 157 +f 148 144 158 +f 149 148 158 +f 144 153 158 +f 158 153 159 +f 147 149 159 +f 153 147 159 +o convex_5 +v 0.489827 0.079924 0.366195 +v 0.099434 0.743232 -1.116709 +v 0.099434 0.782310 -1.116709 +v -1.578292 0.704155 0.990586 +v -1.617224 -0.505482 -0.999339 +v -1.578292 -0.505482 0.990586 +v 0.294523 -0.505482 -1.077311 +v 0.450680 0.782310 0.951394 +v -1.617224 0.782310 -0.960353 +v 0.411534 -0.505482 0.990586 +v 0.333670 0.743232 -1.038531 +v -1.695517 0.274933 0.483152 +v 0.489827 -0.427327 -0.296976 +v -1.578292 0.782310 0.951394 +v -1.695517 -0.349298 -0.219005 +v 0.489827 0.274933 -0.296976 +v -1.695517 -0.388375 0.327003 +v 0.450680 0.782310 0.327003 +v -1.695517 0.196904 -0.296976 +v 0.411534 -0.037182 0.990586 +v 0.294523 0.352962 -1.116709 +v -1.617224 -0.154163 -0.999339 +v -1.617224 0.704155 0.795245 +v 0.450680 -0.505482 0.483152 +v 0.294523 0.782310 -1.116709 +v -1.656157 -0.505482 0.404974 +v 0.099434 -0.505482 -1.077311 +v 0.450680 0.196904 0.951394 +v 0.489827 -0.310347 0.249031 +v -0.837081 0.782310 -1.038531 +f 181 168 189 +f 162 161 164 +f 165 164 166 +f 167 162 168 +f 163 165 169 +f 165 166 169 +f 165 163 171 +f 166 170 172 +f 163 167 173 +f 167 168 173 +f 167 160 175 +f 160 172 175 +f 172 170 175 +f 165 171 176 +f 171 174 176 +f 162 167 177 +f 167 175 177 +f 175 170 177 +f 171 168 178 +f 164 174 178 +f 174 171 178 +f 167 163 179 +f 163 169 179 +f 169 167 179 +f 161 162 180 +f 164 161 180 +f 170 166 180 +f 162 164 181 +f 164 178 181 +f 178 168 181 +f 171 163 182 +f 168 171 182 +f 163 173 182 +f 173 168 182 +f 169 166 183 +f 166 172 183 +f 162 177 184 +f 177 170 184 +f 180 162 184 +f 170 180 184 +f 164 165 185 +f 174 164 185 +f 165 176 185 +f 176 174 185 +f 166 164 186 +f 164 180 186 +f 180 166 186 +f 160 167 187 +f 167 169 187 +f 187 169 188 +f 172 160 188 +f 169 183 188 +f 183 172 188 +f 160 187 188 +f 168 162 189 +f 162 181 189 +o convex_6 +v 1.192327 0.196862 0.366202 +v 2.128605 0.157823 -0.375253 +v 2.128605 0.196862 -0.375253 +v 0.489827 -0.388291 -0.297087 +v 2.245883 -0.310285 0.248989 +v 0.489827 0.196862 -0.297087 +v 0.489827 -0.310285 0.248989 +v 2.362966 -0.427331 -0.258040 +v 2.479855 0.157823 0.248989 +v 1.153559 -0.505409 0.288036 +v 0.489827 0.118784 0.366202 +v 2.323809 0.235829 -0.336206 +v 1.699234 -0.505409 -0.297087 +v 1.075244 0.235829 0.366202 +v 2.440892 0.001738 0.288036 +v 1.582345 -0.505409 0.210015 +v 1.114596 -0.505409 -0.297087 +v 1.738586 0.235829 0.288036 +v 1.153559 0.235829 -0.219066 +v 2.362966 -0.427331 -0.141044 +v 1.153559 0.079817 0.366202 +v 2.362966 -0.271246 -0.297087 +v 0.489827 -0.388291 -0.102070 +v 0.489827 0.196862 -0.063023 +f 203 195 213 +f 192 191 193 +f 192 193 195 +f 195 193 196 +f 195 196 200 +f 196 199 200 +f 191 192 201 +f 192 195 201 +f 190 198 203 +f 200 190 203 +f 198 190 204 +f 199 194 204 +f 194 199 205 +f 199 202 205 +f 193 191 206 +f 191 202 206 +f 202 199 206 +f 198 201 207 +f 203 198 207 +f 201 203 207 +f 201 195 208 +f 195 203 208 +f 203 201 208 +f 197 198 209 +f 202 197 209 +f 204 194 209 +f 198 204 209 +f 194 205 209 +f 205 202 209 +f 190 200 210 +f 200 199 210 +f 204 190 210 +f 199 204 210 +f 198 197 211 +f 191 201 211 +f 201 198 211 +f 202 191 211 +f 197 202 211 +f 196 193 212 +f 199 196 212 +f 193 206 212 +f 206 199 212 +f 195 200 213 +f 200 203 213 +o convex_7 +v 1.075217 0.353134 -0.180080 +v 1.738594 0.275063 0.288093 +v 1.738594 0.236027 0.288093 +v 1.699540 0.782256 -0.297175 +v 1.153326 0.782256 0.288093 +v 1.075217 0.236027 0.366202 +v 1.582445 0.236027 -0.336229 +v 1.036162 0.782256 -0.297175 +v 1.699540 0.782256 0.210053 +v 1.114271 0.236027 -0.219134 +v 1.036162 0.275063 0.327148 +v 1.036162 0.782256 -0.063054 +v 1.309338 0.782256 0.288093 +f 222 218 226 +f 215 216 217 +f 216 215 219 +f 216 219 220 +f 217 216 220 +f 218 217 221 +f 217 220 221 +f 215 217 222 +f 217 218 222 +f 220 219 223 +f 214 221 223 +f 221 220 223 +f 219 218 224 +f 221 214 224 +f 214 223 224 +f 223 219 224 +f 218 221 225 +f 224 218 225 +f 221 224 225 +f 219 215 226 +f 218 219 226 +f 215 222 226 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/973/973.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/973/973.urdf new file mode 100644 index 000000000..0ce260280 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/973/973.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/974/974.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/974/974.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/974/974.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/974/974.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/974/974.obj new file mode 100644 index 000000000..cf9800d64 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/974/974.obj @@ -0,0 +1,621 @@ +o convex_0 +v -1.236049 -1.731069 0.340079 +v -2.547576 0.418720 1.105315 +v -1.490899 0.454988 1.068979 +v -2.438143 0.418720 -1.080731 +v -2.802611 -1.621379 0.922982 +v -0.944290 -1.548842 -1.044177 +v -2.839151 -1.585111 -1.044177 +v -0.944290 0.382230 -1.117067 +v -0.944290 -1.658090 0.922982 +v -0.944290 0.491699 1.032643 +v -2.839151 0.418720 0.340079 +v -2.802611 0.418720 -1.044177 +v -2.365436 0.527967 -0.534165 +v -2.839151 0.418720 1.105315 +v -1.308758 0.528188 -0.570501 +v -2.365436 0.527967 0.449523 +v -2.802611 -1.548621 0.959535 +v -0.944290 -1.366616 0.959535 +v -1.636686 -1.731069 0.230636 +v -1.345297 -0.091692 -1.117067 +v -1.126616 -1.731069 0.704529 +v -0.944290 -1.621600 -0.607055 +v -2.839151 -1.585111 -0.315495 +v -2.292542 -1.038431 -1.080731 +v -2.839151 -0.673977 -1.044177 +v -2.839151 0.272982 1.105315 +v -1.381651 0.528188 0.558749 +v -2.292542 -1.658090 -0.497611 +v -1.236049 -1.585111 -0.971287 +v -2.802611 -1.621379 0.230853 +v -0.944290 -1.694579 0.886645 +v -2.839151 -0.237208 0.996089 +v -1.600146 -1.731069 0.558749 +v -0.944290 -0.054981 -1.117067 +v -1.381651 0.418720 -1.080513 +v -0.944290 0.163514 1.032643 +v -0.944290 0.418720 -0.716281 +v -2.401789 0.527967 -0.424721 +v -1.163156 0.491477 1.032425 +v -2.073861 -1.658090 0.922982 +f 33 21 40 +f 6 8 9 +f 9 8 10 +f 2 3 10 +f 4 12 13 +f 2 10 14 +f 11 7 14 +f 4 13 15 +f 3 2 18 +f 9 10 18 +f 17 9 18 +f 4 8 20 +f 19 1 21 +f 6 9 22 +f 1 19 22 +f 21 1 22 +f 7 5 23 +f 14 7 23 +f 7 4 24 +f 6 7 24 +f 4 20 24 +f 4 7 25 +f 7 11 25 +f 11 12 25 +f 12 4 25 +f 2 14 26 +f 18 2 26 +f 17 18 26 +f 14 23 26 +f 10 15 27 +f 7 6 29 +f 6 22 29 +f 22 19 29 +f 28 7 29 +f 19 28 29 +f 5 7 30 +f 19 5 30 +f 7 28 30 +f 28 19 30 +f 22 9 31 +f 21 22 31 +f 5 17 32 +f 23 5 32 +f 17 26 32 +f 26 23 32 +f 5 19 33 +f 19 21 33 +f 8 6 34 +f 20 8 34 +f 6 24 34 +f 24 20 34 +f 8 4 35 +f 4 15 35 +f 15 8 35 +f 10 3 36 +f 3 18 36 +f 18 10 36 +f 10 8 37 +f 8 15 37 +f 15 10 37 +f 12 11 38 +f 13 12 38 +f 11 14 38 +f 15 13 38 +f 14 16 38 +f 27 15 38 +f 16 27 38 +f 14 10 39 +f 16 14 39 +f 10 27 39 +f 27 16 39 +f 9 17 40 +f 17 5 40 +f 31 9 40 +f 21 31 40 +f 5 33 40 +o convex_1 +v 1.205638 2.458882 0.085006 +v -0.944279 -3.698260 -0.935037 +v -0.506941 -3.297445 -0.971444 +v 1.096195 -3.735249 0.959628 +v -0.761946 2.422500 0.996036 +v 1.278528 2.386117 -1.044259 +v -0.761946 2.313352 -1.007852 +v -0.834836 -3.625495 1.032654 +v 1.132531 -3.552730 -0.971234 +v 1.205638 2.458882 0.923221 +v -0.944279 0.381438 -1.117285 +v 1.278528 -2.022237 -1.080667 +v -0.944279 0.491192 1.032654 +v 1.278528 -1.694187 0.923221 +v -0.944279 1.948920 -0.497725 +v 0.877526 -3.735249 0.996036 +v 1.023305 2.276969 0.959628 +v -0.944279 -1.657805 0.923221 +v 1.278528 1.802783 0.595132 +v -0.543278 0.782859 1.032654 +v -0.288273 0.892007 -1.117285 +v 1.132531 -3.698260 0.376687 +v -0.944279 1.912538 0.449502 +v -0.579831 2.459489 0.923221 +v -0.944279 -0.055759 -1.117285 +v 0.695411 2.386117 -1.044049 +v 0.003286 -3.588506 1.032654 +v -0.470605 -3.698260 0.667947 +v 0.768300 1.912538 -1.080667 +v -0.871390 -3.625495 0.850405 +v 0.914080 -2.022237 -1.080667 +v 1.132531 -3.661877 0.959628 +v 0.841190 -3.589112 -0.971444 +v 1.278528 0.345662 0.923221 +v -0.725610 2.021685 -1.044259 +v -0.944279 -3.698260 -0.679763 +v -0.397498 2.386117 -0.497725 +v 1.278528 2.422500 -0.752789 +v -0.689057 -3.698260 -0.935037 +v 1.169085 -3.224680 -1.007852 +v -0.761946 2.422500 0.449502 +v 1.278528 -1.256990 -1.080667 +v 1.169085 -2.495816 0.959628 +v 1.241974 2.458882 0.522317 +v 1.096195 -3.735249 0.740972 +v -0.543278 2.422500 0.996036 +v -0.725610 -3.661877 0.886813 +v -0.834836 0.710094 -1.117285 +v 0.149065 2.349735 -1.044259 +v -0.798500 2.167215 0.996036 +v 0.877526 2.459489 0.959628 +v 0.768300 -3.735249 0.996036 +v 0.403852 -3.589112 -0.971444 +v -0.834836 1.037537 1.032654 +v -0.944279 -0.820399 -1.080667 +v 1.132531 -3.661877 -0.024217 +f 85 79 96 +f 51 42 53 +f 52 46 54 +f 47 51 55 +f 51 53 55 +f 53 42 58 +f 48 53 58 +f 54 46 59 +f 53 48 60 +f 45 55 63 +f 55 53 63 +f 42 51 65 +f 51 61 65 +f 61 52 65 +f 48 56 67 +f 56 57 67 +f 60 48 67 +f 57 60 67 +f 66 46 69 +f 48 58 70 +f 65 52 71 +f 52 54 72 +f 56 44 72 +f 44 62 72 +f 62 52 72 +f 50 57 74 +f 59 50 74 +f 54 59 74 +f 51 47 75 +f 58 42 76 +f 48 70 76 +f 70 58 76 +f 66 47 77 +f 66 77 78 +f 59 46 78 +f 64 41 78 +f 46 66 78 +f 77 64 78 +f 42 73 79 +f 52 62 80 +f 71 52 80 +f 49 73 80 +f 55 45 81 +f 47 55 81 +f 45 64 81 +f 77 47 81 +f 64 77 81 +f 46 52 82 +f 52 61 82 +f 69 46 82 +f 61 69 82 +f 57 56 83 +f 72 54 83 +f 56 72 83 +f 74 57 83 +f 54 74 83 +f 50 59 84 +f 78 41 84 +f 59 78 84 +f 44 56 85 +f 62 44 85 +f 42 79 85 +f 48 76 87 +f 76 68 87 +f 61 51 88 +f 69 61 88 +f 51 75 88 +f 88 75 89 +f 47 66 89 +f 66 69 89 +f 75 47 89 +f 69 88 89 +f 53 45 90 +f 45 63 90 +f 63 53 90 +f 57 50 91 +f 60 57 91 +f 41 64 91 +f 64 45 91 +f 50 84 91 +f 84 41 91 +f 45 86 91 +f 86 60 91 +f 56 48 92 +f 76 42 92 +f 68 76 92 +f 42 85 92 +f 85 56 92 +f 48 87 92 +f 87 68 92 +f 42 43 93 +f 43 71 93 +f 73 42 93 +f 71 80 93 +f 80 73 93 +f 45 53 94 +f 53 60 94 +f 86 45 94 +f 60 86 94 +f 43 42 95 +f 42 65 95 +f 71 43 95 +f 65 71 95 +f 73 49 96 +f 79 73 96 +f 49 80 96 +f 80 62 96 +f 62 85 96 +o convex_2 +v -2.328969 0.528188 -0.534194 +v -1.272274 1.985773 0.486002 +v -1.272274 1.985773 0.230782 +v -2.766272 1.949248 0.449477 +v -1.381778 0.528188 0.558938 +v -0.944297 1.949248 -0.534194 +v -2.766272 1.839958 -0.534194 +v -2.729711 0.746912 0.522413 +v -0.944297 0.783437 -0.461257 +v -0.944297 1.147833 0.558938 +v -2.766272 0.819819 -0.570605 +v -1.308835 0.528188 -0.570605 +v -2.292408 1.985773 -0.570605 +v -0.944297 1.912723 0.449477 +v -2.365173 0.528188 0.449477 +v -1.381778 1.147690 -0.607130 +v -2.401734 1.985773 0.486002 +v -0.944297 0.929252 0.558938 +v -1.381778 1.985773 -0.570605 +v -2.693328 1.111451 0.522413 +v -2.766272 0.783294 0.230782 +v -1.381778 0.710386 -0.607130 +v -0.944297 0.819819 -0.497668 +v -2.365173 0.528188 -0.497782 +v -2.547620 1.876340 -0.570605 +v -2.766272 1.949248 0.157960 +v -2.146522 0.528188 -0.570605 +v -2.766272 0.783294 -0.424846 +v -0.944297 0.819819 -0.060507 +v -0.944297 1.949248 0.230896 +v -1.563868 0.710386 -0.607130 +v -2.766272 1.111451 0.486002 +f 117 104 128 +f 99 98 102 +f 105 102 106 +f 100 103 107 +f 101 97 108 +f 105 101 108 +f 98 99 109 +f 106 102 110 +f 98 106 110 +f 97 101 111 +f 101 104 111 +f 106 98 113 +f 98 109 113 +f 105 106 114 +f 106 101 114 +f 99 102 115 +f 109 99 115 +f 102 112 115 +f 112 109 115 +f 100 104 116 +f 104 101 116 +f 101 106 116 +f 113 100 116 +f 106 113 116 +f 100 107 117 +f 112 102 118 +f 102 105 119 +f 105 108 119 +f 118 102 119 +f 108 118 119 +f 107 97 120 +f 97 111 120 +f 111 104 120 +f 107 103 121 +f 103 109 121 +f 109 112 121 +f 103 100 122 +f 109 103 122 +f 100 113 122 +f 113 109 122 +f 97 107 123 +f 108 97 123 +f 118 108 123 +f 104 117 124 +f 117 107 124 +f 107 120 124 +f 120 104 124 +f 101 105 125 +f 114 101 125 +f 105 114 125 +f 102 98 126 +f 98 110 126 +f 110 102 126 +f 112 118 127 +f 107 121 127 +f 121 112 127 +f 123 107 127 +f 118 123 127 +f 104 100 128 +f 100 117 128 +o convex_3 +v -1.563831 4.426990 -0.534044 +v -2.401875 1.985774 0.376590 +v -2.401875 1.985774 0.486059 +v -1.272247 1.985774 0.486059 +v -2.328785 4.390429 0.486059 +v -2.292407 1.985774 -0.570640 +v -1.308736 4.390668 0.449570 +v -1.345226 2.241222 -0.570640 +v -2.255917 4.426990 -0.607130 +v -1.272247 4.390668 -0.534151 +v -1.381715 1.985774 -0.570640 +v -1.272247 3.333987 0.486059 +v -2.292407 4.426990 -0.388300 +v -1.272247 3.734484 -0.534151 +v -2.292407 3.552396 -0.570640 +v -2.219538 3.370308 -0.607130 +v -2.073801 4.426990 -0.607130 +v -1.272247 1.985774 0.267229 +v -1.272247 4.390668 0.121591 +v -2.219538 4.426990 -0.024153 +v -2.365386 3.406630 0.412973 +v -2.328785 2.022573 -0.351917 +v -1.308736 3.734484 0.486059 +v -1.600321 4.426990 -0.570640 +v -1.345226 2.678519 -0.570640 +f 152 138 153 +f 131 130 132 +f 131 132 133 +f 132 130 134 +f 132 134 139 +f 133 132 140 +f 132 138 140 +f 129 137 141 +f 136 138 142 +f 138 132 142 +f 137 134 143 +f 130 141 143 +f 141 137 143 +f 134 137 144 +f 139 134 144 +f 136 139 144 +f 137 129 145 +f 144 137 145 +f 136 144 145 +f 132 139 146 +f 139 136 146 +f 142 132 146 +f 136 142 146 +f 129 135 147 +f 138 129 147 +f 135 140 147 +f 140 138 147 +f 135 129 148 +f 133 135 148 +f 141 133 148 +f 129 141 148 +f 130 131 149 +f 131 133 149 +f 141 130 149 +f 133 141 149 +f 134 130 150 +f 130 143 150 +f 143 134 150 +f 135 133 151 +f 133 140 151 +f 140 135 151 +f 129 138 152 +f 145 129 152 +f 145 152 153 +f 138 136 153 +f 136 145 153 +o convex_4 +v 1.679496 -1.293597 -1.080845 +v 3.173153 0.309233 1.105533 +v 3.063884 0.309233 1.105533 +v 1.278717 -1.694523 0.923192 +v 1.278717 0.418655 -0.934887 +v 3.209828 -1.730852 -1.044249 +v 3.173153 0.491531 -0.934673 +v 3.209828 -1.548554 1.032554 +v 1.278717 0.345779 0.923192 +v 1.278717 -1.694523 -1.080845 +v 3.209639 0.345779 -0.716377 +v 1.387986 -1.512225 0.959575 +v 3.173153 -1.585100 1.032554 +v 3.173153 0.345779 0.959361 +v 1.278717 0.236575 -0.971269 +v 3.209639 -0.237226 1.068936 +v 1.387986 0.309450 0.959575 +v 1.715981 0.454984 -0.861908 +v 2.954615 0.163481 -0.971483 +v 2.772374 -1.730852 -0.570419 +v 2.881832 -1.585100 1.032554 +v 3.209828 -1.439349 -1.044249 +v 3.136667 0.491531 -0.861908 +v 3.063884 0.127152 1.105533 +v 1.278717 -1.257268 -1.080845 +v 2.298812 -1.694305 -1.080845 +v 1.278717 0.418655 -0.424675 +v 3.209639 -0.164350 -0.971269 +v 2.736077 -1.730852 -1.044249 +v 3.209828 -1.730852 -0.898504 +v 3.209639 -0.965766 1.068936 +v 1.497255 -1.694523 0.813830 +f 173 166 185 +f 158 157 162 +f 157 158 163 +f 162 157 165 +f 156 155 167 +f 162 156 167 +f 155 164 167 +f 164 160 167 +f 158 160 168 +f 163 158 168 +f 164 155 169 +f 161 164 169 +f 156 162 170 +f 165 156 170 +f 162 165 170 +f 160 158 171 +f 168 160 172 +f 165 157 174 +f 157 166 174 +f 161 159 175 +f 164 161 175 +f 154 172 175 +f 162 167 176 +f 167 160 176 +f 160 171 176 +f 171 162 176 +f 155 156 177 +f 156 165 177 +f 165 174 177 +f 154 163 178 +f 163 168 178 +f 172 154 178 +f 168 172 178 +f 163 154 179 +f 159 163 179 +f 154 175 179 +f 175 159 179 +f 158 162 180 +f 171 158 180 +f 162 171 180 +f 160 164 181 +f 172 160 181 +f 164 175 181 +f 175 172 181 +f 157 163 182 +f 163 159 182 +f 173 157 182 +f 159 173 182 +f 159 161 183 +f 161 166 183 +f 173 159 183 +f 166 173 183 +f 166 161 184 +f 169 155 184 +f 161 169 184 +f 174 166 184 +f 155 177 184 +f 177 174 184 +f 166 157 185 +f 157 173 185 +o convex_5 +v 3.209532 1.803436 0.230835 +v 1.278724 0.892724 -0.607130 +v 1.278724 0.856348 -0.351938 +v 1.278724 1.803436 0.595378 +v 3.136749 0.856348 0.449420 +v 3.282708 1.803436 -0.607130 +v 1.278724 1.803436 -0.607130 +v 3.173043 0.929210 -0.570640 +v 1.278724 0.783376 0.522281 +v 3.173043 1.912894 0.449420 +v 1.424486 1.839812 -0.424917 +v 1.898262 0.783376 0.449420 +v 2.699463 0.819862 0.486027 +v 2.990987 1.839812 0.486027 +v 3.282708 1.839812 -0.461289 +v 3.282708 1.584852 -0.607130 +v 3.173043 0.892724 -0.279077 +v 1.460976 1.766950 0.595378 +v 2.990987 1.912894 0.340069 +v 1.752500 0.892724 -0.607130 +v 1.315213 0.783376 0.267207 +v 1.679717 1.839812 0.558888 +v 3.173043 0.892724 0.194346 +v 3.209532 0.965585 -0.570640 +v 1.315213 1.621227 0.595378 +v 3.173043 1.366157 0.449420 +v 3.282708 1.766950 -0.388428 +v 2.808932 0.819862 0.413166 +f 202 190 213 +f 187 188 189 +f 187 189 192 +f 191 187 192 +f 189 188 194 +f 192 189 196 +f 194 197 198 +f 195 189 199 +f 198 190 199 +f 191 192 200 +f 192 196 200 +f 187 191 201 +f 191 200 201 +f 199 189 203 +f 198 199 203 +f 195 200 204 +f 200 196 204 +f 188 187 205 +f 187 201 205 +f 201 193 205 +f 193 202 205 +f 205 202 206 +f 194 188 206 +f 197 194 206 +f 202 197 206 +f 188 205 206 +f 189 195 207 +f 196 189 207 +f 195 204 207 +f 204 196 207 +f 190 202 208 +f 208 202 209 +f 193 201 209 +f 202 193 209 +f 201 208 209 +f 189 194 210 +f 194 198 210 +f 203 189 210 +f 198 203 210 +f 186 195 211 +f 199 190 211 +f 195 199 211 +f 190 208 211 +f 211 208 212 +f 195 186 212 +f 200 195 212 +f 201 200 212 +f 208 201 212 +f 186 211 212 +f 198 197 213 +f 190 198 213 +f 197 202 213 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/974/974.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/974/974.urdf new file mode 100644 index 000000000..37cf59ec0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/974/974.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/975/975.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/975/975.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/975/975.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/975/975.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/975/975.obj new file mode 100644 index 000000000..c7267aa9c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/975/975.obj @@ -0,0 +1,477 @@ +o convex_0 +v 0.669496 -3.937160 0.835256 +v 0.066439 0.536025 1.057680 +v 0.955076 0.535587 0.994100 +v -0.695039 0.536025 -1.068339 +v -1.107568 -3.874534 1.057680 +v 0.955076 -3.842125 -1.068339 +v -1.012304 -3.811031 -1.036655 +v 1.050340 0.536025 -1.100235 +v -1.043988 0.536025 1.057680 +v 1.018445 -3.937160 1.057680 +v -0.980620 0.536025 -0.941391 +v 1.050340 0.504055 -0.243068 +v -0.853672 -2.319386 -1.068339 +v -1.107568 -3.874534 0.676623 +v 0.986760 -3.461550 -1.068339 +v -1.043988 -3.842564 -0.592229 +v 0.256967 -3.842125 -1.068339 +v 0.986760 -1.019123 1.025784 +v 1.050340 -1.113719 0.010196 +v -1.012304 -3.906066 0.994100 +v -1.012304 -2.192381 -1.004971 +v -1.107568 -2.985502 0.994100 +v 0.986760 -0.289066 -1.100235 +v 0.986760 -2.382450 1.057680 +v -1.012304 -3.842564 -0.750862 +v 0.955076 -0.225564 1.025784 +v 1.018445 -3.937160 0.835256 +v -0.980620 0.440991 -0.973075 +v 1.050340 0.218952 -1.100235 +v -1.012304 -2.890030 -1.036655 +v 1.018445 -3.525052 1.057680 +v 0.986760 -3.874095 -0.528649 +v 0.986760 0.535587 0.708307 +v -1.043988 0.504493 0.962204 +v 0.066439 -3.811031 -1.068339 +v 0.955076 -3.937160 0.708307 +v -0.853672 -1.779398 -1.068339 +v 0.320335 -3.937160 1.057680 +f 5 20 38 +f 2 3 8 +f 4 2 8 +f 2 4 9 +f 5 2 9 +f 2 5 10 +f 9 4 11 +f 8 12 19 +f 5 14 20 +f 14 16 20 +f 16 14 21 +f 5 9 22 +f 14 5 22 +f 11 14 22 +f 4 8 23 +f 6 17 23 +f 2 10 24 +f 16 7 25 +f 7 17 25 +f 1 20 25 +f 20 16 25 +f 3 2 26 +f 18 3 26 +f 2 24 26 +f 24 18 26 +f 10 1 27 +f 19 10 27 +f 11 4 28 +f 14 11 28 +f 21 14 28 +f 15 6 29 +f 8 19 29 +f 23 8 29 +f 6 23 29 +f 27 15 29 +f 19 27 29 +f 13 7 30 +f 7 16 30 +f 16 21 30 +f 21 28 30 +f 12 18 31 +f 19 12 31 +f 10 19 31 +f 24 10 31 +f 18 24 31 +f 6 15 32 +f 17 6 32 +f 15 27 32 +f 8 3 33 +f 12 8 33 +f 3 18 33 +f 18 12 33 +f 9 11 34 +f 22 9 34 +f 11 22 34 +f 7 13 35 +f 17 7 35 +f 13 23 35 +f 23 17 35 +f 1 25 36 +f 25 17 36 +f 27 1 36 +f 17 32 36 +f 32 27 36 +f 4 23 37 +f 23 13 37 +f 28 4 37 +f 13 30 37 +f 30 28 37 +f 1 10 38 +f 10 5 38 +f 20 1 38 +o convex_1 +v -0.409252 4.281079 -0.370277 +v -0.568089 2.567713 0.454696 +v -0.568089 2.567713 0.486333 +v 0.510790 2.282021 -0.560756 +v 0.606070 4.153888 0.549935 +v 0.447347 2.313917 0.518080 +v -0.504531 2.282217 -0.465517 +v 0.479068 4.153888 -0.497263 +v -0.568089 4.153888 0.422841 +v -0.472810 4.281079 -0.529010 +v -0.536253 2.282217 0.518080 +v -0.568089 3.487600 0.041992 +v 0.320460 4.153888 0.549935 +v 0.161622 2.282217 -0.560756 +v 0.510790 2.916804 -0.560756 +v 0.510790 3.107004 0.549935 +v -0.568089 3.995192 0.454696 +v 0.510790 2.282021 -0.306785 +v -0.504531 2.599413 -0.497263 +v -0.536253 2.440717 -0.338531 +v 0.447347 4.185783 -0.497263 +v 0.415510 2.282217 0.518080 +v 0.003129 3.234000 0.549935 +v -0.568089 4.185588 0.295855 +v 0.510790 4.153888 -0.338531 +v 0.034736 3.170600 -0.560756 +v 0.479068 3.741396 -0.529010 +v -0.314202 4.281079 -0.465517 +v 0.606070 4.090488 0.518080 +v -0.568089 4.122188 0.137231 +v -0.536253 2.282217 -0.243400 +v 0.510790 3.328905 -0.529010 +f 63 67 70 +f 40 41 47 +f 41 40 49 +f 40 47 50 +f 43 39 51 +f 42 45 52 +f 42 52 53 +f 44 43 54 +f 43 51 54 +f 47 41 55 +f 41 49 55 +f 51 47 55 +f 49 42 56 +f 52 45 57 +f 48 52 57 +f 40 50 58 +f 50 48 58 +f 57 45 58 +f 48 57 58 +f 44 54 60 +f 54 49 60 +f 56 44 60 +f 49 56 60 +f 49 54 61 +f 54 51 61 +f 55 49 61 +f 51 55 61 +f 39 48 62 +f 50 47 62 +f 51 39 62 +f 47 51 62 +f 59 43 63 +f 46 59 63 +f 52 48 64 +f 48 53 64 +f 53 52 64 +f 53 48 65 +f 46 53 65 +f 59 46 65 +f 48 59 65 +f 39 43 66 +f 48 39 66 +f 43 59 66 +f 59 48 66 +f 43 44 67 +f 42 53 67 +f 56 42 67 +f 44 56 67 +f 63 43 67 +f 48 50 68 +f 62 48 68 +f 50 62 68 +f 45 42 69 +f 49 40 69 +f 42 49 69 +f 40 58 69 +f 58 45 69 +f 53 46 70 +f 46 63 70 +f 67 53 70 +o convex_2 +v -0.441086 1.710467 -2.084005 +v 0.383758 0.568197 -2.940768 +v 0.193442 0.599950 -2.972276 +v -0.599823 0.568197 -1.100235 +v 0.447338 1.615327 -1.100430 +v 0.447338 1.742338 -2.940768 +v -0.472770 0.980746 -3.099479 +v 0.447338 0.631702 -1.100235 +v -0.536244 1.615209 -1.100235 +v -0.504560 1.774090 -3.067580 +v -0.441086 0.726960 -3.099479 +v 0.479128 0.568197 -2.940768 +v 0.479128 1.107756 -1.957193 +v 0.383758 1.647080 -1.227242 +v -0.599823 0.631702 -1.354250 +v 0.479128 0.568197 -2.401035 +v -0.314032 0.885606 -3.099479 +v -0.536244 1.647080 -1.164032 +v 0.479128 1.266284 -2.940768 +v -0.599823 0.853853 -1.132133 +v -0.599823 0.568197 -1.227242 +v 0.447338 1.742338 -2.750355 +v -0.504560 1.456682 -3.067580 +v -0.155400 1.742338 -3.035682 +v 0.447338 0.599950 -1.576366 +v 0.479128 0.600068 -1.893788 +v -0.472770 0.568197 -1.100235 +v -0.536244 0.663455 -2.147411 +v 0.320390 1.678832 -2.972276 +f 87 94 99 +f 74 78 79 +f 78 75 79 +f 72 73 81 +f 74 72 82 +f 72 81 82 +f 80 71 84 +f 74 82 86 +f 82 83 86 +f 77 80 87 +f 81 77 87 +f 82 81 87 +f 79 75 88 +f 71 80 88 +f 75 84 88 +f 84 71 88 +f 75 83 89 +f 83 82 89 +f 82 87 89 +f 74 79 90 +f 85 74 90 +f 80 85 90 +f 79 88 90 +f 88 80 90 +f 73 72 91 +f 72 74 91 +f 81 73 91 +f 74 85 91 +f 76 80 92 +f 84 75 92 +f 80 84 92 +f 75 89 92 +f 89 76 92 +f 80 77 93 +f 85 80 93 +f 80 76 94 +f 87 80 94 +f 95 86 96 +f 75 78 96 +f 83 75 96 +f 86 83 96 +f 78 95 96 +f 78 74 97 +f 74 86 97 +f 95 78 97 +f 86 95 97 +f 77 81 98 +f 81 91 98 +f 91 85 98 +f 93 77 98 +f 85 93 98 +f 76 89 99 +f 89 87 99 +f 94 76 99 +o convex_3 +v -0.663236 2.281835 0.295988 +v 1.082080 2.122947 -1.068339 +v 1.082080 2.059563 -1.068339 +v 0.954917 1.520029 0.994100 +v -0.980622 0.536463 -0.941391 +v 1.050238 0.536463 -1.100235 +v -1.044100 0.536463 1.057680 +v -0.980622 2.249887 -0.909706 +v 0.954917 0.536463 0.994100 +v -1.012257 2.154725 1.057680 +v 0.891648 2.122947 0.962415 +v -0.536281 1.615190 -1.100235 +v 0.510784 2.281835 -0.560756 +v 0.542418 1.646968 1.057680 +v 0.415464 2.281835 0.517990 +v -0.599758 0.568241 -1.100235 +v 1.050238 0.536463 -0.274963 +v 0.859805 2.122947 -1.100235 +v 0.510784 0.663402 1.057680 +v 0.954917 2.091341 0.866940 +v -0.599758 2.281835 0.581570 +v -0.948780 2.186332 -0.941391 +v 0.859805 2.091341 0.994100 +v -0.504438 2.281835 -0.465492 +v 1.082080 2.122947 -1.100235 +v -0.948780 0.949229 -0.973286 +v 0.986760 0.568411 0.708307 +v -0.821825 2.154725 1.057680 +v -1.012257 2.154725 0.771887 +v -1.044100 0.568241 0.994100 +v 0.510784 2.281835 -0.274752 +v -0.536281 2.218280 -0.973286 +v 0.034808 0.536463 1.057680 +v -0.694870 0.536463 -1.068339 +v 1.018395 2.122947 -0.211384 +v -0.980622 1.869069 -0.941391 +f 129 107 135 +f 104 105 106 +f 106 105 108 +f 100 107 109 +f 108 103 113 +f 109 106 113 +f 112 100 114 +f 111 105 115 +f 102 101 116 +f 105 102 116 +f 108 105 116 +f 105 111 117 +f 108 113 118 +f 113 106 118 +f 103 101 119 +f 110 103 119 +f 100 109 120 +f 114 100 120 +f 103 110 122 +f 113 103 122 +f 107 100 123 +f 112 107 123 +f 100 112 123 +f 101 102 124 +f 102 105 124 +f 112 101 124 +f 105 117 124 +f 111 115 125 +f 101 103 126 +f 103 108 126 +f 116 101 126 +f 108 116 126 +f 109 113 127 +f 110 114 127 +f 120 109 127 +f 114 120 127 +f 122 110 127 +f 113 122 127 +f 109 107 128 +f 109 128 129 +f 104 106 129 +f 106 109 129 +f 128 107 129 +f 101 112 130 +f 114 110 130 +f 112 114 130 +f 107 112 131 +f 117 111 131 +f 121 107 131 +f 111 121 131 +f 112 124 131 +f 124 117 131 +f 106 108 132 +f 118 106 132 +f 108 118 132 +f 105 104 133 +f 115 105 133 +f 104 125 133 +f 125 115 133 +f 119 101 134 +f 110 119 134 +f 101 130 134 +f 130 110 134 +f 107 121 135 +f 121 111 135 +f 125 104 135 +f 111 125 135 +f 104 129 135 +o convex_4 +v -0.345864 0.631889 2.231472 +v 0.542602 1.647067 2.041450 +v 0.542602 1.583556 2.041450 +v -0.567953 1.678711 1.057680 +v -0.599823 1.773978 3.025025 +v 0.510843 0.663421 1.057680 +v 0.510843 0.663421 3.056924 +v -0.567953 0.631889 3.056924 +v -0.441029 0.695288 1.057680 +v 0.542602 1.647067 1.057680 +v 0.510843 1.615311 2.993126 +v -0.409270 1.773978 2.644198 +v -0.377623 1.615311 3.056924 +v -0.504547 1.710467 1.089578 +v 0.225125 0.631889 3.056924 +v 0.447325 1.678823 1.152984 +v 0.542602 1.107778 1.057680 +v -0.599823 1.742223 1.946537 +v -0.472788 0.695288 1.216390 +v 0.510843 1.076022 3.056924 +v -0.599823 1.202934 3.056924 +v -0.028611 1.710467 3.025025 +v -0.028611 0.631889 1.946537 +v -0.567953 1.615311 1.057680 +v -0.536194 0.631889 2.453785 +v -0.409270 1.773978 2.866510 +v 0.225125 0.663533 1.057680 +v 0.415566 1.646955 2.929916 +v 0.510843 1.456644 3.025025 +f 157 148 164 +f 138 137 142 +f 139 141 144 +f 137 138 145 +f 141 139 145 +f 143 142 148 +f 145 139 149 +f 141 142 150 +f 143 136 150 +f 142 143 150 +f 137 145 151 +f 145 149 151 +f 149 147 151 +f 138 142 152 +f 142 141 152 +f 145 138 152 +f 141 145 152 +f 140 147 153 +f 149 139 153 +f 147 149 153 +f 142 137 155 +f 148 142 155 +f 148 140 156 +f 143 148 156 +f 153 143 156 +f 140 153 156 +f 140 148 157 +f 150 136 158 +f 141 150 158 +f 139 144 159 +f 153 139 159 +f 143 153 159 +f 144 154 159 +f 159 154 160 +f 136 143 160 +f 144 136 160 +f 154 144 160 +f 143 159 160 +f 147 140 161 +f 137 151 161 +f 151 147 161 +f 140 157 161 +f 136 144 162 +f 144 141 162 +f 158 136 162 +f 141 158 162 +f 146 137 163 +f 157 146 163 +f 137 161 163 +f 161 157 163 +f 137 146 164 +f 155 137 164 +f 148 155 164 +f 146 157 164 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/975/975.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/975/975.urdf new file mode 100644 index 000000000..9d11cd0a8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/975/975.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/976/976.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/976/976.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/976/976.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/976/976.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/976/976.obj new file mode 100644 index 000000000..56da9da01 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/976/976.obj @@ -0,0 +1,750 @@ +o convex_0 +v -1.077496 -2.066539 -0.181935 +v -2.167955 -3.307442 0.570216 +v -2.205610 -3.307442 0.570216 +v -1.190462 -3.608456 -0.557954 +v -2.092865 -1.163977 -0.595612 +v -1.152806 -1.239350 0.457353 +v -1.115261 -3.532843 0.494898 +v -2.167955 -1.163977 0.532557 +v -2.055099 -3.532843 -0.520295 +v -1.077496 -1.163977 -0.557839 +v -2.205610 -3.532843 0.344491 +v -1.115261 -3.307442 -0.557954 +v -2.130410 -1.389857 -0.445091 +v -1.980009 -1.163977 0.532557 +v -2.205610 -3.532843 0.570216 +v -2.017554 -3.532843 -0.557954 +v -1.115151 -1.163977 0.118880 +v -2.205610 -2.969101 0.231742 +v -1.115261 -3.232308 0.494898 +v -1.115261 -3.570650 0.006017 +v -1.190462 -1.163977 0.457353 +v -2.205610 -2.442447 0.457353 +v -1.077496 -1.163977 -0.257025 +f 17 19 23 +f 3 2 8 +f 5 8 10 +f 9 4 11 +f 4 5 12 +f 10 1 12 +f 5 10 12 +f 8 5 13 +f 5 9 13 +f 8 2 14 +f 10 8 14 +f 2 3 15 +f 7 2 15 +f 3 11 15 +f 11 4 15 +f 5 4 16 +f 4 9 16 +f 9 5 16 +f 10 14 17 +f 11 3 18 +f 9 11 18 +f 13 9 18 +f 7 1 19 +f 2 7 19 +f 6 14 19 +f 14 2 19 +f 17 6 19 +f 1 7 20 +f 4 12 20 +f 12 1 20 +f 7 15 20 +f 15 4 20 +f 14 6 21 +f 6 17 21 +f 17 14 21 +f 3 8 22 +f 8 13 22 +f 18 3 22 +f 13 18 22 +f 1 10 23 +f 10 17 23 +f 19 1 23 +o convex_1 +v -2.694613 -1.050889 -0.181902 +v -1.040216 0.340318 0.457276 +v -1.040216 0.340318 -0.595612 +v -1.002281 -1.126134 -0.557917 +v -1.190630 -1.163977 0.457276 +v -2.581470 0.039342 0.457276 +v -2.694613 -0.035903 -0.482761 +v -2.656843 -1.050889 0.570128 +v -2.092622 -1.163977 -0.595612 +v -2.092622 0.340318 -0.557917 +v -1.002281 -0.148843 0.607823 +v -2.055184 0.340318 0.494972 +v -1.002281 -1.088732 0.457276 +v -2.694613 -1.050889 -0.445183 +v -2.167995 -1.163977 0.532550 +v -1.002281 -0.111000 -0.557917 +v -1.077819 -1.163977 -0.557917 +v -2.694613 -0.035903 -0.294753 +v -2.130226 0.340318 -0.181902 +v -2.619074 -0.486779 0.532550 +v -1.979811 -1.163977 0.532550 +f 38 28 44 +f 26 27 32 +f 25 26 33 +f 26 32 33 +f 32 30 33 +f 25 33 35 +f 34 25 35 +f 27 34 36 +f 24 30 37 +f 30 32 37 +f 37 32 38 +f 31 24 38 +f 32 28 38 +f 24 37 38 +f 26 25 39 +f 27 26 39 +f 25 34 39 +f 34 27 39 +f 32 27 40 +f 28 32 40 +f 27 36 40 +f 36 28 40 +f 30 24 41 +f 24 31 41 +f 33 30 42 +f 29 35 42 +f 35 33 42 +f 41 29 42 +f 30 41 42 +f 31 34 43 +f 34 35 43 +f 35 29 43 +f 29 41 43 +f 41 31 43 +f 34 31 44 +f 28 36 44 +f 36 34 44 +f 31 38 44 +o convex_2 +v -2.092759 0.942143 1.548037 +v -1.002281 1.092653 2.939171 +v -1.002281 0.942143 2.939171 +v -1.077665 0.979824 1.096719 +v -2.055067 2.032650 2.977088 +v -1.115239 1.994862 1.096719 +v -2.055067 2.032650 1.096719 +v -2.205599 0.979824 2.977088 +v -1.115239 2.032650 2.939171 +v -2.017492 0.942143 1.096719 +v -1.077665 0.942143 2.977088 +v -2.092759 1.994862 2.901623 +v -2.167907 0.942143 2.412756 +v -1.077665 1.882033 2.939171 +v -1.040091 1.017398 1.698599 +v -1.641514 0.942143 1.096719 +v -1.115239 2.032650 2.337660 +v -2.205599 1.054972 2.901623 +v -1.566483 1.957288 2.977088 +v -1.867077 0.942143 2.977088 +v -2.055067 1.167802 1.096719 +v -1.040091 0.942143 2.300111 +v -1.791929 2.032650 1.096719 +f 51 61 67 +f 50 48 51 +f 51 49 53 +f 47 45 54 +f 51 48 54 +f 45 47 55 +f 47 46 55 +f 49 52 55 +f 49 51 56 +f 52 49 56 +f 45 55 57 +f 46 50 58 +f 55 46 58 +f 53 55 58 +f 46 47 59 +f 47 48 59 +f 50 46 59 +f 48 50 59 +f 47 54 60 +f 54 48 60 +f 51 53 61 +f 58 50 61 +f 53 58 61 +f 56 51 62 +f 52 56 62 +f 51 57 62 +f 57 52 62 +f 53 49 63 +f 49 55 63 +f 55 53 63 +f 55 52 64 +f 52 57 64 +f 57 55 64 +f 54 45 65 +f 51 54 65 +f 45 57 65 +f 57 51 65 +f 48 47 66 +f 47 60 66 +f 60 48 66 +f 50 51 67 +f 61 50 67 +o convex_3 +v 1.479592 -1.163977 0.569999 +v -0.701208 -3.608456 -0.332269 +v -0.701208 -3.608456 0.946224 +v -0.663631 -1.163977 0.870895 +v -0.588475 -1.163977 -1.084508 +v 1.442014 -3.495516 -0.971620 +v 1.366858 -3.608456 1.021343 +v 1.442014 -1.163977 -1.046739 +v -0.663631 -3.608456 -1.084508 +v 1.404436 -1.163977 1.059112 +v -0.663631 -1.163977 1.021343 +v -0.626053 -1.276917 -1.084508 +v -0.701208 -1.540124 0.946224 +v 1.141177 -3.532843 -1.008970 +v 1.329281 -2.705415 1.059112 +v 0.802763 -1.201783 -1.084508 +v 1.479592 -1.201783 -0.971620 +v 0.727393 -3.608456 1.021133 +v -0.400372 -3.608456 -1.084508 +v 1.479592 -1.841377 0.081096 +v 1.366858 -3.608456 0.645328 +v 1.404436 -3.044235 0.908454 +v -0.663631 -2.818594 -1.084508 +v 1.479592 -2.329985 -0.820962 +v 1.028230 -1.163977 1.059112 +v 1.442014 -2.931056 -1.008970 +v 1.404436 -3.532843 -0.820962 +v -0.701208 -2.517820 0.983573 +v 1.479592 -1.464990 0.569999 +v 1.404436 -3.570650 0.231544 +v -0.663631 -1.276917 1.021343 +v 1.404436 -1.765764 1.059112 +f 89 96 99 +f 71 68 72 +f 70 69 74 +f 72 68 75 +f 74 69 76 +f 68 71 77 +f 77 71 78 +f 71 72 79 +f 72 76 79 +f 69 70 80 +f 78 71 80 +f 71 79 80 +f 72 75 83 +f 76 72 83 +f 75 68 84 +f 70 74 85 +f 74 82 85 +f 74 76 86 +f 76 83 86 +f 83 81 86 +f 84 68 87 +f 74 86 88 +f 76 69 90 +f 79 76 90 +f 69 80 90 +f 80 79 90 +f 73 84 91 +f 87 73 91 +f 84 87 91 +f 77 78 92 +f 82 77 92 +f 73 81 93 +f 83 75 93 +f 81 83 93 +f 84 73 93 +f 75 84 93 +f 81 73 94 +f 86 81 94 +f 88 86 94 +f 80 70 95 +f 78 80 95 +f 70 85 95 +f 68 77 96 +f 87 68 96 +f 96 89 97 +f 73 87 97 +f 74 88 97 +f 89 74 97 +f 94 73 97 +f 88 94 97 +f 87 96 97 +f 85 82 98 +f 92 78 98 +f 82 92 98 +f 78 95 98 +f 95 85 98 +f 82 74 99 +f 77 82 99 +f 74 89 99 +f 96 77 99 +o convex_4 +v -0.249992 2.445624 1.021354 +v -1.001990 -1.125813 -0.557850 +v -0.588625 -1.163623 -1.084324 +v 1.404453 -1.163623 1.058928 +v 1.517166 2.371065 -1.009176 +v -1.001990 2.332902 -1.084324 +v 1.442189 -1.163623 -1.046533 +v -1.001990 0.340642 1.058928 +v 1.517166 2.371065 0.983779 +v -0.663850 -1.163623 1.021354 +v -1.001990 2.445624 1.096719 +v 1.517166 -1.126167 0.494880 +v 1.517166 0.415909 -1.084324 +v -0.437930 2.332902 -1.122116 +v 1.517166 1.091892 1.058928 +v -1.001990 -1.088357 0.494880 +v -1.001990 0.378452 -1.084324 +v -1.001990 2.370711 -1.046750 +v 0.802657 -1.163623 -1.084324 +v -0.400441 2.445624 1.096719 +v 1.517166 -1.163623 -0.632999 +v -0.701339 2.445624 0.645394 +v -1.001990 2.182723 -1.122116 +v -0.701339 1.731478 1.096719 +v 1.517166 1.731478 -1.046533 +v 1.517166 0.378099 1.058928 +v 1.028331 -1.163623 1.058928 +v 1.517166 1.994733 1.021136 +v -0.851788 -1.163623 -0.106525 +v 0.276333 2.370711 -1.084324 +v -0.663850 -0.035336 1.058928 +v 1.479677 -1.163623 -0.971601 +v -0.550890 2.032190 -1.122116 +v -1.001990 -1.125813 0.306791 +f 128 109 133 +f 103 102 106 +f 105 101 107 +f 104 100 108 +f 102 103 109 +f 105 107 110 +f 104 108 111 +f 104 111 112 +f 111 108 114 +f 107 101 115 +f 109 107 115 +f 102 101 116 +f 101 105 116 +f 105 110 117 +f 113 105 117 +f 106 102 118 +f 112 106 118 +f 108 100 119 +f 100 110 119 +f 103 106 120 +f 111 103 120 +f 112 111 120 +f 100 104 121 +f 110 100 121 +f 117 110 121 +f 105 113 122 +f 102 116 122 +f 116 105 122 +f 110 107 123 +f 119 110 123 +f 103 119 123 +f 104 112 124 +f 112 113 124 +f 103 111 125 +f 111 114 125 +f 119 103 125 +f 114 119 125 +f 109 103 126 +f 103 123 126 +f 114 108 127 +f 108 119 127 +f 119 114 127 +f 101 102 128 +f 102 109 128 +f 113 117 129 +f 121 104 129 +f 117 121 129 +f 104 124 129 +f 124 113 129 +f 107 109 130 +f 123 107 130 +f 109 126 130 +f 126 123 130 +f 106 112 131 +f 120 106 131 +f 112 120 131 +f 113 112 132 +f 118 102 132 +f 112 118 132 +f 122 113 132 +f 102 122 132 +f 115 101 133 +f 109 115 133 +f 101 128 133 +o convex_5 +v 3.510604 -0.825481 0.306884 +v 1.517608 -1.013488 -0.633220 +v 1.743322 -1.051110 -0.595561 +v 3.435105 -0.148592 -0.595561 +v 1.517608 -0.110970 0.457177 +v 1.517608 -1.126354 0.494950 +v 3.397454 -1.126354 -0.557788 +v 3.435105 -0.148592 0.457177 +v 1.517608 -0.148592 -0.482584 +v 3.510604 -1.163977 0.532609 +v 3.435105 -1.163977 -0.332177 +v 2.720701 -0.110970 -0.219428 +v 3.435105 -0.787859 0.532609 +v 2.871113 -1.126354 -0.595561 +v 2.420269 -1.088732 0.532609 +v 3.472757 -0.261562 -0.445039 +v 2.645398 -0.110970 0.457177 +v 1.555259 -0.900725 -0.633220 +v 1.517608 -0.110970 -0.106680 +v 1.630563 -1.126354 0.269339 +v 2.946221 -1.163977 0.532609 +v 1.705671 -0.223940 -0.520357 +v 3.510604 -1.163977 0.306884 +v 3.435105 -0.975866 -0.520357 +v 3.472757 -0.336806 0.419746 +f 149 141 158 +f 138 135 139 +f 135 138 142 +f 141 137 145 +f 137 142 145 +f 143 141 146 +f 136 135 147 +f 135 137 147 +f 137 140 147 +f 140 144 147 +f 138 139 148 +f 146 138 148 +f 143 146 148 +f 137 141 149 +f 141 145 150 +f 145 138 150 +f 138 146 150 +f 146 141 150 +f 137 135 151 +f 135 142 151 +f 142 138 152 +f 138 145 152 +f 145 142 152 +f 135 136 153 +f 139 135 153 +f 136 147 153 +f 147 144 153 +f 144 143 154 +f 148 139 154 +f 143 148 154 +f 139 153 154 +f 153 144 154 +f 142 137 155 +f 137 151 155 +f 151 142 155 +f 134 143 156 +f 143 144 156 +f 149 134 156 +f 149 156 157 +f 140 137 157 +f 144 140 157 +f 137 149 157 +f 156 144 157 +f 143 134 158 +f 141 143 158 +f 134 149 158 +o convex_6 +v 3.472948 1.431035 -0.783403 +v 1.555068 1.092652 1.059112 +v 1.517413 1.092652 1.059112 +v 3.134441 2.521546 0.946014 +v 1.517413 2.371035 -1.008970 +v 1.517413 0.415673 -1.084508 +v 3.435293 0.415887 0.946014 +v 3.510603 2.408609 -0.933851 +v 3.359982 0.415887 -1.009179 +v 1.517413 2.371035 0.983783 +v 1.517413 0.378099 1.059112 +v 3.510603 2.521332 0.946224 +v 1.630379 0.340524 -0.670724 +v 3.510603 2.333461 -0.971620 +v 3.472948 0.566184 0.720447 +v 2.156771 0.340524 -0.031373 +v 1.893575 0.378099 1.059112 +v 3.435293 2.521332 0.532439 +v 3.397638 0.453461 -1.009179 +v 3.096786 2.107587 0.983783 +v 1.517413 0.340524 0.532230 +v 2.269542 2.446184 0.983783 +v 2.156771 2.371035 -1.008970 +v 3.510603 1.882141 -0.520276 +v 2.720819 0.490822 -1.046739 +v 2.570394 0.378099 0.983783 +v 1.555068 0.528610 -1.084508 +v 3.472948 0.603759 0.946014 +v 1.517413 0.340524 -0.745633 +v 3.435293 0.415887 -0.031163 +v 1.592724 1.957290 1.021133 +v 1.931230 0.904567 1.059112 +v 3.359982 1.130227 -1.009179 +v 3.510603 2.295673 0.946224 +v 2.871245 0.378099 0.532439 +v 1.517413 1.694056 -1.046529 +f 181 185 194 +f 161 163 164 +f 163 161 168 +f 160 161 169 +f 161 164 169 +f 166 170 172 +f 171 167 174 +f 160 169 175 +f 163 162 176 +f 166 163 176 +f 162 170 176 +f 170 166 176 +f 172 159 177 +f 169 164 179 +f 171 174 179 +f 175 169 179 +f 162 163 180 +f 163 168 180 +f 170 162 180 +f 178 170 180 +f 163 166 181 +f 166 172 181 +f 159 172 182 +f 172 170 182 +f 173 159 182 +f 167 164 183 +f 177 167 183 +f 165 175 184 +f 179 174 184 +f 175 179 184 +f 181 172 185 +f 183 164 185 +f 165 173 186 +f 175 165 186 +f 178 175 186 +f 173 182 186 +f 164 167 187 +f 167 171 187 +f 179 164 187 +f 171 179 187 +f 159 173 188 +f 173 165 188 +f 167 177 188 +f 177 159 188 +f 161 160 189 +f 168 161 189 +f 160 178 189 +f 180 168 189 +f 178 180 189 +f 160 175 190 +f 178 160 190 +f 175 178 190 +f 172 177 191 +f 177 183 191 +f 185 172 191 +f 183 185 191 +f 170 178 192 +f 182 170 192 +f 178 186 192 +f 186 182 192 +f 174 167 193 +f 165 184 193 +f 184 174 193 +f 188 165 193 +f 167 188 193 +f 164 163 194 +f 163 181 194 +f 185 164 194 +o convex_7 +v -1.679144 0.979787 -3.040092 +v -1.039888 1.919622 -1.761566 +v -1.039888 1.882077 -1.761566 +v -2.092689 1.919622 -1.122116 +v -1.152854 0.942242 -1.122116 +v -1.039888 1.995043 -2.964807 +v -2.167999 1.844422 -3.002355 +v -2.055144 0.904587 -1.122116 +v -1.152854 0.866932 -3.040092 +v -2.130344 0.979787 -3.002355 +v -1.077654 1.882077 -1.122116 +v -1.077654 0.942242 -1.197400 +v -2.167999 1.882077 -2.363093 +v -1.039888 1.656477 -2.964807 +v -1.115309 0.866932 -2.513474 +v -1.303254 1.995043 -2.513474 +v -1.416109 0.866932 -3.040092 +v -1.754344 1.919622 -3.002355 +v -2.167999 1.355787 -2.927071 +v -2.092689 1.468422 -1.122116 +v -1.791888 1.957277 -1.573448 +v -1.716689 1.468422 -3.040092 +v -2.017488 0.942242 -2.889522 +v -1.039888 1.957277 -2.062329 +v -1.528854 0.866932 -2.137426 +v -1.115309 1.017442 -3.040092 +v -2.092689 0.942242 -1.724018 +v -1.077654 0.942242 -1.761566 +v -1.528854 1.919622 -1.159852 +v -2.092689 1.919622 -1.686469 +f 215 210 224 +f 196 197 200 +f 199 198 202 +f 197 196 205 +f 198 199 205 +f 197 205 206 +f 205 199 206 +f 200 197 208 +f 197 206 208 +f 206 199 209 +f 195 203 211 +f 204 195 211 +f 203 209 211 +f 201 207 212 +f 210 200 212 +f 201 204 213 +f 207 201 213 +f 207 213 214 +f 202 198 214 +f 198 207 214 +f 203 195 216 +f 195 204 216 +f 204 201 216 +f 201 212 216 +f 212 200 216 +f 202 204 217 +f 211 202 217 +f 204 211 217 +f 196 200 218 +f 205 196 218 +f 200 210 218 +f 210 215 218 +f 199 202 219 +f 209 199 219 +f 202 211 219 +f 211 209 219 +f 200 208 220 +f 209 203 220 +f 216 200 220 +f 203 216 220 +f 204 202 221 +f 213 204 221 +f 214 213 221 +f 202 214 221 +f 208 206 222 +f 206 209 222 +f 220 208 222 +f 209 220 222 +f 198 205 223 +f 215 198 223 +f 205 218 223 +f 218 215 223 +f 207 198 224 +f 212 207 224 +f 210 212 224 +f 198 215 224 +o convex_8 +v -2.393636 2.445963 0.231643 +v -1.303228 0.340524 -0.595425 +v -1.265650 0.378080 -1.084324 +v -1.002443 2.446173 1.096502 +v -2.657005 0.490958 1.058928 +v -2.544110 2.370851 -0.934027 +v -1.002443 2.371061 -1.046533 +v -1.002443 0.340524 1.058928 +v -2.619265 0.453402 -1.084324 +v -2.619265 2.370851 1.096719 +v -1.002443 0.378080 -1.084324 +v -2.130428 1.957107 -1.122116 +v -2.055273 0.340734 0.494880 +v -1.867221 2.483938 -0.595425 +v -1.002443 2.257974 -1.122116 +v -2.619265 1.130247 -1.046750 +v -2.017695 0.942258 1.096719 +v -2.130428 0.340734 -0.557850 +v -2.657005 0.453402 -0.294614 +v -1.190494 0.942258 -1.122116 +v -2.619265 2.370851 0.382157 +v -2.657005 1.618684 0.983779 +v -2.657005 0.453402 1.021354 +v -2.205584 2.483938 -0.144317 +v -1.077599 0.979814 1.096719 +v -2.544110 2.408407 0.908631 +v -2.055273 0.904702 -1.122116 +v -2.506532 2.408407 -0.858662 +v -2.581687 2.032428 -0.971601 +v -1.378546 0.340524 1.058928 +v -2.168006 2.483938 -0.633216 +v -1.491280 2.371061 -1.046750 +v -1.040021 0.340524 -0.595425 +v -1.228072 2.446173 1.096719 +v -1.002443 2.446173 0.870839 +f 231 238 259 +f 231 228 232 +f 226 227 235 +f 231 232 235 +f 231 235 239 +f 236 233 240 +f 234 229 241 +f 227 226 242 +f 233 227 242 +f 240 233 243 +f 233 242 243 +f 239 235 244 +f 236 239 244 +f 229 234 246 +f 243 229 246 +f 240 243 246 +f 234 245 246 +f 245 240 246 +f 242 237 247 +f 243 242 247 +f 229 243 247 +f 228 238 248 +f 232 228 249 +f 241 232 249 +f 234 241 249 +f 245 234 250 +f 248 225 250 +f 227 233 251 +f 235 227 251 +f 233 236 251 +f 244 235 251 +f 236 244 251 +f 230 245 252 +f 225 248 252 +f 250 225 252 +f 245 250 252 +f 230 236 253 +f 236 240 253 +f 245 230 253 +f 240 245 253 +f 226 232 254 +f 232 241 254 +f 241 229 254 +f 242 226 254 +f 237 242 254 +f 229 247 254 +f 247 237 254 +f 238 231 255 +f 248 238 255 +f 252 248 255 +f 252 255 256 +f 236 230 256 +f 231 239 256 +f 239 236 256 +f 230 252 256 +f 255 231 256 +f 232 226 257 +f 226 235 257 +f 235 232 257 +f 228 248 258 +f 249 228 258 +f 234 249 258 +f 250 234 258 +f 248 250 258 +f 228 231 259 +f 238 228 259 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/976/976.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/976/976.urdf new file mode 100644 index 000000000..33ddeae4b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/976/976.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/977/977.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/977/977.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/977/977.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/977/977.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/977/977.obj new file mode 100644 index 000000000..d021fab71 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/977/977.obj @@ -0,0 +1,720 @@ +o convex_0 +v -0.974278 -2.722666 -0.003076 +v 0.022971 2.152879 2.582630 +v -0.013646 2.152879 2.582630 +v -0.715536 3.039342 -0.003076 +v 1.057498 -2.168478 -0.002823 +v -0.826489 -2.057521 2.323958 +v 0.909708 2.854414 -0.003076 +v 0.761919 -2.020535 2.250305 +v -1.011115 2.041923 1.732961 +v 1.020440 2.004937 1.659308 +v 0.022971 -2.980969 1.659055 +v 0.022971 2.817428 2.323958 +v -1.122068 0.601271 -0.003076 +v 0.835814 -2.906998 -0.003076 +v -1.047953 -2.021132 1.696008 +v 0.798756 2.041923 2.323958 +v -0.789431 2.078908 2.360911 +v -0.050703 -2.057521 2.545677 +v 1.020440 -1.983549 1.585402 +v 1.131393 -0.320984 -0.002823 +v -0.974278 2.818025 0.403661 +v -0.826489 -2.759055 1.622102 +v -0.493852 -3.054941 -0.003076 +v 0.798756 -2.722666 1.622102 +v -0.013646 -2.759055 2.323958 +v 0.761919 2.780443 1.548196 +v 0.022971 3.039342 1.585149 +v -0.789431 2.780443 1.659055 +v 0.724861 3.002953 -0.003076 +v 1.057498 1.820605 1.548196 +v -1.011115 2.596111 -0.003076 +v 0.614129 -3.017955 0.144989 +v 0.983603 -2.759055 0.071083 +v 0.688024 -1.983549 2.323958 +v 0.096866 0.970531 2.582630 +v -1.122068 -0.320984 0.034130 +v -0.235330 0.933546 2.545677 +v 1.057498 0.896560 1.622102 +v 1.020440 1.893980 0.181942 +v -1.047953 1.930965 1.253077 +v 0.798756 0.712228 2.323958 +v -0.863326 -1.651275 2.287005 +v -1.047953 0.785603 1.622102 +v -0.678699 -3.017955 0.071083 +v -0.567747 2.632500 2.176399 +v -0.752594 2.078908 2.398118 +v 0.614129 2.559125 2.139193 +v -0.641641 -2.574723 2.139193 +v 0.577072 -2.537738 2.139193 +v -1.047953 -2.168478 1.437589 +v -0.383120 -2.020535 2.471771 +v 0.355608 3.039342 -0.002823 +v -0.937221 -2.833623 0.218642 +v -1.011115 -2.389795 -0.003076 +v 0.207818 -3.054941 -0.002823 +v -1.122068 0.675243 0.108036 +v -0.087541 -2.980969 1.622102 +v 0.946546 -2.759055 0.625127 +v 0.022971 -1.983549 2.545677 +v -0.087541 -2.759055 2.323958 +v -0.050703 3.039342 1.585149 +v -0.124598 2.078908 2.582630 +v 1.020440 2.115894 1.548196 +v -0.050703 2.817428 2.323958 +f 46 62 64 +f 1 4 7 +f 3 2 12 +f 4 1 13 +f 1 7 14 +f 12 2 16 +f 14 7 20 +f 5 14 20 +f 19 5 20 +f 6 15 22 +f 1 14 23 +f 19 8 24 +f 11 24 25 +f 12 26 27 +f 9 17 28 +f 4 21 28 +f 21 9 28 +f 7 4 29 +f 26 7 29 +f 27 26 29 +f 4 13 31 +f 21 4 31 +f 14 24 32 +f 24 11 32 +f 14 5 33 +f 5 19 33 +f 2 3 35 +f 16 2 35 +f 10 16 38 +f 19 20 38 +f 30 10 38 +f 20 30 38 +f 20 7 39 +f 7 30 39 +f 30 20 39 +f 9 21 40 +f 21 31 40 +f 8 19 41 +f 34 8 41 +f 16 35 41 +f 35 34 41 +f 38 16 41 +f 19 38 41 +f 15 6 42 +f 9 15 42 +f 17 9 42 +f 15 9 43 +f 9 40 43 +f 1 23 44 +f 28 17 45 +f 42 6 46 +f 17 42 46 +f 45 17 46 +f 12 16 47 +f 26 12 47 +f 16 26 47 +f 6 22 48 +f 24 8 49 +f 25 24 49 +f 8 34 49 +f 34 25 49 +f 22 15 50 +f 15 36 50 +f 18 37 51 +f 37 46 51 +f 46 6 51 +f 4 27 52 +f 29 4 52 +f 27 29 52 +f 1 44 53 +f 44 22 53 +f 50 1 53 +f 22 50 53 +f 13 1 54 +f 36 13 54 +f 1 50 54 +f 50 36 54 +f 23 14 55 +f 11 23 55 +f 14 32 55 +f 32 11 55 +f 31 13 56 +f 13 36 56 +f 36 15 56 +f 40 31 56 +f 15 43 56 +f 43 40 56 +f 23 11 57 +f 22 44 57 +f 44 23 57 +f 24 14 58 +f 19 24 58 +f 14 33 58 +f 33 19 58 +f 18 25 59 +f 25 34 59 +f 35 18 59 +f 34 35 59 +f 25 18 60 +f 11 25 60 +f 6 48 60 +f 48 22 60 +f 51 6 60 +f 18 51 60 +f 57 11 60 +f 22 57 60 +f 27 4 61 +f 12 27 61 +f 4 28 61 +f 35 3 62 +f 18 35 62 +f 37 18 62 +f 46 37 62 +f 16 10 63 +f 7 26 63 +f 26 16 63 +f 30 7 63 +f 10 30 63 +f 3 12 64 +f 28 45 64 +f 45 46 64 +f 12 61 64 +f 61 28 64 +f 62 3 64 +o convex_1 +v 0.983526 0.638445 -1.924245 +v -1.048183 -0.173866 -1.665717 +v -1.048183 -0.173866 -1.591956 +v 0.059911 -1.651731 -1.628837 +v -0.013800 -0.063155 -3.438708 +v -0.013800 1.636132 -1.591956 +v -0.752529 -0.026144 -3.179819 +v 0.761786 0.047556 -3.216881 +v 0.872757 -0.986498 -1.591956 +v 0.059911 0.786167 -3.216881 +v -0.826443 0.823178 -2.256714 +v 0.096969 -0.764754 -3.179819 +v -0.863298 -1.170910 -1.591956 +v 0.946671 0.970900 -1.591956 +v -0.900154 0.933889 -1.591956 +v 0.761786 0.749478 -2.588822 +v 0.761786 -0.764754 -2.478361 +v 1.020584 -0.025822 -2.478361 +v -0.493933 -0.617032 -3.032115 +v -1.011125 -0.063155 -2.478361 +v -0.604702 0.638445 -2.921292 +v 1.020584 -0.247566 -1.591956 +v -0.752529 -0.801765 -2.478361 +v -0.050655 -1.651731 -1.628837 +v -0.050655 0.785845 -3.216881 +v -0.050655 -0.764754 -3.179819 +v 0.096969 1.599121 -1.628837 +v 0.577103 -0.616710 -2.958173 +v -0.789385 0.785845 -2.478361 +v 0.577103 0.564745 -3.068996 +v -1.011125 0.047556 -2.478361 +v -0.013800 0.084245 -3.438708 +v 0.761786 -0.025822 -3.216881 +v 0.059911 -1.651731 -1.591956 +v -0.013800 1.636132 -1.628837 +v 1.020584 0.305990 -1.591956 +v -0.678616 0.047556 -3.216881 +v 1.020584 0.084245 -2.441480 +v -0.937212 0.785845 -1.702598 +v -0.826443 -1.207921 -1.628837 +v -0.604702 0.527734 -3.032115 +v 0.798844 0.749478 -2.515242 +v 0.096969 -0.025822 -3.438708 +v -1.048183 -0.026144 -1.591956 +v 0.835699 0.860189 -2.182953 +v 0.872757 -0.986498 -1.628837 +v 0.614161 -0.468988 -3.068996 +v 0.207738 0.047556 -3.401466 +v -0.752529 0.010545 -3.179819 +v 0.798844 -0.838454 -2.219834 +v -0.863298 -1.170910 -1.628837 +v -0.013800 -0.727743 -3.216881 +f 107 76 116 +f 70 67 73 +f 67 66 77 +f 73 67 77 +f 70 73 78 +f 67 70 79 +f 78 73 86 +f 71 83 87 +f 84 71 87 +f 76 68 88 +f 87 83 90 +f 76 88 90 +f 88 87 90 +f 70 78 91 +f 80 74 91 +f 68 76 92 +f 81 68 92 +f 89 85 93 +f 72 74 94 +f 80 72 94 +f 74 80 94 +f 71 84 95 +f 84 66 95 +f 75 93 95 +f 89 74 96 +f 72 82 97 +f 82 81 97 +f 68 73 98 +f 73 77 98 +f 88 68 98 +f 77 88 98 +f 79 70 99 +f 75 79 99 +f 74 89 99 +f 70 91 99 +f 91 74 99 +f 93 75 99 +f 89 93 99 +f 65 78 100 +f 78 86 100 +f 86 82 100 +f 69 71 101 +f 96 69 101 +f 89 96 101 +f 82 72 102 +f 65 100 102 +f 100 82 102 +f 79 75 103 +f 75 95 103 +f 88 77 104 +f 87 88 104 +f 85 89 105 +f 93 85 105 +f 89 101 105 +f 78 65 106 +f 72 80 106 +f 65 102 106 +f 102 72 106 +f 69 96 107 +f 72 97 107 +f 97 76 107 +f 66 67 108 +f 67 79 108 +f 95 66 108 +f 79 103 108 +f 103 95 108 +f 91 78 109 +f 80 91 109 +f 78 106 109 +f 106 80 109 +f 73 68 110 +f 86 73 110 +f 82 86 110 +f 92 76 111 +f 81 92 111 +f 76 97 111 +f 97 81 111 +f 74 72 112 +f 96 74 112 +f 72 107 112 +f 107 96 112 +f 71 95 113 +f 95 93 113 +f 101 71 113 +f 93 105 113 +f 105 101 113 +f 68 81 114 +f 81 82 114 +f 110 68 114 +f 82 110 114 +f 77 66 115 +f 66 84 115 +f 84 87 115 +f 104 77 115 +f 87 104 115 +f 71 69 116 +f 83 71 116 +f 76 90 116 +f 90 83 116 +f 69 107 116 +o convex_2 +v -2.858058 -0.063108 -0.594066 +v -1.159372 0.417037 -0.261781 +v -1.159372 0.417037 -0.409405 +v -1.159372 -0.432635 -0.224744 +v -1.196253 -0.136963 -0.704980 +v -2.747235 0.010665 -0.224744 +v -1.159372 0.232315 -0.040019 +v -2.599531 0.158376 -0.594066 +v -1.159372 0.232315 -0.704980 +v -2.784297 -0.210902 -0.483217 +v -1.196253 -0.210902 -0.040019 +v -2.710355 0.195304 -0.372499 +v -1.159372 -0.358697 -0.520254 +v -2.784297 -0.026180 -0.668008 +v -2.599531 -0.173891 -0.261781 +v -2.488708 -0.173891 -0.630972 +v -1.196253 0.380026 -0.594066 +v -3.006124 0.010665 -0.409405 +v -1.307076 0.232315 -0.040019 +v -2.599531 -0.063108 -0.187903 +v -2.747235 0.195304 -0.446376 +v -2.156238 0.047593 -0.704980 +v -2.414766 0.158376 -0.224744 +v -2.784297 -0.210902 -0.409405 +v -1.196253 -0.432635 -0.298622 +v -2.045777 -0.173891 -0.668008 +f 130 138 142 +f 119 118 120 +f 120 118 123 +f 119 120 125 +f 120 123 127 +f 125 120 129 +f 121 125 129 +f 126 117 130 +f 120 127 131 +f 129 126 132 +f 126 130 132 +f 119 125 133 +f 125 124 133 +f 117 126 134 +f 122 128 134 +f 130 117 134 +f 123 118 135 +f 127 123 135 +f 122 131 136 +f 131 127 136 +f 135 122 136 +f 127 135 136 +f 118 119 137 +f 128 118 137 +f 124 130 137 +f 119 133 137 +f 133 124 137 +f 134 128 137 +f 130 134 137 +f 125 121 138 +f 124 125 138 +f 130 124 138 +f 118 128 139 +f 128 122 139 +f 135 118 139 +f 122 135 139 +f 120 131 140 +f 131 122 140 +f 134 126 140 +f 122 134 140 +f 129 120 141 +f 126 129 141 +f 120 140 141 +f 140 126 141 +f 121 129 142 +f 129 132 142 +f 132 130 142 +f 138 121 142 +o convex_3 +v 0.872672 2.928642 -0.003076 +v -1.159010 -0.690913 -0.372528 +v -1.159010 -0.690913 -0.335676 +v 1.020418 -2.722450 -0.520402 +v 0.022962 1.746330 -1.591594 +v -0.937278 -2.574811 -1.332854 +v 1.020418 -0.247396 -1.591594 +v -0.937278 2.891432 -0.631269 +v -0.937278 -2.833479 -0.003076 +v -0.974271 2.854823 -0.003076 +v 0.872672 2.928642 -1.221987 +v 1.057411 -2.168503 -0.003076 +v -1.048032 -0.062547 -1.591594 +v 0.096947 -2.722450 -1.443720 +v -0.789532 2.780403 -1.258839 +v 1.131397 0.490198 -0.446387 +v 0.909665 -2.648630 -1.258839 +v 0.614172 -3.018328 -0.003076 +v -0.567800 -2.980518 -1.111276 +v -0.161553 3.076281 -1.258839 +v -0.826300 -1.429708 -1.591594 +v -1.159010 0.342559 -0.003076 +v 1.057411 1.746330 -1.221987 +v 0.614172 -2.981118 -1.074113 +v -0.494039 3.076281 -0.003076 +v -1.048032 2.263066 -0.631269 +v 0.946657 0.970325 -1.591594 +v 1.057411 -1.688377 -1.258839 +v 1.131397 -0.432245 -0.003076 +v 0.983426 2.780403 -0.335676 +v 0.872672 -1.060011 -1.591594 +v -0.494039 -3.054937 -0.003076 +v 0.835679 3.039671 -0.298669 +v -1.048032 -1.798806 -1.369861 +v -1.159010 0.268140 -0.705283 +v -0.900286 0.970925 -1.591594 +v 1.131397 -0.247396 -0.926550 +v -0.974271 -2.833479 -0.557254 +v 0.022962 2.780403 -1.406713 +v -1.011039 2.004998 -1.074113 +v 1.094404 -1.983654 -0.409535 +v 0.022962 -1.798806 -1.591594 +v -0.826300 3.039071 -0.483395 +v 0.983426 -2.759059 -0.003076 +v -1.011039 -2.427172 -0.003076 +v 0.798687 -2.981118 -0.594417 +v -0.789532 -3.017727 -0.557254 +v 0.022962 -3.054937 -0.409535 +v -0.050575 -2.980518 -1.258839 +v 0.466201 3.076281 -0.815684 +v -0.530807 3.076281 -1.074113 +v -0.900286 -2.722450 -1.296002 +v 1.131397 0.231530 -0.077091 +v -1.011039 -2.648630 -0.409535 +v -0.087568 -2.722450 -1.443720 +v 0.983426 2.152637 -0.003076 +v 0.909665 2.928642 -1.148283 +v 1.131397 0.379769 -0.926550 +v -1.048032 2.189847 -0.113943 +v -0.161553 2.854222 -1.369861 +v 0.761918 3.002461 -0.003076 +v -1.159010 -0.136367 -0.705283 +v 1.020418 0.305950 -1.591594 +v -1.159010 -0.246796 -0.040084 +f 187 164 206 +f 151 143 152 +f 143 151 154 +f 147 149 155 +f 154 151 160 +f 155 149 163 +f 144 145 164 +f 151 152 164 +f 156 159 166 +f 152 143 167 +f 152 150 168 +f 149 147 169 +f 153 165 169 +f 146 159 170 +f 159 149 170 +f 143 154 171 +f 158 165 172 +f 149 159 173 +f 159 156 173 +f 163 149 173 +f 160 151 174 +f 143 172 175 +f 163 148 176 +f 155 163 176 +f 144 164 177 +f 164 168 177 +f 147 155 178 +f 170 149 179 +f 158 171 179 +f 176 148 180 +f 162 153 181 +f 169 147 181 +f 153 169 181 +f 150 157 182 +f 168 150 182 +f 155 177 182 +f 177 168 182 +f 178 155 182 +f 157 178 182 +f 154 146 183 +f 146 170 183 +f 171 154 183 +f 170 179 183 +f 179 171 183 +f 173 156 184 +f 163 173 184 +f 150 152 185 +f 152 167 185 +f 146 154 186 +f 154 160 186 +f 151 164 187 +f 159 146 188 +f 166 159 188 +f 160 166 188 +f 146 186 188 +f 186 160 188 +f 174 151 189 +f 151 180 189 +f 166 160 190 +f 160 174 190 +f 189 161 190 +f 174 189 190 +f 156 166 191 +f 166 190 191 +f 190 161 191 +f 153 162 192 +f 162 167 192 +f 167 175 192 +f 157 150 193 +f 162 157 193 +f 167 162 193 +f 150 185 193 +f 185 167 193 +f 180 148 194 +f 161 189 194 +f 189 180 194 +f 191 161 194 +f 171 158 195 +f 158 172 195 +f 145 144 196 +f 144 176 196 +f 180 151 196 +f 176 180 196 +f 187 145 196 +f 151 187 196 +f 148 163 197 +f 184 156 197 +f 163 184 197 +f 156 191 197 +f 194 148 197 +f 191 194 197 +f 143 171 198 +f 172 143 198 +f 171 195 198 +f 195 172 198 +f 165 153 199 +f 172 165 199 +f 175 172 199 +f 153 192 199 +f 192 175 199 +f 165 158 200 +f 179 149 200 +f 158 179 200 +f 164 152 201 +f 152 168 201 +f 168 164 201 +f 157 162 202 +f 147 178 202 +f 178 157 202 +f 162 181 202 +f 181 147 202 +f 167 143 203 +f 143 175 203 +f 175 167 203 +f 176 144 204 +f 155 176 204 +f 144 177 204 +f 177 155 204 +f 149 169 205 +f 169 165 205 +f 200 149 205 +f 165 200 205 +f 164 145 206 +f 145 187 206 +o convex_4 +v 1.131411 -0.210924 -0.852640 +v 1.168382 -0.247873 -0.003163 +v 1.131411 -0.247873 -0.003163 +v 1.168382 0.453979 -0.446384 +v 1.279180 -0.358722 -0.520225 +v 1.279180 0.306181 -0.741835 +v 1.279180 0.195333 -0.150932 +v 1.131411 0.380080 -0.852640 +v 1.131411 -0.506520 -0.446384 +v 1.279180 -0.358722 -0.187896 +v 1.131411 0.195333 -0.150932 +v 1.279180 0.010491 -0.815676 +v 1.131411 -0.432621 -0.040127 +f 216 208 219 +f 209 208 213 +f 211 212 213 +f 212 210 213 +f 207 209 214 +f 210 212 214 +f 209 207 215 +f 207 211 215 +f 215 211 216 +f 213 208 216 +f 211 213 216 +f 209 213 217 +f 213 210 217 +f 214 209 217 +f 210 214 217 +f 211 207 218 +f 212 211 218 +f 207 214 218 +f 214 212 218 +f 208 209 219 +f 209 215 219 +f 215 216 219 +o convex_5 +v 1.464094 -0.358751 -0.446510 +v 1.390332 0.343152 -0.446510 +v 1.390332 0.343152 -0.520232 +v 3.015467 0.010614 -0.409546 +v 1.279180 -0.210964 -0.113903 +v 1.279180 0.010614 -0.815806 +v 2.645809 -0.026212 -0.704846 +v 1.279180 0.195365 -0.150867 +v 2.645809 -0.174000 -0.224795 +v 2.756622 0.195365 -0.409546 +v 2.645809 -0.210964 -0.594023 +v 2.018156 0.232261 -0.704846 +v 1.279180 -0.174000 -0.778774 +v 2.719911 -0.026212 -0.187900 +v 2.793503 -0.247859 -0.372582 +v 1.279180 -0.321787 -0.187900 +v 1.279180 0.306188 -0.704846 +v 2.608928 0.195365 -0.594023 +v 2.055037 -0.247859 -0.667951 +v 1.981275 0.195365 -0.224795 +v 1.353282 0.158401 -0.815806 +v 2.793503 -0.247859 -0.483199 +v 1.648838 -0.026212 -0.113903 +v 1.279180 -0.358751 -0.483199 +v 2.793503 0.010614 -0.667951 +v 1.279180 0.343152 -0.409546 +v 3.015467 0.010614 -0.483199 +f 241 244 246 +f 225 224 227 +f 222 221 229 +f 224 225 232 +f 225 226 232 +f 224 228 233 +f 223 229 233 +f 233 228 234 +f 223 233 234 +f 228 224 235 +f 224 232 235 +f 220 234 235 +f 234 228 235 +f 225 227 236 +f 222 231 236 +f 222 229 237 +f 231 222 237 +f 226 230 238 +f 232 226 238 +f 227 233 239 +f 233 229 239 +f 226 225 240 +f 231 226 240 +f 225 236 240 +f 236 231 240 +f 234 220 241 +f 223 234 241 +f 220 238 241 +f 238 230 241 +f 227 224 242 +f 224 233 242 +f 233 227 242 +f 220 235 243 +f 235 232 243 +f 238 220 243 +f 232 238 243 +f 230 226 244 +f 226 231 244 +f 231 237 244 +f 241 230 244 +f 221 222 245 +f 229 221 245 +f 222 236 245 +f 236 227 245 +f 227 239 245 +f 239 229 245 +f 229 223 246 +f 237 229 246 +f 223 241 246 +f 244 237 246 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/977/977.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/977/977.urdf new file mode 100644 index 000000000..7c2d945b0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/977/977.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/978/978.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/978/978.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/978/978.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/978/978.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/978/978.obj new file mode 100644 index 000000000..3aea8bde0 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/978/978.obj @@ -0,0 +1,408 @@ +o convex_0 +v -1.954687 -0.353091 1.039673 +v -2.945824 -2.441472 -1.048759 +v -2.981193 -2.335162 -1.048759 +v -0.998918 -0.353091 -1.012999 +v -0.998918 -2.334958 0.933432 +v -3.016562 -0.353091 1.075225 +v -3.087299 -0.353091 -1.048759 +v -2.981193 -2.335162 0.933432 +v -0.998918 -2.334958 -1.048759 +v -0.998918 -0.353091 0.968985 +v -1.176170 -2.370326 0.791639 +v -2.945824 -2.370531 0.862744 +v -3.016562 -0.601080 1.075225 +v -2.556361 -2.441472 -0.659140 +v -3.087299 -0.671817 -1.012999 +v -0.998918 -1.450130 -1.048759 +v -3.087299 -0.388664 -0.482003 +v -2.945824 -2.016640 0.968985 +v -1.282275 -0.424033 1.004121 +v -2.627303 -0.388664 1.075225 +v -3.016562 -0.990339 1.039673 +v -2.733408 -0.353091 -1.048759 +v -2.662672 -2.441472 -1.048759 +v -2.945824 -2.441472 -0.659140 +v -0.998918 -1.167386 0.968985 +f 19 20 25 +f 1 4 6 +f 2 3 7 +f 6 4 7 +f 3 2 8 +f 4 5 9 +f 2 7 9 +f 4 1 10 +f 5 4 10 +f 9 5 11 +f 5 8 12 +f 11 5 12 +f 9 11 14 +f 11 12 14 +f 7 3 15 +f 3 8 15 +f 4 9 16 +f 9 7 16 +f 6 7 17 +f 13 6 17 +f 7 15 17 +f 15 8 17 +f 8 5 18 +f 5 13 18 +f 13 8 18 +f 10 1 19 +f 1 6 20 +f 13 5 20 +f 6 13 20 +f 19 1 20 +f 8 13 21 +f 13 17 21 +f 17 8 21 +f 7 4 22 +f 4 16 22 +f 16 7 22 +f 2 9 23 +f 14 2 23 +f 9 14 23 +f 8 2 24 +f 12 8 24 +f 2 14 24 +f 14 12 24 +f 5 10 25 +f 10 19 25 +f 20 5 25 +o convex_1 +v 3.001122 -2.335124 -0.871685 +v 1.089567 -0.175888 -0.057449 +v 1.089567 -0.175888 -1.084159 +v -0.998519 -2.335124 -1.048496 +v 0.806639 -2.335124 1.110625 +v -0.998519 -0.175888 0.968832 +v 3.001122 -0.211690 0.968832 +v 3.036588 -2.406072 1.075177 +v -0.998519 -0.175888 -1.013048 +v 3.071655 -0.423880 -1.048496 +v -0.998519 -2.335124 0.933384 +v 1.125032 -2.335124 -1.048711 +v 1.054101 -0.175888 1.039729 +v 3.036588 -2.016401 -0.977814 +v -0.892521 -0.175888 1.004280 +v -0.326267 -1.627167 -1.084159 +v 3.001122 -1.768846 1.075177 +v 2.328471 -0.459245 -1.084159 +v 2.965657 -2.406072 0.544097 +v 1.019034 -0.707019 1.075177 +v 3.071655 -0.388515 -1.013048 +v 3.001122 -0.282202 1.004280 +v 2.399403 -2.406072 1.075177 +v 3.001122 -2.299540 -0.977814 +v 2.434868 -2.335124 1.110625 +v 3.071655 -0.848698 -1.048496 +v 0.417315 -0.175888 -1.084159 +v 3.071655 -0.423880 -0.588313 +v 0.983569 -1.803992 1.110625 +v -0.078407 -0.175888 1.039729 +v 3.001122 -0.211690 0.827254 +v -0.751057 -2.335124 0.968832 +v 3.036588 -0.282202 0.402519 +v -0.998519 -1.414540 -1.048496 +v 1.089567 -1.308444 -1.084159 +v 1.726752 -0.246837 1.039729 +v 3.036588 -2.122496 1.075177 +v 3.071655 -0.990158 -0.411287 +v 3.036588 -2.406072 0.685676 +v 2.045145 -2.335124 -1.013263 +f 51 49 65 +f 27 28 31 +f 28 27 32 +f 31 28 34 +f 29 31 34 +f 31 29 36 +f 27 31 38 +f 32 27 38 +f 31 36 40 +f 38 31 40 +f 37 29 41 +f 28 35 43 +f 41 28 43 +f 29 37 44 +f 35 28 46 +f 32 38 47 +f 33 30 48 +f 36 29 48 +f 44 33 48 +f 29 44 48 +f 39 26 49 +f 30 33 50 +f 42 45 50 +f 43 35 51 +f 37 43 51 +f 35 46 51 +f 39 49 51 +f 34 28 52 +f 28 41 52 +f 51 46 53 +f 40 30 54 +f 30 50 54 +f 50 45 54 +f 38 40 55 +f 45 38 55 +f 40 54 55 +f 54 45 55 +f 28 32 56 +f 46 28 56 +f 30 40 57 +f 40 36 57 +f 48 30 57 +f 36 48 57 +f 32 47 58 +f 53 46 58 +f 56 32 58 +f 46 56 58 +f 29 34 59 +f 41 29 59 +f 34 52 59 +f 52 41 59 +f 37 41 60 +f 43 37 60 +f 41 43 60 +f 38 45 61 +f 45 42 61 +f 47 38 61 +f 42 47 61 +f 47 42 62 +f 50 33 62 +f 42 50 62 +f 58 47 62 +f 53 58 62 +f 51 53 63 +f 62 33 63 +f 53 62 63 +f 26 39 64 +f 44 26 64 +f 33 44 64 +f 39 51 64 +f 63 33 64 +f 51 63 64 +f 26 44 65 +f 44 37 65 +f 49 26 65 +f 37 51 65 +o convex_2 +v 1.089667 1.028001 -0.340605 +v -1.105117 3.434626 -1.084159 +v -1.105117 3.434626 -0.977814 +v -0.998557 -0.175888 -1.013263 +v -1.069669 3.717713 1.075177 +v 1.089453 3.717713 -1.084159 +v 1.054004 -0.175888 1.039729 +v 1.018771 3.753484 1.110625 +v -0.998557 -0.175888 0.968832 +v 1.089453 -0.175888 -1.084159 +v -0.184536 0.426057 1.110625 +v -1.105117 3.646941 -1.084159 +v 1.054219 3.753484 0.827254 +v -0.290666 0.390671 -1.084159 +v 1.054004 0.779916 1.075177 +v 1.089453 3.717713 -0.234475 +v 0.664718 3.717713 -1.048711 +v -0.856979 -0.175888 1.004280 +v 0.239769 0.355285 1.110625 +v 1.089453 -0.175888 -0.092897 +v -1.034220 0.850687 0.367071 +v 1.018771 3.753484 0.083915 +v -1.034220 0.921459 -1.048711 +v -1.069669 3.505013 1.075177 +v 0.735615 3.753484 1.110625 +v 0.629270 -0.069346 1.075177 +v -0.290666 0.815301 1.110625 +v 1.054219 2.089578 1.075177 +v -0.998557 0.249127 1.004280 +v 0.417010 -0.175888 -1.084159 +v -1.034220 0.779916 -1.013263 +v -1.069669 2.407666 -1.084159 +v 0.310665 3.753484 1.039729 +v -0.184536 -0.175888 1.039729 +f 91 76 99 +f 69 72 74 +f 67 71 75 +f 71 66 75 +f 72 69 75 +f 67 68 77 +f 68 70 77 +f 71 67 77 +f 67 75 79 +f 66 71 81 +f 71 78 81 +f 77 70 82 +f 71 77 82 +f 74 72 83 +f 73 76 84 +f 80 73 84 +f 75 66 85 +f 72 75 85 +f 80 72 85 +f 66 81 85 +f 78 71 87 +f 73 78 87 +f 82 70 87 +f 71 82 87 +f 79 69 88 +f 70 68 89 +f 68 86 89 +f 86 74 89 +f 76 73 90 +f 73 87 90 +f 72 80 91 +f 84 76 91 +f 80 84 91 +f 70 89 92 +f 90 70 92 +f 76 90 92 +f 78 73 93 +f 73 80 93 +f 81 78 93 +f 80 85 93 +f 85 81 93 +f 74 83 94 +f 83 76 94 +f 89 74 94 +f 76 92 94 +f 92 89 94 +f 75 69 95 +f 69 79 95 +f 79 75 95 +f 68 67 96 +f 69 74 96 +f 86 68 96 +f 74 86 96 +f 67 88 96 +f 88 69 96 +f 67 79 97 +f 88 67 97 +f 79 88 97 +f 87 70 98 +f 70 90 98 +f 90 87 98 +f 83 72 99 +f 76 83 99 +f 72 91 99 +o convex_3 +v -0.361722 0.709033 -1.580113 +v 0.310873 0.673616 -1.084159 +v 0.275452 0.992304 -1.544363 +v 0.310873 0.319840 -3.031038 +v -0.290815 0.992304 -3.031038 +v -0.326236 0.319840 -3.031038 +v -0.290815 0.355191 -1.084159 +v 0.310873 0.992304 -3.066195 +v -0.326236 0.921404 -1.084159 +v 0.310873 0.390608 -1.119909 +v -0.361722 0.355191 -3.101945 +v 0.240032 0.992304 -1.084159 +v 0.027640 0.319840 -1.863148 +v -0.326236 0.956821 -2.712451 +v -0.361722 0.532211 -3.101945 +v -0.361722 0.355191 -2.605992 +v -0.149199 0.319840 -3.101945 +v -0.326236 0.956821 -1.827596 +v 0.310873 0.319840 -2.429021 +f 109 112 118 +f 102 101 107 +f 101 103 107 +f 104 102 107 +f 106 101 108 +f 100 106 108 +f 103 101 109 +f 101 106 109 +f 101 102 111 +f 102 104 111 +f 108 101 111 +f 105 103 112 +f 106 105 112 +f 109 106 112 +f 104 107 114 +f 110 100 114 +f 100 113 114 +f 113 104 114 +f 106 100 115 +f 105 106 115 +f 100 110 115 +f 110 105 115 +f 103 105 116 +f 107 103 116 +f 105 110 116 +f 114 107 116 +f 110 114 116 +f 100 108 117 +f 111 104 117 +f 108 111 117 +f 113 100 117 +f 104 113 117 +f 103 109 118 +f 112 103 118 +o convex_4 +v -0.220068 0.532183 1.110816 +v 0.346273 0.567548 3.057421 +v 0.346273 0.461328 3.057421 +v -0.290923 0.850656 2.986531 +v 0.204625 0.850656 1.110816 +v -0.290923 0.355108 2.951086 +v 0.275418 0.355108 1.146260 +v 0.204625 0.992304 2.951086 +v -0.290923 0.921386 1.110816 +v -0.184703 0.390536 1.110816 +v -0.255495 0.956876 2.986531 +v -0.078483 0.956876 1.606471 +v -0.290923 0.355108 2.526320 +v 0.346273 0.426025 2.667909 +v 0.240053 0.956876 2.844943 +v 0.240053 0.709071 1.110816 +v -0.184703 0.355108 2.951086 +v -0.255495 0.956876 1.641916 +v 0.204625 0.886084 1.323294 +v 0.346273 0.602976 2.986531 +v 0.098468 0.355108 1.110816 +v 0.275418 0.355108 1.500327 +v 0.346273 0.496756 2.561765 +f 134 138 141 +f 121 120 122 +f 121 122 124 +f 123 119 127 +f 124 122 127 +f 119 123 128 +f 122 120 129 +f 120 126 129 +f 127 122 129 +f 125 124 131 +f 127 119 131 +f 124 127 131 +f 119 128 131 +f 120 121 132 +f 126 120 133 +f 128 123 134 +f 121 124 135 +f 124 125 135 +f 132 121 135 +f 129 126 136 +f 127 129 136 +f 130 127 136 +f 126 130 136 +f 123 127 137 +f 127 130 137 +f 130 126 137 +f 126 133 137 +f 120 132 138 +f 133 120 138 +f 134 123 138 +f 123 137 138 +f 137 133 138 +f 125 131 139 +f 131 128 139 +f 128 134 139 +f 134 125 139 +f 125 132 140 +f 135 125 140 +f 132 135 140 +f 132 125 141 +f 125 134 141 +f 138 132 141 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/978/978.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/978/978.urdf new file mode 100644 index 000000000..5f7a74276 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/978/978.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/979/979.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/979/979.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/979/979.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/979/979.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/979/979.obj new file mode 100644 index 000000000..75f575130 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/979/979.obj @@ -0,0 +1,570 @@ +o convex_0 +v 0.714607 -1.835212 -1.083755 +v 1.037452 -0.963444 1.079145 +v 1.069778 -0.963444 -0.405626 +v -1.060830 -0.963444 0.174902 +v -0.963851 -3.416882 0.949786 +v 1.005126 -3.384461 1.046752 +v -1.028504 -3.319859 -1.019181 +v 1.037452 -3.416882 -1.051362 +v -0.996178 -0.963444 -1.019181 +v -0.996178 -0.963444 1.014571 +v 1.005126 -0.963444 -1.051362 +v -1.060830 -1.576803 0.562344 +v 0.456415 -3.319859 1.046752 +v -0.544237 -3.352280 -1.051150 +v -1.060830 -2.480512 -0.502380 +v 0.585511 -0.963444 -1.083755 +v 0.972800 -2.641897 1.079145 +v 0.972800 -3.029270 -1.083755 +v 1.069778 -1.544863 -0.696101 +v -0.963851 -3.416882 0.594525 +v -0.189066 -3.416882 0.981967 +v 1.037452 -3.384461 -0.373445 +v -1.028504 -3.319859 -0.599135 +v 0.940473 -0.963444 -1.083755 +v -0.996178 -1.125069 1.014571 +v 0.843703 -3.416882 -1.051362 +v -0.608681 -3.287438 -1.051150 +v -1.060830 -0.963444 0.627129 +v 1.037452 -1.125069 1.079145 +v 1.037452 -2.157982 -1.051362 +v 1.037452 -3.416882 -0.663920 +v -1.028504 -2.480512 -1.019181 +v 1.037452 -1.028046 -0.922003 +v 0.940473 -0.963444 1.079145 +v -0.511911 -3.416882 0.981967 +f 13 25 35 +f 2 3 4 +f 4 3 9 +f 2 4 10 +f 9 3 11 +f 4 9 15 +f 12 4 15 +f 9 11 16 +f 13 6 17 +f 1 16 18 +f 5 7 20 +f 8 5 20 +f 7 14 20 +f 5 8 21 +f 7 5 23 +f 5 12 23 +f 15 7 23 +f 12 15 23 +f 16 11 24 +f 18 16 24 +f 12 5 25 +f 13 17 25 +f 18 8 26 +f 14 18 26 +f 8 20 26 +f 20 14 26 +f 14 7 27 +f 16 1 27 +f 9 16 27 +f 1 18 27 +f 18 14 27 +f 10 4 28 +f 4 12 28 +f 12 25 28 +f 25 10 28 +f 3 2 29 +f 2 17 29 +f 17 6 29 +f 19 3 29 +f 6 22 29 +f 22 19 29 +f 8 18 30 +f 19 8 30 +f 24 11 30 +f 18 24 30 +f 8 19 31 +f 6 21 31 +f 21 8 31 +f 22 6 31 +f 19 22 31 +f 7 15 32 +f 15 9 32 +f 27 7 32 +f 9 27 32 +f 11 3 33 +f 3 19 33 +f 19 30 33 +f 30 11 33 +f 2 10 34 +f 17 2 34 +f 10 25 34 +f 25 17 34 +f 6 13 35 +f 5 21 35 +f 21 6 35 +f 25 5 35 +o convex_1 +v 0.004605 2.167827 3.047973 +v -0.447395 1.038046 1.111427 +v -0.156881 1.038046 1.111427 +v -0.447395 2.167827 1.111427 +v 0.488659 2.070902 1.111427 +v 0.553274 1.167240 3.015745 +v -0.479752 1.199510 2.918870 +v 0.553274 1.070432 1.111427 +v -0.447395 2.232483 3.047973 +v 0.488659 2.070902 3.015745 +v 0.456302 2.167827 1.111427 +v 0.553274 1.457782 2.660853 +v -0.479752 1.102701 2.047756 +v -0.479752 1.845016 2.951288 +v 0.004605 1.167357 2.983516 +v 0.553274 1.393243 1.111427 +v 0.488659 2.103171 2.886642 +v 0.553274 1.134971 2.628625 +v -0.479752 1.134971 1.789550 +v -0.447395 1.038046 1.240909 +v -0.285908 1.974210 3.047973 +v -0.479752 1.264166 2.951288 +v 0.036761 2.200096 2.144252 +v -0.479752 1.167357 2.854413 +f 48 50 59 +f 38 37 39 +f 38 39 40 +f 38 40 43 +f 36 41 45 +f 40 39 46 +f 39 44 46 +f 41 43 47 +f 45 41 47 +f 48 42 49 +f 44 39 49 +f 43 40 51 +f 40 47 51 +f 47 43 51 +f 36 45 52 +f 40 46 52 +f 47 40 52 +f 45 47 52 +f 38 43 53 +f 43 41 53 +f 41 50 53 +f 39 37 54 +f 37 48 54 +f 48 49 54 +f 49 39 54 +f 37 38 55 +f 48 37 55 +f 50 48 55 +f 38 53 55 +f 53 50 55 +f 41 36 56 +f 36 44 56 +f 50 41 56 +f 50 56 57 +f 49 42 57 +f 44 49 57 +f 42 50 57 +f 56 44 57 +f 44 36 58 +f 46 44 58 +f 36 52 58 +f 52 46 58 +f 42 48 59 +f 50 42 59 +o convex_2 +v 3.103559 -0.382262 0.433440 +v 1.102265 -0.866572 -0.534959 +v 1.102265 -0.866572 -0.470370 +v 1.102265 0.198601 -0.534959 +v 1.102265 0.134122 0.594914 +v 2.974254 0.101717 -0.534959 +v 1.102265 -0.834277 0.562508 +v 3.006580 -0.931162 -0.502554 +v 3.038906 0.198601 0.433440 +v 3.103559 -0.834277 0.530324 +v 1.392811 0.166417 0.594914 +v 2.974254 -0.931162 -0.212012 +v 3.038906 0.198601 0.207488 +v 1.102265 0.198601 0.045903 +v 2.393163 -0.931162 -0.470370 +v 3.038906 -0.931162 -0.438075 +v 1.134592 -0.382262 0.594914 +v 2.167271 -0.898867 -0.534959 +v 1.489594 0.198601 -0.534959 +v 3.103559 -0.866572 0.368851 +v 2.425490 0.198601 0.497919 +v 2.812818 0.134122 -0.502554 +v 3.103559 -0.414557 0.497919 +v 2.974254 -0.382262 -0.534959 +v 1.844791 -0.834277 0.562508 +v 3.006580 0.134122 -0.276601 +f 81 72 85 +f 61 62 63 +f 63 62 64 +f 61 63 65 +f 64 62 66 +f 68 60 72 +f 63 68 72 +f 63 64 73 +f 68 63 73 +f 64 70 73 +f 62 61 74 +f 66 62 74 +f 71 66 74 +f 67 71 74 +f 67 65 75 +f 71 67 75 +f 64 66 76 +f 69 70 76 +f 70 64 76 +f 61 65 77 +f 74 61 77 +f 67 74 77 +f 65 63 78 +f 63 72 78 +f 60 69 79 +f 66 71 79 +f 75 60 79 +f 71 75 79 +f 68 73 80 +f 73 70 80 +f 65 78 81 +f 78 72 81 +f 60 68 82 +f 69 60 82 +f 70 69 82 +f 68 80 82 +f 80 70 82 +f 65 67 83 +f 77 65 83 +f 67 77 83 +f 76 66 84 +f 69 76 84 +f 66 79 84 +f 79 69 84 +f 72 60 85 +f 60 75 85 +f 75 65 85 +f 65 81 85 +o convex_3 +v -0.253755 1.135053 -3.020478 +v 0.585547 2.200201 -1.116037 +v 0.488638 2.200201 -1.116037 +v -0.512035 1.135053 -1.116230 +v -0.447357 2.167757 -2.923713 +v 0.520977 1.135053 -3.085244 +v 0.488531 1.135053 -1.116230 +v -0.479588 2.200201 -1.116230 +v 0.553208 2.070965 -2.923521 +v -0.479588 1.102717 -2.988094 +v 0.585547 1.748251 -1.729583 +v -0.479588 2.167757 -2.245594 +v 0.068987 2.200201 -2.052258 +v -0.447357 2.135529 -2.956097 +v -0.092276 1.102717 -2.245594 +v -0.512035 1.651459 -1.148420 +v 0.456299 1.264181 -3.085244 +v -0.512035 1.167281 -1.890921 +v 0.585547 2.135529 -2.116639 +v 0.553208 1.780480 -2.988287 +v 0.585547 1.844936 -1.116037 +v 0.520977 1.135053 -2.342551 +v -0.479588 1.490102 -2.956097 +v -0.479588 2.200201 -1.729583 +v -0.318217 2.167757 -2.923713 +v 0.553208 1.393310 -2.633036 +f 107 91 111 +f 88 87 93 +f 89 88 93 +f 86 91 95 +f 93 87 98 +f 86 95 99 +f 92 89 100 +f 95 91 100 +f 89 95 100 +f 89 93 101 +f 91 86 102 +f 86 99 102 +f 95 89 103 +f 89 101 103 +f 101 97 103 +f 87 96 104 +f 98 87 104 +f 94 98 104 +f 99 94 105 +f 91 102 105 +f 102 99 105 +f 94 104 105 +f 87 88 106 +f 88 89 106 +f 89 92 106 +f 96 87 106 +f 96 106 107 +f 92 100 107 +f 100 91 107 +f 106 92 107 +f 97 90 108 +f 90 99 108 +f 99 95 108 +f 95 103 108 +f 103 97 108 +f 90 97 109 +f 93 98 109 +f 98 90 109 +f 101 93 109 +f 97 101 109 +f 90 98 110 +f 98 94 110 +f 99 90 110 +f 94 99 110 +f 104 96 111 +f 91 105 111 +f 105 104 111 +f 96 107 111 +o convex_4 +v 0.553297 0.198711 -1.116037 +v -0.705752 2.716714 1.111427 +v -0.640968 2.716714 1.111209 +v 1.037482 0.198711 1.078940 +v 0.972910 2.684179 -1.019011 +v -0.963828 0.198711 -1.019011 +v -0.996220 0.198711 1.046670 +v -0.931648 2.587314 -0.986741 +v 1.069662 2.716714 1.078940 +v 1.005090 0.198711 -1.051280 +v -1.028400 2.716714 1.111427 +v -1.060792 0.360153 -0.599290 +v -0.479644 2.200099 -1.116037 +v 1.102054 0.295577 0.530141 +v 0.617658 2.200099 -1.116037 +v -1.060792 0.198711 0.756245 +v -0.092211 1.038456 1.111209 +v -1.028400 2.716714 0.788515 +v 0.456333 2.684179 -1.051062 +v 1.037482 2.716714 0.174959 +v -0.511824 1.135075 -1.116037 +v -1.060792 1.876969 0.949862 +v 0.488725 2.070699 1.111209 +v 1.037482 0.392442 -0.760637 +v -0.770112 2.619849 -1.019011 +v 1.102054 1.070498 0.723758 +v -0.447252 1.038456 1.111209 +v 0.972910 2.652137 -1.051280 +v -1.028400 2.652137 0.594680 +v -0.963828 1.102787 -1.019011 +v 0.553297 1.070498 1.111209 +v -0.963828 2.167565 -0.889715 +v 1.069662 2.716714 0.756245 +v 1.102054 0.198711 0.626949 +v -1.060792 0.198711 -0.599290 +v 1.069662 1.457713 1.078940 +v 0.875946 0.198711 -1.083331 +v -1.028400 1.296764 1.078940 +v -1.060792 1.457713 0.239498 +v -0.931648 2.135523 -1.019011 +v 0.972910 2.716714 0.078151 +f 131 116 152 +f 112 115 117 +f 117 115 118 +f 113 114 120 +f 115 112 121 +f 113 120 122 +f 112 124 126 +f 117 118 127 +f 113 122 128 +f 122 120 129 +f 126 124 130 +f 129 120 131 +f 112 117 132 +f 124 112 132 +f 123 127 133 +f 122 129 133 +f 114 113 134 +f 120 114 134 +f 124 119 136 +f 119 129 136 +f 130 124 136 +f 129 130 136 +f 125 135 137 +f 118 115 138 +f 115 128 138 +f 128 122 138 +f 130 116 139 +f 126 130 139 +f 116 131 139 +f 135 121 139 +f 129 119 140 +f 133 129 140 +f 117 123 141 +f 132 117 141 +f 124 132 141 +f 113 128 142 +f 128 115 142 +f 134 113 142 +f 120 134 142 +f 140 119 143 +f 141 123 143 +f 119 141 143 +f 131 120 144 +f 120 137 144 +f 137 135 144 +f 139 131 144 +f 135 139 144 +f 115 121 145 +f 121 135 145 +f 135 125 145 +f 125 137 145 +f 123 117 146 +f 117 127 146 +f 127 123 146 +f 137 120 147 +f 142 115 147 +f 120 142 147 +f 115 145 147 +f 145 137 147 +f 121 112 148 +f 112 126 148 +f 139 121 148 +f 126 139 148 +f 127 118 149 +f 122 133 149 +f 133 127 149 +f 118 138 149 +f 138 122 149 +f 123 133 150 +f 133 140 150 +f 140 143 150 +f 143 123 150 +f 119 124 151 +f 141 119 151 +f 124 141 151 +f 116 130 152 +f 130 129 152 +f 129 131 152 +o convex_5 +v -1.254604 -0.575983 0.498001 +v -2.932942 0.037175 -0.567241 +v -2.965359 -0.285558 -0.534855 +v -1.060855 -0.801907 -0.502586 +v -2.997398 -0.931023 0.627196 +v -1.060855 0.134097 0.530270 +v -2.965359 0.101676 0.498001 +v -1.060855 0.166404 -0.567241 +v -2.965359 -0.866408 -0.470316 +v -1.060855 -0.963444 0.433345 +v -2.932942 0.198711 -0.567241 +v -2.965359 -0.027440 0.562540 +v -2.932942 0.198711 -0.276700 +v -1.060855 -0.963444 0.336537 +v -2.997398 -0.931023 0.368923 +v -1.900308 0.198711 -0.534855 +v -1.060855 -0.091941 -0.567241 +v -1.706559 0.133983 0.530270 +v -1.513000 -0.834101 -0.470316 +v -2.997398 -0.575869 0.271998 +v -2.965359 0.037175 -0.341238 +v -1.060855 -0.027440 0.530270 +v -1.706559 -0.963330 0.433345 +f 167 161 175 +f 155 154 156 +f 158 156 160 +f 155 156 161 +f 153 157 162 +f 156 158 162 +f 154 155 163 +f 160 154 163 +f 157 158 164 +f 159 157 164 +f 163 159 165 +f 156 162 166 +f 158 160 168 +f 160 163 168 +f 165 158 168 +f 163 165 168 +f 156 154 169 +f 154 160 169 +f 160 156 169 +f 164 158 170 +f 159 164 170 +f 158 165 170 +f 165 159 170 +f 161 156 171 +f 156 166 171 +f 166 161 171 +f 157 159 172 +f 155 161 172 +f 167 157 172 +f 161 167 172 +f 163 155 173 +f 159 163 173 +f 172 159 173 +f 155 172 173 +f 157 153 174 +f 158 157 174 +f 153 162 174 +f 162 158 174 +f 162 157 175 +f 161 166 175 +f 166 162 175 +f 157 167 175 +o convex_6 +v -1.060830 -0.802021 -0.502563 +v 1.102060 0.198598 0.627044 +v 1.037487 0.198598 1.079145 +v 1.037487 -0.963444 1.079145 +v 1.005094 -0.963444 -1.051359 +v -0.963864 0.198598 -1.019127 +v -0.996045 0.198598 1.046699 +v -0.996045 -0.963444 1.014467 +v 1.005094 0.198598 -1.051359 +v -0.996045 -0.963444 -1.019127 +v 1.102060 -0.866522 -0.534795 +v 0.553081 0.198598 -1.116037 +v -1.060830 0.198598 0.756185 +v -1.060830 0.198598 -0.567027 +v 1.102060 0.198598 -0.534795 +v -1.060830 -0.963444 0.626829 +v 0.553081 -0.963444 -1.083591 +v 1.102060 -0.834214 0.562366 +v 0.940521 -0.963444 -1.083591 +v 1.069668 -0.963444 -0.631704 +v 0.617654 -0.027440 -1.116037 +v 0.940521 -0.963444 1.079145 +f 183 179 197 +f 177 178 179 +f 178 177 181 +f 178 181 182 +f 180 179 183 +f 181 177 184 +f 180 183 185 +f 180 184 186 +f 181 184 187 +f 185 181 187 +f 182 181 188 +f 183 182 188 +f 181 185 189 +f 185 176 189 +f 176 188 189 +f 188 181 189 +f 184 177 190 +f 177 186 190 +f 186 184 190 +f 176 185 191 +f 185 183 191 +f 188 176 191 +f 183 188 191 +f 180 185 192 +f 177 179 193 +f 186 177 193 +f 184 180 194 +f 180 192 194 +f 179 180 195 +f 180 186 195 +f 193 179 195 +f 186 193 195 +f 187 184 196 +f 185 187 196 +f 192 185 196 +f 184 194 196 +f 194 192 196 +f 179 178 197 +f 178 182 197 +f 182 183 197 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/979/979.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/979/979.urdf new file mode 100644 index 000000000..8c1d99aaa --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/979/979.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/980/980.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/980/980.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/980/980.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/980/980.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/980/980.obj new file mode 100644 index 000000000..f82dd4526 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/980/980.obj @@ -0,0 +1,501 @@ +o convex_0 +v 0.188654 -0.998027 4.774682 +v 0.366820 -2.175170 2.777300 +v -0.132176 -2.139451 2.777300 +v 0.438260 -2.175170 4.703123 +v -0.560381 -1.889642 4.703123 +v -0.489050 -1.069467 2.777300 +v 0.509700 -1.069467 2.777300 +v -0.596101 -0.998027 4.703123 +v -0.417718 -2.103731 2.777300 +v 0.438260 -1.033747 4.774682 +v 0.509700 -2.175170 4.703123 +v 0.473980 -2.175170 2.884443 +v -0.524553 -1.996801 4.703123 +v -0.596101 -0.998027 4.274945 +v -0.453222 -2.068126 2.920026 +v 0.473980 -1.354880 4.774682 +v -0.132176 -2.139451 3.455151 +v 0.509700 -1.069467 3.241062 +v -0.489050 -1.390600 2.777300 +v 0.509700 -1.354880 2.777300 +v -0.596101 -1.247836 4.453450 +v 0.366820 -2.032406 4.738707 +v -0.275055 -1.711273 4.738707 +v 0.295489 -0.998027 4.703123 +v -0.489050 -1.033747 3.348009 +v -0.489050 -2.032406 4.274945 +v 0.473980 -1.033747 4.274945 +f 7 24 27 +f 2 3 6 +f 2 6 7 +f 6 3 9 +f 4 2 11 +f 11 2 12 +f 8 1 14 +f 13 5 15 +f 10 1 16 +f 3 2 17 +f 2 4 17 +f 9 3 17 +f 11 7 18 +f 16 11 18 +f 6 9 19 +f 14 6 19 +f 9 15 19 +f 2 7 20 +f 7 11 20 +f 12 2 20 +f 11 12 20 +f 5 8 21 +f 8 14 21 +f 15 5 21 +f 14 19 21 +f 19 15 21 +f 4 11 22 +f 13 4 22 +f 11 16 22 +f 22 16 23 +f 1 8 23 +f 8 5 23 +f 5 13 23 +f 16 1 23 +f 13 22 23 +f 1 10 24 +f 14 1 24 +f 7 14 24 +f 7 6 25 +f 14 7 25 +f 6 14 25 +f 4 13 26 +f 15 9 26 +f 13 15 26 +f 17 4 26 +f 9 17 26 +f 10 16 27 +f 18 7 27 +f 16 18 27 +f 24 10 27 +o convex_1 +v -0.703049 3.388927 -1.396403 +v -0.488941 3.424647 0.743858 +v -0.810102 3.424647 0.743858 +v -1.024000 -0.391620 0.672418 +v 1.080411 -0.391620 -1.396403 +v 0.937743 3.532191 0.636803 +v -1.024000 -0.391620 -1.396403 +v 1.044587 -0.391620 0.600978 +v 1.008973 3.424647 -1.289139 +v -1.059824 3.460751 -1.396403 +v -0.988385 3.317872 0.708033 +v -0.488941 3.532191 -0.896953 +v -0.667224 3.532191 0.280023 +v 1.044587 2.497082 -1.324754 +v 0.652197 3.532191 -1.003798 +v -0.916946 1.855277 0.743858 +v 0.794865 -0.034805 0.636593 +v -1.059824 2.033876 -0.647228 +v 1.080411 -0.248740 -0.575788 +v -0.346273 -0.391620 0.672418 +v 1.008973 3.424647 -0.861128 +v -1.059824 3.460751 -1.003798 +v 0.723636 3.424647 -1.324754 +v 1.044587 -0.177301 0.600978 +v -1.059824 1.890612 -1.396403 +v -0.952771 3.388927 0.743858 +v -0.524556 2.532802 0.743858 +v -1.024000 0.286674 0.672418 +v 1.080411 0.749880 -1.360578 +v -0.988385 0.215234 0.708033 +v 1.080411 -0.213020 -1.396403 +v 0.937743 2.604626 0.636803 +v 0.438299 3.532191 0.636593 +v 1.044587 0.892760 -0.076757 +v 0.937743 3.532191 0.101528 +v -0.988385 1.855277 0.743858 +v -0.988385 3.424647 0.280023 +v 1.044587 2.497082 -1.253523 +v -0.239429 3.460367 -1.360578 +v 0.652197 -0.320180 0.636593 +v 0.973358 2.390691 0.600978 +f 51 48 68 +f 30 29 33 +f 28 32 34 +f 32 31 34 +f 31 32 35 +f 28 34 37 +f 39 37 40 +f 33 39 40 +f 39 33 42 +f 37 39 42 +f 29 30 43 +f 35 32 46 +f 31 35 47 +f 36 33 48 +f 41 36 48 +f 40 37 49 +f 37 45 49 +f 36 41 50 +f 33 35 51 +f 35 46 51 +f 34 31 52 +f 37 34 52 +f 31 45 52 +f 45 37 52 +f 30 40 53 +f 43 30 53 +f 29 43 54 +f 45 31 55 +f 38 49 55 +f 49 45 55 +f 46 32 56 +f 31 47 57 +f 47 43 57 +f 32 28 58 +f 28 50 58 +f 50 41 58 +f 56 32 58 +f 41 56 58 +f 33 29 59 +f 35 33 59 +f 44 35 59 +f 29 54 59 +f 54 44 59 +f 30 33 60 +f 40 30 60 +f 33 40 60 +f 51 46 61 +f 48 51 61 +f 33 36 62 +f 42 33 62 +f 36 42 62 +f 53 38 63 +f 43 53 63 +f 55 31 63 +f 38 55 63 +f 31 57 63 +f 57 43 63 +f 49 38 64 +f 40 49 64 +f 38 53 64 +f 53 40 64 +f 41 48 65 +f 56 41 65 +f 46 56 65 +f 61 46 65 +f 48 61 65 +f 28 37 66 +f 42 36 66 +f 37 42 66 +f 50 28 66 +f 36 50 66 +f 35 44 67 +f 47 35 67 +f 43 47 67 +f 54 43 67 +f 44 54 67 +f 48 33 68 +f 33 51 68 +o convex_2 +v 0.545322 5.422569 0.101751 +v -0.596101 3.532191 -0.005401 +v -0.524546 3.960561 -0.896925 +v 0.545322 3.532191 -0.932680 +v -0.596101 5.386857 -0.861282 +v -0.596101 5.422569 0.208792 +v 0.473997 3.532191 0.173038 +v 0.581042 5.351143 -0.825639 +v -0.489057 3.532191 -0.896925 +v -0.596101 3.532191 0.173038 +v 0.581042 5.422569 -0.005401 +v 0.581042 3.746469 -0.861282 +v 0.509602 4.031802 0.173038 +v -0.167924 5.386857 -0.861282 +v 0.402673 5.422569 0.137283 +v -0.560382 4.709052 0.208792 +v -0.596101 4.923144 -0.861282 +v -0.596101 5.422569 -0.255126 +v 0.509602 5.386857 -0.825639 +v 0.581042 4.994385 -0.861282 +v -0.489057 4.495144 -0.896925 +v -0.489057 5.422569 0.208792 +v 0.545322 3.532191 -0.540271 +v 0.545322 4.744764 0.137283 +v -0.060879 4.602098 -0.896925 +f 89 73 93 +f 73 70 74 +f 70 72 75 +f 70 71 77 +f 71 72 77 +f 72 70 77 +f 74 70 78 +f 70 75 78 +f 74 69 79 +f 76 79 80 +f 69 74 83 +f 74 78 84 +f 78 75 84 +f 71 70 85 +f 70 73 85 +f 73 71 85 +f 73 74 86 +f 74 79 86 +f 82 73 86 +f 82 86 87 +f 79 76 87 +f 76 82 87 +f 86 79 87 +f 76 80 88 +f 80 72 88 +f 82 76 88 +f 72 71 89 +f 71 73 89 +f 75 81 90 +f 83 74 90 +f 81 83 90 +f 74 84 90 +f 84 75 90 +f 75 72 91 +f 72 80 91 +f 81 75 91 +f 81 91 92 +f 79 69 92 +f 80 79 92 +f 69 83 92 +f 83 81 92 +f 91 80 92 +f 73 82 93 +f 88 72 93 +f 82 88 93 +f 72 89 93 +o convex_3 +v 1.080436 -0.534384 -2.038216 +v -0.988337 -2.638893 -2.002391 +v -1.059689 -2.603037 -2.894027 +v -1.024119 -0.391620 0.672516 +v 0.937733 -2.496129 0.672516 +v -1.059689 -0.605656 -3.358155 +v 0.937733 -2.496129 -3.393980 +v 1.044654 -0.391840 0.600866 +v -0.952768 -2.496129 0.672516 +v 1.008871 -0.570240 -3.286903 +v 1.008871 -2.638893 -1.040300 +v -1.095471 -2.567181 -3.286505 +v -1.024119 -0.391620 -1.396159 +v 1.080436 -0.391840 -1.396159 +v 1.044654 -0.819913 0.672516 +v -0.952768 -2.638893 -0.933225 +v 1.008871 -2.638893 -1.574486 +v 1.080436 -1.247766 -1.396159 +v 0.580974 -2.531545 -3.393980 +v -1.095471 -1.533075 -3.286505 +v -0.952768 -2.531545 0.565042 +v -1.024119 -0.784277 0.672516 +v -0.453306 -0.570240 -3.322330 +v 1.008871 -1.069806 -3.322330 +v -1.095471 -2.567181 -3.108178 +v 0.937733 -2.174744 -3.393980 +v 1.044654 -2.174744 -1.325703 +v 1.080436 -0.605876 -0.362419 +v -0.667361 -2.567181 -3.322330 +v 1.044654 -0.570240 0.672516 +v 1.008871 -2.603037 -0.790722 +v 0.901950 -2.531545 -3.358155 +v -0.596009 -2.603037 -2.858600 +v -1.059689 -0.605656 -2.251969 +v 0.937733 -2.531545 0.350890 +v 0.152864 -0.570240 -3.322330 +v 0.973302 -2.068056 0.672516 +v 1.044654 -0.605656 -2.965676 +v 1.008871 -2.603037 -1.752813 +v -1.095471 -1.818163 -3.322330 +v -1.095471 -2.210600 -3.036927 +v 0.652326 -2.638893 -1.752813 +v -0.381954 -0.391620 0.672516 +v 1.044654 -2.174744 -1.254452 +f 108 124 137 +f 98 97 102 +f 99 97 106 +f 97 98 108 +f 96 95 109 +f 95 104 109 +f 104 95 110 +f 94 107 111 +f 98 102 114 +f 109 104 114 +f 102 97 115 +f 99 106 116 +f 105 96 118 +f 96 109 118 +f 113 105 118 +f 114 102 118 +f 109 114 118 +f 102 115 118 +f 112 99 119 +f 100 112 119 +f 117 100 119 +f 104 110 120 +f 107 101 121 +f 111 107 121 +f 96 105 122 +f 97 108 123 +f 121 101 123 +f 108 121 123 +f 98 104 124 +f 100 110 125 +f 112 100 125 +f 122 112 125 +f 122 125 126 +f 95 96 126 +f 96 122 126 +f 97 99 127 +f 113 97 127 +f 99 113 127 +f 104 98 128 +f 98 114 128 +f 114 104 128 +f 107 103 129 +f 106 107 129 +f 99 116 129 +f 116 106 129 +f 103 117 129 +f 119 99 129 +f 117 119 129 +f 108 98 130 +f 98 124 130 +f 124 108 130 +f 103 107 131 +f 107 94 131 +f 94 111 131 +f 117 103 131 +f 111 120 131 +f 131 120 132 +f 110 100 132 +f 100 117 132 +f 120 110 132 +f 117 131 132 +f 99 112 133 +f 113 99 133 +f 105 113 133 +f 122 105 133 +f 112 122 133 +f 97 113 134 +f 115 97 134 +f 113 118 134 +f 118 115 134 +f 110 95 135 +f 125 110 135 +f 126 125 135 +f 95 126 135 +f 106 97 136 +f 107 106 136 +f 101 107 136 +f 97 123 136 +f 123 101 136 +f 104 120 137 +f 120 111 137 +f 121 108 137 +f 111 121 137 +f 124 104 137 +o convex_4 +v 1.044634 -0.819910 0.672516 +v -1.095412 -0.962660 2.634341 +v -1.095412 -0.962660 2.669774 +v 1.044634 -2.674565 2.777105 +v -0.952713 -2.495962 0.672516 +v 1.080415 -0.427511 2.741260 +v -1.024063 -0.534629 0.672516 +v 0.937717 -2.495962 0.672516 +v -1.024063 -2.495962 2.634341 +v -1.095412 -0.463144 2.669774 +v 1.044634 -0.534629 0.815280 +v -0.489051 -1.354838 2.777105 +v -0.417702 -2.103783 2.777105 +v 0.973285 -2.674565 2.527010 +v -1.095412 -0.463144 2.170614 +v 1.080415 -0.534629 1.564535 +v 1.044634 -0.570261 0.672516 +v 0.830587 -2.674565 2.777105 +v -0.489051 -1.069558 2.777105 +v 0.509623 -1.105190 2.777105 +v 1.080415 -1.497589 2.741260 +v -0.916932 -0.498996 1.243367 +v 0.937717 -2.531594 0.922405 +v 0.973285 -2.531594 1.136242 +v -1.024063 -0.819910 0.672516 +v -1.024063 -2.495962 2.349018 +v 1.044634 -2.674565 2.669774 +v -0.916932 -2.460329 2.669774 +v 0.224439 -0.534409 0.672516 +v 1.080415 -0.427511 2.669774 +v 0.795019 -2.674565 2.705414 +v -0.702885 -2.531594 2.669774 +v 1.044634 -2.139196 2.777105 +v -0.275004 -0.463144 2.705414 +v -1.059631 -1.533002 2.669774 +f 165 150 172 +f 138 142 144 +f 142 138 145 +f 140 139 146 +f 139 140 147 +f 147 140 149 +f 141 149 150 +f 139 147 152 +f 147 143 152 +f 148 153 154 +f 138 144 154 +f 153 138 154 +f 141 150 155 +f 151 141 155 +f 149 141 156 +f 147 149 156 +f 156 141 157 +f 143 156 157 +f 143 141 158 +f 153 143 158 +f 144 152 159 +f 142 145 160 +f 151 142 160 +f 145 138 161 +f 160 145 161 +f 144 142 162 +f 139 152 162 +f 152 144 162 +f 146 139 163 +f 139 162 163 +f 162 142 163 +f 141 151 164 +f 138 153 164 +f 158 141 164 +f 153 158 164 +f 151 160 164 +f 161 138 164 +f 160 161 164 +f 155 150 165 +f 148 154 166 +f 154 144 166 +f 144 159 166 +f 166 159 167 +f 152 143 167 +f 143 153 167 +f 153 148 167 +f 159 152 167 +f 148 166 167 +f 142 151 168 +f 151 155 168 +f 146 163 169 +f 163 142 169 +f 165 146 169 +f 155 165 169 +f 142 168 169 +f 168 155 169 +f 141 143 170 +f 157 141 170 +f 143 157 170 +f 143 147 171 +f 156 143 171 +f 147 156 171 +f 140 146 172 +f 149 140 172 +f 150 149 172 +f 146 165 172 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/980/980.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/980/980.urdf new file mode 100644 index 000000000..208c8c26a --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/980/980.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/981/981.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/981/981.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/981/981.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/981/981.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/981/981.obj new file mode 100644 index 000000000..c8501bcab --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/981/981.obj @@ -0,0 +1,384 @@ +o convex_0 +v -2.732980 -0.702118 0.527668 +v -1.104592 0.393828 -0.317726 +v -1.104592 0.393828 -0.443049 +v -3.046101 0.299704 -0.568373 +v -1.198568 -0.670781 -0.505541 +v -1.104592 0.237148 0.558971 +v -3.108882 0.205812 0.527668 +v -3.077295 -0.796242 -0.536957 +v -1.104592 -0.764906 0.590273 +v -3.077295 -0.702118 0.496366 +v -1.104592 -0.639562 -0.505541 +v -2.795565 0.205812 0.558971 +v -2.889344 0.237148 0.464950 +v -1.104592 -0.764906 0.371042 +v -1.731031 -0.764790 0.558971 +v -3.108882 -0.388990 0.527668 +v -2.826759 0.299704 -0.568373 +v -1.198568 0.268484 0.496366 +v -2.889344 -0.796242 -0.536957 +v -3.108882 0.237148 0.245832 +v -3.077295 -0.796242 -0.380331 +v -3.014710 -0.138651 -0.568373 +v -3.046101 0.299704 -0.442936 +v -1.887591 0.362492 -0.505654 +v -3.077295 -0.733454 0.308324 +v -1.198568 0.393828 -0.317726 +v -3.077295 -0.482882 -0.536957 +v -2.576419 -0.764790 -0.536957 +v -2.200713 0.237148 0.558971 +f 18 13 29 +f 3 2 6 +f 3 6 9 +f 3 9 11 +f 5 11 14 +f 11 9 14 +f 9 1 15 +f 1 10 15 +f 1 9 16 +f 10 1 16 +f 12 7 16 +f 9 12 16 +f 6 2 18 +f 5 14 19 +f 14 9 19 +f 7 13 20 +f 16 7 20 +f 8 16 20 +f 9 15 21 +f 16 8 21 +f 8 19 21 +f 19 9 21 +f 8 4 22 +f 4 17 22 +f 17 11 22 +f 19 8 22 +f 4 20 23 +f 20 13 23 +f 3 11 24 +f 17 4 24 +f 11 17 24 +f 4 23 24 +f 15 10 25 +f 10 16 25 +f 21 15 25 +f 16 21 25 +f 2 3 26 +f 18 2 26 +f 13 18 26 +f 23 13 26 +f 3 24 26 +f 24 23 26 +f 4 8 27 +f 20 4 27 +f 8 20 27 +f 11 5 28 +f 5 19 28 +f 22 11 28 +f 19 22 28 +f 9 6 29 +f 7 12 29 +f 12 9 29 +f 13 7 29 +f 6 18 29 +o convex_1 +v 1.150449 -0.827560 -0.537055 +v 2.935313 0.362511 0.590380 +v 2.997886 0.331058 0.590380 +v 1.087683 -0.733435 0.559038 +v 1.087683 0.331175 -0.411576 +v 3.060459 -0.733552 -0.537055 +v 3.029172 -0.670880 0.590380 +v 3.029172 0.237050 -0.474371 +v 1.087683 0.362511 0.559038 +v 1.087683 -0.013522 -0.537055 +v 3.060459 0.111823 -0.505713 +v 1.745468 -0.702216 0.590380 +v 1.714182 0.299839 -0.505713 +v 2.966600 -0.764888 -0.474371 +v 1.087683 -0.796224 -0.067143 +v 1.526271 -0.733435 0.559038 +v 1.119162 0.362511 0.057895 +v 1.087683 -0.827560 -0.537055 +v 3.029172 0.268386 -0.317660 +v 2.997886 -0.388972 -0.537055 +v 1.087683 0.299839 -0.505713 +v 2.496726 0.362511 0.590380 +v 2.904027 0.362511 0.527696 +v 2.496726 0.268386 -0.505713 +v 3.029172 0.299722 0.089237 +v 3.060459 -0.733552 -0.349002 +f 36 43 55 +f 32 31 36 +f 34 33 38 +f 33 34 39 +f 35 30 39 +f 36 31 41 +f 38 33 41 +f 30 35 43 +f 33 39 44 +f 30 43 44 +f 36 41 45 +f 41 33 45 +f 43 36 45 +f 44 43 45 +f 33 44 45 +f 38 31 46 +f 34 38 46 +f 39 30 47 +f 30 44 47 +f 44 39 47 +f 40 37 48 +f 35 39 49 +f 40 35 49 +f 39 34 50 +f 34 42 50 +f 42 39 50 +f 31 38 51 +f 41 31 51 +f 38 41 51 +f 42 34 52 +f 46 31 52 +f 34 46 52 +f 31 48 52 +f 48 42 52 +f 37 40 53 +f 39 42 53 +f 48 37 53 +f 42 48 53 +f 49 39 53 +f 40 49 53 +f 31 32 54 +f 32 36 54 +f 36 40 54 +f 48 31 54 +f 40 48 54 +f 35 40 55 +f 40 36 55 +f 43 35 55 +o convex_2 +v 0.085340 2.460395 -1.037978 +v -1.104338 -0.763876 0.370985 +v -1.104338 -0.763876 0.590074 +v 1.087468 -3.270091 -1.069455 +v 1.056353 2.836115 0.997399 +v 1.056353 -3.238528 0.966131 +v -0.947903 -3.301654 -1.037978 +v -1.104338 2.899240 1.060145 +v -1.010563 -3.301654 0.966131 +v -0.916573 2.742640 -1.037978 +v 1.087468 2.804552 -1.006709 +v -1.104338 -0.638839 -0.505578 +v 1.087468 1.207591 0.746625 +v -0.102210 2.899240 -0.349026 +v -1.010563 1.145072 1.060145 +v 0.837043 2.804552 1.028668 +v 0.179330 -0.576320 -1.069455 +v -1.104338 0.393632 -0.442832 +v -1.010563 -2.956890 0.997399 +v 1.056353 -1.672523 0.997399 +v 0.304650 -3.301654 -1.069455 +v -0.947903 2.491958 -1.006709 +v 0.367309 2.899240 0.276971 +v -0.979233 -3.081928 -0.975441 +v -0.196200 2.805159 1.060145 +v 1.087468 -1.797561 -1.069455 +v 1.087468 -3.270091 -0.536846 +v -1.104338 2.899240 0.934654 +v 0.148000 -3.301654 -0.066984 +v 1.087468 -0.732920 0.558805 +v 0.054010 -3.301654 -1.069455 +v 1.056353 1.082553 -1.037978 +v -1.104338 2.335357 1.060145 +v -0.603274 -3.301654 0.965922 +v 0.304650 2.899240 -0.349026 +v -0.947903 1.426710 -1.037978 +v -0.947903 2.742640 -0.912695 +v -0.979233 -3.301654 -0.662129 +v -0.665934 2.899240 1.060145 +v 1.087468 2.804552 -0.568115 +v -0.227530 2.899240 -0.317758 +v -1.010563 -3.301654 0.778102 +v 0.680394 2.804552 -1.006709 +v -0.133540 2.742640 -1.037978 +v 1.056353 2.836115 0.558805 +v 1.056353 -3.270091 -0.192266 +v -1.041893 -1.610005 0.997399 +v 1.087468 1.426710 0.746625 +v -0.979233 -1.891643 -0.975441 +v -1.073223 2.899240 0.840848 +f 83 96 105 +f 57 58 63 +f 58 57 64 +f 57 63 67 +f 59 66 68 +f 67 63 73 +f 70 74 75 +f 68 60 75 +f 61 68 75 +f 60 71 75 +f 74 61 75 +f 64 62 76 +f 72 59 76 +f 67 73 77 +f 69 63 78 +f 63 70 80 +f 70 75 80 +f 75 71 80 +f 66 59 81 +f 59 72 81 +f 72 56 81 +f 59 68 82 +f 76 59 82 +f 63 69 83 +f 73 63 83 +f 64 76 84 +f 68 61 85 +f 61 82 85 +f 82 68 85 +f 65 72 86 +f 76 62 86 +f 72 76 86 +f 56 66 87 +f 81 56 87 +f 66 81 87 +f 63 58 88 +f 70 63 88 +f 74 70 88 +f 61 74 89 +f 74 64 89 +f 84 61 89 +f 64 84 89 +f 66 69 90 +f 69 78 90 +f 77 65 91 +f 67 77 91 +f 62 79 91 +f 86 62 91 +f 65 86 91 +f 65 77 92 +f 77 73 92 +f 83 65 92 +f 73 83 92 +f 62 64 93 +f 79 62 93 +f 67 79 93 +f 71 60 94 +f 60 78 94 +f 78 63 94 +f 63 80 94 +f 80 71 94 +f 66 60 95 +f 68 66 95 +f 69 65 96 +f 83 69 96 +f 64 57 97 +f 57 67 97 +f 93 64 97 +f 67 93 97 +f 66 65 98 +f 65 69 98 +f 69 66 98 +f 65 66 99 +f 66 56 99 +f 56 72 99 +f 72 65 99 +f 60 66 100 +f 78 60 100 +f 66 90 100 +f 90 78 100 +f 82 61 101 +f 76 82 101 +f 61 84 101 +f 84 76 101 +f 58 64 102 +f 64 74 102 +f 88 58 102 +f 74 88 102 +f 60 68 103 +f 95 60 103 +f 68 95 103 +f 79 67 104 +f 67 91 104 +f 91 79 104 +f 65 83 105 +f 96 65 105 +o convex_3 +v 0.242002 4.872059 0.339839 +v -0.321611 2.899434 0.057931 +v -0.321611 2.899434 0.183239 +v 0.367377 2.899434 0.183239 +v 0.336016 4.840582 -0.349149 +v -0.258958 4.809298 -0.349149 +v 0.304656 2.899434 -0.349149 +v -0.227597 4.809298 0.308479 +v -0.227597 2.899434 -0.317788 +v 0.367377 2.899434 0.277118 +v -0.133650 4.778014 0.339839 +v -0.290251 4.590117 -0.286428 +v -0.321611 2.993478 0.214532 +v 0.304656 4.872059 0.089292 +v -0.258958 3.807633 -0.349149 +v 0.336016 3.838917 -0.349149 +v 0.273295 4.214324 0.339839 +v -0.321611 3.525885 0.057931 +v 0.273295 4.809298 0.339839 +v 0.273295 2.930911 0.277118 +v -0.102357 2.899434 -0.349149 +v 0.336016 4.840582 -0.161120 +v 0.085402 4.872059 0.151811 +v 0.367377 3.056046 0.277118 +v -0.196304 4.840582 0.308479 +v -0.008410 4.840582 -0.349149 +v -0.258958 2.899434 -0.255067 +f 117 120 132 +f 108 107 109 +f 109 107 112 +f 111 110 112 +f 112 107 114 +f 108 109 115 +f 113 111 117 +f 107 108 118 +f 116 113 118 +f 111 112 120 +f 117 111 120 +f 110 109 121 +f 109 112 121 +f 112 110 121 +f 106 116 122 +f 117 107 123 +f 113 117 123 +f 107 118 123 +f 118 113 123 +f 119 106 124 +f 106 122 124 +f 122 115 124 +f 108 115 125 +f 118 108 125 +f 116 118 125 +f 115 122 125 +f 122 116 125 +f 112 114 126 +f 120 112 126 +f 114 120 126 +f 110 119 127 +f 106 119 128 +f 109 110 129 +f 115 109 129 +f 119 124 129 +f 124 115 129 +f 110 127 129 +f 127 119 129 +f 111 113 130 +f 116 106 130 +f 113 116 130 +f 128 111 130 +f 106 128 130 +f 110 111 131 +f 119 110 131 +f 111 128 131 +f 128 119 131 +f 114 107 132 +f 107 117 132 +f 120 114 132 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/981/981.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/981/981.urdf new file mode 100644 index 000000000..ba9fb5b09 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/981/981.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/982/982.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/982/982.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/982/982.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/982/982.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/982/982.obj new file mode 100644 index 000000000..7573281af --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/982/982.obj @@ -0,0 +1,546 @@ +o convex_0 +v -2.958838 1.597343 0.161483 +v -1.307838 2.742911 -0.175323 +v -1.307838 2.675400 0.431016 +v -3.295928 2.641644 0.431124 +v -3.161053 2.675400 -0.579840 +v -1.308033 1.597343 -0.512348 +v -1.307838 1.698386 0.532253 +v -3.228393 1.799430 -0.579840 +v -3.262063 1.597343 0.464761 +v -1.307838 2.742911 -0.478602 +v -2.150367 2.742911 -0.545985 +v -3.194723 2.675400 0.363741 +v -1.409043 1.664630 0.532253 +v -3.262063 1.732030 -0.343836 +v -1.308033 1.597343 -0.209069 +v -2.823963 2.709044 -0.579840 +v -1.409043 1.833185 0.532253 +v -3.194723 1.765786 -0.579840 +v -3.161053 2.709044 -0.343836 +v -3.228393 2.102784 -0.579840 +v -1.914483 2.742911 -0.175432 +v -2.722953 1.597343 0.464761 +v -2.621748 1.664630 0.498507 +v -1.476383 2.742911 -0.512348 +v -3.295928 2.641644 0.296249 +v -3.295928 2.203603 0.397378 +f 25 14 26 +f 2 3 7 +f 1 6 9 +f 2 7 10 +f 7 6 10 +f 2 10 11 +f 4 3 12 +f 1 9 14 +f 6 7 15 +f 9 6 15 +f 7 13 15 +f 8 5 16 +f 11 6 16 +f 3 4 17 +f 7 3 17 +f 13 7 17 +f 6 1 18 +f 1 14 18 +f 14 8 18 +f 8 16 18 +f 16 6 18 +f 4 12 19 +f 16 5 19 +f 11 16 19 +f 5 8 20 +f 8 14 20 +f 3 2 21 +f 2 11 21 +f 12 3 21 +f 19 12 21 +f 11 19 21 +f 13 9 22 +f 9 15 22 +f 15 13 22 +f 4 9 23 +f 9 13 23 +f 17 4 23 +f 13 17 23 +f 10 6 24 +f 6 11 24 +f 11 10 24 +f 4 19 25 +f 19 5 25 +f 5 20 25 +f 20 14 25 +f 9 4 26 +f 14 9 26 +f 4 25 26 +o convex_1 +v 1.522951 2.304758 -3.107324 +v 2.163244 2.372158 -0.580087 +v 2.163244 2.304758 -0.580087 +v 1.522951 1.866773 -0.580087 +v 2.129508 1.934173 -3.073185 +v 1.590423 2.439557 -0.580087 +v 2.129508 2.439557 -3.005898 +v 1.455548 2.001572 -2.904719 +v 2.095841 1.934173 -0.580087 +v 1.522951 2.405858 -3.107324 +v 1.455548 2.102672 -2.500500 +v 2.163244 2.405858 -0.613978 +v 1.556687 2.439557 -1.153020 +v 1.489354 1.967872 -0.984554 +v 1.489354 2.372158 -3.107324 +v 1.859896 2.439557 -3.039542 +v 1.859896 2.439557 -0.849731 +v 2.062036 1.934173 -3.073185 +f 30 34 44 +f 29 28 30 +f 30 28 32 +f 29 30 35 +f 30 31 35 +f 31 29 35 +f 31 27 36 +f 33 31 36 +f 28 29 38 +f 29 31 38 +f 32 28 38 +f 31 33 38 +f 32 33 39 +f 39 37 40 +f 30 32 40 +f 34 30 40 +f 37 34 40 +f 32 39 40 +f 27 34 41 +f 36 27 41 +f 34 37 41 +f 39 36 41 +f 37 39 41 +f 33 36 42 +f 39 33 42 +f 36 39 42 +f 33 32 43 +f 32 38 43 +f 38 33 43 +f 27 31 44 +f 31 30 44 +f 34 27 44 +o convex_2 +v 0.815147 -2.716665 1.105150 +v -1.274135 -4.839254 -1.051637 +v -1.274135 -4.839254 -0.714480 +v 0.916352 -4.873241 0.936466 +v 0.747820 -3.087353 -0.950300 +v -1.240257 -2.716665 0.936466 +v -1.240257 -2.716665 -0.950300 +v -1.172930 -4.738138 0.936466 +v 0.781483 -4.873241 -1.017858 +v 0.747820 -2.716665 -0.815606 +v 0.612951 -4.873241 1.105150 +v 0.478083 -2.716665 -0.950300 +v -1.105388 -2.716665 0.970245 +v 0.916352 -4.569682 1.105150 +v -0.633670 -4.873241 -1.017647 +v 0.511746 -2.716665 1.105150 +v -1.240257 -2.986448 -0.984079 +v -1.206593 -4.771914 0.565742 +v 0.848810 -2.986448 1.071160 +v -1.274135 -4.670798 -1.051637 +v -1.240257 -3.154904 0.936466 +v -1.274135 -4.165219 -1.017647 +v 0.545624 -4.670798 1.105150 +v 0.815147 -4.839254 -0.613355 +v -1.240257 -4.839254 -0.545797 +v -0.937071 -4.771914 0.936466 +v 0.916352 -4.873241 1.105150 +v 0.815147 -2.716665 0.565742 +v 0.781483 -4.805479 -1.017858 +v -1.071725 -3.222245 0.970245 +f 67 57 74 +f 50 45 51 +f 51 45 54 +f 53 48 55 +f 54 49 56 +f 51 54 56 +f 45 50 57 +f 48 54 58 +f 45 55 58 +f 47 46 59 +f 46 53 59 +f 53 55 59 +f 55 45 60 +f 45 57 60 +f 51 56 61 +f 45 58 63 +f 46 47 64 +f 53 46 64 +f 61 56 64 +f 50 47 65 +f 57 50 65 +f 52 57 65 +f 47 62 65 +f 62 52 65 +f 47 50 66 +f 50 51 66 +f 51 61 66 +f 64 47 66 +f 61 64 66 +f 52 55 67 +f 55 60 67 +f 60 57 67 +f 48 53 68 +f 54 48 68 +f 49 54 68 +f 47 59 69 +f 59 55 69 +f 62 47 69 +f 62 69 70 +f 55 52 70 +f 52 62 70 +f 69 55 70 +f 55 48 71 +f 48 58 71 +f 58 55 71 +f 54 45 72 +f 58 54 72 +f 45 63 72 +f 63 58 72 +f 56 49 73 +f 53 64 73 +f 64 56 73 +f 68 53 73 +f 49 68 73 +f 57 52 74 +f 52 67 74 +o convex_3 +v 2.061891 2.338376 0.633353 +v 0.916520 2.069045 -0.579840 +v 0.916520 2.709067 -0.579840 +v 2.870939 1.630819 -0.546113 +v 0.950190 1.698353 0.599508 +v 2.803407 2.810196 -0.478661 +v 0.916520 2.742776 0.532174 +v 2.736066 1.664644 0.464722 +v 2.769737 2.742776 0.599627 +v 0.983861 1.664644 -0.546113 +v 2.129423 2.405795 -0.579840 +v 2.769737 1.630819 0.228757 +v 1.960879 1.967915 0.633353 +v 1.624174 2.473214 0.633353 +v 0.916520 1.732063 0.599508 +v 1.152405 2.742776 -0.579840 +v 2.803407 2.810196 -0.175244 +v 2.432649 2.810196 -0.512387 +v 1.927209 1.630819 -0.478661 +v 2.769737 2.540518 0.599627 +v 0.916520 1.698353 -0.546113 +v 1.556833 1.866902 -0.579840 +v 2.803407 2.473214 0.397388 +v 2.837077 2.473214 -0.512268 +v 1.118734 2.742776 0.565782 +v 2.736066 2.776486 0.363662 +v 2.028220 1.664644 0.532174 +v 2.870939 1.664644 -0.411209 +v 0.916520 2.069045 0.599508 +f 99 81 103 +f 77 76 81 +f 76 77 85 +f 75 83 88 +f 87 75 88 +f 87 88 89 +f 81 76 89 +f 79 87 89 +f 77 81 90 +f 85 77 90 +f 90 81 92 +f 85 90 92 +f 91 80 92 +f 81 91 92 +f 84 78 93 +f 79 84 93 +f 86 79 93 +f 78 86 93 +f 83 75 94 +f 75 87 94 +f 87 82 94 +f 76 84 95 +f 84 79 95 +f 89 76 95 +f 79 89 95 +f 84 76 96 +f 78 84 96 +f 76 85 96 +f 85 78 96 +f 91 83 97 +f 83 94 97 +f 94 82 97 +f 78 85 98 +f 80 91 98 +f 92 80 98 +f 85 92 98 +f 91 97 98 +f 88 83 99 +f 91 81 100 +f 83 91 100 +f 99 83 100 +f 81 99 100 +f 79 86 101 +f 86 82 101 +f 87 79 101 +f 82 87 101 +f 82 86 102 +f 86 78 102 +f 97 82 102 +f 78 98 102 +f 98 97 102 +f 89 88 103 +f 81 89 103 +f 88 99 103 +o convex_4 +v 1.489311 1.967816 3.093197 +v 2.129544 2.540713 2.992068 +v 2.062049 2.540713 2.992068 +v 1.960963 1.967816 0.633834 +v 1.624113 2.473307 0.633834 +v 2.062049 2.035223 3.093197 +v 2.095765 2.540713 0.701013 +v 1.590460 2.405900 3.059487 +v 1.590460 2.001519 0.633834 +v 1.590460 2.439604 0.633834 +v 1.994679 1.967816 0.768432 +v 1.590460 2.439604 2.587551 +v 1.960963 2.001519 3.093197 +v 2.028332 2.540713 0.633834 +v 2.095765 2.473307 0.734723 +v 1.489311 2.035223 2.992068 +v 1.556743 2.001519 1.038110 +v 2.129544 2.473307 2.789809 +v 2.062049 2.203738 3.093197 +f 111 104 122 +f 106 105 110 +f 105 106 111 +f 107 104 112 +f 108 107 112 +f 108 112 113 +f 104 107 114 +f 106 108 115 +f 111 106 115 +f 108 113 115 +f 109 104 116 +f 104 114 116 +f 114 109 116 +f 107 108 117 +f 108 106 117 +f 110 107 117 +f 106 110 117 +f 107 110 118 +f 114 107 118 +f 109 114 118 +f 104 111 119 +f 111 115 119 +f 115 113 119 +f 112 104 120 +f 113 112 120 +f 104 119 120 +f 119 113 120 +f 105 109 121 +f 110 105 121 +f 109 118 121 +f 118 110 121 +f 104 109 122 +f 109 105 122 +f 105 111 122 +o convex_5 +v 0.815147 0.586036 -1.085336 +v 0.444419 -1.974933 1.105150 +v 0.410756 -1.974933 1.105150 +v -1.038061 1.563419 1.003731 +v -1.240257 -2.716454 -0.950468 +v -1.274135 1.563419 -0.950468 +v 0.882474 1.563419 0.970067 +v 0.747605 -2.682520 -0.916804 +v -1.240257 -2.716454 0.936404 +v 0.815147 -2.716454 1.105150 +v 0.882474 1.563419 -1.085336 +v -1.139266 1.563419 1.003731 +v 0.848810 -2.379209 1.105150 +v -1.071725 -2.446658 -0.983917 +v 0.916352 0.754449 0.936404 +v 0.579288 -2.716454 -0.950468 +v 0.444419 0.787545 -1.085336 +v -1.139266 -2.649005 0.970067 +v -1.274135 1.226174 -0.579741 +v 0.882474 1.192658 -1.085336 +v -1.274135 -0.829137 -0.950468 +v -1.172930 0.316240 1.003945 +v 0.916352 1.563419 0.666667 +v 0.815147 -2.716454 0.532013 +v -0.802202 0.282725 1.037609 +v 0.511961 -2.716454 1.105150 +v -1.240257 -2.446658 0.936404 +v 0.747605 -2.649005 -0.950468 +v 0.545624 1.361072 -1.085336 +v -0.734875 0.518587 1.037609 +v 0.916352 1.394587 0.970067 +f 137 145 153 +f 128 126 129 +f 124 125 132 +f 131 127 132 +f 128 129 133 +f 126 128 134 +f 129 124 135 +f 124 132 135 +f 132 127 138 +f 127 136 138 +f 136 123 138 +f 133 123 139 +f 136 128 139 +f 123 136 139 +f 134 128 141 +f 123 133 142 +f 137 135 142 +f 127 131 143 +f 136 127 143 +f 128 136 143 +f 141 128 143 +f 131 141 143 +f 131 140 144 +f 134 141 144 +f 133 129 145 +f 142 133 145 +f 137 142 145 +f 135 132 146 +f 138 130 146 +f 132 138 146 +f 142 135 146 +f 134 144 147 +f 144 140 147 +f 132 125 148 +f 131 132 148 +f 140 131 148 +f 125 147 148 +f 147 140 148 +f 141 131 149 +f 131 144 149 +f 144 141 149 +f 138 123 150 +f 130 138 150 +f 123 142 150 +f 146 130 150 +f 142 146 150 +f 128 133 151 +f 133 139 151 +f 139 128 151 +f 125 124 152 +f 124 129 152 +f 129 126 152 +f 126 134 152 +f 147 125 152 +f 134 147 152 +f 129 135 153 +f 135 137 153 +f 145 129 153 +o convex_6 +v -0.364036 3.282016 0.262342 +v -1.240342 3.180982 -1.119036 +v -1.274088 2.810298 -1.085162 +v 0.882606 1.563591 -1.085162 +v -1.139104 1.563591 1.004050 +v 0.815114 3.147190 1.004050 +v 0.882606 3.180811 -0.950287 +v 0.882606 1.563591 0.970176 +v -1.206596 3.315808 0.936509 +v -1.274088 1.563591 -0.950494 +v -1.307834 1.698244 0.531884 +v -1.172850 3.248395 -1.119036 +v 0.916352 2.742885 0.532092 +v -1.307834 2.944952 -0.646870 +v 0.343323 3.214603 -1.017828 +v 0.916352 1.698244 -0.545869 +v 0.781368 3.180811 1.004050 +v -1.307834 2.675472 0.431091 +v 0.916352 1.563591 0.868968 +v 0.714094 3.214431 -0.815412 +v -1.240342 3.282016 -0.444869 +v -1.307834 1.597211 -0.512203 +v -1.274088 1.698244 -0.983953 +v 0.309577 3.180982 1.004050 +v 0.848860 2.473234 1.004050 +v 0.916352 2.709093 -0.579744 +v -0.903318 3.315808 0.633092 +v 0.882606 1.698244 -1.085162 +v 0.882606 3.180811 -0.276327 +v 0.747840 1.563591 -1.085162 +v 0.848860 3.180811 -0.983953 +v -1.274088 3.214603 -1.085162 +v -1.240342 3.282016 0.329883 +v -1.172850 1.732037 0.970176 +v -0.869790 3.248395 -1.085162 +v -0.937064 3.315808 0.902634 +f 180 162 189 +f 158 157 161 +f 157 158 163 +f 157 155 165 +f 158 159 170 +f 164 162 171 +f 167 164 171 +f 161 157 172 +f 157 169 172 +f 169 166 172 +f 154 170 173 +f 163 158 175 +f 158 164 175 +f 164 167 175 +f 175 167 176 +f 167 156 176 +f 163 175 176 +f 162 158 177 +f 158 170 177 +f 170 162 177 +f 159 158 178 +f 158 161 178 +f 166 159 178 +f 161 172 178 +f 172 166 178 +f 160 166 179 +f 169 157 179 +f 166 169 179 +f 154 173 180 +f 174 162 180 +f 157 165 181 +f 165 168 181 +f 179 157 181 +f 160 179 181 +f 166 160 182 +f 159 166 182 +f 170 159 182 +f 160 173 182 +f 173 170 182 +f 156 155 183 +f 155 157 183 +f 157 163 183 +f 176 156 183 +f 163 176 183 +f 173 160 184 +f 168 173 184 +f 160 181 184 +f 181 168 184 +f 155 156 185 +f 165 155 185 +f 156 167 185 +f 174 165 185 +f 174 185 186 +f 171 162 186 +f 167 171 186 +f 162 174 186 +f 185 167 186 +f 158 162 187 +f 162 164 187 +f 164 158 187 +f 168 165 188 +f 173 168 188 +f 165 174 188 +f 180 173 188 +f 174 180 188 +f 170 154 189 +f 162 170 189 +f 154 180 189 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/982/982.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/982/982.urdf new file mode 100644 index 000000000..8b9e32555 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/982/982.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/983/983.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/983/983.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/983/983.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/983/983.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/983/983.obj new file mode 100644 index 000000000..75765d1be --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/983/983.obj @@ -0,0 +1,405 @@ +o convex_0 +v 3.058580 -1.671624 -0.109246 +v 1.091305 -1.894203 -0.369115 +v 1.091305 -1.523165 -0.369115 +v 1.091305 -2.005602 0.336204 +v 1.091305 -1.448826 0.224703 +v 2.984056 -2.005602 0.336204 +v 3.058580 -1.968433 -0.294758 +v 3.021222 -1.448826 -0.331971 +v 3.021222 -1.486050 0.187698 +v 1.091305 -2.005602 -0.109246 +v 2.984056 -1.894203 0.336204 +v 2.019291 -1.448826 0.224703 +v 3.021222 -2.005602 -0.109246 +v 1.091305 -1.968433 -0.331971 +v 1.091305 -1.523165 0.261847 +v 1.611046 -1.486050 -0.369115 +v 3.058580 -1.708738 -0.331971 +v 1.091305 -1.448826 0.039191 +f 8 16 18 +f 3 2 4 +f 3 4 5 +f 1 6 7 +f 6 1 9 +f 1 8 9 +f 4 2 10 +f 6 4 10 +f 4 6 11 +f 6 9 11 +f 11 9 12 +f 8 5 12 +f 9 8 12 +f 7 6 13 +f 6 10 13 +f 13 10 14 +f 2 7 14 +f 10 2 14 +f 7 13 14 +f 5 4 15 +f 4 11 15 +f 11 12 15 +f 12 5 15 +f 2 3 16 +f 16 8 17 +f 1 7 17 +f 7 2 17 +f 8 1 17 +f 2 16 17 +f 3 5 18 +f 5 8 18 +f 16 3 18 +o convex_1 +v -1.099087 2.448668 -2.930310 +v 0.942541 3.302794 -2.856160 +v 1.053809 3.302580 -2.967592 +v 1.091113 1.298255 -0.963067 +v -0.950516 3.302794 -0.963067 +v -1.024694 1.186987 -2.930310 +v -1.061784 1.112594 -0.963067 +v 0.942541 1.298470 -2.967592 +v 0.979630 3.154222 -0.963067 +v -1.099087 3.191312 -3.041741 +v 1.053809 2.894168 -3.079023 +v -0.505015 1.186987 -2.967592 +v -0.764854 1.112594 -1.148855 +v 0.942541 3.302580 -3.079023 +v 0.793969 1.261380 -2.893235 +v -1.099087 3.191312 -2.633297 +v 1.016720 3.042740 -0.963067 +v -0.542104 3.302794 -1.037424 +v 0.979630 1.632488 -3.004459 +v 0.905237 1.261380 -0.963067 +v -1.024694 1.261166 -2.967592 +v -1.024694 3.265491 -1.965537 +v 1.091113 1.298255 -1.260080 +v 1.091113 1.743971 -0.963067 +v -1.061784 1.112594 -1.631449 +v -1.061784 1.447042 -0.963067 +v 1.053809 3.228401 -2.187985 +v 0.200111 3.191312 -3.079023 +v -0.839033 3.228401 -2.893235 +v -1.061784 1.595399 -2.967592 +v 0.868148 1.521220 -3.004459 +v -0.950516 3.302794 -1.297362 +v -0.950516 1.149898 -2.707654 +v -1.099087 2.968347 -3.041741 +f 39 48 52 +f 22 23 25 +f 23 22 27 +f 20 21 32 +f 21 29 32 +f 30 26 33 +f 19 25 34 +f 28 19 34 +f 27 22 35 +f 21 20 36 +f 20 23 36 +f 27 21 36 +f 23 27 36 +f 22 25 38 +f 25 31 38 +f 31 33 38 +f 30 24 39 +f 34 23 40 +f 28 34 40 +f 29 21 41 +f 33 26 41 +f 26 37 41 +f 37 29 41 +f 22 38 41 +f 38 33 41 +f 35 22 42 +f 41 21 42 +f 22 41 42 +f 25 19 43 +f 31 25 43 +f 25 23 44 +f 34 25 44 +f 23 34 44 +f 21 27 45 +f 27 35 45 +f 42 21 45 +f 35 42 45 +f 28 32 46 +f 32 29 46 +f 29 39 46 +f 32 28 47 +f 28 40 47 +f 39 24 48 +f 43 19 48 +f 24 43 48 +f 26 30 49 +f 37 26 49 +f 29 37 49 +f 39 29 49 +f 30 39 49 +f 23 20 50 +f 20 32 50 +f 40 23 50 +f 32 47 50 +f 47 40 50 +f 24 30 51 +f 30 33 51 +f 33 31 51 +f 43 24 51 +f 31 43 51 +f 19 28 52 +f 28 46 52 +f 46 39 52 +f 48 19 52 +o convex_2 +v 1.091113 1.409919 -0.406186 +v -1.061784 1.075690 -0.963067 +v -1.061784 1.446765 -0.963067 +v -1.061784 2.448581 3.083234 +v 0.979630 3.154103 -0.962671 +v 1.053809 1.187100 3.008772 +v 0.979630 3.191384 3.046003 +v -0.950516 3.302794 -0.963067 +v -1.099087 1.224164 3.008772 +v -1.024694 3.154103 3.083234 +v 1.091113 1.075690 -0.962671 +v -1.099087 1.075690 0.967402 +v 1.053809 3.154103 1.412194 +v 1.016720 1.075690 1.004633 +v -1.099087 1.966532 1.783713 +v 1.016720 3.154103 -0.925440 +v -0.653372 3.302794 -0.963067 +v -0.950516 3.302794 -0.554714 +v 1.091113 1.706648 -0.962671 +v 1.016720 3.191384 1.597953 +v 0.163022 3.191166 3.046003 +v -1.061784 2.783028 2.674485 +v -1.099087 1.186882 -0.257658 +v -0.059514 3.117039 3.083234 +v 1.053809 3.154103 0.485379 +v 1.053809 1.446983 3.008772 +v -1.099087 1.558175 0.484983 +v 1.016720 3.191384 2.340198 +v -1.024694 3.154103 2.228901 +v 1.091113 1.075690 -0.183196 +v 0.868362 1.187100 3.008772 +v -1.061784 1.743712 3.046003 +f 61 83 84 +f 54 55 60 +f 54 63 64 +f 64 63 66 +f 64 61 67 +f 54 60 69 +f 63 54 69 +f 68 57 69 +f 60 62 70 +f 69 60 70 +f 59 69 70 +f 53 63 71 +f 65 53 71 +f 57 68 71 +f 69 57 71 +f 63 69 71 +f 68 69 72 +f 62 59 73 +f 59 70 73 +f 70 62 73 +f 61 56 74 +f 56 62 74 +f 60 67 74 +f 67 61 74 +f 55 54 75 +f 60 55 75 +f 54 64 75 +f 64 67 75 +f 56 58 76 +f 58 59 76 +f 62 56 76 +f 59 62 76 +f 65 71 77 +f 71 68 77 +f 72 65 77 +f 68 72 77 +f 59 58 78 +f 53 65 78 +f 67 60 79 +f 60 75 79 +f 75 67 79 +f 69 59 80 +f 65 72 80 +f 72 69 80 +f 59 78 80 +f 78 65 80 +f 62 60 81 +f 74 62 81 +f 60 74 81 +f 63 53 82 +f 58 66 82 +f 66 63 82 +f 53 78 82 +f 78 58 82 +f 61 64 83 +f 66 58 83 +f 64 66 83 +f 58 56 84 +f 56 61 84 +f 83 58 84 +o convex_3 +v -2.732268 -2.154145 0.150477 +v -3.029120 -1.523161 -0.369049 +v -3.029120 -1.486079 -0.369049 +v -1.099283 -1.486079 -0.369049 +v -3.103481 -1.560308 0.261931 +v -1.099283 -1.671620 0.299016 +v -1.099283 -2.079784 -0.183490 +v -2.954956 -2.079784 -0.294747 +v -1.099283 -2.079784 0.299016 +v -3.066203 -2.079784 0.224714 +v -1.099283 -1.523161 0.113392 +v -2.583743 -2.005555 -0.331964 +v -3.066203 -1.486079 -0.072102 +v -3.066203 -2.154145 0.113392 +v -1.099283 -1.560308 0.261931 +v -1.210726 -1.597390 -0.369049 +v -3.103481 -1.523161 0.187629 +v -1.433414 -2.079784 0.299016 +v -1.247808 -1.486079 -0.109253 +v -1.841710 -2.079784 -0.257727 +v -3.103481 -1.782997 0.261931 +v -2.843514 -2.154145 0.224714 +f 102 94 106 +f 86 87 88 +f 88 90 91 +f 85 91 93 +f 91 90 93 +f 90 88 95 +f 92 86 96 +f 88 87 97 +f 91 85 98 +f 86 92 98 +f 89 90 99 +f 90 95 99 +f 86 88 100 +f 88 91 100 +f 96 86 100 +f 87 86 101 +f 97 87 101 +f 89 99 101 +f 99 95 101 +f 90 89 102 +f 93 90 102 +f 95 88 103 +f 88 97 103 +f 97 101 103 +f 101 95 103 +f 92 96 104 +f 91 98 104 +f 98 92 104 +f 100 91 104 +f 96 100 104 +f 86 98 105 +f 98 94 105 +f 101 86 105 +f 89 101 105 +f 102 89 105 +f 94 102 105 +f 85 93 106 +f 98 85 106 +f 94 98 106 +f 93 102 106 +o convex_4 +v 0.311384 -4.864053 -1.074433 +v 1.091113 -2.265220 1.115767 +v 1.053809 -2.265220 1.115767 +v 1.053809 1.075472 -0.962951 +v -1.099073 1.074891 0.967195 +v -0.987591 -4.789634 1.041159 +v -1.061769 1.074891 -0.962951 +v -1.099073 -4.864053 -1.036915 +v 1.091113 -4.864053 -0.443057 +v 1.016720 1.074891 1.004284 +v 1.053809 -4.752425 1.078463 +v 1.091113 -4.864053 -1.074433 +v 1.090898 1.075472 -0.146128 +v -1.099073 1.074891 -0.220307 +v -1.099073 -2.079174 0.298944 +v -0.430826 -4.826843 0.892802 +v -0.430826 1.074891 1.004284 +v 1.091113 -3.638474 1.115767 +v 1.090898 1.075472 -0.962951 +v -0.319345 -4.789634 1.078463 +v 1.053809 0.852217 1.004284 +v 1.053809 -4.826843 0.744444 +v -1.099073 -4.864053 -0.777076 +v -0.950502 -3.861729 1.041159 +v 1.091113 -4.566960 -1.074433 +v 0.793971 -2.822196 1.115767 +v -1.099073 0.221404 0.967195 +v 1.090898 -1.078013 1.078463 +v -0.987591 -4.826843 0.892802 +v 1.053809 0.221404 1.041373 +v 1.016720 -4.789634 1.078463 +v -1.024680 -4.864053 -0.480361 +v -1.024680 -4.826843 0.484390 +v -1.099073 -4.752425 -1.036915 +f 114 120 140 +f 114 107 115 +f 108 115 118 +f 115 107 118 +f 110 111 119 +f 111 110 120 +f 110 113 120 +f 114 111 120 +f 111 114 121 +f 119 111 123 +f 116 119 123 +f 108 109 124 +f 115 108 124 +f 117 115 124 +f 110 119 125 +f 119 108 125 +f 119 116 127 +f 115 117 128 +f 122 115 128 +f 114 115 129 +f 121 114 129 +f 111 112 130 +f 123 111 130 +f 112 126 130 +f 107 113 131 +f 113 110 131 +f 108 118 131 +f 118 107 131 +f 125 108 131 +f 110 125 131 +f 109 123 132 +f 124 109 132 +f 126 124 132 +f 123 130 132 +f 130 126 132 +f 112 111 133 +f 111 121 133 +f 121 112 133 +f 108 119 134 +f 119 127 134 +f 115 122 135 +f 126 112 135 +f 122 126 135 +f 109 108 136 +f 123 109 136 +f 116 123 136 +f 127 116 136 +f 108 134 136 +f 134 127 136 +f 117 124 137 +f 126 122 137 +f 124 126 137 +f 128 117 137 +f 122 128 137 +f 129 115 138 +f 115 135 138 +f 135 129 138 +f 112 121 139 +f 121 129 139 +f 135 112 139 +f 129 135 139 +f 113 107 140 +f 107 114 140 +f 120 113 140 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/983/983.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/983/983.urdf new file mode 100644 index 000000000..dccb5cd38 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/983/983.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/984/984.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/984/984.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/984/984.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/984/984.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/984/984.obj new file mode 100644 index 000000000..876eafc5b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/984/984.obj @@ -0,0 +1,582 @@ +o convex_0 +v 1.104492 -1.485966 -0.722402 +v -1.098683 -2.975907 0.605689 +v -1.098683 -2.975907 0.638057 +v -1.098683 -0.578593 0.994506 +v -1.001421 -0.578593 -1.013915 +v 1.071928 -0.578593 0.962138 +v 1.039579 -3.105779 0.994706 +v -0.969072 -3.073373 -0.981347 +v 1.071928 -2.943501 -0.981547 +v 1.071928 -0.578593 -1.013915 +v -1.098683 -2.943501 0.994506 +v -0.644936 -1.421153 -1.046483 +v 0.715658 -0.578593 0.994506 +v -1.001421 -3.073373 -0.884243 +v 0.424087 -0.578593 -1.046483 +v -1.098683 -0.838090 0.508385 +v 1.071928 -3.008560 -0.398322 +v 1.071928 -1.680403 0.962138 +v 0.229562 -3.105779 0.184504 +v 1.104492 -0.578593 -0.398322 +v -1.001421 -2.068782 -1.013915 +v 0.715658 -3.105779 0.897202 +v -0.904158 -2.489815 -1.013915 +v -0.709849 -0.578593 -1.046483 +v -0.742198 -3.073373 -0.949179 +v 1.039579 -3.105779 0.735161 +v 0.812705 -2.976154 -0.981347 +v 1.071928 -3.008560 -0.203913 +v 0.812705 -1.842186 -1.013915 +v 1.071928 -1.259123 -1.013915 +v 1.104492 -1.583432 -0.657466 +v -1.001421 -3.073373 -0.819507 +v -0.839461 -2.975907 0.994506 +f 3 32 33 +f 2 3 4 +f 5 4 6 +f 5 6 10 +f 4 3 11 +f 7 4 11 +f 6 4 13 +f 4 7 13 +f 7 6 13 +f 3 2 14 +f 5 10 15 +f 2 4 16 +f 4 5 16 +f 6 7 18 +f 14 8 19 +f 1 10 20 +f 10 6 20 +f 6 18 20 +f 14 2 21 +f 8 14 21 +f 2 16 21 +f 16 5 21 +f 19 7 22 +f 12 9 23 +f 21 12 23 +f 8 21 23 +f 5 15 24 +f 15 12 24 +f 21 5 24 +f 12 21 24 +f 19 8 25 +f 19 25 26 +f 17 7 26 +f 7 19 26 +f 17 26 27 +f 9 17 27 +f 8 23 27 +f 23 9 27 +f 25 8 27 +f 26 25 27 +f 7 17 28 +f 18 7 28 +f 9 12 29 +f 12 15 29 +f 29 15 30 +f 1 9 30 +f 10 1 30 +f 15 10 30 +f 9 29 30 +f 9 1 31 +f 17 9 31 +f 1 20 31 +f 20 18 31 +f 28 17 31 +f 18 28 31 +f 3 14 32 +f 14 19 32 +f 19 22 32 +f 32 22 33 +f 11 3 33 +f 7 11 33 +f 22 7 33 +o convex_1 +v 0.229570 2.078065 1.026883 +v -1.098683 0.652600 -0.527899 +v -1.001420 0.652600 -1.046372 +v -1.033769 3.114986 -1.078883 +v 1.071940 0.652600 -0.981563 +v 1.039591 2.920232 -1.046159 +v -1.066118 3.050148 0.994585 +v 1.071940 0.652600 0.962074 +v 1.104505 3.082447 0.929564 +v -1.066118 0.652600 0.994585 +v -0.547670 0.652600 1.091905 +v 1.039591 0.847354 -1.046159 +v 0.909979 2.952771 -1.078883 +v -0.515321 1.106223 -1.078883 +v 1.104505 0.652600 -0.560197 +v 1.104505 3.049907 0.249386 +v -0.580019 3.082447 0.994585 +v -0.159050 1.073924 1.091905 +v 1.104505 0.911951 0.962074 +v -1.098683 1.657464 0.735349 +v -0.677282 1.333275 1.091905 +v 0.974677 2.855635 0.962074 +v -0.807110 3.114986 -1.078883 +v -1.098683 1.106223 -0.592708 +v -1.066118 3.082447 0.476112 +v 1.071940 2.207499 -0.949052 +v -1.033769 3.114986 -0.430791 +v -1.098683 0.652600 0.605518 +v 0.748018 0.652600 -1.046159 +v -1.001420 1.754359 -1.078883 +v 1.104505 3.082447 0.638241 +v -0.968855 2.661363 1.026883 +v -0.256097 0.652600 1.091905 +v 1.071940 2.952771 -0.689815 +v -1.066118 3.082447 0.832456 +v -1.033769 2.531688 -1.078883 +f 37 63 69 +f 35 36 38 +f 35 38 41 +f 35 41 43 +f 43 41 44 +f 39 38 45 +f 39 45 46 +f 46 45 47 +f 37 46 47 +f 41 38 48 +f 42 48 49 +f 34 50 51 +f 41 48 52 +f 48 42 52 +f 51 41 52 +f 43 40 53 +f 43 44 54 +f 44 51 54 +f 51 50 54 +f 42 50 55 +f 50 34 55 +f 34 51 55 +f 52 42 55 +f 51 52 55 +f 46 37 56 +f 49 46 56 +f 36 35 57 +f 35 53 57 +f 57 53 58 +f 37 57 58 +f 38 39 59 +f 48 38 59 +f 49 48 59 +f 50 42 60 +f 56 37 60 +f 42 56 60 +f 37 58 60 +f 35 43 61 +f 53 35 61 +f 43 53 61 +f 38 36 62 +f 45 38 62 +f 36 47 62 +f 47 45 62 +f 47 36 63 +f 37 47 63 +f 42 49 64 +f 56 42 64 +f 49 56 64 +f 40 43 65 +f 50 40 65 +f 43 54 65 +f 54 50 65 +f 44 41 66 +f 41 51 66 +f 51 44 66 +f 39 46 67 +f 46 49 67 +f 59 39 67 +f 49 59 67 +f 40 50 68 +f 53 40 68 +f 58 53 68 +f 50 60 68 +f 60 58 68 +f 36 57 69 +f 57 37 69 +f 63 36 69 +o convex_2 +v 1.493640 -0.546089 0.152180 +v 3.080767 0.620200 -0.560384 +v 3.080767 0.620200 -0.592885 +v 1.137098 0.490417 -0.365963 +v 2.951151 0.490534 0.573407 +v 3.113268 -0.513702 -0.463115 +v 1.137098 -0.481314 -0.495499 +v 1.137098 -0.448810 0.605790 +v 3.113268 -0.578593 0.443753 +v 1.137098 0.425760 0.508521 +v 1.266715 0.490417 -0.463115 +v 1.137098 -0.546089 0.573289 +v 2.562301 0.296094 -0.592768 +v 1.266715 0.458030 0.476137 +v 1.882297 -0.513702 -0.495499 +v 2.400377 0.490417 0.573289 +v 2.983651 0.263707 0.573407 +v 3.113268 0.522921 -0.592885 +v 3.048460 -0.578593 0.249450 +v 2.983651 0.425643 0.573407 +v 1.396331 -0.319261 -0.527883 +v 3.113268 -0.384036 -0.495499 +v 2.789033 -0.578593 0.476137 +v 1.169599 -0.513702 -0.333579 +v 2.724418 0.587695 -0.592768 +v 3.080767 0.587578 -0.301078 +v 1.137098 -0.124939 -0.495499 +v 1.363830 -0.254487 0.605790 +v 3.113268 -0.481314 0.443753 +v 3.113268 -0.546089 -0.236427 +v 2.983651 0.522921 0.411487 +v 2.983651 0.328598 -0.592885 +f 87 91 101 +f 71 72 73 +f 73 76 77 +f 73 77 79 +f 73 72 80 +f 77 76 81 +f 71 73 83 +f 73 79 83 +f 71 83 85 +f 83 79 85 +f 72 71 87 +f 78 75 87 +f 86 78 89 +f 84 76 90 +f 75 84 91 +f 87 75 91 +f 81 70 92 +f 77 81 92 +f 86 77 92 +f 78 86 92 +f 88 78 92 +f 70 88 92 +f 70 81 93 +f 81 76 93 +f 76 84 93 +f 88 70 93 +f 84 88 93 +f 80 72 94 +f 72 82 94 +f 82 90 94 +f 87 71 95 +f 76 73 96 +f 73 80 96 +f 90 76 96 +f 80 94 96 +f 94 90 96 +f 79 77 97 +f 74 85 97 +f 85 79 97 +f 77 86 97 +f 89 74 97 +f 86 89 97 +f 78 87 98 +f 89 78 98 +f 87 95 98 +f 95 89 98 +f 75 78 99 +f 84 75 99 +f 78 88 99 +f 88 84 99 +f 71 85 100 +f 85 74 100 +f 74 89 100 +f 95 71 100 +f 89 95 100 +f 82 72 101 +f 72 87 101 +f 90 82 101 +f 84 90 101 +f 91 84 101 +o convex_3 +v -3.074891 0.490525 0.314125 +v -1.098892 0.587800 0.541108 +v -1.098892 0.360938 0.541108 +v -1.098892 -0.189719 -0.528029 +v -2.945286 -0.448892 0.508543 +v -2.977784 0.490525 -0.528029 +v -2.945286 -0.513743 -0.560486 +v -1.098892 -0.578593 0.476194 +v -1.098892 0.555375 -0.463115 +v -3.074891 0.587800 0.476302 +v -1.098892 -0.448892 -0.528029 +v -1.649618 0.587800 -0.236456 +v -1.714421 -0.546168 0.508543 +v -2.491667 -0.513743 -0.560486 +v -1.357910 0.555375 -0.495680 +v -2.977784 -0.060133 -0.560486 +v -3.010088 0.522950 -0.366068 +v -2.945286 -0.513743 -0.301262 +v -1.552511 0.360938 0.541108 +v -1.098892 -0.578593 0.379039 +v -2.977784 -0.286995 0.508543 +v -1.098892 0.587800 -0.333611 +v -1.098892 -0.481318 0.508651 +v -3.042393 0.587800 0.314125 +v -1.876525 0.555375 -0.495680 +v -2.070739 -0.448892 -0.560486 +f 115 117 127 +f 103 104 105 +f 105 104 109 +f 103 105 110 +f 105 109 112 +f 111 103 113 +f 110 105 116 +f 108 102 117 +f 115 108 117 +f 116 105 117 +f 107 116 117 +f 102 111 118 +f 117 102 118 +f 107 117 118 +f 108 109 119 +f 114 106 119 +f 109 114 119 +f 104 103 120 +f 103 111 120 +f 114 104 120 +f 106 114 120 +f 109 108 121 +f 112 109 121 +f 108 115 121 +f 115 112 121 +f 102 108 122 +f 111 102 122 +f 119 106 122 +f 108 119 122 +f 106 120 122 +f 120 111 122 +f 103 110 123 +f 113 103 123 +f 110 116 123 +f 109 104 124 +f 104 114 124 +f 114 109 124 +f 111 113 125 +f 118 111 125 +f 118 125 126 +f 116 107 126 +f 107 118 126 +f 113 123 126 +f 123 116 126 +f 125 113 126 +f 105 112 127 +f 112 115 127 +f 117 105 127 +o convex_4 +v 0.164758 0.425677 2.970768 +v 0.521242 -0.546193 2.646928 +v 0.553590 -0.546193 2.646928 +v -0.288664 0.652483 1.059505 +v -0.515322 -0.481191 3.003304 +v 0.553590 -0.481308 1.059696 +v -0.482973 -0.448807 1.059505 +v 0.488893 0.555331 1.059696 +v -0.547778 0.458061 2.970768 +v 0.456328 0.458061 2.938422 +v -0.547778 0.652483 1.059505 +v 0.553590 -0.546193 2.970958 +v 0.553590 -0.319271 2.970958 +v -0.223751 -0.513575 3.003304 +v 0.488893 0.263640 2.970768 +v -0.515322 -0.222002 1.545645 +v -0.547778 0.134104 2.873540 +v 0.488893 0.555331 1.221616 +v 0.521242 0.166488 1.059696 +v -0.482973 0.652483 1.124578 +f 138 136 147 +f 130 129 133 +f 131 133 134 +f 133 129 134 +f 132 128 136 +f 136 128 137 +f 131 134 138 +f 129 130 139 +f 130 133 139 +f 139 133 140 +f 139 140 141 +f 128 132 141 +f 132 134 141 +f 134 129 141 +f 129 139 141 +f 137 128 142 +f 141 140 142 +f 128 141 142 +f 134 132 143 +f 138 134 143 +f 138 143 144 +f 132 136 144 +f 136 138 144 +f 143 132 144 +f 135 131 145 +f 131 137 145 +f 137 142 145 +f 142 140 145 +f 133 131 146 +f 131 135 146 +f 140 133 146 +f 135 145 146 +f 145 140 146 +f 137 131 147 +f 136 137 147 +f 131 138 147 +o convex_5 +v -0.418217 0.555400 -1.111479 +v 0.456394 -0.578593 -1.662400 +v 0.521308 -0.578593 -1.662400 +v 0.391588 0.458163 -3.022872 +v -0.580286 -0.448943 -2.925377 +v -0.580286 -0.546181 -1.046676 +v 0.456394 0.490575 -1.046676 +v -0.515372 0.425750 -3.022872 +v 0.488851 -0.513768 -3.022872 +v 0.521308 -0.578593 -1.046676 +v 0.521308 0.458052 -2.990180 +v 0.456394 -0.546181 -2.957875 +v -0.450566 0.458163 -1.046676 +v -0.580286 -0.546181 -1.467991 +v 0.488851 0.490575 -1.597597 +v -0.256256 -0.578593 -1.079175 +v -0.580286 -0.448943 -1.046676 +v -0.580286 -0.254579 -2.957875 +v -0.158993 0.458163 -3.022872 +v 0.521308 0.004499 -3.022872 +v 0.488851 0.490575 -2.374650 +v 0.261976 -0.513768 -3.022872 +v 0.521308 -0.384118 -1.046676 +v -0.515372 0.425750 -2.795772 +v -0.547829 -0.448943 -2.957875 +v 0.132364 0.522988 -1.046676 +v 0.521308 0.458052 -2.569059 +v -0.515372 0.231386 -3.022872 +f 169 172 175 +f 155 151 156 +f 149 150 157 +f 154 153 157 +f 157 150 158 +f 150 149 159 +f 156 150 159 +f 153 154 160 +f 153 152 161 +f 152 159 161 +f 149 157 163 +f 157 153 163 +f 159 149 163 +f 153 161 163 +f 161 159 163 +f 152 153 164 +f 153 160 164 +f 152 164 165 +f 148 151 166 +f 155 148 166 +f 151 155 166 +f 150 156 167 +f 156 151 167 +f 151 158 167 +f 158 150 167 +f 151 148 168 +f 158 151 168 +f 162 158 168 +f 155 156 169 +f 156 159 169 +f 154 157 170 +f 157 158 170 +f 162 154 170 +f 148 155 171 +f 160 148 171 +f 164 160 171 +f 155 165 171 +f 165 164 171 +f 159 152 172 +f 152 165 172 +f 169 159 172 +f 148 160 173 +f 160 154 173 +f 154 162 173 +f 168 148 173 +f 162 168 173 +f 158 162 174 +f 170 158 174 +f 162 170 174 +f 165 155 175 +f 155 169 175 +f 172 165 175 +o convex_6 +v 1.136892 0.425788 0.508477 +v -1.001303 -0.157389 -1.046483 +v -1.001303 0.652600 -1.046483 +v -1.098683 -0.578593 0.994363 +v 1.071899 -0.578593 -1.013912 +v -1.066077 0.652600 0.994363 +v 1.071899 -0.578593 0.962204 +v 1.071899 0.652600 -0.981547 +v 1.071899 0.652600 0.962204 +v -1.001303 -0.578593 -1.013912 +v 0.553489 -0.481337 1.059505 +v -1.098683 0.652600 -0.528026 +v -0.580273 0.652600 1.059505 +v 1.136892 -0.481337 -0.495454 +v 0.683037 0.652600 -1.046483 +v -1.098683 -0.448918 -0.528026 +v 0.488715 0.555343 1.059505 +v 0.521102 -0.578593 -1.046483 +v 1.136892 -0.546174 0.573413 +v -0.482893 -0.448918 1.059505 +v 1.136892 0.490506 -0.430725 +v -1.098683 0.652600 0.605572 +v -0.709821 -0.578593 -1.046483 +v 1.104286 0.652600 -0.203964 +v 1.039512 0.652600 -1.013912 +v -1.098683 0.069181 0.994363 +f 181 197 201 +f 179 180 182 +f 178 181 183 +f 183 181 184 +f 180 179 185 +f 179 182 186 +f 182 184 186 +f 178 177 187 +f 181 178 187 +f 184 181 188 +f 180 183 189 +f 177 178 190 +f 178 183 190 +f 177 185 191 +f 185 179 191 +f 187 177 191 +f 179 187 191 +f 186 184 192 +f 184 188 192 +f 188 186 192 +f 180 185 193 +f 177 190 193 +f 190 180 193 +f 182 180 194 +f 184 182 194 +f 176 184 194 +f 189 176 194 +f 180 189 194 +f 179 186 195 +f 188 179 195 +f 186 188 195 +f 176 189 196 +f 189 183 196 +f 181 187 197 +f 187 179 197 +f 185 177 198 +f 177 193 198 +f 193 185 198 +f 183 184 199 +f 184 176 199 +f 196 183 199 +f 176 196 199 +f 183 180 200 +f 180 190 200 +f 190 183 200 +f 179 188 201 +f 188 181 201 +f 197 179 201 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/984/984.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/984/984.urdf new file mode 100644 index 000000000..a033bc7c8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/984/984.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/985/985.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/985/985.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/985/985.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/985/985.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/985/985.obj new file mode 100644 index 000000000..acd4545a9 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/985/985.obj @@ -0,0 +1,543 @@ +o convex_0 +v 1.066593 -4.279983 -0.414320 +v -1.113932 -3.385605 0.515077 +v -1.113932 -3.385605 0.586886 +v 1.066593 1.188946 0.550873 +v -0.970747 1.188946 -1.521829 +v -1.078136 -5.245533 -1.521829 +v 1.066593 1.188946 -1.486250 +v 0.923625 -5.209632 0.586886 +v 1.102389 -5.245533 -1.522046 +v -1.078136 1.188946 0.479498 +v -1.078136 -5.209632 0.443485 +v 0.995001 -3.206730 -1.629435 +v 0.709066 1.188946 -1.593638 +v 1.066593 1.117144 0.586886 +v -1.078136 1.188946 -0.163964 +v -1.006543 -3.172089 -1.557842 +v -1.113932 -2.062934 0.586886 +v 1.030797 -2.634832 0.550873 +v -0.649016 1.188946 -1.557842 +v 1.102389 -4.887782 -1.093144 +v 1.030797 -5.245533 -0.592433 +v -1.078136 -4.708277 -1.521829 +v -0.935168 0.795295 0.515077 +v 1.066593 -0.169626 0.586669 +v -0.577641 -4.744178 -1.557625 +v 0.959204 -5.137830 0.443485 +v -0.863576 -5.173731 0.479498 +v 0.601894 0.795295 0.586886 +v 0.923625 -3.314433 -1.629435 +v -1.042339 -5.245533 -0.949960 +v -1.006543 1.188946 -1.128723 +v -1.113932 -1.885949 0.515077 +v -0.863576 -3.743986 0.586886 +v 1.030797 -3.385605 0.372326 +v 1.030797 -4.708277 -1.557625 +v 0.601894 1.188946 -1.593638 +v 1.102389 -5.245533 -1.271691 +f 20 26 37 +f 3 2 6 +f 5 4 7 +f 4 5 10 +f 3 6 11 +f 7 9 12 +f 5 7 13 +f 7 12 13 +f 3 8 14 +f 4 10 14 +f 10 5 15 +f 2 3 17 +f 3 14 17 +f 5 13 19 +f 16 5 19 +f 7 4 20 +f 9 7 20 +f 4 14 20 +f 6 9 21 +f 8 11 21 +f 6 2 22 +f 5 16 22 +f 16 6 22 +f 14 10 23 +f 10 17 23 +f 14 8 24 +f 8 18 24 +f 20 14 24 +f 9 6 25 +f 6 16 25 +f 18 8 26 +f 20 1 26 +f 3 11 27 +f 11 8 27 +f 17 14 28 +f 14 23 28 +f 23 17 28 +f 16 19 29 +f 25 16 29 +f 11 6 30 +f 6 21 30 +f 21 11 30 +f 15 5 31 +f 5 22 31 +f 22 15 31 +f 10 15 32 +f 2 17 32 +f 17 10 32 +f 22 2 32 +f 15 22 32 +f 8 3 33 +f 3 27 33 +f 27 8 33 +f 1 20 34 +f 24 18 34 +f 20 24 34 +f 26 1 34 +f 18 26 34 +f 12 9 35 +f 9 25 35 +f 29 12 35 +f 25 29 35 +f 13 12 36 +f 19 13 36 +f 12 29 36 +f 29 19 36 +f 9 20 37 +f 21 9 37 +f 8 21 37 +f 26 8 37 +o convex_1 +v -2.472315 2.154118 1.730723 +v -1.507381 1.546445 1.194720 +v -1.507381 1.546445 1.230418 +v -0.577725 2.082568 1.194720 +v -0.577725 1.510670 1.837951 +v -3.044219 1.617933 1.266182 +v -3.044219 1.689483 1.766421 +v -0.577725 2.046793 1.802186 +v -3.115770 2.046793 1.301947 +v -3.115770 2.154118 1.873782 +v -0.577725 1.510670 1.194720 +v -2.079037 2.082568 1.230418 +v -2.758267 1.617933 1.766421 +v -0.863926 2.118280 1.266182 +v -3.079995 2.154118 1.730723 +v -0.899453 2.082568 1.802186 +v -2.615167 1.760970 1.230418 +v -1.292979 2.082568 1.194720 +v -0.577725 1.725258 1.837951 +v -3.079995 1.689483 1.730723 +v -3.044219 2.011081 1.266182 +f 55 54 58 +f 40 39 42 +f 39 40 43 +f 40 42 43 +f 42 41 45 +f 39 41 48 +f 41 42 48 +f 42 39 48 +f 43 42 50 +f 47 44 50 +f 42 47 50 +f 45 41 51 +f 51 49 52 +f 46 47 52 +f 47 38 52 +f 49 46 52 +f 38 51 52 +f 38 47 53 +f 47 45 53 +f 51 38 53 +f 45 51 53 +f 39 43 54 +f 41 39 55 +f 51 41 55 +f 49 51 55 +f 39 54 55 +f 42 45 56 +f 47 42 56 +f 45 47 56 +f 46 43 57 +f 44 47 57 +f 47 46 57 +f 43 50 57 +f 50 44 57 +f 43 46 58 +f 46 49 58 +f 54 43 58 +f 49 55 58 +o convex_2 +v 0.422998 2.404348 -2.701792 +v -0.506147 1.224694 -3.488144 +v -0.506147 1.367762 -3.523807 +v -0.541866 2.296960 -1.593884 +v 0.601817 1.296401 -1.593688 +v 0.494548 1.260605 -3.523807 +v -0.434597 2.368437 -3.595525 +v -0.541866 1.224694 -1.593884 +v 0.601817 2.332756 -1.593688 +v 0.422998 2.404348 -3.523807 +v 0.530379 1.367762 -3.416622 +v -0.541866 1.296286 -3.416622 +v -0.541866 2.332756 -1.736732 +v -0.112901 1.224694 -1.736732 +v 0.601817 1.296401 -2.165669 +v -0.112901 2.404348 -3.488144 +v 0.458829 2.404348 -3.345295 +v -0.470316 2.368437 -3.237914 +v 0.566098 2.368552 -1.772591 +v -0.184451 2.154006 -3.595525 +v -0.112901 1.224694 -3.488144 +v 0.387391 1.260605 -1.593884 +v 0.315841 2.404348 -3.559470 +v -0.541866 2.296960 -2.058484 +v -0.470316 2.332756 -1.593884 +v 0.530379 1.260605 -2.737455 +f 80 72 84 +f 60 61 64 +f 63 62 66 +f 62 63 67 +f 64 68 69 +f 61 60 70 +f 65 61 70 +f 60 66 70 +f 66 62 70 +f 70 62 71 +f 66 60 72 +f 67 63 73 +f 64 69 73 +f 69 67 73 +f 59 68 74 +f 68 59 75 +f 67 69 75 +f 69 68 75 +f 65 70 76 +f 74 65 76 +f 71 74 76 +f 75 59 77 +f 67 75 77 +f 64 61 78 +f 61 65 78 +f 60 64 79 +f 72 60 79 +f 63 66 80 +f 66 72 80 +f 68 64 81 +f 65 74 81 +f 74 68 81 +f 64 78 81 +f 78 65 81 +f 70 71 82 +f 76 70 82 +f 71 76 82 +f 62 67 83 +f 71 62 83 +f 59 74 83 +f 74 71 83 +f 77 59 83 +f 67 77 83 +f 73 63 84 +f 64 73 84 +f 79 64 84 +f 72 79 84 +f 63 80 84 +o convex_3 +v -1.077971 2.261136 -0.520854 +v 1.102175 2.439948 0.514993 +v 1.102175 1.761044 0.514993 +v 1.066530 1.188947 -1.486159 +v 1.066530 2.940383 -1.450398 +v -1.077971 1.188947 0.479477 +v -0.970821 1.188947 -1.522165 +v -1.077971 2.940383 0.479477 +v -1.042325 2.833061 -1.593688 +v 0.565997 1.260609 0.908610 +v 1.102175 2.868892 0.479477 +v -0.541793 2.404117 0.908610 +v 1.066530 1.188947 0.550999 +v 0.709006 1.188947 -1.593688 +v 0.458847 2.404117 0.908610 +v -0.470501 1.367930 0.908610 +v 0.637502 2.404117 -1.593688 +v -0.934962 2.868892 -1.593688 +v 1.102175 2.904552 -0.985749 +v -0.541793 1.224949 -1.593688 +v -1.077971 1.188947 -0.199739 +v 0.565997 2.904552 0.479477 +v 0.780511 2.940383 -1.486404 +v -1.042325 2.475608 -1.593688 +v 1.066530 2.940383 -1.057271 +v 1.066530 2.547099 -1.486159 +v 1.102175 2.011347 -0.342539 +v -1.077971 2.940383 0.372193 +v 1.102175 2.904552 0.086349 +v -1.006466 1.725384 -1.557926 +v -0.899316 2.940383 0.479477 +f 113 109 115 +f 88 90 91 +f 85 90 92 +f 86 87 95 +f 92 90 96 +f 87 86 97 +f 88 87 97 +f 90 88 97 +f 86 94 97 +f 94 90 97 +f 88 91 98 +f 94 86 99 +f 86 95 99 +f 92 96 99 +f 96 94 99 +f 90 94 100 +f 96 90 100 +f 94 96 100 +f 98 93 101 +f 101 93 102 +f 95 87 103 +f 98 91 104 +f 93 98 104 +f 90 85 105 +f 91 90 105 +f 99 95 106 +f 92 89 107 +f 89 101 107 +f 101 102 107 +f 85 93 108 +f 93 104 108 +f 105 85 108 +f 89 92 109 +f 103 89 109 +f 88 98 110 +f 101 89 110 +f 98 101 110 +f 103 88 110 +f 89 103 110 +f 87 88 111 +f 103 87 111 +f 88 103 111 +f 85 92 112 +f 93 85 112 +f 102 93 112 +f 92 107 112 +f 107 102 112 +f 95 103 113 +f 106 95 113 +f 103 109 113 +f 104 91 114 +f 91 105 114 +f 108 104 114 +f 105 108 114 +f 92 99 115 +f 99 106 115 +f 109 92 115 +f 106 113 115 +o convex_4 +v 0.494657 2.189306 0.908725 +v -0.577725 0.796162 1.909417 +v -0.577725 0.796162 1.945094 +v -0.577725 4.870899 1.123250 +v 0.458861 4.870899 1.980887 +v 0.458861 -1.169824 1.945094 +v -0.434656 -1.098441 0.980310 +v -0.470452 4.834613 2.016564 +v 0.566133 4.870899 0.980310 +v 0.458861 -1.098441 0.980310 +v -0.434656 -1.206110 2.052356 +v -0.577725 2.404047 0.908725 +v 0.530337 2.260688 2.088264 +v 0.601929 1.583152 1.266189 +v -0.577725 4.870899 0.944518 +v -0.577725 1.403506 2.088264 +v 0.566133 1.261337 0.908725 +v 0.601929 2.010255 1.730685 +v 0.101361 3.476566 2.088264 +v 0.494657 1.332719 2.088264 +v 0.494657 4.763230 1.909417 +v -0.363179 4.584775 2.052356 +v -0.434656 1.403506 0.908725 +v 0.566133 0.581421 1.015988 +v 0.530337 4.334342 0.944518 +v -0.220226 -1.206110 2.052356 +v -0.577725 1.511174 1.194720 +v 0.601929 1.546866 1.694892 +v 0.566133 4.870899 1.230512 +v -0.470452 -0.919986 2.052356 +v 0.494657 3.762094 2.052356 +v 0.458861 -1.134132 1.194720 +v 0.601929 2.010255 1.123250 +v -0.434656 -1.134132 1.087457 +v -0.470452 -0.705244 1.159042 +v 0.423180 2.511121 0.908725 +v 0.494657 -0.740340 0.980310 +v 0.065681 -1.206110 1.945094 +v 0.137158 4.834613 2.016564 +v -0.148634 4.870899 0.944518 +v -0.470452 2.367761 2.088264 +v 0.530337 2.582503 2.088264 +f 136 146 157 +f 117 118 119 +f 120 119 123 +f 119 120 124 +f 117 119 127 +f 119 124 130 +f 127 119 130 +f 119 118 131 +f 123 119 131 +f 125 122 132 +f 127 116 132 +f 131 128 134 +f 121 128 135 +f 131 126 135 +f 128 131 135 +f 123 131 137 +f 122 127 138 +f 132 122 138 +f 127 132 138 +f 132 116 140 +f 124 132 140 +f 121 135 141 +f 135 126 141 +f 117 127 142 +f 127 122 142 +f 128 121 143 +f 133 128 143 +f 129 133 143 +f 121 139 143 +f 139 129 143 +f 124 120 144 +f 133 124 144 +f 120 136 144 +f 136 133 144 +f 118 117 145 +f 131 118 145 +f 126 131 145 +f 136 120 146 +f 132 124 148 +f 124 133 148 +f 133 129 148 +f 129 139 148 +f 139 132 148 +f 122 125 149 +f 126 145 149 +f 125 147 149 +f 117 142 150 +f 142 122 150 +f 145 117 150 +f 122 149 150 +f 149 145 150 +f 116 127 151 +f 127 130 151 +f 140 116 151 +f 125 132 152 +f 139 121 152 +f 132 139 152 +f 147 125 152 +f 121 147 152 +f 121 141 153 +f 141 126 153 +f 147 121 153 +f 126 149 153 +f 149 147 153 +f 120 123 154 +f 123 137 154 +f 137 134 154 +f 134 146 154 +f 146 120 154 +f 130 124 155 +f 124 140 155 +f 151 130 155 +f 140 151 155 +f 131 134 156 +f 137 131 156 +f 134 137 156 +f 128 133 157 +f 134 128 157 +f 133 136 157 +f 146 134 157 +o convex_5 +v 0.280206 2.296925 2.552932 +v -0.577725 1.260671 2.088264 +v -0.112929 1.260671 2.088264 +v -0.506175 1.260671 2.624471 +v -0.470456 2.368394 2.088264 +v 0.494632 1.332141 2.088264 +v 0.530351 2.332717 2.088264 +v 0.566182 1.296349 2.481444 +v -0.506175 2.296925 2.588623 +v 0.458913 2.440095 2.517135 +v -0.506175 2.368394 2.302831 +v 0.494632 1.653813 2.517135 +v 0.029948 2.404187 2.159804 +f 167 164 170 +f 159 160 161 +f 160 159 162 +f 160 162 163 +f 163 162 164 +f 161 160 165 +f 160 163 165 +f 163 164 165 +f 159 161 166 +f 161 158 166 +f 165 164 167 +f 166 158 167 +f 162 159 168 +f 159 166 168 +f 167 162 168 +f 166 167 168 +f 158 161 169 +f 161 165 169 +f 167 158 169 +f 165 167 169 +f 164 162 170 +f 162 167 170 +o convex_6 +v 0.602062 1.582294 1.266095 +v 2.925186 2.154118 1.373466 +v 2.961190 2.118350 1.444670 +v 2.961190 1.474923 1.123093 +v 3.104227 1.582294 1.730793 +v 0.602062 2.010979 1.730793 +v 0.602062 2.010979 1.123093 +v 0.602062 1.546526 1.695043 +v 3.068223 2.011112 1.695043 +v 2.925186 2.154118 1.266095 +v 1.960177 1.546526 1.730793 +v 2.961190 1.582294 1.123093 +v 0.781103 2.046747 1.194713 +v 2.746635 1.474923 1.123093 +v 2.603598 2.154118 1.301846 +v 3.068223 1.796703 1.730793 +v 0.602062 1.546526 1.480420 +v 2.961190 1.474923 1.194713 +f 178 184 188 +f 171 176 177 +f 176 171 178 +f 173 172 179 +f 172 176 179 +f 172 173 180 +f 173 179 180 +f 175 176 181 +f 176 178 181 +f 175 174 182 +f 174 177 182 +f 179 175 182 +f 177 180 182 +f 180 179 182 +f 177 176 183 +f 180 177 183 +f 171 177 184 +f 177 174 184 +f 176 172 185 +f 172 180 185 +f 183 176 185 +f 180 183 185 +f 176 175 186 +f 175 179 186 +f 179 176 186 +f 178 171 187 +f 171 184 187 +f 184 178 187 +f 174 175 188 +f 175 181 188 +f 181 178 188 +f 184 174 188 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/985/985.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/985/985.urdf new file mode 100644 index 000000000..ad4342efe --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/985/985.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/986/986.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/986/986.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/986/986.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/986/986.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/986/986.obj new file mode 100644 index 000000000..34bf39039 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/986/986.obj @@ -0,0 +1,189 @@ +o convex_0 +v 1.071197 0.960869 0.675313 +v -1.072098 -2.977620 -1.004271 +v -1.072098 -2.977620 -0.772785 +v -0.956079 3.046058 0.964973 +v 1.071197 3.104030 -0.975486 +v 1.070987 -2.948634 0.906800 +v 0.984131 -3.035593 -1.033459 +v -0.927127 3.016468 -1.062445 +v -0.927127 -2.948634 0.964973 +v 1.042035 2.987482 0.993959 +v 0.086406 -3.065183 0.559369 +v -0.463684 -1.645467 0.993959 +v -0.029193 0.177640 -1.062445 +v 0.926226 -2.948634 0.935987 +v -0.550750 -3.065183 -0.598868 +v -0.956079 -2.948634 0.907001 +v -0.956079 2.408363 -1.062445 +v -1.072098 -2.253571 -0.743597 +v 0.173262 3.103426 -0.396167 +v 1.070987 -2.977620 0.733084 +v 0.984131 3.016468 0.993959 +v -0.608654 3.046058 -1.062445 +v 0.868322 -3.065183 -0.917514 +v 1.042035 0.902293 -1.004472 +v 0.260118 3.016468 0.993959 +v 0.231166 -3.035593 -1.033459 +v 0.578591 -3.065183 0.588154 +v -0.637606 -3.035593 0.617140 +v -0.985031 1.886613 0.588154 +v 1.071197 0.005535 0.964973 +v -0.956079 1.655328 -1.062445 +v 1.071197 3.104030 -0.656639 +v -0.058145 3.046058 0.964973 +v -0.956079 3.046058 0.414640 +v 0.984131 -1.732425 -1.033459 +v -0.029193 -2.948634 0.964973 +v -1.013983 -3.007210 -0.975486 +v -0.927127 3.046058 -0.541097 +v -0.956079 -0.776487 0.964973 +v 1.042035 2.466336 0.993959 +v 0.636705 2.958496 -1.004472 +v -0.985031 -1.008376 -1.033459 +v -0.521798 -1.587494 0.993959 +v -1.072098 -2.340530 -0.975486 +v 1.013083 -2.659377 -0.598667 +v 1.042035 -2.977620 0.906800 +v 0.665658 3.103426 -0.975486 +v -0.724463 -2.977620 0.906800 +v 1.071197 3.074440 -0.453937 +v 1.071197 1.916203 -0.685826 +v -1.072098 -2.919648 -0.743597 +v -1.013983 -3.007210 -0.714813 +v -0.724463 3.046058 -1.062445 +v 1.070987 -2.543432 0.935786 +v -0.318924 1.742286 -1.062445 +v 0.984131 -3.035593 -0.396167 +v -0.985031 0.844320 0.588355 +v -0.869223 -2.977620 0.877814 +v 0.144310 -3.065183 -0.801771 +v -0.724463 -3.035593 0.211737 +v 1.013083 -1.356209 -0.975486 +v -0.521798 -3.065183 -0.367180 +v 1.071197 0.410132 0.964973 +v 0.752514 -3.035593 0.704098 +f 56 46 64 +f 8 13 17 +f 2 3 18 +f 12 10 21 +f 13 8 22 +f 11 15 23 +f 21 4 25 +f 12 21 25 +f 13 7 26 +f 7 23 26 +f 11 23 27 +f 5 1 30 +f 6 20 30 +f 2 17 31 +f 17 13 31 +f 13 26 31 +f 1 5 32 +f 5 19 32 +f 21 10 32 +f 21 32 33 +f 19 4 33 +f 4 21 33 +f 32 19 33 +f 8 17 34 +f 4 19 34 +f 29 4 34 +f 18 29 34 +f 7 13 35 +f 24 7 35 +f 12 9 36 +f 14 12 36 +f 3 2 37 +f 2 26 37 +f 8 34 38 +f 34 19 38 +f 16 9 39 +f 10 12 40 +f 12 14 40 +f 30 10 40 +f 14 30 40 +f 22 5 41 +f 5 24 41 +f 24 35 41 +f 26 2 42 +f 2 31 42 +f 31 26 42 +f 9 12 43 +f 25 4 43 +f 12 25 43 +f 4 39 43 +f 39 9 43 +f 17 2 44 +f 2 18 44 +f 34 17 44 +f 18 34 44 +f 20 7 45 +f 6 14 46 +f 20 6 46 +f 36 9 46 +f 14 36 46 +f 19 5 47 +f 11 27 48 +f 28 11 48 +f 46 9 48 +f 10 1 49 +f 1 32 49 +f 32 10 49 +f 24 5 50 +f 5 30 50 +f 30 20 50 +f 20 45 50 +f 3 16 51 +f 18 3 51 +f 16 39 51 +f 16 3 52 +f 3 37 52 +f 37 15 52 +f 22 8 53 +f 5 22 53 +f 8 38 53 +f 38 19 53 +f 47 5 53 +f 19 47 53 +f 14 6 54 +f 6 30 54 +f 30 14 54 +f 13 22 55 +f 35 13 55 +f 22 41 55 +f 41 35 55 +f 7 20 56 +f 23 7 56 +f 27 23 56 +f 20 46 56 +f 4 29 57 +f 29 18 57 +f 39 4 57 +f 18 51 57 +f 51 39 57 +f 9 16 58 +f 48 9 58 +f 28 48 58 +f 16 52 58 +f 23 15 59 +f 26 23 59 +f 37 26 59 +f 15 37 59 +f 52 15 60 +f 28 58 60 +f 58 52 60 +f 7 24 61 +f 45 7 61 +f 24 50 61 +f 50 45 61 +f 15 11 62 +f 11 28 62 +f 60 15 62 +f 28 60 62 +f 1 10 63 +f 30 1 63 +f 10 30 63 +f 48 27 64 +f 46 48 64 +f 27 56 64 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/986/986.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/986/986.urdf new file mode 100644 index 000000000..22605e926 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/986/986.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/987/987.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/987/987.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/987/987.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/987/987.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/987/987.obj new file mode 100644 index 000000000..e59546989 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/987/987.obj @@ -0,0 +1,255 @@ +o convex_0 +v 0.321044 -2.600961 -0.624454 +v 0.469961 -4.238316 0.566299 +v 0.380611 -4.238316 0.566299 +v 0.469961 -4.536106 -0.565004 +v -0.572115 -4.416990 0.298307 +v -0.542332 -2.541208 0.477007 +v -0.452982 -4.446867 -0.594845 +v 0.588980 -2.541208 0.476891 +v -0.423312 -2.541208 -0.505437 +v 0.529414 -4.536106 0.566299 +v 0.440177 -2.541208 -0.624454 +v -0.542332 -4.416990 0.447282 +v 0.588980 -3.047744 0.209015 +v -0.452982 -3.524012 -0.565004 +v 0.499744 -4.416990 -0.475595 +v -0.542332 -2.541208 0.298307 +v 0.380611 -4.536106 0.536458 +v 0.559197 -4.178758 0.506733 +v -0.274395 -2.868875 0.506849 +v 0.588980 -2.541208 0.238740 +v -0.423312 -2.571085 -0.535279 +v 0.469961 -3.642737 -0.594729 +v -0.572115 -3.553302 0.447282 +v -0.452982 -4.178758 -0.594845 +v -0.214829 -4.446867 -0.594845 +v 0.350827 -4.536106 -0.565004 +v -0.452982 -2.541208 -0.416145 +v 0.469961 -2.809512 -0.535162 +v 0.588980 -3.375214 0.506733 +v 0.380611 -4.446671 0.566299 +v -0.542332 -2.839193 0.477007 +v 0.529414 -4.536106 0.209015 +v -0.482765 -4.208635 -0.416145 +v -0.363745 -4.446867 0.447282 +v 0.529414 -3.880969 -0.267286 +v 0.321044 -2.809512 -0.624570 +v -0.572115 -4.238316 0.447282 +v -0.452982 -4.446867 -0.326736 +v -0.572115 -3.642932 0.387715 +f 14 33 39 +f 6 8 9 +f 2 3 10 +f 8 2 10 +f 9 8 11 +f 6 9 16 +f 4 10 17 +f 10 12 17 +f 15 13 18 +f 3 2 19 +f 2 8 19 +f 8 6 19 +f 11 8 20 +f 8 13 20 +f 11 1 21 +f 9 11 21 +f 15 4 22 +f 6 16 23 +f 21 1 24 +f 14 21 24 +f 4 7 25 +f 22 4 25 +f 7 4 26 +f 4 17 26 +f 16 9 27 +f 14 16 27 +f 9 21 27 +f 21 14 27 +f 11 20 28 +f 22 11 28 +f 8 10 29 +f 13 8 29 +f 10 18 29 +f 18 13 29 +f 10 3 30 +f 12 10 30 +f 3 19 30 +f 30 19 31 +f 19 6 31 +f 6 23 31 +f 10 4 32 +f 4 15 32 +f 18 10 32 +f 15 18 32 +f 7 5 33 +f 24 7 33 +f 14 24 33 +f 12 5 34 +f 17 12 34 +f 13 15 35 +f 20 13 35 +f 15 22 35 +f 28 20 35 +f 22 28 35 +f 1 11 36 +f 11 22 36 +f 7 24 36 +f 24 1 36 +f 25 7 36 +f 22 25 36 +f 5 12 37 +f 23 5 37 +f 12 30 37 +f 30 31 37 +f 31 23 37 +f 5 7 38 +f 7 26 38 +f 26 17 38 +f 34 5 38 +f 17 34 38 +f 16 14 39 +f 5 23 39 +f 23 16 39 +f 33 5 39 +o convex_1 +v 1.035727 3.592357 0.744749 +v -1.048669 -2.511186 -0.058743 +v -1.048669 -2.511186 1.012851 +v 1.035727 -2.540608 0.863905 +v -0.929466 3.473469 -1.011792 +v 1.065528 -2.451741 -0.922424 +v -0.989067 3.562936 1.013055 +v 1.065528 3.503491 -0.981799 +v -1.018868 -2.540608 -0.952009 +v 1.035727 -2.451141 1.072634 +v 1.005927 3.502891 0.953273 +v 0.916524 -1.974987 -0.952009 +v -0.512669 2.341626 -1.011792 +v -1.018868 0.734230 0.060006 +v 0.440127 -2.540608 -0.624533 +v 1.065528 3.532913 -0.952009 +v -0.423267 -2.511186 1.042844 +v 1.065528 2.282182 -0.475587 +v -1.048669 -0.962633 1.012851 +v -0.989067 3.562936 0.744749 +v -0.989067 -0.992055 -0.981799 +v -1.018868 -1.498832 -0.952009 +v -0.721068 3.562936 1.013055 +v 1.065528 1.924916 -0.981799 +v 0.946325 -2.540608 1.072634 +v 0.023330 3.473469 -1.011792 +v -0.542470 -2.540608 0.476850 +v 1.035727 1.924916 0.983062 +v 0.440127 -2.481164 -0.952009 +v -1.018868 2.073827 0.983062 +v 0.112525 3.592357 0.953273 +v -0.989067 3.502891 0.536429 +v 1.065528 -2.213364 -0.743689 +v 0.946325 3.592357 0.953273 +v -0.929466 1.954338 -1.011792 +v 0.976126 3.592357 0.536429 +v 1.065528 -1.677165 -0.952009 +v 1.065528 3.414025 -0.624533 +v 1.005927 3.532913 -0.952009 +v -1.018868 -2.540608 -0.326641 +v -0.185068 -2.540608 0.774742 +v -0.959266 2.013783 -0.922220 +v -0.750868 -2.540608 -0.952009 +v 1.065528 1.597673 -0.475587 +v 1.035727 0.525875 1.012851 +v -1.048669 -1.319899 0.715164 +v 0.112525 3.592357 0.923484 +v 1.035727 -2.540608 1.072634 +f 72 83 87 +f 42 41 48 +f 45 43 54 +f 43 48 54 +f 45 47 55 +f 45 55 57 +f 41 42 58 +f 42 56 58 +f 56 46 58 +f 48 41 61 +f 41 53 61 +f 44 60 61 +f 60 48 61 +f 46 49 62 +f 47 45 63 +f 48 43 64 +f 49 46 64 +f 56 42 64 +f 46 56 64 +f 44 47 65 +f 52 44 65 +f 47 63 65 +f 63 52 65 +f 48 64 66 +f 40 50 67 +f 51 45 68 +f 52 51 68 +f 45 54 68 +f 60 52 68 +f 58 46 69 +f 46 59 69 +f 59 46 70 +f 46 62 70 +f 59 44 71 +f 53 69 71 +f 69 59 71 +f 45 57 72 +f 50 40 73 +f 62 50 73 +f 40 70 73 +f 70 62 73 +f 44 52 74 +f 60 44 74 +f 52 60 74 +f 40 55 75 +f 70 40 75 +f 45 51 76 +f 51 52 76 +f 63 45 76 +f 52 63 76 +f 55 40 77 +f 57 55 77 +f 40 67 77 +f 67 57 77 +f 47 44 78 +f 55 47 78 +f 44 59 78 +f 75 55 78 +f 42 48 79 +f 66 42 79 +f 48 66 79 +f 64 42 80 +f 42 66 80 +f 66 64 80 +f 61 53 81 +f 44 61 81 +f 71 44 81 +f 53 71 81 +f 54 48 82 +f 48 60 82 +f 68 54 82 +f 60 68 82 +f 57 49 83 +f 72 57 83 +f 49 57 84 +f 62 49 84 +f 50 62 84 +f 67 50 84 +f 57 67 84 +f 53 41 85 +f 41 58 85 +f 69 53 85 +f 58 69 85 +f 59 70 86 +f 70 75 86 +f 78 59 86 +f 75 78 86 +f 43 45 87 +f 64 43 87 +f 49 64 87 +f 45 72 87 +f 83 49 87 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/987/987.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/987/987.urdf new file mode 100644 index 000000000..11b17579d --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/987/987.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/988/988.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/988/988.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/988/988.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/988/988.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/988/988.obj new file mode 100644 index 000000000..31adbc6a8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/988/988.obj @@ -0,0 +1,537 @@ +o convex_0 +v 0.129920 -1.040754 -3.705110 +v -0.058445 -1.574474 -2.512042 +v 0.004323 -1.574474 -2.512042 +v 0.255517 -0.789569 -2.354883 +v -0.246872 -0.977901 -2.354883 +v -0.184042 -1.260359 -3.830769 +v 0.255517 -1.542971 -2.354883 +v 0.192687 -1.291786 -3.830769 +v -0.278286 -1.480194 -2.354883 +v -0.027031 -1.448767 -3.862097 +v -0.027031 -1.009327 -3.862097 +v 0.318346 -1.228932 -2.543543 +v -0.184042 -0.977901 -3.171664 +v -0.309701 -1.197582 -2.543543 +v 0.035676 -1.197582 -4.113414 +v 0.067090 -0.820920 -2.449385 +v 0.286931 -0.820920 -2.386556 +v 0.067090 -1.448767 -3.799096 +v 0.192687 -1.197582 -3.830769 +v -0.184042 -1.197582 -3.862097 +v -0.152689 -1.385990 -3.705110 +v 0.035676 -1.009327 -3.893598 +v -0.278286 -1.480194 -2.449385 +v 0.318346 -1.040754 -2.354883 +v 0.004323 -1.260359 -4.113414 +v -0.089860 -1.574474 -2.354883 +v -0.309701 -1.354563 -2.417712 +v 0.161334 -1.417340 -3.579279 +v 0.161334 -0.789569 -2.386556 +v -0.027031 -0.852346 -2.354883 +f 29 16 30 +f 4 5 7 +f 7 5 9 +f 3 2 10 +f 7 8 12 +f 5 13 14 +f 11 13 16 +f 7 3 18 +f 3 10 18 +f 12 8 19 +f 8 15 19 +f 1 17 19 +f 13 11 20 +f 6 14 20 +f 14 13 20 +f 11 15 20 +f 6 10 21 +f 15 11 22 +f 17 1 22 +f 4 17 22 +f 1 19 22 +f 19 15 22 +f 10 2 23 +f 6 21 23 +f 21 10 23 +f 4 7 24 +f 7 12 24 +f 17 4 24 +f 12 19 24 +f 19 17 24 +f 10 6 25 +f 15 8 25 +f 8 18 25 +f 18 10 25 +f 6 20 25 +f 20 15 25 +f 2 3 26 +f 3 7 26 +f 7 9 26 +f 23 2 26 +f 9 23 26 +f 9 5 27 +f 14 6 27 +f 5 14 27 +f 23 9 27 +f 6 23 27 +f 8 7 28 +f 7 18 28 +f 18 8 28 +f 11 16 29 +f 4 22 29 +f 22 11 29 +f 5 4 30 +f 13 5 30 +f 16 13 30 +f 4 29 30 +o convex_1 +v -0.278274 0.184057 0.597534 +v 0.004323 -2.265326 -1.286146 +v 0.004323 -2.233678 -1.600194 +v 1.040440 0.183817 -1.066434 +v 0.789197 -1.291663 3.422141 +v -0.749199 -1.197437 3.296765 +v -0.906173 0.184057 -1.820514 +v 0.695137 -1.982410 -1.883202 +v -0.717845 -1.951001 -1.977538 +v 0.035676 -2.014058 3.328413 +v 0.318272 -0.444353 3.171389 +v 0.632222 0.183817 -2.134562 +v 0.820759 -2.014058 1.915197 +v -1.000442 0.184057 -0.030562 +v -0.749199 -1.919593 1.884158 +v -1.000442 -1.291663 -0.595362 +v 1.072002 -1.260254 0.063166 +v -0.309627 -1.448465 -2.354883 +v -0.089737 -0.444113 3.360062 +v 0.977734 0.183817 0.000478 +v -1.000442 -1.197437 1.915197 +v 0.004323 -1.166029 3.862782 +v 1.040440 -1.228846 2.103869 +v 0.004323 -2.233678 1.978494 +v 0.914819 -1.260254 -1.852162 +v 0.663784 -0.475521 2.982717 +v 0.286919 -1.542931 -2.354883 +v -1.063357 0.121000 -1.129730 +v -0.623577 -0.601395 2.888990 +v 0.789197 -2.014058 -1.223458 +v -0.497955 0.184057 -2.071874 +v -0.717845 -2.014058 -1.098691 +v -0.874820 -1.260254 -1.883202 +v 1.040440 -1.260254 -1.129730 +v 0.914819 0.183817 -1.851554 +v 0.161297 -0.789846 -2.354883 +v 0.067029 -2.202269 -1.883811 +v -0.874820 -0.444113 1.852509 +v -0.497955 -1.793959 3.014365 +v 0.600869 -1.825367 3.046014 +v 0.318272 0.184057 0.503807 +v -1.000442 -1.260254 -1.224066 +v 0.098382 -2.265326 -1.161378 +v 0.914819 -0.475521 1.789821 +v -0.686492 -1.982650 1.884158 +v 0.129735 -2.233678 1.915806 +v -0.058384 -1.637156 -2.354883 +v 0.035676 -1.951001 3.422750 +v 1.072002 -1.260254 1.130077 +v 0.789197 -1.134620 3.359453 +v 0.004323 -1.323071 3.831134 +v 0.757844 -2.045466 1.946845 +v -0.278274 -1.040635 -2.354883 +v -0.717845 -1.071803 3.296765 +v 0.883465 -1.260254 -1.914850 +v -1.031795 -0.883832 -1.129730 +v 0.757844 -2.045466 -1.160770 +v 0.349625 -1.166029 -2.354883 +v -0.027031 -2.233678 1.915806 +v -0.780552 -1.888184 -1.129730 +v -0.089737 -0.412704 3.265726 +v 1.040440 -1.354480 1.977885 +v 1.009087 0.183817 -0.187586 +v -1.000442 -1.291663 0.439902 +f 46 90 94 +f 33 32 39 +f 31 37 44 +f 45 36 51 +f 41 49 52 +f 50 41 56 +f 41 52 56 +f 44 37 58 +f 51 44 58 +f 49 44 59 +f 47 43 60 +f 37 31 61 +f 39 32 62 +f 37 48 63 +f 48 39 63 +f 58 37 63 +f 34 47 64 +f 38 55 64 +f 60 38 64 +f 47 60 64 +f 42 61 65 +f 34 64 65 +f 64 55 65 +f 57 48 66 +f 61 42 66 +f 32 33 67 +f 33 39 67 +f 57 38 67 +f 51 36 68 +f 44 51 68 +f 59 44 68 +f 36 45 69 +f 43 35 70 +f 41 50 71 +f 61 31 71 +f 34 65 71 +f 65 61 71 +f 63 39 72 +f 54 32 73 +f 32 67 73 +f 50 56 74 +f 45 62 75 +f 40 69 75 +f 69 45 75 +f 40 54 76 +f 54 73 76 +f 39 48 77 +f 48 57 77 +f 67 39 77 +f 57 67 77 +f 36 69 78 +f 69 40 78 +f 70 35 78 +f 40 70 78 +f 47 34 79 +f 43 47 79 +f 34 53 79 +f 52 35 80 +f 35 53 80 +f 56 52 80 +f 53 74 80 +f 74 56 80 +f 52 36 81 +f 35 52 81 +f 36 78 81 +f 78 35 81 +f 70 40 82 +f 43 70 82 +f 40 76 82 +f 76 73 82 +f 48 37 83 +f 37 61 83 +f 66 48 83 +f 61 66 83 +f 36 52 84 +f 52 49 84 +f 49 59 84 +f 68 36 84 +f 59 68 84 +f 55 38 85 +f 38 57 85 +f 42 65 85 +f 65 55 85 +f 51 58 86 +f 58 63 86 +f 72 46 86 +f 63 72 86 +f 38 60 87 +f 60 43 87 +f 67 38 87 +f 73 67 87 +f 43 82 87 +f 82 73 87 +f 57 66 88 +f 66 42 88 +f 85 57 88 +f 42 85 88 +f 32 54 89 +f 54 40 89 +f 62 32 89 +f 40 75 89 +f 75 62 89 +f 39 62 90 +f 62 45 90 +f 46 72 90 +f 72 39 90 +f 31 44 91 +f 49 41 91 +f 44 49 91 +f 71 31 91 +f 41 71 91 +f 35 43 92 +f 53 35 92 +f 43 79 92 +f 79 53 92 +f 53 34 93 +f 34 71 93 +f 71 50 93 +f 74 53 93 +f 50 74 93 +f 45 51 94 +f 86 46 94 +f 51 86 94 +f 90 45 94 +o convex_2 +v 0.569393 1.251970 -2.134851 +v -0.498032 0.969214 0.063098 +v -0.529336 0.969214 0.063098 +v -0.058335 3.826729 -1.067073 +v 0.977786 0.278547 0.000060 +v -0.906219 0.184057 -1.820735 +v -0.812102 2.978460 -0.313841 +v 0.757834 2.978460 -1.914970 +v 0.914972 0.184057 -1.883559 +v -1.000337 0.184057 -0.031137 +v -0.654964 2.884327 -1.663677 +v 0.600903 2.947082 -0.533722 +v -1.063151 1.848504 -1.192719 +v 1.009090 1.974015 -1.067288 +v 0.067087 3.261216 -0.345468 +v -0.309590 1.848861 -2.072243 +v 0.757834 3.355350 -1.067073 +v -0.058335 3.323615 -1.852147 +v -0.812102 3.323972 -1.129896 +v -0.498032 0.184057 -2.072243 +v -0.843406 1.848504 -1.852362 +v 0.852158 0.184057 0.063098 +v 1.040394 0.184057 -1.098700 +v -1.063151 0.184057 -1.129896 +v 0.663717 0.247169 -2.134851 +v -1.031847 1.722993 -0.408076 +v 0.914972 1.723350 -1.883559 +v 0.412461 0.906458 0.063098 +v 0.852158 1.785749 -0.314056 +v -0.906219 0.247169 0.063098 +v 0.004273 3.794995 -1.192719 +v 0.757834 2.915704 -1.946382 +v 0.067087 3.354993 -0.408291 +v -1.063151 1.785749 -0.847837 +v 0.318137 0.184057 -2.134851 +v -0.812102 2.884327 -0.282429 +v 1.009090 0.184057 -0.188195 +v 1.009090 1.817127 -1.286954 +v -1.031847 0.341302 -0.251233 +v -0.874709 1.817127 -1.820735 +v -0.780592 0.749570 0.063098 +v 0.632207 1.283705 -2.134851 +v -0.906219 2.852949 -1.129896 +v 0.757834 3.261216 -1.349777 +v -0.183962 3.260860 -1.820951 +v -0.089844 3.512239 -1.601070 +v 0.946276 1.628860 -1.757912 +v -0.152658 3.260860 -0.345468 +v -0.278286 1.911260 -2.072243 +v 0.004273 3.826729 -1.067073 +v 0.663717 3.104328 -1.820735 +v 0.820648 3.072950 -1.067073 +v 0.820648 2.758459 -1.757912 +v 1.009090 1.817127 -0.941857 +v -0.812102 3.323972 -1.067073 +v -0.121148 3.794995 -1.129896 +v -0.843406 2.884327 -0.376664 +v -1.031847 1.095082 -0.251233 +v 0.852158 0.247169 0.063098 +v 0.883462 1.691972 -0.345468 +v -0.812102 3.261216 -1.192719 +v 0.224019 3.700861 -1.129896 +v 0.004273 3.323615 -1.852147 +v -0.874709 1.220592 -1.852362 +f 134 115 158 +f 100 103 104 +f 97 96 109 +f 103 100 114 +f 110 114 115 +f 96 97 116 +f 104 103 116 +f 116 103 117 +f 100 104 118 +f 107 100 118 +f 103 119 121 +f 109 96 122 +f 96 116 122 +f 106 109 123 +f 111 106 123 +f 116 97 124 +f 104 116 124 +f 102 121 126 +f 109 106 127 +f 106 111 127 +f 107 118 128 +f 110 95 129 +f 103 114 129 +f 114 110 129 +f 95 119 129 +f 119 103 129 +f 101 120 130 +f 104 124 130 +f 99 116 131 +f 116 117 131 +f 108 117 132 +f 118 104 133 +f 128 118 133 +f 100 107 134 +f 105 115 134 +f 124 97 135 +f 97 130 135 +f 130 124 135 +f 119 95 136 +f 121 119 136 +f 126 121 136 +f 107 128 137 +f 134 107 137 +f 115 105 139 +f 112 139 140 +f 139 113 140 +f 117 103 141 +f 103 121 141 +f 132 117 141 +f 121 132 141 +f 98 101 142 +f 97 109 142 +f 127 98 142 +f 109 127 142 +f 130 97 142 +f 101 130 142 +f 95 110 143 +f 110 115 143 +f 112 126 143 +f 136 95 143 +f 126 136 143 +f 139 112 143 +f 115 139 143 +f 125 98 144 +f 98 127 144 +f 127 111 144 +f 138 102 145 +f 111 123 146 +f 138 111 146 +f 138 146 147 +f 121 102 147 +f 108 132 147 +f 132 121 147 +f 102 138 147 +f 146 108 147 +f 117 108 148 +f 99 131 148 +f 131 117 148 +f 108 146 148 +f 101 98 149 +f 113 137 149 +f 98 125 150 +f 140 113 150 +f 125 140 150 +f 149 98 150 +f 113 149 150 +f 120 101 151 +f 128 120 151 +f 137 128 151 +f 101 149 151 +f 149 137 151 +f 120 128 152 +f 130 120 152 +f 104 130 152 +f 133 104 152 +f 128 133 152 +f 116 99 153 +f 109 122 153 +f 122 116 153 +f 99 123 153 +f 123 109 153 +f 123 99 154 +f 146 123 154 +f 99 148 154 +f 148 146 154 +f 105 134 155 +f 137 113 155 +f 134 137 155 +f 139 105 155 +f 113 139 155 +f 111 138 156 +f 125 144 156 +f 144 111 156 +f 145 125 156 +f 138 145 156 +f 102 126 157 +f 126 112 157 +f 140 125 157 +f 112 140 157 +f 145 102 157 +f 125 145 157 +f 114 100 158 +f 115 114 158 +f 100 134 158 +o convex_3 +v -0.780638 0.184125 0.220141 +v -0.466713 0.874909 0.094507 +v -0.403976 0.812024 0.094507 +v -0.246933 0.215567 0.471329 +v -0.058482 0.184125 0.063098 +v -0.874943 0.184125 0.063098 +v -0.780638 0.655015 0.094507 +v -0.058482 0.341133 0.063098 +v -0.341159 0.184125 0.471329 +v -0.498041 0.874909 0.063098 +v -0.686412 0.246942 0.314286 +v -0.341159 0.215567 0.471329 +v -0.058482 0.341133 0.094507 +f 163 166 171 +f 161 160 162 +f 163 159 164 +f 164 159 165 +f 163 164 166 +f 159 163 167 +f 163 162 167 +f 160 161 168 +f 165 160 168 +f 164 165 168 +f 161 166 168 +f 166 164 168 +f 165 159 169 +f 159 167 169 +f 169 167 170 +f 162 160 170 +f 160 165 170 +f 167 162 170 +f 165 169 170 +f 161 162 171 +f 162 163 171 +f 166 161 171 +o convex_4 +v -0.058482 0.184112 0.063098 +v 0.443894 0.749244 0.094507 +v 0.443894 0.749244 0.063098 +v 0.757979 0.184112 0.094507 +v 0.224194 0.184112 0.471329 +v 0.035743 0.560830 0.094507 +v 0.349748 0.215533 0.439880 +v 0.757979 0.184112 0.063098 +v -0.058482 0.215533 0.157324 +v 0.726490 0.309740 0.094507 +v 0.224194 0.215533 0.471329 +v 0.381077 0.749244 0.094507 +v 0.035743 0.560830 0.063098 +f 177 183 184 +f 172 175 176 +f 176 175 178 +f 172 174 179 +f 175 172 179 +f 172 176 180 +f 174 173 181 +f 173 178 181 +f 178 175 181 +f 179 174 181 +f 175 179 181 +f 178 173 182 +f 176 178 182 +f 180 176 182 +f 177 180 182 +f 173 174 183 +f 182 173 183 +f 177 182 183 +f 174 172 184 +f 172 180 184 +f 180 177 184 +f 183 174 184 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/988/988.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/988/988.urdf new file mode 100644 index 000000000..d592d6034 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/988/988.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/989/989.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/989/989.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/989/989.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/989/989.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/989/989.obj new file mode 100644 index 000000000..3dc64d5f6 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/989/989.obj @@ -0,0 +1,621 @@ +o convex_0 +v -1.072834 1.420265 -0.756829 +v 1.110373 3.039575 -0.686255 +v 0.934280 3.075136 -0.651076 +v 1.075112 1.068190 1.109372 +v -1.002312 2.934266 0.968440 +v 1.004589 1.068190 -1.003079 +v -1.002312 1.068190 0.933045 +v -0.967051 2.934266 -0.967900 +v 0.969328 3.004603 0.933045 +v -1.072834 1.068190 -1.003079 +v 1.110373 3.039575 -1.073653 +v -0.227632 3.075136 0.299179 +v 0.582095 1.068190 -1.109049 +v -0.931789 2.828565 -1.003079 +v -0.333202 3.075136 -0.334252 +v 1.039850 1.068190 -0.967900 +v -1.037573 2.617360 0.651399 +v 1.004589 3.004406 0.862687 +v 1.110373 2.546630 -1.038475 +v 0.582095 3.075136 0.440111 +v 0.828497 1.702004 -1.109049 +v -0.826219 1.173695 -1.038475 +v -1.002312 2.159583 0.968440 +v 1.075112 1.173891 1.109372 +v 0.054031 3.004603 -1.038475 +v -0.227632 2.934266 0.968440 +v -1.072834 1.068190 -0.615898 +v 1.075112 1.068190 0.616220 +v 0.617356 3.075136 -0.792008 +v 1.004589 1.068190 1.109372 +v 1.075112 1.385097 1.073976 +v -1.002312 2.934266 0.123286 +v 0.899019 3.039771 -1.073653 +v -1.037573 1.103358 0.299179 +v 0.757974 1.666639 -1.109049 +v 1.004589 2.687500 0.968223 +v 0.757974 3.004603 0.933045 +v 0.757974 1.173695 -1.109049 +v 1.110373 2.758032 -1.073653 +v -0.826219 2.969435 -0.862365 +v -1.037573 1.843070 -1.003079 +f 32 8 41 +f 6 4 7 +f 6 7 10 +f 3 2 11 +f 6 10 13 +f 12 3 15 +f 5 12 15 +f 4 6 16 +f 2 3 18 +f 2 4 19 +f 11 2 19 +f 3 12 20 +f 18 3 20 +f 9 18 20 +f 13 10 22 +f 17 7 23 +f 5 17 23 +f 4 2 24 +f 14 8 25 +f 9 5 26 +f 5 24 26 +f 10 7 27 +f 1 10 27 +f 17 1 27 +f 4 16 28 +f 19 4 28 +f 16 19 28 +f 3 11 29 +f 15 3 29 +f 25 15 29 +f 7 4 30 +f 5 23 30 +f 23 7 30 +f 4 24 30 +f 24 5 30 +f 2 18 31 +f 24 2 31 +f 5 15 32 +f 1 17 32 +f 17 5 32 +f 11 21 33 +f 14 25 33 +f 29 11 33 +f 25 29 33 +f 7 17 34 +f 27 7 34 +f 17 27 34 +f 21 13 35 +f 13 22 35 +f 22 14 35 +f 33 21 35 +f 14 33 35 +f 18 9 36 +f 9 26 36 +f 26 24 36 +f 31 18 36 +f 24 31 36 +f 5 9 37 +f 12 5 37 +f 20 12 37 +f 9 20 37 +f 6 13 38 +f 13 21 38 +f 38 21 39 +f 16 6 39 +f 11 19 39 +f 19 16 39 +f 21 11 39 +f 6 38 39 +f 25 8 40 +f 15 25 40 +f 8 32 40 +f 32 15 40 +f 10 1 41 +f 8 14 41 +f 22 10 41 +f 14 22 41 +f 1 32 41 +o convex_1 +v 0.089161 5.082279 0.228981 +v -0.262935 3.075332 -0.263874 +v 0.229999 3.075332 -0.263874 +v -0.227694 3.075332 0.299472 +v -0.262935 5.011556 -0.193500 +v 0.370900 3.181023 0.228981 +v 0.229999 4.976391 -0.299149 +v 0.335659 5.046721 0.228981 +v -0.192392 5.082279 0.228981 +v 0.370900 3.075332 0.158548 +v 0.229999 4.694680 0.264197 +v 0.335659 5.046721 0.123390 +v -0.262935 5.011556 -0.087851 +v 0.124401 4.976391 -0.299149 +v -0.192392 4.765010 0.264197 +v 0.229999 4.377804 -0.299149 +v 0.229999 5.011556 -0.263874 +v -0.157213 3.075332 0.299472 +v 0.300418 4.166619 -0.087851 +v -0.262935 3.357043 -0.263874 +f 46 55 61 +f 43 44 45 +f 45 44 51 +f 47 49 52 +f 49 47 53 +f 42 49 53 +f 47 51 53 +f 43 45 54 +f 46 43 54 +f 45 50 54 +f 50 46 54 +f 49 42 56 +f 42 50 56 +f 50 45 56 +f 52 49 56 +f 44 43 57 +f 43 55 57 +f 55 48 57 +f 50 42 58 +f 46 50 58 +f 42 53 58 +f 53 48 58 +f 55 46 58 +f 48 55 58 +f 45 51 59 +f 51 47 59 +f 47 52 59 +f 56 45 59 +f 52 56 59 +f 51 44 60 +f 48 53 60 +f 53 51 60 +f 44 57 60 +f 57 48 60 +f 43 46 61 +f 55 43 61 +o convex_2 +v 0.300432 -1.678702 -1.073836 +v -0.298148 -2.347601 -3.010249 +v -0.298148 -2.030660 -3.010249 +v 0.370900 -2.312378 -2.975312 +v -0.227681 -2.241931 -1.073836 +v -0.262914 -1.678702 -2.799274 +v -0.298148 -1.643409 -1.073836 +v 0.370900 -1.784372 -2.975312 +v 0.230030 -2.277154 -1.144289 +v -0.051643 -1.713925 -3.045765 +v 0.335666 -1.819526 -1.214743 +v 0.159563 -2.312378 -1.214743 +v -0.298148 -2.347601 -2.587720 +v 0.018824 -2.347601 -3.010249 +v 0.370900 -1.749148 -2.587720 +v -0.298148 -1.889973 -1.109352 +v 0.370900 -2.312378 -2.763758 +v -0.262914 -1.713925 -3.045765 +v 0.230030 -2.241931 -1.073836 +v -0.298148 -1.643409 -1.531881 +v -0.298148 -1.678702 -2.306292 +v -0.157279 -2.347601 -2.235645 +v -0.122045 -1.678702 -2.517267 +f 67 81 84 +f 64 63 68 +f 66 62 68 +f 69 65 71 +f 68 63 74 +f 63 71 75 +f 71 65 75 +f 74 63 75 +f 65 69 76 +f 69 71 76 +f 62 72 76 +f 66 68 77 +f 68 74 77 +f 74 66 77 +f 72 70 78 +f 70 73 78 +f 73 75 78 +f 75 65 78 +f 65 76 78 +f 76 72 78 +f 63 64 79 +f 71 63 79 +f 67 71 79 +f 62 66 80 +f 72 62 80 +f 70 72 80 +f 66 73 80 +f 73 70 80 +f 64 68 81 +f 68 62 81 +f 79 64 82 +f 67 79 82 +f 81 67 82 +f 64 81 82 +f 73 66 83 +f 66 74 83 +f 75 73 83 +f 74 75 83 +f 71 67 84 +f 62 76 84 +f 76 71 84 +f 81 62 84 +o convex_3 +v -1.002188 1.067994 0.933169 +v 0.793414 -1.115214 -3.045462 +v 0.053937 -1.044691 -3.010304 +v -0.931962 -1.115214 0.933169 +v 1.074950 1.067994 1.109372 +v -1.037511 0.961996 -3.010304 +v 1.039837 0.961996 -3.080620 +v 0.934077 -1.115214 1.073800 +v -0.967075 -0.939121 -2.939988 +v 1.074950 -1.115214 -3.045462 +v -0.967075 -0.798290 1.109372 +v -1.072624 1.067994 -1.496034 +v -1.002188 -1.115214 -1.073312 +v -1.002188 0.961996 1.109372 +v 1.004724 1.067994 -0.968666 +v -1.037511 0.715595 -3.045462 +v 1.074950 0.152055 -3.080620 +v -1.072624 0.715595 -0.968252 +v 1.074950 0.750856 1.109372 +v 0.546782 0.891687 -3.116191 +v 0.546782 -1.044691 1.109372 +v 1.039837 -0.903860 -3.080620 +v -1.037511 0.363409 -3.010304 +v 1.074950 -1.115214 -2.728628 +v -0.931962 -0.974169 1.109372 +v -0.967075 -1.115214 0.862439 +v -1.072624 0.997471 -0.651417 +v -1.072624 0.961996 -2.235176 +v -1.002188 0.433932 1.109372 +v 1.039837 0.926735 -3.116191 +v -1.002188 -1.115214 -0.616673 +v 0.934077 -0.939121 1.109372 +v 1.074950 1.067994 0.581176 +v -0.368471 0.926735 -3.080620 +v 0.722978 1.067994 -1.108884 +v 1.039837 0.292887 -3.116191 +v 1.074950 0.715595 1.073800 +v 0.582105 -1.079953 -3.045462 +v -0.755766 0.997471 1.109372 +v -0.685329 -0.974169 -2.939575 +f 97 93 124 +f 88 86 92 +f 92 86 94 +f 85 89 96 +f 91 90 96 +f 87 86 97 +f 86 88 97 +f 95 89 98 +f 96 89 99 +f 87 93 100 +f 89 94 101 +f 94 89 103 +f 89 95 103 +f 103 95 105 +f 94 86 106 +f 93 97 107 +f 100 93 107 +f 92 94 108 +f 94 103 108 +f 88 92 109 +f 92 105 109 +f 105 95 109 +f 97 88 110 +f 88 109 110 +f 109 95 110 +f 85 96 111 +f 98 85 111 +f 96 102 111 +f 102 110 111 +f 96 90 112 +f 90 100 112 +f 97 102 112 +f 102 96 112 +f 107 97 112 +f 100 107 112 +f 95 98 113 +f 110 95 113 +f 98 111 113 +f 111 110 113 +f 91 101 114 +f 102 97 115 +f 97 110 115 +f 110 102 115 +f 92 103 116 +f 105 92 116 +f 103 105 116 +f 99 89 117 +f 91 99 117 +f 89 101 117 +f 101 91 117 +f 90 91 118 +f 100 90 118 +f 106 100 118 +f 104 106 118 +f 91 114 118 +f 114 104 118 +f 91 96 119 +f 99 91 119 +f 96 99 119 +f 101 94 120 +f 94 106 120 +f 106 104 120 +f 114 101 120 +f 104 114 120 +f 103 92 121 +f 92 108 121 +f 108 103 121 +f 86 87 122 +f 87 100 122 +f 106 86 122 +f 100 106 122 +f 89 85 123 +f 85 98 123 +f 98 89 123 +f 93 87 124 +f 87 97 124 +o convex_4 +v -0.615079 -1.009423 1.215331 +v -0.298155 1.067994 3.010661 +v -0.298155 1.067994 2.940215 +v 1.075112 -1.009423 2.905088 +v 1.075112 0.997471 1.109565 +v -0.967051 -1.009423 3.081108 +v -1.002312 0.962106 1.109565 +v 0.934280 -0.938901 1.109565 +v 1.110373 0.997471 2.975341 +v -1.072834 1.067994 3.045788 +v -0.967051 -0.798269 1.109565 +v 0.546834 -1.044788 1.109565 +v -0.298155 -0.445863 3.081108 +v 0.054031 1.032629 1.356032 +v 1.039850 0.926948 3.010661 +v -0.967051 -1.009423 1.637819 +v 1.039850 -1.009423 2.940215 +v -1.037573 1.032422 1.848966 +v 1.075112 0.750952 1.109565 +v -1.002312 -0.727540 3.081108 +v -0.931789 -0.974059 1.109565 +v -0.509295 1.067994 2.306387 +v 0.652404 1.032629 3.010661 +v -0.826219 0.997264 1.109565 +v 1.110373 0.962106 2.482600 +v -0.931789 0.081712 3.081108 +v -0.544556 -1.009423 3.081108 +v 1.004589 -0.974059 1.884286 +v 0.652404 -1.044788 1.567372 +v -1.002312 0.398753 1.109565 +v -1.072834 1.032422 2.975341 +v 0.370955 -1.044788 1.109565 +v 1.075112 -1.009423 2.834641 +v -0.790958 1.067994 3.045788 +v -1.002312 1.067994 2.482407 +v 1.110373 0.680430 2.975341 +v 1.004589 -0.164186 1.109565 +f 143 152 161 +f 131 129 132 +f 126 127 134 +f 131 132 135 +f 135 132 136 +f 139 137 141 +f 132 129 143 +f 130 137 144 +f 140 130 144 +f 135 140 144 +f 135 136 145 +f 140 135 145 +f 125 140 145 +f 127 129 146 +f 134 127 146 +f 129 138 146 +f 127 126 147 +f 129 127 147 +f 133 129 147 +f 139 133 147 +f 129 131 148 +f 138 129 148 +f 131 142 148 +f 129 133 149 +f 143 129 149 +f 137 139 150 +f 134 144 150 +f 144 137 150 +f 137 130 151 +f 141 137 151 +f 136 132 152 +f 128 141 153 +f 151 130 153 +f 141 151 153 +f 136 152 153 +f 131 135 154 +f 142 131 154 +f 142 154 155 +f 134 142 155 +f 144 134 155 +f 135 144 155 +f 154 135 155 +f 130 140 156 +f 140 125 156 +f 145 136 156 +f 125 145 156 +f 153 130 156 +f 136 153 156 +f 143 149 157 +f 152 143 157 +f 128 153 157 +f 153 152 157 +f 126 134 158 +f 147 126 158 +f 139 147 158 +f 134 150 158 +f 150 139 158 +f 142 134 159 +f 134 146 159 +f 146 138 159 +f 138 148 159 +f 148 142 159 +f 133 139 160 +f 141 128 160 +f 139 141 160 +f 149 133 160 +f 128 157 160 +f 157 149 160 +f 132 143 161 +f 152 132 161 +o convex_5 +v -1.072662 -2.136075 -1.038575 +v 0.969504 -3.086992 0.334478 +v 0.969504 -3.122356 0.334478 +v -1.037481 -2.840618 1.109372 +v 0.934119 -1.115214 1.073897 +v 0.969504 -1.115214 -0.968052 +v -0.967117 -1.115214 0.933065 +v 0.969504 -3.122356 -1.038361 +v -1.108047 -3.122356 -1.073836 +v -1.002299 -1.115214 -1.073836 +v 0.934119 -3.122356 1.109158 +v -1.072662 -3.051824 0.862543 +v 0.476350 -1.115214 -1.073836 +v -0.333236 -1.819561 1.109372 +v -0.967117 -3.051824 1.109372 +v 0.089148 -3.122356 -1.073836 +v 0.969504 -1.115214 0.088077 +v 0.370805 -3.122356 0.933065 +v -0.967117 -1.185747 0.968113 +v -1.108047 -3.016655 -0.439988 +v 0.230078 -1.749224 1.109372 +v -1.072662 -3.122356 -0.791959 +v 0.969504 -1.432317 -1.003100 +v -1.002299 -1.115214 -0.510296 +v -1.037481 -2.453178 1.073897 +v 0.793392 -1.115214 1.073897 +v 0.934119 -2.664580 1.109158 +v -1.108047 -2.770085 -1.073836 +v 0.969504 -2.594047 -1.038361 +f 174 184 190 +f 163 164 167 +f 166 167 168 +f 167 164 169 +f 169 164 170 +f 168 167 171 +f 164 163 172 +f 170 164 172 +f 170 171 174 +f 171 167 174 +f 165 173 176 +f 175 165 176 +f 169 170 177 +f 174 169 177 +f 170 174 177 +f 166 163 178 +f 163 167 178 +f 167 166 178 +f 170 172 179 +f 172 176 179 +f 165 175 180 +f 170 173 181 +f 176 172 182 +f 175 176 182 +f 173 170 183 +f 176 173 183 +f 170 179 183 +f 179 176 183 +f 167 169 184 +f 174 167 184 +f 171 162 185 +f 168 171 185 +f 162 181 185 +f 181 168 185 +f 173 165 186 +f 180 168 186 +f 165 180 186 +f 168 181 186 +f 181 173 186 +f 166 168 187 +f 168 180 187 +f 180 175 187 +f 182 166 187 +f 175 182 187 +f 163 166 188 +f 172 163 188 +f 166 182 188 +f 182 172 188 +f 162 171 189 +f 171 170 189 +f 181 162 189 +f 170 181 189 +f 169 174 190 +f 184 169 190 +o convex_6 +v -0.192440 -1.749107 1.497043 +v 0.335687 -2.241972 1.602568 +v 0.335687 -2.277185 1.602568 +v -0.333347 -1.889959 3.010689 +v 0.265233 -1.713894 2.940153 +v -0.298051 -2.241972 1.109372 +v 0.265233 -2.312398 3.010689 +v 0.230006 -1.749107 1.109372 +v -0.227598 -2.241972 2.975328 +v -0.368574 -1.713894 2.376793 +v -0.333347 -1.819533 1.109372 +v 0.335687 -2.241972 1.109372 +v -0.368574 -1.713894 2.975328 +v 0.265233 -1.713894 2.165556 +v 0.124395 -2.312398 3.010689 +v 0.335687 -2.136333 1.109372 +v 0.300460 -2.312398 2.482504 +v -0.298051 -2.241972 1.532218 +v -0.298051 -1.784320 1.109372 +v -0.086759 -1.713894 1.919516 +v 0.159621 -1.749107 2.975328 +v -0.368574 -1.784320 2.235906 +v 0.265233 -1.749107 1.391331 +v -0.368574 -1.784320 2.975328 +f 212 208 214 +f 198 196 201 +f 192 193 202 +f 193 196 202 +f 196 198 202 +f 195 200 203 +f 200 195 204 +f 197 194 205 +f 194 199 205 +f 195 192 206 +f 192 202 206 +f 202 198 206 +f 204 195 206 +f 193 192 207 +f 192 195 207 +f 196 193 207 +f 195 197 207 +f 205 196 207 +f 197 205 207 +f 196 205 208 +f 205 199 208 +f 191 198 209 +f 200 191 209 +f 198 201 209 +f 201 200 209 +f 198 191 210 +f 191 200 210 +f 200 204 210 +f 204 198 210 +f 194 197 211 +f 197 195 211 +f 203 194 211 +f 195 203 211 +f 201 196 212 +f 200 201 212 +f 203 200 212 +f 196 208 212 +f 198 204 213 +f 206 198 213 +f 204 206 213 +f 199 194 214 +f 194 203 214 +f 208 199 214 +f 203 212 214 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/989/989.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/989/989.urdf new file mode 100644 index 000000000..dc158857c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/989/989.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/990/990.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/990/990.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/990/990.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/990/990.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/990/990.obj new file mode 100644 index 000000000..3612d24d1 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/990/990.obj @@ -0,0 +1,3138 @@ +o convex_0 +v 0.087748 3.889928 0.703351 +v 0.044923 3.889928 -0.586201 +v 0.044923 3.911516 -0.586201 +v -0.191676 4.018951 0.209040 +v 0.238242 4.470281 0.080034 +v -0.127135 4.470281 0.144537 +v 0.302732 3.889928 -0.113222 +v -0.170112 3.889928 -0.306731 +v 0.324246 4.298334 0.037116 +v -0.148649 3.889928 0.509843 +v 0.066285 4.448756 0.295001 +v 0.259705 3.889928 0.423881 +v 0.044872 4.448756 -0.070304 +v 0.238242 4.362782 0.251957 +v -0.148649 4.448756 0.080034 +v 0.281168 3.911516 -0.306731 +v 0.044923 3.911516 0.703351 +v 0.023359 4.534793 0.080034 +v -0.191676 4.255347 0.122952 +v 0.238242 4.384307 -0.027387 +f 9 16 20 +f 1 2 7 +f 2 1 8 +f 3 2 8 +f 8 1 10 +f 4 8 10 +f 1 7 12 +f 7 9 12 +f 9 5 14 +f 11 1 14 +f 5 11 14 +f 1 12 14 +f 12 9 14 +f 3 8 15 +f 13 3 15 +f 2 3 16 +f 7 2 16 +f 9 7 16 +f 6 10 17 +f 10 1 17 +f 1 11 17 +f 11 6 17 +f 11 5 18 +f 6 11 18 +f 5 13 18 +f 15 6 18 +f 13 15 18 +f 8 4 19 +f 4 10 19 +f 10 6 19 +f 15 8 19 +f 6 15 19 +f 5 9 20 +f 3 13 20 +f 13 5 20 +f 16 3 20 +o convex_1 +v -1.460030 -2.215276 0.380834 +v -1.674949 -2.688079 0.187439 +v -1.631947 -2.688079 0.187439 +v -1.588944 -2.365783 -0.478844 +v -1.825388 -2.129163 0.058478 +v -1.352547 -2.666578 0.079956 +v -1.825388 -2.645077 -0.371268 +v -1.352547 -2.150719 -0.048820 +v -1.739383 -2.451568 0.466931 +v -1.825388 -2.150719 -0.371268 +v -1.352547 -2.602075 0.359448 +v -1.825388 -2.645077 -0.027249 +v -1.782385 -2.172165 0.337878 +v -1.352547 -2.150719 0.208824 +v -1.717905 -2.645077 0.402405 +v -1.352547 -2.602075 -0.048820 +v -1.696473 -2.645077 -0.371268 +v -1.352547 -2.451514 0.423883 +v -1.352547 -2.408566 -0.156303 +f 28 36 39 +f 23 22 27 +f 24 27 30 +f 27 25 30 +f 25 28 30 +f 28 24 30 +f 23 26 31 +f 26 28 31 +f 27 22 32 +f 25 27 32 +f 32 29 33 +f 29 21 33 +f 25 32 33 +f 25 33 34 +f 28 25 34 +f 31 28 34 +f 33 21 34 +f 22 23 35 +f 23 31 35 +f 32 22 35 +f 29 32 35 +f 28 26 36 +f 26 23 37 +f 27 24 37 +f 23 27 37 +f 24 36 37 +f 36 26 37 +f 21 29 38 +f 34 21 38 +f 31 34 38 +f 35 31 38 +f 29 35 38 +f 24 28 39 +f 36 24 39 +o convex_2 +v -1.051546 -2.150732 -0.242380 +v -1.051546 -2.386988 0.424020 +v -1.094557 -2.386988 0.424020 +v -1.073051 -1.527254 -0.156340 +v -1.352501 -2.601890 -0.048905 +v -1.352501 -2.236767 0.380967 +v -1.051546 -2.795563 0.380967 +v -1.352501 -2.129378 -0.070366 +v -1.051546 -2.623492 -0.156340 +v -1.051546 -2.043467 0.359441 +v -1.352501 -2.623492 0.337915 +v -1.352501 -2.408465 -0.134879 +v -1.073051 -2.795563 0.080188 +v -1.051546 -1.527254 -0.199327 +v -1.352501 -2.451421 0.424020 +v -1.352501 -2.107900 0.165901 +v -1.352501 -2.666448 0.080122 +f 52 46 56 +f 40 41 46 +f 44 45 47 +f 40 46 48 +f 41 40 49 +f 42 41 49 +f 43 45 49 +f 45 44 50 +f 44 47 51 +f 40 48 51 +f 48 44 51 +f 44 48 52 +f 48 46 52 +f 47 43 53 +f 49 40 53 +f 43 49 53 +f 40 51 53 +f 51 47 53 +f 41 42 54 +f 46 41 54 +f 42 49 54 +f 49 45 54 +f 45 50 54 +f 50 46 54 +f 45 43 55 +f 43 47 55 +f 47 45 55 +f 50 44 56 +f 46 50 56 +f 44 52 56 +o convex_3 +v -0.170179 3.180520 0.037141 +v 0.324246 3.180520 0.144368 +v 0.302709 3.180520 0.295014 +v 0.130754 2.901104 -0.156203 +v -0.148643 2.901104 0.337953 +v 0.087777 3.180520 -0.478844 +v 0.066289 3.158993 0.746471 +v 0.281221 2.901104 0.316364 +v -0.127154 2.901104 -0.070326 +v 0.324246 2.901104 -0.070326 +v -0.148643 3.180520 0.552767 +v 0.302709 3.180520 -0.220851 +v -0.127154 3.180520 -0.242321 +v 0.259733 3.180520 0.509948 +v 0.044849 2.901104 0.402361 +v -0.170179 2.901104 0.037141 +f 69 65 72 +f 59 58 57 +f 57 58 62 +f 58 59 64 +f 61 60 64 +f 60 61 65 +f 62 60 65 +f 60 62 66 +f 58 64 66 +f 64 60 66 +f 59 57 67 +f 61 63 67 +f 62 58 68 +f 58 66 68 +f 66 62 68 +f 57 62 69 +f 62 65 69 +f 63 64 70 +f 64 59 70 +f 59 67 70 +f 67 63 70 +f 63 61 71 +f 61 64 71 +f 64 63 71 +f 65 61 72 +f 67 57 72 +f 61 67 72 +f 57 69 72 +o convex_4 +v -0.557150 1.826311 -0.715173 +v -0.729079 2.019655 0.123065 +v -0.750582 2.019655 0.123065 +v -0.643091 1.202834 -0.715173 +v -0.772084 1.697415 -0.715173 +v -0.535624 2.535632 0.080019 +v -0.535624 1.202834 -0.736653 +v -0.535624 2.191604 -0.521681 +v -0.750582 1.890498 0.123065 +v -0.772084 1.439361 -0.607773 +v -0.557150 2.535632 0.058453 +v -0.535624 2.449528 0.080019 +v -0.772084 1.976603 0.080019 +v -0.686097 1.202834 -0.736653 +v -0.535624 1.654493 -0.758220 +f 79 86 87 +f 75 74 78 +f 73 77 80 +f 78 79 80 +f 74 75 81 +f 76 79 81 +f 75 78 83 +f 80 77 83 +f 78 80 83 +f 78 74 84 +f 79 78 84 +f 74 81 84 +f 81 79 84 +f 81 75 85 +f 77 82 85 +f 82 81 85 +f 75 83 85 +f 83 77 85 +f 79 76 86 +f 76 81 86 +f 82 77 86 +f 81 82 86 +f 77 73 87 +f 73 80 87 +f 80 79 87 +f 86 77 87 +o convex_5 +v 0.904679 1.847736 0.767968 +v 0.926172 -0.237167 0.939942 +v 0.904679 -0.237167 0.939942 +v 1.012142 -1.548751 0.789481 +v 0.904679 -1.548751 0.853955 +v 1.012142 0.450043 0.832458 +v 0.947664 1.740017 0.875452 +v 1.012142 0.772537 0.767968 +v 1.012142 -1.376533 0.853955 +v 0.926172 -1.118538 0.939942 +v 0.904679 1.460412 0.896948 +f 89 94 98 +f 88 91 92 +f 90 88 92 +f 89 93 94 +f 94 93 95 +f 91 88 95 +f 93 91 95 +f 88 94 95 +f 92 91 96 +f 93 89 96 +f 91 93 96 +f 89 90 97 +f 90 92 97 +f 92 96 97 +f 96 89 97 +f 88 90 98 +f 90 89 98 +f 94 88 98 +o convex_6 +v -0.793585 1.482045 -0.693786 +v -0.772089 1.911608 0.080072 +v -0.772089 1.911608 0.058562 +v -0.772089 -1.247178 -0.672197 +v -0.793585 1.825943 0.080072 +v -0.793585 -1.247178 -0.672197 +v -0.772089 1.482045 -0.693786 +v -0.772089 -1.139865 -0.736805 +f 99 105 106 +f 101 100 102 +f 101 99 103 +f 100 101 103 +f 102 100 103 +f 103 99 104 +f 102 103 104 +f 99 101 105 +f 101 102 105 +f 105 102 106 +f 104 99 106 +f 102 104 106 +o convex_7 +v -0.836577 1.675762 0.166214 +v -0.815082 -2.279001 0.832458 +v -0.815082 -0.881807 0.703425 +v -0.815082 0.665072 -0.306870 +v -0.836577 -2.731072 0.789410 +v -0.836577 0.665072 -0.306870 +v -0.815082 1.675762 0.166214 +v -0.836577 -0.237777 0.638964 +v -0.815082 -2.731072 0.789410 +v -0.815082 0.428683 0.531455 +v -0.815082 1.030439 -0.306870 +f 113 110 117 +f 109 108 110 +f 111 107 112 +f 110 111 112 +f 109 110 113 +f 108 109 114 +f 107 111 114 +f 111 108 114 +f 110 108 115 +f 111 110 115 +f 108 111 115 +f 113 107 116 +f 109 113 116 +f 114 109 116 +f 107 114 116 +f 112 107 117 +f 110 112 117 +f 107 113 117 +o convex_8 +v 1.313185 -1.978791 -0.005898 +v 1.313185 -2.838556 0.144663 +v 1.334622 -2.838556 0.144663 +v 1.334622 -2.064768 0.531504 +v 2.086980 -2.322809 -0.091751 +v 2.086980 -2.666380 0.380875 +v 1.334622 -1.699340 0.423969 +v 1.313185 -2.580404 -0.156393 +v 2.086980 -2.215310 0.316368 +v 1.313185 -2.687791 0.466997 +v 2.065315 -2.623224 -0.027311 +v 2.065315 -2.215310 -0.070204 +v 2.086980 -2.387263 0.402355 +v 1.313185 -1.763906 0.208901 +v 2.086980 -2.150856 0.101636 +v 1.377649 -2.730946 -0.091885 +v 1.313185 -2.150856 -0.091885 +v 2.065315 -2.709424 0.166143 +v 1.313185 -2.215310 0.531504 +v 2.043878 -2.451494 -0.113163 +v 1.399162 -2.472905 -0.156325 +v 1.334622 -2.816923 0.251995 +f 123 127 139 +f 119 118 125 +f 123 122 126 +f 118 119 127 +f 122 123 128 +f 124 121 130 +f 123 126 130 +f 126 124 130 +f 118 127 131 +f 129 118 131 +f 129 131 132 +f 126 122 132 +f 124 126 132 +f 122 129 132 +f 131 124 132 +f 120 119 133 +f 119 125 133 +f 125 118 134 +f 118 129 134 +f 123 120 135 +f 128 123 135 +f 120 133 135 +f 133 128 135 +f 121 124 136 +f 127 123 136 +f 130 121 136 +f 123 130 136 +f 124 131 136 +f 131 127 136 +f 122 128 137 +f 133 125 137 +f 128 133 137 +f 129 122 138 +f 125 134 138 +f 134 129 138 +f 122 137 138 +f 137 125 138 +f 119 120 139 +f 120 123 139 +f 127 119 139 +o convex_9 +v 2.086980 -2.666529 0.080091 +v 2.237602 -2.172157 0.123113 +v 2.581374 -2.193669 0.123113 +v 2.086980 -2.494585 0.402494 +v 3.054208 -2.473123 0.144649 +v 2.086980 -2.322690 -0.091902 +v 2.860564 -2.408688 -0.048880 +v 2.839202 -2.623505 0.187526 +v 2.882322 -2.408688 0.316497 +v 2.087079 -2.215181 0.295010 +v 2.108737 -2.666479 0.380958 +v 2.882223 -2.215181 0.080091 +v 2.151561 -2.601993 -0.027393 +v 2.087079 -2.236642 -0.070367 +v 3.097327 -2.387227 0.123162 +v 2.731798 -2.258154 0.230500 +v 2.086980 -2.473123 -0.091902 +v 2.839202 -2.494585 0.316497 +v 2.108737 -2.408688 0.402494 +v 2.710238 -2.580481 0.058556 +v 2.259063 -2.688041 0.166088 +v 2.688777 -2.258154 -0.027344 +f 153 151 161 +f 140 143 145 +f 146 144 147 +f 142 141 149 +f 145 143 149 +f 143 140 150 +f 141 142 151 +f 149 141 153 +f 145 149 153 +f 141 151 153 +f 144 146 154 +f 148 144 154 +f 146 151 154 +f 151 148 154 +f 142 149 155 +f 149 148 155 +f 151 142 155 +f 148 151 155 +f 140 145 156 +f 145 146 156 +f 152 140 156 +f 146 152 156 +f 147 144 157 +f 148 143 157 +f 144 148 157 +f 143 150 157 +f 150 147 157 +f 143 148 158 +f 149 143 158 +f 148 149 158 +f 146 147 159 +f 140 152 159 +f 152 146 159 +f 150 140 160 +f 147 150 160 +f 140 159 160 +f 159 147 160 +f 146 145 161 +f 151 146 161 +f 145 153 161 +o convex_10 +v -0.127154 3.331004 -1.596282 +v 0.324246 3.331004 0.380622 +v 0.281221 3.331004 1.864224 +v 0.324246 3.180535 0.016192 +v -0.170179 3.180535 0.488367 +v 0.087777 3.288011 -2.542217 +v 0.087777 3.331004 2.810159 +v -0.170179 3.331004 1.047161 +v 0.281221 3.331004 -1.811243 +v 0.066289 3.180535 1.003851 +v 0.087777 3.180535 -0.736437 +v 0.152194 3.309500 2.766850 +v -0.170179 3.180535 0.037846 +v -0.019664 3.331004 -2.391691 +v -0.105666 3.309500 1.820915 +v 0.087777 3.309500 2.810159 +v 0.023312 3.288011 -2.477781 +v 0.195074 3.309500 -2.348910 +v 0.324246 3.180535 0.165661 +v 0.302709 3.180535 -0.241551 +v 0.302709 3.309500 -1.575155 +f 165 181 182 +f 164 163 162 +f 164 162 168 +f 168 162 169 +f 162 163 170 +f 166 165 171 +f 165 166 172 +f 164 168 173 +f 166 169 174 +f 169 162 174 +f 172 166 174 +f 162 170 175 +f 169 166 176 +f 168 169 176 +f 166 171 177 +f 173 168 177 +f 171 173 177 +f 176 166 177 +f 168 176 177 +f 167 172 178 +f 174 162 178 +f 172 174 178 +f 162 175 178 +f 175 167 178 +f 175 170 179 +f 167 175 179 +f 163 164 180 +f 165 163 180 +f 171 165 180 +f 164 173 180 +f 173 171 180 +f 165 172 181 +f 172 167 181 +f 167 179 181 +f 181 179 182 +f 163 165 182 +f 170 163 182 +f 179 170 182 +o convex_11 +v -0.191676 3.889928 -0.092033 +v 0.324246 3.803976 -0.005938 +v 0.302732 3.889928 0.186983 +v 0.066285 3.760981 1.842806 +v 0.044822 3.760993 -1.747152 +v -0.191676 3.760993 0.165899 +v 0.259756 3.889928 -0.521450 +v 0.281219 3.760993 -1.123408 +v -0.148649 3.889928 0.531361 +v -0.127135 3.760981 1.369462 +v -0.148649 3.760993 -1.080536 +v 0.044822 3.889928 -0.779382 +v 0.087798 3.889928 0.724282 +v 0.302732 3.760993 0.315949 +v 0.087748 3.782466 1.842806 +v 0.044822 3.782478 -1.747152 +v -0.170163 3.889928 -0.328177 +f 198 193 199 +f 183 185 189 +f 185 184 190 +f 186 187 190 +f 189 185 190 +f 185 183 191 +f 187 186 192 +f 183 188 192 +f 191 183 192 +f 188 183 193 +f 187 192 193 +f 192 188 193 +f 183 189 194 +f 185 191 195 +f 184 185 196 +f 190 184 196 +f 186 190 196 +f 192 186 197 +f 191 192 197 +f 185 195 197 +f 195 191 197 +f 196 185 197 +f 186 196 197 +f 190 187 198 +f 189 190 198 +f 187 193 198 +f 194 189 198 +f 194 198 199 +f 193 183 199 +f 183 194 199 +o convex_12 +v -2.040326 -2.580554 -2.305857 +v -1.825430 -2.623556 -0.028133 +v -2.147809 -2.430160 -0.135304 +v -1.825430 -2.430137 -2.757204 +v -2.126312 -2.602055 -0.092212 +v -2.147845 -2.430137 -2.348949 +v -1.868495 -2.666582 -1.596237 +v -1.825430 -2.602055 -2.477945 +v -2.104816 -2.602055 -1.596237 +v -2.190839 -2.451661 -1.660875 +v -1.932985 -2.451661 -2.886480 +v -1.911452 -2.666582 -0.479201 +v -1.911488 -2.623556 -2.477945 +v -2.190839 -2.430160 -0.156850 +v -2.126312 -2.451661 -2.542583 +v -1.825430 -2.666582 -0.436389 +v -1.997439 -2.645058 -1.531878 +f 208 212 216 +f 202 201 203 +f 201 202 204 +f 202 203 205 +f 203 201 207 +f 208 204 209 +f 205 203 210 +f 203 207 210 +f 201 204 211 +f 207 206 212 +f 208 200 212 +f 210 207 212 +f 204 202 213 +f 202 205 213 +f 209 204 213 +f 205 209 213 +f 200 208 214 +f 209 205 214 +f 208 209 214 +f 205 210 214 +f 212 200 214 +f 210 212 214 +f 207 201 215 +f 206 207 215 +f 201 211 215 +f 211 206 215 +f 204 208 216 +f 211 204 216 +f 206 211 216 +f 212 206 216 +o convex_13 +v 0.732684 -2.752634 -0.629308 +v 0.367275 -3.461962 0.080051 +v 0.367275 -3.375796 -0.049006 +v 0.840122 -3.010578 -0.457157 +v 0.840122 -3.289907 0.122918 +v 0.367275 -2.795683 -0.607799 +v 0.431803 -2.838801 -0.650818 +v 0.797165 -3.397459 0.101484 +v 0.410278 -3.397320 0.101560 +v 0.840122 -2.881571 -0.629308 +v 0.474759 -3.182286 -0.306590 +f 226 220 227 +f 219 218 222 +f 221 217 222 +f 222 217 223 +f 219 222 223 +f 218 219 224 +f 220 221 224 +f 224 221 225 +f 222 218 225 +f 221 222 225 +f 218 224 225 +f 217 221 226 +f 221 220 226 +f 223 217 226 +f 223 226 227 +f 219 223 227 +f 224 219 227 +f 220 224 227 +o convex_14 +v -2.190864 -2.344106 -1.489174 +v -2.104902 -2.430076 -2.607023 +v -2.083401 -2.430076 -2.607023 +v -2.147872 -2.430076 -0.156393 +v -2.083401 -2.215150 -0.177982 +v -2.104902 -2.215150 -1.596641 +v -2.147872 -2.236675 -0.328388 +v -2.190864 -2.430076 -0.156393 +v -2.169363 -2.236675 -1.574812 +v -2.083401 -2.279660 -2.284382 +v -2.190864 -2.430076 -1.704108 +v -2.147872 -2.408594 -2.413438 +f 238 228 239 +f 229 230 231 +f 231 230 232 +f 232 234 235 +f 229 231 235 +f 231 232 235 +f 232 233 236 +f 234 232 236 +f 235 234 236 +f 228 235 236 +f 230 229 237 +f 232 230 237 +f 233 232 237 +f 236 233 237 +f 229 235 238 +f 235 228 238 +f 228 236 239 +f 237 229 239 +f 236 237 239 +f 229 238 239 +o convex_15 +v -1.868453 -2.129163 -0.543706 +v -1.932936 -2.430089 -2.886200 +v -1.889939 -2.430089 -2.886200 +v -2.040368 -2.236679 -0.178243 +v -2.083365 -2.258182 -2.176820 +v -1.911450 -2.236679 -2.477642 +v -1.825430 -2.150696 -0.027972 +v -2.083365 -2.430089 -2.649740 +v -1.825430 -2.430089 -2.649740 +v -1.825430 -2.258182 -2.327091 +v -2.083365 -2.215176 -0.178243 +v -1.997370 -2.172199 -1.574896 +v -1.997370 -2.150696 -0.178243 +v -1.975884 -2.236679 -2.499189 +v -2.061854 -2.193702 -1.553349 +f 253 244 254 +f 241 242 247 +f 246 243 248 +f 247 242 248 +f 243 247 248 +f 245 240 249 +f 242 245 249 +f 240 246 249 +f 248 242 249 +f 246 248 249 +f 243 246 250 +f 247 243 250 +f 244 247 250 +f 240 245 251 +f 246 240 252 +f 250 246 252 +f 240 251 252 +f 242 241 253 +f 245 242 253 +f 241 247 253 +f 247 244 253 +f 251 245 253 +f 251 253 254 +f 244 250 254 +f 250 252 254 +f 252 251 254 +o convex_16 +v -1.782386 -2.258178 -2.133964 +v -1.825367 -2.666582 -1.038210 +v -1.825367 -2.645018 -1.553682 +v -1.610462 -2.451598 -0.500517 +v -1.825367 -2.150660 -0.371360 +v -1.696487 -2.451598 -2.542499 +v -1.696487 -2.645018 -0.371360 +v -1.825367 -2.408621 -2.736003 +v -1.610462 -2.344131 -0.371360 +v -1.825367 -2.645018 -0.371360 +v -1.696487 -2.602041 -1.596271 +v -1.739405 -2.215201 -1.511092 +v -1.803887 -2.580528 -2.456162 +v -1.696487 -2.408621 -2.542499 +v -1.825367 -2.258178 -2.219837 +v -1.610462 -2.365644 -0.737074 +f 268 266 270 +f 257 256 259 +f 257 259 262 +f 261 258 263 +f 259 261 263 +f 259 256 264 +f 256 261 264 +f 261 259 264 +f 256 257 265 +f 260 258 265 +f 258 261 265 +f 261 256 265 +f 259 263 266 +f 257 262 267 +f 262 260 267 +f 265 257 267 +f 260 265 267 +f 260 262 268 +f 255 266 268 +f 262 259 269 +f 266 255 269 +f 259 266 269 +f 255 268 269 +f 268 262 269 +f 258 260 270 +f 263 258 270 +f 266 263 270 +f 260 268 270 +o convex_17 +v 0.410292 -0.495915 1.068923 +v 0.367239 -2.752569 0.832461 +v 0.560744 -2.752569 0.810989 +v 0.689670 1.095257 0.897012 +v 0.840122 -0.860282 1.025842 +v 0.840122 -2.687801 0.789490 +v 0.367239 0.708164 0.961427 +v 0.840122 1.116847 0.918429 +v 0.367239 -2.752569 0.853987 +v 0.818596 -2.537055 0.854014 +v 0.367239 -0.646283 1.068923 +v 0.367239 0.686575 1.004371 +v 0.840122 -0.495536 1.025842 +v 0.560744 1.095257 0.918457 +v 0.367239 -2.515844 0.832461 +v 0.818596 -2.493876 0.789490 +v 0.840122 1.116847 0.897012 +v 0.582270 1.030489 0.961400 +f 284 282 288 +f 275 276 278 +f 272 273 279 +f 273 276 279 +f 277 272 279 +f 276 275 280 +f 275 279 280 +f 279 276 280 +f 275 271 281 +f 279 275 281 +f 277 279 281 +f 281 271 282 +f 277 281 282 +f 271 275 283 +f 275 278 283 +f 282 271 283 +f 277 282 284 +f 273 272 285 +f 272 277 285 +f 284 274 285 +f 277 284 285 +f 276 273 286 +f 273 285 286 +f 285 274 286 +f 278 276 287 +f 274 284 287 +f 284 278 287 +f 276 286 287 +f 286 274 287 +f 283 278 288 +f 282 283 288 +f 278 284 288 +o convex_18 +v -0.815082 -1.161081 -0.715308 +v -0.793585 -2.020994 0.853955 +v -0.815082 -2.020994 0.853955 +v -0.793585 1.869233 0.144438 +v -0.793585 -2.773159 -0.543267 +v -0.815082 1.825928 0.187448 +v -0.793585 1.223268 -0.672144 +v -0.815082 -3.397472 0.079769 +v -0.815082 1.223268 -0.672144 +v -0.793585 -2.945863 0.810637 +v -0.793585 0.557197 0.552729 +v -0.815082 -2.773159 -0.543267 +v -0.793585 -3.397472 0.079769 +v -0.815082 -2.902558 0.832296 +v -0.815082 -0.087738 0.660408 +v -0.793585 -1.161081 -0.715308 +f 295 293 304 +f 292 290 293 +f 289 291 294 +f 292 293 295 +f 291 289 296 +f 289 294 297 +f 294 292 297 +f 292 295 297 +f 295 289 297 +f 293 290 298 +f 290 292 299 +f 292 294 299 +f 289 293 300 +f 296 289 300 +f 293 296 300 +f 296 293 301 +f 293 298 301 +f 298 296 301 +f 290 291 302 +f 291 296 302 +f 298 290 302 +f 296 298 302 +f 291 290 303 +f 294 291 303 +f 290 299 303 +f 299 294 303 +f 293 289 304 +f 289 295 304 +o convex_19 +v -0.987069 -1.656394 -0.435850 +v -0.987069 -2.730738 0.574497 +v -1.008561 -2.730738 0.574497 +v -1.008561 -3.031633 -0.027399 +v -1.051546 -1.312640 -0.220845 +v -0.987069 -0.904155 -0.285327 +v -1.051546 -2.644799 -0.177824 +v -1.051546 -2.043008 0.359492 +v -1.051546 -2.902836 0.445435 +v -0.987069 -2.687879 -0.306788 +v -0.987069 -3.053284 0.466994 +v -0.987069 -1.999928 0.359492 +v -1.051546 -1.999928 -0.306788 +v -1.008561 -0.861296 -0.349809 +v -1.008561 -1.205051 -0.048860 +f 318 309 319 +f 306 305 310 +f 309 311 312 +f 311 308 313 +f 312 311 313 +f 307 312 313 +f 305 306 314 +f 308 311 314 +f 306 307 315 +f 307 313 315 +f 313 308 315 +f 314 306 315 +f 308 314 315 +f 307 306 316 +f 306 310 316 +f 312 307 316 +f 311 309 317 +f 305 314 317 +f 314 311 317 +f 310 305 318 +f 305 317 318 +f 317 309 318 +f 309 312 319 +f 316 310 319 +f 312 316 319 +f 310 318 319 +o convex_20 +v 1.098146 -2.881074 0.424020 +v 1.098146 -1.205072 0.767901 +v 1.076653 -1.205072 0.767901 +v 1.098146 -0.689196 0.424020 +v 1.184116 -2.644770 0.595977 +v 1.184116 -1.032955 0.424020 +v 1.076653 -2.709195 0.638933 +v 1.184116 -0.925501 0.595977 +v 1.076653 -0.452892 0.681956 +v 1.184116 -2.816649 0.424020 +v 1.076653 -0.689196 0.424020 +v 1.184116 -1.828164 0.681956 +v 1.076653 -2.881074 0.424020 +v 1.098146 -1.634889 0.767901 +f 324 331 333 +f 320 323 325 +f 324 325 327 +f 325 323 327 +f 322 321 328 +f 326 322 328 +f 321 327 328 +f 327 323 328 +f 325 324 329 +f 320 325 329 +f 326 320 329 +f 324 326 329 +f 323 320 330 +f 326 328 330 +f 328 323 330 +f 327 321 331 +f 324 327 331 +f 320 326 332 +f 330 320 332 +f 326 330 332 +f 321 322 333 +f 322 326 333 +f 326 324 333 +f 331 321 333 +o convex_21 +v 1.227126 -2.838245 -0.177780 +v 1.205640 -1.677735 0.660427 +v 1.184116 -1.677735 0.660427 +v 1.205640 -1.613411 -0.091794 +v 1.313084 -1.592161 0.445419 +v 1.313084 -2.687773 0.488367 +v 1.313084 -2.537493 -0.177780 +v 1.184116 -2.924201 0.295098 +v 1.184116 -1.011523 0.531404 +v 1.184116 -2.580375 -0.242380 +v 1.184116 -2.687773 0.574353 +v 1.313084 -1.677735 0.209112 +v 1.313084 -2.859686 0.144689 +v 1.313084 -2.172033 0.552879 +v 1.205640 -1.011523 0.552879 +v 1.184116 -1.613411 -0.091794 +v 1.313084 -2.043194 -0.070408 +v 1.184116 -2.967276 0.123215 +f 346 341 351 +f 338 339 340 +f 341 336 342 +f 341 342 343 +f 340 334 343 +f 337 340 343 +f 335 336 344 +f 336 341 344 +f 341 339 344 +f 338 340 345 +f 340 339 346 +f 334 340 346 +f 339 341 346 +f 339 338 347 +f 335 344 347 +f 344 339 347 +f 336 335 348 +f 342 336 348 +f 337 342 348 +f 338 345 348 +f 345 337 348 +f 335 347 348 +f 347 338 348 +f 342 337 349 +f 343 342 349 +f 337 343 349 +f 340 337 350 +f 345 340 350 +f 337 345 350 +f 341 343 351 +f 343 334 351 +f 334 346 351 +o convex_22 +v -0.600140 2.385136 0.144669 +v -0.535624 1.482397 0.810961 +v -0.557144 1.482397 0.810961 +v -0.664582 1.202834 0.638916 +v -0.621586 1.804960 0.746364 +v -0.535624 2.428008 0.080215 +v -0.686102 2.191444 0.080215 +v -0.535624 1.998009 0.724903 +v -0.535624 1.202834 0.789357 +v -0.686102 1.288833 0.703370 +v -0.664582 2.105573 0.080215 +v -0.686102 1.826395 0.552929 +v -0.621586 1.202834 0.810961 +f 361 355 364 +f 352 357 358 +f 354 353 359 +f 352 356 359 +f 356 354 359 +f 353 357 359 +f 357 352 359 +f 357 353 360 +f 358 355 361 +f 355 358 362 +f 358 357 362 +f 360 355 362 +f 357 360 362 +f 356 352 363 +f 352 358 363 +f 361 356 363 +f 358 361 363 +f 353 354 364 +f 354 356 364 +f 360 353 364 +f 355 360 364 +f 356 361 364 +o convex_23 +v -0.557150 -0.324071 -0.844289 +v -0.643091 -2.601936 -0.586328 +v -0.686097 -2.601936 -0.586328 +v -0.772084 1.417801 -0.672357 +v -0.750582 -0.881699 -0.801287 +v -0.535624 1.202669 -0.736771 +v -0.535624 -2.752569 -0.586328 +v -0.535624 -0.881699 -0.844289 +v -0.772084 -1.978585 -0.672357 +v -0.772084 1.245532 -0.736796 +v -0.643091 -2.666027 -0.629355 +v -0.686097 -0.795973 -0.844289 +v -0.535624 1.116127 -0.779798 +v -0.772084 -1.978585 -0.629330 +v -0.535624 -2.730525 -0.629355 +f 376 372 379 +f 367 366 368 +f 370 368 371 +f 366 367 371 +f 368 366 371 +f 370 371 372 +f 369 373 374 +f 373 368 374 +f 371 367 375 +f 367 373 375 +f 375 373 376 +f 365 372 376 +f 373 369 376 +f 369 374 376 +f 374 365 376 +f 368 370 377 +f 372 365 377 +f 370 372 377 +f 365 374 377 +f 374 368 377 +f 367 368 378 +f 373 367 378 +f 368 373 378 +f 372 371 379 +f 371 375 379 +f 375 376 379 +o convex_24 +v -0.170174 3.674910 -1.015934 +v -0.170174 3.417018 -1.102199 +v -0.191674 3.460006 -1.402725 +v -0.170174 3.417018 1.412870 +v -0.127186 3.438563 -0.779563 +v -0.191674 3.760918 0.165924 +v -0.148686 3.610445 1.412870 +v -0.170174 3.760918 -0.006294 +v -0.191674 3.546015 -1.746849 +v -0.148686 3.417018 1.412870 +f 386 383 389 +f 382 381 383 +f 382 383 385 +f 385 383 386 +f 385 386 387 +f 384 380 387 +f 380 385 387 +f 386 384 387 +f 381 382 388 +f 380 384 388 +f 384 381 388 +f 385 380 388 +f 382 385 388 +f 383 381 389 +f 381 384 389 +f 384 386 389 +o convex_25 +v -0.793585 -3.418787 0.058724 +v -0.772086 -1.527675 0.853955 +v -0.772086 -1.291152 0.832296 +v -0.729099 -2.172641 -0.672298 +v -0.793585 -1.247796 -0.715308 +v -0.729099 -2.903029 0.832296 +v -0.793585 -2.902600 0.832296 +v -0.729099 -3.440465 0.058724 +v -0.793585 -2.773822 -0.564772 +v -0.729099 -1.978829 0.853955 +v -0.793585 -1.247796 0.810945 +v -0.772086 -1.247796 -0.715308 +v -0.729099 -2.773822 -0.607629 +v -0.729099 -1.978829 -0.672298 +f 401 399 403 +f 394 390 396 +f 395 396 397 +f 393 395 397 +f 396 390 397 +f 390 394 398 +f 394 393 398 +f 392 391 399 +f 395 393 399 +f 391 396 399 +f 396 395 399 +f 391 392 400 +f 396 391 400 +f 394 396 400 +f 393 394 401 +f 392 399 401 +f 400 392 401 +f 394 400 401 +f 397 390 402 +f 393 397 402 +f 398 393 402 +f 390 398 402 +f 399 393 403 +f 393 401 403 +o convex_26 +v 0.367239 1.632605 0.918445 +v 0.066314 -0.516907 1.068908 +v 0.066314 -0.516907 1.090386 +v 0.066314 1.761749 0.961468 +v 0.367239 -0.430810 1.068908 +v 0.087817 1.632605 1.004424 +v 0.367239 1.718701 0.961468 +v 0.367239 -0.495271 1.025918 +v 0.066314 -0.366350 1.047413 +f 404 411 412 +f 405 406 407 +f 406 408 409 +f 407 406 409 +f 404 407 410 +f 408 404 410 +f 409 408 410 +f 407 409 410 +f 406 405 411 +f 404 408 411 +f 408 406 411 +f 405 407 412 +f 407 404 412 +f 411 405 412 +o convex_27 +v 1.162602 -2.731072 -0.199287 +v 1.076653 -3.074987 0.080004 +v 1.076653 -3.031964 -0.091856 +v 1.076653 -2.838596 0.423946 +v 1.184116 -2.988975 0.209010 +v 1.076653 -2.731072 -0.328293 +v 1.184116 -2.774095 0.423946 +v 1.184116 -2.860074 -0.220788 +f 413 419 420 +f 415 414 416 +f 414 415 417 +f 416 414 417 +f 415 416 418 +f 418 416 419 +f 416 417 419 +f 413 418 419 +f 419 417 420 +f 417 415 420 +f 418 413 420 +f 415 418 420 +o convex_28 +v 1.098146 -2.021377 -0.306792 +v 1.098146 -0.710638 0.423946 +v 1.076653 -0.710638 0.423946 +v 1.098146 -0.366846 -0.199287 +v 1.184116 -2.730835 -0.199287 +v 1.184116 -1.054669 0.423946 +v 1.076653 -2.709199 -0.263790 +v 1.184116 -1.355428 -0.113357 +v 1.076653 -0.366846 -0.199287 +v 1.098146 -0.301939 0.294940 +v 1.162602 -1.183531 0.423946 +v 1.184116 -2.623132 -0.263790 +v 1.076653 -2.730835 -0.328293 +v 1.076653 -0.839739 0.423946 +f 427 431 434 +f 422 423 426 +f 424 426 428 +f 426 425 428 +f 424 421 429 +f 427 423 429 +f 423 422 430 +f 422 426 430 +f 426 424 430 +f 429 423 430 +f 424 429 430 +f 426 423 431 +f 425 426 431 +f 427 425 431 +f 421 424 432 +f 424 428 432 +f 428 425 432 +f 425 427 433 +f 429 421 433 +f 427 429 433 +f 421 432 433 +f 432 425 433 +f 423 427 434 +f 431 423 434 +o convex_29 +v 0.646689 2.083971 0.810995 +v 0.367275 0.708408 0.961399 +v 0.474734 0.729914 0.939905 +v 0.560693 2.212849 0.703524 +v 0.367275 1.826063 0.939905 +v 0.711150 1.095501 0.939932 +v 0.367275 2.277671 0.768006 +v 0.732684 2.105476 0.703524 +v 0.732684 1.804558 0.896917 +v 0.732684 1.095501 0.896917 +v 0.388774 1.181368 0.982866 +v 0.517731 0.708408 0.982866 +f 440 445 446 +f 437 436 438 +f 438 436 441 +f 435 438 441 +f 439 435 441 +f 436 439 441 +f 437 438 442 +f 438 435 442 +f 435 439 443 +f 442 435 443 +f 437 442 444 +f 443 440 444 +f 442 443 444 +f 439 436 445 +f 440 443 445 +f 443 439 445 +f 436 437 446 +f 437 444 446 +f 444 440 446 +f 445 436 446 +o convex_30 +v -0.084190 3.610451 -2.477606 +v 0.023279 3.331012 -2.563505 +v 0.044782 3.331012 -2.563505 +v -0.148653 3.331012 0.595994 +v 0.066285 3.610451 -2.606454 +v -0.148653 3.481509 -2.520555 +v -0.170179 3.610451 -1.252870 +v -0.148653 3.331012 -1.187764 +v -0.148653 3.417010 0.595994 +v 0.044782 3.502981 -2.886306 +v -0.170179 3.331012 0.036290 +v -0.170179 3.524453 -2.219570 +v -0.105647 3.331012 -2.026298 +v 0.066285 3.417038 -2.671219 +f 456 451 460 +f 448 449 450 +f 451 447 453 +f 448 450 454 +f 450 451 455 +f 451 453 455 +f 449 448 456 +f 447 451 456 +f 448 452 456 +f 452 447 456 +f 454 450 457 +f 450 455 457 +f 455 453 457 +f 447 452 458 +f 453 447 458 +f 452 454 458 +f 457 453 458 +f 454 457 458 +f 452 448 459 +f 454 452 459 +f 448 454 459 +f 450 449 460 +f 451 450 460 +f 449 456 460 +o convex_31 +v 0.904679 2.083915 -0.005890 +v 0.926172 1.847414 0.767968 +v 0.904679 1.847414 0.767968 +v 0.990628 0.235663 0.595893 +v 1.012142 1.912031 0.015619 +v 1.012142 0.773096 0.767968 +v 1.012142 0.493763 0.144596 +v 0.904679 1.955048 -0.048909 +v 1.012142 1.160063 -0.048909 +v 1.012142 0.235663 0.767968 +v 0.990628 0.493763 0.144596 +v 0.947664 1.804581 0.767968 +v 0.926172 2.105697 0.080148 +v 0.904679 1.761564 0.767968 +f 464 470 474 +f 462 463 466 +f 465 466 467 +f 463 461 468 +f 461 465 468 +f 465 467 469 +f 468 465 469 +f 466 463 470 +f 464 467 470 +f 467 466 470 +f 467 464 471 +f 464 468 471 +f 469 467 471 +f 468 469 471 +f 462 466 472 +f 466 465 472 +f 461 463 473 +f 463 462 473 +f 465 461 473 +f 462 472 473 +f 472 465 473 +f 463 468 474 +f 468 464 474 +f 470 463 474 +o convex_32 +v -0.535624 2.148802 -0.564812 +v -0.277663 2.621533 0.080072 +v -0.342153 2.621533 0.080072 +v -0.514111 1.740339 -0.693742 +v -0.277663 2.514047 -0.457292 +v -0.277663 1.869391 -0.715308 +v -0.535624 2.535527 0.080072 +v -0.406644 2.514047 -0.414316 +v -0.299177 2.578487 0.080072 +v -0.535624 1.826345 -0.715308 +v -0.535624 2.492481 0.080072 +v -0.320665 2.170282 -0.629277 +f 480 484 486 +f 477 476 479 +f 479 476 480 +f 476 477 481 +f 477 479 482 +f 481 477 482 +f 475 481 482 +f 480 476 483 +f 478 480 483 +f 476 481 483 +f 480 478 484 +f 481 475 484 +f 481 484 485 +f 478 483 485 +f 483 481 485 +f 484 478 485 +f 479 480 486 +f 475 482 486 +f 482 479 486 +f 484 475 486 +o convex_33 +v -0.277663 -0.280527 1.004413 +v -0.686102 -2.859438 0.810961 +v -0.535616 -2.881550 0.810961 +v -0.664552 -0.431568 0.875464 +v -0.277663 0.299970 0.939929 +v -0.277663 -2.794973 0.810961 +v -0.342191 -1.548338 0.982919 +v -0.686102 -0.431568 0.918435 +v -0.686102 -2.515625 0.875464 +v -0.277663 -2.837950 0.853989 +v -0.299213 -1.161860 1.004413 +f 493 496 497 +f 489 488 492 +f 488 490 492 +f 491 487 492 +f 490 491 492 +f 490 488 494 +f 487 491 494 +f 491 490 494 +f 494 488 495 +f 488 489 496 +f 492 487 496 +f 489 492 496 +f 493 495 496 +f 495 488 496 +f 487 494 497 +f 495 493 497 +f 494 495 497 +f 496 487 497 +o convex_34 +v -0.686102 0.901698 0.767989 +v -0.686102 -0.430705 0.875397 +v -0.643083 -0.430705 0.875397 +v -0.299213 1.804720 0.875397 +v -0.664552 1.138000 0.638987 +v -0.277663 0.214015 0.918407 +v -0.277663 2.148691 0.746513 +v -0.535616 1.826202 0.789465 +v -0.686102 -0.409223 0.918407 +v -0.277663 0.601209 0.939912 +v -0.492597 -0.495410 0.918407 +v -0.643083 1.181223 0.810940 +v -0.686102 1.202705 0.638987 +v -0.600104 -0.409223 0.939942 +v -0.535616 1.890648 0.746513 +v -0.277663 2.040763 0.746513 +f 502 504 513 +f 500 499 502 +f 501 504 505 +f 498 499 506 +f 504 501 507 +f 503 504 507 +f 499 500 508 +f 500 502 508 +f 502 503 508 +f 506 499 508 +f 503 507 508 +f 501 505 509 +f 506 501 509 +f 498 506 509 +f 499 498 510 +f 502 499 510 +f 504 502 510 +f 498 509 510 +f 509 505 510 +f 501 506 511 +f 507 501 511 +f 506 508 511 +f 508 507 511 +f 505 504 512 +f 504 510 512 +f 510 505 512 +f 503 502 513 +f 504 503 513 +o convex_35 +v -0.535624 2.492551 0.209151 +v -0.277663 2.191768 0.746471 +v -0.277663 2.320610 0.703358 +v -0.277663 2.600032 0.080137 +v -0.535624 1.847812 0.724882 +v -0.385155 2.578521 0.552950 +v -0.535624 2.471039 0.080137 +v -0.535624 2.105798 0.681899 +v -0.277663 2.105798 0.724882 +v -0.277663 2.578521 0.595933 +v -0.342153 2.621619 0.080137 +f 523 517 524 +f 516 515 517 +f 518 514 520 +f 517 518 520 +f 515 516 521 +f 514 518 521 +f 518 515 521 +f 516 519 521 +f 519 514 521 +f 517 515 522 +f 518 517 522 +f 515 518 522 +f 516 517 523 +f 519 516 523 +f 519 523 524 +f 514 519 524 +f 520 514 524 +f 517 520 524 +o convex_36 +v 0.410267 2.471066 -0.500307 +v 0.431761 2.664613 0.015581 +v 0.367239 2.664613 0.015581 +v 0.517702 2.062704 -0.564822 +v 0.560710 2.600039 -0.349771 +v 0.560710 2.600039 0.015581 +v 0.367239 2.191735 -0.564822 +v 0.367239 2.578533 -0.435791 +v 0.560710 2.148783 -0.586328 +f 528 531 533 +f 527 526 529 +f 529 526 530 +f 526 527 530 +f 527 528 530 +f 528 527 531 +f 529 525 532 +f 527 529 532 +f 525 531 532 +f 531 527 532 +f 525 529 533 +f 529 530 533 +f 530 528 533 +f 531 525 533 +o convex_37 +v 0.840168 -3.332982 0.144718 +v 0.861665 -0.194559 1.004432 +v 0.840168 -0.194559 1.004432 +v 0.861665 -2.709111 0.810854 +v 0.861665 0.901879 0.896860 +v 0.861665 -3.267900 0.123152 +v 0.840168 -2.709111 0.810854 +v 0.840168 0.901879 0.896860 +f 538 539 541 +f 535 536 537 +f 536 535 538 +f 535 537 538 +f 537 534 539 +f 538 537 539 +f 536 534 540 +f 537 536 540 +f 534 537 540 +f 534 536 541 +f 536 538 541 +f 539 534 541 +o convex_38 +v 1.033639 -1.870695 -0.371360 +v 1.055136 0.213756 0.015581 +v 1.033639 0.213756 0.015581 +v 1.033639 -3.075021 0.015581 +v 1.076632 -2.881436 -0.328333 +v 1.076632 -3.075021 0.015581 +v 1.076632 -0.108645 -0.220841 +v 1.033639 0.536156 -0.156414 +v 1.033639 -3.009893 -0.306819 +v 1.076632 -0.087056 0.015581 +f 548 549 551 +f 543 544 545 +f 544 542 545 +f 543 545 547 +f 546 542 548 +f 547 546 548 +f 542 544 549 +f 544 543 549 +f 548 542 549 +f 545 542 550 +f 542 546 550 +f 546 547 550 +f 547 545 550 +f 543 547 551 +f 547 548 551 +f 549 543 551 +o convex_39 +v 0.087790 3.374006 -2.714178 +v 0.324246 3.352509 0.402031 +v 0.302718 3.416999 0.595338 +v 0.281244 3.416999 -2.176595 +v 0.259743 3.331012 -2.112269 +v 0.044788 3.331012 -2.499211 +v 0.044788 3.416999 -2.628191 +v 0.259743 3.331012 0.595338 +v 0.324246 3.416999 -1.575014 +v 0.324246 3.331012 -0.694139 +v 0.259743 3.395503 0.595338 +f 557 559 562 +f 552 555 556 +f 552 556 557 +f 554 555 558 +f 555 552 558 +f 552 557 558 +f 553 554 559 +f 557 556 559 +f 554 553 560 +f 555 554 560 +f 556 555 560 +f 556 560 561 +f 553 559 561 +f 559 556 561 +f 560 553 561 +f 554 558 562 +f 558 557 562 +f 559 554 562 +o convex_40 +v 0.087777 3.610485 -2.671294 +v 0.324246 3.696445 -0.973269 +v 0.324246 3.610485 -0.973269 +v -0.170179 3.653472 -0.973269 +v 0.044849 3.760933 -1.983465 +v -0.148643 3.760933 -0.973269 +v -0.105666 3.610485 -2.392021 +v 0.281221 3.760933 -1.231500 +v 0.238244 3.631986 -2.284285 +v -0.170179 3.610485 -1.123763 +v 0.087777 3.696445 -2.585273 +v -0.148643 3.739432 -1.553698 +v 0.001824 3.696445 -2.499421 +f 569 574 575 +f 565 564 566 +f 566 564 568 +f 563 565 569 +f 568 564 570 +f 567 568 570 +f 565 563 571 +f 564 565 571 +f 570 564 571 +f 565 566 572 +f 569 565 572 +f 567 570 573 +f 571 563 573 +f 570 571 573 +f 568 567 574 +f 566 568 574 +f 572 566 574 +f 569 572 574 +f 563 569 575 +f 573 563 575 +f 567 573 575 +f 574 567 575 +o convex_41 +v -0.965540 -2.494751 -0.435804 +v -0.965540 -3.074770 0.101569 +v -0.987056 -3.074770 0.101569 +v -0.965540 -1.806998 -0.371291 +v -0.879572 -2.752426 -0.457330 +v -0.879572 -3.203822 0.101569 +v -0.879572 -1.806998 -0.564831 +v -0.987056 -2.730965 -0.371291 +v -0.987056 -1.806998 -0.457330 +v -0.901088 -3.268491 0.058516 +f 583 580 585 +f 578 577 579 +f 577 578 581 +f 579 577 581 +f 581 580 582 +f 580 576 582 +f 579 581 582 +f 576 580 583 +f 578 579 584 +f 582 576 584 +f 579 582 584 +f 583 578 584 +f 576 583 584 +f 581 578 585 +f 580 581 585 +f 578 583 585 +o convex_42 +v -0.815099 -2.946055 0.810934 +v -0.836579 -3.354478 0.058705 +v -0.944046 -3.203936 0.101642 +v -0.815099 -2.903095 -0.306870 +v -0.987056 -2.795573 0.617329 +v -0.815099 -2.731072 0.832458 +v -0.987056 -3.032035 0.552979 +v -0.987056 -3.074934 0.101642 +v -0.815099 -3.354478 0.123278 +v -0.836579 -2.903095 -0.306870 +f 588 593 595 +f 586 589 591 +f 590 586 591 +f 588 587 592 +f 586 590 592 +f 592 590 593 +f 588 592 593 +f 587 589 594 +f 589 586 594 +f 592 587 594 +f 586 592 594 +f 587 588 595 +f 589 587 595 +f 591 589 595 +f 590 591 595 +f 593 590 595 +o convex_43 +v -0.879572 0.536434 0.316578 +v -0.879572 -2.516048 0.746471 +v -0.901088 -2.516048 0.746471 +v -0.965540 -0.925391 -0.328367 +v -0.879572 -0.280583 -0.328367 +v -0.987056 -2.601175 0.617377 +v -0.944056 -0.302110 0.423999 +v -0.987056 -0.731982 -0.328367 +v -0.879572 -2.795563 0.703335 +v -0.987056 -2.795563 0.531419 +v -0.901088 0.020131 -0.328367 +v -0.901088 0.536434 0.273547 +v -0.901088 -0.130226 0.488388 +v -0.987056 -1.677504 0.359610 +v -0.965540 -2.150429 0.638840 +f 598 608 610 +f 596 597 600 +f 600 599 603 +f 597 598 604 +f 599 600 604 +f 600 597 604 +f 598 601 604 +f 604 601 605 +f 603 599 605 +f 601 603 605 +f 599 604 605 +f 596 600 606 +f 600 603 606 +f 606 603 607 +f 603 602 607 +f 596 606 607 +f 607 602 608 +f 597 596 608 +f 598 597 608 +f 596 607 608 +f 601 602 609 +f 603 601 609 +f 602 603 609 +f 601 598 610 +f 602 601 610 +f 608 602 610 +o convex_44 +v 0.324051 -0.646066 -0.865726 +v -0.535624 -2.795245 -0.607885 +v -0.535624 -2.795245 -0.586359 +v -0.535624 -0.495637 -0.822737 +v 0.023324 -0.732188 -0.908779 +v 0.367176 -2.644816 -0.629348 +v 0.367176 -0.753548 -0.801243 +v 0.345614 -2.687536 -0.672369 +v -0.514062 -0.732188 -0.865726 +v -0.019713 -2.752298 -0.672369 +v -0.492587 -2.709351 -0.586359 +v 0.367176 -1.398438 -0.822769 +v -0.535624 -2.558694 -0.650875 +v -0.299143 -0.495637 -0.887253 +v 0.367176 -2.817060 -0.629348 +v 0.367176 -0.603119 -0.822769 +v 0.152169 -0.603119 -0.908779 +v -0.277580 -2.773658 -0.586359 +f 625 616 628 +f 612 613 614 +f 619 615 620 +f 615 618 620 +f 614 613 621 +f 617 614 621 +f 617 616 622 +f 618 615 622 +f 612 614 623 +f 614 619 623 +f 619 620 623 +f 620 612 623 +f 619 614 624 +f 615 619 624 +f 613 612 625 +f 612 620 625 +f 620 618 625 +f 622 616 625 +f 618 622 625 +f 614 617 626 +f 622 611 626 +f 617 622 626 +f 624 614 626 +f 624 626 627 +f 611 622 627 +f 622 615 627 +f 615 624 627 +f 626 611 627 +f 616 617 628 +f 621 613 628 +f 617 621 628 +f 613 625 628 +o convex_45 +v -0.084096 -3.526414 0.080034 +v -0.256068 -2.709576 -0.607715 +v -0.256068 -2.709576 -0.629321 +v 0.367176 -2.795689 -0.629321 +v 0.367176 -3.418873 0.101569 +v -0.686102 -3.418792 0.101569 +v -0.686102 -2.795769 -0.607786 +v 0.367176 -3.289902 -0.177881 +v 0.173656 -2.838786 -0.629321 +v -0.600012 -3.461809 0.058499 +v -0.686102 -2.752672 -0.564717 +v 0.367176 -2.795689 -0.607715 +f 630 633 640 +f 631 630 632 +f 633 630 634 +f 629 633 634 +f 633 629 636 +f 632 633 636 +f 631 632 637 +f 635 631 637 +f 629 635 637 +f 636 629 637 +f 632 636 637 +f 629 634 638 +f 635 629 638 +f 634 635 638 +f 630 631 639 +f 634 630 639 +f 631 635 639 +f 635 634 639 +f 632 630 640 +f 633 632 640 +o convex_46 +v -0.084155 -0.624616 1.068893 +v -0.277600 -2.838102 0.810989 +v -0.277600 -2.838102 0.832488 +v 0.367176 -2.773794 0.810989 +v -0.277600 -0.517134 0.982898 +v 0.367176 -0.667790 1.068893 +v 0.044788 -2.730847 0.875485 +v 0.367176 -0.624616 1.025895 +v -0.277600 -1.355627 1.004396 +v 0.367176 -2.752207 0.853987 +v 0.087769 -0.603256 1.090419 +v 0.367176 -2.730847 0.810989 +v -0.277600 -2.644726 0.875485 +v 0.367176 -0.517134 1.068893 +v -0.256078 -0.517134 1.025895 +f 654 645 655 +f 643 642 644 +f 642 643 645 +f 646 644 648 +f 645 643 649 +f 643 644 650 +f 644 646 650 +f 647 643 650 +f 646 647 650 +f 647 646 651 +f 641 649 651 +f 644 642 652 +f 642 645 652 +f 648 644 652 +f 645 648 652 +f 643 647 653 +f 649 643 653 +f 647 651 653 +f 651 649 653 +f 648 645 654 +f 646 648 654 +f 651 646 654 +f 651 654 655 +f 649 641 655 +f 645 649 655 +f 641 651 655 +o convex_47 +v 1.012142 -2.150317 -0.414297 +v 1.033639 -0.409755 0.832458 +v 1.012142 -0.409755 0.832458 +v 1.033639 1.245827 -0.070390 +v 1.033639 -3.161007 0.166123 +v 1.012142 -2.730504 0.681861 +v 1.012142 1.245827 -0.070390 +v 1.033639 -2.837914 -0.392696 +v 1.012142 -3.031598 -0.306780 +v 1.033639 0.450388 0.746298 +v 1.033639 -2.623094 0.703340 +v 1.033639 0.213568 -0.285179 +v 1.012142 0.407252 0.767777 +v 1.012142 0.213568 -0.285179 +f 662 667 669 +f 659 657 660 +f 658 656 661 +f 656 658 662 +f 659 660 663 +f 663 660 664 +f 660 661 664 +f 661 656 664 +f 656 663 664 +f 657 659 665 +f 659 662 665 +f 657 658 666 +f 660 657 666 +f 661 660 666 +f 658 661 666 +f 662 659 667 +f 663 656 667 +f 659 663 667 +f 658 657 668 +f 662 658 668 +f 657 665 668 +f 665 662 668 +f 656 662 669 +f 667 656 669 +o convex_48 +v -0.707596 -3.461792 0.101404 +v -0.686102 -1.720895 0.875452 +v -0.686102 -1.720895 -0.715308 +v -0.707596 -1.720895 0.875452 +v -0.686102 -3.074755 0.660257 +v -0.707596 -1.720895 -0.715308 +v -0.686102 -2.773954 -0.607711 +v -0.707596 -2.902796 0.832319 +v -0.707596 -2.773954 -0.607711 +v -0.686102 -3.461792 0.080072 +f 670 678 679 +f 671 672 673 +f 672 671 674 +f 673 672 675 +f 670 673 675 +f 672 674 676 +f 675 672 676 +f 671 673 677 +f 673 670 677 +f 670 674 677 +f 674 671 677 +f 670 675 678 +f 675 676 678 +f 678 676 679 +f 674 670 679 +f 676 674 679 +o convex_49 +v 1.076632 -3.053221 0.252237 +v 0.947667 -1.548844 0.875452 +v 1.055121 -1.290790 0.810900 +v 0.904696 -3.203833 0.123133 +v 0.926173 -2.709214 0.767893 +v 1.076632 -2.709214 0.660335 +v 1.076632 -3.031733 0.015659 +v 0.904696 -1.548844 0.832361 +v 1.076632 -1.290790 0.746264 +v 0.904696 -3.268491 0.166140 +v 1.033627 -3.053221 0.015659 +v 0.904696 -2.709214 0.767893 +v 1.033627 -1.290790 0.767809 +f 688 690 692 +f 681 684 685 +f 682 681 685 +f 685 680 686 +f 681 682 687 +f 682 685 688 +f 685 686 688 +f 685 684 689 +f 680 685 689 +f 686 680 689 +f 687 683 689 +f 688 686 690 +f 689 683 690 +f 686 689 690 +f 684 681 691 +f 681 687 691 +f 689 684 691 +f 687 689 691 +f 687 682 692 +f 683 687 692 +f 682 688 692 +f 690 683 692 +o convex_50 +v 1.055136 0.213949 0.015659 +v 1.055136 -0.452517 0.810961 +v 1.055136 -0.280560 0.789320 +v 1.076632 -0.817642 0.789320 +v 1.033639 -1.290790 0.767833 +v 1.076632 -0.366463 0.015659 +v 1.033639 0.213949 0.015659 +v 1.033639 0.127895 0.724861 +v 1.076632 -0.194506 0.703375 +v 1.076632 -1.290790 0.746347 +v 1.033639 -0.108603 0.015659 +v 1.055136 0.256976 0.445462 +f 700 701 704 +f 695 694 696 +f 696 694 697 +f 693 698 699 +f 694 695 700 +f 697 694 700 +f 699 697 700 +f 695 696 701 +f 698 693 701 +f 696 698 701 +f 700 695 701 +f 696 697 702 +f 698 696 702 +f 697 698 702 +f 698 697 703 +f 697 699 703 +f 699 698 703 +f 693 699 704 +f 699 700 704 +f 701 693 704 +o convex_51 +v -0.729095 -1.505644 -0.758188 +v -0.707598 -3.418198 0.101569 +v -0.729095 -3.418198 0.101569 +v -0.707598 0.622024 -0.736744 +v -0.707598 -2.773655 -0.607717 +v -0.729095 0.622024 -0.736744 +v -0.729095 -2.773655 -0.607717 +v -0.707598 -0.861101 -0.822792 +f 710 708 712 +f 707 706 708 +f 706 707 709 +f 708 706 709 +f 705 707 710 +f 707 708 710 +f 707 705 711 +f 705 709 711 +f 709 707 711 +f 709 705 712 +f 708 709 712 +f 705 710 712 +o convex_52 +v 0.496150 2.148402 -0.607884 +v 0.109278 -0.602894 -0.908762 +v 0.152318 -0.602894 -0.908762 +v 0.109278 1.804387 -0.844250 +v 0.560710 1.610878 -0.715289 +v 0.109278 1.933393 -0.736814 +v 0.302781 -0.602894 -0.822756 +v 0.367208 2.126902 -0.586328 +v 0.560710 0.708665 -0.715289 +v 0.345688 -0.387608 -0.865744 +v 0.130798 -0.602894 -0.865744 +v 0.560710 1.997896 -0.586328 +v 0.152318 1.761661 -0.844250 +v 0.539190 1.826164 -0.715289 +v 0.367208 -0.602894 -0.822756 +v 0.109278 2.019672 -0.758307 +f 720 713 728 +f 715 714 716 +f 716 714 718 +f 714 715 719 +f 717 721 722 +f 718 714 723 +f 714 719 723 +f 720 718 723 +f 719 720 723 +f 713 720 724 +f 720 719 724 +f 721 717 724 +f 715 716 725 +f 722 715 725 +f 722 725 726 +f 716 713 726 +f 717 722 726 +f 713 724 726 +f 724 717 726 +f 725 716 726 +f 719 715 727 +f 715 722 727 +f 722 721 727 +f 724 719 727 +f 721 724 727 +f 713 716 728 +f 716 718 728 +f 718 720 728 +o convex_53 +v 0.087786 3.460022 -2.886306 +v 0.345743 3.588940 -1.102599 +v 0.345743 3.481515 -1.102599 +v 0.281240 3.481515 -2.563758 +v 0.066285 3.610451 -2.606718 +v 0.302741 3.417018 -1.102599 +v 0.238238 3.610451 -2.370264 +v 0.066285 3.417018 -2.692812 +v 0.281240 3.417018 -2.413398 +v 0.302741 3.610451 -1.102599 +v 0.345743 3.524462 -1.639946 +f 737 732 739 +f 731 730 734 +f 732 729 735 +f 729 733 735 +f 733 729 736 +f 734 733 736 +f 734 736 737 +f 729 732 737 +f 731 734 737 +f 736 729 737 +f 734 730 738 +f 733 734 738 +f 730 735 738 +f 735 733 738 +f 730 731 739 +f 735 730 739 +f 732 735 739 +f 731 737 739 +o convex_54 +v -0.170179 3.760933 -0.973269 +v 0.044788 3.631986 2.896147 +v 0.023283 3.631986 2.896147 +v -0.148653 3.610485 -0.865701 +v -0.170179 3.610485 1.649267 +v 0.044788 3.760933 2.057571 +v -0.127148 3.760933 1.649267 +v 0.044788 3.739432 1.692067 +v -0.084180 3.696445 2.530643 +v -0.127148 3.760933 -0.973269 +v 0.044788 3.610485 2.788579 +v -0.084180 3.610485 2.702600 +v 0.023283 3.717946 2.766989 +v -0.170179 3.760933 0.359588 +v -0.170179 3.610485 -0.865701 +f 743 744 754 +f 745 740 746 +f 745 741 747 +f 746 744 748 +f 743 740 749 +f 740 745 749 +f 747 743 749 +f 745 747 749 +f 741 742 750 +f 744 743 750 +f 747 741 750 +f 743 747 750 +f 748 744 751 +f 750 742 751 +f 744 750 751 +f 742 741 752 +f 741 745 752 +f 745 746 752 +f 746 748 752 +f 751 742 752 +f 748 751 752 +f 740 744 753 +f 746 740 753 +f 744 746 753 +f 740 743 754 +f 744 740 754 +o convex_55 +v 0.044788 3.696445 2.852816 +v 0.324246 3.653472 0.166193 +v 0.324246 3.610485 0.166193 +v 0.259743 3.717946 -0.973269 +v 0.302718 3.760933 0.338100 +v 0.238242 3.631986 2.616638 +v 0.044788 3.610485 2.831134 +v 0.044788 3.760933 1.735036 +v 0.302718 3.610485 -0.973269 +v 0.109291 3.717946 2.809840 +v 0.302718 3.760933 -0.951587 +v 0.281244 3.610485 2.014578 +v 0.087790 3.760933 2.207779 +v 0.044788 3.739432 1.735036 +v 0.259743 3.674973 2.122213 +v 0.109291 3.610485 2.982134 +v 0.324246 3.760933 -0.027395 +f 769 766 771 +f 761 755 762 +f 757 761 763 +f 762 759 765 +f 758 762 765 +f 763 758 765 +f 757 756 766 +f 761 757 766 +f 762 755 767 +f 759 762 767 +f 764 759 767 +f 755 764 767 +f 761 762 768 +f 762 758 768 +f 758 763 768 +f 763 761 768 +f 759 764 769 +f 764 760 769 +f 760 766 769 +f 755 761 770 +f 760 764 770 +f 764 755 770 +f 766 760 770 +f 761 766 770 +f 756 757 771 +f 757 763 771 +f 765 759 771 +f 763 765 771 +f 766 756 771 +f 759 769 771 +o convex_56 +v -0.901088 -1.462379 -0.607824 +v -0.879572 0.020478 -0.328367 +v -0.901088 0.020478 -0.328367 +v -0.965540 -1.806712 -0.392869 +v -0.901088 0.278473 -0.543321 +v -0.987056 -0.689007 -0.414370 +v -0.879572 -1.806712 -0.521821 +v -0.987056 -1.569945 -0.500320 +v -0.879572 -0.345082 -0.607824 +v -0.987056 -0.710439 -0.328367 +f 779 775 781 +f 774 773 776 +f 773 775 778 +f 777 776 779 +f 778 775 779 +f 772 778 779 +f 776 773 780 +f 773 778 780 +f 778 772 780 +f 772 779 780 +f 779 776 780 +f 773 774 781 +f 775 773 781 +f 774 776 781 +f 776 777 781 +f 777 779 781 +o convex_57 +v 0.474732 -3.461962 0.123103 +v 0.560744 -2.623753 0.832458 +v 0.539218 -2.623753 0.832458 +v 0.818596 -3.289824 0.123103 +v 0.818596 -2.731236 0.832458 +v 0.367239 -2.774230 0.832458 +v 0.367239 -3.418804 0.101569 +v 0.775636 -3.397307 0.166244 +v 0.840122 -2.688161 0.767926 +v 0.539218 -2.623753 0.810780 +v 0.367239 -2.709740 0.810780 +v 0.367239 -3.461962 0.144566 +v 0.539218 -3.032191 0.574400 +v 0.840122 -3.354232 0.123103 +f 790 786 795 +f 783 784 786 +f 786 784 787 +f 783 786 790 +f 784 783 791 +f 785 788 791 +f 783 790 791 +f 790 785 791 +f 787 784 792 +f 788 787 792 +f 784 791 792 +f 791 788 792 +f 788 782 793 +f 787 788 793 +f 782 789 793 +f 793 789 794 +f 786 787 794 +f 789 786 794 +f 787 793 794 +f 788 785 795 +f 782 788 795 +f 789 782 795 +f 786 789 795 +f 785 790 795 +o convex_58 +v -0.836579 0.192183 -0.650662 +v -0.836579 -2.795521 0.832458 +v -0.836579 -1.849083 0.746290 +v -0.879572 -2.709111 0.789448 +v -0.879572 0.901107 0.273324 +v -0.879572 -2.751637 -0.478768 +v -0.836579 -2.752090 -0.500273 +v -0.836579 1.267105 0.230461 +v -0.879572 0.536013 -0.564641 +v -0.858076 -3.332982 0.058714 +v -0.858076 -0.108668 0.574396 +v -0.858076 -1.203948 -0.672315 +v -0.836579 0.772171 -0.607652 +v -0.879572 -3.289550 0.122935 +v -0.836579 -3.332982 0.101577 +v -0.858076 1.288821 0.187450 +v -0.879572 -2.945268 0.789448 +v -0.879572 -0.066142 -0.629304 +v -0.879572 -0.259320 0.552744 +v -0.836579 0.278141 0.509733 +f 800 806 815 +f 798 797 796 +f 799 800 801 +f 796 797 802 +f 798 796 803 +f 801 800 804 +f 801 802 805 +f 797 798 806 +f 799 797 806 +f 796 802 807 +f 802 801 807 +f 803 796 808 +f 799 801 809 +f 801 805 809 +f 809 805 810 +f 802 797 810 +f 805 802 810 +f 800 803 811 +f 804 800 811 +f 803 808 811 +f 808 804 811 +f 797 799 812 +f 799 809 812 +f 809 810 812 +f 810 797 812 +f 801 804 813 +f 796 807 813 +f 807 801 813 +f 808 796 813 +f 804 808 813 +f 800 799 814 +f 799 806 814 +f 806 800 814 +f 798 803 815 +f 803 800 815 +f 806 798 815 +o convex_59 +v -0.729095 -3.440067 0.123135 +v -0.707598 -0.474216 0.896948 +v -0.707598 -0.323915 0.875382 +v -0.707598 -3.440067 0.101569 +v -0.729095 -2.902484 0.832328 +v -0.729095 0.622024 0.638933 +v -0.707598 -2.902484 0.832328 +v -0.707598 0.622024 0.638933 +v -0.729095 -0.474216 0.896948 +f 818 821 824 +f 818 817 819 +f 819 816 821 +f 816 820 821 +f 819 817 822 +f 816 819 822 +f 820 816 822 +f 817 820 822 +f 818 819 823 +f 821 818 823 +f 819 821 823 +f 817 818 824 +f 820 817 824 +f 821 820 824 +o convex_60 +v 0.109278 1.976325 -0.779833 +v -0.535624 -0.495073 -0.844253 +v -0.449583 -0.495073 -0.865755 +v 0.109278 -0.602894 -0.887235 +v 0.066226 1.374585 -0.865755 +v -0.535624 1.632584 -0.715329 +v -0.535624 1.718583 -0.758353 +v 0.109278 1.933454 -0.736809 +v -0.514098 -0.344381 -0.801314 +v 0.001710 -0.495330 -0.930238 +v 0.109278 1.804583 -0.844253 +v -0.277625 1.890583 -0.715329 +v 0.087752 -0.538201 -0.930238 +f 835 828 837 +f 826 827 828 +f 827 826 831 +f 829 827 831 +f 826 830 831 +f 828 825 832 +f 826 828 833 +f 830 826 833 +f 828 832 833 +f 827 829 834 +f 825 828 835 +f 831 825 835 +f 829 831 835 +f 825 831 836 +f 831 830 836 +f 832 825 836 +f 830 833 836 +f 833 832 836 +f 828 827 837 +f 827 834 837 +f 834 829 837 +f 829 835 837 +o convex_61 +v -0.707596 1.869142 0.445570 +v -0.686102 -0.193947 0.896948 +v -0.686102 -0.043669 0.875363 +v -0.793585 -0.344225 0.746249 +v -0.686102 -1.720560 0.853857 +v -0.793585 1.825513 0.080295 +v -0.686102 2.040830 0.101640 +v -0.772070 -1.978295 0.832352 +v -0.793585 0.793766 0.552859 +v -0.686102 1.267222 0.660307 +v -0.729101 -1.978295 0.832352 +v -0.793585 1.825513 0.252180 +v -0.707596 1.267222 0.660307 +v -0.793585 -1.246700 0.810846 +v -0.707596 -0.193947 0.896948 +v -0.772070 -1.655520 0.875443 +v -0.707596 2.148691 0.123146 +f 849 838 854 +f 840 839 842 +f 840 842 844 +f 843 841 846 +f 844 838 847 +f 840 844 847 +f 844 842 848 +f 843 844 848 +f 845 843 848 +f 843 846 849 +f 849 846 850 +f 846 841 850 +f 840 847 850 +f 847 838 850 +f 838 849 850 +f 841 843 851 +f 843 845 851 +f 839 840 852 +f 840 850 852 +f 850 841 852 +f 841 851 852 +f 842 839 853 +f 848 842 853 +f 845 848 853 +f 851 845 853 +f 852 851 853 +f 839 852 853 +f 844 843 854 +f 838 844 854 +f 843 849 854 +o convex_62 +v 0.840168 -0.624517 -0.672315 +v 0.861665 -3.268180 0.122987 +v 0.840168 -3.268180 0.122987 +v 0.861665 -2.880910 -0.629187 +v 0.861665 0.901879 -0.500269 +v 0.840168 -2.880910 -0.629187 +v 0.840168 0.901879 -0.500269 +v 0.861665 -0.280552 -0.672315 +f 855 861 862 +f 856 857 858 +f 857 856 859 +f 856 858 859 +f 857 855 860 +f 858 857 860 +f 855 858 860 +f 855 857 861 +f 857 859 861 +f 861 859 862 +f 858 855 862 +f 859 858 862 +o convex_63 +v 0.861665 0.880290 -0.543275 +v 0.883170 2.191684 0.058508 +v 0.883170 2.191684 0.015485 +v 1.012142 -1.548416 -0.371251 +v 0.861665 -2.000183 -0.521730 +v 1.012142 1.567992 -0.070494 +v 0.883170 -0.280106 -0.629321 +v 1.012142 0.256598 -0.328295 +v 0.883170 1.869170 -0.392796 +v 0.861665 2.105516 0.058508 +v 0.990622 -1.548416 -0.328295 +v 1.012142 1.137973 -0.048949 +v 0.883170 -1.785173 -0.607709 +v 0.883170 1.352983 -0.500252 +v 0.990622 1.890096 -0.070494 +v 0.861665 1.869170 -0.392796 +v 0.861665 -0.473778 -0.629321 +f 869 875 879 +f 868 866 870 +f 866 869 870 +f 864 865 872 +f 863 867 872 +f 867 866 873 +f 872 867 873 +f 872 873 874 +f 868 864 874 +f 866 868 874 +f 864 872 874 +f 873 866 874 +f 866 867 875 +f 869 866 875 +f 869 863 876 +f 868 870 876 +f 870 869 876 +f 876 871 877 +f 865 864 877 +f 864 868 877 +f 871 865 877 +f 868 876 877 +f 865 871 878 +f 872 865 878 +f 863 872 878 +f 876 863 878 +f 871 876 878 +f 867 863 879 +f 863 869 879 +f 875 867 879 +o convex_64 +v 0.861665 1.998011 0.660366 +v 0.883160 -0.151264 0.982935 +v 0.904656 0.793711 0.939883 +v 0.904656 2.062432 0.037078 +v 0.861665 -2.000183 0.832298 +v 0.904656 -1.655921 0.853778 +v 0.861665 2.126853 0.058651 +v 0.904656 1.782592 0.875351 +v 0.861665 1.546655 0.896831 +v 0.861665 -0.989555 0.982935 +v 0.904656 -1.053976 0.961363 +v 0.883160 -2.000183 0.832298 +f 885 890 891 +f 883 882 885 +f 880 883 886 +f 884 880 886 +f 883 884 886 +f 882 883 887 +f 883 880 887 +f 881 882 888 +f 880 884 888 +f 887 880 888 +f 882 887 888 +f 881 888 889 +f 888 884 889 +f 882 881 890 +f 885 882 890 +f 881 889 890 +f 890 889 891 +f 884 883 891 +f 883 885 891 +f 889 884 891 +o convex_65 +v 0.367176 2.535607 -0.478816 +v -0.277600 1.804892 -0.736805 +v -0.277600 1.804892 -0.715270 +v -0.277600 2.578605 -0.242411 +v 0.367176 1.804892 -0.715270 +v 0.066184 2.535607 -0.564764 +v 0.367176 2.600104 -0.242411 +v -0.277600 2.492609 -0.478913 +v 0.130687 2.084295 -0.736805 +v -0.277600 1.912386 -0.736805 +v 0.066184 2.643101 -0.285433 +v -0.170116 2.557106 -0.242411 +v 0.367176 1.890887 -0.736805 +f 893 900 904 +f 893 894 895 +f 894 893 896 +f 896 892 898 +f 893 895 899 +f 897 892 900 +f 897 900 901 +f 893 899 901 +f 899 897 901 +f 900 893 901 +f 892 897 902 +f 898 892 902 +f 895 898 902 +f 899 895 902 +f 897 899 902 +f 895 894 903 +f 894 896 903 +f 896 898 903 +f 898 895 903 +f 892 896 904 +f 896 893 904 +f 900 892 904 +o convex_66 +v 0.066285 1.761749 0.961447 +v -0.277663 -0.516907 0.982927 +v -0.234636 -0.516907 0.982927 +v -0.277663 1.417587 0.853955 +v -0.256150 1.718701 0.896961 +v 0.023291 -0.323301 1.090419 +v 0.066285 -0.344714 1.047390 +v 0.044771 1.611192 1.004407 +v -0.256150 -0.430810 1.025910 +v -0.213156 1.697065 0.853955 +v -0.256150 0.579819 0.896961 +v 0.066285 -0.516907 1.090419 +v 0.044771 1.718701 0.939967 +f 911 914 917 +f 908 906 909 +f 905 909 912 +f 910 912 913 +f 909 906 913 +f 912 909 913 +f 909 905 914 +f 908 909 914 +f 914 911 915 +f 907 906 915 +f 906 908 915 +f 911 907 915 +f 908 914 915 +f 906 907 916 +f 907 911 916 +f 911 905 916 +f 905 912 916 +f 912 910 916 +f 910 913 916 +f 913 906 916 +f 905 911 917 +f 914 905 917 +o convex_67 +v -0.707596 1.740009 -0.715209 +v -0.686102 2.148691 0.101569 +v -0.707596 2.148691 0.101569 +v -0.686102 -1.720725 -0.693765 +v -0.707596 -1.720725 -0.693765 +v -0.686102 1.610851 -0.736744 +v -0.707596 -0.968128 -0.822792 +v -0.686102 -0.968128 -0.822792 +f 921 924 925 +f 920 919 918 +f 919 920 921 +f 920 918 922 +f 921 920 922 +f 918 919 923 +f 919 921 923 +f 922 918 924 +f 921 922 924 +f 918 923 924 +f 924 923 925 +f 923 921 925 +o convex_68 +v -0.105644 -3.526452 0.101569 +v 0.367176 -2.752720 0.810923 +v 0.367176 -2.795739 0.810923 +v -0.686102 -2.903210 0.832458 +v -0.686102 -3.397320 0.101569 +v 0.367176 -3.440263 0.101569 +v 0.130663 -3.504791 0.144638 +v -0.621560 -2.860116 0.789460 +v -0.600012 -3.118228 0.617470 +v 0.238094 -2.752720 0.789389 +v -0.686102 -3.440414 0.144566 +v 0.345628 -3.225397 0.402624 +v -0.105644 -3.483282 0.187636 +f 934 936 938 +f 928 927 929 +f 927 928 931 +f 926 930 931 +f 926 931 932 +f 929 927 933 +f 930 929 933 +f 928 929 934 +f 927 931 935 +f 931 930 935 +f 933 927 935 +f 930 933 935 +f 930 926 936 +f 929 930 936 +f 934 929 936 +f 931 928 937 +f 932 931 937 +f 928 934 937 +f 934 932 937 +f 926 932 938 +f 932 934 938 +f 936 926 938 +o convex_69 +v -0.062633 2.901077 -0.113349 +v 0.367176 2.578687 0.617491 +v 0.152272 2.901077 0.380976 +v -0.277600 2.471167 0.617491 +v 0.367176 2.621695 -0.242380 +v -0.277600 2.557183 -0.242380 +v 0.345591 2.901077 -0.027328 +v -0.148531 2.901077 0.337965 +v -0.277600 2.557183 0.617491 +v -0.191575 2.879489 0.080240 +v 0.109291 2.879531 -0.177822 +v 0.367176 2.557183 0.552933 +v 0.281151 2.901077 0.294955 +v 0.001870 2.621610 0.617491 +v -0.277600 2.664660 0.122914 +v 0.001807 2.901077 0.402439 +f 947 952 954 +f 943 942 944 +f 939 941 945 +f 940 943 945 +f 941 939 946 +f 942 940 947 +f 944 942 947 +f 939 944 948 +f 946 939 948 +f 947 946 948 +f 944 939 949 +f 943 944 949 +f 939 945 949 +f 945 943 949 +f 940 942 950 +f 942 943 950 +f 943 940 950 +f 941 940 951 +f 945 941 951 +f 940 945 951 +f 947 940 952 +f 944 947 953 +f 948 944 953 +f 947 948 953 +f 940 941 954 +f 941 946 954 +f 946 947 954 +f 952 940 954 +o convex_70 +v -0.191575 2.578542 0.638990 +v -0.277600 1.761913 0.853907 +v -0.277600 1.761913 0.875405 +v 0.367176 1.761913 0.918403 +v 0.066247 1.847826 0.982935 +v 0.367176 2.514045 0.617491 +v 0.087769 2.557043 0.746520 +v -0.277600 2.406551 0.617491 +v 0.367176 2.299057 0.789517 +v -0.277600 2.234560 0.746520 +v -0.256078 1.783330 0.832408 +v 0.367176 2.578542 0.638990 +v 0.345654 1.761913 0.961437 +f 963 959 967 +f 957 956 958 +f 956 957 962 +f 955 960 962 +f 958 960 963 +f 961 959 963 +f 957 959 964 +f 961 955 964 +f 959 961 964 +f 955 962 964 +f 962 957 964 +f 958 956 965 +f 960 958 965 +f 956 962 965 +f 962 960 965 +f 960 955 966 +f 955 961 966 +f 963 960 966 +f 961 963 966 +f 957 958 967 +f 959 957 967 +f 958 963 967 +o convex_71 +v 0.668215 1.848102 -0.672228 +v 0.754192 2.492401 0.122987 +v 0.732663 2.492401 0.122987 +v 0.818640 1.116861 -0.543234 +v 0.560710 1.095350 -0.693727 +v 0.560710 2.578447 -0.392742 +v 0.840168 1.869016 -0.521735 +v 0.560710 2.578447 0.080072 +v 0.840168 2.212901 0.122987 +v 0.840168 1.116861 -0.607649 +v 0.560710 1.848102 -0.693727 +v 0.797166 1.847654 -0.629148 +v 0.775665 1.116861 -0.672310 +v 0.840168 2.277436 0.015410 +v 0.603740 2.578447 -0.349744 +v 0.818640 2.212901 0.122987 +v 0.711162 2.578447 0.058490 +f 981 982 984 +f 970 969 975 +f 973 972 975 +f 969 970 976 +f 971 972 977 +f 976 971 977 +f 974 976 977 +f 972 973 978 +f 973 968 978 +f 968 973 979 +f 974 977 979 +f 979 977 980 +f 977 972 980 +f 978 968 980 +f 972 978 980 +f 968 979 980 +f 969 976 981 +f 976 974 981 +f 973 975 982 +f 979 973 982 +f 974 979 982 +f 981 974 982 +f 972 971 983 +f 970 975 983 +f 975 972 983 +f 976 970 983 +f 971 976 983 +f 975 969 984 +f 969 981 984 +f 982 975 984 +o convex_72 +v 0.861665 2.191615 0.273359 +v 0.840168 0.901879 -0.564831 +v 0.840168 1.181594 -0.564831 +v 0.840168 0.901879 0.918445 +v 0.861665 0.901879 -0.564831 +v 0.861665 0.901879 0.918445 +v 0.840168 1.954984 0.789370 +v 0.840168 1.890557 -0.435756 +v 0.861665 1.869214 -0.457244 +v 0.861665 1.804654 0.875323 +v 0.840168 2.256175 0.058621 +f 993 992 995 +f 987 986 988 +f 986 987 989 +f 988 986 989 +f 989 985 990 +f 988 989 990 +f 987 988 991 +f 987 991 992 +f 985 989 993 +f 989 987 993 +f 987 992 993 +f 990 985 994 +f 988 990 994 +f 985 991 994 +f 991 988 994 +f 991 985 995 +f 992 991 995 +f 985 993 995 +o convex_73 +v 0.861665 -3.311485 0.123069 +v 0.904656 -1.656235 0.875452 +v 0.883160 -1.656235 0.875452 +v 0.904656 -1.656235 -0.543069 +v 0.904656 -3.289773 0.165901 +v 0.861665 -2.000214 -0.586046 +v 0.861665 -2.730948 0.789353 +v 0.904656 -2.902857 -0.564703 +v 0.861665 -2.902695 -0.586046 +v 0.904656 -2.730948 0.767865 +v 0.861665 -2.000214 0.853818 +v 0.883160 -1.656235 -0.543069 +f 999 1001 1007 +f 998 997 999 +f 999 997 1000 +f 996 1000 1002 +f 1001 996 1002 +f 1000 996 1003 +f 999 1000 1003 +f 1001 999 1003 +f 1001 1003 1004 +f 996 1001 1004 +f 1003 996 1004 +f 1000 997 1005 +f 997 1002 1005 +f 1002 1000 1005 +f 997 998 1006 +f 998 1001 1006 +f 1002 997 1006 +f 1001 1002 1006 +f 998 999 1007 +f 1001 998 1007 +o convex_74 +v 0.431772 -0.388654 -0.844247 +v 0.367275 -2.795230 -0.650845 +v 0.560693 -2.817060 -0.650845 +v 0.732684 1.095350 -0.650845 +v 0.367275 0.708168 -0.758255 +v 0.732684 -0.732560 -0.758276 +v 0.732684 -2.773401 -0.629321 +v 0.367275 -1.290163 -0.822743 +v 0.367275 -2.644723 -0.629363 +v 0.711150 1.095350 -0.693830 +v 0.582192 1.095350 -0.672348 +v 0.711150 -2.386986 -0.693830 +v 0.367275 0.600554 -0.801240 +v 0.732684 -0.130150 -0.758276 +f 1017 1011 1021 +f 1013 1011 1014 +f 1009 1010 1014 +f 1010 1009 1015 +f 1009 1012 1015 +f 1008 1013 1015 +f 1012 1009 1016 +f 1014 1011 1016 +f 1009 1014 1016 +f 1016 1011 1018 +f 1012 1016 1018 +f 1011 1017 1018 +f 1013 1014 1019 +f 1014 1010 1019 +f 1010 1015 1019 +f 1015 1013 1019 +f 1008 1015 1020 +f 1015 1012 1020 +f 1017 1008 1020 +f 1012 1018 1020 +f 1018 1017 1020 +f 1013 1008 1021 +f 1011 1013 1021 +f 1008 1017 1021 +o convex_75 +v 1.012142 -2.860003 -0.414255 +v 1.012142 -3.096387 0.123000 +v 0.990628 -3.096387 0.123000 +v 0.990628 -1.548751 -0.328289 +v 0.904679 -2.924501 -0.521745 +v 0.904679 -3.246994 0.123000 +v 0.904679 -1.548751 -0.500221 +v 1.012142 -1.570361 -0.392796 +v 1.012142 -3.010444 -0.349813 +v 0.947664 -2.451566 -0.521745 +v 0.904679 -1.548751 -0.435779 +f 1025 1028 1032 +f 1024 1023 1025 +f 1023 1024 1027 +f 1024 1025 1027 +f 1026 1027 1028 +f 1028 1025 1029 +f 1023 1022 1029 +f 1025 1023 1029 +f 1022 1023 1030 +f 1026 1022 1030 +f 1023 1027 1030 +f 1027 1026 1030 +f 1022 1026 1031 +f 1026 1028 1031 +f 1028 1029 1031 +f 1029 1022 1031 +f 1027 1025 1032 +f 1028 1027 1032 +o convex_76 +v -0.729095 2.084201 0.058440 +v -0.707598 0.751486 0.703478 +v -0.729095 0.751486 0.703478 +v -0.707598 0.622421 -0.758302 +v -0.707598 2.062451 0.166042 +v -0.729095 1.546622 -0.736552 +v -0.729095 0.622421 -0.758302 +v -0.707598 1.783145 -0.693626 +v -0.729095 1.783145 0.445491 +v -0.729095 0.622421 0.703478 +f 1039 1036 1042 +f 1034 1036 1037 +f 1035 1033 1038 +f 1035 1038 1039 +f 1038 1036 1039 +f 1033 1037 1040 +f 1037 1036 1040 +f 1038 1033 1040 +f 1036 1038 1040 +f 1033 1035 1041 +f 1035 1034 1041 +f 1037 1033 1041 +f 1034 1037 1041 +f 1034 1035 1042 +f 1036 1034 1042 +f 1035 1039 1042 +o convex_77 +v 0.732684 2.428003 0.295050 +v 0.754200 1.439485 0.918445 +v 0.732684 1.439485 0.918445 +v 0.818652 2.191545 0.123065 +v 0.840168 1.955087 0.810848 +v 0.840168 1.116847 0.896879 +v 0.732684 1.116847 0.896879 +v 0.732684 2.062544 0.789437 +v 0.840168 2.277457 0.123065 +v 0.732684 2.406458 0.123065 +f 1051 1046 1052 +f 1047 1044 1048 +f 1044 1045 1048 +f 1046 1048 1049 +f 1045 1043 1049 +f 1048 1045 1049 +f 1043 1045 1050 +f 1045 1044 1050 +f 1047 1043 1050 +f 1044 1047 1050 +f 1043 1047 1051 +f 1047 1048 1051 +f 1048 1046 1051 +f 1046 1049 1052 +f 1049 1043 1052 +f 1043 1051 1052 +o convex_78 +v 0.023325 3.331012 2.659405 +v 0.302749 3.416999 2.014647 +v 0.302749 3.395503 2.014647 +v -0.170179 3.416999 0.596227 +v 0.281223 3.331012 0.596227 +v -0.170179 3.331012 0.596227 +v -0.062687 3.416999 2.616436 +v 0.302749 3.416999 0.596227 +v 0.216737 3.331012 2.637920 +v 0.130771 3.416999 2.981900 +v -0.127173 3.331012 1.756837 +v -0.170179 3.416999 1.456060 +v 0.281223 3.416999 2.616436 +v 0.281223 3.331012 2.014647 +f 1065 1061 1066 +f 1057 1053 1058 +f 1056 1057 1058 +f 1054 1056 1059 +f 1054 1055 1060 +f 1056 1054 1060 +f 1057 1056 1060 +f 1055 1057 1060 +f 1053 1057 1061 +f 1054 1059 1062 +f 1059 1053 1062 +f 1053 1061 1062 +f 1058 1053 1063 +f 1053 1059 1063 +f 1063 1059 1064 +f 1056 1058 1064 +f 1059 1056 1064 +f 1058 1063 1064 +f 1055 1054 1065 +f 1054 1062 1065 +f 1062 1061 1065 +f 1057 1055 1066 +f 1061 1057 1066 +f 1055 1065 1066 +o convex_79 +v 0.410273 2.621582 0.509883 +v 0.711150 2.127194 0.681817 +v 0.711150 2.148815 0.638889 +v 0.367275 2.256288 0.746320 +v 0.388774 2.621582 0.015729 +v 0.711150 2.578550 0.080158 +v 0.560693 2.514108 0.617314 +v 0.732684 2.449561 0.080158 +v 0.732684 2.191794 0.703465 +v 0.367275 2.578603 0.638815 +v 0.517731 2.148710 0.746320 +v 0.367275 2.664613 0.015729 +v 0.474734 2.277699 0.767968 +f 1077 1075 1079 +f 1072 1067 1073 +f 1068 1069 1074 +f 1071 1072 1074 +f 1074 1072 1075 +f 1072 1073 1075 +f 1068 1074 1075 +f 1073 1067 1076 +f 1069 1068 1077 +f 1070 1071 1077 +f 1074 1069 1077 +f 1071 1074 1077 +f 1068 1075 1077 +f 1071 1070 1078 +f 1072 1071 1078 +f 1067 1072 1078 +f 1076 1067 1078 +f 1070 1076 1078 +f 1075 1073 1079 +f 1073 1076 1079 +f 1076 1070 1079 +f 1070 1077 1079 +o convex_80 +v -0.062662 3.417018 2.659581 +v 0.087782 3.524462 3.132611 +v 0.066268 3.524462 3.132611 +v -0.148641 3.610451 1.412870 +v -0.105689 3.610451 2.702507 +v -0.170179 3.417018 1.412870 +v 0.087782 3.417018 2.852833 +v 0.087782 3.610451 2.917475 +v -0.170179 3.524462 2.036394 +v -0.127178 3.417018 1.434586 +v -0.105689 3.503007 2.810075 +f 1088 1085 1090 +f 1082 1080 1086 +f 1081 1082 1086 +f 1080 1085 1086 +f 1082 1081 1087 +f 1083 1084 1087 +f 1084 1082 1087 +f 1081 1086 1087 +f 1084 1083 1088 +f 1083 1085 1088 +f 1085 1083 1089 +f 1086 1085 1089 +f 1083 1087 1089 +f 1087 1086 1089 +f 1080 1082 1090 +f 1082 1084 1090 +f 1085 1080 1090 +f 1084 1088 1090 +o convex_81 +v 0.281265 3.588940 2.272741 +v 0.302737 3.417018 -1.102250 +v 0.302737 3.610451 -1.102250 +v 0.345743 3.610451 -0.714734 +v 0.324229 3.438530 1.864081 +v 0.238280 3.567447 2.272741 +v 0.259772 3.417018 2.272741 +v 0.345743 3.481515 -1.102250 +v 0.259772 3.481515 0.338464 +v 0.324229 3.503007 2.229463 +v 0.238280 3.610451 1.993253 +v 0.302737 3.610451 1.799660 +f 1101 1091 1102 +f 1092 1095 1097 +f 1091 1096 1097 +f 1092 1093 1098 +f 1093 1094 1098 +f 1095 1092 1098 +f 1093 1092 1099 +f 1092 1097 1099 +f 1097 1096 1099 +f 1091 1097 1100 +f 1097 1095 1100 +f 1098 1094 1100 +f 1095 1098 1100 +f 1094 1093 1101 +f 1096 1091 1101 +f 1093 1099 1101 +f 1099 1096 1101 +f 1091 1100 1102 +f 1100 1094 1102 +f 1094 1101 1102 +o convex_82 +v 0.087782 3.417018 2.896004 +v 0.302749 3.503007 2.810084 +v 0.302749 3.481515 2.810084 +v 0.238234 3.610451 2.272741 +v 0.087782 3.610451 3.024970 +v 0.281223 3.417018 2.272741 +v 0.130813 3.503007 3.153935 +v 0.259718 3.610451 2.616765 +f 1107 1104 1110 +f 1106 1103 1107 +f 1105 1103 1108 +f 1104 1105 1108 +f 1106 1104 1108 +f 1103 1106 1108 +f 1103 1105 1109 +f 1105 1104 1109 +f 1107 1103 1109 +f 1104 1107 1109 +f 1104 1106 1110 +f 1106 1107 1110 +o convex_83 +v -0.836577 -2.644816 -0.543330 +v -0.815082 1.009363 -0.306870 +v -0.815082 1.009363 -0.629271 +v -0.815082 -2.946040 -0.306870 +v -0.836577 1.009363 -0.306870 +v -0.836577 0.901728 -0.650784 +v -0.815082 -1.183222 -0.693811 +v -0.836577 -2.946040 -0.306870 +v -0.836577 -1.183222 -0.693811 +v -0.815082 -2.773746 -0.521816 +f 1114 1118 1120 +f 1113 1112 1114 +f 1112 1113 1115 +f 1114 1112 1115 +f 1111 1115 1116 +f 1115 1113 1116 +f 1113 1114 1117 +f 1116 1113 1117 +f 1115 1111 1118 +f 1114 1115 1118 +f 1111 1116 1119 +f 1117 1111 1119 +f 1116 1117 1119 +f 1117 1114 1120 +f 1111 1117 1120 +f 1118 1111 1120 +o convex_84 +v 0.732684 -2.128982 -0.693792 +v 0.840168 1.116847 -0.543376 +v 0.840168 1.116847 -0.607843 +v 0.840168 -2.860053 -0.607843 +v 0.818652 -0.109001 -0.736777 +v 0.732684 1.116847 -0.672289 +v 0.732684 -2.860053 -0.607843 +v 0.732684 -0.216442 -0.758281 +v 0.840168 -1.612795 -0.693792 +v 0.818652 0.858753 -0.543376 +v 0.732684 1.116847 -0.650828 +f 1130 1122 1131 +f 1123 1122 1124 +f 1123 1125 1126 +f 1122 1123 1126 +f 1126 1121 1127 +f 1121 1124 1127 +f 1126 1125 1128 +f 1121 1126 1128 +f 1123 1124 1129 +f 1124 1121 1129 +f 1125 1123 1129 +f 1121 1128 1129 +f 1128 1125 1129 +f 1124 1122 1130 +f 1127 1124 1130 +f 1127 1130 1131 +f 1122 1126 1131 +f 1126 1127 1131 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/990/990.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/990/990.urdf new file mode 100644 index 000000000..14441e34f --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/990/990.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/991/991.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/991/991.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/991/991.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/991/991.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/991/991.obj new file mode 100644 index 000000000..1d1fd6252 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/991/991.obj @@ -0,0 +1,264 @@ +o convex_0 +v 0.535517 -2.959099 0.308485 +v -0.564630 -4.564591 -0.375148 +v -0.564630 -4.564591 0.457199 +v -0.534774 -2.572400 -0.553719 +v 0.595117 -4.534560 -0.523976 +v -0.445545 -2.572400 0.516685 +v 0.416659 -4.564591 0.576171 +v 0.446402 -2.572400 -0.523976 +v 0.505774 -2.572400 0.606028 +v -0.564630 -4.534560 -0.553719 +v 0.238202 -4.564591 0.576285 +v 0.565260 -4.564591 -0.226547 +v -0.534774 -3.731716 0.486942 +v -0.148229 -2.572400 -0.553719 +v 0.446402 -4.504919 0.546428 +v -0.564630 -3.821029 0.100398 +v -0.475401 -2.602236 0.427457 +v 0.595117 -4.296651 -0.404891 +v -0.564630 -3.583121 -0.553719 +v 0.505774 -2.780668 0.606028 +v -0.326573 -4.534560 -0.553719 +v 0.446402 -3.078053 0.606028 +v 0.565260 -4.564591 -0.464377 +v 0.476145 -2.572400 -0.166948 +v -0.445545 -4.564591 0.486942 +v 0.535517 -3.612762 -0.523976 +v 0.595117 -4.415606 -0.375148 +v 0.178716 -4.088579 0.576285 +v -0.534774 -2.572400 -0.494120 +v -0.564630 -4.148056 0.397714 +v 0.505774 -2.572400 0.308485 +f 26 24 31 +f 3 2 7 +f 4 6 8 +f 8 6 9 +f 2 3 10 +f 3 7 11 +f 7 2 12 +f 4 8 14 +f 10 4 14 +f 7 12 15 +f 10 3 16 +f 13 6 17 +f 4 10 19 +f 10 16 19 +f 1 9 20 +f 7 15 20 +f 14 5 21 +f 10 14 21 +f 9 6 22 +f 11 7 22 +f 20 9 22 +f 7 20 22 +f 2 10 23 +f 5 12 23 +f 12 2 23 +f 21 5 23 +f 10 21 23 +f 8 9 24 +f 3 11 25 +f 13 3 25 +f 6 13 25 +f 5 14 26 +f 14 8 26 +f 1 18 26 +f 18 5 26 +f 8 24 26 +f 12 5 27 +f 15 12 27 +f 18 1 27 +f 5 18 27 +f 1 20 27 +f 20 15 27 +f 22 6 28 +f 11 22 28 +f 25 11 28 +f 6 25 28 +f 6 4 29 +f 17 6 29 +f 4 19 29 +f 19 16 29 +f 3 13 30 +f 16 3 30 +f 13 17 30 +f 29 16 30 +f 17 29 30 +f 9 1 31 +f 24 9 31 +f 1 26 31 +o convex_1 +v -0.832182 -0.608405 -0.999776 +v -0.951177 -2.363537 1.111558 +v -1.040424 -2.363537 1.111558 +v -0.683439 3.642848 0.962756 +v 1.041173 -2.542396 1.081591 +v 0.981676 3.553418 -0.910288 +v 0.981676 -2.452358 -0.940048 +v -1.040424 3.613038 -0.970015 +v 0.922178 3.523608 1.022070 +v -0.980926 -2.423156 -0.999776 +v -0.951177 3.642848 0.962756 +v -0.564647 -2.571597 -0.612891 +v 0.951927 3.166498 1.051831 +v 0.892429 3.553418 -0.940048 +v -1.010675 -2.482776 1.111558 +v -1.040424 -2.452966 0.516764 +v -1.010675 0.343078 1.052037 +v 0.446402 -2.571597 -0.494056 +v -0.445449 -2.572206 0.516557 +v 1.011424 -0.400344 1.081591 +v -1.010675 -1.084754 -0.999776 +v -0.534899 -2.422548 -0.999776 +v -1.040424 3.613038 -0.672411 +v 1.011424 1.174104 -0.137138 +v 0.178663 3.582619 1.022070 +v -0.594396 3.612429 -0.970015 +v 1.011424 -2.482776 -0.285733 +v -0.980926 3.642848 0.605838 +v -1.040424 2.214407 -0.970015 +v -1.040424 -1.441256 1.081798 +v -0.891680 3.225509 0.992517 +v 0.803183 3.553418 1.022070 +v 0.981676 3.553418 -0.583337 +v 1.041173 -1.917605 0.843715 +v 0.773434 3.226118 1.051831 +v 0.981676 1.620035 -0.940048 +v 0.505900 -2.571597 0.605838 +v -0.951177 0.104599 -0.999776 +v -1.010675 -2.423156 -0.553577 +v -0.951177 3.642848 0.041424 +v 0.357156 3.582619 -0.940048 +v -1.010675 -2.452966 -0.256179 +v 1.041173 -2.542396 0.843715 +v -0.980926 2.482088 0.992517 +v 0.951927 3.523608 0.784194 +v 1.041173 -2.095856 1.051831 +v 0.951927 3.553418 0.219367 +v 0.684188 -2.541787 1.081591 +v 0.267910 -2.423156 -0.970015 +v 0.743686 -2.482776 -0.880527 +v -0.921429 -2.452966 -0.940048 +v 1.011424 1.144294 -0.166898 +v -0.623941 3.612429 0.992517 +v -0.534899 3.582619 -0.970015 +v -0.891680 -2.482776 1.111558 +v -0.296909 -2.572206 -0.613097 +v 0.981676 3.463988 -0.494056 +v 0.981676 -2.482776 -0.464295 +v -1.010675 0.164219 -0.999776 +f 85 69 90 +f 33 34 46 +f 34 39 47 +f 46 34 47 +f 46 43 50 +f 44 33 51 +f 32 41 52 +f 38 41 53 +f 41 32 53 +f 32 45 53 +f 39 34 54 +f 35 42 56 +f 42 35 59 +f 39 54 59 +f 47 39 60 +f 39 52 60 +f 52 47 60 +f 34 48 61 +f 54 34 61 +f 59 54 61 +f 48 34 62 +f 35 56 63 +f 37 35 64 +f 55 37 64 +f 34 33 66 +f 33 44 66 +f 44 40 66 +f 62 34 66 +f 56 62 66 +f 40 63 66 +f 63 56 66 +f 45 37 67 +f 53 45 67 +f 37 58 67 +f 58 38 67 +f 45 32 69 +f 32 52 69 +f 52 41 70 +f 47 52 70 +f 57 39 71 +f 59 35 71 +f 39 59 71 +f 35 37 72 +f 37 45 72 +f 45 57 72 +f 71 35 72 +f 57 71 72 +f 43 46 73 +f 46 47 73 +f 70 41 73 +f 47 70 73 +f 65 36 74 +f 58 65 74 +f 36 68 74 +f 68 49 74 +f 42 59 75 +f 61 48 75 +f 59 61 75 +f 48 62 75 +f 62 42 75 +f 40 44 76 +f 51 36 77 +f 44 51 77 +f 36 65 77 +f 65 55 77 +f 76 44 77 +f 35 63 78 +f 63 40 78 +f 64 35 78 +f 40 76 78 +f 76 64 78 +f 36 46 79 +f 46 50 79 +f 68 36 79 +f 50 68 79 +f 38 53 80 +f 67 38 80 +f 53 67 80 +f 41 38 81 +f 38 49 81 +f 73 41 82 +f 43 73 82 +f 41 81 82 +f 81 43 82 +f 37 55 83 +f 58 37 83 +f 55 65 83 +f 65 58 83 +f 56 42 84 +f 42 62 84 +f 62 56 84 +f 57 45 85 +f 45 69 85 +f 33 46 86 +f 46 36 86 +f 51 33 86 +f 36 51 86 +f 50 43 87 +f 49 68 87 +f 68 50 87 +f 43 81 87 +f 81 49 87 +f 55 64 88 +f 64 76 88 +f 76 77 88 +f 77 55 88 +f 49 38 89 +f 38 58 89 +f 74 49 89 +f 58 74 89 +f 52 39 90 +f 39 57 90 +f 69 52 90 +f 57 85 90 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/991/991.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/991/991.urdf new file mode 100644 index 000000000..0c79dc038 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/991/991.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/992/992.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/992/992.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/992/992.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/992/992.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/992/992.obj new file mode 100644 index 000000000..c744ad50b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/992/992.obj @@ -0,0 +1,573 @@ +o convex_0 +v -3.113739 0.010556 1.099721 +v -3.890067 -1.985678 -1.118389 +v -3.926998 -1.467746 -1.081262 +v -2.041965 -0.063493 -1.081262 +v -2.041770 -1.911629 0.988772 +v -4.037985 -1.948550 1.025682 +v -4.000859 0.121527 -0.933185 +v -2.041770 -1.948550 -0.970096 +v -2.078896 0.047271 1.062593 +v -3.926998 0.084399 1.099721 +v -2.596513 -1.948550 1.025682 +v -2.633444 -1.985678 -1.044351 +v -4.037985 -1.615844 1.062593 +v -2.041965 0.010350 1.025682 +v -3.963928 -1.985678 0.286385 +v -4.037985 -0.950227 0.064487 +v -3.039877 -1.098119 -1.118389 +v -4.000859 -0.100415 -0.970096 +v -2.041770 -1.726609 1.025682 +v -4.000859 0.121527 -0.526517 +v -2.041770 -1.948550 0.544976 +v -3.926998 -0.729111 1.099721 +v -2.041965 -0.544091 -1.081262 +v -4.037985 -1.948550 0.729963 +v -3.113739 0.084193 1.099721 +v -3.890067 0.121527 -0.933185 +v -2.300676 -0.026572 -1.044351 +v -3.520368 -1.911629 -1.118389 +v -3.963928 -1.800452 1.062593 +v -2.411664 -1.985678 -0.970096 +v -3.926998 0.121527 0.027576 +v -2.226814 -0.063493 -1.081262 +v -3.853136 -1.689894 -1.118389 +v -2.115827 -1.948550 -1.007223 +v -2.041965 0.010350 0.249257 +v -4.000859 -0.285228 -0.933185 +v -3.261657 0.047477 -1.007223 +v -2.226814 -1.911629 1.025682 +f 22 29 38 +f 11 6 15 +f 2 12 15 +f 6 13 16 +f 16 7 18 +f 8 4 19 +f 5 8 19 +f 9 1 19 +f 14 9 19 +f 13 10 20 +f 7 16 20 +f 16 13 20 +f 8 5 21 +f 5 11 21 +f 1 10 22 +f 10 13 22 +f 4 8 23 +f 17 4 23 +f 3 2 24 +f 2 15 24 +f 15 6 24 +f 6 16 24 +f 1 9 25 +f 10 1 25 +f 7 20 26 +f 12 2 28 +f 2 17 28 +f 17 23 28 +f 6 11 29 +f 13 6 29 +f 22 13 29 +f 11 15 30 +f 15 12 30 +f 8 21 30 +f 21 11 30 +f 20 10 31 +f 25 9 31 +f 10 25 31 +f 26 20 31 +f 9 26 31 +f 4 17 32 +f 2 3 33 +f 17 2 33 +f 3 18 33 +f 32 17 33 +f 23 8 34 +f 12 28 34 +f 28 23 34 +f 8 30 34 +f 30 12 34 +f 9 14 35 +f 19 4 35 +f 14 19 35 +f 26 9 35 +f 27 26 35 +f 4 27 35 +f 18 3 36 +f 16 18 36 +f 3 24 36 +f 24 16 36 +f 18 7 37 +f 7 26 37 +f 26 27 37 +f 27 4 37 +f 4 32 37 +f 33 18 37 +f 32 33 37 +f 11 5 38 +f 5 19 38 +f 19 1 38 +f 1 22 38 +f 29 11 38 +o convex_1 +v -0.489085 3.966250 -1.007332 +v -2.041770 -1.948195 -0.970392 +v -2.041770 -1.948195 0.544969 +v 0.213309 -2.022646 0.175363 +v -2.041770 3.966250 1.062752 +v 0.028329 3.966250 0.914574 +v 0.213309 -2.022646 -1.007332 +v -1.893653 3.928732 -1.081421 +v 0.213309 -1.985128 0.988663 +v -2.041770 -1.689669 1.025603 +v 0.028329 3.966250 -0.970392 +v 0.213309 -0.062889 0.988663 +v -2.041770 -0.062889 -1.081421 +v 0.176225 0.121773 -1.044271 +v -0.045619 -0.062889 1.025603 +v 0.213309 0.010976 -1.007332 +v -1.930737 3.966250 -0.933453 +v -0.748013 -2.022646 -1.007332 +v 0.028329 3.559409 0.951724 +v -1.487271 -0.579941 -1.081421 +v -2.041770 -1.911263 0.988663 +v -2.041770 3.966250 0.692937 +v -1.376239 3.041770 -1.081421 +v -0.304326 -1.652737 -1.044271 +v -2.041770 -1.762948 -1.007332 +v -1.967822 3.337229 1.062752 +v -1.819926 -1.985128 -0.970392 +v 0.065413 3.263364 -0.933243 +v -1.967822 3.966250 1.062752 +v -1.560998 -1.948195 0.988453 +v -2.041770 -0.469144 -1.081421 +v -0.119567 3.966250 0.951724 +v -1.339154 -0.173686 -1.081421 +v -1.634946 3.854867 -1.081421 +v 0.028329 1.711035 0.988663 +v -1.930737 3.484958 -1.081421 +v 0.213309 -0.025957 0.581908 +v -1.376239 -1.985128 -1.007332 +v 0.102277 2.191741 -1.007332 +f 52 72 77 +f 40 41 43 +f 39 43 44 +f 42 45 47 +f 43 41 48 +f 39 44 49 +f 47 45 50 +f 40 43 51 +f 48 47 53 +f 47 50 53 +f 50 45 54 +f 45 52 54 +f 43 39 55 +f 39 46 55 +f 42 41 56 +f 45 42 56 +f 50 44 57 +f 51 46 58 +f 48 41 59 +f 51 43 60 +f 43 55 60 +f 55 51 60 +f 58 46 61 +f 52 45 62 +f 45 56 62 +f 40 51 63 +f 43 48 64 +f 48 53 64 +f 41 40 65 +f 56 41 65 +f 49 44 66 +f 54 49 66 +f 44 43 67 +f 43 64 67 +f 64 53 67 +f 41 42 68 +f 42 47 68 +f 47 48 68 +f 59 41 68 +f 48 59 68 +f 51 58 69 +f 58 62 69 +f 63 51 69 +f 57 44 70 +f 44 67 70 +f 67 57 70 +f 61 52 71 +f 58 61 71 +f 52 62 71 +f 62 58 71 +f 46 39 72 +f 61 46 72 +f 52 61 72 +f 53 50 73 +f 50 57 73 +f 57 67 73 +f 67 53 73 +f 46 51 74 +f 55 46 74 +f 51 55 74 +f 44 50 75 +f 50 54 75 +f 66 44 75 +f 54 66 75 +f 62 56 76 +f 40 63 76 +f 65 40 76 +f 56 65 76 +f 69 62 76 +f 63 69 76 +f 39 49 77 +f 49 54 77 +f 54 52 77 +f 72 39 77 +o convex_2 +v 1.802679 -2.096583 0.914813 +v 2.727167 0.121526 -0.896401 +v 2.653100 0.047271 0.988656 +v 0.213309 0.010360 -1.007372 +v 2.727167 -2.022328 -1.081421 +v 0.213309 -1.985417 0.988656 +v 0.213309 -2.022328 -1.007372 +v 0.213309 -0.063461 0.988656 +v 2.727167 -2.022328 1.025784 +v 2.727167 0.010360 1.025784 +v 2.061546 0.084399 0.507852 +v 0.435265 0.047488 -1.007372 +v 0.398354 -2.059456 -0.637538 +v 1.359506 -1.948290 -1.081421 +v 2.727167 0.121526 -0.933529 +v 1.026819 0.010360 0.988656 +v 2.098456 -2.059456 1.025784 +v 2.172523 -1.615660 -1.081421 +v 2.024635 0.121526 -0.859480 +v 0.361444 -2.022328 -1.044293 +v 2.653100 -2.059456 1.025784 +v 0.878930 0.047488 -1.007372 +v 0.213309 -0.026550 0.655950 +v 2.024635 -2.096583 0.877892 +v 0.213309 -2.022328 0.249402 +v 1.655037 0.047488 0.988656 +v 2.690010 -1.837775 -1.081421 +v 0.435265 0.047488 -0.933322 +v 0.620064 -2.022328 0.988656 +v 1.839836 -2.096583 0.766715 +f 82 101 107 +f 83 81 84 +f 81 83 85 +f 82 79 86 +f 79 80 87 +f 86 79 87 +f 80 79 88 +f 79 82 92 +f 85 87 93 +f 85 83 94 +f 87 85 94 +f 86 87 94 +f 81 89 95 +f 82 91 95 +f 91 81 95 +f 88 79 96 +f 79 92 96 +f 92 89 96 +f 84 81 97 +f 82 90 97 +f 90 84 97 +f 91 82 97 +f 81 91 97 +f 82 86 98 +f 94 78 98 +f 86 94 98 +f 89 92 99 +f 95 89 99 +f 81 85 100 +f 85 93 100 +f 98 78 101 +f 82 98 101 +f 83 84 102 +f 90 78 102 +f 84 90 102 +f 87 80 103 +f 80 88 103 +f 93 87 103 +f 92 82 104 +f 82 95 104 +f 99 92 104 +f 95 99 104 +f 89 81 105 +f 88 96 105 +f 96 89 105 +f 81 100 105 +f 100 93 105 +f 103 88 105 +f 93 103 105 +f 78 94 106 +f 94 83 106 +f 102 78 106 +f 83 102 106 +f 78 90 107 +f 90 82 107 +f 101 78 107 +o convex_3 +v 3.392600 -0.137282 -0.970363 +v 4.131929 -0.987528 1.099721 +v 4.168862 -0.026550 1.062571 +v 4.168862 -2.096583 -1.044452 +v 3.392600 -1.985417 1.062571 +v 3.392600 -2.059456 -1.044452 +v 3.392600 0.010578 1.025632 +v 4.020981 0.121526 -0.970363 +v 4.094921 -1.948290 1.099721 +v 3.392600 0.121526 -0.933424 +v 4.168862 -2.096583 -0.637488 +v 3.392600 -2.096583 -0.304822 +v 4.131929 -1.246120 -1.007303 +v 3.466617 0.084399 0.323360 +v 3.614498 -1.985417 1.099721 +v 4.131929 -1.541839 1.099721 +v 4.168862 -0.026550 0.877874 +v 3.688438 -0.026550 1.062571 +v 4.057989 -0.137282 -0.970363 +v 3.392600 -1.726609 -1.044452 +v 3.466617 -2.059456 0.360300 +v 4.168862 -0.359180 1.062571 +v 4.020981 -1.985417 0.914813 +v 3.392600 -0.876797 1.062571 +v 4.168862 -1.800647 -1.007303 +v 4.168862 -2.059238 -0.415641 +v 3.983972 0.010578 0.877874 +v 4.131929 -1.985417 0.692966 +v 4.020981 0.121526 -0.859545 +v 3.762303 -2.096583 -1.044452 +f 119 113 137 +f 112 108 113 +f 108 112 114 +f 108 114 117 +f 115 108 117 +f 111 110 118 +f 112 113 119 +f 111 118 119 +f 117 114 121 +f 116 109 122 +f 110 109 123 +f 109 116 123 +f 110 111 124 +f 115 110 124 +f 109 110 125 +f 110 114 125 +f 122 109 125 +f 111 115 126 +f 120 111 126 +f 115 124 126 +f 124 120 126 +f 113 108 127 +f 111 113 127 +f 115 111 127 +f 108 115 127 +f 112 119 128 +f 119 118 128 +f 122 112 128 +f 118 110 129 +f 110 123 129 +f 116 122 130 +f 128 118 130 +f 122 128 130 +f 114 112 131 +f 112 122 131 +f 125 114 131 +f 122 125 131 +f 111 120 132 +f 124 111 132 +f 120 124 132 +f 118 129 133 +f 129 123 133 +f 114 110 134 +f 121 114 134 +f 123 116 135 +f 116 130 135 +f 130 118 135 +f 118 133 135 +f 133 123 135 +f 110 115 136 +f 115 117 136 +f 117 121 136 +f 134 110 136 +f 121 134 136 +f 113 111 137 +f 111 119 137 +o convex_4 +v 3.096791 -4.055755 0.212390 +v 3.392477 -2.096583 0.323382 +v 3.392477 -2.096583 0.212390 +v 2.764197 -2.096583 0.323382 +v 2.875103 -3.870898 -0.342051 +v 3.318601 -2.133711 -0.305053 +v 3.355570 -4.055755 -0.342051 +v 2.875103 -2.096583 -0.194126 +v 2.838134 -3.797033 0.286385 +v 3.318601 -4.055755 0.249387 +v 2.875103 -4.092882 -0.342051 +v 2.764197 -2.207576 0.212390 +v 2.838134 -3.944957 0.249387 +v 3.355570 -3.242267 -0.342051 +v 3.355570 -4.055755 -0.009334 +v 3.392477 -2.281440 0.323382 +v 3.244664 -2.133711 -0.305053 +v 2.875103 -4.018822 0.249387 +v 2.875103 -2.392433 -0.231058 +v 2.764197 -2.429365 0.249387 +f 150 146 157 +f 139 140 141 +f 141 140 145 +f 140 143 145 +f 142 144 148 +f 147 138 148 +f 141 145 149 +f 142 148 149 +f 143 140 151 +f 144 142 151 +f 140 144 151 +f 148 144 152 +f 147 148 152 +f 140 139 153 +f 139 141 153 +f 144 140 153 +f 141 146 153 +f 146 147 153 +f 152 144 153 +f 147 152 153 +f 145 143 154 +f 143 151 154 +f 151 142 154 +f 138 147 155 +f 147 146 155 +f 148 138 155 +f 150 148 155 +f 146 150 155 +f 149 145 156 +f 142 149 156 +f 154 142 156 +f 145 154 156 +f 146 141 157 +f 141 149 157 +f 149 148 157 +f 148 150 157 +o convex_5 +v 3.318605 -0.174627 -0.970392 +v 3.355537 -1.024222 1.062752 +v 3.392535 -0.950618 1.062542 +v 2.727167 0.010361 1.025603 +v 2.727167 -2.022545 -1.081421 +v 2.727167 -2.022545 1.025603 +v 3.392600 -2.059456 -1.044271 +v 2.727167 0.121310 -0.933453 +v 3.392535 0.010361 1.025603 +v 3.392600 -1.985417 1.062752 +v 3.392535 0.121527 -0.933453 +v 2.801162 0.121310 0.323332 +v 2.764230 -2.096583 0.323332 +v 3.392600 -2.096583 0.323332 +v 3.392535 0.121527 0.286392 +v 2.838094 -2.022545 1.062752 +v 2.875092 -2.096583 -0.194032 +v 2.764230 -1.874468 -1.081421 +v 3.392600 -1.726609 -1.044271 +v 3.392600 -2.096583 -0.378730 +v 3.207743 -2.022545 1.062752 +f 173 171 178 +f 159 160 161 +f 161 162 163 +f 162 161 165 +f 161 160 166 +f 160 159 167 +f 166 160 167 +f 158 165 168 +f 165 161 169 +f 161 166 169 +f 163 162 170 +f 164 167 171 +f 166 167 172 +f 168 165 172 +f 165 169 172 +f 169 166 172 +f 159 161 173 +f 161 163 173 +f 167 159 173 +f 163 170 173 +f 170 171 173 +f 162 164 174 +f 170 162 174 +f 171 170 174 +f 164 162 175 +f 165 158 175 +f 162 165 175 +f 167 164 176 +f 158 168 176 +f 172 167 176 +f 168 172 176 +f 175 158 176 +f 164 175 176 +f 164 171 177 +f 174 164 177 +f 171 174 177 +f 171 167 178 +f 167 173 178 +o convex_6 +v 2.912071 0.121715 -0.342051 +v 2.912071 2.043889 0.360351 +v 3.318601 1.932867 0.249311 +v 3.392477 0.121715 0.286302 +v 3.281633 1.932867 -0.305061 +v 2.801166 0.121715 0.323361 +v 2.764197 2.006819 -0.231080 +v 3.355570 0.121715 -0.231080 +v 2.764197 0.121715 -0.342051 +v 2.801166 2.043889 0.360351 +v 3.355570 0.528542 -0.268070 +v 2.764197 0.676257 0.064498 +v 3.281633 2.043889 0.175400 +v 3.392477 0.602305 0.286302 +v 2.838134 2.006819 -0.268070 +v 2.838134 0.861229 0.360351 +v 2.764197 2.043889 0.027508 +v 3.170727 0.121715 0.323361 +v 3.392477 0.158596 -0.046267 +v 2.875103 0.565423 -0.342051 +f 187 193 198 +f 179 182 184 +f 182 179 186 +f 179 184 187 +f 179 183 189 +f 186 179 189 +f 187 184 190 +f 185 187 190 +f 184 188 190 +f 180 181 191 +f 181 183 191 +f 188 180 191 +f 181 180 192 +f 183 181 192 +f 187 185 193 +f 191 183 193 +f 180 188 194 +f 188 184 194 +f 185 190 195 +f 190 188 195 +f 188 191 195 +f 193 185 195 +f 191 193 195 +f 184 182 196 +f 192 180 196 +f 182 192 196 +f 180 194 196 +f 194 184 196 +f 182 186 197 +f 189 183 197 +f 186 189 197 +f 192 182 197 +f 183 192 197 +f 183 179 198 +f 179 187 198 +f 193 183 198 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/992/992.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/992/992.urdf new file mode 100644 index 000000000..2abe8b7e8 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/992/992.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/993/993.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/993/993.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/993/993.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/993/993.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/993/993.obj new file mode 100644 index 000000000..99e1cc094 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/993/993.obj @@ -0,0 +1,426 @@ +o convex_0 +v -0.963993 -2.824732 -0.183325 +v 0.189699 -0.070487 1.975085 +v -0.554467 -0.070487 1.975085 +v 0.338655 -3.978803 1.974871 +v 1.008752 -0.108339 -0.071772 +v 1.083229 -3.941725 -0.220725 +v -0.963993 -4.016268 1.937686 +v -0.926856 -0.070487 -0.220725 +v 1.045888 -0.070874 1.974871 +v 1.083229 -3.941725 1.974871 +v -1.001334 -3.978417 -0.108957 +v -0.963993 -0.070487 1.900502 +v 1.083229 -3.197063 -0.220725 +v 0.524748 -0.070487 -0.146141 +v -0.963993 -0.256653 -0.220725 +v 0.301518 -3.941339 -0.220725 +v -1.001334 -3.941725 1.118986 +v 1.083229 -1.820134 1.974871 +v -0.815037 -3.085055 1.974871 +v -1.001334 -2.898889 -0.146141 +v -0.517330 -4.016268 1.416676 +v 1.045888 -0.070874 1.528444 +v -1.001334 -3.941725 -0.146141 +v 0.152358 -0.294504 -0.183540 +v 0.822455 -2.489866 -0.220725 +v 0.971411 -0.070487 -0.071772 +v -0.963993 -1.857985 1.937686 +v -0.963993 -0.070487 0.151549 +v 0.375792 -3.978803 0.523822 +v -0.293896 -3.978417 1.975085 +v -0.554467 -3.941725 -0.183540 +v -0.777900 -0.070487 -0.220725 +v 1.008752 -0.629370 -0.108957 +v -0.963993 -0.517748 -0.220725 +v -0.963993 -4.016268 1.230539 +f 11 21 35 +f 3 2 8 +f 3 8 12 +f 6 8 13 +f 10 6 13 +f 8 2 14 +f 8 6 15 +f 6 11 16 +f 15 6 16 +f 11 7 17 +f 9 2 18 +f 2 10 18 +f 10 13 18 +f 11 17 20 +f 17 12 20 +f 4 7 21 +f 13 5 22 +f 9 18 22 +f 18 13 22 +f 11 20 23 +f 20 15 23 +f 24 14 25 +f 13 8 25 +f 14 13 25 +f 2 9 26 +f 14 2 26 +f 5 14 26 +f 22 5 26 +f 9 22 26 +f 3 12 27 +f 17 7 27 +f 12 17 27 +f 19 3 27 +f 7 19 27 +f 12 8 28 +f 8 15 28 +f 15 20 28 +f 20 12 28 +f 10 4 29 +f 6 10 29 +f 11 6 29 +f 4 21 29 +f 21 11 29 +f 2 3 30 +f 7 4 30 +f 10 2 30 +f 4 10 30 +f 3 19 30 +f 19 7 30 +f 16 11 31 +f 23 1 31 +f 11 23 31 +f 8 14 32 +f 14 24 32 +f 24 25 32 +f 25 8 32 +f 5 13 33 +f 14 5 33 +f 13 14 33 +f 15 16 34 +f 1 23 34 +f 23 15 34 +f 31 1 34 +f 16 31 34 +f 7 11 35 +f 21 7 35 +o convex_1 +v -1.113007 -0.033263 -0.779491 +v -3.011266 2.088342 -0.109267 +v -1.113007 2.125749 -1.672569 +v -2.974189 0.004143 -2.231054 +v -3.011266 -0.033263 -0.183828 +v -1.113007 1.976757 -0.109267 +v -2.974189 2.125749 -2.044754 +v -1.113007 0.004143 -2.231054 +v -1.113007 0.115729 -0.183828 +v -1.113007 1.641788 -2.156285 +v -3.085613 1.529992 -0.109267 +v -1.113007 2.125749 -2.044754 +v -3.085613 2.088342 -0.481659 +v -2.378642 -0.033263 -1.821484 +v -1.113007 0.376306 -0.146859 +v -2.974189 0.227314 -2.231054 +v -1.187547 2.013952 -0.109267 +v -3.011266 2.125749 -1.858454 +v -3.048536 0.525298 -0.146859 +v -2.601876 2.013952 -2.082139 +v -1.113007 1.306820 -0.109267 +v -3.011266 2.125749 -1.263207 +v -3.011266 0.339111 -0.146859 +v -1.224817 0.301916 -2.231054 +v -1.187547 0.078533 -0.183828 +v -1.448244 1.641788 -2.156492 +v -3.011266 0.004143 -1.002760 +v -3.048536 1.269202 -0.109267 +v -3.085613 2.088342 -0.109267 +v -1.113007 -0.033263 -1.039937 +f 49 43 65 +f 36 38 41 +f 38 36 43 +f 36 41 44 +f 38 43 45 +f 41 37 46 +f 42 38 47 +f 38 45 47 +f 39 46 48 +f 36 40 49 +f 40 39 49 +f 39 43 49 +f 44 41 50 +f 43 39 51 +f 38 37 52 +f 37 41 52 +f 41 38 52 +f 38 42 53 +f 39 48 53 +f 51 39 53 +f 42 51 53 +f 42 47 55 +f 47 45 55 +f 51 42 55 +f 41 46 56 +f 50 41 56 +f 37 38 57 +f 38 53 57 +f 53 48 57 +f 40 50 58 +f 54 40 58 +f 50 56 58 +f 45 43 59 +f 43 51 59 +f 40 36 60 +f 36 44 60 +f 50 40 60 +f 44 50 60 +f 55 45 61 +f 51 55 61 +f 45 59 61 +f 59 51 61 +f 39 40 62 +f 46 39 62 +f 40 54 62 +f 54 46 62 +f 46 54 63 +f 56 46 63 +f 54 58 63 +f 58 56 63 +f 46 37 64 +f 48 46 64 +f 37 57 64 +f 57 48 64 +f 43 36 65 +f 36 49 65 +o convex_2 +v 1.939233 2.125319 -0.630509 +v -1.113007 0.004318 -2.231054 +v -0.368167 -0.070058 -0.332744 +v 3.018819 0.041291 -2.230835 +v -1.113007 2.125319 -2.044787 +v -1.113007 1.976567 0.002407 +v 3.093344 0.115882 -0.072363 +v 3.093344 2.125534 -2.044568 +v 2.944293 2.013755 -0.035197 +v -0.926488 -0.070058 0.002407 +v -0.293641 1.269352 -2.231054 +v 0.971640 -0.070058 0.002407 +v 0.673951 2.125319 0.002407 +v -1.113007 0.115882 -0.183861 +v 2.832711 2.051158 -2.081953 +v -1.113007 1.641661 -2.156503 +v 3.055876 0.078694 -0.109529 +v 3.055876 0.636942 -2.193451 +v -1.038482 2.013755 0.002407 +v 3.018819 1.120600 -0.035197 +v -1.113007 2.125319 -1.672689 +v -0.219528 0.004318 -2.231054 +v 1.008697 2.125319 0.002407 +v 3.018819 2.088346 -1.002826 +v -1.113007 -0.032870 -0.742226 +v -0.256585 2.050943 -2.081734 +v 3.093344 2.125534 -1.933070 +v 0.971640 -0.070058 -0.072144 +v 3.093344 1.976782 -2.081953 +v 3.055876 0.078694 -1.672470 +v -0.145003 1.269352 -2.231054 +v 2.572079 2.051158 -0.072363 +v 2.423029 0.115667 -0.035197 +v 3.018819 0.041291 -1.895685 +v 3.018819 0.190257 -2.230835 +v -1.113007 0.264848 -2.231054 +v 1.343443 1.678849 -2.156503 +v 3.055876 2.125534 -1.597920 +v 2.981350 2.051158 -0.444460 +v -0.852374 1.455506 -2.193451 +f 101 81 105 +f 70 67 71 +f 67 68 75 +f 75 68 77 +f 71 75 77 +f 71 77 78 +f 71 67 79 +f 75 71 79 +f 70 73 80 +f 67 70 81 +f 72 77 82 +f 71 78 84 +f 70 71 86 +f 71 84 86 +f 84 78 86 +f 68 67 87 +f 67 76 87 +f 78 77 88 +f 85 74 88 +f 77 85 88 +f 67 75 90 +f 79 67 90 +f 75 79 90 +f 70 80 91 +f 81 70 91 +f 72 73 92 +f 85 72 92 +f 77 68 93 +f 69 77 93 +f 68 87 93 +f 87 69 93 +f 73 72 94 +f 80 73 94 +f 83 94 95 +f 72 69 95 +f 69 83 95 +f 94 72 95 +f 87 76 96 +f 69 87 96 +f 66 88 97 +f 88 74 97 +f 89 66 97 +f 77 72 98 +f 72 85 98 +f 85 77 98 +f 69 72 99 +f 77 69 99 +f 72 82 99 +f 82 77 99 +f 83 69 100 +f 69 96 100 +f 76 67 101 +f 67 81 101 +f 91 80 102 +f 76 91 102 +f 80 94 102 +f 94 83 102 +f 96 76 102 +f 83 100 102 +f 100 96 102 +f 73 70 103 +f 70 86 103 +f 86 78 103 +f 88 66 103 +f 78 88 103 +f 66 89 103 +f 92 73 103 +f 89 92 103 +f 74 85 104 +f 85 92 104 +f 92 89 104 +f 97 74 104 +f 89 97 104 +f 91 76 105 +f 81 91 105 +f 76 101 105 +o convex_3 +v 1.045998 0.599754 2.012325 +v -1.113007 1.864788 0.002603 +v -1.113007 1.864788 0.039981 +v -0.964015 -0.070488 0.151523 +v 1.008591 2.125534 0.002603 +v -0.964015 2.013755 1.863405 +v 0.971396 -0.070273 0.002603 +v -0.964015 -0.070488 1.900586 +v 1.008591 2.125534 2.012325 +v 1.045998 -0.070273 1.974947 +v -0.331276 1.269352 2.012325 +v -1.038405 2.013755 0.002603 +v -0.926609 -0.070488 0.002603 +v 0.003690 -0.032870 2.012325 +v 0.487438 2.125534 1.640125 +v 1.008591 -0.070273 0.039981 +v -1.001210 1.976567 1.714486 +v 0.636429 2.125534 0.002603 +v 1.045998 -0.070273 1.565567 +v -1.113007 1.976567 0.151523 +v -0.554658 -0.070488 1.974947 +v 0.859600 2.125534 2.012325 +v -0.331276 1.380916 2.012325 +v -0.964015 0.599754 1.900586 +v 0.524844 2.125534 1.974947 +f 127 120 130 +f 108 107 109 +f 107 110 112 +f 108 109 113 +f 106 110 114 +f 106 114 116 +f 110 107 117 +f 109 107 118 +f 107 112 118 +f 113 109 118 +f 115 106 119 +f 106 116 119 +f 114 110 120 +f 117 111 120 +f 112 110 121 +f 118 112 121 +f 110 117 123 +f 120 110 123 +f 117 120 123 +f 110 106 124 +f 106 115 124 +f 121 110 124 +f 107 108 125 +f 108 113 125 +f 117 107 125 +f 111 117 125 +f 113 122 125 +f 122 111 125 +f 113 118 126 +f 115 119 126 +f 119 116 126 +f 118 121 126 +f 124 115 126 +f 121 124 126 +f 116 114 127 +f 114 120 127 +f 126 116 128 +f 127 111 128 +f 116 127 128 +f 122 113 129 +f 111 122 129 +f 113 126 129 +f 128 111 129 +f 126 128 129 +f 120 111 130 +f 111 127 130 +o convex_4 +v -0.256781 0.897360 2.124489 +v 0.338742 1.269501 2.384990 +v 0.338742 1.195060 2.384990 +v -0.219604 0.860172 3.947998 +v -0.331274 1.381262 2.161623 +v 0.264250 1.232248 3.873542 +v 0.264250 0.711223 3.910675 +v 0.226935 0.785730 2.012711 +v -0.368520 1.232248 3.873542 +v -0.219604 0.785730 2.012711 +v 0.338742 1.269501 2.012711 +v -0.331274 1.269501 2.012711 +v -0.145112 0.785730 3.947998 +v -0.256781 1.381262 2.012711 +v 0.338742 1.157872 2.012711 +v -0.368520 1.195060 3.761763 +v 0.189758 0.711223 3.761763 +f 143 140 147 +f 133 132 137 +f 132 136 137 +f 136 135 139 +f 134 136 139 +f 132 133 141 +f 138 140 141 +f 141 140 142 +f 140 131 142 +f 136 134 143 +f 137 136 143 +f 134 140 143 +f 136 132 144 +f 135 136 144 +f 132 141 144 +f 141 142 144 +f 142 135 144 +f 133 137 145 +f 137 138 145 +f 141 133 145 +f 138 141 145 +f 134 139 146 +f 139 135 146 +f 131 140 146 +f 140 134 146 +f 142 131 146 +f 135 142 146 +f 138 137 147 +f 140 138 147 +f 137 143 147 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/993/993.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/993/993.urdf new file mode 100644 index 000000000..15db8da2b --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/993/993.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/994/994.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/994/994.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/994/994.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/994/994.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/994/994.obj new file mode 100644 index 000000000..a0c142d02 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/994/994.obj @@ -0,0 +1,438 @@ +o convex_0 +v 1.016888 3.707462 -0.942890 +v -1.093756 -0.133047 0.925344 +v -1.093756 -0.133047 1.098403 +v 1.086240 -0.133047 -0.839182 +v 1.051458 3.707848 1.063407 +v -0.955266 3.776959 -0.943103 +v -0.989835 -0.133047 -1.081593 +v -1.058974 3.776959 1.063621 +v 0.982319 -0.133047 0.925130 +v 0.982319 -0.133047 -0.977672 +v 0.982319 3.672713 -0.977672 +v 1.086240 3.707848 1.028838 +v -0.193889 3.811322 -0.562414 +v -1.024405 0.040696 -0.804613 +v -0.228672 1.147637 1.098403 +v -1.058974 3.257659 1.098403 +v -0.609147 0.386639 -1.081593 +v 1.016888 0.455365 0.959700 +v 1.086240 0.905554 -0.942890 +v 1.016888 3.742211 1.063621 +v -1.058974 3.742211 0.821423 +v -0.712855 -0.132661 1.098403 +v 1.051458 3.707848 -0.458707 +v 0.878398 3.742211 -0.942890 +v 1.086240 3.153799 1.028838 +v -0.885914 3.811322 -0.873964 +v -0.989835 1.182386 -1.046811 +v -0.228672 3.776573 1.063621 +v 1.086240 3.707848 0.613794 +v 0.843829 -0.063550 0.959700 +v 1.016888 3.465379 1.063621 +v -0.885914 3.049938 -0.977672 +v -0.609147 -0.132661 -1.081593 +v 1.051458 2.842604 -0.942890 +v -0.297810 3.811322 -0.354786 +v -0.989835 2.288941 -0.804613 +v -1.093756 0.490113 1.029051 +v 1.086240 -0.133047 -0.942890 +v -0.989835 0.282393 -1.081593 +v -1.024405 -0.133047 -0.804613 +f 2 14 40 +f 3 2 4 +f 4 2 7 +f 3 4 9 +f 4 7 10 +f 8 3 16 +f 3 15 16 +f 15 5 16 +f 11 10 17 +f 9 4 18 +f 10 11 19 +f 12 4 19 +f 5 12 20 +f 16 5 20 +f 8 6 21 +f 3 9 22 +f 15 3 22 +f 20 23 24 +f 1 11 24 +f 11 6 24 +f 13 20 24 +f 23 1 24 +f 4 12 25 +f 12 5 25 +f 18 4 25 +f 5 18 25 +f 6 8 26 +f 24 6 26 +f 13 24 26 +f 8 16 28 +f 16 20 28 +f 12 19 29 +f 20 12 29 +f 23 20 29 +f 9 18 30 +f 22 9 30 +f 15 22 30 +f 5 15 31 +f 18 5 31 +f 15 30 31 +f 30 18 31 +f 6 11 32 +f 27 6 32 +f 10 7 33 +f 7 17 33 +f 17 10 33 +f 11 1 34 +f 19 11 34 +f 1 23 34 +f 29 19 34 +f 23 29 34 +f 20 13 35 +f 26 8 35 +f 13 26 35 +f 8 28 35 +f 28 20 35 +f 21 6 36 +f 14 21 36 +f 6 27 36 +f 27 14 36 +f 2 3 37 +f 3 8 37 +f 14 2 37 +f 8 21 37 +f 21 14 37 +f 4 10 38 +f 19 4 38 +f 10 19 38 +f 7 14 39 +f 17 7 39 +f 11 17 39 +f 14 27 39 +f 32 11 39 +f 27 32 39 +f 7 2 40 +f 14 7 40 +o convex_1 +v 1.086498 -2.243513 -0.804433 +v 3.024015 -0.167651 1.063800 +v 3.024015 -0.167651 0.925310 +v 2.989305 -2.347647 0.994448 +v 2.954784 -2.243726 -1.116197 +v 1.086498 -0.202433 0.925096 +v 1.155539 -0.271572 -0.942923 +v 1.086498 -2.347647 1.063800 +v 2.920074 -0.271572 -0.977706 +v 1.086498 -1.863038 -1.081414 +v 1.086498 -0.375493 -0.977493 +v 2.885553 -2.278296 -1.081414 +v 1.086498 -2.208944 -1.081414 +v 2.954784 -0.237003 -0.770077 +v 1.847658 -0.167651 0.994448 +v 2.954784 -2.001528 -1.116197 +v 2.989305 -2.347647 0.475483 +v 2.989305 -0.755968 -0.631373 +v 1.086498 -1.932176 1.063800 +v 2.920074 -2.035884 1.029018 +v 3.024015 -0.652474 1.063800 +v 1.155539 -2.347647 0.855958 +v 2.989305 -2.312865 -0.043269 +v 2.747091 -0.167651 1.063800 +v 1.086498 -0.340924 0.959666 +v 1.882179 -2.243726 -1.116197 +v 1.432273 -2.347647 1.063800 +v 2.954784 -0.306141 -0.943137 +v 2.850843 -0.167651 0.683112 +v 1.570735 -0.202433 0.267854 +v 1.086498 -0.202433 0.682898 +v 1.605445 -2.243513 -1.081414 +v 2.781612 -0.237003 -0.770077 +v 1.882179 -2.174588 -1.116197 +v 2.608629 -2.347647 1.029018 +v 1.086498 -0.306355 -0.942923 +f 71 47 76 +f 46 41 48 +f 41 46 50 +f 50 46 51 +f 47 49 51 +f 41 50 53 +f 42 43 55 +f 51 49 56 +f 44 48 57 +f 45 56 58 +f 48 42 59 +f 46 48 59 +f 43 42 61 +f 42 48 61 +f 44 57 61 +f 58 43 61 +f 60 44 61 +f 48 41 62 +f 57 48 62 +f 52 57 62 +f 52 45 63 +f 57 52 63 +f 45 58 63 +f 61 57 63 +f 58 61 63 +f 42 55 64 +f 59 42 64 +f 59 64 65 +f 55 46 65 +f 46 59 65 +f 64 55 65 +f 45 52 66 +f 53 50 66 +f 56 45 66 +f 48 44 67 +f 61 48 67 +f 60 61 67 +f 54 43 68 +f 49 54 68 +f 56 49 68 +f 43 58 68 +f 58 56 68 +f 43 54 69 +f 55 43 69 +f 55 69 70 +f 51 46 71 +f 46 55 71 +f 55 70 71 +f 70 47 71 +f 41 53 72 +f 62 41 72 +f 52 62 72 +f 66 52 72 +f 53 66 72 +f 49 47 73 +f 54 49 73 +f 69 54 73 +f 70 69 73 +f 47 70 73 +f 50 51 74 +f 51 56 74 +f 66 50 74 +f 56 66 74 +f 44 60 75 +f 67 44 75 +f 60 67 75 +f 47 51 76 +f 51 71 76 +o convex_2 +v -1.474486 -0.271606 -0.458710 +v -3.065965 -2.382251 -1.116197 +v -3.065965 -2.209191 -1.116197 +v -2.962237 -2.278329 0.959882 +v -1.093757 -2.347468 0.613905 +v -2.927661 -0.202254 0.959882 +v -1.093757 -0.306175 1.098403 +v -1.093757 -2.208977 -1.116197 +v -3.100541 -0.340744 -0.977676 +v -1.093757 -0.340958 -1.081512 +v -1.093757 -2.347468 0.994350 +v -3.100541 -0.306175 -0.735318 +v -1.370758 -0.652294 1.098403 +v -3.065965 -2.382251 -0.770003 +v -2.477780 -0.202254 0.510069 +v -2.962237 -0.202254 0.890514 +v -2.996813 -2.278329 0.682841 +v -2.789160 -0.202254 0.994567 +v -1.163105 -2.243547 -1.116197 +v -1.093757 -0.306175 -1.046828 +v -1.578410 -2.347468 0.994350 +v -2.166203 -1.447814 -1.116197 +v -2.720008 -2.001562 0.994567 +v -2.823737 -2.382251 -1.116197 +v -3.100541 -1.690012 -1.012143 +v -3.065965 -0.306175 -0.873622 +v -1.093757 -1.205829 -1.116197 +v -1.405334 -0.340958 -1.081512 +v -1.093757 -1.966779 1.029034 +v -2.962237 -0.202254 0.544537 +v -2.512356 -0.202254 0.994567 +v -2.962237 -0.790571 0.959882 +v -1.370758 -0.306175 1.098403 +v -1.405334 -0.306175 -1.046828 +v -1.924170 -2.312899 0.994350 +v -1.093757 -0.721433 1.098403 +v -3.065965 -2.347468 -0.596797 +f 93 101 113 +f 78 79 84 +f 83 81 84 +f 83 84 86 +f 81 83 87 +f 83 77 91 +f 82 91 92 +f 90 80 93 +f 91 82 94 +f 78 84 95 +f 84 81 95 +f 77 83 96 +f 83 86 96 +f 91 77 96 +f 90 87 97 +f 80 90 97 +f 84 79 98 +f 79 85 98 +f 94 80 99 +f 89 94 99 +f 81 87 100 +f 90 78 100 +f 87 90 100 +f 78 95 100 +f 95 81 100 +f 79 78 101 +f 85 79 101 +f 88 85 101 +f 78 90 101 +f 93 88 101 +f 85 88 102 +f 86 84 103 +f 84 98 103 +f 103 98 104 +f 96 86 104 +f 98 85 104 +f 86 103 104 +f 87 83 105 +f 97 87 105 +f 88 92 106 +f 92 91 106 +f 102 88 106 +f 83 91 107 +f 94 83 107 +f 91 94 107 +f 92 88 108 +f 82 92 108 +f 93 80 108 +f 88 93 108 +f 80 94 108 +f 94 82 108 +f 89 83 109 +f 94 89 109 +f 83 94 109 +f 91 96 110 +f 85 102 110 +f 96 104 110 +f 104 85 110 +f 106 91 110 +f 102 106 110 +f 80 97 111 +f 99 80 111 +f 89 99 111 +f 105 89 111 +f 97 105 111 +f 83 89 112 +f 105 83 112 +f 89 105 112 +f 90 93 113 +f 101 90 113 +o convex_3 +v -1.093699 -2.243767 -0.838938 +v -0.747597 -0.133048 1.098403 +v -0.366928 -0.133048 1.063719 +v -0.989783 -0.133048 -1.081512 +v 1.086186 -2.208981 -1.081512 +v 1.086186 -2.347465 1.063719 +v 1.086186 -0.133048 -0.942991 +v -1.093699 -2.347465 0.994350 +v 1.086186 -0.202620 0.925198 +v -1.093699 -0.133048 1.098403 +v -1.093699 -2.209201 -1.116197 +v -0.366928 -2.382251 -0.527862 +v -1.093699 -0.306097 -1.046828 +v 0.774652 -0.133048 0.959666 +v -1.093699 -0.756114 1.098403 +v -0.609114 -0.133048 -1.081512 +v 0.705517 -2.312899 -0.562330 +v 1.086186 -1.863102 -1.081512 +v 1.086186 -1.966800 1.063719 +v 0.048095 -2.209201 -1.116197 +v 0.982270 -0.133048 -0.977459 +v -1.093699 -1.205910 -1.116197 +v 0.567034 -2.347465 1.063719 +v -0.574546 -2.382251 -0.147201 +v 1.086186 -0.375449 0.959666 +v -1.059131 -2.001586 1.029034 +v 0.982270 -0.133048 0.925198 +v 0.947703 -2.243767 -1.012143 +v -1.093699 -2.347465 0.579221 +v 1.086186 -2.347465 0.890730 +v -0.955216 -2.243767 -1.046828 +v 0.359416 -2.347465 -0.458493 +v -0.470844 -2.382251 -0.493178 +v 0.463331 -2.243767 -1.046828 +v 1.086186 -2.243767 -0.804470 +v -1.024350 -0.133048 -0.838938 +v -0.955216 -1.171565 -1.116197 +f 133 135 150 +f 115 116 117 +f 117 116 120 +f 119 118 120 +f 119 120 122 +f 115 117 123 +f 114 121 123 +f 114 123 124 +f 124 123 126 +f 120 116 127 +f 119 115 128 +f 115 123 128 +f 123 121 128 +f 117 120 129 +f 120 118 131 +f 115 119 132 +f 119 122 132 +f 131 118 133 +f 129 120 134 +f 120 131 134 +f 131 129 134 +f 126 117 135 +f 124 126 135 +f 133 124 135 +f 119 128 136 +f 125 119 137 +f 119 136 137 +f 136 121 137 +f 116 115 138 +f 127 116 138 +f 122 127 138 +f 115 132 138 +f 132 122 138 +f 128 121 139 +f 121 136 139 +f 136 128 139 +f 122 120 140 +f 120 127 140 +f 127 122 140 +f 121 114 142 +f 137 121 142 +f 118 119 143 +f 119 125 143 +f 114 124 144 +f 124 133 144 +f 125 141 145 +f 141 130 145 +f 143 125 145 +f 130 143 145 +f 125 137 146 +f 142 114 146 +f 137 142 146 +f 114 144 146 +f 144 125 146 +f 133 118 147 +f 118 141 147 +f 141 125 147 +f 125 144 147 +f 144 133 147 +f 141 118 148 +f 130 141 148 +f 118 143 148 +f 143 130 148 +f 123 117 149 +f 117 126 149 +f 126 123 149 +f 117 129 150 +f 129 131 150 +f 131 133 150 +f 135 117 150 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/994/994.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/994/994.urdf new file mode 100644 index 000000000..3606de721 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/994/994.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/995/995.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/995/995.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/995/995.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/995/995.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/995/995.obj new file mode 100644 index 000000000..ff3bc8f04 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/995/995.obj @@ -0,0 +1,504 @@ +o convex_0 +v 1.122908 -2.290757 -0.522454 +v -0.184852 -1.175088 -0.368549 +v 0.315376 -1.213736 -0.060740 +v -0.531525 -2.329289 0.477872 +v 1.353827 -1.329215 0.554879 +v 1.392411 -2.367821 0.516321 +v -0.531525 -2.329289 -0.561012 +v -0.531525 -1.213736 0.554879 +v 1.469385 -1.290800 -0.445447 +v -0.531525 -1.175088 -0.445556 +v 1.353827 -2.252342 -0.522454 +v -0.069294 -2.021619 -0.561012 +v -0.531525 -1.675533 0.554879 +v 1.315438 -1.367630 -0.484005 +v 1.430800 -1.252151 -0.445447 +v 0.584096 -2.367937 0.516321 +v 1.353827 -1.906023 0.554879 +v 0.200014 -2.329289 -0.561012 +v 1.392411 -1.982970 -0.522454 +v -0.300214 -1.213736 0.516321 +v 1.392411 -2.367821 0.400865 +v -0.107879 -2.329289 0.516321 +v 1.392411 -1.406161 0.400865 +v -0.531525 -2.059917 -0.561012 +f 10 12 24 +f 7 4 8 +f 8 2 10 +f 7 8 10 +f 5 8 13 +f 8 4 13 +f 12 10 14 +f 2 3 15 +f 5 9 15 +f 10 2 15 +f 9 14 15 +f 14 10 15 +f 4 7 16 +f 6 5 17 +f 5 13 17 +f 16 6 17 +f 11 1 18 +f 7 12 18 +f 14 9 19 +f 12 14 19 +f 11 18 19 +f 18 12 19 +f 3 2 20 +f 2 8 20 +f 8 5 20 +f 15 3 20 +f 5 15 20 +f 9 6 21 +f 1 11 21 +f 16 7 21 +f 6 16 21 +f 18 1 21 +f 7 18 21 +f 19 9 21 +f 11 19 21 +f 13 4 22 +f 4 16 22 +f 17 13 22 +f 16 17 22 +f 5 6 23 +f 9 5 23 +f 6 9 23 +f 7 10 24 +f 12 7 24 +o convex_1 +v 1.815785 -0.828777 0.862316 +v 3.393121 1.056477 2.978161 +v 3.393121 0.786981 2.978161 +v 3.354691 -0.790132 -2.984893 +v 1.238695 1.249090 -2.984294 +v 1.315554 1.249090 3.017088 +v 3.316261 1.249090 -2.907637 +v 1.315554 -0.751690 -3.062149 +v 3.277832 -0.751690 3.056015 +v 1.353984 -0.828777 2.863176 +v 1.200050 -0.251546 0.553892 +v 3.393121 1.172004 2.939833 +v 3.393121 -0.443753 -1.945835 +v 1.200050 0.825625 0.361652 +v 1.815785 -0.790132 -3.062149 +v 1.700281 -0.828777 2.939833 +v 3.316261 1.249090 -0.906777 +v 1.277124 1.133563 2.901505 +v 3.316261 -0.751690 2.555351 +v 3.200758 1.249090 -2.945966 +v 1.200050 -0.213105 -0.445040 +v 1.315554 -0.790132 -2.753725 +v 3.354691 -0.790132 -1.022361 +v 3.393121 1.172004 1.593549 +v 1.354198 -0.213105 2.978760 +v 1.238695 0.671860 -2.984294 +v 3.316261 -0.174257 3.056015 +v 2.816031 -0.751690 3.056015 +v 2.200726 -0.828777 0.515564 +v 3.354691 0.325278 -2.907637 +v 1.353984 -0.289987 -3.062149 +v 1.277124 1.249090 2.747592 +v 2.546593 1.210446 2.978161 +v 2.123652 1.210446 3.017088 +v 1.277124 -0.289987 -3.023221 +v 3.354691 -0.251343 -2.984893 +v 1.315554 0.594774 3.017088 +v 1.354198 -0.751690 2.939833 +v 1.200050 0.710301 -0.521697 +v 1.238695 1.249090 -0.945106 +v 1.315554 -0.790132 -0.752865 +v 1.200050 -0.289987 0.131083 +v 1.353984 -0.828777 1.400710 +v 1.661851 1.249090 -2.984294 +v 3.316261 -0.597722 3.056015 +v 3.354691 1.210446 1.323454 +v 3.354691 -0.751690 -0.213872 +v 3.354691 1.210446 -0.906777 +v 1.200050 0.748743 0.553892 +f 42 56 73 +f 29 30 31 +f 26 27 36 +f 36 27 37 +f 34 25 40 +f 31 30 41 +f 36 31 41 +f 29 31 44 +f 35 38 45 +f 32 39 46 +f 28 37 47 +f 33 40 47 +f 43 33 47 +f 31 36 48 +f 36 37 48 +f 29 32 50 +f 27 26 51 +f 33 51 52 +f 40 33 52 +f 51 30 52 +f 39 28 53 +f 40 25 53 +f 25 46 53 +f 46 39 53 +f 28 47 53 +f 47 40 53 +f 48 37 54 +f 32 29 55 +f 39 32 55 +f 44 39 55 +f 30 29 56 +f 42 30 56 +f 41 30 57 +f 26 36 58 +f 51 26 58 +f 30 51 58 +f 57 30 58 +f 36 57 58 +f 32 45 59 +f 50 32 59 +f 45 50 59 +f 37 28 60 +f 28 39 60 +f 44 31 60 +f 39 44 60 +f 31 54 60 +f 54 37 60 +f 30 42 61 +f 52 30 61 +f 49 52 61 +f 35 34 62 +f 34 40 62 +f 42 35 62 +f 40 52 62 +f 52 49 62 +f 61 42 62 +f 49 61 62 +f 38 29 63 +f 45 38 63 +f 29 50 63 +f 50 45 63 +f 29 38 64 +f 56 29 64 +f 38 56 64 +f 46 34 65 +f 46 65 66 +f 34 35 66 +f 45 32 66 +f 35 45 66 +f 32 46 66 +f 65 34 66 +f 25 34 67 +f 46 25 67 +f 34 46 67 +f 29 44 68 +f 55 29 68 +f 44 55 68 +f 43 27 69 +f 33 43 69 +f 27 51 69 +f 51 33 69 +f 36 41 70 +f 57 36 70 +f 41 57 70 +f 37 27 71 +f 27 43 71 +f 47 37 71 +f 43 47 71 +f 31 48 72 +f 54 31 72 +f 48 54 72 +f 38 35 73 +f 35 42 73 +f 56 38 73 +o convex_2 +v -2.763308 -1.290641 0.516348 +v -4.725436 -1.521583 -0.599491 +v -4.725436 -1.444603 -0.599491 +v -4.725436 -1.444603 0.554879 +v -2.763308 -2.329458 -0.484009 +v -4.648463 -2.252372 0.439397 +v -2.763308 -1.252257 -0.599491 +v -2.763308 -2.213882 0.477816 +v -4.764216 -2.213882 -0.445477 +v -4.725436 -1.252257 0.554879 +v -4.687243 -1.290641 -0.599491 +v -3.802151 -1.252257 0.554879 +v -4.110043 -1.252257 -0.599491 +v -3.148369 -2.329458 -0.484009 +v -2.763308 -2.329458 -0.253157 +v -2.763308 -1.406112 -0.599491 +v -4.687243 -1.559968 0.554879 +v -2.763308 -1.252257 0.131595 +v -4.687243 -2.252372 0.285496 +v -3.878928 -2.213882 0.477816 +v -3.571427 -1.329132 0.554879 +v -4.725436 -1.252257 0.054645 +v -3.840343 -2.252372 0.439397 +v -4.687243 -2.252372 0.016113 +f 87 92 97 +f 75 76 80 +f 74 78 80 +f 78 74 81 +f 76 75 82 +f 82 77 83 +f 80 76 84 +f 83 77 85 +f 80 83 85 +f 83 80 86 +f 80 84 86 +f 75 78 87 +f 82 75 87 +f 78 81 88 +f 87 78 88 +f 79 87 88 +f 78 75 89 +f 75 80 89 +f 80 78 89 +f 77 79 90 +f 85 77 90 +f 74 80 91 +f 85 74 91 +f 80 85 91 +f 79 77 92 +f 77 82 92 +f 87 79 92 +f 79 81 93 +f 90 79 93 +f 81 90 93 +f 81 74 94 +f 74 85 94 +f 90 81 94 +f 85 90 94 +f 76 82 95 +f 82 83 95 +f 84 76 95 +f 83 86 95 +f 86 84 95 +f 81 79 96 +f 88 81 96 +f 79 88 96 +f 82 87 97 +f 92 82 97 +o convex_3 +v -2.763308 0.517989 0.247040 +v -4.687243 -0.020717 -0.330138 +v -4.687243 -0.059166 -0.214690 +v -2.763308 -0.020717 -0.253173 +v -4.764216 -0.097675 0.324005 +v -4.648463 0.402522 -0.291655 +v -2.763308 0.440911 -0.330138 +v -2.840281 0.017792 0.285522 +v -4.610271 0.440911 0.208493 +v -3.917512 0.440911 -0.330138 +v -4.340570 -0.097675 0.324005 +v -3.071200 0.517989 0.093044 +v -2.917254 0.210157 -0.330138 +v -4.764216 -0.020717 0.324005 +v -4.417544 0.440911 -0.253173 +v -4.648463 -0.097675 0.054562 +v -2.763308 0.479480 -0.253173 +v -2.763308 0.056241 0.247040 +v -3.148369 0.517989 0.247040 +f 109 112 116 +f 100 99 101 +f 99 100 102 +f 98 101 104 +f 99 103 107 +f 104 99 107 +f 105 98 108 +f 101 105 108 +f 101 99 110 +f 99 104 110 +f 104 101 110 +f 99 102 111 +f 103 99 111 +f 106 103 111 +f 108 98 111 +f 102 108 111 +f 103 106 112 +f 107 103 112 +f 100 101 113 +f 102 100 113 +f 101 108 113 +f 108 102 113 +f 98 104 114 +f 104 107 114 +f 109 98 114 +f 107 112 114 +f 112 109 114 +f 101 98 115 +f 98 105 115 +f 105 101 115 +f 98 109 116 +f 111 98 116 +f 106 111 116 +f 112 106 116 +o convex_4 +v -0.531743 3.172296 0.439359 +v -2.763089 -2.790758 -0.022547 +v -2.724640 -2.790758 -1.099718 +v -2.724640 3.288478 0.169863 +v -0.570192 -2.829686 0.977945 +v -0.608641 3.211223 -0.983988 +v -0.570192 -2.714102 -0.983988 +v -2.724640 3.288478 0.978149 +v -2.647743 3.249551 -1.061074 +v -2.763089 -2.752430 0.978149 +v -0.531743 3.249551 0.978149 +v -2.763089 0.440801 -0.330078 +v -0.531743 -2.329021 -0.560726 +v -2.686191 2.056581 -1.099718 +v -0.916450 -2.751831 -1.022632 +v -0.531743 -2.444605 0.862621 +v -0.570192 1.479260 -0.983988 +v -1.916558 3.249551 -1.061074 +v -2.378382 -2.790758 -1.099718 +v -2.763089 0.440801 0.978149 +v -2.763089 -1.366620 -0.714898 +v -2.686191 2.980055 -1.061074 +v -1.108695 3.211223 -1.022632 +v -0.531743 0.749225 -0.445402 +v -0.608641 3.249551 0.016098 +v -0.570192 -2.829686 0.593125 +v -1.108695 -2.829686 0.977945 +v -0.570192 3.211223 -0.560726 +v -1.839660 3.288478 0.901062 +v -2.724640 -0.558730 -1.099718 +v -1.762763 -2.790758 -1.061074 +v -1.609186 3.249551 -1.022632 +v -2.378382 -2.136182 -1.099718 +v -0.570192 -2.751831 -0.830222 +v -0.531743 -1.905613 0.977945 +v -2.186137 -2.790758 0.978149 +v -2.609293 1.902669 -1.099718 +f 139 149 153 +f 124 126 127 +f 124 120 128 +f 118 126 128 +f 117 127 129 +f 129 127 132 +f 129 123 133 +f 123 131 133 +f 131 122 133 +f 125 120 134 +f 130 125 134 +f 119 130 135 +f 126 124 136 +f 124 128 136 +f 128 126 136 +f 119 118 137 +f 118 128 137 +f 120 125 138 +f 128 120 138 +f 125 130 138 +f 137 128 138 +f 122 131 139 +f 134 122 139 +f 117 129 140 +f 129 133 140 +f 132 121 142 +f 119 135 142 +f 118 119 143 +f 119 142 143 +f 142 121 143 +f 127 117 144 +f 133 122 144 +f 117 140 144 +f 140 133 144 +f 141 127 144 +f 122 141 144 +f 120 124 145 +f 124 127 145 +f 127 141 145 +f 130 119 146 +f 119 137 146 +f 138 130 146 +f 137 138 146 +f 135 131 147 +f 142 135 147 +f 134 120 148 +f 122 134 148 +f 141 122 148 +f 120 145 148 +f 145 141 148 +f 131 135 149 +f 135 130 149 +f 139 131 149 +f 123 129 150 +f 131 123 150 +f 129 132 150 +f 132 142 150 +f 147 131 150 +f 142 147 150 +f 127 121 151 +f 121 132 151 +f 132 127 151 +f 126 118 152 +f 127 126 152 +f 121 127 152 +f 118 143 152 +f 143 121 152 +f 130 134 153 +f 134 139 153 +f 149 130 153 +o convex_5 +v 0.815109 -0.290070 -0.253173 +v 1.200031 0.825821 0.362447 +v 1.200031 0.787263 0.516351 +v -0.531525 0.825821 0.477902 +v -0.531525 0.748814 -0.445526 +v -0.531525 -0.251512 0.593358 +v 1.200031 0.710365 -0.522533 +v -0.531525 -0.290070 -0.445526 +v 1.200031 -0.251512 0.554800 +v 1.200031 -0.136056 -0.483975 +v 1.200031 0.825821 -0.060600 +v 1.200031 0.748814 0.554800 +v -0.531525 -0.290070 0.516351 +v 0.161369 0.210311 0.593358 +v 1.200031 -0.290070 0.093086 +v 0.699684 -0.251512 0.593358 +v 1.200031 -0.213063 -0.445526 +v 0.045943 0.748814 -0.483975 +v -0.531525 0.325549 0.554800 +v 0.968841 0.671807 -0.522533 +v -0.415760 0.825821 0.323998 +f 164 158 174 +f 156 155 157 +f 157 158 159 +f 155 156 160 +f 159 158 161 +f 160 156 162 +f 160 162 163 +f 157 155 164 +f 155 160 164 +f 156 157 165 +f 162 156 165 +f 161 154 166 +f 159 161 166 +f 163 162 168 +f 166 154 168 +f 162 166 168 +f 162 165 169 +f 159 166 169 +f 166 162 169 +f 167 159 169 +f 165 167 169 +f 154 161 170 +f 161 163 170 +f 163 168 170 +f 168 154 170 +f 161 158 171 +f 158 164 171 +f 164 160 171 +f 157 159 172 +f 165 157 172 +f 159 167 172 +f 167 165 172 +f 160 163 173 +f 163 161 173 +f 161 171 173 +f 171 160 173 +f 158 157 174 +f 157 164 174 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/995/995.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/995/995.urdf new file mode 100644 index 000000000..283b51900 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/995/995.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/996/996.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/996/996.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/996/996.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/996/996.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/996/996.obj new file mode 100644 index 000000000..92ca48344 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/996/996.obj @@ -0,0 +1,390 @@ +o convex_0 +v -0.427357 1.523053 2.146383 +v -0.578975 0.311858 1.843495 +v -0.578975 0.614776 1.843495 +v 0.480739 0.917456 1.843495 +v 0.518778 0.425438 3.773730 +v -0.540936 1.409356 3.811880 +v 0.480739 1.409356 3.698201 +v -0.540936 0.311858 3.811880 +v 0.480739 1.371535 1.843495 +v 0.405091 0.425438 1.843495 +v -0.503220 1.523053 1.843495 +v -0.578975 1.182197 3.319784 +v 0.443023 0.387617 3.584521 +v 0.443023 1.409356 3.773730 +v -0.276061 0.311858 3.811880 +v -0.540936 1.447176 3.622479 +v -0.465288 0.311858 1.843495 +v -0.351817 1.523053 1.843495 +v 0.443023 0.463258 1.843495 +v -0.578975 0.311858 2.714394 +v -0.540936 1.484996 2.638479 +v 0.480739 1.409356 3.168147 +v 0.480739 0.425438 2.676629 +f 10 19 23 +f 2 3 4 +f 4 3 9 +f 5 4 9 +f 2 4 10 +f 9 3 11 +f 3 2 12 +f 8 6 12 +f 7 1 14 +f 5 7 14 +f 8 2 15 +f 6 8 15 +f 13 5 15 +f 5 14 15 +f 14 6 15 +f 1 11 16 +f 12 6 16 +f 6 14 16 +f 14 1 16 +f 2 10 17 +f 10 13 17 +f 15 2 17 +f 13 15 17 +f 1 7 18 +f 11 1 18 +f 9 11 18 +f 10 4 19 +f 2 8 20 +f 12 2 20 +f 8 12 20 +f 11 3 21 +f 3 12 21 +f 16 11 21 +f 12 16 21 +f 7 5 22 +f 5 9 22 +f 18 7 22 +f 9 18 22 +f 4 5 23 +f 5 13 23 +f 13 10 23 +f 19 4 23 +o convex_1 +v 0.972880 3.679876 -2.206642 +v -1.108925 -2.034677 -0.655028 +v -1.070886 -2.110028 -1.487295 +v 1.086566 -2.148311 -0.352011 +v -1.033062 3.983104 -0.352011 +v -1.070886 3.907145 -2.358249 +v 1.086566 -2.034069 -2.358249 +v 1.010704 4.021388 -0.352011 +v -1.033062 -2.186594 -2.282249 +v -1.108925 -1.996393 -0.352011 +v 0.972880 3.944821 -2.017330 +v 1.086566 -1.352868 -2.358249 +v -0.730258 -2.148311 -2.320347 +v -1.070886 3.945429 -2.282249 +v -1.070886 2.695446 -0.352011 +v 1.010704 3.983104 -1.298572 +v 0.632253 1.560314 -2.320347 +v -1.070886 0.992748 -2.320347 +v 1.086566 -1.126206 -0.352011 +v 0.442920 -2.072352 -2.358249 +v 1.086566 -0.898937 -2.320347 +v 1.086566 -2.148311 -0.806439 +v 0.897233 3.907145 -2.206642 +v -1.070886 3.945429 -1.222965 +v -1.108925 -0.898937 -0.352011 +v -1.108925 -2.034677 -0.427814 +v 0.821586 -2.072352 -2.358249 +v 1.010704 2.809689 -2.206642 +v 0.367272 4.021388 -0.427814 +v -1.033062 -1.126206 -2.320347 +v -0.843729 3.642200 -2.358249 +v 0.859410 -2.148311 -0.352011 +v -1.033062 -2.186594 -2.130839 +v -0.843729 -2.186594 -2.282249 +v 1.010704 4.021388 -0.617126 +v -1.070886 3.377255 -2.358249 +v -1.033062 3.983104 -0.844340 +v 0.972880 3.907145 -2.168937 +f 39 51 61 +f 28 27 31 +f 25 26 32 +f 27 28 33 +f 30 29 35 +f 27 30 35 +f 33 28 38 +f 24 35 40 +f 26 25 41 +f 32 26 41 +f 31 27 42 +f 27 35 42 +f 29 30 43 +f 31 42 44 +f 42 35 44 +f 30 27 45 +f 29 37 46 +f 37 34 46 +f 24 40 46 +f 28 37 47 +f 38 28 47 +f 38 47 48 +f 29 25 48 +f 25 33 48 +f 37 29 48 +f 33 38 48 +f 47 37 48 +f 25 32 49 +f 33 25 49 +f 43 30 50 +f 36 43 50 +f 30 45 50 +f 35 24 51 +f 44 35 51 +f 39 44 51 +f 28 31 52 +f 36 32 53 +f 32 41 53 +f 43 36 53 +f 35 29 54 +f 40 35 54 +f 29 46 54 +f 46 40 54 +f 27 33 55 +f 33 49 55 +f 55 49 56 +f 49 32 56 +f 27 55 56 +f 56 32 57 +f 32 36 57 +f 45 27 57 +f 36 50 57 +f 50 45 57 +f 27 56 57 +f 34 37 58 +f 39 34 58 +f 44 39 58 +f 31 44 58 +f 52 31 58 +f 37 52 58 +f 25 29 59 +f 41 25 59 +f 29 43 59 +f 53 41 59 +f 43 53 59 +f 37 28 60 +f 28 52 60 +f 52 37 60 +f 34 39 61 +f 24 46 61 +f 46 34 61 +f 51 24 61 +o convex_2 +v 1.010718 2.581853 -0.162743 +v -1.108925 -2.413104 -0.200611 +v -1.070886 -3.169916 -0.200611 +v 1.010718 4.021388 -0.352011 +v 1.048542 -4.117126 -0.314124 +v -1.033062 3.983149 -0.352011 +v -1.108925 -1.997256 -0.352011 +v 1.048542 -4.117126 -0.162743 +v -1.070886 2.203447 -0.162743 +v -0.995238 -4.040648 -0.162743 +v 0.480969 4.021388 -0.238480 +v 1.086581 -2.148618 -0.352011 +v -0.768080 -4.040648 -0.276274 +v -0.995238 3.717867 -0.276274 +v 1.086581 -1.126524 -0.162743 +v 1.010718 3.528265 -0.200611 +v 0.480969 -4.117126 -0.314124 +v 0.783560 -2.791510 -0.352011 +v -0.995238 -4.040648 -0.238480 +v -1.108925 -0.368916 -0.162743 +v 1.010718 4.021388 -0.238480 +v -1.070886 2.658330 -0.352011 +v -0.503312 2.506171 -0.162743 +v 1.086581 -3.170713 -0.200611 +v -1.033062 3.983149 -0.314124 +v 1.086581 -1.126524 -0.352011 +v 0.480969 3.528265 -0.200611 +v -1.108925 -2.413104 -0.162743 +v 0.329458 -4.117126 -0.162743 +v -1.108925 -0.747322 -0.352011 +f 81 83 91 +f 67 65 68 +f 64 63 68 +f 69 62 70 +f 69 70 71 +f 65 67 72 +f 68 65 73 +f 70 72 75 +f 62 69 76 +f 62 76 77 +f 66 69 78 +f 74 68 78 +f 68 73 79 +f 73 66 79 +f 66 78 79 +f 78 68 79 +f 64 68 80 +f 71 64 80 +f 68 74 80 +f 74 78 80 +f 68 63 81 +f 71 70 81 +f 65 72 82 +f 76 65 82 +f 72 77 82 +f 77 76 82 +f 67 68 83 +f 81 70 83 +f 70 62 84 +f 69 66 85 +f 66 73 85 +f 76 69 85 +f 73 76 85 +f 72 67 86 +f 70 75 86 +f 75 72 86 +f 67 83 86 +f 83 70 86 +f 73 65 87 +f 65 76 87 +f 76 73 87 +f 72 70 88 +f 62 77 88 +f 77 72 88 +f 84 62 88 +f 70 84 88 +f 63 64 89 +f 64 71 89 +f 81 63 89 +f 71 81 89 +f 69 71 90 +f 78 69 90 +f 71 80 90 +f 80 78 90 +f 68 81 91 +f 83 68 91 +o convex_3 +v 1.086566 -2.640229 0.026569 +v -1.108925 -3.322038 0.934836 +v -1.108925 -3.322038 1.010639 +v -1.070886 1.938583 1.805593 +v 0.935057 -4.192832 1.805593 +v 1.010704 1.938583 -0.162743 +v -1.070886 1.863232 -0.162743 +v 1.010704 2.015150 1.843495 +v -0.995239 -4.040915 -0.162743 +v -1.070886 -4.154549 1.767495 +v 1.048528 -4.116874 -0.162743 +v -0.578964 0.311236 1.843495 +v -1.108925 -2.450635 -0.162743 +v 0.897233 -2.185690 1.843495 +v 1.086566 -1.126517 -0.162743 +v -1.108925 -0.445924 0.556604 +v -0.692435 1.976866 1.729790 +v 0.897233 -4.154549 0.140274 +v -0.011179 -4.154549 1.805593 +v 0.935057 1.976866 0.405194 +v 0.972880 -3.814253 1.464871 +v -1.033062 -4.079198 0.291685 +v -0.427454 1.976866 1.843495 +v 1.086566 -1.315503 0.291685 +v -1.108925 -0.369965 -0.162743 +v 0.972880 -4.192832 1.313460 +v -1.070886 -0.862180 1.805593 +v -0.427454 1.900907 -0.162743 +v -1.033062 -3.964955 -0.124645 +v 0.291410 -4.116266 -0.162743 +v 0.972880 -1.504489 1.843495 +v 0.405096 2.015150 1.767692 +v -1.070886 -4.154549 1.654183 +v -1.070886 1.938583 1.199755 +v 0.215763 -4.192225 1.729790 +v -1.070886 -4.116266 1.010639 +v 1.048528 -4.078590 0.064471 +v 1.048528 0.537898 -0.162743 +v 0.556605 1.939191 -0.162743 +v 1.086566 -2.981133 -0.162743 +v 1.010704 2.015150 1.351362 +v 1.010704 1.522327 1.805593 +v -1.070886 1.900907 0.367488 +f 125 130 134 +f 98 97 100 +f 94 93 101 +f 100 97 102 +f 93 94 104 +f 98 100 104 +f 99 103 105 +f 102 97 106 +f 94 95 107 +f 104 94 107 +f 101 96 110 +f 103 101 110 +f 96 105 110 +f 105 103 110 +f 103 99 114 +f 95 103 114 +f 108 95 114 +f 92 106 115 +f 106 99 115 +f 112 92 115 +f 98 104 116 +f 107 95 116 +f 104 107 116 +f 109 102 117 +f 92 112 117 +f 112 96 117 +f 95 94 118 +f 94 101 118 +f 103 95 118 +f 101 103 118 +f 97 98 119 +f 93 104 120 +f 104 100 120 +f 100 113 120 +f 100 102 121 +f 102 109 121 +f 113 100 121 +f 105 96 122 +f 99 105 122 +f 96 112 122 +f 112 115 122 +f 111 108 123 +f 114 99 123 +f 108 114 123 +f 101 93 124 +f 121 109 124 +f 113 121 124 +f 95 108 125 +f 116 95 125 +f 96 101 126 +f 117 96 126 +f 109 117 126 +f 101 124 126 +f 124 109 126 +f 93 120 127 +f 120 113 127 +f 124 93 127 +f 113 124 127 +f 92 117 128 +f 117 102 128 +f 99 106 129 +f 106 97 129 +f 111 97 130 +f 108 111 130 +f 97 119 130 +f 125 108 130 +f 106 92 131 +f 102 106 131 +f 92 128 131 +f 128 102 131 +f 97 111 132 +f 123 99 132 +f 111 123 132 +f 129 97 132 +f 99 129 132 +f 115 99 133 +f 99 122 133 +f 122 115 133 +f 98 116 134 +f 119 98 134 +f 116 125 134 +f 130 119 134 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/996/996.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/996/996.urdf new file mode 100644 index 000000000..0656bf378 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/996/996.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/997/997.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/997/997.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/997/997.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/997/997.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/997/997.obj new file mode 100644 index 000000000..1b426e637 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/997/997.obj @@ -0,0 +1,459 @@ +o convex_0 +v 1.063712 2.063259 -2.140535 +v -1.080712 1.711659 -3.159599 +v -1.080712 1.711659 -3.124493 +v 0.993392 0.165303 -3.159795 +v -0.939863 0.095111 -1.261701 +v -0.975128 2.168867 -1.261701 +v 0.958128 0.200719 -1.261701 +v -1.010183 0.130313 -3.265114 +v 1.063712 2.098462 -3.229812 +v 1.028447 2.274262 -1.261701 +v -1.080712 2.239273 -3.159599 +v -1.010183 2.203856 -1.507837 +v 1.028447 0.235708 -3.089386 +v -0.342464 0.095111 -1.297003 +v 0.044187 0.130100 -3.229812 +v 0.817489 2.133665 -3.229812 +v 0.008922 2.274262 -2.140535 +v -0.975128 0.095111 -1.824186 +v -0.025922 1.114708 -3.265114 +v 1.063712 1.571062 -3.229812 +v 0.958128 0.165303 -1.789080 +v -0.939863 0.095111 -2.632220 +v 1.028447 1.852257 -1.261701 +v 0.500947 2.274262 -1.261701 +v -1.045447 0.516902 -3.194705 +v -1.010183 0.481913 -3.265114 +v -0.693851 2.239273 -3.124493 +v -1.045447 2.239273 -2.526901 +v -0.975128 1.149697 -1.261701 +v -1.080712 2.168867 -2.843250 +v 1.028447 2.274262 -1.367216 +v 1.028447 0.587308 -3.194705 +v -0.412784 2.133665 -3.194705 +v -0.623532 0.130313 -3.265114 +v 0.817489 0.165516 -1.261701 +v 1.063712 1.219676 -3.124493 +v -0.869544 2.203856 -1.261701 +f 24 28 37 +f 6 5 7 +f 6 7 10 +f 1 9 10 +f 2 3 11 +f 8 2 11 +f 4 14 15 +f 14 5 18 +f 16 9 19 +f 9 1 20 +f 19 9 20 +f 13 7 21 +f 4 13 21 +f 14 4 21 +f 15 14 22 +f 18 8 22 +f 14 18 22 +f 10 7 23 +f 1 10 23 +f 13 1 23 +f 7 13 23 +f 6 10 24 +f 10 17 24 +f 3 2 25 +f 2 8 25 +f 18 3 25 +f 8 18 25 +f 8 11 26 +f 19 8 26 +f 16 11 27 +f 11 17 27 +f 11 12 28 +f 17 11 28 +f 24 17 28 +f 5 6 29 +f 6 12 29 +f 18 5 29 +f 18 29 30 +f 11 3 30 +f 12 11 30 +f 3 18 30 +f 29 12 30 +f 10 9 31 +f 9 16 31 +f 17 10 31 +f 16 27 31 +f 27 17 31 +f 13 4 32 +f 4 15 32 +f 20 13 32 +f 15 20 32 +f 11 16 33 +f 16 19 33 +f 26 11 33 +f 19 26 33 +f 8 19 34 +f 20 15 34 +f 19 20 34 +f 22 8 34 +f 15 22 34 +f 7 5 35 +f 5 14 35 +f 21 7 35 +f 14 21 35 +f 1 13 36 +f 20 1 36 +f 13 20 36 +f 12 6 37 +f 6 24 37 +f 28 12 37 +o convex_1 +v -1.010242 -3.560495 -0.277059 +v 0.184701 2.133778 0.953228 +v 0.993324 2.167886 0.285079 +v -0.975122 2.168496 -1.261505 +v 1.133804 -3.841889 -1.191048 +v 0.958205 -3.947259 0.917891 +v -1.080482 1.254269 0.953228 +v 1.028444 2.273866 -1.261505 +v -1.010242 -3.841280 -1.261505 +v -0.940002 -3.947259 0.742290 +v 1.063564 0.199955 0.953228 +v -1.045362 2.133169 0.953228 +v 0.993324 2.097842 0.953228 +v -1.080482 0.093975 0.953228 +v -1.045362 -3.244383 -0.980111 +v 0.993324 -1.239906 -1.261505 +v -0.904882 -3.911933 0.777410 +v 0.993324 -3.947259 0.671833 +v -1.010242 -3.876606 -1.085688 +v -1.010242 2.168496 -0.698933 +v -1.080482 -1.275842 0.109479 +v 1.028444 2.273866 -0.909871 +v 0.712149 -3.877215 0.917891 +v -0.869546 2.203822 -1.226168 +v -1.045362 2.168496 0.496016 +v 1.098684 -1.521910 0.039022 +v 0.712149 -3.771845 -1.226168 +v -1.080482 -0.468204 0.917891 +v 1.098684 -3.876606 -0.874750 +v -0.764186 -3.947259 0.355536 +v 0.536333 2.273866 -1.226168 +v -0.834426 -0.362834 0.953228 +v -0.588370 -3.841280 -1.261505 +v -0.975122 -3.314427 0.777410 +v 1.028444 -1.767977 0.917891 +v 1.063564 0.375369 0.882771 +v 1.133804 -3.807171 -1.120591 +v 1.098684 -3.139013 -1.226168 +v -1.080482 1.289596 0.847651 +v -1.010242 -3.876606 -0.593356 +v 1.063564 -0.538248 0.847651 +v 0.958205 -3.947259 0.531353 +v 1.028444 2.238539 -0.628693 +v 0.993324 -3.595212 0.812530 +v -1.045362 -3.349754 -0.944991 +v -0.764186 -3.877215 -1.085688 +v 1.063564 0.059258 0.953228 +f 72 78 84 +f 41 45 46 +f 39 44 48 +f 44 39 49 +f 40 39 50 +f 39 48 50 +f 48 44 51 +f 41 46 52 +f 46 45 53 +f 47 43 54 +f 43 47 55 +f 41 52 57 +f 57 52 58 +f 51 44 58 +f 39 40 59 +f 40 50 59 +f 54 43 60 +f 45 41 61 +f 41 57 61 +f 49 39 62 +f 39 59 62 +f 61 57 62 +f 45 59 63 +f 54 51 65 +f 51 58 65 +f 42 55 66 +f 55 47 67 +f 47 56 67 +f 59 45 68 +f 45 61 68 +f 62 59 68 +f 61 62 68 +f 48 51 69 +f 51 54 69 +f 60 43 69 +f 54 60 69 +f 46 53 70 +f 64 42 70 +f 47 54 71 +f 65 38 71 +f 54 65 71 +f 50 48 73 +f 48 63 73 +f 63 59 73 +f 42 45 74 +f 55 42 74 +f 45 63 74 +f 45 42 75 +f 53 45 75 +f 42 64 75 +f 70 53 75 +f 64 70 75 +f 44 49 76 +f 57 58 76 +f 58 44 76 +f 49 62 76 +f 62 57 76 +f 56 47 77 +f 71 38 77 +f 47 71 77 +f 74 63 78 +f 66 55 79 +f 55 67 79 +f 59 50 80 +f 50 73 80 +f 73 59 80 +f 43 55 81 +f 72 43 81 +f 55 74 81 +f 78 72 81 +f 74 78 81 +f 52 46 82 +f 46 56 82 +f 58 52 82 +f 38 65 82 +f 65 58 82 +f 56 77 82 +f 77 38 82 +f 56 46 83 +f 42 66 83 +f 67 56 83 +f 46 70 83 +f 70 42 83 +f 66 79 83 +f 79 67 83 +f 63 48 84 +f 69 43 84 +f 48 69 84 +f 43 72 84 +f 78 63 84 +o convex_2 +v 3.032018 1.360390 2.078071 +v 1.063908 1.430668 1.480613 +v 1.063908 1.500946 1.480613 +v 1.169423 0.938722 2.183634 +v 3.032018 0.973828 1.586108 +v 1.063908 0.903550 1.586108 +v 3.067517 0.833207 2.183634 +v 1.063908 1.430668 2.113236 +v 3.067517 1.360390 1.656438 +v 1.063908 0.903550 2.148401 +v 3.032018 1.219769 2.148401 +v 2.750776 0.833207 2.007810 +v 1.310044 1.500946 1.621273 +v 2.364214 1.395496 2.113236 +v 2.469729 0.833207 2.183634 +v 3.032018 1.079278 1.586108 +v 2.961806 0.938722 1.656438 +f 91 96 101 +f 86 87 89 +f 86 89 90 +f 87 86 90 +f 87 90 92 +f 85 91 93 +f 91 89 93 +f 92 90 94 +f 88 92 94 +f 88 91 95 +f 91 85 95 +f 92 88 95 +f 87 92 97 +f 85 93 97 +f 93 87 97 +f 95 85 98 +f 92 95 98 +f 85 97 98 +f 97 92 98 +f 91 88 99 +f 88 94 99 +f 94 90 99 +f 90 96 99 +f 96 91 99 +f 89 87 100 +f 87 93 100 +f 93 89 100 +f 90 89 101 +f 89 91 101 +f 96 90 101 +o convex_3 +v -2.381221 0.868396 1.972649 +v -2.908404 1.465791 1.550940 +v -2.908404 1.465791 1.515699 +v -1.115866 1.360342 2.007766 +v -1.115866 0.833224 1.586118 +v -2.978734 1.325235 2.042944 +v -1.115866 0.798052 2.148418 +v -2.943666 0.938674 1.621235 +v -1.115866 1.360342 1.586118 +v -2.978734 0.903567 2.113239 +v -3.084325 1.360342 1.515699 +v -1.115866 0.973845 2.148418 +v -2.978734 1.395513 2.007766 +v -1.502776 0.833224 1.586118 +v -2.275823 1.430685 1.515699 +v -2.240562 0.903567 2.148418 +v -2.767938 0.903567 1.621235 +v -1.115866 1.325235 2.042944 +v -3.049063 1.290064 1.515699 +v -3.084325 1.465791 1.586118 +f 107 114 121 +f 106 105 108 +f 105 106 110 +f 102 108 111 +f 109 111 112 +f 108 105 113 +f 108 102 115 +f 106 108 115 +f 104 103 116 +f 103 105 116 +f 105 110 116 +f 110 106 116 +f 112 104 116 +f 107 111 117 +f 111 108 117 +f 113 107 117 +f 108 113 117 +f 102 111 118 +f 111 109 118 +f 115 102 118 +f 113 105 119 +f 107 113 119 +f 105 114 119 +f 114 107 119 +f 109 112 120 +f 106 115 120 +f 116 106 120 +f 112 116 120 +f 118 109 120 +f 115 118 120 +f 103 104 121 +f 105 103 121 +f 111 107 121 +f 112 111 121 +f 104 112 121 +f 114 105 121 +o convex_4 +v -0.447869 0.095045 1.902564 +v 1.063498 2.169012 2.816398 +v 1.028509 1.817226 2.851508 +v 1.063498 0.059949 0.953228 +v -1.045461 2.133503 0.953228 +v -1.115653 2.169012 2.781092 +v 0.993306 0.165444 2.957033 +v 0.993306 2.098407 0.953228 +v -1.080664 0.200540 0.953228 +v -0.939853 0.095045 2.745982 +v -1.115653 0.798204 2.148332 +v 1.028509 2.169012 2.042807 +v -0.939853 1.993119 2.816202 +v -1.115653 1.360359 1.586184 +v 0.536098 0.130348 2.921727 +v 1.063498 1.500743 1.480658 +v -1.010258 0.692709 2.781092 +v -1.080664 2.169012 1.656403 +v 1.028509 0.130348 2.500018 +v 0.219915 2.133503 0.953228 +v -0.975056 0.095045 2.710872 +v -0.904864 0.165444 1.023839 +v 0.606504 0.059949 1.269804 +v 1.063498 0.903698 2.148136 +v 0.887698 0.270938 2.957033 +v -0.869661 0.095045 2.781092 +v 0.958104 0.130348 2.816398 +v 1.028509 0.657613 2.921727 +v -1.080664 1.079384 0.953228 +v -1.080664 2.133503 1.340219 +v -1.080664 0.200540 1.269804 +v -1.115653 1.958023 2.781092 +v 0.079317 2.169012 2.816398 +v 0.817506 0.059949 0.953228 +v 1.063498 0.059949 1.093863 +v -1.115653 2.169012 2.359187 +v 0.993306 2.133503 1.269804 +f 141 133 158 +f 125 126 129 +f 126 125 130 +f 127 123 133 +f 123 129 133 +f 132 127 135 +f 130 132 135 +f 123 125 137 +f 129 123 137 +f 125 129 137 +f 136 134 138 +f 127 133 139 +f 129 126 141 +f 139 133 141 +f 126 139 141 +f 131 138 142 +f 122 142 143 +f 142 130 143 +f 142 122 144 +f 131 142 144 +f 125 123 145 +f 128 124 146 +f 136 128 146 +f 134 136 146 +f 138 131 147 +f 136 138 147 +f 131 144 147 +f 128 136 148 +f 140 128 148 +f 136 147 148 +f 123 124 149 +f 124 128 149 +f 128 140 149 +f 145 123 149 +f 140 145 149 +f 126 130 150 +f 130 135 150 +f 150 135 151 +f 139 126 151 +f 126 150 151 +f 132 130 152 +f 130 142 152 +f 142 132 152 +f 127 132 153 +f 134 127 153 +f 138 134 153 +f 132 142 153 +f 142 138 153 +f 124 123 154 +f 123 127 154 +f 127 134 154 +f 146 124 154 +f 134 146 154 +f 130 125 155 +f 122 143 155 +f 143 130 155 +f 125 144 155 +f 144 122 155 +f 144 125 156 +f 125 145 156 +f 145 140 156 +f 147 144 156 +f 148 147 156 +f 140 148 156 +f 135 127 157 +f 127 139 157 +f 151 135 157 +f 139 151 157 +f 133 129 158 +f 129 141 158 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/997/997.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/997/997.urdf new file mode 100644 index 000000000..2a962f006 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/997/997.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/998/998.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/998/998.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/998/998.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/998/998.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/998/998.obj new file mode 100644 index 000000000..9fd10ab01 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/998/998.obj @@ -0,0 +1,336 @@ +o convex_0 +v 0.299710 2.655289 1.073040 +v -1.110170 2.469931 -1.004611 +v -1.110170 2.469931 -0.855901 +v 1.116003 -0.943127 -1.041682 +v 1.041695 5.030455 -1.041682 +v -0.961555 -0.943127 1.073040 +v -1.035862 4.844511 0.998685 +v 1.041695 -0.682338 1.073040 +v 0.930343 5.030455 0.961615 +v -0.961555 -0.943127 -1.004611 +v -0.998818 4.956194 -0.967541 +v -1.110170 3.174528 -1.116036 +v 1.078740 3.286211 1.035756 +v 1.004650 -0.942542 1.073040 +v -0.961555 3.582668 1.073040 +v -0.998818 -0.831444 0.887474 +v 1.116003 0.690019 -0.151137 +v -1.035862 0.764279 -1.078538 +v -0.627716 3.248788 -1.116036 +v 1.078740 3.471570 -1.004611 +v -0.961555 4.956194 -1.004611 +v -0.998818 4.881349 0.924545 +v -1.035862 2.172889 -1.116036 +v -0.219570 -0.943127 -1.041467 +v -0.330922 4.993032 -0.262348 +v 0.670594 5.030455 -1.041682 +v 1.078740 1.580559 1.035756 +v 1.116003 -0.943127 -0.670550 +v 1.004650 4.287850 0.998685 +v -0.145263 4.918772 0.998471 +v 1.116003 0.245041 -1.041682 +v -0.998818 -0.237945 -1.041682 +v 0.744901 5.030455 0.850190 +v 0.262448 4.287850 -1.078752 +v 0.967388 5.030455 0.590483 +v 0.188358 2.989169 1.073040 +v -0.961555 -0.645500 -1.041682 +v -0.998818 4.956194 -0.633694 +v 1.041695 0.022259 1.073040 +v 0.522197 5.030455 -1.004397 +v -0.998818 4.436371 1.035541 +v -1.035862 0.245041 0.330777 +v 1.041695 -0.942542 0.961615 +v -0.998818 -0.831444 0.738979 +v -0.850203 3.323049 -1.116036 +v 1.041695 5.030455 -0.967327 +v -0.405012 4.993032 -1.004397 +v 0.967388 4.362111 0.998685 +v -1.035862 4.844511 0.812905 +v -1.110170 2.506769 -1.116036 +f 32 44 50 +f 1 6 8 +f 4 6 10 +f 2 3 12 +f 3 7 12 +f 8 6 14 +f 6 1 15 +f 7 6 15 +f 6 7 16 +f 10 6 16 +f 13 17 20 +f 12 11 21 +f 7 9 22 +f 19 4 23 +f 12 19 23 +f 4 10 24 +f 23 4 24 +f 18 23 24 +f 9 5 26 +f 13 8 27 +f 17 13 27 +f 17 27 28 +f 6 4 28 +f 14 6 28 +f 4 17 28 +f 27 8 28 +f 9 7 30 +f 17 4 31 +f 5 20 31 +f 20 17 31 +f 22 9 33 +f 9 26 33 +f 4 19 34 +f 26 5 34 +f 31 4 34 +f 5 31 34 +f 5 9 35 +f 9 29 35 +f 1 13 36 +f 15 1 36 +f 24 10 37 +f 18 24 37 +f 10 32 37 +f 32 18 37 +f 11 7 38 +f 7 22 38 +f 22 33 38 +f 33 25 38 +f 1 8 39 +f 13 1 39 +f 8 13 39 +f 25 33 40 +f 33 26 40 +f 7 15 41 +f 15 30 41 +f 30 7 41 +f 3 2 42 +f 7 3 42 +f 16 7 42 +f 8 14 43 +f 14 28 43 +f 28 8 43 +f 10 16 44 +f 32 10 44 +f 42 2 44 +f 16 42 44 +f 19 12 45 +f 12 21 45 +f 21 26 45 +f 34 19 45 +f 26 34 45 +f 20 5 46 +f 13 20 46 +f 29 13 46 +f 5 35 46 +f 35 29 46 +f 21 11 47 +f 26 21 47 +f 11 38 47 +f 38 25 47 +f 25 40 47 +f 40 26 47 +f 29 9 48 +f 13 29 48 +f 30 15 48 +f 9 30 48 +f 36 13 48 +f 15 36 48 +f 7 11 49 +f 12 7 49 +f 11 12 49 +f 2 12 50 +f 23 18 50 +f 12 23 50 +f 18 32 50 +f 44 2 50 +o convex_1 +v -2.668367 -1.574154 1.110143 +v -2.260397 -3.169306 0.182314 +v -2.037701 -3.132025 -1.004364 +v -0.999064 -1.128711 1.072859 +v -3.002310 -1.091858 -1.078933 +v -0.999064 -1.128711 -1.004364 +v -0.999064 -3.020825 0.998718 +v -2.965092 -3.169306 1.110143 +v -0.999064 -3.132025 -1.041649 +v -2.965092 -0.980444 1.110143 +v -3.076541 -3.094744 -0.930438 +v -3.039324 -1.388606 -1.078933 +v -1.147528 -1.091858 -0.744872 +v -3.076541 -3.057678 -0.596591 +v -2.482889 -1.091858 -1.078933 +v -2.779614 -0.980444 0.887507 +v -3.002310 -1.017725 0.479305 +v -1.184542 -1.091858 1.072859 +v -2.631353 -3.169306 0.998504 +v -0.999064 -1.944820 -1.041649 +v -3.039324 -3.131811 -0.559092 +v -3.076541 -3.020611 -0.967294 +v -1.518484 -3.132025 -1.041649 +v -1.036078 -1.536873 1.072859 +v -0.999064 -3.132025 -0.819013 +v -3.076541 -2.464182 -0.930438 +v -3.002310 -3.169306 0.590302 +v -1.333006 -1.128925 -1.041649 +v -2.853846 -3.131811 1.110143 +v -3.039324 -1.277406 -1.004579 +v -2.779614 -0.980444 1.110143 +v -3.002310 -1.017725 0.182314 +f 80 67 82 +f 56 54 57 +f 56 57 59 +f 58 51 60 +f 54 56 63 +f 59 62 65 +f 62 55 65 +f 63 56 65 +f 63 65 66 +f 64 60 67 +f 54 63 68 +f 58 52 69 +f 57 58 69 +f 56 59 70 +f 59 65 70 +f 53 52 71 +f 61 53 71 +f 53 61 72 +f 61 64 72 +f 52 53 73 +f 59 52 73 +f 62 59 73 +f 53 72 73 +f 72 62 73 +f 54 51 74 +f 57 54 74 +f 52 59 75 +f 59 57 75 +f 69 52 75 +f 57 69 75 +f 64 67 76 +f 62 72 76 +f 72 64 76 +f 52 58 77 +f 58 60 77 +f 60 64 77 +f 64 61 77 +f 71 52 77 +f 61 71 77 +f 65 56 78 +f 56 70 78 +f 70 65 78 +f 51 58 79 +f 58 57 79 +f 74 51 79 +f 57 74 79 +f 55 62 80 +f 62 76 80 +f 76 67 80 +f 51 54 81 +f 60 51 81 +f 63 66 81 +f 66 60 81 +f 54 68 81 +f 68 63 81 +f 65 55 82 +f 66 65 82 +f 60 66 82 +f 67 60 82 +f 55 80 82 +o convex_2 +v 0.522474 -2.612576 1.110143 +v 1.894962 -1.982381 -1.078933 +v 1.894962 -1.945096 -1.078933 +v -0.998861 -3.132203 -1.041649 +v -0.961649 -0.943127 1.072859 +v 3.045365 -3.057848 1.110143 +v 2.970942 -1.091622 1.072644 +v -0.961649 -0.943127 -1.004364 +v 3.008153 -3.094919 -1.078933 +v 3.008153 -1.091622 -0.930438 +v -0.998861 -3.020778 0.998718 +v 1.115886 -0.943341 -1.041649 +v 1.004646 -0.943341 1.072644 +v 3.045365 -3.094919 0.813152 +v -0.998861 -1.870742 -1.041649 +v -0.998861 -1.128693 1.072859 +v 3.008153 -2.204589 1.110143 +v 1.449606 -3.057634 1.110143 +v -0.998861 -3.132203 -0.819013 +v 2.822490 -1.091622 -0.967294 +v -0.219389 -0.943127 -1.041649 +v -0.998861 -1.128693 -1.004364 +v 3.008153 -1.091622 -0.336670 +v 2.562798 -1.054552 1.072644 +v -0.516293 -3.132203 -1.004364 +v -0.998861 -1.425469 1.072859 +v 0.819378 -3.020564 1.110143 +v 1.635270 -1.054552 -1.041435 +v 3.008153 -2.946638 -1.078933 +v 3.008153 -1.833671 1.072644 +v 3.045365 -2.909353 1.110143 +v 3.045365 -3.057848 0.664657 +v 3.008153 -1.277188 -0.967294 +f 92 114 115 +f 85 84 86 +f 84 85 91 +f 86 84 91 +f 85 86 97 +f 86 93 97 +f 83 87 98 +f 87 90 98 +f 97 93 98 +f 87 83 99 +f 83 88 99 +f 95 87 99 +f 88 83 100 +f 96 88 100 +f 96 100 101 +f 93 86 101 +f 100 93 101 +f 94 92 102 +f 90 87 103 +f 94 85 103 +f 87 95 103 +f 95 94 103 +f 85 97 103 +f 97 90 103 +f 90 97 104 +f 98 90 104 +f 97 98 104 +f 92 94 106 +f 94 95 106 +f 99 89 106 +f 95 99 106 +f 89 105 106 +f 105 92 106 +f 86 91 107 +f 91 96 107 +f 96 101 107 +f 101 86 107 +f 83 98 108 +f 98 93 108 +f 100 83 109 +f 93 100 109 +f 83 108 109 +f 108 93 109 +f 85 94 110 +f 94 102 110 +f 110 102 111 +f 91 85 111 +f 85 110 111 +f 105 89 112 +f 105 112 113 +f 88 96 113 +f 99 88 113 +f 89 99 113 +f 92 105 113 +f 112 89 113 +f 96 91 114 +f 91 111 114 +f 113 96 114 +f 92 113 114 +f 102 92 115 +f 111 102 115 +f 114 111 115 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/998/998.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/998/998.urdf new file mode 100644 index 000000000..dfbc65045 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/998/998.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/999/999.mtl b/examples/pybullet/gym/pybullet_data/random_urdfs/999/999.mtl new file mode 100644 index 000000000..7062dada3 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/999/999.mtl @@ -0,0 +1,10 @@ +# 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 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/999/999.obj b/examples/pybullet/gym/pybullet_data/random_urdfs/999/999.obj new file mode 100644 index 000000000..c461b1573 --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/999/999.obj @@ -0,0 +1,348 @@ +o convex_0 +v -1.115304 -0.952326 -3.102431 +v 1.039878 0.994312 -2.859071 +v 1.039878 0.994312 -2.963086 +v 1.109568 -1.056661 -3.102431 +v -1.080458 -1.091575 -1.086073 +v -1.115304 0.959398 -1.433844 +v 1.005033 0.611682 -1.086073 +v 1.074723 -1.021746 -1.086073 +v -1.080458 0.994312 -3.032759 +v 0.031760 0.994312 -1.086073 +v -1.115304 0.924687 -1.086073 +v 0.970405 0.994312 -1.086073 +v -1.045613 0.889977 -3.067496 +v 1.074723 -0.674235 -1.086073 +v -1.115304 -0.326519 -3.102431 +v -1.115304 -0.256894 -1.086073 +v 0.761769 -1.056661 -3.102431 +v 1.074723 -0.848195 -3.102431 +v 1.074723 -1.056661 -2.233203 +v -1.115304 0.959398 -2.684988 +v 0.553133 0.994312 -2.997824 +v -1.080458 -1.091575 -1.259959 +v -0.732876 -1.091575 -1.086073 +v 1.109568 -0.987036 -2.893809 +v -1.115304 -0.987240 -2.650448 +v 1.005033 0.994312 -1.677204 +v 1.039878 0.681102 -2.997824 +v -0.280759 0.994312 -3.032759 +v -1.010985 0.994312 -2.684988 +v 0.275024 -1.056661 -1.086073 +v -0.871822 0.959398 -1.086073 +f 11 10 31 +f 7 5 8 +f 2 3 9 +f 5 7 10 +f 2 9 10 +f 6 1 11 +f 5 10 11 +f 2 10 12 +f 10 7 12 +f 7 8 14 +f 4 1 15 +f 1 6 15 +f 9 13 15 +f 11 1 16 +f 5 11 16 +f 1 4 17 +f 4 15 18 +f 15 13 18 +f 4 8 19 +f 6 9 20 +f 15 6 20 +f 9 15 20 +f 9 3 21 +f 17 4 22 +f 8 5 23 +f 4 19 23 +f 5 22 23 +f 22 4 23 +f 3 2 24 +f 4 3 24 +f 8 4 24 +f 2 14 24 +f 14 8 24 +f 16 1 25 +f 5 16 25 +f 1 17 25 +f 22 5 25 +f 17 22 25 +f 2 12 26 +f 12 7 26 +f 14 2 26 +f 7 14 26 +f 3 4 27 +f 4 18 27 +f 21 3 27 +f 18 21 27 +f 13 9 28 +f 18 13 28 +f 9 21 28 +f 21 18 28 +f 9 6 29 +f 6 10 29 +f 10 9 29 +f 19 8 30 +f 8 23 30 +f 23 19 30 +f 10 6 31 +f 6 11 31 +o convex_1 +v -1.010956 -2.551186 -1.051128 +v 0.970398 1.098127 1.104109 +v 0.761800 1.098127 1.104109 +v 0.935667 3.114964 -0.946936 +v -0.976225 3.010194 0.930240 +v 0.935667 -3.002553 0.964971 +v 1.074589 -3.072604 -1.051128 +v -0.976225 -2.967833 1.069163 +v -0.976225 2.940143 -0.981667 +v 1.074804 3.114964 1.034433 +v -1.115361 1.098127 -1.086073 +v -0.976225 -3.107324 -1.086073 +v 1.074804 -0.673840 -1.086073 +v -0.976225 0.993356 1.104109 +v 1.039859 -1.056375 1.104109 +v 0.970398 0.993965 -1.086073 +v -0.489569 3.079635 -0.425331 +v 1.074804 -1.195257 0.860564 +v 0.553203 -3.106715 -0.216947 +v -1.115361 -0.083590 -0.946936 +v 0.970398 3.114964 -0.946936 +v -0.941495 3.044914 0.964971 +v -0.976225 -2.376974 1.104109 +v -1.115361 1.167568 -0.807799 +v 0.831261 -3.037883 -1.086073 +v -1.010956 2.592938 -1.016397 +v -1.080417 -1.438301 -0.981667 +v 1.074804 3.079635 0.721427 +v -0.524300 -2.968442 1.069163 +v 1.074589 -3.037883 -0.633930 +v 0.344606 3.114355 0.443367 +v -0.037644 3.044914 -0.981667 +v 0.518472 3.079026 1.034433 +v -0.976225 -3.107324 -0.912205 +v 0.970398 -2.550577 0.999702 +v -0.906764 2.975473 -0.946936 +v 0.692339 -3.106715 -0.668875 +v 0.692339 2.906032 -0.981667 +v -1.115361 -0.222473 -1.086073 +v 0.553203 3.114355 -0.842529 +v 1.005128 3.079635 -0.460276 +v -0.976225 3.010194 -0.043079 +v -0.350433 3.044914 0.999702 +v 1.074589 -2.203372 -1.086073 +v 0.761800 -3.037883 0.617235 +v 1.074589 -3.072604 -0.807799 +v -0.211297 3.079635 0.999702 +v -0.419894 -3.107934 -1.086073 +v 0.205684 3.044914 -0.981667 +v 0.970398 -2.967833 0.686911 +v 0.553203 -2.967833 0.999702 +v 0.483742 -3.106715 -0.216947 +v -1.115361 0.820362 -0.807799 +v -1.080417 -1.091096 -0.599200 +v 1.039859 -1.508351 1.034433 +f 66 81 86 +f 34 33 41 +f 43 42 44 +f 33 34 45 +f 34 41 45 +f 41 33 46 +f 33 45 46 +f 44 42 47 +f 44 41 49 +f 38 44 49 +f 41 46 49 +f 35 41 52 +f 44 47 52 +f 36 45 53 +f 46 45 54 +f 45 36 55 +f 42 51 55 +f 54 45 55 +f 43 44 56 +f 47 42 57 +f 55 36 57 +f 42 55 57 +f 43 32 58 +f 41 44 59 +f 52 41 59 +f 39 37 60 +f 54 39 60 +f 46 54 60 +f 41 35 62 +f 48 53 62 +f 35 52 63 +f 57 40 63 +f 45 41 64 +f 32 43 65 +f 58 32 65 +f 39 58 65 +f 63 40 67 +f 52 47 69 +f 42 43 70 +f 51 42 70 +f 43 58 70 +f 62 35 71 +f 48 62 71 +f 35 63 71 +f 67 48 71 +f 63 67 71 +f 44 52 72 +f 59 44 72 +f 52 59 72 +f 36 53 73 +f 53 48 73 +f 57 36 73 +f 40 57 73 +f 67 40 73 +f 48 67 73 +f 53 45 74 +f 45 64 74 +f 44 38 75 +f 38 56 75 +f 56 44 75 +f 37 39 76 +f 50 37 76 +f 38 49 77 +f 37 50 77 +f 61 37 77 +f 49 61 77 +f 68 38 77 +f 50 68 77 +f 41 62 78 +f 62 53 78 +f 64 41 78 +f 53 74 78 +f 74 64 78 +f 56 38 79 +f 43 56 79 +f 65 43 79 +f 38 68 79 +f 68 50 79 +f 47 57 80 +f 63 52 80 +f 57 63 80 +f 69 47 80 +f 52 69 80 +f 37 61 81 +f 66 37 81 +f 60 37 82 +f 46 60 82 +f 66 46 82 +f 37 66 82 +f 39 65 83 +f 76 39 83 +f 50 76 83 +f 65 79 83 +f 79 50 83 +f 51 39 84 +f 39 54 84 +f 55 51 84 +f 54 55 84 +f 39 51 85 +f 58 39 85 +f 51 70 85 +f 70 58 85 +f 49 46 86 +f 61 49 86 +f 46 66 86 +f 81 61 86 +o convex_2 +v 0.761763 1.098607 1.139023 +v -1.010805 -1.126340 3.015873 +v -1.010805 -1.126340 3.085702 +v 1.039824 -0.952326 1.799683 +v 0.935627 1.063542 2.946625 +v -0.976072 0.994067 1.104109 +v -0.976072 -1.021801 1.104109 +v -1.010805 0.889746 2.981346 +v 0.935627 -1.021801 2.981346 +v 1.039824 -0.952326 1.104109 +v 0.970359 1.098607 1.104109 +v 0.553166 1.063760 2.946432 +v -0.941340 -0.673989 3.085702 +v -0.906607 -1.056647 1.243379 +v -0.732743 0.959439 2.946432 +v 1.039824 -0.222292 1.173744 +v 1.005092 -0.987172 2.598838 +v -0.559080 -1.056647 3.085702 +v 0.727030 -0.987172 1.382455 +v -0.976072 0.994067 1.486811 +v 0.970359 0.716167 2.529203 +v -1.010805 -1.091494 2.668473 +v 0.900894 1.098607 2.285965 +v 0.970359 -0.048278 2.946625 +v 0.970359 1.098607 1.764769 +v -0.906607 -1.126340 3.050787 +v -0.559080 1.028914 1.139023 +v 1.039824 -0.465782 1.590972 +v -0.976072 0.959439 2.425041 +v 1.005092 0.611845 1.104109 +v 0.970359 -0.987172 2.946625 +v -0.281019 -1.021801 1.104109 +v 1.005092 -0.987172 1.869125 +f 112 105 119 +f 88 89 94 +f 93 92 96 +f 96 92 97 +f 94 91 98 +f 94 89 99 +f 91 94 99 +f 88 93 100 +f 94 98 101 +f 90 96 102 +f 96 90 103 +f 89 95 104 +f 95 91 104 +f 99 89 104 +f 91 99 104 +f 92 94 106 +f 92 93 108 +f 93 88 108 +f 88 94 108 +f 94 92 108 +f 97 87 109 +f 98 91 109 +f 91 95 110 +f 107 91 110 +f 91 107 111 +f 107 102 111 +f 97 109 111 +f 109 91 111 +f 89 88 112 +f 95 89 112 +f 88 100 112 +f 100 105 112 +f 87 97 113 +f 97 92 113 +f 92 106 113 +f 106 98 113 +f 109 87 113 +f 98 109 113 +f 90 102 114 +f 103 90 114 +f 102 107 114 +f 110 103 114 +f 107 110 114 +f 94 101 115 +f 101 98 115 +f 106 94 115 +f 98 106 115 +f 96 97 116 +f 102 96 116 +f 97 111 116 +f 111 102 116 +f 95 103 117 +f 110 95 117 +f 103 110 117 +f 93 96 118 +f 100 93 118 +f 96 105 118 +f 105 100 118 +f 103 95 119 +f 96 103 119 +f 105 96 119 +f 95 112 119 diff --git a/examples/pybullet/gym/pybullet_data/random_urdfs/999/999.urdf b/examples/pybullet/gym/pybullet_data/random_urdfs/999/999.urdf new file mode 100644 index 000000000..accfea93c --- /dev/null +++ b/examples/pybullet/gym/pybullet_data/random_urdfs/999/999.urdf @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +